diff --git a/build_windows_ue5/index.html b/build_windows_ue5/index.html
index 192a127e..3c749b4e 100755
--- a/build_windows_ue5/index.html
+++ b/build_windows_ue5/index.html
@@ -119,6 +119,7 @@ <h2 id="carla-ue5">构建并运行 Carla UE5</h2>
 </ul>
 <pre><code class="language-sh">cmake --build Build --target launch
 </code></pre>
+<p><img alt="" src="../img/build/ue5_launch.png" /></p>
 <h2 id="carla-ue5_1">使用 Carla UE5 构建软件包</h2>
 <div class="admonition 警告">
 <p class="admonition-title">警告</p>
@@ -155,6 +156,12 @@ <h2 id="_3">问题</h2>
 <li>fatal: fetch-pack: invalid index-pack output</li>
 </ul>
 <p>git clone --depth 1 https://gitlab.scm321.com/ufx/xxxx.git</p>
+<ul>
+<li>编译Carla依赖时出错：<code>HTTP/2 stream 1 was not closed cleanly: PROTOCOL_ERROR (err 1)</code></li>
+</ul>
+<p>解决：问题是由于HTTP/2引起的，在Git配置中禁用HTTP/2，改用HTTP/1.1</p>
+<pre><code class="language-shell">git config --global http.version HTTP/1.1
+</code></pre>
               
             </div>
           </div><footer>
diff --git a/core_actors/index.html b/core_actors/index.html
index 7833d831..7702394b 100755
--- a/core_actors/index.html
+++ b/core_actors/index.html
@@ -252,7 +252,7 @@ <h3 id="_12">车辆 <span id="vehicles"></span></h3>
 <li>
 <p><strong><a href="../python_api/#carla.VehiclePhysicsControl">carla.VehiclePhysicsControl</a></strong> 定义车辆的物理属性并包含另外两个控制器：</p>
 <ul>
-<li><a href="../python_api/#carla.GearPhysicsControl">carla.GearPhysicsControl</a> 控制齿轮。</li>
+<li><a href="../python_api/#carla.GearPhysicsControl">carla.GearPhysicsControl</a> 控制档位。</li>
 <li><a href="../python_api/#carla.WheelPhysicsControl">carla.WheelPhysicsControl</a> 提供对每个轮子的特定控制。</li>
 </ul>
 </li>
diff --git a/cpp_client/index.html b/cpp_client/index.html
index db740b56..a37b8bb4 100755
--- a/cpp_client/index.html
+++ b/cpp_client/index.html
@@ -120,6 +120,8 @@ <h2 id="_2">它的工作原理</h2>
 </code></pre>
 <p>我们的应用程序至少需要链接到<code>libcarla_client.a</code>，<code>librpc.a</code>、<code>libRecast.a</code>和<code>libDetour*.a</code>。如果我们利用IO我们需要链接的功能和/或图像处理<code>boost_filesystem</code>、<code>png</code>、<code>tiff</code>和/或<code>jpeg</code>。</p>
 <p>有关更多详细信息，请查看提供的 Makefile。</p>
+<h2 id="_3">其他</h2>
+<p><a href="../tuto_D_python_api/">链接库说明</a></p>
               
             </div>
           </div><footer>
diff --git a/img/build/ue5_launch.png b/img/build/ue5_launch.png
new file mode 100755
index 00000000..008f4d9a
Binary files /dev/null and b/img/build/ue5_launch.png differ
diff --git a/index.html b/index.html
index b6f7b588..18a42e94 100755
--- a/index.html
+++ b/index.html
@@ -282,5 +282,5 @@ <h2 id="_14">参考</h2>
 
 <!--
 MkDocs version : 1.5.3
-Build Date UTC : 2024-09-19 00:07:44.358816+00:00
+Build Date UTC : 2024-09-25 02:42:14.132397+00:00
 -->
diff --git a/python_api/index.html b/python_api/index.html
index 35e6de89..048ecc12 100755
--- a/python_api/index.html
+++ b/python_api/index.html
@@ -1847,7 +1847,10 @@ <h5 id="_96">设置器</h5>
 <hr />
 <h2 id="carlalightgroup">carla.LightGroup<a name="carla.LightGroup"></a></h2>
 <p>此类将场景中的灯光分为不同的组。这些可用组作为可用作标志的枚举值提供。</p>
-<p><strong>笔记。</strong> 到目前为止，虽然有一个 <code>vehicle</code> 组，但车灯还不能用作<a href="#carla.Light">carla.Light</a>对象。这些必须使用<a href="#carla.Vehicle">carla.Vehicle</a>和 <a href="#carla.VehicleLightState">carla.VehicleLightState</a> 进行管理。</p>
+<div class="admonition 笔记">
+<p class="admonition-title">笔记</p>
+<p>到目前为止，虽然有一个 <code>vehicle</code> 组，但车灯还不能用作<a href="#carla.Light">carla.Light</a>对象。这些必须使用<a href="#carla.Vehicle">carla.Vehicle</a>和 <a href="#carla.VehicleLightState">carla.VehicleLightState</a> 进行管理。</p>
+</div>
 <h3 id="_97">实例变量</h3>
 <ul>
 <li><a name="carla.LightGroup.None"></a><strong><font color="#f8805a">None</font></strong><br />
@@ -1860,7 +1863,10 @@ <h3 id="_97">实例变量</h3>
 <hr />
 <h2 id="carlalightmanager">carla.LightManager<a name="carla.LightManager"></a></h2>
 <p>此类处理场景中的灯光。它的主要用途是在一次调用中获取和设置灯光组或灯光列表的状态。此类的实例可以通过 <a href="#carla.World.get_lightmanager">carla.World.get_lightmanager</a>() 检索。</p>
-<p><strong>笔记。</strong> 到目前为止，虽然有一个<code>vehicle</code>组，但车灯还不能用作<a href="#carla.Light">carla.Light</a>对象。这些必须使用 <a href="#carla.Vehicle">carla.Vehicle</a> 和 <a href="#carla.VehicleLightState">carla.VehicleLightState</a> 进行管理。</p>
+<div class="admonition 笔记">
+<p class="admonition-title">笔记</p>
+<p>到目前为止，虽然有一个<code>vehicle</code>组，但车灯还不能用作<a href="#carla.Light">carla.Light</a>对象。这些必须使用 <a href="#carla.Vehicle">carla.Vehicle</a> 和 <a href="#carla.VehicleLightState">carla.VehicleLightState</a> 进行管理。</p>
+</div>
 <h3 id="_98">方法</h3>
 <ul>
 <li><a name="carla.LightManager.is_active"></a><strong><font color="#7fb800">is_active</font></strong>(<font color="#00a6ed"><strong>self</strong></font>, <font color="#00a6ed"><strong>lights</strong></font>)<br />
@@ -2425,7 +2431,7 @@ <h3 id="_123">方法</h3>
 </ul>
 <hr />
 <h2 id="carlaosm2odrsettings">carla.Osm2OdrSettings<a name="carla.Osm2OdrSettings"></a></h2>
-<p>包含 <a href="#carla.Osm2Odr">carla.Osm2Odr</a> 将使用的参数化的帮助程序类，用于将 OpenStreetMap 地图转换为 OpenDRIVE 格式。在 <a href="../tuto_G_openstreetmap/">文档</a> 中了解有关此功能的更多信息。</p>
+<p>包含由 <a href="#carla.Osm2Odr">carla.Osm2Odr</a> 使用的参数化的帮助程序类，用于将 OpenStreetMap 地图转换为 OpenDRIVE 格式。在 <a href="../tuto_G_openstreetmap/">文档</a> 中了解有关此功能的更多信息。</p>
 <h3 id="_124">实例变量</h3>
 <ul>
 <li><a name="carla.Osm2OdrSettings.use_offsets"></a><strong><font color="#f8805a">use_offsets</font></strong> (<em>bool</em>)<br />
@@ -2443,7 +2449,7 @@ <h3 id="_124">实例变量</h3>
 <li><a name="carla.Osm2OdrSettings.proj_string"></a><strong><font color="#f8805a">proj_string</font></strong> (<em>str</em>)<br />
 定义将用于计算从地理坐标到笛卡尔坐标的投影的 <a href="https://github.com/OSGeo/proj.4">proj4</a> 字符串。该字符串将写入生成的 OpenDRIVE 中，除非启用了 <code>use_offsets</code> 或 <code>center_map</code> 选项，因为这些选项会覆盖字符串中的某些定义。</li>
 <li><a name="carla.Osm2OdrSettings.generate_traffic_lights"></a><strong><font color="#f8805a">generate_traffic_lights</font></strong> (<em>bool</em>)<br />
-指示是否在OpenDRIVE中生成红绿灯数据。 <code>set_traffic_light_excluded_way_types(way_types)</code> 定义的道路类型不会生成交通信号灯。</li>
+指出是否在OpenDRIVE中生成红绿灯数据。 <code>set_traffic_light_excluded_way_types(way_types)</code> 定义的道路类型不会生成交通信号灯。</li>
 <li><a name="carla.Osm2OdrSettings.all_junctions_with_traffic_lights"></a><strong><font color="#f8805a">all_junctions_with_traffic_lights</font></strong> (<em>bool</em>)<br />
 禁用时，转换器将仅从 OpenStreetMaps 数据生成交通灯数据。启用后，所有路口都会生成交通信号灯。</li>
 </ul>
@@ -4545,7 +4551,7 @@ <h3 id="_237">实例变量</h3>
 <li><a name="carla.WeatherParameters.precipitation"></a><strong><font color="#f8805a">precipitation</font></strong> (<em>float</em>)<br />
 降雨强度值范围从 0 到 100，0 表示无雨，100 表示大雨。</li>
 <li><a name="carla.WeatherParameters.precipitation_deposits"></a><strong><font color="#f8805a">precipitation_deposits</font></strong> (<em>float</em>)<br />
-确定水坑的创建。值范围从 0 到 100，0 表示完全没有水，100 表示道路完全被水覆盖。水坑是用静态噪音创建的，这意味着它们总是出现在相同的位置。</li>
+决定水坑的创建。值范围从 0 到 100，0 表示完全没有水，100 表示道路完全被水覆盖。水坑是用静态噪音创建的，这意味着它们总是出现在相同的位置。</li>
 <li><a name="carla.WeatherParameters.wind_intensity"></a><strong><font color="#f8805a">wind_intensity</font></strong> (<em>float</em>)<br />
 控制风的强度，值从 0（无风）到 100（强风）。风确实会影响降雨方向和树叶，因此限制该值以避免动画问题。</li>
 <li><a name="carla.WeatherParameters.sun_azimuth_angle"></a><strong><font color="#f8805a">sun_azimuth_angle</font></strong> (<em>float<small> - 度</small></em>)<br />
@@ -4585,8 +4591,8 @@ <h3 id="_238">方法</h3>
 <li><code>wetness</code> (<em>float</em>) - 道路的湿度百分比，从 0 到 100。</li>
 <li><code>fog_falloff</code> (<em>float</em>) - 雾的密度（特定质量），从 0 到无穷大。</li>
 <li><code>scattering_intensity</code> (<em>float</em>) - 控制光线对体积雾的贡献程度。当设置为 0 时，没有贡献。</li>
-<li><code>mie_scattering_scale</code> (<em>float</em>) - 控制光与大颗粒（如花粉或空气污染）的相互作用，导致天空朦胧，光源周围有光晕。当设置为 0 时，没有贡献。</li>
-<li><code>rayleigh_scattering_scale</code> (<em>float</em>) - 控制光与空气分子等小颗粒的相互作用。取决于光的波长，导致白天的天空为蓝色，晚上的天空为红色。</li>
+<li><code>mie_scattering_scale</code> (<em>float</em>) - <a href="https://baike.baidu.com/item/%E7%B1%B3%E6%B0%8F%E6%95%A3%E5%B0%84">米氏散射</a> 强度（大气中粒子的直径与辐射的波长相当），控制光与大颗粒（如花粉或空气污染）的相互作用，导致天空朦胧，光源周围有光晕。当设置为 0 时，没有贡献（完全不散射）。</li>
+<li><code>rayleigh_scattering_scale</code> (<em>float</em>) - <a href="https://baike.baidu.com/item/%E7%91%9E%E5%88%A9%E6%95%A3%E5%B0%84">瑞利散射</a> 强度（粒子尺度小于波长的十分之一），控制光与空气分子等小颗粒的相互作用。取决于光的波长，导致白天的天空为蓝色（由于瑞利散射的强度与波长四次方成反比，所以太阳光谱中波长较短的蓝紫光比波长较长的红光散射更明显），傍晚的天空为红色（太阳光在大气中要走相对很长的路程，直射光中的波长较短蓝光大量都被散射了，只剩下红橙色的光）。</li>
 </ul>
 </li>
 <li><strong>笔记:</strong> <font color="#8E8E8E"><em>ClearNoon, CloudyNoon, WetNoon, WetCloudyNoon, SoftRainNoon, MidRainyNoon, HardRainNoon, ClearSunset, CloudySunset, WetSunset, WetCloudySunset, SoftRainSunset, MidRainSunset, HardRainSunset. 
@@ -4614,12 +4620,12 @@ <h2 id="carlawheelphysicscontrol">carla.WheelPhysicsControl<a name="carla.WheelP
 <h3 id="_240">实例变量</h3>
 <ul>
 <li><a name="carla.WheelPhysicsControl.tire_friction"></a><strong><font color="#f8805a">tire_friction</font></strong> (<em>float</em>)<br />
-指示车轮摩擦力的标量值。</li>
+表示车轮摩擦力的标量值。</li>
 <li><a name="carla.WheelPhysicsControl.damping_rate"></a><strong><font color="#f8805a">damping_rate</font></strong> (<em>float</em>)<br />
 车轮的阻尼率。</li>
 <li><a name="carla.WheelPhysicsControl.max_steer_angle"></a><strong><font color="#f8805a">max_steer_angle</font></strong> (<em>float<small> - 度</small></em>)<br />
 车轮可以转向的最大角度。</li>
-<li><a name="carla.WheelPhysicsControl.radius"></a><strong><font color="#f8805a">radius</font></strong> (<em>float<small> - centimeters</small></em>)<br />
+<li><a name="carla.WheelPhysicsControl.radius"></a><strong><font color="#f8805a">radius</font></strong> (<em>float<small> - 厘米</small></em>)<br />
 轮子的半径。</li>
 <li><a name="carla.WheelPhysicsControl.max_brake_torque"></a><strong><font color="#f8805a">max_brake_torque</font></strong> (<em>float<small> - N*m</small></em>)<br />
 最大制动扭矩。</li>
diff --git a/ref_cpp/index.html b/ref_cpp/index.html
index e01f2eb6..f2acacb1 100755
--- a/ref_cpp/index.html
+++ b/ref_cpp/index.html
@@ -75,10 +75,10 @@ <h2 id="c_1">C++ 客户端</h2>
 <p>有关此示例脚本的更多详细信息，请参阅 <a href="../adv_cpp_client/">C++客户端示例</a> 、<a href="../cpp_client/">C++客户端</a> 。</p>
 <h2 id="c_2">C++ 文档</h2>
 <p>我们使用 Doxygen 生成 C++ 代码的文档：</p>
-<p><a href="http://carla.org/Doxygen/html/dir_b9166249188ce33115fd7d5eed1849f2.html">Libcarla/source</a> <br>
+<p><a href="https://openhutb.github.io/carla_cpp/dir_b14cdd661f9a7048a44f1771cd402401.html">Libcarla/source</a> <br>
 <a href="http://carla.org/Doxygen/html/dir_733e9da672a36443d0957f83d26e7dbf.html">Unreal/CarlaUE4/Source</a> <br>
-<a href="http://carla.org/Doxygen/html/dir_8fc34afb5f07a67966c78bf5319f94ae.html">Unreal/CarlaUE4/Plugins</a></p>
-<p>生成的文档可通过此 <a href="http://carla.org/Doxygen/html/index.html">链接</a> 获取。</p>
+<a href="https://openhutb.github.io/carla_cpp/dir_8fc34afb5f07a67966c78bf5319f94ae.html">Unreal/CarlaUE4/Plugins</a></p>
+<p>生成的文档可通过此 <a href="https://openhutb.github.io/carla_cpp/">链接</a> 获取。</p>
 <div class="admonition 笔记">
 <p class="admonition-title">笔记</p>
 <p>文档更新由 GitHub 自动完成。</p>
diff --git a/ref_sensors/index.html b/ref_sensors/index.html
index b455b69c..b5e57086 100755
--- a/ref_sensors/index.html
+++ b/ref_sensors/index.html
@@ -2134,12 +2134,12 @@ <h2 id="_40">动态视觉传感器相机 <span id="dvs-camera"></span></h2>
 <li><strong>蓝图：</strong> sensor.camera.dvs</li>
 <li><strong>输出：</strong> 每步 <a href="../python_api/#carla.DVSEventArray">carla.DVSEventArray</a> （除非<code>sensor_tick</code>另有说明）。</li>
 </ul>
-<p><a href="https://baike.baidu.com/item/%E5%8A%A8%E6%80%81%E8%A7%86%E8%A7%89%E4%BC%A0%E6%84%9F%E5%99%A8/23490201">动态视觉传感器</a> （Dynamic Vision Sensor, DVS）或事件相机是一种工作方式与传统相机完全不同的传感器。事件相机不是以固定速率捕获强度图像，而是以事件流的形式异步测量强度变化，对每个像素的亮度变化进行编码。与标准摄像机相比，事件摄像机具有独特的属性。它们具有非常高的动态范围（140 dB 与 60 dB）、无运动模糊和高时间分辨率（微秒级）。因此，事件相机是即使在具有挑战性的高速场景和高动态范围环境下也能提供高质量视觉信息的传感器，为基于视觉的算法提供了新的应用领域。</p>
-<p>动态视觉传感器摄像机输出事件流。当对数强度的变化达到预定义的恒定阈值（通常在 15% 到 30% 之间）时，在时间戳处的像素处<code>e=(x,y,t,pol)</code>触发事件。</p>
-<p><code>L(x,y,t) - L(x,y,t-\delta t) = pol C</code></p>
-<p><code>t-\delta t</code> 是该像素上最后一个事件被触发的时间，并且<code>pol</code>是根据亮度变化的符号的事件的极性。<code>+1</code>当亮度增加时极性为正，<code>-1</code>当亮度减少时极性为负。工作原理如下图所示。标准相机以固定速率输出帧，从而在场景中不存在运动时发送冗余信息。相比之下，事件摄像机是数据驱动的传感器，能够以微秒延迟响应亮度变化。在绘图中，只要（带符号的）亮度变化随时间超过<code>C</code>一维的对比度阈值，就会生成正（或负）事件（蓝点、红点） 。观察信号快速变化时事件率如何增长。</p>
+<p><a href="https://baike.baidu.com/item/%E5%8A%A8%E6%80%81%E8%A7%86%E8%A7%89%E4%BC%A0%E6%84%9F%E5%99%A8/23490201">动态视觉传感器</a> （Dynamic Vision Sensor, DVS）或事件相机是一种工作方式与传统相机完全不同的传感器。事件相机不是以固定速率捕获强度图像，而是以事件流的形式异步测量强度变化，对每个像素的亮度变化进行编码。与标准摄像机相比，事件摄像机具有独特的属性。它们具有非常高的动态范围（140 分贝对 60 分贝（dB, 十分之一 decibel Bell，贝表示的是两个物理量的比值，基准值用分贝表示的话是0dB））、无运动模糊和高时间分辨率（微秒级）。因此，事件相机是即使在具有挑战性的高速场景和高动态范围环境下也能提供高质量视觉信息的传感器，为基于视觉的算法提供了新的应用领域。</p>
+<p>动态视觉传感器摄像机输出事件流。当对数强度<code>L</code>的变化达到预定义的恒定阈值（通常在 15% 到 30% 之间）时，在时间戳<code>t</code>处的像素<code>x</code>,<code>y</code>处触发事件<code>e=(x,y,t,pol)</code>。</p>
+<p><code>L(x,y,t) - L(x,y, t-\delta t) = pol C</code></p>
+<p><code>t-\delta t</code> 是该像素上最后一个事件被触发的时间，<code>pol</code>是根据亮度变化的符号来判断事件的极性(polarity)。<code>+1</code>当亮度增加时极性为正，<code>-1</code>当亮度减少时极性为负。工作原理如下图所示。标准相机以固定速率输出帧，从而在场景中不存在运动时发送冗余信息。相比之下，事件摄像机是数据驱动的传感器，能够以微秒延迟响应亮度变化。在绘图中，只要（带符号的）亮度变化随时间<code>t</code>超过一维<code>x</code>的对比度(contrast )阈值<code>C</code>，就会生成正（或负）事件（蓝点、红点） 。观察信号快速变化时事件率如何增长。</p>
 <p><img alt="DVSCameraWorkingPrinciple" src="../img/sensor_dvs_scheme.jpg" /></p>
-<p>动态视觉传感器摄像机的当前实现在两个连续同步帧之间以统一采样方式工作。因此，为了仿真真实事件相机的高时间分辨率（微秒级），传感器需要以高频率执行（比传统相机的频率高得多）。实际上，Carla 汽车行驶速度越快，事件数量就会增加。因此，传感器频率应随着场景的动态而相应增加。用户应该在时间精度和计算成本之间找到平衡。</p>
+<p>动态视觉传感器的当前实现在两个连续同步帧之间以统一采样方式工作。因此，为了仿真真实事件相机的高时间分辨率（微秒级），传感器需要以高频率执行（比传统相机的频率高得多）。实际上，Carla 汽车行驶速度越快，事件数量就会增加。因此，传感器频率应随着场景的动态而相应增加。用户应该在时间精度和计算成本之间找到平衡。</p>
 <p>提供的脚本 <a href="https://github.com/OpenHUTB/carla_doc/blob/master/src/examples/manual_control.py"><code>manual_control.py</code></a> 使用动态视觉传感器摄像头来展示如何配置传感器、如何获取事件流以及如何以图像格式（通常称为事件框架）描述此类事件。</p>
 <p>请注意，由于动态视觉传感器摄像机的采样方法，如果两个连续同步帧之间没有像素差异，摄像机将不会返回图像。这总是发生在第一帧中，因为没有前一帧可供比较，并且在帧之间没有移动的情况下也是如此。</p>
 <p><img alt="DVSCameraWorkingPrinciple" src="../img/sensor_dvs.gif" /></p>
@@ -2159,25 +2159,25 @@ <h4 id="_41">动态视觉传感器相机属性</h4>
 <td><code>positive_threshold</code></td>
 <td>float</td>
 <td>0.3</td>
-<td>与亮度变化增量相关的正阈值 C (0-1)。</td>
+<td>与亮度变化增量相关的正阈值 C，范围为 (0-1)。</td>
 </tr>
 <tr>
 <td><code>negative_threshold</code></td>
 <td>float</td>
 <td>0.3</td>
-<td>与亮度变化减少相关的负阈值 C (0-1)。</td>
+<td>与亮度变化减少相关的负阈值 C，范围为(0-1)。</td>
 </tr>
 <tr>
 <td><code>sigma_positive_threshold</code></td>
 <td>float</td>
 <td>0</td>
-<td>积极事件的白噪声标准差 (0-1)。</td>
+<td>正事件的白噪声标准差，范围为 (0-1)。</td>
 </tr>
 <tr>
 <td><code>sigma_negative_threshold</code></td>
 <td>float</td>
 <td>0</td>
-<td>负面事件的白噪声标准差 (0-1)。</td>
+<td>负事件的白噪声标准差，范围为 (0-1)。</td>
 </tr>
 <tr>
 <td><code>refractory_period_ns</code></td>
@@ -2189,13 +2189,13 @@ <h4 id="_41">动态视觉传感器相机属性</h4>
 <td><code>use_log</code></td>
 <td>bool</td>
 <td>true</td>
-<td>是否以对数强度标度工作。</td>
+<td>是否以对数强度刻度工作。</td>
 </tr>
 <tr>
 <td><code>log_eps</code></td>
 <td>float</td>
 <td>0.001</td>
-<td>用于将图像转换为日志的 Epsilon 值： <code>L = log(eps + I / 255.0)</code>.<br>  其中 <code>I</code> 是 RGB 图像的灰度值： <br><code>I = 0.2989*R + 0.5870*G + 0.1140*B</code>.</td>
+<td>用于将图像转换为对数的 Epsilon 值： <code>L = log(eps + I / 255.0)</code>.<br>  其中 <code>I</code> 是 RGB 图像的灰度值： <br><code>I = 0.2989*R + 0.5870*G + 0.1140*B</code>.</td>
 </tr>
 </tbody>
 </table>
@@ -2357,7 +2357,7 @@ <h3 id="_46">传感器（子）类型</h3>
 <h4 id="_47">协同感知消息 <span id="cooperative-awareness-message"></span></h4>
 <ul>
 <li><strong>蓝图：</strong> sensor.other.v2x</li>
-<li><strong>输出：</strong> <a href="../python_api/#carla.CAMData">carla.CAMData</a>, 根据 ETSI CAM (ooperative Awareness Message，协同警示消息) 标准触发，除非另有配置</li>
+<li><strong>输出：</strong> <a href="../python_api/#carla.CAMData">carla.CAMData</a>, 根据 ETSI CAM (European Telecommunications Standards Institute , Cooperative Awareness Message，欧洲通信标准协会，协同警示消息) 标准触发，除非另有配置</li>
 </ul>
 <p>根据 ETSI 标准的触发条件：
 - 航向角变化 &gt; $4$°
@@ -2508,7 +2508,7 @@ <h5 id="_48">方法</h5>
 </ul>
 </li>
 </ul>
-<p>自定义 V2X 消息传感器的工作方式与其他传感器略有不同，因为它除了<em>侦听</em>函数之外还具有<em>发送</em>函数，需要先调用该函数，然后其他此类传感器才能接收任何内容。只有在调用<em>发送</em>时才会触发自定义消息的传输。发送给<em>发送</em>函数的每条消息仅向当前生成的所有自定义 V2X 消息传感器传输一次。</p>
+<p>自定义 V2X 消息传感器的工作方式与其他传感器略有不同，因为它除了<em>侦听</em>函数之外还具有<em>发送</em>函数，需要先调用发送函数，然后其他此类传感器才能接收任何内容。只有在调用<em>发送</em>时才会触发自定义消息的传输。发送给<em>发送</em>函数的每条消息仅向当前生成的所有自定义 V2X 消息传感器传输一次。</p>
 <p>示例：</p>
 <pre><code>bp = world.get_blueprint_library().find('sensor.other.v2x_custom')
 sensor = world.spawn_actor(bp, carla.Transform(), attach_to=parent)
diff --git a/search/search_index.json b/search/search_index.json
index 9e6f8ecd..0ce34645 100755
--- a/search/search_index.json
+++ b/search/search_index.json
@@ -1 +1 @@
-{"config":{"indexing":"full","lang":["ja"],"min_search_length":2,"prebuild_index":false,"separator":"[\\s\\-\\.]+"},"docs":[{"location":"","text":"Carla   \u6587\u6863   \u6b22\u8fce \u4f7f\u7528   Carla   \u6587\u6863 \u3002 \u6b64 \u4e3b\u9875 \u5305\u542b \u4e00\u4e2a \u7d22\u5f15 \uff0c \u5176\u4e2d \u7b80\u8981 \u8bf4\u660e \u4e86 \u6587\u6863 \u4e2d \u7684 \u4e0d\u540c \u90e8\u5206 \u3002 \u8fd0\u884c   \u5165\u95e8 \u793a\u4f8b   \u540e \u53ef\u4ee5 \u6309 \u81ea\u5df1 \u559c\u6b22 \u7684 \u987a\u5e8f \u968f\u610f \u9605\u8bfb \u3002   \u5165\u95e8 \u793a\u4f8b   \u4e0b\u8f7d   \u94fe\u63a5   \u4e2d \u7684   software / carla _ 0.9 . 15   \u4e2d \u7684 \u6240\u6709 \u6587\u4ef6 \u5e76 \u89e3\u538b \uff1b   \u8fd0\u884c   WindowsNoEditor   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u7684   CarlaUE4 . exe   \u542f\u52a8 \u573a\u666f \uff0c \u8fdb\u5165 \u573a\u666f \u540e \u6309   W   \u3001   S   \u3001   A   \u3001   D   \u79fb\u52a8 \u573a\u666f \u89c6\u89d2 \uff1b   \u4f7f\u7528   Python37 / python . exe   \u8fd0\u884c \u811a\u672c   generate _ traffic . py   \u548c   python   manual _ control . py   \u5728 \u573a\u666f \u4e2d \u751f\u6210 \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \u5e76 \u624b\u52a8 \u63a7\u5236 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u3002   \u6ce8\u610f   \u5982\u679c \u5bf9 \u6587\u6863 \u4e2d \u7684 \u4efb\u4f55 \u95ee\u9898 \u53ef\u4ee5 \u5728   \u672c \u6587\u6863 \u7684 \u6e90\u7801 \u4ed3\u5e93   \u4e2d \u7684   Issues   \u9875\u9762 \u8fdb\u884c \u63d0\u95ee \u6216\u8005 \u63d0\u4ea4   Pull   Request   \u76f4\u63a5 \u4fee\u6539 \u6587\u6863 \u3002   \u7b80\u4ecb   \u4ecb\u7ecd   \u2014   \u5bf9   Carla   \u7684 \u671f\u671b   \u5feb\u901f \u542f\u52a8 \u5305 \u5b89\u88c5   \u2014   \u83b7\u53d6   Carla   \u7248\u672c   \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65   \u2014   \u5f00\u59cb \u8fdb\u884c   Carla   \u64cd\u4f5c \uff0c \u4ecb\u7ecd \u6700 \u91cd\u8981 \u7684 \u6982\u5ff5   \u6559\u7a0b   \u2014   Carla   \u8be6\u7ec6 \u6559\u7a0b   \u793a\u4f8b   \u2014   Carla   \u7ecf\u5178 \u793a\u4f8b   \u4e3b\u9898   \u57fa\u7840   \u2014   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fdb\u884c \u64cd\u4f5c \u548c \u901a\u4fe1 \u6240 \u9700 \u7684 \u57fa\u672c \u6982\u5ff5 \u57fa\u672c\u6982\u5ff5   \u7b2c\u4e00 \u3001   \u4e16\u754c \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   \u2014   \u7ba1\u7406 \u548c \u8bbf\u95ee \u4eff\u771f   \u7b2c\u4e8c \u3001   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe   \u2014   \u4e86\u89e3 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ee5\u53ca \u5982\u4f55 \u5904\u7406 \u5b83\u4eec   \u7b2c\u4e09 \u3001 \u5730\u56fe \u548c \u5bfc\u822a   \u2014   \u53d1\u73b0 \u4e0d\u540c \u7684 \u5730\u56fe \u4ee5\u53ca \u8f66\u8f86 \u5982\u4f55 \u79fb\u52a8   \u7b2c\u56db \u3001   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u6570\u636e   \u2014   \u4f7f\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u7d22 \u4eff\u771f \u6570\u636e   \u5f00\u53d1   \u2014   \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u529f\u80fd \u6216 \u5185\u5bb9   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8d44\u4ea7   \u2014   Carla   \u4e2d \u8d44\u4ea7 \u7684 \u7684 \u5f00\u53d1   \u5185\u5bb9 \u521b\u4f5c   -   \u5730\u56fe   \u2014   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u7684 \u521b\u4f5c   \u5185\u5bb9 \u521b\u4f5c   -   \u8f66\u8f86   \u2014   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u7684 \u521b\u4f5c   \u4ea4\u901a   \u4ea4\u901a \u4eff\u771f \u6982\u8ff0   \u2014   \u53ef \u7528\u4e8e \u4f7f\u7528 \u4ea4\u901a \u586b\u5145 \u573a\u666f \u7684 \u4e0d\u540c \u9009\u9879 \u7684 \u6982\u8ff0   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u2014   \u901a\u8fc7 \u5c06 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u6765 \u4eff\u771f \u57ce\u5e02 \u4ea4\u901a \u57ce\u5e02\u4ea4\u901a   \u548c   SUMO   \u534f\u540c \u4eff\u771f   \u2014   \u5728   Carla   \u548c   SUMO   \u4e4b\u95f4 \u8fd0\u884c \u534f\u540c \u4eff\u771f   Scenic   \u2014   \u9075\u5faa \u4f7f\u7528   Scenic   \u5e93 \u5b9a\u4e49 \u4e0d\u540c \u573a\u666f \u7684 \u793a\u4f8b   \u884c\u4eba   \u884c\u4eba \u5bfc\u822a   \u2014   \u4f7f\u7528 \u9aa8\u9abc \u4e3a \u884c\u4eba \u8bbe\u7f6e \u52a8\u753b   \u63a7\u5236 \u884c\u4eba \u9aa8\u67b6   \u2014   \u4f7f\u7528 \u9aa8\u9abc \u4e3a \u884c\u4eba \u8bbe\u7f6e \u52a8\u753b   \u884c\u4eba \u89c6\u89c9   \u2014   \u4f7f\u7528 \u76f8\u673a \u8fdb\u884c \u4eba\u773c \u7684 \u4eff\u771f   \u751f\u6210 \u884c\u4eba \u5bfc\u822a   \u2014   \u83b7\u53d6 \u884c\u4eba \u56db\u5904 \u8d70\u52a8 \u6240 \u9700 \u7684 \u4fe1\u606f   \u884c\u4eba \u5efa\u6a21   \u2014   \u5728 \u4e09\u7ef4 \u5efa\u6a21 \u8f6f\u4ef6 \u4e2d \u5bf9 \u4eba \u8fdb\u884c \u5efa\u6a21   \u9ad8\u7ea7 \u6982\u5ff5   OpenDRIVE   \u72ec\u7acb \u6a21\u5f0f   \u2014   \u4f7f\u7528 \u4efb\u4f55   OpenDRIVE   \u6587\u4ef6 \u4f5c\u4e3a   Carla   \u5730\u56fe   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u2014   \u5728 \u4eff\u771f \u4e2d \u5f55\u5236 \u4e8b\u4ef6 \u5e76 \u518d\u6b21 \u64ad\u653e   \u6e32\u67d3 \u9009\u9879   \u2014   \u4ece \u8d28\u91cf \u8bbe\u7f6e \u5230 \u4e0d \u6e32\u67d3 \u6216 \u79bb\u5c4f \u6a21\u5f0f   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u2014   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93\u4e2d \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5b9e\u73b0   \u540c\u6b65 \u548c \u65f6\u95f4 \u6b65\u957f   \u2014   \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u548c \u4eff\u771f \u65f6\u95f4   Carla   \u4ee3\u7406   \u2014   \u4ee3\u7406 \u811a\u672c \u5141\u8bb8 \u5355\u4e2a \u8f66\u8f86 \u5728 \u5730\u56fe \u4e0a \u6f2b\u6e38 \u6216 \u5f00\u8f66 \u5230 \u8bbe\u5b9a \u7684 \u76ee\u7684 \u76ee\u7684\u5730   Carla   \u8bbe\u7f6e   \u2014   Carla   \u53c2\u6570 \u914d\u7f6e \u8bbe\u7f6e   Carla   \u6a21\u62df \u6a21\u62df\u5668 \u952e\u76d8 \u8f93\u5165 \u952e\u76d8\u8f93\u5165   \u2014   \u5728 \u6a21\u62df \u6a21\u62df\u5668 \u7a97\u53e3 \u4e2d \u73a9\u6e38 \u6e38\u620f \u73a9\u6e38\u620f \u65f6 \u4f7f\u7528 \u7684 \u6309\u952e \u7ed1\u5b9a   \u65e0 \u663e\u793a \u663e\u793a\u5c4f \u8fd0\u884c   Carla   \u5e76 \u9009\u62e9   GPU   \u2014   \u4f7f\u7528 \u672a \u63d2 \u5728 \u5c4f\u5e55 \u4e0a \u7684 GPU \u6765 \u6e32\u67d3   Carla   \u7684 \u684c\u9762   \u94fe\u63a5   Epic   \u7684 \u6c7d\u8f66 \u6750\u8d28   \u2014   \u4e0b\u8f7d \u6750\u8d28 \u5e76 \u5c06 \u5176 \u94fe\u63a5 \u5230 \u6211\u4eec \u7684 \u8f66\u8f86 \uff0c \u4ee5 \u83b7\u5f97 \u66f4 \u903c\u771f \u7684 \u8f66\u6f06 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   Carla   \u4e2d \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u7684 \u6982\u8ff0   \u2014   \u6dfb\u52a0 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6807\u51c6 \u5c3a\u5bf8 \u5730\u56fe \u6240 \u6d89\u53ca \u7684 \u8fc7\u7a0b \u548c \u9009\u9879 \u7684 \u6982\u8ff0   \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5730\u56fe   \u2014   \u5982\u4f55 \u5728   RoadRunner   \u4e2d \u751f\u6210 \u6d77\u5173 \u3001 \u6807\u51c6 \u5c3a\u5bf8 \u7684 \u5730\u56fe   \u5728   Carla   \u5305 \u5bfc\u5165 \u5730\u56fe   \u5982\u4f55 \u5728   Carla   \u5305\u4e2d \u5bfc\u5165 \u5730\u56fe   \u5728   Carla   \u6e90 \u6784\u5efa \u4e2d \u5bfc\u5165 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728   Carla   \u4e2d \u5bfc\u5165 \u4ece\u6e90 \u6784\u5efa \u7684 \u5730\u56fe   \u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5   \u2014   \u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5   \u624b\u52a8 \u51c6\u5907 \u5730\u56fe \u5730\u56fe\u5305   \u2014   \u5982\u4f55 \u51c6\u5907 \u5730\u56fe \u4ee5\u4f9b \u624b\u52a8 \u5bfc\u5165   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5206\u5c42 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u4e2d \u521b\u5efa \u5b50 \u56fe\u5c42   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u548c \u6807\u5fd7   \u2014   \u5982\u4f55 \u5c06 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u548c \u6807\u5fd7 \u6dfb\u52a0 \u5230 \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u9053\u8def \u753b\u5bb6   \u2014   \u5982\u4f55 \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u6539\u53d8 \u9053\u8def \u7684 \u5916\u89c2   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5929\u6c14 \u548c \u666f\u89c2   \u2014   \u4e3a \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u521b\u5efa \u5929\u6c14 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u5e76 \u586b\u5145 \u666f\u89c2   \u4f7f\u7528   OpenStreetMap   \u751f\u6210 \u5730\u56fe   \u2014   \u4f7f\u7528   OpenStreetMap   \u751f\u6210 \u7528\u4e8e \u4eff\u771f \u7684 \u5730\u56fe   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u7a0b\u5e8f \u5efa\u7b51   \u2014   \u7528 \u5efa\u7b51 \u5efa\u7b51\u7269 \u586b\u5145 \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177   \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u751f\u6210 \u865a\u62df \u4e09\u7ef4 \u5efa\u7b51 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u7b80\u5355 \u7684 \u754c\u9762 \u5bf9 \u5176 \u5c3a\u5bf8 \u548c \u88c5\u9970 \u98ce\u683c \u8fdb\u884c \u8c03\u5236 \uff0c \u4ee5 \u521b\u5efa \u8fd1\u4e4e \u65e0\u9650 \u7684 \u53d8\u5316   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177   \u2014   \u901a\u8fc7   OpenStreetMap   \u81ea\u52a8 \u751f\u6210   Carla   \u4e2d \u7684 \u9053\u8def \u548c \u5efa\u7b51   \u5927 \u5730\u56fe \u6982\u8ff0   \u2014   Carla   \u4e2d \u5927 \u5730\u56fe \u5de5\u4f5c \u539f\u7406 \u7684 \u8bf4\u660e   \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5927 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5927 \u5730\u56fe   \u5bfc\u5165 / \u6253\u5305 \u5927 \u5730\u56fe   \u2014   \u5982\u4f55 \u5bfc\u5165 \u5927 \u5730\u56fe   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5f00\u53d1   \u6dfb\u52a0 \u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668   \u2014   \u5b9a\u4e49 \u8f66\u8f6e \u7684 \u52a8\u6001 \u6846 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668   \u63a7\u5236 \u8f66\u8f86 \u7269\u7406 \u6a21\u578b   \u2014   \u8bbe\u7f6e \u8f66\u8f86 \u7269\u7406 \u7684 \u8fd0\u884c \u65f6 \u7684 \u53d8\u5316   \u68c0\u7d22 \u4eff\u771f \u6570\u636e   \u2014   \u4f7f\u7528 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6b63\u786e \u6536\u96c6 \u6570\u636e \u7684 \u5206\u6b65 \u6307\u5357   \u5728   Docker   \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u2014   \u5728   Docker   \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u6dfb\u52a0 \u65b0 \u8f66\u8f86   \u2014   \u51c6\u5907 \u8981 \u5728   Carla   \u4e2d \u4f7f\u7528 \u7684 \u8f66\u8f86   \u6dfb\u52a0 \u65b0 \u9053\u5177   \u2014   \u5c06 \u5176\u4ed6 \u9053\u5177 \u5bfc\u5165   Carla   \u521b\u5efa \u72ec\u7acb \u5305   \u2014   \u4e3a \u8d44\u4ea7 \u751f\u6210 \u548c \u5904\u7406 \u72ec\u7acb \u5305   \u6750\u6599 \u5b9a\u5236   \u2014   \u7f16\u8f91 \u8f66\u8f86 \u548c \u5efa\u7b51 \u6750\u6599 \u5efa\u7b51\u6750\u6599   \u5982\u4f55 \u5347\u7ea7 \u5185\u5bb9   \u2014   \u5411   Carla   \u6dfb\u52a0 \u65b0 \u5185\u5bb9   \u521b\u5efa \u4e00\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u2014   \u5f00\u53d1 \u4e00\u4e2a \u7528\u4e8e   Carla   \u7684 \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u521b\u5efa \u8bed\u4e49 \u6807\u7b7e   \u2014   \u4e3a \u8bed\u4e49 \u5206\u5272 \u5b9a\u4e49 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6807\u7b7e   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u60ac\u67b6   \u2014   \u4fee\u6539 \u8f66\u8f86 \u7684 \u60ac\u67b6 \u7cfb\u7edf   \u751f\u6210 \u8be6\u7ec6 \u78b0\u649e   \u2014   \u4e3a \u8f66\u8f86 \u521b\u5efa \u8be6\u7ec6 \u7684 \u5bf9\u649e   \u53d1\u5e03 \u7248\u672c   \u2014   \u5982\u4f55 \u53d1\u5e03   Carla   \u8c03\u8bd5 \u7a0b\u5e8f \u8c03\u8bd5\u7a0b\u5e8f   \u2014   \u8fdb\u884c \u7a0b\u5e8f \u7684 \u8c03\u8bd5   \u57fa\u51c6 \u6d4b\u8bd5   \u9a7e\u9a76 \u57fa\u51c6   \u2014   \u7528\u4e8e \u8bc4\u4f30 \u9a7e\u9a76 \u63a7\u5236 \u63a7\u5236\u5668 \uff08 \u4ee3\u7406 \uff09 \u5e76 \u83b7\u53d6 \u6709\u5173 \u5176 \u6027\u80fd \u7684 \u6307\u6807   \u57fa\u51c6 \u6027\u80fd   \u2014   \u5206\u6790   Carla   \u5728 \u81ea\u5df1 \u7684 \u73af\u5883 \u4e2d \u7684 \u6027\u80fd   \u9a7e\u9a76 \u57fa\u51c6 \u7ed3\u6784   \u2014   \u9a7e\u9a76 \u57fa\u51c6 \u6a21\u5757 \u7684 \u603b\u4f53 \u7ed3\u6784   \u6d4b\u8bd5 \u4ee3\u7406   \u2014   \u5bf9 \u4f60 \u7684 \u4ee3\u7406 \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5   \u8ba1\u7b97 \u7684 \u57fa\u51c6 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807   \u2014   \u7528\u4e8e \u6839\u636e \u4ee3\u7406 \u5728 \u57fa\u51c6 \u6d4b\u8bd5 \u671f\u95f4 \u6267\u884c \u7684 \u64cd\u4f5c \u8ba1\u7b97 \u7ed3\u679c \u8ba1\u7b97\u7ed3\u679c \u6458\u8981   \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf   ISS   \u667a\u80fd \u9a7e\u9a76 \u7cfb\u7edf   \u2014   \u5305\u542b \u7528\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u76f8\u5173 \u4efb\u52a1 \u7684 \u4f20\u7edf \u548c \u6df1\u5ea6 \u5b66\u4e60 \u7b97\u6cd5   \u4ea4\u901a \u573a\u666f   \u2014   \u57fa\u4e8e   Carla   \u4ea4\u901a \u573a\u666f \u5b9a\u4e49 \u548c \u6267\u884c \u5f15\u64ce   Web   \u53ef\u89c6 \u53ef\u89c6\u5316 \u5668   \u2014   \u4fa6\u542c \u4eff\u771f \u5e76 \u5728 \u7f51\u7edc \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u663e\u793a \u573a\u666f \u548c \u4e00\u4e9b \u4eff\u771f \u6570\u636e \u7684 \u63d2\u4ef6   ROS   \u2014   \u673a\u5668 \u673a\u5668\u4eba \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u7684 \u7b80\u8981 \u6982\u8ff0 \u548c \u5b8c\u6574 \u6587\u6863 \u7684 \u94fe\u63a5   \u6709\u9650 \u6709\u9650\u5143 \u53d8\u5f62 \u6750\u6599 \u865a\u5e7b \u63d2\u4ef6   \u2014   \u7528   \u6709\u9650 \u5143\u6cd5 \u6709\u9650\u5143 \u6709\u9650\u5143\u6cd5 \u7528\u4e8e \u53d8\u5f62 \u6750\u6599 \u7269\u7406 \u7684 \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b   CPU   \u5e93   CarSim   \u96c6\u6210   \u2014   \u5173\u4e8e \u5982\u4f55 \u4f7f\u7528   CarSim   \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u5f15\u64ce \u8fd0\u884c \u4eff\u771f \u7684 \u6559\u7a0b   RLlib   \u96c6\u6210   \u2014   \u4e86\u89e3 \u5982\u4f55 \u4f7f\u7528   RLlib   \u5e93 \u8fd0\u884c \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c   Chrono   \u96c6\u6210   \u2014   \u4f7f\u7528   Chrono   \u79ef\u5206 \u6765 \u4eff\u771f \u7269\u7406   OpenRadios   \u6709\u9650 \u6709\u9650\u5143 \u4eff\u771f   \u2014   \u9488\u5bf9 \u52a8\u6001 \u8d1f\u8f7d \u4e0b \u7684 \u9ad8\u5ea6 \u7ebf\u6027 \u975e\u7ebf\u6027 \u95ee\u9898 \u8bc4\u4f30 \u548c \u4f18\u5316 \u4ea7\u54c1 \u6027\u80fd   PTV - Vissim   \u8054\u5408 \u4eff\u771f   \u2014   \u5728   Carla   \u548c   PTV - Vissim   \u4e4b\u95f4 \u8fd0\u884c \u534f\u540c \u4eff\u771f   Ansys   \u5b9e\u65f6 \u96f7\u8fbe \u6a21\u578b   \u2014   \u6709\u5173   Ansys   RTR   \u7f51\u7edc \u7814\u8ba8 \u7814\u8ba8\u4f1a \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f   Matlab   \u63a5\u53e3   \u4f7f\u7528   Python   \u548c   ROS   \u5728   Matlab   \u4e2d \u8c03\u7528   Python   \u7f57\u6280   G29   \u65b9\u5411 \u65b9\u5411\u76d8   \u2014   \u4f7f\u7528 \u7f57\u6280 \u65b9\u5411 \u65b9\u5411\u76d8 \u8fdb\u884c \u8f66\u8f86 \u63a7\u5236 \u548c \u4eff\u771f \u5bf9 \u65b9\u5411 \u65b9\u5411\u76d8 \u7684 \u53cd\u5411 \u63a7\u5236   OpenSCENARIO   \u64ad\u653e \u64ad\u653e\u5668   \u2014   \u57fa\u672c \u7684   OpenSCENARIO   \u64ad\u653e \u64ad\u653e\u5668   \u5730\u7406 \u7a7a\u95f4 \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf   \u2014   \u5c06   3D   \u5730\u7406 \u7a7a\u95f4 \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf \u5f15\u5165 \u865a\u5e7b \u5f15\u64ce   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7f16\u8bd1   \u6784\u5efa   Carla   \u2014   \u8fdb\u884c   Carla   \u7f16\u8bd1   Linux   \u4e0a \u7f16\u8bd1   \u2014   \u5728   Linux   \u4e0a \u8fdb\u884c \u7f16\u8bd1   Windows   \u4e0a \u7f16\u8bd1   \u2014   \u5728   Windows   \u4e0a \u8fdb\u884c \u6784\u5efa   Carla   \u66f4\u65b0   \u2014   \u4e86\u89e3 \u6700\u65b0 \u5185\u5bb9   \u6784\u5efa \u7cfb\u7edf   \u2014   \u4e86\u89e3 \u6784\u5efa \u53ca\u5176 \u5236\u4f5c \u65b9\u5f0f   Docker   \u4e2d \u7684   Carla   \u2014   \u4f7f\u7528 \u5bb9\u5668 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8fd0\u884c   Carla   \u5e38\u89c1 \u95ee\u9898 \u5e38\u89c1\u95ee\u9898   \u2014   \u4e00\u4e9b \u6700 \u5e38\u89c1 \u7684 \u5b89\u88c5 \u95ee\u9898   \u8d21\u732e   \u8d21\u732e \u6307\u5357   \u2014   \u4e3a   Carla   \u505a\u51fa \u8d21\u732e \u7684 \u4e0d\u540c \u65b9\u5f0f   \u884c\u4e3a \u4e3a\u51c6 \u51c6\u5219 \u884c\u4e3a\u51c6\u5219   \u2014   \u8d21\u732e \u8d21\u732e\u8005 \u7684 \u6807\u51c6 \u6743\u5229 \u548c \u4e49\u52a1   \u7f16\u7801 \u6807\u51c6 \u7f16\u7801\u6807\u51c6   \u2014   \u7f16\u5199 \u6b63\u786e \u4ee3\u7801 \u7684 \u6307\u5357   \u6587\u6863 \u6807\u51c6   \u2014   \u7f16\u5199 \u9002\u5f53 \u6587\u6863 \u7684 \u6307\u5357   \u5176\u4ed6   RoadRunner   \u2014   \u7528\u4e8e \u6784\u5efa \u9759\u6001 \u573a\u666f   RoadRunner   Scenario   \u2014   \u7528\u4e8e \u6784\u5efa \u52a8\u6001 \u4ea4\u901a \u573a\u666f   Carla   \u4e2d\u6587 \u7ad9   \u2014   \u4e2d\u6587 \u4ea4\u6d41 \u793e\u533a   \u865a\u5e7b \u5f15\u64ce   \u2014   \u865a\u5e7b \u5f15\u64ce \u76f8\u5173 \u6559\u7a0b   Blender   \u624b\u518c   \u2014   \u4e09\u7ef4 \u5efa\u6a21 \u8f6f\u4ef6   \u6587\u4ef6 \u8bf4\u660e   \u2014   \u8bf4\u660e \u4ee3\u7801 \u6e90\u4ee3\u7801 \u4e2d \u5404\u4e2a \u6587\u4ef6 \u7684 \u4f5c\u7528   \u5f85 \u505a \u5217\u8868   \u2014   \u5f85 \u5b8c\u6210 \u7684 \u529f\u80fd   \u53c2\u8003   Python   API   \u53c2\u8003   \u2014   Python   API   \u4e2d \u7684 \u7c7b \u548c \u65b9\u6cd5   C++   \u53c2\u8003   \u2014   Carla   C++   \u4e2d \u7684 \u7c7b \u548c \u65b9\u6cd5   \u8d44\u6e90 \u76ee\u5f55   \u2014   Carla   \u4e2d \u8d44\u6e90 \u7684 \u76ee\u5f55 \u5217\u8868   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u2014   \u5173\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ca\u5176 \u68c0\u7d22 \u6570\u636e \u7684 \u4e00\u5207   \u84dd \u56fe\u5e93   \u2014   \u63d0\u4f9b \u7528\u4e8e \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u84dd\u56fe   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u2014   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u7684 \u8be6\u7ec6 \u8bf4\u660e   \u6269\u5c55 \u6587\u6863   \u2014   \u5176\u4ed6","title":"\u9996\u9875"},{"location":"#carla","text":"\u6b22\u8fce \u4f7f\u7528   Carla   \u6587\u6863 \u3002 \u6b64 \u4e3b\u9875 \u5305\u542b \u4e00\u4e2a \u7d22\u5f15 \uff0c \u5176\u4e2d \u7b80\u8981 \u8bf4\u660e \u4e86 \u6587\u6863 \u4e2d \u7684 \u4e0d\u540c \u90e8\u5206 \u3002 \u8fd0\u884c   \u5165\u95e8 \u793a\u4f8b   \u540e \u53ef\u4ee5 \u6309 \u81ea\u5df1 \u559c\u6b22 \u7684 \u987a\u5e8f \u968f\u610f \u9605\u8bfb \u3002","title":"Carla   \u6587\u6863"},{"location":"#_1","text":"\u4e0b\u8f7d   \u94fe\u63a5   \u4e2d \u7684   software / carla _ 0.9 . 15   \u4e2d \u7684 \u6240\u6709 \u6587\u4ef6 \u5e76 \u89e3\u538b \uff1b   \u8fd0\u884c   WindowsNoEditor   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u7684   CarlaUE4 . exe   \u542f\u52a8 \u573a\u666f \uff0c \u8fdb\u5165 \u573a\u666f \u540e \u6309   W   \u3001   S   \u3001   A   \u3001   D   \u79fb\u52a8 \u573a\u666f \u89c6\u89d2 \uff1b   \u4f7f\u7528   Python37 / python . exe   \u8fd0\u884c \u811a\u672c   generate _ traffic . py   \u548c   python   manual _ control . py   \u5728 \u573a\u666f \u4e2d \u751f\u6210 \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \u5e76 \u624b\u52a8 \u63a7\u5236 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u3002   \u6ce8\u610f   \u5982\u679c \u5bf9 \u6587\u6863 \u4e2d \u7684 \u4efb\u4f55 \u95ee\u9898 \u53ef\u4ee5 \u5728   \u672c \u6587\u6863 \u7684 \u6e90\u7801 \u4ed3\u5e93   \u4e2d \u7684   Issues   \u9875\u9762 \u8fdb\u884c \u63d0\u95ee \u6216\u8005 \u63d0\u4ea4   Pull   Request   \u76f4\u63a5 \u4fee\u6539 \u6587\u6863 \u3002","title":"\u5165\u95e8 \u793a\u4f8b"},{"location":"#_2","text":"\u4ecb\u7ecd   \u2014   \u5bf9   Carla   \u7684 \u671f\u671b   \u5feb\u901f \u542f\u52a8 \u5305 \u5b89\u88c5   \u2014   \u83b7\u53d6   Carla   \u7248\u672c   \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65   \u2014   \u5f00\u59cb \u8fdb\u884c   Carla   \u64cd\u4f5c \uff0c \u4ecb\u7ecd \u6700 \u91cd\u8981 \u7684 \u6982\u5ff5   \u6559\u7a0b   \u2014   Carla   \u8be6\u7ec6 \u6559\u7a0b   \u793a\u4f8b   \u2014   Carla   \u7ecf\u5178 \u793a\u4f8b","title":"\u7b80\u4ecb  "},{"location":"#_3","text":"\u57fa\u7840   \u2014   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fdb\u884c \u64cd\u4f5c \u548c \u901a\u4fe1 \u6240 \u9700 \u7684 \u57fa\u672c \u6982\u5ff5 \u57fa\u672c\u6982\u5ff5   \u7b2c\u4e00 \u3001   \u4e16\u754c \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   \u2014   \u7ba1\u7406 \u548c \u8bbf\u95ee \u4eff\u771f   \u7b2c\u4e8c \u3001   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe   \u2014   \u4e86\u89e3 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ee5\u53ca \u5982\u4f55 \u5904\u7406 \u5b83\u4eec   \u7b2c\u4e09 \u3001 \u5730\u56fe \u548c \u5bfc\u822a   \u2014   \u53d1\u73b0 \u4e0d\u540c \u7684 \u5730\u56fe \u4ee5\u53ca \u8f66\u8f86 \u5982\u4f55 \u79fb\u52a8   \u7b2c\u56db \u3001   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u6570\u636e   \u2014   \u4f7f\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u7d22 \u4eff\u771f \u6570\u636e   \u5f00\u53d1   \u2014   \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u529f\u80fd \u6216 \u5185\u5bb9   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8d44\u4ea7   \u2014   Carla   \u4e2d \u8d44\u4ea7 \u7684 \u7684 \u5f00\u53d1   \u5185\u5bb9 \u521b\u4f5c   -   \u5730\u56fe   \u2014   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u7684 \u521b\u4f5c   \u5185\u5bb9 \u521b\u4f5c   -   \u8f66\u8f86   \u2014   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u7684 \u521b\u4f5c","title":"\u4e3b\u9898"},{"location":"#_4","text":"\u4ea4\u901a \u4eff\u771f \u6982\u8ff0   \u2014   \u53ef \u7528\u4e8e \u4f7f\u7528 \u4ea4\u901a \u586b\u5145 \u573a\u666f \u7684 \u4e0d\u540c \u9009\u9879 \u7684 \u6982\u8ff0   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u2014   \u901a\u8fc7 \u5c06 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u6765 \u4eff\u771f \u57ce\u5e02 \u4ea4\u901a \u57ce\u5e02\u4ea4\u901a   \u548c   SUMO   \u534f\u540c \u4eff\u771f   \u2014   \u5728   Carla   \u548c   SUMO   \u4e4b\u95f4 \u8fd0\u884c \u534f\u540c \u4eff\u771f   Scenic   \u2014   \u9075\u5faa \u4f7f\u7528   Scenic   \u5e93 \u5b9a\u4e49 \u4e0d\u540c \u573a\u666f \u7684 \u793a\u4f8b","title":"\u4ea4\u901a"},{"location":"#_5","text":"\u884c\u4eba \u5bfc\u822a   \u2014   \u4f7f\u7528 \u9aa8\u9abc \u4e3a \u884c\u4eba \u8bbe\u7f6e \u52a8\u753b   \u63a7\u5236 \u884c\u4eba \u9aa8\u67b6   \u2014   \u4f7f\u7528 \u9aa8\u9abc \u4e3a \u884c\u4eba \u8bbe\u7f6e \u52a8\u753b   \u884c\u4eba \u89c6\u89c9   \u2014   \u4f7f\u7528 \u76f8\u673a \u8fdb\u884c \u4eba\u773c \u7684 \u4eff\u771f   \u751f\u6210 \u884c\u4eba \u5bfc\u822a   \u2014   \u83b7\u53d6 \u884c\u4eba \u56db\u5904 \u8d70\u52a8 \u6240 \u9700 \u7684 \u4fe1\u606f   \u884c\u4eba \u5efa\u6a21   \u2014   \u5728 \u4e09\u7ef4 \u5efa\u6a21 \u8f6f\u4ef6 \u4e2d \u5bf9 \u4eba \u8fdb\u884c \u5efa\u6a21","title":"\u884c\u4eba"},{"location":"#_6","text":"OpenDRIVE   \u72ec\u7acb \u6a21\u5f0f   \u2014   \u4f7f\u7528 \u4efb\u4f55   OpenDRIVE   \u6587\u4ef6 \u4f5c\u4e3a   Carla   \u5730\u56fe   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u2014   \u5728 \u4eff\u771f \u4e2d \u5f55\u5236 \u4e8b\u4ef6 \u5e76 \u518d\u6b21 \u64ad\u653e   \u6e32\u67d3 \u9009\u9879   \u2014   \u4ece \u8d28\u91cf \u8bbe\u7f6e \u5230 \u4e0d \u6e32\u67d3 \u6216 \u79bb\u5c4f \u6a21\u5f0f   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u2014   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93\u4e2d \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5b9e\u73b0   \u540c\u6b65 \u548c \u65f6\u95f4 \u6b65\u957f   \u2014   \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u548c \u4eff\u771f \u65f6\u95f4   Carla   \u4ee3\u7406   \u2014   \u4ee3\u7406 \u811a\u672c \u5141\u8bb8 \u5355\u4e2a \u8f66\u8f86 \u5728 \u5730\u56fe \u4e0a \u6f2b\u6e38 \u6216 \u5f00\u8f66 \u5230 \u8bbe\u5b9a \u7684 \u76ee\u7684 \u76ee\u7684\u5730   Carla   \u8bbe\u7f6e   \u2014   Carla   \u53c2\u6570 \u914d\u7f6e \u8bbe\u7f6e   Carla   \u6a21\u62df \u6a21\u62df\u5668 \u952e\u76d8 \u8f93\u5165 \u952e\u76d8\u8f93\u5165   \u2014   \u5728 \u6a21\u62df \u6a21\u62df\u5668 \u7a97\u53e3 \u4e2d \u73a9\u6e38 \u6e38\u620f \u73a9\u6e38\u620f \u65f6 \u4f7f\u7528 \u7684 \u6309\u952e \u7ed1\u5b9a   \u65e0 \u663e\u793a \u663e\u793a\u5c4f \u8fd0\u884c   Carla   \u5e76 \u9009\u62e9   GPU   \u2014   \u4f7f\u7528 \u672a \u63d2 \u5728 \u5c4f\u5e55 \u4e0a \u7684 GPU \u6765 \u6e32\u67d3   Carla   \u7684 \u684c\u9762   \u94fe\u63a5   Epic   \u7684 \u6c7d\u8f66 \u6750\u8d28   \u2014   \u4e0b\u8f7d \u6750\u8d28 \u5e76 \u5c06 \u5176 \u94fe\u63a5 \u5230 \u6211\u4eec \u7684 \u8f66\u8f86 \uff0c \u4ee5 \u83b7\u5f97 \u66f4 \u903c\u771f \u7684 \u8f66\u6f06 \u3002","title":"\u9ad8\u7ea7 \u6982\u5ff5"},{"location":"#_7","text":"Carla   \u4e2d \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u7684 \u6982\u8ff0   \u2014   \u6dfb\u52a0 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6807\u51c6 \u5c3a\u5bf8 \u5730\u56fe \u6240 \u6d89\u53ca \u7684 \u8fc7\u7a0b \u548c \u9009\u9879 \u7684 \u6982\u8ff0   \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5730\u56fe   \u2014   \u5982\u4f55 \u5728   RoadRunner   \u4e2d \u751f\u6210 \u6d77\u5173 \u3001 \u6807\u51c6 \u5c3a\u5bf8 \u7684 \u5730\u56fe   \u5728   Carla   \u5305 \u5bfc\u5165 \u5730\u56fe   \u5982\u4f55 \u5728   Carla   \u5305\u4e2d \u5bfc\u5165 \u5730\u56fe   \u5728   Carla   \u6e90 \u6784\u5efa \u4e2d \u5bfc\u5165 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728   Carla   \u4e2d \u5bfc\u5165 \u4ece\u6e90 \u6784\u5efa \u7684 \u5730\u56fe   \u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5   \u2014   \u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5   \u624b\u52a8 \u51c6\u5907 \u5730\u56fe \u5730\u56fe\u5305   \u2014   \u5982\u4f55 \u51c6\u5907 \u5730\u56fe \u4ee5\u4f9b \u624b\u52a8 \u5bfc\u5165   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5206\u5c42 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u4e2d \u521b\u5efa \u5b50 \u56fe\u5c42   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u548c \u6807\u5fd7   \u2014   \u5982\u4f55 \u5c06 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u548c \u6807\u5fd7 \u6dfb\u52a0 \u5230 \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u9053\u8def \u753b\u5bb6   \u2014   \u5982\u4f55 \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u6539\u53d8 \u9053\u8def \u7684 \u5916\u89c2   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5929\u6c14 \u548c \u666f\u89c2   \u2014   \u4e3a \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u521b\u5efa \u5929\u6c14 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u5e76 \u586b\u5145 \u666f\u89c2   \u4f7f\u7528   OpenStreetMap   \u751f\u6210 \u5730\u56fe   \u2014   \u4f7f\u7528   OpenStreetMap   \u751f\u6210 \u7528\u4e8e \u4eff\u771f \u7684 \u5730\u56fe   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u7a0b\u5e8f \u5efa\u7b51   \u2014   \u7528 \u5efa\u7b51 \u5efa\u7b51\u7269 \u586b\u5145 \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177   \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u751f\u6210 \u865a\u62df \u4e09\u7ef4 \u5efa\u7b51 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u7b80\u5355 \u7684 \u754c\u9762 \u5bf9 \u5176 \u5c3a\u5bf8 \u548c \u88c5\u9970 \u98ce\u683c \u8fdb\u884c \u8c03\u5236 \uff0c \u4ee5 \u521b\u5efa \u8fd1\u4e4e \u65e0\u9650 \u7684 \u53d8\u5316   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177   \u2014   \u901a\u8fc7   OpenStreetMap   \u81ea\u52a8 \u751f\u6210   Carla   \u4e2d \u7684 \u9053\u8def \u548c \u5efa\u7b51   \u5927 \u5730\u56fe \u6982\u8ff0   \u2014   Carla   \u4e2d \u5927 \u5730\u56fe \u5de5\u4f5c \u539f\u7406 \u7684 \u8bf4\u660e   \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5927 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5927 \u5730\u56fe   \u5bfc\u5165 / \u6253\u5305 \u5927 \u5730\u56fe   \u2014   \u5982\u4f55 \u5bfc\u5165 \u5927 \u5730\u56fe","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe"},{"location":"#_8","text":"\u6dfb\u52a0 \u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668   \u2014   \u5b9a\u4e49 \u8f66\u8f6e \u7684 \u52a8\u6001 \u6846 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668   \u63a7\u5236 \u8f66\u8f86 \u7269\u7406 \u6a21\u578b   \u2014   \u8bbe\u7f6e \u8f66\u8f86 \u7269\u7406 \u7684 \u8fd0\u884c \u65f6 \u7684 \u53d8\u5316   \u68c0\u7d22 \u4eff\u771f \u6570\u636e   \u2014   \u4f7f\u7528 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6b63\u786e \u6536\u96c6 \u6570\u636e \u7684 \u5206\u6b65 \u6307\u5357   \u5728   Docker   \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u2014   \u5728   Docker   \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u6dfb\u52a0 \u65b0 \u8f66\u8f86   \u2014   \u51c6\u5907 \u8981 \u5728   Carla   \u4e2d \u4f7f\u7528 \u7684 \u8f66\u8f86   \u6dfb\u52a0 \u65b0 \u9053\u5177   \u2014   \u5c06 \u5176\u4ed6 \u9053\u5177 \u5bfc\u5165   Carla   \u521b\u5efa \u72ec\u7acb \u5305   \u2014   \u4e3a \u8d44\u4ea7 \u751f\u6210 \u548c \u5904\u7406 \u72ec\u7acb \u5305   \u6750\u6599 \u5b9a\u5236   \u2014   \u7f16\u8f91 \u8f66\u8f86 \u548c \u5efa\u7b51 \u6750\u6599 \u5efa\u7b51\u6750\u6599   \u5982\u4f55 \u5347\u7ea7 \u5185\u5bb9   \u2014   \u5411   Carla   \u6dfb\u52a0 \u65b0 \u5185\u5bb9   \u521b\u5efa \u4e00\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u2014   \u5f00\u53d1 \u4e00\u4e2a \u7528\u4e8e   Carla   \u7684 \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u521b\u5efa \u8bed\u4e49 \u6807\u7b7e   \u2014   \u4e3a \u8bed\u4e49 \u5206\u5272 \u5b9a\u4e49 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6807\u7b7e   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u60ac\u67b6   \u2014   \u4fee\u6539 \u8f66\u8f86 \u7684 \u60ac\u67b6 \u7cfb\u7edf   \u751f\u6210 \u8be6\u7ec6 \u78b0\u649e   \u2014   \u4e3a \u8f66\u8f86 \u521b\u5efa \u8be6\u7ec6 \u7684 \u5bf9\u649e   \u53d1\u5e03 \u7248\u672c   \u2014   \u5982\u4f55 \u53d1\u5e03   Carla   \u8c03\u8bd5 \u7a0b\u5e8f \u8c03\u8bd5\u7a0b\u5e8f   \u2014   \u8fdb\u884c \u7a0b\u5e8f \u7684 \u8c03\u8bd5","title":"\u81ea\u5b9a\u4e49 \u5f00\u53d1"},{"location":"#_9","text":"\u9a7e\u9a76 \u57fa\u51c6   \u2014   \u7528\u4e8e \u8bc4\u4f30 \u9a7e\u9a76 \u63a7\u5236 \u63a7\u5236\u5668 \uff08 \u4ee3\u7406 \uff09 \u5e76 \u83b7\u53d6 \u6709\u5173 \u5176 \u6027\u80fd \u7684 \u6307\u6807   \u57fa\u51c6 \u6027\u80fd   \u2014   \u5206\u6790   Carla   \u5728 \u81ea\u5df1 \u7684 \u73af\u5883 \u4e2d \u7684 \u6027\u80fd   \u9a7e\u9a76 \u57fa\u51c6 \u7ed3\u6784   \u2014   \u9a7e\u9a76 \u57fa\u51c6 \u6a21\u5757 \u7684 \u603b\u4f53 \u7ed3\u6784   \u6d4b\u8bd5 \u4ee3\u7406   \u2014   \u5bf9 \u4f60 \u7684 \u4ee3\u7406 \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5   \u8ba1\u7b97 \u7684 \u57fa\u51c6 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807   \u2014   \u7528\u4e8e \u6839\u636e \u4ee3\u7406 \u5728 \u57fa\u51c6 \u6d4b\u8bd5 \u671f\u95f4 \u6267\u884c \u7684 \u64cd\u4f5c \u8ba1\u7b97 \u7ed3\u679c \u8ba1\u7b97\u7ed3\u679c \u6458\u8981","title":"\u57fa\u51c6 \u6d4b\u8bd5"},{"location":"#_10","text":"ISS   \u667a\u80fd \u9a7e\u9a76 \u7cfb\u7edf   \u2014   \u5305\u542b \u7528\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u76f8\u5173 \u4efb\u52a1 \u7684 \u4f20\u7edf \u548c \u6df1\u5ea6 \u5b66\u4e60 \u7b97\u6cd5   \u4ea4\u901a \u573a\u666f   \u2014   \u57fa\u4e8e   Carla   \u4ea4\u901a \u573a\u666f \u5b9a\u4e49 \u548c \u6267\u884c \u5f15\u64ce   Web   \u53ef\u89c6 \u53ef\u89c6\u5316 \u5668   \u2014   \u4fa6\u542c \u4eff\u771f \u5e76 \u5728 \u7f51\u7edc \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u663e\u793a \u573a\u666f \u548c \u4e00\u4e9b \u4eff\u771f \u6570\u636e \u7684 \u63d2\u4ef6   ROS   \u2014   \u673a\u5668 \u673a\u5668\u4eba \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u7684 \u7b80\u8981 \u6982\u8ff0 \u548c \u5b8c\u6574 \u6587\u6863 \u7684 \u94fe\u63a5   \u6709\u9650 \u6709\u9650\u5143 \u53d8\u5f62 \u6750\u6599 \u865a\u5e7b \u63d2\u4ef6   \u2014   \u7528   \u6709\u9650 \u5143\u6cd5 \u6709\u9650\u5143 \u6709\u9650\u5143\u6cd5 \u7528\u4e8e \u53d8\u5f62 \u6750\u6599 \u7269\u7406 \u7684 \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b   CPU   \u5e93   CarSim   \u96c6\u6210   \u2014   \u5173\u4e8e \u5982\u4f55 \u4f7f\u7528   CarSim   \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u5f15\u64ce \u8fd0\u884c \u4eff\u771f \u7684 \u6559\u7a0b   RLlib   \u96c6\u6210   \u2014   \u4e86\u89e3 \u5982\u4f55 \u4f7f\u7528   RLlib   \u5e93 \u8fd0\u884c \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c   Chrono   \u96c6\u6210   \u2014   \u4f7f\u7528   Chrono   \u79ef\u5206 \u6765 \u4eff\u771f \u7269\u7406   OpenRadios   \u6709\u9650 \u6709\u9650\u5143 \u4eff\u771f   \u2014   \u9488\u5bf9 \u52a8\u6001 \u8d1f\u8f7d \u4e0b \u7684 \u9ad8\u5ea6 \u7ebf\u6027 \u975e\u7ebf\u6027 \u95ee\u9898 \u8bc4\u4f30 \u548c \u4f18\u5316 \u4ea7\u54c1 \u6027\u80fd   PTV - Vissim   \u8054\u5408 \u4eff\u771f   \u2014   \u5728   Carla   \u548c   PTV - Vissim   \u4e4b\u95f4 \u8fd0\u884c \u534f\u540c \u4eff\u771f   Ansys   \u5b9e\u65f6 \u96f7\u8fbe \u6a21\u578b   \u2014   \u6709\u5173   Ansys   RTR   \u7f51\u7edc \u7814\u8ba8 \u7814\u8ba8\u4f1a \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f   Matlab   \u63a5\u53e3   \u4f7f\u7528   Python   \u548c   ROS   \u5728   Matlab   \u4e2d \u8c03\u7528   Python   \u7f57\u6280   G29   \u65b9\u5411 \u65b9\u5411\u76d8   \u2014   \u4f7f\u7528 \u7f57\u6280 \u65b9\u5411 \u65b9\u5411\u76d8 \u8fdb\u884c \u8f66\u8f86 \u63a7\u5236 \u548c \u4eff\u771f \u5bf9 \u65b9\u5411 \u65b9\u5411\u76d8 \u7684 \u53cd\u5411 \u63a7\u5236   OpenSCENARIO   \u64ad\u653e \u64ad\u653e\u5668   \u2014   \u57fa\u672c \u7684   OpenSCENARIO   \u64ad\u653e \u64ad\u653e\u5668   \u5730\u7406 \u7a7a\u95f4 \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf   \u2014   \u5c06   3D   \u5730\u7406 \u7a7a\u95f4 \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf \u5f15\u5165 \u865a\u5e7b \u5f15\u64ce","title":"\u751f\u6001\u7cfb\u7edf"},{"location":"#_11","text":"\u6784\u5efa   Carla   \u2014   \u8fdb\u884c   Carla   \u7f16\u8bd1   Linux   \u4e0a \u7f16\u8bd1   \u2014   \u5728   Linux   \u4e0a \u8fdb\u884c \u7f16\u8bd1   Windows   \u4e0a \u7f16\u8bd1   \u2014   \u5728   Windows   \u4e0a \u8fdb\u884c \u6784\u5efa   Carla   \u66f4\u65b0   \u2014   \u4e86\u89e3 \u6700\u65b0 \u5185\u5bb9   \u6784\u5efa \u7cfb\u7edf   \u2014   \u4e86\u89e3 \u6784\u5efa \u53ca\u5176 \u5236\u4f5c \u65b9\u5f0f   Docker   \u4e2d \u7684   Carla   \u2014   \u4f7f\u7528 \u5bb9\u5668 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8fd0\u884c   Carla   \u5e38\u89c1 \u95ee\u9898 \u5e38\u89c1\u95ee\u9898   \u2014   \u4e00\u4e9b \u6700 \u5e38\u89c1 \u7684 \u5b89\u88c5 \u95ee\u9898","title":"\u6e90\u4ee3\u7801 \u7f16\u8bd1"},{"location":"#_12","text":"\u8d21\u732e \u6307\u5357   \u2014   \u4e3a   Carla   \u505a\u51fa \u8d21\u732e \u7684 \u4e0d\u540c \u65b9\u5f0f   \u884c\u4e3a \u4e3a\u51c6 \u51c6\u5219 \u884c\u4e3a\u51c6\u5219   \u2014   \u8d21\u732e \u8d21\u732e\u8005 \u7684 \u6807\u51c6 \u6743\u5229 \u548c \u4e49\u52a1   \u7f16\u7801 \u6807\u51c6 \u7f16\u7801\u6807\u51c6   \u2014   \u7f16\u5199 \u6b63\u786e \u4ee3\u7801 \u7684 \u6307\u5357   \u6587\u6863 \u6807\u51c6   \u2014   \u7f16\u5199 \u9002\u5f53 \u6587\u6863 \u7684 \u6307\u5357","title":"\u8d21\u732e"},{"location":"#_13","text":"RoadRunner   \u2014   \u7528\u4e8e \u6784\u5efa \u9759\u6001 \u573a\u666f   RoadRunner   Scenario   \u2014   \u7528\u4e8e \u6784\u5efa \u52a8\u6001 \u4ea4\u901a \u573a\u666f   Carla   \u4e2d\u6587 \u7ad9   \u2014   \u4e2d\u6587 \u4ea4\u6d41 \u793e\u533a   \u865a\u5e7b \u5f15\u64ce   \u2014   \u865a\u5e7b \u5f15\u64ce \u76f8\u5173 \u6559\u7a0b   Blender   \u624b\u518c   \u2014   \u4e09\u7ef4 \u5efa\u6a21 \u8f6f\u4ef6   \u6587\u4ef6 \u8bf4\u660e   \u2014   \u8bf4\u660e \u4ee3\u7801 \u6e90\u4ee3\u7801 \u4e2d \u5404\u4e2a \u6587\u4ef6 \u7684 \u4f5c\u7528   \u5f85 \u505a \u5217\u8868   \u2014   \u5f85 \u5b8c\u6210 \u7684 \u529f\u80fd","title":"\u5176\u4ed6"},{"location":"#_14","text":"Python   API   \u53c2\u8003   \u2014   Python   API   \u4e2d \u7684 \u7c7b \u548c \u65b9\u6cd5   C++   \u53c2\u8003   \u2014   Carla   C++   \u4e2d \u7684 \u7c7b \u548c \u65b9\u6cd5   \u8d44\u6e90 \u76ee\u5f55   \u2014   Carla   \u4e2d \u8d44\u6e90 \u7684 \u76ee\u5f55 \u5217\u8868   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u2014   \u5173\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ca\u5176 \u68c0\u7d22 \u6570\u636e \u7684 \u4e00\u5207   \u84dd \u56fe\u5e93   \u2014   \u63d0\u4f9b \u7528\u4e8e \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u84dd\u56fe   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u2014   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u7684 \u8be6\u7ec6 \u8bf4\u660e   \u6269\u5c55 \u6587\u6863   \u2014   \u5176\u4ed6","title":"\u53c2\u8003"},{"location":"CarlaUE4/","text":"CarlaUE4   \u76ee\u5f55 \u4f9d\u8d56 \u4f9d\u8d56\u56fe \uff1a","title":"CarlaUE4"},{"location":"CarlaUE4/#carlaue4","text":"\u76ee\u5f55 \u4f9d\u8d56 \u4f9d\u8d56\u56fe \uff1a","title":"CarlaUE4"},{"location":"adv_agents/","text":"Carla   \u4ee3\u7406   Carla   \u4ee3\u7406 \u811a\u672c \u5141\u8bb8 \u8f66\u8f86 \u6cbf\u7740 \u968f\u673a \u7684 \u3001 \u65e0\u9650 \u7684 \u8def\u7ebf \u884c\u9a76 \uff0c \u6216\u8005 \u91c7\u7528 \u6700\u77ed \u7684 \u8def\u7ebf \u5230\u8fbe \u7ed9\u5b9a \u7684 \u76ee\u7684 \u76ee\u7684\u5730 \u3002 \u4ee3\u7406 \u9075\u5b88 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5e76 \u5bf9 \u9053\u8def \u4e0a \u7684 \u5176\u4ed6 \u969c\u788d \u969c\u788d\u7269 \u505a\u51fa \u53cd\u5e94 \u3002 \u63d0\u4f9b \u4e09\u79cd \u4ee3\u7406 \u7c7b\u578b \u3002 \u53ef\u4ee5 \u4fee\u6539 \u76ee\u6807 \u901f\u5ea6 \u3001 \u5236\u52a8 \u8ddd\u79bb \u3001 \u5c3e\u968f \u884c\u4e3a \u7b49 \u53c2\u6570 \u3002 \u53ef\u4ee5 \u6839\u636e \u7528\u6237 \u7684 \u9700\u8981 \u4fee\u6539 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7c7b \u6216 \u5c06 \u5176 \u7528\u4f5c \u57fa\u7c7b \u6765 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4ee3\u7406 \u3002   \u4ee3\u7406 \u811a\u672c \u6982\u8ff0   \u89c4\u5212 \u4e0e \u63a7\u5236   \u4ee3\u7406 \u884c\u4e3a   \u5b9e\u73b0 \u4e00\u4e2a \u4ee3\u7406   \u884c\u4e3a \u7c7b\u578b   \u521b\u5efa \u81ea\u5df1 \u7684 \u884c\u4e3a \u7c7b\u578b   \u521b\u5efa \u4ee3\u7406   \u4ee3\u7406 \u811a\u672c \u6982\u8ff0   Carla   \u4ee3\u7406 \u4e2d \u6d89\u53ca \u7684 \u4e3b\u8981 \u811a\u672c \u4f4d\u4e8e   PythonAPI / carla / agents / navigation   \u4e2d \u3002 \u5b83\u4eec \u5206\u4e3a \u4e24\u7c7b \uff1b   \u89c4\u5212 \u548c \u63a7\u5236   \u548c   \u4ee3\u7406 \u884c\u4e3a   \u3002   \u89c4\u5212 \u4e0e \u63a7\u5236   controller . py   :   \u5c06 \u7eb5\u5411 \u548c \u6a2a\u5411   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7ec4\u5408 \u5408\u6210 \u7ec4\u5408\u6210 \u4e00\u4e2a \u7c7b \uff0c   VehiclePIDController   \uff0c \u7528\u4e8e \u4ece   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u4f4e\u7ea7 \u63a7\u5236 \u3002   global _ route _ planner . py   :   \u4ece   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u83b7\u53d6 \u8be6\u7ec6 \u7684 \u62d3\u6251 \u7ed3\u6784 \u4ee5 \u6784\u5efa \u4e16\u754c \u5730\u56fe \u4e16\u754c\u5730\u56fe \u7684 \u56fe\u5f62 \u8868\u793a \uff0c \u4e3a   Local   Planner   \u63d0\u4f9b \u8def\u5f84 \u70b9 \u548c \u9053\u8def \u9009\u9879 \u4fe1\u606f \u3002   local _ planner . py   :   \u6839\u636e \u6765\u81ea   VehiclePIDController   \u7684 \u63a7\u5236 \u8f93\u5165 \u8ddf\u8e2a \u8def\u5f84 \u70b9 \u3002 \u8def\u5f84 \u70b9 \u53ef\u4ee5 \u7531   Global   Route   Planner   \u63d0\u4f9b \uff0c \u4e5f \u53ef\u4ee5 \u52a8\u6001 \u8ba1\u7b97 \uff0c \u5728 \u8def\u53e3 \u9009\u62e9 \u968f\u673a \u8def\u5f84 \uff0c \u7c7b\u4f3c \u4e8e   Traffic   Manager   \u3002   \u4ee3\u7406 \u884c\u4e3a   basic _ agent . py   :   \u5305\u542b \u4e00\u4e2a \u4ee3\u7406 \u57fa\u7c7b \uff0c \u5b83 \u5b9e\u73b0 \u4e86 \u4e00\u4e2a   Basic   Agent   \uff0c \u5b83 \u5728 \u5730\u56fe \u4e0a \u6f2b\u6e38 \u6216 \u4ee5 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u77ed \u7684 \u8ddd\u79bb \u5230\u8fbe \u76ee\u6807 \u76ee\u7684 \u76ee\u7684\u5730 \uff0c \u907f\u5f00 \u5176\u4ed6 \u8f66\u8f86 \uff0c \u54cd\u5e94 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u4f46 \u5ffd\u7565 \u505c\u8f66 \u6807\u5fd7 \u3002   behavior _ agent . py   :   \u5305\u542b \u4e00\u4e2a \u5b9e\u73b0 \u66f4 \u590d\u6742 \u7684   Behavior   Agent   \u7684 \u7c7b \uff0c \u5b83 \u53ef\u4ee5 \u5728 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u77ed \u7684 \u8ddd\u79bb \u5185 \u5230\u8fbe \u76ee\u6807 \u76ee\u7684 \u76ee\u7684\u5730 \uff0c \u8ddf\u968f \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3001 \u6807\u5fd7 \u548c \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \uff0c \u540c\u65f6 \u5c3e\u968f \u5176\u4ed6 \u8f66\u8f86 \u3002 \u6709 \u4e09\u79cd \u9884\u5b9a \u4e49 \u7684 \u7c7b\u578b \u51b3\u5b9a \u4e86 \u4ee3\u7406 \u7684 \u884c\u4e3a \u65b9\u5f0f \u3002   behavior _ types . py   :   \u5305\u542b \u5f71\u54cd   Behavior   Agent   \u7684 \u884c\u4e3a \u7c7b\u578b \u7684 \u53c2\u6570 \uff1b \u8c28\u614e \u3001 \u6b63\u5e38 \u548c \u91ce\u86ee \u3002   \u5b9e\u73b0 \u4e00\u4e2a \u4ee3\u7406   \u672c\u8282 \u5c06 \u89e3\u91ca \u5982\u4f55 \u5728 \u60a8 \u81ea\u5df1 \u7684 \u811a\u672c \u4e2d \u4f7f\u7528 \u793a\u4f8b   Carla   \u4ee3\u7406 \u7c7b \u3002 \u5728 \u672c\u8282 \u7684 \u6700\u540e \uff0c \u60a8 \u5c06 \u4e86\u89e3 \u5982\u4f55 \u8fd0\u884c \u4e00\u4e2a \u793a\u4f8b \u811a\u672c \u6765 \u663e\u793a \u4e0d\u540c \u4ee3\u7406 \u7684 \u8fd0\u884c \u60c5\u51b5 \u3002   1 .   \u5bfc\u5165 \u8981 \u4f7f\u7528 \u7684 \u4ee3\u7406 \u7c7b \uff1a   #   \u5bfc\u5165 \u57fa\u672c \u4ee3\u7406   from   agent . navigation . basic _ agent   import   BasicAgent   #   \u5bfc\u5165 \u884c\u4e3a \u4ee3\u7406   from   agent . navigation . behavior _ agent   import   BehaviorAgent   2   .   \u4efb\u4f55 \u8f66\u8f86 \u90fd \u53ef\u4ee5 \u53d8\u6210 \u4ee3\u7406 \u3002   \u751f\u6210 \u8f66\u8f86   \u5e76 \u5c06 \u5176 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9 \u4ee3\u7406 \u7c7b\u4ee5 \u5b9e\u4f8b \u5316\u5b83 \uff1a   #   \u542f\u52a8 \u4e00\u4e2a \u57fa\u672c \u4ee3\u7406   agent   =   BasicAgent ( vehicle )   #   \u542f\u52a8 \u5177\u6709 \u653b\u51fb \u653b\u51fb\u6027 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u7684 \u884c\u4e3a \u4ee3\u7406   agent   =   BehaviorAgent ( vehicle ,   behavior = ' aggressive ' )   \u5728   behavior   types   \u90e8\u5206 \u4e2d \u9605\u8bfb \u6709\u5173 \u884c\u4e3a \u7c7b\u578b \u4ee5\u53ca \u5982\u4f55 \u914d\u7f6e \u60a8 \u81ea\u5df1 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   3 .   \u60a8 \u53ef\u4ee5 \u8bbe\u7f6e \u4ee3\u7406 \u524d\u5f80 \u7684 \u76ee\u7684 \u76ee\u7684\u5730 \u3002 \u5982\u679c \u60a8 \u4e0d \u4e3a \u4ee3\u7406 \u8bbe\u7f6e \u76ee\u7684 \u76ee\u7684\u5730 \uff0c \u5b83 \u5c06 \u5728 \u5730\u56fe \u4e0a \u65e0\u4f11 \u4f11\u6b62 \u65e0\u4f11\u6b62 \u5730 \u6f2b\u6e38 \u3002 \u8981 \u8bbe\u7f6e \u76ee\u7684 \u76ee\u7684\u5730 \uff0c \u8bf7 \u4e3a \u4ee3\u7406 \u63d0\u4f9b   \u4f4d\u7f6e   \uff1a   destination   =   random . choice ( spawn _ points ) . location   agent . set _ destination ( destination )   5 .   \u5728 \u5bfc\u822a \u6b65\u9aa4 \u671f\u95f4 \u5e94\u7528 \u8f66\u8f86 \u63a7\u5236 \u548c \u884c\u4e3a \u3002 \u5728 \u6bcf\u4e2a \u6b65\u9aa4 \u4e2d \uff0c   Basic   Agent   \u5c06 \u5e94\u7528 \u8f66\u8f86 \u63a7\u5236 \u5e76 \u901a\u8fc7 \u6267\u884c \u7d27\u6025 \u505c\u6b62 \u6765 \u5bf9 \u4efb\u4f55 \u8f66\u8f86 \u6216 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u505a\u51fa \u53cd\u5e94 \u3002   Behavior   Agent   \u5c06 \u6839\u636e \u60a8 \u5e94\u7528 \u7684 \u884c\u4e3a \u7c7b\u578b \u5bf9 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u505a\u51fa \u53cd\u5e94 \u3001 \u907f\u5f00 \u884c\u4eba \u3001 \u8ddf\u968f \u6c7d\u8f66 \u5e76 \u5728 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u5bfc\u822a \uff1a   while   True \uff1a   vehicle . apply _ control ( agent . run _ step ( ) )   6 .   \u60a8 \u53ef\u4ee5 \u68c0\u67e5 \u4ee3\u7406 \u662f\u5426 \u5df2 \u5b8c\u6210 \u5176 \u8f68\u8ff9 \u5e76 \u5728 \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \u65f6 \u6267\u884c \u64cd\u4f5c \u3002 \u4e00\u65e6 \u60a8 \u7684 \u8f66\u8f86 \u5230\u8fbe \u76ee\u7684 \u76ee\u7684\u5730 \uff0c \u4ee5\u4e0b \u4ee3\u7801 \u4ee3\u7801\u6bb5 \u5c06 \u7ed3\u675f \u4eff\u771f \uff1a   while   True \uff1a   if   agent . done \uff08 \uff09 \uff1a   print ( \" The   taerget   has   been   reached ,   stopping   the   simulation \" )   break   vehicle . apply _ control ( agent . run _ step ( ) )   7 .   \u4e0d\u662f \u5728 \u4ee3\u7406 \u5230\u8fbe \u5176 \u76ee\u6807 \u76ee\u7684 \u76ee\u7684\u5730 \u65f6 \u5b8c\u6210 \u4eff\u771f \uff0c \u800c\u662f \u53ef\u4ee5 \u751f\u6210 \u4e00\u6761 \u65b0 \u7684 \u968f\u673a \u8def\u7ebf \u4f9b \u4ee3\u7406 \u9075\u5faa \uff1a   while   True \uff1a   if   agent . done ( ) :   agent . set _ destination ( random . choice ( spawn _ points ) . location )   print ( \" The   target   has   been   reached ,   searching   for   another   target \" )   vehicle . apply _ control ( agent . run _ step ( ) )   Basic   Agent   \u63d0\u4f9b \u4e86 \u4e00\u4e9b \u65b9\u6cd5 \u6765 \u64cd\u7eb5 \u4ee3\u7406 \u884c\u4e3a \u6216 \u9075\u5faa \u7684 \u7a0b\u5e8f \u8def\u7ebf \uff1a   set _ target _ speed ( speed )   :   \u4ee5 \u516c\u91cc / \u5c0f\u65f6 \u4e3a \u5355\u4f4d \u8bbe\u7f6e \u76ee\u6807 \u901f\u5ea6   follow _ speed _ limits ( value = True )   :   \u8bbe\u7f6e \u4ee3\u7406 \u9075\u5faa \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u3002   set _ destination ( end _ location ,   start _ location = None )   :   \u4ee3\u7406 \u5c06 \u901a\u8fc7 \u53ef\u80fd \u7684 \u6700 \u77ed\u8def \u8def\u7ebf \u77ed\u8def\u7ebf \u4ece \u7279\u5b9a \u7684 \u8d77\u59cb \u4f4d\u7f6e \u5230 \u7ed3\u675f \u4f4d\u7f6e \u3002 \u5982\u679c \u6ca1\u6709 \u63d0\u4f9b \u8d77\u59cb \u4f4d\u7f6e \uff0c \u5b83 \u5c06 \u4f7f\u7528 \u5f53\u524d \u4ee3\u7406 \u4f4d\u7f6e \u3002   set _ global _ plan ( plan ,   stop _ waypoint _ creation = True ,   clean _ queue = True )   :   \u4e3a \u4ee3\u7406 \u6dfb\u52a0 \u4e00\u4e2a \u5177\u4f53 \u7684 \u8ba1\u5212 \u3002 \u8ba1\u5212 \u53c2\u6570 \u5e94 \u5305\u542b \u4e00\u4e2a   [ carla . Waypoint ,   RoadOption ]   \u5217\u8868 \uff0c \u8fd9 \u5c06 \u662f \u4ee3\u7406 \u9700\u8981 \u91c7\u53d6 \u7684 \u8def\u5f84 \u3002   stop _ waypoint _ creation   \u5c06 \u9632\u6b62 \u5728 \u8def\u5f84 \u8fd0\u884c \u540e \u81ea\u52a8 \u521b\u5efa \u8def\u5f84 \u70b9 \u3002   clean _ queue   \u5c06 \u91cd\u7f6e \u4ee3\u7406 \u7684 \u5f53\u524d \u8ba1\u5212 \u3002   trace _ route ( start _ waypoint ,   end _ waypoint )   :   \u4ece   Global   Route   Planner   \u83b7\u53d6 \u4e24\u4e2a \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u6700 \u77ed\u8ddd \u8ddd\u79bb \u77ed\u8ddd\u79bb \uff0c \u5e76 \u5c06 \u8def\u5f84 \u4f5c\u4e3a   [ carla . Waypoint ,   RoadOption ]   \u5217\u8868 \u8fd4\u56de \uff0c \u4f9b \u4ee3\u7406 \u9075\u5faa \u3002   ignore _ traffic _ lights ( active = True )   :   \u8bbe\u7f6e \u4ee3\u7406 \u5ffd\u7565 \u6216 \u670d\u4ece \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002   ignore _ stop _ signs ( active = True )   :   \u8bbe\u7f6e \u4ee3\u7406 \u5ffd\u7565 \u6216 \u670d\u4ece \u505c\u8f66 \u6807\u5fd7 \u3002   ignore _ vehicles ( active = True )   :   \u8bbe\u7f6e \u4ee3\u7406 \u5ffd\u7565 \u6216 \u5bf9 \u5176\u4ed6 \u8f66\u8f86 \u4f5c\u51fa \u53cd\u5e94 \u4f5c\u51fa\u53cd\u5e94 \u3002   \u5728   PythonAPI / examples   \u4e2d \u627e\u5230 \u7684   automatic _ control . py   \u811a\u672c \u662f \u57fa\u672c \u548c \u884c\u4e3a \u4ee3\u7406 \u7684 \u4e00\u4e2a \u793a\u4f8b \u3002 \u8981 \u5c1d\u8bd5 \u8be5 \u811a\u672c \uff0c \u8bf7 \u5bfc\u822a \u5230 \u793a\u4f8b \u76ee\u5f55 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   \u4f7f\u7528 \u57fa\u672c \u4ee3\u7406 \u8fd0\u884c   python3   automatic _ control . py   -- agent = Basic   #   \u4f7f\u7528 \u884c\u4e3a \u4ee3\u7406 \u8fd0\u884c   python3   automatic _ control . py   -- agent = Behavior   -- behavior = aggressive   \u884c\u4e3a \u7c7b\u578b   \u884c\u4e3a \u4ee3\u7406 \u7684 \u884c\u4e3a \u7c7b\u578b \u5728   behavior _ types . py   \u4e2d \u5b9a\u4e49 \u3002 \u4e09\u4e2a \u9884 \u914d\u7f6e \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u662f   ' cautious '   \u3001   ' normal '   \u548c   ' aggressive '   \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u8bbe\u7f6e \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3001 \u4fee\u6539 \u5b83\u4eec \u6216 \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3002 \u53ef\u4ee5 \u8c03\u6574 \u4ee5\u4e0b \u53d8\u91cf \uff1a   max _ speed   \uff1a \u60a8 \u7684 \u8f66\u8f86 \u80fd\u591f \u8fbe\u5230 \u7684 \u6700\u9ad8 \u901f\u5ea6 \uff08 \u4ee5 \u516c\u91cc / \u5c0f\u65f6 \u4e3a \u5355\u4f4d \uff09 \u3002   speed _ lim _ dist   \uff1a \u4ee5   \u5343\u7c73 / \u5c0f\u65f6   \u4e3a \u5355\u4f4d \u7684 \u503c \uff0c \u7528\u4e8e \u5b9a\u4e49 \u8f66\u8f86 \u7684 \u76ee\u6807 \u901f\u5ea6 \u4e0e \u5f53\u524d \u9650\u901f \u7684 \u8ddd\u79bb \uff08 \u4f8b\u5982 \uff0c \u5982\u679c \u9650\u901f \u4e3a   30   \u5343\u7c73 / \u5c0f\u65f6   \u4e14   speed _ lim _ dist   \u4e3a   10 \u5343\u7c73 / \u5c0f\u65f6 \uff0c \u5219 \u76ee\u6807 \u901f\u5ea6 \u5c06 \u662f 20 \u5343\u7c73 / \u5c0f\u65f6 \uff09 \u3002   speed _ decrease   \uff1a \u5f53 \u63a5\u8fd1 \u524d\u65b9 \u8f83\u6162 \u7684 \u8f66\u8f86 \u65f6 \uff0c \u60a8 \u7684 \u8f66\u8f86 \u5c06 \u4ee5 \u591a \u5feb \u7684 \u516c\u91cc / \u5c0f\u65f6 \u51cf\u901f \u3002   safety _ time   \uff1a \u78b0\u649e \u65f6\u95f4 \uff1b \u5982\u679c \u60a8 \u7684 \u8f66\u8f86 \u7a81\u7136 \u5239\u8f66 \uff0c \u5b83 \u4e0e \u524d\u9762 \u7684 \u8f66\u8f86 \u76f8\u649e \u6240 \u9700 \u7684 \u65f6\u95f4 \u7684 \u8fd1\u4f3c \u8fd1\u4f3c\u503c \u3002   min _ proximity _ threshold   \uff1a \u5728 \u60a8 \u7684 \u8f66\u8f86 \u6267\u884c \u907f\u8ba9 \u6216 \u5c3e\u968f \u7b49 \u64cd\u4f5c \u4e4b\u524d \uff0c \u4e0e \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u6216 \u884c\u4eba \u7684 \u6700\u5c0f \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   braking _ distance   \uff1a \u60a8 \u7684 \u8f66\u8f86 \u5c06 \u6267\u884c \u7d27\u6025 \u505c\u8f66 \u7d27\u6025\u505c\u8f66 \u65f6 \u4e0e \u884c\u4eba \u6216 \u8f66\u8f86 \u7684 \u8ddd\u79bb \u3002   tailgate _ counter   \uff1a \u7528\u4e8e \u907f\u514d \u5728 \u6700\u540e \u4e00\u4e2a \u540e \u6321\u677f \u540e\u8fc7 \u5feb \u5c3e\u968f \u7684 \u8ba1\u6570 \u8ba1\u6570\u5668 \u3002   \u521b\u5efa \u81ea\u5df1 \u7684 \u884c\u4e3a \u7c7b\u578b   \u8981 \u521b\u5efa \u81ea\u5df1 \u7684 \u884c\u4e3a \u7c7b\u578b \uff1a   1 .   \u5728   behavior _ types . py   \u4e2d\u4e3a \u60a8 \u7684 \u884c\u4e3a \u7c7b\u578b \u521b\u5efa \u7c7b \uff1a   class   ProfileName ( object ) \uff1a   #   \u5b8c\u6574 \u7684 \u503c \u5b9a\u4e49   2 .   \u5728   behavior _ agent . py   \u811a\u672c \u4e2d \u5b9a\u4e49 \u548c \u5b9e\u4f8b \u5316 \u4f60 \u7684 \u884c\u4e3a \u7c7b\u578b \uff1a   #   \u4ee3\u7406 \u884c\u4e3a \u53c2\u6570   if   behavior   = =   ' cautious ' :   self ._ behavior   =   Cautious ( )   elif   behavior   = =   ' normal ' :   self ._ behavior   =   Normal ( )   elif   behavior   = =   ' aggressive ' :   self ._ behavior   =   Aggressive ( )   elif   behavior   = =   ' < type _ name > ' :   self ._ behavior   =   < TypeName > ( )   \u521b\u5efa \u4ee3\u7406   Carla   \u4ee3\u7406 \u53ea\u662f \u7528\u6237 \u53ef\u4ee5 \u8fd0\u884c \u7684 \u4ee3\u7406 \u7c7b\u578b \u7684 \u793a\u4f8b \u3002 \u7528\u6237 \u53ef\u4ee5 \u5728   Basic   Agent   \u7684 \u57fa\u7840 \u4e0a \u521b\u5efa \u81ea\u5df1 \u7684 \u4ee3\u7406 \u3002 \u53ef\u80fd \u53ef\u80fd\u6027 \u662f \u65e0\u7a77 \u65e0\u7a77\u7684 \u3002 \u6bcf\u4e2a \u4ee3\u7406 \u53ea \u9700\u8981 \u4e24\u4e2a \u5143\u7d20 \uff0c   \u521d\u59cb \u521d\u59cb\u5316   __ init __   \u548c   \u8fd0\u884c \u6b65   run _ step   \u3002   \u5728 \u4e0b\u9762 \u67e5\u627e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4ee3\u7406 \u7684 \u6700\u5c0f \u5e03\u5c40 \u793a\u4f8b \uff1a   import   carla   from   agents . navigation . basic _ agent   import   BasicAgent   class   CustomAgent ( BasicAgent ) :   def   __ init __ ( self ,   vehicle ,   target _ speed = 20 ,   debug = False ) :   \" \" \"   : param   vehicle :   \u5e94\u7528 \u5230 \u672c\u5730 \u89c4\u5212 \u5668 \u903b\u8f91 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   : param   target _ speed :   \u8f66\u8f86 \u79fb\u52a8 \u7684 \u901f\u5ea6 \uff08 Km / h \uff09   \" \" \"   super ( ) .__ init __ ( target _ speed ,   \u8c03\u8bd5 )   def   run _ step ( self ,   debug = False ) :   \" \" \"   \u6267\u884c \u4e00\u6b65 \u5bfc\u822a   : return :   carla . VehicleControl   \" \" \"   #   \u5728 \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u4e2d \u91c7\u53d6 \u7684 \u884c\u52a8   control   =   carla . VehicleControl ( )   return   control   \u67e5\u770b   basic _ agent . py   \u548c   behavior _ agent . py   \u811a\u672c \u4ee5 \u63a2\u7d22 \u5b83\u4eec \u7684 \u7ed3\u6784 \u548c \u529f\u80fd \uff0c \u4ee5 \u83b7\u53d6 \u6709\u5173 \u5982\u4f55 \u521b\u5efa \u81ea\u5df1 \u7684 \u66f4 \u591a \u60f3\u6cd5 \u3002   \u60a8 \u53ef\u4ee5 \u63a2\u7d22 \u63d0\u4f9b \u7684 \u4ee3\u7406 \u811a\u672c \u3001 \u6269\u5c55 \u5b83\u4eec \u6216 \u5c06 \u5b83\u4eec \u7528\u4f5c \u521b\u5efa \u81ea\u5df1 \u7684 \u57fa\u51c6 \u3002 \u5982\u679c \u60a8 \u5bf9 \u4ee3\u7406 \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728   \u8bba\u575b   \u53d1\u5e16 \u3002","title":"Carla   \u4ee3\u7406"},{"location":"adv_agents/#carla","text":"Carla   \u4ee3\u7406 \u811a\u672c \u5141\u8bb8 \u8f66\u8f86 \u6cbf\u7740 \u968f\u673a \u7684 \u3001 \u65e0\u9650 \u7684 \u8def\u7ebf \u884c\u9a76 \uff0c \u6216\u8005 \u91c7\u7528 \u6700\u77ed \u7684 \u8def\u7ebf \u5230\u8fbe \u7ed9\u5b9a \u7684 \u76ee\u7684 \u76ee\u7684\u5730 \u3002 \u4ee3\u7406 \u9075\u5b88 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5e76 \u5bf9 \u9053\u8def \u4e0a \u7684 \u5176\u4ed6 \u969c\u788d \u969c\u788d\u7269 \u505a\u51fa \u53cd\u5e94 \u3002 \u63d0\u4f9b \u4e09\u79cd \u4ee3\u7406 \u7c7b\u578b \u3002 \u53ef\u4ee5 \u4fee\u6539 \u76ee\u6807 \u901f\u5ea6 \u3001 \u5236\u52a8 \u8ddd\u79bb \u3001 \u5c3e\u968f \u884c\u4e3a \u7b49 \u53c2\u6570 \u3002 \u53ef\u4ee5 \u6839\u636e \u7528\u6237 \u7684 \u9700\u8981 \u4fee\u6539 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7c7b \u6216 \u5c06 \u5176 \u7528\u4f5c \u57fa\u7c7b \u6765 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4ee3\u7406 \u3002   \u4ee3\u7406 \u811a\u672c \u6982\u8ff0   \u89c4\u5212 \u4e0e \u63a7\u5236   \u4ee3\u7406 \u884c\u4e3a   \u5b9e\u73b0 \u4e00\u4e2a \u4ee3\u7406   \u884c\u4e3a \u7c7b\u578b   \u521b\u5efa \u81ea\u5df1 \u7684 \u884c\u4e3a \u7c7b\u578b   \u521b\u5efa \u4ee3\u7406","title":"Carla   \u4ee3\u7406"},{"location":"adv_agents/#_1","text":"Carla   \u4ee3\u7406 \u4e2d \u6d89\u53ca \u7684 \u4e3b\u8981 \u811a\u672c \u4f4d\u4e8e   PythonAPI / carla / agents / navigation   \u4e2d \u3002 \u5b83\u4eec \u5206\u4e3a \u4e24\u7c7b \uff1b   \u89c4\u5212 \u548c \u63a7\u5236   \u548c   \u4ee3\u7406 \u884c\u4e3a   \u3002","title":"\u4ee3\u7406 \u811a\u672c \u6982\u8ff0  "},{"location":"adv_agents/#_2","text":"controller . py   :   \u5c06 \u7eb5\u5411 \u548c \u6a2a\u5411   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7ec4\u5408 \u5408\u6210 \u7ec4\u5408\u6210 \u4e00\u4e2a \u7c7b \uff0c   VehiclePIDController   \uff0c \u7528\u4e8e \u4ece   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u4f4e\u7ea7 \u63a7\u5236 \u3002   global _ route _ planner . py   :   \u4ece   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u83b7\u53d6 \u8be6\u7ec6 \u7684 \u62d3\u6251 \u7ed3\u6784 \u4ee5 \u6784\u5efa \u4e16\u754c \u5730\u56fe \u4e16\u754c\u5730\u56fe \u7684 \u56fe\u5f62 \u8868\u793a \uff0c \u4e3a   Local   Planner   \u63d0\u4f9b \u8def\u5f84 \u70b9 \u548c \u9053\u8def \u9009\u9879 \u4fe1\u606f \u3002   local _ planner . py   :   \u6839\u636e \u6765\u81ea   VehiclePIDController   \u7684 \u63a7\u5236 \u8f93\u5165 \u8ddf\u8e2a \u8def\u5f84 \u70b9 \u3002 \u8def\u5f84 \u70b9 \u53ef\u4ee5 \u7531   Global   Route   Planner   \u63d0\u4f9b \uff0c \u4e5f \u53ef\u4ee5 \u52a8\u6001 \u8ba1\u7b97 \uff0c \u5728 \u8def\u53e3 \u9009\u62e9 \u968f\u673a \u8def\u5f84 \uff0c \u7c7b\u4f3c \u4e8e   Traffic   Manager   \u3002","title":"\u89c4\u5212 \u4e0e \u63a7\u5236  "},{"location":"adv_agents/#_3","text":"basic _ agent . py   :   \u5305\u542b \u4e00\u4e2a \u4ee3\u7406 \u57fa\u7c7b \uff0c \u5b83 \u5b9e\u73b0 \u4e86 \u4e00\u4e2a   Basic   Agent   \uff0c \u5b83 \u5728 \u5730\u56fe \u4e0a \u6f2b\u6e38 \u6216 \u4ee5 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u77ed \u7684 \u8ddd\u79bb \u5230\u8fbe \u76ee\u6807 \u76ee\u7684 \u76ee\u7684\u5730 \uff0c \u907f\u5f00 \u5176\u4ed6 \u8f66\u8f86 \uff0c \u54cd\u5e94 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u4f46 \u5ffd\u7565 \u505c\u8f66 \u6807\u5fd7 \u3002   behavior _ agent . py   :   \u5305\u542b \u4e00\u4e2a \u5b9e\u73b0 \u66f4 \u590d\u6742 \u7684   Behavior   Agent   \u7684 \u7c7b \uff0c \u5b83 \u53ef\u4ee5 \u5728 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u77ed \u7684 \u8ddd\u79bb \u5185 \u5230\u8fbe \u76ee\u6807 \u76ee\u7684 \u76ee\u7684\u5730 \uff0c \u8ddf\u968f \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3001 \u6807\u5fd7 \u548c \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \uff0c \u540c\u65f6 \u5c3e\u968f \u5176\u4ed6 \u8f66\u8f86 \u3002 \u6709 \u4e09\u79cd \u9884\u5b9a \u4e49 \u7684 \u7c7b\u578b \u51b3\u5b9a \u4e86 \u4ee3\u7406 \u7684 \u884c\u4e3a \u65b9\u5f0f \u3002   behavior _ types . py   :   \u5305\u542b \u5f71\u54cd   Behavior   Agent   \u7684 \u884c\u4e3a \u7c7b\u578b \u7684 \u53c2\u6570 \uff1b \u8c28\u614e \u3001 \u6b63\u5e38 \u548c \u91ce\u86ee \u3002","title":"\u4ee3\u7406 \u884c\u4e3a  "},{"location":"adv_agents/#_4","text":"\u672c\u8282 \u5c06 \u89e3\u91ca \u5982\u4f55 \u5728 \u60a8 \u81ea\u5df1 \u7684 \u811a\u672c \u4e2d \u4f7f\u7528 \u793a\u4f8b   Carla   \u4ee3\u7406 \u7c7b \u3002 \u5728 \u672c\u8282 \u7684 \u6700\u540e \uff0c \u60a8 \u5c06 \u4e86\u89e3 \u5982\u4f55 \u8fd0\u884c \u4e00\u4e2a \u793a\u4f8b \u811a\u672c \u6765 \u663e\u793a \u4e0d\u540c \u4ee3\u7406 \u7684 \u8fd0\u884c \u60c5\u51b5 \u3002   1 .   \u5bfc\u5165 \u8981 \u4f7f\u7528 \u7684 \u4ee3\u7406 \u7c7b \uff1a   #   \u5bfc\u5165 \u57fa\u672c \u4ee3\u7406   from   agent . navigation . basic _ agent   import   BasicAgent   #   \u5bfc\u5165 \u884c\u4e3a \u4ee3\u7406   from   agent . navigation . behavior _ agent   import   BehaviorAgent   2   .   \u4efb\u4f55 \u8f66\u8f86 \u90fd \u53ef\u4ee5 \u53d8\u6210 \u4ee3\u7406 \u3002   \u751f\u6210 \u8f66\u8f86   \u5e76 \u5c06 \u5176 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9 \u4ee3\u7406 \u7c7b\u4ee5 \u5b9e\u4f8b \u5316\u5b83 \uff1a   #   \u542f\u52a8 \u4e00\u4e2a \u57fa\u672c \u4ee3\u7406   agent   =   BasicAgent ( vehicle )   #   \u542f\u52a8 \u5177\u6709 \u653b\u51fb \u653b\u51fb\u6027 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u7684 \u884c\u4e3a \u4ee3\u7406   agent   =   BehaviorAgent ( vehicle ,   behavior = ' aggressive ' )   \u5728   behavior   types   \u90e8\u5206 \u4e2d \u9605\u8bfb \u6709\u5173 \u884c\u4e3a \u7c7b\u578b \u4ee5\u53ca \u5982\u4f55 \u914d\u7f6e \u60a8 \u81ea\u5df1 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   3 .   \u60a8 \u53ef\u4ee5 \u8bbe\u7f6e \u4ee3\u7406 \u524d\u5f80 \u7684 \u76ee\u7684 \u76ee\u7684\u5730 \u3002 \u5982\u679c \u60a8 \u4e0d \u4e3a \u4ee3\u7406 \u8bbe\u7f6e \u76ee\u7684 \u76ee\u7684\u5730 \uff0c \u5b83 \u5c06 \u5728 \u5730\u56fe \u4e0a \u65e0\u4f11 \u4f11\u6b62 \u65e0\u4f11\u6b62 \u5730 \u6f2b\u6e38 \u3002 \u8981 \u8bbe\u7f6e \u76ee\u7684 \u76ee\u7684\u5730 \uff0c \u8bf7 \u4e3a \u4ee3\u7406 \u63d0\u4f9b   \u4f4d\u7f6e   \uff1a   destination   =   random . choice ( spawn _ points ) . location   agent . set _ destination ( destination )   5 .   \u5728 \u5bfc\u822a \u6b65\u9aa4 \u671f\u95f4 \u5e94\u7528 \u8f66\u8f86 \u63a7\u5236 \u548c \u884c\u4e3a \u3002 \u5728 \u6bcf\u4e2a \u6b65\u9aa4 \u4e2d \uff0c   Basic   Agent   \u5c06 \u5e94\u7528 \u8f66\u8f86 \u63a7\u5236 \u5e76 \u901a\u8fc7 \u6267\u884c \u7d27\u6025 \u505c\u6b62 \u6765 \u5bf9 \u4efb\u4f55 \u8f66\u8f86 \u6216 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u505a\u51fa \u53cd\u5e94 \u3002   Behavior   Agent   \u5c06 \u6839\u636e \u60a8 \u5e94\u7528 \u7684 \u884c\u4e3a \u7c7b\u578b \u5bf9 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u505a\u51fa \u53cd\u5e94 \u3001 \u907f\u5f00 \u884c\u4eba \u3001 \u8ddf\u968f \u6c7d\u8f66 \u5e76 \u5728 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u5bfc\u822a \uff1a   while   True \uff1a   vehicle . apply _ control ( agent . run _ step ( ) )   6 .   \u60a8 \u53ef\u4ee5 \u68c0\u67e5 \u4ee3\u7406 \u662f\u5426 \u5df2 \u5b8c\u6210 \u5176 \u8f68\u8ff9 \u5e76 \u5728 \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \u65f6 \u6267\u884c \u64cd\u4f5c \u3002 \u4e00\u65e6 \u60a8 \u7684 \u8f66\u8f86 \u5230\u8fbe \u76ee\u7684 \u76ee\u7684\u5730 \uff0c \u4ee5\u4e0b \u4ee3\u7801 \u4ee3\u7801\u6bb5 \u5c06 \u7ed3\u675f \u4eff\u771f \uff1a   while   True \uff1a   if   agent . done \uff08 \uff09 \uff1a   print ( \" The   taerget   has   been   reached ,   stopping   the   simulation \" )   break   vehicle . apply _ control ( agent . run _ step ( ) )   7 .   \u4e0d\u662f \u5728 \u4ee3\u7406 \u5230\u8fbe \u5176 \u76ee\u6807 \u76ee\u7684 \u76ee\u7684\u5730 \u65f6 \u5b8c\u6210 \u4eff\u771f \uff0c \u800c\u662f \u53ef\u4ee5 \u751f\u6210 \u4e00\u6761 \u65b0 \u7684 \u968f\u673a \u8def\u7ebf \u4f9b \u4ee3\u7406 \u9075\u5faa \uff1a   while   True \uff1a   if   agent . done ( ) :   agent . set _ destination ( random . choice ( spawn _ points ) . location )   print ( \" The   target   has   been   reached ,   searching   for   another   target \" )   vehicle . apply _ control ( agent . run _ step ( ) )   Basic   Agent   \u63d0\u4f9b \u4e86 \u4e00\u4e9b \u65b9\u6cd5 \u6765 \u64cd\u7eb5 \u4ee3\u7406 \u884c\u4e3a \u6216 \u9075\u5faa \u7684 \u7a0b\u5e8f \u8def\u7ebf \uff1a   set _ target _ speed ( speed )   :   \u4ee5 \u516c\u91cc / \u5c0f\u65f6 \u4e3a \u5355\u4f4d \u8bbe\u7f6e \u76ee\u6807 \u901f\u5ea6   follow _ speed _ limits ( value = True )   :   \u8bbe\u7f6e \u4ee3\u7406 \u9075\u5faa \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u3002   set _ destination ( end _ location ,   start _ location = None )   :   \u4ee3\u7406 \u5c06 \u901a\u8fc7 \u53ef\u80fd \u7684 \u6700 \u77ed\u8def \u8def\u7ebf \u77ed\u8def\u7ebf \u4ece \u7279\u5b9a \u7684 \u8d77\u59cb \u4f4d\u7f6e \u5230 \u7ed3\u675f \u4f4d\u7f6e \u3002 \u5982\u679c \u6ca1\u6709 \u63d0\u4f9b \u8d77\u59cb \u4f4d\u7f6e \uff0c \u5b83 \u5c06 \u4f7f\u7528 \u5f53\u524d \u4ee3\u7406 \u4f4d\u7f6e \u3002   set _ global _ plan ( plan ,   stop _ waypoint _ creation = True ,   clean _ queue = True )   :   \u4e3a \u4ee3\u7406 \u6dfb\u52a0 \u4e00\u4e2a \u5177\u4f53 \u7684 \u8ba1\u5212 \u3002 \u8ba1\u5212 \u53c2\u6570 \u5e94 \u5305\u542b \u4e00\u4e2a   [ carla . Waypoint ,   RoadOption ]   \u5217\u8868 \uff0c \u8fd9 \u5c06 \u662f \u4ee3\u7406 \u9700\u8981 \u91c7\u53d6 \u7684 \u8def\u5f84 \u3002   stop _ waypoint _ creation   \u5c06 \u9632\u6b62 \u5728 \u8def\u5f84 \u8fd0\u884c \u540e \u81ea\u52a8 \u521b\u5efa \u8def\u5f84 \u70b9 \u3002   clean _ queue   \u5c06 \u91cd\u7f6e \u4ee3\u7406 \u7684 \u5f53\u524d \u8ba1\u5212 \u3002   trace _ route ( start _ waypoint ,   end _ waypoint )   :   \u4ece   Global   Route   Planner   \u83b7\u53d6 \u4e24\u4e2a \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u6700 \u77ed\u8ddd \u8ddd\u79bb \u77ed\u8ddd\u79bb \uff0c \u5e76 \u5c06 \u8def\u5f84 \u4f5c\u4e3a   [ carla . Waypoint ,   RoadOption ]   \u5217\u8868 \u8fd4\u56de \uff0c \u4f9b \u4ee3\u7406 \u9075\u5faa \u3002   ignore _ traffic _ lights ( active = True )   :   \u8bbe\u7f6e \u4ee3\u7406 \u5ffd\u7565 \u6216 \u670d\u4ece \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002   ignore _ stop _ signs ( active = True )   :   \u8bbe\u7f6e \u4ee3\u7406 \u5ffd\u7565 \u6216 \u670d\u4ece \u505c\u8f66 \u6807\u5fd7 \u3002   ignore _ vehicles ( active = True )   :   \u8bbe\u7f6e \u4ee3\u7406 \u5ffd\u7565 \u6216 \u5bf9 \u5176\u4ed6 \u8f66\u8f86 \u4f5c\u51fa \u53cd\u5e94 \u4f5c\u51fa\u53cd\u5e94 \u3002   \u5728   PythonAPI / examples   \u4e2d \u627e\u5230 \u7684   automatic _ control . py   \u811a\u672c \u662f \u57fa\u672c \u548c \u884c\u4e3a \u4ee3\u7406 \u7684 \u4e00\u4e2a \u793a\u4f8b \u3002 \u8981 \u5c1d\u8bd5 \u8be5 \u811a\u672c \uff0c \u8bf7 \u5bfc\u822a \u5230 \u793a\u4f8b \u76ee\u5f55 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   \u4f7f\u7528 \u57fa\u672c \u4ee3\u7406 \u8fd0\u884c   python3   automatic _ control . py   -- agent = Basic   #   \u4f7f\u7528 \u884c\u4e3a \u4ee3\u7406 \u8fd0\u884c   python3   automatic _ control . py   -- agent = Behavior   -- behavior = aggressive","title":"\u5b9e\u73b0 \u4e00\u4e2a \u4ee3\u7406  "},{"location":"adv_agents/#_5","text":"\u884c\u4e3a \u4ee3\u7406 \u7684 \u884c\u4e3a \u7c7b\u578b \u5728   behavior _ types . py   \u4e2d \u5b9a\u4e49 \u3002 \u4e09\u4e2a \u9884 \u914d\u7f6e \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u662f   ' cautious '   \u3001   ' normal '   \u548c   ' aggressive '   \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u8bbe\u7f6e \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3001 \u4fee\u6539 \u5b83\u4eec \u6216 \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3002 \u53ef\u4ee5 \u8c03\u6574 \u4ee5\u4e0b \u53d8\u91cf \uff1a   max _ speed   \uff1a \u60a8 \u7684 \u8f66\u8f86 \u80fd\u591f \u8fbe\u5230 \u7684 \u6700\u9ad8 \u901f\u5ea6 \uff08 \u4ee5 \u516c\u91cc / \u5c0f\u65f6 \u4e3a \u5355\u4f4d \uff09 \u3002   speed _ lim _ dist   \uff1a \u4ee5   \u5343\u7c73 / \u5c0f\u65f6   \u4e3a \u5355\u4f4d \u7684 \u503c \uff0c \u7528\u4e8e \u5b9a\u4e49 \u8f66\u8f86 \u7684 \u76ee\u6807 \u901f\u5ea6 \u4e0e \u5f53\u524d \u9650\u901f \u7684 \u8ddd\u79bb \uff08 \u4f8b\u5982 \uff0c \u5982\u679c \u9650\u901f \u4e3a   30   \u5343\u7c73 / \u5c0f\u65f6   \u4e14   speed _ lim _ dist   \u4e3a   10 \u5343\u7c73 / \u5c0f\u65f6 \uff0c \u5219 \u76ee\u6807 \u901f\u5ea6 \u5c06 \u662f 20 \u5343\u7c73 / \u5c0f\u65f6 \uff09 \u3002   speed _ decrease   \uff1a \u5f53 \u63a5\u8fd1 \u524d\u65b9 \u8f83\u6162 \u7684 \u8f66\u8f86 \u65f6 \uff0c \u60a8 \u7684 \u8f66\u8f86 \u5c06 \u4ee5 \u591a \u5feb \u7684 \u516c\u91cc / \u5c0f\u65f6 \u51cf\u901f \u3002   safety _ time   \uff1a \u78b0\u649e \u65f6\u95f4 \uff1b \u5982\u679c \u60a8 \u7684 \u8f66\u8f86 \u7a81\u7136 \u5239\u8f66 \uff0c \u5b83 \u4e0e \u524d\u9762 \u7684 \u8f66\u8f86 \u76f8\u649e \u6240 \u9700 \u7684 \u65f6\u95f4 \u7684 \u8fd1\u4f3c \u8fd1\u4f3c\u503c \u3002   min _ proximity _ threshold   \uff1a \u5728 \u60a8 \u7684 \u8f66\u8f86 \u6267\u884c \u907f\u8ba9 \u6216 \u5c3e\u968f \u7b49 \u64cd\u4f5c \u4e4b\u524d \uff0c \u4e0e \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u6216 \u884c\u4eba \u7684 \u6700\u5c0f \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   braking _ distance   \uff1a \u60a8 \u7684 \u8f66\u8f86 \u5c06 \u6267\u884c \u7d27\u6025 \u505c\u8f66 \u7d27\u6025\u505c\u8f66 \u65f6 \u4e0e \u884c\u4eba \u6216 \u8f66\u8f86 \u7684 \u8ddd\u79bb \u3002   tailgate _ counter   \uff1a \u7528\u4e8e \u907f\u514d \u5728 \u6700\u540e \u4e00\u4e2a \u540e \u6321\u677f \u540e\u8fc7 \u5feb \u5c3e\u968f \u7684 \u8ba1\u6570 \u8ba1\u6570\u5668 \u3002","title":"\u884c\u4e3a \u7c7b\u578b  "},{"location":"adv_agents/#_6","text":"\u8981 \u521b\u5efa \u81ea\u5df1 \u7684 \u884c\u4e3a \u7c7b\u578b \uff1a   1 .   \u5728   behavior _ types . py   \u4e2d\u4e3a \u60a8 \u7684 \u884c\u4e3a \u7c7b\u578b \u521b\u5efa \u7c7b \uff1a   class   ProfileName ( object ) \uff1a   #   \u5b8c\u6574 \u7684 \u503c \u5b9a\u4e49   2 .   \u5728   behavior _ agent . py   \u811a\u672c \u4e2d \u5b9a\u4e49 \u548c \u5b9e\u4f8b \u5316 \u4f60 \u7684 \u884c\u4e3a \u7c7b\u578b \uff1a   #   \u4ee3\u7406 \u884c\u4e3a \u53c2\u6570   if   behavior   = =   ' cautious ' :   self ._ behavior   =   Cautious ( )   elif   behavior   = =   ' normal ' :   self ._ behavior   =   Normal ( )   elif   behavior   = =   ' aggressive ' :   self ._ behavior   =   Aggressive ( )   elif   behavior   = =   ' < type _ name > ' :   self ._ behavior   =   < TypeName > ( )","title":"\u521b\u5efa \u81ea\u5df1 \u7684 \u884c\u4e3a \u7c7b\u578b  "},{"location":"adv_agents/#_7","text":"Carla   \u4ee3\u7406 \u53ea\u662f \u7528\u6237 \u53ef\u4ee5 \u8fd0\u884c \u7684 \u4ee3\u7406 \u7c7b\u578b \u7684 \u793a\u4f8b \u3002 \u7528\u6237 \u53ef\u4ee5 \u5728   Basic   Agent   \u7684 \u57fa\u7840 \u4e0a \u521b\u5efa \u81ea\u5df1 \u7684 \u4ee3\u7406 \u3002 \u53ef\u80fd \u53ef\u80fd\u6027 \u662f \u65e0\u7a77 \u65e0\u7a77\u7684 \u3002 \u6bcf\u4e2a \u4ee3\u7406 \u53ea \u9700\u8981 \u4e24\u4e2a \u5143\u7d20 \uff0c   \u521d\u59cb \u521d\u59cb\u5316   __ init __   \u548c   \u8fd0\u884c \u6b65   run _ step   \u3002   \u5728 \u4e0b\u9762 \u67e5\u627e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4ee3\u7406 \u7684 \u6700\u5c0f \u5e03\u5c40 \u793a\u4f8b \uff1a   import   carla   from   agents . navigation . basic _ agent   import   BasicAgent   class   CustomAgent ( BasicAgent ) :   def   __ init __ ( self ,   vehicle ,   target _ speed = 20 ,   debug = False ) :   \" \" \"   : param   vehicle :   \u5e94\u7528 \u5230 \u672c\u5730 \u89c4\u5212 \u5668 \u903b\u8f91 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   : param   target _ speed :   \u8f66\u8f86 \u79fb\u52a8 \u7684 \u901f\u5ea6 \uff08 Km / h \uff09   \" \" \"   super ( ) .__ init __ ( target _ speed ,   \u8c03\u8bd5 )   def   run _ step ( self ,   debug = False ) :   \" \" \"   \u6267\u884c \u4e00\u6b65 \u5bfc\u822a   : return :   carla . VehicleControl   \" \" \"   #   \u5728 \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u4e2d \u91c7\u53d6 \u7684 \u884c\u52a8   control   =   carla . VehicleControl ( )   return   control   \u67e5\u770b   basic _ agent . py   \u548c   behavior _ agent . py   \u811a\u672c \u4ee5 \u63a2\u7d22 \u5b83\u4eec \u7684 \u7ed3\u6784 \u548c \u529f\u80fd \uff0c \u4ee5 \u83b7\u53d6 \u6709\u5173 \u5982\u4f55 \u521b\u5efa \u81ea\u5df1 \u7684 \u66f4 \u591a \u60f3\u6cd5 \u3002   \u60a8 \u53ef\u4ee5 \u63a2\u7d22 \u63d0\u4f9b \u7684 \u4ee3\u7406 \u811a\u672c \u3001 \u6269\u5c55 \u5b83\u4eec \u6216 \u5c06 \u5b83\u4eec \u7528\u4f5c \u521b\u5efa \u81ea\u5df1 \u7684 \u57fa\u51c6 \u3002 \u5982\u679c \u60a8 \u5bf9 \u4ee3\u7406 \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728   \u8bba\u575b   \u53d1\u5e16 \u3002","title":"\u521b\u5efa \u4ee3\u7406  "},{"location":"adv_benchmarking/","text":"\u57fa\u51c6 \u6027\u80fd   \u6211\u4eec \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u57fa\u51c6 \u6d4b\u8bd5 \u811a\u672c \uff0c \u4f7f \u7528\u6237 \u80fd\u591f \u8f7b\u677e \u5730 \u5206\u6790   Carla   \u5728 \u81ea\u5df1 \u7684 \u73af\u5883 \u4e2d \u7684 \u6027\u80fd \u3002 \u8be5 \u811a\u672c \u53ef\u4ee5 \u914d\u7f6e \u4e3a \u8fd0\u884c \u591a\u79cd \u7ed3\u5408 \u4e0d\u540c \u5730\u56fe \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u5929\u6c14 \u6761\u4ef6 \u7684 \u573a\u666f \u3002 \u5b83 \u62a5\u544a \u8bf7\u6c42 \u573a\u666f \u4e0b   FPS   \u7684 \u5e73\u5747 \u5747\u503c \u5e73\u5747\u503c \u548c \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u3002   \u5728 \u672c\u8282 \u4e2d \uff0c \u6211\u4eec \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u7684 \u8981\u6c42 \u3001 \u5728 \u54ea\u91cc \u53ef\u4ee5 \u627e\u5230 \u811a\u672c \u3001 \u53ef \u7528\u4e8e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8fd0\u884c \u573a\u666f \u7684 \u6807\u5fd7 \u4ee5\u53ca \u6709\u5173 \u5982\u4f55 \u8fd0\u884c \u547d\u4ee4 \u7684 \u793a\u4f8b \u3002   \u6211\u4eec \u8fd8 \u5305\u542b \u4e86 \u5355\u72ec \u57fa\u51c6 \u6d4b\u8bd5 \u7684 \u7ed3\u679c \uff0c \u8be5 \u57fa\u51c6 \u6d4b\u8bd5 \u5728 \u4f7f\u7528 \u4e0d\u540c \u8f66\u8f86 \u6570\u91cf \u7ec4\u5408 \u3001 \u542f\u7528 \u7269\u7406 \u548c / \u6216 \u542f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u65f6 \u6d4b\u91cf   Carla   \u5728 \u7279\u5b9a \u73af\u5883 \u4e2d \u7684 \u6027\u80fd \u3002 \u7ed3\u679c \u4e0e \u4f7f\u7528 \u7684   Carla   \u7248\u672c \u548c \u6267\u884c \u6d4b\u8bd5 \u7684 \u73af\u5883 \u4e00\u8d77 \u663e\u793a \u3002   \u57fa\u51c6 \u6d4b\u8bd5 \u811a\u672c   \u5f00\u59cb \u4e4b\u524d   \u6982\u8981   \u6807\u5fd7   \u5982\u4f55 \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5   Carla   \u6027\u80fd \u62a5\u544a   \u57fa\u51c6 \u6d4b\u8bd5 \u811a\u672c   \u57fa\u51c6 \u811a\u672c \u53ef\u4ee5 \u5728   PythonAPI / util   \u4e2d \u627e\u5230 \u3002 \u5b83 \u6709 \u51e0\u4e2a \u6807\u5fd7 \u53ef \u7528\u4e8e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8981 \u6d4b\u8bd5 \u7684 \u573a\u666f \uff0c \u4e0b\u9762 \u7684 \u6982\u8981 \u4e2d\u6709 \u8be6\u7ec6 \u8bf4\u660e \u3002   \u5f00\u59cb \u4e4b\u524d   \u57fa\u51c6 \u6d4b\u8bd5 \u811a\u672c \u9700\u8981 \u5b89\u88c5 \u4e00\u4e9b \u4f9d\u8d56 \u9879 \u624d\u80fd \u8fd0\u884c \u5b83 \uff1a   python   - m   pip   install   - U   py - cpuinfo = = 5.0 . 0   python   - m   pip   install   psutil   python   - m   pip   install   python - tr   python   - m   pip   install   gpuinfo   python   - m   pip   install   GPUtil   \u6982\u8981   python3   performance _ benchmark . py   [ -- host   HOST ]   [ -- port   PORT ]   [ -- file   FILE ]   [ -- tm ]   [ -- fixed _ dt   FIXED _ DT ]   [ -- render _ mode ]   [ -- no _ render _ mode ]   [ -- show _ scenarios ]   )   [ -- sensors   SENSORS   [ SENSORS   ... ] ]   [ -- maps   MAPS   [ MAPS   ... ] ]   [ -- weather   WEATHER   [ WEATHER   ... ] ]   \u6807\u5fd7   -- host   :   IP _ ADDRESS   \u9ed8\u8ba4   \uff1a \u672c\u5730 \u4e3b\u673a \u3002   \u914d\u7f6e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u4e3b\u673a \u3002   -- port   :   \u7aef\u53e3   \u9ed8\u8ba4   \uff1a 2000   \u914d\u7f6e \u8981 \u76d1\u542c \u7684   TCP   \u7aef\u53e3 \u3002   -- file   :   \u6587\u4ef6 \u6587\u4ef6\u540d . md   \u9ed8\u8ba4   :   benchmark . md   \u4ee5 \u964d\u4ef7 \u8868 \u683c\u5f0f \u5c06 \u7ed3\u679c \u5199\u5165 \u6587\u4ef6 \u3002   -- tm   \u5207\u6362 \u5230 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u57fa\u51c6   -- ticks   \u9ed8\u8ba4   \uff1a 100   \u8bbe\u7f6e \u7528\u4e8e \u6bcf\u4e2a \u573a\u666f \u7684 \u523b\u5ea6 \u6570 \u3002   -- \u540c\u6b65   \u9ed8\u8ba4 \u6a21\u5f0f .   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002   -- async   \u5728 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002   -- fixed _ dt   \u9ed8\u8ba4   \uff1a 0.05   \u5982\u679c \u60a8 \u60f3 \u8bbe\u7f6e \u589e\u91cf \u65f6\u95f4 \u6b65\u957f \uff0c \u8bf7 \u4e0e \u540c\u6b65 \u6a21\u5f0f \u4e00\u8d77 \u4f7f\u7528 \u3002   -- render _ mode   \u5728 \u6e32\u67d3 \u6a21\u5f0f \u4e0b \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002   -- no _ render _ mode   \u9ed8\u8ba4 \u6a21\u5f0f .   \u5728 \u975e \u6e32\u67d3 \u6a21\u5f0f \u4e0b \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002   -- show _ scenarios   \u4ec5 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \u8fd0\u884c \u811a\u672c \u65f6 \uff0c \u60a8 \u5c06 \u770b\u5230 \u6240\u6709 \u53ef\u7528 \u573a\u666f \u53c2\u6570 \u7684 \u5217\u8868 \u3002   \u5f53 \u4e0e \u5176\u4ed6 \u6807\u5fd7 \u7ed3\u5408 \u4f7f\u7528 \u65f6 \uff0c \u60a8 \u5c06 \u770b\u5230 \u5c06 \u5728 \u672a \u5b9e\u9645 \u6267\u884c \u7684 \u60c5\u51b5 \u4e0b \u8fd0\u884c \u7684 \u573a\u666f \u7684 \u9884\u89c8 \u3002   -- sensors   \uff1a \u6574\u6570   \u9ed8\u8ba4   \uff1a \u5168\u90e8   \u57fa\u51c6 \u6d4b\u8bd5 \u4e2d \u4f7f\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u5728   LIDAR   \u548c   RGB   \u76f8\u673a \u4e4b\u95f4 \u8fdb\u884c \u9009\u62e9 \uff1a   0   :   cam - 300x200   1   :   cam - 800x600   2   :   cam - 1900x1080   3   :   cam - 300x200   cam - 300x200 \uff08 \u4e24\u4e2a \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \uff09   4   \uff1a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff1a 100k   5   \uff1a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff1a 500k   6   \uff1a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff1a 1M   -- maps   \uff1a \u57ce\u5e02 \u540d\u79f0   \u9ed8\u8ba4   \uff1a \u6240\u6709 \u5730\u56fe   \u6240\u6709   [ Carla   \u5730\u56fe ] [ carla _ maps ] \uff0c \u5305\u62ec \u5206\u5c42 \u548c\u5b50 \u5206\u5c42 \uff0c \u90fd \u53ef\u7528 \u3002   carla _ maps   -- \u5929\u6c14   \uff1a \u6574\u6570   Default   \uff1a \u6240\u6709 \u5929\u6c14 \u6761\u4ef6   \u6539\u53d8 \u5929\u6c14 \u72b6\u51b5 \u5929\u6c14\u72b6\u51b5 \uff1a   0   :   ClearNoon   1   :   CloudyNoon   2   :   SoftRainSunset   \u5982\u4f55 \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5   1 . \u542f\u52a8   Carla \uff1a   #   Linux \uff1a   . / CarlaUE4 . sh   #   Windows \uff1a   CarlaUE4 . exe   \uff03   Source \uff1a   make   launch   \u5728 \u5355\u72ec \u7684 \u7ec8\u7aef \u4e2d \u5bfc\u822a \u5230   PythonAPI / util   \u4ee5 \u627e\u5230   performance _ benchmark . py   \u811a\u672c \uff1a   \u663e\u793a \u6240\u6709 \u53ef\u80fd \u7684 \u573a\u666f \u800c \u4e0d \u8fd0\u884c \u5b83\u4eec \uff1a   python3   performance _ benchmark . py   -- show _ scenarios   \u663e\u793a \u5728 \u5e94\u7528 \u914d\u7f6e \u800c \u4e0d \u5b9e\u9645 \u6267\u884c \u914d\u7f6e \u65f6 \u5c06 \u8fd0\u884c \u54ea\u4e9b \u573a\u666f \uff1a   python3   performance _ benchmark . py   -- sensors   2   5   -- maps   Town03   Town05   -- weather   0   1   -- show _ scenarios `   \u6267\u884c \u8fd9\u4e9b \u573a\u666f \u7684 \u6027\u80fd \u57fa\u51c6 \u6d4b\u8bd5 \uff1a   python3   performance _ benchmark . py   -- sensors   2   5   -- maps   Town03   Town05   -- weather   0   1   \u6267\u884c \u5f02\u6b65 \u6a21\u5f0f \u548c \u6e32\u67d3 \u6a21\u5f0f \u7684 \u57fa\u51c6 \u6d4b\u8bd5 \uff1a   python3   performance _ benchmark . py   -- async   -- render _ mode   Carla   \u6027\u80fd \u62a5\u544a   \u4e0b\u8868 \u8be6\u7ec6 \u8bf4\u660e \u4e86 \u5728 \u968f\u7740 \u8f66\u8f86 \u6570\u91cf \u589e\u52a0 \u4ee5\u53ca \u542f\u7528 \u548c / \u6216 \u7981\u7528 \u7269\u7406 \u548c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u4e0d\u540c \u7ec4\u5408 \u8fd0\u884c   Carla   \u65f6 \u5bf9 \u5e73\u5747   FPS   \u7684 \u6027\u80fd \u5f71\u54cd \u3002   Carla   \u7248\u672c \uff1a 29 / 01 / 21   \u5f00\u53d1 \u5206\u652f \uff08 \u63d0\u4ea4   198fa38c9b1317c114ac15dff130766253c02832 \uff09   \u73af\u5883 \u89c4\u683c \uff1a Intel ( R )   Xeon ( R )   CPU   E5 - 1620   v3   @   3.50 GHz   /   32   GB   /   NVIDIA   GeForce   GTX   1080   Ti   \u8f66\u8f86 \u6570\u91cf   Phy :   Off   TM :   Off   Phy :   On   TM :   Off   Phy :   Off   TM :   On   Phy :   On   TM :   On   0   1220   1102   702   729   1   805   579   564   422   10   473   223   119   98   50   179   64   37   26   100   92   34   22   15   150   62   21   17   10   200   47   15   14   7   250   37   11   12   6   \u7b97\u6cd5 \u6027\u80fd \u6d4b\u8bd5   \u7b97\u6cd5 \u6027\u80fd \u6392\u884c \u6392\u884c\u699c   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6027\u80fd \u57fa\u51c6 \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u4e0d\u8981 \u72b9\u8c6b \uff0c \u5728 \u8bba\u575b \u4e2d \u53d1\u5e16 \u3002   Carla   \u8bba\u575b","title":"\u57fa\u51c6 \u6027\u80fd"},{"location":"adv_benchmarking/#_1","text":"\u6211\u4eec \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u57fa\u51c6 \u6d4b\u8bd5 \u811a\u672c \uff0c \u4f7f \u7528\u6237 \u80fd\u591f \u8f7b\u677e \u5730 \u5206\u6790   Carla   \u5728 \u81ea\u5df1 \u7684 \u73af\u5883 \u4e2d \u7684 \u6027\u80fd \u3002 \u8be5 \u811a\u672c \u53ef\u4ee5 \u914d\u7f6e \u4e3a \u8fd0\u884c \u591a\u79cd \u7ed3\u5408 \u4e0d\u540c \u5730\u56fe \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u5929\u6c14 \u6761\u4ef6 \u7684 \u573a\u666f \u3002 \u5b83 \u62a5\u544a \u8bf7\u6c42 \u573a\u666f \u4e0b   FPS   \u7684 \u5e73\u5747 \u5747\u503c \u5e73\u5747\u503c \u548c \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u3002   \u5728 \u672c\u8282 \u4e2d \uff0c \u6211\u4eec \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u7684 \u8981\u6c42 \u3001 \u5728 \u54ea\u91cc \u53ef\u4ee5 \u627e\u5230 \u811a\u672c \u3001 \u53ef \u7528\u4e8e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8fd0\u884c \u573a\u666f \u7684 \u6807\u5fd7 \u4ee5\u53ca \u6709\u5173 \u5982\u4f55 \u8fd0\u884c \u547d\u4ee4 \u7684 \u793a\u4f8b \u3002   \u6211\u4eec \u8fd8 \u5305\u542b \u4e86 \u5355\u72ec \u57fa\u51c6 \u6d4b\u8bd5 \u7684 \u7ed3\u679c \uff0c \u8be5 \u57fa\u51c6 \u6d4b\u8bd5 \u5728 \u4f7f\u7528 \u4e0d\u540c \u8f66\u8f86 \u6570\u91cf \u7ec4\u5408 \u3001 \u542f\u7528 \u7269\u7406 \u548c / \u6216 \u542f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u65f6 \u6d4b\u91cf   Carla   \u5728 \u7279\u5b9a \u73af\u5883 \u4e2d \u7684 \u6027\u80fd \u3002 \u7ed3\u679c \u4e0e \u4f7f\u7528 \u7684   Carla   \u7248\u672c \u548c \u6267\u884c \u6d4b\u8bd5 \u7684 \u73af\u5883 \u4e00\u8d77 \u663e\u793a \u3002   \u57fa\u51c6 \u6d4b\u8bd5 \u811a\u672c   \u5f00\u59cb \u4e4b\u524d   \u6982\u8981   \u6807\u5fd7   \u5982\u4f55 \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5   Carla   \u6027\u80fd \u62a5\u544a","title":"\u57fa\u51c6 \u6027\u80fd"},{"location":"adv_benchmarking/#_2","text":"\u57fa\u51c6 \u811a\u672c \u53ef\u4ee5 \u5728   PythonAPI / util   \u4e2d \u627e\u5230 \u3002 \u5b83 \u6709 \u51e0\u4e2a \u6807\u5fd7 \u53ef \u7528\u4e8e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8981 \u6d4b\u8bd5 \u7684 \u573a\u666f \uff0c \u4e0b\u9762 \u7684 \u6982\u8981 \u4e2d\u6709 \u8be6\u7ec6 \u8bf4\u660e \u3002","title":"\u57fa\u51c6 \u6d4b\u8bd5 \u811a\u672c  "},{"location":"adv_benchmarking/#_3","text":"\u57fa\u51c6 \u6d4b\u8bd5 \u811a\u672c \u9700\u8981 \u5b89\u88c5 \u4e00\u4e9b \u4f9d\u8d56 \u9879 \u624d\u80fd \u8fd0\u884c \u5b83 \uff1a   python   - m   pip   install   - U   py - cpuinfo = = 5.0 . 0   python   - m   pip   install   psutil   python   - m   pip   install   python - tr   python   - m   pip   install   gpuinfo   python   - m   pip   install   GPUtil","title":"\u5f00\u59cb \u4e4b\u524d  "},{"location":"adv_benchmarking/#_4","text":"python3   performance _ benchmark . py   [ -- host   HOST ]   [ -- port   PORT ]   [ -- file   FILE ]   [ -- tm ]   [ -- fixed _ dt   FIXED _ DT ]   [ -- render _ mode ]   [ -- no _ render _ mode ]   [ -- show _ scenarios ]   )   [ -- sensors   SENSORS   [ SENSORS   ... ] ]   [ -- maps   MAPS   [ MAPS   ... ] ]   [ -- weather   WEATHER   [ WEATHER   ... ] ]","title":"\u6982\u8981  "},{"location":"adv_benchmarking/#_5","text":"","title":"\u6807\u5fd7  "},{"location":"adv_benchmarking/#-host-ip_address","text":"\u9ed8\u8ba4   \uff1a \u672c\u5730 \u4e3b\u673a \u3002   \u914d\u7f6e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u4e3b\u673a \u3002","title":"-- host :   IP _ ADDRESS"},{"location":"adv_benchmarking/#-port","text":"\u9ed8\u8ba4   \uff1a 2000   \u914d\u7f6e \u8981 \u76d1\u542c \u7684   TCP   \u7aef\u53e3 \u3002","title":"-- port :   \u7aef\u53e3"},{"location":"adv_benchmarking/#-file-md","text":"\u9ed8\u8ba4   :   benchmark . md   \u4ee5 \u964d\u4ef7 \u8868 \u683c\u5f0f \u5c06 \u7ed3\u679c \u5199\u5165 \u6587\u4ef6 \u3002","title":"-- file :   \u6587\u4ef6\u540d . md"},{"location":"adv_benchmarking/#-tm","text":"\u5207\u6362 \u5230 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u57fa\u51c6","title":"-- tm"},{"location":"adv_benchmarking/#-ticks","text":"\u9ed8\u8ba4   \uff1a 100   \u8bbe\u7f6e \u7528\u4e8e \u6bcf\u4e2a \u573a\u666f \u7684 \u523b\u5ea6 \u6570 \u3002","title":"-- ticks"},{"location":"adv_benchmarking/#-","text":"\u9ed8\u8ba4 \u6a21\u5f0f .   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002","title":"-- \u540c\u6b65"},{"location":"adv_benchmarking/#-async","text":"\u5728 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002","title":"-- async"},{"location":"adv_benchmarking/#-fixed_dt","text":"\u9ed8\u8ba4   \uff1a 0.05   \u5982\u679c \u60a8 \u60f3 \u8bbe\u7f6e \u589e\u91cf \u65f6\u95f4 \u6b65\u957f \uff0c \u8bf7 \u4e0e \u540c\u6b65 \u6a21\u5f0f \u4e00\u8d77 \u4f7f\u7528 \u3002","title":"-- fixed _ dt"},{"location":"adv_benchmarking/#-render_mode","text":"\u5728 \u6e32\u67d3 \u6a21\u5f0f \u4e0b \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002","title":"-- render _ mode"},{"location":"adv_benchmarking/#-no_render_mode","text":"\u9ed8\u8ba4 \u6a21\u5f0f .   \u5728 \u975e \u6e32\u67d3 \u6a21\u5f0f \u4e0b \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002","title":"-- no _ render _ mode"},{"location":"adv_benchmarking/#-show_scenarios","text":"\u4ec5 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \u8fd0\u884c \u811a\u672c \u65f6 \uff0c \u60a8 \u5c06 \u770b\u5230 \u6240\u6709 \u53ef\u7528 \u573a\u666f \u53c2\u6570 \u7684 \u5217\u8868 \u3002   \u5f53 \u4e0e \u5176\u4ed6 \u6807\u5fd7 \u7ed3\u5408 \u4f7f\u7528 \u65f6 \uff0c \u60a8 \u5c06 \u770b\u5230 \u5c06 \u5728 \u672a \u5b9e\u9645 \u6267\u884c \u7684 \u60c5\u51b5 \u4e0b \u8fd0\u884c \u7684 \u573a\u666f \u7684 \u9884\u89c8 \u3002","title":"-- show _ scenarios"},{"location":"adv_benchmarking/#-sensors","text":"\u9ed8\u8ba4   \uff1a \u5168\u90e8   \u57fa\u51c6 \u6d4b\u8bd5 \u4e2d \u4f7f\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u5728   LIDAR   \u548c   RGB   \u76f8\u673a \u4e4b\u95f4 \u8fdb\u884c \u9009\u62e9 \uff1a   0   :   cam - 300x200   1   :   cam - 800x600   2   :   cam - 1900x1080   3   :   cam - 300x200   cam - 300x200 \uff08 \u4e24\u4e2a \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \uff09   4   \uff1a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff1a 100k   5   \uff1a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff1a 500k   6   \uff1a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff1a 1M","title":"-- sensors \uff1a \u6574\u6570"},{"location":"adv_benchmarking/#-maps","text":"\u9ed8\u8ba4   \uff1a \u6240\u6709 \u5730\u56fe   \u6240\u6709   [ Carla   \u5730\u56fe ] [ carla _ maps ] \uff0c \u5305\u62ec \u5206\u5c42 \u548c\u5b50 \u5206\u5c42 \uff0c \u90fd \u53ef\u7528 \u3002   carla _ maps","title":"-- maps \uff1a \u57ce\u5e02 \u540d\u79f0"},{"location":"adv_benchmarking/#-_1","text":"Default   \uff1a \u6240\u6709 \u5929\u6c14 \u6761\u4ef6   \u6539\u53d8 \u5929\u6c14 \u72b6\u51b5 \u5929\u6c14\u72b6\u51b5 \uff1a   0   :   ClearNoon   1   :   CloudyNoon   2   :   SoftRainSunset","title":"-- \u5929\u6c14 \uff1a \u6574\u6570"},{"location":"adv_benchmarking/#_6","text":"1 . \u542f\u52a8   Carla \uff1a   #   Linux \uff1a   . / CarlaUE4 . sh   #   Windows \uff1a   CarlaUE4 . exe   \uff03   Source \uff1a   make   launch   \u5728 \u5355\u72ec \u7684 \u7ec8\u7aef \u4e2d \u5bfc\u822a \u5230   PythonAPI / util   \u4ee5 \u627e\u5230   performance _ benchmark . py   \u811a\u672c \uff1a   \u663e\u793a \u6240\u6709 \u53ef\u80fd \u7684 \u573a\u666f \u800c \u4e0d \u8fd0\u884c \u5b83\u4eec \uff1a   python3   performance _ benchmark . py   -- show _ scenarios   \u663e\u793a \u5728 \u5e94\u7528 \u914d\u7f6e \u800c \u4e0d \u5b9e\u9645 \u6267\u884c \u914d\u7f6e \u65f6 \u5c06 \u8fd0\u884c \u54ea\u4e9b \u573a\u666f \uff1a   python3   performance _ benchmark . py   -- sensors   2   5   -- maps   Town03   Town05   -- weather   0   1   -- show _ scenarios `   \u6267\u884c \u8fd9\u4e9b \u573a\u666f \u7684 \u6027\u80fd \u57fa\u51c6 \u6d4b\u8bd5 \uff1a   python3   performance _ benchmark . py   -- sensors   2   5   -- maps   Town03   Town05   -- weather   0   1   \u6267\u884c \u5f02\u6b65 \u6a21\u5f0f \u548c \u6e32\u67d3 \u6a21\u5f0f \u7684 \u57fa\u51c6 \u6d4b\u8bd5 \uff1a   python3   performance _ benchmark . py   -- async   -- render _ mode","title":"\u5982\u4f55 \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5  "},{"location":"adv_benchmarking/#carla","text":"\u4e0b\u8868 \u8be6\u7ec6 \u8bf4\u660e \u4e86 \u5728 \u968f\u7740 \u8f66\u8f86 \u6570\u91cf \u589e\u52a0 \u4ee5\u53ca \u542f\u7528 \u548c / \u6216 \u7981\u7528 \u7269\u7406 \u548c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u4e0d\u540c \u7ec4\u5408 \u8fd0\u884c   Carla   \u65f6 \u5bf9 \u5e73\u5747   FPS   \u7684 \u6027\u80fd \u5f71\u54cd \u3002   Carla   \u7248\u672c \uff1a 29 / 01 / 21   \u5f00\u53d1 \u5206\u652f \uff08 \u63d0\u4ea4   198fa38c9b1317c114ac15dff130766253c02832 \uff09   \u73af\u5883 \u89c4\u683c \uff1a Intel ( R )   Xeon ( R )   CPU   E5 - 1620   v3   @   3.50 GHz   /   32   GB   /   NVIDIA   GeForce   GTX   1080   Ti   \u8f66\u8f86 \u6570\u91cf   Phy :   Off   TM :   Off   Phy :   On   TM :   Off   Phy :   Off   TM :   On   Phy :   On   TM :   On   0   1220   1102   702   729   1   805   579   564   422   10   473   223   119   98   50   179   64   37   26   100   92   34   22   15   150   62   21   17   10   200   47   15   14   7   250   37   11   12   6","title":"Carla   \u6027\u80fd \u62a5\u544a  "},{"location":"adv_benchmarking/#_7","text":"\u7b97\u6cd5 \u6027\u80fd \u6392\u884c \u6392\u884c\u699c   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6027\u80fd \u57fa\u51c6 \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u4e0d\u8981 \u72b9\u8c6b \uff0c \u5728 \u8bba\u575b \u4e2d \u53d1\u5e16 \u3002   Carla   \u8bba\u575b","title":"\u7b97\u6cd5 \u6027\u80fd \u6d4b\u8bd5  "},{"location":"adv_cesium/","text":"\u503e\u659c \u6a21\u578b \u5bfc\u5165 Carla   1 . \u4e0b\u8f7d \u5e76 \u89e3\u538b   Cesium   for   Unreal   \u63d2\u4ef6   \u5230 CarlaUE \u5f15\u64ce \u7684 plugins \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \uff1a   2 . \u5c06 \u63d2\u4ef6 \u7684 BuildId \u4fee\u6539 \u4e0e CarlaUE \u5f15\u64ce \u7684 BuildId \u4e00\u81f4 \u3002   \u5f15\u64ce \u7684 BuildId \u5728 \u5982\u4e0b \u8def\u5f84 \uff1a   \u9700 \u4fee\u6539 \u7684 BuildId   3 . \u672c\u5730 \u6d4b\u8bd5 \u8fd8 \u9700\u8981 \u4fee\u6539 \u5176\u4ed6 \u51e0\u4e2a \u5185\u7f6e \u63d2\u4ef6 \u7684 BuildId \u4e5f \u8981 \u4e0e \u5f15\u64ce \u7684 \u4e00\u81f4 \u3002 \u6709 \u5982\u4e0b \u51e0\u4e2a \u5730\u65b9 \uff1a   carla _ unreal \\ unreal \\ Engine \\ Plugins \\ Experimental \\ Landmass \\ Binaries \\ Win64   carla _ unreal \\ unreal \\ Engine \\ Plugins \\ Experimental \\ Water \\ Binaries \\ Win64   carla _ unreal \\ unreal \\ Engine \\ Plugins \\ Editor \\ BlueprintMaterialTextureNodes \\ Binaries \\ Win64   4 . \u5728 CarlaUE \u4e2d \u6dfb\u52a0 \u63d2\u4ef6   \u6dfb\u52a0 \u5b8c\u6210 \u540e \u91cd\u542f \u5f15\u64ce \u3002   5 . \u6dfb\u52a0 \u63d2\u4ef6 \u5bf9\u8c61 \u5230 \u573a\u666f \u4e2d , \u914d\u7f6e \u53c2\u6570 \u548c \u6a21\u578b \u8def\u5f84 \uff1a   esiumGeoreference   \u8bbe\u7f6e \u4e3a \uff1a   28.235238 ,   112.877178 ,   0   Source   \u8bbe\u7f6e \u4e3a   File : / / / D : / ssd / model / tileset . json   \u3002   \u6ce8\u610f   \u4ece   \u94fe\u63a5   \u4e2d \u7684   map   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u4e0b\u8f7d   \u4e2d \u7535 \u8f6f\u4ef6 \u8f6f\u4ef6\u56ed _ cesium _ model . zip   \u5e76 \u89e3\u538b \u3002 \u8fd9\u91cc \u6d4b\u8bd5 \u7528 \u7684 \u662f \u672c\u5730 \u8def\u5f84 \uff0c \u4e5f \u53ef\u4ee5 \u7528 \u9759\u6001 \u8d44\u6e90 \u670d\u52a1 \u3002   6 . \u5c06 Trees . umap \u4e2d \u653e\u5230 \u672c\u5730 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \uff0c \u83dc\u5355 \u4e2d \u70b9\u51fb   \u7a97\u53e3 - > \u5173\u5361   \uff0c \u4ece   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d\u5c06   Trees . umap   \u62d6\u8fdb \u5bfc\u5f39 \u51fa \u754c\u9762 \uff0c \u7136\u540e \u53f3\u952e   Trees   \u5173\u5361 \uff0c \u9009\u62e9   \u4fee\u6539 \u6d41\u9001 \u65b9\u6cd5 - > \u56fa\u5b9a \u52a0\u8f7d   \u3002   7 . \u5728   \u4e16\u754c \u5927\u7eb2 \u89c6\u56fe   \u4e2d \u9009\u4e2d   Cesium3DTileset   \uff0c \u5c06   Cesium   \u4e2d \u7684   Mobility   \u4fee\u6539 \u4e3a   \u53ef \u79fb\u52a8   \u3002   8 . \u6dfb\u52a0 \u5149\u6e90   DirectionalLight   \u3001   ExponentialHeightFog   \u3001   SkyAtmosphere   \u3001   SkyLight   \u3002   9 . \u6a21\u578b \u5728 CarlaUE \u4e2d \u7684 \u573a\u666f \u6548\u679c   \u503e\u659c \u6444\u5f71   \u7531 \u503e\u659c \u6444\u5f71 osgb \u8f6c\u6362 \u6362\u6210 \u8f6c\u6362\u6210 3Dtiles \u683c\u5f0f \uff08 cesium \u53ef \u76f4\u63a5 \u4f7f\u7528 \uff09 \u3002   \u53c2\u8003   Cesium   for   Unreal \u5feb\u901f \u5165\u95e8   Cesium   for   Unreal   \u52a0\u8f7d \u672c\u5730 \u503e\u659c \u6444\u5f71","title":"\u503e\u659c \u6a21\u578b \u5bfc\u5165 Carla"},{"location":"adv_cesium/#carla","text":"1 . \u4e0b\u8f7d \u5e76 \u89e3\u538b   Cesium   for   Unreal   \u63d2\u4ef6   \u5230 CarlaUE \u5f15\u64ce \u7684 plugins \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \uff1a   2 . \u5c06 \u63d2\u4ef6 \u7684 BuildId \u4fee\u6539 \u4e0e CarlaUE \u5f15\u64ce \u7684 BuildId \u4e00\u81f4 \u3002   \u5f15\u64ce \u7684 BuildId \u5728 \u5982\u4e0b \u8def\u5f84 \uff1a   \u9700 \u4fee\u6539 \u7684 BuildId   3 . \u672c\u5730 \u6d4b\u8bd5 \u8fd8 \u9700\u8981 \u4fee\u6539 \u5176\u4ed6 \u51e0\u4e2a \u5185\u7f6e \u63d2\u4ef6 \u7684 BuildId \u4e5f \u8981 \u4e0e \u5f15\u64ce \u7684 \u4e00\u81f4 \u3002 \u6709 \u5982\u4e0b \u51e0\u4e2a \u5730\u65b9 \uff1a   carla _ unreal \\ unreal \\ Engine \\ Plugins \\ Experimental \\ Landmass \\ Binaries \\ Win64   carla _ unreal \\ unreal \\ Engine \\ Plugins \\ Experimental \\ Water \\ Binaries \\ Win64   carla _ unreal \\ unreal \\ Engine \\ Plugins \\ Editor \\ BlueprintMaterialTextureNodes \\ Binaries \\ Win64   4 . \u5728 CarlaUE \u4e2d \u6dfb\u52a0 \u63d2\u4ef6   \u6dfb\u52a0 \u5b8c\u6210 \u540e \u91cd\u542f \u5f15\u64ce \u3002   5 . \u6dfb\u52a0 \u63d2\u4ef6 \u5bf9\u8c61 \u5230 \u573a\u666f \u4e2d , \u914d\u7f6e \u53c2\u6570 \u548c \u6a21\u578b \u8def\u5f84 \uff1a   esiumGeoreference   \u8bbe\u7f6e \u4e3a \uff1a   28.235238 ,   112.877178 ,   0   Source   \u8bbe\u7f6e \u4e3a   File : / / / D : / ssd / model / tileset . json   \u3002   \u6ce8\u610f   \u4ece   \u94fe\u63a5   \u4e2d \u7684   map   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u4e0b\u8f7d   \u4e2d \u7535 \u8f6f\u4ef6 \u8f6f\u4ef6\u56ed _ cesium _ model . zip   \u5e76 \u89e3\u538b \u3002 \u8fd9\u91cc \u6d4b\u8bd5 \u7528 \u7684 \u662f \u672c\u5730 \u8def\u5f84 \uff0c \u4e5f \u53ef\u4ee5 \u7528 \u9759\u6001 \u8d44\u6e90 \u670d\u52a1 \u3002   6 . \u5c06 Trees . umap \u4e2d \u653e\u5230 \u672c\u5730 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \uff0c \u83dc\u5355 \u4e2d \u70b9\u51fb   \u7a97\u53e3 - > \u5173\u5361   \uff0c \u4ece   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d\u5c06   Trees . umap   \u62d6\u8fdb \u5bfc\u5f39 \u51fa \u754c\u9762 \uff0c \u7136\u540e \u53f3\u952e   Trees   \u5173\u5361 \uff0c \u9009\u62e9   \u4fee\u6539 \u6d41\u9001 \u65b9\u6cd5 - > \u56fa\u5b9a \u52a0\u8f7d   \u3002   7 . \u5728   \u4e16\u754c \u5927\u7eb2 \u89c6\u56fe   \u4e2d \u9009\u4e2d   Cesium3DTileset   \uff0c \u5c06   Cesium   \u4e2d \u7684   Mobility   \u4fee\u6539 \u4e3a   \u53ef \u79fb\u52a8   \u3002   8 . \u6dfb\u52a0 \u5149\u6e90   DirectionalLight   \u3001   ExponentialHeightFog   \u3001   SkyAtmosphere   \u3001   SkyLight   \u3002   9 . \u6a21\u578b \u5728 CarlaUE \u4e2d \u7684 \u573a\u666f \u6548\u679c","title":"\u503e\u659c \u6a21\u578b \u5bfc\u5165 Carla"},{"location":"adv_cesium/#_1","text":"\u7531 \u503e\u659c \u6444\u5f71 osgb \u8f6c\u6362 \u6362\u6210 \u8f6c\u6362\u6210 3Dtiles \u683c\u5f0f \uff08 cesium \u53ef \u76f4\u63a5 \u4f7f\u7528 \uff09 \u3002","title":"\u503e\u659c \u6444\u5f71"},{"location":"adv_cesium/#_2","text":"Cesium   for   Unreal \u5feb\u901f \u5165\u95e8   Cesium   for   Unreal   \u52a0\u8f7d \u672c\u5730 \u503e\u659c \u6444\u5f71","title":"\u53c2\u8003"},{"location":"adv_cpp_client/","text":"C++   \u5ba2\u6237 \u5ba2\u6237\u7aef \u793a\u4f8b   \u8981 \u6784\u5efa C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u793a\u4f8b \uff0c \u60a8 \u9700\u8981 \u5b89\u88c5   make   \u3002 \u5728 \u6784\u5efa C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e4b\u524d \uff0c \u60a8 \u9700\u8981 \u6784\u5efa   Carla \uff0c \u5e76 \u6309\u7167 \u60a8 \u5e73\u53f0 \u7684 \u76f8\u5173   \u6784\u5efa \u8bf4\u660e   \u8fdb\u884c \u64cd\u4f5c \u3002   \u5bfc\u822a \u5230   Carla   \u5b58\u50a8 \u5e93\u4e2d \u7684   Examples / CppClient   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u6253\u5f00 \u4e00\u4e2a \u7ec8\u7aef \u3002 \u60a8 \u5c06 \u5728 \u6b64 \u76ee\u5f55 \u4e2d \u627e\u5230 \u4e00\u4e2a   Makefile \u3002 \u8981 \u5728 Linux \u4e2d \u6784\u5efa \u5e76 \u8fd0\u884c \u5b83 \uff0c \u8bf7 \u5728 \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u4e0b \u6267\u884c   make   run   \u3002 \u5728 Windows \u4e2d \uff0c \u5728 \u540c\u4e00 \u76ee\u5f55 \u4e2d \u521b\u5efa \u4e00\u4e2a \u540d\u4e3a   CMakeLists . txt   \u7684 \u6587\u4ef6 \uff0c \u5e76 \u6dfb\u52a0   \u6b64 \u6587\u4ef6   \u4e2d \u7684 \u5185\u5bb9 \uff0c \u7136\u540e \u8fd0\u884c   cmake   \u3002   \u8fd9\u4e2a C++ \u793a\u4f8b \u5c06 \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u751f\u6210 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \uff0c \u5e76 \u5728 \u9500\u6bc1 \u548c \u7ec8\u6b62 \u8f66\u8f86 \u4e4b\u524d \u5bf9 \u5176 \u5e94\u7528 \u547d\u4ee4 \u3002   \u5305\u62ec \u76f8\u5173 \u7684 \u6587\u4ef6 \u5934\u6587\u4ef6   \u5bf9\u4e8e \u8fd9\u4e2a \u4f8b\u5b50 \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528 \u51e0\u4e2a \u4e0d\u540c \u7684   Carla   \u7c7b \uff0c \u56e0\u6b64 \u6211\u4eec \u9700\u8981 \u5305\u542b   Carla   \u5e93\u4e2d \u7684 \u76f8\u5173 \u6587\u4ef6 \u5934\u6587\u4ef6 \uff0c \u5e76 \u5305\u542b \u6211\u4eec \u5c06 \u4f7f\u7528 \u7684 \u4efb\u4f55 \u6807\u51c6 \u5e93 \uff1a   # include   < iostream >   # include   < random >   # include   < sstream >   # include   < stdexcept >   # include   < string >   # include   < thread >   # include   < tuple >   # include   < carla / client / ActorBlueprint . h >   # include   < carla / client / BlueprintLibrary . h >   # include   < carla / client / Client . h >   # include   < carla / client / Map . h >   # include   < carla / client / Sensor . h >   # include   < carla / client / TimeoutException . h >   # include   < carla / client / World . h >   # include   < carla / geom / Transform . h >   # include   < carla / image / ImageIO . h >   # include   < carla / image / ImageView . h >   # include   < carla / sensor / data / Image . h >   \u5c06   C++   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u5305\u62ec   carla / client / Client . h   \uff0c \u7136\u540e \u8fde\u63a5 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1a   ...   # include   < carla / client / Client . h >   ...   int   main ( int   argc ,   const   char   * argv [ ] )   {   std : : string   host ;   uint16 _ t   port ;   std : : tie ( host ,   port )   =   ParseArguments ( argc ,   argv ) ;   ...   / /   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0a   auto   client   =   cc : : Client ( host ,   port ) ;   client . SetTimeout ( 40s ) ;   \u52a0\u8f7d \u5730\u56fe   \u73b0\u5728 \u8ba9 \u6211\u4eec \u52a0\u8f7d \u4e00\u4e2a \u968f\u673a \u9009\u62e9 \u7684 \u5730\u56fe \uff1a   / /   \u521d\u59cb \u521d\u59cb\u5316 \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u751f\u6210 \u6210\u5668 \u751f\u6210\u5668   std : : mt19937 _ 64   rng ( ( std : : random _ device ( ) ) ( ) ) ;   ...   auto   town _ name   =   RandomChoice ( client . GetAvailableMaps ( ) ,   rng ) ;   std : : cout   < <   \" Loading   world :   \"   < <   town _ name   < <   std : : endl ;   auto   world   =   client . LoadWorld ( town _ name ) ;   \u968f\u673a \u9009\u62e9 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u6211\u4eec \u5c06 \u83b7\u53d6 \u84dd \u56fe\u5e93 \uff0c \u8fc7\u6ee4 \u8f66\u8f86 \u5e76 \u9009\u62e9 \u4e00\u4e2a \u968f\u673a \u7684 \u8f66\u8f86 \u84dd\u56fe \uff1a   auto   blueprint _ library   =   world . GetBlueprintLibrary ( ) ;   auto   vehicles   =   blueprint _ library - > Filter ( \" vehicle \" ) ;   auto   blueprint   =   RandomChoice ( * vehicles ,   rng ) ;   \u73b0\u5728 \u6211\u4eec \u9700\u8981 \u627e\u5230 \u4e00\u4e2a \u4f4d\u7f6e \uff0c \u4ece \u5730\u56fe \u4e0a \u7684 \u751f\u6210 \u70b9 \u751f\u6210 \u8f66\u8f86 \u3002 \u6211\u4eec \u5c06 \u83b7\u5f97 \u4e00\u4e2a \u6307\u5411 \u5730\u56fe \u5bf9\u8c61 \u7684 \u6307\u9488 \u5f15\u7528 \uff0c \u7136\u540e \u9009\u62e9 \u4e00\u4e2a \u968f\u673a \u751f\u6210 \u70b9 \uff08 \u786e\u4fdd \u786e\u4fdd\u60a8 \u5df2 \u521d\u59cb \u521d\u59cb\u5316 \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u751f\u6210 \u6210\u5668 \u751f\u6210\u5668 \uff09 \uff1a   auto   map   =   world . GetMap ( ) ;   auto   transform   =   RandomChoice ( map - > GetRecommendedSpawnPoints ( ) ,   rng ) ;   \u73b0\u5728 \u6211\u4eec \u6709 \u4e86 \u84dd\u56fe \u548c \u751f\u6210 \u4f4d\u7f6e \uff0c \u6211\u4eec \u73b0\u5728 \u53ef\u4ee5 \u4f7f\u7528   world . SpawnActor ( ... )   \u65b9\u6cd5 \u751f\u6210 \u8f66\u8f86 \u3002   auto   actor   =   world . SpawnActor ( blueprint ,   transform ) ;   std : : cout   < <   \" Spawned   \"   < <   actor - > GetDisplayId ( )   < <   ' \\ n ' ;   / /   \u68c0\u7d22 \u6307\u5411 \u8f66\u8f86 \u5bf9\u8c61 \u7684 \u6307\u9488   auto   vehicle   =   boost : : static _ pointer _ cast < cc : : Vehicle > ( actor ) ;   \u5e94\u7528 \u63a7\u5236   \u73b0\u5728 \uff0c \u8ba9 \u6211\u4eec \u4f7f\u7528   ApplyControl ( ... )   \u65b9\u6cd5 \u5bf9 \u8f66\u8f86 \u5e94\u7528 \u4e00\u4e9b \u63a7\u5236 \u6765 \u79fb\u52a8 \u5b83 \uff1a   cc : : Vehicle : : Control   control ;   control . throttle   =   1.0 f ;   vehicle - > ApplyControl ( control ) ;   \u73b0\u5728 \uff0c \u6211\u4eec \u5c06 \u91cd\u65b0 \u5b9a\u4f4d \u89c2\u5bdf \u89c2\u5bdf\u8005 \uff0c \u4ee5\u4fbf \u5728 \u5730\u56fe \u4e0a \u770b\u5230 \u6211\u4eec \u65b0 \u751f\u6210 \u7684 \u8f66\u8f86 \uff1a   auto   spectator   =   world . GetSpectator ( ) ;   / /   \u8c03\u6574 \u53d8\u6362 \u6765\u770b   transform . location   + =   32.0 f   *   transform . GetForwardVector ( ) ;   transform . location . z   + =   2.0 f ;   transform . rotation . yaw   + =   180.0 f ;   transform . rotation . pitch   =   - 15.0 f ;   / /   \u73b0\u5728 \u8bbe\u7f6e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u53d8\u6362   spectator - > SetTransform ( transform ) ;   \u6211\u4eec \u8fd8 \u5c06 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5173\u95ed \u4e4b\u524d \uff0c \u8ba9 \u8be5 \u8fc7\u7a0b \u4f11\u7720 10 \u79d2 \uff0c \u4ee5 \u89c2\u5bdf \u6a21\u62df \u8fc7\u7a0b \uff1a   std : : this _ thread : : sleep _ for ( 10s ) ;   \u5982\u679c \u60a8 \u5e0c\u671b \u5728 \u6267\u884c \u5176\u4ed6 \u547d\u4ee4 \u65f6 \u4fdd\u6301 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6253\u5f00 \uff0c \u8bf7 \u521b\u5efa \u4e00\u4e2a \u6e38\u620f \u5faa\u73af \u3002 \u73b0\u5728 \uff0c \u60a8 \u5df2\u7ecf \u52a0\u8f7d \u4e86 \u4e00\u5f20 \u5730\u56fe \u5e76 \u751f\u6210 \u4e86 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u3002 \u4e3a\u4e86 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u63a2\u7d22 C++ API \uff0c   \u6784\u5efa Doxygen \u6587\u6863   \u5e76 \u5728 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u6253\u5f00 \u5b83 \u3002   \u8981 \u5728   Carla   \u5b58\u50a8 \u5e93 \u4e4b\u5916 \u7684 \u53e6 \u4e00\u4e2a \u4f4d\u7f6e \u6784\u5efa C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u8bf7 \u7f16\u8f91 Makefile \u7684 \u524d 5 \u884c \uff0c \u4ee5 \u5f15\u7528   / build   \u76ee\u5f55 \u548c   Carla   \u6784\u5efa \u4f4d\u7f6e \u7684 \u6b63\u786e \u4f4d\u7f6e \uff1a   CARLADIR = $ ( CURDIR ) / .. / ..   BUILDDIR = $ ( CURDIR ) / build   BINDIR = $ ( CURDIR ) / bin   INSTALLDIR = $ ( CURDIR ) / libcarla - install   TOOLCHAIN = $ ( CURDIR ) / ToolChain . cmake","title":"C++   \u5ba2\u6237\u7aef \u793a\u4f8b"},{"location":"adv_cpp_client/#c","text":"\u8981 \u6784\u5efa C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u793a\u4f8b \uff0c \u60a8 \u9700\u8981 \u5b89\u88c5   make   \u3002 \u5728 \u6784\u5efa C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e4b\u524d \uff0c \u60a8 \u9700\u8981 \u6784\u5efa   Carla \uff0c \u5e76 \u6309\u7167 \u60a8 \u5e73\u53f0 \u7684 \u76f8\u5173   \u6784\u5efa \u8bf4\u660e   \u8fdb\u884c \u64cd\u4f5c \u3002   \u5bfc\u822a \u5230   Carla   \u5b58\u50a8 \u5e93\u4e2d \u7684   Examples / CppClient   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u6253\u5f00 \u4e00\u4e2a \u7ec8\u7aef \u3002 \u60a8 \u5c06 \u5728 \u6b64 \u76ee\u5f55 \u4e2d \u627e\u5230 \u4e00\u4e2a   Makefile \u3002 \u8981 \u5728 Linux \u4e2d \u6784\u5efa \u5e76 \u8fd0\u884c \u5b83 \uff0c \u8bf7 \u5728 \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u4e0b \u6267\u884c   make   run   \u3002 \u5728 Windows \u4e2d \uff0c \u5728 \u540c\u4e00 \u76ee\u5f55 \u4e2d \u521b\u5efa \u4e00\u4e2a \u540d\u4e3a   CMakeLists . txt   \u7684 \u6587\u4ef6 \uff0c \u5e76 \u6dfb\u52a0   \u6b64 \u6587\u4ef6   \u4e2d \u7684 \u5185\u5bb9 \uff0c \u7136\u540e \u8fd0\u884c   cmake   \u3002   \u8fd9\u4e2a C++ \u793a\u4f8b \u5c06 \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u751f\u6210 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \uff0c \u5e76 \u5728 \u9500\u6bc1 \u548c \u7ec8\u6b62 \u8f66\u8f86 \u4e4b\u524d \u5bf9 \u5176 \u5e94\u7528 \u547d\u4ee4 \u3002","title":"C++   \u5ba2\u6237\u7aef \u793a\u4f8b"},{"location":"adv_cpp_client/#_1","text":"\u5bf9\u4e8e \u8fd9\u4e2a \u4f8b\u5b50 \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528 \u51e0\u4e2a \u4e0d\u540c \u7684   Carla   \u7c7b \uff0c \u56e0\u6b64 \u6211\u4eec \u9700\u8981 \u5305\u542b   Carla   \u5e93\u4e2d \u7684 \u76f8\u5173 \u6587\u4ef6 \u5934\u6587\u4ef6 \uff0c \u5e76 \u5305\u542b \u6211\u4eec \u5c06 \u4f7f\u7528 \u7684 \u4efb\u4f55 \u6807\u51c6 \u5e93 \uff1a   # include   < iostream >   # include   < random >   # include   < sstream >   # include   < stdexcept >   # include   < string >   # include   < thread >   # include   < tuple >   # include   < carla / client / ActorBlueprint . h >   # include   < carla / client / BlueprintLibrary . h >   # include   < carla / client / Client . h >   # include   < carla / client / Map . h >   # include   < carla / client / Sensor . h >   # include   < carla / client / TimeoutException . h >   # include   < carla / client / World . h >   # include   < carla / geom / Transform . h >   # include   < carla / image / ImageIO . h >   # include   < carla / image / ImageView . h >   # include   < carla / sensor / data / Image . h >","title":"\u5305\u62ec \u76f8\u5173 \u7684 \u5934\u6587\u4ef6"},{"location":"adv_cpp_client/#c_1","text":"\u5305\u62ec   carla / client / Client . h   \uff0c \u7136\u540e \u8fde\u63a5 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1a   ...   # include   < carla / client / Client . h >   ...   int   main ( int   argc ,   const   char   * argv [ ] )   {   std : : string   host ;   uint16 _ t   port ;   std : : tie ( host ,   port )   =   ParseArguments ( argc ,   argv ) ;   ...   / /   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0a   auto   client   =   cc : : Client ( host ,   port ) ;   client . SetTimeout ( 40s ) ;","title":"\u5c06   C++   \u5ba2\u6237\u7aef \u8fde\u63a5 \u5230 \u670d\u52a1\u5668"},{"location":"adv_cpp_client/#_2","text":"\u73b0\u5728 \u8ba9 \u6211\u4eec \u52a0\u8f7d \u4e00\u4e2a \u968f\u673a \u9009\u62e9 \u7684 \u5730\u56fe \uff1a   / /   \u521d\u59cb \u521d\u59cb\u5316 \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u751f\u6210 \u6210\u5668 \u751f\u6210\u5668   std : : mt19937 _ 64   rng ( ( std : : random _ device ( ) ) ( ) ) ;   ...   auto   town _ name   =   RandomChoice ( client . GetAvailableMaps ( ) ,   rng ) ;   std : : cout   < <   \" Loading   world :   \"   < <   town _ name   < <   std : : endl ;   auto   world   =   client . LoadWorld ( town _ name ) ;","title":"\u52a0\u8f7d \u5730\u56fe"},{"location":"adv_cpp_client/#_3","text":"\u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u6211\u4eec \u5c06 \u83b7\u53d6 \u84dd \u56fe\u5e93 \uff0c \u8fc7\u6ee4 \u8f66\u8f86 \u5e76 \u9009\u62e9 \u4e00\u4e2a \u968f\u673a \u7684 \u8f66\u8f86 \u84dd\u56fe \uff1a   auto   blueprint _ library   =   world . GetBlueprintLibrary ( ) ;   auto   vehicles   =   blueprint _ library - > Filter ( \" vehicle \" ) ;   auto   blueprint   =   RandomChoice ( * vehicles ,   rng ) ;   \u73b0\u5728 \u6211\u4eec \u9700\u8981 \u627e\u5230 \u4e00\u4e2a \u4f4d\u7f6e \uff0c \u4ece \u5730\u56fe \u4e0a \u7684 \u751f\u6210 \u70b9 \u751f\u6210 \u8f66\u8f86 \u3002 \u6211\u4eec \u5c06 \u83b7\u5f97 \u4e00\u4e2a \u6307\u5411 \u5730\u56fe \u5bf9\u8c61 \u7684 \u6307\u9488 \u5f15\u7528 \uff0c \u7136\u540e \u9009\u62e9 \u4e00\u4e2a \u968f\u673a \u751f\u6210 \u70b9 \uff08 \u786e\u4fdd \u786e\u4fdd\u60a8 \u5df2 \u521d\u59cb \u521d\u59cb\u5316 \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u751f\u6210 \u6210\u5668 \u751f\u6210\u5668 \uff09 \uff1a   auto   map   =   world . GetMap ( ) ;   auto   transform   =   RandomChoice ( map - > GetRecommendedSpawnPoints ( ) ,   rng ) ;   \u73b0\u5728 \u6211\u4eec \u6709 \u4e86 \u84dd\u56fe \u548c \u751f\u6210 \u4f4d\u7f6e \uff0c \u6211\u4eec \u73b0\u5728 \u53ef\u4ee5 \u4f7f\u7528   world . SpawnActor ( ... )   \u65b9\u6cd5 \u751f\u6210 \u8f66\u8f86 \u3002   auto   actor   =   world . SpawnActor ( blueprint ,   transform ) ;   std : : cout   < <   \" Spawned   \"   < <   actor - > GetDisplayId ( )   < <   ' \\ n ' ;   / /   \u68c0\u7d22 \u6307\u5411 \u8f66\u8f86 \u5bf9\u8c61 \u7684 \u6307\u9488   auto   vehicle   =   boost : : static _ pointer _ cast < cc : : Vehicle > ( actor ) ;","title":"\u968f\u673a \u9009\u62e9 \u4e00\u8f86\u8f66"},{"location":"adv_cpp_client/#_4","text":"\u73b0\u5728 \uff0c \u8ba9 \u6211\u4eec \u4f7f\u7528   ApplyControl ( ... )   \u65b9\u6cd5 \u5bf9 \u8f66\u8f86 \u5e94\u7528 \u4e00\u4e9b \u63a7\u5236 \u6765 \u79fb\u52a8 \u5b83 \uff1a   cc : : Vehicle : : Control   control ;   control . throttle   =   1.0 f ;   vehicle - > ApplyControl ( control ) ;   \u73b0\u5728 \uff0c \u6211\u4eec \u5c06 \u91cd\u65b0 \u5b9a\u4f4d \u89c2\u5bdf \u89c2\u5bdf\u8005 \uff0c \u4ee5\u4fbf \u5728 \u5730\u56fe \u4e0a \u770b\u5230 \u6211\u4eec \u65b0 \u751f\u6210 \u7684 \u8f66\u8f86 \uff1a   auto   spectator   =   world . GetSpectator ( ) ;   / /   \u8c03\u6574 \u53d8\u6362 \u6765\u770b   transform . location   + =   32.0 f   *   transform . GetForwardVector ( ) ;   transform . location . z   + =   2.0 f ;   transform . rotation . yaw   + =   180.0 f ;   transform . rotation . pitch   =   - 15.0 f ;   / /   \u73b0\u5728 \u8bbe\u7f6e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u53d8\u6362   spectator - > SetTransform ( transform ) ;   \u6211\u4eec \u8fd8 \u5c06 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5173\u95ed \u4e4b\u524d \uff0c \u8ba9 \u8be5 \u8fc7\u7a0b \u4f11\u7720 10 \u79d2 \uff0c \u4ee5 \u89c2\u5bdf \u6a21\u62df \u8fc7\u7a0b \uff1a   std : : this _ thread : : sleep _ for ( 10s ) ;   \u5982\u679c \u60a8 \u5e0c\u671b \u5728 \u6267\u884c \u5176\u4ed6 \u547d\u4ee4 \u65f6 \u4fdd\u6301 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6253\u5f00 \uff0c \u8bf7 \u521b\u5efa \u4e00\u4e2a \u6e38\u620f \u5faa\u73af \u3002 \u73b0\u5728 \uff0c \u60a8 \u5df2\u7ecf \u52a0\u8f7d \u4e86 \u4e00\u5f20 \u5730\u56fe \u5e76 \u751f\u6210 \u4e86 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u3002 \u4e3a\u4e86 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u63a2\u7d22 C++ API \uff0c   \u6784\u5efa Doxygen \u6587\u6863   \u5e76 \u5728 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u6253\u5f00 \u5b83 \u3002   \u8981 \u5728   Carla   \u5b58\u50a8 \u5e93 \u4e4b\u5916 \u7684 \u53e6 \u4e00\u4e2a \u4f4d\u7f6e \u6784\u5efa C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u8bf7 \u7f16\u8f91 Makefile \u7684 \u524d 5 \u884c \uff0c \u4ee5 \u5f15\u7528   / build   \u76ee\u5f55 \u548c   Carla   \u6784\u5efa \u4f4d\u7f6e \u7684 \u6b63\u786e \u4f4d\u7f6e \uff1a   CARLADIR = $ ( CURDIR ) / .. / ..   BUILDDIR = $ ( CURDIR ) / build   BINDIR = $ ( CURDIR ) / bin   INSTALLDIR = $ ( CURDIR ) / libcarla - install   TOOLCHAIN = $ ( CURDIR ) / ToolChain . cmake","title":"\u5e94\u7528 \u63a7\u5236"},{"location":"adv_digital_twin/","text":"\u7b14\u8bb0   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177   \u76ee\u524d \u662f \u4e00\u9879   \u5b9e\u9a8c \u529f\u80fd \u6027\u529f\u80fd   \uff0c \u9636\u6bb5 \u73b0\u9636\u6bb5 \u5c1a\u672a \u8003\u8651 \u6295\u5165 \u751f\u4ea7 \u3002 \u5730\u56fe \u7684 \u67d0\u4e9b \u90e8\u5206 \u53ef\u80fd \u672a \u88c5\u9970 \u6216 \u65e0 \u7eb9\u7406 \u3002 \u56e0\u6b64 \u5b83 \u53ea\u80fd \u7528\u4e8e \u5b9e\u9a8c \u7814\u7a76 \u9879\u76ee \u3002   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177   \u6784\u5efa   OSM   \u6e32\u67d3 \u6e32\u67d3\u5668   \u4e0b\u8f7d \u5e76 \u51c6\u5907   OSM   \u5730\u56fe \u6570\u636e   OpenStreetMap   \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u73af\u5883 \u751f\u6210   \u9053\u8def \u88c5\u9970   \u5efa\u7b51 \u5efa\u7b51\u7269   \u751f\u6210 \u5730\u56fe   \u4fdd\u5b58 \u5730\u56fe   \u540e\u7eed \u6b65\u9aa4   \u5206\u6790   \u95ee\u9898   \u672c\u5730 \u672c\u5730\u5316 UE \u7f16\u8f91 \u7f16\u8f91\u5668   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177   \u80fd\u591f \u57fa\u4e8e \u6e90\u81ea   OpenStreetMap   ( OSM )   \u670d\u52a1 \u7684 \u9053\u8def \u7f51\u7edc \uff0c \u4ee5 \u7a0b\u5e8f \u65b9\u5f0f \u751f\u6210 \u72ec\u7279 \u7684 \u4e09\u7ef4 \u73af\u5883 \u3002 \u901a\u8fc7   Carla   \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684 \u6570\u5b57 \u5b6a\u751f \u5de5\u5177 \u754c\u9762 \uff0c \u7528\u6237 \u53ef\u4ee5 \u4ece   OSM   \u9009\u62e9 \u5730\u56fe \u533a\u57df \u5e76 \u4e0b\u8f7d \u9053\u8def \u7f51\u7edc \u4f5c\u4e3a \u65b0   Carla   \u5730\u56fe \u7684 \u57fa\u7840 \u3002 \u7136\u540e \uff0c \u8be5 \u5de5\u5177 \u7528 \u7a0b\u5e8f \u751f\u6210 \u7684 \u4e09\u7ef4 \u5efa\u7b51 \u5efa\u7b51\u7269 \u586b\u5145 \u9053\u8def \u4e4b\u95f4 \u7684 \u7a7a\u95f4 \uff0c \u8fd9\u4e9b \u5efa\u7b51 \u5efa\u7b51\u7269 \u4f1a \u6839\u636e \u9053\u8def \u5e03\u5c40 \u8fdb\u884c \u8c03\u6574 \uff0c \u4ece\u800c \u521b\u5efa \u5177\u6709 \u9ad8 \u53ef\u53d8 \u53d8\u6027 \u53ef\u53d8\u6027 \u7684 \u771f\u5b9e \u4e09\u7ef4 \u9053\u8def \u73af\u5883 \u3002   \u6784\u5efa   OSM   \u6e32\u67d3 \u6e32\u67d3\u5668   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Linux \uff0c \u5219 \u53ef\u4ee5 \u9009\u62e9 \u4f7f\u7528   Carla   \u754c\u9762 \u4e2d \u7684   OSM   \u6e32\u67d3 \u6e32\u67d3\u5668 \u6765 \u5bfc\u822a \u5df2 \u4e0b\u8f7d \u7684 \u5927\u578b   OSM   \u5730\u56fe \u533a\u57df \u3002 \u60a8 \u9996\u5148 \u9700\u8981 \u6784\u5efa   OSM   \u6e32\u67d3 \u6e32\u67d3\u5668 \u3002   \u5728   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e2d \u8fd0\u884c   make   osmrenderer   \u3002   \u60a8 \u53ef\u80fd \u9700\u8981 \u5c06   CMake   \u7248\u672c \u5347\u7ea7 \u7248\u672c\u5347\u7ea7 \u5230   v3.2   \u6216 \u66f4 \u9ad8 \u7248\u672c \u624d\u80fd \u6b63\u5e38 \u5de5\u4f5c \u3002 \u8fd9 \u5c06 \u5728 \u60a8 \u7684 \u6784\u5efa \u76ee\u5f55 \u4e2d \u521b\u5efa \u4e24\u4e2a \u540d\u4e3a   libosmcout - source   \u548c   libosmcout - build   \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u5728 \u7ee7\u7eed \u6784\u5efa   Carla   \u4e4b\u524d \uff0c \u60a8 \u9700\u8981 \u50cf \u8fd9\u6837   \u5728 \u76ee\u5f55 \u4e2d   $ CARLA _ ROOT / Build / libosmcout - source / maps   \u7f16\u8f91 \u6587\u4ef6   Build . sh   \uff0c \u4ee5 \u786e\u4fdd \u627e\u5230 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \uff1a   if   [ [   - x   .. / Import / src / Import   ] ] ;   then   importExe = .. / Import / src / Import   elif   [ [   - x   .. / debug / Import / Import   ] ] ;   then   importExe = .. / debug / Import / Import   elif   [ [   - x   .. / build / Import / Import   ] ] ;   then   importExe = .. / build / Import / Import   ###################   Add   this   line   ####################   elif   [   - x   .. / .. / libosmscout - build / Import / Import   ] ;   then   importExe = .. / .. / libosmscout - build / Import / Import   #######################################################   else   echo   \" Cannot   find   Import   executable ! \"   exit   1   fi   \u7136\u540e \u7ee7\u7eed \u6309 \u6b63\u5e38 \u65b9\u5f0f \u6784\u5efa   Carla \u3002 Windows   \u7528\u6237 \u65e0\u6cd5 \u9009\u62e9 \u4f7f\u7528   OSM   \u6e32\u67d3 \u6e32\u67d3\u5668 \uff0c \u5fc5\u987b \u76f4\u63a5 \u4f7f\u7528   URL \u3002   \u4e0b\u8f7d \u5e76 \u51c6\u5907   OSM   \u5730\u56fe \u6570\u636e   \u5728 \u7f51\u7edc \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u8f6c \u5230   OpenStreetMap   \u7f51\u7ad9   \u5e76 \u9009\u62e9 \u60a8 \u8981 \u4f7f\u7528 \u7684 \u5730\u56fe \u533a\u57df \u3002 \u5b9a\u4e49 \u60a8 \u7684 \u533a\u57df \uff0c \u7136\u540e \u5c06 \u6570\u636e \u5bfc\u51fa \u4e3a   . osm   \u6587\u4ef6 \uff0c \u6216\u8005 \u60a8 \u53ef\u4ee5 \u4f7f\u7528   URL \uff0c \u5982\u4e0b \u6240\u8ff0 \u3002 \u6216\u8005 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u57fa\u4e8e   OpenStreetMap   \u670d\u52a1 \u7684 \u5176\u4ed6 \u5de5\u5177 \uff08 \u4f8b\u5982   GeoFabrik   \uff0c \u5b83 \u5141\u8bb8 \u4ece   OSM   \u6570\u636e \u4e2d \u63d0\u53d6 \u7279\u5b9a \u7684 \u5730\u56fe \u533a\u57df \uff08 \u4f8b\u5982 \u5dde \u6216 \u9886\u5730 \uff09 \u3002   \u6709 \u4e24\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u4f7f\u7528   OSM   \u6570\u636e \u3002 \u4f7f\u7528   URL   \u6216 \u4e0b\u8f7d   OSM   \u6587\u4ef6 \uff1a   \u4f7f\u7528   URL   \u5728   OpenStreetMap   \u7f51\u7ad9   \u4e2d \uff0c \u5bfc\u822a \u5230 \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u7684 \u533a\u57df \uff0c \u7136\u540e \u6309   Export   \uff0c \u60a8 \u53ef\u80fd \u8fd8 \u60f3 \u4f7f\u7528   Manually   select   a   different   area   \u9009\u9879 \u3002 \u7136\u540e \uff0c \u53f3\u952e \u5355\u51fb   Overpass   API   \u5e76 \u4ece \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   Copy   link   \u3002   \u60a8 \u5fc5\u987b \u786e\u4fdd \u6587\u4ef6 \u4e0d \u5927\u4e8e   1   GB \u3002 \u83b7\u53d6 \u6b64 \u94fe\u63a5 \u5e76 \u5c06 \u5176 \u7c98\u8d34 \u5230 \u754c\u9762 \u7684   URL   \u5b57\u6bb5 \u4e2d \u3002   \u4e0b\u8f7d   OSM   \u6587\u4ef6 \u5e76 \u5728 \u754c\u9762 \u4e2d \u5bfc\u822a   \u6b64 \u9009\u9879 \u4ec5 \u9002\u7528 \u4e8e   Linux   \u7528\u6237 \u3002 \u60a8 \u53ef\u4ee5 \u4e0b\u8f7d \u66f4\u5927 \u533a\u57df \u7684 \u5730\u56fe \uff0c \u4f8b\u5982 \u6574\u4e2a \u5dde \u6216 \u9886\u5730 \uff0c \u7136\u540e \u4f7f\u7528   Carla   \u4e2d \u7684   OSM   \u754c\u9762 \uff0c \u4f7f\u7528 \u7bad\u5934 \u548c \u7f29\u653e \u6309\u94ae \u5bfc\u822a \u5730\u56fe \u3002 \u5c06 \u6240 \u9700 \u7684   OSM   \u6570\u636e \u533a\u57df \u4e0b\u8f7d \u4e3a   . osm   \u6587\u4ef6 \u3002   \u7136\u540e \u5c06 \u6b64 \u6587\u4ef6 \u653e\u5165   { CARLA _ ROOT } / Build / libosmcout - source / maps /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u6253\u5f00 \u6b64 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u7684 \u7ec8\u7aef \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cd   { CARLA _ ROOT } / Build / libosmcout - source / maps /   . / build . sh   < path _ to _ osm _ file >   \u7b14\u8bb0   \u5982\u679c   OpenStreetMap   \u4e2d \u7684 \u5730\u56fe \u6709 \u9519\u8bef \u6216 \u4e0d \u7cbe\u786e \uff0c \u53ef\u4ee5 \u901a\u8fc7   \u7f16\u8f91 \u5730\u56fe   \u8fdb\u884c \u6539\u8fdb \u3002   OpenStreetMap   \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u5982\u679c \u5de6\u4e0b \u4e0b\u89d2 \u5de6\u4e0b\u89d2 \u7684 \u201c \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u201d \u672a \u770b\u5230 \u201c Carla \u5185\u5bb9 \u201d \uff0c \u5230 \u4e2d\u95f4 \u4e0b\u9762 \u7684 \u201c \u89c6\u56fe \u9009\u9879 \u201d \u4e2d \u9009\u4e2d \u201c \u663e\u793a \u63d2\u4ef6 \u5185\u5bb9 \u201d   \u8981 \u6253\u5f00   OSM   \u6d4f\u89c8 \u6d4f\u89c8\u5668 \uff0c \u8bf7 \u6253\u5f00 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5e76 \u5bfc\u822a \u81f3   CarlaToolsContent / OnroadMapGenerator   \u3002 \u53f3\u952e \u5355\u51fb   UW _ OnRoadMainWidget   \u5e76 \u4ece \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   \u8fd0\u884c \u7f16\u8f91 \u5de5\u5177 \u7a7a\u95f4 \uff08 Launch   Editor   Utility   Widget \uff09   \u3002 \u8fd9 \u5c06 \u6253\u5f00 \u8be5 \u5de5\u5177 \u7684 \u754c\u9762 \u3002   \u8be5 \u754c\u9762 \u5141\u8bb8 \u6d4f\u89c8 \u5df2 \u4ece   OSM   \u6570\u636e \u636e\u5e93 \u6570\u636e\u5e93 \u4e0b\u8f7d \u5e76 \u70d8\u7119 \u7684   OSM   \u5730\u56fe \u533a\u57df \u3002 \u9996\u5148 \uff0c \u60a8 \u5e94\u8be5 \u5728 \u754c\u9762 \u7684   Select   OSM   Database   \u5b57\u6bb5 \u4e2d \u8f93\u5165 \u4e0a \u4e00\u6b65 \u4e2d \u5b58\u50a8 \u5904\u7406 \u540e \u7684   OSM   \u6570\u636e \u7684 \u76ee\u5f55 \u4f4d\u7f6e \u3002 \u5982\u679c \u60a8 \u76f4\u63a5 \u4f7f\u7528   URL \uff0c \u8bf7 \u5c06 \u5176 \u7c98\u8d34 \u5230   OSM   URL   \u5b57\u6bb5 \u4e2d \uff0c \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \u60a8 \u5c06 \u65e0\u6cd5 \u4f7f\u7528 \u5bfc\u822a \u5668 \u3002   \u4f7f\u7528 \u65b9\u5411 \u7bad\u5934 \u65b9\u5411\u7bad\u5934 \u548c \u7f29\u653e \u56fe\u6807 \u5bfc\u822a \u5730\u56fe \u5e76 \u627e\u5230 \u8981 \u8f6c\u6362 \u4e3a   Carla   \u5730\u56fe \u7684 \u9053\u8def \u8def\u7f51 \u9053\u8def\u7f51 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u60a8 \u5728 \u9884\u89c8 \u4e2d \u770b\u5230 \u7684 \u65b9\u5f62 \u533a\u57df \u5c06 \u662f \u5730\u56fe \u7684 \u8303\u56f4 \u3002 \u5728 \u5b57 \u6bb5 \u4e2d \u8f93\u5165 \u9002\u5f53 \u7684 \u540d\u79f0   File   Name   \u7136\u540e \u6309   Generate   \u5f00\u59cb \u7a0b\u5e8f \u751f\u6210 \u8fc7\u7a0b \u3002 \u5730\u56fe \u751f\u6210 \u8fc7\u7a0b \u53ef\u80fd \u9700\u8981 \u51e0\u5206 \u5206\u949f \u51e0\u5206\u949f \uff0c \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f \u5927 \u533a\u57df \uff0c \u5219 \u53ef\u80fd \u9700\u8981 \u66f4\u957f \u7684 \u65f6\u95f4 \u3002   \u5148 \u542f\u52a8 Carla \u670d\u52a1 \uff0c \u7136\u540e \u8fd0\u884c \u4ee5\u4e0b \u811a\u672c \u4ece   . osm   \u6587\u4ef6 \u4e2d \u52a0\u8f7d \u573a\u666f \uff1a   python   src / util / config . py   - x   * . xodr   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u573a\u666f \u751f\u6210   \u9053\u8def \u88c5\u9970   \u8be5 \u5de5\u5177 \u4ece   OSM   \u6570\u636e \u4e2d \u63d0\u53d6 \u9053\u8def \u7f51\u7edc \u4f5c\u4e3a \u5730\u56fe \u7684 \u57fa\u7840 \u3002 \u8def\u9762 \u88c5\u9970 \u6709 \u903c\u771f \u7684 \u8868\u9762 \u89c4\u5219 \u4e0d\u89c4\u5219 \u6027 \u3001 \u9053\u8def \u7eb9\u7406 \u548c \u8f66\u9053 \u7ebf \u3001 \u88c2\u75d5 \u548c \u8f6e\u80ce \u5370\u8ff9 \u3002   \u5efa\u7b51 \u5efa\u7b51\u7269   \u9053\u8def \u4e4b\u95f4 \u7684 \u7a7a\u767d \u533a\u57df \u586b\u5145 \u6709 \u5efa\u7b51 \u5efa\u7b51\u7269 \u6216 \u5f00\u653e \u533a\u57df \uff0c \u5b83\u4eec \u4f1a \u8c03\u6574 \u5176 \u5f62\u72b6 \u548c \u5c3a\u5bf8 \u4ee5 \u586b\u5145 \u9053\u8def \u4e4b\u95f4 \u7684 \u7a7a\u95f4 \u3002   \u7a0b\u5e8f \u751f\u6210 \u5de5\u5177 \u4ece   OSM   \u6570\u636e \u4e2d \u63d0\u53d6 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5360\u5730 \u5730\u9762 \u9762\u79ef \u5360\u5730\u9762\u79ef \u548c \u9ad8\u5ea6 \u4fe1\u606f \uff0c \u4ee5 \u751f\u6210 \u5177\u6709 \u76f8\u4f3c \u5c3a\u5bf8 \u7684 \u865a\u62df \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002 \u8be6\u7ec6 \u7684 \u8986\u5c42 \u7528\u4e8e \u4eff\u771f \u7a97\u6237 \u3001 \u95e8 \u548c \u9633\u53f0 \u3002 \u6839\u636e \u5efa\u7b51 \u9762\u79ef \u5efa\u7b51\u9762\u79ef \u7684 \u4e0d\u540c \uff0c \u91c7\u7528 \u4e0d\u540c \u7684 \u88c5\u4fee \u98ce\u683c \uff0c \u6700\u9ad8 \u7684 \u5efa\u7b51 \u4e3a \u529e\u516c \u98ce\u683c \uff0c \u8f83 \u5c0f \u7684 \u5efa\u7b51 \u6839\u636e \u5efa\u7b51 \u5360\u5730 \u5730\u9762 \u9762\u79ef \u5360\u5730\u9762\u79ef \u91c7\u7528 \u5546\u4e1a \u6216 \u4f4f\u5b85 \u98ce\u683c \u3002   \u5728 \u4e0b \u4e00\u6b65 \u4e2d \u8fd8 \u5c06 \u690d\u88ab \u6dfb\u52a0 \u5230 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u4e2d\u4ee5 \u83b7\u53d6 \u66f4 \u591a \u7ec6\u8282 \u3002   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177 \u6784\u5efa \u98ce\u683c   \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u98ce\u683c \u591a\u79cd \u591a\u6837 \u591a\u79cd\u591a\u6837 \uff0c \u968f\u673a \u5206\u5e03 \u5728 \u6574\u4e2a \u57ce\u5e02 \uff0c \u4e00\u4e2a \u533a\u57df \u7684 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u662f \u6839\u636e \u4ece   OSM   \u6570\u636e \u4e2d \u63d0\u53d6 \u7684 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u7279\u5f81 \u5c3a\u5bf8 \u6765 \u9009\u62e9 \u7684 \u3002   \u751f\u6210 \u5730\u56fe   \u5bf9\u4e8e   2x2   km   2   \u533a\u57df \uff0c \u751f\u6210 \u6b65\u9aa4 \u5927\u7ea6 \u9700\u8981   10   \u5206\u949f \uff0c \u8f83\u5927 \u7684 \u533a\u57df \u5c06 \u9700\u8981 \u66f4\u957f \u7684 \u65f6\u95f4 \u3002 \u751f\u6210 \u8fc7\u7a0b \u5b8c\u6210 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u68c0\u67e5 \u4e09\u7ef4 \u5730\u56fe \u3002   \u4fdd\u5b58 \u5730\u56fe   \u5982\u679c \u60a8 \u5bf9 \u751f\u6210 \u7684 \u5730\u56fe \u611f\u5230 \u6ee1\u610f \uff0c \u5219 \u53ef\u4ee5 \u6309   Save   Map   \u6309\u94ae \u4fdd\u5b58 \u5730\u56fe \u3002   \u6b64 \u6b65\u9aa4 \u5c06 \u82b1\u8d39 \u5927\u91cf \u65f6\u95f4   \uff0c \u53ef\u80fd \u9700\u8981 \u4e00\u4e2a \u4e00\u4e2a\u591a \u5c0f\u65f6 \uff0c \u4e5f \u53ef\u80fd \u9700\u8981 \u51e0\u4e2a \u5c0f\u65f6 \u3002 \u5b8c\u6210 \u6b64 \u6b65\u9aa4 \u540e \uff0c \u60a8 \u5e94\u8be5 \u51c6\u5907 \u8ba9 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u8fd0\u884c \u51e0\u4e2a \u5c0f\u65f6 \u3002 \u5b8c\u6210 \u6b64 \u6b65\u9aa4 \u540e \uff0c \u5c06 \u53ef\u4ee5 \u901a\u8fc7 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u6216 \u901a\u8fc7   Carla   API   \u4f7f\u7528 \u8be5 \u5730\u56fe \uff0c \u5c31 \u50cf \u4efb\u4f55 \u5176\u4ed6 \u5730\u56fe \u4e00\u6837 \u3002   \u540e\u7eed \u6b65\u9aa4   \u6dfb\u52a0 \u5149\u6e90 \uff08 \u5929\u5149 \uff09 \u3001   \u8def\u7ebf \u89c4\u5212 \u5668   \u3001 \u6784\u5efa \u573a\u666f \u3002   \u5206\u6790   UOpenDriveToMap : : GenerateTile ( )   \u751f\u6210 \u6bcf \u4e00\u4e2a \u74e6\u7247 \uff0c \u8c03\u7528   GenerateAll ( )   \u51fd\u6570 \uff0c \u8fdb\u884c   \u9053\u8def \u7f51\u683c \u3001 \u8f66\u9053 \u7ebf \u3001 \u751f\u6210 \u70b9 \u3001 \u5730\u5f62 \u3001 \u6570\u76ee \u4f4d\u7f6e \u3001 \u751f\u6210 \u5b8c\u6210 \u7b49 \u6b65\u9aa4 \u3002   \u95ee\u9898   carla \\ Unreal \\ CarlaUE4 \\ Plugins \\ CarlaTools \\ Source \\ CarlaTools \\ Private \\ OpenDriveToMap . cpp   \u6539\u4e3a \u751f\u6210 \u4e00\u4e2a \u74e6\u7247 \u5730\u56fe \u7684 \u51fd\u6570 \uff0c \u751f\u6210 \u540e \u7684 \u540d\u5b57 \u4e3a   { NAME } _ Tile _ 0 _ 0   \u3002   / /   ExecuteTileCommandlet ( ) ;   GenerateTile ( ) ;   \u539f\u56e0 \uff1a   \u751f\u6210 \u74e6\u7247 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u7a0b\u5e8f \u4f4d\u4e8e   Unreal \\ CarlaUE4 \\ Plugins \\ CarlaTools \\ Source \\ CarlaTools \\ Private \\ Commandlet \\ GenerateTileCommandlet . cpp   \u3002   \u79fb\u9664   void   UOpenDriveToMap : : GenerateTile ( )   \u51fd\u6570 \u4e2d \u7684   / /   RemoveFromRoot ( ) ;   \u8bed\u53e5 \uff0c \u8be5 \u8bed\u53e5 \u6e05\u7406 FilePath \u53d8\u91cf \u5bfc\u81f4 \u4e0b \u4e00\u6b21 \u74e6\u7247 \u751f\u6210 \u65f6 FilePath \u53d8\u91cf \u4e71\u7801 \u7684 \u95ee\u9898 \uff0c \u53ef\u4ee5 \u89e3\u51b3 \u5927 \u5730\u56fe \u53ea \u751f\u6210 \u4e00\u4e2a \u74e6\u7247 \u7684 \u95ee\u9898 \u3002   \u53c2\u8003 \uff1a UE   \u4e2d \u7684   Commandlet   \u89e3\u8bfb \u3002","title":"Adv   digital   twin"},{"location":"adv_digital_twin/#_1","text":"\u6784\u5efa   OSM   \u6e32\u67d3 \u6e32\u67d3\u5668   \u4e0b\u8f7d \u5e76 \u51c6\u5907   OSM   \u5730\u56fe \u6570\u636e   OpenStreetMap   \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u73af\u5883 \u751f\u6210   \u9053\u8def \u88c5\u9970   \u5efa\u7b51 \u5efa\u7b51\u7269   \u751f\u6210 \u5730\u56fe   \u4fdd\u5b58 \u5730\u56fe   \u540e\u7eed \u6b65\u9aa4   \u5206\u6790   \u95ee\u9898   \u672c\u5730 \u672c\u5730\u5316 UE \u7f16\u8f91 \u7f16\u8f91\u5668   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177   \u80fd\u591f \u57fa\u4e8e \u6e90\u81ea   OpenStreetMap   ( OSM )   \u670d\u52a1 \u7684 \u9053\u8def \u7f51\u7edc \uff0c \u4ee5 \u7a0b\u5e8f \u65b9\u5f0f \u751f\u6210 \u72ec\u7279 \u7684 \u4e09\u7ef4 \u73af\u5883 \u3002 \u901a\u8fc7   Carla   \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684 \u6570\u5b57 \u5b6a\u751f \u5de5\u5177 \u754c\u9762 \uff0c \u7528\u6237 \u53ef\u4ee5 \u4ece   OSM   \u9009\u62e9 \u5730\u56fe \u533a\u57df \u5e76 \u4e0b\u8f7d \u9053\u8def \u7f51\u7edc \u4f5c\u4e3a \u65b0   Carla   \u5730\u56fe \u7684 \u57fa\u7840 \u3002 \u7136\u540e \uff0c \u8be5 \u5de5\u5177 \u7528 \u7a0b\u5e8f \u751f\u6210 \u7684 \u4e09\u7ef4 \u5efa\u7b51 \u5efa\u7b51\u7269 \u586b\u5145 \u9053\u8def \u4e4b\u95f4 \u7684 \u7a7a\u95f4 \uff0c \u8fd9\u4e9b \u5efa\u7b51 \u5efa\u7b51\u7269 \u4f1a \u6839\u636e \u9053\u8def \u5e03\u5c40 \u8fdb\u884c \u8c03\u6574 \uff0c \u4ece\u800c \u521b\u5efa \u5177\u6709 \u9ad8 \u53ef\u53d8 \u53d8\u6027 \u53ef\u53d8\u6027 \u7684 \u771f\u5b9e \u4e09\u7ef4 \u9053\u8def \u73af\u5883 \u3002","title":"\u6570\u5b57 \u5b6a\u751f \u5de5\u5177"},{"location":"adv_digital_twin/#osm","text":"\u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Linux \uff0c \u5219 \u53ef\u4ee5 \u9009\u62e9 \u4f7f\u7528   Carla   \u754c\u9762 \u4e2d \u7684   OSM   \u6e32\u67d3 \u6e32\u67d3\u5668 \u6765 \u5bfc\u822a \u5df2 \u4e0b\u8f7d \u7684 \u5927\u578b   OSM   \u5730\u56fe \u533a\u57df \u3002 \u60a8 \u9996\u5148 \u9700\u8981 \u6784\u5efa   OSM   \u6e32\u67d3 \u6e32\u67d3\u5668 \u3002   \u5728   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e2d \u8fd0\u884c   make   osmrenderer   \u3002   \u60a8 \u53ef\u80fd \u9700\u8981 \u5c06   CMake   \u7248\u672c \u5347\u7ea7 \u7248\u672c\u5347\u7ea7 \u5230   v3.2   \u6216 \u66f4 \u9ad8 \u7248\u672c \u624d\u80fd \u6b63\u5e38 \u5de5\u4f5c \u3002 \u8fd9 \u5c06 \u5728 \u60a8 \u7684 \u6784\u5efa \u76ee\u5f55 \u4e2d \u521b\u5efa \u4e24\u4e2a \u540d\u4e3a   libosmcout - source   \u548c   libosmcout - build   \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u5728 \u7ee7\u7eed \u6784\u5efa   Carla   \u4e4b\u524d \uff0c \u60a8 \u9700\u8981 \u50cf \u8fd9\u6837   \u5728 \u76ee\u5f55 \u4e2d   $ CARLA _ ROOT / Build / libosmcout - source / maps   \u7f16\u8f91 \u6587\u4ef6   Build . sh   \uff0c \u4ee5 \u786e\u4fdd \u627e\u5230 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \uff1a   if   [ [   - x   .. / Import / src / Import   ] ] ;   then   importExe = .. / Import / src / Import   elif   [ [   - x   .. / debug / Import / Import   ] ] ;   then   importExe = .. / debug / Import / Import   elif   [ [   - x   .. / build / Import / Import   ] ] ;   then   importExe = .. / build / Import / Import   ###################   Add   this   line   ####################   elif   [   - x   .. / .. / libosmscout - build / Import / Import   ] ;   then   importExe = .. / .. / libosmscout - build / Import / Import   #######################################################   else   echo   \" Cannot   find   Import   executable ! \"   exit   1   fi   \u7136\u540e \u7ee7\u7eed \u6309 \u6b63\u5e38 \u65b9\u5f0f \u6784\u5efa   Carla \u3002 Windows   \u7528\u6237 \u65e0\u6cd5 \u9009\u62e9 \u4f7f\u7528   OSM   \u6e32\u67d3 \u6e32\u67d3\u5668 \uff0c \u5fc5\u987b \u76f4\u63a5 \u4f7f\u7528   URL \u3002","title":"\u6784\u5efa   OSM   \u6e32\u67d3\u5668  "},{"location":"adv_digital_twin/#osm_1","text":"\u5728 \u7f51\u7edc \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u8f6c \u5230   OpenStreetMap   \u7f51\u7ad9   \u5e76 \u9009\u62e9 \u60a8 \u8981 \u4f7f\u7528 \u7684 \u5730\u56fe \u533a\u57df \u3002 \u5b9a\u4e49 \u60a8 \u7684 \u533a\u57df \uff0c \u7136\u540e \u5c06 \u6570\u636e \u5bfc\u51fa \u4e3a   . osm   \u6587\u4ef6 \uff0c \u6216\u8005 \u60a8 \u53ef\u4ee5 \u4f7f\u7528   URL \uff0c \u5982\u4e0b \u6240\u8ff0 \u3002 \u6216\u8005 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u57fa\u4e8e   OpenStreetMap   \u670d\u52a1 \u7684 \u5176\u4ed6 \u5de5\u5177 \uff08 \u4f8b\u5982   GeoFabrik   \uff0c \u5b83 \u5141\u8bb8 \u4ece   OSM   \u6570\u636e \u4e2d \u63d0\u53d6 \u7279\u5b9a \u7684 \u5730\u56fe \u533a\u57df \uff08 \u4f8b\u5982 \u5dde \u6216 \u9886\u5730 \uff09 \u3002   \u6709 \u4e24\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u4f7f\u7528   OSM   \u6570\u636e \u3002 \u4f7f\u7528   URL   \u6216 \u4e0b\u8f7d   OSM   \u6587\u4ef6 \uff1a","title":"\u4e0b\u8f7d \u5e76 \u51c6\u5907   OSM   \u5730\u56fe \u6570\u636e  "},{"location":"adv_digital_twin/#url","text":"\u5728   OpenStreetMap   \u7f51\u7ad9   \u4e2d \uff0c \u5bfc\u822a \u5230 \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u7684 \u533a\u57df \uff0c \u7136\u540e \u6309   Export   \uff0c \u60a8 \u53ef\u80fd \u8fd8 \u60f3 \u4f7f\u7528   Manually   select   a   different   area   \u9009\u9879 \u3002 \u7136\u540e \uff0c \u53f3\u952e \u5355\u51fb   Overpass   API   \u5e76 \u4ece \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   Copy   link   \u3002   \u60a8 \u5fc5\u987b \u786e\u4fdd \u6587\u4ef6 \u4e0d \u5927\u4e8e   1   GB \u3002 \u83b7\u53d6 \u6b64 \u94fe\u63a5 \u5e76 \u5c06 \u5176 \u7c98\u8d34 \u5230 \u754c\u9762 \u7684   URL   \u5b57\u6bb5 \u4e2d \u3002","title":"\u4f7f\u7528   URL"},{"location":"adv_digital_twin/#osm_2","text":"\u6b64 \u9009\u9879 \u4ec5 \u9002\u7528 \u4e8e   Linux   \u7528\u6237 \u3002 \u60a8 \u53ef\u4ee5 \u4e0b\u8f7d \u66f4\u5927 \u533a\u57df \u7684 \u5730\u56fe \uff0c \u4f8b\u5982 \u6574\u4e2a \u5dde \u6216 \u9886\u5730 \uff0c \u7136\u540e \u4f7f\u7528   Carla   \u4e2d \u7684   OSM   \u754c\u9762 \uff0c \u4f7f\u7528 \u7bad\u5934 \u548c \u7f29\u653e \u6309\u94ae \u5bfc\u822a \u5730\u56fe \u3002 \u5c06 \u6240 \u9700 \u7684   OSM   \u6570\u636e \u533a\u57df \u4e0b\u8f7d \u4e3a   . osm   \u6587\u4ef6 \u3002   \u7136\u540e \u5c06 \u6b64 \u6587\u4ef6 \u653e\u5165   { CARLA _ ROOT } / Build / libosmcout - source / maps /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u6253\u5f00 \u6b64 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u7684 \u7ec8\u7aef \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cd   { CARLA _ ROOT } / Build / libosmcout - source / maps /   . / build . sh   < path _ to _ osm _ file >   \u7b14\u8bb0   \u5982\u679c   OpenStreetMap   \u4e2d \u7684 \u5730\u56fe \u6709 \u9519\u8bef \u6216 \u4e0d \u7cbe\u786e \uff0c \u53ef\u4ee5 \u901a\u8fc7   \u7f16\u8f91 \u5730\u56fe   \u8fdb\u884c \u6539\u8fdb \u3002","title":"\u4e0b\u8f7d   OSM   \u6587\u4ef6 \u5e76 \u5728 \u754c\u9762 \u4e2d \u5bfc\u822a"},{"location":"adv_digital_twin/#openstreetmap","text":"\u5982\u679c \u5de6\u4e0b \u4e0b\u89d2 \u5de6\u4e0b\u89d2 \u7684 \u201c \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u201d \u672a \u770b\u5230 \u201c Carla \u5185\u5bb9 \u201d \uff0c \u5230 \u4e2d\u95f4 \u4e0b\u9762 \u7684 \u201c \u89c6\u56fe \u9009\u9879 \u201d \u4e2d \u9009\u4e2d \u201c \u663e\u793a \u63d2\u4ef6 \u5185\u5bb9 \u201d   \u8981 \u6253\u5f00   OSM   \u6d4f\u89c8 \u6d4f\u89c8\u5668 \uff0c \u8bf7 \u6253\u5f00 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5e76 \u5bfc\u822a \u81f3   CarlaToolsContent / OnroadMapGenerator   \u3002 \u53f3\u952e \u5355\u51fb   UW _ OnRoadMainWidget   \u5e76 \u4ece \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   \u8fd0\u884c \u7f16\u8f91 \u5de5\u5177 \u7a7a\u95f4 \uff08 Launch   Editor   Utility   Widget \uff09   \u3002 \u8fd9 \u5c06 \u6253\u5f00 \u8be5 \u5de5\u5177 \u7684 \u754c\u9762 \u3002   \u8be5 \u754c\u9762 \u5141\u8bb8 \u6d4f\u89c8 \u5df2 \u4ece   OSM   \u6570\u636e \u636e\u5e93 \u6570\u636e\u5e93 \u4e0b\u8f7d \u5e76 \u70d8\u7119 \u7684   OSM   \u5730\u56fe \u533a\u57df \u3002 \u9996\u5148 \uff0c \u60a8 \u5e94\u8be5 \u5728 \u754c\u9762 \u7684   Select   OSM   Database   \u5b57\u6bb5 \u4e2d \u8f93\u5165 \u4e0a \u4e00\u6b65 \u4e2d \u5b58\u50a8 \u5904\u7406 \u540e \u7684   OSM   \u6570\u636e \u7684 \u76ee\u5f55 \u4f4d\u7f6e \u3002 \u5982\u679c \u60a8 \u76f4\u63a5 \u4f7f\u7528   URL \uff0c \u8bf7 \u5c06 \u5176 \u7c98\u8d34 \u5230   OSM   URL   \u5b57\u6bb5 \u4e2d \uff0c \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \u60a8 \u5c06 \u65e0\u6cd5 \u4f7f\u7528 \u5bfc\u822a \u5668 \u3002   \u4f7f\u7528 \u65b9\u5411 \u7bad\u5934 \u65b9\u5411\u7bad\u5934 \u548c \u7f29\u653e \u56fe\u6807 \u5bfc\u822a \u5730\u56fe \u5e76 \u627e\u5230 \u8981 \u8f6c\u6362 \u4e3a   Carla   \u5730\u56fe \u7684 \u9053\u8def \u8def\u7f51 \u9053\u8def\u7f51 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u60a8 \u5728 \u9884\u89c8 \u4e2d \u770b\u5230 \u7684 \u65b9\u5f62 \u533a\u57df \u5c06 \u662f \u5730\u56fe \u7684 \u8303\u56f4 \u3002 \u5728 \u5b57 \u6bb5 \u4e2d \u8f93\u5165 \u9002\u5f53 \u7684 \u540d\u79f0   File   Name   \u7136\u540e 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\u4e0d\u89c4\u5219 \u6027 \u3001 \u9053\u8def \u7eb9\u7406 \u548c \u8f66\u9053 \u7ebf \u3001 \u88c2\u75d5 \u548c \u8f6e\u80ce \u5370\u8ff9 \u3002","title":"\u9053\u8def \u88c5\u9970  "},{"location":"adv_digital_twin/#_4","text":"\u9053\u8def \u4e4b\u95f4 \u7684 \u7a7a\u767d \u533a\u57df \u586b\u5145 \u6709 \u5efa\u7b51 \u5efa\u7b51\u7269 \u6216 \u5f00\u653e \u533a\u57df \uff0c \u5b83\u4eec \u4f1a \u8c03\u6574 \u5176 \u5f62\u72b6 \u548c \u5c3a\u5bf8 \u4ee5 \u586b\u5145 \u9053\u8def \u4e4b\u95f4 \u7684 \u7a7a\u95f4 \u3002   \u7a0b\u5e8f \u751f\u6210 \u5de5\u5177 \u4ece   OSM   \u6570\u636e \u4e2d \u63d0\u53d6 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5360\u5730 \u5730\u9762 \u9762\u79ef \u5360\u5730\u9762\u79ef \u548c \u9ad8\u5ea6 \u4fe1\u606f \uff0c \u4ee5 \u751f\u6210 \u5177\u6709 \u76f8\u4f3c \u5c3a\u5bf8 \u7684 \u865a\u62df \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002 \u8be6\u7ec6 \u7684 \u8986\u5c42 \u7528\u4e8e \u4eff\u771f \u7a97\u6237 \u3001 \u95e8 \u548c \u9633\u53f0 \u3002 \u6839\u636e \u5efa\u7b51 \u9762\u79ef \u5efa\u7b51\u9762\u79ef \u7684 \u4e0d\u540c \uff0c \u91c7\u7528 \u4e0d\u540c \u7684 \u88c5\u4fee \u98ce\u683c \uff0c \u6700\u9ad8 \u7684 \u5efa\u7b51 \u4e3a \u529e\u516c \u98ce\u683c \uff0c \u8f83 \u5c0f \u7684 \u5efa\u7b51 \u6839\u636e \u5efa\u7b51 \u5360\u5730 \u5730\u9762 \u9762\u79ef \u5360\u5730\u9762\u79ef \u91c7\u7528 \u5546\u4e1a \u6216 \u4f4f\u5b85 \u98ce\u683c \u3002   \u5728 \u4e0b \u4e00\u6b65 \u4e2d \u8fd8 \u5c06 \u690d\u88ab \u6dfb\u52a0 \u5230 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u4e2d\u4ee5 \u83b7\u53d6 \u66f4 \u591a \u7ec6\u8282 \u3002   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177 \u6784\u5efa \u98ce\u683c   \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u98ce\u683c \u591a\u79cd \u591a\u6837 \u591a\u79cd\u591a\u6837 \uff0c \u968f\u673a \u5206\u5e03 \u5728 \u6574\u4e2a \u57ce\u5e02 \uff0c \u4e00\u4e2a \u533a\u57df \u7684 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u662f \u6839\u636e \u4ece   OSM   \u6570\u636e \u4e2d \u63d0\u53d6 \u7684 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u7279\u5f81 \u5c3a\u5bf8 \u6765 \u9009\u62e9 \u7684 \u3002","title":"\u5efa\u7b51\u7269  "},{"location":"adv_digital_twin/#_5","text":"\u5bf9\u4e8e   2x2   km   2   \u533a\u57df \uff0c \u751f\u6210 \u6b65\u9aa4 \u5927\u7ea6 \u9700\u8981   10   \u5206\u949f \uff0c \u8f83\u5927 \u7684 \u533a\u57df \u5c06 \u9700\u8981 \u66f4\u957f \u7684 \u65f6\u95f4 \u3002 \u751f\u6210 \u8fc7\u7a0b \u5b8c\u6210 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u68c0\u67e5 \u4e09\u7ef4 \u5730\u56fe \u3002","title":"\u751f\u6210 \u5730\u56fe  "},{"location":"adv_digital_twin/#_6","text":"\u5982\u679c \u60a8 \u5bf9 \u751f\u6210 \u7684 \u5730\u56fe \u611f\u5230 \u6ee1\u610f \uff0c \u5219 \u53ef\u4ee5 \u6309   Save   Map   \u6309\u94ae \u4fdd\u5b58 \u5730\u56fe \u3002   \u6b64 \u6b65\u9aa4 \u5c06 \u82b1\u8d39 \u5927\u91cf \u65f6\u95f4   \uff0c \u53ef\u80fd \u9700\u8981 \u4e00\u4e2a \u4e00\u4e2a\u591a \u5c0f\u65f6 \uff0c \u4e5f \u53ef\u80fd \u9700\u8981 \u51e0\u4e2a \u5c0f\u65f6 \u3002 \u5b8c\u6210 \u6b64 \u6b65\u9aa4 \u540e \uff0c \u60a8 \u5e94\u8be5 \u51c6\u5907 \u8ba9 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u8fd0\u884c \u51e0\u4e2a \u5c0f\u65f6 \u3002 \u5b8c\u6210 \u6b64 \u6b65\u9aa4 \u540e \uff0c \u5c06 \u53ef\u4ee5 \u901a\u8fc7 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u6216 \u901a\u8fc7   Carla   API   \u4f7f\u7528 \u8be5 \u5730\u56fe \uff0c \u5c31 \u50cf \u4efb\u4f55 \u5176\u4ed6 \u5730\u56fe \u4e00\u6837 \u3002","title":"\u4fdd\u5b58 \u5730\u56fe  "},{"location":"adv_digital_twin/#_7","text":"\u6dfb\u52a0 \u5149\u6e90 \uff08 \u5929\u5149 \uff09 \u3001   \u8def\u7ebf \u89c4\u5212 \u5668   \u3001 \u6784\u5efa \u573a\u666f \u3002","title":"\u540e\u7eed \u6b65\u9aa4  "},{"location":"adv_digital_twin/#_8","text":"UOpenDriveToMap : : GenerateTile ( )   \u751f\u6210 \u6bcf \u4e00\u4e2a \u74e6\u7247 \uff0c \u8c03\u7528   GenerateAll ( )   \u51fd\u6570 \uff0c \u8fdb\u884c   \u9053\u8def \u7f51\u683c \u3001 \u8f66\u9053 \u7ebf \u3001 \u751f\u6210 \u70b9 \u3001 \u5730\u5f62 \u3001 \u6570\u76ee \u4f4d\u7f6e \u3001 \u751f\u6210 \u5b8c\u6210 \u7b49 \u6b65\u9aa4 \u3002","title":"\u5206\u6790  "},{"location":"adv_digital_twin/#_9","text":"carla \\ Unreal \\ CarlaUE4 \\ Plugins \\ CarlaTools \\ Source \\ CarlaTools \\ Private \\ OpenDriveToMap . cpp   \u6539\u4e3a \u751f\u6210 \u4e00\u4e2a \u74e6\u7247 \u5730\u56fe \u7684 \u51fd\u6570 \uff0c \u751f\u6210 \u540e \u7684 \u540d\u5b57 \u4e3a   { NAME } _ Tile _ 0 _ 0   \u3002   / /   ExecuteTileCommandlet ( ) ;   GenerateTile ( ) ;   \u539f\u56e0 \uff1a   \u751f\u6210 \u74e6\u7247 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u7a0b\u5e8f \u4f4d\u4e8e   Unreal \\ CarlaUE4 \\ Plugins \\ CarlaTools \\ Source \\ CarlaTools \\ Private \\ Commandlet \\ GenerateTileCommandlet . cpp   \u3002   \u79fb\u9664   void   UOpenDriveToMap : : GenerateTile ( )   \u51fd\u6570 \u4e2d \u7684   / /   RemoveFromRoot ( ) ;   \u8bed\u53e5 \uff0c \u8be5 \u8bed\u53e5 \u6e05\u7406 FilePath \u53d8\u91cf \u5bfc\u81f4 \u4e0b \u4e00\u6b21 \u74e6\u7247 \u751f\u6210 \u65f6 FilePath \u53d8\u91cf \u4e71\u7801 \u7684 \u95ee\u9898 \uff0c \u53ef\u4ee5 \u89e3\u51b3 \u5927 \u5730\u56fe \u53ea \u751f\u6210 \u4e00\u4e2a \u74e6\u7247 \u7684 \u95ee\u9898 \u3002   \u53c2\u8003 \uff1a UE   \u4e2d \u7684   Commandlet   \u89e3\u8bfb \u3002","title":"\u95ee\u9898  "},{"location":"adv_edit_openstreetmap/","text":"OpenStreetMap \u5730\u56fe \u7f16\u8f91 \u5730\u56fe\u7f16\u8f91   \u8fdb\u5165 \u7f16\u8f91 \u9875\u9762   \u8fdb\u5165   OpenStreetMap \u9996\u9875   \uff08 \u9700\u8981 \u79d1\u5b66 \u4e0a\u7f51 \uff09 \uff0c \u70b9\u51fb   \u7f16\u8f91   \u6309\u94ae \uff0c \u4ee5 \u8fdb\u5165 \u5730\u56fe \u7f16\u8f91 \u5730\u56fe\u7f16\u8f91 \u9875\u9762 \uff08 \u5982\u679c \u6ca1\u6709 \u6ce8\u518c \uff0c \u8bf7 \u6ce8\u518c \u8d26\u53f7 \u518d \u64cd\u4f5c \uff09 \u3002   \u5730\u56fe \u7f16\u8f91 \u5730\u56fe\u7f16\u8f91   \u9009\u4e2d \u5bf9 \u9700\u8981 \u4fee\u6539 \u7684 \u5730\u56fe \u5143\u7d20 \u8fdb\u884c \u7f16\u8f91 \u3002   \u5bf9\u7167 \u536b\u661f \u5730\u56fe \uff08 \u6bd4\u5982 \u767e\u5ea6 \u5730\u56fe \u7684 \u536b\u661f \u5730\u56fe \uff09 \u8fdb\u884c \u7ed8\u5236 \uff1a   \u901a\u8fc7 \u5b9e\u666f \u5730\u56fe \u6570\u51fa \u697c \u7684 \u5c42\u6570 \uff1a   \u63d0\u4ea4 \u4fee\u6539   \u70b9\u51fb \u9875\u9762 \u4fdd\u5b58 \u6309\u94ae \u6216\u8005 \u6309   Ctrl + S   \u8fdb\u884c \u4fee\u6539 \u7684 \u4fdd\u5b58 \u548c \u63d0\u4ea4 \u3002   \u624b\u673a APP \u8fdb\u884c \u5730\u56fe \u7f16\u8f91 \u5730\u56fe\u7f16\u8f91   \u4e3a\u4e86 \u5728 \u79fb\u52a8 \u73af\u5883 \u4e0b \u8fdb\u884c \u65b9\u4fbf \u7684 \u5730\u56fe \u7f16\u8f91 \u5730\u56fe\u7f16\u8f91 \uff0c \u4e0b\u8f7d \u624b\u673a \u8f6f\u4ef6 \u673a\u8f6f\u4ef6 \u624b\u673a\u8f6f\u4ef6   StreetComplete   \u3002","title":"OpenStreetMap 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\uff1a","title":"\u5730\u56fe\u7f16\u8f91"},{"location":"adv_edit_openstreetmap/#_3","text":"\u70b9\u51fb \u9875\u9762 \u4fdd\u5b58 \u6309\u94ae \u6216\u8005 \u6309   Ctrl + S   \u8fdb\u884c \u4fee\u6539 \u7684 \u4fdd\u5b58 \u548c \u63d0\u4ea4 \u3002","title":"\u63d0\u4ea4 \u4fee\u6539"},{"location":"adv_edit_openstreetmap/#app","text":"\u4e3a\u4e86 \u5728 \u79fb\u52a8 \u73af\u5883 \u4e0b \u8fdb\u884c \u65b9\u4fbf \u7684 \u5730\u56fe \u7f16\u8f91 \u5730\u56fe\u7f16\u8f91 \uff0c \u4e0b\u8f7d \u624b\u673a \u8f6f\u4ef6 \u673a\u8f6f\u4ef6 \u624b\u673a\u8f6f\u4ef6   StreetComplete   \u3002","title":"\u624b\u673a APP \u8fdb\u884c \u5730\u56fe\u7f16\u8f91"},{"location":"adv_localization/","text":"UE \u7f16\u8f91 \u7f16\u8f91\u5668 \u672c\u5730 \u672c\u5730\u5316   \u524d\u8a00   \u5728 \u672c\u6587 \u4e2d \uff0c \u6211\u4eec \u5c06 \u63a2\u8ba8 \u5982\u4f55 \u4f7f\u7528 UE4 \u7684 \u672c\u5730 \u672c\u5730\u5316 \u5de5\u5177 \u6765 \u4f18\u5316 \u4f60 \u7684 \u6e38\u620f \u9879\u76ee \uff0c 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\u5982\u56fe\u6240\u793a \uff1a   \u9009\u62e9 \u6536\u96c6 \u65b9\u5f0f \uff1a   \u4ece \u6587\u672c \u6536\u96c6 \uff1a \u6587\u672c \u672c\u6587 \u6587\u4ef6 \u6587\u672c\u6587\u4ef6 \uff0c \u6bd4\u5982 \u6211\u4eec \u7684 \u4ee3\u7801 \uff1b   \u4ece\u5305 \u6536\u96c6 \uff1a \u5bf9 \u84dd\u56fe \u7b49 uassest \u8d44\u6e90 \u7684 \u672c\u5730 \u672c\u5730\u5316 \uff1b   \u4ece\u5143 \u6570\u636e \u6536\u96c6 \uff1a \u5bf9\u5143 \u6570\u636e Metadata \u7684 \u672c\u5730 \u672c\u5730\u5316 \uff0c \u5305\u62ec \u7ffb\u8bd1 \u53d8\u91cf \u53d8\u91cf\u540d \uff0c \u5206\u7c7b \uff0c \u5de5\u5177 \u63d0\u793a \u3002   \u5176\u4e2d \uff0c \u5bf9\u4e8e \u5143 \u6570\u636e \u7684 \u6536\u96c6 \uff0c \u5fc5\u987b \u5305\u542b \u81f3\u5c11 \u4e00\u4e2a \u8def\u5f84 \u901a\u914d\u7b26 \u548c \u4e00\u4e2a \u952e \u89c4\u683c \u3002 \u8def\u5f84 \u548c \u4e0a\u9762 \u4e00\u6837 \u6dfb\u52a0 Source \u6587\u4ef6 \u5c31 \u597d \uff0c \u952e \u89c4\u683c \u53ef\u4ee5 \u7167\u6284 \u5f15\u64ce \u76ee\u6807 \u4e2d \u7684 \u793a\u4f8b \uff0c \u4ee5 Property   Name \u4e3a\u4f8b \uff1a   \u5143 \u6570\u636e \u952e   \u586b   DisplayName   \u6587\u672c \u547d\u540d \u7a7a\u95f4   \u586b   UObjectDisplayNames   \u6587\u672c \u952e \u56fe\u6848   \u586b   { FieldPath }","title":"1 . \u5de5\u5177 \u8bf4\u660e"},{"location":"adv_localization/#2","text":"\u4e0a\u8ff0 \u914d\u7f6e \u5b8c \u4ee5\u540e \uff0c \u4e3b\u8981 \u64cd\u4f5c \u90fd \u5728   \u8bed\u7cfb   \u4e2d \u3002   \u5982\u4e0a \u4e0a\u56fe \u5982\u4e0a\u56fe \u6240\u793a \uff0c \u5148 \u6dfb\u52a0 \u4f60 \u9700\u8981 \u7ffb\u8bd1 \u7684 \u8bed\u8a00 \u5730\u533a \u548c \u4f60 \u672c\u5730 \u6587\u672c \u9ed8\u8ba4 \u7684 \u8bed\u8a00 \u5730\u533a \u3002   \u7136\u540e \u70b9\u51fb \u6536\u96c6 \u6587\u672c \uff0c \u6536\u96c6 \u672c\u5730 \u9700\u8981 \u7ffb\u8bd1 \u7684 \u6587\u672c \uff0c \u6210\u529f \u540e","title":"2 . \u7ffb\u8bd1 \u6587\u672c \u6d41\u7a0b"},{"location":"adv_localization/#_2","text":"\u8fd9\u91cc \u6709 \u4e24\u79cd \u65b9\u5f0f \uff0c \u4e00\u79cd \u662f \u76f4\u63a5 \u5728 UE \u5de5\u5177 \u4e2d \u7ffb\u8bd1 \uff0c \u4e00\u79cd \u662f \u5bfc\u51fa \u4f7f\u7528 \u7b2c\u4e09 \u4e09\u65b9 \u7b2c\u4e09\u65b9 \u5de5\u5177 \u7ffb\u8bd1 \u3002   UE \u5de5\u5177 \u7ffb\u8bd1   \uff1a \u70b9\u51fb \u6bcf\u4e2a \u6587\u5316 \u8bed\u8a00 \u540e\u9762   \u5728 \u7ffb\u8bd1 \u4e2d \u5199\u5165 \u7ffb\u8bd1 \u540e \u7684 \u6587\u672c \u5373\u53ef \uff0c \u7136\u540e \u70b9\u51fb \u4fdd\u5b58 \u3002   \u81ea\u884c \u5bfc\u51fa \u7ffb\u8bd1   \u5982\u4e0b \u56fe \u6240\u793a \uff1a   \u4e0a\u8ff0 \u7b2c\u4e00 \u4e00\u79cd \u7b2c\u4e00\u79cd \u5bfc\u51fa \u65b9\u5f0f \u662f \u5bfc\u51fa \u5168\u90e8 \u8bed\u7cfb \uff0c \u7b2c\u4e8c \u4e8c\u79cd \u7b2c\u4e8c\u79cd \u662f \u5bfc\u51fa \u6307\u5b9a \u8bed\u7cfb \u7684 \u6587\u672c \uff0c \u9009\u62e9 \u8def\u5f84 \u5bfc\u51fa \u540e \u4f1a \u751f\u6210 . po \u683c\u5f0f \u6587\u4ef6 \u683c\u5f0f\u6587\u4ef6 \uff0c \u662f \u5305\u542b \u8981 \u7ffb\u8bd1 \u7684 \u6bcf\u79cd \u6587\u5316 \u6587\u672c \u4ee5\u53ca \u5f53\u524d \u7ffb\u8bd1 \u7684 \u6587\u4ef6 \uff0c \u662f \u4e00\u79cd \u901a\u7528 \u683c\u5f0f \uff0c \u53ef \u76f4\u63a5 \u624b\u52a8 \u7f16\u8f91 \u3002   \u4f46\u662f \u4e0d \u5efa\u8bae \u8fd9\u4e48 \u505a \uff0c \u8fd9\u91cc \u6211\u4eec \u4f7f\u7528   Poedit   \u7ffb\u8bd1 \u5de5\u5177 \u53bb \u8fdb\u884c \u7f16\u8f91 \uff0c \u91cc\u9762 \u529f\u80fd \u9f50\u5168 \u529f\u80fd\u9f50\u5168 \uff0c \u5305\u62ec \u81ea\u52a8 \u7ffb\u8bd1 \uff0c \u7ffb\u8bd1 \u63d0\u793a \uff0c \u591a\u4eba \u534f\u540c \u7b49 \u3002   \u7f16\u8f91 \u5b8c \u4fdd\u5b58 \u540e \uff0c \u76f4\u63a5 \u5bfc\u5165 \u5373\u53ef \uff0c \u6309\u7167 \u5bfc\u51fa \u7684 \u65b9\u5f0f \uff0c \u518d \u5bfc\u5165 \u3002   \u7edf\u8ba1 \u7ffb\u8bd1 \u6587\u672c \uff0c \u7f16\u8bd1 \u7ffb\u8bd1 \u6587\u672c \u3002   \u6700\u540e \uff0c \u9700\u8981 \u91cd\u65b0 \u6253\u5f00 Carla \u3002","title":"\u5f00\u59cb \u7ffb\u8bd1 \u6587\u672c"},{"location":"adv_multigpu/","text":"Carla   \u591a   GPU   \u529f\u80fd   Carla   \u4e2d \u7684 \u591a   GPU   \u610f\u5473 \u610f\u5473\u7740 \u7528\u6237 \u53ef\u4ee5 \u542f\u52a8 \u591a\u4e2a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff08 \u79f0\u4e3a \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff09 \uff0c \u8fd9\u4e9b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528 \u7cfb\u7edf \u4e2d \u7684 \u4e13\u7528   GPU   \u4e3a\u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff08 \u79f0 \u4e3a\u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff09 \u6267\u884c \u6e32\u67d3 \u5de5\u4f5c \u3002 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u7528\u6237 \u521b\u5efa \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5206\u53d1 \u5230 \u4e0d\u540c \u7684 \u53ef\u7528 \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   \u6211\u4eec \u9700\u8981 \u542f\u52a8   \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \uff08 \u901a\u5e38 \u5e26\u6709 \u4e00\u4e2a   - nullrhi   \u6807\u5fd7 \u4ee5 \u907f\u514d \u4f7f\u7528   GPU \uff09 \u3002 \u8be5 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u5904\u7406 \u6240\u6709 \u7269\u7406 \u6570\u636e \u5e76 \u5c06 \u573a\u666f \u6570\u636e \u540c\u6b65 \u5230 \u5176\u4ed6   \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u3002 \u7136\u540e \uff0c \u6211\u4eec \u53ef\u4ee5 \u6839\u636e \u9700\u8981 \u542f\u52a8 \u4efb\u4f55 \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff08 \u901a\u5e38 \u662f \u7cfb\u7edf \u4e2d \u7684 \u6bcf\u4e2a \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5bf9\u5e94 \u4e00\u4e2a \u4e13\u7528   GPU \uff09 \uff0c \u4f7f\u7528 \u6211\u4eec \u5c06 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u63cf\u8ff0 \u7684 \u53c2\u6570 \u3002 \u6b64\u540e \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u8fde\u63a5 \uff08 \u59cb\u7ec8 \u8fde\u63a5 \u5230 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff09 \u5e76 \u7167\u5e38 \u8fdb\u884c \u7167\u5e38\u8fdb\u884c \u3002 \u6574\u4e2a \u7cfb\u7edf \u7cfb\u7edf\u5bf9 \u7528\u6237 \u6765\u8bf4 \u662f \u900f\u660e \u7684 \uff0c \u7528\u6237 \u4e0d \u9700\u8981 \u77e5\u9053 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u6765\u81ea \u54ea\u4e2a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u4ed6 \u53ea \u9700 \u76f4\u63a5   \u4ece \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e   \u3002   \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u6b65\u9aa4 \u662f :   \u9996\u5148 \uff0c \u542f\u52a8 \u6ca1\u6709 \u4efb\u4f55 \u6e32\u67d3 \u529f\u80fd \u7684 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u7684 \u53c2\u6570 \u6709 \uff1a   - nullrhi   :   \u7981\u7528 \u4efb\u4f55 \u6e32\u67d3 \u529f\u80fd \uff08 \u65e0\u9700   GPU \uff09   - carla - primary - port   :   \u7528\u4e8e \u4fa6\u542c \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   TCP   \u7aef\u53e3 \uff08 \u9ed8\u8ba4   2002 \uff09   \u4f8b\u5982   . / CarlaUE4 . sh   - nullrhi   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528 \u7aef\u53e3   2002   \u6765 \u4fa6\u542c \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u5982\u679c \u60a8 \u9700\u8981 \u4fa6\u542c \u53e6 \u4e00\u4e2a \u7aef\u53e3 \uff0c \u5219 \u53ef\u4ee5 \u4f7f\u7528 \u6807\u5fd7 \u66f4\u6539 \u5b83   . / CarlaUE4 . sh   - nullrhi   - carla - primary - port = 3002   \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u7136\u540e \u6211\u4eec \u9700\u8981 \u542f\u52a8 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u591a \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u4f46 \u7406\u60f3 \u7684 \u60c5\u51b5 \u662f \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c   GPU   \u7684 \u6570\u91cf \u4e00\u6837 \u591a \u7684 \u3002 \u901a\u8fc7 \u53c2\u6570 \uff0c \u6211\u4eec \u9700\u8981 \u6307\u5b9a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f7f\u7528 \u7684   GPU   \u4ee5\u53ca \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6b63\u5728 \u4fa6\u542c \u7684 \u4e3b\u673a / \u7aef\u53e3 \uff0c \u5e76 \u5e26\u6709 \u4ee5\u4e0b \u6807\u5fd7 \uff1a   - carla - rpc - port   \uff1a \u63a5\u53d7 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u7684   TCP   \u7aef\u53e3 \uff08 \u5bf9\u4e8e \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6765\u8bf4 \u4e0d \u9700\u8981 \uff0c \u4f46 \u7aef\u53e3 \u9700\u8981 \u7a7a\u95f2 \uff09   - carla - primary - host   :   \u8981 \u8fde\u63a5 \u7684 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP   - carla - primary - port   :   \u8981 \u8fde\u63a5 \u7684 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   TCP   \u7aef\u53e3   - ini : [ / Script / Engine . RendererSettings ] : r . GraphicsAdapter   :   \u544a\u8bc9 \u8be5 \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f7f\u7528 \u54ea\u4e2a   GPU   \u8bbe\u5907   \u4f8b\u5982 \uff0c \u5982\u679c \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0e \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5728 \u540c\u4e00 \u53f0 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u6267\u884c \u5e76 \u4f7f\u7528 \u9ed8\u8ba4 \u7aef\u53e3 \uff0c \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \uff1a   . / CarlaUE4 . sh   - carla - rpc - port = 3000   - carla - primary - host = 127.0 . 0.1   - ini : [ / Script / Engine . RendererSettings ] : r . GraphicsAdapter = 0   \u8fd9\u91cc \uff0c \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528 \u7aef\u53e3   3000   \u4f5c\u4e3a   RPC   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u4ee5 \u907f\u514d \u4e0e \u5176\u4ed6 \u7aef\u53e3 \u51b2\u7a81 \uff08 \u4f46 \u6c38\u8fdc \u4e0d\u4f1a \u4f7f\u7528 \u5b83 \uff09 \uff0c \u5e76 \u5c06 \u4ee5 \u9ed8\u8ba4 \u7aef\u53e3 \uff08 2002 \uff09 \u8fde\u63a5 \u5230 \u4f4d\u4e8e   IP   127.0 . 0.1 \uff08 localhost \uff09 \u7684 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff09 \uff0c \u5e76\u4e14 \u8be5 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528   GPU   \u8bbe\u5907   0 \u3002   \u5982\u679c \u6211\u4eec \u60f3 \u4f7f\u7528 \u53e6 \u4e00\u4e2a   GPU   \u5728 \u540c\u4e00 \u53f0 \u673a\u5668 \u4e0a \u542f\u52a8 \u53e6 \u4e00\u4e2a \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \uff1a   . / CarlaUE4 . sh   - carla - rpc - port = 4000   - carla - primary - host = 127.0 . 0.1   - carla - primary - port = 2002   - ini : [ / Script / Engine . RendererSettings ] : r . GraphicsAdapter = 1   \u8be5 \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528 \u7aef\u53e3   4000   \u4f5c\u4e3a   RPC   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u4ee5 \u907f\u514d \u4e0e \u5176\u4ed6 \u7aef\u53e3 \u51b2\u7a81 \uff0c \u5e76 \u5c06 \u901a\u8fc7 \u7aef\u53e3   2002   \u8fde\u63a5 \u5230 \u4f4d\u4e8e   IP   127.0 . 0.1   \u7684 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5e76\u4e14 \u8be5 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528   GPU   \u8bbe\u5907   1 \u3002   \u540c\u6b65 \u6a21\u5f0f   \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u4ece \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fde\u63a5 \u5230 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \uff0c \u7cfb\u7edf \u81ea\u52a8 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \uff0c \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   1 / 20   \u589e\u91cf \u79d2 \u3002","title":"Carla   \u591a   GPU   \u529f\u80fd"},{"location":"adv_multigpu/#carla-gpu","text":"Carla   \u4e2d \u7684 \u591a   GPU   \u610f\u5473 \u610f\u5473\u7740 \u7528\u6237 \u53ef\u4ee5 \u542f\u52a8 \u591a\u4e2a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff08 \u79f0\u4e3a \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff09 \uff0c \u8fd9\u4e9b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528 \u7cfb\u7edf \u4e2d \u7684 \u4e13\u7528   GPU   \u4e3a\u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff08 \u79f0 \u4e3a\u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff09 \u6267\u884c \u6e32\u67d3 \u5de5\u4f5c \u3002 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u7528\u6237 \u521b\u5efa \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5206\u53d1 \u5230 \u4e0d\u540c \u7684 \u53ef\u7528 \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   \u6211\u4eec \u9700\u8981 \u542f\u52a8   \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \uff08 \u901a\u5e38 \u5e26\u6709 \u4e00\u4e2a   - nullrhi   \u6807\u5fd7 \u4ee5 \u907f\u514d \u4f7f\u7528   GPU \uff09 \u3002 \u8be5 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u5904\u7406 \u6240\u6709 \u7269\u7406 \u6570\u636e \u5e76 \u5c06 \u573a\u666f \u6570\u636e \u540c\u6b65 \u5230 \u5176\u4ed6   \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u3002 \u7136\u540e \uff0c \u6211\u4eec \u53ef\u4ee5 \u6839\u636e \u9700\u8981 \u542f\u52a8 \u4efb\u4f55 \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff08 \u901a\u5e38 \u662f \u7cfb\u7edf \u4e2d \u7684 \u6bcf\u4e2a \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5bf9\u5e94 \u4e00\u4e2a \u4e13\u7528   GPU \uff09 \uff0c \u4f7f\u7528 \u6211\u4eec \u5c06 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u63cf\u8ff0 \u7684 \u53c2\u6570 \u3002 \u6b64\u540e \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u8fde\u63a5 \uff08 \u59cb\u7ec8 \u8fde\u63a5 \u5230 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff09 \u5e76 \u7167\u5e38 \u8fdb\u884c \u7167\u5e38\u8fdb\u884c \u3002 \u6574\u4e2a \u7cfb\u7edf \u7cfb\u7edf\u5bf9 \u7528\u6237 \u6765\u8bf4 \u662f \u900f\u660e \u7684 \uff0c \u7528\u6237 \u4e0d \u9700\u8981 \u77e5\u9053 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u6765\u81ea \u54ea\u4e2a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u4ed6 \u53ea \u9700 \u76f4\u63a5   \u4ece \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e   \u3002","title":"Carla   \u591a   GPU   \u529f\u80fd"},{"location":"adv_multigpu/#_1","text":"\u6b65\u9aa4 \u662f :   \u9996\u5148 \uff0c \u542f\u52a8 \u6ca1\u6709 \u4efb\u4f55 \u6e32\u67d3 \u529f\u80fd \u7684 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u7684 \u53c2\u6570 \u6709 \uff1a   - nullrhi   :   \u7981\u7528 \u4efb\u4f55 \u6e32\u67d3 \u529f\u80fd \uff08 \u65e0\u9700   GPU \uff09   - carla - primary - port   :   \u7528\u4e8e \u4fa6\u542c \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   TCP   \u7aef\u53e3 \uff08 \u9ed8\u8ba4   2002 \uff09   \u4f8b\u5982   . / CarlaUE4 . sh   - nullrhi   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528 \u7aef\u53e3   2002   \u6765 \u4fa6\u542c \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u5982\u679c \u60a8 \u9700\u8981 \u4fa6\u542c \u53e6 \u4e00\u4e2a \u7aef\u53e3 \uff0c \u5219 \u53ef\u4ee5 \u4f7f\u7528 \u6807\u5fd7 \u66f4\u6539 \u5b83   . / CarlaUE4 . sh   - nullrhi   - carla - primary - port = 3002","title":"\u4e3b \u670d\u52a1\u5668"},{"location":"adv_multigpu/#_2","text":"\u7136\u540e \u6211\u4eec \u9700\u8981 \u542f\u52a8 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u591a \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u4f46 \u7406\u60f3 \u7684 \u60c5\u51b5 \u662f \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c   GPU   \u7684 \u6570\u91cf \u4e00\u6837 \u591a \u7684 \u3002 \u901a\u8fc7 \u53c2\u6570 \uff0c \u6211\u4eec \u9700\u8981 \u6307\u5b9a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f7f\u7528 \u7684   GPU   \u4ee5\u53ca \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6b63\u5728 \u4fa6\u542c \u7684 \u4e3b\u673a / \u7aef\u53e3 \uff0c \u5e76 \u5e26\u6709 \u4ee5\u4e0b \u6807\u5fd7 \uff1a   - carla - rpc - port   \uff1a \u63a5\u53d7 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u7684   TCP   \u7aef\u53e3 \uff08 \u5bf9\u4e8e \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6765\u8bf4 \u4e0d \u9700\u8981 \uff0c \u4f46 \u7aef\u53e3 \u9700\u8981 \u7a7a\u95f2 \uff09   - carla - primary - host   :   \u8981 \u8fde\u63a5 \u7684 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP   - carla - primary - port   :   \u8981 \u8fde\u63a5 \u7684 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   TCP   \u7aef\u53e3   - ini : [ / Script / Engine . RendererSettings ] : r . GraphicsAdapter   :   \u544a\u8bc9 \u8be5 \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f7f\u7528 \u54ea\u4e2a   GPU   \u8bbe\u5907   \u4f8b\u5982 \uff0c \u5982\u679c \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0e \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5728 \u540c\u4e00 \u53f0 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u6267\u884c \u5e76 \u4f7f\u7528 \u9ed8\u8ba4 \u7aef\u53e3 \uff0c \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \uff1a   . / CarlaUE4 . sh   - carla - rpc - port = 3000   - carla - primary - host = 127.0 . 0.1   - ini : [ / Script / Engine . RendererSettings ] : r . GraphicsAdapter = 0   \u8fd9\u91cc \uff0c \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528 \u7aef\u53e3   3000   \u4f5c\u4e3a   RPC   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u4ee5 \u907f\u514d \u4e0e \u5176\u4ed6 \u7aef\u53e3 \u51b2\u7a81 \uff08 \u4f46 \u6c38\u8fdc \u4e0d\u4f1a \u4f7f\u7528 \u5b83 \uff09 \uff0c \u5e76 \u5c06 \u4ee5 \u9ed8\u8ba4 \u7aef\u53e3 \uff08 2002 \uff09 \u8fde\u63a5 \u5230 \u4f4d\u4e8e   IP   127.0 . 0.1 \uff08 localhost \uff09 \u7684 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff09 \uff0c \u5e76\u4e14 \u8be5 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528   GPU   \u8bbe\u5907   0 \u3002   \u5982\u679c \u6211\u4eec \u60f3 \u4f7f\u7528 \u53e6 \u4e00\u4e2a   GPU   \u5728 \u540c\u4e00 \u53f0 \u673a\u5668 \u4e0a \u542f\u52a8 \u53e6 \u4e00\u4e2a \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \uff1a   . / CarlaUE4 . sh   - carla - rpc - port = 4000   - carla - primary - host = 127.0 . 0.1   - carla - primary - port = 2002   - ini : [ / Script / Engine . RendererSettings ] : r . GraphicsAdapter = 1   \u8be5 \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528 \u7aef\u53e3   4000   \u4f5c\u4e3a   RPC   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u4ee5 \u907f\u514d \u4e0e \u5176\u4ed6 \u7aef\u53e3 \u51b2\u7a81 \uff0c \u5e76 \u5c06 \u901a\u8fc7 \u7aef\u53e3   2002   \u8fde\u63a5 \u5230 \u4f4d\u4e8e   IP   127.0 . 0.1   \u7684 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5e76\u4e14 \u8be5 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528   GPU   \u8bbe\u5907   1 \u3002","title":"\u8f85\u52a9 \u670d\u52a1\u5668"},{"location":"adv_multigpu/#_3","text":"\u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u4ece \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fde\u63a5 \u5230 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \uff0c \u7cfb\u7edf \u81ea\u52a8 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \uff0c \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   1 / 20   \u589e\u91cf \u79d2 \u3002","title":"\u540c\u6b65 \u6a21\u5f0f"},{"location":"adv_opendrive/","text":"OpenDRIVE \u72ec\u7acb \u6a21\u5f0f   \u6b64 \u529f\u80fd \u5141\u8bb8 \u7528\u6237 \u5c06 \u4efb\u4f55   OpenDRIVE   \u6587\u4ef6 \u4f5c\u4e3a   Carla   \u5730\u56fe \u5f00\u7bb1 \u5373\u7528 \u3002 \u4e3a\u6b64 \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5c06 \u81ea\u52a8 \u751f\u6210 \u9053\u8def \u7f51\u683c \u4f9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5bfc\u822a \u3002   \u6982\u8ff0   \u8fd0\u884c \u72ec\u7acb \u5730\u56fe   \u7f51\u683c \u751f\u6210   \u6982\u8ff0   \u6b64 \u6a21\u5f0f \u4ec5 \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u8fd0\u884c \u5b8c\u6574 \u4eff\u771f \uff0c \u65e0\u9700 \u4efb\u4f55 \u989d\u5916 \u7684 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u6216 \u8d44\u4ea7 \u3002 \u4e3a\u6b64 \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u91c7\u7528   OpenDRIVE   \u6587\u4ef6 \u5e76 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5730 \u521b\u5efa \u65f6\u95f4 \u4e09\u7ef4 \u7f51\u683c \u6765 \u8fd0\u884c \u4eff\u771f \u3002   \u751f\u6210 \u7684 \u7f51\u683c \u4ee5 \u7b80\u7ea6 \u7684 \u65b9\u5f0f \u63cf\u8ff0 \u4e86 \u9053\u8def \u5b9a\u4e49 \u3002 \u6240\u6709 \u5143\u7d20 \u90fd \u5c06 \u4e0e   OpenDRIVE   \u6587\u4ef6 \u5bf9\u5e94 \uff0c \u4f46 \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u53ea\u6709   void \u3002 \u4e3a \u9632\u6b62 \u8f66\u8f86 \u6389 \u51fa \u8def\u9762 \uff0c \u91c7\u53d6 \u4e86 \u4e24\u9879 \u63aa\u65bd \u3002   \u5728 \u8f66\u8f86 \u6d41\u52a8 \u6700 \u590d\u6742 \u7684 \u8def\u53e3 \uff0c \u8f66\u9053 \u7a0d\u5bbd \u4e00\u4e9b \u3002   \u5728 \u9053\u8def \u7684 \u8fb9\u754c \u5904 \u521b\u5efa \u4e86 \u53ef\u89c1 \u7684 \u5899\u58c1 \uff0c \u4f5c\u4e3a \u6700\u540e \u7684 \u5b89\u5168 \u63aa\u65bd \u5b89\u5168\u63aa\u65bd \u3002   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3001 \u505c\u8f66 \u6807\u5fd7 \u548c \u8ba9 \u884c \u6807\u5fd7 \u5c06 \u5373\u65f6 \u751f\u6210 \u3002 \u884c\u4eba \u5c06 \u5728 \u5730\u56fe \u4e0a \u663e\u793a \u7684 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u548c \u4eba\u884c \u4eba\u884c\u6a2a\u9053 \u4e0a \u5bfc\u822a \u3002 \u6240\u6709 \u8fd9\u4e9b \u5143\u7d20 \uff0c \u4ee5\u53ca \u9053\u8def \u4e0a \u7684 \u6bcf \u4e00\u4e2a \u7ec6\u8282 \uff0c \u90fd \u57fa\u4e8e   OpenDRIVE   \u6587\u4ef6 \u3002 \u7531\u4e8e \u72ec\u7acb \u6a21\u5f0f \u76f4\u63a5 \u4f7f\u7528   . xodr   \uff0c \u56e0\u6b64 \u5176\u4e2d \u7684 \u4efb\u4f55 \u95ee\u9898 \u90fd \u4f1a \u5f71\u54cd \u5230 \u4eff\u771f \u3002 \u8fd9 \u53ef\u80fd \u662f \u4e00\u4e2a \u95ee\u9898 \uff0c \u5c24\u5176 \u662f \u5728 \u8bb8\u591a \u8f66\u9053 \u6df7\u5408 \u7684 \u8def\u53e3 \u3002   \u91cd\u8981 \u7684   \u4ed4\u7ec6 \u68c0\u67e5 \u4ed4\u7ec6\u68c0\u67e5   OpenDRIVE   \u6587\u4ef6 \u5c24\u4e3a \u4e3a\u91cd \u91cd\u8981 \u5c24\u4e3a\u91cd\u8981 \u3002 \u8fd0\u884c \u4eff\u771f \u65f6 \uff0c \u5176\u4e2d \u7684 \u4efb\u4f55 \u95ee\u9898 \u90fd \u4f1a \u4f20\u64ad \u3002   \u8fd0\u884c \u72ec\u7acb \u5730\u56fe   \u6253\u5f00   OpenDRIVE   \u6587\u4ef6 \u53ea \u9700 \u901a\u8fc7   API   \u8c03\u7528   client . generate _ opendrive _ world ( )   \u3002 \u8fd9 \u5c06 \u751f\u6210 \u65b0 \u5730\u56fe \uff0c \u5e76 \u963b\u6b62 \u4eff\u771f \uff0c \u76f4\u5230 \u5b83 \u51c6\u5907 \u597d \u3002 \u8be5 \u65b9\u6cd5 \u9700\u8981 \u4e24\u4e2a \u53c2\u6570 \u3002   opendrive   \u662f \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7684   OpenDRIVE   \u6587\u4ef6 \u7684 \u5185\u5bb9 \u3002   parameters   \u662f \u4e00\u4e2a   carla . OpendriveGenerationParameters   \u5305\u542b \u7f51\u683c \u751f\u6210 \u7684 \u8bbe\u7f6e \u3002   \u8fd9\u4e2a \u53c2\u6570 \u662f \u53ef\u9009 \u7684   \u3002   vertex _ distance   \uff08 \u9ed8\u8ba4   2.0   \u7c73 \uff09   -   \u7f51\u683c \u9876\u70b9 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002 \u8ddd\u79bb \u8d8a\u5927 \uff0c \u7f51\u683c \u8d8a \u4e0d \u51c6\u786e \u3002 \u4f46\u662f \uff0c \u5982\u679c \u8ddd\u79bb \u592a\u5c0f \uff0c \u751f\u6210 \u7684 \u7f51\u683c \u5c06 \u592a\u91cd \u800c \u65e0\u6cd5 \u4f7f\u7528 \u3002   max _ road _ length   \uff08 \u9ed8\u8ba4   50.0   \u7c73 \uff09   -   \u7f51\u683c \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u7684 \u6700\u5927 \u957f\u5ea6 \u3002 \u7f51\u683c \u88ab \u5206\u6210 \u51e0 \u90e8\u5206 \u4ee5 \u51cf\u5c11 \u6e32\u67d3 \u5f00\u9500 \u3002 \u5982\u679c \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u4e0d \u53ef\u89c1 \uff0c UE   \u5c06 \u4e0d\u4f1a \u6e32\u67d3 \u5b83 \u3002 \u90e8\u5206 \u8d8a\u5c0f \uff0c \u5b83\u4eec \u88ab \u4e22\u5f03 \u7684 \u53ef\u80fd \u53ef\u80fd\u6027 \u5c31 \u8d8a \u5927 \u3002 \u4f46\u662f \uff0c \u5982\u679c \u90e8\u5206 \u592a\u5c0f \uff0c UE   \u9700\u8981 \u7ba1\u7406 \u7684 \u5bf9\u8c61 \u592a \u591a \uff0c \u6027\u80fd \u4e5f \u4f1a \u53d7\u5230 \u5f71\u54cd \u3002   wall _ height   \uff08 \u9ed8\u8ba4 \u4e3a   1.0   \u7c73 \uff09   -   \u5728 \u9053\u8def \u8fb9\u754c \u4e0a \u521b\u5efa \u7684 \u9644\u52a0 \u5899 \u7684 \u9ad8\u5ea6 \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u9632\u6b62 \u8f66\u8f86 \u5760\u5165 \u865a\u7a7a \u3002   additional _ width   \uff08 \u9ed8\u8ba4 \u4e3a   0.6   \u7c73 \uff0c \u6bcf \u8fb9   0.3 \uff09   \u2014   \u5e94\u7528 \u4e8e \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u7684 \u5c0f \u5bbd\u5ea6 \u589e\u91cf \u3002 \u8fd9\u662f \u9632\u6b62 \u8f66\u8f86 \u5760\u843d \u7684 \u5b89\u5168 \u63aa\u65bd \u5b89\u5168\u63aa\u65bd \u3002   smooth _ junctions   ( default   True )   \u2014   \u5982\u679c   True   \uff0c OpenDRIVE   \u7684 \u4e00\u4e9b \u4fe1\u606f \u5c06 \u88ab \u91cd\u65b0 \u89e3\u91ca \u4ee5 \u5e73\u6ed1 \u8fde\u63a5 \u8fde\u63a5\u5904 \u7684 \u6700\u7ec8 \u7f51\u683c \u3002 \u8fd9\u6837 \u505a \u662f \u4e3a\u4e86 \u9632\u6b62 \u5728 \u4e0d\u540c \u8f66\u9053 \u76f8\u9047 \u65f6 \u53ef\u80fd \u53d1\u751f \u7684 \u4e00\u4e9b \u4e0d \u51c6\u786e \u3002 \u5982\u679c \u8bbe\u7f6e \u4e3a   False   \uff0c \u7f51\u683c \u5c06 \u5b8c\u5168 \u6309\u7167   OpenDRIVE   \u4e2d \u7684 \u63cf\u8ff0 \u751f\u6210 \u3002   enable _ mesh _ visibility   ( default   True )   \u2014   \u5982\u679c   False   \uff0c \u7f51\u683c \u5c06 \u4e0d\u4f1a \u88ab \u6e32\u67d3 \uff0c \u8fd9 \u53ef\u4ee5 \u4e3a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8282\u7701 \u5927\u91cf \u6e32\u67d3 \u5de5\u4f5c \u3002   \u4e3a\u4e86 \u8f7b\u677e \u6d4b\u8bd5 \u6b64 \u529f\u80fd \uff0c   PythonAPI / util /   \u4e2d \u7684   config . py   \u811a\u672c \u6709 \u4e00\u4e2a \u65b0 \u53c2\u6570 \uff0c   - x   \u6216   -- xodr - path   \u3002 \u53c2\u6570 \u6b64\u53c2\u6570 \u9700\u8981 \u4e00\u4e2a \u5e26\u6709   . xodr   \u6587\u4ef6 \u8def\u5f84 \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u4f8b\u5982   path / example . xodr   \u3002 \u5982\u679c \u4f7f\u7528 \u6b64 \u811a\u672c \u751f\u6210 \u7f51\u683c \uff0c \u5219 \u4f7f\u7528 \u7684 \u53c2\u6570 \u5c06 \u59cb\u7ec8 \u4e3a \u9ed8\u8ba4 \u53c2\u6570 \u3002   \u6b64 \u529f\u80fd \u53ef\u4ee5 \u4f7f\u7528   Carla   \u63d0\u4f9b \u7684 \u65b0   TownBig   \u8fdb\u884c \u6d4b\u8bd5 \u3002   python3   config . py   - x   opendrive / TownBig . xodr   \u91cd\u8981 \u7684   client . generate _ opendrive _ world ( )   \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u7684 \u5185\u5bb9 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32   \u3002 \u76f8\u53cd \uff0c   config . py   \u811a\u672c \u9700\u8981   . xodr   \u6587\u4ef6 \u7684 \u8def\u5f84   \u3002   \u7b14\u8bb0   \u5982\u679c \u9047\u5230   opendrive   \u65e0\u6cd5 \u6b63\u786e \u89e3\u6790   \u9519\u8bef \uff0c \u8bf7 \u786e\u4fdd \u5bf9   CarlaUE4 / Content / Carla / Maps / OpenDrive /   \u76ee\u5f55 \u6709 \u5199 \u6743\u9650 \u3002 \u8fd9\u662f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6b63\u786e \u89e3\u6790   xodr   \u6587\u4ef6 \u6240 \u5fc5\u9700 \u7684 \u3002   \u7f51\u683c \u751f\u6210   \u7f51\u683c \u7684 \u751f\u6210 \u662f \u8be5 \u6a21\u5f0f \u7684 \u5173\u952e \u8981\u7d20 \u3002 \u53ea\u6709 \u5f53 \u751f\u6210 \u7684 \u7f51\u683c \u662f \u5e73\u6ed1 \u7684 \u5e76\u4e14 \u5b8c\u5168 \u7b26\u5408 \u5b8c\u5168\u7b26\u5408 \u5176 \u5b9a\u4e49 \u65f6 \uff0c \u8be5 \u529f\u80fd \u624d\u80fd \u6210\u529f \u3002 \u51fa\u4e8e \u8fd9\u4e2a \u539f\u56e0 \uff0c \u8fd9 \u4e00\u6b65 \u6b63\u5728 \u4e0d\u65ad \u6539\u8fdb \u4e0d\u65ad\u6539\u8fdb \u3002 \u5728 \u6700\u540e \u7684 \u8fed\u4ee3 \u4e2d \uff0c \u8fde\u63a5 \u63a5\u70b9 \u8fde\u63a5\u70b9 \u5df2\u7ecf \u8fc7 \u629b\u5149 \u4ee5 \u907f\u514d \u4e0d \u51c6\u786e   \u53d1\u751f \uff0c \u5c24\u5176 \u662f \u5728 \u4e0d \u5e73\u5766 \u7684 \u8f66\u9053 \u8fde\u63a5 \u8fde\u63a5\u5904 \u3002   \u5728 \u751f\u6210 \u4ea4\u6c47 \u4ea4\u6c47\u70b9 \u7f51\u683c \u65f6 \uff0c \u8f83 \u9ad8 \u7684 \u8f66\u9053 \u5f80\u5f80 \u4f1a \u963b\u6321 \u4e0b\u65b9 \u7684 \u8f66\u9053 \u3002   smooth _ junctions   \u53c2\u6570 \u53ef \u9632\u6b62 \u6b64\u7c7b \u95ee\u9898 \u3002   \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u4e0d\u662f \u5c06 \u6574\u4e2a \u5730\u56fe \u521b\u5efa \u4e3a \u4e00\u4e2a \u72ec\u7279 \u7684 \u7f51\u683c \uff0c \u800c\u662f \u521b\u5efa \u4e0d\u540c \u7684 \u90e8\u5206 \u3002 \u901a\u8fc7 \u5212\u5206 \u7f51\u683c \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u53ef\u4ee5 \u907f\u514d \u6e32\u67d3 \u4e0d \u53ef\u89c1 \u7684 \u90e8\u5206 \uff0c \u5e76 \u8282\u7701 \u6210\u672c \u8282\u7701\u6210\u672c \u3002 \u5de5\u4f5c \u66f4 \u5c0f \u8fd8 \u5141\u8bb8 \u751f\u6210 \u5de8\u5927 \u7684 \u5730\u56fe \u5e76 \u5305\u542b \u53ef\u80fd \u51fa\u73b0 \u5728 \u7f51\u683c \u7684 \u4e00\u5c0f \u5c0f\u90e8 \u90e8\u5206 \u4e00\u5c0f\u90e8\u5206 \u4e0a \u7684 \u95ee\u9898 \u3002   \u5173\u4e8e \u7f51\u683c \u751f\u6210 \u7684 \u5f53\u524d \u72b6\u6001 \uff0c \u5e94 \u8003\u8651 \u4e00\u4e9b \u56e0\u7d20 \u3002   \u7ed3 \u5e73\u6ed1   \u3002 \u9ed8\u8ba4 \u5e73\u6ed1 \u53ef \u9632\u6b62 \u4e0a\u8ff0 \u503e\u659c \u8fde\u63a5 \u8fde\u63a5\u5904 \u7684 \u95ee\u9898 \u3002 \u4f46\u662f \uff0c \u5b83\u4f1a \u5728 \u6b64 \u8fc7\u7a0b \u4e2d \u4fee\u6539 \u539f\u59cb \u7f51\u683c \u3002 \u5982\u679c \u613f\u610f \uff0c \u5c06   smooth _ junctions   \u8bbe\u7f6e \u4e3a   False   \u4ee5 \u7981\u7528 \u5e73\u6ed1 \u3002   \u6a2a\u5411 \u5761\u5ea6   \u3002 \u6b64 \u529f\u80fd \u5f53\u524d \u672a \u96c6\u6210 \u5728   Carla   \u4e2d \u3002   \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u9ad8\u5ea6   \u3002 \u76ee\u524d \uff0c \u6240\u6709 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u7684 \u786c \u7f16\u7801 \u90fd \u662f \u76f8\u540c \u7684 \u3002 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u5fc5\u987b \u9ad8\u4e8e \u9053\u8def \u6807\u9ad8 \u624d\u80fd \u68c0\u6d4b \u5230 \u78b0\u649e \uff0c \u4f46   RoadRunner   \u4e0d\u4f1a \u5c06 \u6b64\u503c \u5bfc\u51fa \u5230   OpenDRIVE   \u6587\u4ef6 \u3002 \u9ad8\u5ea6 \u662f \u786c \u7f16\u7801 \u7684 \uff0c \u4ee5 \u4fdd\u8bc1 \u78b0\u649e \u3002   \u8fd9 \u6db5\u76d6 \u4e86 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \u5173\u4e8e   OpenDRIVE   \u72ec\u7acb \u6a21\u5f0f \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u6293\u4f4f \u673a\u4f1a \u6293\u4f4f\u673a\u4f1a \u5e76 \u4f7f\u7528 \u4efb\u4f55   OpenDRIVE   \u5730\u56fe \u5728   Carla   \u4e2d \u8fdb\u884c \u6d4b\u8bd5 \u3002   \u8bba\u575b \u4e2d \u7684 \u7591\u95ee \u548c \u5efa\u8bae \u3002   Carla   \u8bba\u575b","title":"OpenDRIVE \u72ec\u7acb \u6a21\u5f0f"},{"location":"adv_opendrive/#opendrive","text":"\u6b64 \u529f\u80fd \u5141\u8bb8 \u7528\u6237 \u5c06 \u4efb\u4f55   OpenDRIVE   \u6587\u4ef6 \u4f5c\u4e3a   Carla   \u5730\u56fe \u5f00\u7bb1 \u5373\u7528 \u3002 \u4e3a\u6b64 \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5c06 \u81ea\u52a8 \u751f\u6210 \u9053\u8def \u7f51\u683c \u4f9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5bfc\u822a \u3002   \u6982\u8ff0   \u8fd0\u884c \u72ec\u7acb \u5730\u56fe   \u7f51\u683c \u751f\u6210","title":"OpenDRIVE \u72ec\u7acb \u6a21\u5f0f"},{"location":"adv_opendrive/#_1","text":"\u6b64 \u6a21\u5f0f \u4ec5 \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u8fd0\u884c \u5b8c\u6574 \u4eff\u771f \uff0c \u65e0\u9700 \u4efb\u4f55 \u989d\u5916 \u7684 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u6216 \u8d44\u4ea7 \u3002 \u4e3a\u6b64 \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u91c7\u7528   OpenDRIVE   \u6587\u4ef6 \u5e76 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5730 \u521b\u5efa \u65f6\u95f4 \u4e09\u7ef4 \u7f51\u683c \u6765 \u8fd0\u884c \u4eff\u771f \u3002   \u751f\u6210 \u7684 \u7f51\u683c \u4ee5 \u7b80\u7ea6 \u7684 \u65b9\u5f0f \u63cf\u8ff0 \u4e86 \u9053\u8def \u5b9a\u4e49 \u3002 \u6240\u6709 \u5143\u7d20 \u90fd \u5c06 \u4e0e   OpenDRIVE   \u6587\u4ef6 \u5bf9\u5e94 \uff0c \u4f46 \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u53ea\u6709   void \u3002 \u4e3a \u9632\u6b62 \u8f66\u8f86 \u6389 \u51fa \u8def\u9762 \uff0c \u91c7\u53d6 \u4e86 \u4e24\u9879 \u63aa\u65bd \u3002   \u5728 \u8f66\u8f86 \u6d41\u52a8 \u6700 \u590d\u6742 \u7684 \u8def\u53e3 \uff0c \u8f66\u9053 \u7a0d\u5bbd \u4e00\u4e9b \u3002   \u5728 \u9053\u8def \u7684 \u8fb9\u754c \u5904 \u521b\u5efa \u4e86 \u53ef\u89c1 \u7684 \u5899\u58c1 \uff0c \u4f5c\u4e3a \u6700\u540e \u7684 \u5b89\u5168 \u63aa\u65bd \u5b89\u5168\u63aa\u65bd \u3002   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3001 \u505c\u8f66 \u6807\u5fd7 \u548c \u8ba9 \u884c \u6807\u5fd7 \u5c06 \u5373\u65f6 \u751f\u6210 \u3002 \u884c\u4eba \u5c06 \u5728 \u5730\u56fe \u4e0a \u663e\u793a \u7684 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u548c \u4eba\u884c \u4eba\u884c\u6a2a\u9053 \u4e0a \u5bfc\u822a \u3002 \u6240\u6709 \u8fd9\u4e9b \u5143\u7d20 \uff0c \u4ee5\u53ca \u9053\u8def \u4e0a \u7684 \u6bcf \u4e00\u4e2a \u7ec6\u8282 \uff0c \u90fd \u57fa\u4e8e   OpenDRIVE   \u6587\u4ef6 \u3002 \u7531\u4e8e \u72ec\u7acb \u6a21\u5f0f \u76f4\u63a5 \u4f7f\u7528   . xodr   \uff0c \u56e0\u6b64 \u5176\u4e2d \u7684 \u4efb\u4f55 \u95ee\u9898 \u90fd \u4f1a \u5f71\u54cd \u5230 \u4eff\u771f \u3002 \u8fd9 \u53ef\u80fd \u662f \u4e00\u4e2a \u95ee\u9898 \uff0c \u5c24\u5176 \u662f \u5728 \u8bb8\u591a \u8f66\u9053 \u6df7\u5408 \u7684 \u8def\u53e3 \u3002   \u91cd\u8981 \u7684   \u4ed4\u7ec6 \u68c0\u67e5 \u4ed4\u7ec6\u68c0\u67e5   OpenDRIVE   \u6587\u4ef6 \u5c24\u4e3a \u4e3a\u91cd \u91cd\u8981 \u5c24\u4e3a\u91cd\u8981 \u3002 \u8fd0\u884c \u4eff\u771f \u65f6 \uff0c \u5176\u4e2d \u7684 \u4efb\u4f55 \u95ee\u9898 \u90fd \u4f1a \u4f20\u64ad \u3002","title":"\u6982\u8ff0  "},{"location":"adv_opendrive/#_2","text":"\u6253\u5f00   OpenDRIVE   \u6587\u4ef6 \u53ea \u9700 \u901a\u8fc7   API   \u8c03\u7528   client . generate _ opendrive _ world ( )   \u3002 \u8fd9 \u5c06 \u751f\u6210 \u65b0 \u5730\u56fe \uff0c \u5e76 \u963b\u6b62 \u4eff\u771f \uff0c \u76f4\u5230 \u5b83 \u51c6\u5907 \u597d \u3002 \u8be5 \u65b9\u6cd5 \u9700\u8981 \u4e24\u4e2a \u53c2\u6570 \u3002   opendrive   \u662f \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7684   OpenDRIVE   \u6587\u4ef6 \u7684 \u5185\u5bb9 \u3002   parameters   \u662f \u4e00\u4e2a   carla . OpendriveGenerationParameters   \u5305\u542b \u7f51\u683c \u751f\u6210 \u7684 \u8bbe\u7f6e \u3002   \u8fd9\u4e2a \u53c2\u6570 \u662f \u53ef\u9009 \u7684   \u3002   vertex _ distance   \uff08 \u9ed8\u8ba4   2.0   \u7c73 \uff09   -   \u7f51\u683c \u9876\u70b9 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002 \u8ddd\u79bb \u8d8a\u5927 \uff0c \u7f51\u683c \u8d8a \u4e0d \u51c6\u786e \u3002 \u4f46\u662f \uff0c \u5982\u679c \u8ddd\u79bb \u592a\u5c0f \uff0c \u751f\u6210 \u7684 \u7f51\u683c \u5c06 \u592a\u91cd \u800c \u65e0\u6cd5 \u4f7f\u7528 \u3002   max _ road _ length   \uff08 \u9ed8\u8ba4   50.0   \u7c73 \uff09   -   \u7f51\u683c \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u7684 \u6700\u5927 \u957f\u5ea6 \u3002 \u7f51\u683c \u88ab \u5206\u6210 \u51e0 \u90e8\u5206 \u4ee5 \u51cf\u5c11 \u6e32\u67d3 \u5f00\u9500 \u3002 \u5982\u679c \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u4e0d \u53ef\u89c1 \uff0c UE   \u5c06 \u4e0d\u4f1a \u6e32\u67d3 \u5b83 \u3002 \u90e8\u5206 \u8d8a\u5c0f \uff0c \u5b83\u4eec \u88ab \u4e22\u5f03 \u7684 \u53ef\u80fd \u53ef\u80fd\u6027 \u5c31 \u8d8a \u5927 \u3002 \u4f46\u662f \uff0c \u5982\u679c \u90e8\u5206 \u592a\u5c0f \uff0c UE   \u9700\u8981 \u7ba1\u7406 \u7684 \u5bf9\u8c61 \u592a \u591a \uff0c \u6027\u80fd \u4e5f \u4f1a \u53d7\u5230 \u5f71\u54cd \u3002   wall _ height   \uff08 \u9ed8\u8ba4 \u4e3a   1.0   \u7c73 \uff09   -   \u5728 \u9053\u8def \u8fb9\u754c \u4e0a \u521b\u5efa \u7684 \u9644\u52a0 \u5899 \u7684 \u9ad8\u5ea6 \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u9632\u6b62 \u8f66\u8f86 \u5760\u5165 \u865a\u7a7a \u3002   additional _ width   \uff08 \u9ed8\u8ba4 \u4e3a   0.6   \u7c73 \uff0c \u6bcf \u8fb9   0.3 \uff09   \u2014   \u5e94\u7528 \u4e8e \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u7684 \u5c0f \u5bbd\u5ea6 \u589e\u91cf \u3002 \u8fd9\u662f \u9632\u6b62 \u8f66\u8f86 \u5760\u843d \u7684 \u5b89\u5168 \u63aa\u65bd \u5b89\u5168\u63aa\u65bd \u3002   smooth _ junctions   ( default   True )   \u2014   \u5982\u679c   True   \uff0c OpenDRIVE   \u7684 \u4e00\u4e9b \u4fe1\u606f \u5c06 \u88ab \u91cd\u65b0 \u89e3\u91ca \u4ee5 \u5e73\u6ed1 \u8fde\u63a5 \u8fde\u63a5\u5904 \u7684 \u6700\u7ec8 \u7f51\u683c \u3002 \u8fd9\u6837 \u505a \u662f \u4e3a\u4e86 \u9632\u6b62 \u5728 \u4e0d\u540c \u8f66\u9053 \u76f8\u9047 \u65f6 \u53ef\u80fd \u53d1\u751f \u7684 \u4e00\u4e9b \u4e0d \u51c6\u786e \u3002 \u5982\u679c \u8bbe\u7f6e \u4e3a   False   \uff0c \u7f51\u683c \u5c06 \u5b8c\u5168 \u6309\u7167   OpenDRIVE   \u4e2d \u7684 \u63cf\u8ff0 \u751f\u6210 \u3002   enable _ mesh _ visibility   ( default   True )   \u2014   \u5982\u679c   False   \uff0c \u7f51\u683c \u5c06 \u4e0d\u4f1a \u88ab \u6e32\u67d3 \uff0c \u8fd9 \u53ef\u4ee5 \u4e3a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8282\u7701 \u5927\u91cf \u6e32\u67d3 \u5de5\u4f5c \u3002   \u4e3a\u4e86 \u8f7b\u677e \u6d4b\u8bd5 \u6b64 \u529f\u80fd \uff0c   PythonAPI / util /   \u4e2d \u7684   config . py   \u811a\u672c \u6709 \u4e00\u4e2a \u65b0 \u53c2\u6570 \uff0c   - x   \u6216   -- xodr - path   \u3002 \u53c2\u6570 \u6b64\u53c2\u6570 \u9700\u8981 \u4e00\u4e2a \u5e26\u6709   . xodr   \u6587\u4ef6 \u8def\u5f84 \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u4f8b\u5982   path / example . xodr   \u3002 \u5982\u679c \u4f7f\u7528 \u6b64 \u811a\u672c \u751f\u6210 \u7f51\u683c \uff0c \u5219 \u4f7f\u7528 \u7684 \u53c2\u6570 \u5c06 \u59cb\u7ec8 \u4e3a \u9ed8\u8ba4 \u53c2\u6570 \u3002   \u6b64 \u529f\u80fd \u53ef\u4ee5 \u4f7f\u7528   Carla   \u63d0\u4f9b \u7684 \u65b0   TownBig   \u8fdb\u884c \u6d4b\u8bd5 \u3002   python3   config . py   - x   opendrive / TownBig . xodr   \u91cd\u8981 \u7684   client . generate _ opendrive _ world ( )   \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u7684 \u5185\u5bb9 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32   \u3002 \u76f8\u53cd \uff0c   config . py   \u811a\u672c \u9700\u8981   . xodr   \u6587\u4ef6 \u7684 \u8def\u5f84   \u3002   \u7b14\u8bb0   \u5982\u679c \u9047\u5230   opendrive   \u65e0\u6cd5 \u6b63\u786e \u89e3\u6790   \u9519\u8bef \uff0c \u8bf7 \u786e\u4fdd \u5bf9   CarlaUE4 / Content / Carla / Maps / OpenDrive /   \u76ee\u5f55 \u6709 \u5199 \u6743\u9650 \u3002 \u8fd9\u662f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6b63\u786e \u89e3\u6790   xodr   \u6587\u4ef6 \u6240 \u5fc5\u9700 \u7684 \u3002","title":"\u8fd0\u884c \u72ec\u7acb \u5730\u56fe  "},{"location":"adv_opendrive/#_3","text":"\u7f51\u683c \u7684 \u751f\u6210 \u662f \u8be5 \u6a21\u5f0f \u7684 \u5173\u952e \u8981\u7d20 \u3002 \u53ea\u6709 \u5f53 \u751f\u6210 \u7684 \u7f51\u683c \u662f \u5e73\u6ed1 \u7684 \u5e76\u4e14 \u5b8c\u5168 \u7b26\u5408 \u5b8c\u5168\u7b26\u5408 \u5176 \u5b9a\u4e49 \u65f6 \uff0c \u8be5 \u529f\u80fd \u624d\u80fd \u6210\u529f \u3002 \u51fa\u4e8e \u8fd9\u4e2a \u539f\u56e0 \uff0c \u8fd9 \u4e00\u6b65 \u6b63\u5728 \u4e0d\u65ad \u6539\u8fdb \u4e0d\u65ad\u6539\u8fdb \u3002 \u5728 \u6700\u540e \u7684 \u8fed\u4ee3 \u4e2d \uff0c \u8fde\u63a5 \u63a5\u70b9 \u8fde\u63a5\u70b9 \u5df2\u7ecf \u8fc7 \u629b\u5149 \u4ee5 \u907f\u514d \u4e0d \u51c6\u786e   \u53d1\u751f \uff0c \u5c24\u5176 \u662f \u5728 \u4e0d \u5e73\u5766 \u7684 \u8f66\u9053 \u8fde\u63a5 \u8fde\u63a5\u5904 \u3002   \u5728 \u751f\u6210 \u4ea4\u6c47 \u4ea4\u6c47\u70b9 \u7f51\u683c \u65f6 \uff0c \u8f83 \u9ad8 \u7684 \u8f66\u9053 \u5f80\u5f80 \u4f1a \u963b\u6321 \u4e0b\u65b9 \u7684 \u8f66\u9053 \u3002   smooth _ junctions   \u53c2\u6570 \u53ef \u9632\u6b62 \u6b64\u7c7b \u95ee\u9898 \u3002   \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u4e0d\u662f \u5c06 \u6574\u4e2a \u5730\u56fe \u521b\u5efa \u4e3a \u4e00\u4e2a \u72ec\u7279 \u7684 \u7f51\u683c \uff0c \u800c\u662f \u521b\u5efa \u4e0d\u540c \u7684 \u90e8\u5206 \u3002 \u901a\u8fc7 \u5212\u5206 \u7f51\u683c \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u53ef\u4ee5 \u907f\u514d \u6e32\u67d3 \u4e0d \u53ef\u89c1 \u7684 \u90e8\u5206 \uff0c \u5e76 \u8282\u7701 \u6210\u672c \u8282\u7701\u6210\u672c \u3002 \u5de5\u4f5c \u66f4 \u5c0f \u8fd8 \u5141\u8bb8 \u751f\u6210 \u5de8\u5927 \u7684 \u5730\u56fe \u5e76 \u5305\u542b \u53ef\u80fd \u51fa\u73b0 \u5728 \u7f51\u683c \u7684 \u4e00\u5c0f \u5c0f\u90e8 \u90e8\u5206 \u4e00\u5c0f\u90e8\u5206 \u4e0a \u7684 \u95ee\u9898 \u3002   \u5173\u4e8e \u7f51\u683c \u751f\u6210 \u7684 \u5f53\u524d \u72b6\u6001 \uff0c \u5e94 \u8003\u8651 \u4e00\u4e9b \u56e0\u7d20 \u3002   \u7ed3 \u5e73\u6ed1   \u3002 \u9ed8\u8ba4 \u5e73\u6ed1 \u53ef \u9632\u6b62 \u4e0a\u8ff0 \u503e\u659c \u8fde\u63a5 \u8fde\u63a5\u5904 \u7684 \u95ee\u9898 \u3002 \u4f46\u662f \uff0c \u5b83\u4f1a \u5728 \u6b64 \u8fc7\u7a0b \u4e2d \u4fee\u6539 \u539f\u59cb \u7f51\u683c \u3002 \u5982\u679c \u613f\u610f \uff0c \u5c06   smooth _ junctions   \u8bbe\u7f6e \u4e3a   False   \u4ee5 \u7981\u7528 \u5e73\u6ed1 \u3002   \u6a2a\u5411 \u5761\u5ea6   \u3002 \u6b64 \u529f\u80fd \u5f53\u524d \u672a \u96c6\u6210 \u5728   Carla   \u4e2d \u3002   \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u9ad8\u5ea6   \u3002 \u76ee\u524d \uff0c \u6240\u6709 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u7684 \u786c \u7f16\u7801 \u90fd \u662f \u76f8\u540c \u7684 \u3002 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u5fc5\u987b \u9ad8\u4e8e \u9053\u8def \u6807\u9ad8 \u624d\u80fd \u68c0\u6d4b \u5230 \u78b0\u649e \uff0c \u4f46   RoadRunner   \u4e0d\u4f1a \u5c06 \u6b64\u503c \u5bfc\u51fa \u5230   OpenDRIVE   \u6587\u4ef6 \u3002 \u9ad8\u5ea6 \u662f \u786c \u7f16\u7801 \u7684 \uff0c \u4ee5 \u4fdd\u8bc1 \u78b0\u649e \u3002   \u8fd9 \u6db5\u76d6 \u4e86 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \u5173\u4e8e   OpenDRIVE   \u72ec\u7acb \u6a21\u5f0f \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u6293\u4f4f \u673a\u4f1a \u6293\u4f4f\u673a\u4f1a \u5e76 \u4f7f\u7528 \u4efb\u4f55   OpenDRIVE   \u5730\u56fe \u5728   Carla   \u4e2d \u8fdb\u884c \u6d4b\u8bd5 \u3002   \u8bba\u575b \u4e2d \u7684 \u7591\u95ee \u548c \u5efa\u8bae \u3002   Carla   \u8bba\u575b","title":"\u7f51\u683c \u751f\u6210  "},{"location":"adv_procedural_building_tool/","text":"\u7b14\u8bb0   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177   \u76ee\u524d \u662f \u4e00\u4e2a   \u5b9e\u9a8c \u529f\u80fd \u6027\u529f\u80fd   \uff0c \u9636\u6bb5 \u73b0\u9636\u6bb5 \u5c1a\u672a \u8003\u8651   \u6295\u5165 \u751f\u4ea7   \u3002 \u56e0\u6b64 \u5b83 \u53ea\u80fd \u7528\u4e8e \u5b9e\u9a8c \u7814\u7a76 \u9879\u76ee \u3002   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177   \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u751f\u6210 \u865a\u62df \u4e09\u7ef4 \u5efa\u7b51 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u7b80\u5355 \u7684 \u754c\u9762 \u5bf9 \u5176 \u5c3a\u5bf8 \u548c \u88c5\u9970 \u98ce\u683c \u8fdb\u884c \u8c03\u5236 \uff0c \u4ee5 \u521b\u5efa \u8fd1\u4e4e \u65e0\u9650 \u7684 \u53d8\u5316 \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u754c\u9762 \u9009\u62e9 \u697c\u5c42 \u7684 \u5360\u5730 \u5730\u9762 \u9762\u79ef \u5360\u5730\u9762\u79ef \u5c3a\u5bf8 \u548c \u9ad8\u5ea6 \u3002 \u7136\u540e \u7528\u6237 \u53ef\u4ee5 \u4e3a \u5efa\u7b51 \u5927\u5802 \u3001 \u4e3b\u4f53 \u4ee5\u53ca \u9876\u5c42 \u6216 \u9601\u697c \u9009\u62e9 \u591a\u79cd \u98ce\u683c \u3002 \u53ef\u4ee5 \u4ece   Carla   \u8d44\u6e90 \u8d44\u6e90\u5e93 \u4e2d\u4e3a \u89d2\u7a97 \u548c \u9633\u53f0 \u7b49 \u529f\u80fd \u9009\u62e9 \u5404\u79cd \u9762\u677f \u5143\u7d20 \u6837\u5f0f \u3002   \u6253\u5f00 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177   \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570   \u7f51\u683c \u53c2\u6570   \u7f51\u683c \u5143\u7d20   \u5957 \u63a5\u5b57   \u5916\u5899 \u6750\u6599   \u70d8\u7119   \u6253\u5f00 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177   \u9996\u5148 \uff0c \u60a8 \u9700\u8981 \u5411 \u573a\u666f \u6dfb\u52a0 \u7a0b\u5e8f \u6dfb\u52a0\u7a0b\u5e8f \u5efa\u7b51 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5bfc\u822a \u5230   Content > Carla > Blueprints > LevelDesign   \u5e76 \u62d6\u52a8 \u84dd\u56fe   BP _ ProceduralBuilding   \u5230 \u5730\u56fe \u4e2d \u3002 \u5c06 \u8d44\u4ea7 \u79fb\u52a8 \u5230 \u60a8 \u5e0c\u671b \u53ef\u89c6 \u53ef\u89c6\u5316 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u4f4d\u7f6e \u3002 \u9009\u62e9 \u4e00\u4e2a \u6709 \u7a7a\u95f4 \u7684 \u5730\u65b9 \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u6e05\u695a \u5730 \u770b\u5230 \u7ed3\u679c \u3002 \u7136\u540e \uff0c \u8981 \u6253\u5f00 \u8be5 \u5de5\u5177 \uff0c \u8bf7 \u53f3\u952e \u5355\u51fb   WD _ ProceduralBuilding \uff08 \u7f16\u8f91 \u7f16\u8f91\u5668 \u5de5\u5177 \u63a7\u4ef6 \uff09   \u5e76 \u4ece \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   \u8fd0\u884c \u7f16\u8f91 \u7f16\u8f91\u5668 \u5de5\u5177 \u63a7\u4ef6   ( Run   editor   utility   widget ) \u6765 \u542f\u52a8 \u7a0b\u5e8f \u6784\u5efa \u5de5\u5177 \u3002 \u8fd9 \u5c06 \u6253\u5f00 \u8be5 \u5de5\u5177 \u7684 \u754c\u9762 \u3002   \u6ce8\u610f   \u60a8 \u5fc5\u987b \u5728 \u6253\u5f00 \u5de5\u5177 \u4e4b\u524d \u5b8c\u6210 \u6b64 \u6b65\u9aa4 \uff0c \u5730\u56fe \u4e2d \u5fc5\u987b \u5b58\u5728   BP _ ProceduralBuilding   \u84dd\u56fe \u7684 \u5b9e\u4f8b \uff0c \u5de5\u5177 \u624d\u80fd \u8fd0\u884c \u3002 \u60a8 \u8fd8 \u5fc5\u987b \u786e\u4fdd \u5728 \u7ee7\u7eed \u4e4b\u524d \u5728 \u4e16\u754c \u5927\u7eb2 \u89c6\u56fe \uff08   World   outliner   \uff09 \u4e2d \u9009\u62e9   BP _ ProceduralBuilding   \u5b9e\u4f53 \u3002   \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570   \u5728 \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570 \u90e8\u5206 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u9009\u62e9 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u57fa\u672c \u5c5e\u6027 \uff0c \u4f8b\u5982 \u5360\u5730 \u5730\u9762 \u9762\u79ef \u5360\u5730\u9762\u79ef \u548c \u697c\u5c42 \u9ad8\u5ea6 \u3002   \u7b14\u8bb0   \u5728 \u7f51\u683c \u53c2\u6570 \u90e8\u5206 \uff08   mesh   parameters   \uff09 \u9009\u62e9 \u7f51\u683c \u7247\u6bb5 \u4e4b\u524d \uff0c \u8c03\u6574 \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570 \u65f6 \uff0c \u60a8 \u4e0d\u4f1a \u5728 \u865a\u5e7b \u5f15\u64ce \u89c6 \u53e3\u4e2d \u770b\u5230 \u4efb\u4f55 \u53d8\u5316 \u3002   \u53ef\u7528 \u53c2\u6570 \u5982\u4e0b \uff1a   Seed   :   \u8bbe\u7f6e \u7a0b\u5e8f \u751f\u6210 \u7684 \u968f\u673a \u79cd\u5b50 \uff0c \u8fd9 \u53ef\u4ee5 \u4f7f \u5efa\u7b51 \u5efa\u7b51\u7269 \u5177\u6709 \u76f8\u540c \u8bbe\u7f6e \u7684 \u53d8\u5316 \u3002   Num   floors   :   \u8bbe\u7f6e \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u5c42\u6570 \u6216 \u697c\u5c42 \u6570 \uff0c \u5e76 \u4ece\u6b64 \u5b9a\u4e49 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u9ad8\u5ea6 \u3002   Length   X / Y   :   \u5b9a\u4e49 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5728   X   \u548c   Y   \u7ef4\u5ea6 \u4e0a \u7684 \u5360\u5730 \u5730\u9762 \u9762\u79ef \u5360\u5730\u9762\u79ef \u5927\u5c0f \u3002 \u8fd9\u4e9b \u662f \u65e0 \u5355\u4f4d \u7684 \uff0c \u6570\u5b57 \u8868\u793a \u91cd\u590d \u590d\u90e8 \u90e8\u5206 \u91cd\u590d\u90e8\u5206 \u7684 \u6570\u91cf \uff0c \u6bcf\u4e2a \u90e8\u5206 \u662f \u4e00\u5217 \u7a97\u53e3 \u3002   Create   automatically   :   \u5982\u679c \u9009\u62e9 \u6b64 \u9009\u9879 \uff0c \u5efa\u7b51 \u5efa\u7b51\u7269 \u5c06 \u5728 \u89c6 \u53e3\u4e2d \u81ea\u52a8 \u66f4\u65b0 \u81ea\u52a8\u66f4\u65b0 \uff0c \u4ee5\u4fbf \u60a8 \u53ef\u4ee5 \u770b\u5230 \u8c03\u6574 \u7684 \u6548\u679c \u3002   Corners   :   \u5141\u8bb8 \u5c06 \u89d2\u4ef6 \u6dfb\u52a0 \u5230 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u5728   Mesh   parameters   \u90e8\u5206 \u4e2d \u9009\u62e9 \u8fd9\u4e9b \u4ef6 \u3002   Walls   :   \u5c06 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5de6 / \u53f3 / \u524d / \u540e \u7684 \u4e2d\u95f4 \u90e8\u5206 \u66ff\u6362 \u4e3a \u53ef \u4f7f\u7528 \u7f51\u683c \u53c2\u6570 \uff08   Mesh   parameters   \uff09 \u83dc\u5355 \u9009\u62e9 \u7684 \u66ff\u4ee3 \u90e8\u5206 \u3002   Doors   :   \u5141\u8bb8 \u5728 \u5927\u5385 \u66fe \u653e\u7f6e \u95e8 \u7684 \u9635\u5217 \u3002 \u95e8 \u653e\u7f6e \u5728 \u9009\u5b9a \u7684 \u7d22\u5f15 \u4f4d\u7f6e \u3002   \u7f51\u683c \u53c2\u6570   \u5728 \u754c\u9762 \u7684 \u201c \u7f51\u683c \u53c2\u6570 ( Mesh   Parameters ) \u201d \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u6211\u4eec \u9009\u62e9 \u5c06 \u7528\u4e8e \u8986\u76d6 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5916\u90e8 \u7684 \u7f51\u683c \u4ef6 \u3002 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e0d\u540c \u90e8\u5206 \u7684 \u7f51\u7247 \u5206\u4e3a   5   \u7c7b \uff1a   Lobby   :   \u7528\u4e8e \u88c5\u9970 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5927\u5802 \u7684 \u7f51\u7247 \u3002   Midsection   :   \u7528\u4e8e \u88c5\u9970 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e2d\u6bb5 \u3001 \u5927\u5802 \u548c \u9876\u5c42 \u4e4b\u95f4 \u7684 \u6bcf \u4e00\u5c42 \u7684 \u7f51\u72b6 \u90e8\u4ef6 \u3002   Penthouse   :   \u7528\u4e8e \u88c5\u9970 \u9876\u5c42 \u516c\u5bd3 \u5c42 \u7684 \u7f51\u683c \u4ef6 \u3002   Doors   :   \u4e3a \u5927\u5385 \u6dfb\u52a0 \u95e8 \u7684 \u7f51\u72b6 \u90e8\u4ef6   Walls   :   \u7528\u4e8e \u88c5\u9970 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5899\u58c1 \u7684 \u7f51\u7247   \u5728 \u6bcf\u4e2a \u7c7b\u522b \u4e2d \uff0c \u60a8 \u90fd \u4f1a \u53d1\u73b0 \u8bb8\u591a \u7f51\u7247 \u9009\u9879 \u3002 \u5355\u51fb \u4e00\u4e2a \u6216 \u591a\u4e2a \u4f7f \u5176 \u53d8\u4e3a \u7ea2\u8272 \uff0c \u8fd9\u4e9b \u5c06 \u88ab \u6dfb\u52a0 \u5230 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u76f8\u5e94 \u90e8\u5206 \u3002 \u5982\u679c \u60a8 \u9009\u62e9 \u591a\u4e2a \u9009\u9879 \uff0c \u8be5 \u5de5\u5177 \u5c06 \u5728 \u9009\u9879 \u4e4b\u95f4 \u968f\u673a \u4ea4\u66ff \u3002 \u5f53 \u60a8 \u4e3a \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u6bcf\u4e2a \u90e8\u5206 \u9009\u62e9 \u7f51\u683c \u7247\u6bb5 \u65f6 \uff0c \u5982\u679c \u60a8 \u5728 \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570 \u90e8\u5206 \u4e2d \u9009\u62e9 \u4e86 \u81ea\u52a8 \u521b\u5efa \uff08   Create   automatically   \uff09 \uff0c \u60a8 \u5c06 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u89c6 \u53e3\u4e2d \u770b\u5230 \u5efa\u7b51 \u5efa\u7b51\u7269 \u6b63\u5728 \u6210\u5f62 \u3002   \u7f51\u683c \u5143\u7d20   \u5728 \u6b64 \u90e8\u5206 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u9009\u62e9 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u66f4 \u8be6\u7ec6 \u5143\u7d20 \uff0c \u4f8b\u5982 \u7a97\u6237 \u3001 \u67f1\u5b50 \u3001 \u82b1\u76c6 \u3001 \u7a7a\u8c03 \u88c5\u7f6e \u548c \u5929\u7ebf \u3002 \u6bcf\u79cd \u7c7b\u578b \u7684 \u88c5\u9970 \u90fd \u6709 \u7565\u5fae \u4e0d\u540c \u7684 \u5c5e\u6027 \u3002   \u5efa\u7b51 \u5efa\u7b51\u7269 \u7ec6\u8282 \u7684 \u88c5\u9970 \u6709 \u591a\u79cd \u79cd\u7c7b \u7c7b\u578b \u591a\u79cd\u7c7b\u578b \uff1a   \u5782\u76f4 / \u6c34\u5e73 \u7a97\u6237 \u7f51\u683c   :   \u8fd9\u4e9b \u7f51\u683c \u7247 \u5b9a\u4e49 \u4e86 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e2d \u7a97\u6846 \u7684 \u6837\u5f0f \u3002 \u5782\u76f4 \u7a97\u6237 \u7f51\u683c \u5c06 \u5360\u636e \u6bd4\u5176 \u5bbd\u5ea6 \u9ad8 \u7684 \u7a97\u6237 \u7a7a\u95f4 \uff0c \u800c \u6c34\u5e73 \u7a97\u6237 \u7f51\u683c \u5c06 \u5360\u636e \u6bd4\u5176 \u9ad8\u5ea6 \u66f4 \u5bbd \u7684 \u7a97\u6237 \u7a7a\u95f4 \u3002 \u5982\u679c \u60a8 \u9009\u62e9 \u591a\u4e2a \u9009\u9879 \uff0c \u5b83\u4eec \u5c06 \u4ea4\u66ff \u51fa\u73b0 \u3002   \u67f1 \u7f51\u683c   :   \u8fd9\u4e9b \u4eff\u771f \u8de8\u8d8a \u5efa\u7b51 \u5efa\u7b51\u7269 \u9ad8\u5ea6 \u7684 \u7816 \u780c \u67f1 \u7ec6\u8282   \u9876\u90e8 / \u5e95\u90e8 \u7a97\u6237 \u7ec6\u8282   :   \u8fd9\u4e9b \u7f51\u683c \u7528 \u95e8\u6963 \u548c \u906e\u9633 \u906e\u9633\u677f \u88c5\u9970 \u7a97\u6237 \u7684 \u9876\u90e8 \uff0c \u7528 \u7a97\u53f0 \u548c \u690d\u7269 \u7bb1 \u88c5\u9970 \u7a97\u6237 \u7684 \u5e95\u90e8 \u3002   Window   columns   :   \u5206\u9694 \u7a97\u6237 \u7684 \u7816 \u780c \u67f1   Curtain   meshes   :   \u5b89\u88c5 \u5728 \u7a97\u6237 \u5185 \u7684 \u7a97\u5e18 \u548c \u767e\u53f6 \u53f6\u7a97 \u767e\u53f6\u7a97   Pot   meshes   :   \u5728 \u6307\u5b9a \u63d2\u5ea7 \u70b9 \u6dfb\u52a0 \u5230 \u7a97\u53f0 \u548c \u690d\u7269 \u7bb1 \u7684 \u82b1\u76c6   Air   conditioner   meshes   :   \u5728 \u6307\u5b9a \u63d2\u5ea7 \u70b9\u5904 \u6dfb\u52a0 \u5230 \u7a97\u6237 \u7684 \u7a7a\u8c03 \u88c5\u7f6e   Pipe   meshes   :   \u5782\u76f4 \u5411\u4e0b \u5ef6\u4f38 \u5230 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u7ba1\u9053 \uff0c \u4eff\u771f \u5c4b\u9876 \u7684 \u6392\u6c34 \u6c34\u7ba1 \u6392\u6c34\u7ba1   Wire   meshes   :   \u6cbf\u7740 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5782\u76f4 \u5ef6\u4f38 \u7684 \u7535\u7ebf \uff0c \u4eff\u771f \u7535\u89c6 \u5929\u7ebf \u5ef6\u4f38 \u548c \u95ea\u7535 \u63a5\u5730 \u5730\u7ebf \u63a5\u5730\u7ebf   Antenna   meshes   :   \u4ece \u7a97\u6237 \u4f38\u51fa \u7684 \u7535\u89c6 \u5929\u7ebf   \u53c2\u6570 \u7684 \u5de5\u4f5c \u539f\u7406 \u5982\u4e0b \uff1a   \u5e38\u7528 \u53c2\u6570   :   Percentage   :   \u63a7\u5236 \u5c06 \u653e\u7f6e \u5728 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e0a \u7684 \u4ef6\u6570 \uff0c 100%   \u8868\u793a \u6240\u6709 \u53ef\u7528 \u7a7a\u95f4 \u5c06 \u88ab \u5360\u7528   Offset   :   \u8be5 \u4f5c\u54c1 \u76f8\u5bf9 \u4e8e \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e3b\u4f53 \u7684 \u7a7a\u95f4 \u504f\u79fb   Blinds   and   curtains   :   Min / Max   size   :   \u9009\u62e9 \u767e\u53f6 \u53f6\u7a97 \u767e\u53f6\u7a97 \u6216 \u7a97\u5e18 \u7684 \u6700\u5c0f / \u6700\u5927 \u957f\u5ea6 \uff0c \u503c \u4e4b\u95f4 \u968f\u673a \u53d8\u5316 \u3002 1.0 \u4e3a \u5168\u95ed \uff0c 0.0 \u4e3a \u5168\u5f00 \u3002   Pipes   and   wires   :   Index   :   \u5b9a\u4e49 \u5c06 \u653e\u7f6e \u7ba1\u9053 \u7684 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u9762   Offset   side / front   :   \u4ece \u5efa\u7b51 \u5efa\u7b51\u7269 \u6b63\u9762 \u7684 \u4e2d\u5fc3 \u5411 \u4f5c\u54c1 \u6dfb\u52a0 \u7a7a\u95f4 \u504f\u79fb   \u7b14\u8bb0   \u5728 \u67d0\u4e9b \u60c5\u51b5 \u4e0b \uff0c \u60a8 \u53ef\u80fd \u4f1a \u53d1\u73b0 \uff0c \u5f53 \u60a8 \u9009\u62e9 \u7ec6\u8282 \u7f51\u683c \u90e8\u4ef6 \uff08 \u4f8b\u5982 \u82b1\u76c6 \u3001 \u5929\u7ebf \u548c \u7a7a\u8c03 \u88c5\u7f6e \uff09 \u65f6 \uff0c \u60a8 \u4e0d\u5230 \u770b\u4e0d\u5230 \u5efa\u7b51 \u5efa\u7b51\u7269 \u6709 \u4efb\u4f55 \u53d8\u5316 \u3002 \u8fd9 \u5f88 \u53ef\u80fd \u56e0\u4e3a \u662f\u56e0\u4e3a \u60a8 \u6b63\u5728 \u4f7f\u7528 \u7684 \u90e8\u4ef6 \u6ca1\u6709 \u6dfb\u52a0 \u60a8 \u9009\u62e9 \u7684 \u90e8\u4ef6 \u6240 \u9700 \u7684 \u9002\u5f53 \u5957 \u63a5\u5b57 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605 \u63d2\u69fd \u90e8\u5206 \uff08   sockets   section   \uff09 \u4e86\u89e3 \u5982\u4f55 \u4f7f\u7528 \u63d2\u69fd \u3002   \u5957 \u63a5\u5b57   \u63d2\u69fd \u662f \u951a\u70b9 \uff0c \u7528\u4e8e \u5b9a\u4e49 \u5c06 \u7ec6\u8282 \u7f51\u683c \u7269\u4f53 \u653e\u7f6e \u5728 \u53e6 \u4e00\u4e2a \u7f51\u683c \u7269\u4f53 \u4e0a \u7684 \u4f4d\u7f6e \u3002 \u8981 \u5c06 \u5957 \u63a5\u5b57 \u6dfb\u52a0 \u5230 \u7a0b\u5e8f \u5efa\u7b51 \u4e2d \u7684 \u7f51\u683c \u7269\u4f53 \uff0c \u8bf7 \u5728 \u9009\u62e9 \u7a0b\u5e8f \u5efa\u7b51 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u8f6c \u5230 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u9762\u677f \uff08   details   panel   \uff09 \uff0c \u901a\u5e38 \u4f4d\u4e8e \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u754c\u9762 \u7684 \u53f3\u4fa7 \u3002 \u5728 \u90a3\u91cc \uff0c \u60a8 \u5c06 \u627e\u5230 \u201c \u7f51\u683c \uff08   Meshes   \uff09 \u201d \u548c \u201c \u7ec6\u8282 \u7f51\u683c \uff08   Detail   meshes   \uff09 \u201d \u9762\u677f \u3002 \u6253\u5f00 \u76f8\u5173 \u90e8\u5206 \uff0c \u5728 \u60a8 \u8981 \u653e\u7f6e \u63d2\u5ea7 \u7684 \u4f4d\u7f6e \u6253\u5f00 \u7f51\u7247 \u3002   \u627e\u5230 \u8981 \u5728 \u5176 \u4e0a \u653e\u7f6e \u5957 \u63a5\u5b57 \u7684 \u7f51\u683c \uff0c \u7136\u540e \u53cc\u51fb \u8be5 \u56fe\u6807 \u4ee5 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d\u5c06 \u5176 \u6253\u5f00 \u3002 \u5355\u51fb \u201c \u521b\u5efa \u5957 \u63a5\u5b57 (   create   socket   ) \u201d \u4ee5 \u6dfb\u52a0 \u5957 \u63a5\u5b57 \u5e76 \u4f7f\u7528 \u4ee5\u4e0b \u7ea6\u5b9a \u547d\u540d \uff1a   \u7a7a\u8c03 \u673a\u7ec4 \uff08 Air   conditioning   unit \uff09 \uff1a   aa _ *   \u5929\u7ebf \uff08 Antennas \uff09 \uff1a   ant _ *   \u82b1\u76c6 \uff08 Plant   pots \uff09 \uff1a   pot _ *   \u5c06 \u661f\u53f7 \u66ff\u6362 \u4e3a \u7d22\u5f15 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u6709 \u591a\u5c11 \u4e2a\u5957 \u63a5\u5b57 \uff0c \u5373   aa _ 0 ,   aa _ 2 ,   aa _ 3 ...   \u5f53 \u60a8 \u5355\u51fb \u201c \u521b\u5efa \u5957 \u63a5\u5b57 (   Create   socket   ) \u201d \u65f6 \uff0c \u5957 \u63a5\u5b57 \u5c06 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u4f7f\u7528 \u4e09\u7ef4 \u53e5\u67c4 \u8fdb\u884c \u5b9e\u4f8b \u5316 \u3002 \u5c06 \u63d2\u69fd \u62d6\u52a8 \u5230 \u7f51\u683c \u4e0a \u7684 \u6240 \u9700 \u4f4d\u7f6e \uff0c \u8fd9 \u662f \u60a8 \u7684 \u7ec6\u8282 \u90e8\u4ef6 \u5c06 \u663e\u793a \u8fde\u63a5 \u5230 \u5355\u5143 \u7684 \u4f4d\u7f6e \u3002   \u5916\u5899 \u6750\u6599   \u5728 \u5916\u89c2 \u6750\u6599 \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u6d4f\u89c8 \u548c \u9884\u89c8 \u8981 \u88c5\u9970 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5899\u58c1 \u7684 \u6750\u6599 \u3002   \u70d8\u7119   \u5728 \u70f9\u996a \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u5c06 \u9009\u62e9 \u7684 \u6240\u6709 \u7f51\u683c \u7269\u4f53 \u548c \u6750\u8d28 \u7ec4\u5408 \u5230 \u5177\u6709 \u5173\u8054 \u6750\u8d28 \u548c \u7eb9\u7406 \u7684 \u5355\u4e2a \u9759\u6001 \u7f51\u683c \u7269\u4f53 \u4e2d \u3002 \u8fd8 \u5c06 \u4e3a   LOD   \u521b\u5efa \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684   LOD   \u7eb9\u7406 \u3002 \u5728 \u754c\u9762 \u4e2d \u6307\u5b9a \u5c06 \u4fdd\u5b58 \u65b0 \u5efa\u7b51 \u8d44\u6e90 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u540d\u79f0 \u3002   \u4e00\u65e6 \u60a8 \u5b8c\u6210 \u4e86 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u5236\u4f5c \uff0c \u60a8 \u5c31 \u53ef\u4ee5 \u50cf \u4efb\u4f55 \u5176\u4ed6   Carla   \u8d44\u4ea7 \u4e00\u6837 \u5c06 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u5b9e\u4f8b \u653e\u7f6e \u5728 \u5730\u56fe \u4e2d \u3002","title":"Adv   procedural   building   tool"},{"location":"adv_procedural_building_tool/#_1","text":"\u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177   \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u751f\u6210 \u865a\u62df \u4e09\u7ef4 \u5efa\u7b51 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u7b80\u5355 \u7684 \u754c\u9762 \u5bf9 \u5176 \u5c3a\u5bf8 \u548c \u88c5\u9970 \u98ce\u683c \u8fdb\u884c \u8c03\u5236 \uff0c \u4ee5 \u521b\u5efa \u8fd1\u4e4e \u65e0\u9650 \u7684 \u53d8\u5316 \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u754c\u9762 \u9009\u62e9 \u697c\u5c42 \u7684 \u5360\u5730 \u5730\u9762 \u9762\u79ef \u5360\u5730\u9762\u79ef \u5c3a\u5bf8 \u548c \u9ad8\u5ea6 \u3002 \u7136\u540e \u7528\u6237 \u53ef\u4ee5 \u4e3a \u5efa\u7b51 \u5927\u5802 \u3001 \u4e3b\u4f53 \u4ee5\u53ca \u9876\u5c42 \u6216 \u9601\u697c \u9009\u62e9 \u591a\u79cd \u98ce\u683c \u3002 \u53ef\u4ee5 \u4ece   Carla   \u8d44\u6e90 \u8d44\u6e90\u5e93 \u4e2d\u4e3a \u89d2\u7a97 \u548c \u9633\u53f0 \u7b49 \u529f\u80fd \u9009\u62e9 \u5404\u79cd \u9762\u677f \u5143\u7d20 \u6837\u5f0f \u3002   \u6253\u5f00 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177   \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570   \u7f51\u683c \u53c2\u6570   \u7f51\u683c \u5143\u7d20   \u5957 \u63a5\u5b57   \u5916\u5899 \u6750\u6599   \u70d8\u7119","title":"\u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177"},{"location":"adv_procedural_building_tool/#_2","text":"\u9996\u5148 \uff0c \u60a8 \u9700\u8981 \u5411 \u573a\u666f \u6dfb\u52a0 \u7a0b\u5e8f \u6dfb\u52a0\u7a0b\u5e8f \u5efa\u7b51 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5bfc\u822a \u5230   Content > Carla > Blueprints > LevelDesign   \u5e76 \u62d6\u52a8 \u84dd\u56fe   BP _ ProceduralBuilding   \u5230 \u5730\u56fe \u4e2d \u3002 \u5c06 \u8d44\u4ea7 \u79fb\u52a8 \u5230 \u60a8 \u5e0c\u671b \u53ef\u89c6 \u53ef\u89c6\u5316 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u4f4d\u7f6e \u3002 \u9009\u62e9 \u4e00\u4e2a \u6709 \u7a7a\u95f4 \u7684 \u5730\u65b9 \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u6e05\u695a \u5730 \u770b\u5230 \u7ed3\u679c \u3002 \u7136\u540e \uff0c \u8981 \u6253\u5f00 \u8be5 \u5de5\u5177 \uff0c \u8bf7 \u53f3\u952e \u5355\u51fb   WD _ ProceduralBuilding \uff08 \u7f16\u8f91 \u7f16\u8f91\u5668 \u5de5\u5177 \u63a7\u4ef6 \uff09   \u5e76 \u4ece \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   \u8fd0\u884c \u7f16\u8f91 \u7f16\u8f91\u5668 \u5de5\u5177 \u63a7\u4ef6   ( Run   editor   utility   widget ) \u6765 \u542f\u52a8 \u7a0b\u5e8f \u6784\u5efa \u5de5\u5177 \u3002 \u8fd9 \u5c06 \u6253\u5f00 \u8be5 \u5de5\u5177 \u7684 \u754c\u9762 \u3002   \u6ce8\u610f   \u60a8 \u5fc5\u987b \u5728 \u6253\u5f00 \u5de5\u5177 \u4e4b\u524d \u5b8c\u6210 \u6b64 \u6b65\u9aa4 \uff0c \u5730\u56fe \u4e2d \u5fc5\u987b \u5b58\u5728   BP _ ProceduralBuilding   \u84dd\u56fe \u7684 \u5b9e\u4f8b \uff0c \u5de5\u5177 \u624d\u80fd \u8fd0\u884c \u3002 \u60a8 \u8fd8 \u5fc5\u987b \u786e\u4fdd \u5728 \u7ee7\u7eed \u4e4b\u524d \u5728 \u4e16\u754c \u5927\u7eb2 \u89c6\u56fe \uff08   World   outliner   \uff09 \u4e2d \u9009\u62e9   BP _ ProceduralBuilding   \u5b9e\u4f53 \u3002","title":"\u6253\u5f00 \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177  "},{"location":"adv_procedural_building_tool/#_3","text":"\u5728 \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570 \u90e8\u5206 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u9009\u62e9 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u57fa\u672c \u5c5e\u6027 \uff0c \u4f8b\u5982 \u5360\u5730 \u5730\u9762 \u9762\u79ef \u5360\u5730\u9762\u79ef \u548c \u697c\u5c42 \u9ad8\u5ea6 \u3002   \u7b14\u8bb0   \u5728 \u7f51\u683c \u53c2\u6570 \u90e8\u5206 \uff08   mesh   parameters   \uff09 \u9009\u62e9 \u7f51\u683c \u7247\u6bb5 \u4e4b\u524d \uff0c \u8c03\u6574 \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570 \u65f6 \uff0c \u60a8 \u4e0d\u4f1a \u5728 \u865a\u5e7b \u5f15\u64ce \u89c6 \u53e3\u4e2d \u770b\u5230 \u4efb\u4f55 \u53d8\u5316 \u3002   \u53ef\u7528 \u53c2\u6570 \u5982\u4e0b \uff1a   Seed   :   \u8bbe\u7f6e \u7a0b\u5e8f \u751f\u6210 \u7684 \u968f\u673a \u79cd\u5b50 \uff0c \u8fd9 \u53ef\u4ee5 \u4f7f \u5efa\u7b51 \u5efa\u7b51\u7269 \u5177\u6709 \u76f8\u540c \u8bbe\u7f6e \u7684 \u53d8\u5316 \u3002   Num   floors   :   \u8bbe\u7f6e \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u5c42\u6570 \u6216 \u697c\u5c42 \u6570 \uff0c \u5e76 \u4ece\u6b64 \u5b9a\u4e49 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u9ad8\u5ea6 \u3002   Length   X / Y   :   \u5b9a\u4e49 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5728   X   \u548c   Y   \u7ef4\u5ea6 \u4e0a \u7684 \u5360\u5730 \u5730\u9762 \u9762\u79ef \u5360\u5730\u9762\u79ef \u5927\u5c0f \u3002 \u8fd9\u4e9b \u662f \u65e0 \u5355\u4f4d \u7684 \uff0c \u6570\u5b57 \u8868\u793a \u91cd\u590d \u590d\u90e8 \u90e8\u5206 \u91cd\u590d\u90e8\u5206 \u7684 \u6570\u91cf \uff0c \u6bcf\u4e2a \u90e8\u5206 \u662f \u4e00\u5217 \u7a97\u53e3 \u3002   Create   automatically   :   \u5982\u679c \u9009\u62e9 \u6b64 \u9009\u9879 \uff0c \u5efa\u7b51 \u5efa\u7b51\u7269 \u5c06 \u5728 \u89c6 \u53e3\u4e2d \u81ea\u52a8 \u66f4\u65b0 \u81ea\u52a8\u66f4\u65b0 \uff0c \u4ee5\u4fbf \u60a8 \u53ef\u4ee5 \u770b\u5230 \u8c03\u6574 \u7684 \u6548\u679c \u3002   Corners   :   \u5141\u8bb8 \u5c06 \u89d2\u4ef6 \u6dfb\u52a0 \u5230 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u5728   Mesh   parameters   \u90e8\u5206 \u4e2d \u9009\u62e9 \u8fd9\u4e9b \u4ef6 \u3002   Walls   :   \u5c06 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5de6 / \u53f3 / \u524d / \u540e \u7684 \u4e2d\u95f4 \u90e8\u5206 \u66ff\u6362 \u4e3a \u53ef \u4f7f\u7528 \u7f51\u683c \u53c2\u6570 \uff08   Mesh   parameters   \uff09 \u83dc\u5355 \u9009\u62e9 \u7684 \u66ff\u4ee3 \u90e8\u5206 \u3002   Doors   :   \u5141\u8bb8 \u5728 \u5927\u5385 \u66fe \u653e\u7f6e \u95e8 \u7684 \u9635\u5217 \u3002 \u95e8 \u653e\u7f6e \u5728 \u9009\u5b9a \u7684 \u7d22\u5f15 \u4f4d\u7f6e \u3002","title":"\u57fa\u672c\u53c2\u6570  "},{"location":"adv_procedural_building_tool/#_4","text":"\u5728 \u754c\u9762 \u7684 \u201c \u7f51\u683c \u53c2\u6570 ( Mesh   Parameters ) \u201d \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u6211\u4eec \u9009\u62e9 \u5c06 \u7528\u4e8e \u8986\u76d6 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5916\u90e8 \u7684 \u7f51\u683c \u4ef6 \u3002 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e0d\u540c \u90e8\u5206 \u7684 \u7f51\u7247 \u5206\u4e3a   5   \u7c7b \uff1a   Lobby   :   \u7528\u4e8e \u88c5\u9970 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5927\u5802 \u7684 \u7f51\u7247 \u3002   Midsection   :   \u7528\u4e8e \u88c5\u9970 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e2d\u6bb5 \u3001 \u5927\u5802 \u548c \u9876\u5c42 \u4e4b\u95f4 \u7684 \u6bcf \u4e00\u5c42 \u7684 \u7f51\u72b6 \u90e8\u4ef6 \u3002   Penthouse   :   \u7528\u4e8e \u88c5\u9970 \u9876\u5c42 \u516c\u5bd3 \u5c42 \u7684 \u7f51\u683c \u4ef6 \u3002   Doors   :   \u4e3a \u5927\u5385 \u6dfb\u52a0 \u95e8 \u7684 \u7f51\u72b6 \u90e8\u4ef6   Walls   :   \u7528\u4e8e \u88c5\u9970 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5899\u58c1 \u7684 \u7f51\u7247   \u5728 \u6bcf\u4e2a \u7c7b\u522b \u4e2d \uff0c \u60a8 \u90fd \u4f1a \u53d1\u73b0 \u8bb8\u591a \u7f51\u7247 \u9009\u9879 \u3002 \u5355\u51fb \u4e00\u4e2a \u6216 \u591a\u4e2a \u4f7f \u5176 \u53d8\u4e3a \u7ea2\u8272 \uff0c \u8fd9\u4e9b \u5c06 \u88ab \u6dfb\u52a0 \u5230 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u76f8\u5e94 \u90e8\u5206 \u3002 \u5982\u679c \u60a8 \u9009\u62e9 \u591a\u4e2a \u9009\u9879 \uff0c \u8be5 \u5de5\u5177 \u5c06 \u5728 \u9009\u9879 \u4e4b\u95f4 \u968f\u673a \u4ea4\u66ff \u3002 \u5f53 \u60a8 \u4e3a \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u6bcf\u4e2a \u90e8\u5206 \u9009\u62e9 \u7f51\u683c \u7247\u6bb5 \u65f6 \uff0c \u5982\u679c \u60a8 \u5728 \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570 \u90e8\u5206 \u4e2d \u9009\u62e9 \u4e86 \u81ea\u52a8 \u521b\u5efa \uff08   Create   automatically   \uff09 \uff0c \u60a8 \u5c06 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u89c6 \u53e3\u4e2d \u770b\u5230 \u5efa\u7b51 \u5efa\u7b51\u7269 \u6b63\u5728 \u6210\u5f62 \u3002","title":"\u7f51\u683c \u53c2\u6570  "},{"location":"adv_procedural_building_tool/#_5","text":"\u5728 \u6b64 \u90e8\u5206 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u9009\u62e9 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u66f4 \u8be6\u7ec6 \u5143\u7d20 \uff0c \u4f8b\u5982 \u7a97\u6237 \u3001 \u67f1\u5b50 \u3001 \u82b1\u76c6 \u3001 \u7a7a\u8c03 \u88c5\u7f6e \u548c \u5929\u7ebf \u3002 \u6bcf\u79cd \u7c7b\u578b \u7684 \u88c5\u9970 \u90fd \u6709 \u7565\u5fae \u4e0d\u540c \u7684 \u5c5e\u6027 \u3002   \u5efa\u7b51 \u5efa\u7b51\u7269 \u7ec6\u8282 \u7684 \u88c5\u9970 \u6709 \u591a\u79cd \u79cd\u7c7b \u7c7b\u578b \u591a\u79cd\u7c7b\u578b \uff1a   \u5782\u76f4 / \u6c34\u5e73 \u7a97\u6237 \u7f51\u683c   :   \u8fd9\u4e9b \u7f51\u683c \u7247 \u5b9a\u4e49 \u4e86 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e2d \u7a97\u6846 \u7684 \u6837\u5f0f \u3002 \u5782\u76f4 \u7a97\u6237 \u7f51\u683c \u5c06 \u5360\u636e \u6bd4\u5176 \u5bbd\u5ea6 \u9ad8 \u7684 \u7a97\u6237 \u7a7a\u95f4 \uff0c \u800c \u6c34\u5e73 \u7a97\u6237 \u7f51\u683c \u5c06 \u5360\u636e \u6bd4\u5176 \u9ad8\u5ea6 \u66f4 \u5bbd \u7684 \u7a97\u6237 \u7a7a\u95f4 \u3002 \u5982\u679c \u60a8 \u9009\u62e9 \u591a\u4e2a \u9009\u9879 \uff0c \u5b83\u4eec \u5c06 \u4ea4\u66ff \u51fa\u73b0 \u3002   \u67f1 \u7f51\u683c   :   \u8fd9\u4e9b \u4eff\u771f \u8de8\u8d8a \u5efa\u7b51 \u5efa\u7b51\u7269 \u9ad8\u5ea6 \u7684 \u7816 \u780c \u67f1 \u7ec6\u8282   \u9876\u90e8 / \u5e95\u90e8 \u7a97\u6237 \u7ec6\u8282   :   \u8fd9\u4e9b \u7f51\u683c \u7528 \u95e8\u6963 \u548c \u906e\u9633 \u906e\u9633\u677f \u88c5\u9970 \u7a97\u6237 \u7684 \u9876\u90e8 \uff0c \u7528 \u7a97\u53f0 \u548c \u690d\u7269 \u7bb1 \u88c5\u9970 \u7a97\u6237 \u7684 \u5e95\u90e8 \u3002   Window   columns   :   \u5206\u9694 \u7a97\u6237 \u7684 \u7816 \u780c \u67f1   Curtain   meshes   :   \u5b89\u88c5 \u5728 \u7a97\u6237 \u5185 \u7684 \u7a97\u5e18 \u548c \u767e\u53f6 \u53f6\u7a97 \u767e\u53f6\u7a97   Pot   meshes   :   \u5728 \u6307\u5b9a \u63d2\u5ea7 \u70b9 \u6dfb\u52a0 \u5230 \u7a97\u53f0 \u548c \u690d\u7269 \u7bb1 \u7684 \u82b1\u76c6   Air   conditioner   meshes   :   \u5728 \u6307\u5b9a \u63d2\u5ea7 \u70b9\u5904 \u6dfb\u52a0 \u5230 \u7a97\u6237 \u7684 \u7a7a\u8c03 \u88c5\u7f6e   Pipe   meshes   :   \u5782\u76f4 \u5411\u4e0b \u5ef6\u4f38 \u5230 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u7ba1\u9053 \uff0c \u4eff\u771f \u5c4b\u9876 \u7684 \u6392\u6c34 \u6c34\u7ba1 \u6392\u6c34\u7ba1   Wire   meshes   :   \u6cbf\u7740 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5782\u76f4 \u5ef6\u4f38 \u7684 \u7535\u7ebf \uff0c \u4eff\u771f \u7535\u89c6 \u5929\u7ebf \u5ef6\u4f38 \u548c \u95ea\u7535 \u63a5\u5730 \u5730\u7ebf \u63a5\u5730\u7ebf   Antenna   meshes   :   \u4ece \u7a97\u6237 \u4f38\u51fa \u7684 \u7535\u89c6 \u5929\u7ebf   \u53c2\u6570 \u7684 \u5de5\u4f5c \u539f\u7406 \u5982\u4e0b \uff1a   \u5e38\u7528 \u53c2\u6570   :   Percentage   :   \u63a7\u5236 \u5c06 \u653e\u7f6e \u5728 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e0a \u7684 \u4ef6\u6570 \uff0c 100%   \u8868\u793a \u6240\u6709 \u53ef\u7528 \u7a7a\u95f4 \u5c06 \u88ab \u5360\u7528   Offset   :   \u8be5 \u4f5c\u54c1 \u76f8\u5bf9 \u4e8e \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e3b\u4f53 \u7684 \u7a7a\u95f4 \u504f\u79fb   Blinds   and   curtains   :   Min / Max   size   :   \u9009\u62e9 \u767e\u53f6 \u53f6\u7a97 \u767e\u53f6\u7a97 \u6216 \u7a97\u5e18 \u7684 \u6700\u5c0f / \u6700\u5927 \u957f\u5ea6 \uff0c \u503c \u4e4b\u95f4 \u968f\u673a \u53d8\u5316 \u3002 1.0 \u4e3a \u5168\u95ed \uff0c 0.0 \u4e3a \u5168\u5f00 \u3002   Pipes   and   wires   :   Index   :   \u5b9a\u4e49 \u5c06 \u653e\u7f6e \u7ba1\u9053 \u7684 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u9762   Offset   side / front   :   \u4ece \u5efa\u7b51 \u5efa\u7b51\u7269 \u6b63\u9762 \u7684 \u4e2d\u5fc3 \u5411 \u4f5c\u54c1 \u6dfb\u52a0 \u7a7a\u95f4 \u504f\u79fb   \u7b14\u8bb0   \u5728 \u67d0\u4e9b \u60c5\u51b5 \u4e0b \uff0c \u60a8 \u53ef\u80fd \u4f1a \u53d1\u73b0 \uff0c \u5f53 \u60a8 \u9009\u62e9 \u7ec6\u8282 \u7f51\u683c \u90e8\u4ef6 \uff08 \u4f8b\u5982 \u82b1\u76c6 \u3001 \u5929\u7ebf \u548c \u7a7a\u8c03 \u88c5\u7f6e \uff09 \u65f6 \uff0c \u60a8 \u4e0d\u5230 \u770b\u4e0d\u5230 \u5efa\u7b51 \u5efa\u7b51\u7269 \u6709 \u4efb\u4f55 \u53d8\u5316 \u3002 \u8fd9 \u5f88 \u53ef\u80fd \u56e0\u4e3a \u662f\u56e0\u4e3a \u60a8 \u6b63\u5728 \u4f7f\u7528 \u7684 \u90e8\u4ef6 \u6ca1\u6709 \u6dfb\u52a0 \u60a8 \u9009\u62e9 \u7684 \u90e8\u4ef6 \u6240 \u9700 \u7684 \u9002\u5f53 \u5957 \u63a5\u5b57 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605 \u63d2\u69fd \u90e8\u5206 \uff08   sockets   section   \uff09 \u4e86\u89e3 \u5982\u4f55 \u4f7f\u7528 \u63d2\u69fd \u3002","title":"\u7f51\u683c \u5143\u7d20  "},{"location":"adv_procedural_building_tool/#_6","text":"\u63d2\u69fd \u662f \u951a\u70b9 \uff0c \u7528\u4e8e \u5b9a\u4e49 \u5c06 \u7ec6\u8282 \u7f51\u683c \u7269\u4f53 \u653e\u7f6e \u5728 \u53e6 \u4e00\u4e2a \u7f51\u683c \u7269\u4f53 \u4e0a \u7684 \u4f4d\u7f6e \u3002 \u8981 \u5c06 \u5957 \u63a5\u5b57 \u6dfb\u52a0 \u5230 \u7a0b\u5e8f \u5efa\u7b51 \u4e2d \u7684 \u7f51\u683c \u7269\u4f53 \uff0c \u8bf7 \u5728 \u9009\u62e9 \u7a0b\u5e8f \u5efa\u7b51 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u8f6c \u5230 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u9762\u677f \uff08   details   panel   \uff09 \uff0c \u901a\u5e38 \u4f4d\u4e8e \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u754c\u9762 \u7684 \u53f3\u4fa7 \u3002 \u5728 \u90a3\u91cc \uff0c \u60a8 \u5c06 \u627e\u5230 \u201c \u7f51\u683c \uff08   Meshes   \uff09 \u201d \u548c \u201c \u7ec6\u8282 \u7f51\u683c \uff08   Detail   meshes   \uff09 \u201d \u9762\u677f \u3002 \u6253\u5f00 \u76f8\u5173 \u90e8\u5206 \uff0c \u5728 \u60a8 \u8981 \u653e\u7f6e \u63d2\u5ea7 \u7684 \u4f4d\u7f6e \u6253\u5f00 \u7f51\u7247 \u3002   \u627e\u5230 \u8981 \u5728 \u5176 \u4e0a \u653e\u7f6e \u5957 \u63a5\u5b57 \u7684 \u7f51\u683c \uff0c \u7136\u540e \u53cc\u51fb \u8be5 \u56fe\u6807 \u4ee5 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d\u5c06 \u5176 \u6253\u5f00 \u3002 \u5355\u51fb \u201c \u521b\u5efa \u5957 \u63a5\u5b57 (   create   socket   ) \u201d \u4ee5 \u6dfb\u52a0 \u5957 \u63a5\u5b57 \u5e76 \u4f7f\u7528 \u4ee5\u4e0b \u7ea6\u5b9a \u547d\u540d \uff1a   \u7a7a\u8c03 \u673a\u7ec4 \uff08 Air   conditioning   unit \uff09 \uff1a   aa _ *   \u5929\u7ebf \uff08 Antennas \uff09 \uff1a   ant _ *   \u82b1\u76c6 \uff08 Plant   pots \uff09 \uff1a   pot _ *   \u5c06 \u661f\u53f7 \u66ff\u6362 \u4e3a \u7d22\u5f15 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u6709 \u591a\u5c11 \u4e2a\u5957 \u63a5\u5b57 \uff0c \u5373   aa _ 0 ,   aa _ 2 ,   aa _ 3 ...   \u5f53 \u60a8 \u5355\u51fb \u201c \u521b\u5efa \u5957 \u63a5\u5b57 (   Create   socket   ) \u201d \u65f6 \uff0c \u5957 \u63a5\u5b57 \u5c06 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u4f7f\u7528 \u4e09\u7ef4 \u53e5\u67c4 \u8fdb\u884c \u5b9e\u4f8b \u5316 \u3002 \u5c06 \u63d2\u69fd \u62d6\u52a8 \u5230 \u7f51\u683c \u4e0a \u7684 \u6240 \u9700 \u4f4d\u7f6e \uff0c \u8fd9 \u662f \u60a8 \u7684 \u7ec6\u8282 \u90e8\u4ef6 \u5c06 \u663e\u793a \u8fde\u63a5 \u5230 \u5355\u5143 \u7684 \u4f4d\u7f6e \u3002","title":"\u5957 \u63a5\u5b57  "},{"location":"adv_procedural_building_tool/#_7","text":"\u5728 \u5916\u89c2 \u6750\u6599 \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u6d4f\u89c8 \u548c \u9884\u89c8 \u8981 \u88c5\u9970 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5899\u58c1 \u7684 \u6750\u6599 \u3002","title":"\u5916\u5899 \u6750\u6599  "},{"location":"adv_procedural_building_tool/#_8","text":"\u5728 \u70f9\u996a \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u5c06 \u9009\u62e9 \u7684 \u6240\u6709 \u7f51\u683c \u7269\u4f53 \u548c \u6750\u8d28 \u7ec4\u5408 \u5230 \u5177\u6709 \u5173\u8054 \u6750\u8d28 \u548c \u7eb9\u7406 \u7684 \u5355\u4e2a \u9759\u6001 \u7f51\u683c \u7269\u4f53 \u4e2d \u3002 \u8fd8 \u5c06 \u4e3a   LOD   \u521b\u5efa \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684   LOD   \u7eb9\u7406 \u3002 \u5728 \u754c\u9762 \u4e2d \u6307\u5b9a \u5c06 \u4fdd\u5b58 \u65b0 \u5efa\u7b51 \u8d44\u6e90 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u540d\u79f0 \u3002   \u4e00\u65e6 \u60a8 \u5b8c\u6210 \u4e86 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u5236\u4f5c \uff0c \u60a8 \u5c31 \u53ef\u4ee5 \u50cf \u4efb\u4f55 \u5176\u4ed6   Carla   \u8d44\u4ea7 \u4e00\u6837 \u5c06 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u5b9e\u4f8b \u653e\u7f6e \u5728 \u5730\u56fe \u4e2d \u3002","title":"\u70d8\u7119  "},{"location":"adv_ptv/","text":"PTV - Vissim   \u8054\u5408 \u4eff\u771f   Carla   \u5f00\u53d1 \u4e86 \u4e0e   PTV - Vissim   \u7684 \u534f\u540c \u4eff\u771f \u529f\u80fd \u3002 \u8fd9 \u5141\u8bb8 \u968f\u610f \u5206\u914d \u4efb\u52a1 \u5206\u914d\u4efb\u52a1 \uff0c \u5e76 \u5229\u7528 \u6bcf\u4e2a \u4eff\u771f \u7684 \u80fd\u529b \u6709\u5229 \u5229\u4e8e \u6709\u5229\u4e8e \u7528\u6237 \u3002   \u5fc5\u5907 \u6761\u4ef6 \u5fc5\u5907\u6761\u4ef6   \u8fd0\u884c \u534f\u540c \u4eff\u771f   \u521b\u5efa \u65b0 \u7f51\u7edc   \u5fc5\u5907 \u6761\u4ef6 \u5fc5\u5907\u6761\u4ef6   \u4e3a\u4e86 \u8fd0\u884c \u534f\u540c \u4eff\u771f \uff0c \u6709 \u4e24\u4ef6 \u4e24\u4ef6\u4e8b \u662f \u5fc5\u8981 \u7684 \u3002   \u8d2d\u4e70   PTV - Vissim   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u7684 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u3002 \u9700\u8981 \u83b7\u53d6 \u9a7e\u9a76 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u754c\u9762 \u63d2\u4ef6 \u3002   \u5728   PTV - Vissim   \u5b89\u88c5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u67e5\u627e   DrivingSimulatorProxy . dll   \u3002 \u5c06 \u5176 \u79fb\u81f3   C : \\ Windows \\ System32   \u3002   \u8fd0\u884c \u8054\u5408 \u4eff\u771f   \u4e0e \u6b64 \u529f\u80fd \u76f8\u5173 \u7684 \u6240\u6709 \u5185\u5bb9 \u90fd \u53ef\u4ee5 \u5728 \u201c Co - Simulation / PTV - Vissim \u201d \u4e2d \u627e\u5230 \u3002   Carla   \u63d0\u4f9b \u4e86 \u4e00\u4e9b \u793a\u4f8b \uff0c \u5176\u4e2d \u5305\u542b   Town01   \u548c   Town03   \u7684 \u7f51\u7edc \u3002   \u8981 \u8fd0\u884c \u8054\u5408 \u4eff\u771f \uff0c \u8bf7 \u4f7f\u7528 \u811a\u672c   PTV - Vissim / run _ synchronization . py   \u3002 \u8fd9\u6709 \u4e00\u4e2a \u5305\u542b   PTV - Vissim   \u7f51\u7edc \u7684 \u5f3a\u5236 \u53c2\u6570 \u548c \u4e00\u4e9b \u5176\u4ed6 \u53ef \u9009 \u53c2\u6570 \u3002   vissim _ network   \u2014   vissim   \u7f51\u7edc \u6587\u4ef6 \u3002 \u8fd9 \u53ef\u4ee5 \u662f \u4e00\u4e2a \u793a\u4f8b \uff0c \u4e5f \u53ef\u4ee5 \u662f \u4e00\u4e2a \u81ea\u884c \u521b\u5efa \u7684   PTV - Vissim   \u7f51\u7edc \u3002   -- carla - host   \uff08 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 127.0 . 0.1 \uff09   \u2014   carla   \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP \u3002   -- carla - port   \uff08 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 2000 \uff09   \u8981 \u76d1\u542c \u7684   TCP   \u7aef\u53e3 \u3002   -- vissim - version   \uff08 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 2020 \uff09   \u2014   PTV - Vissim   \u7248\u672c \u3002   -- step - length   ( default :   0.05 s )   -   \u4e3a \u4eff\u771f \u65f6\u95f4 \u6b65 \u8bbe\u7f6e \u56fa\u5b9a \u7684 \u589e\u91cf \u79d2 \u3002   -- simulator - vehicles   \uff08 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 1 \uff09   \u2014   \u5c06 \u5728   Carla   \u4e2d \u751f\u6210 \u5e76 \u4f20\u9012 \u7ed9   PTV - Vissim   \u7684 \u8f66\u8f86 \u6570\u91cf \u3002   python3   run _ synchronization . py   examples / Town03 / Town03 . inpx   \u7b14\u8bb0   \u8981 \u505c\u6b62 \u8054\u5408 \u4eff\u771f \uff0c \u8bf7 \u5728 \u8fd0\u884c \u811a\u672c \u7684 \u7ec8\u7aef \u4e2d \u6309   Ctrl + C   \u3002   \u4e24\u4e2a \u4eff\u771f \u5c06 \u540c\u6b65 \u8fd0\u884c \u3002 \u4e00\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u53d1\u751f \u7684 \u52a8\u4f5c \u6216 \u4e8b\u4ef6 \u5c06 \u4f20\u64ad \u5230 \u53e6 \u4e00\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u8be5 \u529f\u80fd \u4ec5 \u5305\u62ec \u8f66\u8f86 \u79fb\u52a8 \u548c \u751f\u6210 \u3002 \u7531\u4e8e   PTV - Vissim   \u7c7b\u578b \uff0c \u751f\u6210 \u53d7\u5230 \u9650\u5236 \u53d7\u5230\u9650\u5236 \u3002   *   \u5982\u679c \u8f66\u8f86 \u5728   Carla   \u4e2d \u751f\u6210 \uff0c \u5e76\u4e14   PTV - Vissim   \u4e2d \u7684   Vehicle   Type   \u8bbe\u7f6e \u4e3a \u201c \u6c7d\u8f66 \u201d \uff0c \u5b83 \u5c06 \u751f\u6210 \u6c7d\u8f66 \u3002 \u4e0d\u7ba1 \u5b83 \u662f\u5426 \u5728   Carla   \u4e2d \u4f5c\u4e3a \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \u3002 \u5728 \u63d0\u4f9b \u7684 \u793a\u4f8b \u4e2d \uff0c \u8f66\u8f86 \u7c7b\u578b \u8bbe\u7f6e \u4e3a \u201c \u6c7d\u8f66 \u201d \u3002   *   \u5982\u679c \u8f66\u8f86 \u5728   PTV - Vissim   \u4e2d \u751f\u6210 \uff0c Carla   \u5c06 \u4f7f\u7528 \u76f8\u540c \u7c7b\u578b \u7684 \u8f66\u8f86 \u3002 \u5c3a\u5bf8 \u548c \u7279\u6027 \u5c06 \u76f8\u4f3c \uff0c \u4f46 \u4e0d \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u3002   \u521b\u5efa \u4e00\u4e2a \u65b0 \u7f51\u7edc   \u4e3a\u4e86 \u8ba9 \u65b0 \u7684   PTV - Vissim   \u7f51\u7edc \u4e0e   Carla   \u4e00\u8d77 \u8fd0\u884c \uff0c \u9700\u8981 \u5b8c\u6210 \u4e00\u4e9b \u8bbe\u7f6e \u3002   \u6fc0\u6d3b \u9a7e\u9a76 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u3002 \u8f6c \u5230   Base   Data / Network   setting / Driving   simulator   \u5e76 \u542f\u7528 \u8be5 \u9009\u9879   \u6307\u5b9a \u8f66\u8f86 \u548c \u884c\u4eba \u7c7b\u578b   \u3002 \u8fd9\u4e9b \u7c7b\u578b \u5c06 \u5728   PTV - Vissim   \u4e2d \u7528\u4e8e \u4e0e   Carla   \u4e2d \u5b8c\u6210 \u7684 \u751f\u6210 \u540c\u6b65 \uff0c \u9ed8\u8ba4 \u4e3a\u7a7a   \u5c06 \u7f51\u7edc \u5bfc\u51fa \u4e3a   . inpx   \u3002 \u521b\u5efa \u7f51\u7edc \uff0c \u5c06 \u5176 \u5bfc\u51fa \uff0c \u7136\u540e \u4f7f\u7528   run _ synchronization . py   \u8fd0\u884c \u534f\u540c \u4eff\u771f   \u5728   Carla   \u4e2d \u751f\u6210 \u7684 \u4efb\u4f55 \u8f66\u8f86 \u90fd \u5c06 \u4f7f\u7528 \u8fd9\u4e9b \u7c7b\u578b \u5728   PTV - Vissim   \u4e2d \u751f\u6210 \u3002   \u7b14\u8bb0   \u5982\u679c \u884c\u4eba \u548c \u8f66\u8f86 \u7c7b\u578b \u4e3a\u7a7a \uff0c PTV - Vissim   \u5c06 \u5d29\u6e83 \u3002   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u8fd9 \u5c31\u662f   PTV - Vissim   \u4e0e   Carla   \u7684 \u8054\u5408 \u4eff\u771f \u7684 \u5168\u90e8 \u5185\u5bb9 \u5168\u90e8\u5185\u5bb9 \u3002   \u6253\u5f00   Carla   \u5e76 \u73a9\u5f04 \u4e00\u4f1a \u4f1a\u513f \u4e00\u4f1a\u513f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"PTV - Vissim   \u8054\u5408 \u4eff\u771f"},{"location":"adv_ptv/#ptv-vissim","text":"Carla   \u5f00\u53d1 \u4e86 \u4e0e   PTV - Vissim   \u7684 \u534f\u540c \u4eff\u771f \u529f\u80fd \u3002 \u8fd9 \u5141\u8bb8 \u968f\u610f \u5206\u914d \u4efb\u52a1 \u5206\u914d\u4efb\u52a1 \uff0c \u5e76 \u5229\u7528 \u6bcf\u4e2a \u4eff\u771f \u7684 \u80fd\u529b \u6709\u5229 \u5229\u4e8e \u6709\u5229\u4e8e \u7528\u6237 \u3002   \u5fc5\u5907 \u6761\u4ef6 \u5fc5\u5907\u6761\u4ef6   \u8fd0\u884c \u534f\u540c \u4eff\u771f   \u521b\u5efa \u65b0 \u7f51\u7edc","title":"PTV - Vissim   \u8054\u5408 \u4eff\u771f"},{"location":"adv_ptv/#_1","text":"\u4e3a\u4e86 \u8fd0\u884c \u534f\u540c \u4eff\u771f \uff0c \u6709 \u4e24\u4ef6 \u4e24\u4ef6\u4e8b \u662f \u5fc5\u8981 \u7684 \u3002   \u8d2d\u4e70   PTV - Vissim   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u7684 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u3002 \u9700\u8981 \u83b7\u53d6 \u9a7e\u9a76 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u754c\u9762 \u63d2\u4ef6 \u3002   \u5728   PTV - Vissim   \u5b89\u88c5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u67e5\u627e   DrivingSimulatorProxy . dll   \u3002 \u5c06 \u5176 \u79fb\u81f3   C : \\ Windows \\ System32   \u3002","title":"\u5fc5\u5907\u6761\u4ef6  "},{"location":"adv_ptv/#_2","text":"\u4e0e \u6b64 \u529f\u80fd \u76f8\u5173 \u7684 \u6240\u6709 \u5185\u5bb9 \u90fd \u53ef\u4ee5 \u5728 \u201c Co - Simulation / PTV - Vissim \u201d \u4e2d \u627e\u5230 \u3002   Carla   \u63d0\u4f9b \u4e86 \u4e00\u4e9b \u793a\u4f8b \uff0c \u5176\u4e2d \u5305\u542b   Town01   \u548c   Town03   \u7684 \u7f51\u7edc \u3002   \u8981 \u8fd0\u884c \u8054\u5408 \u4eff\u771f \uff0c \u8bf7 \u4f7f\u7528 \u811a\u672c   PTV - Vissim / run _ synchronization . py   \u3002 \u8fd9\u6709 \u4e00\u4e2a \u5305\u542b   PTV - Vissim   \u7f51\u7edc \u7684 \u5f3a\u5236 \u53c2\u6570 \u548c \u4e00\u4e9b \u5176\u4ed6 \u53ef \u9009 \u53c2\u6570 \u3002   vissim _ network   \u2014   vissim   \u7f51\u7edc \u6587\u4ef6 \u3002 \u8fd9 \u53ef\u4ee5 \u662f \u4e00\u4e2a \u793a\u4f8b \uff0c \u4e5f \u53ef\u4ee5 \u662f \u4e00\u4e2a \u81ea\u884c \u521b\u5efa \u7684   PTV - Vissim   \u7f51\u7edc \u3002   -- carla - host   \uff08 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 127.0 . 0.1 \uff09   \u2014   carla   \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP \u3002   -- carla - port   \uff08 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 2000 \uff09   \u8981 \u76d1\u542c \u7684   TCP   \u7aef\u53e3 \u3002   -- vissim - version   \uff08 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 2020 \uff09   \u2014   PTV - Vissim   \u7248\u672c \u3002   -- step - length   ( default :   0.05 s )   -   \u4e3a \u4eff\u771f \u65f6\u95f4 \u6b65 \u8bbe\u7f6e \u56fa\u5b9a \u7684 \u589e\u91cf \u79d2 \u3002   -- simulator - vehicles   \uff08 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 1 \uff09   \u2014   \u5c06 \u5728   Carla   \u4e2d \u751f\u6210 \u5e76 \u4f20\u9012 \u7ed9   PTV - Vissim   \u7684 \u8f66\u8f86 \u6570\u91cf \u3002   python3   run _ synchronization . py   examples / Town03 / Town03 . inpx   \u7b14\u8bb0   \u8981 \u505c\u6b62 \u8054\u5408 \u4eff\u771f \uff0c \u8bf7 \u5728 \u8fd0\u884c \u811a\u672c \u7684 \u7ec8\u7aef \u4e2d \u6309   Ctrl + C   \u3002   \u4e24\u4e2a \u4eff\u771f \u5c06 \u540c\u6b65 \u8fd0\u884c \u3002 \u4e00\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u53d1\u751f \u7684 \u52a8\u4f5c \u6216 \u4e8b\u4ef6 \u5c06 \u4f20\u64ad \u5230 \u53e6 \u4e00\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u8be5 \u529f\u80fd \u4ec5 \u5305\u62ec \u8f66\u8f86 \u79fb\u52a8 \u548c \u751f\u6210 \u3002 \u7531\u4e8e   PTV - Vissim   \u7c7b\u578b \uff0c \u751f\u6210 \u53d7\u5230 \u9650\u5236 \u53d7\u5230\u9650\u5236 \u3002   *   \u5982\u679c \u8f66\u8f86 \u5728   Carla   \u4e2d \u751f\u6210 \uff0c \u5e76\u4e14   PTV - Vissim   \u4e2d \u7684   Vehicle   Type   \u8bbe\u7f6e \u4e3a \u201c \u6c7d\u8f66 \u201d \uff0c \u5b83 \u5c06 \u751f\u6210 \u6c7d\u8f66 \u3002 \u4e0d\u7ba1 \u5b83 \u662f\u5426 \u5728   Carla   \u4e2d \u4f5c\u4e3a \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \u3002 \u5728 \u63d0\u4f9b \u7684 \u793a\u4f8b \u4e2d \uff0c \u8f66\u8f86 \u7c7b\u578b \u8bbe\u7f6e \u4e3a \u201c \u6c7d\u8f66 \u201d \u3002   *   \u5982\u679c \u8f66\u8f86 \u5728   PTV - Vissim   \u4e2d \u751f\u6210 \uff0c Carla   \u5c06 \u4f7f\u7528 \u76f8\u540c \u7c7b\u578b \u7684 \u8f66\u8f86 \u3002 \u5c3a\u5bf8 \u548c \u7279\u6027 \u5c06 \u76f8\u4f3c \uff0c \u4f46 \u4e0d \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u3002","title":"\u8fd0\u884c \u8054\u5408 \u4eff\u771f  "},{"location":"adv_ptv/#_3","text":"\u4e3a\u4e86 \u8ba9 \u65b0 \u7684   PTV - Vissim   \u7f51\u7edc \u4e0e   Carla   \u4e00\u8d77 \u8fd0\u884c \uff0c \u9700\u8981 \u5b8c\u6210 \u4e00\u4e9b \u8bbe\u7f6e \u3002   \u6fc0\u6d3b \u9a7e\u9a76 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u3002 \u8f6c \u5230   Base   Data / Network   setting / Driving   simulator   \u5e76 \u542f\u7528 \u8be5 \u9009\u9879   \u6307\u5b9a \u8f66\u8f86 \u548c \u884c\u4eba \u7c7b\u578b   \u3002 \u8fd9\u4e9b \u7c7b\u578b \u5c06 \u5728   PTV - Vissim   \u4e2d \u7528\u4e8e \u4e0e   Carla   \u4e2d \u5b8c\u6210 \u7684 \u751f\u6210 \u540c\u6b65 \uff0c \u9ed8\u8ba4 \u4e3a\u7a7a   \u5c06 \u7f51\u7edc \u5bfc\u51fa \u4e3a   . inpx   \u3002 \u521b\u5efa \u7f51\u7edc \uff0c \u5c06 \u5176 \u5bfc\u51fa \uff0c \u7136\u540e \u4f7f\u7528   run _ synchronization . py   \u8fd0\u884c \u534f\u540c \u4eff\u771f   \u5728   Carla   \u4e2d \u751f\u6210 \u7684 \u4efb\u4f55 \u8f66\u8f86 \u90fd \u5c06 \u4f7f\u7528 \u8fd9\u4e9b \u7c7b\u578b \u5728   PTV - Vissim   \u4e2d \u751f\u6210 \u3002   \u7b14\u8bb0   \u5982\u679c \u884c\u4eba \u548c \u8f66\u8f86 \u7c7b\u578b \u4e3a\u7a7a \uff0c PTV - Vissim   \u5c06 \u5d29\u6e83 \u3002   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u8fd9 \u5c31\u662f   PTV - Vissim   \u4e0e   Carla   \u7684 \u8054\u5408 \u4eff\u771f \u7684 \u5168\u90e8 \u5185\u5bb9 \u5168\u90e8\u5185\u5bb9 \u3002   \u6253\u5f00   Carla   \u5e76 \u73a9\u5f04 \u4e00\u4f1a \u4f1a\u513f \u4e00\u4f1a\u513f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"\u521b\u5efa \u4e00\u4e2a \u65b0 \u7f51\u7edc  "},{"location":"adv_recorder/","text":"\u8bb0\u5f55 \u8bb0\u5f55\u5668   \u6b64 \u529f\u80fd \u5141\u8bb8 \u8bb0\u5f55 \u548c \u91cd\u65b0 \u65b0\u5236 \u5236\u5b9a \u91cd\u65b0\u5236\u5b9a \u4ee5\u524d \u7684 \u4eff\u771f \u3002 \u6240\u6709 \u53d1\u751f \u7684 \u4e8b\u4ef6 \u90fd \u8bb0\u5f55 \u5728   \u8bb0\u5f55 \u6587\u4ef6   \u4e2d \u3002 \u6709 \u4e00\u4e9b \u9ad8\u7ea7 \u67e5\u8be2 \u53ef\u4ee5 \u8ddf\u8e2a \u548c \u7814\u7a76 \u8fd9\u4e9b \u4e8b\u4ef6 \u3002   \u8bb0\u5f55   \u4eff\u771f \u64ad\u653e   \u8bbe\u7f6e \u65f6\u95f4 \u56e0\u5b50   \u5f55\u5236 \u6587\u4ef6   \u67e5\u8be2   \u78b0\u649e   \u88ab \u56f0\u4f4f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u793a\u4f8b   Python   \u811a\u672c   \u8bb0\u5f55   \u6240\u6709 \u6570\u636e \u4ec5 \u5199\u5165 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u3002 \u4f46\u662f \uff0c \u4f7f\u7528   carla . Client   \u7ba1\u7406 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002   \u6839\u636e \u8bb0\u5f55 \u6587\u4ef6 \u4e2d \u5305\u542b \u7684 \u6570\u636e \uff0c \u6bcf\u5e27 \u66f4\u65b0 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5f53\u524d \u4eff\u771f \u4e2d \u51fa\u73b0 \u5728 \u5f55\u5236 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u88ab \u79fb\u52a8 \u6216 \u91cd\u65b0 \u751f\u6210 \u4ee5 \u4eff\u771f \u5b83 \u3002 \u90a3\u4e9b \u6ca1\u6709 \u51fa\u73b0 \u5728 \u8bb0\u5f55 \u4e2d \u7684 \u5c06 \u7ee7\u7eed \u4ed6\u4eec \u7684 \u65b9\u5f0f \uff0c \u5c31 \u597d\u50cf \u4ec0\u4e48 \u90fd \u6ca1 \u53d1\u751f \u4e00\u6837 \u3002   \u91cd\u8981 \u7684   \u64ad\u653e \u7ed3\u675f \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u4f46   \u884c\u4eba \u5c06 \u505c\u6b62   \u3002   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u5305\u62ec \u6709\u5173 \u8bb8\u591a \u4e0d\u540c \u5143\u7d20 \u7684 \u4fe1\u606f \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005   \u2014   \u521b\u5efa \u548c \u9500\u6bc1 \u3001 \u8fb9\u754c \u548c \u89e6\u53d1 \u6846 \u3002   \u4ea4\u901a \u4ea4\u901a\u706f   \u2014   \u72b6\u6001 \u53d8\u5316 \u548c \u65f6\u95f4 \u8bbe\u7f6e \u3002   \u8f66\u8f86   \u2014   \u4f4d\u7f6e \u548c \u65b9\u5411 \u3001 \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3001 \u5149 \u72b6\u6001 \u548c \u7269\u7406 \u63a7\u5236 \u3002   \u884c\u4eba   \u2014   \u4f4d\u7f6e \u548c \u65b9\u5411 \uff0c \u4ee5\u53ca \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3002   \u706f\u5149   \u2014   \u6765\u81ea \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u8857\u9053 \u548c \u8f66\u8f86 \u7684 \u706f\u5149 \u72b6\u6001 \u3002   \u8981 \u5f00\u59cb \u5f55\u5236 \uff0c \u53ea \u9700\u8981 \u4e00\u4e2a \u6587\u4ef6 \u6587\u4ef6\u540d \u3002 \u5728 \u6587\u4ef6 \u6587\u4ef6\u540d \u4e2d \u4f7f\u7528   \\   \u3001   /   \u6216   :   \u5b57\u7b26 \u4f1a \u5c06 \u5176 \u5b9a\u4e49 \u4e3a \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002 \u5982\u679c \u6ca1\u6709 \u8be6\u7ec6 \u7684 \u8def\u5f84 \uff0c \u6587\u4ef6 \u5c06 \u4fdd\u5b58 \u5728   CarlaUE4 / Saved   \u4e2d \u3002   client . start _ recorder ( \" / home / carla / recording01 . log \" )   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8bbe\u7f6e \u4e3a \u4ec5 \u5b58\u50a8 \u56de\u653e \u4eff\u771f \u6240 \u9700 \u7684 \u4fe1\u606f \u3002 \u4e3a\u4e86 \u4fdd\u5b58 \u524d\u9762 \u63d0\u5230 \u7684 \u6240\u6709 \u4fe1\u606f \uff0c \u5fc5\u987b \u5728 \u5f00\u59cb \u5f55\u5236 \u65f6 \u914d\u7f6e \u53c2\u6570   additional _ data   \u3002   client . start _ recorder ( \" / home / carla / recording01 . log \" ,   True )   \u7b14\u8bb0   \u5176\u4ed6 \u6570\u636e \u5305\u62ec \uff1a \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3001 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6\u95f4 \u8bbe\u7f6e \u3001 \u6267\u884c \u65f6\u95f4 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \u548c \u8fb9\u754c \u6846 \uff0c \u4ee5\u53ca \u8f66\u8f86 \u7684 \u7269\u7406 \u63a7\u5236 \u3002   \u8981 \u505c\u6b62 \u5f55\u5236 \uff0c \u8c03\u7528 \u4e5f \u5f88 \u7b80\u5355 \u3002   client . stop _ recorder ( )   \u7b14\u8bb0   \u4f30\u8ba1 \u636e\u4f30\u8ba1 \uff0c 50   \u4e2a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u548c   100   \u8f86\u8f66 \u7684   1   \u5c0f\u65f6 \u8bb0\u5f55 \u5927\u7ea6 \u9700\u8981   200MB   \u5927\u5c0f \u3002   \u4eff\u771f \u64ad\u653e   \u53ef\u4ee5 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u7684 \u4efb\u4f55 \u65f6\u5019 \u5f00\u59cb \u64ad\u653e \u3002 \u9664\u4e86 \u65e5\u5fd7 \u6587\u4ef6 \u7684 \u8def\u5f84 \uff0c \u8fd9\u4e2a \u65b9\u6cd5 \u8fd8 \u9700\u8981 \u4e00\u4e9b \u53c2\u6570 \u3002   client . replay _ file ( \" recording01 . log \" ,   start ,   duration ,   camera )   \u53c2\u6570   \u8bf4\u660e   \u7b14\u8bb0   \u5f00\u59cb   \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \u8bb0\u5f55 \u5f00\u59cb \u4eff\u771f \u7684 \u65f6\u95f4 \u3002   \u5982\u679c \u662f \u80af\u5b9a \u7684 \uff0c \u65f6\u95f4 \u5c06 \u4ece \u8bb0\u5f55 \u5f00\u59cb \u8ba1\u7b97 \u3002   \u5982\u679c \u662f \u5426\u5b9a \u7684 \uff0c \u5c06 \u4ece \u6700\u540e \u8003\u8651 \u3002   \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4   \u64ad\u653e \u79d2\u6570 \u3002   0   \u662f \u6240\u6709 \u7684 \u8bb0\u5f55 \u3002   \u64ad\u653e \u7ed3\u675f \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u884c\u4eba \u5c06 \u505c\u6b62 \u3002   \u76f8\u673a   \u76f8\u673a \u5c06 \u805a\u7126 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u201c 0 \u201d \u4ee5 \u8ba9 \u89c2\u4f17 \u81ea\u7531 \u79fb\u52a8 \u3002   \u8bbe\u7f6e \u65f6\u95f4 \u56e0\u5b50   \u65f6\u95f4 \u56e0\u7d20 \u5c06 \u51b3\u5b9a \u64ad\u653e \u901f\u5ea6 \u3002 \u5b83 \u53ef\u4ee5 \u968f\u65f6 \u66f4\u6539 \u800c \u65e0\u9700 \u505c\u6b62 \u56de\u653e \u3002   client . set _ replayer _ time _ factor ( 2.0 )   \u53c2\u6570   \u9ed8\u8ba4   \u5feb \u52a8\u4f5c   \u52a8\u4f5c \u6162\u52a8\u4f5c   time _ factor   1.0   > 1.0   * *   < 1.0   * *   \u91cd\u8981 \u7684   \u5982\u679c   time _ factor > 2.0   \uff0c actors   \u7684 \u4f4d\u7f6e \u63d2\u503c \u88ab \u7981\u7528 \u5e76\u4e14 \u53ea\u662f \u66f4\u65b0 \u3002 \u884c\u4eba \u7684 \u52a8\u753b \u4e0d \u53d7 \u65f6\u95f4 \u56e0\u7d20 \u7684 \u5f71\u54cd \u3002   \u5f53 \u65f6\u95f4 \u56e0\u7d20 \u5728   20x   \u5de6\u53f3 \u65f6 \uff0c \u5f88 \u5bb9\u6613 \u7406\u89e3 \u6d41\u91cf \u3002   \u5f55\u5236 \u6587\u4ef6   \u53ef\u4ee5 \u4f7f\u7528 \u7b80\u5355 \u7684   API   \u8c03\u7528 \u6765 \u68c0\u7d22 \u8bb0\u5f55 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u53ea \u68c0\u7d22 \u6ce8\u518c \u4e8b\u4ef6 \u7684 \u90a3\u4e9b \u5e27 \u3002 \u8bbe\u7f6e \u53c2\u6570   show _ all   \u5c06 \u8fd4\u56de \u6bcf \u4e00\u5e27 \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u5173\u4e8e \u5982\u4f55 \u5b58\u50a8 \u6570\u636e \u7684 \u7ec6\u8282 \u5728   recorder ' s   reference   \u4e2d\u6709 \u8be6\u7ec6 \u8bf4\u660e \u3002   #   \u663e\u793a \u76f8\u5173 \u5e27 \u7684 \u4fe1\u606f   print   ( client . show _ recorder _ file _ info   ( \" recording01 . log \" ) )   \u5f00\u653e \u4fe1\u606f .   \u8bb0\u5f55 \u4eff\u771f \u7684 \u5730\u56fe \u3001 \u65e5\u671f \u548c \u65f6\u95f4 \u3002   Frame   information .   \u4efb\u4f55 \u53ef\u80fd \u53d1\u751f \u7684 \u4e8b\u4ef6 \uff0c \u4f8b\u5982 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u751f\u6210 \u6216 \u78b0\u649e \u3002 \u5b83 \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID   \u548c \u4e00\u4e9b \u9644\u52a0 \u4fe1\u606f \u3002   \u5173\u95ed \u4fe1\u606f .   \u8bb0\u5f55 \u7684 \u5e27 \u6570 \u548c \u603b \u65f6\u95f4 \u3002   Version :   1   Map :   Town05   Date :   02 / 21 / 19   10 : 46 : 20   Frame   1   at   0   seconds   Create   2190 :   spectator   ( 0 )   at   ( - 260 ,   - 200 ,   382.001 )   Create   2191 :   traffic . traffic _ light   ( 3 )   at   ( 4255 ,   10020 ,   0 )   Create   2192 :   traffic . traffic _ light   ( 3 )   at   ( 4025 ,   7860 ,   0 )   ...   Create   2258 :   traffic . speed _ limit.90   ( 0 )   at   ( 21651.7 ,   - 1347.59 ,   15 )   Create   2259 :   traffic . speed _ limit.90   ( 0 )   at   ( 5357 ,   21457.1 ,   15 )   Frame   2   at   0.0254253   seconds   Create   2276 :   vehicle . mini . cooperst   ( 1 )   at   ( 4347.63 ,   - 8409.51 ,   120 )   number _ of _ wheels   =   4   object _ type   =   color   =   255 , 241 , 0   role _ name   =   autopilot   ...   Frame   2350   at   60.2805   seconds   Destroy   2276   Frame   2351   at   60.3057   seconds   Destroy   2277   ...   Frames :   2354   Duration :   60.3753   seconds   \u67e5\u8be2   \u78b0\u649e   \u8f66\u8f86 \u5fc5\u987b \u6709 \u4e00\u4e2a   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u4ee5 \u8bb0\u5f55 \u78b0\u649e \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u88ab \u67e5\u8be2 \uff0c \u4f7f\u7528 \u53c2\u6570 \u6765 \u8fc7\u6ee4 \u78b0\u649e \u4e2d \u6d89\u53ca \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7c7b\u578b \u3002 \u4f8b\u5982 \uff0c   h   \u6807\u8bc6   role _ name   =   hero   \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u901a\u5e38 \u5206\u914d \u7ed9 \u7528\u6237 \u7ba1\u7406 \u7684 \u8f66\u8f86 \u3002 \u6709 \u4e00\u7ec4 \u7279\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7c7b\u578b \u53ef \u7528\u4e8e \u67e5\u8be2 \u3002   h   =   Hero   v   =   Vehicle   w   =   Walker   t   =   Traffic   light   o   =   Other   a   =   Any   \u7b14\u8bb0   manual _ control . py   \u811a\u672c \u4e3a   \u81ea\u6211 \u8f66\u8f86 \u5206\u914d   role _ name   =   hero   \u3002   \u78b0\u649e \u67e5\u8be2 \u9700\u8981 \u4e24\u4e2a \u6807\u5fd7 \u6765 \u8fc7\u6ee4 \u78b0\u649e \u3002 \u4ee5\u4e0b \u793a\u4f8b \u5c06 \u663e\u793a \u8f66\u8f86 \u4e0e \u4efb\u4f55 \u5176\u4ed6 \u5bf9\u8c61 \u4e4b\u95f4 \u7684 \u78b0\u649e \u3002   print ( client . show _ recorder _ collisions ( \" recording01 . log \" , \" v \" ,   \" a \" ) )   \u8f93\u51fa \u603b\u7ed3 \u4e86 \u78b0\u649e \u7684 \u65f6\u95f4 \uff0c \u4ee5\u53ca \u6240 \u6d89\u53ca \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7c7b\u578b \u3001 ID   \u548c \u63cf\u8ff0 \u3002   Version :   1   Map :   Town05   Date :   02 / 19 / 19   15 : 36 : 08   Time   Types   Id   Actor   1   Id   Actor   2   16   v   v   122   vehicle . yamaha . yzf   118   vehicle . dodge _ charger . police   27   v   o   122   vehicle . yamaha . yzf   0   Frames :   790   Duration :   46   seconds   \u91cd\u8981 \u7684   \u56e0\u4e3a \u8bb0\u5f55 \u78b0\u649e \u7684 \u662f   Hero   \u6216   Ego   \u8f66\u8f86 \uff0c \u6240\u4ee5 \u8fd9 \u5c06 \u59cb\u7ec8 \u662f   Actor   1   \u3002   \u53ef\u4ee5 \u901a\u8fc7 \u4f7f\u7528 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5e76 \u5728 \u4e8b\u4ef6 \u53d1\u751f \u524d \u51e0\u79d2 \u8bbe\u7f6e \u5b83 \u6765 \u91cd\u65b0 \u65b0\u5236 \u5236\u5b9a \u91cd\u65b0\u5236\u5b9a \u78b0\u649e \u3002   client . replay _ file ( \" col2 . log \" ,   13 ,   0 ,   122 )   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u56de\u653e \u663e\u793a \u4e86 \u8fd9 \u4e00\u70b9 \u3002   \u88ab \u5361\u4f4f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u68c0\u6d4b \u5728 \u5f55\u5236 \u8fc7\u7a0b \u4e2d \u5361\u4f4f \u7684 \u8f66\u8f86 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u7279\u5b9a \u65f6\u95f4 \u5185 \u6ca1\u6709 \u79fb\u52a8 \u6700\u5c0f \u8ddd\u79bb \uff0c \u5219 \u8ba4\u4e3a \u5b83 \u88ab \u963b\u585e \u3002 \u8be5 \u5b9a\u4e49 \u7531 \u7528\u6237 \u5728 \u67e5\u8be2 \u671f\u95f4 \u8fdb\u884c \u3002   print ( client . show _ recorder _ actors _ blocked ( \" recording01 . log \" ,   min _ time ,   min _ distance ) )   \u53c2\u6570   \u8bf4\u660e   \u9ed8\u8ba4   min _ time   \u79fb\u52a8 \u7684 \u6700\u5c0f \u79d2\u6570 ` min _ distance ` \u3002   30   \u79d2 \u3002   min _ distance   \u79fb\u52a8 \u7684 \u6700\u5c0f \u5398\u7c73 \u6570 \u4e0d\u4f1a \u88ab \u89c6\u4e3a \u963b\u585e \u3002   10 \u5398\u7c73 \u3002   \u7b14\u8bb0   \u6709\u65f6 \u8f66\u8f86 \u5728 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5904 \u505c\u7559 \u7684 \u65f6\u95f4 \u6bd4 \u9884\u671f \u7684 \u8981 \u957f \u3002   \u4ee5\u4e0b \u793a\u4f8b \u8003\u8651 \u8f66\u8f86 \u5728   60   \u79d2 \u5185 \u79fb\u52a8 \u4e0d\u5230   1   \u7c73 \u65f6 \u88ab \u5361\u4f4f \u3002   client . show _ recorder _ actors _ blocked ( \" col3 . log \" ,   60 ,   100 )   \u8f93\u51fa \u5df2 \u6392\u5e8f   \u7531   duration   \u8868\u793a \uff0c \u5b83 \u8bf4\u660e \u4e86 \u505c\u6b62 \u88ab \u201c \u963b\u585e \u201d \u5e76 \u79fb\u52a8   min _ distance   \u9700\u8981 \u591a\u957f \u65f6\u95f4 \u957f\u65f6\u95f4 \u591a\u957f\u65f6\u95f4 \u3002   Version :   1   Map :   Town05   Date :   02 / 19 / 19   15 : 45 : 01   Time   Id   Actor   Duration   36   173   vehicle . nissan . patrol   336   75   214   vehicle . chevrolet . impala   295   302   143   vehicle . bmw . grandtourer   67   Frames :   6985   Duration :   374   seconds   \u8f66\u8f86   173   \u5728   36   \u79d2 \u65f6 \u505c\u6b62   336   \u79d2 \u3002 \u5728 \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a   36   \u4e4b\u524d \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u91cd\u65b0 \u4eff\u771f \u4ee5 \u68c0\u67e5 \u5b83 \u3002   client . replay _ file ( \" col3 . log \" ,   34 ,   0 ,   173 )   \u793a\u4f8b   python   \u811a\u672c   PythonAPI / examples   \u4e2d \u63d0\u4f9b \u7684 \u4e00\u4e9b \u811a\u672c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u7684 \u4f7f\u7528 \u3002   start _ recording . py   \u5f00\u59cb \u5f55\u5236 \u3002 \u53ef\u4ee5 \u8bbe\u7f6e \u5f55\u5236 \u7684 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \uff0c \u5e76\u4e14 \u53ef\u4ee5 \u5728 \u5f00\u59cb \u65f6 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u53c2\u6570   \u8bf4\u660e   - f   \u6587\u4ef6 \u6587\u4ef6\u540d \u3002   - n   \uff08 \u53ef \u9009 \uff09   \u4ea7\u751f \u7684 \u8f66\u8f86 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   10 \u3002   - t   \uff08 \u53ef \u9009 \uff09   \u5f55\u5236 \u7684 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u3002   start _ replaying . py   \u5f00\u59cb \u64ad\u653e \u5f55\u5236 \u3002 \u53ef\u4ee5 \u8bbe\u7f6e \u5f00\u59cb \u65f6\u95f4 \u3001 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u548c \u8981 \u8ddf\u968f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u53c2\u6570   \u8bf4\u660e   - f   \u6587\u4ef6 \u6587\u4ef6\u540d \u3002   - s   \uff08 \u53ef \u9009 \uff09   \u8d77\u59cb \u65f6\u95f4 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   10 \u3002   - d   ( \u53ef \u9009 )   \u671f\u95f4 \u3002 \u9ed8\u8ba4 \u4e3a \u5168\u90e8 \u3002   - c   \uff08 \u53ef \u9009 \uff09   \u8981 \u5173\u6ce8 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   show _ recorder _ file _ info . py   \u663e\u793a \u5f55\u5236 \u6587\u4ef6 \u4e2d \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u4ec5 \u663e\u793a \u8bb0\u5f55 \u4e8b\u4ef6 \u7684 \u5e27 \u3002 \u4f46\u662f \uff0c \u6240\u6709 \u8fd9\u4e9b \u90fd \u53ef\u4ee5 \u663e\u793a \u3002   \u53c2\u6570   \u8bf4\u660e   - f   \u6587\u4ef6 \u6587\u4ef6\u540d \u3002   - s   \uff08 \u53ef \u9009 \uff09   \u6807\u8bb0 \u4ee5 \u663e\u793a \u6240\u6709 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   show _ recorder _ collisions . py   \u663e\u793a \u7c7b\u578b \u4e3a   A   \u548c   B   \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e24\u4e2a \u6807\u5fd7 \u4e4b\u95f4 \u8bb0\u5f55 \u7684 \u78b0\u649e \u3002   - t   =   vv   \u5c06 \u663e\u793a \u8f66\u8f86 \u4e4b\u95f4 \u7684 \u6240\u6709 \u78b0\u649e \u3002   \u53c2\u6570   \u8bf4\u660e   - f   \u6587\u4ef6 \u6587\u4ef6\u540d \u3002   - t   \u76f8\u5173 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6807\u5fd7 \u3002   h   =   hero   v   =   vehicle   w   =   walker   t   =   traffic   light   o   =   other   a   =   any   show _ recorder _ actors _ blocked . py   \u5217\u51fa \u88ab \u8ba4\u4e3a \u88ab \u963b\u6b62 \u7684 \u8f66\u8f86 \u3002 \u5982\u679c \u5728 \u7279\u5b9a \u65f6\u95f4 \u5185 \u6ca1\u6709 \u79fb\u52a8 \u6700\u5c0f \u8ddd\u79bb \uff0c \u5219 \u8ba4\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u88ab \u963b\u6321 \u3002   \u53c2\u6570   \u8bf4\u660e   - f   \u6587\u4ef6 \u6587\u4ef6\u540d \u3002   - t   \uff08 \u53ef \u9009 \uff09   \u662f \u65f6\u5019 \u5728 \u88ab \u8ba4\u4e3a \u88ab \u963b\u585e \u4e4b\u524d \u79fb\u52a8   - d   \u4e86 \u3002   - d   ( \u53ef \u9009 )   \u79fb\u52a8 \u8ddd\u79bb \u4e0d\u4f1a \u88ab \u89c6\u4e3a \u963b\u585e \u3002   \u73b0\u5728 \u662f \u8bd5\u9a8c \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u7684 \u65f6\u5019 \u4e86 \u3002 \u4f7f\u7528 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u56de\u653e \u4eff\u771f \u3001 \u8ffd\u6eaf \u4e8b\u4ef6 \u3001 \u8fdb\u884c \u66f4\u6539 \u4ee5 \u67e5\u770b \u65b0 \u7ed3\u679c \u3002 \u5728   Carla   \u8bba\u575b \u4e0a \u5c31 \u6b64\u4e8b \u53d1\u8868 \u8868\u610f \u610f\u89c1 \u53d1\u8868\u610f\u89c1 \u3002   Carla   \u8bba\u575b","title":"\u8bb0\u5f55\u5668"},{"location":"adv_recorder/#_1","text":"\u6b64 \u529f\u80fd \u5141\u8bb8 \u8bb0\u5f55 \u548c \u91cd\u65b0 \u65b0\u5236 \u5236\u5b9a \u91cd\u65b0\u5236\u5b9a \u4ee5\u524d \u7684 \u4eff\u771f \u3002 \u6240\u6709 \u53d1\u751f \u7684 \u4e8b\u4ef6 \u90fd \u8bb0\u5f55 \u5728   \u8bb0\u5f55 \u6587\u4ef6   \u4e2d \u3002 \u6709 \u4e00\u4e9b \u9ad8\u7ea7 \u67e5\u8be2 \u53ef\u4ee5 \u8ddf\u8e2a \u548c \u7814\u7a76 \u8fd9\u4e9b \u4e8b\u4ef6 \u3002   \u8bb0\u5f55   \u4eff\u771f \u64ad\u653e   \u8bbe\u7f6e \u65f6\u95f4 \u56e0\u5b50   \u5f55\u5236 \u6587\u4ef6   \u67e5\u8be2   \u78b0\u649e   \u88ab \u56f0\u4f4f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u793a\u4f8b   Python   \u811a\u672c","title":"\u8bb0\u5f55\u5668"},{"location":"adv_recorder/#_2","text":"\u6240\u6709 \u6570\u636e \u4ec5 \u5199\u5165 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u3002 \u4f46\u662f \uff0c \u4f7f\u7528   carla . Client   \u7ba1\u7406 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002   \u6839\u636e \u8bb0\u5f55 \u6587\u4ef6 \u4e2d \u5305\u542b \u7684 \u6570\u636e \uff0c \u6bcf\u5e27 \u66f4\u65b0 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5f53\u524d \u4eff\u771f \u4e2d \u51fa\u73b0 \u5728 \u5f55\u5236 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u88ab \u79fb\u52a8 \u6216 \u91cd\u65b0 \u751f\u6210 \u4ee5 \u4eff\u771f \u5b83 \u3002 \u90a3\u4e9b \u6ca1\u6709 \u51fa\u73b0 \u5728 \u8bb0\u5f55 \u4e2d \u7684 \u5c06 \u7ee7\u7eed \u4ed6\u4eec \u7684 \u65b9\u5f0f \uff0c \u5c31 \u597d\u50cf \u4ec0\u4e48 \u90fd \u6ca1 \u53d1\u751f \u4e00\u6837 \u3002   \u91cd\u8981 \u7684   \u64ad\u653e \u7ed3\u675f \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u4f46   \u884c\u4eba \u5c06 \u505c\u6b62   \u3002   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u5305\u62ec \u6709\u5173 \u8bb8\u591a \u4e0d\u540c \u5143\u7d20 \u7684 \u4fe1\u606f \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005   \u2014   \u521b\u5efa \u548c \u9500\u6bc1 \u3001 \u8fb9\u754c \u548c \u89e6\u53d1 \u6846 \u3002   \u4ea4\u901a \u4ea4\u901a\u706f   \u2014   \u72b6\u6001 \u53d8\u5316 \u548c \u65f6\u95f4 \u8bbe\u7f6e \u3002   \u8f66\u8f86   \u2014   \u4f4d\u7f6e \u548c \u65b9\u5411 \u3001 \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3001 \u5149 \u72b6\u6001 \u548c \u7269\u7406 \u63a7\u5236 \u3002   \u884c\u4eba   \u2014   \u4f4d\u7f6e \u548c \u65b9\u5411 \uff0c \u4ee5\u53ca \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3002   \u706f\u5149   \u2014   \u6765\u81ea \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u8857\u9053 \u548c \u8f66\u8f86 \u7684 \u706f\u5149 \u72b6\u6001 \u3002   \u8981 \u5f00\u59cb \u5f55\u5236 \uff0c \u53ea \u9700\u8981 \u4e00\u4e2a \u6587\u4ef6 \u6587\u4ef6\u540d \u3002 \u5728 \u6587\u4ef6 \u6587\u4ef6\u540d \u4e2d \u4f7f\u7528   \\   \u3001   /   \u6216   :   \u5b57\u7b26 \u4f1a \u5c06 \u5176 \u5b9a\u4e49 \u4e3a \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002 \u5982\u679c \u6ca1\u6709 \u8be6\u7ec6 \u7684 \u8def\u5f84 \uff0c \u6587\u4ef6 \u5c06 \u4fdd\u5b58 \u5728   CarlaUE4 / Saved   \u4e2d \u3002   client . start _ recorder ( \" / home / carla / recording01 . log \" )   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8bbe\u7f6e \u4e3a \u4ec5 \u5b58\u50a8 \u56de\u653e \u4eff\u771f \u6240 \u9700 \u7684 \u4fe1\u606f \u3002 \u4e3a\u4e86 \u4fdd\u5b58 \u524d\u9762 \u63d0\u5230 \u7684 \u6240\u6709 \u4fe1\u606f \uff0c \u5fc5\u987b \u5728 \u5f00\u59cb \u5f55\u5236 \u65f6 \u914d\u7f6e \u53c2\u6570   additional _ data   \u3002   client . start _ recorder ( \" / home / carla / recording01 . log \" ,   True )   \u7b14\u8bb0   \u5176\u4ed6 \u6570\u636e \u5305\u62ec \uff1a \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3001 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6\u95f4 \u8bbe\u7f6e \u3001 \u6267\u884c \u65f6\u95f4 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \u548c \u8fb9\u754c \u6846 \uff0c \u4ee5\u53ca \u8f66\u8f86 \u7684 \u7269\u7406 \u63a7\u5236 \u3002   \u8981 \u505c\u6b62 \u5f55\u5236 \uff0c \u8c03\u7528 \u4e5f \u5f88 \u7b80\u5355 \u3002   client . stop _ recorder ( )   \u7b14\u8bb0   \u4f30\u8ba1 \u636e\u4f30\u8ba1 \uff0c 50   \u4e2a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u548c   100   \u8f86\u8f66 \u7684   1   \u5c0f\u65f6 \u8bb0\u5f55 \u5927\u7ea6 \u9700\u8981   200MB   \u5927\u5c0f \u3002","title":"\u8bb0\u5f55  "},{"location":"adv_recorder/#_3","text":"\u53ef\u4ee5 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u7684 \u4efb\u4f55 \u65f6\u5019 \u5f00\u59cb \u64ad\u653e \u3002 \u9664\u4e86 \u65e5\u5fd7 \u6587\u4ef6 \u7684 \u8def\u5f84 \uff0c \u8fd9\u4e2a \u65b9\u6cd5 \u8fd8 \u9700\u8981 \u4e00\u4e9b \u53c2\u6570 \u3002   client . replay _ file ( \" recording01 . log \" ,   start ,   duration ,   camera )   \u53c2\u6570   \u8bf4\u660e   \u7b14\u8bb0   \u5f00\u59cb   \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \u8bb0\u5f55 \u5f00\u59cb \u4eff\u771f \u7684 \u65f6\u95f4 \u3002   \u5982\u679c \u662f \u80af\u5b9a \u7684 \uff0c \u65f6\u95f4 \u5c06 \u4ece \u8bb0\u5f55 \u5f00\u59cb \u8ba1\u7b97 \u3002   \u5982\u679c \u662f \u5426\u5b9a \u7684 \uff0c \u5c06 \u4ece \u6700\u540e \u8003\u8651 \u3002   \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4   \u64ad\u653e \u79d2\u6570 \u3002   0   \u662f \u6240\u6709 \u7684 \u8bb0\u5f55 \u3002   \u64ad\u653e \u7ed3\u675f \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u884c\u4eba \u5c06 \u505c\u6b62 \u3002   \u76f8\u673a   \u76f8\u673a \u5c06 \u805a\u7126 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u201c 0 \u201d \u4ee5 \u8ba9 \u89c2\u4f17 \u81ea\u7531 \u79fb\u52a8 \u3002","title":"\u4eff\u771f \u64ad\u653e  "},{"location":"adv_recorder/#_4","text":"\u65f6\u95f4 \u56e0\u7d20 \u5c06 \u51b3\u5b9a \u64ad\u653e \u901f\u5ea6 \u3002 \u5b83 \u53ef\u4ee5 \u968f\u65f6 \u66f4\u6539 \u800c \u65e0\u9700 \u505c\u6b62 \u56de\u653e \u3002   client . set _ replayer _ time _ factor ( 2.0 )   \u53c2\u6570   \u9ed8\u8ba4   \u5feb \u52a8\u4f5c   \u52a8\u4f5c \u6162\u52a8\u4f5c   time _ factor   1.0   > 1.0   * *   < 1.0   * *   \u91cd\u8981 \u7684   \u5982\u679c   time _ factor > 2.0   \uff0c actors   \u7684 \u4f4d\u7f6e \u63d2\u503c \u88ab \u7981\u7528 \u5e76\u4e14 \u53ea\u662f \u66f4\u65b0 \u3002 \u884c\u4eba \u7684 \u52a8\u753b \u4e0d \u53d7 \u65f6\u95f4 \u56e0\u7d20 \u7684 \u5f71\u54cd \u3002   \u5f53 \u65f6\u95f4 \u56e0\u7d20 \u5728   20x   \u5de6\u53f3 \u65f6 \uff0c \u5f88 \u5bb9\u6613 \u7406\u89e3 \u6d41\u91cf \u3002","title":"\u8bbe\u7f6e \u65f6\u95f4 \u56e0\u5b50  "},{"location":"adv_recorder/#_5","text":"\u53ef\u4ee5 \u4f7f\u7528 \u7b80\u5355 \u7684   API   \u8c03\u7528 \u6765 \u68c0\u7d22 \u8bb0\u5f55 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u53ea \u68c0\u7d22 \u6ce8\u518c \u4e8b\u4ef6 \u7684 \u90a3\u4e9b \u5e27 \u3002 \u8bbe\u7f6e \u53c2\u6570   show _ all   \u5c06 \u8fd4\u56de \u6bcf \u4e00\u5e27 \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u5173\u4e8e \u5982\u4f55 \u5b58\u50a8 \u6570\u636e \u7684 \u7ec6\u8282 \u5728   recorder ' s   reference   \u4e2d\u6709 \u8be6\u7ec6 \u8bf4\u660e \u3002   #   \u663e\u793a \u76f8\u5173 \u5e27 \u7684 \u4fe1\u606f   print   ( client . show _ recorder _ file _ info   ( \" recording01 . log \" ) )   \u5f00\u653e \u4fe1\u606f .   \u8bb0\u5f55 \u4eff\u771f \u7684 \u5730\u56fe \u3001 \u65e5\u671f \u548c \u65f6\u95f4 \u3002   Frame   information .   \u4efb\u4f55 \u53ef\u80fd \u53d1\u751f \u7684 \u4e8b\u4ef6 \uff0c \u4f8b\u5982 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u751f\u6210 \u6216 \u78b0\u649e \u3002 \u5b83 \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID   \u548c \u4e00\u4e9b \u9644\u52a0 \u4fe1\u606f \u3002   \u5173\u95ed \u4fe1\u606f .   \u8bb0\u5f55 \u7684 \u5e27 \u6570 \u548c \u603b \u65f6\u95f4 \u3002   Version :   1   Map :   Town05   Date :   02 / 21 / 19   10 : 46 : 20   Frame   1   at   0   seconds   Create   2190 :   spectator   ( 0 )   at   ( - 260 ,   - 200 ,   382.001 )   Create   2191 :   traffic . traffic _ light   ( 3 )   at   ( 4255 ,   10020 ,   0 )   Create   2192 :   traffic . traffic _ light   ( 3 )   at   ( 4025 ,   7860 ,   0 )   ...   Create   2258 :   traffic . speed _ limit.90   ( 0 )   at   ( 21651.7 ,   - 1347.59 ,   15 )   Create   2259 :   traffic . speed _ limit.90   ( 0 )   at   ( 5357 ,   21457.1 ,   15 )   Frame   2   at   0.0254253   seconds   Create   2276 :   vehicle . mini . cooperst   ( 1 )   at   ( 4347.63 ,   - 8409.51 ,   120 )   number _ of _ wheels   =   4   object _ type   =   color   =   255 , 241 , 0   role _ name   =   autopilot   ...   Frame   2350   at   60.2805   seconds   Destroy   2276   Frame   2351   at   60.3057   seconds   Destroy   2277   ...   Frames :   2354   Duration :   60.3753   seconds","title":"\u5f55\u5236 \u6587\u4ef6  "},{"location":"adv_recorder/#_6","text":"","title":"\u67e5\u8be2  "},{"location":"adv_recorder/#_7","text":"\u8f66\u8f86 \u5fc5\u987b \u6709 \u4e00\u4e2a   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u4ee5 \u8bb0\u5f55 \u78b0\u649e \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u88ab \u67e5\u8be2 \uff0c \u4f7f\u7528 \u53c2\u6570 \u6765 \u8fc7\u6ee4 \u78b0\u649e \u4e2d \u6d89\u53ca \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7c7b\u578b \u3002 \u4f8b\u5982 \uff0c   h   \u6807\u8bc6   role _ name   =   hero   \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u901a\u5e38 \u5206\u914d \u7ed9 \u7528\u6237 \u7ba1\u7406 \u7684 \u8f66\u8f86 \u3002 \u6709 \u4e00\u7ec4 \u7279\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7c7b\u578b \u53ef \u7528\u4e8e \u67e5\u8be2 \u3002   h   =   Hero   v   =   Vehicle   w   =   Walker   t   =   Traffic   light   o   =   Other   a   =   Any   \u7b14\u8bb0   manual _ control . py   \u811a\u672c \u4e3a   \u81ea\u6211 \u8f66\u8f86 \u5206\u914d   role _ name   =   hero   \u3002   \u78b0\u649e \u67e5\u8be2 \u9700\u8981 \u4e24\u4e2a \u6807\u5fd7 \u6765 \u8fc7\u6ee4 \u78b0\u649e \u3002 \u4ee5\u4e0b \u793a\u4f8b \u5c06 \u663e\u793a \u8f66\u8f86 \u4e0e \u4efb\u4f55 \u5176\u4ed6 \u5bf9\u8c61 \u4e4b\u95f4 \u7684 \u78b0\u649e \u3002   print ( client . show _ recorder _ collisions ( \" recording01 . log \" , \" v \" ,   \" a \" ) )   \u8f93\u51fa \u603b\u7ed3 \u4e86 \u78b0\u649e \u7684 \u65f6\u95f4 \uff0c \u4ee5\u53ca \u6240 \u6d89\u53ca \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7c7b\u578b \u3001 ID   \u548c \u63cf\u8ff0 \u3002   Version :   1   Map :   Town05   Date :   02 / 19 / 19   15 : 36 : 08   Time   Types   Id   Actor   1   Id   Actor   2   16   v   v   122   vehicle . yamaha . yzf   118   vehicle . dodge _ charger . police   27   v   o   122   vehicle . yamaha . yzf   0   Frames :   790   Duration :   46   seconds   \u91cd\u8981 \u7684   \u56e0\u4e3a \u8bb0\u5f55 \u78b0\u649e \u7684 \u662f   Hero   \u6216   Ego   \u8f66\u8f86 \uff0c \u6240\u4ee5 \u8fd9 \u5c06 \u59cb\u7ec8 \u662f   Actor   1   \u3002   \u53ef\u4ee5 \u901a\u8fc7 \u4f7f\u7528 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5e76 \u5728 \u4e8b\u4ef6 \u53d1\u751f \u524d \u51e0\u79d2 \u8bbe\u7f6e \u5b83 \u6765 \u91cd\u65b0 \u65b0\u5236 \u5236\u5b9a \u91cd\u65b0\u5236\u5b9a \u78b0\u649e \u3002   client . replay _ file ( \" col2 . log \" ,   13 ,   0 ,   122 )   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u56de\u653e \u663e\u793a \u4e86 \u8fd9 \u4e00\u70b9 \u3002","title":"\u78b0\u649e  "},{"location":"adv_recorder/#_8","text":"\u68c0\u6d4b \u5728 \u5f55\u5236 \u8fc7\u7a0b \u4e2d \u5361\u4f4f \u7684 \u8f66\u8f86 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u7279\u5b9a \u65f6\u95f4 \u5185 \u6ca1\u6709 \u79fb\u52a8 \u6700\u5c0f \u8ddd\u79bb \uff0c \u5219 \u8ba4\u4e3a \u5b83 \u88ab \u963b\u585e \u3002 \u8be5 \u5b9a\u4e49 \u7531 \u7528\u6237 \u5728 \u67e5\u8be2 \u671f\u95f4 \u8fdb\u884c \u3002   print ( client . show _ recorder _ actors _ blocked ( \" recording01 . log \" ,   min _ time ,   min _ distance ) )   \u53c2\u6570   \u8bf4\u660e   \u9ed8\u8ba4   min _ time   \u79fb\u52a8 \u7684 \u6700\u5c0f \u79d2\u6570 ` min _ distance ` \u3002   30   \u79d2 \u3002   min _ distance   \u79fb\u52a8 \u7684 \u6700\u5c0f \u5398\u7c73 \u6570 \u4e0d\u4f1a \u88ab \u89c6\u4e3a \u963b\u585e \u3002   10 \u5398\u7c73 \u3002   \u7b14\u8bb0   \u6709\u65f6 \u8f66\u8f86 \u5728 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5904 \u505c\u7559 \u7684 \u65f6\u95f4 \u6bd4 \u9884\u671f \u7684 \u8981 \u957f \u3002   \u4ee5\u4e0b \u793a\u4f8b \u8003\u8651 \u8f66\u8f86 \u5728   60   \u79d2 \u5185 \u79fb\u52a8 \u4e0d\u5230   1   \u7c73 \u65f6 \u88ab \u5361\u4f4f \u3002   client . show _ recorder _ actors _ blocked ( \" col3 . log \" ,   60 ,   100 )   \u8f93\u51fa \u5df2 \u6392\u5e8f   \u7531   duration   \u8868\u793a \uff0c \u5b83 \u8bf4\u660e \u4e86 \u505c\u6b62 \u88ab \u201c \u963b\u585e \u201d \u5e76 \u79fb\u52a8   min _ distance   \u9700\u8981 \u591a\u957f \u65f6\u95f4 \u957f\u65f6\u95f4 \u591a\u957f\u65f6\u95f4 \u3002   Version :   1   Map :   Town05   Date :   02 / 19 / 19   15 : 45 : 01   Time   Id   Actor   Duration   36   173   vehicle . nissan . patrol   336   75   214   vehicle . chevrolet . impala   295   302   143   vehicle . bmw . grandtourer   67   Frames :   6985   Duration :   374   seconds   \u8f66\u8f86   173   \u5728   36   \u79d2 \u65f6 \u505c\u6b62   336   \u79d2 \u3002 \u5728 \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a   36   \u4e4b\u524d \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u91cd\u65b0 \u4eff\u771f \u4ee5 \u68c0\u67e5 \u5b83 \u3002   client . replay _ file ( \" col3 . log \" ,   34 ,   0 ,   173 )","title":"\u88ab \u5361\u4f4f \u7684 \u53c2\u4e0e\u8005  "},{"location":"adv_recorder/#python","text":"PythonAPI / examples   \u4e2d \u63d0\u4f9b \u7684 \u4e00\u4e9b \u811a\u672c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u7684 \u4f7f\u7528 \u3002   start _ recording . py   \u5f00\u59cb \u5f55\u5236 \u3002 \u53ef\u4ee5 \u8bbe\u7f6e \u5f55\u5236 \u7684 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \uff0c \u5e76\u4e14 \u53ef\u4ee5 \u5728 \u5f00\u59cb \u65f6 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u53c2\u6570   \u8bf4\u660e   - f   \u6587\u4ef6 \u6587\u4ef6\u540d \u3002   - n   \uff08 \u53ef \u9009 \uff09   \u4ea7\u751f \u7684 \u8f66\u8f86 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   10 \u3002   - t   \uff08 \u53ef \u9009 \uff09   \u5f55\u5236 \u7684 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u3002   start _ replaying . py   \u5f00\u59cb \u64ad\u653e \u5f55\u5236 \u3002 \u53ef\u4ee5 \u8bbe\u7f6e \u5f00\u59cb \u65f6\u95f4 \u3001 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u548c \u8981 \u8ddf\u968f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u53c2\u6570   \u8bf4\u660e   - f   \u6587\u4ef6 \u6587\u4ef6\u540d \u3002   - s   \uff08 \u53ef \u9009 \uff09   \u8d77\u59cb \u65f6\u95f4 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   10 \u3002   - d   ( \u53ef \u9009 )   \u671f\u95f4 \u3002 \u9ed8\u8ba4 \u4e3a \u5168\u90e8 \u3002   - c   \uff08 \u53ef \u9009 \uff09   \u8981 \u5173\u6ce8 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   show _ recorder _ file _ info . py   \u663e\u793a \u5f55\u5236 \u6587\u4ef6 \u4e2d \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u4ec5 \u663e\u793a \u8bb0\u5f55 \u4e8b\u4ef6 \u7684 \u5e27 \u3002 \u4f46\u662f \uff0c \u6240\u6709 \u8fd9\u4e9b \u90fd \u53ef\u4ee5 \u663e\u793a \u3002   \u53c2\u6570   \u8bf4\u660e   - f   \u6587\u4ef6 \u6587\u4ef6\u540d \u3002   - s   \uff08 \u53ef \u9009 \uff09   \u6807\u8bb0 \u4ee5 \u663e\u793a \u6240\u6709 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   show _ recorder _ collisions . py   \u663e\u793a \u7c7b\u578b \u4e3a   A   \u548c   B   \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e24\u4e2a \u6807\u5fd7 \u4e4b\u95f4 \u8bb0\u5f55 \u7684 \u78b0\u649e \u3002   - t   =   vv   \u5c06 \u663e\u793a \u8f66\u8f86 \u4e4b\u95f4 \u7684 \u6240\u6709 \u78b0\u649e \u3002   \u53c2\u6570   \u8bf4\u660e   - f   \u6587\u4ef6 \u6587\u4ef6\u540d \u3002   - t   \u76f8\u5173 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6807\u5fd7 \u3002   h   =   hero   v   =   vehicle   w   =   walker   t   =   traffic   light   o   =   other   a   =   any   show _ recorder _ actors _ blocked . py   \u5217\u51fa \u88ab \u8ba4\u4e3a \u88ab \u963b\u6b62 \u7684 \u8f66\u8f86 \u3002 \u5982\u679c \u5728 \u7279\u5b9a \u65f6\u95f4 \u5185 \u6ca1\u6709 \u79fb\u52a8 \u6700\u5c0f \u8ddd\u79bb \uff0c \u5219 \u8ba4\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u88ab \u963b\u6321 \u3002   \u53c2\u6570   \u8bf4\u660e   - f   \u6587\u4ef6 \u6587\u4ef6\u540d \u3002   - t   \uff08 \u53ef \u9009 \uff09   \u662f \u65f6\u5019 \u5728 \u88ab \u8ba4\u4e3a \u88ab \u963b\u585e \u4e4b\u524d \u79fb\u52a8   - d   \u4e86 \u3002   - d   ( \u53ef \u9009 )   \u79fb\u52a8 \u8ddd\u79bb \u4e0d\u4f1a \u88ab \u89c6\u4e3a \u963b\u585e \u3002   \u73b0\u5728 \u662f \u8bd5\u9a8c \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u7684 \u65f6\u5019 \u4e86 \u3002 \u4f7f\u7528 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u56de\u653e \u4eff\u771f \u3001 \u8ffd\u6eaf \u4e8b\u4ef6 \u3001 \u8fdb\u884c \u66f4\u6539 \u4ee5 \u67e5\u770b \u65b0 \u7ed3\u679c \u3002 \u5728   Carla   \u8bba\u575b \u4e0a \u5c31 \u6b64\u4e8b \u53d1\u8868 \u8868\u610f \u610f\u89c1 \u53d1\u8868\u610f\u89c1 \u3002   Carla   \u8bba\u575b","title":"\u793a\u4f8b   python   \u811a\u672c  "},{"location":"adv_rendering_options/","text":"\u6e32\u67d3 \u9009\u9879   \u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86   Carla   \u4e2d \u53ef\u7528 \u7684 \u4e0d\u540c \u6e32\u67d3 \u9009\u9879 \uff0c \u5305\u62ec \u8d28\u91cf \u7ea7\u522b \u3001 \u65e0 \u6e32\u67d3 \u6a21\u5f0f \u548c \u79bb\u5c4f \u6a21\u5f0f \u3002 \u5b83 \u8fd8 \u89e3\u91ca \u4e86   Carla   0.9 . 12   \u7248\u672c \u5728 \u8fd9\u4e9b \u65b9\u9762 \u4e0e \u4ee5\u524d \u7248\u672c \u7684 \u4e0d\u540c \u4e4b\u5904 \u4e0d\u540c\u4e4b\u5904 \u3002   \u56fe\u5f62 \u8d28\u91cf   Vulkan   \u56fe\u5f62   API   \u8d28\u91cf \u7b49\u7ea7   \u65e0 \u6e32\u67d3 \u6a21\u5f0f   \u79bb\u5c4f \u6a21\u5f0f   \u79bb\u5c4f \u4e0e \u65e0 \u6e32\u67d3   \u8bbe\u7f6e \u79bb\u5c4f \u6a21\u5f0f \uff08 \u7248\u672c 0.9 . 12 + \uff09 )   \u8bbe\u7f6e \u79bb\u5c4f \u6a21\u5f0f \uff08 0.9 . 12 \u4e4b\u524d \u7684 \u7248\u672c \uff09   \u7a7a \u6e32\u67d3 \u786c\u4ef6 \u63a5\u53e3   \u91cd\u8981   \u4e0b\u9762 \u7684 \u4e00\u4e9b \u547d\u4ee4 \u9009\u9879 \u5728   Carla   \u6253\u5305 \u7248\u672c \u4e2d \u5e76 \u4e0d \u7b49\u6548 \u3002 \u8bf7 \u9605\u8bfb   \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879   \u90e8\u5206 \u4ee5 \u4e86\u89e3 \u6709\u5173 \u6b64 \u5185\u5bb9 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u56fe\u5f62 \u8d28\u91cf   Vulkan   \u56fe\u5f62   API   \u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u5728 \u865a\u5e7b \u5f15\u64ce   4.26 \u4e0a \u8fd0\u884c \uff0c \u4ec5 \u652f\u6301   Vulkan   \u56fe\u5f62 API \u3002 \u4ee5\u524d \u7248\u672c \u7684   Carla   \u53ef\u4ee5 \u914d\u7f6e \u4e3a \u4f7f\u7528   OpenGL \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u7684 \u65e9\u671f \u7248\u672c \uff0c \u8bf7 \u5728 \u5c4f\u5e55 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u9009\u62e9 \u76f8\u5e94 \u7684 \u6587\u6863 \u7248\u672c \u4ee5 \u83b7\u53d6 \u66f4 \u591a \u4fe1\u606f \u3002   \u8d28\u91cf \u7b49\u7ea7   Carla   \u6709 \u4e24\u4e2a \u4e0d\u540c \u7684 \u56fe\u5f62 \u8d28\u91cf \u7ea7\u522b \u3002   Epic   \u662f \u9ed8\u8ba4 \u7684 \u5e76\u4e14 \u662f \u6700 \u8be6\u7ec6 \u7684 \u3002   Low   \u4f1a \u7981\u7528 \u6240\u6709 \u5904\u7406 \u540e\u5904\u7406 \u548c \u9634\u5f71 \uff0c \u5e76\u4e14 \u7ed8\u56fe \u8ddd\u79bb \u8bbe\u7f6e \u4e3a   50m   \u800c \u4e0d\u662f \u65e0\u9650 \u3002   \u4eff\u771f \u5728   Low   \u6a21\u5f0f \u4e0b \u8fd0\u884c \u901f\u5ea6 \u660e\u663e \u66f4 \u5feb \u3002 \u8fd9 \u5728 \u5b58\u5728 \u6280\u672f \u9650\u5236 \u3001 \u7cbe\u5ea6 \u4e0d \u91cd\u8981 \u7684 \u60c5\u51b5 \u4e0b \u6216\u8005 \u5728 \u5177\u6709 \u66f4 \u7b80\u5355 \u6570\u636e \u6216\u4ec5 \u6d89\u53ca \u63a5\u8fd1 \u5143\u7d20 \u7684 \u6761\u4ef6 \u4e0b \u8bad\u7ec3 \u4ee3\u7406 \u7684 \u60c5\u51b5 \u4e0b \u5f88 \u6709 \u5e2e\u52a9 \u3002   \u4e0b\u56fe \u6bd4\u8f83 \u4e86 \u4e24\u79cd \u6a21\u5f0f \u3002 Windows   \u548c   Linux   \u6240 \u4f7f\u7528 \u7684 \u6807\u5fd7 \u662f \u76f8\u540c \u7684 \u3002 \u4f7f\u7528 \u6784\u5efa \u65f6 \u6ca1\u6709 \u7b49\u6548 \u9009\u9879 \uff0c \u4f46 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u6709 \u81ea\u5df1 \u7684 \u8d28\u91cf \u8bbe\u7f6e \u3002 \u8bbf\u95ee   Settings / Engine   Scalability   Settings   \u4ee5 \u83b7\u5f97 \u6240 \u9700 \u8d28\u91cf \u7684 \u66f4 \u5927 \u5b9a\u5236 \u3002   \u53f2\u8bd7 \u6a21\u5f0f   . / CarlaUE4 . sh   - quality - level = Epic   \u53f2\u8bd7 \u6a21\u5f0f \u622a\u56fe   \u4f4e\u8d28 \u8d28\u91cf \u4f4e\u8d28\u91cf \u6a21\u5f0f   . / CarlaUE4 . sh   - quality - level = Low   \u4f4e\u8d28 \u8d28\u91cf \u4f4e\u8d28\u91cf \u6a21\u5f0f \u622a\u56fe   \u91cd\u8981   \u5bfc\u81f4 \u53f2\u8bd7 \u6a21\u5f0f \u663e\u793a \u5f02\u5e38 \u767d\u5ea6 \u7684 \u95ee\u9898 \u5df2 \u5f97\u5230 \u4fee\u590d \u3002 \u5982\u679c \u95ee\u9898 \u4ecd\u7136 \u5b58\u5728 \uff0c \u8bf7 \u5220\u9664   GameUserSettings . ini   \u3002 \u5b83 \u6b63\u5728 \u4fdd\u5b58 \u4ee5\u524d \u7684 \u8bbe\u7f6e \uff0c \u5e76 \u5c06 \u5728 \u4e0b\u6b21 \u8fd0\u884c \u65f6 \u518d\u6b21 \u751f\u6210 \u3002   Ubuntu   \u8def\u5f84 \uff1a   ~ / . config / Epic / CarlaUE4 / Saved / Config / LinuxNoEditor /   Windows   \u8def\u5f84 \uff1a   < Package   folder > \\ WindowsNoEditor \\ CarlaUE4 \\ Saved \\ Config \\ WindowsNoEditor \\   \u65e0 \u6e32\u67d3 \u6a21\u5f0f   \u6b64 \u6a21\u5f0f \u7981\u7528 \u6e32\u67d3 \u3002 \u865a\u5e7b \u5f15\u64ce \u5c06 \u8df3 \u8fc7 \u6709\u5173 \u56fe\u5f62 \u7684 \u6240\u6709 \u5185\u5bb9 \u3002 \u6b64 \u6a21\u5f0f \u53ef \u9632\u6b62 \u6e32\u67d3 \u5f00\u9500 \u3002 \u5b83 \u6709\u5229 \u5229\u4e8e \u6709\u5229\u4e8e \u5927\u91cf \u4ea4\u901a \u4eff\u771f \u548c \u975e\u5e38 \u9ad8\u9891 \u9891\u7387 \u9ad8\u9891\u7387 \u7684 \u9053\u8def \u884c\u4e3a \u3002 \u8981 \u542f\u7528 \u6216 \u7981\u7528 \u65e0 \u6e32\u67d3 \u6a21\u5f0f \uff0c \u8bf7 \u66f4\u6539 \u4e16\u754c \u8bbe\u7f6e \uff0c \u6216 \u4f7f\u7528   / PythonAPI / util / config . py   \u3002   \u4ee5\u4e0b \u662f \u5982\u4f55 \u901a\u8fc7 \u811a\u672c \u542f\u7528 \u548c \u7981\u7528 \u5b83 \u7684 \u793a\u4f8b \uff1a   settings   =   world . get _ settings ( )   settings . no _ rendering _ mode   =   True   world . apply _ settings ( settings )   ...   settings . no _ rendering _ mode   =   False   world . apply _ settings ( settings )   \u8981 \u901a\u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u7981\u7528 \u548c \u542f\u7528 \u6e32\u67d3 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cd   PythonAPI / util   &&   python3   config . py   -- no - rendering   cd   PythonAPI / util   &&   python3   config . py   -- rendering   \u811a\u672c   PythonAPI / examples / no _ rendering _ mode . py   \u5c06 \u542f\u7528 \u65e0 \u6e32\u67d3 \u6a21\u5f0f \uff0c \u670d\u52a1 \u670d\u52a1\u7aef \u7a97\u53e3 \u4f1a \u8fdb\u5165 \u9ed1\u5c4f \uff0c \u4f46\u662f \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef pygame \u4f9d\u7136 \u4f1a \u6e32\u67d3 \u3002 \u5e76 \u4f7f\u7528 \u7b80\u5355 \u56fe\u5f62 \u5229\u7528   pygame   \u521b\u5efa \u9e1f\u77b0 \u9e1f\u77b0\u56fe \uff1a   cd   PythonAPI / examples   &&   python3   no _ rendering _ mode . py   \u670d\u52a1 \u670d\u52a1\u7aef \u4e0d \u6e32\u67d3 \uff0c \u9ed1\u5c4f   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c pygame \u4f9d\u7136 \u4f1a \u6e32\u67d3 \uff0c pygame \u4e5f \u9700\u8981 \u4f7f\u7528 no - render \u8bbe\u7f6e   \u7b14\u8bb0   \u5728 \u65e0 \u6e32\u67d3 \u6a21\u5f0f \u4e0b \uff0c \u76f8\u673a \u548c   GPU   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u8fd4\u56de \u7a7a \u6570\u636e \u3002 \u4e0d \u4f7f\u7528   GPU \u3002 \u865a\u5e7b \u5f15\u64ce \u672a \u7ed8\u5236 \u4efb\u4f55 \u573a\u666f \u3002   \u79bb\u5c4f \u6a21\u5f0f   \u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u5728 \u865a\u5e7b \u5f15\u64ce   4.26   \u4e0a \u8fd0\u884c \uff0c \u8be5 \u5f15\u64ce \u5f15\u5165 \u4e86 \u5bf9 \u79bb\u5c4f \u6e32\u67d3 \u7684 \u652f\u6301 \u3002 \u5728   Carla   \u7684 \u65e9\u671f \u7248\u672c \u4e2d \uff0c \u79bb\u5c4f \u6e32\u67d3 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4f7f\u7528 \u7684 \u56fe\u5f62   API \u3002   \u79bb\u5c4f \u4e0e \u65e0 \u6e32\u67d3   \u4e86\u89e3 \u65e0 \u6e32\u67d3 \u6a21\u5f0f (   no - rendering   mode   ) \u548c \u79bb\u5c4f \u6a21\u5f0f (   off - screen   mode   ) \u4e4b\u95f4 \u7684 \u533a\u522b \u5f88 \u91cd\u8981 \uff1a   \u65e0 \u6e32\u67d3 \u6a21\u5f0f \uff1a   \u865a\u5e7b \u5f15\u64ce \u4e0d \u6e32\u67d3 \u4efb\u4f55 \u5185\u5bb9 \u3002 \u56fe\u5f62 \u4e0d \u88ab \u8ba1\u7b97 \u3002 \u57fa\u4e8e   GPU   \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fd4\u56de \u7a7a \u6570\u636e \u3002   \u79bb\u5c4f \u6a21\u5f0f \uff1a   \u865a\u5e7b \u5f15\u64ce \u6b63\u5e38 \u5de5\u4f5c \uff0c \u8ba1\u7b97 \u6e32\u67d3 \uff0c \u4f46 \u6ca1\u6709 \u53ef\u7528 \u7684 \u663e\u793a \u3002 \u57fa\u4e8e   GPU   \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fd4\u56de \u6570\u636e \u3002   \u8bbe\u7f6e \u79bb\u5c4f \u6a21\u5f0f \uff08 \u7248\u672c 0.9 . 12 + \uff09   \u8981 \u5728 \u79bb\u5c4f \u6a21\u5f0f \u4e0b \u542f\u52a8   Carla \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   . / CarlaUE4 . sh   - RenderOffScreen   \u8bbe\u7f6e \u79bb\u5c4f \u6a21\u5f0f \uff08 0.9 . 12 \u4e4b\u524d \u7684 \u7248\u672c \uff09   \u5982\u679c \u60a8 \u4f7f\u7528   OpenGL   \u6216   Vulkan \uff0c \u5219 \u4f7f\u7528 \u79bb\u5c4f \u6a21\u5f0f \u4f1a \u6709\u6240 \u4e0d\u540c \u6709\u6240\u4e0d\u540c \u3002   \u4f7f\u7528   OpenGL   \uff0c \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u5728   Linux   \u4e2d\u4ee5 \u79bb\u5c4f \u6a21\u5f0f \u8fd0\u884c \uff1a   #   Linux   DISPLAY =   . / CarlaUE4 . sh   - opengl   Vulkan   \u9700\u8981 \u989d\u5916 \u7684 \u6b65\u9aa4 \uff0c \u56e0\u4e3a \u5b83 \u9700\u8981 \u4f7f\u7528   X11   \u7f51\u7edc \u534f\u8bae \u7f51\u7edc\u534f\u8bae \u4e0e \u663e\u793a   X   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u624d\u80fd \u6b63\u5e38 \u5de5\u4f5c \u3002 \u4ee5\u4e0b \u6b65\u9aa4 \u5c06 \u6307\u5bfc \u60a8 \u5982\u4f55 \u8bbe\u7f6e \u6ca1\u6709 \u663e\u793a \u663e\u793a\u5c4f \u7684   Ubuntu   18.04   \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \uff0c \u4ee5\u4fbf   Carla   \u53ef\u4ee5 \u4e0e   Vulkan   \u4e00\u8d77 \u8fd0\u884c \u3002   1 .   \u83b7\u53d6 \u6700\u65b0 \u7684   NVIDIA   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \uff1a   wget   http : / / download . nvidia . com / XFree86 / Linux - x86 _ 64 / 450.57 / NVIDIA - Linux - x86 _ 64 - 450.57 . run   2 .   \u5b89\u88c5 \u9a71\u52a8 \uff1a   sudo   / bin / bash   NVIDIA - Linux - x86 _ 64 - 450.57 . run   -- accept - license   -- no - questions   -- ui = none   3 .   \u5b89\u88c5   xserver   \u76f8\u5173 \u4f9d\u8d56 \uff1a   sudo   apt - get   install   - y   xserver - xorg   mesa - utils   libvulkan1   4 .   \u914d\u7f6e   xserver \uff1a   sudo   nvidia - xconfig   -- preserve - busid   - a   -- virtual = 1280x1024   5 .   \u8bbe\u7f6e   SDL _ VIDEODRIVER   \u53d8\u91cf \u3002   ENV   SDL _ VIDEODRIVER = x11   6 .   \u8fd0\u884c   xserver \uff1a   sudo   X   : 0   &   7 .   \u8fd0\u884c   Carla \uff1a   DISPLAY = : 0 . GPU   . / CarlaUE4 . sh   - vulkan   Carla   \u5728   \u8fd9\u91cc   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u6267\u884c \u4e0a\u8ff0 \u6240\u6709 \u6b65\u9aa4 \u7684   Dockerfile   \u3002   \u7a7a \u6e32\u67d3 \u786c\u4ef6 \u63a5\u53e3   \u800c \u53e6 \u4e00\u79cd \u5728   Carla   \u5b98\u65b9 \u6587\u6863 \u4e2d\u672a \u88ab \u63d0\u53ca \u7684 \u65b9\u5f0f \u5c31\u662f   -- nullrhi   \u3002 \u5728 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u56fe\u5f62 \u5f62\u5b66 \u56fe\u5f62\u5b66 \u4e2d \uff0c RHI \uff08 Rendering   Hardware   Interface \uff09 \u662f \u4e00\u79cd \u786c\u4ef6 \u62bd\u8c61 \u5c42 \uff0c \u7528\u4e8e \u5c01\u88c5 \u4e0d\u540c \u56fe\u5f62 \u786c\u4ef6 \uff08 GPU \uff09 \u7684 \u5e95\u5c42 \u7ec6\u8282 \uff0c \u4f7f\u5f97 \u56fe\u5f62 \u6e32\u67d3 \u5f15\u64ce \u53ef\u4ee5 \u4e0e \u5404\u79cd \u4e0d\u540c \u7c7b\u578b \u7684 \u786c\u4ef6 \u534f\u540c \u540c\u5de5 \u5de5\u4f5c \u534f\u540c\u5de5\u4f5c \u3002 RHI   \u8d1f\u8d23 \u7ba1\u7406 \u8d1f\u8d23\u7ba1\u7406 \u56fe\u5f62 \u8d44\u6e90 \u3001 \u6267\u884c \u6e32\u67d3 \u547d\u4ee4 \u7b49 \u5e95\u5c42 \u64cd\u4f5c \uff0c \u4f7f\u5f97 \u5f00\u53d1 \u5f00\u53d1\u8005 \u53ef\u4ee5 \u7f16\u5199 \u4e0e \u5177\u4f53 \u786c\u4ef6 \u65e0\u5173 \u7684 \u56fe\u5f62 \u6e32\u67d3 \u4ee3\u7801 \u3002   \u800c \u865a\u5e7b \u5f15\u64ce \u4e2d \u7684   -- nullrhi   \u53c2\u6570 \u5219 \u662f \u4e00\u79cd \u7279\u6b8a \u7684 \u6a21\u5f0f \uff0c \u8868\u793a \u4f7f\u7528   Null   Rendering   Hardware   Interface \uff0c \u5373\u7a7a \u6e32\u67d3 \u786c\u4ef6 \u63a5\u53e3 \u3002 \u5728 \u8fd9\u79cd \u6a21\u5f0f \u4e0b \uff0c Carla   \u5c06 \u4e0d\u4f1a \u6267\u884c \u5b9e\u9645 \u7684 \u56fe\u5f62 \u6e32\u67d3 \u64cd\u4f5c \uff0c \u4ece\u800c \u51cf\u8f7b \u4e86 \u4e0e \u56fe\u5f62 \u76f8\u5173 \u7684 \u8ba1\u7b97 \u8d1f\u62c5 \u3002 \u8fd9 \u5bf9\u4e8e \u4e00\u4e9b \u7279\u6b8a \u7684 \u4eff\u771f \u573a\u666f \uff0c \u6bd4\u5982 \u9700\u8981 \u5728 \u540e\u53f0 \u8fd0\u884c \u4eff\u771f \u6216 \u8fdb\u884c \u6027\u80fd \u6d4b\u8bd5 \u65f6 \uff0c \u662f \u975e\u5e38 \u6709\u7528 \u7684 \u3002   \u4f7f\u7528   -- nullrhi   \u53c2\u6570 \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd0\u884c   manual _ control . py   \u65f6   pygame   \u9ed1\u5c4f \u3002 nullrhi   \u53ea \u9002\u7528 \u4e8e \u591a   GPU   \u6a21\u5f0f \uff0c \u53ef\u4ee5 \u53ea\u6709 \u4e00\u4e2a   GPU   \u8fdb\u884c \u6e32\u67d3 \uff0c \u800c \u5176\u4ed6   GPU   \u4f7f\u7528   nullrhi   \u4e0d \u8fdb\u884c \u6e32\u67d3 \u3002   \u4e0e \u6b64 \u4e3b\u9898 \u76f8\u5173 \u7684 \u4efb\u4f55 \u95ee\u9898 \u6216 \u7591\u95ee \u90fd \u53ef\u4ee5 \u5728   Carla   \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"Adv   rendering   options"},{"location":"adv_rendering_options/#_1","text":"\u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86   Carla   \u4e2d \u53ef\u7528 \u7684 \u4e0d\u540c \u6e32\u67d3 \u9009\u9879 \uff0c \u5305\u62ec \u8d28\u91cf \u7ea7\u522b \u3001 \u65e0 \u6e32\u67d3 \u6a21\u5f0f \u548c \u79bb\u5c4f \u6a21\u5f0f \u3002 \u5b83 \u8fd8 \u89e3\u91ca \u4e86   Carla   0.9 . 12   \u7248\u672c \u5728 \u8fd9\u4e9b \u65b9\u9762 \u4e0e \u4ee5\u524d \u7248\u672c \u7684 \u4e0d\u540c \u4e4b\u5904 \u4e0d\u540c\u4e4b\u5904 \u3002   \u56fe\u5f62 \u8d28\u91cf   Vulkan   \u56fe\u5f62   API   \u8d28\u91cf \u7b49\u7ea7   \u65e0 \u6e32\u67d3 \u6a21\u5f0f   \u79bb\u5c4f \u6a21\u5f0f   \u79bb\u5c4f \u4e0e \u65e0 \u6e32\u67d3   \u8bbe\u7f6e \u79bb\u5c4f \u6a21\u5f0f \uff08 \u7248\u672c 0.9 . 12 + \uff09 )   \u8bbe\u7f6e \u79bb\u5c4f \u6a21\u5f0f \uff08 0.9 . 12 \u4e4b\u524d \u7684 \u7248\u672c \uff09   \u7a7a \u6e32\u67d3 \u786c\u4ef6 \u63a5\u53e3   \u91cd\u8981   \u4e0b\u9762 \u7684 \u4e00\u4e9b \u547d\u4ee4 \u9009\u9879 \u5728   Carla   \u6253\u5305 \u7248\u672c \u4e2d \u5e76 \u4e0d \u7b49\u6548 \u3002 \u8bf7 \u9605\u8bfb   \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879   \u90e8\u5206 \u4ee5 \u4e86\u89e3 \u6709\u5173 \u6b64 \u5185\u5bb9 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u6e32\u67d3 \u9009\u9879"},{"location":"adv_rendering_options/#_2","text":"","title":"\u56fe\u5f62 \u8d28\u91cf  "},{"location":"adv_rendering_options/#vulkan-api","text":"\u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u5728 \u865a\u5e7b \u5f15\u64ce   4.26 \u4e0a \u8fd0\u884c \uff0c \u4ec5 \u652f\u6301   Vulkan   \u56fe\u5f62 API \u3002 \u4ee5\u524d \u7248\u672c \u7684   Carla   \u53ef\u4ee5 \u914d\u7f6e \u4e3a \u4f7f\u7528   OpenGL \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u7684 \u65e9\u671f \u7248\u672c \uff0c \u8bf7 \u5728 \u5c4f\u5e55 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u9009\u62e9 \u76f8\u5e94 \u7684 \u6587\u6863 \u7248\u672c \u4ee5 \u83b7\u53d6 \u66f4 \u591a \u4fe1\u606f \u3002","title":"Vulkan   \u56fe\u5f62   API  "},{"location":"adv_rendering_options/#_3","text":"Carla   \u6709 \u4e24\u4e2a \u4e0d\u540c \u7684 \u56fe\u5f62 \u8d28\u91cf \u7ea7\u522b \u3002   Epic   \u662f \u9ed8\u8ba4 \u7684 \u5e76\u4e14 \u662f \u6700 \u8be6\u7ec6 \u7684 \u3002   Low   \u4f1a \u7981\u7528 \u6240\u6709 \u5904\u7406 \u540e\u5904\u7406 \u548c \u9634\u5f71 \uff0c \u5e76\u4e14 \u7ed8\u56fe \u8ddd\u79bb \u8bbe\u7f6e \u4e3a   50m   \u800c \u4e0d\u662f \u65e0\u9650 \u3002   \u4eff\u771f \u5728   Low   \u6a21\u5f0f \u4e0b \u8fd0\u884c \u901f\u5ea6 \u660e\u663e \u66f4 \u5feb \u3002 \u8fd9 \u5728 \u5b58\u5728 \u6280\u672f \u9650\u5236 \u3001 \u7cbe\u5ea6 \u4e0d \u91cd\u8981 \u7684 \u60c5\u51b5 \u4e0b \u6216\u8005 \u5728 \u5177\u6709 \u66f4 \u7b80\u5355 \u6570\u636e \u6216\u4ec5 \u6d89\u53ca \u63a5\u8fd1 \u5143\u7d20 \u7684 \u6761\u4ef6 \u4e0b \u8bad\u7ec3 \u4ee3\u7406 \u7684 \u60c5\u51b5 \u4e0b \u5f88 \u6709 \u5e2e\u52a9 \u3002   \u4e0b\u56fe \u6bd4\u8f83 \u4e86 \u4e24\u79cd \u6a21\u5f0f \u3002 Windows   \u548c   Linux   \u6240 \u4f7f\u7528 \u7684 \u6807\u5fd7 \u662f \u76f8\u540c \u7684 \u3002 \u4f7f\u7528 \u6784\u5efa \u65f6 \u6ca1\u6709 \u7b49\u6548 \u9009\u9879 \uff0c \u4f46 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u6709 \u81ea\u5df1 \u7684 \u8d28\u91cf \u8bbe\u7f6e \u3002 \u8bbf\u95ee   Settings / Engine   Scalability   Settings   \u4ee5 \u83b7\u5f97 \u6240 \u9700 \u8d28\u91cf \u7684 \u66f4 \u5927 \u5b9a\u5236 \u3002","title":"\u8d28\u91cf \u7b49\u7ea7  "},{"location":"adv_rendering_options/#_4","text":". / CarlaUE4 . sh   - quality - level = Epic   \u53f2\u8bd7 \u6a21\u5f0f \u622a\u56fe","title":"\u53f2\u8bd7 \u6a21\u5f0f"},{"location":"adv_rendering_options/#_5","text":". / CarlaUE4 . sh   - quality - level = Low   \u4f4e\u8d28 \u8d28\u91cf \u4f4e\u8d28\u91cf \u6a21\u5f0f \u622a\u56fe   \u91cd\u8981   \u5bfc\u81f4 \u53f2\u8bd7 \u6a21\u5f0f \u663e\u793a \u5f02\u5e38 \u767d\u5ea6 \u7684 \u95ee\u9898 \u5df2 \u5f97\u5230 \u4fee\u590d \u3002 \u5982\u679c \u95ee\u9898 \u4ecd\u7136 \u5b58\u5728 \uff0c \u8bf7 \u5220\u9664   GameUserSettings . ini   \u3002 \u5b83 \u6b63\u5728 \u4fdd\u5b58 \u4ee5\u524d \u7684 \u8bbe\u7f6e \uff0c \u5e76 \u5c06 \u5728 \u4e0b\u6b21 \u8fd0\u884c \u65f6 \u518d\u6b21 \u751f\u6210 \u3002   Ubuntu   \u8def\u5f84 \uff1a   ~ / . config / Epic / CarlaUE4 / Saved / Config / LinuxNoEditor /   Windows   \u8def\u5f84 \uff1a   < Package   folder > \\ WindowsNoEditor \\ CarlaUE4 \\ Saved \\ Config \\ WindowsNoEditor \\","title":"\u4f4e\u8d28\u91cf \u6a21\u5f0f"},{"location":"adv_rendering_options/#_6","text":"\u6b64 \u6a21\u5f0f \u7981\u7528 \u6e32\u67d3 \u3002 \u865a\u5e7b \u5f15\u64ce \u5c06 \u8df3 \u8fc7 \u6709\u5173 \u56fe\u5f62 \u7684 \u6240\u6709 \u5185\u5bb9 \u3002 \u6b64 \u6a21\u5f0f \u53ef \u9632\u6b62 \u6e32\u67d3 \u5f00\u9500 \u3002 \u5b83 \u6709\u5229 \u5229\u4e8e \u6709\u5229\u4e8e \u5927\u91cf \u4ea4\u901a \u4eff\u771f \u548c \u975e\u5e38 \u9ad8\u9891 \u9891\u7387 \u9ad8\u9891\u7387 \u7684 \u9053\u8def \u884c\u4e3a \u3002 \u8981 \u542f\u7528 \u6216 \u7981\u7528 \u65e0 \u6e32\u67d3 \u6a21\u5f0f \uff0c \u8bf7 \u66f4\u6539 \u4e16\u754c \u8bbe\u7f6e \uff0c \u6216 \u4f7f\u7528   / PythonAPI / util / config . py   \u3002   \u4ee5\u4e0b \u662f \u5982\u4f55 \u901a\u8fc7 \u811a\u672c \u542f\u7528 \u548c \u7981\u7528 \u5b83 \u7684 \u793a\u4f8b \uff1a   settings   =   world . get _ settings ( )   settings . no _ rendering _ mode   =   True   world . apply _ settings ( settings )   ...   settings . no _ rendering _ mode   =   False   world . apply _ settings ( settings )   \u8981 \u901a\u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u7981\u7528 \u548c \u542f\u7528 \u6e32\u67d3 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cd   PythonAPI / util   &&   python3   config . py   -- no - rendering   cd   PythonAPI / util   &&   python3   config . py   -- rendering   \u811a\u672c   PythonAPI / examples / no _ rendering _ mode . py   \u5c06 \u542f\u7528 \u65e0 \u6e32\u67d3 \u6a21\u5f0f \uff0c \u670d\u52a1 \u670d\u52a1\u7aef \u7a97\u53e3 \u4f1a \u8fdb\u5165 \u9ed1\u5c4f \uff0c \u4f46\u662f \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef pygame \u4f9d\u7136 \u4f1a \u6e32\u67d3 \u3002 \u5e76 \u4f7f\u7528 \u7b80\u5355 \u56fe\u5f62 \u5229\u7528   pygame   \u521b\u5efa \u9e1f\u77b0 \u9e1f\u77b0\u56fe \uff1a   cd   PythonAPI / examples   &&   python3   no _ rendering _ mode . py   \u670d\u52a1 \u670d\u52a1\u7aef \u4e0d \u6e32\u67d3 \uff0c \u9ed1\u5c4f   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c pygame \u4f9d\u7136 \u4f1a \u6e32\u67d3 \uff0c pygame \u4e5f \u9700\u8981 \u4f7f\u7528 no - render \u8bbe\u7f6e   \u7b14\u8bb0   \u5728 \u65e0 \u6e32\u67d3 \u6a21\u5f0f \u4e0b \uff0c \u76f8\u673a \u548c   GPU   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u8fd4\u56de \u7a7a \u6570\u636e \u3002 \u4e0d \u4f7f\u7528   GPU \u3002 \u865a\u5e7b \u5f15\u64ce \u672a \u7ed8\u5236 \u4efb\u4f55 \u573a\u666f \u3002","title":"\u65e0 \u6e32\u67d3 \u6a21\u5f0f  "},{"location":"adv_rendering_options/#_7","text":"\u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u5728 \u865a\u5e7b \u5f15\u64ce   4.26   \u4e0a \u8fd0\u884c \uff0c \u8be5 \u5f15\u64ce \u5f15\u5165 \u4e86 \u5bf9 \u79bb\u5c4f \u6e32\u67d3 \u7684 \u652f\u6301 \u3002 \u5728   Carla   \u7684 \u65e9\u671f \u7248\u672c \u4e2d \uff0c \u79bb\u5c4f \u6e32\u67d3 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4f7f\u7528 \u7684 \u56fe\u5f62   API \u3002","title":"\u79bb\u5c4f \u6a21\u5f0f  "},{"location":"adv_rendering_options/#_8","text":"\u4e86\u89e3 \u65e0 \u6e32\u67d3 \u6a21\u5f0f (   no - rendering   mode   ) \u548c \u79bb\u5c4f \u6a21\u5f0f (   off - screen   mode   ) \u4e4b\u95f4 \u7684 \u533a\u522b \u5f88 \u91cd\u8981 \uff1a   \u65e0 \u6e32\u67d3 \u6a21\u5f0f \uff1a   \u865a\u5e7b \u5f15\u64ce \u4e0d \u6e32\u67d3 \u4efb\u4f55 \u5185\u5bb9 \u3002 \u56fe\u5f62 \u4e0d \u88ab \u8ba1\u7b97 \u3002 \u57fa\u4e8e   GPU   \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fd4\u56de \u7a7a \u6570\u636e \u3002   \u79bb\u5c4f \u6a21\u5f0f \uff1a   \u865a\u5e7b \u5f15\u64ce \u6b63\u5e38 \u5de5\u4f5c \uff0c \u8ba1\u7b97 \u6e32\u67d3 \uff0c \u4f46 \u6ca1\u6709 \u53ef\u7528 \u7684 \u663e\u793a \u3002 \u57fa\u4e8e   GPU   \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fd4\u56de \u6570\u636e \u3002","title":"\u79bb\u5c4f \u4e0e \u65e0 \u6e32\u67d3  "},{"location":"adv_rendering_options/#0912","text":"\u8981 \u5728 \u79bb\u5c4f \u6a21\u5f0f \u4e0b \u542f\u52a8   Carla \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   . / CarlaUE4 . sh   - RenderOffScreen","title":"\u8bbe\u7f6e \u79bb\u5c4f \u6a21\u5f0f \uff08 \u7248\u672c 0.9 . 12 + \uff09  "},{"location":"adv_rendering_options/#0912_1","text":"\u5982\u679c \u60a8 \u4f7f\u7528   OpenGL   \u6216   Vulkan \uff0c \u5219 \u4f7f\u7528 \u79bb\u5c4f \u6a21\u5f0f \u4f1a \u6709\u6240 \u4e0d\u540c \u6709\u6240\u4e0d\u540c \u3002   \u4f7f\u7528   OpenGL   \uff0c \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u5728   Linux   \u4e2d\u4ee5 \u79bb\u5c4f \u6a21\u5f0f \u8fd0\u884c \uff1a   #   Linux   DISPLAY =   . / CarlaUE4 . sh   - opengl   Vulkan   \u9700\u8981 \u989d\u5916 \u7684 \u6b65\u9aa4 \uff0c \u56e0\u4e3a \u5b83 \u9700\u8981 \u4f7f\u7528   X11   \u7f51\u7edc \u534f\u8bae \u7f51\u7edc\u534f\u8bae \u4e0e \u663e\u793a   X   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u624d\u80fd \u6b63\u5e38 \u5de5\u4f5c \u3002 \u4ee5\u4e0b \u6b65\u9aa4 \u5c06 \u6307\u5bfc \u60a8 \u5982\u4f55 \u8bbe\u7f6e \u6ca1\u6709 \u663e\u793a \u663e\u793a\u5c4f \u7684   Ubuntu   18.04   \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \uff0c \u4ee5\u4fbf   Carla   \u53ef\u4ee5 \u4e0e   Vulkan   \u4e00\u8d77 \u8fd0\u884c \u3002   1 .   \u83b7\u53d6 \u6700\u65b0 \u7684   NVIDIA   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \uff1a   wget   http : / / download . nvidia . com / XFree86 / Linux - x86 _ 64 / 450.57 / NVIDIA - Linux - x86 _ 64 - 450.57 . run   2 .   \u5b89\u88c5 \u9a71\u52a8 \uff1a   sudo   / bin / bash   NVIDIA - Linux - x86 _ 64 - 450.57 . run   -- accept - license   -- no - questions   -- ui = none   3 .   \u5b89\u88c5   xserver   \u76f8\u5173 \u4f9d\u8d56 \uff1a   sudo   apt - get   install   - y   xserver - xorg   mesa - utils   libvulkan1   4 .   \u914d\u7f6e   xserver \uff1a   sudo   nvidia - xconfig   -- preserve - busid   - a   -- virtual = 1280x1024   5 .   \u8bbe\u7f6e   SDL _ VIDEODRIVER   \u53d8\u91cf \u3002   ENV   SDL _ VIDEODRIVER = x11   6 .   \u8fd0\u884c   xserver \uff1a   sudo   X   : 0   &   7 .   \u8fd0\u884c   Carla \uff1a   DISPLAY = : 0 . GPU   . / CarlaUE4 . sh   - vulkan   Carla   \u5728   \u8fd9\u91cc   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u6267\u884c \u4e0a\u8ff0 \u6240\u6709 \u6b65\u9aa4 \u7684   Dockerfile   \u3002","title":"\u8bbe\u7f6e \u79bb\u5c4f \u6a21\u5f0f \uff08 0.9 . 12 \u4e4b\u524d \u7684 \u7248\u672c \uff09  "},{"location":"adv_rendering_options/#_9","text":"\u800c \u53e6 \u4e00\u79cd \u5728   Carla   \u5b98\u65b9 \u6587\u6863 \u4e2d\u672a \u88ab \u63d0\u53ca \u7684 \u65b9\u5f0f \u5c31\u662f   -- nullrhi   \u3002 \u5728 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u56fe\u5f62 \u5f62\u5b66 \u56fe\u5f62\u5b66 \u4e2d \uff0c RHI \uff08 Rendering   Hardware   Interface \uff09 \u662f \u4e00\u79cd \u786c\u4ef6 \u62bd\u8c61 \u5c42 \uff0c \u7528\u4e8e \u5c01\u88c5 \u4e0d\u540c \u56fe\u5f62 \u786c\u4ef6 \uff08 GPU \uff09 \u7684 \u5e95\u5c42 \u7ec6\u8282 \uff0c \u4f7f\u5f97 \u56fe\u5f62 \u6e32\u67d3 \u5f15\u64ce \u53ef\u4ee5 \u4e0e \u5404\u79cd \u4e0d\u540c \u7c7b\u578b \u7684 \u786c\u4ef6 \u534f\u540c \u540c\u5de5 \u5de5\u4f5c \u534f\u540c\u5de5\u4f5c \u3002 RHI   \u8d1f\u8d23 \u7ba1\u7406 \u8d1f\u8d23\u7ba1\u7406 \u56fe\u5f62 \u8d44\u6e90 \u3001 \u6267\u884c \u6e32\u67d3 \u547d\u4ee4 \u7b49 \u5e95\u5c42 \u64cd\u4f5c \uff0c \u4f7f\u5f97 \u5f00\u53d1 \u5f00\u53d1\u8005 \u53ef\u4ee5 \u7f16\u5199 \u4e0e \u5177\u4f53 \u786c\u4ef6 \u65e0\u5173 \u7684 \u56fe\u5f62 \u6e32\u67d3 \u4ee3\u7801 \u3002   \u800c \u865a\u5e7b \u5f15\u64ce \u4e2d \u7684   -- nullrhi   \u53c2\u6570 \u5219 \u662f \u4e00\u79cd \u7279\u6b8a \u7684 \u6a21\u5f0f \uff0c \u8868\u793a \u4f7f\u7528   Null   Rendering   Hardware   Interface \uff0c \u5373\u7a7a \u6e32\u67d3 \u786c\u4ef6 \u63a5\u53e3 \u3002 \u5728 \u8fd9\u79cd \u6a21\u5f0f \u4e0b \uff0c Carla   \u5c06 \u4e0d\u4f1a \u6267\u884c \u5b9e\u9645 \u7684 \u56fe\u5f62 \u6e32\u67d3 \u64cd\u4f5c \uff0c \u4ece\u800c \u51cf\u8f7b \u4e86 \u4e0e \u56fe\u5f62 \u76f8\u5173 \u7684 \u8ba1\u7b97 \u8d1f\u62c5 \u3002 \u8fd9 \u5bf9\u4e8e \u4e00\u4e9b \u7279\u6b8a \u7684 \u4eff\u771f \u573a\u666f \uff0c \u6bd4\u5982 \u9700\u8981 \u5728 \u540e\u53f0 \u8fd0\u884c \u4eff\u771f \u6216 \u8fdb\u884c \u6027\u80fd \u6d4b\u8bd5 \u65f6 \uff0c \u662f \u975e\u5e38 \u6709\u7528 \u7684 \u3002   \u4f7f\u7528   -- nullrhi   \u53c2\u6570 \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd0\u884c   manual _ control . py   \u65f6   pygame   \u9ed1\u5c4f \u3002 nullrhi   \u53ea \u9002\u7528 \u4e8e \u591a   GPU   \u6a21\u5f0f \uff0c \u53ef\u4ee5 \u53ea\u6709 \u4e00\u4e2a   GPU   \u8fdb\u884c \u6e32\u67d3 \uff0c \u800c \u5176\u4ed6   GPU   \u4f7f\u7528   nullrhi   \u4e0d \u8fdb\u884c \u6e32\u67d3 \u3002   \u4e0e \u6b64 \u4e3b\u9898 \u76f8\u5173 \u7684 \u4efb\u4f55 \u95ee\u9898 \u6216 \u7591\u95ee \u90fd \u53ef\u4ee5 \u5728   Carla   \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"\u7a7a \u6e32\u67d3 \u786c\u4ef6 \u63a5\u53e3  "},{"location":"adv_rss/","text":"\u8d23\u4efb \u654f\u611f \u5b89\u5168   Carla   \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93\u4e2d \u96c6\u6210 \u4e86   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u7684   C++   \u5e93   \u3002 \u6b64 \u529f\u80fd \u5141\u8bb8 \u7528\u6237 \u8c03\u67e5 \u8d23\u4efb \u654f\u611f \u5b89\u5168 ( Responsibility   Sensitive   Safety ,   RSS ) \u7684 \u884c\u4e3a \uff0c \u800c \u65e0\u9700 \u6267\u884c \u4efb\u4f55 \u64cd\u4f5c \u3002 Carla   \u5c06 \u8d1f\u8d23 \u63d0\u4f9b \u8f93\u5165 \uff0c \u5e76 \u5c06 \u8f93\u51fa \u52a8\u6001 \u5e94\u7528 \u5230 \u81ea\u52a8 \u9a7e\u9a76 ( Autonomous   Driving ,   AD )   \u7cfb\u7edf \u3002   \u6982\u8ff0   \u7f16\u8bd1   \u4f9d\u8d56   \u6784\u5efa   \u5f53\u524d \u72b6\u6001   RssSensor   RssRestrictor   \u91cd\u8981   \u6b64 \u529f\u80fd \u6b63\u5728 \u5f00\u53d1 \u4e2d \u3002 \u76ee\u524d \uff0c \u5b83 \u4ec5 \u9002\u7528 \u4e8e   Linux   \u7248\u672c \u3002   \u6982\u8ff0   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5e93 \u5b9e\u73b0 \u4e86 \u5b89\u5168 \u4fdd\u8bc1 \u7684 \u6570\u5b66 \u6a21\u578b \u6570\u5b66\u6a21\u578b \u3002 \u5b83 \u63a5\u6536 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4fe1\u606f \uff0c \u5e76 \u5411 \u8f66\u8f86 \u63a7\u5236 \u63a7\u5236\u5668 \u63d0\u4f9b \u9650\u5236 \u3002 \u7efc\u4e0a \u6240\u8ff0 \u7efc\u4e0a\u6240\u8ff0 \uff0c \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u6a21\u5757 \u4f7f\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u6765 \u5b9a\u4e49   \u60c5\u51b5   \u3002 \u60c5\u5883 \u63cf\u8ff0 \u4e86 \u81ea\u6211 \u8f66\u8f86 \u4e0e \u73af\u5883 \u5143\u7d20 \u7684 \u72b6\u6001 \u3002 \u5bf9\u4e8e \u6bcf\u79cd \u60c5\u51b5 \uff0c \u90fd \u4f1a \u8fdb\u884c \u5b89\u5168 \u68c0\u67e5 \u5b89\u5168\u68c0\u67e5 \uff0c \u5e76 \u8ba1\u7b97 \u9002\u5f53 \u7684 \u54cd\u5e94 \u3002 \u603b\u4f53 \u54cd\u5e94 \u662f \u6240\u6709 \u54cd\u5e94 \u7684 \u7efc\u5408 \u7ed3\u679c \u3002 \u6709\u5173 \u8be5\u5e93 \u7684 \u5177\u4f53 \u4fe1\u606f \uff0c \u8bf7 \u9605\u8bfb   \u6587\u6863   \uff0c \u5c24\u5176 \u662f   \u80cc\u666f \u90e8\u5206   \u3002   \u8fd9 \u662f \u5728   Carla   \u4e2d \u4f7f\u7528 \u4e24\u4e2a \u5143\u7d20 \u5b9e\u73b0 \u7684 \u3002   RssSensor   \u8d1f\u8d23 \u60c5\u51b5 \u5206\u6790 \uff0c \u5e76 \u4f7f\u7528   ad - rss - lib   \u751f\u6210 \u54cd\u5e94 \u3002   RssRestrictor   \u901a\u8fc7 \u9650\u5236 \u8f66\u8f86 \u7684 \u547d\u4ee4 \u6765 \u5e94\u7528 \u54cd\u5e94 \u3002   \u4e0b\u56fe \u63cf\u7ed8 \u4e86   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u4e0e   Carla   \u67b6\u6784 \u7684 \u96c6\u6210 \u3002   1 .   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u5c06 \u76f8\u673a \u56fe\u50cf \u53d1\u9001 \u9001\u7ed9 \u53d1\u9001\u7ed9 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   \uff08 \u4ec5\u5f53 \u5ba2\u6237 \u9700\u8981 \u53ef\u89c6 \u53ef\u89c6\u5316 \u65f6 \uff09 \u3002   \u4e3a   RssSensor   \u63d0\u4f9b \u4e16\u754c \u6570\u636e \u3002   \u5c06 \u8f66\u8f86 \u7684 \u7269\u7406 \u6a21\u578b \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   RssRestrictor \u3002   \uff08 \u4ec5\u5f53 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u88ab \u8986\u76d6 \u65f6 \uff09 \u3002   2 .   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u4e3a   RssSensor   \u63d0\u4f9b \u4e00\u4e9b \u9700\u8981 \u8003\u8651 \u7684   \u53c2\u6570   \u3002   \u5411   RssResrictor   \u53d1\u9001 \u521d\u59cb   carla . VehicleControl   .   3 .   RssSensor   \u4f7f\u7528   ad - rss - lib   \u63d0\u53d6 \u60c5\u5883 \u3001 \u6267\u884c \u5b89\u5168 \u68c0\u67e5 \u5b89\u5168\u68c0\u67e5 \u5e76 \u751f\u6210 \u54cd\u5e94 \u3002   \u5411   RssRestrictor   \u53d1\u9001 \u5305\u542b \u6b63\u786e \u54cd\u5e94 \u548c \u8981 \u5e94\u7528 \u7684 \u52a0\u901f \u9650\u5236 \u7684 \u54cd\u5e94 \u3002   4 .   RssRestrictor   \u5982\u679c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bf7\u6c42 \uff0c \u5219 \u5c06 \u54cd\u5e94 \u5e94\u7528 \u4e8e   carla . VehicleControl   \uff0c \u5e76 \u8fd4\u56de \u7ed3\u679c \u3002   \u7ed3\u679c \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u7f16\u8bd1   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u96c6\u6210 \u5fc5\u987b \u4e0e   Carla   \u7684 \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \u5206\u5f00 \u6784\u5efa \u3002   ad - rss - lib   \u9644\u5e26   LGPL - 2.1   \u5f00\u6e90 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \uff0c \u8fd9\u4f1a \u4ea7\u751f \u51b2\u7a81 \u3002 \u5b83 \u5fc5\u987b \u9759\u6001 \u94fe\u63a5 \u5230   libCarla   \u3002   \u63d0\u9192 \u4e00\u4e0b \uff0c \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u8be5 \u529f\u80fd \u4ec5 \u9002\u7528 \u4e8e   Linux   \u7248\u672c \u3002   \u4f9d\u8d56   \u6784\u5efa   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u53ca\u5176 \u4f9d\u8d56 \u9879 \u8fd8 \u9700\u8981 \u5176\u4ed6 \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6 \u3002 \u67e5\u770b   \u5b98\u65b9 \u6587\u6863   \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   Ubunutu   ( > =   16.04 )   \u63d0\u4f9b \u7684 \u4f9d\u8d56 \u9879 \u3002   sudo   apt - get   install   libgtest - dev   libpython - dev   libpugixml - dev   libtbb - dev   \u4f9d\u8d56 \u9879\u662f \u4f7f\u7528   colcon   \u6784\u5efa \u7684 \uff0c \u56e0\u6b64 \u5fc5\u987b \u5b89\u88c5 \u5b83 \u3002   pip3   install   -- user   - U   colcon - common - extensions   Python   \u7ed1\u5b9a \u8fd8\u6709 \u4e00\u4e9b \u989d\u5916 \u7684 \u4f9d\u8d56 \u9879 \u3002   sudo   apt - get   install   castxml   pip3   install   -- user   pygccxml   pyplusplus   \u6784\u5efa   \u5b8c\u6210 \u6b64 \u64cd\u4f5c \u540e \uff0c \u5373\u53ef \u6784\u5efa \u5b8c\u6574 \u7684 \u4f9d\u8d56 \u9879 \u548c   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u7ec4\u4ef6 \u96c6 \u3002   \u7f16\u8bd1   LibCarla   \u4ee5 \u4f7f\u7528   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u3002   make   LibCarla . client . rss   \u7f16\u8bd1   PythonAPI   \u4ee5 \u5305\u542b   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u529f\u80fd \u3002   make   PythonAPI . rss   \u4f5c\u4e3a \u66ff\u4ee3 \u65b9\u6848 \uff0c \u53ef\u4ee5 \u76f4\u63a5 \u6784\u5efa \u5305 \u3002   make   package . rss   \u5f53\u524d \u72b6\u6001   RssSensor   carla . RssSensor   \u5b8c\u5168 \u652f\u6301   ad - rss - lib   v4.2 . 0   \u529f\u80fd \u529f\u80fd\u96c6   \uff0c \u5305\u62ec \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u3001   stay   on   road   \u652f\u6301 \u548c   \u975e \u7ed3\u6784 \u7ed3\u6784\u5316 \u7684   constellations \uff08 \u6bd4\u5982 \uff1a \u884c\u4eba \uff09   \u3002   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u63d0\u4f9b \u4e86 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u7684 \u771f\u5b9e \u6570\u636e \uff0c \u5305\u62ec \u5176\u4ed6 \u4ea4\u901a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u72b6\u6001 \u3002   RssRestrictor   \u5f53 \u5ba2\u6237 \u4f46 \u8c03\u7528 \u65f6 \uff0c   carla . RssRestrictor   \u5c06 \u4fee\u6539 \u8f66\u8f86 \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u4ee5 \u901a\u8fc7 \u7ed9\u5b9a \u7684 \u54cd\u5e94 \u6700\u597d \u5730 \u8fbe\u5230 \u6240 \u9700 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u6216 \u51cf \u901f\u5ea6 \u3002   \u7531\u4e8e   carla . VehicleControl   \u5bf9\u8c61 \u7684 \u7ed3\u6784 \uff0c \u6240 \u5e94\u7528 \u7684 \u9650\u5236 \u5177\u6709 \u4e00\u5b9a \u7684 \u5c40\u9650 \u9650\u6027 \u5c40\u9650\u6027 \u3002 \u8fd9\u4e9b \u63a7\u5236 \u63a7\u5236\u5668 \u5305\u62ec \u6cb9\u95e8 (   throttle   ) \u3001 \u5239\u8f66 (   brake   ) \u548c \u65b9\u5411 \u65b9\u5411\u76d8 (   streering   ) \u503c \u3002 \u7136\u800c \uff0c \u7531\u4e8e \u6c7d\u8f66 \u7269\u7406 \u539f\u7406 \u548c \u7b80\u5355 \u7684 \u63a7\u5236 \u9009\u9879 \uff0c \u8fd9\u4e9b \u53ef\u80fd \u65e0\u6cd5 \u6ee1\u8db3 \u3002 \u53ea \u9700 \u901a\u8fc7 \u671d\u5e73 \u884c\u8f66 \u8f66\u9053 \u884c\u8f66\u9053 \u65b9\u5411 \u53cd\u5411 \u8f6c\u5411 \u5373\u53ef \u5728 \u6a2a\u5411 \u65b9\u5411 \u8fdb\u884c \u9650\u5236 \u5e72\u9884 \u3002 \u5982\u679c   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u8bf7\u6c42 \u51cf\u901f \uff0c \u5236\u52a8 \u5236\u52a8\u5668 \u5c06 \u88ab \u6fc0\u6d3b \u3002 \u8fd9 \u53d6\u51b3 \u53d6\u51b3\u4e8e   carla . Vehicle   \u63d0\u4f9b \u7684 \u8f66\u8f86 \u8d28\u91cf \u548c \u5236\u52a8 \u626d\u77e9 \u3002   \u7b14\u8bb0   \u5728 \u81ea\u52a8 \u8f66\u8f86 \u63a7\u5236 \u63a7\u5236\u5668 \u4e2d \uff0c \u53ef\u4ee5 \u4f7f \u8ba1\u5212 \u7684 \u8f68\u8ff9 \u9002\u5e94 \u9650\u5236 \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u5feb\u901f \u63a7\u5236 \u73af\u8def \uff08 > 1KHz \uff09 \u6765 \u786e\u4fdd \u9075\u5faa \u8fd9\u4e9b \u8981\u6c42 \u3002   \u8fd9 \u5960\u5b9a \u4e86   Carla   \u4e2d   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6 \u3002 \u5728   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u4e2d \u67e5\u627e \u6709\u5173 \u7279\u5b9a \u5c5e\u6027 \u548c \u53c2\u6570 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u6253\u5f00   Carla   \u5e76 \u95f2\u901b \u4e00\u4f1a \u4f1a\u513f \u4e00\u4f1a\u513f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"Adv   rss"},{"location":"adv_rss/#_1","text":"Carla   \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93\u4e2d \u96c6\u6210 \u4e86   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u7684   C++   \u5e93   \u3002 \u6b64 \u529f\u80fd \u5141\u8bb8 \u7528\u6237 \u8c03\u67e5 \u8d23\u4efb \u654f\u611f \u5b89\u5168 ( Responsibility   Sensitive   Safety ,   RSS ) \u7684 \u884c\u4e3a \uff0c \u800c \u65e0\u9700 \u6267\u884c \u4efb\u4f55 \u64cd\u4f5c \u3002 Carla   \u5c06 \u8d1f\u8d23 \u63d0\u4f9b \u8f93\u5165 \uff0c \u5e76 \u5c06 \u8f93\u51fa \u52a8\u6001 \u5e94\u7528 \u5230 \u81ea\u52a8 \u9a7e\u9a76 ( Autonomous   Driving ,   AD )   \u7cfb\u7edf \u3002   \u6982\u8ff0   \u7f16\u8bd1   \u4f9d\u8d56   \u6784\u5efa   \u5f53\u524d \u72b6\u6001   RssSensor   RssRestrictor   \u91cd\u8981   \u6b64 \u529f\u80fd \u6b63\u5728 \u5f00\u53d1 \u4e2d \u3002 \u76ee\u524d \uff0c \u5b83 \u4ec5 \u9002\u7528 \u4e8e   Linux   \u7248\u672c \u3002","title":"\u8d23\u4efb \u654f\u611f \u5b89\u5168"},{"location":"adv_rss/#_2","text":"\u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5e93 \u5b9e\u73b0 \u4e86 \u5b89\u5168 \u4fdd\u8bc1 \u7684 \u6570\u5b66 \u6a21\u578b \u6570\u5b66\u6a21\u578b \u3002 \u5b83 \u63a5\u6536 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4fe1\u606f \uff0c \u5e76 \u5411 \u8f66\u8f86 \u63a7\u5236 \u63a7\u5236\u5668 \u63d0\u4f9b \u9650\u5236 \u3002 \u7efc\u4e0a \u6240\u8ff0 \u7efc\u4e0a\u6240\u8ff0 \uff0c \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u6a21\u5757 \u4f7f\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u6765 \u5b9a\u4e49   \u60c5\u51b5   \u3002 \u60c5\u5883 \u63cf\u8ff0 \u4e86 \u81ea\u6211 \u8f66\u8f86 \u4e0e \u73af\u5883 \u5143\u7d20 \u7684 \u72b6\u6001 \u3002 \u5bf9\u4e8e \u6bcf\u79cd \u60c5\u51b5 \uff0c \u90fd \u4f1a \u8fdb\u884c \u5b89\u5168 \u68c0\u67e5 \u5b89\u5168\u68c0\u67e5 \uff0c \u5e76 \u8ba1\u7b97 \u9002\u5f53 \u7684 \u54cd\u5e94 \u3002 \u603b\u4f53 \u54cd\u5e94 \u662f \u6240\u6709 \u54cd\u5e94 \u7684 \u7efc\u5408 \u7ed3\u679c \u3002 \u6709\u5173 \u8be5\u5e93 \u7684 \u5177\u4f53 \u4fe1\u606f \uff0c \u8bf7 \u9605\u8bfb   \u6587\u6863   \uff0c \u5c24\u5176 \u662f   \u80cc\u666f \u90e8\u5206   \u3002   \u8fd9 \u662f \u5728   Carla   \u4e2d \u4f7f\u7528 \u4e24\u4e2a \u5143\u7d20 \u5b9e\u73b0 \u7684 \u3002   RssSensor   \u8d1f\u8d23 \u60c5\u51b5 \u5206\u6790 \uff0c \u5e76 \u4f7f\u7528   ad - rss - lib   \u751f\u6210 \u54cd\u5e94 \u3002   RssRestrictor   \u901a\u8fc7 \u9650\u5236 \u8f66\u8f86 \u7684 \u547d\u4ee4 \u6765 \u5e94\u7528 \u54cd\u5e94 \u3002   \u4e0b\u56fe \u63cf\u7ed8 \u4e86   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u4e0e   Carla   \u67b6\u6784 \u7684 \u96c6\u6210 \u3002   1 .   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u5c06 \u76f8\u673a \u56fe\u50cf \u53d1\u9001 \u9001\u7ed9 \u53d1\u9001\u7ed9 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   \uff08 \u4ec5\u5f53 \u5ba2\u6237 \u9700\u8981 \u53ef\u89c6 \u53ef\u89c6\u5316 \u65f6 \uff09 \u3002   \u4e3a   RssSensor   \u63d0\u4f9b \u4e16\u754c \u6570\u636e \u3002   \u5c06 \u8f66\u8f86 \u7684 \u7269\u7406 \u6a21\u578b \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   RssRestrictor \u3002   \uff08 \u4ec5\u5f53 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u88ab \u8986\u76d6 \u65f6 \uff09 \u3002   2 .   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u4e3a   RssSensor   \u63d0\u4f9b \u4e00\u4e9b \u9700\u8981 \u8003\u8651 \u7684   \u53c2\u6570   \u3002   \u5411   RssResrictor   \u53d1\u9001 \u521d\u59cb   carla . VehicleControl   .   3 .   RssSensor   \u4f7f\u7528   ad - rss - lib   \u63d0\u53d6 \u60c5\u5883 \u3001 \u6267\u884c \u5b89\u5168 \u68c0\u67e5 \u5b89\u5168\u68c0\u67e5 \u5e76 \u751f\u6210 \u54cd\u5e94 \u3002   \u5411   RssRestrictor   \u53d1\u9001 \u5305\u542b \u6b63\u786e \u54cd\u5e94 \u548c \u8981 \u5e94\u7528 \u7684 \u52a0\u901f \u9650\u5236 \u7684 \u54cd\u5e94 \u3002   4 .   RssRestrictor   \u5982\u679c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bf7\u6c42 \uff0c \u5219 \u5c06 \u54cd\u5e94 \u5e94\u7528 \u4e8e   carla . VehicleControl   \uff0c \u5e76 \u8fd4\u56de \u7ed3\u679c \u3002   \u7ed3\u679c \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002","title":"\u6982\u8ff0  "},{"location":"adv_rss/#_3","text":"\u8d23\u4efb \u654f\u611f \u5b89\u5168   \u96c6\u6210 \u5fc5\u987b \u4e0e   Carla   \u7684 \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \u5206\u5f00 \u6784\u5efa \u3002   ad - rss - lib   \u9644\u5e26   LGPL - 2.1   \u5f00\u6e90 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \uff0c \u8fd9\u4f1a \u4ea7\u751f \u51b2\u7a81 \u3002 \u5b83 \u5fc5\u987b \u9759\u6001 \u94fe\u63a5 \u5230   libCarla   \u3002   \u63d0\u9192 \u4e00\u4e0b \uff0c \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u8be5 \u529f\u80fd \u4ec5 \u9002\u7528 \u4e8e   Linux   \u7248\u672c \u3002","title":"\u7f16\u8bd1  "},{"location":"adv_rss/#_4","text":"\u6784\u5efa   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u53ca\u5176 \u4f9d\u8d56 \u9879 \u8fd8 \u9700\u8981 \u5176\u4ed6 \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6 \u3002 \u67e5\u770b   \u5b98\u65b9 \u6587\u6863   \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   Ubunutu   ( > =   16.04 )   \u63d0\u4f9b \u7684 \u4f9d\u8d56 \u9879 \u3002   sudo   apt - get   install   libgtest - dev   libpython - dev   libpugixml - dev   libtbb - dev   \u4f9d\u8d56 \u9879\u662f \u4f7f\u7528   colcon   \u6784\u5efa \u7684 \uff0c \u56e0\u6b64 \u5fc5\u987b \u5b89\u88c5 \u5b83 \u3002   pip3   install   -- user   - U   colcon - common - extensions   Python   \u7ed1\u5b9a \u8fd8\u6709 \u4e00\u4e9b \u989d\u5916 \u7684 \u4f9d\u8d56 \u9879 \u3002   sudo   apt - get   install   castxml   pip3   install   -- user   pygccxml   pyplusplus","title":"\u4f9d\u8d56  "},{"location":"adv_rss/#_5","text":"\u5b8c\u6210 \u6b64 \u64cd\u4f5c \u540e \uff0c \u5373\u53ef \u6784\u5efa \u5b8c\u6574 \u7684 \u4f9d\u8d56 \u9879 \u548c   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u7ec4\u4ef6 \u96c6 \u3002   \u7f16\u8bd1   LibCarla   \u4ee5 \u4f7f\u7528   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u3002   make   LibCarla . client . rss   \u7f16\u8bd1   PythonAPI   \u4ee5 \u5305\u542b   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u529f\u80fd \u3002   make   PythonAPI . rss   \u4f5c\u4e3a \u66ff\u4ee3 \u65b9\u6848 \uff0c \u53ef\u4ee5 \u76f4\u63a5 \u6784\u5efa \u5305 \u3002   make   package . rss","title":"\u6784\u5efa  "},{"location":"adv_rss/#_6","text":"","title":"\u5f53\u524d \u72b6\u6001  "},{"location":"adv_rss/#rsssensor","text":"carla . RssSensor   \u5b8c\u5168 \u652f\u6301   ad - rss - lib   v4.2 . 0   \u529f\u80fd \u529f\u80fd\u96c6   \uff0c \u5305\u62ec \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u3001   stay   on   road   \u652f\u6301 \u548c   \u975e \u7ed3\u6784 \u7ed3\u6784\u5316 \u7684   constellations \uff08 \u6bd4\u5982 \uff1a \u884c\u4eba \uff09   \u3002   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u63d0\u4f9b \u4e86 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u7684 \u771f\u5b9e \u6570\u636e \uff0c \u5305\u62ec \u5176\u4ed6 \u4ea4\u901a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u72b6\u6001 \u3002","title":"RssSensor  "},{"location":"adv_rss/#rssrestrictor","text":"\u5f53 \u5ba2\u6237 \u4f46 \u8c03\u7528 \u65f6 \uff0c   carla . RssRestrictor   \u5c06 \u4fee\u6539 \u8f66\u8f86 \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u4ee5 \u901a\u8fc7 \u7ed9\u5b9a \u7684 \u54cd\u5e94 \u6700\u597d \u5730 \u8fbe\u5230 \u6240 \u9700 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u6216 \u51cf \u901f\u5ea6 \u3002   \u7531\u4e8e   carla . VehicleControl   \u5bf9\u8c61 \u7684 \u7ed3\u6784 \uff0c \u6240 \u5e94\u7528 \u7684 \u9650\u5236 \u5177\u6709 \u4e00\u5b9a \u7684 \u5c40\u9650 \u9650\u6027 \u5c40\u9650\u6027 \u3002 \u8fd9\u4e9b \u63a7\u5236 \u63a7\u5236\u5668 \u5305\u62ec \u6cb9\u95e8 (   throttle   ) \u3001 \u5239\u8f66 (   brake   ) \u548c \u65b9\u5411 \u65b9\u5411\u76d8 (   streering   ) \u503c \u3002 \u7136\u800c \uff0c \u7531\u4e8e \u6c7d\u8f66 \u7269\u7406 \u539f\u7406 \u548c \u7b80\u5355 \u7684 \u63a7\u5236 \u9009\u9879 \uff0c \u8fd9\u4e9b \u53ef\u80fd \u65e0\u6cd5 \u6ee1\u8db3 \u3002 \u53ea \u9700 \u901a\u8fc7 \u671d\u5e73 \u884c\u8f66 \u8f66\u9053 \u884c\u8f66\u9053 \u65b9\u5411 \u53cd\u5411 \u8f6c\u5411 \u5373\u53ef \u5728 \u6a2a\u5411 \u65b9\u5411 \u8fdb\u884c \u9650\u5236 \u5e72\u9884 \u3002 \u5982\u679c   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u8bf7\u6c42 \u51cf\u901f \uff0c \u5236\u52a8 \u5236\u52a8\u5668 \u5c06 \u88ab \u6fc0\u6d3b \u3002 \u8fd9 \u53d6\u51b3 \u53d6\u51b3\u4e8e   carla . Vehicle   \u63d0\u4f9b \u7684 \u8f66\u8f86 \u8d28\u91cf \u548c \u5236\u52a8 \u626d\u77e9 \u3002   \u7b14\u8bb0   \u5728 \u81ea\u52a8 \u8f66\u8f86 \u63a7\u5236 \u63a7\u5236\u5668 \u4e2d \uff0c \u53ef\u4ee5 \u4f7f \u8ba1\u5212 \u7684 \u8f68\u8ff9 \u9002\u5e94 \u9650\u5236 \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u5feb\u901f \u63a7\u5236 \u73af\u8def \uff08 > 1KHz \uff09 \u6765 \u786e\u4fdd \u9075\u5faa \u8fd9\u4e9b \u8981\u6c42 \u3002   \u8fd9 \u5960\u5b9a \u4e86   Carla   \u4e2d   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6 \u3002 \u5728   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u4e2d \u67e5\u627e \u6709\u5173 \u7279\u5b9a \u5c5e\u6027 \u548c \u53c2\u6570 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u6253\u5f00   Carla   \u5e76 \u95f2\u901b \u4e00\u4f1a \u4f1a\u513f \u4e00\u4f1a\u513f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"RssRestrictor  "},{"location":"adv_sumo/","text":"\u548c   SUMO   \u8fdb\u884c \u8054\u5408 \u4eff\u771f   Carla   \u4e0e   SUMO   \u5f00\u53d1 \u4e86 \u8054\u5408 \u4eff\u771f \u529f\u80fd \u3002 \u8fd9 \u5141\u8bb8 \u968f\u610f \u5206\u914d \u4efb\u52a1 \u5206\u914d\u4efb\u52a1 \uff0c \u5e76 \u5229\u7528 \u6bcf\u4e2a \u4eff\u771f \u7684 \u529f\u80fd \u6765 \u652f\u6301 \u7528\u6237 \u3002   \u5fc5\u5907 \u6761\u4ef6 \u5fc5\u5907\u6761\u4ef6   \u8fd0\u884c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8054\u5408 \u4eff\u771f   \u521b\u5efa   Carla   vtypes   \u521b\u5efa   SUMO   \u7f51\u7edc   \u8fd0\u884c \u540c\u6b65   \u7531   SUMO   \u63a7\u5236 \u7684   NPC   \u751f\u6210   SUMO   TraCI \u63a5\u53e3 \u6587\u6863   \u5fc5\u5907 \u6761\u4ef6 \u5fc5\u5907\u6761\u4ef6   \u9996\u5148 \uff0c \u9700\u8981   \u5b89\u88c5   SUMO   \u624d\u80fd \u8fd0\u884c \u8054\u5408 \u4eff\u771f \u3002 \u5efa\u8bae \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u800c \u4e0d\u662f \u7b80\u5355 \u5b89\u88c5 \uff0c \u56e0\u4e3a \u6709 \u65b0 \u529f\u80fd \u548c \u4fee\u590d \u53ef\u4ee5 \u6539\u8fdb \u534f\u540c \u4eff\u771f \u3002   \u5b8c\u6210 \u540e \uff0c \u8bbe\u7f6e   SUMO   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u3002   echo   \" export   SUMO _ HOME = / usr / share / sumo \"   > >   ~ / . bashrc   &&   source   ~ / . bashrc   SUMO   \u5df2 \u51c6\u5907 \u597d \u8fd0\u884c \u8054\u5408 \u4eff\u771f \u3002   Co - Simulation / Sumo / examples   \u4e2d\u6709 \u4e00\u4e9b   Town01   ,   Town04   \u548c   Town05   \u7684 \u793a\u4f8b \u3002 \u8fd9\u4e9b \u6587\u4ef6 \u63cf\u8ff0 \u4e86 \u4eff\u771f \u7684 \u914d\u7f6e \uff08 \u4f8b\u5982 \u7f51\u7edc \u3001 \u8def\u7ebf \u3001 \u8f66\u8f86 \u7c7b\u578b ... \uff09 \u3002 \u4f7f\u7528 \u5176\u4e2d \u4e4b\u4e00 \u6765 \u6d4b\u8bd5 \u8054\u5408 \u4eff\u771f \u3002 \u8be5 \u811a\u672c \u6709 \u4e0d\u540c \u7684 \u9009\u9879 \uff0c   \u4e0b\u9762   \u5c06 \u8be6\u7ec6 \u4ecb\u7ecd \u3002 \u73b0\u5728 \uff0c \u8ba9 \u6211\u4eec \u4e3a   Town04   \u8fd0\u884c \u4e00\u4e2a \u7b80\u5355 \u7684 \u793a\u4f8b \u3002   \u4f7f\u7528   Town04   \u8fd0\u884c   Carla   \u4eff\u771f \u3002   cd   ~ / carla   . / CarlaUE4 . sh   cd   PythonAPI / util   python3   config . py   -- map   Town04   \u7136\u540e \uff0c \u8fd0\u884c   SUMO   \u8054\u5408 \u4eff\u771f \u793a\u4f8b \u3002   cd   ~ / carla / Co - Simulation / Sumo   python3   run _ synchronization . py   examples / Town04 . sumocfg   -- sumo - gui   \u7b14\u8bb0   \u8fd0\u884c \u65f6\u5019 \u53ef\u80fd \u62a5\u9519 \uff1a   module   ' traci '   has   no   attribute   ' sumolib '   \uff0c \u56e0\u4e3a \u662f\u56e0\u4e3a   sumolib   \u662f \u72ec\u7acb \u7684 \u5305 \uff0c \u4e0d \u5728   traci   \u91cc\u9762 \uff0c \u9700\u8981 \u628a   carla / Co - Simulation / Sumo / sumo _ integration / sumo _ simulation . py   \u7684 304 \u884c \u7684 \u8fd9 \u4e00\u53e5 \u4ee3   sumo _ net   =   traci . sumolib . net . readNet ( net _ file )   \u7801 \u6539\u6210   sumo _ net   =   sumolib . net . readNet ( net _ file )   \u3002   \u8fd0\u884c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8054\u5408 \u4eff\u771f   \u521b\u5efa   Carla   vtypes   \u4f7f\u7528 \u811a\u672c   Co - Simulation / Sumo / util / create _ sumo _ vtypes . py   \u7528\u6237 \u53ef\u4ee5 \u57fa\u4e8e   Carla   \u84dd \u56fe\u5e93 \u521b\u5efa   vtypes   \uff0c \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e   Carla   \u84dd\u56fe \u3002   -- carla - host   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 127.0 . 0.1 )   \u2014   Carla   \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP \u3002   -- carla - port   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 2000 )   \u2014   \u8981 \u4fa6\u542c \u7684   TCP   \u7aef\u53e3 \u3002   -- output - file   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a carlavtypes . rou . xml )   \u2014   \u751f\u6210 \u7684 \u5305\u542b   vtypes   \u7684 \u6587\u4ef6 \u3002   \u8be5 \u811a\u672c \u4f7f\u7528   data / vtypes . json   \u5b58\u50a8 \u7684 \u4fe1\u606f \u6765 \u521b\u5efa   SUMO   vtypes   \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u901a\u8fc7 \u7f16\u8f91 \u6240\u8ff0 \u6587\u4ef6 \u6765 \u4fee\u6539 \u3002   \u7b14\u8bb0   \u5fc5\u987b \u8fd0\u884c   Carla   \u4eff\u771f \u624d\u80fd \u6267\u884c \u8be5 \u811a\u672c \u3002   \u521b\u5efa   SUMO   \u7f51\u7edc   \u521b\u5efa \u4e0e   Carla   \u540c\u6b65 \u7684   SUMO   \u7f51\u7edc \u63a8\u8350 \u65b9\u6cd5 \u662f \u4f7f\u7528 \u811a\u672c   Co - Simulation / Sumo / util / netconvert _ carla . py   .   \u8fd9 \u5c31\u8981 \u5229\u7528   SUMO   \u63d0\u4f9b \u7684   netconvert   \u5de5\u5177 \u4e86 \u3002 \u4e3a\u4e86 \u8fd0\u884c \u8be5 \u811a\u672c \uff0c \u9700\u8981 \u4e00\u4e9b \u53c2\u6570 \u3002   xodr _ file   \u2014   OpenDRIVE   \u6587\u4ef6   . xodr   \u3002   -- output '   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   net . net . xml   )   \u2014   \u8f93\u51fa \u6587\u4ef6   . net . xml   \u3002   -- guess - tls   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a false )   \u2014   SUMO   \u53ea\u80fd \u4e3a \u9053\u8def \u4e2d \u7684 \u7279\u5b9a \u8f66\u9053 \u8bbe\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \uff0c \u4f46   Carla   \u4e0d\u80fd \u3002 \u5982\u679c \u8bbe\u7f6e \u4e3a   True   \uff0c SUMO   \u5c06 \u4e0d\u4f1a \u533a\u5206 \u7279\u5b9a \u8f66\u9053 \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \uff0c \u5e76\u4e14 \u8fd9\u4e9b \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5c06 \u4e0e   Carla   \u540c\u6b65 \u3002   \u8be5 \u811a\u672c \u7684 \u8f93\u51fa \u5c06 \u662f   . net . xml   \u53ef\u4ee5 \u4f7f\u7528   NETEDIT   \u8fdb\u884c \u7f16\u8f91 \u7684 \u3002 \u4f7f\u7528 \u5b83 \u6765 \u7f16\u8f91 \u8def\u7ebf \u3001 \u6dfb\u52a0 \u9700\u6c42 \uff0c \u5e76 \u6700\u7ec8 \u51c6\u5907 \u4e00\u4e2a \u53ef\u4ee5 \u4fdd\u5b58 \u4e3a   . sumocfg   \u3002   \u5728 \u6b64 \u8fc7\u7a0b \u4e2d \u63d0\u4f9b \u7684 \u793a\u4f8b \u53ef\u80fd \u4f1a \u6709\u6240 \u5e2e\u52a9 \u3002 \u770b \u4e00\u773c   Co - Simulation / Sumo / examples   \u3002 \u5bf9\u4e8e \u6bcf\u4e2a   example . sumocfg   \u6587\u4ef6 \uff0c \u90fd \u6709 \u591a\u4e2a \u540c\u540d \u7684 \u76f8\u5173 \u6587\u4ef6 \u3002 \u6240\u6709 \u8fd9\u4e9b \u90fd \u5305\u542b \u4e00\u4e2a \u8054\u5408 \u4eff\u771f \u793a\u4f8b \u3002   \u8fd0\u884c \u540c\u6b65   \u4e00\u65e6 \u4eff\u771f \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u5e76 \u4fdd\u5b58 \u4e3a   . sumocfg   \uff0c \u5c31 \u53ef\u4ee5 \u8fd0\u884c \u4e86 \u3002 \u6709 \u4e00\u4e9b \u53ef \u9009 \u53c2\u6570 \u53ef\u4ee5 \u66f4\u6539 \u534f\u540c \u4eff\u771f \u7684 \u8bbe\u7f6e \u3002   sumo _ cfg _ file   \u2014   SUMO   \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3002   -- carla - host   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 127.0 . 0.1 )   \u2014   Carla   \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP   -- carla - port   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 2000 )   \u2014   \u8981 \u4fa6\u542c \u7684   TCP   \u7aef\u53e3   -- sumo - host   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 127.0 . 0.1 )   \u2014   SUMO   \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP \u3002   -- sumo - port   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 8813 )   \u2014   \u8981 \u4fa6\u542c \u7684   TCP   \u7aef\u53e3 \u3002   -- sumo - gui   \u2014   \u6253\u5f00 \u4e00\u4e2a \u7a97\u53e3 \u4ee5 \u53ef\u89c6 \u53ef\u89c6\u5316   SUMO   \u7684   GUI   \u7248\u672c \u3002   -- step - length   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 0.05 s )   \u2014   \u8bbe\u7f6e \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u7684 \u56fa\u5b9a \u589e\u91cf \u79d2 \u3002   -- sync - vehicle - lights   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a False )   \u2014   \u540c\u6b65 \u8f66\u706f \u3002   -- sync - vehicle - color   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a False )   \u2014   \u540c\u6b65 \u8f66\u8f86 \u989c\u8272 \u3002   -- sync - vehicle - all   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a False )   \u2014   \u540c\u6b65 \u6240\u6709 \u8f66\u8f86 \u5c5e\u6027 \u3002   -- tls - manager   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a none )   \u2014   \u9009\u62e9 \u54ea\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5e94 \u7ba1\u7406 \u4ea4\u901a \u4ea4\u901a\u706f \u3002 \u53e6 \u4e00\u4e2a \u5c06 \u76f8\u5e94 \u5730 \u66f4\u65b0 \u8fd9\u4e9b \u5185\u5bb9 \u3002 \u9009\u9879 \u6709   carla   ,   sumo   \u548c   none   \u3002 \u5982\u679c \u9009\u62e9   none   \uff0c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5c06 \u4e0d \u540c\u6b65 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u53ea\u4f1a \u9075\u5b88 \u751f\u6210 \u5b83 \u7684 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   python3   run _ synchronization . py   < SUMOCFG   FILE >   -- tls - manager   carla   -- sumo - gui   \u7b14\u8bb0   \u8981 \u505c\u6b62 \u8054\u5408 \u4eff\u771f \uff0c \u8bf7 \u5728 \u8fd0\u884c \u811a\u672c \u7684 \u7ec8\u7aef \u6309   Ctrl + C   \u3002   \u7531   SUMO   \u63a7\u5236 \u7684   NPC   \u751f\u6210   \u4e0e   SUMO   \u7684 \u8054\u5408 \u4eff\u771f \u5e26\u6765 \u4e86 \u4e00\u9879 \u9644\u52a0 \u529f\u80fd \u3002 \u8f66\u8f86 \u53ef\u4ee5 \u901a\u8fc7   SUMO   \u5728   Carla   \u4e2d \u751f\u6210 \uff0c \u5e76 \u7531 \u540e\u8005 \u8fdb\u884c \u7ba1\u7406 \uff0c \u5c31 \u50cf \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4e00\u6837 \u3002   \u811a\u672c   spawn _ npc _ sumo . py   \u51e0\u4e4e \u7b49\u540c \u540c\u4e8e \u7b49\u540c\u4e8e \u5df2\u77e5 \u7684   generate _ traffic . py   \u3002 \u8be5 \u811a\u672c \u6839\u636e   Carla   \u4e2d \u7684 \u6d3b\u52a8 \u57ce\u9547 \u81ea\u52a8 \u5728 \u4e34\u65f6 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u751f\u6210   SUMO   \u7f51\u7edc \u3002 \u8be5 \u811a\u672c \u5c06 \u521b\u5efa \u968f\u673a \u8def\u7ebf \u5e76 \u8ba9 \u8f66\u8f86 \u56db\u5904 \u6f2b\u6e38 \u3002   \u5f53 \u811a\u672c \u8fd0\u884c \u540c\u6b65 \u4eff\u5e76 \u5728 \u5176\u4e2d \u751f\u6210 \u8f66\u8f86 \u65f6 \uff0c \u53c2\u6570 \u4e0e   run _ synchronization . py   \u548c   generate _ traffic . py   \u4e2d \u51fa\u73b0 \u7684 \u53c2\u6570 \u76f8\u540c \u3002   -- host   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 127.0 . 0.1 )   \u2014   \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP \u3002   -- port   ( default :   2000 )   \u2014   \u8981 \u4fa6\u542c \u7684   TCP   \u7aef\u53e3 \u3002   - n , -- number - of - vehicles   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 10 )   \u2014   \u751f\u6210 \u7684 \u8f66\u8f86 \u6570\u91cf \u3002   -- safe   \u2014   \u907f\u514d \u751f\u6210 \u8f66\u8f86 \u5bb9\u6613 \u53d1\u751f \u4e8b\u6545 \u3002   -- filterv   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a \" vehicle .   \" ) *   \u2014   \u8fc7\u6ee4 \u751f\u6210 \u7684 \u8f66\u8f86 \u7684 \u84dd\u56fe \u3002   -- sumo - gui   \u2014   \u6253\u5f00 \u4e00\u4e2a \u7a97\u53e3 \u6765 \u53ef\u89c6 \u53ef\u89c6\u5316   SUMO \u3002   -- step - length   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 0.05 s )   \u2014   \u8bbe\u7f6e \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u7684 \u56fa\u5b9a \u589e\u91cf \u79d2 \u3002   -- sync - vehicle - lights   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a False )   \u2014   \u540c\u6b65 \u8f66\u706f \u72b6\u6001 \u3002   -- sync - vehicle - color   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a False )   \u2014   \u540c\u6b65 \u8f66\u8f86 \u989c\u8272 \u3002   -- sync - vehicle - all   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   False )   \u2014   \u540c\u6b65 \u6240\u6709 \u8f66\u8f86 \u5c5e\u6027 \u3002   -- tls - manager   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   none )   \u2014   \u9009\u62e9 \u54ea\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6765 \u66f4\u6539 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u3002 \u53e6 \u4e00\u4e2a \u5c06 \u76f8\u5e94 \u5730 \u66f4\u65b0 \u5b83\u4eec \u3002 \u5982\u679c \u662f   none   \uff0c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5c06 \u4e0d \u540c\u6b65 \u3002   #   \u751f\u6210   10   \u8f86\u8f66 \uff0c \u7531   SUMO   \u7ba1\u7406 \uff0c \u800c \u4e0d\u662f \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   python3   spawn _ sumo _ npc . py   - n   10   -- tls - manager   carla   -- sumo - gui   SUMO   TraCI \u63a5\u53e3 \u6587\u6863   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u8fd9 \u5c31\u662f \u4e0e   Carla   \u8fdb\u884c   SUMO   \u8054\u5408 \u4eff\u771f \u7684 \u5168\u90e8 \u5185\u5bb9 \u5168\u90e8\u5185\u5bb9 \u3002   \u6253\u5f00   Carla   \u5e76 \u95f2\u901b \u4e00\u4f1a \u4f1a\u513f \u4e00\u4f1a\u513f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"Adv   sumo"},{"location":"adv_sumo/#sumo","text":"Carla   \u4e0e   SUMO   \u5f00\u53d1 \u4e86 \u8054\u5408 \u4eff\u771f \u529f\u80fd \u3002 \u8fd9 \u5141\u8bb8 \u968f\u610f \u5206\u914d \u4efb\u52a1 \u5206\u914d\u4efb\u52a1 \uff0c \u5e76 \u5229\u7528 \u6bcf\u4e2a \u4eff\u771f \u7684 \u529f\u80fd \u6765 \u652f\u6301 \u7528\u6237 \u3002   \u5fc5\u5907 \u6761\u4ef6 \u5fc5\u5907\u6761\u4ef6   \u8fd0\u884c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8054\u5408 \u4eff\u771f   \u521b\u5efa   Carla   vtypes   \u521b\u5efa   SUMO   \u7f51\u7edc   \u8fd0\u884c \u540c\u6b65   \u7531   SUMO   \u63a7\u5236 \u7684   NPC   \u751f\u6210   SUMO   TraCI \u63a5\u53e3 \u6587\u6863","title":"\u548c   SUMO   \u8fdb\u884c \u8054\u5408 \u4eff\u771f"},{"location":"adv_sumo/#_1","text":"\u9996\u5148 \uff0c \u9700\u8981   \u5b89\u88c5   SUMO   \u624d\u80fd \u8fd0\u884c \u8054\u5408 \u4eff\u771f \u3002 \u5efa\u8bae \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u800c \u4e0d\u662f \u7b80\u5355 \u5b89\u88c5 \uff0c \u56e0\u4e3a \u6709 \u65b0 \u529f\u80fd \u548c \u4fee\u590d \u53ef\u4ee5 \u6539\u8fdb \u534f\u540c \u4eff\u771f \u3002   \u5b8c\u6210 \u540e \uff0c \u8bbe\u7f6e   SUMO   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u3002   echo   \" export   SUMO _ HOME = / usr / share / sumo \"   > >   ~ / . bashrc   &&   source   ~ / . bashrc   SUMO   \u5df2 \u51c6\u5907 \u597d \u8fd0\u884c \u8054\u5408 \u4eff\u771f \u3002   Co - Simulation / Sumo / examples   \u4e2d\u6709 \u4e00\u4e9b   Town01   ,   Town04   \u548c   Town05   \u7684 \u793a\u4f8b \u3002 \u8fd9\u4e9b \u6587\u4ef6 \u63cf\u8ff0 \u4e86 \u4eff\u771f \u7684 \u914d\u7f6e \uff08 \u4f8b\u5982 \u7f51\u7edc \u3001 \u8def\u7ebf \u3001 \u8f66\u8f86 \u7c7b\u578b ... \uff09 \u3002 \u4f7f\u7528 \u5176\u4e2d \u4e4b\u4e00 \u6765 \u6d4b\u8bd5 \u8054\u5408 \u4eff\u771f \u3002 \u8be5 \u811a\u672c \u6709 \u4e0d\u540c \u7684 \u9009\u9879 \uff0c   \u4e0b\u9762   \u5c06 \u8be6\u7ec6 \u4ecb\u7ecd \u3002 \u73b0\u5728 \uff0c \u8ba9 \u6211\u4eec \u4e3a   Town04   \u8fd0\u884c \u4e00\u4e2a \u7b80\u5355 \u7684 \u793a\u4f8b \u3002   \u4f7f\u7528   Town04   \u8fd0\u884c   Carla   \u4eff\u771f \u3002   cd   ~ / carla   . / CarlaUE4 . sh   cd   PythonAPI / util   python3   config . py   -- map   Town04   \u7136\u540e \uff0c \u8fd0\u884c   SUMO   \u8054\u5408 \u4eff\u771f \u793a\u4f8b \u3002   cd   ~ / carla / Co - Simulation / Sumo   python3   run _ synchronization . py   examples / Town04 . sumocfg   -- sumo - gui   \u7b14\u8bb0   \u8fd0\u884c \u65f6\u5019 \u53ef\u80fd \u62a5\u9519 \uff1a   module   ' traci '   has   no   attribute   ' sumolib '   \uff0c \u56e0\u4e3a \u662f\u56e0\u4e3a   sumolib   \u662f \u72ec\u7acb \u7684 \u5305 \uff0c \u4e0d \u5728   traci   \u91cc\u9762 \uff0c \u9700\u8981 \u628a   carla / Co - Simulation / Sumo / sumo _ integration / sumo _ simulation . py   \u7684 304 \u884c \u7684 \u8fd9 \u4e00\u53e5 \u4ee3   sumo _ net   =   traci . sumolib . net . readNet ( net _ file )   \u7801 \u6539\u6210   sumo _ net   =   sumolib . net . readNet ( net _ file )   \u3002","title":"\u5fc5\u5907\u6761\u4ef6  "},{"location":"adv_sumo/#_2","text":"","title":"\u8fd0\u884c \u81ea\u5b9a\u4e49 \u8054\u5408 \u4eff\u771f  "},{"location":"adv_sumo/#carla-vtypes","text":"\u4f7f\u7528 \u811a\u672c   Co - Simulation / Sumo / util / create _ sumo _ vtypes . py   \u7528\u6237 \u53ef\u4ee5 \u57fa\u4e8e   Carla   \u84dd \u56fe\u5e93 \u521b\u5efa   vtypes   \uff0c \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e   Carla   \u84dd\u56fe \u3002   -- carla - host   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 127.0 . 0.1 )   \u2014   Carla   \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP \u3002   -- carla - port   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 2000 )   \u2014   \u8981 \u4fa6\u542c \u7684   TCP   \u7aef\u53e3 \u3002   -- output - file   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a carlavtypes . rou . xml )   \u2014   \u751f\u6210 \u7684 \u5305\u542b   vtypes   \u7684 \u6587\u4ef6 \u3002   \u8be5 \u811a\u672c \u4f7f\u7528   data / vtypes . json   \u5b58\u50a8 \u7684 \u4fe1\u606f \u6765 \u521b\u5efa   SUMO   vtypes   \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u901a\u8fc7 \u7f16\u8f91 \u6240\u8ff0 \u6587\u4ef6 \u6765 \u4fee\u6539 \u3002   \u7b14\u8bb0   \u5fc5\u987b \u8fd0\u884c   Carla   \u4eff\u771f \u624d\u80fd \u6267\u884c \u8be5 \u811a\u672c \u3002","title":"\u521b\u5efa   Carla   vtypes  "},{"location":"adv_sumo/#sumo_1","text":"\u521b\u5efa \u4e0e   Carla   \u540c\u6b65 \u7684   SUMO   \u7f51\u7edc \u63a8\u8350 \u65b9\u6cd5 \u662f \u4f7f\u7528 \u811a\u672c   Co - Simulation / Sumo / util / netconvert _ carla . py   .   \u8fd9 \u5c31\u8981 \u5229\u7528   SUMO   \u63d0\u4f9b \u7684   netconvert   \u5de5\u5177 \u4e86 \u3002 \u4e3a\u4e86 \u8fd0\u884c \u8be5 \u811a\u672c \uff0c \u9700\u8981 \u4e00\u4e9b \u53c2\u6570 \u3002   xodr _ file   \u2014   OpenDRIVE   \u6587\u4ef6   . xodr   \u3002   -- output '   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   net . net . xml   )   \u2014   \u8f93\u51fa \u6587\u4ef6   . net . xml   \u3002   -- guess - tls   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a false )   \u2014   SUMO   \u53ea\u80fd \u4e3a \u9053\u8def \u4e2d \u7684 \u7279\u5b9a \u8f66\u9053 \u8bbe\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \uff0c \u4f46   Carla   \u4e0d\u80fd \u3002 \u5982\u679c \u8bbe\u7f6e \u4e3a   True   \uff0c SUMO   \u5c06 \u4e0d\u4f1a \u533a\u5206 \u7279\u5b9a \u8f66\u9053 \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \uff0c \u5e76\u4e14 \u8fd9\u4e9b \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5c06 \u4e0e   Carla   \u540c\u6b65 \u3002   \u8be5 \u811a\u672c \u7684 \u8f93\u51fa \u5c06 \u662f   . net . xml   \u53ef\u4ee5 \u4f7f\u7528   NETEDIT   \u8fdb\u884c \u7f16\u8f91 \u7684 \u3002 \u4f7f\u7528 \u5b83 \u6765 \u7f16\u8f91 \u8def\u7ebf \u3001 \u6dfb\u52a0 \u9700\u6c42 \uff0c \u5e76 \u6700\u7ec8 \u51c6\u5907 \u4e00\u4e2a \u53ef\u4ee5 \u4fdd\u5b58 \u4e3a   . sumocfg   \u3002   \u5728 \u6b64 \u8fc7\u7a0b \u4e2d \u63d0\u4f9b \u7684 \u793a\u4f8b \u53ef\u80fd \u4f1a \u6709\u6240 \u5e2e\u52a9 \u3002 \u770b \u4e00\u773c   Co - Simulation / Sumo / examples   \u3002 \u5bf9\u4e8e \u6bcf\u4e2a   example . sumocfg   \u6587\u4ef6 \uff0c \u90fd \u6709 \u591a\u4e2a \u540c\u540d \u7684 \u76f8\u5173 \u6587\u4ef6 \u3002 \u6240\u6709 \u8fd9\u4e9b \u90fd \u5305\u542b \u4e00\u4e2a \u8054\u5408 \u4eff\u771f \u793a\u4f8b \u3002","title":"\u521b\u5efa   SUMO   \u7f51\u7edc  "},{"location":"adv_sumo/#_3","text":"\u4e00\u65e6 \u4eff\u771f \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u5e76 \u4fdd\u5b58 \u4e3a   . sumocfg   \uff0c \u5c31 \u53ef\u4ee5 \u8fd0\u884c \u4e86 \u3002 \u6709 \u4e00\u4e9b \u53ef \u9009 \u53c2\u6570 \u53ef\u4ee5 \u66f4\u6539 \u534f\u540c \u4eff\u771f \u7684 \u8bbe\u7f6e \u3002   sumo _ cfg _ file   \u2014   SUMO   \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3002   -- carla - host   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 127.0 . 0.1 )   \u2014   Carla   \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP   -- carla - port   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 2000 )   \u2014   \u8981 \u4fa6\u542c \u7684   TCP   \u7aef\u53e3   -- sumo - host   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 127.0 . 0.1 )   \u2014   SUMO   \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP \u3002   -- sumo - port   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 8813 )   \u2014   \u8981 \u4fa6\u542c \u7684   TCP   \u7aef\u53e3 \u3002   -- sumo - gui   \u2014   \u6253\u5f00 \u4e00\u4e2a \u7a97\u53e3 \u4ee5 \u53ef\u89c6 \u53ef\u89c6\u5316   SUMO   \u7684   GUI   \u7248\u672c \u3002   -- step - length   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 0.05 s )   \u2014   \u8bbe\u7f6e \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u7684 \u56fa\u5b9a \u589e\u91cf \u79d2 \u3002   -- sync - vehicle - lights   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a False )   \u2014   \u540c\u6b65 \u8f66\u706f \u3002   -- sync - vehicle - color   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a False )   \u2014   \u540c\u6b65 \u8f66\u8f86 \u989c\u8272 \u3002   -- sync - vehicle - all   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a False )   \u2014   \u540c\u6b65 \u6240\u6709 \u8f66\u8f86 \u5c5e\u6027 \u3002   -- tls - manager   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a none )   \u2014   \u9009\u62e9 \u54ea\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5e94 \u7ba1\u7406 \u4ea4\u901a \u4ea4\u901a\u706f \u3002 \u53e6 \u4e00\u4e2a \u5c06 \u76f8\u5e94 \u5730 \u66f4\u65b0 \u8fd9\u4e9b \u5185\u5bb9 \u3002 \u9009\u9879 \u6709   carla   ,   sumo   \u548c   none   \u3002 \u5982\u679c \u9009\u62e9   none   \uff0c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5c06 \u4e0d \u540c\u6b65 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u53ea\u4f1a \u9075\u5b88 \u751f\u6210 \u5b83 \u7684 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   python3   run _ synchronization . py   < SUMOCFG   FILE >   -- tls - manager   carla   -- sumo - gui   \u7b14\u8bb0   \u8981 \u505c\u6b62 \u8054\u5408 \u4eff\u771f \uff0c \u8bf7 \u5728 \u8fd0\u884c \u811a\u672c \u7684 \u7ec8\u7aef \u6309   Ctrl + C   \u3002","title":"\u8fd0\u884c \u540c\u6b65  "},{"location":"adv_sumo/#sumo-npc","text":"\u4e0e   SUMO   \u7684 \u8054\u5408 \u4eff\u771f \u5e26\u6765 \u4e86 \u4e00\u9879 \u9644\u52a0 \u529f\u80fd \u3002 \u8f66\u8f86 \u53ef\u4ee5 \u901a\u8fc7   SUMO   \u5728   Carla   \u4e2d \u751f\u6210 \uff0c \u5e76 \u7531 \u540e\u8005 \u8fdb\u884c \u7ba1\u7406 \uff0c \u5c31 \u50cf \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4e00\u6837 \u3002   \u811a\u672c   spawn _ npc _ sumo . py   \u51e0\u4e4e \u7b49\u540c \u540c\u4e8e \u7b49\u540c\u4e8e \u5df2\u77e5 \u7684   generate _ traffic . py   \u3002 \u8be5 \u811a\u672c \u6839\u636e   Carla   \u4e2d \u7684 \u6d3b\u52a8 \u57ce\u9547 \u81ea\u52a8 \u5728 \u4e34\u65f6 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u751f\u6210   SUMO   \u7f51\u7edc \u3002 \u8be5 \u811a\u672c \u5c06 \u521b\u5efa \u968f\u673a \u8def\u7ebf \u5e76 \u8ba9 \u8f66\u8f86 \u56db\u5904 \u6f2b\u6e38 \u3002   \u5f53 \u811a\u672c \u8fd0\u884c \u540c\u6b65 \u4eff\u5e76 \u5728 \u5176\u4e2d \u751f\u6210 \u8f66\u8f86 \u65f6 \uff0c \u53c2\u6570 \u4e0e   run _ synchronization . py   \u548c   generate _ traffic . py   \u4e2d \u51fa\u73b0 \u7684 \u53c2\u6570 \u76f8\u540c \u3002   -- host   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 127.0 . 0.1 )   \u2014   \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP \u3002   -- port   ( default :   2000 )   \u2014   \u8981 \u4fa6\u542c \u7684   TCP   \u7aef\u53e3 \u3002   - n , -- number - of - vehicles   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 10 )   \u2014   \u751f\u6210 \u7684 \u8f66\u8f86 \u6570\u91cf \u3002   -- safe   \u2014   \u907f\u514d \u751f\u6210 \u8f66\u8f86 \u5bb9\u6613 \u53d1\u751f \u4e8b\u6545 \u3002   -- filterv   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a \" vehicle .   \" ) *   \u2014   \u8fc7\u6ee4 \u751f\u6210 \u7684 \u8f66\u8f86 \u7684 \u84dd\u56fe \u3002   -- sumo - gui   \u2014   \u6253\u5f00 \u4e00\u4e2a \u7a97\u53e3 \u6765 \u53ef\u89c6 \u53ef\u89c6\u5316   SUMO \u3002   -- step - length   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 0.05 s )   \u2014   \u8bbe\u7f6e \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u7684 \u56fa\u5b9a \u589e\u91cf \u79d2 \u3002   -- sync - vehicle - lights   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a False )   \u2014   \u540c\u6b65 \u8f66\u706f \u72b6\u6001 \u3002   -- sync - vehicle - color   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a False )   \u2014   \u540c\u6b65 \u8f66\u8f86 \u989c\u8272 \u3002   -- sync - vehicle - all   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   False )   \u2014   \u540c\u6b65 \u6240\u6709 \u8f66\u8f86 \u5c5e\u6027 \u3002   -- tls - manager   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   none )   \u2014   \u9009\u62e9 \u54ea\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6765 \u66f4\u6539 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u3002 \u53e6 \u4e00\u4e2a \u5c06 \u76f8\u5e94 \u5730 \u66f4\u65b0 \u5b83\u4eec \u3002 \u5982\u679c \u662f   none   \uff0c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5c06 \u4e0d \u540c\u6b65 \u3002   #   \u751f\u6210   10   \u8f86\u8f66 \uff0c \u7531   SUMO   \u7ba1\u7406 \uff0c \u800c \u4e0d\u662f \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   python3   spawn _ sumo _ npc . py   - n   10   -- tls - manager   carla   -- sumo - gui","title":"\u7531   SUMO   \u63a7\u5236 \u7684   NPC   \u751f\u6210  "},{"location":"adv_sumo/#sumo-traci","text":"\u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u8fd9 \u5c31\u662f \u4e0e   Carla   \u8fdb\u884c   SUMO   \u8054\u5408 \u4eff\u771f \u7684 \u5168\u90e8 \u5185\u5bb9 \u5168\u90e8\u5185\u5bb9 \u3002   \u6253\u5f00   Carla   \u5e76 \u95f2\u901b \u4e00\u4f1a \u4f1a\u513f \u4e00\u4f1a\u513f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"SUMO   TraCI \u63a5\u53e3 \u6587\u6863    "},{"location":"adv_synchrony_timestep/","text":"\u540c\u6b65 \u548c \u65f6\u95f4 \u6b65\u957f   \u672c \u8282 \u4ecb\u7ecd   Carla   \u4e2d \u7684 \u4e24\u4e2a \u57fa\u672c \u6982\u5ff5 \u57fa\u672c\u6982\u5ff5 \u3002 \u5b83\u4eec \u7684 \u914d\u7f6e \u5b9a\u4e49 \u4e86 \u4eff\u771f \u4e2d \u7684 \u65f6\u95f4 \u5982\u4f55 \u6d41\u901d \uff0c \u4ee5\u53ca \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5982\u4f55 \u4f7f \u4eff\u771f \u5411\u524d \u63a8\u8fdb \u3002   \u4eff\u771f \u548c \u65f6\u95f4 \u6b65\u957f   \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f   \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f   \u4eff\u771f \u8bb0\u5f55   \u7269\u7406 \u5b50\u6b65   \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540c\u6b65   \u8bbe\u7f6e \u540c\u6b65 \u6a21\u5f0f   \u4f7f\u7528 \u540c\u6b65 \u6a21\u5f0f   \u53ef\u80fd \u7684 \u914d\u7f6e   \u7269\u7406 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027   \u4eff\u771f \u65f6\u95f4 \u6b65\u957f   \u5b9e\u65f6 \u65f6\u95f4 \u548c \u4eff\u771f \u65f6\u95f4 \u662f \u6709 \u533a\u522b \u7684 \u3002 \u4eff\u771f \u4e16\u754c \u6709 \u81ea\u5df1 \u7684 \u65f6\u949f \u548c \u65f6\u95f4 \uff0c \u7531 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6267\u884c \u3002 \u8ba1\u7b97 \u4e24\u4e2a \u4eff\u771f \u6b65\u9aa4 \u9700\u8981 \u4e00\u4e9b \u5b9e\u65f6 \u65f6\u95f4 \u3002 \u4f46\u662f \uff0c \u5728 \u8fd9 \u4e24\u4e2a \u4eff\u771f \u65f6\u523b \u4e4b\u95f4 \u4e5f \u5b58\u5728 \u65f6\u95f4 \u8de8\u5ea6 \u65f6\u95f4\u8de8\u5ea6 \uff0c \u5373   \u65f6\u95f4 \u6b65\u957f   \u3002   \u4e3a\u4e86 \u6f84\u6e05 \u8fd9 \u4e00\u70b9 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53ef\u80fd \u9700\u8981 \u51e0 \u6beb\u79d2 \u6765 \u8ba1\u7b97 \u4eff\u771f \u7684 \u4e24\u4e2a \u6b65\u9aa4 \u3002 \u4f46\u662f \uff0c \u6bd4\u5982 \u8fd9 \u4e24\u4e2a \u4eff\u771f \u65f6\u523b \u4e4b\u95f4 \u7684 \u65f6\u95f4 \u6b65\u957f \u53ef\u4ee5 \u914d\u7f6e \u59cb\u7ec8 \u4e3a   1   \u79d2 \u3002   \u65f6\u95f4 \u6b65\u957f \u53ef\u4ee5 \u662f \u56fa\u5b9a \u7684 \uff0c \u4e5f \u53ef\u4ee5 \u662f \u53ef\u53d8 \u7684 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u7528\u6237 \u7684 \u504f\u597d \u3002   \u7b14\u8bb0   \u65f6\u95f4 \u6b65\u957f \u548c \u540c\u6b65 \u662f \u76f8\u4e92 \u4e92\u4ea4 \u4ea4\u7ec7 \u76f8\u4e92\u4ea4\u7ec7 \u7684 \u6982\u5ff5 \u3002 \u8bf7 \u52a1\u5fc5 \u9605\u8bfb \u8fd9 \u4e24\u4e2a \u90e8\u5206 \uff0c \u4ee5 \u5145\u5206 \u4e86\u89e3   Carla   \u7684 \u5de5\u4f5c \u539f\u7406 \u3002   \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f   Carla   \u4e2d \u7684 \u9ed8\u8ba4 \u6a21\u5f0f \u3002 \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u662f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8ba1\u7b97 \u8fd9\u4e9b \u6b65\u9aa4 \u6240 \u9700 \u7684 \u65f6\u95f4 \u3002   settings   =   world . get _ settings ( )   settings . fixed _ delta _ seconds   =   None   #   \u8bbe\u7f6e \u4e3a \u53ef\u53d8 \u6b65\u957f   world . apply _ settings ( settings )   PythonAPI / util / config . py   \u4f7f\u7528 \u53c2\u6570 \u8bbe\u7f6e \u53c2\u6570\u8bbe\u7f6e \u65f6\u95f4 \u6b65\u957f \u3002 0   \u8868\u793a \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \u3002   cd   PythonAPI / util   &&   python3   config . py   -- delta - seconds   0   \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f   \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u4e4b\u95f4 \u7ecf\u8fc7 \u7684 \u65f6\u95f4 \u4fdd\u6301 \u6052\u5b9a \u3002 \u5982\u679c \u8bbe\u7f6e \u4e3a   0.5   \u79d2 \uff0c \u6bcf\u79d2 \u5c06 \u6709   2   \u4e2a \u4eff\u771f \u5e27 \u3002 \u4f7f\u7528 \u76f8\u540c \u7684 \u65f6\u95f4 \u589e\u91cf \u5bf9\u4e8e \u4ece \u4eff\u771f \u4e2d \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e \u662f \u6700\u597d \u7684 \u65b9\u5f0f \u3002 \u7269\u7406 \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c06 \u5bf9\u5e94 \u4e8e \u4eff\u771f \u4e2d \u6613\u4e8e \u7406\u89e3 \u7684 \u65f6\u523b \u3002 \u6b64\u5916 \uff0c \u5982\u679c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901f\u5ea6 \u8db3\u591f \u5feb \uff0c \u53ef\u4ee5 \u5728 \u66f4 \u5c11 \u7684 \u5b9e\u9645 \u65f6\u95f4 \u5185 \u4eff\u771f \u66f4\u957f \u7684 \u65f6\u95f4 \u65f6\u95f4\u6bb5 \u3002   \u53ef\u4ee5 \u5728 \u4e16\u754c \u8bbe\u7f6e \u4e2d \u8bbe\u7f6e \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u3002 \u8981 \u5c06 \u4eff\u771f \u8bbe\u7f6e \u4e3a \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f \u4e3a   0.05   \u79d2 \uff0c \u8bf7 \u5e94\u7528 \u4ee5\u4e0b \u8bbe\u7f6e \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5c06 \u82b1\u8d39 20   \u6b65 \uff08 1 / 0.05 \uff09 \u6765 \u91cd\u73b0 \u4eff\u771f \u4e16\u754c \u4e2d \u7684   1   \u79d2 \u3002   settings   =   world . get _ settings ( )   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   \u8fd9 \u4e5f \u53ef\u4ee5 \u4f7f\u7528   PythonAPI / util / config . py   \u63d0\u4f9b \u7684 \u811a\u672c \u8fdb\u884c \u8bbe\u7f6e \u3002   cd   PythonAPI / util   &&   python3   config . py   -- delta - seconds   0.05   \u4eff\u771f \u8bb0\u5f55   Carla   \u5177\u6709   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u529f\u80fd \uff0c \u53ef\u4ee5 \u8bb0\u5f55 \u4eff\u771f \uff0c \u7136\u540e \u91cd\u65b0 \u64ad\u653e \u3002 \u4f46\u662f \uff0c \u5728 \u5bfb\u627e \u7cbe\u5ea6 \u65f6 \uff0c \u9700\u8981 \u8003\u8651 \u4e00\u4e9b \u4e8b\u60c5 \u3002   \u6709 \u4e86   \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f   \uff0c \u91cd\u65b0 \u64ad\u653e \u5b83 \u5c31 \u5f88 \u5bb9\u6613 \u4e86 \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53ef\u4ee5 \u8bbe\u7f6e \u4e3a \u4e0e \u539f\u59cb \u4eff\u771f \u76f8\u540c \u7684 \u65f6\u95f4 \u6b65\u957f \u3002   \u4f7f\u7528   \u53ef\u53d8 \u7684 \u65f6\u95f4 \u6b65\u957f   \uff0c \u4e8b\u60c5 \u4f1a \u7a0d\u5fae \u590d\u6742 \u4e00\u4e9b \u3002   \u5982\u679c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4ee5 \u53ef\u53d8 \u7684 \u65f6\u95f4 \u6b65\u957f \u8fd0\u884c \uff0c \u5219 \u65f6\u95f4 \u6b65\u957f \u5c06 \u4e0e \u539f\u59cb \u65f6\u95f4 \u6b65\u957f \u4e0d\u540c \uff0c \u56e0\u4e3a \u903b\u8f91 \u5468\u671f \u4f1a \u4e0d\u65f6 \u53d8\u5316 \u3002 \u7136\u540e \uff0c \u5c06 \u4f7f\u7528 \u8bb0\u5f55 \u7684 \u6570\u636e \u5bf9 \u4fe1\u606f \u8fdb\u884c \u63d2\u503c \u3002   \u5982\u679c   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u88ab\u8feb \u91cd\u73b0 \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u7684 \u65f6\u95f4   \u6b65\u957f \uff0c \u5219 \u4eff\u771f \u7684 \u6b65\u957f \u5c06 \u76f8\u540c \uff0c \u4f46 \u5b83\u4eec \u4e4b\u95f4 \u7684 \u5b9e\u65f6 \u65f6\u95f4 \u4f1a \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002 \u65f6\u95f4 \u6b65\u957f \u5e94 \u9010\u4e00 \u4f20\u9012 \u3002 \u8fd9\u4e9b \u539f\u59cb \u65f6\u95f4 \u6b65\u957f \u662f \u539f\u59cb \u4eff\u771f \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5feb \u8fd0\u884c \u7684 \u7ed3\u679c \u3002 \u7531\u4e8e \u8868\u793a \u8fd9\u4e9b \u6240 \u9700 \u7684 \u65f6\u95f4 \u5927\u591a \u4e0d\u540c \uff0c \u56e0\u6b64 \u4eff\u771f \u5fc5\u7136 \u4f1a\u4ee5 \u5947\u602a \u7684 \u65f6\u95f4 \u6ce2\u52a8 \u518d\u73b0 \u3002   \u7269\u7406 \u5b50\u6b65   \u4e3a\u4e86 \u7cbe\u786e \u8ba1\u7b97 \u7269\u7406 \u6548\u679c \uff0c \u7269\u7406 \u4eff\u771f \u5fc5\u987b \u5728 \u975e\u5e38 \u5c0f \u7684 \u65f6\u95f4 \u6b65\u5185 \u8fdb\u884c \u3002 \u5f53 \u6211\u4eec \u5728 \u4eff\u771f \u4e2d \u6bcf \u5e27 \u6267\u884c \u591a\u6b21 \u8ba1\u7b97 \uff08 \u4f8b\u5982 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6e32\u67d3 \uff0c \u8bfb\u53d6 \u5b58\u50a8 \u7b49 \uff09 \u65f6 \uff0c \u65f6\u95f4 \u6b65\u957f \u53ef\u80fd \u4f1a \u6210\u4e3a \u4e00\u4e2a \u95ee\u9898 \u3002 \u7531\u4e8e \u8fd9\u4e2a \u9650\u5236 \u4ec5 \u53d1\u751f \u5728 \u7269\u7406 \u4eff\u771f \u4e2d \uff0c \u6211\u4eec \u53ef\u4ee5 \u4ec5 \u5bf9 \u7269\u7406 \u8ba1\u7b97 \u5e94\u7528 \u5b50\u6b65 \u3002 \u5728 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u7269\u7406 \u5b50\u6b65 \u662f \u6253\u5f00 \u7684 \uff0c \u5e76\u4e14 \u88ab \u8bbe\u5b9a \u4e3a \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u957f \u6700\u5927   10   \u4e2a \u7269\u7406 \u5b50\u6b65 \uff0c \u6bcf\u4e2a \u7269\u7406 \u5b50\u6b65 \u6700\u5927 \u4e3a 0.01   \u79d2 \u3002   \u5f53\u7136 \uff0c \u6211\u4eec \u53ef\u4ee5 \u901a\u8fc7 API \u8c03\u6574 \u8fd9\u4e9b \u8bbe\u5b9a \uff1a   settings   =   world . get _ settings ( )   settings . substepping   =   True   settings . max _ substep _ delta _ time   =   0.01   settings . max _ substeps   =   10   world . apply _ settings ( settings )   \u6ce8\u610f \uff0c \u5f53 \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \u65f6 \uff0c \u6211\u4eec \u8bbe\u5b9a \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u65f6 \u9700\u8981 \u9075\u5faa \u4ee5\u4e0b \u6761\u4ef6 \u6765 \u4fdd\u8bc1 \u7269\u7406 \u4eff\u771f \u7684 \u51c6\u786e \u51c6\u786e\u6027 \uff1a   fixed _ delta _ seconds   < =   max _ substep _ delta _ time   *   max _ substeps   \u6ce8\u610f \uff0c \u4e3a\u4e86 \u4fdd\u8bc1 \u7269\u7406 \u4eff\u771f \u7684 \u51c6\u786e \u51c6\u786e\u6027 \uff0c \u5b50\u6b65 \u7684 \u65f6\u95f4 \u95f4\u9694 \u5e94\u8be5 \u81f3\u5c11 \u4f4e\u4e8e   0.01666 \uff0c \u7406\u60f3 \u60c5\u51b5 \u4e0b \u4f4e\u4e8e   0.01 \u3002   \u4e3a\u4e86 \u6f14\u793a \u6700\u4f73 \u7269\u7406 \u5b50\u6b65 \u7684 \u6548\u679c \uff0c \u8bf7 \u8003\u8651 \u4e0b\u9762 \u7684 \u56fe \u3002 \u4e0b\u9762 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u56fe\u8868 \u663e\u793a \u4e86 \u5728 \u4e0d\u540c \u56fa\u5b9a \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u7684 \u4eff\u771f \u4e2d \u901f\u5ea6 \u968f \u65f6\u95f4 \u7684 \u53d8\u5316 \u3002 \u7269\u7406 \u589e\u91cf \u65f6\u95f4 \u5728 \u6240\u6709 \u4eff\u771f \u4e2d \u90fd \u662f \u6052\u5b9a \u7684 \uff0c \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.01 \u3002 \u6211\u4eec \u53ef\u4ee5 \u770b\u5230 \uff0c \u901f\u5ea6 \u4e0d \u53d7 \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u5dee\u5f02 \u7684 \u5f71\u54cd \u3002   \u7b2c\u4e8c \u4e8c\u5f20 \u7b2c\u4e8c\u5f20 \u56fe \u663e\u793a \u4e86 \u4eff\u771f \u4e2d \u901f\u5ea6 \u968f \u65f6\u95f4 \u7684 \u53d8\u5316 \uff0c \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u56fa\u5b9a \u4e3a 0.04 \u3002 \u6211\u4eec \u53ef\u4ee5 \u770b\u5230 \uff0c \u4e00\u65e6 \u7269\u7406 \u589e\u91cf \u65f6\u95f4 \u8d85\u8fc7   0.01 \uff0c \u901f\u5ea6 \u5e38\u6570 \u5f00\u59cb \u51fa\u73b0 \u504f\u5dee \uff0c \u968f\u7740 \u7269\u7406 \u589e\u91cf \u65f6\u95f4 \u7684 \u589e\u52a0 \uff0c \u504f\u5dee \u7684 \u4e25\u91cd \u7a0b\u5ea6 \u4e5f \u5728 \u589e\u52a0 \u3002   \u6211\u4eec \u53ef\u4ee5 \u901a\u8fc7 \u5728 \u6d4b\u91cf z - \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u65f6 \u663e\u793a \u7269\u7406 \u589e\u91cf \u65f6\u95f4 \u4e0e \u56fa\u5b9a \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u76f8\u540c \u7684 \u5dee\u5f02 \u7684 \u5f71\u54cd \u6765 \u518d\u6b21 \u8bc1\u660e \u8fd9\u79cd \u504f\u5dee \uff0c \u53ea\u6709 \u5f53 \u7269\u7406 \u589e\u91cf \u65f6\u95f4 \u4e3a   0.01   \u6216 \u66f4 \u5c0f\u65f6 \u624d \u4f1a \u53d1\u751f \u6536\u655b \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540c\u6b65   Carla   \u91c7\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u67b6\u6784 \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fd0\u884c \u4eff\u771f \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u83b7\u53d6 \u53d6\u4fe1 \u4fe1\u606f \u83b7\u53d6\u4fe1\u606f \u5e76 \u5bf9 \u4e16\u754c \u8fdb\u884c \u4fee\u6539 \u3002 \u672c \u8282 \u6d89\u53ca \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u7684 \u901a\u4fe1 \u3002   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c Carla   \u4ee5 \u5f02\u6b65 \u6a21\u5f0f \u8fd0\u884c \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5feb\u5730 \u8fd0\u884c \u4eff\u771f \uff0c \u800c \u4e0d \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002 \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5728 \u66f4\u65b0 \u5230 \u4e0b \u4e00\u4e2a \u4eff\u771f \u6b65\u9aa4 \u4e4b\u524d \u4f1a \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u53d1\u9001 \u7684 \u201c ready   to   go \u201d \u7684 \u6d88\u606f \u3002   \u7b14\u8bb0   \u540c\u65f6 \u8fd0\u884c \u591a\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u65f6 \uff0c \u53ea\u80fd \u6709 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u5f00\u542f \u540c\u6b65 \u6a21\u5f0f \uff0c \u56e0\u4e3a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f1a \u5bf9 \u6bcf\u4e2a \u6536\u5230 \u7684 \u201c ready   to   go \u201d \u4fe1\u606f \u8fdb\u884c \u53cd\u5e94 \uff0c \u591a\u4e2a client \u5f00\u542f \u540c\u6b65 \u6a21\u5f0f \u5c06\u4f1a \u53d1\u9001 \u8fc7\u591a \u201c ready   to   go \u201d \u4fe1\u606f \u5bfc\u81f4 \u540c\u6b65 \u5931\u8d25 \u3002   \u8bbe\u7f6e \u540c\u6b65 \u6a21\u5f0f   \u540c\u6b65 \u6a21\u5f0f \u548c \u5f02\u6b65 \u6a21\u5f0f \u4e4b\u95f4 \u5207\u6362 \u53ea \u9700\u8981 \u6539\u53d8   settings . synchronous _ mode   \u7684 \u503c \u5373\u53ef \u3002   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f   world . apply _ settings ( settings )   \u8b66\u544a   \u5982\u679c \u542f\u7528 \u4e86 \u540c\u6b65 \u6a21\u5f0f \uff0c \u5e76\u4e14 \u6b63\u5728 \u8fd0\u884c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u5219 \u4e5f \u5fc5\u987b \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002 \u9605\u8bfb   \u8fd9\u4e2a   \u4ee5 \u4e86\u89e3 \u5982\u4f55 \u64cd\u4f5c \u3002   \u8981 \u7981\u7528 \u540c\u6b65 \u6a21\u5f0f \uff0c \u53ea \u9700 \u5c06 \u53d8\u91cf \u8bbe\u7f6e \u4e3a   false   \u6216 \u4f7f\u7528   PythonAPI / util / config . py   \u811a\u672c \u3002   cd   PythonAPI / util   &&   python3   config . py   -- no - sync   #   Disables   synchronous   mode   \u540c\u6b65 \u6a21\u5f0f \u4e0d\u80fd \u901a\u8fc7 \u811a\u672c \u542f\u7528 \uff0c \u53ea\u80fd \u7981\u7528 \u3002 \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \u5c06 \u4f7f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u673a \u7684 \u54cd\u5e94 \u3002 \u4f7f\u7528 \u8fd9\u4e2a \u811a\u672c \uff0c \u7528\u6237 \u4e0d\u80fd \u5728 \u9700\u8981 \u7684 \u65f6\u5019 \u53d1\u9001 \u523b\u5ea6 \u3002   \u4f7f\u7528 \u540c\u6b65 \u6a21\u5f0f   \u540c\u6b65 \u6a21\u5f0f \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u8f83\u6162 \u4ee5\u53ca \u9700\u8981 \u4e0d\u540c \u5143\u7d20 \u4e4b\u95f4 \u7684 \u540c\u6b65 \uff0c \u5982 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7b49 \u60c5\u51b5 \u4e0b \u5c24\u4e3a \u4e3a\u91cd \u91cd\u8981 \u5c24\u4e3a\u91cd\u8981 \u3002 \u5982\u679c \u5ba2\u6237 \u5ba2\u6237\u7aef \u901f\u5ea6 \u592a\u6162 \u800c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0d \u7b49\u5f85 \uff0c \u4fe1\u606f \u5c06\u4f1a \u6ea2\u51fa \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06 \u65e0\u6cd5 \u7ba1\u7406 \u6240\u6709 \u5185\u5bb9 \uff0c \u4fe1\u606f \u4f1a \u4e22\u5931 \u6216 \u6df7\u6dc6 \u3002 \u7c7b\u4f3c \u7684 \u60c5\u51b5 \u662f \uff0c \u5982\u679c \u6709 \u5f88\u591a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u5f02\u6b65 \u64cd\u4f5c \uff0c \u5c06 \u65e0\u6cd5 \u786e\u5b9a \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u5426 \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u6765\u81ea \u540c\u4e00 \u65f6\u523b \u7684 \u6570\u636e \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u7247\u6bb5 \u6269\u5c55 \u4e86 \u524d \u4e00\u6bb5 \u4ee3\u7801 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa \u4e00\u4e2a \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5c06 \u5f53\u524d \u6b65\u9aa4 \u7684 \u56fe\u50cf \u6570\u636e \u5b58\u50a8 \u5728 \u961f\u5217 \u4e2d \uff0c \u5e76 \u5728 \u4ece \u961f\u5217 \u4e2d \u68c0\u7d22 \u540e \u52fe\u9009 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u53ef\u4ee5   \u5728 \u6b64\u5904   \u627e\u5230 \u6709\u5173 \u591a\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u66f4 \u590d\u6742 \u793a\u4f8b \u3002   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   world . apply _ settings ( settings )   camera   =   world . spawn _ actor ( blueprint ,   transform )   image _ queue   =   queue . Queue ( )   camera . listen ( image _ queue . put )   while   True :   world . tick ( )   image   =   image _ queue . get ( )   \u91cd\u8981   \u6765\u81ea \u57fa\u4e8e GPU \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u4e3b\u8981 \u662f \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \uff09 \u7684 \u91cd\u8981 \u6570\u636e \u901a\u5e38 \u4f1a \u5ef6\u8fdf \u51e0\u5e27 \u3002 \u5728 \u8fd9\u91cc \uff0c \u540c\u6b65 \u662f \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u7684 \u3002   \u4e16\u754c \u5177\u6709 \u5f02\u6b65 \u65b9\u6cd5 \uff0c \u53ef\u4ee5 \u8ba9 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7b49\u5f85 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u65f6\u95f4 \u6b65\u8fdb \uff0c \u6216 \u5728 \u6536\u5230 \u65f6 \u6267\u884c \u67d0\u4e9b \u64cd\u4f5c \u3002   #   \u7b49\u5f85 \u4e0b \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f \u5e76 \u68c0\u7d22 \u8be5 \u8282\u62cd \u7684 \u5feb\u7167 \u3002   world _ snapshot   =   world . wait _ for _ tick ( )   #   \u6ce8\u518c \u4e00\u4e2a \u56de\u8c03 \u51fd\u6570 \uff0c \u6bcf\u6b21 \u63a5\u6536 \u5230 \u65b0 \u5feb\u7167 \u65f6 \u8c03\u7528 \u5b83 \u3002   world . on _ tick ( lambda   world _ snapshot :   do _ something ( world _ snapshot ) )   \u53ef\u80fd \u7684 \u914d\u7f6e   \u65f6\u95f4 \u6b65\u957f \u548c \u540c\u6b65 \u7684 \u914d\u7f6e \uff0c \u5bfc\u81f4 \u4e0d\u540c \u7684 \u8bbe\u7f6e \u3002 \u4ee5\u4e0b \u662f \u5bf9 \u8fd9\u4e9b \u53ef\u80fd \u53ef\u80fd\u6027 \u7684 \u7b80\u8981 \u603b\u7ed3 \u3002   \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f   \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f   \u540c\u6b65 \u6a21\u5f0f   \u5ba2\u6237 \u5b8c\u5168 \u63a7\u5236 \u4eff\u771f \u53ca\u5176 \u4fe1\u606f \u3002   \u4e0d \u53ef\u9760 \u4eff\u771f \u7684 \u98ce\u9669 \u3002   \u5f02\u6b65 \u6a21\u5f0f   \u8fd9\u662f \u5173\u4e8e \u4fe1\u606f \u7684 \u597d \u65f6\u95f4 \u53c2\u8003 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u4ee5 \u6700\u5feb \u7684 \u901f\u5ea6 \u8fd0\u884c \u3002   \u4e0d \u5bb9\u6613 \u91cd\u590d \u7684 \u4eff\u771f \u3002   \u540c\u6b65 \u6a21\u5f0f + \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \u3002   \u8fd9 \u51e0\u4e4e \u53ef\u4ee5 \u80af\u5b9a \u662f \u4e00\u79cd \u4e0d \u53ef\u53d6 \u7684 \u72b6\u6001 \u3002 \u5f53 \u65f6\u95f4 \u6b65\u957f \u5927\u4e8e   0.1   \u79d2 \u65f6 \uff0c \u7269\u7406 \u65e0\u6cd5 \u6b63\u5e38 \u8fd0\u884c \u3002 \u5982\u679c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5fc5\u987b \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8ba1\u7b97 \u6b65\u9aa4 \uff0c \u5219 \u5f88 \u53ef\u80fd \u4f1a \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \u3002 \u4eff\u771f \u65f6\u95f4 \u548c \u7269\u7406 \u7279\u6027 \u4e0d\u4f1a \u540c\u6b65 \u3002 \u4eff\u771f \u5c06 \u4e0d \u53ef\u9760 \u3002   \u5f02\u6b65 \u6a21\u5f0f + \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \u3002   \u8fd9\u662f \u9ed8\u8ba4 \u7684   Carla   \u72b6\u6001 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 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\u7528\u6237 \uff0c \u5e76\u4e14 \u5b83 \u4f7f\u7528 \u7684 \u662f \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \uff0c \u5219 \u65f6\u95f4 \u6b65\u957f \u5c06 \u592a\u5927 \u3002 \u7269\u7406 \u7406\u5b66 \u7269\u7406\u5b66 \u662f \u4e0d \u53ef\u9760 \u7684 \u3002 \u8fd9\u4e2a \u95ee\u9898 \u5728 \u65f6\u95f4 \u6b65\u957f \u9650\u5236 \u90e8\u5206 \u6709 \u66f4\u597d \u7684 \u89e3\u91ca \u3002   \u7269\u7406 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027   Carla   \u5728 \u7279\u5b9a \u60c5\u51b5 \u4e0b \u652f\u6301 \u7269\u7406 \u548c \u78b0\u649e \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \uff1a   \u540c\u6b65 \u6a21\u5f0f \u548c \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u5fc5\u987b \u542f\u7528   \uff1a \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u8981\u6c42 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5b8c\u5168 \u540c\u6b65 \uff0c \u4ee5 \u786e\u4fdd \u547d\u4ee4 \u88ab \u6b63\u786e \u5e94\u7528 \u5e76 \u4ea7\u751f \u51c6\u786e \u548c \u53ef \u590d\u5236 \u7684 \u7ed3\u679c \u3002 \u5fc5\u987b \u901a\u8fc7 \u8bbe\u7f6e \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u6765 \u5f3a\u5236 \u6267\u884c \u5f3a\u5236\u6267\u884c \u6052\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u3002 \u5982\u679c \u4e0d \u8bbe\u7f6e \uff0c \u65f6\u95f4 \u6b65\u957f \u5c06 \u6839\u636e \u4eff\u771f \u6027\u80fd \u5728 \u6bcf\u4e2a \u6b65\u9aa4 \u81ea\u52a8 \u8ba1\u7b97 \u3002   \u5728 \u52a0\u8f7d \u6216 \u91cd\u65b0 \u52a0\u8f7d \u4e16\u754c \u4e4b\u524d \uff0c \u5fc5\u987b \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \uff1a   \u5982\u679c \u4e16\u754c \u4ece \u4e00 \u5f00\u59cb \u5c31 \u4e0d \u5904\u4e8e \u540c\u6b65 \u6a21\u5f0f \uff0c \u5219 \u53ef\u80fd \u4f1a \u51fa\u73b0 \u4e0d\u540c \u7684 \u65f6\u95f4 \u6233 \u3002 \u8fd9 \u53ef\u80fd \u4f1a \u5728 \u7269\u7406 \u4eff\u771f \u548c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7b49 \u5bf9\u8c61 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u4e2d \u4ea7\u751f \u5fae\u5c0f \u7684 \u5dee\u5f02 \u3002   \u6bcf \u4e00\u6b21 \u65b0 \u7684 \u91cd\u590d \u90fd \u5fc5\u987b \u91cd\u65b0 \u52a0\u8f7d \u4e16\u754c \uff1a   \u6bcf\u6b21 \u8981 \u91cd\u73b0 \u4eff\u771f \u65f6 \uff0c \u8bf7 \u91cd\u65b0 \u52a0\u8f7d \u4e16\u754c \u3002   \u547d\u4ee4   \u5e94\u8be5 \u662f \u5904\u7406 \u6279\u5904\u7406 \u7684 \uff0c \u800c \u4e0d\u662f \u4e00\u6b21 \u53d1\u51fa \u4e00\u4e2a \u547d\u4ee4 \uff1a   \u867d\u7136 \u5f88\u5c11 \u89c1 \uff0c \u4f46 \u5728 \u7e41\u5fd9 \u7684 \u4eff\u771f \u6216 \u8fc7\u8f7d \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e2d \uff0c \u5355\u4e2a \u53d1\u51fa \u7684 \u547d\u4ee4 \u53ef\u80fd \u4f1a \u4e22\u5931 \u3002 \u5982\u679c \u547d\u4ee4 \u5728   apply _ batch _ sync   \u547d\u4ee4 \u4e2d \u5904\u7406 \u6279\u5904\u7406 \uff0c \u5219 \u4fdd\u8bc1 \u8be5 \u547d\u4ee4 \u88ab \u6267\u884c \u6216 \u8fd4\u56de \u5931\u8d25 \u54cd\u5e94 \u3002   \u4ee5\u4e0b \u662f \u4e0a\u8ff0 \u6b65\u9aa4 \u7684 \u793a\u4f8b \uff1a   client   =   carla . Client ( HOST ,   PORT )   #   connect   to   the   server   client . set _ timeout ( 10.0 )   world   =   client . get _ world ( )   #   Load   the   desired   map   client . load _ world ( \" Town10HD _ Opt \" )   #   Set   synchronous   mode   settings   new _ settings   =   world . get _ settings ( )   new _ settings . synchronous _ mode   =   True   new _ settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( new _ settings )   client . reload _ world ( False )   #   reload   map   keeping   the   world   settings   #   Set   up   the   traffic   manager   traffic _ manager   =   client . get _ trafficmanager ( TM _ PORT )   traffic _ manager . set _ synchronous _ mode ( True )   traffic _ manager . set _ random _ device _ seed ( SEED )   #   define   TM   seed   for   determinism   #   Spawn   your   vehicles ,   pedestrians ,   etc .   #   Simulation   loop   while   True :   #   Your   code   world . tick ( )   \u64ad\u653e \u529f\u80fd \u7684 \u4e00\u4e2a \u5177\u4f53 \u793a\u4f8b \uff1a   client   =   carla . Client ( HOST ,   PORT )   #   connect   to   the   server   client . set _ timeout ( 10.0 )   world   =   client . get _ world ( )   #   Load   the   desired   map   client . load _ world ( \" Town10HD _ Opt \" )   #   Set   synchronous   mode   settings   new _ settings   =   world . get _ settings ( )   new _ settings . synchronous _ mode   =   True   new _ settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( new _ settings )   client . reload _ world ( False )   #   reload   map   keeping   the   world   settings   client . replay _ file ( FILE _ TO _ PLAY ,   0 ,   0 ,   0 ,   False )   world . tick ( )   #   a   tick   is   necessary   for   the   server   to   process   the   replay _ file   command   #   Simulation   loop   while   True :   #   Your   code   world . tick ( )   \u8fd0\u884c \u8fd9\u4e9b \u6b65\u9aa4 \u5c06 \u786e\u4fdd \u6bcf\u6b21 \u4eff\u771f \u8fd0\u884c \u7684 \u7ed3\u679c \u76f8\u540c \u3002   \u8fd9 \u5c31\u662f \u5173\u4e8e \u4eff\u771f \u65f6\u95f4 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540c\u6b65 \u5728   Carla   \u4e2d \u7684 \u4f5c\u7528 \u7684 \u5168\u90e8 \u4fe1\u606f \u3002   \u6253\u5f00   Carla \uff0c \u73a9 \u4e00\u4f1a \u4f1a\u513f \u4e00\u4f1a\u513f \u3002 \u6b22\u8fce \u5728 \u8bba\u575b \u4e2d \u63d0\u51fa \u4efb\u4f55 \u5efa\u8bae \u6216 \u7591\u95ee \u3002   Carla   forum","title":"Adv   synchrony   timestep"},{"location":"adv_synchrony_timestep/#_1","text":"\u672c \u8282 \u4ecb\u7ecd   Carla   \u4e2d \u7684 \u4e24\u4e2a \u57fa\u672c \u6982\u5ff5 \u57fa\u672c\u6982\u5ff5 \u3002 \u5b83\u4eec \u7684 \u914d\u7f6e \u5b9a\u4e49 \u4e86 \u4eff\u771f \u4e2d \u7684 \u65f6\u95f4 \u5982\u4f55 \u6d41\u901d \uff0c \u4ee5\u53ca \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5982\u4f55 \u4f7f \u4eff\u771f \u5411\u524d \u63a8\u8fdb \u3002   \u4eff\u771f \u548c \u65f6\u95f4 \u6b65\u957f   \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f   \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f   \u4eff\u771f \u8bb0\u5f55   \u7269\u7406 \u5b50\u6b65   \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540c\u6b65   \u8bbe\u7f6e \u540c\u6b65 \u6a21\u5f0f   \u4f7f\u7528 \u540c\u6b65 \u6a21\u5f0f   \u53ef\u80fd \u7684 \u914d\u7f6e   \u7269\u7406 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027","title":"\u540c\u6b65 \u548c \u65f6\u95f4 \u6b65\u957f"},{"location":"adv_synchrony_timestep/#_2","text":"\u5b9e\u65f6 \u65f6\u95f4 \u548c \u4eff\u771f \u65f6\u95f4 \u662f \u6709 \u533a\u522b \u7684 \u3002 \u4eff\u771f \u4e16\u754c \u6709 \u81ea\u5df1 \u7684 \u65f6\u949f \u548c \u65f6\u95f4 \uff0c \u7531 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6267\u884c \u3002 \u8ba1\u7b97 \u4e24\u4e2a \u4eff\u771f \u6b65\u9aa4 \u9700\u8981 \u4e00\u4e9b \u5b9e\u65f6 \u65f6\u95f4 \u3002 \u4f46\u662f \uff0c \u5728 \u8fd9 \u4e24\u4e2a \u4eff\u771f \u65f6\u523b \u4e4b\u95f4 \u4e5f \u5b58\u5728 \u65f6\u95f4 \u8de8\u5ea6 \u65f6\u95f4\u8de8\u5ea6 \uff0c \u5373   \u65f6\u95f4 \u6b65\u957f   \u3002   \u4e3a\u4e86 \u6f84\u6e05 \u8fd9 \u4e00\u70b9 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53ef\u80fd \u9700\u8981 \u51e0 \u6beb\u79d2 \u6765 \u8ba1\u7b97 \u4eff\u771f \u7684 \u4e24\u4e2a \u6b65\u9aa4 \u3002 \u4f46\u662f \uff0c \u6bd4\u5982 \u8fd9 \u4e24\u4e2a \u4eff\u771f \u65f6\u523b \u4e4b\u95f4 \u7684 \u65f6\u95f4 \u6b65\u957f \u53ef\u4ee5 \u914d\u7f6e \u59cb\u7ec8 \u4e3a   1   \u79d2 \u3002   \u65f6\u95f4 \u6b65\u957f \u53ef\u4ee5 \u662f \u56fa\u5b9a \u7684 \uff0c \u4e5f \u53ef\u4ee5 \u662f \u53ef\u53d8 \u7684 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u7528\u6237 \u7684 \u504f\u597d \u3002   \u7b14\u8bb0   \u65f6\u95f4 \u6b65\u957f \u548c \u540c\u6b65 \u662f \u76f8\u4e92 \u4e92\u4ea4 \u4ea4\u7ec7 \u76f8\u4e92\u4ea4\u7ec7 \u7684 \u6982\u5ff5 \u3002 \u8bf7 \u52a1\u5fc5 \u9605\u8bfb \u8fd9 \u4e24\u4e2a \u90e8\u5206 \uff0c \u4ee5 \u5145\u5206 \u4e86\u89e3   Carla   \u7684 \u5de5\u4f5c \u539f\u7406 \u3002","title":"\u4eff\u771f \u65f6\u95f4 \u6b65\u957f  "},{"location":"adv_synchrony_timestep/#_3","text":"Carla   \u4e2d \u7684 \u9ed8\u8ba4 \u6a21\u5f0f \u3002 \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u662f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8ba1\u7b97 \u8fd9\u4e9b \u6b65\u9aa4 \u6240 \u9700 \u7684 \u65f6\u95f4 \u3002   settings   =   world . get _ settings ( )   settings . fixed _ delta _ seconds   =   None   #   \u8bbe\u7f6e \u4e3a \u53ef\u53d8 \u6b65\u957f   world . apply _ settings ( settings )   PythonAPI / util / config . py   \u4f7f\u7528 \u53c2\u6570 \u8bbe\u7f6e \u53c2\u6570\u8bbe\u7f6e \u65f6\u95f4 \u6b65\u957f \u3002 0   \u8868\u793a \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \u3002   cd   PythonAPI / util   &&   python3   config . py   -- delta - seconds   0","title":"\u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f  "},{"location":"adv_synchrony_timestep/#_4","text":"\u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u4e4b\u95f4 \u7ecf\u8fc7 \u7684 \u65f6\u95f4 \u4fdd\u6301 \u6052\u5b9a \u3002 \u5982\u679c \u8bbe\u7f6e \u4e3a   0.5   \u79d2 \uff0c \u6bcf\u79d2 \u5c06 \u6709   2   \u4e2a \u4eff\u771f \u5e27 \u3002 \u4f7f\u7528 \u76f8\u540c \u7684 \u65f6\u95f4 \u589e\u91cf \u5bf9\u4e8e \u4ece \u4eff\u771f \u4e2d \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e \u662f \u6700\u597d \u7684 \u65b9\u5f0f \u3002 \u7269\u7406 \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c06 \u5bf9\u5e94 \u4e8e \u4eff\u771f \u4e2d \u6613\u4e8e \u7406\u89e3 \u7684 \u65f6\u523b \u3002 \u6b64\u5916 \uff0c \u5982\u679c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901f\u5ea6 \u8db3\u591f \u5feb \uff0c \u53ef\u4ee5 \u5728 \u66f4 \u5c11 \u7684 \u5b9e\u9645 \u65f6\u95f4 \u5185 \u4eff\u771f \u66f4\u957f \u7684 \u65f6\u95f4 \u65f6\u95f4\u6bb5 \u3002   \u53ef\u4ee5 \u5728 \u4e16\u754c \u8bbe\u7f6e \u4e2d \u8bbe\u7f6e \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u3002 \u8981 \u5c06 \u4eff\u771f \u8bbe\u7f6e \u4e3a \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f \u4e3a   0.05   \u79d2 \uff0c \u8bf7 \u5e94\u7528 \u4ee5\u4e0b \u8bbe\u7f6e \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5c06 \u82b1\u8d39 20   \u6b65 \uff08 1 / 0.05 \uff09 \u6765 \u91cd\u73b0 \u4eff\u771f \u4e16\u754c \u4e2d \u7684   1   \u79d2 \u3002   settings   =   world . get _ settings ( )   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   \u8fd9 \u4e5f \u53ef\u4ee5 \u4f7f\u7528   PythonAPI / util / config . py   \u63d0\u4f9b \u7684 \u811a\u672c \u8fdb\u884c \u8bbe\u7f6e \u3002   cd   PythonAPI / util   &&   python3   config . py   -- delta - seconds   0.05","title":"\u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f  "},{"location":"adv_synchrony_timestep/#_5","text":"Carla   \u5177\u6709   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u529f\u80fd \uff0c \u53ef\u4ee5 \u8bb0\u5f55 \u4eff\u771f \uff0c \u7136\u540e \u91cd\u65b0 \u64ad\u653e \u3002 \u4f46\u662f \uff0c \u5728 \u5bfb\u627e \u7cbe\u5ea6 \u65f6 \uff0c \u9700\u8981 \u8003\u8651 \u4e00\u4e9b \u4e8b\u60c5 \u3002   \u6709 \u4e86   \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f   \uff0c \u91cd\u65b0 \u64ad\u653e \u5b83 \u5c31 \u5f88 \u5bb9\u6613 \u4e86 \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53ef\u4ee5 \u8bbe\u7f6e \u4e3a \u4e0e \u539f\u59cb \u4eff\u771f \u76f8\u540c \u7684 \u65f6\u95f4 \u6b65\u957f \u3002   \u4f7f\u7528   \u53ef\u53d8 \u7684 \u65f6\u95f4 \u6b65\u957f   \uff0c \u4e8b\u60c5 \u4f1a \u7a0d\u5fae \u590d\u6742 \u4e00\u4e9b \u3002   \u5982\u679c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4ee5 \u53ef\u53d8 \u7684 \u65f6\u95f4 \u6b65\u957f \u8fd0\u884c \uff0c \u5219 \u65f6\u95f4 \u6b65\u957f \u5c06 \u4e0e \u539f\u59cb \u65f6\u95f4 \u6b65\u957f \u4e0d\u540c \uff0c \u56e0\u4e3a \u903b\u8f91 \u5468\u671f \u4f1a \u4e0d\u65f6 \u53d8\u5316 \u3002 \u7136\u540e \uff0c \u5c06 \u4f7f\u7528 \u8bb0\u5f55 \u7684 \u6570\u636e \u5bf9 \u4fe1\u606f \u8fdb\u884c \u63d2\u503c \u3002   \u5982\u679c   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u88ab\u8feb \u91cd\u73b0 \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u7684 \u65f6\u95f4   \u6b65\u957f \uff0c \u5219 \u4eff\u771f \u7684 \u6b65\u957f \u5c06 \u76f8\u540c \uff0c \u4f46 \u5b83\u4eec \u4e4b\u95f4 \u7684 \u5b9e\u65f6 \u65f6\u95f4 \u4f1a \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002 \u65f6\u95f4 \u6b65\u957f \u5e94 \u9010\u4e00 \u4f20\u9012 \u3002 \u8fd9\u4e9b \u539f\u59cb \u65f6\u95f4 \u6b65\u957f \u662f \u539f\u59cb \u4eff\u771f \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5feb \u8fd0\u884c \u7684 \u7ed3\u679c \u3002 \u7531\u4e8e \u8868\u793a \u8fd9\u4e9b \u6240 \u9700 \u7684 \u65f6\u95f4 \u5927\u591a \u4e0d\u540c \uff0c \u56e0\u6b64 \u4eff\u771f \u5fc5\u7136 \u4f1a\u4ee5 \u5947\u602a \u7684 \u65f6\u95f4 \u6ce2\u52a8 \u518d\u73b0 \u3002","title":"\u4eff\u771f \u8bb0\u5f55  "},{"location":"adv_synchrony_timestep/#_6","text":"\u4e3a\u4e86 \u7cbe\u786e \u8ba1\u7b97 \u7269\u7406 \u6548\u679c \uff0c \u7269\u7406 \u4eff\u771f \u5fc5\u987b \u5728 \u975e\u5e38 \u5c0f \u7684 \u65f6\u95f4 \u6b65\u5185 \u8fdb\u884c \u3002 \u5f53 \u6211\u4eec \u5728 \u4eff\u771f \u4e2d \u6bcf \u5e27 \u6267\u884c \u591a\u6b21 \u8ba1\u7b97 \uff08 \u4f8b\u5982 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6e32\u67d3 \uff0c \u8bfb\u53d6 \u5b58\u50a8 \u7b49 \uff09 \u65f6 \uff0c \u65f6\u95f4 \u6b65\u957f \u53ef\u80fd \u4f1a \u6210\u4e3a \u4e00\u4e2a \u95ee\u9898 \u3002 \u7531\u4e8e \u8fd9\u4e2a \u9650\u5236 \u4ec5 \u53d1\u751f \u5728 \u7269\u7406 \u4eff\u771f \u4e2d \uff0c \u6211\u4eec \u53ef\u4ee5 \u4ec5 \u5bf9 \u7269\u7406 \u8ba1\u7b97 \u5e94\u7528 \u5b50\u6b65 \u3002 \u5728 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u7269\u7406 \u5b50\u6b65 \u662f \u6253\u5f00 \u7684 \uff0c \u5e76\u4e14 \u88ab \u8bbe\u5b9a \u4e3a \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u957f \u6700\u5927   10   \u4e2a \u7269\u7406 \u5b50\u6b65 \uff0c \u6bcf\u4e2a \u7269\u7406 \u5b50\u6b65 \u6700\u5927 \u4e3a 0.01   \u79d2 \u3002   \u5f53\u7136 \uff0c \u6211\u4eec \u53ef\u4ee5 \u901a\u8fc7 API \u8c03\u6574 \u8fd9\u4e9b \u8bbe\u5b9a \uff1a   settings   =   world . get _ settings ( )   settings . substepping   =   True   settings . max _ substep _ delta _ time   =   0.01   settings . max _ substeps   =   10   world . apply _ settings ( settings )   \u6ce8\u610f \uff0c \u5f53 \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \u65f6 \uff0c \u6211\u4eec \u8bbe\u5b9a \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u65f6 \u9700\u8981 \u9075\u5faa \u4ee5\u4e0b \u6761\u4ef6 \u6765 \u4fdd\u8bc1 \u7269\u7406 \u4eff\u771f \u7684 \u51c6\u786e \u51c6\u786e\u6027 \uff1a   fixed _ delta _ seconds   < =   max _ substep _ delta _ time   *   max _ substeps   \u6ce8\u610f \uff0c \u4e3a\u4e86 \u4fdd\u8bc1 \u7269\u7406 \u4eff\u771f \u7684 \u51c6\u786e \u51c6\u786e\u6027 \uff0c \u5b50\u6b65 \u7684 \u65f6\u95f4 \u95f4\u9694 \u5e94\u8be5 \u81f3\u5c11 \u4f4e\u4e8e   0.01666 \uff0c \u7406\u60f3 \u60c5\u51b5 \u4e0b \u4f4e\u4e8e   0.01 \u3002   \u4e3a\u4e86 \u6f14\u793a \u6700\u4f73 \u7269\u7406 \u5b50\u6b65 \u7684 \u6548\u679c \uff0c \u8bf7 \u8003\u8651 \u4e0b\u9762 \u7684 \u56fe \u3002 \u4e0b\u9762 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u56fe\u8868 \u663e\u793a \u4e86 \u5728 \u4e0d\u540c \u56fa\u5b9a \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u7684 \u4eff\u771f \u4e2d \u901f\u5ea6 \u968f \u65f6\u95f4 \u7684 \u53d8\u5316 \u3002 \u7269\u7406 \u589e\u91cf \u65f6\u95f4 \u5728 \u6240\u6709 \u4eff\u771f \u4e2d \u90fd \u662f \u6052\u5b9a \u7684 \uff0c \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.01 \u3002 \u6211\u4eec \u53ef\u4ee5 \u770b\u5230 \uff0c \u901f\u5ea6 \u4e0d \u53d7 \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u5dee\u5f02 \u7684 \u5f71\u54cd \u3002   \u7b2c\u4e8c \u4e8c\u5f20 \u7b2c\u4e8c\u5f20 \u56fe \u663e\u793a \u4e86 \u4eff\u771f \u4e2d \u901f\u5ea6 \u968f \u65f6\u95f4 \u7684 \u53d8\u5316 \uff0c \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u56fa\u5b9a \u4e3a 0.04 \u3002 \u6211\u4eec \u53ef\u4ee5 \u770b\u5230 \uff0c \u4e00\u65e6 \u7269\u7406 \u589e\u91cf \u65f6\u95f4 \u8d85\u8fc7   0.01 \uff0c \u901f\u5ea6 \u5e38\u6570 \u5f00\u59cb \u51fa\u73b0 \u504f\u5dee \uff0c \u968f\u7740 \u7269\u7406 \u589e\u91cf \u65f6\u95f4 \u7684 \u589e\u52a0 \uff0c \u504f\u5dee \u7684 \u4e25\u91cd \u7a0b\u5ea6 \u4e5f \u5728 \u589e\u52a0 \u3002   \u6211\u4eec \u53ef\u4ee5 \u901a\u8fc7 \u5728 \u6d4b\u91cf z - \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u65f6 \u663e\u793a \u7269\u7406 \u589e\u91cf \u65f6\u95f4 \u4e0e \u56fa\u5b9a \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u76f8\u540c \u7684 \u5dee\u5f02 \u7684 \u5f71\u54cd \u6765 \u518d\u6b21 \u8bc1\u660e \u8fd9\u79cd \u504f\u5dee \uff0c \u53ea\u6709 \u5f53 \u7269\u7406 \u589e\u91cf \u65f6\u95f4 \u4e3a   0.01   \u6216 \u66f4 \u5c0f\u65f6 \u624d \u4f1a \u53d1\u751f \u6536\u655b \u3002","title":"\u7269\u7406 \u5b50\u6b65  "},{"location":"adv_synchrony_timestep/#-","text":"Carla   \u91c7\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u67b6\u6784 \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fd0\u884c \u4eff\u771f \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u83b7\u53d6 \u53d6\u4fe1 \u4fe1\u606f \u83b7\u53d6\u4fe1\u606f \u5e76 \u5bf9 \u4e16\u754c \u8fdb\u884c \u4fee\u6539 \u3002 \u672c \u8282 \u6d89\u53ca \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u7684 \u901a\u4fe1 \u3002   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c Carla   \u4ee5 \u5f02\u6b65 \u6a21\u5f0f \u8fd0\u884c \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5feb\u5730 \u8fd0\u884c \u4eff\u771f \uff0c \u800c \u4e0d \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002 \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5728 \u66f4\u65b0 \u5230 \u4e0b \u4e00\u4e2a \u4eff\u771f \u6b65\u9aa4 \u4e4b\u524d \u4f1a \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u53d1\u9001 \u7684 \u201c ready   to   go \u201d \u7684 \u6d88\u606f \u3002   \u7b14\u8bb0   \u540c\u65f6 \u8fd0\u884c \u591a\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u65f6 \uff0c \u53ea\u80fd \u6709 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u5f00\u542f \u540c\u6b65 \u6a21\u5f0f \uff0c \u56e0\u4e3a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f1a \u5bf9 \u6bcf\u4e2a \u6536\u5230 \u7684 \u201c ready   to   go \u201d \u4fe1\u606f \u8fdb\u884c \u53cd\u5e94 \uff0c \u591a\u4e2a client \u5f00\u542f \u540c\u6b65 \u6a21\u5f0f \u5c06\u4f1a \u53d1\u9001 \u8fc7\u591a \u201c ready   to   go \u201d \u4fe1\u606f \u5bfc\u81f4 \u540c\u6b65 \u5931\u8d25 \u3002","title":"\u5ba2\u6237\u7aef - \u670d\u52a1\u5668 \u540c\u6b65  "},{"location":"adv_synchrony_timestep/#_7","text":"\u540c\u6b65 \u6a21\u5f0f \u548c \u5f02\u6b65 \u6a21\u5f0f \u4e4b\u95f4 \u5207\u6362 \u53ea \u9700\u8981 \u6539\u53d8   settings . synchronous _ mode   \u7684 \u503c \u5373\u53ef \u3002   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f   world . apply _ settings ( settings )   \u8b66\u544a   \u5982\u679c \u542f\u7528 \u4e86 \u540c\u6b65 \u6a21\u5f0f \uff0c \u5e76\u4e14 \u6b63\u5728 \u8fd0\u884c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u5219 \u4e5f \u5fc5\u987b \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002 \u9605\u8bfb   \u8fd9\u4e2a   \u4ee5 \u4e86\u89e3 \u5982\u4f55 \u64cd\u4f5c \u3002   \u8981 \u7981\u7528 \u540c\u6b65 \u6a21\u5f0f \uff0c \u53ea \u9700 \u5c06 \u53d8\u91cf \u8bbe\u7f6e \u4e3a   false   \u6216 \u4f7f\u7528   PythonAPI / util / config . py   \u811a\u672c \u3002   cd   PythonAPI / util   &&   python3   config . py   -- no - sync   #   Disables   synchronous   mode   \u540c\u6b65 \u6a21\u5f0f \u4e0d\u80fd \u901a\u8fc7 \u811a\u672c \u542f\u7528 \uff0c \u53ea\u80fd \u7981\u7528 \u3002 \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \u5c06 \u4f7f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u673a \u7684 \u54cd\u5e94 \u3002 \u4f7f\u7528 \u8fd9\u4e2a \u811a\u672c \uff0c \u7528\u6237 \u4e0d\u80fd \u5728 \u9700\u8981 \u7684 \u65f6\u5019 \u53d1\u9001 \u523b\u5ea6 \u3002","title":"\u8bbe\u7f6e \u540c\u6b65 \u6a21\u5f0f  "},{"location":"adv_synchrony_timestep/#_8","text":"\u540c\u6b65 \u6a21\u5f0f \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u8f83\u6162 \u4ee5\u53ca \u9700\u8981 \u4e0d\u540c \u5143\u7d20 \u4e4b\u95f4 \u7684 \u540c\u6b65 \uff0c \u5982 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7b49 \u60c5\u51b5 \u4e0b \u5c24\u4e3a \u4e3a\u91cd \u91cd\u8981 \u5c24\u4e3a\u91cd\u8981 \u3002 \u5982\u679c \u5ba2\u6237 \u5ba2\u6237\u7aef \u901f\u5ea6 \u592a\u6162 \u800c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0d \u7b49\u5f85 \uff0c \u4fe1\u606f \u5c06\u4f1a \u6ea2\u51fa \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06 \u65e0\u6cd5 \u7ba1\u7406 \u6240\u6709 \u5185\u5bb9 \uff0c \u4fe1\u606f \u4f1a \u4e22\u5931 \u6216 \u6df7\u6dc6 \u3002 \u7c7b\u4f3c \u7684 \u60c5\u51b5 \u662f \uff0c \u5982\u679c \u6709 \u5f88\u591a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u5f02\u6b65 \u64cd\u4f5c \uff0c \u5c06 \u65e0\u6cd5 \u786e\u5b9a \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u5426 \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u6765\u81ea \u540c\u4e00 \u65f6\u523b \u7684 \u6570\u636e \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u7247\u6bb5 \u6269\u5c55 \u4e86 \u524d \u4e00\u6bb5 \u4ee3\u7801 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa \u4e00\u4e2a \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5c06 \u5f53\u524d \u6b65\u9aa4 \u7684 \u56fe\u50cf \u6570\u636e \u5b58\u50a8 \u5728 \u961f\u5217 \u4e2d \uff0c \u5e76 \u5728 \u4ece \u961f\u5217 \u4e2d \u68c0\u7d22 \u540e \u52fe\u9009 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u53ef\u4ee5   \u5728 \u6b64\u5904   \u627e\u5230 \u6709\u5173 \u591a\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u66f4 \u590d\u6742 \u793a\u4f8b \u3002   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   world . apply _ settings ( settings )   camera   =   world . spawn _ actor ( blueprint ,   transform )   image _ queue   =   queue . Queue ( )   camera . listen ( image _ queue . put )   while   True :   world . tick ( )   image   =   image _ queue . get ( )   \u91cd\u8981   \u6765\u81ea \u57fa\u4e8e GPU \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u4e3b\u8981 \u662f \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \uff09 \u7684 \u91cd\u8981 \u6570\u636e \u901a\u5e38 \u4f1a \u5ef6\u8fdf \u51e0\u5e27 \u3002 \u5728 \u8fd9\u91cc \uff0c \u540c\u6b65 \u662f \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u7684 \u3002   \u4e16\u754c \u5177\u6709 \u5f02\u6b65 \u65b9\u6cd5 \uff0c \u53ef\u4ee5 \u8ba9 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7b49\u5f85 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u65f6\u95f4 \u6b65\u8fdb \uff0c \u6216 \u5728 \u6536\u5230 \u65f6 \u6267\u884c \u67d0\u4e9b \u64cd\u4f5c \u3002   #   \u7b49\u5f85 \u4e0b \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f \u5e76 \u68c0\u7d22 \u8be5 \u8282\u62cd \u7684 \u5feb\u7167 \u3002   world _ snapshot   =   world . wait _ for _ tick ( )   #   \u6ce8\u518c \u4e00\u4e2a \u56de\u8c03 \u51fd\u6570 \uff0c \u6bcf\u6b21 \u63a5\u6536 \u5230 \u65b0 \u5feb\u7167 \u65f6 \u8c03\u7528 \u5b83 \u3002   world . on _ tick ( lambda   world _ snapshot :   do _ something ( world _ snapshot ) )","title":"\u4f7f\u7528 \u540c\u6b65 \u6a21\u5f0f  "},{"location":"adv_synchrony_timestep/#_9","text":"\u65f6\u95f4 \u6b65\u957f \u548c \u540c\u6b65 \u7684 \u914d\u7f6e \uff0c \u5bfc\u81f4 \u4e0d\u540c \u7684 \u8bbe\u7f6e \u3002 \u4ee5\u4e0b \u662f \u5bf9 \u8fd9\u4e9b \u53ef\u80fd \u53ef\u80fd\u6027 \u7684 \u7b80\u8981 \u603b\u7ed3 \u3002   \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f   \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f   \u540c\u6b65 \u6a21\u5f0f   \u5ba2\u6237 \u5b8c\u5168 \u63a7\u5236 \u4eff\u771f \u53ca\u5176 \u4fe1\u606f \u3002   \u4e0d \u53ef\u9760 \u4eff\u771f \u7684 \u98ce\u9669 \u3002   \u5f02\u6b65 \u6a21\u5f0f   \u8fd9\u662f \u5173\u4e8e \u4fe1\u606f \u7684 \u597d \u65f6\u95f4 \u53c2\u8003 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u4ee5 \u6700\u5feb \u7684 \u901f\u5ea6 \u8fd0\u884c \u3002   \u4e0d \u5bb9\u6613 \u91cd\u590d \u7684 \u4eff\u771f \u3002   \u540c\u6b65 \u6a21\u5f0f + \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \u3002   \u8fd9 \u51e0\u4e4e \u53ef\u4ee5 \u80af\u5b9a \u662f \u4e00\u79cd \u4e0d \u53ef\u53d6 \u7684 \u72b6\u6001 \u3002 \u5f53 \u65f6\u95f4 \u6b65\u957f \u5927\u4e8e   0.1   \u79d2 \u65f6 \uff0c \u7269\u7406 \u65e0\u6cd5 \u6b63\u5e38 \u8fd0\u884c \u3002 \u5982\u679c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5fc5\u987b \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8ba1\u7b97 \u6b65\u9aa4 \uff0c \u5219 \u5f88 \u53ef\u80fd \u4f1a \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \u3002 \u4eff\u771f \u65f6\u95f4 \u548c \u7269\u7406 \u7279\u6027 \u4e0d\u4f1a \u540c\u6b65 \u3002 \u4eff\u771f \u5c06 \u4e0d \u53ef\u9760 \u3002   \u5f02\u6b65 \u6a21\u5f0f + \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \u3002   \u8fd9\u662f \u9ed8\u8ba4 \u7684   Carla   \u72b6\u6001 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u662f \u5f02\u6b65 \u7684 \u3002 \u4eff\u771f \u65f6\u95f4 \u6839\u636e \u5b9e\u65f6 \u6d41\u52a8 \u3002 \u91cd\u65b0 \u6267\u884c \u4eff\u771f \u9700\u8981 \u8003\u8651 \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \u7b97\u672f \u8bef\u5dee \uff0c \u4ee5\u53ca \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u65f6\u95f4 \u6b65\u957f \u7684 \u53ef\u80fd \u5dee\u5f02 \u3002   \u5f02\u6b65 \u6a21\u5f0f + \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f \u3002   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5feb\u5730 \u8fd0\u884c \u3002 \u68c0\u7d22 \u5230 \u7684 \u4fe1\u606f \u5c06 \u5f88 \u5bb9\u6613 \u4e0e \u4eff\u771f \u4e2d \u7684 \u786e\u5207 \u65f6\u523b \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u5982\u679c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901f\u5ea6 \u8db3\u591f \u5feb \uff0c \u8fd9\u79cd \u914d\u7f6e \u53ef\u4ee5 \u4ee5 \u66f4 \u4f4e \u7684 \u5b9e\u65f6 \u5ea6 \u4eff\u771f \u65f6\u95f4 \u957f\u65f6\u95f4 \u3002   \u540c\u6b65 \u6a21\u5f0f + \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06 \u7edf\u6cbb \u4eff\u771f \u3002 \u65f6\u95f4 \u6b65\u957f \u5c06 \u662f \u56fa\u5b9a \u7684 \u3002 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u53d1\u9001 \u5373\u65f6 \u62a5\u4ef7 \u4e4b\u524d \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0d\u4f1a \u8ba1\u7b97 \u4ee5\u4e0b \u6b65\u9aa4 \u3002 \u5f53 \u540c\u6b65 \u548c \u7cbe\u5ea6 \u76f8\u5173 \u65f6 \uff0c \u8fd9\u662f \u6700\u4f73 \u6a21\u5f0f \u3002 \u5c24\u5176 \u662f \u5728 \u5904\u7406 \u7f13\u6162 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6216 \u68c0\u7d22 \u4fe1\u606f \u7684 \u4e0d\u540c \u5143\u7d20 \u65f6 \u3002   \u8b66\u544a   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u8bf7 \u59cb\u7ec8 \u4f7f\u7528 \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u3002 \u5982\u679c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5fc5\u987b \u7b49\u5f85 \u7528\u6237 \uff0c \u5e76\u4e14 \u5b83 \u4f7f\u7528 \u7684 \u662f \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \uff0c \u5219 \u65f6\u95f4 \u6b65\u957f \u5c06 \u592a\u5927 \u3002 \u7269\u7406 \u7406\u5b66 \u7269\u7406\u5b66 \u662f \u4e0d \u53ef\u9760 \u7684 \u3002 \u8fd9\u4e2a \u95ee\u9898 \u5728 \u65f6\u95f4 \u6b65\u957f \u9650\u5236 \u90e8\u5206 \u6709 \u66f4\u597d \u7684 \u89e3\u91ca \u3002","title":"\u53ef\u80fd \u7684 \u914d\u7f6e    "},{"location":"adv_synchrony_timestep/#_10","text":"Carla   \u5728 \u7279\u5b9a \u60c5\u51b5 \u4e0b \u652f\u6301 \u7269\u7406 \u548c \u78b0\u649e \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \uff1a   \u540c\u6b65 \u6a21\u5f0f \u548c \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u5fc5\u987b \u542f\u7528   \uff1a \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u8981\u6c42 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5b8c\u5168 \u540c\u6b65 \uff0c \u4ee5 \u786e\u4fdd \u547d\u4ee4 \u88ab \u6b63\u786e \u5e94\u7528 \u5e76 \u4ea7\u751f \u51c6\u786e \u548c \u53ef \u590d\u5236 \u7684 \u7ed3\u679c \u3002 \u5fc5\u987b \u901a\u8fc7 \u8bbe\u7f6e \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u6765 \u5f3a\u5236 \u6267\u884c \u5f3a\u5236\u6267\u884c \u6052\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u3002 \u5982\u679c \u4e0d \u8bbe\u7f6e \uff0c \u65f6\u95f4 \u6b65\u957f \u5c06 \u6839\u636e \u4eff\u771f \u6027\u80fd \u5728 \u6bcf\u4e2a \u6b65\u9aa4 \u81ea\u52a8 \u8ba1\u7b97 \u3002   \u5728 \u52a0\u8f7d \u6216 \u91cd\u65b0 \u52a0\u8f7d \u4e16\u754c \u4e4b\u524d \uff0c \u5fc5\u987b \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \uff1a   \u5982\u679c \u4e16\u754c \u4ece \u4e00 \u5f00\u59cb \u5c31 \u4e0d \u5904\u4e8e \u540c\u6b65 \u6a21\u5f0f \uff0c \u5219 \u53ef\u80fd \u4f1a \u51fa\u73b0 \u4e0d\u540c \u7684 \u65f6\u95f4 \u6233 \u3002 \u8fd9 \u53ef\u80fd \u4f1a \u5728 \u7269\u7406 \u4eff\u771f \u548c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7b49 \u5bf9\u8c61 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u4e2d \u4ea7\u751f \u5fae\u5c0f \u7684 \u5dee\u5f02 \u3002   \u6bcf \u4e00\u6b21 \u65b0 \u7684 \u91cd\u590d \u90fd \u5fc5\u987b \u91cd\u65b0 \u52a0\u8f7d \u4e16\u754c \uff1a   \u6bcf\u6b21 \u8981 \u91cd\u73b0 \u4eff\u771f \u65f6 \uff0c \u8bf7 \u91cd\u65b0 \u52a0\u8f7d \u4e16\u754c \u3002   \u547d\u4ee4   \u5e94\u8be5 \u662f \u5904\u7406 \u6279\u5904\u7406 \u7684 \uff0c \u800c \u4e0d\u662f \u4e00\u6b21 \u53d1\u51fa \u4e00\u4e2a \u547d\u4ee4 \uff1a   \u867d\u7136 \u5f88\u5c11 \u89c1 \uff0c \u4f46 \u5728 \u7e41\u5fd9 \u7684 \u4eff\u771f \u6216 \u8fc7\u8f7d \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e2d \uff0c \u5355\u4e2a \u53d1\u51fa \u7684 \u547d\u4ee4 \u53ef\u80fd \u4f1a \u4e22\u5931 \u3002 \u5982\u679c \u547d\u4ee4 \u5728   apply _ batch _ sync   \u547d\u4ee4 \u4e2d \u5904\u7406 \u6279\u5904\u7406 \uff0c \u5219 \u4fdd\u8bc1 \u8be5 \u547d\u4ee4 \u88ab \u6267\u884c \u6216 \u8fd4\u56de \u5931\u8d25 \u54cd\u5e94 \u3002   \u4ee5\u4e0b \u662f \u4e0a\u8ff0 \u6b65\u9aa4 \u7684 \u793a\u4f8b \uff1a   client   =   carla . Client ( HOST ,   PORT )   #   connect   to   the   server   client . set _ timeout ( 10.0 )   world   =   client . get _ world ( )   #   Load   the   desired   map   client . load _ world ( \" Town10HD _ Opt \" )   #   Set   synchronous   mode   settings   new _ settings   =   world . get _ settings ( )   new _ settings . synchronous _ mode   =   True   new _ settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( new _ settings )   client . reload _ world ( False )   #   reload   map   keeping   the   world   settings   #   Set   up   the   traffic   manager   traffic _ manager   =   client . get _ trafficmanager ( TM _ PORT )   traffic _ manager . set _ synchronous _ mode ( True )   traffic _ manager . set _ random _ device _ seed ( SEED )   #   define   TM   seed   for   determinism   #   Spawn   your   vehicles ,   pedestrians ,   etc .   #   Simulation   loop   while   True :   #   Your   code   world . tick ( )   \u64ad\u653e \u529f\u80fd \u7684 \u4e00\u4e2a \u5177\u4f53 \u793a\u4f8b \uff1a   client   =   carla . Client ( HOST ,   PORT )   #   connect   to   the   server   client . set _ timeout ( 10.0 )   world   =   client . get _ world ( )   #   Load   the   desired   map   client . load _ world ( \" Town10HD _ Opt \" )   #   Set   synchronous   mode   settings   new _ settings   =   world . get _ settings ( )   new _ settings . synchronous _ mode   =   True   new _ settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( new _ settings )   client . reload _ world ( False )   #   reload   map   keeping   the   world   settings   client . replay _ file ( FILE _ TO _ PLAY ,   0 ,   0 ,   0 ,   False )   world . tick ( )   #   a   tick   is   necessary   for   the   server   to   process   the   replay _ file   command   #   Simulation   loop   while   True :   #   Your   code   world . tick ( )   \u8fd0\u884c \u8fd9\u4e9b \u6b65\u9aa4 \u5c06 \u786e\u4fdd \u6bcf\u6b21 \u4eff\u771f \u8fd0\u884c \u7684 \u7ed3\u679c \u76f8\u540c \u3002   \u8fd9 \u5c31\u662f \u5173\u4e8e \u4eff\u771f \u65f6\u95f4 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540c\u6b65 \u5728   Carla   \u4e2d \u7684 \u4f5c\u7528 \u7684 \u5168\u90e8 \u4fe1\u606f \u3002   \u6253\u5f00   Carla \uff0c \u73a9 \u4e00\u4f1a \u4f1a\u513f \u4e00\u4f1a\u513f \u3002 \u6b22\u8fce \u5728 \u8bba\u575b \u4e2d \u63d0\u51fa \u4efb\u4f55 \u5efa\u8bae \u6216 \u7591\u95ee \u3002   Carla   forum","title":"\u7269\u7406 \u786e\u5b9a\u6027  "},{"location":"adv_traffic_manager/","text":"\u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u4ec0\u4e48 \u662f \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff1f   \u7ed3\u6784 \u7ed3\u6784\u5316 \u8bbe\u8ba1   \u7528\u6237 \u5b9a\u5236   \u67b6\u6784   \u6982\u8ff0   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u4eff\u771f \u72b6\u6001   \u63a7\u5236 \u5faa\u73af   \u5185\u5b58 \u5730\u56fe   \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9   PID   \u63a7\u5236 \u63a7\u5236\u5668   \u547d\u4ee4 \u6570\u7ec4   \u63a7\u5236 \u5faa\u73af \u7684 \u9636\u6bb5   \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u8f66\u8f86 \u884c\u4e3a \u8003\u8651 \u56e0\u7d20   \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u914d\u7f6e \u81ea\u52a8 \u9a7e\u9a76 \u884c\u4e3a   \u505c\u6b62 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f   \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f   \u8fd0\u884c \u591a\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4eff\u771f   \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4eff\u771f   \u591a\u91cd \u4eff\u771f   \u540c\u6b65 \u6a21\u5f0f   \u5927 \u5730\u56fe \u4e2d \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u4ec0\u4e48 \u662f \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff1f   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   ( Traffic   Manager ,   TM )   \u662f \u5728 \u4eff\u771f \u4e2d\u4ee5 \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u63a7\u5236 \u8f66\u8f86 \u7684 \u6a21\u5757 \u3002 \u5176 \u76ee\u6807 \u662f \u5728 \u4eff\u771f \u4e2d \u586b\u5145 \u771f\u5b9e \u7684 \u57ce\u5e02 \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u3002 \u7528\u6237 \u53ef\u4ee5 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4e00\u4e9b \u884c\u4e3a \uff0c \u4f8b\u5982 \u8bbe\u7f6e \u7279\u5b9a \u7684 \u5b66\u4e60 \u73af\u5883 \u3002   \u7ed3\u6784 \u7ed3\u6784\u5316 \u8bbe\u8ba1   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u6784\u5efa \u4e8e   Carla   \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e4b\u4e0a \u3002 \u6267\u884c \u6d41\u7a0b \u5206\u4e3a \u591a\u4e2a \u9636\u6bb5 \uff0c \u6bcf\u4e2a \u9636\u6bb5 \u90fd \u6709 \u72ec\u7acb \u7684 \u64cd\u4f5c \u548c \u76ee\u6807 \u3002 \u8fd9 \u6709\u5229 \u5229\u4e8e \u6709\u5229\u4e8e \u76f8\u4f4d \u76f8\u5173 \u529f\u80fd \u548c \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u7684 \u5f00\u53d1 \uff0c \u540c\u65f6 \u63d0\u9ad8 \u8ba1\u7b97 \u6548\u7387 \u3002 \u6bcf\u4e2a \u9636\u6bb5 \u90fd \u5728 \u4e0d\u540c \u7684 \u7ebf\u7a0b \u4e0a \u8fd0\u884c \u3002 \u4e0e \u5176\u4ed6 \u9636\u6bb5 \u7684 \u901a\u4fe1 \u901a\u8fc7 \u540c\u6b65 \u6d88\u606f \u4f20\u9012 \u6d88\u606f\u4f20\u9012 \u8fdb\u884c \u7ba1\u7406 \u3002 \u4fe1\u606f \u671d \u4e00\u4e2a \u65b9\u5411 \u6d41\u52a8 \u3002   \u7528\u6237 \u5b9a\u5236   \u7528\u6237 \u53ef\u4ee5 \u901a\u8fc7 \u8bbe\u7f6e \u5141\u8bb8 \u3001 \u5f3a\u5236 \u6216 \u9f13\u52b1 \u7279\u5b9a \u884c\u4e3a \u7684 \u53c2\u6570 \u6765 \u5bf9 \u6d41\u91cf \u8fdb\u884c \u4e00\u5b9a \u7a0b\u5ea6 \u7684 \u63a7\u5236 \u3002 \u7528\u6237 \u53ef\u4ee5 \u6839\u636e \u81ea\u5df1 \u7684 \u559c\u597d \u6539\u53d8 \u6d41\u91cf \u884c\u4e3a \uff0c \u65e0\u8bba \u65e0\u8bba\u662f \u5728\u7ebf \u8fd8\u662f \u79bb\u7ebf \u3002 \u4f8b\u5982 \uff0c \u53ef\u4ee5 \u5141\u8bb8 \u6c7d\u8f66 \u5ffd\u7565 \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u6216 \u5f3a\u5236 \u53d8\u9053 \u3002 \u5728 \u5c1d\u8bd5 \u4eff\u771f \u73b0\u5b9e \u65f6 \uff0c \u80fd\u591f \u5c1d\u8bd5 \u5404\u79cd \u884c\u4e3a \u662f \u4e0d\u53ef \u5fc5\u4e0d\u53ef\u5c11 \u7684 \u3002 \u9a7e\u9a76 \u7cfb\u7edf \u9700\u8981 \u5728 \u7279\u5b9a \u548c \u975e\u5178 \u5178\u578b \u975e\u5178\u578b \u60c5\u51b5 \u4e0b \u8fdb\u884c \u8bad\u7ec3 \u3002   \u67b6\u6784   \u6982\u8ff0   \u4e0a\u56fe \u662f \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u5185\u90e8 \u67b6\u6784 \u793a\u610f \u610f\u56fe \u793a\u610f\u56fe \u3002 \u6bcf\u4e2a \u7ec4\u4ef6 \u7684   C++   \u4ee3\u7801 \u53ef\u4ee5 \u5728   LibCarla / source / carla / trafficmanager   \u4e2d \u627e\u5230 \u3002 \u4ee5\u4e0b \u5404\u8282 \u8be6\u7ec6 \u89e3\u91ca \u4e86 \u6bcf\u4e2a \u7ec4\u4ef6 \u3002 \u903b\u8f91 \u6982\u8ff0 \u5982\u4e0b \uff1a   1 .   \u5b58\u50a8 \u5e76 \u66f4\u65b0 \u4eff\u771f \u7684 \u5f53\u524d \u72b6\u6001 \u3002   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406   ( Agent   Lifecycle   &   State   Management ,   ALSM )   \u626b\u63cf \u4e16\u754c \uff0c \u8ddf\u8e2a \u6240\u6709 \u5b58\u5728 \u7684 \u8f66\u8f86 \u548c \u884c\u4eba \uff0c \u5e76 \u6e05\u7406 \u4e0d\u518d \u5b58\u5728 \u7684 \u6761\u76ee \u3002 \u6240\u6709 \u6570\u636e \u5747 \u4ece \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u68c0\u7d22 \u5e76 \u7ecf\u8fc7 \u591a\u4e2a   \u9636\u6bb5   \u3002 ALSM   \u662f \u552f\u4e00 \u8c03\u7528 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u7ec4\u4ef6 \u3002   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u5305\u542b \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5904\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u72b6\u6001 \u7684 \u8f66\u8f86 \uff08 \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \uff09 \u4ee5\u53ca \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u4e0d \u5904\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u72b6\u6001 \uff08 \u4e0d \u53d7 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u63a7\u5236 \uff09 \u7684 \u884c\u4eba \u548c \u8f66\u8f86 \u3002   \u4eff\u771f \u72b6\u6001   \u662f \u4eff\u771f \u4e2d \u6240\u6709 \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u4f4d\u7f6e \u3001 \u901f\u5ea6 \u548c \u9644\u52a0 \u4fe1\u606f \u7684 \u7f13\u5b58 \u5b58\u50a8 \u3002   2 .   \u8ba1\u7b97 \u6bcf\u8f86 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u7684 \u8fd0\u52a8 \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u6839\u636e   \u4eff\u771f \u72b6\u6001   \u4e3a   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u4e2d \u7684 \u6240\u6709 \u8f66\u8f86 \u751f\u6210 \u53ef\u884c \u7684 \u547d\u4ee4 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u8ba1\u7b97 \u90fd \u662f \u5355\u72ec \u8fdb\u884c \u7684 \u3002 \u8fd9\u4e9b \u8ba1\u7b97 \u5206\u4e3a \u4e0d\u540c \u7684   \u9636\u6bb5   \u3002   \u63a7\u5236 \u5faa\u73af   \u901a\u8fc7 \u5728 \u9636\u6bb5 \u4e4b\u95f4 \u521b\u5efa \u540c\u6b65 \u5c4f\u969c \u6765 \u786e\u4fdd \u6240\u6709 \u8ba1\u7b97 \u7684 \u4e00\u81f4 \u4e00\u81f4\u6027 \u3002 \u5728 \u5f53\u524d \u9636\u6bb5 \u7684 \u6240\u6709 \u8f66\u8f86 \u8ba1\u7b97 \u5b8c\u6210 \u4e4b\u524d \uff0c \u6ca1\u6709 \u8f66\u8f86 \u8fdb\u5165 \u9636\u6bb5 \u4e0b\u4e00\u9636\u6bb5 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u4f1a \u7ecf\u5386 \u4ee5\u4e0b \u9636\u6bb5 \uff1a   2.1   -   \u5b9a\u4f4d \u9636\u6bb5   \u8def\u5f84 \u662f \u4f7f\u7528 \u4ece   \u5185\u5b58 \u5730\u56fe   \u4e2d \u6536\u96c6 \u7684 \u9644\u8fd1 \u8def\u5f84 \u70b9 \u5217\u8868 \u52a8\u6001 \u521b\u5efa \u52a8\u6001\u521b\u5efa \u7684 \uff0c \u5185\u5b58 \u5730\u56fe \u662f \u4eff\u771f \u5730\u56fe \u4f5c\u4e3a \u8def\u5f84 \u70b9 \u7f51\u683c \u7684 \u7b80\u5316 \u3002 \u8def\u53e3 \u7684 \u65b9\u5411 \u662f \u968f\u673a \u9009\u62e9 \u7684 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u8def\u5f84 \u5747 \u7531 \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9 ( Path   Buffers   &   Vehicle   Tracking ,   PBVT   )   \u7ec4\u4ef6 \u5b58\u50a8 \u548c \u7ef4\u62a4 \uff0c \u4ee5\u4fbf \u5728 \u672a\u6765 \u9636\u6bb5 \u8f7b\u677e \u8bbf\u95ee \u548c \u4fee\u6539 \u3002   2.2   -   \u78b0\u649e \u9636\u6bb5   \u8fb9\u754c \u6846 \u5ef6\u4f38 \u5230 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u8def\u5f84 \u4e0a \uff0c \u4ee5 \u8bc6\u522b \u548c \u5bfc\u822a \u6f5c\u5728 \u7684 \u78b0\u649e \u5371\u9669 \u3002   2.3   -   \u4ea4\u901a \u4ea4\u901a\u706f \u9636\u6bb5   .   \u4e0e \u78b0\u649e \u9636\u6bb5 \u7c7b\u4f3c \uff0c \u4f1a \u8bc6\u522b \u7531\u4e8e \u4ea4\u901a \u4ea4\u901a\u706f \u5f71\u54cd \u3001 \u505c\u8f66 \u6807\u5fd7 \u548c \u8def\u53e3 \u4f18\u5148 \u4f18\u5148\u7ea7 \u800c \u5f71\u54cd \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u8def\u5f84 \u7684 \u6f5c\u5728 \u5371\u9669 \u3002   2.4   -   \u8fd0\u52a8 \u89c4\u5212 \u5668 \u9636\u6bb5   .   \u8f66\u8f86 \u8fd0\u52a8 \u662f \u6839\u636e \u5b9a\u4e49 \u7684 \u8def\u5f84 \u8ba1\u7b97 \u7684 \u3002   PID   \u63a7\u5236 \u63a7\u5236\u5668   \u786e\u5b9a \u5982\u4f55 \u5230\u8fbe \u76ee\u6807 \u8def\u5f84 \u70b9 \u3002 \u7136\u540e \u5c06 \u5176 \u8f6c\u6362 \u4e3a   Carla   \u547d\u4ee4 \u4ee5\u4f9b \u4e0b \u4e00\u6b65 \u5e94\u7528 \u3002   2.5   -   \u8f66\u706f \u9636\u6bb5   .   \u8f66\u706f \u6839\u636e \u73af\u5883 \u56e0\u7d20 \u73af\u5883\u56e0\u7d20 \uff08 \u4f8b\u5982 \u9633\u5149 \u548c \u96fe \u6216 \u96e8 \u7684 \u5b58\u5728 \uff09 \u548c \u8f66\u8f86 \u884c\u4e3a \uff08 \u4f8b\u5982 \uff0c \u5982\u679c \u8f66\u8f86 \u5c06 \u5728 \u4e0b \u4e00\u4e2a \u8def\u53e3 \u5de6\u8f6c / \u53f3\u8f6c \uff0c \u5219 \u6253\u5f00 \u65b9\u5411 \u6307\u793a \u6307\u793a\u706f \uff1b \u5982\u679c \u5236\u52a8 \uff0c \u5219 \u6253\u5f00 \u5239\u8f66 \u8f66\u706f \u5239\u8f66\u706f \uff09 \u3002   3 .   \u5728 \u4eff\u771f \u4e2d \u5e94\u7528 \u547d\u4ee4   \u4e0a \u4e00\u6b65 \u751f\u6210 \u7684 \u547d\u4ee4 \u88ab \u6536\u96c6 \u5230   \u547d\u4ee4 \u6570\u7ec4   \u4e2d \uff0c \u6279\u91cf \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5728 \u540c\u4e00 \u5e27 \u4e2d \u5e94\u7528 \u3002   \u4ee5\u4e0b \u90e8\u5206 \u5c06 \u66f4 \u8be6\u7ec6 \u5730 \u89e3\u91ca \u4e0a\u8ff0 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u903b\u8f91 \u4e2d \u7684 \u6bcf\u4e2a \u7ec4\u4ef6 \u548c \u9636\u6bb5 \u3002   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406 \u3002 \u5b83 \u662f \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u903b\u8f91 \u5468\u671f \u7684 \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \uff0c \u63d0\u4f9b \u4eff\u771f \u5f53\u524d \u72b6\u6001 \u7684 \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u3002   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406 \u7ec4\u4ef6 \uff1a   \u626b\u63cf \u4e16\u754c \u4ee5 \u8ddf\u8e2a \u6240\u6709 \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \u3002 \u5982\u679c \u542f\u7528 \u7269\u7406 \u529f\u80fd \uff0c \u5219 \u901a\u8fc7   Vehicle . get _ velocity ( )   \u68c0\u7d22 \u901f\u5ea6 \u3002 \u5426\u5219 \uff0c \u5c06 \u4f7f\u7528 \u4f4d\u7f6e \u968f \u65f6\u95f4 \u66f4\u65b0 \u7684 \u5386\u53f2 \u53f2\u8bb0 \u8bb0\u5f55 \u5386\u53f2\u8bb0\u5f55 \u6765 \u8ba1\u7b97 \u901f\u5ea6 \u8ba1\u7b97\u901f\u5ea6 \u3002   \u5b58\u50a8   \u4eff\u771f \u72b6\u6001   \u7ec4\u4ef6 \u4e2d \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u548c \u884c\u4eba \u7684 \u4f4d\u7f6e \u3001 \u901f\u5ea6 \u548c \u9644\u52a0 \u4fe1\u606f \uff08 \u4ea4\u901a \u4ea4\u901a\u706f \u5f71\u54cd \u3001 \u8fb9\u754c \u6846\u7b49 \uff09 \u3002   \u66f4\u65b0   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u4e2d \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u8f66\u8f86 \u5217\u8868 \u3002   \u66f4\u65b0   \u63a7\u5236 \u5faa\u73af   \u548c   \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9   \u7ec4\u4ef6 \u4e2d \u7684 \u6761\u76ee \u4ee5 \u5339\u914d \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 \uff1a   ALSM . h   ,   ALSM . cpp   .   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868 \u8bb0\u5f55 \u4eff\u771f \u4e2d \u7684 \u6240\u6709 \u8f66\u8f86 \u548c \u884c\u4eba \u3002   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868 \uff1a   \u4ece   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406   \u4f20\u9012 \u6765 \u6700\u65b0 \u7684 \u8f66\u8f86 \u548c \u884c\u4eba \u5217\u8868 \u3002   \u5c06 \u6ce8\u518c \u5230 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u8f66\u8f86 \u5b58\u50a8 \u5728 \u5355\u72ec \u7684 \u6570\u7ec4 \u4e2d \uff0c \u4ee5\u4fbf \u5728   \u63a7\u5236 \u5faa\u73af   \u671f\u95f4 \u8fdb\u884c \u8fed\u4ee3 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 \uff1a   MotionPlannerStage . cpp   .   \u4eff\u771f \u72b6\u6001   \u4eff\u771f \u72b6\u6001 \u5b58\u50a8 \u4eff\u771f \u4e2d \u6240\u6709 \u8f66\u8f86 \u7684 \u4fe1\u606f \uff0c \u4ee5\u4fbf \u5728 \u540e\u671f \u9636\u6bb5 \u8f7b\u677e \u8bbf\u95ee \u548c \u4fee\u6539 \u3002   \u4eff\u771f \u72b6\u6001 \uff1a   \u4ece   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406   \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \uff0c \u5305\u62ec \u5f53\u524d \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f4d\u7f6e \u3001 \u901f\u5ea6 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u5f71\u54cd \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u7b49 \u3002   \u5c06 \u6240\u6709 \u4fe1\u606f \u5b58\u50a8 \u5728 \u7f13\u5b58 \u4e2d \uff0c \u907f\u514d \u5728   \u63a7\u5236 \u5faa\u73af   \u671f\u95f4 \u5bf9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u540e\u7eed \u8c03\u7528 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 \uff1a   SimulationState . cpp   ,   SimulationState . h   .   \u63a7\u5236 \u5faa\u73af   \u63a7\u5236 \u5faa\u73af \u7ba1\u7406 \u6240\u6709 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u7684 \u4e0b \u4e00\u4e2a \u547d\u4ee4 \u7684 \u8ba1\u7b97 \uff0c \u4ee5\u4fbf \u5b83\u4eec \u540c\u6b65 \u6267\u884c \u3002 \u63a7\u5236 \u5faa\u73af \u7531 \u4e94\u4e2a \u4e0d\u540c \u7684   \u9636\u6bb5   \u7ec4\u6210 ; \u5b9a\u4f4d \uff0c \u78b0\u649e \uff0c \u4ea4\u901a \u4ea4\u901a\u706f \uff0c \u8fd0\u52a8 \u89c4\u5212 \u548c \u8f66\u8f86 \u706f \u3002   \u63a7\u5236 \u5faa\u73af :   \u4ece   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u63a5\u6536 TM - \u63a7\u5236 \u7684 \u8f66\u8f86 \u6570\u7ec4 \u3002   \u901a\u8fc7 \u5faa\u73af \u904d\u5386 \u6570\u7ec4 \uff0c \u5206\u522b \u5bf9 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u6267\u884c \u8ba1\u7b97 \u3002   \u5c06 \u8ba1\u7b97 \u5206\u6210 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7684   \u9636\u6bb5   \u3002   \u5728 \u9636\u6bb5 \u4e4b\u95f4 \u521b\u5efa \u540c\u6b65 \u5c4f\u969c \u4ee5 \u4fdd\u8bc1 \u4e00\u81f4 \u4e00\u81f4\u6027 \u3002 \u6240\u6709 \u8f66\u8f86 \u7684 \u8ba1\u7b97 \u5728 \u4efb\u4f55 \u8f66\u8f86 \u79fb\u52a8 \u5230 \u9636\u6bb5 \u4e0b\u4e00\u9636\u6bb5 \u4e4b\u524d \u5b8c\u6210 \uff0c \u786e\u4fdd \u6240\u6709 \u8f66\u8f86 \u5728 \u540c\u4e00 \u5e27 \u4e2d \u66f4\u65b0 \u3002   \u534f\u8c03 \u5404   \u9636\u6bb5   \u4e4b\u95f4 \u7684 \u8fc7\u6e21 \uff0c \u4f7f \u6240\u6709 \u8ba1\u7b97 \u540c\u6b65 \u5b8c\u6210 \u3002   \u5f53 \u6700\u540e \u4e00\u4e2a \u9636\u6bb5 (   \u8fd0\u52a8 \u89c4\u5212 \u9636\u6bb5   \u548c   \u8f66\u8f86 \u706f\u5149 \u9636\u6bb5   ) \u5b8c\u6210 \u65f6 \uff0c \u5c06   \u547d\u4ee4 \u6570\u7ec4   \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u56e0\u6b64 \u5728 \u547d\u4ee4 \u8ba1\u7b97 \u548c \u547d\u4ee4 \u5e94\u7528 \u4e4b\u95f4 \u6ca1\u6709 \u5e27 \u5ef6\u8fdf \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   TrafficManagerLocal . cpp   .   \u5185\u5b58 \u5730\u56fe   \u5185\u5b58 \u5730\u56fe \u662f \u5305\u542b \u5728   \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9   \u4e2d \u7684 \u8f85\u52a9 \u6a21\u5757 \uff0c \u5728   \u5b9a\u4f4d \u9636\u6bb5   \u4f7f\u7528 \u3002   \u5185\u5b58 \u5730\u56fe :   \u5c06 \u5730\u56fe \u8f6c\u6362 \u4e3a \u79bb\u6563 \u8def\u5f84 \u70b9 \u7684 \u7f51\u683c \u3002   \u5305\u542b \u7279\u5b9a \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u4e2d \u7684 \u8def\u70b9 \uff0c \u5e76 \u63d0\u4f9b \u66f4 \u591a \u4fe1\u606f \u6765 \u8fde\u63a5 \u8def\u70b9 \u548c \u8bc6\u522b \u9053\u8def \u3001 \u8def\u53e3 \u7b49 \u3002   \u901a\u8fc7 \u8bc6\u522b \u8fd9\u4e9b \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684   ID   \u6765 \u5feb\u901f \u5b9a\u4f4d \u9644\u8fd1 \u533a\u57df \u7684 \u8f66\u8f86 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   InMemoryMap . cpp   and   SimpleWaypoint . cpp   .   \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9   PBVT \u4ee3\u8868 \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9 \u3002 PBVT \u662f \u4e00\u79cd \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \uff0c \u5b83 \u5305\u542b \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u9884\u671f \u8def\u5f84 \uff0c \u5e76 \u5141\u8bb8 \u5728   \u63a7\u5236 \u5faa\u73af   \u671f\u95f4 \u8f7b\u677e \u8bbf\u95ee \u6570\u636e \u3002   PBVT :   \u5305\u542b \u4e00\u4e2a deque \u5bf9\u8c61 \u7684 \u5730\u56fe \uff0c \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u6709 \u4e00\u4e2a \u5165\u53e3 \u3002   \u5305\u542b \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u4e00\u7ec4 \u8def\u70b9 \uff0c \u63cf\u8ff0 \u5176 \u5f53\u524d \u4f4d\u7f6e \u548c \u8fd1\u671f \u8def\u5f84 \u3002   \u5305\u542b   \u5b9a\u4f4d \u9636\u6bb5   \u4f7f\u7528 \u7684   \u5185\u5b58 \u5730\u56fe   \uff0c \u7528\u4e8e \u5c06 \u6bcf\u4e2a \u8f66\u8f86 \u4e0e \u6700\u8fd1 \u7684 \u8def\u70b9 \u548c \u53ef\u80fd \u7684 \u91cd\u53e0 \u8def\u5f84 \u5173\u8054 \u8d77\u6765 \u3002   PID   \u63a7\u5236 \u63a7\u5236\u5668   PID \u63a7\u5236 \u63a7\u5236\u5668 \u662f \u5728   \u8fd0\u52a8 \u89c4\u5212 \u9636\u6bb5   \u6267\u884c \u8ba1\u7b97 \u7684 \u8f85\u52a9 \u6a21\u5757 \u3002   PID   \u63a7\u5236 \u63a7\u5236\u5668 :   \u6839\u636e   \u8fd0\u52a8 \u89c4\u5212 \u9636\u6bb5   \u6536\u96c6 \u7684 \u4fe1\u606f \uff0c \u4f30\u7b97 \u8fbe\u5230 \u76ee\u6807 \u6807\u503c \u76ee\u6807\u503c \u6240 \u9700 \u7684 \u6cb9\u95e8 \u3001 \u5239\u8f66 \u548c \u8f6c\u5411 \u8f93\u5165 \u3002   \u6839\u636e \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5177\u4f53 \u53c2\u6570 \u5316 \u8fdb\u884c \u8c03\u6574 \u3002 \u5982\u679c \u9700\u8981 \uff0c \u53ef\u4ee5 \u4fee\u6539 \u53c2\u6570 \u3002 \u9605\u8bfb \u66f4 \u591a \u5173\u4e8e   PID \u63a7\u5236 \u63a7\u5236\u5668   \u7684 \u4fe1\u606f \uff0c \u4e86\u89e3 \u5982\u4f55 \u8fdb\u884c \u4fee\u6539 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   PIDController . cpp   .   \u547d\u4ee4 \u6570\u7ec4   \u547d\u4ee4 \u6570\u7ec4 \u8868\u793a   TM   \u903b\u8f91 \u5468\u671f \u4e2d \u7684 \u6700\u540e \u4e00\u6b65 \u3002 \u5b83 \u63a5\u6536 \u6240\u6709 \u6ce8\u518c \u8f66\u8f86 \u7684 \u547d\u4ee4 \u5e76 \u5e94\u7528 \u5b83\u4eec \u3002   \u547d\u4ee4 \u6570\u7ec4 :   \u4ece   \u8def\u5f84 \u89c4\u5212 \u9636\u6bb5   \u63a5\u6536 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217   carla . VehicleControl   \u3002   \u5904\u7406 \u6279\u5904\u7406 \u8981 \u5728 \u540c\u4e00 \u5e27 \u5185 \u5e94\u7528 \u7684 \u6240\u6709 \u547d\u4ee4 \u3002   \u5c06 \u5904\u7406 \u6279\u5904\u7406 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u5728   carla   \u4e2d \u8c03\u7528   apply _ batch   \uff08 \uff09   \u6216   apply _ batch _ synch \uff08 \uff09   \u7684   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 . \u5ba2\u6237 \u5ba2\u6237\u7aef   \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4eff\u771f \u662f \u5206\u522b \u4ee5 \u5f02\u6b65 \u6a21\u5f0f \u8fd8\u662f \u540c\u6b65 \u6a21\u5f0f \u8fd0\u884c \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   TrafficManagerLocal . cpp   .   \u63a7\u5236 \u5faa\u73af \u7684 \u9636\u6bb5   \u7b2c   1   \u9636\u6bb5   -   \u5b9a\u4f4d \u9636\u6bb5   \u5b9a\u4f4d \u9636\u6bb5 \u4e3a TM \u63a7\u5236 \u7684 \u8f66\u8f86 \u5b9a\u4e49 \u4e86 \u8fd1 \u672a\u6765 \u7684 \u8def\u5f84 \u3002   \u672c\u5730 \u672c\u5730\u5316 \u9636\u6bb5 \uff1a   \u4ece   \u4eff\u771f \u72b6\u6001   \u83b7\u53d6 \u6240\u6709 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \u3002   \u4f7f\u7528   \u5185\u5b58 \u5730\u56fe   \u5c06 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u4e0e \u8def\u5f84 \u70b9 \u5217\u8868 \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \uff0c \u8be5 \u8def\u5f84 \u70b9 \u5217\u8868 \u6839\u636e \u5176 \u8f68\u8ff9 \u63cf\u8ff0 \u5176 \u5f53\u524d \u4f4d\u7f6e \u548c \u8fd1\u671f \u8def\u5f84 \u3002 \u8f66\u8f86 \u884c\u9a76 \u5f97 \u8d8a \u5feb \uff0c \u5217\u8868 \u5c31 \u8d8a\u957f \u3002   \u6839\u636e \u89c4\u5212 \u51b3\u7b56 \u66f4\u65b0 \u8def\u5f84 \uff0c \u4f8b\u5982 \u53d8\u9053 \u3001 \u9650\u901f \u3001 \u4e0e \u524d\u65b9 \u8f66\u8f86 \u7684 \u8ddd\u79bb \u53c2\u6570 \u5316\u7b49 \u3002   \u5c06 \u6240\u6709 \u8f66\u8f86 \u7684 \u8def\u5f84 \u5b58\u50a8 \u5728   PBVT   \u6a21\u5757 \u4e2d \u3002   \u76f8\u4e92 \u6bd4\u8f83 \u8def\u5f84 \u4ee5 \u4f30\u8ba1 \u53ef\u80fd \u7684 \u78b0\u649e \u60c5\u51b5 \u3002 \u7ed3\u679c \u5c06 \u4f20\u9012 \u5230 \u78b0\u649e \u9636\u6bb5 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   LocalizationStage . cpp   and   LocalizationUtils . cpp   .   \u7b2c   2   \u9636\u6bb5   -   \u78b0\u649e \u9636\u6bb5   \u78b0\u649e \u9636\u6bb5 \u4f1a \u89e6\u53d1 \u78b0\u649e \u5371\u9669 \u3002   \u78b0\u649e \u9636\u6bb5 \uff1a   \u4ece   \u5b9a\u4f4d \u9636\u6bb5   \u63a5\u6536 \u8def\u5f84 \u53ef\u80fd \u91cd\u53e0 \u7684 \u8f66\u8f86 \u5bf9 \u5217\u8868 \u3002   \u524d\u65b9 \u8def\u5f84 \uff08 \u5730\u7ebf \u6d4b\u5730\u7ebf \u8fb9\u754c \uff09 \u6269\u5c55 \u6bcf\u4e2a \u8f66\u8f86 \u5bf9 \u7684 \u8fb9\u754c \u6846 \uff0c \u4ee5 \u68c0\u67e5 \u5b83\u4eec \u662f\u5426 \u5b9e\u9645 \u91cd\u53e0 \u5e76 \u786e\u5b9a \u78b0\u649e \u98ce\u9669 \u662f\u5426 \u771f\u5b9e \u3002   \u5c06 \u6240\u6709 \u53ef\u80fd \u7684 \u78b0\u649e \u7684 \u5371\u9669 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   \u8fd0\u52a8 \u89c4\u5212 \u5668 \u9636\u6bb5   \uff0c \u4ee5 \u76f8\u5e94 \u5730 \u4fee\u6539 \u8def\u5f84 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   CollisionStage . cpp   .   \u7b2c\u4e09 \u4e09\u9636 \u9636\u6bb5 \u7b2c\u4e09\u9636\u6bb5   -   \u4ea4\u901a \u4ea4\u901a\u706f \u9636\u6bb5   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u9636\u6bb5 \u4f1a \u89e6\u53d1 \u4ea4\u901a \u7ba1\u5236 \u4ea4\u901a\u7ba1\u5236 \u5668 \u9020\u6210 \u7684 \u5371\u9669 \uff0c \u4f8b\u5982 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3001 \u505c\u8f66 \u6807\u5fd7 \u548c \u8def\u53e3 \u7684 \u4f18\u5148 \u4f18\u5148\u6743 \u3002   \u4ea4\u901a \u4ea4\u901a\u706f \u9636\u6bb5 \uff1a   \u5982\u679c \u8f66\u8f86 \u53d7\u5230 \u9ec4\u8272 \u6216 \u7ea2\u8272 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u6216 \u505c\u8f66 \u6807\u5fd7 \u7684 \u5f71\u54cd \uff0c \u5219 \u8bbe\u7f6e \u4ea4\u901a \u5371\u9669 \u3002   \u5982\u679c \u8fb9\u754c \u6846 \u4f4d\u4e8e \u65e0 \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u4ea4\u6c47 \u4ea4\u6c47\u70b9 \uff0c \u5219 \u6cbf \u8f66\u8f86 \u8def\u5f84 \u5ef6\u4f38 \u8fb9\u754c \u6846 \u3002 \u8def\u5f84 \u91cd\u53e0 \u7684 \u8f66\u8f86 \u9075\u5faa \u201c \u5148\u8fdb \u5148\u8fdb\u5148\u51fa \u201d \u7684 \u987a\u5e8f \u79fb\u52a8 \u3002 \u7b49\u5f85 \u65f6\u95f4 \u7b49\u5f85\u65f6\u95f4 \u8bbe\u7f6e \u4e3a \u56fa\u5b9a \u56fa\u5b9a\u503c \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   TrafficLightStage . cpp   .   \u7b2c   4   \u9636\u6bb5   -   \u8fd0\u52a8 \u89c4\u5212 \u5668 \u9636\u6bb5   \u201c \u8fd0\u52a8 \u89c4\u5212 \u5668 \u9636\u6bb5 \u201d \uff08 Motion   Planner   Stage \uff09   \u751f\u6210 \u8981 \u5e94\u7528 \u4e8e \u8f66\u8f86 \u7684   Carla   \u547d\u4ee4 \u3002   \u8fd0\u52a8 \u89c4\u5212 \u5668 \u9636\u6bb5 \uff1a   \u6536\u96c6 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \uff08   \u4eff\u771f \u72b6\u6001   ) \uff09 \u3001 \u8def\u5f84   \uff08   \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9   \uff09   \u548c \u5371\u9669 \uff08   \u78b0\u649e   \u9636\u6bb5 \u548c   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u9636\u6bb5   \uff09 \u3002   \u5bf9 \u8f66\u8f86 \u5e94 \u5982\u4f55 \u79fb\u52a8 \u505a\u51fa \u9ad8\u7ea7 \u51b3\u7b56 \uff0c \u4f8b\u5982 \uff0c \u8ba1\u7b97 \u9632\u6b62 \u78b0\u649e \u5371\u9669 \u6240 \u9700 \u7684 \u5236\u52a8 \u5236\u52a8\u5668 \u3002   PID \u63a7\u5236 \u63a7\u5236\u5668   \u7528\u4e8e \u6839\u636e \u76ee\u6807 \u6807\u503c \u76ee\u6807\u503c \u4f30\u8ba1 \u884c\u4e3a \u3002   \u5c06 \u671f\u671b \u7684 \u8fd0\u52a8 \u8f6c\u5316 \u4e3a \u9002\u7528 \u4e8e \u8f66\u8f86 \u7684   carla . VehicleControl \u3002   \u5c06 \u751f\u6210 \u7684   Carla   \u547d\u4ee4 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   \u547d\u4ee4 \u6570\u7ec4   \u3002   \u76f8\u5173 \u7684 . cpp \u6587\u4ef6 :   MotionPlannerStage . cpp   .   \u7b2c   5   \u9636\u6bb5   -   \u8f66\u706f \u9636\u6bb5   \u8f66\u706f \u9636\u6bb5 \u6839\u636e \u8f66\u8f86 \u72b6\u51b5 \u548c \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u6fc0\u6d3b \u8f66\u706f \u3002   \u8f66\u706f \u9636\u6bb5 :   \u68c0\u7d22 \u8f66\u8f86 \u7684 \u8ba1\u5212 \u8def\u5f84 \u70b9 \u3001 \u6709\u5173 \u8f66\u8f86 \u706f\u5149 \u7684 \u4fe1\u606f \uff08 \u4f8b\u5982 \u706f\u5149 \u72b6\u6001 \u548c \u8ba1\u5212 \u5e94\u7528 \u7684 \u547d\u4ee4 \uff09 \u548c \u5929\u6c14 \u72b6\u51b5 \u5929\u6c14\u72b6\u51b5 \u3002   \u786e\u5b9a \u8f66\u706f \u7684 \u65b0 \u72b6\u6001 :   \u5982\u679c \u8f66\u8f86 \u8ba1\u5212 \u5728 \u4e0b \u4e00\u4e2a \u8def\u53e3 \u5de6\u8f6c / \u53f3\u8f6c \uff0c \u5219 \u6253\u5f00 \u95ea\u5149 \u5149\u706f \u95ea\u5149\u706f \u3002   \u5982\u679c \u5e94\u7528 \u7684 \u547d\u4ee4 \u8981\u6c42 \u8f66\u8f86 \u5236\u52a8 \uff0c \u5219 \u6253\u5f00 \u505c\u8f66 \u8f66\u706f \u505c\u8f66\u706f \u3002   \u4ece \u65e5 \u843d\u5230 \u9ece\u660e \u6216 \u5728 \u5927\u96e8 \u4e2d \u6253\u5f00 \u5149\u706f \u8fd1\u5149\u706f \u548c \u4f4d\u7f6e \u4f4d\u7f6e\u706f \u3002   \u5728 \u5927\u96fe \u6761\u4ef6 \u4e0b \u6253\u5f00 \u96fe\u706f \u3002   \u5982\u679c \u8f66\u706f \u72b6\u6001 \u5df2 \u66f4\u6539 \uff0c \u8bf7 \u66f4\u65b0 \u8f66\u706f \u72b6\u6001 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   VehicleLightStage . cpp   .   \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u8f66\u8f86 \u884c\u4e3a \u8003\u8651 \u56e0\u7d20   TM   \u5b9e\u73b0 \u4e86 \u5c06 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u65f6 \u5fc5\u987b \u8003\u8651 \u7684 \u4e00\u822c \u884c\u4e3a \u6a21\u5f0f \uff1a   \u8f66\u8f86 \u4e0d\u662f \u4ee5 \u76ee\u6807 \u4e3a \u5bfc\u5411 \u7684   \uff0c \u5b83\u4eec \u9075\u5faa \u52a8\u6001 \u4ea7\u751f \u7684 \u8f68\u8ff9 \uff0c \u5e76 \u5728 \u63a5\u8fd1 \u8def\u53e3 \u65f6 \u968f\u673a \u9009\u62e9 \u8def\u5f84 \u3002 \u4ed6\u4eec \u7684 \u9053\u8def \u662f \u6b62\u5883 \u65e0\u6b62\u5883 \u7684 \u3002   \u9664\u975e \u8bbe\u7f6e \u4e86 \u4efb\u4f55 \u5176\u4ed6 \u503c \uff0c   \u5426\u5219 \u8f66\u8f86 \u7684 \u76ee\u6807 \u901f\u5ea6 \u662f \u5176 \u5f53\u524d \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u7684   70% \u3002   \u8def\u53e3 \u4f18\u5148 \u4f18\u5148\u6743 \u4e0d \u9075\u5b88 \u4ea4\u901a \u6cd5\u89c4 \u4ea4\u901a\u6cd5\u89c4 \u3002   TM   \u5728 \u8def\u53e3 \u4f7f\u7528 \u81ea\u5df1 \u7684 \u4f18\u5148 \u4f18\u5148\u7ea7 \u7cfb\u7edf \u3002 \u6b64 \u9650\u5236 \u7684 \u89e3\u51b3 \u5de5\u4f5c \u6b63\u5728 \u8fdb\u884c \u4e2d \u3002 \u540c\u65f6 \uff0c \u53ef\u80fd \u4f1a \u51fa\u73b0 \u4e00\u4e9b \u95ee\u9898 \uff0c \u4f8b\u5982 \uff0c \u73af\u5f62 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u5185 \u7684 \u8f66\u8f86 \u8ba9\u6b65 \u7ed9 \u8bd5\u56fe \u8fdb\u5165 \u7684 \u8f66\u8f86 \u3002   TM   \u884c\u4e3a \u53ef\u4ee5 \u901a\u8fc7   Python   API   \u8fdb\u884c \u8c03\u6574 \u3002 \u6709\u5173 \u5177\u4f53 \u65b9\u6cd5 \u5177\u4f53\u65b9\u6cd5 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Python   API   \u6587\u6863   \u7684   TM   \u90e8\u5206 \u3002 \u4ee5\u4e0b \u662f \u901a\u8fc7   API   \u5b9e\u73b0 \u7684 \u529f\u80fd \u7684 \u4e00\u822c \u6458\u8981 \uff1a   \u4e3b\u9898   \u63cf\u8ff0   \u5e38\u89c4 :   -   \u521b\u5efa \u8fde\u63a5 \u5230 \u7aef\u53e3 \u7684 TM \u5b9e\u4f8b \u3002   -   \u68c0\u7d22 TM \u8fde\u63a5 \u7684 \u7aef\u53e3 \u3002   \u5b89\u5168 \u6761\u4ef6 :   -   \u8bbe\u7f6e \u505c\u6b62 \u8f66\u8f86 \u4e4b\u95f4 \u7684 \u6700\u5c0f \u8ddd\u79bb \uff08 \u5bf9\u4e8e \u5355\u4e2a \u8f66\u8f86 \u6216\u8005 \u6240\u6709 \u8f66\u8f86 \uff09 \u3002 \u8fd9 \u5c06 \u5f71\u54cd \u6700\u5c0f \u79fb\u52a8 \u8ddd\u79bb \u3002   -   \u5c06 \u6240 \u9700 \u901f\u5ea6 \u8bbe\u7f6e \u4e3a \u5f53\u524d \u901f\u5ea6 \u73b0\u72b6 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \uff08 \u5bf9\u4e8e \u5355\u4e2a \u8f66\u8f86 \u6216 \u6240\u6709 \u8f66\u8f86 \uff09 \u3002   -   \u91cd\u7f6e \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002   \u78b0\u649e \u7ba1\u7406 :   -   \u542f\u7528 / \u7981\u7528 \u8f66\u8f86 \u4e0e \u7279\u5b9a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u95f4 \u7684 \u78b0\u649e \u3002   -   \u8ba9 \u8f66\u8f86 \u5ffd\u7565 \u6240\u6709 \u5176\u4ed6 \u8f66\u8f86 \u3002   -   \u8ba9 \u8f66\u8f86 \u5ffd\u7565 \u6240\u6709 \u884c\u4eba   -   \u8ba9 \u8f66\u8f86 \u5ffd\u7565 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   \u53d8\u9053 :   -   \u5f3a\u5236 \u53d8\u9053 \uff0c \u5ffd\u7565 \u53ef\u80fd \u7684 \u78b0\u649e \u3002   -   \u542f\u7528 / \u7981\u7528 \u8f66\u8f86 \u7684 \u53d8\u9053 \u3002   \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f :   -   \u542f\u7528 / \u7981\u7528 \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f \u3002   -   \u66f4\u6539 \u542f\u7528 \u7269\u7406 \u7684 \u534a\u5f84 \u3002   \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u7b14\u8bb0   TM   \u8bbe\u8ba1 \u4e3a \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u5de5\u4f5c \u3002 \u5728 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528   TM   \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u610f\u5916 \u548c \u4e0d\u826f \u7ed3\u679c \u3002 \u6709\u5173 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u540c\u6b65 \u6a21\u5f0f   \u3002   TM   \u5b9e\u4f8b \u7531   carla   \u521b\u5efa . \u5ba2\u6237 \u5ba2\u6237\u7aef   \uff0c \u4f20\u9012 \u8981 \u4f7f\u7528 \u7684 \u7aef\u53e3 \u3002 \u7f3a\u7701 \u7aef\u53e3 \u4e3a   8000   \u3002   \u8981 \u521b\u5efa   TM   \u5b9e\u4f8b \uff1a   tm   =   client . get _ trafficmanager ( port )   \u8981 \u4e3a \u4e00\u7ec4 \u8f66\u8f86 \u542f\u7528   autopilot \uff0c \u8bf7 \u68c0\u7d22   TM   \u5b9e\u4f8b \u7684 \u7aef\u53e3 \u5e76 \u8bbe\u7f6e set _ autopilot \u4e3a True   \uff0c \u540c\u65f6 \u4f20\u9012   TM   \u7aef\u53e3 \u3002 \u5982\u679c \u672a \u63d0\u4f9b \u7aef\u53e3 \uff0c \u5b83 \u5c06 \u5c1d\u8bd5 \u8fde\u63a5 \u5230 \u9ed8\u8ba4 \u7aef\u53e3   \uff08 8000 \uff09   \u4e2d \u7684   TM \u3002 \u5982\u679c   TM   \u4e0d \u5b58\u5728 \uff0c \u5b83 \u5c06 \u521b\u5efa \u4e00\u4e2a \u3002   tm _ port   =   tm . get _ port ( )   for   v   in   vehicles _ list :   v . set _ autopilot ( True , tm _ port )   \u7b14\u8bb0   \u5728 \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u60c5\u51b5 \u4e0b \u521b\u5efa \u6216 \u8fde\u63a5 \u5230   TM   \u4e0e \u4e0a\u8ff0 \u793a\u4f8b \u4e0d\u540c \u3002   / PythonAPI / examples   \u4e2d \u7684   generate _ traffic . py   \u811a\u672c \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u793a\u4f8b \uff0c   \u8bf4\u660e \u5982\u4f55 \u4f7f\u7528 \u4f5c\u4e3a \u811a\u672c \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7684 \u7aef\u53e3 \u521b\u5efa   TM   \u5b9e\u4f8b \uff0c \u5e76 \u901a\u8fc7 \u6279\u91cf \u5c06 \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u8bbe\u7f6e \u4e3a \u4ee5\u4e0b \u503c\u6765 \u6ce8\u518c \u751f\u6210 \u7684 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u3002   traffic _ manager   =   client . get _ trafficmanager ( args . tm - port )   tm _ port   =   traffic _ manager . get _ port ( )   ...   batch . append ( SpawnActor ( blueprint ,   transform ) . then ( SetAutopilot ( FutureActor ,   True , tm _ port ) ) )   ...   traffic _ manager . global _ percentage _ speed _ difference ( 30.0 )   \u914d\u7f6e   autopilot   \u884c\u4e3a   \u4ee5\u4e0b \u793a\u4f8b \u521b\u5efa \u4e00\u4e2a   TM   \u5b9e\u4f8b \uff0c \u5e76 \u4e3a \u7279\u5b9a \u8f66\u8f86 \u914d\u7f6e \u5371\u9669 \u884c\u4e3a \uff0c \u4f7f \u5176 \u5ffd\u7565 \u6240\u6709 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \uff0c \u4e0d \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u4fdd\u6301 \u5b89\u5168 \u8ddd\u79bb \uff0c \u5e76 \u4ee5 \u6bd4 \u5f53\u524d \u9650\u901f \u5feb   20%   \u7684 \u901f\u5ea6 \u884c\u9a76 \uff1a   tm   =   client . get _ trafficmanager ( port )   tm _ port   =   tm . get _ port ( )   for   v   in   my _ vehicles :   v . set _ autopilot ( True , tm _ port )   danger _ car   =   my _ vehicles [ 0 ]   tm . ignore _ lights _ percentage ( danger _ car , 100 )   tm . distance _ to _ leading _ vehicle ( danger _ car , 0 )   tm . vehicle _ percentage _ speed _ difference ( danger _ car , - 20 )   \u4ee5\u4e0b \u793a\u4f8b \u5c06 \u76f8\u540c \u7684 \u8f66\u8f86 \u5217\u8868 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \uff0c \u4f46 \u5c06 \u5176 \u914d\u7f6e \u4e3a \u9002\u5ea6 \u9a7e\u9a76 \u884c\u4e3a \u3002 \u8f66\u8f86 \u7684 \u884c\u9a76 \u901f\u5ea6 \u6bd4 \u5f53\u524d \u9650\u901f \u6162   80% \uff0c \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u4e4b\u95f4 \u81f3\u5c11 \u7559\u51fa   5   \u7c73 \u7684 \u8ddd\u79bb \uff0c \u5e76\u4e14 \u4ece\u4e0d \u8fdb\u884c \u53d8\u9053 \uff1a   tm   =   client . get _ trafficmanager ( port )   tm _ port   =   tm . get _ port ( )   for   v   in   my _ vehicles :   v . set _ autopilot ( True , tm _ port )   danger _ car   =   my _ vehicles [ 0 ]   tm . global _ distance _ to _ leading _ vehicle ( 5 )   tm . global _ percentage _ speed _ difference ( 80 )   for   v   in   my _ vehicles :   tm . auto _ lane _ change ( v , False )   \u59d4\u6d3e \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u81ea\u52a8 \u66f4\u65b0 \u81ea\u52a8\u66f4\u65b0 \u8f66\u706f   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c TM   \u7ba1\u7406 \u7684 \u8f66\u8f86 \u7684 \u8f66\u706f \uff08 \u5239\u8f66 \u8f66\u706f \u5239\u8f66\u706f \u3001 \u8f6c\u5411 \u8f6c\u5411\u706f \u7b49 \uff09 \u6c38\u8fdc \u4e0d\u4f1a \u66f4\u65b0 \u3002 \u53ef\u4ee5 \u59d4\u6258   TM   \u6765 \u66f4\u65b0 \u7ed9\u5b9a \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8f66\u706f \uff1a   tm   =   client . get _ trafficmanager ( port )   for   actor   in   my _ vehicles :   tm . update _ vehicle _ lights ( actor ,   True )   \u8f66\u706f \u7ba1\u7406 \u5fc5\u987b \u6309 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u8fdb\u884c \u6307\u5b9a \uff0c \u5e76\u4e14 \u5728 \u4efb\u4f55 \u7ed9\u5b9a \u65f6\u95f4 \u90fd \u53ef\u4ee5 \u6709 \u5e26 \u548c \u4e0d\u5e26 \u81ea\u52a8 \u706f \u7ba1\u7406 \u7684 \u8f66\u8f86 \u3002   \u505c\u6b62 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u662f \u4e00\u4e2a \u4e0d \u9700\u8981 \u88ab \u9500\u6bc1 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff1b \u5f53 \u521b\u5efa \u5b83 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u505c\u6b62 \u65f6 \uff0c \u5b83 \u5c06 \u505c\u6b62 \u3002 \u8fd9 \u662f \u7531   API   \u81ea\u52a8 \u7ba1\u7406 \u7684 \uff0c \u7528\u6237 \u65e0\u9700 \u6267\u884c \u4efb\u4f55 \u64cd\u4f5c \u3002 \u4f46\u662f \uff0c \u5728 \u5173\u95ed \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u65f6 \uff0c \u7528\u6237 \u5fc5\u987b \u9500\u6bc1 \u7531 \u5b83 \u63a7\u5236 \u7684 \u8f66\u8f86 \uff0c \u5426\u5219 \u5b83\u4eec \u5c06 \u5728 \u5730\u56fe \u4e0a \u4fdd\u6301 \u4e0d \u52a8 \u3002   generate _ traffic . py   \u811a\u672c \u4f1a \u81ea\u52a8 \u6267\u884c \u6b64 \u64cd\u4f5c :   client . apply _ batch ( [ carla . command . DestroyActor ( x )   for   x   in   vehicles _ list ] )   \u7b14\u8bb0   \u5173\u95ed   TM - Server   \u5c06 \u5173\u95ed \u8fde\u63a5 \u5230 \u5b83 \u7684   TM - Clients   \u3002   \u8981 \u4e86\u89e3   TM - Server   \u548c   TM - Client   \u4e4b\u95f4 \u7684 \u533a\u522b ,   \u8bf7 \u9605\u8bfb   Running   multiple   Traffic   Managers   \u3002   \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f   \u5728 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f \u4e0b \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u5728 \u76f8\u540c \u6761\u4ef6 \u4e0b \u4ea7\u751f \u76f8\u540c \u7684 \u7ed3\u679c \u548c \u884c\u4e3a \u3002 \u4e0d\u8981 \u5c06 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u8bba \u8bef\u8ba4 \u8ba4\u4e3a \u8bef\u8ba4\u4e3a \u662f \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002 \u867d\u7136 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5141\u8bb8 \u60a8 \u5b58\u50a8 \u4eff\u771f \u65e5\u5fd7 \u4ee5 \u8fdb\u884c \u56de\u653e \uff0c \u4f46 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u53ef \u786e\u4fdd \u53ea\u8981 \u7ef4\u6301 \u76f8\u540c \u7684 \u6761\u4ef6 \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5728 \u811a\u672c \u7684 \u4e0d\u540c \u6267\u884c \u8fc7\u7a0b \u4e2d \u59cb\u7ec8 \u5177\u6709 \u76f8\u540c \u7684 \u8f93\u51fa \u3002   \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f   \u4ec5 \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b   \u53ef\u7528 \u3002 \u5728 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u5bf9 \u4eff\u771f \u7684 \u63a7\u5236 \u8f83 \u5c11 \uff0c \u5e76\u4e14 \u65e0\u6cd5 \u5b9e\u73b0 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u3002 \u5728 \u5f00\u59cb \u4e4b\u524d \uff0c \u8bf7 \u9605\u8bfb   \u540c\u6b65 \u6a21\u5f0f   \u90e8\u5206 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u8981 \u542f\u7528 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b \u65b9\u6cd5 \uff1a   my _ tm . set _ random _ device _ seed ( seed _ value )   seed _ value   \u662f \u4e00\u4e2a \u5c06 \u751f\u6210 \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u7684 \u6570\u5b57 \u7684   int   \u79cd\u5b50 \u79cd\u5b50\u6570 \u3002 \u8be5\u503c \u672c\u8eab \u5e76 \u4e0d \u76f8\u5173 \uff0c \u4f46 \u76f8\u540c \u7684 \u503c \u5c06 \u59cb\u7ec8 \u5bfc\u81f4 \u76f8\u540c \u7684 \u8f93\u51fa \u3002 \u5177\u6709 \u76f8\u540c \u6761\u4ef6 \u3001 \u4f7f\u7528 \u76f8\u540c \u79cd\u5b50 \u503c \u7684 \u4e24\u6b21 \u4eff\u771f \u5c06 \u662f \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u7684 \u3002   \u4e3a\u4e86 \u4fdd\u6301 \u591a\u6b21 \u4eff\u771f \u8fd0\u884c \u7684 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \uff0c   \u5fc5\u987b \u4e3a \u6bcf\u6b21 \u4eff\u771f \u8bbe\u7f6e \u79cd\u5b50   \u3002 \u4f8b\u5982 \uff0c \u6bcf\u6b21   \u91cd\u65b0 \u52a0\u8f7d   \u4e16\u754c \u65f6 \uff0c \u90fd \u5fc5\u987b \u91cd\u65b0 \u8bbe\u7f6e \u79cd\u5b50 \uff1a   client . reload _ world ( )   my _ tm . set _ random _ device _ seed ( seed _ value )   \u53ef\u4ee5 \u901a\u8fc7 \u5c06 \u79cd\u5b50 \u503c \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u6765 \u5728 \u793a\u4f8b \u811a\u672c   generate _ traffic . py   \u4e2d \u6d4b\u8bd5 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f \u3002 \u4ee5\u4e0b \u793a\u4f8b \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528   50   \u4e2a \u81ea\u52a8 \u9a7e\u9a76 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u586b\u5145 \u5730\u56fe \uff0c \u5e76 \u5c06 \u79cd\u5b50 \u8bbe\u7f6e \u4e3a \u4efb\u610f \u503c   9   \uff1a   cd   PythonAPI / examples   python3   generate _ traffic . py   - n   50   -- seed   9   \u8b66\u544a   \u5728 \u542f\u7528 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f \u4e4b\u524d \uff0c Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5fc5\u987b \u5904\u4e8e \u540c\u6b65 \u6a21\u5f0f \u3002 \u5728 \u6b64\u5904 \u9605\u8bfb \u6709\u5173 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u4e2d \u540c\u6b65 \u6a21\u5f0f \u7684   \u66f4 \u591a \u4fe1\u606f   \u3002   \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f   \u6df7\u5408 \u6a21\u5f0f \u5141\u8bb8 \u7528\u6237 \u7981\u7528 \u6240\u6709 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u6216 \u6807\u8bb0 \u4e3a   \u82f1\u96c4   \u7684 \u8f66\u8f86 \u7279\u5b9a \u534a\u5f84 \u4e4b\u5916 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u7684 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u7269\u7406 \u8ba1\u7b97 \u3002 \u8fd9 \u6d88\u9664 \u4e86 \u4eff\u771f \u4e2d \u7684 \u8f66\u8f86 \u7269\u7406 \u74f6\u9888 \u3002 \u7269\u7406 \u529f\u80fd \u88ab \u7981\u7528 \u7684 \u8f66\u8f86 \u5c06 \u901a\u8fc7 \u9690\u5f62 \u4f20\u9001 \u79fb\u52a8 \u3002 \u7ef4\u6301 \u7ebf\u6027 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u7684 \u57fa\u672c \u8ba1\u7b97 \uff0c \u4ee5 \u786e\u4fdd \u4f4d\u7f6e \u66f4\u65b0 \u548c \u8f66\u8f86 \u901f\u5ea6 \u4fdd\u6301 \u771f\u5b9e \uff0c \u5e76\u4e14 \u8f66\u8f86 \u4e0a \u7269\u7406 \u8ba1\u7b97 \u7684 \u5207\u6362 \u662f \u6d41\u7545 \u7684 \u3002   \u6df7\u5408 \u6a21\u5f0f \u4f7f\u7528   Actor . set _ simulate _ physics ( )   \u65b9\u6cd5 \u6765 \u5207\u6362 \u7269\u7406 \u8ba1\u7b97 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u662f \u7981\u7528 \u7684 \u3002 \u6709 \u4e24\u4e2a \u9009\u9879 \u53ef\u4ee5 \u542f\u7528 \u5b83 \uff1a   TrafficManager . set _ hybrid _ physics _ mode ( True )   \u2014   \u6b64 \u65b9\u6cd5 \u4e3a \u8c03\u7528 \u5b83 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5bf9\u8c61 \u542f\u7528 \u6df7\u5408 \u6a21\u5f0f \u3002   \u4ee5   -- hybrid   \u6807\u5fd7 \u8fd0\u884c   generate _ traffic . py   \u2014   \u6b64 \u793a\u4f8b \u811a\u672c \u521b\u5efa \u4e00\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5e76 \u5728 \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u4e2d \u751f\u6210 \u8f66\u8f86 \u3002 \u5f53 \u6807\u5fd7   -- hybrid   \u4f5c\u4e3a \u811a\u672c \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u65f6 \uff0c \u5b83 \u5c06 \u8fd9\u4e9b \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u6df7\u5408 \u6a21\u5f0f \u3002   \u8981 \u4fee\u6539 \u6df7\u5408 \u6a21\u5f0f \u7684 \u884c\u4e3a \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b \u4e24\u4e2a \u53c2\u6570 \uff1a   Radius   ( \u9ed8\u8ba4   =   50   \u7c73 )   \u2014   \u534a\u5f84 \u76f8\u5bf9 \u4e8e \u6807\u8bb0 \u6709   \u82f1\u96c4   \u7684 \u8f66\u8f86 \u3002 \u8be5 \u534a\u5f84 \u5185 \u7684 \u6240\u6709 \u8f66\u8f86 \u90fd \u5c06 \u542f\u7528 \u7269\u7406 \u529f\u80fd \uff1b \u534a\u5f84 \u4e4b\u5916 \u7684 \u8f66\u8f86 \u5c06 \u7981\u7528 \u7269\u7406 \u529f\u80fd \u3002 \u4f7f\u7528   traffic _ manager . set _ hybrid _ physics _ radius ( r )   \u4fee\u6539 \u534a\u5f84 \u7684 \u5927\u5c0f \u3002   Hero   vehicle   \u2014   \u5e26\u6709 \u6807\u8bb0   role _ name = ' hero '   \u7684 \u8f66\u8f86 \u4f5c\u4e3a \u534a\u5f84 \u7684 \u4e2d\u5fc3 \u3002   \u5982\u679c \u6ca1\u6709 \u82f1\u96c4 \u8f66\u8f86 \uff0c   \u6240\u6709 \u8f66\u8f86 \u7684 \u7269\u7406 \u529f\u80fd \u5c06 \u88ab \u7981\u7528 \u3002   \u5982\u679c \u6709 \u4e0d\u6b62 \u4e00\u8f86 \u82f1\u96c4 \u8f66\u8f86 \uff0c   \u5219 \u4f1a \u8003\u8651 \u6240\u6709 \u82f1\u96c4 \u8f66\u8f86 \u7684 \u534a\u5f84 \uff0c \u4ece\u800c \u5728 \u542f\u7528 \u7269\u7406 \u529f\u80fd \u7684 \u60c5\u51b5 \u4e0b \u521b\u5efa \u4e0d\u540c \u7684 \u5f71\u54cd \u533a\u57df \u3002   \u4e0b\u9762 \u7684 \u526a\u8f91 \u663e\u793a \u4e86 \u6df7\u5408 \u6a21\u5f0f \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u65f6 \u5982\u4f55 \u542f\u7528 \u548c \u7981\u7528 \u7269\u7406 \u529f\u80fd \u3002   \u82f1\u96c4 \u8f66\u8f86   \u6807\u6709   \u7ea2\u8272 \u65b9\u5757   \u3002   \u7981\u7528 \u7269\u7406 \u529f\u80fd   \u7684 \u8f66\u8f86 \u6807\u6709   \u84dd\u8272 \u65b9\u5757   \u3002 \u5f53 \u5728 \u82f1\u96c4 \u8f66\u8f86 \u7684 \u5f71\u54cd \u534a\u5f84 \u5185\u65f6 \uff0c   \u542f\u7528 \u7269\u7406 \u529f\u80fd   \u5e76\u4e14 \u6807\u7b7e \u53d8\u4e3a   \u7eff\u8272   \u3002   \u8fd0\u884c \u591a\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u670d\u52a1 \u670d\u52a1\u7aef \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u901a\u8fc7 \u5411 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6307\u5b9a \u8981 \u4f7f\u7528 \u7684 \u7aef\u53e3 \u6765 \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002 \u5982\u679c \u6307\u5b9a \u672a\u6307\u5b9a \u7aef\u53e3 \uff0c \u5c06 \u4f7f\u7528 \u9ed8\u8ba4   8000   \u7aef\u53e3 \u3002 \u5982\u679c \u5728 \u540c\u4e00 \u7aef\u53e3 \u4e0a \u521b\u5efa \u66f4 \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u5b83\u4eec \u5c06 \u6210\u4e3a   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef   \uff0c \u800c \u539f\u59cb \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u6210\u4e3a   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u670d\u52a1 \u670d\u52a1\u7aef   \u3002 \u8fd9\u4e9b \u6807\u9898 \u5b9a\u4e49 \u4e86 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5728 \u4eff\u771f \u4e2d \u7684 \u884c\u4e3a \u65b9\u5f0f \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u670d\u52a1 \u670d\u52a1\u7aef   \u5982\u679c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u670d\u52a1 \u670d\u52a1\u7aef \u662f \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8fde\u63a5 \u5230 \u7a7a\u95f2 \u7aef\u53e3 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u7136\u540e \u5176\u4ed6 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff08 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff09 \u8fde\u63a5 \u5230 \u5b83 \u6b63\u5728 \u8fd0\u884c \u7684 \u540c\u4e00 \u7aef\u53e3 \uff0c \u5219 \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u5c06 \u89c4\u5b9a \u6240\u6709 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u884c\u4e3a   \uff0c \u4f8b\u5982 \uff0c \u5982\u679c   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u670d\u52a1 \u670d\u52a1\u7aef   \u505c\u6b62 \uff0c \u5219 \u6240\u6709   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5c06 \u505c\u6b62 \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u521b\u5efa \u4e24\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u3002 \u6bcf\u4e2a \u7aef\u53e3 \u90fd \u8fde\u63a5 \u5230 \u4e0d\u540c \u4e14 \u90fd \u672a \u4f7f\u7528 \u7684 \u7aef\u53e3 \uff1a   tm01   =   client01 . get _ trafficmanager ( )   #   tm01   -- >   tm01   ( p = 8000 )   tm02   =   client02 . get _ trafficmanager ( 5000 )   #   tm02 ( p = 5000 )   -- >   tm02   ( p = 5000 )   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5f53 \u4e00\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8fde\u63a5 \u5230 \u53e6 \u4e00\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff08 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \uff09 \u5360\u7528 \u7684 \u7aef\u53e3 \u65f6 \uff0c \u5c31 \u4f1a \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u884c\u4e3a \u5c06 \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u51b3\u5b9a \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u521b\u5efa \u4e24\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u6bcf \u4e00\u4e2a \u90fd \u4e0e \u4e0a \u4e00\u8282 \u4e2d \u521b\u5efa \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u8fde\u63a5 \u3002   tm03   =   client03 . get _ trafficmanager ( )   #   tm03   -- >   tm01   ( p = 8000 ) .   tm04   =   client04 . get _ trafficmanager ( 5000 )   #   tm04 ( p = 5000 )   -- >   tm02   ( p = 5000 )   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u8fc7 \u5b58\u50a8 \u94fe\u63a5 \u5230 \u5b83\u4eec \u7684 \u7aef\u53e3 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   IP \uff08 \u5bf9 \u7528\u6237 \u9690\u85cf \uff09 \u6765 \u4fdd\u5b58 \u6240\u6709 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u7684 \u5bc4\u5b58 \u5bc4\u5b58\u5668 \u3002 \u76ee\u524d \u65e0\u6cd5 \u68c0\u67e5 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \u5df2 \u521b\u5efa \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u3002 \u5c1d\u8bd5 \u521b\u5efa \u5b9e\u4f8b \u65f6 \u59cb\u7ec8 \u4f1a \u5c1d\u8bd5 \u8fde\u63a5 \uff0c \u5e76\u4e14 \u5b83 \u5c06 \u521b\u5efa \u65b0 \u7684   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef   \u6216   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef   \u3002   \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4eff\u771f   \u5728 \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4eff\u771f \u4e2d \uff0c \u5728 \u540c\u4e00 \u7aef\u53e3 \u4e0a \u521b\u5efa \u591a\u4e2a TM \u3002 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a   TM   \u5c06 \u662f   TM   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5176\u4f59 \u7684 \u5c06 \u662f \u8fde\u63a5 \u5230 \u5b83 \u7684   TM   \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002 TM - Server   \u5c06 \u89c4\u5b9a \u6240\u6709   TM   \u5b9e\u4f8b \u7684 \u884c\u4e3a \uff1a   terminal   1 :   . / CarlaUE4 . sh   - carla - rpc - port = 4000   terminal   2 :   python3   generate _ traffic . py   -- port   4000   -- tm - port   4050   #   TM - Server   terminal   3 :   python3   generate _ traffic . py   -- port   4000   -- tm - port   4050   #   TM - Client   \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4eff\u771f   \u5728 \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4eff\u771f \u4e2d \uff0c \u5728 \u4e0d\u540c \u7684 \u7aef\u53e3 \u4e0a \u521b\u5efa \u591a\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u3002 \u6bcf\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u90fd \u4f1a \u63a7\u5236 \u81ea\u5df1 \u7684 \u884c\u4e3a \uff1a   terminal   1 :   . / CarlaUE4 . sh   - carla - rpc - port = 4000   terminal   2 :   python3   generate _ traffic . py   -- port   4000   -- tm - port   4050   #   TM - Server   A   terminal   3 :   python3   generate _ traffic . py   -- port   4000   -- tm - port   4550   #   TM - Server   B   \u591a\u91cd \u4eff\u771f   \u591a\u91cd \u4eff\u771f \u662f \u6307 \u591a\u4e2a   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540c\u65f6 \u8fd0\u884c \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u9700\u8981 \u8fde\u63a5 \u5230 \u76f8\u5173 \u7684   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u53e3 \u3002 \u53ea\u8981 \u8ba1\u7b97 \u80fd\u529b \u8ba1\u7b97\u80fd\u529b \u5141\u8bb8 \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u53ef\u4ee5 \u4e00\u6b21 \u8fd0\u884c \u591a\u4e2a \u4eff\u771f \uff0c \u4e0d\u4f1a \u51fa\u73b0 \u4efb\u4f55 \u95ee\u9898 \uff1a   terminal   1 :   . / CarlaUE4 . sh   - carla - rpc - port = 4000   #   simulation   A   terminal   2 :   . / CarlaUE4 . sh   - carla - rpc - port = 5000   #   simulation   B   terminal   3 :   python3   generate _ traffic . py   -- port   4000   -- tm - port   4050   #   TM - Server   A   connected   to   simulation   A   terminal   4 :   python3   generate _ traffic . py   -- port   5000   -- tm - port   5050   #   TM - Server   B   connected   to   simulation   B   \u591a\u91cd \u4eff\u771f \u7684 \u6982\u5ff5 \u72ec\u7acb \u4e8e \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u672c\u8eab \u3002 \u4e0a\u9762 \u7684 \u793a\u4f8b \u5e76\u884c \u8fd0\u884c \u4e24\u4e2a   Carla   \u4eff\u771f   A   \u548c   B \u3002 \u5728 \u6bcf\u4e2a \u4eff\u771f \u4e2d \uff0c \u90fd \u72ec\u7acb \u521b\u5efa \u4e00\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u3002 \u4eff\u771f   A   \u53ef\u4ee5 \u8fd0\u884c \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u7a0b\u5e8f \uff0c \u800c \u4eff\u771f   B   \u5219 \u8fd0\u884c \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u6216 \u6839\u672c \u4e0d \u8fd0\u884c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   \u4e0a\u8ff0 \u8bbe\u7f6e \u6700 \u53ef\u80fd \u51fa\u73b0 \u7684 \u95ee\u9898 \u662f \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c1d\u8bd5 \u8fde\u63a5 \u5230 \u672a \u5728 \u6240\u9009 \u4eff\u771f \u4e0a \u8fd0\u884c \u7684 \u73b0\u6709 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002 \u5982\u679c \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \uff0c \u5c06\u4f1a \u51fa\u73b0 \u9519\u8bef \u6d88\u606f \uff0c \u5e76\u4e14 \u8fde\u63a5 \u5c06 \u88ab \u4e2d\u6b62 \uff0c \u4ee5 \u9632\u6b62 \u4eff\u771f \u4e4b\u95f4 \u7684 \u5e72\u6270 \u3002   \u540c\u6b65 \u6a21\u5f0f   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8bbe\u8ba1 \u4e3a \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u5de5\u4f5c \u3002 Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u5e94 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u624d\u80fd \u6b63\u5e38 \u8fd0\u884c \u3002   \u5728 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u610f\u5916 \u548c \u4e0d\u826f \u7ed3\u679c   \uff0c \u4f46\u662f \uff0c \u5982\u679c \u9700\u8981 \u5f02\u6b65 \u6a21\u5f0f \uff0c \u5219 \u4eff\u771f \u5e94 \u81f3\u5c11 \u4ee5   20 - 30   fps   \u8fd0\u884c \u3002   \u4e0b\u9762 \u7684 \u811a\u672c \u6f14\u793a \u4e86 \u5982\u4f55 \u5c06 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \uff1a   ...   #   Set   the   simulation   to   sync   mode   init _ settings   =   world . get _ settings ( )   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   After   that ,   set   the   TM   to   sync   mode   my _ tm . set _ synchronous _ mode ( True )   ...   #   Tick   the   world   in   the   same   client   world . apply _ settings ( init _ settings )   world . tick ( )   ...   #   Always   disable   sync   mode   before   the   script   ends   to   prevent   the   server   blocking   whilst   waiting   for   a   tick   settings . synchronous _ mode   =   False   my _ tm . set _ synchronous _ mode ( False )   \u793a\u4f8b \u811a\u672c   generate _ traffic . py   \u542f\u52a8 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5e76\u7528 \u8f66\u8f86 \u548c \u884c\u4eba \u586b\u5145 \u5730\u56fe \u3002 \u5b83 \u81ea\u52a8 \u5c06 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u548c   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \uff1a   cd   PythonAPI / examples   python3   generate _ traffic . py   - n   50   \u5982\u679c \u9700\u8981 \u5f02\u6b65 \u6a21\u5f0f \uff0c \u8bf7 \u5728 \u8fd0\u884c \u4e0a\u8ff0 \u547d\u4ee4 \u65f6 \u4f7f\u7528   -- async   \u6807\u5fd7 \u3002   \u5982\u679c \u591a\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \uff0c \u540c\u6b65 \u5c06\u4f1a \u5931\u8d25 \u3002 \u8bf7 \u9075\u5faa \u4ee5\u4e0b \u51c6\u5219 \u4ee5 \u907f\u514d \u51fa\u73b0 \u907f\u514d\u51fa\u73b0 \u95ee\u9898 \uff1a   \u5728   \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef   \u60c5\u51b5 \u4e0b \uff0c \u53ea\u6709   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef   \u5e94 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002   \u5728   \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u60c5\u51b5 \u4e0b \uff0c \u53ea \u9700 \u5c06 \u4e00\u53f0   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef   \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002   ScenarioRunner   \u6a21\u5757   \u81ea\u52a8 \u8fd0\u884c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002 ScenarioRunner   \u5185 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u81ea\u52a8 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002   \u8b66\u544a   \u5728 \u7ba1\u7406 \u65f6\u949f \u7684 \u811a\u672c \u5b8c\u6210 \u4e4b\u524d \u7981\u7528 \u540c\u6b65 \u6a21\u5f0f \uff08 \u5bf9\u4e8e \u4e16\u754c \u548c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff09 \uff0c \u4ee5 \u9632\u6b62 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u963b\u585e \uff0c \u6c38\u8fdc \u7b49\u5f85 \u65f6\u949f \u3002   \u5927 \u5730\u56fe \u4e2d \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u8981 \u4e86\u89e3 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5982\u4f55 \u5728 \u5927 \u5730\u56fe \u4e0a \u5de5\u4f5c \uff0c \u8bf7 \u52a1\u5fc5 \u9996\u5148 \u9605\u8bfb   \u6b64\u5904   \u7684 \u6587\u6863 \u6765 \u719f\u6089 \u5927 \u5730\u56fe \u7684 \u5de5\u4f5c \u539f\u7406 \u3002   \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u5728 \u5927 \u5730\u56fe \u4e2d \u7684 \u884c\u4e3a \u53d6\u51b3 \u53d6\u51b3\u4e8e \u662f\u5426 \u5b58\u5728 \u82f1\u96c4 \u8f66\u8f86 \uff1a   \u4e0d \u5b58\u5728 \u82f1\u96c4 \u8f66\u8f86   \u6240\u6709 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u90fd \u5c06 \u88ab \u89c6\u4e3a \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u4f11\u7720 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u50cf \u6df7\u5408 \u6a21\u5f0f \u4e00\u6837 \u5728 \u5730\u56fe \u4e0a \u79fb\u52a8 \u3002 \u7531\u4e8e \u6ca1\u6709 \u82f1\u96c4 \u8f66\u8f86 \u6765 \u89e6\u53d1 \u5730\u56fe \u74e6\u7247 \u6d41 \uff0c \u56e0\u6b64 \u4e0d\u4f1a \u6e32\u67d3 \u8f66\u8f86 \u3002   \u5448\u73b0 \u82f1\u96c4 \u8f66\u8f86   \u5f53 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u8d85\u8fc7   actor _ active _ distance   \u5b9a\u4e49 \u7684 \u503c\u65f6 \uff0c \u5c06 \u8fdb\u5165 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002 \u8981 \u8bbe\u7f6e \u6b64\u503c \uff0c \u8bf7 \u4f7f\u7528   Python   API \uff1a   settings   =   world . get _ settings ( )   #   \u79bb \u82f1\u96c4 \u8f66\u8f86 \u8d85\u8fc7 2 \u516c\u91cc \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06\u4f1a \u4f11\u7720   settings . actor _ active _ distance   =   2000   world . apply _ settings ( settings )   \u5728 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u4e2d \uff0c \u4f11\u7720 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u914d\u7f6e \u4e3a \u5728 \u82f1\u96c4 \u8f66\u8f86 \u5468\u56f4 \u4e0d\u65ad \u91cd\u751f \uff0c \u800c \u4e0d\u662f \u5728 \u5730\u56fe \u7684 \u5176\u4ed6 \u90e8\u5206 \u4fdd\u6301 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002 \u53ef\u4ee5 \u4f7f\u7528   set _ respawn _ dormant _ vehicles   Python   API   \u4e2d \u7684 \u65b9\u6cd5 \u914d\u7f6e \u6b64 \u9009\u9879 \u3002 \u8f66\u8f86 \u5c06 \u5728 \u82f1\u96c4 \u8f66\u8f86 \u7684 \u7528\u6237 \u5b9a\u4e49 \u8ddd\u79bb \u5185 \u91cd\u751f \u3002 \u53ef \u91cd\u751f \u8ddd\u79bb \u7684 \u4e0a\u4e0b \u8fb9\u754c \u53ef\u4ee5 \u4f7f\u7528   set _ boundaries _ respawn _ dormant _ vehicles   \u65b9\u6cd5 \u8bbe\u7f6e \u3002 \u6ce8\u610f \uff0c \u4e0a \u8ddd\u79bb \u4e0d\u4f1a \u5927\u4e8e \u5927 \u5730\u56fe \u7684 \u74e6\u7247 \u6d41 \u8ddd\u79bb \uff0c \u8ddd\u79bb \u6700\u5c0f \u4e3a   20   \u7c73 \u3002   \u8981 \u4f7f \u82f1\u96c4 \u8f66\u8f86   25   \u7c73 \u548c   700   \u7c73 \u8303\u56f4 \u5185 \u7684 \u4f11\u7720 \u8f66\u8f86 \u91cd\u751f \uff1a   my _ tm . set _ respawn _ dormant _ vehicles ( True )   my _ tm . set _ boundaries _ respawn _ dormant _ vehicles ( 25 , 700 )   \u5982\u679c \u78b0\u649e \u963b\u6b62 \u4f11\u7720 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u91cd\u751f \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u91cd\u8bd5 \u4e0b \u4e00\u4e2a \u4eff\u771f \u6b65\u9aa4 \u3002   \u5982\u679c \u4f11\u7720 \u8f66\u8f86 \u6ca1\u6709 \u91cd\u751f \uff0c \u5b83\u4eec \u7684 \u884c\u4e3a \u5c06 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u662f\u5426 \u542f\u7528 \u6df7\u5408 \u6a21\u5f0f \u3002 \u5982\u679c \u542f\u7528 \u4e86 \u6df7\u5408 \u6a21\u5f0f \uff0c \u5219 \u4f11\u7720 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u5728 \u5730\u56fe \u4e0a \u4f20\u9001 \u3002 \u5982\u679c \u672a \u542f\u7528 \u6df7\u5408 \u6a21\u5f0f \uff0c \u5219 \u4e0d\u4f1a \u8ba1\u7b97 \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7269\u7406 \u7279\u6027 \uff0c \u5e76\u4e14 \u5b83\u4eec \u5c06 \u4fdd\u6301 \u5728 \u539f \u4f4d\u7f6e \uff0c \u76f4\u5230 \u4e0d\u518d \u4f11\u7720 \u3002   \u5982\u679c \u4f60 \u6709 \u4efb\u4f55 \u5173\u4e8e \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u95ee\u9898 \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e0a \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"Adv   traffic   manager"},{"location":"adv_traffic_manager/#_1","text":"\u4ec0\u4e48 \u662f \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff1f   \u7ed3\u6784 \u7ed3\u6784\u5316 \u8bbe\u8ba1   \u7528\u6237 \u5b9a\u5236   \u67b6\u6784   \u6982\u8ff0   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u4eff\u771f \u72b6\u6001   \u63a7\u5236 \u5faa\u73af   \u5185\u5b58 \u5730\u56fe   \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9   PID   \u63a7\u5236 \u63a7\u5236\u5668   \u547d\u4ee4 \u6570\u7ec4   \u63a7\u5236 \u5faa\u73af \u7684 \u9636\u6bb5   \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u8f66\u8f86 \u884c\u4e3a \u8003\u8651 \u56e0\u7d20   \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u914d\u7f6e \u81ea\u52a8 \u9a7e\u9a76 \u884c\u4e3a   \u505c\u6b62 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f   \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f   \u8fd0\u884c \u591a\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4eff\u771f   \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4eff\u771f   \u591a\u91cd \u4eff\u771f   \u540c\u6b65 \u6a21\u5f0f   \u5927 \u5730\u56fe \u4e2d \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668","title":"\u4ea4\u901a\u7ba1\u7406 \u5668"},{"location":"adv_traffic_manager/#_2","text":"\u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   ( Traffic   Manager ,   TM )   \u662f \u5728 \u4eff\u771f \u4e2d\u4ee5 \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u63a7\u5236 \u8f66\u8f86 \u7684 \u6a21\u5757 \u3002 \u5176 \u76ee\u6807 \u662f \u5728 \u4eff\u771f \u4e2d \u586b\u5145 \u771f\u5b9e \u7684 \u57ce\u5e02 \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u3002 \u7528\u6237 \u53ef\u4ee5 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4e00\u4e9b \u884c\u4e3a \uff0c \u4f8b\u5982 \u8bbe\u7f6e \u7279\u5b9a \u7684 \u5b66\u4e60 \u73af\u5883 \u3002","title":"\u4ec0\u4e48 \u662f \u4ea4\u901a\u7ba1\u7406 \u5668 \uff1f  "},{"location":"adv_traffic_manager/#_3","text":"\u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u6784\u5efa \u4e8e   Carla   \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e4b\u4e0a \u3002 \u6267\u884c \u6d41\u7a0b \u5206\u4e3a \u591a\u4e2a \u9636\u6bb5 \uff0c \u6bcf\u4e2a \u9636\u6bb5 \u90fd \u6709 \u72ec\u7acb \u7684 \u64cd\u4f5c \u548c \u76ee\u6807 \u3002 \u8fd9 \u6709\u5229 \u5229\u4e8e \u6709\u5229\u4e8e \u76f8\u4f4d \u76f8\u5173 \u529f\u80fd \u548c \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u7684 \u5f00\u53d1 \uff0c \u540c\u65f6 \u63d0\u9ad8 \u8ba1\u7b97 \u6548\u7387 \u3002 \u6bcf\u4e2a \u9636\u6bb5 \u90fd \u5728 \u4e0d\u540c \u7684 \u7ebf\u7a0b \u4e0a \u8fd0\u884c \u3002 \u4e0e \u5176\u4ed6 \u9636\u6bb5 \u7684 \u901a\u4fe1 \u901a\u8fc7 \u540c\u6b65 \u6d88\u606f \u4f20\u9012 \u6d88\u606f\u4f20\u9012 \u8fdb\u884c \u7ba1\u7406 \u3002 \u4fe1\u606f \u671d \u4e00\u4e2a \u65b9\u5411 \u6d41\u52a8 \u3002","title":"\u7ed3\u6784\u5316 \u8bbe\u8ba1  "},{"location":"adv_traffic_manager/#_4","text":"\u7528\u6237 \u53ef\u4ee5 \u901a\u8fc7 \u8bbe\u7f6e \u5141\u8bb8 \u3001 \u5f3a\u5236 \u6216 \u9f13\u52b1 \u7279\u5b9a \u884c\u4e3a \u7684 \u53c2\u6570 \u6765 \u5bf9 \u6d41\u91cf \u8fdb\u884c \u4e00\u5b9a \u7a0b\u5ea6 \u7684 \u63a7\u5236 \u3002 \u7528\u6237 \u53ef\u4ee5 \u6839\u636e \u81ea\u5df1 \u7684 \u559c\u597d \u6539\u53d8 \u6d41\u91cf \u884c\u4e3a \uff0c \u65e0\u8bba \u65e0\u8bba\u662f \u5728\u7ebf \u8fd8\u662f \u79bb\u7ebf \u3002 \u4f8b\u5982 \uff0c \u53ef\u4ee5 \u5141\u8bb8 \u6c7d\u8f66 \u5ffd\u7565 \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u6216 \u5f3a\u5236 \u53d8\u9053 \u3002 \u5728 \u5c1d\u8bd5 \u4eff\u771f \u73b0\u5b9e \u65f6 \uff0c \u80fd\u591f \u5c1d\u8bd5 \u5404\u79cd \u884c\u4e3a \u662f \u4e0d\u53ef \u5fc5\u4e0d\u53ef\u5c11 \u7684 \u3002 \u9a7e\u9a76 \u7cfb\u7edf \u9700\u8981 \u5728 \u7279\u5b9a \u548c \u975e\u5178 \u5178\u578b \u975e\u5178\u578b \u60c5\u51b5 \u4e0b \u8fdb\u884c \u8bad\u7ec3 \u3002","title":"\u7528\u6237 \u5b9a\u5236  "},{"location":"adv_traffic_manager/#_5","text":"","title":"\u67b6\u6784  "},{"location":"adv_traffic_manager/#_6","text":"\u4e0a\u56fe \u662f \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u5185\u90e8 \u67b6\u6784 \u793a\u610f \u610f\u56fe \u793a\u610f\u56fe \u3002 \u6bcf\u4e2a \u7ec4\u4ef6 \u7684   C++   \u4ee3\u7801 \u53ef\u4ee5 \u5728   LibCarla / source / carla / trafficmanager   \u4e2d \u627e\u5230 \u3002 \u4ee5\u4e0b \u5404\u8282 \u8be6\u7ec6 \u89e3\u91ca \u4e86 \u6bcf\u4e2a \u7ec4\u4ef6 \u3002 \u903b\u8f91 \u6982\u8ff0 \u5982\u4e0b \uff1a   1 .   \u5b58\u50a8 \u5e76 \u66f4\u65b0 \u4eff\u771f \u7684 \u5f53\u524d \u72b6\u6001 \u3002   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406   ( Agent   Lifecycle   &   State   Management ,   ALSM )   \u626b\u63cf \u4e16\u754c \uff0c \u8ddf\u8e2a \u6240\u6709 \u5b58\u5728 \u7684 \u8f66\u8f86 \u548c \u884c\u4eba \uff0c \u5e76 \u6e05\u7406 \u4e0d\u518d \u5b58\u5728 \u7684 \u6761\u76ee \u3002 \u6240\u6709 \u6570\u636e \u5747 \u4ece \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u68c0\u7d22 \u5e76 \u7ecf\u8fc7 \u591a\u4e2a   \u9636\u6bb5   \u3002 ALSM   \u662f \u552f\u4e00 \u8c03\u7528 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u7ec4\u4ef6 \u3002   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u5305\u542b \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5904\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u72b6\u6001 \u7684 \u8f66\u8f86 \uff08 \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \uff09 \u4ee5\u53ca \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u4e0d \u5904\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u72b6\u6001 \uff08 \u4e0d \u53d7 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u63a7\u5236 \uff09 \u7684 \u884c\u4eba \u548c \u8f66\u8f86 \u3002   \u4eff\u771f \u72b6\u6001   \u662f \u4eff\u771f \u4e2d \u6240\u6709 \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u4f4d\u7f6e \u3001 \u901f\u5ea6 \u548c \u9644\u52a0 \u4fe1\u606f \u7684 \u7f13\u5b58 \u5b58\u50a8 \u3002   2 .   \u8ba1\u7b97 \u6bcf\u8f86 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u7684 \u8fd0\u52a8 \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u6839\u636e   \u4eff\u771f \u72b6\u6001   \u4e3a   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u4e2d \u7684 \u6240\u6709 \u8f66\u8f86 \u751f\u6210 \u53ef\u884c \u7684 \u547d\u4ee4 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u8ba1\u7b97 \u90fd \u662f \u5355\u72ec \u8fdb\u884c \u7684 \u3002 \u8fd9\u4e9b \u8ba1\u7b97 \u5206\u4e3a \u4e0d\u540c \u7684   \u9636\u6bb5   \u3002   \u63a7\u5236 \u5faa\u73af   \u901a\u8fc7 \u5728 \u9636\u6bb5 \u4e4b\u95f4 \u521b\u5efa \u540c\u6b65 \u5c4f\u969c \u6765 \u786e\u4fdd \u6240\u6709 \u8ba1\u7b97 \u7684 \u4e00\u81f4 \u4e00\u81f4\u6027 \u3002 \u5728 \u5f53\u524d \u9636\u6bb5 \u7684 \u6240\u6709 \u8f66\u8f86 \u8ba1\u7b97 \u5b8c\u6210 \u4e4b\u524d \uff0c \u6ca1\u6709 \u8f66\u8f86 \u8fdb\u5165 \u9636\u6bb5 \u4e0b\u4e00\u9636\u6bb5 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u4f1a \u7ecf\u5386 \u4ee5\u4e0b \u9636\u6bb5 \uff1a   2.1   -   \u5b9a\u4f4d \u9636\u6bb5   \u8def\u5f84 \u662f \u4f7f\u7528 \u4ece   \u5185\u5b58 \u5730\u56fe   \u4e2d \u6536\u96c6 \u7684 \u9644\u8fd1 \u8def\u5f84 \u70b9 \u5217\u8868 \u52a8\u6001 \u521b\u5efa \u52a8\u6001\u521b\u5efa \u7684 \uff0c \u5185\u5b58 \u5730\u56fe \u662f \u4eff\u771f \u5730\u56fe \u4f5c\u4e3a \u8def\u5f84 \u70b9 \u7f51\u683c \u7684 \u7b80\u5316 \u3002 \u8def\u53e3 \u7684 \u65b9\u5411 \u662f \u968f\u673a \u9009\u62e9 \u7684 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u8def\u5f84 \u5747 \u7531 \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9 ( Path   Buffers   &   Vehicle   Tracking ,   PBVT   )   \u7ec4\u4ef6 \u5b58\u50a8 \u548c \u7ef4\u62a4 \uff0c \u4ee5\u4fbf \u5728 \u672a\u6765 \u9636\u6bb5 \u8f7b\u677e \u8bbf\u95ee \u548c \u4fee\u6539 \u3002   2.2   -   \u78b0\u649e \u9636\u6bb5   \u8fb9\u754c \u6846 \u5ef6\u4f38 \u5230 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u8def\u5f84 \u4e0a \uff0c \u4ee5 \u8bc6\u522b \u548c \u5bfc\u822a \u6f5c\u5728 \u7684 \u78b0\u649e \u5371\u9669 \u3002   2.3   -   \u4ea4\u901a \u4ea4\u901a\u706f \u9636\u6bb5   .   \u4e0e \u78b0\u649e \u9636\u6bb5 \u7c7b\u4f3c \uff0c \u4f1a \u8bc6\u522b \u7531\u4e8e \u4ea4\u901a \u4ea4\u901a\u706f \u5f71\u54cd \u3001 \u505c\u8f66 \u6807\u5fd7 \u548c \u8def\u53e3 \u4f18\u5148 \u4f18\u5148\u7ea7 \u800c \u5f71\u54cd \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u8def\u5f84 \u7684 \u6f5c\u5728 \u5371\u9669 \u3002   2.4   -   \u8fd0\u52a8 \u89c4\u5212 \u5668 \u9636\u6bb5   .   \u8f66\u8f86 \u8fd0\u52a8 \u662f \u6839\u636e \u5b9a\u4e49 \u7684 \u8def\u5f84 \u8ba1\u7b97 \u7684 \u3002   PID   \u63a7\u5236 \u63a7\u5236\u5668   \u786e\u5b9a \u5982\u4f55 \u5230\u8fbe \u76ee\u6807 \u8def\u5f84 \u70b9 \u3002 \u7136\u540e \u5c06 \u5176 \u8f6c\u6362 \u4e3a   Carla   \u547d\u4ee4 \u4ee5\u4f9b \u4e0b \u4e00\u6b65 \u5e94\u7528 \u3002   2.5   -   \u8f66\u706f \u9636\u6bb5   .   \u8f66\u706f \u6839\u636e \u73af\u5883 \u56e0\u7d20 \u73af\u5883\u56e0\u7d20 \uff08 \u4f8b\u5982 \u9633\u5149 \u548c \u96fe \u6216 \u96e8 \u7684 \u5b58\u5728 \uff09 \u548c \u8f66\u8f86 \u884c\u4e3a \uff08 \u4f8b\u5982 \uff0c \u5982\u679c \u8f66\u8f86 \u5c06 \u5728 \u4e0b \u4e00\u4e2a \u8def\u53e3 \u5de6\u8f6c / \u53f3\u8f6c \uff0c \u5219 \u6253\u5f00 \u65b9\u5411 \u6307\u793a \u6307\u793a\u706f \uff1b \u5982\u679c \u5236\u52a8 \uff0c \u5219 \u6253\u5f00 \u5239\u8f66 \u8f66\u706f \u5239\u8f66\u706f \uff09 \u3002   3 .   \u5728 \u4eff\u771f \u4e2d \u5e94\u7528 \u547d\u4ee4   \u4e0a \u4e00\u6b65 \u751f\u6210 \u7684 \u547d\u4ee4 \u88ab \u6536\u96c6 \u5230   \u547d\u4ee4 \u6570\u7ec4   \u4e2d \uff0c \u6279\u91cf \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5728 \u540c\u4e00 \u5e27 \u4e2d \u5e94\u7528 \u3002   \u4ee5\u4e0b \u90e8\u5206 \u5c06 \u66f4 \u8be6\u7ec6 \u5730 \u89e3\u91ca \u4e0a\u8ff0 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u903b\u8f91 \u4e2d \u7684 \u6bcf\u4e2a \u7ec4\u4ef6 \u548c \u9636\u6bb5 \u3002","title":"\u6982\u8ff0  "},{"location":"adv_traffic_manager/#_7","text":"\u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406 \u3002 \u5b83 \u662f \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u903b\u8f91 \u5468\u671f \u7684 \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \uff0c \u63d0\u4f9b \u4eff\u771f \u5f53\u524d \u72b6\u6001 \u7684 \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u3002   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406 \u7ec4\u4ef6 \uff1a   \u626b\u63cf \u4e16\u754c \u4ee5 \u8ddf\u8e2a \u6240\u6709 \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \u3002 \u5982\u679c \u542f\u7528 \u7269\u7406 \u529f\u80fd \uff0c \u5219 \u901a\u8fc7   Vehicle . get _ velocity ( )   \u68c0\u7d22 \u901f\u5ea6 \u3002 \u5426\u5219 \uff0c \u5c06 \u4f7f\u7528 \u4f4d\u7f6e \u968f \u65f6\u95f4 \u66f4\u65b0 \u7684 \u5386\u53f2 \u53f2\u8bb0 \u8bb0\u5f55 \u5386\u53f2\u8bb0\u5f55 \u6765 \u8ba1\u7b97 \u901f\u5ea6 \u8ba1\u7b97\u901f\u5ea6 \u3002   \u5b58\u50a8   \u4eff\u771f \u72b6\u6001   \u7ec4\u4ef6 \u4e2d \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u548c \u884c\u4eba \u7684 \u4f4d\u7f6e \u3001 \u901f\u5ea6 \u548c \u9644\u52a0 \u4fe1\u606f \uff08 \u4ea4\u901a \u4ea4\u901a\u706f \u5f71\u54cd \u3001 \u8fb9\u754c \u6846\u7b49 \uff09 \u3002   \u66f4\u65b0   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u4e2d \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u8f66\u8f86 \u5217\u8868 \u3002   \u66f4\u65b0   \u63a7\u5236 \u5faa\u73af   \u548c   \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9   \u7ec4\u4ef6 \u4e2d \u7684 \u6761\u76ee \u4ee5 \u5339\u914d \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 \uff1a   ALSM . h   ,   ALSM . cpp   .","title":"\u4ee3\u7406 \u7684 \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406  "},{"location":"adv_traffic_manager/#_8","text":"\u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868 \u8bb0\u5f55 \u4eff\u771f \u4e2d \u7684 \u6240\u6709 \u8f66\u8f86 \u548c \u884c\u4eba \u3002   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868 \uff1a   \u4ece   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406   \u4f20\u9012 \u6765 \u6700\u65b0 \u7684 \u8f66\u8f86 \u548c \u884c\u4eba \u5217\u8868 \u3002   \u5c06 \u6ce8\u518c \u5230 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u8f66\u8f86 \u5b58\u50a8 \u5728 \u5355\u72ec \u7684 \u6570\u7ec4 \u4e2d \uff0c \u4ee5\u4fbf \u5728   \u63a7\u5236 \u5faa\u73af   \u671f\u95f4 \u8fdb\u884c \u8fed\u4ee3 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 \uff1a   MotionPlannerStage . cpp   .","title":"\u8f66\u8f86 \u6ce8\u518c\u8868  "},{"location":"adv_traffic_manager/#_9","text":"\u4eff\u771f \u72b6\u6001 \u5b58\u50a8 \u4eff\u771f \u4e2d \u6240\u6709 \u8f66\u8f86 \u7684 \u4fe1\u606f \uff0c \u4ee5\u4fbf \u5728 \u540e\u671f \u9636\u6bb5 \u8f7b\u677e \u8bbf\u95ee \u548c \u4fee\u6539 \u3002   \u4eff\u771f \u72b6\u6001 \uff1a   \u4ece   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406   \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \uff0c \u5305\u62ec \u5f53\u524d \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f4d\u7f6e \u3001 \u901f\u5ea6 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u5f71\u54cd \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u7b49 \u3002   \u5c06 \u6240\u6709 \u4fe1\u606f \u5b58\u50a8 \u5728 \u7f13\u5b58 \u4e2d \uff0c \u907f\u514d \u5728   \u63a7\u5236 \u5faa\u73af   \u671f\u95f4 \u5bf9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u540e\u7eed \u8c03\u7528 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 \uff1a   SimulationState . cpp   ,   SimulationState . h   .","title":"\u4eff\u771f \u72b6\u6001  "},{"location":"adv_traffic_manager/#_10","text":"\u63a7\u5236 \u5faa\u73af \u7ba1\u7406 \u6240\u6709 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u7684 \u4e0b \u4e00\u4e2a \u547d\u4ee4 \u7684 \u8ba1\u7b97 \uff0c \u4ee5\u4fbf \u5b83\u4eec \u540c\u6b65 \u6267\u884c \u3002 \u63a7\u5236 \u5faa\u73af \u7531 \u4e94\u4e2a \u4e0d\u540c \u7684   \u9636\u6bb5   \u7ec4\u6210 ; \u5b9a\u4f4d \uff0c \u78b0\u649e \uff0c \u4ea4\u901a \u4ea4\u901a\u706f \uff0c \u8fd0\u52a8 \u89c4\u5212 \u548c \u8f66\u8f86 \u706f \u3002   \u63a7\u5236 \u5faa\u73af :   \u4ece   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u63a5\u6536 TM - \u63a7\u5236 \u7684 \u8f66\u8f86 \u6570\u7ec4 \u3002   \u901a\u8fc7 \u5faa\u73af \u904d\u5386 \u6570\u7ec4 \uff0c \u5206\u522b \u5bf9 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u6267\u884c \u8ba1\u7b97 \u3002   \u5c06 \u8ba1\u7b97 \u5206\u6210 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7684   \u9636\u6bb5   \u3002   \u5728 \u9636\u6bb5 \u4e4b\u95f4 \u521b\u5efa \u540c\u6b65 \u5c4f\u969c \u4ee5 \u4fdd\u8bc1 \u4e00\u81f4 \u4e00\u81f4\u6027 \u3002 \u6240\u6709 \u8f66\u8f86 \u7684 \u8ba1\u7b97 \u5728 \u4efb\u4f55 \u8f66\u8f86 \u79fb\u52a8 \u5230 \u9636\u6bb5 \u4e0b\u4e00\u9636\u6bb5 \u4e4b\u524d \u5b8c\u6210 \uff0c \u786e\u4fdd \u6240\u6709 \u8f66\u8f86 \u5728 \u540c\u4e00 \u5e27 \u4e2d \u66f4\u65b0 \u3002   \u534f\u8c03 \u5404   \u9636\u6bb5   \u4e4b\u95f4 \u7684 \u8fc7\u6e21 \uff0c \u4f7f \u6240\u6709 \u8ba1\u7b97 \u540c\u6b65 \u5b8c\u6210 \u3002   \u5f53 \u6700\u540e \u4e00\u4e2a \u9636\u6bb5 (   \u8fd0\u52a8 \u89c4\u5212 \u9636\u6bb5   \u548c   \u8f66\u8f86 \u706f\u5149 \u9636\u6bb5   ) \u5b8c\u6210 \u65f6 \uff0c \u5c06   \u547d\u4ee4 \u6570\u7ec4   \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u56e0\u6b64 \u5728 \u547d\u4ee4 \u8ba1\u7b97 \u548c \u547d\u4ee4 \u5e94\u7528 \u4e4b\u95f4 \u6ca1\u6709 \u5e27 \u5ef6\u8fdf \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   TrafficManagerLocal . cpp   .","title":"\u63a7\u5236 \u5faa\u73af  "},{"location":"adv_traffic_manager/#_11","text":"\u5185\u5b58 \u5730\u56fe \u662f \u5305\u542b \u5728   \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9   \u4e2d \u7684 \u8f85\u52a9 \u6a21\u5757 \uff0c \u5728   \u5b9a\u4f4d \u9636\u6bb5   \u4f7f\u7528 \u3002   \u5185\u5b58 \u5730\u56fe :   \u5c06 \u5730\u56fe \u8f6c\u6362 \u4e3a \u79bb\u6563 \u8def\u5f84 \u70b9 \u7684 \u7f51\u683c \u3002   \u5305\u542b \u7279\u5b9a \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u4e2d \u7684 \u8def\u70b9 \uff0c \u5e76 \u63d0\u4f9b \u66f4 \u591a \u4fe1\u606f \u6765 \u8fde\u63a5 \u8def\u70b9 \u548c \u8bc6\u522b \u9053\u8def \u3001 \u8def\u53e3 \u7b49 \u3002   \u901a\u8fc7 \u8bc6\u522b \u8fd9\u4e9b \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684   ID   \u6765 \u5feb\u901f \u5b9a\u4f4d \u9644\u8fd1 \u533a\u57df \u7684 \u8f66\u8f86 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   InMemoryMap . cpp   and   SimpleWaypoint . cpp   .","title":"\u5185\u5b58 \u5730\u56fe  "},{"location":"adv_traffic_manager/#_12","text":"PBVT \u4ee3\u8868 \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9 \u3002 PBVT \u662f \u4e00\u79cd \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \uff0c \u5b83 \u5305\u542b \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u9884\u671f \u8def\u5f84 \uff0c \u5e76 \u5141\u8bb8 \u5728   \u63a7\u5236 \u5faa\u73af   \u671f\u95f4 \u8f7b\u677e \u8bbf\u95ee \u6570\u636e \u3002   PBVT :   \u5305\u542b \u4e00\u4e2a deque \u5bf9\u8c61 \u7684 \u5730\u56fe \uff0c \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u6709 \u4e00\u4e2a \u5165\u53e3 \u3002   \u5305\u542b \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u4e00\u7ec4 \u8def\u70b9 \uff0c \u63cf\u8ff0 \u5176 \u5f53\u524d \u4f4d\u7f6e \u548c \u8fd1\u671f \u8def\u5f84 \u3002   \u5305\u542b   \u5b9a\u4f4d \u9636\u6bb5   \u4f7f\u7528 \u7684   \u5185\u5b58 \u5730\u56fe   \uff0c \u7528\u4e8e \u5c06 \u6bcf\u4e2a \u8f66\u8f86 \u4e0e \u6700\u8fd1 \u7684 \u8def\u70b9 \u548c \u53ef\u80fd \u7684 \u91cd\u53e0 \u8def\u5f84 \u5173\u8054 \u8d77\u6765 \u3002","title":"\u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9  "},{"location":"adv_traffic_manager/#pid","text":"PID \u63a7\u5236 \u63a7\u5236\u5668 \u662f \u5728   \u8fd0\u52a8 \u89c4\u5212 \u9636\u6bb5   \u6267\u884c \u8ba1\u7b97 \u7684 \u8f85\u52a9 \u6a21\u5757 \u3002   PID   \u63a7\u5236 \u63a7\u5236\u5668 :   \u6839\u636e   \u8fd0\u52a8 \u89c4\u5212 \u9636\u6bb5   \u6536\u96c6 \u7684 \u4fe1\u606f \uff0c \u4f30\u7b97 \u8fbe\u5230 \u76ee\u6807 \u6807\u503c \u76ee\u6807\u503c \u6240 \u9700 \u7684 \u6cb9\u95e8 \u3001 \u5239\u8f66 \u548c \u8f6c\u5411 \u8f93\u5165 \u3002   \u6839\u636e \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5177\u4f53 \u53c2\u6570 \u5316 \u8fdb\u884c \u8c03\u6574 \u3002 \u5982\u679c \u9700\u8981 \uff0c \u53ef\u4ee5 \u4fee\u6539 \u53c2\u6570 \u3002 \u9605\u8bfb \u66f4 \u591a \u5173\u4e8e   PID \u63a7\u5236 \u63a7\u5236\u5668   \u7684 \u4fe1\u606f \uff0c \u4e86\u89e3 \u5982\u4f55 \u8fdb\u884c \u4fee\u6539 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   PIDController . cpp   .","title":"PID   \u63a7\u5236\u5668  "},{"location":"adv_traffic_manager/#_13","text":"\u547d\u4ee4 \u6570\u7ec4 \u8868\u793a   TM   \u903b\u8f91 \u5468\u671f \u4e2d \u7684 \u6700\u540e \u4e00\u6b65 \u3002 \u5b83 \u63a5\u6536 \u6240\u6709 \u6ce8\u518c \u8f66\u8f86 \u7684 \u547d\u4ee4 \u5e76 \u5e94\u7528 \u5b83\u4eec \u3002   \u547d\u4ee4 \u6570\u7ec4 :   \u4ece   \u8def\u5f84 \u89c4\u5212 \u9636\u6bb5   \u63a5\u6536 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217   carla . VehicleControl   \u3002   \u5904\u7406 \u6279\u5904\u7406 \u8981 \u5728 \u540c\u4e00 \u5e27 \u5185 \u5e94\u7528 \u7684 \u6240\u6709 \u547d\u4ee4 \u3002   \u5c06 \u5904\u7406 \u6279\u5904\u7406 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u5728   carla   \u4e2d \u8c03\u7528   apply _ batch   \uff08 \uff09   \u6216   apply _ batch _ synch \uff08 \uff09   \u7684   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 . \u5ba2\u6237 \u5ba2\u6237\u7aef   \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4eff\u771f \u662f \u5206\u522b \u4ee5 \u5f02\u6b65 \u6a21\u5f0f \u8fd8\u662f \u540c\u6b65 \u6a21\u5f0f \u8fd0\u884c \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   TrafficManagerLocal . cpp   .","title":"\u547d\u4ee4 \u6570\u7ec4  "},{"location":"adv_traffic_manager/#_14","text":"","title":"\u63a7\u5236 \u5faa\u73af \u7684 \u9636\u6bb5  "},{"location":"adv_traffic_manager/#1-","text":"\u5b9a\u4f4d \u9636\u6bb5 \u4e3a TM \u63a7\u5236 \u7684 \u8f66\u8f86 \u5b9a\u4e49 \u4e86 \u8fd1 \u672a\u6765 \u7684 \u8def\u5f84 \u3002   \u672c\u5730 \u672c\u5730\u5316 \u9636\u6bb5 \uff1a   \u4ece   \u4eff\u771f \u72b6\u6001   \u83b7\u53d6 \u6240\u6709 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \u3002   \u4f7f\u7528   \u5185\u5b58 \u5730\u56fe   \u5c06 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u4e0e \u8def\u5f84 \u70b9 \u5217\u8868 \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \uff0c \u8be5 \u8def\u5f84 \u70b9 \u5217\u8868 \u6839\u636e \u5176 \u8f68\u8ff9 \u63cf\u8ff0 \u5176 \u5f53\u524d \u4f4d\u7f6e \u548c \u8fd1\u671f \u8def\u5f84 \u3002 \u8f66\u8f86 \u884c\u9a76 \u5f97 \u8d8a \u5feb \uff0c \u5217\u8868 \u5c31 \u8d8a\u957f \u3002   \u6839\u636e \u89c4\u5212 \u51b3\u7b56 \u66f4\u65b0 \u8def\u5f84 \uff0c \u4f8b\u5982 \u53d8\u9053 \u3001 \u9650\u901f \u3001 \u4e0e \u524d\u65b9 \u8f66\u8f86 \u7684 \u8ddd\u79bb \u53c2\u6570 \u5316\u7b49 \u3002   \u5c06 \u6240\u6709 \u8f66\u8f86 \u7684 \u8def\u5f84 \u5b58\u50a8 \u5728   PBVT   \u6a21\u5757 \u4e2d \u3002   \u76f8\u4e92 \u6bd4\u8f83 \u8def\u5f84 \u4ee5 \u4f30\u8ba1 \u53ef\u80fd \u7684 \u78b0\u649e \u60c5\u51b5 \u3002 \u7ed3\u679c \u5c06 \u4f20\u9012 \u5230 \u78b0\u649e \u9636\u6bb5 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   LocalizationStage . cpp   and   LocalizationUtils . cpp   .","title":"\u7b2c   1   \u9636\u6bb5   -   \u5b9a\u4f4d \u9636\u6bb5"},{"location":"adv_traffic_manager/#2-","text":"\u78b0\u649e \u9636\u6bb5 \u4f1a \u89e6\u53d1 \u78b0\u649e \u5371\u9669 \u3002   \u78b0\u649e \u9636\u6bb5 \uff1a   \u4ece   \u5b9a\u4f4d \u9636\u6bb5   \u63a5\u6536 \u8def\u5f84 \u53ef\u80fd \u91cd\u53e0 \u7684 \u8f66\u8f86 \u5bf9 \u5217\u8868 \u3002   \u524d\u65b9 \u8def\u5f84 \uff08 \u5730\u7ebf \u6d4b\u5730\u7ebf \u8fb9\u754c \uff09 \u6269\u5c55 \u6bcf\u4e2a \u8f66\u8f86 \u5bf9 \u7684 \u8fb9\u754c \u6846 \uff0c \u4ee5 \u68c0\u67e5 \u5b83\u4eec \u662f\u5426 \u5b9e\u9645 \u91cd\u53e0 \u5e76 \u786e\u5b9a \u78b0\u649e \u98ce\u9669 \u662f\u5426 \u771f\u5b9e \u3002   \u5c06 \u6240\u6709 \u53ef\u80fd \u7684 \u78b0\u649e \u7684 \u5371\u9669 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   \u8fd0\u52a8 \u89c4\u5212 \u5668 \u9636\u6bb5   \uff0c \u4ee5 \u76f8\u5e94 \u5730 \u4fee\u6539 \u8def\u5f84 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   CollisionStage . cpp   .","title":"\u7b2c   2   \u9636\u6bb5   -   \u78b0\u649e \u9636\u6bb5"},{"location":"adv_traffic_manager/#-","text":"\u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u9636\u6bb5 \u4f1a \u89e6\u53d1 \u4ea4\u901a \u7ba1\u5236 \u4ea4\u901a\u7ba1\u5236 \u5668 \u9020\u6210 \u7684 \u5371\u9669 \uff0c \u4f8b\u5982 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3001 \u505c\u8f66 \u6807\u5fd7 \u548c \u8def\u53e3 \u7684 \u4f18\u5148 \u4f18\u5148\u6743 \u3002   \u4ea4\u901a \u4ea4\u901a\u706f \u9636\u6bb5 \uff1a   \u5982\u679c \u8f66\u8f86 \u53d7\u5230 \u9ec4\u8272 \u6216 \u7ea2\u8272 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u6216 \u505c\u8f66 \u6807\u5fd7 \u7684 \u5f71\u54cd \uff0c \u5219 \u8bbe\u7f6e \u4ea4\u901a \u5371\u9669 \u3002   \u5982\u679c \u8fb9\u754c \u6846 \u4f4d\u4e8e \u65e0 \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u4ea4\u6c47 \u4ea4\u6c47\u70b9 \uff0c \u5219 \u6cbf \u8f66\u8f86 \u8def\u5f84 \u5ef6\u4f38 \u8fb9\u754c \u6846 \u3002 \u8def\u5f84 \u91cd\u53e0 \u7684 \u8f66\u8f86 \u9075\u5faa \u201c \u5148\u8fdb \u5148\u8fdb\u5148\u51fa \u201d \u7684 \u987a\u5e8f \u79fb\u52a8 \u3002 \u7b49\u5f85 \u65f6\u95f4 \u7b49\u5f85\u65f6\u95f4 \u8bbe\u7f6e \u4e3a \u56fa\u5b9a \u56fa\u5b9a\u503c \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   TrafficLightStage . cpp   .","title":"\u7b2c\u4e09\u9636\u6bb5   -   \u4ea4\u901a\u706f \u9636\u6bb5"},{"location":"adv_traffic_manager/#4-","text":"\u201c \u8fd0\u52a8 \u89c4\u5212 \u5668 \u9636\u6bb5 \u201d \uff08 Motion   Planner   Stage \uff09   \u751f\u6210 \u8981 \u5e94\u7528 \u4e8e \u8f66\u8f86 \u7684   Carla   \u547d\u4ee4 \u3002   \u8fd0\u52a8 \u89c4\u5212 \u5668 \u9636\u6bb5 \uff1a   \u6536\u96c6 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \uff08   \u4eff\u771f \u72b6\u6001   ) \uff09 \u3001 \u8def\u5f84   \uff08   \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9   \uff09   \u548c \u5371\u9669 \uff08   \u78b0\u649e   \u9636\u6bb5 \u548c   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u9636\u6bb5   \uff09 \u3002   \u5bf9 \u8f66\u8f86 \u5e94 \u5982\u4f55 \u79fb\u52a8 \u505a\u51fa \u9ad8\u7ea7 \u51b3\u7b56 \uff0c \u4f8b\u5982 \uff0c \u8ba1\u7b97 \u9632\u6b62 \u78b0\u649e \u5371\u9669 \u6240 \u9700 \u7684 \u5236\u52a8 \u5236\u52a8\u5668 \u3002   PID \u63a7\u5236 \u63a7\u5236\u5668   \u7528\u4e8e \u6839\u636e \u76ee\u6807 \u6807\u503c \u76ee\u6807\u503c \u4f30\u8ba1 \u884c\u4e3a \u3002   \u5c06 \u671f\u671b \u7684 \u8fd0\u52a8 \u8f6c\u5316 \u4e3a \u9002\u7528 \u4e8e \u8f66\u8f86 \u7684   carla . VehicleControl \u3002   \u5c06 \u751f\u6210 \u7684   Carla   \u547d\u4ee4 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   \u547d\u4ee4 \u6570\u7ec4   \u3002   \u76f8\u5173 \u7684 . cpp \u6587\u4ef6 :   MotionPlannerStage . cpp   .","title":"\u7b2c   4   \u9636\u6bb5   -   \u8fd0\u52a8 \u89c4\u5212 \u5668 \u9636\u6bb5"},{"location":"adv_traffic_manager/#5-","text":"\u8f66\u706f \u9636\u6bb5 \u6839\u636e \u8f66\u8f86 \u72b6\u51b5 \u548c \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u6fc0\u6d3b \u8f66\u706f \u3002   \u8f66\u706f \u9636\u6bb5 :   \u68c0\u7d22 \u8f66\u8f86 \u7684 \u8ba1\u5212 \u8def\u5f84 \u70b9 \u3001 \u6709\u5173 \u8f66\u8f86 \u706f\u5149 \u7684 \u4fe1\u606f \uff08 \u4f8b\u5982 \u706f\u5149 \u72b6\u6001 \u548c \u8ba1\u5212 \u5e94\u7528 \u7684 \u547d\u4ee4 \uff09 \u548c \u5929\u6c14 \u72b6\u51b5 \u5929\u6c14\u72b6\u51b5 \u3002   \u786e\u5b9a \u8f66\u706f \u7684 \u65b0 \u72b6\u6001 :   \u5982\u679c \u8f66\u8f86 \u8ba1\u5212 \u5728 \u4e0b \u4e00\u4e2a \u8def\u53e3 \u5de6\u8f6c / \u53f3\u8f6c \uff0c \u5219 \u6253\u5f00 \u95ea\u5149 \u5149\u706f \u95ea\u5149\u706f \u3002   \u5982\u679c \u5e94\u7528 \u7684 \u547d\u4ee4 \u8981\u6c42 \u8f66\u8f86 \u5236\u52a8 \uff0c \u5219 \u6253\u5f00 \u505c\u8f66 \u8f66\u706f \u505c\u8f66\u706f \u3002   \u4ece \u65e5 \u843d\u5230 \u9ece\u660e \u6216 \u5728 \u5927\u96e8 \u4e2d \u6253\u5f00 \u5149\u706f \u8fd1\u5149\u706f \u548c \u4f4d\u7f6e \u4f4d\u7f6e\u706f \u3002   \u5728 \u5927\u96fe \u6761\u4ef6 \u4e0b \u6253\u5f00 \u96fe\u706f \u3002   \u5982\u679c \u8f66\u706f \u72b6\u6001 \u5df2 \u66f4\u6539 \uff0c \u8bf7 \u66f4\u65b0 \u8f66\u706f \u72b6\u6001 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   VehicleLightStage . cpp   .","title":"\u7b2c   5   \u9636\u6bb5   -   \u8f66\u706f \u9636\u6bb5"},{"location":"adv_traffic_manager/#_15","text":"","title":"\u4f7f\u7528 \u4ea4\u901a\u7ba1\u7406 \u5668  "},{"location":"adv_traffic_manager/#_16","text":"TM   \u5b9e\u73b0 \u4e86 \u5c06 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u65f6 \u5fc5\u987b \u8003\u8651 \u7684 \u4e00\u822c \u884c\u4e3a \u6a21\u5f0f \uff1a   \u8f66\u8f86 \u4e0d\u662f \u4ee5 \u76ee\u6807 \u4e3a \u5bfc\u5411 \u7684   \uff0c \u5b83\u4eec \u9075\u5faa \u52a8\u6001 \u4ea7\u751f \u7684 \u8f68\u8ff9 \uff0c \u5e76 \u5728 \u63a5\u8fd1 \u8def\u53e3 \u65f6 \u968f\u673a \u9009\u62e9 \u8def\u5f84 \u3002 \u4ed6\u4eec \u7684 \u9053\u8def \u662f \u6b62\u5883 \u65e0\u6b62\u5883 \u7684 \u3002   \u9664\u975e \u8bbe\u7f6e \u4e86 \u4efb\u4f55 \u5176\u4ed6 \u503c \uff0c   \u5426\u5219 \u8f66\u8f86 \u7684 \u76ee\u6807 \u901f\u5ea6 \u662f \u5176 \u5f53\u524d \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u7684   70% \u3002   \u8def\u53e3 \u4f18\u5148 \u4f18\u5148\u6743 \u4e0d \u9075\u5b88 \u4ea4\u901a \u6cd5\u89c4 \u4ea4\u901a\u6cd5\u89c4 \u3002   TM   \u5728 \u8def\u53e3 \u4f7f\u7528 \u81ea\u5df1 \u7684 \u4f18\u5148 \u4f18\u5148\u7ea7 \u7cfb\u7edf \u3002 \u6b64 \u9650\u5236 \u7684 \u89e3\u51b3 \u5de5\u4f5c \u6b63\u5728 \u8fdb\u884c \u4e2d \u3002 \u540c\u65f6 \uff0c \u53ef\u80fd \u4f1a \u51fa\u73b0 \u4e00\u4e9b \u95ee\u9898 \uff0c \u4f8b\u5982 \uff0c \u73af\u5f62 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u5185 \u7684 \u8f66\u8f86 \u8ba9\u6b65 \u7ed9 \u8bd5\u56fe \u8fdb\u5165 \u7684 \u8f66\u8f86 \u3002   TM   \u884c\u4e3a \u53ef\u4ee5 \u901a\u8fc7   Python   API   \u8fdb\u884c \u8c03\u6574 \u3002 \u6709\u5173 \u5177\u4f53 \u65b9\u6cd5 \u5177\u4f53\u65b9\u6cd5 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Python   API   \u6587\u6863   \u7684   TM   \u90e8\u5206 \u3002 \u4ee5\u4e0b \u662f \u901a\u8fc7   API   \u5b9e\u73b0 \u7684 \u529f\u80fd \u7684 \u4e00\u822c \u6458\u8981 \uff1a   \u4e3b\u9898   \u63cf\u8ff0   \u5e38\u89c4 :   -   \u521b\u5efa \u8fde\u63a5 \u5230 \u7aef\u53e3 \u7684 TM \u5b9e\u4f8b \u3002   -   \u68c0\u7d22 TM \u8fde\u63a5 \u7684 \u7aef\u53e3 \u3002   \u5b89\u5168 \u6761\u4ef6 :   -   \u8bbe\u7f6e \u505c\u6b62 \u8f66\u8f86 \u4e4b\u95f4 \u7684 \u6700\u5c0f \u8ddd\u79bb \uff08 \u5bf9\u4e8e \u5355\u4e2a \u8f66\u8f86 \u6216\u8005 \u6240\u6709 \u8f66\u8f86 \uff09 \u3002 \u8fd9 \u5c06 \u5f71\u54cd \u6700\u5c0f \u79fb\u52a8 \u8ddd\u79bb \u3002   -   \u5c06 \u6240 \u9700 \u901f\u5ea6 \u8bbe\u7f6e \u4e3a \u5f53\u524d \u901f\u5ea6 \u73b0\u72b6 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \uff08 \u5bf9\u4e8e \u5355\u4e2a \u8f66\u8f86 \u6216 \u6240\u6709 \u8f66\u8f86 \uff09 \u3002   -   \u91cd\u7f6e \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002   \u78b0\u649e \u7ba1\u7406 :   -   \u542f\u7528 / \u7981\u7528 \u8f66\u8f86 \u4e0e \u7279\u5b9a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u95f4 \u7684 \u78b0\u649e \u3002   -   \u8ba9 \u8f66\u8f86 \u5ffd\u7565 \u6240\u6709 \u5176\u4ed6 \u8f66\u8f86 \u3002   -   \u8ba9 \u8f66\u8f86 \u5ffd\u7565 \u6240\u6709 \u884c\u4eba   -   \u8ba9 \u8f66\u8f86 \u5ffd\u7565 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   \u53d8\u9053 :   -   \u5f3a\u5236 \u53d8\u9053 \uff0c \u5ffd\u7565 \u53ef\u80fd \u7684 \u78b0\u649e \u3002   -   \u542f\u7528 / \u7981\u7528 \u8f66\u8f86 \u7684 \u53d8\u9053 \u3002   \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f :   -   \u542f\u7528 / \u7981\u7528 \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f \u3002   -   \u66f4\u6539 \u542f\u7528 \u7269\u7406 \u7684 \u534a\u5f84 \u3002","title":"\u8f66\u8f86 \u884c\u4e3a \u8003\u8651 \u56e0\u7d20  "},{"location":"adv_traffic_manager/#_17","text":"\u7b14\u8bb0   TM   \u8bbe\u8ba1 \u4e3a \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u5de5\u4f5c \u3002 \u5728 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528   TM   \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u610f\u5916 \u548c \u4e0d\u826f \u7ed3\u679c \u3002 \u6709\u5173 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u540c\u6b65 \u6a21\u5f0f   \u3002   TM   \u5b9e\u4f8b \u7531   carla   \u521b\u5efa . \u5ba2\u6237 \u5ba2\u6237\u7aef   \uff0c \u4f20\u9012 \u8981 \u4f7f\u7528 \u7684 \u7aef\u53e3 \u3002 \u7f3a\u7701 \u7aef\u53e3 \u4e3a   8000   \u3002   \u8981 \u521b\u5efa   TM   \u5b9e\u4f8b \uff1a   tm   =   client . get _ trafficmanager ( port )   \u8981 \u4e3a \u4e00\u7ec4 \u8f66\u8f86 \u542f\u7528   autopilot \uff0c \u8bf7 \u68c0\u7d22   TM   \u5b9e\u4f8b \u7684 \u7aef\u53e3 \u5e76 \u8bbe\u7f6e set _ autopilot \u4e3a True   \uff0c \u540c\u65f6 \u4f20\u9012   TM   \u7aef\u53e3 \u3002 \u5982\u679c \u672a \u63d0\u4f9b \u7aef\u53e3 \uff0c \u5b83 \u5c06 \u5c1d\u8bd5 \u8fde\u63a5 \u5230 \u9ed8\u8ba4 \u7aef\u53e3   \uff08 8000 \uff09   \u4e2d \u7684   TM \u3002 \u5982\u679c   TM   \u4e0d \u5b58\u5728 \uff0c \u5b83 \u5c06 \u521b\u5efa \u4e00\u4e2a \u3002   tm _ port   =   tm . get _ port ( )   for   v   in   vehicles _ list :   v . set _ autopilot ( True , tm _ port )   \u7b14\u8bb0   \u5728 \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u60c5\u51b5 \u4e0b \u521b\u5efa \u6216 \u8fde\u63a5 \u5230   TM   \u4e0e \u4e0a\u8ff0 \u793a\u4f8b \u4e0d\u540c \u3002   / PythonAPI / examples   \u4e2d \u7684   generate _ traffic . py   \u811a\u672c \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u793a\u4f8b \uff0c   \u8bf4\u660e \u5982\u4f55 \u4f7f\u7528 \u4f5c\u4e3a \u811a\u672c \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7684 \u7aef\u53e3 \u521b\u5efa   TM   \u5b9e\u4f8b \uff0c \u5e76 \u901a\u8fc7 \u6279\u91cf \u5c06 \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u8bbe\u7f6e \u4e3a \u4ee5\u4e0b \u503c\u6765 \u6ce8\u518c \u751f\u6210 \u7684 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u3002   traffic _ manager   =   client . get _ trafficmanager ( args . tm - port )   tm _ port   =   traffic _ manager . get _ port ( )   ...   batch . append ( SpawnActor ( blueprint ,   transform ) . then ( SetAutopilot ( FutureActor ,   True , tm _ port ) ) )   ...   traffic _ manager . global _ percentage _ speed _ difference ( 30.0 )","title":"\u521b\u5efa \u4ea4\u901a\u7ba1\u7406 \u5668  "},{"location":"adv_traffic_manager/#autopilot","text":"\u4ee5\u4e0b \u793a\u4f8b \u521b\u5efa \u4e00\u4e2a   TM   \u5b9e\u4f8b \uff0c \u5e76 \u4e3a \u7279\u5b9a \u8f66\u8f86 \u914d\u7f6e \u5371\u9669 \u884c\u4e3a \uff0c \u4f7f \u5176 \u5ffd\u7565 \u6240\u6709 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \uff0c \u4e0d \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u4fdd\u6301 \u5b89\u5168 \u8ddd\u79bb \uff0c \u5e76 \u4ee5 \u6bd4 \u5f53\u524d \u9650\u901f \u5feb   20%   \u7684 \u901f\u5ea6 \u884c\u9a76 \uff1a   tm   =   client . get _ trafficmanager ( port )   tm _ port   =   tm . get _ port ( )   for   v   in   my _ vehicles :   v . set _ autopilot ( True , tm _ port )   danger _ car   =   my _ vehicles [ 0 ]   tm . ignore _ lights _ percentage ( danger _ car , 100 )   tm . distance _ to _ leading _ vehicle ( danger _ car , 0 )   tm . vehicle _ percentage _ speed _ difference ( danger _ car , - 20 )   \u4ee5\u4e0b \u793a\u4f8b \u5c06 \u76f8\u540c \u7684 \u8f66\u8f86 \u5217\u8868 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \uff0c \u4f46 \u5c06 \u5176 \u914d\u7f6e \u4e3a \u9002\u5ea6 \u9a7e\u9a76 \u884c\u4e3a \u3002 \u8f66\u8f86 \u7684 \u884c\u9a76 \u901f\u5ea6 \u6bd4 \u5f53\u524d \u9650\u901f \u6162   80% \uff0c \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u4e4b\u95f4 \u81f3\u5c11 \u7559\u51fa   5   \u7c73 \u7684 \u8ddd\u79bb \uff0c \u5e76\u4e14 \u4ece\u4e0d \u8fdb\u884c \u53d8\u9053 \uff1a   tm   =   client . get _ trafficmanager ( port )   tm _ port   =   tm . get _ port ( )   for   v   in   my _ vehicles :   v . set _ autopilot ( True , tm _ port )   danger _ car   =   my _ vehicles [ 0 ]   tm . global _ distance _ to _ leading _ vehicle ( 5 )   tm . global _ percentage _ speed _ difference ( 80 )   for   v   in   my _ vehicles :   tm . auto _ lane _ change ( v , False )","title":"\u914d\u7f6e   autopilot   \u884c\u4e3a  "},{"location":"adv_traffic_manager/#_18","text":"\u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c TM   \u7ba1\u7406 \u7684 \u8f66\u8f86 \u7684 \u8f66\u706f \uff08 \u5239\u8f66 \u8f66\u706f \u5239\u8f66\u706f \u3001 \u8f6c\u5411 \u8f6c\u5411\u706f \u7b49 \uff09 \u6c38\u8fdc \u4e0d\u4f1a \u66f4\u65b0 \u3002 \u53ef\u4ee5 \u59d4\u6258   TM   \u6765 \u66f4\u65b0 \u7ed9\u5b9a \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8f66\u706f \uff1a   tm   =   client . get _ trafficmanager ( port )   for   actor   in   my _ vehicles :   tm . update _ vehicle _ lights ( actor ,   True )   \u8f66\u706f \u7ba1\u7406 \u5fc5\u987b \u6309 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u8fdb\u884c \u6307\u5b9a \uff0c \u5e76\u4e14 \u5728 \u4efb\u4f55 \u7ed9\u5b9a \u65f6\u95f4 \u90fd \u53ef\u4ee5 \u6709 \u5e26 \u548c \u4e0d\u5e26 \u81ea\u52a8 \u706f \u7ba1\u7406 \u7684 \u8f66\u8f86 \u3002","title":"\u59d4\u6d3e \u4ea4\u901a\u7ba1\u7406 \u5668 \u81ea\u52a8\u66f4\u65b0 \u8f66\u706f"},{"location":"adv_traffic_manager/#_19","text":"\u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u662f \u4e00\u4e2a \u4e0d \u9700\u8981 \u88ab \u9500\u6bc1 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff1b \u5f53 \u521b\u5efa \u5b83 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u505c\u6b62 \u65f6 \uff0c \u5b83 \u5c06 \u505c\u6b62 \u3002 \u8fd9 \u662f \u7531   API   \u81ea\u52a8 \u7ba1\u7406 \u7684 \uff0c \u7528\u6237 \u65e0\u9700 \u6267\u884c \u4efb\u4f55 \u64cd\u4f5c \u3002 \u4f46\u662f \uff0c \u5728 \u5173\u95ed \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u65f6 \uff0c \u7528\u6237 \u5fc5\u987b \u9500\u6bc1 \u7531 \u5b83 \u63a7\u5236 \u7684 \u8f66\u8f86 \uff0c \u5426\u5219 \u5b83\u4eec \u5c06 \u5728 \u5730\u56fe \u4e0a \u4fdd\u6301 \u4e0d \u52a8 \u3002   generate _ traffic . py   \u811a\u672c \u4f1a \u81ea\u52a8 \u6267\u884c \u6b64 \u64cd\u4f5c :   client . apply _ batch ( [ carla . command . DestroyActor ( x )   for   x   in   vehicles _ list ] )   \u7b14\u8bb0   \u5173\u95ed   TM - Server   \u5c06 \u5173\u95ed \u8fde\u63a5 \u5230 \u5b83 \u7684   TM - Clients   \u3002   \u8981 \u4e86\u89e3   TM - Server   \u548c   TM - Client   \u4e4b\u95f4 \u7684 \u533a\u522b ,   \u8bf7 \u9605\u8bfb   Running   multiple   Traffic   Managers   \u3002","title":"\u505c\u6b62 \u4ea4\u901a\u7ba1\u7406 \u5668  "},{"location":"adv_traffic_manager/#_20","text":"\u5728 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f \u4e0b \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u5728 \u76f8\u540c \u6761\u4ef6 \u4e0b \u4ea7\u751f \u76f8\u540c \u7684 \u7ed3\u679c \u548c \u884c\u4e3a \u3002 \u4e0d\u8981 \u5c06 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u8bba \u8bef\u8ba4 \u8ba4\u4e3a \u8bef\u8ba4\u4e3a \u662f \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002 \u867d\u7136 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5141\u8bb8 \u60a8 \u5b58\u50a8 \u4eff\u771f \u65e5\u5fd7 \u4ee5 \u8fdb\u884c \u56de\u653e \uff0c \u4f46 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u53ef \u786e\u4fdd \u53ea\u8981 \u7ef4\u6301 \u76f8\u540c \u7684 \u6761\u4ef6 \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5728 \u811a\u672c \u7684 \u4e0d\u540c \u6267\u884c \u8fc7\u7a0b \u4e2d \u59cb\u7ec8 \u5177\u6709 \u76f8\u540c \u7684 \u8f93\u51fa \u3002   \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f   \u4ec5 \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b   \u53ef\u7528 \u3002 \u5728 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u5bf9 \u4eff\u771f \u7684 \u63a7\u5236 \u8f83 \u5c11 \uff0c \u5e76\u4e14 \u65e0\u6cd5 \u5b9e\u73b0 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u3002 \u5728 \u5f00\u59cb \u4e4b\u524d \uff0c \u8bf7 \u9605\u8bfb   \u540c\u6b65 \u6a21\u5f0f   \u90e8\u5206 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u8981 \u542f\u7528 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b \u65b9\u6cd5 \uff1a   my _ tm . set _ random _ device _ seed ( seed _ value )   seed _ value   \u662f \u4e00\u4e2a \u5c06 \u751f\u6210 \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u7684 \u6570\u5b57 \u7684   int   \u79cd\u5b50 \u79cd\u5b50\u6570 \u3002 \u8be5\u503c \u672c\u8eab \u5e76 \u4e0d \u76f8\u5173 \uff0c \u4f46 \u76f8\u540c \u7684 \u503c \u5c06 \u59cb\u7ec8 \u5bfc\u81f4 \u76f8\u540c \u7684 \u8f93\u51fa \u3002 \u5177\u6709 \u76f8\u540c \u6761\u4ef6 \u3001 \u4f7f\u7528 \u76f8\u540c \u79cd\u5b50 \u503c \u7684 \u4e24\u6b21 \u4eff\u771f \u5c06 \u662f \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u7684 \u3002   \u4e3a\u4e86 \u4fdd\u6301 \u591a\u6b21 \u4eff\u771f \u8fd0\u884c \u7684 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \uff0c   \u5fc5\u987b \u4e3a \u6bcf\u6b21 \u4eff\u771f \u8bbe\u7f6e \u79cd\u5b50   \u3002 \u4f8b\u5982 \uff0c \u6bcf\u6b21   \u91cd\u65b0 \u52a0\u8f7d   \u4e16\u754c \u65f6 \uff0c \u90fd \u5fc5\u987b \u91cd\u65b0 \u8bbe\u7f6e \u79cd\u5b50 \uff1a   client . reload _ world ( )   my _ tm . set _ random _ device _ seed ( seed _ value )   \u53ef\u4ee5 \u901a\u8fc7 \u5c06 \u79cd\u5b50 \u503c \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u6765 \u5728 \u793a\u4f8b \u811a\u672c   generate _ traffic . py   \u4e2d \u6d4b\u8bd5 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f \u3002 \u4ee5\u4e0b \u793a\u4f8b \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528   50   \u4e2a \u81ea\u52a8 \u9a7e\u9a76 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u586b\u5145 \u5730\u56fe \uff0c \u5e76 \u5c06 \u79cd\u5b50 \u8bbe\u7f6e \u4e3a \u4efb\u610f \u503c   9   \uff1a   cd   PythonAPI / examples   python3   generate _ traffic . py   - n   50   -- seed   9   \u8b66\u544a   \u5728 \u542f\u7528 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f \u4e4b\u524d \uff0c Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5fc5\u987b \u5904\u4e8e \u540c\u6b65 \u6a21\u5f0f \u3002 \u5728 \u6b64\u5904 \u9605\u8bfb \u6709\u5173 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u4e2d \u540c\u6b65 \u6a21\u5f0f \u7684   \u66f4 \u591a \u4fe1\u606f   \u3002","title":"\u786e\u5b9a\u6027 \u6a21\u5f0f  "},{"location":"adv_traffic_manager/#_21","text":"\u6df7\u5408 \u6a21\u5f0f \u5141\u8bb8 \u7528\u6237 \u7981\u7528 \u6240\u6709 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u6216 \u6807\u8bb0 \u4e3a   \u82f1\u96c4   \u7684 \u8f66\u8f86 \u7279\u5b9a \u534a\u5f84 \u4e4b\u5916 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u7684 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u7269\u7406 \u8ba1\u7b97 \u3002 \u8fd9 \u6d88\u9664 \u4e86 \u4eff\u771f \u4e2d \u7684 \u8f66\u8f86 \u7269\u7406 \u74f6\u9888 \u3002 \u7269\u7406 \u529f\u80fd \u88ab \u7981\u7528 \u7684 \u8f66\u8f86 \u5c06 \u901a\u8fc7 \u9690\u5f62 \u4f20\u9001 \u79fb\u52a8 \u3002 \u7ef4\u6301 \u7ebf\u6027 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u7684 \u57fa\u672c \u8ba1\u7b97 \uff0c \u4ee5 \u786e\u4fdd \u4f4d\u7f6e \u66f4\u65b0 \u548c \u8f66\u8f86 \u901f\u5ea6 \u4fdd\u6301 \u771f\u5b9e \uff0c \u5e76\u4e14 \u8f66\u8f86 \u4e0a \u7269\u7406 \u8ba1\u7b97 \u7684 \u5207\u6362 \u662f \u6d41\u7545 \u7684 \u3002   \u6df7\u5408 \u6a21\u5f0f \u4f7f\u7528   Actor . set _ simulate _ physics ( )   \u65b9\u6cd5 \u6765 \u5207\u6362 \u7269\u7406 \u8ba1\u7b97 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u662f \u7981\u7528 \u7684 \u3002 \u6709 \u4e24\u4e2a \u9009\u9879 \u53ef\u4ee5 \u542f\u7528 \u5b83 \uff1a   TrafficManager . set _ hybrid _ physics _ mode ( True )   \u2014   \u6b64 \u65b9\u6cd5 \u4e3a \u8c03\u7528 \u5b83 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5bf9\u8c61 \u542f\u7528 \u6df7\u5408 \u6a21\u5f0f \u3002   \u4ee5   -- hybrid   \u6807\u5fd7 \u8fd0\u884c   generate _ traffic . py   \u2014   \u6b64 \u793a\u4f8b \u811a\u672c \u521b\u5efa \u4e00\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5e76 \u5728 \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u4e2d \u751f\u6210 \u8f66\u8f86 \u3002 \u5f53 \u6807\u5fd7   -- hybrid   \u4f5c\u4e3a \u811a\u672c \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u65f6 \uff0c \u5b83 \u5c06 \u8fd9\u4e9b \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u6df7\u5408 \u6a21\u5f0f \u3002   \u8981 \u4fee\u6539 \u6df7\u5408 \u6a21\u5f0f \u7684 \u884c\u4e3a \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b \u4e24\u4e2a \u53c2\u6570 \uff1a   Radius   ( \u9ed8\u8ba4   =   50   \u7c73 )   \u2014   \u534a\u5f84 \u76f8\u5bf9 \u4e8e \u6807\u8bb0 \u6709   \u82f1\u96c4   \u7684 \u8f66\u8f86 \u3002 \u8be5 \u534a\u5f84 \u5185 \u7684 \u6240\u6709 \u8f66\u8f86 \u90fd \u5c06 \u542f\u7528 \u7269\u7406 \u529f\u80fd \uff1b \u534a\u5f84 \u4e4b\u5916 \u7684 \u8f66\u8f86 \u5c06 \u7981\u7528 \u7269\u7406 \u529f\u80fd \u3002 \u4f7f\u7528   traffic _ manager . set _ hybrid _ physics _ radius ( r )   \u4fee\u6539 \u534a\u5f84 \u7684 \u5927\u5c0f \u3002   Hero   vehicle   \u2014   \u5e26\u6709 \u6807\u8bb0   role _ name = ' hero '   \u7684 \u8f66\u8f86 \u4f5c\u4e3a \u534a\u5f84 \u7684 \u4e2d\u5fc3 \u3002   \u5982\u679c \u6ca1\u6709 \u82f1\u96c4 \u8f66\u8f86 \uff0c   \u6240\u6709 \u8f66\u8f86 \u7684 \u7269\u7406 \u529f\u80fd \u5c06 \u88ab \u7981\u7528 \u3002   \u5982\u679c \u6709 \u4e0d\u6b62 \u4e00\u8f86 \u82f1\u96c4 \u8f66\u8f86 \uff0c   \u5219 \u4f1a \u8003\u8651 \u6240\u6709 \u82f1\u96c4 \u8f66\u8f86 \u7684 \u534a\u5f84 \uff0c \u4ece\u800c \u5728 \u542f\u7528 \u7269\u7406 \u529f\u80fd \u7684 \u60c5\u51b5 \u4e0b \u521b\u5efa \u4e0d\u540c \u7684 \u5f71\u54cd \u533a\u57df \u3002   \u4e0b\u9762 \u7684 \u526a\u8f91 \u663e\u793a \u4e86 \u6df7\u5408 \u6a21\u5f0f \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u65f6 \u5982\u4f55 \u542f\u7528 \u548c \u7981\u7528 \u7269\u7406 \u529f\u80fd \u3002   \u82f1\u96c4 \u8f66\u8f86   \u6807\u6709   \u7ea2\u8272 \u65b9\u5757   \u3002   \u7981\u7528 \u7269\u7406 \u529f\u80fd   \u7684 \u8f66\u8f86 \u6807\u6709   \u84dd\u8272 \u65b9\u5757   \u3002 \u5f53 \u5728 \u82f1\u96c4 \u8f66\u8f86 \u7684 \u5f71\u54cd \u534a\u5f84 \u5185\u65f6 \uff0c   \u542f\u7528 \u7269\u7406 \u529f\u80fd   \u5e76\u4e14 \u6807\u7b7e \u53d8\u4e3a   \u7eff\u8272   \u3002","title":"\u6df7\u5408 \u7269\u7406\u6a21\u5f0f  "},{"location":"adv_traffic_manager/#_22","text":"","title":"\u8fd0\u884c \u591a\u4e2a \u4ea4\u901a\u7ba1\u7406 \u5668  "},{"location":"adv_traffic_manager/#_23","text":"Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u901a\u8fc7 \u5411 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6307\u5b9a \u8981 \u4f7f\u7528 \u7684 \u7aef\u53e3 \u6765 \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002 \u5982\u679c \u6307\u5b9a \u672a\u6307\u5b9a \u7aef\u53e3 \uff0c \u5c06 \u4f7f\u7528 \u9ed8\u8ba4   8000   \u7aef\u53e3 \u3002 \u5982\u679c \u5728 \u540c\u4e00 \u7aef\u53e3 \u4e0a \u521b\u5efa \u66f4 \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u5b83\u4eec \u5c06 \u6210\u4e3a   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef   \uff0c \u800c \u539f\u59cb \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u6210\u4e3a   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u670d\u52a1 \u670d\u52a1\u7aef   \u3002 \u8fd9\u4e9b \u6807\u9898 \u5b9a\u4e49 \u4e86 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5728 \u4eff\u771f \u4e2d \u7684 \u884c\u4e3a \u65b9\u5f0f \u3002","title":"\u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u670d\u52a1\u7aef \u548c \u5ba2\u6237\u7aef  "},{"location":"adv_traffic_manager/#_24","text":"\u5982\u679c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u670d\u52a1 \u670d\u52a1\u7aef \u662f \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8fde\u63a5 \u5230 \u7a7a\u95f2 \u7aef\u53e3 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u7136\u540e \u5176\u4ed6 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff08 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff09 \u8fde\u63a5 \u5230 \u5b83 \u6b63\u5728 \u8fd0\u884c \u7684 \u540c\u4e00 \u7aef\u53e3 \uff0c \u5219 \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u5c06 \u89c4\u5b9a \u6240\u6709 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u884c\u4e3a   \uff0c \u4f8b\u5982 \uff0c \u5982\u679c   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u670d\u52a1 \u670d\u52a1\u7aef   \u505c\u6b62 \uff0c \u5219 \u6240\u6709   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5c06 \u505c\u6b62 \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u521b\u5efa \u4e24\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u3002 \u6bcf\u4e2a \u7aef\u53e3 \u90fd \u8fde\u63a5 \u5230 \u4e0d\u540c \u4e14 \u90fd \u672a \u4f7f\u7528 \u7684 \u7aef\u53e3 \uff1a   tm01   =   client01 . get _ trafficmanager ( )   #   tm01   -- >   tm01   ( p = 8000 )   tm02   =   client02 . get _ trafficmanager ( 5000 )   #   tm02 ( p = 5000 )   -- >   tm02   ( p = 5000 )","title":"\u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u670d\u52a1\u7aef"},{"location":"adv_traffic_manager/#_25","text":"\u5f53 \u4e00\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8fde\u63a5 \u5230 \u53e6 \u4e00\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff08 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \uff09 \u5360\u7528 \u7684 \u7aef\u53e3 \u65f6 \uff0c \u5c31 \u4f1a \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u884c\u4e3a \u5c06 \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u51b3\u5b9a \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u521b\u5efa \u4e24\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u6bcf \u4e00\u4e2a \u90fd \u4e0e \u4e0a \u4e00\u8282 \u4e2d \u521b\u5efa \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u8fde\u63a5 \u3002   tm03   =   client03 . get _ trafficmanager ( )   #   tm03   -- >   tm01   ( p = 8000 ) .   tm04   =   client04 . get _ trafficmanager ( 5000 )   #   tm04 ( p = 5000 )   -- >   tm02   ( p = 5000 )   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u8fc7 \u5b58\u50a8 \u94fe\u63a5 \u5230 \u5b83\u4eec \u7684 \u7aef\u53e3 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   IP \uff08 \u5bf9 \u7528\u6237 \u9690\u85cf \uff09 \u6765 \u4fdd\u5b58 \u6240\u6709 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u7684 \u5bc4\u5b58 \u5bc4\u5b58\u5668 \u3002 \u76ee\u524d \u65e0\u6cd5 \u68c0\u67e5 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \u5df2 \u521b\u5efa \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u3002 \u5c1d\u8bd5 \u521b\u5efa \u5b9e\u4f8b \u65f6 \u59cb\u7ec8 \u4f1a \u5c1d\u8bd5 \u8fde\u63a5 \uff0c \u5e76\u4e14 \u5b83 \u5c06 \u521b\u5efa \u65b0 \u7684   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef   \u6216   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef   \u3002","title":"\u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u5ba2\u6237\u7aef"},{"location":"adv_traffic_manager/#_26","text":"\u5728 \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4eff\u771f \u4e2d \uff0c \u5728 \u540c\u4e00 \u7aef\u53e3 \u4e0a \u521b\u5efa \u591a\u4e2a TM \u3002 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a   TM   \u5c06 \u662f   TM   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5176\u4f59 \u7684 \u5c06 \u662f \u8fde\u63a5 \u5230 \u5b83 \u7684   TM   \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002 TM - Server   \u5c06 \u89c4\u5b9a \u6240\u6709   TM   \u5b9e\u4f8b \u7684 \u884c\u4e3a \uff1a   terminal   1 :   . / CarlaUE4 . sh   - carla - rpc - port = 4000   terminal   2 :   python3   generate _ traffic . py   -- port   4000   -- tm - port   4050   #   TM - Server   terminal   3 :   python3   generate _ traffic . py   -- port   4000   -- tm - port   4050   #   TM - Client","title":"\u591a \u5ba2\u6237\u7aef \u4eff\u771f  "},{"location":"adv_traffic_manager/#_27","text":"\u5728 \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4eff\u771f \u4e2d \uff0c \u5728 \u4e0d\u540c \u7684 \u7aef\u53e3 \u4e0a \u521b\u5efa \u591a\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u3002 \u6bcf\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u90fd \u4f1a \u63a7\u5236 \u81ea\u5df1 \u7684 \u884c\u4e3a \uff1a   terminal   1 :   . / CarlaUE4 . sh   - carla - rpc - port = 4000   terminal   2 :   python3   generate _ traffic . py   -- port   4000   -- tm - port   4050   #   TM - Server   A   terminal   3 :   python3   generate _ traffic . py   -- port   4000   -- tm - port   4550   #   TM - Server   B","title":"\u591a \u4ea4\u901a\u7ba1\u7406 \u5668 \u4eff\u771f  "},{"location":"adv_traffic_manager/#_28","text":"\u591a\u91cd \u4eff\u771f \u662f \u6307 \u591a\u4e2a   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540c\u65f6 \u8fd0\u884c \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u9700\u8981 \u8fde\u63a5 \u5230 \u76f8\u5173 \u7684   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u53e3 \u3002 \u53ea\u8981 \u8ba1\u7b97 \u80fd\u529b \u8ba1\u7b97\u80fd\u529b \u5141\u8bb8 \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u53ef\u4ee5 \u4e00\u6b21 \u8fd0\u884c \u591a\u4e2a \u4eff\u771f \uff0c \u4e0d\u4f1a \u51fa\u73b0 \u4efb\u4f55 \u95ee\u9898 \uff1a   terminal   1 :   . / CarlaUE4 . sh   - carla - rpc - port = 4000   #   simulation   A   terminal   2 :   . / CarlaUE4 . sh   - carla - rpc - port = 5000   #   simulation   B   terminal   3 :   python3   generate _ traffic . py   -- port   4000   -- tm - port   4050   #   TM - Server   A   connected   to   simulation   A   terminal   4 :   python3   generate _ traffic . py   -- port   5000   -- tm - port   5050   #   TM - Server   B   connected   to   simulation   B   \u591a\u91cd \u4eff\u771f \u7684 \u6982\u5ff5 \u72ec\u7acb \u4e8e \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u672c\u8eab \u3002 \u4e0a\u9762 \u7684 \u793a\u4f8b \u5e76\u884c \u8fd0\u884c \u4e24\u4e2a   Carla   \u4eff\u771f   A   \u548c   B \u3002 \u5728 \u6bcf\u4e2a \u4eff\u771f \u4e2d \uff0c \u90fd \u72ec\u7acb \u521b\u5efa \u4e00\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u3002 \u4eff\u771f   A   \u53ef\u4ee5 \u8fd0\u884c \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u7a0b\u5e8f \uff0c \u800c \u4eff\u771f   B   \u5219 \u8fd0\u884c \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u6216 \u6839\u672c \u4e0d \u8fd0\u884c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   \u4e0a\u8ff0 \u8bbe\u7f6e \u6700 \u53ef\u80fd \u51fa\u73b0 \u7684 \u95ee\u9898 \u662f \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c1d\u8bd5 \u8fde\u63a5 \u5230 \u672a \u5728 \u6240\u9009 \u4eff\u771f \u4e0a \u8fd0\u884c \u7684 \u73b0\u6709 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002 \u5982\u679c \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \uff0c \u5c06\u4f1a \u51fa\u73b0 \u9519\u8bef \u6d88\u606f \uff0c \u5e76\u4e14 \u8fde\u63a5 \u5c06 \u88ab \u4e2d\u6b62 \uff0c \u4ee5 \u9632\u6b62 \u4eff\u771f \u4e4b\u95f4 \u7684 \u5e72\u6270 \u3002","title":"\u591a\u91cd \u4eff\u771f  "},{"location":"adv_traffic_manager/#_29","text":"\u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8bbe\u8ba1 \u4e3a \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u5de5\u4f5c \u3002 Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u5e94 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u624d\u80fd \u6b63\u5e38 \u8fd0\u884c \u3002   \u5728 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u610f\u5916 \u548c \u4e0d\u826f \u7ed3\u679c   \uff0c \u4f46\u662f \uff0c \u5982\u679c \u9700\u8981 \u5f02\u6b65 \u6a21\u5f0f \uff0c \u5219 \u4eff\u771f \u5e94 \u81f3\u5c11 \u4ee5   20 - 30   fps   \u8fd0\u884c \u3002   \u4e0b\u9762 \u7684 \u811a\u672c \u6f14\u793a \u4e86 \u5982\u4f55 \u5c06 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \uff1a   ...   #   Set   the   simulation   to   sync   mode   init _ settings   =   world . get _ settings ( )   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   After   that ,   set   the   TM   to   sync   mode   my _ tm . set _ synchronous _ mode ( True )   ...   #   Tick   the   world   in   the   same   client   world . apply _ settings ( init _ settings )   world . tick ( )   ...   #   Always   disable   sync   mode   before   the   script   ends   to   prevent   the   server   blocking   whilst   waiting   for   a   tick   settings . synchronous _ mode   =   False   my _ tm . set _ synchronous _ mode ( False )   \u793a\u4f8b \u811a\u672c   generate _ traffic . py   \u542f\u52a8 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5e76\u7528 \u8f66\u8f86 \u548c \u884c\u4eba \u586b\u5145 \u5730\u56fe \u3002 \u5b83 \u81ea\u52a8 \u5c06 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u548c   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \uff1a   cd   PythonAPI / examples   python3   generate _ traffic . py   - n   50   \u5982\u679c \u9700\u8981 \u5f02\u6b65 \u6a21\u5f0f \uff0c \u8bf7 \u5728 \u8fd0\u884c \u4e0a\u8ff0 \u547d\u4ee4 \u65f6 \u4f7f\u7528   -- async   \u6807\u5fd7 \u3002   \u5982\u679c \u591a\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \uff0c \u540c\u6b65 \u5c06\u4f1a \u5931\u8d25 \u3002 \u8bf7 \u9075\u5faa \u4ee5\u4e0b \u51c6\u5219 \u4ee5 \u907f\u514d \u51fa\u73b0 \u907f\u514d\u51fa\u73b0 \u95ee\u9898 \uff1a   \u5728   \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef   \u60c5\u51b5 \u4e0b \uff0c \u53ea\u6709   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef   \u5e94 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002   \u5728   \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u60c5\u51b5 \u4e0b \uff0c \u53ea \u9700 \u5c06 \u4e00\u53f0   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef   \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002   ScenarioRunner   \u6a21\u5757   \u81ea\u52a8 \u8fd0\u884c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002 ScenarioRunner   \u5185 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u81ea\u52a8 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002   \u8b66\u544a   \u5728 \u7ba1\u7406 \u65f6\u949f \u7684 \u811a\u672c \u5b8c\u6210 \u4e4b\u524d \u7981\u7528 \u540c\u6b65 \u6a21\u5f0f \uff08 \u5bf9\u4e8e \u4e16\u754c \u548c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff09 \uff0c \u4ee5 \u9632\u6b62 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u963b\u585e \uff0c \u6c38\u8fdc \u7b49\u5f85 \u65f6\u949f \u3002","title":"\u540c\u6b65 \u6a21\u5f0f  "},{"location":"adv_traffic_manager/#_30","text":"\u8981 \u4e86\u89e3 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5982\u4f55 \u5728 \u5927 \u5730\u56fe \u4e0a \u5de5\u4f5c \uff0c \u8bf7 \u52a1\u5fc5 \u9996\u5148 \u9605\u8bfb   \u6b64\u5904   \u7684 \u6587\u6863 \u6765 \u719f\u6089 \u5927 \u5730\u56fe \u7684 \u5de5\u4f5c \u539f\u7406 \u3002   \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u5728 \u5927 \u5730\u56fe \u4e2d \u7684 \u884c\u4e3a \u53d6\u51b3 \u53d6\u51b3\u4e8e \u662f\u5426 \u5b58\u5728 \u82f1\u96c4 \u8f66\u8f86 \uff1a   \u4e0d \u5b58\u5728 \u82f1\u96c4 \u8f66\u8f86   \u6240\u6709 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u90fd \u5c06 \u88ab \u89c6\u4e3a \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u4f11\u7720 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u50cf \u6df7\u5408 \u6a21\u5f0f \u4e00\u6837 \u5728 \u5730\u56fe \u4e0a \u79fb\u52a8 \u3002 \u7531\u4e8e \u6ca1\u6709 \u82f1\u96c4 \u8f66\u8f86 \u6765 \u89e6\u53d1 \u5730\u56fe \u74e6\u7247 \u6d41 \uff0c \u56e0\u6b64 \u4e0d\u4f1a \u6e32\u67d3 \u8f66\u8f86 \u3002   \u5448\u73b0 \u82f1\u96c4 \u8f66\u8f86   \u5f53 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u8d85\u8fc7   actor _ active _ distance   \u5b9a\u4e49 \u7684 \u503c\u65f6 \uff0c \u5c06 \u8fdb\u5165 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002 \u8981 \u8bbe\u7f6e \u6b64\u503c \uff0c \u8bf7 \u4f7f\u7528   Python   API \uff1a   settings   =   world . get _ settings ( )   #   \u79bb \u82f1\u96c4 \u8f66\u8f86 \u8d85\u8fc7 2 \u516c\u91cc \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06\u4f1a \u4f11\u7720   settings . actor _ active _ distance   =   2000   world . apply _ settings ( settings )   \u5728 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u4e2d \uff0c \u4f11\u7720 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u914d\u7f6e \u4e3a \u5728 \u82f1\u96c4 \u8f66\u8f86 \u5468\u56f4 \u4e0d\u65ad \u91cd\u751f \uff0c \u800c \u4e0d\u662f \u5728 \u5730\u56fe \u7684 \u5176\u4ed6 \u90e8\u5206 \u4fdd\u6301 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002 \u53ef\u4ee5 \u4f7f\u7528   set _ respawn _ dormant _ vehicles   Python   API   \u4e2d \u7684 \u65b9\u6cd5 \u914d\u7f6e \u6b64 \u9009\u9879 \u3002 \u8f66\u8f86 \u5c06 \u5728 \u82f1\u96c4 \u8f66\u8f86 \u7684 \u7528\u6237 \u5b9a\u4e49 \u8ddd\u79bb \u5185 \u91cd\u751f \u3002 \u53ef \u91cd\u751f \u8ddd\u79bb \u7684 \u4e0a\u4e0b \u8fb9\u754c \u53ef\u4ee5 \u4f7f\u7528   set _ boundaries _ respawn _ dormant _ vehicles   \u65b9\u6cd5 \u8bbe\u7f6e \u3002 \u6ce8\u610f \uff0c \u4e0a \u8ddd\u79bb \u4e0d\u4f1a \u5927\u4e8e \u5927 \u5730\u56fe \u7684 \u74e6\u7247 \u6d41 \u8ddd\u79bb \uff0c \u8ddd\u79bb \u6700\u5c0f \u4e3a   20   \u7c73 \u3002   \u8981 \u4f7f \u82f1\u96c4 \u8f66\u8f86   25   \u7c73 \u548c   700   \u7c73 \u8303\u56f4 \u5185 \u7684 \u4f11\u7720 \u8f66\u8f86 \u91cd\u751f \uff1a   my _ tm . set _ respawn _ dormant _ vehicles ( True )   my _ tm . set _ boundaries _ respawn _ dormant _ vehicles ( 25 , 700 )   \u5982\u679c \u78b0\u649e \u963b\u6b62 \u4f11\u7720 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u91cd\u751f \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u91cd\u8bd5 \u4e0b \u4e00\u4e2a \u4eff\u771f \u6b65\u9aa4 \u3002   \u5982\u679c \u4f11\u7720 \u8f66\u8f86 \u6ca1\u6709 \u91cd\u751f \uff0c \u5b83\u4eec \u7684 \u884c\u4e3a \u5c06 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u662f\u5426 \u542f\u7528 \u6df7\u5408 \u6a21\u5f0f \u3002 \u5982\u679c \u542f\u7528 \u4e86 \u6df7\u5408 \u6a21\u5f0f \uff0c \u5219 \u4f11\u7720 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u5728 \u5730\u56fe \u4e0a \u4f20\u9001 \u3002 \u5982\u679c \u672a \u542f\u7528 \u6df7\u5408 \u6a21\u5f0f \uff0c \u5219 \u4e0d\u4f1a \u8ba1\u7b97 \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7269\u7406 \u7279\u6027 \uff0c \u5e76\u4e14 \u5b83\u4eec \u5c06 \u4fdd\u6301 \u5728 \u539f \u4f4d\u7f6e \uff0c \u76f4\u5230 \u4e0d\u518d \u4f11\u7720 \u3002   \u5982\u679c \u4f60 \u6709 \u4efb\u4f55 \u5173\u4e8e \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u95ee\u9898 \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e0a \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u5927 \u5730\u56fe \u4e2d \u7684 \u4ea4\u901a\u7ba1\u7406 \u5668  "},{"location":"benchmark_creating/","text":"\u5bf9 \u4f60 \u7684 \u4ee3\u7406 \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5   \u5728 \u672c \u6559\u7a0b \u4e2d \u6211\u4eec \u5c55\u793a \uff1a   \u5982\u4f55 \u5b9a\u4e49 \u4e00\u4e2a \u5177\u6709 \u524d\u5411 \u7b56\u7565 \u7684 \u7b80\u5355 \u4ee3\u7406   \u5982\u4f55 \u5b9a\u4e49 \u4e00\u4e2a \u57fa\u672c \u7684 \u5b9e\u9a8c \u5957\u4ef6   \u5b9a\u4e49   \u5b9a\u4e49 \u6d4b\u8bd5 \u548c \u8bad\u7ec3 \u5929\u6c14 \u6761\u4ef6   \u6784\u5efa \u5b9e\u9a8c   \u9884\u671f \u7ed3\u679c   \u9a7e\u9a76 \u57fa\u51c6 \u6d4b\u8bd5 \u4e0e \u5176\u4ed6 \u4e24\u4e2a \u6a21\u5757 \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u4ee3\u7406 \u6a21\u5757 \u662f \u53e6 \u4e00\u4e2a \u6a21\u5757 \uff08 \u5b9e\u9a8c \u5957\u4ef6 \uff09 \u4e2d \u6267\u884c \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u3002 \u8fd9 \u4e24\u4e2a \u6a21\u5757 \u90fd \u662f \u62bd\u8c61 \u62bd\u8c61\u7c7b \uff0c \u5fc5\u987b \u7531 \u7528\u6237 \u91cd\u65b0 \u5b9a\u4e49 \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u6458\u5f55 \u662f \u5982\u4f55 \u5e94\u7528 \u9a7e\u9a76 \u57fa\u51c6 \u7684 \u793a\u4f8b \uff1b   #   \u6211\u4eec \u5b9e\u4f8b \u5316 \u4e86 \u4e00\u4e2a \u8f6c\u53d1 \u4ee3\u7406 \uff0c \u8fd9\u662f \u4e00\u4e2a \u7b80\u5355 \u7684 \u7b56\u7565 \uff0c   #   \u53ea \u9700 \u5c06 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u8bbe\u7f6e \u4e3a 0.9 \uff0c \u5c06 \u8f6c\u5411 \u8bbe\u7f6e \u4e3a \u96f6   agent   =   ForwardAgent ( )   #   \u6211\u4eec \u5b9e\u4f8b \u5316 \u4e86 \u4e00\u4e2a \u5b9e\u9a8c \u5957\u4ef6 \u3002   #   \u57fa\u672c \u57fa\u672c\u4e0a \u662f \u4e00\u7ec4 \u5c06 \u5728 \u6b64 \u57fa\u51c6 \u4e0a \u8fdb\u884c \u8bc4\u4f30 \u7684 \u5b9e\u9a8c \u3002   experiment _ suite   =   BasicExperimentSuite ( city _ name )   #   \u73b0\u5728 \u5b9e\u9645 \u8fd0\u884c   driving _ benchmark \u3002   #   \u9664\u4e86 \u4ee3\u7406 \u548c \u5b9e\u9a8c \u5957\u4ef6 \u4e4b\u5916 \uff0c \u6211\u4eec \u8fd8 \u5e94\u8be5 \u53d1\u9001 \u57ce\u5e02 \u540d\u79f0 \uff08 Town01 \uff0c Town02 \uff09 \u65e5\u5fd7   run _ driving _ benchmark ( agent ,   experiment _ suite ,   city _ name ,   log _ name ,   continue _ experiment ,   host ,   port )   \u8fd9 \u6bb5 \u6458\u5f55 \u4e4b\u540e \uff0c \u6709 \u4e24\u4e2a \u7c7b \u9700\u8981 \u5b9a\u4e49 \u3002 ForwardAgent ( )   \u548c   BasicExperimentSuite ( ) \u3002 \u4e4b\u540e \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u201c run _ driving _ benchmark \u201d \u51fd\u6570 \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002 \u6267\u884c \u6458\u8981 \u3001   \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807   \u5b58\u50a8 \u5728   json   \u6587\u4ef6 \u4e2d \u6253\u5370 \u5e76\u6253\u5370 \u5230 \u5c4f\u5e55 \u4e0a \u3002   \u5b9a\u4e49 \u4ee3\u7406   \u88ab \u6d4b\u8bd5 \u7684 \u4ee3\u7406 \u5fc5\u987b \u7ee7\u627f \u57fa\u7c7b   Agent   \u3002 \u6211\u4eec \u5148 \u4ece \u6d3e\u751f \u4e00\u4e2a \u7b80\u5355 \u7684 \u8f6c\u53d1 \u4ee3\u7406 \u5f00\u59cb \uff1a   from   carla . agent . agent   import   Agent   from   carla . client   import   VehicleControl   class   ForwardAgent ( Agent ) :   \u4e3a\u4e86 \u8bc4\u4f30 \u5176 \u6027\u80fd \uff0c   ForwardAgent   \u6d3e\u751f \u6d3e\u751f\u7c7b \u5fc5\u987b   \u91cd\u65b0 \u5b9a\u4e49   run _ step   \u51fd\u6570 \uff0c \u5982 \u4e0b\u9762 \u6458\u5f55 \u7684 \u90a3\u6837 \uff1a   def   run _ step ( self ,   measurements ,   sensor _ data ,   directions ,   target ) :   \" \" \"   \u5728 CARLA \u8f66\u8f86 \u4e2d \u8fd0\u884c \u63a7\u5236 \u6b65\u9aa4 \u7684 \u51fd\u6570 \u3002   \" \" \"   control   =   VehicleControl ( )   control . throttle   =   0.9   return   control   \u8be5 \u51fd\u6570 \u63a5\u6536 \u4ee5\u4e0b \u53c2\u6570 \uff1a   \u6d4b\u91cf \u503c   \uff1a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4ece   CARLA   \u6a21\u62df \u6a21\u62df\u5668 \u63a5\u6536 \u5230 \u7684 \u6574\u4e2a \u4e16\u754c \u72b6\u6001 \u3002 \u8fd9\u4e9b \u6d4b\u91cf \u503c \u5305\u542b \u4ee3\u7406 \u4f4d\u7f6e \u3001 \u65b9\u5411 \u3001 \u52a8\u6001 \u5bf9\u8c61 \u4fe1\u606f \u7b49 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e   \uff1a \u6765\u81ea \u5b9a\u4e49 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6d4b\u91cf \u6570\u636e \uff0c \u4f8b\u5982 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6216   RGB   \u6444\u50cf \u6444\u50cf\u673a \u3002   \u65b9\u5411 \uff1a \u6765\u81ea \u9ad8\u7ea7 \u89c4\u5212 \u5668 \u7684 \u4fe1\u606f \u3002 \u5f53\u524d \uff0c \u89c4\u5212 \u5668 \u4ece \u4e0b\u5217 \u96c6\u5408 \u53d1\u9001 \u9ad8\u7ea7 \u547d\u4ee4 \uff1a \u76f4\u884c \u3001 \u53f3 \u884c \u3001 \u5de6 \u884c \u3001 \u65e0 \u884c \u3002   \u76ee\u6807 \u4f4d\u7f6e \uff1a \u76ee\u6807 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002   \u6709 \u4e86 \u6240\u6709 \u8fd9\u4e9b \u4fe1\u606f \uff0c   run _ step   \u51fd\u6570 \u9884\u8ba1 \u4f1a \u8fd4\u56de \u4e00\u4e2a   \u8f66\u8f86 \u63a7\u5236 \u6d88\u606f   \uff0c \u5305\u542b \uff1a \u8f6c\u5411 \u503c \u3001 \u6cb9\u95e8 \u503c \u3001 \u5239\u8f66 \u503c \u7b49 \u3002   \u5b9a\u4e49 \u5b9e\u9a8c \u5957\u4ef6   \u8981 \u521b\u5efa \u5b9e\u9a8c \u5957\u4ef6 \u7c7b \uff0c \u60a8 \u9700\u8981 \u6267\u884c \u4ee5\u4e0b \u6b65\u9aa4 \uff1a   \u901a\u8fc7 \u7ee7\u627f   ExperimentSuite   \u57fa\u7c7b \u6765 \u521b\u5efa \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7c7b \u3002   \u5b9a\u4e49 \u8981 \u4f7f\u7528 \u7684 \u6d4b\u8bd5 \u548c \u8bad\u7ec3 \u5929\u6c14 \u6761\u4ef6 \u3002   \u6784\u5efa \u5b9e\u9a8c \u5bf9\u8c61 \u3002   \u5b9a\u4e49   \u5b9a\u4e49 \u7684 \u5b9e\u9a8c \u96c6 \u5fc5\u987b \u6d3e\u751f   ExperimentSuite   \u7c7b \uff0c \u5982 \u4e0b\u9762 \u7684 \u4ee3\u7801 \u6458\u5f55 \u6240\u793a \uff1a   from   carla . agent _ benchmark . experiment   import   Experiment   from   carla . sensor   import   Camera   from   carla . settings   import   CarlaSettings   from   . experiment _ suite   import   ExperimentSuite   class   BasicExperimentSuite ( ExperimentSuite ) :   \u5b9a\u4e49 \u6d4b\u8bd5 \u548c \u8bad\u7ec3 \u5929\u6c14 \u6761\u4ef6   \u7528\u6237 \u5fc5\u987b \u9009\u62e9 \u8981 \u4f7f\u7528 \u7684 \u5929\u6c14 \u3002 \u5e94\u8be5 \u9009\u62e9 \u4e00\u7ec4 \u6d4b\u8bd5 \u5929\u6c14 \u548c \u4e00\u7ec4 \u8bad\u7ec3 \u5929\u6c14 \u3002 \u8fd9 \u88ab \u5b9a\u4e49 \u4e3a\u7c7b \u5c5e\u6027 \uff0c \u5982\u4e0b \u4f8b \u6240\u793a \uff1a   @ property   def   train _ weathers ( self ) :   return   [ 1 ]   @ property   def   test _ weathers ( self ) :   return   [ 1 ]   \u6784\u5efa \u5b9e\u9a8c   \u5b9e\u9a8c \u7531 \u4e00\u7ec4 \u59ff\u52bf \u5b9a\u4e49 \u7684 \u4efb\u52a1 \u7ec4\u6210 \u3002 \u8ba9 \u6211\u4eec \u4ece \u9009\u62e9 \u5176\u4e2d \u4e00\u4e2a \u57ce\u5e02 \u7684 \u59ff\u52bf \u5f00\u59cb \uff0c \u4ee5   Town01   \u4e3a\u4f8b \u3002 \u9996\u5148 \uff0c \u6211\u4eec \u9700\u8981 \u67e5\u770b \u6240\u6709 \u53ef\u80fd \u7684 \u4f4d\u7f6e \uff0c \u4e3a\u6b64 \uff0c \u5728 \u7ec8\u7aef \u4e2d \u8fd0\u884c   CARLA   \u6a21\u62df \u6a21\u62df\u5668 \uff0c \u8fd0\u884c   view _ start _ positions . py   \uff1a   python   view _ start _ positions . py   \u73b0\u5728 \u8ba9 \u6211\u4eec \u9009\u62e9   140   \u4f5c\u4e3a \u8d77\u59cb \u4f4d\u7f6e \uff0c 134   \u4f5c\u4e3a \u7ec8\u6b62 \u4f4d\u7f6e \u3002 \u8fd9 \u4e24\u4e2a \u4f4d\u7f6e \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u53ef\u89c6 \u53ef\u89c6\u5316 \uff1a   python   view _ start _ positions . py   -- pos   140 , 134   -- no - labels   \u6211\u4eec \u518d \u9009\u62e9 \u4e24\u4e2a \u59ff\u52bf \uff0c \u4e00\u4e2a \u7528\u4e8e \u76f4\u884c \uff0c \u53e6 \u4e00\u4e2a \u7528\u4e8e \u7b80\u5355 \u8f6c\u5f2f \u3002 \u6b64\u5916 \uff0c \u6211\u4eec \u8fd8 \u4e3a   Town02   \u9009\u62e9 \u4e09\u4e2a \u59ff\u52bf \uff1a   \u56fe \uff1a \u6b64 \u57fa\u672c \u5b9e\u9a8c \u5957\u4ef6 \u793a\u4f8b \u4e2d \u4f7f\u7528 \u7684 \u59ff\u52bf \u3002 \u59ff\u52bf \u662f \u76ee\u6807 \u5bfc\u5411 \u60c5\u8282 \u7684 \u5f00\u59cb \u548c \u7ed3\u675f \u4f4d\u7f6e \u7684 \u5143\u7ec4 \u3002 \u5f00\u59cb \u4f4d\u7f6e \u663e\u793a \u4e3a \u84dd\u8272 \uff0c \u7ed3\u675f \u4f4d\u7f6e \u663e\u793a \u4e3a \u7ea2\u8272 \u3002 \u5de6 \uff1a \u76f4\u7ebf \u59ff\u52bf \uff0c \u5176\u4e2d \u76ee\u6807 \u4e0e \u8d77\u59cb \u4f4d\u7f6e \u76f4\u7ebf \u8ddd\u79bb \u3002 \u4e2d \uff1a \u4e00\u4e2a \u8f6c\u5f2f \u60c5\u8282 \uff0c \u5176\u4e2d \u76ee\u6807 \u4e0e \u8d77\u70b9 \u76f8\u8ddd \u4e00\u4e2a \u8f6c\u5f2f \u3002 \u53f3 \uff1a \u4efb\u610f \u4f4d\u7f6e \uff0c \u76ee\u6807 \u8ddd\u79bb \u8d77\u59cb \u4f4d\u7f6e \u8f83 \u8fdc \uff0c \u901a\u5e38 \u8d85\u8fc7 \u4e00\u4e2a \u8f6c\u5f2f \u3002   \u6211\u4eec \u5c06 \u6bcf\u4e2a \u59ff\u52bf \u5b9a\u4e49 \u4e3a \u4e00\u9879 \u4efb\u52a1 \u3002 \u6b64\u5916 \uff0c \u6211\u4eec \u8fd8 \u4e3a \u6bcf\u4e2a \u4efb\u52a1 \u8bbe\u7f6e \u52a8\u6001 \u5bf9\u8c61 \u7684 \u6570\u91cf \uff0c \u5e76 \u91cd\u590d \u4efb\u610f \u4f4d\u7f6e \u4efb\u52a1 \uff0c \u4f7f \u5176 \u4e5f \u4f7f\u7528 \u52a8\u6001 \u5bf9\u8c61 \u8fdb\u884c \u5b9a\u4e49 \u3002 \u5728 \u4e0b\u9762 \u7684 \u4ee3\u7801 \u6458\u5f55 \u4e2d \uff0c \u6211\u4eec \u5c55\u793a \u4e86 \u6bcf\u4e2a \u4efb\u52a1 \u7684 \u6700\u7ec8 \u5b9a\u4e49 \u4f4d\u7f6e \u548c \u52a8\u6001 \u5bf9\u8c61 \u7684 \u6570\u91cf \uff1a   #   Define   the   start / end   position   below   as   tasks   poses _ task0   =   [ [ 7 ,   3 ] ]   poses _ task1   =   [ [ 138 ,   17 ] ]   poses _ task2   =   [ [ 140 ,   134 ] ]   poses _ task3   =   [ [ 140 ,   134 ] ]   #   Concatenate   all   the   tasks   poses _ tasks   =   [ poses _ task0 ,   poses _ task1   ,   poses _ task1   ,   poses _ task3 ]   #   Add   dynamic   objects   to   tasks   vehicles _ tasks   =   [ 0 ,   0 ,   0 ,   20 ]   pedestrians _ tasks   =   [ 0 ,   0 ,   0 ,   50 ]   \u6700\u540e \uff0c \u901a\u8fc7 \u4f7f\u7528 \u5b9a\u4e49 \u7684 \u4efb\u52a1 \uff0c \u6211\u4eec \u53ef\u4ee5 \u6784\u5efa \u5b9e\u9a8c \u5411\u91cf \uff0c \u5982 \u4e0b\u9762 \u7684 \u4ee3\u7801 \u6458\u5f55 \u6240\u793a \uff1a   experiments _ vector   =   [ ]   #   The   used   weathers   is   the   union   between   test   and   train   weathers   for   weather   in   used _ weathers :   for   iteration   in   range ( len ( poses _ tasks ) ) :   poses   =   poses _ tasks [ iteration ]   vehicles   =   vehicles _ tasks [ iteration ]   pedestrians   =   pedestrians _ tasks [ iteration ]   conditions   =   CarlaSettings ( )   conditions . set (   SendNonPlayerAgentsInfo = True ,   NumberOfVehicles = vehicles ,   NumberOfPedestrians = pedestrians ,   WeatherId = weather   )   #   Add   all   the   cameras   that   were   set   for   this   experiments   conditions . add _ sensor ( camera )   experiment   =   Experiment ( )   experiment . set (   Conditions = conditions ,   Poses = poses ,   Task = iteration ,   Repetitions = 1   )   experiments _ vector . append ( experiment )   \u5b8c\u6574 \u4ee3\u7801 \u53ef\u4ee5 \u5728   basic _ experiment _ suite . py   \u627e\u5230 \u3002   \u9884\u671f \u7ed3\u679c   \u9996\u5148 \uff0c \u60a8 \u9700\u8981 \u4e00\u4e2a \u4ee5 \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f \u8fd0\u884c \u7684   Carla   \u6a21\u62df \u6a21\u62df\u5668   \uff0c \u8fd9\u6837 \u60a8 \u83b7\u5f97 \u7684 \u7ed3\u679c \u5c06 \u6216\u591a\u6216\u5c11 \u5177\u6709 \u91cd\u590d \u590d\u6027 \u91cd\u590d\u6027 \u53ef\u91cd\u590d\u6027 \u3002 \u4e3a\u6b64 \uff0c \u60a8 \u5e94\u8be5 \u6309 \u5982\u4e0b \u65b9\u5f0f \u8fd0\u884c   Carla   \u6a21\u62df \u6a21\u62df\u5668 \uff1a   . / CarlaUE4 . sh   / Game / Maps / < Town _ name >   - windowed   - world - port = 2000   - benchmark   - fps = 10   \u672c \u6559\u7a0b \u4e2d \u63d0\u4f9b \u7684 \u793a\u4f8b \u53ef\u4ee5 \u9488\u5bf9   Town01   \u6267\u884c \uff0c \u5982\u4e0b \u6240\u793a \uff1a   . / driving _ benchmark _ example . py   - c   Town01   \u60a8 \u5e94\u8be5 \u671f\u671b \u5f97\u5230 \u4ee5\u4e0b \u7ed3\u679c \uff1a   town01 _ basic _ forward _ results   \u5bf9\u4e8e   Town02 \uff1a   . / driving _ benchmark _ example . py   - c   Town02   \u60a8 \u5e94\u8be5 \u671f\u671b \u5f97\u5230 \u4ee5\u4e0b \u7ed3\u679c \uff1a   town01 _ basic _ forward _ results","title":"\u5bf9 \u4f60 \u7684 \u4ee3\u7406 \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5"},{"location":"benchmark_creating/#_1","text":"\u5728 \u672c \u6559\u7a0b \u4e2d \u6211\u4eec \u5c55\u793a \uff1a   \u5982\u4f55 \u5b9a\u4e49 \u4e00\u4e2a \u5177\u6709 \u524d\u5411 \u7b56\u7565 \u7684 \u7b80\u5355 \u4ee3\u7406   \u5982\u4f55 \u5b9a\u4e49 \u4e00\u4e2a \u57fa\u672c \u7684 \u5b9e\u9a8c \u5957\u4ef6   \u5b9a\u4e49   \u5b9a\u4e49 \u6d4b\u8bd5 \u548c \u8bad\u7ec3 \u5929\u6c14 \u6761\u4ef6   \u6784\u5efa \u5b9e\u9a8c   \u9884\u671f \u7ed3\u679c   \u9a7e\u9a76 \u57fa\u51c6 \u6d4b\u8bd5 \u4e0e \u5176\u4ed6 \u4e24\u4e2a \u6a21\u5757 \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u4ee3\u7406 \u6a21\u5757 \u662f \u53e6 \u4e00\u4e2a \u6a21\u5757 \uff08 \u5b9e\u9a8c \u5957\u4ef6 \uff09 \u4e2d \u6267\u884c \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u3002 \u8fd9 \u4e24\u4e2a \u6a21\u5757 \u90fd \u662f \u62bd\u8c61 \u62bd\u8c61\u7c7b \uff0c \u5fc5\u987b \u7531 \u7528\u6237 \u91cd\u65b0 \u5b9a\u4e49 \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u6458\u5f55 \u662f \u5982\u4f55 \u5e94\u7528 \u9a7e\u9a76 \u57fa\u51c6 \u7684 \u793a\u4f8b \uff1b   #   \u6211\u4eec \u5b9e\u4f8b \u5316 \u4e86 \u4e00\u4e2a \u8f6c\u53d1 \u4ee3\u7406 \uff0c \u8fd9\u662f \u4e00\u4e2a \u7b80\u5355 \u7684 \u7b56\u7565 \uff0c   #   \u53ea \u9700 \u5c06 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u8bbe\u7f6e \u4e3a 0.9 \uff0c \u5c06 \u8f6c\u5411 \u8bbe\u7f6e \u4e3a \u96f6   agent   =   ForwardAgent ( )   #   \u6211\u4eec \u5b9e\u4f8b \u5316 \u4e86 \u4e00\u4e2a \u5b9e\u9a8c \u5957\u4ef6 \u3002   #   \u57fa\u672c \u57fa\u672c\u4e0a \u662f \u4e00\u7ec4 \u5c06 \u5728 \u6b64 \u57fa\u51c6 \u4e0a \u8fdb\u884c \u8bc4\u4f30 \u7684 \u5b9e\u9a8c \u3002   experiment _ suite   =   BasicExperimentSuite ( city _ name )   #   \u73b0\u5728 \u5b9e\u9645 \u8fd0\u884c   driving _ benchmark \u3002   #   \u9664\u4e86 \u4ee3\u7406 \u548c \u5b9e\u9a8c \u5957\u4ef6 \u4e4b\u5916 \uff0c \u6211\u4eec \u8fd8 \u5e94\u8be5 \u53d1\u9001 \u57ce\u5e02 \u540d\u79f0 \uff08 Town01 \uff0c Town02 \uff09 \u65e5\u5fd7   run _ driving _ benchmark ( agent ,   experiment _ suite ,   city _ name ,   log _ name ,   continue _ experiment ,   host ,   port )   \u8fd9 \u6bb5 \u6458\u5f55 \u4e4b\u540e \uff0c \u6709 \u4e24\u4e2a \u7c7b \u9700\u8981 \u5b9a\u4e49 \u3002 ForwardAgent ( )   \u548c   BasicExperimentSuite ( ) \u3002 \u4e4b\u540e \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u201c run _ driving _ benchmark \u201d \u51fd\u6570 \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002 \u6267\u884c \u6458\u8981 \u3001   \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807   \u5b58\u50a8 \u5728   json   \u6587\u4ef6 \u4e2d \u6253\u5370 \u5e76\u6253\u5370 \u5230 \u5c4f\u5e55 \u4e0a \u3002","title":"\u5bf9 \u4f60 \u7684 \u4ee3\u7406 \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5"},{"location":"benchmark_creating/#_2","text":"\u88ab \u6d4b\u8bd5 \u7684 \u4ee3\u7406 \u5fc5\u987b \u7ee7\u627f \u57fa\u7c7b   Agent   \u3002 \u6211\u4eec \u5148 \u4ece \u6d3e\u751f \u4e00\u4e2a \u7b80\u5355 \u7684 \u8f6c\u53d1 \u4ee3\u7406 \u5f00\u59cb \uff1a   from   carla . agent . agent   import   Agent   from   carla . client   import   VehicleControl   class   ForwardAgent ( Agent ) :   \u4e3a\u4e86 \u8bc4\u4f30 \u5176 \u6027\u80fd \uff0c   ForwardAgent   \u6d3e\u751f \u6d3e\u751f\u7c7b \u5fc5\u987b   \u91cd\u65b0 \u5b9a\u4e49   run _ step   \u51fd\u6570 \uff0c \u5982 \u4e0b\u9762 \u6458\u5f55 \u7684 \u90a3\u6837 \uff1a   def   run _ step ( self ,   measurements ,   sensor _ data ,   directions ,   target ) :   \" \" \"   \u5728 CARLA \u8f66\u8f86 \u4e2d \u8fd0\u884c \u63a7\u5236 \u6b65\u9aa4 \u7684 \u51fd\u6570 \u3002   \" \" \"   control   =   VehicleControl ( )   control . throttle   =   0.9   return   control   \u8be5 \u51fd\u6570 \u63a5\u6536 \u4ee5\u4e0b \u53c2\u6570 \uff1a   \u6d4b\u91cf \u503c   \uff1a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4ece   CARLA   \u6a21\u62df \u6a21\u62df\u5668 \u63a5\u6536 \u5230 \u7684 \u6574\u4e2a \u4e16\u754c \u72b6\u6001 \u3002 \u8fd9\u4e9b \u6d4b\u91cf \u503c \u5305\u542b \u4ee3\u7406 \u4f4d\u7f6e \u3001 \u65b9\u5411 \u3001 \u52a8\u6001 \u5bf9\u8c61 \u4fe1\u606f \u7b49 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e   \uff1a \u6765\u81ea \u5b9a\u4e49 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6d4b\u91cf \u6570\u636e \uff0c \u4f8b\u5982 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6216   RGB   \u6444\u50cf \u6444\u50cf\u673a \u3002   \u65b9\u5411 \uff1a \u6765\u81ea \u9ad8\u7ea7 \u89c4\u5212 \u5668 \u7684 \u4fe1\u606f \u3002 \u5f53\u524d \uff0c \u89c4\u5212 \u5668 \u4ece \u4e0b\u5217 \u96c6\u5408 \u53d1\u9001 \u9ad8\u7ea7 \u547d\u4ee4 \uff1a \u76f4\u884c \u3001 \u53f3 \u884c \u3001 \u5de6 \u884c \u3001 \u65e0 \u884c \u3002   \u76ee\u6807 \u4f4d\u7f6e \uff1a \u76ee\u6807 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002   \u6709 \u4e86 \u6240\u6709 \u8fd9\u4e9b \u4fe1\u606f \uff0c   run _ step   \u51fd\u6570 \u9884\u8ba1 \u4f1a \u8fd4\u56de \u4e00\u4e2a   \u8f66\u8f86 \u63a7\u5236 \u6d88\u606f   \uff0c \u5305\u542b \uff1a \u8f6c\u5411 \u503c \u3001 \u6cb9\u95e8 \u503c \u3001 \u5239\u8f66 \u503c \u7b49 \u3002","title":"\u5b9a\u4e49 \u4ee3\u7406  "},{"location":"benchmark_creating/#_3","text":"\u8981 \u521b\u5efa \u5b9e\u9a8c \u5957\u4ef6 \u7c7b \uff0c \u60a8 \u9700\u8981 \u6267\u884c \u4ee5\u4e0b \u6b65\u9aa4 \uff1a   \u901a\u8fc7 \u7ee7\u627f   ExperimentSuite   \u57fa\u7c7b \u6765 \u521b\u5efa \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7c7b \u3002   \u5b9a\u4e49 \u8981 \u4f7f\u7528 \u7684 \u6d4b\u8bd5 \u548c \u8bad\u7ec3 \u5929\u6c14 \u6761\u4ef6 \u3002   \u6784\u5efa \u5b9e\u9a8c \u5bf9\u8c61 \u3002","title":"\u5b9a\u4e49 \u5b9e\u9a8c \u5957\u4ef6  "},{"location":"benchmark_creating/#_4","text":"\u5b9a\u4e49 \u7684 \u5b9e\u9a8c \u96c6 \u5fc5\u987b \u6d3e\u751f   ExperimentSuite   \u7c7b \uff0c \u5982 \u4e0b\u9762 \u7684 \u4ee3\u7801 \u6458\u5f55 \u6240\u793a \uff1a   from   carla . agent _ benchmark . experiment   import   Experiment   from   carla . sensor   import   Camera   from   carla . settings   import   CarlaSettings   from   . experiment _ suite   import   ExperimentSuite   class   BasicExperimentSuite ( ExperimentSuite ) :","title":"\u5b9a\u4e49  "},{"location":"benchmark_creating/#_5","text":"\u7528\u6237 \u5fc5\u987b \u9009\u62e9 \u8981 \u4f7f\u7528 \u7684 \u5929\u6c14 \u3002 \u5e94\u8be5 \u9009\u62e9 \u4e00\u7ec4 \u6d4b\u8bd5 \u5929\u6c14 \u548c \u4e00\u7ec4 \u8bad\u7ec3 \u5929\u6c14 \u3002 \u8fd9 \u88ab \u5b9a\u4e49 \u4e3a\u7c7b \u5c5e\u6027 \uff0c \u5982\u4e0b \u4f8b \u6240\u793a \uff1a   @ property   def   train _ weathers ( self ) :   return   [ 1 ]   @ property   def   test _ weathers ( self ) :   return   [ 1 ]","title":"\u5b9a\u4e49 \u6d4b\u8bd5 \u548c \u8bad\u7ec3 \u5929\u6c14 \u6761\u4ef6  "},{"location":"benchmark_creating/#_6","text":"\u5b9e\u9a8c \u7531 \u4e00\u7ec4 \u59ff\u52bf \u5b9a\u4e49 \u7684 \u4efb\u52a1 \u7ec4\u6210 \u3002 \u8ba9 \u6211\u4eec \u4ece \u9009\u62e9 \u5176\u4e2d \u4e00\u4e2a \u57ce\u5e02 \u7684 \u59ff\u52bf \u5f00\u59cb \uff0c \u4ee5   Town01   \u4e3a\u4f8b \u3002 \u9996\u5148 \uff0c \u6211\u4eec \u9700\u8981 \u67e5\u770b \u6240\u6709 \u53ef\u80fd \u7684 \u4f4d\u7f6e \uff0c \u4e3a\u6b64 \uff0c \u5728 \u7ec8\u7aef \u4e2d \u8fd0\u884c   CARLA   \u6a21\u62df \u6a21\u62df\u5668 \uff0c \u8fd0\u884c   view _ start _ positions . py   \uff1a   python   view _ start _ positions . py   \u73b0\u5728 \u8ba9 \u6211\u4eec \u9009\u62e9   140   \u4f5c\u4e3a \u8d77\u59cb \u4f4d\u7f6e \uff0c 134   \u4f5c\u4e3a \u7ec8\u6b62 \u4f4d\u7f6e \u3002 \u8fd9 \u4e24\u4e2a \u4f4d\u7f6e \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u53ef\u89c6 \u53ef\u89c6\u5316 \uff1a   python   view _ start _ positions . py   -- pos   140 , 134   -- no - labels   \u6211\u4eec \u518d \u9009\u62e9 \u4e24\u4e2a \u59ff\u52bf \uff0c \u4e00\u4e2a \u7528\u4e8e \u76f4\u884c \uff0c \u53e6 \u4e00\u4e2a \u7528\u4e8e \u7b80\u5355 \u8f6c\u5f2f \u3002 \u6b64\u5916 \uff0c \u6211\u4eec \u8fd8 \u4e3a   Town02   \u9009\u62e9 \u4e09\u4e2a \u59ff\u52bf \uff1a   \u56fe \uff1a \u6b64 \u57fa\u672c \u5b9e\u9a8c \u5957\u4ef6 \u793a\u4f8b \u4e2d \u4f7f\u7528 \u7684 \u59ff\u52bf \u3002 \u59ff\u52bf \u662f \u76ee\u6807 \u5bfc\u5411 \u60c5\u8282 \u7684 \u5f00\u59cb \u548c \u7ed3\u675f \u4f4d\u7f6e \u7684 \u5143\u7ec4 \u3002 \u5f00\u59cb \u4f4d\u7f6e \u663e\u793a \u4e3a \u84dd\u8272 \uff0c \u7ed3\u675f \u4f4d\u7f6e \u663e\u793a \u4e3a \u7ea2\u8272 \u3002 \u5de6 \uff1a \u76f4\u7ebf \u59ff\u52bf \uff0c \u5176\u4e2d \u76ee\u6807 \u4e0e \u8d77\u59cb \u4f4d\u7f6e \u76f4\u7ebf \u8ddd\u79bb \u3002 \u4e2d \uff1a \u4e00\u4e2a \u8f6c\u5f2f \u60c5\u8282 \uff0c \u5176\u4e2d \u76ee\u6807 \u4e0e \u8d77\u70b9 \u76f8\u8ddd \u4e00\u4e2a \u8f6c\u5f2f \u3002 \u53f3 \uff1a \u4efb\u610f \u4f4d\u7f6e \uff0c \u76ee\u6807 \u8ddd\u79bb \u8d77\u59cb \u4f4d\u7f6e \u8f83 \u8fdc \uff0c \u901a\u5e38 \u8d85\u8fc7 \u4e00\u4e2a \u8f6c\u5f2f \u3002   \u6211\u4eec \u5c06 \u6bcf\u4e2a \u59ff\u52bf \u5b9a\u4e49 \u4e3a \u4e00\u9879 \u4efb\u52a1 \u3002 \u6b64\u5916 \uff0c \u6211\u4eec \u8fd8 \u4e3a \u6bcf\u4e2a \u4efb\u52a1 \u8bbe\u7f6e \u52a8\u6001 \u5bf9\u8c61 \u7684 \u6570\u91cf \uff0c \u5e76 \u91cd\u590d \u4efb\u610f \u4f4d\u7f6e \u4efb\u52a1 \uff0c \u4f7f \u5176 \u4e5f \u4f7f\u7528 \u52a8\u6001 \u5bf9\u8c61 \u8fdb\u884c \u5b9a\u4e49 \u3002 \u5728 \u4e0b\u9762 \u7684 \u4ee3\u7801 \u6458\u5f55 \u4e2d \uff0c \u6211\u4eec \u5c55\u793a \u4e86 \u6bcf\u4e2a \u4efb\u52a1 \u7684 \u6700\u7ec8 \u5b9a\u4e49 \u4f4d\u7f6e \u548c \u52a8\u6001 \u5bf9\u8c61 \u7684 \u6570\u91cf \uff1a   #   Define   the   start / end   position   below   as   tasks   poses _ task0   =   [ [ 7 ,   3 ] ]   poses _ task1   =   [ [ 138 ,   17 ] ]   poses _ task2   =   [ [ 140 ,   134 ] ]   poses _ task3   =   [ [ 140 ,   134 ] ]   #   Concatenate   all   the   tasks   poses _ tasks   =   [ poses _ task0 ,   poses _ task1   ,   poses _ task1   ,   poses _ task3 ]   #   Add   dynamic   objects   to   tasks   vehicles _ tasks   =   [ 0 ,   0 ,   0 ,   20 ]   pedestrians _ tasks   =   [ 0 ,   0 ,   0 ,   50 ]   \u6700\u540e \uff0c \u901a\u8fc7 \u4f7f\u7528 \u5b9a\u4e49 \u7684 \u4efb\u52a1 \uff0c \u6211\u4eec \u53ef\u4ee5 \u6784\u5efa \u5b9e\u9a8c \u5411\u91cf \uff0c \u5982 \u4e0b\u9762 \u7684 \u4ee3\u7801 \u6458\u5f55 \u6240\u793a \uff1a   experiments _ vector   =   [ ]   #   The   used   weathers   is   the   union   between   test   and   train   weathers   for   weather   in   used _ weathers :   for   iteration   in   range ( len ( poses _ tasks ) ) :   poses   =   poses _ tasks [ iteration ]   vehicles   =   vehicles _ tasks [ iteration ]   pedestrians   =   pedestrians _ tasks [ iteration ]   conditions   =   CarlaSettings ( )   conditions . set (   SendNonPlayerAgentsInfo = True ,   NumberOfVehicles = vehicles ,   NumberOfPedestrians = pedestrians ,   WeatherId = weather   )   #   Add   all   the   cameras   that   were   set   for   this   experiments   conditions . add _ sensor ( camera )   experiment   =   Experiment ( )   experiment . set (   Conditions = conditions ,   Poses = poses ,   Task = iteration ,   Repetitions = 1   )   experiments _ vector . append ( experiment )   \u5b8c\u6574 \u4ee3\u7801 \u53ef\u4ee5 \u5728   basic _ experiment _ suite . py   \u627e\u5230 \u3002","title":"\u6784\u5efa \u5b9e\u9a8c  "},{"location":"benchmark_creating/#_7","text":"\u9996\u5148 \uff0c \u60a8 \u9700\u8981 \u4e00\u4e2a \u4ee5 \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f \u8fd0\u884c \u7684   Carla   \u6a21\u62df \u6a21\u62df\u5668   \uff0c \u8fd9\u6837 \u60a8 \u83b7\u5f97 \u7684 \u7ed3\u679c \u5c06 \u6216\u591a\u6216\u5c11 \u5177\u6709 \u91cd\u590d \u590d\u6027 \u91cd\u590d\u6027 \u53ef\u91cd\u590d\u6027 \u3002 \u4e3a\u6b64 \uff0c \u60a8 \u5e94\u8be5 \u6309 \u5982\u4e0b \u65b9\u5f0f \u8fd0\u884c   Carla   \u6a21\u62df \u6a21\u62df\u5668 \uff1a   . / CarlaUE4 . sh   / Game / Maps / < Town _ name >   - windowed   - world - port = 2000   - benchmark   - fps = 10   \u672c \u6559\u7a0b \u4e2d \u63d0\u4f9b \u7684 \u793a\u4f8b \u53ef\u4ee5 \u9488\u5bf9   Town01   \u6267\u884c \uff0c \u5982\u4e0b \u6240\u793a \uff1a   . / driving _ benchmark _ example . py   - c   Town01   \u60a8 \u5e94\u8be5 \u671f\u671b \u5f97\u5230 \u4ee5\u4e0b \u7ed3\u679c \uff1a   town01 _ basic _ forward _ results   \u5bf9\u4e8e   Town02 \uff1a   . / driving _ benchmark _ example . py   - c   Town02   \u60a8 \u5e94\u8be5 \u671f\u671b \u5f97\u5230 \u4ee5\u4e0b \u7ed3\u679c \uff1a   town01 _ basic _ forward _ results","title":"\u9884\u671f \u7ed3\u679c  "},{"location":"benchmark_metrics/","text":"\u8ba1\u7b97 \u7684 \u57fa\u51c6 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807   \u672c\u9875 \u4ecb\u7ecd \u4e86 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807 \u6a21\u5757 \u3002 \u6b64 \u6a21\u5757 \u7528\u4e8e \u6839\u636e \u4ee3\u7406 \u5728 \u57fa\u51c6 \u6d4b\u8bd5 \u671f\u95f4 \u6267\u884c \u7684 \u64cd\u4f5c \u8ba1\u7b97 \u7ed3\u679c \u8ba1\u7b97\u7ed3\u679c \u6458\u8981 \u3002   \u63d0\u4f9b \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807   \u9a7e\u9a76 \u57fa\u51c6 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807 \u6a21\u5757 \u63d0\u4f9b \u4ee5\u4e0b \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807 \uff1a   \u6210\u529f \u767e\u5206 \u767e\u5206\u6bd4   \uff1a \u4ee3\u7406 \u6210\u529f \u5b8c\u6210 \u7684 \u60c5\u8282 \uff08 \u4efb\u52a1 \u59ff\u52bf \uff09 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   \u5e73\u5747 \u5b8c\u6210 \u5b8c\u6210\u5ea6   \uff1a \u4ee3\u7406 \u80fd\u591f \u5230\u8fbe \u76ee\u6807 \u7684 \u5e73\u5747 \u8ddd\u79bb \u3002   \u8d8a\u91ce \u8def\u53e3   \uff1a \u4ee3\u7406 \u9a76\u51fa \u9053\u8def \u7684 \u6b21\u6570 \u3002 \u53ea\u6709 \u5f53 \u8f66\u8f86 \u5728 \u9053\u8def \u5916 \u7684 \u9762\u79ef \u5927\u4e8e \u9608\u503c \u65f6 \uff0c \u624d \u4f1a \u8ba1\u7b97 \u8def\u53e3 \u3002   \u5176\u4ed6 \u8f66\u9053 \u4ea4\u53c9 \u4ea4\u53c9\u53e3   \uff1a \u4ee3\u7406 \u8fdb\u5165 \u5176\u4ed6 \u8f66\u9053 \u7684 \u6b21\u6570 \u3002 \u53ea\u6709 \u5f53 \u5176\u4ed6 \u8f66\u9053 \u4e0a \u7684 \u8f66\u8f86 \u9762\u79ef \u5927\u4e8e \u9608\u503c \u65f6 \uff0c \u624d \u4f1a \u8ba1\u7b97 \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u3002   \u8f66\u8f86 \u78b0\u649e   \uff1a \u5f71\u54cd \u91cf \u5927\u4e8e \u9608\u503c \u7684 \u8f66\u8f86 \u78b0\u649e \u6b21\u6570 \u3002   \u884c\u4eba \u78b0\u649e   \uff1a \u4e0e \u884c\u4eba \u53d1\u751f \u78b0\u649e \u4e14 \u5f71\u54cd \u5927\u4e8e \u9608\u503c \u7684 \u6b21\u6570 \u3002   \u4e00\u822c \u78b0\u649e   \uff1a \u4e0e \u6240\u6709 \u5176\u4ed6 \u7269\u4f53 \u53d1\u751f \u78b0\u649e \u4e14 \u5f71\u54cd \u5927\u4e8e \u9608\u503c \u7684 \u6b21\u6570 \u3002   \u6267\u884c \u5e76 \u8bbe\u7f6e \u53c2\u6570   \u6307\u6807 \u4f5c\u4e3a \u57fa\u51c6 \u6d4b\u8bd5 \u7684 \u6700\u540e \u4e00\u6b65 \u8fdb\u884c \u8ba1\u7b97 \uff0c \u5e76 \u5c06 \u7ed3\u679c \u6458\u8981 \u5b58\u50a8 \u5728   json   \u6587\u4ef6 \u4e2d \u3002 \u5185\u90e8 \u6267\u884c \u5982\u4e0b \uff1a   metrics _ object   =   Metrics ( metrics _ parameters )   summary _ dictionary   =   metrics _ object . compute ( path _ to _ execution _ log )   Metric   \u7684 \u8ba1\u7b97 \u51fd\u6570 \u63a5\u6536 \u6267\u884c \u65e5\u5fd7 \u7684 \u5b8c\u6574 \u8def\u5f84 \u3002 Metric   \u7c7b \u5e94\u8be5 \u4f7f\u7528 \u4e00\u4e9b \u53c2\u6570 \u8fdb\u884c \u5b9e\u4f8b \u5316 \u3002 \u8fd9\u4e9b \u53c2\u6570 \u5305\u62ec \uff1a   \u9608\u503c   \uff1a \u6307\u6807 \u4f7f\u7528 \u7684 \u9608\u503c \u3002   \u5e27 \u91cd\u65b0 \u8ba1\u6570   \uff1a \u72af\u89c4 \u540e \uff0c \u8bbe\u7f6e \u4ee3\u7406 \u9700\u8981 \u7ee7\u7eed \u72af\u89c4 \u7684 \u5e27 \u6570 \uff0c \u624d \u4f1a \u5c06 \u5176\u8ba1 \u4e3a \u53e6 \u4e00\u6b21 \u72af\u89c4 \u3002   \u8df3\u8fc7 \u5e27 \u6570   \uff1a \u4e0e \u78b0\u649e \u6216 \u4ea4\u53c9 \u5f00\u59cb \u540e \u8df3 \u8fc7 \u7684 \u5e27 \u6570 \u6709\u5173 \u3002   \u8fd9\u4e9b \u53c2\u6570 \u88ab \u5b9a\u4e49 \u4e3a   \u5b9e\u9a8c \u5957\u4ef6   \u57fa\u7c7b \u7684 \u5c5e\u6027 \uff0c \u53ef\u4ee5 \u5728 \u60a8 \u7684   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5b9e\u9a8c \u5957\u4ef6   \u4e2d \u91cd\u65b0 \u5b9a\u4e49 \u3002   \u9ed8\u8ba4 \u53c2\u6570 \u4e3a \uff1a   @ property   def   metrics _ parameters ( self ) :   \" \" \"   Property   to   return   the   parameters   for   the   metrics   module   Could   be   redefined   depending   on   the   needs   of   the   user .   \" \" \"   return   {   ' intersection _ offroad ' :   { ' frames _ skip ' :   10 ,   ' frames _ recount ' :   20 ,   ' threshold ' :   0.3   } ,   ' intersection _ otherlane ' :   { ' frames _ skip ' :   10 ,   ' frames _ recount ' :   20 ,   ' threshold ' :   0.4   } ,   ' collision _ other ' :   { ' frames _ skip ' :   10 ,   ' frames _ recount ' :   20 ,   ' threshold ' :   400   } ,   ' collision _ vehicles ' :   { ' frames _ skip ' :   10 ,   ' frames _ recount ' :   30 ,   ' threshold ' :   400   } ,   ' collision _ pedestrians ' :   { ' frames _ skip ' :   5 ,   ' frames _ recount ' :   100 ,   ' threshold ' :   300   } ,   }","title":"\u8ba1\u7b97 \u7684 \u57fa\u51c6 \u6027\u80fd\u6307\u6807"},{"location":"benchmark_metrics/#_1","text":"\u672c\u9875 \u4ecb\u7ecd \u4e86 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807 \u6a21\u5757 \u3002 \u6b64 \u6a21\u5757 \u7528\u4e8e \u6839\u636e \u4ee3\u7406 \u5728 \u57fa\u51c6 \u6d4b\u8bd5 \u671f\u95f4 \u6267\u884c \u7684 \u64cd\u4f5c \u8ba1\u7b97 \u7ed3\u679c \u8ba1\u7b97\u7ed3\u679c \u6458\u8981 \u3002","title":"\u8ba1\u7b97 \u7684 \u57fa\u51c6 \u6027\u80fd\u6307\u6807"},{"location":"benchmark_metrics/#_2","text":"\u9a7e\u9a76 \u57fa\u51c6 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807 \u6a21\u5757 \u63d0\u4f9b \u4ee5\u4e0b \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807 \uff1a   \u6210\u529f \u767e\u5206 \u767e\u5206\u6bd4   \uff1a \u4ee3\u7406 \u6210\u529f \u5b8c\u6210 \u7684 \u60c5\u8282 \uff08 \u4efb\u52a1 \u59ff\u52bf \uff09 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   \u5e73\u5747 \u5b8c\u6210 \u5b8c\u6210\u5ea6   \uff1a \u4ee3\u7406 \u80fd\u591f \u5230\u8fbe \u76ee\u6807 \u7684 \u5e73\u5747 \u8ddd\u79bb \u3002   \u8d8a\u91ce \u8def\u53e3   \uff1a \u4ee3\u7406 \u9a76\u51fa \u9053\u8def \u7684 \u6b21\u6570 \u3002 \u53ea\u6709 \u5f53 \u8f66\u8f86 \u5728 \u9053\u8def \u5916 \u7684 \u9762\u79ef \u5927\u4e8e \u9608\u503c \u65f6 \uff0c \u624d \u4f1a \u8ba1\u7b97 \u8def\u53e3 \u3002   \u5176\u4ed6 \u8f66\u9053 \u4ea4\u53c9 \u4ea4\u53c9\u53e3   \uff1a \u4ee3\u7406 \u8fdb\u5165 \u5176\u4ed6 \u8f66\u9053 \u7684 \u6b21\u6570 \u3002 \u53ea\u6709 \u5f53 \u5176\u4ed6 \u8f66\u9053 \u4e0a \u7684 \u8f66\u8f86 \u9762\u79ef \u5927\u4e8e \u9608\u503c \u65f6 \uff0c \u624d \u4f1a \u8ba1\u7b97 \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u3002   \u8f66\u8f86 \u78b0\u649e   \uff1a \u5f71\u54cd \u91cf \u5927\u4e8e \u9608\u503c \u7684 \u8f66\u8f86 \u78b0\u649e \u6b21\u6570 \u3002   \u884c\u4eba \u78b0\u649e   \uff1a \u4e0e \u884c\u4eba \u53d1\u751f \u78b0\u649e \u4e14 \u5f71\u54cd \u5927\u4e8e \u9608\u503c \u7684 \u6b21\u6570 \u3002   \u4e00\u822c \u78b0\u649e   \uff1a \u4e0e \u6240\u6709 \u5176\u4ed6 \u7269\u4f53 \u53d1\u751f \u78b0\u649e \u4e14 \u5f71\u54cd \u5927\u4e8e \u9608\u503c \u7684 \u6b21\u6570 \u3002","title":"\u63d0\u4f9b \u6027\u80fd\u6307\u6807"},{"location":"benchmark_metrics/#_3","text":"\u6307\u6807 \u4f5c\u4e3a \u57fa\u51c6 \u6d4b\u8bd5 \u7684 \u6700\u540e \u4e00\u6b65 \u8fdb\u884c \u8ba1\u7b97 \uff0c \u5e76 \u5c06 \u7ed3\u679c \u6458\u8981 \u5b58\u50a8 \u5728   json   \u6587\u4ef6 \u4e2d \u3002 \u5185\u90e8 \u6267\u884c \u5982\u4e0b \uff1a   metrics _ object   =   Metrics ( metrics _ parameters )   summary _ dictionary   =   metrics _ object . compute ( path _ to _ execution _ log )   Metric   \u7684 \u8ba1\u7b97 \u51fd\u6570 \u63a5\u6536 \u6267\u884c \u65e5\u5fd7 \u7684 \u5b8c\u6574 \u8def\u5f84 \u3002 Metric   \u7c7b \u5e94\u8be5 \u4f7f\u7528 \u4e00\u4e9b \u53c2\u6570 \u8fdb\u884c \u5b9e\u4f8b \u5316 \u3002 \u8fd9\u4e9b \u53c2\u6570 \u5305\u62ec \uff1a   \u9608\u503c   \uff1a \u6307\u6807 \u4f7f\u7528 \u7684 \u9608\u503c \u3002   \u5e27 \u91cd\u65b0 \u8ba1\u6570   \uff1a \u72af\u89c4 \u540e \uff0c \u8bbe\u7f6e \u4ee3\u7406 \u9700\u8981 \u7ee7\u7eed \u72af\u89c4 \u7684 \u5e27 \u6570 \uff0c \u624d \u4f1a \u5c06 \u5176\u8ba1 \u4e3a \u53e6 \u4e00\u6b21 \u72af\u89c4 \u3002   \u8df3\u8fc7 \u5e27 \u6570   \uff1a \u4e0e \u78b0\u649e \u6216 \u4ea4\u53c9 \u5f00\u59cb \u540e \u8df3 \u8fc7 \u7684 \u5e27 \u6570 \u6709\u5173 \u3002   \u8fd9\u4e9b \u53c2\u6570 \u88ab \u5b9a\u4e49 \u4e3a   \u5b9e\u9a8c \u5957\u4ef6   \u57fa\u7c7b \u7684 \u5c5e\u6027 \uff0c \u53ef\u4ee5 \u5728 \u60a8 \u7684   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5b9e\u9a8c \u5957\u4ef6   \u4e2d \u91cd\u65b0 \u5b9a\u4e49 \u3002   \u9ed8\u8ba4 \u53c2\u6570 \u4e3a \uff1a   @ property   def   metrics _ parameters ( self ) :   \" \" \"   Property   to   return   the   parameters   for   the   metrics   module   Could   be   redefined   depending   on   the   needs   of   the   user .   \" \" \"   return   {   ' intersection _ offroad ' :   { ' frames _ skip ' :   10 ,   ' frames _ recount ' :   20 ,   ' threshold ' :   0.3   } ,   ' intersection _ otherlane ' :   { ' frames _ skip ' :   10 ,   ' frames _ recount ' :   20 ,   ' threshold ' :   0.4   } ,   ' collision _ other ' :   { ' frames _ skip ' :   10 ,   ' frames _ recount ' :   20 ,   ' threshold ' :   400   } ,   ' collision _ vehicles ' :   { ' frames _ skip ' :   10 ,   ' frames _ recount ' :   30 ,   ' threshold ' :   400   } ,   ' collision _ pedestrians ' :   { ' frames _ skip ' :   5 ,   ' frames _ recount ' :   100 ,   ' threshold ' :   300   } ,   }","title":"\u6267\u884c \u5e76 \u8bbe\u7f6e \u53c2\u6570"},{"location":"benchmark_start/","text":"\u9a7e\u9a76 \u57fa\u51c6   \u9a7e\u9a76 \u57fa\u51c6 \u6a21\u5757   \u7528\u4e8e \u8bc4\u4f30 \u9a7e\u9a76 \u63a7\u5236 \u63a7\u5236\u5668 \uff08 \u4ee3\u7406 \uff09 \u5e76 \u83b7\u53d6 \u6709\u5173 \u5176 \u6027\u80fd \u7684 \u6307\u6807 \u3002   \u8be5 \u6a21\u5757 \u4e3b\u8981 \u8bbe\u8ba1 \u7528\u4e8e \uff1a   \u81f4\u529b \u81f4\u529b\u4e8e \u5f00\u53d1 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u5e76 \u5e0c\u671b \u4e86\u89e3 \u5176 \u5728   CARLA   \u4e2d \u7684 \u8868\u73b0 \u7684 \u7528\u6237 \u3002   \u5728 \u672c\u8282 \u4e2d \u60a8 \u5c06 \u4e86\u89e3 \u3002   \u5982\u4f55 \u5feb\u901f \u5165\u95e8 \u5e76 \u7acb\u5373 \u5bf9 \u7b80\u5355 \u4ee3\u7406 \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002   \u4e86\u89e3 \u9a7e\u9a76 \u57fa\u51c6 \u6d4b\u8bd5 \u6a21\u5757 \u7684 \u603b\u4f53 \u5b9e\u73b0 \u67b6\u6784 \u3002   \u4e86\u89e3 \u5982\u4f55 \u8bbe\u7f6e \u60a8 \u7684 \u4ee3\u7406 \u5e76 \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u4e00\u7ec4 \u5b9e\u9a8c \u3002   \u4e86\u89e3 \u6240 \u4f7f\u7528 \u7684 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807 \u3002   \u5165\u95e8   \u4e3a\u4e86 \u8ba9 \u60a8 \u719f\u6089 \u7cfb\u7edf \uff0c \u6211\u4eec \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5728 \u4e00\u7ec4 \u5c0f\u578b \u5b9e\u9a8c \u4e2d \u6267\u884c \u7684 \u7b80\u5355 \u4ee3\u7406 \uff08 \u57fa\u672c \uff09 \u3002 \u8981 \u6267\u884c \u5b83 \uff0c \u53ea \u9700 \u8fd0\u884c \uff1a   . / driving _ benchmark _ example . py   \u8bf7 \u8bb0\u4f4f \uff0c \u8981 \u8fd0\u884c \u4e0a\u8ff0 \u547d\u4ee4 \uff0c \u60a8 \u9700\u8981 \u5728 \u672c\u5730 \u4e3b\u673a \u548c \u7aef\u53e3   2000   \u4e0a \u8fd0\u884c   CARLA   \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u6211\u4eec \u5df2\u7ecf \u63d0\u4f9b \u4e86 \u4e0e   CoRL   2017   \u8bba\u6587 \u4e2d \u4f7f\u7528 \u7684 \u76f8\u540c \u57fa\u51c6 \u3002 CoRL   2017   \u5b9e\u9a8c \u5957\u4ef6 \u53ef\u4ee5 \u5728 \u4e00\u4e2a \u7b80\u5355 \u7684 \u4ee3\u7406 \u4e2d \u8fd0\u884c \uff0c \u53ea \u9700 \u8fd0\u884c \uff1a   . / driving _ benchmark _ example . py   -- corl - 2017   \u6b64 \u57fa\u51c6 \u6d4b\u8bd5 \u793a\u4f8b \u53ef\u4ee5 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u914d\u7f6e \u3002 \u8fd0\u884c   help   \u547d\u4ee4 \u67e5\u770b \u53ef\u7528 \u7684 \u9009\u9879 \u3002   . / driving _ benchmark _ example . py   -- help   \u53ef\u7528 \u7684 \u9009\u9879 \u4e4b\u4e00 \u662f \u80fd\u591f \u4ece \u4e4b\u524d \u7684 \u57fa\u51c6 \u6d4b\u8bd5 \u6267\u884c \u7ee7\u7eed \u3002 \u4f8b\u5982 \uff0c \u8981 \u7ee7\u7eed   CoRL2017   \u4e2d \u65e5\u5fd7 \u540d\u79f0 \u4e3a \u201c driving _ benchmark _ test \u201d \u7684 \u5b9e\u9a8c \uff0c \u8bf7 \u8fd0\u884c \uff1a   . / driving _ benchmark _ example . py   -- continue - experiment   - n   driving _ benchmark _ test   -- corl - 2017   \u7b14\u8bb0   \u5982\u679c \u65e5\u5fd7 \u540d\u79f0 \u5df2\u7ecf \u5b58\u5728 \u5e76\u4e14 \u60a8 \u6ca1\u6709 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u7ee7\u7eed \uff0c \u5b83 \u5c06 \u4ee5 \u4e0d\u540c \u7684 \u540d\u79f0 \u521b\u5efa \u53e6 \u4e00\u4e2a \u65e5\u5fd7 \u3002   \u5f53 \u8fd0\u884c \u57fa\u672c \u914d\u7f6e \u7684 \u9a7e\u9a76 \u57fa\u51c6 \u6d4b\u8bd5 \u65f6 \uff0c \u4f60 \u5e94\u8be5   \u671f\u5f85 \u8fd9\u4e9b \u7ed3\u679c   \u3002","title":"\u9a7e\u9a76 \u57fa\u51c6"},{"location":"benchmark_start/#_1","text":"\u9a7e\u9a76 \u57fa\u51c6 \u6a21\u5757   \u7528\u4e8e \u8bc4\u4f30 \u9a7e\u9a76 \u63a7\u5236 \u63a7\u5236\u5668 \uff08 \u4ee3\u7406 \uff09 \u5e76 \u83b7\u53d6 \u6709\u5173 \u5176 \u6027\u80fd \u7684 \u6307\u6807 \u3002   \u8be5 \u6a21\u5757 \u4e3b\u8981 \u8bbe\u8ba1 \u7528\u4e8e \uff1a   \u81f4\u529b \u81f4\u529b\u4e8e \u5f00\u53d1 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u5e76 \u5e0c\u671b \u4e86\u89e3 \u5176 \u5728   CARLA   \u4e2d \u7684 \u8868\u73b0 \u7684 \u7528\u6237 \u3002   \u5728 \u672c\u8282 \u4e2d \u60a8 \u5c06 \u4e86\u89e3 \u3002   \u5982\u4f55 \u5feb\u901f \u5165\u95e8 \u5e76 \u7acb\u5373 \u5bf9 \u7b80\u5355 \u4ee3\u7406 \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002   \u4e86\u89e3 \u9a7e\u9a76 \u57fa\u51c6 \u6d4b\u8bd5 \u6a21\u5757 \u7684 \u603b\u4f53 \u5b9e\u73b0 \u67b6\u6784 \u3002   \u4e86\u89e3 \u5982\u4f55 \u8bbe\u7f6e \u60a8 \u7684 \u4ee3\u7406 \u5e76 \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u4e00\u7ec4 \u5b9e\u9a8c \u3002   \u4e86\u89e3 \u6240 \u4f7f\u7528 \u7684 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807 \u3002","title":"\u9a7e\u9a76 \u57fa\u51c6"},{"location":"benchmark_start/#_2","text":"\u4e3a\u4e86 \u8ba9 \u60a8 \u719f\u6089 \u7cfb\u7edf \uff0c \u6211\u4eec \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5728 \u4e00\u7ec4 \u5c0f\u578b \u5b9e\u9a8c \u4e2d \u6267\u884c \u7684 \u7b80\u5355 \u4ee3\u7406 \uff08 \u57fa\u672c \uff09 \u3002 \u8981 \u6267\u884c \u5b83 \uff0c \u53ea \u9700 \u8fd0\u884c \uff1a   . / driving _ benchmark _ example . py   \u8bf7 \u8bb0\u4f4f \uff0c \u8981 \u8fd0\u884c \u4e0a\u8ff0 \u547d\u4ee4 \uff0c \u60a8 \u9700\u8981 \u5728 \u672c\u5730 \u4e3b\u673a \u548c \u7aef\u53e3   2000   \u4e0a \u8fd0\u884c   CARLA   \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u6211\u4eec \u5df2\u7ecf \u63d0\u4f9b \u4e86 \u4e0e   CoRL   2017   \u8bba\u6587 \u4e2d \u4f7f\u7528 \u7684 \u76f8\u540c \u57fa\u51c6 \u3002 CoRL   2017   \u5b9e\u9a8c \u5957\u4ef6 \u53ef\u4ee5 \u5728 \u4e00\u4e2a \u7b80\u5355 \u7684 \u4ee3\u7406 \u4e2d \u8fd0\u884c \uff0c \u53ea \u9700 \u8fd0\u884c \uff1a   . / driving _ benchmark _ example . py   -- corl - 2017   \u6b64 \u57fa\u51c6 \u6d4b\u8bd5 \u793a\u4f8b \u53ef\u4ee5 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u914d\u7f6e \u3002 \u8fd0\u884c   help   \u547d\u4ee4 \u67e5\u770b \u53ef\u7528 \u7684 \u9009\u9879 \u3002   . / driving _ benchmark _ example . py   -- help   \u53ef\u7528 \u7684 \u9009\u9879 \u4e4b\u4e00 \u662f \u80fd\u591f \u4ece \u4e4b\u524d \u7684 \u57fa\u51c6 \u6d4b\u8bd5 \u6267\u884c \u7ee7\u7eed \u3002 \u4f8b\u5982 \uff0c \u8981 \u7ee7\u7eed   CoRL2017   \u4e2d \u65e5\u5fd7 \u540d\u79f0 \u4e3a \u201c driving _ benchmark _ test \u201d \u7684 \u5b9e\u9a8c \uff0c \u8bf7 \u8fd0\u884c \uff1a   . / driving _ benchmark _ example . py   -- continue - experiment   - n   driving _ benchmark _ test   -- corl - 2017   \u7b14\u8bb0   \u5982\u679c \u65e5\u5fd7 \u540d\u79f0 \u5df2\u7ecf \u5b58\u5728 \u5e76\u4e14 \u60a8 \u6ca1\u6709 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u7ee7\u7eed \uff0c \u5b83 \u5c06 \u4ee5 \u4e0d\u540c \u7684 \u540d\u79f0 \u521b\u5efa \u53e6 \u4e00\u4e2a \u65e5\u5fd7 \u3002   \u5f53 \u8fd0\u884c \u57fa\u672c \u914d\u7f6e \u7684 \u9a7e\u9a76 \u57fa\u51c6 \u6d4b\u8bd5 \u65f6 \uff0c \u4f60 \u5e94\u8be5   \u671f\u5f85 \u8fd9\u4e9b \u7ed3\u679c   \u3002","title":"\u5165\u95e8"},{"location":"benchmark_structure/","text":"\u9a7e\u9a76 \u57fa\u51c6 \u7ed3\u6784   \u4e0b\u56fe \u663e\u793a \u4e86 \u9a7e\u9a76 \u57fa\u51c6 \u6a21\u5757 \u7684 \u603b\u4f53 \u7ed3\u6784 \u3002   \u56fe \uff1a \u4ee3\u7406 \u57fa\u51c6 \u6d4b\u8bd5 \u6a21\u5757 \u7684 \u603b\u4f53 \u7ed3\u6784 \u3002   \u9a7e\u9a76 \u57fa\u51c6   \u662f \u8d1f\u8d23 \u8bc4\u4f30 \u5b9e\u9a8c \u5957\u4ef6 \u4e2d \u67d0\u4e2a   \u4ee3\u7406   \u7684 \u6a21\u5757 \u3002   \u5b9e\u9a8c \u5957\u4ef6   \u662f \u4e00\u4e2a \u62bd\u8c61 \u6a21\u5757 \u3002 \u56e0\u6b64 \uff0c \u7528\u6237 \u5fc5\u987b \u5b9a\u4e49 \u81ea\u5df1 \u7684 \u5b9e\u9a8c \u5957\u4ef6 \u6d3e\u751f \u3002 \u6211\u4eec \u5df2\u7ecf \u63d0\u4f9b \u4e86   CoRL2017   \u5957\u4ef6 \u548c \u4e00\u4e2a \u7b80\u5355 \u7684   \u5b9e\u9a8c \u5957\u4ef6   \u4f9b \u6d4b\u8bd5 \u3002   \u5b9e\u9a8c \u5957\u4ef6 \u7531 \u4e00\u7ec4 \u5b9e\u9a8c \u7ec4\u6210 \u3002 \u6bcf\u4e2a \u5b9e\u9a8c \u5305\u542b \u4e00\u4e2a \u7531 \u4e00\u7ec4 \u5bfc\u822a \u60c5\u8282 \u7ec4\u6210 \u7684 \u4efb\u52a1 \uff0c \u7531 \u4e00\u7ec4 \u59ff\u52bf \u8868\u793a \u3002 \u8fd9\u4e9b \u59ff\u52bf \u662f \u5305\u542b \u60c5\u8282 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u7684 \u5143\u7ec4 \u3002   \u5b9e\u9a8c \u8fd8 \u4e0e \u6761\u4ef6 \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u6761\u4ef6 \u7531   carla   \u8bbe\u7f6e \u5bf9\u8c61 \u8868\u793a \u3002 \u6761\u4ef6 \u6307\u5b9a \u6a21\u62df \u53c2\u6570 \uff0c \u4f8b\u5982 \uff1a \u5929\u6c14 \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5957\u4ef6 \u3001 \u8f66\u8f86 \u548c \u884c\u4eba \u6570\u91cf \u7b49 \u3002   \u7528\u6237 \u8fd8 \u5e94\u8be5 \u6d3e\u751f \u4e00\u4e2a \u4ee3\u7406 \u7c7b \u3002 \u4ee3\u7406 \u662f \u5c06 \u5728 \u9a7e\u9a76 \u57fa\u51c6 \u4e0a \u8fdb\u884c \u8bc4\u4f30 \u7684 \u4e3b\u52a8 \u90e8\u5206 \u3002   \u9a7e\u9a76 \u57fa\u51c6 \u6d4b\u8bd5 \u8fd8 \u5305\u542b \u4e24\u4e2a \u8f85\u52a9 \u6a21\u5757 \u3002 \u8bb0\u5f55 \u6a21\u5757 \u7528\u4e8e \u8ddf\u8e2a \u6240\u6709 \u6d4b\u91cf \u503c \uff0c \u5e76 \u53ef \u7528\u4e8e \u6682\u505c \u548c \u7ee7\u7eed \u9a7e\u9a76 \u57fa\u51c6 \u6d4b\u8bd5 \u3002   \u6307\u6807 \u6a21\u5757 \u7528\u4e8e \u4f7f\u7528 \u8bb0\u5f55 \u7684 \u6d4b\u91cf \u503c \u8ba1\u7b97 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807 \u3002   \u793a\u4f8b \uff1a CORL   2017   \u6211\u4eec \u5df2\u7ecf \u63d0\u4f9b \u4e86 \u7528\u4e8e \u5bf9   CoRL   2017   \u8bba\u6587 \u7684 \u4ee3\u7406 \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u7684   CoRL   2017   \u5b9e\u9a8c \u5957\u4ef6 \u3002   CoRL   2017   \u5b9e\u9a8c \u5957\u4ef6 \u7684 \u7ec4\u6210 \u5982\u4e0b \uff1a   \u6bcf\u4e2a   CARLA   \u57ce\u9547 \u5171 \u8fdb\u884c   24   \u4e2a \u5b9e\u9a8c \uff0c \u5305\u62ec \uff1a   \u76f4\u884c \u7684 \u4efb\u52a1 \u3002   \u8fdb\u884c \u4e00\u6b21 \u8f6c\u5f2f \u7684 \u4efb\u52a1 \u3002   \u524d\u5f80 \u4efb\u610f \u4f4d\u7f6e \u7684 \u4efb\u52a1 \u3002   \u5e26 \u7740 \u52a8\u6001 \u7269\u4f53 \u524d\u5f80 \u4efb\u610f \u4f4d\u7f6e \u7684 \u4efb\u52a1 \u3002   \u6bcf\u4e2a \u4efb\u52a1 \u7531   25   \u4e2a \u59ff\u52bf \u7ec4\u6210 \uff0c \u5728   6   \u79cd \u4e0d\u540c \u7684 \u5929\u6c14 \u6761\u4ef6 \u4e0b \u91cd\u590d \u6267\u884c \uff08 \u6674\u6717 \u4e2d\u5348 \u3001 \u5927\u96e8 \u4e2d\u5348 \u3001 \u6674\u6717 \u65e5\u843d \u3001 \u96e8 \u540e \u4e2d\u5348 \u3001 \u96e8 \u540e \u591a\u4e91 \u548c \u5c0f\u96e8 \u65e5\u843d \uff09 \u3002   \u6574\u4e2a \u5b9e\u9a8c \u96c6 \u5171\u6709 600 \u96c6 \u3002   \u6839\u636e \u4ee3\u7406 \u7684 \u6027\u80fd \uff0c CoRL   2017   \u53ef\u80fd \u9700\u8981 \u6700 \u591a   24   \u5c0f\u65f6 \u624d\u80fd \u4e3a   Town01   \u6267\u884c \uff0c \u6700 \u591a   15   \u5c0f\u65f6 \u624d\u80fd \u4e3a   Town02   \u6267\u884c \u3002","title":"\u9a7e\u9a76 \u57fa\u51c6 \u7ed3\u6784"},{"location":"benchmark_structure/#_1","text":"\u4e0b\u56fe \u663e\u793a \u4e86 \u9a7e\u9a76 \u57fa\u51c6 \u6a21\u5757 \u7684 \u603b\u4f53 \u7ed3\u6784 \u3002   \u56fe \uff1a \u4ee3\u7406 \u57fa\u51c6 \u6d4b\u8bd5 \u6a21\u5757 \u7684 \u603b\u4f53 \u7ed3\u6784 \u3002   \u9a7e\u9a76 \u57fa\u51c6   \u662f \u8d1f\u8d23 \u8bc4\u4f30 \u5b9e\u9a8c \u5957\u4ef6 \u4e2d \u67d0\u4e2a   \u4ee3\u7406   \u7684 \u6a21\u5757 \u3002   \u5b9e\u9a8c \u5957\u4ef6   \u662f \u4e00\u4e2a \u62bd\u8c61 \u6a21\u5757 \u3002 \u56e0\u6b64 \uff0c \u7528\u6237 \u5fc5\u987b \u5b9a\u4e49 \u81ea\u5df1 \u7684 \u5b9e\u9a8c \u5957\u4ef6 \u6d3e\u751f \u3002 \u6211\u4eec \u5df2\u7ecf \u63d0\u4f9b \u4e86   CoRL2017   \u5957\u4ef6 \u548c \u4e00\u4e2a \u7b80\u5355 \u7684   \u5b9e\u9a8c \u5957\u4ef6   \u4f9b \u6d4b\u8bd5 \u3002   \u5b9e\u9a8c \u5957\u4ef6 \u7531 \u4e00\u7ec4 \u5b9e\u9a8c \u7ec4\u6210 \u3002 \u6bcf\u4e2a \u5b9e\u9a8c \u5305\u542b \u4e00\u4e2a \u7531 \u4e00\u7ec4 \u5bfc\u822a \u60c5\u8282 \u7ec4\u6210 \u7684 \u4efb\u52a1 \uff0c \u7531 \u4e00\u7ec4 \u59ff\u52bf \u8868\u793a \u3002 \u8fd9\u4e9b \u59ff\u52bf \u662f \u5305\u542b \u60c5\u8282 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u7684 \u5143\u7ec4 \u3002   \u5b9e\u9a8c \u8fd8 \u4e0e \u6761\u4ef6 \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u6761\u4ef6 \u7531   carla   \u8bbe\u7f6e \u5bf9\u8c61 \u8868\u793a \u3002 \u6761\u4ef6 \u6307\u5b9a \u6a21\u62df \u53c2\u6570 \uff0c \u4f8b\u5982 \uff1a \u5929\u6c14 \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5957\u4ef6 \u3001 \u8f66\u8f86 \u548c \u884c\u4eba \u6570\u91cf \u7b49 \u3002   \u7528\u6237 \u8fd8 \u5e94\u8be5 \u6d3e\u751f \u4e00\u4e2a \u4ee3\u7406 \u7c7b \u3002 \u4ee3\u7406 \u662f \u5c06 \u5728 \u9a7e\u9a76 \u57fa\u51c6 \u4e0a \u8fdb\u884c \u8bc4\u4f30 \u7684 \u4e3b\u52a8 \u90e8\u5206 \u3002   \u9a7e\u9a76 \u57fa\u51c6 \u6d4b\u8bd5 \u8fd8 \u5305\u542b \u4e24\u4e2a \u8f85\u52a9 \u6a21\u5757 \u3002 \u8bb0\u5f55 \u6a21\u5757 \u7528\u4e8e \u8ddf\u8e2a \u6240\u6709 \u6d4b\u91cf \u503c \uff0c \u5e76 \u53ef \u7528\u4e8e \u6682\u505c \u548c \u7ee7\u7eed \u9a7e\u9a76 \u57fa\u51c6 \u6d4b\u8bd5 \u3002   \u6307\u6807 \u6a21\u5757 \u7528\u4e8e \u4f7f\u7528 \u8bb0\u5f55 \u7684 \u6d4b\u91cf \u503c \u8ba1\u7b97 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807 \u3002","title":"\u9a7e\u9a76 \u57fa\u51c6 \u7ed3\u6784"},{"location":"benchmark_structure/#corl-2017","text":"\u6211\u4eec \u5df2\u7ecf \u63d0\u4f9b \u4e86 \u7528\u4e8e \u5bf9   CoRL   2017   \u8bba\u6587 \u7684 \u4ee3\u7406 \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u7684   CoRL   2017   \u5b9e\u9a8c \u5957\u4ef6 \u3002   CoRL   2017   \u5b9e\u9a8c \u5957\u4ef6 \u7684 \u7ec4\u6210 \u5982\u4e0b \uff1a   \u6bcf\u4e2a   CARLA   \u57ce\u9547 \u5171 \u8fdb\u884c   24   \u4e2a \u5b9e\u9a8c \uff0c \u5305\u62ec \uff1a   \u76f4\u884c \u7684 \u4efb\u52a1 \u3002   \u8fdb\u884c \u4e00\u6b21 \u8f6c\u5f2f \u7684 \u4efb\u52a1 \u3002   \u524d\u5f80 \u4efb\u610f \u4f4d\u7f6e \u7684 \u4efb\u52a1 \u3002   \u5e26 \u7740 \u52a8\u6001 \u7269\u4f53 \u524d\u5f80 \u4efb\u610f \u4f4d\u7f6e \u7684 \u4efb\u52a1 \u3002   \u6bcf\u4e2a \u4efb\u52a1 \u7531   25   \u4e2a \u59ff\u52bf \u7ec4\u6210 \uff0c \u5728   6   \u79cd \u4e0d\u540c \u7684 \u5929\u6c14 \u6761\u4ef6 \u4e0b \u91cd\u590d \u6267\u884c \uff08 \u6674\u6717 \u4e2d\u5348 \u3001 \u5927\u96e8 \u4e2d\u5348 \u3001 \u6674\u6717 \u65e5\u843d \u3001 \u96e8 \u540e \u4e2d\u5348 \u3001 \u96e8 \u540e \u591a\u4e91 \u548c \u5c0f\u96e8 \u65e5\u843d \uff09 \u3002   \u6574\u4e2a \u5b9e\u9a8c \u96c6 \u5171\u6709 600 \u96c6 \u3002   \u6839\u636e \u4ee3\u7406 \u7684 \u6027\u80fd \uff0c CoRL   2017   \u53ef\u80fd \u9700\u8981 \u6700 \u591a   24   \u5c0f\u65f6 \u624d\u80fd \u4e3a   Town01   \u6267\u884c \uff0c \u6700 \u591a   15   \u5c0f\u65f6 \u624d\u80fd \u4e3a   Town02   \u6267\u884c \u3002","title":"\u793a\u4f8b \uff1a CORL   2017"},{"location":"bp_library/","text":"\u84dd \u56fe\u5e93   \u84dd \u56fe\u5e93   (   carla . BlueprintLibrary   )   \u662f   Carla   \u4e2d \u7528\u4e8e \u53ef\u7528 \u7684 \u6240\u6709 \u5185\u5bb9   carla . ActorBlueprint   \u53ca\u5176 \u5c5e\u6027   (   carla . ActorAttribute   )   \u7684 \u6458\u8981 \u3002   \u4ee5\u4e0b \u662f \u6253\u5370 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u84dd\u56fe \u53ca\u5176 \u5c5e\u6027 \u7684 \u793a\u4f8b \u4ee3\u7801 \uff1a   blueprints   =   [ bp   for   bp   in   world . get _ blueprint _ library ( ) . filter ( ' * ' ) ]   for   blueprint   in   blueprints :   print ( blueprint . id )   for   attr   in   blueprint :   print ( '   -   { } ' . format ( attr ) )   \u67e5\u770b   \u84dd\u56fe \u7684 \u4ecb\u7ecd   \u3002   \u63a7\u5236 \u63a7\u5236\u5668   controller . ai . walker   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   sensor . camera . depth   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   fov   (   Float   )   -   \u53ef \u4fee\u6539   image _ size _ x   (   Int   )   -   \u53ef \u4fee\u6539   image _ size _ y   (   Int   )   -   \u53ef \u4fee\u6539   lens _ circle _ falloff   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ multiplier   (   Float   )   -   \u53ef \u4fee\u6539   lens _ k   (   Float   )   -   \u53ef \u4fee\u6539   lens _ kcube   (   Float   )   -   \u53ef \u4fee\u6539   lens _ x _ size   (   Float   )   -   \u53ef \u4fee\u6539   lens _ y _ size   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . camera . dvs   \u5c5e\u6027 \uff1a   black _ clip   (   Float   )   -   \u53ef \u4fee\u6539   blade _ count   (   Int   )   -   \u53ef \u4fee\u6539   bloom _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   blur _ amount   (   Float   )   -   \u53ef \u4fee\u6539   blur _ radius   (   Float   )   -   \u53ef \u4fee\u6539   calibration _ constant   (   Float   )   -   \u53ef \u4fee\u6539   chromatic _ aberration _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   chromatic _ aberration _ offset   (   Float   )   -   \u53ef \u4fee\u6539   enable _ postprocess _ effects   (   Bool   )   -   \u53ef \u4fee\u6539   exposure _ compensation   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ max _ bright   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ min _ bright   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ mode   (   String   )   -   \u53ef \u4fee\u6539   exposure _ speed _ down   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ speed _ up   (   Float   )   -   \u53ef \u4fee\u6539   focal _ distance   (   Float   )   -   \u53ef \u4fee\u6539   fov   (   Float   )   -   \u53ef \u4fee\u6539   fstop   (   Float   )   -   \u53ef \u4fee\u6539   gamma   (   Float   )   -   \u53ef \u4fee\u6539   image _ size _ x   (   Int   )   -   \u53ef \u4fee\u6539   image _ size _ y   (   Int   )   -   \u53ef \u4fee\u6539   iso   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ falloff   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ multiplier   (   Float   )   -   \u53ef \u4fee\u6539   lens _ flare _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   lens _ k   (   Float   )   -   \u53ef \u4fee\u6539   lens _ kcube   (   Float   )   -   \u53ef \u4fee\u6539   lens _ x _ size   (   Float   )   -   \u53ef \u4fee\u6539   lens _ y _ size   (   Float   )   -   \u53ef \u4fee\u6539   log _ eps   (   Float   )   -   \u53ef \u4fee\u6539   min _ fstop   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ max _ distortion   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ min _ object _ screen _ size   (   Float   )   -   \u53ef \u4fee\u6539   negative _ threshold   (   Float   )   -   \u53ef \u4fee\u6539   positive _ threshold   (   Float   )   -   \u53ef \u4fee\u6539   refractory _ period _ ns   (   Int   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   shoulder   (   Float   )   -   \u53ef \u4fee\u6539   shutter _ speed   (   Float   )   -   \u53ef \u4fee\u6539   sigma _ negative _ threshold   (   Float   )   -   \u53ef \u4fee\u6539   sigma _ positive _ threshold   (   Float   )   -   \u53ef \u4fee\u6539   slope   (   Float   )   -   \u53ef \u4fee\u6539   temp   (   Float   )   -   \u53ef \u4fee\u6539   tint   (   Float   )   -   \u53ef \u4fee\u6539   toe   (   Float   )   -   \u53ef \u4fee\u6539   use _ log   (   Bool   )   -   \u53ef \u4fee\u6539   white _ clip   (   Float   )   -   \u53ef \u4fee\u6539   sensor . camera . optical _ flow   \u5c5e\u6027 \uff1a   fov   (   Float   )   -   \u53ef \u4fee\u6539   image _ size _ x   (   Int   )   -   \u53ef \u4fee\u6539   image _ size _ y   (   Int   )   -   \u53ef \u4fee\u6539   lens _ circle _ falloff   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ multiplier   (   Float   )   -   \u53ef \u4fee\u6539   lens _ k   (   Float   )   -   \u53ef \u4fee\u6539   lens _ kcube   (   Float   )   -   \u53ef \u4fee\u6539   lens _ x _ size   (   Float   )   -   \u53ef \u4fee\u6539   lens _ y _ size   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . camera . rgb   \u5c5e\u6027 \uff1a   black _ clip   (   Float   )   -   \u53ef \u4fee\u6539   blade _ count   (   Int   )   -   \u53ef \u4fee\u6539   bloom _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   blur _ amount   (   Float   )   -   \u53ef \u4fee\u6539   blur _ radius   (   Float   )   -   \u53ef \u4fee\u6539   calibration _ constant   (   Float   )   -   \u53ef \u4fee\u6539   chromatic _ aberration _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   chromatic _ aberration _ offset   (   Float   )   -   \u53ef \u4fee\u6539   enable _ postprocess _ effects   (   Bool   )   -   \u53ef \u4fee\u6539   exposure _ compensation   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ max _ bright   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ min _ bright   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ mode   (   String   )   -   \u53ef \u4fee\u6539   exposure _ speed _ down   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ speed _ up   (   Float   )   -   \u53ef \u4fee\u6539   focal _ distance   (   Float   )   -   \u53ef \u4fee\u6539   fov   (   Float   )   -   \u53ef \u4fee\u6539   fstop   (   Float   )   -   \u53ef \u4fee\u6539   gamma   (   Float   )   -   \u53ef \u4fee\u6539   image _ size _ x   (   Int   )   -   \u53ef \u4fee\u6539   image _ size _ y   (   Int   )   -   \u53ef \u4fee\u6539   iso   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ falloff   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ multiplier   (   Float   )   -   \u53ef \u4fee\u6539   lens _ flare _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   lens _ k   (   Float   )   -   \u53ef \u4fee\u6539   lens _ kcube   (   Float   )   -   \u53ef \u4fee\u6539   lens _ x _ size   (   Float   )   -   \u53ef \u4fee\u6539   lens _ y _ size   (   Float   )   -   \u53ef \u4fee\u6539   min _ fstop   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ max _ distortion   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ min _ object _ screen _ size   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   shoulder   (   Float   )   -   \u53ef \u4fee\u6539   shutter _ speed   (   Float   )   -   \u53ef \u4fee\u6539   slope   (   Float   )   -   \u53ef \u4fee\u6539   temp   (   Float   )   -   \u53ef \u4fee\u6539   tint   (   Float   )   -   \u53ef \u4fee\u6539   toe   (   Float   )   -   \u53ef \u4fee\u6539   white _ clip   (   Float   )   -   \u53ef \u4fee\u6539   sensor . camera . semantic _ segmentation   \u5c5e\u6027 \uff1a   fov   (   Float   )   -   \u53ef \u4fee\u6539   image _ size _ x   (   Int   )   -   \u53ef \u4fee\u6539   image _ size _ y   (   Int   )   -   \u53ef \u4fee\u6539   lens _ circle _ falloff   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ multiplier   (   Float   )   -   \u53ef \u4fee\u6539   lens _ k   (   Float   )   -   \u53ef \u4fee\u6539   lens _ kcube   (   Float   )   -   \u53ef \u4fee\u6539   lens _ x _ size   (   Float   )   -   \u53ef \u4fee\u6539   lens _ y _ size   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . lidar . ray _ cast   \u5c5e\u6027 \uff1a   atmosphere _ attenuation _ rate   (   Float   )   -   \u53ef \u4fee\u6539   channels   (   Int   )   -   \u53ef \u4fee\u6539   dropoff _ general _ rate   (   Float   )   -   \u53ef \u4fee\u6539   dropoff _ intensity _ limit   (   Float   )   -   \u53ef \u4fee\u6539   dropoff _ zero _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   horizontal _ fov   (   Float   )   -   \u53ef \u4fee\u6539   lower _ fov   (   Float   )   -   \u53ef \u4fee\u6539   noise _ seed   (   Int   )   -   \u53ef \u4fee\u6539   noise _ stddev   (   Float   )   -   \u53ef \u4fee\u6539   points _ per _ second   (   Int   )   -   \u53ef \u4fee\u6539   range   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   rotation _ frequency   (   Float   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   upper _ fov   (   Float   )   -   \u53ef \u4fee\u6539   sensor . lidar . ray _ cast _ semantic   \u5c5e\u6027 \uff1a   channels   (   Int   )   -   \u53ef \u4fee\u6539   horizontal _ fov   (   Float   )   -   \u53ef \u4fee\u6539   lower _ fov   (   Float   )   -   \u53ef \u4fee\u6539   points _ per _ second   (   Int   )   -   \u53ef \u4fee\u6539   range   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   rotation _ frequency   (   Float   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   upper _ fov   (   Float   )   -   \u53ef \u4fee\u6539   sensor . other . collision   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor . other . gnss   \u5c5e\u6027 \uff1a   noise _ alt _ bias   (   Float   )   -   \u53ef \u4fee\u6539   noise _ alt _ stddev   (   Float   )   -   \u53ef \u4fee\u6539   noise _ lat _ bias   (   Float   )   -   \u53ef \u4fee\u6539   noise _ lat _ stddev   (   Float   )   -   \u53ef \u4fee\u6539   noise _ lon _ bias   (   Float   )   -   \u53ef \u4fee\u6539   noise _ lon _ stddev   (   Float   )   -   \u53ef \u4fee\u6539   noise _ seed   (   Int   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . other . imu   \u5c5e\u6027 \uff1a   noise _ accel _ stddev _ x   (   Float   )   -   \u53ef \u4fee\u6539   noise _ accel _ stddev _ y   (   Float   )   -   \u53ef \u4fee\u6539   noise _ accel _ stddev _ z   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ bias _ x   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ bias _ y   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ bias _ z   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ stddev _ x   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ stddev _ y   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ stddev _ z   (   Float   )   -   \u53ef \u4fee\u6539   noise _ seed   (   Int   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . other . lane _ invasion   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor . other . obstacle   \u5c5e\u6027 \uff1a   debug _ linetrace   (   Bool   )   -   \u53ef \u4fee\u6539   distance   (   Float   )   -   \u53ef \u4fee\u6539   hit _ radius   (   Float   )   -   \u53ef \u4fee\u6539   only _ dynamics   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . other . radar   \u5c5e\u6027 \uff1a   horizontal _ fov   (   Float   )   -   \u53ef \u4fee\u6539   noise _ seed   (   Int   )   -   \u53ef \u4fee\u6539   points _ per _ second   (   Int   )   -   \u53ef \u4fee\u6539   range   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   vertical _ fov   (   Float   )   -   \u53ef \u4fee\u6539   sensor . other . rss   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   static   static . prop . advertisement   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . atm   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . barbeque   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . barrel   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . bench01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . bench02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . bench03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . bike   helmet   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . bin   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . box01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . box02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . box03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . briefcase   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . brokentile01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . brokentile02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . brokentile03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . brokentile04   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . busstop   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . calibrator   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . chainbarrier   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . chainbarrierend   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . clothcontainer   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . clothesline   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . colacan   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . constructioncone   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . container   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . creasedbox01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . creasedbox02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . creasedbox03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . dirtdebris01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . dirtdebris02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . dirtdebris03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . doghouse   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . fountain   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage04   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage05   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage06   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . gardenlamp   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . glasscontainer   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . gnome   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . guitarcase   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . ironplank   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . kiosk _ 01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . mailbox   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . maptable   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . mesh   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   static . prop . mobile   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . motorhelmet   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . omri - 0   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . omri - 1   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . pergola   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot04   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot05   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot06   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot07   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot08   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plasticbag   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plasticchair   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plastictable   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . platformgarbage01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . purse   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . shoppingbag   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . shoppingcart   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . shoppingtrolley   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . slide   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . streetbarrier   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . streetfountain   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . streetsign   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . streetsign01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . streetsign04   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . swing   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . swingcouch   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . table   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trafficcone01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trafficcone02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trafficwarning   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trampoline   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashbag   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashcan01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashcan02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashcan03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashcan04   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashcan05   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . travelcase   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . vendingmachine   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . wateringcan   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . trigger . friction   \u5c5e\u6027 \uff1a   extent _ x   (   Float   )   -   \u53ef \u4fee\u6539   extent _ y   (   Float   )   -   \u53ef \u4fee\u6539   extent _ z   (   Float   )   -   \u53ef \u4fee\u6539   friction   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   vehicle   vehicle . audi . a2   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . audi . etron   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . audi . tt   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . bh . crossbike   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . bmw . grandtourer   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . carlamotors . carlacola   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . carlamotors . firetruck   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . chevrolet . impala   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . citroen . c3   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . diamondback . century   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . dodge . charger _ 2020   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . dodge . charger _ police   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . dodge . charger _ police _ 2020   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . ford . ambulance   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . ford . crown   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . ford . mustang   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . gazelle . omafiets   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . harley - davidson . low _ rider   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . jeep . wrangler _ rubicon   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . kawasaki . ninja   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . lincoln . mkz _ 2017   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . lincoln . mkz _ 2020   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . mercedes . coupe   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . mercedes . coupe _ 2020   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . mercedes . sprinter   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . micro . microlino   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . mini . cooper _ s   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . mini . cooper _ s _ 2021   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . nissan . micra   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . nissan . patrol   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . nissan . patrol _ 2021   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . seat . leon   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . tesla . cybertruck   \u5c5e\u6027 \uff1a   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . tesla . model3   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . toyota . prius   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . vespa . zx125   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . volkswagen . t2   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . volkswagen . t2 _ 2021   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . yamaha . yzf   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   walker   walker . pedestrian.0001   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0002   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0003   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0004   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0005   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0006   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0007   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0008   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0009   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0010   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0011   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0012   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0013   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0014   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0015   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0016   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0017   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0018   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0019   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0020   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0021   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0022   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0023   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0024   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0025   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0026   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0027   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0028   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0029   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0030   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0031   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0032   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0033   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0034   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0035   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0036   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0037   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0038   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0039   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0040   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0041   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0042   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0043   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0044   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0045   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0046   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0047   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0048   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539","title":"Bp   library"},{"location":"bp_library/#_1","text":"\u84dd \u56fe\u5e93   (   carla . BlueprintLibrary   )   \u662f   Carla   \u4e2d \u7528\u4e8e \u53ef\u7528 \u7684 \u6240\u6709 \u5185\u5bb9   carla . ActorBlueprint   \u53ca\u5176 \u5c5e\u6027   (   carla . ActorAttribute   )   \u7684 \u6458\u8981 \u3002   \u4ee5\u4e0b \u662f \u6253\u5370 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u84dd\u56fe \u53ca\u5176 \u5c5e\u6027 \u7684 \u793a\u4f8b \u4ee3\u7801 \uff1a   blueprints   =   [ bp   for   bp   in   world . get _ blueprint _ library ( ) . filter ( ' * ' ) ]   for   blueprint   in   blueprints :   print ( blueprint . id )   for   attr   in   blueprint :   print ( '   -   { } ' . format ( attr ) )   \u67e5\u770b   \u84dd\u56fe \u7684 \u4ecb\u7ecd   \u3002","title":"\u84dd \u56fe\u5e93"},{"location":"bp_library/#_2","text":"controller . ai . walker   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539","title":"\u63a7\u5236\u5668"},{"location":"bp_library/#_3","text":"sensor . camera . depth   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   fov   (   Float   )   -   \u53ef \u4fee\u6539   image _ size _ x   (   Int   )   -   \u53ef \u4fee\u6539   image _ size _ y   (   Int   )   -   \u53ef \u4fee\u6539   lens _ circle _ falloff   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ multiplier   (   Float   )   -   \u53ef \u4fee\u6539   lens _ k   (   Float   )   -   \u53ef \u4fee\u6539   lens _ kcube   (   Float   )   -   \u53ef \u4fee\u6539   lens _ x _ size   (   Float   )   -   \u53ef \u4fee\u6539   lens _ y _ size   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . camera . dvs   \u5c5e\u6027 \uff1a   black _ clip   (   Float   )   -   \u53ef \u4fee\u6539   blade _ count   (   Int   )   -   \u53ef \u4fee\u6539   bloom _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   blur _ amount   (   Float   )   -   \u53ef \u4fee\u6539   blur _ radius   (   Float   )   -   \u53ef \u4fee\u6539   calibration _ constant   (   Float   )   -   \u53ef \u4fee\u6539   chromatic _ aberration _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   chromatic _ aberration _ offset   (   Float   )   -   \u53ef \u4fee\u6539   enable _ postprocess _ effects   (   Bool   )   -   \u53ef \u4fee\u6539   exposure _ compensation   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ max _ bright   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ min _ bright   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ mode   (   String   )   -   \u53ef \u4fee\u6539   exposure _ speed _ down   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ speed _ up   (   Float   )   -   \u53ef \u4fee\u6539   focal _ distance   (   Float   )   -   \u53ef \u4fee\u6539   fov   (   Float   )   -   \u53ef \u4fee\u6539   fstop   (   Float   )   -   \u53ef \u4fee\u6539   gamma   (   Float   )   -   \u53ef \u4fee\u6539   image _ size _ x   (   Int   )   -   \u53ef \u4fee\u6539   image _ size _ y   (   Int   )   -   \u53ef \u4fee\u6539   iso   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ falloff   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ multiplier   (   Float   )   -   \u53ef \u4fee\u6539   lens _ flare _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   lens _ k   (   Float   )   -   \u53ef \u4fee\u6539   lens _ kcube   (   Float   )   -   \u53ef \u4fee\u6539   lens _ x _ size   (   Float   )   -   \u53ef \u4fee\u6539   lens _ y _ size   (   Float   )   -   \u53ef \u4fee\u6539   log _ eps   (   Float   )   -   \u53ef \u4fee\u6539   min _ fstop   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ max _ distortion   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ min _ object _ screen _ size   (   Float   )   -   \u53ef \u4fee\u6539   negative _ threshold   (   Float   )   -   \u53ef \u4fee\u6539   positive _ threshold   (   Float   )   -   \u53ef \u4fee\u6539   refractory _ period _ ns   (   Int   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   shoulder   (   Float   )   -   \u53ef \u4fee\u6539   shutter _ speed   (   Float   )   -   \u53ef \u4fee\u6539   sigma _ negative _ threshold   (   Float   )   -   \u53ef \u4fee\u6539   sigma _ positive _ threshold   (   Float   )   -   \u53ef \u4fee\u6539   slope   (   Float   )   -   \u53ef \u4fee\u6539   temp   (   Float   )   -   \u53ef \u4fee\u6539   tint   (   Float   )   -   \u53ef \u4fee\u6539   toe   (   Float   )   -   \u53ef \u4fee\u6539   use _ log   (   Bool   )   -   \u53ef \u4fee\u6539   white _ clip   (   Float   )   -   \u53ef \u4fee\u6539   sensor . camera . optical _ flow   \u5c5e\u6027 \uff1a   fov   (   Float   )   -   \u53ef \u4fee\u6539   image _ size _ x   (   Int   )   -   \u53ef \u4fee\u6539   image _ size _ y   (   Int   )   -   \u53ef \u4fee\u6539   lens _ circle _ falloff   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ multiplier   (   Float   )   -   \u53ef \u4fee\u6539   lens _ k   (   Float   )   -   \u53ef \u4fee\u6539   lens _ kcube   (   Float   )   -   \u53ef \u4fee\u6539   lens _ x _ size   (   Float   )   -   \u53ef \u4fee\u6539   lens _ y _ size   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . camera . rgb   \u5c5e\u6027 \uff1a   black _ clip   (   Float   )   -   \u53ef \u4fee\u6539   blade _ count   (   Int   )   -   \u53ef \u4fee\u6539   bloom _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   blur _ amount   (   Float   )   -   \u53ef \u4fee\u6539   blur _ radius   (   Float   )   -   \u53ef \u4fee\u6539   calibration _ constant   (   Float   )   -   \u53ef \u4fee\u6539   chromatic _ aberration _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   chromatic _ aberration _ offset   (   Float   )   -   \u53ef \u4fee\u6539   enable _ postprocess _ effects   (   Bool   )   -   \u53ef \u4fee\u6539   exposure _ compensation   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ max _ bright   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ min _ bright   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ mode   (   String   )   -   \u53ef \u4fee\u6539   exposure _ speed _ down   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ speed _ up   (   Float   )   -   \u53ef \u4fee\u6539   focal _ distance   (   Float   )   -   \u53ef \u4fee\u6539   fov   (   Float   )   -   \u53ef \u4fee\u6539   fstop   (   Float   )   -   \u53ef \u4fee\u6539   gamma   (   Float   )   -   \u53ef \u4fee\u6539   image _ size _ x   (   Int   )   -   \u53ef \u4fee\u6539   image _ size _ y   (   Int   )   -   \u53ef \u4fee\u6539   iso   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ falloff   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ multiplier   (   Float   )   -   \u53ef \u4fee\u6539   lens _ flare _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   lens _ k   (   Float   )   -   \u53ef \u4fee\u6539   lens _ kcube   (   Float   )   -   \u53ef \u4fee\u6539   lens _ x _ size   (   Float   )   -   \u53ef \u4fee\u6539   lens _ y _ size   (   Float   )   -   \u53ef \u4fee\u6539   min _ fstop   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ max _ distortion   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ min _ object _ screen _ size   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   shoulder   (   Float   )   -   \u53ef \u4fee\u6539   shutter _ speed   (   Float   )   -   \u53ef \u4fee\u6539   slope   (   Float   )   -   \u53ef \u4fee\u6539   temp   (   Float   )   -   \u53ef \u4fee\u6539   tint   (   Float   )   -   \u53ef \u4fee\u6539   toe   (   Float   )   -   \u53ef \u4fee\u6539   white _ clip   (   Float   )   -   \u53ef \u4fee\u6539   sensor . camera . semantic _ segmentation   \u5c5e\u6027 \uff1a   fov   (   Float   )   -   \u53ef \u4fee\u6539   image _ size _ x   (   Int   )   -   \u53ef \u4fee\u6539   image _ size _ y   (   Int   )   -   \u53ef \u4fee\u6539   lens _ circle _ falloff   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ multiplier   (   Float   )   -   \u53ef \u4fee\u6539   lens _ k   (   Float   )   -   \u53ef \u4fee\u6539   lens _ kcube   (   Float   )   -   \u53ef \u4fee\u6539   lens _ x _ size   (   Float   )   -   \u53ef \u4fee\u6539   lens _ y _ size   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . lidar . ray _ cast   \u5c5e\u6027 \uff1a   atmosphere _ attenuation _ rate   (   Float   )   -   \u53ef \u4fee\u6539   channels   (   Int   )   -   \u53ef \u4fee\u6539   dropoff _ general _ rate   (   Float   )   -   \u53ef \u4fee\u6539   dropoff _ intensity _ limit   (   Float   )   -   \u53ef \u4fee\u6539   dropoff _ zero _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   horizontal _ fov   (   Float   )   -   \u53ef \u4fee\u6539   lower _ fov   (   Float   )   -   \u53ef \u4fee\u6539   noise _ seed   (   Int   )   -   \u53ef \u4fee\u6539   noise _ stddev   (   Float   )   -   \u53ef \u4fee\u6539   points _ per _ second   (   Int   )   -   \u53ef \u4fee\u6539   range   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   rotation _ frequency   (   Float   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   upper _ fov   (   Float   )   -   \u53ef \u4fee\u6539   sensor . lidar . ray _ cast _ semantic   \u5c5e\u6027 \uff1a   channels   (   Int   )   -   \u53ef \u4fee\u6539   horizontal _ fov   (   Float   )   -   \u53ef \u4fee\u6539   lower _ fov   (   Float   )   -   \u53ef \u4fee\u6539   points _ per _ second   (   Int   )   -   \u53ef \u4fee\u6539   range   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   rotation _ frequency   (   Float   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   upper _ fov   (   Float   )   -   \u53ef \u4fee\u6539   sensor . other . collision   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor . other . gnss   \u5c5e\u6027 \uff1a   noise _ alt _ bias   (   Float   )   -   \u53ef \u4fee\u6539   noise _ alt _ stddev   (   Float   )   -   \u53ef \u4fee\u6539   noise _ lat _ bias   (   Float   )   -   \u53ef \u4fee\u6539   noise _ lat _ stddev   (   Float   )   -   \u53ef \u4fee\u6539   noise _ lon _ bias   (   Float   )   -   \u53ef \u4fee\u6539   noise _ lon _ stddev   (   Float   )   -   \u53ef \u4fee\u6539   noise _ seed   (   Int   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . other . imu   \u5c5e\u6027 \uff1a   noise _ accel _ stddev _ x   (   Float   )   -   \u53ef \u4fee\u6539   noise _ accel _ stddev _ y   (   Float   )   -   \u53ef \u4fee\u6539   noise _ accel _ stddev _ z   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ bias _ x   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ bias _ y   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ bias _ z   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ stddev _ x   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ stddev _ y   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ stddev _ z   (   Float   )   -   \u53ef \u4fee\u6539   noise _ seed   (   Int   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . other . lane _ invasion   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor . other . obstacle   \u5c5e\u6027 \uff1a   debug _ linetrace   (   Bool   )   -   \u53ef \u4fee\u6539   distance   (   Float   )   -   \u53ef \u4fee\u6539   hit _ radius   (   Float   )   -   \u53ef \u4fee\u6539   only _ dynamics   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . other . radar   \u5c5e\u6027 \uff1a   horizontal _ fov   (   Float   )   -   \u53ef \u4fee\u6539   noise _ seed   (   Int   )   -   \u53ef \u4fee\u6539   points _ per _ second   (   Int   )   -   \u53ef \u4fee\u6539   range   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   vertical _ fov   (   Float   )   -   \u53ef \u4fee\u6539   sensor . other . rss   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539","title":"\u4f20\u611f\u5668"},{"location":"bp_library/#static","text":"static . prop . advertisement   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . atm   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . barbeque   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . barrel   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . bench01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . bench02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . bench03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . bike   helmet   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . bin   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . box01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . box02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . box03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . briefcase   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . brokentile01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . brokentile02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . brokentile03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . brokentile04   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . busstop   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . calibrator   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . chainbarrier   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . chainbarrierend   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . clothcontainer   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . clothesline   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . colacan   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . constructioncone   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . container   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . creasedbox01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . creasedbox02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . creasedbox03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . dirtdebris01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . dirtdebris02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . dirtdebris03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . doghouse   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . fountain   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage04   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage05   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage06   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . gardenlamp   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . glasscontainer   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . gnome   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . guitarcase   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . ironplank   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . kiosk _ 01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . mailbox   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . maptable   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . mesh   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   static . prop . mobile   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . motorhelmet   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . omri - 0   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . omri - 1   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . pergola   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot04   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot05   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot06   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot07   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot08   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plasticbag   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plasticchair   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plastictable   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . platformgarbage01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . purse   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . shoppingbag   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . shoppingcart   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . shoppingtrolley   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . slide   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . streetbarrier   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . streetfountain   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . streetsign   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . streetsign01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . streetsign04   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . swing   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . swingcouch   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . table   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trafficcone01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trafficcone02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trafficwarning   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trampoline   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashbag   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashcan01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashcan02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashcan03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashcan04   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashcan05   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . travelcase   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . vendingmachine   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . wateringcan   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . trigger . friction   \u5c5e\u6027 \uff1a   extent _ x   (   Float   )   -   \u53ef \u4fee\u6539   extent _ y   (   Float   )   -   \u53ef \u4fee\u6539   extent _ z   (   Float   )   -   \u53ef \u4fee\u6539   friction   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539","title":"static"},{"location":"bp_library/#vehicle","text":"vehicle . audi . a2   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . audi . etron   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . audi . tt   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . bh . crossbike   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . bmw . grandtourer   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . carlamotors . carlacola   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . carlamotors . firetruck   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . chevrolet . impala   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . citroen . c3   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . diamondback . century   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . dodge . charger _ 2020   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . dodge . charger _ police   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . dodge . charger _ police _ 2020   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . ford . ambulance   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . ford . crown   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . ford . mustang   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . gazelle . omafiets   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . harley - davidson . low _ rider   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . jeep . wrangler _ rubicon   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . kawasaki . ninja   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . lincoln . mkz _ 2017   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . lincoln . mkz _ 2020   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . mercedes . coupe   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . mercedes . coupe _ 2020   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . mercedes . sprinter   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . micro . microlino   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . mini . cooper _ s   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . mini . cooper _ s _ 2021   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . nissan . micra   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . nissan . patrol   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . nissan . patrol _ 2021   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . seat . leon   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . tesla . cybertruck   \u5c5e\u6027 \uff1a   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . tesla . model3   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . toyota . prius   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . vespa . zx125   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . volkswagen . t2   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . volkswagen . t2 _ 2021   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . yamaha . yzf   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539","title":"vehicle"},{"location":"bp_library/#walker","text":"walker . pedestrian.0001   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0002   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0003   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0004   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0005   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0006   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0007   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0008   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0009   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0010   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0011   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0012   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0013   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0014   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0015   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0016   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0017   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0018   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0019   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0020   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0021   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0022   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0023   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0024   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0025   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0026   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0027   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0028   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0029   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0030   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0031   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0032   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0033   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0034   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0035   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0036   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0037   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0038   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0039   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0040   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0041   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0042   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0043   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0044   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0045   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0046   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0047   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0048   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539","title":"walker"},{"location":"build_carla/","text":"\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla   \u7528\u6237 \u53ef\u4ee5 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla   \u4ee5 \u7528\u4e8e \u5f00\u53d1 \u76ee\u7684 \u3002 \u5982\u679c \u60a8 \u60f3\u8981 \u5411   Carla   \u6dfb\u52a0 \u989d\u5916 \u7684 \u7279\u6027 \u6216 \u529f\u80fd \uff0c \u6216\u8005 \u60f3\u8981 \u4f7f\u7528 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u521b\u5efa \u8d44\u6e90 \u6216 \u64cd\u4f5c \u5730\u56fe \uff0c \u5219 \u5efa\u8bae \u5efa\u8bae\u60a8 \u8fd9\u6837 \u505a \u3002   \u6784\u5efa \u8bf4\u660e \u9002\u7528 \u4e8e   Linux   \u548c   Windows \u3002 \u60a8 \u8fd8 \u53ef\u4ee5 \u5728   Docker   \u5bb9\u5668 \u4e2d \u6784\u5efa   Carla \uff0c \u4ee5\u4fbf \u90e8\u7f72 \u5728   AWS \u3001 Azure   \u6216   Google   \u4e91 \u670d\u52a1 \u4e2d \u3002 \u8bbf\u95ee   Carla   GitHub   \u5e76 \u514b\u9686 \u5b58\u50a8 \u5e93 \u3002   Linux   \u6784\u5efa   Windows   \u6784\u5efa   Docker   \u5e26 \u865a\u5e7b \u5f15\u64ce \u7684   Docker   \u66f4\u65b0   Carla   \u6784\u5efa \u7cfb\u7edf   \u5728   Linux   \u4e0a \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   5.3   \u6784\u5efa   \u5728   Windows   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   5.3   \u6784\u5efa   \u5e38\u89c1 \u95ee\u9898 \u5e38\u89c1\u95ee\u9898   \u79d1\u5b66 \u4e0a\u7f51   \u53c2\u8003 \u5176\u4e2d \u7684 \u4e00\u4e2a \u94fe\u63a5 \u8fdb\u884c \u79d1\u5b66 \u4e0a\u7f51 \u7684 \u8ba2\u9605 \u548c \u73af\u5883 \u914d\u7f6e \uff1a   \u94fe\u63a5 1   \u3001   \u94fe\u63a5 2   \u3001   \u94fe\u63a5 3   \u3001   \u94fe\u63a5 4   \u3002   \u6bd4\u5982 \u4f7f\u7528 Clash \uff0c \u9996\u5148 \u5728   \u914d\u7f6e   \u9875\u9762 \u4e0b \u6839\u636e \u8ba2\u9605 \u94fe\u63a5 \u8fdb\u884c \u4e0b\u8f7d \uff0c \u7136\u540e \u5728   \u5e38\u89c4   \u9875\u9762 \u5f00\u542f   \u7cfb\u7edf \u4ee3\u7406   \uff0c \u6700\u540e \u6d4b\u8bd5 \u662f\u5426 \u53ef\u4ee5 \u6b63\u5e38 \u79d1\u5b66 \u4e0a\u7f51 \u3002   Ubuntu   \u4e0b \u7684 \u914d\u7f6e   Linux   \u79d1\u5b66 \u4e0a\u7f51 \u914d\u7f6e   \u6559\u7a0b   \u3002 \u4e0b\u8f7d   clash   \u3002   \u9996\u6b21 \u542f\u52a8   clash   \uff0c \u4f1a \u65b0\u5efa \u6587\u4ef6   ~ / . config / clash / config . yaml   \uff1a   cd   $ HOME / . config / clash /   \u5c06 Clash \u4e2d \u7684 \u8ba2\u9605 \u5730\u5740 \u5199\u5165   config . yaml   \u6587\u4ef6 \u3002   \u6253\u5f00   Ubuntu   \u7684 \u201c \u8bbe\u7f6e \u201d \u7ba1\u7406 \uff0c \u5728 \u201c \u7f51\u7edc \u201d \u5185 \u5c06 \u201c \u7f51\u7edc \u4ee3\u7406 \u201d \u7684 \u201c \u81ea\u52a8 \u201d \u6539\u4e3a \u201c \u624b\u52a8 \u201d \uff0c \u6839\u636e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u8fdb\u884c \u586b\u5199   HTTP \u3001 HTTPS   \u548c   Socks   \u5730\u5740   #   HTTP   \u4ee3\u7406   127.0 . 0.1 : 7890   #   HTTPS   \u4ee3\u7406   127.0 . 0.1 : 7890   #   Socks   \u4e3b\u673a   127.0 . 0.1 : 7891   TortoiseGit   \u7f51\u7edc \u4ee3\u7406 \u914d\u7f6e   \u5982\u679c \u4f7f\u7528 TortoiseGit \u4f5c\u4e3a git \u7684 \u56fe\u5f62 \u56fe\u5f62\u5316 \u754c\u9762 \u8f6f\u4ef6 \uff0c \u9996\u9875 \u5728 \u6587\u4ef6 \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668 \u7a7a\u767d \u4f4d\u7f6e \u53f3\u952e \uff0c \u9009\u62e9   TortoiseGit - > Setting   \uff0c \u7136\u540e \u5728 \u5f39\u51fa \u7684 \u754c\u9762 \u8fdb\u884c \u5982\u4e0b \u914d\u7f6e \uff1a   \u5176\u4ed6   \u865a\u5e7b \u5f15\u64ce commandlet   \u865a\u5e7b \u5f15\u64ce \u7ba1\u7ebf","title":"\u4ece \u6e90\u4ee3\u7801 \u6784\u5efa   Carla"},{"location":"build_carla/#carla","text":"\u7528\u6237 \u53ef\u4ee5 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla   \u4ee5 \u7528\u4e8e \u5f00\u53d1 \u76ee\u7684 \u3002 \u5982\u679c \u60a8 \u60f3\u8981 \u5411   Carla   \u6dfb\u52a0 \u989d\u5916 \u7684 \u7279\u6027 \u6216 \u529f\u80fd \uff0c \u6216\u8005 \u60f3\u8981 \u4f7f\u7528 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u521b\u5efa \u8d44\u6e90 \u6216 \u64cd\u4f5c \u5730\u56fe \uff0c \u5219 \u5efa\u8bae \u5efa\u8bae\u60a8 \u8fd9\u6837 \u505a \u3002   \u6784\u5efa \u8bf4\u660e \u9002\u7528 \u4e8e   Linux   \u548c   Windows \u3002 \u60a8 \u8fd8 \u53ef\u4ee5 \u5728   Docker   \u5bb9\u5668 \u4e2d \u6784\u5efa   Carla \uff0c \u4ee5\u4fbf \u90e8\u7f72 \u5728   AWS \u3001 Azure   \u6216   Google   \u4e91 \u670d\u52a1 \u4e2d \u3002 \u8bbf\u95ee   Carla   GitHub   \u5e76 \u514b\u9686 \u5b58\u50a8 \u5e93 \u3002   Linux   \u6784\u5efa   Windows   \u6784\u5efa   Docker   \u5e26 \u865a\u5e7b \u5f15\u64ce \u7684   Docker   \u66f4\u65b0   Carla   \u6784\u5efa \u7cfb\u7edf   \u5728   Linux   \u4e0a \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   5.3   \u6784\u5efa   \u5728   Windows   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   5.3   \u6784\u5efa   \u5e38\u89c1 \u95ee\u9898 \u5e38\u89c1\u95ee\u9898","title":"\u4ece \u6e90\u4ee3\u7801 \u6784\u5efa   Carla"},{"location":"build_carla/#_1","text":"\u53c2\u8003 \u5176\u4e2d \u7684 \u4e00\u4e2a \u94fe\u63a5 \u8fdb\u884c \u79d1\u5b66 \u4e0a\u7f51 \u7684 \u8ba2\u9605 \u548c \u73af\u5883 \u914d\u7f6e \uff1a   \u94fe\u63a5 1   \u3001   \u94fe\u63a5 2   \u3001   \u94fe\u63a5 3   \u3001   \u94fe\u63a5 4   \u3002   \u6bd4\u5982 \u4f7f\u7528 Clash \uff0c \u9996\u5148 \u5728   \u914d\u7f6e   \u9875\u9762 \u4e0b \u6839\u636e \u8ba2\u9605 \u94fe\u63a5 \u8fdb\u884c \u4e0b\u8f7d \uff0c \u7136\u540e \u5728   \u5e38\u89c4   \u9875\u9762 \u5f00\u542f   \u7cfb\u7edf \u4ee3\u7406   \uff0c \u6700\u540e \u6d4b\u8bd5 \u662f\u5426 \u53ef\u4ee5 \u6b63\u5e38 \u79d1\u5b66 \u4e0a\u7f51 \u3002","title":"\u79d1\u5b66 \u4e0a\u7f51  "},{"location":"build_carla/#ubuntu","text":"Linux   \u79d1\u5b66 \u4e0a\u7f51 \u914d\u7f6e   \u6559\u7a0b   \u3002 \u4e0b\u8f7d   clash   \u3002   \u9996\u6b21 \u542f\u52a8   clash   \uff0c \u4f1a \u65b0\u5efa \u6587\u4ef6   ~ / . config / clash / config . yaml   \uff1a   cd   $ HOME / . config / clash /   \u5c06 Clash \u4e2d \u7684 \u8ba2\u9605 \u5730\u5740 \u5199\u5165   config . yaml   \u6587\u4ef6 \u3002   \u6253\u5f00   Ubuntu   \u7684 \u201c \u8bbe\u7f6e \u201d \u7ba1\u7406 \uff0c \u5728 \u201c \u7f51\u7edc \u201d \u5185 \u5c06 \u201c \u7f51\u7edc \u4ee3\u7406 \u201d \u7684 \u201c \u81ea\u52a8 \u201d \u6539\u4e3a \u201c \u624b\u52a8 \u201d \uff0c \u6839\u636e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u8fdb\u884c \u586b\u5199   HTTP \u3001 HTTPS   \u548c   Socks   \u5730\u5740   #   HTTP   \u4ee3\u7406   127.0 . 0.1 : 7890   #   HTTPS   \u4ee3\u7406   127.0 . 0.1 : 7890   #   Socks   \u4e3b\u673a   127.0 . 0.1 : 7891","title":"Ubuntu   \u4e0b \u7684 \u914d\u7f6e"},{"location":"build_carla/#tortoisegit","text":"\u5982\u679c \u4f7f\u7528 TortoiseGit \u4f5c\u4e3a git \u7684 \u56fe\u5f62 \u56fe\u5f62\u5316 \u754c\u9762 \u8f6f\u4ef6 \uff0c \u9996\u9875 \u5728 \u6587\u4ef6 \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668 \u7a7a\u767d \u4f4d\u7f6e \u53f3\u952e \uff0c \u9009\u62e9   TortoiseGit - > Setting   \uff0c \u7136\u540e \u5728 \u5f39\u51fa \u7684 \u754c\u9762 \u8fdb\u884c \u5982\u4e0b \u914d\u7f6e \uff1a","title":"TortoiseGit   \u7f51\u7edc \u4ee3\u7406 \u914d\u7f6e"},{"location":"build_carla/#_2","text":"\u865a\u5e7b \u5f15\u64ce commandlet   \u865a\u5e7b \u5f15\u64ce \u7ba1\u7ebf","title":"\u5176\u4ed6"},{"location":"build_docker/","text":"Docker   \u4e2d \u7684   Carla   \u7528\u6237 \u53ef\u4ee5 \u62c9\u53d6 \u57fa\u4e8e   Carla   \u7248\u672c \u7684 \u6620\u50cf \u4ee5 \u5728   Docker   \u5bb9\u5668 \u4e2d \u8fd0\u884c \u3002 \u8fd9 \u5bf9\u4e8e \u4ee5\u4e0b \u7528\u6237 \u5f88 \u6709\u7528 \uff1a   \u60f3\u8981 \u8fd0\u884c   Carla   \u800c \u4e0d \u9700\u8981 \u5b89\u88c5 \u6240\u6709 \u4f9d\u8d56 \u9879   \u8fd0\u884c \u591a\u4e2a   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5e76 \u6267\u884c   GPU   \u6620\u5c04   \u5728 \u6ca1\u6709 \u663e\u793a \u7684 \u60c5\u51b5 \u4e0b \u8fd0\u884c   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u672c \u6559\u7a0b \u4ecb\u7ecd \u4e86 \u8fd0\u884c   Carla   \u56fe\u50cf \u7684 \u8981\u6c42 \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528   OpenGL   \u548c   Vulkan   \u56fe\u5f62   API   \u8fd0\u884c \u56fe\u50cf \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5728 \u5bb9\u5668 \u4e2d \u8fd0\u884c   Carla   \u79bb\u5c4f \u6a21\u5f0f   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u60a8 \u9700\u8981 \u5b89\u88c5 \uff1a   Docker :   \u6309\u7167   \u6b64\u5904   \u7684 \u5b89\u88c5 \u8bf4\u660e \u8fdb\u884c \u64cd\u4f5c \u3002   NVIDIA   Container   Toolkit :   NVIDIA   \u5bb9\u5668 \u5de5\u5177 \u5de5\u5177\u5305 \u662f \u4e00\u4e2a \u5e93 \u548c \u5de5\u5177 \u5de5\u5177\u96c6 \uff0c \u53ef \u5c06   NVIDIA   \u56fe\u5f62 \u8bbe\u5907 \u516c\u5f00 \u7ed9   Linux   \u5bb9\u5668 \u3002 \u5b83 \u4e13\u4e3a \u5728   Linux   \u4e3b\u673a \u7cfb\u7edf \u6216 \u9002\u7528 \u4e8e   Linux   \u7684   Windows   \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7248\u672c   2   \u4e0b \u7684   Linux   \u53d1\u884c \u53d1\u884c\u7248 \u4e2d \u8fd0\u884c \u7684   Linux   \u5bb9\u5668 \u800c \u8bbe\u8ba1 \u3002   nvidia - docker2   \u6309\u7167   \u6b64\u5904   \u7684 \u8bf4\u660e \u5b89\u88c5 \u8be5 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002   CentOS \u5b89\u88c5 Docker \uff1a   yum   install   - y   yum - utils   device - mapper - persistent - data   lvm2   yum - config - manager   -- add - repo   http : / / mirrors . aliyun . com / docker - ce / linux / centos / docker - ce . repo   yum   list   docker - ce   -- showduplicates   |   sort   - r   yum   - y   install   docker - ce - 18.03 . 1 . ce   docker \u542f\u52a8 \u51fa\u9519 \uff1a   failed   to   start   daemon :   error   initializing   graphdriver :   driver   not   supported   \u89e3\u51b3 \uff1a   rm   - rf   / var / lib / docker / *   systemctl   restart   docker   CentOS   \u5b89\u88c5   NVIDIA   \u5bb9\u5668 \u5de5\u5177 \u5de5\u5177\u5305 \u547d\u4ee4 \uff1a   curl   - s   - L   https : / / nvidia . github . io / libnvidia - container / stable / rpm / nvidia - container - toolkit . repo   |   \\   tee   / etc / yum . repos . d / nvidia - container - toolkit . repo   yum - config - manager   -- enable   nvidia - container - toolkit - experimental   yum   install   - y   nvidia - container - toolkit   nvidia - ctk   runtime   configure   -- runtime = docker   \u7b14\u8bb0   Docker   \u9700\u8981   sudo   \u624d\u80fd \u8fd0\u884c \u3002 \u6309\u7167   \u672c \u6307\u5357   \u5c06 \u7528\u6237 \u6dfb\u52a0 \u5230   docker   sudo   \u7ec4 \u3002   \u5728 \u5bb9\u5668 \u4e2d \u8fd0\u884c   Carla   1 .   \u62c9\u53d6   Carla   \u955c\u50cf \u3002   \u60a8 \u53ef\u4ee5 \u63d0\u53d6 \u6700\u65b0 \u7684   Carla   \u6620\u50cf \u6216 \u7279\u5b9a \u7684 \u53d1\u884c \u7248\u672c \u3002 \u6700\u65b0 \u955c\u50cf \u662f \u6307   \u6700\u65b0 \u7684 \u6253\u5305 \u7248\u672c   \u3002 \u8981\u62c9\u53d6 \u6620\u50cf \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4e4b\u4e00 \uff1a   #   \u62c9\u53d6 \u6700\u65b0 \u7684 \u955c\u50cf   docker   pull   carlasim / carla : latest   #   \u62c9\u53d6 \u7279\u5b9a \u7684 \u7248\u672c   docker   pull   carlasim / carla : 0.9 . 12   2 .   \u8fd0\u884c   Carla   \u5bb9\u5668 \u3002   \u4e0d\u540c \u7248\u672c \u7684   Carla   \u652f\u6301 \u4e0d\u540c \u7684 \u56fe\u5f62   API \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u5f71\u54cd   Docker   \u955c\u50cf \u7684 \u8fd0\u884c \u6761\u4ef6 \uff1a   0.9 . 12   \u4ec5 \u652f\u6301   Vulkan   0.9 . 7 +   \u540c\u65f6 \u652f\u6301   Vulkan   \u548c   OpenGL \u3002   Carla   0.9 . 12   \u8981 \u4f7f\u7528 \u663e\u793a \u8fd0\u884c   Carla \uff1a   sudo   docker   run   -- privileged   -- gpus   all   -- net = host   - e   DISPLAY = $ DISPLAY   carlasim / carla : 0.9 . 12   / bin / bash   . / CarlaUE4 . sh   \u8981 \u5728 \u79bb\u5c4f \u6a21\u5f0f \u4e0b \u8fd0\u884c   Carla \uff1a   sudo   docker   run   -- privileged   -- gpus   all   -- net = host   - v   / tmp / . X11 - unix : / tmp / . X11 - unix : rw   carlasim / carla : 0.9 . 12   / bin / bash   . / CarlaUE4 . sh   - RenderOffScreen   Carla   0.9 . 7   \u81f3   0.9 . 11   \u8981 \u4f7f\u7528   Vulkan   \u8fd0\u884c   Carla \uff1a   sudo   docker   run   -- privileged   -- gpus   all   -- net = host   - e   DISPLAY = $ DISPLAY   - e   SDL _ VIDEODRIVER = x11   - v   / tmp / . X11 - unix : / tmp / . X11 - unix : rw   carlasim / carla : 0.9 . 11   / bin / bash   . / CarlaUE4 . sh   - vulkan   < - additonal - carla - flags >   \u7b14\u8bb0   \u53ea\u8981 \u60a8 \u7684 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u6709 \u663e\u793a \u663e\u793a\u5668 \uff0c \u6b64 \u547d\u4ee4 \u5c06 \u5141\u8bb8 \u60a8 \u4f7f\u7528   Vulkan   \u8fd0\u884c   Carla   \u6620\u50cf \u3002 \u6709\u5173 \u5728 \u79bb\u5c4f \u6a21\u5f0f \u4e0b \u8fd0\u884c   Vulkan   \u7684 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u6e32\u67d3 \u6587\u6863   \u3002   \u8981 \u4f7f\u7528   OpenGL   \u8fd0\u884c   Carla \uff1a   docker   run   - e   DISPLAY = $ DISPLAY   -- net = host   -- gpus   all   -- runtime = nvidia   carlasim / carla : < version >   / bin / bash   CarlaUE4 . sh   - opengl   < - additonal - carla - flags >   3 .   \uff08 \u53ef \u9009 \uff09 \u914d\u7f6e   Docker   \u6807\u5fd7 \u3002   \u4e0a\u9762 \u7684 \u547d\u4ee4 \u4f7f\u7528 \u4e86 \u4e00\u4e9b   Docker   \u6807\u5fd7 \uff0c \u53ef\u4ee5 \u6839\u636e \u60a8 \u7684 \u9700\u8981 \u8fdb\u884c \u914d\u7f6e \uff1a   Networking :   -- net = host   \u53c2\u6570 \u5c06 \u5141\u8bb8 \u5bb9\u5668 \u5171\u4eab \u4e3b\u673a \u7684 \u6574\u4e2a \u7f51\u7edc \u3002 \u5982\u679c \u60a8 \u5e0c\u671b \u5c06 \u4e3b\u673a \u4e0a \u7684 \u7279\u5b9a \u7aef\u53e3   \u6620\u5c04 \u5230 \u5bb9\u5668 \u7aef\u53e3   \uff0c \u8bf7 \u4f7f\u7528 \u6807\u5fd7   - p   < host - ports > : < container - ports >   \u3002   GPUs :   \u60a8 \u53ef\u4ee5 \u4f7f\u7528   -- gpus   all   \u9009\u62e9 \u6709\u6240   GPU \uff0c \u6216\u8005 \u4f7f\u7528   -- gpus   ' \" device = < gpu _ 01 > , < gpu _ 02 > \" '   \u4f7f\u7528 \u7279\u5b9a   GPU \u3002   \u6d4f\u89c8   \u6b64\u5904   \u83b7\u53d6 \u66f4 \u591a \u4fe1\u606f \u3002   \u79bb\u5c4f \u6a21\u5f0f   \u5982\u679c \u60a8 \u5728 \u6ca1\u6709 \u663e\u793a \u663e\u793a\u5668 \u7684 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u8fd0\u884c   Carla \uff0c \u5219   OpenGL   \u4e0d \u9700\u8981 \u914d\u7f6e \uff0c \u4f46\u662f \u60a8 \u9700\u8981 \u6267\u884c \u4e00\u4e9b \u989d\u5916 \u7684 \u6b65\u9aa4 \u624d\u80fd \u4f7f\u7528   Carla   0.9 . 12   \u4e4b\u524d \u7684   Vulkan   \u6267\u884c \u76f8\u540c \u7684 \u64cd\u4f5c \u3002 \u6709\u5173 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u6e32\u67d3 \u6587\u6863   \u3002   \u4e0e \u6b64 \u4e3b\u9898 \u76f8\u5173 \u7684 \u4efb\u4f55 \u95ee\u9898 \u6216 \u7591\u95ee \u90fd \u53ef\u4ee5 \u5728   Carla   \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"Build   docker"},{"location":"build_docker/#docker-carla","text":"\u7528\u6237 \u53ef\u4ee5 \u62c9\u53d6 \u57fa\u4e8e   Carla   \u7248\u672c \u7684 \u6620\u50cf \u4ee5 \u5728   Docker   \u5bb9\u5668 \u4e2d \u8fd0\u884c \u3002 \u8fd9 \u5bf9\u4e8e \u4ee5\u4e0b \u7528\u6237 \u5f88 \u6709\u7528 \uff1a   \u60f3\u8981 \u8fd0\u884c   Carla   \u800c \u4e0d \u9700\u8981 \u5b89\u88c5 \u6240\u6709 \u4f9d\u8d56 \u9879   \u8fd0\u884c \u591a\u4e2a   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5e76 \u6267\u884c   GPU   \u6620\u5c04   \u5728 \u6ca1\u6709 \u663e\u793a \u7684 \u60c5\u51b5 \u4e0b \u8fd0\u884c   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u672c \u6559\u7a0b \u4ecb\u7ecd \u4e86 \u8fd0\u884c   Carla   \u56fe\u50cf \u7684 \u8981\u6c42 \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528   OpenGL   \u548c   Vulkan   \u56fe\u5f62   API   \u8fd0\u884c \u56fe\u50cf \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5728 \u5bb9\u5668 \u4e2d \u8fd0\u884c   Carla   \u79bb\u5c4f \u6a21\u5f0f","title":"Docker   \u4e2d \u7684   Carla"},{"location":"build_docker/#_1","text":"\u60a8 \u9700\u8981 \u5b89\u88c5 \uff1a   Docker :   \u6309\u7167   \u6b64\u5904   \u7684 \u5b89\u88c5 \u8bf4\u660e \u8fdb\u884c \u64cd\u4f5c \u3002   NVIDIA   Container   Toolkit :   NVIDIA   \u5bb9\u5668 \u5de5\u5177 \u5de5\u5177\u5305 \u662f \u4e00\u4e2a \u5e93 \u548c \u5de5\u5177 \u5de5\u5177\u96c6 \uff0c \u53ef \u5c06   NVIDIA   \u56fe\u5f62 \u8bbe\u5907 \u516c\u5f00 \u7ed9   Linux   \u5bb9\u5668 \u3002 \u5b83 \u4e13\u4e3a \u5728   Linux   \u4e3b\u673a \u7cfb\u7edf \u6216 \u9002\u7528 \u4e8e   Linux   \u7684   Windows   \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7248\u672c   2   \u4e0b \u7684   Linux   \u53d1\u884c \u53d1\u884c\u7248 \u4e2d \u8fd0\u884c \u7684   Linux   \u5bb9\u5668 \u800c \u8bbe\u8ba1 \u3002   nvidia - docker2   \u6309\u7167   \u6b64\u5904   \u7684 \u8bf4\u660e \u5b89\u88c5 \u8be5 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002   CentOS \u5b89\u88c5 Docker \uff1a   yum   install   - y   yum - utils   device - mapper - persistent - data   lvm2   yum - config - manager   -- add - repo   http : / / mirrors . aliyun . com / docker - ce / linux / centos / docker - ce . repo   yum   list   docker - ce   -- showduplicates   |   sort   - r   yum   - y   install   docker - ce - 18.03 . 1 . ce   docker \u542f\u52a8 \u51fa\u9519 \uff1a   failed   to   start   daemon :   error   initializing   graphdriver :   driver   not   supported   \u89e3\u51b3 \uff1a   rm   - rf   / var / lib / docker / *   systemctl   restart   docker   CentOS   \u5b89\u88c5   NVIDIA   \u5bb9\u5668 \u5de5\u5177 \u5de5\u5177\u5305 \u547d\u4ee4 \uff1a   curl   - s   - L   https : / / nvidia . github . io / libnvidia - container / stable / rpm / nvidia - container - toolkit . repo   |   \\   tee   / etc / yum . repos . d / nvidia - container - toolkit . repo   yum - config - manager   -- enable   nvidia - container - toolkit - experimental   yum   install   - y   nvidia - container - toolkit   nvidia - ctk   runtime   configure   -- runtime = docker   \u7b14\u8bb0   Docker   \u9700\u8981   sudo   \u624d\u80fd \u8fd0\u884c \u3002 \u6309\u7167   \u672c \u6307\u5357   \u5c06 \u7528\u6237 \u6dfb\u52a0 \u5230   docker   sudo   \u7ec4 \u3002","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"build_docker/#carla","text":"1 .   \u62c9\u53d6   Carla   \u955c\u50cf \u3002   \u60a8 \u53ef\u4ee5 \u63d0\u53d6 \u6700\u65b0 \u7684   Carla   \u6620\u50cf \u6216 \u7279\u5b9a \u7684 \u53d1\u884c \u7248\u672c \u3002 \u6700\u65b0 \u955c\u50cf \u662f \u6307   \u6700\u65b0 \u7684 \u6253\u5305 \u7248\u672c   \u3002 \u8981\u62c9\u53d6 \u6620\u50cf \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4e4b\u4e00 \uff1a   #   \u62c9\u53d6 \u6700\u65b0 \u7684 \u955c\u50cf   docker   pull   carlasim / carla : latest   #   \u62c9\u53d6 \u7279\u5b9a \u7684 \u7248\u672c   docker   pull   carlasim / carla : 0.9 . 12   2 .   \u8fd0\u884c   Carla   \u5bb9\u5668 \u3002   \u4e0d\u540c \u7248\u672c \u7684   Carla   \u652f\u6301 \u4e0d\u540c \u7684 \u56fe\u5f62   API \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u5f71\u54cd   Docker   \u955c\u50cf \u7684 \u8fd0\u884c \u6761\u4ef6 \uff1a   0.9 . 12   \u4ec5 \u652f\u6301   Vulkan   0.9 . 7 +   \u540c\u65f6 \u652f\u6301   Vulkan   \u548c   OpenGL \u3002   Carla   0.9 . 12   \u8981 \u4f7f\u7528 \u663e\u793a \u8fd0\u884c   Carla \uff1a   sudo   docker   run   -- privileged   -- gpus   all   -- net = host   - e   DISPLAY = $ DISPLAY   carlasim / carla : 0.9 . 12   / bin / bash   . / CarlaUE4 . sh   \u8981 \u5728 \u79bb\u5c4f \u6a21\u5f0f \u4e0b \u8fd0\u884c   Carla \uff1a   sudo   docker   run   -- privileged   -- gpus   all   -- net = host   - v   / tmp / . X11 - unix : / tmp / . X11 - unix : rw   carlasim / carla : 0.9 . 12   / bin / bash   . / CarlaUE4 . sh   - RenderOffScreen   Carla   0.9 . 7   \u81f3   0.9 . 11   \u8981 \u4f7f\u7528   Vulkan   \u8fd0\u884c   Carla \uff1a   sudo   docker   run   -- privileged   -- gpus   all   -- net = host   - e   DISPLAY = $ DISPLAY   - e   SDL _ VIDEODRIVER = x11   - v   / tmp / . X11 - unix : / tmp / . X11 - unix : rw   carlasim / carla : 0.9 . 11   / bin / bash   . / CarlaUE4 . sh   - vulkan   < - additonal - carla - flags >   \u7b14\u8bb0   \u53ea\u8981 \u60a8 \u7684 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u6709 \u663e\u793a \u663e\u793a\u5668 \uff0c \u6b64 \u547d\u4ee4 \u5c06 \u5141\u8bb8 \u60a8 \u4f7f\u7528   Vulkan   \u8fd0\u884c   Carla   \u6620\u50cf \u3002 \u6709\u5173 \u5728 \u79bb\u5c4f \u6a21\u5f0f \u4e0b \u8fd0\u884c   Vulkan   \u7684 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u6e32\u67d3 \u6587\u6863   \u3002   \u8981 \u4f7f\u7528   OpenGL   \u8fd0\u884c   Carla \uff1a   docker   run   - e   DISPLAY = $ DISPLAY   -- net = host   -- gpus   all   -- runtime = nvidia   carlasim / carla : < version >   / bin / bash   CarlaUE4 . sh   - opengl   < - additonal - carla - flags >   3 .   \uff08 \u53ef \u9009 \uff09 \u914d\u7f6e   Docker   \u6807\u5fd7 \u3002   \u4e0a\u9762 \u7684 \u547d\u4ee4 \u4f7f\u7528 \u4e86 \u4e00\u4e9b   Docker   \u6807\u5fd7 \uff0c \u53ef\u4ee5 \u6839\u636e \u60a8 \u7684 \u9700\u8981 \u8fdb\u884c \u914d\u7f6e \uff1a   Networking :   -- net = host   \u53c2\u6570 \u5c06 \u5141\u8bb8 \u5bb9\u5668 \u5171\u4eab \u4e3b\u673a \u7684 \u6574\u4e2a \u7f51\u7edc \u3002 \u5982\u679c \u60a8 \u5e0c\u671b \u5c06 \u4e3b\u673a \u4e0a \u7684 \u7279\u5b9a \u7aef\u53e3   \u6620\u5c04 \u5230 \u5bb9\u5668 \u7aef\u53e3   \uff0c \u8bf7 \u4f7f\u7528 \u6807\u5fd7   - p   < host - ports > : < container - ports >   \u3002   GPUs :   \u60a8 \u53ef\u4ee5 \u4f7f\u7528   -- gpus   all   \u9009\u62e9 \u6709\u6240   GPU \uff0c \u6216\u8005 \u4f7f\u7528   -- gpus   ' \" device = < gpu _ 01 > , < gpu _ 02 > \" '   \u4f7f\u7528 \u7279\u5b9a   GPU \u3002   \u6d4f\u89c8   \u6b64\u5904   \u83b7\u53d6 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u5728 \u5bb9\u5668 \u4e2d \u8fd0\u884c   Carla  "},{"location":"build_docker/#_2","text":"\u5982\u679c \u60a8 \u5728 \u6ca1\u6709 \u663e\u793a \u663e\u793a\u5668 \u7684 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u8fd0\u884c   Carla \uff0c \u5219   OpenGL   \u4e0d \u9700\u8981 \u914d\u7f6e \uff0c \u4f46\u662f \u60a8 \u9700\u8981 \u6267\u884c \u4e00\u4e9b \u989d\u5916 \u7684 \u6b65\u9aa4 \u624d\u80fd \u4f7f\u7528   Carla   0.9 . 12   \u4e4b\u524d \u7684   Vulkan   \u6267\u884c \u76f8\u540c \u7684 \u64cd\u4f5c \u3002 \u6709\u5173 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u6e32\u67d3 \u6587\u6863   \u3002   \u4e0e \u6b64 \u4e3b\u9898 \u76f8\u5173 \u7684 \u4efb\u4f55 \u95ee\u9898 \u6216 \u7591\u95ee \u90fd \u53ef\u4ee5 \u5728   Carla   \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"\u79bb\u5c4f \u6a21\u5f0f  "},{"location":"build_docker_unreal/","text":"\u5728   Docker   \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u672c \u6307\u5357 \u89e3\u91ca \u4e86 \u5982\u4f55 \u4f7f\u7528   Docker   \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla \u3002 \u7136\u540e \uff0c \u751f\u6210 \u7684 \u6620\u50cf \u53ef \u7528\u4e8e \u521b\u5efa   Carla   \u5305 \u6216 \u51c6\u5907 \u5728   Carla   \u5305\u4e2d \u4f7f\u7528 \u7684 \u8d44\u6e90 \u3002 \u6b64 \u8fc7\u7a0b \u4e0d\u5e94 \u4e0e \u7528\u4e8e \u5728 \u591a\u4e2a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6216 \u6ca1\u6709 \u663e\u793a \u663e\u793a\u5668 \u7684 \u60c5\u51b5 \u4e0b \u8fd0\u884c   Carla   \u7684 \u9884 \u6784\u5efa   Carla   Docker   \u6620\u50cf \u76f8 \u6df7\u6dc6 \u3002 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u76f8\u5173 \u6587\u6863 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u7cfb\u7edf \u8981\u6c42   \u8f6f\u4ef6 \u8981\u6c42   \u6784\u5efa \u955c\u50cf   \u4e0b \u4e00\u6b65 \uff1a \u6253\u5305   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u7cfb\u7edf \u8981\u6c42   \u60a8 \u9700\u8981 \u6ee1\u8db3 \u4ee5\u4e0b \u7cfb\u7edf \u8981\u6c42 \uff1a   64 \u4f4d \u7248\u672c \u7684 Docker \u662f Ubuntu   16.04 +   \u81f3\u5c11   8GB   \u5185\u5b58   \u7528\u4e8e \u521d\u59cb \u5bb9\u5668 \u6784\u5efa \u8fc7\u7a0b \u7684 \u81f3\u5c11   600GB   \u53ef\u7528 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4   \u8f6f\u4ef6 \u8981\u6c42   Docker :   \u6309\u7167   \u6b64\u5904   \u7684 \u5b89\u88c5 \u8bf4\u660e \u5b89\u88c5   Docker   \u3002   Python   :   \u60a8 \u9700\u8981 \u5b89\u88c5   Python   3.6   \u6216 \u66f4 \u9ad8 \u7248\u672c \u5e76 \u5728 \u7cfb\u7edf \u8def\u5f84 \u4e2d \u6b63\u786e \u8bbe\u7f6e \u3002 \u6709\u5173 \u5b89\u88c5 \u8bf4\u660e \u548c   Python   \u6587\u6863 \uff0c \u8bf7 \u67e5\u770b   \u6b64\u5904   \u3002   \u865a\u5e7b \u5f15\u64ce   GitHub   \u8bbf\u95ee   :   \u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   4.26   \u7684 \u4fee\u6539 \u6539\u7248 \u4fee\u6539\u7248 \u3002 \u8be5 \u5206\u652f \u5305\u542b   Carla   \u7279\u5b9a \u7684 \u8865\u4e01 \u3002 \u8fd9 \u5c06 \u5728   Docker   \u6784\u5efa \u8fc7\u7a0b \u4e2d \u4e0b\u8f7d \u3002 \u5bf9\u4e8e \u6b64 \u4e0b\u8f7d \uff0c \u60a8 \u9700\u8981 \u6709 \u4e00\u4e2a \u4e0e \u865a\u5e7b \u5f15\u64ce \u5e10\u6237 \u5173\u8054 \u7684   GitHub   \u5e10\u6237 \u3002 \u5982\u679c \u60a8 \u6ca1\u6709 \u8fdb\u884c \u6b64 \u8bbe\u7f6e \uff0c \u8bf7 \u5148 \u6309\u7167   \u672c \u6307\u5357   \u8fdb\u884c \u64cd\u4f5c \uff0c \u7136\u540e \u518d \u7ee7\u7eed \u64cd\u4f5c \u3002 \u5728 \u6784\u5efa \u8fc7\u7a0b \u4e2d \u60a8 \u9700\u8981 \u767b\u5f55 \u60a8 \u7684 \u5e10\u6237 \u3002 \u6216\u8005 \u76f4\u63a5 \u4ece   \u5f00\u6e90 \u6e56 \u5de5\u5546 \u4ed3\u5e93   \u8fdb\u884c \u4e0b\u8f7d \u3002   Carla :   \u4e3a   Carla   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u4ee5\u53ca   Carla   \u672c\u8eab \u6240 \u9700 \u7684   Dockerfile   \u548c \u5de5\u5177 \u4f4d\u4e8e   Util / DockerCARLA   \u6e90 \u5b58\u50a8 \u5e93 \u7684 \u76ee\u5f55 \u4e2d \u3002   \u5982\u679c \u60a8 \u8fd8 \u6ca1\u6709 \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u4e0b\u8f7d \u5b58\u50a8 \u5e93 \uff1a   git   clone   https : / / github . com / carla - simulator / carla   \u6784\u5efa \u955c\u50cf   \u4ee5\u4e0b \u6b65\u9aa4 \u5c06 \u82b1\u8d39 \u5f88 \u65f6\u95f4 \u957f\u65f6\u95f4 \u3002   1 .   \u6784\u5efa   Carla   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6 \u955c\u50cf \u3002   \u4ee5\u4e0b \u547d\u4ee4 \u5c06 \u4f7f\u7528   Prerequisites . Dockerfile   \u6784\u5efa \u4e00\u4e2a \u540d\u4e3a   carla - prerequisitesusing   \u7684 \u6620\u50cf \u3002 \u5728 \u6b64 \u7248\u672c \u4e2d \uff0c \u6211\u4eec \u5b89\u88c5 \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u548c \u6240 \u9700 \u7684 \u5de5\u5177 \uff0c \u4e0b\u8f7d \u865a\u5e7b \u5f15\u64ce   4.26   \u5206\u652f \u5e76 \u7f16\u8bd1 \u5b83 \u3002 \u60a8 \u9700\u8981 \u63d0\u4f9b \u60a8 \u7684 \u767b\u5f55 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u4f5c\u4e3a \u6784\u5efa \u53c2\u6570 \uff0c \u624d\u80fd \u6210\u529f \u4e0b\u8f7d \u865a\u5e7b \u5f15\u64ce \uff1a   docker   build   -- build - arg   EPIC _ USER = < GitHubUserName >   -- build - arg   EPIC _ PASS = < GitHubPassword >   - t   carla - prerequisites   - f   Prerequisites . Dockerfile   .   2 .   \u6784\u5efa \u6700\u7ec8 \u7684   Carla   \u955c\u50cf \u3002   \u4ee5\u4e0b \u547d\u4ee4 \u5c06 \u4f7f\u7528 \u4e0a \u4e00\u6b65 \u4e2d \u521b\u5efa \u7684 \u6620\u50cf \u57fa\u4e8e   Carla   \u5b58\u50a8 \u5e93 \u7684 \u5f53\u524d \u4e3b \u5206\u652f \uff08 \u6700\u65b0 \u7248\u672c \uff09 \u6784\u5efa \u6700\u7ec8 \u7684   Carla   \u6620\u50cf \uff1a   docker   build   - t   carla   - f   Carla . Dockerfile   .   \u5982\u679c \u60a8 \u60f3 \u6784\u5efa   Carla   \u5b58\u50a8 \u5e93 \u7684 \u7279\u5b9a \u5206\u652f \u6216 \u6807\u7b7e \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   docker   build   - t   carla   - f   Carla . Dockerfile   .   -- build - arg   GIT _ BRANCH = < branch _ or _ tag _ name >   \u4e0b \u4e00\u6b65 \uff1a \u6253\u5305   \u672c \u6307\u5357 \u4e2d \u521b\u5efa \u7684   Carla   \u955c\u50cf \u7528\u4e8e \u521b\u5efa \u72ec\u7acb \u7684   Carla   \u5305 \u6216 \u6253\u5305 \u5730\u56fe \u6216 \u7f51\u683c \u7b49 \u8d44\u6e90 \uff0c \u4ee5\u4fbf \u5b83\u4eec \u53ef\u4ee5 \u5728   Carla   \u5305\u4e2d \u4f7f\u7528 \u3002 \u8fd9\u662f \u901a\u8fc7 \u4f7f\u7528   Util / Docker   \u4e2d \u7684 \u811a\u672c   docker _ tools . py   \u6765 \u5b9e\u73b0 \u7684 \u3002 \u8be5 \u811a\u672c \u7528\u4e8e   docker - py   \u5904\u7406   Docker   \u955c\u50cf \u6620\u50cf \u3002   \u8be5   docker _ tools . py   \u811a\u672c \u53ef \u7528\u4e8e \uff1a   \u521b\u5efa   Carla   \u5305   \uff1a \u5728   \u6b64\u5904   \u67e5\u627e \u6559\u7a0b \u3002   \u5728   Carla   \u5305\u4e2d \u70d8\u7119 \u9700\u8981 \u4f7f\u7528 \u7684 \u8d44\u4ea7 \uff1a   \u5728   \u6b64\u5904   \u67e5\u627e \u6559\u7a0b \u3002   \u51c6\u5907 \u5730\u56fe \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u5728   Carla   \u5305\u4e2d \u4f7f\u7528 \uff1a   \u5728   \u6b64\u5904   \u67e5\u627e \u6559\u7a0b \u3002   \u4e0e \u6b64 \u4e3b\u9898 \u76f8\u5173 \u7684 \u4efb\u4f55 \u95ee\u9898 \u6216 \u7591\u95ee \u90fd \u53ef\u4ee5 \u5728   Carla   \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   forum","title":"\u5728   Docker   \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla"},{"location":"build_docker_unreal/#docker-carla","text":"\u672c \u6307\u5357 \u89e3\u91ca \u4e86 \u5982\u4f55 \u4f7f\u7528   Docker   \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla \u3002 \u7136\u540e \uff0c \u751f\u6210 \u7684 \u6620\u50cf \u53ef \u7528\u4e8e \u521b\u5efa   Carla   \u5305 \u6216 \u51c6\u5907 \u5728   Carla   \u5305\u4e2d \u4f7f\u7528 \u7684 \u8d44\u6e90 \u3002 \u6b64 \u8fc7\u7a0b \u4e0d\u5e94 \u4e0e \u7528\u4e8e \u5728 \u591a\u4e2a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6216 \u6ca1\u6709 \u663e\u793a \u663e\u793a\u5668 \u7684 \u60c5\u51b5 \u4e0b \u8fd0\u884c   Carla   \u7684 \u9884 \u6784\u5efa   Carla   Docker   \u6620\u50cf \u76f8 \u6df7\u6dc6 \u3002 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u76f8\u5173 \u6587\u6863 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u7cfb\u7edf \u8981\u6c42   \u8f6f\u4ef6 \u8981\u6c42   \u6784\u5efa \u955c\u50cf   \u4e0b \u4e00\u6b65 \uff1a \u6253\u5305","title":"\u5728   Docker   \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla"},{"location":"build_docker_unreal/#_1","text":"","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"build_docker_unreal/#_2","text":"\u60a8 \u9700\u8981 \u6ee1\u8db3 \u4ee5\u4e0b \u7cfb\u7edf \u8981\u6c42 \uff1a   64 \u4f4d \u7248\u672c \u7684 Docker \u662f Ubuntu   16.04 +   \u81f3\u5c11   8GB   \u5185\u5b58   \u7528\u4e8e \u521d\u59cb \u5bb9\u5668 \u6784\u5efa \u8fc7\u7a0b \u7684 \u81f3\u5c11   600GB   \u53ef\u7528 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4","title":"\u7cfb\u7edf \u8981\u6c42  "},{"location":"build_docker_unreal/#_3","text":"Docker :   \u6309\u7167   \u6b64\u5904   \u7684 \u5b89\u88c5 \u8bf4\u660e \u5b89\u88c5   Docker   \u3002   Python   :   \u60a8 \u9700\u8981 \u5b89\u88c5   Python   3.6   \u6216 \u66f4 \u9ad8 \u7248\u672c \u5e76 \u5728 \u7cfb\u7edf \u8def\u5f84 \u4e2d \u6b63\u786e \u8bbe\u7f6e \u3002 \u6709\u5173 \u5b89\u88c5 \u8bf4\u660e \u548c   Python   \u6587\u6863 \uff0c \u8bf7 \u67e5\u770b   \u6b64\u5904   \u3002   \u865a\u5e7b \u5f15\u64ce   GitHub   \u8bbf\u95ee   :   \u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   4.26   \u7684 \u4fee\u6539 \u6539\u7248 \u4fee\u6539\u7248 \u3002 \u8be5 \u5206\u652f \u5305\u542b   Carla   \u7279\u5b9a \u7684 \u8865\u4e01 \u3002 \u8fd9 \u5c06 \u5728   Docker   \u6784\u5efa \u8fc7\u7a0b \u4e2d \u4e0b\u8f7d \u3002 \u5bf9\u4e8e \u6b64 \u4e0b\u8f7d \uff0c \u60a8 \u9700\u8981 \u6709 \u4e00\u4e2a \u4e0e \u865a\u5e7b \u5f15\u64ce \u5e10\u6237 \u5173\u8054 \u7684   GitHub   \u5e10\u6237 \u3002 \u5982\u679c \u60a8 \u6ca1\u6709 \u8fdb\u884c \u6b64 \u8bbe\u7f6e \uff0c \u8bf7 \u5148 \u6309\u7167   \u672c \u6307\u5357   \u8fdb\u884c \u64cd\u4f5c \uff0c \u7136\u540e \u518d \u7ee7\u7eed \u64cd\u4f5c \u3002 \u5728 \u6784\u5efa \u8fc7\u7a0b \u4e2d \u60a8 \u9700\u8981 \u767b\u5f55 \u60a8 \u7684 \u5e10\u6237 \u3002 \u6216\u8005 \u76f4\u63a5 \u4ece   \u5f00\u6e90 \u6e56 \u5de5\u5546 \u4ed3\u5e93   \u8fdb\u884c \u4e0b\u8f7d \u3002   Carla :   \u4e3a   Carla   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u4ee5\u53ca   Carla   \u672c\u8eab \u6240 \u9700 \u7684   Dockerfile   \u548c \u5de5\u5177 \u4f4d\u4e8e   Util / DockerCARLA   \u6e90 \u5b58\u50a8 \u5e93 \u7684 \u76ee\u5f55 \u4e2d \u3002   \u5982\u679c \u60a8 \u8fd8 \u6ca1\u6709 \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u4e0b\u8f7d \u5b58\u50a8 \u5e93 \uff1a   git   clone   https : / / github . com / carla - simulator / carla","title":"\u8f6f\u4ef6 \u8981\u6c42  "},{"location":"build_docker_unreal/#_4","text":"\u4ee5\u4e0b \u6b65\u9aa4 \u5c06 \u82b1\u8d39 \u5f88 \u65f6\u95f4 \u957f\u65f6\u95f4 \u3002   1 .   \u6784\u5efa   Carla   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6 \u955c\u50cf \u3002   \u4ee5\u4e0b \u547d\u4ee4 \u5c06 \u4f7f\u7528   Prerequisites . Dockerfile   \u6784\u5efa \u4e00\u4e2a \u540d\u4e3a   carla - prerequisitesusing   \u7684 \u6620\u50cf \u3002 \u5728 \u6b64 \u7248\u672c \u4e2d \uff0c \u6211\u4eec \u5b89\u88c5 \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u548c \u6240 \u9700 \u7684 \u5de5\u5177 \uff0c \u4e0b\u8f7d \u865a\u5e7b \u5f15\u64ce   4.26   \u5206\u652f \u5e76 \u7f16\u8bd1 \u5b83 \u3002 \u60a8 \u9700\u8981 \u63d0\u4f9b \u60a8 \u7684 \u767b\u5f55 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u4f5c\u4e3a \u6784\u5efa \u53c2\u6570 \uff0c \u624d\u80fd \u6210\u529f \u4e0b\u8f7d \u865a\u5e7b \u5f15\u64ce \uff1a   docker   build   -- build - arg   EPIC _ USER = < GitHubUserName >   -- build - arg   EPIC _ PASS = < GitHubPassword >   - t   carla - prerequisites   - f   Prerequisites . Dockerfile   .   2 .   \u6784\u5efa \u6700\u7ec8 \u7684   Carla   \u955c\u50cf \u3002   \u4ee5\u4e0b \u547d\u4ee4 \u5c06 \u4f7f\u7528 \u4e0a \u4e00\u6b65 \u4e2d \u521b\u5efa \u7684 \u6620\u50cf \u57fa\u4e8e   Carla   \u5b58\u50a8 \u5e93 \u7684 \u5f53\u524d \u4e3b \u5206\u652f \uff08 \u6700\u65b0 \u7248\u672c \uff09 \u6784\u5efa \u6700\u7ec8 \u7684   Carla   \u6620\u50cf \uff1a   docker   build   - t   carla   - f   Carla . Dockerfile   .   \u5982\u679c \u60a8 \u60f3 \u6784\u5efa   Carla   \u5b58\u50a8 \u5e93 \u7684 \u7279\u5b9a \u5206\u652f \u6216 \u6807\u7b7e \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   docker   build   - t   carla   - f   Carla . Dockerfile   .   -- build - arg   GIT _ BRANCH = < branch _ or _ tag _ name >","title":"\u6784\u5efa \u955c\u50cf  "},{"location":"build_docker_unreal/#_5","text":"\u672c \u6307\u5357 \u4e2d \u521b\u5efa \u7684   Carla   \u955c\u50cf \u7528\u4e8e \u521b\u5efa \u72ec\u7acb \u7684   Carla   \u5305 \u6216 \u6253\u5305 \u5730\u56fe \u6216 \u7f51\u683c \u7b49 \u8d44\u6e90 \uff0c \u4ee5\u4fbf \u5b83\u4eec \u53ef\u4ee5 \u5728   Carla   \u5305\u4e2d \u4f7f\u7528 \u3002 \u8fd9\u662f \u901a\u8fc7 \u4f7f\u7528   Util / Docker   \u4e2d \u7684 \u811a\u672c   docker _ tools . py   \u6765 \u5b9e\u73b0 \u7684 \u3002 \u8be5 \u811a\u672c \u7528\u4e8e   docker - py   \u5904\u7406   Docker   \u955c\u50cf \u6620\u50cf \u3002   \u8be5   docker _ tools . py   \u811a\u672c \u53ef \u7528\u4e8e \uff1a   \u521b\u5efa   Carla   \u5305   \uff1a \u5728   \u6b64\u5904   \u67e5\u627e \u6559\u7a0b \u3002   \u5728   Carla   \u5305\u4e2d \u70d8\u7119 \u9700\u8981 \u4f7f\u7528 \u7684 \u8d44\u4ea7 \uff1a   \u5728   \u6b64\u5904   \u67e5\u627e \u6559\u7a0b \u3002   \u51c6\u5907 \u5730\u56fe \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u5728   Carla   \u5305\u4e2d \u4f7f\u7528 \uff1a   \u5728   \u6b64\u5904   \u67e5\u627e \u6559\u7a0b \u3002   \u4e0e \u6b64 \u4e3b\u9898 \u76f8\u5173 \u7684 \u4efb\u4f55 \u95ee\u9898 \u6216 \u7591\u95ee \u90fd \u53ef\u4ee5 \u5728   Carla   \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   forum","title":"\u4e0b \u4e00\u6b65 \uff1a \u6253\u5305  "},{"location":"build_faq/","text":"\u5e38\u95ee \u7684 \u95ee\u9898   \u6b64\u5904 \u5217\u51fa \u4e86 \u6709\u5173   Carla   \u5b89\u88c5 \u548c \u6784\u5efa \u7684 \u4e00\u4e9b \u6700 \u5e38\u89c1 \u95ee\u9898 \u5e38\u89c1\u95ee\u9898 \u3002 \u66f4 \u591a \u4fe1\u606f \u53ef\u4ee5 \u5728 \u8be5\u9879 \u76ee\u7684   GitHub   issues   \u627e\u5230 \u3002 \u5982\u679c \u60a8 \u6ca1\u6709 \u53d1\u73b0 \u6b64\u5904 \u5217\u51fa \u7684 \u7591\u95ee \uff0c \u8bf7 \u67e5\u770b \u8bba\u575b \u5e76 \u968f\u65f6 \u63d0\u95ee \u3002   Carla   \u8bba\u575b   \u4e13\u4e1a \u95ee\u9898   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66   \u7cfb\u7edf \u8981\u6c42   \u6784\u5efa   Carla   \u6240 \u9700 \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u3002   \u8fd0\u884c   Carla   \u7684 \u63a8\u8350 \u786c\u4ef6 \u3002   Linux   \u6784\u5efa   \u4ece   GitHub   \u4e0b\u8f7d \u65f6 \u4e0d\u4f1a \u51fa\u73b0 \u201c CarlaUE4 . sh \u201d \u811a\u672c \u3002   \u201c make   launch \u201d   \u5728   Linux   \u4e0a \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   \u514b\u9686 \u865a\u5e7b \u5f15\u64ce \u5b58\u50a8 \u5e93 \u663e\u793a \u9519\u8bef \u3002   AttributeError :   module   ' carla '   has   no   attribute   ' Client '   when   running   a   script .   \u65e0\u6cd5 \u8fd0\u884c \u793a\u4f8b \u811a\u672c \u6216   \" RuntimeError :   rpc : : rpc _ error   during   call   in   function   version \" .   Windows   \u6784\u5efa   \u4ece   GitHub   \u4e0b\u8f7d \u65f6 \u4e0d\u4f1a \u51fa\u73b0 \u201c CarlaUE4 . exe \u201d \u3002   CarlaUE4   \u65e0\u6cd5 \u7f16\u8bd1 \u3002 \u5c1d\u8bd5 \u4ece\u6e90 \u624b\u52a8 \u91cd\u5efa \u5b83 \u3002   \u5373\u4f7f   CMake   \u5df2 \u6b63\u786e \u5b89\u88c5 \uff0c \u4e5f \u4f1a \u663e\u793a   CMake   \u9519\u8bef \u3002   Error   C2440 ,   C2672 \uff1a \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u7248\u672c \u3002   \u201c make   launch \u201d \u5728   Windows   \u4e0a \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   Make   \u7f3a\u5c11   libintl3 . dll   \u6216 / \u548c   libiconv2 . dll \u3002   \u6a21\u5757 \u7f3a\u5931 \u6216 \u4f7f\u7528 \u4e0d\u540c \u7684 \u5f15\u64ce \u7248\u672c \u6784\u5efa \u3002   \u5728   PythonAPI / carla   \u4e2d \u5c3d\u7ba1 \u6210\u529f \u8f93\u51fa \u6d88\u606f \uff0c \u4f46 \u6ca1\u6709   dist   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   osm2odr - visualstudio \u4e3a\u7a7a \uff0c \u6216\u8005 \u62f7\u8d1d \u8fc7\u53bb \u7684 \u76ee\u5f55 \u4e0d \u5bf9   \u7c7b\u578b \u8f6c\u6362 \u7c7b\u578b\u8f6c\u6362 \u4e0d \u5bf9   \u94fe\u63a5 \u4e0d\u5230 osm2odr . lib   \u8fd0\u884c   Carla   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u8fd0\u884c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u65f6   FPS   \u901f\u7387 \u8f83 \u4f4e \u3002   \u65e0\u6cd5 \u8fd0\u884c \u811a\u672c \u3002   \u5f53 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u8fd0\u884c \u65f6 \u94fe\u63a5 \u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u65e0\u6cd5 \u8fd0\u884c   Carla \uff0c \u65e0\u8bba \u65e0\u8bba\u662f \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u8fd8\u662f \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u3002   ImportError :   DLL   load   failed :   The   specified   module   could   not   be   found .   ImportError :   DLL   load   failed   while   importing   libcarla :   % 1   is   not   a   valid   Win32   app .   ImportError :   No   module   named   ' carla '   RuntimeError :   rpc : : rpc _ error   during   call   in   function   apply _ batch   ValueError :   sticky _ control :   invalid   value   type   \u5176\u4ed6   Fatal   error :   ' version . h '   has   been   modified   since   the   precompiled   header .   \u521b\u5efa   Carla   \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c \u3002   \u6211 \u53ef\u4ee5 \u5728   Linux   \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u6253\u5305 \u9002\u7528 \u4e8e   Windows   \u7684   Carla \uff0c \u53cd\u4e4b \u4ea6\u7136 \u53cd\u4e4b\u4ea6\u7136 \u5417 \uff1f   \u5982\u4f55 \u5378\u8f7d   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff1f   \u7cfb\u7edf \u8981\u6c42   \u6784\u5efa   Carla   \u6240 \u9700 \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u3002   \u5efa\u8bae \u81f3\u5c11 \u6709   170GB   \u53ef\u7528 \u7a7a\u95f4 \u3002 \u6784\u5efa   Carla   \u9700\u8981 \u5927\u7ea6   35GB   \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \uff0c \u52a0\u4e0a \u865a\u5e7b \u5f15\u64ce \u5927\u7ea6 \u9700\u8981   95 - 135GB \u3002   \u8fd0\u884c   Carla   \u7684 \u63a8\u8350 \u786c\u4ef6 \u3002   Carla   \u662f \u4e00\u6b3e \u6027\u80fd \u8981\u6c42 \u8f83 \u9ad8 \u7684 \u8f6f\u4ef6 \u3002 \u5b83 \u81f3\u5c11 \u9700\u8981   6GB   GPU \uff0c \u6216\u8005 \u66f4\u597d \u7684 \u662f \u80fd\u591f \u8fd0\u884c \u865a\u5e7b \u5f15\u64ce \u7684 \u4e13\u7528   GPU \u3002   \u770b\u770b   \u865a\u5e7b \u5f15\u64ce \u63a8\u8350 \u7684 \u786c\u4ef6   \u3002   Linux   \u6784\u5efa   \u4ece   GitHub   \u4e0b\u8f7d \u65f6 \u4e0d\u4f1a \u51fa\u73b0 \u201c CarlaUE4 . sh \u201d \u811a\u672c \u3002   Carla   \u7684 \u6e90 \u7248\u672c \u4e2d \u6ca1\u6709   CarlaUE4 . sh   \u811a\u672c \u3002 \u6309\u7167   \u6784\u5efa \u8bf4\u660e   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002   \u8981 \u4f7f\u7528   CarlaUE4 . sh   \u8fd0\u884c   Carla \uff0c \u8bf7 \u6309\u7167   \u5feb\u901f \u542f\u52a8 \u5b89\u88c5   \u8fdb\u884c \u64cd\u4f5c \u3002   \u201c make   launch \u201d \u5728   Linux   \u4e0a \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   \u5728 \u6784\u5efa \u5b89\u88c5 \u8fc7\u7a0b \u4e2d \u53ef\u80fd \u4f1a \u62d6 \u51fa \u8bb8\u591a \u4e0d\u540c \u7684 \u95ee\u9898 \uff0c \u5e76\u4f1a \u50cf \u8fd9\u6837 \u663e\u73b0 \u73b0\u51fa \u51fa\u6765 \u663e\u73b0\u51fa \u663e\u73b0\u51fa\u6765 \u3002 \u4ee5\u4e0b \u662f \u6700 \u53ef\u80fd \u7684 \u539f\u56e0 \u5217\u8868 \uff1a   \u8fd0\u884c \u865a\u5e7b \u5f15\u64ce   4.26 \u3002   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u65f6 \u53ef\u80fd \u51fa\u73b0 \u67d0\u4e9b \u95ee\u9898 \u3002 \u5c1d\u8bd5 \u5355\u72ec \u8fd0\u884c \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5e76 \u68c0\u67e5 \u5b83 \u662f\u5426 \u662f\u5426\u662f   4.26   \u7248\u672c \u3002   \u4e0b\u8f7d \u8d44\u4ea7 \u3002   \u5982\u679c \u6ca1\u6709 \u89c6\u89c9 \u5185\u5bb9 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u65e0\u6cd5 \u8fd0\u884c \u3002 \u6b64 \u6b65\u9aa4 \u662f \u5f3a\u5236 \u5f3a\u5236\u6027 \u7684 \u3002   UE4 _ ROOT   \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \u3002   \u5883 \u53d8\u91cf \u672a \u8bbe\u7f6e \u3002 \u8bf7 \u8bb0\u4f4f \u901a\u8fc7 \u5c06 \u5176 \u6dfb\u52a0 \u5230   ~ / . bashrc   \u6216   ~ / . profile   \u6765 \u4f7f \u5176 \u5728 \u4f1a \u8bdd \u8303\u56f4 \u5185 \u6301\u4e45 \u5b58\u5728 \u3002 \u5426\u5219 \uff0c \u9700\u8981 \u4e3a \u6bcf\u4e2a \u65b0   shell   \u8fdb\u884c \u8bbe\u7f6e \u3002 \u8fd0\u884c   export   UE4 _ ROOT = < path _ to _ unreal _ 4 - 26 >   \u8bbe\u7f6e \u8fd9\u6b21 \u7684 \u53d8\u91cf \u3002   \u68c0\u67e5 \u4f9d\u8d56 \u3002   \u786e\u4fdd \u4e00\u5207 \u90fd \u5b89\u88c5 \u6b63\u786e \u3002 \u4e5f\u8bb8 \u5176\u4e2d \u4e00\u4e2a \u547d\u4ee4 \u88ab \u8df3 \u8fc7 \u3001 \u4e0d \u6210\u529f \u6216\u8005 \u4f9d\u8d56 \u9879 \u4e0d \u9002\u5408 \u7cfb\u7edf \u3002   \u5220\u9664   Carla   \u5e76 \u518d\u6b21 \u514b\u9686 \u5b83 \u3002   \u4ee5\u9632 \u4e07\u4e00 \u4ee5\u9632\u4e07\u4e00 \u51fa \u4e86 \u95ee\u9898 \u3002 \u5220\u9664   Carla   \u5e76 \u91cd\u65b0 \u514b\u9686 \u6216 \u4e0b\u8f7d \u3002   \u6ee1\u8db3 \u7cfb\u7edf \u8981\u6c42 \u3002   Ubuntu   \u7248\u672c \u5e94\u4e3a   16.04   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002 Carla   \u9700\u8981 \u5927\u7ea6   170GB   \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u548c \u4e00\u4e2a \u4e13\u7528   GPU \uff08 \u6216 \u81f3\u5c11 \u4e00\u4e2a   6GB \uff09 \u624d\u80fd \u8fd0\u884c \u3002   \u7cfb\u7edf \u663e\u793a \u4e0e   Carla   \u51b2\u7a81 \u7684 \u5176\u4ed6 \u7279\u5b9a \u539f\u56e0 \u53ef\u80fd \u4f1a \u53d1\u751f \u3002 \u8bf7 \u5c06 \u8fd9\u4e9b \u5185\u5bb9 \u53d1\u5e03 \u5230   \u8bba\u575b   \u4e0a \uff0c \u4ee5\u4fbf \u56e2\u961f \u53ef\u4ee5 \u66f4\u591a \u66f4\u591a\u5730 \u4e86\u89e3 \u5b83\u4eec \u3002   \u514b\u9686 \u865a\u5e7b \u5f15\u64ce \u5b58\u50a8 \u5e93 \u663e\u793a \u9519\u8bef \u3002   1 .   \u865a\u5e7b \u5f15\u64ce \u5e10\u53f7 \u662f\u5426 \u5df2 \u6fc0\u6d3b \uff1f   \u865a\u5e7b \u5f15\u64ce \u5b58\u50a8 \u5e93\u662f \u79c1\u6709 \u7684 \u3002 \u4e3a\u4e86 \u514b\u9686 \u5b83 \uff0c \u8bf7 \u521b\u5efa \u865a   \u5e7b \u5f15\u64ce \u5e10   \u6237 \uff0c \u6fc0\u6d3b \u5b83 \uff08 \u68c0\u67e5 \u9a8c\u8bc1 \u90ae\u4ef6 \uff09 \uff0c \u7136\u540e   \u94fe\u63a5 \u60a8 \u7684   GitHub   \u5e10\u6237 \u3002   2 .   git \u662f\u5426 \u5b89\u88c5 \u6b63\u786e \uff1f   \u6709\u65f6 \u9519\u8bef \u8868\u660e \u4e0e   https   \u534f\u8bae \u4e0d \u517c\u5bb9 \u3002 \u901a\u8fc7 \u5378\u8f7d \u5e76 \u91cd\u65b0 \u65b0\u5b89 \u5b89\u88c5 \u91cd\u65b0\u5b89\u88c5   git   \u5373\u53ef \u8f7b\u677e \u89e3\u51b3 \u3002 \u6253\u5f00 \u7ec8\u7aef \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   sudo   apt - get   remove   git   #   \u5378\u8f7d   git   sudo   apt   install   git - all   #   \u5b89\u88c5   git   AttributeError :   module   ' carla '   has   no   attribute   ' Client '   when   running   a   script .   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u3002   pip3   install   - Iv   setuptools = = 47.3 . 1   \u5e76 \u518d\u6b21 \u6784\u5efa   PythonAPI \u3002   make   PythonAPI   \u5c1d\u8bd5 \u6784\u5efa \u6587\u6863 \u6765 \u6d4b\u8bd5 \u4e00\u5207 \u662f\u5426 \u6b63\u5e38 \u8fd0\u884c \u3002 \u5e94\u8be5 \u4f1a \u663e\u793a \u6210\u529f \u7684 \u6d88\u606f \u3002   make   PythonAPI . docs   \u65e0\u6cd5 \u8fd0\u884c \u793a\u4f8b \u811a\u672c \u6216   \" RuntimeError :   rpc : : rpc _ error   during   call   in   function   version \" .   \u5982\u679c \u8fd0\u884c \u811a\u672c \u8fd4\u56de \u4e0e \u6b64\u7c7b \u4f3c\u7684 \u8f93\u51fa \uff0c \u5219 \u8bf4\u660e   PythonAPI   \u4e2d \u7684   . egg   \u6587\u4ef6 \u5b58\u5728 \u95ee\u9898 \u3002   \u91cd\u8981   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   0.9 . 12 + \uff0c \u6709 \u591a\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u4f7f\u7528 / \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff08   . whl   \u6216   PyPi   \u4e0b\u8f7d \uff09 \u7684 \u8f83 \u65b0 \u65b9\u6cd5 \u4e4b\u4e00 \uff0c \u672c\u8282 \u4e2d \u7684 \u4fe1\u606f \u5c06 \u4e0e \u60a8 \u65e0\u5173 \u3002   \u9996\u5148 \uff0c \u6253\u5f00   < root _ carla > / PythonAPI / carla / dist   \u3002   \u5e94\u8be5 \u6709 \u4e00\u4e2a \u548c \u4f60 \u6b63\u5728 \u4f7f\u7528 \u76f8\u5bf9 \u5e94 \u7684   Carla   \u548c   Python   \u54cd\u5e94 \u7684   . egg   \u6587\u4ef6 \uff08 \u7c7b\u4f3c \u4e8e   carla - 0 . X . X - pyX . X - linux - x86 _ 64 . egg   \uff09 \u3002 \u786e\u4fdd \u8be5 \u6587\u4ef6 \u4e0e \u60a8 \u6b63\u5728 \u4f7f\u7528 \u7684   Python   \u7248\u672c \u5339\u914d \u3002 \u8981 \u68c0\u67e5 \u60a8 \u7684   Python   \u7248\u672c \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u3002   python3   -- version   #   \u6216\u8005 \u5bf9\u4e8e   Python   2   python   -- version   \u5982\u679c \u6587\u4ef6 \u4e22\u5931 \u6216\u8005 \u60a8 \u8ba4\u4e3a \u5b83 \u53ef\u80fd \u635f\u574f \u5df2\u635f\u574f \uff0c \u8bf7 \u5c1d\u8bd5 \u518d\u6b21 \u91cd\u5efa \u3002   make   clean   make   PythonAPI   make   launch   \u73b0\u5728 \u518d\u6b21 \u5c1d\u8bd5 \u793a\u4f8b \u811a\u672c \u4e4b\u4e00 \u3002   cd   PythonAPI / examples   python3   dynamic _ weather . py   \u5982\u679c \u9519\u8bef \u4ecd\u7136 \u5b58\u5728 \uff0c \u5219 \u95ee\u9898 \u53ef\u80fd \u4e0e \u60a8 \u7684   PythonPATH   \u6709\u5173 \u3002 \u8fd9\u4e9b \u811a\u672c \u4f1a \u81ea\u52a8 \u67e5\u627e   . egg   \u4e0e \u6784\u5efa \u76f8\u5173 \u7684 \u6587\u4ef6 \uff0c \u56e0\u6b64 \uff0c \u60a8 \u7684   PythonPATH   \u4e2d \u53ef\u80fd \u5b58\u5728 \u53e6 \u4e00\u4e2a   . egg   \u6587\u4ef6 \u5e72\u6270 \u8be5 \u8fc7\u7a0b \u3002 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u663e\u793a   PythonPATH   \u7684 \u5185\u5bb9 \u3002   echo   $ PYTHONPATH   \u5728 \u7c7b\u4f3c \u4e8e   PythonAPI / carla / dist   \u7684 \u8def\u5f84 \u4e0b \u67e5\u627e \u53e6 \u4e00\u4e2a   . egg   \u6587\u4ef6 \uff0c \u5e76 \u5220\u9664 \u5b83\u4eec \u3002 \u5b83\u4eec \u53ef\u80fd \u5c5e\u4e8e   Carla   \u5b89\u88c5 \u7684 \u5176\u4ed6 \u5b9e\u4f8b \u3002 \u4f8b\u5982 \uff0c \u5982\u679c \u60a8 \u8fd8 \u901a\u8fc7   apt - get   \u5b89\u88c5 \u4e86   Carla   \uff0c \u5219 \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u5c06 \u5176 \u5220\u9664 \uff0c \u5e76\u4e14   PythonPATH   \u4e5f \u4f1a \u88ab \u6e05\u7406 \u3002   sudo   apt - get   purge   carla - simulator   \u6700\u7ec8 \u53ef\u4ee5 \u9009\u62e9 \u4f7f\u7528   ~ / . bashrc   \uff0c \u5c06 PythonPATH \u4e0b \u4f60 \u6784\u5efa \u7684   . egg   \u6587\u4ef6 \u6dfb\u52a0 \u8fdb\u6765 \u3002 \u8fd9 \u4e0d\u662f \u63a8\u8350 \u7684 \u65b9\u5f0f \u3002 \u6700\u597d \u6709 \u4e00\u4e2a \u660e\u786e \u7684   PythonPATH \uff0c \u53ea \u9700 \u5728 \u811a\u672c \u4e2d \u6dfb\u52a0 \u5fc5\u8981 \u7684   . egg   \u6587\u4ef6 \u8def\u5f84 \u5373\u53ef \u3002   \u9996\u5148 \uff0c \u6253\u5f00   ~ / . bashrc   .   gedit   ~ / . bashrc   \u5c06 \u4ee5\u4e0b \u884c \u6dfb\u52a0 \u5230   ~ / . bashrc   \u3002 \u5b83\u4eec \u5b58\u50a8 \u6784\u5efa \u7684   . egg   \u6587\u4ef6 \u8def\u5f84 \uff0c \u4ee5\u4fbf Python \u53ef\u4ee5 \u81ea\u52a8 \u627e\u5230 \u5b83 \u3002 \u4fdd\u5b58 \u6587\u4ef6 \uff0c \u7136\u540e \u91cd\u7f6e \u7ec8\u7aef \u4ee5 \u4f7f \u66f4\u6539 \u751f\u6548 \u3002   export   PYTHONPATH = $ PYTHONPATH : \" $ { CARLA _ ROOT } / PythonAPI / carla / dist / $ ( ls   $ { CARLA _ ROOT } / PythonAPI / carla / dist   |   grep   py3 . ) \"   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla   \u6e05\u7406   PythonPATH   \u6216 \u6dfb\u52a0 \u6784\u5efa \u7684   . egg   \u6587\u4ef6 \u8def\u5f84 \u540e \uff0c \u6240\u6709 \u793a\u4f8b \u811a\u672c \u90fd \u5e94\u8be5 \u6b63\u5e38 \u5de5\u4f5c \u3002   Windows   \u6784\u5efa   \u4ece   GitHub   \u4e0b\u8f7d \u65f6 \u4e0d\u4f1a \u51fa\u73b0 \u201c CarlaUE4 . exe \u201d \u3002   Carla   \u7684 \u6e90 \u7248\u672c \u4e2d \u6ca1\u6709   CarlaUE4 . exe   \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u3002 \u6309\u7167 \u6784\u5efa \u8bf4\u660e \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002 \u8981 \u76f4\u63a5 \u83b7\u53d6   CarlaUE4 . exe   \uff0c \u8bf7 \u6309\u7167   \u5feb\u901f \u5165\u95e8   \u8bf4\u660e \u8fdb\u884c \u64cd\u4f5c \u3002   CarlaUE4   could   not   be   compiled .   Try   rebuilding   it   from   source   manually .   \u5c1d\u8bd5 \u6784\u5efa   Carla   \u65f6 \u51fa\u73b0 \u95ee\u9898 \u3002 \u4f7f\u7528   Visual   Studio   \u91cd\u65b0 \u6784\u5efa \u4ee5 \u53d1\u73b0 \u53d1\u751f \u4e86 \u4ec0\u4e48 \u3002   1 .   \u8f6c \u5230   carla / Unreal / CarlaUE4   \u5e76 \u53f3\u952e \u5355\u51fb   CarlaUE4 . uproject   \u3002   2 .   \u5355\u51fb   Generate   Visual   Studio   project   files   \u3002   3 .   \u4f7f\u7528   Visual   Studio   2019   \u6253\u5f00 \u751f\u6210 \u7684 \u6587\u4ef6 \u3002   4 .   \u4f7f\u7528   Visual   Studio   \u7f16\u8bd1 \u9879\u76ee \u3002 \u5feb\u6377 \u5feb\u6377\u952e \u662f F7 \u3002 \u6784\u5efa \u5c06 \u5931\u8d25 \uff0c \u4f46 \u53d1\u73b0 \u7684 \u95ee\u9898 \u5c06 \u663e\u793a \u5728 \u4e0b\u9762 \u3002   \u4e0d\u540c \u7684 \u95ee\u9898 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u51fa\u73b0 \u6b64 \u7279\u5b9a \u9519\u8bef \u6d88\u606f \u3002 \u7528\u6237   @ tamakoji   \u89e3\u51b3 \u4e86 \u4e00\u4e2a \u7ecf\u5e38 \u51fa\u73b0 \u7ecf\u5e38\u51fa\u73b0 \u7684 \u60c5\u51b5 \uff0c \u5373 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u672a \u6b63\u786e \u514b\u9686 \u4e14 \u65e0\u6cd5 \u8bbe\u7f6e   Carla   \u7248\u672c \uff08 \u4ece   git   \u5c06 \u5176 \u4e0b\u8f7d \u4e3a   . zip   \u65f6 \uff09 \u3002   \u68c0\u67e5   Build / CMakeLists . txt . in   .   \u5982\u679c \u663e\u793a \uff1a   set ( CARLA _ VERSION   )   \uff0c \u8bf7 \u6267\u884c \u4ee5\u4e0b \u64cd\u4f5c \uff1a   1 .   \u8f6c \u5230   Setup . bat   \u7b2c   198   \u884c \u3002   2 .   Update   the   line   from :   for   / f   %% i   in   ( ' git   describe   -- tags   -- dirty   -- always ' )   do   set   carla _ version = %% i   \u4e3a \uff1a   for   / f   %% i   in   ( ' git   describe   -- tags   -- dirty   -- always ' )   do   set   carla _ version = \" 0.9 . 9 \"   \u5373\u4f7f   CMake   \u5df2 \u6b63\u786e \u5b89\u88c5 \uff0c \u4e5f \u4f1a \u663e\u793a   CMake   \u9519\u8bef \u3002   \u5f53 \u5c1d\u8bd5 \u4f7f\u7528   make   \u547d\u4ee4 \u6784\u5efa \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6216 \u5ba2\u6237 \u5ba2\u6237\u7aef \u65f6\u4f1a \u51fa\u73b0 \u6b64 \u95ee\u9898 \u3002 \u5373\u4f7f   CMake   \u5df2 \u5b89\u88c5 \u3001 \u66f4\u65b0 \u5e76 \u6dfb\u52a0 \u5230 \u73af\u5883 \u8def\u5f84 \u4e2d \u3002 Visual   Studio   \u7248\u672c \u4e4b\u95f4 \u53ef\u80fd \u5b58\u5728 \u51b2\u7a81 \u3002   \u53ea \u7559\u4e0b VS2019 \uff0c \u5176\u4f59 \u7684 \u5f7b\u5e95 \u5220\u9664 \u3002   Error   C2440 ,   C2672 :   compiler   version .   \u7531\u4e8e \u4e0e \u5176\u4ed6   Visual   Studio   \u6216   Microsoft   \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u7248\u672c \u51b2\u7a81 \uff0c \u8be5 \u6784\u5efa \u672a \u4f7f\u7528   2019   \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u3002 \u5378\u8f7d \u8fd9\u4e9b \u5e76 \u518d\u6b21 \u91cd\u5efa \u3002   Visual   Studio   \u4e0d \u64c5\u957f \u6446\u8131 \u81ea\u8eab \u3002 \u8981 \u4ece \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e2d \u5f7b\u5e95 \u6e05\u9664 \u5f7b\u5e95\u6e05\u9664   Visual   Studio \uff0c \u8bf7 \u8f6c\u5230   Program   Files   ( x86 ) \\ Microsoft   Visual   Studio \\ Installer \\ resources \\ app \\ layout   \u5e76 \u8fd0\u884c   . \\ InstallCleanup . exe   - full   \u3002 \u8fd9 \u53ef\u80fd \u9700\u8981 \u7ba1\u7406 \u7ba1\u7406\u5458 \u6743\u9650 \u3002   \u8981 \u4fdd\u7559 \u5176\u4ed6   Visual   Studio   \u7248\u672c \uff0c \u8bf7 \u901a\u8fc7 \u6dfb\u52a0 \u4ee5\u4e0b \u884c \u8fdb\u884c \u7f16\u8f91   % appdata% \\ Unreal   Engine \\ UnrealBuildTool \\ BuildConfiguration . xml   \uff1a   < VCProjectFileGenerator >   < Version > VisualStudio2019 < / Version >   < / VCProjectFileGenerator >   < WindowsPlatform >   < Compiler > VisualStudio2019 < / Compiler >   < / WindowsPlatform >   \u201c make   launch \u201d \u5728   Windows   \u4e0a \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   \u5728 \u6784\u5efa \u5b89\u88c5 \u8fc7\u7a0b \u4e2d \u53ef\u80fd \u4f1a \u62d6 \u51fa \u8bb8\u591a \u4e0d\u540c \u7684 \u95ee\u9898 \uff0c \u5e76 \u50cf \u8fd9\u6837 \u663e\u73b0 \u73b0\u51fa \u51fa\u6765 \u663e\u73b0\u51fa \u663e\u73b0\u51fa\u6765 \u3002 \u4ee5\u4e0b \u662f \u6700 \u53ef\u80fd \u7684 \u539f\u56e0 \u5217\u8868 \uff1a   \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u3002   Windows   \u6784\u5efa \u671f\u95f4 \u53d1\u751f \u4e86 \u5f88\u591a \u4e8b\u60c5 \u3002 \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \u5e76 \u786e\u4fdd \u6240\u6709 \u5185\u5bb9 \u5747 \u5df2 \u6b63\u786e \u66f4\u65b0 \u3002   \u8fd0\u884c \u865a\u5e7b \u5f15\u64ce   4.26 \u3002   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u65f6 \u53ef\u80fd \u51fa\u73b0 \u67d0\u4e9b \u95ee\u9898 \u3002 \u8fd0\u884c \u7f16\u8f91 \u7f16\u8f91\u5668 \u5e76 \u68c0\u67e5 \u662f\u5426 \u4f7f\u7528 \u4e86   4.26   \u7248\u672c \u3002   \u4e0b\u8f7d \u8d44\u4ea7 \u3002   \u5982\u679c \u6ca1\u6709 \u89c6\u89c9 \u5185\u5bb9 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u65e0\u6cd5 \u8fd0\u884c \u3002 \u6b64 \u6b65\u9aa4 \u662f \u5f3a\u5236 \u5f3a\u5236\u6027 \u7684 \u3002   Visual   Studio   2019 .   \u5982\u679c \u5b89\u88c5 \u6216 \u6700\u8fd1 \u5378\u8f7d \u4e86 \u5176\u4ed6 \u7248\u672c \u7684   Visual   Studio \uff0c \u53ef\u80fd \u4f1a \u51fa\u73b0 \u51b2\u7a81 \u3002 \u8981 \u4ece \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e2d \u5f7b\u5e95 \u6e05\u9664 \u5f7b\u5e95\u6e05\u9664   Visual   Studio \uff0c \u8bf7 \u8f6c\u5230   Program   Files   ( x86 ) \\ Microsoft   Visual   Studio \\ Installer \\ resources \\ app \\ layout   \u5e76 \u8fd0\u884c   . \\ InstallCleanup . exe   - full   \u3002   \u5220\u9664   Carla   \u5e76 \u518d\u6b21 \u514b\u9686 \u5b83 \u3002   \u4ee5\u9632 \u4e07\u4e00 \u4ee5\u9632\u4e07\u4e00 \u51fa \u4e86 \u95ee\u9898 \u3002 \u5220\u9664   Carla   \u5e76 \u91cd\u65b0 \u514b\u9686 \u6216 \u4e0b\u8f7d \u3002   \u6ee1\u8db3 \u7cfb\u7edf \u8981\u6c42 \u3002   Carla   \u9700\u8981 \u5927\u7ea6   170GB   \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u548c \u4e00\u4e2a \u4e13\u7528   GPU \uff08 \u6216 \u81f3\u5c11 \u4e00\u4e2a   6GB \uff09 \u624d\u80fd \u8fd0\u884c \u3002   \u7cfb\u7edf \u663e\u793a \u4e0e   Carla   \u51b2\u7a81 \u7684 \u5176\u4ed6 \u7279\u5b9a \u539f\u56e0 \u53ef\u80fd \u4f1a \u53d1\u751f \u3002 \u8bf7 \u5c06 \u8fd9\u4e9b \u5185\u5bb9 \u53d1\u5e03 \u5230   \u8bba\u575b   \u4e0a \uff0c \u4ee5\u4fbf \u56e2\u961f \u53ef\u4ee5 \u66f4\u591a \u66f4\u591a\u5730 \u4e86\u89e3 \u5b83\u4eec \u3002   Make   \u7f3a\u5c11   libintl3 . dll   \u6216 / \u548c   libiconv2 . dll \u3002   \u4e0b\u8f7d   \u4f9d\u8d56 \u9879   \u5e76 \u5c06   bin   \u5185\u5bb9 \u89e3\u538b \u5230   make   \u5b89\u88c5 \u8def\u5f84 \u4e2d \u3002   Modules   are   missing   or   built   with   a   different   engine   version .   \u5355\u51fb   on   Accept   \u4ee5 \u91cd\u5efa \u5b83\u4eec \u3002   \u5c3d\u7ba1 \u6210\u529f \u8f93\u51fa \u6d88\u606f \uff0c \u4f46 \u5728   PythonAPI / carla   \u4e2d \u6ca1\u6709   dist   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u5728   Windows   \u4e2d \uff0c   make   PythonAPI   \u547d\u4ee4 \u53ef\u80fd \u4f1a \u8fd4\u56de \u4e00\u6761 \u6d88\u606f \uff0c \u8868\u660e   Python   API   \u5b89\u88c5 \u6210\u529f \uff0c \u4f46 \u5b9e\u9645 \u5b9e\u9645\u4e0a \u5e76\u672a \u6210\u529f \u3002 \u5982\u679c \u770b\u5230 \u6b64 \u8f93\u51fa \u540e \u76ee\u5f55   PythonAPI / carla   \u4e2d \u6ca1\u6709   dist   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u8bf7 \u67e5\u770b \u4e0a\u9762 \u7684 \u547d\u4ee4 \u8f93\u51fa \u3002 \u5f88 \u53ef\u80fd \u53d1\u751f \u4e86 \u9519\u8bef \uff0c \u9700\u8981 \u5728 \u66f4\u6b63 \u9519\u8bef \u5e76 \u8fd0\u884c   make   clean   \u540e \u91cd\u8bd5 \u6784\u5efa \u3002   osm2odr - visualstudio \u4e3a\u7a7a \uff0c \u6216\u8005 \u62f7\u8d1d \u8fc7\u53bb \u7684 \u76ee\u5f55 \u4e0d \u5bf9   CMake   Error :   The   current   CMakeCache . txt   directory   D : / work / workspace / carla / Build / osm2odr - visualstudio / CMakeCache . txt   is   different   than   the   directory   d : / work / buffer / carla / Build / osm2odr - visualstudio   where   CMakeCache . txt   was   created .   This   may   result   in   binaries   being   created   in   the   wrong   place .   If   you   are   not   sure ,   reedit   the   CMakeCache . txt   CMake   Error :   The   source   directory   \" D : / work / workspace / carla / Build / osm2odr - visualstudio / x64 \"   does   not   appear   to   contain   CMakeLists . txt .   \u5220\u9664   carla \\ Build \\ osm2odr - visualstudio \\ CMakeCache . txt   \u7c7b\u578b \u8f6c\u6362 \u7c7b\u578b\u8f6c\u6362 \u4e0d \u5bf9   carla / Unreal / CarlaUE4 / Plugins / Carla / Source / Carla / Vehicle / CustomTerrainPhysicsComponent . cpp ( 1161 ) :   error   C2440 :   \u201c static _ cast \u201d :   \u65e0\u6cd5 \u4ece \u201c float \u201d \u8f6c\u6362 \u4e3a \u201c EDefResolutionType \u201d   \u6ce8\u91ca \u6389   / /   ChosenRes   =   static _ cast < EDefResolutionType > ( Value ) ;   / /   static _ cast < EDefResolutionType > ( Value )   \u6ce8\u610f \uff1a \u6ce8\u610f vs2019 \u4e13\u4e1a \u4e13\u4e1a\u7248 \u624d \u6709 \u8fd9\u4e2a \u95ee\u9898 \uff0c vs2019 \u793e\u533a \u7248 \u6ca1\u6709 \u8fd9\u4e2a \u95ee\u9898 \u3002   \u94fe\u63a5 \u4e0d\u5230 osm2odr . lib   fatal   error   LNK1181 :   carla \\ Unreal \\ CarlaUE4 \\ Plugins \\ Carla \\ CarlaDependencies \\ lib \\ osm2odr . lib   \u4ece \u5176\u4ed6 \u5730\u65b9 \u62f7\u8d1d \u8fc7\u6765 \u3002   \u8fd0\u884c   Carla   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u8fd0\u884c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u65f6   FPS   \u901f\u7387 \u8f83 \u4f4e \u3002   \u865a\u5e7b 4 \u7f16\u8f91 \u7f16\u8f91\u5668 \u5728 \u5931\u7126 \u65f6\u4f1a \u8fdb\u5165 \u4f4e \u6027\u80fd \u6a21\u5f0f \u3002   \u8f6c \u5230 \u201c \u7f16\u8f91 - > \u7f16\u8f91 \u7f16\u8f91\u5668 \u504f\u597d \u8bbe\u7f6e - > \u6027\u80fd \u201d   \uff08   Edit / Editor   Preferences / Performance   \uff09 \uff0c \u7136\u540e \u7981\u7528 \u201c \u5904\u4e8e \u80cc\u666f \u4e2d \u65f6 \u5360\u7528 \u8f83 \u5c11   CPU \u201d \u9009\u9879 \u3002   \u65e0\u6cd5 \u8fd0\u884c \u811a\u672c \u3002   \u6709\u4e9b \u811a\u672c \u6709 \u8981\u6c42 \u3002 \u8fd9\u4e9b \u5217 \u5728 \u540d\u4e3a   Requirements . txt   \u7684 \u6587\u4ef6 \u4e2d \uff0c \u4e0e \u811a\u672c \u672c\u8eab \u4f4d\u4e8e \u540c\u4e00 \u8def\u5f84 \u4e2d \u3002 \u8bf7 \u52a1\u5fc5 \u68c0\u67e5 \u8fd9\u4e9b \u4ee5\u4fbf \u8fd0\u884c \u811a\u672c \u3002 \u5176\u4e2d \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u53ef\u4ee5 \u901a\u8fc7 \u7b80\u5355 \u7684   pip   \u547d\u4ee4 \u8fdb\u884c \u5b89\u88c5 \u3002   \u6709\u65f6 \u5728   Windows   \u4e0a \uff0c \u811a\u672c \u65e0\u6cd5 \u4ec5 \u4f7f\u7528   >   script _ name . py   \u8fd0\u884c \u3002 \u5c1d\u8bd5 \u6dfb\u52a0 .   Try   adding   >   python3   script _ name . py   \uff0c \u5e76 \u786e\u4fdd \u4f4d\u4e8e \u6b63\u786e \u7684 \u76ee\u5f55 \u4e2d \u3002   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u8fd0\u884c \u65f6 \u8fde\u63a5 \u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u5355\u51fb \u201c \u8fd0\u884c \u201d \uff08   Play   \uff09 \u5e76 \u7b49\u5f85 \u573a\u666f \u52a0\u8f7d \u3002 \u6b64\u65f6 \uff0c Python   \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u50cf \u72ec\u7acb \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e00\u6837 \u8fde\u63a5 \u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u65e0\u6cd5 \u8fd0\u884c   Carla \uff0c \u65e0\u8bba \u65e0\u8bba\u662f \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u8fd8\u662f \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u3002   NVIDIA   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u53ef\u80fd \u5df2 \u8fc7\u65f6 \u3002 \u786e\u4fdd \u60c5\u51b5 \u5e76\u975e \u5982\u6b64 \u5e76\u975e\u5982\u6b64 \u3002 \u5982\u679c \u95ee\u9898 \u4ecd \u672a \u89e3\u51b3 \uff0c \u8bf7 \u67e5\u770b   \u8bba\u575b   \u5e76 \u53d1\u5e03 \u5177\u4f53 \u95ee\u9898 \u3002   ImportError :   DLL   load   failed :   The   specified   module   could   not   be   found .   \u6240 \u9700 \u7684 \u5e93 \u4e4b\u4e00 \u5c1a\u672a \u6b63\u786e \u5b89\u88c5 \u3002 \u4f5c\u4e3a \u89e3\u51b3 \u65b9\u6cd5 \uff0c \u8bf7 \u8f6c\u81f3   carla \\ Build \\ zlib - source \\ build   \u5e76 \u5728 \u811a\u672c \u7684 \u8def\u5f84 \u4e2d \u590d\u5236 \u540d\u4e3a   zlib . dll   \u7684 \u6587\u4ef6 \u3002   ImportError :   DLL   load   failed   while   importing   libcarla :   % 1   is   not   a   valid   Win32   app .   32   \u4f4d   Python   \u7248\u672c \u5728 \u5c1d\u8bd5 \u8fd0\u884c \u811a\u672c \u65f6\u4f1a \u4ea7\u751f \u51b2\u7a81 \u3002 \u5378\u8f7d \u5b83 \u5e76 \u4ec5 \u4fdd\u7559 \u6240 \u9700 \u7684   Python3   x64 \u3002   ImportError :   No   module   named   ' carla '   \u51fa\u73b0 \u6b64 \u9519\u8bef \u7684 \u539f\u56e0 \u662f   Python   \u627e \u4e0d\u5230   Carla   \u5e93 \u3002 Carla   \u5e93 \u5305\u542b \u5728 \u4f4d\u4e8e   PythonAPI / carla / dist   \u76ee\u5f55 \u4e2d \u7684 \u4e00\u4e2a   . egg   \u6587\u4ef6 \u4e2d \uff0c \u6240\u6709 \u793a\u4f8b \u811a\u672c \u90fd \u5c06 \u5728 \u6b64 \u76ee\u5f55 \u4e2d \u67e5\u627e \u5b83 \u3002 \u8be5   . egg   \u6587\u4ef6 \u9075\u5faa carla -   - py   -   . egg   \u547d\u540d \u6cd5 \u3002   \u91cd\u8981   Carla   \u4ec5 \u5728   0.9 . 12   \u4e4b\u524d \u7684 \u7248\u672c \u4e2d \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u6587\u4ef6   . egg   \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   0.9 . 12 + \uff0c \u6709 \u591a\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u4f7f\u7528 / \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff08   . whl   \u6216   PyPi   \u4e0b\u8f7d \uff09 \u7684 \u8f83 \u65b0 \u65b9\u6cd5 \u4e4b\u4e00 \uff0c \u672c\u8282 \u4e2d \u7684 \u4fe1\u606f \u5c06 \u4e0e \u60a8 \u65e0\u5173 \u3002   \u5728   \u5feb\u901f \u5165\u95e8 \u6559\u7a0b \u5165\u95e8\u6559\u7a0b   \u4e2d \u9605\u8bfb \u6709\u5173 \u4f7f\u7528 / \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u7684 \u65b0 \u65b9\u6cd5 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f \u6253\u5305 \u7248\u672c \u7684   Carla \uff0c \u5219 \u4f1a \u6709 \u591a\u4e2a   . egg   \u6587\u4ef6 \uff0c \u5bf9\u5e94 \u4e0d\u540c \u7248\u672c \u7684   Python \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e   Carla   \u7684 \u7248\u672c \u3002 \u786e\u4fdd \u786e\u4fdd\u60a8 \u6b63\u5728 \u4f7f\u7528 \u8fd9\u4e9b   Python   \u7248\u672c \u4e4b\u4e00 \u8fd0\u884c \u811a\u672c \u3002 \u8981 \u68c0\u67e5 \u9ed8\u8ba4 \u7684   Python   \u7248\u672c \uff0c \u8bf7 \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u4e2d \u952e\u5165 \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   python3   -- version   #   \u6216\u8005   python   -- version   \u5982\u679c \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Python \uff0c \u5219 \u8be5   . egg   \u6587\u4ef6 \u5c06 \u6839\u636e \u7cfb\u7edf \u4e0a \u7684 \u9ed8\u8ba4   Python   \u7248\u672c \u6784\u5efa \u3002 \u5728   Linux   \u4e2d \uff0c \u8fd9 \u5c06 \u662f \u8fd4\u56de \u7684 \u9ed8\u8ba4   Python   \u7248\u672c \uff1a   / usr / bin / env   python3   -- version   #   \u6216\u8005 \u5982\u679c \u4f60 \u6307\u5b9a   ARGS = \" -- python - version = 2 \"   / usr / bin / env   python2   -- version   \u5728   Windows   \u4e2d \uff0c \u5b83 \u5c06 \u6210\u4e3a \u4ee5\u4e0b \u529f\u80fd \u7684 \u9ed8\u8ba4   Python   \u7248\u672c \uff1a   py   - 3   -- version   \u786e\u4fdd \u786e\u4fdd\u60a8 \u4f7f\u7528 \u4e0e \u60a8 \u7684   . egg   \u6587\u4ef6 \u5bf9\u5e94 \u7684   Python   \u7248\u672c \u8fd0\u884c \u811a\u672c . egg \u3002 \u5728   Linux   \u4e2d \uff0c \u60a8 \u53ef\u80fd \u8fd8 \u9700\u8981 \u5c06   Python   \u8def\u5f84 \u8bbe\u7f6e \u4e3a \u6307\u5411   Carla \u3002 \u4e3a\u6b64 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   export   PYTHONPATH = $ PYTHONPATH : < path / to / carla / > / PythonAPI / carla / dist / < your _ egg _ file >   #   \u68c0\u67e5 \u73b0\u5728   Carla   \u662f\u5426 \u80fd \u53d1\u73b0   python3   - c   ' import   carla ; print ( \" Success \" ) '   \u8bf7 \u6ce8\u610f \uff0c \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u6216   Conda   \u7b49 \u5176\u4ed6   Python   \u73af\u5883 \u53ef\u80fd \u4f1a \u4f7f   Carla   \u7684 \u5b89\u88c5 \u53d8\u5f97 \u590d\u6742 \u53d8\u5f97\u590d\u6742 \u3002 \u786e\u4fdd \u786e\u4fdd\u60a8 \u5df2 \u76f8\u5e94 \u5730 \u8bbe\u7f6e   Python   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u548c \u8def\u5f84 \u3002   RuntimeError :   rpc : : rpc _ error   during   call   in   function   apply _ batch   PythonAPI \u7684 \u7248\u672c \u8981 \u548c Carla \u670d\u52a1 \u7684 \u7248\u672c \u4e00\u81f4 \uff0c \u6bd4\u5982 dev \u5206\u652f \u7684 \u4ee3\u7801 \u7f16\u8bd1 \u5f97\u5230 \u7684 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u8fd0\u884c \u7684 \u573a\u666f \u4e5f \u8981 \u7528 dev \u5206\u652f \u4ee3\u7801 \u7f16\u8bd1 \u7684 PythonAPI \u8fdb\u884c \u8fde\u63a5 \u3002   ValueError :   sticky _ control :   invalid   value   type   \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u670d\u52a1\u7aef \u7684 PythonAPI \u7248\u672c \u4e0d \u4e00\u81f4 \uff0c \u5728 dev \u5206\u652f \u5f00\u53d1 \u65f6\u4f1a \u51fa\u73b0 \u3002   \u5176\u4ed6   Fatal   error :   ' version . h '   has   been   modified   since   the   precompiled   header .   \u7531\u4e8e   Linux   \u66f4\u65b0 \uff0c \u8fd9\u79cd \u60c5\u51b5 \u65f6\u5e38 \u53d1\u751f \u3002 Makefile   \u4e2d\u6709 \u4e00\u4e2a \u9488\u5bf9 \u6b64 \u95ee\u9898 \u7684 \u7279\u6b8a \u76ee\u6807 \u3002 \u867d\u7136 \u82b1 \u4e86 \u5f88 \u65f6\u95f4 \u957f\u65f6\u95f4 \uff0c \u4f46 \u89e3\u51b3 \u4e86 \u95ee\u9898 \uff1a   make   hard - clean   make   CarlaUE4Editor   \u521b\u5efa   Carla   \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c \u3002   \u5728   Linux   \u4e2d \uff0c \u5728 \u9879\u76ee \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c   make   package   \u3002 \u8be5\u5305 \u5c06 \u5305\u62ec \u9879\u76ee \u548c   Python   API   \u6a21\u5757 \u3002   \u6216\u8005 \uff0c \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7f16\u8bd1   Carla   \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c \u3002 \u6253\u5f00   CarlaUE4   \u9879\u76ee \uff0c \u8f6c \u5230 \u83dc\u5355   File / Package   Project   \uff0c \u7136\u540e \u9009\u62e9 \u4e00\u4e2a \u5e73\u53f0 \u3002 \u53ef\u80fd \u8fd8\u8981 \u7b49 \u4e00\u4e0b \u3002   \u6211 \u53ef\u4ee5 \u5728   Linux   \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u6253\u5305 \u9002\u7528 \u4e8e   Windows   \u7684   Carla \uff0c \u53cd\u4e4b \u4ea6\u7136 \u53cd\u4e4b\u4ea6\u7136 \u5417 \uff1f   \u867d\u7136 \u6b64 \u529f\u80fd \u9002\u7528 \u4e8e \u865a\u5e7b \u5f15\u64ce \uff0c \u4f46 \u5728   Carla   \u4e2d \u4e0d\u53ef \u7528 \u3002 \u6211\u4eec \u6709 \u8bb8\u591a \u4e0d \u652f\u6301 \u4ea4\u53c9 \u7f16\u8bd1 \u7684 \u4f9d\u8d56 \u9879 \u3002   \u5982\u4f55 \u5378\u8f7d   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff1f   \u5982\u679c \u60a8 \u4f7f\u7528   pip / pip3   \u5b89\u88c5 \u4e86 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u5219 \u5e94 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u5c06 \u5176 \u5378\u8f7d \uff1a   #   Python   3   pip3   uninstall   carla   #   Python   2   pip   uninstall   carla","title":"\u5e38\u95ee \u7684 \u95ee\u9898"},{"location":"build_faq/#_1","text":"\u6b64\u5904 \u5217\u51fa \u4e86 \u6709\u5173   Carla   \u5b89\u88c5 \u548c \u6784\u5efa \u7684 \u4e00\u4e9b \u6700 \u5e38\u89c1 \u95ee\u9898 \u5e38\u89c1\u95ee\u9898 \u3002 \u66f4 \u591a \u4fe1\u606f \u53ef\u4ee5 \u5728 \u8be5\u9879 \u76ee\u7684   GitHub   issues   \u627e\u5230 \u3002 \u5982\u679c \u60a8 \u6ca1\u6709 \u53d1\u73b0 \u6b64\u5904 \u5217\u51fa \u7684 \u7591\u95ee \uff0c \u8bf7 \u67e5\u770b \u8bba\u575b \u5e76 \u968f\u65f6 \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u5e38\u95ee \u7684 \u95ee\u9898"},{"location":"build_faq/#_2","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66","title":"\u4e13\u4e1a \u95ee\u9898"},{"location":"build_faq/#_3","text":"\u6784\u5efa   Carla   \u6240 \u9700 \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u3002   \u8fd0\u884c   Carla   \u7684 \u63a8\u8350 \u786c\u4ef6 \u3002","title":"\u7cfb\u7edf \u8981\u6c42"},{"location":"build_faq/#linux","text":"\u4ece   GitHub   \u4e0b\u8f7d \u65f6 \u4e0d\u4f1a \u51fa\u73b0 \u201c CarlaUE4 . sh \u201d \u811a\u672c \u3002   \u201c make   launch \u201d   \u5728   Linux   \u4e0a \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   \u514b\u9686 \u865a\u5e7b \u5f15\u64ce \u5b58\u50a8 \u5e93 \u663e\u793a \u9519\u8bef \u3002   AttributeError :   module   ' carla '   has   no   attribute   ' Client '   when   running   a   script .   \u65e0\u6cd5 \u8fd0\u884c \u793a\u4f8b \u811a\u672c \u6216   \" RuntimeError :   rpc : : rpc _ error   during   call   in   function   version \" .","title":"Linux   \u6784\u5efa"},{"location":"build_faq/#windows","text":"\u4ece   GitHub   \u4e0b\u8f7d \u65f6 \u4e0d\u4f1a \u51fa\u73b0 \u201c CarlaUE4 . exe \u201d \u3002   CarlaUE4   \u65e0\u6cd5 \u7f16\u8bd1 \u3002 \u5c1d\u8bd5 \u4ece\u6e90 \u624b\u52a8 \u91cd\u5efa \u5b83 \u3002   \u5373\u4f7f   CMake   \u5df2 \u6b63\u786e \u5b89\u88c5 \uff0c \u4e5f \u4f1a \u663e\u793a   CMake   \u9519\u8bef \u3002   Error   C2440 ,   C2672 \uff1a \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u7248\u672c \u3002   \u201c make   launch \u201d \u5728   Windows   \u4e0a \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   Make   \u7f3a\u5c11   libintl3 . dll   \u6216 / \u548c   libiconv2 . dll \u3002   \u6a21\u5757 \u7f3a\u5931 \u6216 \u4f7f\u7528 \u4e0d\u540c \u7684 \u5f15\u64ce \u7248\u672c \u6784\u5efa \u3002   \u5728   PythonAPI / carla   \u4e2d \u5c3d\u7ba1 \u6210\u529f \u8f93\u51fa \u6d88\u606f \uff0c \u4f46 \u6ca1\u6709   dist   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   osm2odr - visualstudio \u4e3a\u7a7a \uff0c \u6216\u8005 \u62f7\u8d1d \u8fc7\u53bb \u7684 \u76ee\u5f55 \u4e0d \u5bf9   \u7c7b\u578b \u8f6c\u6362 \u7c7b\u578b\u8f6c\u6362 \u4e0d \u5bf9   \u94fe\u63a5 \u4e0d\u5230 osm2odr . lib","title":"Windows   \u6784\u5efa"},{"location":"build_faq/#carla","text":"\u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u8fd0\u884c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u65f6   FPS   \u901f\u7387 \u8f83 \u4f4e \u3002   \u65e0\u6cd5 \u8fd0\u884c \u811a\u672c \u3002   \u5f53 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u8fd0\u884c \u65f6 \u94fe\u63a5 \u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u65e0\u6cd5 \u8fd0\u884c   Carla \uff0c \u65e0\u8bba \u65e0\u8bba\u662f \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u8fd8\u662f \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u3002   ImportError :   DLL   load   failed :   The   specified   module   could   not   be   found .   ImportError :   DLL   load   failed   while   importing   libcarla :   % 1   is   not   a   valid   Win32   app .   ImportError :   No   module   named   ' carla '   RuntimeError :   rpc : : rpc _ error   during   call   in   function   apply _ batch   ValueError :   sticky _ control :   invalid   value   type","title":"\u8fd0\u884c   Carla"},{"location":"build_faq/#_4","text":"Fatal   error :   ' version . h '   has   been   modified   since   the   precompiled   header .   \u521b\u5efa   Carla   \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c \u3002   \u6211 \u53ef\u4ee5 \u5728   Linux   \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u6253\u5305 \u9002\u7528 \u4e8e   Windows   \u7684   Carla \uff0c \u53cd\u4e4b \u4ea6\u7136 \u53cd\u4e4b\u4ea6\u7136 \u5417 \uff1f   \u5982\u4f55 \u5378\u8f7d   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff1f","title":"\u5176\u4ed6"},{"location":"build_faq/#_5","text":"","title":"\u7cfb\u7edf \u8981\u6c42"},{"location":"build_faq/#carla_1","text":"\u5efa\u8bae \u81f3\u5c11 \u6709   170GB   \u53ef\u7528 \u7a7a\u95f4 \u3002 \u6784\u5efa   Carla   \u9700\u8981 \u5927\u7ea6   35GB   \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \uff0c \u52a0\u4e0a \u865a\u5e7b \u5f15\u64ce \u5927\u7ea6 \u9700\u8981   95 - 135GB \u3002","title":"\u6784\u5efa   Carla   \u6240 \u9700 \u7684 \u78c1\u76d8\u7a7a\u95f4 \u3002  "},{"location":"build_faq/#carla_2","text":"Carla   \u662f \u4e00\u6b3e \u6027\u80fd \u8981\u6c42 \u8f83 \u9ad8 \u7684 \u8f6f\u4ef6 \u3002 \u5b83 \u81f3\u5c11 \u9700\u8981   6GB   GPU \uff0c \u6216\u8005 \u66f4\u597d \u7684 \u662f \u80fd\u591f \u8fd0\u884c \u865a\u5e7b \u5f15\u64ce \u7684 \u4e13\u7528   GPU \u3002   \u770b\u770b   \u865a\u5e7b \u5f15\u64ce \u63a8\u8350 \u7684 \u786c\u4ef6   \u3002","title":"\u8fd0\u884c   Carla   \u7684 \u63a8\u8350 \u786c\u4ef6 \u3002  "},{"location":"build_faq/#linux_1","text":"","title":"Linux   \u6784\u5efa"},{"location":"build_faq/#github-carlaue4sh","text":"Carla   \u7684 \u6e90 \u7248\u672c \u4e2d \u6ca1\u6709   CarlaUE4 . sh   \u811a\u672c \u3002 \u6309\u7167   \u6784\u5efa \u8bf4\u660e   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002   \u8981 \u4f7f\u7528   CarlaUE4 . sh   \u8fd0\u884c   Carla \uff0c \u8bf7 \u6309\u7167   \u5feb\u901f \u542f\u52a8 \u5b89\u88c5   \u8fdb\u884c \u64cd\u4f5c \u3002","title":"\u4ece   GitHub   \u4e0b\u8f7d \u65f6 \u4e0d\u4f1a \u51fa\u73b0 \u201c CarlaUE4 . sh \u201d \u811a\u672c \u3002  "},{"location":"build_faq/#make-launch-linux","text":"\u5728 \u6784\u5efa \u5b89\u88c5 \u8fc7\u7a0b \u4e2d \u53ef\u80fd \u4f1a \u62d6 \u51fa \u8bb8\u591a \u4e0d\u540c \u7684 \u95ee\u9898 \uff0c \u5e76\u4f1a \u50cf \u8fd9\u6837 \u663e\u73b0 \u73b0\u51fa \u51fa\u6765 \u663e\u73b0\u51fa \u663e\u73b0\u51fa\u6765 \u3002 \u4ee5\u4e0b \u662f \u6700 \u53ef\u80fd \u7684 \u539f\u56e0 \u5217\u8868 \uff1a   \u8fd0\u884c \u865a\u5e7b \u5f15\u64ce   4.26 \u3002   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u65f6 \u53ef\u80fd \u51fa\u73b0 \u67d0\u4e9b \u95ee\u9898 \u3002 \u5c1d\u8bd5 \u5355\u72ec \u8fd0\u884c \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5e76 \u68c0\u67e5 \u5b83 \u662f\u5426 \u662f\u5426\u662f   4.26   \u7248\u672c \u3002   \u4e0b\u8f7d \u8d44\u4ea7 \u3002   \u5982\u679c \u6ca1\u6709 \u89c6\u89c9 \u5185\u5bb9 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u65e0\u6cd5 \u8fd0\u884c \u3002 \u6b64 \u6b65\u9aa4 \u662f \u5f3a\u5236 \u5f3a\u5236\u6027 \u7684 \u3002   UE4 _ ROOT   \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \u3002   \u5883 \u53d8\u91cf \u672a \u8bbe\u7f6e \u3002 \u8bf7 \u8bb0\u4f4f \u901a\u8fc7 \u5c06 \u5176 \u6dfb\u52a0 \u5230   ~ / . bashrc   \u6216   ~ / . profile   \u6765 \u4f7f \u5176 \u5728 \u4f1a \u8bdd \u8303\u56f4 \u5185 \u6301\u4e45 \u5b58\u5728 \u3002 \u5426\u5219 \uff0c \u9700\u8981 \u4e3a \u6bcf\u4e2a \u65b0   shell   \u8fdb\u884c \u8bbe\u7f6e \u3002 \u8fd0\u884c   export   UE4 _ ROOT = < path _ to _ unreal _ 4 - 26 >   \u8bbe\u7f6e \u8fd9\u6b21 \u7684 \u53d8\u91cf \u3002   \u68c0\u67e5 \u4f9d\u8d56 \u3002   \u786e\u4fdd \u4e00\u5207 \u90fd \u5b89\u88c5 \u6b63\u786e \u3002 \u4e5f\u8bb8 \u5176\u4e2d \u4e00\u4e2a \u547d\u4ee4 \u88ab \u8df3 \u8fc7 \u3001 \u4e0d \u6210\u529f \u6216\u8005 \u4f9d\u8d56 \u9879 \u4e0d \u9002\u5408 \u7cfb\u7edf \u3002   \u5220\u9664   Carla   \u5e76 \u518d\u6b21 \u514b\u9686 \u5b83 \u3002   \u4ee5\u9632 \u4e07\u4e00 \u4ee5\u9632\u4e07\u4e00 \u51fa \u4e86 \u95ee\u9898 \u3002 \u5220\u9664   Carla   \u5e76 \u91cd\u65b0 \u514b\u9686 \u6216 \u4e0b\u8f7d \u3002   \u6ee1\u8db3 \u7cfb\u7edf \u8981\u6c42 \u3002   Ubuntu   \u7248\u672c \u5e94\u4e3a   16.04   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002 Carla   \u9700\u8981 \u5927\u7ea6   170GB   \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u548c \u4e00\u4e2a \u4e13\u7528   GPU \uff08 \u6216 \u81f3\u5c11 \u4e00\u4e2a   6GB \uff09 \u624d\u80fd \u8fd0\u884c \u3002   \u7cfb\u7edf \u663e\u793a \u4e0e   Carla   \u51b2\u7a81 \u7684 \u5176\u4ed6 \u7279\u5b9a \u539f\u56e0 \u53ef\u80fd \u4f1a \u53d1\u751f \u3002 \u8bf7 \u5c06 \u8fd9\u4e9b \u5185\u5bb9 \u53d1\u5e03 \u5230   \u8bba\u575b   \u4e0a \uff0c \u4ee5\u4fbf \u56e2\u961f \u53ef\u4ee5 \u66f4\u591a \u66f4\u591a\u5730 \u4e86\u89e3 \u5b83\u4eec \u3002","title":"\u201c make   launch \u201d \u5728   Linux   \u4e0a \u4e0d\u8d77\u4f5c\u7528 \u3002  "},{"location":"build_faq/#_6","text":"1 .   \u865a\u5e7b \u5f15\u64ce \u5e10\u53f7 \u662f\u5426 \u5df2 \u6fc0\u6d3b \uff1f   \u865a\u5e7b \u5f15\u64ce \u5b58\u50a8 \u5e93\u662f \u79c1\u6709 \u7684 \u3002 \u4e3a\u4e86 \u514b\u9686 \u5b83 \uff0c \u8bf7 \u521b\u5efa \u865a   \u5e7b \u5f15\u64ce \u5e10   \u6237 \uff0c \u6fc0\u6d3b \u5b83 \uff08 \u68c0\u67e5 \u9a8c\u8bc1 \u90ae\u4ef6 \uff09 \uff0c \u7136\u540e   \u94fe\u63a5 \u60a8 \u7684   GitHub   \u5e10\u6237 \u3002   2 .   git \u662f\u5426 \u5b89\u88c5 \u6b63\u786e \uff1f   \u6709\u65f6 \u9519\u8bef \u8868\u660e \u4e0e   https   \u534f\u8bae \u4e0d \u517c\u5bb9 \u3002 \u901a\u8fc7 \u5378\u8f7d \u5e76 \u91cd\u65b0 \u65b0\u5b89 \u5b89\u88c5 \u91cd\u65b0\u5b89\u88c5   git   \u5373\u53ef \u8f7b\u677e \u89e3\u51b3 \u3002 \u6253\u5f00 \u7ec8\u7aef \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   sudo   apt - get   remove   git   #   \u5378\u8f7d   git   sudo   apt   install   git - all   #   \u5b89\u88c5   git","title":"\u514b\u9686 \u865a\u5e7b \u5f15\u64ce \u5b58\u50a8 \u5e93 \u663e\u793a \u9519\u8bef \u3002  "},{"location":"build_faq/#attributeerror-module-carla-has-no-attribute-client-when-running-a-script","text":"\u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u3002   pip3   install   - Iv   setuptools = = 47.3 . 1   \u5e76 \u518d\u6b21 \u6784\u5efa   PythonAPI \u3002   make   PythonAPI   \u5c1d\u8bd5 \u6784\u5efa \u6587\u6863 \u6765 \u6d4b\u8bd5 \u4e00\u5207 \u662f\u5426 \u6b63\u5e38 \u8fd0\u884c \u3002 \u5e94\u8be5 \u4f1a \u663e\u793a \u6210\u529f \u7684 \u6d88\u606f \u3002   make   PythonAPI . docs","title":"AttributeError :   module   ' carla '   has   no   attribute   ' Client '   when   running   a   script .  "},{"location":"build_faq/#runtimeerror-rpcrpc_error-during-call-in-function-version","text":"\u5982\u679c \u8fd0\u884c \u811a\u672c \u8fd4\u56de \u4e0e \u6b64\u7c7b \u4f3c\u7684 \u8f93\u51fa \uff0c \u5219 \u8bf4\u660e   PythonAPI   \u4e2d \u7684   . egg   \u6587\u4ef6 \u5b58\u5728 \u95ee\u9898 \u3002   \u91cd\u8981   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   0.9 . 12 + \uff0c \u6709 \u591a\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u4f7f\u7528 / \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff08   . whl   \u6216   PyPi   \u4e0b\u8f7d \uff09 \u7684 \u8f83 \u65b0 \u65b9\u6cd5 \u4e4b\u4e00 \uff0c \u672c\u8282 \u4e2d \u7684 \u4fe1\u606f \u5c06 \u4e0e \u60a8 \u65e0\u5173 \u3002   \u9996\u5148 \uff0c \u6253\u5f00   < root _ carla > / PythonAPI / carla / dist   \u3002   \u5e94\u8be5 \u6709 \u4e00\u4e2a \u548c \u4f60 \u6b63\u5728 \u4f7f\u7528 \u76f8\u5bf9 \u5e94 \u7684   Carla   \u548c   Python   \u54cd\u5e94 \u7684   . egg   \u6587\u4ef6 \uff08 \u7c7b\u4f3c \u4e8e   carla - 0 . X . X - pyX . X - linux - x86 _ 64 . egg   \uff09 \u3002 \u786e\u4fdd \u8be5 \u6587\u4ef6 \u4e0e \u60a8 \u6b63\u5728 \u4f7f\u7528 \u7684   Python   \u7248\u672c \u5339\u914d \u3002 \u8981 \u68c0\u67e5 \u60a8 \u7684   Python   \u7248\u672c \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u3002   python3   -- version   #   \u6216\u8005 \u5bf9\u4e8e   Python   2   python   -- version   \u5982\u679c \u6587\u4ef6 \u4e22\u5931 \u6216\u8005 \u60a8 \u8ba4\u4e3a \u5b83 \u53ef\u80fd \u635f\u574f \u5df2\u635f\u574f \uff0c \u8bf7 \u5c1d\u8bd5 \u518d\u6b21 \u91cd\u5efa \u3002   make   clean   make   PythonAPI   make   launch   \u73b0\u5728 \u518d\u6b21 \u5c1d\u8bd5 \u793a\u4f8b \u811a\u672c \u4e4b\u4e00 \u3002   cd   PythonAPI / examples   python3   dynamic _ weather . py   \u5982\u679c \u9519\u8bef \u4ecd\u7136 \u5b58\u5728 \uff0c \u5219 \u95ee\u9898 \u53ef\u80fd \u4e0e \u60a8 \u7684   PythonPATH   \u6709\u5173 \u3002 \u8fd9\u4e9b \u811a\u672c \u4f1a \u81ea\u52a8 \u67e5\u627e   . egg   \u4e0e \u6784\u5efa \u76f8\u5173 \u7684 \u6587\u4ef6 \uff0c \u56e0\u6b64 \uff0c \u60a8 \u7684   PythonPATH   \u4e2d \u53ef\u80fd \u5b58\u5728 \u53e6 \u4e00\u4e2a   . egg   \u6587\u4ef6 \u5e72\u6270 \u8be5 \u8fc7\u7a0b \u3002 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u663e\u793a   PythonPATH   \u7684 \u5185\u5bb9 \u3002   echo   $ PYTHONPATH   \u5728 \u7c7b\u4f3c \u4e8e   PythonAPI / carla / dist   \u7684 \u8def\u5f84 \u4e0b \u67e5\u627e \u53e6 \u4e00\u4e2a   . egg   \u6587\u4ef6 \uff0c \u5e76 \u5220\u9664 \u5b83\u4eec \u3002 \u5b83\u4eec \u53ef\u80fd \u5c5e\u4e8e   Carla   \u5b89\u88c5 \u7684 \u5176\u4ed6 \u5b9e\u4f8b \u3002 \u4f8b\u5982 \uff0c \u5982\u679c \u60a8 \u8fd8 \u901a\u8fc7   apt - get   \u5b89\u88c5 \u4e86   Carla   \uff0c \u5219 \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u5c06 \u5176 \u5220\u9664 \uff0c \u5e76\u4e14   PythonPATH   \u4e5f \u4f1a \u88ab \u6e05\u7406 \u3002   sudo   apt - get   purge   carla - simulator   \u6700\u7ec8 \u53ef\u4ee5 \u9009\u62e9 \u4f7f\u7528   ~ / . bashrc   \uff0c \u5c06 PythonPATH \u4e0b \u4f60 \u6784\u5efa \u7684   . egg   \u6587\u4ef6 \u6dfb\u52a0 \u8fdb\u6765 \u3002 \u8fd9 \u4e0d\u662f \u63a8\u8350 \u7684 \u65b9\u5f0f \u3002 \u6700\u597d \u6709 \u4e00\u4e2a \u660e\u786e \u7684   PythonPATH \uff0c \u53ea \u9700 \u5728 \u811a\u672c \u4e2d \u6dfb\u52a0 \u5fc5\u8981 \u7684   . egg   \u6587\u4ef6 \u8def\u5f84 \u5373\u53ef \u3002   \u9996\u5148 \uff0c \u6253\u5f00   ~ / . bashrc   .   gedit   ~ / . bashrc   \u5c06 \u4ee5\u4e0b \u884c \u6dfb\u52a0 \u5230   ~ / . bashrc   \u3002 \u5b83\u4eec \u5b58\u50a8 \u6784\u5efa \u7684   . egg   \u6587\u4ef6 \u8def\u5f84 \uff0c \u4ee5\u4fbf Python \u53ef\u4ee5 \u81ea\u52a8 \u627e\u5230 \u5b83 \u3002 \u4fdd\u5b58 \u6587\u4ef6 \uff0c \u7136\u540e \u91cd\u7f6e \u7ec8\u7aef \u4ee5 \u4f7f \u66f4\u6539 \u751f\u6548 \u3002   export   PYTHONPATH = $ PYTHONPATH : \" $ { CARLA _ ROOT } / PythonAPI / carla / dist / $ ( ls   $ { CARLA _ ROOT } / PythonAPI / carla / dist   |   grep   py3 . ) \"   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla   \u6e05\u7406   PythonPATH   \u6216 \u6dfb\u52a0 \u6784\u5efa \u7684   . egg   \u6587\u4ef6 \u8def\u5f84 \u540e \uff0c \u6240\u6709 \u793a\u4f8b \u811a\u672c \u90fd \u5e94\u8be5 \u6b63\u5e38 \u5de5\u4f5c \u3002","title":"\u65e0\u6cd5 \u8fd0\u884c \u793a\u4f8b \u811a\u672c \u6216   \" RuntimeError :   rpc : : rpc _ error   during   call   in   function   version \" .  "},{"location":"build_faq/#windows_1","text":"","title":"Windows   \u6784\u5efa"},{"location":"build_faq/#github-carlaue4exe","text":"Carla   \u7684 \u6e90 \u7248\u672c \u4e2d \u6ca1\u6709   CarlaUE4 . exe   \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u3002 \u6309\u7167 \u6784\u5efa \u8bf4\u660e \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002 \u8981 \u76f4\u63a5 \u83b7\u53d6   CarlaUE4 . exe   \uff0c \u8bf7 \u6309\u7167   \u5feb\u901f \u5165\u95e8   \u8bf4\u660e \u8fdb\u884c \u64cd\u4f5c \u3002","title":"\u4ece   GitHub   \u4e0b\u8f7d \u65f6 \u4e0d\u4f1a \u51fa\u73b0 \u201c CarlaUE4 . exe \u201d \u3002  "},{"location":"build_faq/#carlaue4-could-not-be-compiled-try-rebuilding-it-from-source-manually","text":"\u5c1d\u8bd5 \u6784\u5efa   Carla   \u65f6 \u51fa\u73b0 \u95ee\u9898 \u3002 \u4f7f\u7528   Visual   Studio   \u91cd\u65b0 \u6784\u5efa \u4ee5 \u53d1\u73b0 \u53d1\u751f \u4e86 \u4ec0\u4e48 \u3002   1 .   \u8f6c \u5230   carla / Unreal / CarlaUE4   \u5e76 \u53f3\u952e \u5355\u51fb   CarlaUE4 . uproject   \u3002   2 .   \u5355\u51fb   Generate   Visual   Studio   project   files   \u3002   3 .   \u4f7f\u7528   Visual   Studio   2019   \u6253\u5f00 \u751f\u6210 \u7684 \u6587\u4ef6 \u3002   4 .   \u4f7f\u7528   Visual   Studio   \u7f16\u8bd1 \u9879\u76ee \u3002 \u5feb\u6377 \u5feb\u6377\u952e \u662f F7 \u3002 \u6784\u5efa \u5c06 \u5931\u8d25 \uff0c \u4f46 \u53d1\u73b0 \u7684 \u95ee\u9898 \u5c06 \u663e\u793a \u5728 \u4e0b\u9762 \u3002   \u4e0d\u540c \u7684 \u95ee\u9898 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u51fa\u73b0 \u6b64 \u7279\u5b9a \u9519\u8bef \u6d88\u606f \u3002 \u7528\u6237   @ tamakoji   \u89e3\u51b3 \u4e86 \u4e00\u4e2a \u7ecf\u5e38 \u51fa\u73b0 \u7ecf\u5e38\u51fa\u73b0 \u7684 \u60c5\u51b5 \uff0c \u5373 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u672a \u6b63\u786e \u514b\u9686 \u4e14 \u65e0\u6cd5 \u8bbe\u7f6e   Carla   \u7248\u672c \uff08 \u4ece   git   \u5c06 \u5176 \u4e0b\u8f7d \u4e3a   . zip   \u65f6 \uff09 \u3002   \u68c0\u67e5   Build / CMakeLists . txt . in   .   \u5982\u679c \u663e\u793a \uff1a   set ( CARLA _ VERSION   )   \uff0c \u8bf7 \u6267\u884c \u4ee5\u4e0b \u64cd\u4f5c \uff1a   1 .   \u8f6c \u5230   Setup . bat   \u7b2c   198   \u884c \u3002   2 .   Update   the   line   from :   for   / f   %% i   in   ( ' git   describe   -- tags   -- dirty   -- always ' )   do   set   carla _ version = %% i   \u4e3a \uff1a   for   / f   %% i   in   ( ' git   describe   -- tags   -- dirty   -- always ' )   do   set   carla _ version = \" 0.9 . 9 \"","title":"CarlaUE4   could   not   be   compiled .   Try   rebuilding   it   from   source   manually .  "},{"location":"build_faq/#cmake-cmake","text":"\u5f53 \u5c1d\u8bd5 \u4f7f\u7528   make   \u547d\u4ee4 \u6784\u5efa \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6216 \u5ba2\u6237 \u5ba2\u6237\u7aef \u65f6\u4f1a \u51fa\u73b0 \u6b64 \u95ee\u9898 \u3002 \u5373\u4f7f   CMake   \u5df2 \u5b89\u88c5 \u3001 \u66f4\u65b0 \u5e76 \u6dfb\u52a0 \u5230 \u73af\u5883 \u8def\u5f84 \u4e2d \u3002 Visual   Studio   \u7248\u672c \u4e4b\u95f4 \u53ef\u80fd \u5b58\u5728 \u51b2\u7a81 \u3002   \u53ea \u7559\u4e0b VS2019 \uff0c \u5176\u4f59 \u7684 \u5f7b\u5e95 \u5220\u9664 \u3002","title":"\u5373\u4f7f   CMake   \u5df2 \u6b63\u786e \u5b89\u88c5 \uff0c \u4e5f \u4f1a \u663e\u793a   CMake   \u9519\u8bef \u3002  "},{"location":"build_faq/#error-c2440-c2672-compiler-version","text":"\u7531\u4e8e \u4e0e \u5176\u4ed6   Visual   Studio   \u6216   Microsoft   \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u7248\u672c \u51b2\u7a81 \uff0c \u8be5 \u6784\u5efa \u672a \u4f7f\u7528   2019   \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u3002 \u5378\u8f7d \u8fd9\u4e9b \u5e76 \u518d\u6b21 \u91cd\u5efa \u3002   Visual   Studio   \u4e0d \u64c5\u957f \u6446\u8131 \u81ea\u8eab \u3002 \u8981 \u4ece \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e2d \u5f7b\u5e95 \u6e05\u9664 \u5f7b\u5e95\u6e05\u9664   Visual   Studio \uff0c \u8bf7 \u8f6c\u5230   Program   Files   ( x86 ) \\ Microsoft   Visual   Studio \\ Installer \\ resources \\ app \\ layout   \u5e76 \u8fd0\u884c   . \\ InstallCleanup . exe   - full   \u3002 \u8fd9 \u53ef\u80fd \u9700\u8981 \u7ba1\u7406 \u7ba1\u7406\u5458 \u6743\u9650 \u3002   \u8981 \u4fdd\u7559 \u5176\u4ed6   Visual   Studio   \u7248\u672c \uff0c \u8bf7 \u901a\u8fc7 \u6dfb\u52a0 \u4ee5\u4e0b \u884c \u8fdb\u884c \u7f16\u8f91   % appdata% \\ Unreal   Engine \\ UnrealBuildTool \\ BuildConfiguration . xml   \uff1a   < VCProjectFileGenerator >   < Version > VisualStudio2019 < / Version >   < / VCProjectFileGenerator >   < WindowsPlatform >   < Compiler > VisualStudio2019 < / Compiler >   < / WindowsPlatform >","title":"Error   C2440 ,   C2672 :   compiler   version .  "},{"location":"build_faq/#make-launch-windows","text":"\u5728 \u6784\u5efa \u5b89\u88c5 \u8fc7\u7a0b \u4e2d \u53ef\u80fd \u4f1a \u62d6 \u51fa \u8bb8\u591a \u4e0d\u540c \u7684 \u95ee\u9898 \uff0c \u5e76 \u50cf \u8fd9\u6837 \u663e\u73b0 \u73b0\u51fa \u51fa\u6765 \u663e\u73b0\u51fa \u663e\u73b0\u51fa\u6765 \u3002 \u4ee5\u4e0b \u662f \u6700 \u53ef\u80fd \u7684 \u539f\u56e0 \u5217\u8868 \uff1a   \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u3002   Windows   \u6784\u5efa \u671f\u95f4 \u53d1\u751f \u4e86 \u5f88\u591a \u4e8b\u60c5 \u3002 \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \u5e76 \u786e\u4fdd \u6240\u6709 \u5185\u5bb9 \u5747 \u5df2 \u6b63\u786e \u66f4\u65b0 \u3002   \u8fd0\u884c \u865a\u5e7b \u5f15\u64ce   4.26 \u3002   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u65f6 \u53ef\u80fd \u51fa\u73b0 \u67d0\u4e9b \u95ee\u9898 \u3002 \u8fd0\u884c \u7f16\u8f91 \u7f16\u8f91\u5668 \u5e76 \u68c0\u67e5 \u662f\u5426 \u4f7f\u7528 \u4e86   4.26   \u7248\u672c \u3002   \u4e0b\u8f7d \u8d44\u4ea7 \u3002   \u5982\u679c \u6ca1\u6709 \u89c6\u89c9 \u5185\u5bb9 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u65e0\u6cd5 \u8fd0\u884c \u3002 \u6b64 \u6b65\u9aa4 \u662f \u5f3a\u5236 \u5f3a\u5236\u6027 \u7684 \u3002   Visual   Studio   2019 .   \u5982\u679c \u5b89\u88c5 \u6216 \u6700\u8fd1 \u5378\u8f7d \u4e86 \u5176\u4ed6 \u7248\u672c \u7684   Visual   Studio \uff0c \u53ef\u80fd \u4f1a \u51fa\u73b0 \u51b2\u7a81 \u3002 \u8981 \u4ece \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e2d \u5f7b\u5e95 \u6e05\u9664 \u5f7b\u5e95\u6e05\u9664   Visual   Studio \uff0c \u8bf7 \u8f6c\u5230   Program   Files   ( x86 ) \\ Microsoft   Visual   Studio \\ Installer \\ resources \\ app \\ layout   \u5e76 \u8fd0\u884c   . \\ InstallCleanup . exe   - full   \u3002   \u5220\u9664   Carla   \u5e76 \u518d\u6b21 \u514b\u9686 \u5b83 \u3002   \u4ee5\u9632 \u4e07\u4e00 \u4ee5\u9632\u4e07\u4e00 \u51fa \u4e86 \u95ee\u9898 \u3002 \u5220\u9664   Carla   \u5e76 \u91cd\u65b0 \u514b\u9686 \u6216 \u4e0b\u8f7d \u3002   \u6ee1\u8db3 \u7cfb\u7edf \u8981\u6c42 \u3002   Carla   \u9700\u8981 \u5927\u7ea6   170GB   \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u548c \u4e00\u4e2a \u4e13\u7528   GPU \uff08 \u6216 \u81f3\u5c11 \u4e00\u4e2a   6GB \uff09 \u624d\u80fd \u8fd0\u884c \u3002   \u7cfb\u7edf \u663e\u793a \u4e0e   Carla   \u51b2\u7a81 \u7684 \u5176\u4ed6 \u7279\u5b9a \u539f\u56e0 \u53ef\u80fd \u4f1a \u53d1\u751f \u3002 \u8bf7 \u5c06 \u8fd9\u4e9b \u5185\u5bb9 \u53d1\u5e03 \u5230   \u8bba\u575b   \u4e0a \uff0c \u4ee5\u4fbf \u56e2\u961f \u53ef\u4ee5 \u66f4\u591a \u66f4\u591a\u5730 \u4e86\u89e3 \u5b83\u4eec \u3002","title":"\u201c make   launch \u201d \u5728   Windows   \u4e0a \u4e0d\u8d77\u4f5c\u7528 \u3002  "},{"location":"build_faq/#make-libintl3dll-libiconv2dll","text":"\u4e0b\u8f7d   \u4f9d\u8d56 \u9879   \u5e76 \u5c06   bin   \u5185\u5bb9 \u89e3\u538b \u5230   make   \u5b89\u88c5 \u8def\u5f84 \u4e2d \u3002","title":"Make   \u7f3a\u5c11   libintl3 . dll   \u6216 / \u548c   libiconv2 . dll \u3002  "},{"location":"build_faq/#modules-are-missing-or-built-with-a-different-engine-version","text":"\u5355\u51fb   on   Accept   \u4ee5 \u91cd\u5efa \u5b83\u4eec \u3002","title":"Modules   are   missing   or   built   with   a   different   engine   version .  "},{"location":"build_faq/#pythonapicarladist","text":"\u5728   Windows   \u4e2d \uff0c   make   PythonAPI   \u547d\u4ee4 \u53ef\u80fd \u4f1a \u8fd4\u56de \u4e00\u6761 \u6d88\u606f \uff0c \u8868\u660e   Python   API   \u5b89\u88c5 \u6210\u529f \uff0c \u4f46 \u5b9e\u9645 \u5b9e\u9645\u4e0a \u5e76\u672a \u6210\u529f \u3002 \u5982\u679c \u770b\u5230 \u6b64 \u8f93\u51fa \u540e \u76ee\u5f55   PythonAPI / carla   \u4e2d \u6ca1\u6709   dist   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u8bf7 \u67e5\u770b \u4e0a\u9762 \u7684 \u547d\u4ee4 \u8f93\u51fa \u3002 \u5f88 \u53ef\u80fd \u53d1\u751f \u4e86 \u9519\u8bef \uff0c \u9700\u8981 \u5728 \u66f4\u6b63 \u9519\u8bef \u5e76 \u8fd0\u884c   make   clean   \u540e \u91cd\u8bd5 \u6784\u5efa \u3002","title":"\u5c3d\u7ba1 \u6210\u529f \u8f93\u51fa \u6d88\u606f \uff0c \u4f46 \u5728 PythonAPI / carla \u4e2d \u6ca1\u6709 dist \u6587\u4ef6\u5939 \u3002    "},{"location":"build_faq/#osm2odr-visualstudio","text":"CMake   Error :   The   current   CMakeCache . txt   directory   D : / work / workspace / carla / Build / osm2odr - visualstudio / CMakeCache . txt   is   different   than   the   directory   d : / work / buffer / carla / Build / osm2odr - visualstudio   where   CMakeCache . txt   was   created .   This   may   result   in   binaries   being   created   in   the   wrong   place .   If   you   are   not   sure ,   reedit   the   CMakeCache . txt   CMake   Error :   The   source   directory   \" D : / work / workspace / carla / Build / osm2odr - visualstudio / x64 \"   does   not   appear   to   contain   CMakeLists . txt .   \u5220\u9664   carla \\ Build \\ osm2odr - visualstudio \\ CMakeCache . txt","title":"osm2odr - visualstudio \u4e3a\u7a7a \uff0c \u6216\u8005 \u62f7\u8d1d \u8fc7\u53bb \u7684 \u76ee\u5f55 \u4e0d \u5bf9  "},{"location":"build_faq/#_7","text":"carla / Unreal / CarlaUE4 / Plugins / Carla / Source / Carla / Vehicle / CustomTerrainPhysicsComponent . cpp ( 1161 ) :   error   C2440 :   \u201c static _ cast \u201d :   \u65e0\u6cd5 \u4ece \u201c float \u201d \u8f6c\u6362 \u4e3a \u201c EDefResolutionType \u201d   \u6ce8\u91ca \u6389   / /   ChosenRes   =   static _ cast < EDefResolutionType > ( Value ) ;   / /   static _ cast < EDefResolutionType > ( Value )   \u6ce8\u610f \uff1a \u6ce8\u610f vs2019 \u4e13\u4e1a \u4e13\u4e1a\u7248 \u624d \u6709 \u8fd9\u4e2a \u95ee\u9898 \uff0c vs2019 \u793e\u533a \u7248 \u6ca1\u6709 \u8fd9\u4e2a \u95ee\u9898 \u3002","title":"\u7c7b\u578b\u8f6c\u6362 \u4e0d \u5bf9  "},{"location":"build_faq/#osm2odrlib","text":"fatal   error   LNK1181 :   carla \\ Unreal \\ CarlaUE4 \\ Plugins \\ Carla \\ CarlaDependencies \\ lib \\ osm2odr . lib   \u4ece \u5176\u4ed6 \u5730\u65b9 \u62f7\u8d1d \u8fc7\u6765 \u3002","title":"\u94fe\u63a5 \u4e0d\u5230 osm2odr . lib  "},{"location":"build_faq/#carla_3","text":"","title":"\u8fd0\u884c   Carla"},{"location":"build_faq/#fps","text":"\u865a\u5e7b 4 \u7f16\u8f91 \u7f16\u8f91\u5668 \u5728 \u5931\u7126 \u65f6\u4f1a \u8fdb\u5165 \u4f4e \u6027\u80fd \u6a21\u5f0f \u3002   \u8f6c \u5230 \u201c \u7f16\u8f91 - > \u7f16\u8f91 \u7f16\u8f91\u5668 \u504f\u597d \u8bbe\u7f6e - > \u6027\u80fd \u201d   \uff08   Edit / Editor   Preferences / Performance   \uff09 \uff0c \u7136\u540e \u7981\u7528 \u201c \u5904\u4e8e \u80cc\u666f \u4e2d \u65f6 \u5360\u7528 \u8f83 \u5c11   CPU \u201d \u9009\u9879 \u3002","title":"\u5728 \u865a\u5e7b \u7f16\u8f91\u5668 \u4e2d \u8fd0\u884c \u670d\u52a1\u5668\u65f6   FPS   \u901f\u7387 \u8f83 \u4f4e \u3002  "},{"location":"build_faq/#_8","text":"\u6709\u4e9b \u811a\u672c \u6709 \u8981\u6c42 \u3002 \u8fd9\u4e9b \u5217 \u5728 \u540d\u4e3a   Requirements . txt   \u7684 \u6587\u4ef6 \u4e2d \uff0c \u4e0e \u811a\u672c \u672c\u8eab \u4f4d\u4e8e \u540c\u4e00 \u8def\u5f84 \u4e2d \u3002 \u8bf7 \u52a1\u5fc5 \u68c0\u67e5 \u8fd9\u4e9b \u4ee5\u4fbf \u8fd0\u884c \u811a\u672c \u3002 \u5176\u4e2d \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u53ef\u4ee5 \u901a\u8fc7 \u7b80\u5355 \u7684   pip   \u547d\u4ee4 \u8fdb\u884c \u5b89\u88c5 \u3002   \u6709\u65f6 \u5728   Windows   \u4e0a \uff0c \u811a\u672c \u65e0\u6cd5 \u4ec5 \u4f7f\u7528   >   script _ name . py   \u8fd0\u884c \u3002 \u5c1d\u8bd5 \u6dfb\u52a0 .   Try   adding   >   python3   script _ name . py   \uff0c \u5e76 \u786e\u4fdd \u4f4d\u4e8e \u6b63\u786e \u7684 \u76ee\u5f55 \u4e2d \u3002","title":"\u65e0\u6cd5 \u8fd0\u884c \u811a\u672c \u3002  "},{"location":"build_faq/#_9","text":"\u5355\u51fb \u201c \u8fd0\u884c \u201d \uff08   Play   \uff09 \u5e76 \u7b49\u5f85 \u573a\u666f \u52a0\u8f7d \u3002 \u6b64\u65f6 \uff0c Python   \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u50cf \u72ec\u7acb \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e00\u6837 \u8fde\u63a5 \u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002","title":"\u5728 \u865a\u5e7b \u7f16\u8f91\u5668 \u4e2d \u8fd0\u884c \u65f6 \u8fde\u63a5 \u5230 \u4eff\u771f\u5668 \u3002  "},{"location":"build_faq/#carla_4","text":"NVIDIA   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u53ef\u80fd \u5df2 \u8fc7\u65f6 \u3002 \u786e\u4fdd \u60c5\u51b5 \u5e76\u975e \u5982\u6b64 \u5e76\u975e\u5982\u6b64 \u3002 \u5982\u679c \u95ee\u9898 \u4ecd \u672a \u89e3\u51b3 \uff0c \u8bf7 \u67e5\u770b   \u8bba\u575b   \u5e76 \u53d1\u5e03 \u5177\u4f53 \u95ee\u9898 \u3002","title":"\u65e0\u6cd5 \u8fd0\u884c   Carla \uff0c \u65e0\u8bba\u662f \u4e8c\u8fdb\u5236 \u8fd8\u662f \u6e90\u4ee3\u7801 \u6784\u5efa \u3002  "},{"location":"build_faq/#importerror-dll-load-failed-the-specified-module-could-not-be-found","text":"\u6240 \u9700 \u7684 \u5e93 \u4e4b\u4e00 \u5c1a\u672a \u6b63\u786e \u5b89\u88c5 \u3002 \u4f5c\u4e3a \u89e3\u51b3 \u65b9\u6cd5 \uff0c \u8bf7 \u8f6c\u81f3   carla \\ Build \\ zlib - source \\ build   \u5e76 \u5728 \u811a\u672c \u7684 \u8def\u5f84 \u4e2d \u590d\u5236 \u540d\u4e3a   zlib . dll   \u7684 \u6587\u4ef6 \u3002","title":"ImportError :   DLL   load   failed :   The   specified   module   could   not   be   found .  "},{"location":"build_faq/#importerror-dll-load-failed-while-importing-libcarla-1-is-not-a-valid-win32-app","text":"32   \u4f4d   Python   \u7248\u672c \u5728 \u5c1d\u8bd5 \u8fd0\u884c \u811a\u672c \u65f6\u4f1a \u4ea7\u751f \u51b2\u7a81 \u3002 \u5378\u8f7d \u5b83 \u5e76 \u4ec5 \u4fdd\u7559 \u6240 \u9700 \u7684   Python3   x64 \u3002","title":"ImportError :   DLL   load   failed   while   importing   libcarla :   % 1   is   not   a   valid   Win32   app .  "},{"location":"build_faq/#importerror-no-module-named-carla","text":"\u51fa\u73b0 \u6b64 \u9519\u8bef \u7684 \u539f\u56e0 \u662f   Python   \u627e \u4e0d\u5230   Carla   \u5e93 \u3002 Carla   \u5e93 \u5305\u542b \u5728 \u4f4d\u4e8e   PythonAPI / carla / dist   \u76ee\u5f55 \u4e2d \u7684 \u4e00\u4e2a   . egg   \u6587\u4ef6 \u4e2d \uff0c \u6240\u6709 \u793a\u4f8b \u811a\u672c \u90fd \u5c06 \u5728 \u6b64 \u76ee\u5f55 \u4e2d \u67e5\u627e \u5b83 \u3002 \u8be5   . egg   \u6587\u4ef6 \u9075\u5faa carla -   - py   -   . egg   \u547d\u540d \u6cd5 \u3002   \u91cd\u8981   Carla   \u4ec5 \u5728   0.9 . 12   \u4e4b\u524d \u7684 \u7248\u672c \u4e2d \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u6587\u4ef6   . egg   \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   0.9 . 12 + \uff0c \u6709 \u591a\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u4f7f\u7528 / \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff08   . whl   \u6216   PyPi   \u4e0b\u8f7d \uff09 \u7684 \u8f83 \u65b0 \u65b9\u6cd5 \u4e4b\u4e00 \uff0c \u672c\u8282 \u4e2d \u7684 \u4fe1\u606f \u5c06 \u4e0e \u60a8 \u65e0\u5173 \u3002   \u5728   \u5feb\u901f \u5165\u95e8 \u6559\u7a0b \u5165\u95e8\u6559\u7a0b   \u4e2d \u9605\u8bfb \u6709\u5173 \u4f7f\u7528 / \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u7684 \u65b0 \u65b9\u6cd5 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f \u6253\u5305 \u7248\u672c \u7684   Carla \uff0c \u5219 \u4f1a \u6709 \u591a\u4e2a   . egg   \u6587\u4ef6 \uff0c \u5bf9\u5e94 \u4e0d\u540c \u7248\u672c \u7684   Python \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e   Carla   \u7684 \u7248\u672c \u3002 \u786e\u4fdd \u786e\u4fdd\u60a8 \u6b63\u5728 \u4f7f\u7528 \u8fd9\u4e9b   Python   \u7248\u672c \u4e4b\u4e00 \u8fd0\u884c \u811a\u672c \u3002 \u8981 \u68c0\u67e5 \u9ed8\u8ba4 \u7684   Python   \u7248\u672c \uff0c \u8bf7 \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u4e2d \u952e\u5165 \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   python3   -- version   #   \u6216\u8005   python   -- version   \u5982\u679c \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Python \uff0c \u5219 \u8be5   . egg   \u6587\u4ef6 \u5c06 \u6839\u636e \u7cfb\u7edf \u4e0a \u7684 \u9ed8\u8ba4   Python   \u7248\u672c \u6784\u5efa \u3002 \u5728   Linux   \u4e2d \uff0c \u8fd9 \u5c06 \u662f \u8fd4\u56de \u7684 \u9ed8\u8ba4   Python   \u7248\u672c \uff1a   / usr / bin / env   python3   -- version   #   \u6216\u8005 \u5982\u679c \u4f60 \u6307\u5b9a   ARGS = \" -- python - version = 2 \"   / usr / bin / env   python2   -- version   \u5728   Windows   \u4e2d \uff0c \u5b83 \u5c06 \u6210\u4e3a \u4ee5\u4e0b \u529f\u80fd \u7684 \u9ed8\u8ba4   Python   \u7248\u672c \uff1a   py   - 3   -- version   \u786e\u4fdd \u786e\u4fdd\u60a8 \u4f7f\u7528 \u4e0e \u60a8 \u7684   . egg   \u6587\u4ef6 \u5bf9\u5e94 \u7684   Python   \u7248\u672c \u8fd0\u884c \u811a\u672c . egg \u3002 \u5728   Linux   \u4e2d \uff0c \u60a8 \u53ef\u80fd \u8fd8 \u9700\u8981 \u5c06   Python   \u8def\u5f84 \u8bbe\u7f6e \u4e3a \u6307\u5411   Carla \u3002 \u4e3a\u6b64 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   export   PYTHONPATH = $ PYTHONPATH : < path / to / carla / > / PythonAPI / carla / dist / < your _ egg _ file >   #   \u68c0\u67e5 \u73b0\u5728   Carla   \u662f\u5426 \u80fd \u53d1\u73b0   python3   - c   ' import   carla ; print ( \" Success \" ) '   \u8bf7 \u6ce8\u610f \uff0c \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u6216   Conda   \u7b49 \u5176\u4ed6   Python   \u73af\u5883 \u53ef\u80fd \u4f1a \u4f7f   Carla   \u7684 \u5b89\u88c5 \u53d8\u5f97 \u590d\u6742 \u53d8\u5f97\u590d\u6742 \u3002 \u786e\u4fdd \u786e\u4fdd\u60a8 \u5df2 \u76f8\u5e94 \u5730 \u8bbe\u7f6e   Python   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u548c \u8def\u5f84 \u3002","title":"ImportError :   No   module   named   ' carla '  "},{"location":"build_faq/#runtimeerror-rpcrpc_error-during-call-in-function-apply_batch","text":"PythonAPI \u7684 \u7248\u672c \u8981 \u548c Carla \u670d\u52a1 \u7684 \u7248\u672c \u4e00\u81f4 \uff0c \u6bd4\u5982 dev \u5206\u652f \u7684 \u4ee3\u7801 \u7f16\u8bd1 \u5f97\u5230 \u7684 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u8fd0\u884c \u7684 \u573a\u666f \u4e5f \u8981 \u7528 dev \u5206\u652f \u4ee3\u7801 \u7f16\u8bd1 \u7684 PythonAPI \u8fdb\u884c \u8fde\u63a5 \u3002","title":"RuntimeError :   rpc : : rpc _ error   during   call   in   function   apply _ batch  "},{"location":"build_faq/#valueerror-sticky_control-invalid-value-type","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u670d\u52a1\u7aef \u7684 PythonAPI \u7248\u672c \u4e0d \u4e00\u81f4 \uff0c \u5728 dev \u5206\u652f \u5f00\u53d1 \u65f6\u4f1a \u51fa\u73b0 \u3002","title":"ValueError :   sticky _ control :   invalid   value   type  "},{"location":"build_faq/#_10","text":"","title":"\u5176\u4ed6"},{"location":"build_faq/#fatal-error-versionh-has-been-modified-since-the-precompiled-header","text":"\u7531\u4e8e   Linux   \u66f4\u65b0 \uff0c \u8fd9\u79cd \u60c5\u51b5 \u65f6\u5e38 \u53d1\u751f \u3002 Makefile   \u4e2d\u6709 \u4e00\u4e2a \u9488\u5bf9 \u6b64 \u95ee\u9898 \u7684 \u7279\u6b8a \u76ee\u6807 \u3002 \u867d\u7136 \u82b1 \u4e86 \u5f88 \u65f6\u95f4 \u957f\u65f6\u95f4 \uff0c \u4f46 \u89e3\u51b3 \u4e86 \u95ee\u9898 \uff1a   make   hard - clean   make   CarlaUE4Editor","title":"Fatal   error :   ' version . h '   has   been   modified   since   the   precompiled   header .  "},{"location":"build_faq/#carla_5","text":"\u5728   Linux   \u4e2d \uff0c \u5728 \u9879\u76ee \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c   make   package   \u3002 \u8be5\u5305 \u5c06 \u5305\u62ec \u9879\u76ee \u548c   Python   API   \u6a21\u5757 \u3002   \u6216\u8005 \uff0c \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7f16\u8bd1   Carla   \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c \u3002 \u6253\u5f00   CarlaUE4   \u9879\u76ee \uff0c \u8f6c \u5230 \u83dc\u5355   File / Package   Project   \uff0c \u7136\u540e \u9009\u62e9 \u4e00\u4e2a \u5e73\u53f0 \u3002 \u53ef\u80fd \u8fd8\u8981 \u7b49 \u4e00\u4e0b \u3002","title":"\u521b\u5efa   Carla   \u7684 \u4e8c\u8fdb\u5236 \u7248\u672c \u3002  "},{"location":"build_faq/#linux-windows-carla","text":"\u867d\u7136 \u6b64 \u529f\u80fd \u9002\u7528 \u4e8e \u865a\u5e7b \u5f15\u64ce \uff0c \u4f46 \u5728   Carla   \u4e2d \u4e0d\u53ef \u7528 \u3002 \u6211\u4eec \u6709 \u8bb8\u591a \u4e0d \u652f\u6301 \u4ea4\u53c9 \u7f16\u8bd1 \u7684 \u4f9d\u8d56 \u9879 \u3002","title":"\u6211 \u53ef\u4ee5 \u5728   Linux   \u8ba1\u7b97\u673a \u4e0a \u6253\u5305 \u9002\u7528 \u4e8e   Windows   \u7684   Carla \uff0c \u53cd\u4e4b\u4ea6\u7136 \u5417 \uff1f  "},{"location":"build_faq/#carla_6","text":"\u5982\u679c \u60a8 \u4f7f\u7528   pip / pip3   \u5b89\u88c5 \u4e86 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u5219 \u5e94 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u5c06 \u5176 \u5378\u8f7d \uff1a   #   Python   3   pip3   uninstall   carla   #   Python   2   pip   uninstall   carla","title":"\u5982\u4f55 \u5378\u8f7d   Carla   \u5ba2\u6237\u7aef \u5e93 \uff1f  "},{"location":"build_linux/","text":"Linux   \u7cfb\u7edf \u4e0a \u7684 \u6784\u5efa   \u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u5728   Linux   \u4e0a \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002 \u6709 \u4e24\u4e2a \u90e8\u5206 \u3002 \u7b2c\u4e00 \u90e8\u5206 \u8be6\u7ec6 \u4ecb\u7ecd \u7cfb\u7edf \u8981\u6c42 \u548c \u6240 \u9700 \u8f6f\u4ef6 \u7684 \u5b89\u88c5 \uff0c \u7b2c\u4e8c \u90e8\u5206 \u8be6\u7ec6 \u4ecb\u7ecd \u5982\u4f55 \u5b9e\u9645 \u6784\u5efa \u548c \u8fd0\u884c   Carla \u3002   \u6784\u5efa \u8fc7\u7a0b \u5f88\u957f \uff08 4 \u5c0f\u65f6 \u6216 \u66f4 \u65f6\u95f4 \u957f\u65f6\u95f4 \uff09 \u5e76\u4e14 \u6d89\u53ca \u591a\u79cd \u8f6f\u4ef6 \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u5728 \u5f00\u59cb \u4e4b\u524d \u5b8c\u6574 \u9605\u8bfb \u8be5 \u6307\u5357 \u3002   \u7b2c\u4e00 \u90e8\u5206 \uff1a \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u7cfb\u7edf \u8981\u6c42   \u8f6f\u4ef6 \u8981\u6c42   \u865a\u5e7b \u5f15\u64ce   \u7b2c\u4e8c \u90e8\u5206 \uff1a \u6784\u5efa   Carla   \u514b\u9686   Carla   \u4ed3\u5e93   \u83b7\u53d6 \u8d44\u4ea7   \u8bbe\u7f6e \u865a\u5e7b \u5f15\u64ce \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   \u6784\u5efa   Carla   \u5176\u4ed6   make   \u547d\u4ee4   \u5176\u4ed6   \u7b2c\u4e00 \u90e8\u5206 \uff1a \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u7cfb\u7edf \u8981\u6c42   Ubuntu   18.04 .   Carla   \u63d0\u4f9b \u5bf9   Ubuntu   16.04   \u4e4b\u524d \u7248\u672c \u7684 \u652f\u6301 \u3002   \u7136\u800c   \uff0c \u865a\u5e7b \u5f15\u64ce \u9700\u8981 \u9002\u5f53 \u7684 \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u624d\u80fd \u6b63\u5e38 \u5de5\u4f5c \u3002 \u4e0b\u9762 \u5355\u72ec \u5217\u51fa \u4e86   Ubuntu   18.04   \u53ca \u4e4b\u524d \u7248\u672c \u7684 \u4f9d\u8d56 \u9879 \u3002 \u786e\u4fdd \u5b89\u88c5 \u4e0e \u60a8 \u7684 \u7cfb\u7edf \u76f8\u5bf9 \u5e94 \u7684 \u8f6f\u4ef6 \u3002   130   GB   \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u3002   Carla   \u5c06 \u5360\u7528 \u5927\u7ea6   31   GB \uff0c \u865a\u5e7b \u5f15\u64ce \u5c06 \u5360\u7528 \u5927\u7ea6   91   GB \uff0c \u56e0\u6b64 \u9700\u8981 \u5927\u7ea6   130   GB   \u7684 \u53ef\u7528 \u7a7a\u95f4 \u6765 \u5bb9\u7eb3 \u8fd9 \u4e24\u4e2a \u7a7a\u95f4 \u4ee5\u53ca \u989d\u5916 \u7684 \u5c0f\u578b \u8f6f\u4ef6 \u5b89\u88c5 \u3002   \u8db3\u591f \u7684   GPU \u3002   Carla   \u7684 \u76ee\u6807 \u662f \u8fdb\u884c \u771f\u5b9e \u7684 \u4eff\u771f \uff0c \u56e0\u6b64 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u81f3\u5c11 \u9700\u8981   6   GB   GPU \uff0c \u4f46 \u5efa\u8bae \u4f7f\u7528   8   GB \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u4f7f\u7528 \u4e13\u7528   GPU   \u8fdb\u884c \u673a\u5668 \u5b66\u4e60 \u3002   \u4e24\u4e2a   TCP   \u7aef\u53e3 \u548c \u826f\u597d \u7684 \u4e92\u8054 \u8054\u7f51 \u4e92\u8054\u7f51 \u8fde\u63a5 \u3002   \u9ed8\u8ba4 \u4e3a   2000   \u5e74 \u548c   2001   \u5e74 \u3002 \u786e\u4fdd \u8fd9\u4e9b \u7aef\u53e3 \u672a \u88ab \u9632\u706b \u706b\u5899 \u9632\u706b\u5899 \u6216 \u4efb\u4f55 \u5176\u4ed6 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u963b\u6b62 \u3002   \u8b66\u544a   \u5982\u679c \u60a8 \u8981 \u4ece   Carla   0.9 . 12   \u5347\u7ea7 \u5230   0.9 . 13   :   \u60a8 \u5fc5\u987b \u9996\u5148 \u5c06 \u865a\u5e7b \u5f15\u64ce   4   \u7684   Carla   \u5206\u652f \u5347\u7ea7 \u5230 \u6700\u65b0 \u7248\u672c \u3002 \u6709\u5173 \u5347\u7ea7 \u865a\u5e7b \u5f15\u64ce   4   \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u865a\u5e7b \u5f15\u64ce   \u90e8\u5206 \u3002   \u8f6f\u4ef6 \u8981\u6c42   Carla   \u9700\u8981 \u8fd0\u884c \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7c7b\u578b \u7684 \u8f6f\u4ef6 \u3002 \u6709\u4e9b \u662f \u5728   Carla   \u6784\u5efa \u8fc7\u7a0b \u672c\u8eab \u671f\u95f4 \u6784\u5efa \u7684 \uff0c \u4f8b\u5982   Boost . Python   \u3002 \u5176\u4ed6 \u662f \u5e94\u8be5 \u5728 \u5f00\u59cb \u6784\u5efa \u4e4b\u524d \u5b89\u88c5 \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \uff08   cmake   \u3001   clang   \u3001 \u4e0d\u540c \u7248\u672c \u7684   Python   \u7b49 \uff09 \u3002 \u8981 \u5b89\u88c5 \u8fd9\u4e9b \u8981\u6c42 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   sudo   apt - get   update   &&   sudo   apt - get   install   wget   software - properties - common   &&   sudo   add - apt - repository   ppa : ubuntu - toolchain - r / test   &&   wget   - O   -   https : / / apt . llvm . org / llvm - snapshot . gpg . key | sudo   apt - key   add   -   &&   sudo   apt - add - repository   \" deb   http : / / apt . llvm . org / xenial /   llvm - toolchain - xenial - 8   main \"   &&   sudo   apt - get   update   \u8b66\u544a   \u4ee5\u4e0b \u547d\u4ee4 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684   Ubuntu   \u7248\u672c \u3002 \u8bf7 \u52a1\u5fc5 \u505a\u51fa \u76f8\u5e94 \u7684 \u9009\u62e9 \u3002   Ubuntu   24.04   #   \u663e\u5361 \u9a71\u52a8 \u4f7f\u7528 nvidia - driver - 470 - server \uff08 \u8f6c\u6709 \uff09   #   \u5df2\u7ecf \u5b89\u88c5 \u4e86 clang - 14   #   sudo   apt   install   g ++- 10   #   sudo   apt - get   install   clang ++- 10   #   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7f16\u8bd1 \u5b89\u88c5   llvm - 10   sudo   apt   install   gcc - multilib   git   clone   -- branch   release / 10 . x   -- recursive   https : / / github . com / llvm / llvm - project   cd   llvm - project / llvm   cmake   - G   \" Unix   Makefiles \"   - DCMAKE _ BUILD _ TYPE = Release   - DLLVM _ ENABLE _ PROJECTS = lld   - DCMAKE _ INSTALL _ PREFIX = / usr / local / llvm - 10   ..   make   - j8   sudo   make   install   #   / usr / local / llvm - 10 / bin   #   \u7f16\u8bd1 clang - 10 \uff08 \u9ed8\u8ba4 LLVM \u7f16\u8bd1 \u5b8c \u6ca1\u6709 clang \uff09   #   \u56de\u5230 llvm - project \u76ee\u5f55   cd   llvm - project / clang /   mkdir   build   cd   build   cmake   - G   \" Unix   Makefiles \"   - DCMAKE _ BUILD _ TYPE = Release   - DCMAKE _ INSTALL _ PREFIX = / usr / local / clang - 10   ..   make   - j8   sudo   make   install   #   \u521b\u5efa \u8f6f \u94fe\u63a5   sudo   ln   - s   / usr / local / clang - 10 / bin / clang ++   / usr / bin / clang ++   sudo   ln   - s   / usr / local / clang - 10 / bin / clang   / usr / bin / clang   #   \u68c0\u67e5 \u7248\u672c   clang   -- version   #   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7f16\u8bd1 \u5b89\u88c5   gcc - 7   wget   http : / / ftp . gnu . org / gnu / gcc / gcc - 7.5 . 0 / gcc - 7.5 . 0 . tar . gz   tar   - zxvf   gcc - 7.5 . 0 . tar . gz   cd   gcc - 7.5 . 0   mkdir   build   cd   build   .. / configure   -- prefix = / usr / local / gcc - 7   #   \u5f00\u59cb \u914d\u7f6e \u5b89\u88c5   #   \u5982\u679c \u5b89\u88c5 \u7f3a\u5c11 \u7684 \u5e93 \uff0c \u5219 \u8fd0\u884c \u4e0b\u9762 \u8fd9 \u4e00\u6761 \u547d\u4ee4   sudo   apt - get   install   libgmp - dev   libmpfr - dev   libmpc - dev   gcc - multilib   g ++- multilib   #   \u518d\u6b21 \u4f7f\u7528 \u4e0b\u9762 \u547d\u4ee4 \u6784\u5efa \u5b89\u88c5 \u73af\u5883   .. / configure   -- enable - multilib   #   \u6784\u5efa \u5b8c\u6210 \u540e \u5f97\u5230 \u4e00\u4e2a Makefile \u6587\u4ef6 \u3002 \u5f00\u59cb \u7f16\u8bd1   make   - j8   #   - j \u9009\u9879 \u540e \u7684 \u6570\u5b57 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u673a\u5668 \u7684 \u903b\u8f91 \u5904\u7406 \u7406\u5668 \u5904\u7406\u5668 \u6570\u91cf   sudo   make   install   #   \u521b\u5efa \u8f6f \u94fe\u63a5   sudo   ln   - s   / usr / local / clang - 10 / bin / clang ++   / usr / bin / g ++   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / bin / clang ++- 14   180   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / bin / clang - 14   180   sudo   update - alternatives   -- install   / usr / bin / g ++   g ++   / usr / bin / g ++- 12   180   \u8b66\u544a   \u6784\u5efa \u65f6 \u5bf9   Util / BuildTools / Setup . sh   \u6240 \u505a \u7684 \u4fee\u6539 \uff1a 1 .   \u6784\u5efa boost \u65f6 \uff0c \u6267\u884c   . / bootstrap . sh   \u7684 \u547d\u4ee4 \u4e2d \u53bb \u9664\u4e86   -- with - toolset = clang   \u9009\u9879 \u3002 2 .   \u5bf9 rcplib \u6267\u884c cmake \u65f6 \uff0c \u53bb \u9664\u4e86   - stdlib = lib c++   \u9009\u9879 \u3002   Ubuntu   22.04   sudo   apt - add - repository   \" deb   http : / / archive . ubuntu . com / ubuntu   focal   main   universe \"   sudo   apt - get   update   sudo   apt - get   install   build - essential   clang - 10   lld - 10   g ++- 7   cmake   ninja - build   libvulkan1   python   python3   python3 - dev   python3 - pip   libpng - dev   libtiff5 - dev   libjpeg - dev   tzdata   sed   curl   unzip   autoconf   libtool   rsync   libxml2 - dev   git   git - lfs   #   update - alternatives \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u53c2\u6570 -- install \u8868\u793a \u5411 update - alternatives \u6ce8\u518c \u670d\u52a1 \u540d \u3002   #   \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u53c2\u6570 \u662f \u6ce8\u518c \u6700\u7ec8 \u5730\u5740 \uff0c \u6210\u529f \u540e \u5c06 \u4f1a \u628a \u547d\u4ee4 \u5728 \u8fd9\u4e2a \u56fa\u5b9a \u7684 \u76ee\u7684 \u5730\u5740 \u505a \u771f\u5b9e \u547d\u4ee4 \u7684 \u8f6f\u94fe \uff0c \u4ee5\u540e \u7ba1\u7406 \u5c31\u662f \u7ba1\u7406 \u8fd9\u4e2a \u8f6f\u94fe \uff1b   #   \u7b2c\u4e09 \u4e09\u4e2a \u7b2c\u4e09\u4e2a \u53c2\u6570 \uff1a \u670d\u52a1 \u540d \uff0c \u4ee5\u540e \u7ba1\u7406 \u65f6\u4ee5 \u5b83 \u4e3a \u5173\u8054 \u4f9d\u636e \u3002   #   \u7b2c\u56db \u56db\u4e2a \u7b2c\u56db\u4e2a \u53c2\u6570 \uff0c \u88ab \u7ba1\u7406 \u7684 \u547d\u4ee4 \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002   #   \u7b2c\u4e94 \u4e94\u4e2a \u7b2c\u4e94\u4e2a \u53c2\u6570 \uff0c \u4f18\u5148 \u4f18\u5148\u7ea7 \uff0c \u6570\u5b57 \u8d8a\u5927 \u4f18\u5148 \u4f18\u5148\u7ea7 \u8d8a\u9ad8 \u3002   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / lib / llvm - 10 / bin / clang ++   180   &&   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / lib / llvm - 10 / bin / clang   180   &&   sudo   update - alternatives   -- install   / usr / bin / g ++   g ++   / usr / bin / g ++- 7   180   Ubuntu   20.04   sudo   apt - add - repository   \" deb   http : / / apt . llvm . org / focal /   llvm - toolchain - focal   main \"   sudo   apt - get   update   sudo   apt - get   install   build - essential   clang - 10   lld - 10   g ++- 7   cmake   ninja - build   libvulkan1   python   python - dev   python3 - dev   python3 - pip   libpng - dev   libtiff5 - dev   libjpeg - dev   tzdata   sed   curl   unzip   autoconf   libtool   rsync   libxml2 - dev   git   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / lib / llvm - 10 / bin / clang ++   180   &&   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / lib / llvm - 10 / bin / clang   180   Ubuntu   18.04   .   sudo   apt - add - repository   \" deb   http : / / apt . llvm . org / bionic /   llvm - toolchain - bionic   main \"   sudo   apt - get   update   sudo   apt - get   install   build - essential   clang - 8   lld - 8   g ++- 7   cmake   ninja - build   libvulkan1   python   python - pip   python - dev   python3 - dev   python3 - pip   libpng - dev   libtiff5 - dev   libjpeg - dev   tzdata   sed   curl   unzip   autoconf   libtool   rsync   libxml2 - dev   git   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / lib / llvm - 8 / bin / clang ++   180   &&   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / lib / llvm - 8 / bin / clang   180   Ubuntu   16.04   .   sudo   apt - add - repository   \" deb   http : / / apt . llvm . org / xenial /   llvm - toolchain - xenial - 8   main \"   &&   sudo   apt - get   update   sudo   apt - get   install   build - essential   clang - 8   lld - 8   g ++- 7   cmake   ninja - build   libvulkan1   python   python - pip   python - dev   python3 - dev   python3 - pip   libpng16 - dev   libtiff5 - dev   libjpeg - dev   tzdata   sed   curl   unzip   autoconf   libtool   rsync   libxml2 - dev   git   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / lib / llvm - 8 / bin / clang ++   180   &&   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / lib / llvm - 8 / bin / clang   180   \u4ee5\u524d \u7684   Ubuntu   \u7248\u672c \u3002   sudo   apt - get   install   build - essential   clang - 8   lld - 8   g ++- 7   cmake   ninja - build   libvulkan1   python   python - pip   python - dev   python3 - dev   python3 - pip   libpng16 - dev   libtiff5 - dev   libjpeg - dev   tzdata   sed   curl   unzip   autoconf   libtool   rsync   libxml2 - dev   git   \u6240\u6709   Ubuntu   \u7cfb\u7edf   \u3002   \u4e3a\u4e86 \u907f\u514d \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u4f9d\u8d56 \u9879 \u4e4b\u95f4 \u7684 \u517c\u5bb9 \u5bb9\u6027 \u95ee\u9898 \u517c\u5bb9\u6027 \u517c\u5bb9\u6027\u95ee\u9898 \uff0c \u8bf7 \u4f7f\u7528 \u76f8\u540c \u7684 \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u7248\u672c \u548c   C++   \u8fd0\u884c \u65f6\u5e93 \u6765 \u7f16\u8bd1 \u6240\u6709 \u5185\u5bb9 \u3002 Carla   \u56e2\u961f \u4f7f\u7528   clang - 8   \u548c   LLVM   \u7684   lib c++ \u3002 \u66f4\u6539 \u9ed8\u8ba4 \u7684   clang   \u7248\u672c \u4ee5 \u7f16\u8bd1 \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u4f9d\u8d56 \u9879 \u3002   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / lib / llvm - 8 / bin / clang ++   180   &&   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / lib / llvm - 8 / bin / clang   180   \u4ece   Carla   0.9 . 12   \u5f00\u59cb \uff0c \u7528\u6237 \u53ef\u4ee5 \u9009\u62e9 \u4f7f\u7528   pip   \u6216   pip3   \u5b89\u88c5   Carla   Python   API \u3002 \u9700\u8981   20.3   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002 \u8981 \u68c0\u67e5 \u60a8 \u662f\u5426 \u6709 \u5408\u9002 \u7684 \u7248\u672c \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   \u5bf9\u4e8e   Python   3   pip3   - V   #   \u5bf9\u4e8e   Python   2   pip   - V   \u5982\u679c \u60a8 \u9700\u8981 \u5347\u7ea7 \uff1a   #   \u5bf9\u4e8e   Python   3   pip3   install   -- upgrade   pip   #   \u5bf9\u4e8e   Python   2   pip   install   -- upgrade   pip   \u60a8 \u5fc5\u987b \u5b89\u88c5 \u4ee5\u4e0b   Python   \u4f9d\u8d56 \u9879 \uff1a   pip   install   -- user   setuptools   &&   pip3   install   -- user   - Iv   setuptools = = 47.3 . 1   &&   pip   install   -- user   distro   &&   pip3   install   -- user   distro   &&   pip   install   -- user   wheel   &&   pip3   install   -- user   wheel   auditwheel   \u865a\u5e7b \u5f15\u64ce   \u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   4.26   \u7684 \u4fee\u6539 \u6539\u7248 \u4fee\u6539\u7248 \u3002 \u8be5 \u5206\u652f \u5305\u542b   Carla   \u7279\u6709 \u7684 \u8865\u4e01 \u3002   1 .   \u5c06   Carla   \u7684 \u865a\u5e7b \u5f15\u64ce   4.26   \u5206\u652f \u7684 \u5185\u5bb9 \u514b\u9686 \u5230 \u672c\u5730 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \uff1a   git   clone   https : / / github . com / OpenHUTB / UnrealEngine . git   ~ / UnrealEngine _ 4.26   2 .   \u5bfc\u822a \u5230 \u514b\u9686 \u5b58\u50a8 \u5e93 \u7684 \u76ee\u5f55 \uff1a   cd   ~ / UnrealEngine _ 4.26   3 .   \u8fdb\u884c \u6784\u5efa \u3002 \u8fd9 \u53ef\u80fd \u9700\u8981 \u4e00\u4e24 \u4e24\u4e2a \u4e00\u4e24\u4e2a \u5c0f\u65f6 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684 \u7cfb\u7edf \u3002   . / Setup . sh   &&   . / GenerateProjectFiles . sh   &&   make   \u5982\u679c \u51fa\u73b0   bash :   . / Setup . sh :   Permission   denied   . / Setup . sh :   line   40 :   Engine / Build / BatchFiles / Linux / GitDependencies . sh :   Permission   denied   Engine / Build / BatchFiles / Linux / GitDependencies . sh :   line   25 :   mono :   command   not   found   Setting   up   Mono   Corlib   not   in   sync   with   this   runtime :   expected   corlib   version   149 ,   found   1051600014 .   chmod   + x   Setup . sh   chmod   + x   Engine / Build / BatchFiles / Linux / GitDependencies . sh   sudo   apt - get   install   mono - complete   git   clone   https : / / github . com / OpenHUTB / UnrealEngine . git   ~ / UnrealEngine _ 4.26   4 .   \u6253\u5f00 \u7f16\u8f91 \u7f16\u8f91\u5668 \u68c0\u67e5 \u865a\u5e7b \u5f15\u64ce \u662f\u5426 \u5df2 \u6b63\u786e \u5b89\u88c5 \u3002   cd   ~ / UnrealEngine _ 4.26 / Engine / Binaries / Linux   &&   . / UE4Editor   \u7535\u8111 \u914d\u7f6e \u7535\u8111\u914d\u7f6e \u8fbe \u4e0d\u5230 Vulkan \u7684 \u6807\u51c6 \u4f1a \u51fa\u73b0 \uff08 OpenGL \u7684 API \u4e5f \u5e9f\u5f03 \u4e86 \uff09 \uff1a   Cannot   find   a   compatible   Yulkan   driver   ( ICD )   \u7b2c\u4e8c \u90e8\u5206 \uff1a \u6784\u5efa   Carla   \u7b14\u8bb0   \u4f7f\u7528   sudo   apt - get   install   aria2   \u4e0b\u8f7d   aria2   \u5c06 \u52a0\u5feb \u4ee5\u4e0b \u547d\u4ee4 \u7684 \u901f\u5ea6 \u3002   \u514b\u9686   Carla   \u4ed3\u5e93   Carla   \u4ed3\u5e93   \u4e0a\u9762 \u7684 \u6309\u94ae \u5c06 \u5e26 \u60a8 \u8fdb\u5165 \u8be5\u9879 \u76ee\u7684 \u5b98\u65b9 \u5b58\u50a8 \u5e93 \u3002 \u4ece \u90a3\u91cc \u4e0b\u8f7d \u5e76 \u5728 \u672c\u5730 \u63d0\u53d6 \u5b83 \u6216 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u514b\u9686 \u5b83 \uff1a   git   clone   https : / / github . com / carla - simulator / carla . git   \u7b14\u8bb0   The   master   \u5206\u652f \u5305\u542b   Carla   \u7684 \u5f53\u524d \u7248\u672c \u4ee5\u53ca \u6700\u65b0 \u7684 \u4fee\u590d \u548c \u529f\u80fd \u3002 \u4ee5\u524d \u7684   Carla   \u7248\u672c \u6807\u6709 \u7248\u672c \u540d\u79f0 \u3002 \u6c38\u8fdc \u8bb0\u4f4f \u4f7f\u7528 \u547d\u4ee4   git   branch   \u68c0\u67e5   git   \u4e2d \u7684 \u5f53\u524d \u5206\u652f \u3002   \u83b7\u53d6 \u8d44\u4ea7   \u60a8 \u9700\u8981 \u4e0b\u8f7d   \u6700\u65b0 \u7684   \u8d44\u6e90 \u624d\u80fd \u4f7f\u7528 \u5f53\u524d \u7248\u672c \u7684   Carla \u3002 \u6211\u4eec \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u811a\u672c \u6765 \u81ea\u52a8 \u6267\u884c \u6b64 \u8fc7\u7a0b \u3002 \u8981 \u4f7f\u7528 \u8be5 \u811a\u672c \uff0c \u8bf7 \u5728   Carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   . / Update . sh   \u8d44\u6e90 \u5c06 \u88ab \u4e0b\u8f7d \u5e76 \u63d0\u53d6 \u5230 \u9002\u5f53 \u7684 \u4f4d\u7f6e \u3002   \u91cd\u8981   \u8981 \u4e0b\u8f7d \u5f53\u524d \u6b63\u5728 \u5f00\u53d1 \u7684 \u8d44\u4ea7 \uff0c \u8bf7 \u8bbf\u95ee   \u66f4\u65b0   Carla   \u5e76 \u9605\u8bfb   \u83b7\u53d6 \u5f00\u53d1 \u8d44\u4ea7   \u3002   \u8981 \u4e0b\u8f7d   \u7279\u5b9a \u7248\u672c   \u7684   Carla   \u8d44\u6e90 \uff1a   \u4ece   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \uff0c \u5bfc\u822a \u5230   \\ Util \\ ContentVersions . txt   \u3002 \u672c \u6587\u6863 \u5305\u542b \u6240\u6709   Carla   \u7248\u672c \u7684 \u8d44\u6e90 \u94fe\u63a5 \u3002   \u63d0\u53d6   Unreal \\ CarlaUE4 \\ Content \\ Carla   \u4e2d \u7684 \u8d44\u4ea7 \u3002 \u5982\u679c \u8be5 \u8def\u5f84 \u4e0d \u5b58\u5728 \uff0c \u8bf7 \u521b\u5efa \u5b83 \u3002   \u4f7f\u7528 \u7c7b\u4f3c \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u7684 \u547d\u4ee4 \u63d0\u53d6 \u6587\u4ef6 \uff1a   tar   - xvzf   < assets _ file _ name > . tar . gz . tar   - C   C : \\ path \\ to \\ carla \\ Unreal \\ CarlaUE4 \\ Content \\ Carla   \u8bbe\u7f6e \u865a\u5e7b \u5f15\u64ce \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   \u4e3a\u4e86 \u8ba9   Carla   \u627e\u5230 \u865a\u5e7b \u5f15\u64ce \u7684 \u6b63\u786e \u5b89\u88c5 \uff0c \u6211\u4eec \u9700\u8981 \u8bbe\u7f6e   Carla   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u3002   \u4ec5 \u4e3a\u6b64 \u4f1a\u8bdd \u8bbe\u7f6e \u53d8\u91cf \uff1a   export   UE4 _ ROOT = ~ / UnrealEngine _ 4.26   \u8981 \u8bbe\u7f6e \u53d8\u91cf \u4ee5\u4f7f \u5176 \u5728 \u4f1a \u8bdd \u4e2d \u4fdd\u6301 \u4e0d\u53d8 \uff1a   1 .   \u6253\u5f00   ~ / . bashrc   \u6216   . / profile   \u3002   gedit   ~ / . bashrc   #   \u6216   gedit   ~ / . profile   2 .   \u5c06 \u4ee5\u4e0b \u884c \u6dfb\u52a0 \u5230 \u6587\u4ef6 \u5e95\u90e8 \uff1a   export   UE4 _ ROOT = ~ / UnrealEngine _ 4.26   3 .   \u4fdd\u5b58 \u6587\u4ef6 \u5e76 \u91cd\u7f6e \u7ec8\u7aef \u3002   \u6784\u5efa   Carla   \u672c \u8282 \u6982\u8ff0 \u4e86 \u6784\u5efa   Carla   \u7684 \u547d\u4ee4 \u3002   \u6240\u6709 \u547d\u4ee4 \u90fd \u5e94 \u5728 \u6839   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u3002   Carla   \u7684 \u6784\u5efa \u8fc7\u7a0b \u5206\u4e3a \u4e24\u4e2a \u90e8\u5206 \uff0c \u7f16\u8bd1 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u7f16\u8bd1 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   \u8b66\u544a   \u786e\u4fdd \u8fd0\u884c   make   PythonAPI   \u4ee5 \u51c6\u5907 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u8fd0\u884c   make   launch   \u51c6\u5907 \u670d\u52a1 \u670d\u52a1\u7aef \u3002   \u6216\u8005   make   LibCarla   \u5c06 \u51c6\u5907   Carla   \u5e93\u4ee5 \u5bfc\u5165 \u5bfc\u5165\u5230 \u4efb\u4f55 \u5730\u65b9 \u3002   1 .   \u7f16\u8bd1   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1a   \uff1a   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6388\u4e88 \u5bf9 \u4eff\u771f \u7684 \u63a7\u5236 \u63a7\u5236\u6743 \u3002 \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u6784\u5efa   Carla   \u65f6 \u9700\u8981 \u7f16\u8bd1   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5e76\u4e14 \u5728 \u6267\u884c \u4efb\u4f55 \u66f4\u65b0 \u540e \u9700\u8981 \u518d\u6b21 \u7f16\u8bd1 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7f16\u8bd1 \u5b8c\u6210 \u540e \uff0c \u60a8 \u5c06 \u80fd\u591f \u8fd0\u884c \u811a\u672c \u4e0e \u4eff\u771f \u8fdb\u884c \u4ea4\u4e92 \u3002   \u4ee5\u4e0b \u547d\u4ee4 \u7f16\u8bd1   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1a   make   PythonAPI   \u6216\u8005 \uff0c \u8981 \u4e3a \u7279\u5b9a \u7248\u672c \u7684   Python   \u7f16\u8bd1   PythonAPI \uff0c \u8bf7 \u5728 \u6839   Carla   \u76ee\u5f55 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u3002   #   Delete   versions   as   required   make   PythonAPI   ARGS = \" -- python - version = 2.7 ,   3.6 ,   3.7 ,   3.8 \"   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u5c06 \u4ee5 \u4e24\u79cd \u622a\u7136 \u4e0d\u540c \u622a\u7136\u4e0d\u540c \u3001 \u4e92\u65a5 \u7684 \u5f62\u5f0f \u6784\u5efa \u3002 \u8fd9\u4f7f \u7528\u6237 \u53ef\u4ee5 \u81ea\u7531 \u9009\u62e9 \u81ea\u7531\u9009\u62e9 \u4ed6\u4eec \u559c\u6b22 \u7684 \u5f62\u5f0f \u6765 \u8fd0\u884c   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u4ee3\u7801 \u3002 \u4e24\u79cd \u5f62\u5f0f \u5305\u62ec   . egg   \u6587\u4ef6 \u548c   . whl   \u6587\u4ef6 \u3002 \u9009\u62e9 \u4ee5\u4e0b \u9009\u9879 \u4e4b\u4e00 \u6765 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff1a   A .   . egg   \u6587\u4ef6   . egg   \u6587\u4ef6 \u4e0d \u9700\u8981 \u5b89\u88c5 \u3002 \u5bfc\u5165   Carla   \u65f6 \uff0c Carla   \u7684 \u6240\u6709 \u793a\u4f8b \u811a\u672c \u90fd \u4f1a \u81ea\u52a8   \u67e5\u627e \u6b64 \u6587\u4ef6   \u3002   \u5982\u679c \u60a8 \u4e4b\u524d \u5b89\u88c5 \u4e86   Carla   . whl   \uff0c   . whl   \u5c06 \u4f18\u5148 \u4e8e   . egg   \u6587\u4ef6 \u3002   B .   . whl   \u6587\u4ef6   . whl   \u6587\u4ef6 \u5e94 \u4f7f\u7528   pip   \u6216   pip3   \u5b89\u88c5 \uff1a   #   Python   3   pip3   install   < path / to / wheel > . whl   #   Python   2   pip   install   < path / to / wheel > . whl   . whl   \u6587\u4ef6 \u65e0\u6cd5 \u5206\u53d1 \uff0c \u56e0\u4e3a \u5b83 \u662f \u4e13\u95e8 \u4e3a \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u6784\u5efa \u7684 \u3002   \u8b66\u544a   \u4f7f\u7528 \u4e0d\u540c \u65b9\u6cd5 \u5b89\u88c5   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u4ee5\u53ca \u7cfb\u7edf \u4e0a \u5b89\u88c5 \u4e0d\u540c \u7248\u672c \u7684   Carla   \u53ef\u80fd \u4f1a \u51fa\u73b0 \u95ee\u9898 \u3002 \u5efa\u8bae \u5728 \u5b89\u88c5 \u65f6 \u4f7f\u7528 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \uff0c \u5e76 \u5728 \u5b89\u88c5   . whl   \u65b0 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u4e4b\u524d \u5378\u8f7d \u4efb\u4f55 \u4ee5\u524d \u5b89\u88c5 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002   2 .   \u7f16\u8bd1 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \uff1a   \u4ee5\u4e0b \u547d\u4ee4 \u7f16\u8bd1 \u5e76 \u542f\u52a8 \u865a\u5e7b \u5f15\u64ce \u3002 \u6bcf\u6b21 \u60a8 \u60f3\u8981 \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6216 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u65f6 \u8fd0\u884c \u6b64 \u547d\u4ee4 \uff1a   make   launch   \u8be5 \u9879\u76ee \u53ef\u80fd \u4f1a \u8981\u6c42 \u6784\u5efa \u5176\u4ed6 \u5b9e\u4f8b \uff0c \u4f8b\u5982   UE4Editor - Carla . dll   \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u3002 \u540c\u610f \u624d\u80fd \u6253\u5f00 \u9879\u76ee \u3002 \u5728 \u9996\u6b21 \u542f\u52a8 \u671f\u95f4 \uff0c \u7f16\u8f91 \u7f16\u8f91\u5668 \u53ef\u80fd \u4f1a \u663e\u793a \u6709\u5173 \u7740\u8272 \u7740\u8272\u5668 \u548c \u7f51\u683c \u8ddd\u79bb \u573a \u7684 \u8b66\u544a \u3002 \u8fd9\u4e9b \u9700\u8981 \u4e00\u4e9b \u65f6\u95f4 \u6765 \u52a0\u8f7d \uff0c \u4e4b\u524d \u5728\u6b64\u4e4b\u524d \u5730\u56fe \u5c06 \u65e0\u6cd5 \u6b63\u786e \u663e\u793a \u3002   3 .   \u5f00\u59cb \u4eff\u771f   \uff1a   \u6309 \u201c \u8fd0\u884c \u201d \u5f00\u59cb \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4eff\u771f \u3002 \u53ef\u4ee5 \u4f7f\u7528   WASD   \u952e \u79fb\u52a8 \u76f8\u673a \uff0c \u5e76 \u901a\u8fc7 \u5728 \u79fb\u52a8 \u9f20\u6807 \u7684 \u540c\u65f6 \u5355\u51fb \u573a\u666f \u6765 \u65cb\u8f6c \u76f8\u673a \u3002   \u4f7f\u7528   PythonAPI \\ examples   \u91cc\u9762 \u7684 \u793a\u4f8b \u811a\u672c \u6d4b\u8bd5 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002 \u5728 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fd0\u884c \u7684 \u60c5\u51b5 \u4e0b \uff0c \u4e3a \u6bcf\u4e2a \u811a\u672c \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4ee5 \u57ce\u9547 \u5728\u57ce\u9547 \u4e2d \u4ea7\u751f \u4e00\u4e9b \u751f\u547d \u5e76 \u521b\u5efa \u5929\u6c14 \u5faa\u73af \uff1a   #   \u7ec8\u7aef   A   cd   PythonAPI / examples   python3   - m   pip   install   - r   requirements . txt   python3   generate _ traffic . py   #   \u7ec8\u7aef   B   cd   PythonAPI / examples   python3   dynamic _ weather . py   \u91cd\u8981   \u5982\u679c \u4eff\u771f \u4ee5 \u975e\u5e38 \u975e\u5e38\u4f4e \u7684   FPS   \u901f\u7387 \u8fd0\u884c \uff0c \u8bf7 \u8f6c\u81f3 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684   Edit   - >   Editor   preferences   - >   Performance   \u5e76 \u7981\u7528   Use   less   CPU   when   in   background   \u3002   \u5176\u4ed6   make   \u547d\u4ee4   \u60a8 \u53ef\u80fd \u4f1a \u53d1\u73b0 \u8fd8\u6709 \u66f4 \u591a \u6709\u7528 \u7684   make   \u547d\u4ee4 \u3002 \u5728 \u4e0b\u8868\u4e2d \u627e\u5230 \u5b83\u4eec \uff1a   \u547d\u4ee4   \u63cf\u8ff0   make   help   \u6253\u5370 \u6240\u6709 \u53ef\u7528 \u7684 \u547d\u4ee4 \u3002   make   launch   \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   make   PythonAPI   \u6784\u5efa   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   make   LibCarla   \u51c6\u5907 \u5c06   Carla   \u5e93 \u5bfc\u5165 \u5bfc\u5165\u5230 \u4efb\u4f55 \u5730\u65b9 \u3002   make   package   \u6784\u5efa   Carla   \u5e76 \u521b\u5efa \u7528\u4e8e \u5206\u53d1 \u7684 \u6253\u5305 \u7248\u672c \u3002   make   clean   \u5220\u9664 \u6784\u5efa \u7cfb\u7edf \u751f\u6210 \u7cfb\u7edf\u751f\u6210 \u7684 \u6240\u6709 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u548c \u4e34\u65f6 \u65f6\u6587 \u6587\u4ef6 \u4e34\u65f6\u6587\u4ef6 \u3002   make   rebuild   make   clean   \u548c   make   launch   \u4e24\u8005 \u90fd \u5728 \u4e00\u4e2a \u547d\u4ee4 \u4e2d \u3002   make   check   \u8fdb\u884c \u5355\u5143 \u6d4b\u8bd5 \u5355\u5143\u6d4b\u8bd5   \u5176\u4ed6   v2ray   \u7684 \u7248\u672c \u4e0d\u80fd \u592a\u9ad8 \uff0c \u6bd4\u5982 \u53ef\u4ee5 \u4f7f\u7528   v4.45 . 2   \uff0c \u56fe\u5f62 \u754c\u9762 \u56fe\u5f62\u754c\u9762 \u4f7f\u7528   Qv2ray   2.7 . 0   \u3002   \u95ee\u9898   \u6267\u884c   make   Python   \u65f6\u62a5 \u9519 \uff1a   A   C++ 11   capable   compiler   is   required   for   building   the   B2   engine .   Toolset   ' clang '   does   not   appear   to   support   C++ 11 .   \u6709\u5173 \u672c \u6307\u5357 \u7684 \u4efb\u4f55 \u95ee\u9898 \uff0c   \u8bf7 \u9605\u8bfb   \u5e38\u89c1 \u95ee\u9898 \u9898\u89e3 \u89e3\u7b54 \u95ee\u9898\u89e3\u7b54   \u9875\u9762 \u6216   Carla   \u8bba\u575b   \u4e2d \u7684 \u5e16\u5b50 \u3002   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u5b66\u4e60 \u5982\u4f55 \u66f4\u65b0   Carla   \u6784\u5efa \u6216 \u5728 \u4eff\u771f \u4e2d \u8fc8\u51fa \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \uff0c \u5e76 \u5b66\u4e60 \u4e00\u4e9b \u6838\u5fc3 \u6982\u5ff5 \u3002   \u66f4\u65b0   Carla   \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65","title":"Linux   \u7cfb\u7edf \u4e0a \u7684 \u6784\u5efa"},{"location":"build_linux/#linux","text":"\u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u5728   Linux   \u4e0a \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002 \u6709 \u4e24\u4e2a \u90e8\u5206 \u3002 \u7b2c\u4e00 \u90e8\u5206 \u8be6\u7ec6 \u4ecb\u7ecd \u7cfb\u7edf \u8981\u6c42 \u548c \u6240 \u9700 \u8f6f\u4ef6 \u7684 \u5b89\u88c5 \uff0c \u7b2c\u4e8c \u90e8\u5206 \u8be6\u7ec6 \u4ecb\u7ecd \u5982\u4f55 \u5b9e\u9645 \u6784\u5efa \u548c \u8fd0\u884c   Carla \u3002   \u6784\u5efa \u8fc7\u7a0b \u5f88\u957f \uff08 4 \u5c0f\u65f6 \u6216 \u66f4 \u65f6\u95f4 \u957f\u65f6\u95f4 \uff09 \u5e76\u4e14 \u6d89\u53ca \u591a\u79cd \u8f6f\u4ef6 \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u5728 \u5f00\u59cb \u4e4b\u524d \u5b8c\u6574 \u9605\u8bfb \u8be5 \u6307\u5357 \u3002   \u7b2c\u4e00 \u90e8\u5206 \uff1a \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u7cfb\u7edf \u8981\u6c42   \u8f6f\u4ef6 \u8981\u6c42   \u865a\u5e7b \u5f15\u64ce   \u7b2c\u4e8c \u90e8\u5206 \uff1a \u6784\u5efa   Carla   \u514b\u9686   Carla   \u4ed3\u5e93   \u83b7\u53d6 \u8d44\u4ea7   \u8bbe\u7f6e \u865a\u5e7b \u5f15\u64ce \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   \u6784\u5efa   Carla   \u5176\u4ed6   make   \u547d\u4ee4   \u5176\u4ed6","title":"Linux   \u7cfb\u7edf \u4e0a \u7684 \u6784\u5efa"},{"location":"build_linux/#_1","text":"","title":"\u7b2c\u4e00 \u90e8\u5206 \uff1a \u5148\u51b3\u6761\u4ef6  "},{"location":"build_linux/#_2","text":"Ubuntu   18.04 .   Carla   \u63d0\u4f9b \u5bf9   Ubuntu   16.04   \u4e4b\u524d \u7248\u672c \u7684 \u652f\u6301 \u3002   \u7136\u800c   \uff0c \u865a\u5e7b \u5f15\u64ce \u9700\u8981 \u9002\u5f53 \u7684 \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u624d\u80fd \u6b63\u5e38 \u5de5\u4f5c \u3002 \u4e0b\u9762 \u5355\u72ec \u5217\u51fa \u4e86   Ubuntu   18.04   \u53ca \u4e4b\u524d \u7248\u672c \u7684 \u4f9d\u8d56 \u9879 \u3002 \u786e\u4fdd \u5b89\u88c5 \u4e0e \u60a8 \u7684 \u7cfb\u7edf \u76f8\u5bf9 \u5e94 \u7684 \u8f6f\u4ef6 \u3002   130   GB   \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u3002   Carla   \u5c06 \u5360\u7528 \u5927\u7ea6   31   GB \uff0c \u865a\u5e7b \u5f15\u64ce \u5c06 \u5360\u7528 \u5927\u7ea6   91   GB \uff0c \u56e0\u6b64 \u9700\u8981 \u5927\u7ea6   130   GB   \u7684 \u53ef\u7528 \u7a7a\u95f4 \u6765 \u5bb9\u7eb3 \u8fd9 \u4e24\u4e2a \u7a7a\u95f4 \u4ee5\u53ca \u989d\u5916 \u7684 \u5c0f\u578b \u8f6f\u4ef6 \u5b89\u88c5 \u3002   \u8db3\u591f \u7684   GPU \u3002   Carla   \u7684 \u76ee\u6807 \u662f \u8fdb\u884c \u771f\u5b9e \u7684 \u4eff\u771f \uff0c \u56e0\u6b64 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u81f3\u5c11 \u9700\u8981   6   GB   GPU \uff0c \u4f46 \u5efa\u8bae \u4f7f\u7528   8   GB \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u4f7f\u7528 \u4e13\u7528   GPU   \u8fdb\u884c \u673a\u5668 \u5b66\u4e60 \u3002   \u4e24\u4e2a   TCP   \u7aef\u53e3 \u548c \u826f\u597d \u7684 \u4e92\u8054 \u8054\u7f51 \u4e92\u8054\u7f51 \u8fde\u63a5 \u3002   \u9ed8\u8ba4 \u4e3a   2000   \u5e74 \u548c   2001   \u5e74 \u3002 \u786e\u4fdd \u8fd9\u4e9b \u7aef\u53e3 \u672a \u88ab \u9632\u706b \u706b\u5899 \u9632\u706b\u5899 \u6216 \u4efb\u4f55 \u5176\u4ed6 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u963b\u6b62 \u3002   \u8b66\u544a   \u5982\u679c \u60a8 \u8981 \u4ece   Carla   0.9 . 12   \u5347\u7ea7 \u5230   0.9 . 13   :   \u60a8 \u5fc5\u987b \u9996\u5148 \u5c06 \u865a\u5e7b \u5f15\u64ce   4   \u7684   Carla   \u5206\u652f \u5347\u7ea7 \u5230 \u6700\u65b0 \u7248\u672c \u3002 \u6709\u5173 \u5347\u7ea7 \u865a\u5e7b \u5f15\u64ce   4   \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u865a\u5e7b \u5f15\u64ce   \u90e8\u5206 \u3002","title":"\u7cfb\u7edf \u8981\u6c42  "},{"location":"build_linux/#_3","text":"Carla   \u9700\u8981 \u8fd0\u884c \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7c7b\u578b \u7684 \u8f6f\u4ef6 \u3002 \u6709\u4e9b \u662f \u5728   Carla   \u6784\u5efa \u8fc7\u7a0b \u672c\u8eab \u671f\u95f4 \u6784\u5efa \u7684 \uff0c \u4f8b\u5982   Boost . Python   \u3002 \u5176\u4ed6 \u662f \u5e94\u8be5 \u5728 \u5f00\u59cb \u6784\u5efa \u4e4b\u524d \u5b89\u88c5 \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \uff08   cmake   \u3001   clang   \u3001 \u4e0d\u540c \u7248\u672c \u7684   Python   \u7b49 \uff09 \u3002 \u8981 \u5b89\u88c5 \u8fd9\u4e9b \u8981\u6c42 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   sudo   apt - get   update   &&   sudo   apt - get   install   wget   software - properties - common   &&   sudo   add - apt - repository   ppa : ubuntu - toolchain - r / test   &&   wget   - O   -   https : / / apt . llvm . org / llvm - snapshot . gpg . key | sudo   apt - key   add   -   &&   sudo   apt - add - repository   \" deb   http : / / apt . llvm . org / xenial /   llvm - toolchain - xenial - 8   main \"   &&   sudo   apt - get   update   \u8b66\u544a   \u4ee5\u4e0b \u547d\u4ee4 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684   Ubuntu   \u7248\u672c \u3002 \u8bf7 \u52a1\u5fc5 \u505a\u51fa \u76f8\u5e94 \u7684 \u9009\u62e9 \u3002   Ubuntu   24.04   #   \u663e\u5361 \u9a71\u52a8 \u4f7f\u7528 nvidia - driver - 470 - server \uff08 \u8f6c\u6709 \uff09   #   \u5df2\u7ecf \u5b89\u88c5 \u4e86 clang - 14   #   sudo   apt   install   g ++- 10   #   sudo   apt - get   install   clang ++- 10   #   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7f16\u8bd1 \u5b89\u88c5   llvm - 10   sudo   apt   install   gcc - multilib   git   clone   -- branch   release / 10 . x   -- recursive   https : / / github . com / llvm / llvm - project   cd   llvm - project / llvm   cmake   - G   \" Unix   Makefiles \"   - DCMAKE _ BUILD _ TYPE = Release   - DLLVM _ ENABLE _ PROJECTS = lld   - DCMAKE _ INSTALL _ PREFIX = / usr / local / llvm - 10   ..   make   - j8   sudo   make   install   #   / usr / local / llvm - 10 / bin   #   \u7f16\u8bd1 clang - 10 \uff08 \u9ed8\u8ba4 LLVM \u7f16\u8bd1 \u5b8c \u6ca1\u6709 clang \uff09   #   \u56de\u5230 llvm - project \u76ee\u5f55   cd   llvm - project / clang /   mkdir   build   cd   build   cmake   - G   \" Unix   Makefiles \"   - DCMAKE _ BUILD _ TYPE = Release   - DCMAKE _ INSTALL _ PREFIX = / usr / local / clang - 10   ..   make   - j8   sudo   make   install   #   \u521b\u5efa \u8f6f \u94fe\u63a5   sudo   ln   - s   / usr / local / clang - 10 / bin / clang ++   / usr / bin / clang ++   sudo   ln   - s   / usr / local / clang - 10 / bin / clang   / usr / bin / clang   #   \u68c0\u67e5 \u7248\u672c   clang   -- version   #   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7f16\u8bd1 \u5b89\u88c5   gcc - 7   wget   http : / / ftp . gnu . org / gnu / gcc / gcc - 7.5 . 0 / gcc - 7.5 . 0 . tar . gz   tar   - zxvf   gcc - 7.5 . 0 . tar . gz   cd   gcc - 7.5 . 0   mkdir   build   cd   build   .. / configure   -- prefix = / usr / local / gcc - 7   #   \u5f00\u59cb \u914d\u7f6e \u5b89\u88c5   #   \u5982\u679c \u5b89\u88c5 \u7f3a\u5c11 \u7684 \u5e93 \uff0c \u5219 \u8fd0\u884c \u4e0b\u9762 \u8fd9 \u4e00\u6761 \u547d\u4ee4   sudo   apt - get   install   libgmp - dev   libmpfr - dev   libmpc - dev   gcc - multilib   g ++- multilib   #   \u518d\u6b21 \u4f7f\u7528 \u4e0b\u9762 \u547d\u4ee4 \u6784\u5efa \u5b89\u88c5 \u73af\u5883   .. / configure   -- enable - multilib   #   \u6784\u5efa \u5b8c\u6210 \u540e \u5f97\u5230 \u4e00\u4e2a Makefile \u6587\u4ef6 \u3002 \u5f00\u59cb \u7f16\u8bd1   make   - j8   #   - j \u9009\u9879 \u540e \u7684 \u6570\u5b57 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u673a\u5668 \u7684 \u903b\u8f91 \u5904\u7406 \u7406\u5668 \u5904\u7406\u5668 \u6570\u91cf   sudo   make   install   #   \u521b\u5efa \u8f6f \u94fe\u63a5   sudo   ln   - s   / usr / local / clang - 10 / bin / clang ++   / usr / bin / g ++   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / bin / clang ++- 14   180   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / bin / clang - 14   180   sudo   update - alternatives   -- install   / usr / bin / g ++   g ++   / usr / bin / g ++- 12   180   \u8b66\u544a   \u6784\u5efa \u65f6 \u5bf9   Util / BuildTools / Setup . sh   \u6240 \u505a \u7684 \u4fee\u6539 \uff1a 1 .   \u6784\u5efa boost \u65f6 \uff0c \u6267\u884c   . / bootstrap . sh   \u7684 \u547d\u4ee4 \u4e2d \u53bb \u9664\u4e86   -- with - toolset = clang   \u9009\u9879 \u3002 2 .   \u5bf9 rcplib \u6267\u884c cmake \u65f6 \uff0c \u53bb \u9664\u4e86   - stdlib = lib c++   \u9009\u9879 \u3002   Ubuntu   22.04   sudo   apt - add - repository   \" deb   http : / / archive . ubuntu . com / ubuntu   focal   main   universe \"   sudo   apt - get   update   sudo   apt - get   install   build - essential   clang - 10   lld - 10   g ++- 7   cmake   ninja - build   libvulkan1   python   python3   python3 - dev   python3 - pip   libpng - dev   libtiff5 - dev   libjpeg - dev   tzdata   sed   curl   unzip   autoconf   libtool   rsync   libxml2 - dev   git   git - lfs   #   update - alternatives \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u53c2\u6570 -- install \u8868\u793a \u5411 update - alternatives \u6ce8\u518c \u670d\u52a1 \u540d \u3002   #   \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u53c2\u6570 \u662f \u6ce8\u518c \u6700\u7ec8 \u5730\u5740 \uff0c \u6210\u529f \u540e \u5c06 \u4f1a \u628a \u547d\u4ee4 \u5728 \u8fd9\u4e2a \u56fa\u5b9a \u7684 \u76ee\u7684 \u5730\u5740 \u505a \u771f\u5b9e \u547d\u4ee4 \u7684 \u8f6f\u94fe \uff0c \u4ee5\u540e \u7ba1\u7406 \u5c31\u662f \u7ba1\u7406 \u8fd9\u4e2a \u8f6f\u94fe \uff1b   #   \u7b2c\u4e09 \u4e09\u4e2a \u7b2c\u4e09\u4e2a \u53c2\u6570 \uff1a \u670d\u52a1 \u540d \uff0c \u4ee5\u540e \u7ba1\u7406 \u65f6\u4ee5 \u5b83 \u4e3a \u5173\u8054 \u4f9d\u636e \u3002   #   \u7b2c\u56db \u56db\u4e2a \u7b2c\u56db\u4e2a \u53c2\u6570 \uff0c \u88ab \u7ba1\u7406 \u7684 \u547d\u4ee4 \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002   #   \u7b2c\u4e94 \u4e94\u4e2a \u7b2c\u4e94\u4e2a \u53c2\u6570 \uff0c \u4f18\u5148 \u4f18\u5148\u7ea7 \uff0c \u6570\u5b57 \u8d8a\u5927 \u4f18\u5148 \u4f18\u5148\u7ea7 \u8d8a\u9ad8 \u3002   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / lib / llvm - 10 / bin / clang ++   180   &&   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / lib / llvm - 10 / bin / clang   180   &&   sudo   update - alternatives   -- install   / usr / bin / g ++   g ++   / usr / bin / g ++- 7   180   Ubuntu   20.04   sudo   apt - add - repository   \" deb   http : / / apt . llvm . org / focal /   llvm - toolchain - focal   main \"   sudo   apt - get   update   sudo   apt - get   install   build - essential   clang - 10   lld - 10   g ++- 7   cmake   ninja - build   libvulkan1   python   python - dev   python3 - dev   python3 - pip   libpng - dev   libtiff5 - dev   libjpeg - dev   tzdata   sed   curl   unzip   autoconf   libtool   rsync   libxml2 - dev   git   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / lib / llvm - 10 / bin / clang ++   180   &&   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / lib / llvm - 10 / bin / clang   180   Ubuntu   18.04   .   sudo   apt - add - repository   \" deb   http : / / apt . llvm . org / bionic /   llvm - toolchain - bionic   main \"   sudo   apt - get   update   sudo   apt - get   install   build - essential   clang - 8   lld - 8   g ++- 7   cmake   ninja - build   libvulkan1   python   python - pip   python - dev   python3 - dev   python3 - pip   libpng - dev   libtiff5 - dev   libjpeg - dev   tzdata   sed   curl   unzip   autoconf   libtool   rsync   libxml2 - dev   git   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / lib / llvm - 8 / bin / clang ++   180   &&   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / lib / llvm - 8 / bin / clang   180   Ubuntu   16.04   .   sudo   apt - add - repository   \" deb   http : / / apt . llvm . org / xenial /   llvm - toolchain - xenial - 8   main \"   &&   sudo   apt - get   update   sudo   apt - get   install   build - essential   clang - 8   lld - 8   g ++- 7   cmake   ninja - build   libvulkan1   python   python - pip   python - dev   python3 - dev   python3 - pip   libpng16 - dev   libtiff5 - dev   libjpeg - dev   tzdata   sed   curl   unzip   autoconf   libtool   rsync   libxml2 - dev   git   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / lib / llvm - 8 / bin / clang ++   180   &&   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / lib / llvm - 8 / bin / clang   180   \u4ee5\u524d \u7684   Ubuntu   \u7248\u672c \u3002   sudo   apt - get   install   build - essential   clang - 8   lld - 8   g ++- 7   cmake   ninja - build   libvulkan1   python   python - pip   python - dev   python3 - dev   python3 - pip   libpng16 - dev   libtiff5 - dev   libjpeg - dev   tzdata   sed   curl   unzip   autoconf   libtool   rsync   libxml2 - dev   git   \u6240\u6709   Ubuntu   \u7cfb\u7edf   \u3002   \u4e3a\u4e86 \u907f\u514d \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u4f9d\u8d56 \u9879 \u4e4b\u95f4 \u7684 \u517c\u5bb9 \u5bb9\u6027 \u95ee\u9898 \u517c\u5bb9\u6027 \u517c\u5bb9\u6027\u95ee\u9898 \uff0c \u8bf7 \u4f7f\u7528 \u76f8\u540c \u7684 \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u7248\u672c \u548c   C++   \u8fd0\u884c \u65f6\u5e93 \u6765 \u7f16\u8bd1 \u6240\u6709 \u5185\u5bb9 \u3002 Carla   \u56e2\u961f \u4f7f\u7528   clang - 8   \u548c   LLVM   \u7684   lib c++ \u3002 \u66f4\u6539 \u9ed8\u8ba4 \u7684   clang   \u7248\u672c \u4ee5 \u7f16\u8bd1 \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u4f9d\u8d56 \u9879 \u3002   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / lib / llvm - 8 / bin / clang ++   180   &&   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / lib / llvm - 8 / bin / clang   180   \u4ece   Carla   0.9 . 12   \u5f00\u59cb \uff0c \u7528\u6237 \u53ef\u4ee5 \u9009\u62e9 \u4f7f\u7528   pip   \u6216   pip3   \u5b89\u88c5   Carla   Python   API \u3002 \u9700\u8981   20.3   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002 \u8981 \u68c0\u67e5 \u60a8 \u662f\u5426 \u6709 \u5408\u9002 \u7684 \u7248\u672c \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   \u5bf9\u4e8e   Python   3   pip3   - V   #   \u5bf9\u4e8e   Python   2   pip   - V   \u5982\u679c \u60a8 \u9700\u8981 \u5347\u7ea7 \uff1a   #   \u5bf9\u4e8e   Python   3   pip3   install   -- upgrade   pip   #   \u5bf9\u4e8e   Python   2   pip   install   -- upgrade   pip   \u60a8 \u5fc5\u987b \u5b89\u88c5 \u4ee5\u4e0b   Python   \u4f9d\u8d56 \u9879 \uff1a   pip   install   -- user   setuptools   &&   pip3   install   -- user   - Iv   setuptools = = 47.3 . 1   &&   pip   install   -- user   distro   &&   pip3   install   -- user   distro   &&   pip   install   -- user   wheel   &&   pip3   install   -- user   wheel   auditwheel","title":"\u8f6f\u4ef6 \u8981\u6c42  "},{"location":"build_linux/#_4","text":"\u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   4.26   \u7684 \u4fee\u6539 \u6539\u7248 \u4fee\u6539\u7248 \u3002 \u8be5 \u5206\u652f \u5305\u542b   Carla   \u7279\u6709 \u7684 \u8865\u4e01 \u3002   1 .   \u5c06   Carla   \u7684 \u865a\u5e7b \u5f15\u64ce   4.26   \u5206\u652f \u7684 \u5185\u5bb9 \u514b\u9686 \u5230 \u672c\u5730 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \uff1a   git   clone   https : / / github . com / OpenHUTB / UnrealEngine . git   ~ / UnrealEngine _ 4.26   2 .   \u5bfc\u822a \u5230 \u514b\u9686 \u5b58\u50a8 \u5e93 \u7684 \u76ee\u5f55 \uff1a   cd   ~ / UnrealEngine _ 4.26   3 .   \u8fdb\u884c \u6784\u5efa \u3002 \u8fd9 \u53ef\u80fd \u9700\u8981 \u4e00\u4e24 \u4e24\u4e2a \u4e00\u4e24\u4e2a \u5c0f\u65f6 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684 \u7cfb\u7edf \u3002   . / Setup . sh   &&   . / GenerateProjectFiles . sh   &&   make   \u5982\u679c \u51fa\u73b0   bash :   . / Setup . sh :   Permission   denied   . / Setup . sh :   line   40 :   Engine / Build / BatchFiles / Linux / GitDependencies . sh :   Permission   denied   Engine / Build / BatchFiles / Linux / GitDependencies . sh :   line   25 :   mono :   command   not   found   Setting   up   Mono   Corlib   not   in   sync   with   this   runtime :   expected   corlib   version   149 ,   found   1051600014 .   chmod   + x   Setup . sh   chmod   + x   Engine / Build / BatchFiles / Linux / GitDependencies . sh   sudo   apt - get   install   mono - complete   git   clone   https : / / github . com / OpenHUTB / UnrealEngine . git   ~ / UnrealEngine _ 4.26   4 .   \u6253\u5f00 \u7f16\u8f91 \u7f16\u8f91\u5668 \u68c0\u67e5 \u865a\u5e7b \u5f15\u64ce \u662f\u5426 \u5df2 \u6b63\u786e \u5b89\u88c5 \u3002   cd   ~ / UnrealEngine _ 4.26 / Engine / Binaries / Linux   &&   . / UE4Editor   \u7535\u8111 \u914d\u7f6e \u7535\u8111\u914d\u7f6e \u8fbe \u4e0d\u5230 Vulkan \u7684 \u6807\u51c6 \u4f1a \u51fa\u73b0 \uff08 OpenGL \u7684 API \u4e5f \u5e9f\u5f03 \u4e86 \uff09 \uff1a   Cannot   find   a   compatible   Yulkan   driver   ( ICD )","title":"\u865a\u5e7b \u5f15\u64ce  "},{"location":"build_linux/#carla","text":"\u7b14\u8bb0   \u4f7f\u7528   sudo   apt - get   install   aria2   \u4e0b\u8f7d   aria2   \u5c06 \u52a0\u5feb \u4ee5\u4e0b \u547d\u4ee4 \u7684 \u901f\u5ea6 \u3002","title":"\u7b2c\u4e8c \u90e8\u5206 \uff1a \u6784\u5efa   Carla  "},{"location":"build_linux/#carla_1","text":"Carla   \u4ed3\u5e93   \u4e0a\u9762 \u7684 \u6309\u94ae \u5c06 \u5e26 \u60a8 \u8fdb\u5165 \u8be5\u9879 \u76ee\u7684 \u5b98\u65b9 \u5b58\u50a8 \u5e93 \u3002 \u4ece \u90a3\u91cc \u4e0b\u8f7d \u5e76 \u5728 \u672c\u5730 \u63d0\u53d6 \u5b83 \u6216 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u514b\u9686 \u5b83 \uff1a   git   clone   https : / / github . com / carla - simulator / carla . git   \u7b14\u8bb0   The   master   \u5206\u652f \u5305\u542b   Carla   \u7684 \u5f53\u524d \u7248\u672c \u4ee5\u53ca \u6700\u65b0 \u7684 \u4fee\u590d \u548c \u529f\u80fd \u3002 \u4ee5\u524d \u7684   Carla   \u7248\u672c \u6807\u6709 \u7248\u672c \u540d\u79f0 \u3002 \u6c38\u8fdc \u8bb0\u4f4f \u4f7f\u7528 \u547d\u4ee4   git   branch   \u68c0\u67e5   git   \u4e2d \u7684 \u5f53\u524d \u5206\u652f \u3002","title":"\u514b\u9686   Carla   \u4ed3\u5e93  "},{"location":"build_linux/#_5","text":"\u60a8 \u9700\u8981 \u4e0b\u8f7d   \u6700\u65b0 \u7684   \u8d44\u6e90 \u624d\u80fd \u4f7f\u7528 \u5f53\u524d \u7248\u672c \u7684   Carla \u3002 \u6211\u4eec \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u811a\u672c \u6765 \u81ea\u52a8 \u6267\u884c \u6b64 \u8fc7\u7a0b \u3002 \u8981 \u4f7f\u7528 \u8be5 \u811a\u672c \uff0c \u8bf7 \u5728   Carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   . / Update . sh   \u8d44\u6e90 \u5c06 \u88ab \u4e0b\u8f7d \u5e76 \u63d0\u53d6 \u5230 \u9002\u5f53 \u7684 \u4f4d\u7f6e \u3002   \u91cd\u8981   \u8981 \u4e0b\u8f7d \u5f53\u524d \u6b63\u5728 \u5f00\u53d1 \u7684 \u8d44\u4ea7 \uff0c \u8bf7 \u8bbf\u95ee   \u66f4\u65b0   Carla   \u5e76 \u9605\u8bfb   \u83b7\u53d6 \u5f00\u53d1 \u8d44\u4ea7   \u3002   \u8981 \u4e0b\u8f7d   \u7279\u5b9a \u7248\u672c   \u7684   Carla   \u8d44\u6e90 \uff1a   \u4ece   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \uff0c \u5bfc\u822a \u5230   \\ Util \\ ContentVersions . txt   \u3002 \u672c \u6587\u6863 \u5305\u542b \u6240\u6709   Carla   \u7248\u672c \u7684 \u8d44\u6e90 \u94fe\u63a5 \u3002   \u63d0\u53d6   Unreal \\ CarlaUE4 \\ Content \\ Carla   \u4e2d \u7684 \u8d44\u4ea7 \u3002 \u5982\u679c \u8be5 \u8def\u5f84 \u4e0d \u5b58\u5728 \uff0c \u8bf7 \u521b\u5efa \u5b83 \u3002   \u4f7f\u7528 \u7c7b\u4f3c \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u7684 \u547d\u4ee4 \u63d0\u53d6 \u6587\u4ef6 \uff1a   tar   - xvzf   < assets _ file _ name > . tar . gz . tar   - C   C : \\ path \\ to \\ carla \\ Unreal \\ CarlaUE4 \\ Content \\ Carla","title":"\u83b7\u53d6 \u8d44\u4ea7  "},{"location":"build_linux/#_6","text":"\u4e3a\u4e86 \u8ba9   Carla   \u627e\u5230 \u865a\u5e7b \u5f15\u64ce \u7684 \u6b63\u786e \u5b89\u88c5 \uff0c \u6211\u4eec \u9700\u8981 \u8bbe\u7f6e   Carla   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u3002   \u4ec5 \u4e3a\u6b64 \u4f1a\u8bdd \u8bbe\u7f6e \u53d8\u91cf \uff1a   export   UE4 _ ROOT = ~ / UnrealEngine _ 4.26   \u8981 \u8bbe\u7f6e \u53d8\u91cf \u4ee5\u4f7f \u5176 \u5728 \u4f1a \u8bdd \u4e2d \u4fdd\u6301 \u4e0d\u53d8 \uff1a   1 .   \u6253\u5f00   ~ / . bashrc   \u6216   . / profile   \u3002   gedit   ~ / . bashrc   #   \u6216   gedit   ~ / . profile   2 .   \u5c06 \u4ee5\u4e0b \u884c \u6dfb\u52a0 \u5230 \u6587\u4ef6 \u5e95\u90e8 \uff1a   export   UE4 _ ROOT = ~ / UnrealEngine _ 4.26   3 .   \u4fdd\u5b58 \u6587\u4ef6 \u5e76 \u91cd\u7f6e \u7ec8\u7aef \u3002","title":"\u8bbe\u7f6e \u865a\u5e7b \u5f15\u64ce \u73af\u5883\u53d8\u91cf  "},{"location":"build_linux/#carla_2","text":"\u672c \u8282 \u6982\u8ff0 \u4e86 \u6784\u5efa   Carla   \u7684 \u547d\u4ee4 \u3002   \u6240\u6709 \u547d\u4ee4 \u90fd \u5e94 \u5728 \u6839   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u3002   Carla   \u7684 \u6784\u5efa \u8fc7\u7a0b \u5206\u4e3a \u4e24\u4e2a \u90e8\u5206 \uff0c \u7f16\u8bd1 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u7f16\u8bd1 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   \u8b66\u544a   \u786e\u4fdd \u8fd0\u884c   make   PythonAPI   \u4ee5 \u51c6\u5907 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u8fd0\u884c   make   launch   \u51c6\u5907 \u670d\u52a1 \u670d\u52a1\u7aef \u3002   \u6216\u8005   make   LibCarla   \u5c06 \u51c6\u5907   Carla   \u5e93\u4ee5 \u5bfc\u5165 \u5bfc\u5165\u5230 \u4efb\u4f55 \u5730\u65b9 \u3002   1 .   \u7f16\u8bd1   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1a   \uff1a   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6388\u4e88 \u5bf9 \u4eff\u771f \u7684 \u63a7\u5236 \u63a7\u5236\u6743 \u3002 \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u6784\u5efa   Carla   \u65f6 \u9700\u8981 \u7f16\u8bd1   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5e76\u4e14 \u5728 \u6267\u884c \u4efb\u4f55 \u66f4\u65b0 \u540e \u9700\u8981 \u518d\u6b21 \u7f16\u8bd1 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7f16\u8bd1 \u5b8c\u6210 \u540e \uff0c \u60a8 \u5c06 \u80fd\u591f \u8fd0\u884c \u811a\u672c \u4e0e \u4eff\u771f \u8fdb\u884c \u4ea4\u4e92 \u3002   \u4ee5\u4e0b \u547d\u4ee4 \u7f16\u8bd1   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1a   make   PythonAPI   \u6216\u8005 \uff0c \u8981 \u4e3a \u7279\u5b9a \u7248\u672c \u7684   Python   \u7f16\u8bd1   PythonAPI \uff0c \u8bf7 \u5728 \u6839   Carla   \u76ee\u5f55 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u3002   #   Delete   versions   as   required   make   PythonAPI   ARGS = \" -- python - version = 2.7 ,   3.6 ,   3.7 ,   3.8 \"   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u5c06 \u4ee5 \u4e24\u79cd \u622a\u7136 \u4e0d\u540c \u622a\u7136\u4e0d\u540c \u3001 \u4e92\u65a5 \u7684 \u5f62\u5f0f \u6784\u5efa \u3002 \u8fd9\u4f7f \u7528\u6237 \u53ef\u4ee5 \u81ea\u7531 \u9009\u62e9 \u81ea\u7531\u9009\u62e9 \u4ed6\u4eec \u559c\u6b22 \u7684 \u5f62\u5f0f \u6765 \u8fd0\u884c   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u4ee3\u7801 \u3002 \u4e24\u79cd \u5f62\u5f0f \u5305\u62ec   . egg   \u6587\u4ef6 \u548c   . whl   \u6587\u4ef6 \u3002 \u9009\u62e9 \u4ee5\u4e0b \u9009\u9879 \u4e4b\u4e00 \u6765 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff1a   A .   . egg   \u6587\u4ef6   . egg   \u6587\u4ef6 \u4e0d \u9700\u8981 \u5b89\u88c5 \u3002 \u5bfc\u5165   Carla   \u65f6 \uff0c Carla   \u7684 \u6240\u6709 \u793a\u4f8b \u811a\u672c \u90fd \u4f1a \u81ea\u52a8   \u67e5\u627e \u6b64 \u6587\u4ef6   \u3002   \u5982\u679c \u60a8 \u4e4b\u524d \u5b89\u88c5 \u4e86   Carla   . whl   \uff0c   . whl   \u5c06 \u4f18\u5148 \u4e8e   . egg   \u6587\u4ef6 \u3002   B .   . whl   \u6587\u4ef6   . whl   \u6587\u4ef6 \u5e94 \u4f7f\u7528   pip   \u6216   pip3   \u5b89\u88c5 \uff1a   #   Python   3   pip3   install   < path / to / wheel > . whl   #   Python   2   pip   install   < path / to / wheel > . whl   . whl   \u6587\u4ef6 \u65e0\u6cd5 \u5206\u53d1 \uff0c \u56e0\u4e3a \u5b83 \u662f \u4e13\u95e8 \u4e3a \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u6784\u5efa \u7684 \u3002   \u8b66\u544a   \u4f7f\u7528 \u4e0d\u540c \u65b9\u6cd5 \u5b89\u88c5   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u4ee5\u53ca \u7cfb\u7edf \u4e0a \u5b89\u88c5 \u4e0d\u540c \u7248\u672c \u7684   Carla   \u53ef\u80fd \u4f1a \u51fa\u73b0 \u95ee\u9898 \u3002 \u5efa\u8bae \u5728 \u5b89\u88c5 \u65f6 \u4f7f\u7528 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \uff0c \u5e76 \u5728 \u5b89\u88c5   . whl   \u65b0 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u4e4b\u524d \u5378\u8f7d \u4efb\u4f55 \u4ee5\u524d \u5b89\u88c5 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002   2 .   \u7f16\u8bd1 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \uff1a   \u4ee5\u4e0b \u547d\u4ee4 \u7f16\u8bd1 \u5e76 \u542f\u52a8 \u865a\u5e7b \u5f15\u64ce \u3002 \u6bcf\u6b21 \u60a8 \u60f3\u8981 \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6216 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u65f6 \u8fd0\u884c \u6b64 \u547d\u4ee4 \uff1a   make   launch   \u8be5 \u9879\u76ee \u53ef\u80fd \u4f1a \u8981\u6c42 \u6784\u5efa \u5176\u4ed6 \u5b9e\u4f8b \uff0c \u4f8b\u5982   UE4Editor - Carla . dll   \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u3002 \u540c\u610f \u624d\u80fd \u6253\u5f00 \u9879\u76ee \u3002 \u5728 \u9996\u6b21 \u542f\u52a8 \u671f\u95f4 \uff0c \u7f16\u8f91 \u7f16\u8f91\u5668 \u53ef\u80fd \u4f1a \u663e\u793a \u6709\u5173 \u7740\u8272 \u7740\u8272\u5668 \u548c \u7f51\u683c \u8ddd\u79bb \u573a \u7684 \u8b66\u544a \u3002 \u8fd9\u4e9b \u9700\u8981 \u4e00\u4e9b \u65f6\u95f4 \u6765 \u52a0\u8f7d \uff0c \u4e4b\u524d \u5728\u6b64\u4e4b\u524d \u5730\u56fe \u5c06 \u65e0\u6cd5 \u6b63\u786e \u663e\u793a \u3002   3 .   \u5f00\u59cb \u4eff\u771f   \uff1a   \u6309 \u201c \u8fd0\u884c \u201d \u5f00\u59cb \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4eff\u771f \u3002 \u53ef\u4ee5 \u4f7f\u7528   WASD   \u952e \u79fb\u52a8 \u76f8\u673a \uff0c \u5e76 \u901a\u8fc7 \u5728 \u79fb\u52a8 \u9f20\u6807 \u7684 \u540c\u65f6 \u5355\u51fb \u573a\u666f \u6765 \u65cb\u8f6c \u76f8\u673a \u3002   \u4f7f\u7528   PythonAPI \\ examples   \u91cc\u9762 \u7684 \u793a\u4f8b \u811a\u672c \u6d4b\u8bd5 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002 \u5728 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fd0\u884c \u7684 \u60c5\u51b5 \u4e0b \uff0c \u4e3a \u6bcf\u4e2a \u811a\u672c \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4ee5 \u57ce\u9547 \u5728\u57ce\u9547 \u4e2d \u4ea7\u751f \u4e00\u4e9b \u751f\u547d \u5e76 \u521b\u5efa \u5929\u6c14 \u5faa\u73af \uff1a   #   \u7ec8\u7aef   A   cd   PythonAPI / examples   python3   - m   pip   install   - r   requirements . txt   python3   generate _ traffic . py   #   \u7ec8\u7aef   B   cd   PythonAPI / examples   python3   dynamic _ weather . py   \u91cd\u8981   \u5982\u679c \u4eff\u771f \u4ee5 \u975e\u5e38 \u975e\u5e38\u4f4e \u7684   FPS   \u901f\u7387 \u8fd0\u884c \uff0c \u8bf7 \u8f6c\u81f3 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684   Edit   - >   Editor   preferences   - >   Performance   \u5e76 \u7981\u7528   Use   less   CPU   when   in   background   \u3002","title":"\u6784\u5efa   Carla  "},{"location":"build_linux/#make","text":"\u60a8 \u53ef\u80fd \u4f1a \u53d1\u73b0 \u8fd8\u6709 \u66f4 \u591a \u6709\u7528 \u7684   make   \u547d\u4ee4 \u3002 \u5728 \u4e0b\u8868\u4e2d \u627e\u5230 \u5b83\u4eec \uff1a   \u547d\u4ee4   \u63cf\u8ff0   make   help   \u6253\u5370 \u6240\u6709 \u53ef\u7528 \u7684 \u547d\u4ee4 \u3002   make   launch   \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   make   PythonAPI   \u6784\u5efa   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   make   LibCarla   \u51c6\u5907 \u5c06   Carla   \u5e93 \u5bfc\u5165 \u5bfc\u5165\u5230 \u4efb\u4f55 \u5730\u65b9 \u3002   make   package   \u6784\u5efa   Carla   \u5e76 \u521b\u5efa \u7528\u4e8e \u5206\u53d1 \u7684 \u6253\u5305 \u7248\u672c \u3002   make   clean   \u5220\u9664 \u6784\u5efa \u7cfb\u7edf \u751f\u6210 \u7cfb\u7edf\u751f\u6210 \u7684 \u6240\u6709 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u548c \u4e34\u65f6 \u65f6\u6587 \u6587\u4ef6 \u4e34\u65f6\u6587\u4ef6 \u3002   make   rebuild   make   clean   \u548c   make   launch   \u4e24\u8005 \u90fd \u5728 \u4e00\u4e2a \u547d\u4ee4 \u4e2d \u3002   make   check   \u8fdb\u884c \u5355\u5143 \u6d4b\u8bd5 \u5355\u5143\u6d4b\u8bd5","title":"\u5176\u4ed6   make   \u547d\u4ee4  "},{"location":"build_linux/#_7","text":"v2ray   \u7684 \u7248\u672c \u4e0d\u80fd \u592a\u9ad8 \uff0c \u6bd4\u5982 \u53ef\u4ee5 \u4f7f\u7528   v4.45 . 2   \uff0c \u56fe\u5f62 \u754c\u9762 \u56fe\u5f62\u754c\u9762 \u4f7f\u7528   Qv2ray   2.7 . 0   \u3002","title":"\u5176\u4ed6  "},{"location":"build_linux/#_8","text":"\u6267\u884c   make   Python   \u65f6\u62a5 \u9519 \uff1a   A   C++ 11   capable   compiler   is   required   for   building   the   B2   engine .   Toolset   ' clang '   does   not   appear   to   support   C++ 11 .   \u6709\u5173 \u672c \u6307\u5357 \u7684 \u4efb\u4f55 \u95ee\u9898 \uff0c   \u8bf7 \u9605\u8bfb   \u5e38\u89c1 \u95ee\u9898 \u9898\u89e3 \u89e3\u7b54 \u95ee\u9898\u89e3\u7b54   \u9875\u9762 \u6216   Carla   \u8bba\u575b   \u4e2d \u7684 \u5e16\u5b50 \u3002   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u5b66\u4e60 \u5982\u4f55 \u66f4\u65b0   Carla   \u6784\u5efa \u6216 \u5728 \u4eff\u771f \u4e2d \u8fc8\u51fa \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \uff0c \u5e76 \u5b66\u4e60 \u4e00\u4e9b \u6838\u5fc3 \u6982\u5ff5 \u3002   \u66f4\u65b0   Carla   \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65","title":"\u95ee\u9898"},{"location":"build_linux_ue5/","text":"\u8b66\u544a   \u8fd9\u662f \u4e00\u9879 \u6b63\u5728 \u8fdb\u884c \u7684 \u5de5\u4f5c \uff01 \uff01 \u8fd9\u4e2a \u7248\u672c \u7684   Carla   \u4e0d \u88ab \u8ba4\u4e3a \u662f \u4e00\u4e2a \u7a33\u5b9a \u7684 \u7248\u672c \u3002 \u5728 \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u7684 \u51e0\u4e2a \u6708 \u91cc \uff0c \u8fd9\u4e2a \u5206\u652f \u53ef\u80fd \u4f1a \u53d1\u751f \u8bb8\u591a \u91cd\u5927 \u53d8\u5316 \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u7834\u574f \u60a8 \u6240 \u505a \u7684 \u4efb\u4f55 \u4fee\u6539 \u3002 \u6211\u4eec \u5efa\u8bae \u4f60 \u628a \u8fd9\u4e2a \u5206\u652f \u5f53\u4f5c \u5b9e\u9a8c \u5b9e\u9a8c\u6027 \u7684 \u3002   \u5728 Linux \u4e2d \u4f7f\u7528   Unreal   Engine   5.3   \u6784\u5efa   \u7b14\u8bb0   \u8fd9\u4e2a \u6784\u5efa \u8fc7\u7a0b \u662f \u4e3a   Ubuntu   22.04   \u5b9e\u73b0 \u548c \u6d4b\u8bd5 \u7684 \u3002 \u6211\u4eec \u5efa\u8bae \u4f7f\u7528 \u8fd9\u4e2a   Ubuntu   \u7248\u672c \u3002   \u8bbe\u7f6e \u73af\u5883   \u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u5728   Linux   \u4e0a \u4f7f\u7528   Unreal   Engine   5.3   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002   \u5728 \u60a8 \u7684 \u672c\u5730 \u673a\u5668 \u4e0a \u514b\u9686   Carla   \u7684   ue5 - dev   \u5206\u652f \uff1a   git   clone   - b   ue5 - dev   https : / / github . com / carla - simulator / carla . git   CarlaUE5   \u8fd0\u884c \u5b89\u88c5 \u811a\u672c \uff1a   cd   CarlaUE5   bash   - x   Setup . sh   Setup . sh   \u811a\u672c \u5b89\u88c5 \u6240\u6709 \u5fc5\u9700 \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff0c \u5305\u62ec   Cmake \u3001 debian   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3001 Python \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u548c   Unreal   Engine   5.3 \u3002 \u5b83 \u8fd8 \u4e0b\u8f7d   Carla   \u5185\u5bb9 \u5e76 \u6784\u5efa   Carla \u3002 \u56e0\u6b64 \uff0c \u6b64 \u811a\u672c \u53ef\u80fd \u9700\u8981 \u5f88 \u65f6\u95f4 \u957f\u65f6\u95f4 \u624d\u80fd \u5b8c\u6210 \u3002   \u6ce8\u610f \uff1a   *   \u8fd9\u4e2a \u7248\u672c \u7684   Carla   \u9700\u8981   \u521b\u5efa \u865a\u5e7b \u5f15\u64ce   5.3   \u7684   Carla   \u5206\u53c9   \u3002 \u4e3a\u4e86 \u83b7\u5f97 \u514b\u9686 UE \u5b58\u50a8 \u5e93 \u7684 \u6743\u9650 \uff0c \u60a8 \u9700\u8981 \u5c06 GitHub   \u5e10\u6237 \u94fe\u63a5 \u5230 Epic   Games \u3002 \u5982\u679c \u60a8 \u5c1a\u672a \u94fe\u63a5 \u60a8 \u7684 \u5e10\u6237 \uff0c \u8bf7 \u9075\u5faa   \u672c \u6307\u5357   \u3002   \u8981 \u4f7f\u7528   Carla   Unreal   Engine   5   \u4ee5\u524d \u7684 \u7248\u672c \uff0c   \u8bf7 \u786e\u4fdd \u5b9a\u4e49 \u4e86 \u6307\u5411   CARLA _ UNREAL _ ENGINE _ PATH   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u5b9a\u4e49 \u7684   \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002 \u5982\u679c \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \u6b64 \u53d8\u91cf \uff0c   Setup . sh   \u811a\u672c \u5c06 \u4e0b\u8f7d \u5e76 \u6784\u5efa   Carla   Unreal   Engine   5 \uff0c   \u8fd9 \u9700\u8981 \u989d\u5916 1 \u4e2a \u591a \u5c0f\u65f6 \u7684 \u6784\u5efa \u548c 225Gb \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4   \u3002   Setup . sh   \u811a\u672c \u68c0\u67e5   PATH   \u53d8\u91cf \u9876\u90e8 \u662f\u5426 \u5b89\u88c5 \u4e86 \u4efb\u4f55 Python \uff0c \u5426\u5219 \u5b89\u88c5   Python \u3002 \u8981 \u4f7f\u7528 \u60a8 \u81ea\u5df1 \u7684   Python   \u7248\u672c \uff0c   \u8bf7 \u786e\u4fdd \u5728 \u8fd0\u884c \u811a\u672c \u4e4b\u524d \u4e3a   Python   \u6b63\u786e \u8bbe\u7f6e \u4e86   PATH   \u53d8\u91cf   \u3002   Carla   \u4e0d\u80fd \u5728 \u5916\u90e8 \u78c1\u76d8 \u4e0a \u6784\u5efa \uff0c Ubuntu   \u6ca1\u6709 \u4e3a \u6784\u5efa \u63d0\u4f9b \u6240 \u9700 \u7684 \u8bfb / \u5199 / \u6267\u884c \u6743\u9650 \u3002   \u6784\u5efa \u5e76 \u8fd0\u884c   Carla   UE5   \u5b89\u88c5 \u811a\u672c \u672c\u8eab \u542f\u52a8 \u4ee5\u4e0b \u547d\u4ee4 \uff0c \u4e00\u65e6 \u4fee\u6539 \u4ee3\u7801 \u5e76 \u5e0c\u671b \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \uff0c \u5219 \u9700\u8981 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \uff1a   \u914d\u7f6e \uff1a   cmake   - G   Ninja   - S   .   - B   Build   -- toolchain = $ PWD / CMake / LinuxToolchain . cmake   \\   - DLAUNCH _ ARGS = \" - prefernvidia \"   - DCMAKE _ BUILD _ TYPE = Release   - DENABLE _ ROS2 = ON   \\   - DBUILD _ CARLA _ UNREAL = ON   - DCARLA _ UNREAL _ ENGINE _ PATH = $ CARLA _ UNREAL _ ENGINE _ PATH   \u6784\u5efa   Carla :   cmake   -- build   Build   \u6784\u5efa \u5e76 \u5b89\u88c5   Python   API \uff1a   cmake   -- build   Build   -- target   carla - python - api - install   \u542f\u52a8 \u7f16\u8f91 \u7f16\u8f91\u5668 \uff1a   cmake   -- build   Build   -- target   launch   \u4f7f\u7528   CARLA   UE5   \u6784\u5efa \u5305   cmake   -- build   Build   -- target   package   \u8be5 \u5305\u4f1a \u5728 \u76ee\u5f55   $ CARLA _ PATH / Build / Package   \u4e0b \u751f\u6210 \u3002   \u8fd0\u884c \u5305   \u4f7f\u7528 \u4e0b\u5217 \u547d\u4ee4 \u8fd0\u884c \u5305 \u3002   . / CarlaUnreal . sh   \u5982\u679c \u4f60 \u60f3 \u8fd0\u884c \u539f\u751f \u7684   ROS2   \u63a5\u53e3 \uff0c \u6dfb\u52a0   -- ros2   \u547d\u4ee4   . / CarlaUnreal . sh   -- ros2   \u5982\u679c \u60a8 \u60f3\u8981 \u5b89\u88c5 \u4e0e \u60a8 \u6240 \u6784\u5efa \u7684 \u5305 \u76f8\u5bf9 \u5e94 \u7684   Python   API \uff1a   pip3   install   PythonAPI / carla / dist / carla - * . whl   \u95ee\u9898   \u7cfb\u7edf \u5b89\u88c5   Ubuntu   20.04   \u6ca1\u6709 g ++- 12 \u7684 \u6e90 \uff0c \u53ea\u6709 g ++- 9 \u7684 \u6e90 \u3002 \u800c Ubuntu   22.04   \u6709 g ++- 12 \u7684 \u6e90 \u3002   \u89e3\u51b3   ubuntu   \u5b89\u88c5 \u8fc7\u7a0b \u4e2d   \u5b89\u88c5 \u754c\u9762 \u9ed1\u5c4f   \u7684 \u95ee\u9898 \uff1a   u \u76d8 \u542f\u52a8 \u8fc7\u7a0b \u4e2d \uff0c \u4f1a \u51fa\u73b0 \u9009\u62e9 \u754c\u9762 \uff0c try   ubuntu   \u3001 install   ubuntu \u7b49 \uff0c \u6b64\u65f6 \u70b9 \u201c e \u201d \u952e \uff0c \u4f1a \u51fa\u73b0 \u4e00\u4e2a \u9ed1\u6846 \uff0c \u6b64\u65f6 \u5728 \u5012\u6570 \u7b2c\u4e8c \u4e8c\u884c \u7b2c\u4e8c\u884c \u5de6\u53f3 \uff0c \u627e\u5230   quiet   splash   -   -   -   \u6539\u6210   quiet   splash   acpi = off   \u518d\u6b21 \u542f\u52a8 \u65f6 \uff0c \u4ecd\u7136 \u4f1a \u9ed1\u5c4f \uff0c \u8fdb\u4e0d\u53bb \u3002   \u9700\u8981   \u7981\u7528 nouveau   \uff0c \u7136\u540e \u518d \u8fdb\u5165 \u7cfb\u7edf \u4e2d \u5b89\u88c5 \u663e\u5361 \u9a71\u52a8 \u3002   vi   / etc / modprobe . d / blacklist . conf   \u6700\u540e \u4e00\u884c \u52a0\u4e0a   blacklist   nouveau   \u3002   \u4f7f \u4e4b \u751f\u6548 \uff1a   update - initramfs   - u   \u7136\u540e \u8f93\u5165   reboot   \u91cd\u542f \u3002   \u7f16\u8bd1   bin / clang \"   is   not   able   to   compile   a   simple   test   program .   clang ++   -- version   \u786e\u5b9a clang \u6ca1\u6709 \u5b89\u88c5 \uff0c \u6267\u884c \uff1a   sudo   apt - get   install   clang   \u8fd8\u662f \u627e \u4e0d\u5230 \uff01 \uff01 \uff01   Carla   \u5207\u6362 \u5230   ue5 - dev   \u5206\u652f \uff1a   git   checkout   - b   ue5 - dev   origin / ue5 - dev   bash   - x   \u4e2d \u7684 \u53c2\u6570   - x   \u4f1a \u5217\u51fa shell \u6307\u5b9a \u8bed\u53e5 \u7684 \u987a\u5e8f \u5e76 \u5c06 \u5176 \u6253\u5370 \u3002   \u62a5\u9519 \uff1a   error :   externally - managed - environment   \u539f\u56e0 \uff1a \u8868\u793a \u5f53\u524d Python \u73af\u5883 \u662f \u7531 \u7cfb\u7edf \u5916\u90e8 \u7ba1\u7406 \u7684 \uff0c \u901a\u5e38 \u5728 \u67d0\u4e9b Linux \u53d1\u884c \u53d1\u884c\u7248 \u4e2d \uff08 \u5c24\u5176 \u662f Debian \u548c \u57fa\u4e8e Debian \u7684 \u7cfb\u7edf \uff0c \u6bd4\u5982 Ubuntu \uff09 \uff0c \u7cfb\u7edf \u4f1a \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u4e0d\u8981 \u76f4\u63a5 \u4f7f\u7528 pip \u6765 \u5b89\u88c5 \u5b89\u88c5\u5305 \uff0c \u4ee5 \u907f\u514d \u4e0e \u7cfb\u7edf \u5305 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \uff08 \u5982 apt \uff09 \u7684 \u6f5c\u5728 \u51b2\u7a81 \u3002   \u89e3\u51b3 \uff1a \u65b0\u5efa Python \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u3002   cmake \u65f6\u5019 \u62a5\u9519 \uff1a   cannot   find   / lib64 / ld - linux - x86 - 64 . so.2","title":"Build   linux   ue5"},{"location":"build_linux_ue5/#linux-unreal-engine-53","text":"\u7b14\u8bb0   \u8fd9\u4e2a \u6784\u5efa \u8fc7\u7a0b \u662f \u4e3a   Ubuntu   22.04   \u5b9e\u73b0 \u548c \u6d4b\u8bd5 \u7684 \u3002 \u6211\u4eec \u5efa\u8bae \u4f7f\u7528 \u8fd9\u4e2a   Ubuntu   \u7248\u672c \u3002","title":"\u5728 Linux \u4e2d \u4f7f\u7528   Unreal   Engine   5.3   \u6784\u5efa"},{"location":"build_linux_ue5/#_1","text":"\u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u5728   Linux   \u4e0a \u4f7f\u7528   Unreal   Engine   5.3   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002   \u5728 \u60a8 \u7684 \u672c\u5730 \u673a\u5668 \u4e0a \u514b\u9686   Carla   \u7684   ue5 - dev   \u5206\u652f \uff1a   git   clone   - b   ue5 - dev   https : / / github . com / carla - simulator / carla . git   CarlaUE5   \u8fd0\u884c \u5b89\u88c5 \u811a\u672c \uff1a   cd   CarlaUE5   bash   - x   Setup . sh   Setup . sh   \u811a\u672c \u5b89\u88c5 \u6240\u6709 \u5fc5\u9700 \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff0c \u5305\u62ec   Cmake \u3001 debian   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3001 Python \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u548c   Unreal   Engine   5.3 \u3002 \u5b83 \u8fd8 \u4e0b\u8f7d   Carla   \u5185\u5bb9 \u5e76 \u6784\u5efa   Carla \u3002 \u56e0\u6b64 \uff0c \u6b64 \u811a\u672c \u53ef\u80fd \u9700\u8981 \u5f88 \u65f6\u95f4 \u957f\u65f6\u95f4 \u624d\u80fd \u5b8c\u6210 \u3002   \u6ce8\u610f \uff1a   *   \u8fd9\u4e2a \u7248\u672c \u7684   Carla   \u9700\u8981   \u521b\u5efa \u865a\u5e7b \u5f15\u64ce   5.3   \u7684   Carla   \u5206\u53c9   \u3002 \u4e3a\u4e86 \u83b7\u5f97 \u514b\u9686 UE \u5b58\u50a8 \u5e93 \u7684 \u6743\u9650 \uff0c \u60a8 \u9700\u8981 \u5c06 GitHub   \u5e10\u6237 \u94fe\u63a5 \u5230 Epic   Games \u3002 \u5982\u679c \u60a8 \u5c1a\u672a \u94fe\u63a5 \u60a8 \u7684 \u5e10\u6237 \uff0c \u8bf7 \u9075\u5faa   \u672c \u6307\u5357   \u3002   \u8981 \u4f7f\u7528   Carla   Unreal   Engine   5   \u4ee5\u524d \u7684 \u7248\u672c \uff0c   \u8bf7 \u786e\u4fdd \u5b9a\u4e49 \u4e86 \u6307\u5411   CARLA _ UNREAL _ ENGINE _ PATH   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u5b9a\u4e49 \u7684   \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002 \u5982\u679c \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \u6b64 \u53d8\u91cf \uff0c   Setup . sh   \u811a\u672c \u5c06 \u4e0b\u8f7d \u5e76 \u6784\u5efa   Carla   Unreal   Engine   5 \uff0c   \u8fd9 \u9700\u8981 \u989d\u5916 1 \u4e2a \u591a \u5c0f\u65f6 \u7684 \u6784\u5efa \u548c 225Gb \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4   \u3002   Setup . sh   \u811a\u672c \u68c0\u67e5   PATH   \u53d8\u91cf \u9876\u90e8 \u662f\u5426 \u5b89\u88c5 \u4e86 \u4efb\u4f55 Python \uff0c \u5426\u5219 \u5b89\u88c5   Python \u3002 \u8981 \u4f7f\u7528 \u60a8 \u81ea\u5df1 \u7684   Python   \u7248\u672c \uff0c   \u8bf7 \u786e\u4fdd \u5728 \u8fd0\u884c \u811a\u672c \u4e4b\u524d \u4e3a   Python   \u6b63\u786e \u8bbe\u7f6e \u4e86   PATH   \u53d8\u91cf   \u3002   Carla   \u4e0d\u80fd \u5728 \u5916\u90e8 \u78c1\u76d8 \u4e0a \u6784\u5efa \uff0c Ubuntu   \u6ca1\u6709 \u4e3a \u6784\u5efa \u63d0\u4f9b \u6240 \u9700 \u7684 \u8bfb / \u5199 / \u6267\u884c \u6743\u9650 \u3002","title":"\u8bbe\u7f6e \u73af\u5883"},{"location":"build_linux_ue5/#carla-ue5","text":"\u5b89\u88c5 \u811a\u672c \u672c\u8eab \u542f\u52a8 \u4ee5\u4e0b \u547d\u4ee4 \uff0c \u4e00\u65e6 \u4fee\u6539 \u4ee3\u7801 \u5e76 \u5e0c\u671b \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \uff0c \u5219 \u9700\u8981 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \uff1a   \u914d\u7f6e \uff1a   cmake   - G   Ninja   - S   .   - B   Build   -- toolchain = $ PWD / CMake / LinuxToolchain . cmake   \\   - DLAUNCH _ ARGS = \" - prefernvidia \"   - DCMAKE _ BUILD _ TYPE = Release   - DENABLE _ ROS2 = ON   \\   - DBUILD _ CARLA _ UNREAL = ON   - DCARLA _ UNREAL _ ENGINE _ PATH = $ CARLA _ UNREAL _ ENGINE _ PATH   \u6784\u5efa   Carla :   cmake   -- build   Build   \u6784\u5efa \u5e76 \u5b89\u88c5   Python   API \uff1a   cmake   -- build   Build   -- target   carla - python - api - install   \u542f\u52a8 \u7f16\u8f91 \u7f16\u8f91\u5668 \uff1a   cmake   -- build   Build   -- target   launch","title":"\u6784\u5efa \u5e76 \u8fd0\u884c   Carla   UE5"},{"location":"build_linux_ue5/#carla-ue5_1","text":"cmake   -- build   Build   -- target   package   \u8be5 \u5305\u4f1a \u5728 \u76ee\u5f55   $ CARLA _ PATH / Build / Package   \u4e0b \u751f\u6210 \u3002","title":"\u4f7f\u7528   CARLA   UE5   \u6784\u5efa \u5305"},{"location":"build_linux_ue5/#_2","text":"\u4f7f\u7528 \u4e0b\u5217 \u547d\u4ee4 \u8fd0\u884c \u5305 \u3002   . / CarlaUnreal . sh   \u5982\u679c \u4f60 \u60f3 \u8fd0\u884c \u539f\u751f \u7684   ROS2   \u63a5\u53e3 \uff0c \u6dfb\u52a0   -- ros2   \u547d\u4ee4   . / CarlaUnreal . sh   -- ros2   \u5982\u679c \u60a8 \u60f3\u8981 \u5b89\u88c5 \u4e0e \u60a8 \u6240 \u6784\u5efa \u7684 \u5305 \u76f8\u5bf9 \u5e94 \u7684   Python   API \uff1a   pip3   install   PythonAPI / carla / dist / carla - * . whl","title":"\u8fd0\u884c \u5305"},{"location":"build_linux_ue5/#_3","text":"","title":"\u95ee\u9898"},{"location":"build_linux_ue5/#_4","text":"Ubuntu   20.04   \u6ca1\u6709 g ++- 12 \u7684 \u6e90 \uff0c \u53ea\u6709 g ++- 9 \u7684 \u6e90 \u3002 \u800c Ubuntu   22.04   \u6709 g ++- 12 \u7684 \u6e90 \u3002   \u89e3\u51b3   ubuntu   \u5b89\u88c5 \u8fc7\u7a0b \u4e2d   \u5b89\u88c5 \u754c\u9762 \u9ed1\u5c4f   \u7684 \u95ee\u9898 \uff1a   u \u76d8 \u542f\u52a8 \u8fc7\u7a0b \u4e2d \uff0c \u4f1a \u51fa\u73b0 \u9009\u62e9 \u754c\u9762 \uff0c try   ubuntu   \u3001 install   ubuntu \u7b49 \uff0c \u6b64\u65f6 \u70b9 \u201c e \u201d \u952e \uff0c \u4f1a \u51fa\u73b0 \u4e00\u4e2a \u9ed1\u6846 \uff0c \u6b64\u65f6 \u5728 \u5012\u6570 \u7b2c\u4e8c \u4e8c\u884c \u7b2c\u4e8c\u884c \u5de6\u53f3 \uff0c \u627e\u5230   quiet   splash   -   -   -   \u6539\u6210   quiet   splash   acpi = off   \u518d\u6b21 \u542f\u52a8 \u65f6 \uff0c \u4ecd\u7136 \u4f1a \u9ed1\u5c4f \uff0c \u8fdb\u4e0d\u53bb \u3002   \u9700\u8981   \u7981\u7528 nouveau   \uff0c \u7136\u540e \u518d \u8fdb\u5165 \u7cfb\u7edf \u4e2d \u5b89\u88c5 \u663e\u5361 \u9a71\u52a8 \u3002   vi   / etc / modprobe . d / blacklist . conf   \u6700\u540e \u4e00\u884c \u52a0\u4e0a   blacklist   nouveau   \u3002   \u4f7f \u4e4b \u751f\u6548 \uff1a   update - initramfs   - u   \u7136\u540e \u8f93\u5165   reboot   \u91cd\u542f \u3002","title":"\u7cfb\u7edf \u5b89\u88c5"},{"location":"build_linux_ue5/#_5","text":"bin / clang \"   is   not   able   to   compile   a   simple   test   program .   clang ++   -- version   \u786e\u5b9a clang \u6ca1\u6709 \u5b89\u88c5 \uff0c \u6267\u884c \uff1a   sudo   apt - get   install   clang   \u8fd8\u662f \u627e \u4e0d\u5230 \uff01 \uff01 \uff01","title":"\u7f16\u8bd1"},{"location":"build_linux_ue5/#carla","text":"\u5207\u6362 \u5230   ue5 - dev   \u5206\u652f \uff1a   git   checkout   - b   ue5 - dev   origin / ue5 - dev   bash   - x   \u4e2d \u7684 \u53c2\u6570   - x   \u4f1a \u5217\u51fa shell \u6307\u5b9a \u8bed\u53e5 \u7684 \u987a\u5e8f \u5e76 \u5c06 \u5176 \u6253\u5370 \u3002   \u62a5\u9519 \uff1a   error :   externally - managed - environment   \u539f\u56e0 \uff1a \u8868\u793a \u5f53\u524d Python \u73af\u5883 \u662f \u7531 \u7cfb\u7edf \u5916\u90e8 \u7ba1\u7406 \u7684 \uff0c \u901a\u5e38 \u5728 \u67d0\u4e9b Linux \u53d1\u884c \u53d1\u884c\u7248 \u4e2d \uff08 \u5c24\u5176 \u662f Debian \u548c \u57fa\u4e8e Debian \u7684 \u7cfb\u7edf \uff0c \u6bd4\u5982 Ubuntu \uff09 \uff0c \u7cfb\u7edf \u4f1a \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u4e0d\u8981 \u76f4\u63a5 \u4f7f\u7528 pip \u6765 \u5b89\u88c5 \u5b89\u88c5\u5305 \uff0c \u4ee5 \u907f\u514d \u4e0e \u7cfb\u7edf \u5305 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \uff08 \u5982 apt \uff09 \u7684 \u6f5c\u5728 \u51b2\u7a81 \u3002   \u89e3\u51b3 \uff1a \u65b0\u5efa Python \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u3002   cmake \u65f6\u5019 \u62a5\u9519 \uff1a   cannot   find   / lib64 / ld - linux - x86 - 64 . so.2","title":"Carla"},{"location":"build_system/","text":"\u6784\u5efa \u7cfb\u7edf   \u8bbe\u7f6e   LibCarla   CarlaUE4   \u548c   Carla   \u63d2\u4ef6   PythonAPI   0.9 . 12 +   \u7248\u672c   0.9 . 12   \u4e4b\u524d \u7684 \u7248\u672c   \u672c \u6587\u6863 \u662f \u4e00\u4e2a \u6b63\u5728 \u8fdb\u884c \u7684 \u5de5\u4f5c \uff0c \u8fd9\u91cc \u4ec5 \u8003\u8651   Linux   \u6784\u5efa \u7cfb\u7edf \u3002   \u8bbe\u7f6e \u4e2d \u6700\u5177 \u6311\u6218 \u6311\u6218\u6027 \u7684 \u90e8\u5206 \u662f \u7f16\u8bd1 \u6240\u6709 \u4f9d\u8d56 \u9879 \u548c \u6a21\u5757 \uff0c \u4f7f \u5176 \u4e0e   a )   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u7684 \u865a\u5e7b \u5f15\u64ce   \u548c   b )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684   Python   \u517c\u5bb9 \u3002   \u76ee\u6807 \u662f \u80fd\u591f \u4ece \u5355\u72ec \u7684   Python   \u8fdb\u7a0b \u8c03\u7528 \u865a\u5e7b \u5f15\u64ce \u7684 \u51fd\u6570 \u3002   \u5728   Linux   \u4e2d \uff0c \u6211\u4eec \u4f7f\u7528   clang - 8.0   \u548c   C++ 14   \u6807\u51c6 \u7f16\u8bd1   Carla   \u548c \u6240\u6709 \u4f9d\u8d56 \u9879 \u3002 \u7136\u800c \uff0c \u6211\u4eec \u6839\u636e \u4ee3\u7801 \u7684 \u4f7f\u7528 \u4f4d\u7f6e \u6765 \u94fe\u63a5 \u4e0d\u540c \u7684 \u8fd0\u884c \u65f6   C++   \u5e93 \uff0c \u56e0\u4e3a \u6240\u6709 \u5c06 \u4e0e \u865a\u5e7b \u5f15\u64ce \u94fe\u63a5 \u7684 \u4ee3\u7801 \u90fd \u9700\u8981 \u4f7f\u7528   lib c++   \u8fdb\u884c \u7f16\u8bd1 \u3002   \u8bbe\u7f6e   \u547d\u4ee4   make   setup   \u83b7\u53d6 \u5e76 \u7f16\u8bd1 \u4f9d\u8d56 \u9879   llvm - 8   ( lib c++   and   lib c++ abi )   rpclib - 2.2 . 1   ( twice ,   with   libstd c++   and   lib c++ )   boost - 1.72 . 0   ( headers   and   boost _ python   for   libstd c++ )   googletest - 1.8 . 1   ( with   lib c++ )   LibCarla   \u4f7f\u7528   CMake   \u7f16\u8bd1 \uff08 \u6700\u4f4e \u7248\u672c \u9700\u8981   CMake   3.9 \uff09 \u3002   \u547d\u4ee4   make   LibCarla   \u4e24\u79cd \u914d\u7f6e \uff1a   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5355\u5143 \u6d4b\u8bd5 \u5355\u5143\u6d4b\u8bd5   \u662f   \u5426   \u8981\u6c42   rpclib ,   gtest ,   boost   rpclib ,   boost   \u6807\u51c6 \u8fd0\u884c \u65f6   LLVM ' s   lib c++   \u9ed8\u8ba4   libstd c++   \u8f93\u51fa   \u6587\u4ef6 \u5934\u6587\u4ef6 \u548c   carla _ server . lib   carla _ server . lib   \u9700\u8981   Carla   plugin   PythonAPI   CarlaUE4   \u548c   Carla   \u63d2\u4ef6   \u4e24\u8005 \u5747 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u6784\u5efa \u5de5\u5177 \u5728 \u540c\u4e00 \u6b65\u9aa4 \u8fdb\u884c \u7f16\u8bd1 \u3002 \u5b83\u4eec \u9700\u8981   UE4 _ ROOT   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u3002   \u547d\u4ee4   make   CarlaUE4Editor   \u8981 \u542f\u52a8 \u865a\u5e7b \u5f15\u64ce \u7684 \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u8bf7 \u8fd0\u884c   make   launch   \u7f16\u8bd1   0.9 . 15   \u65f6\u5019 \u51fa\u73b0   carla / Unreal / CarlaUE4 / Plugins / CarlaTools / Source / CarlaTools / Private / Online / CustomFileDownloader . cpp ( 11 ) :   fatal   rror   C1083 :   \u65e0\u6cd5 \u6253\u5f00 \u5305\u62ec \u6587\u4ef6 :   \u201c OSM2ODR . h \u201d :   No   such   file   or   directory   \u89e3\u51b3 \uff1a \u5c06 0.9 . 14   build   \u4e2d \u7684   carla \\ Build \\ osm2odr - visualstudio   \u590d\u5236 \u8fc7\u6765 \u3002   PythonAPI   0.9 . 12 +   \u7248\u672c   \u4f7f\u7528   Python   \u7684   setuptools   ( \" setup . py \" )   \u7f16\u8bd1 \u3002   \u76ee\u524d \u9700\u8981 \u5728 \u673a\u5668 \u4e0a \u5b89\u88c5 \u4ee5\u4e0b \u8f6f\u4ef6 \uff1a Python ,   libpython - dev ,   \u548c   libboost - python - dev ,   pip > = 20.3 ,   wheel ,   \u548c   auditwheel \u3002   \u547d\u4ee4 \uff1a   make   PythonAPI   \u521b\u5efa \u4e24\u4e2a \u6587\u4ef6 \uff0c \u6bcf\u4e2a \u6587\u4ef6 \u5305\u542b \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u5e76 \u5bf9\u5e94 \u4e8e \u7cfb\u7edf \u4e0a \u652f\u6301 \u7684   Python   \u7248\u672c \u3002 \u4e00\u4e2a \u6587\u4ef6 \u662f   . whl   \u6587\u4ef6 \uff0c \u53e6 \u4e00\u4e2a \u6587\u4ef6 \u662f   . egg   \u6587\u4ef6 \u3002 \u8fd9 \u5141\u8bb8 \u9009\u62e9 \u4e24\u79cd \u4e0d\u540c \u7684 \u3001 \u4e92\u65a5 \u7684 \u65b9\u5f0f \u6765 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002   A .   . whl   \u6587\u4ef6   . whl   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u5b89\u88c5 \uff1a   pip   install   < wheel _ file > . whl   \u65e0\u9700 \u50cf \u4ee5\u524d \u7248\u672c \u6216   . egg   \u6587\u4ef6 \u4e2d \u90a3\u6837 \u76f4\u63a5 \u5728 \u811a\u672c \u4e2d \u5bfc \u5165\u5e93 \u8def\u5f84   ( \u53c2\u9605 \u8bf7\u53c2\u9605   __ 0.9 . 12 _ \u4e4b\u524d \u7684 \u7248\u672c _   ) ;   import   carla   \u5c31 \u8db3\u591f \u4e86 \u3002   B .   . egg   \u6587\u4ef6   \u53c2\u9605 \u8bf7\u53c2\u9605   0.9 . 12   \u4e4b\u524d \u7684 \u7248\u672c   \u4e86\u89e3 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   0.9 . 12   \u4e4b\u524d \u7684 \u7248\u672c   \u4f7f\u7528   Python   \u7684   setuptools   ( \" setup . py \" ) \u7f16\u8bd1 \u3002   \u76ee\u524d \u9700\u8981 \u5728 \u673a\u5668 \u4e0a \u5b89\u88c5 \u4ee5\u4e0b \u8f6f\u4ef6 \uff1a   Python ,   libpython - dev ,   \u548c   libboost - python - dev \u3002   \u547d\u4ee4   make   PythonAPI   \u5b83 \u521b\u9020 \u4e86 \u4e24\u4e2a   \" egg \"   \u5305   PythonAPI / dist / carla - X . X . X - py2.7 - linux - x86 _ 64 . egg   PythonAPI / dist / carla - X . X . X - py3.7 - linux - x86 _ 64 . egg   \u901a\u8fc7 \u5c06 \u5176 \u6dfb\u52a0 \u5230 \u7cfb\u7edf \u8def\u5f84 \uff0c \u53ef\u4ee5 \u5c06 \u8be5 \u5305 \u76f4\u63a5 \u5bfc\u5165 \u5bfc\u5165\u5230   Python   \u811a\u672c \u4e2d \u3002   # ! / usr / bin / env   python   import   sys   sys . path . append (   ' PythonAPI / dist / carla - X . X . X - py% d .% d - linux - x86 _ 64 . egg '   %   ( sys . version _ info . major ,   sys . version _ info . minor ) )   import   carla   #   ...   \u6216\u8005 \uff0c \u53ef\u4ee5 \u4f7f\u7528   easy _ install   \u5b89\u88c5   easy _ install2   -- user   -- no - deps   PythonAPI / dist / carla - X . X . X - py2.7 - linux - x86 _ 64 . egg   easy _ install3   -- user   -- no - deps   PythonAPI / dist / carla - X . X . X - py3.7 - linux - x86 _ 64 . egg","title":"\u6784\u5efa \u7cfb\u7edf"},{"location":"build_system/#_1","text":"\u8bbe\u7f6e   LibCarla   CarlaUE4   \u548c   Carla   \u63d2\u4ef6   PythonAPI   0.9 . 12 +   \u7248\u672c   0.9 . 12   \u4e4b\u524d \u7684 \u7248\u672c   \u672c \u6587\u6863 \u662f \u4e00\u4e2a \u6b63\u5728 \u8fdb\u884c \u7684 \u5de5\u4f5c \uff0c \u8fd9\u91cc \u4ec5 \u8003\u8651   Linux   \u6784\u5efa \u7cfb\u7edf \u3002   \u8bbe\u7f6e \u4e2d \u6700\u5177 \u6311\u6218 \u6311\u6218\u6027 \u7684 \u90e8\u5206 \u662f \u7f16\u8bd1 \u6240\u6709 \u4f9d\u8d56 \u9879 \u548c \u6a21\u5757 \uff0c \u4f7f \u5176 \u4e0e   a )   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u7684 \u865a\u5e7b \u5f15\u64ce   \u548c   b )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684   Python   \u517c\u5bb9 \u3002   \u76ee\u6807 \u662f \u80fd\u591f \u4ece \u5355\u72ec \u7684   Python   \u8fdb\u7a0b \u8c03\u7528 \u865a\u5e7b \u5f15\u64ce \u7684 \u51fd\u6570 \u3002   \u5728   Linux   \u4e2d \uff0c \u6211\u4eec \u4f7f\u7528   clang - 8.0   \u548c   C++ 14   \u6807\u51c6 \u7f16\u8bd1   Carla   \u548c \u6240\u6709 \u4f9d\u8d56 \u9879 \u3002 \u7136\u800c \uff0c \u6211\u4eec \u6839\u636e \u4ee3\u7801 \u7684 \u4f7f\u7528 \u4f4d\u7f6e \u6765 \u94fe\u63a5 \u4e0d\u540c \u7684 \u8fd0\u884c \u65f6   C++   \u5e93 \uff0c \u56e0\u4e3a \u6240\u6709 \u5c06 \u4e0e \u865a\u5e7b \u5f15\u64ce \u94fe\u63a5 \u7684 \u4ee3\u7801 \u90fd \u9700\u8981 \u4f7f\u7528   lib c++   \u8fdb\u884c \u7f16\u8bd1 \u3002","title":"\u6784\u5efa \u7cfb\u7edf"},{"location":"build_system/#_2","text":"\u547d\u4ee4   make   setup   \u83b7\u53d6 \u5e76 \u7f16\u8bd1 \u4f9d\u8d56 \u9879   llvm - 8   ( lib c++   and   lib c++ abi )   rpclib - 2.2 . 1   ( twice ,   with   libstd c++   and   lib c++ )   boost - 1.72 . 0   ( headers   and   boost _ python   for   libstd c++ )   googletest - 1.8 . 1   ( with   lib c++ )","title":"\u8bbe\u7f6e  "},{"location":"build_system/#libcarla","text":"\u4f7f\u7528   CMake   \u7f16\u8bd1 \uff08 \u6700\u4f4e \u7248\u672c \u9700\u8981   CMake   3.9 \uff09 \u3002   \u547d\u4ee4   make   LibCarla   \u4e24\u79cd \u914d\u7f6e \uff1a   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5355\u5143 \u6d4b\u8bd5 \u5355\u5143\u6d4b\u8bd5   \u662f   \u5426   \u8981\u6c42   rpclib ,   gtest ,   boost   rpclib ,   boost   \u6807\u51c6 \u8fd0\u884c \u65f6   LLVM ' s   lib c++   \u9ed8\u8ba4   libstd c++   \u8f93\u51fa   \u6587\u4ef6 \u5934\u6587\u4ef6 \u548c   carla _ server . lib   carla _ server . lib   \u9700\u8981   Carla   plugin   PythonAPI","title":"LibCarla  "},{"location":"build_system/#carlaue4-carla","text":"\u4e24\u8005 \u5747 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u6784\u5efa \u5de5\u5177 \u5728 \u540c\u4e00 \u6b65\u9aa4 \u8fdb\u884c \u7f16\u8bd1 \u3002 \u5b83\u4eec \u9700\u8981   UE4 _ ROOT   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u3002   \u547d\u4ee4   make   CarlaUE4Editor   \u8981 \u542f\u52a8 \u865a\u5e7b \u5f15\u64ce \u7684 \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u8bf7 \u8fd0\u884c   make   launch   \u7f16\u8bd1   0.9 . 15   \u65f6\u5019 \u51fa\u73b0   carla / Unreal / CarlaUE4 / Plugins / CarlaTools / Source / CarlaTools / Private / Online / CustomFileDownloader . cpp ( 11 ) :   fatal   rror   C1083 :   \u65e0\u6cd5 \u6253\u5f00 \u5305\u62ec \u6587\u4ef6 :   \u201c OSM2ODR . h \u201d :   No   such   file   or   directory   \u89e3\u51b3 \uff1a \u5c06 0.9 . 14   build   \u4e2d \u7684   carla \\ Build \\ osm2odr - visualstudio   \u590d\u5236 \u8fc7\u6765 \u3002","title":"CarlaUE4   \u548c   Carla   \u63d2\u4ef6  "},{"location":"build_system/#pythonapi","text":"","title":"PythonAPI  "},{"location":"build_system/#0912","text":"\u4f7f\u7528   Python   \u7684   setuptools   ( \" setup . py \" )   \u7f16\u8bd1 \u3002   \u76ee\u524d \u9700\u8981 \u5728 \u673a\u5668 \u4e0a \u5b89\u88c5 \u4ee5\u4e0b \u8f6f\u4ef6 \uff1a Python ,   libpython - dev ,   \u548c   libboost - python - dev ,   pip > = 20.3 ,   wheel ,   \u548c   auditwheel \u3002   \u547d\u4ee4 \uff1a   make   PythonAPI   \u521b\u5efa \u4e24\u4e2a \u6587\u4ef6 \uff0c \u6bcf\u4e2a \u6587\u4ef6 \u5305\u542b \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u5e76 \u5bf9\u5e94 \u4e8e \u7cfb\u7edf \u4e0a \u652f\u6301 \u7684   Python   \u7248\u672c \u3002 \u4e00\u4e2a \u6587\u4ef6 \u662f   . whl   \u6587\u4ef6 \uff0c \u53e6 \u4e00\u4e2a \u6587\u4ef6 \u662f   . egg   \u6587\u4ef6 \u3002 \u8fd9 \u5141\u8bb8 \u9009\u62e9 \u4e24\u79cd \u4e0d\u540c \u7684 \u3001 \u4e92\u65a5 \u7684 \u65b9\u5f0f \u6765 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002   A .   . whl   \u6587\u4ef6   . whl   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u5b89\u88c5 \uff1a   pip   install   < wheel _ file > . whl   \u65e0\u9700 \u50cf \u4ee5\u524d \u7248\u672c \u6216   . egg   \u6587\u4ef6 \u4e2d \u90a3\u6837 \u76f4\u63a5 \u5728 \u811a\u672c \u4e2d \u5bfc \u5165\u5e93 \u8def\u5f84   ( \u53c2\u9605 \u8bf7\u53c2\u9605   __ 0.9 . 12 _ \u4e4b\u524d \u7684 \u7248\u672c _   ) ;   import   carla   \u5c31 \u8db3\u591f \u4e86 \u3002   B .   . egg   \u6587\u4ef6   \u53c2\u9605 \u8bf7\u53c2\u9605   0.9 . 12   \u4e4b\u524d \u7684 \u7248\u672c   \u4e86\u89e3 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002","title":"0.9 . 12 +   \u7248\u672c  "},{"location":"build_system/#0912_1","text":"\u4f7f\u7528   Python   \u7684   setuptools   ( \" setup . py \" ) \u7f16\u8bd1 \u3002   \u76ee\u524d \u9700\u8981 \u5728 \u673a\u5668 \u4e0a \u5b89\u88c5 \u4ee5\u4e0b \u8f6f\u4ef6 \uff1a   Python ,   libpython - dev ,   \u548c   libboost - python - dev \u3002   \u547d\u4ee4   make   PythonAPI   \u5b83 \u521b\u9020 \u4e86 \u4e24\u4e2a   \" egg \"   \u5305   PythonAPI / dist / carla - X . X . X - py2.7 - linux - x86 _ 64 . egg   PythonAPI / dist / carla - X . X . X - py3.7 - linux - x86 _ 64 . egg   \u901a\u8fc7 \u5c06 \u5176 \u6dfb\u52a0 \u5230 \u7cfb\u7edf \u8def\u5f84 \uff0c \u53ef\u4ee5 \u5c06 \u8be5 \u5305 \u76f4\u63a5 \u5bfc\u5165 \u5bfc\u5165\u5230   Python   \u811a\u672c \u4e2d \u3002   # ! / usr / bin / env   python   import   sys   sys . path . append (   ' PythonAPI / dist / carla - X . X . X - py% d .% d - linux - x86 _ 64 . egg '   %   ( sys . version _ info . major ,   sys . version _ info . minor ) )   import   carla   #   ...   \u6216\u8005 \uff0c \u53ef\u4ee5 \u4f7f\u7528   easy _ install   \u5b89\u88c5   easy _ install2   -- user   -- no - deps   PythonAPI / dist / carla - X . X . X - py2.7 - linux - x86 _ 64 . egg   easy _ install3   -- user   -- no - deps   PythonAPI / dist / carla - X . X . X - py3.7 - linux - x86 _ 64 . egg","title":"0.9 . 12   \u4e4b\u524d \u7684 \u7248\u672c  "},{"location":"build_tools/","text":"Package . bat   % UE4 _ ROOT% \\ Engine \\ Build \\ BatchFiles \\ Build . bat   \u4f20\u9012 \u7684 \u53c2\u6570 \u5305\u62ec \uff1a   *   \u53c2\u6570 1 \uff1a \u6e38\u620f \u540d \uff08 CarlaUE4Editor \u3001 CarlaUE4 \uff09   *   \u53c2\u6570 2 \uff1a \u5e73\u53f0 \u540d \uff08 Win64 \uff09   *   \u53c2\u6570 3 \uff1a \u914d\u7f6e \u540d \uff08 Development \uff09   *   - WaitMutex   \uff1a \u662f\u5426 \u9700\u8981 \u7b49\u5f85 \u5176\u4ed6 \u9501 \u64cd\u4f5c \u6267\u884c \u5b8c \uff08 \u9ed8\u8ba4 \u662f False \uff09   *   - FromMsBuild   \uff1a \u662f\u5426 \u628a   MSBuild   \u7684   Log   \u4e5f \u6253\u5370 \u5230   UBT   \u7684   log   \u7cfb\u7edf \u7684 \u8f93\u51fa \u4e2d \uff08 \u9ed8\u8ba4 \u662f false \uff09   *   % ROOT _ PATH% Unreal / CarlaUE4 / CarlaUE4 . uproject   \u81ea\u52a8 \u81ea\u52a8\u5316 \u5de5\u5177   % UE4 _ ROOT% \\ Engine \\ Build \\ BatchFiles \\ RunUAT . bat   ( Unreal   Automation   Tool )   \u4f20\u9012 \u7684 \u53c2\u6570 \u5305\u62ec \uff1a   *   BuildCookRun \uff1a \u6784\u5efa \uff08 Build \uff09 \uff1a \u8be5 \u9636\u6bb5 \u5c06 \u4e3a \u6240 \u9009\u62e9 \u7684 \u5e73\u53f0 \u7f16\u8bd1 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u3002 \u70d8\u57f9 \uff08 Cook \uff09 \uff1a \u8be5 \u9636\u6bb5 \u901a\u8fc7 \u5728 \u7279\u6b8a \u6a21\u5f0f \u4e0b \u6267\u884c \u7f16\u8f91 \u7f16\u8f91\u5668 \u6765 \u8f6c\u5316 \u5185\u5bb9 \u3002 \u8fd0\u884c \uff08 Run \uff09 \uff1a \u8be5 \u9636\u6bb5 \u5728 \u76ee\u6807 \u5e73\u53f0 \u4e0a \u542f\u52a8 \u5df2 \u5c01\u88c5 \u7684 \u9879\u76ee \u3002   *   nocompileeditor \uff1a \u4e0d \u5305\u62ec \u7f16\u8bd1 \u597d \u7684 \u7f16\u8f91 \u7f16\u8f91\u5668 \uff1f   *   - TargetPlatform = Win64   \uff1a   \u7f16\u8bd1 \u8bd1\u6210 \u7f16\u8bd1\u6210 \u7684 \u76ee\u6807 \u6587\u4ef6   *   - Platform = Win64   \uff1a \u6240\u5728 \u6240\u5728\u5730 \u5e73\u53f0   *   - installed   *   - nop4 \uff1a \u5728 \u6b64 \u6784\u5efa \u671f\u95f4 \u4e0d\u60f3 \u4e0e   Perforce   \u4ea4\u4e92 \uff08 \u76f8\u53cd \u662f \uff1a - P4 \uff09   *   - project = \" % ROOT _ PATH% Unreal / CarlaUE4 / CarlaUE4 . uproject \"   *   - cook \uff1a \u8981 \u8fd0\u884c \u70d8\u57f9 \u6b65\u9aa4   *   - stage \uff1a \u5c06 \u70d8\u57f9 \u7ed3\u679c \u4fdd\u5b58 \u5728 \u6682\u5b58 \u76ee\u5f55 \u4e2d   *   - build \uff1a \u8981 \u8fd0\u884c \u6784\u5efa \u6b65\u9aa4   *   - archive \uff1a \u5e0c\u671b \u5c06 \u76ee\u5f55 \u4e2d \u7684 \u5b8c\u6574 \u8f93\u51fa \u5f52\u6863   *   - archivedirectory = \" ! BUILD _ FOLDER ! \" \uff1a \u5f52\u6863 \u9879\u76ee \u7684 \u8def\u5f84   *   - package \uff1a \u4e3a \u76ee\u6807 \u5e73\u53f0 \u521b\u5efa \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff08 \u4f8b\u5982 Mac \u4e0a \u7684 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u6587\u4ef6 \uff0c Android \u4e0a \u7684 apk \u6216 iPhone \u4e0a \u7684 ipa \uff09   *   - clientconfig = % PACKAGE _ CONFIG%   \u53c2\u8003   UnrealBuildTool \u529f\u80fd \u6d41\u7a0b \u89e3\u6790","title":"Build   tools"},{"location":"build_tools/#packagebat","text":"% UE4 _ ROOT% \\ Engine \\ Build \\ BatchFiles \\ Build . bat   \u4f20\u9012 \u7684 \u53c2\u6570 \u5305\u62ec \uff1a   *   \u53c2\u6570 1 \uff1a \u6e38\u620f \u540d \uff08 CarlaUE4Editor \u3001 CarlaUE4 \uff09   *   \u53c2\u6570 2 \uff1a \u5e73\u53f0 \u540d \uff08 Win64 \uff09   *   \u53c2\u6570 3 \uff1a \u914d\u7f6e \u540d \uff08 Development \uff09   *   - WaitMutex   \uff1a \u662f\u5426 \u9700\u8981 \u7b49\u5f85 \u5176\u4ed6 \u9501 \u64cd\u4f5c \u6267\u884c \u5b8c \uff08 \u9ed8\u8ba4 \u662f False \uff09   *   - FromMsBuild   \uff1a \u662f\u5426 \u628a   MSBuild   \u7684   Log   \u4e5f \u6253\u5370 \u5230   UBT   \u7684   log   \u7cfb\u7edf \u7684 \u8f93\u51fa \u4e2d \uff08 \u9ed8\u8ba4 \u662f false \uff09   *   % ROOT _ PATH% Unreal / CarlaUE4 / CarlaUE4 . uproject   \u81ea\u52a8 \u81ea\u52a8\u5316 \u5de5\u5177   % UE4 _ ROOT% \\ Engine \\ Build \\ BatchFiles \\ RunUAT . bat   ( Unreal   Automation   Tool )   \u4f20\u9012 \u7684 \u53c2\u6570 \u5305\u62ec \uff1a   *   BuildCookRun \uff1a \u6784\u5efa \uff08 Build \uff09 \uff1a \u8be5 \u9636\u6bb5 \u5c06 \u4e3a \u6240 \u9009\u62e9 \u7684 \u5e73\u53f0 \u7f16\u8bd1 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u3002 \u70d8\u57f9 \uff08 Cook \uff09 \uff1a \u8be5 \u9636\u6bb5 \u901a\u8fc7 \u5728 \u7279\u6b8a \u6a21\u5f0f \u4e0b \u6267\u884c \u7f16\u8f91 \u7f16\u8f91\u5668 \u6765 \u8f6c\u5316 \u5185\u5bb9 \u3002 \u8fd0\u884c \uff08 Run \uff09 \uff1a \u8be5 \u9636\u6bb5 \u5728 \u76ee\u6807 \u5e73\u53f0 \u4e0a \u542f\u52a8 \u5df2 \u5c01\u88c5 \u7684 \u9879\u76ee \u3002   *   nocompileeditor \uff1a \u4e0d \u5305\u62ec \u7f16\u8bd1 \u597d \u7684 \u7f16\u8f91 \u7f16\u8f91\u5668 \uff1f   *   - TargetPlatform = Win64   \uff1a   \u7f16\u8bd1 \u8bd1\u6210 \u7f16\u8bd1\u6210 \u7684 \u76ee\u6807 \u6587\u4ef6   *   - Platform = Win64   \uff1a \u6240\u5728 \u6240\u5728\u5730 \u5e73\u53f0   *   - installed   *   - nop4 \uff1a \u5728 \u6b64 \u6784\u5efa \u671f\u95f4 \u4e0d\u60f3 \u4e0e   Perforce   \u4ea4\u4e92 \uff08 \u76f8\u53cd \u662f \uff1a - P4 \uff09   *   - project = \" % ROOT _ PATH% Unreal / CarlaUE4 / CarlaUE4 . uproject \"   *   - cook \uff1a \u8981 \u8fd0\u884c \u70d8\u57f9 \u6b65\u9aa4   *   - stage \uff1a \u5c06 \u70d8\u57f9 \u7ed3\u679c \u4fdd\u5b58 \u5728 \u6682\u5b58 \u76ee\u5f55 \u4e2d   *   - build \uff1a \u8981 \u8fd0\u884c \u6784\u5efa \u6b65\u9aa4   *   - archive \uff1a \u5e0c\u671b \u5c06 \u76ee\u5f55 \u4e2d \u7684 \u5b8c\u6574 \u8f93\u51fa \u5f52\u6863   *   - archivedirectory = \" ! BUILD _ FOLDER ! \" \uff1a \u5f52\u6863 \u9879\u76ee \u7684 \u8def\u5f84   *   - package \uff1a \u4e3a \u76ee\u6807 \u5e73\u53f0 \u521b\u5efa \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff08 \u4f8b\u5982 Mac \u4e0a \u7684 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u6587\u4ef6 \uff0c Android \u4e0a \u7684 apk \u6216 iPhone \u4e0a \u7684 ipa \uff09   *   - clientconfig = % PACKAGE _ CONFIG%","title":"Package . bat"},{"location":"build_tools/#_1","text":"UnrealBuildTool \u529f\u80fd \u6d41\u7a0b \u89e3\u6790","title":"\u53c2\u8003"},{"location":"build_update/","text":"\u66f4\u65b0   Carla   \u66f4\u65b0 \u547d\u4ee4 \u6458\u8981   \u83b7\u53d6 \u6700\u65b0 \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c   \u66f4\u65b0   Linux   \u548c   Windows   \u6784\u5efa   \u6e05\u9664 \u6784\u5efa   \u4ece   origin   \u62c9\u53d6   \u4e0b\u8f7d \u8d44\u4ea7   \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u83b7\u53d6 \u5f00\u53d1 \u8d44\u4ea7   \u8981 \u53d1\u5e03 \u610f\u5916 \u95ee\u9898 \u3001 \u7591\u95ee \u6216 \u5efa\u8bae \uff0c \u8bf7 \u968f\u65f6 \u767b\u5f55   Carla   \u8bba\u575b \u3002   Carla   \u8bba\u575b   \u66f4\u65b0 \u547d\u4ee4 \u6458\u8981   \u663e\u793a \u66f4\u65b0   Carla   \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c   #   \u66f4\u65b0   Carla   \u5305 \u7684 \u53d1\u884c \u53d1\u884c\u7248 \u3002   #   1 .   \u5220\u9664 \u5f53\u524d \u7684 \u7248\u672c \u3002   #   2 .   \u6309\u7167 \u5feb\u901f \u5f00\u59cb \u5b89\u88c5 \u6216 \u4e00\u4e2a \u4e00\u4e2a \u60f3\u8981 \u7684 \u7248\u672c \u3002   #   \u66f4\u65b0   Linux   \u6784\u5efa \u3002   git   checkout   master   make   clean   git   pull   origin   master   . / Update . sh   #   \u66f4\u65b0   Windows   \u6784\u5efa \u3002   git   checkout   master   make   clean   git   pull   origin   master   #   \u64e6\u9664   ` Unreal \\ CarlaUE4 \\ Content \\ Carla `   \u4e2d \u7684 \u5185\u5bb9 \u3002   #   \u8f6c \u81f3   ` \\ Util \\ ContentVersions . txt ` .   #   \u4e0b\u8f7d \u6700\u65b0 \u7684 \u8d44\u4ea7 \u5185\u5bb9 \u3002   #   \u5728   ` Unreal \\ CarlaUE4 \\ Content \\ Carla `   \u4e2d \u89e3\u538b \u51fa\u65b0 \u7684 \u8d44\u4ea7 \u5185\u5bb9 \u3002   #   \u83b7\u53d6 \u5f00\u53d1 \u7248\u672c \u7684 \u8d44\u4ea7   #   \u5220\u9664 \u5305\u542b \u4e4b\u524d \u8d44\u4ea7 \u7684   ` / Carla `   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   #   \u8f6c\u81f3 \u8f6c\u81f3\u4e3b   Carla   \u76ee\u5f55 \u3002   git   clone   https : / / bitbucket . org / carla - simulator / carla - content   Unreal / CarlaUE4 / Content / Carla   \u83b7\u53d6 \u6700\u65b0 \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c   \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c \u5df2 \u9884\u5148 \u6253\u5305 \uff0c \u56e0\u6b64 \u4e0e   Carla   \u7684 \u7279\u5b9a \u7248\u672c \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u8981 \u83b7\u53d6 \u6700\u65b0 \u7248\u672c \uff0c \u8bf7 \u5220\u9664 \u4e4b\u524d \u7684 \u7248\u672c \uff0c \u7136\u540e \u6309\u7167   \u5feb\u901f \u542f\u52a8 \u5b89\u88c5   \u6765 \u83b7\u53d6 \u6240 \u9700 \u7684 \u7248\u672c \u3002   \u7248\u672c \u5217 \u5728   Carla   \u4ed3\u5e93 \u7684   Development   \u4e2d \u3002 \u8fd8\u6709 \u4e00\u4e2a \u9ad8\u5ea6 \u5b9e\u9a8c \u5b9e\u9a8c\u6027 \u7684   Nightly   build   \uff0c \u5176\u4e2d \u5305\u542b   Carla   \u7684 \u6700\u65b0 \u72b6\u6001 \u3002   Get   releases   Get   the   nightly   build   \u66f4\u65b0   Linux   \u548c   Windows   \u6784\u5efa   \u66f4\u65b0 \u524d \u8bf7 \u786e\u4fdd \u4f4d\u4e8e \u672c\u5730   master   \u5206\u652f \u3002 \u7136\u540e \uff0c \u5c06 \u66f4\u6539   merge   \u6216 rebase   \u5230 \u5176\u4ed6 \u5206\u652f \u5e76 \u89e3\u51b3 \u53ef\u80fd \u7684 \u51b2\u7a81 \u3002   git   checkout   master   \u6e05\u7406 \u6784\u5efa   \u8f6c\u5230 \u4e3b   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u5220\u9664 \u5148\u524d \u6784\u5efa \u751f\u6210 \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u548c \u4e34\u65f6 \u65f6\u6587 \u6587\u4ef6 \u4e34\u65f6\u6587\u4ef6 \u3002   make   clean   \u4ece   origin   \u62c9\u53d6   \u4ece   Carla   \u5b58\u50a8 \u5e93\u4e2d   master   \u5206\u652f \u83b7\u53d6 \u5f53\u524d \u7248\u672c \u3002   git   pull   origin   master   \u4e0b\u8f7d \u8d44\u4ea7   Linux .   . / Update . sh   Windows .   1 .   \u5220\u9664   Unreal \\ CarlaUE4 \\ Content \\ Carla   \u4e2d \u4e4b\u524d \u7684 \u5185\u5bb9 \u3002   2 .   \u8f6c \u81f3   \\ Util \\ ContentVersions . txt   \u3002   3 .   \u4e0b\u8f7d \u6700\u65b0 \u7684   latest   \u7684 \u5185\u5bb9 \u3002   4 .   \u5728   Unreal \\ CarlaUE4 \\ Content \\ Carla   \u62bd\u53d6 \u65b0 \u7684 \u5185\u5bb9 \u3002   \u7b14\u8bb0   \u4e3a\u4e86 \u4e0e   Carla   \u56e2\u961f \u6b63\u5728 \u5f00\u53d1 \u7684 \u9879\u76ee \u5408\u4f5c \uff0c \u8bf7   \u83b7\u53d6 \u4e0b\u9762 \u7684 \u5f00\u53d1 \u8d44\u4ea7   \u3002   \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u5728 \u65c1\u89c2 \u89c2\u8005 \u65c1\u89c2\u8005 \u89c6\u56fe \u4e2d \u8fd0\u884c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4ee5 \u786e\u4fdd \u4e00\u5207 \u6b63\u5e38 \u4e00\u5207\u6b63\u5e38 \u3002   make   launch   \u83b7\u53d6 \u5f00\u53d1 \u7248 \u7684 \u8d44\u4ea7   Carla   \u56e2\u961f \u4f7f\u7528 \u4ecd \u5728 \u5f00\u53d1 \u4e2d \u7684 \u8d44\u4ea7 \u3002 \u8fd9\u4e9b \u6a21\u578b \u548c \u5730\u56fe \u6709 \u4e00\u4e2a   \u516c\u5171   git   \u5b58\u50a8 \u5e93   \uff0c Carla   \u56e2\u961f \u5b9a\u671f \u5728 \u5176\u4e2d \u63a8\u9001 \u6700\u65b0 \u66f4\u65b0 \u6700\u65b0\u66f4\u65b0 \u3002 \u8d44\u4ea7 \u5c1a\u672a \u5b8c\u6210 \uff0c \u4ec5 \u5efa\u8bae \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u4f7f\u7528 \u5b83\u4eec \u3002   \u4e3a\u4e86 \u5904\u7406 \u8fd9\u4e2a \u5b58\u50a8 \u5e93 \uff0c \u5efa\u8bae \u5b89\u88c5   git - lfs   \u3002 \u5b58\u50a8 \u5e93\u4f1a \u5b9a\u671f \u4fee\u6539 \uff0c \u5e76\u4e14   git - lfs   \u5904\u7406 \u5927\u578b \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6   \u7684 \u901f\u5ea6 \u66f4 \u5feb \u3002   \u8981 \u514b\u9686 \u5b58\u50a8 \u5e93 \uff0c \u8bf7   \u8f6c\u5230 \u4e3b   Carla   \u76ee\u5f55   \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u3002   git   clone   https : / / bitbucket . org / carla - simulator / carla - content   Unreal / CarlaUE4 / Content / Carla   \u7b14\u8bb0   \u5728 \u514b\u9686 \u5b58\u50a8 \u5e93 \u4e4b\u524d \u5220\u9664 \u5305\u542b \u8d44\u4ea7 \u7684   / Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u5426\u5219 \uff0c \u5c06 \u663e\u793a \u9519\u8bef \u3002","title":"\u66f4\u65b0   Carla"},{"location":"build_update/#carla","text":"\u66f4\u65b0 \u547d\u4ee4 \u6458\u8981   \u83b7\u53d6 \u6700\u65b0 \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c   \u66f4\u65b0   Linux   \u548c   Windows   \u6784\u5efa   \u6e05\u9664 \u6784\u5efa   \u4ece   origin   \u62c9\u53d6   \u4e0b\u8f7d \u8d44\u4ea7   \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u83b7\u53d6 \u5f00\u53d1 \u8d44\u4ea7   \u8981 \u53d1\u5e03 \u610f\u5916 \u95ee\u9898 \u3001 \u7591\u95ee \u6216 \u5efa\u8bae \uff0c \u8bf7 \u968f\u65f6 \u767b\u5f55   Carla   \u8bba\u575b \u3002   Carla   \u8bba\u575b","title":"\u66f4\u65b0   Carla"},{"location":"build_update/#_1","text":"\u663e\u793a \u66f4\u65b0   Carla   \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c   #   \u66f4\u65b0   Carla   \u5305 \u7684 \u53d1\u884c \u53d1\u884c\u7248 \u3002   #   1 .   \u5220\u9664 \u5f53\u524d \u7684 \u7248\u672c \u3002   #   2 .   \u6309\u7167 \u5feb\u901f \u5f00\u59cb \u5b89\u88c5 \u6216 \u4e00\u4e2a \u4e00\u4e2a \u60f3\u8981 \u7684 \u7248\u672c \u3002   #   \u66f4\u65b0   Linux   \u6784\u5efa \u3002   git   checkout   master   make   clean   git   pull   origin   master   . / Update . sh   #   \u66f4\u65b0   Windows   \u6784\u5efa \u3002   git   checkout   master   make   clean   git   pull   origin   master   #   \u64e6\u9664   ` Unreal \\ CarlaUE4 \\ Content \\ Carla `   \u4e2d \u7684 \u5185\u5bb9 \u3002   #   \u8f6c \u81f3   ` \\ Util \\ ContentVersions . txt ` .   #   \u4e0b\u8f7d \u6700\u65b0 \u7684 \u8d44\u4ea7 \u5185\u5bb9 \u3002   #   \u5728   ` Unreal \\ CarlaUE4 \\ Content \\ Carla `   \u4e2d \u89e3\u538b \u51fa\u65b0 \u7684 \u8d44\u4ea7 \u5185\u5bb9 \u3002   #   \u83b7\u53d6 \u5f00\u53d1 \u7248\u672c \u7684 \u8d44\u4ea7   #   \u5220\u9664 \u5305\u542b \u4e4b\u524d \u8d44\u4ea7 \u7684   ` / Carla `   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   #   \u8f6c\u81f3 \u8f6c\u81f3\u4e3b   Carla   \u76ee\u5f55 \u3002   git   clone   https : / / bitbucket . org / carla - simulator / carla - content   Unreal / CarlaUE4 / Content / Carla","title":"\u66f4\u65b0 \u547d\u4ee4 \u6458\u8981  "},{"location":"build_update/#_2","text":"\u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c \u5df2 \u9884\u5148 \u6253\u5305 \uff0c \u56e0\u6b64 \u4e0e   Carla   \u7684 \u7279\u5b9a \u7248\u672c \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u8981 \u83b7\u53d6 \u6700\u65b0 \u7248\u672c \uff0c \u8bf7 \u5220\u9664 \u4e4b\u524d \u7684 \u7248\u672c \uff0c \u7136\u540e \u6309\u7167   \u5feb\u901f \u542f\u52a8 \u5b89\u88c5   \u6765 \u83b7\u53d6 \u6240 \u9700 \u7684 \u7248\u672c \u3002   \u7248\u672c \u5217 \u5728   Carla   \u4ed3\u5e93 \u7684   Development   \u4e2d \u3002 \u8fd8\u6709 \u4e00\u4e2a \u9ad8\u5ea6 \u5b9e\u9a8c \u5b9e\u9a8c\u6027 \u7684   Nightly   build   \uff0c \u5176\u4e2d \u5305\u542b   Carla   \u7684 \u6700\u65b0 \u72b6\u6001 \u3002   Get   releases   Get   the   nightly   build","title":"\u83b7\u53d6 \u6700\u65b0 \u7684 \u4e8c\u8fdb\u5236 \u7248\u672c  "},{"location":"build_update/#linux-windows","text":"\u66f4\u65b0 \u524d \u8bf7 \u786e\u4fdd \u4f4d\u4e8e \u672c\u5730   master   \u5206\u652f \u3002 \u7136\u540e \uff0c \u5c06 \u66f4\u6539   merge   \u6216 rebase   \u5230 \u5176\u4ed6 \u5206\u652f \u5e76 \u89e3\u51b3 \u53ef\u80fd \u7684 \u51b2\u7a81 \u3002   git   checkout   master","title":"\u66f4\u65b0   Linux   \u548c   Windows   \u6784\u5efa  "},{"location":"build_update/#_3","text":"\u8f6c\u5230 \u4e3b   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u5220\u9664 \u5148\u524d \u6784\u5efa \u751f\u6210 \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u548c \u4e34\u65f6 \u65f6\u6587 \u6587\u4ef6 \u4e34\u65f6\u6587\u4ef6 \u3002   make   clean","title":"\u6e05\u7406 \u6784\u5efa  "},{"location":"build_update/#origin","text":"\u4ece   Carla   \u5b58\u50a8 \u5e93\u4e2d   master   \u5206\u652f \u83b7\u53d6 \u5f53\u524d \u7248\u672c \u3002   git   pull   origin   master","title":"\u4ece   origin   \u62c9\u53d6  "},{"location":"build_update/#_4","text":"Linux .   . / Update . sh   Windows .   1 .   \u5220\u9664   Unreal \\ CarlaUE4 \\ Content \\ Carla   \u4e2d \u4e4b\u524d \u7684 \u5185\u5bb9 \u3002   2 .   \u8f6c \u81f3   \\ Util \\ ContentVersions . txt   \u3002   3 .   \u4e0b\u8f7d \u6700\u65b0 \u7684   latest   \u7684 \u5185\u5bb9 \u3002   4 .   \u5728   Unreal \\ CarlaUE4 \\ Content \\ Carla   \u62bd\u53d6 \u65b0 \u7684 \u5185\u5bb9 \u3002   \u7b14\u8bb0   \u4e3a\u4e86 \u4e0e   Carla   \u56e2\u961f \u6b63\u5728 \u5f00\u53d1 \u7684 \u9879\u76ee \u5408\u4f5c \uff0c \u8bf7   \u83b7\u53d6 \u4e0b\u9762 \u7684 \u5f00\u53d1 \u8d44\u4ea7   \u3002","title":"\u4e0b\u8f7d \u8d44\u4ea7  "},{"location":"build_update/#_5","text":"\u5728 \u65c1\u89c2 \u89c2\u8005 \u65c1\u89c2\u8005 \u89c6\u56fe \u4e2d \u8fd0\u884c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4ee5 \u786e\u4fdd \u4e00\u5207 \u6b63\u5e38 \u4e00\u5207\u6b63\u5e38 \u3002   make   launch","title":"\u542f\u52a8 \u670d\u52a1\u5668  "},{"location":"build_update/#_6","text":"Carla   \u56e2\u961f \u4f7f\u7528 \u4ecd \u5728 \u5f00\u53d1 \u4e2d \u7684 \u8d44\u4ea7 \u3002 \u8fd9\u4e9b \u6a21\u578b \u548c \u5730\u56fe \u6709 \u4e00\u4e2a   \u516c\u5171   git   \u5b58\u50a8 \u5e93   \uff0c Carla   \u56e2\u961f \u5b9a\u671f \u5728 \u5176\u4e2d \u63a8\u9001 \u6700\u65b0 \u66f4\u65b0 \u6700\u65b0\u66f4\u65b0 \u3002 \u8d44\u4ea7 \u5c1a\u672a \u5b8c\u6210 \uff0c \u4ec5 \u5efa\u8bae \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u4f7f\u7528 \u5b83\u4eec \u3002   \u4e3a\u4e86 \u5904\u7406 \u8fd9\u4e2a \u5b58\u50a8 \u5e93 \uff0c \u5efa\u8bae \u5b89\u88c5   git - lfs   \u3002 \u5b58\u50a8 \u5e93\u4f1a \u5b9a\u671f \u4fee\u6539 \uff0c \u5e76\u4e14   git - lfs   \u5904\u7406 \u5927\u578b \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6   \u7684 \u901f\u5ea6 \u66f4 \u5feb \u3002   \u8981 \u514b\u9686 \u5b58\u50a8 \u5e93 \uff0c \u8bf7   \u8f6c\u5230 \u4e3b   Carla   \u76ee\u5f55   \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u3002   git   clone   https : / / bitbucket . org / carla - simulator / carla - content   Unreal / CarlaUE4 / Content / Carla   \u7b14\u8bb0   \u5728 \u514b\u9686 \u5b58\u50a8 \u5e93 \u4e4b\u524d \u5220\u9664 \u5305\u542b \u8d44\u4ea7 \u7684   / Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u5426\u5219 \uff0c \u5c06 \u663e\u793a \u9519\u8bef \u3002","title":"\u83b7\u53d6 \u5f00\u53d1 \u7248 \u7684 \u8d44\u4ea7  "},{"location":"build_windows/","text":"Windows   \u4e0b \u7684 \u6784\u5efa   \u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u5728   Windows   \u4e0a \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002 \u6709 \u4e24\u4e2a \u90e8\u5206 \u3002 \u7b2c\u4e00 \u90e8\u5206 \u8be6\u7ec6 \u4ecb\u7ecd \u7cfb\u7edf \u8981\u6c42 \u548c \u6240 \u9700 \u8f6f\u4ef6 \u7684 \u5b89\u88c5 \uff0c \u7b2c\u4e8c \u90e8\u5206 \u8be6\u7ec6 \u4ecb\u7ecd \u5982\u4f55 \u5b9e\u9645 \u6784\u5efa \u548c \u8fd0\u884c   Carla \u3002   \u6784\u5efa \u8fc7\u7a0b \u5f88\u957f \uff08 4 \u5c0f\u65f6 \u6216 \u66f4 \u65f6\u95f4 \u957f\u65f6\u95f4 \uff09 \u5e76\u4e14 \u6d89\u53ca \u591a\u79cd \u8f6f\u4ef6 \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u5728 \u5f00\u59cb \u4e4b\u524d \u5b8c\u6574 \u9605\u8bfb \u8be5 \u6307\u5357 \u3002   \u5982\u679c \u60a8 \u9047\u5230 \u9519\u8bef \u6216 \u56f0\u96be \uff0c \u8bf7 \u67e5\u770b   \u5e38\u89c1 \u95ee\u9898 \u9898\u89e3 \u89e3\u7b54 \u95ee\u9898\u89e3\u7b54   \u9875\u9762 \uff0c \u5176\u4e2d \u63d0\u4f9b \u4e86 \u6700 \u5e38\u89c1 \u95ee\u9898 \u5e38\u89c1\u95ee\u9898 \u7684 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u3002 \u6216\u8005 \u4f7f\u7528   Carla   \u8bba\u575b   \u53d1\u5e03 \u60a8 \u53ef\u80fd \u6709 \u7684 \u4efb\u4f55 \u7591\u95ee \u3002   \u7b2c\u4e00 \u90e8\u5206 \uff1a \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u7cfb\u7edf \u8981\u6c42   \u8f6f\u4ef6 \u8981\u6c42   \u57fa\u7840 \u8f6f\u4ef6 \u5b89\u88c5   Python   \u4f9d\u8d56 \u9879   \u4e3b\u8981 \u8f6f\u4ef6 \u5b89\u88c5   Visual   Studio   2019   \u865a\u5e7b \u5f15\u64ce   \u7b2c\u4e8c \u90e8\u5206 \uff1a \u6784\u5efa   Carla   \u514b\u9686   Carla   \u4ed3\u5e93   \u83b7\u53d6 \u8d44\u4ea7   \u8bbe\u7f6e \u865a\u5e7b \u5f15\u64ce \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   \u6784\u5efa   Carla   \u5176\u4ed6   make   \u547d\u4ee4   \u5176\u4ed6   \u62a5\u9519   \u7b2c\u4e00 \u90e8\u5206 \uff1a \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u5728 \u672c\u8282 \u4e2d \uff0c \u60a8 \u5c06 \u627e\u5230 \u5f00\u59cb \u6784\u5efa   Carla   \u4e4b\u524d \u6240 \u9700 \u7684 \u7cfb\u7edf \u8981\u6c42 \u3001 \u6b21\u8981 \u548c \u4e3b\u8981 \u8f6f\u4ef6 \u5b89\u88c5 \u4ee5\u53ca   Python   \u4f9d\u8d56 \u9879 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u7cfb\u7edf \u8981\u6c42   64   \u4f4d \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u3002   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5e94 \u5728 \u4efb\u4f55   64   \u4f4d   Windows   \u7cfb\u7edf \u4e2d \u8fd0\u884c \u3002   165   GB   \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u3002   Carla   \u672c\u8eab \u5c06 \u5360\u7528 \u5927\u7ea6   32   GB \uff0c \u76f8\u5173 \u7684 \u4e3b\u8981 \u8f6f\u4ef6 \u5b89\u88c5 \uff08 \u5305\u62ec \u865a\u5e7b \u5f15\u64ce \uff09 \u5c06 \u5360\u7528 \u5927\u7ea6   133   GB \u3002   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NET   Framework   4.6 . 2   development   tools   \u3002 \u8fd9\u662f \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u6240 \u5fc5\u9700 \u7684 \u3002   \u91cd\u8981   \u5176\u4ed6   Visual   Studio   \u7248\u672c \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u51b2\u7a81 \u3002 \u5373\u4f7f \u8fd9\u4e9b \u5df2 \u88ab \u5378\u8f7d \uff0c \u67d0\u4e9b \u5bc4\u5b58 \u5bc4\u5b58\u5668 \u4e5f \u53ef\u80fd \u4ecd\u7136 \u5b58\u5728 \u3002 \u8981 \u4ece \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e2d \u5f7b\u5e95 \u6e05\u9664 \u5f7b\u5e95\u6e05\u9664   Visual   Studio \uff0c \u8bf7 \u8f6c\u5230   Program   Files   ( x86 ) \\ Microsoft   Visual   Studio \\ Installer \\ resources \\ app \\ layout   \u5e76 \u8fd0\u884c   . \\ InstallCleanup . exe   - full   \u3002   \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u5b89\u88c5   \u3002   \u7b14\u8bb0   \u8fd8 \u53ef\u4ee5 \u901a\u8fc7 \u4e0a\u8ff0 \u6b65\u9aa4 \u4f7f\u7528   Visual   Studio   2022 \uff0c \u5e76 \u5c06   Windows   8.1   SDK   \u66ff\u6362 \u4e3a   Windows   11 / 10   SDK \u3002 \u8981 \u8986\u76d6   CMake   \u4e2d \u7684 \u9ed8\u8ba4   Visual   Studio   2019   Generator \uff0c \u8bf7 \u5728 \u4f7f\u7528   makefile   \u547d\u4ee4 \u65f6 \u6307\u5b9a   GENERATOR = \" Visual   Studio   17   2022 \" \uff08 \u8bf7 \u53c2\u89c1   \u8868   \uff09 \u3002 \u60a8 \u53ef\u4ee5 \u6307\u5b9a \u4efb\u4f55 \u4e0e \u6784\u5efa \u811a\u672c \u4e2d \u7279\u5b9a \u7684 \u6784\u5efa \u547d\u4ee4 \u914d\u5408 \u4f7f\u7528 \u7684 \u751f\u6210 \u6210\u5668 \u751f\u6210\u5668 \uff0c \u4ee5 \u8fdb\u884c \u5b8c\u6574 \u5217\u8868 \u8fd0\u884c   cmake   - G   \uff08 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c Ninja   \u5df2\u7ecf \u8fc7 \u6d4b\u8bd5 \u53ef\u7528 \u6d4b\u8bd5\u53ef\u7528 \u4e8e \u6784\u5efa   LibCarla \uff09 \u3002   \u865a\u5e7b \u5f15\u64ce   \u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   4.26   \u7684 \u4fee\u6539 \u6539\u7248 \u4fee\u6539\u7248 \u3002 \u8be5 \u5206\u652f \u5305\u542b   Carla   \u7279\u5b9a \u7684 \u8865\u4e01 \u3002   \u8bf7 \u6ce8\u610f \uff0c \u8981 \u4e0b\u8f7d \u865a\u5e7b \u5f15\u64ce \u7684 \u8fd9\u4e2a \u5206\u652f \uff0c   \u60a8 \u9700\u8981 \u6709 \u4e00\u4e2a \u94fe\u63a5 \u5230 \u865a\u5e7b \u5f15\u64ce \u5e10\u6237 \u7684   GitHub   \u5e10\u6237   \u3002 \u5982\u679c \u60a8 \u6ca1\u6709 \u8fdb\u884c \u6b64 \u8bbe\u7f6e \uff0c \u8bf7 \u5148 \u6309\u7167   \u672c \u6307\u5357   \u8fdb\u884c \u64cd\u4f5c \uff0c \u7136\u540e \u518d \u7ee7\u7eed \u64cd\u4f5c \u3002   \u8981 \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u7684 \u4fee\u6539 \u7248\u672c \uff1a   1 .   \u5728 \u7ec8\u7aef \u4e2d \uff0c \u5bfc\u822a \u5230 \u8981 \u4fdd\u5b58 \u865a\u5e7b \u5f15\u64ce \u7684 \u4f4d\u7f6e \u5e76 \u514b\u9686   carla   \u5206\u652f \uff1a   git   clone   -- depth   1   - b   carla   https : / / github . com / CarlaUnreal / UnrealEngine . git   .   \u7b14\u8bb0   \u865a\u5e7b \u5f15\u64ce \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u9760\u8fd1   C : \\ \\   \uff0c \u56e0\u4e3a \u5982\u679c \u8def\u5f84 \u8d85\u8fc7 \u4e00\u5b9a \u957f\u5ea6 \uff0c   Setup . bat   \u5219 \u4f1a \u5728 \u6b65\u9aa4   3   \u4e2d \u8fd4\u56de \u9519\u8bef \u3002   2 .   \u8fd0\u884c \u914d\u7f6e \u811a\u672c \uff1a   Setup . bat   GenerateProjectFiles . bat   3 .   \u7f16\u8bd1 \u4fee\u6539 \u540e \u7684 \u5f15\u64ce \uff1a   \u4f7f\u7528   Visual   Studio   2019 \u6253\u5f00   UE4 . sln   \u6e90 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u7684 \u6587\u4ef6 \u3002   \u5728 \u6784\u5efa \u680f\u4e2d \uff0c \u786e\u4fdd \u786e\u4fdd\u60a8 \u5df2 \u9009\u62e9 \u201c Development   Editor \u201d \u3001 \u201c Win64 \u201d \u548c \u201c UnrealBuildTool \u201d \u9009\u9879 \u3002 \u5982\u679c \u60a8 \u9700\u8981 \u4efb\u4f55 \u5e2e\u52a9 \uff0c \u8bf7 \u67e5\u770b   \u672c \u6307\u5357   \u3002   \u5728 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668\u4e2d \uff0c \u53f3\u952e \u5355\u51fb   UE4   \u5e76 \u9009\u62e9   Build   \u3002   4 .   \u7f16\u8bd1 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u6253\u5f00 \u5f15\u64ce \uff0c \u901a\u8fc7 \u542f\u52a8 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6   Engine \\ Binaries \\ Win64 \\ UE4Editor . exe   \u6765 \u68c0\u67e5 \u6240\u6709 \u5185\u5bb9 \u662f\u5426 \u5df2 \u6b63\u786e \u5b89\u88c5 \u3002   \u7b14\u8bb0   \u5982\u679c \u5b89\u88c5 \u6210\u529f \uff0c \u865a\u5e7b \u5f15\u64ce \u7684 \u7248\u672c \u9009\u62e9 \u9009\u62e9\u5668 \u5e94\u8be5 \u80fd\u591f \u8bc6\u522b \u3002 \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u53f3\u952e \u5355\u51fb \u4efb\u4f55   . uproject   \u6587\u4ef6 \u5e76 \u9009\u62e9   Switch   Unreal   Engine   version   \u6765 \u68c0\u67e5 \u8fd9 \u4e00\u70b9 \u3002 \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230 \u4e00\u4e2a \u5f39 \u51fa \u7a97\u53e3 \uff0c \u663e\u793a   Source   Build   at   PATH   \u662f \u60a8 \u9009\u62e9 \u7684 \u5b89\u88c5 \u8def\u5f84 \u3002 \u5982\u679c \u60a8 \u5728 \u53f3\u952e \u5355\u51fb   . uproject   \u6587\u4ef6 \u6216   Generate   Visual   Studio   project   files   \u65f6 \u4e0d\u5230 \u770b\u4e0d\u5230 \u6b64 \u9009\u62e9 \u9009\u62e9\u5668 \uff0c \u5219 \u865a\u5e7b \u5f15\u64ce \u5b89\u88c5 \u51fa\u73b0 \u95ee\u9898 \uff0c \u60a8 \u53ef\u80fd \u9700\u8981 \u91cd\u65b0 \u6b63\u786e \u5b89\u88c5 \u3002   \u91cd\u8981   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \u53d1\u751f \u4e86 \u5f88\u591a \u4e8b\u60c5 \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u5728 \u7ee7\u7eed \u4e4b\u524d \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u3002   \u7b2c\u4e8c \u90e8\u5206 \uff1a \u6784\u5efa   Carla   \u514b\u9686   Carla   \u5b58\u50a8 \u5e93   Carla   \u4ed3\u5e93   \u4e0a\u9762 \u7684 \u6309\u94ae \u5c06 \u5e26 \u60a8 \u8fdb\u5165 \u8be5\u9879 \u76ee\u7684 \u5b98\u65b9 \u5b58\u50a8 \u5e93 \u3002 \u4ece \u90a3\u91cc \u4e0b\u8f7d \u5e76 \u5728 \u672c\u5730 \u63d0\u53d6 \u5b83 \u6216 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u514b\u9686 \u5b83 \uff1a   git   clone   https : / / github . com / carla - simulator / carla   \u7b14\u8bb0   \u8be5   master   \u5206\u652f \u5305\u542b   Carla   \u7684 \u5f53\u524d \u7248\u672c \u4ee5\u53ca \u6700\u65b0 \u7684 \u4fee\u590d \u548c \u529f\u80fd \u3002 \u4ee5\u524d \u7684   Carla   \u7248\u672c \u6807\u6709 \u7248\u672c \u540d\u79f0 \u3002 \u6c38\u8fdc \u8bb0\u4f4f \u4f7f\u7528 \u547d\u4ee4   git   branch   \u68c0\u67e5   git   \u4e2d \u7684 \u5f53\u524d \u5206\u652f \u3002   \u83b7\u53d6 \u8d44\u4ea7   \u901a\u8fc7 \u5728   Carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff0c \u4e0b\u8f7d   \u6700\u65b0 \u7684   \u8d44\u4ea7 \u4ee5 \u4f7f\u7528 \u5f53\u524d \u7248\u672c \u7684   Carla \uff1a   Update . bat   \u5982\u679c \u5b89\u88c5 \u4e86   7zip \uff0c \u8d44\u6e90 \u5c06 \u88ab \u4e0b\u8f7d \u5e76 \u89e3\u538b \u5230 \u9002\u5f53 \u7684 \u4f4d\u7f6e \u3002 \u5982\u679c \u60a8 \u6ca1\u6709 \u5b89\u88c5 \u6b64 \u8f6f\u4ef6 \uff0c \u5219 \u9700\u8981 \u624b\u52a8 \u5c06 \u6587\u4ef6 \u5185\u5bb9 \u89e3\u538b \u5230   Unreal \\ CarlaUE4 \\ Content \\ Carla   \u3002   \u8981 \u4e0b\u8f7d   \u7279\u5b9a \u7248\u672c   Carla   \u7684 \u8d44\u6e90 \uff1a   \u4ece   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \uff0c \u5bfc\u822a \u5230   \\ Util \\ ContentVersions . txt   \u3002 \u672c \u6587\u6863 \u5305\u542b \u6240\u6709   Carla   \u7248\u672c \u7684 \u8d44\u4ea7 \u94fe\u63a5 \u3002   \u63d0\u53d6   Unreal \\ CarlaUE4 \\ Content \\ Carla   \u4e2d \u7684 \u8d44\u4ea7 \u3002 \u5982\u679c \u8be5 \u8def\u5f84 \u4e0d \u5b58\u5728 \uff0c \u8bf7 \u521b\u5efa \u5b83 \u3002   \u4f7f\u7528 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u7684 \u547d\u4ee4 \u63d0\u53d6 \u6587\u4ef6 \uff1a   tar   - xvzf   < assets _ file _ name > . tar . gz . tar   - C   C : \\ path \\ to \\ carla \\ Unreal \\ CarlaUE4 \\ Content \\ Carla   \u8bbe\u7f6e \u865a\u5e7b \u5f15\u64ce \u53d8\u91cf   \u9700\u8981 \u8bbe\u7f6e \u4e00\u4e2a \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c \u4ee5\u4fbf   Carla   \u53ef\u4ee5 \u627e\u5230 \u865a\u5e7b \u5f15\u64ce \u7684 \u5b89\u88c5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u8fd9 \u5141\u8bb8 \u7528\u6237 \u9009\u62e9 \u8981 \u4f7f\u7528 \u54ea\u4e2a \u7279\u5b9a \u7248\u672c \u7684 \u865a\u5e7b \u5f15\u64ce \u3002 \u5982\u679c \u6307\u5b9a \u672a\u6307\u5b9a \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c Carla   \u5c06 \u5728   Windows   \u6ce8\u518c \u6ce8\u518c\u8868 \u4e2d \u641c\u7d22 \u865a\u5e7b \u5f15\u64ce \u5e76 \u4f7f\u7528 \u5728 \u90a3\u91cc \u627e\u5230 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u7248\u672c \u3002   \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff1a   \u6253\u5f00   Windows   \u63a7\u5236 \u5236\u9762 \u9762\u677f \u63a7\u5236\u9762\u677f \uff0c \u7136\u540e \u8f6c \u81f3   Advanced   System   Settings   \u6216 \u5728   Windows   \u641c\u7d22 \u680f\u4e2d \u641c\u7d22   Advanced   System   Settings   \u3002   \u5728 \u9762\u677f \u4e0a Advanced   Advanced   \u6253\u5f00   Environment   Variables ...   \u3002   \u5355\u51fb   New ...   \u4ee5 \u521b\u5efa \u53d8\u91cf \u3002   \u4e3a \u53d8\u91cf   UE4 _ ROOT   \u547d\u540d \u5e76 \u9009\u62e9 \u6240 \u9700 \u865a\u5e7b \u5f15\u64ce \u5b89\u88c5 \u7684 \u5b89\u88c5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u8def\u5f84 \u3002   \u6784\u5efa   Carla   \u672c \u8282 \u6982\u8ff0 \u4e86 \u6784\u5efa   Carla   \u7684 \u547d\u4ee4 \u3002   \u6240\u6709 \u547d\u4ee4 \u90fd \u5e94 \u5728 \u6839   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u3002   \u547d\u4ee4 \u5e94 \u901a\u8fc7 VS   2019   \u7684   x64   Native   Tools   Command   Prompt   for   VS   2019   \u6267\u884c \u3002 \u901a\u8fc7 \u5355\u51fb \u8be5 Windows \u952e \u5e76 \u641c\u7d22   \u6765 \u6253\u5f00 \u5b83 x64 \u3002   Carla   \u7684 \u6784\u5efa \u8fc7\u7a0b \u5206\u4e3a \u4e24 \u90e8\u5206 \uff1a \u7f16\u8bd1 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u7f16\u8bd1 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   1 .   \u7f16\u8bd1   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef   :   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6388\u4e88 \u5bf9 \u4eff\u771f \u7684 \u63a7\u5236 \u63a7\u5236\u6743 \u3002 \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u6784\u5efa   Carla   \u65f6 \u9700\u8981 \u7f16\u8bd1   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5e76\u4e14 \u5728 \u6267\u884c \u4efb\u4f55 \u66f4\u65b0 \u540e \u9700\u8981 \u518d\u6b21 \u7f16\u8bd1 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7f16\u8bd1 \u5b8c\u6210 \u540e \uff0c \u60a8 \u5c06 \u80fd\u591f \u8fd0\u884c \u811a\u672c \u4e0e \u4eff\u771f \u8fdb\u884c \u4ea4\u4e92 \u3002   \u4ee5\u4e0b \u547d\u4ee4 \u7f16\u8bd1   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1a   make   PythonAPI   \u751f\u6210 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5b89\u88c5 \u6587\u4ef6 \u5b89\u88c5\u6587\u4ef6 \u4f4d\u4e8e   PythonAPI / carla / dist /   \u3002 Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u5c06 \u4ee5 \u4e24\u79cd \u622a\u7136 \u4e0d\u540c \u622a\u7136\u4e0d\u540c \u3001 \u4e92\u65a5 \u7684 \u5f62\u5f0f \u6784\u5efa \u3002 \u8fd9\u4f7f \u7528\u6237 \u53ef\u4ee5 \u81ea\u7531 \u9009\u62e9 \u81ea\u7531\u9009\u62e9 \u4ed6\u4eec \u559c\u6b22 \u7684 \u5f62\u5f0f \u6765 \u8fd0\u884c   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u4ee3\u7801 \u3002 \u4e24\u79cd \u5f62\u5f0f \u5305\u62ec   . egg   \u6587\u4ef6 \u548c   . whl   \u6587\u4ef6 \u3002 \u9009\u62e9 \u4ee5\u4e0b \u9009\u9879   \u4e4b\u4e00   \u6765 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff1a   A .   . egg   \u6587\u4ef6   . egg   \u6587\u4ef6 \u4e0d \u9700\u8981 \u5b89\u88c5 \u3002 \u5bfc\u5165   Carla   \u65f6 \uff0c Carla   \u7684 \u6240\u6709 \u793a\u4f8b \u811a\u672c \u90fd \u4f1a \u81ea\u52a8   \u67e5\u627e \u6b64 \u6587\u4ef6   \u3002   \u5982\u679c \u60a8 \u4e4b\u524d \u5b89\u88c5 \u4e86   Carla   . whl   \uff0c \u5219   \u5b83 \u5c06   . whl   \u4f18\u5148 \u4e8e   . egg   \u6587\u4ef6 \u3002   B .   . whl   \u6587\u4ef6   \u5e94 \u4f7f\u7528 \u4ee5\u4e0b   pip3   \u547d\u4ee4 \u5b89\u88c5   . whl   \u6587\u4ef6 \uff1a   pip3   install   < path / to / wheel > . whl   . whl   \u6587\u4ef6 \u65e0\u6cd5 \u5206\u53d1 \uff0c \u56e0\u4e3a \u5b83 \u662f \u4e13\u95e8 \u4e3a \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u6784\u5efa \u7684 \u3002   \u8b66\u544a   \u4f7f\u7528 \u4e0d\u540c \u65b9\u6cd5 \u5b89\u88c5   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u4ee5\u53ca \u7cfb\u7edf \u4e0a \u5b89\u88c5 \u4e0d\u540c \u7248\u672c \u7684   Carla   \u53ef\u80fd \u4f1a 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\u76ee\u5f55 \u4e0b \u751f\u6210 \u8fd0\u884c \u5305 \uff0c \u5305\u62ec   libcarla . cp37 - win _ amd64 . pyd   \u3002   \u5176\u4ed6   \u5982\u679c \u60f3 \u91cd\u65b0 \u7f16\u8bd1 LibCarla \u6216\u8005 \u4f7f\u7528 \u6700\u65b0 \u7684 \u4fee\u6539 \uff0c \u9700\u8981 \u5220\u9664   Build / libcarla - visualstudio   \u76ee\u5f55 \uff0c \u7136\u540e \u91cd\u65b0 \u8fd0\u884c \u7f16\u8bd1 \u547d\u4ee4 \uff1a   make   LibCarla   \u5219 \u670d\u52a1 \u670d\u52a1\u7aef \u6587\u4ef6   carla _ server . lib   \u751f\u6210 \u81f3   carla \\ Unreal \\ CarlaUE4 \\ Plugins \\ Carla \\ CarlaDependencies \\   \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u6587\u4ef6   carla _ client . lib   \u751f\u6210 \u81f3   carla \\ PythonAPI \\ carla \\ dependencies \\   \u3002   \u62a5\u9519   \u6267\u884c   make   osm2odr   \u62a5\u9519 \uff1a   CMake   Error :   The   source   directory   \" D : / work / workspace / carla / Build / osm2odr - visualstudio / x64 \"   does   not   appear   to   contain   CMakeLists . txt .   Specify   -- help   for   usage ,   or   press   the   help   button   on   the   CMake   GUI .   Error :   could   not   load   cache   \u4ece \u5176\u4ed6 \u5730\u65b9 \u628a   Build \\ osm2odr - visualstudio \\ CMakeCache . txt   \u62f7\u8d1d \u8fc7\u6765 \uff0c \u4fee\u6539 \u91cc\u9762 \u5bf9\u5e94 \u7684 \u76ee\u5f55 \u4e3a \u5f53\u524d \u5de5\u7a0b \u7684 \u76ee\u5f55 \u3002   \u6267\u884c   make   PythonAPI   \u62a5\u9519 \uff1a   libcarla . obj   :   error   LNK2001 :   \u65e0\u6cd5 \u89e3\u6790 \u7684 \u5916\u90e8 \u7b26\u53f7   \" class   std : : basic _ string < char , struct   std : : char _ traits < char > , class   std : : allocator < char >   >   __ cdecl   osm2odr : : ConvertOSMToOpenDRIVE ( class   std : : basic _ string < char , struct   std : : char _ traits < char > , class   std : : allocator < char >   > , struct   osm2odr : : OSM2ODRSettings ) \"   ( ? ConvertOSMToOpenDRIVE @ osm2odr @ @ YA ? 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\u7684 \u5b89\u88c5 \uff0c \u7b2c\u4e8c \u90e8\u5206 \u8be6\u7ec6 \u4ecb\u7ecd \u5982\u4f55 \u5b9e\u9645 \u6784\u5efa \u548c \u8fd0\u884c   Carla \u3002   \u6784\u5efa \u8fc7\u7a0b \u5f88\u957f \uff08 4 \u5c0f\u65f6 \u6216 \u66f4 \u65f6\u95f4 \u957f\u65f6\u95f4 \uff09 \u5e76\u4e14 \u6d89\u53ca \u591a\u79cd \u8f6f\u4ef6 \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u5728 \u5f00\u59cb \u4e4b\u524d \u5b8c\u6574 \u9605\u8bfb \u8be5 \u6307\u5357 \u3002   \u5982\u679c \u60a8 \u9047\u5230 \u9519\u8bef \u6216 \u56f0\u96be \uff0c \u8bf7 \u67e5\u770b   \u5e38\u89c1 \u95ee\u9898 \u9898\u89e3 \u89e3\u7b54 \u95ee\u9898\u89e3\u7b54   \u9875\u9762 \uff0c \u5176\u4e2d \u63d0\u4f9b \u4e86 \u6700 \u5e38\u89c1 \u95ee\u9898 \u5e38\u89c1\u95ee\u9898 \u7684 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u3002 \u6216\u8005 \u4f7f\u7528   Carla   \u8bba\u575b   \u53d1\u5e03 \u60a8 \u53ef\u80fd \u6709 \u7684 \u4efb\u4f55 \u7591\u95ee \u3002   \u7b2c\u4e00 \u90e8\u5206 \uff1a \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u7cfb\u7edf \u8981\u6c42   \u8f6f\u4ef6 \u8981\u6c42   \u57fa\u7840 \u8f6f\u4ef6 \u5b89\u88c5   Python   \u4f9d\u8d56 \u9879   \u4e3b\u8981 \u8f6f\u4ef6 \u5b89\u88c5   Visual   Studio   2019   \u865a\u5e7b \u5f15\u64ce   \u7b2c\u4e8c \u90e8\u5206 \uff1a \u6784\u5efa   Carla   \u514b\u9686   Carla   \u4ed3\u5e93   \u83b7\u53d6 \u8d44\u4ea7   \u8bbe\u7f6e \u865a\u5e7b \u5f15\u64ce \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   \u6784\u5efa   Carla   \u5176\u4ed6   make   \u547d\u4ee4   \u5176\u4ed6   \u62a5\u9519","title":"Windows   \u4e0b \u7684 \u6784\u5efa"},{"location":"build_windows/#_1","text":"\u5728 \u672c\u8282 \u4e2d \uff0c \u60a8 \u5c06 \u627e\u5230 \u5f00\u59cb \u6784\u5efa   Carla   \u4e4b\u524d \u6240 \u9700 \u7684 \u7cfb\u7edf \u8981\u6c42 \u3001 \u6b21\u8981 \u548c \u4e3b\u8981 \u8f6f\u4ef6 \u5b89\u88c5 \u4ee5\u53ca   Python   \u4f9d\u8d56 \u9879 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002","title":"\u7b2c\u4e00 \u90e8\u5206 \uff1a \u5148\u51b3\u6761\u4ef6  "},{"location":"build_windows/#_2","text":"64   \u4f4d \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u3002   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5e94 \u5728 \u4efb\u4f55   64   \u4f4d   Windows   \u7cfb\u7edf \u4e2d \u8fd0\u884c \u3002   165   GB   \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u3002   Carla   \u672c\u8eab \u5c06 \u5360\u7528 \u5927\u7ea6   32   GB \uff0c \u76f8\u5173 \u7684 \u4e3b\u8981 \u8f6f\u4ef6 \u5b89\u88c5 \uff08 \u5305\u62ec \u865a\u5e7b \u5f15\u64ce \uff09 \u5c06 \u5360\u7528 \u5927\u7ea6   133   GB \u3002   \u8db3\u591f \u7684   GPU \u3002   Carla   \u65e8\u5728 \u5b9e\u73b0 \u771f\u5b9e \u4eff\u771f \uff0c \u56e0\u6b64 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u81f3\u5c11 \u9700\u8981   6   GB   GPU \uff0c \u4f46 \u5efa\u8bae \u4f7f\u7528   8   GB \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u4f7f\u7528 \u4e13\u7528   GPU   \u8fdb\u884c \u673a\u5668 \u5b66\u4e60 \u3002   \u4e24\u4e2a   TCP   \u7aef\u53e3 \u548c \u826f\u597d \u7684 \u4e92\u8054 \u8054\u7f51 \u4e92\u8054\u7f51 \u8fde\u63a5 \u3002   \u9ed8\u8ba4 \u7aef\u53e3 \u4e3a   2000   \u548c   2001   \u3002   \u786e\u4fdd \u8fd9\u4e9b \u7aef\u53e3 \u672a \u88ab \u9632\u706b \u706b\u5899 \u9632\u706b\u5899 \u6216 \u4efb\u4f55 \u5176\u4ed6 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u963b\u6b62 \u3002   \u7b14\u8bb0   \u5982\u679c \u60a8 \u8981 \u4ece   Carla   0.9 . 12   \u5347\u7ea7 \u5230   0.9 . 13   :   \u60a8 \u5fc5\u987b \u9996\u5148 \u5c06 \u865a\u5e7b \u5f15\u64ce   4   \u7684   Carla   \u5206\u652f \u5347\u7ea7 \u5230 \u6700\u65b0 \u7248\u672c \u3002 \u6709\u5173 \u5347\u7ea7 \u865a\u5e7b \u5f15\u64ce   4   \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u865a\u5e7b \u5f15\u64ce   \u90e8\u5206 \u3002","title":"\u7cfb\u7edf \u8981\u6c42  "},{"location":"build_windows/#_3","text":"","title":"\u8f6f\u4ef6 \u8981\u6c42  "},{"location":"build_windows/#_4","text":"CMake   \u4ece \u7b80\u5355 \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u751f\u6210 \u6807\u51c6 \u6784\u5efa \u6587\u4ef6 \u3002   Git   \u662f \u4e00\u4e2a \u7528\u4e8e \u7ba1\u7406   Carla   \u5b58\u50a8 \u5e93 \u7684 \u7248\u672c \u63a7\u5236 \u7cfb\u7edf \u63a7\u5236\u7cfb\u7edf \u3002   Make   \u751f\u6210 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u3002 \u5fc5\u987b \u4f7f\u7528   Make   \u7684   3.81   \u7248\u672c   \uff0c \u5426\u5219 \u6784\u5efa \u53ef\u80fd \u4f1a \u5931\u8d25 \u3002 \u5982\u679c \u5b89\u88c5 \u4e86 \u591a\u4e2a \u7248\u672c \u7684   Make \uff0c \u8bf7 \u68c0\u67e5 \u6784\u5efa   Carla   \u65f6 \u5728   PATH   \u4e2d \u4f7f\u7528 \u7684 \u7248\u672c \u662f\u5426 \u4e3a   3.81 \u3002 \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c \u6765 \u68c0\u67e5 \u9ed8\u8ba4 \u7684   Make   \u7248\u672c   make   -- version   \u3002   7Zip   \u4e00\u6b3e \u6587\u4ef6 \u538b\u7f29 \u8f6f\u4ef6 \u538b\u7f29\u8f6f\u4ef6 \u3002 \u8fd9\u662f \u81ea\u52a8 \u89e3\u538b \u538b\u7f29 \u89e3\u538b\u7f29 \u8d44\u4ea7 \u6587\u4ef6 \u6240 \u5fc5\u9700 \u7684 \uff0c \u5e76 \u9632\u6b62 \u5728 \u6784\u5efa \u671f\u95f4 \u7531\u4e8e \u9519\u8bef \u6216 \u90e8\u5206 \u63d0\u53d6 \u5927 \u6587\u4ef6 \u800c \u51fa\u73b0 \u9519\u8bef \u3002   Python3   x64   \u662f   Carla   \u4e2d \u7684 \u4e3b\u8981 \u811a\u672c \u8bed\u8a00 \u811a\u672c\u8bed\u8a00 \u3002 \u5b89\u88c5   x32   \u7248\u672c \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u51b2\u7a81 \uff0c \u56e0\u6b64 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u5378\u8f7d \u5b83 \u3002   \u91cd\u8981   \u786e\u4fdd \u5c06 \u4e0a\u8ff0 \u7a0b\u5e8f \u6dfb\u52a0 \u5230   \u73af\u5883 \u8def\u5f84   \u4e2d \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u6dfb\u52a0 \u7684 \u8def\u5f84 \u5e94 \u4e0e \u7a0b\u5e8f \u7684   bin   \u76ee\u5f55 \u76f8\u5bf9 \u5e94 \u3002","title":"\u57fa\u7840 \u8f6f\u4ef6 \u5b89\u88c5  "},{"location":"build_windows/#python","text":"\u4ece   Carla   0.9 . 12   \u5f00\u59cb \uff0c \u7528\u4e8e \u53ef\u4ee5 \u9009\u62e9 \u4f7f\u7528   pip3   \u6765 \u5b89\u88c5   Carla   \u7684   Python   API \u3002 \u8981 \u68c0\u67e5 \u60a8 \u662f\u5426 \u6709 \u5408\u9002 \u7684 \u7248\u672c \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   pip3   - V   \u5982\u679c \u60a8 \u9700\u8981 \u5347\u7ea7 \uff1a   pip3   install   -- upgrade   pip   \u60a8 \u5fc5\u987b \u5b89\u88c5 \u4ee5\u4e0b   Python   \u4f9d\u8d56 \u9879 \uff1a   pip3   install   -- user   setuptools   pip3   install   -- user   wheel","title":"Python   \u4f9d\u8d56 \u9879  "},{"location":"build_windows/#_5","text":"","title":"\u4e3b\u8981 \u8f6f\u4ef6 \u5b89\u88c5  "},{"location":"build_windows/#visual-studio-2019","text":"\u4ece   \u6b64\u5904   \u83b7\u53d6   2019   \u7248   Visual   Studio   \u3002 \u9009\u62e9   \u793e\u533a   \u4f5c\u4e3a \u514d\u8d39 \u7248\u672c \u3002 \u4f7f\u7528   Visual   Studio   \u5b89\u88c5 \u7a0b\u5e8f \u5b89\u88c5\u7a0b\u5e8f   \u5b89\u88c5 \u4e09\u4e2a \u9644\u52a0 \u5143\u7d20 \uff1a   Windows   8.1   SDK .   \u5728 \u53f3\u4fa7 \u7684   Installation   details   \u90e8\u5206 \u4e2d \u9009\u62e9 \u5b83 \uff0c \u6216\u8005 \u8f6c \u5230   Indivdual   Components   \u9009\u9879 \u9009\u9879\u5361 \u5e76 \u5728   SDKs ,   libraries ,   and   frameworks   \u6807\u9898 \u4e0b \u67e5\u770b \u3002   x64   Visual   C++   Toolset .   \u5728   Workloads   \u90e8\u5206 \u4e2d \uff0c \u9009\u62e9   Desktop   development   with   C++   \u3002 \u8fd9 \u5c06 \u542f\u7528 \u7528\u4e8e \u6784\u5efa \u7684   x64   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u3002 \u901a\u8fc7 \u6309   Windows   \u6309\u94ae \u5e76 \u641c\u7d22   x64   \u6765 \u68c0\u67e5 \u5b83 \u662f\u5426 \u5df2 \u6b63\u786e \u5b89\u88c5 \u3002 \u5c0f\u5fc3   \u4e0d\u8981 \u6253\u5f00   x86 _ x64   \u63d0\u793a   \u3002   . NET   framework   4.6 . 2   .   \u5728   Workloads   \u90e8\u5206 \u4e2d \uff0c \u9009\u62e9   . NET   desktop   development   \uff0c \u7136\u540e \u5728 \u53f3\u4fa7 \u7684 \u5b89\u88c5 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u9762\u677f \u4e2d \u9009\u62e9   . NET   Framework   4.6 . 2   development   tools   \u3002 \u8fd9\u662f \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u6240 \u5fc5\u9700 \u7684 \u3002   \u91cd\u8981   \u5176\u4ed6   Visual   Studio   \u7248\u672c \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u51b2\u7a81 \u3002 \u5373\u4f7f \u8fd9\u4e9b \u5df2 \u88ab \u5378\u8f7d \uff0c \u67d0\u4e9b \u5bc4\u5b58 \u5bc4\u5b58\u5668 \u4e5f \u53ef\u80fd \u4ecd\u7136 \u5b58\u5728 \u3002 \u8981 \u4ece \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e2d \u5f7b\u5e95 \u6e05\u9664 \u5f7b\u5e95\u6e05\u9664   Visual   Studio \uff0c \u8bf7 \u8f6c\u5230   Program   Files   ( x86 ) \\ Microsoft   Visual   Studio \\ Installer \\ resources \\ app \\ layout   \u5e76 \u8fd0\u884c   . \\ InstallCleanup . exe   - full   \u3002   \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u5b89\u88c5   \u3002   \u7b14\u8bb0   \u8fd8 \u53ef\u4ee5 \u901a\u8fc7 \u4e0a\u8ff0 \u6b65\u9aa4 \u4f7f\u7528   Visual   Studio   2022 \uff0c \u5e76 \u5c06   Windows   8.1   SDK   \u66ff\u6362 \u4e3a   Windows   11 / 10   SDK \u3002 \u8981 \u8986\u76d6   CMake   \u4e2d \u7684 \u9ed8\u8ba4   Visual   Studio   2019   Generator \uff0c \u8bf7 \u5728 \u4f7f\u7528   makefile   \u547d\u4ee4 \u65f6 \u6307\u5b9a   GENERATOR = \" Visual   Studio   17   2022 \" \uff08 \u8bf7 \u53c2\u89c1   \u8868   \uff09 \u3002 \u60a8 \u53ef\u4ee5 \u6307\u5b9a \u4efb\u4f55 \u4e0e \u6784\u5efa \u811a\u672c \u4e2d \u7279\u5b9a \u7684 \u6784\u5efa \u547d\u4ee4 \u914d\u5408 \u4f7f\u7528 \u7684 \u751f\u6210 \u6210\u5668 \u751f\u6210\u5668 \uff0c \u4ee5 \u8fdb\u884c \u5b8c\u6574 \u5217\u8868 \u8fd0\u884c   cmake   - G   \uff08 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c Ninja   \u5df2\u7ecf \u8fc7 \u6d4b\u8bd5 \u53ef\u7528 \u6d4b\u8bd5\u53ef\u7528 \u4e8e \u6784\u5efa   LibCarla \uff09 \u3002","title":"Visual   Studio   2019  "},{"location":"build_windows/#_6","text":"\u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   4.26   \u7684 \u4fee\u6539 \u6539\u7248 \u4fee\u6539\u7248 \u3002 \u8be5 \u5206\u652f \u5305\u542b   Carla   \u7279\u5b9a \u7684 \u8865\u4e01 \u3002   \u8bf7 \u6ce8\u610f \uff0c \u8981 \u4e0b\u8f7d \u865a\u5e7b \u5f15\u64ce \u7684 \u8fd9\u4e2a \u5206\u652f \uff0c   \u60a8 \u9700\u8981 \u6709 \u4e00\u4e2a \u94fe\u63a5 \u5230 \u865a\u5e7b \u5f15\u64ce \u5e10\u6237 \u7684   GitHub   \u5e10\u6237   \u3002 \u5982\u679c \u60a8 \u6ca1\u6709 \u8fdb\u884c \u6b64 \u8bbe\u7f6e \uff0c \u8bf7 \u5148 \u6309\u7167   \u672c \u6307\u5357   \u8fdb\u884c \u64cd\u4f5c \uff0c \u7136\u540e \u518d \u7ee7\u7eed \u64cd\u4f5c \u3002   \u8981 \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u7684 \u4fee\u6539 \u7248\u672c \uff1a   1 .   \u5728 \u7ec8\u7aef \u4e2d \uff0c \u5bfc\u822a \u5230 \u8981 \u4fdd\u5b58 \u865a\u5e7b \u5f15\u64ce \u7684 \u4f4d\u7f6e \u5e76 \u514b\u9686   carla   \u5206\u652f \uff1a   git   clone   -- depth   1   - b   carla   https : / / github . com / CarlaUnreal / UnrealEngine . git   .   \u7b14\u8bb0   \u865a\u5e7b \u5f15\u64ce \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u9760\u8fd1   C : \\ \\   \uff0c \u56e0\u4e3a \u5982\u679c \u8def\u5f84 \u8d85\u8fc7 \u4e00\u5b9a \u957f\u5ea6 \uff0c   Setup . bat   \u5219 \u4f1a \u5728 \u6b65\u9aa4   3   \u4e2d \u8fd4\u56de \u9519\u8bef \u3002   2 .   \u8fd0\u884c \u914d\u7f6e \u811a\u672c \uff1a   Setup . bat   GenerateProjectFiles . bat   3 .   \u7f16\u8bd1 \u4fee\u6539 \u540e \u7684 \u5f15\u64ce \uff1a   \u4f7f\u7528   Visual   Studio   2019 \u6253\u5f00   UE4 . sln   \u6e90 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u7684 \u6587\u4ef6 \u3002   \u5728 \u6784\u5efa \u680f\u4e2d \uff0c \u786e\u4fdd \u786e\u4fdd\u60a8 \u5df2 \u9009\u62e9 \u201c Development   Editor \u201d \u3001 \u201c Win64 \u201d \u548c \u201c UnrealBuildTool \u201d \u9009\u9879 \u3002 \u5982\u679c \u60a8 \u9700\u8981 \u4efb\u4f55 \u5e2e\u52a9 \uff0c \u8bf7 \u67e5\u770b   \u672c \u6307\u5357   \u3002   \u5728 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668\u4e2d \uff0c \u53f3\u952e \u5355\u51fb   UE4   \u5e76 \u9009\u62e9   Build   \u3002   4 .   \u7f16\u8bd1 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u6253\u5f00 \u5f15\u64ce \uff0c \u901a\u8fc7 \u542f\u52a8 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6   Engine \\ Binaries \\ Win64 \\ UE4Editor . exe   \u6765 \u68c0\u67e5 \u6240\u6709 \u5185\u5bb9 \u662f\u5426 \u5df2 \u6b63\u786e \u5b89\u88c5 \u3002   \u7b14\u8bb0   \u5982\u679c \u5b89\u88c5 \u6210\u529f \uff0c \u865a\u5e7b \u5f15\u64ce \u7684 \u7248\u672c \u9009\u62e9 \u9009\u62e9\u5668 \u5e94\u8be5 \u80fd\u591f \u8bc6\u522b \u3002 \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u53f3\u952e \u5355\u51fb \u4efb\u4f55   . uproject   \u6587\u4ef6 \u5e76 \u9009\u62e9   Switch   Unreal   Engine   version   \u6765 \u68c0\u67e5 \u8fd9 \u4e00\u70b9 \u3002 \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230 \u4e00\u4e2a \u5f39 \u51fa \u7a97\u53e3 \uff0c \u663e\u793a   Source   Build   at   PATH   \u662f \u60a8 \u9009\u62e9 \u7684 \u5b89\u88c5 \u8def\u5f84 \u3002 \u5982\u679c \u60a8 \u5728 \u53f3\u952e \u5355\u51fb   . uproject   \u6587\u4ef6 \u6216   Generate   Visual   Studio   project   files   \u65f6 \u4e0d\u5230 \u770b\u4e0d\u5230 \u6b64 \u9009\u62e9 \u9009\u62e9\u5668 \uff0c \u5219 \u865a\u5e7b \u5f15\u64ce \u5b89\u88c5 \u51fa\u73b0 \u95ee\u9898 \uff0c \u60a8 \u53ef\u80fd \u9700\u8981 \u91cd\u65b0 \u6b63\u786e \u5b89\u88c5 \u3002   \u91cd\u8981   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \u53d1\u751f \u4e86 \u5f88\u591a \u4e8b\u60c5 \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u5728 \u7ee7\u7eed \u4e4b\u524d \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u3002","title":"\u865a\u5e7b \u5f15\u64ce  "},{"location":"build_windows/#carla","text":"","title":"\u7b2c\u4e8c \u90e8\u5206 \uff1a \u6784\u5efa   Carla  "},{"location":"build_windows/#carla_1","text":"Carla   \u4ed3\u5e93   \u4e0a\u9762 \u7684 \u6309\u94ae \u5c06 \u5e26 \u60a8 \u8fdb\u5165 \u8be5\u9879 \u76ee\u7684 \u5b98\u65b9 \u5b58\u50a8 \u5e93 \u3002 \u4ece \u90a3\u91cc \u4e0b\u8f7d \u5e76 \u5728 \u672c\u5730 \u63d0\u53d6 \u5b83 \u6216 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u514b\u9686 \u5b83 \uff1a   git   clone   https : / / github . com / carla - simulator / carla   \u7b14\u8bb0   \u8be5   master   \u5206\u652f \u5305\u542b   Carla   \u7684 \u5f53\u524d \u7248\u672c \u4ee5\u53ca \u6700\u65b0 \u7684 \u4fee\u590d \u548c \u529f\u80fd \u3002 \u4ee5\u524d \u7684   Carla   \u7248\u672c \u6807\u6709 \u7248\u672c \u540d\u79f0 \u3002 \u6c38\u8fdc \u8bb0\u4f4f \u4f7f\u7528 \u547d\u4ee4   git   branch   \u68c0\u67e5   git   \u4e2d \u7684 \u5f53\u524d \u5206\u652f \u3002","title":"\u514b\u9686   Carla   \u5b58\u50a8 \u5e93  "},{"location":"build_windows/#_7","text":"\u901a\u8fc7 \u5728   Carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff0c \u4e0b\u8f7d   \u6700\u65b0 \u7684   \u8d44\u4ea7 \u4ee5 \u4f7f\u7528 \u5f53\u524d \u7248\u672c \u7684   Carla \uff1a   Update . bat   \u5982\u679c \u5b89\u88c5 \u4e86   7zip \uff0c \u8d44\u6e90 \u5c06 \u88ab \u4e0b\u8f7d \u5e76 \u89e3\u538b \u5230 \u9002\u5f53 \u7684 \u4f4d\u7f6e \u3002 \u5982\u679c \u60a8 \u6ca1\u6709 \u5b89\u88c5 \u6b64 \u8f6f\u4ef6 \uff0c \u5219 \u9700\u8981 \u624b\u52a8 \u5c06 \u6587\u4ef6 \u5185\u5bb9 \u89e3\u538b \u5230   Unreal \\ CarlaUE4 \\ Content \\ Carla   \u3002   \u8981 \u4e0b\u8f7d   \u7279\u5b9a \u7248\u672c   Carla   \u7684 \u8d44\u6e90 \uff1a   \u4ece   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \uff0c \u5bfc\u822a \u5230   \\ Util \\ ContentVersions . txt   \u3002 \u672c \u6587\u6863 \u5305\u542b \u6240\u6709   Carla   \u7248\u672c \u7684 \u8d44\u4ea7 \u94fe\u63a5 \u3002   \u63d0\u53d6   Unreal \\ CarlaUE4 \\ Content \\ Carla   \u4e2d \u7684 \u8d44\u4ea7 \u3002 \u5982\u679c \u8be5 \u8def\u5f84 \u4e0d \u5b58\u5728 \uff0c \u8bf7 \u521b\u5efa \u5b83 \u3002   \u4f7f\u7528 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u7684 \u547d\u4ee4 \u63d0\u53d6 \u6587\u4ef6 \uff1a   tar   - xvzf   < assets _ file _ name > . tar . gz . tar   - C   C : \\ path \\ to \\ carla \\ Unreal \\ CarlaUE4 \\ Content \\ Carla","title":"\u83b7\u53d6 \u8d44\u4ea7  "},{"location":"build_windows/#_8","text":"\u9700\u8981 \u8bbe\u7f6e \u4e00\u4e2a \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c \u4ee5\u4fbf   Carla   \u53ef\u4ee5 \u627e\u5230 \u865a\u5e7b \u5f15\u64ce \u7684 \u5b89\u88c5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u8fd9 \u5141\u8bb8 \u7528\u6237 \u9009\u62e9 \u8981 \u4f7f\u7528 \u54ea\u4e2a \u7279\u5b9a \u7248\u672c \u7684 \u865a\u5e7b \u5f15\u64ce \u3002 \u5982\u679c \u6307\u5b9a \u672a\u6307\u5b9a \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c Carla   \u5c06 \u5728   Windows   \u6ce8\u518c \u6ce8\u518c\u8868 \u4e2d \u641c\u7d22 \u865a\u5e7b \u5f15\u64ce \u5e76 \u4f7f\u7528 \u5728 \u90a3\u91cc \u627e\u5230 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u7248\u672c \u3002   \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff1a   \u6253\u5f00   Windows   \u63a7\u5236 \u5236\u9762 \u9762\u677f \u63a7\u5236\u9762\u677f \uff0c \u7136\u540e \u8f6c \u81f3   Advanced   System   Settings   \u6216 \u5728   Windows   \u641c\u7d22 \u680f\u4e2d \u641c\u7d22   Advanced   System   Settings   \u3002   \u5728 \u9762\u677f \u4e0a Advanced   Advanced   \u6253\u5f00   Environment   Variables ...   \u3002   \u5355\u51fb   New ...   \u4ee5 \u521b\u5efa \u53d8\u91cf \u3002   \u4e3a \u53d8\u91cf   UE4 _ ROOT   \u547d\u540d \u5e76 \u9009\u62e9 \u6240 \u9700 \u865a\u5e7b \u5f15\u64ce \u5b89\u88c5 \u7684 \u5b89\u88c5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u8def\u5f84 \u3002","title":"\u8bbe\u7f6e \u865a\u5e7b \u5f15\u64ce \u53d8\u91cf  "},{"location":"build_windows/#carla_2","text":"\u672c \u8282 \u6982\u8ff0 \u4e86 \u6784\u5efa   Carla   \u7684 \u547d\u4ee4 \u3002   \u6240\u6709 \u547d\u4ee4 \u90fd \u5e94 \u5728 \u6839   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u3002   \u547d\u4ee4 \u5e94 \u901a\u8fc7 VS   2019   \u7684   x64   Native   Tools   Command   Prompt   for   VS   2019   \u6267\u884c \u3002 \u901a\u8fc7 \u5355\u51fb \u8be5 Windows \u952e \u5e76 \u641c\u7d22   \u6765 \u6253\u5f00 \u5b83 x64 \u3002   Carla   \u7684 \u6784\u5efa \u8fc7\u7a0b \u5206\u4e3a \u4e24 \u90e8\u5206 \uff1a \u7f16\u8bd1 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u7f16\u8bd1 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   1 .   \u7f16\u8bd1   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef   :   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6388\u4e88 \u5bf9 \u4eff\u771f \u7684 \u63a7\u5236 \u63a7\u5236\u6743 \u3002 \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u6784\u5efa 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\u8fd0\u884c   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u4ee3\u7801 \u3002 \u4e24\u79cd \u5f62\u5f0f \u5305\u62ec   . egg   \u6587\u4ef6 \u548c   . whl   \u6587\u4ef6 \u3002 \u9009\u62e9 \u4ee5\u4e0b \u9009\u9879   \u4e4b\u4e00   \u6765 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff1a   A .   . egg   \u6587\u4ef6   . egg   \u6587\u4ef6 \u4e0d \u9700\u8981 \u5b89\u88c5 \u3002 \u5bfc\u5165   Carla   \u65f6 \uff0c Carla   \u7684 \u6240\u6709 \u793a\u4f8b \u811a\u672c \u90fd \u4f1a \u81ea\u52a8   \u67e5\u627e \u6b64 \u6587\u4ef6   \u3002   \u5982\u679c \u60a8 \u4e4b\u524d \u5b89\u88c5 \u4e86   Carla   . whl   \uff0c \u5219   \u5b83 \u5c06   . whl   \u4f18\u5148 \u4e8e   . egg   \u6587\u4ef6 \u3002   B .   . whl   \u6587\u4ef6   \u5e94 \u4f7f\u7528 \u4ee5\u4e0b   pip3   \u547d\u4ee4 \u5b89\u88c5   . whl   \u6587\u4ef6 \uff1a   pip3   install   < path / to / wheel > . whl   . whl   \u6587\u4ef6 \u65e0\u6cd5 \u5206\u53d1 \uff0c \u56e0\u4e3a \u5b83 \u662f \u4e13\u95e8 \u4e3a \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u6784\u5efa \u7684 \u3002   \u8b66\u544a   \u4f7f\u7528 \u4e0d\u540c \u65b9\u6cd5 \u5b89\u88c5   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u4ee5\u53ca \u7cfb\u7edf \u4e0a \u5b89\u88c5 \u4e0d\u540c \u7248\u672c \u7684   Carla   \u53ef\u80fd \u4f1a \u51fa\u73b0 \u95ee\u9898 \u3002 \u5efa\u8bae \u5728 \u5b89\u88c5   . whl   \u65f6 \u4f7f\u7528 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \uff0c \u5e76 \u5728 \u5b89\u88c5 \u65b0 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u4e4b\u524d   \u5378\u8f7d   \u4efb\u4f55 \u4ee5\u524d \u5b89\u88c5 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002   2 .   \u7f16\u8bd1 \u670d\u52a1 \u670d\u52a1\u7aef   :   \u4ee5\u4e0b \u547d\u4ee4 \u7f16\u8bd1 \u5e76 \u542f\u52a8 \u865a\u5e7b \u5f15\u64ce \u3002 \u6bcf\u6b21 \u60a8 \u60f3\u8981 \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6216 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u65f6 \u8fd0\u884c \u6b64 \u547d\u4ee4 \uff1a   make   launch   \u8be5 \u9879\u76ee \u53ef\u80fd \u4f1a \u8981\u6c42 \u6784\u5efa \u5176\u4ed6 \u5b9e\u4f8b \uff0c \u4f8b\u5982   UE4Editor - Carla . dll   \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u3002 \u540c\u610f \u624d\u80fd \u6253\u5f00 \u9879\u76ee \u3002 \u5728 \u9996\u6b21 \u542f\u52a8 \u671f\u95f4 \uff0c \u7f16\u8f91 \u7f16\u8f91\u5668 \u53ef\u80fd \u4f1a \u663e\u793a \u6709\u5173 \u7740\u8272 \u7740\u8272\u5668 \u548c \u7f51\u683c \u8ddd\u79bb \u573a \u7684 \u8b66\u544a \u3002 \u8fd9\u4e9b \u9700\u8981 \u4e00\u4e9b \u65f6\u95f4 \u6765 \u52a0\u8f7d \uff0c \u4e4b\u524d \u5728\u6b64\u4e4b\u524d \u5730\u56fe \u5c06 \u65e0\u6cd5 \u6b63\u786e \u663e\u793a \u3002   \u7b14\u8bb0   \u5982\u679c \u7f16\u8bd1 \u8fc7\u7a0b \u4e2d \u51fa\u73b0 \u4e2d\u6587 \u4e71\u7801 \uff0c \u4e3a\u4e86 \u4fbf\u4e8e \u5bfb\u627e \u7f16\u8bd1 \u9519\u8bef \uff0c \u53ef\u4ee5 \u4f7f\u7528   chcp   65001   \u547d\u4ee4 \u5c06 \u7f16\u7801 \u65b9\u5f0f \u7f16\u7801\u65b9\u5f0f \u4fee\u6539 \u4e3a UTF - 8 \uff08 \u9009\u62e9 \u201c \u5c5e\u6027 \u201d \u3002 \u5728 \u201c \u5c5e\u6027 \u201d > > \u201c \u9009\u9879 \u201d \u4e00\u680f \u4e2d \uff0c \u5c31 \u53ef\u4ee5 \u770b\u5230 \u5f53\u524d \u4ee3\u7801 \u9875 \u7684 \u7f16\u7801 \u65b9\u5f0f \u7f16\u7801\u65b9\u5f0f \uff09 \u3002   3 .   \u5f00\u59cb \u4eff\u771f   :   \u6309   Play   \u5f00\u59cb \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4eff\u771f \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u6309\u952e \u79fb\u52a8 \u76f8\u673a   WASD   \uff0c \u5e76 \u901a\u8fc7 \u5728 \u79fb\u52a8 \u9f20\u6807 \u7684 \u540c\u65f6 \u5355\u51fb \u573a\u666f \u6765 \u65cb\u8f6c \u76f8\u673a \u3002   \u4f7f\u7528 \u91cc\u9762 \u7684 \u793a\u4f8b \u811a\u672c \u6d4b\u8bd5 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   PythonAPI \\ examples   \u3002 \u5728 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fd0\u884c \u7684 \u60c5\u51b5 \u4e0b \uff0c \u4e3a \u6bcf\u4e2a \u811a\u672c \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4ee5 \u57ce\u9547 \u5728\u57ce\u9547 \u4e2d \u4ea7\u751f \u4e00\u4e9b \u751f\u547d \u5e76 \u521b\u5efa \u5929\u6c14 \u5faa\u73af \uff1a   #   \u7ec8\u7aef   A   cd   PythonAPI \\ examples   pip3   install   - r   requirements . txt   python3   generate _ traffic . py   #   \u7ec8\u7aef   B   cd   PythonAPI \\ examples   python3   dynamic _ weather . py   \u91cd\u8981   \u5982\u679c \u4eff\u771f \u4ee5 \u975e\u5e38 \u975e\u5e38\u4f4e \u7684   FPS   \u901f\u7387 \u8fd0\u884c \uff0c \u8bf7 \u8f6c\u81f3 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668   Edit   - >   Editor   preferences   - >   Performance   \u5e76 \u7981\u7528 \u3002","title":"\u6784\u5efa   Carla  "},{"location":"build_windows/#make","text":"\u60a8 \u53ef\u80fd \u4f1a \u53d1\u73b0 \u8fd8\u6709 \u66f4 \u591a \u6709\u7528 \u7684   make   \u547d\u4ee4 \u3002 \u5728 \u4e0b\u8868\u4e2d \u627e\u5230 \u5b83\u4eec \uff1a   \u547d\u4ee4   \u63cf\u8ff0   make   help   \u6253\u5370 \u6240\u6709 \u53ef\u7528 \u7684 \u547d\u4ee4 \u3002   make   launch   \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   make   PythonAPI   \u6784\u5efa   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   make   LibCarla   \u51c6\u5907 \u5c06   Carla   \u5e93 \u5bfc\u5165 \u5bfc\u5165\u5230 \u4efb\u4f55 \u5730\u65b9 \u3002   make   package   \u6784\u5efa   Carla   \u5e76 \u521b\u5efa \u7528\u4e8e \u5206\u53d1 \u7684 \u6253\u5305 \u7248\u672c \u3002   make   clean   \u5220\u9664 \u6784\u5efa \u7cfb\u7edf \u751f\u6210 \u7cfb\u7edf\u751f\u6210 \u7684 \u6240\u6709 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u548c \u4e34\u65f6 \u65f6\u6587 \u6587\u4ef6 \u4e34\u65f6\u6587\u4ef6 \u3002   make   rebuild   make   clean   \u548c   make   launch   \u4e24\u8005 \u90fd \u5728 \u4e00\u4e2a \u547d\u4ee4 \u4e2d \u3002   make   downloadplugin   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u63d2\u4ef6   StreetMap   \u3002   make   setup   \u6784 \u4e0b\u8f7d \u5e76 \u751f\u6210 \u4f9d\u8d56 \u5e93   make   LibCarla   \u521b\u5efa LibCarla \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u670d\u52a1\u7aef \uff08   make   server   +   make   client   \uff09   make   osm2odr   \u521b\u5efa OSM \u8f6c OpenDRIVE \u7684 \u5e93   make   import   \u5bfc\u5165 \u8d44\u4ea7   \u6784\u5efa \u4e00\u4e2a   egg   \u5206\u53d1 \u5305 \uff08 binary   distribution \uff09 \uff0c \u4f1a \u5728 \u5f53\u524d \u76ee\u5f55 \u5f53\u524d\u76ee\u5f55 \u4e0b \u7684 \u201c dist \u201d \u76ee\u5f55 \u5185 \u521b\u5efa \u4e00\u4e2a \u201c egg \u201d \u6587\u4ef6 \uff0c \u6587\u4ef6 \u6587\u4ef6\u540d \u683c\u5f0f \u5c31\u662f \u201d \u9879\u76ee \u540d - \u7248\u672c \u7248\u672c\u53f7 - Python \u7248\u672c . egg \u201d \uff1a   python   setup . py   bdist _ egg   \u6784\u5efa \u4e00\u4e2a   wheel   \u5206\u53d1 \u5305 \uff0c egg   \u5305\u662f \u8fc7\u65f6 \u7684 \uff0c whl   \u5305\u662f \u65b0 \u7684 \u6807\u51c6 \uff1a   python   setup . py   bdist _ wheel   \u811a\u672c   setup . py   \u4e2d \u7684   ext _ modules   \u53c2\u6570 \u7528\u4e8e \u6784\u5efa   C   \u548c   C++   \u6269\u5c55 \u6269\u5c55 \u5305 \u3002 \u5176\u662f   Extension   \u5b9e\u4f8b \u7684 \u5217\u8868 \uff0c \u6bcf \u4e00\u4e2a   Extension   \u5b9e\u4f8b \u63cf\u8ff0 \u4e86 \u4e00\u4e2a \u72ec\u7acb \u7684 \u6269\u5c55 \u6a21\u5757 \uff0c \u6269\u5c55 \u6a21\u5757 \u53ef\u4ee5 \u8bbe\u7f6e \u6269\u5c55 \u5305\u540d \uff0c \u6587\u4ef6 \u5934\u6587\u4ef6 \u3001 \u6587\u4ef6 \u6e90\u6587\u4ef6 \u3001 \u94fe\u63a5 \u94fe\u63a5\u5e93 \u53ca\u5176 \u8def\u5f84 \u3001 \u5b8f \u5b9a\u4e49 \u548c \u7f16\u8f91 \u53c2\u6570 \u7b49 \u3002   \u5f53 \u4f60 \u5b89\u88c5 \u4e00\u4e2a \u4e00\u4e2a\u5305 \u540e \uff0c \u8fd9\u4e2a \u5305 \u9700\u8981 \u4f60 \u4e0d\u65ad \u4fee\u6539 \uff0c \u8fd9\u65f6 \u5c31 \u91c7\u7528 \u8fd9\u79cd \u5b89\u88c5 \u65b9\u6cd5 \uff1a   python   setup . py   develop   \u3002 \u4ec5 \u5728   Python37 / Lib / site - packages   \u76ee\u5f55 \u4e0b \u751f\u6210 \u94fe\u63a5 \u6587\u4ef6   carla . egg - link   \u6307\u5411   carla \\ PythonAPI \\ carla \\ source   \u548c   .. /   \u3002   \u800c   python   setup . py   install   \u5728   Python37 \\ Lib \\ site - packages \\ carla - 0.9 . 15 - py3.7 - win - amd64 . egg   \u76ee\u5f55 \u4e0b \u751f\u6210 \u8fd0\u884c \u5305 \uff0c \u5305\u62ec   libcarla . cp37 - win _ amd64 . pyd   \u3002","title":"\u5176\u4ed6   make   \u547d\u4ee4  "},{"location":"build_windows/#_9","text":"\u5982\u679c \u60f3 \u91cd\u65b0 \u7f16\u8bd1 LibCarla \u6216\u8005 \u4f7f\u7528 \u6700\u65b0 \u7684 \u4fee\u6539 \uff0c \u9700\u8981 \u5220\u9664   Build / libcarla - visualstudio   \u76ee\u5f55 \uff0c \u7136\u540e \u91cd\u65b0 \u8fd0\u884c \u7f16\u8bd1 \u547d\u4ee4 \uff1a   make   LibCarla   \u5219 \u670d\u52a1 \u670d\u52a1\u7aef \u6587\u4ef6   carla _ server . lib   \u751f\u6210 \u81f3   carla \\ Unreal \\ CarlaUE4 \\ Plugins \\ Carla \\ CarlaDependencies \\   \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u6587\u4ef6   carla _ client . lib   \u751f\u6210 \u81f3   carla \\ PythonAPI \\ carla \\ dependencies \\   \u3002","title":"\u5176\u4ed6  "},{"location":"build_windows/#_10","text":"\u6267\u884c   make   osm2odr   \u62a5\u9519 \uff1a   CMake   Error :   The   source   directory   \" D : / work / workspace / carla / Build / osm2odr - visualstudio / x64 \"   does   not   appear   to   contain   CMakeLists . txt .   Specify   -- help   for   usage ,   or   press   the   help   button   on   the   CMake   GUI .   Error :   could   not   load   cache   \u4ece \u5176\u4ed6 \u5730\u65b9 \u628a   Build \\ osm2odr - visualstudio \\ CMakeCache . txt   \u62f7\u8d1d \u8fc7\u6765 \uff0c \u4fee\u6539 \u91cc\u9762 \u5bf9\u5e94 \u7684 \u76ee\u5f55 \u4e3a \u5f53\u524d \u5de5\u7a0b \u7684 \u76ee\u5f55 \u3002   \u6267\u884c   make   PythonAPI   \u62a5\u9519 \uff1a   libcarla . obj   :   error   LNK2001 :   \u65e0\u6cd5 \u89e3\u6790 \u7684 \u5916\u90e8 \u7b26\u53f7   \" class   std : : basic _ string < char , struct   std : : char _ traits < char > , class   std : : allocator < char >   >   __ cdecl   osm2odr : : ConvertOSMToOpenDRIVE ( class   std : : basic _ string < char , struct   std : : char _ traits < char > , class   std : : allocator < char >   > , struct   osm2odr : : OSM2ODRSettings ) \"   ( ? ConvertOSMToOpenDRIVE @ osm2odr @ @ YA ? AV ? $ basic _ string @ DU ? $ char _ traits @ D @ std @ @ V ? $ allocator @ D @ 2 @ @ std @ @ V23 @ UOSM2ODRSettings @ 1 @ @ Z )   \u4ece \u5176\u4ed6 \u7f16\u8bd1 \u6210\u529f \u7684 \u5730\u65b9 \u5c06   PythonAPI \\ carla \\ dependencies \\ lib \\ osm2odr . lib   \u62f7\u8d1d \u8fc7\u6765 \u3002   \u540c\u4e00 \u53f0 \u673a\u5668 \u4e2d \u4e4b\u524d \u5b89\u88c5 \u8fc7 vs \uff0c \u518d \u5b89\u88c5 \u65f6\u62a5 \u9519 \uff1a   \u65e0\u6cd5 \u5b89\u88c5   Microsoft . VisualStudio . Debugger . JustInTime . Msi   \u548c   Could   not   open   key :   UNKNOWNComponents   Werify   that   you   have   sufficient   access   to   that   key ,   or   contact   your   support   personnel .   \u89e3\u51b3 \uff1a   \u6ce8\u518c \u6ce8\u518c\u8868 \u7f16\u8f91 \u7f16\u8f91\u5668 \u65e0\u6cd5 \u5728 \u5f53\u524d \u6240\u9009 \u7684 \u9879 \u53ca\u5176 \u90e8\u5206 \u5b50\u9879 \u4e0a \u8bbe\u7f6e \u5b89\u5168 \u5b89\u5168\u6027   \u3002   \u6ce8\u610f \uff1a \u4f7f\u7528 \u5728\u7ebf \u5b89\u88c5 \u6587\u4ef6 \u5b89\u88c5\u6587\u4ef6   vs _ community __ 2019 . exe   \u8fdb\u884c \u5b89\u88c5 \uff0c \u4e0d\u8981 \u4f7f\u7528 \u79bb\u7ebf \u7248 \u7684 vs2019 \u5b89\u88c5 \u5b89\u88c5\u5305 \uff0c \u5426\u5219 \u4f1a \u51fa\u73b0 \u9519\u8bef \uff1a   \u7cfb\u7edf \u9519\u8bef \uff1a & H8007007E ( - 2147024770 ) \u3002   \u627e \u4e0d\u5230 \u6307\u5b9a \u7684 \u6a21\u5757   \u3002","title":"\u62a5\u9519  "},{"location":"build_windows/#_11","text":"\u6784\u5efa \u7cfb\u7edf   \u6709\u5173 \u672c \u6307\u5357 \u7684 \u4efb\u4f55 \u95ee\u9898 \uff0c   \u8bf7 \u9605\u8bfb   \u5e38\u89c1 \u95ee\u9898 \u9898\u89e3 \u89e3\u7b54 \u95ee\u9898\u89e3\u7b54   \u9875\u9762 \u6216 \u5728   Carla   \u8bba\u575b   \u4e2d \u53d1\u5e16 \u3002   \u73b0\u5728 \u60a8 \u5df2\u7ecf \u6784\u5efa \u4e86   Carla \uff0c \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u4e86\u89e3 \u5982\u4f55 \u66f4\u65b0   Carla   \u6784\u5efa \u6216 \u5728 \u4eff\u771f \u4e2d \u8fc8\u51fa \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \uff0c \u5e76 \u5b66\u4e60 \u4e00\u4e9b \u6838\u5fc3 \u6982\u5ff5 \u3002   \u66f4\u65b0   Carla   \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65","title":"\u53c2\u8003"},{"location":"build_windows_ue5/","text":"\u8b66\u544a   \u8fd9\u662f \u4e00\u9879 \u6b63\u5728 \u8fdb\u884c \u7684 \u5de5\u4f5c \uff01 \uff01 \u8fd9\u4e2a \u7248\u672c \u7684 Carla \u4e0d \u88ab \u8ba4\u4e3a \u662f \u4e00\u4e2a \u7a33\u5b9a \u7684 \u7248\u672c \u3002 \u5728 \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u7684 \u51e0\u4e2a \u6708 \u91cc \uff0c \u8fd9\u4e2a \u5206\u652f \u53ef\u80fd \u4f1a \u53d1\u751f \u8bb8\u591a \u91cd\u5927 \u53d8\u5316 \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u7834\u574f \u60a8 \u6240 \u505a \u7684 \u4efb\u4f55 \u4fee\u6539 \u3002 \u6211\u4eec \u5efa\u8bae \u4f60 \u628a \u8fd9\u4e2a \u5206\u652f \u5f53\u4f5c \u5b9e\u9a8c \u5b9e\u9a8c\u6027 \u7684 \u3002   \u5728   Windows   \u4e2d \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   5.3   \u7f16\u8bd1   Carla   \u8bbe\u7f6e \u73af\u5883   \u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   5.3   \u5728   Windows   \u4e0a \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002   \u5728 \u672c\u5730 \u673a\u5668 \u4e0a \u514b\u9686   Carla   \u7684   ue5 - dev   \u5206\u652f \uff1a   git   clone   - b   ue5 - dev   https : / / github . com / carla - simulator / carla . git   CarlaUE5   \u8fd0\u884c \u5b89\u88c5 \u811a\u672c \uff1a   cd   CarlaUE5   Setup . bat   Setup . bat   \u811a\u672c \u4f1a \u5b89\u88c5 \u6240\u6709 \u5fc5\u9700 \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff0c \u5305\u62ec   Visual   Studio   2022 \u3001 Cmake \u3001 Python   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u548c \u865a\u5e7b \u5f15\u64ce   5 \u3002 \u5b83 \u8fd8 \u4f1a \u4e0b\u8f7d   Carla   \u5185\u5bb9 \u5e76 \u6784\u5efa   Carla \u3002 \u56e0\u6b64 \uff0c \u6b64 \u5904\u7406 \u6279\u5904\u7406 \u6587\u4ef6 \u53ef\u80fd \u9700\u8981 \u5f88 \u65f6\u95f4 \u957f\u65f6\u95f4 \u624d\u80fd \u5b8c\u6210 \u3002   \u7b14\u8bb0   \u6b64 \u7248\u672c \u7684   Carla   \u9700\u8981   \u865a\u5e7b \u5f15\u64ce   5.3   \u7684   Carla   \u5206\u652f   \u3002 \u60a8 \u9700\u8981 \u5c06 \u60a8 \u7684   GitHub   \u5e10\u6237 \u94fe\u63a5 \u5230   Epic   Games \uff0c \u624d\u80fd \u83b7\u5f97 \u514b\u9686 \u865a\u5e7b \u5f15\u64ce \u5b58\u50a8 \u5e93 \u7684 \u6743\u9650 \u3002 \u5982\u679c \u60a8 \u5c1a\u672a \u94fe\u63a5 \u60a8 \u7684 \u5e10\u6237 \uff0c \u8bf7 \u6309\u7167   \u672c \u6307\u5357   \u64cd\u4f5c   \u8981 \u4f7f\u7528   Carla   Unreal   Engine   5   \u4ee5\u524d \u7684 \u7248\u672c \uff0c \u8bf7 \u786e\u4fdd \u5b9a\u4e49   CARLA _ UNREAL _ ENGINE _ PATH   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c \u6307\u5411   CARLA   Unreal   Engine   5   \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002 \u5982\u679c \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \u6b64 \u53d8\u91cf \uff0c Setup . bat   \u811a\u672c \u5c06 \u4e0b\u8f7d \u5e76 \u6784\u5efa   Carla   Unreal   Engine   5 \uff0c   \u8fd9 \u9700\u8981 \u989d\u5916   1   \u4e2a \u591a \u5c0f\u65f6 \u7684 \u6784\u5efa \u65f6\u95f4 \u548c   225Gb   \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4   \u3002   Setup . bat   \u811a\u672c \u68c0\u67e5   PATH   \u53d8\u91cf \u9876\u90e8 \u662f\u5426 \u5b89\u88c5 \u4e86 \u4efb\u4f55   Python   \u7248\u672c \uff0c \u5426\u5219 \u5b89\u88c5   Python \u3002   \u8981 \u4f7f\u7528 \u60a8 \u81ea\u5df1 \u7684   Python   \u7248\u672c \uff0c \u8bf7 \u786e\u4fdd \u5728 \u8fd0\u884c \u811a\u672c \u4e4b\u524d \u4e3a   Python   \u6b63\u786e \u8bbe\u7f6e \u4e86   PATH   \u53d8\u91cf   \u3002   \u5e94 \u6fc0\u6d3b   Windows   \u5f00\u53d1 \u5f00\u53d1\u8005 \u6a21\u5f0f   \uff0c \u5426\u5219 \u6784\u5efa \u5c06 \u5931\u8d25 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u6b64\u5904   \u3002   Carla   \u65e0\u6cd5 \u5728 \u5916\u90e8 \u78c1\u76d8 \u4e0a \u6784\u5efa   \uff0c Windows   \u6ca1\u6709 \u63d0\u4f9b \u6784\u5efa \u6240 \u9700 \u7684 \u8bfb / \u5199 / \u6267\u884c \u6743\u9650 \u3002   \u6784\u5efa \u5e76 \u8fd0\u884c   Carla   UE5   Setup . bat   \u6587\u4ef6 \u672c\u8eab \u542f\u52a8 \u4ee5\u4e0b \u547d\u4ee4 \uff0c \u4e00\u65e6 \u60a8 \u4fee\u6539 \u4ee3\u7801 \u5e76 \u5e0c\u671b \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \uff0c \u5219 \u9700\u8981 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \uff1a   \u8b66\u544a   \u786e\u4fdd \u5b9a\u4e49   CARLA _ UNREAL _ ENGINE _ PATH   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c \u6307\u5411   Carla   Unreal   Engine   5.3   \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002 Setup . bat   \u8bbe\u7f6e \u6b64 \u53d8\u91cf \uff0c \u4f46 \u5982\u679c \u91c7\u7528 \u5176\u4ed6 \u65b9\u6cd5 \u5b89\u88c5 \u8981\u6c42 \uff0c \u5219 \u53ef\u80fd \u65e0\u6cd5 \u8bbe\u7f6e \u3002 \u6b64\u5916 \uff0c Carla   UE4   \u4f7f\u7528 \u7684 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u662f   UE4 _ ROOT   \u3002   \u914d\u7f6e   \u3002 \u5728   CarlaUE5   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u6253\u5f00   VS   2022   \u7684   x64   Native   Tools   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cmake   - G   Ninja   - S   .   - B   Build   - DCMAKE _ BUILD _ TYPE = Release   - DBUILD _ CARLA _ UNREAL = ON   - DCARLA _ UNREAL _ ENGINE _ PATH = % CARLA _ UNREAL _ ENGINE _ PATH%   \u6784\u5efa   Carla   \u3002 \u5728   CarlaUE5   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u6253\u5f00   VS   2022   \u7684   x64   Native   Tools   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cmake   -- build   Build   \u6784\u5efa \u5e76 \u5b89\u88c5   Python   API   \u3002 \u5728   CarlaUE5   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u6253\u5f00   VS   2022   \u7684   x64   Native   Tools   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cmake   -- build   Build   -- target   carla - python - api - install   \u542f\u52a8 \u7f16\u8f91 \u7f16\u8f91\u5668   \u3002 \u5728   CarlaUE5   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u6253\u5f00   VS   2022   \u7684   x64   Native   Tools   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cmake   -- build   Build   -- target   launch   \u4f7f\u7528   Carla   UE5   \u6784\u5efa \u8f6f\u4ef6 \u8f6f\u4ef6\u5305   \u8b66\u544a   Carla   UE5   \u7684 \u6784\u5efa \u5305 \u5c1a\u672a \u9488\u5bf9   Windows   \u8fdb\u884c \u5168\u9762 \u6d4b\u8bd5 \u3002   \u5728   CarlaUE5   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u6253\u5f00   VS   2022   \u7684   x64   Native   Tools   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cmake   -- build   Build   -- target   package   \u8be5\u5305 \u5c06 \u5728 \u76ee\u5f55   Build / Package   \u4e2d \u751f\u6210   \u8fd0\u884c \u5305   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u6784\u5efa \u5c1a\u672a \u9488\u5bf9   Windows   \u8fdb\u884c \u6d4b\u8bd5 \u3002   Ubuntu   \u5b89\u88c5   \u5982\u679c \u5f15\u5bfc \u4e0d\u4e86 \u7cfb\u7edf \uff0c \u9700\u8981 \u5c06 \u5728 BIOS \u4e2d \u8bbe\u7f6e \u4e3a UEFI \u542f\u52a8 \u3002   \u5b89\u88c5 \u754c\u9762 \u5361\u6b7b \u5b8c   quiet   splash   -   -   -   \u6539\u6210   quiet   splash   acpi = off   acpi = off \u662f \u5173\u95ed \u9ad8\u7ea7 \u7535\u6e90 \u7ba1\u7406 \u63a5\u53e3 \u3002 \u5982\u679c \u5fc5\u987b \u6dfb\u52a0 acpi   =   off \u4f7f ubuntu \u6210\u529f \u542f\u52a8 \uff0c \u5219 \u8868\u793a \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u7684 ACPI \u4e0e \u8be5 \u7248\u672c \u7684 ubuntu \u4e0d \u517c\u5bb9 \u3002   \u95ee\u9898   \u65e0\u6cd5 \u5b89\u88c5 Microsoft . VisualStudio . Community . Msi   \u5220\u9664 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   C \uff1a \\ Program   Files   \uff08 x86 \uff09 \\ Windows   Kits   \u540e \u91cd\u65b0 \u65b0\u5b89 \u5b89\u88c5 \u91cd\u65b0\u5b89\u88c5 \u3002 \uff08 \u524d\u63d0 \u662f \u7528 \u7f51\u7edc \u5b89\u88c5 \u88c5\u7248 \u5b89\u88c5\u7248 \u5b89\u88c5 \u6587\u4ef6 \u5b89\u88c5\u6587\u4ef6 \uff0c \u4e0d\u80fd \u7528 \u79bb\u7ebf \u5b89\u88c5 \u88c5\u7248 \u5b89\u88c5\u7248 \uff09   VS2022 \u5b89\u88c5 \u65f6\u5019 \u51fa\u73b0 \u201c \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u6b63 \u5fd9\u4e8e \u5b89\u88c5 \u4e00\u4e2a \u975e Visual   Studio \u7684 \u7a0b\u5e8f \u201d   \u6253\u5f00 \u201c \u4efb\u52a1 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \u201d \u3002 \u5355\u51fb \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u201d \u9009\u9879 \u9009\u9879\u5361 \u3002 \u67e5\u627e \u201c msiexec . exe \u201d \u8fdb\u7a0b \u3002 \u5982\u679c \u6709 \u4e00\u4e2a \u6216 \u591a\u4e2a \uff0c \u8bf7 \u5168\u90e8 \u9009\u4e2d \uff0c \u518d \u9009\u62e9 \u201c \u7ec8\u6b62 \u4efb\u52a1 \u201d \u3002   \u5b89\u88c5 python \u5305\u65f6 \u51fa\u73b0 \uff1a   ValueError :   check _ hostname   requires   server _ hostname   \u89e3\u51b3 \uff1a \u5173\u95ed \u4ee3\u7406 \u3002   fatal :   fetch - pack :   invalid   index - pack   output   git   clone   -- depth   1   https : / / gitlab . scm321 . com / ufx / xxxx . git","title":"Build   windows   ue5"},{"location":"build_windows_ue5/#windows-53-carla","text":"","title":"\u5728   Windows   \u4e2d \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   5.3   \u7f16\u8bd1   Carla"},{"location":"build_windows_ue5/#_1","text":"\u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   5.3   \u5728   Windows   \u4e0a \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002   \u5728 \u672c\u5730 \u673a\u5668 \u4e0a \u514b\u9686   Carla   \u7684   ue5 - dev   \u5206\u652f \uff1a   git   clone   - b   ue5 - dev   https : / / github . com / carla - simulator / carla . git   CarlaUE5   \u8fd0\u884c \u5b89\u88c5 \u811a\u672c \uff1a   cd   CarlaUE5   Setup . bat   Setup . bat   \u811a\u672c \u4f1a \u5b89\u88c5 \u6240\u6709 \u5fc5\u9700 \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff0c \u5305\u62ec   Visual   Studio   2022 \u3001 Cmake \u3001 Python   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u548c \u865a\u5e7b \u5f15\u64ce   5 \u3002 \u5b83 \u8fd8 \u4f1a \u4e0b\u8f7d   Carla   \u5185\u5bb9 \u5e76 \u6784\u5efa   Carla \u3002 \u56e0\u6b64 \uff0c \u6b64 \u5904\u7406 \u6279\u5904\u7406 \u6587\u4ef6 \u53ef\u80fd \u9700\u8981 \u5f88 \u65f6\u95f4 \u957f\u65f6\u95f4 \u624d\u80fd \u5b8c\u6210 \u3002   \u7b14\u8bb0   \u6b64 \u7248\u672c \u7684   Carla   \u9700\u8981   \u865a\u5e7b \u5f15\u64ce   5.3   \u7684   Carla   \u5206\u652f   \u3002 \u60a8 \u9700\u8981 \u5c06 \u60a8 \u7684   GitHub   \u5e10\u6237 \u94fe\u63a5 \u5230   Epic   Games \uff0c \u624d\u80fd \u83b7\u5f97 \u514b\u9686 \u865a\u5e7b \u5f15\u64ce \u5b58\u50a8 \u5e93 \u7684 \u6743\u9650 \u3002 \u5982\u679c \u60a8 \u5c1a\u672a \u94fe\u63a5 \u60a8 \u7684 \u5e10\u6237 \uff0c \u8bf7 \u6309\u7167   \u672c \u6307\u5357   \u64cd\u4f5c   \u8981 \u4f7f\u7528   Carla   Unreal   Engine   5   \u4ee5\u524d \u7684 \u7248\u672c \uff0c \u8bf7 \u786e\u4fdd \u5b9a\u4e49   CARLA _ UNREAL _ ENGINE _ PATH   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c \u6307\u5411   CARLA   Unreal   Engine   5   \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002 \u5982\u679c \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \u6b64 \u53d8\u91cf \uff0c Setup . bat   \u811a\u672c \u5c06 \u4e0b\u8f7d \u5e76 \u6784\u5efa   Carla   Unreal   Engine   5 \uff0c   \u8fd9 \u9700\u8981 \u989d\u5916   1   \u4e2a \u591a \u5c0f\u65f6 \u7684 \u6784\u5efa \u65f6\u95f4 \u548c   225Gb   \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4   \u3002   Setup . bat   \u811a\u672c \u68c0\u67e5   PATH   \u53d8\u91cf \u9876\u90e8 \u662f\u5426 \u5b89\u88c5 \u4e86 \u4efb\u4f55   Python   \u7248\u672c \uff0c \u5426\u5219 \u5b89\u88c5   Python \u3002   \u8981 \u4f7f\u7528 \u60a8 \u81ea\u5df1 \u7684   Python   \u7248\u672c \uff0c \u8bf7 \u786e\u4fdd \u5728 \u8fd0\u884c \u811a\u672c \u4e4b\u524d \u4e3a   Python   \u6b63\u786e \u8bbe\u7f6e \u4e86   PATH   \u53d8\u91cf   \u3002   \u5e94 \u6fc0\u6d3b   Windows   \u5f00\u53d1 \u5f00\u53d1\u8005 \u6a21\u5f0f   \uff0c \u5426\u5219 \u6784\u5efa \u5c06 \u5931\u8d25 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u6b64\u5904   \u3002   Carla   \u65e0\u6cd5 \u5728 \u5916\u90e8 \u78c1\u76d8 \u4e0a \u6784\u5efa   \uff0c Windows   \u6ca1\u6709 \u63d0\u4f9b \u6784\u5efa \u6240 \u9700 \u7684 \u8bfb / \u5199 / \u6267\u884c \u6743\u9650 \u3002","title":"\u8bbe\u7f6e \u73af\u5883"},{"location":"build_windows_ue5/#carla-ue5","text":"Setup . bat   \u6587\u4ef6 \u672c\u8eab \u542f\u52a8 \u4ee5\u4e0b \u547d\u4ee4 \uff0c \u4e00\u65e6 \u60a8 \u4fee\u6539 \u4ee3\u7801 \u5e76 \u5e0c\u671b \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \uff0c \u5219 \u9700\u8981 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \uff1a   \u8b66\u544a   \u786e\u4fdd \u5b9a\u4e49   CARLA _ UNREAL _ ENGINE _ PATH   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c \u6307\u5411   Carla   Unreal   Engine   5.3   \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002 Setup . bat   \u8bbe\u7f6e \u6b64 \u53d8\u91cf \uff0c \u4f46 \u5982\u679c \u91c7\u7528 \u5176\u4ed6 \u65b9\u6cd5 \u5b89\u88c5 \u8981\u6c42 \uff0c \u5219 \u53ef\u80fd \u65e0\u6cd5 \u8bbe\u7f6e \u3002 \u6b64\u5916 \uff0c Carla   UE4   \u4f7f\u7528 \u7684 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u662f   UE4 _ ROOT   \u3002   \u914d\u7f6e   \u3002 \u5728   CarlaUE5   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u6253\u5f00   VS   2022   \u7684   x64   Native   Tools   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cmake   - G   Ninja   - S   .   - B   Build   - DCMAKE _ BUILD _ TYPE = Release   - DBUILD _ CARLA _ UNREAL = ON   - DCARLA _ UNREAL _ ENGINE _ PATH = % CARLA _ UNREAL _ ENGINE _ PATH%   \u6784\u5efa   Carla   \u3002 \u5728   CarlaUE5   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u6253\u5f00   VS   2022   \u7684   x64   Native   Tools   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cmake   -- build   Build   \u6784\u5efa \u5e76 \u5b89\u88c5   Python   API   \u3002 \u5728   CarlaUE5   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u6253\u5f00   VS   2022   \u7684   x64   Native   Tools   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cmake   -- build   Build   -- target   carla - python - api - install   \u542f\u52a8 \u7f16\u8f91 \u7f16\u8f91\u5668   \u3002 \u5728   CarlaUE5   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u6253\u5f00   VS   2022   \u7684   x64   Native   Tools   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cmake   -- build   Build   -- target   launch","title":"\u6784\u5efa \u5e76 \u8fd0\u884c   Carla   UE5"},{"location":"build_windows_ue5/#carla-ue5_1","text":"\u8b66\u544a   Carla   UE5   \u7684 \u6784\u5efa \u5305 \u5c1a\u672a \u9488\u5bf9   Windows   \u8fdb\u884c \u5168\u9762 \u6d4b\u8bd5 \u3002   \u5728   CarlaUE5   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u6253\u5f00   VS   2022   \u7684   x64   Native   Tools   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cmake   -- build   Build   -- target   package   \u8be5\u5305 \u5c06 \u5728 \u76ee\u5f55   Build / Package   \u4e2d \u751f\u6210","title":"\u4f7f\u7528   Carla   UE5   \u6784\u5efa \u8f6f\u4ef6\u5305"},{"location":"build_windows_ue5/#_2","text":"\u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u6784\u5efa \u5c1a\u672a \u9488\u5bf9   Windows   \u8fdb\u884c \u6d4b\u8bd5 \u3002","title":"\u8fd0\u884c \u5305"},{"location":"build_windows_ue5/#ubuntu","text":"\u5982\u679c \u5f15\u5bfc \u4e0d\u4e86 \u7cfb\u7edf \uff0c \u9700\u8981 \u5c06 \u5728 BIOS \u4e2d \u8bbe\u7f6e \u4e3a UEFI \u542f\u52a8 \u3002   \u5b89\u88c5 \u754c\u9762 \u5361\u6b7b \u5b8c   quiet   splash   -   -   -   \u6539\u6210   quiet   splash   acpi = off   acpi = off \u662f \u5173\u95ed \u9ad8\u7ea7 \u7535\u6e90 \u7ba1\u7406 \u63a5\u53e3 \u3002 \u5982\u679c \u5fc5\u987b \u6dfb\u52a0 acpi   =   off \u4f7f ubuntu \u6210\u529f \u542f\u52a8 \uff0c \u5219 \u8868\u793a \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u7684 ACPI \u4e0e \u8be5 \u7248\u672c \u7684 ubuntu \u4e0d \u517c\u5bb9 \u3002","title":"Ubuntu   \u5b89\u88c5"},{"location":"build_windows_ue5/#_3","text":"\u65e0\u6cd5 \u5b89\u88c5 Microsoft . VisualStudio . Community . Msi   \u5220\u9664 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   C \uff1a \\ Program   Files   \uff08 x86 \uff09 \\ Windows   Kits   \u540e \u91cd\u65b0 \u65b0\u5b89 \u5b89\u88c5 \u91cd\u65b0\u5b89\u88c5 \u3002 \uff08 \u524d\u63d0 \u662f \u7528 \u7f51\u7edc \u5b89\u88c5 \u88c5\u7248 \u5b89\u88c5\u7248 \u5b89\u88c5 \u6587\u4ef6 \u5b89\u88c5\u6587\u4ef6 \uff0c \u4e0d\u80fd \u7528 \u79bb\u7ebf \u5b89\u88c5 \u88c5\u7248 \u5b89\u88c5\u7248 \uff09   VS2022 \u5b89\u88c5 \u65f6\u5019 \u51fa\u73b0 \u201c \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u6b63 \u5fd9\u4e8e \u5b89\u88c5 \u4e00\u4e2a \u975e Visual   Studio \u7684 \u7a0b\u5e8f \u201d   \u6253\u5f00 \u201c \u4efb\u52a1 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \u201d \u3002 \u5355\u51fb \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u201d \u9009\u9879 \u9009\u9879\u5361 \u3002 \u67e5\u627e \u201c msiexec . exe \u201d \u8fdb\u7a0b \u3002 \u5982\u679c \u6709 \u4e00\u4e2a \u6216 \u591a\u4e2a \uff0c \u8bf7 \u5168\u90e8 \u9009\u4e2d \uff0c \u518d \u9009\u62e9 \u201c \u7ec8\u6b62 \u4efb\u52a1 \u201d \u3002   \u5b89\u88c5 python \u5305\u65f6 \u51fa\u73b0 \uff1a   ValueError :   check _ hostname   requires   server _ hostname   \u89e3\u51b3 \uff1a \u5173\u95ed \u4ee3\u7406 \u3002   fatal :   fetch - pack :   invalid   index - pack   output   git   clone   -- depth   1   https : / / gitlab . scm321 . com / ufx / xxxx . git","title":"\u95ee\u9898"},{"location":"carla_ackermann_control/","text":"Carla   \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236   carla _ ackermann _ control   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305   \u7528\u4e8e \u901a\u8fc7 \u963f\u514b \u963f\u514b\u66fc \u6d88\u606f \u63a7\u5236   Carla   \u8f66\u8f86 \u3002 \u8be5\u5305 \u5c06   \u963f\u514b \u963f\u514b\u66fc \u6d88\u606f   \u8f6c\u6362 \u4e3a   CarlaEgoVehicleControl   \u6d88\u606f \u3002 \u5b83 \u4ece   Carla   \u8bfb\u53d6 \u8f66\u8f86 \u4fe1\u606f \uff0c \u5e76 \u5c06 \u8be5 \u4fe1\u606f \u4f20\u9012 \u7ed9 \u57fa\u4e8e   Python   \u7684   PID   \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u8c03\u7528   simple - pid   \u63a7\u5236 \u63a7\u5236\u5668 \u6765 \u63a7\u5236 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u548c \u901f\u5ea6 \u3002   \u914d\u7f6e   \u6d4b\u8bd5 \u63a7\u5236 \u6d88\u606f   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u8ba2\u9605   \u53d1\u5e03   \u914d\u7f6e   \u4f7f\u7528   ROS   1   \u548c   ROS   2   \u65f6 \uff0c \u53ef\u4ee5 \u5728   \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6   \u4e2d \u521d\u59cb \u8bbe\u7f6e \u53c2\u6570 \uff0c \u4e5f \u53ef\u4ee5 \u5728 \u8fd0\u884c \u65f6 \u901a\u8fc7   ROS   1   \u4e2d \u7684   ROS   \u52a8\u6001 \u91cd\u65b0 \u914d\u7f6e \u91cd\u65b0\u914d\u7f6e   \u6765 \u8bbe\u7f6e \u53c2\u6570 \u3002   \u6d4b\u8bd5 \u63a7\u5236 \u6d88\u606f   \u901a\u8fc7 \u4e3b\u9898   / carla / < ROLE   NAME > / ackermann _ cmd   \u5411 \u6c7d\u8f66 \u53d1\u9001 \u547d\u4ee4 \u6765 \u6d4b\u8bd5 \u8bbe\u7f6e \u3002 \u4f8b\u5982 \uff0c \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4ee5   10   \u7c73 / \u79d2 \u7684 \u901f\u5ea6 \u79fb\u52a8 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0 \u4e3a   ego _ vehicle   \u7684 \u81ea\u6211 \u8f66\u8f86 \uff1a   #   ROS   1   rostopic   pub   / carla / ego _ vehicle / ackermann _ cmd   ackermann _ msgs / AckermannDrive   \" { steering _ angle :   0.0 ,   steering _ angle _ velocity :   0.0 ,   speed :   10 ,   acceleration :   0.0 ,   jerk :   0.0 } \"   - r   10   #   ROS   2   ros2   topic   pub   / carla / ego _ vehicle / ackermann _ cmd   ackermann _ msgs / AckermannDrive   \" { steering _ angle :   0.0 ,   steering _ angle _ velocity :   0.0 ,   speed :   10 ,   acceleration :   0.0 ,   jerk :   0.0 } \"   - r   10   \u6216\u8005 \u8ba9 \u8f66\u8f86 \u5411\u524d \u79fb\u52a8 \uff0c \u540c\u65f6 \u8f6c\u5f2f   1.22   \u5f27\u5ea6 \u7684 \u89d2\u5ea6 \uff1a   #   ROS   1   rostopic   pub   / carla / ego _ vehicle / ackermann _ cmd   ackermann _ msgs / AckermannDrive   \" { steering _ angle :   1.22 ,   steering _ angle _ velocity :   0.0 ,   speed :   10 ,   acceleration :   0.0 ,   jerk :   0.0 } \"   - r   10   #   ROS   2   ros2   topic   pub   / carla / ego _ vehicle / ackermann _ cmd   ackermann _ msgs / AckermannDrive   \" { steering _ angle :   1.22 ,   steering _ angle _ velocity :   0.0 ,   speed :   10 ,   acceleration :   0.0 ,   jerk :   0.0 } \"   - r   10   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u8ba2\u9605   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / ackermann _ cmd   ackermann _ msgs . AckermannDrive   \u8f6c\u5411 \u547d\u4ee4 \u7684   \u8ba2\u9605 \u8005   \u53d1\u5e03   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / ackermann _ control / control _ info   carla _ ackermann _ control . EgoVehicleControlInfo   \u63a7\u5236 \u63a7\u5236\u5668 \u5185 \u4f7f\u7528 \u7684 \u5f53\u524d \u503c \uff08 \u5bf9\u4e8e \u8c03\u8bd5 \u6709\u7528 \uff09","title":"Carla   \u963f\u514b\u66fc \u63a7\u5236"},{"location":"carla_ackermann_control/#carla","text":"carla _ ackermann _ control   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305   \u7528\u4e8e \u901a\u8fc7 \u963f\u514b \u963f\u514b\u66fc \u6d88\u606f \u63a7\u5236   Carla   \u8f66\u8f86 \u3002 \u8be5\u5305 \u5c06   \u963f\u514b \u963f\u514b\u66fc \u6d88\u606f   \u8f6c\u6362 \u4e3a   CarlaEgoVehicleControl   \u6d88\u606f \u3002 \u5b83 \u4ece   Carla   \u8bfb\u53d6 \u8f66\u8f86 \u4fe1\u606f \uff0c \u5e76 \u5c06 \u8be5 \u4fe1\u606f \u4f20\u9012 \u7ed9 \u57fa\u4e8e   Python   \u7684   PID   \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u8c03\u7528   simple - pid   \u63a7\u5236 \u63a7\u5236\u5668 \u6765 \u63a7\u5236 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u548c \u901f\u5ea6 \u3002   \u914d\u7f6e   \u6d4b\u8bd5 \u63a7\u5236 \u6d88\u606f   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u8ba2\u9605   \u53d1\u5e03","title":"Carla   \u963f\u514b\u66fc \u63a7\u5236"},{"location":"carla_ackermann_control/#_1","text":"\u4f7f\u7528   ROS   1   \u548c   ROS   2   \u65f6 \uff0c \u53ef\u4ee5 \u5728   \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6   \u4e2d \u521d\u59cb \u8bbe\u7f6e \u53c2\u6570 \uff0c \u4e5f \u53ef\u4ee5 \u5728 \u8fd0\u884c \u65f6 \u901a\u8fc7   ROS   1   \u4e2d \u7684   ROS   \u52a8\u6001 \u91cd\u65b0 \u914d\u7f6e \u91cd\u65b0\u914d\u7f6e   \u6765 \u8bbe\u7f6e \u53c2\u6570 \u3002","title":"\u914d\u7f6e  "},{"location":"carla_ackermann_control/#_2","text":"\u901a\u8fc7 \u4e3b\u9898   / carla / < ROLE   NAME > / ackermann _ cmd   \u5411 \u6c7d\u8f66 \u53d1\u9001 \u547d\u4ee4 \u6765 \u6d4b\u8bd5 \u8bbe\u7f6e \u3002 \u4f8b\u5982 \uff0c \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4ee5   10   \u7c73 / \u79d2 \u7684 \u901f\u5ea6 \u79fb\u52a8 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0 \u4e3a   ego _ vehicle   \u7684 \u81ea\u6211 \u8f66\u8f86 \uff1a   #   ROS   1   rostopic   pub   / carla / ego _ vehicle / ackermann _ cmd   ackermann _ msgs / AckermannDrive   \" { steering _ angle :   0.0 ,   steering _ angle _ velocity :   0.0 ,   speed :   10 ,   acceleration :   0.0 ,   jerk :   0.0 } \"   - r   10   #   ROS   2   ros2   topic   pub   / carla / ego _ vehicle / ackermann _ cmd   ackermann _ msgs / AckermannDrive   \" { steering _ angle :   0.0 ,   steering _ angle _ velocity :   0.0 ,   speed :   10 ,   acceleration :   0.0 ,   jerk :   0.0 } \"   - r   10   \u6216\u8005 \u8ba9 \u8f66\u8f86 \u5411\u524d \u79fb\u52a8 \uff0c \u540c\u65f6 \u8f6c\u5f2f   1.22   \u5f27\u5ea6 \u7684 \u89d2\u5ea6 \uff1a   #   ROS   1   rostopic   pub   / carla / ego _ vehicle / ackermann _ cmd   ackermann _ msgs / AckermannDrive   \" { steering _ angle :   1.22 ,   steering _ angle _ velocity :   0.0 ,   speed :   10 ,   acceleration :   0.0 ,   jerk :   0.0 } \"   - r   10   #   ROS   2   ros2   topic   pub   / carla / ego _ vehicle / ackermann _ cmd   ackermann _ msgs / AckermannDrive   \" { steering _ angle :   1.22 ,   steering _ angle _ velocity :   0.0 ,   speed :   10 ,   acceleration :   0.0 ,   jerk :   0.0 } \"   - r   10","title":"\u6d4b\u8bd5 \u63a7\u5236 \u6d88\u606f  "},{"location":"carla_ackermann_control/#ros","text":"","title":"ROS   \u5e94\u7528 \u7a0b\u5e8f\u63a5\u53e3  "},{"location":"carla_ackermann_control/#_3","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / ackermann _ cmd   ackermann _ msgs . AckermannDrive   \u8f6c\u5411 \u547d\u4ee4 \u7684   \u8ba2\u9605 \u8005","title":"\u8ba2\u9605  "},{"location":"carla_ackermann_control/#_4","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / ackermann _ control / control _ info   carla _ ackermann _ control . EgoVehicleControlInfo   \u63a7\u5236 \u63a7\u5236\u5668 \u5185 \u4f7f\u7528 \u7684 \u5f53\u524d \u503c \uff08 \u5bf9\u4e8e \u8c03\u8bd5 \u6709\u7528 \uff09","title":"\u53d1\u5e03  "},{"location":"carla_ad_agent/","text":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406   \u662f \u4e00\u79cd \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \uff0c \u53ef\u4ee5 \u9075\u5faa \u7ed9\u5b9a \u8def\u7ebf \uff0c \u907f\u514d \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u53d1\u751f \u78b0\u649e \uff0c \u5e76 \u901a\u8fc7 \u8bbf\u95ee \u771f\u5b9e \u6570\u636e \u5c0a\u91cd \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u72b6\u6001 \u3002   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6f14\u793a   \u4f7f\u7528 \u5b83 \u6765 \u63d0\u4f9b \u5982\u4f55 \u4f7f\u7528   ROS   \u6865 \u7684 \u793a\u4f8b \u3002   \u9700\u6c42   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u8282\u70b9   \u53c2\u6570   \u8ba2\u9605   \u53d1\u5e03   \u672c\u5730 \u89c4\u5212 \u5668 \u8282\u70b9   \u53c2\u6570   \u53d1\u5e03   \u8ba2\u9605   \u5728 \u5185\u90e8 \uff0c Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u4f7f\u7528 \u5355\u72ec \u7684 \u8282\u70b9 \u8fdb\u884c   \u672c\u5730 \u89c4\u5212   \u3002 \u8be5 \u8282\u70b9 \u5df2 \u9488\u5bf9   vehicle . tesla . model3   \u8fdb\u884c \u4e86 \u4f18\u5316 \uff0c \u56e0\u4e3a \u5b83 \u6ca1\u6709 \u4efb\u4f55 \u6362\u6863 \u5ef6\u8fdf \u3002   PID   \u53c2\u6570 \u901a\u8fc7   Ziegler - Nichols \u65b9\u6cd5   \u91c7\u96c6 \u3002   \u9700\u6c42   \u4e3a\u4e86 \u80fd\u591f \u4f7f\u7528   carla _ ad _ agent   \uff0c \u9700\u8981 \u751f\u6210 \u6700\u5c11 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u96c6 \uff08 \u6709\u5173 \u5982\u4f55 \u751f\u6210 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Carla   \u751f\u6210 \u5bf9\u8c61   \uff1a   \u91cc\u7a0b \u91cc\u7a0b\u8ba1 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   (   sensor . pseudo . odom   ) \uff0c \u5176 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d   odometry   \u9644\u52a0 \u5230 \u8f66\u8f86 \u4e0a \u3002   \u4e00\u4e2a \u5bf9\u8c61 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   (   sensor . pseudo . objects   ) \uff0c \u5176 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d   objects   \u9644\u52a0 \u5230 \u8f66\u8f86 \u4e0a \u3002   \u5177\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0   traffic _ lights   \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   (   sensor . pseudo . traffic _ lights   )   \u3002   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u8282\u70b9   \u53c2\u6570   \u53c2\u6570   \u7c7b\u578b   \u63cf\u8ff0   role _ name   string   ( \u9ed8\u8ba4 \uff1a   ego _ vehicle   )   \u81ea\u6211 \u8f66\u8f86 \u7684   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0   avoid _ risk   bool   ( default :   true   )   \u5982\u679c \u4e3a \u771f \uff0c \u5219 \u907f\u514d \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u76f8\u649e \u5e76 \u5c0a\u91cd \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f   \u8ba2\u9605   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / target _ speed   std _ msgs / Float64   \u81ea\u6211 \u8f66\u8f86 \u7684 \u76ee\u6807 \u901f\u5ea6   / carla / < ROLE   NAME > / odometry   nav _ msgs / Odometry   \u81ea\u6211 \u8f66\u8f86 \u7684 \u91cc\u7a0b \u91cc\u7a0b\u8ba1   / carla / < ROLE   NAME > / vehicle _ info   carla _ msgs / CarlaEgoVehicleInfo   \u8bc6\u522b \u81ea\u6211 \u8f66\u8f86 \u7684   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005   id   / carla / < ROLE   NAME > / objects   derived _ object _ msgs / ObjectArray   \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4fe1\u606f   / carla / traffic _ lights / status   carla _ msgs / CarlaTrafficLightStatusList   \u83b7\u53d6 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u5f53\u524d \u72b6\u6001   / carla / traffic _ lights / info   carla _ msgs / CarlaTrafficLightInfoList   \u83b7\u53d6 \u6709\u5173 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u4fe1\u606f   \u53d1\u5e03   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / speed _ command   std _ msgs / Float64   \u76ee\u6807 \u901f\u5ea6   \u672c\u5730 \u89c4\u5212 \u5668 \u8282\u70b9   \u53c2\u6570   \u53c2\u6570   \u7c7b\u578b   \u63cf\u8ff0   role _ name   string   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   ego _ vehicle   )   \u81ea\u6211 \u8f66\u8f86 \u7684   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0   control _ time _ step   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.05   )   \u63a7\u5236 \u5faa\u73af \u901f\u7387   Kp _ lateral   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.9   )   \u6bd4\u4f8b \u9879 \u6a2a\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   Ki _ lateral   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.0   )   \u79ef\u5206 \u9879 \u6a2a\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   Kd _ lateral   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.0   )   \u5fae\u5206 \u9879 \u6a2a\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   Kp _ longitudinal   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.206   )   \u6bd4\u4f8b \u9879 \u7eb5\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   Ki _ longitudinal   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.0206   )   \u79ef\u5206 \u9879 \u7eb5\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   Kd _ longitudinal   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.515   )   \u5fae\u5206 \u9879 \u7eb5\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   \u8ba2\u9605   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / waypoints   nav _ msgs / Path   \u9075\u5faa \u7684 \u8def\u7ebf   / carla / < ROLE   NAME > / odometry   nav _ msgs / Odometry   \u81ea\u6211 \u8f66\u8f86 \u7684 \u91cc\u7a0b \u91cc\u7a0b\u8ba1   / carla / < ROLE   NAME > / speed _ command   std _ msgs / Float64   \u76ee\u6807 \u901f\u5ea6   \u53d1\u5e03   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / next _ target   visualization _ msgs / Marker   \u4e0b \u4e00\u4e2a \u76ee\u6807 \u59ff\u52bf \u6807\u8bb0   / carla / < ROLE   NAME > / vehicle _ control _ cmd   carla _ msgs / CarlaEgoVehicleControl   \u8f66\u8f86 \u63a7\u5236 \u6307\u4ee4 \u63a7\u5236\u6307\u4ee4","title":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406"},{"location":"carla_ad_agent/#carla","text":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406   \u662f \u4e00\u79cd \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \uff0c \u53ef\u4ee5 \u9075\u5faa \u7ed9\u5b9a \u8def\u7ebf \uff0c \u907f\u514d \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u53d1\u751f \u78b0\u649e \uff0c \u5e76 \u901a\u8fc7 \u8bbf\u95ee \u771f\u5b9e \u6570\u636e \u5c0a\u91cd \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u72b6\u6001 \u3002   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6f14\u793a   \u4f7f\u7528 \u5b83 \u6765 \u63d0\u4f9b \u5982\u4f55 \u4f7f\u7528   ROS   \u6865 \u7684 \u793a\u4f8b \u3002   \u9700\u6c42   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u8282\u70b9   \u53c2\u6570   \u8ba2\u9605   \u53d1\u5e03   \u672c\u5730 \u89c4\u5212 \u5668 \u8282\u70b9   \u53c2\u6570   \u53d1\u5e03   \u8ba2\u9605   \u5728 \u5185\u90e8 \uff0c Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u4f7f\u7528 \u5355\u72ec \u7684 \u8282\u70b9 \u8fdb\u884c   \u672c\u5730 \u89c4\u5212   \u3002 \u8be5 \u8282\u70b9 \u5df2 \u9488\u5bf9   vehicle . tesla . model3   \u8fdb\u884c \u4e86 \u4f18\u5316 \uff0c \u56e0\u4e3a \u5b83 \u6ca1\u6709 \u4efb\u4f55 \u6362\u6863 \u5ef6\u8fdf \u3002   PID   \u53c2\u6570 \u901a\u8fc7   Ziegler - Nichols \u65b9\u6cd5   \u91c7\u96c6 \u3002","title":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406"},{"location":"carla_ad_agent/#_1","text":"\u4e3a\u4e86 \u80fd\u591f \u4f7f\u7528   carla _ ad _ agent   \uff0c \u9700\u8981 \u751f\u6210 \u6700\u5c11 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u96c6 \uff08 \u6709\u5173 \u5982\u4f55 \u751f\u6210 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Carla   \u751f\u6210 \u5bf9\u8c61   \uff1a   \u91cc\u7a0b \u91cc\u7a0b\u8ba1 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   (   sensor . pseudo . odom   ) \uff0c \u5176 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d   odometry   \u9644\u52a0 \u5230 \u8f66\u8f86 \u4e0a \u3002   \u4e00\u4e2a \u5bf9\u8c61 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   (   sensor . pseudo . objects   ) \uff0c \u5176 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d   objects   \u9644\u52a0 \u5230 \u8f66\u8f86 \u4e0a \u3002   \u5177\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0   traffic _ lights   \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   (   sensor . pseudo . traffic _ lights   )   \u3002","title":"\u9700\u6c42  "},{"location":"carla_ad_agent/#ros","text":"","title":"ROS   \u5e94\u7528 \u7a0b\u5e8f\u63a5\u53e3    "},{"location":"carla_ad_agent/#_2","text":"","title":"\u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u8282\u70b9  "},{"location":"carla_ad_agent/#_3","text":"\u53c2\u6570   \u7c7b\u578b   \u63cf\u8ff0   role _ name   string   ( \u9ed8\u8ba4 \uff1a   ego _ vehicle   )   \u81ea\u6211 \u8f66\u8f86 \u7684   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0   avoid _ risk   bool   ( default :   true   )   \u5982\u679c \u4e3a \u771f \uff0c \u5219 \u907f\u514d \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u76f8\u649e \u5e76 \u5c0a\u91cd \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f","title":"\u53c2\u6570  "},{"location":"carla_ad_agent/#_4","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / target _ speed   std _ msgs / Float64   \u81ea\u6211 \u8f66\u8f86 \u7684 \u76ee\u6807 \u901f\u5ea6   / carla / < ROLE   NAME > / odometry   nav _ msgs / Odometry   \u81ea\u6211 \u8f66\u8f86 \u7684 \u91cc\u7a0b \u91cc\u7a0b\u8ba1   / carla / < ROLE   NAME > / vehicle _ info   carla _ msgs / CarlaEgoVehicleInfo   \u8bc6\u522b \u81ea\u6211 \u8f66\u8f86 \u7684   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005   id   / carla / < ROLE   NAME > / objects   derived _ object _ msgs / ObjectArray   \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4fe1\u606f   / carla / traffic _ lights / status   carla _ msgs / CarlaTrafficLightStatusList   \u83b7\u53d6 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u5f53\u524d \u72b6\u6001   / carla / traffic _ lights / info   carla _ msgs / CarlaTrafficLightInfoList   \u83b7\u53d6 \u6709\u5173 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u4fe1\u606f","title":"\u8ba2\u9605  "},{"location":"carla_ad_agent/#_5","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / speed _ command   std _ msgs / Float64   \u76ee\u6807 \u901f\u5ea6","title":"\u53d1\u5e03  "},{"location":"carla_ad_agent/#_6","text":"","title":"\u672c\u5730 \u89c4\u5212 \u5668 \u8282\u70b9  "},{"location":"carla_ad_agent/#_7","text":"\u53c2\u6570   \u7c7b\u578b   \u63cf\u8ff0   role _ name   string   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   ego _ vehicle   )   \u81ea\u6211 \u8f66\u8f86 \u7684   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0   control _ time _ step   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.05   )   \u63a7\u5236 \u5faa\u73af \u901f\u7387   Kp _ lateral   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.9   )   \u6bd4\u4f8b \u9879 \u6a2a\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   Ki _ lateral   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.0   )   \u79ef\u5206 \u9879 \u6a2a\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   Kd _ lateral   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.0   )   \u5fae\u5206 \u9879 \u6a2a\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   Kp _ longitudinal   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.206   )   \u6bd4\u4f8b \u9879 \u7eb5\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   Ki _ longitudinal   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.0206   )   \u79ef\u5206 \u9879 \u7eb5\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   Kd _ longitudinal   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.515   )   \u5fae\u5206 \u9879 \u7eb5\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668","title":"\u53c2\u6570  "},{"location":"carla_ad_agent/#_8","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / waypoints   nav _ msgs / Path   \u9075\u5faa \u7684 \u8def\u7ebf   / carla / < ROLE   NAME > / odometry   nav _ msgs / Odometry   \u81ea\u6211 \u8f66\u8f86 \u7684 \u91cc\u7a0b \u91cc\u7a0b\u8ba1   / carla / < ROLE   NAME > / speed _ command   std _ msgs / Float64   \u76ee\u6807 \u901f\u5ea6","title":"\u8ba2\u9605  "},{"location":"carla_ad_agent/#_9","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / next _ target   visualization _ msgs / Marker   \u4e0b \u4e00\u4e2a \u76ee\u6807 \u59ff\u52bf \u6807\u8bb0   / carla / < ROLE   NAME > / vehicle _ control _ cmd   carla _ msgs / CarlaEgoVehicleControl   \u8f66\u8f86 \u63a7\u5236 \u6307\u4ee4 \u63a7\u5236\u6307\u4ee4","title":"\u53d1\u5e03  "},{"location":"carla_ad_demo/","text":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6f14\u793a   \u81ea\u52a8 \u9a7e\u9a76   \u662f \u4e00\u4e2a \u793a\u4f8b \u5305 \uff0c \u63d0\u4f9b \u4f7f\u7528 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u542f\u52a8   Carla   ROS   \u73af\u5883 \u6240 \u9700 \u7684 \u4e00\u5207 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u8fd0\u884c \u6f14\u793a   \u968f\u673a \u8def\u7ebf   \u573a\u666f \u6267\u884c   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5b89\u88c5   Scenario   Runner   \u5e76 \u6309\u7167   Scenario   Runner   \u5165\u95e8 \u6559\u7a0b \u5165\u95e8\u6559\u7a0b   \u9a8c\u8bc1 \u5176 \u662f\u5426 \u6b63\u5e38 \u5de5\u4f5c \u3002   \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u4ee5 \u67e5\u627e   Scenario   Runner   \u5b89\u88c5 \uff1a   export   SCENARIO _ RUNNER _ PATH = < path _ to _ scenario _ runner >   \u8fd0\u884c \u6f14\u793a   \u968f\u673a \u8def\u7ebf   \u8981 \u542f\u52a8 \u81ea\u6211 \u8f66\u8f86 \u9075\u5faa \u968f\u673a \u751f\u6210 \u7684 \u8def\u7ebf \u7684 \u6f14\u793a \uff0c \u8bf7 \u5728 \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   ROS   1   roslaunch   carla _ ad _ demo   carla _ ad _ demo . launch   #   ROS   2   ros2   launch   carla _ ad _ demo   carla _ ad _ demo . launch . py   \u60a8 \u8fd8 \u53ef\u4ee5 \u901a\u8fc7 \u5728 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u4e2d \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u751f\u6210 \u66f4 \u591a \u8f66\u8f86 \u6216 \u884c\u4eba \uff1a   cd   < CARLA _ PATH > / PythonAPI / examples /   python3   spawn _ npc . py   \u573a\u666f \u6267\u884c   \u8981 \u4f7f\u7528 \u9884\u5b9a \u4e49 \u573a\u666f \u6267\u884c \u6f14\u793a \uff0c \u8bf7 \u5728 \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   ROS1   roslaunch   carla _ ad _ demo   carla _ ad _ demo _ with _ scenario . launch   #   ROS2   ros2   launch   carla _ ad _ demo   carla _ ad _ demo _ with _ scenario . launch . py   \u5728   RVIZ   Carla   \u63d2\u4ef6 \u4e2d \u9009\u62e9 \u793a\u4f8b \u573a\u666f \u201c FollowLeadingVehicle \u201d \uff0c \u7136\u540e \u6309 \u201c \u6267\u884c \u201d \u3002 \u81ea\u6211 \u8f66\u8f86 \u91cd\u65b0 \u5b9a\u4f4d \u5e76 \u5904\u7406 \u573a\u666f \u3002   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u53d1\u5e03 \u5230   / carla / available _ scenarios   \u6765 \u6307\u5b9a \u81ea\u5df1 \u7684 \u573a\u666f \u3002   \u542f\u52a8 \u6587\u4ef6   \u663e\u793a \u4e86 \u5982\u4f55 \u6267\u884c \u6b64 \u64cd\u4f5c \u7684 \u793a\u4f8b \uff1a   < node   pkg = \" rostopic \"   type = \" rostopic \"   name = \" publish _ scenarios \"   args = \" pub   / carla / available _ scenarios   carla _ ros _ scenario _ runner _ types / CarlaScenarioList   ' {   ' scenarios ' :   [   {   ' name ' :   ' FollowLeadingVehicle ' ,   ' scenario _ file ' :   ' $ ( find   carla _ ad _ demo ) / config / FollowLeadingVehicle . xosc '   }   ]   } '   - l \" / >","title":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6f14\u793a"},{"location":"carla_ad_demo/#carla","text":"\u81ea\u52a8 \u9a7e\u9a76   \u662f \u4e00\u4e2a \u793a\u4f8b \u5305 \uff0c \u63d0\u4f9b \u4f7f\u7528 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u542f\u52a8   Carla   ROS   \u73af\u5883 \u6240 \u9700 \u7684 \u4e00\u5207 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u8fd0\u884c \u6f14\u793a   \u968f\u673a \u8def\u7ebf   \u573a\u666f \u6267\u884c","title":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6f14\u793a"},{"location":"carla_ad_demo/#_1","text":"\u5b89\u88c5   Scenario   Runner   \u5e76 \u6309\u7167   Scenario   Runner   \u5165\u95e8 \u6559\u7a0b \u5165\u95e8\u6559\u7a0b   \u9a8c\u8bc1 \u5176 \u662f\u5426 \u6b63\u5e38 \u5de5\u4f5c \u3002   \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u4ee5 \u67e5\u627e   Scenario   Runner   \u5b89\u88c5 \uff1a   export   SCENARIO _ RUNNER _ PATH = < path _ to _ scenario _ runner >","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"carla_ad_demo/#_2","text":"","title":"\u8fd0\u884c \u6f14\u793a  "},{"location":"carla_ad_demo/#_3","text":"\u8981 \u542f\u52a8 \u81ea\u6211 \u8f66\u8f86 \u9075\u5faa \u968f\u673a \u751f\u6210 \u7684 \u8def\u7ebf \u7684 \u6f14\u793a \uff0c \u8bf7 \u5728 \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   ROS   1   roslaunch   carla _ ad _ demo   carla _ ad _ demo . launch   #   ROS   2   ros2   launch   carla _ ad _ demo   carla _ ad _ demo . launch . py   \u60a8 \u8fd8 \u53ef\u4ee5 \u901a\u8fc7 \u5728 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u4e2d \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u751f\u6210 \u66f4 \u591a \u8f66\u8f86 \u6216 \u884c\u4eba \uff1a   cd   < CARLA _ PATH > / PythonAPI / examples /   python3   spawn _ npc . py","title":"\u968f\u673a \u8def\u7ebf  "},{"location":"carla_ad_demo/#_4","text":"\u8981 \u4f7f\u7528 \u9884\u5b9a \u4e49 \u573a\u666f \u6267\u884c \u6f14\u793a \uff0c \u8bf7 \u5728 \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   ROS1   roslaunch   carla _ ad _ demo   carla _ ad _ demo _ with _ scenario . launch   #   ROS2   ros2   launch   carla _ ad _ demo   carla _ ad _ demo _ with _ scenario . launch . py   \u5728   RVIZ   Carla   \u63d2\u4ef6 \u4e2d \u9009\u62e9 \u793a\u4f8b \u573a\u666f \u201c FollowLeadingVehicle \u201d \uff0c \u7136\u540e \u6309 \u201c \u6267\u884c \u201d \u3002 \u81ea\u6211 \u8f66\u8f86 \u91cd\u65b0 \u5b9a\u4f4d \u5e76 \u5904\u7406 \u573a\u666f \u3002   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u53d1\u5e03 \u5230   / carla / available _ scenarios   \u6765 \u6307\u5b9a \u81ea\u5df1 \u7684 \u573a\u666f \u3002   \u542f\u52a8 \u6587\u4ef6   \u663e\u793a \u4e86 \u5982\u4f55 \u6267\u884c \u6b64 \u64cd\u4f5c \u7684 \u793a\u4f8b \uff1a   < node   pkg = \" rostopic \"   type = \" rostopic \"   name = \" publish _ scenarios \"   args = \" pub   / carla / available _ scenarios   carla _ ros _ scenario _ runner _ types / CarlaScenarioList   ' {   ' scenarios ' :   [   {   ' name ' :   ' FollowLeadingVehicle ' ,   ' scenario _ file ' :   ' $ ( find   carla _ ad _ demo ) / config / FollowLeadingVehicle . xosc '   }   ]   } '   - l \" / >","title":"\u573a\u666f \u6267\u884c  "},{"location":"carla_design/","text":"Carla   \u8bbe\u8ba1   \u672c \u6587\u6863 \u5c1a \u5728 \u7f16\u5199 \u4e2d \uff0c \u53ef\u80fd \u4e0d \u5b8c\u6574 \u3002   Carla \u7531 \u4ee5\u4e0b \u6a21\u5757 \u7ec4\u6210   \u5ba2\u6237 \u5ba2\u6237\u7aef   Python   \u5ba2\u6237 \u5ba2\u6237\u7aef   API \uff1a \u201c PythonClient / carla \u201d   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef   CarlaUE4   \u865a\u5e7b \u5f15\u64ce \u9879\u76ee \uff1a \u201c Unreal / CarlaUE4 \u201d   \u865a\u5e7b \u5f15\u64ce \u7684   Carla   \u63d2\u4ef6 \uff1a \u201c Unreal / CarlaUE4 / Plugins / Carla \u201d   Carla \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff1a \u201c Util / CarlaServer \u201d   \u7b14\u8bb0   \u901a\u8fc7 \u5728   Carla   \u9879\u76ee \u4e3b \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c   Doxygen   \u53ef\u4ee5 \u751f\u6210   C++   \u4ee3\u7801 \u7684 \u6587\u6863   \u3002   Python   \u5ba2\u6237 \u5ba2\u6237\u7aef   API   \u5ba2\u6237 \u5ba2\u6237\u7aef   API   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u7528\u4e8e \u4e0e   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u7684   Python   \u6a21\u5757 \u3002 \u5728 \u201c PythonClient \u201d \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u6211\u4eec \u63d0\u4f9b \u4e86 \u51e0\u4e2a \u4f7f\u7528 \u201c carla \u201d \u6a21\u5757 \u7f16\u5199   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u811a\u672c \u7684 \u793a\u4f8b \u3002   CarlaUE4   \u865a\u5e7b \u5f15\u64ce \u9879\u76ee   Unreal   \u9879\u76ee \u201c CarlaUE4 \u201d \u5305\u542b \u751f\u6210   Carla   \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u7684 \u6240\u6709 \u8d44\u4ea7 \u548c \u573a\u666f \u3002 \u5b83 \u4f7f\u7528   Carla   \u63d2\u4ef6 \u63d0\u4f9b \u7684 \u5de5\u5177 \u6765 \u7ec4\u88c5 \u573a\u666f \u4e2d \u7684 \u57ce\u5e02 \u548c \u4ee3\u7406 \u7684 \u884c\u4e3a \u3002   \u865a\u5e7b \u5f15\u64ce \u7684   Carla   \u63d2\u4ef6   Carla   \u63d2\u4ef6 \u5305\u542b   Carla   \u7684 \u6240\u6709 \u529f\u80fd \u3002 \u6211\u4eec \u5c1d\u8bd5 \u5c06 \u6b64 \u529f\u80fd \u4e0e \u8d44\u4ea7 \u5206\u5f00 \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u5728 \u4efb\u4f55 \u865a\u5e7b \u5f15\u64ce \u9879\u76ee \u4e2d \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u591a\u5730 \u4f7f\u7528 \u6b64 \u63d2\u4ef6 \u4e2d \u7684 \u529f\u80fd \u3002   \u5b83 \u4f7f\u7528 \u201c CarlaServer \u201d \u5e93 \u8fdb\u884c \u7f51\u7edc \u901a\u4fe1 \u7f51\u7edc\u901a\u4fe1 \u3002   CarlaServer   \u7528\u4e8e \u7f51\u7edc \u901a\u4fe1 \u7f51\u7edc\u901a\u4fe1 \u7684 \u5916\u90e8 \u5e93 \u3002   \u6709\u5173 \u5b9e\u65bd \u7ec6\u8282 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u201c   CarlaServer   \u201d   \u3002","title":"Carla   \u8bbe\u8ba1"},{"location":"carla_design/#carla","text":"\u672c \u6587\u6863 \u5c1a \u5728 \u7f16\u5199 \u4e2d \uff0c \u53ef\u80fd \u4e0d \u5b8c\u6574 \u3002   Carla \u7531 \u4ee5\u4e0b \u6a21\u5757 \u7ec4\u6210   \u5ba2\u6237 \u5ba2\u6237\u7aef   Python   \u5ba2\u6237 \u5ba2\u6237\u7aef   API \uff1a \u201c PythonClient / carla \u201d   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef   CarlaUE4   \u865a\u5e7b \u5f15\u64ce \u9879\u76ee \uff1a \u201c Unreal / CarlaUE4 \u201d   \u865a\u5e7b \u5f15\u64ce \u7684   Carla   \u63d2\u4ef6 \uff1a \u201c Unreal / CarlaUE4 / Plugins / Carla \u201d   Carla \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff1a \u201c Util / CarlaServer \u201d   \u7b14\u8bb0   \u901a\u8fc7 \u5728   Carla   \u9879\u76ee \u4e3b \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c   Doxygen   \u53ef\u4ee5 \u751f\u6210   C++   \u4ee3\u7801 \u7684 \u6587\u6863   \u3002","title":"Carla   \u8bbe\u8ba1"},{"location":"carla_design/#python-api","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef   API   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u7528\u4e8e \u4e0e   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u7684   Python   \u6a21\u5757 \u3002 \u5728 \u201c PythonClient \u201d \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u6211\u4eec \u63d0\u4f9b \u4e86 \u51e0\u4e2a \u4f7f\u7528 \u201c carla \u201d \u6a21\u5757 \u7f16\u5199   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u811a\u672c \u7684 \u793a\u4f8b \u3002","title":"Python   \u5ba2\u6237\u7aef   API"},{"location":"carla_design/#carlaue4","text":"Unreal   \u9879\u76ee \u201c CarlaUE4 \u201d \u5305\u542b \u751f\u6210   Carla   \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u7684 \u6240\u6709 \u8d44\u4ea7 \u548c \u573a\u666f \u3002 \u5b83 \u4f7f\u7528   Carla   \u63d2\u4ef6 \u63d0\u4f9b \u7684 \u5de5\u5177 \u6765 \u7ec4\u88c5 \u573a\u666f \u4e2d \u7684 \u57ce\u5e02 \u548c \u4ee3\u7406 \u7684 \u884c\u4e3a \u3002","title":"CarlaUE4   \u865a\u5e7b \u5f15\u64ce \u9879\u76ee"},{"location":"carla_design/#carla_1","text":"Carla   \u63d2\u4ef6 \u5305\u542b   Carla   \u7684 \u6240\u6709 \u529f\u80fd \u3002 \u6211\u4eec \u5c1d\u8bd5 \u5c06 \u6b64 \u529f\u80fd \u4e0e \u8d44\u4ea7 \u5206\u5f00 \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u5728 \u4efb\u4f55 \u865a\u5e7b \u5f15\u64ce \u9879\u76ee \u4e2d \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u591a\u5730 \u4f7f\u7528 \u6b64 \u63d2\u4ef6 \u4e2d \u7684 \u529f\u80fd \u3002   \u5b83 \u4f7f\u7528 \u201c CarlaServer \u201d \u5e93 \u8fdb\u884c \u7f51\u7edc \u901a\u4fe1 \u7f51\u7edc\u901a\u4fe1 \u3002","title":"\u865a\u5e7b \u5f15\u64ce \u7684   Carla   \u63d2\u4ef6"},{"location":"carla_design/#carlaserver","text":"\u7528\u4e8e \u7f51\u7edc \u901a\u4fe1 \u7f51\u7edc\u901a\u4fe1 \u7684 \u5916\u90e8 \u5e93 \u3002   \u6709\u5173 \u5b9e\u65bd \u7ec6\u8282 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u201c   CarlaServer   \u201d   \u3002","title":"CarlaServer"},{"location":"carla_headless/","text":"\u65e0 \u663e\u793a \u663e\u793a\u5c4f \u8fd0\u884c   CARLA   \u5e76 \u9009\u62e9   GPU   \u7b14\u8bb0   \u53c2\u9605 \u8bf7\u53c2\u9605   # 225   \u4e86\u89e3 \u66ff\u4ee3 \u65b9\u6cd5 \u3002   \u672c \u6559\u7a0b \u9002\u7528 \u4e8e   \u62e5\u6709 \u591a \u5f20   nvidia   \u663e\u5361 \u5e76 \u5e0c\u671b \u5728 \u6240\u6709   GPU   \u4e0a \u6709\u6548 \u4f7f\u7528   CARLA   \u7684 \u8fdc\u7a0b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7528\u6237 \u3002   \u60f3\u8981 \u4f7f\u7528 \u672a \u63d2 \u5728 \u5c4f\u5e55 \u4e0a \u7684 GPU \u6765 \u6e32\u67d3 CARLA \u7684 \u684c\u9762 \u7528\u6237 \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \u4f60 \u5c06 \u5b66\u4e60   \u5982\u4f55 \u914d\u7f6e \u60a8 \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u8ba9   nvidia   \u5728 \u672a \u8fde\u63a5 \u663e\u793a \u663e\u793a\u5668 \u7684 \u60c5\u51b5 \u4e0b \u8fdb\u884c \u6e32\u67d3 \u3002   \u5982\u4f55 \u4f7f\u7528   VNC   +   VGL   \u6a21\u62df \u8fde\u63a5 \u5230 \u60a8 \u673a\u5668 \u4e2d \u4efb\u4f55   GPU   \u7684 \u663e\u793a \u663e\u793a\u5668 \u3002   \u6700\u540e \uff0c \u5982\u4f55 \u5728 \u6b64 \u73af\u5883 \u8fd0\u884c \u73af\u5883\u4e2d\u8fd0\u884c   CARLA   \u672c \u6559\u7a0b \u5728   Ubuntu   16.04   \u4e2d \u4f7f\u7528   NVIDIA   384.11   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u8fdb\u884c \u4e86 \u6d4b\u8bd5 \u3002   \u51c6\u5907 \u5de5\u4f5c   \u60a8 \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e2d \u9700\u8981 \u5148 \u8fd0\u884c \u4e00\u4e9b \u7a0b\u5e8f \u3002 \u6700\u65b0 \u7684   NVIDIA   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u3001 OpenGL \u3001 VirtualGL ( VGL ) \u3001 TurboVNC   2.11 \u3002   NVIDIA   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f   \u4e0b\u8f7d \u5e76 \u5b89\u88c5   NVIDIA   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f   \u4ee5\u53ca \u5178\u578b \u6559\u7a0b \u3002   OpenGL   Openg   GL   \u662f   Virtual   GL   \u6240 \u5fc5\u9700 \u7684 \u3002 \u901a\u5e38 \u53ef\u4ee5 \u901a\u8fc7   apt   \u5b89\u88c5   OpenGL \u3002   sudo   apt - get   install   freeglut3 - dev   mesa - utils   VGL   \u6309\u7167 \u672c \u6559\u7a0b \u5b89\u88c5   vgl \uff1a   \u5b89\u88c5   VGL   TurboVNC   \u6309\u7167 \u4ee5\u4e0b \u6559\u7a0b \u5b89\u88c5   TurboVNC   2.11 \uff1a   \u5b89\u88c5   TurboVNC   \u8b66\u544a \uff1a \u8bf7 \u8c28\u614e \u5b89\u88c5   VNC \uff0c \u56e0\u4e3a \u5b83 \u53ef\u80fd \u4e0e   Unreal   \u4e0d \u517c\u5bb9 \u3002 \u4e0a\u9762 \u7684 \u90a3\u4e2a \u662f \u552f\u4e00 \u5bf9 \u6211 \u6709\u7528 \u7684 \u3002   \u989d\u5916 \u7684 \u5305   \u8fd9\u4e9b \u989d\u5916 \u7684 \u5305 \u5bf9\u4e8e \u865a\u5e7b \u5f15\u64ce \u7684 \u8fd0\u884c \u662f \u5fc5\u9700 \u7684 \u3002   ` ` ` shell   script   sudo   apt   install   x11 - xserver - utils   libxrandr - dev   ###   \u914d\u7f6e \u4f60 \u7684   X   \u60a8 \u5fc5\u987b \u751f\u6210 \u4e0e \u60a8 \u7684   nvdia   \u517c\u5bb9 \u7684   X \uff0c \u5e76\u4e14 \u517c\u5bb9 \u5728 \u65e0 \u663e\u793a \u7684 \u60c5\u51b5 \u4e0b \u8fd0\u884c \u3002 \u4e3a\u6b64 \uff0c \u4ee5\u4e0b \u547d\u4ee4 \u6709\u6548 \uff1a   ` ` ` shell   script   sudo   nvidia - xconfig   - a   -- use - display - device = None   -- virtual = 1280x1024   \u6a21\u62df \u865a\u62df \u663e\u793a   \u8fd0\u884c \u4f60 \u81ea\u5df1 \u7684   Xorg \u3002 \u8fd9\u91cc \u6211 \u4f7f\u7528 \u6570\u5b57   7 \uff0c \u4f46 \u5b83 \u53ef\u4ee5 \u6807\u8bb0 \u4e3a \u4efb\u4f55 \u81ea\u7531 \u6570\u5b57   ` ` ` shell   script   sudo   nohup   Xorg   : 7   &   \u8fd0\u884c \u8f85\u52a9 \u8fdc\u7a0b   VNC - Xserver \u3002 \u8fd9 \u5c06 \u521b\u5efa \u865a\u62df \u663e\u793a \u663e\u793a\u5668 \u201c 8 \u201d \u3002   ` ` ` shell   script   / opt / TurboVNC / bin / vncserver   : 8   \u5982\u679c \u4e00\u5207 \u6b63\u5e38 \u4e00\u5207\u6b63\u5e38 \uff0c \u4ee5\u4e0b \u547d\u4ee4 \u5e94\u8be5 \u53ef\u4ee5 \u987a\u5229 \u8fd0\u884c \u3002   ` ` ` shell   script   DISPLAY = : 8   vglrun   - d   : 7.0   glxinfo   \u6ce8\u610f \u3002 \u8fd9 \u5c06 \u5728   Xserver   7 \u3001 \u8bbe\u5907   0   \u4e0a \u8fd0\u884c   glxinfo \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u60a8 \u6b63\u5728 \u9009\u62e9 \u673a\u5668 \u4e0a \u7684   GPU   0 \u3002 \u8981 \u5728 \u5176\u4ed6   GPU \uff08 \u4f8b\u5982   GPU   1 \uff09 \u4e0a \u8fd0\u884c \uff0c \u8bf7 \u8fd0\u884c \uff1a   ` ` ` shell   script   DISPLAY = : 8   vglrun   - d   : 7.1   glxinfo   \u989d\u5916 \u7684   \u5982\u679c \u60a8 \u5e0c\u671b \u5728 \u521b\u5efa \u201c nohup   Xorg \u201d \u65f6 \u7981\u7528   sudo \uff0c \u8bf7 \u8f6c\u5230 \u201c / etc / X11 / Xwrapper . config \u201d \u6587\u4ef6 \u5e76 \u5c06 \u201c allowed _ users = console \u201d \u66f4 \u6539\u4e3a \u201c allowed _ users = anybody \u201d   \u5728 \u8fd0\u884c   nohup   Xorg   \u4e4b\u524d \u53ef\u80fd \u9700\u8981 \u505c\u6b62 \u6240\u6709   Xorg   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u8be5 \u547d\u4ee4 \u53ef\u80fd \u56e0 \u60a8 \u7684 \u7cfb\u7edf \u800c\u5f02 \u3002 \u901a\u5e38 \u5bf9\u4e8e   Ubuntu   16.04 \uff0c \u60a8 \u5e94\u8be5 \u4f7f\u7528 \uff1a   ` ` ` shell   script   sudo   service   lightdm   stop   ##   \u8fd0\u884c   CARLA   \u73b0\u5728 \uff0c \u6700\u540e \uff0c \u8981 \u5728 \u67d0\u4e2a   $ CARLA _ PATH   \u4e2d \u7684 \u67d0\u4e2a   gpu _ number   \u4e0a \u8fd0\u884c   CARLA \uff0c \u8bf7 \u8fd0\u884c \u3002   ` ` ` shell   script   DISPLAY = : 8   vglrun   - d   : 7 . < gpu _ number >   $ CARLA _ PATH / CarlaUE4 / Binaries / Linux / CarlaUE4","title":"\u65e0 \u663e\u793a\u5c4f \u8fd0\u884c   CARLA   \u5e76 \u9009\u62e9   GPU"},{"location":"carla_headless/#carla-gpu","text":"\u7b14\u8bb0   \u53c2\u9605 \u8bf7\u53c2\u9605   # 225   \u4e86\u89e3 \u66ff\u4ee3 \u65b9\u6cd5 \u3002   \u672c \u6559\u7a0b \u9002\u7528 \u4e8e   \u62e5\u6709 \u591a \u5f20   nvidia   \u663e\u5361 \u5e76 \u5e0c\u671b \u5728 \u6240\u6709   GPU   \u4e0a \u6709\u6548 \u4f7f\u7528   CARLA   \u7684 \u8fdc\u7a0b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7528\u6237 \u3002   \u60f3\u8981 \u4f7f\u7528 \u672a \u63d2 \u5728 \u5c4f\u5e55 \u4e0a \u7684 GPU \u6765 \u6e32\u67d3 CARLA \u7684 \u684c\u9762 \u7528\u6237 \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \u4f60 \u5c06 \u5b66\u4e60   \u5982\u4f55 \u914d\u7f6e \u60a8 \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u8ba9   nvidia   \u5728 \u672a \u8fde\u63a5 \u663e\u793a \u663e\u793a\u5668 \u7684 \u60c5\u51b5 \u4e0b \u8fdb\u884c \u6e32\u67d3 \u3002   \u5982\u4f55 \u4f7f\u7528   VNC   +   VGL   \u6a21\u62df \u8fde\u63a5 \u5230 \u60a8 \u673a\u5668 \u4e2d \u4efb\u4f55   GPU   \u7684 \u663e\u793a \u663e\u793a\u5668 \u3002   \u6700\u540e \uff0c \u5982\u4f55 \u5728 \u6b64 \u73af\u5883 \u8fd0\u884c \u73af\u5883\u4e2d\u8fd0\u884c   CARLA   \u672c \u6559\u7a0b \u5728   Ubuntu   16.04   \u4e2d \u4f7f\u7528   NVIDIA   384.11   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u8fdb\u884c \u4e86 \u6d4b\u8bd5 \u3002","title":"\u65e0 \u663e\u793a\u5c4f \u8fd0\u884c   CARLA   \u5e76 \u9009\u62e9   GPU"},{"location":"carla_headless/#_1","text":"\u60a8 \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e2d \u9700\u8981 \u5148 \u8fd0\u884c \u4e00\u4e9b \u7a0b\u5e8f \u3002 \u6700\u65b0 \u7684   NVIDIA   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u3001 OpenGL \u3001 VirtualGL ( VGL ) \u3001 TurboVNC   2.11 \u3002","title":"\u51c6\u5907 \u5de5\u4f5c"},{"location":"carla_headless/#nvidia","text":"\u4e0b\u8f7d \u5e76 \u5b89\u88c5   NVIDIA   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f   \u4ee5\u53ca \u5178\u578b \u6559\u7a0b \u3002","title":"NVIDIA   \u9a71\u52a8\u7a0b\u5e8f"},{"location":"carla_headless/#opengl","text":"Openg   GL   \u662f   Virtual   GL   \u6240 \u5fc5\u9700 \u7684 \u3002 \u901a\u5e38 \u53ef\u4ee5 \u901a\u8fc7   apt   \u5b89\u88c5   OpenGL \u3002   sudo   apt - get   install   freeglut3 - dev   mesa - utils","title":"OpenGL"},{"location":"carla_headless/#vgl","text":"\u6309\u7167 \u672c \u6559\u7a0b \u5b89\u88c5   vgl \uff1a   \u5b89\u88c5   VGL","title":"VGL"},{"location":"carla_headless/#turbovnc","text":"\u6309\u7167 \u4ee5\u4e0b \u6559\u7a0b \u5b89\u88c5   TurboVNC   2.11 \uff1a   \u5b89\u88c5   TurboVNC   \u8b66\u544a \uff1a \u8bf7 \u8c28\u614e \u5b89\u88c5   VNC \uff0c \u56e0\u4e3a \u5b83 \u53ef\u80fd \u4e0e   Unreal   \u4e0d \u517c\u5bb9 \u3002 \u4e0a\u9762 \u7684 \u90a3\u4e2a \u662f \u552f\u4e00 \u5bf9 \u6211 \u6709\u7528 \u7684 \u3002","title":"TurboVNC"},{"location":"carla_headless/#_2","text":"\u8fd9\u4e9b \u989d\u5916 \u7684 \u5305 \u5bf9\u4e8e \u865a\u5e7b \u5f15\u64ce \u7684 \u8fd0\u884c \u662f \u5fc5\u9700 \u7684 \u3002   ` ` ` shell   script   sudo   apt   install   x11 - xserver - utils   libxrandr - dev   ###   \u914d\u7f6e \u4f60 \u7684   X   \u60a8 \u5fc5\u987b \u751f\u6210 \u4e0e \u60a8 \u7684   nvdia   \u517c\u5bb9 \u7684   X \uff0c \u5e76\u4e14 \u517c\u5bb9 \u5728 \u65e0 \u663e\u793a \u7684 \u60c5\u51b5 \u4e0b \u8fd0\u884c \u3002 \u4e3a\u6b64 \uff0c \u4ee5\u4e0b \u547d\u4ee4 \u6709\u6548 \uff1a   ` ` ` shell   script   sudo   nvidia - xconfig   - a   -- use - display - device = None   -- virtual = 1280x1024","title":"\u989d\u5916 \u7684 \u5305"},{"location":"carla_headless/#_3","text":"\u8fd0\u884c \u4f60 \u81ea\u5df1 \u7684   Xorg \u3002 \u8fd9\u91cc \u6211 \u4f7f\u7528 \u6570\u5b57   7 \uff0c \u4f46 \u5b83 \u53ef\u4ee5 \u6807\u8bb0 \u4e3a \u4efb\u4f55 \u81ea\u7531 \u6570\u5b57   ` ` ` shell   script   sudo   nohup   Xorg   : 7   &   \u8fd0\u884c \u8f85\u52a9 \u8fdc\u7a0b   VNC - Xserver \u3002 \u8fd9 \u5c06 \u521b\u5efa \u865a\u62df \u663e\u793a \u663e\u793a\u5668 \u201c 8 \u201d \u3002   ` ` ` shell   script   / opt / TurboVNC / bin / vncserver   : 8   \u5982\u679c \u4e00\u5207 \u6b63\u5e38 \u4e00\u5207\u6b63\u5e38 \uff0c \u4ee5\u4e0b \u547d\u4ee4 \u5e94\u8be5 \u53ef\u4ee5 \u987a\u5229 \u8fd0\u884c \u3002   ` ` ` shell   script   DISPLAY = : 8   vglrun   - d   : 7.0   glxinfo   \u6ce8\u610f \u3002 \u8fd9 \u5c06 \u5728   Xserver   7 \u3001 \u8bbe\u5907   0   \u4e0a \u8fd0\u884c   glxinfo \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u60a8 \u6b63\u5728 \u9009\u62e9 \u673a\u5668 \u4e0a \u7684   GPU   0 \u3002 \u8981 \u5728 \u5176\u4ed6   GPU \uff08 \u4f8b\u5982   GPU   1 \uff09 \u4e0a \u8fd0\u884c \uff0c \u8bf7 \u8fd0\u884c \uff1a   ` ` ` shell   script   DISPLAY = : 8   vglrun   - d   : 7.1   glxinfo","title":"\u6a21\u62df \u865a\u62df \u663e\u793a"},{"location":"carla_headless/#_4","text":"\u5982\u679c \u60a8 \u5e0c\u671b \u5728 \u521b\u5efa \u201c nohup   Xorg \u201d \u65f6 \u7981\u7528   sudo \uff0c \u8bf7 \u8f6c\u5230 \u201c / etc / X11 / Xwrapper . config \u201d \u6587\u4ef6 \u5e76 \u5c06 \u201c allowed _ users = console \u201d \u66f4 \u6539\u4e3a \u201c allowed _ users = anybody \u201d   \u5728 \u8fd0\u884c   nohup   Xorg   \u4e4b\u524d \u53ef\u80fd \u9700\u8981 \u505c\u6b62 \u6240\u6709   Xorg   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u8be5 \u547d\u4ee4 \u53ef\u80fd \u56e0 \u60a8 \u7684 \u7cfb\u7edf \u800c\u5f02 \u3002 \u901a\u5e38 \u5bf9\u4e8e   Ubuntu   16.04 \uff0c \u60a8 \u5e94\u8be5 \u4f7f\u7528 \uff1a   ` ` ` shell   script   sudo   service   lightdm   stop   ##   \u8fd0\u884c   CARLA   \u73b0\u5728 \uff0c \u6700\u540e \uff0c \u8981 \u5728 \u67d0\u4e2a   $ CARLA _ PATH   \u4e2d \u7684 \u67d0\u4e2a   gpu _ number   \u4e0a \u8fd0\u884c   CARLA \uff0c \u8bf7 \u8fd0\u884c \u3002   ` ` ` shell   script   DISPLAY = : 8   vglrun   - d   : 7 . < gpu _ number >   $ CARLA _ PATH / CarlaUE4 / Binaries / Linux / CarlaUE4","title":"\u989d\u5916 \u7684"},{"location":"carla_manual_control/","text":"Carla   \u624b\u52a8 \u63a7\u5236   CARLA   \u624b\u52a8 \u63a7\u5236 \u5305   \u662f \u4e0e   Carla   \u4e00\u8d77 \u6253\u5305 \u7684   manual _ control . py   \u811a\u672c \u7684 \u4ec5   ROS   \u7248\u672c \u3002 \u6240\u6709 \u6570\u636e \u5747 \u901a\u8fc7   ROS   \u4e3b\u9898 \u63a5\u6536 \u3002   \u9700\u6c42   \u8fd0\u884c \u5305   \u9700\u6c42   \u4e3a\u4e86 \u80fd\u591f \u4f7f\u7528   carla _ manual _ control   \uff0c \u9700\u8981 \u5c06 \u4e00\u4e9b \u7279\u5b9a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fde\u63a5 \u5230 \u81ea\u6211 \u8f66\u8f86 \uff08 \u6709\u5173 \u5982\u4f55 \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u7684 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Carla   \u751f\u6210 \u5bf9\u8c61   \u5bf9\u8c61 \uff09 \uff1a   to   display   an   image   :   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u4e3a   rgb _ view   \u548c \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u4e3a   800x600   \u7684 \u76f8\u673a \u3002   to   display   the   current   position   :   \u5177\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0   gnss   \u7684 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u5177\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d   odometry   \u7684 \u91cc\u7a0b \u91cc\u7a0b\u8ba1 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   to   get   a   notification   on   lane   invasions   :   \u5177\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d   lane _ invasion   \u7684 \u538b\u7ebf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   to   get   a   notification   on   collisons   :   \u5177\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d   collision   \u7684 \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u8fd0\u884c \u5305   \u8981 \u8fd0\u884c \u5305 \uff1a   1 .   \u786e\u4fdd   Carla   \u6b63\u5728 \u8fd0\u884c \u3002 \u542f\u52a8   ROS   \u6865 \uff1a   #   ROS   1   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge . launch   #   ROS   2   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge . launch . py   2 .   \u751f\u6210 \u5bf9\u8c61 \uff1a   #   ROS   1   roslaunch   carla _ spawn _ objects   carla _ spawn _ objects . launch   #   ROS   2   ros2   launch   carla _ spawn _ objects   carla _ spawn _ objects . launch . py   3 .   \u542f\u52a8   carla _ manual _ control   \u8282\u70b9 \uff1a   #   ROS   1   roslaunch   carla _ manual _ control   carla _ manual _ control . launch   #   ROS   2   ros2   launch   carla _ manual _ control   carla _ manual _ control . launch . py   4 .   \u8981 \u624b\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \uff0c \u8bf7 \u6309 \u201c B \u201d \u3002 \u6309 \u201c H \u201d \u67e5\u770b \u8bf4\u660e \u3002   \u6216\u8005 \uff0c \u5c06 \u4e0a\u8ff0 \u6240\u6709 \u547d\u4ee4 \u7ec4\u5408 \u5408\u6210 \u7ec4\u5408\u6210 \u4e00\u4e2a \u5355\u72ec \u7684 \u542f\u52a8 \u6587\u4ef6 \uff0c \u5e76 \u53ef\u4ee5 \u901a\u8fc7 \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \u540c\u65f6 \u8fd0\u884c \uff1a   #   ROS   1   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch   #   ROS   2   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch . py","title":"Carla   \u624b\u52a8 \u63a7\u5236"},{"location":"carla_manual_control/#carla","text":"CARLA   \u624b\u52a8 \u63a7\u5236 \u5305   \u662f \u4e0e   Carla   \u4e00\u8d77 \u6253\u5305 \u7684   manual _ control . py   \u811a\u672c \u7684 \u4ec5   ROS   \u7248\u672c \u3002 \u6240\u6709 \u6570\u636e \u5747 \u901a\u8fc7   ROS   \u4e3b\u9898 \u63a5\u6536 \u3002   \u9700\u6c42   \u8fd0\u884c \u5305","title":"Carla   \u624b\u52a8 \u63a7\u5236"},{"location":"carla_manual_control/#_1","text":"\u4e3a\u4e86 \u80fd\u591f \u4f7f\u7528   carla _ manual _ control   \uff0c \u9700\u8981 \u5c06 \u4e00\u4e9b \u7279\u5b9a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fde\u63a5 \u5230 \u81ea\u6211 \u8f66\u8f86 \uff08 \u6709\u5173 \u5982\u4f55 \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u7684 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Carla   \u751f\u6210 \u5bf9\u8c61   \u5bf9\u8c61 \uff09 \uff1a   to   display   an   image   :   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u4e3a   rgb _ view   \u548c \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u4e3a   800x600   \u7684 \u76f8\u673a \u3002   to   display   the   current   position   :   \u5177\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0   gnss   \u7684 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u5177\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d   odometry   \u7684 \u91cc\u7a0b \u91cc\u7a0b\u8ba1 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   to   get   a   notification   on   lane   invasions   :   \u5177\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d   lane _ invasion   \u7684 \u538b\u7ebf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   to   get   a   notification   on   collisons   :   \u5177\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d   collision   \u7684 \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002","title":"\u9700\u6c42  "},{"location":"carla_manual_control/#_2","text":"\u8981 \u8fd0\u884c \u5305 \uff1a   1 .   \u786e\u4fdd   Carla   \u6b63\u5728 \u8fd0\u884c \u3002 \u542f\u52a8   ROS   \u6865 \uff1a   #   ROS   1   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge . launch   #   ROS   2   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge . launch . py   2 .   \u751f\u6210 \u5bf9\u8c61 \uff1a   #   ROS   1   roslaunch   carla _ spawn _ objects   carla _ spawn _ objects . launch   #   ROS   2   ros2   launch   carla _ spawn _ objects   carla _ spawn _ objects . launch . py   3 .   \u542f\u52a8   carla _ manual _ control   \u8282\u70b9 \uff1a   #   ROS   1   roslaunch   carla _ manual _ control   carla _ manual _ control . launch   #   ROS   2   ros2   launch   carla _ manual _ control   carla _ manual _ control . launch . py   4 .   \u8981 \u624b\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \uff0c \u8bf7 \u6309 \u201c B \u201d \u3002 \u6309 \u201c H \u201d \u67e5\u770b \u8bf4\u660e \u3002   \u6216\u8005 \uff0c \u5c06 \u4e0a\u8ff0 \u6240\u6709 \u547d\u4ee4 \u7ec4\u5408 \u5408\u6210 \u7ec4\u5408\u6210 \u4e00\u4e2a \u5355\u72ec \u7684 \u542f\u52a8 \u6587\u4ef6 \uff0c \u5e76 \u53ef\u4ee5 \u901a\u8fc7 \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \u540c\u65f6 \u8fd0\u884c \uff1a   #   ROS   1   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch   #   ROS   2   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch . py","title":"\u8fd0\u884c \u5305  "},{"location":"carla_plugin/","text":"\u865a\u5e7b \u5f15\u64ce \u7684   Carla   \u63d2\u4ef6   \u5404\u4e2a \u7c7b \u7684 \u7ee7\u627f \u5173\u7cfb \u56fe \uff1a   C++ \u6587\u6863","title":"Carla   plugin"},{"location":"carla_plugin/#carla","text":"\u5404\u4e2a \u7c7b \u7684 \u7ee7\u627f \u5173\u7cfb \u56fe \uff1a   C++ \u6587\u6863","title":"\u865a\u5e7b \u5f15\u64ce \u7684   Carla   \u63d2\u4ef6"},{"location":"carla_ros_scenario_runner/","text":"Carla   ROS   Scenario   Runner   The   CARLA   ROS   Scenario   Runner   \u5305   \u662f \u4e00\u4e2a \u5305\u88c5 \u5668 \uff0c \u7528\u4e8e \u901a\u8fc7   ROS   \u4f7f\u7528   CARLA   Scenario   Runner   \u6267\u884c   OpenScenarios   \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u4f7f\u7528   ROS   Scenario   Runner   \u8fd0\u884c   ROS   Scenario   Runner   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u670d\u52a1   \u53d1\u5e03   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u6309\u7167   Scenario   Runner   \u5165\u95e8 \u201d \u6559\u7a0b   \u5b89\u88c5   Scenario   Runner \u3002   \u5b89\u88c5   Python   \u6a21\u5757   Pexpect   :   sudo   apt   install   python - pexpect   \u4f7f\u7528   ROS   Scenario   Runner   ROS   Scenario   Runner   \u6700\u597d \u5728   rviz _ carla _ plugin   \u4e2d \u4f7f\u7528 \u3002   \u7b14\u8bb0   \u76ee\u524d \u4e0d \u652f\u6301 \u66f4\u6539 \u5730\u56fe \u3002 \u6bcf\u4e2a \u573a\u666f \u90fd \u9700\u8981 \u4f7f\u7528 \u5f53\u524d \u6d3b\u52a8 \u7684 \u5730\u56fe \u3002   \u6b64\u5904   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u793a\u4f8b \u573a\u666f \u3002 \u7279\u522b \u91cd\u8981 \u7684 \u662f   ROS   \u63a7\u5236 \u63a7\u5236\u5668   \u7684 \u8bbe\u7f6e \uff1a   < Controller   name = \" EgoVehicleAgent \" >   < Properties >   < Property   name = \" module \"   value = \" carla _ ros _ scenario _ runner . ros _ vehicle _ control \"   / >   < Property   name = \" launch \"   value = \" carla _ ad _ agent . launch \" / >   < Property   name = \" launch - package \"   value = \" carla _ ad _ agent \" / >   < Property   name = \" path _ topic _ name \"   value = \" waypoints \" / >   < / Properties >   < / Controller >   \u4e0a\u9762 \u7684 \u4ee3\u7801 \u793a\u4f8b \u663e\u793a \u4e86 \u4e00\u4e2a \u6b63\u5728 \u542f\u52a8 \u7684   carla _ ad _ agent   \u5b9e\u4f8b \u3002 \u4efb\u4f55 \u9644\u52a0 \u5185\u5bb9   < Property >   \u90fd \u5e94 \u4f5c\u4e3a   ROS   \u53c2\u6570 \u9644\u52a0 \uff08 \u540d\u79f0 : = \u503c \uff09 \u3002   \u8fd0\u884c   ROS   Scenario   Runner   1 .   \u8fd0\u884c   ROS   Scenario   Runner   \u5305 \uff1a   #   ROS   1   roslaunch   carla _ ros _ scenario _ runner   carla _ ros _ scenario _ runner . launch   scenario _ runner _ path : = < path _ to _ scenario _ runner >   #   ROS   2   ros2   launch   carla _ ros _ scenario _ runner   carla _ ros _ scenario _ runner . launch . py   scenario _ runner _ path : = < path _ to _ scenario _ runner >   2 .   \u8fd0\u884c \u573a\u666f \uff1a   #   ROS   1   rosservice   call   / scenario _ runner / execute _ scenario   \" {   ' scenario ' :   {   ' scenario _ file ' :   ' < full _ path _ to _ openscenario _ file > '   }   } \"   #   ROS   2   ros2   service   call   / scenario _ runner / execute _ scenario   carla _ ros _ scenario _ runner _ types / srv / ExecuteScenario   \" {   ' scenario ' :   {   ' scenario _ file ' :   ' < full _ path _ to _ openscenario _ file > '   }   } \"   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u670d\u52a1   \u670d\u52a1   \u7c7b\u578b   \u63cf\u8ff0   / scenario _ runner / execute _ scenario   carla _ ros _ scenario _ runner _ types . ExecuteScenario   \u6267\u884c \u4e00\u4e2a \u573a\u666f \u3002 \u5982\u679c \u5f53\u524d \u6b63\u5728 \u8fd0\u884c \u53e6 \u4e00\u4e2a \u573a\u666f \uff0c \u5b83 \u5c06 \u505c\u6b62 \u3002   \u53d1\u5e03   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / scenario _ runner / status   carla _ ros _ scenario _ runner _ types . CarlaScenarioRunnerStatus   \u573a\u666f \u8fd0\u884c \u5668 \u6267\u884c \u7684 \u5f53\u524d \u72b6\u6001 \uff08 \u7531   rviz _ carla _ plugin   \u4f7f\u7528 \uff09   \u63a7\u5236 \u63a7\u5236\u5668   ros _ vehicle _ control   \u63d0\u4f9b \u4ee5\u4e0b \u4e3b\u9898 \uff1a   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / waypoints   nav _ msgs . Path   \u573a\u666f \u4e2d \u5b9a\u4e49 \u7684 \u8def\u5f84 \u3002 \u6ce8 \uff1a \u53ef\u4ee5 \u901a\u8fc7 \u4fee\u6539 \u53c2\u6570   path _ topic _ name   \u6765 \u66f4\u6539 \u4e3b\u9898 \u540d\u79f0   / carla / < ROLE   NAME > / target _ speed   std _ msgs . Float64   \u573a\u666f \u4e2d \u5b9a\u4e49 \u7684 \u76ee\u6807 \u901f\u5ea6","title":"Carla   ROS   Scenario   Runner"},{"location":"carla_ros_scenario_runner/#carla-ros-scenario-runner","text":"The   CARLA   ROS   Scenario   Runner   \u5305   \u662f \u4e00\u4e2a \u5305\u88c5 \u5668 \uff0c \u7528\u4e8e \u901a\u8fc7   ROS   \u4f7f\u7528   CARLA   Scenario   Runner   \u6267\u884c   OpenScenarios   \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u4f7f\u7528   ROS   Scenario   Runner   \u8fd0\u884c   ROS   Scenario   Runner   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u670d\u52a1   \u53d1\u5e03","title":"Carla   ROS   Scenario   Runner"},{"location":"carla_ros_scenario_runner/#_1","text":"\u6309\u7167   Scenario   Runner   \u5165\u95e8 \u201d \u6559\u7a0b   \u5b89\u88c5   Scenario   Runner \u3002   \u5b89\u88c5   Python   \u6a21\u5757   Pexpect   :   sudo   apt   install   python - pexpect","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"carla_ros_scenario_runner/#ros-scenario-runner","text":"ROS   Scenario   Runner   \u6700\u597d \u5728   rviz _ carla _ plugin   \u4e2d \u4f7f\u7528 \u3002   \u7b14\u8bb0   \u76ee\u524d \u4e0d \u652f\u6301 \u66f4\u6539 \u5730\u56fe \u3002 \u6bcf\u4e2a \u573a\u666f \u90fd \u9700\u8981 \u4f7f\u7528 \u5f53\u524d \u6d3b\u52a8 \u7684 \u5730\u56fe \u3002   \u6b64\u5904   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u793a\u4f8b \u573a\u666f \u3002 \u7279\u522b \u91cd\u8981 \u7684 \u662f   ROS   \u63a7\u5236 \u63a7\u5236\u5668   \u7684 \u8bbe\u7f6e \uff1a   < Controller   name = \" EgoVehicleAgent \" >   < Properties >   < Property   name = \" module \"   value = \" carla _ ros _ scenario _ runner . ros _ vehicle _ control \"   / >   < Property   name = \" launch \"   value = \" carla _ ad _ agent . launch \" / >   < Property   name = \" launch - package \"   value = \" carla _ ad _ agent \" / >   < Property   name = \" path _ topic _ name \"   value = \" waypoints \" / >   < / Properties >   < / Controller >   \u4e0a\u9762 \u7684 \u4ee3\u7801 \u793a\u4f8b \u663e\u793a \u4e86 \u4e00\u4e2a \u6b63\u5728 \u542f\u52a8 \u7684   carla _ ad _ agent   \u5b9e\u4f8b \u3002 \u4efb\u4f55 \u9644\u52a0 \u5185\u5bb9   < Property >   \u90fd \u5e94 \u4f5c\u4e3a   ROS   \u53c2\u6570 \u9644\u52a0 \uff08 \u540d\u79f0 : = \u503c \uff09 \u3002","title":"\u4f7f\u7528   ROS   Scenario   Runner  "},{"location":"carla_ros_scenario_runner/#ros-scenario-runner_1","text":"1 .   \u8fd0\u884c   ROS   Scenario   Runner   \u5305 \uff1a   #   ROS   1   roslaunch   carla _ ros _ scenario _ runner   carla _ ros _ scenario _ runner . launch   scenario _ runner _ path : = < path _ to _ scenario _ runner >   #   ROS   2   ros2   launch   carla _ ros _ scenario _ runner   carla _ ros _ scenario _ runner . launch . py   scenario _ runner _ path : = < path _ to _ scenario _ runner >   2 .   \u8fd0\u884c \u573a\u666f \uff1a   #   ROS   1   rosservice   call   / scenario _ runner / execute _ scenario   \" {   ' scenario ' :   {   ' scenario _ file ' :   ' < full _ path _ to _ openscenario _ file > '   }   } \"   #   ROS   2   ros2   service   call   / scenario _ runner / execute _ scenario   carla _ ros _ scenario _ runner _ types / srv / ExecuteScenario   \" {   ' scenario ' :   {   ' scenario _ file ' :   ' < full _ path _ to _ openscenario _ file > '   }   } \"","title":"\u8fd0\u884c   ROS   Scenario   Runner  "},{"location":"carla_ros_scenario_runner/#ros","text":"","title":"ROS   \u5e94\u7528 \u7a0b\u5e8f\u63a5\u53e3  "},{"location":"carla_ros_scenario_runner/#_2","text":"\u670d\u52a1   \u7c7b\u578b   \u63cf\u8ff0   / scenario _ runner / execute _ scenario   carla _ ros _ scenario _ runner _ types . ExecuteScenario   \u6267\u884c \u4e00\u4e2a \u573a\u666f \u3002 \u5982\u679c \u5f53\u524d \u6b63\u5728 \u8fd0\u884c \u53e6 \u4e00\u4e2a \u573a\u666f \uff0c \u5b83 \u5c06 \u505c\u6b62 \u3002","title":"\u670d\u52a1  "},{"location":"carla_ros_scenario_runner/#_3","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / scenario _ runner / status   carla _ ros _ scenario _ runner _ types . CarlaScenarioRunnerStatus   \u573a\u666f \u8fd0\u884c \u5668 \u6267\u884c \u7684 \u5f53\u524d \u72b6\u6001 \uff08 \u7531   rviz _ carla _ plugin   \u4f7f\u7528 \uff09   \u63a7\u5236 \u63a7\u5236\u5668   ros _ vehicle _ control   \u63d0\u4f9b \u4ee5\u4e0b \u4e3b\u9898 \uff1a   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / waypoints   nav _ msgs . Path   \u573a\u666f \u4e2d \u5b9a\u4e49 \u7684 \u8def\u5f84 \u3002 \u6ce8 \uff1a \u53ef\u4ee5 \u901a\u8fc7 \u4fee\u6539 \u53c2\u6570   path _ topic _ name   \u6765 \u66f4\u6539 \u4e3b\u9898 \u540d\u79f0   / carla / < ROLE   NAME > / target _ speed   std _ msgs . Float64   \u573a\u666f \u4e2d \u5b9a\u4e49 \u7684 \u76ee\u6807 \u901f\u5ea6","title":"\u53d1\u5e03  "},{"location":"carla_server/","text":"CARLA   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u7f16\u8bd1   \u63d0\u4f9b \u4e86 \u4e00\u4e9b \u7528\u4e8e \u5728   Linux   \u4e0a \u6784\u5efa \u548c \u6d4b\u8bd5   CarlaServer   \u7684 \u811a\u672c   ` ` ` shell   script   . / Setup . sh   make   make   check   \u5b89\u88c5 \u811a\u672c \u4f1a \u4e0b\u8f7d \u5e76 \u7f16\u8bd1 \u6240\u6709 \u5fc5\u9700 \u7684 \u4f9d\u8d56 \u9879 \u3002 Makefile   \u8c03\u7528   CMake   \u6765 \u6784\u5efa   CarlaServer   \u5e76 \u5c06 \u5176 \u5b89\u88c5 \u5728 \u201c Util / Install \u201d \u4e0b \u3002   ##   \u534f\u8bae   \u6240\u6709 \u6d88\u606f \u524d \u90fd \u9644\u52a0 \u4e00\u4e2a   32   \u4f4d \u65e0 \u7b26\u53f7 \u6574\u6570 \uff08 \u5c0f\u7aef \u5b57\u8282 \u5e8f \uff09 \uff0c \u6307\u793a \u5373\u5c06 \u5230\u6765 \u7684 \u6d88\u606f \u7684 \u5927\u5c0f \u3002   \u4f7f\u7528 \u4e09\u4e2a \u8fde\u7eed \u7684 \u7aef\u53e3 \uff0c   -   world - port   ( \u9ed8\u8ba4   2000 )   -   measurements - port   =   world - port   +   1   -   control - port   =   world - port   +   2   \u6bcf\u4e2a \u7aef\u53e3 \u90fd \u6709 \u4e00\u4e2a \u5173\u8054 \u7684 \u7ebf\u7a0b \uff0c \u53ef\u4ee5 \u5f02\u6b65 \u53d1\u9001 / \u8bfb\u53d6 \u6570\u636e \u8bfb\u53d6\u6570\u636e \u3002   ###   \u4e16\u754c \u7ebf\u7a0b   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bfb\u53d6 \u4e00\u4e2a \uff0c \u5199\u5165 \u4e00\u4e2a \u3002 \u59cb\u7ec8 \u662f   protobuf   \u6d88\u606f \u3002   [ client ]   RequestNewEpisode   [ server ]   SceneDescription   [ client ]   EpisodeStart   [ server ]   EpisodeReady   ... repeat ...   ###   \u6d4b\u91cf \u7ebf\u7a0b   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4ec5 \u5199\u5165 \u7b2c\u4e00 \u4e00\u6761 \u7b2c\u4e00\u6761 \u6d4b\u91cf \u6d88\u606f \uff0c \u7136\u540e \u5199\u5165 \u5927\u91cf \u539f\u59cb \u56fe\u50cf \u3002   [ server ]   Measurements   [ server ]   raw   images   ... repeat ...   \u6bcf\u4e2a \u56fe\u50cf \u90fd \u662f \u4e00\u4e2a   uint32   \u6570\u7ec4   [ width ,   height ,   type ,   FOV ,   color [ 0 ] ,   color [ 1 ] , ... ]   \u5176\u4e2d   FOV   \u662f \u76f8\u673a \u6c34\u5e73 \u89c6\u91ce \u7684 \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \uff0c \u6bcf\u79cd \u989c\u8272 \u90fd \u662f \u865a\u5e7b \u5f15\u64ce \u4e2d \u5b58\u50a8 \u7684 FColor   ( BGRA ) \uff0c \u53ef\u80fd \u7684 \u56fe\u50cf \u7c7b\u578b \u5305\u62ec   type   =   0   None   ( RGB   without   any   post - processing )   type   =   1   SceneFinal   ( RGB   with   post - processing   present   at   the   scene )   type   =   2   Depth   ( Depth   Map )   type   =   3   SemanticSegmentation   ( Semantic   Segmentation )   [ \u6b64\u5904 ]   \u8be6\u7ec6 \u89e3\u91ca \u4e86 \u6d4b\u91cf \u4fe1\u606f \u3002   ###   \u63a7\u5236 \u63a7\u5236\u7ebf \u7a0b   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4ec5 \u8bfb\u53d6 \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u6bcf\u5e27 \u53d1\u9001 \u63a7\u5236 \u6d88\u606f \u3002   [ client ]   Control   ... repeat ...   ` ` `   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6bcf\u5e27 \u90fd \u4f1a \u6682\u505c \u6267\u884c \uff0c \u76f4\u5230 \u6536\u5230 \u63a7\u5236 \u6d88\u606f \u3002   \u63a5\u53e3   \u8be5\u5e93 \u5c01\u88c5 \u5728   C   \u8bed\u8a00 \u4e2d \u7684 \u5355\u4e2a \u5305\u542b \u6587\u4ef6   \u201c carla / carla _ server . h \u201d \u4e2d \u3002   \u6b64 \u6587\u4ef6 \u5305\u542b \u7528\u4e8e \u5411 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bfb\u53d6 \u548c \u5199\u5165 \u6d88\u606f \u7684 \u57fa\u672c \u63a5\u53e3 \uff0c \u9690\u85cf \u4e86 \u7f51\u7edc \u548c \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b \u90e8\u5206 \u3002 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u51fd\u6570 \u90fd \u6709 \u4e00\u4e2a \u8d85\u65f6 \u53c2\u6570 \uff0c \u5e76\u4f1a \u963b\u585e \uff0c \u76f4\u5230 \u76f8\u5e94 \u7684 \u5f02\u6b65 \u64cd\u4f5c \u5b8c\u6210 \u6216 \u8fbe\u5230 \u8d85\u65f6 \u8981\u6c42 \u3002 \u5c06 \u8d85\u65f6 \u8bbe\u7f6e \u4e3a   0   \u53ef \u83b7\u5f97 \u975e \u963b\u585e \u8c03\u7528 \u3002   CarlaServer   \u5b9e\u4f8b \u662f \u7528   carla _ make _ server ( )   \u521b\u5efa \u7684 \uff0c \u4f7f\u7528 \u540e\u5e94 \u88ab   carla _ server _ free ( ptr )   \u9500\u6bc1 \u3002   \u8bbe\u8ba1   C   API   \u8d1f\u8d23 \u5c06 \u8bf7\u6c42 \u5206\u53d1 \u5230 \u76f8\u5e94 \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u6709 \u4e09\u4e2a \u5f02\u6b65 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u6bcf\u4e2a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u90fd \u5728 \u81ea\u5df1 \u7684 \u7ebf\u7a0b \u4e0a \u8fd0\u884c \u3002   \u4ece \u6982\u5ff5 \u4e0a \u8bb2 \uff0c \u6709 \u4e24\u4e2a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5373   World   Server   \u548c   Agent   Server   \u3002   World   Server   \u63a7\u5236 \u60c5\u8282 \u7684 \u521d\u59cb \u521d\u59cb\u5316 \u3002 \u6bcf\u6b21 \u901a\u8fc7   RequestNewEpisode   \u6d88\u606f \u5411   World   Server   \u8bf7\u6c42 \u65b0 \u60c5\u8282 \u65f6 \uff0c \u90fd \u4f1a \u542f\u52a8 \u65b0 \u60c5\u8282 \u3002 \u60c5\u8282 \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u540e \uff0c   World   Server   \u5c06 \u542f\u52a8   Agent   Server   \u3002   Agent   Server   \u6709 \u4e24\u4e2a \u7ebf\u7a0b \uff0c \u4e00\u4e2a \u7528\u4e8e \u53d1\u9001 \u6d4b\u91cf \u6d41 \uff0c \u53e6 \u4e00\u4e2a \u7528\u4e8e \u63a5\u6536 \u63a7\u5236 \u3002 \u4e24\u4e2a \u4ee3\u7406 \u7ebf\u7a0b \u90fd \u901a\u8fc7 \u65e0\u9501 \u53cc \u7f13\u51b2 \u7f13\u51b2\u533a \u4e0e \u4e3b\u7ebf \u7a0b \u901a\u4fe1 \uff0c \u4ee5 \u52a0\u5feb \u6d88\u606f \u548c \u56fe\u50cf \u7684 \u6d41\u5f0f \u4f20\u8f93 \u3002   \u6d88\u606f \uff08 protobuf \uff09 \u7684 \u7f16\u7801 \u548c \u7f51\u7edc \u64cd\u4f5c \u662f \u5f02\u6b65 \u6267\u884c \u7684 \u3002","title":"CARLA   \u670d\u52a1\u5668"},{"location":"carla_server/#carla","text":"","title":"CARLA   \u670d\u52a1\u5668"},{"location":"carla_server/#_1","text":"\u63d0\u4f9b \u4e86 \u4e00\u4e9b \u7528\u4e8e \u5728   Linux   \u4e0a \u6784\u5efa \u548c \u6d4b\u8bd5   CarlaServer   \u7684 \u811a\u672c   ` ` ` shell   script   . / Setup . sh   make   make   check   \u5b89\u88c5 \u811a\u672c \u4f1a \u4e0b\u8f7d \u5e76 \u7f16\u8bd1 \u6240\u6709 \u5fc5\u9700 \u7684 \u4f9d\u8d56 \u9879 \u3002 Makefile   \u8c03\u7528   CMake   \u6765 \u6784\u5efa   CarlaServer   \u5e76 \u5c06 \u5176 \u5b89\u88c5 \u5728 \u201c Util / Install \u201d \u4e0b \u3002   ##   \u534f\u8bae   \u6240\u6709 \u6d88\u606f \u524d \u90fd \u9644\u52a0 \u4e00\u4e2a   32   \u4f4d \u65e0 \u7b26\u53f7 \u6574\u6570 \uff08 \u5c0f\u7aef \u5b57\u8282 \u5e8f \uff09 \uff0c \u6307\u793a \u5373\u5c06 \u5230\u6765 \u7684 \u6d88\u606f \u7684 \u5927\u5c0f \u3002   \u4f7f\u7528 \u4e09\u4e2a \u8fde\u7eed \u7684 \u7aef\u53e3 \uff0c   -   world - port   ( \u9ed8\u8ba4   2000 )   -   measurements - port   =   world - port   +   1   -   control - port   =   world - port   +   2   \u6bcf\u4e2a \u7aef\u53e3 \u90fd \u6709 \u4e00\u4e2a \u5173\u8054 \u7684 \u7ebf\u7a0b \uff0c \u53ef\u4ee5 \u5f02\u6b65 \u53d1\u9001 / \u8bfb\u53d6 \u6570\u636e \u8bfb\u53d6\u6570\u636e \u3002   ###   \u4e16\u754c \u7ebf\u7a0b   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bfb\u53d6 \u4e00\u4e2a \uff0c \u5199\u5165 \u4e00\u4e2a \u3002 \u59cb\u7ec8 \u662f   protobuf   \u6d88\u606f \u3002   [ client ]   RequestNewEpisode   [ server ]   SceneDescription   [ client ]   EpisodeStart   [ server ]   EpisodeReady   ... repeat ...   ###   \u6d4b\u91cf \u7ebf\u7a0b   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4ec5 \u5199\u5165 \u7b2c\u4e00 \u4e00\u6761 \u7b2c\u4e00\u6761 \u6d4b\u91cf \u6d88\u606f \uff0c \u7136\u540e \u5199\u5165 \u5927\u91cf \u539f\u59cb \u56fe\u50cf \u3002   [ server ]   Measurements   [ server ]   raw   images   ... repeat ...   \u6bcf\u4e2a \u56fe\u50cf \u90fd \u662f \u4e00\u4e2a   uint32   \u6570\u7ec4   [ width ,   height ,   type ,   FOV ,   color [ 0 ] ,   color [ 1 ] , ... ]   \u5176\u4e2d   FOV   \u662f \u76f8\u673a \u6c34\u5e73 \u89c6\u91ce \u7684 \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \uff0c \u6bcf\u79cd \u989c\u8272 \u90fd \u662f \u865a\u5e7b \u5f15\u64ce \u4e2d \u5b58\u50a8 \u7684 FColor   ( BGRA ) \uff0c \u53ef\u80fd \u7684 \u56fe\u50cf \u7c7b\u578b \u5305\u62ec   type   =   0   None   ( RGB   without   any   post - processing )   type   =   1   SceneFinal   ( RGB   with   post - processing   present   at   the   scene )   type   =   2   Depth   ( Depth   Map )   type   =   3   SemanticSegmentation   ( Semantic   Segmentation )   [ \u6b64\u5904 ]   \u8be6\u7ec6 \u89e3\u91ca \u4e86 \u6d4b\u91cf \u4fe1\u606f \u3002   ###   \u63a7\u5236 \u63a7\u5236\u7ebf \u7a0b   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4ec5 \u8bfb\u53d6 \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u6bcf\u5e27 \u53d1\u9001 \u63a7\u5236 \u6d88\u606f \u3002   [ client ]   Control   ... repeat ...   ` ` `   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6bcf\u5e27 \u90fd \u4f1a \u6682\u505c \u6267\u884c \uff0c \u76f4\u5230 \u6536\u5230 \u63a7\u5236 \u6d88\u606f \u3002","title":"\u7f16\u8bd1"},{"location":"carla_server/#_2","text":"\u8be5\u5e93 \u5c01\u88c5 \u5728   C   \u8bed\u8a00 \u4e2d \u7684 \u5355\u4e2a \u5305\u542b \u6587\u4ef6   \u201c carla / carla _ server . h \u201d \u4e2d \u3002   \u6b64 \u6587\u4ef6 \u5305\u542b \u7528\u4e8e \u5411 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bfb\u53d6 \u548c \u5199\u5165 \u6d88\u606f \u7684 \u57fa\u672c \u63a5\u53e3 \uff0c \u9690\u85cf \u4e86 \u7f51\u7edc \u548c \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b \u90e8\u5206 \u3002 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u51fd\u6570 \u90fd \u6709 \u4e00\u4e2a \u8d85\u65f6 \u53c2\u6570 \uff0c \u5e76\u4f1a \u963b\u585e \uff0c \u76f4\u5230 \u76f8\u5e94 \u7684 \u5f02\u6b65 \u64cd\u4f5c \u5b8c\u6210 \u6216 \u8fbe\u5230 \u8d85\u65f6 \u8981\u6c42 \u3002 \u5c06 \u8d85\u65f6 \u8bbe\u7f6e \u4e3a   0   \u53ef \u83b7\u5f97 \u975e \u963b\u585e \u8c03\u7528 \u3002   CarlaServer   \u5b9e\u4f8b \u662f \u7528   carla _ make _ server ( )   \u521b\u5efa \u7684 \uff0c \u4f7f\u7528 \u540e\u5e94 \u88ab   carla _ server _ free ( ptr )   \u9500\u6bc1 \u3002","title":"\u63a5\u53e3"},{"location":"carla_server/#_3","text":"C   API   \u8d1f\u8d23 \u5c06 \u8bf7\u6c42 \u5206\u53d1 \u5230 \u76f8\u5e94 \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u6709 \u4e09\u4e2a \u5f02\u6b65 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u6bcf\u4e2a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u90fd \u5728 \u81ea\u5df1 \u7684 \u7ebf\u7a0b \u4e0a \u8fd0\u884c \u3002   \u4ece \u6982\u5ff5 \u4e0a \u8bb2 \uff0c \u6709 \u4e24\u4e2a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5373   World   Server   \u548c   Agent   Server   \u3002   World   Server   \u63a7\u5236 \u60c5\u8282 \u7684 \u521d\u59cb \u521d\u59cb\u5316 \u3002 \u6bcf\u6b21 \u901a\u8fc7   RequestNewEpisode   \u6d88\u606f \u5411   World   Server   \u8bf7\u6c42 \u65b0 \u60c5\u8282 \u65f6 \uff0c \u90fd \u4f1a \u542f\u52a8 \u65b0 \u60c5\u8282 \u3002 \u60c5\u8282 \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u540e \uff0c   World   Server   \u5c06 \u542f\u52a8   Agent   Server   \u3002   Agent   Server   \u6709 \u4e24\u4e2a \u7ebf\u7a0b \uff0c \u4e00\u4e2a \u7528\u4e8e \u53d1\u9001 \u6d4b\u91cf \u6d41 \uff0c \u53e6 \u4e00\u4e2a \u7528\u4e8e \u63a5\u6536 \u63a7\u5236 \u3002 \u4e24\u4e2a \u4ee3\u7406 \u7ebf\u7a0b \u90fd \u901a\u8fc7 \u65e0\u9501 \u53cc \u7f13\u51b2 \u7f13\u51b2\u533a \u4e0e \u4e3b\u7ebf \u7a0b \u901a\u4fe1 \uff0c \u4ee5 \u52a0\u5feb \u6d88\u606f \u548c \u56fe\u50cf \u7684 \u6d41\u5f0f \u4f20\u8f93 \u3002   \u6d88\u606f \uff08 protobuf \uff09 \u7684 \u7f16\u7801 \u548c \u7f51\u7edc \u64cd\u4f5c \u662f \u5f02\u6b65 \u6267\u884c \u7684 \u3002","title":"\u8bbe\u8ba1"},{"location":"carla_settings/","text":"CARLA   \u8bbe\u7f6e   \u672c \u6587\u6863 \u5c1a \u5728 \u7f16\u5199 \u4e2d \uff0c \u53ef\u80fd \u4e0d \u5b8c\u6574 \u3002   Carla \u8bbe\u7f6e   CARLA   \u4ece   CarlaSettings . ini   \u6587\u4ef6 \u4e2d \u8bfb\u53d6 \u8bbe\u7f6e \u3002 \u6b64 \u6587\u4ef6 \u63a7\u5236 \u6a21\u62df \u7684 \u5927\u90e8 \u90e8\u5206 \u5927\u90e8\u5206 \u65b9\u9762 \uff0c \u6bcf\u6b21 \u5f00\u59cb \u65b0 \u60c5\u8282 \u65f6 \uff08 \u6bcf\u6b21 \u52a0\u8f7d \u5173\u5361 \u65f6 \uff09 \u90fd \u4f1a \u52a0\u8f7d \u6b64 \u6587\u4ef6 \u3002   \u8bbe\u7f6e \u5c06 \u6309\u7167 \u4e0b \u4e00\u4e2a \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u8fdb\u884c \u52a0\u8f7d \uff0c \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u540e\u9762 \u7684 \u503c \u5c06 \u8986\u76d6 \u524d\u9762 \u7684 \u503c \u3002   { CarlaFolder } / Unreal / CarlaUE4 / Config / CarlaSettings . ini   \u3002   \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u63d0\u4f9b \u7684 \u6587\u4ef6   - carla - settings = \" Path / To / CarlaSettings . ini \"   \u3002   \u5176\u4ed6 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u5982   - carla - server   \u6216   - world - port   \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u4e00\u96c6 \u6bcf\u4e00\u96c6 \u65b0 \u60c5\u8282 \u65f6 \u53d1\u9001 \u7684 \u8bbe\u7f6e \u6587\u4ef6 \u3002   \u770b \u4e00\u4e0b   CARLA   \u8bbe\u7f6e \u793a\u4f8b \u3002   \u5929\u6c14 \u9884\u8bbe   \u53ef\u4ee5 \u4ece \u4e00\u7ec4 \u9884\u5b9a \u4e49 \u8bbe\u7f6e \u4e2d \u9009\u62e9 \u5929\u6c14 \u548c \u7167\u660e \u6761\u4ef6 \u3002 \u8981 \u9009\u62e9 \u4e00\u4e2a \uff0c \u8bf7 \u5728   CarlaSettings . ini   \u4e2d \u8bbe\u7f6e \u952e   WeatherId   \u3002 \u4ee5\u4e0b \u9884\u8bbe \u53ef\u7528   0   -   Default   1   -   ClearNoon   2   -   CloudyNoon   3   -   WetNoon   4   -   WetCloudyNoon   5   -   MidRainyNoon   6   -   HardRainNoon   7   -   SoftRainNoon   8   -   ClearSunset   9   -   CloudySunset   10   -   WetSunset   11   -   WetCloudySunset   12   -   MidRainSunset   13   -   HardRainSunset   14   -   SoftRainSunset   \u4f8b\u5982 \uff0c \u8981 \u9009\u62e9 \u4e2d\u5348 \u6709 \u5927\u96e8 \u7684 \u5929\u6c14 \uff0c \u8bf7 \u6dfb\u52a0 \u5230   CarlaSettings . ini   [ CARLA / LevelSettings ]   WeatherId = 6   \u6a21\u62df \u6a21\u62df\u5668 \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879   - carla - server   \u542f\u52a8   CARLA   \u4f5c\u4e3a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u6267\u884c \u6682\u505c \uff0c \u76f4\u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u3002   - carla - settings = \" Path / To / CarlaSettings . ini \"   \u4ece \u7ed9\u5b9a \u7684   INI   \u6587\u4ef6 \u52a0\u8f7d \u8bbe\u7f6e \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   Example . CarlaSettings . ini   \u3002   - carla - world - port = N   \u5728 \u7aef\u53e3   N   \u4e0a \u76d1\u542c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \uff0c \u4ee3\u7406 \u7aef\u53e3 \u5206\u522b \u8bbe\u7f6e \u4e3a   N + 1   \u548c   N + 2 \u3002 \u6fc0\u6d3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   - carla - no - hud   \u9ed8\u8ba4 \u4e0d \u663e\u793a HUD \u3002   - carla - no - networking   \u7981\u7528 \u7f51\u7edc \u3002 \u5982\u679c \u5b58\u5728 \u5219 \u8986\u76d6   - carla - server   \u3002","title":"CARLA   \u8bbe\u7f6e"},{"location":"carla_settings/#carla","text":"\u672c \u6587\u6863 \u5c1a \u5728 \u7f16\u5199 \u4e2d \uff0c \u53ef\u80fd \u4e0d \u5b8c\u6574 \u3002","title":"CARLA   \u8bbe\u7f6e"},{"location":"carla_settings/#carla_1","text":"CARLA   \u4ece   CarlaSettings . ini   \u6587\u4ef6 \u4e2d \u8bfb\u53d6 \u8bbe\u7f6e \u3002 \u6b64 \u6587\u4ef6 \u63a7\u5236 \u6a21\u62df \u7684 \u5927\u90e8 \u90e8\u5206 \u5927\u90e8\u5206 \u65b9\u9762 \uff0c \u6bcf\u6b21 \u5f00\u59cb \u65b0 \u60c5\u8282 \u65f6 \uff08 \u6bcf\u6b21 \u52a0\u8f7d \u5173\u5361 \u65f6 \uff09 \u90fd \u4f1a \u52a0\u8f7d \u6b64 \u6587\u4ef6 \u3002   \u8bbe\u7f6e \u5c06 \u6309\u7167 \u4e0b \u4e00\u4e2a \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u8fdb\u884c \u52a0\u8f7d \uff0c \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u540e\u9762 \u7684 \u503c \u5c06 \u8986\u76d6 \u524d\u9762 \u7684 \u503c \u3002   { CarlaFolder } / Unreal / CarlaUE4 / Config / CarlaSettings . ini   \u3002   \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u63d0\u4f9b \u7684 \u6587\u4ef6   - carla - settings = \" Path / To / CarlaSettings . ini \"   \u3002   \u5176\u4ed6 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u5982   - carla - server   \u6216   - world - port   \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u4e00\u96c6 \u6bcf\u4e00\u96c6 \u65b0 \u60c5\u8282 \u65f6 \u53d1\u9001 \u7684 \u8bbe\u7f6e \u6587\u4ef6 \u3002   \u770b \u4e00\u4e0b   CARLA   \u8bbe\u7f6e \u793a\u4f8b \u3002","title":"Carla \u8bbe\u7f6e"},{"location":"carla_settings/#_1","text":"\u53ef\u4ee5 \u4ece \u4e00\u7ec4 \u9884\u5b9a \u4e49 \u8bbe\u7f6e \u4e2d \u9009\u62e9 \u5929\u6c14 \u548c \u7167\u660e \u6761\u4ef6 \u3002 \u8981 \u9009\u62e9 \u4e00\u4e2a \uff0c \u8bf7 \u5728   CarlaSettings . ini   \u4e2d \u8bbe\u7f6e \u952e   WeatherId   \u3002 \u4ee5\u4e0b \u9884\u8bbe \u53ef\u7528   0   -   Default   1   -   ClearNoon   2   -   CloudyNoon   3   -   WetNoon   4   -   WetCloudyNoon   5   -   MidRainyNoon   6   -   HardRainNoon   7   -   SoftRainNoon   8   -   ClearSunset   9   -   CloudySunset   10   -   WetSunset   11   -   WetCloudySunset   12   -   MidRainSunset   13   -   HardRainSunset   14   -   SoftRainSunset   \u4f8b\u5982 \uff0c \u8981 \u9009\u62e9 \u4e2d\u5348 \u6709 \u5927\u96e8 \u7684 \u5929\u6c14 \uff0c \u8bf7 \u6dfb\u52a0 \u5230   CarlaSettings . ini   [ CARLA / LevelSettings ]   WeatherId = 6","title":"\u5929\u6c14 \u9884\u8bbe"},{"location":"carla_settings/#_2","text":"- carla - server   \u542f\u52a8   CARLA   \u4f5c\u4e3a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u6267\u884c \u6682\u505c \uff0c \u76f4\u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u3002   - carla - settings = \" Path / To / CarlaSettings . ini \"   \u4ece \u7ed9\u5b9a \u7684   INI   \u6587\u4ef6 \u52a0\u8f7d \u8bbe\u7f6e \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   Example . CarlaSettings . ini   \u3002   - carla - world - port = N   \u5728 \u7aef\u53e3   N   \u4e0a \u76d1\u542c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \uff0c \u4ee3\u7406 \u7aef\u53e3 \u5206\u522b \u8bbe\u7f6e \u4e3a   N + 1   \u548c   N + 2 \u3002 \u6fc0\u6d3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   - carla - no - hud   \u9ed8\u8ba4 \u4e0d \u663e\u793a HUD \u3002   - carla - no - networking   \u7981\u7528 \u7f51\u7edc \u3002 \u5982\u679c \u5b58\u5728 \u5219 \u8986\u76d6   - carla - server   \u3002","title":"\u6a21\u62df\u5668 \u547d\u4ee4\u884c \u9009\u9879"},{"location":"carla_spawn_objects/","text":"Carla   \u751f\u6210 \u5bf9\u8c61   carla _ spawn _ objects   \u5305   \u7528\u4e8e \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u8f66\u8f86 \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u884c\u4eba \uff09 \u5e76 \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9644\u52a0 \u5230 \u5b83\u4eec \u4e0a \u3002   \u914d\u7f6e \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e   \u521b\u5efa \u914d\u7f6e   \u751f\u6210 \u8f66\u8f86   \u8f66\u8f86 \u518d \u751f\u6210   \u751f\u6210 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5b89\u88c5 \u5230 \u73b0\u6709 \u8f66\u8f86 \u4e0a   \u914d\u7f6e \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e   \u5bf9\u8c61 \u53ca\u5176 \u9644\u52a0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u901a\u8fc7   . json   \u6587\u4ef6 \u5b9a\u4e49 \u3002 \u8be5 \u6587\u4ef6 \u7684 \u9ed8\u8ba4 \u4f4d\u7f6e \u5728   carla _ spawn _ objects / config / objects . json .   \u8981 \u66f4\u6539 \u4f4d\u7f6e \uff0c \u8bf7 \u5728 \u542f\u52a8 \u5305\u65f6 \u901a\u8fc7 \u79c1\u6709   ROS   \u53c2\u6570   objects _ definition _ file   \u4f20\u9012 \u6587\u4ef6 \u8def\u5f84 \uff1a   #   ROS   1   roslaunch   carla _ spawn _ objects   carla _ spawn _ objects . launch   objects _ definition _ file : = path / to / objects . json   #   ROS   2   ros2   launch   carla _ spawn _ objects   carla _ spawn _ objects . launch . py   objects _ definition _ file : = path / to / objects . json   \u521b\u5efa \u914d\u7f6e   \u60a8 \u53ef\u4ee5 \u5728   ros - bridge   repository   \u5b58\u50a8 \u5e93\u4e2d \u627e\u5230 \u793a\u4f8b \uff0c \u5e76 \u6309\u7167 \u6b64 \u5927\u7eb2 \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u914d\u7f6e \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e \uff1a   {   \" objects \" :   [   {   \" type \" :   \" < SENSOR - TYPE > \" ,   \" id \" :   \" < NAME > \" ,   \" spawn _ point \" :   { \" x \" :   0.0 ,   \" y \" :   0.0 ,   \" z \" :   0.0 ,   \" roll \" :   0.0 ,   \" pitch \" :   0.0 ,   \" yaw \" :   0.0 } ,   < ADDITIONAL - SENSOR - ATTRIBUTES >   } ,   {   \" type \" :   \" < VEHICLE - TYPE > \" ,   \" id \" :   \" < VEHICLE - NAME > \" ,   \" spawn _ point \" :   { \" x \" :   - 11.1 ,   \" y \" :   138.5 ,   \" z \" :   0.2 ,   \" roll \" :   0.0 ,   \" pitch \" :   0.0 ,   \" yaw \" :   - 178.7 } ,   \" sensors \" :   [   < SENSORS - TO - ATTACH - TO - VEHICLE >   ]   }   ...   ]   }   \u7b14\u8bb0   \u8bf7 \u8bb0\u4f4f \uff0c \u76f4\u63a5 \u5b9a\u4e49 \u4f4d\u7f6e \u65f6 \uff0c ROS   \u4f7f\u7528   \u53f3\u624b \u7cfb\u7edf   \u3002   \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c5e\u6027 \u5747 \u6309\u7167   \u84dd \u56fe\u5e93   \u4e2d \u7684 \u63cf\u8ff0 \u8fdb\u884c \u5b9a\u4e49 \u3002   \u751f\u6210 \u8f66\u8f86   \u5982\u679c \u6ca1\u6709 \u5b9a\u4e49 \u7279\u5b9a \u7684 \u751f\u6210 \u70b9 \uff0c \u8f66\u8f86 \u5c06 \u5728 \u968f\u673a \u4f4d\u7f6e \u751f\u6210 \u3002   \u8981 \u5b9a\u4e49 \u8f66\u8f86 \u751f\u6210 \u7684 \u4f4d\u7f6e \uff0c \u6709 \u4e24\u79cd \u9009\u62e9 \uff1a   \u5c06 \u6240 \u9700 \u4f4d\u7f6e \u4f20\u9012 \u7ed9   ROS   \u53c2\u6570   spawn _ point _ < VEHICLE - NAME >   \u3002   < VEHICLE - NAME >   \u5c06 \u662f \u60a8 \u5728   . json   \u6587\u4ef6 \u4e2d \u63d0\u4f9b \u7684 \u8f66\u8f86   id   \uff1a   #   ROS   1   roslaunch   carla _ spawn _ objects   carla _ spawn _ objects . launch   spawn _ point _ < VEHICLE - NAME > : = x , y , z , roll , pitch , yaw   #   ROS   2   ros2   launch   carla _ spawn _ objects   carla _ spawn _ objects . launch . py   spawn _ point _ < VEHICLE - NAME > : = x , y , z , roll , pitch , yaw   \u76f4\u63a5 \u5728   . json   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \u521d\u59cb \u4f4d\u7f6e \uff1a   {   \" type \" :   \" vehicle . * \" ,   \" id \" :   \" ego _ vehicle \" ,   \" spawn _ point \" :   { \" x \" :   - 11.1 ,   \" y \" :   138.5 ,   \" z \" :   0.2 ,   \" roll \" :   0.0 ,   \" pitch \" :   0.0 ,   \" yaw \" :   - 178.7 } ,   }   \u8f66\u8f86 \u518d \u751f\u6210   \u901a\u8fc7 \u53d1\u5e03 \u5230 \u4e3b\u9898   / carla / < ROLE   NAME > / < CONTROLLER _ ID > / initialpose   \uff0c \u8f66\u8f86 \u53ef\u4ee5 \u5728 \u4eff\u771f \u671f\u95f4 \u91cd\u751f \u5230 \u4e0d\u540c \u7684 \u4f4d\u7f6e \u3002 \u8981 \u4f7f\u7528 \u6b64 \u529f\u80fd \uff1a   \u5c06   actor . pseudo . control   \u4f2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u9644\u52a0 \u5230   . json   \u6587\u4ef6 \u4e2d \u7684 \u8f66\u8f86 \u3002 \u5b83 \u5e94\u8be5 \u4e0e \u7528\u4e8e \u53d1\u5e03 \u5230 \u4e3b\u9898 \u7684   < CONTROLLER _ ID >   \u503c \u5177\u6709 \u76f8\u540c \u7684   id   \u503c \uff1a   {   \" type \" :   \" vehicle . * \" ,   \" id \" :   \" ego _ vehicle \" ,   \" sensors \" :   [   {   \" type \" :   \" actor . pseudo . control \" ,   \" id \" :   \" control \"   }   ]   }   \u542f\u52a8   set _ inital _ pose   \u8282\u70b9 \uff0c \u5c06   < CONTROLLER _ ID >   \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9   ROS   \u53c2\u6570   controller _ id   \uff08 \u9ed8\u8ba4   =   ' control ' \uff09 \uff1a   roslaunch   carla _ spawn _ objects   set _ initial _ pose . launch   controller _ id : = < CONTROLLER _ ID >   \u53d1\u5e03 \u6d88\u606f \u4ee5 \u8bbe\u7f6e \u65b0 \u4f4d\u7f6e \u7684 \u9996\u9009 \u65b9\u6cd5 \u662f \u4f7f\u7528   RVIZ   \u754c\u9762 \u4e2d \u63d0\u4f9b \u7684   2D   Pose   Estimate   \u6309\u94ae \u3002 \u7136\u540e \uff0c \u60a8 \u53ef\u4ee5 \u5355\u51fb \u5730\u56fe \u7684 \u89c6\u53e3 \u4ee5 \u5728 \u8be5 \u4f4d\u7f6e \u91cd\u751f \u3002 \u8fd9 \u5c06 \u5220\u9664 \u5f53\u524d   ego _ vehicle   \u5bf9\u8c61 \u5e76 \u5728 \u6307\u5b9a \u4f4d\u7f6e \u91cd\u65b0 \u751f\u6210 \u5b83 \u3002   \u751f\u6210 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u521d\u59cb \u4f4d\u7f6e \u5e94 \u76f4\u63a5 \u5728   . json   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \uff0c \u5982 \u4e0a\u9762 \u7684 \u8f66\u8f86 \u6240\u793a \u3002   \u8fde\u63a5 \u5230 \u8f66\u8f86 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u751f\u6210 \u70b9 \u88ab \u8ba4\u4e3a \u662f \u76f8\u5bf9 \u4e8e \u8f66\u8f86 \u7684 \u3002   \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5b89\u88c5 \u5230 \u73b0\u6709 \u8f66\u8f86 \u4e0a   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u4ee5 \u8fde\u63a5 \u5230 \u73b0\u6709 \u7684 \u8f66\u8f86 \u4e0a \u3002 \u4e3a\u6b64 \uff1a   \u5728   . json   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   sensor . pseudo . actor _ list   \u3002 \u8fd9 \u5c06 \u5141\u8bb8 \u8bbf\u95ee \u73b0\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5217\u8868 \u3002   ...   {   \" type \" :   \" sensor . pseudo . actor _ list \" ,   \" id \" :   \" actor _ list \"   } ,   \u6839\u636e \u9700\u8981 \u5b9a\u4e49 \u5176\u4f59 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u542f\u52a8 \u8282\u70b9 \u5e76 \u5c06   spawn _ sensors _ only   \u53c2\u6570 \u8bbe\u7f6e \u53c2\u6570\u8bbe\u7f6e \u4e3a   True \u3002 \u8fd9 \u5c06 \u68c0\u67e5 \u4e0e \u6587\u4ef6 \u4e2d \u6307\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u76f8\u540c   id   \u548c   type   \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u5df2 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \uff0c \u5982\u679c \u662f \uff0c \u5219 \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9644\u52a0 \u5230 \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   #   ROS   1   roslaunch   carla _ spawn _ objects   carla _ spawn _ objects . launch   spawn _ sensors _ only : = True   #   ROS   2   ros2   launch   carla _ spawn _ objects   carla _ spawn _ objects . launch . py   spawn _ sensors _ only : = True","title":"Carla   \u751f\u6210 \u5bf9\u8c61"},{"location":"carla_spawn_objects/#carla","text":"carla _ spawn _ objects   \u5305   \u7528\u4e8e \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u8f66\u8f86 \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u884c\u4eba \uff09 \u5e76 \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9644\u52a0 \u5230 \u5b83\u4eec \u4e0a \u3002   \u914d\u7f6e \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e   \u521b\u5efa \u914d\u7f6e   \u751f\u6210 \u8f66\u8f86   \u8f66\u8f86 \u518d \u751f\u6210   \u751f\u6210 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5b89\u88c5 \u5230 \u73b0\u6709 \u8f66\u8f86 \u4e0a","title":"Carla   \u751f\u6210 \u5bf9\u8c61"},{"location":"carla_spawn_objects/#_1","text":"\u5bf9\u8c61 \u53ca\u5176 \u9644\u52a0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u901a\u8fc7   . json   \u6587\u4ef6 \u5b9a\u4e49 \u3002 \u8be5 \u6587\u4ef6 \u7684 \u9ed8\u8ba4 \u4f4d\u7f6e \u5728   carla _ spawn _ objects / config / objects . json .   \u8981 \u66f4\u6539 \u4f4d\u7f6e \uff0c \u8bf7 \u5728 \u542f\u52a8 \u5305\u65f6 \u901a\u8fc7 \u79c1\u6709   ROS   \u53c2\u6570   objects _ definition _ file   \u4f20\u9012 \u6587\u4ef6 \u8def\u5f84 \uff1a   #   ROS   1   roslaunch   carla _ spawn _ objects   carla _ spawn _ objects . launch   objects _ definition _ file : = path / to / objects . json   #   ROS   2   ros2   launch   carla _ spawn _ objects   carla _ spawn _ objects . launch . py   objects _ definition _ file : = path / to / objects . json","title":"\u914d\u7f6e \u548c \u4f20\u611f\u5668 \u8bbe\u7f6e  "},{"location":"carla_spawn_objects/#_2","text":"\u60a8 \u53ef\u4ee5 \u5728   ros - bridge   repository   \u5b58\u50a8 \u5e93\u4e2d \u627e\u5230 \u793a\u4f8b \uff0c \u5e76 \u6309\u7167 \u6b64 \u5927\u7eb2 \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u914d\u7f6e \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e \uff1a   {   \" objects \" :   [   {   \" type \" :   \" < SENSOR - TYPE > \" ,   \" id \" :   \" < NAME > \" ,   \" spawn _ point \" :   { \" x \" :   0.0 ,   \" y \" :   0.0 ,   \" z \" :   0.0 ,   \" roll \" :   0.0 ,   \" pitch \" :   0.0 ,   \" yaw \" :   0.0 } ,   < ADDITIONAL - SENSOR - ATTRIBUTES >   } ,   {   \" type \" :   \" < VEHICLE - TYPE > \" ,   \" id \" :   \" < VEHICLE - NAME > \" ,   \" spawn _ point \" :   { \" x \" :   - 11.1 ,   \" y \" :   138.5 ,   \" z \" :   0.2 ,   \" roll \" :   0.0 ,   \" pitch \" :   0.0 ,   \" yaw \" :   - 178.7 } ,   \" sensors \" :   [   < SENSORS - TO - ATTACH - TO - VEHICLE >   ]   }   ...   ]   }   \u7b14\u8bb0   \u8bf7 \u8bb0\u4f4f \uff0c \u76f4\u63a5 \u5b9a\u4e49 \u4f4d\u7f6e \u65f6 \uff0c ROS   \u4f7f\u7528   \u53f3\u624b \u7cfb\u7edf   \u3002   \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c5e\u6027 \u5747 \u6309\u7167   \u84dd \u56fe\u5e93   \u4e2d \u7684 \u63cf\u8ff0 \u8fdb\u884c \u5b9a\u4e49 \u3002","title":"\u521b\u5efa \u914d\u7f6e  "},{"location":"carla_spawn_objects/#_3","text":"\u5982\u679c \u6ca1\u6709 \u5b9a\u4e49 \u7279\u5b9a \u7684 \u751f\u6210 \u70b9 \uff0c \u8f66\u8f86 \u5c06 \u5728 \u968f\u673a \u4f4d\u7f6e \u751f\u6210 \u3002   \u8981 \u5b9a\u4e49 \u8f66\u8f86 \u751f\u6210 \u7684 \u4f4d\u7f6e \uff0c \u6709 \u4e24\u79cd \u9009\u62e9 \uff1a   \u5c06 \u6240 \u9700 \u4f4d\u7f6e \u4f20\u9012 \u7ed9   ROS   \u53c2\u6570   spawn _ point _ < VEHICLE - NAME >   \u3002   < VEHICLE - NAME >   \u5c06 \u662f \u60a8 \u5728   . json   \u6587\u4ef6 \u4e2d \u63d0\u4f9b \u7684 \u8f66\u8f86   id   \uff1a   #   ROS   1   roslaunch   carla _ spawn _ objects   carla _ spawn _ objects . launch   spawn _ point _ < VEHICLE - NAME > : = x , y , z , roll , pitch , yaw   #   ROS   2   ros2   launch   carla _ spawn _ objects   carla _ spawn _ objects . launch . py   spawn _ point _ < VEHICLE - NAME > : = x , y , z , roll , pitch , yaw   \u76f4\u63a5 \u5728   . json   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \u521d\u59cb \u4f4d\u7f6e \uff1a   {   \" type \" :   \" vehicle . * \" ,   \" id \" :   \" ego _ vehicle \" ,   \" spawn _ point \" :   { \" x \" :   - 11.1 ,   \" y \" :   138.5 ,   \" z \" :   0.2 ,   \" roll \" :   0.0 ,   \" pitch \" :   0.0 ,   \" yaw \" :   - 178.7 } ,   }","title":"\u751f\u6210 \u8f66\u8f86  "},{"location":"carla_spawn_objects/#_4","text":"\u901a\u8fc7 \u53d1\u5e03 \u5230 \u4e3b\u9898   / carla / < ROLE   NAME > / < CONTROLLER _ ID > / initialpose   \uff0c \u8f66\u8f86 \u53ef\u4ee5 \u5728 \u4eff\u771f \u671f\u95f4 \u91cd\u751f \u5230 \u4e0d\u540c \u7684 \u4f4d\u7f6e \u3002 \u8981 \u4f7f\u7528 \u6b64 \u529f\u80fd \uff1a   \u5c06   actor . pseudo . control   \u4f2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u9644\u52a0 \u5230   . json   \u6587\u4ef6 \u4e2d \u7684 \u8f66\u8f86 \u3002 \u5b83 \u5e94\u8be5 \u4e0e \u7528\u4e8e \u53d1\u5e03 \u5230 \u4e3b\u9898 \u7684   < CONTROLLER _ ID >   \u503c \u5177\u6709 \u76f8\u540c \u7684   id   \u503c \uff1a   {   \" type \" :   \" vehicle . * \" ,   \" id \" :   \" ego _ vehicle \" ,   \" sensors \" :   [   {   \" type \" :   \" actor . pseudo . control \" ,   \" id \" :   \" control \"   }   ]   }   \u542f\u52a8   set _ inital _ pose   \u8282\u70b9 \uff0c \u5c06   < CONTROLLER _ ID >   \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9   ROS   \u53c2\u6570   controller _ id   \uff08 \u9ed8\u8ba4   =   ' control ' \uff09 \uff1a   roslaunch   carla _ spawn _ objects   set _ initial _ pose . launch   controller _ id : = < CONTROLLER _ ID >   \u53d1\u5e03 \u6d88\u606f \u4ee5 \u8bbe\u7f6e \u65b0 \u4f4d\u7f6e \u7684 \u9996\u9009 \u65b9\u6cd5 \u662f \u4f7f\u7528   RVIZ   \u754c\u9762 \u4e2d \u63d0\u4f9b \u7684   2D   Pose   Estimate   \u6309\u94ae \u3002 \u7136\u540e \uff0c \u60a8 \u53ef\u4ee5 \u5355\u51fb \u5730\u56fe \u7684 \u89c6\u53e3 \u4ee5 \u5728 \u8be5 \u4f4d\u7f6e \u91cd\u751f \u3002 \u8fd9 \u5c06 \u5220\u9664 \u5f53\u524d   ego _ vehicle   \u5bf9\u8c61 \u5e76 \u5728 \u6307\u5b9a \u4f4d\u7f6e \u91cd\u65b0 \u751f\u6210 \u5b83 \u3002","title":"\u8f66\u8f86 \u518d \u751f\u6210  "},{"location":"carla_spawn_objects/#_5","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u521d\u59cb \u4f4d\u7f6e \u5e94 \u76f4\u63a5 \u5728   . json   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \uff0c \u5982 \u4e0a\u9762 \u7684 \u8f66\u8f86 \u6240\u793a \u3002   \u8fde\u63a5 \u5230 \u8f66\u8f86 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u751f\u6210 \u70b9 \u88ab \u8ba4\u4e3a \u662f \u76f8\u5bf9 \u4e8e \u8f66\u8f86 \u7684 \u3002","title":"\u751f\u6210 \u4f20\u611f\u5668  "},{"location":"carla_spawn_objects/#_6","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u4ee5 \u8fde\u63a5 \u5230 \u73b0\u6709 \u7684 \u8f66\u8f86 \u4e0a \u3002 \u4e3a\u6b64 \uff1a   \u5728   . json   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   sensor . pseudo . actor _ list   \u3002 \u8fd9 \u5c06 \u5141\u8bb8 \u8bbf\u95ee \u73b0\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5217\u8868 \u3002   ...   {   \" type \" :   \" sensor . pseudo . actor _ list \" ,   \" id \" :   \" actor _ list \"   } ,   \u6839\u636e \u9700\u8981 \u5b9a\u4e49 \u5176\u4f59 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u542f\u52a8 \u8282\u70b9 \u5e76 \u5c06   spawn _ sensors _ only   \u53c2\u6570 \u8bbe\u7f6e \u53c2\u6570\u8bbe\u7f6e \u4e3a   True \u3002 \u8fd9 \u5c06 \u68c0\u67e5 \u4e0e \u6587\u4ef6 \u4e2d \u6307\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u76f8\u540c   id   \u548c   type   \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u5df2 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \uff0c \u5982\u679c \u662f \uff0c \u5219 \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9644\u52a0 \u5230 \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   #   ROS   1   roslaunch   carla _ spawn _ objects   carla _ spawn _ objects . launch   spawn _ sensors _ only : = True   #   ROS   2   ros2   launch   carla _ spawn _ objects   carla _ spawn _ objects . launch . py   spawn _ sensors _ only : = True","title":"\u5c06 \u4f20\u611f\u5668 \u5b89\u88c5 \u5230 \u73b0\u6709 \u8f66\u8f86 \u4e0a  "},{"location":"carla_twist_to_control/","text":"Carla   \u626d\u8f6c \u63a7\u5236   carla _ twist _ to _ control   \u5305   \u5c06   geometry _ msgs . Twist   \u8f6c\u6362 \u4e3a   carla _ msgs . CarlaEgoVehicleControl   \u3002   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u8ba2\u9605   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / vehicle _ info   carla _ msgs . CarlaEgoVehicleInfo   \u81ea\u6211 \u8f66\u8f86 \u4fe1\u606f \uff0c \u63a5\u6536 \u6700\u5927 \u8f6c\u5411 \u89d2\u5ea6 \u3002   / carla / < ROLE   NAME > / twist   geometry _ msgs . Twist   \u626d\u8f6c \u8f6c\u6362 \u3002   \u53d1\u5e03   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / vehicle _ control _ cmd   carla _ msgs . CarlaEgoVehicleControl   \u8f6c\u6362 \u540e \u7684 \u8f66\u8f86 \u63a7\u5236 \u547d\u4ee4 \u3002","title":"Carla   \u626d\u8f6c \u63a7\u5236"},{"location":"carla_twist_to_control/#carla","text":"carla _ twist _ to _ control   \u5305   \u5c06   geometry _ msgs . Twist   \u8f6c\u6362 \u4e3a   carla _ msgs . CarlaEgoVehicleControl   \u3002","title":"Carla   \u626d\u8f6c \u63a7\u5236"},{"location":"carla_twist_to_control/#ros","text":"","title":"ROS   \u5e94\u7528 \u7a0b\u5e8f\u63a5\u53e3"},{"location":"carla_twist_to_control/#_1","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / vehicle _ info   carla _ msgs . CarlaEgoVehicleInfo   \u81ea\u6211 \u8f66\u8f86 \u4fe1\u606f \uff0c \u63a5\u6536 \u6700\u5927 \u8f6c\u5411 \u89d2\u5ea6 \u3002   / carla / < ROLE   NAME > / twist   geometry _ msgs . Twist   \u626d\u8f6c \u8f6c\u6362 \u3002","title":"\u8ba2\u9605"},{"location":"carla_twist_to_control/#_2","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / vehicle _ control _ cmd   carla _ msgs . CarlaEgoVehicleControl   \u8f6c\u6362 \u540e \u7684 \u8f66\u8f86 \u63a7\u5236 \u547d\u4ee4 \u3002","title":"\u53d1\u5e03"},{"location":"carla_waypoint/","text":"Carla   \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   Carla   \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   \u4f7f \u8def\u5f84 \u70b9 \u8ba1\u7b97 \u53ef \u7528\u4e8e   ROS   \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \uff0c \u5e76 \u63d0\u4f9b \u67e5\u8be2   Carla   \u8def\u5f84 \u70b9 \u7684 \u670d\u52a1 \u3002 \u8981 \u4e86\u89e3 \u6709\u5173 \u8def\u5f84 \u70b9 \u7684 \u66f4 \u591a \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Carla   \u6587\u6863   \u3002   \u8fd0\u884c \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   \u8bbe\u5b9a \u76ee\u6807   \u4f7f\u7528 \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u53d1\u5e03   \u670d\u52a1   \u8fd0\u884c \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   \u5728   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fd0\u884c \u7684 \u60c5\u51b5 \u4e0b \uff0c \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   ROS   1   roslaunch   carla _ waypoint _ publisher   carla _ waypoint _ publisher . launch   #   ROS   2   ros2   launch   carla _ waypoint _ publisher   carla _ waypoint _ publisher . launch . py   \u8bbe\u5b9a \u76ee\u6807   \u5982\u679c \u53ef\u7528 \uff0c \u5219 \u4ece \u4e3b\u9898   / carla / < ROLE   NAME > / goal   \u4e2d \u8bfb\u53d6 \u76ee\u6807 \uff0c \u5426\u5219 \u4f7f\u7528 \u56fa\u5b9a \u7684 \u751f\u6210 \u70b9 \u3002   \u8bbe\u7f6e \u76ee\u6807 \u7684 \u9996\u9009 \u65b9\u6cd5 \u662f \u5355\u51fb   RVIZ   \u4e2d \u7684 \u201c 2D   Nav   Goal \u201d \u3002   \u4f7f\u7528 \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6f14\u793a   \u4f7f\u7528   Waypoint   Publisher   \u4e3a   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406   \u89c4\u5212 \u8def\u7ebf \u3002 \u6709\u5173 \u5982\u4f55 \u4f7f\u7528 \u5b83 \u7684 \u793a\u4f8b \uff0c   \u53c2\u9605 \u8bf7\u53c2\u9605   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6f14\u793a   \u542f\u52a8 \u6587\u4ef6   \u3002   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u53d1\u5e03   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ego   vehicle   name > / waypoints   nav _ msgs / Path   \u53d1\u5e03 \u8ba1\u7b97 \u51fa \u7684 \u8def\u7ebf   \u670d\u52a1   \u670d\u52a1   \u7c7b\u578b   \u63cf\u8ff0   / carla _ waypoint _ publisher / < ego   vehicle   name > / get _ waypoint   carla _ waypoint _ types / GetWaypoint   \u83b7\u53d6 \u7279\u5b9a \u4f4d\u7f6e \u7684 \u8def\u5f84 \u70b9   / carla _ waypoint _ publisher / < ego   vehicle   name > / get _ actor _ waypoint   carla _ waypoint _ types / GetActorWaypoint   \u83b7\u53d6 \u53c2\u4e0e \u53c2\u4e0e\u8005   ID   \u7684 \u8def\u5f84 \u70b9","title":"Carla   \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668"},{"location":"carla_waypoint/#carla","text":"Carla   \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   \u4f7f \u8def\u5f84 \u70b9 \u8ba1\u7b97 \u53ef \u7528\u4e8e   ROS   \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \uff0c \u5e76 \u63d0\u4f9b \u67e5\u8be2   Carla   \u8def\u5f84 \u70b9 \u7684 \u670d\u52a1 \u3002 \u8981 \u4e86\u89e3 \u6709\u5173 \u8def\u5f84 \u70b9 \u7684 \u66f4 \u591a \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Carla   \u6587\u6863   \u3002   \u8fd0\u884c \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   \u8bbe\u5b9a \u76ee\u6807   \u4f7f\u7528 \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u53d1\u5e03   \u670d\u52a1","title":"Carla   \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668"},{"location":"carla_waypoint/#_1","text":"\u5728   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fd0\u884c \u7684 \u60c5\u51b5 \u4e0b \uff0c \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   ROS   1   roslaunch   carla _ waypoint _ publisher   carla _ waypoint _ publisher . launch   #   ROS   2   ros2   launch   carla _ waypoint _ publisher   carla _ waypoint _ publisher . launch . py","title":"\u8fd0\u884c \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668"},{"location":"carla_waypoint/#_2","text":"\u5982\u679c \u53ef\u7528 \uff0c \u5219 \u4ece \u4e3b\u9898   / carla / < ROLE   NAME > / goal   \u4e2d \u8bfb\u53d6 \u76ee\u6807 \uff0c \u5426\u5219 \u4f7f\u7528 \u56fa\u5b9a \u7684 \u751f\u6210 \u70b9 \u3002   \u8bbe\u7f6e \u76ee\u6807 \u7684 \u9996\u9009 \u65b9\u6cd5 \u662f \u5355\u51fb   RVIZ   \u4e2d \u7684 \u201c 2D   Nav   Goal \u201d \u3002","title":"\u8bbe\u5b9a \u76ee\u6807"},{"location":"carla_waypoint/#_3","text":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6f14\u793a   \u4f7f\u7528   Waypoint   Publisher   \u4e3a   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406   \u89c4\u5212 \u8def\u7ebf \u3002 \u6709\u5173 \u5982\u4f55 \u4f7f\u7528 \u5b83 \u7684 \u793a\u4f8b \uff0c   \u53c2\u9605 \u8bf7\u53c2\u9605   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6f14\u793a   \u542f\u52a8 \u6587\u4ef6   \u3002","title":"\u4f7f\u7528 \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668"},{"location":"carla_waypoint/#ros","text":"","title":"ROS   \u5e94\u7528 \u7a0b\u5e8f\u63a5\u53e3"},{"location":"carla_waypoint/#_4","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ego   vehicle   name > / waypoints   nav _ msgs / Path   \u53d1\u5e03 \u8ba1\u7b97 \u51fa \u7684 \u8def\u7ebf","title":"\u53d1\u5e03"},{"location":"carla_waypoint/#_5","text":"\u670d\u52a1   \u7c7b\u578b   \u63cf\u8ff0   / carla _ waypoint _ publisher / < ego   vehicle   name > / get _ waypoint   carla _ waypoint _ types / GetWaypoint   \u83b7\u53d6 \u7279\u5b9a \u4f4d\u7f6e \u7684 \u8def\u5f84 \u70b9   / carla _ waypoint _ publisher / < ego   vehicle   name > / get _ actor _ waypoint   carla _ waypoint _ types / GetActorWaypoint   \u83b7\u53d6 \u53c2\u4e0e \u53c2\u4e0e\u8005   ID   \u7684 \u8def\u5f84 \u70b9","title":"\u670d\u52a1"},{"location":"catalogue/","text":"Carla   \u76ee\u5f55   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5e9e\u5927 \u7684 \u4e09\u7ef4 \u8d44\u4ea7 \u5e93\u6765 \u586b\u5145 \u60a8 \u7684 \u81ea\u4e3b \u4ee3\u7406 \u7684 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u3002 \u4e09\u7ef4 \u8d44\u6e90 \u8d44\u6e90\u5e93 \u63d0\u4f9b \u4e86 \u5927\u91cf \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u7684 \u9884 \u6784\u5efa \u5730\u56fe \u3001 \u7528\u4e8e \u4ea4\u901a \u4eff\u771f \u7684 \u5404\u79cd \u8f66\u8f86 \u6a21\u578b \u4ee5\u53ca \u884c\u4eba \u548c \u5176\u4ed6 \u7ed3\u6784 \u6216 \u969c\u788d \u969c\u788d\u7269 \u7684 \u6a21\u578b \uff0c \u8fd9\u4e9b \u6a21\u578b \u53ef\u4ee5 \u5728 \u8fd0\u884c \u65f6 \u52a8\u6001 \u6dfb\u52a0 \u5230 \u60a8 \u7684 \u4eff\u771f \u4e2d \u3002 \u8be5 \u76ee\u5f55 \u8bb0\u5f55 \u4e86 \u53ef \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u7684 \u6240\u6709 \u4e09\u7ef4 \u8d44\u6e90 \u3002   \u5730\u56fe   \u8f66\u8f86   \u884c\u4eba   \u9053\u5177   \u5730\u56fe   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u63d0\u4f9b   10   \u4e2a\u9884 \u6784\u5efa \u5730\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \uff0c \u4e3a \u8bad\u7ec3 \u548c \u6d4b\u8bd5 \u81ea\u4e3b \u4ee3\u7406 \u63d0\u4f9b \u4e86 \u591a\u79cd \u73af\u5883 \u3002   \u57ce\u9547   \u6982\u51b5   Town01   \u4e00\u4e2a \u7b80\u5355 \u7684 \u5c0f\u9547 \uff0c \u6709 \u4e00\u6761 \u6cb3\u6d41 \u548c \u51e0\u5ea7 \u6865\u6881 \u3002   Town02   \u4e00\u4e2a \u7b80\u5355 \u7684 \u5c0f\u9547 \uff0c \u4f4f\u5b85 \u548c \u5546\u4e1a \u5efa\u7b51 \u6df7\u5408 \u5728 \u4e00\u8d77 \u3002   Town03   \u66f4\u5927 \u7684 \u57ce\u5e02 \u5e02\u5730 \u5730\u56fe \u57ce\u5e02\u5730\u56fe \uff0c \u5e26\u6709 \u73af\u5c9b \u548c \u5927\u578b \u8def\u53e3 \u3002   Town04   \u4e00\u5ea7 \u9576\u5d4c \u5728 \u7fa4\u5c71 \u4e4b\u4e2d \u7684 \u5c0f\u9547 \uff0c \u6709 \u4e00\u6761 \u7279\u6b8a \u7684 \u201c 8   \u5b57\u5f62 \u201d   \u65e0\u9650   \u516c\u8def \u3002   Town05   \u65b9\u5f62 \u7f51\u683c \u57ce\u9547 \uff0c \u6709 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u548c \u4e00\u5ea7 \u6865\u6881 \u3002 \u6bcf\u4e2a \u65b9\u5411 \u6709 \u591a\u4e2a \u8f66\u9053 \u3002 \u5bf9\u4e8e \u6267\u884c \u53d8\u9053 \u5f88 \u6709\u7528 \u3002   Town06   \u957f \u7684 \u591a \u8f66\u9053 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \uff0c \u6709 \u8bb8\u591a \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u5165\u53e3 \u548c \u51fa\u53e3 \u3002 \u5b83 \u8fd8\u6709 \u4e00\u4e2a   \u5bc6\u6b47\u6839 \u5de6\u7ffc   \u3002   Town07   \u4e61\u6751 \u73af\u5883 \uff0c \u9053\u8def \u72ed\u7a84 \uff0c \u6709 \u7389\u7c73 \u3001 \u8c37\u4ed3 \uff0c \u51e0\u4e4e \u6ca1\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u3002   Town08   \u7528\u4e8e   \u6392\u884c \u6392\u884c\u699c   \u6311\u6218 \u7684 \u79d8\u5bc6 \u201c \u4e0d\u89c1 \u770b\u4e0d\u89c1 \u201d \u5c0f\u9547 \u3002   Town09   \u7528\u4e8e   \u6392\u884c \u6392\u884c\u699c   \u6311\u6218 \u7684 \u79d8\u5bc6 \u201c \u4e0d\u89c1 \u770b\u4e0d\u89c1 \u201d \u5c0f\u9547 \u3002   Town10   \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u7684 \u57ce\u5e02 \u73af\u5883 \uff0c \u62e5\u6709 \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u697c \u548c \u6d77\u6ee8 \u957f\u5eca \u3002   Town11   \u672a \u88c5\u9970 \u7684 \u5927 \u5730\u56fe \u3002 \u7528\u4f5c \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd \u7684 \u6982\u5ff5 \u8bc1\u660e \u3002   Town12   \u4e00\u5f20 \u5305\u542b \u8bb8\u591a \u4e0d\u540c \u533a\u57df \u7684 \u5927 \u5730\u56fe \uff0c \u5305\u62ec \u9ad8\u5c42 \u5efa\u7b51 \u9ad8\u5c42\u5efa\u7b51 \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u73af\u5883 \u3002   Town13   \u4e00\u5f20 \u4e0e   12   \u53f7 \u9547 \u89c4\u6a21 \u76f8\u4f3c \u7684 \u5927 \u5730\u56fe \uff0c \u4f46 \u5177\u6709 \u9c9c\u660e \u7684 \u7279\u8272 \u3002   Town15   \u57fa\u4e8e \u5df4\u585e \u585e\u7f57 \u7f57\u90a3 \u5df4\u585e\u7f57\u90a3 \u81ea\u6cbb \u5927\u5b66 \u9053\u8def \u5e03\u5c40 \u7684 \u5730\u56fe \u3002   \u8f66\u8f86   Carla   \u63d0\u4f9b \u5404\u79cd \u8f66\u8f86 \uff0c \u4ee5\u53ca \u73b0\u5b9e \u4e16\u754c \u6c7d\u8f66 \u3001 \u5361\u8f66 \u548c \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4fdd\u771f \u9ad8\u4fdd\u771f \u6a21\u578b \uff0c \u7528\u4e8e \u5728 \u4eff\u771f \u4e2d \u590d\u5236 \u4ea4\u901a \u3002 \u5728   \u8f66\u8f86 \u76ee\u5f55   \u4e2d \u6d4f\u89c8 \u5e76 \u9009\u62e9 \u60a8 \u559c\u6b22 \u7684 \u8f66\u8f86 \u3002   \u884c\u4eba   Carla   \u7684 \u8d44\u4ea7 \u5e93 \u5305\u542b \u5404\u79cd \u884c\u4eba \uff0c \u53ef \u4eff\u771f \u4ee3\u7406 \u5468\u56f4 \u4e09\u7ef4 \u73af\u5883 \u4e2d \u7684 \u4eba\u6d41 \u6d41\u91cf \u4eba\u6d41\u91cf \u3002 \u5728   \u884c\u4eba \u76ee\u5f55   \u4e2d \u6d4f\u89c8 \u5e76 \u9009\u62e9 \u60a8 \u60f3\u8981 \u7684 \u884c\u4eba \u3002   \u9053\u5177   Carla   \u7684 \u9053\u5177 \u4eff\u771f \u4e86 \u60a8 \u53ef\u80fd \u5728 \u9053\u8def \u4e0a \u6216 \u9053\u8def \u9644\u8fd1 \u53d1\u73b0 \u7684 \u5404\u79cd \u7ed3\u6784 \u548c \u7269\u54c1 \uff0c \u4f8b\u5982 \u4fe1\u606f \u4ead \u3001 \u96d5\u50cf \u3001 \u957f\u51f3 \u3001 \u76d2\u5b50 \u3001 \u5783\u573e \u5783\u573e\u7bb1 \u3001 \u788e\u7247 \u6216 \u5783\u573e \u3002 \u8fd9\u4e9b \u9053\u5177 \u53ef\u4ee5 \u5728 \u8fd0\u884c \u65f6 \u52a8\u6001 \u5730 \u653e\u7f6e \u5728 \u4eff\u771f \u4e2d \u7684 \u4efb\u4f55 \u4f4d\u7f6e \u3002 \u5728   \u9053\u5177 \u76ee\u5f55   \u4e2d \u6d4f\u89c8 \u5e76 \u9009\u62e9 \u60a8 \u7684 \u9053\u5177 \u3002","title":"Carla   \u76ee\u5f55"},{"location":"catalogue/#carla","text":"Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5e9e\u5927 \u7684 \u4e09\u7ef4 \u8d44\u4ea7 \u5e93\u6765 \u586b\u5145 \u60a8 \u7684 \u81ea\u4e3b \u4ee3\u7406 \u7684 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u3002 \u4e09\u7ef4 \u8d44\u6e90 \u8d44\u6e90\u5e93 \u63d0\u4f9b \u4e86 \u5927\u91cf \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u7684 \u9884 \u6784\u5efa \u5730\u56fe \u3001 \u7528\u4e8e \u4ea4\u901a \u4eff\u771f \u7684 \u5404\u79cd \u8f66\u8f86 \u6a21\u578b \u4ee5\u53ca \u884c\u4eba \u548c \u5176\u4ed6 \u7ed3\u6784 \u6216 \u969c\u788d \u969c\u788d\u7269 \u7684 \u6a21\u578b \uff0c \u8fd9\u4e9b \u6a21\u578b \u53ef\u4ee5 \u5728 \u8fd0\u884c \u65f6 \u52a8\u6001 \u6dfb\u52a0 \u5230 \u60a8 \u7684 \u4eff\u771f \u4e2d \u3002 \u8be5 \u76ee\u5f55 \u8bb0\u5f55 \u4e86 \u53ef \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u7684 \u6240\u6709 \u4e09\u7ef4 \u8d44\u6e90 \u3002   \u5730\u56fe   \u8f66\u8f86   \u884c\u4eba   \u9053\u5177","title":"Carla   \u76ee\u5f55"},{"location":"catalogue/#_1","text":"Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u63d0\u4f9b   10   \u4e2a\u9884 \u6784\u5efa \u5730\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \uff0c \u4e3a \u8bad\u7ec3 \u548c \u6d4b\u8bd5 \u81ea\u4e3b \u4ee3\u7406 \u63d0\u4f9b \u4e86 \u591a\u79cd \u73af\u5883 \u3002   \u57ce\u9547   \u6982\u51b5   Town01   \u4e00\u4e2a \u7b80\u5355 \u7684 \u5c0f\u9547 \uff0c \u6709 \u4e00\u6761 \u6cb3\u6d41 \u548c \u51e0\u5ea7 \u6865\u6881 \u3002   Town02   \u4e00\u4e2a \u7b80\u5355 \u7684 \u5c0f\u9547 \uff0c \u4f4f\u5b85 \u548c \u5546\u4e1a \u5efa\u7b51 \u6df7\u5408 \u5728 \u4e00\u8d77 \u3002   Town03   \u66f4\u5927 \u7684 \u57ce\u5e02 \u5e02\u5730 \u5730\u56fe \u57ce\u5e02\u5730\u56fe \uff0c \u5e26\u6709 \u73af\u5c9b \u548c \u5927\u578b \u8def\u53e3 \u3002   Town04   \u4e00\u5ea7 \u9576\u5d4c \u5728 \u7fa4\u5c71 \u4e4b\u4e2d \u7684 \u5c0f\u9547 \uff0c \u6709 \u4e00\u6761 \u7279\u6b8a \u7684 \u201c 8   \u5b57\u5f62 \u201d   \u65e0\u9650   \u516c\u8def \u3002   Town05   \u65b9\u5f62 \u7f51\u683c \u57ce\u9547 \uff0c \u6709 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u548c \u4e00\u5ea7 \u6865\u6881 \u3002 \u6bcf\u4e2a \u65b9\u5411 \u6709 \u591a\u4e2a \u8f66\u9053 \u3002 \u5bf9\u4e8e \u6267\u884c \u53d8\u9053 \u5f88 \u6709\u7528 \u3002   Town06   \u957f \u7684 \u591a \u8f66\u9053 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \uff0c \u6709 \u8bb8\u591a \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u5165\u53e3 \u548c \u51fa\u53e3 \u3002 \u5b83 \u8fd8\u6709 \u4e00\u4e2a   \u5bc6\u6b47\u6839 \u5de6\u7ffc   \u3002   Town07   \u4e61\u6751 \u73af\u5883 \uff0c \u9053\u8def \u72ed\u7a84 \uff0c \u6709 \u7389\u7c73 \u3001 \u8c37\u4ed3 \uff0c \u51e0\u4e4e \u6ca1\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u3002   Town08   \u7528\u4e8e   \u6392\u884c \u6392\u884c\u699c   \u6311\u6218 \u7684 \u79d8\u5bc6 \u201c \u4e0d\u89c1 \u770b\u4e0d\u89c1 \u201d \u5c0f\u9547 \u3002   Town09   \u7528\u4e8e   \u6392\u884c \u6392\u884c\u699c   \u6311\u6218 \u7684 \u79d8\u5bc6 \u201c \u4e0d\u89c1 \u770b\u4e0d\u89c1 \u201d \u5c0f\u9547 \u3002   Town10   \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u7684 \u57ce\u5e02 \u73af\u5883 \uff0c \u62e5\u6709 \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u697c \u548c \u6d77\u6ee8 \u957f\u5eca \u3002   Town11   \u672a \u88c5\u9970 \u7684 \u5927 \u5730\u56fe \u3002 \u7528\u4f5c \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd \u7684 \u6982\u5ff5 \u8bc1\u660e \u3002   Town12   \u4e00\u5f20 \u5305\u542b \u8bb8\u591a \u4e0d\u540c \u533a\u57df \u7684 \u5927 \u5730\u56fe \uff0c \u5305\u62ec \u9ad8\u5c42 \u5efa\u7b51 \u9ad8\u5c42\u5efa\u7b51 \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u73af\u5883 \u3002   Town13   \u4e00\u5f20 \u4e0e   12   \u53f7 \u9547 \u89c4\u6a21 \u76f8\u4f3c \u7684 \u5927 \u5730\u56fe \uff0c \u4f46 \u5177\u6709 \u9c9c\u660e \u7684 \u7279\u8272 \u3002   Town15   \u57fa\u4e8e \u5df4\u585e \u585e\u7f57 \u7f57\u90a3 \u5df4\u585e\u7f57\u90a3 \u81ea\u6cbb \u5927\u5b66 \u9053\u8def \u5e03\u5c40 \u7684 \u5730\u56fe \u3002","title":"\u5730\u56fe"},{"location":"catalogue/#_2","text":"Carla   \u63d0\u4f9b \u5404\u79cd \u8f66\u8f86 \uff0c \u4ee5\u53ca \u73b0\u5b9e \u4e16\u754c \u6c7d\u8f66 \u3001 \u5361\u8f66 \u548c \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4fdd\u771f \u9ad8\u4fdd\u771f \u6a21\u578b \uff0c \u7528\u4e8e \u5728 \u4eff\u771f \u4e2d \u590d\u5236 \u4ea4\u901a \u3002 \u5728   \u8f66\u8f86 \u76ee\u5f55   \u4e2d \u6d4f\u89c8 \u5e76 \u9009\u62e9 \u60a8 \u559c\u6b22 \u7684 \u8f66\u8f86 \u3002","title":"\u8f66\u8f86"},{"location":"catalogue/#_3","text":"Carla   \u7684 \u8d44\u4ea7 \u5e93 \u5305\u542b \u5404\u79cd \u884c\u4eba \uff0c \u53ef \u4eff\u771f \u4ee3\u7406 \u5468\u56f4 \u4e09\u7ef4 \u73af\u5883 \u4e2d \u7684 \u4eba\u6d41 \u6d41\u91cf \u4eba\u6d41\u91cf \u3002 \u5728   \u884c\u4eba \u76ee\u5f55   \u4e2d \u6d4f\u89c8 \u5e76 \u9009\u62e9 \u60a8 \u60f3\u8981 \u7684 \u884c\u4eba \u3002","title":"\u884c\u4eba"},{"location":"catalogue/#_4","text":"Carla   \u7684 \u9053\u5177 \u4eff\u771f \u4e86 \u60a8 \u53ef\u80fd \u5728 \u9053\u8def \u4e0a \u6216 \u9053\u8def \u9644\u8fd1 \u53d1\u73b0 \u7684 \u5404\u79cd \u7ed3\u6784 \u548c \u7269\u54c1 \uff0c \u4f8b\u5982 \u4fe1\u606f \u4ead \u3001 \u96d5\u50cf \u3001 \u957f\u51f3 \u3001 \u76d2\u5b50 \u3001 \u5783\u573e \u5783\u573e\u7bb1 \u3001 \u788e\u7247 \u6216 \u5783\u573e \u3002 \u8fd9\u4e9b \u9053\u5177 \u53ef\u4ee5 \u5728 \u8fd0\u884c \u65f6 \u52a8\u6001 \u5730 \u653e\u7f6e \u5728 \u4eff\u771f \u4e2d \u7684 \u4efb\u4f55 \u4f4d\u7f6e \u3002 \u5728   \u9053\u5177 \u76ee\u5f55   \u4e2d \u6d4f\u89c8 \u5e76 \u9009\u62e9 \u60a8 \u7684 \u9053\u5177 \u3002","title":"\u9053\u5177"},{"location":"catalogue_pedestrians/","text":"\u884c\u4eba \u76ee\u5f55   \u6210\u5e74 \u6210\u5e74\u4eba   \u6210\u5e74 \u884c\u4eba   -   1   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u53d8\u4f53   4   \u53d8\u4f53   5   \u53d8\u4f53   6   \u6210\u5e74 \u884c\u4eba   -   2   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u53d8\u4f53   4   \u6210\u5e74 \u884c\u4eba   -   3   \u53d8\u4f53   1   \u53d8\u4f53   2   \u6210\u5e74 \u884c\u4eba   -   4   \u53d8\u4f53   1   \u53d8\u4f53   2   \u6210\u5e74 \u884c\u4eba   -   5   \u53d8\u4f53   1   \u53d8\u4f53   2   \u6210\u5e74 \u884c\u4eba   -   6   \u53d8\u4f53   1   \u53d8\u4f53   2   \u6210\u5e74 \u884c\u4eba   -   7   \u53d8\u4f53   1   \u53d8\u4f53   2   \u6210\u5e74 \u884c\u4eba   -   8   \u53d8\u4f53   1   \u53d8\u4f53   2   \u6210\u5e74 \u884c\u4eba   -   9   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u6210\u5e74 \u884c\u4eba   -   10   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u53d8\u4f53   4   \u6210\u5e74 \u884c\u4eba   -   11   \u53d8\u4f53   1   \u53d8\u4f53   2   \u6210\u5e74 \u884c\u4eba   -   12   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u6210\u5e74 \u884c\u4eba   -   13   \u53d8\u4f53   1   \u6210\u5e74 \u884c\u4eba   -   14   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u6210\u5e74 \u884c\u4eba   -   15   \u53d8\u4f53   1   \u53d8\u4f53   2   \u5c0f\u5b69   \u5c0f\u5b69 \u884c\u4eba   -   1   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u5c0f\u5b69 \u884c\u4eba   -   2   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u5c0f\u5b69 \u884c\u4eba   -   3   \u53d8\u4f53   1   \u5c0f\u5b69 \u884c\u4eba   -   4   \u53d8\u4f53   1   \u8b66\u5bdf   \u8b66\u5bdf   -   1   \u8b66\u5bdf   -   2   \u6210\u5e74 \u6210\u5e74\u4eba   \u6210\u5e74 \u884c\u4eba   1   -   \u53d8\u4f53   1   \u84dd\u56fe   ID   :   walker . pedestrian.0001   \u6210\u5e74 \u884c\u4eba   1   -   \u53d8\u4f53   2   \u84dd\u56fe   ID   :   walker . pedestrian.0005   \u6210\u5e74 \u884c\u4eba   1   -   \u53d8\u4f53   3   \u84dd\u56fe   ID   :   walker . pedestrian.0006   \u6210\u5e74 \u884c\u4eba   1   -   \u53d8\u4f53   4   \u84dd\u56fe   ID   :   walker . pedestrian.0007   \u6210\u5e74 \u884c\u4eba   1   -   \u53d8\u4f53   5   \u84dd\u56fe   ID   :   walker . pedestrian.0008   \u6210\u5e74 \u884c\u4eba   2   -   \u53d8\u4f53   1   \u84dd\u56fe   ID   :   walker . pedestrian.0004   \u6210\u5e74 \u884c\u4eba   2   -   \u53d8\u4f53   2   \u84dd\u56fe   ID   :   walker . pedestrian.0003   \u6210\u5e74 \u884c\u4eba   2  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calibrator","title":"\u6821\u51c6\u5668"},{"location":"catalogue_vehicles/","text":"\u8f66\u8f86 \u76ee\u5f55   \u7b2c   2   \u4ee3   \u8f66   \u9053\u5947   -   Charger   2020   \u9053\u5947   -   Police   Charger   2020   \u798f\u7279   -   \u7687\u51a0 \uff08 \u51fa\u79df \u79df\u8f66 \u51fa\u79df\u8f66 \uff09   \u6797\u80af   -   MKZ   2020   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   -   Coupe   2020   \u8ff7\u4f60   -   Cooper   S   2021   \u5c3c\u6851   -   Patrol   2021   \u5361\u8f66   Carla   Motors   -   \u6b27\u6d32   HGV \uff08 \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u4f4d\u4e8e \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u4e0a\u65b9 \uff09   Carla   Motors   -   \u6d88\u9632 \u6d88\u9632\u8f66   \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   -   Cybertruck   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u798f\u7279   -   \u6551\u62a4 \u62a4\u8f66 \u6551\u62a4\u8f66   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   -   Sprinter   \u5927\u4f17   -   T2   2021   \u5df4\u58eb   \u4e09\u83f1   -   Fusorosa   \u7b2c\u4e00 \u4e00\u4ee3 \u7b2c\u4e00\u4ee3   \u8f66   \u5965\u8fea   -   A2   \u5965\u8fea   -   E - Tron   \u5965\u8fea   -   TT   \u5b9d\u9a6c   -   \u529f\u80fd \u591a\u529f\u80fd \u65c5\u884c \u884c\u8f66 \u65c5\u884c\u8f66   \u96ea\u4f5b\u5170   -   Impala   \u96ea\u94c1\u9f99   -   C3   \u9053\u5947   -   Police   Charger   \u798f\u7279   -   Mustang   \u5409\u666e \u5409\u666e\u8f66   -   Wrangler   Rubicon   \u6797\u80af   -   MKZ   2017   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   -   Coupe   \u5fae\u578b \u5fae\u578b\u8f66   -   Microlino   \u8ff7\u4f60   -   Cooper   S   \u5c3c\u6851   -   Micra   \u5c3c\u6851   -   Patrol   Seat   -   Leon   \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   -   Model   3   Toyota   -   Prius   \u5361\u8f66   Carla   Motors   -   CarlaCola   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u5927\u4f17   -   T2   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u54c8\u96f7 \u6234\u7ef4\u68ee   -   Low   Rider   Kawasaki   -   Ninja   Vespa   -   ZX   125   Yamaha   -   YZF   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   BH   -   \u8d8a\u91ce \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u5927\u540d \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   -   Century   Gazelle   -   Omafiets   \u68c0\u67e5 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u7684 \u8f66\u8f86   \u8981 \u68c0\u67e5 \u76ee\u5f55 \u4e2d \u7684 \u8f66\u8f86 \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b \u4ee3\u7801 \uff0c \u4ece \u4e0b\u9762 \u7684 \u8f66\u8f86 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u4e2d \u68c0\u7d22 \u84dd\u56fe   ID   \u5e76 \u5c06 \u5176 \u7c98\u8d34 \u5230 \u884c\u4e2d   bp _ lib . find ( ' blueprint . id . goes _ here ' )   \uff1a   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   bp _ lib   =   world . get _ blueprint _ library ( )   spectator   =   world . get _ spectator ( )   #   \u8bbe\u7f6e \u8f66\u8f86 \u53d8\u6362   vehicle _ loc   =   carla . Location ( x = - 46.9 ,   y = 20.0 ,   z = 0.2 )   vehicle _ rot   =   carla . Rotation ( pitch = 0.0 ,   yaw = 142.0 ,   roll = 0.0 )   vehicle _ trans   =   carla . Transform ( vehicle _ loc , vehicle _ rot )   #   \u5728 \u8fd9\u91cc \u7c98\u8d34 \u84dd\u56fe   ID   vehicle _ bp   =   bp _ lib . find ( ' vehicle . lincoln . mkz _ 2020 ' )   #   \u8bbe\u7f6e \u89c6\u89d2 \u53d8\u6362   camera _ loc   =   carla . Location ( x = - 48.7 ,   y = 24.8 ,   z = 1.7 )   camera _ rot   =   carla . Rotation ( pitch = - 13.4 ,   yaw = - 75.7 ,   roll = 0.0 )   camera _ trans   =   carla . Transform ( camera _ loc , camera _ rot )   #   \u751f\u6210 \u8f66\u8f86   vehicle   =   world . spawn _ actor ( vehicle _ bp ,   vehicle _ trans )   #   \u79fb\u52a8 \u89c2\u5bdf \u89c2\u5bdf\u8005   spectator . set _ transform ( camera _ trans )   \u5728 \u5c1d\u8bd5 \u751f\u6210 \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u4e4b\u524d \uff0c \u4e0d\u8981 \u5fd8\u8bb0 \u9500\u6bc1 \u8be5 \u8f66\u8f86 \u4ee5 \u907f\u514d \u78b0\u649e \uff1a   vehicle . destroy ( )   \u8f66   \u5965\u8fea   -   A2   \u5236\u9020 \u5236\u9020\u5546   :   \u5965\u8fea   \u578b\u53f7   :   A2   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . audi . a2   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u5965\u8fea   -   E - Tron   \u5236\u9020 \u5236\u9020\u5546   :   \u5965\u8fea   \u578b\u53f7   :   E - Tron   \u7c7b\u522b   :   SUV   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . audi . etron   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u7535\u52a8   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u5965\u8fea   -   TT   \u5236\u9020 \u5236\u9020\u5546   :   \u5965\u8fea   \u578b\u53f7   :   TT   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . audi . tt   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u5b9d\u9a6c   -   \u529f\u80fd \u591a\u529f\u80fd \u65c5\u884c \u884c\u8f66 \u65c5\u884c\u8f66   \u5236\u9020 \u5236\u9020\u5546   :   \u5b9d\u9a6c   \u578b\u53f7   :   \u529f\u80fd \u591a\u529f\u80fd \u65c5\u884c \u884c\u8f66 \u65c5\u884c\u8f66   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . bmw . grandtourer   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u96ea\u4f5b\u5170   -   Impala   \u5236\u9020 \u5236\u9020\u5546   :   \u96ea\u4f5b\u5170   \u578b\u53f7   :   Impala   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . chevrolet . impala   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u96ea\u94c1\u9f99   -   C3   \u5236\u9020 \u5236\u9020\u5546   :   \u96ea\u94c1\u9f99   \u578b\u53f7   :   C3   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . citroen . c3   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u9053\u5947   -   Charger   2020   \u5236\u9020 \u5236\u9020\u5546   :   \u9053\u5947   \u578b\u53f7   :   Charger   2020   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . dodge . charger _ 2020   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   \u9053\u5947   -   Police   Charger   \u5236\u9020 \u5236\u9020\u5546   :   \u9053\u5947   \u578b\u53f7   :   Police   Charger   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . dodge . charger _ police   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u6551\u9669 \u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u9053\u5947   -   Police   Charger   2020   \u5236\u9020 \u5236\u9020\u5546   :   \u9053\u5947   \u578b\u53f7   :   Police   Charger   2020   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . dodge . charger _ police _ 2020   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u6551\u9669 \u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   \u798f\u7279   -   \u7687\u51a0 \uff08 \u51fa\u79df \u79df\u8f66 \u51fa\u79df\u8f66 \uff09   \u5236\u9020 \u5236\u9020\u5546   :   \u798f\u7279   \u578b\u53f7   :   \u7687\u51a0 \uff08 \u51fa\u79df \u79df\u8f66 \u51fa\u79df\u8f66 \uff09   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . ford . crown   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   taxi   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   \u798f\u7279   -   Mustang   \u5236\u9020 \u5236\u9020\u5546   :   \u798f\u7279   \u578b\u53f7   :   Mustang   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . ford . mustang   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u5409\u666e \u5409\u666e\u8f66   -   Wrangler   Rubicon   \u5236\u9020 \u5236\u9020\u5546   :   \u5409\u666e \u5409\u666e\u8f66   \u578b\u53f7   :   Wrangler   Rubicon   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . jeep . wrangler _ rubicon   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u6797\u80af   -   MKZ   2017   \u5236\u9020 \u5236\u9020\u5546   :   \u6797\u80af   \u578b\u53f7   :   MKZ   2017   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . lincoln . mkz _ 2017   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u6797\u80af   -   MKZ   2020   \u5236\u9020 \u5236\u9020\u5546   :   \u6797\u80af   \u578b\u53f7   :   MKZ   2020   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . lincoln . mkz _ 2020   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   -   Coupe   \u5236\u9020 \u5236\u9020\u5546   :   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   \u578b\u53f7   :   Coupe   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . mercedes . coupe   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   -   Coupe   2020   \u5236\u9020 \u5236\u9020\u5546   :   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   \u578b\u53f7   :   Coupe   2020   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . mercedes . coupe _ 2020   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   \u5fae\u578b \u5fae\u578b\u8f66   -   Microlino   \u5236\u9020 \u5236\u9020\u5546   :   \u5fae\u578b \u5fae\u578b\u8f66   \u578b\u53f7   :   Microlino   \u7c7b\u522b   :   \u5fae\u578b \u5fae\u578b\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . micro . microlino   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u7535\u52a8   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u8ff7\u4f60   -   Cooper   S   \u5236\u9020 \u5236\u9020\u5546   :   \u8ff7\u4f60   \u578b\u53f7   :   Cooper   S   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . mini . cooper _ s   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u8ff7\u4f60   -   Cooper   S   2021   \u5236\u9020 \u5236\u9020\u5546   :   \u8ff7\u4f60   \u578b\u53f7   :   Cooper   S   2021   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . mini . cooper _ s _ 2021   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   \u5c3c\u6851   -   Micra   \u5236\u9020 \u5236\u9020\u5546   :   \u5c3c\u6851   \u578b\u53f7   :   Micra   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . nissan . micra   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u5c3c\u6851   -   Patrol   \u5236\u9020 \u5236\u9020\u5546   :   \u5c3c\u6851   \u578b\u53f7   :   Patrol   \u7c7b\u522b   :   SUV   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . nissan . patrol   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u5c3c\u6851   -   Patrol   2021   \u5236\u9020 \u5236\u9020\u5546   :   \u5c3c\u6851   \u578b\u53f7   :   Patrol   2021   \u7c7b\u522b   :   SUV   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . nissan . patrol _ 2021   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   Seat   -   Leon   \u5236\u9020 \u5236\u9020\u5546   :   Seat   \u578b\u53f7   :   Leon   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . seat . leon   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   -   Model   3   \u5236\u9020 \u5236\u9020\u5546   :   \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   \u578b\u53f7   :   Model   3   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . tesla . model3   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u7535\u52a8   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   Toyota   -   Prius   \u5236\u9020 \u5236\u9020\u5546   :   Toyota   \u578b\u53f7   :   Prius   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . toyota . prius   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u7535\u52a8   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u5361\u8f66   Carla   Motors   -   CarlaCola   \u5236\u9020 \u5236\u9020\u5546   :   Carla   Motors   \u578b\u53f7   :   CarlaCola   \u7c7b\u522b   :   \u5361\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . carlamotors . carlacola   \u57fa\u672c \u7c7b\u578b   :   \u5361\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   Carla   Motors   -   \u6b27\u6d32   HGV \uff08 \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u4f4d\u4e8e \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u4e0a\u65b9 \uff09   \u5236\u9020 \u5236\u9020\u5546   :   Carla   Motors   \u578b\u53f7   :   \u6b27\u6d32   HGV \uff08 \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u4f4d\u4e8e \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u4e0a\u65b9 \uff09   \u7c7b\u522b   :   \u5361\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . carlamotors . european _ hgv   \u57fa\u672c \u7c7b\u578b   :   \u5361\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   Carla   Motors   -   Firetruck   \u5236\u9020 \u5236\u9020\u5546   :   Carla   Motors   \u578b\u53f7   :   Firetruck   \u7c7b\u522b   :   \u5361\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . carlamotors . firetruck   \u57fa\u672c \u7c7b\u578b   :   \u5361\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u6551\u9669 \u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   -   Cybertruck   \u5236\u9020 \u5236\u9020\u5546   :   \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   \u578b\u53f7   :   Cybertruck   \u7c7b\u522b   :   \u5361\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . tesla . cybertruck   \u57fa\u672c \u7c7b\u578b   :   \u5361\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u7535\u52a8   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u798f\u7279   -   \u6551\u62a4 \u62a4\u8f66 \u6551\u62a4\u8f66   \u5236\u9020 \u5236\u9020\u5546   :   \u798f\u7279   \u578b\u53f7   :   \u6551\u62a4 \u62a4\u8f66 \u6551\u62a4\u8f66   \u7c7b\u522b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . ford . ambulance   \u57fa\u672c \u7c7b\u578b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u6551\u9669 \u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   -   Sprinter   \u5236\u9020 \u5236\u9020\u5546   :   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   \u578b\u53f7   :   Sprinter   \u7c7b\u522b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . mercedes . sprinter   \u57fa\u672c \u7c7b\u578b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   \u5927\u4f17   -   T2   \u5236\u9020 \u5236\u9020\u5546   :   \u5927\u4f17   \u578b\u53f7   :   T2   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . volkswagen . t2   \u57fa\u672c \u7c7b\u578b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u5927\u4f17   -   T2   2021   \u5236\u9020 \u5236\u9020\u5546   :   \u5927\u4f17   \u578b\u53f7   :   T2   2021   \u7c7b\u522b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . volkswagen . t2 _ 2021   \u57fa\u672c \u7c7b\u578b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   \u5df4\u58eb   \u4e09\u83f1   -   Fusorosa   \u5236\u9020 \u5236\u9020\u5546   :   \u4e09\u83f1   \u578b\u53f7   :   Fusorosa   \u7c7b\u522b   :   \u5df4\u58eb   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . mitsubishi . fusorosa   \u57fa\u672c \u7c7b\u578b   :   \u5df4\u58eb   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u54c8\u96f7 \u6234\u7ef4\u68ee   -   Low   Rider   \u5236\u9020 \u5236\u9020\u5546   :   \u54c8\u96f7 \u6234\u7ef4\u68ee   \u578b\u53f7   :   Low   Rider   \u7c7b\u522b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . harley - davidson . low _ rider   \u57fa\u672c \u7c7b\u578b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   Kawasaki   -   Ninja   \u5236\u9020 \u5236\u9020\u5546   :   Kawasaki   \u578b\u53f7   :   Ninja   \u7c7b\u522b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . kawasaki . ninja   \u57fa\u672c \u7c7b\u578b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   Vespa   -   ZX   125   \u5236\u9020 \u5236\u9020\u5546   :   Vespa   \u578b\u53f7   :   ZX   125   \u7c7b\u522b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . vespa . zx125   \u57fa\u672c \u7c7b\u578b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   Yamaha   -   YZF   \u5236\u9020 \u5236\u9020\u5546   :   Yamaha   \u578b\u53f7   :   YZF   \u7c7b\u522b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . yamaha . yzf   \u57fa\u672c \u7c7b\u578b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   BH   -   \u8d8a\u91ce \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u5236\u9020 \u5236\u9020\u5546   :   BH   \u578b\u53f7   :   \u8d8a\u91ce \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u7c7b\u522b   :   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . bh . crossbike   \u57fa\u672c \u7c7b\u578b   :   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u5927\u540d \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   -   Century   \u5236\u9020 \u5236\u9020\u5546   :   \u5927\u540d \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u578b\u53f7   :   Century   \u7c7b\u522b   :   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . diamondback . century   \u57fa\u672c \u7c7b\u578b   :   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   Gazelle   -   Omafiets   \u5236\u9020 \u5236\u9020\u5546   :   Gazelle   \u578b\u53f7   :   Omafiets   \u7c7b\u522b   :   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . gazelle . omafiets   \u57fa\u672c \u7c7b\u578b   :   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"Catalogue   vehicles"},{"location":"catalogue_vehicles/#_1","text":"","title":"\u8f66\u8f86 \u76ee\u5f55"},{"location":"catalogue_vehicles/#2","text":"\u8f66   \u9053\u5947   -   Charger   2020   \u9053\u5947   -   Police   Charger   2020   \u798f\u7279   -   \u7687\u51a0 \uff08 \u51fa\u79df \u79df\u8f66 \u51fa\u79df\u8f66 \uff09   \u6797\u80af   -   MKZ   2020   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   -   Coupe   2020   \u8ff7\u4f60   -   Cooper   S   2021   \u5c3c\u6851   -   Patrol   2021   \u5361\u8f66   Carla   Motors   -   \u6b27\u6d32   HGV \uff08 \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u4f4d\u4e8e \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u4e0a\u65b9 \uff09   Carla   Motors   -   \u6d88\u9632 \u6d88\u9632\u8f66   \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   -   Cybertruck   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u798f\u7279   -   \u6551\u62a4 \u62a4\u8f66 \u6551\u62a4\u8f66   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   -   Sprinter   \u5927\u4f17   -   T2   2021   \u5df4\u58eb   \u4e09\u83f1   -   Fusorosa","title":"\u7b2c   2   \u4ee3"},{"location":"catalogue_vehicles/#_2","text":"\u8f66   \u5965\u8fea   -   A2   \u5965\u8fea   -   E - Tron   \u5965\u8fea   -   TT   \u5b9d\u9a6c   -   \u529f\u80fd \u591a\u529f\u80fd \u65c5\u884c \u884c\u8f66 \u65c5\u884c\u8f66   \u96ea\u4f5b\u5170   -   Impala   \u96ea\u94c1\u9f99   -   C3   \u9053\u5947   -   Police   Charger   \u798f\u7279   -   Mustang   \u5409\u666e \u5409\u666e\u8f66   -   Wrangler   Rubicon   \u6797\u80af   -   MKZ   2017   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   -   Coupe   \u5fae\u578b \u5fae\u578b\u8f66   -   Microlino   \u8ff7\u4f60   -   Cooper   S   \u5c3c\u6851   -   Micra   \u5c3c\u6851   -   Patrol   Seat   -   Leon   \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   -   Model   3   Toyota   -   Prius   \u5361\u8f66   Carla   Motors   -   CarlaCola   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u5927\u4f17   -   T2   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u54c8\u96f7 \u6234\u7ef4\u68ee   -   Low   Rider   Kawasaki   -   Ninja   Vespa   -   ZX   125   Yamaha   -   YZF   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   BH   -   \u8d8a\u91ce \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u5927\u540d \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   -   Century   Gazelle   -   Omafiets","title":"\u7b2c\u4e00\u4ee3"},{"location":"catalogue_vehicles/#_3","text":"\u8981 \u68c0\u67e5 \u76ee\u5f55 \u4e2d \u7684 \u8f66\u8f86 \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b \u4ee3\u7801 \uff0c \u4ece \u4e0b\u9762 \u7684 \u8f66\u8f86 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u4e2d \u68c0\u7d22 \u84dd\u56fe   ID   \u5e76 \u5c06 \u5176 \u7c98\u8d34 \u5230 \u884c\u4e2d   bp _ lib . find ( ' blueprint . id . goes _ here ' )   \uff1a   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   bp _ lib   =   world . get _ blueprint _ library ( )   spectator   =   world . get _ spectator ( )   #   \u8bbe\u7f6e \u8f66\u8f86 \u53d8\u6362   vehicle _ loc   =   carla . Location ( x = - 46.9 ,   y = 20.0 ,   z = 0.2 )   vehicle _ rot   =   carla . Rotation ( pitch = 0.0 ,   yaw = 142.0 ,   roll = 0.0 )   vehicle _ trans   =   carla . Transform ( vehicle _ loc , vehicle _ rot )   #   \u5728 \u8fd9\u91cc \u7c98\u8d34 \u84dd\u56fe   ID   vehicle _ bp   =   bp _ lib . find ( ' vehicle . lincoln . mkz _ 2020 ' )   #   \u8bbe\u7f6e \u89c6\u89d2 \u53d8\u6362   camera _ loc   =   carla . Location ( x = - 48.7 ,   y = 24.8 ,   z = 1.7 )   camera _ rot   =   carla . Rotation ( pitch = - 13.4 ,   yaw = - 75.7 ,   roll = 0.0 )   camera _ trans   =   carla . Transform ( camera _ loc , camera _ rot )   #   \u751f\u6210 \u8f66\u8f86   vehicle   =   world . spawn _ actor ( vehicle _ bp ,   vehicle _ trans )   #   \u79fb\u52a8 \u89c2\u5bdf \u89c2\u5bdf\u8005   spectator . set _ transform ( camera _ trans )   \u5728 \u5c1d\u8bd5 \u751f\u6210 \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u4e4b\u524d \uff0c \u4e0d\u8981 \u5fd8\u8bb0 \u9500\u6bc1 \u8be5 \u8f66\u8f86 \u4ee5 \u907f\u514d \u78b0\u649e \uff1a   vehicle . destroy ( )","title":"\u68c0\u67e5 \u4eff\u771f\u5668 \u4e2d \u7684 \u8f66\u8f86"},{"location":"catalogue_vehicles/#_4","text":"","title":"\u8f66"},{"location":"catalogue_vehicles/#-a2","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5965\u8fea   \u578b\u53f7   :   A2   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . audi . a2   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u5965\u8fea   -   A2"},{"location":"catalogue_vehicles/#-e-tron","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5965\u8fea   \u578b\u53f7   :   E - Tron   \u7c7b\u522b   :   SUV   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . audi . etron   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u7535\u52a8   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u5965\u8fea   -   E - Tron"},{"location":"catalogue_vehicles/#-tt","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5965\u8fea   \u578b\u53f7   :   TT   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . audi . tt   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u5965\u8fea   -   TT"},{"location":"catalogue_vehicles/#-","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5b9d\u9a6c   \u578b\u53f7   :   \u529f\u80fd \u591a\u529f\u80fd \u65c5\u884c \u884c\u8f66 \u65c5\u884c\u8f66   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . bmw . grandtourer   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u5b9d\u9a6c   -   \u591a\u529f\u80fd \u65c5\u884c\u8f66"},{"location":"catalogue_vehicles/#-impala","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u96ea\u4f5b\u5170   \u578b\u53f7   :   Impala   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . chevrolet . impala   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u96ea\u4f5b\u5170   -   Impala"},{"location":"catalogue_vehicles/#-c3","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u96ea\u94c1\u9f99   \u578b\u53f7   :   C3   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . citroen . c3   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u96ea\u94c1\u9f99   -   C3"},{"location":"catalogue_vehicles/#-charger-2020","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u9053\u5947   \u578b\u53f7   :   Charger   2020   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . dodge . charger _ 2020   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"\u9053\u5947   -   Charger   2020"},{"location":"catalogue_vehicles/#-police-charger","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u9053\u5947   \u578b\u53f7   :   Police   Charger   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . dodge . charger _ police   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u6551\u9669 \u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u9053\u5947   -   Police   Charger"},{"location":"catalogue_vehicles/#-police-charger-2020","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u9053\u5947   \u578b\u53f7   :   Police   Charger   2020   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . dodge . charger _ police _ 2020   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u6551\u9669 \u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"\u9053\u5947   -   Police   Charger   2020"},{"location":"catalogue_vehicles/#-_1","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u798f\u7279   \u578b\u53f7   :   \u7687\u51a0 \uff08 \u51fa\u79df \u79df\u8f66 \u51fa\u79df\u8f66 \uff09   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . ford . crown   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   taxi   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"\u798f\u7279   -   \u7687\u51a0 \uff08 \u51fa\u79df\u8f66 \uff09"},{"location":"catalogue_vehicles/#-mustang","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u798f\u7279   \u578b\u53f7   :   Mustang   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . ford . mustang   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u798f\u7279   -   Mustang"},{"location":"catalogue_vehicles/#-wrangler-rubicon","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5409\u666e \u5409\u666e\u8f66   \u578b\u53f7   :   Wrangler   Rubicon   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . jeep . wrangler _ rubicon   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u5409\u666e\u8f66   -   Wrangler   Rubicon"},{"location":"catalogue_vehicles/#-mkz-2017","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u6797\u80af   \u578b\u53f7   :   MKZ   2017   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . lincoln . mkz _ 2017   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u6797\u80af   -   MKZ   2017"},{"location":"catalogue_vehicles/#-mkz-2020","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u6797\u80af   \u578b\u53f7   :   MKZ   2020   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . lincoln . mkz _ 2020   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"\u6797\u80af   -   MKZ   2020"},{"location":"catalogue_vehicles/#-coupe","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   \u578b\u53f7   :   Coupe   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . mercedes . coupe   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u6885\u8d5b\u5fb7\u65af   -   Coupe"},{"location":"catalogue_vehicles/#-coupe-2020","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   \u578b\u53f7   :   Coupe   2020   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . mercedes . coupe _ 2020   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"\u6885\u8d5b\u5fb7\u65af   -   Coupe   2020"},{"location":"catalogue_vehicles/#-microlino","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5fae\u578b \u5fae\u578b\u8f66   \u578b\u53f7   :   Microlino   \u7c7b\u522b   :   \u5fae\u578b \u5fae\u578b\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . micro . microlino   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u7535\u52a8   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u5fae\u578b\u8f66   -   Microlino"},{"location":"catalogue_vehicles/#-cooper-s","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u8ff7\u4f60   \u578b\u53f7   :   Cooper   S   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . mini . cooper _ s   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u8ff7\u4f60   -   Cooper   S"},{"location":"catalogue_vehicles/#-cooper-s-2021","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u8ff7\u4f60   \u578b\u53f7   :   Cooper   S   2021   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . mini . cooper _ s _ 2021   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"\u8ff7\u4f60   -   Cooper   S   2021"},{"location":"catalogue_vehicles/#-micra","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5c3c\u6851   \u578b\u53f7   :   Micra   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . nissan . micra   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u5c3c\u6851   -   Micra"},{"location":"catalogue_vehicles/#-patrol","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5c3c\u6851   \u578b\u53f7   :   Patrol   \u7c7b\u522b   :   SUV   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . nissan . patrol   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u5c3c\u6851   -   Patrol"},{"location":"catalogue_vehicles/#-patrol-2021","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5c3c\u6851   \u578b\u53f7   :   Patrol   2021   \u7c7b\u522b   :   SUV   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . nissan . patrol _ 2021   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"\u5c3c\u6851   -   Patrol   2021"},{"location":"catalogue_vehicles/#seat-leon","text":"\u5236\u9020 \u5236\u9020\u5546   :   Seat   \u578b\u53f7   :   Leon   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . seat . leon   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"Seat   -   Leon"},{"location":"catalogue_vehicles/#-model-3","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   \u578b\u53f7   :   Model   3   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . tesla . model3   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u7535\u52a8   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u7279\u65af\u62c9   -   Model   3"},{"location":"catalogue_vehicles/#toyota-prius","text":"\u5236\u9020 \u5236\u9020\u5546   :   Toyota   \u578b\u53f7   :   Prius   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . toyota . prius   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u7535\u52a8   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"Toyota   -   Prius"},{"location":"catalogue_vehicles/#_5","text":"","title":"\u5361\u8f66"},{"location":"catalogue_vehicles/#carla-motors-carlacola","text":"\u5236\u9020 \u5236\u9020\u5546   :   Carla   Motors   \u578b\u53f7   :   CarlaCola   \u7c7b\u522b   :   \u5361\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . carlamotors . carlacola   \u57fa\u672c \u7c7b\u578b   :   \u5361\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"Carla   Motors   -   CarlaCola"},{"location":"catalogue_vehicles/#carla-motors-hgv","text":"\u5236\u9020 \u5236\u9020\u5546   :   Carla   Motors   \u578b\u53f7   :   \u6b27\u6d32   HGV \uff08 \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u4f4d\u4e8e \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u4e0a\u65b9 \uff09   \u7c7b\u522b   :   \u5361\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . carlamotors . european _ hgv   \u57fa\u672c \u7c7b\u578b   :   \u5361\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"Carla   Motors   -   \u6b27\u6d32   HGV \uff08 \u9a7e\u9a76\u5ba4 \u4f4d\u4e8e \u53d1\u52a8\u673a \u4e0a\u65b9 \uff09"},{"location":"catalogue_vehicles/#carla-motors-firetruck","text":"\u5236\u9020 \u5236\u9020\u5546   :   Carla   Motors   \u578b\u53f7   :   Firetruck   \u7c7b\u522b   :   \u5361\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . carlamotors . firetruck   \u57fa\u672c \u7c7b\u578b   :   \u5361\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u6551\u9669 \u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"Carla   Motors   -   Firetruck"},{"location":"catalogue_vehicles/#-cybertruck","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   \u578b\u53f7   :   Cybertruck   \u7c7b\u522b   :   \u5361\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . tesla . cybertruck   \u57fa\u672c \u7c7b\u578b   :   \u5361\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u7535\u52a8   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u7279\u65af\u62c9   -   Cybertruck"},{"location":"catalogue_vehicles/#_6","text":"","title":"\u9762\u5305\u8f66"},{"location":"catalogue_vehicles/#-_2","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u798f\u7279   \u578b\u53f7   :   \u6551\u62a4 \u62a4\u8f66 \u6551\u62a4\u8f66   \u7c7b\u522b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . ford . ambulance   \u57fa\u672c \u7c7b\u578b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u6551\u9669 \u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"\u798f\u7279   -   \u6551\u62a4\u8f66"},{"location":"catalogue_vehicles/#-sprinter","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   \u578b\u53f7   :   Sprinter   \u7c7b\u522b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . mercedes . sprinter   \u57fa\u672c \u7c7b\u578b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"\u6885\u8d5b\u5fb7\u65af   -   Sprinter"},{"location":"catalogue_vehicles/#-t2","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5927\u4f17   \u578b\u53f7   :   T2   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . volkswagen . t2   \u57fa\u672c \u7c7b\u578b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u5927\u4f17   -   T2"},{"location":"catalogue_vehicles/#-t2-2021","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5927\u4f17   \u578b\u53f7   :   T2   2021   \u7c7b\u522b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . volkswagen . t2 _ 2021   \u57fa\u672c \u7c7b\u578b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"\u5927\u4f17   -   T2   2021"},{"location":"catalogue_vehicles/#_7","text":"","title":"\u5df4\u58eb"},{"location":"catalogue_vehicles/#-fusorosa","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u4e09\u83f1   \u578b\u53f7   :   Fusorosa   \u7c7b\u522b   :   \u5df4\u58eb   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . mitsubishi . fusorosa   \u57fa\u672c \u7c7b\u578b   :   \u5df4\u58eb   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u4e09\u83f1   -   Fusorosa"},{"location":"catalogue_vehicles/#_8","text":"","title":"\u6469\u6258\u8f66"},{"location":"catalogue_vehicles/#-low-rider","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u54c8\u96f7 \u6234\u7ef4\u68ee   \u578b\u53f7   :   Low   Rider   \u7c7b\u522b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . harley - davidson . low _ rider   \u57fa\u672c \u7c7b\u578b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u54c8\u96f7 \u6234\u7ef4\u68ee   -   Low   Rider"},{"location":"catalogue_vehicles/#kawasaki-ninja","text":"\u5236\u9020 \u5236\u9020\u5546   :   Kawasaki   \u578b\u53f7   :   Ninja   \u7c7b\u522b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . kawasaki . ninja   \u57fa\u672c \u7c7b\u578b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"Kawasaki   -   Ninja"},{"location":"catalogue_vehicles/#vespa-zx-125","text":"\u5236\u9020 \u5236\u9020\u5546   :   Vespa   \u578b\u53f7   :   ZX   125   \u7c7b\u522b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . vespa . zx125   \u57fa\u672c \u7c7b\u578b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"Vespa   -   ZX   125"},{"location":"catalogue_vehicles/#yamaha-yzf","text":"\u5236\u9020 \u5236\u9020\u5546   :   Yamaha   \u578b\u53f7   :   YZF   \u7c7b\u522b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . yamaha . yzf   \u57fa\u672c \u7c7b\u578b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"Yamaha   -   YZF"},{"location":"catalogue_vehicles/#_9","text":"","title":"\u81ea\u884c\u8f66"},{"location":"catalogue_vehicles/#bh-","text":"\u5236\u9020 \u5236\u9020\u5546   :   BH   \u578b\u53f7   :   \u8d8a\u91ce \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u7c7b\u522b   :   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . bh . crossbike   \u57fa\u672c \u7c7b\u578b   :   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"BH   -   \u8d8a\u91ce \u81ea\u884c\u8f66"},{"location":"catalogue_vehicles/#-century","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5927\u540d \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u578b\u53f7   :   Century   \u7c7b\u522b   :   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . diamondback . century   \u57fa\u672c \u7c7b\u578b   :   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   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\u540c\u60c5 \u540c\u60c5\u5fc3   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0d\u53ef \u63a5\u53d7 \u7684 \u884c\u4e3a \u793a\u4f8b \u5305\u62ec \uff1a   \u4f7f\u7528 \u6027 \u8bed\u8a00 \u6216 \u56fe\u50cf \u4ee5\u53ca \u4e0d \u6b22\u8fce \u53d7\u6b22\u8fce \u7684 \u6027 \u5173\u6ce8 \u6216 \u6311\u9017   \u6076\u641e \u3001 \u4fae\u8fb1 / \u8d2c\u635f \u8bc4\u8bba \u4ee5\u53ca \u4e2a\u4eba \u6216 \u653f\u6cbb \u653b\u51fb   \u516c\u5f00 \u6216 \u79c1\u4eba \u9a9a\u6270   \u672a\u7ecf \u660e\u786e \u8bb8\u53ef \uff0c \u53d1\u5e03 \u4ed6\u4eba \u7684 \u79c1\u4eba \u4fe1\u606f \uff0c \u4f8b\u5982 \u5b9e\u9645 \u5730\u5740 \u6216 \u7535\u5b50 \u5730\u5740   \u5728 \u4e13\u4e1a \u73af\u5883 \u4e2d \u53ef\u80fd \u88ab \u5408\u7406 \u5730 \u8ba4\u4e3a \u4e0d \u9002\u5f53 \u7684 \u5176\u4ed6 \u884c\u4e3a","title":"\u6211\u4eec \u7684 \u6807\u51c6  "},{"location":"cont_code_of_conduct/#_4","text":"\u9879\u76ee \u7ef4\u62a4 \u7ef4\u62a4\u8005 \u6709 \u8d23\u4efb \u9610\u660e \u53ef \u63a5\u53d7 \u884c\u4e3a \u7684 \u6807\u51c6 \uff0c \u5e76 \u5e94 \u9488\u5bf9 \u4efb\u4f55 \u4e0d\u53ef \u63a5\u53d7 \u884c\u4e3a \u7684 \u60c5\u51b5 \u91c7\u53d6 \u9002\u5f53 \u548c \u516c\u5e73 \u7684 \u7ea0\u6b63 \u63aa\u65bd \u3002   \u9879\u76ee \u7ef4\u62a4 \u7ef4\u62a4\u8005 \u6709 \u6743\u5229 \u548c \u8d23\u4efb \u5220\u9664 \u3001 \u7f16\u8f91 \u6216 \u62d2\u7edd \u4e0d \u7b26\u5408 \u672c \u884c\u4e3a \u4e3a\u51c6 \u51c6\u5219 \u884c\u4e3a\u51c6\u5219 \u7684 \u8bc4\u8bba \u3001 \u63d0\u4ea4 \u3001 \u4ee3\u7801 \u3001 \u7ef4\u57fa \u7f16\u8f91 \u3001 \u95ee\u9898 \u548c \u5176\u4ed6 \u8d21\u732e \uff0c \u6216\u8005 \u6682\u65f6 \u6216 \u6c38\u4e45 \u7981\u6b62 \u4efb\u4f55 \u8d21\u732e \u8d21\u732e\u8005 \u7684 \u5176\u4ed6 \u884c\u4e3a \u4ed6\u4eec \u8ba4\u4e3a \u4e0d \u6070\u5f53 \u3001 \u5177\u6709 \u5a01\u80c1 \u5a01\u80c1\u6027 \u3001 \u5192\u72af \u6027 \u6216 \u6709\u5bb3 \u3002","title":"\u6211\u4eec \u7684 \u8d23\u4efb  "},{"location":"cont_code_of_conduct/#_5","text":"\u5f53 \u4e2a\u4eba \u4ee3\u8868 \u9879\u76ee \u6216 \u5176 \u793e\u533a \u65f6 \uff0c \u672c \u884c\u4e3a \u4e3a\u51c6 \u51c6\u5219 \u884c\u4e3a\u51c6\u5219 \u9002\u7528 \u4e8e \u9879\u76ee \u7a7a\u95f4 \u548c \u516c\u5171 \u7a7a\u95f4 \u3002 \u4ee3\u8868 \u9879\u76ee \u6216 \u793e\u533a \u7684 \u793a\u4f8b \u5305\u62ec \u4f7f\u7528 \u5b98\u65b9 \u9879\u76ee \u7535\u5b50 \u90ae\u4ef6 \u7535\u5b50\u90ae\u4ef6 \u5730\u5740 \u3001 \u901a\u8fc7 \u5b98\u65b9 \u793e\u4ea4 \u5a92\u4f53 \u5e10\u6237 \u53d1\u5e16 \u6216 \u5728\u7ebf \u4e0a \u6216 \u7ebf\u4e0b \u6d3b\u52a8 \u4e2d \u62c5\u4efb \u6307\u5b9a \u4ee3\u8868 \u3002 \u9879\u76ee \u7684 \u8868\u793a \u53ef\u4ee5 \u7531 \u9879\u76ee \u7ef4\u62a4 \u7ef4\u62a4\u8005 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u5b9a\u4e49 \u548c \u6f84\u6e05 \u3002","title":"\u8303\u56f4  "},{"location":"cont_code_of_conduct/#_6","text":"\u53ef\u4ee5 \u901a\u8fc7   info - carla @ osvf . org   \u8054\u7cfb \u9879\u76ee \u56e2\u961f \u6765 \u4e3e\u62a5 \u8fb1\u9a82 \u3001 \u9a9a\u6270 \u6216 \u5176\u4ed6 \u4e0d\u53ef \u63a5\u53d7 \u7684 \u884c\u4e3a \u3002 \u6240\u6709 \u6295\u8bc9 \u90fd \u5c06 \u63a5\u53d7 \u5ba1\u67e5 \u548c \u8c03\u67e5 \uff0c \u5e76 \u5c06 \u6839\u636e \u5177\u4f53 \u60c5\u51b5 \u5177\u4f53\u60c5\u51b5 \u505a\u51fa \u5fc5\u8981 \u4e14 \u9002\u5f53 \u7684 \u56de\u5e94 \u3002 \u9879\u76ee \u56e2\u961f \u6709 \u4e49\u52a1 \u5bf9 \u4e8b\u4ef6 \u62a5\u544a \u4e8b\u4ef6\u62a5\u544a \u8005 \u4fdd\u5bc6 \u3002 \u5177\u4f53 \u6267\u884c \u653f\u7b56 \u7684 \u66f4 \u591a \u7ec6\u8282 \u53ef\u80fd \u4f1a \u5355\u72ec \u53d1\u5e03 \u3002   \u4e0d \u5584\u610f \u5730 \u9075\u5b88 \u6216 \u6267\u884c \u884c\u4e3a \u4e3a\u51c6 \u51c6\u5219 \u884c\u4e3a\u51c6\u5219 \u7684 \u9879\u76ee \u7ef4\u62a4 \u7ef4\u62a4\u8005 \u53ef\u80fd \u4f1a \u9762\u4e34 \u9879\u76ee \u9886\u5bfc \u9886\u5bfc\u5c42 \u5176\u4ed6 \u6210\u5458 \u786e\u5b9a \u7684 \u6682\u65f6 \u6216 \u6c38\u4e45 \u7684 \u5f71\u54cd \u3002","title":"\u6267\u884c  "},{"location":"cont_code_of_conduct/#_7","text":"\u672c \u884c\u4e3a \u4e3a\u51c6 \u51c6\u5219 \u884c\u4e3a\u51c6\u5219 \u6539\u7f16 \u6539\u7f16\u81ea   \u8d21\u732e \u8d21\u732e\u8005 \u5951\u7ea6   1.4   \u7248 \uff0c \u53ef \u4ece   \u94fe\u63a5   \u83b7\u53d6 \u3002","title":"\u5f52\u5c5e  "},{"location":"cont_coding_standard/","text":"\u7f16\u7801 \u6807\u51c6 \u7f16\u7801\u6807\u51c6   \u4e00\u822c   Python   C++   \u4e00\u822c   \u4f7f\u7528 \u7a7a\u683c \uff0c \u800c \u4e0d\u662f \u5236\u8868 \u5236\u8868\u7b26 \u3002   \u907f\u514d \u6dfb\u52a0 \u5c3e\u968f \u7a7a\u683c \uff0c \u56e0\u4e3a \u5b83\u4f1a \u5728 \u5dee\u5f02 \u4e2d \u4ea7\u751f \u566a\u97f3 \u3002   Python   \u6ce8\u91ca \u4e0d \u5e94 \u8d85\u8fc7   80   \u5217 \uff0c \u4ee3\u7801 \u4e0d \u5e94 \u8d85\u8fc7   120   \u5217 \u3002   \u6240\u6709 \u4ee3\u7801 \u5fc5\u987b \u4e0e   Python   2.7   \u548c   3.7   \u517c\u5bb9 \u3002   Pylint   \u4e0d \u5e94 \u7ed9\u51fa \u4efb\u4f55 \u9519\u8bef \u6216 \u8b66\u544a \uff08 \u5f88\u5c11 \u6709 \u4f8b\u5916 \u9002\u7528 \u4e8e\u5916 \u90e8\u7c7b \uff0c \u5982   numpy   \u548c   pygame   \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u6211\u4eec \u7684   . pylintrc   \uff09 \u3002   Python   \u4ee3\u7801 \u9075\u5faa   PEP8   \u98ce\u683c \u6307\u5357   \uff08 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u4f7f\u7528   autopep8   \uff09 \u3002   C++   \u6ce8\u91ca \u4e0d \u5e94 \u8d85\u8fc7   80   \u5217 \uff0c \u5982\u679c \u53ef\u4ee5 \u4f7f \u4ee3\u7801 \u66f4 \u6e05\u6670 \uff0c \u5728 \u6781\u5c11 \u5c11\u6570 \u6781\u5c11\u6570 \u60c5\u51b5 \u4e0b \u4ee3\u7801 \u53ef\u80fd \u4f1a \u7a0d\u5fae \u8d85\u51fa \u6b64 \u9650\u5236 \u3002   \u7f16\u8bd1 \u4e0d \u5e94 \u7ed9\u51fa \u4efb\u4f55 \u9519\u8bef \u6216 \u8b66\u544a   (   clang ++- 8   - Wall   - Wextra   - std = C++ 14   - Wno - missing - braces   ) .   \u7981\u6b62 \u4f7f\u7528   throw   \uff0c \u8bf7 \u6539\u4e3a \u4f7f\u7528   carla : : throw _ exception   \u3002   \u865a\u5e7b   C++   \u4ee3\u7801 \uff08 CarlaUE4   \u548c   Carla   \u63d2\u4ef6 \uff09 \u9075\u5faa   \u865a\u5e7b \u5f15\u64ce \u7684 \u7f16\u7801 \u6807\u51c6 \u7f16\u7801\u6807\u51c6   \uff0c \u4f46 \u4f7f\u7528 \u7a7a\u683c \u800c \u4e0d\u662f \u5236\u8868 \u5236\u8868\u7b26 \u3002   LibCarla   \u4f7f\u7528   \u8c37\u6b4c \u98ce\u683c \u6307\u5357   \u7684 \u53d8\u4f53 \u3002   \u5982\u679c \u4ee3\u7801 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u4f7f\u7528 \uff0c \u5219 \u5e94 \u5c06   try - catch   \u5757 \u7684 \u4f7f\u7528   # ifndef   LIBCARLA _ NO _ EXCEPTIONS   \u62ec \u8d77\u6765   \u3002","title":"\u7f16\u7801\u6807\u51c6"},{"location":"cont_coding_standard/#_1","text":"\u4e00\u822c   Python   C++","title":"\u7f16\u7801\u6807\u51c6"},{"location":"cont_coding_standard/#_2","text":"\u4f7f\u7528 \u7a7a\u683c \uff0c \u800c \u4e0d\u662f \u5236\u8868 \u5236\u8868\u7b26 \u3002   \u907f\u514d \u6dfb\u52a0 \u5c3e\u968f \u7a7a\u683c \uff0c \u56e0\u4e3a \u5b83\u4f1a \u5728 \u5dee\u5f02 \u4e2d \u4ea7\u751f \u566a\u97f3 \u3002","title":"\u4e00\u822c  "},{"location":"cont_coding_standard/#python","text":"\u6ce8\u91ca \u4e0d \u5e94 \u8d85\u8fc7   80   \u5217 \uff0c \u4ee3\u7801 \u4e0d \u5e94 \u8d85\u8fc7   120   \u5217 \u3002   \u6240\u6709 \u4ee3\u7801 \u5fc5\u987b \u4e0e   Python   2.7   \u548c   3.7   \u517c\u5bb9 \u3002   Pylint   \u4e0d \u5e94 \u7ed9\u51fa \u4efb\u4f55 \u9519\u8bef \u6216 \u8b66\u544a \uff08 \u5f88\u5c11 \u6709 \u4f8b\u5916 \u9002\u7528 \u4e8e\u5916 \u90e8\u7c7b \uff0c \u5982   numpy   \u548c   pygame   \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u6211\u4eec \u7684   . pylintrc   \uff09 \u3002   Python   \u4ee3\u7801 \u9075\u5faa   PEP8   \u98ce\u683c \u6307\u5357   \uff08 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u4f7f\u7528   autopep8   \uff09 \u3002","title":"Python  "},{"location":"cont_coding_standard/#c","text":"\u6ce8\u91ca \u4e0d \u5e94 \u8d85\u8fc7   80   \u5217 \uff0c \u5982\u679c \u53ef\u4ee5 \u4f7f \u4ee3\u7801 \u66f4 \u6e05\u6670 \uff0c \u5728 \u6781\u5c11 \u5c11\u6570 \u6781\u5c11\u6570 \u60c5\u51b5 \u4e0b \u4ee3\u7801 \u53ef\u80fd \u4f1a \u7a0d\u5fae \u8d85\u51fa \u6b64 \u9650\u5236 \u3002   \u7f16\u8bd1 \u4e0d \u5e94 \u7ed9\u51fa \u4efb\u4f55 \u9519\u8bef \u6216 \u8b66\u544a   (   clang ++- 8   - Wall   - Wextra   - std = C++ 14   - Wno - missing - braces   ) .   \u7981\u6b62 \u4f7f\u7528   throw   \uff0c \u8bf7 \u6539\u4e3a \u4f7f\u7528   carla : : throw _ exception   \u3002   \u865a\u5e7b   C++   \u4ee3\u7801 \uff08 CarlaUE4   \u548c   Carla   \u63d2\u4ef6 \uff09 \u9075\u5faa   \u865a\u5e7b \u5f15\u64ce \u7684 \u7f16\u7801 \u6807\u51c6 \u7f16\u7801\u6807\u51c6   \uff0c \u4f46 \u4f7f\u7528 \u7a7a\u683c \u800c \u4e0d\u662f \u5236\u8868 \u5236\u8868\u7b26 \u3002   LibCarla   \u4f7f\u7528   \u8c37\u6b4c \u98ce\u683c \u6307\u5357   \u7684 \u53d8\u4f53 \u3002   \u5982\u679c \u4ee3\u7801 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u4f7f\u7528 \uff0c \u5219 \u5e94 \u5c06   try - catch   \u5757 \u7684 \u4f7f\u7528   # ifndef   LIBCARLA _ NO _ EXCEPTIONS   \u62ec \u8d77\u6765   \u3002","title":"C++  "},{"location":"cont_contribution_guidelines/","text":"\u4e3a   Carla   \u505a\u51fa \u8d21\u732e   Carla   \u56e2\u961f \u5f88 \u9ad8\u5174 \u63a5\u53d7 \u4efb\u4f55 \u613f\u610f \u5408\u4f5c \u7684 \u4eba \u7684 \u8d21\u732e \u3002 \u6839\u636e \u8d21\u732e \u8d21\u732e\u8005 \u7684 \u80fd\u529b \uff0c \u53ef\u4ee5 \u91c7\u7528 \u4e0d\u540c \u7684 \u65b9\u5f0f \u4e3a \u9879\u76ee \u505a\u51fa \u8d21\u732e \u3002 \u8be5 \u56e2\u961f \u5c06 \u5c3d \u6700\u5927 \u52aa\u529b \u5c06 \u8d21\u732e \u6210\u529f \u6574\u5408 \u5230   Carla   \u4e2d \u3002   \u770b\u770b \u5427 \uff0c \u4e0d\u8981 \u72b9\u8c6b \uff01   \u62a5\u544a \u9519\u8bef   \u8bf7\u6c42 \u529f\u80fd   \u4ee3\u7801 \u8d21\u732e   \u4e86\u89e3 \u865a\u5e7b \u5f15\u64ce   \u5f00\u59cb \u4e4b\u524d   \u7f16\u7801 \u6807\u51c6 \u7f16\u7801\u6807\u51c6   \u63d0\u4ea4   \u6e05\u5355   \u827a\u672f \u8d21\u732e   \u6587\u6863 \u8d21\u732e   \u62a5\u544a \u9519\u8bef   \u53ef\u4ee5 \u5728   GitHub   \u4e0a \u7684   Issues   \u90e8\u5206   \u62a5\u544a \u95ee\u9898 \u3002 \u5728 \u62a5\u544a \u65b0 \u9519\u8bef \u4e4b\u524d \uff0c \u8bf7 \u52a1\u5fc5 \u8fdb\u884c \u4e00\u4e9b \u68c0\u67e5 \u3002   1 .   \u68c0\u67e5 \u662f\u5426 \u5df2 \u62a5\u544a \u95ee\u9898 \u3002   \u5728   GitHub   \u4e0a \u7684 \u540c\u4e00 \u95ee\u9898 \u90e8\u5206 \u67e5\u627e \u5b83 \u3002   2 .   \u9605\u8bfb \u6587\u6863 \u3002   \u786e\u4fdd \u95ee\u9898 \u662f \u4e00\u4e2a \u9519\u8bef \uff0c \u800c \u4e0d\u662f \u5bf9   Carla   \u5e94\u8be5 \u5982\u4f55 \u5de5\u4f5c \u7684 \u8bef\u89e3 \u3002 \u9605\u8bfb   \u6587\u6863   \u4e2d \u4e0e \u8be5 \u95ee\u9898 \u76f8\u5173 \u7684 \u9875\u9762 \u5e76 \u67e5\u770b   \u5e38\u89c1 \u95ee\u9898 \u9898\u89e3 \u89e3\u7b54 \u95ee\u9898\u89e3\u7b54   \u9875\u9762 \u3002   \u8bf7\u6c42 \u529f\u80fd   \u65b0 \u529f\u80fd \u7684 \u60f3\u6cd5 \u4e5f \u662f \u4e00\u79cd \u5f88 \u597d \u7684 \u8d21\u732e \u65b9\u5f0f \u3002 \u4efb\u4f55 \u53ef\u4ee5 \u6539\u5584 \u7528\u6237 \u4f53\u9a8c \u7684 \u5efa\u8bae \u90fd \u53ef\u4ee5 \u5728   \u6b64\u5904   \u7684 \u76f8\u5e94   GitHub   \u90e8\u5206 \u63d0\u4ea4 \u3002   \u4ee3\u7801 \u8d21\u732e   \u5728 \u5f00\u59cb \u52a8\u624b \u7f16\u7801 \u4e4b\u524d \uff0c \u8bf7 \u67e5\u770b   Issues   \u677f\u5757   \u4ee5 \u4e86\u89e3 \u56e2\u961f \u5df2\u7ecf \u5728 \u505a \u4ec0\u4e48 \uff0c \u4ee5 \u907f\u514d \u91cd\u53e0 \u3002 \u5982 \u6709 \u7591\u95ee \u6216 \u8ba8\u8bba \u5982\u4f55 \u7ee7\u7eed \uff0c \u8bf7 \u8054\u7cfb \u6211\u4eec \u4e4b\u4e00 \uff08 \u6216 \u53d1\u9001 \u7535\u5b50 \u90ae\u4ef6 \u7535\u5b50\u90ae\u4ef6 \u81f3   carla . simulator @ gmail . com   \uff09 \u3002   \u4e3a\u4e86 \u5f00\u59cb \u5de5\u4f5c \uff0c \u8bf7   \u521b\u5efa   Carla   \u5b58\u50a8 \u5e93 \u7684 \u5206\u53c9   \uff0c \u5e76 \u5c06 \u6240\u8ff0 \u5206\u53c9 \u514b\u9686 \u5230 \u60a8 \u7684 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\u4e86 \u5982\u4f55 \u4f7f\u7528   RoadRunner   \u521b\u5efa \u5927 \u5730\u56fe \u4ee5\u53ca \u5982\u4f55 \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5bfc\u5165 \u548c \u5904\u7406 \u5927 \u5730\u56fe \u3002   \u5728   RoadRunner   \u4e2d \u6784\u5efa \u5927 \u5730\u56fe   \u5728   RoadRunner   \u4e2d \u5bfc\u51fa \u5927 \u5730\u56fe   \u5c06 \u5927 \u5730\u56fe \u5bfc\u5165   Carla   \u6587\u4ef6 \u548c \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u521b\u5efa   JSON   \u63cf\u8ff0 \uff08 \u53ef \u9009 \uff09   \u8fdb\u884c \u5bfc\u5165   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5904\u7406 \u5927 \u5730\u56fe   \u6253\u5305 \u4e00\u5f20 \u5927 \u5730\u56fe   \u5728   RoadRunner   \u4e2d \u6784\u5efa \u5927 \u5730\u56fe   \u5982\u4f55 \u5728   RoadRunner   \u4e2d \u6784\u5efa \u590d\u6742 \u5730\u56fe \u7684 \u5177\u4f53 \u7ec6\u8282 \u8d85\u51fa \u4e86 \u672c \u6307\u5357 \u7684 \u8303\u56f4 \uff0c \u4f46\u662f \uff0c   RoadRunner   \u6587\u6863   \u4e2d \u63d0\u4f9b \u4e86 \u89c6\u9891 \u6559\u7a0b \u89c6\u9891\u6559\u7a0b \u3002 \u4ece \u8868\u9762 \u4e0a \u770b \uff0c \u5728   RoadRunner   \u4e2d \u6784\u5efa \u5927 \u5730\u56fe \u4e0e \u6784\u5efa \u6807\u51c6 \u5730\u56fe \u57fa\u672c \u672c\u76f8 \u76f8\u540c \u57fa\u672c\u76f8\u540c \uff0c \u53ea\u662f \u6bd4\u4f8b \u66f4\u5927 \u3002 \u5dee\u5f02 \u4e3b\u8981 \u5728\u4e8e \u5730\u56fe \u7684 \u5bfc\u51fa \u65b9\u5f0f \u3002   \u8fd9\u91cc \u6211\u4eec \u521b\u5efa \u4e86 \u4e00\u5f20 \u5927\u7ea6   1.2   \u516c\u91cc \u5927\u5c0f \u7684 \u5927 \u5730\u56fe \u3002 \u5f53 \u6211\u4eec \u5bfc\u51fa \u5b83 \u65f6 \uff0c \u5b83\u4f1a \u88ab \u5206\u5272 \u6210 \u56fe\u5757 \uff0c \u6211\u4eec \u5c06 \u9009\u62e9   700m   \u7684 \u56fe\u5757 \u5927\u5c0f \uff0c \u56e0\u6b64 \u5730\u56fe \u5e94\u8be5 \u5206\u5272 \u6210 \u5927\u7ea6   4   \u4e2a \u56fe\u5757 \u3002   \u5982\u679c \u60a8 \u6b63\u5728 \u6784\u5efa \u5e26\u6709 \u9ad8\u7a0b \u7684 \u5927 \u5730\u56fe \uff0c \u5efa\u8bae \u7684 \u5730\u56fe \u6700\u5927 \u5c3a\u5bf8 \u4e3a   20x20   km   2   \u3002 \u5927\u4e8e \u6b64 \u5927\u5c0f \u7684 \u5730\u56fe \u53ef\u80fd \u4f1a \u5bfc\u81f4   RoadRunner   \u5728 \u5bfc\u51fa \u65f6 \u5d29\u6e83 \u3002   \u5728   RoadRunner   \u4e2d \u5bfc\u51fa \u5927 \u5730\u56fe   \u4ee5\u4e0b \u662f\u4ece   RoadRunner   \u5bfc\u51fa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5927 \u5730\u56fe \u7684 \u57fa\u672c \u6307\u5357 \u3002   \u901a\u8fc7 \u5355\u51fb \u4e16\u754c \u8bbe\u7f6e \u5de5\u5177 \uff08   World   settings   tool   \uff09 \u5e76 \u62d6\u52a8 \u84dd\u8272 \u8fb9\u754c \u6846 \u7684 \u8fb9\u7f18 \u4ee5 \u5305\u542b \u8981 \u5bfc\u51fa \u7684 \u6574\u4e2a \u533a\u57df \uff0c \u786e\u4fdd \u9009\u62e9 \u5bfc\u51fa \u5b8c\u6574 \u5730\u56fe \u3002 \u51c6\u5907 \u597d\u540e \uff0c \u5355\u51fb \u201c \u5e94\u7528 \u4e16\u754c \u66f4\u6539 \u201d \uff08   Apply   World   Changes   \uff09 \u3002   \u4f7f\u7528 \u573a\u666f \u5bfc\u51fa \u9884\u89c8 \u5de5\u5177 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u4e86\u89e3 \u5982\u4f55 \u5c06 \u5730\u56fe \u5212\u5206 \u4e3a \u56fe\u5757 \u4ee5\u4f9b \u5bfc\u51fa \u3002 \u8c03\u6574 \u201c \u5e73\u94fa \u9009\u9879 \u201d \uff08   Tiling   Options   \uff09 \u83dc\u5355 \u4e2d \u7684 \u201c \u5e73\u94fa \u5927\u5c0f \u201d \uff08   Tile   Size   \uff09 \u53c2\u6570 \uff0c \u627e\u5230 \u9002\u5408 \u60a8 \u5730\u56fe \u7684 \u5e73\u94fa \u5927\u5c0f \uff0c \u6309 \u201c \u5237\u65b0 \u573a\u666f \u201d \uff08   Refresh   Scene   \uff09 \u67e5\u770b \u8c03\u6574 \u7684 \u5f71\u54cd \u3002   \u7b14\u8bb0   Tile   size   :   \u60a8 \u4f7f\u7528 \u7684 \u56fe\u5757 \u5927\u5c0f \u662f \u4e00\u4e2a \u5224\u65ad \u8c03\u7528 \uff0c \u4ee5 \u786e\u4fdd \u5730\u56fe \u5728   Carla   \u4e2d \u4f7f\u7528 \u65f6 \u80fd\u591f \u6709\u6548 \u5de5\u4f5c \u3002 \u5982\u679c \u60a8 \u7684 \u5730\u56fe \u5305\u542b \u5bc6\u96c6 \u7684   3D   \u8d44\u6e90 \uff08 \u4f8b\u5982 \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u690d\u88ab \uff09 \uff0c \u60a8 \u53ef\u80fd \u4f1a \u53d7\u76ca \u4e8e \u8f83 \u5c0f \u7684 \u56fe\u5757 \u5927\u5c0f \uff0c \u4ee5 \u9632\u6b62 \u52a0\u8f7d \u4e0d\u5fc5 \u5fc5\u8981 \u4e0d\u5fc5\u8981 \u7684 \u8d44\u6e90 \u3002 \u4f46\u662f \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u589e\u52a0 \u6784\u5efa \u5730\u56fe \u6240 \u9700 \u5de5\u4f5c \u7684 \u590d\u6742 \u590d\u6742\u6027 \u3002 Carla   \u5f15\u64ce \u652f\u6301 \u7684 \u6700\u5927 \u74e6\u7247 \u5c3a\u5bf8 \u4e3a   2   \u516c\u91cc \uff0c \u6211\u4eec \u5efa\u8bae \u74e6\u7247 \u5c3a\u5bf8 \u4e3a   1   \u516c\u91cc \u5de6\u53f3 \u3002   \u5f53 \u60a8 \u51c6\u5907 \u597d \u5bfc\u51fa \u65f6 \uff1a   1 .   \u5bfc\u51fa   . fbx   \u51e0\u4f55 \u6587\u4ef6 \uff1a   \u5728 \u4e3b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \uff0c \u9009\u62e9   File   - >   Export   - >   Firebox   ( . fbx )   2 .   \u5728 \u5f39\u51fa \u7684 \u7a97\u53e3 \u4e2d \uff1a   \u68c0\u67e5 \u4ee5\u4e0b \u9009\u9879 \uff1a   \u901a\u8fc7 \u5206\u6bb5 \u5206\u5272   \uff08   Split   by   Segmentation   \uff09 :   \u901a\u8fc7 \u8bed\u4e49 \u5206\u5272 \u6765 \u5212\u5206 \u7f51\u683c \u5e76 \u6539\u8fdb \u884c\u4eba \u5bfc\u822a \u3002   \u4e8c\u7ef4 \u7eb9\u7406 \u7684 \u529b\u91cf   \uff08   Power   of   Two   Texture   Dimensions   \uff09 :   \u63d0\u9ad8 \u6027\u80fd \u3002   \u5d4c\u5165 \u7eb9\u7406   \uff08   Embed   Textures   \uff09 :   \u786e\u4fdd \u7eb9\u7406 \u5d4c\u5165 \u5230 \u7f51\u683c \u4e2d \u3002   \u5bfc\u51fa \u5230 \u56fe\u5757   \uff08   Export   to   Tiles   \uff09 :   \u9009\u62e9 \u56fe\u5757 \u7684 \u5927\u5c0f \u3002 Carla   \u53ef\u4ee5 \u4f7f\u7528 \u7684 \u6700\u5927 \u5c3a\u5bf8 \u4e3a   2000   x   2000 \u3002   \u5bfc\u51fa \u5355\u4e2a \u56fe\u5757   \uff08   Export   Individual   Tiles   \uff09 :   \u751f\u6210 \u5728   Carla   \u4e2d \u6d41\u5f0f \u4f20\u8f93 \u5927 \u5730\u56fe \u6240 \u9700 \u7684 \u5355\u4e2a \u56fe\u5757 \u3002   3 .   \u5bfc\u51fa   . xodr   OpenDrive   \u5730\u56fe \u6587\u4ef6 \uff1a   \u5728 \u4e3b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \uff0c \u9009\u62e9   File   - >   Export   - >   OpendDRIVE   ( . xodr )   \u5728 \u60a8 \u9009\u62e9 \u5bfc\u51fa \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u60a8 \u73b0\u5728 \u5c06 \u6709 \u51e0\u4e2a \u65b0 \u6587\u4ef6 \uff0c \u4e00\u4e2a   . xodr   \u6587\u4ef6 \u548c \u51e0\u4e2a   . fbx   \u6587\u4ef6 \uff1a   \u7b14\u8bb0   \u786e\u4fdd   . xodr   \u548c   . fbx   \u6587\u4ef6 \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \u6839 \u3002   \u73b0\u5728 \u60a8 \u5df2\u7ecf \u5728   Roadrunner   \u4e2d \u521b\u5efa \u4e86 \u5927 \u5730\u56fe \uff0c \u60a8 \u53ef\u4ee5 \u5c06 \u5176 \u5bfc\u5165   Carla   \u4e2d \u3002 RoadRunner   \u521b\u5efa \u7684 \u6587\u4ef6 \u5e94 \u8f6c\u79fb \u5230 \u7528\u4e8e \u6784\u5efa   Carla   \u7684 \u76ee\u5f55 \u6839\u76ee\u5f55 \u7684   Import   \u76ee\u5f55 \u5185 \u3002   \u5c06 \u5927 \u5730\u56fe \u5bfc\u5165   Carla   RoadRunner   \u4e2d \u751f\u6210 \u7684 \u5927 \u5730\u56fe \u53ef\u4ee5 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u4e2d \uff0c \u5e76 \u6253\u5305 \u5728   Carla   \u72ec\u7acb \u5305\u4e2d \u5206\u53d1 \u548c \u4f7f\u7528 \u3002 \u8be5 \u8fc7\u7a0b \u4e0e \u6807\u51c6 \u5730\u56fe \u975e\u5e38 \u76f8\u4f3c \uff0c \u53ea\u662f \u6dfb\u52a0 \u4e86 \u56fe\u5757 \u548c \u6279\u91cf \u5bfc\u5165 \u7684 \u7279\u5b9a \u672f\u8bed \u3002   \u6587\u4ef6 \u548c \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u6240\u6709 \u8981 \u5bfc\u5165 \u7684 \u6587\u4ef6 \u5e94 \u653e\u7f6e \u5728   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u8fd9\u4e9b \u6587\u4ef6 \u5e94 \u5305\u62ec \uff1a   \u591a\u4e2a   . fbx   \u6587\u4ef6 \u4e2d \u7684 \u5730\u56fe \u7f51\u683c \u4ee3\u8868 \u5730\u56fe \u7684 \u4e0d\u540c \u56fe\u5757 \u3002   OpenDRIVE   \u5b9a\u4e49 \u4f4d\u4e8e \u5355\u4e2a   . xodr   \u6587\u4ef6 \u4e2d \u3002   \u8b66\u544a   \u60a8 \u4e0d\u80fd \u540c\u65f6 \u5bfc\u5165 \u5927 \u5730\u56fe \u548c \u6807\u51c6 \u5730\u56fe \u3002   \u5730\u56fe \u56fe\u5757 \u7684 \u547d\u540d \u7ea6\u5b9a \u975e\u5e38 \u91cd\u8981 \u3002 \u6bcf\u4e2a \u5730\u56fe \u56fe\u5757 \u5e94 \u6839\u636e \u4ee5\u4e0b \u7ea6\u5b9a \u547d\u540d \uff1a   < mapName > _ Tile _ < x - coordinate > _ < y - coordinate > . fbx   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c RoadRunner   \u5e94 \u7b26\u5408 \u6b64 \u547d\u540d \u7ea6\u5b9a \uff0c \u4f46 \u5728 \u51c6\u5907 \u5bfc\u5165   Carla   \u4e4b\u524d \u503c\u5f97 \u4ed4\u7ec6 \u68c0\u67e5 \u4ed4\u7ec6\u68c0\u67e5 \uff0c \u56e0\u4e3a \u6b64 \u9636\u6bb5 \u5f15\u8d77 \u7684 \u95ee\u9898 \u7a0d\u540e \u4fee\u590d \u8d77\u6765 \u53ef\u80fd \u4f1a \u5f88 \u4e4f\u5473 \u3002 \u6700\u7ec8 \u5730\u56fe \u4e2d \u7684 \u56fe\u5757 \u5c06 \u5982\u4e0b \u56fe \u6240\u793a \u6392\u5217 \uff1a   \u751f\u6210 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u5305\u542b \u4e00\u4e2a \u5305\u542b \u7531 \u56db\u4e2a \u56fe\u5757 \u7ec4\u6210 \u7684 \u5927 \u5730\u56fe \u7684 \u5305 \uff0c \u5176 \u7ed3\u6784 \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u7ed3\u6784 \uff1a   Import   \u2502   \u2514 \u2500 \u2500   Package01   \u251c \u2500 \u2500   Package01 . json   \u251c \u2500 \u2500   LargeMap _ Tile _ 0 _ 0 . fbx   \u251c \u2500 \u2500   LargeMap _ Tile _ 0 _ 1 . fbx   \u251c \u2500 \u2500   LargeMap _ Tile _ 1 _ 0 . fbx   \u251c \u2500 \u2500   LargeMap _ Tile _ 1 _ 1 . fbx   \u2514 \u2500 \u2500   LargeMap . xodr   \u7b14\u8bb0   package . json   \u6587\u4ef6 \u5e76 \u4e0d\u662f \u7edd\u5bf9 \u5fc5\u8981 \u7684 \u3002 \u5982\u679c \u672a \u521b\u5efa   package . json   \u6587\u4ef6 \uff0c \u81ea\u52a8 \u5bfc\u5165 \u8fc7\u7a0b \u5c06 \u521b\u5efa \u4e00\u4e2a \u3002 package . json \u5728 \u4e0b \u4e00\u8282 \u4e2d \u4e86\u89e3 \u6709\u5173 \u6784\u5efa \u81ea\u5df1   package . json   \u7684 \u7ed3\u6784 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u521b\u5efa   JSON   \u63cf\u8ff0 \uff08 \u53ef \u9009 \uff09   . json   \u63cf\u8ff0 \u662f \u5728 \u5bfc\u5165 \u8fc7\u7a0b \u4e2d \u81ea\u52a8 \u521b\u5efa \u7684 \uff0c \u4f46 \u4e5f \u53ef\u4ee5 \u9009\u62e9 \u624b\u52a8 \u521b\u5efa \u63cf\u8ff0 \u3002 \u73b0\u6709   . json   \u63cf\u8ff0 \u5c06 \u8986\u76d6 \u5bfc\u5165 \u8fc7\u7a0b \u4e2d \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7684 \u4efb\u4f55 \u503c \u3002   \u8be5   . json   \u6587\u4ef6 \u5e94 \u521b\u5efa \u5728 \u5305 \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u6587\u4ef6 \u6587\u4ef6\u540d \u5c06 \u662f \u5305 \u5206\u53d1 \u540d\u79f0 \u3002 \u6587\u4ef6 \u7684 \u5185\u5bb9 \u63cf\u8ff0 \u4e86   \u5730\u56fe   \u548c   \u9053\u5177   \u7684   JSON   \u6570\u7ec4 \uff0c \u5176\u4e2d \u5305\u542b \u6bcf\u4e2a \u5730\u56fe \u548c \u9053\u5177 \u7684 \u57fa\u672c \u4fe1\u606f \u3002   Maps   \u9700\u8981 \u4ee5\u4e0b \u53c2\u6570 \uff1a   name :   \u5730\u56fe \u7684 \u540d\u79f0 \u3002 \u8fd9 \u5fc5\u987b \u4e0e \u548c   . fbx   \u548c   . xodr   \u6587\u4ef6 \u76f8\u540c . xodr \u3002   xodr :   . xodr   \u6587\u4ef6 \u7684 \u8def\u5f84   use _ carla _ materials :   \u5982\u679c \u4e3a   True   \uff0c \u5730\u56fe \u5c06 \u4f7f\u7528   Carla   \u6750\u8d28 \u3002 \u5426\u5219 \uff0c \u5b83 \u5c06 \u4f7f\u7528   RoadRunner   \u6750\u6599 \u3002   tile _ size :   \u56fe\u5757 \u7684 \u5927\u5c0f \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   2000   ( 2kmx2km ) \u3002   tiles :   \u7ec4\u6210 \u6574\u4e2a \u5730\u56fe \u7684   . fbx   tile \u6587\u4ef6 \u7684 \u5217\u8868 \u3002   Props   \u5c5e\u4e8e \u672c \u6559\u7a0b \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u672c   \u6559\u7a0b \u4e86\u89e3 \u5982\u4f55 \u6dfb\u52a0 \u65b0 \u9053\u5177 \u3002   \u751f\u6210 \u7684   . json   \u6587\u4ef6 \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   {   \" maps \" :   [   {   \" name \" :   \" LargeMap \" ,   \" xodr \" :   \" . / LargeMap . xodr \" ,   \" use _ carla _ materials \" :   true ,   \" tile _ size \" :   700 ,   \" tiles \" :   [   \" . / LargeMap _ Tile _ 0 _ 0 . fbx \" ,   \" . / LargeMap _ Tile _ 0 _ 1 . fbx \" ,   \" . / LargeMap _ Tile _ 1 _ 0 . fbx \" ,   \" . / LargeMap _ Tile _ 1 _ 1 . fbx \"   ]   }   ] ,   \" props \" :   [ ]   }   \u8fdb\u884c \u5bfc\u5165   \u5c06 \u6240\u6709 \u6587\u4ef6 \u653e\u5165 \u8be5   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u540e \uff0c \u5728 \u6839   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   make   import   \u6839\u636e \u60a8 \u7684 \u7cfb\u7edf \uff0c \u865a\u5e7b \u5f15\u64ce \u53ef\u80fd \u4f1a \u6d88\u8017 \u592a \u591a \u5185\u5b58 \u800c \u65e0\u6cd5 \u4e00\u6b21 \u5bfc\u5165 \u6240\u6709 \u6587\u4ef6 \u3002 \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u9009\u62e9 \u6279\u91cf \u5bfc\u5165 \u6587\u4ef6 \uff1a   make   import   ARGS = \" -- batch - size = 200 \"   \u8be5   make   import   \u547d\u4ee4 \u8fd8 \u5b58\u5728 \u4e24\u4e2a \u6807\u5fd7 \uff1a   -- package = < package _ name >   \u6307\u5b9a \u5305 \u7684 \u540d\u79f0 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u6b64\u9879 \u8bbe\u7f6e \u4e3a   map _ package   \u3002 \u4e24\u4e2a \u5305 \u4e0d\u80fd \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \uff0c \u56e0\u6b64 \u4f7f\u7528 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u5c06 \u5bfc\u81f4 \u540e\u7eed \u5bfc\u5165 \u65f6 \u51fa\u9519 \u3002   \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u66f4\u6539 \u5305 \u7684 \u540d\u79f0   \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- package = < package _ name > \"   -- no - carla - materials   \u6307\u5b9a \u60a8 \u4e0d\u60f3 \u4f7f\u7528 \u9ed8\u8ba4 \u7684   Carla   \u6750\u8d28 \uff08 \u9053\u8def \u7eb9\u7406 \u7b49 \uff09 \u3002 \u60a8 \u5c06 \u6539\u7528   RoadRunner   \u6750\u6599 \u3002   \u4ec5 \u5f53 \u60a8 \u4e0d \u63d0\u4f9b \u81ea\u5df1 \u7684   . json   \u6587\u4ef6   \u65f6\u624d \u9700\u8981 \u6b64 \u6807\u5fd7 \u3002   . json   \u6587\u4ef6 \u4e2d \u7684 \u4efb\u4f55 \u503c \u90fd \u5c06 \u8986\u76d6 \u6b64 \u6807\u5fd7 \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- no - carla - materials \"   \u6240\u6709 \u6587\u4ef6 \u90fd \u5c06 \u88ab \u5bfc\u5165 \u5e76 \u51c6\u5907 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u4f7f\u7528 \u3002 \u5730\u56fe \u5730\u56fe\u5305 \u5c06 \u5728   Unreal / CarlaUE4 / Content   \u4e2d \u521b\u5efa \u3002 \u5c06 \u521b\u5efa \u4e00\u4e2a \u5e95\u56fe \u56fe\u5757   \uff0c \u4f5c\u4e3a \u6240\u6709 \u56fe\u5757 \u7684 \u6d41 \u7ea7\u522b \u3002 \u57fa\u7840 \u56fe\u5757 \u5c06 \u5305\u542b \u5929\u7a7a \u3001 \u5929\u6c14 \u548c \u5927 \u5730\u56fe \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5e76 \u51c6\u5907 \u597d \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u3002   \u7b14\u8bb0   \u76ee\u524d \u4e0d \u5efa\u8bae \u4f7f\u7528 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d\u4e3a \u6807\u51c6 \u5730\u56fe \u63d0\u4f9b \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5de5\u5177 \uff0c \u4f8b\u5982 \u9053\u8def \u753b\u5bb6 \u3001 \u7a0b\u5e8f \u5efa\u7b51 \u7b49 \u3002   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5904\u7406 \u5927 \u5730\u56fe   \u73b0\u5728 \u60a8 \u5df2 \u5bfc\u5165 \u65b0 \u5730\u56fe \uff0c \u60a8 \u5c06 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u7684 \u9ed8\u8ba4 \u547d\u540d   map _ package   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u627e\u5230 \u8be5 \u5730\u56fe \u3002 \u5982\u679c \u60a8 \u5728 \u5bfc\u5165 \u547d\u4ee4 \u4e2d \u4f7f\u7528 \u53c2\u6570   \" -- package = < package _ name > \"   \uff0c \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5c06 \u6709 \u4e00\u4e2a \u5907\u7528 \u540d\u79f0 \u3002 \u5728 \u6b64 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \uff0c \u6253\u5f00 \u8be5   Maps   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u6253\u5f00 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u5728 \u91cc\u9762 \u4f60 \u4f1a \u53d1\u73b0 \u51e0\u4e2a \u6a59\u8272 \u7684 \u5173\u5361 \u6587\u4ef6 \u3002   \u6574\u4e2a \u5730\u56fe \u5c06 \u6709 \u4e00\u4e2a \u5173\u5361 \u6587\u4ef6 \uff0c \u800c \u4ece   RoadRunner   \u5bfc\u51fa \u7684 \u6bcf\u4e2a \u56fe\u5757 \u5c06 \u6709 \u4e00\u4e2a \u5173\u5361 \u6587\u4ef6 \u3002 \u8981 \u5c06 \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u690d\u88ab \u7b49 \u8d44\u4ea7 \u6dfb\u52a0 \u5230 \u5730\u56fe \u4e2d \uff0c \u8bf7 \u53cc\u51fb \u8981 \u5904\u7406 \u7684 \u56fe\u5757 \u7684 \u5173\u5361 \u6587\u4ef6 \uff08 \u4f8b\u5982 \u672c\u4f8b \u4e2d   LargeMap _ Tile _ 0 _ 0   \uff09 \uff0c \u4ee5\u4fbf \u5c06 \u5176 \u52a0\u8f7d \u5230 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u56fe\u5757 \u6ca1\u6709 \u4efb\u4f55 \u7167\u660e \u8bbe\u7f6e \uff0c \u56e0\u6b64 \u60a8 \u53ef\u80fd \u9700\u8981 \u5c06 \u89c6\u56fe \u6a21\u5f0f \u4ece   \u66f4\u6539   Lit   \u4e3a   Unlit   \u624d\u80fd \u5728 \u52a0\u8f7d \u56fe\u5757 \u540e \u770b\u5230 \u5b83 \u3002 \u73b0\u5728 \uff0c \u60a8 \u53ef\u4ee5 \u6309\u7167   \u4e0e \u6807\u51c6 \u5730\u56fe \u76f8\u540c \u7684 \u8fc7\u7a0b   \u5411 \u5730\u56fe \u6dfb\u52a0 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8bf7 \u786e\u4fdd \u4fdd\u5b58 \u5bf9 \u6b63\u5728 \u5904\u7406 \u7684 \u56fe\u5757 \u6240 \u505a \u7684 \u4fee\u6539 \uff0c \u7136\u540e \u52a0\u8f7d \u4e0b \u4e00\u4e2a \u56fe\u5757 \u5e76 \u91cd\u590d \u8be5 \u8fc7\u7a0b \u3002 \u60a8 \u65e0\u6cd5 \u4e00\u6b21 \u4e00\u6b21\u6027 \u5904\u7406 \u6574\u4e2a \u5730\u56fe \uff0c \u56e0\u6b64 \u52a0\u8f7d \uff08 \u901a\u8fc7 \u53cc\u51fb \uff09 \u6574\u4e2a \u5730\u56fe \u7684 \u5173\u5361 \u6587\u4ef6 \uff08 \u540e\u9762 \u4e0d\u5e26 \u540e\u7f00   \u7684 \u6587\u4ef6   _ Tile _ X _ Y   \uff09 \u5bf9\u4e8e \u88c5\u9970 \u5730\u56fe \u5c06 \u6ca1\u6709 \u7528\u5904 \u3002   \u52a0\u8f7d \u6574\u4e2a \u5730\u56fe \u5e76 \u8fd0\u884c \u4eff\u771f   \u5982\u679c \u60a8 \u60f3 \u52a0\u8f7d \u5730\u56fe \u5e76 \u5f00\u59cb \u4eff\u771f \u8fdb\u884c \u5b9e\u9a8c \uff0c \u60a8 \u5e94\u8be5 \u52a0\u8f7d \u6574\u4e2a \u5730\u56fe \u7684 \u5173\u5361 \u6587\u4ef6 \u3002 \u53cc\u51fb \u5e26\u6709 \u6839 \u5730\u56fe \u540d\u79f0 \u7684 \u5173\u5361 \u6587\u4ef6 \uff08 \u540e\u9762 \u4e0d\u5e26 \u540e\u7f00 \u7684 \u6587\u4ef6   _ Tile _ X _ Y   \uff09 \u5e76 \u7b49\u5f85 \u5176 \u52a0\u8f7d \u3002 \u5bf9\u4e8e \u975e\u5e38 \u5927 \u7684 \u5730\u56fe \uff0c \u52a0\u8f7d \u6709\u65f6 \u53ef\u80fd \u9700\u8981 \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u751a\u81f3 \u51e0\u5206 \u5206\u949f \u51e0\u5206\u949f \u3002 \u52a0\u8f7d \u540e \uff0c \u5355\u51fb \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u7684 \u64ad\u653e \u9009\u9879 \u3002 \u4eff\u771f \u73b0\u5728 \u5c06 \u4ece \u60a8 \u7684 \u65b0 \u5927 \u5730\u56fe \u5f00\u59cb \u3002   \u7b14\u8bb0   \u5982\u679c \u60a8 \u662f \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u4ece \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u8fd0\u884c \u4eff\u771f \uff0c \u5efa\u8bae \u5728 \u5f00\u59cb \u4eff\u771f \u4e4b\u524d \u5148 \u9010\u4e2a \u52a0\u8f7d \u6bcf\u4e2a \u56fe\u5757 \uff08 \u901a\u8fc7 \u53cc\u51fb \u5b83\u4eec \uff09 \uff0c \u76f4\u5230 \u52a0\u8f7d \u5b8c \u6240\u6709 \u56fe\u5757 \u3002 \u8fd9\u4f1a \u5728 \u540e\u53f0 \u6267\u884c \u67d0\u4e9b \u64cd\u4f5c \uff0c \u4f8b\u5982 \u70d8\u7119 \u7f51\u683c \u8ddd\u79bb \u573a \u548c \u56fe\u5757 \u7684 \u7740\u8272 \u7740\u8272\u5668 \u3002 \u5982\u679c \u60a8 \u4e00 \u5f00\u59cb \u4e0d \u9010\u4e00 \u52a0\u8f7d \u56fe\u5757 \uff0c \u8fd9\u4e9b \u64cd\u4f5c \u53ef\u80fd \u4f1a \u5728 \u8fd0\u884c \u65f6 \u6267\u884c \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u865a\u5e7b \u5f15\u64ce \u6302 \u8d77 \u6216 \u5d29\u6e83 \u3002   \u6253\u5305 \u4e00\u5f20 \u5927 \u5730\u56fe   \u8981 \u6253\u5305 \u5927 \u5730\u56fe \u4ee5\u4fbf \u53ef\u4ee5 \u5728   Carla   \u72ec\u7acb \u5305\u4e2d \u4f7f\u7528 \uff0c \u8bf7 \u9075\u5faa \u4e0e \u6807\u51c6 \u5730\u56fe \u76f8\u540c \u7684 \u8fc7\u7a0b   -   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   make   package   ARGS = \" -- packages = < mapPackage > \"   \u8fd9 \u5c06 \u521b\u5efa \u4e00\u4e2a \u538b\u7f29 \u5728   . tar . gz   \u6587\u4ef6 \u4e2d \u7684 \u72ec\u7acb \u5305 \u3002 Linux   \u4e0b \u6587\u4ef6 \u5c06 \u4fdd\u5b58 \u5728   Dist   \u548c   Windows \u4e0b \u4fdd\u5b58 \u5728   / Build / UE4Carla /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u7136\u540e \u53ef\u4ee5 \u5c06 \u5b83\u4eec \u5206\u53d1 \u548c \u6253\u5305 \u4ee5 \u5728 \u72ec\u7acb \u7684   Carla   \u5305\u4e2d \u4f7f\u7528 \u3002   \u5982\u679c \u60a8 \u5bf9 \u5927 \u5730\u56fe \u5bfc\u5165 \u548c \u6253\u5305 \u8fc7\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u90a3\u4e48 \u60a8 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"Content   authoring   large   maps"},{"location":"content_authoring_large_maps/#carla","text":"Carla   \u4e2d \u5927 \u5730\u56fe \uff08 \u5982 \u57ce\u9547   11   \u548c   12 \uff09 \u7684 \u64cd\u4f5c \u65b9\u5f0f \u4e0e \u6807\u51c6 \u5730\u56fe \uff08 \u5982 \u57ce\u9547   10 \uff09 \u4e0d\u540c \u3002 \u5730\u56fe \u88ab \u5212\u5206 \u4e3a \u56fe\u5757 \uff0c \u5373 \u5730\u56fe \u7684 \u7ec6\u5206 \uff0c \u901a\u5e38 \u5927\u5c0f \u8bbe\u7f6e \u4e3a \u7ea6   1   \u81f3   2   \u516c\u91cc \u3002 \u8fd9\u4e9b \u56fe\u5757 \u5212\u5206 \u4e86 \u5730\u56fe \uff0c \u4ee5\u4fbf \u4ec5 \u5c06 \u9700\u8981 \u7684 \u5730\u56fe \u90e8\u5206 \u52a0\u8f7d \u5230 \u56fe\u5f62 \u5185\u5b58 \u4e2d\u4ee5 \u8fdb\u884c \u9ad8\u6548 \u6e32\u67d3 \u3002 \u4e0d \u9700\u8981 \u7684 \u56fe\u5757 \u4fdd\u6301 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u5e76 \u51c6\u5907 \u5728 \u9700\u8981 \u65f6 \u52a0\u8f7d \u3002 \u901a\u5e38 \uff0c \u4f1a \u52a0\u8f7d \u81ea\u6211 \u8f66\u8f86 \u4f4d\u7f6e \u4e2d \u7684 \u56fe\u5757 \u65c1\u8fb9 \u7684 \u56fe\u5757 \uff0c \u4f46 \u5982\u679c \u9700\u8981 \uff0c \u53ef\u4ee5 \u52a0\u8f7d \u66f4 \u591a \u56fe\u5757 \u3002 \u5f53   Carla   \u542f\u52a8 \u65f6 \uff0c \u53ef\u4ee5 \u5728 \u8bbe\u7f6e \u4e2d \u4fee\u6539 \u6b64 \u884c\u4e3a \u3002","title":"\u4e3a   Carla   \u521b\u5efa \u5927 \u5730\u56fe"},{"location":"content_authoring_large_maps/#roadrunner","text":"RoadRunner   \u662f \u63a8\u8350 \u7528\u4e8e \u521b\u5efa \u8981 \u5bfc\u5165   Carla   \u7684 \u5927 \u5730\u56fe \u7684 \u8f6f\u4ef6 \u3002 \u672c \u6307\u5357 \u6982\u8ff0 \u4e86 \u5982\u4f55 \u4f7f\u7528   RoadRunner   \u521b\u5efa \u5927 \u5730\u56fe \u4ee5\u53ca \u5982\u4f55 \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5bfc\u5165 \u548c \u5904\u7406 \u5927 \u5730\u56fe \u3002   \u5728   RoadRunner   \u4e2d \u6784\u5efa \u5927 \u5730\u56fe   \u5728   RoadRunner   \u4e2d \u5bfc\u51fa \u5927 \u5730\u56fe   \u5c06 \u5927 \u5730\u56fe \u5bfc\u5165   Carla   \u6587\u4ef6 \u548c \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u521b\u5efa   JSON   \u63cf\u8ff0 \uff08 \u53ef \u9009 \uff09   \u8fdb\u884c \u5bfc\u5165   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5904\u7406 \u5927 \u5730\u56fe   \u6253\u5305 \u4e00\u5f20 \u5927 \u5730\u56fe","title":"\u5728   RoadRunner   \u4e2d \u521b\u5efa \u5927 \u5730\u56fe"},{"location":"content_authoring_large_maps/#roadrunner_1","text":"\u5982\u4f55 \u5728   RoadRunner   \u4e2d \u6784\u5efa \u590d\u6742 \u5730\u56fe \u7684 \u5177\u4f53 \u7ec6\u8282 \u8d85\u51fa \u4e86 \u672c \u6307\u5357 \u7684 \u8303\u56f4 \uff0c \u4f46\u662f \uff0c   RoadRunner   \u6587\u6863   \u4e2d \u63d0\u4f9b \u4e86 \u89c6\u9891 \u6559\u7a0b \u89c6\u9891\u6559\u7a0b \u3002 \u4ece \u8868\u9762 \u4e0a \u770b \uff0c \u5728   RoadRunner   \u4e2d \u6784\u5efa \u5927 \u5730\u56fe \u4e0e \u6784\u5efa \u6807\u51c6 \u5730\u56fe \u57fa\u672c \u672c\u76f8 \u76f8\u540c \u57fa\u672c\u76f8\u540c \uff0c \u53ea\u662f \u6bd4\u4f8b \u66f4\u5927 \u3002 \u5dee\u5f02 \u4e3b\u8981 \u5728\u4e8e \u5730\u56fe \u7684 \u5bfc\u51fa \u65b9\u5f0f \u3002   \u8fd9\u91cc \u6211\u4eec \u521b\u5efa \u4e86 \u4e00\u5f20 \u5927\u7ea6   1.2   \u516c\u91cc \u5927\u5c0f \u7684 \u5927 \u5730\u56fe \u3002 \u5f53 \u6211\u4eec \u5bfc\u51fa \u5b83 \u65f6 \uff0c \u5b83\u4f1a \u88ab \u5206\u5272 \u6210 \u56fe\u5757 \uff0c \u6211\u4eec \u5c06 \u9009\u62e9   700m   \u7684 \u56fe\u5757 \u5927\u5c0f \uff0c \u56e0\u6b64 \u5730\u56fe \u5e94\u8be5 \u5206\u5272 \u6210 \u5927\u7ea6   4   \u4e2a \u56fe\u5757 \u3002   \u5982\u679c \u60a8 \u6b63\u5728 \u6784\u5efa \u5e26\u6709 \u9ad8\u7a0b \u7684 \u5927 \u5730\u56fe \uff0c \u5efa\u8bae \u7684 \u5730\u56fe \u6700\u5927 \u5c3a\u5bf8 \u4e3a   20x20   km   2   \u3002 \u5927\u4e8e \u6b64 \u5927\u5c0f \u7684 \u5730\u56fe \u53ef\u80fd \u4f1a \u5bfc\u81f4   RoadRunner   \u5728 \u5bfc\u51fa \u65f6 \u5d29\u6e83 \u3002","title":"\u5728   RoadRunner   \u4e2d \u6784\u5efa \u5927 \u5730\u56fe"},{"location":"content_authoring_large_maps/#roadrunner_2","text":"\u4ee5\u4e0b \u662f\u4ece   RoadRunner   \u5bfc\u51fa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5927 \u5730\u56fe \u7684 \u57fa\u672c \u6307\u5357 \u3002   \u901a\u8fc7 \u5355\u51fb \u4e16\u754c \u8bbe\u7f6e \u5de5\u5177 \uff08   World   settings   tool   \uff09 \u5e76 \u62d6\u52a8 \u84dd\u8272 \u8fb9\u754c \u6846 \u7684 \u8fb9\u7f18 \u4ee5 \u5305\u542b \u8981 \u5bfc\u51fa \u7684 \u6574\u4e2a \u533a\u57df \uff0c \u786e\u4fdd \u9009\u62e9 \u5bfc\u51fa \u5b8c\u6574 \u5730\u56fe \u3002 \u51c6\u5907 \u597d\u540e \uff0c \u5355\u51fb \u201c \u5e94\u7528 \u4e16\u754c \u66f4\u6539 \u201d \uff08   Apply   World   Changes   \uff09 \u3002   \u4f7f\u7528 \u573a\u666f \u5bfc\u51fa \u9884\u89c8 \u5de5\u5177 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u4e86\u89e3 \u5982\u4f55 \u5c06 \u5730\u56fe \u5212\u5206 \u4e3a \u56fe\u5757 \u4ee5\u4f9b \u5bfc\u51fa \u3002 \u8c03\u6574 \u201c \u5e73\u94fa \u9009\u9879 \u201d \uff08   Tiling   Options   \uff09 \u83dc\u5355 \u4e2d \u7684 \u201c \u5e73\u94fa \u5927\u5c0f \u201d \uff08   Tile   Size   \uff09 \u53c2\u6570 \uff0c \u627e\u5230 \u9002\u5408 \u60a8 \u5730\u56fe \u7684 \u5e73\u94fa \u5927\u5c0f \uff0c \u6309 \u201c \u5237\u65b0 \u573a\u666f \u201d \uff08   Refresh   Scene   \uff09 \u67e5\u770b \u8c03\u6574 \u7684 \u5f71\u54cd \u3002   \u7b14\u8bb0   Tile   size   :   \u60a8 \u4f7f\u7528 \u7684 \u56fe\u5757 \u5927\u5c0f \u662f \u4e00\u4e2a \u5224\u65ad \u8c03\u7528 \uff0c \u4ee5 \u786e\u4fdd \u5730\u56fe \u5728   Carla   \u4e2d \u4f7f\u7528 \u65f6 \u80fd\u591f \u6709\u6548 \u5de5\u4f5c \u3002 \u5982\u679c \u60a8 \u7684 \u5730\u56fe \u5305\u542b \u5bc6\u96c6 \u7684   3D   \u8d44\u6e90 \uff08 \u4f8b\u5982 \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u690d\u88ab \uff09 \uff0c \u60a8 \u53ef\u80fd \u4f1a \u53d7\u76ca \u4e8e \u8f83 \u5c0f \u7684 \u56fe\u5757 \u5927\u5c0f \uff0c \u4ee5 \u9632\u6b62 \u52a0\u8f7d \u4e0d\u5fc5 \u5fc5\u8981 \u4e0d\u5fc5\u8981 \u7684 \u8d44\u6e90 \u3002 \u4f46\u662f \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u589e\u52a0 \u6784\u5efa \u5730\u56fe \u6240 \u9700 \u5de5\u4f5c \u7684 \u590d\u6742 \u590d\u6742\u6027 \u3002 Carla   \u5f15\u64ce \u652f\u6301 \u7684 \u6700\u5927 \u74e6\u7247 \u5c3a\u5bf8 \u4e3a   2   \u516c\u91cc \uff0c \u6211\u4eec \u5efa\u8bae \u74e6\u7247 \u5c3a\u5bf8 \u4e3a   1   \u516c\u91cc \u5de6\u53f3 \u3002   \u5f53 \u60a8 \u51c6\u5907 \u597d \u5bfc\u51fa \u65f6 \uff1a   1 .   \u5bfc\u51fa   . fbx   \u51e0\u4f55 \u6587\u4ef6 \uff1a   \u5728 \u4e3b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \uff0c \u9009\u62e9   File   - >   Export   - >   Firebox   ( . fbx )   2 .   \u5728 \u5f39\u51fa \u7684 \u7a97\u53e3 \u4e2d \uff1a   \u68c0\u67e5 \u4ee5\u4e0b \u9009\u9879 \uff1a   \u901a\u8fc7 \u5206\u6bb5 \u5206\u5272   \uff08   Split   by   Segmentation   \uff09 :   \u901a\u8fc7 \u8bed\u4e49 \u5206\u5272 \u6765 \u5212\u5206 \u7f51\u683c \u5e76 \u6539\u8fdb \u884c\u4eba \u5bfc\u822a \u3002   \u4e8c\u7ef4 \u7eb9\u7406 \u7684 \u529b\u91cf   \uff08   Power   of   Two   Texture   Dimensions   \uff09 :   \u63d0\u9ad8 \u6027\u80fd \u3002   \u5d4c\u5165 \u7eb9\u7406   \uff08   Embed   Textures   \uff09 :   \u786e\u4fdd \u7eb9\u7406 \u5d4c\u5165 \u5230 \u7f51\u683c \u4e2d \u3002   \u5bfc\u51fa \u5230 \u56fe\u5757   \uff08   Export   to   Tiles   \uff09 :   \u9009\u62e9 \u56fe\u5757 \u7684 \u5927\u5c0f \u3002 Carla   \u53ef\u4ee5 \u4f7f\u7528 \u7684 \u6700\u5927 \u5c3a\u5bf8 \u4e3a   2000   x   2000 \u3002   \u5bfc\u51fa \u5355\u4e2a \u56fe\u5757   \uff08   Export   Individual   Tiles   \uff09 :   \u751f\u6210 \u5728   Carla   \u4e2d \u6d41\u5f0f \u4f20\u8f93 \u5927 \u5730\u56fe \u6240 \u9700 \u7684 \u5355\u4e2a \u56fe\u5757 \u3002   3 .   \u5bfc\u51fa   . xodr   OpenDrive   \u5730\u56fe \u6587\u4ef6 \uff1a   \u5728 \u4e3b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \uff0c \u9009\u62e9   File   - >   Export   - >   OpendDRIVE   ( . xodr )   \u5728 \u60a8 \u9009\u62e9 \u5bfc\u51fa \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u60a8 \u73b0\u5728 \u5c06 \u6709 \u51e0\u4e2a \u65b0 \u6587\u4ef6 \uff0c \u4e00\u4e2a   . xodr   \u6587\u4ef6 \u548c \u51e0\u4e2a   . fbx   \u6587\u4ef6 \uff1a   \u7b14\u8bb0   \u786e\u4fdd   . xodr   \u548c   . fbx   \u6587\u4ef6 \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \u6839 \u3002   \u73b0\u5728 \u60a8 \u5df2\u7ecf \u5728   Roadrunner   \u4e2d \u521b\u5efa \u4e86 \u5927 \u5730\u56fe \uff0c \u60a8 \u53ef\u4ee5 \u5c06 \u5176 \u5bfc\u5165   Carla   \u4e2d \u3002 RoadRunner   \u521b\u5efa \u7684 \u6587\u4ef6 \u5e94 \u8f6c\u79fb \u5230 \u7528\u4e8e \u6784\u5efa   Carla   \u7684 \u76ee\u5f55 \u6839\u76ee\u5f55 \u7684   Import   \u76ee\u5f55 \u5185 \u3002","title":"\u5728   RoadRunner   \u4e2d \u5bfc\u51fa \u5927 \u5730\u56fe"},{"location":"content_authoring_large_maps/#carla_1","text":"RoadRunner   \u4e2d \u751f\u6210 \u7684 \u5927 \u5730\u56fe \u53ef\u4ee5 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u4e2d \uff0c \u5e76 \u6253\u5305 \u5728   Carla   \u72ec\u7acb \u5305\u4e2d \u5206\u53d1 \u548c \u4f7f\u7528 \u3002 \u8be5 \u8fc7\u7a0b \u4e0e \u6807\u51c6 \u5730\u56fe \u975e\u5e38 \u76f8\u4f3c \uff0c \u53ea\u662f \u6dfb\u52a0 \u4e86 \u56fe\u5757 \u548c \u6279\u91cf \u5bfc\u5165 \u7684 \u7279\u5b9a \u672f\u8bed \u3002","title":"\u5c06 \u5927 \u5730\u56fe \u5bfc\u5165   Carla"},{"location":"content_authoring_large_maps/#_1","text":"\u6240\u6709 \u8981 \u5bfc\u5165 \u7684 \u6587\u4ef6 \u5e94 \u653e\u7f6e \u5728   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u8fd9\u4e9b \u6587\u4ef6 \u5e94 \u5305\u62ec \uff1a   \u591a\u4e2a   . fbx   \u6587\u4ef6 \u4e2d \u7684 \u5730\u56fe \u7f51\u683c \u4ee3\u8868 \u5730\u56fe \u7684 \u4e0d\u540c \u56fe\u5757 \u3002   OpenDRIVE   \u5b9a\u4e49 \u4f4d\u4e8e \u5355\u4e2a   . xodr   \u6587\u4ef6 \u4e2d \u3002   \u8b66\u544a   \u60a8 \u4e0d\u80fd \u540c\u65f6 \u5bfc\u5165 \u5927 \u5730\u56fe \u548c \u6807\u51c6 \u5730\u56fe \u3002   \u5730\u56fe \u56fe\u5757 \u7684 \u547d\u540d \u7ea6\u5b9a \u975e\u5e38 \u91cd\u8981 \u3002 \u6bcf\u4e2a \u5730\u56fe \u56fe\u5757 \u5e94 \u6839\u636e \u4ee5\u4e0b \u7ea6\u5b9a \u547d\u540d \uff1a   < mapName > _ Tile _ < x - coordinate > _ < y - coordinate > . fbx   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c RoadRunner   \u5e94 \u7b26\u5408 \u6b64 \u547d\u540d \u7ea6\u5b9a \uff0c \u4f46 \u5728 \u51c6\u5907 \u5bfc\u5165   Carla   \u4e4b\u524d \u503c\u5f97 \u4ed4\u7ec6 \u68c0\u67e5 \u4ed4\u7ec6\u68c0\u67e5 \uff0c \u56e0\u4e3a \u6b64 \u9636\u6bb5 \u5f15\u8d77 \u7684 \u95ee\u9898 \u7a0d\u540e \u4fee\u590d \u8d77\u6765 \u53ef\u80fd \u4f1a \u5f88 \u4e4f\u5473 \u3002 \u6700\u7ec8 \u5730\u56fe \u4e2d \u7684 \u56fe\u5757 \u5c06 \u5982\u4e0b \u56fe \u6240\u793a \u6392\u5217 \uff1a   \u751f\u6210 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u5305\u542b \u4e00\u4e2a \u5305\u542b \u7531 \u56db\u4e2a \u56fe\u5757 \u7ec4\u6210 \u7684 \u5927 \u5730\u56fe \u7684 \u5305 \uff0c \u5176 \u7ed3\u6784 \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u7ed3\u6784 \uff1a   Import   \u2502   \u2514 \u2500 \u2500   Package01   \u251c \u2500 \u2500   Package01 . json   \u251c \u2500 \u2500   LargeMap _ Tile _ 0 _ 0 . fbx   \u251c \u2500 \u2500   LargeMap _ Tile _ 0 _ 1 . fbx   \u251c \u2500 \u2500   LargeMap _ Tile _ 1 _ 0 . fbx   \u251c \u2500 \u2500   LargeMap _ Tile _ 1 _ 1 . fbx   \u2514 \u2500 \u2500   LargeMap . xodr   \u7b14\u8bb0   package . json   \u6587\u4ef6 \u5e76 \u4e0d\u662f \u7edd\u5bf9 \u5fc5\u8981 \u7684 \u3002 \u5982\u679c \u672a \u521b\u5efa   package . json   \u6587\u4ef6 \uff0c \u81ea\u52a8 \u5bfc\u5165 \u8fc7\u7a0b \u5c06 \u521b\u5efa \u4e00\u4e2a \u3002 package . json \u5728 \u4e0b \u4e00\u8282 \u4e2d \u4e86\u89e3 \u6709\u5173 \u6784\u5efa \u81ea\u5df1   package . json   \u7684 \u7ed3\u6784 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u6587\u4ef6 \u548c \u6587\u4ef6\u5939"},{"location":"content_authoring_large_maps/#json","text":". json   \u63cf\u8ff0 \u662f \u5728 \u5bfc\u5165 \u8fc7\u7a0b \u4e2d \u81ea\u52a8 \u521b\u5efa \u7684 \uff0c \u4f46 \u4e5f \u53ef\u4ee5 \u9009\u62e9 \u624b\u52a8 \u521b\u5efa \u63cf\u8ff0 \u3002 \u73b0\u6709   . json   \u63cf\u8ff0 \u5c06 \u8986\u76d6 \u5bfc\u5165 \u8fc7\u7a0b \u4e2d \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7684 \u4efb\u4f55 \u503c \u3002   \u8be5   . json   \u6587\u4ef6 \u5e94 \u521b\u5efa \u5728 \u5305 \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u6587\u4ef6 \u6587\u4ef6\u540d \u5c06 \u662f \u5305 \u5206\u53d1 \u540d\u79f0 \u3002 \u6587\u4ef6 \u7684 \u5185\u5bb9 \u63cf\u8ff0 \u4e86   \u5730\u56fe   \u548c   \u9053\u5177   \u7684   JSON   \u6570\u7ec4 \uff0c \u5176\u4e2d \u5305\u542b \u6bcf\u4e2a \u5730\u56fe \u548c \u9053\u5177 \u7684 \u57fa\u672c \u4fe1\u606f \u3002   Maps   \u9700\u8981 \u4ee5\u4e0b \u53c2\u6570 \uff1a   name :   \u5730\u56fe \u7684 \u540d\u79f0 \u3002 \u8fd9 \u5fc5\u987b \u4e0e \u548c   . fbx   \u548c   . xodr   \u6587\u4ef6 \u76f8\u540c . xodr \u3002   xodr :   . xodr   \u6587\u4ef6 \u7684 \u8def\u5f84   use _ carla _ materials :   \u5982\u679c \u4e3a   True   \uff0c \u5730\u56fe \u5c06 \u4f7f\u7528   Carla   \u6750\u8d28 \u3002 \u5426\u5219 \uff0c \u5b83 \u5c06 \u4f7f\u7528   RoadRunner   \u6750\u6599 \u3002   tile _ size :   \u56fe\u5757 \u7684 \u5927\u5c0f \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   2000   ( 2kmx2km ) \u3002   tiles :   \u7ec4\u6210 \u6574\u4e2a \u5730\u56fe \u7684   . fbx   tile \u6587\u4ef6 \u7684 \u5217\u8868 \u3002   Props   \u5c5e\u4e8e \u672c \u6559\u7a0b \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u672c   \u6559\u7a0b \u4e86\u89e3 \u5982\u4f55 \u6dfb\u52a0 \u65b0 \u9053\u5177 \u3002   \u751f\u6210 \u7684   . json   \u6587\u4ef6 \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   {   \" maps \" :   [   {   \" name \" :   \" LargeMap \" ,   \" xodr \" :   \" . / LargeMap . xodr \" ,   \" use _ carla _ materials \" :   true ,   \" tile _ size \" :   700 ,   \" tiles \" :   [   \" . / LargeMap _ Tile _ 0 _ 0 . fbx \" ,   \" . / LargeMap _ Tile _ 0 _ 1 . fbx \" ,   \" . / LargeMap _ Tile _ 1 _ 0 . fbx \" ,   \" . / LargeMap _ Tile _ 1 _ 1 . fbx \"   ]   }   ] ,   \" props \" :   [ ]   }","title":"\u521b\u5efa   JSON   \u63cf\u8ff0 \uff08 \u53ef \u9009 \uff09"},{"location":"content_authoring_large_maps/#_2","text":"\u5c06 \u6240\u6709 \u6587\u4ef6 \u653e\u5165 \u8be5   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u540e \uff0c \u5728 \u6839   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   make   import   \u6839\u636e \u60a8 \u7684 \u7cfb\u7edf \uff0c \u865a\u5e7b \u5f15\u64ce \u53ef\u80fd \u4f1a \u6d88\u8017 \u592a \u591a \u5185\u5b58 \u800c \u65e0\u6cd5 \u4e00\u6b21 \u5bfc\u5165 \u6240\u6709 \u6587\u4ef6 \u3002 \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u9009\u62e9 \u6279\u91cf \u5bfc\u5165 \u6587\u4ef6 \uff1a   make   import   ARGS = \" -- batch - size = 200 \"   \u8be5   make   import   \u547d\u4ee4 \u8fd8 \u5b58\u5728 \u4e24\u4e2a \u6807\u5fd7 \uff1a   -- package = < package _ name >   \u6307\u5b9a \u5305 \u7684 \u540d\u79f0 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u6b64\u9879 \u8bbe\u7f6e \u4e3a   map _ package   \u3002 \u4e24\u4e2a \u5305 \u4e0d\u80fd \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \uff0c \u56e0\u6b64 \u4f7f\u7528 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u5c06 \u5bfc\u81f4 \u540e\u7eed \u5bfc\u5165 \u65f6 \u51fa\u9519 \u3002   \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u66f4\u6539 \u5305 \u7684 \u540d\u79f0   \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- package = < package _ name > \"   -- no - carla - materials   \u6307\u5b9a \u60a8 \u4e0d\u60f3 \u4f7f\u7528 \u9ed8\u8ba4 \u7684   Carla   \u6750\u8d28 \uff08 \u9053\u8def \u7eb9\u7406 \u7b49 \uff09 \u3002 \u60a8 \u5c06 \u6539\u7528   RoadRunner   \u6750\u6599 \u3002   \u4ec5 \u5f53 \u60a8 \u4e0d \u63d0\u4f9b \u81ea\u5df1 \u7684   . json   \u6587\u4ef6   \u65f6\u624d \u9700\u8981 \u6b64 \u6807\u5fd7 \u3002   . json   \u6587\u4ef6 \u4e2d \u7684 \u4efb\u4f55 \u503c \u90fd \u5c06 \u8986\u76d6 \u6b64 \u6807\u5fd7 \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- no - carla - materials \"   \u6240\u6709 \u6587\u4ef6 \u90fd \u5c06 \u88ab \u5bfc\u5165 \u5e76 \u51c6\u5907 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u4f7f\u7528 \u3002 \u5730\u56fe \u5730\u56fe\u5305 \u5c06 \u5728   Unreal / CarlaUE4 / Content   \u4e2d \u521b\u5efa \u3002 \u5c06 \u521b\u5efa \u4e00\u4e2a \u5e95\u56fe \u56fe\u5757   \uff0c \u4f5c\u4e3a \u6240\u6709 \u56fe\u5757 \u7684 \u6d41 \u7ea7\u522b \u3002 \u57fa\u7840 \u56fe\u5757 \u5c06 \u5305\u542b \u5929\u7a7a \u3001 \u5929\u6c14 \u548c \u5927 \u5730\u56fe \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5e76 \u51c6\u5907 \u597d \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u3002   \u7b14\u8bb0   \u76ee\u524d \u4e0d \u5efa\u8bae \u4f7f\u7528 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d\u4e3a \u6807\u51c6 \u5730\u56fe \u63d0\u4f9b \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5de5\u5177 \uff0c \u4f8b\u5982 \u9053\u8def \u753b\u5bb6 \u3001 \u7a0b\u5e8f \u5efa\u7b51 \u7b49 \u3002","title":"\u8fdb\u884c \u5bfc\u5165"},{"location":"content_authoring_large_maps/#_3","text":"\u73b0\u5728 \u60a8 \u5df2 \u5bfc\u5165 \u65b0 \u5730\u56fe \uff0c \u60a8 \u5c06 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u7684 \u9ed8\u8ba4 \u547d\u540d   map _ package   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u627e\u5230 \u8be5 \u5730\u56fe \u3002 \u5982\u679c \u60a8 \u5728 \u5bfc\u5165 \u547d\u4ee4 \u4e2d \u4f7f\u7528 \u53c2\u6570   \" -- package = < package _ name > \"   \uff0c \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5c06 \u6709 \u4e00\u4e2a \u5907\u7528 \u540d\u79f0 \u3002 \u5728 \u6b64 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \uff0c \u6253\u5f00 \u8be5   Maps   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u6253\u5f00 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u5728 \u91cc\u9762 \u4f60 \u4f1a \u53d1\u73b0 \u51e0\u4e2a \u6a59\u8272 \u7684 \u5173\u5361 \u6587\u4ef6 \u3002   \u6574\u4e2a \u5730\u56fe \u5c06 \u6709 \u4e00\u4e2a \u5173\u5361 \u6587\u4ef6 \uff0c \u800c \u4ece   RoadRunner   \u5bfc\u51fa \u7684 \u6bcf\u4e2a \u56fe\u5757 \u5c06 \u6709 \u4e00\u4e2a \u5173\u5361 \u6587\u4ef6 \u3002 \u8981 \u5c06 \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u690d\u88ab \u7b49 \u8d44\u4ea7 \u6dfb\u52a0 \u5230 \u5730\u56fe \u4e2d \uff0c \u8bf7 \u53cc\u51fb \u8981 \u5904\u7406 \u7684 \u56fe\u5757 \u7684 \u5173\u5361 \u6587\u4ef6 \uff08 \u4f8b\u5982 \u672c\u4f8b \u4e2d   LargeMap _ Tile _ 0 _ 0   \uff09 \uff0c \u4ee5\u4fbf \u5c06 \u5176 \u52a0\u8f7d \u5230 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u56fe\u5757 \u6ca1\u6709 \u4efb\u4f55 \u7167\u660e \u8bbe\u7f6e \uff0c \u56e0\u6b64 \u60a8 \u53ef\u80fd \u9700\u8981 \u5c06 \u89c6\u56fe \u6a21\u5f0f \u4ece   \u66f4\u6539   Lit   \u4e3a   Unlit   \u624d\u80fd \u5728 \u52a0\u8f7d \u56fe\u5757 \u540e \u770b\u5230 \u5b83 \u3002 \u73b0\u5728 \uff0c \u60a8 \u53ef\u4ee5 \u6309\u7167   \u4e0e \u6807\u51c6 \u5730\u56fe \u76f8\u540c \u7684 \u8fc7\u7a0b   \u5411 \u5730\u56fe \u6dfb\u52a0 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8bf7 \u786e\u4fdd \u4fdd\u5b58 \u5bf9 \u6b63\u5728 \u5904\u7406 \u7684 \u56fe\u5757 \u6240 \u505a \u7684 \u4fee\u6539 \uff0c \u7136\u540e \u52a0\u8f7d \u4e0b \u4e00\u4e2a \u56fe\u5757 \u5e76 \u91cd\u590d \u8be5 \u8fc7\u7a0b \u3002 \u60a8 \u65e0\u6cd5 \u4e00\u6b21 \u4e00\u6b21\u6027 \u5904\u7406 \u6574\u4e2a \u5730\u56fe \uff0c \u56e0\u6b64 \u52a0\u8f7d \uff08 \u901a\u8fc7 \u53cc\u51fb \uff09 \u6574\u4e2a \u5730\u56fe \u7684 \u5173\u5361 \u6587\u4ef6 \uff08 \u540e\u9762 \u4e0d\u5e26 \u540e\u7f00   \u7684 \u6587\u4ef6   _ Tile _ X _ Y   \uff09 \u5bf9\u4e8e \u88c5\u9970 \u5730\u56fe \u5c06 \u6ca1\u6709 \u7528\u5904 \u3002","title":"\u5728 \u865a\u5e7b \u7f16\u8f91\u5668 \u4e2d \u5904\u7406 \u5927 \u5730\u56fe"},{"location":"content_authoring_large_maps/#_4","text":"\u5982\u679c \u60a8 \u60f3 \u52a0\u8f7d \u5730\u56fe \u5e76 \u5f00\u59cb \u4eff\u771f \u8fdb\u884c \u5b9e\u9a8c \uff0c \u60a8 \u5e94\u8be5 \u52a0\u8f7d \u6574\u4e2a \u5730\u56fe \u7684 \u5173\u5361 \u6587\u4ef6 \u3002 \u53cc\u51fb \u5e26\u6709 \u6839 \u5730\u56fe \u540d\u79f0 \u7684 \u5173\u5361 \u6587\u4ef6 \uff08 \u540e\u9762 \u4e0d\u5e26 \u540e\u7f00 \u7684 \u6587\u4ef6   _ Tile _ X _ Y   \uff09 \u5e76 \u7b49\u5f85 \u5176 \u52a0\u8f7d \u3002 \u5bf9\u4e8e \u975e\u5e38 \u5927 \u7684 \u5730\u56fe \uff0c \u52a0\u8f7d \u6709\u65f6 \u53ef\u80fd \u9700\u8981 \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u751a\u81f3 \u51e0\u5206 \u5206\u949f \u51e0\u5206\u949f \u3002 \u52a0\u8f7d \u540e \uff0c \u5355\u51fb \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u7684 \u64ad\u653e \u9009\u9879 \u3002 \u4eff\u771f \u73b0\u5728 \u5c06 \u4ece \u60a8 \u7684 \u65b0 \u5927 \u5730\u56fe \u5f00\u59cb \u3002   \u7b14\u8bb0   \u5982\u679c \u60a8 \u662f \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u4ece \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u8fd0\u884c \u4eff\u771f \uff0c \u5efa\u8bae \u5728 \u5f00\u59cb \u4eff\u771f \u4e4b\u524d \u5148 \u9010\u4e2a \u52a0\u8f7d \u6bcf\u4e2a \u56fe\u5757 \uff08 \u901a\u8fc7 \u53cc\u51fb \u5b83\u4eec \uff09 \uff0c \u76f4\u5230 \u52a0\u8f7d \u5b8c \u6240\u6709 \u56fe\u5757 \u3002 \u8fd9\u4f1a \u5728 \u540e\u53f0 \u6267\u884c \u67d0\u4e9b \u64cd\u4f5c \uff0c \u4f8b\u5982 \u70d8\u7119 \u7f51\u683c \u8ddd\u79bb \u573a \u548c \u56fe\u5757 \u7684 \u7740\u8272 \u7740\u8272\u5668 \u3002 \u5982\u679c \u60a8 \u4e00 \u5f00\u59cb \u4e0d \u9010\u4e00 \u52a0\u8f7d \u56fe\u5757 \uff0c \u8fd9\u4e9b \u64cd\u4f5c \u53ef\u80fd \u4f1a \u5728 \u8fd0\u884c \u65f6 \u6267\u884c \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u865a\u5e7b \u5f15\u64ce \u6302 \u8d77 \u6216 \u5d29\u6e83 \u3002","title":"\u52a0\u8f7d \u6574\u4e2a \u5730\u56fe \u5e76 \u8fd0\u884c \u4eff\u771f"},{"location":"content_authoring_large_maps/#_5","text":"\u8981 \u6253\u5305 \u5927 \u5730\u56fe \u4ee5\u4fbf \u53ef\u4ee5 \u5728   Carla   \u72ec\u7acb \u5305\u4e2d \u4f7f\u7528 \uff0c \u8bf7 \u9075\u5faa \u4e0e \u6807\u51c6 \u5730\u56fe \u76f8\u540c \u7684 \u8fc7\u7a0b   -   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   make   package   ARGS = \" -- packages = < mapPackage > \"   \u8fd9 \u5c06 \u521b\u5efa \u4e00\u4e2a \u538b\u7f29 \u5728   . tar . gz   \u6587\u4ef6 \u4e2d \u7684 \u72ec\u7acb \u5305 \u3002 Linux   \u4e0b \u6587\u4ef6 \u5c06 \u4fdd\u5b58 \u5728   Dist   \u548c   Windows \u4e0b \u4fdd\u5b58 \u5728   / Build / UE4Carla /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u7136\u540e \u53ef\u4ee5 \u5c06 \u5b83\u4eec \u5206\u53d1 \u548c \u6253\u5305 \u4ee5 \u5728 \u72ec\u7acb \u7684   Carla   \u5305\u4e2d \u4f7f\u7528 \u3002   \u5982\u679c \u60a8 \u5bf9 \u5927 \u5730\u56fe \u5bfc\u5165 \u548c \u6253\u5305 \u8fc7\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u90a3\u4e48 \u60a8 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u6253\u5305 \u4e00\u5f20 \u5927 \u5730\u56fe"},{"location":"core_actors/","text":"\u7b2c\u4e8c \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe   Carla   \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f \u5728 \u4eff\u771f \u4e2d \u6267\u884c \u52a8\u4f5c \u7684 \u5143\u7d20 \uff0c \u4ed6\u4eec \u53ef\u4ee5 \u5f71\u54cd \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 Carla   \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5305\u62ec \u8f66\u8f86 \u548c \u884c\u4eba \uff0c \u4e5f \u5305\u62ec \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3001 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u548c \u89c2\u770b \u8005 \u3002 \u5bf9 \u5982\u4f55 \u64cd\u4f5c \u5b83\u4eec \u6709 \u5145\u5206 \u7684 \u4e86\u89e3 \u662f \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u7684 \u3002   \u672c\u8282 \u5c06 \u4ecb\u7ecd \u751f\u6210 \u3001 \u9500\u6bc1 \u3001 \u7c7b\u578b \u4ee5\u53ca \u5982\u4f55 \u7ba1\u7406 \u5b83\u4eec \u3002 \u7136\u800c \uff0c \u53ef\u80fd \u53ef\u80fd\u6027 \u51e0\u4e4e \u662f \u65e0\u7a77 \u65e0\u5c3d \u65e0\u7a77\u65e0\u5c3d \u7684 \u3002 \u5b9e\u9a8c \u3001 \u67e5\u770b \u672c \u6587\u6863 \u4e2d \u7684   \u6559\u7a0b   \uff0c \u5e76 \u5728   Carla   \u8bba\u575b   \u4e2d \u5206\u4eab \u7591\u8651 \u548c \u60f3\u6cd5 \u3002   \u84dd\u56fe   \u7ba1\u7406 \u84dd \u56fe\u5e93   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f   \u751f\u6210   \u5904\u7406   \u9500\u6bc1   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7c7b\u578b   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u89c2\u5bdf \u89c2\u5bdf\u8005   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u548c \u4ea4\u901a \u4ea4\u901a\u706f   \u8f66\u8f86   \u884c\u4eba   \u84dd\u56fe   \u8fd9\u4e9b \u5e03\u5c40 \u5141\u8bb8 \u7528\u6237 \u5c06 \u65b0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e73\u6ed1 \u5730 \u7ed3\u5408 \u5230 \u4eff\u771f \u4e2d \u3002 \u5b83\u4eec \u5df2\u7ecf \u662f \u5e26\u6709 \u52a8\u753b \u548c \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5c5e\u6027 \u7684 \u6a21\u578b \u3002 \u5176\u4e2d \u4e00\u4e9b \u662f \u53ef \u4fee\u6539 \u7684 \uff0c \u800c \u53e6 \u4e00\u4e9b \u4e00\u4e9b\u5219 \u4e0d\u662f \u3002 \u8fd9\u4e9b \u5c5e\u6027 \u5305\u62ec \u8f66\u8f86 \u989c\u8272 \u3001 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u7684 \u901a\u9053 \u6570\u91cf \u3001 \u884c\u4eba \u7684 \u901f\u5ea6 \u7b49\u7b49 \u3002   \u84dd \u56fe\u5e93   \u5217\u51fa \u4e86 \u53ef\u7528 \u7684 \u84dd\u56fe \u53ca\u5176 \u5c5e\u6027 \u3002 \u8f66\u8f86 \u548c \u884c\u4eba \u84dd\u56fe \u5177\u6709 \u4e00\u4e2a \u751f\u6210 \u5c5e\u6027 \uff0c \u7528\u4e8e \u6307\u793a \u5b83\u4eec \u662f \u65b0 \u7684 \uff08 \u7b2c   2   \u4ee3 \uff09 \u8d44\u4ea7 \u8fd8\u662f \u65e7 \u7684 \uff08 \u7b2c   1   \u4ee3 \uff09 \u8d44\u4ea7 \u3002   \u7ba1\u7406 \u84dd \u56fe\u5e93   carla . BlueprintLibrary   \u7c7b \u5305\u542b \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217   carla . ActorBlueprint   \u5143\u7d20 \u3002 \u5b83 \u662f \u80fd\u591f \u63d0\u4f9b \u5bf9 \u5b83 \u8bbf\u95ee \u7684 \u4e16\u754c \u5bf9\u8c61 \u3002   blueprint _ library   =   world . get _ blueprint _ library ( )   \u84dd\u56fe \u6709 \u4e00\u4e2a   ID   \u6765 \u8bc6\u522b \u5b83\u4eec \u548c \u7531\u6b64 \u4ea7\u751f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u53ef\u4ee5 \u8bfb\u53d6 \u5e93\u6765 \u627e\u5230 \u67d0\u4e2a   ID \uff0c \u968f\u673a \u9009\u62e9 \u84dd\u56fe \uff0c \u6216\u8005 \u4f7f\u7528   \u901a\u914d\u7b26 \u6a21\u5f0f   \u8fc7\u6ee4 \u7ed3\u679c \u3002   #   \u627e \u4e00\u4e2a \u6307\u5b9a \u7684 \u84dd\u56fe   collision _ sensor _ bp   =   blueprint _ library . find ( ' sensor . other . collision ' )   #   \u968f\u673a \u9009\u62e9 \u4e00\u4e2a \u8f66\u8f86 \u84dd\u56fe   vehicle _ bp   =   random . choice ( blueprint _ library . filter ( ' vehicle . * . * ' ) )   \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u6bcf\u4e2a   carla . ActorBlueprint   \u80fd \u83b7\u53d6   get   \u548c \u6539\u53d8   set   \u4e00\u4e9b \u5217 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c5e\u6027   carla . ActorAttribute   \u3002   is _ bike   =   [ vehicle . get _ attribute ( ' number _ of _ wheels ' )   = =   2 ]   if ( is _ bike )   vehicle . set _ attribute ( ' color ' ,   ' 255 , 0 , 0 ' )   \u7b14\u8bb0   \u67d0\u4e9b \u5c5e\u6027 \u65e0\u6cd5 \u4fee\u6539 \u3002 \u5728   \u84dd \u56fe\u5e93   \u4e2d \u67e5\u770b \u3002   \u5c5e\u6027 \u6709 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c5e\u6027 \u7c7b\u578b   carla . ActorAttributeType   \u53d8\u91cf \u3002 \u5b83 \u4ece \u679a\u4e3e \u5217\u8868 \u4e2d \u58f0\u660e \u5176 \u7c7b\u578b \u3002 \u6b64\u5916 \uff0c \u53ef \u4fee\u6539 \u7684 \u5c5e\u6027 \u8fd8 \u9644\u5e26 \u4e00\u4e2a   \u63a8\u8350 \u63a8\u8350\u503c \u5217\u8868   \u3002   for   attr   in   blueprint :   if   attr . is _ modifiable :   blueprint . set _ attribute ( attr . id ,   random . choice ( attr . recommended _ values ) )   \u7b14\u8bb0   \u7528\u6237 \u53ef\u4ee5 \u521b\u5efa \u4ed6\u4eec \u81ea\u5df1 \u7684 \u8f66\u8f86 \u3002 \u67e5\u770b   \u6559\u7a0b \uff08 \u8d44\u4ea7 \uff09   \u4ee5 \u4e86\u89e3 \u76f8\u5173 \u4fe1\u606f \u3002 \u8d21\u732e \u8d21\u732e\u8005 \u53ef\u4ee5   \u5c06 \u4ed6\u4eec \u7684 \u65b0 \u5185\u5bb9 \u6dfb\u52a0 \u5230   Carla   \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f   \u91cd\u8981   \u672c \u8282 \u63d0\u5230 \u4e86 \u5173\u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e0d\u540c \u65b9\u6cd5 \u3002 Python   API   \u63d0\u4f9b   commands   \uff0c \u4ee5\u4fbf \u5728 \u4e00\u4e2a \u6846\u67b6 \u4e2d \u5e94\u7528 \u4e00\u6279 \u6700 \u5e38\u89c1 \u7684 \u547d\u4ee4 \u3002   \u751f\u6210   \u4e16\u754c \u5bf9\u8c61 \u8d1f\u8d23 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e76 \u8ddf\u8e2a \u8fd9\u4e9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u751f\u6210 \u53ea \u9700\u8981 \u4e00\u5f20 \u84dd\u56fe \u548c \u4e00\u4e2a   carla . Transform   \u8bf4\u660e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   \u4e16\u754c \u6709 \u4e24\u4e2a \u4e0d\u540c \u7684 \u65b9\u6cd5 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   spawn _ actor ( )   \u5982\u679c \u751f\u6210 \u5931\u8d25 \u629b\u51fa \u4e00\u4e2a \u5f02\u5e38 \u3002   try _ spawn _ actor ( )   \u5982\u679c \u751f\u6210 \u5931\u8d25 \u8fd4\u56de   None   \u3002   transform   =   Transform ( Location ( x = 230 ,   y = 195 ,   z = 40 ) ,   Rotation ( yaw = 180 ) )   actor   =   world . spawn _ actor ( blueprint ,   transform )   \u91cd\u8981   Carla   \u4f7f\u7528   \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u7cfb\u7edf   \u3002 \u8bb0\u4f4f \uff1a   carla . Rotation   \u6784\u9020 \u51fd\u6570 \u6784\u9020\u51fd\u6570 \u5b9a\u4e49 \u4e3a \u201c \u4fef\u4ef0 \u3001 \u504f\u822a \u3001 \u7ffb\u6eda \u201d   ( pitch ,   yaw ,   roll )   \uff0c \u4e0e \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u201c \u7ffb\u6eda \u3001 \u4fef\u4ef0 \u3001 \u504f\u822a \u201d   ( roll ,   pitch ,   yaw )   \u4e0d\u540c \u3002   \u5982\u679c \u5728 \u6307\u5b9a \u4f4d\u7f6e \u53d1\u751f \u51b2\u7a81 \u53d1\u751f\u51b2\u7a81 \uff0c \u5c06 \u4e0d\u4f1a \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u65e0\u8bba \u8fd9\u79cd \u60c5\u51b5 \u53d1\u751f \u5728 \u9759\u6001 \u5bf9\u8c61 \u8fd8\u662f \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8eab\u4e0a \u3002 \u53ef\u4ee5 \u5c1d\u8bd5 \u907f\u514d \u8fd9\u4e9b \u4e0d \u5e0c\u671b \u7684 \u751f\u6210 \u78b0\u649e \u3002   \u5bf9\u4e8e \u8f66\u8f86   \u3002   map . get _ spawn _ points ( )   \u8fd4\u56de \u63a8\u8350 \u751f\u6210 \u70b9 \u7684 \u5217\u8868 \u3002   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   \u5bf9\u4e8e \u884c\u4eba   \u3002   world . get _ random _ location ( )   \u8fd4\u56de \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u4e0a \u7684 \u968f\u673a \u70b9 \u3002 \u540c\u6837 \u7684 \u65b9\u6cd5 \u4e5f \u7528\u4e8e \u4e3a \u884c\u4eba \u8bbe\u7f6e \u76ee\u6807 \u4f4d\u7f6e \u3002   spawn _ point   =   carla . Transform ( )   spawn _ point . location   =   world . get _ random _ location _ from _ navigation ( )   \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u751f\u6210 \u65f6 \u53ef\u4ee5 \u9644\u52a0 \u5230 \u53e6 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0a \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8ddf\u968f \u4ed6\u4eec \u6240 \u4f9d\u9644 \u7684 \u7236\u7ea7 \u3002 \u8fd9 \u5bf9\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7279\u522b \u6709\u7528 \u3002 \u8be5 \u9644\u4ef6 \u53ef\u4ee5 \u662f \u521a\u6027 \u7684 \uff08 \u9002\u5408 \u68c0\u7d22 \u7cbe\u786e \u6570\u636e \uff09 \uff0c \u4e5f \u53ef\u4ee5 \u6839\u636e \u5176\u7236 \u7ea7 \u7684 \u60c5\u51b5 \u8fdb\u884c \u8f7b\u677e \u79fb\u52a8 \u3002 \u5b83 \u7531 \u8f85\u52a9 \u7c7b   carla . AttachmentType   \u5b9a\u4e49 \u3002   \u4e0b \u4e00\u4e2a \u793a\u4f8b \u5c06 \u76f8\u673a \u521a\u6027 \u5730 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u4e0a \uff0c \u56e0\u6b64 \u5b83\u4eec \u7684 \u76f8\u5bf9 \u4f4d\u7f6e \u4fdd\u6301 \u56fa\u5b9a \u3002   camera   =   world . spawn _ actor ( camera _ bp ,   relative _ transform ,   attach _ to = my _ vehicle ,   carla . AttachmentType . Rigid )   \u91cd\u8981   \u5f53 \u751f\u6210 \u9644\u52a0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \uff0c \u63d0\u4f9b \u7684 \u53d8\u6362 \u5fc5\u987b \u76f8\u5bf9 \u4e8e \u7236\u7ea7 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u4e00\u65e6 \u751f\u6210 \uff0c \u4e16\u754c \u5bf9\u8c61 \u5c31 \u4f1a \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6dfb\u52a0 \u5230 \u5217\u8868 \u4e2d \u3002 \u8fd9 \u53ef\u4ee5 \u5f88 \u5bb9\u6613 \u5730 \u641c\u7d22 \u6216 \u8fed\u4ee3 \u3002   actor _ list   =   world . get _ actors ( )   #   \u6839\u636e   id   \u627e \u53c2\u4e0e \u53c2\u4e0e\u8005   actor   =   actor _ list . find ( id )   #   \u6253\u5370 \u4e16\u754c \u4e0a \u6240\u6709 \u9650\u901f \u6807\u5fd7 \u7684 \u4f4d\u7f6e \u3002   for   speed _ sign   in   actor _ list . filter ( ' traffic . speed _ limit . * ' ) :   print ( speed _ sign . get _ location ( ) )   \u5904\u7406   carla . Actor   \u4e3b\u8981 \u7531   get ( )   \u548c   set ( )   \u65b9\u6cd5 \u7ec4\u6210 \uff0c \u7528\u4e8e \u7ba1\u7406 \u5730\u56fe \u5468\u56f4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   print ( actor . get _ acceleration ( ) )   print ( actor . get _ velocity ( ) )   location   =   actor . get _ location ( )   location . z   + =   10.0   actor . set _ location ( location )   \u53ef\u4ee5 \u7981\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7269\u7406 \u7279\u6027 \u4ee5 \u5c06 \u5176 \u51bb\u7ed3 \u5728 \u9002\u5f53 \u7684 \u4f4d\u7f6e \u3002   actor . set _ simulate _ physics ( False )   \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8fd8\u6709 \u4ed6\u4eec \u7684 \u84dd\u56fe \u63d0\u4f9b \u7684 \u6807\u7b7e \u3002 \u8fd9\u4e9b \u5bf9\u4e8e \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6700 \u6709\u7528 \u3002   \u7b14\u8bb0   \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u65b9\u6cd5 \u662f \u5f02\u6b65 \u5411 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u53d1\u9001 \u8bf7\u6c42 \u3002 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6bcf\u6b21 \u66f4\u65b0 \u89e3\u6790 \u5b83\u4eec \u7684 \u65f6\u95f4 \u6709\u9650 \u3002 \u4f7f\u7528   set ( )   \u65b9\u6cd5 \u6df9\u6ca1 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5c06 \u79ef\u7d2f \u660e\u663e \u7684 \u5ef6\u8fdf \u3002   \u9500\u6bc1   \u5f53   Python   \u811a\u672c \u5b8c\u6210 \u65f6 \uff0c \u4e0d\u56de \u9500\u6bc1 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u4ed6\u4eec \u5fc5\u987b \u660e\u786e \u5730 \u9500\u6bc1 \u81ea\u5df1 \u3002   destroyed _ sucessfully   =   actor . destroy ( )   #   \u5982\u679c \u6210\u529f \u8fd4\u56de   True   \u91cd\u8981   \u9500\u6bc1 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f1a \u963b\u585e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \uff0c \u76f4\u5230 \u8be5 \u8fc7\u7a0b \u5b8c\u6210 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7c7b\u578b   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f \u4ea7\u751f \u6570\u636e \u6570\u636e\u6d41 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u4ed6\u4eec \u6709 \u81ea\u5df1 \u7684 \u90e8\u5206 \uff0c   \u7b2c\u56db \u90e8\u5206 .   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u6570\u636e   \u3002 \u73b0\u5728 \uff0c \u6211\u4eec \u53ea \u770b \u4e00\u4e0b \u5e38\u89c1 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u751f\u6210 \u5468\u671f \u3002   \u6b64 \u793a\u4f8b \u751f\u6210 \u4e00\u4e2a \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5c06 \u5176 \u8fde\u63a5 \u5230 \u8f66\u8f86 \uff0c \u5e76 \u544a\u8bc9 \u76f8\u673a \u5c06 \u751f\u6210 \u7684 \u56fe\u50cf \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002   camera _ bp   =   blueprint _ library . find ( ' sensor . camera . rgb ' )   camera   =   world . spawn _ actor ( camera _ bp ,   relative _ transform ,   attach _ to = my _ vehicle )   camera . listen ( lambda   image :   image . save _ to _ disk ( ' output / % 06d . png '   %   image . frame ) )   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e5f \u6709 \u84dd\u56fe \u3002 \u8bbe\u7f6e \u5c5e\u6027 \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002   \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u5b89\u88c5 \u5728 \u8f66\u8f86 \u4e0a\u4ee5 \u6536\u96c6 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u7684 \u4fe1\u606f \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u76d1\u542c   \u6570\u636e \u3002 \u6536\u5230 \u6570\u636e \u540e \uff0c \u5b83\u4eec \u4f1a \u8c03\u7528 \u7528   Lambda   \u8868\u8fbe \u8fbe\u5f0f \u8868\u8fbe\u5f0f   \u63cf\u8ff0 \u7684 \u51fd\u6570   ( \u63d0\u4f9b \u7684 \u94fe\u63a5 \u4e2d \u7684   6.14 )   \u3002   \u89c2\u5bdf \u89c2\u5bdf\u8005   \u7531 \u865a\u5e7b \u5f15\u64ce \u653e\u7f6e \u4ee5 \u63d0\u4f9b \u6e38\u620f \u5185 \u7684 \u89c6\u89d2 \u3002 \u5b83 \u53ef \u7528\u4e8e \u79fb\u52a8 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7a97\u53e3 \u7684 \u89c6\u89d2 \u3002 \u4ee5\u4e0b \u793a\u4f8b \u5c06 \u79fb\u52a8 \u89c2\u4f17 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5c06 \u89c6\u89d2 \u6307\u5411 \u6240 \u9700 \u7684 \u8f66\u8f86 \u3002   spectator   =   world . get _ spectator ( )   transform   =   vehicle . get _ transform ( )   spectator . set _ transform ( carla . Transform ( transform . location   +   carla . Location ( z = 50 ) ,   carla . Rotation ( pitch = - 90 ) ) )   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u548c \u4ea4\u901a \u4ea4\u901a\u706f   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c Carela   \u4e2d \u53ea\u6709 \u505c\u9760 \u505c\u9760\u70b9 \u3001 \u8ba9 \u884c \u8def\u7ebf \u548c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u88ab \u89c6\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5176\u4f59 \u7684   OpenDRIVE   \u6807\u5fd7 \u53ef \u901a\u8fc7   API   \u4f5c\u4e3a \u5730\u6807 \uff08   carla . Landmark   \uff09 \u8fdb\u884c \u8bbf\u95ee \u3002 \u4ed6\u4eec \u7684 \u4fe1\u606f \u53ef\u4ee5 \u4f7f\u7528 \u8fd9\u4e9b \u5b9e\u4f8b \u8bbf\u95ee \uff0c \u4f46 \u4ed6\u4eec \u5728 \u4eff\u771f \u4e2d \u5e76 \u4e0d \u4f5c\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5b58\u5728 \u3002 \u5728 \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u7684   \u7b2c   3   \u90e8\u5206   \u5730\u56fe \u548c \u5bfc\u822a   \u4e2d\u5c06 \u66f4 \u8be6\u7ec6 \u5730 \u89e3\u91ca \u5730\u6807 \u3002   \u5f53 \u4eff\u771f \u5f00\u59cb \u3001 \u505c\u6b62 \u3001 \u8ba9 \u884c \u548c \u4ea4\u901a \u4ea4\u901a\u706f \u65f6 \uff0c \u4f1a \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u4e2d \u7684 \u4fe1\u606f \u81ea\u52a8 \u751f\u6210 \u3002   \u8fd9\u4e9b \u90fd \u65e0\u6cd5 \u5728 \u84dd \u56fe\u5e93 \u4e2d \u627e\u5230   \uff0c \u56e0\u6b64 \u65e0\u6cd5 \u751f\u6210 \u3002   \u7b14\u8bb0   OpenDRIVE   \u6587\u4ef6 \u4e2d \u7684   Carela   \u5730\u56fe \u6ca1\u6709 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u6216 \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002 \u8fd9\u4e9b \u662f \u7531 \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u624b\u52a8 \u653e\u7f6e \u7684 \u3002   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7   \u672a \u5728 \u8def\u7ebf \u7ebf\u56fe \u8def\u7ebf\u56fe \u672c\u8eab \u4e2d \u5b9a\u4e49 \uff0c \u5982\u4e0b \u9875 \u6240\u8ff0 \u3002 \u76f8\u53cd \uff0c \u4ed6\u4eec \u6709 \u4e00\u4e2a   carla . BoundingBox   \u6765 \u5f71\u54cd \u5176\u4e2d \u7684 \u8f66\u8f86 \u3002   #   \u83b7\u5f97 \u5f71\u54cd \u8f66\u8f86 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f   if   vehicle _ actor . is _ at _ traffic _ light ( ) :   traffic _ light   =   vehicle _ actor . get _ traffic _ light ( )   \u8def\u53e3 \u8bbe\u6709   \u4ea4\u901a \u4ea4\u901a\u706f   \u3002 \u4e0e \u4efb\u4f55 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e00\u6837 \uff0c \u4ed6\u4eec \u6709 \u81ea\u5df1 \u72ec\u7279 \u7684   ID \uff0c \u4f46 \u5bf9\u4e8e \u5c94\u8def \u53e3 \u4e5f \u6709 \u4e00\u4e2a \u4e00\u4e2a\u7ec4 \uff08   group   \uff09   ID   \u3002   \u540c \u4e00\u7ec4 \u4e2d \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u9075\u5faa \u4e00\u4e2a \u5faa\u73af \u3002 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8bbe\u7f6e \u4e3a \u7eff\u8272 \uff0c \u800c \u5176\u4f59 \u7684 \u5219 \u4fdd\u6301 \u7ea2\u8272 \u3002 \u6d3b\u8dc3 \u7684 \u706f\u4f1a \u6301\u7eed \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u5448 \u7eff\u8272 \u3001 \u9ec4\u8272 \u548c \u7ea2\u8272 \uff0c \u56e0\u6b64 \u6709 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u6240\u6709 \u706f \u90fd \u662f \u7ea2\u8272 \u7684 \u3002 \u7136\u540e \uff0c \u4e0b \u4e00\u4e2a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5f00\u59cb \u5faa\u73af \uff0c \u524d \u4e00\u4e2a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u4e0e \u5176\u4f59 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u4e00\u8d77 \u51bb\u7ed3 \u3002   \u53ef\u4ee5 \u4f7f\u7528   API   \u8bbe\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u3002 \u6bcf\u4e2a \u72b6\u6001 \u82b1\u8d39 \u7684 \u79d2\u6570 \u4e5f \u662f \u5982\u6b64 \u3002 \u53ef\u80fd \u7684 \u72b6\u6001 \u7528   carla . TrafficLightState   \u63cf\u8ff0 \u4e3a \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u679a\u4e3e \u503c \u3002   #   \u4ea4\u901a \u4ea4\u901a\u706f \u4ece\u7ea2 \u53d8\u7eff   if   traffic _ light . get _ state ( )   = =   carla . TrafficLightState . Red :   traffic _ light . set _ state ( carla . TrafficLightState . Green )   traffic _ light . set _ set _ green _ time ( 4.0 )   \u7b14\u8bb0   \u53ea\u6709 \u5f53 \u4fe1\u53f7 \u4fe1\u53f7\u706f \u4e3a \u7ea2\u8272 \u65f6 \uff0c \u8f66\u8f86 \u624d \u4f1a \u610f\u8bc6 \u5230 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   \u8f66\u8f86   carla . Vehicle   \u662f \u4e00\u79cd \u7279\u6b8a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5b83 \u91c7\u7528 \u4e86 \u4eff\u771f \u8f6e\u5f0f \u8f66\u8f86 \u7269\u7406 \u7279\u6027 \u7684 \u7279\u6b8a \u5185\u90e8 \u7ec4\u4ef6 \u3002 \u8fd9\u662f \u901a\u8fc7 \u5e94\u7528 \u56db\u79cd \u4e0d\u540c \u7684 \u63a7\u4ef6 \u6765 \u5b9e\u73b0 \u7684 \uff1a   carla . VehicleControl   \u63d0\u4f9b \u6cb9\u95e8 \u3001 \u8f6c\u5411 \u3001 \u5239\u8f66 \u7b49 \u9a7e\u9a76 \u547d\u4ee4 \u7684 \u8f93\u5165 \u3002   vehicle . apply _ control ( carla . VehicleControl ( throttle = 1.0 ,   steer = - 1.0 ) )   carla . VehiclePhysicsControl   \u5b9a\u4e49 \u8f66\u8f86 \u7684 \u7269\u7406 \u5c5e\u6027 \u5e76 \u5305\u542b \u53e6\u5916 \u4e24\u4e2a \u63a7\u5236 \u63a7\u5236\u5668 \uff1a   carla . GearPhysicsControl   \u63a7\u5236 \u9f7f\u8f6e \u3002   carla . WheelPhysicsControl   \u63d0\u4f9b \u5bf9 \u6bcf\u4e2a \u8f6e\u5b50 \u7684 \u7279\u5b9a \u63a7\u5236 \u3002   vehicle . apply _ physics _ control ( carla . VehiclePhysicsControl ( max _ rpm   =   5000.0 ,   center _ of _ mass   =   carla . Vector3D ( 0.0 ,   0.0 ,   0.0 ) ,   torque _ curve = [ [ 0 , 400 ] , [ 5000 , 400 ] ] ) )   \u8f66\u8f86 \u6709 \u4e00\u4e2a   carla . BoundingBox   \u5c01\u88c5 \u5b83\u4eec \u3002 \u8be5 \u8fb9\u754c \u6846 \u5141\u8bb8 \u5c06 \u7269\u7406 \u539f\u7406 \u5e94\u7528 \u4e8e \u8f66\u8f86 \u5e76 \u68c0\u6d4b \u78b0\u649e \u3002   box   =   vehicle . bounding _ box   print ( box . location )   #   \u76f8\u5bf9 \u8f66\u8f86 \u7684 \u4f4d\u7f6e   print ( box . extent )   #   XYZ   half - box   extents   in   meters .   \u901a\u8fc7 \u542f\u7528   \u626b\u8f6e \u78b0\u649e \u53c2\u6570   \u53ef\u4ee5 \u6539\u5584 \u8f66\u8f6e \u7684 \u7269\u7406 \u7279\u6027 \u3002 \u9ed8\u8ba4 \u7684 \u8f6e\u5b50 \u7269\u7406 \u7cfb\u7edf \u7cfb\u7edf\u5bf9 \u6bcf\u4e2a \u8f6e\u5b50 \u4f7f\u7528 \u4ece\u8f74\u5230 \u5730\u677f \u7684 \u5355 \u5c04\u7ebf \u6295\u5c04 \uff0c \u4f46\u662f \u5f53 \u542f\u7528 \u626b\u8f6e \u78b0\u649e \u65f6 \uff0c \u5c06 \u68c0\u67e5 \u8f6e\u5b50 \u7684 \u6574\u4e2a \u4f53\u79ef \u662f\u5426 \u53d1\u751f \u78b0\u649e \u3002 \u5b83 \u53ef\u4ee5 \u8fd9\u6837 \u542f\u7528 \uff1a   physics _ control   =   vehicle . get _ physics _ control ( )   physics _ control . use _ sweep _ wheel _ collision   =   True   vehicle . apply _ physics _ control ( physics _ control )   \u8f66\u8f86 \u8fd8 \u5305\u62ec \u5176 \u72ec\u6709 \u7684 \u5176\u4ed6 \u529f\u80fd \uff1a   \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f   \u4f1a \u5c06 \u8f66\u8f86 \u8ba2\u9605 \u5230   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u4ee5 \u4eff\u771f \u771f\u5b9e \u7684 \u57ce\u5e02 \u72b6\u51b5 \u3002 \u8be5 \u6a21\u5757 \u662f \u786c \u7f16\u7801 \u7684 \uff0c \u4e0d\u662f \u57fa\u4e8e \u673a\u5668 \u5b66\u4e60 \u7684 \u3002   vehicle . set _ autopilot ( True )   \u8f66\u706f   \u5fc5\u987b \u7531 \u7528\u6237 \u6253\u5f00 \u548c \u5173\u95ed \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u6709 \u4e00\u7ec4 \u5728   carla . VehicleLightState   \u4e2d \u5217\u51fa \u7684 \u706f \u3002 \u5e76\u975e \u6240\u6709 \u8f66\u8f86 \u90fd \u96c6\u6210 \u4e86 \u8f66\u706f \u3002 \u622a\u81f3 \u64b0\u5199 \u672c\u6587 \u65f6 \uff0c \u914d\u5907 \u96c6\u6210 \u8f66\u706f \u7684 \u8f66\u8f86 \u5982\u4e0b \uff1a   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \uff1a   \u6240\u6709 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u90fd \u6709 \u524d\u540e \u4f4d\u7f6e \u4f4d\u7f6e\u706f \u3002   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \uff1a   \u9a6c\u54c8 \u96c5\u9a6c\u54c8 \u548c \u54c8\u96f7 \u6234\u7ef4\u68ee \u578b\u53f7 \u3002   \u6c7d\u8f66 \uff1a   \u5965\u8fea   TT \u3001 \u96ea\u4f5b\u5170   Impala \u3001 \u9053\u5947 \u8b66\u8f66 \u3001 \u9053\u5947   Charger \u3001 \u5965\u8fea   e - tron \u3001 \u6797\u80af   2017   \u5e74 \u548c   2020   \u5e74 \u3001 \u91ce\u9a6c \u3001 \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   Model   3 \u3001 \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   Cybertruck \u3001 \u5927\u4f17   T2   \u548c \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   C   \u7ea7 \u3002   \u53ef\u4ee5 \u4f7f\u7528   carla . Vehicle . get _ light _ state   \u548c   carla . Vehicle . set _ light _ state   \u65b9\u6cd5 \u968f\u65f6 \u68c0\u7d22 \u548c \u66f4\u65b0 \u8f66\u8f86 \u7684 \u706f\u5149 \u3002 \u5b83\u4eec \u4f7f\u7528 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u8fd0\u7b97 \u6765\u81ea \u5b9a\u4e49 \u706f\u5149 \u8bbe\u7f6e \u3002   #   \u6253\u5f00 \u4f4d\u7f6e \u4f4d\u7f6e\u706f   current _ lights   =   carla . VehicleLightState . NONE   current _ lights   | =   carla . VehicleLightState . Position   vehicle . set _ light _ state ( current _ lights )   \u884c\u4eba   carla . Walker   \u7684 \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u8f66\u8f86 \u7c7b\u4f3c \u3002 \u5bf9 \u5b83\u4eec \u7684 \u63a7\u5236 \u7531 \u63a7\u5236 \u63a7\u5236\u5668 \u63d0\u4f9b \u3002   carla . WalkerControl   \u4ee5 \u4e00\u5b9a \u7684 \u65b9\u5411 \u548c \u901f\u5ea6 \u79fb\u52a8 \u884c\u4eba \u3002 \u5b83 \u8fd8 \u5141\u8bb8 \u4ed6\u4eec \u8df3\u8dc3 \u3002   carla . WalkerBoneControl   \u63d0\u4f9b \u5bf9 \u4e09\u7ef4 \u9aa8\u67b6 \u7684 \u63a7\u5236 \u3002   \u672c \u6559\u7a0b   \u89e3\u91ca \u4e86 \u5982\u4f55 \u63a7\u5236 \u5b83 \u3002   \u884c\u4eba \u53ef\u4ee5 \u7531 \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u3002 \u4ed6\u4eec \u6ca1\u6709 \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u3002   carla . WalkerAIController   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5b83 \u6240 \u9644\u52a0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5468\u56f4 \u79fb\u52a8 \u3002   walker _ controller _ bp   =   world . get _ blueprint _ library ( ) . find ( ' controller . ai . walker ' )   world . SpawnActor ( walker _ controller _ bp ,   carla . Transform ( ) ,   parent _ walker )   \u7b14\u8bb0   \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u63a7\u5236\u5668 \u662f \u65e0\u5f62 \u7684 \uff0c \u6ca1\u6709 \u7269\u7406 \u7279\u6027 \u3002 \u5b83 \u4e0d\u4f1a \u51fa\u73b0 \u5728 \u73b0\u573a \u3002 \u6b64\u5916 \uff0c \u4f4d\u7f6e   ( 0 , 0 , 0 )   \u76f8\u5bf9 \u4e8e \u5176\u7236 \u7ea7 \u7684 \u4f4d\u7f6e \u4e0d\u4f1a \u5bfc\u81f4 \u78b0\u649e \u3002   \u6bcf\u4e2a \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u63a7\u5236\u5668 \u90fd \u9700\u8981 \u521d\u59cb \u521d\u59cb\u5316 \u3001 \u76ee\u6807 \u548c \u53ef\u9009 \u7684 \u901f\u5ea6   \u3002 \u505c\u6b62 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5de5\u4f5c \u65b9\u5f0f \u76f8\u540c \u3002   ai _ controller . start ( )   ai _ controller . go _ to _ location ( world . get _ random _ location _ from _ navigation ( ) )   ai _ controller . set _ max _ speed ( 1   +   random . random ( ) )   #   \u5728   1   \u7c73 \u6bcf\u79d2   \u5230   2   \u7c73 \u6bcf\u79d2 \u4e4b\u95f4 \uff08 \u9ed8\u8ba4 \u662f   1.4   \u7c73 \u6bcf\u79d2 \uff09   ...   ai _ controller . stop ( )   \u5f53 \u884c\u4eba \u5230\u8fbe \u76ee\u6807 \u4f4d\u7f6e \u65f6 \uff0c \u4ed6\u4eec \u4f1a \u81ea\u52a8 \u6b65\u884c \u5230 \u53e6 \u4e00\u4e2a \u968f\u673a \u70b9 \u3002 \u5982\u679c \u65e0\u6cd5 \u5230\u8fbe \u76ee\u6807 \u70b9 \uff0c \u884c\u4eba \u5c06 \u524d\u5f80 \u8ddd\u79bb \u5f53\u524d \u4f4d\u7f6e \u6700\u8fd1 \u7684 \u70b9 \u3002   carla . Client   \u4e2d \u7684 \u4e00\u4e2a \u7247\u6bb5 \u4f7f\u7528 \u6279\u6b21 \u751f\u6210 \u5927\u91cf \u884c\u4eba \u5e76 \u8ba9 \u5b83\u4eec \u56db\u5904 \u6e38\u8361 \u3002   \u91cd\u8981   \u8981 \u9500\u6bc1 \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u884c\u4eba   \uff0c \u8bf7 \u505c\u6b62 \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u63a7\u5236\u5668 \u5e76 \u9500\u6bc1 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u63a7\u5236 \u63a7\u5236\u5668 \u3002   \u5173\u4e8e   Carla   \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8fd9 \u5c31\u662f \u4e00\u4e2a \u603b\u7ed3 \u3002 \u4e0b \u4e00\u6b65 \u5c06 \u4ed4\u7ec6 \u7814\u7a76   Carla   \u7684 \u5730\u56fe \u3001 \u9053\u8def \u548c \u4ea4\u901a \u3002   \u7ee7\u7eed \u9605\u8bfb \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \uff0c \u6216 \u8bbf\u95ee \u8bba\u575b \u53d1\u5e03 \u5728 \u9605\u8bfb \u8fc7\u7a0b \u4e2d \u60f3\u5230 \u7684 \u4efb\u4f55 \u7591\u95ee \u6216 \u5efa\u8bae \u3002   Carla   \u8bba\u575b   3rd .   \u5730\u56fe \u548c \u5bfc\u822a","title":"\u7b2c\u4e8c \u3001 \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe"},{"location":"core_actors/#_1","text":"Carla   \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f \u5728 \u4eff\u771f \u4e2d \u6267\u884c \u52a8\u4f5c \u7684 \u5143\u7d20 \uff0c \u4ed6\u4eec \u53ef\u4ee5 \u5f71\u54cd \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 Carla   \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5305\u62ec \u8f66\u8f86 \u548c \u884c\u4eba \uff0c \u4e5f \u5305\u62ec \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3001 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u548c \u89c2\u770b \u8005 \u3002 \u5bf9 \u5982\u4f55 \u64cd\u4f5c \u5b83\u4eec \u6709 \u5145\u5206 \u7684 \u4e86\u89e3 \u662f \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u7684 \u3002   \u672c\u8282 \u5c06 \u4ecb\u7ecd \u751f\u6210 \u3001 \u9500\u6bc1 \u3001 \u7c7b\u578b \u4ee5\u53ca \u5982\u4f55 \u7ba1\u7406 \u5b83\u4eec \u3002 \u7136\u800c \uff0c \u53ef\u80fd \u53ef\u80fd\u6027 \u51e0\u4e4e \u662f \u65e0\u7a77 \u65e0\u5c3d \u65e0\u7a77\u65e0\u5c3d \u7684 \u3002 \u5b9e\u9a8c \u3001 \u67e5\u770b \u672c \u6587\u6863 \u4e2d \u7684   \u6559\u7a0b   \uff0c \u5e76 \u5728   Carla   \u8bba\u575b   \u4e2d \u5206\u4eab \u7591\u8651 \u548c \u60f3\u6cd5 \u3002   \u84dd\u56fe   \u7ba1\u7406 \u84dd \u56fe\u5e93   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f   \u751f\u6210   \u5904\u7406   \u9500\u6bc1   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7c7b\u578b   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u89c2\u5bdf \u89c2\u5bdf\u8005   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u548c \u4ea4\u901a \u4ea4\u901a\u706f   \u8f66\u8f86   \u884c\u4eba","title":"\u7b2c\u4e8c \u3001 \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe"},{"location":"core_actors/#_2","text":"\u8fd9\u4e9b \u5e03\u5c40 \u5141\u8bb8 \u7528\u6237 \u5c06 \u65b0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e73\u6ed1 \u5730 \u7ed3\u5408 \u5230 \u4eff\u771f \u4e2d \u3002 \u5b83\u4eec \u5df2\u7ecf \u662f \u5e26\u6709 \u52a8\u753b \u548c \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5c5e\u6027 \u7684 \u6a21\u578b \u3002 \u5176\u4e2d \u4e00\u4e9b \u662f \u53ef \u4fee\u6539 \u7684 \uff0c \u800c \u53e6 \u4e00\u4e9b \u4e00\u4e9b\u5219 \u4e0d\u662f \u3002 \u8fd9\u4e9b \u5c5e\u6027 \u5305\u62ec \u8f66\u8f86 \u989c\u8272 \u3001 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u7684 \u901a\u9053 \u6570\u91cf \u3001 \u884c\u4eba \u7684 \u901f\u5ea6 \u7b49\u7b49 \u3002   \u84dd \u56fe\u5e93   \u5217\u51fa \u4e86 \u53ef\u7528 \u7684 \u84dd\u56fe \u53ca\u5176 \u5c5e\u6027 \u3002 \u8f66\u8f86 \u548c \u884c\u4eba \u84dd\u56fe \u5177\u6709 \u4e00\u4e2a \u751f\u6210 \u5c5e\u6027 \uff0c \u7528\u4e8e \u6307\u793a \u5b83\u4eec \u662f \u65b0 \u7684 \uff08 \u7b2c   2   \u4ee3 \uff09 \u8d44\u4ea7 \u8fd8\u662f \u65e7 \u7684 \uff08 \u7b2c   1   \u4ee3 \uff09 \u8d44\u4ea7 \u3002","title":"\u84dd\u56fe  "},{"location":"core_actors/#_3","text":"carla . BlueprintLibrary   \u7c7b \u5305\u542b \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217   carla . ActorBlueprint   \u5143\u7d20 \u3002 \u5b83 \u662f \u80fd\u591f \u63d0\u4f9b \u5bf9 \u5b83 \u8bbf\u95ee \u7684 \u4e16\u754c \u5bf9\u8c61 \u3002   blueprint _ library   =   world . get _ blueprint _ library ( )   \u84dd\u56fe \u6709 \u4e00\u4e2a   ID   \u6765 \u8bc6\u522b \u5b83\u4eec \u548c \u7531\u6b64 \u4ea7\u751f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u53ef\u4ee5 \u8bfb\u53d6 \u5e93\u6765 \u627e\u5230 \u67d0\u4e2a   ID \uff0c \u968f\u673a \u9009\u62e9 \u84dd\u56fe \uff0c \u6216\u8005 \u4f7f\u7528   \u901a\u914d\u7b26 \u6a21\u5f0f   \u8fc7\u6ee4 \u7ed3\u679c \u3002   #   \u627e \u4e00\u4e2a \u6307\u5b9a \u7684 \u84dd\u56fe   collision _ sensor _ bp   =   blueprint _ library . find ( ' sensor . other . collision ' )   #   \u968f\u673a \u9009\u62e9 \u4e00\u4e2a \u8f66\u8f86 \u84dd\u56fe   vehicle _ bp   =   random . choice ( blueprint _ library . filter ( ' vehicle . * . * ' ) )   \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u6bcf\u4e2a   carla . ActorBlueprint   \u80fd \u83b7\u53d6   get   \u548c \u6539\u53d8   set   \u4e00\u4e9b \u5217 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c5e\u6027   carla . ActorAttribute   \u3002   is _ bike   =   [ vehicle . get _ attribute ( ' number _ of _ wheels ' )   = =   2 ]   if ( is _ bike )   vehicle . set _ attribute ( ' color ' ,   ' 255 , 0 , 0 ' )   \u7b14\u8bb0   \u67d0\u4e9b \u5c5e\u6027 \u65e0\u6cd5 \u4fee\u6539 \u3002 \u5728   \u84dd \u56fe\u5e93   \u4e2d \u67e5\u770b \u3002   \u5c5e\u6027 \u6709 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c5e\u6027 \u7c7b\u578b   carla . ActorAttributeType   \u53d8\u91cf \u3002 \u5b83 \u4ece \u679a\u4e3e \u5217\u8868 \u4e2d \u58f0\u660e \u5176 \u7c7b\u578b \u3002 \u6b64\u5916 \uff0c \u53ef \u4fee\u6539 \u7684 \u5c5e\u6027 \u8fd8 \u9644\u5e26 \u4e00\u4e2a   \u63a8\u8350 \u63a8\u8350\u503c \u5217\u8868   \u3002   for   attr   in   blueprint :   if   attr . is _ modifiable :   blueprint . set _ attribute ( attr . id ,   random . choice ( attr . recommended _ values ) )   \u7b14\u8bb0   \u7528\u6237 \u53ef\u4ee5 \u521b\u5efa \u4ed6\u4eec \u81ea\u5df1 \u7684 \u8f66\u8f86 \u3002 \u67e5\u770b   \u6559\u7a0b \uff08 \u8d44\u4ea7 \uff09   \u4ee5 \u4e86\u89e3 \u76f8\u5173 \u4fe1\u606f \u3002 \u8d21\u732e \u8d21\u732e\u8005 \u53ef\u4ee5   \u5c06 \u4ed6\u4eec \u7684 \u65b0 \u5185\u5bb9 \u6dfb\u52a0 \u5230   Carla   \u3002","title":"\u7ba1\u7406 \u84dd \u56fe\u5e93  "},{"location":"core_actors/#_4","text":"\u91cd\u8981   \u672c \u8282 \u63d0\u5230 \u4e86 \u5173\u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e0d\u540c \u65b9\u6cd5 \u3002 Python   API   \u63d0\u4f9b   commands   \uff0c \u4ee5\u4fbf \u5728 \u4e00\u4e2a \u6846\u67b6 \u4e2d \u5e94\u7528 \u4e00\u6279 \u6700 \u5e38\u89c1 \u7684 \u547d\u4ee4 \u3002","title":"\u53c2\u4e0e\u8005 \u751f\u547d\u5468\u671f      "},{"location":"core_actors/#_5","text":"\u4e16\u754c \u5bf9\u8c61 \u8d1f\u8d23 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e76 \u8ddf\u8e2a \u8fd9\u4e9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u751f\u6210 \u53ea \u9700\u8981 \u4e00\u5f20 \u84dd\u56fe \u548c \u4e00\u4e2a   carla . Transform   \u8bf4\u660e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   \u4e16\u754c \u6709 \u4e24\u4e2a \u4e0d\u540c \u7684 \u65b9\u6cd5 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   spawn _ actor ( )   \u5982\u679c \u751f\u6210 \u5931\u8d25 \u629b\u51fa \u4e00\u4e2a \u5f02\u5e38 \u3002   try _ spawn _ actor ( )   \u5982\u679c \u751f\u6210 \u5931\u8d25 \u8fd4\u56de   None   \u3002   transform   =   Transform ( Location ( x = 230 ,   y = 195 ,   z = 40 ) ,   Rotation ( yaw = 180 ) )   actor   =   world . spawn _ actor ( blueprint ,   transform )   \u91cd\u8981   Carla   \u4f7f\u7528   \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u7cfb\u7edf   \u3002 \u8bb0\u4f4f \uff1a   carla . Rotation   \u6784\u9020 \u51fd\u6570 \u6784\u9020\u51fd\u6570 \u5b9a\u4e49 \u4e3a \u201c \u4fef\u4ef0 \u3001 \u504f\u822a \u3001 \u7ffb\u6eda \u201d   ( pitch ,   yaw ,   roll )   \uff0c \u4e0e \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u201c \u7ffb\u6eda \u3001 \u4fef\u4ef0 \u3001 \u504f\u822a \u201d   ( roll ,   pitch ,   yaw )   \u4e0d\u540c \u3002   \u5982\u679c \u5728 \u6307\u5b9a \u4f4d\u7f6e \u53d1\u751f \u51b2\u7a81 \u53d1\u751f\u51b2\u7a81 \uff0c \u5c06 \u4e0d\u4f1a \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u65e0\u8bba \u8fd9\u79cd \u60c5\u51b5 \u53d1\u751f \u5728 \u9759\u6001 \u5bf9\u8c61 \u8fd8\u662f \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8eab\u4e0a \u3002 \u53ef\u4ee5 \u5c1d\u8bd5 \u907f\u514d \u8fd9\u4e9b \u4e0d \u5e0c\u671b \u7684 \u751f\u6210 \u78b0\u649e \u3002   \u5bf9\u4e8e \u8f66\u8f86   \u3002   map . get _ spawn _ points ( )   \u8fd4\u56de \u63a8\u8350 \u751f\u6210 \u70b9 \u7684 \u5217\u8868 \u3002   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   \u5bf9\u4e8e \u884c\u4eba   \u3002   world . get _ random _ location ( )   \u8fd4\u56de \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u4e0a \u7684 \u968f\u673a \u70b9 \u3002 \u540c\u6837 \u7684 \u65b9\u6cd5 \u4e5f \u7528\u4e8e \u4e3a \u884c\u4eba \u8bbe\u7f6e \u76ee\u6807 \u4f4d\u7f6e \u3002   spawn _ point   =   carla . Transform ( )   spawn _ point . location   =   world . get _ random _ location _ from _ navigation ( )   \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u751f\u6210 \u65f6 \u53ef\u4ee5 \u9644\u52a0 \u5230 \u53e6 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0a \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8ddf\u968f \u4ed6\u4eec \u6240 \u4f9d\u9644 \u7684 \u7236\u7ea7 \u3002 \u8fd9 \u5bf9\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7279\u522b \u6709\u7528 \u3002 \u8be5 \u9644\u4ef6 \u53ef\u4ee5 \u662f \u521a\u6027 \u7684 \uff08 \u9002\u5408 \u68c0\u7d22 \u7cbe\u786e \u6570\u636e \uff09 \uff0c \u4e5f \u53ef\u4ee5 \u6839\u636e \u5176\u7236 \u7ea7 \u7684 \u60c5\u51b5 \u8fdb\u884c \u8f7b\u677e \u79fb\u52a8 \u3002 \u5b83 \u7531 \u8f85\u52a9 \u7c7b   carla . AttachmentType   \u5b9a\u4e49 \u3002   \u4e0b \u4e00\u4e2a \u793a\u4f8b \u5c06 \u76f8\u673a \u521a\u6027 \u5730 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u4e0a \uff0c \u56e0\u6b64 \u5b83\u4eec \u7684 \u76f8\u5bf9 \u4f4d\u7f6e \u4fdd\u6301 \u56fa\u5b9a \u3002   camera   =   world . spawn _ actor ( camera _ bp ,   relative _ transform ,   attach _ to = my _ vehicle ,   carla . AttachmentType . Rigid )   \u91cd\u8981   \u5f53 \u751f\u6210 \u9644\u52a0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \uff0c \u63d0\u4f9b \u7684 \u53d8\u6362 \u5fc5\u987b \u76f8\u5bf9 \u4e8e \u7236\u7ea7 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u4e00\u65e6 \u751f\u6210 \uff0c \u4e16\u754c \u5bf9\u8c61 \u5c31 \u4f1a \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6dfb\u52a0 \u5230 \u5217\u8868 \u4e2d \u3002 \u8fd9 \u53ef\u4ee5 \u5f88 \u5bb9\u6613 \u5730 \u641c\u7d22 \u6216 \u8fed\u4ee3 \u3002   actor _ list   =   world . get _ actors ( )   #   \u6839\u636e   id   \u627e \u53c2\u4e0e \u53c2\u4e0e\u8005   actor   =   actor _ list . find ( id )   #   \u6253\u5370 \u4e16\u754c \u4e0a \u6240\u6709 \u9650\u901f \u6807\u5fd7 \u7684 \u4f4d\u7f6e \u3002   for   speed _ sign   in   actor _ list . filter ( ' traffic . speed _ limit . * ' ) :   print ( speed _ sign . get _ location ( ) )","title":"\u751f\u6210  "},{"location":"core_actors/#_6","text":"carla . Actor   \u4e3b\u8981 \u7531   get ( )   \u548c   set ( )   \u65b9\u6cd5 \u7ec4\u6210 \uff0c \u7528\u4e8e \u7ba1\u7406 \u5730\u56fe \u5468\u56f4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   print ( actor . get _ acceleration ( ) )   print ( actor . get _ velocity ( ) )   location   =   actor . get _ location ( )   location . z   + =   10.0   actor . set _ location ( location )   \u53ef\u4ee5 \u7981\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7269\u7406 \u7279\u6027 \u4ee5 \u5c06 \u5176 \u51bb\u7ed3 \u5728 \u9002\u5f53 \u7684 \u4f4d\u7f6e \u3002   actor . set _ simulate _ physics ( False )   \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8fd8\u6709 \u4ed6\u4eec \u7684 \u84dd\u56fe \u63d0\u4f9b \u7684 \u6807\u7b7e \u3002 \u8fd9\u4e9b \u5bf9\u4e8e \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6700 \u6709\u7528 \u3002   \u7b14\u8bb0   \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u65b9\u6cd5 \u662f \u5f02\u6b65 \u5411 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u53d1\u9001 \u8bf7\u6c42 \u3002 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6bcf\u6b21 \u66f4\u65b0 \u89e3\u6790 \u5b83\u4eec \u7684 \u65f6\u95f4 \u6709\u9650 \u3002 \u4f7f\u7528   set ( )   \u65b9\u6cd5 \u6df9\u6ca1 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5c06 \u79ef\u7d2f \u660e\u663e \u7684 \u5ef6\u8fdf \u3002","title":"\u5904\u7406  "},{"location":"core_actors/#_7","text":"\u5f53   Python   \u811a\u672c \u5b8c\u6210 \u65f6 \uff0c \u4e0d\u56de \u9500\u6bc1 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u4ed6\u4eec \u5fc5\u987b \u660e\u786e \u5730 \u9500\u6bc1 \u81ea\u5df1 \u3002   destroyed _ sucessfully   =   actor . destroy ( )   #   \u5982\u679c \u6210\u529f \u8fd4\u56de   True   \u91cd\u8981   \u9500\u6bc1 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f1a \u963b\u585e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \uff0c \u76f4\u5230 \u8be5 \u8fc7\u7a0b \u5b8c\u6210 \u3002","title":"\u9500\u6bc1  "},{"location":"core_actors/#_8","text":"","title":"\u53c2\u4e0e\u8005 \u7c7b\u578b    "},{"location":"core_actors/#_9","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f \u4ea7\u751f \u6570\u636e \u6570\u636e\u6d41 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u4ed6\u4eec \u6709 \u81ea\u5df1 \u7684 \u90e8\u5206 \uff0c   \u7b2c\u56db \u90e8\u5206 .   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u6570\u636e   \u3002 \u73b0\u5728 \uff0c \u6211\u4eec \u53ea \u770b \u4e00\u4e0b \u5e38\u89c1 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u751f\u6210 \u5468\u671f \u3002   \u6b64 \u793a\u4f8b \u751f\u6210 \u4e00\u4e2a \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5c06 \u5176 \u8fde\u63a5 \u5230 \u8f66\u8f86 \uff0c \u5e76 \u544a\u8bc9 \u76f8\u673a \u5c06 \u751f\u6210 \u7684 \u56fe\u50cf \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002   camera _ bp   =   blueprint _ library . find ( ' sensor . camera . rgb ' )   camera   =   world . spawn _ actor ( camera _ bp ,   relative _ transform ,   attach _ to = my _ vehicle )   camera . listen ( lambda   image :   image . save _ to _ disk ( ' output / % 06d . png '   %   image . frame ) )   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e5f \u6709 \u84dd\u56fe \u3002 \u8bbe\u7f6e \u5c5e\u6027 \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002   \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u5b89\u88c5 \u5728 \u8f66\u8f86 \u4e0a\u4ee5 \u6536\u96c6 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u7684 \u4fe1\u606f \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u76d1\u542c   \u6570\u636e \u3002 \u6536\u5230 \u6570\u636e \u540e \uff0c \u5b83\u4eec \u4f1a \u8c03\u7528 \u7528   Lambda   \u8868\u8fbe \u8fbe\u5f0f \u8868\u8fbe\u5f0f   \u63cf\u8ff0 \u7684 \u51fd\u6570   ( \u63d0\u4f9b \u7684 \u94fe\u63a5 \u4e2d \u7684   6.14 )   \u3002","title":"\u4f20\u611f\u5668  "},{"location":"core_actors/#_10","text":"\u7531 \u865a\u5e7b \u5f15\u64ce \u653e\u7f6e \u4ee5 \u63d0\u4f9b \u6e38\u620f \u5185 \u7684 \u89c6\u89d2 \u3002 \u5b83 \u53ef \u7528\u4e8e \u79fb\u52a8 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7a97\u53e3 \u7684 \u89c6\u89d2 \u3002 \u4ee5\u4e0b \u793a\u4f8b \u5c06 \u79fb\u52a8 \u89c2\u4f17 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5c06 \u89c6\u89d2 \u6307\u5411 \u6240 \u9700 \u7684 \u8f66\u8f86 \u3002   spectator   =   world . get _ spectator ( )   transform   =   vehicle . get _ transform ( )   spectator . set _ transform ( carla . Transform ( transform . location   +   carla . Location ( z = 50 ) ,   carla . Rotation ( pitch = - 90 ) ) )","title":"\u89c2\u5bdf\u8005  "},{"location":"core_actors/#_11","text":"\u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c Carela   \u4e2d \u53ea\u6709 \u505c\u9760 \u505c\u9760\u70b9 \u3001 \u8ba9 \u884c \u8def\u7ebf \u548c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u88ab \u89c6\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5176\u4f59 \u7684   OpenDRIVE   \u6807\u5fd7 \u53ef \u901a\u8fc7   API   \u4f5c\u4e3a \u5730\u6807 \uff08   carla . Landmark   \uff09 \u8fdb\u884c \u8bbf\u95ee \u3002 \u4ed6\u4eec \u7684 \u4fe1\u606f \u53ef\u4ee5 \u4f7f\u7528 \u8fd9\u4e9b \u5b9e\u4f8b \u8bbf\u95ee \uff0c \u4f46 \u4ed6\u4eec \u5728 \u4eff\u771f \u4e2d \u5e76 \u4e0d \u4f5c\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5b58\u5728 \u3002 \u5728 \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u7684   \u7b2c   3   \u90e8\u5206   \u5730\u56fe \u548c \u5bfc\u822a   \u4e2d\u5c06 \u66f4 \u8be6\u7ec6 \u5730 \u89e3\u91ca \u5730\u6807 \u3002   \u5f53 \u4eff\u771f \u5f00\u59cb \u3001 \u505c\u6b62 \u3001 \u8ba9 \u884c \u548c \u4ea4\u901a \u4ea4\u901a\u706f \u65f6 \uff0c \u4f1a \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u4e2d \u7684 \u4fe1\u606f \u81ea\u52a8 \u751f\u6210 \u3002   \u8fd9\u4e9b \u90fd \u65e0\u6cd5 \u5728 \u84dd \u56fe\u5e93 \u4e2d \u627e\u5230   \uff0c \u56e0\u6b64 \u65e0\u6cd5 \u751f\u6210 \u3002   \u7b14\u8bb0   OpenDRIVE   \u6587\u4ef6 \u4e2d \u7684   Carela   \u5730\u56fe \u6ca1\u6709 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u6216 \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002 \u8fd9\u4e9b \u662f \u7531 \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u624b\u52a8 \u653e\u7f6e \u7684 \u3002   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7   \u672a \u5728 \u8def\u7ebf \u7ebf\u56fe \u8def\u7ebf\u56fe \u672c\u8eab \u4e2d \u5b9a\u4e49 \uff0c \u5982\u4e0b \u9875 \u6240\u8ff0 \u3002 \u76f8\u53cd \uff0c \u4ed6\u4eec \u6709 \u4e00\u4e2a   carla . BoundingBox   \u6765 \u5f71\u54cd \u5176\u4e2d \u7684 \u8f66\u8f86 \u3002   #   \u83b7\u5f97 \u5f71\u54cd \u8f66\u8f86 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f   if   vehicle _ actor . is _ at _ traffic _ light ( ) :   traffic _ light   =   vehicle _ actor . get _ traffic _ light ( )   \u8def\u53e3 \u8bbe\u6709   \u4ea4\u901a \u4ea4\u901a\u706f   \u3002 \u4e0e \u4efb\u4f55 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e00\u6837 \uff0c \u4ed6\u4eec \u6709 \u81ea\u5df1 \u72ec\u7279 \u7684   ID \uff0c \u4f46 \u5bf9\u4e8e \u5c94\u8def \u53e3 \u4e5f \u6709 \u4e00\u4e2a \u4e00\u4e2a\u7ec4 \uff08   group   \uff09   ID   \u3002   \u540c \u4e00\u7ec4 \u4e2d \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u9075\u5faa \u4e00\u4e2a \u5faa\u73af \u3002 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8bbe\u7f6e \u4e3a \u7eff\u8272 \uff0c \u800c \u5176\u4f59 \u7684 \u5219 \u4fdd\u6301 \u7ea2\u8272 \u3002 \u6d3b\u8dc3 \u7684 \u706f\u4f1a \u6301\u7eed \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u5448 \u7eff\u8272 \u3001 \u9ec4\u8272 \u548c \u7ea2\u8272 \uff0c \u56e0\u6b64 \u6709 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u6240\u6709 \u706f \u90fd \u662f \u7ea2\u8272 \u7684 \u3002 \u7136\u540e \uff0c \u4e0b \u4e00\u4e2a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5f00\u59cb \u5faa\u73af \uff0c \u524d \u4e00\u4e2a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u4e0e \u5176\u4f59 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u4e00\u8d77 \u51bb\u7ed3 \u3002   \u53ef\u4ee5 \u4f7f\u7528   API   \u8bbe\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u3002 \u6bcf\u4e2a \u72b6\u6001 \u82b1\u8d39 \u7684 \u79d2\u6570 \u4e5f \u662f \u5982\u6b64 \u3002 \u53ef\u80fd \u7684 \u72b6\u6001 \u7528   carla . TrafficLightState   \u63cf\u8ff0 \u4e3a \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u679a\u4e3e \u503c \u3002   #   \u4ea4\u901a \u4ea4\u901a\u706f \u4ece\u7ea2 \u53d8\u7eff   if   traffic _ light . get _ state ( )   = =   carla . TrafficLightState . Red :   traffic _ light . set _ state ( carla . TrafficLightState . Green )   traffic _ light . set _ set _ green _ time ( 4.0 )   \u7b14\u8bb0   \u53ea\u6709 \u5f53 \u4fe1\u53f7 \u4fe1\u53f7\u706f \u4e3a \u7ea2\u8272 \u65f6 \uff0c \u8f66\u8f86 \u624d \u4f1a \u610f\u8bc6 \u5230 \u4ea4\u901a \u4ea4\u901a\u706f \u3002","title":"\u4ea4\u901a\u6807\u5fd7 \u548c \u4ea4\u901a\u706f  "},{"location":"core_actors/#_12","text":"carla . Vehicle   \u662f \u4e00\u79cd \u7279\u6b8a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5b83 \u91c7\u7528 \u4e86 \u4eff\u771f \u8f6e\u5f0f \u8f66\u8f86 \u7269\u7406 \u7279\u6027 \u7684 \u7279\u6b8a \u5185\u90e8 \u7ec4\u4ef6 \u3002 \u8fd9\u662f \u901a\u8fc7 \u5e94\u7528 \u56db\u79cd \u4e0d\u540c \u7684 \u63a7\u4ef6 \u6765 \u5b9e\u73b0 \u7684 \uff1a   carla . VehicleControl   \u63d0\u4f9b \u6cb9\u95e8 \u3001 \u8f6c\u5411 \u3001 \u5239\u8f66 \u7b49 \u9a7e\u9a76 \u547d\u4ee4 \u7684 \u8f93\u5165 \u3002   vehicle . apply _ control ( carla . VehicleControl ( throttle = 1.0 ,   steer = - 1.0 ) )   carla . VehiclePhysicsControl   \u5b9a\u4e49 \u8f66\u8f86 \u7684 \u7269\u7406 \u5c5e\u6027 \u5e76 \u5305\u542b \u53e6\u5916 \u4e24\u4e2a \u63a7\u5236 \u63a7\u5236\u5668 \uff1a   carla . GearPhysicsControl   \u63a7\u5236 \u9f7f\u8f6e \u3002   carla . WheelPhysicsControl   \u63d0\u4f9b \u5bf9 \u6bcf\u4e2a \u8f6e\u5b50 \u7684 \u7279\u5b9a \u63a7\u5236 \u3002   vehicle . apply _ physics _ control ( carla . VehiclePhysicsControl ( max _ rpm   =   5000.0 ,   center _ of _ mass   =   carla . Vector3D ( 0.0 ,   0.0 ,   0.0 ) ,   torque _ curve = [ [ 0 , 400 ] , [ 5000 , 400 ] ] ) )   \u8f66\u8f86 \u6709 \u4e00\u4e2a   carla . BoundingBox   \u5c01\u88c5 \u5b83\u4eec \u3002 \u8be5 \u8fb9\u754c \u6846 \u5141\u8bb8 \u5c06 \u7269\u7406 \u539f\u7406 \u5e94\u7528 \u4e8e \u8f66\u8f86 \u5e76 \u68c0\u6d4b \u78b0\u649e \u3002   box   =   vehicle . bounding _ box   print ( box . location )   #   \u76f8\u5bf9 \u8f66\u8f86 \u7684 \u4f4d\u7f6e   print ( box . extent )   #   XYZ   half - box   extents   in   meters .   \u901a\u8fc7 \u542f\u7528   \u626b\u8f6e \u78b0\u649e \u53c2\u6570   \u53ef\u4ee5 \u6539\u5584 \u8f66\u8f6e \u7684 \u7269\u7406 \u7279\u6027 \u3002 \u9ed8\u8ba4 \u7684 \u8f6e\u5b50 \u7269\u7406 \u7cfb\u7edf \u7cfb\u7edf\u5bf9 \u6bcf\u4e2a \u8f6e\u5b50 \u4f7f\u7528 \u4ece\u8f74\u5230 \u5730\u677f \u7684 \u5355 \u5c04\u7ebf \u6295\u5c04 \uff0c \u4f46\u662f \u5f53 \u542f\u7528 \u626b\u8f6e \u78b0\u649e \u65f6 \uff0c \u5c06 \u68c0\u67e5 \u8f6e\u5b50 \u7684 \u6574\u4e2a \u4f53\u79ef \u662f\u5426 \u53d1\u751f \u78b0\u649e \u3002 \u5b83 \u53ef\u4ee5 \u8fd9\u6837 \u542f\u7528 \uff1a   physics _ control   =   vehicle . get _ physics _ control ( )   physics _ control . use _ sweep _ wheel _ collision   =   True   vehicle . apply _ physics _ control ( physics _ control )   \u8f66\u8f86 \u8fd8 \u5305\u62ec \u5176 \u72ec\u6709 \u7684 \u5176\u4ed6 \u529f\u80fd \uff1a   \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f   \u4f1a \u5c06 \u8f66\u8f86 \u8ba2\u9605 \u5230   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u4ee5 \u4eff\u771f \u771f\u5b9e \u7684 \u57ce\u5e02 \u72b6\u51b5 \u3002 \u8be5 \u6a21\u5757 \u662f \u786c \u7f16\u7801 \u7684 \uff0c \u4e0d\u662f \u57fa\u4e8e \u673a\u5668 \u5b66\u4e60 \u7684 \u3002   vehicle . set _ autopilot ( True )   \u8f66\u706f   \u5fc5\u987b \u7531 \u7528\u6237 \u6253\u5f00 \u548c \u5173\u95ed \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u6709 \u4e00\u7ec4 \u5728   carla . VehicleLightState   \u4e2d \u5217\u51fa \u7684 \u706f \u3002 \u5e76\u975e \u6240\u6709 \u8f66\u8f86 \u90fd \u96c6\u6210 \u4e86 \u8f66\u706f \u3002 \u622a\u81f3 \u64b0\u5199 \u672c\u6587 \u65f6 \uff0c \u914d\u5907 \u96c6\u6210 \u8f66\u706f \u7684 \u8f66\u8f86 \u5982\u4e0b \uff1a   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \uff1a   \u6240\u6709 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u90fd \u6709 \u524d\u540e \u4f4d\u7f6e \u4f4d\u7f6e\u706f \u3002   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \uff1a   \u9a6c\u54c8 \u96c5\u9a6c\u54c8 \u548c \u54c8\u96f7 \u6234\u7ef4\u68ee \u578b\u53f7 \u3002   \u6c7d\u8f66 \uff1a   \u5965\u8fea   TT \u3001 \u96ea\u4f5b\u5170   Impala \u3001 \u9053\u5947 \u8b66\u8f66 \u3001 \u9053\u5947   Charger \u3001 \u5965\u8fea   e - tron \u3001 \u6797\u80af   2017   \u5e74 \u548c   2020   \u5e74 \u3001 \u91ce\u9a6c \u3001 \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   Model   3 \u3001 \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   Cybertruck \u3001 \u5927\u4f17   T2   \u548c \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   C   \u7ea7 \u3002   \u53ef\u4ee5 \u4f7f\u7528   carla . Vehicle . get _ light _ state   \u548c   carla . Vehicle . set _ light _ state   \u65b9\u6cd5 \u968f\u65f6 \u68c0\u7d22 \u548c \u66f4\u65b0 \u8f66\u8f86 \u7684 \u706f\u5149 \u3002 \u5b83\u4eec \u4f7f\u7528 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u8fd0\u7b97 \u6765\u81ea \u5b9a\u4e49 \u706f\u5149 \u8bbe\u7f6e \u3002   #   \u6253\u5f00 \u4f4d\u7f6e \u4f4d\u7f6e\u706f   current _ lights   =   carla . VehicleLightState . NONE   current _ lights   | =   carla . VehicleLightState . Position   vehicle . set _ light _ state ( current _ lights )","title":"\u8f66\u8f86  "},{"location":"core_actors/#_13","text":"carla . Walker   \u7684 \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u8f66\u8f86 \u7c7b\u4f3c \u3002 \u5bf9 \u5b83\u4eec \u7684 \u63a7\u5236 \u7531 \u63a7\u5236 \u63a7\u5236\u5668 \u63d0\u4f9b \u3002   carla . WalkerControl   \u4ee5 \u4e00\u5b9a \u7684 \u65b9\u5411 \u548c \u901f\u5ea6 \u79fb\u52a8 \u884c\u4eba \u3002 \u5b83 \u8fd8 \u5141\u8bb8 \u4ed6\u4eec \u8df3\u8dc3 \u3002   carla . WalkerBoneControl   \u63d0\u4f9b \u5bf9 \u4e09\u7ef4 \u9aa8\u67b6 \u7684 \u63a7\u5236 \u3002   \u672c \u6559\u7a0b   \u89e3\u91ca \u4e86 \u5982\u4f55 \u63a7\u5236 \u5b83 \u3002   \u884c\u4eba \u53ef\u4ee5 \u7531 \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u3002 \u4ed6\u4eec \u6ca1\u6709 \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u3002   carla . WalkerAIController   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5b83 \u6240 \u9644\u52a0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5468\u56f4 \u79fb\u52a8 \u3002   walker _ controller _ bp   =   world . get _ blueprint _ library ( ) . find ( ' controller . ai . walker ' )   world . SpawnActor ( walker _ controller _ bp ,   carla . Transform ( ) ,   parent _ walker )   \u7b14\u8bb0   \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u63a7\u5236\u5668 \u662f \u65e0\u5f62 \u7684 \uff0c \u6ca1\u6709 \u7269\u7406 \u7279\u6027 \u3002 \u5b83 \u4e0d\u4f1a \u51fa\u73b0 \u5728 \u73b0\u573a \u3002 \u6b64\u5916 \uff0c \u4f4d\u7f6e   ( 0 , 0 , 0 )   \u76f8\u5bf9 \u4e8e \u5176\u7236 \u7ea7 \u7684 \u4f4d\u7f6e \u4e0d\u4f1a \u5bfc\u81f4 \u78b0\u649e \u3002   \u6bcf\u4e2a \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u63a7\u5236\u5668 \u90fd \u9700\u8981 \u521d\u59cb \u521d\u59cb\u5316 \u3001 \u76ee\u6807 \u548c \u53ef\u9009 \u7684 \u901f\u5ea6   \u3002 \u505c\u6b62 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5de5\u4f5c \u65b9\u5f0f \u76f8\u540c \u3002   ai _ controller . start ( )   ai _ controller . go _ to _ location ( world . get _ random _ location _ from _ navigation ( ) )   ai _ controller . set _ max _ speed ( 1   +   random . random ( ) )   #   \u5728   1   \u7c73 \u6bcf\u79d2   \u5230   2   \u7c73 \u6bcf\u79d2 \u4e4b\u95f4 \uff08 \u9ed8\u8ba4 \u662f   1.4   \u7c73 \u6bcf\u79d2 \uff09   ...   ai _ controller . stop ( )   \u5f53 \u884c\u4eba \u5230\u8fbe \u76ee\u6807 \u4f4d\u7f6e \u65f6 \uff0c \u4ed6\u4eec \u4f1a \u81ea\u52a8 \u6b65\u884c \u5230 \u53e6 \u4e00\u4e2a \u968f\u673a \u70b9 \u3002 \u5982\u679c \u65e0\u6cd5 \u5230\u8fbe \u76ee\u6807 \u70b9 \uff0c \u884c\u4eba \u5c06 \u524d\u5f80 \u8ddd\u79bb \u5f53\u524d \u4f4d\u7f6e \u6700\u8fd1 \u7684 \u70b9 \u3002   carla . Client   \u4e2d \u7684 \u4e00\u4e2a \u7247\u6bb5 \u4f7f\u7528 \u6279\u6b21 \u751f\u6210 \u5927\u91cf \u884c\u4eba \u5e76 \u8ba9 \u5b83\u4eec \u56db\u5904 \u6e38\u8361 \u3002   \u91cd\u8981   \u8981 \u9500\u6bc1 \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u884c\u4eba   \uff0c \u8bf7 \u505c\u6b62 \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u63a7\u5236\u5668 \u5e76 \u9500\u6bc1 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u63a7\u5236 \u63a7\u5236\u5668 \u3002   \u5173\u4e8e   Carla   \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8fd9 \u5c31\u662f \u4e00\u4e2a \u603b\u7ed3 \u3002 \u4e0b \u4e00\u6b65 \u5c06 \u4ed4\u7ec6 \u7814\u7a76   Carla   \u7684 \u5730\u56fe \u3001 \u9053\u8def \u548c \u4ea4\u901a \u3002   \u7ee7\u7eed \u9605\u8bfb \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \uff0c \u6216 \u8bbf\u95ee \u8bba\u575b \u53d1\u5e03 \u5728 \u9605\u8bfb \u8fc7\u7a0b \u4e2d \u60f3\u5230 \u7684 \u4efb\u4f55 \u7591\u95ee \u6216 \u5efa\u8bae \u3002   Carla   \u8bba\u575b   3rd .   \u5730\u56fe \u548c \u5bfc\u822a","title":"\u884c\u4eba  "},{"location":"core_map/","text":"\u7b2c\u4e09 \u3001 \u5730\u56fe \u548c \u5bfc\u822a   \u5728 \u8ba8\u8bba \u4e86 \u4e16\u754c \u53ca\u5176 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u540e \uff0c \u662f \u65f6\u5019 \u5c06 \u6240\u6709 \u5185\u5bb9 \u90fd \u653e\u5728 \u9002\u5f53 \u7684 \u4f4d\u7f6e \u5e76 \u4e86\u89e3 \u5730\u56fe \u4ee5\u53ca \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5982\u4f55 \u5bfc\u822a \u3002   \u5730\u56fe   \u6539\u53d8 \u5730\u56fe   \u5730\u6807   \u8def\u5f84 \u70b9   \u8f66\u9053   \u8def\u53e3   \u73af\u5883 \u5bf9\u8c61   \u5728   Carla   \u4e2d \u5bfc\u822a   \u901a\u8fc7 \u8def\u5f84 \u70b9 \u5bfc\u822a   \u751f\u6210 \u5730\u56fe \u5bfc\u822a   Carla   \u5730\u56fe   \u975e \u5206\u5c42 \u5730\u56fe   \u5206\u5c42 \u5730\u56fe   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   \u6982\u8ff0   \u9053\u8def \u6d82\u88c5   painting   \u5b9a\u5236 \u5efa\u7b51   \u751f\u6210 \u5730\u56fe   \u6dfb\u52a0 \u5730\u56fe \u5730\u56fe\u5305   \u6dfb\u52a0 \u5730\u56fe \u6e90   \u66ff\u4ee3 \u65b9\u6cd5   \u5730\u56fe   \u5730\u56fe \u5305\u62ec \u57ce\u9547 \u7684 \u4e09\u7ef4 \u6a21\u578b \u53ca\u5176 \u9053\u8def \u5b9a\u4e49 \u3002 \u5730\u56fe \u7684 \u9053\u8def \u5b9a\u4e49 \u57fa\u4e8e   OpenDRIVE   \u6587\u4ef6 \uff0c \u8fd9\u662f \u4e00\u79cd \u6807\u51c6 \u6807\u51c6\u5316 \u7684 \u5e26 \u6ce8\u91ca \u7684 \u9053\u8def \u5b9a\u4e49 \u683c\u5f0f \u3002   OpenDRIVE   1.4   \u6807\u51c6   \u5b9a\u4e49 \u9053\u8def \u3001 \u8f66\u9053 \u3001 \u8def\u53e3 \u7b49 \u65b9\u5f0f \u51b3\u5b9a \u4e86   Python   API   \u7684 \u529f\u80fd \u4ee5\u53ca \u51b3\u7b56 \u80cc\u540e \u7684 \u63a8\u7406 \u3002   Python   API   \u5145\u5f53 \u9ad8\u7ea7 \u67e5\u8be2 \u7cfb\u7edf \u6765 \u5bfc\u822a \u8fd9\u4e9b \u9053\u8def \u3002 \u5b83 \u4e0d\u65ad \u53d1\u5c55 \u4ee5 \u63d0\u4f9b \u66f4 \u5e7f\u6cdb \u7684 \u5de5\u5177 \u5de5\u5177\u96c6 \u3002   \u6539\u53d8 \u5730\u56fe   \u8981 \u6539\u53d8 \u5730\u56fe \uff0c \u4e16\u754c \u4e5f \u5fc5\u987b \u6539\u53d8   \u3002 \u5c06 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u91cd\u65b0 \u521b\u5efa \u4eff\u771f \u3002 \u60a8 \u53ef\u4ee5 \u5728 \u4e16\u754c \u65b0\u4e16\u754c \u4e2d \u4f7f\u7528 \u76f8\u540c \u7684 \u5730\u56fe \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \uff0c \u4e5f \u53ef\u4ee5 \u66f4\u6539 \u5730\u56fe \u548c \u4e16\u754c \uff1a   reload _ world ( )   \u4f7f\u7528 \u76f8\u540c \u7684 \u5730\u56fe \u521b\u5efa \u4e16\u754c \u7684 \u65b0 \u5b9e\u4f8b \u3002   load _ world ( )   \u6539\u53d8 \u5f53\u524d \u5730\u56fe \u5e76 \u521b\u5efa \u4e00\u4e2a \u4e16\u754c \u65b0\u4e16\u754c \u3002   world   =   client . load _ world ( ' Town01 ' )   \u6bcf\u4e2a \u5730\u56fe \u90fd \u6709 \u4e00\u4e2a \u4e0e \u5f53\u524d \u52a0\u8f7d \u7684 \u57ce\u5e02 \u540d\u79f0 \u5339\u914d \u7684   name   \u5c5e\u6027 \uff0c \u4f8b\u5982   Town01   \u3002 \u8981 \u83b7\u53d6 \u53ef\u7528 \u5730\u56fe \u7684 \u5217\u8868 \uff1a   print ( client . get _ available _ maps ( ) )   \u5730\u6807   OpenDRIVE   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \u7684 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u5c06 \u8f6c\u6362 \u4e3a   Carla \uff0c \u4f5c\u4e3a \u53ef \u4ece   API   \u67e5\u8be2 \u7684 \u5730\u6807 \u5bf9\u8c61 \u3002 \u4ee5\u4e0b \u65b9\u6cd5 \u548c \u7c7b \u53ef \u7528\u4e8e \u64cd\u4f5c \u548c \u4f7f\u7528 \u5730\u6807 \u5bf9\u8c61 \uff1a   carla . Landmark   \u5bf9\u8c61 \u4ee3\u8868   OpenDRIVE   \u4fe1\u53f7 \u3002 \u8be5\u7c7b \u7684 \u5c5e\u6027 \u548c \u65b9\u6cd5 \u63cf\u8ff0 \u4e86 \u5730\u6807 \u53ca\u5176 \u5f71\u54cd \u533a\u57df \u3002   carla . LandmarkOrientation   \u8bf4\u660e \u5730\u6807 \u76f8\u5bf9 \u4e8e \u9053\u8def \u51e0\u4f55 \u5b9a\u4e49 \u7684 \u65b9\u5411 \u3002   carla . LandmarkType   \u5305\u542b \u5e38\u89c1 \u7684 \u5730\u6807 \u7c7b\u578b \uff0c \u4ee5\u4fbf \u4e8e \u8f6c\u6362 \u4e3a   OpenDRIVE   \u7c7b\u578b \u3002   carla . Waypoint   \u53ef\u4ee5 \u83b7\u5f97 \u4f4d\u4e8e \u5176 \u524d\u65b9 \u4e00\u5b9a \u8ddd\u79bb \u7684 \u5730\u6807 \u3002 \u53ef\u4ee5 \u6307\u5b9a \u8981 \u83b7\u53d6 \u7684 \u5730\u6807 \u7c7b\u578b \u3002   carla . Map   \u68c0\u7d22 \u5730\u6807 \u96c6 \u3002 \u5b83 \u53ef\u4ee5 \u8fd4\u56de \u5730\u56fe \u4e2d \u7684 \u6240\u6709 \u5730\u6807 \uff0c \u6216\u8005 \u5177\u6709 \u5171\u540c   ID \u3001 \u7c7b\u578b \u6216\u7ec4 \u7684 \u5730\u6807 \u3002   carla . World   \u5145\u5f53 \u5730\u6807 \u3001 \u4eff\u771f \u4e2d \u4ee3\u8868 \u4ed6\u4eec \u7684   carla . TrafficSign   \u548c   carla . TrafficLight   \u4e4b\u95f4 \u7684 \u4e2d\u95f4 \u3002   my _ waypoint . get _ landmarks ( 200.0 , True )   \u8def\u5f84 \u70b9   carla . Waypoint   \u662f   Carla   \u4e16\u754c \u4e2d \u7684 \u4e09\u7ef4 \u6709 \u5411 \u70b9 \uff0c \u5bf9\u5e94 \u4e8e   OpenDRIVE   \u8f66\u9053 \u3002 \u4e0e \u8def\u5f84 \u70b9 \u76f8\u5173 \u7684 \u6240\u6709 \u4e8b\u60c5 \u90fd \u53d1\u751f \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1b \u53ea \u9700 \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u4e00\u6b21 \u5373\u53ef \u83b7\u53d6 \u5305\u542b \u8def\u5f84 \u70b9 \u4fe1\u606f \u7684   \u5730\u56fe \u5bf9\u8c61   \u3002   \u6bcf\u4e2a \u8def\u5f84 \u70b9 \u90fd \u5305\u542b \u4e00\u4e2a   carla . Transform   \uff0c \u5b83 \u8bf4\u660e \u5176 \u5728 \u5730\u56fe \u4e0a \u7684 \u4f4d\u7f6e \u4ee5\u53ca \u5305\u542b \u8be5 \u8def\u5f84 \u70b9 \u7684 \u8f66\u9053 \u7684 \u65b9\u5411 \u3002 \u53d8\u91cf   road _ id   ,   section _ id   ,   lane _ id   \u548c   s   \u5bf9\u5e94   OpenDRIVE   \u9053\u8def \u3002 \u8def\u5f84 \u70b9   id   \u7684 \u662f \u7531 \u8fd9 \u56db\u4e2a \u503c \u7684 \u54c8\u5e0c \u7ec4\u5408 \u6784\u9020 \u7684 \u3002   \u7b14\u8bb0   \u540c\u4e00 \u9053\u8def \u5185 \u8ddd\u79bb \u5c0f\u4e8e   2   \u5398\u7c73   \u7684 \u8def\u70b9 \u5171\u4eab \u76f8\u540c \u7684 \u8def\u70b9   id   \u3002   \u8def\u5f84 \u70b9 \u4fdd\u5b58 \u6709\u5173 \u5305\u542b \u8be5 \u8def\u5f84 \u70b9 \u7684   \u8f66\u9053   \u7684 \u4fe1\u606f \u3002 \u6b64 \u4fe1\u606f \u5305\u62ec \u8f66\u9053 \u7684 \u5de6 \u8f66\u9053 \u548c \u53f3   \u8f66\u9053 \u6807\u8bb0   \u3001 \u7528\u4e8e \u786e\u5b9a \u5176 \u662f\u5426 \u4f4d\u4e8e \u8def\u53e3 \u5185 \u7684 \u5e03\u5c14 \u5e03\u5c14\u503c \u3001 \u8f66\u9053 \u7c7b\u578b \u3001 \u5bbd\u5ea6 \u548c \u8f66\u9053 \u53d8\u66f4 \u6743\u9650 \u3002   #   \u4ece \u8def\u5f84 \u70b9 \u8bbf\u95ee \u8f66\u9053 \u4fe1\u606f   inside _ junction   =   waypoint . is _ junction ( )   width   =   waypoint . lane _ width   right _ lm _ color   =   waypoint . right _ lane _ marking . color   \u8f66\u9053   OpenDRIVE   1.4   \u6807\u51c6   \u5b9a\u4e49 \u7684 \u901a\u9053 \u7c7b\u578b \u5c06   carla . LaneType   \u4f5c\u4e3a \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u679a\u4e3e \u503c \u8f6c\u6362 \u4e3a   API   \u3002   \u8f66\u9053 \u5468\u56f4 \u7684 \u8f66\u9053 \u6807\u8bb0 \u53ef \u901a\u8fc7   carla . LaneMarking   \u8bbf\u95ee \u3002 \u8f66\u9053 \u6807\u8bb0 \u7531 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u53d8\u91cf \u5b9a\u4e49 \uff1a   color :   carla . LaneMarkingColor   \u662f \u5b9a\u4e49 \u6807\u8bb0 \u989c\u8272 \u7684 \u679a\u4e3e \u503c \u3002   lane _ change :   carla . LaneChange   \u8bf4\u660e \u8f66\u9053 \u662f\u5426 \u5141\u8bb8 \u5de6\u8f6c \u3001 \u53f3\u8f6c \u3001 \u4e24\u8005 \u90fd \u5141\u8bb8 \u6216 \u4e0d \u5141\u8bb8 \u3002   type :   carla . LaneMarkingType   \u662f \u6839\u636e   OpenDRIVE   \u6807\u51c6 \u5b9a\u4e49 \u6807\u8bb0 \u7c7b\u578b \u7684 \u679a\u4e3e \u503c \u3002   width :   \u5b9a\u4e49 \u6807\u8bb0 \u7684 \u539a\u5ea6 \u3002   \u4e0b\u9762 \u7684 \u793a\u4f8b \u663e\u793a \u4e86 \u83b7\u53d6 \u6709\u5173 \u7279\u5b9a \u8def\u5f84 \u70b9 \u7684 \u8f66\u9053 \u7c7b\u578b \u3001 \u8f66\u9053 \u6807\u8bb0 \u548c \u8f66\u9053 \u53d8\u66f4 \u6743\u9650 \u7684 \u4fe1\u606f \uff1a   #   \u83b7\u5f97 \u8def\u5f84 \u70b9 \u8f66\u9053 \u7c7b\u578b   lane _ type   =   waypoint . lane _ type   #   \u83b7\u5f97 \u5de6 \u8f66\u9053 \u6807\u8bb0 \u7684 \u7c7b\u578b   left _ lanemarking _ type   =   waypoint . left _ lane _ marking . type ( )   #   \u83b7\u5f97 \u8be5 \u8def\u5f84 \u70b9 \u53ef \u5f97 \u7684 \u8f66\u9053 \u6539\u53d8   lane _ change   =   waypoint . lane _ change   \u8def\u53e3   carla . Junction   \u4ee3\u8868   OpenDRIVE   \u8fde\u63a5 \u63a5\u70b9 \u8fde\u63a5\u70b9 \u3002 \u6b64\u7c7b \u5305\u542b \u5e26\u6709 \u8fb9\u754c \u6846 \u7684 \u4ea4\u6c47 \u4ea4\u6c47\u5904 \uff0c \u7528\u4e8e \u8bc6\u522b \u5176\u4e2d \u7684 \u8f66\u9053 \u6216 \u8f66\u8f86 \u3002   \u8be5   carla . Junction   \u7c7b \u5305\u542b   get _ waypoints   \u4e3a \u4ea4\u6c47 \u4ea4\u6c47\u5904 \u7684 \u6bcf\u4e2a \u8f66\u9053 \u8fd4\u56de \u4e00\u5bf9 \u8def\u70b9 \u7684 \u65b9\u6cd5 \u3002 \u6bcf \u5bf9 \u4f4d\u4e8e \u4ea4\u754c \u4ea4\u754c\u5904 \u8fb9\u754c \u7684 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u3002   waypoints _ junc   =   my _ junction . get _ waypoints ( )   \u73af\u5883 \u5bf9\u8c61   Carla   \u5730\u56fe \u4e0a \u7684 \u6bcf\u4e2a \u5bf9\u8c61 \u90fd \u6709 \u4e00\u7ec4 \u5173\u8054 \u7684 \u53d8\u91cf \uff0c \u53ef\u4ee5 \u5728   \u6b64   \u5904 \u627e\u5230 \u8fd9\u4e9b \u53d8\u91cf \u3002 \u8fd9\u4e9b \u53d8\u91cf \u4e2d \u5305\u542b \u4e00\u4e2a   \u552f\u4e00   ID   \uff0c \u53ef \u7528\u4e8e \u5207\u6362 \u8be5 \u5bf9\u8c61 \u5728 \u5730\u56fe \u4e0a \u7684 \u53ef\u89c1 \u6027 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528   Python   API   \u6839\u636e \u6bcf\u4e2a \u73af\u5883 \u5bf9\u8c61 \u7684   \u8bed\u4e49 \u6807\u7b7e   \u83b7\u53d6   \u5176   ID   \uff1a   #   \u83b7\u5f97 \u4e16\u754c \u4e2d \u7684 \u5efa\u7b51   world   =   client . get _ world ( )   env _ objs   =   world . get _ environment _ objects ( carla . CityObjectLabel . Buildings )   #   \u8bbf\u95ee \u5404\u4e2a \u5efa\u7b51   IDs   \u5e76 \u4fdd\u5b58 \u5728 \u96c6\u5408 \u5f53\u4e2d   building _ 01   =   env _ objs [ 0 ]   building _ 02   =   env _ objs [ 1 ]   objects _ to _ toggle   =   { building _ 01 . id ,   building _ 02 . id }   #   \u5207\u6362 \u5efa\u7b51 \u4e3a \u4e0d \u53ef\u89c1   world . enable _ environment _ objects ( objects _ to _ toggle ,   False )   #   \u5207\u6362 \u5efa\u7b51 \u4e3a \u53ef\u89c1   world . enable _ environment _ objects ( objects _ to _ toggle ,   True )   \u67e5\u770b \u5207\u6362 \u4e0d\u540c \u5bf9\u8c61 \u7684 \u793a\u4f8b \uff1a   \u5728   Carla   \u4e2d \u5bfc\u822a   Carla   \u4e2d \u7684 \u5bfc\u822a \u662f \u901a\u8fc7   Waypoint   API   \uff08 \u6765\u81ea   carla . Waypoint   \u548c   carla . Map   \u7684 \u65b9\u6cd5 \u7ec4\u5408 \uff09 \u8fdb\u884c \u7ba1\u7406 \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5fc5\u987b \u9996\u5148 \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u4ee5 \u68c0\u7d22 \u5305\u542b \u8def\u5f84 \u70b9 \u4fe1\u606f \u7684 \u5730\u56fe \u5bf9\u8c61 \u3002 \u8fd9 \u53ea \u9700\u8981 \u4e00\u6b21 \uff0c \u6240\u6709 \u540e\u7eed \u67e5\u8be2 \u90fd \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6267\u884c \u3002   \u901a\u8fc7 \u8def\u5f84 \u70b9 \u5bfc\u822a   Waypoint   API   \u516c\u5f00 \u4e86 \u5141\u8bb8 \u8def\u5f84 \u70b9 \u76f8\u4e92 \u4e92\u8fde \u8fde\u63a5 \u76f8\u4e92\u8fde\u63a5 \u5e76 \u6784\u5efa \u6cbf \u9053\u8def \u4f9b \u8f66\u8f86 \u5bfc\u822a \u7684 \u8def\u5f84 \u7684 \u65b9\u6cd5 \uff1a   next ( d )   \u5728 \u8f66\u9053 \u65b9\u5411 \u4e0a   \u521b\u5efa \u8fd1\u4f3c \u8ddd\u79bb   d   \u5185 \u7684 \u8def\u5f84 \u70b9 \u5217\u8868 \u3002 \u8be5 \u5217\u8868 \u5305\u542b \u6bcf\u4e2a \u53ef\u80fd \u504f\u5dee \u7684 \u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002   previous ( d )   \u5728 \u8f66\u9053 \u76f8\u53cd \u7684 \u65b9\u5411 \u4e0a   \u521b\u5efa \u8fd1\u4f3c \u8ddd\u79bb \u5c0f\u4e8e   d   \u7684 \u8def\u5f84 \u70b9 \u5217\u8868 \u3002 \u8be5 \u5217\u8868 \u5305\u542b \u6bcf\u4e2a \u53ef\u80fd \u504f\u5dee \u7684 \u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002   next _ until _ lane _ end ( d )   \u548c   previous _ until _ lane _ start ( d )   \u8fd4\u56de \u76f8\u8ddd \u4e00\u5b9a \u8ddd\u79bb   d   \u7684 \u8def\u5f84 \u70b9 \u5217\u8868 \u3002 \u8fd9\u4e9b \u5217\u8868 \u5206\u522b \u4ece \u5f53\u524d \u8def\u5f84 \u70b9\u5230 \u5176 \u8f66\u9053 \u7684 \u7ec8\u70b9 \u548c \u8d77\u70b9 \u3002   get _ right _ lane ( )   \u548c   get _ left _ lane ( )   \u8fd4\u56de \u76f8\u90bb \u8f66\u9053 \u4e2d \u7684 \u7b49 \u8def\u5f84 \u70b9 \uff08 \u5982\u679c \u5b58\u5728 \uff09 \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u627e\u5230 \u53f3 / \u5de6 \u8f66\u9053 \u4e0a \u7684 \u4e0b \u4e00\u4e2a \u8def\u70b9 \u5e76 \u79fb\u52a8 \u5230 \u8be5 \u8def\u70b9 \u6765 \u8fdb\u884c \u53d8\u9053 \u64cd\u4f5c \u3002   #   \u627e\u5230 \u524d\u9762   2   \u7c73 \u7684 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9   waypoint   =   waypoint . next ( 2.0 )   \u751f\u6210 \u5730\u56fe \u5bfc\u822a   \u5ba2\u6237 \u5ba2\u6237\u7aef \u9700\u8981 \u5411 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53d1\u51fa \u8bf7\u6c42 \u53d1\u51fa\u8bf7\u6c42 \u6765 \u83b7\u53d6   . xodr   \u5730\u56fe \u6587\u4ef6 \u5e76 \u5c06 \u5176 \u89e3\u6790 \u4e3a   carla . Map   \u5bf9\u8c61 \u3002 \u8fd9 \u53ea \u9700\u8981 \u505a \u4e00\u6b21 \u3002   \u83b7\u53d6 \u5730\u56fe \u5bf9\u8c61 \uff1a   map   =   world . get _ map ( )   \u5730\u56fe \u5bf9\u8c61 \u5305\u542b \u7528\u4e8e \u521b\u5efa \u8f66\u8f86 \u7684   \u63a8\u8350 \u751f\u6210 \u70b9   \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u65b9\u6cd5 \u83b7\u53d6 \u8fd9\u4e9b \u751f\u6210 \u70b9 \u7684 \u5217\u8868 \uff0c \u6bcf\u4e2a \u751f\u6210 \u70b9 \u90fd \u5305\u542b   carla . Transform   \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u751f\u6210 \u70b9 \u53ef\u80fd \u5df2 \u88ab \u5360\u7528 \uff0c \u4ece\u800c \u5bfc\u81f4 \u7531\u4e8e \u78b0\u649e \u800c \u5bfc\u81f4 \u8f66\u8f86 \u521b\u5efa \u5931\u8d25 \u3002   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   \u60a8 \u53ef\u4ee5 \u901a\u8fc7   \u83b7\u53d6   \u8ddd \u7279\u5b9a \u4f4d\u7f6e \u6216 \u7279\u5b9a   road _ id   \u3001   lane _ id   \u548c   s   \u4f4d\u7f6e \u6700\u8fd1 \u7684 \u8def\u5f84 \u70b9 \u4ee5\u53ca \u5730\u56fe   OpenDRIVE   \u5b9a\u4e49 \u4e2d \u7684 \u503c\u6765 \u5f00\u59cb \u4f7f\u7528 \u8def\u5f84 \u70b9 \uff1a   #   \u9a7e\u9a76 \u8f66\u9053 \u6216 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u4e2d\u5fc3 \u6700\u8fd1 \u7684 \u8def\u5f84 \u70b9 \u3002   waypoint01   =   map . get _ waypoint ( vehicle . get _ location ( ) , project _ to _ road = True ,   lane _ type = ( carla . LaneType . Driving   |   carla . LaneType . Sidewalk ) )   #   \u6700\u8fd1 \u7684 \u8def\u5f84 \u70b9 \uff0c \u540c\u65f6 \u6307\u5b9a   OpenDRIVE   \u53c2\u6570 \u3002   waypoint02   =   map . get _ waypoint _ xodr ( road _ id , lane _ id , s )   \u4e0b\u9762 \u7684 \u793a\u4f8b \u5c55\u793a \u4e86 \u5982\u4f55   \u751f\u6210 \u8def\u70b9 \u96c6\u5408   \u4ee5 \u53ef\u89c6 \u53ef\u89c6\u5316 \u57ce\u5e02 \u8f66\u9053 \u3002 \u8fd9 \u5c06 \u4e3a \u6574\u4e2a \u5730\u56fe \u4e0a \u7684 \u6bcf\u6761 \u9053\u8def \u548c \u8f66\u9053 \u521b\u5efa \u8def\u5f84 \u70b9 \u3002 \u5b83\u4eec \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u5927\u7ea6 \u4e3a   2   \u7c73 \uff1a   waypoint _ list   =   map . generate _ waypoints ( 2.0 )   \u8981   \u751f\u6210 \u9053\u8def \u62d3\u6251 \u7684 \u6700\u5c0f \u56fe   \uff0c \u8bf7 \u4f7f\u7528 \u4e0b\u9762 \u7684 \u793a\u4f8b \u3002 \u8fd9 \u5c06 \u8fd4\u56de \u8def\u5f84 \u70b9 \u5bf9 \uff08 \u5143\u7ec4 \uff09 \u7684 \u5217\u8868 \u3002 \u6bcf \u5bf9 \u4e2d \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u5143\u7d20 \u4e0e \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u5143\u7d20 \u8fde\u63a5 \uff0c \u4e24\u8005 \u90fd \u5b9a\u4e49 \u4e86 \u5730\u56fe \u4e2d \u6bcf\u6761 \u8f66\u9053 \u7684 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u3002 \u6709\u5173 \u6b64 \u65b9\u6cd5 \u7684 \u66f4 \u591a \u4fe1\u606f \u53ef\u4ee5 \u5728   PythonAPI   \u4e2d \u627e\u5230 \u3002   waypoint _ tuple _ list   =   map . get _ topology ( )   \u4e0b\u9762 \u7684 \u793a\u4f8b   \u5c06   carla . Transform   \u8f6c\u6362 \u4e3a \u5730\u7406 \u7eac\u5ea6 \u5730\u7406\u7eac\u5ea6 \u548c \u7ecf\u5ea6 \u5750\u6807   \uff0c \u91c7\u7528   carla . GeoLocation   \u7684 \u5f62\u5f0f \uff1a   my _ geolocation   =   map . transform _ to _ geolocation ( vehicle . transform )   \u4f7f\u7528 \u4ee5\u4e0b \u793a\u4f8b \u5c06   OpenDRIVE   \u683c\u5f0f \u7684   \u9053\u8def \u4fe1\u606f \u4fdd\u5b58 \u5230 \u78c1\u76d8   \uff1a   info _ map   =   map . to _ opendrive ( )   Carla   \u5730\u56fe   Carla   \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf \u4e2d\u6709 \u516b\u4e2a \u57ce\u9547 \uff0c \u6bcf\u4e2a \u57ce\u9547 \u90fd \u6709 \u4e24\u79cd \u5730\u56fe \uff0c \u975e \u5206\u5c42 \u5730\u56fe \u548c \u5206\u5c42 \u5730\u56fe \u3002   \u56fe\u5c42   \u662f \u6307 \u5730\u56fe \u4e2d \u5206\u7ec4 \u7684 \u5bf9\u8c61 \uff0c \u7531 \u4ee5\u4e0b \u90e8\u5206 \u7ec4\u6210 \uff1a   NONE   \u5efa\u7b51 \u5efa\u7b51\u7269   \u8d34\u6807   \u53f6\u5b50   \u5730\u9762   \u505c\u653e \u7684 \u8f66\u8f86   \u7c92\u5b50   \u9053\u5177   \u8def\u706f   \u5899\u58c1   \u5168\u90e8   \u975e \u5206\u5c42 \u5730\u56fe   \u4e0b\u8868 \u663e\u793a \u4e86 \u975e \u5206\u5c42 \u5730\u56fe \uff08 \u5355\u51fb \u57ce\u9547 \u540d\u79f0 \u53ef \u67e5\u770b \u5e03\u5c40 \u7684 \u4fef\u89c6 \u89c6\u56fe \u4fef\u89c6\u56fe \uff09 \u3002 \u6240\u6709 \u56fe\u5c42 \u59cb\u7ec8 \u5b58\u5728 \uff0c \u5e76\u4e14 \u65e0\u6cd5 \u5728 \u8fd9\u4e9b \u5730\u56fe \u4e2d \u6253\u5f00 \u6216 \u5173\u95ed \u3002 \u76f4\u5230   Carla   0.9 . 11   \u4e3a\u6b62 \uff0c \u8fd9\u4e9b \u662f \u552f\u4e00 \u53ef\u7528 \u7684 \u5730\u56fe \u7c7b\u578b \u3002   \u7b14\u8bb0   \u7528\u6237 \u53ef\u4ee5 \u4f7f\u7528   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   \u751a\u81f3 \u521b\u5efa \u8981 \u5728   Carla   \u4e2d \u4f7f\u7528 \u7684   \u65b0 \u5730\u56fe   \u3002   \u57ce\u9547   \u6982\u62ec   Town01   \u7531 \u201c T   \u5b57 \u8def\u53e3 \u201d \u7ec4\u6210 \u7684 \u57fa\u672c \u57ce\u9547 \u5e03\u5c40 \u3002   Town02   \u548c   Town01   \u7c7b\u4f3c \uff0c \u4f46\u662f \u66f4 \u5c0f \u3002   Town03   \u6700 \u590d\u6742 \u7684 \u57ce\u9547 \uff0c \u6709   5   \u8f66\u9053 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u3001 \u73af\u5c9b \u3001 \u51f9\u51f8 \u4e0d\u5e73 \u51f9\u51f8\u4e0d\u5e73 \u3001 \u96a7\u9053 \u7b49 \u3002   Town04   \u6709 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u548c \u5c0f\u9547 \u7684 \u65e0\u9650 \u5faa\u73af \u3002   Town05   \u65b9\u5f62 \u7f51\u683c \u57ce\u9547 \uff0c \u6709 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u548c \u4e00\u5ea7 \u6865\u6881 \u3002 \u6bcf\u4e2a \u65b9\u5411 \u6709 \u591a\u4e2a \u8f66\u9053 \u3002 \u5bf9\u4e8e \u6267\u884c \u53d8\u9053 \u5f88 \u6709\u7528 \u3002   Town06   \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u957f \uff0c \u6709 \u8bb8\u591a \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u5165\u53e3 \u548c \u51fa\u53e3 \u3002 \u5b83 \u8fd8\u6709 \u4e00\u4e2a   \u5bc6\u6b47\u6839 \u5de6\u8f6c   \u3002   Town07   \u4e61\u6751 \u73af\u5883 \uff0c \u9053\u8def \u72ed\u7a84 \uff0c \u8c37\u4ed3 \uff0c \u51e0\u4e4e \u6ca1\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u3002   Town10   \u5177\u6709 \u5927\u9053 \u6216 \u957f\u5eca \u7b49 \u4e0d\u540c \u73af\u5883 \u7684 \u57ce\u5e02 \u73af\u5883 \uff0c \u4ee5\u53ca \u66f4 \u771f\u5b9e \u7684 \u7eb9\u7406 \u3002   Town11   \u5177\u6709 \u5927\u9053 \u6216 \u957f\u5eca \u7b49 \u4e0d\u540c \u73af\u5883 \u7684 \u57ce\u5e02 \u73af\u5883 \uff0c \u4ee5\u53ca \u66f4 \u771f\u5b9e \u7684 \u7eb9\u7406 \u3002   Town12   \u4e00\u5f20 \u5305\u542b \u8bb8\u591a \u4e0d\u540c \u533a\u57df \u7684 \u5927 \u5730\u56fe \uff0c \u5305\u62ec \u9ad8\u5c42 \u5efa\u7b51 \u9ad8\u5c42\u5efa\u7b51 \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u73af\u5883 \u3002   Town13   \u4e00\u5f20 \u4e0e   12   \u53f7 \u9547 \u89c4\u6a21 \u76f8\u4f3c \u7684 \u5927 \u5730\u56fe \uff0c \u4f46 \u5177\u6709 \u9c9c\u660e \u7684 \u7279\u8272 \u3002   Town15   \u57fa\u4e8e \u5df4\u585e \u585e\u7f57 \u7f57\u90a3 \u5df4\u585e\u7f57\u90a3 \u81ea\u6cbb \u5927\u5b66 \u9053\u8def \u5e03\u5c40 \u7684 \u5730\u56fe \u3002   HUTB   \u57fa\u4e8e \u6e56\u5357 \u5de5\u5546 \u5546\u5927 \u5927\u5b66 \u5de5\u5546\u5927\u5b66 \u9053\u8def \u5e03\u5c40 \u7684 \u5730\u56fe \u3002   \u5206\u5c42 \u5730\u56fe   \u5206\u5c42 \u5730\u56fe \u7684 \u5e03\u5c40 \u4e0e\u975e \u5206\u5c42 \u5730\u56fe \u76f8\u540c \uff0c \u4f46 \u53ef\u4ee5 \u5173\u95ed \u548c \u6253\u5f00 \u5730\u56fe \u7684 \u56fe\u5c42 \u3002 \u6709 \u4e00\u4e2a \u65e0\u6cd5 \u5173\u95ed \u7684 \u6700\u5c0f \u5e03\u5c40 \uff0c \u7531 \u9053\u8def \u3001 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u7ec4\u6210 \u3002 \u5206\u5c42 \u5730\u56fe \u53ef\u4ee5 \u901a\u8fc7 \u540e\u7f00   _ Opt   \u6765 \u6807\u8bc6 \uff0c \u4f8b\u5982   Town01 _ Opt   \u3002 \u4f7f\u7528 \u8fd9\u4e9b \u5730\u56fe \uff0c \u53ef\u4ee5 \u901a\u8fc7   Python   API   \u52a0\u8f7d   \u548c   \u5378\u8f7d   \u56fe\u5c42 \uff1a   #   \u52a0\u8f7d   \u57ce\u9547 01   \u7684 \u5206\u5c42 \u5730\u56fe \uff0c \u5e26\u6709 \u6700\u5c0f \u5e03\u5c40 \u52a0\u4e0a \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u505c\u653e \u7684 \u8f66\u8f86   world   =   client . load _ world ( ' Town01 _ Opt ' ,   carla . MapLayer . Buildings   |   carla . MapLayer . ParkedVehicles )   #   \u5173\u95ed \u6240\u6709 \u5efa\u7b51   world . unload _ map _ layer ( carla . MapLayer . Buildings )   #   \u6253\u5f00 \u6240\u6709 \u5efa\u7b51   world . load _ map _ layer ( carla . MapLayer . Buildings )   \u67e5\u770b \u6309 \u987a\u5e8f \u52a0\u8f7d \u548c \u5378\u8f7d \u6240\u6709 \u5c42 \u7684 \u793a\u4f8b \uff1a   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   Carla   \u65e8\u5728 \u9488\u5bf9 \u4e13\u4e1a \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u8fdb\u884c \u53ef \u6269\u5c55 \u548c \u9ad8\u5ea6 \u5b9a\u5236 \u3002 \u56e0\u6b64 \uff0c \u9664\u4e86   Carla   \u4e2d \u73b0\u6709 \u7684 \u8bb8\u591a \u5730\u56fe \u548c \u8d44\u4ea7 \u4e4b\u5916 \uff0c \u8fd8 \u53ef\u4ee5 \u521b\u5efa \u548c \u5bfc\u5165 \u65b0 \u7684 \u5730\u56fe \u3001 \u9053\u8def \u7f51\u7edc \u548c \u8d44\u4ea7 \uff0c \u4ee5 \u586b\u5145   Carla   \u4eff\u771f \u4e2d \u7684 \u5b9a\u5236 \u73af\u5883 \u3002 \u4ee5\u4e0b \u6587\u6863 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u6784\u5efa \u548c \u96c6\u6210 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u6240 \u9700 \u7684 \u6b65\u9aa4 \uff1a   \u6982\u8ff0   \u9053\u8def \u6d82\u88c5   \u5b9a\u5236 \u5efa\u7b51   \u751f\u6210 \u5730\u56fe   \u6dfb\u52a0 \u5730\u56fe \u5730\u56fe\u5305   \u6dfb\u52a0 \u5730\u56fe \u6e90   \u66ff\u4ee3 \u65b9\u6cd5","title":"Core   map"},{"location":"core_map/#_1","text":"\u5728 \u8ba8\u8bba \u4e86 \u4e16\u754c \u53ca\u5176 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u540e \uff0c \u662f \u65f6\u5019 \u5c06 \u6240\u6709 \u5185\u5bb9 \u90fd \u653e\u5728 \u9002\u5f53 \u7684 \u4f4d\u7f6e \u5e76 \u4e86\u89e3 \u5730\u56fe \u4ee5\u53ca \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5982\u4f55 \u5bfc\u822a \u3002   \u5730\u56fe   \u6539\u53d8 \u5730\u56fe   \u5730\u6807   \u8def\u5f84 \u70b9   \u8f66\u9053   \u8def\u53e3   \u73af\u5883 \u5bf9\u8c61   \u5728   Carla   \u4e2d \u5bfc\u822a   \u901a\u8fc7 \u8def\u5f84 \u70b9 \u5bfc\u822a   \u751f\u6210 \u5730\u56fe \u5bfc\u822a   Carla   \u5730\u56fe   \u975e \u5206\u5c42 \u5730\u56fe   \u5206\u5c42 \u5730\u56fe   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   \u6982\u8ff0   \u9053\u8def \u6d82\u88c5   painting   \u5b9a\u5236 \u5efa\u7b51   \u751f\u6210 \u5730\u56fe   \u6dfb\u52a0 \u5730\u56fe \u5730\u56fe\u5305   \u6dfb\u52a0 \u5730\u56fe \u6e90   \u66ff\u4ee3 \u65b9\u6cd5","title":"\u7b2c\u4e09 \u3001 \u5730\u56fe \u548c \u5bfc\u822a"},{"location":"core_map/#_2","text":"\u5730\u56fe \u5305\u62ec \u57ce\u9547 \u7684 \u4e09\u7ef4 \u6a21\u578b \u53ca\u5176 \u9053\u8def \u5b9a\u4e49 \u3002 \u5730\u56fe \u7684 \u9053\u8def \u5b9a\u4e49 \u57fa\u4e8e   OpenDRIVE   \u6587\u4ef6 \uff0c \u8fd9\u662f \u4e00\u79cd \u6807\u51c6 \u6807\u51c6\u5316 \u7684 \u5e26 \u6ce8\u91ca \u7684 \u9053\u8def \u5b9a\u4e49 \u683c\u5f0f \u3002   OpenDRIVE   1.4   \u6807\u51c6   \u5b9a\u4e49 \u9053\u8def \u3001 \u8f66\u9053 \u3001 \u8def\u53e3 \u7b49 \u65b9\u5f0f \u51b3\u5b9a \u4e86   Python   API   \u7684 \u529f\u80fd \u4ee5\u53ca \u51b3\u7b56 \u80cc\u540e \u7684 \u63a8\u7406 \u3002   Python   API   \u5145\u5f53 \u9ad8\u7ea7 \u67e5\u8be2 \u7cfb\u7edf \u6765 \u5bfc\u822a \u8fd9\u4e9b \u9053\u8def \u3002 \u5b83 \u4e0d\u65ad \u53d1\u5c55 \u4ee5 \u63d0\u4f9b \u66f4 \u5e7f\u6cdb \u7684 \u5de5\u5177 \u5de5\u5177\u96c6 \u3002","title":"\u5730\u56fe  "},{"location":"core_map/#_3","text":"\u8981 \u6539\u53d8 \u5730\u56fe \uff0c \u4e16\u754c \u4e5f \u5fc5\u987b \u6539\u53d8   \u3002 \u5c06 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u91cd\u65b0 \u521b\u5efa \u4eff\u771f \u3002 \u60a8 \u53ef\u4ee5 \u5728 \u4e16\u754c \u65b0\u4e16\u754c \u4e2d \u4f7f\u7528 \u76f8\u540c \u7684 \u5730\u56fe \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \uff0c \u4e5f \u53ef\u4ee5 \u66f4\u6539 \u5730\u56fe \u548c \u4e16\u754c \uff1a   reload _ world ( )   \u4f7f\u7528 \u76f8\u540c \u7684 \u5730\u56fe \u521b\u5efa \u4e16\u754c \u7684 \u65b0 \u5b9e\u4f8b \u3002   load _ world ( )   \u6539\u53d8 \u5f53\u524d \u5730\u56fe \u5e76 \u521b\u5efa \u4e00\u4e2a \u4e16\u754c \u65b0\u4e16\u754c \u3002   world   =   client . load _ world ( ' Town01 ' )   \u6bcf\u4e2a \u5730\u56fe \u90fd \u6709 \u4e00\u4e2a \u4e0e \u5f53\u524d \u52a0\u8f7d \u7684 \u57ce\u5e02 \u540d\u79f0 \u5339\u914d \u7684   name   \u5c5e\u6027 \uff0c \u4f8b\u5982   Town01   \u3002 \u8981 \u83b7\u53d6 \u53ef\u7528 \u5730\u56fe \u7684 \u5217\u8868 \uff1a   print ( client . get _ available _ maps ( ) )","title":"\u6539\u53d8 \u5730\u56fe  "},{"location":"core_map/#_4","text":"OpenDRIVE   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \u7684 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u5c06 \u8f6c\u6362 \u4e3a   Carla \uff0c \u4f5c\u4e3a \u53ef \u4ece   API   \u67e5\u8be2 \u7684 \u5730\u6807 \u5bf9\u8c61 \u3002 \u4ee5\u4e0b \u65b9\u6cd5 \u548c \u7c7b \u53ef \u7528\u4e8e \u64cd\u4f5c \u548c \u4f7f\u7528 \u5730\u6807 \u5bf9\u8c61 \uff1a   carla . Landmark   \u5bf9\u8c61 \u4ee3\u8868   OpenDRIVE   \u4fe1\u53f7 \u3002 \u8be5\u7c7b \u7684 \u5c5e\u6027 \u548c \u65b9\u6cd5 \u63cf\u8ff0 \u4e86 \u5730\u6807 \u53ca\u5176 \u5f71\u54cd \u533a\u57df \u3002   carla . LandmarkOrientation   \u8bf4\u660e \u5730\u6807 \u76f8\u5bf9 \u4e8e \u9053\u8def \u51e0\u4f55 \u5b9a\u4e49 \u7684 \u65b9\u5411 \u3002   carla . LandmarkType   \u5305\u542b \u5e38\u89c1 \u7684 \u5730\u6807 \u7c7b\u578b \uff0c \u4ee5\u4fbf \u4e8e \u8f6c\u6362 \u4e3a   OpenDRIVE   \u7c7b\u578b \u3002   carla . Waypoint   \u53ef\u4ee5 \u83b7\u5f97 \u4f4d\u4e8e \u5176 \u524d\u65b9 \u4e00\u5b9a \u8ddd\u79bb \u7684 \u5730\u6807 \u3002 \u53ef\u4ee5 \u6307\u5b9a \u8981 \u83b7\u53d6 \u7684 \u5730\u6807 \u7c7b\u578b \u3002   carla . Map   \u68c0\u7d22 \u5730\u6807 \u96c6 \u3002 \u5b83 \u53ef\u4ee5 \u8fd4\u56de \u5730\u56fe \u4e2d \u7684 \u6240\u6709 \u5730\u6807 \uff0c \u6216\u8005 \u5177\u6709 \u5171\u540c   ID \u3001 \u7c7b\u578b \u6216\u7ec4 \u7684 \u5730\u6807 \u3002   carla . World   \u5145\u5f53 \u5730\u6807 \u3001 \u4eff\u771f \u4e2d \u4ee3\u8868 \u4ed6\u4eec \u7684   carla . TrafficSign   \u548c   carla . TrafficLight   \u4e4b\u95f4 \u7684 \u4e2d\u95f4 \u3002   my _ waypoint . get _ landmarks ( 200.0 , True )","title":"\u5730\u6807  "},{"location":"core_map/#_5","text":"carla . Waypoint   \u662f   Carla   \u4e16\u754c \u4e2d \u7684 \u4e09\u7ef4 \u6709 \u5411 \u70b9 \uff0c \u5bf9\u5e94 \u4e8e   OpenDRIVE   \u8f66\u9053 \u3002 \u4e0e \u8def\u5f84 \u70b9 \u76f8\u5173 \u7684 \u6240\u6709 \u4e8b\u60c5 \u90fd \u53d1\u751f \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1b \u53ea \u9700 \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u4e00\u6b21 \u5373\u53ef \u83b7\u53d6 \u5305\u542b \u8def\u5f84 \u70b9 \u4fe1\u606f \u7684   \u5730\u56fe \u5bf9\u8c61   \u3002   \u6bcf\u4e2a \u8def\u5f84 \u70b9 \u90fd \u5305\u542b \u4e00\u4e2a   carla . Transform   \uff0c \u5b83 \u8bf4\u660e \u5176 \u5728 \u5730\u56fe \u4e0a \u7684 \u4f4d\u7f6e \u4ee5\u53ca \u5305\u542b \u8be5 \u8def\u5f84 \u70b9 \u7684 \u8f66\u9053 \u7684 \u65b9\u5411 \u3002 \u53d8\u91cf   road _ id   ,   section _ id   ,   lane _ id   \u548c   s   \u5bf9\u5e94   OpenDRIVE   \u9053\u8def \u3002 \u8def\u5f84 \u70b9   id   \u7684 \u662f \u7531 \u8fd9 \u56db\u4e2a \u503c \u7684 \u54c8\u5e0c \u7ec4\u5408 \u6784\u9020 \u7684 \u3002   \u7b14\u8bb0   \u540c\u4e00 \u9053\u8def \u5185 \u8ddd\u79bb \u5c0f\u4e8e   2   \u5398\u7c73   \u7684 \u8def\u70b9 \u5171\u4eab \u76f8\u540c \u7684 \u8def\u70b9   id   \u3002   \u8def\u5f84 \u70b9 \u4fdd\u5b58 \u6709\u5173 \u5305\u542b \u8be5 \u8def\u5f84 \u70b9 \u7684   \u8f66\u9053   \u7684 \u4fe1\u606f \u3002 \u6b64 \u4fe1\u606f \u5305\u62ec \u8f66\u9053 \u7684 \u5de6 \u8f66\u9053 \u548c \u53f3   \u8f66\u9053 \u6807\u8bb0   \u3001 \u7528\u4e8e \u786e\u5b9a \u5176 \u662f\u5426 \u4f4d\u4e8e \u8def\u53e3 \u5185 \u7684 \u5e03\u5c14 \u5e03\u5c14\u503c \u3001 \u8f66\u9053 \u7c7b\u578b \u3001 \u5bbd\u5ea6 \u548c \u8f66\u9053 \u53d8\u66f4 \u6743\u9650 \u3002   #   \u4ece \u8def\u5f84 \u70b9 \u8bbf\u95ee \u8f66\u9053 \u4fe1\u606f   inside _ junction   =   waypoint . is _ junction ( )   width   =   waypoint . lane _ width   right _ lm _ color   =   waypoint . right _ lane _ marking . color","title":"\u8def\u5f84 \u70b9  "},{"location":"core_map/#_6","text":"OpenDRIVE   1.4   \u6807\u51c6   \u5b9a\u4e49 \u7684 \u901a\u9053 \u7c7b\u578b \u5c06   carla . LaneType   \u4f5c\u4e3a \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u679a\u4e3e \u503c \u8f6c\u6362 \u4e3a   API   \u3002   \u8f66\u9053 \u5468\u56f4 \u7684 \u8f66\u9053 \u6807\u8bb0 \u53ef \u901a\u8fc7   carla . LaneMarking   \u8bbf\u95ee \u3002 \u8f66\u9053 \u6807\u8bb0 \u7531 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u53d8\u91cf \u5b9a\u4e49 \uff1a   color :   carla . LaneMarkingColor   \u662f \u5b9a\u4e49 \u6807\u8bb0 \u989c\u8272 \u7684 \u679a\u4e3e \u503c \u3002   lane _ change :   carla . LaneChange   \u8bf4\u660e \u8f66\u9053 \u662f\u5426 \u5141\u8bb8 \u5de6\u8f6c \u3001 \u53f3\u8f6c \u3001 \u4e24\u8005 \u90fd \u5141\u8bb8 \u6216 \u4e0d \u5141\u8bb8 \u3002   type :   carla . LaneMarkingType   \u662f \u6839\u636e   OpenDRIVE   \u6807\u51c6 \u5b9a\u4e49 \u6807\u8bb0 \u7c7b\u578b \u7684 \u679a\u4e3e \u503c \u3002   width :   \u5b9a\u4e49 \u6807\u8bb0 \u7684 \u539a\u5ea6 \u3002   \u4e0b\u9762 \u7684 \u793a\u4f8b \u663e\u793a \u4e86 \u83b7\u53d6 \u6709\u5173 \u7279\u5b9a \u8def\u5f84 \u70b9 \u7684 \u8f66\u9053 \u7c7b\u578b \u3001 \u8f66\u9053 \u6807\u8bb0 \u548c \u8f66\u9053 \u53d8\u66f4 \u6743\u9650 \u7684 \u4fe1\u606f \uff1a   #   \u83b7\u5f97 \u8def\u5f84 \u70b9 \u8f66\u9053 \u7c7b\u578b   lane _ type   =   waypoint . lane _ type   #   \u83b7\u5f97 \u5de6 \u8f66\u9053 \u6807\u8bb0 \u7684 \u7c7b\u578b   left _ lanemarking _ type   =   waypoint . left _ lane _ marking . type ( )   #   \u83b7\u5f97 \u8be5 \u8def\u5f84 \u70b9 \u53ef \u5f97 \u7684 \u8f66\u9053 \u6539\u53d8   lane _ change   =   waypoint . lane _ change","title":"\u8f66\u9053  "},{"location":"core_map/#_7","text":"carla . Junction   \u4ee3\u8868   OpenDRIVE   \u8fde\u63a5 \u63a5\u70b9 \u8fde\u63a5\u70b9 \u3002 \u6b64\u7c7b \u5305\u542b \u5e26\u6709 \u8fb9\u754c \u6846 \u7684 \u4ea4\u6c47 \u4ea4\u6c47\u5904 \uff0c \u7528\u4e8e \u8bc6\u522b \u5176\u4e2d \u7684 \u8f66\u9053 \u6216 \u8f66\u8f86 \u3002   \u8be5   carla . Junction   \u7c7b \u5305\u542b   get _ waypoints   \u4e3a \u4ea4\u6c47 \u4ea4\u6c47\u5904 \u7684 \u6bcf\u4e2a \u8f66\u9053 \u8fd4\u56de \u4e00\u5bf9 \u8def\u70b9 \u7684 \u65b9\u6cd5 \u3002 \u6bcf \u5bf9 \u4f4d\u4e8e \u4ea4\u754c \u4ea4\u754c\u5904 \u8fb9\u754c \u7684 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u3002   waypoints _ junc   =   my _ junction . get _ waypoints ( )","title":"\u8def\u53e3  "},{"location":"core_map/#_8","text":"Carla   \u5730\u56fe \u4e0a \u7684 \u6bcf\u4e2a \u5bf9\u8c61 \u90fd \u6709 \u4e00\u7ec4 \u5173\u8054 \u7684 \u53d8\u91cf \uff0c \u53ef\u4ee5 \u5728   \u6b64   \u5904 \u627e\u5230 \u8fd9\u4e9b \u53d8\u91cf \u3002 \u8fd9\u4e9b \u53d8\u91cf \u4e2d \u5305\u542b \u4e00\u4e2a   \u552f\u4e00   ID   \uff0c \u53ef \u7528\u4e8e \u5207\u6362 \u8be5 \u5bf9\u8c61 \u5728 \u5730\u56fe \u4e0a \u7684 \u53ef\u89c1 \u6027 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528   Python   API   \u6839\u636e \u6bcf\u4e2a \u73af\u5883 \u5bf9\u8c61 \u7684   \u8bed\u4e49 \u6807\u7b7e   \u83b7\u53d6   \u5176   ID   \uff1a   #   \u83b7\u5f97 \u4e16\u754c \u4e2d \u7684 \u5efa\u7b51   world   =   client . get _ world ( )   env _ objs   =   world . get _ environment _ objects ( carla . CityObjectLabel . Buildings )   #   \u8bbf\u95ee \u5404\u4e2a \u5efa\u7b51   IDs   \u5e76 \u4fdd\u5b58 \u5728 \u96c6\u5408 \u5f53\u4e2d   building _ 01   =   env _ objs [ 0 ]   building _ 02   =   env _ objs [ 1 ]   objects _ to _ toggle   =   { building _ 01 . id ,   building _ 02 . id }   #   \u5207\u6362 \u5efa\u7b51 \u4e3a \u4e0d \u53ef\u89c1   world . enable _ environment _ objects ( objects _ to _ toggle ,   False )   #   \u5207\u6362 \u5efa\u7b51 \u4e3a \u53ef\u89c1   world . enable _ environment _ objects ( objects _ to _ toggle ,   True )   \u67e5\u770b \u5207\u6362 \u4e0d\u540c \u5bf9\u8c61 \u7684 \u793a\u4f8b \uff1a","title":"\u73af\u5883 \u5bf9\u8c61  "},{"location":"core_map/#carla","text":"Carla   \u4e2d \u7684 \u5bfc\u822a \u662f \u901a\u8fc7   Waypoint   API   \uff08 \u6765\u81ea   carla . Waypoint   \u548c   carla . Map   \u7684 \u65b9\u6cd5 \u7ec4\u5408 \uff09 \u8fdb\u884c \u7ba1\u7406 \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5fc5\u987b \u9996\u5148 \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u4ee5 \u68c0\u7d22 \u5305\u542b \u8def\u5f84 \u70b9 \u4fe1\u606f \u7684 \u5730\u56fe \u5bf9\u8c61 \u3002 \u8fd9 \u53ea \u9700\u8981 \u4e00\u6b21 \uff0c \u6240\u6709 \u540e\u7eed \u67e5\u8be2 \u90fd \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6267\u884c \u3002","title":"\u5728   Carla   \u4e2d \u5bfc\u822a  "},{"location":"core_map/#_9","text":"Waypoint   API   \u516c\u5f00 \u4e86 \u5141\u8bb8 \u8def\u5f84 \u70b9 \u76f8\u4e92 \u4e92\u8fde \u8fde\u63a5 \u76f8\u4e92\u8fde\u63a5 \u5e76 \u6784\u5efa \u6cbf \u9053\u8def \u4f9b \u8f66\u8f86 \u5bfc\u822a \u7684 \u8def\u5f84 \u7684 \u65b9\u6cd5 \uff1a   next ( d )   \u5728 \u8f66\u9053 \u65b9\u5411 \u4e0a   \u521b\u5efa \u8fd1\u4f3c \u8ddd\u79bb   d   \u5185 \u7684 \u8def\u5f84 \u70b9 \u5217\u8868 \u3002 \u8be5 \u5217\u8868 \u5305\u542b \u6bcf\u4e2a \u53ef\u80fd \u504f\u5dee \u7684 \u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002   previous ( d )   \u5728 \u8f66\u9053 \u76f8\u53cd \u7684 \u65b9\u5411 \u4e0a   \u521b\u5efa \u8fd1\u4f3c \u8ddd\u79bb \u5c0f\u4e8e   d   \u7684 \u8def\u5f84 \u70b9 \u5217\u8868 \u3002 \u8be5 \u5217\u8868 \u5305\u542b \u6bcf\u4e2a \u53ef\u80fd \u504f\u5dee \u7684 \u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002   next _ until _ lane _ end ( d )   \u548c   previous _ until _ lane _ start ( d )   \u8fd4\u56de \u76f8\u8ddd \u4e00\u5b9a \u8ddd\u79bb   d   \u7684 \u8def\u5f84 \u70b9 \u5217\u8868 \u3002 \u8fd9\u4e9b \u5217\u8868 \u5206\u522b \u4ece \u5f53\u524d \u8def\u5f84 \u70b9\u5230 \u5176 \u8f66\u9053 \u7684 \u7ec8\u70b9 \u548c \u8d77\u70b9 \u3002   get _ right _ lane ( )   \u548c   get _ left _ lane ( )   \u8fd4\u56de \u76f8\u90bb \u8f66\u9053 \u4e2d \u7684 \u7b49 \u8def\u5f84 \u70b9 \uff08 \u5982\u679c \u5b58\u5728 \uff09 \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u627e\u5230 \u53f3 / \u5de6 \u8f66\u9053 \u4e0a \u7684 \u4e0b \u4e00\u4e2a \u8def\u70b9 \u5e76 \u79fb\u52a8 \u5230 \u8be5 \u8def\u70b9 \u6765 \u8fdb\u884c \u53d8\u9053 \u64cd\u4f5c \u3002   #   \u627e\u5230 \u524d\u9762   2   \u7c73 \u7684 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9   waypoint   =   waypoint . next ( 2.0 )","title":"\u901a\u8fc7 \u8def\u5f84 \u70b9 \u5bfc\u822a  "},{"location":"core_map/#_10","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef \u9700\u8981 \u5411 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53d1\u51fa \u8bf7\u6c42 \u53d1\u51fa\u8bf7\u6c42 \u6765 \u83b7\u53d6   . xodr   \u5730\u56fe \u6587\u4ef6 \u5e76 \u5c06 \u5176 \u89e3\u6790 \u4e3a   carla . Map   \u5bf9\u8c61 \u3002 \u8fd9 \u53ea \u9700\u8981 \u505a \u4e00\u6b21 \u3002   \u83b7\u53d6 \u5730\u56fe \u5bf9\u8c61 \uff1a   map   =   world . get _ map ( )   \u5730\u56fe \u5bf9\u8c61 \u5305\u542b \u7528\u4e8e \u521b\u5efa \u8f66\u8f86 \u7684   \u63a8\u8350 \u751f\u6210 \u70b9   \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u65b9\u6cd5 \u83b7\u53d6 \u8fd9\u4e9b \u751f\u6210 \u70b9 \u7684 \u5217\u8868 \uff0c \u6bcf\u4e2a \u751f\u6210 \u70b9 \u90fd \u5305\u542b   carla . Transform   \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u751f\u6210 \u70b9 \u53ef\u80fd \u5df2 \u88ab \u5360\u7528 \uff0c \u4ece\u800c \u5bfc\u81f4 \u7531\u4e8e \u78b0\u649e \u800c \u5bfc\u81f4 \u8f66\u8f86 \u521b\u5efa \u5931\u8d25 \u3002   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   \u60a8 \u53ef\u4ee5 \u901a\u8fc7   \u83b7\u53d6   \u8ddd \u7279\u5b9a \u4f4d\u7f6e \u6216 \u7279\u5b9a   road _ id   \u3001   lane _ id   \u548c   s   \u4f4d\u7f6e \u6700\u8fd1 \u7684 \u8def\u5f84 \u70b9 \u4ee5\u53ca \u5730\u56fe   OpenDRIVE   \u5b9a\u4e49 \u4e2d \u7684 \u503c\u6765 \u5f00\u59cb \u4f7f\u7528 \u8def\u5f84 \u70b9 \uff1a   #   \u9a7e\u9a76 \u8f66\u9053 \u6216 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u4e2d\u5fc3 \u6700\u8fd1 \u7684 \u8def\u5f84 \u70b9 \u3002   waypoint01   =   map . get _ waypoint ( vehicle . get _ location ( ) , project _ to _ road = True ,   lane _ type = ( carla . LaneType . Driving   |   carla . LaneType . Sidewalk ) )   #   \u6700\u8fd1 \u7684 \u8def\u5f84 \u70b9 \uff0c \u540c\u65f6 \u6307\u5b9a   OpenDRIVE   \u53c2\u6570 \u3002   waypoint02   =   map . get _ waypoint _ xodr ( road _ id , lane _ id , s )   \u4e0b\u9762 \u7684 \u793a\u4f8b \u5c55\u793a \u4e86 \u5982\u4f55   \u751f\u6210 \u8def\u70b9 \u96c6\u5408   \u4ee5 \u53ef\u89c6 \u53ef\u89c6\u5316 \u57ce\u5e02 \u8f66\u9053 \u3002 \u8fd9 \u5c06 \u4e3a \u6574\u4e2a \u5730\u56fe \u4e0a \u7684 \u6bcf\u6761 \u9053\u8def \u548c \u8f66\u9053 \u521b\u5efa \u8def\u5f84 \u70b9 \u3002 \u5b83\u4eec \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u5927\u7ea6 \u4e3a   2   \u7c73 \uff1a   waypoint _ list   =   map . generate _ waypoints ( 2.0 )   \u8981   \u751f\u6210 \u9053\u8def \u62d3\u6251 \u7684 \u6700\u5c0f \u56fe   \uff0c \u8bf7 \u4f7f\u7528 \u4e0b\u9762 \u7684 \u793a\u4f8b \u3002 \u8fd9 \u5c06 \u8fd4\u56de \u8def\u5f84 \u70b9 \u5bf9 \uff08 \u5143\u7ec4 \uff09 \u7684 \u5217\u8868 \u3002 \u6bcf \u5bf9 \u4e2d \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u5143\u7d20 \u4e0e \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u5143\u7d20 \u8fde\u63a5 \uff0c \u4e24\u8005 \u90fd \u5b9a\u4e49 \u4e86 \u5730\u56fe \u4e2d \u6bcf\u6761 \u8f66\u9053 \u7684 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u3002 \u6709\u5173 \u6b64 \u65b9\u6cd5 \u7684 \u66f4 \u591a \u4fe1\u606f \u53ef\u4ee5 \u5728   PythonAPI   \u4e2d \u627e\u5230 \u3002   waypoint _ tuple _ list   =   map . get _ topology ( )   \u4e0b\u9762 \u7684 \u793a\u4f8b   \u5c06   carla . Transform   \u8f6c\u6362 \u4e3a \u5730\u7406 \u7eac\u5ea6 \u5730\u7406\u7eac\u5ea6 \u548c \u7ecf\u5ea6 \u5750\u6807   \uff0c \u91c7\u7528   carla . GeoLocation   \u7684 \u5f62\u5f0f \uff1a   my _ geolocation   =   map . transform _ to _ geolocation ( vehicle . transform )   \u4f7f\u7528 \u4ee5\u4e0b \u793a\u4f8b \u5c06   OpenDRIVE   \u683c\u5f0f \u7684   \u9053\u8def \u4fe1\u606f \u4fdd\u5b58 \u5230 \u78c1\u76d8   \uff1a   info _ map   =   map . to _ opendrive ( )","title":"\u751f\u6210 \u5730\u56fe \u5bfc\u822a  "},{"location":"core_map/#carla_1","text":"Carla   \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf \u4e2d\u6709 \u516b\u4e2a \u57ce\u9547 \uff0c \u6bcf\u4e2a \u57ce\u9547 \u90fd \u6709 \u4e24\u79cd \u5730\u56fe \uff0c \u975e \u5206\u5c42 \u5730\u56fe \u548c \u5206\u5c42 \u5730\u56fe \u3002   \u56fe\u5c42   \u662f \u6307 \u5730\u56fe \u4e2d \u5206\u7ec4 \u7684 \u5bf9\u8c61 \uff0c \u7531 \u4ee5\u4e0b \u90e8\u5206 \u7ec4\u6210 \uff1a   NONE   \u5efa\u7b51 \u5efa\u7b51\u7269   \u8d34\u6807   \u53f6\u5b50   \u5730\u9762   \u505c\u653e \u7684 \u8f66\u8f86   \u7c92\u5b50   \u9053\u5177   \u8def\u706f   \u5899\u58c1   \u5168\u90e8","title":"Carla   \u5730\u56fe  "},{"location":"core_map/#_11","text":"\u4e0b\u8868 \u663e\u793a \u4e86 \u975e \u5206\u5c42 \u5730\u56fe \uff08 \u5355\u51fb \u57ce\u9547 \u540d\u79f0 \u53ef \u67e5\u770b \u5e03\u5c40 \u7684 \u4fef\u89c6 \u89c6\u56fe \u4fef\u89c6\u56fe \uff09 \u3002 \u6240\u6709 \u56fe\u5c42 \u59cb\u7ec8 \u5b58\u5728 \uff0c \u5e76\u4e14 \u65e0\u6cd5 \u5728 \u8fd9\u4e9b \u5730\u56fe \u4e2d \u6253\u5f00 \u6216 \u5173\u95ed \u3002 \u76f4\u5230   Carla   0.9 . 11   \u4e3a\u6b62 \uff0c \u8fd9\u4e9b \u662f \u552f\u4e00 \u53ef\u7528 \u7684 \u5730\u56fe \u7c7b\u578b \u3002   \u7b14\u8bb0   \u7528\u6237 \u53ef\u4ee5 \u4f7f\u7528   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   \u751a\u81f3 \u521b\u5efa \u8981 \u5728   Carla   \u4e2d \u4f7f\u7528 \u7684   \u65b0 \u5730\u56fe   \u3002   \u57ce\u9547   \u6982\u62ec   Town01   \u7531 \u201c T   \u5b57 \u8def\u53e3 \u201d \u7ec4\u6210 \u7684 \u57fa\u672c \u57ce\u9547 \u5e03\u5c40 \u3002   Town02   \u548c   Town01   \u7c7b\u4f3c \uff0c \u4f46\u662f \u66f4 \u5c0f \u3002   Town03   \u6700 \u590d\u6742 \u7684 \u57ce\u9547 \uff0c \u6709   5   \u8f66\u9053 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u3001 \u73af\u5c9b \u3001 \u51f9\u51f8 \u4e0d\u5e73 \u51f9\u51f8\u4e0d\u5e73 \u3001 \u96a7\u9053 \u7b49 \u3002   Town04   \u6709 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u548c \u5c0f\u9547 \u7684 \u65e0\u9650 \u5faa\u73af \u3002   Town05   \u65b9\u5f62 \u7f51\u683c \u57ce\u9547 \uff0c \u6709 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u548c \u4e00\u5ea7 \u6865\u6881 \u3002 \u6bcf\u4e2a \u65b9\u5411 \u6709 \u591a\u4e2a \u8f66\u9053 \u3002 \u5bf9\u4e8e \u6267\u884c \u53d8\u9053 \u5f88 \u6709\u7528 \u3002   Town06   \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u957f \uff0c \u6709 \u8bb8\u591a \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u5165\u53e3 \u548c \u51fa\u53e3 \u3002 \u5b83 \u8fd8\u6709 \u4e00\u4e2a   \u5bc6\u6b47\u6839 \u5de6\u8f6c   \u3002   Town07   \u4e61\u6751 \u73af\u5883 \uff0c \u9053\u8def \u72ed\u7a84 \uff0c \u8c37\u4ed3 \uff0c \u51e0\u4e4e \u6ca1\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u3002   Town10   \u5177\u6709 \u5927\u9053 \u6216 \u957f\u5eca \u7b49 \u4e0d\u540c \u73af\u5883 \u7684 \u57ce\u5e02 \u73af\u5883 \uff0c \u4ee5\u53ca \u66f4 \u771f\u5b9e \u7684 \u7eb9\u7406 \u3002   Town11   \u5177\u6709 \u5927\u9053 \u6216 \u957f\u5eca \u7b49 \u4e0d\u540c \u73af\u5883 \u7684 \u57ce\u5e02 \u73af\u5883 \uff0c \u4ee5\u53ca \u66f4 \u771f\u5b9e \u7684 \u7eb9\u7406 \u3002   Town12   \u4e00\u5f20 \u5305\u542b \u8bb8\u591a \u4e0d\u540c \u533a\u57df \u7684 \u5927 \u5730\u56fe \uff0c \u5305\u62ec \u9ad8\u5c42 \u5efa\u7b51 \u9ad8\u5c42\u5efa\u7b51 \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u73af\u5883 \u3002   Town13   \u4e00\u5f20 \u4e0e   12   \u53f7 \u9547 \u89c4\u6a21 \u76f8\u4f3c \u7684 \u5927 \u5730\u56fe \uff0c \u4f46 \u5177\u6709 \u9c9c\u660e \u7684 \u7279\u8272 \u3002   Town15   \u57fa\u4e8e \u5df4\u585e \u585e\u7f57 \u7f57\u90a3 \u5df4\u585e\u7f57\u90a3 \u81ea\u6cbb \u5927\u5b66 \u9053\u8def \u5e03\u5c40 \u7684 \u5730\u56fe \u3002   HUTB   \u57fa\u4e8e \u6e56\u5357 \u5de5\u5546 \u5546\u5927 \u5927\u5b66 \u5de5\u5546\u5927\u5b66 \u9053\u8def \u5e03\u5c40 \u7684 \u5730\u56fe \u3002","title":"\u975e \u5206\u5c42 \u5730\u56fe  "},{"location":"core_map/#_12","text":"\u5206\u5c42 \u5730\u56fe \u7684 \u5e03\u5c40 \u4e0e\u975e \u5206\u5c42 \u5730\u56fe \u76f8\u540c \uff0c \u4f46 \u53ef\u4ee5 \u5173\u95ed \u548c \u6253\u5f00 \u5730\u56fe \u7684 \u56fe\u5c42 \u3002 \u6709 \u4e00\u4e2a \u65e0\u6cd5 \u5173\u95ed \u7684 \u6700\u5c0f \u5e03\u5c40 \uff0c \u7531 \u9053\u8def \u3001 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u7ec4\u6210 \u3002 \u5206\u5c42 \u5730\u56fe \u53ef\u4ee5 \u901a\u8fc7 \u540e\u7f00   _ Opt   \u6765 \u6807\u8bc6 \uff0c \u4f8b\u5982   Town01 _ Opt   \u3002 \u4f7f\u7528 \u8fd9\u4e9b \u5730\u56fe \uff0c \u53ef\u4ee5 \u901a\u8fc7   Python   API   \u52a0\u8f7d   \u548c   \u5378\u8f7d   \u56fe\u5c42 \uff1a   #   \u52a0\u8f7d   \u57ce\u9547 01   \u7684 \u5206\u5c42 \u5730\u56fe \uff0c \u5e26\u6709 \u6700\u5c0f \u5e03\u5c40 \u52a0\u4e0a \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u505c\u653e \u7684 \u8f66\u8f86   world   =   client . load _ world ( ' Town01 _ Opt ' ,   carla . MapLayer . Buildings   |   carla . MapLayer . ParkedVehicles )   #   \u5173\u95ed \u6240\u6709 \u5efa\u7b51   world . unload _ map _ layer ( carla . MapLayer . Buildings )   #   \u6253\u5f00 \u6240\u6709 \u5efa\u7b51   world . load _ map _ layer ( carla . MapLayer . Buildings )   \u67e5\u770b \u6309 \u987a\u5e8f \u52a0\u8f7d \u548c \u5378\u8f7d \u6240\u6709 \u5c42 \u7684 \u793a\u4f8b \uff1a","title":"\u5206\u5c42 \u5730\u56fe  "},{"location":"core_map/#_13","text":"Carla   \u65e8\u5728 \u9488\u5bf9 \u4e13\u4e1a \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u8fdb\u884c \u53ef \u6269\u5c55 \u548c \u9ad8\u5ea6 \u5b9a\u5236 \u3002 \u56e0\u6b64 \uff0c \u9664\u4e86   Carla   \u4e2d \u73b0\u6709 \u7684 \u8bb8\u591a \u5730\u56fe \u548c \u8d44\u4ea7 \u4e4b\u5916 \uff0c \u8fd8 \u53ef\u4ee5 \u521b\u5efa \u548c \u5bfc\u5165 \u65b0 \u7684 \u5730\u56fe \u3001 \u9053\u8def \u7f51\u7edc \u548c \u8d44\u4ea7 \uff0c \u4ee5 \u586b\u5145   Carla   \u4eff\u771f \u4e2d \u7684 \u5b9a\u5236 \u73af\u5883 \u3002 \u4ee5\u4e0b \u6587\u6863 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u6784\u5efa \u548c \u96c6\u6210 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u6240 \u9700 \u7684 \u6b65\u9aa4 \uff1a   \u6982\u8ff0   \u9053\u8def \u6d82\u88c5   \u5b9a\u5236 \u5efa\u7b51   \u751f\u6210 \u5730\u56fe   \u6dfb\u52a0 \u5730\u56fe \u5730\u56fe\u5305   \u6dfb\u52a0 \u5730\u56fe \u6e90   \u66ff\u4ee3 \u65b9\u6cd5","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe    "},{"location":"core_sensors/","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u6570\u636e   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u4ece \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u4e2d \u68c0\u7d22 \u6570\u636e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5b83\u4eec \u5bf9\u4e8e \u4e3a \u9a7e\u9a76 \u4ee3\u7406 \u521b\u9020 \u5b66\u4e60 \u73af\u5883 \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002   \u672c\u9875 \u603b\u7ed3 \u4e86 \u5f00\u59cb \u5904\u7406 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6240 \u9700 \u7684 \u4e00\u5207 \u3002 \u5b83 \u4ecb\u7ecd \u4e86 \u53ef\u7528 \u7684 \u7c7b\u578b \u53ca\u5176 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u7684 \u5206\u6b65 \u6307\u5357 \u3002 \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u53ef\u4ee5 \u5728   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u4e2d \u627e\u5230 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9010\u6b65 \u4ecb\u7ecd   \u8bbe\u7f6e   \u751f\u6210   \u76d1\u542c   \u6570\u636e   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7c7b\u578b   \u76f8\u673a   \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u5176\u4ed6   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9010\u6b65 \u4ecb\u7ecd   carla . Sensor   \u7c7b \u5b9a\u4e49 \u4e86 \u4e00\u79cd \u7279\u6b8a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u80fd\u591f \u6d4b\u91cf \u548c \u4f20\u8f93 \u6570\u636e \u4f20\u8f93\u6570\u636e \u3002   \u8fd9\u4e2a \u6570\u636e \u662f \u4ec0\u4e48 \uff1f   \u6839\u636e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7c7b\u578b \uff0c \u5b83 \u53d8\u5316 \u5f88\u5927 \u53d8\u5316\u5f88\u5927 \u3002 \u6240\u6709 \u7c7b\u578b \u7684 \u6570\u636e \u90fd \u7ee7\u627f \u81ea \u901a\u7528 \u7684   carla . SensorData   \u3002   \u4ed6\u4eec \u4ec0\u4e48 \u65f6\u5019 \u68c0\u7d22 \u6570\u636e \uff1f   \u5728 \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u4e0a \u6216 \u5728 \u6ce8\u518c \u67d0\u4e2a \u4e8b\u4ef6 \u65f6 \u3002 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7c7b\u578b \u3002   \u4ed6\u4eec \u5982\u4f55 \u68c0\u7d22 \u6570\u636e \uff1f   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u6709 \u4e00\u79cd \u63a5\u6536 \u548c \u7ba1\u7406 \u6570\u636e \u7684   listen ( )   \u65b9\u6cd5 \u3002   \u5c3d\u7ba1 \u5b58\u5728 \u5dee\u5f02 \uff0c \u4f46 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4f7f\u7528 \u65b9\u5f0f \u90fd \u76f8\u4f3c \u3002   \u8bbe\u7f6e   \u4e0e \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e00\u6837 \uff0c \u627e\u5230 \u84dd\u56fe \u5e76 \u8bbe\u7f6e \u7279\u5b9a \u5c5e\u6027 \u3002 \u8fd9 \u5728 \u5904\u7406 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65f6 \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002 \u4ed6\u4eec \u7684 \u5c5e\u6027 \u5c06 \u51b3\u5b9a \u6240 \u83b7\u5f97 \u7684 \u7ed3\u679c \u3002 \u8fd9\u4e9b \u5728   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u4e2d\u6709 \u8be6\u7ec6 \u4ecb\u7ecd \u3002   \u4ee5\u4e0b \u793a\u4f8b \u8bbe\u7f6e \u4eea\u8868 \u4eea\u8868\u677f \u9ad8\u6e05 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u3002   #   \u627e\u5230 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u84dd\u56fe \u3002   blueprint   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   #   \u4fee\u6539 \u84dd\u56fe \u5c5e\u6027 \u6765 \u8bbe\u7f6e \u56fe\u50cf \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u548c \u89c6\u91ce   blueprint . set _ attribute ( ' image _ size _ x ' ,   ' 1920 ' )   blueprint . set _ attribute ( ' image _ size _ y ' ,   ' 1080 ' )   blueprint . set _ attribute ( ' fov ' ,   ' 110 ' )   #   \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09   blueprint . set _ attribute ( ' sensor _ tick ' ,   ' 1.0 ' )   \u751f\u6210   attachment _ to   \u548c   attachment _ type   \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e94 \u8fde\u63a5 \u5230\u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u901a\u5e38 \u662f \u8f66\u8f86 \uff09 \u4e0a \uff0c \u4ee5 \u8ddf\u8e2a \u5b83 \u5e76 \u6536\u96c6 \u4fe1\u606f \u3002 \u9644\u4ef6 \u7c7b\u578b \u5c06 \u786e\u5b9a \u5176 \u5173\u4e8e \u6240\u8ff0 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u5982\u4f55 \u66f4\u65b0 \u3002   \u521a\u6027 \u9644\u4ef6 ( Rigid   attachment ) \u3002   \u52a8 \u5bf9\u4e8e \u5176\u7236 \u4f4d\u7f6e \u662f \u4e25\u683c \u7684 \u3002 \u8fd9 \u662f\u4ece \u4eff\u771f \u4e2d \u68c0\u7d22 \u6570\u636e \u7684 \u5408\u9002 \u9644\u4ef6 \u3002   \u5f39\u7c27 \u81c2 \u9644\u4ef6 ( SpringArm   attachment ) \u3002   \u8fd0\u52a8 \u53d8\u5f97 \u8f7b\u677e \uff0c \u51e0\u4e4e \u6ca1\u6709 \u52a0\u901f \u548c \u51cf\u901f \u3002 \u4ec5 \u5efa\u8bae \u4f7f\u7528 \u6b64 \u9644\u4ef6 \u6765 \u5f55\u5236 \u4eff\u771f \u89c6\u9891 \u3002 \u66f4\u65b0 \u6444\u50cf \u6444\u50cf\u673a \u4f4d\u7f6e \u65f6 \uff0c \u79fb\u52a8 \u5e73\u6ed1 \u5e76\u4e14 \u907f\u514d \u201c \u8df3\u8dc3 \u201d \u3002   \u5f39\u7c27 \u81c2 \u5e7d\u7075 \u9644\u4ef6 ( SpringArmGhost   attachment ) \u3002   \u4e0e \u524d \u4e00\u4e2a \u7c7b\u4f3c \uff0c \u4f46 \u6ca1\u6709 \u8fdb\u884c \u78b0\u649e \u6d4b\u8bd5 \uff0c \u56e0\u6b64 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6216\u4f20\u611f\u5668 \u53ef\u4ee5 \u7a7f\u8fc7 \u5899\u58c1 \u6216 \u5176\u4ed6 \u51e0\u4f55 \u5f62\u72b6 \u3002   transform   =   carla . Transform ( carla . Location ( x = 0.8 ,   z = 1.7 ) )   sensor   =   world . spawn _ actor ( blueprint ,   transform ,   attach _ to = my _ vehicle )   \u91cd\u8981   \u5f53 \u5e26\u6709 \u9644\u4ef6 \u751f\u6210 \u65f6 \uff0c \u4f4d\u7f6e \u5fc5\u987b \u76f8\u5bf9 \u4e8e\u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u76d1\u542c   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u6709 \u4e00\u4e2a   listen ( )   \u65b9\u6cd5 \u3002 \u6bcf\u6b21 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e \u65f6 \u90fd \u4f1a \u8c03\u7528 \u6b64 \u51fd\u6570 \u3002   \u53c2\u6570   callback   \u662f \u4e00\u4e2a   lambda   \u51fd\u6570   \u3002 \u5b83 \u63cf\u8ff0 \u4e86 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e \u65f6 \u5e94\u8be5 \u505a \u4ec0\u4e48 \u3002 \u8fd9 \u5fc5\u987b \u5c06 \u68c0\u7d22 \u7684 \u6570\u636e \u4f5c\u4e3a \u53c2\u6570 \u3002   #   \u6bcf\u6b21 \u76f8\u673a \u751f\u6210 \u65b0 \u56fe\u50cf \u65f6 \uff0c \u90fd \u4f1a \u8c03\u7528   do _ something ( ) \u3002   sensor . listen ( lambda   data :   do _ something ( data ) )   ...   #   \u6bcf\u6b21 \u68c0\u6d4b \u5230 \u78b0\u649e \u65f6 \uff0c \u6b64 \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u4f1a \u6253\u5370 \u3002   def   callback ( event ) :   for   actor _ id   in   event :   vehicle   =   world _ ref ( ) . get _ actor ( actor _ id )   print ( ' Vehicle   too   close :   % s '   %   vehicle . type _ id )   sensor02 . listen ( callback )   \u6570\u636e   \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5bf9\u8c61 \u90fd \u5177\u6709 \u5c06 \u4fe1\u606f \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u7684 \u529f\u80fd \u3002 \u8fd9 \u5c06 \u5141\u8bb8 \u5b83 \u5728 \u5176\u4ed6 \u73af\u5883 \u4e2d \u4f7f\u7528 \u3002   \u4e0d\u540c \u7c7b\u578b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5dee\u5f02 \u5f88\u5927 \u3002 \u67e5\u770b   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u4ee5 \u83b7\u5f97 \u8be6\u7ec6 \u8bf4\u660e \u3002 \u7136\u800c \uff0c \u6240\u6709 \u8fd9\u4e9b \u90fd \u603b\u662f \u5e26\u6709 \u4e00\u4e9b \u57fa\u672c \u4fe1\u606f \u7684 \u6807\u7b7e \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u8f6e\u6570 \u5f00\u59cb \u4ee5\u6765 \u4ee5 \u4eff\u771f \u79d2 \u4e3a \u5355\u4f4d \u7684 \u6d4b\u91cf \u65f6\u95f4 \u6233 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4e16\u754c \u53c2\u8003 \u3002   \u91cd\u8981   is _ listening   \u662f \u4e00\u79cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65b9\u6cd5 \uff0c \u7528\u4e8e \u68c0\u67e5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u5426 \u6709 \u901a\u8fc7   listen   \u6ce8\u518c \u7684 \u56de\u8c03 \u3002   stop ( )   \u662f \u4e00\u79cd \u505c\u6b62 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u76d1\u542c \u7684   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65b9\u6cd5   \u3002   sensor _ tick   \u662f \u4e00\u4e2a   \u84dd\u56fe \u5c5e\u6027   \uff0c \u7528\u4e8e \u8bbe\u7f6e \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \u4e4b\u95f4 \u7684 \u6a21\u62df \u65f6\u95f4 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7c7b\u578b   \u76f8\u673a   \u4ece \u4ed6\u4eec \u7684 \u89d2\u5ea6 \u62cd\u6444 \u4e16\u754c \u3002 \u5bf9\u4e8e \u8fd4\u56de   carla . Image   \u7684 \u76f8\u673a \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u8f85\u52a9 \u7c7b   carla . ColorConverter   \u4fee\u6539 \u56fe\u50cf \u4ee5 \u8868\u793a \u4e0d\u540c \u7684 \u4fe1\u606f \u3002   \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4   \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e   \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8f93\u51fa   \u6982\u8ff0   \u6df1\u5ea6   carla . Image   \u5728 \u7070\u5ea6 \u56fe\u4e2d \u6e32\u67d3 \u89c6\u91ce \u4e2d \u5143\u7d20 \u7684 \u6df1\u5ea6 \u3002   RGB   carla . Image   \u63d0\u4f9b \u6e05\u6670 \u7684 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u89c6\u91ce \u3002 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u5c31 \u50cf \u4e00\u5f20 \u6b63\u5e38 \u7684 \u73b0\u573a \u7167\u7247 \u3002   \u5149\u6d41   carla . Image   \u6e32\u67d3 \u76f8\u673a \u4e2d \u6bcf\u4e2a \u50cf\u7d20 \u7684 \u8fd0\u52a8 \u3002   \u8bed\u4e49 \u5206\u5272   carla . Image   \u6839\u636e \u5143\u7d20 \u7684 \u6807\u7b7e \u4ee5 \u7279\u5b9a \u989c\u8272 \u6e32\u67d3 \u89c6\u91ce \u4e2d \u7684 \u5143\u7d20 \u3002   \u5b9e\u4f8b \u5206\u5272   carla . Image   \u6839\u636e \u5143\u7d20 \u7684 \u6807\u7b7e \u548c \u552f\u4e00 \u7684 \u5bf9\u8c61   ID   \u4ee5 \u7279\u5b9a \u989c\u8272 \u6e32\u67d3 \u89c6\u91ce \u4e2d \u7684 \u5143\u7d20 \u3002   DVS   carla . DVSEventArray   \u4f5c\u4e3a \u4e8b\u4ef6 \u6d41 \u5f02\u6b65 \u6d4b\u91cf \u4eae\u5ea6 \u5f3a\u5ea6 \u7684 \u53d8\u5316 \u3002   \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u5f53 \u9644\u52a0 \u7684 \u5bf9\u8c61 \u6ce8\u518c \u7279\u5b9a \u4e8b\u4ef6 \u65f6 \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e \u3002   \u89e6\u53d1 \u65f6   \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e   \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8f93\u51fa   \u6982\u8ff0   \u78b0\u649e   carla . CollisionEvent   \u68c0\u7d22 \u5176\u7236 \u7ea7 \u4e0e \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u95f4 \u7684 \u78b0\u649e \u3002   \u538b\u7ebf   carla . LaneInvasionEvent   \u5f53 \u5176\u7236 \u7ea7 \u7a7f\u8fc7 \u8f66\u9053 \u6807\u8bb0 \u65f6 \u8fdb\u884c \u6ce8\u518c \u3002   \u969c\u788d   carla . ObstacleDetectionEvent   \u68c0\u6d4b \u5176\u7236 \u7ea7 \u524d\u65b9 \u53ef\u80fd \u5b58\u5728 \u7684 \u969c\u788d \u969c\u788d\u7269 \u3002   \u5176\u4ed6   \u4e0d\u540c \u7684 \u529f\u80fd \uff0c \u4f8b\u5982 \u5bfc\u822a \u3001 \u7269\u7406 \u5c5e\u6027 \u6d4b\u91cf \u548c \u573a\u666f \u7684 \u4e8c\u7ef4 / \u4e09\u7ef4 \u70b9\u56fe \u3002   \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4   \u68c0\u7d22 \u6570\u636e   \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8f93\u51fa   \u6982\u8ff0   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf ( GNSS )   carla . GNSSMeasurement   \u68c0\u7d22 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5730\u7406 \u4f4d\u7f6e \u5730\u7406\u4f4d\u7f6e \u3002   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 ( IMU )   carla . IMUMeasurement   \u5305\u62ec \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \u3001 \u9640\u87ba \u9640\u87ba\u4eea \u548c \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \u3002   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe ( LIDAR )   carla . LidarMeasurement   \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002 \u751f\u6210 \u5305\u542b \u6bcf\u4e2a \u70b9 \u7684 \u5750\u6807 \u548c \u5f3a\u5ea6 \u7684   4D   \u70b9\u4e91 \uff0c \u4ee5 \u5bf9 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u8fdb\u884c \u5efa\u6a21 \u3002   \u96f7\u8fbe   carla . RadarMeasurement   \u4e8c\u7ef4 \u70b9\u56fe \u5efa\u6a21 \u89c6\u7ebf \u4e2d \u7684 \u5143\u7d20 \u53ca\u5176 \u76f8\u5bf9 \u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8fd0\u52a8 \u3002   \u8d23\u4efb \u654f\u611f \u5b89\u5168 ( RSS )   carla . RssResponse   \u6839\u636e \u5b89\u5168 \u68c0\u67e5 \u5b89\u5168\u68c0\u67e5 \u4fee\u6539 \u5e94\u7528 \u4e8e \u8f66\u8f86 \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u3002 \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e0d\u540c \uff0c \u5e76\u4e14 \u6709 \u4e13\u95e8 \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u6587\u6863   \u3002   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe   carla . SemanticLidarMeasurement   \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002 \u751f\u6210   3D   \u70b9\u4e91 \uff0c \u5176\u4e2d \u5305\u542b \u6709\u5173 \u5b9e\u4f8b \u548c \u8bed\u4e49 \u5206\u5272 \u7684 \u989d\u5916 \u4fe1\u606f \u3002   \u8fd9\u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5305\u88c5 \u4ee5\u53ca \u5b83\u4eec \u5982\u4f55 \u68c0\u7d22 \u4eff\u771f \u6570\u636e \u3002   Carla   \u7684 \u4ecb\u7ecd \u7ed3\u675f \u5230\u6b64\u7ed3\u675f \u3002 \u7136\u800c \uff0c \u8fd8\u6709 \u5f88\u591a \u4e1c\u897f \u9700\u8981 \u5b66\u4e60 \u3002   \u7ee7\u7eed \u5b66\u4e60 \u3002   Carla   \u4e2d\u6709 \u4e00\u4e9b \u9ad8\u7ea7 \u529f\u80fd \uff1a \u6e32\u67d3 \u9009\u9879 \u3001 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3001 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u7b49\u7b49 \u3002 \u8fd9\u662f \u4e86\u89e3 \u66f4 \u591a \u5173\u4e8e \u4ed6\u4eec \u7684 \u65f6\u673a \u597d\u65f6\u673a \u3002   \u540c\u6b65 \u548c \u65f6\u95f4 \u6b65\u957f   \u81ea\u7531 \u5b9e\u9a8c \u3002   \u67e5\u770b \u672c \u6587\u6863 \u7684   \u53c2\u8003   \u90e8\u5206 \u3002 \u5b83 \u5305\u542b \u6709\u5173   Python   API   \u4e2d \u7684 \u7c7b \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u4ee3\u7801 \u7247\u6bb5 \u7b49 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   Python   API   \u53c2\u8003   \u53d1\u8868 \u60a8 \u7684 \u610f\u89c1 \u3002   \u6709 \u4efb\u4f55 \u7591\u95ee \u3001 \u5efa\u8bae \u548c \u60f3\u6cd5 \u6b22\u8fce \u5728 \u8bba\u575b \u4e2d \u63d0\u51fa \u3002   Carla   \u8bba\u575b","title":"Core   sensors"},{"location":"core_sensors/#_1","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u4ece \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u4e2d \u68c0\u7d22 \u6570\u636e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5b83\u4eec \u5bf9\u4e8e \u4e3a \u9a7e\u9a76 \u4ee3\u7406 \u521b\u9020 \u5b66\u4e60 \u73af\u5883 \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002   \u672c\u9875 \u603b\u7ed3 \u4e86 \u5f00\u59cb \u5904\u7406 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6240 \u9700 \u7684 \u4e00\u5207 \u3002 \u5b83 \u4ecb\u7ecd \u4e86 \u53ef\u7528 \u7684 \u7c7b\u578b \u53ca\u5176 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u7684 \u5206\u6b65 \u6307\u5357 \u3002 \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u53ef\u4ee5 \u5728   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u4e2d \u627e\u5230 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9010\u6b65 \u4ecb\u7ecd   \u8bbe\u7f6e   \u751f\u6210   \u76d1\u542c   \u6570\u636e   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7c7b\u578b   \u76f8\u673a   \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u5176\u4ed6","title":"\u4f20\u611f\u5668 \u548c \u6570\u636e"},{"location":"core_sensors/#_2","text":"carla . Sensor   \u7c7b \u5b9a\u4e49 \u4e86 \u4e00\u79cd \u7279\u6b8a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u80fd\u591f \u6d4b\u91cf \u548c \u4f20\u8f93 \u6570\u636e \u4f20\u8f93\u6570\u636e \u3002   \u8fd9\u4e2a \u6570\u636e \u662f \u4ec0\u4e48 \uff1f   \u6839\u636e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7c7b\u578b \uff0c \u5b83 \u53d8\u5316 \u5f88\u5927 \u53d8\u5316\u5f88\u5927 \u3002 \u6240\u6709 \u7c7b\u578b \u7684 \u6570\u636e \u90fd \u7ee7\u627f \u81ea \u901a\u7528 \u7684   carla . SensorData   \u3002   \u4ed6\u4eec \u4ec0\u4e48 \u65f6\u5019 \u68c0\u7d22 \u6570\u636e \uff1f   \u5728 \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u4e0a \u6216 \u5728 \u6ce8\u518c \u67d0\u4e2a \u4e8b\u4ef6 \u65f6 \u3002 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7c7b\u578b \u3002   \u4ed6\u4eec \u5982\u4f55 \u68c0\u7d22 \u6570\u636e \uff1f   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u6709 \u4e00\u79cd \u63a5\u6536 \u548c \u7ba1\u7406 \u6570\u636e \u7684   listen ( )   \u65b9\u6cd5 \u3002   \u5c3d\u7ba1 \u5b58\u5728 \u5dee\u5f02 \uff0c \u4f46 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4f7f\u7528 \u65b9\u5f0f \u90fd \u76f8\u4f3c \u3002","title":"\u4f20\u611f\u5668 \u9010\u6b65 \u4ecb\u7ecd  "},{"location":"core_sensors/#_3","text":"\u4e0e \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e00\u6837 \uff0c \u627e\u5230 \u84dd\u56fe \u5e76 \u8bbe\u7f6e \u7279\u5b9a \u5c5e\u6027 \u3002 \u8fd9 \u5728 \u5904\u7406 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65f6 \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002 \u4ed6\u4eec \u7684 \u5c5e\u6027 \u5c06 \u51b3\u5b9a \u6240 \u83b7\u5f97 \u7684 \u7ed3\u679c \u3002 \u8fd9\u4e9b \u5728   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u4e2d\u6709 \u8be6\u7ec6 \u4ecb\u7ecd \u3002   \u4ee5\u4e0b \u793a\u4f8b \u8bbe\u7f6e \u4eea\u8868 \u4eea\u8868\u677f \u9ad8\u6e05 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u3002   #   \u627e\u5230 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u84dd\u56fe \u3002   blueprint   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   #   \u4fee\u6539 \u84dd\u56fe \u5c5e\u6027 \u6765 \u8bbe\u7f6e \u56fe\u50cf \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u548c \u89c6\u91ce   blueprint . set _ attribute ( ' image _ size _ x ' ,   ' 1920 ' )   blueprint . set _ attribute ( ' image _ size _ y ' ,   ' 1080 ' )   blueprint . set _ attribute ( ' fov ' ,   ' 110 ' )   #   \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09   blueprint . set _ attribute ( ' sensor _ tick ' ,   ' 1.0 ' )","title":"\u8bbe\u7f6e  "},{"location":"core_sensors/#_4","text":"attachment _ to   \u548c   attachment _ type   \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e94 \u8fde\u63a5 \u5230\u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u901a\u5e38 \u662f \u8f66\u8f86 \uff09 \u4e0a \uff0c \u4ee5 \u8ddf\u8e2a \u5b83 \u5e76 \u6536\u96c6 \u4fe1\u606f \u3002 \u9644\u4ef6 \u7c7b\u578b \u5c06 \u786e\u5b9a \u5176 \u5173\u4e8e \u6240\u8ff0 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u5982\u4f55 \u66f4\u65b0 \u3002   \u521a\u6027 \u9644\u4ef6 ( Rigid   attachment ) \u3002   \u52a8 \u5bf9\u4e8e \u5176\u7236 \u4f4d\u7f6e \u662f \u4e25\u683c \u7684 \u3002 \u8fd9 \u662f\u4ece \u4eff\u771f \u4e2d \u68c0\u7d22 \u6570\u636e \u7684 \u5408\u9002 \u9644\u4ef6 \u3002   \u5f39\u7c27 \u81c2 \u9644\u4ef6 ( SpringArm   attachment ) \u3002   \u8fd0\u52a8 \u53d8\u5f97 \u8f7b\u677e \uff0c \u51e0\u4e4e \u6ca1\u6709 \u52a0\u901f \u548c \u51cf\u901f \u3002 \u4ec5 \u5efa\u8bae \u4f7f\u7528 \u6b64 \u9644\u4ef6 \u6765 \u5f55\u5236 \u4eff\u771f \u89c6\u9891 \u3002 \u66f4\u65b0 \u6444\u50cf \u6444\u50cf\u673a \u4f4d\u7f6e \u65f6 \uff0c \u79fb\u52a8 \u5e73\u6ed1 \u5e76\u4e14 \u907f\u514d \u201c \u8df3\u8dc3 \u201d \u3002   \u5f39\u7c27 \u81c2 \u5e7d\u7075 \u9644\u4ef6 ( SpringArmGhost   attachment ) \u3002   \u4e0e \u524d \u4e00\u4e2a \u7c7b\u4f3c \uff0c \u4f46 \u6ca1\u6709 \u8fdb\u884c \u78b0\u649e \u6d4b\u8bd5 \uff0c \u56e0\u6b64 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6216\u4f20\u611f\u5668 \u53ef\u4ee5 \u7a7f\u8fc7 \u5899\u58c1 \u6216 \u5176\u4ed6 \u51e0\u4f55 \u5f62\u72b6 \u3002   transform   =   carla . Transform ( carla . Location ( x = 0.8 ,   z = 1.7 ) )   sensor   =   world . spawn _ actor ( blueprint ,   transform ,   attach _ to = my _ vehicle )   \u91cd\u8981   \u5f53 \u5e26\u6709 \u9644\u4ef6 \u751f\u6210 \u65f6 \uff0c \u4f4d\u7f6e \u5fc5\u987b \u76f8\u5bf9 \u4e8e\u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002","title":"\u751f\u6210  "},{"location":"core_sensors/#_5","text":"\u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u6709 \u4e00\u4e2a   listen ( )   \u65b9\u6cd5 \u3002 \u6bcf\u6b21 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e \u65f6 \u90fd \u4f1a \u8c03\u7528 \u6b64 \u51fd\u6570 \u3002   \u53c2\u6570   callback   \u662f \u4e00\u4e2a   lambda   \u51fd\u6570   \u3002 \u5b83 \u63cf\u8ff0 \u4e86 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e \u65f6 \u5e94\u8be5 \u505a \u4ec0\u4e48 \u3002 \u8fd9 \u5fc5\u987b \u5c06 \u68c0\u7d22 \u7684 \u6570\u636e \u4f5c\u4e3a \u53c2\u6570 \u3002   #   \u6bcf\u6b21 \u76f8\u673a \u751f\u6210 \u65b0 \u56fe\u50cf \u65f6 \uff0c \u90fd \u4f1a \u8c03\u7528   do _ something ( ) \u3002   sensor . listen ( lambda   data :   do _ something ( data ) )   ...   #   \u6bcf\u6b21 \u68c0\u6d4b \u5230 \u78b0\u649e \u65f6 \uff0c \u6b64 \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u4f1a \u6253\u5370 \u3002   def   callback ( event ) :   for   actor _ id   in   event :   vehicle   =   world _ ref ( ) . get _ actor ( actor _ id )   print ( ' Vehicle   too   close :   % s '   %   vehicle . type _ id )   sensor02 . listen ( callback )","title":"\u76d1\u542c  "},{"location":"core_sensors/#_6","text":"\u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5bf9\u8c61 \u90fd \u5177\u6709 \u5c06 \u4fe1\u606f \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u7684 \u529f\u80fd \u3002 \u8fd9 \u5c06 \u5141\u8bb8 \u5b83 \u5728 \u5176\u4ed6 \u73af\u5883 \u4e2d \u4f7f\u7528 \u3002   \u4e0d\u540c \u7c7b\u578b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5dee\u5f02 \u5f88\u5927 \u3002 \u67e5\u770b   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u4ee5 \u83b7\u5f97 \u8be6\u7ec6 \u8bf4\u660e \u3002 \u7136\u800c \uff0c \u6240\u6709 \u8fd9\u4e9b \u90fd \u603b\u662f \u5e26\u6709 \u4e00\u4e9b \u57fa\u672c \u4fe1\u606f \u7684 \u6807\u7b7e \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u8f6e\u6570 \u5f00\u59cb \u4ee5\u6765 \u4ee5 \u4eff\u771f \u79d2 \u4e3a \u5355\u4f4d \u7684 \u6d4b\u91cf \u65f6\u95f4 \u6233 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4e16\u754c \u53c2\u8003 \u3002   \u91cd\u8981   is _ listening   \u662f \u4e00\u79cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65b9\u6cd5 \uff0c \u7528\u4e8e \u68c0\u67e5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u5426 \u6709 \u901a\u8fc7   listen   \u6ce8\u518c \u7684 \u56de\u8c03 \u3002   stop ( )   \u662f \u4e00\u79cd \u505c\u6b62 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u76d1\u542c \u7684   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65b9\u6cd5   \u3002   sensor _ tick   \u662f \u4e00\u4e2a   \u84dd\u56fe \u5c5e\u6027   \uff0c \u7528\u4e8e \u8bbe\u7f6e \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \u4e4b\u95f4 \u7684 \u6a21\u62df \u65f6\u95f4 \u3002","title":"\u6570\u636e  "},{"location":"core_sensors/#_7","text":"","title":"\u4f20\u611f\u5668 \u7c7b\u578b  "},{"location":"core_sensors/#_8","text":"\u4ece \u4ed6\u4eec \u7684 \u89d2\u5ea6 \u62cd\u6444 \u4e16\u754c \u3002 \u5bf9\u4e8e \u8fd4\u56de   carla . Image   \u7684 \u76f8\u673a \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u8f85\u52a9 \u7c7b   carla . ColorConverter   \u4fee\u6539 \u56fe\u50cf \u4ee5 \u8868\u793a \u4e0d\u540c \u7684 \u4fe1\u606f \u3002   \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4   \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e   \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8f93\u51fa   \u6982\u8ff0   \u6df1\u5ea6   carla . Image   \u5728 \u7070\u5ea6 \u56fe\u4e2d \u6e32\u67d3 \u89c6\u91ce \u4e2d \u5143\u7d20 \u7684 \u6df1\u5ea6 \u3002   RGB   carla . Image   \u63d0\u4f9b \u6e05\u6670 \u7684 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u89c6\u91ce \u3002 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u5c31 \u50cf \u4e00\u5f20 \u6b63\u5e38 \u7684 \u73b0\u573a \u7167\u7247 \u3002   \u5149\u6d41   carla . Image   \u6e32\u67d3 \u76f8\u673a \u4e2d \u6bcf\u4e2a \u50cf\u7d20 \u7684 \u8fd0\u52a8 \u3002   \u8bed\u4e49 \u5206\u5272   carla . Image   \u6839\u636e \u5143\u7d20 \u7684 \u6807\u7b7e \u4ee5 \u7279\u5b9a \u989c\u8272 \u6e32\u67d3 \u89c6\u91ce \u4e2d \u7684 \u5143\u7d20 \u3002   \u5b9e\u4f8b \u5206\u5272   carla . Image   \u6839\u636e \u5143\u7d20 \u7684 \u6807\u7b7e \u548c \u552f\u4e00 \u7684 \u5bf9\u8c61   ID   \u4ee5 \u7279\u5b9a \u989c\u8272 \u6e32\u67d3 \u89c6\u91ce \u4e2d \u7684 \u5143\u7d20 \u3002   DVS   carla . DVSEventArray   \u4f5c\u4e3a \u4e8b\u4ef6 \u6d41 \u5f02\u6b65 \u6d4b\u91cf \u4eae\u5ea6 \u5f3a\u5ea6 \u7684 \u53d8\u5316 \u3002","title":"\u76f8\u673a  "},{"location":"core_sensors/#_9","text":"\u5f53 \u9644\u52a0 \u7684 \u5bf9\u8c61 \u6ce8\u518c \u7279\u5b9a \u4e8b\u4ef6 \u65f6 \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e \u3002   \u89e6\u53d1 \u65f6   \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e   \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8f93\u51fa   \u6982\u8ff0   \u78b0\u649e   carla . CollisionEvent   \u68c0\u7d22 \u5176\u7236 \u7ea7 \u4e0e \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u95f4 \u7684 \u78b0\u649e \u3002   \u538b\u7ebf   carla . LaneInvasionEvent   \u5f53 \u5176\u7236 \u7ea7 \u7a7f\u8fc7 \u8f66\u9053 \u6807\u8bb0 \u65f6 \u8fdb\u884c \u6ce8\u518c \u3002   \u969c\u788d   carla . ObstacleDetectionEvent   \u68c0\u6d4b \u5176\u7236 \u7ea7 \u524d\u65b9 \u53ef\u80fd \u5b58\u5728 \u7684 \u969c\u788d \u969c\u788d\u7269 \u3002","title":"\u68c0\u6d4b\u5668  "},{"location":"core_sensors/#_10","text":"\u4e0d\u540c \u7684 \u529f\u80fd \uff0c \u4f8b\u5982 \u5bfc\u822a \u3001 \u7269\u7406 \u5c5e\u6027 \u6d4b\u91cf \u548c \u573a\u666f \u7684 \u4e8c\u7ef4 / \u4e09\u7ef4 \u70b9\u56fe \u3002   \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4   \u68c0\u7d22 \u6570\u636e   \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8f93\u51fa   \u6982\u8ff0   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf ( GNSS )   carla . GNSSMeasurement   \u68c0\u7d22 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5730\u7406 \u4f4d\u7f6e \u5730\u7406\u4f4d\u7f6e \u3002   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 ( IMU )   carla . IMUMeasurement   \u5305\u62ec \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \u3001 \u9640\u87ba \u9640\u87ba\u4eea \u548c \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \u3002   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe ( LIDAR )   carla . LidarMeasurement   \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002 \u751f\u6210 \u5305\u542b \u6bcf\u4e2a \u70b9 \u7684 \u5750\u6807 \u548c \u5f3a\u5ea6 \u7684   4D   \u70b9\u4e91 \uff0c \u4ee5 \u5bf9 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u8fdb\u884c \u5efa\u6a21 \u3002   \u96f7\u8fbe   carla . RadarMeasurement   \u4e8c\u7ef4 \u70b9\u56fe \u5efa\u6a21 \u89c6\u7ebf \u4e2d \u7684 \u5143\u7d20 \u53ca\u5176 \u76f8\u5bf9 \u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8fd0\u52a8 \u3002   \u8d23\u4efb \u654f\u611f \u5b89\u5168 ( RSS )   carla . RssResponse   \u6839\u636e \u5b89\u5168 \u68c0\u67e5 \u5b89\u5168\u68c0\u67e5 \u4fee\u6539 \u5e94\u7528 \u4e8e \u8f66\u8f86 \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u3002 \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e0d\u540c \uff0c \u5e76\u4e14 \u6709 \u4e13\u95e8 \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u6587\u6863   \u3002   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe   carla . SemanticLidarMeasurement   \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002 \u751f\u6210   3D   \u70b9\u4e91 \uff0c \u5176\u4e2d \u5305\u542b \u6709\u5173 \u5b9e\u4f8b \u548c \u8bed\u4e49 \u5206\u5272 \u7684 \u989d\u5916 \u4fe1\u606f \u3002   \u8fd9\u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5305\u88c5 \u4ee5\u53ca \u5b83\u4eec \u5982\u4f55 \u68c0\u7d22 \u4eff\u771f \u6570\u636e \u3002   Carla   \u7684 \u4ecb\u7ecd \u7ed3\u675f \u5230\u6b64\u7ed3\u675f \u3002 \u7136\u800c \uff0c \u8fd8\u6709 \u5f88\u591a \u4e1c\u897f \u9700\u8981 \u5b66\u4e60 \u3002   \u7ee7\u7eed \u5b66\u4e60 \u3002   Carla   \u4e2d\u6709 \u4e00\u4e9b \u9ad8\u7ea7 \u529f\u80fd \uff1a \u6e32\u67d3 \u9009\u9879 \u3001 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3001 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u7b49\u7b49 \u3002 \u8fd9\u662f \u4e86\u89e3 \u66f4 \u591a \u5173\u4e8e \u4ed6\u4eec \u7684 \u65f6\u673a \u597d\u65f6\u673a \u3002   \u540c\u6b65 \u548c \u65f6\u95f4 \u6b65\u957f   \u81ea\u7531 \u5b9e\u9a8c \u3002   \u67e5\u770b \u672c \u6587\u6863 \u7684   \u53c2\u8003   \u90e8\u5206 \u3002 \u5b83 \u5305\u542b \u6709\u5173   Python   API   \u4e2d \u7684 \u7c7b \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u4ee3\u7801 \u7247\u6bb5 \u7b49 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   Python   API   \u53c2\u8003   \u53d1\u8868 \u60a8 \u7684 \u610f\u89c1 \u3002   \u6709 \u4efb\u4f55 \u7591\u95ee \u3001 \u5efa\u8bae \u548c \u60f3\u6cd5 \u6b22\u8fce \u5728 \u8bba\u575b \u4e2d \u63d0\u51fa \u3002   Carla   \u8bba\u575b","title":"\u5176\u4ed6  "},{"location":"core_world/","text":"\u7b2c\u4e00 \u3001 \u4e16\u754c \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u4e16\u754c \u662f   Carla   \u7684 \u4e24\u4e2a \u57fa\u672c \u8981\u7d20 \u57fa\u672c\u8981\u7d20 \uff0c \u662f \u64cd\u4f5c \u4eff\u771f \u53ca\u5176 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5fc5\u8981 \u62bd\u8c61 \u3002   \u672c \u6559\u7a0b \u4ece \u5b9a\u4e49 \u8fd9\u4e9b \u5143\u7d20 \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6 \u548c \u521b\u5efa \uff0c \u5230 \u63cf\u8ff0 \u5b83\u4eec \u7684 \u53ef\u80fd \u53ef\u80fd\u6027 \u3002 \u5982\u679c \u9605\u8bfb \u8fc7\u7a0b \u4e2d \u51fa\u73b0 \u4efb\u4f55 \u7591\u95ee \u6216 \u95ee\u9898 \uff0c   Carla   \u8bba\u575b   \u53ef\u4ee5 \u4e3a \u60a8 \u89e3\u51b3 \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa   \u4e16\u754c \u8fde\u63a5   \u4f7f\u7528 \u547d\u4ee4   \u5176\u4ed6 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f   \u4e16\u754c   \u53c2\u4e0e \u53c2\u4e0e\u8005   \u5929\u6c14   \u706f\u5149   \u8c03\u8bd5   \u4e16\u754c \u5feb\u7167   \u4e16\u754c \u8bbe\u7f6e   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5ba2\u6237 \u5ba2\u6237\u7aef \u662f   Carla   \u67b6\u6784 \u4e2d \u7684 \u4e3b\u8981 \u5143\u7d20 \u4e4b\u4e00 \u3002 \u5b83\u4eec \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3001 \u68c0\u7d22 \u4fe1\u606f \u5e76 \u66f4\u6539 \u547d\u4ee4 \u3002 \u8fd9\u662f \u901a\u8fc7 \u811a\u672c \u5b8c\u6210 \u7684 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bc6\u522b \u81ea\u5df1 \u7684 \u8eab\u4efd \uff0c \u5e76 \u8fde\u63a5 \u5230 \u4e16\u754c \uff0c \u7136\u540e \u8fdb\u884c \u4eff\u771f \u64cd\u4f5c \u3002   \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u5ba2\u6237 \u8fd8 \u53ef\u4ee5 \u8bbf\u95ee \u9ad8\u7ea7   Carla   \u6a21\u5757 \u3001 \u529f\u80fd \u5e76 \u5e94\u7528 \u547d\u4ee4 \u5904\u7406 \u6279\u5904\u7406 \u3002 \u672c\u8282 \u4ec5 \u4ecb\u7ecd \u547d\u4ee4 \u5904\u7406 \u6279\u5904\u7406 \u3002 \u8fd9\u4e9b \u5bf9\u4e8e \u8bf8\u5982 \u751f\u6210 \u5927\u91cf \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u7c7b \u7684 \u57fa\u672c \u4e8b\u60c5 \u5f88 \u6709\u7528 \u3002 \u5176\u4f59 \u529f\u80fd \u66f4\u52a0 \u590d\u6742 \uff0c \u5c06 \u5728   \u9ad8\u7ea7 \u6b65\u9aa4   \u4e2d \u5404\u81ea \u7684 \u9875\u9762 \u4e2d \u8fdb\u884c \u89e3\u51b3 \u3002   \u67e5\u770b   Python   API   \u53c2\u8003 \u4e2d \u7684   carla . Client   \u4ee5 \u4e86\u89e3 \u8be5\u7c7b \u7684 \u7279\u5b9a \u65b9\u6cd5 \u548c \u53d8\u91cf \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa   \u9700\u8981 \u4e24\u4ef6 \u4e24\u4ef6\u4e8b \u3002 \u6807\u8bc6 \u5b83 \u7684   IP   \u5730\u5740 \u4ee5\u53ca \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u7684   \u4e24\u4e2a   TCP   \u7aef\u53e3   \u3002 \u53ef\u9009 \u7684 \u7b2c\u4e09 \u4e09\u4e2a \u7b2c\u4e09\u4e2a \u53c2\u6570 \u8bbe\u7f6e \u53c2\u6570\u8bbe\u7f6e \u5de5\u4f5c \u7ebf\u7a0b \u7684 \u6570\u91cf \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8be5\u503c \u8bbe\u7f6e \u4e3a \u5168\u90e8   (   0   ) \u3002 Python   API   \u53c2\u8003 \u4e2d \u7684   carla . Client   \u5305\u542b \u4e00\u4e2a \u7247\u6bb5 \uff0c \u663e\u793a \u5982\u4f55 \u5728 \u8fd0\u884c \u811a\u672c \u65f6 \u5c06 \u8fd9\u4e9b \u89e3\u6790 \u4e3a \u53c2\u6570 \u3002   client   =   carla . Client ( ' localhost ' ,   2000 )   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c Carla   \u4f7f\u7528 \u672c\u5730 \u4e3b\u673a   IP   \u548c \u7aef\u53e3   2000   \u8fdb\u884c \u8fde\u63a5 \uff0c \u4f46 \u8fd9\u4e9b \u53ef\u4ee5 \u968f\u610f \u66f4\u6539 \u3002 \u5728 \u672c\u4f8b \u4e2d \uff0c \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u7aef\u53e3 \u59cb\u7ec8 \u4e3a   n + 1   , 2001 \u3002   \u521b\u5efa \u5ba2\u6237 \u5ba2\u6237\u7aef \u540e \uff0c \u8bbe\u7f6e \u5176   time - out   \u3002 \u8fd9 \u9650\u5236 \u4e86 \u6240\u6709 \u7f51\u7edc \u64cd\u4f5c \uff0c \u4ee5\u4fbf \u8fd9\u4e9b \u64cd\u4f5c \u4e0d\u4f1a \u6c38\u8fdc \u963b\u6b62 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002 \u5982\u679c \u8fde\u63a5 \u5931\u8d25 \uff0c \u5c06 \u8fd4\u56de \u9519\u8bef \u3002   client . set _ timeout ( 10.0 )   #   \u79d2   \u53ef\u4ee5 \u8fde\u63a5 \u8bb8\u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u56e0\u4e3a \u4e00\u6b21 \u8fd0\u884c \u591a\u4e2a \u811a\u672c \u662f \u5f88 \u5e38\u89c1 \u7684 \u3002 \u5728 \u5177\u6709 \u9ad8\u7ea7   Carla   \u529f\u80fd \uff08 \u4f8b\u5982 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff09 \u7684 \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u65b9\u6848 \u4e2d \u5de5\u4f5c \uff0c \u5fc5\u7136 \u4f1a \u4f7f \u901a\u4fe1 \u66f4\u52a0 \u590d\u6742 \u3002   \u7b14\u8bb0   \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6709 \u4e0d\u540c \u7684   libcarla   \u6a21\u5757 \u3002 \u5982\u679c \u7248\u672c \u4e0d\u540c \uff0c \u53ef\u80fd \u4f1a \u51fa\u73b0 \u95ee\u9898 \u3002 \u8fd9 \u53ef\u4ee5 \u4f7f\u7528   get _ client _ version ( )   \u548c   get _ server _ version ( )   \u65b9\u6cd5 \u8fdb\u884c \u68c0\u67e5 \u3002   \u4e16\u754c \u8fde\u63a5   \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u76f8\u5f53 \u8f7b\u677e \u5730 \u8fde\u63a5 \u548c \u68c0\u7d22 \u5f53\u524d \u4e16\u754c \u3002   world   =   client . get _ world ( )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd8 \u53ef\u4ee5 \u83b7\u5f97 \u53ef\u7528 \u5730\u56fe \u5217\u8868 \u6765 \u66f4\u6539 \u5f53\u524d \u5730\u56fe \u3002 \u8fd9 \u5c06 \u9500\u6bc1 \u5f53\u524d \u7684 \u4e16\u754c \u5e76 \u521b\u9020 \u4e00\u4e2a \u65b0 \u7684 \u4e16\u754c \u3002   print ( client . get _ available _ maps ( ) )   ...   world   =   client . load _ world ( ' Town01 ' )   #   client . reload _ world ( )   \u521b\u5efa \u4e00\u4e2a \u76f8\u540c \u5730\u56fe \u4e16\u754c \u7684 \u65b0 \u5b9e\u4f8b \u3002   \u6bcf\u4e2a \u4e16\u754c \u5bf9\u8c61 \u90fd \u6709 \u4e00\u4e2a   id   \u6216 \u4e16\u4ee3 \u3002 \u6bcf\u5f53 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8c03\u7528   load _ world ( )   \u6216   reload _ world ( )   \u65f6 \uff0c \u524d \u4e00\u4e2a \u88ab \u9500\u6bc1 \u3002 \u4e00\u4e2a \u65b0 \u7684 \u4e16\u4ee3 \u662f \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u521b\u5efa \u7684 \u3002 \u5728 \u6b64 \u8fc7\u7a0b \u4e2d \u865a\u5e7b \u5f15\u64ce \u4e0d\u4f1a \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \u3002   \u4f7f\u7528 \u547d\u4ee4   \u547d\u4ee4   \u662f \u4e00\u4e9b \u6700 \u5e38\u89c1 \u7684   Carla   \u65b9\u6cd5 \u7684 \u6539\u7f16 \uff0c \u53ef\u4ee5 \u6279\u91cf \u5e94\u7528 \u3002 \u4f8b\u5982 \uff0c   command . SetAutopilot   \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e   command . SetAutopilot   \uff0c \u542f\u7528 \u8f66\u8f86 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u529f\u80fd \u3002 \u4f46\u662f \uff0c \u4f7f\u7528   Client . apply _ batch   \u6216   Client . apply _ batch _ sync ( )   \u65b9\u6cd5 \uff0c \u53ef\u4ee5 \u5728 \u4e00\u4e2a \u4eff\u771f \u6b65\u9aa4 \u4e2d \u5e94\u7528 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u547d\u4ee4 \u3002 \u8fd9 \u5bf9\u4e8e \u901a\u5e38 \u5e94\u7528 \u4e8e \u6570\u767e \u767e\u4e2a \u6570\u767e\u4e2a \u5143\u7d20 \u7684 \u65b9\u6cd5 \u6765\u8bf4 \u53d8\u5f97 \u975e\u5e38 \u6709\u7528 \u3002   \u4ee5\u4e0b \u793a\u4f8b \u4f7f\u7528 \u5904\u7406 \u6279\u5904\u7406 \u4e00\u6b21 \u4e00\u6b21\u6027 \u9500\u6bc1 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u8f66\u8f86 \u3002   client . apply _ batch ( [ carla . command . DestroyActor ( x )   for   x   in   vehicles _ list ] )   Python   API   \u53c2\u8003 \u7684   \u6700\u65b0 \u90e8\u5206   \u5217\u51fa \u4e86 \u6240\u6709 \u53ef\u7528 \u7684 \u547d\u4ee4 \u3002   \u5176\u4ed6 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u7684 \u4e3b\u8981 \u76ee\u7684 \u662f \u83b7\u53d6 \u6216 \u6539\u53d8 \u4e16\u754c \uff0c \u5e76 \u5e94\u7528 \u547d\u4ee4 \u3002 \u4f46\u662f \uff0c \u5b83 \u8fd8 \u63d0\u4f9b \u5bf9 \u4e00\u4e9b \u9644\u52a0 \u529f\u80fd \u7684 \u8bbf\u95ee \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   \u8be5 \u6a21\u5757 \u8d1f\u8d23 \u6bcf\u8f86 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u7684 \u8f66\u8f86 \u4ee5 \u91cd\u5efa \u57ce\u5e02 \u4ea4\u901a \u57ce\u5e02\u4ea4\u901a \u3002   \u8bb0\u5f55 \u8bb0\u5f55\u5668   .   \u5141\u8bb8 \u91cd\u65b0 \u8fdb\u884c \u4ee5\u524d \u7684 \u4eff\u771f \u3002 \u4f7f\u7528   \u5feb\u7167   \u603b\u7ed3 \u6bcf\u5e27 \u7684 \u4eff\u771f \u72b6\u6001 \u3002   \u4e16\u754c   \u4eff\u771f \u7684 \u4e3b\u8981 \u6807\u5c3a \u3002 \u5b83 \u7684 \u5b9e\u4f8b \u5e94\u8be5 \u7531 \u5ba2\u6237 \u5ba2\u6237\u7aef \u68c0\u7d22 \u3002 \u5b83 \u4e0d \u5305\u542b \u4e16\u754c \u672c\u8eab \u7684 \u6a21\u578b \uff0c \u8fd9\u662f   Map   \u7c7b \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u76f8\u53cd \uff0c \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4fe1\u606f \u548c \u5e38\u89c4 \u8bbe\u7f6e \u53ef\u4ee5 \u4ece \u6b64\u7c7b \u8bbf\u95ee \u3002   \u4eff\u771f \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u89c2\u5bdf \u89c2\u5bdf\u8005 \u3002   \u84dd \u56fe\u5e93 \u3002   \u5730\u56fe \u3002   \u4eff\u771f \u8bbe\u7f6e \u3002   \u5feb\u7167 \u3002   \u5929\u6c14 \u548c \u706f\u5149 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \u3002   \u5b83 \u7684 \u4e00\u4e9b \u6700 \u91cd\u8981 \u7684 \u65b9\u6cd5 \u662f   getters   \uff0c \u7cbe\u786e \u5730 \u68c0\u7d22 \u8fd9\u4e9b \u5143\u7d20 \u7684 \u4fe1\u606f \u6216 \u5b9e\u4f8b \u3002 \u67e5\u770b   carla . World   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005   \u4e16\u754c \u4e0a \u6709 \u4e0d\u540c \u7684 \u4e0e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u76f8\u5173 \u7684 \u65b9\u6cd5 \uff0c \u5141\u8bb8 \u4e0d\u540c \u7684 \u529f\u80fd \u3002   \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u4f46 \u4e0d \u9500\u6bc1 \u4ed6\u4eec \uff09 \u3002   \u83b7\u5f97 \u573a\u666f \u4e2d \u7684 \u6bcf \u4e00\u4f4d \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u6216\u8005 \u627e\u5230 \u4e00\u4e2a \u7279\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u8bbf\u95ee \u84dd \u56fe\u5e93 \u3002   \u8bbf\u95ee \u89c2\u5bdf \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3001 \u4eff\u771f \u7684 \u89c6\u89d2 \u3002   \u68c0\u7d22 \u9002\u5408 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u968f\u673a \u4f4d\u7f6e \u3002   \u751f\u6210 \u5c06 \u5728   \u7b2c\u4e8c \u90e8\u5206 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe   \u3002 \u9700\u8981 \u5bf9 \u84dd \u56fe\u5e93 \u3001 \u5c5e\u6027 \u7b49 \u6709 \u4e00\u5b9a \u7684 \u4e86\u89e3 \u3002   \u5929\u6c14   \u5929\u6c14 \u672c\u8eab \u5e76 \u4e0d\u662f \u4e00\u4e2a \u7c7b \uff0c \u800c\u662f \u4e00\u7ec4 \u53ef \u4ece \u4e16\u754c \u83b7\u53d6 \u7684 \u53c2\u6570 \u3002 \u53c2\u6570 \u5316 \u5305\u62ec \u592a\u9633 \u65b9\u5411 \u3001 \u4e91\u91cf \u3001 \u98ce \u3001 \u96fe \u7b49\u7b49 \u3002 \u8f85\u52a9 \u7c7b   carla . WeatherParameters   \u7528\u4e8e \u5b9a\u4e49 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14 \u3002   weather   =   carla . WeatherParameters (   cloudiness = 80.0 ,   precipitation = 30.0 ,   sun _ altitude _ angle = 70.0 )   world . set _ weather ( weather )   print ( world . get _ weather ( ) )   \u6709 \u4e00\u4e9b \u5929\u6c14 \u9884\u8bbe \u53ef\u4ee5 \u76f4\u63a5 \u5e94\u7528 \u4e8e \u4e16\u754c \u3002 \u8fd9\u4e9b \u5217 \u5728   carla . WeatherParameters   \u4e2d \u5e76 \u53ef \u4f5c\u4e3a \u679a\u4e3e \u8bbf\u95ee \u3002   world . set _ weather ( carla . WeatherParameters . WetCloudySunset )   \u8fd8 \u53ef\u4ee5 \u4f7f\u7528   Carla   \u63d0\u4f9b \u7684 \u4e24\u4e2a \u811a\u672c \u6765\u81ea \u5b9a\u4e49 \u5929\u6c14 \u3002   environment . py   ( \u5728   PythonAPI / util   \u76ee\u5f55 \u4e0b )   \u2014   \u63d0\u4f9b \u5bf9 \u5929\u6c14 \u548c \u5149\u7167 \u53c2\u6570 \u7684 \u8bbf\u95ee \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u5b9e\u65f6 \u66f4\u6539 \u8fd9\u4e9b \u53c2\u6570 \u3002   environment . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   -- host   H   IP   of   the   host   server   ( default :   127.0 . 0.1 )   - p   P ,   -- port   P   TCP   port   to   listen   to   ( default :   2000 )   -- sun   SUN   Sun   position   presets   [ sunset   |   day   |   night ]   -- weather   WEATHER   Weather   condition   presets   [ clear   |   overcast   |   rain ]   -- altitude   A ,   - alt   A   Sun   altitude   [ - 90.0 ,   90.0 ]   -- azimuth   A ,   - azm   A   Sun   azimuth   [ 0.0 ,   360.0 ]   -- clouds   C ,   - c   C   Clouds   amount   [ 0.0 ,   100.0 ]   -- rain   R ,   - r   R   Rain   amount   [ 0.0 ,   100.0 ]   -- puddles   Pd ,   - pd   Pd   Puddles   amount   [ 0.0 ,   100.0 ]   -- wind   W ,   - w   W   Wind   intensity   [ 0.0 ,   100.0 ]   -- fog   F ,   - f   F   Fog   intensity   [ 0.0 ,   100.0 ]   -- fogdist   Fd ,   - fd   Fd   Fog   Distance   [ 0.0 ,   inf )   -- wetness   Wet ,   - wet   Wet   Wetness   intensity   [ 0.0 ,   100.0 ]   dynamic _ weather . py   ( \u5728   PythonAPI / examples   \u76ee\u5f55 \u4e0b )   \u2014   \u542f\u7528 \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u4e3a \u6bcf\u5f20   Carla   \u5730\u56fe \u51c6\u5907 \u7684 \u7279\u5b9a \u5929\u6c14 \u5468\u671f \u3002   dynamic _ weather . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   -- host   H   IP   of   the   host   server   ( default :   127.0 . 0.1 )   - p   P ,   -- port   P   TCP   port   to   listen   to   ( default :   2000 )   - s   FACTOR ,   -- speed   FACTOR   rate   at   which   the   weather   changes   ( default :   1.0 )   \u7b14\u8bb0   \u5929\u6c14 \u7684 \u53d8\u5316 \u4e0d\u4f1a \u5f71\u54cd \u7269\u7406 \u3002 \u5b83\u4eec \u53ea\u662f \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u4ee5 \u6355\u83b7 \u7684 \u89c6\u89c9 \u6548\u679c \u89c6\u89c9\u6548\u679c \u3002   \u5f53   sun _ altitude _ angle   <   0   \u65f6 \uff0c \u591c\u95f4 \u6a21\u5f0f \u5f00\u59cb   \uff0c \u8fd9 \u88ab \u8ba4\u4e3a \u662f \u65e5\u843d \u3002 \u8fd9\u662f \u706f\u5149 \u53d8\u5f97 \u7279\u522b \u91cd\u8981 \u7684 \u65f6\u5019 \u3002   \u706f\u5149   \u5f53 \u4eff\u771f \u8fdb\u5165 \u591c\u95f4 \u6a21\u5f0f \u65f6 \uff0c   \u8def\u706f   \u4f1a \u81ea\u52a8 \u6253\u5f00 \u3002 \u706f\u5149 \u7531 \u5730\u56fe \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u653e\u7f6e \uff0c \u5e76 \u53ef \u4f5c\u4e3a   carla . Light   \u5bf9\u8c61 \u8bbf\u95ee \u3002 \u989c\u8272 \u548c \u5f3a\u5ea6 \u7b49 \u5c5e\u6027 \u53ef\u4ee5 \u968f\u610f \u66f4\u6539 \u3002   carla . LightState   \u7c7b\u578b \u7684 \u53d8\u91cf   light _ state   \u5141\u8bb8 \u5728 \u4e00\u6b21 \u8c03\u7528 \u4e2d \u8bbe\u7f6e \u6240\u6709 \u8fd9\u4e9b \u3002   \u8def\u706f \u4f7f\u7528 \u5176 \u7c7b\u578b \u4e3a   carla . LightState   \u7684 \u5c5e\u6027   light _ state   \u8fdb\u884c \u5206\u7c7b \u3002 \u8fd9 \u5141\u8bb8 \u5c06 \u706f \u5206\u7c7b \u4e3a \u8def\u706f \u3001 \u5efa\u7b51 \u5efa\u7b51\u7269 \u706f ... \u53ef\u4ee5 \u68c0\u7d22   [   carla . LightManager   ]   \u7684 \u5b9e\u4f8b \u6765 \u5728 \u4e00\u6b21 \u8c03\u7528 \u4e2d \u5904\u7406 \u4e00\u7ec4 \u706f \u3002   #   \u83b7\u5f97 \u706f\u5149 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \u548c \u706f\u5149   lmanager   =   world . get _ lightmanager ( )   mylights   =   lmanager . get _ all _ lights ( )   #   \u5b9a\u5236 \u4e00\u4e2a \u7279\u5b9a \u7684 \u706f\u5149   light01   =   mylights [ 0 ]   light01 . turn _ on ( )   light01 . set _ intensity ( 100.0 )   state01   =   carla . LightState ( 200.0 , red , carla . LightGroup . Building , True )   light01 . set _ light _ state ( state01 )   #   \u5b9a\u5236 \u4e00\u7ec4 \u706f   my _ lights   =   lmanager . get _ light _ group ( carla . LightGroup . Building )   lmanager . turn _ on ( my _ lights )   lmanager . set _ color ( my _ lights , carla . Color ( 255 , 0 , 0 ) )   lmanager . set _ intensities ( my _ lights , list _ of _ intensities )   \u8f66\u706f   \u5fc5\u987b \u7531 \u7528\u6237 \u6253\u5f00 / \u5173\u95ed \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u6709 \u4e00\u7ec4 \u5728   carla . VehicleLightState   \u4e2d \u5217\u51fa \u7684 \u706f \u3002 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u5e76\u975e \u6240\u6709 \u8f66\u8f86 \u90fd \u96c6\u6210 \u4e86 \u8f66\u706f \u3002 \u4ee5\u4e0b \u662f \u622a\u81f3 \u64b0\u5199 \u672c\u6587 \u65f6 \u53ef\u7528 \u7684 \u5217\u8868 \u3002   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u3002   \u5b83\u4eec \u90fd \u6709 \u524d\u540e \u793a\u5ed3 \u706f \u3002   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \u3002   \u9a6c\u54c8 \u96c5\u9a6c\u54c8 \u548c \u54c8\u96f7 \u6234\u7ef4\u68ee \u578b\u53f7 \u3002   \u6c7d\u8f66 \u3002   \u5965\u8fea   TT \u3001 \u96ea\u4f5b\u5170 \u3001 \u9053\u5947 \uff08 \u8b66\u8f66 \uff09 \u3001 \u94b0 \u521b \u3001 \u6797\u80af \u3001 \u91ce\u9a6c \u3001 \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9 3S \u3001 \u5927\u4f17 T2 \u4ee5\u53ca \u5373\u5c06 \u5230\u6765 \u7684   Carla   \u65b0 \u5ba2\u4eba \u3002   \u53ef\u4ee5 \u4f7f\u7528   carla . Vehicle . get _ light _ state   \u548c   carla . Vehicle . set _ light _ state   \u65b9\u6cd5 \u968f\u65f6 \u68c0\u7d22 \u548c \u66f4\u65b0 \u8f66\u8f86 \u7684 \u706f\u5149 \u3002 \u5b83\u4eec \u4f7f\u7528 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u8fd0\u7b97 \u6765\u81ea \u5b9a\u4e49 \u706f\u5149 \u8bbe\u7f6e \u3002   #   \u6253\u5f00 \u4f4d\u7f6e \u4f4d\u7f6e\u706f   current _ lights   =   carla . VehicleLightState . NONE   current _ lights   | =   carla . VehicleLightState . Position   vehicle . set _ light _ state ( current _ lights )   \u7b14\u8bb0   \u8fd8 \u53ef\u4ee5 \u4f7f\u7528 \u5929\u6c14   environment . py   \u90e8\u5206 \u4e2d \u63cf\u8ff0 \u7684 \u5b9e\u65f6 \u8bbe\u7f6e \u706f\u5149 \u3002   \u8c03\u8bd5   \u4e16\u754c \u5bf9\u8c61 \u6709 \u4e00\u4e2a   carla . DebugHelper   \u5bf9\u8c61 \u4f5c\u4e3a \u516c\u5171 \u5c5e\u6027 \u3002 \u5b83 \u5141\u8bb8 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u7ed8\u5236 \u4e0d\u540c \u7684 \u5f62\u72b6 \u3002 \u8fd9\u4e9b \u7528\u4e8e \u8ddf\u8e2a \u6b63\u5728 \u53d1\u751f \u7684 \u4e8b\u4ef6 \u3002 \u4ee5\u4e0b \u793a\u4f8b \u5c06 \u5728 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u5904 \u7ed8\u5236 \u4e00\u4e2a \u7ea2\u8272 \u6846 \u3002   debug   =   world . debug   debug . draw _ box ( carla . BoundingBox ( actor _ snapshot . get _ transform ( ) . location , carla . Vector3D ( 0.5 , 0.5 , 2 ) ) , actor _ snapshot . get _ transform ( ) . rotation ,   0.05 ,   carla . Color ( 255 , 0 , 0 , 0 ) , 0 )   \u6b64 \u793a\u4f8b \u5728   carla . DebugHelper   \u7684 \u7247\u6bb5 \u4e2d \u8fdb\u884c \u4e86 \u6269\u5c55 \uff0c \u5c55\u793a \u4e86 \u5982\u4f55 \u4e3a \u4e16\u754c \u5feb\u7167 \u4e2d \u7684 \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7ed8\u5236 \u65b9\u6846 \u3002   \u4e16\u754c \u5feb\u7167   \u5305\u542b \u4eff\u771f \u4e2d \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5355\u4e2a \u5e27 \u4e2d \u7684 \u72b6\u6001 \u3002 \u4e00\u79cd \u5e26\u6709 \u65f6\u95f4 \u53c2\u8003 \u7684 \u9759\u6001 \u4e16\u754c \u56fe\u50cf \u3002 \u5373\u4f7f \u5728 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u4fe1\u606f \u4e5f \u6765\u81ea \u76f8\u540c \u7684 \u4eff\u771f \u6b65\u9aa4 \u3002   #   \u68c0\u7d22 \u5f53\u524d \u5e27 \u7684 \u4e16\u754c \u5feb\u7167 \u3002   world _ snapshot   =   world . get _ snapshot ( )   carla . WorldSnapshot   \u5305\u542b   carla . Timestamp   \u548c   carla . ActorSnapshot   \u5217\u8868 \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u7684 \u641c\u7d22 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5feb\u7167 \u3002 \u5feb\u7167 \u5217\u51fa \u4e86 \u5176\u4e2d \u51fa\u73b0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u3002   timestamp   =   world _ snapshot . timestamp   #   \u83b7\u53d6 \u65f6\u95f4 \u53c2\u8003   for   actor _ snapshot   in   world _ snapshot :   #   \u83b7\u53d6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u5feb\u7167 \u4fe1\u606f   actual _ actor   =   world . get _ actor ( actor _ snapshot . id )   actor _ snapshot . get _ transform ( )   actor _ snapshot . get _ velocity ( )   actor _ snapshot . get _ angular _ velocity ( )   actor _ snapshot . get _ acceleration ( )   actor _ snapshot   =   world _ snapshot . find ( actual _ actor . id )   #   \u83b7\u5f97 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5feb\u7167   \u4e16\u754c \u8bbe\u7f6e   \u4e16\u754c \u53ef\u4ee5 \u4f7f\u7528 \u4e00\u4e9b \u9ad8\u7ea7 \u7684 \u4eff\u771f \u914d\u7f6e \u3002 \u8fd9\u4e9b \u51b3\u5b9a \u4e86 \u6e32\u67d3 \u6761\u4ef6 \u3001 \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u4ee5\u53ca \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u7684 \u540c\u6b65 \u3002 \u5b83\u4eec \u53ef\u4ee5 \u4ece \u8f85\u52a9 \u7c7b   carla . WorldSettings   \u8bbf\u95ee \u3002   \u76ee\u524d \uff0c \u9ed8\u8ba4 \u7684   Carla   \u4ee5 \u6700\u4f73 \u56fe\u5f62 \u8d28\u91cf \u3001 \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \u548c \u5f02\u6b65 \u65b9\u5f0f \u8fd0\u884c \u3002 \u8981 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u6df1\u5165 \u4e86\u89e3 \u6b64 \u95ee\u9898 \uff0c \u8bf7 \u67e5\u770b   \u9ad8\u7ea7 \u6b65\u9aa4   \u90e8\u5206 \u3002 \u6709\u5173   \u540c\u6b65 \u3001 \u65f6\u95f4 \u6b65\u957f   \u4ee5\u53ca   \u6e32\u67d3 \u9009\u9879   \u7684 \u9875\u9762 \u53ef\u80fd \u662f \u4e00\u4e2a \u5f88 \u597d \u7684 \u8d77\u70b9 \u3002   \u8fd9 \u662f \u5bf9 \u4e16\u754c \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u7684 \u5305\u88c5 \u3002 \u4e0b \u4e00\u6b65 \u5c06 \u4ed4\u7ec6 \u7814\u7a76 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe \uff0c \u4e3a \u4eff\u771f \u8d4b\u4e88 \u751f\u547d \u3002   \u7ee7\u7eed \u9605\u8bfb \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002 \u8bf7 \u8bbf\u95ee \u8bba\u575b \uff0c \u53d1\u8868 \u5728 \u9605\u8bfb \u8fc7\u7a0b \u4e2d \u60f3\u5230 \u7684 \u4efb\u4f55 \u7591\u95ee \u6216 \u5efa\u8bae \u3002   Carla   \u8bba\u575b   \u7b2c\u4e8c \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe","title":"\u7b2c\u4e00 \u3001 \u4e16\u754c \u548c \u5ba2\u6237\u7aef"},{"location":"core_world/#_1","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u4e16\u754c \u662f   Carla   \u7684 \u4e24\u4e2a \u57fa\u672c \u8981\u7d20 \u57fa\u672c\u8981\u7d20 \uff0c \u662f \u64cd\u4f5c \u4eff\u771f \u53ca\u5176 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5fc5\u8981 \u62bd\u8c61 \u3002   \u672c \u6559\u7a0b \u4ece \u5b9a\u4e49 \u8fd9\u4e9b \u5143\u7d20 \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6 \u548c \u521b\u5efa \uff0c \u5230 \u63cf\u8ff0 \u5b83\u4eec \u7684 \u53ef\u80fd \u53ef\u80fd\u6027 \u3002 \u5982\u679c \u9605\u8bfb \u8fc7\u7a0b \u4e2d \u51fa\u73b0 \u4efb\u4f55 \u7591\u95ee \u6216 \u95ee\u9898 \uff0c   Carla   \u8bba\u575b   \u53ef\u4ee5 \u4e3a \u60a8 \u89e3\u51b3 \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa   \u4e16\u754c \u8fde\u63a5   \u4f7f\u7528 \u547d\u4ee4   \u5176\u4ed6 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f   \u4e16\u754c   \u53c2\u4e0e \u53c2\u4e0e\u8005   \u5929\u6c14   \u706f\u5149   \u8c03\u8bd5   \u4e16\u754c \u5feb\u7167   \u4e16\u754c \u8bbe\u7f6e","title":"\u7b2c\u4e00 \u3001 \u4e16\u754c \u548c \u5ba2\u6237\u7aef"},{"location":"core_world/#_2","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef \u662f   Carla   \u67b6\u6784 \u4e2d \u7684 \u4e3b\u8981 \u5143\u7d20 \u4e4b\u4e00 \u3002 \u5b83\u4eec \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3001 \u68c0\u7d22 \u4fe1\u606f \u5e76 \u66f4\u6539 \u547d\u4ee4 \u3002 \u8fd9\u662f \u901a\u8fc7 \u811a\u672c \u5b8c\u6210 \u7684 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bc6\u522b \u81ea\u5df1 \u7684 \u8eab\u4efd \uff0c \u5e76 \u8fde\u63a5 \u5230 \u4e16\u754c \uff0c \u7136\u540e \u8fdb\u884c \u4eff\u771f \u64cd\u4f5c \u3002   \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u5ba2\u6237 \u8fd8 \u53ef\u4ee5 \u8bbf\u95ee \u9ad8\u7ea7   Carla   \u6a21\u5757 \u3001 \u529f\u80fd \u5e76 \u5e94\u7528 \u547d\u4ee4 \u5904\u7406 \u6279\u5904\u7406 \u3002 \u672c\u8282 \u4ec5 \u4ecb\u7ecd \u547d\u4ee4 \u5904\u7406 \u6279\u5904\u7406 \u3002 \u8fd9\u4e9b \u5bf9\u4e8e \u8bf8\u5982 \u751f\u6210 \u5927\u91cf \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u7c7b \u7684 \u57fa\u672c \u4e8b\u60c5 \u5f88 \u6709\u7528 \u3002 \u5176\u4f59 \u529f\u80fd \u66f4\u52a0 \u590d\u6742 \uff0c \u5c06 \u5728   \u9ad8\u7ea7 \u6b65\u9aa4   \u4e2d \u5404\u81ea \u7684 \u9875\u9762 \u4e2d \u8fdb\u884c \u89e3\u51b3 \u3002   \u67e5\u770b   Python   API   \u53c2\u8003 \u4e2d \u7684   carla . Client   \u4ee5 \u4e86\u89e3 \u8be5\u7c7b \u7684 \u7279\u5b9a \u65b9\u6cd5 \u548c \u53d8\u91cf \u3002","title":"\u5ba2\u6237\u7aef  "},{"location":"core_world/#_3","text":"\u9700\u8981 \u4e24\u4ef6 \u4e24\u4ef6\u4e8b \u3002 \u6807\u8bc6 \u5b83 \u7684   IP   \u5730\u5740 \u4ee5\u53ca \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u7684   \u4e24\u4e2a   TCP   \u7aef\u53e3   \u3002 \u53ef\u9009 \u7684 \u7b2c\u4e09 \u4e09\u4e2a \u7b2c\u4e09\u4e2a \u53c2\u6570 \u8bbe\u7f6e \u53c2\u6570\u8bbe\u7f6e \u5de5\u4f5c \u7ebf\u7a0b \u7684 \u6570\u91cf \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8be5\u503c \u8bbe\u7f6e \u4e3a \u5168\u90e8   (   0   ) \u3002 Python   API   \u53c2\u8003 \u4e2d \u7684   carla . Client   \u5305\u542b \u4e00\u4e2a \u7247\u6bb5 \uff0c \u663e\u793a \u5982\u4f55 \u5728 \u8fd0\u884c \u811a\u672c \u65f6 \u5c06 \u8fd9\u4e9b \u89e3\u6790 \u4e3a \u53c2\u6570 \u3002   client   =   carla . Client ( ' localhost ' ,   2000 )   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c Carla   \u4f7f\u7528 \u672c\u5730 \u4e3b\u673a   IP   \u548c \u7aef\u53e3   2000   \u8fdb\u884c \u8fde\u63a5 \uff0c \u4f46 \u8fd9\u4e9b \u53ef\u4ee5 \u968f\u610f \u66f4\u6539 \u3002 \u5728 \u672c\u4f8b \u4e2d \uff0c \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u7aef\u53e3 \u59cb\u7ec8 \u4e3a   n + 1   , 2001 \u3002   \u521b\u5efa \u5ba2\u6237 \u5ba2\u6237\u7aef \u540e \uff0c \u8bbe\u7f6e \u5176   time - out   \u3002 \u8fd9 \u9650\u5236 \u4e86 \u6240\u6709 \u7f51\u7edc \u64cd\u4f5c \uff0c \u4ee5\u4fbf \u8fd9\u4e9b \u64cd\u4f5c \u4e0d\u4f1a \u6c38\u8fdc \u963b\u6b62 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002 \u5982\u679c \u8fde\u63a5 \u5931\u8d25 \uff0c \u5c06 \u8fd4\u56de \u9519\u8bef \u3002   client . set _ timeout ( 10.0 )   #   \u79d2   \u53ef\u4ee5 \u8fde\u63a5 \u8bb8\u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u56e0\u4e3a \u4e00\u6b21 \u8fd0\u884c \u591a\u4e2a \u811a\u672c \u662f \u5f88 \u5e38\u89c1 \u7684 \u3002 \u5728 \u5177\u6709 \u9ad8\u7ea7   Carla   \u529f\u80fd \uff08 \u4f8b\u5982 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff09 \u7684 \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u65b9\u6848 \u4e2d \u5de5\u4f5c \uff0c \u5fc5\u7136 \u4f1a \u4f7f \u901a\u4fe1 \u66f4\u52a0 \u590d\u6742 \u3002   \u7b14\u8bb0   \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6709 \u4e0d\u540c \u7684   libcarla   \u6a21\u5757 \u3002 \u5982\u679c \u7248\u672c \u4e0d\u540c \uff0c \u53ef\u80fd \u4f1a \u51fa\u73b0 \u95ee\u9898 \u3002 \u8fd9 \u53ef\u4ee5 \u4f7f\u7528   get _ client _ version ( )   \u548c   get _ server _ version ( )   \u65b9\u6cd5 \u8fdb\u884c \u68c0\u67e5 \u3002","title":"\u5ba2\u6237\u7aef \u521b\u5efa  "},{"location":"core_world/#_4","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u76f8\u5f53 \u8f7b\u677e \u5730 \u8fde\u63a5 \u548c \u68c0\u7d22 \u5f53\u524d \u4e16\u754c \u3002   world   =   client . get _ world ( )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd8 \u53ef\u4ee5 \u83b7\u5f97 \u53ef\u7528 \u5730\u56fe \u5217\u8868 \u6765 \u66f4\u6539 \u5f53\u524d \u5730\u56fe \u3002 \u8fd9 \u5c06 \u9500\u6bc1 \u5f53\u524d \u7684 \u4e16\u754c \u5e76 \u521b\u9020 \u4e00\u4e2a \u65b0 \u7684 \u4e16\u754c \u3002   print ( client . get _ available _ maps ( ) )   ...   world   =   client . load _ world ( ' Town01 ' )   #   client . reload _ world ( )   \u521b\u5efa \u4e00\u4e2a \u76f8\u540c \u5730\u56fe \u4e16\u754c \u7684 \u65b0 \u5b9e\u4f8b \u3002   \u6bcf\u4e2a \u4e16\u754c \u5bf9\u8c61 \u90fd \u6709 \u4e00\u4e2a   id   \u6216 \u4e16\u4ee3 \u3002 \u6bcf\u5f53 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8c03\u7528   load _ world ( )   \u6216   reload _ world ( )   \u65f6 \uff0c \u524d \u4e00\u4e2a \u88ab \u9500\u6bc1 \u3002 \u4e00\u4e2a \u65b0 \u7684 \u4e16\u4ee3 \u662f \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u521b\u5efa \u7684 \u3002 \u5728 \u6b64 \u8fc7\u7a0b \u4e2d \u865a\u5e7b \u5f15\u64ce \u4e0d\u4f1a \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \u3002","title":"\u4e16\u754c \u8fde\u63a5  "},{"location":"core_world/#_5","text":"\u547d\u4ee4   \u662f \u4e00\u4e9b \u6700 \u5e38\u89c1 \u7684   Carla   \u65b9\u6cd5 \u7684 \u6539\u7f16 \uff0c \u53ef\u4ee5 \u6279\u91cf \u5e94\u7528 \u3002 \u4f8b\u5982 \uff0c   command . SetAutopilot   \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e   command . SetAutopilot   \uff0c \u542f\u7528 \u8f66\u8f86 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u529f\u80fd \u3002 \u4f46\u662f \uff0c \u4f7f\u7528   Client . apply _ batch   \u6216   Client . apply _ batch _ sync ( )   \u65b9\u6cd5 \uff0c \u53ef\u4ee5 \u5728 \u4e00\u4e2a \u4eff\u771f \u6b65\u9aa4 \u4e2d \u5e94\u7528 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u547d\u4ee4 \u3002 \u8fd9 \u5bf9\u4e8e \u901a\u5e38 \u5e94\u7528 \u4e8e \u6570\u767e \u767e\u4e2a \u6570\u767e\u4e2a \u5143\u7d20 \u7684 \u65b9\u6cd5 \u6765\u8bf4 \u53d8\u5f97 \u975e\u5e38 \u6709\u7528 \u3002   \u4ee5\u4e0b \u793a\u4f8b \u4f7f\u7528 \u5904\u7406 \u6279\u5904\u7406 \u4e00\u6b21 \u4e00\u6b21\u6027 \u9500\u6bc1 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u8f66\u8f86 \u3002   client . apply _ batch ( [ carla . command . DestroyActor ( x )   for   x   in   vehicles _ list ] )   Python   API   \u53c2\u8003 \u7684   \u6700\u65b0 \u90e8\u5206   \u5217\u51fa \u4e86 \u6240\u6709 \u53ef\u7528 \u7684 \u547d\u4ee4 \u3002","title":"\u4f7f\u7528 \u547d\u4ee4  "},{"location":"core_world/#_6","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u7684 \u4e3b\u8981 \u76ee\u7684 \u662f \u83b7\u53d6 \u6216 \u6539\u53d8 \u4e16\u754c \uff0c \u5e76 \u5e94\u7528 \u547d\u4ee4 \u3002 \u4f46\u662f \uff0c \u5b83 \u8fd8 \u63d0\u4f9b \u5bf9 \u4e00\u4e9b \u9644\u52a0 \u529f\u80fd \u7684 \u8bbf\u95ee \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   \u8be5 \u6a21\u5757 \u8d1f\u8d23 \u6bcf\u8f86 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u7684 \u8f66\u8f86 \u4ee5 \u91cd\u5efa \u57ce\u5e02 \u4ea4\u901a \u57ce\u5e02\u4ea4\u901a \u3002   \u8bb0\u5f55 \u8bb0\u5f55\u5668   .   \u5141\u8bb8 \u91cd\u65b0 \u8fdb\u884c \u4ee5\u524d \u7684 \u4eff\u771f \u3002 \u4f7f\u7528   \u5feb\u7167   \u603b\u7ed3 \u6bcf\u5e27 \u7684 \u4eff\u771f \u72b6\u6001 \u3002","title":"\u5176\u4ed6 \u5ba2\u6237\u7aef \u5b9e\u7528\u7a0b\u5e8f  "},{"location":"core_world/#_7","text":"\u4eff\u771f \u7684 \u4e3b\u8981 \u6807\u5c3a \u3002 \u5b83 \u7684 \u5b9e\u4f8b \u5e94\u8be5 \u7531 \u5ba2\u6237 \u5ba2\u6237\u7aef \u68c0\u7d22 \u3002 \u5b83 \u4e0d \u5305\u542b \u4e16\u754c \u672c\u8eab \u7684 \u6a21\u578b \uff0c \u8fd9\u662f   Map   \u7c7b \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u76f8\u53cd \uff0c \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4fe1\u606f \u548c \u5e38\u89c4 \u8bbe\u7f6e \u53ef\u4ee5 \u4ece \u6b64\u7c7b \u8bbf\u95ee \u3002   \u4eff\u771f \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u89c2\u5bdf \u89c2\u5bdf\u8005 \u3002   \u84dd \u56fe\u5e93 \u3002   \u5730\u56fe \u3002   \u4eff\u771f \u8bbe\u7f6e \u3002   \u5feb\u7167 \u3002   \u5929\u6c14 \u548c \u706f\u5149 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \u3002   \u5b83 \u7684 \u4e00\u4e9b \u6700 \u91cd\u8981 \u7684 \u65b9\u6cd5 \u662f   getters   \uff0c \u7cbe\u786e \u5730 \u68c0\u7d22 \u8fd9\u4e9b \u5143\u7d20 \u7684 \u4fe1\u606f \u6216 \u5b9e\u4f8b \u3002 \u67e5\u770b   carla . World   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u4e16\u754c  "},{"location":"core_world/#_8","text":"\u4e16\u754c \u4e0a \u6709 \u4e0d\u540c \u7684 \u4e0e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u76f8\u5173 \u7684 \u65b9\u6cd5 \uff0c \u5141\u8bb8 \u4e0d\u540c \u7684 \u529f\u80fd \u3002   \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u4f46 \u4e0d \u9500\u6bc1 \u4ed6\u4eec \uff09 \u3002   \u83b7\u5f97 \u573a\u666f \u4e2d \u7684 \u6bcf \u4e00\u4f4d \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u6216\u8005 \u627e\u5230 \u4e00\u4e2a \u7279\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u8bbf\u95ee \u84dd \u56fe\u5e93 \u3002   \u8bbf\u95ee \u89c2\u5bdf \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3001 \u4eff\u771f \u7684 \u89c6\u89d2 \u3002   \u68c0\u7d22 \u9002\u5408 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u968f\u673a \u4f4d\u7f6e \u3002   \u751f\u6210 \u5c06 \u5728   \u7b2c\u4e8c \u90e8\u5206 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe   \u3002 \u9700\u8981 \u5bf9 \u84dd \u56fe\u5e93 \u3001 \u5c5e\u6027 \u7b49 \u6709 \u4e00\u5b9a \u7684 \u4e86\u89e3 \u3002","title":"\u53c2\u4e0e\u8005  "},{"location":"core_world/#_9","text":"\u5929\u6c14 \u672c\u8eab \u5e76 \u4e0d\u662f \u4e00\u4e2a \u7c7b \uff0c \u800c\u662f \u4e00\u7ec4 \u53ef \u4ece \u4e16\u754c \u83b7\u53d6 \u7684 \u53c2\u6570 \u3002 \u53c2\u6570 \u5316 \u5305\u62ec \u592a\u9633 \u65b9\u5411 \u3001 \u4e91\u91cf \u3001 \u98ce \u3001 \u96fe \u7b49\u7b49 \u3002 \u8f85\u52a9 \u7c7b   carla . WeatherParameters   \u7528\u4e8e \u5b9a\u4e49 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14 \u3002   weather   =   carla . WeatherParameters (   cloudiness = 80.0 ,   precipitation = 30.0 ,   sun _ altitude _ angle = 70.0 )   world . set _ weather ( weather )   print ( world . get _ weather ( ) )   \u6709 \u4e00\u4e9b \u5929\u6c14 \u9884\u8bbe \u53ef\u4ee5 \u76f4\u63a5 \u5e94\u7528 \u4e8e \u4e16\u754c \u3002 \u8fd9\u4e9b \u5217 \u5728   carla . WeatherParameters   \u4e2d \u5e76 \u53ef \u4f5c\u4e3a \u679a\u4e3e \u8bbf\u95ee \u3002   world . set _ weather ( carla . WeatherParameters . WetCloudySunset )   \u8fd8 \u53ef\u4ee5 \u4f7f\u7528   Carla   \u63d0\u4f9b \u7684 \u4e24\u4e2a \u811a\u672c \u6765\u81ea \u5b9a\u4e49 \u5929\u6c14 \u3002   environment . py   ( \u5728   PythonAPI / util   \u76ee\u5f55 \u4e0b )   \u2014   \u63d0\u4f9b \u5bf9 \u5929\u6c14 \u548c \u5149\u7167 \u53c2\u6570 \u7684 \u8bbf\u95ee \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u5b9e\u65f6 \u66f4\u6539 \u8fd9\u4e9b \u53c2\u6570 \u3002   environment . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   -- host   H   IP   of   the   host   server   ( default :   127.0 . 0.1 )   - p   P ,   -- port   P   TCP   port   to   listen   to   ( default :   2000 )   -- sun   SUN   Sun   position   presets   [ sunset   |   day   |   night ]   -- weather   WEATHER   Weather   condition   presets   [ clear   |   overcast   |   rain ]   -- altitude   A ,   - alt   A   Sun   altitude   [ - 90.0 ,   90.0 ]   -- azimuth   A ,   - azm   A   Sun   azimuth   [ 0.0 ,   360.0 ]   -- clouds   C ,   - c   C   Clouds   amount   [ 0.0 ,   100.0 ]   -- rain   R ,   - r   R   Rain   amount   [ 0.0 ,   100.0 ]   -- puddles   Pd ,   - pd   Pd   Puddles   amount   [ 0.0 ,   100.0 ]   -- wind   W ,   - w   W   Wind   intensity   [ 0.0 ,   100.0 ]   -- fog   F ,   - f   F   Fog   intensity   [ 0.0 ,   100.0 ]   -- fogdist   Fd ,   - fd   Fd   Fog   Distance   [ 0.0 ,   inf )   -- wetness   Wet ,   - wet   Wet   Wetness   intensity   [ 0.0 ,   100.0 ]   dynamic _ weather . py   ( \u5728   PythonAPI / examples   \u76ee\u5f55 \u4e0b )   \u2014   \u542f\u7528 \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u4e3a \u6bcf\u5f20   Carla   \u5730\u56fe \u51c6\u5907 \u7684 \u7279\u5b9a \u5929\u6c14 \u5468\u671f \u3002   dynamic _ weather . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   -- host   H   IP   of   the   host   server   ( default :   127.0 . 0.1 )   - p   P ,   -- port   P   TCP   port   to   listen   to   ( default :   2000 )   - s   FACTOR ,   -- speed   FACTOR   rate   at   which   the   weather   changes   ( default :   1.0 )   \u7b14\u8bb0   \u5929\u6c14 \u7684 \u53d8\u5316 \u4e0d\u4f1a \u5f71\u54cd \u7269\u7406 \u3002 \u5b83\u4eec \u53ea\u662f \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u4ee5 \u6355\u83b7 \u7684 \u89c6\u89c9 \u6548\u679c \u89c6\u89c9\u6548\u679c \u3002   \u5f53   sun _ altitude _ angle   <   0   \u65f6 \uff0c \u591c\u95f4 \u6a21\u5f0f \u5f00\u59cb   \uff0c \u8fd9 \u88ab \u8ba4\u4e3a \u662f \u65e5\u843d \u3002 \u8fd9\u662f \u706f\u5149 \u53d8\u5f97 \u7279\u522b \u91cd\u8981 \u7684 \u65f6\u5019 \u3002","title":"\u5929\u6c14  "},{"location":"core_world/#_10","text":"\u5f53 \u4eff\u771f \u8fdb\u5165 \u591c\u95f4 \u6a21\u5f0f \u65f6 \uff0c   \u8def\u706f   \u4f1a \u81ea\u52a8 \u6253\u5f00 \u3002 \u706f\u5149 \u7531 \u5730\u56fe \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u653e\u7f6e \uff0c \u5e76 \u53ef \u4f5c\u4e3a   carla . Light   \u5bf9\u8c61 \u8bbf\u95ee \u3002 \u989c\u8272 \u548c \u5f3a\u5ea6 \u7b49 \u5c5e\u6027 \u53ef\u4ee5 \u968f\u610f \u66f4\u6539 \u3002   carla . LightState   \u7c7b\u578b \u7684 \u53d8\u91cf   light _ state   \u5141\u8bb8 \u5728 \u4e00\u6b21 \u8c03\u7528 \u4e2d \u8bbe\u7f6e \u6240\u6709 \u8fd9\u4e9b \u3002   \u8def\u706f \u4f7f\u7528 \u5176 \u7c7b\u578b \u4e3a   carla . LightState   \u7684 \u5c5e\u6027   light _ state   \u8fdb\u884c \u5206\u7c7b \u3002 \u8fd9 \u5141\u8bb8 \u5c06 \u706f \u5206\u7c7b \u4e3a \u8def\u706f \u3001 \u5efa\u7b51 \u5efa\u7b51\u7269 \u706f ... \u53ef\u4ee5 \u68c0\u7d22   [   carla . LightManager   ]   \u7684 \u5b9e\u4f8b \u6765 \u5728 \u4e00\u6b21 \u8c03\u7528 \u4e2d \u5904\u7406 \u4e00\u7ec4 \u706f \u3002   #   \u83b7\u5f97 \u706f\u5149 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \u548c \u706f\u5149   lmanager   =   world . get _ lightmanager ( )   mylights   =   lmanager . get _ all _ lights ( )   #   \u5b9a\u5236 \u4e00\u4e2a \u7279\u5b9a \u7684 \u706f\u5149   light01   =   mylights [ 0 ]   light01 . turn _ on ( )   light01 . set _ intensity ( 100.0 )   state01   =   carla . LightState ( 200.0 , red , carla . LightGroup . Building , True )   light01 . set _ light _ state ( state01 )   #   \u5b9a\u5236 \u4e00\u7ec4 \u706f   my _ lights   =   lmanager . get _ light _ group ( carla . LightGroup . Building )   lmanager . turn _ on ( my _ lights )   lmanager . set _ color ( my _ lights , carla . Color ( 255 , 0 , 0 ) )   lmanager . set _ intensities ( my _ lights , list _ of _ intensities )   \u8f66\u706f   \u5fc5\u987b \u7531 \u7528\u6237 \u6253\u5f00 / \u5173\u95ed \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u6709 \u4e00\u7ec4 \u5728   carla . VehicleLightState   \u4e2d \u5217\u51fa \u7684 \u706f \u3002 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u5e76\u975e \u6240\u6709 \u8f66\u8f86 \u90fd \u96c6\u6210 \u4e86 \u8f66\u706f \u3002 \u4ee5\u4e0b \u662f \u622a\u81f3 \u64b0\u5199 \u672c\u6587 \u65f6 \u53ef\u7528 \u7684 \u5217\u8868 \u3002   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u3002   \u5b83\u4eec \u90fd \u6709 \u524d\u540e \u793a\u5ed3 \u706f \u3002   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \u3002   \u9a6c\u54c8 \u96c5\u9a6c\u54c8 \u548c \u54c8\u96f7 \u6234\u7ef4\u68ee \u578b\u53f7 \u3002   \u6c7d\u8f66 \u3002   \u5965\u8fea   TT \u3001 \u96ea\u4f5b\u5170 \u3001 \u9053\u5947 \uff08 \u8b66\u8f66 \uff09 \u3001 \u94b0 \u521b \u3001 \u6797\u80af \u3001 \u91ce\u9a6c \u3001 \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9 3S \u3001 \u5927\u4f17 T2 \u4ee5\u53ca \u5373\u5c06 \u5230\u6765 \u7684   Carla   \u65b0 \u5ba2\u4eba \u3002   \u53ef\u4ee5 \u4f7f\u7528   carla . Vehicle . get _ light _ state   \u548c   carla . Vehicle . set _ light _ state   \u65b9\u6cd5 \u968f\u65f6 \u68c0\u7d22 \u548c \u66f4\u65b0 \u8f66\u8f86 \u7684 \u706f\u5149 \u3002 \u5b83\u4eec \u4f7f\u7528 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u8fd0\u7b97 \u6765\u81ea \u5b9a\u4e49 \u706f\u5149 \u8bbe\u7f6e \u3002   #   \u6253\u5f00 \u4f4d\u7f6e \u4f4d\u7f6e\u706f   current _ lights   =   carla . VehicleLightState . NONE   current _ lights   | =   carla . VehicleLightState . Position   vehicle . set _ light _ state ( current _ lights )   \u7b14\u8bb0   \u8fd8 \u53ef\u4ee5 \u4f7f\u7528 \u5929\u6c14   environment . py   \u90e8\u5206 \u4e2d \u63cf\u8ff0 \u7684 \u5b9e\u65f6 \u8bbe\u7f6e \u706f\u5149 \u3002","title":"\u706f\u5149  "},{"location":"core_world/#_11","text":"\u4e16\u754c \u5bf9\u8c61 \u6709 \u4e00\u4e2a   carla . DebugHelper   \u5bf9\u8c61 \u4f5c\u4e3a \u516c\u5171 \u5c5e\u6027 \u3002 \u5b83 \u5141\u8bb8 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u7ed8\u5236 \u4e0d\u540c \u7684 \u5f62\u72b6 \u3002 \u8fd9\u4e9b \u7528\u4e8e \u8ddf\u8e2a \u6b63\u5728 \u53d1\u751f \u7684 \u4e8b\u4ef6 \u3002 \u4ee5\u4e0b \u793a\u4f8b \u5c06 \u5728 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u5904 \u7ed8\u5236 \u4e00\u4e2a \u7ea2\u8272 \u6846 \u3002   debug   =   world . debug   debug . draw _ box ( carla . BoundingBox ( actor _ snapshot . get _ transform ( ) . location , carla . Vector3D ( 0.5 , 0.5 , 2 ) ) , actor _ snapshot . get _ transform ( ) . rotation ,   0.05 ,   carla . Color ( 255 , 0 , 0 , 0 ) , 0 )   \u6b64 \u793a\u4f8b \u5728   carla . DebugHelper   \u7684 \u7247\u6bb5 \u4e2d \u8fdb\u884c \u4e86 \u6269\u5c55 \uff0c \u5c55\u793a \u4e86 \u5982\u4f55 \u4e3a \u4e16\u754c \u5feb\u7167 \u4e2d \u7684 \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7ed8\u5236 \u65b9\u6846 \u3002","title":"\u8c03\u8bd5  "},{"location":"core_world/#_12","text":"\u5305\u542b \u4eff\u771f \u4e2d \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5355\u4e2a \u5e27 \u4e2d \u7684 \u72b6\u6001 \u3002 \u4e00\u79cd \u5e26\u6709 \u65f6\u95f4 \u53c2\u8003 \u7684 \u9759\u6001 \u4e16\u754c \u56fe\u50cf \u3002 \u5373\u4f7f \u5728 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u4fe1\u606f \u4e5f \u6765\u81ea \u76f8\u540c \u7684 \u4eff\u771f \u6b65\u9aa4 \u3002   #   \u68c0\u7d22 \u5f53\u524d \u5e27 \u7684 \u4e16\u754c \u5feb\u7167 \u3002   world _ snapshot   =   world . get _ snapshot ( )   carla . WorldSnapshot   \u5305\u542b   carla . Timestamp   \u548c   carla . ActorSnapshot   \u5217\u8868 \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u7684 \u641c\u7d22 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5feb\u7167 \u3002 \u5feb\u7167 \u5217\u51fa \u4e86 \u5176\u4e2d \u51fa\u73b0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u3002   timestamp   =   world _ snapshot . timestamp   #   \u83b7\u53d6 \u65f6\u95f4 \u53c2\u8003   for   actor _ snapshot   in   world _ snapshot :   #   \u83b7\u53d6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u5feb\u7167 \u4fe1\u606f   actual _ actor   =   world . get _ actor ( actor _ snapshot . id )   actor _ snapshot . get _ transform ( )   actor _ snapshot . get _ velocity ( )   actor _ snapshot . get _ angular _ velocity ( )   actor _ snapshot . get _ acceleration ( )   actor _ snapshot   =   world _ snapshot . find ( actual _ actor . id )   #   \u83b7\u5f97 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5feb\u7167","title":"\u4e16\u754c \u5feb\u7167  "},{"location":"core_world/#_13","text":"\u4e16\u754c \u53ef\u4ee5 \u4f7f\u7528 \u4e00\u4e9b \u9ad8\u7ea7 \u7684 \u4eff\u771f \u914d\u7f6e \u3002 \u8fd9\u4e9b \u51b3\u5b9a \u4e86 \u6e32\u67d3 \u6761\u4ef6 \u3001 \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u4ee5\u53ca \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u7684 \u540c\u6b65 \u3002 \u5b83\u4eec \u53ef\u4ee5 \u4ece \u8f85\u52a9 \u7c7b   carla . WorldSettings   \u8bbf\u95ee \u3002   \u76ee\u524d \uff0c \u9ed8\u8ba4 \u7684   Carla   \u4ee5 \u6700\u4f73 \u56fe\u5f62 \u8d28\u91cf \u3001 \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \u548c \u5f02\u6b65 \u65b9\u5f0f \u8fd0\u884c \u3002 \u8981 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u6df1\u5165 \u4e86\u89e3 \u6b64 \u95ee\u9898 \uff0c \u8bf7 \u67e5\u770b   \u9ad8\u7ea7 \u6b65\u9aa4   \u90e8\u5206 \u3002 \u6709\u5173   \u540c\u6b65 \u3001 \u65f6\u95f4 \u6b65\u957f   \u4ee5\u53ca   \u6e32\u67d3 \u9009\u9879   \u7684 \u9875\u9762 \u53ef\u80fd \u662f \u4e00\u4e2a \u5f88 \u597d \u7684 \u8d77\u70b9 \u3002   \u8fd9 \u662f \u5bf9 \u4e16\u754c \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u7684 \u5305\u88c5 \u3002 \u4e0b \u4e00\u6b65 \u5c06 \u4ed4\u7ec6 \u7814\u7a76 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe \uff0c \u4e3a \u4eff\u771f \u8d4b\u4e88 \u751f\u547d \u3002   \u7ee7\u7eed \u9605\u8bfb \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002 \u8bf7 \u8bbf\u95ee \u8bba\u575b \uff0c \u53d1\u8868 \u5728 \u9605\u8bfb \u8fc7\u7a0b \u4e2d \u60f3\u5230 \u7684 \u4efb\u4f55 \u7591\u95ee \u6216 \u5efa\u8bae \u3002   Carla   \u8bba\u575b   \u7b2c\u4e8c \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe","title":"\u4e16\u754c \u8bbe\u7f6e  "},{"location":"cpp/","text":"C++   \u5728 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7684 \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e0b \u8fd0\u884c   doxygen   \u5c06 \u5728   Doxygen / html   \u76ee\u5f55 \u4e0b \u751f\u6210 html \u6587\u4ef6 \uff0c   \u6587\u6863 \u4e3b\u9875   \u4f4d\u4e8e \u3002   \u6240\u6709 \u7c7b \u7684 \u7ee7\u627f \u5173\u7cfb   \u3002   LibCarla   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u4e0d \u4f7f\u7528   Nagle   \u7b97\u6cd5 \uff0c \u5c06 Linux \u4e0a \u7684 \u540c\u6b65 \u6a21\u5f0f \u901f\u5ea6 \u63d0\u9ad8 \u4e86 \u7ea6 3 \u500d \u3002   _ socket . set _ option ( boost : : asio : : ip : : tcp : : no _ delay ( true ) ) ;   \u7b14\u8bb0   Nagle \u7b97\u6cd5 \u662f \u4e00\u79cd \u7528\u4e8e \u63d0\u9ad8 TCP / IP \u7f51\u7edc \u6027\u80fd \u7684 \u7b97\u6cd5 \uff0c \u5b83 \u901a\u8fc7 \u51cf\u5c11 \u6570\u636e \u6570\u636e\u5305 \u7684 \u53d1\u9001 \u53d1\u9001\u91cf \u6765 \u51cf\u5c11 \u7f51\u7edc \u62e5\u5835 \u3002 Nagle \u7b97\u6cd5 \u7684 \u4e3b\u8981 \u76ee\u7684 \u662f \u5408\u5e76 \u4e00\u5b9a \u6570\u91cf \u7684 \u8f93\u51fa \u6570\u636e \u540e \u4e00\u6b21 \u4e00\u6b21\u6027 \u63d0\u4ea4 \uff0c \u4ee5 \u907f\u514d \u7f51\u7edc \u4e2d \u5145\u65a5 \u7740 \u8bb8\u591a \u5c0f \u6570\u636e \u5757 \u3002 \u5f53 TCP \u62a5\u6587 \u627f\u8f7d \u7684 \u6570\u636e \u6570\u636e\u91cf \u975e\u5e38 \u5c0f\u65f6 \uff0c \u4f8b\u5982 \u51e0\u4e2a \u5b57\u8282 \uff0c \u6574\u4e2a \u7f51\u7edc \u7684 \u6548\u7387 \u4f1a \u5f88 \u4f4e \uff0c \u56e0\u4e3a \u6bcf\u4e2a TCP \u62a5\u6587 \u4e2d \u90fd \u4f1a \u5305\u542b \u5927\u91cf \u7684 \u5934\u90e8 \u4fe1\u606f \uff0c \u800c \u6709\u6548 \u6570\u636e \u5360\u6709 \u7684 \u6bd4\u91cd \u5c31 \u4f1a \u975e\u5e38 \u975e\u5e38\u4f4e \u3002 Nagle \u7b97\u6cd5 \u8981\u6c42 \uff0c \u5f53 \u4e00\u4e2a TCP \u8fde\u63a5 \u4e2d\u6709 \u5728 \u4f20 \u6570\u636e \uff08 \u5df2\u7ecf \u53d1\u51fa \u4f46 \u8fd8 \u672a \u786e\u8ba4 \u7684 \u6570\u636e \uff09 \u65f6 \uff0c \u5c0f\u4e8e MSS \uff08 \u6700\u5927 \u5206\u6bb5 \u5927\u5c0f \uff09 \u7684 \u62a5\u6587 \u6bb5 \u5c31 \u4e0d\u80fd \u88ab \u53d1\u9001 \uff0c \u76f4\u5230 \u6240\u6709 \u7684 \u5728 \u4f20 \u6570\u636e \u90fd \u6536\u5230 \u4e86 ACK \u3002 \u540c\u65f6 \u6536\u5230 ACK \u540e \uff0c TCP \u8fd8 \u4e0d\u4f1a \u9a6c\u4e0a \u5c31 \u53d1\u9001 \u6570\u636e \u53d1\u9001\u6570\u636e \uff0c \u4f1a \u6536\u96c6 \u5c0f\u5305 \u5408\u5e76 \u4e00\u8d77 \u53d1\u9001 \u3002 \u7136\u800c \uff0c Nagle \u7b97\u6cd5 \u5e76 \u4e0d\u9002 \u7528\u4e8e \u6240\u6709 \u60c5\u51b5 \uff0c \u5728 \u4e00\u4e9b \u8981\u6c42 \u4f4e \u5ef6\u8fdf \u7684 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \uff08 \u4f8b\u5982 \u5373\u65f6 \u901a\u8baf \u5373\u65f6\u901a \u5373\u65f6\u901a\u8baf \u5e94\u7528 \uff09 \uff0c Nagle \u7b97\u6cd5 \u7684 \u89c4\u5b9a \u662f \u4e0d\u6613 \u88ab \u63a5\u53d7 \u7684 \uff0c \u56e0\u6b64 \u9700\u8981 \u8bbe\u7f6e   TCP _ NODELAY   \u6216\u8005   TCP _ CORK   \u5173\u95ed Nagle \u7b97\u6cd5 \u3002   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u793a\u4f8b   \u53ea \u652f\u6301 \u5728   Linux   \u4e0a \u8fd0\u884c \u3002   \u95ee\u9898   VS   \u63d0\u793a \u65e0\u6cd5 \u542f\u52a8 \u7a0b\u5e8f \u201c   \\ DEBUG \\ ALL - BUILD \u201d , \u7cfb\u7edf \u627e \u4e0d\u5230 \u6307\u5b9a \u7684 \u6587\u4ef6   \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u662f \uff1a \u9879\u76ee   \u2014 >   \u8bbe\u7f6e \u4e3a \u542f\u52a8 \u9879\u76ee \u3002   \u53c2\u8003   CMake   \u4e2d\u6587 \u6559\u7a0b   vs2019   CMake   \u6559\u7a0b   \uff0c \u4e0b\u8f7d   CMake   3.26   \u7684 \u793a\u4f8b \u4ee3\u7801 \u3002   C++   API \u6587\u6863   C++   \u6559\u7a0b   CMake   \u94fe\u63a5 \u6743\u9650   \uff0c \u533a\u5206 PRIVATE \u3001 PUBLIC \u4e0e INTERFACE \u3002","title":"Cpp"},{"location":"cpp/#c","text":"\u5728 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7684 \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e0b \u8fd0\u884c   doxygen   \u5c06 \u5728   Doxygen / html   \u76ee\u5f55 \u4e0b \u751f\u6210 html \u6587\u4ef6 \uff0c   \u6587\u6863 \u4e3b\u9875   \u4f4d\u4e8e \u3002   \u6240\u6709 \u7c7b \u7684 \u7ee7\u627f \u5173\u7cfb   \u3002","title":"C++"},{"location":"cpp/#libcarla","text":"","title":"LibCarla"},{"location":"cpp/#_1","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u4e0d \u4f7f\u7528   Nagle   \u7b97\u6cd5 \uff0c \u5c06 Linux \u4e0a \u7684 \u540c\u6b65 \u6a21\u5f0f \u901f\u5ea6 \u63d0\u9ad8 \u4e86 \u7ea6 3 \u500d \u3002   _ socket . set _ option ( boost : : asio : : ip : : tcp : : no _ delay ( true ) ) ;   \u7b14\u8bb0   Nagle \u7b97\u6cd5 \u662f \u4e00\u79cd \u7528\u4e8e \u63d0\u9ad8 TCP / IP \u7f51\u7edc \u6027\u80fd \u7684 \u7b97\u6cd5 \uff0c \u5b83 \u901a\u8fc7 \u51cf\u5c11 \u6570\u636e \u6570\u636e\u5305 \u7684 \u53d1\u9001 \u53d1\u9001\u91cf \u6765 \u51cf\u5c11 \u7f51\u7edc \u62e5\u5835 \u3002 Nagle \u7b97\u6cd5 \u7684 \u4e3b\u8981 \u76ee\u7684 \u662f \u5408\u5e76 \u4e00\u5b9a \u6570\u91cf \u7684 \u8f93\u51fa \u6570\u636e \u540e \u4e00\u6b21 \u4e00\u6b21\u6027 \u63d0\u4ea4 \uff0c \u4ee5 \u907f\u514d \u7f51\u7edc \u4e2d \u5145\u65a5 \u7740 \u8bb8\u591a \u5c0f \u6570\u636e \u5757 \u3002 \u5f53 TCP \u62a5\u6587 \u627f\u8f7d \u7684 \u6570\u636e \u6570\u636e\u91cf \u975e\u5e38 \u5c0f\u65f6 \uff0c \u4f8b\u5982 \u51e0\u4e2a \u5b57\u8282 \uff0c \u6574\u4e2a \u7f51\u7edc \u7684 \u6548\u7387 \u4f1a \u5f88 \u4f4e \uff0c \u56e0\u4e3a \u6bcf\u4e2a TCP \u62a5\u6587 \u4e2d \u90fd \u4f1a \u5305\u542b \u5927\u91cf \u7684 \u5934\u90e8 \u4fe1\u606f \uff0c \u800c \u6709\u6548 \u6570\u636e \u5360\u6709 \u7684 \u6bd4\u91cd \u5c31 \u4f1a \u975e\u5e38 \u975e\u5e38\u4f4e \u3002 Nagle \u7b97\u6cd5 \u8981\u6c42 \uff0c \u5f53 \u4e00\u4e2a TCP \u8fde\u63a5 \u4e2d\u6709 \u5728 \u4f20 \u6570\u636e \uff08 \u5df2\u7ecf \u53d1\u51fa \u4f46 \u8fd8 \u672a \u786e\u8ba4 \u7684 \u6570\u636e \uff09 \u65f6 \uff0c \u5c0f\u4e8e MSS \uff08 \u6700\u5927 \u5206\u6bb5 \u5927\u5c0f \uff09 \u7684 \u62a5\u6587 \u6bb5 \u5c31 \u4e0d\u80fd \u88ab \u53d1\u9001 \uff0c \u76f4\u5230 \u6240\u6709 \u7684 \u5728 \u4f20 \u6570\u636e \u90fd \u6536\u5230 \u4e86 ACK \u3002 \u540c\u65f6 \u6536\u5230 ACK \u540e \uff0c TCP \u8fd8 \u4e0d\u4f1a \u9a6c\u4e0a \u5c31 \u53d1\u9001 \u6570\u636e \u53d1\u9001\u6570\u636e \uff0c \u4f1a \u6536\u96c6 \u5c0f\u5305 \u5408\u5e76 \u4e00\u8d77 \u53d1\u9001 \u3002 \u7136\u800c \uff0c Nagle \u7b97\u6cd5 \u5e76 \u4e0d\u9002 \u7528\u4e8e \u6240\u6709 \u60c5\u51b5 \uff0c \u5728 \u4e00\u4e9b \u8981\u6c42 \u4f4e \u5ef6\u8fdf \u7684 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \uff08 \u4f8b\u5982 \u5373\u65f6 \u901a\u8baf \u5373\u65f6\u901a \u5373\u65f6\u901a\u8baf \u5e94\u7528 \uff09 \uff0c Nagle \u7b97\u6cd5 \u7684 \u89c4\u5b9a \u662f \u4e0d\u6613 \u88ab \u63a5\u53d7 \u7684 \uff0c \u56e0\u6b64 \u9700\u8981 \u8bbe\u7f6e   TCP _ NODELAY   \u6216\u8005   TCP _ CORK   \u5173\u95ed Nagle \u7b97\u6cd5 \u3002   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u793a\u4f8b   \u53ea \u652f\u6301 \u5728   Linux   \u4e0a \u8fd0\u884c \u3002","title":"\u5ba2\u6237\u7aef"},{"location":"cpp/#_2","text":"VS   \u63d0\u793a \u65e0\u6cd5 \u542f\u52a8 \u7a0b\u5e8f \u201c   \\ DEBUG \\ ALL - BUILD \u201d , \u7cfb\u7edf \u627e \u4e0d\u5230 \u6307\u5b9a \u7684 \u6587\u4ef6   \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u662f \uff1a \u9879\u76ee   \u2014 >   \u8bbe\u7f6e \u4e3a \u542f\u52a8 \u9879\u76ee \u3002","title":"\u95ee\u9898"},{"location":"cpp/#_3","text":"CMake   \u4e2d\u6587 \u6559\u7a0b   vs2019   CMake   \u6559\u7a0b   \uff0c \u4e0b\u8f7d   CMake   3.26   \u7684 \u793a\u4f8b \u4ee3\u7801 \u3002   C++   API \u6587\u6863   C++   \u6559\u7a0b   CMake   \u94fe\u63a5 \u6743\u9650   \uff0c \u533a\u5206 PRIVATE \u3001 PUBLIC \u4e0e INTERFACE \u3002","title":"\u53c2\u8003"},{"location":"cpp_client/","text":"C++   \u5ba2\u6237 \u5ba2\u6237\u7aef \u793a\u4f8b   \u6b64 \u793a\u4f8b \u4f7f\u7528   Carla   \u7684 C++ API \u521b\u5efa \u4e00\u4e2a \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff0c \u4ee5 \u4ece C++ \u8fde\u63a5 \u548c \u63a7\u5236 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u7f16\u8bd1 \u548c \u8fd0\u884c   \u4f7f\u7528 \u63d0\u4f9b \u7684   Makefile \uff08 \u4ec5\u9650 Linux \uff09 \u7f16\u8bd1 \u5e76 \u8fd0\u884c \u793a\u4f8b \u3002 \u8bf7 \u6ce8\u610f \uff0c \u5b83 \u5e0c\u671b \u6709 \u4e00\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5728 2000 \u7aef\u53e3 \u8fd0\u884c \u3002 \uff08   Windows \u5ba2\u6237 \u5ba2\u6237\u7aef cmake \u6587\u4ef6   \uff09   make   run   \u5b83 \u7684 \u5de5\u4f5c \u539f\u7406   \u4e3a\u4e86 \u5c06 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u94fe\u63a5 \u5230   LibCarla \uff0c \u6211\u4eec \u9700\u8981 \u4f7f\u7528 \u4e0e \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u76f8\u540c \u7684 \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u548c \u914d\u7f6e \u6765 \u7f16\u8bd1   LibCarla \u3002 \u4e3a\u6b64 \uff0c \u6211\u4eec \u751f\u6210 \u4e00\u4e2a   CMake   \u5de5\u5177 \u94fe \u6587\u4ef6 \uff0c \u6307\u5b9a \u6240 \u9700 \u7684 \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u548c \u6807\u5fd7   #   ToolChain . cmake   \u793a\u4f8b   set ( CMAKE _ C _ COMPILER   / usr / bin / clang - 8 )   set ( CMAKE _ CXX _ COMPILER   / usr / bin / clang ++- 8 )   set ( CMAKE _ CXX _ FLAGS   \" $ { CMAKE _ CXX _ FLAGS }   - std = c++ 14   - O3   - DNDEBUG \"   CACHE   STRING   \" \"   FORCE )   \u7f16\u8bd1 LibCarla . client \u65f6 \uff0c \u6211\u4eec \u5c06 \u6b64 \u6587\u4ef6 \u4f20\u9012 \u7ed9 CMake   cd   / path / to / carla - root - folder   make   setup   cd   / path / to / build - folder   cmake   \\   - G   \" Ninja \"   \\   - DCMAKE _ BUILD _ TYPE = Client   \\   - DLIBCARLA _ BUILD _ RELEASE = ON   \\   - DLIBCARLA _ BUILD _ DEBUG = OFF   \\   - DLIBCARLA _ BUILD _ TEST = OFF   \\   - DCMAKE _ TOOLCHAIN _ FILE = / path / to / ToolChain . cmake   \\   - DCMAKE _ INSTALL _ PREFIX = / path / to / install - folder   \\   / path / to / carla - root - folder   ninja   ninja   install   \u8fd9 \u5c06 \u5728 \u63d0\u4f9b \u7684 \u5b89\u88c5 \u8def\u5f84 \u4e0a \u751f\u6210 \u4ee5\u4e0b \u7ed3\u6784   libcarla - install   \u251c \u2500 \u2500   include   \u2502   \u251c \u2500 \u2500   carla   \u2502   \u251c \u2500 \u2500   cephes   \u2502   \u251c \u2500 \u2500   pugixml   |   \u251c \u2500 \u2500   ...   \u2502   \u2514 \u2500 \u2500   system   \u2502   \u251c \u2500 \u2500   boost   \u2502   \u251c \u2500 \u2500   recast   \u2502   \u2514 \u2500 \u2500   rpc   \u2514 \u2500 \u2500   lib   \u251c \u2500 \u2500   libcarla _ client . a   \u251c \u2500 \u2500   librpc . a   \u251c \u2500 \u2500   libboost _ filesystem . a   \u2514 \u2500 \u2500   ...   \u6211\u4eec \u7684 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u81f3\u5c11 \u9700\u8981 \u94fe\u63a5 \u5230   libcarla _ client . a   \uff0c   librpc . a   \u3001   libRecast . a   \u548c   libDetour * . a   \u3002 \u5982\u679c \u6211\u4eec \u5229\u7528 IO \u6211\u4eec \u9700\u8981 \u94fe\u63a5 \u7684 \u529f\u80fd \u548c / \u6216 \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406   boost _ filesystem   \u3001   png   \u3001   tiff   \u548c / \u6216   jpeg   \u3002   \u6709\u5173 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8bf7 \u67e5\u770b \u63d0\u4f9b \u7684   Makefile \u3002","title":"C++   \u5ba2\u6237\u7aef \u793a\u4f8b"},{"location":"cpp_client/#c","text":"\u6b64 \u793a\u4f8b \u4f7f\u7528   Carla   \u7684 C++ API \u521b\u5efa \u4e00\u4e2a \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff0c \u4ee5 \u4ece C++ \u8fde\u63a5 \u548c \u63a7\u5236 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002","title":"C++   \u5ba2\u6237\u7aef \u793a\u4f8b"},{"location":"cpp_client/#_1","text":"\u4f7f\u7528 \u63d0\u4f9b \u7684   Makefile \uff08 \u4ec5\u9650 Linux \uff09 \u7f16\u8bd1 \u5e76 \u8fd0\u884c \u793a\u4f8b \u3002 \u8bf7 \u6ce8\u610f \uff0c \u5b83 \u5e0c\u671b \u6709 \u4e00\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5728 2000 \u7aef\u53e3 \u8fd0\u884c \u3002 \uff08   Windows \u5ba2\u6237 \u5ba2\u6237\u7aef cmake \u6587\u4ef6   \uff09   make   run","title":"\u7f16\u8bd1 \u548c \u8fd0\u884c"},{"location":"cpp_client/#_2","text":"\u4e3a\u4e86 \u5c06 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u94fe\u63a5 \u5230   LibCarla \uff0c \u6211\u4eec \u9700\u8981 \u4f7f\u7528 \u4e0e \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u76f8\u540c \u7684 \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u548c \u914d\u7f6e \u6765 \u7f16\u8bd1   LibCarla \u3002 \u4e3a\u6b64 \uff0c \u6211\u4eec \u751f\u6210 \u4e00\u4e2a   CMake   \u5de5\u5177 \u94fe \u6587\u4ef6 \uff0c \u6307\u5b9a \u6240 \u9700 \u7684 \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u548c \u6807\u5fd7   #   ToolChain . cmake   \u793a\u4f8b   set ( CMAKE _ C _ COMPILER   / usr / bin / clang - 8 )   set ( CMAKE _ CXX _ COMPILER   / usr / bin / clang ++- 8 )   set ( CMAKE _ CXX _ FLAGS   \" $ { CMAKE _ CXX _ FLAGS }   - std = c++ 14   - O3   - DNDEBUG \"   CACHE   STRING   \" \"   FORCE )   \u7f16\u8bd1 LibCarla . client \u65f6 \uff0c \u6211\u4eec \u5c06 \u6b64 \u6587\u4ef6 \u4f20\u9012 \u7ed9 CMake   cd   / path / to / carla - root - folder   make   setup   cd   / path / to / build - folder   cmake   \\   - G   \" Ninja \"   \\   - DCMAKE _ BUILD _ TYPE = Client   \\   - DLIBCARLA _ BUILD _ RELEASE = ON   \\   - DLIBCARLA _ BUILD _ DEBUG = OFF   \\   - DLIBCARLA _ BUILD _ TEST = OFF   \\   - DCMAKE _ TOOLCHAIN _ FILE = / path / to / ToolChain . cmake   \\   - DCMAKE _ INSTALL _ PREFIX = / path / to / install - folder   \\   / path / to / carla - root - folder   ninja   ninja   install   \u8fd9 \u5c06 \u5728 \u63d0\u4f9b \u7684 \u5b89\u88c5 \u8def\u5f84 \u4e0a \u751f\u6210 \u4ee5\u4e0b \u7ed3\u6784   libcarla - install   \u251c \u2500 \u2500   include   \u2502   \u251c \u2500 \u2500   carla   \u2502   \u251c \u2500 \u2500   cephes   \u2502   \u251c \u2500 \u2500   pugixml   |   \u251c \u2500 \u2500   ...   \u2502   \u2514 \u2500 \u2500   system   \u2502   \u251c \u2500 \u2500   boost   \u2502   \u251c \u2500 \u2500   recast   \u2502   \u2514 \u2500 \u2500   rpc   \u2514 \u2500 \u2500   lib   \u251c \u2500 \u2500   libcarla _ client . a   \u251c \u2500 \u2500   librpc . a   \u251c \u2500 \u2500   libboost _ filesystem . a   \u2514 \u2500 \u2500   ...   \u6211\u4eec \u7684 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u81f3\u5c11 \u9700\u8981 \u94fe\u63a5 \u5230   libcarla _ client . a   \uff0c   librpc . a   \u3001   libRecast . a   \u548c   libDetour * . a   \u3002 \u5982\u679c \u6211\u4eec \u5229\u7528 IO \u6211\u4eec \u9700\u8981 \u94fe\u63a5 \u7684 \u529f\u80fd \u548c / \u6216 \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406   boost _ filesystem   \u3001   png   \u3001   tiff   \u548c / \u6216   jpeg   \u3002   \u6709\u5173 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8bf7 \u67e5\u770b \u63d0\u4f9b \u7684   Makefile \u3002","title":"\u5b83 \u7684 \u5de5\u4f5c \u539f\u7406"},{"location":"custom_assets_tutorials/","text":"\u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8d44\u4ea7   Carla   \u62e5\u6709 \u5927\u91cf \u5f00\u7bb1 \u5373\u7528 \u7684 \u8d44\u4ea7 \uff0c \u5305\u62ec \u5b8c\u6574 \u7684 \u57ce\u9547 \u548c \u57ce\u5e02 \u4ee5\u53ca \u9053\u8def \u7f51\u7edc \u3001 \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u57fa\u7840 \u8bbe\u65bd \u57fa\u7840\u8bbe\u65bd \u3001 \u8f66\u8f86 \u548c \u884c\u4eba \uff0c \u4ee5 \u586b\u5145 \u60a8 \u7684 \u4eff\u771f \u3002 \u7136\u800c \uff0c \u5bf9\u4e8e \u8bb8\u591a \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff0c \u60a8 \u53ef\u80fd \u60f3\u8981 \u6dfb\u52a0 \u81ea\u5df1 \u7684 \u8d44\u4ea7 \uff0c \u800c   Carla   \u5b8c\u5168 \u6709 \u80fd\u529b \u52a0\u8f7d \u5b8c\u5168 \u7531 \u7528\u6237 \u521b\u5efa \u7684 \u65b0 \u8d44\u4ea7 \uff0c \u4ee5 \u5b9e\u73b0 \u6700\u5927 \u7684 \u6269\u5c55 \u5c55\u6027 \u6269\u5c55\u6027 \u53ef\u6269\u5c55\u6027 \u3002 \u4e4b\u524d \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8d44\u4ea7 \u6b65\u9aa4 \u8bf7 \u53c2\u8003   \u94fe\u63a5   \u3002   \u4ee5\u4e0b \u6587\u6863 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u8d44\u4ea7 \u5e76 \u5c06 \u5176 \u6dfb\u52a0 \u5230   Carla   \u7684 \u591a\u79cd \u6280\u672f \u3002   \u6dfb\u52a0 \u9053\u5177   \u6dfb\u52a0 \u8f66\u8f86   \u6253\u5305 \u8d44\u4ea7   \u5b9a\u5236 \u6750\u6599   \u6dfb\u52a0 \u9053\u5177   \u9053\u5177 \u662f \u573a\u666f \u4e2d\u9664 \u9053\u8def \u548c \u8f66\u8f86 \u4e4b\u5916 \u7684 \u8d44\u4ea7 \u3002 \u5176\u4e2d \u5305\u62ec \u8def\u706f \u3001 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u6811\u6728 \u7b49\u7b49 \u3002 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u53ef\u4ee5 \u968f\u65f6 \u901a\u8fc7 \u7b80\u5355 \u7684 \u8fc7\u7a0b \u5bfc\u5165 \u65b0 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\u8f66\u8f86 \u8f66\u724c \u4ee5 \u6ee1\u8db3 \u7279\u5b9a \u7684 \u6d4b\u8bd5 \u9700\u6c42 \u6216 \u589e\u5f3a \u573a\u666f \u7684 \u771f\u5b9e \u771f\u5b9e\u6027 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u4ee5\u4e0b \u4e13\u4e1a \u65b9\u6cd5 \u6765 \u66ff\u6362 Carla \u4e2d \u8f66\u8f86 \u7684 \u8f66\u724c \uff1a   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u8f66\u724c \u7684 \u6b65\u9aa4   1 . \u8d44\u4ea7 \u51c6\u5907   \u9996\u5148 \uff0c \u8bbe\u8ba1 \u6216 \u83b7\u53d6 \u4f60 \u60f3\u8981 \u5e94\u7528 \u7684 \u8f66\u724c \u56fe\u50cf \u3002 \u786e\u4fdd \u56fe\u50cf \u7b26\u5408 \u5b9e\u9645 \u7b26\u5408\u5b9e\u9645 \u8f66\u724c \u7684 \u5c3a\u5bf8 \u548c \u8bbe\u8ba1 \u89c4\u8303 \u8bbe\u8ba1\u89c4\u8303 \u3002   \u8f66\u724c \u56fe\u50cf \u5e94 \u4fdd\u5b58 \u4e3a \u9ad8\u5206 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u9ad8\u5206\u8fa8\u7387 \u7684 . PNG \u6216 . JPG \u6587\u4ef6 \uff0c \u4ee5 \u4fdd\u6301 \u89c6\u89c9 \u6548\u679c \u89c6\u89c9\u6548\u679c \u7684 \u6e05\u6670 \u6e05\u6670\u5ea6 \u3002   \u5c06 \u8bbe\u8ba1 \u597d \u7684 \u56fe\u7247 \u5bfc\u5165 Carla \u4e2d \u5bf9\u5e94 \u7684 \u76ee\u5f55 \u4e0b \uff0c \u5e76 \u8f6c\u6362 \u4e3a \u6750\u8d28 \u3002 \u5982\u4e0b \u56fe \u6240\u793a \uff1a   \u5c06 \u56fe\u7247 \u76f4\u63a5 \u62d6\u81f3   / Game / Carla / Static / GenericMaterials / Licenseplates , \u53f3\u952e \u9009\u62e9 \u521b\u5efa \u6750\u8d28   2 . \u6750\u8d28 \u66ff\u6362   \u5bfc \u80ae\u81f3 Carla / Blueprints / Vehicles \u4e0b \u7684 \u76ee\u6807 \u8f66\u8f86 \uff0c \u53f3\u952e \u9009\u62e9 \u7f16\u8f91 \u3002 \u5982\u4e0b \u56fe \u6240\u793a \uff1a   \u8fdb\u5165 \u8f66\u8f86 \u8d44\u4ea7 \u7f16\u8f91 \u754c\u9762 \u540e \uff0c \u53cc\u51fb \u7f51\u683c \u4f53 \uff08 VehicleMesh \uff09 \u7ee7\u627f \uff0c \u4f1a \u51fa\u73b0 \u8f66\u8f86 \u4ee5\u53ca \u8f66\u8f86 \u6240 \u5f15\u7528 \u7684 \u8d44\u4ea7 \u3002   \u5c06 \u8f66\u8f86 \u653e\u5927 \uff0c \u4ee5\u4fbf \u67e5\u770b \u662f\u5426 \u4fee\u6539 \u6210\u529f \u3002   \u627e\u5230 \u8f66\u8f86 \u8f66\u724c \u4f4d\u7f6e \uff0c \u5c06\u6750 \u8def\u5f84 \u66ff\u6362 \u4e3a \u5148\u524d \u6240 \u51c6\u5907 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6750\u8d28 \u3002   \u8fd9\u6837 \uff0c \u6211\u4eec \u7684 \u8f66\u724c \u5df2\u7ecf \u66ff\u6362 \u6210\u529f \uff01 \u56de\u5230 \u4e3b \u754c\u9762 \uff0c \u70b9\u51fb \u7f16\u8bd1 \u8fd0\u884c \uff0c \u5219 \u51fa\u73b0 \u6211\u4eec \u60f3\u8981 \u7684 \u6548\u679c \uff01   3 . \u6d4b\u8bd5   \u8f66\u724c \u66ff\u6362 \u6210\u529f \u540e \uff0c \u5c06 \u573a\u666f \u5bfc\u51fa \uff0c \u6253\u5305 \u6210 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u3002   \u8fd0\u884c   Python   \u811a\u672c \u5728 \u573a\u666f \u4e2d \u6dfb\u52a0 \u5df2\u7ecf \u88ab \u66ff\u6362 \u8fc7 \u8f66\u724c \u7684 \u8f66\u8f86 \uff0c \u8c03\u6574 \u89c6\u89d2 \uff0c \u89c2\u5bdf \u8f66\u724c \u3002 \u6700\u540e \u663e\u793a \u7ed3\u679c \u5982\u4e0b \u56fe \u6240\u793a \uff1a","title":"\u81ea\u5b9a\u4e49 Carla \u4e2d \u8f66\u8f86 \u7684 \u8f66\u724c"},{"location":"custom_plate/#carla","text":"\u5728 Carla \u4eff\u771f \u73af\u5883 \u4e2d \uff0c \u9ed8\u8ba4 \u7684 \u8f66\u8f86 \u8f66\u724c \u662f \u9884\u8bbe \u7684 \u9759\u6001 \u8d44\u4ea7 \u3002 \u5982\u679c \u9700\u8981 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u8f66\u724c \u4ee5 \u6ee1\u8db3 \u7279\u5b9a \u7684 \u6d4b\u8bd5 \u9700\u6c42 \u6216 \u589e\u5f3a \u573a\u666f \u7684 \u771f\u5b9e \u771f\u5b9e\u6027 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u4ee5\u4e0b \u4e13\u4e1a \u65b9\u6cd5 \u6765 \u66ff\u6362 Carla \u4e2d \u8f66\u8f86 \u7684 \u8f66\u724c \uff1a","title":"\u81ea\u5b9a\u4e49 Carla \u4e2d \u8f66\u8f86 \u7684 \u8f66\u724c"},{"location":"custom_plate/#_1","text":"1 . \u8d44\u4ea7 \u51c6\u5907   \u9996\u5148 \uff0c \u8bbe\u8ba1 \u6216 \u83b7\u53d6 \u4f60 \u60f3\u8981 \u5e94\u7528 \u7684 \u8f66\u724c \u56fe\u50cf \u3002 \u786e\u4fdd \u56fe\u50cf \u7b26\u5408 \u5b9e\u9645 \u7b26\u5408\u5b9e\u9645 \u8f66\u724c \u7684 \u5c3a\u5bf8 \u548c \u8bbe\u8ba1 \u89c4\u8303 \u8bbe\u8ba1\u89c4\u8303 \u3002   \u8f66\u724c \u56fe\u50cf \u5e94 \u4fdd\u5b58 \u4e3a \u9ad8\u5206 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u9ad8\u5206\u8fa8\u7387 \u7684 . PNG \u6216 . JPG \u6587\u4ef6 \uff0c \u4ee5 \u4fdd\u6301 \u89c6\u89c9 \u6548\u679c \u89c6\u89c9\u6548\u679c \u7684 \u6e05\u6670 \u6e05\u6670\u5ea6 \u3002   \u5c06 \u8bbe\u8ba1 \u597d \u7684 \u56fe\u7247 \u5bfc\u5165 Carla \u4e2d \u5bf9\u5e94 \u7684 \u76ee\u5f55 \u4e0b \uff0c \u5e76 \u8f6c\u6362 \u4e3a \u6750\u8d28 \u3002 \u5982\u4e0b \u56fe \u6240\u793a \uff1a   \u5c06 \u56fe\u7247 \u76f4\u63a5 \u62d6\u81f3   / Game / Carla / Static / GenericMaterials / Licenseplates , \u53f3\u952e \u9009\u62e9 \u521b\u5efa \u6750\u8d28   2 . \u6750\u8d28 \u66ff\u6362   \u5bfc \u80ae\u81f3 Carla / Blueprints / Vehicles \u4e0b \u7684 \u76ee\u6807 \u8f66\u8f86 \uff0c \u53f3\u952e \u9009\u62e9 \u7f16\u8f91 \u3002 \u5982\u4e0b \u56fe \u6240\u793a \uff1a   \u8fdb\u5165 \u8f66\u8f86 \u8d44\u4ea7 \u7f16\u8f91 \u754c\u9762 \u540e \uff0c \u53cc\u51fb \u7f51\u683c \u4f53 \uff08 VehicleMesh \uff09 \u7ee7\u627f \uff0c \u4f1a \u51fa\u73b0 \u8f66\u8f86 \u4ee5\u53ca \u8f66\u8f86 \u6240 \u5f15\u7528 \u7684 \u8d44\u4ea7 \u3002   \u5c06 \u8f66\u8f86 \u653e\u5927 \uff0c \u4ee5\u4fbf \u67e5\u770b \u662f\u5426 \u4fee\u6539 \u6210\u529f \u3002   \u627e\u5230 \u8f66\u8f86 \u8f66\u724c \u4f4d\u7f6e \uff0c \u5c06\u6750 \u8def\u5f84 \u66ff\u6362 \u4e3a \u5148\u524d \u6240 \u51c6\u5907 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6750\u8d28 \u3002   \u8fd9\u6837 \uff0c \u6211\u4eec \u7684 \u8f66\u724c \u5df2\u7ecf \u66ff\u6362 \u6210\u529f \uff01 \u56de\u5230 \u4e3b \u754c\u9762 \uff0c \u70b9\u51fb \u7f16\u8bd1 \u8fd0\u884c \uff0c \u5219 \u51fa\u73b0 \u6211\u4eec \u60f3\u8981 \u7684 \u6548\u679c \uff01   3 . \u6d4b\u8bd5   \u8f66\u724c \u66ff\u6362 \u6210\u529f \u540e \uff0c \u5c06 \u573a\u666f \u5bfc\u51fa \uff0c \u6253\u5305 \u6210 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u3002   \u8fd0\u884c   Python   \u811a\u672c \u5728 \u573a\u666f \u4e2d \u6dfb\u52a0 \u5df2\u7ecf \u88ab \u66ff\u6362 \u8fc7 \u8f66\u724c \u7684 \u8f66\u8f86 \uff0c \u8c03\u6574 \u89c6\u89d2 \uff0c \u89c2\u5bdf \u8f66\u724c \u3002 \u6700\u540e \u663e\u793a \u7ed3\u679c \u5982\u4e0b \u56fe \u6240\u793a \uff1a","title":"\u81ea\u5b9a\u4e49 \u8f66\u8f86 \u8f66\u724c \u7684 \u6b65\u9aa4"},{"location":"development_tutorials/","text":"\u5f00\u53d1   Carla   \u662f \u5f00\u6e90 \u7684 \uff0c \u5e76\u4e14 \u5177\u6709 \u9ad8\u5ea6 \u6269\u5c55 \u5c55\u6027 \u6269\u5c55\u6027 \u53ef\u6269\u5c55\u6027 \u3002 \u8fd9 \u5141\u8bb8 \u7528\u6237 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u529f\u80fd \u6216 \u5185\u5bb9 \u4ee5 \u6ee1\u8db3 \u4e13\u95e8 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u6216 \u7279\u5b9a \u9700\u6c42 \u3002 \u4ee5\u4e0b \u6559\u7a0b \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u4f7f\u7528   Carla   \u4ee3\u7801 \u5e93 \u5b9e\u73b0 \u7279\u5b9a \u7684 \u5f00\u53d1 \u76ee\u6807 \uff1a   \u8fdb\u884c \u53d1\u5e03   \u5347\u7ea7 \u5185\u5bb9   \u521b\u5efa \u8bed\u4e49 \u6807\u7b7e   \u521b\u5efa \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6027\u80fd \u57fa\u51c6 \u6d4b\u8bd5   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u78b0\u649e \u8fb9\u754c   \u8fdb\u884c \u53d1\u5e03   \u5982\u679c \u60a8 \u60f3 \u5f00\u53d1 \u81ea\u5df1 \u7684   Carla   \u5206\u652f \u5e76 \u53d1\u5e03 \u4ee3\u7801 \u7248\u672c \uff0c \u8bf7 \u9075\u5faa   \u672c \u6307\u5357   \u3002   \u5347\u7ea7 \u5185\u5bb9   \u6211\u4eec \u7684 \u5185\u5bb9 \u9a7b\u7559 \u5728 \u5355\u72ec \u7684   Git   LFS   \u5b58\u50a8 \u5e93\u4e2d \u3002 \u4f5c\u4e3a \u6784\u5efa \u7cfb\u7edf \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u6211\u4eec \u751f\u6210 \u5e76 \u4e0a\u4f20 \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff0c \u5176\u4e2d \u5305\u542b \u5e26\u6709 \u5f53\u524d \u65e5\u671f \u548c \u63d0\u4ea4 \u6807\u8bb0 \u7684 \u8be5 \u5185\u5bb9 \u7684 \u6700\u65b0 \u7248\u672c \u3002 \u6211\u4eec \u5b9a\u671f \u5347\u7ea7   Carla   \u5b58\u50a8 \u5e93 \uff0c \u5e76 \u63d0\u4f9b \u6700\u65b0 \u7248\u672c \u5185\u5bb9 \u5305 \u7684 \u94fe\u63a5 \u3002 \u8bf7 \u6309\u7167   \u8fd9\u4e9b \u8bf4\u660e   \u5347\u7ea7 \u5185\u5bb9 \u3002   \u521b\u5efa \u8bed\u4e49 \u6807\u7b7e   Carla   \u6709 \u4e00\u7ec4 \u5df2 \u5b9a\u4e49 \u7684 \u8bed\u4e49 \u6807\u7b7e \uff0c \u9002\u5408 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u7528\u4f8b \u3002 \u4f46\u662f \uff0c \u5982\u679c \u60a8 \u9700\u8981 \u5176\u4ed6 \u8bfe\u7a0b \uff0c \u60a8 \u53ef\u4ee5 \u6309\u7167   \u672c \u6307\u5357   \u4e2d \u7684 \u8be6\u7ec6 \u8bf4\u660e \u6dfb\u52a0 \u5b83\u4eec \u3002   \u521b\u5efa \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u60a8 \u53ef\u4ee5 \u4fee\u6539   Carla   \u7684   C++   \u4ee3\u7801 \u6765 \u4e3a \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7528\u4f8b \u521b\u5efa \u65b0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u8bf7 \u5728   \u6b64\u5904   \u67e5\u627e \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u6027\u80fd \u57fa\u51c6 \u6d4b\u8bd5   Carla   \u6709 \u4e00\u4e2a \u57fa\u51c6 \u6d4b\u8bd5 \u811a\u672c \uff0c \u53ef \u5e2e\u52a9 \u7cfb\u7edf \u5bf9\u7cfb\u7edf \u6027\u80fd \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002 \u5728   \u8fd9\u91cc   \u627e\u5230 \u5b8c\u6574 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u6709\u5173 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u6b64\u5904   \u3002   \u751f\u6210 \u78b0\u649e \u8fb9\u754c   \u6709\u5173 \u4e3a \u8f66\u8f86 \u751f\u6210 \u66f4 \u51c6\u786e \u7684 \u78b0\u649e \u8fb9\u754c \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u672c \u6307\u5357   \u3002","title":"\u5f00\u53d1"},{"location":"development_tutorials/#_1","text":"Carla   \u662f \u5f00\u6e90 \u7684 \uff0c \u5e76\u4e14 \u5177\u6709 \u9ad8\u5ea6 \u6269\u5c55 \u5c55\u6027 \u6269\u5c55\u6027 \u53ef\u6269\u5c55\u6027 \u3002 \u8fd9 \u5141\u8bb8 \u7528\u6237 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u529f\u80fd \u6216 \u5185\u5bb9 \u4ee5 \u6ee1\u8db3 \u4e13\u95e8 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u6216 \u7279\u5b9a \u9700\u6c42 \u3002 \u4ee5\u4e0b \u6559\u7a0b \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u4f7f\u7528   Carla   \u4ee3\u7801 \u5e93 \u5b9e\u73b0 \u7279\u5b9a \u7684 \u5f00\u53d1 \u76ee\u6807 \uff1a   \u8fdb\u884c \u53d1\u5e03   \u5347\u7ea7 \u5185\u5bb9   \u521b\u5efa \u8bed\u4e49 \u6807\u7b7e   \u521b\u5efa \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6027\u80fd \u57fa\u51c6 \u6d4b\u8bd5   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u78b0\u649e \u8fb9\u754c","title":"\u5f00\u53d1"},{"location":"development_tutorials/#_2","text":"\u5982\u679c \u60a8 \u60f3 \u5f00\u53d1 \u81ea\u5df1 \u7684   Carla   \u5206\u652f \u5e76 \u53d1\u5e03 \u4ee3\u7801 \u7248\u672c \uff0c \u8bf7 \u9075\u5faa   \u672c \u6307\u5357   \u3002","title":"\u8fdb\u884c \u53d1\u5e03"},{"location":"development_tutorials/#_3","text":"\u6211\u4eec \u7684 \u5185\u5bb9 \u9a7b\u7559 \u5728 \u5355\u72ec \u7684   Git   LFS   \u5b58\u50a8 \u5e93\u4e2d \u3002 \u4f5c\u4e3a \u6784\u5efa \u7cfb\u7edf \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u6211\u4eec \u751f\u6210 \u5e76 \u4e0a\u4f20 \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff0c \u5176\u4e2d \u5305\u542b \u5e26\u6709 \u5f53\u524d \u65e5\u671f \u548c \u63d0\u4ea4 \u6807\u8bb0 \u7684 \u8be5 \u5185\u5bb9 \u7684 \u6700\u65b0 \u7248\u672c \u3002 \u6211\u4eec \u5b9a\u671f \u5347\u7ea7   Carla   \u5b58\u50a8 \u5e93 \uff0c \u5e76 \u63d0\u4f9b \u6700\u65b0 \u7248\u672c \u5185\u5bb9 \u5305 \u7684 \u94fe\u63a5 \u3002 \u8bf7 \u6309\u7167   \u8fd9\u4e9b \u8bf4\u660e   \u5347\u7ea7 \u5185\u5bb9 \u3002","title":"\u5347\u7ea7 \u5185\u5bb9"},{"location":"development_tutorials/#_4","text":"Carla   \u6709 \u4e00\u7ec4 \u5df2 \u5b9a\u4e49 \u7684 \u8bed\u4e49 \u6807\u7b7e \uff0c \u9002\u5408 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u7528\u4f8b \u3002 \u4f46\u662f \uff0c \u5982\u679c \u60a8 \u9700\u8981 \u5176\u4ed6 \u8bfe\u7a0b \uff0c \u60a8 \u53ef\u4ee5 \u6309\u7167   \u672c \u6307\u5357   \u4e2d \u7684 \u8be6\u7ec6 \u8bf4\u660e \u6dfb\u52a0 \u5b83\u4eec \u3002","title":"\u521b\u5efa \u8bed\u4e49 \u6807\u7b7e"},{"location":"development_tutorials/#_5","text":"\u60a8 \u53ef\u4ee5 \u4fee\u6539   Carla   \u7684   C++   \u4ee3\u7801 \u6765 \u4e3a \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7528\u4f8b \u521b\u5efa \u65b0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u8bf7 \u5728   \u6b64\u5904   \u67e5\u627e \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002","title":"\u521b\u5efa \u65b0 \u4f20\u611f\u5668"},{"location":"development_tutorials/#_6","text":"Carla   \u6709 \u4e00\u4e2a \u57fa\u51c6 \u6d4b\u8bd5 \u811a\u672c \uff0c \u53ef \u5e2e\u52a9 \u7cfb\u7edf \u5bf9\u7cfb\u7edf \u6027\u80fd \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002 \u5728   \u8fd9\u91cc   \u627e\u5230 \u5b8c\u6574 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002","title":"\u6027\u80fd \u57fa\u51c6 \u6d4b\u8bd5"},{"location":"development_tutorials/#_7","text":"\u6709\u5173 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u6b64\u5904   \u3002","title":"\u8bb0\u5f55\u5668 \u6587\u4ef6\u683c\u5f0f"},{"location":"development_tutorials/#_8","text":"\u6709\u5173 \u4e3a \u8f66\u8f86 \u751f\u6210 \u66f4 \u51c6\u786e \u7684 \u78b0\u649e \u8fb9\u754c \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u672c \u6307\u5357   \u3002","title":"\u751f\u6210 \u78b0\u649e \u8fb9\u754c"},{"location":"download/","text":"\u4e0b\u8f7d   \u6700\u65b0 \u53d1\u5e03   Carla   0.9 . 15   -   \u6587\u6863   \u6bcf\u665a \u6784\u5efa   \u8fd9\u662f \u4e00\u4e2a \u81ea\u52a8 \u6784\u5efa \uff0c \u6700\u65b0 \u7684 \u66f4\u6539 \u5df2 \u63a8\u9001 \u5230 \u6211\u4eec \u7684   dev   \u5206\u652f \u3002 \u5b83 \u5305\u542b \u5c06 \u6210\u4e3a \u4e0b \u4e00\u4e2a \u7248\u672c \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u7684 \u6700\u65b0 \u4fee\u590d \u548c \u529f\u80fd \uff0c \u4f46 \u4e5f \u5305\u542b \u4e00\u4e9b \u5b9e\u9a8c \u5b9e\u9a8c\u6027 \u66f4\u6539 \u3002 \u4f7f\u7528 \u98ce\u9669 \u81ea\u8d1f \uff01   Carla   \u6bcf\u665a \u6784\u5efa   ( Linux )   \u9644\u52a0 \u5730\u56fe \u591c\u95f4 \u6784\u5efa   ( Linux )   Carla   \u6bcf\u665a \u6784\u5efa \uff08 Windows \uff09   \u9644\u52a0 \u5730\u56fe \u6bcf\u665a \u6784\u5efa   ( Windows )   \u7248\u672c   0.9 . x   \u4ee5\u4e0b \u662f   Carla   \u7684 \u5148\u524d \u7248\u672c \uff0c \u5176\u4e2d \u5305\u542b \u6bcf\u4e2a \u7248\u672c \u7684 \u7279\u5b9a \u6587\u6863 \u7684 \u94fe\u63a5 \uff1a   Carla   0.9 . 14   -   \u6587\u6863   Carla   0.9 . 13   -   \u6587\u6863   Carla   0.9 . 12   -   \u6587\u6863   Carla   0.9 . 11   -   \u6587\u6863   Carla   0.9 . 10   -   \u6587\u6863   Carla   0.9 . 9   -   \u6587\u6863   Carla   0.9 . 8   -   \u6587\u6863   Carla   0.9 . 7   -   \u6587\u6863   Carla   0.9 . 6   -   \u6587\u6863   Carla   0.9 . 5   -   \u6587\u6863   Carla   0.9 . 4   -   \u6587\u6863   Carla   0.9 . 3   -   \u6587\u6863   Carla   0.9 . 2   -   \u6587\u6863   Carla   0.9 . 1   -   \u6587\u6863   Carla   0.9 . 0   -   \u6587\u6863   Versions   0.8 . x   Carla   0.8 . 4   -   \u6587\u6863   Carla   0.8 . 3   Carla   0.8 . 2   -   \u6587\u6863   Docker   \u6240\u6709 \u7248\u672c \u90fd \u53ef\u4ee5 \u4ece   DockerHub   \u4e2d \u83b7\u53d6 \uff1a   docker   pull   carlasim / carla : X . X . X   \u4f7f\u7528 \u6807\u7b7e \u201c latest \u201d \u8868\u793a \u6700\u65b0 \u7248\u672c \uff1a   docker   pull   carlasim / carla : latest","title":"\u4e0b\u8f7d"},{"location":"download/#_1","text":"","title":"\u4e0b\u8f7d"},{"location":"download/#_2","text":"Carla   0.9 . 15   -   \u6587\u6863","title":"\u6700\u65b0 \u53d1\u5e03"},{"location":"download/#_3","text":"\u8fd9\u662f \u4e00\u4e2a \u81ea\u52a8 \u6784\u5efa \uff0c \u6700\u65b0 \u7684 \u66f4\u6539 \u5df2 \u63a8\u9001 \u5230 \u6211\u4eec \u7684   dev   \u5206\u652f \u3002 \u5b83 \u5305\u542b \u5c06 \u6210\u4e3a \u4e0b \u4e00\u4e2a \u7248\u672c \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u7684 \u6700\u65b0 \u4fee\u590d \u548c \u529f\u80fd \uff0c \u4f46 \u4e5f \u5305\u542b \u4e00\u4e9b \u5b9e\u9a8c \u5b9e\u9a8c\u6027 \u66f4\u6539 \u3002 \u4f7f\u7528 \u98ce\u9669 \u81ea\u8d1f \uff01   Carla   \u6bcf\u665a \u6784\u5efa   ( Linux )   \u9644\u52a0 \u5730\u56fe \u591c\u95f4 \u6784\u5efa   ( Linux )   Carla   \u6bcf\u665a \u6784\u5efa \uff08 Windows \uff09   \u9644\u52a0 \u5730\u56fe \u6bcf\u665a \u6784\u5efa   ( Windows )","title":"\u6bcf\u665a \u6784\u5efa"},{"location":"download/#09x","text":"\u4ee5\u4e0b \u662f   Carla   \u7684 \u5148\u524d \u7248\u672c \uff0c \u5176\u4e2d \u5305\u542b \u6bcf\u4e2a \u7248\u672c \u7684 \u7279\u5b9a \u6587\u6863 \u7684 \u94fe\u63a5 \uff1a   Carla   0.9 . 14   -   \u6587\u6863   Carla   0.9 . 13   -   \u6587\u6863   Carla   0.9 . 12   -   \u6587\u6863   Carla   0.9 . 11   -   \u6587\u6863   Carla   0.9 . 10   -   \u6587\u6863   Carla   0.9 . 9   -   \u6587\u6863   Carla   0.9 . 8   -   \u6587\u6863   Carla   0.9 . 7   -   \u6587\u6863   Carla   0.9 . 6   -   \u6587\u6863   Carla   0.9 . 5   -   \u6587\u6863   Carla   0.9 . 4   -   \u6587\u6863   Carla   0.9 . 3   -   \u6587\u6863   Carla   0.9 . 2   -   \u6587\u6863   Carla   0.9 . 1   -   \u6587\u6863   Carla   0.9 . 0   -   \u6587\u6863","title":"\u7248\u672c   0.9 . x"},{"location":"download/#versions-08x","text":"Carla   0.8 . 4   -   \u6587\u6863   Carla   0.8 . 3   Carla   0.8 . 2   -   \u6587\u6863","title":"Versions   0.8 . x"},{"location":"download/#docker","text":"\u6240\u6709 \u7248\u672c \u90fd \u53ef\u4ee5 \u4ece   DockerHub   \u4e2d \u83b7\u53d6 \uff1a   docker   pull   carlasim / carla : X . X . X   \u4f7f\u7528 \u6807\u7b7e \u201c latest \u201d \u8868\u793a \u6700\u65b0 \u7248\u672c \uff1a   docker   pull   carlasim / carla : latest","title":"Docker"},{"location":"ecosys_ansys/","text":"Ansys   \u5b9e\u65f6 \u96f7\u8fbe \u6a21\u578b \uff1a \u4f7f\u7528 \u5f3a\u5316 \u5b66\u4e60 \u8bad\u7ec3 \u8f66\u8f86 \u7eb5\u5411 \u63a7\u5236 \u63a7\u5236\u5668   \u5728   2021   \u5e74   4   \u6708 \u7684 \u7f51\u7edc \u7814\u8ba8 \u7814\u8ba8\u4f1a \u7cfb\u5217 \u4e2d \uff0c   Ansys   \u8be6\u7ec6 \u4ecb\u7ecd \u4e86   Ansys   \u5b9e\u65f6 \u96f7\u8fbe   ( Real   Time   Radar ,   RTR )   \u4e0e   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u96c6\u6210 \u3002 \u60a8 \u53ef\u4ee5 \u5728 \u8fd9\u91cc \u4e0b\u8f7d \u5e76 \u67e5\u770b \u7f51\u7edc \u7814\u8ba8 \u7814\u8ba8\u4f1a \u9644\u5e26 \u7684 \u6f14\u793a \u5e7b\u706f \u5e7b\u706f\u7247 \u548c \u89c6\u9891 \u3002   \u8be5 \u6f14\u793a \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5b9e\u65f6 \u96f7\u8fbe \u5982\u4f55 \u4e0e   Carla   \u96c6\u6210 \uff0c \u4ee5 \u4f7f\u7528 \u5f3a\u5316 \u5b66\u4e60 \u8bad\u7ec3 \u8f66\u8f86 \u7eb5\u5411 \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u5e76 \u5305\u62ec \u6240 \u4f7f\u7528 \u7684 \u6a21\u578b \u3001 \u52a8\u4f5c \u7a7a\u95f4 \u548c \u5956\u52b1 \u7b56\u7565 \u3002 \u89c6\u9891 \u663e\u793a \u4e86   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u7684 \u8bad\u7ec3 \u7ed3\u679c \u3002   \u8bf7 \u5728   \u6b64\u5904   \u67e5\u770b \u6f14\u793a \u6587\u7a3f \u5e76 \u5728   \u6b64\u5904   \u67e5\u770b \u89c6\u9891 \u3002","title":"Ecosys   ansys"},{"location":"ecosys_ansys/#ansys","text":"\u5728   2021   \u5e74   4   \u6708 \u7684 \u7f51\u7edc \u7814\u8ba8 \u7814\u8ba8\u4f1a \u7cfb\u5217 \u4e2d \uff0c   Ansys   \u8be6\u7ec6 \u4ecb\u7ecd \u4e86   Ansys   \u5b9e\u65f6 \u96f7\u8fbe   ( Real   Time   Radar ,   RTR )   \u4e0e   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u96c6\u6210 \u3002 \u60a8 \u53ef\u4ee5 \u5728 \u8fd9\u91cc \u4e0b\u8f7d \u5e76 \u67e5\u770b \u7f51\u7edc \u7814\u8ba8 \u7814\u8ba8\u4f1a \u9644\u5e26 \u7684 \u6f14\u793a \u5e7b\u706f \u5e7b\u706f\u7247 \u548c \u89c6\u9891 \u3002   \u8be5 \u6f14\u793a \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5b9e\u65f6 \u96f7\u8fbe \u5982\u4f55 \u4e0e   Carla   \u96c6\u6210 \uff0c \u4ee5 \u4f7f\u7528 \u5f3a\u5316 \u5b66\u4e60 \u8bad\u7ec3 \u8f66\u8f86 \u7eb5\u5411 \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u5e76 \u5305\u62ec \u6240 \u4f7f\u7528 \u7684 \u6a21\u578b \u3001 \u52a8\u4f5c \u7a7a\u95f4 \u548c \u5956\u52b1 \u7b56\u7565 \u3002 \u89c6\u9891 \u663e\u793a \u4e86   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u7684 \u8bad\u7ec3 \u7ed3\u679c \u3002   \u8bf7 \u5728   \u6b64\u5904   \u67e5\u770b \u6f14\u793a \u6587\u7a3f \u5e76 \u5728   \u6b64\u5904   \u67e5\u770b \u89c6\u9891 \u3002","title":"Ansys   \u5b9e\u65f6 \u96f7\u8fbe \u6a21\u578b \uff1a \u4f7f\u7528 \u5f3a\u5316 \u5b66\u4e60 \u8bad\u7ec3 \u8f66\u8f86 \u7eb5\u5411 \u63a7\u5236\u5668"},{"location":"ecosys_femfx/","text":"\u9650\u5143 \u53d8\u5f62 \u6750\u6599 \u865a\u5e7b \u63d2\u4ef6   FEMFX   \u662f \u4e00\u4e2a \u7528\u4e8e \u53d8\u5f62 \u6750\u6599 \u7269\u7406 \u7684 \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b   CPU   \u5e93 \uff0c \u4f7f\u7528 \u6709\u9650 \u5143\u6cd5 \u6709\u9650\u5143 \u6709\u9650\u5143\u6cd5   ( Finite   Element   Method ,   FEM ) \u3002 \u5b9e\u4f53 \u5bf9\u8c61 \u8868\u793a \u4e3a \u56db\u9762 \u56db\u9762\u4f53 \u5355\u5143 \u7684 \u7f51\u683c \uff0c \u6bcf\u4e2a \u5355\u5143 \u90fd \u5177\u6709 \u63a7\u5236 \u521a\u5ea6 \u3001 \u4f53\u79ef \u5982\u4f55 \u968f \u53d8\u5f62 \u53d8\u5316 \u4ee5\u53ca \u53d1\u751f \u65ad\u88c2 \u6216 \u5851\u6027 \uff08 \u6c38\u4e45 \uff09 \u53d8\u5f62 \u7684 \u5e94\u529b \u9650\u5236 \u7684 \u6750\u6599 \u53c2\u6570 \u3002 \u8be5 \u6a21\u578b \u652f\u6301 \u591a\u79cd \u6750\u6599 \u4ee5\u53ca \u6750\u6599 \u4e4b\u95f4 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u3002 \u6211\u4eec \u6253\u7b97 \u8ba9 \u8fd9\u4e9b \u529f\u80fd \u8865\u5145 \u800c \u4e0d\u662f \u53d6\u4ee3 \u4f20\u7edf \u7684 \u521a\u4f53 \u7269\u7406 \u3002 \u8be5 \u7cfb\u7edf \u7684 \u8bbe\u8ba1 \u8003\u8651 \u4e86 \u4ee5\u4e0b \u56e0\u7d20 \uff1a   \u4fdd\u771f \u771f\u5ea6 \u4fdd\u771f\u5ea6 \uff1a \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u903c\u771f \u7684 \u6728\u6750 \u3001 \u91d1\u5c5e \u3001 \u5851\u6599 \uff0c \u751a\u81f3 \u73bb\u7483 \uff0c \u56e0\u4e3a \u5b83\u4eec \u50cf \u771f\u5b9e \u6750\u6599 \u4e00\u6837 \u6839\u636e \u538b\u529b \u5f2f\u66f2 \u548c \u65ad\u88c2 \u3002   \u53d8\u5f62 \u6548\u679c \uff1a \u975e \u521a\u6027 \u7528\u4f8b \uff0c \u4f8b\u5982 \u8f6f\u4f53 \u7269\u4f53 \u3001 \u5f2f\u66f2 \u6216 \u626d\u66f2 \u7684 \u7269\u4f53 \u3002 \u8fd9 \u4e0d\u4ec5 \u4ec5\u4ec5 \u4e0d\u4ec5\u4ec5 \u662f \u4e00\u79cd \u89c6\u89c9 \u6548\u679c \u89c6\u89c9\u6548\u679c \uff0c \u800c\u4e14 \u6750\u6599 \u4f1a \u62b5\u6297 \u6216 \u63a8\u56de \u5176\u4ed6 \u7269\u4f53 \u3002   \u52a8\u6001 \u66f4\u6539 \u6750\u8d28 \uff1a \u60a8 \u53ef\u4ee5 \u66f4\u6539 \u8bbe\u7f6e \u4ee5 \u4f7f \u540c\u4e00 \u5bf9\u8c61 \u7684 \u884c\u4e3a \u622a\u7136 \u4e0d\u540c \u622a\u7136\u4e0d\u540c \uff0c \u4f8b\u5982 \u53d8\u6210 \u51dd\u80f6 \u72b6 \u6216 \u878d\u5316   \u6e38\u620f \u6216 \u8c1c\u9898 \u7684 \u6709\u8da3 \u7269\u7406 \u4ea4\u4e92   \u5b9e\u4f53 \u5bf9\u8c61 \u8868\u793a \u4e3a \u56db\u9762 \u56db\u9762\u4f53 \u5355\u5143 \u7684 \u7f51\u683c \uff0c \u6bcf\u4e2a \u5355\u5143 \u90fd \u5177\u6709 \u63a7\u5236 \u521a\u5ea6 \u3001 \u4f53\u79ef \u5982\u4f55 \u968f \u53d8\u5f62 \u53d8\u5316 \u4ee5\u53ca \u53d1\u751f \u65ad\u88c2 \u6216 \u5851\u6027 \uff08 \u6c38\u4e45 \uff09 \u53d8\u5f62 \u7684 \u5e94\u529b \u9650\u5236 \u7684 \u6750\u6599 \u53c2\u6570 \u3002 \u8be5 \u6a21\u578b \u652f\u6301 \u591a\u79cd \u6750\u6599 \u4ee5\u53ca \u6750\u6599 \u4e4b\u95f4 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u3002   \u8be5\u5e93 \u4f7f\u7528 \u5e7f\u6cdb \u7684 \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b \u6765 \u5229\u7528 \u591a\u6838   CPU \uff0c \u5e76 \u4ece   CPU   \u6838\u5fc3 \u6570\u91cf \u589e\u52a0 \u7684 \u8d8b\u52bf \u4e2d \u53d7\u76ca \u3002","title":"Ecosys   femfx"},{"location":"ecosys_femfx/#_1","text":"FEMFX   \u662f \u4e00\u4e2a \u7528\u4e8e \u53d8\u5f62 \u6750\u6599 \u7269\u7406 \u7684 \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b   CPU   \u5e93 \uff0c \u4f7f\u7528 \u6709\u9650 \u5143\u6cd5 \u6709\u9650\u5143 \u6709\u9650\u5143\u6cd5   ( Finite   Element   Method ,   FEM ) \u3002 \u5b9e\u4f53 \u5bf9\u8c61 \u8868\u793a \u4e3a \u56db\u9762 \u56db\u9762\u4f53 \u5355\u5143 \u7684 \u7f51\u683c \uff0c \u6bcf\u4e2a \u5355\u5143 \u90fd \u5177\u6709 \u63a7\u5236 \u521a\u5ea6 \u3001 \u4f53\u79ef \u5982\u4f55 \u968f \u53d8\u5f62 \u53d8\u5316 \u4ee5\u53ca \u53d1\u751f \u65ad\u88c2 \u6216 \u5851\u6027 \uff08 \u6c38\u4e45 \uff09 \u53d8\u5f62 \u7684 \u5e94\u529b \u9650\u5236 \u7684 \u6750\u6599 \u53c2\u6570 \u3002 \u8be5 \u6a21\u578b \u652f\u6301 \u591a\u79cd \u6750\u6599 \u4ee5\u53ca \u6750\u6599 \u4e4b\u95f4 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u3002 \u6211\u4eec \u6253\u7b97 \u8ba9 \u8fd9\u4e9b \u529f\u80fd \u8865\u5145 \u800c \u4e0d\u662f \u53d6\u4ee3 \u4f20\u7edf \u7684 \u521a\u4f53 \u7269\u7406 \u3002 \u8be5 \u7cfb\u7edf \u7684 \u8bbe\u8ba1 \u8003\u8651 \u4e86 \u4ee5\u4e0b \u56e0\u7d20 \uff1a   \u4fdd\u771f \u771f\u5ea6 \u4fdd\u771f\u5ea6 \uff1a \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u903c\u771f \u7684 \u6728\u6750 \u3001 \u91d1\u5c5e \u3001 \u5851\u6599 \uff0c \u751a\u81f3 \u73bb\u7483 \uff0c \u56e0\u4e3a \u5b83\u4eec \u50cf \u771f\u5b9e \u6750\u6599 \u4e00\u6837 \u6839\u636e \u538b\u529b \u5f2f\u66f2 \u548c \u65ad\u88c2 \u3002   \u53d8\u5f62 \u6548\u679c \uff1a \u975e \u521a\u6027 \u7528\u4f8b \uff0c \u4f8b\u5982 \u8f6f\u4f53 \u7269\u4f53 \u3001 \u5f2f\u66f2 \u6216 \u626d\u66f2 \u7684 \u7269\u4f53 \u3002 \u8fd9 \u4e0d\u4ec5 \u4ec5\u4ec5 \u4e0d\u4ec5\u4ec5 \u662f \u4e00\u79cd \u89c6\u89c9 \u6548\u679c \u89c6\u89c9\u6548\u679c \uff0c \u800c\u4e14 \u6750\u6599 \u4f1a \u62b5\u6297 \u6216 \u63a8\u56de \u5176\u4ed6 \u7269\u4f53 \u3002   \u52a8\u6001 \u66f4\u6539 \u6750\u8d28 \uff1a \u60a8 \u53ef\u4ee5 \u66f4\u6539 \u8bbe\u7f6e \u4ee5 \u4f7f \u540c\u4e00 \u5bf9\u8c61 \u7684 \u884c\u4e3a \u622a\u7136 \u4e0d\u540c \u622a\u7136\u4e0d\u540c \uff0c \u4f8b\u5982 \u53d8\u6210 \u51dd\u80f6 \u72b6 \u6216 \u878d\u5316   \u6e38\u620f \u6216 \u8c1c\u9898 \u7684 \u6709\u8da3 \u7269\u7406 \u4ea4\u4e92   \u5b9e\u4f53 \u5bf9\u8c61 \u8868\u793a \u4e3a \u56db\u9762 \u56db\u9762\u4f53 \u5355\u5143 \u7684 \u7f51\u683c \uff0c \u6bcf\u4e2a \u5355\u5143 \u90fd \u5177\u6709 \u63a7\u5236 \u521a\u5ea6 \u3001 \u4f53\u79ef \u5982\u4f55 \u968f \u53d8\u5f62 \u53d8\u5316 \u4ee5\u53ca \u53d1\u751f \u65ad\u88c2 \u6216 \u5851\u6027 \uff08 \u6c38\u4e45 \uff09 \u53d8\u5f62 \u7684 \u5e94\u529b \u9650\u5236 \u7684 \u6750\u6599 \u53c2\u6570 \u3002 \u8be5 \u6a21\u578b \u652f\u6301 \u591a\u79cd \u6750\u6599 \u4ee5\u53ca \u6750\u6599 \u4e4b\u95f4 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u3002   \u8be5\u5e93 \u4f7f\u7528 \u5e7f\u6cdb \u7684 \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b \u6765 \u5229\u7528 \u591a\u6838   CPU \uff0c \u5e76 \u4ece   CPU   \u6838\u5fc3 \u6570\u91cf \u589e\u52a0 \u7684 \u8d8b\u52bf \u4e2d \u53d7\u76ca \u3002","title":"\u9650\u5143 \u53d8\u5f62 \u6750\u6599 \u865a\u5e7b \u63d2\u4ef6"},{"location":"ecosys_iss/","text":"\u667a\u80fd \u9a7e\u9a76 \u7cfb\u7edf   \u667a\u80fd \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \uff08 Intelligent   Self - driving   System ,   ISS \uff09 \u662f \u4e00\u4e2a \u7528   Python   \u548c   C++   \u7f16\u5199 \u7684 \u6a21\u5757 \u6a21\u5757\u5316 \u6846\u67b6 \uff0c \u65e8\u5728 \u6784\u5efa \u4e00\u4e2a \u9002\u5408 \u7814\u7a76 \u7684 \u53ef \u6269\u5c55 \u5de5\u4f5c \u7a7a\u95f4 \u3002 \u8be5 \u6846\u67b6 \u5c06 \u5305\u542b \u7528\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u76f8\u5173 \u4efb\u52a1 \u7684 \u4f20\u7edf \u548c \u6df1\u5ea6 \u5b66\u4e60 \u7b97\u6cd5 \uff0c \u4f8b\u5982 \u611f\u77e5 \u3001 \u5b9a\u4f4d \u3001 \u6620\u5c04 \u3001 \u9884\u6d4b \u3001 \u89c4\u5212 \u548c \u63a7\u5236 \u3002 \u5bf9\u5916 \u5916\u90e8 \u5bf9\u5916\u90e8 \u5e93 \u4f9d\u8d56 \u4f9d\u8d56\u6027 \u6700\u5c0f \u7684 \u6a21\u5757 \u6a21\u5757\u5316 \u8bbe\u8ba1 \u53ef\u4ee5 \u4e3a \u7814\u7a76 \u4eba\u5458 \u8bc4\u4f30 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u7684 \u7b97\u6cd5 \u63d0\u4f9b \u900f\u660e \u3001 \u5e72\u51c0 \u7684 \u5de5\u4f5c \u7a7a\u95f4 \u3002   \u5b89\u88c5   \u7b97\u6cd5   \u611f\u77e5   \u5b9a\u4f4d   \u9884\u6d4b   \u89c4\u5212   \u63a7\u5236   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u793a\u4f8b   \u76ee\u524d \uff0c \u667a\u80fd \u9a7e\u9a76 \u7cfb\u7edf \u6846\u67b6 \u80fd\u591f \u4f7f\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u751f\u6210 \u7684 \u6570\u636e \u6765 \u90e8\u7f72 \u548c \u6d4b\u8bd5 \u7b97\u6cd5 \u3002 \u5c06   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u96c6\u6210 \u5230 \u6211\u4eec \u7684 \u6846\u67b6 \u4e2d\u540e \uff0c \u6211\u4eec \u53ef\u4ee5 \u8bc4\u4f30 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7b97\u6cd5 \u3002 \u6b64\u5916 \uff0c \u53ef\u4ee5 \u91c7\u7528 \u76f8\u5e94 \u7684 \u63a7\u5236 \u7b97\u6cd5 \u63a7\u5236\u7b97\u6cd5 \u6765 \u64cd\u7eb5 \u4eff\u771f \u8f66\u8f86 \u3002 \u4ee5\u4e0b \u662f \u4e00\u4e9b \u6f14\u793a \u3002   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d   PointPillar   3D   \u68c0\u6d4b \u7b97\u6cd5 \u7684 \u5b9e\u65f6 \u6f14\u793a   \u5c55\u793a \u672c\u5730 \u884c\u4e3a \u89c4\u5212 \u7684 \u6f14\u793a   \u5fae\u578b \u5fae\u578b\u8f66 \u6f14\u793a   \u9664\u4e86 \u4eff\u771f \u7ed3\u679c \u4e4b\u5916 \uff0c \u5982\u679c \u6765\u81ea \u771f\u5b9e \u5fae\u578b \u6c7d\u8f66 \u5fae\u578b\u6c7d\u8f66 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u901a\u8fc7   ROS   \u4f20\u8f93 \u56de   ISS \uff0c \u5219   ISS   \u6846\u67b6 \u53ef\u4ee5 \u5229\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5b8c\u6210 \u5404\u79cd \u4efb\u52a1 \u5e76 \u5bf9 \u7269\u7406 \u5fae\u578b \u6c7d\u8f66 \u5fae\u578b\u6c7d\u8f66 \u8fdb\u884c \u63a7\u5236 \u3002 \u6211\u4eec \u5728 \u4e0b\u9762 \u5c55\u793a \u4e86 \u4e09\u4e2a \u89c6\u9891 \uff0c \u5c55\u793a \u4e86   ISS   \u4e0e \u771f\u5b9e \u5fae\u578b \u6c7d\u8f66 \u5fae\u578b\u6c7d\u8f66 \u7684 \u4e92\u52a8 \u3002   \u4e24\u4e2a \u6f14\u793a \u5206\u522b \u5c55\u793a \u4e86 \u5728 \u5ba4\u5185 \u548c \u5ba4\u5916 \u73af\u5883 \u4e2d \u5bfc\u822a \u7684 \u5b9e\u4f53 \u5fae\u578b \u5fae\u578b\u8f66   \u4f7f\u7528 \u6765\u81ea \u7269\u7406 \u5fae\u578b \u5fae\u578b\u8f66 \u7684 \u6570\u636e \u5c55\u793a   A - LOAM   SLAM   \u7b97\u6cd5 \u7684 \u6f14\u793a","title":"Ecosys   iss"},{"location":"ecosys_iss/#_1","text":"\u667a\u80fd \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \uff08 Intelligent   Self - driving   System ,   ISS \uff09 \u662f \u4e00\u4e2a \u7528   Python   \u548c   C++   \u7f16\u5199 \u7684 \u6a21\u5757 \u6a21\u5757\u5316 \u6846\u67b6 \uff0c \u65e8\u5728 \u6784\u5efa \u4e00\u4e2a \u9002\u5408 \u7814\u7a76 \u7684 \u53ef \u6269\u5c55 \u5de5\u4f5c \u7a7a\u95f4 \u3002 \u8be5 \u6846\u67b6 \u5c06 \u5305\u542b \u7528\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u76f8\u5173 \u4efb\u52a1 \u7684 \u4f20\u7edf \u548c \u6df1\u5ea6 \u5b66\u4e60 \u7b97\u6cd5 \uff0c \u4f8b\u5982 \u611f\u77e5 \u3001 \u5b9a\u4f4d \u3001 \u6620\u5c04 \u3001 \u9884\u6d4b \u3001 \u89c4\u5212 \u548c \u63a7\u5236 \u3002 \u5bf9\u5916 \u5916\u90e8 \u5bf9\u5916\u90e8 \u5e93 \u4f9d\u8d56 \u4f9d\u8d56\u6027 \u6700\u5c0f \u7684 \u6a21\u5757 \u6a21\u5757\u5316 \u8bbe\u8ba1 \u53ef\u4ee5 \u4e3a \u7814\u7a76 \u4eba\u5458 \u8bc4\u4f30 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u7684 \u7b97\u6cd5 \u63d0\u4f9b \u900f\u660e \u3001 \u5e72\u51c0 \u7684 \u5de5\u4f5c \u7a7a\u95f4 \u3002   \u5b89\u88c5   \u7b97\u6cd5   \u611f\u77e5   \u5b9a\u4f4d   \u9884\u6d4b   \u89c4\u5212   \u63a7\u5236","title":"\u667a\u80fd \u9a7e\u9a76 \u7cfb\u7edf"},{"location":"ecosys_iss/#_2","text":"\u76ee\u524d \uff0c \u667a\u80fd \u9a7e\u9a76 \u7cfb\u7edf \u6846\u67b6 \u80fd\u591f \u4f7f\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u751f\u6210 \u7684 \u6570\u636e \u6765 \u90e8\u7f72 \u548c \u6d4b\u8bd5 \u7b97\u6cd5 \u3002 \u5c06   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u96c6\u6210 \u5230 \u6211\u4eec \u7684 \u6846\u67b6 \u4e2d\u540e \uff0c \u6211\u4eec \u53ef\u4ee5 \u8bc4\u4f30 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7b97\u6cd5 \u3002 \u6b64\u5916 \uff0c \u53ef\u4ee5 \u91c7\u7528 \u76f8\u5e94 \u7684 \u63a7\u5236 \u7b97\u6cd5 \u63a7\u5236\u7b97\u6cd5 \u6765 \u64cd\u7eb5 \u4eff\u771f \u8f66\u8f86 \u3002 \u4ee5\u4e0b \u662f \u4e00\u4e9b \u6f14\u793a \u3002   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d   PointPillar   3D   \u68c0\u6d4b \u7b97\u6cd5 \u7684 \u5b9e\u65f6 \u6f14\u793a   \u5c55\u793a \u672c\u5730 \u884c\u4e3a \u89c4\u5212 \u7684 \u6f14\u793a","title":"\u4eff\u771f\u5668 \u793a\u4f8b"},{"location":"ecosys_iss/#_3","text":"\u9664\u4e86 \u4eff\u771f \u7ed3\u679c \u4e4b\u5916 \uff0c \u5982\u679c \u6765\u81ea \u771f\u5b9e \u5fae\u578b \u6c7d\u8f66 \u5fae\u578b\u6c7d\u8f66 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u901a\u8fc7   ROS   \u4f20\u8f93 \u56de   ISS \uff0c \u5219   ISS   \u6846\u67b6 \u53ef\u4ee5 \u5229\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5b8c\u6210 \u5404\u79cd \u4efb\u52a1 \u5e76 \u5bf9 \u7269\u7406 \u5fae\u578b \u6c7d\u8f66 \u5fae\u578b\u6c7d\u8f66 \u8fdb\u884c \u63a7\u5236 \u3002 \u6211\u4eec \u5728 \u4e0b\u9762 \u5c55\u793a \u4e86 \u4e09\u4e2a \u89c6\u9891 \uff0c \u5c55\u793a \u4e86   ISS   \u4e0e \u771f\u5b9e \u5fae\u578b \u6c7d\u8f66 \u5fae\u578b\u6c7d\u8f66 \u7684 \u4e92\u52a8 \u3002   \u4e24\u4e2a \u6f14\u793a \u5206\u522b \u5c55\u793a \u4e86 \u5728 \u5ba4\u5185 \u548c \u5ba4\u5916 \u73af\u5883 \u4e2d \u5bfc\u822a \u7684 \u5b9e\u4f53 \u5fae\u578b \u5fae\u578b\u8f66   \u4f7f\u7528 \u6765\u81ea \u7269\u7406 \u5fae\u578b \u5fae\u578b\u8f66 \u7684 \u6570\u636e \u5c55\u793a   A - LOAM   SLAM   \u7b97\u6cd5 \u7684 \u6f14\u793a","title":"\u5fae\u578b\u8f66 \u6f14\u793a"},{"location":"ecosys_ros/","text":"\u673a\u5668 \u673a\u5668\u4eba \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf   \u673a\u5668 \u673a\u5668\u4eba \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \uff08 Robotic   Operating   System ,   ROS \uff09   \u662f \u4e00\u7ec4 \u7528\u4e8e \u673a\u5668 \u673a\u5668\u4eba \u548c \u81ea\u52a8 \u9a7e\u9a76 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u7684 \u8f6f\u4ef6 \u5e93 \u3002 Carla   \u53ef\u4ee5 \u901a\u8fc7 \u5176   ROS   \u63a5\u53e3 \u76f4\u63a5 \u8fde\u63a5 \u5230   ROS \uff0c \u63a7\u5236 \u4fe1\u53f7 \u53ef\u4ee5 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5e76\u4e14 \u53ef\u4ee5 \u901a\u8fc7   ROS   \u4e3b\u9898 \u8bbf\u95ee \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u8fde\u63a5   Carla   \u548c   ROS   \u6709 \u4e24\u79cd \u9009\u62e9 \u3002   Carla   \u539f\u751f \u63a5\u53e3   :   \u76f4\u63a5 \u6784\u5efa \u5230   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e2d \u7684   ROS   \u63a5\u53e3   ROS   \u6865   :   \u4e00\u4e2a \u5355\u72ec \u7684 \u5e93 \uff0c \u7528\u4e8e \u5728   ROS   \u548c   Carla   \u4e4b\u95f4 \u4f20\u8f93 \u4fe1\u53f7   Carla   \u7684 \u539f\u751f   ROS   \u63a5\u53e3   \u8fd9\u662f \u63a8\u8350 \u7684 \u63a5\u53e3 \uff0c \u56e0\u4e3a \u5b83 \u63d0\u4f9b \u6700\u4f73 \u6027\u80fd \u548c \u6700\u4f4e \u5ef6\u8fdf \u3002 \u76ee\u524d \u672c \u673a \u63a5\u53e3 \u4ec5 \u652f\u6301   ROS   2 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528   ROS   1 \uff0c \u5219 \u5fc5\u987b \u4f7f\u7528   ROS   \u6865 \u3002   Carla   ROS   \u6865   Carla   ROS   \u6865   \u662f \u4e00\u4e2a \u7528\u4e8e \u5c06   ROS   \u8fde\u63a5 \u5230   Carla   \u7684 \u5e93 \uff0c \u5b83 \u4e0e   ROS   1   \u548c   ROS   2   \u517c\u5bb9 \u3002 \u7531\u4e8e   Carla   ROS   \u6865 \u662f \u4e00\u4e2a \u5355\u72ec \u7684 \u5305 \uff0c \u56e0\u6b64 \u4e0e \u672c\u673a \u63a5\u53e3 \u76f8\u6bd4 \uff0c \u5b58\u5728 \u989d\u5916 \u7684 \u5ef6\u8fdf \u3002 ROS   \u6865 \u4ecd\u7136 \u63d0\u4f9b \u652f\u6301   ROS   1   \u548c   ROS   2   \u7684 \u65e7 \u5b9e\u73b0 \u3002","title":"Ecosys   ros"},{"location":"ecosys_ros/#_1","text":"\u673a\u5668 \u673a\u5668\u4eba \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \uff08 Robotic   Operating   System ,   ROS \uff09   \u662f \u4e00\u7ec4 \u7528\u4e8e \u673a\u5668 \u673a\u5668\u4eba \u548c \u81ea\u52a8 \u9a7e\u9a76 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u7684 \u8f6f\u4ef6 \u5e93 \u3002 Carla   \u53ef\u4ee5 \u901a\u8fc7 \u5176   ROS   \u63a5\u53e3 \u76f4\u63a5 \u8fde\u63a5 \u5230   ROS \uff0c \u63a7\u5236 \u4fe1\u53f7 \u53ef\u4ee5 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5e76\u4e14 \u53ef\u4ee5 \u901a\u8fc7   ROS   \u4e3b\u9898 \u8bbf\u95ee \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u8fde\u63a5   Carla   \u548c   ROS   \u6709 \u4e24\u79cd \u9009\u62e9 \u3002   Carla   \u539f\u751f \u63a5\u53e3   :   \u76f4\u63a5 \u6784\u5efa \u5230   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e2d \u7684   ROS   \u63a5\u53e3   ROS   \u6865   :   \u4e00\u4e2a \u5355\u72ec \u7684 \u5e93 \uff0c \u7528\u4e8e \u5728   ROS   \u548c   Carla   \u4e4b\u95f4 \u4f20\u8f93 \u4fe1\u53f7","title":"\u673a\u5668\u4eba \u64cd\u4f5c\u7cfb\u7edf"},{"location":"ecosys_ros/#carla-ros","text":"\u8fd9\u662f \u63a8\u8350 \u7684 \u63a5\u53e3 \uff0c \u56e0\u4e3a \u5b83 \u63d0\u4f9b \u6700\u4f73 \u6027\u80fd \u548c \u6700\u4f4e \u5ef6\u8fdf \u3002 \u76ee\u524d \u672c \u673a \u63a5\u53e3 \u4ec5 \u652f\u6301   ROS   2 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528   ROS   1 \uff0c \u5219 \u5fc5\u987b \u4f7f\u7528   ROS   \u6865 \u3002","title":"Carla   \u7684 \u539f\u751f   ROS   \u63a5\u53e3"},{"location":"ecosys_ros/#carla-ros_1","text":"Carla   ROS   \u6865   \u662f \u4e00\u4e2a \u7528\u4e8e \u5c06   ROS   \u8fde\u63a5 \u5230   Carla   \u7684 \u5e93 \uff0c \u5b83 \u4e0e   ROS   1   \u548c   ROS   2   \u517c\u5bb9 \u3002 \u7531\u4e8e   Carla   ROS   \u6865 \u662f \u4e00\u4e2a \u5355\u72ec \u7684 \u5305 \uff0c \u56e0\u6b64 \u4e0e \u672c\u673a \u63a5\u53e3 \u76f8\u6bd4 \uff0c \u5b58\u5728 \u989d\u5916 \u7684 \u5ef6\u8fdf \u3002 ROS   \u6865 \u4ecd\u7136 \u63d0\u4f9b \u652f\u6301   ROS   1   \u548c   ROS   2   \u7684 \u65e7 \u5b9e\u73b0 \u3002","title":"Carla   ROS   \u6865"},{"location":"ecosys_simready/","text":"NVIDIA   Omniverse   \u7684   SimReady   \u5185\u5bb9   NVIDIA   \u7684   SimReady   \u89c4\u8303 \u652f\u6301 \u51c6\u5907 \u4e13   \u4e3a \u4eff\u771f \u800c \u6784\u5efa \u7684 \u4e09\u7ef4 \u5185\u5bb9   \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u7b80\u5316 \u4eff\u771f \u4e09\u7ef4 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u7684 \u5185\u5bb9 \u521b\u5efa \u7ba1\u9053 \uff0c \u4ee5 \u5b9e\u73b0 \u673a\u5668 \u673a\u5668\u4eba \u548c \u81ea\u52a8 \u9a7e\u9a76 \u4e2d \u7684 \u673a\u5668 \u5b66\u4e60 \u76ee\u7684 \u3002 \u901a\u8fc7 \u73b0\u5df2 \u96c6\u6210 \u5230   Carla   \u4e2d \u7684   Omniverse   \u865a\u5e7b \u5f15\u64ce \u63d2\u4ef6 \uff0c \u7528\u6237 \u53ea \u9700 \u70b9\u51fb \u51e0\u4e0b \u5373\u53ef \u5bfc\u5165   SimReady   \u5185\u5bb9 \uff0c \u4f8b\u5982 \u5df2 \u914d\u7f6e \u5de5\u4f5c \u706f \u3001 \u95e8 \u3001 \u8f66\u8f6e \u548c \u9053\u5177 \u7684 \u8f66\u8f86 \uff0c \u53ef \u7acb\u5373 \u7528\u4e8e \u88c5\u9970   Carla   \u5730\u56fe \u3002   Carla   \u7684   Omniverse   \u96c6\u6210 \u80fd\u591f \u663e \u7740 \u52a0\u901f \u60a8 \u7684 \u73af\u5883 \u6784\u5efa \u6d41\u7a0b \uff0c \u5e76 \u4e3a   Omniverse   \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf   \u4e2d \u7684 \u6574\u4e2a \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e16\u754c \u6253\u5f00 \u5927\u95e8 \u3002   \u7b14\u8bb0   Omniverse   \u865a\u5e7b \u5f15\u64ce \u8fde\u63a5 \u63a5\u5668 \u8fde\u63a5\u5668 \u76ee\u524d \u4ec5 \u5728   Windows   \u4e2d \u53ef\u7528 \u3002   \u8bf7 \u6309\u7167 \u4ee5\u4e0b \u6b65\u9aa4 \u5f00\u59cb \u4f7f\u7528   Omniverse   \u5e76 \u5728   Carla   \u4e2d \u4f7f\u7528   SimReady   \u5185\u5bb9 \uff1a   \u9996\u5148 \uff0c \u60a8 \u5e94\u8be5 \u5148   \u5b89\u88c5   NVIDIA   Omniverse   1 .   \u5b89\u88c5 \u865a\u5e7b \u5f15\u64ce   Omniverse   \u8fde\u63a5 \u63a5\u5668 \u8fde\u63a5\u5668   \u542f\u52a8   NVIDIA   Omniverse   \u542f\u52a8 \u542f\u52a8\u5668   \u5bfc\u822a \u81f3   Exchange   \u9009\u9879 \u9009\u9879\u5361   \u627e\u5230   Epic   Games   Unreal   Engine   4.26   Omniverse   \u8fde\u63a5 \u63a5\u5668 \u8fde\u63a5\u5668   \u786e\u4fdd \u5b89\u88c5 \u7248\u672c \u4e3a   Release   105.1 . 578   \u5355\u51fb   \u5b89\u88c5   Omniverse   \u5c06 \u65e0\u6cd5 \u627e\u5230   Unreal   Engine \uff0c \u5355\u51fb \u8bf7\u5355\u51fb   OK   \u3002   \u5b83\u4f1a \u63d0\u793a \u4f60 \u627e\u5230 \u4f60 \u7684 \u865a\u5e7b \u5f15\u64ce \u5b89\u88c5 \uff0c \u9009\u62e9 \u8fd9\u4e2a \u8def\u5f84 \uff1a { UE4 _ ROOT } \\ Engine \\ Plugins \\ Marketplace \\ NVIDIA   \u6309   \u5b89\u88c5   \u3002   2 .   \u8bbe\u7f6e \u672c\u5730   Omniverse   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u4f7f\u7528 \u542f\u52a8 \u542f\u52a8\u5668 \u6253\u5f00   NVIDIA   Omniverse   \u5bfc\u822a \u81f3   Nucleus   \u9009\u9879 \u9009\u9879\u5361   \u70b9\u51fb   Create   Local   Server   \u521b\u5efa \u7ba1\u7406 \u7ba1\u7406\u5458 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f   \u9009\u62e9   Local   Nucleus   Service   \u65c1\u8fb9 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u56fe\u6807 \uff0c \u8fd9 \u5e94\u8be5 \u5728   Web   \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u6253\u5f00 \u672c\u5730 \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   3 .   \u8fde\u63a5   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u4ece   Carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u547d\u4ee4 \u547d\u4ee4\u884c \u4f7f\u7528   make   launch   \u542f\u52a8   Carla   \u5982\u679c \u73b0\u6709 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u5e76\u4e14 \u60a8 \u60f3\u8981 \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \u8bbe\u7f6e \uff0c \u5355\u51fb \u8bf7\u5355\u51fb   Clean   Local   Assets   \uff08 \u53ef \u9009 \uff09   \u9009\u62e9   Omniverse   \u56fe\u6807 \u5e76 \u5355\u51fb   Add   Server   \u4e3a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u547d\u540d \u5e76 \u5355\u51fb   Add   to   Content   Browser   \u767b\u5f55 \u8868\u5355 \u5e94 \u5728 \u60a8 \u7684 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u542f\u52a8 \uff0c \u5355\u51fb   Create   Account   \u521b\u5efa \u7ba1\u7406 \u7ba1\u7406\u5458 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f   Omniverse   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u73b0\u5728 \u5e94\u8be5 \u5728 \u865a\u5e7b \u5f15\u64ce \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u7684   Content / Omniverse   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u53ef\u89c1   \u518d\u6b21 \u8bbf\u95ee \u60a8 \u7684 \u7f51\u7edc \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u5355\u51fb   Connect   to   a   Server   \u4f7f\u7528 \u60a8 \u4e3a   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bbe\u7f6e \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540d\u79f0 \u8fdb\u884c \u8eab\u4efd \u9a8c\u8bc1 \u8eab\u4efd\u9a8c\u8bc1   \u4f7f\u7528 \u60a8 \u4e3a   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bbe\u7f6e \u7684 \u7ba1\u7406 \u7ba1\u7406\u5458 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u73b0\u5728 \u5e94\u8be5 \u663e\u793a \u5728 \u60a8 \u7684 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d   4 .   \u5bfc\u5165   SimReady   \u8d44\u4ea7   \u5bfc\u822a \u81f3 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5bfc\u822a \u5668\u4e2d \u7684 \u201c Projects \u201d \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u53f3\u952e \u5355\u51fb \uff0c \u7136\u540e \u9009\u62e9   Upload   Folder   \u9009\u62e9 \u60a8 \u7684   SimReady   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u4e0a\u4f20 \u6587\u4ef6   5 .   \u4f7f\u7528   Omniverse   \u8fde\u63a5 \u63a5\u5668 \u8fde\u63a5\u5668 \u5c06 \u8f66\u8f86 \u52a0\u8f7d \u5230   Carla   \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6253\u5f00   Carla   \u9879\u76ee   \u5bfc\u822a \u81f3   CarlaTools / Content / USDImporter   \u53f3\u952e \u5355\u51fb   UW _ USDVehicleImporterEditorWidget   \u9009\u62e9   Run   Editor   Utility   Widget   \u5728   Omniverse   \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5bfc\u822a \u5668\u4e2d \u67e5\u627e \u8f66\u8f86   \u590d\u5236 \u8def\u5f84 \uff08 \u5e94 \u7c7b\u4f3c \u4e8e \uff1a omniverse : / / localhost / Projects / SimReadyUSD ... / vehicle . usd )   \u5c06 \u5176 \u7c98\u8d34 \u5230 \u5c0f\u7ec4 \u4ef6 \u5185 \u7684   Omiverse   URL   \u9009\u9879 \u9009\u9879\u5361 \u4e2d   \u9009\u62e9   Import   Asset   \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230 \u8f66\u8f86 \u663e\u793a \u5728 \u5f15\u64ce \u4e2d \u60a8 \u5728   Import   destination   \u5b57\u6bb5 \u4e2d \u6307\u5b9a \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d   \u6253\u5f00 \u53e6 \u4e00\u4e2a \u5730\u56fe \u573a\u666f \uff08 \u5b83 \u53ef\u80fd \u5df2 \u6253\u5f00 \u5305\u542b \u5bfc\u5165 \u6570\u636e \u7684 \u65b0 \u573a\u666f \uff09 \uff0c \u5e94 \u51fa\u73b0   Save   Content   \u63d0\u793a \u3002 \u53d6\u6d88 \u9009\u4e2d   Untitled   \u573a\u666f \uff0c \u7136\u540e \u5355\u51fb   Save   selected   \u4ee5 \u4fdd\u5b58 \u65b0 \u5185\u5bb9   \u8be5 \u8f66\u8f86 \u73b0\u5df2 \u53ef \u5728   Carla   \u5185 \u4f7f\u7528 \uff0c \u5e76 \u5c06 \u901a\u8fc7   Python   API   \u63d0\u4f9b","title":"NVIDIA   Omniverse   \u7684   SimReady   \u5185\u5bb9"},{"location":"ecosys_simready/#nvidia-omniverse-simready","text":"NVIDIA   \u7684   SimReady   \u89c4\u8303 \u652f\u6301 \u51c6\u5907 \u4e13   \u4e3a \u4eff\u771f \u800c \u6784\u5efa \u7684 \u4e09\u7ef4 \u5185\u5bb9   \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u7b80\u5316 \u4eff\u771f \u4e09\u7ef4 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u7684 \u5185\u5bb9 \u521b\u5efa \u7ba1\u9053 \uff0c \u4ee5 \u5b9e\u73b0 \u673a\u5668 \u673a\u5668\u4eba \u548c \u81ea\u52a8 \u9a7e\u9a76 \u4e2d \u7684 \u673a\u5668 \u5b66\u4e60 \u76ee\u7684 \u3002 \u901a\u8fc7 \u73b0\u5df2 \u96c6\u6210 \u5230   Carla   \u4e2d \u7684   Omniverse   \u865a\u5e7b \u5f15\u64ce \u63d2\u4ef6 \uff0c \u7528\u6237 \u53ea \u9700 \u70b9\u51fb \u51e0\u4e0b \u5373\u53ef \u5bfc\u5165   SimReady   \u5185\u5bb9 \uff0c \u4f8b\u5982 \u5df2 \u914d\u7f6e \u5de5\u4f5c \u706f \u3001 \u95e8 \u3001 \u8f66\u8f6e \u548c \u9053\u5177 \u7684 \u8f66\u8f86 \uff0c \u53ef \u7acb\u5373 \u7528\u4e8e \u88c5\u9970   Carla   \u5730\u56fe \u3002   Carla   \u7684   Omniverse   \u96c6\u6210 \u80fd\u591f \u663e \u7740 \u52a0\u901f \u60a8 \u7684 \u73af\u5883 \u6784\u5efa \u6d41\u7a0b \uff0c \u5e76 \u4e3a   Omniverse   \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf   \u4e2d \u7684 \u6574\u4e2a \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e16\u754c \u6253\u5f00 \u5927\u95e8 \u3002   \u7b14\u8bb0   Omniverse   \u865a\u5e7b \u5f15\u64ce \u8fde\u63a5 \u63a5\u5668 \u8fde\u63a5\u5668 \u76ee\u524d \u4ec5 \u5728   Windows   \u4e2d \u53ef\u7528 \u3002   \u8bf7 \u6309\u7167 \u4ee5\u4e0b \u6b65\u9aa4 \u5f00\u59cb \u4f7f\u7528   Omniverse   \u5e76 \u5728   Carla   \u4e2d \u4f7f\u7528   SimReady   \u5185\u5bb9 \uff1a   \u9996\u5148 \uff0c \u60a8 \u5e94\u8be5 \u5148   \u5b89\u88c5   NVIDIA   Omniverse","title":"NVIDIA   Omniverse   \u7684   SimReady   \u5185\u5bb9"},{"location":"ecosys_simready/#1-omniverse","text":"\u542f\u52a8   NVIDIA   Omniverse   \u542f\u52a8 \u542f\u52a8\u5668   \u5bfc\u822a \u81f3   Exchange   \u9009\u9879 \u9009\u9879\u5361   \u627e\u5230   Epic   Games   Unreal   Engine   4.26   Omniverse   \u8fde\u63a5 \u63a5\u5668 \u8fde\u63a5\u5668   \u786e\u4fdd \u5b89\u88c5 \u7248\u672c \u4e3a   Release   105.1 . 578   \u5355\u51fb   \u5b89\u88c5   Omniverse   \u5c06 \u65e0\u6cd5 \u627e\u5230   Unreal   Engine \uff0c \u5355\u51fb \u8bf7\u5355\u51fb   OK   \u3002   \u5b83\u4f1a \u63d0\u793a \u4f60 \u627e\u5230 \u4f60 \u7684 \u865a\u5e7b \u5f15\u64ce \u5b89\u88c5 \uff0c \u9009\u62e9 \u8fd9\u4e2a \u8def\u5f84 \uff1a { UE4 _ ROOT } \\ Engine \\ Plugins \\ Marketplace \\ NVIDIA   \u6309   \u5b89\u88c5   \u3002","title":"1 .   \u5b89\u88c5 \u865a\u5e7b \u5f15\u64ce   Omniverse   \u8fde\u63a5\u5668"},{"location":"ecosys_simready/#2-omniverse","text":"\u4f7f\u7528 \u542f\u52a8 \u542f\u52a8\u5668 \u6253\u5f00   NVIDIA   Omniverse   \u5bfc\u822a \u81f3   Nucleus   \u9009\u9879 \u9009\u9879\u5361   \u70b9\u51fb   Create   Local   Server   \u521b\u5efa \u7ba1\u7406 \u7ba1\u7406\u5458 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f   \u9009\u62e9   Local   Nucleus   Service   \u65c1\u8fb9 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u56fe\u6807 \uff0c \u8fd9 \u5e94\u8be5 \u5728   Web   \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u6253\u5f00 \u672c\u5730 \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668","title":"2 .   \u8bbe\u7f6e \u672c\u5730   Omniverse   \u670d\u52a1\u5668"},{"location":"ecosys_simready/#3-carla","text":"\u4ece   Carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u547d\u4ee4 \u547d\u4ee4\u884c \u4f7f\u7528   make   launch   \u542f\u52a8   Carla   \u5982\u679c \u73b0\u6709 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u5e76\u4e14 \u60a8 \u60f3\u8981 \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 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20   -- safe   \u624b\u52a8 \u63a7\u5236 \u8f66\u8f86   python   examples / manual _ control . py   -- host   localhost   -- port   2000   -- rolename   hero   -- keep _ ego _ vehicle   \u624b\u52a8 \u63a7\u5236 \u884c\u4eba \uff1a   python   examples / manual _ control . py   -- filter   walker . pedestrian . *   \u7ed8\u5236 \u8fb9\u754c \u6846   \u811a\u672c \u5c06 \u6839\u636e \u7528\u6237 \u6307\u5b9a \u7684 \u89c6\u89d2   view   \uff08 \u4e0a\u65b9   above   \u3001 \u540e\u9762   behind   \uff09 \u9644\u52a0 \u4e00\u4e2a   RGB   \u76f8\u673a \uff0c \u5e76 \u5728 \u8ddd\u79bb   distance   \u4e4b\u5185 \u7ed8\u5236 \u6240\u6709 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   python   examples / sensor _ bounding _ box . py   -- host   localhost   -- port   2000   -- rolename   hero   -- view   above   -- distance   100   -- res   800x600   -- fov   90   \u6ce8\u610f   \u8fd0\u884c \u4e4b\u524d \uff0c \u9700\u8981 \u5148 \u8fd0\u884c   manual _ control . py   \u751f\u6210 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python   examples / waypoint _ follow . py   -- host   localhost   -- port   2000   -- rolename   hero   -- map   Town01   -- json _ file   data / town01 _ waypoints . json   -- sync   -- fixed _ delta _ seconds = 0.05   -- spawn   -- visualize   -- camera _ follow   \u6ce8\u610f   \u8fd0\u884c \u4e4b\u524d \u9700\u8981 \u5148 \u8bd5\u7528   python   config . py   - m   Town01   \u5c06 \u5730\u56fe \u5207\u6362 \u5230   Town01   \u3002   \u53ef\u89c6 \u53ef\u89c6\u5316 \u6fc0\u5149 \u70b9\u4e91   \u6b64 \u811a\u672c \u63d0\u4f9b \u4e86 \u5982\u4f55 \u4f7f\u7528   Open3D   \u53ef\u89c6 \u53ef\u89c6\u5316 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u70b9\u4e91 \u548c \u96f7\u8fbe \u6570\u636e \u7684 \u793a\u4f8b \u3002   python   examples / 3d _ lidar . py   -- host   localhost   -- port   2000   -- rolename   hero   -- keep _ ego _ vehicle","title":"Examples"},{"location":"examples/#_1","text":"","title":"\u4ea4\u4e92\u5f0f \u811a\u672c"},{"location":"examples/#_2","text":"python   examples / generate _ traffic . py   -- host   localhost   -- port   2000   - n   50   - w   20   -- safe","title":"\u751f\u6210 \u4ea4\u901a\u6d41\u91cf"},{"location":"examples/#_3","text":"python   examples / manual _ control . py   -- host   localhost   -- port   2000   -- rolename   hero   -- keep _ ego _ vehicle   \u624b\u52a8 \u63a7\u5236 \u884c\u4eba \uff1a   python   examples / manual _ control . py   -- filter   walker . pedestrian . *","title":"\u624b\u52a8 \u63a7\u5236 \u8f66\u8f86"},{"location":"examples/#_4","text":"\u811a\u672c \u5c06 \u6839\u636e \u7528\u6237 \u6307\u5b9a \u7684 \u89c6\u89d2   view   \uff08 \u4e0a\u65b9   above   \u3001 \u540e\u9762   behind   \uff09 \u9644\u52a0 \u4e00\u4e2a   RGB   \u76f8\u673a \uff0c \u5e76 \u5728 \u8ddd\u79bb   distance   \u4e4b\u5185 \u7ed8\u5236 \u6240\u6709 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   python   examples / sensor _ bounding _ box . py   -- host   localhost   -- port   2000   -- rolename   hero   -- view   above   -- distance   100   -- res   800x600   -- fov   90   \u6ce8\u610f   \u8fd0\u884c \u4e4b\u524d \uff0c \u9700\u8981 \u5148 \u8fd0\u884c   manual _ control . py   \u751f\u6210 \u4e00\u8f86 \u82f1\u96c4 \u8f66\u8f86 \uff0c \u5426\u5219 \u8fd0\u52a8 \u62a5\u9519 \uff1a   Actor   hero   not   found   \u3002   \u5e76\u4e14 \u5c06 \u539f\u59cb \u811a\u672c \u7684 \u73af\u5883 \u8def\u5f84   .. / src   \u6539\u4e3a   ..   \u3002","title":"\u7ed8\u5236 \u8fb9\u754c \u6846"},{"location":"examples/#_5","text":"\u8be5 \u811a\u672c \u4e3a \u60a8 \u63d0\u4f9b \u4e86 \u5982\u4f55 \u5728   Carla   \u4e2d \u53ef\u89c6 \u53ef\u89c6\u5316 \u5404\u79cd   RGB   \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u793a\u4f8b \u3002   python   examples / rgb _ camera _ example . py   -- host   localhost   -- port   2000   -- rolename   hero","title":"\u53ef\u89c6\u5316 \u516d\u79cd \u76f8\u673a"},{"location":"examples/#_6","text":"\u8be5 \u811a\u672c \u5b9e\u73b0 \u4e86 \u4e00\u4e2a \u7b80\u5355 \u7684 \u8def\u5f84 \u70b9 \u8ddf\u8e2a \u65b9\u6cd5 \u3002 \u5b83 \u5c06 \u6cbf\u7740 \u5730\u56fe \u4e0a \u7684 \u8def\u5f84 \u70b9 \u884c\u9a76 \uff0c \u5e76 \u5728 \u5230\u8fbe \u8def\u5f84 \u70b9 \u7ec8\u70b9 \u65f6 \u505c\u6b62 \u3002   python   examples / waypoint _ follow . py   -- host   localhost   -- port   2000   -- rolename   hero   -- map   Town01   -- json _ file   data / town01 _ waypoints . json   -- sync   -- fixed _ delta _ seconds = 0.05   -- spawn   -- visualize   -- camera _ follow   \u6ce8\u610f   \u8fd0\u884c \u4e4b\u524d \u9700\u8981 \u5148 \u8bd5\u7528   python   config . py   - m   Town01   \u5c06 \u5730\u56fe \u5207\u6362 \u5230   Town01   \u3002","title":"\u8def\u5f84 \u70b9 \u8ddf\u8e2a"},{"location":"examples/#_7","text":"\u6b64 \u811a\u672c \u63d0\u4f9b \u4e86 \u5982\u4f55 \u4f7f\u7528   Open3D   \u53ef\u89c6 \u53ef\u89c6\u5316 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u70b9\u4e91 \u548c \u96f7\u8fbe \u6570\u636e \u7684 \u793a\u4f8b \u3002   python   examples / 3d _ lidar . py   -- host   localhost   -- port   2000   -- rolename   hero   -- keep _ ego _ vehicle","title":"\u53ef\u89c6\u5316 \u6fc0\u5149 \u70b9\u4e91"},{"location":"ext_docs/","text":"\u6269\u5c55 \u6587\u6863   \u4e0b\u9762 \uff0c \u60a8 \u5c06 \u627e\u5230 \u6709\u5173   Carla   \u8bb8\u591a \u5e7f\u6cdb \u529f\u80fd \u7684 \u6df1\u5165 \u6587\u6863 \u3002   \u5de5\u5177   \u8bad\u7ec3 \u6570\u636e \u751f\u6210   \u2014   \u751f\u6210 \u5404\u79cd \u9a7e\u9a76 \u573a\u666f \u5e76 \u6355\u83b7 \u5404\u79cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u753b\u7ebf   \u2014   \u5728 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u7ed8\u5236 \u4fef\u89c6 \u76f8\u673a \u4e2d \u7684 \u7ebf \uff0c \u5e76 \u4fdd\u5b58 \u53c2\u8003 \u8003\u70b9 \u53c2\u8003\u70b9 \u3002   \u573a\u666f   \u751f\u6210 \u573a\u666f   \u2014   \u4f7f\u7528 \u7279\u5b9a \u9886\u57df \u5efa\u6a21 \u9886\u57df\u5efa\u6a21 \u8bed\u8a00 \u751f\u6210 \u81ea\u52a8 \u9a7e\u9a76 \u573a\u666f \u3002   \u5148\u8fdb \u7406\u5ff5   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u2014   \u5728 \u4eff\u771f \u4e2d \u6ce8\u518c \u4e8b\u4ef6 \u5e76 \u518d\u6b21 \u64ad\u653e \u3002   \u6e32\u67d3 \u9009\u9879   \u2014   \u4ece \u8d28\u91cf \u8bbe\u7f6e \u5230 \u65e0 \u6e32\u67d3 \u6216 \u79bb\u5c4f \u6a21\u5f0f \u3002   \u540c\u6b65 \u548c \u65f6\u95f4 \u6b65\u957f   \u2014   \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u548c \u4eff\u771f \u65f6\u95f4 \u3002   \u57fa\u51c6 \u6d4b\u8bd5 \u6027\u80fd   \u2014   \u4f7f\u7528 \u6211\u4eec \u51c6\u5907 \u7684 \u811a\u672c \u6267\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002   Carla   \u4ee3\u7406   \u2014   \u4ee3\u7406 \u811a\u672c \u5141\u8bb8 \u5355\u4e2a \u8f66\u8f86 \u5728 \u5730\u56fe \u4e0a \u6f2b\u6e38 \u6216 \u884c\u9a76 \u5230 \u8bbe\u5b9a \u7684 \u76ee\u7684 \u76ee\u7684\u5730 \u3002   \u591a   GPU   \u2014   \u8bbe\u7f6e   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4ee5 \u4f7f\u7528 \u591a\u4e2a   GPU   \u8fdb\u884c \u5904\u7406 \u3002   \u4ea4\u901a \u4eff\u771f   \u4ea4\u901a \u4eff\u771f \u6982\u8ff0   \u2014   \u53ef \u7528\u4e8e \u7528 \u586b\u5145 \u4ea4\u901a \u573a\u666f \u7684 \u4e0d\u540c \u9009\u9879 \u7684 \u6982\u8ff0 \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u2014   \u901a\u8fc7 \u5c06 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u6765 \u4eff\u771f \u57ce\u5e02 \u4ea4\u901a \u57ce\u5e02\u4ea4\u901a \u3002   \u53c2\u8003   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u2014   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u7684 \u8be6\u7ec6 \u8bf4\u660e \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u2014   \u6709\u5173 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ca\u5176 \u68c0\u7d22 \u6570\u636e \u7684 \u6240\u6709 \u5185\u5bb9 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177   \u2014   \u4f7f\u7528   OpenStreetMap   \u6570\u636e \u7684 \u7a0b\u5e8f \u5730\u56fe \u751f\u6210 \u5de5\u5177 \u3002   Carla   \u4e2d \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u6982\u8ff0   \u2014   \u6dfb\u52a0 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6807\u51c6 \u5c3a\u5bf8 \u5730\u56fe \u6240 \u6d89\u53ca \u7684 \u8fc7\u7a0b \u548c \u9009\u9879 \u7684 \u6982\u8ff0 \u3002   \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5730\u56fe   \u2014   \u5982\u4f55 \u5728   RoadRunner   \u4e2d \u751f\u6210 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u6807\u51c6 \u5c3a\u5bf8 \u5730\u56fe \u3002   \u5728   Carla   \u5305\u4e2d \u5bfc\u5165 \u5730\u56fe   \u5982\u4f55 \u5728   Carla   \u5305\u4e2d \u5bfc\u5165 \u5730\u56fe \u3002   \u5728   Carla   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u4e2d \u5bfc\u5165 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u5165 \u5730\u56fe \u3002   \u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5   \u2014   \u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5 \u3002   \u624b\u52a8 \u51c6\u5907 \u5730\u56fe \u5730\u56fe\u5305   \u2014   \u5982\u4f55 \u51c6\u5907 \u7528\u4e8e \u624b\u52a8 \u5bfc\u5165 \u7684 \u5730\u56fe \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5206\u5c42 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u4e2d \u521b\u5efa \u5b50 \u56fe\u5c42 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7   \u2014   \u5982\u4f55 \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u6dfb\u52a0 \u5230 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u4e2d \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u9053\u8def \u753b\u5bb6   \u2014   \u5982\u4f55 \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u66f4\u6539 \u9053\u8def \u7684 \u5916\u89c2 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5efa\u7b51\u7269   \u2014   \u7528 \u5efa\u7b51 \u5efa\u7b51\u7269 \u586b\u5145 \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5929\u6c14 \u548c \u666f\u89c2   \u2014   \u4e3a \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u521b\u5efa \u5929\u6c14 \u8d44\u6599 \u5e76 \u586b\u5145 \u666f\u89c2 \u3002   \u751f\u6210 \u884c\u4eba \u5bfc\u822a   \u2014   \u83b7\u53d6 \u884c\u4eba \u56db\u5904 \u8d70\u52a8 \u6240 \u9700 \u7684 \u4fe1\u606f \u3002   \u5927 \u5730\u56fe   \u5927 \u5730\u56fe \u6982\u8ff0   \u2014   \u89e3\u91ca \u5927 \u5730\u56fe \u5728   Carla   \u4e2d \u7684 \u5de5\u4f5c \u539f\u7406 \u3002   \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5927 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5927 \u5730\u56fe \u3002   \u5bfc\u5165 / \u6253\u5305 \u5927 \u5730\u56fe   \u2014   \u5982\u4f55 \u5bfc\u5165 \u5927 \u5730\u56fe \u3002","title":"\u6269\u5c55 \u6587\u6863"},{"location":"ext_docs/#_1","text":"\u4e0b\u9762 \uff0c \u60a8 \u5c06 \u627e\u5230 \u6709\u5173   Carla   \u8bb8\u591a \u5e7f\u6cdb \u529f\u80fd \u7684 \u6df1\u5165 \u6587\u6863 \u3002","title":"\u6269\u5c55 \u6587\u6863"},{"location":"ext_docs/#_2","text":"\u8bad\u7ec3 \u6570\u636e \u751f\u6210   \u2014   \u751f\u6210 \u5404\u79cd \u9a7e\u9a76 \u573a\u666f \u5e76 \u6355\u83b7 \u5404\u79cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u753b\u7ebf   \u2014   \u5728 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u7ed8\u5236 \u4fef\u89c6 \u76f8\u673a \u4e2d \u7684 \u7ebf \uff0c \u5e76 \u4fdd\u5b58 \u53c2\u8003 \u8003\u70b9 \u53c2\u8003\u70b9 \u3002","title":"\u5de5\u5177"},{"location":"ext_docs/#_3","text":"\u751f\u6210 \u573a\u666f   \u2014   \u4f7f\u7528 \u7279\u5b9a \u9886\u57df \u5efa\u6a21 \u9886\u57df\u5efa\u6a21 \u8bed\u8a00 \u751f\u6210 \u81ea\u52a8 \u9a7e\u9a76 \u573a\u666f \u3002","title":"\u573a\u666f"},{"location":"ext_docs/#_4","text":"\u8bb0\u5f55 \u8bb0\u5f55\u5668   \u2014   \u5728 \u4eff\u771f \u4e2d \u6ce8\u518c \u4e8b\u4ef6 \u5e76 \u518d\u6b21 \u64ad\u653e \u3002   \u6e32\u67d3 \u9009\u9879   \u2014   \u4ece \u8d28\u91cf \u8bbe\u7f6e \u5230 \u65e0 \u6e32\u67d3 \u6216 \u79bb\u5c4f \u6a21\u5f0f \u3002   \u540c\u6b65 \u548c \u65f6\u95f4 \u6b65\u957f   \u2014   \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u548c \u4eff\u771f \u65f6\u95f4 \u3002   \u57fa\u51c6 \u6d4b\u8bd5 \u6027\u80fd   \u2014   \u4f7f\u7528 \u6211\u4eec \u51c6\u5907 \u7684 \u811a\u672c \u6267\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002   Carla   \u4ee3\u7406   \u2014   \u4ee3\u7406 \u811a\u672c \u5141\u8bb8 \u5355\u4e2a \u8f66\u8f86 \u5728 \u5730\u56fe \u4e0a \u6f2b\u6e38 \u6216 \u884c\u9a76 \u5230 \u8bbe\u5b9a \u7684 \u76ee\u7684 \u76ee\u7684\u5730 \u3002   \u591a   GPU   \u2014   \u8bbe\u7f6e   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4ee5 \u4f7f\u7528 \u591a\u4e2a   GPU   \u8fdb\u884c \u5904\u7406 \u3002","title":"\u5148\u8fdb \u7406\u5ff5"},{"location":"ext_docs/#_5","text":"\u4ea4\u901a \u4eff\u771f \u6982\u8ff0   \u2014   \u53ef \u7528\u4e8e \u7528 \u586b\u5145 \u4ea4\u901a \u573a\u666f \u7684 \u4e0d\u540c \u9009\u9879 \u7684 \u6982\u8ff0 \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u2014   \u901a\u8fc7 \u5c06 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u6765 \u4eff\u771f \u57ce\u5e02 \u4ea4\u901a \u57ce\u5e02\u4ea4\u901a \u3002","title":"\u4ea4\u901a \u4eff\u771f"},{"location":"ext_docs/#_6","text":"\u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u2014   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u7684 \u8be6\u7ec6 \u8bf4\u660e \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u2014   \u6709\u5173 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ca\u5176 \u68c0\u7d22 \u6570\u636e \u7684 \u6240\u6709 \u5185\u5bb9 \u3002","title":"\u53c2\u8003"},{"location":"ext_docs/#_7","text":"\u6570\u5b57 \u5b6a\u751f \u5de5\u5177   \u2014   \u4f7f\u7528   OpenStreetMap   \u6570\u636e \u7684 \u7a0b\u5e8f \u5730\u56fe \u751f\u6210 \u5de5\u5177 \u3002   Carla   \u4e2d \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u6982\u8ff0   \u2014   \u6dfb\u52a0 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6807\u51c6 \u5c3a\u5bf8 \u5730\u56fe \u6240 \u6d89\u53ca \u7684 \u8fc7\u7a0b \u548c \u9009\u9879 \u7684 \u6982\u8ff0 \u3002   \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5730\u56fe   \u2014   \u5982\u4f55 \u5728   RoadRunner   \u4e2d \u751f\u6210 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u6807\u51c6 \u5c3a\u5bf8 \u5730\u56fe \u3002   \u5728   Carla   \u5305\u4e2d \u5bfc\u5165 \u5730\u56fe   \u5982\u4f55 \u5728   Carla   \u5305\u4e2d \u5bfc\u5165 \u5730\u56fe \u3002   \u5728   Carla   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u4e2d \u5bfc\u5165 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u5165 \u5730\u56fe \u3002   \u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5   \u2014   \u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5 \u3002   \u624b\u52a8 \u51c6\u5907 \u5730\u56fe \u5730\u56fe\u5305   \u2014   \u5982\u4f55 \u51c6\u5907 \u7528\u4e8e \u624b\u52a8 \u5bfc\u5165 \u7684 \u5730\u56fe \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5206\u5c42 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u4e2d \u521b\u5efa \u5b50 \u56fe\u5c42 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7   \u2014   \u5982\u4f55 \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u6dfb\u52a0 \u5230 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u4e2d \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u9053\u8def \u753b\u5bb6   \u2014   \u5982\u4f55 \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u66f4\u6539 \u9053\u8def \u7684 \u5916\u89c2 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5efa\u7b51\u7269   \u2014   \u7528 \u5efa\u7b51 \u5efa\u7b51\u7269 \u586b\u5145 \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe 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\u5f15\u64ce \u63d2\u4ef6   StreetMap   Setup . bat \uff1a \u8c03\u7528   Util / InstallersWin / * . bat   \u4e0b\u8f7d \u5e76 \u751f\u6210   zlib \u3001 libpng \u3001 rpclib \u3001 Google   Test \u3001 Recast   &   Detour \u3001 Fast - DDS   ( for   ROS2 ) \u3001 Boost \u3001 Xercesc \u3001 Sqlite3 \u3001 PROJ \u3001 Eigen \u3001 Chrono   \u5e93 \uff1b \u8bbe\u7f6e \u8d44\u4ea7 \u4e0b\u8f7d URL \uff1b \u751f\u6210 CMakeLists . txt . in \uff1b   BuildLibCarla . bat \uff1a \u521b\u5efa LibCarla \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u670d\u52a1\u7aef \uff1b   BuildOSM2ODR . bat \uff1a \u521b\u5efa OSM \u8f6c OpenDRIVE \u7684 \u5e93 \uff1b   \u9644\u52a0 \uff1a \u6784\u5efa \u6b65\u9aa4 \u5206\u6790   Update . bat   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u521d\u59cb \u521d\u59cb\u5316 \uff1b   \u83b7\u53d6 \u6700\u65b0 \u7684 \u8d44\u4ea7 \u5305 \uff1b   \u4e0b\u8f7d \u5e76 \u89e3\u538b \u8d44\u4ea7 \u5185\u5bb9 \uff1b   \u5982\u679c \u4e0d \u5b58\u5728 7zip \u5c31 \u7528   powershell   - Command   \" Expand - Archive   '   \u547d\u4ee4 \u8fdb\u884c \u89e3\u538b \u3002   Makefile   make   PythonAPI   \u6267\u884c   Util / BuildTools / BuildPythonAPI . bat   \uff0c \u771f\u6b63 \u6267\u884c \u7684 \u662f   python   setup . py   bdist _ egg   bdist _ wheel   \uff0c \u5728   PythonAPI / carla / dist   \u76ee\u5f55 \u4e0b \u751f\u6210   * . egg   \u548c   * . whl   \u6587\u4ef6 \uff1b   make   launch   \u6267\u884c   Makefile   \uff0c \u8c03\u7528   Util / BuildTools / Windows . mk   \uff0c \u771f\u6b63 \u6267\u884c \u7684 \u662f   BuildLibCarla . bat   \uff0c \u6784\u5efa LibCarla \u7684 \u670d\u52a1 \u670d\u52a1\u7aef \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1b   Build   Xerces   \u662f \u7531   Apache   \u7ec4\u7ec7 \u6240 \u63a8\u52a8 \u7684 \u4e00\u9879   XML   \u6587\u6863 \u89e3\u6790 \u5f00\u6e90 \u9879\u76ee \u3002   SQLite   \u662f \u4e00\u6b3e \u8f7b\u578b \u7684 \u6570\u636e \u636e\u5e93 \u6570\u636e\u5e93 \uff0c \u662f \u9075\u5b88   ACID   \u7684 \u5173\u7cfb \u578b \u6570\u636e \u636e\u5e93 \u6570\u636e\u5e93 \u7ba1\u7406 \u7cfb\u7edf \u7ba1\u7406\u7cfb \u7ba1\u7406\u7cfb\u7edf \uff0c \u5b83 \u5305\u542b \u5728 \u4e00\u4e2a \u76f8\u5bf9 \u5c0f \u7684 C \u5e93\u4e2d \u3002   PROJ   \u662f \u4e00\u79cd \u901a\u7528 \u5750\u6807 \u8f6c\u6362 \u8f6f\u4ef6 \uff0c \u5b83 \u5c06 \u5750\u6807 \u4ece \u4e00\u4e2a \u5750\u6807 \u53c2\u8003 \u53c2\u8003\u7cfb \uff08 CRS \uff09 \u8f6c\u6362 \u4e3a \u53e6 \u4e00\u4e2a \u5750\u6807 \u53c2\u8003 \u53c2\u8003\u7cfb \u3002 \u8fd9 \u5305\u62ec \u5730\u56fe \u6295\u5f71 \u5730\u56fe\u6295\u5f71 \u548c \u5927\u5730 \u5750\u6807 \u53d8\u6362 \u3002","title":"File   specification"},{"location":"file_specification/#utilbuildtools","text":"BuildUE4Plugins . bat   :   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u63d2\u4ef6   StreetMap   Setup . bat \uff1a \u8c03\u7528   Util / InstallersWin / * . bat   \u4e0b\u8f7d \u5e76 \u751f\u6210   zlib \u3001 libpng \u3001 rpclib \u3001 Google   Test \u3001 Recast   &   Detour \u3001 Fast - DDS   ( for   ROS2 ) \u3001 Boost \u3001 Xercesc \u3001 Sqlite3 \u3001 PROJ \u3001 Eigen \u3001 Chrono   \u5e93 \uff1b \u8bbe\u7f6e \u8d44\u4ea7 \u4e0b\u8f7d URL \uff1b \u751f\u6210 CMakeLists . txt . in \uff1b   BuildLibCarla . bat \uff1a \u521b\u5efa LibCarla \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u670d\u52a1\u7aef \uff1b   BuildOSM2ODR . bat \uff1a \u521b\u5efa OSM \u8f6c OpenDRIVE \u7684 \u5e93 \uff1b","title":"Util / BuildTools / *"},{"location":"file_specification/#_1","text":"","title":"\u9644\u52a0 \uff1a \u6784\u5efa \u6b65\u9aa4 \u5206\u6790"},{"location":"file_specification/#updatebat","text":"\u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u521d\u59cb \u521d\u59cb\u5316 \uff1b   \u83b7\u53d6 \u6700\u65b0 \u7684 \u8d44\u4ea7 \u5305 \uff1b   \u4e0b\u8f7d \u5e76 \u89e3\u538b \u8d44\u4ea7 \u5185\u5bb9 \uff1b   \u5982\u679c \u4e0d \u5b58\u5728 7zip \u5c31 \u7528   powershell   - Command   \" Expand - Archive   '   \u547d\u4ee4 \u8fdb\u884c \u89e3\u538b \u3002","title":"Update . bat"},{"location":"file_specification/#makefile","text":"make   PythonAPI   \u6267\u884c   Util / BuildTools / BuildPythonAPI . bat   \uff0c \u771f\u6b63 \u6267\u884c \u7684 \u662f   python   setup . py   bdist _ egg   bdist _ wheel   \uff0c \u5728   PythonAPI / carla / dist   \u76ee\u5f55 \u4e0b \u751f\u6210   * . egg   \u548c   * . whl   \u6587\u4ef6 \uff1b   make   launch   \u6267\u884c   Makefile   \uff0c \u8c03\u7528   Util / BuildTools / Windows . mk   \uff0c \u771f\u6b63 \u6267\u884c \u7684 \u662f   BuildLibCarla . bat   \uff0c \u6784\u5efa LibCarla \u7684 \u670d\u52a1 \u670d\u52a1\u7aef \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1b","title":"Makefile"},{"location":"file_specification/#build","text":"Xerces   \u662f \u7531   Apache   \u7ec4\u7ec7 \u6240 \u63a8\u52a8 \u7684 \u4e00\u9879   XML   \u6587\u6863 \u89e3\u6790 \u5f00\u6e90 \u9879\u76ee \u3002   SQLite   \u662f \u4e00\u6b3e \u8f7b\u578b \u7684 \u6570\u636e \u636e\u5e93 \u6570\u636e\u5e93 \uff0c \u662f \u9075\u5b88   ACID   \u7684 \u5173\u7cfb \u578b \u6570\u636e \u636e\u5e93 \u6570\u636e\u5e93 \u7ba1\u7406 \u7cfb\u7edf \u7ba1\u7406\u7cfb \u7ba1\u7406\u7cfb\u7edf \uff0c \u5b83 \u5305\u542b \u5728 \u4e00\u4e2a \u76f8\u5bf9 \u5c0f \u7684 C \u5e93\u4e2d \u3002   PROJ   \u662f \u4e00\u79cd \u901a\u7528 \u5750\u6807 \u8f6c\u6362 \u8f6f\u4ef6 \uff0c \u5b83 \u5c06 \u5750\u6807 \u4ece \u4e00\u4e2a \u5750\u6807 \u53c2\u8003 \u53c2\u8003\u7cfb \uff08 CRS \uff09 \u8f6c\u6362 \u4e3a \u53e6 \u4e00\u4e2a \u5750\u6807 \u53c2\u8003 \u53c2\u8003\u7cfb \u3002 \u8fd9 \u5305\u62ec \u5730\u56fe \u6295\u5f71 \u5730\u56fe\u6295\u5f71 \u548c \u5927\u5730 \u5750\u6807 \u53d8\u6362 \u3002","title":"Build"},{"location":"foundations/","text":"\u57fa\u7840   \u672c\u9875 \u4ecb\u7ecd \u4e86   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u5982\u4f55 \u901a\u8fc7   API   \u8fdb\u884c \u64cd\u4f5c \u548c \u901a\u4fe1 \u6240 \u9700 \u7684 \u57fa\u672c \u6982\u5ff5 \u57fa\u672c\u6982\u5ff5 \u3002 Carla   \u4f7f\u7528 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 - \u5ba2\u6237 \u5ba2\u6237\u7aef \u67b6\u6784 \u8fd0\u884c \uff0c \u5176\u4e2d   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fd0\u884c \u4eff\u771f \u5e76 \u7531 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5411 \u5176 \u53d1\u9001 \u6307\u4ee4 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4ee3\u7801 \u4f7f\u7528   API   \u4e0e \u670d\u52a1 \u52a1\u5668 \u8fdb\u884c \u670d\u52a1\u5668 \u670d\u52a1\u5668\u8fdb\u884c \u901a\u4fe1 \u3002 \u8981 \u4f7f\u7528   Python   API \uff0c \u60a8 \u5fc5\u987b \u901a\u8fc7   pip   \u5b89\u88c5 \u8be5 \u6a21\u5757 \uff1a   pip   install   carla - simulator   #   Python   2   pip3   install   carla - simulator   #   Python   3   \u8fd8\u8981 \u786e\u4fdd \u5728   python   \u811a\u672c \u4e2d \u5bfc\u5165   Carla   \u5305 \uff1a   import   carla   \u4e16\u754c \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u4e16\u754c   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe   \u5730\u56fe \u548c \u5bfc\u822a   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u6570\u636e   \u540c\u6b65 \u6a21\u5f0f \u548c \u5f02\u6b65 \u6a21\u5f0f   \u8bbe\u7f6e \u540c\u6b65 \u6a21\u5f0f   \u4f7f\u7528 \u540c\u6b65 \u6a21\u5f0f   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u8bb0\u5f55   \u4eff\u771f \u56de\u653e   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u6e32\u67d3   \u53f2\u8bd7 \u6a21\u5f0f   \u4f4e\u8d28 \u8d28\u91cf \u4f4e\u8d28\u91cf \u6a21\u5f0f   \u8fdb\u9636 \u6b65\u9aa4   \u4e16\u754c \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u662f \u7528\u6237 \u8fd0\u884c \u4ee5 \u8bf7\u6c42 \u4eff\u771f \u4e2d \u7684 \u4fe1\u606f \u6216 \u66f4\u6539 \u7684 \u6a21\u5757 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4f7f\u7528   IP   \u548c \u7279\u5b9a \u7aef\u53e3 \u8fd0\u884c \u3002 \u5b83 \u901a\u8fc7 \u7ec8\u7aef \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u3002 \u53ef\u4ee5 \u6709 \u8bb8\u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u540c\u65f6 \u8fd0\u884c \u3002 \u9ad8\u7ea7 \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u7ba1\u7406 \u9700\u8981 \u5bf9   Carla   \u548c   \u540c\u6b65   \u6709 \u900f\u5f7b \u7684 \u4e86\u89e3 \u3002   \u4f7f\u7528   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u8bbe\u7f6e \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1a   client   =   carla . Client ( ' localhost ' ,   2000 )   \u8fd9\u4f1a \u5c06 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bbe\u7f6e \u4e3a \u4e0e \u672c\u5730 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a   localhost   \u8fd0\u884c \u7684   Carla   \u670d\u52a1 \u52a1\u5668 \u8fdb\u884c \u670d\u52a1\u5668 \u670d\u52a1\u5668\u8fdb\u884c \u901a\u4fe1 \u3002 \u6216\u8005 \uff0c \u5982\u679c \u5728 \u5355\u72ec \u7684 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u8fd0\u884c \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5219 \u53ef\u4ee5 \u4f7f\u7528 \u7f51\u7edc \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u7f51\u7edc\u8ba1\u7b97\u673a \u7684   IP   \u5730\u5740 \u3002 \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u53c2\u6570 \u662f \u7aef\u53e3 \u53e3\u53f7 \u7aef\u53e3\u53f7 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u5728 \u7aef\u53e3   2000   \u4e0a \u8fd0\u884c \uff0c \u5982 \u6709 \u5fc5\u8981 \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u542f\u52a8   Carla   \u65f6 \u5728 \u8bbe\u7f6e \u4e2d \u66f4\u6539 \u6b64 \u8bbe\u7f6e \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u53ef \u7528\u4e8e \u591a\u79cd \u529f\u80fd \uff0c \u5305\u62ec \u52a0\u8f7d \u65b0 \u5730\u56fe \u3001 \u8bb0\u5f55 \u4eff\u771f \u548c \u521d\u59cb \u521d\u59cb\u5316 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff1a   client . load _ world ( ' Town07 ' )   client . start _ recorder ( ' recording . log ' )   \u4e16\u754c   \u4e16\u754c   \u662f \u4ee3\u8868 \u4eff\u771f \u7684 \u5bf9\u8c61 \u3002 \u5b83 \u5145\u5f53 \u4e00\u4e2a \u62bd\u8c61 \u5c42 \uff0c \u5305\u542b \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3001 \u6539\u53d8 \u5929\u6c14 \u3001 \u83b7\u53d6 \u4e16\u754c \u5f53\u524d \u72b6\u6001 \u7b49 \u7684 \u4e3b\u8981 \u65b9\u6cd5 \u3002 \u6bcf\u4e2a \u4eff\u771f \u53ea\u6709 \u4e00\u4e2a \u4e16\u754c \u3002 \u5f53 \u5730\u56fe \u6539\u53d8 \u65f6 \uff0c \u5b83\u4f1a \u88ab \u9500\u6bc1 \u5e76 \u66ff\u6362 \u4e3a \u65b0 \u7684 \u3002   \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u68c0\u7d22 \u4e16\u754c \u5bf9\u8c61 \uff1a   world   =   client . get _ world ( )   \u4e16\u754c \u5bf9\u8c61 \u53ef \u7528\u4e8e \u4f7f\u7528 \u5176 \u591a\u79cd \u65b9\u6cd5 \u8bbf\u95ee \u4eff\u771f \u4e2d \u7684 \u5bf9\u8c61 \uff0c \u4f8b\u5982 \u5929\u6c14 \u3001 \u8f66\u8f86 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u3001 \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u5730\u56fe \uff1a   level   =   world . get _ map ( )   weather   =   world . get _ weather ( )   blueprint _ library   =   world . get _ blueprint _ library ( )   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f \u5728 \u4eff\u771f \u4e2d \u626e\u6f14 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4efb\u4f55 \u4e1c\u897f \u3002   \u8f66\u8f86   \u884c\u4eba   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u89c2\u5bdf \u89c2\u5bdf\u8005   \u4ea4\u901a \u901a\u4fe1 \u4fe1\u53f7 \u4ea4\u901a\u4fe1\u53f7 \u548c \u4ea4\u901a \u4ea4\u901a\u706f   \u84dd\u56fe   \u662f \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240 \u5fc5\u9700 \u7684 \u5df2\u7ecf \u5236\u4f5c \u597d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e03\u5c40 \u3002 \u57fa\u672c \u57fa\u672c\u4e0a \uff0c \u662f \u5e26\u6709 \u52a8\u753b \u548c \u4e00\u7ec4 \u5c5e\u6027 \u7684 \u6a21\u578b \u3002 \u5176\u4e2d \u4e00\u4e9b \u5c5e\u6027 \u53ef\u4ee5 \u7531 \u7528\u6237 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \uff0c \u800c \u53e6 \u4e00\u4e9b \u4e00\u4e9b\u5219 \u4e0d\u80fd \u3002 \u6709 \u4e00\u4e2a   \u84dd \u56fe\u5e93   \uff0c \u5176\u4e2d \u5305\u542b \u6240\u6709 \u53ef\u7528 \u7684 \u84dd\u56fe \u4ee5\u53ca \u6709\u5173 \u5b83\u4eec \u7684 \u4fe1\u606f \u3002   \u5730\u56fe \u548c \u5bfc\u822a   \u5730\u56fe   \u662f \u4ee3\u8868 \u4eff\u771f \u4e16\u754c \u7684 \u5bf9\u8c61 \uff0c \u4e3b\u8981 \u662f \u57ce\u9547 \u3002 \u6709 \u516b\u5f20 \u5730\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002 \u5b83\u4eec \u90fd \u4f7f\u7528   opdrive   1.4   \u6807\u51c6 \u6765 \u63cf\u8ff0 \u9053\u8def \u3002   \u9053\u8def \u3001 \u8f66\u9053 \u548c \u8def\u53e3   \u7531   Python   API   \u7ba1\u7406 \uff0c \u4ee5\u4fbf \u4ece \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bbf\u95ee \u3002 \u8fd9\u4e9b \u4e0e   waypoint   \u7c7b \u4e00\u8d77 \u4f7f\u7528 \uff0c \u4e3a \u8f66\u8f86 \u63d0\u4f9b \u5bfc\u822a \u8def\u5f84 \u3002   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7   \u548c   \u4ea4\u901a \u4ea4\u901a\u706f   \u662f \u53ef \u8bbf\u95ee \u7684   carla . Landmark   \u3002 \u8fd9\u4e9b \u5730\u6807 \u5bf9\u8c61 \u5305\u542b \u5173\u4e8e \u5b83\u4eec \u7684   OpenDRIVE   \u5b9a\u4e49 \u7684 \u4fe1\u606f \u3002 \u6b64\u5916 \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5728 \u8fd0\u884c \u65f6\u4f1a \u81ea\u52a8 \u751f\u6210 \u505c\u8f66 \u6807\u5fd7 \u3001 \u8ba9 \u884c \u6807\u5fd7 \u548c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5bf9\u8c61 \uff0c \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u4e2d \u7684 \u4fe1\u606f \u3002 \u8fd9\u4e9b \u5bf9\u8c61 \u4f1a \u653e\u7f6e \u5728 \u9053\u8def \u4e0a \uff0c \u6709 \u8fb9\u754c \u6846 \u5305\u56f4 \u3002 \u4e00\u65e6 \u8f66\u8f86 \u8fdb\u5165 \u5b83\u4eec \u7684 \u8fb9\u754c \u6846 \uff0c \u5b83\u4eec \u5c31 \u4f1a \u610f\u8bc6 \u5230 \u8fd9\u4e9b \u5bf9\u8c61 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u6570\u636e   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u7b49\u5f85 \u4e00\u4e9b \u4e8b\u4ef6 \u53d1\u751f \uff0c \u7136\u540e \u4ece \u4eff\u771f \u4e2d \u6536\u96c6 \u6570\u636e \u3002 \u5b83\u4eec \u8c03\u7528 \u5b9a\u4e49 \u5982\u4f55 \u7ba1\u7406 \u6570\u636e \u7684 \u51fd\u6570 \u3002 \u6839\u636e \u4e0d\u540c \u7684 \u60c5\u51b5 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f1a \u68c0\u7d22 \u4e0d\u540c \u7c7b\u578b \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f \u9644\u7740 \u5728 \u7236 \u8f66\u8f86 \u4e0a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5b83 \u8ddf\u968f \u8f66\u8f86 \uff0c \u6536\u96c6 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u7684 \u4fe1\u606f \u3002 \u53ef\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7531   Blueprint \u5e93   \u4e2d \u7684 \u84dd\u56fe \u5b9a\u4e49 \u3002   \u76f8\u673a \uff08 RGB \uff0c \u6df1\u5ea6 \u548c \u8bed\u4e49 \u5206\u5272 \uff09   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5c04\u7ebf \u6295\u5c04   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u969c\u788d \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u96f7\u8fbe   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u540c\u6b65 \u6a21\u5f0f \u548c \u5f02\u6b65 \u6a21\u5f0f   Carla   \u5177\u6709 \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u67b6\u6784 \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fd0\u884c \u4eff\u771f \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u68c0\u7d22 \u4fe1\u606f \u5e76 \u8bf7\u6c42 \u4eff\u771f \u4e2d \u7684 \u66f4\u6539 \u3002 \u672c \u8282 \u6d89\u53ca \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u7684 \u901a\u4fe1 \u3002   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c Carla   \u4ee5   \u5f02\u6b65 \u6a21\u5f0f   \u8fd0\u884c \u3002   \u672c\u8d28 \u4e0a \uff0c \u5728   \u5f02\u6b65 \u6a21\u5f0f   \u4e0b \uff0c Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f1a \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5feb\u5730 \u8fd0\u884c \u3002 \u5ba2\u6237 \u8bf7\u6c42 \u662f \u5373\u65f6 \u5904\u7406 \u7684 \u3002 \u5728   \u540c\u6b65 \u6a21\u5f0f   \u4e0b \uff0c \u8fd0\u884c   Python   \u4ee3\u7801 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8d1f\u8d23 \u63a7\u5236 \u5e76 \u544a\u8bc9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f55\u65f6 \u66f4\u65b0 \u3002   \u5982\u679c \u60a8 \u6b63\u5728 \u5b9e\u9a8c \u6216 \u8bbe\u7f6e \u4eff\u771f \uff0c   \u5f02\u6b65 \u6a21\u5f0f   \u662f \u8fd0\u884c   Carla   \u7684 \u5408\u9002 \u6a21\u5f0f \uff0c \u56e0\u6b64 \u60a8 \u53ef\u4ee5 \u5728 \u653e\u7f6e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \u4e0e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4e00\u8d77 \u5728 \u5730\u56fe \u4e0a \u98de\u884c \u3002 \u5f53 \u60a8 \u60f3\u8981 \u5f00\u59cb \u751f\u6210 \u8bad\u7ec3 \u6570\u636e \u6216 \u5728 \u4eff\u771f \u4e2d \u90e8\u7f72 \u4ee3\u7406 \u65f6 \uff0c \u5efa\u8bae \u5efa\u8bae\u60a8 \u4f7f\u7528   \u540c\u6b65 \u6a21\u5f0f   \uff0c \u56e0\u4e3a \u8fd9 \u5c06 \u4e3a \u60a8 \u63d0\u4f9b \u66f4 \u591a \u7684 \u63a7\u5236 \u63a7\u5236\u529b \u548c \u9884\u6d4b \u6d4b\u6027 \u9884\u6d4b\u6027 \u53ef\u9884\u6d4b\u6027 \u3002   \u9605\u8bfb \u6709\u5173   \u540c\u6b65 \u6a21\u5f0f \u548c \u5f02\u6b65 \u6a21\u5f0f   \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u7b14\u8bb0   \u5728 \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u67b6\u6784 \u4e2d \uff0c \u53ea\u6709 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e94\u8be5 \u53d1\u51fa \u8282\u62cd \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5bf9 \u6536\u5230 \u7684 \u6bcf\u4e2a \u8282\u62cd \u505a\u51fa \u54cd\u5e94 \uff0c \u5c31 \u597d\u50cf \u5b83 \u6765\u81ea \u540c\u4e00 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e00\u6837 \u3002 \u8bb8\u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u8282\u62cd \u5c06 \u4f7f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e4b\u95f4 \u4ea7\u751f \u4e0d \u4e00\u81f4 \u3002   \u8bbe\u7f6e \u540c\u6b65 \u6a21\u5f0f   \u540c\u6b65 \u6a21\u5f0f \u548c \u5f02\u6b65 \u6a21\u5f0f \u4e4b\u95f4 \u7684 \u66f4\u6539 \u53ea\u662f \u5e03\u5c14 \u72b6\u6001 \u7684 \u95ee\u9898 \u3002   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   \u8b66\u544a   \u5982\u679c \u542f\u7528 \u4e86 \u540c\u6b65 \u6a21\u5f0f \uff0c \u5e76\u4e14 \u6b63\u5728 \u8fd0\u884c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u5219 \u4e5f \u5fc5\u987b \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002 \u9605\u8bfb   \u672c\u6587   \u4ee5 \u4e86\u89e3 \u5982\u4f55 \u64cd\u4f5c \u3002   \u8981 \u7981\u7528 \u540c\u6b65 \u6a21\u5f0f \uff0c \u53ea \u9700 \u5c06 \u53d8\u91cf \u8bbe\u7f6e \u4e3a   False   \u6216 \u4f7f\u7528 \u811a\u672c   PythonAPI / util / config . py   \u3002   cd   PythonAPI / util   &&   python3   config . py   -- no - sync   #   \u7981\u7528 \u540c\u6b65 \u6a21\u5f0f   \u540c\u6b65 \u6a21\u5f0f \u65e0\u6cd5 \u4f7f\u7528 \u811a\u672c \u542f\u7528 \uff0c \u53ea\u80fd \u7981\u7528 \u3002 \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \u4f7f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8282\u62cd \u3002 \u4f7f\u7528 \u6b64 \u811a\u672c \uff0c \u7528\u6237 \u65e0\u6cd5 \u5728 \u9700\u8981 \u65f6 \u53d1\u9001 \u8282\u62cd \u3002   \u4f7f\u7528 \u540c\u6b65 \u6a21\u5f0f   \u540c\u6b65 \u6a21\u5f0f \u4e0e \u7f13\u6162 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4ee5\u53ca \u9700\u8981 \u4e0d\u540c \u5143\u7d20 \uff08 \u4f8b\u5982 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff09 \u4e4b\u95f4 \u7684 \u540c\u6b65 \u65f6 \u7279\u522b \u76f8\u5173 \u3002 \u5982\u679c \u5ba2\u6237 \u5ba2\u6237\u7aef \u592a\u6162 \u800c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6ca1\u6709 \u7b49\u5f85 \uff0c \u5c31 \u4f1a \u51fa\u73b0 \u4fe1\u606f \u6ea2\u51fa \u3002 \u5ba2\u6237 \u5c06 \u65e0\u6cd5 \u7ba1\u7406 \u4e00\u5207 \uff0c \u5e76\u4e14 \u4f1a \u4e22\u5931 \u6216 \u6df7\u5408 \u3002 \u540c\u6837 \uff0c \u5bf9\u4e8e \u8bb8\u591a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u5f02\u6b65 \u60c5\u51b5 \uff0c \u4e0d \u53ef\u80fd \u77e5\u9053 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u5426 \u90fd \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u540c\u4e00 \u65f6\u523b \u7684 \u6570\u636e \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u7247\u6bb5 \u6269\u5c55 \u4e86 \u524d \u4e00\u4e2a \u4ee3\u7801 \u7247\u6bb5 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa \u4e00\u4e2a \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5c06 \u5f53\u524d \u6b65\u9aa4 \u7684 \u56fe\u50cf \u6570\u636e \u5b58\u50a8 \u5728 \u961f\u5217 \u4e2d \uff0c \u5e76 \u4ece \u961f\u5217 \u4e2d \u68c0\u7d22 \u540e \u53d1\u9001 \u8282\u62cd \u7ed9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6709\u5173 \u591a\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u66f4 \u590d\u6742 \u7684 \u793a\u4f8b \u3002   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   world . apply _ settings ( settings )   camera   =   world . spawn _ actor ( blueprint ,   transform )   image _ queue   =   queue . Queue ( )   camera . listen ( image _ queue . put )   while   True :   world . tick ( )   image   =   image _ queue . get ( )   \u91cd\u8981   \u6765\u81ea \u57fa\u4e8e   GPU   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u4e3b\u8981 \u662f \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \uff09 \u7684 \u6570\u636e \u901a\u5e38 \u4f1a \u5ef6\u8fdf \u51e0\u5e27 \u751f\u6210 \u3002 \u540c\u6b65 \u5728 \u8fd9\u91cc \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002   \u4e16\u754c \u4e0a \u6709 \u5f02\u6b65 \u65b9\u6cd5 \u53ef\u4ee5 \u8ba9 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7b49\u5f85 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8282\u62cd \uff0c \u6216\u8005 \u5728 \u6536\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8282\u62cd \u65f6 \u6267\u884c \u67d0\u4e9b \u64cd\u4f5c \u3002   #   \u7b49\u5f85 \u4e0b \u4e00\u4e2a \u8282\u62cd \u5e76 \u83b7\u53d6 \u8282\u62cd \u7684 \u5feb\u7167   world _ snapshot   =   world . wait _ for _ tick ( )   #   \u6ce8\u518c \u4e00\u4e2a \u56de\u8c03 \uff0c \u4ee5\u4fbf \u5728 \u6bcf\u6b21 \u6536\u5230 \u65b0 \u7684 \u5feb\u7167 \u65f6 \u90fd \u88ab \u8c03\u7528 \u3002   world . on _ tick ( lambda   world _ snapshot :   do _ something ( world _ snapshot ) )   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u53ef\u4ee5 \u5c06 \u91cd\u73b0 \u5148\u524d \u4eff\u771f \u6240 \u9700 \u7684 \u6240\u6709 \u6570\u636e \u4fdd\u5b58 \u5230 \u6587\u4ef6 \u4e2d \u3002 \u8fd9\u4e9b \u6570\u636e \u5305\u62ec \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \u3001 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u72b6\u6001 \u3001 \u884c\u4eba \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \u4ee5\u53ca \u592a\u9633 \u7684 \u4f4d\u7f6e \u548c \u5929\u6c14 \u72b6\u51b5 \u5929\u6c14\u72b6\u51b5 \u7b49 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002 \u6570\u636e \u88ab \u8bb0\u5f55 \u5230 \u4e00\u4e2a \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u4e2d \uff0c Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7a0d\u540e \u53ef\u4ee5 \u52a0\u8f7d \u8be5 \u6587\u4ef6 \u4ee5 \u51c6\u786e \u5730 \u518d\u73b0 \u4eff\u771f \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6839\u636e \u8bb0\u5f55 \u6587\u4ef6 \u4e2d \u5305\u542b \u7684 \u6570\u636e \u5728 \u6bcf \u4e00\u5e27 \u4e0a \u8fdb\u884c \u66f4\u65b0 \u3002 \u5f53\u524d \u4eff\u771f \u4e2d \u51fa\u73b0 \u5728 \u5f55\u5236 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u88ab \u79fb\u52a8 \u6216 \u91cd\u65b0 \u751f\u6210 \u4ee5 \u4eff\u771f \u5b83 \u3002 \u90a3\u4e9b \u6ca1\u6709 \u51fa\u73b0 \u5728 \u8bb0\u5f55 \u4e2d \u7684 \u4eba\u4f1a \u7ee7\u7eed \u4ed6\u4eec \u7684 \u8def \uff0c \u5c31 \u50cf \u4ec0\u4e48 \u90fd \u6ca1 \u53d1\u751f \u4e00\u6837 \u3002   \u91cd\u8981   \u64ad\u653e \u7ed3\u675f \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u4f46   \u884c\u4eba \u4e0d\u4f1a \u505c\u4e0b \u4e0b\u6765 \u505c\u4e0b\u6765   \u3002   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u5305\u62ec \u6709\u5173 \u8bb8\u591a \u4e0d\u540c \u5143\u7d20 \u7684 \u4fe1\u606f \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005   \u2014   \u521b\u9020 \u548c \u9500\u6bc1 \u3001 \u8fb9\u754c \u548c \u89e6\u53d1 \u76d2 \u3002   \u4ea4\u901a \u7b49   \u2014   \u72b6\u6001 \u53d8\u5316 \u548c \u65f6\u95f4 \u8bbe\u7f6e \u3002   \u8f66\u8f86   \u2014   \u4f4d\u7f6e \u548c \u65b9\u5411 \u3001 \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3001 \u5149 \u72b6\u6001 \u548c \u7269\u7406 \u63a7\u5236 \u3002   \u884c\u4eba   \u2014   \u4f4d\u7f6e \u548c \u65b9\u5411 \uff0c \u4ee5\u53ca \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3002   \u706f\u5149   \u2014   \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u8857\u9053 \u548c \u8f66\u8f86 \u7684 \u706f\u5149 \u72b6\u6001 \u3002   \u8bb0\u5f55   \u8981 \u5f00\u59cb \u5f55\u5236 \uff0c \u53ea \u9700\u8981 \u4e00\u4e2a \u6587\u4ef6 \u6587\u4ef6\u540d \u3002 \u5728 \u6587\u4ef6 \u6587\u4ef6\u540d \u4e2d \u4f7f\u7528   \\   ,   /   \u6216   :   \u5b57\u7b26 \u4f1a \u5c06 \u5176 \u5b9a\u4e49 \u4e3a \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002 \u5982\u679c \u6ca1\u6709 \u8be6\u7ec6 \u8def\u5f84 \uff0c \u6587\u4ef6 \u5c06 \u4fdd\u5b58 \u5728   CarlaUE4 / Saved   \u3002   client . start _ recorder ( \" / home / carla / recording01 . log \" )   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8bbe\u7f6e \u4e3a \u4ec5 \u5b58\u50a8 \u56de\u653e \u4eff\u771f \u6240 \u9700 \u7684 \u4fe1\u606f \u3002 \u4e3a\u4e86 \u4fdd\u5b58 \u524d\u9762 \u63d0\u5230 \u7684 \u6240\u6709 \u4fe1\u606f \uff0c   additional _ data   \u5fc5\u987b \u5728 \u5f00\u59cb \u5f55\u5236 \u65f6 \u914d\u7f6e \u53c2\u6570 \u3002   client . start _ recorder ( \" / home / carla / recording01 . log \" ,   True )   \u7b14\u8bb0   \u5176\u4ed6 \u6570\u636e \u5305\u62ec \uff1a \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u65f6\u95f4 \u8bbe\u7f6e \u3001 \u6267\u884c \u65f6\u95f4 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \u548c \u8fb9\u754c \u6846 \u4ee5\u53ca \u8f66\u8f86 \u7684 \u7269\u7406 \u63a7\u5236 \u3002   \u8981 \u505c\u6b62 \u8bb0\u5f55 \uff0c \u8c03\u7528 \u4e5f \u5f88 \u7b80\u5355 \u3002   client . stop _ recorder ( )   \u7b14\u8bb0   \u4f30\u8ba1 \u636e\u4f30\u8ba1 \uff0c 50   \u4e2a \u4ea4\u901a \u4ea4\u901a\u706f \u548c   100   \u8f86\u8f66 \u7684   1   \u5c0f\u65f6 \u8bb0\u5f55 \u5927\u7ea6 \u9700\u8981   200MB   \u5927\u5c0f \u3002   \u4eff\u771f \u56de\u653e   \u53ef\u4ee5 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u7684 \u4efb\u4f55 \u4f55\u65f6 \u65f6\u523b \u4efb\u4f55\u65f6\u523b \u5f00\u59cb \u64ad\u653e \u3002 \u9664\u4e86 \u65e5\u5fd7 \u6587\u4ef6 \u7684 \u8def\u5f84 \u4e4b\u5916 \uff0c \u6b64 \u65b9\u6cd5 \u8fd8 \u9700\u8981 \u4e00\u4e9b \u53c2\u6570 \u3002   client . replay _ file ( \" recording01 . log \" ,   start ,   duration ,   camera )   \u53c2\u6570   \u63cf\u8ff0   \u7b14\u8bb0   start   \u8bb0\u5f55 \u5f00\u59cb \u4eff\u771f \u7684 \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   \u5982\u679c \u4e3a \u6b63 \uff0c \u65f6\u95f4 \u5c06 \u4ece \u8bb0\u5f55 \u5f00\u59cb \u7b97 \u8d77 \u3002   \u5982\u679c \u4e3a \u8d1f \uff0c \u5219 \u4ece \u6700\u540e \u8003\u8651 \u3002   duration   \u64ad\u653e \u79d2\u6570 \u3002 0   \u4e3a \u5168\u90e8 \u8bb0\u5f55 \u3002   \u64ad\u653e \u7ed3\u675f \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u884c\u4eba \u5c06 \u505c\u6b62 \u3002   camera   \u76f8\u673a \u5c06 \u805a\u7126 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   \u5c06 \u5176 \u8bbe\u7f6e   0   \u662f \u8ba9 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u81ea\u7531 \u79fb\u52a8 \u3002   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u4ee5   \u672c \u6587\u6863   \u4e2d \u6307\u5b9a \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u4fdd\u5b58 \u6240\u6709 \u6570\u636e \u3002   \u6e32\u67d3   Carla   \u63d0\u4f9b \u4e86 \u8bb8\u591a \u6709\u5173 \u6e32\u67d3 \u8d28\u91cf \u548c \u6548\u7387 \u7684 \u9009\u9879 \u3002 \u5728 \u6700 \u57fa\u672c \u7684 \u5c42\u9762 \u4e0a \uff0c Carla   \u63d0\u4f9b \u4e86 \u4e24\u79cd \u8d28\u91cf \u9009\u9879 \uff0c \u53ef\u4ee5 \u5728 \u9ad8 \u89c4\u683c \u548c \u4f4e \u89c4\u683c \u786c\u4ef6 \u4e0a \u8fd0\u884c \u5e76 \u83b7\u5f97 \u6700\u4f73 \u83b7\u5f97\u6700\u4f73 \u6548\u679c \uff1a   \u53f2\u8bd7 \u6a21\u5f0f   . / CarlaUE4 . sh   - quality - level = Epic   \u53f2\u8bd7 \u6a21\u5f0f \u622a\u56fe   \u4f4e\u8d28 \u8d28\u91cf \u4f4e\u8d28\u91cf \u6a21\u5f0f   . / CarlaUE4 . sh   - quality - level = Low   \u4f4e\u8d28 \u8d28\u91cf \u4f4e\u8d28\u91cf \u6a21\u5f0f \u622a\u56fe   Carla   \u8fd8 \u63d0\u4f9b \u6682\u505c \u6e32\u67d3 \u6216 \u79bb\u5c4f \u6e32\u67d3 \u7684 \u9009\u9879 \uff0c \u4ee5\u4fbf \u66f4 \u6709\u6548 \u5730 \u8bb0\u5f55 \u6216 \u8fd0\u884c \u4eff\u771f \u3002   \u6709\u5173 \u6e32\u67d3 \u9009\u9879 \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8bf7 \u53c2\u89c1   \u6b64\u5904   \u3002   \u8fdb\u9636 \u6b65\u9aa4   Carla   \u63d0\u4f9b \u4e86 \u5e7f\u6cdb \u7684 \u529f\u80fd \uff0c \u8d85\u51fa \u4e86 \u672c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4ecb\u7ecd \u7684 \u8303\u56f4 \u3002 \u8fd9\u91cc \u5217\u51fa \u4e86 \u4e00\u4e9b \u6700 \u5f15\u4eba \u6ce8\u76ee \u5f15\u4eba\u6ce8\u76ee \u7684 \u3002 \u7136\u800c \uff0c \u5728 \u5f00\u59cb   \u8fdb\u9636 \u6b65\u9aa4   \u4e4b\u524d \uff0c \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u9605\u8bfb \u6574\u4e2a \u201c \u57fa\u7840 \u201d \u90e8\u5206 \u3002   OpenDRIVE \u72ec\u7acb \u6a21\u5f0f   \u3002 \u4ec5 \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u751f\u6210 \u9053\u8def \u7f51\u683c \u3002 \u5141\u8bb8 \u5728   Carla   \u4e2d \u52a0\u8f7d \u4efb\u4f55   OpenDRIVE   \u5730\u56fe \uff0c \u65e0\u9700 \u521b\u5efa \u8d44\u6e90 \u3002   PTV - Vissim \u534f\u540c \u4eff\u771f   \u3002 \u5728   Carla   \u548c   PTV - Vissim   \u4ea4\u901a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e4b\u95f4 \u8fd0\u884c \u534f\u540c \u4eff\u771f \u3002   \u5f55\u5236 \u5668   \u3002 \u4fdd\u5b58 \u4eff\u771f \u72b6\u6001 \u7684 \u5feb\u7167 \uff0c \u4ee5\u4fbf \u4ee5 \u7cbe\u786e \u7684 \u7cbe\u5ea6 \u91cd\u65b0 \u6267\u884c \u4eff\u771f \u3002   \u6e32\u67d3 \u9009\u9879   \u3002 \u5305\u62ec \u56fe\u5f62 \u8d28\u91cf \u8bbe\u7f6e \u3001 \u79bb\u5c4f \u6e32\u67d3 \u548c \u65e0 \u6e32\u67d3 \u6a21\u5f0f \u3002   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \uff08 Responsibility   Sensitive   Safety \uff09 \uff1a \u96c6\u6210 \u7528\u4e8e \u6839\u636e \u5b89\u5168 \u68c0\u67e5 \u5b89\u5168\u68c0\u67e5 \u4fee\u6539 \u8f66\u8f86 \u8f68\u8ff9 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5b89\u5168\u6027   C++ \u5e93   \u3002   \u4eff\u771f \u65f6\u95f4 \u548c \u540c\u6b65   \u3002 \u5173\u4e8e \u4eff\u771f \u65f6\u95f4 \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 - \u5ba2\u6237 \u5ba2\u6237\u7aef \u901a\u4fe1 \u7684 \u6240\u6709 \u5185\u5bb9 \u3002   SUMO \u534f\u540c \u4eff\u771f   \uff1a \u5728   Carla   \u548c   SUMO   \u4ea4\u901a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e4b\u95f4 \u8fd0\u884c \u534f\u540c \u4eff\u771f \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \uff1a \u8be5 \u6a21\u5757 \u8d1f\u8d23 \u6240\u6709 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u7684 \u8f66\u8f86 \u3002 \u5b83 \u4eff\u771f \u57ce\u5e02 \u4e2d \u7684 \u4ea4\u901a \uff0c \u4f7f \u4eff\u771f \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u50cf \u4e00\u4e2a \u771f\u5b9e \u7684 \u57ce\u5e02 \u73af\u5883 \u3002","title":"Foundations"},{"location":"foundations/#_1","text":"\u672c\u9875 \u4ecb\u7ecd \u4e86   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u5982\u4f55 \u901a\u8fc7   API   \u8fdb\u884c \u64cd\u4f5c \u548c \u901a\u4fe1 \u6240 \u9700 \u7684 \u57fa\u672c \u6982\u5ff5 \u57fa\u672c\u6982\u5ff5 \u3002 Carla   \u4f7f\u7528 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 - \u5ba2\u6237 \u5ba2\u6237\u7aef \u67b6\u6784 \u8fd0\u884c \uff0c \u5176\u4e2d   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fd0\u884c \u4eff\u771f \u5e76 \u7531 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5411 \u5176 \u53d1\u9001 \u6307\u4ee4 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4ee3\u7801 \u4f7f\u7528   API   \u4e0e \u670d\u52a1 \u52a1\u5668 \u8fdb\u884c \u670d\u52a1\u5668 \u670d\u52a1\u5668\u8fdb\u884c \u901a\u4fe1 \u3002 \u8981 \u4f7f\u7528   Python   API \uff0c \u60a8 \u5fc5\u987b \u901a\u8fc7   pip   \u5b89\u88c5 \u8be5 \u6a21\u5757 \uff1a   pip   install   carla - simulator   #   Python   2   pip3   install   carla - simulator   #   Python   3   \u8fd8\u8981 \u786e\u4fdd \u5728   python   \u811a\u672c \u4e2d \u5bfc\u5165   Carla   \u5305 \uff1a   import   carla   \u4e16\u754c \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u4e16\u754c   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe   \u5730\u56fe \u548c \u5bfc\u822a   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u6570\u636e   \u540c\u6b65 \u6a21\u5f0f \u548c \u5f02\u6b65 \u6a21\u5f0f   \u8bbe\u7f6e \u540c\u6b65 \u6a21\u5f0f   \u4f7f\u7528 \u540c\u6b65 \u6a21\u5f0f   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u8bb0\u5f55   \u4eff\u771f \u56de\u653e   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u6e32\u67d3   \u53f2\u8bd7 \u6a21\u5f0f   \u4f4e\u8d28 \u8d28\u91cf \u4f4e\u8d28\u91cf \u6a21\u5f0f   \u8fdb\u9636 \u6b65\u9aa4","title":"\u57fa\u7840"},{"location":"foundations/#_2","text":"","title":"\u4e16\u754c \u548c \u5ba2\u6237\u7aef  "},{"location":"foundations/#_3","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef   \u662f \u7528\u6237 \u8fd0\u884c \u4ee5 \u8bf7\u6c42 \u4eff\u771f \u4e2d \u7684 \u4fe1\u606f \u6216 \u66f4\u6539 \u7684 \u6a21\u5757 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4f7f\u7528   IP   \u548c \u7279\u5b9a \u7aef\u53e3 \u8fd0\u884c \u3002 \u5b83 \u901a\u8fc7 \u7ec8\u7aef \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u3002 \u53ef\u4ee5 \u6709 \u8bb8\u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u540c\u65f6 \u8fd0\u884c \u3002 \u9ad8\u7ea7 \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u7ba1\u7406 \u9700\u8981 \u5bf9   Carla   \u548c   \u540c\u6b65   \u6709 \u900f\u5f7b \u7684 \u4e86\u89e3 \u3002   \u4f7f\u7528   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u8bbe\u7f6e \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1a   client   =   carla . Client ( ' localhost ' ,   2000 )   \u8fd9\u4f1a \u5c06 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bbe\u7f6e \u4e3a \u4e0e \u672c\u5730 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a   localhost   \u8fd0\u884c \u7684   Carla   \u670d\u52a1 \u52a1\u5668 \u8fdb\u884c \u670d\u52a1\u5668 \u670d\u52a1\u5668\u8fdb\u884c \u901a\u4fe1 \u3002 \u6216\u8005 \uff0c \u5982\u679c \u5728 \u5355\u72ec \u7684 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u8fd0\u884c \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5219 \u53ef\u4ee5 \u4f7f\u7528 \u7f51\u7edc \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u7f51\u7edc\u8ba1\u7b97\u673a \u7684   IP   \u5730\u5740 \u3002 \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u53c2\u6570 \u662f \u7aef\u53e3 \u53e3\u53f7 \u7aef\u53e3\u53f7 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u5728 \u7aef\u53e3   2000   \u4e0a \u8fd0\u884c \uff0c \u5982 \u6709 \u5fc5\u8981 \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u542f\u52a8   Carla   \u65f6 \u5728 \u8bbe\u7f6e \u4e2d \u66f4\u6539 \u6b64 \u8bbe\u7f6e \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u53ef \u7528\u4e8e \u591a\u79cd \u529f\u80fd \uff0c \u5305\u62ec \u52a0\u8f7d \u65b0 \u5730\u56fe \u3001 \u8bb0\u5f55 \u4eff\u771f \u548c \u521d\u59cb \u521d\u59cb\u5316 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff1a   client . load _ world ( ' Town07 ' )   client . start _ recorder ( ' recording . log ' )","title":"\u5ba2\u6237\u7aef  "},{"location":"foundations/#_4","text":"\u4e16\u754c   \u662f \u4ee3\u8868 \u4eff\u771f \u7684 \u5bf9\u8c61 \u3002 \u5b83 \u5145\u5f53 \u4e00\u4e2a \u62bd\u8c61 \u5c42 \uff0c \u5305\u542b \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3001 \u6539\u53d8 \u5929\u6c14 \u3001 \u83b7\u53d6 \u4e16\u754c \u5f53\u524d \u72b6\u6001 \u7b49 \u7684 \u4e3b\u8981 \u65b9\u6cd5 \u3002 \u6bcf\u4e2a \u4eff\u771f \u53ea\u6709 \u4e00\u4e2a \u4e16\u754c \u3002 \u5f53 \u5730\u56fe \u6539\u53d8 \u65f6 \uff0c \u5b83\u4f1a \u88ab \u9500\u6bc1 \u5e76 \u66ff\u6362 \u4e3a \u65b0 \u7684 \u3002   \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u68c0\u7d22 \u4e16\u754c \u5bf9\u8c61 \uff1a   world   =   client . get _ world ( )   \u4e16\u754c \u5bf9\u8c61 \u53ef \u7528\u4e8e \u4f7f\u7528 \u5176 \u591a\u79cd \u65b9\u6cd5 \u8bbf\u95ee \u4eff\u771f \u4e2d \u7684 \u5bf9\u8c61 \uff0c \u4f8b\u5982 \u5929\u6c14 \u3001 \u8f66\u8f86 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u3001 \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u5730\u56fe \uff1a   level   =   world . get _ map ( )   weather   =   world . get _ weather ( )   blueprint _ library   =   world . get _ blueprint _ library ( )","title":"\u4e16\u754c  "},{"location":"foundations/#_5","text":"\u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f \u5728 \u4eff\u771f \u4e2d \u626e\u6f14 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4efb\u4f55 \u4e1c\u897f \u3002   \u8f66\u8f86   \u884c\u4eba   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u89c2\u5bdf \u89c2\u5bdf\u8005   \u4ea4\u901a \u901a\u4fe1 \u4fe1\u53f7 \u4ea4\u901a\u4fe1\u53f7 \u548c \u4ea4\u901a \u4ea4\u901a\u706f   \u84dd\u56fe   \u662f \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240 \u5fc5\u9700 \u7684 \u5df2\u7ecf \u5236\u4f5c \u597d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e03\u5c40 \u3002 \u57fa\u672c \u57fa\u672c\u4e0a \uff0c \u662f \u5e26\u6709 \u52a8\u753b \u548c \u4e00\u7ec4 \u5c5e\u6027 \u7684 \u6a21\u578b \u3002 \u5176\u4e2d \u4e00\u4e9b \u5c5e\u6027 \u53ef\u4ee5 \u7531 \u7528\u6237 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \uff0c \u800c \u53e6 \u4e00\u4e9b \u4e00\u4e9b\u5219 \u4e0d\u80fd \u3002 \u6709 \u4e00\u4e2a   \u84dd \u56fe\u5e93   \uff0c \u5176\u4e2d \u5305\u542b \u6240\u6709 \u53ef\u7528 \u7684 \u84dd\u56fe \u4ee5\u53ca \u6709\u5173 \u5b83\u4eec \u7684 \u4fe1\u606f \u3002","title":"\u53c2\u4e0e\u8005 \u548c \u84dd\u56fe  "},{"location":"foundations/#_6","text":"\u5730\u56fe   \u662f \u4ee3\u8868 \u4eff\u771f \u4e16\u754c \u7684 \u5bf9\u8c61 \uff0c \u4e3b\u8981 \u662f \u57ce\u9547 \u3002 \u6709 \u516b\u5f20 \u5730\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002 \u5b83\u4eec \u90fd \u4f7f\u7528   opdrive   1.4   \u6807\u51c6 \u6765 \u63cf\u8ff0 \u9053\u8def \u3002   \u9053\u8def \u3001 \u8f66\u9053 \u548c \u8def\u53e3   \u7531   Python   API   \u7ba1\u7406 \uff0c \u4ee5\u4fbf \u4ece \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bbf\u95ee \u3002 \u8fd9\u4e9b \u4e0e   waypoint   \u7c7b \u4e00\u8d77 \u4f7f\u7528 \uff0c \u4e3a \u8f66\u8f86 \u63d0\u4f9b \u5bfc\u822a \u8def\u5f84 \u3002   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7   \u548c   \u4ea4\u901a \u4ea4\u901a\u706f   \u662f \u53ef \u8bbf\u95ee \u7684   carla . Landmark   \u3002 \u8fd9\u4e9b \u5730\u6807 \u5bf9\u8c61 \u5305\u542b \u5173\u4e8e \u5b83\u4eec \u7684   OpenDRIVE   \u5b9a\u4e49 \u7684 \u4fe1\u606f \u3002 \u6b64\u5916 \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5728 \u8fd0\u884c \u65f6\u4f1a \u81ea\u52a8 \u751f\u6210 \u505c\u8f66 \u6807\u5fd7 \u3001 \u8ba9 \u884c \u6807\u5fd7 \u548c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5bf9\u8c61 \uff0c \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u4e2d \u7684 \u4fe1\u606f \u3002 \u8fd9\u4e9b \u5bf9\u8c61 \u4f1a \u653e\u7f6e \u5728 \u9053\u8def \u4e0a \uff0c \u6709 \u8fb9\u754c \u6846 \u5305\u56f4 \u3002 \u4e00\u65e6 \u8f66\u8f86 \u8fdb\u5165 \u5b83\u4eec \u7684 \u8fb9\u754c \u6846 \uff0c \u5b83\u4eec \u5c31 \u4f1a \u610f\u8bc6 \u5230 \u8fd9\u4e9b \u5bf9\u8c61 \u3002","title":"\u5730\u56fe \u548c \u5bfc\u822a  "},{"location":"foundations/#_7","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u7b49\u5f85 \u4e00\u4e9b \u4e8b\u4ef6 \u53d1\u751f \uff0c \u7136\u540e \u4ece \u4eff\u771f \u4e2d \u6536\u96c6 \u6570\u636e \u3002 \u5b83\u4eec \u8c03\u7528 \u5b9a\u4e49 \u5982\u4f55 \u7ba1\u7406 \u6570\u636e \u7684 \u51fd\u6570 \u3002 \u6839\u636e \u4e0d\u540c \u7684 \u60c5\u51b5 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f1a \u68c0\u7d22 \u4e0d\u540c \u7c7b\u578b \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f \u9644\u7740 \u5728 \u7236 \u8f66\u8f86 \u4e0a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5b83 \u8ddf\u968f \u8f66\u8f86 \uff0c \u6536\u96c6 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u7684 \u4fe1\u606f \u3002 \u53ef\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7531   Blueprint \u5e93   \u4e2d \u7684 \u84dd\u56fe \u5b9a\u4e49 \u3002   \u76f8\u673a \uff08 RGB \uff0c \u6df1\u5ea6 \u548c \u8bed\u4e49 \u5206\u5272 \uff09   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5c04\u7ebf \u6295\u5c04   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u969c\u788d \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u96f7\u8fbe   \u8d23\u4efb \u654f\u611f \u5b89\u5168","title":"\u4f20\u611f\u5668 \u548c \u6570\u636e  "},{"location":"foundations/#_8","text":"Carla   \u5177\u6709 \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u67b6\u6784 \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fd0\u884c \u4eff\u771f \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u68c0\u7d22 \u4fe1\u606f \u5e76 \u8bf7\u6c42 \u4eff\u771f \u4e2d \u7684 \u66f4\u6539 \u3002 \u672c \u8282 \u6d89\u53ca \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u7684 \u901a\u4fe1 \u3002   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c Carla   \u4ee5   \u5f02\u6b65 \u6a21\u5f0f   \u8fd0\u884c \u3002   \u672c\u8d28 \u4e0a \uff0c \u5728   \u5f02\u6b65 \u6a21\u5f0f   \u4e0b \uff0c Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f1a \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5feb\u5730 \u8fd0\u884c \u3002 \u5ba2\u6237 \u8bf7\u6c42 \u662f \u5373\u65f6 \u5904\u7406 \u7684 \u3002 \u5728   \u540c\u6b65 \u6a21\u5f0f   \u4e0b \uff0c \u8fd0\u884c   Python   \u4ee3\u7801 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8d1f\u8d23 \u63a7\u5236 \u5e76 \u544a\u8bc9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f55\u65f6 \u66f4\u65b0 \u3002   \u5982\u679c \u60a8 \u6b63\u5728 \u5b9e\u9a8c \u6216 \u8bbe\u7f6e \u4eff\u771f \uff0c   \u5f02\u6b65 \u6a21\u5f0f   \u662f \u8fd0\u884c   Carla   \u7684 \u5408\u9002 \u6a21\u5f0f \uff0c \u56e0\u6b64 \u60a8 \u53ef\u4ee5 \u5728 \u653e\u7f6e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \u4e0e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4e00\u8d77 \u5728 \u5730\u56fe \u4e0a \u98de\u884c \u3002 \u5f53 \u60a8 \u60f3\u8981 \u5f00\u59cb \u751f\u6210 \u8bad\u7ec3 \u6570\u636e \u6216 \u5728 \u4eff\u771f \u4e2d \u90e8\u7f72 \u4ee3\u7406 \u65f6 \uff0c \u5efa\u8bae \u5efa\u8bae\u60a8 \u4f7f\u7528   \u540c\u6b65 \u6a21\u5f0f   \uff0c \u56e0\u4e3a \u8fd9 \u5c06 \u4e3a \u60a8 \u63d0\u4f9b \u66f4 \u591a \u7684 \u63a7\u5236 \u63a7\u5236\u529b \u548c \u9884\u6d4b \u6d4b\u6027 \u9884\u6d4b\u6027 \u53ef\u9884\u6d4b\u6027 \u3002   \u9605\u8bfb \u6709\u5173   \u540c\u6b65 \u6a21\u5f0f \u548c \u5f02\u6b65 \u6a21\u5f0f   \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u7b14\u8bb0   \u5728 \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u67b6\u6784 \u4e2d \uff0c \u53ea\u6709 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e94\u8be5 \u53d1\u51fa \u8282\u62cd \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5bf9 \u6536\u5230 \u7684 \u6bcf\u4e2a \u8282\u62cd \u505a\u51fa \u54cd\u5e94 \uff0c \u5c31 \u597d\u50cf \u5b83 \u6765\u81ea \u540c\u4e00 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e00\u6837 \u3002 \u8bb8\u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u8282\u62cd \u5c06 \u4f7f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e4b\u95f4 \u4ea7\u751f \u4e0d \u4e00\u81f4 \u3002","title":"\u540c\u6b65 \u6a21\u5f0f \u548c \u5f02\u6b65 \u6a21\u5f0f  "},{"location":"foundations/#_9","text":"\u540c\u6b65 \u6a21\u5f0f \u548c \u5f02\u6b65 \u6a21\u5f0f \u4e4b\u95f4 \u7684 \u66f4\u6539 \u53ea\u662f \u5e03\u5c14 \u72b6\u6001 \u7684 \u95ee\u9898 \u3002   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   \u8b66\u544a   \u5982\u679c \u542f\u7528 \u4e86 \u540c\u6b65 \u6a21\u5f0f \uff0c \u5e76\u4e14 \u6b63\u5728 \u8fd0\u884c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u5219 \u4e5f \u5fc5\u987b \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002 \u9605\u8bfb   \u672c\u6587   \u4ee5 \u4e86\u89e3 \u5982\u4f55 \u64cd\u4f5c \u3002   \u8981 \u7981\u7528 \u540c\u6b65 \u6a21\u5f0f \uff0c \u53ea \u9700 \u5c06 \u53d8\u91cf \u8bbe\u7f6e \u4e3a   False   \u6216 \u4f7f\u7528 \u811a\u672c   PythonAPI / util / config . py   \u3002   cd   PythonAPI / util   &&   python3   config . py   -- no - sync   #   \u7981\u7528 \u540c\u6b65 \u6a21\u5f0f   \u540c\u6b65 \u6a21\u5f0f \u65e0\u6cd5 \u4f7f\u7528 \u811a\u672c \u542f\u7528 \uff0c \u53ea\u80fd \u7981\u7528 \u3002 \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \u4f7f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8282\u62cd \u3002 \u4f7f\u7528 \u6b64 \u811a\u672c \uff0c \u7528\u6237 \u65e0\u6cd5 \u5728 \u9700\u8981 \u65f6 \u53d1\u9001 \u8282\u62cd \u3002","title":"\u8bbe\u7f6e \u540c\u6b65 \u6a21\u5f0f  "},{"location":"foundations/#_10","text":"\u540c\u6b65 \u6a21\u5f0f \u4e0e \u7f13\u6162 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4ee5\u53ca \u9700\u8981 \u4e0d\u540c \u5143\u7d20 \uff08 \u4f8b\u5982 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff09 \u4e4b\u95f4 \u7684 \u540c\u6b65 \u65f6 \u7279\u522b \u76f8\u5173 \u3002 \u5982\u679c \u5ba2\u6237 \u5ba2\u6237\u7aef \u592a\u6162 \u800c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6ca1\u6709 \u7b49\u5f85 \uff0c \u5c31 \u4f1a \u51fa\u73b0 \u4fe1\u606f \u6ea2\u51fa \u3002 \u5ba2\u6237 \u5c06 \u65e0\u6cd5 \u7ba1\u7406 \u4e00\u5207 \uff0c \u5e76\u4e14 \u4f1a \u4e22\u5931 \u6216 \u6df7\u5408 \u3002 \u540c\u6837 \uff0c \u5bf9\u4e8e \u8bb8\u591a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u5f02\u6b65 \u60c5\u51b5 \uff0c \u4e0d \u53ef\u80fd \u77e5\u9053 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u5426 \u90fd \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u540c\u4e00 \u65f6\u523b \u7684 \u6570\u636e \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u7247\u6bb5 \u6269\u5c55 \u4e86 \u524d \u4e00\u4e2a \u4ee3\u7801 \u7247\u6bb5 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa \u4e00\u4e2a \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5c06 \u5f53\u524d \u6b65\u9aa4 \u7684 \u56fe\u50cf \u6570\u636e \u5b58\u50a8 \u5728 \u961f\u5217 \u4e2d \uff0c \u5e76 \u4ece \u961f\u5217 \u4e2d \u68c0\u7d22 \u540e \u53d1\u9001 \u8282\u62cd \u7ed9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6709\u5173 \u591a\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u66f4 \u590d\u6742 \u7684 \u793a\u4f8b \u3002   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   world . apply _ settings ( settings )   camera   =   world . spawn _ actor ( blueprint ,   transform )   image _ queue   =   queue . Queue ( )   camera . listen ( image _ queue . put )   while   True :   world . tick ( )   image   =   image _ queue . get ( )   \u91cd\u8981   \u6765\u81ea \u57fa\u4e8e   GPU   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u4e3b\u8981 \u662f \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \uff09 \u7684 \u6570\u636e \u901a\u5e38 \u4f1a \u5ef6\u8fdf \u51e0\u5e27 \u751f\u6210 \u3002 \u540c\u6b65 \u5728 \u8fd9\u91cc \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002   \u4e16\u754c \u4e0a \u6709 \u5f02\u6b65 \u65b9\u6cd5 \u53ef\u4ee5 \u8ba9 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7b49\u5f85 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8282\u62cd \uff0c \u6216\u8005 \u5728 \u6536\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8282\u62cd \u65f6 \u6267\u884c \u67d0\u4e9b \u64cd\u4f5c \u3002   #   \u7b49\u5f85 \u4e0b \u4e00\u4e2a \u8282\u62cd \u5e76 \u83b7\u53d6 \u8282\u62cd \u7684 \u5feb\u7167   world _ snapshot   =   world . wait _ for _ tick ( )   #   \u6ce8\u518c \u4e00\u4e2a \u56de\u8c03 \uff0c \u4ee5\u4fbf \u5728 \u6bcf\u6b21 \u6536\u5230 \u65b0 \u7684 \u5feb\u7167 \u65f6 \u90fd \u88ab \u8c03\u7528 \u3002   world . on _ tick ( lambda   world _ snapshot :   do _ something ( world _ snapshot ) )","title":"\u4f7f\u7528 \u540c\u6b65 \u6a21\u5f0f  "},{"location":"foundations/#_11","text":"\u8bb0\u5f55 \u8bb0\u5f55\u5668 \u53ef\u4ee5 \u5c06 \u91cd\u73b0 \u5148\u524d \u4eff\u771f \u6240 \u9700 \u7684 \u6240\u6709 \u6570\u636e \u4fdd\u5b58 \u5230 \u6587\u4ef6 \u4e2d \u3002 \u8fd9\u4e9b \u6570\u636e \u5305\u62ec \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \u3001 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u72b6\u6001 \u3001 \u884c\u4eba \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \u4ee5\u53ca \u592a\u9633 \u7684 \u4f4d\u7f6e \u548c \u5929\u6c14 \u72b6\u51b5 \u5929\u6c14\u72b6\u51b5 \u7b49 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002 \u6570\u636e \u88ab \u8bb0\u5f55 \u5230 \u4e00\u4e2a \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u4e2d \uff0c Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7a0d\u540e \u53ef\u4ee5 \u52a0\u8f7d \u8be5 \u6587\u4ef6 \u4ee5 \u51c6\u786e \u5730 \u518d\u73b0 \u4eff\u771f \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6839\u636e \u8bb0\u5f55 \u6587\u4ef6 \u4e2d \u5305\u542b \u7684 \u6570\u636e \u5728 \u6bcf \u4e00\u5e27 \u4e0a \u8fdb\u884c \u66f4\u65b0 \u3002 \u5f53\u524d \u4eff\u771f \u4e2d \u51fa\u73b0 \u5728 \u5f55\u5236 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u88ab \u79fb\u52a8 \u6216 \u91cd\u65b0 \u751f\u6210 \u4ee5 \u4eff\u771f \u5b83 \u3002 \u90a3\u4e9b \u6ca1\u6709 \u51fa\u73b0 \u5728 \u8bb0\u5f55 \u4e2d \u7684 \u4eba\u4f1a \u7ee7\u7eed \u4ed6\u4eec \u7684 \u8def \uff0c \u5c31 \u50cf \u4ec0\u4e48 \u90fd \u6ca1 \u53d1\u751f \u4e00\u6837 \u3002   \u91cd\u8981   \u64ad\u653e \u7ed3\u675f \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u4f46   \u884c\u4eba \u4e0d\u4f1a \u505c\u4e0b \u4e0b\u6765 \u505c\u4e0b\u6765   \u3002   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u5305\u62ec \u6709\u5173 \u8bb8\u591a \u4e0d\u540c \u5143\u7d20 \u7684 \u4fe1\u606f \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005   \u2014   \u521b\u9020 \u548c \u9500\u6bc1 \u3001 \u8fb9\u754c \u548c \u89e6\u53d1 \u76d2 \u3002   \u4ea4\u901a \u7b49   \u2014   \u72b6\u6001 \u53d8\u5316 \u548c \u65f6\u95f4 \u8bbe\u7f6e \u3002   \u8f66\u8f86   \u2014   \u4f4d\u7f6e \u548c \u65b9\u5411 \u3001 \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3001 \u5149 \u72b6\u6001 \u548c \u7269\u7406 \u63a7\u5236 \u3002   \u884c\u4eba   \u2014   \u4f4d\u7f6e \u548c \u65b9\u5411 \uff0c \u4ee5\u53ca \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3002   \u706f\u5149   \u2014   \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u8857\u9053 \u548c \u8f66\u8f86 \u7684 \u706f\u5149 \u72b6\u6001 \u3002","title":"\u8bb0\u5f55\u5668  "},{"location":"foundations/#_12","text":"\u8981 \u5f00\u59cb \u5f55\u5236 \uff0c \u53ea \u9700\u8981 \u4e00\u4e2a \u6587\u4ef6 \u6587\u4ef6\u540d \u3002 \u5728 \u6587\u4ef6 \u6587\u4ef6\u540d \u4e2d \u4f7f\u7528   \\   ,   /   \u6216   :   \u5b57\u7b26 \u4f1a \u5c06 \u5176 \u5b9a\u4e49 \u4e3a \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002 \u5982\u679c \u6ca1\u6709 \u8be6\u7ec6 \u8def\u5f84 \uff0c \u6587\u4ef6 \u5c06 \u4fdd\u5b58 \u5728   CarlaUE4 / Saved   \u3002   client . start _ recorder ( \" / home / carla / recording01 . log \" )   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8bbe\u7f6e \u4e3a \u4ec5 \u5b58\u50a8 \u56de\u653e \u4eff\u771f \u6240 \u9700 \u7684 \u4fe1\u606f \u3002 \u4e3a\u4e86 \u4fdd\u5b58 \u524d\u9762 \u63d0\u5230 \u7684 \u6240\u6709 \u4fe1\u606f \uff0c   additional _ data   \u5fc5\u987b \u5728 \u5f00\u59cb \u5f55\u5236 \u65f6 \u914d\u7f6e \u53c2\u6570 \u3002   client . start _ recorder ( \" / home / carla / recording01 . log \" ,   True )   \u7b14\u8bb0   \u5176\u4ed6 \u6570\u636e \u5305\u62ec \uff1a \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u65f6\u95f4 \u8bbe\u7f6e \u3001 \u6267\u884c \u65f6\u95f4 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \u548c \u8fb9\u754c \u6846 \u4ee5\u53ca \u8f66\u8f86 \u7684 \u7269\u7406 \u63a7\u5236 \u3002   \u8981 \u505c\u6b62 \u8bb0\u5f55 \uff0c \u8c03\u7528 \u4e5f \u5f88 \u7b80\u5355 \u3002   client . stop _ recorder ( )   \u7b14\u8bb0   \u4f30\u8ba1 \u636e\u4f30\u8ba1 \uff0c 50   \u4e2a \u4ea4\u901a \u4ea4\u901a\u706f \u548c   100   \u8f86\u8f66 \u7684   1   \u5c0f\u65f6 \u8bb0\u5f55 \u5927\u7ea6 \u9700\u8981   200MB   \u5927\u5c0f \u3002","title":"\u8bb0\u5f55  "},{"location":"foundations/#_13","text":"\u53ef\u4ee5 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u7684 \u4efb\u4f55 \u4f55\u65f6 \u65f6\u523b \u4efb\u4f55\u65f6\u523b \u5f00\u59cb \u64ad\u653e \u3002 \u9664\u4e86 \u65e5\u5fd7 \u6587\u4ef6 \u7684 \u8def\u5f84 \u4e4b\u5916 \uff0c \u6b64 \u65b9\u6cd5 \u8fd8 \u9700\u8981 \u4e00\u4e9b \u53c2\u6570 \u3002   client . replay _ file ( \" recording01 . log \" ,   start ,   duration ,   camera )   \u53c2\u6570   \u63cf\u8ff0   \u7b14\u8bb0   start   \u8bb0\u5f55 \u5f00\u59cb \u4eff\u771f \u7684 \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   \u5982\u679c \u4e3a \u6b63 \uff0c \u65f6\u95f4 \u5c06 \u4ece \u8bb0\u5f55 \u5f00\u59cb \u7b97 \u8d77 \u3002   \u5982\u679c \u4e3a \u8d1f \uff0c \u5219 \u4ece \u6700\u540e \u8003\u8651 \u3002   duration   \u64ad\u653e \u79d2\u6570 \u3002 0   \u4e3a \u5168\u90e8 \u8bb0\u5f55 \u3002   \u64ad\u653e \u7ed3\u675f \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u884c\u4eba \u5c06 \u505c\u6b62 \u3002   camera   \u76f8\u673a \u5c06 \u805a\u7126 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   \u5c06 \u5176 \u8bbe\u7f6e   0   \u662f \u8ba9 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u81ea\u7531 \u79fb\u52a8 \u3002","title":"\u4eff\u771f \u56de\u653e  "},{"location":"foundations/#_14","text":"\u8bb0\u5f55 \u8bb0\u5f55\u5668 \u4ee5   \u672c \u6587\u6863   \u4e2d \u6307\u5b9a \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u4fdd\u5b58 \u6240\u6709 \u6570\u636e \u3002","title":"\u8bb0\u5f55\u5668 \u6587\u4ef6\u683c\u5f0f  "},{"location":"foundations/#_15","text":"Carla   \u63d0\u4f9b \u4e86 \u8bb8\u591a \u6709\u5173 \u6e32\u67d3 \u8d28\u91cf \u548c \u6548\u7387 \u7684 \u9009\u9879 \u3002 \u5728 \u6700 \u57fa\u672c \u7684 \u5c42\u9762 \u4e0a \uff0c Carla   \u63d0\u4f9b \u4e86 \u4e24\u79cd \u8d28\u91cf \u9009\u9879 \uff0c \u53ef\u4ee5 \u5728 \u9ad8 \u89c4\u683c \u548c \u4f4e \u89c4\u683c \u786c\u4ef6 \u4e0a \u8fd0\u884c \u5e76 \u83b7\u5f97 \u6700\u4f73 \u83b7\u5f97\u6700\u4f73 \u6548\u679c \uff1a","title":"\u6e32\u67d3  "},{"location":"foundations/#_16","text":". / CarlaUE4 . sh   - quality - level = Epic   \u53f2\u8bd7 \u6a21\u5f0f \u622a\u56fe","title":"\u53f2\u8bd7 \u6a21\u5f0f  "},{"location":"foundations/#_17","text":". / CarlaUE4 . sh   - quality - level = Low   \u4f4e\u8d28 \u8d28\u91cf \u4f4e\u8d28\u91cf \u6a21\u5f0f \u622a\u56fe   Carla   \u8fd8 \u63d0\u4f9b \u6682\u505c \u6e32\u67d3 \u6216 \u79bb\u5c4f \u6e32\u67d3 \u7684 \u9009\u9879 \uff0c \u4ee5\u4fbf \u66f4 \u6709\u6548 \u5730 \u8bb0\u5f55 \u6216 \u8fd0\u884c \u4eff\u771f \u3002   \u6709\u5173 \u6e32\u67d3 \u9009\u9879 \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8bf7 \u53c2\u89c1   \u6b64\u5904   \u3002","title":"\u4f4e\u8d28\u91cf \u6a21\u5f0f  "},{"location":"foundations/#_18","text":"Carla   \u63d0\u4f9b \u4e86 \u5e7f\u6cdb \u7684 \u529f\u80fd \uff0c \u8d85\u51fa \u4e86 \u672c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4ecb\u7ecd \u7684 \u8303\u56f4 \u3002 \u8fd9\u91cc \u5217\u51fa \u4e86 \u4e00\u4e9b \u6700 \u5f15\u4eba \u6ce8\u76ee \u5f15\u4eba\u6ce8\u76ee \u7684 \u3002 \u7136\u800c \uff0c \u5728 \u5f00\u59cb   \u8fdb\u9636 \u6b65\u9aa4   \u4e4b\u524d \uff0c \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u9605\u8bfb \u6574\u4e2a \u201c \u57fa\u7840 \u201d \u90e8\u5206 \u3002   OpenDRIVE \u72ec\u7acb \u6a21\u5f0f   \u3002 \u4ec5 \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u751f\u6210 \u9053\u8def \u7f51\u683c \u3002 \u5141\u8bb8 \u5728   Carla   \u4e2d \u52a0\u8f7d \u4efb\u4f55   OpenDRIVE   \u5730\u56fe \uff0c \u65e0\u9700 \u521b\u5efa \u8d44\u6e90 \u3002   PTV - Vissim \u534f\u540c \u4eff\u771f   \u3002 \u5728   Carla   \u548c   PTV - Vissim   \u4ea4\u901a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e4b\u95f4 \u8fd0\u884c \u534f\u540c \u4eff\u771f \u3002   \u5f55\u5236 \u5668   \u3002 \u4fdd\u5b58 \u4eff\u771f \u72b6\u6001 \u7684 \u5feb\u7167 \uff0c \u4ee5\u4fbf \u4ee5 \u7cbe\u786e \u7684 \u7cbe\u5ea6 \u91cd\u65b0 \u6267\u884c \u4eff\u771f \u3002   \u6e32\u67d3 \u9009\u9879   \u3002 \u5305\u62ec \u56fe\u5f62 \u8d28\u91cf \u8bbe\u7f6e \u3001 \u79bb\u5c4f \u6e32\u67d3 \u548c \u65e0 \u6e32\u67d3 \u6a21\u5f0f \u3002   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \uff08 Responsibility   Sensitive   Safety \uff09 \uff1a \u96c6\u6210 \u7528\u4e8e \u6839\u636e \u5b89\u5168 \u68c0\u67e5 \u5b89\u5168\u68c0\u67e5 \u4fee\u6539 \u8f66\u8f86 \u8f68\u8ff9 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5b89\u5168\u6027   C++ \u5e93   \u3002   \u4eff\u771f \u65f6\u95f4 \u548c \u540c\u6b65   \u3002 \u5173\u4e8e \u4eff\u771f \u65f6\u95f4 \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 - \u5ba2\u6237 \u5ba2\u6237\u7aef \u901a\u4fe1 \u7684 \u6240\u6709 \u5185\u5bb9 \u3002   SUMO \u534f\u540c \u4eff\u771f   \uff1a \u5728   Carla   \u548c   SUMO   \u4ea4\u901a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e4b\u95f4 \u8fd0\u884c \u534f\u540c \u4eff\u771f \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \uff1a \u8be5 \u6a21\u5757 \u8d1f\u8d23 \u6240\u6709 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u7684 \u8f66\u8f86 \u3002 \u5b83 \u4eff\u771f \u57ce\u5e02 \u4e2d \u7684 \u4ea4\u901a \uff0c \u4f7f \u4eff\u771f \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u50cf \u4e00\u4e2a \u771f\u5b9e \u7684 \u57ce\u5e02 \u73af\u5883 \u3002","title":"\u8fdb\u9636 \u6b65\u9aa4  "},{"location":"game/","text":"\u6e38\u620f   \u8861\u91cf \u624b\u63a7 \u6c7d\u8f66 \u7684 \u6027\u80fd   \u5206\u6570   \u7ef4\u6301 \u4e0d\u53d8 \u5c31 \u52a0\u5206   \u6263\u5206 \uff1a \u78b0\u649e \u3001 \u538b\u7ebf \uff1b   \u5173\u5361 \uff1a \u5929\u6c14 \uff1b   \u6548\u679c   \u6e38\u620f \u8bf4\u660e \uff1a \u7ffb\u8bd1 \u3001   \u952e\u76d8 \u63a7\u5236   \uff1b   \u5168\u5c4f \uff1a \u6309 F11 \u5168\u5c4f \u3001 F11 \u6216 Esc \u9000\u51fa \u5168\u5c4f   \u5934\u663e \uff1a \u5206\u6570 \u3001 \u5404\u79cd \u6307\u6807 \uff08 \u53ef\u4ee5 \u9690\u85cf \uff09 \uff1b \u5207\u6362 \u5730\u56fe \u3001 \u8f66\u8f86 \uff1b","title":"\u6e38\u620f"},{"location":"game/#_1","text":"","title":"\u6e38\u620f"},{"location":"game/#_2","text":"\u5206\u6570   \u7ef4\u6301 \u4e0d\u53d8 \u5c31 \u52a0\u5206   \u6263\u5206 \uff1a \u78b0\u649e \u3001 \u538b\u7ebf \uff1b   \u5173\u5361 \uff1a \u5929\u6c14 \uff1b","title":"\u8861\u91cf \u624b\u63a7 \u6c7d\u8f66 \u7684 \u6027\u80fd"},{"location":"game/#_3","text":"\u6e38\u620f \u8bf4\u660e \uff1a \u7ffb\u8bd1 \u3001   \u952e\u76d8 \u63a7\u5236   \uff1b   \u5168\u5c4f \uff1a \u6309 F11 \u5168\u5c4f \u3001 F11 \u6216 Esc \u9000\u51fa \u5168\u5c4f   \u5934\u663e \uff1a \u5206\u6570 \u3001 \u5404\u79cd \u6307\u6807 \uff08 \u53ef\u4ee5 \u9690\u85cf \uff09 \uff1b \u5207\u6362 \u5730\u56fe \u3001 \u8f66\u8f86 \uff1b","title":"\u6548\u679c"},{"location":"how_to_add_assets/","text":"\u5982\u4f55 \u6dfb\u52a0 \u8d44\u4ea7   \u672c \u6587\u6863 \u5c1a \u5728 \u7f16\u5199 \u4e2d \uff0c \u53ef\u80fd \u4e0d \u5b8c\u6574 \u3002   \u6dfb\u52a0 \u8f66\u8f86   \u6309\u7167   \u827a\u672f \u6307\u5357   \u521b\u5efa \u9aa8\u67b6 \u7f51\u683c \u4f53 \u548c \u7269\u7406 \u8d44\u4ea7 \u3002   \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \u53c2\u9605 \u8bf7\u53c2\u9605   \u8f66\u8f86 \u7528\u6237 \u6307\u5357   \u3002   \u5c06   fbx   \u4f5c\u4e3a   Skelletal   Mesh   \u5bfc\u5165 \u5bfc\u5165\u5230 \u5176 \u81ea\u5df1 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d   Content / Static / Vehicles   \u3002 \u7269\u7406 \u8d44\u4ea7 \u548c \u9aa8\u67b6 \u5e94 \u81ea\u52a8 \u521b\u5efa \uff0c \u5e76 \u5c06 \u4e09\u8005 \u94fe\u63a5 \u5728 \u4e00\u8d77 \u3002   \u8c03\u6574 \u7269\u7406 \u8d44\u4ea7 \u3002 \u5220\u9664 \u81ea\u52a8 \u521b\u5efa \u7684 \u8d44\u4ea7 \uff0c \u5e76 \u4e3a \u4e0e   Vehicle _ Base   \u5f62\u72b6 \u5339\u914d \u7684 \u9aa8\u9abc \u6dfb\u52a0 \u6846 \uff0c \u786e\u4fdd \u542f\u7528 \u4e86 \u751f\u6210 \u649e\u51fb \u4e8b\u4ef6 \u3002 \u4e3a \u6bcf\u4e2a \u8f6e\u5b50 \u6dfb\u52a0 \u4e00\u4e2a \u7403\u4f53 \uff0c \u5e76 \u5c06 \u5176 \u201c \u7269\u7406 \u7c7b\u578b \u201d \u8bbe\u7f6e \u4e3a \u201c \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u201d \u3002   \u5728 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u521b\u5efa \u4e00\u4e2a \u201c \u52a8\u753b \u84dd\u56fe \u201d \uff0c \u521b\u5efa \u65f6 \u9009\u62e9 \u201c VehicleAnimInstance \u201d \u4f5c\u4e3a \u7236\u7c7b \uff0c \u5e76 \u4ee5\u6b64 \u6c7d\u8f66 \u8f66\u6a21 \u6a21\u578b \u6c7d\u8f66\u6a21\u578b \u7684 \u9aa8\u67b6 \u4f5c\u4e3a \u76ee\u6807 \u9aa8\u67b6 \u3002 \u6dfb\u52a0 \u52a8\u753b \u753b\u56fe \u52a8\u753b\u56fe \uff0c \u5982 \u4e0a\u9762 \u7ed9\u51fa \u7684 \u94fe\u63a5 \u6240\u793a \uff08 \u6216 \u5728 \u5176\u4ed6 \u6c7d\u8f66 \u7684 \u52a8\u753b \u4e2d \u67e5\u627e \uff0c \u5982   Mustang \uff09 \u3002   \u521b\u5efa \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   Content / Blueprints / Vehicles / < vehicle - model >   \u5728 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u521b\u5efa \u4e24\u4e2a \u4ece \u201c VehicleWheel \u201d \u7c7b \u6d3e\u751f \u7684 \u84dd\u56fe \u7c7b \u3002 \u5c06 \u5b83\u4eec \u547d\u540d \u4e3a   < vehicle - model > _ FrontWheel   \u548c   < vehicle - model > _ RearWheel   \u3002 \u5c06 \u5b83\u4eec \u7684 \u201c \u5f62\u72b6 \u534a\u5f84 \u201d \u8bbe\u7f6e \u4e3a \u4e0e \u7f51\u683c \u8f6e \u534a\u5f84 \u5b8c\u5168 \u5339\u914d \uff08 \u6ce8\u610f \uff0c \u662f \u534a\u5f84 \u800c \u4e0d\u662f \u76f4\u5f84 \uff09 \u3002 \u5c06 \u5b83\u4eec \u7684 \u201c \u8f6e\u80ce \u914d\u7f6e \u201d \u8bbe\u7f6e \u4e3a \u201c CommonTireConfig \u201d \u3002 \u5728 \u524d\u8f6e \u4e0a \u53d6\u6d88 \u9009\u4e2d \u201c \u53d7 \u624b\u5239 \u5f71\u54cd \u201d \uff0c \u5728 \u540e\u8f6e \u4e0a\u5c06 \u201c \u8f6c\u5411 \u89d2 \u201d \u8bbe\u7f6e \u4e3a \u96f6 \u3002   \u5728 \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u521b\u5efa \u4e00\u4e2a \u84dd\u56fe \u7c7b \uff0c \u4ece\u4e2d \u6d3e \u751f\u51fa \u5e76   BaseVehiclePawn   \u8c03\u7528 \u5b83   < vehicle - model >   \u3002 \u6253\u5f00 \u5b83 \u8fdb\u884c \u7f16\u8f91 \u5e76 \u9009\u62e9 \u7ec4\u4ef6 \u201c Mesh \u201d \uff0c \u5c06 \u201c Skeletal   Mesh \u201d \u548c \u201c Anim   Class \u201d \u8bbe\u7f6e \u4e3a \u76f8\u5e94 \u7684 \u3002 \u7136\u540e \u9009\u62e9 \u7ec4\u4ef6 \u201c VehicleMovement \u201d \uff0c \u5728 \u201c Vehicle   Setup \u201d \u4e0b \u5c55\u5f00 \u201c Wheel   Setups \u201d \uff0c \u8bbe\u7f6e \u6bcf\u4e2a \u8f66\u8f6e   0 \uff1a \u8f6e\u5b50 \u7c7b\u522b =   < vehicle - model > _ FrontWheel   \uff0c \u9aa8\u9abc \u540d\u79f0 =   Wheel _ Front _ Left   1 \uff1a \u8f6e\u5b50 \u7c7b\u522b =   < vehicle - model > _ FrontWheel   \uff0c \u9aa8\u9abc \u540d\u79f0 =   Wheel _ Front _ Right   2 \uff1a \u8f6e\u5b50 \u7c7b\u522b =   < vehicle - model > _ RearWheel   \uff0c \u9aa8\u9abc \u540d\u79f0 =   Wheel _ Rear _ Left   3 \uff1a \u8f6e\u5b50 \u7c7b\u522b =   < vehicle - model > _ RearWheel   \uff0c \u9aa8\u9abc \u540d\u79f0 =   Wheel _ Rear _ Right   \u5411 \u5176\u4e2d \u6dfb\u52a0 \u4e00\u4e2a \u540d\u4e3a \u201c Box \u201d \u7684 \u76d2\u5b50 \u7ec4\u4ef6 \uff08 \u53c2\u89c1   Mustang   \u84dd\u56fe \uff09 \uff0c \u5e76 \u5c06 \u5927\u5c0f \u8bbe\u7f6e \u4e3a \u4ece \u4e0a\u65b9 \u8986\u76d6 \u8f66\u8f86 \u533a\u57df \u3002 \u786e\u4fdd \u8bbe\u7f6e \u4e86 \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9   \u9690\u85cf \u5728 \u6e38\u620f \u4e2d   \u6a21\u62df \u7269\u7406 \u5df2 \u7981\u7528   \u7981\u7528 \u751f\u6210 \u91cd\u53e0 \u4e8b\u4ef6   \u78b0\u649e \u9884\u8bbe \u8bbe\u7f6e \u4e3a \u201c NoCollision \u201d   \u6d4b\u8bd5 \u4e00\u4e0b \uff0c \u8fdb\u5165   CarlaGameMode   \u84dd\u56fe \u5e76 \u5c06 \u201c Default   Pawn   Class \u201d \u66f4 \u6539\u4e3a \u65b0\u521b \u521b\u5efa \u65b0\u521b\u5efa \u7684 \u6c7d\u8f66 \u84dd\u56fe \u3002   \u5730\u56fe \u751f\u6210   \u5bf9\u4e8e \u9053\u8def \u751f\u6210 \uff0c \u9884\u8ba1 \u4f1a \u627e\u5230 \u4ee5\u4e0b \u7f51\u683c   #   Enum   Filepath   RoadTwoLanes _ LaneLeft   at   \" Content / Static / Road / St _ Road _ TileRoad _ RoadL . uasset \"   RoadTwoLanes _ LaneRight   at   \" Content / Static / Road / St _ Road _ TileRoad _ RoadR . uasset \"   RoadTwoLanes _ SidewalkLeft   at   \" Content / Static / SideWalk / St _ Road _ TileRoad _ SidewalkL . uasset \"   RoadTwoLanes _ SidewalkRight   at   \" Content / Static / SideWalk / St _ Road _ TileRoad _ SidewalkR . uasset \"   RoadTwoLanes _ LaneMarkingSolid   at   \" Content / Static / RoadLines / St _ Road _ TileRoad _ LaneMarkingSolid . uasset \"   RoadTwoLanes _ LaneMarkingBroken   at   \" Content / Static / RoadLines / St _ Road _ TileRoad _ LaneMarkingBroken . uasset \"   Road90DegTurn _ Lane0   at   \" Content / Static / Road / St _ Road _ Curve _ Road1 . uasset \"   Road90DegTurn _ Lane1   at   \" Content / Static / Road / St _ Road _ Curve _ Road2 . uasset \"   Road90DegTurn _ Lane2   at   \" Content / Static / Road / St _ Road _ Curve _ Road3 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road4 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road5 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road6 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road7 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road8 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road9 . uasset \"   Road90DegTurn _ Sidewalk0   at   \" Content / Static / SideWalk / St _ Road _ Curve _ Sidewalk1 . uasset \"   Road90DegTurn _ Sidewalk1   at   \" Content / Static / SideWalk / St _ Road _ Curve _ Sidewalk2 . uasset \"   Road90DegTurn _ Sidewalk2   at   \" Content / Static / SideWalk / St _ Road _ Curve _ Sidewalk3 . uasset \"   Road90DegTurn _ Sidewalk3   at   \" Content / Static / SideWalk / St _ Road _ Curve _ Sidewalk4 . uasset \"   Road90DegTurn _ LaneMarking   at   \" Content / Static / Road / St _ Road _ Curve _ LaneMarking . uasset \"   RoadTIntersection _ Lane0   at   \" Content / Static / Road / St _ Road _ TCross _ Road1 . uasset \"   RoadTIntersection _ Lane1   at   \" Content / Static / Road / St _ Road _ TCross _ Road2 . uasset \"   RoadTIntersection _ Lane2   at   \" Content / Static / Road / St _ Road _ TCross _ Road3 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road4 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road5 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road6 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road7 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road8 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road9 . uasset \"   RoadTIntersection _ Sidewalk0   at   \" Content / Static / SideWalk / St _ Road _ TCross _ Sidewalk1 . uasset \"   RoadTIntersection _ Sidewalk1   at   \" Content / Static / SideWalk / St _ Road _ TCross _ Sidewalk2 . uasset \"   RoadTIntersection _ Sidewalk2   at   \" Content / Static / SideWalk / St _ Road _ TCross _ Sidewalk3 . uasset \"   RoadTIntersection _ Sidewalk3   at   \" Content / Static / SideWalk / St _ Road _ TCross _ Sidewalk4 . uasset \"   RoadTIntersection _ LaneMarking   at   \" Content / Static / RoadLines / St _ Road _ TCross _ LaneMarking . uasset \"   RoadXIntersection _ Lane0   at   \" Content / Static / Road / St _ Road _ XCross _ Road1 . uasset \"   RoadXIntersection _ Lane1   at   \" Content / Static / Road / St _ Road _ XCross _ Road2 . uasset \"   RoadXIntersection _ Lane2   at   \" Content / Static / Road / St _ Road _ XCross _ Road3 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road4 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road5 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road6 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road7 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road8 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road9 . uasset \"   RoadXIntersection _ Sidewalk0   at   \" Content / Static / SideWalk / St _ Road _ XCross _ Sidewalk1 . uasset \"   RoadXIntersection _ Sidewalk1   at   \" Content / Static / SideWalk / St _ Road _ XCross _ Sidewalk2 . uasset \"   RoadXIntersection _ Sidewalk2   at   \" Content / Static / SideWalk / St _ Road _ XCross _ Sidewalk3 . uasset \"   RoadXIntersection _ Sidewalk3   at   \" Content / Static / SideWalk / St _ Road _ XCross _ Sidewalk4 . uasset \"   RoadXIntersection _ LaneMarking   at   \" Content / Static / RoadLines / St _ Road _ XCross _ LaneMarking . uasset \"","title":"\u5982\u4f55 \u6dfb\u52a0 \u8d44\u4ea7"},{"location":"how_to_add_assets/#_1","text":"\u672c \u6587\u6863 \u5c1a \u5728 \u7f16\u5199 \u4e2d \uff0c \u53ef\u80fd \u4e0d \u5b8c\u6574 \u3002","title":"\u5982\u4f55 \u6dfb\u52a0 \u8d44\u4ea7"},{"location":"how_to_add_assets/#_2","text":"\u6309\u7167   \u827a\u672f \u6307\u5357   \u521b\u5efa \u9aa8\u67b6 \u7f51\u683c \u4f53 \u548c \u7269\u7406 \u8d44\u4ea7 \u3002   \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \u53c2\u9605 \u8bf7\u53c2\u9605   \u8f66\u8f86 \u7528\u6237 \u6307\u5357   \u3002   \u5c06   fbx   \u4f5c\u4e3a   Skelletal   Mesh   \u5bfc\u5165 \u5bfc\u5165\u5230 \u5176 \u81ea\u5df1 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d   Content / Static / Vehicles   \u3002 \u7269\u7406 \u8d44\u4ea7 \u548c \u9aa8\u67b6 \u5e94 \u81ea\u52a8 \u521b\u5efa \uff0c \u5e76 \u5c06 \u4e09\u8005 \u94fe\u63a5 \u5728 \u4e00\u8d77 \u3002   \u8c03\u6574 \u7269\u7406 \u8d44\u4ea7 \u3002 \u5220\u9664 \u81ea\u52a8 \u521b\u5efa \u7684 \u8d44\u4ea7 \uff0c \u5e76 \u4e3a \u4e0e   Vehicle _ Base   \u5f62\u72b6 \u5339\u914d \u7684 \u9aa8\u9abc \u6dfb\u52a0 \u6846 \uff0c \u786e\u4fdd \u542f\u7528 \u4e86 \u751f\u6210 \u649e\u51fb \u4e8b\u4ef6 \u3002 \u4e3a \u6bcf\u4e2a \u8f6e\u5b50 \u6dfb\u52a0 \u4e00\u4e2a \u7403\u4f53 \uff0c \u5e76 \u5c06 \u5176 \u201c \u7269\u7406 \u7c7b\u578b \u201d \u8bbe\u7f6e \u4e3a \u201c \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u201d \u3002   \u5728 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u521b\u5efa \u4e00\u4e2a \u201c \u52a8\u753b \u84dd\u56fe \u201d \uff0c \u521b\u5efa \u65f6 \u9009\u62e9 \u201c VehicleAnimInstance \u201d \u4f5c\u4e3a \u7236\u7c7b \uff0c \u5e76 \u4ee5\u6b64 \u6c7d\u8f66 \u8f66\u6a21 \u6a21\u578b \u6c7d\u8f66\u6a21\u578b \u7684 \u9aa8\u67b6 \u4f5c\u4e3a \u76ee\u6807 \u9aa8\u67b6 \u3002 \u6dfb\u52a0 \u52a8\u753b \u753b\u56fe \u52a8\u753b\u56fe \uff0c \u5982 \u4e0a\u9762 \u7ed9\u51fa \u7684 \u94fe\u63a5 \u6240\u793a \uff08 \u6216 \u5728 \u5176\u4ed6 \u6c7d\u8f66 \u7684 \u52a8\u753b \u4e2d \u67e5\u627e \uff0c \u5982   Mustang \uff09 \u3002   \u521b\u5efa \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   Content / Blueprints / Vehicles / < vehicle - model >   \u5728 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u521b\u5efa \u4e24\u4e2a \u4ece \u201c VehicleWheel \u201d \u7c7b \u6d3e\u751f \u7684 \u84dd\u56fe \u7c7b \u3002 \u5c06 \u5b83\u4eec \u547d\u540d \u4e3a   < vehicle - model > _ FrontWheel   \u548c   < vehicle - model > _ RearWheel   \u3002 \u5c06 \u5b83\u4eec \u7684 \u201c \u5f62\u72b6 \u534a\u5f84 \u201d \u8bbe\u7f6e \u4e3a \u4e0e \u7f51\u683c \u8f6e \u534a\u5f84 \u5b8c\u5168 \u5339\u914d \uff08 \u6ce8\u610f \uff0c \u662f \u534a\u5f84 \u800c \u4e0d\u662f \u76f4\u5f84 \uff09 \u3002 \u5c06 \u5b83\u4eec \u7684 \u201c \u8f6e\u80ce \u914d\u7f6e \u201d \u8bbe\u7f6e \u4e3a \u201c CommonTireConfig \u201d \u3002 \u5728 \u524d\u8f6e \u4e0a \u53d6\u6d88 \u9009\u4e2d \u201c \u53d7 \u624b\u5239 \u5f71\u54cd \u201d \uff0c \u5728 \u540e\u8f6e \u4e0a\u5c06 \u201c \u8f6c\u5411 \u89d2 \u201d \u8bbe\u7f6e \u4e3a \u96f6 \u3002   \u5728 \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u521b\u5efa \u4e00\u4e2a \u84dd\u56fe \u7c7b \uff0c \u4ece\u4e2d \u6d3e \u751f\u51fa \u5e76   BaseVehiclePawn   \u8c03\u7528 \u5b83   < vehicle - model >   \u3002 \u6253\u5f00 \u5b83 \u8fdb\u884c \u7f16\u8f91 \u5e76 \u9009\u62e9 \u7ec4\u4ef6 \u201c Mesh \u201d \uff0c \u5c06 \u201c Skeletal   Mesh \u201d \u548c \u201c Anim   Class \u201d \u8bbe\u7f6e \u4e3a \u76f8\u5e94 \u7684 \u3002 \u7136\u540e \u9009\u62e9 \u7ec4\u4ef6 \u201c VehicleMovement \u201d \uff0c \u5728 \u201c Vehicle   Setup \u201d \u4e0b \u5c55\u5f00 \u201c Wheel   Setups \u201d \uff0c \u8bbe\u7f6e \u6bcf\u4e2a \u8f66\u8f6e   0 \uff1a \u8f6e\u5b50 \u7c7b\u522b =   < vehicle - model > _ FrontWheel   \uff0c \u9aa8\u9abc \u540d\u79f0 =   Wheel _ Front _ Left   1 \uff1a \u8f6e\u5b50 \u7c7b\u522b =   < vehicle - model > _ FrontWheel   \uff0c \u9aa8\u9abc \u540d\u79f0 =   Wheel _ Front _ Right   2 \uff1a \u8f6e\u5b50 \u7c7b\u522b =   < vehicle - model > _ RearWheel   \uff0c \u9aa8\u9abc \u540d\u79f0 =   Wheel _ Rear _ Left   3 \uff1a \u8f6e\u5b50 \u7c7b\u522b =   < vehicle - model > _ RearWheel   \uff0c \u9aa8\u9abc \u540d\u79f0 =   Wheel _ Rear _ Right   \u5411 \u5176\u4e2d \u6dfb\u52a0 \u4e00\u4e2a \u540d\u4e3a \u201c Box \u201d \u7684 \u76d2\u5b50 \u7ec4\u4ef6 \uff08 \u53c2\u89c1   Mustang   \u84dd\u56fe \uff09 \uff0c \u5e76 \u5c06 \u5927\u5c0f \u8bbe\u7f6e \u4e3a \u4ece \u4e0a\u65b9 \u8986\u76d6 \u8f66\u8f86 \u533a\u57df \u3002 \u786e\u4fdd \u8bbe\u7f6e \u4e86 \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9   \u9690\u85cf \u5728 \u6e38\u620f \u4e2d   \u6a21\u62df \u7269\u7406 \u5df2 \u7981\u7528   \u7981\u7528 \u751f\u6210 \u91cd\u53e0 \u4e8b\u4ef6   \u78b0\u649e \u9884\u8bbe \u8bbe\u7f6e \u4e3a \u201c NoCollision \u201d   \u6d4b\u8bd5 \u4e00\u4e0b \uff0c \u8fdb\u5165   CarlaGameMode   \u84dd\u56fe \u5e76 \u5c06 \u201c Default   Pawn   Class \u201d \u66f4 \u6539\u4e3a \u65b0\u521b \u521b\u5efa \u65b0\u521b\u5efa \u7684 \u6c7d\u8f66 \u84dd\u56fe \u3002","title":"\u6dfb\u52a0 \u8f66\u8f86"},{"location":"how_to_add_assets/#_3","text":"\u5bf9\u4e8e \u9053\u8def \u751f\u6210 \uff0c \u9884\u8ba1 \u4f1a \u627e\u5230 \u4ee5\u4e0b \u7f51\u683c   #   Enum   Filepath   RoadTwoLanes _ LaneLeft   at   \" Content / Static / Road / St _ Road _ TileRoad _ RoadL . uasset \"   RoadTwoLanes _ LaneRight   at   \" Content / Static / Road / St _ Road _ TileRoad _ RoadR . uasset \"   RoadTwoLanes _ SidewalkLeft   at   \" Content / Static / SideWalk / St _ Road _ TileRoad _ SidewalkL . uasset \"   RoadTwoLanes _ SidewalkRight   at   \" Content / Static / SideWalk / St _ Road _ TileRoad _ SidewalkR . uasset \"   RoadTwoLanes _ LaneMarkingSolid   at   \" Content / Static / RoadLines / St _ Road _ TileRoad _ LaneMarkingSolid . uasset \"   RoadTwoLanes _ LaneMarkingBroken   at   \" Content / Static / RoadLines / St _ Road _ TileRoad _ LaneMarkingBroken . uasset \"   Road90DegTurn _ Lane0   at   \" Content / Static / Road / St _ Road _ Curve _ Road1 . uasset \"   Road90DegTurn _ Lane1   at   \" Content / Static / Road / St _ Road _ Curve _ Road2 . uasset \"   Road90DegTurn _ Lane2   at   \" Content / Static / Road / St _ Road _ Curve _ Road3 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road4 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road5 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road6 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road7 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road8 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road9 . uasset \"   Road90DegTurn _ Sidewalk0   at   \" Content / Static / SideWalk / St _ Road _ Curve _ Sidewalk1 . uasset \"   Road90DegTurn _ Sidewalk1   at   \" Content / Static / SideWalk / St _ Road _ Curve _ Sidewalk2 . uasset \"   Road90DegTurn _ Sidewalk2   at   \" Content / Static / SideWalk / St _ Road _ Curve _ Sidewalk3 . uasset \"   Road90DegTurn _ Sidewalk3   at   \" Content / Static / SideWalk / St _ Road _ Curve _ Sidewalk4 . uasset \"   Road90DegTurn _ LaneMarking   at   \" Content / Static / Road / St _ Road _ Curve _ LaneMarking . uasset \"   RoadTIntersection _ Lane0   at   \" Content / Static / Road / St _ Road _ TCross _ Road1 . uasset \"   RoadTIntersection _ Lane1   at   \" Content / Static / Road / St _ Road _ TCross _ Road2 . uasset \"   RoadTIntersection _ Lane2   at   \" Content / Static / Road / St _ Road _ TCross _ Road3 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road4 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road5 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road6 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road7 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road8 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road9 . uasset \"   RoadTIntersection _ Sidewalk0   at   \" Content / Static / SideWalk / St _ Road _ TCross _ Sidewalk1 . uasset \"   RoadTIntersection _ Sidewalk1   at   \" Content / Static / SideWalk / St _ Road _ TCross _ Sidewalk2 . uasset \"   RoadTIntersection _ Sidewalk2   at   \" Content / Static / SideWalk / St _ Road _ TCross _ Sidewalk3 . uasset \"   RoadTIntersection _ Sidewalk3   at   \" Content / Static / SideWalk / St _ Road _ TCross _ Sidewalk4 . uasset \"   RoadTIntersection _ LaneMarking   at   \" Content / Static / RoadLines / St _ Road _ TCross _ LaneMarking . uasset \"   RoadXIntersection _ Lane0   at   \" Content / Static / Road / St _ Road _ XCross _ Road1 . uasset \"   RoadXIntersection _ Lane1   at   \" Content / Static / Road / St _ Road _ XCross _ Road2 . uasset \"   RoadXIntersection _ Lane2   at   \" Content / Static / Road / St _ Road _ XCross _ Road3 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road4 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road5 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road6 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road7 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road8 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road9 . uasset \"   RoadXIntersection _ Sidewalk0   at   \" Content / Static / SideWalk / St _ Road _ XCross _ Sidewalk1 . uasset \"   RoadXIntersection _ Sidewalk1   at   \" Content / Static / SideWalk / St _ Road _ XCross _ Sidewalk2 . uasset \"   RoadXIntersection _ Sidewalk2   at   \" Content / Static / SideWalk / St _ Road _ XCross _ Sidewalk3 . uasset \"   RoadXIntersection _ Sidewalk3   at   \" Content / Static / SideWalk / St _ Road _ XCross _ Sidewalk4 . uasset \"   RoadXIntersection _ LaneMarking   at   \" Content / Static / RoadLines / St _ Road _ XCross _ LaneMarking . uasset \"","title":"\u5730\u56fe \u751f\u6210"},{"location":"iss_install/","text":"\u667a\u80fd \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf   \u667a\u80fd \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \uff08 ISS \uff09 \u662f \u4e00\u4e2a \u7528   Python   \u548c   C++   \u7f16\u5199 \u7684 \u6a21\u5757 \u6a21\u5757\u5316 \u6846\u67b6 \uff0c \u65e8\u5728 \u6784\u5efa \u4e00\u4e2a \u9002\u5408 \u7814\u7a76 \u7684 \u53ef \u6269\u5c55 \u5de5\u4f5c \u7a7a\u95f4 \u3002 \u8be5 \u6846\u67b6 \u5c06 \u5305\u542b \u7528\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u76f8\u5173 \u4efb\u52a1 \u7684 \u4f20\u7edf \u548c \u6df1\u5ea6 \u5b66\u4e60 \u7b97\u6cd5 \uff0c \u4f8b\u5982 \u611f\u77e5 \u3001 \u5b9a\u4f4d \u3001 \u6620\u5c04 \u3001 \u9884\u6d4b \u3001 \u89c4\u5212 \u548c \u63a7\u5236 \u3002 \u5bf9\u5916 \u5916\u90e8 \u5bf9\u5916\u90e8 \u5e93 \u4f9d\u8d56 \u4f9d\u8d56\u6027 \u6700\u5c0f \u7684 \u6a21\u5757 \u6a21\u5757\u5316 \u8bbe\u8ba1 \u53ef\u4ee5 \u4e3a \u7814\u7a76 \u4eba\u5458 \u8bc4\u4f30 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u7684 \u7b97\u6cd5 \u63d0\u4f9b \u900f\u660e \u3001 \u5e72\u51c0 \u7684 \u5de5\u4f5c \u7a7a\u95f4 \u3002   ISS   \u7684 \u4ee3\u7801 \u53ef\u4ee5 \u4ece \u5176   Github   \u4ed3\u5e93   \u4e0b\u8f7d \uff0c \u5176\u4e2d \u53ef\u4ee5 \u627e\u5230 \u8be6\u7ec6 \u7684 \u5b89\u88c5 \u8bf4\u660e \u3002   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   ISS   \u4f7f\u7528   Ubuntu   20.04   \u8fdb\u884c \u6d4b\u8bd5 \uff0c \u8fd0\u884c   Python   3.8 \u3002   \u5bf9\u4e8e \u90a3\u4e9b \u6709 \u5174\u8da3 \u5c06   ISS   \u4e0e   Gazebo   \u548c   ROS - Noetic   \u7ed3\u5408 \u4f7f\u7528 \u7684 \u4eba \uff0c \u60a8 \u5e94\u8be5 \u6309\u7167 \u5b98\u65b9   ROS   \u6587\u6863 \u4e2d \u63d0\u4f9b \u7684 \u8bf4\u660e \u5b89\u88c5 ROS - Noetic   \u3002   \u8981 \u5c06   ISS   \u4e0e   Carla   \u7ed3\u5408 \u4f7f\u7528 \uff0c \u5fc5\u987b \u5b89\u88c5   Carla \u3002 \u6211\u4eec \u5efa\u8bae \u4f7f\u7528 \u7248\u672c   0.9 . 13 \uff0c \u53ef\u4ee5 \u5728   Carla   GitHub   \u53d1\u5e03 \u9875\u9762 \u53d1\u5e03\u9875 \u53d1\u5e03\u9875\u9762 \u627e\u5230 \u8be5 \u7248\u672c \u3002   \u5b89\u88c5   \u5b89\u88c5   ROS   Noetic   ,   \u4ee5\u53ca \u4e0b\u8f7d \u76f8\u5173 \u4f9d\u8d56 :   sudo   apt - get   install   ros - noetic - navigation   ros - noetic - gmapping   ros - noetic - teb - local - planner   ros - noetic - ackermann - msgs   ros - noetic - gazebo - ros - pkgs   ros - noetic - gazebo - ros - control   ros - noetic - joint - state - publisher - gui   ros - noetic - ros - control   ros - noetic - ros - controllers   \u5b89\u88c5   Carla   0.9 . 13   \u5e76 \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf :   ` ` `   export   CARLA _ ROOT =   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla   \u6ce8\u610f   \u8fd0\u884c \u4ee3\u7801 \u65f6 \u9700\u8981   agents   \u6a21\u5757 \uff0c   \u5728   conda   \u73af\u5883   ISS   \u76ee\u5f55 \u4e0b \uff0c \u8fd8 \u9700\u8981 \u914d\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   export   PYTHONPATH = $ PYTHONPATH : / home / ... / carla - 0.9 . 13 / carla : / home / ... / carla - 0.9 . 13 / PythonAPI / carla / agents   ` ` `   \u521b\u5efa \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883   conda   create   - n   iss   python = 3.8   conda   activate   iss   \u6ce8\u610f   \u82e5 \u8981 \u9000\u51fa \u5f53\u524d conda \u73af\u5883 \uff0c \u6267\u884c   conda   deactivate   \u5b89\u88c5   git - lfs   \u9012\u5f52 \u514b\u9686 \u9879\u76ee \u53ca\u5176 \u5b50 \u6a21\u5757 :   ` ` `   git   clone   -- recurse - submodules   https : / / github . com / CAS - LRJ / ISS . git   &&   cd   ISS   pip3   install   - r   Install / requirements . txt   python3   Install / setup . py   develop   \u6ce8\u610f \uff1a \u8fd9\u91cc \u5fc5\u987b \u9012\u5f52 \u514b\u9686 \uff0c \u5c06\u5b50 \u6a21\u5757 \u4e00\u5e76 \u514b\u9686 \u4e0b\u6765 \uff0c \u67e5\u770b \u5b50 \u6a21\u5757 \u5185\u5bb9 \u662f\u5426 \u514b\u9686 \u6210\u529f \uff0c \u5426\u5219 \u8fd0\u884c \u62a5\u9519 \u3002   ` ` `   \u5b89\u88c5   PyTorch   \u548c   torch - scatter :   pip3   install   torch = = 1.7 . 1 + cu110   torchvision = = 0.8 . 2 + cu110   torchaudio = = 0.7 . 2   - f   https : / / download . pytorch . org / whl / torch _ stable . htmlpip3   install   Install / torch _ scatter - 2.0 . 7 - cp38 - cp38 - linux _ x86 _ 64 . whl   \u5b89\u88c5   CUDA   Toolkit   11.8   \u5b89\u88c5   MMDetection   \u6784\u5efa   \u8981 \u4f7f\u7528   ROS - Noetic ,   \u9996\u5148 \u6784\u5efa ROS \u5de5\u4f5c \u7a7a\u95f4 \u3002   ` ` `   cd   ros1 _ ws   &&   catkin   build   source   devel / setup . bash   #   or   setup . zsh   \u6ce8\u610f \uff1a \u4f1a \u751f\u6210 devel \u76ee\u5f55 \uff01   ` ` `   \u8fd0\u884c \u4efb\u52a1   \u6253\u5f00   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   cd   carla - 0.9 . 13   . / CarlaUE4 . sh   \u542f\u52a8   ros   \u8282\u70b9 \uff0c \u4e3a \u667a\u80fd \u9a7e\u9a76 \u8f66\u8f86 \u4f5c \u5168\u5c40 \u8def\u5f84 \u89c4\u5212   roslaunch   carla _ bridge   carla _ demo . launch   \u6ce8\u610f \uff1a   \u8fd0\u884c \u8fc7\u7a0b \u4e2d \u8981\u6c42 \u5b89\u88c5 \u5176\u4ed6 \u5305 \uff0c \u9664 CARLA   client   API   \u4e3a 0.9 . 13 \uff0c \u5176\u4ed6 \u4e0d \u505a \u8981\u6c42","title":"\u667a\u80fd \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf"},{"location":"iss_install/#_1","text":"\u667a\u80fd \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \uff08 ISS \uff09 \u662f \u4e00\u4e2a \u7528   Python   \u548c   C++   \u7f16\u5199 \u7684 \u6a21\u5757 \u6a21\u5757\u5316 \u6846\u67b6 \uff0c \u65e8\u5728 \u6784\u5efa \u4e00\u4e2a \u9002\u5408 \u7814\u7a76 \u7684 \u53ef \u6269\u5c55 \u5de5\u4f5c \u7a7a\u95f4 \u3002 \u8be5 \u6846\u67b6 \u5c06 \u5305\u542b \u7528\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u76f8\u5173 \u4efb\u52a1 \u7684 \u4f20\u7edf \u548c \u6df1\u5ea6 \u5b66\u4e60 \u7b97\u6cd5 \uff0c \u4f8b\u5982 \u611f\u77e5 \u3001 \u5b9a\u4f4d \u3001 \u6620\u5c04 \u3001 \u9884\u6d4b \u3001 \u89c4\u5212 \u548c \u63a7\u5236 \u3002 \u5bf9\u5916 \u5916\u90e8 \u5bf9\u5916\u90e8 \u5e93 \u4f9d\u8d56 \u4f9d\u8d56\u6027 \u6700\u5c0f \u7684 \u6a21\u5757 \u6a21\u5757\u5316 \u8bbe\u8ba1 \u53ef\u4ee5 \u4e3a \u7814\u7a76 \u4eba\u5458 \u8bc4\u4f30 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u7684 \u7b97\u6cd5 \u63d0\u4f9b \u900f\u660e \u3001 \u5e72\u51c0 \u7684 \u5de5\u4f5c \u7a7a\u95f4 \u3002   ISS   \u7684 \u4ee3\u7801 \u53ef\u4ee5 \u4ece \u5176   Github   \u4ed3\u5e93   \u4e0b\u8f7d \uff0c \u5176\u4e2d \u53ef\u4ee5 \u627e\u5230 \u8be6\u7ec6 \u7684 \u5b89\u88c5 \u8bf4\u660e \u3002","title":"\u667a\u80fd \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf"},{"location":"iss_install/#_2","text":"ISS   \u4f7f\u7528   Ubuntu   20.04   \u8fdb\u884c \u6d4b\u8bd5 \uff0c \u8fd0\u884c   Python   3.8 \u3002   \u5bf9\u4e8e \u90a3\u4e9b \u6709 \u5174\u8da3 \u5c06   ISS   \u4e0e   Gazebo   \u548c   ROS - Noetic   \u7ed3\u5408 \u4f7f\u7528 \u7684 \u4eba \uff0c \u60a8 \u5e94\u8be5 \u6309\u7167 \u5b98\u65b9   ROS   \u6587\u6863 \u4e2d \u63d0\u4f9b \u7684 \u8bf4\u660e \u5b89\u88c5 ROS - Noetic   \u3002   \u8981 \u5c06   ISS   \u4e0e   Carla   \u7ed3\u5408 \u4f7f\u7528 \uff0c \u5fc5\u987b \u5b89\u88c5   Carla \u3002 \u6211\u4eec \u5efa\u8bae \u4f7f\u7528 \u7248\u672c   0.9 . 13 \uff0c \u53ef\u4ee5 \u5728   Carla   GitHub   \u53d1\u5e03 \u9875\u9762 \u53d1\u5e03\u9875 \u53d1\u5e03\u9875\u9762 \u627e\u5230 \u8be5 \u7248\u672c \u3002","title":"\u5148\u51b3\u6761\u4ef6"},{"location":"iss_install/#_3","text":"\u5b89\u88c5   ROS   Noetic   ,   \u4ee5\u53ca \u4e0b\u8f7d \u76f8\u5173 \u4f9d\u8d56 :   sudo   apt - get   install   ros - noetic - navigation   ros - noetic - gmapping   ros - noetic - teb - local - planner   ros - noetic - ackermann - msgs   ros - noetic - gazebo - ros - pkgs   ros - noetic - gazebo - ros - control   ros - noetic - joint - state - publisher - gui   ros - noetic - ros - control   ros - noetic - ros - controllers   \u5b89\u88c5   Carla   0.9 . 13   \u5e76 \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf :   ` ` `   export   CARLA _ ROOT =   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla   \u6ce8\u610f   \u8fd0\u884c \u4ee3\u7801 \u65f6 \u9700\u8981   agents   \u6a21\u5757 \uff0c   \u5728   conda   \u73af\u5883   ISS   \u76ee\u5f55 \u4e0b \uff0c \u8fd8 \u9700\u8981 \u914d\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   export   PYTHONPATH = $ PYTHONPATH : / home / ... / carla - 0.9 . 13 / carla : / home / ... / carla - 0.9 . 13 / PythonAPI / carla / agents   ` ` `   \u521b\u5efa \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883   conda   create   - n   iss   python = 3.8   conda   activate   iss   \u6ce8\u610f   \u82e5 \u8981 \u9000\u51fa \u5f53\u524d conda \u73af\u5883 \uff0c \u6267\u884c   conda   deactivate   \u5b89\u88c5   git - lfs   \u9012\u5f52 \u514b\u9686 \u9879\u76ee \u53ca\u5176 \u5b50 \u6a21\u5757 :   ` ` `   git   clone   -- recurse - submodules   https : / / github . com / CAS - LRJ / ISS . git   &&   cd   ISS   pip3   install   - r   Install / requirements . txt   python3   Install / setup . py   develop   \u6ce8\u610f \uff1a \u8fd9\u91cc \u5fc5\u987b \u9012\u5f52 \u514b\u9686 \uff0c \u5c06\u5b50 \u6a21\u5757 \u4e00\u5e76 \u514b\u9686 \u4e0b\u6765 \uff0c \u67e5\u770b \u5b50 \u6a21\u5757 \u5185\u5bb9 \u662f\u5426 \u514b\u9686 \u6210\u529f \uff0c \u5426\u5219 \u8fd0\u884c \u62a5\u9519 \u3002   ` ` `   \u5b89\u88c5   PyTorch   \u548c   torch - scatter :   pip3   install   torch = = 1.7 . 1 + cu110   torchvision = = 0.8 . 2 + cu110   torchaudio = = 0.7 . 2   - f   https : / / download . pytorch . org / whl / torch _ stable . htmlpip3   install   Install / torch _ scatter - 2.0 . 7 - cp38 - cp38 - linux _ x86 _ 64 . whl   \u5b89\u88c5   CUDA   Toolkit   11.8   \u5b89\u88c5   MMDetection","title":"\u5b89\u88c5"},{"location":"iss_install/#_4","text":"\u8981 \u4f7f\u7528   ROS - Noetic ,   \u9996\u5148 \u6784\u5efa ROS \u5de5\u4f5c \u7a7a\u95f4 \u3002   ` ` `   cd   ros1 _ ws   &&   catkin   build   source   devel / setup . bash   #   or   setup . zsh   \u6ce8\u610f \uff1a \u4f1a \u751f\u6210 devel \u76ee\u5f55 \uff01   ` ` `","title":"\u6784\u5efa"},{"location":"iss_install/#_5","text":"\u6253\u5f00   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   cd   carla - 0.9 . 13   . / CarlaUE4 . sh   \u542f\u52a8   ros   \u8282\u70b9 \uff0c \u4e3a \u667a\u80fd \u9a7e\u9a76 \u8f66\u8f86 \u4f5c \u5168\u5c40 \u8def\u5f84 \u89c4\u5212   roslaunch   carla _ bridge   carla _ demo . launch   \u6ce8\u610f \uff1a   \u8fd0\u884c \u8fc7\u7a0b \u4e2d \u8981\u6c42 \u5b89\u88c5 \u5176\u4ed6 \u5305 \uff0c \u9664 CARLA   client   API   \u4e3a 0.9 . 13 \uff0c \u5176\u4ed6 \u4e0d \u505a \u8981\u6c42","title":"\u8fd0\u884c \u4efb\u52a1"},{"location":"large_map_import/","text":"\u5bfc\u5165 / \u6253\u5305 \u5927 \u5730\u56fe   RoadRunner   \u4e2d \u751f\u6210 \u7684 \u5927 \u5730\u56fe \u53ef\u4ee5 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7f16\u8bd1 \u7248\u672c \u4e2d \uff0c \u5e76 \u6253\u5305 \u5728   Carla   \u72ec\u7acb \u5305\u4e2d \u5206\u53d1 \u548c \u4f7f\u7528 \u3002 \u8be5 \u8fc7\u7a0b \u4e0e \u6807\u51c6 \u5730\u56fe \u7684 \u8fc7\u7a0b \u975e\u5e38 \u76f8\u4f3c \uff0c \u53ea\u662f \u6dfb\u52a0 \u4e86 \u56fe\u5757 \u548c \u6279\u91cf \u5bfc\u5165 \u7684 \u7279\u5b9a \u672f\u8bed \u3002   \u521b\u5efa \u6587\u4ef6 \u548c \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u521b\u5efa   JSON   \u63cf\u8ff0 \uff08 \u53ef \u9009 \uff09   \u8fdb\u884c \u5bfc\u5165   \u6253\u5305 \u4e00\u5f20 \u5927 \u5730\u56fe   \u521b\u5efa \u6587\u4ef6 \u548c \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u6240\u6709 \u8981 \u5bfc\u5165 \u7684 \u6587\u4ef6 \u5e94 \u653e\u7f6e \u5728   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u8fd9\u4e9b \u6587\u4ef6 \u5e94 \u5305\u62ec \uff1a   \u591a\u4e2a   . fbx   \u6587\u4ef6 \u4e2d \u7684 \u5730\u56fe \u7f51\u683c \u4ee3\u8868 \u5730\u56fe \u7684 \u4e0d\u540c \u56fe\u5757 \u3002   OpenDRIVE   \u5b9a\u4e49 \u4f4d\u4e8e \u5355\u4e2a   . xodr   \u6587\u4ef6 \u4e2d \u3002   \u7b14\u8bb0   \u60a8 \u4e0d\u80fd \u540c\u65f6 \u5bfc\u5165 \u5927 \u5730\u56fe \u548c \u6807\u51c6 \u5730\u56fe \u3002   \u5730\u56fe \u56fe\u5757 \u7684 \u547d\u540d \u7ea6\u5b9a \u975e\u5e38 \u91cd\u8981 \u3002 \u6bcf\u4e2a \u5730\u56fe \u56fe\u5757 \u5e94 \u6839\u636e \u4ee5\u4e0b \u7ea6\u5b9a \u547d\u540d \uff1a   < mapName > _ Tile _ < x - coordinate > _ < y - coordinate > . fbx   \u8bf7 \u6ce8\u610f \uff0c \u66f4\u6b63 \u7684   y   \u5750   \u6807\u662f \u6307   y   \u8f74\u4e0a \u8f83 \u4f4e \u7684 \u56fe\u5757 \u3002 \u4f8b\u5982 \uff0c   Map01 _ Tile _ 0 _ 1   \u4f1a \u5750\u5728   Map01 _ Tile _ 0 _ 0   \u7684 \u4e0b\u9762 \u3002   \u751f\u6210 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u5305\u542b \u4e00\u4e2a \u5305\u542b \u7531 \u56db\u4e2a \u56fe\u5757 \u7ec4\u6210 \u7684 \u5927 \u5730\u56fe \u7684 \u5305 \uff0c \u5176 \u7ed3\u6784 \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u7ed3\u6784 \uff1a   Import   \u2502   \u2514 \u2500 \u2500   Package01   \u251c \u2500 \u2500   Package01 . json   \u251c \u2500 \u2500   Map01 _ Tile _ 0 _ 0 . fbx   \u251c \u2500 \u2500   Map01 _ Tile _ 0 _ 1 . fbx   \u251c \u2500 \u2500   Map01 _ Tile _ 1 _ 0 . fbx   \u251c \u2500 \u2500   Map01 _ Tile _ 1 _ 1 . fbx   \u2514 \u2500 \u2500   Map01 . xodr   \u7b14\u8bb0   \u8be5   package . json   \u6587\u4ef6 \u5e76 \u4e0d\u662f \u7edd\u5bf9 \u5fc5\u8981 \u7684 \u3002 \u5982\u679c \u672a \u521b\u5efa   package . json   \u6587\u4ef6 \uff0c \u81ea\u52a8 \u5bfc\u5165 \u8fc7\u7a0b \u5c06 \u521b\u5efa \u4e00\u4e2a \u3002 \u5728 \u4e0b \u4e00\u8282 \u4e2d \u4e86\u89e3 \u6709\u5173 \u6784\u5efa \u81ea\u5df1   package . json   \u7684 \u7ed3\u6784 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u521b\u5efa   JSON   \u63cf\u8ff0 \uff08 \u53ef \u9009 \uff09   . json   \u63cf\u8ff0 \u662f \u5728 \u5bfc\u5165 \u8fc7\u7a0b \u4e2d \u81ea\u52a8 \u521b\u5efa \u7684 \uff0c \u4f46 \u4e5f \u53ef\u4ee5 \u9009\u62e9 \u624b\u52a8 \u521b\u5efa \u63cf\u8ff0 \u3002 \u73b0\u6709   . json   \u63cf\u8ff0 \u5c06 \u8986\u76d6 \u5bfc\u5165 \u8fc7\u7a0b \u4e2d \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7684 \u4efb\u4f55 \u503c \u3002   \u8be5   . json   \u6587\u4ef6 \u5e94 \u521b\u5efa \u5728 \u5305 \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u6587\u4ef6 \u6587\u4ef6\u540d \u5c06 \u662f \u5305 \u5206\u53d1 \u540d\u79f0 \u3002 \u6587\u4ef6 \u7684 \u5185\u5bb9 \u63cf\u8ff0 \u4e86   Maps   \u548c   Props   \u7684   JSON   \u6570\u7ec4 \uff0c \u5176\u4e2d \u5305\u542b \u6bcf\u4e2a \u5730\u56fe \u548c \u9053\u5177 \u7684 \u57fa\u672c \u4fe1\u606f \u3002   Maps   \u9700\u8981 \u4ee5\u4e0b \u53c2\u6570 \uff1a   name :   \u5730\u56fe \u7684 \u540d\u79f0 \u3002 \u8fd9 \u5fc5\u987b \u4e0e   . fbx   \u548c   . xodr   \u6587\u4ef6 \u76f8\u540c \u3002   xodr :   . xodr   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   use _ carla _ materials :   \u5982\u679c \u4e3a   True   \uff0c \u5730\u56fe \u5c06 \u4f7f\u7528   Carla   \u6750\u8d28 \u3002 \u5426\u5219 \uff0c \u5b83 \u5c06 \u4f7f\u7528   RoadRunner   \u6750\u8d28 \u3002   tile _ size :   \u56fe\u5757 \u7684 \u5927\u5c0f \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   2000   ( 2kmx2km ) \u3002   tiles :   \u7ec4\u6210 \u6574\u4e2a \u5730\u56fe \u7684   . fbx   \u56fe\u5757 \u6587\u4ef6 \u7684 \u5217\u8868 \u3002   Props   \u4e0d \u5c5e\u4e8e   \u672c   \u6559\u7a0b \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605 \u672c \u6559\u7a0b \u4e86\u89e3 \u5982\u4f55 \u6dfb\u52a0 \u65b0 \u9053\u5177 \u3002   \u751f\u6210 \u7684   . json   \u6587\u4ef6 \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   {   \" maps \" :   [   {   \" name \" :   \" Map01 \" ,   \" xodr \" :   \" . / Map01 . xodr \" ,   \" use _ carla _ materials \" :   true ,   \" tile _ size \" :   2000 ,   \" tiles \" :   [   \" . / Map01 _ Tile _ 0 _ 0 . fbx \" ,   \" . / Map01 _ Tile _ 0 _ 1 . fbx \" ,   \" . / Map01 _ Tile _ 1 _ 0 . fbx \" ,   \" . / Map01 _ Tile _ 1 _ 1 . fbx \"   ]   }   ] ,   \" props \" :   [ ]   }   \u8fdb\u884c \u5bfc\u5165   \u5c06 \u6240\u6709 \u6587\u4ef6 \u653e\u5165   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u540e \uff0c \u5728 \u6839   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   make   import   \u6839\u636e \u60a8 \u7684 \u7cfb\u7edf \uff0c \u865a\u5e7b \u5f15\u64ce \u53ef\u80fd \u4f1a \u6d88\u8017 \u592a \u591a \u5185\u5b58 \u800c \u65e0\u6cd5 \u4e00\u6b21 \u5bfc\u5165 \u6240\u6709 \u6587\u4ef6 \u3002 \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u9009\u62e9 \u6279\u91cf \u5bfc\u5165 \u6587\u4ef6 \uff1a   make   import   ARGS = \" -- batch - size = 200 \"   \u8be5   make   import   \u547d\u4ee4 \u8fd8 \u5b58\u5728 \u4e24\u4e2a \u6807\u5fd7 \uff1a   -- package = < package _ name >   \u6307\u5b9a \u5305 \u7684 \u540d\u79f0 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u6b64\u9879 \u8bbe\u7f6e \u4e3a   map _ package   \u3002 \u4e24\u4e2a \u5305 \u4e0d\u80fd \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \uff0c \u56e0\u6b64 \u4f7f\u7528 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u5c06 \u5bfc\u81f4 \u540e\u7eed \u5bfc\u5165 \u65f6 \u51fa\u9519 \u3002   \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u66f4\u6539 \u5305 \u7684 \u540d\u79f0   \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- package = < package _ name > \"   -- no - carla - materials   \u6307\u5b9a \u60a8 \u4e0d\u60f3 \u4f7f\u7528 \u9ed8\u8ba4 \u7684   Carla   \u6750\u8d28 \uff08 \u9053\u8def \u7eb9\u7406 \u7b49 \uff09 \u3002 \u60a8 \u5c06 \u6539\u7528   RoadRunner   \u6750\u6599 \u3002 \u4ec5 \u5f53 \u60a8   \u4e0d \u63d0\u4f9b   \u81ea\u5df1 \u7684   . json   \u6587\u4ef6   \u65f6\u624d \u9700\u8981 \u6b64 \u6807\u5fd7 \u3002   . json   \u6587\u4ef6 \u4e2d \u7684 \u4efb\u4f55 \u503c \u90fd \u5c06 \u8986\u76d6 \u6b64 \u6807\u5fd7 \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- no - carla - materials \"   \u6240\u6709 \u6587\u4ef6 \u90fd \u5c06 \u88ab \u5bfc\u5165 \u5e76 \u51c6\u5907 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u4f7f\u7528 \u3002 \u5730\u56fe \u5730\u56fe\u5305 \u5c06 \u5728   Unreal / CarlaUE4 / Content   \u4e2d \u521b\u5efa \u3002 \u5c06 \u521b\u5efa \u4e00\u4e2a \u5e95\u56fe \u56fe\u5757   < mapName >   \uff0c \u4f5c\u4e3a \u6240\u6709 \u56fe\u5757 \u7684 \u6d41 \u7ea7\u522b \u3002 \u57fa\u7840 \u56fe\u5757 \u5c06 \u5305\u542b \u5929\u7a7a \u3001 \u5929\u6c14 \u548c \u5927 \u5730\u56fe \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u53ef \u4f9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f7f\u7528 \u3002   \u7b14\u8bb0   \u76ee\u524d \u4e0d \u5efa\u8bae \u4f7f\u7528 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d\u4e3a \u6807\u51c6 \u5730\u56fe \u63d0\u4f9b \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5de5\u5177 \uff0c \u4f8b\u5982 \u9053\u8def \u753b\u5bb6 \u3001 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u7b49 \u3002   \u6253\u5305 \u4e00\u5f20 \u5927 \u5730\u56fe   \u8981 \u6253\u5305 \u5927 \u5730\u56fe \u4ee5\u4fbf \u53ef\u4ee5 \u5728   Carla   \u72ec\u7acb \u5305\u4e2d \u4f7f\u7528 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   make   package   ARGS = \" -- packages = < mapPackage > \"   \u8fd9 \u5c06 \u521b\u5efa \u4e00\u4e2a \u538b\u7f29 \u5728   . tar . gz   \u6587\u4ef6 \u4e2d \u7684 \u72ec\u7acb \u5305 \u3002 \u5728   Linux   \u4e2d \u6587\u4ef6 \u5c06 \u4fdd\u5b58 \u5728   Dist   \u76ee\u5f55 \u4e0b \uff0c \u5728   Windows   \u4e2d \u6587\u4ef6 \u4fdd\u5b58 \u5728   / Build / UE4Carla /   \u3002 \u7136\u540e \u53ef\u4ee5 \u5c06 \u5b83\u4eec \u5206\u53d1 \u548c \u6253\u5305 \u4ee5 \u5728 \u72ec\u7acb \u7684   Carla   \u5305\u4e2d \u4f7f\u7528 \u3002   \u5982\u679c \u60a8 \u5bf9 \u5927 \u5730\u56fe \u5bfc\u5165 \u6253\u5305 \u8fc7\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u90a3\u4e48 \u60a8 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"Large   map   import"},{"location":"large_map_import/#_1","text":"RoadRunner   \u4e2d \u751f\u6210 \u7684 \u5927 \u5730\u56fe \u53ef\u4ee5 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7f16\u8bd1 \u7248\u672c \u4e2d \uff0c \u5e76 \u6253\u5305 \u5728   Carla   \u72ec\u7acb \u5305\u4e2d \u5206\u53d1 \u548c \u4f7f\u7528 \u3002 \u8be5 \u8fc7\u7a0b \u4e0e \u6807\u51c6 \u5730\u56fe \u7684 \u8fc7\u7a0b \u975e\u5e38 \u76f8\u4f3c \uff0c \u53ea\u662f \u6dfb\u52a0 \u4e86 \u56fe\u5757 \u548c \u6279\u91cf \u5bfc\u5165 \u7684 \u7279\u5b9a \u672f\u8bed \u3002   \u521b\u5efa \u6587\u4ef6 \u548c \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u521b\u5efa   JSON   \u63cf\u8ff0 \uff08 \u53ef \u9009 \uff09   \u8fdb\u884c \u5bfc\u5165   \u6253\u5305 \u4e00\u5f20 \u5927 \u5730\u56fe","title":"\u5bfc\u5165 / \u6253\u5305 \u5927 \u5730\u56fe"},{"location":"large_map_import/#_2","text":"\u6240\u6709 \u8981 \u5bfc\u5165 \u7684 \u6587\u4ef6 \u5e94 \u653e\u7f6e \u5728   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u8fd9\u4e9b \u6587\u4ef6 \u5e94 \u5305\u62ec \uff1a   \u591a\u4e2a   . fbx   \u6587\u4ef6 \u4e2d \u7684 \u5730\u56fe \u7f51\u683c \u4ee3\u8868 \u5730\u56fe \u7684 \u4e0d\u540c \u56fe\u5757 \u3002   OpenDRIVE   \u5b9a\u4e49 \u4f4d\u4e8e \u5355\u4e2a   . xodr   \u6587\u4ef6 \u4e2d \u3002   \u7b14\u8bb0   \u60a8 \u4e0d\u80fd \u540c\u65f6 \u5bfc\u5165 \u5927 \u5730\u56fe \u548c \u6807\u51c6 \u5730\u56fe \u3002   \u5730\u56fe \u56fe\u5757 \u7684 \u547d\u540d \u7ea6\u5b9a \u975e\u5e38 \u91cd\u8981 \u3002 \u6bcf\u4e2a \u5730\u56fe \u56fe\u5757 \u5e94 \u6839\u636e \u4ee5\u4e0b \u7ea6\u5b9a \u547d\u540d \uff1a   < mapName > _ Tile _ < x - coordinate > _ < y - coordinate > . fbx   \u8bf7 \u6ce8\u610f \uff0c \u66f4\u6b63 \u7684   y   \u5750   \u6807\u662f \u6307   y   \u8f74\u4e0a \u8f83 \u4f4e \u7684 \u56fe\u5757 \u3002 \u4f8b\u5982 \uff0c   Map01 _ Tile _ 0 _ 1   \u4f1a \u5750\u5728   Map01 _ Tile _ 0 _ 0   \u7684 \u4e0b\u9762 \u3002   \u751f\u6210 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u5305\u542b \u4e00\u4e2a \u5305\u542b \u7531 \u56db\u4e2a \u56fe\u5757 \u7ec4\u6210 \u7684 \u5927 \u5730\u56fe \u7684 \u5305 \uff0c \u5176 \u7ed3\u6784 \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u7ed3\u6784 \uff1a   Import   \u2502   \u2514 \u2500 \u2500   Package01   \u251c \u2500 \u2500   Package01 . json   \u251c \u2500 \u2500   Map01 _ Tile _ 0 _ 0 . fbx   \u251c \u2500 \u2500   Map01 _ Tile _ 0 _ 1 . fbx   \u251c \u2500 \u2500   Map01 _ Tile _ 1 _ 0 . fbx   \u251c \u2500 \u2500   Map01 _ Tile _ 1 _ 1 . fbx   \u2514 \u2500 \u2500   Map01 . xodr   \u7b14\u8bb0   \u8be5   package . json   \u6587\u4ef6 \u5e76 \u4e0d\u662f \u7edd\u5bf9 \u5fc5\u8981 \u7684 \u3002 \u5982\u679c \u672a \u521b\u5efa   package . json   \u6587\u4ef6 \uff0c \u81ea\u52a8 \u5bfc\u5165 \u8fc7\u7a0b \u5c06 \u521b\u5efa \u4e00\u4e2a \u3002 \u5728 \u4e0b \u4e00\u8282 \u4e2d \u4e86\u89e3 \u6709\u5173 \u6784\u5efa \u81ea\u5df1   package . json   \u7684 \u7ed3\u6784 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u521b\u5efa \u6587\u4ef6 \u548c \u6587\u4ef6\u5939  "},{"location":"large_map_import/#json","text":". json   \u63cf\u8ff0 \u662f \u5728 \u5bfc\u5165 \u8fc7\u7a0b \u4e2d \u81ea\u52a8 \u521b\u5efa \u7684 \uff0c \u4f46 \u4e5f \u53ef\u4ee5 \u9009\u62e9 \u624b\u52a8 \u521b\u5efa \u63cf\u8ff0 \u3002 \u73b0\u6709   . json   \u63cf\u8ff0 \u5c06 \u8986\u76d6 \u5bfc\u5165 \u8fc7\u7a0b \u4e2d \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7684 \u4efb\u4f55 \u503c \u3002   \u8be5   . json   \u6587\u4ef6 \u5e94 \u521b\u5efa \u5728 \u5305 \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u6587\u4ef6 \u6587\u4ef6\u540d \u5c06 \u662f \u5305 \u5206\u53d1 \u540d\u79f0 \u3002 \u6587\u4ef6 \u7684 \u5185\u5bb9 \u63cf\u8ff0 \u4e86   Maps   \u548c   Props   \u7684   JSON   \u6570\u7ec4 \uff0c \u5176\u4e2d \u5305\u542b \u6bcf\u4e2a \u5730\u56fe \u548c \u9053\u5177 \u7684 \u57fa\u672c \u4fe1\u606f \u3002   Maps   \u9700\u8981 \u4ee5\u4e0b \u53c2\u6570 \uff1a   name :   \u5730\u56fe \u7684 \u540d\u79f0 \u3002 \u8fd9 \u5fc5\u987b \u4e0e   . fbx   \u548c   . xodr   \u6587\u4ef6 \u76f8\u540c \u3002   xodr :   . xodr   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   use _ carla _ materials :   \u5982\u679c \u4e3a   True   \uff0c \u5730\u56fe \u5c06 \u4f7f\u7528   Carla   \u6750\u8d28 \u3002 \u5426\u5219 \uff0c \u5b83 \u5c06 \u4f7f\u7528   RoadRunner   \u6750\u8d28 \u3002   tile _ size :   \u56fe\u5757 \u7684 \u5927\u5c0f \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   2000   ( 2kmx2km ) \u3002   tiles :   \u7ec4\u6210 \u6574\u4e2a \u5730\u56fe \u7684   . fbx   \u56fe\u5757 \u6587\u4ef6 \u7684 \u5217\u8868 \u3002   Props   \u4e0d \u5c5e\u4e8e   \u672c   \u6559\u7a0b \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605 \u672c \u6559\u7a0b \u4e86\u89e3 \u5982\u4f55 \u6dfb\u52a0 \u65b0 \u9053\u5177 \u3002   \u751f\u6210 \u7684   . json   \u6587\u4ef6 \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   {   \" maps \" :   [   {   \" name \" :   \" Map01 \" ,   \" xodr \" :   \" . / Map01 . xodr \" ,   \" use _ carla _ materials \" :   true ,   \" tile _ size \" :   2000 ,   \" tiles \" :   [   \" . / Map01 _ Tile _ 0 _ 0 . fbx \" ,   \" . / Map01 _ Tile _ 0 _ 1 . fbx \" ,   \" . / Map01 _ Tile _ 1 _ 0 . fbx \" ,   \" . / Map01 _ Tile _ 1 _ 1 . fbx \"   ]   }   ] ,   \" props \" :   [ ]   }","title":"\u521b\u5efa   JSON   \u63cf\u8ff0 \uff08 \u53ef \u9009 \uff09  "},{"location":"large_map_import/#_3","text":"\u5c06 \u6240\u6709 \u6587\u4ef6 \u653e\u5165   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u540e \uff0c \u5728 \u6839   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   make   import   \u6839\u636e \u60a8 \u7684 \u7cfb\u7edf \uff0c \u865a\u5e7b \u5f15\u64ce \u53ef\u80fd \u4f1a \u6d88\u8017 \u592a \u591a \u5185\u5b58 \u800c \u65e0\u6cd5 \u4e00\u6b21 \u5bfc\u5165 \u6240\u6709 \u6587\u4ef6 \u3002 \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u9009\u62e9 \u6279\u91cf \u5bfc\u5165 \u6587\u4ef6 \uff1a   make   import   ARGS = \" -- batch - size = 200 \"   \u8be5   make   import   \u547d\u4ee4 \u8fd8 \u5b58\u5728 \u4e24\u4e2a \u6807\u5fd7 \uff1a   -- package = < package _ name >   \u6307\u5b9a \u5305 \u7684 \u540d\u79f0 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u6b64\u9879 \u8bbe\u7f6e \u4e3a   map _ package   \u3002 \u4e24\u4e2a \u5305 \u4e0d\u80fd \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \uff0c \u56e0\u6b64 \u4f7f\u7528 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u5c06 \u5bfc\u81f4 \u540e\u7eed \u5bfc\u5165 \u65f6 \u51fa\u9519 \u3002   \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u66f4\u6539 \u5305 \u7684 \u540d\u79f0   \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- package = < package _ name > \"   -- no - carla - materials   \u6307\u5b9a \u60a8 \u4e0d\u60f3 \u4f7f\u7528 \u9ed8\u8ba4 \u7684   Carla   \u6750\u8d28 \uff08 \u9053\u8def \u7eb9\u7406 \u7b49 \uff09 \u3002 \u60a8 \u5c06 \u6539\u7528   RoadRunner   \u6750\u6599 \u3002 \u4ec5 \u5f53 \u60a8   \u4e0d \u63d0\u4f9b   \u81ea\u5df1 \u7684   . json   \u6587\u4ef6   \u65f6\u624d \u9700\u8981 \u6b64 \u6807\u5fd7 \u3002   . json   \u6587\u4ef6 \u4e2d \u7684 \u4efb\u4f55 \u503c \u90fd \u5c06 \u8986\u76d6 \u6b64 \u6807\u5fd7 \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- no - carla - materials \"   \u6240\u6709 \u6587\u4ef6 \u90fd \u5c06 \u88ab \u5bfc\u5165 \u5e76 \u51c6\u5907 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u4f7f\u7528 \u3002 \u5730\u56fe \u5730\u56fe\u5305 \u5c06 \u5728   Unreal / CarlaUE4 / Content   \u4e2d \u521b\u5efa \u3002 \u5c06 \u521b\u5efa \u4e00\u4e2a \u5e95\u56fe \u56fe\u5757   < mapName >   \uff0c \u4f5c\u4e3a \u6240\u6709 \u56fe\u5757 \u7684 \u6d41 \u7ea7\u522b \u3002 \u57fa\u7840 \u56fe\u5757 \u5c06 \u5305\u542b \u5929\u7a7a \u3001 \u5929\u6c14 \u548c \u5927 \u5730\u56fe \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u53ef \u4f9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f7f\u7528 \u3002   \u7b14\u8bb0   \u76ee\u524d \u4e0d \u5efa\u8bae \u4f7f\u7528 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d\u4e3a \u6807\u51c6 \u5730\u56fe \u63d0\u4f9b \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5de5\u5177 \uff0c \u4f8b\u5982 \u9053\u8def \u753b\u5bb6 \u3001 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u7b49 \u3002","title":"\u8fdb\u884c \u5bfc\u5165  "},{"location":"large_map_import/#_4","text":"\u8981 \u6253\u5305 \u5927 \u5730\u56fe \u4ee5\u4fbf \u53ef\u4ee5 \u5728   Carla   \u72ec\u7acb \u5305\u4e2d \u4f7f\u7528 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   make   package   ARGS = \" -- packages = < mapPackage > \"   \u8fd9 \u5c06 \u521b\u5efa \u4e00\u4e2a \u538b\u7f29 \u5728   . tar . gz   \u6587\u4ef6 \u4e2d \u7684 \u72ec\u7acb \u5305 \u3002 \u5728   Linux   \u4e2d \u6587\u4ef6 \u5c06 \u4fdd\u5b58 \u5728   Dist   \u76ee\u5f55 \u4e0b \uff0c \u5728   Windows   \u4e2d \u6587\u4ef6 \u4fdd\u5b58 \u5728   / Build / UE4Carla /   \u3002 \u7136\u540e \u53ef\u4ee5 \u5c06 \u5b83\u4eec \u5206\u53d1 \u548c \u6253\u5305 \u4ee5 \u5728 \u72ec\u7acb \u7684   Carla   \u5305\u4e2d \u4f7f\u7528 \u3002   \u5982\u679c \u60a8 \u5bf9 \u5927 \u5730\u56fe \u5bfc\u5165 \u6253\u5305 \u8fc7\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u90a3\u4e48 \u60a8 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u6253\u5305 \u4e00\u5f20 \u5927 \u5730\u56fe  "},{"location":"large_map_overview/","text":"\u5927 \u5730\u56fe \u6982\u8ff0   \u5927 \u5730\u56fe \u6982\u8ff0   \u74e6\u7247 \u6d41   \u4f11\u7720 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u5927 \u5730\u56fe \u6982\u8ff0   Carla   \u4e2d \u7684 \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd \u5141\u8bb8 \u7528\u6237 \u8fdb\u884c \u5927 \u8303\u56f4 \u7684 \u4eff\u771f \u3002 \u5728   Carla   \u4e2d \uff0c \u5927 \u5730\u56fe \u88ab \u5212\u5206 \u4e3a \u4e0d \u5927\u4e8e   2kmx2km   \u7684 \u65b9\u5f62 \u74e6\u7247 \u3002 \u74e6\u7247 \u6839\u636e \u5b83\u4eec \u4e0e \u81ea\u4e3b \u8f66\u8f86 \u7684 \u63a5\u8fd1 \u5ea6 \uff08 \u6d41 \u8ddd\u79bb \uff09 \u6d41\u5165 \u548c \u6d41\u51fa \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u5730\u56fe \u4e0a \u7684 \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e5f \u6839\u636e \u4ed6\u4eec \u4e0e \u81ea\u4e3b \u8f66\u8f86 \u7684 \u6d41 \u8ddd\u79bb \u8fdb\u884c \u7ba1\u7406 \u3002   \u74e6\u7247 \u6d41   \u81ea\u4e3b \u8f66\u8f86 \u5bf9\u4e8e \u5730\u56fe \u74e6\u7247 \u7684 \u88c5\u8f7d \u548c \u5378\u8f7d \u662f \u4e0d\u53ef \u6216\u7f3a \u4e0d\u53ef\u6216\u7f3a \u7684 \u3002 \u6839\u636e \u8ddd \u81ea\u4e3b \u8f66\u8f86 \u7684 \u6d41 \u8ddd\u79bb \u503c \uff0c \u74e6\u7247 \u88ab \u6d41\u5f0f \u4f20\u8f93 \u8fdb \u548c \u4f20\u51fa \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u4f8b\u5982 \uff0c \u4f4d\u4e8e \u6d41 \u8ddd\u79bb \u4e4b\u5916 \u7684 \u74e6\u7247 \u5c06 \u4e0d\u4f1a \u5728 \u4eff\u771f \u4e2d \u6e32\u67d3 \uff0c \u800c \u5c06 \u6e32\u67d3 \u6d41 \u8ddd\u79bb \u5185 \u7684 \u74e6\u7247 \u3002 \u6e32\u67d3 \u7684 \u74e6\u7247 \u5c06 \u968f\u7740 \u82f1\u96c4 \u8f66\u8f86 \u7684 \u79fb\u52a8 \u800c \u53d8\u5316 \u3002   \u8981 \u5c06 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u81ea\u4e3b \uff0c \u8bf7 \u4f7f\u7528 \u5982\u4e0b \u7684   set _ attribute   \u65b9\u6cd5 \uff1a   blueprint . set _ attribute ( ' role _ name ' ,   ' hero '   )   world . spawn _ actor ( blueprint ,   spawn _ point )   \u4f7f\u7528 \u4e0b\u9762 \u7684 \u4ee3\u7801 \u7247\u6bb5 \u8bbe\u7f6e \u6d41 \u8ddd\u79bb \uff0c \u4ee5\u4fbf \u5728 \u81ea\u4e3b \u8f66\u8f86 \u7684   2   \u516c\u91cc \u534a\u5f84 \u5185 \u52a0\u8f7d \u74e6\u7247 \uff1a   settings   =   world . get _ settings ( )   settings . tile _ stream _ distance   =   2000   world . apply _ settings ( settings )   \u60a8 \u8fd8 \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b   config . py   \u547d\u4ee4 \u8bbe\u7f6e \u6d41 \u4f20\u8f93 \u8ddd\u79bb :   cd   PythonAPI / util   python3   config . py   -- tile - stream - distance   2000   \u7b14\u8bb0   \u5927 \u5730\u56fe \u76ee\u524d \u4e00\u6b21 \u4ec5 \u652f\u6301 \u4e00\u8f86 \u81ea\u4e3b \u8f66\u8f86 \u3002   \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd \u5411   Carla   \u5f15\u5165 \u4e86 \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6982\u5ff5 \u3002 \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ec5 \u5b58\u5728 \u4e8e \u5927 \u5730\u56fe \u7684 \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u4e2d \u3002 \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f \u4eff\u771f \u4e2d \u4f4d\u4e8e \u81ea\u4e3b \u8f66\u8f86 \u7684   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb   \u4e4b\u5916 \u7684 \u975e \u81ea\u4e3b \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f8b\u5982 \uff0c \u8fdc\u79bb \u81ea\u4e3b \u8f66\u8f86 \u7684 \u8f66\u8f86 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb \u53ef\u4ee5 \u7b49\u4e8e \u6216 \u5c0f\u4e8e \u6d41 \u8ddd\u79bb \u3002   \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53d1\u73b0 \u81ea\u5df1 \u53d1\u73b0\u81ea\u5df1 \u5728 \u81ea\u4e3b \u8f66\u8f86 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb \u4e4b\u5916 \uff0c \u5b83 \u5c06 \u8fdb\u5165 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ecd\u7136 \u5b58\u5728 \uff0c \u4f46 \u4e0d\u4f1a \u88ab \u6e32\u67d3 \u3002 \u5c3d\u7ba1 \u4ecd\u7136 \u53ef\u4ee5   \u8bbe\u7f6e   \u4f4d\u7f6e \u548c   \u53d8\u6362   \uff0c \u4f46 \u4e0d\u4f1a \u8ba1\u7b97 \u7269\u7406 \u7269\u7406\u91cf \uff08 \u9664\u975e \u901a\u8fc7 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u4ee5 \u6df7\u5408 \u6a21\u5f0f \u8fd0\u884c \uff09   \u3002 \u4e00\u65e6 \u4f11\u7720 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u518d\u6b21 \u8fdb\u5165 \u81ea\u4e3b \u8f66\u8f86 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb \u5185 \uff0c \u5b83 \u5c06 \u9192\u6765 \uff0c \u5e76\u4e14 \u5176 \u6e32\u67d3 \u548c \u7269\u7406 \u5c06 \u6062\u590d \u6b63\u5e38 \u6062\u590d\u6b63\u5e38 \u3002   \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5177\u6709 \u4e0d\u540c \u7684 \u884c\u4e3a \uff0c \u53ef\u4ee5 \u5728 \u5927 \u5730\u56fe \u4e2d \u64cd\u4f5c \u65f6 \u8fdb\u884c \u914d\u7f6e \u3002 \u8bf7 \u9605\u8bfb   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u6587\u6863 \u4ee5 \u4e86\u89e3 \u5176 \u5de5\u4f5c \u539f\u7406 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u8fdb\u5165 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u6216 \u5728   world . tick ( )   \u65f6 \u9192\u6765 \u3002   \u8981 \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb \u8bbe\u7f6e \u4e3a \u81ea\u4e3b \u8f66\u8f86 \u5468\u56f4   2   \u516c\u91cc \u534a\u5f84 \uff1a   settings   =   world . get _ settings ( )   settings . actor _ active _ distance   =   2000   world . apply _ settings ( settings )   \u60a8 \u8fd8 \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b   config . py   \u65b9\u6cd5 \u8bbe\u7f6e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb   cd   PythonAPI / util   python3   config . py   -- actor - active - distance   2000   \u8981 \u68c0\u67e5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528   Python   API \uff1a   actor . is _ dormant   \u5982\u679c \u60a8 \u5bf9 \u5927 \u5730\u56fe \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u90a3\u4e48 \u60a8 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u5927 \u5730\u56fe \u6982\u8ff0"},{"location":"large_map_overview/#_1","text":"\u5927 \u5730\u56fe \u6982\u8ff0   \u74e6\u7247 \u6d41   \u4f11\u7720 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005","title":"\u5927 \u5730\u56fe \u6982\u8ff0"},{"location":"large_map_overview/#_2","text":"Carla   \u4e2d \u7684 \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd \u5141\u8bb8 \u7528\u6237 \u8fdb\u884c \u5927 \u8303\u56f4 \u7684 \u4eff\u771f \u3002 \u5728   Carla   \u4e2d \uff0c \u5927 \u5730\u56fe \u88ab \u5212\u5206 \u4e3a \u4e0d \u5927\u4e8e   2kmx2km   \u7684 \u65b9\u5f62 \u74e6\u7247 \u3002 \u74e6\u7247 \u6839\u636e \u5b83\u4eec \u4e0e \u81ea\u4e3b \u8f66\u8f86 \u7684 \u63a5\u8fd1 \u5ea6 \uff08 \u6d41 \u8ddd\u79bb \uff09 \u6d41\u5165 \u548c \u6d41\u51fa \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u5730\u56fe \u4e0a \u7684 \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e5f \u6839\u636e \u4ed6\u4eec \u4e0e \u81ea\u4e3b \u8f66\u8f86 \u7684 \u6d41 \u8ddd\u79bb \u8fdb\u884c \u7ba1\u7406 \u3002","title":"\u5927 \u5730\u56fe \u6982\u8ff0  "},{"location":"large_map_overview/#_3","text":"\u81ea\u4e3b \u8f66\u8f86 \u5bf9\u4e8e \u5730\u56fe \u74e6\u7247 \u7684 \u88c5\u8f7d \u548c \u5378\u8f7d \u662f \u4e0d\u53ef \u6216\u7f3a \u4e0d\u53ef\u6216\u7f3a \u7684 \u3002 \u6839\u636e \u8ddd \u81ea\u4e3b \u8f66\u8f86 \u7684 \u6d41 \u8ddd\u79bb \u503c \uff0c \u74e6\u7247 \u88ab \u6d41\u5f0f \u4f20\u8f93 \u8fdb \u548c \u4f20\u51fa \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u4f8b\u5982 \uff0c \u4f4d\u4e8e \u6d41 \u8ddd\u79bb \u4e4b\u5916 \u7684 \u74e6\u7247 \u5c06 \u4e0d\u4f1a \u5728 \u4eff\u771f \u4e2d \u6e32\u67d3 \uff0c \u800c \u5c06 \u6e32\u67d3 \u6d41 \u8ddd\u79bb \u5185 \u7684 \u74e6\u7247 \u3002 \u6e32\u67d3 \u7684 \u74e6\u7247 \u5c06 \u968f\u7740 \u82f1\u96c4 \u8f66\u8f86 \u7684 \u79fb\u52a8 \u800c \u53d8\u5316 \u3002   \u8981 \u5c06 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u81ea\u4e3b \uff0c \u8bf7 \u4f7f\u7528 \u5982\u4e0b \u7684   set _ attribute   \u65b9\u6cd5 \uff1a   blueprint . set _ attribute ( ' role _ name ' ,   ' hero '   )   world . spawn _ actor ( blueprint ,   spawn _ point )   \u4f7f\u7528 \u4e0b\u9762 \u7684 \u4ee3\u7801 \u7247\u6bb5 \u8bbe\u7f6e \u6d41 \u8ddd\u79bb \uff0c \u4ee5\u4fbf \u5728 \u81ea\u4e3b \u8f66\u8f86 \u7684   2   \u516c\u91cc \u534a\u5f84 \u5185 \u52a0\u8f7d \u74e6\u7247 \uff1a   settings   =   world . get _ settings ( )   settings . tile _ stream _ distance   =   2000   world . apply _ settings ( settings )   \u60a8 \u8fd8 \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b   config . py   \u547d\u4ee4 \u8bbe\u7f6e \u6d41 \u4f20\u8f93 \u8ddd\u79bb :   cd   PythonAPI / util   python3   config . py   -- tile - stream - distance   2000   \u7b14\u8bb0   \u5927 \u5730\u56fe \u76ee\u524d \u4e00\u6b21 \u4ec5 \u652f\u6301 \u4e00\u8f86 \u81ea\u4e3b \u8f66\u8f86 \u3002","title":"\u74e6\u7247 \u6d41  "},{"location":"large_map_overview/#_4","text":"\u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd \u5411   Carla   \u5f15\u5165 \u4e86 \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6982\u5ff5 \u3002 \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ec5 \u5b58\u5728 \u4e8e \u5927 \u5730\u56fe \u7684 \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u4e2d \u3002 \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f \u4eff\u771f \u4e2d \u4f4d\u4e8e \u81ea\u4e3b \u8f66\u8f86 \u7684   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb   \u4e4b\u5916 \u7684 \u975e \u81ea\u4e3b \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f8b\u5982 \uff0c \u8fdc\u79bb \u81ea\u4e3b \u8f66\u8f86 \u7684 \u8f66\u8f86 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb \u53ef\u4ee5 \u7b49\u4e8e \u6216 \u5c0f\u4e8e \u6d41 \u8ddd\u79bb \u3002   \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53d1\u73b0 \u81ea\u5df1 \u53d1\u73b0\u81ea\u5df1 \u5728 \u81ea\u4e3b \u8f66\u8f86 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb \u4e4b\u5916 \uff0c \u5b83 \u5c06 \u8fdb\u5165 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ecd\u7136 \u5b58\u5728 \uff0c \u4f46 \u4e0d\u4f1a \u88ab \u6e32\u67d3 \u3002 \u5c3d\u7ba1 \u4ecd\u7136 \u53ef\u4ee5   \u8bbe\u7f6e   \u4f4d\u7f6e \u548c   \u53d8\u6362   \uff0c \u4f46 \u4e0d\u4f1a \u8ba1\u7b97 \u7269\u7406 \u7269\u7406\u91cf \uff08 \u9664\u975e \u901a\u8fc7 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u4ee5 \u6df7\u5408 \u6a21\u5f0f \u8fd0\u884c \uff09   \u3002 \u4e00\u65e6 \u4f11\u7720 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u518d\u6b21 \u8fdb\u5165 \u81ea\u4e3b \u8f66\u8f86 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb \u5185 \uff0c \u5b83 \u5c06 \u9192\u6765 \uff0c \u5e76\u4e14 \u5176 \u6e32\u67d3 \u548c \u7269\u7406 \u5c06 \u6062\u590d \u6b63\u5e38 \u6062\u590d\u6b63\u5e38 \u3002   \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5177\u6709 \u4e0d\u540c \u7684 \u884c\u4e3a \uff0c \u53ef\u4ee5 \u5728 \u5927 \u5730\u56fe \u4e2d \u64cd\u4f5c \u65f6 \u8fdb\u884c \u914d\u7f6e \u3002 \u8bf7 \u9605\u8bfb   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u6587\u6863 \u4ee5 \u4e86\u89e3 \u5176 \u5de5\u4f5c \u539f\u7406 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u8fdb\u5165 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u6216 \u5728   world . tick ( )   \u65f6 \u9192\u6765 \u3002   \u8981 \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb \u8bbe\u7f6e \u4e3a \u81ea\u4e3b \u8f66\u8f86 \u5468\u56f4   2   \u516c\u91cc \u534a\u5f84 \uff1a   settings   =   world . get _ settings ( )   settings . actor _ active _ distance   =   2000   world . apply _ settings ( settings )   \u60a8 \u8fd8 \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b   config . py   \u65b9\u6cd5 \u8bbe\u7f6e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb   cd   PythonAPI / util   python3   config . py   -- actor - active - distance   2000   \u8981 \u68c0\u67e5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528   Python   API \uff1a   actor . is _ dormant   \u5982\u679c \u60a8 \u5bf9 \u5927 \u5730\u56fe \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u90a3\u4e48 \u60a8 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u4f11\u7720 \u53c2\u4e0e\u8005  "},{"location":"large_map_roadrunner/","text":"\u5728   RoadRunner   \u521b\u5efa \u5927 \u5730\u56fe   RoadRunner   \u662f \u63a8\u8350 \u7684 \u8f6f\u4ef6 \uff0c \u7528\u4e8e \u521b\u5efa \u8981 \u5bfc\u5165   Carla   \u7684 \u5927 \u5730\u56fe \u3002 \u672c \u6307\u5357 \u6982\u8ff0 \u4e86   RoadRunner   \u662f \u4ec0\u4e48 \uff0c \u5728 \u6784\u5efa \u5927 \u5730\u56fe \u65f6 \u9700\u8981 \u8003\u8651 \u7684 \u4e8b\u60c5 \uff0c \u4ee5\u53ca \u5982\u4f55 \u5bfc\u51fa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u5927 \u5730\u56fe \uff0c \u4ee5\u4fbf \u5bfc\u5165   Carla \u3002   RoadRunner   \u7b80\u4ecb   \u5f00\u59cb \u4e4b\u524d   \u5728   RoadRunner   \u4e2d \u521b\u5efa \u4e00\u4e2a \u5927 \u5730\u56fe   \u5728   RoadRunner   \u4e2d \u5bfc\u51fa \u4e00\u4e2a \u5927 \u5730\u56fe   \u4e0b \u4e00\u4e2a \u6b65\u9aa4   RoadRunner \u7b80\u4ecb   RoadRunner \u662f \u4e00\u4e2a \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u53ef\u4ee5 \u8ba9 \u60a8 \u8bbe\u8ba1 3D \u573a\u666f \u6765 \u4eff\u771f \u548c \u6d4b\u8bd5 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u3002 \u5b83 \u53ef\u4ee5 \u7528\u6765 \u521b\u5efa \u9053\u8def \u5e03\u5c40 \u548c \u4f34\u968f \u7684 opdrive \u548c \u51e0\u4f55 \u4fe1\u606f \u3002   \u5728 \u8fd9\u91cc \u4e86\u89e3 \u66f4 \u591a \u5173\u4e8e RoadRunner \u7684 \u4fe1\u606f   \u3002   RoadRunner \u662f MATLAB \u6821\u56ed \u8bb8\u53ef \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u56e0\u6b64 \u8bb8\u591a \u5927\u5b66 \u53ef\u4ee5 \u63d0\u4f9b \u65e0 \u9650\u5236 \u7684 \u5b66\u672f \u8bbf\u95ee \u3002   \u68c0\u67e5   \u4e00\u4e0b \u4f60 \u7684 \u5927\u5b66 \u662f\u5426 \u6709 \u8bbf\u95ee \u6743\u9650 \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u5173\u4e8e \u53ef \u8bbf\u95ee \u6027 \u7684 \u95ee\u9898 \u6216 \u9ebb\u70e6 \uff0c \u8bf7 \u8054\u7cfb automated - driving @ mathworks . com \u3002   \u8fd8\u6709 \u4e00\u4e2a \u8bd5\u7528 \u8bd5\u7528\u7248   \u3002   \u53c2\u52a0   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u6bcf\u4e2a \u4eba \u90fd \u53ef\u4ee5 \u83b7\u5f97 RoadRunner \u7684 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u3002   \u70b9\u51fb \u8fd9\u91cc \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f   \u3002   \u5f00\u59cb \u4e4b\u524d   \u60a8 \u9700\u8981 \u5b89\u88c5 RoadRunner \u3002 \u60a8 \u53ef\u4ee5 \u6309\u7167 Mathworks \u7f51\u7ad9 \u4e0a \u7684   \u5b89\u88c5 \u6307\u5357   \u8fdb\u884c \u64cd\u4f5c \u3002   \u5728 RoadRunner \u4e2d \u521b\u5efa \u4e00\u4e2a \u5927 \u5730\u56fe   \u5982\u4f55 \u5728 RoadRunner \u4e2d \u6784\u5efa \u4e00\u4e2a \u5927 \u5730\u56fe \u7684 \u7ec6\u8282 \u8d85\u51fa \u4e86 \u672c \u6307\u5357 \u7684 \u8303\u56f4 \uff0c \u4f46\u662f \uff0c \u5728   RoadRunner \u6587\u6863   \u4e2d\u6709 \u89c6\u9891 \u6559\u7a0b \u89c6\u9891\u6559\u7a0b \u3002   \u5982\u679c \u60a8 \u6b63\u5728 \u6784\u5efa \u5e26\u6709 \u9ad8\u7a0b \u7684 \u5927 \u5730\u56fe \uff0c \u5219 \u5efa\u8bae \u5730\u56fe \u7684 \u6700\u5927 \u5c3a\u5bf8 \u4e3a 20km   \u4e58   20km \u3002 \u5927\u4e8e \u8fd9\u4e2a \u503c \u7684 \u5730\u56fe \u53ef\u80fd \u4f1a \u5bfc\u81f4   RoadRunner   \u5728 \u5bfc\u51fa \u65f6 \u5d29\u6e83 \u3002   \u5728 RoadRunner \u4e2d \u5bfc\u51fa \u4e00\u4e2a \u5927 \u5730\u56fe   \u4e0b\u9762 \u662f\u4ece RoadRunner \u5bfc\u51fa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5927 \u5730\u56fe \u7684 \u57fa\u672c \u6307\u5357 \u3002   \u4e00\u65e6 \u4f60 \u5728 RoadRunner \u4e2d \u5236\u4f5c \u4e86 \u4f60 \u7684 \u5730\u56fe \uff0c \u4f60 \u5c31 \u53ef\u4ee5 \u5bfc\u51fa \u5b83 \u4e86 \u3002 \u8bf7 \u6ce8\u610f \uff0c \u9053\u8def \u5e03\u5c40 \u5728 \u5bfc\u51fa \u540e \u4e0d\u80fd \u4fee\u6539 \u3002 \u5bfc\u51fa \u524d \uff0c \u8bf7 \u786e\u4fdd :   \u5730\u56fe \u4ee5 ( 0 , 0 ) \u4e3a \u4e2d\u5fc3 \uff0c \u4ee5 \u786e\u4fdd \u5730\u56fe \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6b63\u786e \u5730 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u6620\u5c04 \u5b9a\u4e49 \u662f \u6b63\u786e \u7684 \u3002   \u5730\u56fe \u9a8c\u8bc1 \u662f \u6b63\u786e \u7684 \uff0c \u5bc6\u5207 \u5173\u6ce8 \u8fde\u63a5 \u548c \u51e0\u4f55 \u5f62\u72b6 \u3002   \u4e00\u65e6 \u5730\u56fe \u51c6\u5907 \u597d \u4e86 \uff0c \u70b9\u51fb opdrive \u9884\u89c8 \u5de5\u5177 \u6309\u94ae \u6765 \u53ef\u89c6 \u53ef\u89c6\u5316 opdrive \u9053\u8def \u7f51\u7edc \uff0c \u5e76 \u7ed9 \u4e00\u5207 \u6700\u540e \u4e00\u6b21 \u68c0\u67e5 \u3002   \u7b14\u8bb0   _ opdrive \u9884\u89c8 \u5de5\u5177 _ \u4f7f \u5b83 \u66f4 \u5bb9\u6613 \u6d4b\u8bd5 \u5730\u56fe \u7684 \u5b8c\u6574 \u5b8c\u6574\u6027 \u3002 \u5982\u679c \u8def\u53e3 \u6709 \u4efb\u4f55 \u9519\u8bef \uff0c \u70b9\u51fb \u2018 Maneuver   Tool \u2019 \uff0c \u7136\u540e \u70b9\u51fb \u2018 Rebuild   Maneuver   Roads \u2019 \u3002   \u901a\u8fc7 \u70b9\u51fb   \u4e16\u754c \u8bbe\u7f6e \u5de5\u5177   \u5e76 \u62d6\u52a8 \u84dd\u8272 \u8fb9\u754c \u6846 \u7684 \u8fb9\u7f18 \u4ee5 \u5305\u542b \u60a8 \u60f3\u8981 \u5bfc\u51fa \u7684 \u6574\u4e2a \u533a\u57df \uff0c \u786e\u4fdd \u9009\u62e9 \u5b8c\u6574 \u7684 \u5730\u56fe \u8fdb\u884c \u5bfc\u51fa \u3002 \u5f53 \u5b83 \u51c6\u5907 \u597d \u4e86 \uff0c \u70b9\u51fb Apply   World   Changes \u3002   \u5f53 \u60a8 \u51c6\u5907 \u5bfc\u51fa \u65f6 :   1 .   \u5bfc\u51fa   . fbx   \u6587\u4ef6 :   \u5728 \u4e3b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u9009\u62e9 , \u9009\u62e9   File   - >   Export   - >   Firebox   ( . fbx )   __ 2 .__ \u5728 \u5f39\u51fa \u7684 \u7a97\u53e3 \u4e2d :   \u68c0\u67e5 \u4ee5\u4e0b \u9009\u9879 :   Split   by   Segmentation   :   \u901a\u8fc7 \u8bed\u4e49 \u5206\u5272 \u5bf9 \u7f51\u683c \u8fdb\u884c \u5212\u5206 \uff0c \u6539\u5584 \u884c\u4eba \u5bfc\u822a \u3002   Power   of   Two   Texture   Dimensions   :   \u63d0\u9ad8 \u4e86 \u6027\u80fd \u3002   Embed   Textures   :   \u786e\u4fdd \u7eb9\u7406 \u5d4c\u5165 \u5230 \u7f51\u683c \u4e2d \u3002   Export   to   Tiles   :   \u9009\u62e9 \u74f7\u7816 \u7684 \u5927\u5c0f \u3002 Carla   \u53ef\u4ee5 \u4f7f\u7528 \u7684 \u6700\u5927 \u5c3a\u5bf8 \u662f 2000   x   2000 \u3002   Export   Individual   Tiles   :   \u751f\u6210 \u5728   Carla   \u4e2d \u6d41\u5f0f \u4f20\u8f93 \u5927 \u5730\u56fe \u6240 \u9700 \u7684 \u5355\u4e2a \u5757 \u3002   3 .   \u5bfc\u51fa   . xodr   \u6587\u4ef6 :   \u5728 \u4e3b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u9009\u62e9   File   - >   Export   - >   OpendDRIVE   ( . xodr )   \u7b14\u8bb0   \u786e\u4fdd   . xodr   \u548c   . fbx   \u7684 \u6587\u4ef6 \u540d\u79f0 \u6587\u4ef6\u540d \u6587\u4ef6\u540d\u79f0 \u76f8\u540c \u3002   \u4e0b \u4e00\u4e2a \u6b65\u9aa4   \u73b0\u5728 \u53ef\u4ee5 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla   \u4e86 \u3002 \u6709\u5173 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u5bfc\u5165 \u5927 \u5730\u56fe \u6307\u5357   \u3002   \u5982\u679c \u4f60 \u5bf9 \u8fd9\u4e2a \u8fc7\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u90a3\u4e48 \u4f60 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e0a \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u5728   RoadRunner   \u521b\u5efa \u5927 \u5730\u56fe"},{"location":"large_map_roadrunner/#roadrunner","text":"RoadRunner   \u662f \u63a8\u8350 \u7684 \u8f6f\u4ef6 \uff0c \u7528\u4e8e \u521b\u5efa \u8981 \u5bfc\u5165   Carla   \u7684 \u5927 \u5730\u56fe \u3002 \u672c \u6307\u5357 \u6982\u8ff0 \u4e86   RoadRunner   \u662f \u4ec0\u4e48 \uff0c \u5728 \u6784\u5efa \u5927 \u5730\u56fe \u65f6 \u9700\u8981 \u8003\u8651 \u7684 \u4e8b\u60c5 \uff0c \u4ee5\u53ca \u5982\u4f55 \u5bfc\u51fa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u5927 \u5730\u56fe \uff0c \u4ee5\u4fbf \u5bfc\u5165   Carla \u3002   RoadRunner   \u7b80\u4ecb   \u5f00\u59cb \u4e4b\u524d   \u5728   RoadRunner   \u4e2d \u521b\u5efa \u4e00\u4e2a \u5927 \u5730\u56fe   \u5728   RoadRunner   \u4e2d \u5bfc\u51fa \u4e00\u4e2a \u5927 \u5730\u56fe   \u4e0b \u4e00\u4e2a \u6b65\u9aa4","title":"\u5728   RoadRunner   \u521b\u5efa \u5927 \u5730\u56fe"},{"location":"large_map_roadrunner/#roadrunner_1","text":"RoadRunner \u662f \u4e00\u4e2a \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u53ef\u4ee5 \u8ba9 \u60a8 \u8bbe\u8ba1 3D \u573a\u666f \u6765 \u4eff\u771f \u548c \u6d4b\u8bd5 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u3002 \u5b83 \u53ef\u4ee5 \u7528\u6765 \u521b\u5efa \u9053\u8def \u5e03\u5c40 \u548c \u4f34\u968f \u7684 opdrive \u548c \u51e0\u4f55 \u4fe1\u606f \u3002   \u5728 \u8fd9\u91cc \u4e86\u89e3 \u66f4 \u591a \u5173\u4e8e RoadRunner \u7684 \u4fe1\u606f   \u3002   RoadRunner \u662f MATLAB \u6821\u56ed \u8bb8\u53ef \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u56e0\u6b64 \u8bb8\u591a \u5927\u5b66 \u53ef\u4ee5 \u63d0\u4f9b \u65e0 \u9650\u5236 \u7684 \u5b66\u672f \u8bbf\u95ee \u3002   \u68c0\u67e5   \u4e00\u4e0b \u4f60 \u7684 \u5927\u5b66 \u662f\u5426 \u6709 \u8bbf\u95ee \u6743\u9650 \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u5173\u4e8e \u53ef \u8bbf\u95ee \u6027 \u7684 \u95ee\u9898 \u6216 \u9ebb\u70e6 \uff0c \u8bf7 \u8054\u7cfb automated - driving @ mathworks . com \u3002   \u8fd8\u6709 \u4e00\u4e2a \u8bd5\u7528 \u8bd5\u7528\u7248   \u3002   \u53c2\u52a0   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u6bcf\u4e2a \u4eba \u90fd \u53ef\u4ee5 \u83b7\u5f97 RoadRunner \u7684 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u3002   \u70b9\u51fb \u8fd9\u91cc \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f   \u3002","title":"RoadRunner \u7b80\u4ecb  "},{"location":"large_map_roadrunner/#_1","text":"\u60a8 \u9700\u8981 \u5b89\u88c5 RoadRunner \u3002 \u60a8 \u53ef\u4ee5 \u6309\u7167 Mathworks \u7f51\u7ad9 \u4e0a \u7684   \u5b89\u88c5 \u6307\u5357   \u8fdb\u884c \u64cd\u4f5c \u3002","title":"\u5f00\u59cb \u4e4b\u524d    "},{"location":"large_map_roadrunner/#roadrunner_2","text":"\u5982\u4f55 \u5728 RoadRunner \u4e2d \u6784\u5efa \u4e00\u4e2a \u5927 \u5730\u56fe \u7684 \u7ec6\u8282 \u8d85\u51fa \u4e86 \u672c \u6307\u5357 \u7684 \u8303\u56f4 \uff0c \u4f46\u662f \uff0c \u5728   RoadRunner \u6587\u6863   \u4e2d\u6709 \u89c6\u9891 \u6559\u7a0b \u89c6\u9891\u6559\u7a0b \u3002   \u5982\u679c \u60a8 \u6b63\u5728 \u6784\u5efa \u5e26\u6709 \u9ad8\u7a0b \u7684 \u5927 \u5730\u56fe \uff0c \u5219 \u5efa\u8bae \u5730\u56fe \u7684 \u6700\u5927 \u5c3a\u5bf8 \u4e3a 20km   \u4e58   20km \u3002 \u5927\u4e8e \u8fd9\u4e2a \u503c \u7684 \u5730\u56fe \u53ef\u80fd \u4f1a \u5bfc\u81f4   RoadRunner   \u5728 \u5bfc\u51fa \u65f6 \u5d29\u6e83 \u3002","title":"\u5728 RoadRunner \u4e2d \u521b\u5efa \u4e00\u4e2a \u5927 \u5730\u56fe  "},{"location":"large_map_roadrunner/#roadrunner_3","text":"\u4e0b\u9762 \u662f\u4ece RoadRunner \u5bfc\u51fa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5927 \u5730\u56fe \u7684 \u57fa\u672c \u6307\u5357 \u3002   \u4e00\u65e6 \u4f60 \u5728 RoadRunner \u4e2d \u5236\u4f5c \u4e86 \u4f60 \u7684 \u5730\u56fe \uff0c \u4f60 \u5c31 \u53ef\u4ee5 \u5bfc\u51fa \u5b83 \u4e86 \u3002 \u8bf7 \u6ce8\u610f \uff0c \u9053\u8def \u5e03\u5c40 \u5728 \u5bfc\u51fa \u540e \u4e0d\u80fd \u4fee\u6539 \u3002 \u5bfc\u51fa \u524d \uff0c \u8bf7 \u786e\u4fdd :   \u5730\u56fe \u4ee5 ( 0 , 0 ) \u4e3a \u4e2d\u5fc3 \uff0c \u4ee5 \u786e\u4fdd \u5730\u56fe \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6b63\u786e \u5730 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u6620\u5c04 \u5b9a\u4e49 \u662f \u6b63\u786e \u7684 \u3002   \u5730\u56fe \u9a8c\u8bc1 \u662f \u6b63\u786e \u7684 \uff0c \u5bc6\u5207 \u5173\u6ce8 \u8fde\u63a5 \u548c \u51e0\u4f55 \u5f62\u72b6 \u3002   \u4e00\u65e6 \u5730\u56fe \u51c6\u5907 \u597d \u4e86 \uff0c \u70b9\u51fb opdrive \u9884\u89c8 \u5de5\u5177 \u6309\u94ae \u6765 \u53ef\u89c6 \u53ef\u89c6\u5316 opdrive \u9053\u8def \u7f51\u7edc \uff0c \u5e76 \u7ed9 \u4e00\u5207 \u6700\u540e \u4e00\u6b21 \u68c0\u67e5 \u3002   \u7b14\u8bb0   _ opdrive \u9884\u89c8 \u5de5\u5177 _ \u4f7f \u5b83 \u66f4 \u5bb9\u6613 \u6d4b\u8bd5 \u5730\u56fe \u7684 \u5b8c\u6574 \u5b8c\u6574\u6027 \u3002 \u5982\u679c \u8def\u53e3 \u6709 \u4efb\u4f55 \u9519\u8bef \uff0c \u70b9\u51fb \u2018 Maneuver   Tool \u2019 \uff0c \u7136\u540e \u70b9\u51fb \u2018 Rebuild   Maneuver   Roads \u2019 \u3002   \u901a\u8fc7 \u70b9\u51fb   \u4e16\u754c \u8bbe\u7f6e \u5de5\u5177   \u5e76 \u62d6\u52a8 \u84dd\u8272 \u8fb9\u754c \u6846 \u7684 \u8fb9\u7f18 \u4ee5 \u5305\u542b \u60a8 \u60f3\u8981 \u5bfc\u51fa \u7684 \u6574\u4e2a \u533a\u57df \uff0c \u786e\u4fdd \u9009\u62e9 \u5b8c\u6574 \u7684 \u5730\u56fe \u8fdb\u884c \u5bfc\u51fa \u3002 \u5f53 \u5b83 \u51c6\u5907 \u597d \u4e86 \uff0c \u70b9\u51fb Apply   World   Changes \u3002   \u5f53 \u60a8 \u51c6\u5907 \u5bfc\u51fa \u65f6 :   1 .   \u5bfc\u51fa   . fbx   \u6587\u4ef6 :   \u5728 \u4e3b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u9009\u62e9 , \u9009\u62e9   File   - >   Export   - >   Firebox   ( . fbx )   __ 2 .__ \u5728 \u5f39\u51fa \u7684 \u7a97\u53e3 \u4e2d :   \u68c0\u67e5 \u4ee5\u4e0b \u9009\u9879 :   Split   by   Segmentation   :   \u901a\u8fc7 \u8bed\u4e49 \u5206\u5272 \u5bf9 \u7f51\u683c \u8fdb\u884c \u5212\u5206 \uff0c \u6539\u5584 \u884c\u4eba \u5bfc\u822a \u3002   Power   of   Two   Texture   Dimensions   :   \u63d0\u9ad8 \u4e86 \u6027\u80fd \u3002   Embed   Textures   :   \u786e\u4fdd \u7eb9\u7406 \u5d4c\u5165 \u5230 \u7f51\u683c \u4e2d \u3002   Export   to   Tiles   :   \u9009\u62e9 \u74f7\u7816 \u7684 \u5927\u5c0f \u3002 Carla   \u53ef\u4ee5 \u4f7f\u7528 \u7684 \u6700\u5927 \u5c3a\u5bf8 \u662f 2000   x   2000 \u3002   Export   Individual   Tiles   :   \u751f\u6210 \u5728   Carla   \u4e2d \u6d41\u5f0f \u4f20\u8f93 \u5927 \u5730\u56fe \u6240 \u9700 \u7684 \u5355\u4e2a \u5757 \u3002   3 .   \u5bfc\u51fa   . xodr   \u6587\u4ef6 :   \u5728 \u4e3b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u9009\u62e9   File   - >   Export   - >   OpendDRIVE   ( . xodr )   \u7b14\u8bb0   \u786e\u4fdd   . xodr   \u548c   . fbx   \u7684 \u6587\u4ef6 \u540d\u79f0 \u6587\u4ef6\u540d \u6587\u4ef6\u540d\u79f0 \u76f8\u540c \u3002","title":"\u5728 RoadRunner \u4e2d \u5bfc\u51fa \u4e00\u4e2a \u5927 \u5730\u56fe  "},{"location":"large_map_roadrunner/#_2","text":"\u73b0\u5728 \u53ef\u4ee5 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla   \u4e86 \u3002 \u6709\u5173 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u5bfc\u5165 \u5927 \u5730\u56fe \u6307\u5357   \u3002   \u5982\u679c \u4f60 \u5bf9 \u8fd9\u4e2a \u8fc7\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u90a3\u4e48 \u4f60 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e0a \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u4e0b \u4e00\u4e2a \u6b65\u9aa4  "},{"location":"launch_windows/","text":"Windows   \u4e0b \u7684 \u542f\u52a8 \u5305 \u7684 \u6784\u5efa   \u53d1\u5e03 \u5b89\u88c5 \u7248\u672c   \u53c2\u8003   \u94fe\u63a5   \u8fdb\u884c \u865a\u5e7b \u5f15\u64ce \u7684 \u53d1\u5e03 \u3002   \u4f7f\u7528   Visual   Studio   \u6253\u5f00   UE4 . shn   \u3002   \u5728 \u53f3\u4fa7 \u8fb9\u680f \uff0c \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230 \u4e00\u4e2a   \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668   \u9762\u677f \u3002 \u5c55\u5f00   Programs   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u627e\u5230   AutomationTool   \u9879\u76ee \uff08   Engine \\ Source \\ Programs \\ AutomationTool   \uff09 \uff1a   \u53f3\u952e \u5355\u51fb \u5b83 \u5e76 \u9009\u62e9   \u751f\u6210 ( Build )   \uff0c \u5e94\u8be5 \u5f88\u5feb \u3002   \u8fd0\u884c \u5b89\u88c5 \u8f6f\u4ef6 \u7684 \u6784\u5efa \u811a\u672c   \u5b89\u88c5   Windows   10   SDK   ;   \u8fd0\u884c \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e0b \u7684 \u5b89\u88c5 \u6784\u5efa \u811a\u672c   GenerateInstalledBuild . bat   \u3002   \u5982\u679c \u4e00\u5207 \u987a\u5229 \u4e00\u5207\u987a\u5229 \uff0c \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230   LocalBuilds   \u4e0e \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5904\u4e8e \u540c\u4e00 \u7ea7\u522b \u7684   Engine   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5e76\u4e14 \u63a7\u5236 \u63a7\u5236\u53f0 \u4e2d \u6ca1\u6709 \u9519\u8bef \u3002 ( \u8fd8 \u5305\u62ec \u4e00\u4e2a   InstalledDDC   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff1a DerivedDataCache ) \u3002   \u95ee\u9898   ERROR :   Visual   Studio   2017   must   be   installed   in   order   to   build   this   target .   \u89e3\u51b3 \uff1a \u4e0b\u8f7d   3d5 _ VisualStudio20171509 . rar   \u8fdb\u884c \u5b89\u88c5 \u3002   Unable   to   find   installation   of   PDBCOPY . EXE   \u89e3\u51b3 \uff1a \u53c2\u8003   \u94fe\u63a5   \u4ece   \u767e\u5ea6 \u767e\u5ea6\u7f51 \u76d8   \u4e0b\u8f7d   X64   Debuggers   And   Tools - x64 _ en - us . msi   \u5b89\u88c5 \u3002   \u65e0\u6cd5 \u542f\u52a8 \u6b64 \u7a0b\u5e8f \uff0c \u56e0\u4e3a \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e2d \u4e22\u5931 XINPUT1 _ 3 . dll \u3002 \u5c1d\u8bd5 \u91cd\u65b0 \u65b0\u5b89 \u5b89\u88c5 \u91cd\u65b0\u5b89\u88c5 \u8be5\u7a0b   \u89e3\u51b3 \uff1a \u53c2\u8003   \u94fe\u63a5   \u5b89\u88c5   DirectX   Redist   ( June   2010 ) \u3002   \u5355\u72ec \u8fd0\u884c   Engine - > Binaries - > Win64   \u4f1a \u51fa\u73b0 \u9519\u8bef \u63d0\u793a \uff1a   Plugin   ' ExampleDeviceProfileSelector '   failed   to   load   because   moduleExampleDeviceProfileSelector '   could   not   be   found .   Please   ensure   the   plugin   isproperly   installed ,   otherwise   consider   disabling   the   plugin   for   this   project .   \u4f46\u662f   make   launch   \u4e0d\u4f1a \u51fa\u9519 \u3002","title":"Windows   \u4e0b \u7684 \u542f\u52a8 \u5305 \u7684 \u6784\u5efa"},{"location":"launch_windows/#windows","text":"","title":"Windows   \u4e0b \u7684 \u542f\u52a8 \u5305 \u7684 \u6784\u5efa"},{"location":"launch_windows/#_1","text":"\u53c2\u8003   \u94fe\u63a5   \u8fdb\u884c \u865a\u5e7b \u5f15\u64ce \u7684 \u53d1\u5e03 \u3002   \u4f7f\u7528   Visual   Studio   \u6253\u5f00   UE4 . shn   \u3002   \u5728 \u53f3\u4fa7 \u8fb9\u680f \uff0c \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230 \u4e00\u4e2a   \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668   \u9762\u677f \u3002 \u5c55\u5f00   Programs   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u627e\u5230   AutomationTool   \u9879\u76ee \uff08   Engine \\ Source \\ Programs \\ AutomationTool   \uff09 \uff1a   \u53f3\u952e \u5355\u51fb \u5b83 \u5e76 \u9009\u62e9   \u751f\u6210 ( Build )   \uff0c \u5e94\u8be5 \u5f88\u5feb \u3002","title":"\u53d1\u5e03 \u5b89\u88c5 \u7248\u672c"},{"location":"launch_windows/#_2","text":"\u5b89\u88c5   Windows   10   SDK   ;   \u8fd0\u884c \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e0b \u7684 \u5b89\u88c5 \u6784\u5efa \u811a\u672c   GenerateInstalledBuild . bat   \u3002   \u5982\u679c \u4e00\u5207 \u987a\u5229 \u4e00\u5207\u987a\u5229 \uff0c \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230   LocalBuilds   \u4e0e \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5904\u4e8e \u540c\u4e00 \u7ea7\u522b \u7684   Engine   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5e76\u4e14 \u63a7\u5236 \u63a7\u5236\u53f0 \u4e2d \u6ca1\u6709 \u9519\u8bef \u3002 ( \u8fd8 \u5305\u62ec \u4e00\u4e2a   InstalledDDC   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff1a DerivedDataCache ) \u3002","title":"\u8fd0\u884c \u5b89\u88c5 \u8f6f\u4ef6 \u7684 \u6784\u5efa \u811a\u672c"},{"location":"launch_windows/#_3","text":"ERROR :   Visual   Studio   2017   must   be   installed   in   order   to   build   this   target .   \u89e3\u51b3 \uff1a \u4e0b\u8f7d   3d5 _ VisualStudio20171509 . rar   \u8fdb\u884c \u5b89\u88c5 \u3002   Unable   to   find   installation   of   PDBCOPY . EXE   \u89e3\u51b3 \uff1a \u53c2\u8003   \u94fe\u63a5   \u4ece   \u767e\u5ea6 \u767e\u5ea6\u7f51 \u76d8   \u4e0b\u8f7d   X64   Debuggers   And   Tools - x64 _ en - us . msi   \u5b89\u88c5 \u3002   \u65e0\u6cd5 \u542f\u52a8 \u6b64 \u7a0b\u5e8f \uff0c \u56e0\u4e3a \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e2d \u4e22\u5931 XINPUT1 _ 3 . dll \u3002 \u5c1d\u8bd5 \u91cd\u65b0 \u65b0\u5b89 \u5b89\u88c5 \u91cd\u65b0\u5b89\u88c5 \u8be5\u7a0b   \u89e3\u51b3 \uff1a \u53c2\u8003   \u94fe\u63a5   \u5b89\u88c5   DirectX   Redist   ( June   2010 ) \u3002   \u5355\u72ec \u8fd0\u884c   Engine - > Binaries - > Win64   \u4f1a \u51fa\u73b0 \u9519\u8bef \u63d0\u793a \uff1a   Plugin   ' ExampleDeviceProfileSelector '   failed   to   load   because   moduleExampleDeviceProfileSelector '   could   not   be   found .   Please   ensure   the   plugin   isproperly   installed ,   otherwise   consider   disabling   the   plugin   for   this   project .   \u4f46\u662f   make   launch   \u4e0d\u4f1a \u51fa\u9519 \u3002","title":"\u95ee\u9898"},{"location":"leaderboard/","text":"\u6982\u8ff0   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u7684 \u4e3b\u8981 \u76ee\u6807 \u662f \u8bc4\u4f30 \u81ea\u52a8 \u9a7e\u9a76 \u4eba\u5458 \u9a7e\u9a76\u4eba\u5458 \u5728 \u73b0\u5b9e \u4ea4\u901a \u573a\u666f \u4e2d \u7684 \u9a7e\u9a76 \u719f\u7ec3 \u7a0b\u5ea6 \u719f\u7ec3\u7a0b\u5ea6 \u3002 \u6392\u884c \u6392\u884c\u699c \u4f5c\u4e3a \u793e\u533a \u7684 \u5f00\u653e \u5e73\u53f0 \u5f00\u653e\u5e73\u53f0 \uff0c \u5bf9 \u81ea\u52a8 \u9a7e\u9a76 \u6c7d\u8f66 \u4ee3\u7406 \u8fdb\u884c \u516c\u5e73 \u4e14 \u53ef \u91cd\u590d \u7684 \u8bc4\u4f30 \uff0c \u7b80\u5316 \u4e86 \u4e0d\u540c \u65b9\u6cd5 \u4e4b\u95f4 \u7684 \u6bd4\u8f83 \u3002 \u6392\u884c \u6392\u884c\u699c \u76ee\u524d \u4e3a   2.0   \u7248\u672c \uff0c \u4ecd \u652f\u6301   1.0   \u7248\u672c \u3002   \u4efb\u52a1   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u8981\u6c42 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u9a7e\u9a76 \u901a\u8fc7 \u4e00\u7ec4 \u9884\u5b9a \u4e49 \u7684 \u8def\u7ebf \u3002 \u5bf9\u4e8e \u6bcf\u6761 \u8def\u7ebf \uff0c \u4ee3\u7406 \u5c06 \u5728 \u8d77\u70b9 \u8fdb\u884c \u521d\u59cb \u521d\u59cb\u5316 \uff0c \u5e76 \u5f15\u5bfc \u5176 \u884c\u9a76 \u81f3 \u76ee\u7684 \u76ee\u7684\u5730 \u70b9 \uff0c \u5e76 \u901a\u8fc7   GPS   \u6837\u5f0f \u5750\u6807 \u3001 \u5730\u56fe \u5750\u6807 \u6216 \u8def\u7ebf \u6307\u4ee4 \u63d0\u4f9b \u8def\u7ebf \u63cf\u8ff0 \u3002 \u8def\u7ebf \u662f \u5728 \u591a\u79cd \u60c5\u51b5 \u4e0b\u5b9a \u5b9a\u4e49 \u4e0b\u5b9a\u4e49 \u7684 \uff0c \u5305\u62ec \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3001 \u57ce\u5e02 \u5730\u533a \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u73af\u5883 \u3002 \u6392\u884c \u6392\u884c\u699c \u8bc4\u4f30 \u5404\u79cd \u5929\u6c14 \u6761\u4ef6 \u4e0b \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \uff0c \u5305\u62ec \u65e5\u5149 \u573a\u666f \u3001 \u65e5\u843d \u3001 \u96e8 \u3001 \u96fe \u548c \u591c\u665a \u7b49 \u3002   \u5e94\u7528 \u573a\u666f   \u4ee3\u7406 \u5c06 \u9762\u4e34 \u57fa\u4e8e   NHTSA   \u7c7b\u578b \u7684 \u591a\u79cd \u4ea4\u901a \u573a\u666f \u3002 \u53ef\u4ee5 \u5728 \u6b64 \u9875\u9762 \u4e2d \u67e5\u770b \u4ea4\u901a \u573a\u666f \u7684 \u5b8c\u6574 \u5217\u8868 \uff0c \u4f46 \u8fd9\u91cc \u6709 \u4e00\u4e9b \u793a\u4f8b \u3002   \u8f66\u9053 \u5408\u5e76 \u3002   \u53d8\u9053 \u3002   \u5728 \u4ea4\u901a \u8def\u53e3 \u8fdb\u884c \u534f\u5546 \u3002   \u5728 \u73af\u5c9b \u8fdb\u884c \u534f\u5546 \u3002   \u5904\u7406 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3002   \u7ed9 \u7d27\u6025 \u8f66\u8f86 \u8ba9 \u884c \u3002   \u5e94\u5bf9 \u884c\u4eba \u3001 \u9a91 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4eba \u548c \u5176\u4ed6 \u56e0\u7d20 \u3002   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u4e2d \u7684 \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u56fe\u89e3 \u3002   \u53c2\u4e0e \u65b9\u5f0f   \u6392\u884c \u6392\u884c\u699c \u63d0\u4f9b \u4e24\u79cd \u53c2\u4e0e \u65b9\u5f0f \uff1a SENSORS   \u548c   MAP \u3002 \u8fd9\u4e9b \u65b9\u5f0f \u7684 \u4e0d\u540c \u4e4b\u5904 \u4e0d\u540c\u4e4b\u5904 \u5728\u4e8e \u60a8 \u7684 \u4ee3\u7406 \u53ef\u4ee5 \u4ece \u5e73\u53f0 \u8bf7\u6c42 \u7684 \u8f93\u5165 \u6570\u636e \u7c7b\u578b \u6570\u636e\u7c7b\u578b \u3002   \u6b64\u5916 \uff0c \u4e24\u79cd \u6a21\u5f0f \u7684 \u4ee3\u7406 \u90fd \u5c06 \u6536\u5230 \u9ad8\u7ea7 \u8def\u7ebf \u63cf\u8ff0 \uff0c \u6307\u793a \u8def\u5f84 \u5fc5\u987b \u9075\u5faa \u7684 \u5173\u952e \u5173\u952e\u70b9 \u624d\u80fd \u5230\u8fbe \u76ee\u7684 \u76ee\u7684\u5730 \u3002 \u8be5 \u8def\u7ebf \u8868\u793a \u4e3a \u5143\u7ec4 \u5217\u8868 \uff0c \u5e76\u4e14 \u6709 \u4e24\u79cd \u53d8\u4f53 \u3002   \u5bf9\u4e8e \u7b2c\u4e00 \u4e00\u79cd \u7b2c\u4e00\u79cd \u60c5\u51b5 \uff0c \u5143\u7ec4 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u5143\u7d20 \u5305\u542b \u4e00\u4e2a \u8def\u5f84 \u70b9 \uff0c \u8868\u793a \u4e3a \u7eac\u5ea6 \u3001 \u7ecf\u5ea6 \u548c \u5206\u91cf   z \u3002   [ ( { ' z ' :   0.0 ,   ' lat ' :   48.99822669411668 ,   ' lon ' :   8.002271601998707 } ,   RoadOption . LEFT ) ,   ( { ' z ' :   0.0 ,   ' lat ' :   48.99822669411668 ,   ' lon ' :   8.002709765148996 } ,   RoadOption . RIGHT ) ,   ...   ( { ' z ' :   0.0 ,   ' lat ' :   48.99822679980298 ,   ' lon ' :   8.002735250105061 } ,   RoadOption . STRAIGHT ) ]   \u7b2c\u4e8c \u4e8c\u79cd \u7b2c\u4e8c\u79cd \u60c5\u51b5 \u4e0e \u524d \u4e00\u79cd \u60c5\u51b5 \u975e\u5e38 \u76f8\u4f3c \uff0c \u4f46 \u4e0d \u4f7f\u7528   GPS   \u5750\u6807 \uff0c \u800c\u662f \u7528 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u8868\u793a \u8def\u7ebf \u3002   [ ( { ' x ' :   153.7 ,   ' y ' :   15.6 ,   ' z ' :   0.0 } ,   RoadOption . LEFT ) ,   ( { ' x ' :   148.9 ,   ' y ' :   67.8 ,   ' z ' :   0.0 } ,   RoadOption . RIGHT ) ,   ...   ( { ' x ' :   180.7 ,   ' y ' :   45.1 ,   ' z ' :   1.2 } ,   RoadOption . STRAIGHT ) ]   \u7b14\u8bb0   \u4e24\u4e2a \u8fde\u7eed \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u53ef\u80fd \u957f \u8fbe \u6570\u767e \u767e\u7c73 \u6570\u767e\u7c73 \u3002 \u4e0d\u8981 \u4f9d\u8d56 \u8fd9\u4e9b \u4f5c\u4e3a \u60a8 \u9a7e\u9a6d \u73af\u5883 \u7684 \u4e3b\u8981 \u673a\u5236 \u3002   \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u5143\u7d20 \u5305\u542b \u9ad8\u7ea7 \u547d\u4ee4 \u3002 \u53ef\u7528 \u7684 \u9ad8\u7ea7 \u547d\u4ee4 \u547d\u4ee4\u96c6 \u662f \uff1a   RoadOption . CHANGELANELEFT \uff1a \u5411 \u5de6 \u79fb\u52a8 \u4e00\u6761 \u8f66\u9053 \u3002   RoadOption . CHANGELANERIGHT \uff1a \u5411 \u53f3 \u79fb\u52a8 \u4e00\u6761 \u8f66\u9053 \u3002   RoadOption . LANEFOLLOW \uff1a \u7ee7\u7eed \u5728 \u5f53\u524d \u8f66\u9053 \u4e0a \u884c\u9a76 \u3002   RoadOption . LEFT \uff1a \u5728 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u5de6\u8f6c \u3002   RoadOption . RIGHT \uff1a \u5728 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u53f3\u8f6c \u3002   RoadOption . STRAIGHT \uff1a \u5728 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u4fdd\u6301 \u76f4\u884c \u3002   \u7b14\u8bb0   \u60a8 \u4e0d\u5f97 \u4f7f\u7528   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u63d0\u4f9b \u7684 \u4efb\u4f55 \u7279\u6743 \u4fe1\u606f \uff0c \u5305\u62ec \u89c4\u5212 \u5668 \u6216 \u4efb\u4f55 \u7c7b\u578b \u7684 \u57fa\u672c \u4e8b\u5b9e \u3002 \u4f7f\u7528 \u8fd9\u4e9b \u529f\u80fd \u7684 \u63d0\u4ea4 \u5c06 \u88ab \u62d2\u7edd \uff0c \u56e2\u961f \u5c06 \u88ab \u7981\u6b62 \u8fdb\u5165 \u8be5 \u5e73\u53f0 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f68\u8ff9   \u5728 \u6b64 \u8f68\u8ff9 \u4e0a \uff0c \u4ee3\u7406 \u53ef\u4ee5 \u8bf7\u6c42 \u8bbf\u95ee \u4ee5\u4e0b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u7b14\u8bb0   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5355\u4f4d \u90fd \u53d7\u5230 \u9650\u5236 \u53d7\u5230\u9650\u5236 \uff0c \u4ee5 \u63a7\u5236 \u8ba1\u7b97 \u9884\u7b97 \u3002   \u5730\u56fe \u8f68\u8ff9   \u63d0\u4f9b \u4e0e   SENSORS   \u8f68\u8ff9 \u76f8\u540c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7ec4 \u3002 \u6b64\u5916 \uff0c \u4ee3\u7406 \u53ef\u4ee5 \u8bf7\u6c42 \u8bbf\u95ee \u9ad8\u7cbe \u5730\u56fe \uff0c \u8be5 \u5730\u56fe \u4ee5 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7684   OpenDRIVE   \u6587\u4ef6 \u5f62\u5f0f \u63d0\u4f9b \u3002   \u7b14\u8bb0   \u60a8 \u5b8c\u5168 \u8d1f\u8d23 \u89e3\u6790 \u6b64 \u6587\u4ef6 \u6216 \u5c06 \u5176 \u8f6c\u6362 \u4e3a \u5bf9 \u60a8 \u7684 \u4ee3\u7406 \u6709\u7528 \u7684 \u8868\u793a \u5f62\u5f0f \u3002   \u8d44\u683c \u8d44\u683c\u8d5b \u8d5b\u9053   \u6392\u884c \u6392\u884c\u699c   2.0   \u8bbe\u6709   2   \u6761 \u8d44\u683c \u8d44\u683c\u8d5b \u8d5b\u9053 \uff0c \u60a8 \u7684 \u4ee3\u7406 \u5c06 \u9700\u8981 \u901a\u8fc7 \u5177\u6709 \u7b80\u5355 \u9a7e\u9a76 \u573a\u666f \u7684 \u4e0d\u89c1 \u770b\u4e0d\u89c1 \u7684 \u5730\u56fe \u5b89\u5168 \u5730 \u5bfc\u822a \u4e00\u6761 \u7b80\u5355 \u7684 \u8def\u7ebf \u3002 \u6bcf\u4e2a   SENSOR   \u548c   MAP   \u8f68\u9053 \u90fd \u6709 \u5176 \u5404\u81ea \u7684 \u9650\u5b9a \u9650\u5b9a\u7b26 \u3002 \u60a8 \u5fc5\u987b \u5728 \u9884\u9009 \u9884\u9009\u8d5b \u4e2d \u8fbe\u5230 \u6700\u4f4e \u9a7e\u9a76 \u5206\u6570 \uff0c \u624d\u80fd \u5141\u8bb8 \u5411 \u6392\u884c \u6392\u884c\u699c   2.0   \u4e3b \u8d5b\u9053 \u63d0\u4ea4 \u4ee3\u7406 \u3002   \u4e3a\u4e86 \u8282\u7701 \u8ba1\u7b97 \u8d44\u6e90 \u8ba1\u7b97\u8d44\u6e90 \uff0c \u9884\u9009 \u9884\u9009\u8d5b \u5c06 \u5141\u8bb8 \u4f7f\u7528 \u6bd4 \u4e3b\u8981 \u7ade\u4e89 \u5bf9\u624b \u7ade\u4e89\u5bf9\u624b \u66f4 \u4e25\u683c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5957\u4ef6 \uff0c \u5305\u62ec   0 - 4   \u4e2a   RGB   \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u3001 0 - 2   \u4e2a \u96f7\u8fbe \u548c   0 - 1   \u4e2a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff0c \u4ee5\u53ca \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u3001 IMU   \u548c \u901f\u5ea6 \u901f\u5ea6\u8ba1 \uff08 \u4ee5\u53ca \u7528\u4e8e   MAP   \u8d5b\u9053 \u7684   OpenDRIVE \uff09 \u3002 \u6211\u4eec \u9f13\u52b1 \u60a8 \u4f7f\u7528 \u9650\u5b9a \u9650\u5b9a\u7b26 \u6765 \u786e\u4fdd \u786e\u4fdd\u60a8 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u5806\u6808 \u5df2 \u6b63\u786e \u914d\u7f6e \u5e76 \u5728 \u6392\u884c \u6392\u884c\u699c \u4e0a \u6b63\u5e38 \u8fd0\u884c \u3002   \u8bc4\u4f30 \u548c \u6307\u6807   \u4ee3\u7406 \u7684 \u9a7e\u9a76 \u719f\u7ec3 \u7a0b\u5ea6 \u719f\u7ec3\u7a0b\u5ea6 \u53ef\u4ee5 \u901a\u8fc7 \u591a\u79cd \u6307\u6807 \u6765 \u8868\u5f81 \u3002 \u5bf9\u4e8e \u8fd9\u4e2a \u6392\u884c \u6392\u884c\u699c \uff0c \u6211\u4eec \u9009\u62e9 \u4e86 \u4e00\u7ec4 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u4e86\u89e3 \u9a7e\u9a76 \u4e0d\u540c \u65b9\u9762 \u7684 \u6307\u6807 \u3002 \u867d\u7136 \u6240\u6709 \u8def\u7531 \u90fd \u5177\u6709 \u76f8\u540c \u7c7b\u578b \u7684 \u6307\u6807 \uff0c \u4f46 \u5b83\u4eec \u5404\u81ea \u7684 \u503c \u662f \u5355\u72ec \u8ba1\u7b97 \u7684 \u3002 \u5177\u4f53 \u6307\u6807 \u5982\u4e0b \uff1a   \u9a7e\u9a76 \u5206\u6570   \uff1a ( { R _ i   P _ i } , )   \u2014   \u6392\u884c \u6392\u884c\u699c \u7684 \u4e3b\u8981 \u6307\u6807 \uff0c \u4f5c\u4e3a \u8def\u7ebf \u5b8c\u6210 \u4e0e \u8fdd\u89c4 \u5904\u7f5a \u4e4b\u95f4 \u7684 \u4e58\u79ef \u3002 \u8fd9\u91cc ( Ri ) \u662f   ( i \u2212 th )   \u8def\u7ebf \u7684 \u5b8c\u6210 \u767e\u5206 \u767e\u5206\u6bd4 \uff0c \u800c ( Pi ) \u662f   ( i \u2212 th )   \u8def\u7ebf \u7684 \u8fdd\u89c4 \u5904\u7f5a \u3002   \u8def\u7ebf \u5b8c\u6210   \uff1a \u5ba2\u670d \u4eba\u5458 \u5b8c\u6210 \u7684 \u8def\u7ebf \u8ddd\u79bb \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   \u8fdd\u89c4 \u5904\u7f5a   :   ( \\ prod _ j ^ { \\ text { ped . ,   ... ,   stop } }   ( { p _ i ^ j } ) ^ { \\ text { # infractions } _ j } . )   \u2014   \u6392\u884c \u6392\u884c\u699c \u8ddf\u8e2a \u591a\u79cd \u79cd\u7c7b \u7c7b\u578b \u591a\u79cd\u7c7b\u578b \u7684 \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \u8be5 \u6307\u6807 \u5c06 \u4ee3\u7406 \u89e6\u53d1 \u7684 \u6240\u6709 \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \u6c47\u603b \u4e3a \u51e0\u4f55 \u7ea7\u6570 \u51e0\u4f55\u7ea7\u6570 \u3002 \u4ee3\u7406 \u7684 \u7406\u60f3 \u57fa\u7840 \u5206\u6570 \u662f 1.0 \uff0c \u6bcf \u72af\u4e0b \u4e00\u79cd \u7c7b\u578b \u7684 \u8fdd\u89c4 \uff0c \u8be5 \u5206\u6570 \u90fd \u4f1a \u964d\u4f4e \u3002   \u5f53 \u6240\u6709 \u8def\u7531 \u5b8c\u6210 \u540e \uff0c \u8fd8\u4f1a \u751f\u6210 \u524d \u4e09\u79cd \u7c7b\u578b \u4e2d \u6bcf \u4e00\u79cd \u7684 \u5168\u5c40 \u5ea6\u91cf \uff0c \u5373 \u6240\u6709 \u5355\u72ec \u8def\u7531 \u7ec4\u5408 \u7684 \u7b97\u672f \u5e73\u5747 \u5747\u503c \u5e73\u5747\u503c \u3002 \u5168\u5c40 \u9a7e\u9a76 \u5206\u6570 \u662f \u5bf9 \u60a8 \u4e0e \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8fdb\u884c \u5206\u7c7b \u7684 \u4e3b\u8981 \u6307\u6807 \u3002   \u8fdd\u89c4 \u548c \u5173\u95ed \u4e8b\u4ef6   Carla   \u6392\u884c \u6392\u884c\u699c \u63d0\u4f9b \u4e86 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \u7684 \u5355\u72ec \u6307\u6807 \u3002 \u5176\u4e2d \u6bcf \u4e00\u4e2a \u90fd \u6709 \u4e00\u4e2a \u60e9\u7f5a \u7cfb\u6570 \uff0c \u6bcf\u6b21 \u53d1\u751f \u65f6 \u90fd \u4f1a \u5e94\u7528 \u8be5 \u7cfb\u6570 \u3002 \u6309 \u4e25\u91cd \u7a0b\u5ea6 \u6392\u5e8f \uff0c \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \u5982\u4e0b \u3002   \u4e0e \u884c\u4eba \u76f8\u649e   \u2014   0.50 .   \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u76f8\u649e   \u2014   0.60 .   \u4e0e \u9759\u6001 \u5143\u7d20 \u7684 \u78b0\u649e   -   0.65 .   \u7ea2\u706f \u95ef\u7ea2\u706f   \u2014 \u2014   0.70 \u3002   \u8fd0\u884c \u505c\u8f66 \u6807\u5fd7   \u2014   0.80 .   \u67d0\u4e9b \u573a\u666f \u7684 \u884c\u4e3a \u53ef\u4ee5 \u65e0\u9650 \u9650\u671f \u65e0\u9650\u671f \u5730 \u963b\u6b62 \u81ea\u6211 \u8f66\u8f86 \u3002 \u8fd9\u4e9b \u573a\u666f \u5c06 \u6709   4   \u5206\u949f \u7684 \u8d85\u65f6 \u65f6\u95f4 \uff0c \u4e4b\u540e \u81ea\u52a8 \u8f66\u8f86 \u5c06 \u88ab \u91ca\u653e \u4ee5 \u7ee7\u7eed \u8def\u7ebf \u3002 \u4f46\u662f \uff0c \u5982\u679c \u8d85\u8fc7 \u65f6\u9650 \uff0c \u5219 \u4f1a \u53d7\u5230 \u5904\u7f5a \uff1a   \u573a\u666f \u8d85\u65f6   \u2014 0.7   \u9884\u8ba1 \u4ee3\u7406 \u5c06 \u4fdd\u6301 \u6700\u4f4e \u901f\u5ea6 \u4ee5 \u9002\u5e94 \u9644\u8fd1 \u7684 \u4ea4\u901a \u3002 \u4ee3\u7406 \u7684 \u901f\u5ea6 \u5c06 \u4e0e \u9644\u8fd1 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u8fdb\u884c \u6bd4\u8f83 \u3002 \u672a\u80fd \u4fdd\u6301 \u9002\u5f53 \u7684 \u901f\u5ea6 \u5c06 \u53d7\u5230 \u5904\u7f5a \u3002 \u6240 \u65bd\u52a0 \u7684 \u60e9\u7f5a \u53d6\u51b3 \u53d6\u51b3\u4e8e \u901f\u5ea6 \u5dee \u7684 \u5927\u5c0f \uff0c \u6700\u9ad8 \u53ef \u8fbe \u4ee5\u4e0b \u503c \uff1a   \u672a\u80fd \u4fdd\u6301 \u6700\u4f4e \u901f\u5ea6   \u2014 0.7   \u7279\u5de5 \u5e94\u8be5 \u7ed9 \u4ece \u540e\u9762 \u9a76\u6765 \u7684 \u7d27\u6025 \u8f66\u8f86 \u8ba9\u8def \u3002 \u4e0d\u8ba9 \u7d27\u6025 \u8f66\u8f86 \u901a\u8fc7 \u5c06 \u53d7\u5230 \u5904\u7f5a \uff1a   \u672a\u80fd \u7ed9 \u7d27\u6025 \u8f66\u8f86 \u8ba9\u8def   \u2014 0.7   \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u8fd8\u6709 \u4e00\u79cd \u989d\u5916 \u7684 \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \uff0c \u5b83 \u6ca1\u6709 \u7cfb\u6570 \uff0c \u800c\u662f \u5f71\u54cd \u8def\u7ebf \u5b8c\u6210 \uff08 ( R _ i ) \uff09 \u7684 \u8ba1\u7b97 \u3002   \u8d8a\u91ce \u9a7e\u9a76   -   \u5982\u679c \u4ee3\u7406 \u9a7e\u9a76 \u8d8a\u91ce \uff0c \u5219 \u5728 \u8ba1\u7b97 \u8def\u7ebf \u5b8c\u6210 \u5206\u6570 \u65f6 \u5c06 \u4e0d\u4f1a \u8003\u8651 \u8be5 \u8def\u7ebf \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   \u6b64\u5916 \uff0c \u67d0\u4e9b \u4e8b\u4ef6 \u4f1a \u4e2d\u65ad \u4eff\u771f \uff0c \u4ece\u800c \u963b\u6b62 \u4ee3\u7406 \u7ee7\u7eed \u8fdb\u884c \u3002 \u5728 \u8fd9\u4e9b \u60c5\u51b5 \u4e0b \uff0c \u6b63\u5728 \u4eff\u771f \u7684 \u8def\u7ebf \u5c06 \u88ab \u5173\u95ed \uff0c \u6392\u884c \u6392\u884c\u699c \u5c06 \u79fb\u81f3 \u4e0b \u4e00\u6761 \uff0c \u6b63\u5e38 \u89e6\u53d1 \u3002   \u8def\u7ebf \u504f\u5dee   30 -   \u5982\u679c \u5ba2\u670d \u4eba\u5458 \u504f\u79bb \u6307\u5b9a \u8def\u7ebf \u8d85\u8fc7 \u7c73 \u3002   \u4ee3\u7406 \u88ab \u963b\u6b62   180 \u2014   \u5982\u679c \u4ee3\u7406 \u5728 \u4eff\u771f \u79d2 \u5185 \u6ca1\u6709 \u91c7\u53d6 \u4efb\u4f55 \u91c7\u53d6\u4efb\u4f55 \u64cd\u4f5c \u3002   \u4eff\u771f \u8d85\u65f6   \u2014 \u2014 \u5982\u679c \u5728 \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u5185 \u65e0\u6cd5 \u5efa\u7acb \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 60 \u3002   \u8def\u7ebf \u8d85\u65f6   -   \u5982\u679c \u8def\u7ebf \u4eff\u771f \u82b1\u8d39 \u592a \u65f6\u95f4 \u957f\u65f6\u95f4 \u624d\u80fd \u5b8c\u6210 \u3002   \u6bcf\u6b21 \u53d1\u751f \u4e0a\u8ff0 \u4efb\u4f55 \u60c5\u51b5 \u65f6 \uff0c \u90fd \u4f1a \u8bb0\u5f55 \u4e00\u4e9b \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8fd9\u4e9b \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u5c06 \u663e\u793a \u4e3a \u5217\u8868 \uff0c \u4f9b \u60a8 \u67e5\u770b \u8def\u7ebf \u7684 \u5404\u4e2a \u6307\u6807 \u3002 \u4ee5\u4e0b \u662f \u4ee3\u7406 \u7ea2\u706f \u95ef\u7ea2\u706f \u5e76 \u504f\u79bb \u8def\u7ebf \u7684 \u8def\u7ebf \u793a\u4f8b \u3002   \" infractions \" :   {   \" Collisions   with   layout \" :   [ ] ,   \" Collisions   with   pedestrians \" :   [ ] ,   \" Collisions   with   vehicles \" :   [ ] ,   \" Red   lights   infractions \" :   [   \" Agent   ran   a   red   light   203   at   ( x = 341.25 ,   y = 209.1 ,   z = 0.104 ) \"   ] ,   \" Stop   sign   infractions \" :   [ ] ,   \" Off - road   infractions \" :   [ ] ,   \" Min   speed   infractions \" :   [ ] ,   \" Yield   to   emergency   vehicle   infractions \" :   [ ] ,   \" Scenario   timeouts \" :   [ ] ,   \" Route   deviations \" :   [   \" Agent   deviated   from   the   route   at   ( x = 95.92 ,   y = 165.673 ,   z = 0.138 ) \"   ] ,   \" Agent   blocked \" :   [ ] ,   \" Route   timeouts \" :   [ ]   }   \u7b14\u8bb0   \u5168\u5c40 \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \u5c06 \u5404\u4e2a \u8def\u7ebf \u7684 \u6570\u636e \u538b\u7f29 \u6570\u636e\u538b\u7f29 \u4e3a \u5355\u4e2a \u503c \uff0c \u5e76 \u4ee5 \u6bcf \u516c\u91cc \u7684 \u4e8b\u4ef6 \u6570 \u7ed9\u51fa \u3002   \u5f00\u59cb \u4f7f\u7528   \u4e3a\u4e86 \u719f\u6089 \u6392\u884c \u6392\u884c\u699c \uff0c \u6211\u4eec \u5efa\u8bae \u5efa\u8bae\u60a8 \u4ed4\u7ec6 \u9605\u8bfb \u4ed4\u7ec6\u9605\u8bfb \u201c \u5165\u95e8 \u201d \u90e8\u5206 \u3002 \u8bf7\u82b1 \u8db3\u591f \u7684 \u65f6\u95f4 \u786e\u4fdd \u4e00\u5207 \u5728 \u672c\u5730 \u6309 \u9884\u671f \u8fd0\u884c \u3002   \u51c6\u5907 \u597d\u540e \uff0c \u8bf7 \u68c0\u67e5 \u201c \u63d0\u4ea4 \u201d \u90e8\u5206 \u4ee5 \u4e86\u89e3 \u5982\u4f55 \u51c6\u5907 \u63d0\u4ea4 \u3002   \u6392\u884c \u6392\u884c\u699c   1.0   \u6392\u884c \u6392\u884c\u699c \u76ee\u524d \u4e3a   2.0   \u7248\u672c \u3002 \u6392\u884c \u6392\u884c\u699c   1.0   \u7248 \u4ecd\u7136 \u53ef\u4ee5 \u652f\u6301 \u60a8 \u4e4b\u524d \u7684 \u5de5\u4f5c \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605 \u201c \u5f00\u59cb \u201d \u548c \u201c \u63d0\u4ea4 \u201d \u9875\u9762 \u4ee5 \u83b7\u53d6 \u6392\u884c \u6392\u884c\u699c   1.0   \u7248\u672c \u7684 \u63d0\u4ea4 \u4fe1\u606f \u3002   \u6761\u6b3e \u548c \u6761\u4ef6   \u611f\u8c22 \u6211\u4eec \u7684 \u8d5e\u52a9 \u8d5e\u52a9\u5546 \u548c \u5408\u4f5c \u4f5c\u8005 \u5408\u4f5c\u8005 \u7684 \u6177\u6168 \u89e3\u56ca \u6177\u6168\u89e3\u56ca \uff0c Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u4f5c\u4e3a \u4e00\u9879 \u5411 \u7814\u7a76 \u754c \u63d0\u4f9b \u7684 \u670d\u52a1 \u514d\u8d39 \u63d0\u4f9b \u3002   \u6bcf\u4e2a \u63d0\u4ea4 \u90fd \u5c06 \u5728   AWS   \u4e2d \u4f7f\u7528   g5.12 xlarge   \u5b9e\u4f8b \u8fdb\u884c \u8bc4\u4f30   \u3002 \u8fd9\u4f7f \u7528\u6237 \u53ef\u4ee5 \u8bbf\u95ee \u5177\u6709 \u73b0\u4ee3   GPU   \u548c   CPU   \u7684 \u4e13\u7528 \u8282\u70b9 \u3002   \u6bcf\u4e2a \u6708 \u5411 \u56e2\u961f \u63d0\u4ea4 \u7684 \u63d0\u4ea4 \u6570\u91cf \u6709\u9650 \uff08 \u76ee\u524d \u4e3a   5   \u4efd \uff09 \u3002   \u63d0\u4ea4 \u6d25\u8d34 \u6bcf\u6708 \u81ea\u52a8 \u8865\u5145 \u3002   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u7ec4\u7ec7 \u7ec4\u7ec7\u8005 \u4fdd\u7559 \u5411 \u56e2\u961f \u5206\u914d \u989d\u5916 \u6d25\u8d34 \u7684 \u6743\u5229 \u3002 \u8be5 \u7ec4\u7ec7 \u8fd8 \u4fdd\u7559 \u4fee\u6539 \u6bcf\u6708 \u63d0\u4ea4 \u6d25\u8d34 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u7684 \u6743\u5229 \u3002   \u4e25\u683c \u7981\u6b62 \u6ee5\u7528 \u6216 \u653b\u51fb   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u57fa\u7840 \u8bbe\u65bd \u57fa\u7840\u8bbe\u65bd \uff0c \u5305\u62ec \u7528\u4e8e \u8fd0\u884c \u670d\u52a1 \u7684 \u6240\u6709 \u8f6f\u4ef6 \u548c \u786c\u4ef6 \u3002 \u504f\u79bb   Carla   \u6392\u884c \u6392\u884c\u699c \u7cbe\u795e \u7684 \u884c\u4e3a \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u56e2\u961f \u89e3\u6563 \u3002   \u5982\u9700 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u8bf4\u660e \uff0c \u8bf7 \u9605\u8bfb \u6761\u6b3e \u548c \u6761\u4ef6 \u3002   \u6027\u80fd \u6392\u884c \u6392\u884c\u699c","title":"\u6982\u8ff0"},{"location":"leaderboard/#_1","text":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u7684 \u4e3b\u8981 \u76ee\u6807 \u662f \u8bc4\u4f30 \u81ea\u52a8 \u9a7e\u9a76 \u4eba\u5458 \u9a7e\u9a76\u4eba\u5458 \u5728 \u73b0\u5b9e \u4ea4\u901a \u573a\u666f \u4e2d \u7684 \u9a7e\u9a76 \u719f\u7ec3 \u7a0b\u5ea6 \u719f\u7ec3\u7a0b\u5ea6 \u3002 \u6392\u884c \u6392\u884c\u699c \u4f5c\u4e3a \u793e\u533a \u7684 \u5f00\u653e \u5e73\u53f0 \u5f00\u653e\u5e73\u53f0 \uff0c \u5bf9 \u81ea\u52a8 \u9a7e\u9a76 \u6c7d\u8f66 \u4ee3\u7406 \u8fdb\u884c \u516c\u5e73 \u4e14 \u53ef \u91cd\u590d \u7684 \u8bc4\u4f30 \uff0c \u7b80\u5316 \u4e86 \u4e0d\u540c \u65b9\u6cd5 \u4e4b\u95f4 \u7684 \u6bd4\u8f83 \u3002 \u6392\u884c \u6392\u884c\u699c \u76ee\u524d \u4e3a   2.0   \u7248\u672c \uff0c \u4ecd \u652f\u6301   1.0   \u7248\u672c \u3002","title":"\u6982\u8ff0"},{"location":"leaderboard/#_2","text":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u8981\u6c42 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u9a7e\u9a76 \u901a\u8fc7 \u4e00\u7ec4 \u9884\u5b9a \u4e49 \u7684 \u8def\u7ebf \u3002 \u5bf9\u4e8e \u6bcf\u6761 \u8def\u7ebf \uff0c \u4ee3\u7406 \u5c06 \u5728 \u8d77\u70b9 \u8fdb\u884c \u521d\u59cb \u521d\u59cb\u5316 \uff0c \u5e76 \u5f15\u5bfc \u5176 \u884c\u9a76 \u81f3 \u76ee\u7684 \u76ee\u7684\u5730 \u70b9 \uff0c \u5e76 \u901a\u8fc7   GPS   \u6837\u5f0f \u5750\u6807 \u3001 \u5730\u56fe \u5750\u6807 \u6216 \u8def\u7ebf \u6307\u4ee4 \u63d0\u4f9b \u8def\u7ebf \u63cf\u8ff0 \u3002 \u8def\u7ebf \u662f \u5728 \u591a\u79cd \u60c5\u51b5 \u4e0b\u5b9a \u5b9a\u4e49 \u4e0b\u5b9a\u4e49 \u7684 \uff0c \u5305\u62ec \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3001 \u57ce\u5e02 \u5730\u533a \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u73af\u5883 \u3002 \u6392\u884c \u6392\u884c\u699c \u8bc4\u4f30 \u5404\u79cd \u5929\u6c14 \u6761\u4ef6 \u4e0b \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \uff0c \u5305\u62ec \u65e5\u5149 \u573a\u666f \u3001 \u65e5\u843d \u3001 \u96e8 \u3001 \u96fe \u548c \u591c\u665a \u7b49 \u3002","title":"\u4efb\u52a1"},{"location":"leaderboard/#_3","text":"\u4ee3\u7406 \u5c06 \u9762\u4e34 \u57fa\u4e8e   NHTSA   \u7c7b\u578b \u7684 \u591a\u79cd \u4ea4\u901a \u573a\u666f \u3002 \u53ef\u4ee5 \u5728 \u6b64 \u9875\u9762 \u4e2d \u67e5\u770b \u4ea4\u901a \u573a\u666f \u7684 \u5b8c\u6574 \u5217\u8868 \uff0c \u4f46 \u8fd9\u91cc \u6709 \u4e00\u4e9b \u793a\u4f8b \u3002   \u8f66\u9053 \u5408\u5e76 \u3002   \u53d8\u9053 \u3002   \u5728 \u4ea4\u901a \u8def\u53e3 \u8fdb\u884c \u534f\u5546 \u3002   \u5728 \u73af\u5c9b \u8fdb\u884c \u534f\u5546 \u3002   \u5904\u7406 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3002   \u7ed9 \u7d27\u6025 \u8f66\u8f86 \u8ba9 \u884c \u3002   \u5e94\u5bf9 \u884c\u4eba \u3001 \u9a91 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4eba \u548c \u5176\u4ed6 \u56e0\u7d20 \u3002   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u4e2d \u7684 \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u56fe\u89e3 \u3002","title":"\u5e94\u7528 \u573a\u666f"},{"location":"leaderboard/#_4","text":"\u6392\u884c \u6392\u884c\u699c \u63d0\u4f9b \u4e24\u79cd \u53c2\u4e0e \u65b9\u5f0f \uff1a SENSORS   \u548c   MAP \u3002 \u8fd9\u4e9b \u65b9\u5f0f \u7684 \u4e0d\u540c \u4e4b\u5904 \u4e0d\u540c\u4e4b\u5904 \u5728\u4e8e \u60a8 \u7684 \u4ee3\u7406 \u53ef\u4ee5 \u4ece \u5e73\u53f0 \u8bf7\u6c42 \u7684 \u8f93\u5165 \u6570\u636e \u7c7b\u578b \u6570\u636e\u7c7b\u578b \u3002   \u6b64\u5916 \uff0c \u4e24\u79cd \u6a21\u5f0f \u7684 \u4ee3\u7406 \u90fd \u5c06 \u6536\u5230 \u9ad8\u7ea7 \u8def\u7ebf \u63cf\u8ff0 \uff0c \u6307\u793a \u8def\u5f84 \u5fc5\u987b \u9075\u5faa \u7684 \u5173\u952e \u5173\u952e\u70b9 \u624d\u80fd \u5230\u8fbe \u76ee\u7684 \u76ee\u7684\u5730 \u3002 \u8be5 \u8def\u7ebf \u8868\u793a \u4e3a \u5143\u7ec4 \u5217\u8868 \uff0c \u5e76\u4e14 \u6709 \u4e24\u79cd \u53d8\u4f53 \u3002   \u5bf9\u4e8e \u7b2c\u4e00 \u4e00\u79cd \u7b2c\u4e00\u79cd \u60c5\u51b5 \uff0c \u5143\u7ec4 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u5143\u7d20 \u5305\u542b \u4e00\u4e2a \u8def\u5f84 \u70b9 \uff0c \u8868\u793a \u4e3a \u7eac\u5ea6 \u3001 \u7ecf\u5ea6 \u548c \u5206\u91cf   z \u3002   [ ( { ' z ' :   0.0 ,   ' lat ' :   48.99822669411668 ,   ' lon ' :   8.002271601998707 } ,   RoadOption . LEFT ) ,   ( { ' z ' :   0.0 ,   ' lat ' :   48.99822669411668 ,   ' lon ' :   8.002709765148996 } ,   RoadOption . RIGHT ) ,   ...   ( { ' z ' :   0.0 ,   ' lat ' :   48.99822679980298 ,   ' lon ' :   8.002735250105061 } ,   RoadOption . STRAIGHT ) ]   \u7b2c\u4e8c \u4e8c\u79cd \u7b2c\u4e8c\u79cd \u60c5\u51b5 \u4e0e \u524d \u4e00\u79cd \u60c5\u51b5 \u975e\u5e38 \u76f8\u4f3c \uff0c \u4f46 \u4e0d \u4f7f\u7528   GPS   \u5750\u6807 \uff0c \u800c\u662f \u7528 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u8868\u793a \u8def\u7ebf \u3002   [ ( { ' x ' :   153.7 ,   ' y ' :   15.6 ,   ' z ' :   0.0 } ,   RoadOption . LEFT ) ,   ( { ' x ' :   148.9 ,   ' y ' :   67.8 ,   ' z ' :   0.0 } ,   RoadOption . RIGHT ) ,   ...   ( { ' x ' :   180.7 ,   ' y ' :   45.1 ,   ' z ' :   1.2 } ,   RoadOption . STRAIGHT ) ]   \u7b14\u8bb0   \u4e24\u4e2a \u8fde\u7eed \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u53ef\u80fd \u957f \u8fbe \u6570\u767e \u767e\u7c73 \u6570\u767e\u7c73 \u3002 \u4e0d\u8981 \u4f9d\u8d56 \u8fd9\u4e9b \u4f5c\u4e3a \u60a8 \u9a7e\u9a6d \u73af\u5883 \u7684 \u4e3b\u8981 \u673a\u5236 \u3002   \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u5143\u7d20 \u5305\u542b \u9ad8\u7ea7 \u547d\u4ee4 \u3002 \u53ef\u7528 \u7684 \u9ad8\u7ea7 \u547d\u4ee4 \u547d\u4ee4\u96c6 \u662f \uff1a   RoadOption . CHANGELANELEFT \uff1a \u5411 \u5de6 \u79fb\u52a8 \u4e00\u6761 \u8f66\u9053 \u3002   RoadOption . CHANGELANERIGHT \uff1a \u5411 \u53f3 \u79fb\u52a8 \u4e00\u6761 \u8f66\u9053 \u3002   RoadOption . LANEFOLLOW \uff1a \u7ee7\u7eed \u5728 \u5f53\u524d \u8f66\u9053 \u4e0a \u884c\u9a76 \u3002   RoadOption . LEFT \uff1a \u5728 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u5de6\u8f6c \u3002   RoadOption . RIGHT \uff1a \u5728 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u53f3\u8f6c \u3002   RoadOption . STRAIGHT \uff1a \u5728 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u4fdd\u6301 \u76f4\u884c \u3002   \u7b14\u8bb0   \u60a8 \u4e0d\u5f97 \u4f7f\u7528   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u63d0\u4f9b \u7684 \u4efb\u4f55 \u7279\u6743 \u4fe1\u606f \uff0c \u5305\u62ec \u89c4\u5212 \u5668 \u6216 \u4efb\u4f55 \u7c7b\u578b \u7684 \u57fa\u672c \u4e8b\u5b9e \u3002 \u4f7f\u7528 \u8fd9\u4e9b \u529f\u80fd \u7684 \u63d0\u4ea4 \u5c06 \u88ab \u62d2\u7edd \uff0c \u56e2\u961f \u5c06 \u88ab \u7981\u6b62 \u8fdb\u5165 \u8be5 \u5e73\u53f0 \u3002","title":"\u53c2\u4e0e \u65b9\u5f0f"},{"location":"leaderboard/#_5","text":"\u5728 \u6b64 \u8f68\u8ff9 \u4e0a \uff0c \u4ee3\u7406 \u53ef\u4ee5 \u8bf7\u6c42 \u8bbf\u95ee \u4ee5\u4e0b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u7b14\u8bb0   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5355\u4f4d \u90fd \u53d7\u5230 \u9650\u5236 \u53d7\u5230\u9650\u5236 \uff0c \u4ee5 \u63a7\u5236 \u8ba1\u7b97 \u9884\u7b97 \u3002","title":"\u4f20\u611f\u5668 \u8f68\u8ff9"},{"location":"leaderboard/#_6","text":"\u63d0\u4f9b \u4e0e   SENSORS   \u8f68\u8ff9 \u76f8\u540c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7ec4 \u3002 \u6b64\u5916 \uff0c \u4ee3\u7406 \u53ef\u4ee5 \u8bf7\u6c42 \u8bbf\u95ee \u9ad8\u7cbe \u5730\u56fe \uff0c \u8be5 \u5730\u56fe \u4ee5 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7684   OpenDRIVE   \u6587\u4ef6 \u5f62\u5f0f \u63d0\u4f9b \u3002   \u7b14\u8bb0   \u60a8 \u5b8c\u5168 \u8d1f\u8d23 \u89e3\u6790 \u6b64 \u6587\u4ef6 \u6216 \u5c06 \u5176 \u8f6c\u6362 \u4e3a \u5bf9 \u60a8 \u7684 \u4ee3\u7406 \u6709\u7528 \u7684 \u8868\u793a \u5f62\u5f0f \u3002","title":"\u5730\u56fe \u8f68\u8ff9"},{"location":"leaderboard/#_7","text":"\u6392\u884c \u6392\u884c\u699c   2.0   \u8bbe\u6709   2   \u6761 \u8d44\u683c \u8d44\u683c\u8d5b \u8d5b\u9053 \uff0c \u60a8 \u7684 \u4ee3\u7406 \u5c06 \u9700\u8981 \u901a\u8fc7 \u5177\u6709 \u7b80\u5355 \u9a7e\u9a76 \u573a\u666f \u7684 \u4e0d\u89c1 \u770b\u4e0d\u89c1 \u7684 \u5730\u56fe \u5b89\u5168 \u5730 \u5bfc\u822a \u4e00\u6761 \u7b80\u5355 \u7684 \u8def\u7ebf \u3002 \u6bcf\u4e2a   SENSOR   \u548c   MAP   \u8f68\u9053 \u90fd \u6709 \u5176 \u5404\u81ea \u7684 \u9650\u5b9a \u9650\u5b9a\u7b26 \u3002 \u60a8 \u5fc5\u987b \u5728 \u9884\u9009 \u9884\u9009\u8d5b \u4e2d \u8fbe\u5230 \u6700\u4f4e \u9a7e\u9a76 \u5206\u6570 \uff0c \u624d\u80fd \u5141\u8bb8 \u5411 \u6392\u884c \u6392\u884c\u699c   2.0   \u4e3b \u8d5b\u9053 \u63d0\u4ea4 \u4ee3\u7406 \u3002   \u4e3a\u4e86 \u8282\u7701 \u8ba1\u7b97 \u8d44\u6e90 \u8ba1\u7b97\u8d44\u6e90 \uff0c \u9884\u9009 \u9884\u9009\u8d5b \u5c06 \u5141\u8bb8 \u4f7f\u7528 \u6bd4 \u4e3b\u8981 \u7ade\u4e89 \u5bf9\u624b \u7ade\u4e89\u5bf9\u624b \u66f4 \u4e25\u683c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5957\u4ef6 \uff0c \u5305\u62ec   0 - 4   \u4e2a   RGB   \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u3001 0 - 2   \u4e2a \u96f7\u8fbe \u548c   0 - 1   \u4e2a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff0c \u4ee5\u53ca \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u3001 IMU   \u548c \u901f\u5ea6 \u901f\u5ea6\u8ba1 \uff08 \u4ee5\u53ca \u7528\u4e8e   MAP   \u8d5b\u9053 \u7684   OpenDRIVE \uff09 \u3002 \u6211\u4eec \u9f13\u52b1 \u60a8 \u4f7f\u7528 \u9650\u5b9a \u9650\u5b9a\u7b26 \u6765 \u786e\u4fdd \u786e\u4fdd\u60a8 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u5806\u6808 \u5df2 \u6b63\u786e \u914d\u7f6e \u5e76 \u5728 \u6392\u884c \u6392\u884c\u699c \u4e0a \u6b63\u5e38 \u8fd0\u884c \u3002","title":"\u8d44\u683c\u8d5b \u8d5b\u9053"},{"location":"leaderboard/#_8","text":"\u4ee3\u7406 \u7684 \u9a7e\u9a76 \u719f\u7ec3 \u7a0b\u5ea6 \u719f\u7ec3\u7a0b\u5ea6 \u53ef\u4ee5 \u901a\u8fc7 \u591a\u79cd \u6307\u6807 \u6765 \u8868\u5f81 \u3002 \u5bf9\u4e8e \u8fd9\u4e2a \u6392\u884c \u6392\u884c\u699c \uff0c \u6211\u4eec \u9009\u62e9 \u4e86 \u4e00\u7ec4 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u4e86\u89e3 \u9a7e\u9a76 \u4e0d\u540c \u65b9\u9762 \u7684 \u6307\u6807 \u3002 \u867d\u7136 \u6240\u6709 \u8def\u7531 \u90fd \u5177\u6709 \u76f8\u540c \u7c7b\u578b \u7684 \u6307\u6807 \uff0c \u4f46 \u5b83\u4eec \u5404\u81ea \u7684 \u503c \u662f \u5355\u72ec \u8ba1\u7b97 \u7684 \u3002 \u5177\u4f53 \u6307\u6807 \u5982\u4e0b \uff1a   \u9a7e\u9a76 \u5206\u6570   \uff1a ( { R _ i   P _ i } , )   \u2014   \u6392\u884c \u6392\u884c\u699c \u7684 \u4e3b\u8981 \u6307\u6807 \uff0c \u4f5c\u4e3a \u8def\u7ebf \u5b8c\u6210 \u4e0e \u8fdd\u89c4 \u5904\u7f5a \u4e4b\u95f4 \u7684 \u4e58\u79ef \u3002 \u8fd9\u91cc ( Ri ) \u662f   ( i \u2212 th )   \u8def\u7ebf \u7684 \u5b8c\u6210 \u767e\u5206 \u767e\u5206\u6bd4 \uff0c \u800c ( Pi ) \u662f   ( i \u2212 th )   \u8def\u7ebf \u7684 \u8fdd\u89c4 \u5904\u7f5a \u3002   \u8def\u7ebf \u5b8c\u6210   \uff1a \u5ba2\u670d \u4eba\u5458 \u5b8c\u6210 \u7684 \u8def\u7ebf \u8ddd\u79bb \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   \u8fdd\u89c4 \u5904\u7f5a   :   ( \\ prod _ j ^ { \\ text { ped . ,   ... ,   stop } }   ( { p _ i ^ j } ) ^ { \\ text { # infractions } _ j } . )   \u2014   \u6392\u884c \u6392\u884c\u699c \u8ddf\u8e2a \u591a\u79cd \u79cd\u7c7b \u7c7b\u578b \u591a\u79cd\u7c7b\u578b \u7684 \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \u8be5 \u6307\u6807 \u5c06 \u4ee3\u7406 \u89e6\u53d1 \u7684 \u6240\u6709 \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \u6c47\u603b \u4e3a \u51e0\u4f55 \u7ea7\u6570 \u51e0\u4f55\u7ea7\u6570 \u3002 \u4ee3\u7406 \u7684 \u7406\u60f3 \u57fa\u7840 \u5206\u6570 \u662f 1.0 \uff0c \u6bcf \u72af\u4e0b \u4e00\u79cd \u7c7b\u578b \u7684 \u8fdd\u89c4 \uff0c \u8be5 \u5206\u6570 \u90fd \u4f1a \u964d\u4f4e \u3002   \u5f53 \u6240\u6709 \u8def\u7531 \u5b8c\u6210 \u540e \uff0c \u8fd8\u4f1a \u751f\u6210 \u524d \u4e09\u79cd \u7c7b\u578b \u4e2d \u6bcf \u4e00\u79cd \u7684 \u5168\u5c40 \u5ea6\u91cf \uff0c \u5373 \u6240\u6709 \u5355\u72ec \u8def\u7531 \u7ec4\u5408 \u7684 \u7b97\u672f \u5e73\u5747 \u5747\u503c \u5e73\u5747\u503c \u3002 \u5168\u5c40 \u9a7e\u9a76 \u5206\u6570 \u662f \u5bf9 \u60a8 \u4e0e \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8fdb\u884c \u5206\u7c7b \u7684 \u4e3b\u8981 \u6307\u6807 \u3002","title":"\u8bc4\u4f30 \u548c \u6307\u6807"},{"location":"leaderboard/#_9","text":"Carla   \u6392\u884c \u6392\u884c\u699c \u63d0\u4f9b \u4e86 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \u7684 \u5355\u72ec \u6307\u6807 \u3002 \u5176\u4e2d \u6bcf \u4e00\u4e2a \u90fd \u6709 \u4e00\u4e2a \u60e9\u7f5a \u7cfb\u6570 \uff0c \u6bcf\u6b21 \u53d1\u751f \u65f6 \u90fd \u4f1a \u5e94\u7528 \u8be5 \u7cfb\u6570 \u3002 \u6309 \u4e25\u91cd \u7a0b\u5ea6 \u6392\u5e8f \uff0c \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \u5982\u4e0b \u3002   \u4e0e \u884c\u4eba \u76f8\u649e   \u2014   0.50 .   \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u76f8\u649e   \u2014   0.60 .   \u4e0e \u9759\u6001 \u5143\u7d20 \u7684 \u78b0\u649e   -   0.65 .   \u7ea2\u706f \u95ef\u7ea2\u706f   \u2014 \u2014   0.70 \u3002   \u8fd0\u884c \u505c\u8f66 \u6807\u5fd7   \u2014   0.80 .   \u67d0\u4e9b \u573a\u666f \u7684 \u884c\u4e3a \u53ef\u4ee5 \u65e0\u9650 \u9650\u671f \u65e0\u9650\u671f \u5730 \u963b\u6b62 \u81ea\u6211 \u8f66\u8f86 \u3002 \u8fd9\u4e9b \u573a\u666f \u5c06 \u6709   4   \u5206\u949f \u7684 \u8d85\u65f6 \u65f6\u95f4 \uff0c \u4e4b\u540e \u81ea\u52a8 \u8f66\u8f86 \u5c06 \u88ab \u91ca\u653e \u4ee5 \u7ee7\u7eed \u8def\u7ebf \u3002 \u4f46\u662f \uff0c \u5982\u679c \u8d85\u8fc7 \u65f6\u9650 \uff0c \u5219 \u4f1a \u53d7\u5230 \u5904\u7f5a \uff1a   \u573a\u666f \u8d85\u65f6   \u2014 0.7   \u9884\u8ba1 \u4ee3\u7406 \u5c06 \u4fdd\u6301 \u6700\u4f4e \u901f\u5ea6 \u4ee5 \u9002\u5e94 \u9644\u8fd1 \u7684 \u4ea4\u901a \u3002 \u4ee3\u7406 \u7684 \u901f\u5ea6 \u5c06 \u4e0e \u9644\u8fd1 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u8fdb\u884c \u6bd4\u8f83 \u3002 \u672a\u80fd \u4fdd\u6301 \u9002\u5f53 \u7684 \u901f\u5ea6 \u5c06 \u53d7\u5230 \u5904\u7f5a \u3002 \u6240 \u65bd\u52a0 \u7684 \u60e9\u7f5a \u53d6\u51b3 \u53d6\u51b3\u4e8e \u901f\u5ea6 \u5dee \u7684 \u5927\u5c0f \uff0c \u6700\u9ad8 \u53ef \u8fbe \u4ee5\u4e0b \u503c \uff1a   \u672a\u80fd \u4fdd\u6301 \u6700\u4f4e \u901f\u5ea6   \u2014 0.7   \u7279\u5de5 \u5e94\u8be5 \u7ed9 \u4ece \u540e\u9762 \u9a76\u6765 \u7684 \u7d27\u6025 \u8f66\u8f86 \u8ba9\u8def \u3002 \u4e0d\u8ba9 \u7d27\u6025 \u8f66\u8f86 \u901a\u8fc7 \u5c06 \u53d7\u5230 \u5904\u7f5a \uff1a   \u672a\u80fd \u7ed9 \u7d27\u6025 \u8f66\u8f86 \u8ba9\u8def   \u2014 0.7   \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u8fd8\u6709 \u4e00\u79cd \u989d\u5916 \u7684 \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \uff0c \u5b83 \u6ca1\u6709 \u7cfb\u6570 \uff0c \u800c\u662f \u5f71\u54cd \u8def\u7ebf \u5b8c\u6210 \uff08 ( R _ i ) \uff09 \u7684 \u8ba1\u7b97 \u3002   \u8d8a\u91ce \u9a7e\u9a76   -   \u5982\u679c \u4ee3\u7406 \u9a7e\u9a76 \u8d8a\u91ce \uff0c \u5219 \u5728 \u8ba1\u7b97 \u8def\u7ebf \u5b8c\u6210 \u5206\u6570 \u65f6 \u5c06 \u4e0d\u4f1a \u8003\u8651 \u8be5 \u8def\u7ebf \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   \u6b64\u5916 \uff0c \u67d0\u4e9b \u4e8b\u4ef6 \u4f1a \u4e2d\u65ad \u4eff\u771f \uff0c \u4ece\u800c \u963b\u6b62 \u4ee3\u7406 \u7ee7\u7eed \u8fdb\u884c \u3002 \u5728 \u8fd9\u4e9b \u60c5\u51b5 \u4e0b \uff0c \u6b63\u5728 \u4eff\u771f \u7684 \u8def\u7ebf \u5c06 \u88ab \u5173\u95ed \uff0c \u6392\u884c \u6392\u884c\u699c \u5c06 \u79fb\u81f3 \u4e0b \u4e00\u6761 \uff0c \u6b63\u5e38 \u89e6\u53d1 \u3002   \u8def\u7ebf \u504f\u5dee   30 -   \u5982\u679c \u5ba2\u670d \u4eba\u5458 \u504f\u79bb \u6307\u5b9a \u8def\u7ebf \u8d85\u8fc7 \u7c73 \u3002   \u4ee3\u7406 \u88ab \u963b\u6b62   180 \u2014   \u5982\u679c \u4ee3\u7406 \u5728 \u4eff\u771f \u79d2 \u5185 \u6ca1\u6709 \u91c7\u53d6 \u4efb\u4f55 \u91c7\u53d6\u4efb\u4f55 \u64cd\u4f5c \u3002   \u4eff\u771f \u8d85\u65f6   \u2014 \u2014 \u5982\u679c \u5728 \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u5185 \u65e0\u6cd5 \u5efa\u7acb \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 60 \u3002   \u8def\u7ebf \u8d85\u65f6   -   \u5982\u679c \u8def\u7ebf \u4eff\u771f \u82b1\u8d39 \u592a \u65f6\u95f4 \u957f\u65f6\u95f4 \u624d\u80fd \u5b8c\u6210 \u3002   \u6bcf\u6b21 \u53d1\u751f \u4e0a\u8ff0 \u4efb\u4f55 \u60c5\u51b5 \u65f6 \uff0c \u90fd \u4f1a \u8bb0\u5f55 \u4e00\u4e9b \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8fd9\u4e9b \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u5c06 \u663e\u793a \u4e3a \u5217\u8868 \uff0c \u4f9b \u60a8 \u67e5\u770b \u8def\u7ebf \u7684 \u5404\u4e2a \u6307\u6807 \u3002 \u4ee5\u4e0b \u662f \u4ee3\u7406 \u7ea2\u706f \u95ef\u7ea2\u706f \u5e76 \u504f\u79bb \u8def\u7ebf \u7684 \u8def\u7ebf \u793a\u4f8b \u3002   \" infractions \" :   {   \" Collisions   with   layout \" :   [ ] ,   \" Collisions   with   pedestrians \" :   [ ] ,   \" Collisions   with   vehicles \" :   [ ] ,   \" Red   lights   infractions \" :   [   \" Agent   ran   a   red   light   203   at   ( x = 341.25 ,   y = 209.1 ,   z = 0.104 ) \"   ] ,   \" Stop   sign   infractions \" :   [ ] ,   \" Off - road   infractions \" :   [ ] ,   \" Min   speed   infractions \" :   [ ] ,   \" Yield   to   emergency   vehicle   infractions \" :   [ ] ,   \" Scenario   timeouts \" :   [ ] ,   \" Route   deviations \" :   [   \" Agent   deviated   from   the   route   at   ( x = 95.92 ,   y = 165.673 ,   z = 0.138 ) \"   ] ,   \" Agent   blocked \" :   [ ] ,   \" Route   timeouts \" :   [ ]   }   \u7b14\u8bb0   \u5168\u5c40 \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \u5c06 \u5404\u4e2a \u8def\u7ebf \u7684 \u6570\u636e \u538b\u7f29 \u6570\u636e\u538b\u7f29 \u4e3a \u5355\u4e2a \u503c \uff0c \u5e76 \u4ee5 \u6bcf \u516c\u91cc \u7684 \u4e8b\u4ef6 \u6570 \u7ed9\u51fa \u3002","title":"\u8fdd\u89c4 \u548c \u5173\u95ed \u4e8b\u4ef6"},{"location":"leaderboard/#_10","text":"\u4e3a\u4e86 \u719f\u6089 \u6392\u884c \u6392\u884c\u699c \uff0c \u6211\u4eec \u5efa\u8bae \u5efa\u8bae\u60a8 \u4ed4\u7ec6 \u9605\u8bfb \u4ed4\u7ec6\u9605\u8bfb \u201c \u5165\u95e8 \u201d \u90e8\u5206 \u3002 \u8bf7\u82b1 \u8db3\u591f \u7684 \u65f6\u95f4 \u786e\u4fdd \u4e00\u5207 \u5728 \u672c\u5730 \u6309 \u9884\u671f \u8fd0\u884c \u3002   \u51c6\u5907 \u597d\u540e \uff0c \u8bf7 \u68c0\u67e5 \u201c \u63d0\u4ea4 \u201d \u90e8\u5206 \u4ee5 \u4e86\u89e3 \u5982\u4f55 \u51c6\u5907 \u63d0\u4ea4 \u3002","title":"\u5f00\u59cb \u4f7f\u7528"},{"location":"leaderboard/#10","text":"\u6392\u884c \u6392\u884c\u699c \u76ee\u524d \u4e3a   2.0   \u7248\u672c \u3002 \u6392\u884c \u6392\u884c\u699c   1.0   \u7248 \u4ecd\u7136 \u53ef\u4ee5 \u652f\u6301 \u60a8 \u4e4b\u524d \u7684 \u5de5\u4f5c \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605 \u201c \u5f00\u59cb \u201d \u548c \u201c \u63d0\u4ea4 \u201d \u9875\u9762 \u4ee5 \u83b7\u53d6 \u6392\u884c \u6392\u884c\u699c   1.0   \u7248\u672c \u7684 \u63d0\u4ea4 \u4fe1\u606f \u3002","title":"\u6392\u884c\u699c   1.0"},{"location":"leaderboard/#_11","text":"\u611f\u8c22 \u6211\u4eec \u7684 \u8d5e\u52a9 \u8d5e\u52a9\u5546 \u548c \u5408\u4f5c \u4f5c\u8005 \u5408\u4f5c\u8005 \u7684 \u6177\u6168 \u89e3\u56ca \u6177\u6168\u89e3\u56ca \uff0c Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u4f5c\u4e3a \u4e00\u9879 \u5411 \u7814\u7a76 \u754c \u63d0\u4f9b \u7684 \u670d\u52a1 \u514d\u8d39 \u63d0\u4f9b \u3002   \u6bcf\u4e2a \u63d0\u4ea4 \u90fd \u5c06 \u5728   AWS   \u4e2d \u4f7f\u7528   g5.12 xlarge   \u5b9e\u4f8b \u8fdb\u884c \u8bc4\u4f30   \u3002 \u8fd9\u4f7f \u7528\u6237 \u53ef\u4ee5 \u8bbf\u95ee \u5177\u6709 \u73b0\u4ee3   GPU   \u548c   CPU   \u7684 \u4e13\u7528 \u8282\u70b9 \u3002   \u6bcf\u4e2a \u6708 \u5411 \u56e2\u961f \u63d0\u4ea4 \u7684 \u63d0\u4ea4 \u6570\u91cf \u6709\u9650 \uff08 \u76ee\u524d \u4e3a   5   \u4efd \uff09 \u3002   \u63d0\u4ea4 \u6d25\u8d34 \u6bcf\u6708 \u81ea\u52a8 \u8865\u5145 \u3002   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u7ec4\u7ec7 \u7ec4\u7ec7\u8005 \u4fdd\u7559 \u5411 \u56e2\u961f \u5206\u914d \u989d\u5916 \u6d25\u8d34 \u7684 \u6743\u5229 \u3002 \u8be5 \u7ec4\u7ec7 \u8fd8 \u4fdd\u7559 \u4fee\u6539 \u6bcf\u6708 \u63d0\u4ea4 \u6d25\u8d34 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u7684 \u6743\u5229 \u3002   \u4e25\u683c \u7981\u6b62 \u6ee5\u7528 \u6216 \u653b\u51fb   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u57fa\u7840 \u8bbe\u65bd \u57fa\u7840\u8bbe\u65bd \uff0c \u5305\u62ec \u7528\u4e8e \u8fd0\u884c \u670d\u52a1 \u7684 \u6240\u6709 \u8f6f\u4ef6 \u548c \u786c\u4ef6 \u3002 \u504f\u79bb   Carla   \u6392\u884c \u6392\u884c\u699c \u7cbe\u795e \u7684 \u884c\u4e3a \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u56e2\u961f \u89e3\u6563 \u3002   \u5982\u9700 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u8bf4\u660e \uff0c \u8bf7 \u9605\u8bfb \u6761\u6b3e \u548c \u6761\u4ef6 \u3002   \u6027\u80fd \u6392\u884c \u6392\u884c\u699c","title":"\u6761\u6b3e \u548c \u6761\u4ef6"},{"location":"leaderboard_challenge/","text":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b   2023   \u5e74   Carla   \u6311\u6218 \u6311\u6218\u8d5b   \u6982\u8ff0   \u6b22\u8fce \u53c2\u52a0   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b \u3002 \u672c\u6b21 \u7ade\u8d5b \u5411 \u5b66\u672f \u5b66\u672f\u754c \u548c \u5de5\u4e1a \u4e1a\u754c \u5de5\u4e1a\u754c \u7684 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5f00\u653e \u3002 \u60a8 \u53ea \u9700 \u5728   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u4e0a \u6ce8\u518c \uff0c \u5e76 \u63d0\u4f9b \u60a8 \u7684 \u56e2\u961f \u540d\u79f0 \u548c \u6240\u5728 \u673a\u6784 \u5373\u53ef \u3002   \u8be5 \u6311\u6218 \u5229\u7528 \u73b0\u6709 \u7684   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u5e73\u53f0 \u6765 \u8bc4\u4f30 \u63d0\u4ea4 \u7684 \u5185\u5bb9 \u3002 \u6311\u6218 \u7684 \u4e3b\u8981 \u76ee\u6807 \u4ecd\u7136 \u662f \u8bc4\u4f30 \u81ea\u52a8 \u4ee3\u7406 \u5728 \u73b0\u5b9e \u4ea4\u901a \u60c5\u51b5 \u4e0b \u7684 \u9a7e\u9a76 \u719f\u7ec3 \u7a0b\u5ea6 \u719f\u7ec3\u7a0b\u5ea6 \uff0c \u5982 \u6392\u884c \u6392\u884c\u699c \u673a\u5236 \u4e2d \u6240 \u5b9a\u4e49 \u3002 \u53c2\u8d5b \u53c2\u8d5b\u961f \u5fc5\u987b \u5728   2   \u79cd \u5929\u6c14 \u6761\u4ef6 \u4e0b \u5b8c\u6210   10   \u6761 \u8def\u7ebf \uff0c \u91cd\u590d   5   \u6b21 \u3002   \u8be5 \u6311\u6218 \u9075\u5faa \u4e3a   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u5b9a\u4e49 \u7684 \u76f8\u540c \u7ed3\u6784 \u548c \u89c4\u5219 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u53ef \u7528\u4e8e \u6311\u6218 \u7684 \u89c4\u8303 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u52a0 \u4e24\u4e2a \u53ef\u7528 \u8d5b\u9053 \u4e2d \u7684 \u4efb\u4f55 \u4e00\u4e2a \uff1a SENSORS   \u548c   MAP \u3002   \u7b14\u8bb0   \u60a8 \u4e0d\u5f97 \u4f7f\u7528   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u63d0\u4f9b \u7684 \u4efb\u4f55 \u7279\u6743 \u4fe1\u606f \uff0c \u5305\u62ec \u89c4\u5212 \u5668 \u6216 \u4efb\u4f55 \u7c7b\u578b \u7684 \u57fa\u672c \u4e8b\u5b9e \u3002 \u4f7f\u7528 \u8fd9\u4e9b \u529f\u80fd \u7684 \u63d0\u4ea4 \u5c06 \u88ab \u62d2\u7edd \uff0c \u56e2\u961f \u5c06 \u88ab \u7981\u6b62 \u8fdb\u5165 \u8be5 \u5e73\u53f0 \u3002   \u6311\u6218 \u7684 \u673a\u5236   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b \u7684 \u673a\u5236 \u4e0e   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u5b9a\u4e49 \u7684 \u673a\u5236 \u76f8\u540c \u3002 \u800c\u8a00 \u7b80\u800c\u8a00\u4e4b \uff1a   \u901a\u8fc7 \u9605\u8bfb \u6392\u884c \u6392\u884c\u699c \u4ecb\u7ecd \u6765 \u719f\u6089 \u4efb\u52a1 \u3002   \u901a\u8fc7 \u9605\u8bfb \u5165\u95e8 \u6307\u5357 \u4e86\u89e3 \u5982\u4f55 \u521b\u5efa \u65b0 \u4ee3\u7406 \u3002   \u62a5\u540d \u53c2\u52a0 \u6311\u6218 \u3002   \u4e86\u89e3 \u5982\u4f55 \u6210\u529f \u63d0\u4ea4 \u3002   \u63d0\u4ea4 \u60a8 \u7684 \u4ee3\u7406 \u3002   \u5728 \u6311\u6218 \u7ed3\u675f \u65e5\u671f \u4e4b\u524d \u516c\u5f00 \u60a8 \u63d0\u4ea4 \u7684 \u5185\u5bb9 \uff08 \u53c2\u9605 \u8bf7\u53c2\u9605 \u4e0b\u9762 \u7684 \u65f6\u95f4 \u65f6\u95f4\u8868 \uff09 \u3002   \u7b14\u8bb0   \u5728 \u6311\u6218 \u6311\u6218\u8d5b \u5f00\u59cb \u548c \u7ed3\u675f \u65e5\u671f \u5185\u5728   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u4e0a \u516c\u5f00 \u7684 \u6240\u6709 \u63d0\u4ea4 \u5185\u5bb9 \u90fd \u5c06 \u88ab \u8003\u8651 \u53c2\u52a0   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b \u3002   \u6bcf\u4e2a \u8d5b\u9053 \u7684 \u524d   1   \u540d \u63d0\u4ea4 \u4f5c\u54c1 \u5c06 \u88ab \u9080\u8bf7 \u5728 \u81ea\u52a8 \u9a7e\u9a76 \u673a\u5668 \u5b66\u4e60 \u7814\u8ba8 \u7814\u8ba8\u4f1a \u4e0a \u5c55\u793a \u4ed6\u4eec \u7684 \u6210\u679c \u3002 \u6b64\u5916 \uff0c \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u88ab \u9080\u8bf7 \u63d0\u4ea4 \u4e00\u4efd \u63cf\u8ff0 \u5176 \u63d0\u4ea4 \u5185\u5bb9 \u7684 \u6280\u672f \u62a5\u544a \uff08 \u6700 \u591a   4   \u9875 \uff09 \u4ee5\u53ca \u63cf\u8ff0 \u5176 \u65b9\u6cd5 \u7684 \u89c6\u9891 \u3002 \u6839\u636e \u8fd9\u4e9b \u6280\u672f \u62a5\u544a \u7684 \u65b0\u9896 \u65b0\u9896\u6027 \u548c \u539f\u521b \u539f\u521b\u6027 \uff0c \u7ec4\u7ec7 \u5c06 \u9009\u62e9 \u6700 \u591a \u4e24\u4e2a \u56e2\u961f \u5728 \u7814\u8ba8 \u7814\u8ba8\u4f1a \u4e0a \u5c55\u793a \u4ed6\u4eec \u7684 \u5de5\u4f5c \u3002   \u4ee5\u524d \u7684   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218   \u5982\u9700 \u4e86\u89e3 \u6709\u5173 \u4e4b\u524d \u6311\u6218 \u53ca\u5176 \u7ed3\u679c \u7684 \u66f4 \u591a \u4fe1\u606f \uff0c \u8bf7 \u67e5\u770b \u6b64\u5904 \u3002   2022   \u5e74   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b -   \u5728   NeurIPS   2022   \u4e0a \u4e3b\u529e \uff1b   2021   \u5e74   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b -   \u5728   NeurIPS   2021   \u4e0a \u4e3b\u529e \uff1b   2020   \u5e74   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b -   \u5728   NeurIPS   2020   \u4e0a \u4e3b\u529e \uff1b   2019   \u5e74   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b -   \u5728   CVPR   2019   \u4e0a \u4e3b\u529e \u3002","title":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218\u8d5b"},{"location":"leaderboard_challenge/#carla","text":"","title":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218\u8d5b"},{"location":"leaderboard_challenge/#2023-carla","text":"","title":"2023   \u5e74   Carla   \u6311\u6218\u8d5b"},{"location":"leaderboard_challenge/#_1","text":"\u6b22\u8fce \u53c2\u52a0   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b \u3002 \u672c\u6b21 \u7ade\u8d5b \u5411 \u5b66\u672f \u5b66\u672f\u754c \u548c \u5de5\u4e1a \u4e1a\u754c \u5de5\u4e1a\u754c \u7684 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5f00\u653e \u3002 \u60a8 \u53ea \u9700 \u5728   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u4e0a \u6ce8\u518c \uff0c \u5e76 \u63d0\u4f9b \u60a8 \u7684 \u56e2\u961f \u540d\u79f0 \u548c \u6240\u5728 \u673a\u6784 \u5373\u53ef \u3002   \u8be5 \u6311\u6218 \u5229\u7528 \u73b0\u6709 \u7684   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u5e73\u53f0 \u6765 \u8bc4\u4f30 \u63d0\u4ea4 \u7684 \u5185\u5bb9 \u3002 \u6311\u6218 \u7684 \u4e3b\u8981 \u76ee\u6807 \u4ecd\u7136 \u662f \u8bc4\u4f30 \u81ea\u52a8 \u4ee3\u7406 \u5728 \u73b0\u5b9e \u4ea4\u901a \u60c5\u51b5 \u4e0b \u7684 \u9a7e\u9a76 \u719f\u7ec3 \u7a0b\u5ea6 \u719f\u7ec3\u7a0b\u5ea6 \uff0c \u5982 \u6392\u884c \u6392\u884c\u699c \u673a\u5236 \u4e2d \u6240 \u5b9a\u4e49 \u3002 \u53c2\u8d5b \u53c2\u8d5b\u961f \u5fc5\u987b \u5728   2   \u79cd \u5929\u6c14 \u6761\u4ef6 \u4e0b \u5b8c\u6210   10   \u6761 \u8def\u7ebf \uff0c \u91cd\u590d   5   \u6b21 \u3002   \u8be5 \u6311\u6218 \u9075\u5faa \u4e3a   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u5b9a\u4e49 \u7684 \u76f8\u540c \u7ed3\u6784 \u548c \u89c4\u5219 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u53ef \u7528\u4e8e \u6311\u6218 \u7684 \u89c4\u8303 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u52a0 \u4e24\u4e2a \u53ef\u7528 \u8d5b\u9053 \u4e2d \u7684 \u4efb\u4f55 \u4e00\u4e2a \uff1a SENSORS   \u548c   MAP \u3002   \u7b14\u8bb0   \u60a8 \u4e0d\u5f97 \u4f7f\u7528   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u63d0\u4f9b \u7684 \u4efb\u4f55 \u7279\u6743 \u4fe1\u606f \uff0c \u5305\u62ec \u89c4\u5212 \u5668 \u6216 \u4efb\u4f55 \u7c7b\u578b \u7684 \u57fa\u672c \u4e8b\u5b9e \u3002 \u4f7f\u7528 \u8fd9\u4e9b \u529f\u80fd \u7684 \u63d0\u4ea4 \u5c06 \u88ab \u62d2\u7edd \uff0c \u56e2\u961f \u5c06 \u88ab \u7981\u6b62 \u8fdb\u5165 \u8be5 \u5e73\u53f0 \u3002","title":"\u6982\u8ff0"},{"location":"leaderboard_challenge/#_2","text":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b \u7684 \u673a\u5236 \u4e0e   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u5b9a\u4e49 \u7684 \u673a\u5236 \u76f8\u540c \u3002 \u800c\u8a00 \u7b80\u800c\u8a00\u4e4b \uff1a   \u901a\u8fc7 \u9605\u8bfb \u6392\u884c \u6392\u884c\u699c \u4ecb\u7ecd \u6765 \u719f\u6089 \u4efb\u52a1 \u3002   \u901a\u8fc7 \u9605\u8bfb \u5165\u95e8 \u6307\u5357 \u4e86\u89e3 \u5982\u4f55 \u521b\u5efa \u65b0 \u4ee3\u7406 \u3002   \u62a5\u540d \u53c2\u52a0 \u6311\u6218 \u3002   \u4e86\u89e3 \u5982\u4f55 \u6210\u529f \u63d0\u4ea4 \u3002   \u63d0\u4ea4 \u60a8 \u7684 \u4ee3\u7406 \u3002   \u5728 \u6311\u6218 \u7ed3\u675f \u65e5\u671f \u4e4b\u524d \u516c\u5f00 \u60a8 \u63d0\u4ea4 \u7684 \u5185\u5bb9 \uff08 \u53c2\u9605 \u8bf7\u53c2\u9605 \u4e0b\u9762 \u7684 \u65f6\u95f4 \u65f6\u95f4\u8868 \uff09 \u3002   \u7b14\u8bb0   \u5728 \u6311\u6218 \u6311\u6218\u8d5b \u5f00\u59cb \u548c \u7ed3\u675f \u65e5\u671f \u5185\u5728   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u4e0a \u516c\u5f00 \u7684 \u6240\u6709 \u63d0\u4ea4 \u5185\u5bb9 \u90fd \u5c06 \u88ab \u8003\u8651 \u53c2\u52a0   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b \u3002   \u6bcf\u4e2a \u8d5b\u9053 \u7684 \u524d   1   \u540d \u63d0\u4ea4 \u4f5c\u54c1 \u5c06 \u88ab \u9080\u8bf7 \u5728 \u81ea\u52a8 \u9a7e\u9a76 \u673a\u5668 \u5b66\u4e60 \u7814\u8ba8 \u7814\u8ba8\u4f1a \u4e0a \u5c55\u793a \u4ed6\u4eec \u7684 \u6210\u679c \u3002 \u6b64\u5916 \uff0c \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u88ab \u9080\u8bf7 \u63d0\u4ea4 \u4e00\u4efd \u63cf\u8ff0 \u5176 \u63d0\u4ea4 \u5185\u5bb9 \u7684 \u6280\u672f \u62a5\u544a \uff08 \u6700 \u591a   4   \u9875 \uff09 \u4ee5\u53ca \u63cf\u8ff0 \u5176 \u65b9\u6cd5 \u7684 \u89c6\u9891 \u3002 \u6839\u636e \u8fd9\u4e9b \u6280\u672f \u62a5\u544a \u7684 \u65b0\u9896 \u65b0\u9896\u6027 \u548c \u539f\u521b \u539f\u521b\u6027 \uff0c \u7ec4\u7ec7 \u5c06 \u9009\u62e9 \u6700 \u591a \u4e24\u4e2a \u56e2\u961f \u5728 \u7814\u8ba8 \u7814\u8ba8\u4f1a \u4e0a \u5c55\u793a \u4ed6\u4eec \u7684 \u5de5\u4f5c \u3002","title":"\u6311\u6218 \u7684 \u673a\u5236"},{"location":"leaderboard_challenge/#carla_1","text":"\u5982\u9700 \u4e86\u89e3 \u6709\u5173 \u4e4b\u524d \u6311\u6218 \u53ca\u5176 \u7ed3\u679c \u7684 \u66f4 \u591a \u4fe1\u606f \uff0c \u8bf7 \u67e5\u770b \u6b64\u5904 \u3002   2022   \u5e74   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b -   \u5728   NeurIPS   2022   \u4e0a \u4e3b\u529e \uff1b   2021   \u5e74   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b -   \u5728   NeurIPS   2021   \u4e0a \u4e3b\u529e \uff1b   2020   \u5e74   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b -   \u5728   NeurIPS   2020   \u4e0a \u4e3b\u529e \uff1b   2019   \u5e74   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b -   \u5728   CVPR   2019   \u4e0a \u4e3b\u529e \u3002","title":"\u4ee5\u524d \u7684   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218"},{"location":"leaderboard_get_started/","text":"\u5f00\u59cb \u4f7f\u7528 \u6392\u884c \u6392\u884c\u699c   2.0   \u7b14\u8bb0   \u672c\u9875 \u4fe1\u606f \u6d89\u53ca \u6700\u65b0 \u7248\u672c   Leaderboard   2.0 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f \u4ee5\u524d \u7248\u672c \u7684 \u6392\u884c \u6392\u884c\u699c \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u6392\u884c \u6392\u884c\u699c   1.0   \u5165\u95e8 \u8bf4\u660e \u3002   \u4e3a\u4e86 \u5f00\u59cb \u5f00\u53d1 \u60a8 \u7684 \u81ea\u4e3b \u4ee3\u7406 \uff0c \u60a8 \u9700\u8981 \u5b8c\u6210 \u4ee5\u4e0b \u8fc7\u7a0b \uff1a   \u7cfb\u7edf \u8bbe\u7f6e   \u4e0b\u8f7d   CARLA   \u6392\u884c \u6392\u884c\u699c \u5305   \u4e0b\u8f7d \u6253\u5305 \u7684   Carla   \u6392\u884c \u6392\u884c\u699c \u7248\u672c \u3002   \u5c06 \u5305 \u89e3\u538b \u5230 \u4e00\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u4f8b\u5982   Carla \u3002   \u7b14\u8bb0   \u5728 \u4ee5\u4e0b \u547d\u4ee4 \u4e2d \uff0c \u66f4\u6539   $ { CARLA _ ROOT }   \u53d8\u91cf \u4ee5 \u5bf9\u5e94 \u4e8e \u60a8 \u7684   Carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u4e3a\u4e86 \u4f7f\u7528   Carla   Python   API \uff0c \u60a8 \u9700\u8981 \u5728 \u60a8 \u559c\u6b22 \u7684 \u73af\u5883 \u4e2d \u5b89\u88c5 \u4e00\u4e9b \u4f9d\u8d56 \u9879 \u3002 \u4f5c\u4e3a \u53c2\u8003 \uff0c \u5bf9\u4e8e conda \uff0c \u9996\u5148 \u521b\u5efa \u4e00\u4e2a \u65b0 \u73af\u5883 \uff1a   conda   create   - n   py37   python = 3.7   conda   activate   py37   cd   $ { CARLA _ ROOT }   #   \u6539\u53d8 \u60a8 \u7684   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55   $ { CARLA _ ROOT }   pip3   install   - r   PythonAPI / carla / requirements . txt   \u7b14\u8bb0   Carla   \u6392\u884c \u6392\u884c\u699c \u7248\u672c \u57fa\u4e8e   0.9 . 14   \u7248\u672c \u3002 \u5b83 \u8fd8 \u5177\u6709 \u5373\u5c06 \u53d1\u5e03 \u7684   0.9 . 14   \u7248\u672c \u7684 \u4e00\u4e9b \u529f\u80fd \uff0c \u4f8b\u5982 \u65b0 \u7684 \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd \u3002 \u56e0\u6b64 \uff0c \u5728 \u4f7f\u7528   API   \u65f6\u8bf7 \u53c2\u8003 \u6700\u65b0 \u7684 \u6587\u6863 \u3002   \u83b7\u53d6 \u6392\u884c \u6392\u884c\u699c \u548c \u573a\u666f \u8dd1\u8005   \u4e0b\u8f7d \u6392\u884c \u6392\u884c\u699c \u5b58\u50a8 \u5e93   Leaderboard - 2.0   \u5206\u652f \u3002   git   clone   - b   leaderboard - 2.0   -- single - branch   https : / / github . com / carla - simulator / leaderboard . git   \u5728 \u4ee5\u4e0b \u547d\u4ee4 \u4e2d \uff0c \u66f4\u6539 $ { LEADERBOARD _ ROOT } \u53d8\u91cf \u4ee5 \u5bf9\u5e94 \u4e8e \u60a8 \u7684 \u6392\u884c \u6392\u884c\u699c \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u5b89\u88c5 \u6240 \u9700 \u7684   Python   \u4f9d\u8d56 \u9879 \u3002   cd   $ { LEADERBOARD _ ROOT }   #   \u6539\u53d8 \u60a8 \u7684 \u6392\u884c \u6392\u884c\u699c \u76ee\u5f55 \u6839\u76ee\u5f55   $ { LEADERBOARD _ ROOT }   pip3   install   - r   requirements . txt   \u4e0b\u8f7d   Scenario   Runner   \u5b58\u50a8 \u5e93 \u6392\u884c \u6392\u884c\u699c - 2.0   \u5206\u652f \u3002   git   clone   - b   leaderboard - 2.0   -- single - branch   https : / / github . com / carla - simulator / scenario _ runner . git   \u5728 \u4ee5\u4e0b \u547d\u4ee4 \u4e2d \uff0c \u5c06   \u66f4 \u6539\u4e3a   $ { SCENARIO _ RUNNER _ ROOT }   \u4e0e \u60a8 \u7684   Scenario _ Runner   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u76f8\u5bf9 \u5e94 \u3002   \u4f7f\u7528 \u76f8\u540c \u7684   Python   \u73af\u5883 \u5b89\u88c5 \u6240 \u9700 \u7684   Python   \u4f9d\u8d56 \u9879 \u3002   cd   $ { SCENARIO _ RUNNER _ ROOT }   #   \u6539\u53d8 \u60a8 \u7684   Scenario _ Runner   \u7684 \u76ee\u5f55 \u6839\u76ee\u5f55   $ { SCENARIO _ RUNNER _ ROOT }   pip3   install   - r   requirements . txt   \u57fa\u4e8e   ROS   \u7684 \u4ee3\u7406   \u9996\u5148 \uff0c \u4e0b\u8f7d \u5e76 \u5b89\u88c5 \u9002\u5f53 \u7684   ROS   \u6216   ROS2   \u53d1\u884c \u53d1\u884c\u7248 \u3002   Leaderboard   2.0   \u652f\u6301   ROS   Melodic \u3001 ROS   Noetic   \u548c   ROS2   Foxy \u3002 \u7136\u540e \uff0c \u514b\u9686 \u5e76 \u6784\u5efa   ROS   \u6216   ROS2   \u7684   Carla   ROS   \u6865 \u5b58\u50a8 \u5e93 \u3002 \u786e\u4fdd   leaderboard - 2.0   \u5728 \u514b\u9686   Carla   ROS   Bridge   \u5b58\u50a8 \u5e93\u65f6 \u6307\u5b9a \u5206\u652f \uff1a   git   clone   -- recurse - submodules   - b   leaderboard - 2.0   -- single - branch   https : / / github . com / carla - simulator / ros - bridge   \u5b9a\u4e49 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   \u6211\u4eec \u9700\u8981 \u786e\u4fdd \u4e0d\u540c \u7684 \u6a21\u5757 \u53ef\u4ee5 \u627e\u5230 \u5f7c\u6b64 \u3002   ~ / . bashrc   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u6253\u5f00 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \uff1a   gedit   ~ / . bashrc   \u7f16\u8f91 \u60a8 \u7684   ~ / . bashrc \u4e2a\u4eba \u8d44\u6599 \u4e2a\u4eba\u8d44\u6599 \uff0c \u6dfb\u52a0 \u4ee5\u4e0b \u5b9a\u4e49 \u3002 \u7f16\u8f91 \u540e \u4fdd\u5b58 \u5e76 \u5173\u95ed \u6587\u4ef6 \u3002   export   CARLA _ ROOT = PATH _ TO _ CARLA _ ROOT   export   SCENARIO _ RUNNER _ ROOT = PATH _ TO _ SCENARIO _ RUNNER   export   LEADERBOARD _ ROOT = PATH _ TO _ LEADERBOARD   export   PYTHONPATH = \" $ { CARLA _ ROOT } / PythonAPI / carla / \" : \" $ { SCENARIO _ RUNNER _ ROOT } \" : \" $ { LEADERBOARD _ ROOT } \" : \" $ { CARLA _ ROOT } / PythonAPI / carla / dist / carla - 0.9 . 14 - py3.7 - linux - x86 _ 64 . egg \" : $ { PYTHONPATH }   \u8bf7 \u8bb0\u4f4f   . bashrc   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f \u8fd9\u4e9b \u66f4\u6539 \u751f\u6548 \uff1a   source   ~ / . bashrc   \u521b\u5efa \u5e26\u6709 \u6392\u884c \u6392\u884c\u699c \u7684 \u81ea\u6cbb \u4ee3\u7406   \u6392\u884c \u6392\u884c\u699c \u7684 \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65   \u6392\u884c \u6392\u884c\u699c \u5c06 \u8d1f\u8d23 \u8fd0\u884c \u60a8 \u7684 \u81ea\u4e3b \u4ee3\u7406 \uff0c \u5e76 \u8bc4\u4f30 \u5176 \u5728 \u591a\u6761 \u8def\u7ebf \u7684 \u4e0d\u540c \u4ea4\u901a \u60c5\u51b5 \u4e0b \u7684 \u884c\u4e3a \u3002 \u4e3a\u4e86 \u66f4\u597d \u5730 \u7406\u89e3 \u8fd9\u4e2a \u8fc7\u7a0b \uff0c \u8ba9 \u6211\u4eec \u8fd0\u884c \u4e00\u4e2a \u57fa\u672c \u4ee3\u7406 \u3002   \u5728 \u4e00\u4e2a \u7ec8\u7aef \u4e2d \u8fd0\u884c   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   cd   $ { CARLA _ ROOT }   . / CarlaUE4 . sh   - quality - level = Epic   - world - port = 2000   - resx = 800   - resy = 600   \u5728 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u4e2d \uff0c \u5bfc\u822a \u5230   $ { LEADERBOARD _ ROOT }   . \u867d\u7136 \u6392\u884c \u6392\u884c\u699c \u662f \u4f7f\u7528   leaderboard _ evaluator . py   python   \u811a\u672c \u8fd0\u884c \u7684 \uff0c \u4f46 \u4f7f\u7528 \u7684 \u53c2\u6570 \u6570\u91cf \u53ef\u80fd \u4f1a \u8ba9 \u4f7f\u7528 \u7ec8\u7aef \u76f4\u63a5 \u6267\u884c \u6b64 \u64cd\u4f5c \u611f\u5230 \u975e\u5e38 \u4e0d \u8212\u670d \u3002 \u56e0\u6b64 \uff0c \u5efa\u8bae \u4f7f\u7528   bash   \u811a\u672c \u3002 \u6392\u884c \u6392\u884c\u699c \u63d0\u4f9b \u7684   run _ leaderboard . sh   \u811a\u672c \u6b63\u662f \u8fd9\u6837 \u505a \u7684 \u3002 \u8fd0\u884c \u811a\u672c \uff1a   . / run _ leaderboard . sh   \u8fd9 \u5c06 \u542f\u52a8 \u4e00\u4e2a   pygame   \u7a97\u53e3 \uff0c \u8ba9 \u60a8 \u53ef\u4ee5 \u9009\u62e9 \u624b\u52a8 \u63a7\u5236 \u4ee3\u7406 \u3002 \u6309\u7167 \u5f69\u8272 \u8def\u5f84 \u70b9 \u6307\u793a \u7684 \u8def\u7ebf \u5230\u8fbe \u76ee\u7684 \u76ee\u7684\u5730 \u3002 \u8be5 \u811a\u672c \u52a0\u8f7d   Town   12   \u4e2d \u7684 \u4e24\u6761 \u8def\u7ebf \u4e24\u6761\u8def \u4e24\u6761\u8def\u7ebf \u3002   \u9075\u5faa \u8def\u7ebf \u5e76 \u9075\u5b88 \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \uff0c \u76f4\u5230 \u5230\u8fbe \u76ee\u7684 \u76ee\u7684\u5730 \u3002   \u7b14\u8bb0   \u624b\u52a8 \u4e2d\u65ad \u6392\u884c \u6392\u884c\u699c \u5c06 \u62a2\u5148 \u505c\u6b62 \u8def\u7ebf \u4eff\u771f \uff0c \u81ea\u52a8 \u8fdb\u5165 \u4e0b \u4e00\u6761 \u8def\u7ebf \u3002   \u4e86\u89e3 \u6392\u884c \u6392\u884c\u699c \u7ec4\u4ef6   \u8fd0\u884c \u6d4b\u8bd5 \u65f6 \uff0c \u6211\u4eec \u8bbe\u7f6e \u4e86 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u53c2\u6570 \u3002 \u8ba9 \u6211\u4eec \u4e86\u89e3 \u4e00\u4e0b \u5b83\u4eec \u4ee5\u53ca \u5b83\u4eec \u5728 \u6392\u884c \u6392\u884c\u699c \u4e2d \u7684 \u4f5c\u7528 \u3002   ROUTES   ( XML )   \u2014   \u5c06 \u7528\u4e8e \u4eff\u771f \u7684 \u8def\u7ebf \u96c6 \u3002 \u6bcf\u6761 \u8def\u7ebf \u90fd \u6709 \u4e00\u4e2a \u8d77\u70b9 \uff08 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8def\u5f84 \u70b9 \uff09 \u548c \u4e00\u4e2a \u7ec8\u70b9 \uff08 \u6700\u540e \u4e00\u4e2a \u8def\u5f84 \u70b9 \uff09 \u3002 \u6b64\u5916 \uff0c \u5b83\u4eec \u8fd8 \u53ef\u4ee5 \u5305\u542b \u5929\u6c14 \u6982\u51b5 \u6765 \u8bbe\u7f6e \u7279\u5b9a \u7684 \u5929\u6c14 \u6761\u4ef6 \u3002 \u4e00\u4efd   XML   \u5305\u542b \u8bb8\u591a \u8def\u7531 \uff0c \u6bcf\u6761 \u8def\u7531 \u90fd \u6709 \u4e00\u4e2a   ID \u3002 \u7528\u6237 \u53ef\u4ee5 \u4fee\u6539 \u3001 \u6dfb\u52a0 \u548c \u5220\u9664 \u8def\u7ebf \u4ee5 \u8fdb\u884c \u57f9\u8bad \u548c \u9a8c\u8bc1 \u3002 \u6392\u884c \u6392\u884c\u699c \u9644\u5e26 \u4e86 \u4e00\u7ec4 \u7528\u4e8e \u8c03\u8bd5 \u3001 \u8bad\u7ec3 \u548c \u9a8c\u8bc1 \u7684 \u8def\u7ebf \u3002 \u7528\u4e8e \u5728\u7ebf \u8bc4\u4f30 \u7684 \u8def\u7ebf \u662f \u79d8\u5bc6 \u7684 \u3002 \u8be5 \u6587\u4ef6 \u8fd8 \u5305\u62ec \u5c06 \u5728 \u4eff\u771f \u4e2d \u6d4b\u8bd5 \u7684 \u573a\u666f \uff0c \u6bcf\u6761 \u8def\u7ebf \u90fd \u6709 \u81ea\u5df1 \u7684 \u4e00\u7ec4 \u573a\u666f \u3002 \u573a\u666f \u88ab \u5b9a\u4e49 \u4e3a \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u3002 \u7279\u5de5 \u5fc5\u987b \u514b\u670d \u8fd9\u4e9b \u573a\u666f \u624d\u80fd \u901a\u8fc7 \u6d4b\u8bd5 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u8bbf\u95ee \u4e00\u7ec4 \u9002\u7528 \u4e8e \u516c\u5171 \u57ce\u9547 \u7684 \u4ea4\u901a \u573a\u666f \u3002 \u5b58\u5728 \u4f7f\u7528 \u4e0d\u540c \u53c2\u6570 \u5b9e\u4f8b \u5316 \u7684 \u591a\u79cd \u79cd\u7c7b \u7c7b\u578b \u591a\u79cd\u7c7b\u578b \u7684 \u573a\u666f \u3002 \u4ee5\u4e0b \u662f \u53ef\u7528 \u65b9\u6848 \u7684 \u5217\u8868 \u3002   REPETITIONS   ( int )   \u2014   \u51fa\u4e8e \u7edf\u8ba1 \u76ee\u7684 \uff0c \u6bcf\u6761 \u8def\u7ebf \u91cd\u590d \u7684 \u6b21\u6570 \u3002   TEAM _ AGENT   ( Python   \u6a21\u5757 )   \u2014   \u4ee3\u7406 \u7684   Python   \u6a21\u5757 \u7684 \u8def\u5f84 \u3002 \u521b\u5efa \u4ee3\u7406 \u7684 \u6b65\u9aa4 \u5c06 \u5728 \u4e0b \u4e00\u6b65 \u4e2d \u89e3\u91ca \u3002   \u5176\u4ed6 \u76f8\u5173 \u53c2\u6570 \u5982\u4e0b \u6240\u8ff0 \u3002   TEAM _ CONFIG   \uff08 \u7531 \u7528\u6237 \u5b9a\u4e49 \uff09   \u2014   \u6240 \u63d0\u4f9b \u7684 \u4ee3\u7406 \u8bfb\u53d6 \u7684 \u4efb\u610f \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u7684 \u8def\u5f84 \u3002 \u60a8 \u8d1f\u8d23 \u5728 \u4ee3\u7406 \u7c7b\u4e2d \u5b9a\u4e49 \u548c \u89e3\u6790 \u6b64 \u6587\u4ef6 \u3002   DEBUG _ CHALLENGE   ( int )   \u2014   \u6307\u793a \u4eff\u771f \u671f\u95f4 \u662f\u5426 \u5e94 \u663e\u793a \u8c03\u8bd5 \u4fe1\u606f \u8c03\u8bd5\u4fe1\u606f \u7684 \u6807\u5fd7 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8be5 \u53d8\u91cf \u672a \u8bbe\u7f6e   ( 0 ) \uff0c \u8fd9 \u4e0d\u4f1a \u751f\u6210 \u8981 \u663e\u793a \u7684 \u8c03\u8bd5 \u4fe1\u606f \u8c03\u8bd5\u4fe1\u606f \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   1   \u65f6 \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5c06 \u663e\u793a \u8981 \u9075\u5faa \u7684 \u53c2\u8003 \u8def\u7ebf \u3002 \u5982\u679c \u6b64 \u53d8\u91cf \u8bbe\u7f6e \u4e3a \u5927\u4e8e \u4efb\u4f55 \u503c \uff0c   1 \u5f15\u64ce \u5c06 \u6253\u5370 \u4eff\u771f \u7684 \u5b8c\u6574 \u72b6\u6001 \u4ee5 \u7528\u4e8e \u8c03\u8bd5 \u76ee\u7684 \u3002   CHECKPOINT _ ENDPOINT   ( JSON )   \u2014   \u5c06 \u8bb0\u5f55   Leaderboard   \u6307\u6807 \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u3002   RECORD _ PATH   \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff09   \u2014   \u5c06 \u5b58\u50a8   Carla   \u65e5\u5fd7 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u8def\u5f84 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b\u672a \u8bbe\u7f6e \u3002   RESUME \u2014   \u6307\u793a \u4eff\u771f \u662f\u5426 \u5e94\u4ece \u6700\u540e \u4e00\u6761 \u8def\u7ebf \u6062\u590d \u7684 \u6807\u5fd7 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b\u672a \u8bbe\u7f6e \u3002   CHALLENGE _ TRACK _ CODENAME   \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff09   \u2014   \u4ee3\u7406 \u6b63\u5728 \u7ade\u4e89 \u7684 \u8d5b\u9053 \u3002 \u6709 \u4e24\u4e2a \u53ef\u80fd \u7684 \u9009\u9879 \uff1a   SENSORS   \u548c   MAP \u3002 \u8be5   SENSORS   \u8d5b\u9053 \u5141\u8bb8 \u4f7f\u7528 \u591a\u4e2a \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u3001 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u96f7\u8fbe \u3001 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u3001 \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u548c \u901f\u5ea6 \u901f\u5ea6\u8ba1 \u3002 \u9664\u4e86 \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e4b\u5916 \uff0c MAP   \u8d5b\u9053 \u8fd8 \u5141\u8bb8 \u76f4\u63a5 \u8bbf\u95ee   OpenDRIVE   \u9ad8\u6e05 \u5730\u56fe \u3002 \u60a8 \u8d1f\u8d23 \u6839\u636e \u9700\u8981 \u89e3\u6790 \u548c \u5904\u7406   OpenDRIVE   \u6620\u5c04 \u3002   \u8fd9\u4e9b \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u88ab \u4f20\u9012 \u5230   $ { LEADERBOARD _ ROOT } / LEADERBOARD / LEADERBOARD _ evaluator . py   \uff0c \u4f5c\u4e3a \u6267\u884c \u4eff\u771f \u7684 \u5165\u53e3 \u70b9 \u3002 \u67e5\u770b   leaderboard _ evaluator . py   \uff0c \u4e86\u89e3 \u6709\u5173 \u5982\u4f55 \u6267\u884c \u548c \u8bc4\u4f30 \u4ee3\u7406 \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u521b\u5efa \u81ea\u5df1 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406   \u65b0 \u4ee3\u7406 \u7684 \u5b9a\u4e49 \u59cb\u4e8e \u521b\u5efa \u4e00\u4e2a \u65b0\u7c7b \uff0c \u8be5\u7c7b \u7ee7\u627f \u81ea   leaderboard . autoagents . autonomous _ agent . AutonomousAgent   \u3002   \u521b\u5efa   get _ entry _ point   \u9996\u5148 \uff0c \u5b9a\u4e49 \u4e00\u4e2a \u540d\u4e3a   get _ entry _ point   \u7684 \u51fd\u6570 \uff0c \u8be5 \u51fd\u6570 \u8fd4\u56de \u65b0\u7c7b \u7684 \u540d\u79f0 \u3002 \u8fd9 \u5c06 \u7528\u4e8e \u81ea\u52a8 \u5b9e\u4f8b \u5316 \u60a8 \u7684 \u4ee3\u7406 \u3002   from   leaderboard . autoagents . autonomous _ agent   import   AutonomousAgent   def   get _ entry _ point ( ) :   return   ' MyAgent '   class   MyAgent ( AutonomousAgent ) :   ...   \u91cd\u5199   setup   \u65b9\u6cd5   \u5728 \u4ee3\u7406 \u7c7b\u4e2d \u91cd\u5199   setup   \u65b9\u6cd5 \u3002 \u6b64 \u65b9\u6cd5 \u6267\u884c \u4ee3\u7406 \u6240 \u9700 \u7684 \u6240\u6709 \u521d\u59cb \u521d\u59cb\u5316 \u548c \u5b9a\u4e49 \u3002 \u6bcf\u6b21 \u521d\u59cb \u521d\u59cb\u5316 \u8def\u7531 \u65f6 \uff0c \u90fd \u4f1a \u81ea\u52a8 \u8c03\u7528 \u5b83 \u3002 \u5b83 \u53ef\u4ee5 \u63a5\u6536 \u6307\u5411 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u7684 \u53ef\u9009 \u53c2\u6570 \u3002 \u7528\u6237 \u5e94 \u5206\u6790 \u6b64 \u6587\u4ef6 \u3002 \u81f3\u5c11 \uff0c \u60a8 \u9700\u8981 \u6307\u5b9a \u53c2\u4e0e \u7684 \u66f2\u76ee \u3002   from   leaderboard . autoagents . autonomous _ agent   import   Track   ...   def   setup ( self ,   path _ to _ conf _ file ) :   self . track   =   Track . SENSORS   #   \u6b64 \u65b9\u6cd5 \u81f3\u5c11 \u8bbe\u7f6e \u6392\u884c \u6392\u884c\u699c \u6a21\u5f0f \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b   SENSORS   \u6ce8\u610f   self . track   \u5c5e\u6027 \u5e94\u8be5 \u662f \u679a\u4e3e \uff0c \u800c \u4e0d\u662f \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002 \u5b83 \u53ea\u80fd \u53d6 \u53ef\u80fd \u7684 \u503c   Track . SENSORS   \u6216   Track . MAP   \u3002   \u91cd\u5199 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65b9\u6cd5   \u60a8 \u8fd8 \u5fc5\u987b \u8986\u76d6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65b9\u6cd5 \uff0c \u8be5 \u65b9\u6cd5 \u5b9a\u4e49 \u4e86 \u60a8 \u7684 \u4ee3\u7406 \u6240 \u9700 \u7684 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   def   sensors ( self ) :   sensors   =   [   { ' type ' :   ' sensor . camera . rgb ' ,   ' id ' :   ' Center ' ,   ' x ' :   0.7 ,   ' y ' :   0.0 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   0.0 ,   ' width ' :   300 ,   ' height ' :   200 ,   ' fov ' :   100 } ,   { ' type ' :   ' sensor . lidar . ray _ cast ' ,   ' id ' :   ' LIDAR ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   - 45.0 } ,   { ' type ' :   ' sensor . other . radar ' ,   ' id ' :   ' RADAR ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   - 45.0 ,   ' fov ' :   30 } ,   { ' type ' :   ' sensor . other . gnss ' ,   ' id ' :   ' GPS ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 } ,   { ' type ' :   ' sensor . other . imu ' ,   ' id ' :   ' IMU ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   - 45.0 } ,   { ' type ' :   ' sensor . opendrive _ map ' ,   ' id ' :   ' OpenDRIVE ' ,   ' reading _ frequency ' :   1 } ,   { ' type ' :   ' sensor . speedometer ' ,   ' id ' :   ' Speed ' } ,   ]   return   sensors   \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c5e\u6027 \u90fd \u5177\u6709 \u56fa\u5b9a \u56fa\u5b9a\u503c \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u5728   agent _ wrapper . py   \u4e2d \u8fdb\u884c \u68c0\u67e5 \u3002 \u8fd9\u6837 \u505a \u53ef\u4ee5 \u4f7f \u6240\u6709 \u56e2\u961f \u5728 \u4e00\u4e2a \u901a\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6846\u67b6 \u5185 \u8fdb\u884c \u7ade\u4e89 \u3002   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u8868\u793a \u4e3a \u5b57\u5178 \uff0c \u5305\u542b \u4ee5\u4e0b \u5c5e\u6027 \uff1a   type   :   \u8981 \u6dfb\u52a0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7c7b\u578b \u3002   id   :   \u5c06 \u88ab \u7ed9\u4e88 \u7a0d\u540e \u8981 \u8bbf\u95ee \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6807\u7b7e \u3002   other   attributes   :   \u8fd9\u4e9b \u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f9d\u8d56 \u4f9d\u8d56\u6027 \u7684 \uff0c \u4f8b\u5982 \uff1a \u5916\u53c2 \u548c   fov \u3002   \u7528\u6237 \u53ef\u4ee5 \u5728 \u76f8\u5bf9 \u4e8e \u8f66\u8f86 \u7684 \u76f8\u5bf9 \u5750\u6807 \u4e2d \u8bbe\u7f6e \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5185\u90e8 \u548c \u5916\u90e8 \u53c2\u6570 \uff08 \u4f4d\u7f6e \u548c \u65b9\u5411 \uff09 \u3002 \u8bf7 \u6ce8\u610f \uff0c Carla   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u5750\u6807\u7cfb \uff0c \u5373 \uff1a   x - front   \uff0c   y - right   \uff0c   z - up   \u3002   \u53ef\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6709 \uff1a   sensor . camera . rgb   :   \u6355\u6349 \u56fe\u50cf \u7684 \u666e\u901a \u76f8\u673a \u3002   sensor . lidar . ray _ cast   :   Velodyne   64 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002   sensor . other . radar   :   \u8fdc\u7a0b \u96f7\u8fbe \uff08 \u9ad8\u8fbe 100 \u7c73 \uff09 \u3002   sensor . other . gnss   :   GPS \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fd4\u56de \u5730\u7406 \u4f4d\u7f6e \u5730\u7406\u4f4d\u7f6e \u6570\u636e \u3002   sensor . other . imu   :   6 \u8f74 \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u3002   sensor . opendrive _ map   :   \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4ee5 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7684 OpenDRIVE \u683c\u5f0f \u516c\u5f00 HD \u6620\u5c04 \u3002   sensor . speedometer   :   \u63d0\u4f9b \u8fd1\u4f3c \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u7684 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u6ce8\u610f   \u8bd5\u56fe \u8bbe\u7f6e \u53e6 \u4e00\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6216 \u62fc\u9519 \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5c06 \u5bfc\u81f4 \u8bbe\u7f6e \u5931\u8d25 \u3002   \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u7684 \u4efb\u4f55 \u4e00\u4e2a \u6765 \u914d\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5806\u6808 \u3002 \u7136\u800c \uff0c \u4e3a\u4e86 \u4fdd\u6301 \u9002\u5ea6 \u7684 \u8ba1\u7b97 \u8d1f\u8f7d \uff0c \u6211\u4eec \u5bf9 \u53ef\u4ee5 \u6dfb\u52a0 \u5230 \u4ee3\u7406 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u91cf \u8bbe\u7f6e \u4e86 \u4ee5\u4e0b \u9650\u5236 \uff1a   sensor . camera . rgb   :   4   sensor . lidar . ray _ cast   :   1   sensor . other . radar   :   2   sensor . other . gnss   :   1   sensor . other . imu   :   1   sensor . opendrive _ map   :   1   sensor . speedometer   :   1   \u6ce8\u610f   \u8bd5\u56fe \u8bbe\u7f6e \u8fc7\u591a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5355\u5143 \u4f1a \u5bfc\u81f4 \u8bbe\u7f6e \u5931\u8d25 \u3002   \u8fd8\u6709 \u4e00\u4e9b \u7a7a\u95f4 \u9650\u5236 \u9650\u5236 \u4e86 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u8f66\u8f86 \u4f53\u79ef \u5185 \u7684 \u653e\u7f6e \u3002 \u5982\u679c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4efb\u4f55 \u8f74 \uff08 \u4f8b\u5982   [ 3.1 , 0.0 , 0.0 ]   \uff09 \u4e0a \u8ddd\u79bb \u5176\u7236 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8d85\u8fc7   3   \u7c73 \uff0c \u5219 \u8bbe\u7f6e \u5c06 \u5931\u8d25 \u3002   \u91cd\u5199   run _ step   \u65b9\u6cd5   \u6b64 \u65b9\u6cd5 \u5c06 \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u957f \u8c03\u7528 \u4e00\u6b21 \uff0c \u4ee5 \u751f\u6210   carla . VehicleControl   \u5bf9\u8c61 \u5f62\u5f0f \u7684 \u65b0 \u52a8\u4f5c \u3002 \u786e\u4fdd \u6b64 \u51fd\u6570 \u8fd4\u56de \u5c06 \u7528\u4e8e \u66f4\u65b0 \u4ee3\u7406 \u7684 \u63a7\u5236 \u5bf9\u8c61 \u3002   def   run _ step ( self ,   input _ data ,   timestamp ) :   control   =   self ._ do _ something _ smart ( input _ data ,   timestamp )   return   control   input _ data   :   \u5305\u542b \u6240 \u8bf7\u6c42 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u7684 \u5b57\u5178 \u3002 \u6570\u636e \u5df2\u7ecf \u5728   sensor _ interface . py   \u4e0a \u8fdb\u884c \u4e86 \u5904\u7406 \u9884\u5904\u7406 \uff0c \u5e76 \u5c06 \u4ee5 numpy \u6570\u7ec4 \u7684 \u5f62\u5f0f \u7ed9\u51fa \u3002 \u8be5 \u5b57\u5178 \u7531 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65b9\u6cd5 \u4e2d \u5b9a\u4e49 \u7684 id \u7d22\u5f15 \u3002   timestamp   :   \u5f53\u524d \u4eff\u771f \u77ac\u95f4 \u7684 \u65f6\u95f4 \u6233 \u3002   \u8bf7 \u8bb0\u4f4f \uff0c \u60a8 \u8fd8 \u53ef\u4ee5 \u8bbf\u95ee \u81ea\u6211 \u4ee3\u7406 \u4e3a \u8fbe\u5230 \u76ee\u7684 \u76ee\u7684\u5730 \u800c\u5e94 \u8d70 \u7684 \u8def\u7ebf \u3002 \u5229\u7528   self ._ global _ plan   \u6210\u5458 \u8bbf\u95ee \u5730\u7406 \u4f4d\u7f6e \u5730\u7406\u4f4d\u7f6e \u8def\u7531 \u548c   self ._ global _ plan _ world _ coord   \u4f5c\u4e3a \u5176 \u4e16\u754c \u4f4d\u7f6e \u5bf9\u5e94 \u9879 \u3002   \u91cd\u5199   destroy   \u65b9\u6cd5   \u5728 \u6bcf\u6761 \u8def\u7531 \u7ed3\u675f \u65f6 \uff0c \u5c06 \u8c03\u7528   destroy   \u65b9\u6cd5 \uff0c \u5728 \u9700\u8981 \u6e05\u7406 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u4ee3\u7406 \u53ef\u4ee5 \u8986\u76d6 \u8be5 \u65b9\u6cd5 \u3002 \u4f8b\u5982 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u6b64 \u529f\u80fd \u64e6\u9664 \u7f51\u7edc \u4e2d \u4efb\u4f55 \u4e0d \u9700\u8981 \u7684 \u5185\u5b58   def   destroy ( self ) :   pass   \u57fa\u4e8e \u4ee3\u7406 \u7684   ROS   \u5982\u679c \u60a8 \u60f3 \u5c06   ROS   \u4f5c\u4e3a \u4ee3\u7406 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u4ee5\u4e0b \u662f \u4e00\u4e9b \u9700\u8981 \u8003\u8651 \u7684 \u5efa\u8bae \uff1a   ROS   Melodic   :   \u7531\u4e8e \u6392\u884c \u6392\u884c\u699c \u4ec5 \u4e0e   Python   3   \u517c\u5bb9 \uff0c \u6211\u4eec \u5efa\u8bae \u4f7f\u7528   roslibpy   \u5728 \u6392\u884c \u6392\u884c\u699c \u548c ROS \u5806\u6808 \u4e4b\u95f4 \u8fdb\u884c \u901a\u4fe1 \u3002   ROS   Noetic   :   \u7531\u4e8e   ROS   Noetic   \u7684 \u76ee\u6807 \u662f   Python3 \uff0c \u60a8 \u53ef\u4ee5 \u76f4\u63a5 \u4f7f\u7528   rospy   \u521b\u5efa \u4e00\u4e2a \u8282\u70b9 \u6765 \u4e0e \u60a8 \u7684 ROS \u5806\u6808 \u901a\u4fe1 \u6392\u884c \u6392\u884c\u699c \u3002   ROS2   Foxy   :   \u4e0e ROS   Noetic \u7c7b\u4f3c \uff0c \u60a8 \u53ef\u4ee5 \u76f4\u63a5 \u4f7f\u7528   rcpy   \u4e0e \u60a8 \u7684 \u5806\u6808 \u5efa\u7acb \u901a\u4fe1 \u3002   \u8bad\u7ec3 \u548c \u6d4b\u8bd5 \u4ee3\u7406   \u6211\u4eec \u51c6\u5907 \u4e86 \u4e00\u7ec4 \u9884\u5b9a \u4e49 \u7684 \u8def\u7ebf \u4f5c\u4e3a \u8d77\u70b9 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u8fd9\u4e9b \u9014\u5f84 \u6765 \u8bad\u7ec3 \u548c \u9a8c\u8bc1 \u4ee3\u7406 \u7684 \u6027\u80fd \u3002 \u53ef\u4ee5 \u5728 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   { LEADERBOARD _ ROOT } / data   :   routes _ training . xml   :   \u62df \u7528\u4f5c \u8bad\u7ec3 \u6570\u636e \u7684 50 \u6761 \u8def\u7ebf \uff08 112.8 \u516c\u91cc \uff09 \u3002   routes _ testing . xml   :   \u62df \u7528\u4f5c \u9a8c\u8bc1 \u6570\u636e \u7684 26 \u6761 \u8def\u7ebf \uff08 58.9 \u516c\u91cc \uff09 \u3002   \u57fa\u51c6   Brady   Zhou   \u5728   Learning   by   Cheating   \u7684 \u57fa\u7840 \u4e0a \u521b\u9020 \u4e86 \u4e00\u5957 \u51fa\u8272 \u7684   starter   kit   \u3002","title":"\u5f00\u59cb \u4f7f\u7528 \u6392\u884c\u699c   2.0"},{"location":"leaderboard_get_started/#20","text":"\u7b14\u8bb0   \u672c\u9875 \u4fe1\u606f \u6d89\u53ca \u6700\u65b0 \u7248\u672c   Leaderboard   2.0 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f \u4ee5\u524d \u7248\u672c \u7684 \u6392\u884c \u6392\u884c\u699c \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u6392\u884c \u6392\u884c\u699c   1.0   \u5165\u95e8 \u8bf4\u660e \u3002   \u4e3a\u4e86 \u5f00\u59cb \u5f00\u53d1 \u60a8 \u7684 \u81ea\u4e3b \u4ee3\u7406 \uff0c \u60a8 \u9700\u8981 \u5b8c\u6210 \u4ee5\u4e0b \u8fc7\u7a0b \uff1a","title":"\u5f00\u59cb \u4f7f\u7528 \u6392\u884c\u699c   2.0"},{"location":"leaderboard_get_started/#_1","text":"","title":"\u7cfb\u7edf \u8bbe\u7f6e"},{"location":"leaderboard_get_started/#carla","text":"\u4e0b\u8f7d \u6253\u5305 \u7684   Carla   \u6392\u884c \u6392\u884c\u699c \u7248\u672c \u3002   \u5c06 \u5305 \u89e3\u538b \u5230 \u4e00\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u4f8b\u5982   Carla \u3002   \u7b14\u8bb0   \u5728 \u4ee5\u4e0b \u547d\u4ee4 \u4e2d \uff0c \u66f4\u6539   $ { CARLA _ ROOT }   \u53d8\u91cf \u4ee5 \u5bf9\u5e94 \u4e8e \u60a8 \u7684   Carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u4e3a\u4e86 \u4f7f\u7528   Carla   Python   API \uff0c \u60a8 \u9700\u8981 \u5728 \u60a8 \u559c\u6b22 \u7684 \u73af\u5883 \u4e2d \u5b89\u88c5 \u4e00\u4e9b \u4f9d\u8d56 \u9879 \u3002 \u4f5c\u4e3a \u53c2\u8003 \uff0c \u5bf9\u4e8e conda \uff0c \u9996\u5148 \u521b\u5efa \u4e00\u4e2a \u65b0 \u73af\u5883 \uff1a   conda   create   - n   py37   python = 3.7   conda   activate   py37   cd   $ { CARLA _ ROOT }   #   \u6539\u53d8 \u60a8 \u7684   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55   $ { CARLA _ ROOT }   pip3   install   - r   PythonAPI / carla / requirements . txt   \u7b14\u8bb0   Carla   \u6392\u884c \u6392\u884c\u699c \u7248\u672c \u57fa\u4e8e   0.9 . 14   \u7248\u672c \u3002 \u5b83 \u8fd8 \u5177\u6709 \u5373\u5c06 \u53d1\u5e03 \u7684   0.9 . 14   \u7248\u672c \u7684 \u4e00\u4e9b \u529f\u80fd \uff0c \u4f8b\u5982 \u65b0 \u7684 \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd \u3002 \u56e0\u6b64 \uff0c \u5728 \u4f7f\u7528   API   \u65f6\u8bf7 \u53c2\u8003 \u6700\u65b0 \u7684 \u6587\u6863 \u3002","title":"\u4e0b\u8f7d   CARLA   \u6392\u884c\u699c \u5305"},{"location":"leaderboard_get_started/#_2","text":"\u4e0b\u8f7d \u6392\u884c \u6392\u884c\u699c \u5b58\u50a8 \u5e93   Leaderboard - 2.0   \u5206\u652f \u3002   git   clone   - b   leaderboard - 2.0   -- single - branch   https : / / github . com / carla - simulator / leaderboard . git   \u5728 \u4ee5\u4e0b \u547d\u4ee4 \u4e2d \uff0c \u66f4\u6539 $ { LEADERBOARD _ ROOT } \u53d8\u91cf \u4ee5 \u5bf9\u5e94 \u4e8e \u60a8 \u7684 \u6392\u884c \u6392\u884c\u699c \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u5b89\u88c5 \u6240 \u9700 \u7684   Python   \u4f9d\u8d56 \u9879 \u3002   cd   $ { LEADERBOARD _ ROOT }   #   \u6539\u53d8 \u60a8 \u7684 \u6392\u884c \u6392\u884c\u699c \u76ee\u5f55 \u6839\u76ee\u5f55   $ { LEADERBOARD _ ROOT }   pip3   install   - r   requirements . txt   \u4e0b\u8f7d   Scenario   Runner   \u5b58\u50a8 \u5e93 \u6392\u884c \u6392\u884c\u699c - 2.0   \u5206\u652f \u3002   git   clone   - b   leaderboard - 2.0   -- single - branch   https : / / github . com / carla - simulator / scenario _ runner . git   \u5728 \u4ee5\u4e0b \u547d\u4ee4 \u4e2d \uff0c \u5c06   \u66f4 \u6539\u4e3a   $ { SCENARIO _ RUNNER _ ROOT }   \u4e0e \u60a8 \u7684   Scenario _ Runner   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u76f8\u5bf9 \u5e94 \u3002   \u4f7f\u7528 \u76f8\u540c \u7684   Python   \u73af\u5883 \u5b89\u88c5 \u6240 \u9700 \u7684   Python   \u4f9d\u8d56 \u9879 \u3002   cd   $ { SCENARIO _ RUNNER _ ROOT }   #   \u6539\u53d8 \u60a8 \u7684   Scenario _ Runner   \u7684 \u76ee\u5f55 \u6839\u76ee\u5f55   $ { SCENARIO _ RUNNER _ ROOT }   pip3   install   - r   requirements . txt","title":"\u83b7\u53d6 \u6392\u884c\u699c \u548c \u573a\u666f \u8dd1\u8005"},{"location":"leaderboard_get_started/#ros","text":"\u9996\u5148 \uff0c \u4e0b\u8f7d \u5e76 \u5b89\u88c5 \u9002\u5f53 \u7684   ROS   \u6216   ROS2   \u53d1\u884c \u53d1\u884c\u7248 \u3002   Leaderboard   2.0   \u652f\u6301   ROS   Melodic \u3001 ROS   Noetic   \u548c   ROS2   Foxy \u3002 \u7136\u540e \uff0c \u514b\u9686 \u5e76 \u6784\u5efa   ROS   \u6216   ROS2   \u7684   Carla   ROS   \u6865 \u5b58\u50a8 \u5e93 \u3002 \u786e\u4fdd   leaderboard - 2.0   \u5728 \u514b\u9686   Carla   ROS   Bridge   \u5b58\u50a8 \u5e93\u65f6 \u6307\u5b9a \u5206\u652f \uff1a   git   clone   -- recurse - submodules   - b   leaderboard - 2.0   -- single - branch   https : / / github . com / carla - simulator / ros - bridge","title":"\u57fa\u4e8e   ROS   \u7684 \u4ee3\u7406"},{"location":"leaderboard_get_started/#_3","text":"\u6211\u4eec \u9700\u8981 \u786e\u4fdd \u4e0d\u540c \u7684 \u6a21\u5757 \u53ef\u4ee5 \u627e\u5230 \u5f7c\u6b64 \u3002   ~ / . bashrc   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u6253\u5f00 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \uff1a   gedit   ~ / . bashrc   \u7f16\u8f91 \u60a8 \u7684   ~ / . bashrc \u4e2a\u4eba \u8d44\u6599 \u4e2a\u4eba\u8d44\u6599 \uff0c \u6dfb\u52a0 \u4ee5\u4e0b \u5b9a\u4e49 \u3002 \u7f16\u8f91 \u540e \u4fdd\u5b58 \u5e76 \u5173\u95ed \u6587\u4ef6 \u3002   export   CARLA _ ROOT = PATH _ TO _ CARLA _ ROOT   export   SCENARIO _ RUNNER _ ROOT = PATH _ TO _ SCENARIO _ RUNNER   export   LEADERBOARD _ ROOT = PATH _ TO _ LEADERBOARD   export   PYTHONPATH = \" $ { CARLA _ ROOT } / PythonAPI / carla / \" : \" $ { SCENARIO _ RUNNER _ ROOT } \" : \" $ { LEADERBOARD _ ROOT } \" : \" $ { CARLA _ ROOT } / PythonAPI / carla / dist / carla - 0.9 . 14 - py3.7 - linux - x86 _ 64 . egg \" : $ { PYTHONPATH }   \u8bf7 \u8bb0\u4f4f   . bashrc   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f \u8fd9\u4e9b \u66f4\u6539 \u751f\u6548 \uff1a   source   ~ / . bashrc","title":"\u5b9a\u4e49 \u73af\u5883\u53d8\u91cf"},{"location":"leaderboard_get_started/#_4","text":"","title":"\u521b\u5efa \u5e26\u6709 \u6392\u884c\u699c \u7684 \u81ea\u6cbb \u4ee3\u7406"},{"location":"leaderboard_get_started/#_5","text":"\u6392\u884c \u6392\u884c\u699c \u5c06 \u8d1f\u8d23 \u8fd0\u884c \u60a8 \u7684 \u81ea\u4e3b \u4ee3\u7406 \uff0c \u5e76 \u8bc4\u4f30 \u5176 \u5728 \u591a\u6761 \u8def\u7ebf \u7684 \u4e0d\u540c \u4ea4\u901a \u60c5\u51b5 \u4e0b \u7684 \u884c\u4e3a \u3002 \u4e3a\u4e86 \u66f4\u597d \u5730 \u7406\u89e3 \u8fd9\u4e2a \u8fc7\u7a0b \uff0c \u8ba9 \u6211\u4eec \u8fd0\u884c \u4e00\u4e2a \u57fa\u672c \u4ee3\u7406 \u3002   \u5728 \u4e00\u4e2a \u7ec8\u7aef \u4e2d \u8fd0\u884c   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   cd   $ { CARLA _ ROOT }   . / CarlaUE4 . sh   - quality - level = Epic   - world - port = 2000   - resx = 800   - resy = 600   \u5728 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u4e2d \uff0c \u5bfc\u822a \u5230   $ { LEADERBOARD _ ROOT }   . \u867d\u7136 \u6392\u884c \u6392\u884c\u699c \u662f \u4f7f\u7528   leaderboard _ evaluator . py   python   \u811a\u672c \u8fd0\u884c \u7684 \uff0c \u4f46 \u4f7f\u7528 \u7684 \u53c2\u6570 \u6570\u91cf \u53ef\u80fd \u4f1a \u8ba9 \u4f7f\u7528 \u7ec8\u7aef \u76f4\u63a5 \u6267\u884c \u6b64 \u64cd\u4f5c \u611f\u5230 \u975e\u5e38 \u4e0d \u8212\u670d \u3002 \u56e0\u6b64 \uff0c \u5efa\u8bae \u4f7f\u7528   bash   \u811a\u672c \u3002 \u6392\u884c \u6392\u884c\u699c \u63d0\u4f9b \u7684   run _ leaderboard . sh   \u811a\u672c \u6b63\u662f \u8fd9\u6837 \u505a \u7684 \u3002 \u8fd0\u884c \u811a\u672c \uff1a   . / run _ leaderboard . sh   \u8fd9 \u5c06 \u542f\u52a8 \u4e00\u4e2a   pygame   \u7a97\u53e3 \uff0c \u8ba9 \u60a8 \u53ef\u4ee5 \u9009\u62e9 \u624b\u52a8 \u63a7\u5236 \u4ee3\u7406 \u3002 \u6309\u7167 \u5f69\u8272 \u8def\u5f84 \u70b9 \u6307\u793a \u7684 \u8def\u7ebf \u5230\u8fbe \u76ee\u7684 \u76ee\u7684\u5730 \u3002 \u8be5 \u811a\u672c \u52a0\u8f7d   Town   12   \u4e2d \u7684 \u4e24\u6761 \u8def\u7ebf \u4e24\u6761\u8def \u4e24\u6761\u8def\u7ebf \u3002   \u9075\u5faa \u8def\u7ebf \u5e76 \u9075\u5b88 \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \uff0c \u76f4\u5230 \u5230\u8fbe \u76ee\u7684 \u76ee\u7684\u5730 \u3002   \u7b14\u8bb0   \u624b\u52a8 \u4e2d\u65ad \u6392\u884c \u6392\u884c\u699c \u5c06 \u62a2\u5148 \u505c\u6b62 \u8def\u7ebf \u4eff\u771f \uff0c \u81ea\u52a8 \u8fdb\u5165 \u4e0b \u4e00\u6761 \u8def\u7ebf \u3002","title":"\u6392\u884c\u699c \u7684 \u7b2c\u4e00\u6b65"},{"location":"leaderboard_get_started/#_6","text":"\u8fd0\u884c \u6d4b\u8bd5 \u65f6 \uff0c \u6211\u4eec \u8bbe\u7f6e \u4e86 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u53c2\u6570 \u3002 \u8ba9 \u6211\u4eec \u4e86\u89e3 \u4e00\u4e0b \u5b83\u4eec \u4ee5\u53ca \u5b83\u4eec \u5728 \u6392\u884c \u6392\u884c\u699c \u4e2d \u7684 \u4f5c\u7528 \u3002   ROUTES   ( XML )   \u2014   \u5c06 \u7528\u4e8e \u4eff\u771f \u7684 \u8def\u7ebf \u96c6 \u3002 \u6bcf\u6761 \u8def\u7ebf \u90fd \u6709 \u4e00\u4e2a \u8d77\u70b9 \uff08 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8def\u5f84 \u70b9 \uff09 \u548c \u4e00\u4e2a \u7ec8\u70b9 \uff08 \u6700\u540e \u4e00\u4e2a \u8def\u5f84 \u70b9 \uff09 \u3002 \u6b64\u5916 \uff0c \u5b83\u4eec \u8fd8 \u53ef\u4ee5 \u5305\u542b \u5929\u6c14 \u6982\u51b5 \u6765 \u8bbe\u7f6e \u7279\u5b9a \u7684 \u5929\u6c14 \u6761\u4ef6 \u3002 \u4e00\u4efd   XML   \u5305\u542b \u8bb8\u591a \u8def\u7531 \uff0c \u6bcf\u6761 \u8def\u7531 \u90fd \u6709 \u4e00\u4e2a   ID \u3002 \u7528\u6237 \u53ef\u4ee5 \u4fee\u6539 \u3001 \u6dfb\u52a0 \u548c \u5220\u9664 \u8def\u7ebf \u4ee5 \u8fdb\u884c \u57f9\u8bad \u548c \u9a8c\u8bc1 \u3002 \u6392\u884c \u6392\u884c\u699c \u9644\u5e26 \u4e86 \u4e00\u7ec4 \u7528\u4e8e \u8c03\u8bd5 \u3001 \u8bad\u7ec3 \u548c \u9a8c\u8bc1 \u7684 \u8def\u7ebf \u3002 \u7528\u4e8e \u5728\u7ebf \u8bc4\u4f30 \u7684 \u8def\u7ebf \u662f \u79d8\u5bc6 \u7684 \u3002 \u8be5 \u6587\u4ef6 \u8fd8 \u5305\u62ec \u5c06 \u5728 \u4eff\u771f \u4e2d \u6d4b\u8bd5 \u7684 \u573a\u666f \uff0c \u6bcf\u6761 \u8def\u7ebf \u90fd \u6709 \u81ea\u5df1 \u7684 \u4e00\u7ec4 \u573a\u666f \u3002 \u573a\u666f \u88ab \u5b9a\u4e49 \u4e3a \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u3002 \u7279\u5de5 \u5fc5\u987b \u514b\u670d \u8fd9\u4e9b \u573a\u666f \u624d\u80fd \u901a\u8fc7 \u6d4b\u8bd5 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u8bbf\u95ee \u4e00\u7ec4 \u9002\u7528 \u4e8e \u516c\u5171 \u57ce\u9547 \u7684 \u4ea4\u901a \u573a\u666f \u3002 \u5b58\u5728 \u4f7f\u7528 \u4e0d\u540c \u53c2\u6570 \u5b9e\u4f8b \u5316 \u7684 \u591a\u79cd \u79cd\u7c7b \u7c7b\u578b \u591a\u79cd\u7c7b\u578b \u7684 \u573a\u666f \u3002 \u4ee5\u4e0b \u662f \u53ef\u7528 \u65b9\u6848 \u7684 \u5217\u8868 \u3002   REPETITIONS   ( int )   \u2014   \u51fa\u4e8e \u7edf\u8ba1 \u76ee\u7684 \uff0c \u6bcf\u6761 \u8def\u7ebf \u91cd\u590d \u7684 \u6b21\u6570 \u3002   TEAM _ AGENT   ( Python   \u6a21\u5757 )   \u2014   \u4ee3\u7406 \u7684   Python   \u6a21\u5757 \u7684 \u8def\u5f84 \u3002 \u521b\u5efa \u4ee3\u7406 \u7684 \u6b65\u9aa4 \u5c06 \u5728 \u4e0b \u4e00\u6b65 \u4e2d \u89e3\u91ca \u3002   \u5176\u4ed6 \u76f8\u5173 \u53c2\u6570 \u5982\u4e0b \u6240\u8ff0 \u3002   TEAM _ CONFIG   \uff08 \u7531 \u7528\u6237 \u5b9a\u4e49 \uff09   \u2014   \u6240 \u63d0\u4f9b \u7684 \u4ee3\u7406 \u8bfb\u53d6 \u7684 \u4efb\u610f \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u7684 \u8def\u5f84 \u3002 \u60a8 \u8d1f\u8d23 \u5728 \u4ee3\u7406 \u7c7b\u4e2d \u5b9a\u4e49 \u548c \u89e3\u6790 \u6b64 \u6587\u4ef6 \u3002   DEBUG _ CHALLENGE   ( int )   \u2014   \u6307\u793a \u4eff\u771f \u671f\u95f4 \u662f\u5426 \u5e94 \u663e\u793a \u8c03\u8bd5 \u4fe1\u606f \u8c03\u8bd5\u4fe1\u606f \u7684 \u6807\u5fd7 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8be5 \u53d8\u91cf \u672a \u8bbe\u7f6e   ( 0 ) \uff0c \u8fd9 \u4e0d\u4f1a \u751f\u6210 \u8981 \u663e\u793a \u7684 \u8c03\u8bd5 \u4fe1\u606f \u8c03\u8bd5\u4fe1\u606f \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   1   \u65f6 \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5c06 \u663e\u793a \u8981 \u9075\u5faa \u7684 \u53c2\u8003 \u8def\u7ebf \u3002 \u5982\u679c \u6b64 \u53d8\u91cf \u8bbe\u7f6e \u4e3a \u5927\u4e8e \u4efb\u4f55 \u503c \uff0c   1 \u5f15\u64ce \u5c06 \u6253\u5370 \u4eff\u771f \u7684 \u5b8c\u6574 \u72b6\u6001 \u4ee5 \u7528\u4e8e \u8c03\u8bd5 \u76ee\u7684 \u3002   CHECKPOINT _ ENDPOINT   ( JSON )   \u2014   \u5c06 \u8bb0\u5f55   Leaderboard   \u6307\u6807 \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u3002   RECORD _ PATH   \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff09   \u2014   \u5c06 \u5b58\u50a8   Carla   \u65e5\u5fd7 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u8def\u5f84 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b\u672a \u8bbe\u7f6e \u3002   RESUME \u2014   \u6307\u793a \u4eff\u771f \u662f\u5426 \u5e94\u4ece \u6700\u540e \u4e00\u6761 \u8def\u7ebf \u6062\u590d \u7684 \u6807\u5fd7 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b\u672a \u8bbe\u7f6e \u3002   CHALLENGE _ TRACK _ CODENAME   \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff09   \u2014   \u4ee3\u7406 \u6b63\u5728 \u7ade\u4e89 \u7684 \u8d5b\u9053 \u3002 \u6709 \u4e24\u4e2a \u53ef\u80fd \u7684 \u9009\u9879 \uff1a   SENSORS   \u548c   MAP \u3002 \u8be5   SENSORS   \u8d5b\u9053 \u5141\u8bb8 \u4f7f\u7528 \u591a\u4e2a \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u3001 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u96f7\u8fbe \u3001 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u3001 \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u548c \u901f\u5ea6 \u901f\u5ea6\u8ba1 \u3002 \u9664\u4e86 \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e4b\u5916 \uff0c MAP   \u8d5b\u9053 \u8fd8 \u5141\u8bb8 \u76f4\u63a5 \u8bbf\u95ee   OpenDRIVE   \u9ad8\u6e05 \u5730\u56fe \u3002 \u60a8 \u8d1f\u8d23 \u6839\u636e \u9700\u8981 \u89e3\u6790 \u548c \u5904\u7406   OpenDRIVE   \u6620\u5c04 \u3002   \u8fd9\u4e9b \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u88ab \u4f20\u9012 \u5230   $ { LEADERBOARD _ ROOT } / LEADERBOARD / LEADERBOARD _ evaluator . py   \uff0c \u4f5c\u4e3a \u6267\u884c \u4eff\u771f \u7684 \u5165\u53e3 \u70b9 \u3002 \u67e5\u770b   leaderboard _ evaluator . py   \uff0c \u4e86\u89e3 \u6709\u5173 \u5982\u4f55 \u6267\u884c \u548c \u8bc4\u4f30 \u4ee3\u7406 \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002","title":"\u4e86\u89e3 \u6392\u884c\u699c \u7ec4\u4ef6"},{"location":"leaderboard_get_started/#_7","text":"\u65b0 \u4ee3\u7406 \u7684 \u5b9a\u4e49 \u59cb\u4e8e \u521b\u5efa \u4e00\u4e2a \u65b0\u7c7b \uff0c \u8be5\u7c7b \u7ee7\u627f \u81ea   leaderboard . autoagents . autonomous _ agent . AutonomousAgent   \u3002","title":"\u521b\u5efa \u81ea\u5df1 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406"},{"location":"leaderboard_get_started/#get_entry_point","text":"\u9996\u5148 \uff0c \u5b9a\u4e49 \u4e00\u4e2a \u540d\u4e3a   get _ entry _ point   \u7684 \u51fd\u6570 \uff0c \u8be5 \u51fd\u6570 \u8fd4\u56de \u65b0\u7c7b \u7684 \u540d\u79f0 \u3002 \u8fd9 \u5c06 \u7528\u4e8e \u81ea\u52a8 \u5b9e\u4f8b \u5316 \u60a8 \u7684 \u4ee3\u7406 \u3002   from   leaderboard . autoagents . autonomous _ agent   import   AutonomousAgent   def   get _ entry _ point ( ) :   return   ' MyAgent '   class   MyAgent ( AutonomousAgent ) :   ...","title":"\u521b\u5efa   get _ entry _ point"},{"location":"leaderboard_get_started/#setup","text":"\u5728 \u4ee3\u7406 \u7c7b\u4e2d \u91cd\u5199   setup   \u65b9\u6cd5 \u3002 \u6b64 \u65b9\u6cd5 \u6267\u884c \u4ee3\u7406 \u6240 \u9700 \u7684 \u6240\u6709 \u521d\u59cb \u521d\u59cb\u5316 \u548c \u5b9a\u4e49 \u3002 \u6bcf\u6b21 \u521d\u59cb \u521d\u59cb\u5316 \u8def\u7531 \u65f6 \uff0c \u90fd \u4f1a \u81ea\u52a8 \u8c03\u7528 \u5b83 \u3002 \u5b83 \u53ef\u4ee5 \u63a5\u6536 \u6307\u5411 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u7684 \u53ef\u9009 \u53c2\u6570 \u3002 \u7528\u6237 \u5e94 \u5206\u6790 \u6b64 \u6587\u4ef6 \u3002 \u81f3\u5c11 \uff0c \u60a8 \u9700\u8981 \u6307\u5b9a \u53c2\u4e0e \u7684 \u66f2\u76ee \u3002   from   leaderboard . autoagents . autonomous _ agent   import   Track   ...   def   setup ( self ,   path _ to _ conf _ file ) :   self . track   =   Track . SENSORS   #   \u6b64 \u65b9\u6cd5 \u81f3\u5c11 \u8bbe\u7f6e \u6392\u884c \u6392\u884c\u699c \u6a21\u5f0f \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b   SENSORS   \u6ce8\u610f   self . track   \u5c5e\u6027 \u5e94\u8be5 \u662f \u679a\u4e3e \uff0c \u800c \u4e0d\u662f \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002 \u5b83 \u53ea\u80fd \u53d6 \u53ef\u80fd \u7684 \u503c   Track . SENSORS   \u6216   Track . MAP   \u3002","title":"\u91cd\u5199   setup   \u65b9\u6cd5"},{"location":"leaderboard_get_started/#_8","text":"\u60a8 \u8fd8 \u5fc5\u987b \u8986\u76d6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65b9\u6cd5 \uff0c \u8be5 \u65b9\u6cd5 \u5b9a\u4e49 \u4e86 \u60a8 \u7684 \u4ee3\u7406 \u6240 \u9700 \u7684 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   def   sensors ( self ) :   sensors   =   [   { ' type ' :   ' sensor . camera . rgb ' ,   ' id ' :   ' Center ' ,   ' x ' :   0.7 ,   ' y ' :   0.0 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   0.0 ,   ' width ' :   300 ,   ' height ' :   200 ,   ' fov ' :   100 } ,   { ' type ' :   ' sensor . lidar . ray _ cast ' ,   ' id ' :   ' LIDAR ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   - 45.0 } ,   { ' type ' :   ' sensor . other . radar ' ,   ' id ' :   ' RADAR ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   - 45.0 ,   ' fov ' :   30 } ,   { ' type ' :   ' sensor . other . gnss ' ,   ' id ' :   ' GPS ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 } ,   { ' type ' :   ' sensor . other . imu ' ,   ' id ' :   ' IMU ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   - 45.0 } ,   { ' type ' :   ' sensor . opendrive _ map ' ,   ' id ' :   ' OpenDRIVE ' ,   ' reading _ frequency ' :   1 } ,   { ' type ' :   ' sensor . speedometer ' ,   ' id ' :   ' Speed ' } ,   ]   return   sensors   \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c5e\u6027 \u90fd \u5177\u6709 \u56fa\u5b9a \u56fa\u5b9a\u503c \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u5728   agent _ wrapper . py   \u4e2d \u8fdb\u884c \u68c0\u67e5 \u3002 \u8fd9\u6837 \u505a \u53ef\u4ee5 \u4f7f \u6240\u6709 \u56e2\u961f \u5728 \u4e00\u4e2a \u901a\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6846\u67b6 \u5185 \u8fdb\u884c \u7ade\u4e89 \u3002   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u8868\u793a \u4e3a \u5b57\u5178 \uff0c \u5305\u542b \u4ee5\u4e0b \u5c5e\u6027 \uff1a   type   :   \u8981 \u6dfb\u52a0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7c7b\u578b \u3002   id   :   \u5c06 \u88ab \u7ed9\u4e88 \u7a0d\u540e \u8981 \u8bbf\u95ee \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6807\u7b7e \u3002   other   attributes   :   \u8fd9\u4e9b \u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f9d\u8d56 \u4f9d\u8d56\u6027 \u7684 \uff0c \u4f8b\u5982 \uff1a \u5916\u53c2 \u548c   fov \u3002   \u7528\u6237 \u53ef\u4ee5 \u5728 \u76f8\u5bf9 \u4e8e \u8f66\u8f86 \u7684 \u76f8\u5bf9 \u5750\u6807 \u4e2d \u8bbe\u7f6e \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5185\u90e8 \u548c \u5916\u90e8 \u53c2\u6570 \uff08 \u4f4d\u7f6e \u548c \u65b9\u5411 \uff09 \u3002 \u8bf7 \u6ce8\u610f \uff0c Carla   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u5750\u6807\u7cfb \uff0c \u5373 \uff1a   x - front   \uff0c   y - right   \uff0c   z - up   \u3002   \u53ef\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6709 \uff1a   sensor . camera . rgb   :   \u6355\u6349 \u56fe\u50cf \u7684 \u666e\u901a \u76f8\u673a \u3002   sensor . lidar . ray _ cast   :   Velodyne   64 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002   sensor . other . radar   :   \u8fdc\u7a0b \u96f7\u8fbe \uff08 \u9ad8\u8fbe 100 \u7c73 \uff09 \u3002   sensor . other . gnss   :   GPS \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fd4\u56de \u5730\u7406 \u4f4d\u7f6e \u5730\u7406\u4f4d\u7f6e \u6570\u636e \u3002   sensor . other . imu   :   6 \u8f74 \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u3002   sensor . opendrive _ map   :   \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4ee5 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7684 OpenDRIVE \u683c\u5f0f \u516c\u5f00 HD \u6620\u5c04 \u3002   sensor . speedometer   :   \u63d0\u4f9b \u8fd1\u4f3c \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u7684 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u6ce8\u610f   \u8bd5\u56fe \u8bbe\u7f6e \u53e6 \u4e00\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6216 \u62fc\u9519 \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5c06 \u5bfc\u81f4 \u8bbe\u7f6e \u5931\u8d25 \u3002   \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u7684 \u4efb\u4f55 \u4e00\u4e2a \u6765 \u914d\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5806\u6808 \u3002 \u7136\u800c \uff0c \u4e3a\u4e86 \u4fdd\u6301 \u9002\u5ea6 \u7684 \u8ba1\u7b97 \u8d1f\u8f7d \uff0c \u6211\u4eec \u5bf9 \u53ef\u4ee5 \u6dfb\u52a0 \u5230 \u4ee3\u7406 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u91cf \u8bbe\u7f6e \u4e86 \u4ee5\u4e0b \u9650\u5236 \uff1a   sensor . camera . rgb   :   4   sensor . lidar . ray _ cast   :   1   sensor . other . radar   :   2   sensor . other . gnss   :   1   sensor . other . imu   :   1   sensor . opendrive _ map   :   1   sensor . speedometer   :   1   \u6ce8\u610f   \u8bd5\u56fe \u8bbe\u7f6e \u8fc7\u591a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5355\u5143 \u4f1a \u5bfc\u81f4 \u8bbe\u7f6e \u5931\u8d25 \u3002   \u8fd8\u6709 \u4e00\u4e9b \u7a7a\u95f4 \u9650\u5236 \u9650\u5236 \u4e86 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u8f66\u8f86 \u4f53\u79ef \u5185 \u7684 \u653e\u7f6e \u3002 \u5982\u679c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4efb\u4f55 \u8f74 \uff08 \u4f8b\u5982   [ 3.1 , 0.0 , 0.0 ]   \uff09 \u4e0a \u8ddd\u79bb \u5176\u7236 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8d85\u8fc7   3   \u7c73 \uff0c \u5219 \u8bbe\u7f6e \u5c06 \u5931\u8d25 \u3002","title":"\u91cd\u5199 \u4f20\u611f\u5668 \u65b9\u6cd5"},{"location":"leaderboard_get_started/#run_step","text":"\u6b64 \u65b9\u6cd5 \u5c06 \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u957f \u8c03\u7528 \u4e00\u6b21 \uff0c \u4ee5 \u751f\u6210   carla . VehicleControl   \u5bf9\u8c61 \u5f62\u5f0f \u7684 \u65b0 \u52a8\u4f5c \u3002 \u786e\u4fdd \u6b64 \u51fd\u6570 \u8fd4\u56de \u5c06 \u7528\u4e8e \u66f4\u65b0 \u4ee3\u7406 \u7684 \u63a7\u5236 \u5bf9\u8c61 \u3002   def   run _ step ( self ,   input _ data ,   timestamp ) :   control   =   self ._ do _ something _ smart ( input _ data ,   timestamp )   return   control   input _ data   :   \u5305\u542b \u6240 \u8bf7\u6c42 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u7684 \u5b57\u5178 \u3002 \u6570\u636e \u5df2\u7ecf \u5728   sensor _ interface . py   \u4e0a \u8fdb\u884c \u4e86 \u5904\u7406 \u9884\u5904\u7406 \uff0c \u5e76 \u5c06 \u4ee5 numpy \u6570\u7ec4 \u7684 \u5f62\u5f0f \u7ed9\u51fa \u3002 \u8be5 \u5b57\u5178 \u7531 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65b9\u6cd5 \u4e2d \u5b9a\u4e49 \u7684 id \u7d22\u5f15 \u3002   timestamp   :   \u5f53\u524d \u4eff\u771f \u77ac\u95f4 \u7684 \u65f6\u95f4 \u6233 \u3002   \u8bf7 \u8bb0\u4f4f \uff0c \u60a8 \u8fd8 \u53ef\u4ee5 \u8bbf\u95ee \u81ea\u6211 \u4ee3\u7406 \u4e3a \u8fbe\u5230 \u76ee\u7684 \u76ee\u7684\u5730 \u800c\u5e94 \u8d70 \u7684 \u8def\u7ebf \u3002 \u5229\u7528   self ._ global _ plan   \u6210\u5458 \u8bbf\u95ee \u5730\u7406 \u4f4d\u7f6e \u5730\u7406\u4f4d\u7f6e \u8def\u7531 \u548c   self ._ global _ plan _ world _ coord   \u4f5c\u4e3a \u5176 \u4e16\u754c \u4f4d\u7f6e \u5bf9\u5e94 \u9879 \u3002","title":"\u91cd\u5199   run _ step   \u65b9\u6cd5"},{"location":"leaderboard_get_started/#destroy","text":"\u5728 \u6bcf\u6761 \u8def\u7531 \u7ed3\u675f \u65f6 \uff0c \u5c06 \u8c03\u7528   destroy   \u65b9\u6cd5 \uff0c \u5728 \u9700\u8981 \u6e05\u7406 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u4ee3\u7406 \u53ef\u4ee5 \u8986\u76d6 \u8be5 \u65b9\u6cd5 \u3002 \u4f8b\u5982 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u6b64 \u529f\u80fd \u64e6\u9664 \u7f51\u7edc \u4e2d \u4efb\u4f55 \u4e0d \u9700\u8981 \u7684 \u5185\u5b58   def   destroy ( self ) :   pass","title":"\u91cd\u5199   destroy   \u65b9\u6cd5"},{"location":"leaderboard_get_started/#ros_1","text":"\u5982\u679c \u60a8 \u60f3 \u5c06   ROS   \u4f5c\u4e3a \u4ee3\u7406 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u4ee5\u4e0b \u662f \u4e00\u4e9b \u9700\u8981 \u8003\u8651 \u7684 \u5efa\u8bae \uff1a   ROS   Melodic   :   \u7531\u4e8e \u6392\u884c \u6392\u884c\u699c \u4ec5 \u4e0e   Python   3   \u517c\u5bb9 \uff0c \u6211\u4eec \u5efa\u8bae \u4f7f\u7528   roslibpy   \u5728 \u6392\u884c \u6392\u884c\u699c \u548c ROS \u5806\u6808 \u4e4b\u95f4 \u8fdb\u884c \u901a\u4fe1 \u3002   ROS   Noetic   :   \u7531\u4e8e   ROS   Noetic   \u7684 \u76ee\u6807 \u662f   Python3 \uff0c \u60a8 \u53ef\u4ee5 \u76f4\u63a5 \u4f7f\u7528   rospy   \u521b\u5efa \u4e00\u4e2a \u8282\u70b9 \u6765 \u4e0e \u60a8 \u7684 ROS \u5806\u6808 \u901a\u4fe1 \u6392\u884c \u6392\u884c\u699c \u3002   ROS2   Foxy   :   \u4e0e ROS   Noetic \u7c7b\u4f3c \uff0c \u60a8 \u53ef\u4ee5 \u76f4\u63a5 \u4f7f\u7528   rcpy   \u4e0e \u60a8 \u7684 \u5806\u6808 \u5efa\u7acb \u901a\u4fe1 \u3002","title":"\u57fa\u4e8e \u4ee3\u7406 \u7684   ROS"},{"location":"leaderboard_get_started/#_9","text":"\u6211\u4eec \u51c6\u5907 \u4e86 \u4e00\u7ec4 \u9884\u5b9a \u4e49 \u7684 \u8def\u7ebf \u4f5c\u4e3a \u8d77\u70b9 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u8fd9\u4e9b \u9014\u5f84 \u6765 \u8bad\u7ec3 \u548c \u9a8c\u8bc1 \u4ee3\u7406 \u7684 \u6027\u80fd \u3002 \u53ef\u4ee5 \u5728 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   { LEADERBOARD _ ROOT } / data   :   routes _ training . xml   :   \u62df \u7528\u4f5c \u8bad\u7ec3 \u6570\u636e \u7684 50 \u6761 \u8def\u7ebf \uff08 112.8 \u516c\u91cc \uff09 \u3002   routes _ testing . xml   :   \u62df \u7528\u4f5c \u9a8c\u8bc1 \u6570\u636e \u7684 26 \u6761 \u8def\u7ebf \uff08 58.9 \u516c\u91cc \uff09 \u3002","title":"\u8bad\u7ec3 \u548c \u6d4b\u8bd5 \u4ee3\u7406"},{"location":"leaderboard_get_started/#_10","text":"Brady   Zhou   \u5728   Learning   by   Cheating   \u7684 \u57fa\u7840 \u4e0a \u521b\u9020 \u4e86 \u4e00\u5957 \u51fa\u8272 \u7684   starter   kit   \u3002","title":"\u57fa\u51c6"},{"location":"leaderboard_submit/","text":"\u4e3a \u6392\u884c \u6392\u884c\u699c 2.0 \u7248 \u63d0\u4ea4 \u4ee3\u7406   \u7b14\u8bb0   \u5c06 \u60a8 \u7684 \u4ee3\u7406 \u63d0\u4ea4 \u7ed9   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \uff0c \u5373 \u8868\u793a \u60a8 \u63a5\u53d7 \u4e86 \u4f7f\u7528 \u6761\u6b3e \u3002 \u672c\u9875 \u4ecb\u7ecd \u4e86 \u63d0\u4ea4 Leaderboard   2.0 \u7248\u672c \u7684 \u4ee3\u7406 \uff0c \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f Leaderboard1.0 \u7248\u672c \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u672c \u63d0\u4ea4 \u6307\u5357 \u3002   \u4e00\u822c \u6b65\u9aa4   \u4e3a\u4e86 \u521b\u5efa \u5e76 \u63d0\u4ea4 \u60a8 \u7684 \u4ee3\u7406 \uff0c \u60a8 \u5e94\u8be5 \u62e5\u6709 \u6392\u884c \u6392\u884c\u699c \u9879\u76ee \u548c   scenario _ runner   \u7684 \u526f\u672c \u3002 \u5982\u679c \u4e0d\u662f \u8fd9\u79cd \u60c5\u51b5 \uff0c \u8bf7 \u5148 \u8bbf\u95ee \u201c \u5165\u95e8 \u201d \u90e8\u5206 \u3002   \u521b\u5efa \u4e00\u4e2a   dockerfile   \u6765 \u6784\u5efa \u60a8 \u7684 \u4ee3\u7406   \u4e3a\u4e86 \u8ba9   Carla   \u6392\u884c \u6392\u884c\u699c \u8bc4\u4f30 \u60a8 \u7684 \u4ee3\u7406 \uff0c \u9700\u8981 \u5c06 \u5176 \u5c01\u88c5 \u5728   Docker   \u955c\u50cf \u4e2d \u3002 \u8981 \u60f3 \u6210\u529f \uff0c \u60a8 \u5fc5\u987b \u80fd\u591f \u5728   docker   \u5185 \u8fd0\u884c \u5e26\u6709 \u6392\u884c \u6392\u884c\u699c \u7684 \u4ee3\u7406 \u3002 \u60a8 \u53ef\u4ee5 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u521b\u5efa \u56fe\u50cf \uff0c \u4e5f \u53ef\u4ee5 \u9075\u5faa \u4ee5\u4e0b \u51c6\u5219 \uff1a   \u5c06 \u60a8 \u7684 \u4ee3\u7801 \u6258\u7ba1 \u5728   $ { LEADERBOARD _ ROOT }   \u5916\u9762 \u3002 \u6211\u4eec \u5c06 \u8be5 \u76ee\u5f55 \u79f0\u4e3a   $ { TEAM _ CODE _ ROOT }   \u5bf9\u4e8e \u57fa\u4e8e   ROS   \u7684 \u4ee3\u7406 \uff0c \u8fd9 \u5e94\u8be5 \u662f \u60a8 \u7684   ROS   \u5de5\u4f5c \u533a \u3002   \u5229\u7528 \u5b58\u50a8 \u5e93\u4e2d \u63d0\u4f9b \u7684 \u793a\u4f8b   Docker   \u6587\u4ef6 \u4e4b\u4e00 \uff0c \u5176\u4e2d \u573a\u666f \u8fd0\u884c \u5668 \u548c \u6392\u884c \u6392\u884c\u699c \u6240 \u9700 \u7684 \u6240\u6709 \u4f9d\u8d56 \u9879\u5747 \u5df2 \u8bbe\u7f6e \u3002 \u57fa\u4e8e   Python   \u7684 \u4ee3\u7406 \u53ef\u4ee5 \u4f7f\u7528 \u6b64 \u793a\u4f8b   Docker \uff0c \u800c \u57fa\u4e8e   ROS   \u7684 \u4ee3\u7406 \u53ef\u4ee5 \u5728 \u6b64\u5904 \u4f7f\u7528 \u5176   Docker   \u3002 \u5305\u62ec \u4ee3\u7406 \u6240 \u9700 \u7684 \u4f9d\u8d56 \u9879 \u548c \u9644\u52a0 \u5305 \u3002 \u6211\u4eec \u5efa\u8bae \u5efa\u8bae\u60a8 \u5728 \u7531 \u6807\u7b7e \u201c   BEGINNING   OF   USER   COMMANDS   \u201d \u548c \u201c   END   OF   USER   COMMANDS   \u201d \u5206\u9694 \u7684 \u533a\u57df \u4e2d \u6dfb\u52a0 \u65b0 \u547d\u4ee4 \u3002   \u66f4\u65b0 \u53d8\u91cf   TEAM _ AGENT   \u4ee5 \u8bbe\u7f6e \u4ee3\u7406 \u6587\u4ef6 \u548c   TEAM _ CONFIG   \uff0c \u5982\u679c \u9700\u8981 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u8fdb\u884c \u521d\u59cb \u521d\u59cb\u5316 \u3002 \u4e0d\u8981 \u66f4\u6539 \u8def\u5f84 \u201c   / workspace / team _ code   \u201d \u7684 \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \u3002   \u786e\u4fdd \u786e\u4fdd\u60a8 \u60f3\u8981 \u83b7\u53d6 \u7684 \u4efb\u4f55 \u5185\u5bb9 \u90fd \u5728 \u5185\u90e8 \uff0c   $ { HOME } / agent _ sources . sh   \u56e0\u4e3a \u5728 \u5176\u4ed6 \u4efb\u4f55 \u5730\u65b9 \u6dfb\u52a0 \u7684 \u6e90 \u90fd \u4e0d\u4f1a \u88ab \u8c03\u7528 \u3002 \u5728 \u4e91\u4e2d \u8fd0\u884c \u4ee3\u7406 \u4e4b\u524d \u4f1a \u81ea\u52a8 \u83b7\u53d6 \u6b64 \u6587\u4ef6 \u3002   \u6ce8\u610f   \u8bf7 \u6ce8\u610f \uff0c \u5f53 \u60a8 \u5c06 \u6761\u76ee \u63d0\u4ea4 \u5230 \u4e91\u65f6 \uff0c \u60a8 \u5bf9 \u6392\u884c \u6392\u884c\u699c \u6216 \u573a\u666f \u8fd0\u884c \u7a0b\u5e8f \u5b58\u50a8 \u5e93\u6240 \u505a \u7684 \u4efb\u4f55 \u66f4\u6539 \u90fd \u5c06 \u88ab \u8986\u76d6 \u3002   \u5c06 \u60a8 \u7684 \u4ee3\u7406 \u6784\u5efa \u5230   docker   \u955c\u50cf \u4e2d   dockerfile   \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u540e \uff0c \u60a8 \u73b0\u5728 \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c   make _ docker . sh   \u811a\u672c \u6765 \u521b\u5efa \u5b83 \uff0c \u8be5 \u811a\u672c \u4f1a \u5728 \u8be5 \u540d\u79f0 \u4e0b \u751f\u6210   docker   \u6620\u50cf   leaderboard - user   \u3002   $ { LEADERBOARD _ ROOT } / scripts / make _ docker . sh   [ -- ros - distro | - r   ROS _ DISTRO ]   \u8be5 \u811a\u672c \u786e\u4fdd \u6b63\u786e \u5b9a\u4e49 \u6240\u6709 \u6240 \u9700 \u7684 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c \u7136\u540e \u5c06 \u5176 \u5185\u5bb9 \u590d\u5236 \u590d\u5236\u5230 \u521b\u5efa \u7684   Dockerfile   \u4e2d \u3002 \u5efa\u8bae \u5c06 \u8fd9\u4e9b \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u4f5c\u4e3a \u60a8 \u7684   $ { HOME } / . bashrc   \u6587\u4ef6 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u5e76 \u5305\u542b \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   $ { CARLA _ ROOT }   $ { SCENARIO _ RUNNER _ ROOT }   $ { LEADERBOARD _ ROOT }   $ { TEAM _ CODE _ ROOT }   $ { ROS _ DISTRO }   \uff08 \u4ec5   ROS   \u4ee3\u7406 \u9700\u8981 \uff09   \u8bf7 \u968f\u610f \u8c03\u6574 \u6b64 \u811a\u672c \u4ee5 \u590d\u5236 \u60a8 \u8ba4\u4e3a \u5408\u9002 \u7684 \u5176\u4ed6 \u6587\u4ef6 \u548c \u8d44\u6e90 \u3002   \u6ce8\u610f   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u5728 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u672c\u5730 \u8fd0\u884c \u6392\u884c \u6392\u884c\u699c \u6765 \u6d4b\u8bd5 \u60a8 \u7684   docker   \u6620\u50cf   \u6211\u4eec \u8fd8 \u60f3 \u91cd\u70b9 \u4ecb\u7ecd   \u6392\u884c \u6392\u884c\u699c \u4ee3\u7406   \u5b58\u50a8 \u5e93 \uff0c \u5176\u4e2d \u5305\u542b \u591a\u4e2a \u65e8\u5728 \u4e0e   Leaderboard   2.0   \u914d\u5408 \u4f7f\u7528 \u7684 \u4ee3\u7406 \uff0c \u4ee5\u53ca \u5c06 \u5b83\u4eec \u5c01\u88c5 \u5728   Docker   \u4e2d\u6240 \u9700 \u7684 \u6587\u4ef6 \u3002   \u5728 Eval   AI \u6ce8\u518c \u65b0 \u7528\u6237   \u6211\u4eec Eval   AI \u7684 \u5408\u4f5c \u4f19\u4f34 \u5408\u4f5c\u4f19\u4f34 \u5f00\u53d1 \u4e86 \u6392\u884c \u6392\u884c\u699c \u7684 \u7528\u6237 \u754c\u9762 \u7528\u6237\u754c\u9762 \u3002 \u8981 \u63d0\u4ea4 \u5185\u5bb9 \uff0c \u60a8 \u9700\u8981 \u5728 \u7f51\u7ad9 \u4e0a \u6ce8\u518c \u7528\u6237 \u3002   \u6ce8\u610f   \u8bf7 \u52a1\u5fc5 \u586b\u5199 \u60a8 \u7684 \u7528\u6237 \u96b6\u5c5e \u5173\u7cfb \uff0c \u5426\u5219 \u60a8 \u53ef\u80fd \u4e0d\u4f1a \u88ab \u63a5\u53d7 \u53c2\u52a0 \u6311\u6218 \u3002   \u521b\u5efa \u65b0 \u56e2\u961f   \u5728   Eval   AI   \u6ce8\u518c \u7528\u6237 \u540e \uff0c \u901a\u8fc7 \u5355\u51fb \u201c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u56e2\u961f \u201d \u90e8\u5206 \u521b\u5efa \u4e00\u4e2a \u65b0 \u56e2\u961f \uff0c \u5982\u4e0b \u6240\u793a \u3002 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u9700\u8981 \u5728   Carla   \u6392\u884c \u6392\u884c\u699c   2.0   \u4e2d \u6ce8\u518c \u4e00\u4e2a \u56e2\u961f \u3002   AlphaDrive   UI   \u4e2d \u7684 \u56e2\u961f \u521b\u5efa \u5c4f\u5e55 \u3002   \u7533\u8bf7 \u52a0\u5165 \u7533\u8bf7\u52a0\u5165   Carla   \u6392\u884c \u6392\u884c\u699c   \u8f6c \u81f3 \u201c \u6240\u6709 \u6311\u6218 \u201d \u90e8\u5206 \u5e76 \u627e\u5230   Carla   \u6392\u884c \u6392\u884c\u699c \u6311\u6218 \uff0c \u6216 \u4f7f\u7528   \u6b64 \u94fe\u63a5   \u3002 \u9009\u62e9 \u201c \u53c2\u4e0e \u201d \uff0c \u7136\u540e \u9009\u62e9 \u4e00\u4e2a \u53c2\u4e0e \u56e2\u961f \u6765 \u7533\u8bf7 \u6311\u6218 \u3002 \u60a8 \u9700\u8981 \u7b49\u5f85   Carla   \u6392\u884c \u6392\u884c\u699c \u7ba1\u7406 \u7ba1\u7406\u5458 \u9a8c\u8bc1 \u60a8 \u7684 \u56e2\u961f \u3002 \u4e00\u65e6 \u60a8 \u7684 \u56e2\u961f \u901a\u8fc7 \u9a8c\u8bc1 \uff0c \u60a8 \u5c31 \u53ef\u4ee5 \u5f00\u59cb \u63d0\u4ea4 \u3002   \u57fa\u51c6 \u90e8\u5206 \u3002   \u63d0\u4ea4 \u60a8 \u7684 \u610f\u89c1   \u4e00\u65e6 \u60a8 \u7684 \u56e2\u961f \u7ecf\u8fc7 \u9a8c\u8bc1 \uff0c \u60a8 \u5c31 \u53ef\u4ee5 \u63d0\u4ea4 \u3002 \u5728 \u201c \u6982\u8ff0 \u201d \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u60a8 \u5c06 \u627e\u5230 \u6709\u5173   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u4e00\u822c \u4fe1\u606f \uff0c \u8bf7 \u524d\u5f80 \u201c \u63d0\u4ea4 \u201d \u90e8\u5206 \u8fdb\u884c \u63d0\u4ea4 \u3002 \u60a8 \u5c06 \u5728 \u90a3\u91cc \u627e\u5230 \u63d0\u4ea4 \u8bf4\u660e \u3002   \u60a8 \u9700\u8981 \u4f7f\u7528   pip   \u5b89\u88c5   EvalAI   CLI \uff1a   pip   install   evalai   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u60a8 \u9700\u8981 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u901a\u8fc7 \u4ee4\u724c \u6765 \u8bc6\u522b \u60a8 \u7684 \u7528\u6237 \uff1a   evalai   set _ token   < token >   \u60a8 \u53ef\u4ee5 \u4ece   EvalAI   \u7f51\u7ad9 \u7684 \u201c \u63d0\u4ea4 \u201d \u90e8\u5206 \u68c0\u7d22 \u60a8 \u7684 \u4ee4\u724c \u3002 \u60a8 \u53ef\u4ee5 \u76f4\u63a5 \u4ece \u63d0\u4ea4 \u8bf4\u660e \u4e2d \u590d\u5236 \u5e76 \u7c98\u8d34 \u547d\u4ee4 \uff1a   CLI   \u63d0\u4ea4 \u8bf4\u660e \u3002   \u6ce8\u610f   \u8be5 \u4ee4\u724c \u662f \u7279\u5b9a \u4e8e \u60a8 \u7684 \u7528\u6237 \u7684 \uff0c \u6bcf\u4e2a \u7528\u6237 \u90fd \u4f1a \u5728 \u7f51\u7ad9 \u7684 \u6b64 \u90e8\u5206 \u4e2d \u770b\u5230 \u4e0d\u540c \u7684 \u4ee4\u724c \u3002 \u4e0d\u8981 \u5171\u4eab \u4ee4\u724c \uff0c \u5426\u5219 \u63d0\u4ea4 \u4f5c\u8005 \u5c06\u4f1a \u4ea7\u751f \u6df7\u6dc6 \u3002   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u63a8\u9001   Docker   \u955c\u50cf \uff1a   evalai   push   < image > : < tag >   -- phase   < phase _ name >   \u60a8 \u53ef\u4ee5 \u5728 \u56db\u4e2a \u8f68\u8ff9 \u4e4b\u95f4 \u8fdb\u884c \u9009\u62e9 \uff08 \u5728   EvalAI   \u7f51\u7ad9 \u4e2d \u79f0\u4e3a \u9636\u6bb5 \uff09 \uff1a   \u6392\u884c \u6392\u884c\u699c   2.0   -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6392\u884c \u6392\u884c\u699c 2.0   -   \u5730\u56fe   \u6392\u884c \u6392\u884c\u699c   1.0   -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6392\u884c \u6392\u884c\u699c   1.0   -   \u5730\u56fe   \u5bf9\u4e8e \u6392\u884c \u6392\u884c\u699c   2.0   \u8d5b\u9053 \uff0c \u60a8 \u5fc5\u987b \u9996\u5148 \u5b8c\u6210 \u76f8\u5e94 \u7684 \u8d44\u683c \u4efb\u52a1 \uff1a   \u6392\u884c \u6392\u884c\u699c   2.0   -   SENSORS   \u9884\u9009 \u9884\u9009\u8d5b \u8d5b\u9053   \u6392\u884c \u6392\u884c\u699c   2.0   -   MAP   \u9884\u9009 \u9884\u9009\u8d5b \u8d5b\u9053   \u6ce8\u610f   \u5728 \u6d89\u53ca \u6392\u884c \u6392\u884c\u699c \u7684 \u5e74\u5ea6 \u6bd4\u8d5b \u671f\u95f4 \uff0c \u67d0\u4e9b \u8d5b\u9053 \u53ef\u80fd \u4f1a \u6682\u65f6 \u5173\u95ed \u3002 \u8bf7 \u5bc6\u5207 \u5173\u6ce8 \u6392\u884c \u6392\u884c\u699c \u7f51\u7ad9 \u548c   Discord   \u8bba\u575b \uff0c \u4e86\u89e3 \u8d5b\u9053 \u4f55\u65f6 \u53ef\u80fd \u5173\u95ed \u63d0\u4ea4 \u3002   \u60a8 \u53ef\u4ee5 \u76f4\u63a5 \u4ece \u4ee5\u4e0b \u90e8\u5206 \u590d\u5236 \u5e76 \u7c98\u8d34 \uff0c \u4ee5 \u786e\u4fdd \u63d0\u4ea4 \u5230 \u6b63\u786e \u7684 \u8f68\u9053 \uff0c \u5e76 \u5c06   < image >   \u548c \u66ff\u6362   < tag >   \u4e3a \u9002\u5408 \u60a8 \u7684   Docker   \u6620\u50cf \u7684 \u503c \uff1a   \u8981 \u63d0\u4ea4 \u5230 \u6bcf\u4e2a \u8f68\u8ff9 \u7684   CLI   \u547d\u4ee4 \u3002   \u68c0\u67e5 \u60a8 \u63d0\u4ea4 \u7684 \u6570\u636e   \u521b\u5efa \u63d0\u4ea4 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u8f6c\u5230 \u6b64   My   Submissions   \u90e8\u5206 \u67e5\u770b \u6240\u6709 \u63d0\u4ea4 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u72b6\u6001 \u663e\u793a \u63d0\u4ea4 \u72b6\u6001 \u7684 \u9ad8\u7ea7 \u8bf4\u660e \u3002 \u6240\u6709 \u63d0\u4ea4 \u90fd \u4ece \u72b6\u6001 \u5f00\u59cb \uff0c \u4e00\u65e6 \u5728 \u540e \u7aef \u5f00\u59cb \u8fd0\u884c \u5f00\u59cb\u8fd0\u884c \uff0c   SUBMITTED   \u5c31 \u4f1a \u66f4 \u6539\u4e3a \u3002 \u5b8c\u6210 \u540e \uff0c \u5982\u679c \u4eff\u771f \u8fc7\u7a0b \u4e2d \u4e00\u5207 \u987a\u5229 \u4e00\u5207\u987a\u5229 \uff0c \u5b83 \u5c06 \u66f4 \u6539\u4e3a   PARTIALLY _ EVALUATED   \uff0c \u6216\u8005 \u5982\u679c \u53d1\u751f \u751f\u610f \u610f\u5916 \u53d1\u751f\u610f\u5916 \u60c5\u51b5 \uff0c \u5219 \u66f4 \u6539\u4e3a   FINISHEDFAILED   \u3002   \u5931\u8d25 \u7684 \u63d0\u4ea4 \u53ef\u4ee5 \u6062\u590d \uff0c \u8fd9 \u5c06 \u7ee7\u7eed \u63d0\u4ea4 \uff0c \u800c \u4e0d \u91cd\u590d \u5df2\u7ecf \u5b8c\u6210 \u7684 \u8def\u7ebf \u3002 \u8fd9\u4e9b \u5c06 \u5177\u6709   RESUMED   \u72b6\u6001 \uff0c \u800c \u4e0d\u662f   SUBMITTED   \u76f4\u5230 \u5b83\u4eec \u5f00\u59cb \u8fd0\u884c \u5f00\u59cb\u8fd0\u884c \u3002   \u7528\u6237 \u53ef\u4ee5 \u968f\u65f6 \u53d6\u6d88 \u63d0\u4ea4 \u3001 \u505c\u6b62 \u63d0\u4ea4 \u5e76 \u5c06 \u5176 \u72b6\u6001 \u66f4 \u6539\u4e3a   CANCELLED   \u3002   \u4efb\u4f55 \u63d0\u4ea4 \u90fd \u53ef\u4ee5 \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \uff0c \u4f7f\u7528 \u76f8\u540c \u63d0\u4ea4 \u7684   docker   \u521b\u5efa \u4e00\u4e2a \u65b0 \u7684 \u63d0\u4ea4 \u3002 \u5982\u679c \u63d0\u4ea4 \u6b63\u5728 \u8fd0\u884c \uff0c \u5b83 \u5c06 \u81ea\u52a8 \u53d6\u6d88 \u3002   \u4e3a\u4e86 \u83b7\u5f97 \u63d0\u4ea4 \u7684 \u7ed3\u679c \uff0c \u8bf7 \u8bbf\u95ee   Stdout   file   \u63d0\u4f9b \u7684 \u94fe\u63a5 \u3002 \u8be5 \u6587\u4ef6 \u5305\u542b \u6709\u5173 \u63d0\u4ea4 \u7684 \u4e00\u4e9b \u4e00\u822c \u4fe1\u606f \uff0c \u5305\u62ec \u4f7f\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u8def\u7ebf \u8fdb\u5ea6 \u548c \u6700\u7ec8 \u7ed3\u679c \uff0c \u4ee5\u53ca \u6bcf\u6761 \u8def\u7ebf \u7684 \u72b6\u6001 \u548c \u6027\u80fd \u7684 \u672f\u8bed \u672f\u8bed\u8868 \u3002   \u6700\u540e \uff0c \u5982\u679c \u60a8 \u60f3 \u516c\u5f00 \u63d0\u4ea4 \u7684 \u5185\u5bb9 \uff0c \u8bf7 \u9009\u4e2d \u8be5   Show   on   Leaderboard   \u6846 \uff0c \u5b83 \u73b0\u5728 \u5c06 \u663e\u793a \u5728   Leaderboard   \u6311\u6218 \u90e8\u5206 \u4e2d \u3002 \u8bf7 \u968f\u610f \u7f16\u8f91 \u63d0\u4ea4 \u5185\u5bb9 \uff0c \u5176\u4e2d \u5305\u542b \u6709\u5173 \u65b9\u6cd5 \u540d\u79f0 \u3001 \u63cf\u8ff0 \u4ee5\u53ca \u9879\u76ee \u6216 \u51fa\u7248 \u51fa\u7248\u7269 \u7684   URL   \u7684 \u4efb\u4f55 \u4fe1\u606f \u3002","title":"\u4e3a \u6392\u884c\u699c 2.0 \u7248 \u63d0\u4ea4 \u4ee3\u7406"},{"location":"leaderboard_submit/#20","text":"\u7b14\u8bb0   \u5c06 \u60a8 \u7684 \u4ee3\u7406 \u63d0\u4ea4 \u7ed9   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \uff0c \u5373 \u8868\u793a \u60a8 \u63a5\u53d7 \u4e86 \u4f7f\u7528 \u6761\u6b3e \u3002 \u672c\u9875 \u4ecb\u7ecd \u4e86 \u63d0\u4ea4 Leaderboard   2.0 \u7248\u672c \u7684 \u4ee3\u7406 \uff0c \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f Leaderboard1.0 \u7248\u672c \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u672c \u63d0\u4ea4 \u6307\u5357 \u3002","title":"\u4e3a \u6392\u884c\u699c 2.0 \u7248 \u63d0\u4ea4 \u4ee3\u7406"},{"location":"leaderboard_submit/#_1","text":"\u4e3a\u4e86 \u521b\u5efa \u5e76 \u63d0\u4ea4 \u60a8 \u7684 \u4ee3\u7406 \uff0c \u60a8 \u5e94\u8be5 \u62e5\u6709 \u6392\u884c \u6392\u884c\u699c \u9879\u76ee \u548c   scenario _ runner   \u7684 \u526f\u672c \u3002 \u5982\u679c \u4e0d\u662f \u8fd9\u79cd \u60c5\u51b5 \uff0c \u8bf7 \u5148 \u8bbf\u95ee \u201c \u5165\u95e8 \u201d \u90e8\u5206 \u3002   \u521b\u5efa \u4e00\u4e2a   dockerfile   \u6765 \u6784\u5efa \u60a8 \u7684 \u4ee3\u7406   \u4e3a\u4e86 \u8ba9   Carla   \u6392\u884c \u6392\u884c\u699c \u8bc4\u4f30 \u60a8 \u7684 \u4ee3\u7406 \uff0c \u9700\u8981 \u5c06 \u5176 \u5c01\u88c5 \u5728   Docker   \u955c\u50cf \u4e2d \u3002 \u8981 \u60f3 \u6210\u529f \uff0c \u60a8 \u5fc5\u987b \u80fd\u591f \u5728   docker   \u5185 \u8fd0\u884c \u5e26\u6709 \u6392\u884c \u6392\u884c\u699c \u7684 \u4ee3\u7406 \u3002 \u60a8 \u53ef\u4ee5 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u521b\u5efa \u56fe\u50cf \uff0c \u4e5f \u53ef\u4ee5 \u9075\u5faa \u4ee5\u4e0b \u51c6\u5219 \uff1a   \u5c06 \u60a8 \u7684 \u4ee3\u7801 \u6258\u7ba1 \u5728   $ { LEADERBOARD _ ROOT }   \u5916\u9762 \u3002 \u6211\u4eec \u5c06 \u8be5 \u76ee\u5f55 \u79f0\u4e3a   $ { TEAM _ CODE _ ROOT }   \u5bf9\u4e8e \u57fa\u4e8e   ROS   \u7684 \u4ee3\u7406 \uff0c \u8fd9 \u5e94\u8be5 \u662f \u60a8 \u7684   ROS   \u5de5\u4f5c \u533a \u3002   \u5229\u7528 \u5b58\u50a8 \u5e93\u4e2d \u63d0\u4f9b \u7684 \u793a\u4f8b   Docker   \u6587\u4ef6 \u4e4b\u4e00 \uff0c \u5176\u4e2d \u573a\u666f \u8fd0\u884c \u5668 \u548c \u6392\u884c \u6392\u884c\u699c \u6240 \u9700 \u7684 \u6240\u6709 \u4f9d\u8d56 \u9879\u5747 \u5df2 \u8bbe\u7f6e \u3002 \u57fa\u4e8e   Python   \u7684 \u4ee3\u7406 \u53ef\u4ee5 \u4f7f\u7528 \u6b64 \u793a\u4f8b   Docker \uff0c \u800c \u57fa\u4e8e   ROS   \u7684 \u4ee3\u7406 \u53ef\u4ee5 \u5728 \u6b64\u5904 \u4f7f\u7528 \u5176   Docker   \u3002 \u5305\u62ec \u4ee3\u7406 \u6240 \u9700 \u7684 \u4f9d\u8d56 \u9879 \u548c \u9644\u52a0 \u5305 \u3002 \u6211\u4eec \u5efa\u8bae \u5efa\u8bae\u60a8 \u5728 \u7531 \u6807\u7b7e \u201c   BEGINNING   OF   USER   COMMANDS   \u201d \u548c \u201c   END   OF   USER   COMMANDS   \u201d \u5206\u9694 \u7684 \u533a\u57df \u4e2d \u6dfb\u52a0 \u65b0 \u547d\u4ee4 \u3002   \u66f4\u65b0 \u53d8\u91cf   TEAM _ AGENT   \u4ee5 \u8bbe\u7f6e \u4ee3\u7406 \u6587\u4ef6 \u548c   TEAM _ CONFIG   \uff0c \u5982\u679c \u9700\u8981 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u8fdb\u884c \u521d\u59cb \u521d\u59cb\u5316 \u3002 \u4e0d\u8981 \u66f4\u6539 \u8def\u5f84 \u201c   / workspace / team _ code   \u201d \u7684 \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \u3002   \u786e\u4fdd \u786e\u4fdd\u60a8 \u60f3\u8981 \u83b7\u53d6 \u7684 \u4efb\u4f55 \u5185\u5bb9 \u90fd \u5728 \u5185\u90e8 \uff0c   $ { HOME } / agent _ sources . sh   \u56e0\u4e3a \u5728 \u5176\u4ed6 \u4efb\u4f55 \u5730\u65b9 \u6dfb\u52a0 \u7684 \u6e90 \u90fd \u4e0d\u4f1a \u88ab \u8c03\u7528 \u3002 \u5728 \u4e91\u4e2d \u8fd0\u884c \u4ee3\u7406 \u4e4b\u524d \u4f1a \u81ea\u52a8 \u83b7\u53d6 \u6b64 \u6587\u4ef6 \u3002   \u6ce8\u610f   \u8bf7 \u6ce8\u610f \uff0c \u5f53 \u60a8 \u5c06 \u6761\u76ee \u63d0\u4ea4 \u5230 \u4e91\u65f6 \uff0c \u60a8 \u5bf9 \u6392\u884c \u6392\u884c\u699c \u6216 \u573a\u666f \u8fd0\u884c \u7a0b\u5e8f \u5b58\u50a8 \u5e93\u6240 \u505a \u7684 \u4efb\u4f55 \u66f4\u6539 \u90fd \u5c06 \u88ab \u8986\u76d6 \u3002","title":"\u4e00\u822c \u6b65\u9aa4"},{"location":"leaderboard_submit/#docker","text":"dockerfile   \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u540e \uff0c \u60a8 \u73b0\u5728 \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c   make _ docker . sh   \u811a\u672c \u6765 \u521b\u5efa \u5b83 \uff0c \u8be5 \u811a\u672c \u4f1a \u5728 \u8be5 \u540d\u79f0 \u4e0b \u751f\u6210   docker   \u6620\u50cf   leaderboard - user   \u3002   $ { LEADERBOARD _ ROOT } / scripts / make _ docker . sh   [ -- ros - distro | - r   ROS _ DISTRO ]   \u8be5 \u811a\u672c \u786e\u4fdd \u6b63\u786e \u5b9a\u4e49 \u6240\u6709 \u6240 \u9700 \u7684 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c \u7136\u540e \u5c06 \u5176 \u5185\u5bb9 \u590d\u5236 \u590d\u5236\u5230 \u521b\u5efa \u7684   Dockerfile   \u4e2d \u3002 \u5efa\u8bae \u5c06 \u8fd9\u4e9b \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u4f5c\u4e3a \u60a8 \u7684   $ { HOME } / . bashrc   \u6587\u4ef6 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u5e76 \u5305\u542b \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   $ { CARLA _ ROOT }   $ { SCENARIO _ RUNNER _ ROOT }   $ { LEADERBOARD _ ROOT }   $ { TEAM _ CODE _ ROOT }   $ { ROS _ DISTRO }   \uff08 \u4ec5   ROS   \u4ee3\u7406 \u9700\u8981 \uff09   \u8bf7 \u968f\u610f \u8c03\u6574 \u6b64 \u811a\u672c \u4ee5 \u590d\u5236 \u60a8 \u8ba4\u4e3a \u5408\u9002 \u7684 \u5176\u4ed6 \u6587\u4ef6 \u548c \u8d44\u6e90 \u3002   \u6ce8\u610f   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u5728 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u672c\u5730 \u8fd0\u884c \u6392\u884c \u6392\u884c\u699c \u6765 \u6d4b\u8bd5 \u60a8 \u7684   docker   \u6620\u50cf   \u6211\u4eec \u8fd8 \u60f3 \u91cd\u70b9 \u4ecb\u7ecd   \u6392\u884c \u6392\u884c\u699c \u4ee3\u7406   \u5b58\u50a8 \u5e93 \uff0c \u5176\u4e2d \u5305\u542b \u591a\u4e2a \u65e8\u5728 \u4e0e   Leaderboard   2.0   \u914d\u5408 \u4f7f\u7528 \u7684 \u4ee3\u7406 \uff0c \u4ee5\u53ca \u5c06 \u5b83\u4eec \u5c01\u88c5 \u5728   Docker   \u4e2d\u6240 \u9700 \u7684 \u6587\u4ef6 \u3002","title":"\u5c06 \u60a8 \u7684 \u4ee3\u7406 \u6784\u5efa \u5230   docker   \u955c\u50cf \u4e2d"},{"location":"leaderboard_submit/#eval-ai","text":"\u6211\u4eec Eval   AI \u7684 \u5408\u4f5c \u4f19\u4f34 \u5408\u4f5c\u4f19\u4f34 \u5f00\u53d1 \u4e86 \u6392\u884c \u6392\u884c\u699c \u7684 \u7528\u6237 \u754c\u9762 \u7528\u6237\u754c\u9762 \u3002 \u8981 \u63d0\u4ea4 \u5185\u5bb9 \uff0c \u60a8 \u9700\u8981 \u5728 \u7f51\u7ad9 \u4e0a \u6ce8\u518c \u7528\u6237 \u3002   \u6ce8\u610f   \u8bf7 \u52a1\u5fc5 \u586b\u5199 \u60a8 \u7684 \u7528\u6237 \u96b6\u5c5e \u5173\u7cfb \uff0c \u5426\u5219 \u60a8 \u53ef\u80fd \u4e0d\u4f1a \u88ab \u63a5\u53d7 \u53c2\u52a0 \u6311\u6218 \u3002","title":"\u5728 Eval   AI \u6ce8\u518c \u65b0 \u7528\u6237"},{"location":"leaderboard_submit/#_2","text":"\u5728   Eval   AI   \u6ce8\u518c \u7528\u6237 \u540e \uff0c \u901a\u8fc7 \u5355\u51fb \u201c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u56e2\u961f \u201d \u90e8\u5206 \u521b\u5efa \u4e00\u4e2a \u65b0 \u56e2\u961f \uff0c \u5982\u4e0b \u6240\u793a \u3002 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u9700\u8981 \u5728   Carla   \u6392\u884c \u6392\u884c\u699c   2.0   \u4e2d \u6ce8\u518c \u4e00\u4e2a \u56e2\u961f \u3002   AlphaDrive   UI   \u4e2d \u7684 \u56e2\u961f \u521b\u5efa \u5c4f\u5e55 \u3002","title":"\u521b\u5efa \u65b0 \u56e2\u961f"},{"location":"leaderboard_submit/#carla","text":"\u8f6c \u81f3 \u201c \u6240\u6709 \u6311\u6218 \u201d \u90e8\u5206 \u5e76 \u627e\u5230   Carla   \u6392\u884c \u6392\u884c\u699c \u6311\u6218 \uff0c \u6216 \u4f7f\u7528   \u6b64 \u94fe\u63a5   \u3002 \u9009\u62e9 \u201c \u53c2\u4e0e \u201d \uff0c \u7136\u540e \u9009\u62e9 \u4e00\u4e2a \u53c2\u4e0e \u56e2\u961f \u6765 \u7533\u8bf7 \u6311\u6218 \u3002 \u60a8 \u9700\u8981 \u7b49\u5f85   Carla   \u6392\u884c \u6392\u884c\u699c \u7ba1\u7406 \u7ba1\u7406\u5458 \u9a8c\u8bc1 \u60a8 \u7684 \u56e2\u961f \u3002 \u4e00\u65e6 \u60a8 \u7684 \u56e2\u961f \u901a\u8fc7 \u9a8c\u8bc1 \uff0c \u60a8 \u5c31 \u53ef\u4ee5 \u5f00\u59cb \u63d0\u4ea4 \u3002   \u57fa\u51c6 \u90e8\u5206 \u3002","title":"\u7533\u8bf7\u52a0\u5165   Carla   \u6392\u884c\u699c"},{"location":"leaderboard_submit/#_3","text":"\u4e00\u65e6 \u60a8 \u7684 \u56e2\u961f \u7ecf\u8fc7 \u9a8c\u8bc1 \uff0c \u60a8 \u5c31 \u53ef\u4ee5 \u63d0\u4ea4 \u3002 \u5728 \u201c \u6982\u8ff0 \u201d \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u60a8 \u5c06 \u627e\u5230 \u6709\u5173   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u4e00\u822c \u4fe1\u606f \uff0c \u8bf7 \u524d\u5f80 \u201c \u63d0\u4ea4 \u201d \u90e8\u5206 \u8fdb\u884c \u63d0\u4ea4 \u3002 \u60a8 \u5c06 \u5728 \u90a3\u91cc \u627e\u5230 \u63d0\u4ea4 \u8bf4\u660e \u3002   \u60a8 \u9700\u8981 \u4f7f\u7528   pip   \u5b89\u88c5   EvalAI   CLI \uff1a   pip   install   evalai   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u60a8 \u9700\u8981 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u901a\u8fc7 \u4ee4\u724c \u6765 \u8bc6\u522b \u60a8 \u7684 \u7528\u6237 \uff1a   evalai   set _ token   < token >   \u60a8 \u53ef\u4ee5 \u4ece   EvalAI   \u7f51\u7ad9 \u7684 \u201c \u63d0\u4ea4 \u201d \u90e8\u5206 \u68c0\u7d22 \u60a8 \u7684 \u4ee4\u724c \u3002 \u60a8 \u53ef\u4ee5 \u76f4\u63a5 \u4ece \u63d0\u4ea4 \u8bf4\u660e \u4e2d \u590d\u5236 \u5e76 \u7c98\u8d34 \u547d\u4ee4 \uff1a   CLI   \u63d0\u4ea4 \u8bf4\u660e \u3002   \u6ce8\u610f   \u8be5 \u4ee4\u724c \u662f \u7279\u5b9a \u4e8e \u60a8 \u7684 \u7528\u6237 \u7684 \uff0c \u6bcf\u4e2a \u7528\u6237 \u90fd \u4f1a \u5728 \u7f51\u7ad9 \u7684 \u6b64 \u90e8\u5206 \u4e2d \u770b\u5230 \u4e0d\u540c \u7684 \u4ee4\u724c \u3002 \u4e0d\u8981 \u5171\u4eab \u4ee4\u724c \uff0c \u5426\u5219 \u63d0\u4ea4 \u4f5c\u8005 \u5c06\u4f1a \u4ea7\u751f \u6df7\u6dc6 \u3002   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u63a8\u9001   Docker   \u955c\u50cf \uff1a   evalai   push   < image > : < tag >   -- phase   < phase _ name >   \u60a8 \u53ef\u4ee5 \u5728 \u56db\u4e2a \u8f68\u8ff9 \u4e4b\u95f4 \u8fdb\u884c \u9009\u62e9 \uff08 \u5728   EvalAI   \u7f51\u7ad9 \u4e2d \u79f0\u4e3a \u9636\u6bb5 \uff09 \uff1a   \u6392\u884c \u6392\u884c\u699c   2.0   -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6392\u884c \u6392\u884c\u699c 2.0   -   \u5730\u56fe   \u6392\u884c \u6392\u884c\u699c   1.0   -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6392\u884c \u6392\u884c\u699c   1.0   -   \u5730\u56fe   \u5bf9\u4e8e \u6392\u884c \u6392\u884c\u699c   2.0   \u8d5b\u9053 \uff0c \u60a8 \u5fc5\u987b \u9996\u5148 \u5b8c\u6210 \u76f8\u5e94 \u7684 \u8d44\u683c \u4efb\u52a1 \uff1a   \u6392\u884c \u6392\u884c\u699c   2.0   -   SENSORS   \u9884\u9009 \u9884\u9009\u8d5b \u8d5b\u9053   \u6392\u884c \u6392\u884c\u699c   2.0   -   MAP   \u9884\u9009 \u9884\u9009\u8d5b \u8d5b\u9053   \u6ce8\u610f   \u5728 \u6d89\u53ca \u6392\u884c \u6392\u884c\u699c \u7684 \u5e74\u5ea6 \u6bd4\u8d5b \u671f\u95f4 \uff0c \u67d0\u4e9b \u8d5b\u9053 \u53ef\u80fd \u4f1a \u6682\u65f6 \u5173\u95ed \u3002 \u8bf7 \u5bc6\u5207 \u5173\u6ce8 \u6392\u884c \u6392\u884c\u699c \u7f51\u7ad9 \u548c   Discord   \u8bba\u575b \uff0c \u4e86\u89e3 \u8d5b\u9053 \u4f55\u65f6 \u53ef\u80fd \u5173\u95ed \u63d0\u4ea4 \u3002   \u60a8 \u53ef\u4ee5 \u76f4\u63a5 \u4ece \u4ee5\u4e0b \u90e8\u5206 \u590d\u5236 \u5e76 \u7c98\u8d34 \uff0c \u4ee5 \u786e\u4fdd \u63d0\u4ea4 \u5230 \u6b63\u786e \u7684 \u8f68\u9053 \uff0c \u5e76 \u5c06   < image >   \u548c \u66ff\u6362   < tag >   \u4e3a \u9002\u5408 \u60a8 \u7684   Docker   \u6620\u50cf \u7684 \u503c \uff1a   \u8981 \u63d0\u4ea4 \u5230 \u6bcf\u4e2a \u8f68\u8ff9 \u7684   CLI   \u547d\u4ee4 \u3002","title":"\u63d0\u4ea4 \u60a8 \u7684 \u610f\u89c1"},{"location":"leaderboard_submit/#_4","text":"\u521b\u5efa \u63d0\u4ea4 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u8f6c\u5230 \u6b64   My   Submissions   \u90e8\u5206 \u67e5\u770b \u6240\u6709 \u63d0\u4ea4 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u72b6\u6001 \u663e\u793a \u63d0\u4ea4 \u72b6\u6001 \u7684 \u9ad8\u7ea7 \u8bf4\u660e \u3002 \u6240\u6709 \u63d0\u4ea4 \u90fd \u4ece \u72b6\u6001 \u5f00\u59cb \uff0c \u4e00\u65e6 \u5728 \u540e \u7aef \u5f00\u59cb \u8fd0\u884c \u5f00\u59cb\u8fd0\u884c \uff0c   SUBMITTED   \u5c31 \u4f1a \u66f4 \u6539\u4e3a \u3002 \u5b8c\u6210 \u540e \uff0c \u5982\u679c \u4eff\u771f \u8fc7\u7a0b \u4e2d \u4e00\u5207 \u987a\u5229 \u4e00\u5207\u987a\u5229 \uff0c \u5b83 \u5c06 \u66f4 \u6539\u4e3a   PARTIALLY _ EVALUATED   \uff0c \u6216\u8005 \u5982\u679c \u53d1\u751f \u751f\u610f \u610f\u5916 \u53d1\u751f\u610f\u5916 \u60c5\u51b5 \uff0c \u5219 \u66f4 \u6539\u4e3a   FINISHEDFAILED   \u3002   \u5931\u8d25 \u7684 \u63d0\u4ea4 \u53ef\u4ee5 \u6062\u590d \uff0c \u8fd9 \u5c06 \u7ee7\u7eed \u63d0\u4ea4 \uff0c \u800c \u4e0d \u91cd\u590d \u5df2\u7ecf \u5b8c\u6210 \u7684 \u8def\u7ebf \u3002 \u8fd9\u4e9b \u5c06 \u5177\u6709   RESUMED   \u72b6\u6001 \uff0c \u800c \u4e0d\u662f   SUBMITTED   \u76f4\u5230 \u5b83\u4eec \u5f00\u59cb \u8fd0\u884c \u5f00\u59cb\u8fd0\u884c \u3002   \u7528\u6237 \u53ef\u4ee5 \u968f\u65f6 \u53d6\u6d88 \u63d0\u4ea4 \u3001 \u505c\u6b62 \u63d0\u4ea4 \u5e76 \u5c06 \u5176 \u72b6\u6001 \u66f4 \u6539\u4e3a   CANCELLED   \u3002   \u4efb\u4f55 \u63d0\u4ea4 \u90fd \u53ef\u4ee5 \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \uff0c \u4f7f\u7528 \u76f8\u540c \u63d0\u4ea4 \u7684   docker   \u521b\u5efa \u4e00\u4e2a \u65b0 \u7684 \u63d0\u4ea4 \u3002 \u5982\u679c \u63d0\u4ea4 \u6b63\u5728 \u8fd0\u884c \uff0c \u5b83 \u5c06 \u81ea\u52a8 \u53d6\u6d88 \u3002   \u4e3a\u4e86 \u83b7\u5f97 \u63d0\u4ea4 \u7684 \u7ed3\u679c \uff0c \u8bf7 \u8bbf\u95ee   Stdout   file   \u63d0\u4f9b \u7684 \u94fe\u63a5 \u3002 \u8be5 \u6587\u4ef6 \u5305\u542b \u6709\u5173 \u63d0\u4ea4 \u7684 \u4e00\u4e9b \u4e00\u822c \u4fe1\u606f \uff0c \u5305\u62ec \u4f7f\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u8def\u7ebf \u8fdb\u5ea6 \u548c \u6700\u7ec8 \u7ed3\u679c \uff0c \u4ee5\u53ca \u6bcf\u6761 \u8def\u7ebf \u7684 \u72b6\u6001 \u548c \u6027\u80fd \u7684 \u672f\u8bed \u672f\u8bed\u8868 \u3002   \u6700\u540e \uff0c \u5982\u679c \u60a8 \u60f3 \u516c\u5f00 \u63d0\u4ea4 \u7684 \u5185\u5bb9 \uff0c \u8bf7 \u9009\u4e2d \u8be5   Show   on   Leaderboard   \u6846 \uff0c \u5b83 \u73b0\u5728 \u5c06 \u663e\u793a \u5728   Leaderboard   \u6311\u6218 \u90e8\u5206 \u4e2d \u3002 \u8bf7 \u968f\u610f \u7f16\u8f91 \u63d0\u4ea4 \u5185\u5bb9 \uff0c \u5176\u4e2d \u5305\u542b \u6709\u5173 \u65b9\u6cd5 \u540d\u79f0 \u3001 \u63cf\u8ff0 \u4ee5\u53ca \u9879\u76ee \u6216 \u51fa\u7248 \u51fa\u7248\u7269 \u7684   URL   \u7684 \u4efb\u4f55 \u4fe1\u606f \u3002","title":"\u68c0\u67e5 \u60a8 \u63d0\u4ea4 \u7684 \u6570\u636e"},{"location":"libcarla/","text":"LibCarla   \u6240\u6709 \u6a21\u5757 \u4e4b\u95f4 \u7684 \u8c03\u7528 \u5173\u7cfb \u56fe \uff1a   \u7b2c\u4e09 \u4e09\u65b9 \u7b2c\u4e09\u65b9 \u5e93 \u5305\u62ec \uff1a   simplify   \uff08 \u4f7f\u7528 \u4e8c\u6b21 \u66f2\u9762 \u4e8c\u6b21\u66f2\u9762 \u51cf\u5c11 \u7f51\u683c \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \uff09 \u3001   pugixml   \uff08 \u8f7b\u91cf \u91cf\u7ea7 \u8f7b\u91cf\u7ea7 \u7684   C++   XML   \u5904\u7406 \u5e93 \uff09 \u3001   odrSpiral   \uff08 OpenDrive \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \u8ba1\u7b97 \u87ba\u65cb \u7684 \u65b9\u6cd5 \uff09 \u3001   moodycamel   \uff08 C++ 11 \u5b9e\u73b0 \u7684 \u4e00\u4e2a \u4e00\u4e2a\u591a \u751f\u4ea7 \u4ea7\u8005 \u751f\u4ea7\u8005 \u3001 \u591a \u6d88\u8d39 \u6d88\u8d39\u8005 \u7684   \u65e0\u9501 \u961f\u5217   \uff09 \u3001   marchingcube   \uff08 \u4ece \u7ed9\u5b9a \u7684 \u6709 \u7b26\u53f7 \u8ddd\u79bb \u51fd\u6570 \u91cd\u5efa \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c \uff09 \u3002   \u7b14\u8bb0   Marching   Cubes ( \u4e09\u7ef4 \u89c4\u5219 \u6570\u636e \u573a \u7b49\u503c \u9762 \u751f\u6210 \u3001 \u4ece \u4e09\u7ef4 \u4f53\u7d20 \u4e2d \u63d0\u53d6 \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c ) \u3002 \u6709 \u7b26\u53f7 \u8ddd\u79bb \u51fd \uff08 Signed   Distance   Function ,   SDF \uff09 ,   \u6307 \u7684 \u662f \u7ed9\u5b9a \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u7684 \u5750\u6807 ,   \u8fd4\u56de \u8fd9\u4e2a \u70b9 \u4e0e \u67d0 \u4e00\u9762 \u7684 \u6700 \u77ed\u8ddd \u8ddd\u79bb \u77ed\u8ddd\u79bb \u3002 \u5982\u679c \u8fd9\u4e2a \u8ddd\u79bb \u662f \u8d1f\u6570 ,   \u5219 \u8bf4\u660e \u5728 \u9762\u5185 ,   \u662f \u6b63\u6570 \u5219 \u8bf4\u660e \u5728 \u9762\u5916 ,   \u5982\u679c \u662f 0 ,   \u5219 \u521a\u597d \u5728 \u9762\u4e0a \uff0c SDF \u7684 signed \u5c31\u662f \u7531\u6b64 \u800c\u6765 \u7531\u6b64\u800c\u6765 .   Visual   Studio   \u5de5\u7a0b \u6240\u5728 \u6240\u5728\u5730 \u76ee\u5f55 \u4e3a \uff1a   Build \\ libcarla - visualstudio \\   \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5404\u4e2a \u6a21\u5757 \u4e4b\u95f4 \u7684   \u8c03\u7528 \u5173\u7cfb \u56fe   \uff1a   \u9ed1\u8272 \u6846 \u8868\u660e \u5f53\u524d \u663e\u793a \u7684 \u662f \u7c7b \u6587\u6863 \u3002 \u7ea2\u8272 \u8fb9\u7ebf \u7684 \u65b9\u6846 \u8868\u793a \u6709 \u6587\u6863 \u7684 \u7ed3\u6784 \u4f53\u6216\u7c7b \uff0c \u8be5\u7c7b \u672a \u5c55\u793a \u5168\u90e8 \u7684 \u7ee7\u627f / \u5305\u542b \u5173\u7cfb \u3002 \u5b9e\u5fc3 \u7bad\u5934 \u6307\u793a \u516c\u6709 \u7ee7\u627f \u3002   \u7f16\u8bd1 \u540e \u7684 \u5b89\u88c5 \u76ee\u5f55 \u4f4d\u4e8e \uff1a   PythonAPI \\ carla \\ dependencies \\   \u3002   CMakeLists . txt   file   GLOB   \u547d\u4ee4 \u7528\u4e8e \u5c06 \u6307\u5b9a \u76ee\u5f55 \u4e0b \u7684 \u6240\u6709 \u6587\u4ef6 \u5339\u914d \u5230 \u4e00\u4e2a \u53d8\u91cf \u4e2d \u3002   install   \u7528\u4e8e \u6307\u5b9a \u5728 \u5b89\u88c5 \u65f6 \u8fd0\u884c \u7684 \u89c4\u5219 \u3002   DESTINATION   \u5b9a\u4e49 \u4e86 \u5b89\u88c5 \u7684 \u8def\u5f84 \uff0c \u4f7f\u7528   CMAKE _ INSTALL _ PREFIX   \u6765 \u5b9a\u4e49 \u5b89\u88c5 \u8def\u5f84 \uff08 \u5728   Util \\ BuildTools \\ BuildLibCarla . bat   \u4e2d \u7684   - DCMAKE _ INSTALL _ PREFIX   \u4e2d \u5b9a\u4e49 \uff0c \u5373   PythonAPI \\ carla \\ dependencies \\   \uff09 \uff0c \u5c31\u8981 \u5199\u6210 \u76f8\u5bf9 \u8def\u5f84 \u76f8\u5bf9\u8def\u5f84 \uff0c \u90a3\u4e48 \u5b89\u88c5 \u540e \u7684 \u8def\u5f84 \u5c31\u662f $ { CMAKE _ INSTALL _ PREFIX } /   \u3002 \u5c06 \u5bf9\u5e94 \u76ee\u5f55 \u4e0b \u7684 . cpp \u548c . h \u6587\u4ef6 \u62f7\u8d1d \u62f7\u8d1d\u5230 \u5b89\u88c5 \u8def\u5f84 \u4e0b \u3002   add _ library \uff1a \u7528\u4e8e \u5411 \u9879\u76ee \u6dfb\u52a0 \u4e00\u4e2a \u5e93 \u6587\u4ef6 , \u5e76 \u5b9a\u4e49 \u5176 \u7c7b\u578b ( \u9759\u6001 \u5e93   STATIC   \u6216 \u5171\u4eab \u5e93 ) \u3002   carla _ client $ { carla _ target _ postfix } _ debug   \u5bf9\u5e94 \uff1a   carla _ client _ debug . lib   target _ include _ directories \uff1a   \u6307\u5b9a \u76ee\u6807 \uff08 exe \u6216\u8005 so \u6587\u4ef6 \uff09 \u9700\u8981 \u5305\u542b \u7684 \u6587\u4ef6 \u5934\u6587\u4ef6 \u8def\u5f84   target _ link _ libraries \uff1a \u6307\u5b9a \u76ee\u6807 \uff08 exe \u6216\u8005 so \u6587\u4ef6 \uff09 \u9700\u8981 \u5305\u542b \u7684 \u5e93   set _ target _ properties \uff1a \u53ef\u4ee5 \u8bbe\u7f6e \u7f16\u8bd1 \u6807\u8bb0 \uff08 \u533a\u5206 \u8c03\u8bd5 \u8fd8\u662f \u53d1\u5e03 \uff09   \u670d\u52a1 \u670d\u52a1\u7aef   \u7f16\u8bd1 \u540e \u7684 \u5b89\u88c5 \u76ee\u5f55 \u4f4d\u4e8e \uff1a   Unreal \\ CarlaUE4 \\ Plugins \\ Carla \\ CarlaDependencies \\   \u3002   CMakeLists . txt   \u53c2\u8003   C++ \u6587\u6863   Doxygen   Doxygen   v1.63   \u4e2d\u6587 \u624b\u518c","title":"LibCarla"},{"location":"libcarla/#libcarla","text":"\u6240\u6709 \u6a21\u5757 \u4e4b\u95f4 \u7684 \u8c03\u7528 \u5173\u7cfb \u56fe \uff1a   \u7b2c\u4e09 \u4e09\u65b9 \u7b2c\u4e09\u65b9 \u5e93 \u5305\u62ec \uff1a   simplify   \uff08 \u4f7f\u7528 \u4e8c\u6b21 \u66f2\u9762 \u4e8c\u6b21\u66f2\u9762 \u51cf\u5c11 \u7f51\u683c \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \uff09 \u3001   pugixml   \uff08 \u8f7b\u91cf \u91cf\u7ea7 \u8f7b\u91cf\u7ea7 \u7684   C++   XML   \u5904\u7406 \u5e93 \uff09 \u3001   odrSpiral   \uff08 OpenDrive \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \u8ba1\u7b97 \u87ba\u65cb \u7684 \u65b9\u6cd5 \uff09 \u3001   moodycamel   \uff08 C++ 11 \u5b9e\u73b0 \u7684 \u4e00\u4e2a \u4e00\u4e2a\u591a \u751f\u4ea7 \u4ea7\u8005 \u751f\u4ea7\u8005 \u3001 \u591a \u6d88\u8d39 \u6d88\u8d39\u8005 \u7684   \u65e0\u9501 \u961f\u5217   \uff09 \u3001   marchingcube   \uff08 \u4ece \u7ed9\u5b9a \u7684 \u6709 \u7b26\u53f7 \u8ddd\u79bb \u51fd\u6570 \u91cd\u5efa \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c \uff09 \u3002   \u7b14\u8bb0   Marching   Cubes ( \u4e09\u7ef4 \u89c4\u5219 \u6570\u636e \u573a \u7b49\u503c \u9762 \u751f\u6210 \u3001 \u4ece \u4e09\u7ef4 \u4f53\u7d20 \u4e2d \u63d0\u53d6 \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c ) \u3002 \u6709 \u7b26\u53f7 \u8ddd\u79bb \u51fd \uff08 Signed   Distance   Function ,   SDF \uff09 ,   \u6307 \u7684 \u662f \u7ed9\u5b9a \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u7684 \u5750\u6807 ,   \u8fd4\u56de \u8fd9\u4e2a \u70b9 \u4e0e \u67d0 \u4e00\u9762 \u7684 \u6700 \u77ed\u8ddd \u8ddd\u79bb \u77ed\u8ddd\u79bb \u3002 \u5982\u679c \u8fd9\u4e2a \u8ddd\u79bb \u662f \u8d1f\u6570 ,   \u5219 \u8bf4\u660e \u5728 \u9762\u5185 ,   \u662f \u6b63\u6570 \u5219 \u8bf4\u660e \u5728 \u9762\u5916 ,   \u5982\u679c \u662f 0 ,   \u5219 \u521a\u597d \u5728 \u9762\u4e0a \uff0c SDF \u7684 signed \u5c31\u662f \u7531\u6b64 \u800c\u6765 \u7531\u6b64\u800c\u6765 .   Visual   Studio   \u5de5\u7a0b \u6240\u5728 \u6240\u5728\u5730 \u76ee\u5f55 \u4e3a \uff1a   Build \\ libcarla - visualstudio \\   \u3002","title":"LibCarla"},{"location":"libcarla/#_1","text":"\u5404\u4e2a \u6a21\u5757 \u4e4b\u95f4 \u7684   \u8c03\u7528 \u5173\u7cfb \u56fe   \uff1a   \u9ed1\u8272 \u6846 \u8868\u660e \u5f53\u524d \u663e\u793a \u7684 \u662f \u7c7b \u6587\u6863 \u3002 \u7ea2\u8272 \u8fb9\u7ebf \u7684 \u65b9\u6846 \u8868\u793a \u6709 \u6587\u6863 \u7684 \u7ed3\u6784 \u4f53\u6216\u7c7b \uff0c \u8be5\u7c7b \u672a \u5c55\u793a \u5168\u90e8 \u7684 \u7ee7\u627f / \u5305\u542b \u5173\u7cfb \u3002 \u5b9e\u5fc3 \u7bad\u5934 \u6307\u793a \u516c\u6709 \u7ee7\u627f \u3002   \u7f16\u8bd1 \u540e \u7684 \u5b89\u88c5 \u76ee\u5f55 \u4f4d\u4e8e \uff1a   PythonAPI \\ carla \\ dependencies \\   \u3002","title":"\u5ba2\u6237\u7aef"},{"location":"libcarla/#cmakeliststxt","text":"file   GLOB   \u547d\u4ee4 \u7528\u4e8e \u5c06 \u6307\u5b9a \u76ee\u5f55 \u4e0b \u7684 \u6240\u6709 \u6587\u4ef6 \u5339\u914d \u5230 \u4e00\u4e2a \u53d8\u91cf \u4e2d \u3002   install   \u7528\u4e8e \u6307\u5b9a \u5728 \u5b89\u88c5 \u65f6 \u8fd0\u884c \u7684 \u89c4\u5219 \u3002   DESTINATION   \u5b9a\u4e49 \u4e86 \u5b89\u88c5 \u7684 \u8def\u5f84 \uff0c \u4f7f\u7528   CMAKE _ INSTALL _ PREFIX   \u6765 \u5b9a\u4e49 \u5b89\u88c5 \u8def\u5f84 \uff08 \u5728   Util \\ BuildTools \\ BuildLibCarla . bat   \u4e2d \u7684   - DCMAKE _ INSTALL _ PREFIX   \u4e2d \u5b9a\u4e49 \uff0c \u5373   PythonAPI \\ carla \\ dependencies \\   \uff09 \uff0c \u5c31\u8981 \u5199\u6210 \u76f8\u5bf9 \u8def\u5f84 \u76f8\u5bf9\u8def\u5f84 \uff0c \u90a3\u4e48 \u5b89\u88c5 \u540e \u7684 \u8def\u5f84 \u5c31\u662f $ { CMAKE _ INSTALL _ PREFIX } /   \u3002 \u5c06 \u5bf9\u5e94 \u76ee\u5f55 \u4e0b \u7684 . cpp \u548c . h \u6587\u4ef6 \u62f7\u8d1d \u62f7\u8d1d\u5230 \u5b89\u88c5 \u8def\u5f84 \u4e0b \u3002   add _ library \uff1a \u7528\u4e8e \u5411 \u9879\u76ee \u6dfb\u52a0 \u4e00\u4e2a \u5e93 \u6587\u4ef6 , \u5e76 \u5b9a\u4e49 \u5176 \u7c7b\u578b ( \u9759\u6001 \u5e93   STATIC   \u6216 \u5171\u4eab \u5e93 ) \u3002   carla _ client $ { carla _ target _ postfix } _ debug   \u5bf9\u5e94 \uff1a   carla _ client _ debug . lib   target _ include _ directories \uff1a   \u6307\u5b9a \u76ee\u6807 \uff08 exe \u6216\u8005 so \u6587\u4ef6 \uff09 \u9700\u8981 \u5305\u542b \u7684 \u6587\u4ef6 \u5934\u6587\u4ef6 \u8def\u5f84   target _ link _ libraries \uff1a \u6307\u5b9a \u76ee\u6807 \uff08 exe \u6216\u8005 so \u6587\u4ef6 \uff09 \u9700\u8981 \u5305\u542b \u7684 \u5e93   set _ target _ properties \uff1a \u53ef\u4ee5 \u8bbe\u7f6e \u7f16\u8bd1 \u6807\u8bb0 \uff08 \u533a\u5206 \u8c03\u8bd5 \u8fd8\u662f \u53d1\u5e03 \uff09","title":"CMakeLists . txt"},{"location":"libcarla/#_2","text":"\u7f16\u8bd1 \u540e \u7684 \u5b89\u88c5 \u76ee\u5f55 \u4f4d\u4e8e \uff1a   Unreal \\ CarlaUE4 \\ Plugins \\ Carla \\ CarlaDependencies \\   \u3002","title":"\u670d\u52a1\u7aef"},{"location":"libcarla/#cmakeliststxt_1","text":"","title":"CMakeLists . txt"},{"location":"libcarla/#_3","text":"C++ \u6587\u6863   Doxygen   Doxygen   v1.63   \u4e2d\u6587 \u624b\u518c","title":"\u53c2\u8003"},{"location":"map_customization/","text":"\u5730\u56fe \u5b9a\u5236   \u672c \u6587\u6863 \u5c1a \u5728 \u7f16\u5199 \u4e2d \uff0c \u53ef\u80fd \u4e0d \u5b8c\u6574 \u3002   \u521b\u5efa \u65b0 \u5730\u56fe   \u6f0f\u6d1e   \u4f7f\u7528   Carla   \u5de5\u5177 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u521b\u5efa \u5730\u56fe \u4f1a \u5bfc\u81f4   UE4.17 . 2   \u5d29\u6e83 \uff08   \u95ee\u9898   # 99   \uff09 \uff0c \u672c \u6307\u5357 \u5efa\u8bae \u590d\u5236 \u73b0\u6709 \u5173\u5361 \uff0c \u800c \u4e0d\u662f \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u521b\u5efa \u5730\u56fe \u3002   \u8981\u6c42   \u5728   Linux   \u6216   Windows   \u4e0a \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u68c0\u51fa \u5e76 \u6784\u5efa   Carla \u3002   \u521b\u5efa   \u590d\u5236 \u73b0\u6709 \u5730\u56fe   \u4ece \u5730\u56fe \u4e0a \u5220\u9664 \u6240\u6709 \u4e0d \u9700\u8981 \u7684 \u5185\u5bb9   \u4fdd\u7559 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u201c Lighting \u201d \u3001 \u201c AtmosphericFog \u201d \u3001 \u201c PostProcessVol \u201d \u548c \u201c CarlaMapGenerator \u201d \uff0c \u8fd9 \u5c06 \u4f7f \u6c14\u5019 \u4fdd\u6301 \u9884\u671f \u8fd0\u884c \uff0c \u5e76 \u4fdd\u5b58 \u540e\u671f \u5904\u7406 \u3002   \u5c06 \u7a7a\u767d \u84dd\u56fe \u4fdd\u7559 \u4e3a \u6a21\u677f \u5e76 \u5728 \u5f00\u59cb \u586b\u5145 \u4e4b\u524d \u590d\u5236 \u5b83 \u53ef\u80fd \u4f1a \u5f88 \u6709\u8da3 \u3002   \u5728   CarlaMapGenerator   \u4e2d \uff0c \u6709 \u4e00\u4e2a \u5b57 \u6bb5 \u201c \u79cd\u5b50 \u201d \u3002 \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u66f4\u6539 \u8be5 \u79cd\u5b50 \u5e76 \u5355\u51fb \u201c \u89e6\u53d1 \u8def\u7ebf \u7ebf\u56fe \u8def\u7ebf\u56fe \u751f\u6210 \u201d \u6765 \u66f4\u6539 \u5730\u56fe \u3002 \u8fd8 \u5e94\u9009 \u4e2d \u201c \u5c06 \u8def\u7ebf \u7ebf\u56fe \u8def\u7ebf\u56fe \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u201d \u3002   \u60a8 \u53ef\u4ee5 \u66f4\u6539 \u79cd\u5b50 \uff0c \u76f4\u5230 \u83b7\u5f97 \u6ee1\u610f \u7684 \u5730\u56fe \u3002   \u6b64\u540e \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u60f3\u8981 \u751f\u6210 \u6c7d\u8f66 \u7684 \u5730\u65b9 \u653e\u7f6e \u65b0 \u7684   PlayerStarts \u3002   \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u5df2\u7ecf \u53d1\u6325 \u4f5c\u7528 \u53d1\u6325\u4f5c\u7528 \uff0c \u4f46 \u6c7d\u8f66 \u4e0d\u4f1a \u968f\u673a \u884c\u52a8 \u3002 \u8f66\u8f86 \u5c06 \u9075\u5faa   RoadMapGenerator   \u7ed9\u51fa \u7684 \u6307\u4ee4 \u3002 \u5b83\u4eec \u5728 \u76f4 \u8def\u4e0a \u4f1a \u5f88 \u5bb9\u6613 \u5730 \u6cbf\u7740 \u9053\u8def \u884c\u9a76 \uff0c \u4f46 \u5728 \u8fdb\u5165 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u65f6\u5219 \u4e0d\u4f1a \u90a3\u4e48 \u5bb9\u6613 \uff1a   \uff08 \u8fd9\u662f \u9053\u8def \u5411 \u8f66\u8f86 \u53d1\u51fa \u7684 \u6307\u4ee4 \u7684 \u8c03\u8bd5 \u89c6\u56fe \u3002 \u5b83\u4eec \u5c06 \u59cb\u7ec8 \u9075\u5faa \u7eff\u8272 \u7bad\u5934 \uff0c \u767d\u70b9 \u662f \u4e00\u6761 \u6216 \u591a\u6761 \u8def\u7ebf \u4e4b\u95f4 \u7684 \u5171\u4eab \u70b9 \uff0c \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83\u4eec \u547d\u4ee4 \u8f66\u8f86 \u7ee7\u7eed \u76f4\u884c \uff1b \u9ed1\u70b9 \u504f\u79bb \u9053\u8def \uff0c \u8f66\u8f86 \u6ca1\u6709 \u5f97\u5230 \u4efb\u4f55 \u6307\u4ee4 \u5e76 \u5411 \u5de6 \u884c\u9a76 \uff0c \u8bd5\u56fe \u56de\u5230 \u9053\u8def \u4e0a \uff09   \u8981 \u83b7\u5f97 \u968f\u673a \u884c\u4e3a \uff0c \u60a8 \u5fc5\u987b \u653e\u7f6e   IntersectionEntrances \uff0c \u8fd9 \u5c06 \u8ba9 \u60a8 \u91cd\u65b0 \u5b9a\u4e49 \u8f66\u8f86 \u884c\u9a76 \u7684 \u65b9\u5411 \uff0c \u8986\u76d6 \u9053\u8def \u5730\u56fe \u7ed9\u51fa \u7684 \u65b9\u5411 \uff08 \u76f4\u5230 \u5b83\u4eec \u5b8c\u6210 \u7ed9\u5b9a \u7684 \u987a\u5e8f \uff09 \u3002 \uff08 \u53c2\u89c1 \u4e24\u4e2a \u793a\u4f8b \u57ce\u9547 \uff0c \u4e86\u89e3 \u5176 \u5177\u4f53 \u5de5\u4f5c \u539f\u7406 \uff09 \u3002   0.7 . 1   \u7248\u672c \u4e4b\u524d \uff1a \u5bf9\u4e8e \u6bcf\u4e2a \u5165\u53e3 \uff0c \u4f60 \u5fc5\u987b \u521b\u5efa \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7a7a \u7684   \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5b83\u4eec \u5c06 \u4f5c\u4e3a \u5f15\u5bfc \u6c7d\u8f66 \u901a\u8fc7 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u7684 \u8def\u5f84 \u70b9 \uff1b \u7136\u540e \uff0c \u4f60 \u5fc5\u987b \u5c06 \u76f8\u5e94 \u7684   Actor   \u5206\u914d \u7ed9 \u6bcf\u6761 \u8def\u5f84   0.7 . 1   \u7248 \u4e4b\u540e \uff1a \u6bcf\u4e2a   IntersectionEntrance   \u90fd \u6709 \u4e00\u4e2a \u540d\u4e3a   routes   \u7684 \u6570\u7ec4 \uff0c \u5411 \u5176\u4e2d \u6dfb\u52a0 \u4e00\u4e2a \u5143\u7d20 \u4f1a \u5728 \u4e16\u754c \u4e2d \u521b\u5efa \u4e00\u4e2a \u53ef \u7f16\u8f91 \u7684 \u6837\u6761 \u7ebf \uff0c \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u70b9 \u4f4d\u4e8e   IntersectionEntrance   \u4e0a \uff08 \u60a8 \u53ef\u80fd \u9700\u8981 \u9009\u62e9 \u53e6 \u4e00\u4e2a \u5bf9\u8c61 \u624d\u80fd \u770b\u5230 \u5b83 \uff09 \u6b64 \u6837\u6761 \u7ebf \u5b9a\u4e49 \u4e86 \u4efb\u4f55 \u8f66\u8f86 \u8fdb\u5165 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u65f6 \u53ef\u80fd \u91c7\u53d6 \u7684 \u8def\u7ebf \uff08 \u5c31 \u50cf \u4e4b\u524d \u7684   Empty   \u6f14\u5458 \u6240 \u505a \u7684 \u90a3\u6837 \uff09 \u60a8 \u53ef\u4ee5 \u50cf \u7f16\u8f91 \u4efb\u4f55 \u865a\u5e7b \u6837\u6761 \u7ebf \u4e00\u6837 \u914d\u7f6e \u6b64 \u8def\u7ebf \u3002 \u6bcf\u6761 \u8def\u7ebf \u5c06 \u5728 \u4ee5\u4e0b \u5b57\u6bb5 \u4e2d \u521b\u5efa \u4e00\u4e2a \u5143\u7d20 \uff1a \u201c \u6982\u7387 \u201d \u6b64 \u6570\u7ec4 \u4e2d \u7684 \u6bcf\u4e2a \u6570\u5b57 \u90fd \u5b9a\u4e49 \u4e86 \u4efb\u4f55 \u8f66\u8f86 \u91c7\u53d6 \u76f8\u5e94 \u91c7\u53d6\u76f8\u5e94 \u8def\u7ebf \u7684 \u51e0\u7387 \u3002   \u8981 \u6539\u53d8 \u6c7d\u8f66 \u7684 \u901f\u5ea6 \uff0c \u8bf7 \u4f7f\u7528 \u901f\u5ea6 \u9650\u5236 \u9650\u5236\u5668 \u3002 \u5b83\u4eec \u4f7f\u7528 \u8d77\u6765 \u5f88 \u7b80\u5355 \u3002 \uff08 \u786e\u4fdd \u9650\u5236 \u8f6c\u5f2f \u901f\u5ea6 \uff0c \u5426\u5219 \u6c7d\u8f66 \u4f1a \u8bd5\u56fe \u4ee5 \u5168\u901f \u8f6c\u5f2f \uff0c \u4f46 \u65e0\u6cd5 \u6210\u529f \uff09   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u9700\u8981 \u6309\u7167 \u811a\u672c \u6765 \u907f\u514d \u4ea4\u901a \u901a\u4e8b \u4e8b\u6545 \u4ea4\u901a\u4e8b\u6545 \u3002 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u7684 \u6bcf\u6761 \u8857\u9053 \u90fd \u5e94\u8be5 \u6709 \u81ea\u5df1 \u7684 \u7eff\u706f \u8f6c\u5f2f \uff0c \u800c \u5176\u4ed6 \u8857\u9053 \u5219 \u4e0d \u5e94\u6709 \u7eff\u706f \u3002   \u7136\u540e \u4f60 \u5c31 \u53ef\u4ee5 \u5728 \u6574\u4e2a \u4e16\u754c \u4e2d \u5e03\u6ee1 \u98ce\u666f \u548c \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u591a\u5c42 \u5efa\u7b51 \u591a\u5c42\u5efa\u7b51   \u6b64 \u84dd\u56fe \u7684 \u76ee\u7684 \u662f \u4f7f \u91cd\u590d \u548c \u6539\u53d8 \u9ad8\u5c42 \u5efa\u7b51 \u9ad8\u5c42\u5efa\u7b51 \u53d8\u5f97 \u66f4 \u5bb9\u6613 \u4e00\u4e9b \u3002 \u63d0\u4f9b \u4e00\u4e2a \u57fa\u7840 \u3001 \u4e00\u4e2a \u4e2d\u5c42 \u548c \u4e00\u4e2a \u5c4b\u9876 \uff1b \u6b64 \u84dd\u56fe \u5c06 \u4e2d\u5c42 \u91cd\u590d \u5230 \u6240 \u9700 \u7684 \u5546\u5e97 \u6570\u91cf \uff0c \u5e76 \u5728 \u6ee1\u8db3 \u67d0\u4e9b \u6761\u4ef6 \u7684 \u60c5\u51b5 \u4e0b \u5c06 \u5176 \u4e0e \u6700\u540e \u4e00\u5c42 \u53e0\u52a0 \uff1a   \u6240\u6709 \u6a21\u578b \u67a2\u8f74 \u90fd \u5e94 \u4f4d\u4e8e \u7279\u5b9a \u7f51\u683c \u7684 \u5e95\u90e8 \u4e2d\u5fc3 \u3002   Al   \u6a21\u578b \u5fc5\u987b \u51c6\u786e \u5730 \u5728 \u91cd\u590d \u53d1\u751f \u7684 \u5730\u65b9 \u5f00\u59cb \u548c \u7ed3\u675f \u3002   \u8be5 \u84dd\u56fe \u7531 \u4ee5\u4e0b   6   \u4e2a \u7279\u5b9a \u53c2\u6570 \u63a7\u5236 \uff1a   GroundFloor \uff1a \u653e\u7f6e \u5728 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5e95\u90e8 \u7684 \u7f51\u683c \u3002   Floor \uff1a \u6cbf\u7740 \u5efa\u7b51 \u5efa\u7b51\u7269 \u91cd\u590d \u7684 \u7f51\u683c \u3002   Roof \uff1a \u5efa\u7b51 \u5efa\u7b51\u7269 \u9876\u90e8 \u7684 \u6700\u7ec8 \u7f51\u683c \u3002   FloorNumber \uff1a \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u697c\u5c42 \u6570 \u3002   FloorHeightOffset \uff1a \u5782\u76f4 \u8c03\u6574 \u6bcf \u5c42\u697c \u7684 \u4f4d\u7f6e \u3002   RoofOffset \uff1a \u5782\u76f4 \u8c03\u6574 \u5c4b\u9876 \u7684 \u4f4d\u7f6e \u3002   \u4e00\u65e6 \u5c06 \u8be5 \u84dd\u56fe \u653e\u7f6e \u5728 \u4e16\u754c \u4e2d \uff0c \u6240\u6709 \u8fd9\u4e9b \u53c2\u6570 \u90fd \u53ef\u4ee5 \u88ab \u4fee\u6539 \u3002   SplinemeshRepeater   \u6f0f\u6d1e   \u53c2\u89c1   # 35   SplineMeshRepeater   \u4e22\u5931 \u5176 \u78b0\u649e \u4f53 \u7f51\u683c   \u6807\u51c6 \u7528\u9014 \uff1a   SplineMeshRepeater   \u201c Content / Blueprints / SplineMeshRepeater \u201d   \u662f   Carla   Project   \u4e2d \u5305\u542b \u7684 \u4e00\u4e2a \u5de5\u5177 \uff0c \u7528\u4e8e \u5e2e\u52a9 \u6784\u5efa \u57ce\u5e02 \u73af\u5883 \uff1b \u5b83 \u6cbf\u7740 \u6837   \u6761\u7ebf   \uff08 \u865a\u5e7b \u7ec4\u4ef6 \uff09 \u91cd\u590d \u548c \u5bf9\u9f50 \u7279\u5b9a \u9009\u5b9a \u7684 \u7f51\u683c \u3002 \u5176 \u4e3b\u8981 \u529f\u80fd \u662f \u6784\u5efa \u901a\u5e38 \u5e73\u94fa \u548c \u91cd\u590d \u7684 \u7ed3\u6784 \uff0c \u5982 \u5899\u58c1 \u3001 \u9053\u8def \u3001 \u6865\u6881 \u3001 \u6805\u680f \u2026 \u2026 \u4e00\u65e6 \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u653e\u5165 \u4e16\u754c \uff0c \u5c31 \u53ef\u4ee5 \u4fee\u6539 \u6837\u6761 \u7ebf \uff0c \u4ee5\u4fbf \u5bf9\u8c61 \u83b7\u5f97 \u6240 \u9700 \u7684 \u5f62\u5f0f \u3002 \u5b9a\u4e49 \u6837\u6761 \u7ebf \u7684 \u6bcf\u4e2a \u70b9 \u90fd \u4f1a \u751f\u6210 \u4e00\u4e2a \u65b0 \u7684 \u56fe\u5757 \uff0c \u56e0\u6b64 \u6837\u6761 \u7ebf \u7684 \u70b9 \u8d8a \u591a \uff0c \u5b83 \u5c31 \u8d8a \u660e\u786e \uff0c \u4f46 \u5bf9 \u4e16\u754c \u7684 \u8d1f\u62c5 \u4e5f \u8d8a \u5927 \u3002 \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7531 \u4ee5\u4e0b \u53c2\u6570 \u5b9a\u4e49 \uff1a   \u9759\u6001 \u7f51\u683c \u7269\u4f53   ( StaticMesh ) \uff1a \u6cbf \u6837\u6761 \u7ebf \u91cd\u590d \u7684 \u7f51\u683c \u7269\u4f53 \u3002   ForWardAxis \uff1a \u6539\u53d8 \u7f51\u683c \u8f74\u4ee5 \u4e0e \u6837\u6761 \u7ebf \u5bf9\u9f50 \u3002   Material \uff1a \u8986\u76d6 \u7f51\u683c \u7684 \u9ed8\u8ba4 \u6750\u8d28 \u3002   Collision   Enabled \uff1a \u9009\u62e9 \u8981 \u4f7f\u7528 \u7684 \u78b0\u649e \u7c7b\u578b \u3002   Gap   distance \uff1a \u5728 \u6bcf\u4e2a \u91cd\u590d \u7f51\u683c \u4e4b\u95f4 \u653e\u7f6e \u4e00\u4e2a \u95f4\u9699 \uff0c \u9002\u7528 \u4e8e \u91cd\u590d \u7684 \u975e \u8fde\u7eed \u5899\u58c1 \uff1a \u704c\u6728 \u94fe \u3001 \u62a4\u67f1 \u2026 \u2026   \uff08 \u6700\u540e \u4e09\u4e2a \u53d8\u91cf \u662f \u9488\u5bf9 \u4e0b \u4e00\u70b9 \u4e2d\u8981 \u5b9a\u4e49 \u7684 \u4e00\u4e9b \u7279\u5b9a \u8d44\u4ea7 \u800c\u5b9a \u7684 \uff09 \u521b\u5efa \u4e0e \u6b64 \u7ec4\u4ef6 \u517c\u5bb9 \u7684 \u8d44\u4ea7 \u7684 \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6 \u662f \uff0c \u6240\u6709 \u7f51\u683c \u7684 \u67a2\u8f74 \u90fd \u653e\u7f6e \u5728 \u91cd\u590d \u5f00\u59cb \u7684 \u6700\u4f4e \u4f4e\u70b9 \u6700\u4f4e\u70b9 \uff0c \u5176\u4f59 \u7f51\u683c \u6307\u5411 \u6b63 \u65b9\u5411 \uff08 \u6700\u597d \u662f   X   \u8f74 \uff09   \u7279\u5b9a \u5899\u58c1 \uff08 \u52a8\u6001 \u6750\u8d28 \uff09   \u5728 \u9879\u76ee \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u201c Content / Static / Walls \u201d \u4e2d \u5305\u542b \u4e00\u4e9b \u7279\u5b9a \u8d44\u4ea7 \uff0c \u8fd9\u4e9b \u8d44\u4ea7 \u5c06 \u4e0e \u5177\u6709 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7279\u6b8a \u7279\u6027 \u7684   SplineMeshRepeater   \u4e00\u8d77 \u4f7f\u7528 \u3002 \u8fd9\u4e9b \u7f51\u683c \u7684   UV   \u7a7a\u95f4 \u53ca\u5176 \u6750\u8d28 \u5bf9\u4e8e \u6240\u6709 \u7f51\u683c \u90fd \u662f \u76f8\u540c \u7684 \uff0c \u56e0\u6b64 \u53ef\u4ee5 \u4e92\u6362 \u3002 \u6bcf\u79cd \u6750\u8d28 \u7531 \u4e09\u4e2a \u4e0d\u540c \u7684 \u8868\u9762 \u7ec4\u6210 \uff0c \u6700\u540e \u4e09\u4e2a \u53c2\u6570 \u4f1a \u7a0d\u5fae \u4fee\u6539 \u8fd9\u4e9b \u8868\u9762 \u7684 \u989c\u8272 \uff1a   MainMaterialColor \uff1a \u66f4\u6539 \u5899\u58c1 \u7684 \u4e3b\u8981 \u6750\u8d28   DetailsColor \uff1a \u66f4\u6539 \u7ec6\u8282 \u7684 \u989c\u8272 \uff08 \u5982\u679c \u6709 \uff09   TopWallColor \uff1a \u66f4\u6539 \u5899\u58c1 \u8986\u76d6 \u8986\u76d6\u7269 \u7684 \u989c\u8272 \uff08 \u5982\u679c \u6709 \uff09   \u8981 \u6dfb\u52a0 \u4ece\u6b64 \u529f\u80fd \u4e2d \u53d7\u76ca \u7684 \u5143\u7d20 \uff0c \u5b58\u5728   GardenWallMask   \u6587\u4ef6 \uff0c \u5b83 \u5b9a\u4e49 \u4e86 \u653e\u7f6e \u6750\u6599 \u7684   uv   \u7a7a\u95f4 \uff1a \uff08 \u84dd\u8272 \u7a7a\u95f4 \uff1a MainMaterial \uff1b \u7eff\u8272 \u7a7a\u95f4 \uff1a Details \uff1b \u7ea2\u8272 \u7a7a\u95f4   TopWall \uff09 \u3002   \u6750\u8d28 \u4e3b\u63a7 \u4e4b\u95f4 \u662f   WallMaster \uff0c \u5b83 \u5c06 \u6210\u4e3a \u4f7f\u7528 \u6b64 \u529f\u80fd \u7684 \u6750\u8d28 \u7684 \u4e3b\u63a7 \u3002 \u5c06 \u521b\u5efa \u6b64 \u6750\u8d28 \u7684 \u5b9e\u4f8b \u5e76 \u6dfb\u52a0 \u76f8\u5e94 \u7684 \u7eb9\u7406 \u3002 \u6b64 \u6750\u8d28 \u5305\u62ec \u4ee5\u4e0b \u53c2\u6570 \uff0c \u4f9b\u8981 \u4f7f\u7528 \u7684 \u6750\u8d28 \u4fee\u6539 \uff1a   Normal   Flattener \uff1a \u7a0d\u5fae \u4fee\u6539 \u6cd5\u7ebf \u8d34\u56fe \u503c\u4ee5 \u4f7f \u5176 \u5938\u5927 \u6216 \u5e73\u6574 \u3002   RoughnessCorrection \uff1a \u6539\u53d8 \u7eb9\u7406 \u7ed9\u51fa \u7684 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u503c \u3002   \u5176\u4f59 \u53c2\u6570 \u662f \u63a9\u7801 \u7eb9\u7406 \u548c \u989c\u8272 \u6821\u6b63 \uff0c \u8fd9\u4e9b \u53c2\u6570 \u5728 \u672c\u4f8b \u4e2d \u4e0d\u4f1a \u88ab \u4fee\u6539 \uff0c \u4f46 \u5728 \u5c06\u8981 \u53d1\u5e03 \u5230 \u4e16\u754c \u7684 \u84dd\u56fe \u4e2d\u4f1a \u88ab \u4fee\u6539 \u3002   \u5929\u6c14   \u8fd9\u662f \u8d1f\u8d23 \u4fee\u6539 \u6240\u6709 \u7167\u660e \u3001 \u73af\u5883 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ee5\u53ca \u5f71\u54cd \u6c14\u5019 \u5370\u8c61 \u7684 \u4efb\u4f55 \u4f55\u4e8b \u4e8b\u7269 \u4efb\u4f55\u4e8b\u7269 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5f53 \u5728   Config . Ini   \u4e2d\u672a \u53e6\u884c \u6307\u5b9a \u65f6 \uff0c \u5b83\u4f1a \u968f \u6e38\u620f \u81ea\u52a8 \u8fd0\u884c \uff0c \u4f46 \u6709 \u81ea\u5df1 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u6a21\u5f0f \u4e0b \u542f\u52a8 \u4ee5 \u914d\u7f6e \u6c14\u5019 \u6761\u4ef6 \u3002 \u8981 \u5b8c\u5168 \u5de5\u4f5c \uff0c \u5b83 \u5c06 \u9700\u8981 \u4ee5\u4e0b \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e2d \u7684 \u4e00\u4e2a \uff1a SkySphere \u3001 Skylight \u3001 Postprocess   Volume \uff08 \u65e0 \u8fb9\u754c \uff09 \u548c   Light   Source   \u5b58\u5728 \u4e8e \u4e16\u754c \u4e2d \u3002   SunPolarAngle \uff1a \u592a\u9633 \u7684 \u6781\u89d2 \uff0c \u51b3\u5b9a \u4e00\u5929 \u7684 \u65f6\u95f4   SunAzimuthAngle \uff1a \u6dfb\u52a0 \u5230 \u5f53\u524d \u7ea7\u522b \u7684 \u592a\u9633 \u4f4d\u7f6e   SunBrightness \uff1a \u5929\u7a7a \u76d2\u4e2d \u592a\u9633 \u6e32\u67d3 \u7684 \u4eae\u5ea6   SunDirectionalLightIntensity \uff1a \u592a\u9633 \u9633\u5149 \u592a\u9633\u5149 \u7684 \u5f3a\u5ea6   SunDirectionalLightColor \uff1a \u9633\u5149 \u7684 \u989c\u8272   SunIndirectLightIntensity \uff1a \u4e3b \u53cd\u5c04 \u5149\u53cd\u5c04 \u7684 \u5f3a\u5ea6   CloudOpacity \uff1a \u5929\u7a7a \u76d2 \u4e0a \u4e91 \u6e32\u67d3 \u7684 \u53ef\u89c1 \u6027   HorizontFalloff \uff1a \u786e\u5b9a \u5929\u9876 \u548c \u5730\u5e73 \u5730\u5e73\u7ebf \u989c\u8272 \u4e4b\u95f4 \u7684 \u6e10\u53d8 \u9ad8\u5ea6   ZenithColor \uff1a \u5b9a\u4e49 \u5929\u9876 \u7684 \u989c\u8272 \u3002   HorizonColor \uff1a \u5b9a\u4e49 \u5730\u5e73 \u5730\u5e73\u7ebf \u7684 \u989c\u8272 \u3002   CloudColor \uff1a \u5b9a\u4e49 \u4e91 \u7684 \u989c\u8272 \uff08 \u5982\u679c \u6709 \uff09 \u3002   OverallSkyColor \uff1a \u5c06 \u5929\u7a7a \u4e2d \u7684 \u6bcf\u4e2a \u989c\u8272 \u5143\u7d20 \u4e58\u4ee5 \u5355\u4e00 \u989c\u8272 \u3002   SkyLightIntensity \uff1a \u4ece \u5929\u7a7a \u53cd\u5c04 \u7684 \u5149 \u7684 \u5f3a\u5ea6 \u3002   SkyLightColor \uff1a \u4ece \u5929\u7a7a \u53cd\u5c04 \u7684 \u5149 \u7684 \u989c\u8272 \u3002   Precipitation \uff1a \u5b9a\u4e49 \u662f\u5426 \u6709 \u964d\u6c34 \u6d3b\u52a8 \u3002   PrecipitationType \uff1a \u6d3b\u8dc3 \u964d\u6c34 \u7684 \u7c7b\u578b \u3002   PrecipitationAmount \uff1a \u6240 \u9009 \u964d\u6c34 \u7684 \u6570\u91cf \u3002   PrecipitationAccumulation \uff1a \u6240 \u9009 \u964d\u6c34 \u7684 \u79ef\u7d2f \u3002   bWind \uff1a \u5b9a\u4e49 \u662f\u5426 \u6709\u98ce \u3002   WindIntensity \uff1a \u5b9a\u4e49 \u98ce \u5f3a\u5ea6 \u3002   WindAngle \uff1a \u5b9a\u4e49 \u98ce\u5411 \u3002   bOverrideCameraPostProcessParameters \uff1a \u5b9a\u4e49 \u662f\u5426 \u8986\u76d6 \u9ed8\u8ba4 \u7684 \u76f8\u673a \u540e\u671f \u5904\u7406 \u3002   CameraPostProcessParameters . AutoExposureMethod \uff1a \u5b9a\u4e49 \u81ea\u52a8 \u66dd\u5149 \u7684 \u65b9\u6cd5 \u3002   CameraPostProcessParameters . AutoExposureMinBrightness \uff1a \u5b9a\u4e49 \u81ea\u52a8 \u66dd\u5149 \u5728 \u6700\u7ec8 \u56fe\u50cf \u4e2d \u7b97\u4f5c \u7684 \u6700\u5c0f \u4eae\u5ea6 \u3002   CameraPostProcessParameters . AutoExposureMaxBrightness \uff1a \u5b9a\u4e49 \u81ea\u52a8 \u66dd\u5149 \u5728 \u6700\u7ec8 \u56fe\u50cf \u4e2d \u7b97\u4f5c \u7684 \u6700\u5927 \u4eae\u5ea6 \u3002   CameraPostProcessParameters . AutoExposureBias \uff1a \u4f7f \u6700\u7ec8 \u56fe\u50cf \u53d8\u6697 \u6216 \u53d8\u4eae \uff0c \u8fbe\u5230 \u5b9a\u4e49 \u7684 \u504f\u5dee \u3002   \u60a8 \u53ef\u4ee5 \u6839\u636e \u9700\u8981 \u5728 \u9879\u76ee \u4e2d \u4fdd\u5b58 \u4efb\u610f \u6570\u91cf \u7684 \u4e0d\u540c \u914d\u7f6e \uff0c \u5e76 \u901a\u8fc7   \u8bbe\u7f6e \u6587\u4ef6   \u9009\u62e9 \u5728 \u6784\u5efa \u65f6 \u5e94\u7528 \u7684 \u914d\u7f6e \uff1b \u6216\u8005 \u5728 \u6784\u5efa \u7ea7\u522b \u6216 \u6d4b\u8bd5 \u65f6 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5e94\u7528 \u3002","title":"\u5730\u56fe \u5b9a\u5236"},{"location":"map_customization/#_1","text":"\u672c \u6587\u6863 \u5c1a \u5728 \u7f16\u5199 \u4e2d \uff0c \u53ef\u80fd \u4e0d \u5b8c\u6574 \u3002","title":"\u5730\u56fe \u5b9a\u5236"},{"location":"map_customization/#_2","text":"\u6f0f\u6d1e   \u4f7f\u7528   Carla   \u5de5\u5177 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u521b\u5efa \u5730\u56fe \u4f1a \u5bfc\u81f4   UE4.17 . 2   \u5d29\u6e83 \uff08   \u95ee\u9898   # 99   \uff09 \uff0c \u672c \u6307\u5357 \u5efa\u8bae \u590d\u5236 \u73b0\u6709 \u5173\u5361 \uff0c \u800c \u4e0d\u662f \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u521b\u5efa \u5730\u56fe \u3002","title":"\u521b\u5efa \u65b0 \u5730\u56fe"},{"location":"map_customization/#_3","text":"\u5728   Linux   \u6216   Windows   \u4e0a \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u68c0\u51fa \u5e76 \u6784\u5efa   Carla \u3002","title":"\u8981\u6c42"},{"location":"map_customization/#_4","text":"\u590d\u5236 \u73b0\u6709 \u5730\u56fe   \u4ece \u5730\u56fe \u4e0a \u5220\u9664 \u6240\u6709 \u4e0d \u9700\u8981 \u7684 \u5185\u5bb9   \u4fdd\u7559 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u201c Lighting \u201d \u3001 \u201c AtmosphericFog \u201d \u3001 \u201c PostProcessVol \u201d \u548c \u201c CarlaMapGenerator \u201d \uff0c \u8fd9 \u5c06 \u4f7f \u6c14\u5019 \u4fdd\u6301 \u9884\u671f \u8fd0\u884c \uff0c \u5e76 \u4fdd\u5b58 \u540e\u671f \u5904\u7406 \u3002   \u5c06 \u7a7a\u767d \u84dd\u56fe \u4fdd\u7559 \u4e3a \u6a21\u677f \u5e76 \u5728 \u5f00\u59cb \u586b\u5145 \u4e4b\u524d \u590d\u5236 \u5b83 \u53ef\u80fd \u4f1a \u5f88 \u6709\u8da3 \u3002   \u5728   CarlaMapGenerator   \u4e2d \uff0c \u6709 \u4e00\u4e2a \u5b57 \u6bb5 \u201c \u79cd\u5b50 \u201d \u3002 \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u66f4\u6539 \u8be5 \u79cd\u5b50 \u5e76 \u5355\u51fb \u201c \u89e6\u53d1 \u8def\u7ebf \u7ebf\u56fe \u8def\u7ebf\u56fe \u751f\u6210 \u201d \u6765 \u66f4\u6539 \u5730\u56fe \u3002 \u8fd8 \u5e94\u9009 \u4e2d \u201c \u5c06 \u8def\u7ebf \u7ebf\u56fe \u8def\u7ebf\u56fe \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u201d \u3002   \u60a8 \u53ef\u4ee5 \u66f4\u6539 \u79cd\u5b50 \uff0c \u76f4\u5230 \u83b7\u5f97 \u6ee1\u610f \u7684 \u5730\u56fe \u3002   \u6b64\u540e \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u60f3\u8981 \u751f\u6210 \u6c7d\u8f66 \u7684 \u5730\u65b9 \u653e\u7f6e \u65b0 \u7684   PlayerStarts \u3002   \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u5df2\u7ecf \u53d1\u6325 \u4f5c\u7528 \u53d1\u6325\u4f5c\u7528 \uff0c \u4f46 \u6c7d\u8f66 \u4e0d\u4f1a \u968f\u673a \u884c\u52a8 \u3002 \u8f66\u8f86 \u5c06 \u9075\u5faa   RoadMapGenerator   \u7ed9\u51fa \u7684 \u6307\u4ee4 \u3002 \u5b83\u4eec \u5728 \u76f4 \u8def\u4e0a \u4f1a \u5f88 \u5bb9\u6613 \u5730 \u6cbf\u7740 \u9053\u8def \u884c\u9a76 \uff0c \u4f46 \u5728 \u8fdb\u5165 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u65f6\u5219 \u4e0d\u4f1a \u90a3\u4e48 \u5bb9\u6613 \uff1a   \uff08 \u8fd9\u662f \u9053\u8def \u5411 \u8f66\u8f86 \u53d1\u51fa \u7684 \u6307\u4ee4 \u7684 \u8c03\u8bd5 \u89c6\u56fe \u3002 \u5b83\u4eec \u5c06 \u59cb\u7ec8 \u9075\u5faa \u7eff\u8272 \u7bad\u5934 \uff0c \u767d\u70b9 \u662f \u4e00\u6761 \u6216 \u591a\u6761 \u8def\u7ebf \u4e4b\u95f4 \u7684 \u5171\u4eab \u70b9 \uff0c \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83\u4eec \u547d\u4ee4 \u8f66\u8f86 \u7ee7\u7eed \u76f4\u884c \uff1b \u9ed1\u70b9 \u504f\u79bb \u9053\u8def \uff0c \u8f66\u8f86 \u6ca1\u6709 \u5f97\u5230 \u4efb\u4f55 \u6307\u4ee4 \u5e76 \u5411 \u5de6 \u884c\u9a76 \uff0c \u8bd5\u56fe \u56de\u5230 \u9053\u8def \u4e0a \uff09   \u8981 \u83b7\u5f97 \u968f\u673a \u884c\u4e3a \uff0c \u60a8 \u5fc5\u987b \u653e\u7f6e   IntersectionEntrances \uff0c \u8fd9 \u5c06 \u8ba9 \u60a8 \u91cd\u65b0 \u5b9a\u4e49 \u8f66\u8f86 \u884c\u9a76 \u7684 \u65b9\u5411 \uff0c \u8986\u76d6 \u9053\u8def \u5730\u56fe \u7ed9\u51fa \u7684 \u65b9\u5411 \uff08 \u76f4\u5230 \u5b83\u4eec \u5b8c\u6210 \u7ed9\u5b9a \u7684 \u987a\u5e8f \uff09 \u3002 \uff08 \u53c2\u89c1 \u4e24\u4e2a \u793a\u4f8b \u57ce\u9547 \uff0c \u4e86\u89e3 \u5176 \u5177\u4f53 \u5de5\u4f5c \u539f\u7406 \uff09 \u3002   0.7 . 1   \u7248\u672c \u4e4b\u524d \uff1a \u5bf9\u4e8e \u6bcf\u4e2a \u5165\u53e3 \uff0c \u4f60 \u5fc5\u987b \u521b\u5efa \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7a7a \u7684   \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5b83\u4eec \u5c06 \u4f5c\u4e3a \u5f15\u5bfc \u6c7d\u8f66 \u901a\u8fc7 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u7684 \u8def\u5f84 \u70b9 \uff1b \u7136\u540e \uff0c \u4f60 \u5fc5\u987b \u5c06 \u76f8\u5e94 \u7684   Actor   \u5206\u914d \u7ed9 \u6bcf\u6761 \u8def\u5f84   0.7 . 1   \u7248 \u4e4b\u540e \uff1a \u6bcf\u4e2a   IntersectionEntrance   \u90fd \u6709 \u4e00\u4e2a \u540d\u4e3a   routes   \u7684 \u6570\u7ec4 \uff0c \u5411 \u5176\u4e2d \u6dfb\u52a0 \u4e00\u4e2a \u5143\u7d20 \u4f1a \u5728 \u4e16\u754c \u4e2d \u521b\u5efa \u4e00\u4e2a \u53ef \u7f16\u8f91 \u7684 \u6837\u6761 \u7ebf \uff0c \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u70b9 \u4f4d\u4e8e   IntersectionEntrance   \u4e0a \uff08 \u60a8 \u53ef\u80fd \u9700\u8981 \u9009\u62e9 \u53e6 \u4e00\u4e2a \u5bf9\u8c61 \u624d\u80fd \u770b\u5230 \u5b83 \uff09 \u6b64 \u6837\u6761 \u7ebf \u5b9a\u4e49 \u4e86 \u4efb\u4f55 \u8f66\u8f86 \u8fdb\u5165 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u65f6 \u53ef\u80fd \u91c7\u53d6 \u7684 \u8def\u7ebf \uff08 \u5c31 \u50cf \u4e4b\u524d \u7684   Empty   \u6f14\u5458 \u6240 \u505a \u7684 \u90a3\u6837 \uff09 \u60a8 \u53ef\u4ee5 \u50cf \u7f16\u8f91 \u4efb\u4f55 \u865a\u5e7b \u6837\u6761 \u7ebf \u4e00\u6837 \u914d\u7f6e \u6b64 \u8def\u7ebf \u3002 \u6bcf\u6761 \u8def\u7ebf \u5c06 \u5728 \u4ee5\u4e0b \u5b57\u6bb5 \u4e2d \u521b\u5efa \u4e00\u4e2a \u5143\u7d20 \uff1a \u201c \u6982\u7387 \u201d \u6b64 \u6570\u7ec4 \u4e2d \u7684 \u6bcf\u4e2a \u6570\u5b57 \u90fd \u5b9a\u4e49 \u4e86 \u4efb\u4f55 \u8f66\u8f86 \u91c7\u53d6 \u76f8\u5e94 \u91c7\u53d6\u76f8\u5e94 \u8def\u7ebf \u7684 \u51e0\u7387 \u3002   \u8981 \u6539\u53d8 \u6c7d\u8f66 \u7684 \u901f\u5ea6 \uff0c \u8bf7 \u4f7f\u7528 \u901f\u5ea6 \u9650\u5236 \u9650\u5236\u5668 \u3002 \u5b83\u4eec \u4f7f\u7528 \u8d77\u6765 \u5f88 \u7b80\u5355 \u3002 \uff08 \u786e\u4fdd \u9650\u5236 \u8f6c\u5f2f \u901f\u5ea6 \uff0c \u5426\u5219 \u6c7d\u8f66 \u4f1a \u8bd5\u56fe \u4ee5 \u5168\u901f \u8f6c\u5f2f \uff0c \u4f46 \u65e0\u6cd5 \u6210\u529f \uff09   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u9700\u8981 \u6309\u7167 \u811a\u672c \u6765 \u907f\u514d \u4ea4\u901a \u901a\u4e8b \u4e8b\u6545 \u4ea4\u901a\u4e8b\u6545 \u3002 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u7684 \u6bcf\u6761 \u8857\u9053 \u90fd \u5e94\u8be5 \u6709 \u81ea\u5df1 \u7684 \u7eff\u706f \u8f6c\u5f2f \uff0c \u800c \u5176\u4ed6 \u8857\u9053 \u5219 \u4e0d \u5e94\u6709 \u7eff\u706f \u3002   \u7136\u540e \u4f60 \u5c31 \u53ef\u4ee5 \u5728 \u6574\u4e2a \u4e16\u754c \u4e2d \u5e03\u6ee1 \u98ce\u666f \u548c \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002","title":"\u521b\u5efa"},{"location":"map_customization/#_5","text":"\u6b64 \u84dd\u56fe \u7684 \u76ee\u7684 \u662f \u4f7f \u91cd\u590d \u548c \u6539\u53d8 \u9ad8\u5c42 \u5efa\u7b51 \u9ad8\u5c42\u5efa\u7b51 \u53d8\u5f97 \u66f4 \u5bb9\u6613 \u4e00\u4e9b \u3002 \u63d0\u4f9b \u4e00\u4e2a \u57fa\u7840 \u3001 \u4e00\u4e2a \u4e2d\u5c42 \u548c \u4e00\u4e2a \u5c4b\u9876 \uff1b \u6b64 \u84dd\u56fe \u5c06 \u4e2d\u5c42 \u91cd\u590d \u5230 \u6240 \u9700 \u7684 \u5546\u5e97 \u6570\u91cf \uff0c \u5e76 \u5728 \u6ee1\u8db3 \u67d0\u4e9b \u6761\u4ef6 \u7684 \u60c5\u51b5 \u4e0b \u5c06 \u5176 \u4e0e \u6700\u540e \u4e00\u5c42 \u53e0\u52a0 \uff1a   \u6240\u6709 \u6a21\u578b \u67a2\u8f74 \u90fd \u5e94 \u4f4d\u4e8e \u7279\u5b9a \u7f51\u683c \u7684 \u5e95\u90e8 \u4e2d\u5fc3 \u3002   Al   \u6a21\u578b \u5fc5\u987b \u51c6\u786e \u5730 \u5728 \u91cd\u590d \u53d1\u751f \u7684 \u5730\u65b9 \u5f00\u59cb \u548c \u7ed3\u675f \u3002   \u8be5 \u84dd\u56fe \u7531 \u4ee5\u4e0b   6   \u4e2a \u7279\u5b9a \u53c2\u6570 \u63a7\u5236 \uff1a   GroundFloor \uff1a \u653e\u7f6e \u5728 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5e95\u90e8 \u7684 \u7f51\u683c \u3002   Floor \uff1a \u6cbf\u7740 \u5efa\u7b51 \u5efa\u7b51\u7269 \u91cd\u590d \u7684 \u7f51\u683c \u3002   Roof \uff1a \u5efa\u7b51 \u5efa\u7b51\u7269 \u9876\u90e8 \u7684 \u6700\u7ec8 \u7f51\u683c \u3002   FloorNumber \uff1a \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u697c\u5c42 \u6570 \u3002   FloorHeightOffset \uff1a \u5782\u76f4 \u8c03\u6574 \u6bcf \u5c42\u697c \u7684 \u4f4d\u7f6e \u3002   RoofOffset \uff1a \u5782\u76f4 \u8c03\u6574 \u5c4b\u9876 \u7684 \u4f4d\u7f6e \u3002   \u4e00\u65e6 \u5c06 \u8be5 \u84dd\u56fe \u653e\u7f6e \u5728 \u4e16\u754c \u4e2d \uff0c \u6240\u6709 \u8fd9\u4e9b \u53c2\u6570 \u90fd \u53ef\u4ee5 \u88ab \u4fee\u6539 \u3002","title":"\u591a\u5c42\u5efa\u7b51"},{"location":"map_customization/#splinemeshrepeater","text":"\u6f0f\u6d1e   \u53c2\u89c1   # 35   SplineMeshRepeater   \u4e22\u5931 \u5176 \u78b0\u649e \u4f53 \u7f51\u683c","title":"SplinemeshRepeater"},{"location":"map_customization/#_6","text":"SplineMeshRepeater   \u201c Content / Blueprints / SplineMeshRepeater \u201d   \u662f   Carla   Project   \u4e2d \u5305\u542b \u7684 \u4e00\u4e2a \u5de5\u5177 \uff0c \u7528\u4e8e \u5e2e\u52a9 \u6784\u5efa \u57ce\u5e02 \u73af\u5883 \uff1b \u5b83 \u6cbf\u7740 \u6837   \u6761\u7ebf   \uff08 \u865a\u5e7b \u7ec4\u4ef6 \uff09 \u91cd\u590d \u548c \u5bf9\u9f50 \u7279\u5b9a \u9009\u5b9a \u7684 \u7f51\u683c \u3002 \u5176 \u4e3b\u8981 \u529f\u80fd \u662f \u6784\u5efa \u901a\u5e38 \u5e73\u94fa \u548c \u91cd\u590d \u7684 \u7ed3\u6784 \uff0c \u5982 \u5899\u58c1 \u3001 \u9053\u8def \u3001 \u6865\u6881 \u3001 \u6805\u680f \u2026 \u2026 \u4e00\u65e6 \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u653e\u5165 \u4e16\u754c \uff0c \u5c31 \u53ef\u4ee5 \u4fee\u6539 \u6837\u6761 \u7ebf \uff0c \u4ee5\u4fbf \u5bf9\u8c61 \u83b7\u5f97 \u6240 \u9700 \u7684 \u5f62\u5f0f \u3002 \u5b9a\u4e49 \u6837\u6761 \u7ebf \u7684 \u6bcf\u4e2a \u70b9 \u90fd \u4f1a \u751f\u6210 \u4e00\u4e2a \u65b0 \u7684 \u56fe\u5757 \uff0c \u56e0\u6b64 \u6837\u6761 \u7ebf \u7684 \u70b9 \u8d8a \u591a \uff0c \u5b83 \u5c31 \u8d8a \u660e\u786e \uff0c \u4f46 \u5bf9 \u4e16\u754c \u7684 \u8d1f\u62c5 \u4e5f \u8d8a \u5927 \u3002 \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7531 \u4ee5\u4e0b \u53c2\u6570 \u5b9a\u4e49 \uff1a   \u9759\u6001 \u7f51\u683c \u7269\u4f53   ( StaticMesh ) \uff1a \u6cbf \u6837\u6761 \u7ebf \u91cd\u590d \u7684 \u7f51\u683c \u7269\u4f53 \u3002   ForWardAxis \uff1a \u6539\u53d8 \u7f51\u683c \u8f74\u4ee5 \u4e0e \u6837\u6761 \u7ebf \u5bf9\u9f50 \u3002   Material \uff1a \u8986\u76d6 \u7f51\u683c \u7684 \u9ed8\u8ba4 \u6750\u8d28 \u3002   Collision   Enabled \uff1a \u9009\u62e9 \u8981 \u4f7f\u7528 \u7684 \u78b0\u649e \u7c7b\u578b \u3002   Gap   distance \uff1a \u5728 \u6bcf\u4e2a \u91cd\u590d \u7f51\u683c \u4e4b\u95f4 \u653e\u7f6e \u4e00\u4e2a \u95f4\u9699 \uff0c \u9002\u7528 \u4e8e \u91cd\u590d \u7684 \u975e \u8fde\u7eed \u5899\u58c1 \uff1a \u704c\u6728 \u94fe \u3001 \u62a4\u67f1 \u2026 \u2026   \uff08 \u6700\u540e \u4e09\u4e2a \u53d8\u91cf \u662f \u9488\u5bf9 \u4e0b \u4e00\u70b9 \u4e2d\u8981 \u5b9a\u4e49 \u7684 \u4e00\u4e9b \u7279\u5b9a \u8d44\u4ea7 \u800c\u5b9a \u7684 \uff09 \u521b\u5efa \u4e0e \u6b64 \u7ec4\u4ef6 \u517c\u5bb9 \u7684 \u8d44\u4ea7 \u7684 \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6 \u662f \uff0c \u6240\u6709 \u7f51\u683c \u7684 \u67a2\u8f74 \u90fd \u653e\u7f6e \u5728 \u91cd\u590d \u5f00\u59cb \u7684 \u6700\u4f4e \u4f4e\u70b9 \u6700\u4f4e\u70b9 \uff0c \u5176\u4f59 \u7f51\u683c \u6307\u5411 \u6b63 \u65b9\u5411 \uff08 \u6700\u597d \u662f   X   \u8f74 \uff09","title":"\u6807\u51c6 \u7528\u9014 \uff1a"},{"location":"map_customization/#_7","text":"\u5728 \u9879\u76ee \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u201c Content / Static / Walls \u201d \u4e2d \u5305\u542b \u4e00\u4e9b \u7279\u5b9a \u8d44\u4ea7 \uff0c \u8fd9\u4e9b \u8d44\u4ea7 \u5c06 \u4e0e \u5177\u6709 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7279\u6b8a \u7279\u6027 \u7684   SplineMeshRepeater   \u4e00\u8d77 \u4f7f\u7528 \u3002 \u8fd9\u4e9b \u7f51\u683c \u7684   UV   \u7a7a\u95f4 \u53ca\u5176 \u6750\u8d28 \u5bf9\u4e8e \u6240\u6709 \u7f51\u683c \u90fd \u662f \u76f8\u540c \u7684 \uff0c \u56e0\u6b64 \u53ef\u4ee5 \u4e92\u6362 \u3002 \u6bcf\u79cd \u6750\u8d28 \u7531 \u4e09\u4e2a \u4e0d\u540c \u7684 \u8868\u9762 \u7ec4\u6210 \uff0c \u6700\u540e \u4e09\u4e2a \u53c2\u6570 \u4f1a \u7a0d\u5fae \u4fee\u6539 \u8fd9\u4e9b \u8868\u9762 \u7684 \u989c\u8272 \uff1a   MainMaterialColor \uff1a \u66f4\u6539 \u5899\u58c1 \u7684 \u4e3b\u8981 \u6750\u8d28   DetailsColor \uff1a \u66f4\u6539 \u7ec6\u8282 \u7684 \u989c\u8272 \uff08 \u5982\u679c \u6709 \uff09   TopWallColor \uff1a \u66f4\u6539 \u5899\u58c1 \u8986\u76d6 \u8986\u76d6\u7269 \u7684 \u989c\u8272 \uff08 \u5982\u679c \u6709 \uff09   \u8981 \u6dfb\u52a0 \u4ece\u6b64 \u529f\u80fd \u4e2d \u53d7\u76ca \u7684 \u5143\u7d20 \uff0c \u5b58\u5728   GardenWallMask   \u6587\u4ef6 \uff0c \u5b83 \u5b9a\u4e49 \u4e86 \u653e\u7f6e \u6750\u6599 \u7684   uv   \u7a7a\u95f4 \uff1a \uff08 \u84dd\u8272 \u7a7a\u95f4 \uff1a MainMaterial \uff1b \u7eff\u8272 \u7a7a\u95f4 \uff1a Details \uff1b \u7ea2\u8272 \u7a7a\u95f4   TopWall \uff09 \u3002   \u6750\u8d28 \u4e3b\u63a7 \u4e4b\u95f4 \u662f   WallMaster \uff0c \u5b83 \u5c06 \u6210\u4e3a \u4f7f\u7528 \u6b64 \u529f\u80fd \u7684 \u6750\u8d28 \u7684 \u4e3b\u63a7 \u3002 \u5c06 \u521b\u5efa \u6b64 \u6750\u8d28 \u7684 \u5b9e\u4f8b \u5e76 \u6dfb\u52a0 \u76f8\u5e94 \u7684 \u7eb9\u7406 \u3002 \u6b64 \u6750\u8d28 \u5305\u62ec \u4ee5\u4e0b \u53c2\u6570 \uff0c \u4f9b\u8981 \u4f7f\u7528 \u7684 \u6750\u8d28 \u4fee\u6539 \uff1a   Normal   Flattener \uff1a \u7a0d\u5fae \u4fee\u6539 \u6cd5\u7ebf \u8d34\u56fe \u503c\u4ee5 \u4f7f \u5176 \u5938\u5927 \u6216 \u5e73\u6574 \u3002   RoughnessCorrection \uff1a \u6539\u53d8 \u7eb9\u7406 \u7ed9\u51fa \u7684 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u503c \u3002   \u5176\u4f59 \u53c2\u6570 \u662f \u63a9\u7801 \u7eb9\u7406 \u548c \u989c\u8272 \u6821\u6b63 \uff0c \u8fd9\u4e9b \u53c2\u6570 \u5728 \u672c\u4f8b \u4e2d \u4e0d\u4f1a \u88ab \u4fee\u6539 \uff0c \u4f46 \u5728 \u5c06\u8981 \u53d1\u5e03 \u5230 \u4e16\u754c \u7684 \u84dd\u56fe \u4e2d\u4f1a \u88ab \u4fee\u6539 \u3002","title":"\u7279\u5b9a \u5899\u58c1 \uff08 \u52a8\u6001 \u6750\u8d28 \uff09"},{"location":"map_customization/#_8","text":"\u8fd9\u662f \u8d1f\u8d23 \u4fee\u6539 \u6240\u6709 \u7167\u660e \u3001 \u73af\u5883 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ee5\u53ca \u5f71\u54cd \u6c14\u5019 \u5370\u8c61 \u7684 \u4efb\u4f55 \u4f55\u4e8b \u4e8b\u7269 \u4efb\u4f55\u4e8b\u7269 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5f53 \u5728   Config . Ini   \u4e2d\u672a \u53e6\u884c \u6307\u5b9a \u65f6 \uff0c \u5b83\u4f1a \u968f \u6e38\u620f \u81ea\u52a8 \u8fd0\u884c \uff0c \u4f46 \u6709 \u81ea\u5df1 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u6a21\u5f0f \u4e0b \u542f\u52a8 \u4ee5 \u914d\u7f6e \u6c14\u5019 \u6761\u4ef6 \u3002 \u8981 \u5b8c\u5168 \u5de5\u4f5c \uff0c \u5b83 \u5c06 \u9700\u8981 \u4ee5\u4e0b \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e2d \u7684 \u4e00\u4e2a \uff1a SkySphere \u3001 Skylight \u3001 Postprocess   Volume \uff08 \u65e0 \u8fb9\u754c \uff09 \u548c   Light   Source   \u5b58\u5728 \u4e8e \u4e16\u754c \u4e2d \u3002   SunPolarAngle \uff1a \u592a\u9633 \u7684 \u6781\u89d2 \uff0c \u51b3\u5b9a \u4e00\u5929 \u7684 \u65f6\u95f4   SunAzimuthAngle \uff1a \u6dfb\u52a0 \u5230 \u5f53\u524d \u7ea7\u522b \u7684 \u592a\u9633 \u4f4d\u7f6e   SunBrightness \uff1a \u5929\u7a7a \u76d2\u4e2d \u592a\u9633 \u6e32\u67d3 \u7684 \u4eae\u5ea6   SunDirectionalLightIntensity \uff1a \u592a\u9633 \u9633\u5149 \u592a\u9633\u5149 \u7684 \u5f3a\u5ea6   SunDirectionalLightColor \uff1a \u9633\u5149 \u7684 \u989c\u8272   SunIndirectLightIntensity \uff1a \u4e3b \u53cd\u5c04 \u5149\u53cd\u5c04 \u7684 \u5f3a\u5ea6   CloudOpacity \uff1a \u5929\u7a7a \u76d2 \u4e0a \u4e91 \u6e32\u67d3 \u7684 \u53ef\u89c1 \u6027   HorizontFalloff \uff1a \u786e\u5b9a \u5929\u9876 \u548c \u5730\u5e73 \u5730\u5e73\u7ebf \u989c\u8272 \u4e4b\u95f4 \u7684 \u6e10\u53d8 \u9ad8\u5ea6   ZenithColor \uff1a \u5b9a\u4e49 \u5929\u9876 \u7684 \u989c\u8272 \u3002   HorizonColor \uff1a \u5b9a\u4e49 \u5730\u5e73 \u5730\u5e73\u7ebf \u7684 \u989c\u8272 \u3002   CloudColor \uff1a \u5b9a\u4e49 \u4e91 \u7684 \u989c\u8272 \uff08 \u5982\u679c \u6709 \uff09 \u3002   OverallSkyColor \uff1a \u5c06 \u5929\u7a7a \u4e2d \u7684 \u6bcf\u4e2a \u989c\u8272 \u5143\u7d20 \u4e58\u4ee5 \u5355\u4e00 \u989c\u8272 \u3002   SkyLightIntensity \uff1a \u4ece \u5929\u7a7a \u53cd\u5c04 \u7684 \u5149 \u7684 \u5f3a\u5ea6 \u3002   SkyLightColor \uff1a \u4ece \u5929\u7a7a \u53cd\u5c04 \u7684 \u5149 \u7684 \u989c\u8272 \u3002   Precipitation \uff1a \u5b9a\u4e49 \u662f\u5426 \u6709 \u964d\u6c34 \u6d3b\u52a8 \u3002   PrecipitationType \uff1a \u6d3b\u8dc3 \u964d\u6c34 \u7684 \u7c7b\u578b \u3002   PrecipitationAmount \uff1a \u6240 \u9009 \u964d\u6c34 \u7684 \u6570\u91cf \u3002   PrecipitationAccumulation \uff1a \u6240 \u9009 \u964d\u6c34 \u7684 \u79ef\u7d2f \u3002   bWind \uff1a \u5b9a\u4e49 \u662f\u5426 \u6709\u98ce \u3002   WindIntensity \uff1a \u5b9a\u4e49 \u98ce \u5f3a\u5ea6 \u3002   WindAngle \uff1a \u5b9a\u4e49 \u98ce\u5411 \u3002   bOverrideCameraPostProcessParameters \uff1a \u5b9a\u4e49 \u662f\u5426 \u8986\u76d6 \u9ed8\u8ba4 \u7684 \u76f8\u673a \u540e\u671f \u5904\u7406 \u3002   CameraPostProcessParameters . AutoExposureMethod \uff1a \u5b9a\u4e49 \u81ea\u52a8 \u66dd\u5149 \u7684 \u65b9\u6cd5 \u3002   CameraPostProcessParameters . AutoExposureMinBrightness \uff1a \u5b9a\u4e49 \u81ea\u52a8 \u66dd\u5149 \u5728 \u6700\u7ec8 \u56fe\u50cf \u4e2d \u7b97\u4f5c \u7684 \u6700\u5c0f \u4eae\u5ea6 \u3002   CameraPostProcessParameters . AutoExposureMaxBrightness \uff1a \u5b9a\u4e49 \u81ea\u52a8 \u66dd\u5149 \u5728 \u6700\u7ec8 \u56fe\u50cf \u4e2d \u7b97\u4f5c \u7684 \u6700\u5927 \u4eae\u5ea6 \u3002   CameraPostProcessParameters . AutoExposureBias \uff1a \u4f7f \u6700\u7ec8 \u56fe\u50cf \u53d8\u6697 \u6216 \u53d8\u4eae \uff0c \u8fbe\u5230 \u5b9a\u4e49 \u7684 \u504f\u5dee \u3002   \u60a8 \u53ef\u4ee5 \u6839\u636e \u9700\u8981 \u5728 \u9879\u76ee \u4e2d \u4fdd\u5b58 \u4efb\u610f \u6570\u91cf \u7684 \u4e0d\u540c \u914d\u7f6e \uff0c \u5e76 \u901a\u8fc7   \u8bbe\u7f6e \u6587\u4ef6   \u9009\u62e9 \u5728 \u6784\u5efa \u65f6 \u5e94\u7528 \u7684 \u914d\u7f6e \uff1b \u6216\u8005 \u5728 \u6784\u5efa \u7ea7\u522b \u6216 \u6d4b\u8bd5 \u65f6 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5e94\u7528 \u3002","title":"\u5929\u6c14"},{"location":"map_town01/","text":"\u57ce\u9547   1   \u57ce\u9547   1   \u662f \u4e00\u5ea7 \u5c0f\u9547 \uff0c \u62e5\u6709 \u4f17\u591a \u4e01\u5b57 \u8def\u53e3 \u548c \u5404\u79cd \u5efa\u7b51 \uff0c \u5468\u56f4 \u73af\u7ed5 \u73af\u7ed5\u7740 \u9488\u53f6 \u9488\u53f6\u6811 \uff0c \u8fd8\u6709 \u51e0\u5ea7 \u6a2a\u8de8 \u6cb3\u6d41 \u7684 \u5c0f\u6865 \uff0c \u5c06 \u5c0f\u9547 \u5206\u4e3a \u4e24\u534a \u3002   \u8def\u7f51   \u9053\u8def \u7f51\u7edc \u6709 \u51e0\u5ea7 \u8de8\u6c34 \u6865\u6881 \u548c \u8bb8\u591a \u7b80\u5355 \u7684 \u4e01\u5b57 \u8def\u53e3 \u3002   \u7279\u5f81   \u5730\u56fe \u4e0a \u6709 \u4e00\u6761 \u5c0f\u6cb3 \uff0c \u6709 \u51e0\u4e2a \u8def\u53e3 \u3002   \u5546\u4e1a \u98ce\u683c \u5efa\u7b51 \u6797\u7acb \u3002   \u8fd8\u6709 \u4f4f\u5b85 \u4f4f\u5b85\u697c \u3002","title":"\u57ce\u9547   1"},{"location":"map_town01/#1","text":"\u57ce\u9547   1   \u662f \u4e00\u5ea7 \u5c0f\u9547 \uff0c \u62e5\u6709 \u4f17\u591a \u4e01\u5b57 \u8def\u53e3 \u548c \u5404\u79cd \u5efa\u7b51 \uff0c \u5468\u56f4 \u73af\u7ed5 \u73af\u7ed5\u7740 \u9488\u53f6 \u9488\u53f6\u6811 \uff0c \u8fd8\u6709 \u51e0\u5ea7 \u6a2a\u8de8 \u6cb3\u6d41 \u7684 \u5c0f\u6865 \uff0c \u5c06 \u5c0f\u9547 \u5206\u4e3a \u4e24\u534a \u3002","title":"\u57ce\u9547   1"},{"location":"map_town01/#_1","text":"\u9053\u8def \u7f51\u7edc \u6709 \u51e0\u5ea7 \u8de8\u6c34 \u6865\u6881 \u548c \u8bb8\u591a \u7b80\u5355 \u7684 \u4e01\u5b57 \u8def\u53e3 \u3002","title":"\u8def\u7f51"},{"location":"map_town01/#_2","text":"\u5730\u56fe \u4e0a \u6709 \u4e00\u6761 \u5c0f\u6cb3 \uff0c \u6709 \u51e0\u4e2a \u8def\u53e3 \u3002   \u5546\u4e1a \u98ce\u683c \u5efa\u7b51 \u6797\u7acb \u3002   \u8fd8\u6709 \u4f4f\u5b85 \u4f4f\u5b85\u697c \u3002","title":"\u7279\u5f81"},{"location":"map_town02/","text":"\u57ce\u9547   2   \u57ce\u9547   2   \u662f \u4e00\u4e2a \u5c0f\u9547 \uff0c \u6709 \u4f17\u591a \u7684 \u4e01\u5b57 \u8def\u53e3 \u548c \u5404\u79cd \u5efa\u7b51 \u5efa\u7b51\u7269 \uff0c \u6709 \u6210\u7247 \u7684 \u9488\u53f6 \u9488\u53f6\u6811 \u3001 \u4e00\u4e2a \u516c\u56ed \u4ee5\u53ca \u4e00\u4e2a \u4f4f\u5b85 \u548c \u5546\u4e1a \u5546\u4e1a\u533a \u3002   \u8def\u7f51   \u8def\u7f51 \u7531 \u8bb8\u591a \u7b80\u5355 \u7684 \u4e01\u5b57 \u8def\u53e3 \u7ec4\u6210 \u3002   \u7279\u5f81   \u5730\u56fe \u4e0a \u6709 \u5546\u4e1a \u5546\u4e1a\u533a \u548c \u5927\u8857 \u3002   \u8fd8\u6709 \u4f4f\u5b85 \u516c\u5bd3 \u516c\u5bd3\u697c \u548c \u6559\u5802 \u3002   \u6709 \u4e00\u4e2a \u52a0\u6cb9 \u52a0\u6cb9\u7ad9 \u3002   \u8fd8\u6709 \u7eff\u6811 \u6210\u836b \u7eff\u6811\u6210\u836b \u7684 \u9053\u8def \u3002","title":"\u57ce\u9547   2"},{"location":"map_town02/#2","text":"\u57ce\u9547   2   \u662f \u4e00\u4e2a \u5c0f\u9547 \uff0c \u6709 \u4f17\u591a \u7684 \u4e01\u5b57 \u8def\u53e3 \u548c \u5404\u79cd \u5efa\u7b51 \u5efa\u7b51\u7269 \uff0c \u6709 \u6210\u7247 \u7684 \u9488\u53f6 \u9488\u53f6\u6811 \u3001 \u4e00\u4e2a \u516c\u56ed \u4ee5\u53ca \u4e00\u4e2a \u4f4f\u5b85 \u548c \u5546\u4e1a \u5546\u4e1a\u533a \u3002","title":"\u57ce\u9547   2"},{"location":"map_town02/#_1","text":"\u8def\u7f51 \u7531 \u8bb8\u591a \u7b80\u5355 \u7684 \u4e01\u5b57 \u8def\u53e3 \u7ec4\u6210 \u3002","title":"\u8def\u7f51"},{"location":"map_town02/#_2","text":"\u5730\u56fe \u4e0a \u6709 \u5546\u4e1a \u5546\u4e1a\u533a \u548c \u5927\u8857 \u3002   \u8fd8\u6709 \u4f4f\u5b85 \u516c\u5bd3 \u516c\u5bd3\u697c \u548c \u6559\u5802 \u3002   \u6709 \u4e00\u4e2a \u52a0\u6cb9 \u52a0\u6cb9\u7ad9 \u3002   \u8fd8\u6709 \u7eff\u6811 \u6210\u836b \u7eff\u6811\u6210\u836b \u7684 \u9053\u8def \u3002","title":"\u7279\u5f81"},{"location":"map_town03/","text":"\u57ce\u9547   3   \u57ce\u9547   3   \u662f \u4e00\u4e2a \u8f83\u5927 \u7684 \u9547 \uff0c \u5177\u6709 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u57ce\u533a \u7684 \u7279\u70b9 \u3002 \u8be5 \u5730\u56fe \u5305\u62ec \u4e00\u4e9b \u6709\u8da3 \u7684 \u9053\u8def \u7f51\u7edc \u7279\u5f81 \uff0c \u4f8b\u5982 \u73af\u5c9b \u3001 \u5730\u4e0b \u901a\u9053 \u5730\u4e0b\u901a\u9053 \u548c \u7acb\u4ea4 \u7acb\u4ea4\u6865 \u3002 \u8be5\u9547 \u8fd8 \u5305\u62ec \u4e00\u6761 \u9ad8\u67b6 \u5730\u94c1 \u8f68\u9053 \u548c \u4e00\u5ea7 \u6b63\u5728 \u5efa\u8bbe \u4e2d \u7684 \u5927\u578b \u5efa\u7b51 \u3002   \u8def\u7f51   \u8def\u7f51 \u8bbe\u6709 \u4e2d\u592e \u73af\u5c9b \u548c \u4f4f\u5b85 \u80e1\u540c \u6b7b\u80e1\u540c \uff0c \u4ee5\u53ca \u4f17\u591a \u56db\u5411 \u8def\u53e3 \u548c \u4e01\u5b57 \u8def\u53e3 \u3002   \u7279\u5f81   \u8be5 \u5730\u56fe \u4ee5 \u7a81\u51fa \u7684 \u4e2d\u592e \u73af\u5c9b \u4e3a \u7279\u8272 \uff0c \u5176\u4e2d \u6709 \u4e00\u5ea7 \u73b0\u4ee3 \u4e3b\u4e49 \u73b0\u4ee3\u4e3b\u4e49 \u7eaa\u5ff5 \u7eaa\u5ff5\u7891 \u548c \u6c34\u57df \u3002   \u4e2d\u5fc3 \u5468\u56f4 \u6709 \u4e00\u6761 \u51f8\u8d77 \u7684 \u5730\u94c1 \u8f68\u9053 \u3002   \u4e00\u4e2a \u5927\u8def \u8def\u53e3 \u5927\u8def\u53e3 \u65c1\u8fb9 \u8fd8\u6709 \u4e00\u4e2a \u52a0\u6cb9 \u52a0\u6cb9\u7ad9 \u3002   \u8def\u7f51 \u8bbe\u6709 \u5730\u4e0b \u901a\u9053 \u5730\u4e0b\u901a\u9053 \u3002   \u8fd9\u91cc \u6709 \u516c\u56ed \u548c \u5404\u79cd \u98ce\u683c \u5404\u5f02 \u98ce\u683c\u5404\u5f02 \u7684 \u5546\u4e1a \u5efa\u7b51 \u548c \u4f4f\u5b85 \u4f4f\u5b85\u697c \u3002","title":"\u57ce\u9547   3"},{"location":"map_town03/#3","text":"\u57ce\u9547   3   \u662f \u4e00\u4e2a \u8f83\u5927 \u7684 \u9547 \uff0c 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\u67e5\u770b \u57ce\u9547   11   \u7684 \u8d44\u6e90 \u6587\u4ef6 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u4e86\u89e3   Carla   \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf \u4e2d \u5904\u7406 \u5927 \u5730\u56fe \u7684 \u60c5\u51b5 \u3002","title":"Map   town11"},{"location":"map_town12/","text":"\u57ce\u9547   12   \u57ce\u9547   12   \u662f \u4e00\u5f20 \u5c3a\u5bf8 \u4e3a   10x10   km   2   \u7684 \u5927 \u5730\u56fe \u3002 \u5b83 \u5206\u4e3a   36   \u4e2a \u56fe\u5757 \uff0c \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u5c3a\u5bf8 \u4e3a   2x2   km   2   \uff08 \u67d0\u4e9b \u8fb9\u7f18 \u56fe\u5757 \u8f83 \u5c0f \uff09 \u3002 \u9053\u8def \u5e03\u5c40 \u90e8\u5206 \u53d7\u5230   \u7f8e\u56fd \u5fb7\u514b \u8428\u65af \u8428\u65af\u5dde \u5fb7\u514b\u8428\u65af\u5dde \u963f\u9a6c \u9a6c\u91cc \u963f\u9a6c\u91cc \u6d1b\u5e02   \u9053\u8def \u5e03\u5c40 \u7684 \u542f\u53d1 \u3002 \u6709 \u8bb8\u591a \u4e0e \u57ce\u5e02 \u5f62\u6210 \u9c9c\u660e \u5bf9\u6bd4 \u9c9c\u660e\u5bf9\u6bd4 \u7684 \u533a\u57df \uff0c \u5305\u62ec \u57ce\u5e02 \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u5730\u533a \uff0c \u8fd8\u6709 \u73af\u7ed5 \u57ce\u5e02 \u7684 \u5927\u578b \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u7cfb\u7edf \u548c \u73af\u5f62 \u516c\u8def \u3002 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u53cd\u6620 \u4e86 \u5317\u7f8e \u8bb8\u591a \u5927\u4e2d \u4e2d\u57ce \u57ce\u5e02 \u5927\u4e2d\u57ce\u5e02 \u7684 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u3002   \u5bfc\u822a \u5668   \u5bfc\u822a \u5668 \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u5730\u56fe \u53ef \u7528\u4e8e \u6d4f\u89c8 \u57ce\u9547 \u5e76 \u5bfc\u51fa \u5750\u6807 \u4ee5 \u5728   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u4f7f\u7528 \u3002   \u4f7f\u7528 \u5bfc\u822a \u5668   :   left   mouse   button   -   \u5355\u51fb \u5e76 \u6309\u4f4f \uff0c \u5411 \u5de6 \u3001 \u5411 \u53f3 \u3001 \u5411\u4e0a \u6216 \u5411\u4e0b \u62d6\u52a8 \u4ee5 \u79fb\u52a8 \u5730\u56fe   scroll   mouse   wheel   -   \u5411\u4e0b \u6eda\u52a8 \u7f29\u5c0f \uff0c \u5411\u4e0a \u6eda\u52a8 \u653e\u5927 \u9f20\u6807 \u6307\u9488 \u4e0b\u65b9 \u7684 \u4f4d\u7f6e   double   click   -   \u53cc\u51fb \u5730\u56fe \u4e0a \u7684 \u67d0\u4e2a \u70b9\u6765 \u8bb0\u5f55 \u5750\u6807 \uff0c \u60a8 \u5c06 \u5728 \u6587\u672c \u548c \u5730\u56fe \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u7684 \u4ee3\u7801 \u5757 \u4e2d \u627e\u5230 \u5750\u6807   \u533a\u57df \u989c\u8272 \u53c2\u8003   :   & nbsp   \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c   & nbsp   \u9ad8\u5bc6 \u5bc6\u5ea6 \u9ad8\u5bc6\u5ea6 \u4f4f\u5b85   & nbsp   \u793e\u533a \u5efa\u7b51   & nbsp   \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u4f4f\u5b85   & nbsp   \u516c\u56ed   & nbsp   \u519c\u6751 \u571f\u5730 \u519c\u6751\u571f\u5730   & nbsp   \u6c34\u57df   Carla   \u5750\u6807   :   X   :   --   Y   :   --   \u53cc\u51fb \u5174\u8da3 \u70b9\u540e \uff0c \u5bfc\u822a \u5668 \u5c06 \u663e\u793a \u76f8\u5e94 \u7684   Carla   \u5750\u6807 \u5e76 \u5728 \u4ee5\u4e0b \u4ee3\u7801 \u5757 \u4e2d \u66f4\u65b0 \u5b83\u4eec \u3002 \u5c06 \u4ee3\u7801 \u590d\u5236 \u5e76 \u7c98\u8d34 \u5230 \u7b14\u8bb0 \u7b14\u8bb0\u672c \u6216   Python   \u7ec8\u7aef \u4e2d \uff0c \u5c06 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u79fb\u52a8 \u5230 \u6240 \u9700 \u7684 \u4f4d\u7f6e \u3002 \u60a8 \u9996\u5148   \u9700\u8981 \u8fde\u63a5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e76 \u8bbe\u7f6e \u4e16\u754c \u5bf9\u8c61   \uff1a   #   Carla   \u5750\u6807 :   X   0.0 ,   Y   0.0   spectator   =   world . get _ spectator ( )   loc   =   carla . Location ( 0.0 ,   0.0 ,   500.0 )   rot   =   carla . Rotation ( pitch = - 90 ,   yaw = 0.0 ,   roll = 0.0 )   spectator . set _ transform ( carla . Transform ( loc ,   rot ) )   \u57ce\u9547   12   \u533a   \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u9ad8\u5c42 \u5efa\u7b51 \u9ad8\u5c42\u5efa\u7b51 \uff1a   \u57ce\u9547   12   \u7684 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u533a\u57df \u662f \u4e00 \u5927\u7247 \u9ad8\u5c42 \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c \uff0c \u5728 \u4e00\u81f4 \u7684 \u9053\u8def \u7f51\u683c \u4e0a \u6392\u5217 \u5217\u6210 \u6392\u5217\u6210 \u8857\u533a \uff0c \u7c7b\u4f3c \u4e8e \u8bb8\u591a \u7f8e\u56fd \u548c \u6b27\u6d32 \u5927\u57ce \u57ce\u5e02 \u5927\u57ce\u5e02 \u7684 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u533a\u57df \u3002   \u9ad8\u5bc6 \u5bc6\u5ea6 \u9ad8\u5bc6\u5ea6 \u4f4f\u5b85 \uff1a   \u57ce\u9547   12   \u7684 \u9ad8\u5bc6 \u5bc6\u5ea6 \u9ad8\u5bc6\u5ea6 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u62e5\u6709 \u8bb8\u591a   2   \u81f3   10   \u5c42 \u7684 \u516c\u5bd3 \u516c\u5bd3\u697c \uff0c \u8857\u9053 \u4e0a \u8fd8 \u8bbe\u6709 \u5496\u5561 \u5496\u5561\u9986 \u548c \u96f6\u552e \u96f6\u552e\u5e97 \u7b49 \u5546\u4e1a \u5730\u4ea7 \u5546\u4e1a\u5730\u4ea7 \u3002   \u793e\u533a \u5efa\u7b51 \uff1a   \u793e\u533a \u5efa\u7b51 \u662f \u4e00\u7ec4   2 - 4   \u5c42 \u7684 \u516c\u5bd3 \u516c\u5bd3\u697c \uff0c \u8272\u5f69 \u7f24\u7eb7 \u8272\u5f69\u7f24\u7eb7 \u7684 \u6ce2 \u7c73\u4e9a \u897f\u7c73\u4e9a \u98ce\u683c \uff0c \u5e95\u5c42 \u8bbe\u6709 \u5496\u5561 \u5496\u5561\u9986 \u548c \u7cbe\u54c1 \u7cbe\u54c1\u5e97 \uff0c \u6bd7\u90bb \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u4e2d\u5fc3\u533a \u5e02\u4e2d\u5fc3\u533a \u3002   \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u4f4f\u5b85 \uff1a   \u57ce\u9547   12   \u7684 \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u53cd\u6620 \u4e86 \u8bb8\u591a \u7f8e\u56fd \u57ce\u5e02 \u7684 \u7ecf\u5178 \u90ca\u533a \uff0c \u4e00\u5c42 \u548c \u4e24\u5c42 \u7684 \u4f4f\u5b85 \u5468\u56f4 \u73af\u7ed5 \u73af\u7ed5\u7740 \u56f4\u680f \u82b1\u56ed \u548c \u8f66\u5e93 \u3002   \u516c\u56ed \uff1a   \u5bc6\u96c6 \u7684 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u88ab \u7eff\u8272 \u516c\u5171 \u7a7a\u95f4 \u7684 \u5c0f\u5c9b \u6240 \u5206\u5272 \uff0c \u7eff\u53f6 \u4e0e \u57ce\u5e02 \u5efa\u7b51 \u5e76 \u7f6e \u3002   \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u548c \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \uff1a   \u57ce\u9547   12   \u62e5\u6709 \u5e7f\u6cdb \u7684 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u7cfb\u7edf \uff0c \u5305\u62ec   3 - 4   \u8f66\u9053 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \uff0c \u5176\u4e2d \u6563\u5e03 \u7740 \u4ee4\u4eba \u5370\u8c61 \u6df1\u523b \u7684 \u73af\u5c9b \u8def\u53e3 \u548c \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u3002   \u519c\u6751 \u548c \u519c\u7530 \uff1a   \u57ce\u9547   12   \u8fd8\u6709 \u4e61\u6751 \u5730\u533a \uff0c \u6709 \u7279\u8272 \u519c\u7530 \u5efa\u7b51 \uff0c \u5982 \u6728\u5236 \u8c37\u4ed3 \u548c \u519c\u820d \u3001 \u98ce\u8f66 \u3001 \u7cae\u4ed3 \u3001 \u7389\u7c73 \u7389\u7c73\u7530 \u3001 \u5e72 \u8349\u579b \u548c \u4e61\u6751 \u56f4\u680f \u3002 \u8fd9\u4e9b \u5730\u533a \u6709 \u672a \u6807\u8bb0 \u7684 \u4e61\u6751 \u571f\u8def \u548c \u7528\u4e8e \u57ce\u9645 \u4ea4\u901a \u7684 \u5355\u8f66 \u9053 \u57ce\u9645 \u9053\u8def \u3002   \u6c34\u57df \uff1a   \u57ce\u9547   12   \u4e2d\u6709 \u591a\u4e2a \u6c34\u57df \uff0c \u5305\u62ec   2   \u4e2a \u5927\u6e56 \u548c \u51e0\u4e2a \u6c60\u5858 \u3002 \u7531\u4e8e \u57ce\u5e02 \u65c1\u8fb9 \u6709 \u4e00\u4e9b \u5927\u578b \u6c34\u666f \uff0c \u8fd9\u4e9b \u6c34\u666f \u4f1a \u4ea7\u751f \u5929\u9645 \u5929\u9645\u7ebf \u7684 \u5012 \u53cd\u5c04 \uff0c \u7ed9 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u5e26\u6765 \u6311\u6218 \u3002   @ keyframes   fadeMe   {   from   {   color :   # 77aaff ;   }   to   {   color :   # 000000 ;   }   }   window . addEventListener ( ' load ' ,   function   ( )   {   var   text _ coord _ x   =   document . getElementById ( \" carlacoord _ x \" )   var   text _ coord _ y   =   document . getElementById ( \" carlacoord _ y \" )   const   code _ coords   =   document . getElementsByClassName ( \" hljs - number \" )   const   code _ comment   =   document . getElementsByClassName ( \" hljs - comment \" )   const   image   =   document . querySelector ( ' [ src $ = \" map \" ] ' ) ;   const   canv   =   document . createElement ( ' canvas ' ) ;   canv . setAttribute ( ' height ' ,   image . height )   canv . setAttribute ( ' width ' ,   image . width )   image . parentNode . replaceChild ( canv ,   image )   var   state   =   { mDown :   false ,   button :   0 ,   lastX :   0 ,   lastY : 0 ,   canvX :   0 ,   canvY :   0 ,   zoom :   1.0 ,   mdownX :   0 ,   mdownY :   0 ,   pX :   0.5 ,   pY :   0.5 ,   dblClick :   false ,   listObj :   false ,   touch :   false }   ctx   =   canv . getContext ( ' 2d ' )   ctx . drawImage ( image ,   0 ,   0 ,   canv . width ,   canv . height )   canv . addEventListener ( ' mousemove ' ,   ( event )   = >   {   dX   =   event . clientX   -   state . lastX   dY   =   event . clientY   -   state . lastY   state . lastX   =   event . clientX   state . lastY   =   event . clientY   if ( state . mDown   &&   state . button   = =   0 )   {   state . canvX   + =   dX   state . canvY   + =   dY   ctx . clearRect ( 0 ,   0 ,   canv . width ,   canv . height )   ctx . drawImage ( image ,   state . canvX ,   state . canvY ,   canv . width   *   state . zoom ,   canv . height   *   state . zoom )   state . touch   =   true ;   }   } )   canv . addEventListener ( ' mousedown ' ,   ( event )   = >   {   state . button   =   event . button ;   state . mDown   =   true ;   state . touch   =   true ;   var   rect   =   canv . getBoundingClientRect ( ) ;   state . mdownX   =   event . clientX   -   rect . left ;   state . mdownY   =   event . clientY   -   rect . top ;   state . pX   =   ( state . mdownX   -   state . canvX )   /   ( canv . width   *   state . zoom ) ;   state . pY   =   ( state . mdownY   -   state . canvY )   /   ( canv . height   *   state . zoom ) ;   } )   canv . addEventListener ( ' mouseup ' ,   ( event )   = >   {   state . mDown   =   false ;   } )   canv . addEventListener ( ' wheel ' ,   ( event )   = >   {   state . mDown   =   false ;   var   rect   =   canv . getBoundingClientRect ( ) ;   dX   =   event . clientX   -   rect . left ;   dY   =   event . clientY   -   rect . top ;   state . pX   =   ( dX   -   state . canvX )   /   ( canv . width   *   state . zoom ) ;   state . pY   =   ( dY   -   state . canvY )   /   ( canv . height   *   state . zoom ) ;   if ( state . touch ) {   event . preventDefault ( ) ;   if ( event . wheelDelta   >   0 ) {   state . zoom   * =   1.15   }   else   {   state . zoom   * =   0.85   }   if ( state . zoom   <   1.0 ) { state . zoom   =   1.0 ; }   if ( state . zoom   >   30.0 ) { state . zoom   =   30.0 }   ctx . clearRect ( 0 ,   0 ,   canv . width ,   canv . height )   state . canvX   =   -   canv . width   *   state . zoom   *   state . pX   +   dX ;   state . canvY   =   -   canv . height   *   state . zoom   *   state . pY   +   dY ;   ctx . drawImage ( image ,   state . canvX ,   state . canvY ,   canv . width   *   state . zoom ,   canv . height   *   state . zoom ) ;   }   } )   canv . addEventListener ( ' dblclick ' ,   ( event )   = >   {   text _ coord _ x   =   document . getElementById ( \" carlacoord _ x \" )   text _ coord _ y   =   document . getElementById ( \" carlacoord _ y \" )   const   carlaX   =   10482.4274   *   state . pX   +   - 5.39801455   *   state . pY   -   5673.07949 ;   const   carlaY   =   5.39801455   *   state . pX   +   10482.4274   *   state . pY   -   2885.15738 ;   code _ coords [ 0 ] . textContent   =   carlaX . toFixed ( 1 )   code _ coords [ 1 ] . textContent   =   carlaY . toFixed ( 1 )   code _ comment [ 0 ] . textContent   =   \" #   CARLA   coordinates   -   X :   \"   +   carlaX . toFixed ( 1 )   +   \"   Y :   \"   +   carlaY . toFixed ( 1 )   var   newX   =   text _ coord _ x . cloneNode ( true )   var   newY   =   text _ coord _ y . cloneNode ( true )   newX . textContent   =   carlaX . toFixed ( 1 )   newY . textContent   =   carlaY . toFixed ( 1 )   var   parentX   =   text _ coord _ x . parentNode   var   parentY   =   text _ coord _ y . parentNode   parentX . replaceChild ( newX ,   text _ coord _ x ) ;   parentY . replaceChild ( newY ,   text _ coord _ y ) ;   / / console . log ( state . pX   +   \" ,   \"   +   state . pY )   } )   } )","title":"\u57ce\u9547   12"},{"location":"map_town12/#12","text":"\u57ce\u9547   12   \u662f \u4e00\u5f20 \u5c3a\u5bf8 \u4e3a   10x10   km   2   \u7684 \u5927 \u5730\u56fe \u3002 \u5b83 \u5206\u4e3a   36   \u4e2a \u56fe\u5757 \uff0c \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u5c3a\u5bf8 \u4e3a   2x2   km   2   \uff08 \u67d0\u4e9b \u8fb9\u7f18 \u56fe\u5757 \u8f83 \u5c0f \uff09 \u3002 \u9053\u8def \u5e03\u5c40 \u90e8\u5206 \u53d7\u5230   \u7f8e\u56fd \u5fb7\u514b \u8428\u65af \u8428\u65af\u5dde \u5fb7\u514b\u8428\u65af\u5dde \u963f\u9a6c \u9a6c\u91cc \u963f\u9a6c\u91cc \u6d1b\u5e02   \u9053\u8def \u5e03\u5c40 \u7684 \u542f\u53d1 \u3002 \u6709 \u8bb8\u591a \u4e0e \u57ce\u5e02 \u5f62\u6210 \u9c9c\u660e \u5bf9\u6bd4 \u9c9c\u660e\u5bf9\u6bd4 \u7684 \u533a\u57df \uff0c \u5305\u62ec \u57ce\u5e02 \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u5730\u533a \uff0c \u8fd8\u6709 \u73af\u7ed5 \u57ce\u5e02 \u7684 \u5927\u578b \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u7cfb\u7edf \u548c \u73af\u5f62 \u516c\u8def \u3002 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u53cd\u6620 \u4e86 \u5317\u7f8e \u8bb8\u591a \u5927\u4e2d \u4e2d\u57ce \u57ce\u5e02 \u5927\u4e2d\u57ce\u5e02 \u7684 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u3002","title":"\u57ce\u9547   12"},{"location":"map_town12/#_1","text":"\u5bfc\u822a \u5668 \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u5730\u56fe \u53ef \u7528\u4e8e \u6d4f\u89c8 \u57ce\u9547 \u5e76 \u5bfc\u51fa \u5750\u6807 \u4ee5 \u5728   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u4f7f\u7528 \u3002   \u4f7f\u7528 \u5bfc\u822a \u5668   :   left   mouse   button   -   \u5355\u51fb \u5e76 \u6309\u4f4f \uff0c \u5411 \u5de6 \u3001 \u5411 \u53f3 \u3001 \u5411\u4e0a \u6216 \u5411\u4e0b \u62d6\u52a8 \u4ee5 \u79fb\u52a8 \u5730\u56fe   scroll   mouse   wheel   -   \u5411\u4e0b \u6eda\u52a8 \u7f29\u5c0f \uff0c \u5411\u4e0a \u6eda\u52a8 \u653e\u5927 \u9f20\u6807 \u6307\u9488 \u4e0b\u65b9 \u7684 \u4f4d\u7f6e   double   click   -   \u53cc\u51fb \u5730\u56fe \u4e0a \u7684 \u67d0\u4e2a \u70b9\u6765 \u8bb0\u5f55 \u5750\u6807 \uff0c \u60a8 \u5c06 \u5728 \u6587\u672c \u548c \u5730\u56fe \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u7684 \u4ee3\u7801 \u5757 \u4e2d \u627e\u5230 \u5750\u6807   \u533a\u57df \u989c\u8272 \u53c2\u8003   :   & nbsp   \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c   & nbsp   \u9ad8\u5bc6 \u5bc6\u5ea6 \u9ad8\u5bc6\u5ea6 \u4f4f\u5b85   & nbsp   \u793e\u533a \u5efa\u7b51   & nbsp   \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u4f4f\u5b85   & nbsp   \u516c\u56ed   & nbsp   \u519c\u6751 \u571f\u5730 \u519c\u6751\u571f\u5730   & nbsp   \u6c34\u57df   Carla   \u5750\u6807   :   X   :   --   Y   :   --   \u53cc\u51fb \u5174\u8da3 \u70b9\u540e \uff0c \u5bfc\u822a \u5668 \u5c06 \u663e\u793a \u76f8\u5e94 \u7684   Carla   \u5750\u6807 \u5e76 \u5728 \u4ee5\u4e0b \u4ee3\u7801 \u5757 \u4e2d \u66f4\u65b0 \u5b83\u4eec \u3002 \u5c06 \u4ee3\u7801 \u590d\u5236 \u5e76 \u7c98\u8d34 \u5230 \u7b14\u8bb0 \u7b14\u8bb0\u672c \u6216   Python   \u7ec8\u7aef \u4e2d \uff0c \u5c06 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u79fb\u52a8 \u5230 \u6240 \u9700 \u7684 \u4f4d\u7f6e \u3002 \u60a8 \u9996\u5148   \u9700\u8981 \u8fde\u63a5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e76 \u8bbe\u7f6e \u4e16\u754c \u5bf9\u8c61   \uff1a   #   Carla   \u5750\u6807 :   X   0.0 ,   Y   0.0   spectator   =   world . get _ spectator ( )   loc   =   carla . Location ( 0.0 ,   0.0 ,   500.0 )   rot   =   carla . Rotation ( pitch = - 90 ,   yaw = 0.0 ,   roll = 0.0 )   spectator . set _ transform ( carla . Transform ( loc ,   rot ) )","title":"\u5bfc\u822a \u5668"},{"location":"map_town12/#12_1","text":"","title":"\u57ce\u9547   12   \u533a"},{"location":"map_town12/#_2","text":"\u57ce\u9547   12   \u7684 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u533a\u57df \u662f \u4e00 \u5927\u7247 \u9ad8\u5c42 \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c \uff0c \u5728 \u4e00\u81f4 \u7684 \u9053\u8def \u7f51\u683c \u4e0a \u6392\u5217 \u5217\u6210 \u6392\u5217\u6210 \u8857\u533a \uff0c \u7c7b\u4f3c \u4e8e \u8bb8\u591a \u7f8e\u56fd \u548c \u6b27\u6d32 \u5927\u57ce \u57ce\u5e02 \u5927\u57ce\u5e02 \u7684 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u533a\u57df \u3002","title":"\u5e02\u4e2d\u5fc3 \u9ad8\u5c42\u5efa\u7b51 \uff1a"},{"location":"map_town12/#_3","text":"\u57ce\u9547   12   \u7684 \u9ad8\u5bc6 \u5bc6\u5ea6 \u9ad8\u5bc6\u5ea6 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u62e5\u6709 \u8bb8\u591a   2   \u81f3   10   \u5c42 \u7684 \u516c\u5bd3 \u516c\u5bd3\u697c \uff0c \u8857\u9053 \u4e0a \u8fd8 \u8bbe\u6709 \u5496\u5561 \u5496\u5561\u9986 \u548c \u96f6\u552e \u96f6\u552e\u5e97 \u7b49 \u5546\u4e1a \u5730\u4ea7 \u5546\u4e1a\u5730\u4ea7 \u3002","title":"\u9ad8\u5bc6\u5ea6 \u4f4f\u5b85 \uff1a"},{"location":"map_town12/#_4","text":"\u793e\u533a \u5efa\u7b51 \u662f \u4e00\u7ec4   2 - 4   \u5c42 \u7684 \u516c\u5bd3 \u516c\u5bd3\u697c \uff0c \u8272\u5f69 \u7f24\u7eb7 \u8272\u5f69\u7f24\u7eb7 \u7684 \u6ce2 \u7c73\u4e9a \u897f\u7c73\u4e9a \u98ce\u683c \uff0c \u5e95\u5c42 \u8bbe\u6709 \u5496\u5561 \u5496\u5561\u9986 \u548c \u7cbe\u54c1 \u7cbe\u54c1\u5e97 \uff0c \u6bd7\u90bb \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u4e2d\u5fc3\u533a \u5e02\u4e2d\u5fc3\u533a \u3002","title":"\u793e\u533a \u5efa\u7b51 \uff1a"},{"location":"map_town12/#_5","text":"\u57ce\u9547   12   \u7684 \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u53cd\u6620 \u4e86 \u8bb8\u591a \u7f8e\u56fd \u57ce\u5e02 \u7684 \u7ecf\u5178 \u90ca\u533a \uff0c \u4e00\u5c42 \u548c \u4e24\u5c42 \u7684 \u4f4f\u5b85 \u5468\u56f4 \u73af\u7ed5 \u73af\u7ed5\u7740 \u56f4\u680f \u82b1\u56ed \u548c \u8f66\u5e93 \u3002","title":"\u4f4e\u5bc6\u5ea6 \u4f4f\u5b85 \uff1a"},{"location":"map_town12/#_6","text":"\u5bc6\u96c6 \u7684 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u88ab \u7eff\u8272 \u516c\u5171 \u7a7a\u95f4 \u7684 \u5c0f\u5c9b \u6240 \u5206\u5272 \uff0c \u7eff\u53f6 \u4e0e \u57ce\u5e02 \u5efa\u7b51 \u5e76 \u7f6e \u3002","title":"\u516c\u56ed \uff1a"},{"location":"map_town12/#_7","text":"\u57ce\u9547   12   \u62e5\u6709 \u5e7f\u6cdb \u7684 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u7cfb\u7edf \uff0c \u5305\u62ec   3 - 4   \u8f66\u9053 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \uff0c \u5176\u4e2d \u6563\u5e03 \u7740 \u4ee4\u4eba \u5370\u8c61 \u6df1\u523b \u7684 \u73af\u5c9b \u8def\u53e3 \u548c \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u3002","title":"\u9ad8\u901f\u516c\u8def \u548c \u4ea4\u53c9\u8def\u53e3 \uff1a"},{"location":"map_town12/#_8","text":"\u57ce\u9547   12   \u8fd8\u6709 \u4e61\u6751 \u5730\u533a \uff0c \u6709 \u7279\u8272 \u519c\u7530 \u5efa\u7b51 \uff0c \u5982 \u6728\u5236 \u8c37\u4ed3 \u548c \u519c\u820d \u3001 \u98ce\u8f66 \u3001 \u7cae\u4ed3 \u3001 \u7389\u7c73 \u7389\u7c73\u7530 \u3001 \u5e72 \u8349\u579b \u548c \u4e61\u6751 \u56f4\u680f \u3002 \u8fd9\u4e9b \u5730\u533a \u6709 \u672a \u6807\u8bb0 \u7684 \u4e61\u6751 \u571f\u8def \u548c \u7528\u4e8e \u57ce\u9645 \u4ea4\u901a \u7684 \u5355\u8f66 \u9053 \u57ce\u9645 \u9053\u8def \u3002","title":"\u519c\u6751 \u548c \u519c\u7530 \uff1a"},{"location":"map_town12/#_9","text":"\u57ce\u9547   12   \u4e2d\u6709 \u591a\u4e2a \u6c34\u57df \uff0c \u5305\u62ec   2   \u4e2a \u5927\u6e56 \u548c \u51e0\u4e2a \u6c60\u5858 \u3002 \u7531\u4e8e \u57ce\u5e02 \u65c1\u8fb9 \u6709 \u4e00\u4e9b \u5927\u578b \u6c34\u666f \uff0c \u8fd9\u4e9b \u6c34\u666f \u4f1a \u4ea7\u751f \u5929\u9645 \u5929\u9645\u7ebf \u7684 \u5012 \u53cd\u5c04 \uff0c \u7ed9 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u5e26\u6765 \u6311\u6218 \u3002   @ keyframes   fadeMe   {   from   {   color :   # 77aaff ;   }   to   {   color :   # 000000 ;   }   }   window . addEventListener ( ' load ' ,   function   ( )   {   var   text _ coord _ x   =   document . getElementById ( \" carlacoord _ x \" )   var   text _ coord _ y   =   document . getElementById ( \" carlacoord _ y \" )   const   code _ coords   =   document . getElementsByClassName ( \" hljs - number \" )   const   code _ comment   =   document . getElementsByClassName ( \" hljs - comment \" )   const   image   =   document . querySelector ( ' [ src $ = \" map \" ] ' ) ;   const   canv   =   document . createElement ( ' canvas ' ) ;   canv . setAttribute ( ' height ' ,   image . height )   canv . setAttribute ( ' width ' ,   image . width )   image . parentNode . replaceChild ( canv ,   image )   var   state   =   { mDown :   false ,   button :   0 ,   lastX :   0 ,   lastY : 0 ,   canvX :   0 ,   canvY :   0 ,   zoom :   1.0 ,   mdownX :   0 ,   mdownY :   0 ,   pX :   0.5 ,   pY :   0.5 ,   dblClick :   false ,   listObj :   false ,   touch :   false }   ctx   =   canv . getContext ( ' 2d ' )   ctx . drawImage ( image ,   0 ,   0 ,   canv . width ,   canv . height )   canv . addEventListener ( ' mousemove ' ,   ( event )   = >   {   dX   =   event . clientX   -   state . lastX   dY   =   event . clientY   -   state . lastY   state . lastX   =   event . clientX   state . lastY   =   event . clientY   if ( state . mDown   &&   state . button   = =   0 )   {   state . canvX   + =   dX   state . canvY   + =   dY   ctx . clearRect ( 0 ,   0 ,   canv . width ,   canv . height )   ctx . drawImage ( image ,   state . canvX ,   state . canvY ,   canv . width   *   state . zoom ,   canv . height   *   state . zoom )   state . touch   =   true ;   }   } )   canv . addEventListener ( ' mousedown ' ,   ( event )   = >   {   state . button   =   event . button ;   state . mDown   =   true ;   state . touch   =   true ;   var   rect   =   canv . getBoundingClientRect ( ) ;   state . mdownX   =   event . clientX   -   rect . left ;   state . mdownY   =   event . clientY   -   rect . top ;   state . pX   =   ( state . mdownX   -   state . canvX )   /   ( canv . width   *   state . zoom ) ;   state . pY   =   ( state . mdownY   -   state . canvY )   /   ( canv . height   *   state . zoom ) ;   } )   canv . addEventListener ( ' mouseup ' ,   ( event )   = >   {   state . mDown   =   false ;   } )   canv . addEventListener ( ' wheel ' ,   ( event )   = >   {   state . mDown   =   false ;   var   rect   =   canv . getBoundingClientRect ( ) ;   dX   =   event . clientX   -   rect . left ;   dY   =   event . clientY   -   rect . top ;   state . pX   =   ( dX   -   state . canvX )   /   ( canv . width   *   state . zoom ) ;   state . pY   =   ( dY   -   state . canvY )   /   ( canv . height   *   state . zoom ) ;   if ( state . touch ) {   event . preventDefault ( ) ;   if ( event . wheelDelta   >   0 ) {   state . zoom   * =   1.15   }   else   {   state . zoom   * =   0.85   }   if ( state . zoom   <   1.0 ) { state . zoom   =   1.0 ; }   if ( state . zoom   >   30.0 ) { state . zoom   =   30.0 }   ctx . clearRect ( 0 ,   0 ,   canv . width ,   canv . height )   state . canvX   =   -   canv . width   *   state . zoom   *   state . pX   +   dX ;   state . canvY   =   -   canv . height   *   state . zoom   *   state . pY   +   dY ;   ctx . drawImage ( image ,   state . canvX ,   state . canvY ,   canv . width   *   state . zoom ,   canv . height   *   state . zoom ) ;   }   } )   canv . addEventListener ( ' dblclick ' ,   ( event )   = >   {   text _ coord _ x   =   document . getElementById ( \" carlacoord _ x \" )   text _ coord _ y   =   document . getElementById ( \" carlacoord _ y \" )   const   carlaX   =   10482.4274   *   state . pX   +   - 5.39801455   *   state . pY   -   5673.07949 ;   const   carlaY   =   5.39801455   *   state . pX   +   10482.4274   *   state . pY   -   2885.15738 ;   code _ coords [ 0 ] . textContent   =   carlaX . toFixed ( 1 )   code _ coords [ 1 ] . textContent   =   carlaY . toFixed ( 1 )   code _ comment [ 0 ] . textContent   =   \" #   CARLA   coordinates   -   X :   \"   +   carlaX . toFixed ( 1 )   +   \"   Y :   \"   +   carlaY . toFixed ( 1 )   var   newX   =   text _ coord _ x . cloneNode ( true )   var   newY   =   text _ coord _ y . cloneNode ( true )   newX . textContent   =   carlaX . toFixed ( 1 )   newY . textContent   =   carlaY . toFixed ( 1 )   var   parentX   =   text _ coord _ x . parentNode   var   parentY   =   text _ coord _ y . parentNode   parentX . replaceChild ( newX ,   text _ coord _ x ) ;   parentY . replaceChild ( newY ,   text _ coord _ y ) ;   / / console . log ( state . pX   +   \" ,   \"   +   state . pY )   } )   } )","title":"\u6c34\u57df \uff1a"},{"location":"map_town13/","text":"\u57ce\u9547   13   \u57ce\u9547   13   \u662f \u4e00\u5f20 \u5c3a\u5bf8 \u4e3a   10x10   km   2   \u7684 \u5927 \u5730\u56fe \u3002 \u5b83 \u5206\u4e3a   36   \u4e2a \u56fe\u5757 \uff0c \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u5c3a\u5bf8 \u4e3a   2x2   km   2   \uff08 \u67d0\u4e9b \u8fb9\u7f18 \u56fe\u5757 \u8f83 \u5c0f \uff09 \u3002 \u6709 \u8bb8\u591a \u4e0e \u57ce\u5e02 \u5f62\u6210 \u9c9c\u660e \u5bf9\u6bd4 \u9c9c\u660e\u5bf9\u6bd4 \u7684 \u533a\u57df \uff0c \u5305\u62ec \u57ce\u5e02 \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u5730\u533a \uff0c \u8fd8\u6709 \u73af\u7ed5 \u57ce\u5e02 \u7684 \u5927\u578b \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u7cfb\u7edf \u548c \u73af\u5f62 \u516c\u8def \u3002 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u53cd\u6620 \u4e86 \u5317\u7f8e \u8bb8\u591a \u5927\u4e2d \u4e2d\u57ce \u57ce\u5e02 \u5927\u4e2d\u57ce\u5e02 \u7684 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u3002   \u7b14\u8bb0   \u57ce\u9547   13   \u88ab \u8bbe\u8ba1 \u4e3a \u57ce\u9547   12   \u7684 \u9644\u5c5e \u8bbe\u65bd \uff0c \u8fd9\u6837 \u5b83\u4eec \u5c31 \u53ef\u4ee5 \u4f5c\u4e3a   \u8bad\u7ec3 - \u6d4b\u8bd5 \u5bf9   \u3002 \u8fd9\u4e9b \u57ce\u9547 \u6709 \u8bb8\u591a \u5171\u540c \u7279\u5f81 \uff0c \u4f46 \u5728 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u3001 \u9053\u8def \u7eb9\u7406 \u3001 \u8def\u9762 \u7eb9\u7406 \u548c \u690d\u88ab \u65b9\u9762 \u4e5f \u6709 \u8bb8\u591a \u5dee\u5f02 \u3002 \u4f7f\u7528 \u5176\u4e2d \u4e00\u4e2a \u751f\u6210 \u8bad\u7ec3 \u6570\u636e \uff0c \u7136\u540e \u4f7f\u7528 \u53e6 \u4e00\u4e2a \u8fdb\u884c \u6d4b\u8bd5 \uff0c \u975e\u5e38 \u9002\u5408 \u975e\u5e38\u9002\u5408 \u66b4\u9732 \u5f00\u53d1 \u81ea\u52a8 \u9a7e\u9a76 \u6280\u672f \u6808\u65f6 \u53ef\u80fd \u51fa\u73b0 \u7684 \u8fc7\u5ea6 \u62df\u5408 \u95ee\u9898 \u3002   \u5bfc\u822a \u5668   \u5bfc\u822a \u5668 \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u5730\u56fe \u53ef \u7528\u4e8e \u6d4f\u89c8 \u57ce\u9547 \u5e76 \u5bfc\u51fa \u5750\u6807 \u4ee5 \u5728   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u4f7f\u7528 \u3002   \u4f7f\u7528 \u5bfc\u822a \u5668   :   left   mouse   button   -   \u5355\u51fb \u5e76 \u6309\u4f4f \uff0c \u5411 \u5de6 \u3001 \u5411 \u53f3 \u3001 \u5411\u4e0a \u6216 \u5411\u4e0b \u62d6\u52a8 \u4ee5 \u79fb\u52a8 \u5730\u56fe   scroll   mouse   wheel   -   \u5411\u4e0b \u6eda\u52a8 \u7f29\u5c0f \uff0c \u5411\u4e0a \u6eda\u52a8 \u653e\u5927 \u9f20\u6807 \u6307\u9488 \u4e0b\u65b9 \u7684 \u4f4d\u7f6e   double   click   -   \u53cc\u51fb \u5730\u56fe \u4e0a \u7684 \u67d0\u4e2a \u70b9\u6765 \u8bb0\u5f55 \u5750\u6807 \uff0c \u60a8 \u5c06 \u5728 \u6587\u672c \u548c \u5730\u56fe \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u7684 \u4ee3\u7801 \u5757 \u4e2d \u627e\u5230 \u5750\u6807   \u533a\u57df \u989c\u8272 \u53c2\u8003   :   & nbsp   \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c   & nbsp   \u9ad8\u5bc6 \u5bc6\u5ea6 \u9ad8\u5bc6\u5ea6 \u4f4f\u5b85   & nbsp   \u793e\u533a \u5efa\u7b51   & nbsp   \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u4f4f\u5b85   & nbsp   \u516c\u56ed   & nbsp   \u519c\u6751 \u571f\u5730 \u519c\u6751\u571f\u5730   & nbsp   \u6c34\u57df   Carla   \u5750\u6807   :   X   :   --   Y   :   --   \u53cc\u51fb \u5174\u8da3 \u70b9\u540e \uff0c \u5bfc\u822a \u5668 \u5c06 \u663e\u793a \u76f8\u5e94 \u7684   Carla   \u5750\u6807 \u5e76 \u5728 \u4ee5\u4e0b \u4ee3\u7801 \u5757 \u4e2d \u66f4\u65b0 \u5b83\u4eec \u3002 \u5c06 \u4ee3\u7801 \u590d\u5236 \u5e76 \u7c98\u8d34 \u5230 \u7b14\u8bb0 \u7b14\u8bb0\u672c \u6216   Python   \u7ec8\u7aef \u4e2d \uff0c \u5c06 \u89c2\u4f17 \u79fb\u52a8 \u5230 \u6240 \u9700 \u7684 \u4f4d\u7f6e \u3002 \u60a8 \u9996\u5148 \u9700\u8981   \u8fde\u63a5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e76 \u8bbe\u7f6e \u4e16\u754c \u5bf9\u8c61   \uff1a   #   Carla   \u5750\u6807 :   X   0.0 ,   Y   0.0   spectator   =   world . get _ spectator ( )   loc   =   carla . Location ( 0.0 ,   0.0 ,   300.0 )   rot   =   carla . Rotation ( pitch = - 90 ,   yaw = 0.0 ,   roll = 0.0 )   spectator . set _ transform ( carla . Transform ( loc ,   rot ) )   \u57ce\u9547   13   \u533a   \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u9ad8\u5c42 \u5efa\u7b51 \u9ad8\u5c42\u5efa\u7b51 \uff1a   \u57ce\u9547   13   \u7684 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u533a\u57df \u662f \u4e00 \u5927\u7247 \u9ad8\u5c42 \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c \uff0c \u5728 \u4e00\u81f4 \u7684 \u9053\u8def \u7f51\u683c \u4e0a \u6392\u5217 \u5217\u6210 \u6392\u5217\u6210 \u8857\u533a \uff0c \u7c7b\u4f3c \u4e8e \u8bb8\u591a \u7f8e\u56fd \u548c \u6b27\u6d32 \u5927\u57ce \u57ce\u5e02 \u5927\u57ce\u5e02 \u7684 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u533a\u57df \u3002   \u793e\u533a \u5efa\u7b51 \uff1a   \u793e\u533a \u5efa\u7b51 \u662f \u4e00\u7ec4   2 - 4   \u5c42 \u7684 \u516c\u5bd3 \u516c\u5bd3\u697c \uff0c \u8272\u5f69 \u7f24\u7eb7 \u8272\u5f69\u7f24\u7eb7 \u7684 \u6ce2 \u7c73\u4e9a \u897f\u7c73\u4e9a \u98ce\u683c \uff0c \u5e95\u5c42 \u4e3a \u5546\u4e1a \uff0c \u6bd7\u90bb \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u4e2d\u5fc3\u533a \u5e02\u4e2d\u5fc3\u533a \u3002   \u9ad8\u5bc6 \u5bc6\u5ea6 \u9ad8\u5bc6\u5ea6 \u4f4f\u5b85 \uff1a   \u57ce\u9547   13   \u7684 \u9ad8\u5bc6 \u5bc6\u5ea6 \u9ad8\u5bc6\u5ea6 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u62e5\u6709 \u8bb8\u591a   2   \u81f3   10   \u5c42 \u7684 \u516c\u5bd3 \u516c\u5bd3\u697c \uff0c \u8857\u9053 \u4e0a \u8fd8 \u8bbe\u6709 \u5496\u5561 \u5496\u5561\u9986 \u548c \u96f6\u552e \u96f6\u552e\u5e97 \u7b49 \u5546\u4e1a \u5730\u4ea7 \u5546\u4e1a\u5730\u4ea7 \u3002 \u8bb8\u591a \u4f4f\u5b85 \u4f4f\u5b85\u533a \u90fd \u8bbe\u6709 \u5e26\u6709 \u906e\u9633 \u5e18 \u7684 \u9633\u53f0 \uff0c \u7c7b\u4f3c \u4e8e \u9633\u5149 \u5149\u660e \u660e\u5a9a \u9633\u5149\u660e\u5a9a \u7684 \u5357\u6b27 \u56fd\u5bb6 \u5357\u6b27\u56fd\u5bb6 \u3002   \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u4f4f\u5b85 \uff1a   \u57ce\u9547   13   \u7684 \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u53cd\u6620 \u4e86 \u8bb8\u591a \u6b27\u6d32 \u57ce\u5e02 \u7684 \u90ca\u533a \uff0c \u4e00\u5c42 \u548c \u4e24\u5c42 \u7684 \u4f4f\u5b85 \u88ab \u56f4\u680f \u82b1\u56ed \u548c \u8f66\u5e93 \u5305\u56f4 \u3002   \u516c\u56ed \uff1a   \u5bc6\u96c6 \u7684 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u88ab \u7eff\u8272 \u516c\u5171 \u7a7a\u95f4 \u7684 \u5c0f\u5c9b \u6240 \u5206\u5272 \uff0c \u7eff\u53f6 \u4e0e \u57ce\u5e02 \u5efa\u7b51 \u5e76 \u7f6e \u3002   \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u548c \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \uff1a   \u57ce\u9547   13   \u62e5\u6709 \u5e7f\u6cdb \u7684 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u7cfb\u7edf \uff0c \u5305\u62ec   3 - 4   \u8f66\u9053 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3001 \u5927\u578b \u73af\u5c9b \u548c \u6a2a\u8de8 \u5927\u7247 \u6c34\u57df \u7684 \u5824 \u9053 \u3002   \u519c\u6751 \u548c \u519c\u7530 \uff1a   \u57ce\u9547   13   \u8fd8\u6709 \u4e00\u4e9b \u519c\u6751 \u5730\u533a \uff0c \u6709 \u7279\u8272 \u519c\u7530 \u5efa\u7b51 \uff0c \u5982 \u6728\u5236 \u8c37\u4ed3 \u548c \u519c\u820d \u3001 \u98ce\u8f66 \u3001 \u7cae\u4ed3 \u3001 \u7389\u7c73 \u7389\u7c73\u7530 \u3001 \u5e72 \u8349\u579b \u548c \u4e61\u6751 \u56f4\u680f \u3002 \u8fd9\u4e9b \u5730\u533a \u6709 \u672a \u6807\u8bb0 \u7684 \u4e61\u6751 \u571f\u8def \u548c \u7528\u4e8e \u57ce\u9645 \u4ea4\u901a \u7684 \u5355\u8f66 \u9053 \u57ce\u9645 \u9053\u8def \u3002   \u6c34\u57df \uff1a   \u57ce\u9547   13   \u4e2d\u6709 \u591a\u4e2a \u6c34\u57df \uff0c \u5305\u62ec \u4e00\u4e2a \u5e26\u6709 \u4e2d\u5fc3 \u5c9b \u7684 \u5927\u6e56 \u548c \u519c\u6751 \u5730\u533a \u7684 \u51e0\u4e2a \u6c60\u5858 \u3002   @ keyframes   fadeMe   {   from   {   color :   # 77aaff ;   }   to   {   color :   # 000000 ;   }   }   window . addEventListener ( ' load ' ,   function   ( )   {   var   text _ coord _ x   =   document . getElementById ( \" carlacoord _ x \" )   var   text _ coord _ y   =   document . getElementById ( \" carlacoord _ y \" )   const   code _ coords   =   document . getElementsByClassName ( \" hljs - number \" )   const   code _ comment   =   document . getElementsByClassName ( \" hljs - comment \" )   const   image   =   document . querySelector ( ' [ src $ = \" map \" ] ' ) ;   const   canv   =   document . createElement ( ' canvas ' ) ;   canv . setAttribute ( ' height ' ,   image . height )   canv . setAttribute ( ' width ' ,   image . width )   image . parentNode . replaceChild ( canv ,   image )   var   state   =   { mDown :   false ,   button :   0 ,   lastX :   0 ,   lastY : 0 ,   canvX :   0 ,   canvY :   0 ,   zoom :   1.0 ,   mdownX :   0 ,   mdownY :   0 ,   pX :   0.5 ,   pY :   0.5 ,   dblClick :   false ,   listObj :   false ,   touch :   false }   ctx   =   canv . getContext ( ' 2d ' )   ctx . drawImage ( image ,   0 ,   0 ,   canv . width ,   canv . height )   canv . addEventListener ( ' mousemove ' ,   ( event )   = >   {   dX   =   event . clientX   -   state . lastX   dY   =   event . clientY   -   state . lastY   state . lastX   =   event . clientX   state . lastY   =   event . clientY   if ( state . mDown   &&   state . button   = =   0 )   {   state . canvX   + =   dX   state . canvY   + =   dY   ctx . clearRect ( 0 ,   0 ,   canv . width ,   canv . height )   ctx . drawImage ( image ,   state . canvX ,   state . canvY ,   canv . width   *   state . zoom ,   canv . height   *   state . zoom )   state . touch   =   true ;   }   } )   canv . addEventListener ( ' mousedown ' ,   ( event )   = >   {   state . button   =   event . button ;   state . mDown   =   true ;   state . touch   =   true ;   var   rect   =   canv . getBoundingClientRect ( ) ;   state . mdownX   =   event . clientX   -   rect . left ;   state . mdownY   =   event . clientY   -   rect . top ;   state . pX   =   ( state . mdownX   -   state . canvX )   /   ( canv . width   *   state . zoom ) ;   state . pY   =   ( state . mdownY   -   state . canvY )   /   ( canv . height   *   state . zoom ) ;   } )   canv . addEventListener ( ' mouseup ' ,   ( event )   = >   {   state . mDown   =   false ;   } )   canv . addEventListener ( ' wheel ' ,   ( event )   = >   {   state . mDown   =   false ;   var   rect   =   canv . getBoundingClientRect ( ) ;   dX   =   event . clientX   -   rect . left ;   dY   =   event . clientY   -   rect . top ;   state . pX   =   ( dX   -   state . canvX )   /   ( canv . width   *   state . zoom ) ;   state . pY   =   ( dY   -   state . canvY )   /   ( canv . height   *   state . zoom ) ;   if ( state . touch ) {   event . preventDefault ( ) ;   if ( event . wheelDelta   >   0 ) {   state . zoom   * =   1.15   }   else   {   state . zoom   * =   0.85   }   if ( state . zoom   <   1.0 ) { state . zoom   =   1.0 ; }   if ( state . zoom   >   30.0 ) { state . zoom   =   30.0 }   ctx . clearRect ( 0 ,   0 ,   canv . width ,   canv . height )   state . canvX   =   -   canv . width   *   state . zoom   *   state . pX   +   dX ;   state . canvY   =   -   canv . height   *   state . zoom   *   state . pY   +   dY ;   ctx . drawImage ( image ,   state . canvX ,   state . canvY ,   canv . width   *   state . zoom ,   canv . height   *   state . zoom ) ;   }   } )   canv . addEventListener ( ' dblclick ' ,   ( event )   = >   {   text _ coord _ x   =   document . getElementById ( \" carlacoord _ x \" )   text _ coord _ y   =   document . getElementById ( \" carlacoord _ y \" )   const   carlaX   =   14556.0868   *   state . pX   +   - 7.34734913   *   state . pY   -   6655.00941 ;   const   carlaY   =   2.19186383   *   state . pX   +   12431.3323   *   state . pY   -   4524.46039 ;   code _ coords [ 0 ] . textContent   =   carlaX . toFixed ( 1 )   code _ coords [ 1 ] . textContent   =   carlaY . toFixed ( 1 )   code _ comment [ 0 ] . textContent   =   \" #   CARLA   coordinates   -   X :   \"   +   carlaX . toFixed ( 1 )   +   \"   Y :   \"   +   carlaY . toFixed ( 1 )   var   newX   =   text _ coord _ x . cloneNode ( true )   var   newY   =   text _ coord _ y . cloneNode ( true )   newX . textContent   =   carlaX . toFixed ( 1 )   newY . textContent   =   carlaY . toFixed ( 1 )   var   parentX   =   text _ coord _ x . parentNode   var   parentY   =   text _ coord _ y . parentNode   parentX . replaceChild ( newX ,   text _ coord _ x ) ;   parentY . replaceChild ( newY ,   text _ coord _ y ) ;   / / console . log ( state . pX   +   \" ,   \"   +   state . pY )   } )   } )","title":"\u57ce\u9547   13"},{"location":"map_town13/#13","text":"\u57ce\u9547   13   \u662f \u4e00\u5f20 \u5c3a\u5bf8 \u4e3a   10x10   km   2   \u7684 \u5927 \u5730\u56fe \u3002 \u5b83 \u5206\u4e3a   36   \u4e2a \u56fe\u5757 \uff0c \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u5c3a\u5bf8 \u4e3a   2x2   km   2   \uff08 \u67d0\u4e9b \u8fb9\u7f18 \u56fe\u5757 \u8f83 \u5c0f \uff09 \u3002 \u6709 \u8bb8\u591a \u4e0e \u57ce\u5e02 \u5f62\u6210 \u9c9c\u660e \u5bf9\u6bd4 \u9c9c\u660e\u5bf9\u6bd4 \u7684 \u533a\u57df \uff0c \u5305\u62ec \u57ce\u5e02 \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u5730\u533a \uff0c \u8fd8\u6709 \u73af\u7ed5 \u57ce\u5e02 \u7684 \u5927\u578b \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u7cfb\u7edf \u548c \u73af\u5f62 \u516c\u8def \u3002 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u53cd\u6620 \u4e86 \u5317\u7f8e \u8bb8\u591a \u5927\u4e2d \u4e2d\u57ce \u57ce\u5e02 \u5927\u4e2d\u57ce\u5e02 \u7684 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u3002   \u7b14\u8bb0   \u57ce\u9547   13   \u88ab \u8bbe\u8ba1 \u4e3a \u57ce\u9547   12   \u7684 \u9644\u5c5e \u8bbe\u65bd \uff0c \u8fd9\u6837 \u5b83\u4eec \u5c31 \u53ef\u4ee5 \u4f5c\u4e3a   \u8bad\u7ec3 - \u6d4b\u8bd5 \u5bf9   \u3002 \u8fd9\u4e9b \u57ce\u9547 \u6709 \u8bb8\u591a \u5171\u540c \u7279\u5f81 \uff0c \u4f46 \u5728 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u3001 \u9053\u8def \u7eb9\u7406 \u3001 \u8def\u9762 \u7eb9\u7406 \u548c \u690d\u88ab \u65b9\u9762 \u4e5f \u6709 \u8bb8\u591a \u5dee\u5f02 \u3002 \u4f7f\u7528 \u5176\u4e2d \u4e00\u4e2a \u751f\u6210 \u8bad\u7ec3 \u6570\u636e \uff0c \u7136\u540e \u4f7f\u7528 \u53e6 \u4e00\u4e2a \u8fdb\u884c \u6d4b\u8bd5 \uff0c \u975e\u5e38 \u9002\u5408 \u975e\u5e38\u9002\u5408 \u66b4\u9732 \u5f00\u53d1 \u81ea\u52a8 \u9a7e\u9a76 \u6280\u672f \u6808\u65f6 \u53ef\u80fd \u51fa\u73b0 \u7684 \u8fc7\u5ea6 \u62df\u5408 \u95ee\u9898 \u3002","title":"\u57ce\u9547   13"},{"location":"map_town13/#_1","text":"\u5bfc\u822a \u5668 \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u5730\u56fe \u53ef \u7528\u4e8e \u6d4f\u89c8 \u57ce\u9547 \u5e76 \u5bfc\u51fa \u5750\u6807 \u4ee5 \u5728   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u4f7f\u7528 \u3002   \u4f7f\u7528 \u5bfc\u822a \u5668   :   left   mouse   button   -   \u5355\u51fb \u5e76 \u6309\u4f4f \uff0c \u5411 \u5de6 \u3001 \u5411 \u53f3 \u3001 \u5411\u4e0a \u6216 \u5411\u4e0b \u62d6\u52a8 \u4ee5 \u79fb\u52a8 \u5730\u56fe   scroll   mouse   wheel   -   \u5411\u4e0b \u6eda\u52a8 \u7f29\u5c0f \uff0c \u5411\u4e0a \u6eda\u52a8 \u653e\u5927 \u9f20\u6807 \u6307\u9488 \u4e0b\u65b9 \u7684 \u4f4d\u7f6e   double   click   -   \u53cc\u51fb \u5730\u56fe \u4e0a \u7684 \u67d0\u4e2a \u70b9\u6765 \u8bb0\u5f55 \u5750\u6807 \uff0c \u60a8 \u5c06 \u5728 \u6587\u672c \u548c \u5730\u56fe \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u7684 \u4ee3\u7801 \u5757 \u4e2d \u627e\u5230 \u5750\u6807   \u533a\u57df \u989c\u8272 \u53c2\u8003   :   & nbsp   \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c   & nbsp   \u9ad8\u5bc6 \u5bc6\u5ea6 \u9ad8\u5bc6\u5ea6 \u4f4f\u5b85   & nbsp   \u793e\u533a \u5efa\u7b51   & nbsp   \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u4f4f\u5b85   & nbsp   \u516c\u56ed   & nbsp   \u519c\u6751 \u571f\u5730 \u519c\u6751\u571f\u5730   & nbsp   \u6c34\u57df   Carla   \u5750\u6807   :   X   :   --   Y   :   --   \u53cc\u51fb \u5174\u8da3 \u70b9\u540e \uff0c \u5bfc\u822a \u5668 \u5c06 \u663e\u793a \u76f8\u5e94 \u7684   Carla   \u5750\u6807 \u5e76 \u5728 \u4ee5\u4e0b \u4ee3\u7801 \u5757 \u4e2d \u66f4\u65b0 \u5b83\u4eec \u3002 \u5c06 \u4ee3\u7801 \u590d\u5236 \u5e76 \u7c98\u8d34 \u5230 \u7b14\u8bb0 \u7b14\u8bb0\u672c \u6216   Python   \u7ec8\u7aef \u4e2d \uff0c \u5c06 \u89c2\u4f17 \u79fb\u52a8 \u5230 \u6240 \u9700 \u7684 \u4f4d\u7f6e \u3002 \u60a8 \u9996\u5148 \u9700\u8981   \u8fde\u63a5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e76 \u8bbe\u7f6e \u4e16\u754c \u5bf9\u8c61   \uff1a   #   Carla   \u5750\u6807 :   X   0.0 ,   Y   0.0   spectator   =   world . get _ spectator ( )   loc   =   carla . Location ( 0.0 ,   0.0 ,   300.0 )   rot   =   carla . Rotation ( pitch = - 90 ,   yaw = 0.0 ,   roll = 0.0 )   spectator . set _ transform ( carla . Transform ( loc ,   rot ) )","title":"\u5bfc\u822a \u5668"},{"location":"map_town13/#13_1","text":"","title":"\u57ce\u9547   13   \u533a"},{"location":"map_town13/#_2","text":"\u57ce\u9547   13   \u7684 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u533a\u57df \u662f \u4e00 \u5927\u7247 \u9ad8\u5c42 \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c \uff0c \u5728 \u4e00\u81f4 \u7684 \u9053\u8def \u7f51\u683c \u4e0a \u6392\u5217 \u5217\u6210 \u6392\u5217\u6210 \u8857\u533a \uff0c \u7c7b\u4f3c \u4e8e \u8bb8\u591a \u7f8e\u56fd \u548c \u6b27\u6d32 \u5927\u57ce \u57ce\u5e02 \u5927\u57ce\u5e02 \u7684 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u533a\u57df \u3002","title":"\u5e02\u4e2d\u5fc3 \u9ad8\u5c42\u5efa\u7b51 \uff1a"},{"location":"map_town13/#_3","text":"\u793e\u533a \u5efa\u7b51 \u662f \u4e00\u7ec4   2 - 4   \u5c42 \u7684 \u516c\u5bd3 \u516c\u5bd3\u697c \uff0c \u8272\u5f69 \u7f24\u7eb7 \u8272\u5f69\u7f24\u7eb7 \u7684 \u6ce2 \u7c73\u4e9a \u897f\u7c73\u4e9a \u98ce\u683c \uff0c \u5e95\u5c42 \u4e3a \u5546\u4e1a \uff0c \u6bd7\u90bb \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u4e2d\u5fc3\u533a \u5e02\u4e2d\u5fc3\u533a \u3002","title":"\u793e\u533a \u5efa\u7b51 \uff1a"},{"location":"map_town13/#_4","text":"\u57ce\u9547   13   \u7684 \u9ad8\u5bc6 \u5bc6\u5ea6 \u9ad8\u5bc6\u5ea6 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u62e5\u6709 \u8bb8\u591a   2   \u81f3   10   \u5c42 \u7684 \u516c\u5bd3 \u516c\u5bd3\u697c \uff0c \u8857\u9053 \u4e0a \u8fd8 \u8bbe\u6709 \u5496\u5561 \u5496\u5561\u9986 \u548c \u96f6\u552e \u96f6\u552e\u5e97 \u7b49 \u5546\u4e1a \u5730\u4ea7 \u5546\u4e1a\u5730\u4ea7 \u3002 \u8bb8\u591a \u4f4f\u5b85 \u4f4f\u5b85\u533a \u90fd \u8bbe\u6709 \u5e26\u6709 \u906e\u9633 \u5e18 \u7684 \u9633\u53f0 \uff0c \u7c7b\u4f3c \u4e8e \u9633\u5149 \u5149\u660e \u660e\u5a9a \u9633\u5149\u660e\u5a9a \u7684 \u5357\u6b27 \u56fd\u5bb6 \u5357\u6b27\u56fd\u5bb6 \u3002","title":"\u9ad8\u5bc6\u5ea6 \u4f4f\u5b85 \uff1a"},{"location":"map_town13/#_5","text":"\u57ce\u9547   13   \u7684 \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u53cd\u6620 \u4e86 \u8bb8\u591a \u6b27\u6d32 \u57ce\u5e02 \u7684 \u90ca\u533a \uff0c \u4e00\u5c42 \u548c \u4e24\u5c42 \u7684 \u4f4f\u5b85 \u88ab \u56f4\u680f \u82b1\u56ed \u548c \u8f66\u5e93 \u5305\u56f4 \u3002","title":"\u4f4e\u5bc6\u5ea6 \u4f4f\u5b85 \uff1a"},{"location":"map_town13/#_6","text":"\u5bc6\u96c6 \u7684 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u88ab \u7eff\u8272 \u516c\u5171 \u7a7a\u95f4 \u7684 \u5c0f\u5c9b \u6240 \u5206\u5272 \uff0c \u7eff\u53f6 \u4e0e \u57ce\u5e02 \u5efa\u7b51 \u5e76 \u7f6e \u3002","title":"\u516c\u56ed \uff1a"},{"location":"map_town13/#_7","text":"\u57ce\u9547   13   \u62e5\u6709 \u5e7f\u6cdb \u7684 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u7cfb\u7edf \uff0c \u5305\u62ec   3 - 4   \u8f66\u9053 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3001 \u5927\u578b \u73af\u5c9b \u548c \u6a2a\u8de8 \u5927\u7247 \u6c34\u57df \u7684 \u5824 \u9053 \u3002","title":"\u9ad8\u901f\u516c\u8def \u548c \u4ea4\u53c9\u8def\u53e3 \uff1a"},{"location":"map_town13/#_8","text":"\u57ce\u9547   13   \u8fd8\u6709 \u4e00\u4e9b \u519c\u6751 \u5730\u533a \uff0c \u6709 \u7279\u8272 \u519c\u7530 \u5efa\u7b51 \uff0c \u5982 \u6728\u5236 \u8c37\u4ed3 \u548c \u519c\u820d \u3001 \u98ce\u8f66 \u3001 \u7cae\u4ed3 \u3001 \u7389\u7c73 \u7389\u7c73\u7530 \u3001 \u5e72 \u8349\u579b \u548c \u4e61\u6751 \u56f4\u680f \u3002 \u8fd9\u4e9b \u5730\u533a \u6709 \u672a \u6807\u8bb0 \u7684 \u4e61\u6751 \u571f\u8def \u548c \u7528\u4e8e \u57ce\u9645 \u4ea4\u901a \u7684 \u5355\u8f66 \u9053 \u57ce\u9645 \u9053\u8def \u3002","title":"\u519c\u6751 \u548c \u519c\u7530 \uff1a"},{"location":"map_town13/#_9","text":"\u57ce\u9547   13   \u4e2d\u6709 \u591a\u4e2a \u6c34\u57df \uff0c \u5305\u62ec \u4e00\u4e2a \u5e26\u6709 \u4e2d\u5fc3 \u5c9b \u7684 \u5927\u6e56 \u548c \u519c\u6751 \u5730\u533a \u7684 \u51e0\u4e2a \u6c60\u5858 \u3002   @ keyframes   fadeMe   {   from   {   color :   # 77aaff ;   }   to   {   color :   # 000000 ;   }   }   window . addEventListener ( ' load ' ,   function   ( )   {   var   text _ coord _ x   =   document . getElementById ( \" carlacoord _ x \" )   var   text _ coord _ y   =   document . getElementById ( \" carlacoord _ y \" )   const   code _ coords   =   document . getElementsByClassName ( \" hljs - number \" )   const   code _ comment   =   document . getElementsByClassName ( \" hljs - comment \" )   const   image   =   document . querySelector ( ' [ src $ = \" map \" ] ' ) ;   const   canv   =   document . createElement ( ' canvas ' ) ;   canv . setAttribute ( ' height ' ,   image . height )   canv . setAttribute ( ' width ' ,   image . width )   image . parentNode . replaceChild ( canv ,   image )   var   state   =   { mDown :   false ,   button :   0 ,   lastX :   0 ,   lastY : 0 ,   canvX :   0 ,   canvY :   0 ,   zoom :   1.0 ,   mdownX :   0 ,   mdownY :   0 ,   pX :   0.5 ,   pY :   0.5 ,   dblClick :   false ,   listObj :   false ,   touch :   false }   ctx   =   canv . getContext ( ' 2d ' )   ctx . drawImage ( image ,   0 ,   0 ,   canv . width ,   canv . height )   canv . addEventListener ( ' mousemove ' ,   ( event )   = >   {   dX   =   event . clientX   -   state . lastX   dY   =   event . clientY   -   state . lastY   state . lastX   =   event . clientX   state . lastY   =   event . clientY   if ( state . mDown   &&   state . button   = =   0 )   {   state . canvX   + =   dX   state . canvY   + =   dY   ctx . clearRect ( 0 ,   0 ,   canv . width ,   canv . height )   ctx . drawImage ( image ,   state . canvX ,   state . canvY ,   canv . width   *   state . zoom ,   canv . height   *   state . zoom )   state . touch   =   true ;   }   } )   canv . addEventListener ( ' mousedown ' ,   ( event )   = >   {   state . button   =   event . button ;   state . mDown   =   true ;   state . touch   =   true ;   var   rect   =   canv . getBoundingClientRect ( ) ;   state . mdownX   =   event . clientX   -   rect . left ;   state . mdownY   =   event . clientY   -   rect . top ;   state . pX   =   ( state . mdownX   -   state . canvX )   /   ( canv . width   *   state . zoom ) ;   state . pY   =   ( state . mdownY   -   state . canvY )   /   ( canv . height   *   state . zoom ) ;   } )   canv . addEventListener ( ' mouseup ' ,   ( event )   = >   {   state . mDown   =   false ;   } )   canv . addEventListener ( ' wheel ' ,   ( event )   = >   {   state . mDown   =   false ;   var   rect   =   canv . getBoundingClientRect ( ) ;   dX   =   event . clientX   -   rect . left ;   dY   =   event . clientY   -   rect . top ;   state . pX   =   ( dX   -   state . canvX )   /   ( canv . width   *   state . zoom ) ;   state . pY   =   ( dY   -   state . canvY )   /   ( canv . height   *   state . zoom ) ;   if ( state . touch ) {   event . preventDefault ( ) ;   if ( event . wheelDelta   >   0 ) {   state . zoom   * =   1.15   }   else   {   state . zoom   * =   0.85   }   if ( state . zoom   <   1.0 ) { state . zoom   =   1.0 ; }   if ( state . zoom   >   30.0 ) { state . zoom   =   30.0 }   ctx . clearRect ( 0 ,   0 ,   canv . width ,   canv . height )   state . canvX   =   -   canv . width   *   state . zoom   *   state . pX   +   dX ;   state . canvY   =   -   canv . height   *   state . zoom   *   state . pY   +   dY ;   ctx . drawImage ( image ,   state . canvX ,   state . canvY ,   canv . width   *   state . zoom ,   canv . height   *   state . zoom ) ;   }   } )   canv . addEventListener ( ' dblclick ' ,   ( event )   = >   {   text _ coord _ x   =   document . getElementById ( \" carlacoord _ x \" )   text _ coord _ y   =   document . getElementById ( \" carlacoord _ y \" )   const   carlaX   =   14556.0868   *   state . pX   +   - 7.34734913   *   state . pY   -   6655.00941 ;   const   carlaY   =   2.19186383   *   state . pX   +   12431.3323   *   state . pY   -   4524.46039 ;   code _ coords [ 0 ] . textContent   =   carlaX . toFixed ( 1 )   code _ coords [ 1 ] . textContent   =   carlaY . toFixed ( 1 )   code _ comment [ 0 ] . textContent   =   \" #   CARLA   coordinates   -   X :   \"   +   carlaX . toFixed ( 1 )   +   \"   Y :   \"   +   carlaY . toFixed ( 1 )   var   newX   =   text _ coord _ x . cloneNode ( true )   var   newY   =   text _ coord _ y . cloneNode ( true )   newX . textContent   =   carlaX . toFixed ( 1 )   newY . textContent   =   carlaY . toFixed ( 1 )   var   parentX   =   text _ coord _ x . parentNode   var   parentY   =   text _ coord _ y . parentNode   parentX . replaceChild ( newX ,   text _ coord _ x ) ;   parentY . replaceChild ( newY ,   text _ coord _ y ) ;   / / console . log ( state . pX   +   \" ,   \"   +   state . pY )   } )   } )","title":"\u6c34\u57df \uff1a"},{"location":"map_town15/","text":"\u57ce\u9547   15   \u57ce\u9547   15   \u662f \u6839\u636e \u5df4\u585e \u585e\u7f57 \u7f57\u90a3 \u5df4\u585e\u7f57\u90a3 \u81ea\u6cbb \u5927\u5b66 \u7684 \u9053\u8def \u5e03\u5c40 \u7ed8\u5236 \u7684 \u5730\u56fe \u3002 \u5730\u56fe \u4e2d \u4eff\u771f \u4e86 \u73b0\u4ee3 \u6821\u56ed \u7684 \u4e00\u4e9b \u6807\u5fd7 \u6807\u5fd7\u6027 \u5efa\u7b51 \uff0c \u5305\u62ec \u4eba\u6587 \u56fe\u4e66 \u4e66\u9986 \u56fe\u4e66\u9986 \u3001 \u533b\u5b66 \u5927\u697c \u4ee5\u53ca   Carla   \u7684 \u8bde\u751f \u751f\u5730 \u8bde\u751f\u5730 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u4e2d\u5fc3 \u3002   \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u4e2d\u5fc3   \u8be5 \u5730\u56fe \u5305\u62ec \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u4e2d\u5fc3 \uff0c \u8be5 \u4e2d\u5fc3 \u662f \u4e16\u754c \u77e5\u540d \u7684 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u7814\u7a76 \u4e2d\u5fc3 \uff0c \u4e5f \u662f   Carla   \u5f00\u53d1 \u56e2\u961f \u7684 \u6240\u5728 \u6240\u5728\u5730 \u3002   \u4eba\u6587 \u56fe\u4e66 \u4e66\u9986 \u56fe\u4e66\u9986   \u8fd9\u5ea7 \u5efa\u7b51 \u5728 \u6cf0\u7f57 \u5c3c\u4e9a \u4e9a\u8bed \u52a0\u6cf0\u7f57 \u7f57\u5c3c\u4e9a \u5c3c\u4e9a\u8bed \u52a0\u6cf0\u7f57\u5c3c\u4e9a\u8bed \u4e2d \u88ab \u79f0\u4e3a   Biblioteca   d ' Humanitats \uff0c \u4e3a \u5728 \u5df4\u585e \u585e\u7f57 \u7f57\u90a3 \u5df4\u585e\u7f57\u90a3 \u81ea\u6cbb \u5927\u5b66 \u5b66\u4e60 \u548c \u5de5\u4f5c \u7684 \u5b66\u751f \u548c \u7814\u7a76 \u4eba\u5458 \u63d0\u4f9b \u4e86 \u6db5\u76d6 \u591a\u4e2a \u5b66\u79d1 \u7684 \u6587\u732e \u3002","title":"\u57ce\u9547   15"},{"location":"map_town15/#15","text":"\u57ce\u9547   15   \u662f \u6839\u636e \u5df4\u585e \u585e\u7f57 \u7f57\u90a3 \u5df4\u585e\u7f57\u90a3 \u81ea\u6cbb \u5927\u5b66 \u7684 \u9053\u8def \u5e03\u5c40 \u7ed8\u5236 \u7684 \u5730\u56fe \u3002 \u5730\u56fe \u4e2d \u4eff\u771f \u4e86 \u73b0\u4ee3 \u6821\u56ed \u7684 \u4e00\u4e9b \u6807\u5fd7 \u6807\u5fd7\u6027 \u5efa\u7b51 \uff0c \u5305\u62ec \u4eba\u6587 \u56fe\u4e66 \u4e66\u9986 \u56fe\u4e66\u9986 \u3001 \u533b\u5b66 \u5927\u697c \u4ee5\u53ca   Carla   \u7684 \u8bde\u751f \u751f\u5730 \u8bde\u751f\u5730 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u4e2d\u5fc3 \u3002","title":"\u57ce\u9547   15"},{"location":"map_town15/#_1","text":"\u8be5 \u5730\u56fe \u5305\u62ec \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u4e2d\u5fc3 \uff0c \u8be5 \u4e2d\u5fc3 \u662f \u4e16\u754c \u77e5\u540d \u7684 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u7814\u7a76 \u4e2d\u5fc3 \uff0c \u4e5f \u662f   Carla   \u5f00\u53d1 \u56e2\u961f \u7684 \u6240\u5728 \u6240\u5728\u5730 \u3002","title":"\u8ba1\u7b97\u673a \u89c6\u89c9 \u4e2d\u5fc3"},{"location":"map_town15/#_2","text":"\u8fd9\u5ea7 \u5efa\u7b51 \u5728 \u6cf0\u7f57 \u5c3c\u4e9a \u4e9a\u8bed \u52a0\u6cf0\u7f57 \u7f57\u5c3c\u4e9a \u5c3c\u4e9a\u8bed \u52a0\u6cf0\u7f57\u5c3c\u4e9a\u8bed \u4e2d \u88ab \u79f0\u4e3a   Biblioteca   d ' Humanitats \uff0c \u4e3a \u5728 \u5df4\u585e \u585e\u7f57 \u7f57\u90a3 \u5df4\u585e\u7f57\u90a3 \u81ea\u6cbb \u5927\u5b66 \u5b66\u4e60 \u548c \u5de5\u4f5c \u7684 \u5b66\u751f \u548c \u7814\u7a76 \u4eba\u5458 \u63d0\u4f9b \u4e86 \u6db5\u76d6 \u591a\u4e2a \u5b66\u79d1 \u7684 \u6587\u732e \u3002","title":"\u4eba\u6587 \u56fe\u4e66\u9986"},{"location":"maps_tutorials/","text":"\u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   \u5728   Carla   \u4e2d \uff0c \u5730\u56fe \u5305\u62ec \u57ce\u9547 \u7684 \u4e09\u7ef4 \u6a21\u578b \u53ca\u5176 \u9053\u8def \u7f51\u7edc \u7684 \u5b9a\u4e49 \u3002 \u9053\u8def \u7f51\u7edc \u662f \u901a\u8fc7   OpenDRIVE   \u6807\u51c6 \u5b9a\u4e49 \u7684 \u3002 Carla   \u63d0\u4f9b \u4e86 \u591a\u79cd \u5f00\u7bb1 \u5373\u7528 \u7684 \u5730\u56fe \uff0c \u53ef \u7528\u4e8e \u591a\u79cd \u5e94\u7528 \u3002 \u7528\u6237 \u8fd8 \u53ef\u4ee5 \u521b\u5efa \u81ea\u5df1 \u7684 \u5730\u56fe \u5e76 \u5c06 \u5176 \u52a0\u8f7d \u5230   Carla   \u4e2d \u3002 \u4ee5\u4e0b \u6559\u7a0b \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u5e76 \u5c06 \u5176 \u52a0\u8f7d \u5230   Carla   \u4e2d \u7684 \u5fc5\u8981 \u6b65\u9aa4 \u3002   \u6982\u8ff0   \u9053\u8def \u6d82\u88c5   \u5b9a\u5236 \u5efa\u7b51   \u751f\u6210 \u5730\u56fe   \u6dfb\u52a0 \u5730\u56fe \u5730\u56fe\u5305   \u6dfb\u52a0 \u5730\u56fe \u6e90   \u66ff\u4ee3 \u65b9\u6cd5","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe"},{"location":"maps_tutorials/#_1","text":"\u5728   Carla   \u4e2d \uff0c \u5730\u56fe \u5305\u62ec \u57ce\u9547 \u7684 \u4e09\u7ef4 \u6a21\u578b \u53ca\u5176 \u9053\u8def \u7f51\u7edc \u7684 \u5b9a\u4e49 \u3002 \u9053\u8def \u7f51\u7edc \u662f \u901a\u8fc7   OpenDRIVE   \u6807\u51c6 \u5b9a\u4e49 \u7684 \u3002 Carla   \u63d0\u4f9b \u4e86 \u591a\u79cd \u5f00\u7bb1 \u5373\u7528 \u7684 \u5730\u56fe \uff0c \u53ef \u7528\u4e8e \u591a\u79cd \u5e94\u7528 \u3002 \u7528\u6237 \u8fd8 \u53ef\u4ee5 \u521b\u5efa \u81ea\u5df1 \u7684 \u5730\u56fe \u5e76 \u5c06 \u5176 \u52a0\u8f7d \u5230   Carla   \u4e2d \u3002 \u4ee5\u4e0b \u6559\u7a0b \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u5e76 \u5c06 \u5176 \u52a0\u8f7d \u5230   Carla   \u4e2d \u7684 \u5fc5\u8981 \u6b65\u9aa4 \u3002   \u6982\u8ff0   \u9053\u8def \u6d82\u88c5   \u5b9a\u5236 \u5efa\u7b51   \u751f\u6210 \u5730\u56fe   \u6dfb\u52a0 \u5730\u56fe \u5730\u56fe\u5305   \u6dfb\u52a0 \u5730\u56fe \u6e90   \u66ff\u4ee3 \u65b9\u6cd5","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe"},{"location":"measurements/","text":"\u6d4b\u91cf   \u91cd\u8981   \u81ea   0.8 . 0   \u7248\u8d77 \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u63a5\u6536 \u7684 \u6d4b\u91cf \u503c \u91c7\u7528 \u56fd\u9645 \u5355\u4f4d \u5355\u4f4d\u5236 \u3002 \u6240\u6709 \u4f4d\u7f6e \u5747 \u5df2 \u8f6c\u6362 \u4e3a   \u7c73   \uff0c \u901f\u5ea6 \u4e5f \u5df2 \u8f6c\u6362 \u4e3a   \u7c73 / \u79d2   \u3002   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6bcf\u5e27 \u90fd \u4f1a \u5411 \u5ba2\u6237 \u5ba2\u6237\u7aef \u53d1\u9001 \u4e00\u4e2a \u5305\u542b \u6d4b\u91cf \u503c \u548c \u6536\u96c6 \u5230 \u7684 \u56fe\u50cf \u6570\u636e \u6570\u636e\u5305 \u3002 \u672c \u6587\u6863 \u63cf\u8ff0 \u4e86 \u8fd9\u4e9b \u6d4b\u91cf \u503c \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u65f6\u95f4 \u6233   \u6bcf\u4e2a \u5e27 \u7531 \u4e09\u4e2a \u4e0d\u540c \u7684 \u8ba1\u6570 \u8ba1\u6570\u5668 / \u65f6\u95f4 \u6233 \u63cf\u8ff0   \u952e   \u7c7b\u578b   \u5355\u4f4d   \u63cf\u8ff0   frame _ number   uint64   \u5e27 \u8ba1\u6570 \u8ba1\u6570\u5668 \uff08 \u4e0d\u4f1a \u5728 \u6bcf\u96c6 \u7ed3\u675f \u540e \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \uff09 \u3002   platform _ timestamp   uint32   \u6beb\u79d2   \u5f53\u524d \u5e27 \u7684 \u65f6\u95f4 \u6233 \uff0c \u7531 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u7ed9\u51fa \u3002   game _ timestamp   uint32   \u6beb\u79d2   \u6e38\u620f \u4e2d \u7684 \u65f6\u95f4 \u6233 \uff0c \u81ea \u5f53\u524d \u5267\u96c6 \u5f00\u59cb \u4ee5\u6765 \u7ecf\u8fc7 \u7684 \u65f6\u95f4 \u3002   \u5728 \u5b9e\u65f6 \u6a21\u5f0f \u4e0b \uff0c \u4e24\u4e2a \u65f6\u95f4 \u6b65\u957f \u4e4b\u95f4 \u7684 \u7ecf\u8fc7 \u65f6\u95f4 \u5e94 \u4e0e \u5e73\u53f0 \u548c \u6e38\u620f \u65f6\u95f4 \u6233 \u76f8\u4f3c \u3002 \u5728 \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f \u4e2d \u8fd0\u884c \u65f6 \uff0c \u6e38\u620f \u65f6\u95f4 \u6233 \u4ee5 \u6052\u5b9a \u65f6\u95f4 \u6b65\u957f \u9012\u589e \uff08 delta = 1 / FPS \uff09 \uff0c \u800c \u5e73\u53f0 \u65f6\u95f4 \u6233 \u4fdd\u6301 \u5b9e\u9645 \u7ecf\u8fc7 \u7684 \u65f6\u95f4 \u3002   \u73a9\u5bb6 \u6d4b\u91cf   \u952e   \u7c7b\u578b   \u5355\u4f4d   \u63cf\u8ff0   transform   Transform   \u73a9\u5bb6 \u7684 \u4e16\u754c \u53d8\u6362 \uff08 \u5305\u542b \u4f4d\u7f6e \u548c \u65cb\u8f6c \uff09 \u3002   acceleration   Vector3D   m / s ^ 2   \u73a9\u5bb6 \u5f53\u524d \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   forward _ speed   float   m / s   \u73a9\u5bb6 \u7684 \u524d\u8fdb \u901f\u5ea6 \u3002   collision _ vehicles   float   kg * m / s   \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u7684 \u78b0\u649e \u5f3a\u5ea6 \u3002   collision _ pedestrians   float   kg * m / s   \u4e0e \u884c\u4eba \u7684 \u78b0\u649e \u5f3a\u5ea6 \u3002   collision _ other   float   kg * m / s   \u4e00\u822c \u78b0\u649e \u5f3a\u5ea6 \uff08 \u9664 \u884c\u4eba \u548c \u8f66\u8f86 \u4ee5\u5916 \u7684 \u4e00\u5207 \uff09 \u3002   intersection _ otherlane   float   \u8f66\u8f86 \u4fb5\u5165 \u5176\u4ed6 \u8f66\u9053 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   intersection _ offroad   float   \u6c7d\u8f66 \u8d8a\u91ce \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   autopilot _ control   float   \u8f66\u8f86 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u63a7\u5236 \u5c06 \u5e94\u7528 \u6b64 \u6846\u67b6 \u3002   \u8f6c\u6362   \u53d8\u6362 \u5305\u542b \u73a9\u5bb6 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   \u952e   \u7c7b\u578b   \u5355\u4f4d   \u63cf\u8ff0   location   Vector3D   \u7c73   \u4e16\u754c \u4f4d\u7f6e \u3002   orientation   [ \u5df2\u5f03 \u7528 ]   Vector3D   \u4ee5 \u5361\u5c14 \u7b1b\u5361\u5c14 \u5750\u6807 \u8868\u793a \u7684 \u65b9\u5411 \u3002   rotation   Vector3D   \u5ea6   \u4fef\u4ef0 \u3001 \u6eda\u8f6c \u548c \u504f\u822a \u3002   \u78b0\u649e   \u78b0\u649e \u53d8\u91cf \u4fdd\u5b58 \u4e86 \u6b64 \u4e8b\u4ef6 \u4e2d \u53d1\u751f \u7684 \u6240\u6709 \u78b0\u649e \u7684 \u7d2f\u79ef \u3002 \u6bcf\u6b21 \u78b0\u649e \u90fd \u4f1a \u6309 \u6bd4\u4f8b \u5f71\u54cd \u78b0\u649e \u5f3a\u5ea6 \uff08 \u4e24\u4e2a \u78b0\u649e \u7269\u4f53 \u4e4b\u95f4 \u7684 \u6cd5\u5411 \u51b2\u91cf \u7684 \u8303\u6570 \uff09 \u3002   \u4fdd\u7559 \u4e09\u79cd \u4e0d\u540c \u7684 \u8ba1\u6570 \uff08 \u884c\u4eba \u3001 \u8f66\u8f86 \u548c \u5176\u4ed6 \uff09 \u3002 \u78b0\u649e \u7269\u4f53 \u6839\u636e \u5176 \u6807\u7b7e \u8fdb\u884c \u5206\u7c7b \uff08 \u4e0e \u8bed\u4e49 \u5206\u5272 \u76f8\u540c \uff09 \u3002   \u6f0f\u6d1e   \u53c2\u89c1   # 13   \u5f53 \u8f66\u8f86 \u901f\u5ea6 \u8f83 \u4f4e\u65f6 \uff0c \u4e0d\u4f1a \u6807\u6ce8 \u78b0\u649e   \u5982\u679c \u8f66\u8f86 \u6ca1\u6709 \u79fb\u52a8 \uff08 < 1   \u516c\u91cc / \u5c0f\u65f6 \uff09 \uff0c \u5219 \u4e0d\u4f1a \u6ce8\u91ca \u78b0\u649e \uff0c \u4ee5 \u907f\u514d \u7531\u4e8e \u975e \u73a9\u5bb6 \u4ee3\u7406 \u7684   AI   \u9519\u8bef \u800c \u6ce8\u91ca \u4e0d\u5fc5 \u5fc5\u8981 \u4e0d\u5fc5\u8981 \u7684 \u78b0\u649e \u3002   \u8f66\u9053 / \u8d8a\u91ce \u8def\u53e3   \u8f66\u9053 \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u6d4b\u91cf \u8f66\u8f86 \u4fb5\u5165 \u5bf9\u9762 \u8f66\u9053 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002 \u8d8a\u91ce \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u6d4b\u91cf \u8f66\u8f86 \u5728 \u9053\u8def \u5916 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   \u8fd9\u4e9b \u503c \u662f \u901a\u8fc7 \u8f66\u8f86 \u8fb9\u754c \u6846 \uff08 \u4f5c\u4e3a   2D   \u77e9\u5f62 \uff09 \u4e0e \u57ce\u5e02 \u5e02\u5730 \u5730\u56fe \u57ce\u5e02\u5730\u56fe \u56fe\u50cf \u76f8\u4ea4 \u8ba1\u7b97 \u5f97\u51fa \u7684 \u3002 \u8fd9\u4e9b \u56fe\u50cf \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u751f\u6210 \u5e76 \u5e8f\u5217 \u5e8f\u5217\u5316 \u4ee5\u4f9b \u8fd0\u884c \u65f6 \u4f7f\u7528 \u3002 \u60a8 \u4e5f \u53ef\u4ee5 \u5728 \u53d1\u5e03 \u5305\u4e2d \u7684 \u201c RoadMaps \u201d \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u627e\u5230 \u5b83\u4eec \u3002   \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u63a7\u5236   \u6d4b\u91cf   autopilot _ control   \u7ed3\u679c \u5305\u542b \u6e38\u620f \u5185 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u5728 \u63a7\u5236 \u8f66\u8f86 \u65f6\u6240 \u5e94\u7528 \u7684 \u63a7\u5236 \u503c \u3002   \u8fd9 \u4e0e \u5c06 \u8f66\u8f86 \u63a7\u5236 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u7ed3\u6784 \u76f8\u540c \u3002   \u952e   \u7c7b\u578b   \u63cf\u8ff0   steer   float   \u8f6c\u5411 \u89d2\u5ea6 \u5728   [ - 1.0 ,   1.0 ]   \u4e4b\u95f4   ( * )   throttle   float   \u6cb9\u95e8 \u8f93\u5165 \u4ecb\u4e8e   [   0.0 ,   1.0 ]   \u4e4b\u95f4   brake   float   \u5239\u8f66 \u8f93\u5165 \u4ecb\u4e8e   [   0.0 ,   1.0 ]   \u4e4b\u95f4   hand _ brake   bool   \u624b\u5239 \u662f\u5426 \u62c9\u7d27   reverse   bool   \u8f66\u8f86 \u662f\u5426 \u5904\u4e8e \u5012 \u6863   \u8981 \u4ece \u5ba2\u6237 \u5ba2\u6237\u7aef \u6fc0\u6d3b \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \uff0c \u8bf7 \u5c06   autopilot _ control   \u53d1\u9001 \u56de \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u8bf7 \u6ce8\u610f \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u5c06 \u5176 \u53d1\u9001 \u56de \u4e4b\u524d \u5bf9 \u5176 \u8fdb\u884c \u4fee\u6539 \u3002   measurements ,   sensor _ data   =   carla _ client . read _ data ( )   control   =   measurements . player _ measurements . autopilot _ control   #   modify   here   control   if   wanted .   carla _ client . send _ control ( control )   ( * )   \u5b9e\u9645 \u8f6c\u5411 \u89d2\u5ea6 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u6240\u7528 \u8f66\u8f86 \u3002 \u9ed8\u8ba4   Mustang   \u7684 \u6700\u5927 \u8f6c\u5411 \u89d2\u5ea6 \u4e3a   70   \u5ea6 \uff08 \u53ef \u5728 \u8f66\u8f86 \u524d\u8f6e \u84dd\u56fe \u4e2d \u67e5\u770b \uff09 \u3002","title":"\u6d4b\u91cf"},{"location":"measurements/#_1","text":"\u91cd\u8981   \u81ea   0.8 . 0   \u7248\u8d77 \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u63a5\u6536 \u7684 \u6d4b\u91cf \u503c \u91c7\u7528 \u56fd\u9645 \u5355\u4f4d \u5355\u4f4d\u5236 \u3002 \u6240\u6709 \u4f4d\u7f6e \u5747 \u5df2 \u8f6c\u6362 \u4e3a   \u7c73   \uff0c \u901f\u5ea6 \u4e5f \u5df2 \u8f6c\u6362 \u4e3a   \u7c73 / \u79d2   \u3002   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6bcf\u5e27 \u90fd \u4f1a \u5411 \u5ba2\u6237 \u5ba2\u6237\u7aef \u53d1\u9001 \u4e00\u4e2a \u5305\u542b \u6d4b\u91cf \u503c \u548c \u6536\u96c6 \u5230 \u7684 \u56fe\u50cf \u6570\u636e \u6570\u636e\u5305 \u3002 \u672c \u6587\u6863 \u63cf\u8ff0 \u4e86 \u8fd9\u4e9b \u6d4b\u91cf \u503c \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002","title":"\u6d4b\u91cf"},{"location":"measurements/#_2","text":"\u6bcf\u4e2a \u5e27 \u7531 \u4e09\u4e2a \u4e0d\u540c \u7684 \u8ba1\u6570 \u8ba1\u6570\u5668 / \u65f6\u95f4 \u6233 \u63cf\u8ff0   \u952e   \u7c7b\u578b   \u5355\u4f4d   \u63cf\u8ff0   frame _ number   uint64   \u5e27 \u8ba1\u6570 \u8ba1\u6570\u5668 \uff08 \u4e0d\u4f1a \u5728 \u6bcf\u96c6 \u7ed3\u675f \u540e \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \uff09 \u3002   platform _ timestamp   uint32   \u6beb\u79d2   \u5f53\u524d \u5e27 \u7684 \u65f6\u95f4 \u6233 \uff0c \u7531 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u7ed9\u51fa \u3002   game _ timestamp   uint32   \u6beb\u79d2   \u6e38\u620f \u4e2d \u7684 \u65f6\u95f4 \u6233 \uff0c \u81ea \u5f53\u524d \u5267\u96c6 \u5f00\u59cb \u4ee5\u6765 \u7ecf\u8fc7 \u7684 \u65f6\u95f4 \u3002   \u5728 \u5b9e\u65f6 \u6a21\u5f0f \u4e0b \uff0c \u4e24\u4e2a \u65f6\u95f4 \u6b65\u957f \u4e4b\u95f4 \u7684 \u7ecf\u8fc7 \u65f6\u95f4 \u5e94 \u4e0e \u5e73\u53f0 \u548c \u6e38\u620f \u65f6\u95f4 \u6233 \u76f8\u4f3c \u3002 \u5728 \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f \u4e2d \u8fd0\u884c \u65f6 \uff0c \u6e38\u620f \u65f6\u95f4 \u6233 \u4ee5 \u6052\u5b9a \u65f6\u95f4 \u6b65\u957f \u9012\u589e \uff08 delta = 1 / FPS \uff09 \uff0c \u800c \u5e73\u53f0 \u65f6\u95f4 \u6233 \u4fdd\u6301 \u5b9e\u9645 \u7ecf\u8fc7 \u7684 \u65f6\u95f4 \u3002","title":"\u65f6\u95f4 \u6233"},{"location":"measurements/#_3","text":"\u952e   \u7c7b\u578b   \u5355\u4f4d   \u63cf\u8ff0   transform   Transform   \u73a9\u5bb6 \u7684 \u4e16\u754c \u53d8\u6362 \uff08 \u5305\u542b \u4f4d\u7f6e \u548c \u65cb\u8f6c \uff09 \u3002   acceleration   Vector3D   m / s ^ 2   \u73a9\u5bb6 \u5f53\u524d \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   forward _ speed   float   m / s   \u73a9\u5bb6 \u7684 \u524d\u8fdb \u901f\u5ea6 \u3002   collision _ vehicles   float   kg * m / s   \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u7684 \u78b0\u649e \u5f3a\u5ea6 \u3002   collision _ pedestrians   float   kg * m / s   \u4e0e \u884c\u4eba \u7684 \u78b0\u649e \u5f3a\u5ea6 \u3002   collision _ other   float   kg * m / s   \u4e00\u822c \u78b0\u649e \u5f3a\u5ea6 \uff08 \u9664 \u884c\u4eba \u548c \u8f66\u8f86 \u4ee5\u5916 \u7684 \u4e00\u5207 \uff09 \u3002   intersection _ otherlane   float   \u8f66\u8f86 \u4fb5\u5165 \u5176\u4ed6 \u8f66\u9053 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   intersection _ offroad   float   \u6c7d\u8f66 \u8d8a\u91ce \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   autopilot _ control   float   \u8f66\u8f86 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u63a7\u5236 \u5c06 \u5e94\u7528 \u6b64 \u6846\u67b6 \u3002","title":"\u73a9\u5bb6 \u6d4b\u91cf"},{"location":"measurements/#_4","text":"\u53d8\u6362 \u5305\u542b \u73a9\u5bb6 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   \u952e   \u7c7b\u578b   \u5355\u4f4d   \u63cf\u8ff0   location   Vector3D   \u7c73   \u4e16\u754c \u4f4d\u7f6e \u3002   orientation   [ \u5df2\u5f03 \u7528 ]   Vector3D   \u4ee5 \u5361\u5c14 \u7b1b\u5361\u5c14 \u5750\u6807 \u8868\u793a \u7684 \u65b9\u5411 \u3002   rotation   Vector3D   \u5ea6   \u4fef\u4ef0 \u3001 \u6eda\u8f6c \u548c \u504f\u822a \u3002","title":"\u8f6c\u6362"},{"location":"measurements/#_5","text":"\u78b0\u649e \u53d8\u91cf \u4fdd\u5b58 \u4e86 \u6b64 \u4e8b\u4ef6 \u4e2d \u53d1\u751f \u7684 \u6240\u6709 \u78b0\u649e \u7684 \u7d2f\u79ef \u3002 \u6bcf\u6b21 \u78b0\u649e \u90fd \u4f1a \u6309 \u6bd4\u4f8b \u5f71\u54cd \u78b0\u649e \u5f3a\u5ea6 \uff08 \u4e24\u4e2a \u78b0\u649e \u7269\u4f53 \u4e4b\u95f4 \u7684 \u6cd5\u5411 \u51b2\u91cf \u7684 \u8303\u6570 \uff09 \u3002   \u4fdd\u7559 \u4e09\u79cd \u4e0d\u540c \u7684 \u8ba1\u6570 \uff08 \u884c\u4eba \u3001 \u8f66\u8f86 \u548c \u5176\u4ed6 \uff09 \u3002 \u78b0\u649e \u7269\u4f53 \u6839\u636e \u5176 \u6807\u7b7e \u8fdb\u884c \u5206\u7c7b \uff08 \u4e0e \u8bed\u4e49 \u5206\u5272 \u76f8\u540c \uff09 \u3002   \u6f0f\u6d1e   \u53c2\u89c1   # 13   \u5f53 \u8f66\u8f86 \u901f\u5ea6 \u8f83 \u4f4e\u65f6 \uff0c \u4e0d\u4f1a \u6807\u6ce8 \u78b0\u649e   \u5982\u679c \u8f66\u8f86 \u6ca1\u6709 \u79fb\u52a8 \uff08 < 1   \u516c\u91cc / \u5c0f\u65f6 \uff09 \uff0c \u5219 \u4e0d\u4f1a \u6ce8\u91ca \u78b0\u649e \uff0c \u4ee5 \u907f\u514d \u7531\u4e8e \u975e \u73a9\u5bb6 \u4ee3\u7406 \u7684   AI   \u9519\u8bef \u800c \u6ce8\u91ca \u4e0d\u5fc5 \u5fc5\u8981 \u4e0d\u5fc5\u8981 \u7684 \u78b0\u649e \u3002","title":"\u78b0\u649e"},{"location":"measurements/#_6","text":"\u8f66\u9053 \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u6d4b\u91cf \u8f66\u8f86 \u4fb5\u5165 \u5bf9\u9762 \u8f66\u9053 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002 \u8d8a\u91ce \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u6d4b\u91cf \u8f66\u8f86 \u5728 \u9053\u8def \u5916 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   \u8fd9\u4e9b \u503c \u662f \u901a\u8fc7 \u8f66\u8f86 \u8fb9\u754c \u6846 \uff08 \u4f5c\u4e3a   2D   \u77e9\u5f62 \uff09 \u4e0e \u57ce\u5e02 \u5e02\u5730 \u5730\u56fe \u57ce\u5e02\u5730\u56fe \u56fe\u50cf \u76f8\u4ea4 \u8ba1\u7b97 \u5f97\u51fa \u7684 \u3002 \u8fd9\u4e9b \u56fe\u50cf \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u751f\u6210 \u5e76 \u5e8f\u5217 \u5e8f\u5217\u5316 \u4ee5\u4f9b \u8fd0\u884c \u65f6 \u4f7f\u7528 \u3002 \u60a8 \u4e5f \u53ef\u4ee5 \u5728 \u53d1\u5e03 \u5305\u4e2d \u7684 \u201c RoadMaps \u201d \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u627e\u5230 \u5b83\u4eec \u3002","title":"\u8f66\u9053 / \u8d8a\u91ce \u8def\u53e3"},{"location":"measurements/#_7","text":"\u6d4b\u91cf   autopilot _ control   \u7ed3\u679c \u5305\u542b \u6e38\u620f \u5185 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u5728 \u63a7\u5236 \u8f66\u8f86 \u65f6\u6240 \u5e94\u7528 \u7684 \u63a7\u5236 \u503c \u3002   \u8fd9 \u4e0e \u5c06 \u8f66\u8f86 \u63a7\u5236 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u7ed3\u6784 \u76f8\u540c \u3002   \u952e   \u7c7b\u578b   \u63cf\u8ff0   steer   float   \u8f6c\u5411 \u89d2\u5ea6 \u5728   [ - 1.0 ,   1.0 ]   \u4e4b\u95f4   ( * )   throttle   float   \u6cb9\u95e8 \u8f93\u5165 \u4ecb\u4e8e   [   0.0 ,   1.0 ]   \u4e4b\u95f4   brake   float   \u5239\u8f66 \u8f93\u5165 \u4ecb\u4e8e   [   0.0 ,   1.0 ]   \u4e4b\u95f4   hand _ brake   bool   \u624b\u5239 \u662f\u5426 \u62c9\u7d27   reverse   bool   \u8f66\u8f86 \u662f\u5426 \u5904\u4e8e \u5012 \u6863   \u8981 \u4ece \u5ba2\u6237 \u5ba2\u6237\u7aef \u6fc0\u6d3b \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \uff0c \u8bf7 \u5c06   autopilot _ control   \u53d1\u9001 \u56de \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u8bf7 \u6ce8\u610f \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u5c06 \u5176 \u53d1\u9001 \u56de \u4e4b\u524d \u5bf9 \u5176 \u8fdb\u884c \u4fee\u6539 \u3002   measurements ,   sensor _ data   =   carla _ client . read _ data ( )   control   =   measurements . player _ measurements . autopilot _ control   #   modify   here   control   if   wanted .   carla _ client . send _ control ( control )   ( * )   \u5b9e\u9645 \u8f6c\u5411 \u89d2\u5ea6 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u6240\u7528 \u8f66\u8f86 \u3002 \u9ed8\u8ba4   Mustang   \u7684 \u6700\u5927 \u8f6c\u5411 \u89d2\u5ea6 \u4e3a   70   \u5ea6 \uff08 \u53ef \u5728 \u8f66\u8f86 \u524d\u8f6e \u84dd\u56fe \u4e2d \u67e5\u770b \uff09 \u3002","title":"\u81ea\u52a8 \u9a7e\u9a76\u4eea \u63a7\u5236"},{"location":"pcl_recorder/","text":"\u70b9\u4e91 \u5730\u56fe \u521b\u5efa   PCL \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u5305 \u5141\u8bb8 \u60a8 \u4ece   Carla   \u5730\u56fe \u521b\u5efa \u70b9\u4e91 \u5730\u56fe \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5b89\u88c5   pcl - tools   \u5e93 \uff1a   sudo   apt   install   pcl - tools   \u4f7f\u7528   PCL   \u8bb0\u5f55 \u8bb0\u5f55\u5668   PCL   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5305\u5c06 \u751f\u6210 \u4e00\u8f86 \u81ea\u6211 \u8f66\u8f86 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u952e\u76d8 \u6216   Carla   PythonAPI   \u4e2d \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u529f\u80fd \u8fdb\u884c \u63a7\u5236 \u3002   1 .   \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \uff0c \u5728 \u65b0 \u7ec8\u7aef \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u542f\u52a8   PCL   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5305 \uff1a   #   ROS   1   roslaunch   pcl _ recorder   pcl _ recorder . launch   #   ROS   2   ros2   launch   pcl _ recorder   pcl _ recorder . launch . py   2 .   \u6355\u83b7 \u9a71\u52a8 \u5b8c\u6210 \u540e \uff0c \u51cf\u5c0f \u70b9\u4e91 \u7684 \u6574\u4f53 \u5927\u5c0f \uff1a   #   \u521b\u5efa \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u4e91 \u6587\u4ef6   pcl _ concatenate _ points _ pcd   / tmp / pcl _ capture / * . pcd   #   Filter   duplicates   pcl _ voxel _ grid   - leaf   0.1 , 0.1 , 0.1   output . pcd   map . pcd   3 .   \u9a8c\u8bc1 \u7ed3\u679c \uff1a   pcl _ viewer   map . pcd","title":"\u70b9\u4e91 \u5730\u56fe \u521b\u5efa"},{"location":"pcl_recorder/#_1","text":"PCL \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u5305 \u5141\u8bb8 \u60a8 \u4ece   Carla   \u5730\u56fe \u521b\u5efa \u70b9\u4e91 \u5730\u56fe \u3002","title":"\u70b9\u4e91 \u5730\u56fe \u521b\u5efa"},{"location":"pcl_recorder/#_2","text":"\u5b89\u88c5   pcl - tools   \u5e93 \uff1a   sudo   apt   install   pcl - tools","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d"},{"location":"pcl_recorder/#pcl","text":"PCL   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5305\u5c06 \u751f\u6210 \u4e00\u8f86 \u81ea\u6211 \u8f66\u8f86 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u952e\u76d8 \u6216   Carla   PythonAPI   \u4e2d \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u529f\u80fd \u8fdb\u884c \u63a7\u5236 \u3002   1 .   \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \uff0c \u5728 \u65b0 \u7ec8\u7aef \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u542f\u52a8   PCL   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5305 \uff1a   #   ROS   1   roslaunch   pcl _ recorder   pcl _ recorder . launch   #   ROS   2   ros2   launch   pcl _ recorder   pcl _ recorder . launch . py   2 .   \u6355\u83b7 \u9a71\u52a8 \u5b8c\u6210 \u540e \uff0c \u51cf\u5c0f \u70b9\u4e91 \u7684 \u6574\u4f53 \u5927\u5c0f \uff1a   #   \u521b\u5efa \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u4e91 \u6587\u4ef6   pcl _ concatenate _ points _ pcd   / tmp / pcl _ capture / * . pcd   #   Filter   duplicates   pcl _ voxel _ grid   - leaf   0.1 , 0.1 , 0.1   output . pcd   map . pcd   3 .   \u9a8c\u8bc1 \u7ed3\u679c \uff1a   pcl _ viewer   map . pcd","title":"\u4f7f\u7528   PCL   \u8bb0\u5f55\u5668"},{"location":"plugins_carlaviz/","text":"carlaviz   carlaviz   \u63d2\u4ef6 \u7528\u4e8e \u5728 \u7f51\u7edc \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u53ef\u89c6 \u53ef\u89c6\u5316 \u4eff\u771f \u3002 \u521b\u5efa \u4e86 \u4e00\u4e2a \u5177\u6709 \u573a\u666f \u7684 \u4e00\u4e9b \u57fa\u672c \u8868\u793a \u7684 \u7a97\u53e3 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u5373\u65f6 \u66f4\u65b0 \uff0c \u53ef\u4ee5 \u68c0\u7d22 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \uff0c \u8fd8 \u53ef\u4ee5 \u5728 \u573a\u666f \u4e2d \u7ed8\u5236 \u9644\u52a0 \u6587\u672c \u3001 \u7ebf\u6761 \u548c \u6298\u7ebf \u3002   \u4e00\u822c \u4fe1\u606f   \u652f\u6301   \u83b7\u53d6   carlaviz   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u4e0b\u8f7d \u63d2\u4ef6   \u8fd0\u884c   \u5de5\u5177   \u4e00\u822c \u4fe1\u606f   \u8d21\u732e \u8d21\u732e\u8005   \u2014   Minjun   Xu ,   \u4e5f \u88ab \u79f0\u4e3a   wx9698   .   \u8bb8\u53ef \u8bb8\u53ef\u8bc1   \u2014   MIT   .   \u652f\u6301   Linux   \u2014   Carla   0.9 . 6 ,   0.9 . 7 ,   0.9 . 8 ,   0.9 . 9 ,   0.9 . 10 .   Windows   \u2014   Carla   0.9 . 9 ,   0.9 . 10 .   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   \u2014   \u6700\u65b0 \u66f4\u65b0 \u6700\u65b0\u66f4\u65b0 \u3002   \u83b7\u53d6   carlaviz   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   Docker   \u2014   \u8bbf\u95ee \u6587\u6863 \u5e76   \u5b89\u88c5   Docker   .   \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf   \u2014   \u4efb\u4f55 \u80fd\u591f \u8fd0\u884c   Carla   \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u90fd \u5e94\u8be5 \u53ef\u4ee5 \u5de5\u4f5c \u3002   Websocket - client   \u2014   pip3   install   websocket _ client   \u3002 \u5982\u679c \u7cfb\u7edf \u4e2d \u5c1a\u672a \u5b89\u88c5   pip   \u3002   \u4e0b\u8f7d \u63d2\u4ef6   \u6253\u5f00 \u7ec8\u7aef \u5e76 \u6839\u636e \u8981 \u8fd0\u884c \u7684   Carla   \u7248\u672c \u62c9\u53d6   carlaviz   \u7684   Docker   \u6620\u50cf \u3002   #   \u4ec5\u62c9\u53d6 \u548c \u6240 \u4f7f\u7528 \u7684 Carla \u5305 \u5339\u914d \u7684 \u955c\u50cf \u3002   docker   pull   mjxu96 / carlaviz : 0.9 . 6   docker   pull   mjxu96 / carlaviz : 0.9 . 7   docker   pull   mjxu96 / carlaviz : 0.9 . 8   docker   pull   mjxu96 / carlaviz : 0.9 . 9   docker   pull   mjxu96 / carlaviz : 0.9 . 10   #   \u5982\u679c \u5de5\u4f5c \u5728 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e0a \uff0c \u5219 \u62c9\u53d6 \u8be5 \u955c\u50cf   docker   pull   mjxu96 / carlaviz : latest   \u91cd\u8981   \u76ee\u524d \u5728   Windows   \u4e2d\u4ec5 \u652f\u6301   0.9 . 9   \u548c   0.9 . 10 \u3002   Carla   \u81f3   0.9 . 9 \uff08 \u5305\u542b \uff09 \u8bbe\u7f6e \u4e3a \u5355\u6d41 \u3002 \u5bf9\u4e8e \u66f4\u9ad8 \u7248\u672c \uff0c \u5b9e\u73b0 \u4e86 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u591a\u6d41 \u3002   \u5728 \u5355\u6d41 \u4e2d   ,   \u4e00\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ea\u80fd \u88ab \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u542c\u5230 \u3002 \u5f53 \u53e6 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u5df2\u7ecf \u542c\u5230 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65f6 \uff0c \u4f8b\u5982 \u5728 \u8fd0\u884c   manual _ control . py   \u65f6 \uff0c carlaviz   \u88ab\u8feb \u590d\u5236 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ee5 \u68c0\u7d22 \u6570\u636e \uff0c \u5e76\u4e14 \u6027\u80fd \u53ef\u80fd \u4f1a \u53d7\u5230 \u5f71\u54cd \u3002   \u5728 \u591a\u6d41 \u4e2d   \uff0c \u591a\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u542c\u5230 \u4e00\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 carlaviz   \u4e0d \u9700\u8981 \u91cd\u590d \u8fd9\u4e9b \uff0c \u5e76\u4e14 \u6027\u80fd \u4e0d\u4f1a \u53d7\u5230 \u5f71\u54cd \u3002   \u7b14\u8bb0   \u6216\u8005 \uff0c \u5728   Linux   \u4e0a \uff0c \u7528\u6237 \u53ef\u4ee5 \u6309\u7167   \u6b64\u5904   \u7684 \u8bf4\u660e \u6784\u5efa   carlaviz   \uff0c \u4f46 \u4f7f\u7528   Docker   \u6620\u50cf \u5c06 \u4f7f \u4e8b\u60c5 \u53d8\u5f97 \u66f4\u52a0 \u5bb9\u6613 \u3002   \u8fd0\u884c   carlaviz   1 .   \u8fd0\u884c   Carla \u3002   a )   \u5728   Carla   \u5305\u4e2d   \u2014   \u8f6c \u81f3   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u4f7f\u7528   CarlaUE4 . exe   ( Windows )   \u6216   . / CarlaUE4 . sh   ( Linux )   \u542f\u52a8 \u4eff\u771f \u3002   b )   \u5728 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684 \u5305\u4e2d   \u2014   \u8f6c \u5230   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u4f7f\u7528   make   launch   \u8fd0\u884c \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u5e76 \u6309   Play   \u3002   2 .   \u8fd0\u884c   carlaviz .   \u6839\u636e \u5df2 \u4e0b\u8f7d \u7684   Docker   \u955c\u50cf \uff0c \u5728 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u3002   \u66f4\u6539 \u5148\u524d \u4e0b\u8f7d \u7684 \u955c\u50cf \u7684 \u540d\u79f0   < name _ of _ Docker _ image >   \uff0c \u4f8b\u5982   mjxu96 / carlaviz : latest   \u6216   mjxu96 / carlaviz : 0.9 . 10   \u3002   #   \u5728   Linux   \u7cfb\u7edf   docker   run   - it   -- network = \" host \"   - e   CARLAVIZ _ HOST _ IP = localhost   - e   CARLA _ SERVER _ IP = localhost   - e   CARLA _ SERVER _ PORT = 2000   < name _ of _ Docker _ image >   #   \u5728   Windows / MacOS   \u7cfb\u7edf   docker   run   - it   - e   CARLAVIZ _ HOST _ IP = localhost   - e   CARLA _ SERVER _ IP = host . docker . internal   - e   CARLA _ SERVER _ PORT = 2000   - p   8080 - 8081 : 8080 - 8081   - p   8089 : 8089   < name _ of _ Docker _ image >   \u5982\u679c \u4e00\u5207 \u90fd \u5df2 \u6b63\u786e \u8bbe\u7f6e \uff0c carlaviz   \u5c06 \u663e\u793a \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u7684 \u6210\u529f \u6d88\u606f \u3002   \u8b66\u544a   \u8bf7 \u8bb0\u4f4f \u7f16\u8f91 \u524d\u9762 \u7684 \u547d\u4ee4 \u4ee5 \u5339\u914d \u6b63\u5728 \u4f7f\u7528 \u7684   Docker   \u6620\u50cf \u3002   3 .   \u4ece \u672c\u5730 \u6253\u5f00   \u6253\u5f00   Web   \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5e76 \u8f6c\u5230   http : / / 127.0 . 0.1 : 8080 /   \u3002 carlaviz   \u9ed8\u8ba4 \u5728   8080   \u7aef\u53e3 \u8fd0\u884c \u3002 \u8f93\u51fa \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u3002   \u5de5\u5177   \u4e00\u65e6 \u63d2\u4ef6 \u8fd0\u884c \uff0c \u5b83 \u5c31 \u53ef\u4ee5 \u7528\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 \u4eff\u771f \u3001 \u5176\u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ee5\u53ca \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u7d22 \u7684 \u6570\u636e \u3002 \u8be5 \u63d2\u4ef6 \u5728 \u53f3\u4fa7 \u663e\u793a \u4e00\u4e2a \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \uff0c \u573a\u666f \u5b9e\u65f6 \u66f4\u65b0 \uff0c \u5de6\u4fa7 \u663e\u793a \u4e00\u4e2a \u4fa7\u8fb9 \u680f \uff0c \u5176\u4e2d \u5305\u542b \u8981 \u663e\u793a \u7684 \u9879\u76ee \u5217\u8868 \u3002 \u5176\u4e2d \u4e00\u4e9b \u9879\u76ee \u5c06 \u51fa\u73b0 \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \uff0c \u5176\u4ed6 \u9879\u76ee \uff08 \u4e3b\u8981 \u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u6e38\u620f \u6570\u636e \uff09 \u51fa\u73b0 \u5728 \u9879\u76ee \u5217\u8868 \u4e0a\u65b9 \u3002   \u4ee5\u4e0b \u662f \u53ef \u7528\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 \u7684 \u9009\u9879 \u5217\u8868 \u3002 \u53ef\u80fd \u4f1a \u663e\u793a \u5176\u4ed6 \u5143\u7d20 \uff0c \u4f8b\u5982   View   Mode   \u2014   \u66f4\u6539 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u7684 \u89c6\u89d2 \u3002   Top   Down   \u2014   \u7a7a\u4e2d \u89c6\u89d2 \u3002   Perspective   \u2014   \u81ea\u7531 \u7684 \u89c6\u89d2 \u3002   Driver   \u2014   \u7b2c\u4e00 \u4eba\u79f0 \u7b2c\u4e00\u4eba\u79f0 \u89c6\u89d2 \u3002   / vehicle   \u2014   \u663e\u793a \u81ea\u6211 \u8f66\u8f86 \u7684 \u5c5e\u6027 \u3002 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u5305\u62ec \u901f\u5ea6 \u901f\u5ea6\u8ba1 \u548c \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \uff0c \u4ee5\u53ca   IMU \u3001 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u7d22 \u7684 \u6570\u636e \u3002   / velocity   \u2014   \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u3002   / acceleration   \u2014   \u81ea\u6211 \u8f66\u8f86 \u7684 \u52a0\u901f \u3002   / drawing   \u2014   \u5728 \u4f7f\u7528   CarlaPainter   \u7ed8\u5236 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u663e\u793a \u5176\u4ed6 \u5143\u7d20 \u3002   / texts   \u2014   \u6587\u672c \u5143\u7d20 \u3002   / points   \u2014   \u70b9 \u5143\u7d20 \u3002   / polylines   \u2014   \u6298\u7ebf \u5143\u7d20 \u3002   / objects   \u2014   \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u663e\u793a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   / walkers   \u2014   \u66f4\u65b0 \u884c\u4eba \u3002   / vehicles   \u2014   \u66f4\u65b0 \u8f66\u8f86 \u3002   / game   \u2014   \u663e\u793a \u6e38\u620f \u6570\u636e \u3002   / time   \u2014   \u5f53\u524d \u4eff\u771f \u65f6\u95f4 \u548c \u5e27 \u3002   / lidar   \u2014   LIDAR   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   / points   \u2014   LIDAR   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u6d4b \u5230 \u7684 \u70b9\u4e91 \u3002   / radar   \u2014   LIDAR   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   / points   \u2014   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u6d4b \u5230 \u7684 \u70b9\u4e91 \u3002   / traffic   \u2014   \u5730\u6807 \u6570\u636e \u3002   / traffic _ light   \u2014   \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u663e\u793a \u5730\u56fe \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   / stop _ sign   \u2014   \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u663e\u793a \u5730\u56fe \u7684 \u505c\u8f66 \u6807\u5fd7 \u3002   \u5c1d\u8bd5 \u751f\u6210 \u4e00\u4e9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u8fd9\u4e9b \u5c06 \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u81ea\u52a8 \u66f4\u65b0 \u81ea\u52a8\u66f4\u65b0 \u3002   cd   PythonAPI / examples   #   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4eff\u771f \u4e0b \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005   python3   generate _ traffic . py   - n   10   - w   5   \u751f\u6210 \u4e00\u4e2a \u624b\u52a8 \u63a7\u5236 \u7684 \u81ea\u6211 \u8f66\u8f86 \u5e76 \u56db\u5904 \u79fb\u52a8 \uff0c \u4ee5 \u67e5\u770b \u63d2\u4ef6 \u5982\u4f55 \u66f4\u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   cd   PythonAPI / examples   python3   manual _ control . py   \u8d21\u732e \u8d21\u732e\u8005   (   wx9698   )   \u521b\u5efa \u4e86 \u4e00\u4e2a \u9644\u52a0 \u7c7b   CarlaPainter   \uff0c \u5b83 \u5141\u8bb8 \u7528\u6237 \u7ed8\u5236 \u8981 \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u663e\u793a \u7684 \u5143\u7d20 \u3002 \u5176\u4e2d \u5305\u62ec \u6587\u672c \u3001 \u70b9 \u548c \u6298\u7ebf \u3002 \u6309\u7167   \u6b64 \u793a\u4f8b   \u751f\u6210 \u5e26\u6709   LIDAR   \u7684 \u81ea\u6211 \u8f66\u8f86 \uff0c \u5e76 \u7ed8\u5236   LIDAR   \u6570\u636e \u3001 \u8f66\u8f86 \u7684 \u8f68\u8ff9 \u548c \u901f\u5ea6 \u3002   \u8fd9 \u5c31\u662f \u5173\u4e8e   carlaviz   \u63d2\u4ef6 \u7684 \u5168\u90e8 \u4fe1\u606f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"carlaviz"},{"location":"plugins_carlaviz/#carlaviz","text":"carlaviz   \u63d2\u4ef6 \u7528\u4e8e \u5728 \u7f51\u7edc \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u53ef\u89c6 \u53ef\u89c6\u5316 \u4eff\u771f \u3002 \u521b\u5efa \u4e86 \u4e00\u4e2a \u5177\u6709 \u573a\u666f \u7684 \u4e00\u4e9b \u57fa\u672c \u8868\u793a \u7684 \u7a97\u53e3 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u5373\u65f6 \u66f4\u65b0 \uff0c \u53ef\u4ee5 \u68c0\u7d22 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \uff0c \u8fd8 \u53ef\u4ee5 \u5728 \u573a\u666f \u4e2d \u7ed8\u5236 \u9644\u52a0 \u6587\u672c \u3001 \u7ebf\u6761 \u548c \u6298\u7ebf \u3002   \u4e00\u822c \u4fe1\u606f   \u652f\u6301   \u83b7\u53d6   carlaviz   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u4e0b\u8f7d \u63d2\u4ef6   \u8fd0\u884c   \u5de5\u5177","title":"carlaviz"},{"location":"plugins_carlaviz/#_1","text":"\u8d21\u732e \u8d21\u732e\u8005   \u2014   Minjun   Xu ,   \u4e5f \u88ab \u79f0\u4e3a   wx9698   .   \u8bb8\u53ef \u8bb8\u53ef\u8bc1   \u2014   MIT   .","title":"\u4e00\u822c \u4fe1\u606f  "},{"location":"plugins_carlaviz/#_2","text":"Linux   \u2014   Carla   0.9 . 6 ,   0.9 . 7 ,   0.9 . 8 ,   0.9 . 9 ,   0.9 . 10 .   Windows   \u2014   Carla   0.9 . 9 ,   0.9 . 10 .   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   \u2014   \u6700\u65b0 \u66f4\u65b0 \u6700\u65b0\u66f4\u65b0 \u3002","title":"\u652f\u6301  "},{"location":"plugins_carlaviz/#carlaviz_1","text":"","title":"\u83b7\u53d6   carlaviz  "},{"location":"plugins_carlaviz/#_3","text":"Docker   \u2014   \u8bbf\u95ee \u6587\u6863 \u5e76   \u5b89\u88c5   Docker   .   \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf   \u2014   \u4efb\u4f55 \u80fd\u591f \u8fd0\u884c   Carla   \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u90fd \u5e94\u8be5 \u53ef\u4ee5 \u5de5\u4f5c \u3002   Websocket - client   \u2014   pip3   install   websocket _ client   \u3002 \u5982\u679c \u7cfb\u7edf \u4e2d \u5c1a\u672a \u5b89\u88c5   pip   \u3002","title":"\u5148\u51b3\u6761\u4ef6  "},{"location":"plugins_carlaviz/#_4","text":"\u6253\u5f00 \u7ec8\u7aef \u5e76 \u6839\u636e \u8981 \u8fd0\u884c \u7684   Carla   \u7248\u672c \u62c9\u53d6   carlaviz   \u7684   Docker   \u6620\u50cf \u3002   #   \u4ec5\u62c9\u53d6 \u548c \u6240 \u4f7f\u7528 \u7684 Carla \u5305 \u5339\u914d \u7684 \u955c\u50cf \u3002   docker   pull   mjxu96 / carlaviz : 0.9 . 6   docker   pull   mjxu96 / carlaviz : 0.9 . 7   docker   pull   mjxu96 / carlaviz : 0.9 . 8   docker   pull   mjxu96 / carlaviz : 0.9 . 9   docker   pull   mjxu96 / carlaviz : 0.9 . 10   #   \u5982\u679c \u5de5\u4f5c \u5728 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e0a \uff0c \u5219 \u62c9\u53d6 \u8be5 \u955c\u50cf   docker   pull   mjxu96 / carlaviz : latest   \u91cd\u8981   \u76ee\u524d \u5728   Windows   \u4e2d\u4ec5 \u652f\u6301   0.9 . 9   \u548c   0.9 . 10 \u3002   Carla   \u81f3   0.9 . 9 \uff08 \u5305\u542b \uff09 \u8bbe\u7f6e \u4e3a \u5355\u6d41 \u3002 \u5bf9\u4e8e \u66f4\u9ad8 \u7248\u672c \uff0c \u5b9e\u73b0 \u4e86 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u591a\u6d41 \u3002   \u5728 \u5355\u6d41 \u4e2d   ,   \u4e00\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ea\u80fd \u88ab \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u542c\u5230 \u3002 \u5f53 \u53e6 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u5df2\u7ecf \u542c\u5230 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65f6 \uff0c \u4f8b\u5982 \u5728 \u8fd0\u884c   manual _ control . py   \u65f6 \uff0c carlaviz   \u88ab\u8feb \u590d\u5236 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ee5 \u68c0\u7d22 \u6570\u636e \uff0c \u5e76\u4e14 \u6027\u80fd \u53ef\u80fd \u4f1a \u53d7\u5230 \u5f71\u54cd \u3002   \u5728 \u591a\u6d41 \u4e2d   \uff0c \u591a\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u542c\u5230 \u4e00\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 carlaviz   \u4e0d \u9700\u8981 \u91cd\u590d \u8fd9\u4e9b \uff0c \u5e76\u4e14 \u6027\u80fd \u4e0d\u4f1a \u53d7\u5230 \u5f71\u54cd \u3002   \u7b14\u8bb0   \u6216\u8005 \uff0c \u5728   Linux   \u4e0a \uff0c \u7528\u6237 \u53ef\u4ee5 \u6309\u7167   \u6b64\u5904   \u7684 \u8bf4\u660e \u6784\u5efa   carlaviz   \uff0c \u4f46 \u4f7f\u7528   Docker   \u6620\u50cf \u5c06 \u4f7f \u4e8b\u60c5 \u53d8\u5f97 \u66f4\u52a0 \u5bb9\u6613 \u3002","title":"\u4e0b\u8f7d \u63d2\u4ef6  "},{"location":"plugins_carlaviz/#carlaviz_2","text":"1 .   \u8fd0\u884c   Carla \u3002   a )   \u5728   Carla   \u5305\u4e2d   \u2014   \u8f6c \u81f3   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u4f7f\u7528   CarlaUE4 . exe   ( Windows )   \u6216   . / CarlaUE4 . sh   ( Linux )   \u542f\u52a8 \u4eff\u771f \u3002   b )   \u5728 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684 \u5305\u4e2d   \u2014   \u8f6c \u5230   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u4f7f\u7528   make   launch   \u8fd0\u884c \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u5e76 \u6309   Play   \u3002   2 .   \u8fd0\u884c   carlaviz .   \u6839\u636e \u5df2 \u4e0b\u8f7d \u7684   Docker   \u955c\u50cf \uff0c \u5728 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u3002   \u66f4\u6539 \u5148\u524d \u4e0b\u8f7d \u7684 \u955c\u50cf \u7684 \u540d\u79f0   < name _ of _ Docker _ image >   \uff0c \u4f8b\u5982   mjxu96 / carlaviz : latest   \u6216   mjxu96 / carlaviz : 0.9 . 10   \u3002   #   \u5728   Linux   \u7cfb\u7edf   docker   run   - it   -- network = \" host \"   - e   CARLAVIZ _ HOST _ IP = localhost   - e   CARLA _ SERVER _ IP = localhost   - e   CARLA _ SERVER _ PORT = 2000   < name _ of _ Docker _ image >   #   \u5728   Windows / MacOS   \u7cfb\u7edf   docker   run   - it   - e   CARLAVIZ _ HOST _ IP = localhost   - e   CARLA _ SERVER _ IP = host . docker . internal   - e   CARLA _ SERVER _ PORT = 2000   - p   8080 - 8081 : 8080 - 8081   - p   8089 : 8089   < name _ of _ Docker _ image >   \u5982\u679c \u4e00\u5207 \u90fd \u5df2 \u6b63\u786e \u8bbe\u7f6e \uff0c carlaviz   \u5c06 \u663e\u793a \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u7684 \u6210\u529f \u6d88\u606f \u3002   \u8b66\u544a   \u8bf7 \u8bb0\u4f4f \u7f16\u8f91 \u524d\u9762 \u7684 \u547d\u4ee4 \u4ee5 \u5339\u914d \u6b63\u5728 \u4f7f\u7528 \u7684   Docker   \u6620\u50cf \u3002   3 .   \u4ece \u672c\u5730 \u6253\u5f00   \u6253\u5f00   Web   \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5e76 \u8f6c\u5230   http : / / 127.0 . 0.1 : 8080 /   \u3002 carlaviz   \u9ed8\u8ba4 \u5728   8080   \u7aef\u53e3 \u8fd0\u884c \u3002 \u8f93\u51fa \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u3002","title":"\u8fd0\u884c   carlaviz  "},{"location":"plugins_carlaviz/#_5","text":"\u4e00\u65e6 \u63d2\u4ef6 \u8fd0\u884c \uff0c \u5b83 \u5c31 \u53ef\u4ee5 \u7528\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 \u4eff\u771f \u3001 \u5176\u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ee5\u53ca \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u7d22 \u7684 \u6570\u636e \u3002 \u8be5 \u63d2\u4ef6 \u5728 \u53f3\u4fa7 \u663e\u793a \u4e00\u4e2a \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \uff0c \u573a\u666f \u5b9e\u65f6 \u66f4\u65b0 \uff0c \u5de6\u4fa7 \u663e\u793a \u4e00\u4e2a \u4fa7\u8fb9 \u680f \uff0c \u5176\u4e2d \u5305\u542b \u8981 \u663e\u793a \u7684 \u9879\u76ee \u5217\u8868 \u3002 \u5176\u4e2d \u4e00\u4e9b \u9879\u76ee \u5c06 \u51fa\u73b0 \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \uff0c \u5176\u4ed6 \u9879\u76ee \uff08 \u4e3b\u8981 \u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u6e38\u620f \u6570\u636e \uff09 \u51fa\u73b0 \u5728 \u9879\u76ee \u5217\u8868 \u4e0a\u65b9 \u3002   \u4ee5\u4e0b \u662f \u53ef \u7528\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 \u7684 \u9009\u9879 \u5217\u8868 \u3002 \u53ef\u80fd \u4f1a \u663e\u793a \u5176\u4ed6 \u5143\u7d20 \uff0c \u4f8b\u5982   View   Mode   \u2014   \u66f4\u6539 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u7684 \u89c6\u89d2 \u3002   Top   Down   \u2014   \u7a7a\u4e2d \u89c6\u89d2 \u3002   Perspective   \u2014   \u81ea\u7531 \u7684 \u89c6\u89d2 \u3002   Driver   \u2014   \u7b2c\u4e00 \u4eba\u79f0 \u7b2c\u4e00\u4eba\u79f0 \u89c6\u89d2 \u3002   / vehicle   \u2014   \u663e\u793a \u81ea\u6211 \u8f66\u8f86 \u7684 \u5c5e\u6027 \u3002 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u5305\u62ec \u901f\u5ea6 \u901f\u5ea6\u8ba1 \u548c \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \uff0c \u4ee5\u53ca   IMU \u3001 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u7d22 \u7684 \u6570\u636e \u3002   / velocity   \u2014   \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u3002   / acceleration   \u2014   \u81ea\u6211 \u8f66\u8f86 \u7684 \u52a0\u901f \u3002   / drawing   \u2014   \u5728 \u4f7f\u7528   CarlaPainter   \u7ed8\u5236 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u663e\u793a \u5176\u4ed6 \u5143\u7d20 \u3002   / texts   \u2014   \u6587\u672c \u5143\u7d20 \u3002   / points   \u2014   \u70b9 \u5143\u7d20 \u3002   / polylines   \u2014   \u6298\u7ebf \u5143\u7d20 \u3002   / objects   \u2014   \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u663e\u793a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   / walkers   \u2014   \u66f4\u65b0 \u884c\u4eba \u3002   / vehicles   \u2014   \u66f4\u65b0 \u8f66\u8f86 \u3002   / game   \u2014   \u663e\u793a \u6e38\u620f \u6570\u636e \u3002   / time   \u2014   \u5f53\u524d \u4eff\u771f \u65f6\u95f4 \u548c \u5e27 \u3002   / lidar   \u2014   LIDAR   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   / points   \u2014   LIDAR   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u6d4b \u5230 \u7684 \u70b9\u4e91 \u3002   / radar   \u2014   LIDAR   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   / points   \u2014   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u6d4b \u5230 \u7684 \u70b9\u4e91 \u3002   / traffic   \u2014   \u5730\u6807 \u6570\u636e \u3002   / traffic _ light   \u2014   \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u663e\u793a \u5730\u56fe \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   / stop _ sign   \u2014   \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u663e\u793a \u5730\u56fe \u7684 \u505c\u8f66 \u6807\u5fd7 \u3002   \u5c1d\u8bd5 \u751f\u6210 \u4e00\u4e9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u8fd9\u4e9b \u5c06 \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u81ea\u52a8 \u66f4\u65b0 \u81ea\u52a8\u66f4\u65b0 \u3002   cd   PythonAPI / examples   #   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4eff\u771f \u4e0b \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005   python3   generate _ traffic . py   - n   10   - w   5   \u751f\u6210 \u4e00\u4e2a \u624b\u52a8 \u63a7\u5236 \u7684 \u81ea\u6211 \u8f66\u8f86 \u5e76 \u56db\u5904 \u79fb\u52a8 \uff0c \u4ee5 \u67e5\u770b \u63d2\u4ef6 \u5982\u4f55 \u66f4\u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   cd   PythonAPI / examples   python3   manual _ control . py   \u8d21\u732e \u8d21\u732e\u8005   (   wx9698   )   \u521b\u5efa \u4e86 \u4e00\u4e2a \u9644\u52a0 \u7c7b   CarlaPainter   \uff0c \u5b83 \u5141\u8bb8 \u7528\u6237 \u7ed8\u5236 \u8981 \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u663e\u793a \u7684 \u5143\u7d20 \u3002 \u5176\u4e2d \u5305\u62ec \u6587\u672c \u3001 \u70b9 \u548c \u6298\u7ebf \u3002 \u6309\u7167   \u6b64 \u793a\u4f8b   \u751f\u6210 \u5e26\u6709   LIDAR   \u7684 \u81ea\u6211 \u8f66\u8f86 \uff0c \u5e76 \u7ed8\u5236   LIDAR   \u6570\u636e \u3001 \u8f66\u8f86 \u7684 \u8f68\u8ff9 \u548c \u901f\u5ea6 \u3002   \u8fd9 \u5c31\u662f \u5173\u4e8e   carlaviz   \u63d2\u4ef6 \u7684 \u5168\u90e8 \u4fe1\u606f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"\u5de5\u5177  "},{"location":"python_api/","text":"Python   API   \u53c2\u8003   \u6b64 \u53c2\u8003 \u5305\u542b   Python   API   \u7684 \u6240\u6709 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002 \u8981 \u67e5\u9605 \u7279\u5b9a   Carla   \u7248\u672c \u7684 \u5148\u524d \u53c2\u8003 \uff0c \u8bf7 \u4f7f\u7528 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u7684 \u9762\u677f \u66f4\u6539 \u6587\u6863 \u7248\u672c \u3002   \u8fd9\u4f1a \u5c06 \u6574\u4e2a \u6587\u6863 \u66f4 \u6539\u4e3a \u4e4b\u524d \u7684 \u72b6\u6001 \u3002 \u8bf7 \u8bb0\u4f4f \uff0c   \u6700\u65b0   \u7248\u672c \u662f   dev   \u5206\u652f \uff0c \u53ef\u80fd \u4f1a \u663e\u793a \u4efb\u4f55   Carla   \u6253\u5305 \u7248\u672c \u4e2d \u4e0d\u53ef \u7528 \u7684 \u529f\u80fd \u3002   carla . AckermannControllerSettings   \u7ba1\u7406   Ackermann   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u8bbe\u7f6e \u3002   \u5b9e\u4f8b \u53d8\u91cf   speed _ kp   (   float   )   \u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u6bd4\u4f8b \u9879 \u3002   speed _ ki   (   float   )   \u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u79ef\u5206 \u9879 \u3002   speed _ kd   (   float   )   \u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5fae\u5206 \u9879 \u3002   accel _ kp   (   float   )   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u6bd4\u4f8b \u9879 \u3002   accel _ ki   (   float   )   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u79ef\u5206 \u9879 \u3002   accel _ kd   (   float   )   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5fae\u5206 \u9879 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   speed _ kp   = 0.15   ,   speed _ ki   = 0.0   ,   speed _ kd   = 0.25   ,   accel _ kp   = 0.01   ,   accel _ ki   = 0.0   ,   accel _ kd   = 0.01   )   Parameters :   speed _ kp   (   float   )   speed _ ki   (   float   )   speed _ kd   (   float   )   accel _ kp   (   float   )   accel _ ki   (   float   )   accel _ kd   (   float   )   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . AckermannControllerSettings   )   __ ne __   (   self   ,   other   =   carla . AckermannControllerSettings   )   __ str __   (   self   )   carla . Actor   Carla   \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5b9a\u4e49 \u4e3a \u5728 \u4eff\u771f \u4e2d \u53d1\u6325 \u4f5c\u7528 \u53d1\u6325\u4f5c\u7528 \u6216 \u53ef\u4ee5 \u79fb\u52a8 \u7684 \u4efb\u4f55 \u7269\u4f53 \u3002 \u5176\u4e2d \u5305\u62ec \uff1a \u884c\u4eba \u3001 \u8f66\u8f86 \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \uff08 \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u89c6\u4e3a \u5176\u4e2d \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff09 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u4eff\u771f \u4e2d \u7531   carla . World   \u751f\u6210 \uff0c \u5e76\u4e14 \u9700\u8981 \u521b\u5efa   carla . ActorBlueprint   \u3002 \u8fd9\u4e9b \u84dd\u56fe \u5c5e\u4e8e   Carla   \u63d0\u4f9b \u7684 \u5e93 \uff0c \u8bf7 \u5728   \u6b64\u5904   \u627e\u5230 \u6709\u5173 \u5b83\u4eec \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   attributes   (   dict   )   \u5305\u542b \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240 \u57fa\u4e8e \u84dd\u56fe \u5c5e\u6027 \u7684 \u5b57\u5178 \u3002   id   (   int   )   \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002 \u5728 \u7ed9\u5b9a \u7684 \u60c5\u8282 \u4e2d\u662f \u552f\u4e00 \u7684 \u3002   type _ id   (   str   )   \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240 \u57fa\u4e8e \u7684 \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \uff0c \u4f8b\u5982   vehicle . ford . mustang   \u3002   is _ alive   (   bool   )   \u8fd4\u56de \u6b64 \u5bf9\u8c61 \u662f\u5426 \u662f\u5426\u662f \u4f7f\u7528 \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53e5\u67c4 \u9500\u6bc1 \u7684 \u3002   is _ active   (   bool   )   \u8fd4\u56de \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001   ( True )   \u6216\u975e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001   ( False ) \u3002   is _ dormant   (   bool   )   \u8fd4\u56de \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001   ( True )   \u6216\u975e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001   ( False )   -   \u4e0e   is _ active   \u76f8\u53cd \u3002   parent   (   carla . Actor   )   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u9644\u52a0 \u5230 \u4ed6\u4eec \u5c06 \u8ddf\u968f \u7684 \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8fd9 \u5c31\u662f \u6240\u8bf4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   semantic _ tags   (   list ( int )   )   \u84dd\u56fe \u5217\u8868 \u7ec4\u4ef6 \u4e3a\u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63d0\u4f9b \u7684 \u8bed\u4e49 \u6807\u7b7e \u5217\u8868 \u3002 \u4f8b\u5982 \uff0c \u4ea4\u901a \u4ea4\u901a\u706f \u53ef\u4ee5 \u7528   Pole   \u548c   TrafficLight   \u3002 \u8fd9\u4e9b \u6807\u7b7e \u7531 \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f7f\u7528 \u3002 \u5728   \u6b64\u5904   \u67e5\u627e \u6709\u5173 \u6b64 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   actor _ state   (   carla . ActorState   )   \u8fd4\u56de   carla . ActorState   \uff0c \u5b83 \u53ef\u4ee5 \u8bc6\u522b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u5904\u4e8e \u6d3b\u52a8 \u3001 \u4f11\u7720 \u6216 \u65e0\u6548 \u72b6\u6001 \u3002   bounding _ box   (   carla . BoundingBox   )   \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u51e0\u4f55 \u5f62\u72b6 \u7684 \u8fb9\u754c \u6846 \u3002 \u5b83 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u662f \u76f8\u5bf9 \u4e8e \u5b83 \u6240 \u9644\u7740 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u3002   \u65b9\u6cd5   add _ angular _ impulse   (   self   ,   angular _ impulse   )   \u5728 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d28\u5fc3 \u5904 \u5e94\u7528 \u89d2 \u51b2\u91cf \u3002 \u6b64 \u65b9\u6cd5 \u9002\u7528 \u4e8e \u77ac\u65f6 \u626d\u77e9 \uff0c \u901a\u5e38 \u5e94\u7528 \u4e00\u6b21 \u3002 \u4f7f\u7528   add _ torque ( )   \u5728 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u5185 \u65bd\u52a0 \u65cb\u8f6c \u529b \u3002   \u53c2\u6570 :   angular _ impulse   (   carla . Vector3D   -   degrees * s   )   -   \u5168\u5c40 \u5750\u6807 \u4e2d \u7684 \u89d2 \u51b2\u91cf \u77e2\u91cf \u3002   add _ force   (   self   ,   force   )   \u5728 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d28\u5fc3 \u5904 \u65bd\u52a0 \u529b \u3002 \u6b64 \u65b9\u6cd5 \u9002\u7528 \u4e8e \u5728 \u4e00\u5b9a \u65f6\u95f4 \u5185 \u65bd\u52a0 \u7684 \u529b \u3002 \u4f7f\u7528   add _ impulse ( )   \u65bd\u52a0 \u4ec5 \u6301\u7eed \u77ac\u95f4 \u7684 \u51b2\u91cf \u3002   \u53c2\u6570 :   force   (   carla . Vector3D   -   N   )   -   \u5168\u5c40 \u5750\u6807 \u4e2d \u7684 \u529b \u77e2\u91cf \u3002   add _ impulse   (   self   ,   impulse   )   \u5728 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d28\u5fc3 \u5904 \u65bd\u52a0 \u51b2\u91cf \u3002 \u6b64 \u65b9\u6cd5 \u9002\u7528 \u4e8e \u77ac\u65f6 \u529b \uff0c \u901a\u5e38 \u5e94\u7528 \u4e00\u6b21 \u3002 \u4f7f\u7528   add _ force ( )   \u5728 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u5185 \u65bd\u52a0 \u529b \u3002   \u53c2\u6570 :   impulse   (   carla . Vector3D   -   N * s   )   -   \u5168\u5c40 \u5750\u6807 \u4e2d \u7684 \u51b2\u91cf \u77e2\u91cf \u3002   add _ torque   (   self   ,   torque   )   \u5728 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d28\u5fc3 \u5904 \u5e94\u7528 \u626d\u77e9 \u3002 \u6b64 \u65b9\u6cd5 \u9002\u7528 \u4e8e \u5728 \u4e00\u5b9a \u65f6\u95f4 \u5185 \u65bd\u52a0 \u7684 \u626d\u77e9 \u3002 \u4f7f\u7528   add _ angular _ impulse ( )   \u65bd\u52a0 \u4ec5 \u6301\u7eed \u77ac\u95f4 \u7684 \u626d\u77e9 \u3002   \u53c2\u6570 :   torque   (   carla . Vector3D   -   \u5ea6   )   -   \u5168\u5c40 \u5750\u6807 \u4e2d \u7684 \u626d\u77e9 \u77e2\u91cf \u3002   destroy   (   self   )   \u544a\u8bc9 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u9500\u6bc1 \u8fd9\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5982\u679c \u6210\u529f \u5219   True   \u3002 \u5982\u679c \u5df2\u7ecf \u88ab \u7834\u574f \u5219 \u6ca1\u6709 \u4efb\u4f55 \u6548\u679c \u3002   \u8fd4\u56de :   bool   \u8b66\u544a :   T \u6b64 \u65b9\u6cd5 \u4f1a \u963b\u6b62 \u811a\u672c \uff0c \u76f4\u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5b8c\u6210 \u9500\u6bc1 \u4e3a\u6b62 \u3002   disable _ constant _ velocity   (   self   )   \u7981\u7528 \u4e4b\u524d \u4e3a   carla . Vehicle   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8bbe\u7f6e \u7684 \u4efb\u4f55 \u6052\u5b9a \u901f\u5ea6 \u3002   enable _ constant _ velocity   (   self   ,   velocity   )   \u5c06 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u77e2\u91cf \u8bbe\u7f6e \u4e3a \u968f \u65f6\u95f4 \u53d8\u5316 \u7684 \u6052\u5b9a \u503c \u3002 \u6240 \u5f97\u5230 \u7684 \u901f\u5ea6 \u5c06 \u8fd1\u4f3c \u8fd1\u4f3c\u4e8e   velocity   \u6240 \u8bbe\u7f6e \u7684 \u901f\u5ea6 \uff0c \u4e0e   set _ target _ velocity ( )   \u4e00\u6837 \u3002   \u53c2\u6570 :   velocity   (   carla . Vector3D   -   m / s   )   -   Velocity   vector   in   local   space .   \u6ce8\u610f :   \u53ea\u6709   carla . Vehicle   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \u3002   \u8b66\u544a :   \u4e3a   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7ba1\u7406 \u7684 \u8f66\u8f86 \u542f\u7528 \u6052\u5b9a \u901f\u5ea6 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u51b2\u7a81 \u3002 \u6b64 \u65b9\u6cd5 \u4f1a \u8986\u76d6 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5bf9 \u901f\u5ea6 \u7684 \u4efb\u4f55 \u66f4\u6539 \u3002   \u83b7\u53d6 \u5668   get _ acceleration   (   self   )   \u8fd4\u56de \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6700\u540e \u4e00\u4e2a tick \u671f\u95f4 \u6536\u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e09\u7ef4 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5411\u91cf \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de :   carla . Vector3D   -   m / s   2   get _ angular _ velocity   (   self   )   \u8fd4\u56de \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6700\u540e \u4e00\u4e2a tick \u671f\u95f4 \u63a5\u6536 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5411\u91cf \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   -   deg / s   get _ location   (   self   )   \u8fd4\u56de \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u4e0a \u4e00\u6b21 tick \u671f\u95f4 \u63a5\u6536 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de \uff1a   carla . Location   -   \u7c73   \u8bbe\u7f6e \u5668 :   carla . Actor . set _ location   get _ transform   (   self   )   \u8fd4\u56de \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6700\u540e \u4e00\u4e2a tick \u671f\u95f4 \u63a5\u6536 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u53d8\u6362 \uff08 \u4f4d\u7f6e \u548c \u65cb\u8f6c \uff09 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de :   carla . Transform   \u8bbe\u7f6e \u5668 :   carla . Actor . set _ transform   get _ velocity   (   self   )   \u8fd4\u56de \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6700\u540e \u4e00\u4e2a tick \u671f\u95f4 \u63a5\u6536 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u5411\u91cf \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   -   m / s   get _ world   (   self   )   \u8fd4\u56de \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240\u5c5e \u7684 \u4e16\u754c \u3002   \u8fd4\u56de :   carla . World   \u8bbe\u7f6e \u5668   set _ enable _ gravity   (   self   ,   enabled   )   \u542f\u7528 \u6216 \u7981\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u91cd\u529b \u3002   \u9ed8\u8ba4   \u4e3a   True \u3002   \u53c2\u6570 \uff1a   enabled   (   bool   )   set _ location   (   self   ,   location   )   \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f20\u9001 \u5230 \u7ed9\u5b9a \u4f4d\u7f6e \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   -   \u7c73   )   \u83b7\u53d6 \u5668 \uff1a   carla . Actor . get _ location   set _ simulate _ physics   (   self   ,   enabled   = True   )   \u542f\u7528 \u6216 \u7981\u7528 \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0a \u7684 \u7269\u7406 \u4eff\u771f \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff1a   enabled   (   bool   )   set _ target _ angular _ velocity   (   self   ,   angular _ velocity   )   \u8bbe\u7f6e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u77e2\u91cf \u3002 \u8fd9 \u662f \u5728 \u7269\u7406 \u6b65\u9aa4 \u4e4b\u524d \u5e94\u7528 \u7684 \uff0c \u56e0\u6b64 \u6700\u7ec8 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5c06 \u53d7\u5230 \u6469\u64e6 \u7b49 \u5916\u529b \u7684 \u5f71\u54cd \u3002   \u53c2\u6570 \uff1a   angular _ velocity   (   carla . Vector3D   -   deg / s   )   set _ target _ velocity   (   self   ,   velocity   )   \u8bbe\u7f6e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u5411\u91cf \u3002 \u8fd9 \u662f \u5728 \u7269\u7406 \u6b65\u9aa4 \u4e4b\u524d \u5e94\u7528 \u7684 \uff0c \u56e0\u6b64 \u6700\u7ec8 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5c06 \u53d7\u5230 \u6469\u64e6 \u7b49 \u5916\u529b \u7684 \u5f71\u54cd \u3002   \u53c2\u6570 \uff1a   velocity   (   carla . Vector3D   )   set _ transform   (   self   ,   transform   )   \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f20\u9001 \u5230 \u7ed9\u5b9a \u7684 \u53d8\u6362 \uff08 \u4f4d\u7f6e \u548c \u65cb\u8f6c \uff09 \u3002   \u53c2\u6570 \uff1a   transform   (   carla . Transform   )   \u83b7\u53d6 \u5668 \uff1a   carla . Actor . get _ transform   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . ActorAttribute   Carla   \u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u84dd \u56fe\u5e93 \uff0c \u53ef\u4ee5 \u901a\u8fc7   carla . BlueprintLibrary   \u8fdb\u884c \u8bbf\u95ee \u3002 \u6bcf\u4e2a \u84dd\u56fe \u90fd \u6709 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5185\u90e8 \u5b9a\u4e49 \u7684 \u5c5e\u6027 \u3002 \u5176\u4e2d \u4e00\u4e9b \u662f \u53ef\u4ee5 \u4fee\u6539 \u7684 \uff0c \u53e6 \u4e00\u4e9b \u4e00\u4e9b\u5219 \u662f \u4e0d\u53ef \u4fee\u6539 \u7684 \u3002 \u4e3a \u53ef \u8bbe\u7f6e \u7684 \u503c \u63d0\u4f9b \u4e86 \u63a8\u8350 \u63a8\u8350\u503c \u5217\u8868 \u3002   \u5b9e\u4f8b \u53d8\u91cf   id   (   str   )   \u5e93\u4e2d \u5c5e\u6027 \u7684 \u540d\u79f0 \u548c \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   is _ modifiable   (   bool   )   \u5982\u679c \u5c5e\u6027 \u7684 \u503c \u53ef\u4ee5 \u4fee\u6539 \uff0c \u5219 \u4e3a   True   \u3002   recommended _ values   (   list ( str )   )   \u8bbe\u8ba1 \u84dd\u56fe \u7684 \u4eba\u5458 \u5efa\u8bae \u7684 \u503c \u5217\u8868 \u3002   type   (   carla . ActorAttributeType   )   \u5c5e\u6027 \u7684 \u53c2\u6570 \u7c7b\u578b \u3002   \u65b9\u6cd5   as _ bool   (   self   )   \u5c06 \u5c5e\u6027 \u8bfb\u53d6 \u4e3a \u5e03\u5c14 \u5e03\u5c14\u503c \u3002   as _ color   (   self   )   \u5c06 \u5c5e\u6027 \u8bfb\u53d6 \u4e3a   carla . Color   \u3002   as _ float   (   self   )   \u5c06 \u5c5e\u6027 \u8bfb\u53d6 \u4e3a \u6d6e\u70b9 \u578b \u3002   as _ int   (   self   )   \u5c06 \u5c5e\u6027 \u8bfb\u53d6 \u4e3a   int \u3002   as _ str   (   self   )   \u5c06 \u5c5e\u6027 \u8bfb\u53d6 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   \u9b54\u672f \u65b9\u6cd5   __ bool __   (   self   )   __ eq __   (   self   ,   other   = bool   /   int   /   float   /   str   /   carla . Color   /   carla . ActorAttribute   )   \u5982\u679c \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5c5e\u6027   \u548c   other   \u76f8\u540c \uff0c \u5219 \u8fd4\u56de   true \u3002   \u8fd4\u56de \uff1a   bool   __ float __   (   self   )   __ int __   (   self   )   __ ne __   (   self   ,   other   = bool   /   int   /   float   /   str   /   carla . Color   /   carla . ActorAttribute   )   \u5982\u679c \u6b64   actor   \u7684 \u5c5e\u6027 \u548c   other   \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de   true \u3002   \u8fd4\u56de \uff1a   bool   __ nonzero __   (   self   )   \u5982\u679c \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5c5e\u6027 \u4e0d\u4e3a \u96f6 \u6216   null \uff0c \u5219 \u8fd4\u56de   true \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )   carla . ActorAttributeType   Carla   \u5728   carla . BlueprintLibrary   \u4e2d\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u84dd \u56fe\u5e93 \uff0c \u6bcf\u4e2a \u84dd\u56fe \u5177\u6709 \u4e0d\u540c \u7684 \u5c5e\u6027 \u3002 \u6b64\u7c7b \u5c06   carla . ActorAttribute   \u4e2d \u7684 \u7c7b\u578b \u5b9a\u4e49 \u7c7b\u578b\u5b9a\u4e49 \u4e3a \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u679a\u4e3e \u3002 \u6240\u6709 \u8fd9\u4e9b \u4fe1\u606f \u5747 \u5728 \u5185\u90e8 \u7ba1\u7406 \uff0c \u5e76 \u5728 \u6b64\u5904 \u5217\u51fa \uff0c \u4ee5\u4fbf \u66f4\u597d \u5730 \u7406\u89e3   Carla   \u7684 \u5de5\u4f5c \u539f\u7406 \u3002   \u5b9e\u4f8b \u53d8\u91cf   Bool   Int   Float   String   RGBColor   carla . ActorBlueprint   Carla   \u4e3a   Actor   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u84dd \u56fe\u5e93 \uff0c \u53ef\u4ee5 \u901a\u8fc7   carla . BlueprintLibrary   \u8fdb\u884c \u67e5\u9605 \u3002 \u5176\u4e2d \u6bcf \u4e00\u4e2a \u90fd \u5305\u542b \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u548c \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u53ef\u4ee5 \u4fee\u6539 \u6216 \u4e0d\u53ef \u4fee\u6539 \u7684 \u5c5e\u6027 \u3002 \u8be5\u7c7b \u662f \u5e93 \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u521b\u5efa \u4e4b\u95f4 \u7684 \u4e2d\u95f4 \u6b65\u9aa4 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u9700\u8981 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u84dd\u56fe \u624d\u80fd \u4ea7\u751f \u3002 \u8fd9\u4e9b \u5c06 \u6240\u8ff0 \u84dd\u56fe \u7684 \u4fe1\u606f \u53ca\u5176 \u5c5e\u6027 \u548c \u4e00\u4e9b \u6807\u7b7e \u5b58\u50a8 \u5728 \u5bf9\u8c61 \u4e2d\u4ee5 \u5bf9 \u5176 \u8fdb\u884c \u5206\u7c7b \u3002 \u7136\u540e \uff0c \u7528\u6237 \u53ef\u4ee5 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4e00\u4e9b \u5c5e\u6027 \u5e76 \u6700\u7ec8 \u901a\u8fc7   carla . World   \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u5b9e\u4f8b \u53d8\u91cf   id   (   str   )   \u5e93\u5185 \u6240\u8ff0 \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002 \u4f8b\u5982   walker . pedestrian.0001   \u3002   tags   (   list ( str )   )   \u6bcf\u4e2a \u84dd\u56fe \u5177\u6709 \u7684 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63cf\u8ff0 \u5b83\u4eec \u7684 \u6807\u7b7e \u5217\u8868 \u3002 \u4f8b\u5982   [ ' 0001 ' ,   ' pedestrian ' ,   ' walker ' ]   \u3002   \u65b9\u6cd5   has _ attribute   (   self   ,   id   )   \u5982\u679c \u84dd\u56fe \u5305\u542b \u8be5   id   \u5c5e\u6027 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u53c2\u6570 \uff1a   id   (   str   )   -   \u4f8b\u5982   gender   \u5c06 \u4e3a \u884c\u4eba \u7684 \u84dd\u56fe \u8fd4\u56de   True   \u3002   \u8fd4\u56de \uff1a   bool   has _ tag   (   self   ,   tag   )   \u5982\u679c \u84dd\u56fe \u5df2 \u5217\u51fa \u6307\u5b9a   tag   \u7684 \u5185\u5bb9 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u53c2\u6570 \uff1a   tag   (   str   )   -   \u4f8b\u5982 \uff1a   ' walker ' \u3002   \u8fd4\u56de \uff1a   bool   match _ tags   (   self   ,   wildcard _ pattern   )   \u5982\u679c \u4e3a\u6b64 \u84dd\u56fe \u5217\u51fa \u7684 \u4efb\u4f55 \u6807\u8bb0 \u5339\u914d   wildcard _ pattern   \uff0c \u5219 \u8fd4\u56de   True   \u3002 \u5339\u914d \u9075\u5faa   fnmatch   \u6807\u51c6 \u3002   \u53c2\u6570 \uff1a   wildcard _ pattern   (   str   )   \u8fd4\u56de \uff1a   bool   \u83b7\u53d6 \u5668   get _ attribute   (   self   ,   id   )   \u8fd4\u56de \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5c5e\u6027 \u4ee5\u53ca   id   \u6807\u8bc6 \u6807\u8bc6\u7b26 \uff08 \u5982\u679c \u5b58\u5728 \uff09 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff1a   id   (   str   )   \u8fd4\u56de \uff1a   carla . ActorAttribute   \u8bbe\u7f6e \u5668 \uff1a   carla . ActorBlueprint . set _ attribute   \u8bbe\u7f6e \u5668   set _ attribute   (   self   ,   id   ,   value   )   snippet   \u2192   \u5982\u679c   id   \u5c5e\u6027 \u662f \u53ef \u4fee\u6539 \u7684 \uff0c \u5c06 \u5176\u503c \u6539\u4e3a   value   \u3002   \u53c2\u6570 \uff1a   id   (   str   )   -   \u8981 \u66f4\u6539 \u5c5e\u6027 \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   value   (   str   )   -   \u6240\u8ff0 \u5c5e\u6027 \u7684 \u65b0\u503c \u3002   \u83b7\u53d6 \u5668 \uff1a   carla . ActorBlueprint . get _ attribute   Dunder   \u65b9\u6cd5   __ iter __   (   self   )   \u5728 \u84dd\u56fe \u6709 \u7684   carla . ActorAttribute   \u4e4b\u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   \u8fd4\u56de \u6b64 \u84dd\u56fe \u7684 \u5c5e\u6027 \u6570\u91cf \u3002   __ str __   (   self   )   carla . ActorList   \u4e00\u4e2a \u7c7b \uff0c \u5b83 \u5305\u542b \u73b0\u573a \u51fa\u73b0 \u7684 \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e76 \u63d0\u4f9b \u5bf9 \u4ed6\u4eec \u7684 \u8bbf\u95ee \u3002 \u8be5 \u5217\u8868 \u7531 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u81ea\u52a8 \u521b\u5efa \u548c \u66f4\u65b0 \uff0c \u53ef\u4ee5 \u4f7f\u7528   carla . World   \u8fd4\u56de \u3002   \u65b9\u6cd5   filter   (   self   ,   wildcard _ pattern   )   \u7b5b\u9009 \u5339\u914d   wildcard _ pattern   \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \uff0c \u4ee5 \u5bf9\u6297 \u53d8\u91cf   type _ id   ( \u5b83 \u6807\u8bc6 \u7528\u4e8e \u751f\u6210 \u5b83\u4eec \u7684 \u84dd\u56fe ) \u3002 \u5339\u914d \u9075\u5faa   fnmatch   \u6807\u51c6 \u3002   \u53c2\u6570 \uff1a   wildcard _ pattern   (   str   )   \u8fd4\u56de \uff1a   list   find   (   self   ,   actor _ id   )   \u4f7f\u7528 \u5176 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u67e5\u627e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e76 \u8fd4\u56de \u5b83 \uff0c \u5982\u679c \u4e0d \u5b58\u5728 \u5219 \u8fd4\u56de   None   \u3002   \u53c2\u6570 \uff1a   actor _ id   (   int   )   \u8fd4\u56de \uff1a   carla . Actor   Dunder   \u65b9\u6cd5   __ getitem __   (   self   ,   pos   = int   )   \u8fd4\u56de \u4e0e \u5217\u8868 \u4e2d   pos   \u4f4d\u7f6e \u76f8\u5bf9 \u5e94 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8fd4\u56de \uff1a   carla . Actor   __ iter __   (   self   )   \u5728 \u5305\u542b   carla . Actor   \u7684 \u5217\u8868 \u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   \u8fd4\u56de \u5217\u51fa \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6570\u91cf \u3002   \u8fd4\u56de \uff1a   int   __ str __   (   self   )   \u5728 \u5217\u51fa \u7684 \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0a \u89e3\u6790 ID \u3002   \u8fd4\u56de \uff1a   str   carla . ActorSnapshot   \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u7279\u5b9a \u65f6\u523b \u7684 \u6240\u6709 \u4fe1\u606f \u7684 \u7c7b \u3002 \u8fd9\u4e9b \u5bf9\u8c61 \u5305\u542b \u5728   carla . WorldSnapshot   \u4e2d \uff0c \u5e76 \u5728 \u6bcf\u4e2a \u65f6\u949f \u5468\u671f \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e00\u6b21 \u3002   \u5b9e\u4f8b \u53d8\u91cf   id   (   int   )   \u5feb\u7167 \u672c\u8eab \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   \u65b9\u6cd5   \u83b7\u53d6 \u5668   get _ acceleration   (   self   )   \u8fd4\u56de \u5728 \u8be5 tick \u4e2d\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ce8\u518c \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   -   m / s   2   get _ angular _ velocity   (   self   )   \u8fd4\u56de \u4e3a \u8be5 tick \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ce8\u518c \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   -   rad / s   get _ transform   (   self   )   \u8fd4\u56de \u8be5   tick   \u4e2d \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53d8\u6362 \uff08 \u4f4d\u7f6e \u548c \u65cb\u8f6c \uff09 \u3002   \u8fd4\u56de \uff1a   carla . Transform   get _ velocity   (   self   )   \u8fd4\u56de \u5728 \u8be5 tick \u4e2d\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ce8\u518c \u7684 \u901f\u5ea6 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   -   m / s   carla . ActorState   \u5b9a\u4e49 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u72b6\u6001 \u7684 \u7c7b \u3002   \u5b9e\u4f8b \u53d8\u91cf   Invalid   \u5982\u679c \u51fa\u73b0 \u95ee\u9898 \uff0c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c31\u662f \u65e0\u6548 \u7684 \u3002   Active   \u5f53 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u89c6 \u53ef\u89c6\u5316 \u5e76\u4e14 \u53ef\u4ee5 \u5f71\u54cd \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \uff0c \u5b83 \u5c31\u662f \u6d3b\u8dc3 \u7684 \u3002   Dormant   \u5f53 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0d \u88ab \u53ef\u89c6 \u53ef\u89c6\u5316 \u5e76\u4e14 \u4e0d\u4f1a \u901a\u8fc7 \u7269\u7406 \u5f71\u54cd \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \uff0c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c31 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002 \u4f8b\u5982 \uff0c \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f4d\u4e8e \u5927 \u5730\u56fe \u4e2d \u5df2 \u5378\u8f7d \u7684 \u56fe\u5757 \u4e0a \uff0c \u5219 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002   carla . AttachmentType   \u5b9a\u4e49 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0e \u5176\u7236 \u7ea7 \u4e4b\u95f4 \u7684 \u9644\u4ef6 \u9009\u9879 \u7684 \u7c7b \u3002 \u5f53 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \uff0c \u5b83\u4eec \u53ef\u4ee5 \u9644\u52a0 \u5230 \u53e6 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0a \uff0c \u8fd9\u6837 \u5b83\u4eec \u7684 \u4f4d\u7f6e \u5c31 \u4f1a \u76f8\u5e94 \u6539\u53d8 \u3002 \u8fd9 \u5bf9\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7279\u522b \u6709\u7528 \u3002   carla . World . spawn _ actor   \u4e2d \u7684 \u7247\u6bb5 \u663e\u793a \u4e86 \u4e00\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u751f\u6210 \u65f6 \u8fde\u63a5 \u5230 \u6c7d\u8f66 \u4e0a \u3002 \u8bf7 \u6ce8\u610f \uff0c \u9644\u4ef6 \u7c7b\u578b \u5728 \u7c7b \u4e2d \u58f0\u660e \u4e3a \u679a\u4e3e \u3002   \u5b9e\u4f8b \u53d8\u91cf   Rigid   \u901a\u8fc7 \u6b64 \u56fa\u5b9a \u9644\u4ef6 \uff0c \u5bf9\u8c61 \u4e25\u683c \u9075\u5faa \u5176\u7236 \u4f4d\u7f6e \u3002 \u8fd9\u662f \u63a8\u8350 \u7684 \u9644\u4ef6 \uff0c \u7528\u4e8e \u4ece \u4eff\u771f \u4e2d \u68c0\u7d22 \u7cbe\u786e \u6570\u636e \u3002   SpringArm   \u4e00\u79cd \u9644\u4ef6 \uff0c \u53ef \u6839\u636e \u5176\u7236 \u7ea7 \u6269\u5c55 \u6216 \u7f29\u56de \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u3002 \u4ec5 \u5efa\u8bae \u5728 \u9700\u8981 \u5e73\u6ed1 \u8fd0\u52a8 \u7684 \u4eff\u771f \u4e2d \u5f55\u5236 \u89c6\u9891 \u65f6 \u4f7f\u7528 \u6b64 \u9644\u4ef6 \u3002 SpringArms   \u662f \u4e00\u4e2a \u865a\u5e7b \u5f15\u64ce \u7ec4\u4ef6 \uff0c \u56e0\u6b64   check   the   UE   \u6587\u6863   \u4ee5 \u4e86\u89e3 \u6709\u5173 \u5b83\u4eec \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u8b66\u544a \uff1a   \u5f53 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 Z \u8f74\u4e0a \u4ea7\u751f \u76f8\u5bf9 \u5e73\u79fb \u65f6 \uff0c   SpringArm   \u9644\u4ef6 \u5448\u73b0 \u73b0\u51fa \u5448\u73b0\u51fa \u5947\u602a \u7684 \u884c\u4e3a \u3002 \uff08 \u6bd4\u5982 \uff1a   child _ location   =   Location ( 0 , 0 , 2 )   \uff09 \u3002   SpringArmGhost   \u4e00\u4e2a \u4e0e \u524d \u4e00\u4e2a \u7c7b\u4f3c \u7684 \u9644\u4ef6 \uff0c \u4f46 \u5b83 \u4e0d\u4f1a \u8fdb\u884c \u78b0\u649e \u6d4b\u8bd5 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u5b83 \u4e0d\u4f1a \u6269\u5c55 \u6216 \u6536\u7f29 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u3002   ghost   \u4e00\u8bcd \u56e0\u4e3a \u662f\u56e0\u4e3a \u8fd9\u6837 \u76f8\u673a \u5c31 \u53ef\u4ee5 \u7a7f\u8fc7 \u5899\u58c1 \u548c \u5176\u4ed6 \u51e0\u4f55 \u5f62\u72b6 \u3002 \u6b64 \u9644\u4ef6 \u4ec5 \u5efa\u8bae \u7528\u4e8e \u5f55\u5236 \u9700\u8981 \u5e73\u6ed1 \u79fb\u52a8 \u7684 \u4eff\u771f \u89c6\u9891 \u3002 SpringArms   \u662f \u4e00\u4e2a \u865a\u5e7b \u5f15\u64ce \u7ec4\u4ef6 \uff0c \u8bf7   \u67e5\u770b \u865a\u5e7b \u5f15\u64ce \u6587\u6863   \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u8b66\u544a \uff1a   \u5f53 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 Z \u8f74\u4e0a \u4ea7\u751f \u76f8\u5bf9 \u5e73\u79fb \u65f6 \uff0c   SpringArm   \u9644\u4ef6 \u4f1a \u51fa\u73b0 \u5947\u602a \u7684 \u884c\u4e3a \uff08 \u6bd4\u5982   child _ location   =   Location ( 0 , 0 , 2 )   \uff09 \u3002   carla . BlueprintLibrary   \u5305\u542b \u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u751f\u6210 \u63d0\u4f9b \u7684 \u84dd\u56fe \u7684 \u7c7b \u3002 \u5b83 \u7684 \u4e3b\u8981 \u5e94\u7528 \u662f \u8fd4\u56de \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240 \u9700 \u7684   carla . ActorBlueprint   \u5bf9\u8c61 \u3002 \u6bcf\u4e2a \u84dd\u56fe \u90fd \u6709 \u4e00\u4e2a \u6807\u8bc6 \u6807\u8bc6\u7b26 \u548c \u5c5e\u6027 \uff0c \u8fd9\u4e9b \u5c5e\u6027 \u53ef\u80fd \u662f \u53ef \u4fee\u6539 \u7684 \uff0c \u4e5f \u53ef\u80fd \u662f \u4e0d\u53ef \u4fee\u6539 \u7684 \u3002 \u8be5\u5e93 \u7531 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u81ea\u52a8 \u521b\u5efa \uff0c \u53ef\u4ee5 \u901a\u8fc7   carla . World   \u8bbf\u95ee \u3002   \u8fd9   \u662f \u5305\u542b \u6bcf\u4e2a \u53ef\u7528 \u84dd\u56fe \u53ca\u5176 \u7ec6\u8282 \u7684 \u53c2\u8003 \u3002   \u65b9\u6cd5   filter   (   self   ,   wildcard _ pattern   )   \u6839\u636e \u6b64\u5e93 \u4e2d \u5305\u542b \u7684 \u6bcf\u4e2a \u84dd\u56fe \u7684 id \u548c \u6807\u8bb0 \u8fc7\u6ee4 \u4e0e \u901a\u914d\u7b26 \u6a21\u5f0f   wildcard _ pattern   \u5339\u914d \u7684 \u84dd\u56fe \u5217\u8868 \uff0c \u5e76 \u5c06 \u7ed3\u679c \u4f5c\u4e3a \u65b0 \u7684 \u7ed3\u679c \u8fd4\u56de \u3002 \u5339\u914d \u9075\u5faa   fnmatch   \u6807\u51c6 \u3002   \u53c2\u6570 \uff1a   wildcard _ pattern   (   str   )   \u8fd4\u56de \uff1a   carla . BlueprintLibrary   filter _ by _ attribute   (   self   ,   name   ,   value   )   \u6839\u636e \u6b64\u5e93 \u4e2d \u5305\u542b \u7684 \u6bcf\u4e2a \u84dd\u56fe \uff0c \u7b5b\u9009 \u5177\u6709 \u4e0e\u503c   value   \u5339\u914d \u7684 \u7ed9\u5b9a \u5c5e\u6027 \u7684 \u84dd\u56fe \u5217\u8868 \uff0c \u5e76 \u5c06 \u7ed3\u679c \u4f5c\u4e3a \u65b0 \u7684 \u7ed3\u679c \u8fd4\u56de \u3002 \u5339\u914d \u9075\u5faa   fnmatch   \u6807\u51c6 \u3002   \u53c2\u6570 \uff1a   name   (   str   )   value   (   str   )   \u8fd4\u56de \uff1a   carla . BlueprintLibrary   find   (   self   ,   id   )   \u8fd4\u56de \u4e0e \u8be5 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u5bf9\u5e94 \u7684 \u84dd\u56fe \u3002   \u53c2\u6570 \uff1a   id   (   str   )   \u8fd4\u56de \uff1a   carla . ActorBlueprint   Dunder   \u65b9\u6cd5   __ getitem __   (   self   ,   pos   = int   )   \u8fd4\u56de \u5b58\u50a8 \u5728 \u5305\u542b \u84dd\u56fe \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u5185   pos   \u4f4d\u7f6e \u7684 \u84dd\u56fe \u3002   \u8fd4\u56de :   carla . ActorBlueprint   __ iter __   (   self   )   \u5728 \u5b58\u50a8 \u5e93   carla . ActorBlueprint   \u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   \u8fd4\u56de \u6784\u6210 \u5e93 \u7684 \u84dd\u56fe \u6570\u91cf \u3002   \u8fd4\u56de \uff1a   int   __ str __   (   self   )   \u89e3\u6790 \u8981 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5316 \u7684 \u6bcf\u4e2a \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   \u8fd4\u56de \uff1a   string   carla . BoundingBox   \u8fb9\u754c \u6846 \u5305\u542b \u573a\u666f \u4e2d \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5143\u7d20 \u7684 \u51e0\u4f55 \u51e0\u4f55\u4f53 \u3002 \u5b83\u4eec \u53ef\u4ee5 \u88ab   carla . DebugHelper   \u6216   carla . Client   \u7528\u4e8e \u7ed8\u5236 \u5b83\u4eec \u7684 \u5f62\u72b6 \u4ee5 \u8fdb\u884c \u8c03\u8bd5 \u3002 \u770b\u770b   carla . DebugHelper . draw _ box   \uff0c \u5176\u4e2d \u4f7f\u7528 \u4e16\u754c \u5feb\u7167 \u7ed8\u5236 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u8fb9\u754c \u6846 \u3002   \u5b9e\u4f8b \u53d8\u91cf   extent   (   carla . Vector3D   -   \u7c73   )   \u4ece \u957f\u65b9 \u957f\u65b9\u4f53 \u4e2d\u5fc3 \u5230 \u4e00\u4e2a \u9876\u70b9 \u7684 \u77e2\u91cf \u3002 \u6bcf\u4e2a \u8f74\u4e2d \u7684 \u503c \u7b49\u4e8e \u8be5\u8f74\u6846 \u5927\u5c0f \u7684 \u4e00\u534a \u3002   extent . x   *   2   \u5c06 \u8fd4\u56de \u6846\u5728 x \u8f74\u4e0a \u7684 \u5927\u5c0f \u3002   location   (   carla . Location   -   \u7c73   )   \u8fb9\u754c \u6846 \u7684 \u4e2d\u5fc3 \u3002   rotation   (   carla . Rotation   )   \u8fb9\u754c \u6846 \u7684 \u671d\u5411 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   location   ,   extent   )   \u53c2\u6570 \uff1a   location   (   carla . Location   )   -   \u76f8\u5bf9 \u4e8e \u5176\u7236 \u6846 \u7684 \u4e2d\u5fc3 \u3002   extent   (   carla . Vector3D   -   \u7c73   )   -   \u5305\u542b \u6bcf\u4e2a \u8f74 \u7684 \u957f\u65b9 \u957f\u65b9\u4f53 \u5927\u5c0f \u7684 \u4e00\u534a \u7684 \u77e2\u91cf \u3002   contains   (   self   ,   world _ point   ,   transform   )   \u5982\u679c \u5728 \u4e16\u754c \u7a7a\u95f4 \u4e2d \u4f20\u9012 \u7684 \u70b9 \u5728 \u6b64 \u8fb9\u754c \u6846\u5185 \uff0c \u5219 \u8fd4\u56de   True   \u3002   Parameters :   world _ point   (   carla . Location   -   \u7c73   )   -   \u8981 \u68c0\u67e5 \u7684 \u4e16\u754c \u7a7a\u95f4 \u4e2d \u7684 \u70b9 \u3002   transform   (   carla . Transform   )   -   \u5305\u542b \u5c06 \u6b64 \u5bf9\u8c61 \u7684 \u5c40\u90e8 \u7a7a\u95f4 \u8f6c\u6362 \u4e3a \u4e16\u754c \u7a7a\u95f4 \u6240 \u9700 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   \u8fd4\u56de \uff1a   bool   \u83b7\u53d6 \u5668   get _ local _ vertices   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u8be5 \u5bf9\u8c61 \u7684 \u9876\u70b9 \u5728 \u5c40\u90e8 \u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u3002   \u8fd4\u56de \uff1a   list (   carla . Location   )   get _ world _ vertices   (   self   ,   transform   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u8be5 \u5bf9\u8c61 \u7684 \u9876\u70b9 \u5728 \u4e16\u754c \u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u3002   \u53c2\u6570 \uff1a   transform   (   carla . Transform   )   -   \u5305\u542b \u5c06 \u6b64 \u5bf9\u8c61 \u7684 \u672c\u5730 \u7a7a\u95f4 \u8f6c\u6362 \u4e3a \u4e16\u754c \u7a7a\u95f4 \u6240 \u9700 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   \u8fd4\u56de \uff1a   list (   carla . Location   )   Dunder   \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . BoundingBox   )   \u5982\u679c \u6b64 \u548c \u53e6 \u4e00\u4e2a   other   \u7684 \u4f4d\u7f6e \u548c \u8303\u56f4 \u76f8\u7b49 \uff0c \u5219 \u8fd4\u56de true \u3002   \u8fd4\u56de \uff1a   bool   __ ne __   (   self   ,   other   =   carla . BoundingBox   )   \u5982\u679c \u6b64 \u548c \u5176\u4ed6   other   \u7684 \u4f4d\u7f6e \u6216 \u8303\u56f4 \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de true \u3002   \u8fd4\u56de \uff1a   bool   __ str __   (   self   )   \u5c06 \u8fb9\u754c \u6846 \u7684 \u4f4d\u7f6e \u548c \u8303\u56f4 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   \u8fd4\u56de \uff1a   str   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . CAMEvent   \u7ee7\u627f \u81ea   carla . SensorData   \u5b9a\u4e49   sensor . other . v2x   \u63d0\u4f9b \u7684 \u6570\u636e \u7684 \u7c7b \u3002 \u8fd9\u662f \u4e00\u79cd \u96c6\u5408 \u7c7b\u578b \uff0c \u7528\u4e8e \u7ec4\u5408 \u8fd4\u56de \u591a\u4e2a   CAMData   \u3002   \u65b9\u6cd5   \u83b7\u53d6 \u5668   get _ message _ count   (   self   )   \u83b7\u53d6 \u63a5\u53d7 \u5230 \u7684   CAM   \u6570\u91cf \u3002   \u8fd4\u56de \uff1a   int   \u9b54\u672f \u65b9\u6cd5   __ get _ item __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728 \u83b7\u53d6 \u5230 \u7684   CAMData   \u6570\u636e \u4e0a \u8fed\u4ee3 \u3002   __ len __   (   self   )   carla . CityObjectLabel   \u5305\u542b \u53ef \u7528\u4e8e \u8fc7\u6ee4   carla . World . get _ level _ bbs   ( )   \u8fd4\u56de \u7684 \u8fb9\u754c \u6846 \u7684 \u4e0d\u540c \u6807\u7b7e \u7684 \u679a\u4e3e \u58f0\u660e \u3002 \u8fd9\u4e9b \u503c \u5bf9\u5e94 \u4e8e \u573a\u666f \u4e2d \u5143\u7d20 \u6240 \u5177\u6709 \u7684   \u8bed\u4e49 \u6807\u7b7e   \u3002   \u5b9e\u4f8b \u53d8\u91cf   None   Buildings   Fences   Other   Pedestrians   Poles   RoadLines   Roads   Sidewalks   TrafficSigns   Vegetation   Vehicles   Walls   Sky   Ground   Bridge   RailTrack   GuardRail   TrafficLight   Static   Dynamic   Water   Terrain   Any   carla . Client   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06   Carla   \u8fde\u63a5 \u5230 \u8fd0\u884c \u4eff\u771f \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u90fd \u5305\u542b   Carla   \u5e93   ( libcarla ) \uff0c \u4f46 \u5b58\u5728 \u4e00\u4e9b \u5dee\u5f02 \uff0c \u5141\u8bb8 \u5b83\u4eec \u4e4b\u95f4 \u8fdb\u884c \u901a\u4fe1 \u3002 \u53ef\u4ee5 \u521b\u5efa \u8bb8\u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u6bcf\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u90fd \u4f1a \u8fde\u63a5 \u5230 \u4eff\u771f \u5185 \u7684   RPC   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4ee5 \u53d1\u9001 \u547d\u4ee4 \u3002 \u4eff\u771f \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u8fd0\u884c \u3002 \u4e00\u65e6 \u5efa\u7acb \u8fde\u63a5 \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06 \u4ec5 \u63a5\u6536 \u4ece \u4eff\u771f \u68c0\u7d22 \u7684 \u6570\u636e \u3002 \u884c\u4eba \u662f \u4f8b\u5916 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8d1f\u8d23 \u7ba1\u7406 \u8d1f\u8d23\u7ba1\u7406 \u884c\u4eba \uff0c \u56e0\u6b64 \uff0c \u5982\u679c \u60a8 \u4e0e \u591a\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e00\u8d77 \u8fd0\u884c \u4eff\u771f \uff0c \u53ef\u80fd \u4f1a \u51fa\u73b0 \u4e00\u4e9b \u95ee\u9898 \u3002 \u4f8b\u5982 \uff0c \u5982\u679c \u60a8 \u901a\u8fc7 \u4e0d\u540c \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u751f\u6210 \u884c\u4eba \uff0c \u5219 \u53ef\u80fd \u4f1a \u53d1\u751f \u51b2\u7a81 \u53d1\u751f\u51b2\u7a81 \uff0c \u56e0\u4e3a \u6bcf\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ea \u77e5\u9053 \u5b83 \u8d1f\u8d23 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd8 \u5177\u6709 \u8bb0\u5f55 \u529f\u80fd \uff0c \u53ef\u4ee5 \u5728 \u8fd0\u884c \u4eff\u771f \u65f6 \u4fdd\u5b58 \u4eff\u771f \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u8fd9 \u4f7f\u5f97 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53ef\u4ee5 \u968f\u610f \u91cd\u653e \u91cd\u653e\u4ee5 \u83b7\u53d6 \u53d6\u4fe1 \u4fe1\u606f \u83b7\u53d6\u4fe1\u606f \u5e76 \u8fdb\u884c \u5b9e\u9a8c \u3002   \u4ee5\u4e0b   \u662f \u6709\u5173 \u5982\u4f55 \u4f7f\u7528 \u6b64 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u7684 \u4e00\u4e9b \u4fe1\u606f \u3002   \u65b9\u6cd5   __ init __   (   self   ,   host   = 127.0 . 0.1   ,   port   = 2000   ,   worker _ threads   = 0   )   snippet   \u2192   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6784\u9020 \u5668 \u3002   \u53c2\u6570 \uff1a   host   (   str   )   -   \u8fd0\u884c Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5b9e\u4f8b \u7684 \u5730\u5740 IP\u5730\u5740 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a localhost \uff08 127.0 . 0.1 \uff09 \u3002   port   (   int   )   -   \u8fd0\u884c Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5b9e\u4f8b \u7684 TCP \u7aef\u53e3 \u3002 \u9ed8\u8ba4 \u4e3a   2000   \u548c \u968f\u540e \u7684 2001   \u3002   worker _ threads   (   int   )   -   \u7528\u4e8e \u540e\u53f0 \u66f4\u65b0 \u7684 \u5de5\u4f5c \u7ebf\u7a0b \u6570 \u3002 \u5982\u679c \u4e3a   0 \uff0c \u5219 \u4f7f\u7528 \u6240\u6709 \u53ef\u7528 \u7684 \u5e76\u53d1 \u6027 \u3002   apply _ batch   (   self   ,   commands   )   \u5728 \u5355\u4e2a \u4eff\u771f \u6b65\u4e0a \u6267\u884c \u547d\u4ee4 \u6267\u884c\u547d\u4ee4 \u5217\u8868 \uff0c \u4e0d \u68c0\u7d22 \u4efb\u4f55 \u4fe1\u606f \u3002 \u5982\u679c \u9700\u8981 \u6709\u5173 \u6bcf\u4e2a \u547d\u4ee4 \u7684 \u54cd\u5e94 \u7684 \u4fe1\u606f \uff0c \u8bf7 \u4f7f\u7528   apply _ batch _ sync ( )   \u65b9\u6cd5 \u3002   \u4e0b\u9762   \u662f \u4e00\u4e2a \u5173\u4e8e \u5982\u4f55 \u5220\u9664   Carla   \u4e2d \u51fa\u73b0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u793a\u4f8b \u3002 \u4e00\u6b21 \u5217\u51fa \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005   carla . ActorList   \u3002   \u53c2\u6570 \uff1a   commands   (   list   )   -   \u8981 \u6279\u91cf \u6267\u884c \u7684 \u547d\u4ee4 \u5217\u8868 \u3002 \u6bcf\u4e2a \u547d\u4ee4 \u90fd \u4e0d\u540c \uff0c \u5e76\u4e14 \u6709 \u81ea\u5df1 \u7684 \u53c2\u6570 \u3002 \u5b83\u4eec \u663e\u793a \u5728 \u6b64 \u9875\u9762 \u5e95\u90e8 \u5217\u51fa \u3002   apply _ batch _ sync   (   self   ,   commands   ,   due _ tick _ cue   = False   )   snippet   \u2192   \u5728 \u5355\u4e2a \u4eff\u771f \u6b65\u4e0a \u6267\u884c \u547d\u4ee4 \u6267\u884c\u547d\u4ee4 \u5217\u8868 \uff0c \u963b\u6b62 \u76f4\u5230 \u547d\u4ee4 \u94fe\u63a5 \uff0c \u5e76 \u8fd4\u56de   command . Response   \u5217\u8868 \u3002 \u53ef \u7528\u4e8e \u786e\u5b9a \u5355\u4e2a \u547d\u4ee4 \u662f\u5426 \u6210\u529f \u7684 \u54cd\u5e94 \u3002   \u4e0b\u9762   \u662f \u4e00\u4e2a \u7528\u6765 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f8b\u5b50 \u3002   \u53c2\u6570 \uff1a   commands   (   list   )   -   \u8981 \u6279\u91cf \u6267\u884c \u7684 \u547d\u4ee4 \u5217\u8868 \u3002 \u53ef\u7528 \u7684 \u547d\u4ee4 \u5217 \u5728 \u65b9\u6cd5   apply _ batch ( )   \u7684 \u6b63\u4e0a \u4e0a\u65b9 \u6b63\u4e0a\u65b9 \u3002   due _ tick _ cue   (   bool   )   -   \u4e00\u4e2a \u5e03\u5c14 \u53c2\u6570 \uff0c \u7528\u4e8e \u6307\u5b9a \u662f\u5426 \u6267\u884c   Carla \u3002 \u5728   \u540c\u6b65 \u6a21\u5f0f   \u4e0b \u5e94\u7528 \u5904\u7406 \u6279\u5904\u7406 \u540e \u8fdb\u884c   carla . World . tick   \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u4e3a   False   \u3002   \u8fd4\u56de \uff1a   list ( command . Response )   generate _ opendrive _ world   (   self   ,   opendrive   ,   parameters   = ( 2.0 ,   50.0 ,   1.0 ,   0.6 ,   true ,   true )   ,   reset _ settings   = True   )   \u4f7f\u7528 \u4ece OpenDRIVE \u6587\u4ef6 \u7684 \u5185\u5bb9 \u751f\u6210 \u7684 \u57fa\u672c \u4e09\u7ef4 \u62d3\u6251 \u52a0\u8f7d \u4e16\u754c \u65b0\u4e16\u754c \u3002 \u6b64 \u5185\u5bb9 \u4f5c\u4e3a   string   \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u3002 \u5b83 \u7c7b\u4f3c \u4e8e   client . load _ world ( map _ name )   \uff0c \u4f46 \u5141\u8bb8 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 OpenDRIVE \u6620\u5c04 \u3002 \u6c7d\u8f66 \u53ef\u4ee5 \u5728 \u5730\u56fe \u4e0a \u884c\u9a76 \uff0c \u4f46 \u9664\u4e86 \u9053\u8def \u548c \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u4e4b\u5916 \uff0c \u6ca1\u6709 \u4efb\u4f55 \u56fe\u5f62 \u3002   \u53c2\u6570 \uff1a   opendrive   (   str   )   -   OpenDRIVE \u6587\u4ef6 \u7684 \u5185\u5bb9 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32   string   \uff0c   \u800c \u4e0d\u662f   . xodr   \u7684 \u8def\u5f84   \u3002   parameters   (   carla . OpendriveGenerationParameters   )   -   \u7f51\u683c \u751f\u6210 \u7684 \u5176\u4ed6 \u8bbe\u7f6e \u3002 \u5982\u679c \u6ca1\u6709 \u63d0\u4f9b \uff0c \u5c06 \u4f7f\u7528 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002   reset _ settings   (   bool   )   -   \u9009\u9879 \u53ef \u5c06 \u5267\u96c6 \u8bbe\u7f6e \u91cd\u7f6e \u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff0c \u8bbe\u7f6e \u4e3a false   \u53ef \u4fdd\u7559 \u5f53\u524d \u8bbe\u7f6e \u3002 \u8fd9 \u5bf9\u4e8e \u5728 \u66f4\u6539 \u6620\u5c04 \u65f6 \u4fdd\u6301 \u540c\u6b65 \u6a21\u5f0f \u548c \u4fdd\u6301 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u573a\u666f \u975e\u5e38 \u6709\u7528 \u3002   load _ world   (   self   ,   map _ name   ,   reset _ settings   = True   ,   map _ layers   =   carla . MapLayer . All   )   \u4f7f\u7528   map _ name   \u4f7f\u7528 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u521b\u5efa \u4e16\u754c \u65b0\u4e16\u754c \u3002 \u5f53\u4eca \u4eca\u4e16 \u4e16\u754c \u5f53\u4eca\u4e16\u754c \u7684 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u5c06 \u88ab \u6467\u6bc1 \u3002   \u53c2\u6570 \uff1a   map _ name   (   str   )   -   \u8981 \u5728 \u8fd9\u4e2a \u4e16\u754c \u4e0a \u4f7f\u7528 \u7684 \u5730\u56fe \u7684 \u540d\u79f0 \u3002 \u63a5\u53d7 \u5b8c\u6574 \u8def\u5f84 \u548c \u5730\u56fe \u540d\u79f0 \uff0c \u4f8b\u5982 \u201c / Game / Calla / Maps / Town01 \u201d \u6216 \u201c Town01 \u201d \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u8fd9\u4e9b \u8def\u5f84 \u662f \u52a8\u6001 \u7684 \u3002   reset _ settings   (   bool   )   -   \u9009\u9879 \u53ef \u5c06 \u60c5\u8282 \u8bbe\u7f6e \u91cd\u7f6e \u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff0c \u8bbe\u7f6e \u4e3a false \u53ef \u4fdd\u7559 \u5f53\u524d \u8bbe\u7f6e \u3002 \u8fd9 \u5bf9\u4e8e \u5728 \u66f4\u6539 \u6620\u5c04 \u65f6 \u4fdd\u6301 \u540c\u6b65 \u6a21\u5f0f \u548c \u4fdd\u6301 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u573a\u666f \u975e\u5e38 \u6709\u7528 \u3002   map _ layers   (   carla . MapLayer   )   -   \u5c06 \u52a0\u8f7d \u7684 \u5730\u56fe \u7684 \u56fe\u5c42 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5c06 \u52a0\u8f7d \u6240\u6709 \u56fe\u5c42 \u3002 \u53c2\u6570 \u6b64\u53c2\u6570 \u7684 \u4f5c\u7528 \u7c7b\u4f3c \u4e8e \u6807\u5fd7 \u63a9\u7801 \u3002   \u8b66\u544a \uff1a   map _ layers   \u4ec5 \u5bf9 \" Opt \" \u5730\u56fe \u53ef\u7528 \u3002   reload _ world   (   self   ,   reset _ settings   = True   )   \u91cd\u65b0 \u52a0\u8f7d \u5f53\u524d \u4e16\u754c \uff0c \u8bf7 \u6ce8\u610f \uff0c \u5c06 \u4f7f\u7528 \u540c\u4e00 \u5730\u56fe \u4f7f\u7528 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u521b\u5efa \u4e00\u4e2a \u4e16\u754c \u65b0\u4e16\u754c \u3002 \u4e16\u754c \u4e0a \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u5c06 \u88ab \u9500\u6bc1 \uff0c   \u4f46   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u5c06 \u7ee7\u7eed \u5b58\u5728 \u3002   \u53c2\u6570 \uff1a   reset _ settings   (   bool   )   -   \u9009\u9879 \u53ef \u5c06 \u60c5\u8282 \u8bbe\u7f6e \u91cd\u7f6e \u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff0c \u8bbe\u7f6e \u4e3a false \u53ef \u4fdd\u7559 \u5f53\u524d \u8bbe\u7f6e \u3002 \u8fd9 \u5bf9\u4e8e \u5728 \u66f4\u6539 \u6620\u5c04 \u65f6 \u4fdd\u6301 \u540c\u6b65 \u6a21\u5f0f \u548c \u4fdd\u6301 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u573a\u666f \u975e\u5e38 \u6709\u7528 \u3002   Raises :   \u5bf9\u5e94 \u7684 \u8fd0\u884c \u65f6 \u9519\u8bef   RuntimeError \u3002   replay _ file   (   self   ,   name   ,   start   ,   duration   ,   follow _ id   ,   replay _ sensors   )   \u4f7f\u7528   map _ name   \u52a0\u8f7d \u5177\u6709 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u7684 \u4e16\u754c \u65b0\u4e16\u754c \u3002 \u5f53\u524d \u4e16\u754c \u4e2d \u7684 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u5c06 \u88ab \u9500\u6bc1 \uff0c   \u4f46   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u5c06 \u7ee7\u7eed \u5b58\u5728 \u3002   \u53c2\u6570 \uff1a   name   (   str   )   -   \u5305\u542b \u4eff\u771f \u4fe1\u606f \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u3002   start   (   float   -   seconds   )   -   \u5f00\u59cb \u64ad\u653e \u4eff\u771f \u7684 \u65f6\u95f4 \u3002 \u8d1f\u6570 \u8868\u793a \u4ece \u7ed3\u5c3e \u5f00\u59cb \u8bfb\u53d6 \uff0c \u5728 \u5f55\u5236 \u7ed3\u675f \u524d 10 \u79d2 \u4e3a - 10 \u3002   duration   (   float   -   seconds   )   -   \u5c06 \u4f7f\u7528 \u4fe1\u606f   name   \u6587\u4ef6 \u91cd\u65b0 \u6267\u884c \u7684 \u65f6\u95f4 \u3002 \u5982\u679c \u5230\u8fbe \u7ec8\u70b9 \uff0c \u4eff\u771f \u5c06 \u7ee7\u7eed \u3002   follow _ id   (   int   )   -   \u8981 \u8ddf\u968f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002 \u5982\u679c \u6b64\u503c \u4e3a 0 \uff0c \u5219 \u7981\u7528 \u76f8\u673a \u3002   replay _ sensors   (   bool   )   -   \u7528\u4e8e \u5728 \u64ad\u653e \u671f\u95f4 \u542f\u7528 \u6216 \u7981\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u751f\u6210 \u7684 \u6807\u5fd7 \u3002   request _ file   (   self   ,   name   )   \u7531   carla . Client . get _ required _ files   \u8fd4\u56de \u9700\u8981 \u6587\u4ef6 \u7684 \u4e00\u4e2a \u8bf7\u6c42 \u3002   \u53c2\u6570 \uff1a   name   (   str   )   -   \u60a8 \u8bf7\u6c42 \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u3002   show _ recorder _ actors _ blocked   (   self   ,   filename   ,   min _ time   ,   min _ distance   )   \u7ec8\u7aef \u5c06 \u663e\u793a \u88ab \u89c6\u4e3a \u88ab \u5c4f\u853d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6ce8\u518c \u4fe1\u606f \u3002 \u5f53 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u5185 \u6ca1\u6709 \u79fb\u52a8 \u6700\u5c0f \u8ddd\u79bb \u65f6 \uff0c \u5373   min _ distance   \u548c   min _ time   \uff0c \u5219 \u89c6\u4e3a \u88ab \u963b\u6321 \u3002   \u53c2\u6570 \uff1a   filename   (   str   )   -   \u8981 \u52a0\u8f7d \u7684 \u5f55\u5236 \u6587\u4ef6 \u7684 \u540d\u79f0 \u3002   min _ time   (   float   -   seconds   )   -   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u88ab \u8ba4\u4e3a \u88ab \u963b\u6321 \u4e4b\u524d \u5fc5\u987b \u79fb\u52a8 \u6700 \u77ed\u8ddd \u8ddd\u79bb \u77ed\u8ddd\u79bb \u7684 \u6700 \u77ed\u65f6 \u65f6\u95f4 \u77ed\u65f6\u95f4 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a 60 \u79d2 \u3002   min _ distance   (   float   -   centimeters   )   -   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5fc5\u987b \u79fb\u52a8 \u7684 \u6700\u5c0f \u8ddd\u79bb \u624d\u80fd \u4e0d \u88ab \u89c6\u4e3a \u88ab \u963b\u6321 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a 100 \u5398\u7c73 \u3002   \u8fd4\u56de \uff1a   string   show _ recorder _ collisions   (   self   ,   filename   ,   category1   ,   category2   )   \u7ec8\u7aef \u5c06 \u663e\u793a \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8bb0\u5f55 \u7684 \u78b0\u649e \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u6307\u5b9a \u6240 \u6d89\u53ca \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7c7b\u578b \u6765 \u8fc7\u6ee4 \u8fd9\u4e9b \u5185\u5bb9 \u3002 \u7c7b\u522b \u5c06 \u5728   category1   \u548c   category1   \u4e2d \u6307\u5b9a \u5982\u4e0b \uff1a \u201c h \u201d = \u82f1\u96c4 \uff0c \u4e00\u79cd \u53ef\u4ee5 \u624b\u52a8 \u63a7\u5236 \u6216 \u7531 \u7528\u6237 \u7ba1\u7406 \u7684 \u8f66\u8f86 \u3002 \u201d v ' = \u8f66\u8f86 ' w ' = \u884c\u4eba ' t ' = \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f ' o ' = \u5176\u4ed6 ' a ' = \u4efb\u4f55 \u5982\u679c \u60a8 \u53ea \u60f3 \u770b\u5230 \u8f66\u8f86 \u548c \u6b65\u884c \u884c\u8005 \u6b65\u884c\u8005 \u4e4b\u95f4 \u7684 \u78b0\u649e \uff0c \u8bf7 \u5c06   category1   \u7528\u4f5c ' v ' \uff0c \u5c06   category2   \u7528\u4f5c ' w ' \uff0c \u53cd\u4e4b \u4ea6\u7136 \u53cd\u4e4b\u4ea6\u7136 \u3002 \u5982\u679c \u8981 \u67e5\u770b \u6240\u6709 \u78b0\u649e \uff08 \u8fc7\u6ee4 \u6389 \uff09 \uff0c \u53ef\u4ee5 \u5bf9 \u4e24\u4e2a \u53c2\u6570 \u90fd \u4f7f\u7528 \u201c a \u201d \u3002   \u53c2\u6570 \uff1a   filename   (   str   )   -   \u8bb0\u5f55 \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u6216 \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4e4b\u524d \u7684 \u9009\u62e9 \u3002   category1   (   single   char   )   -   \u6307\u5b9a \u51b2\u7a81 \u4e2d \u6d89\u53ca \u7684 \u7b2c\u4e00 \u4e00\u7c7b \u7b2c\u4e00\u7c7b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5b57\u7b26 \u53d8\u91cf \u3002   category2   (   single   char   )   -   \u6307\u5b9a \u51b2\u7a81 \u4e2d \u6d89\u53ca \u7684 \u7b2c\u4e8c \u4e8c\u7c7b \u7b2c\u4e8c\u7c7b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5b57\u7b26 \u53d8\u91cf \u3002   \u8fd4\u56de \uff1a   string   show _ recorder _ file _ info   (   self   ,   filename   ,   show _ all   )   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u4fdd\u5b58 \u7684 \u4fe1\u606f \u5c06 \u88ab \u89e3\u6790 \u5e76 \u4ee5 \u6587\u672c \u5f62\u5f0f \u663e\u793a \u5728 \u60a8 \u7684 \u7ec8\u7aef \u4e2d \uff08 \u5e27 \u3001 \u65f6\u95f4 \u3001 \u4e8b\u4ef6 \u3001 \u72b6\u6001 \u3001 \u4f4d\u7f6e \u2026 \uff09 \u3002 \u53ef\u4ee5 \u4f7f\u7528   show _ all   \u53c2\u6570 \u6307\u5b9a \u663e\u793a \u7684 \u4fe1\u606f \u3002   \u4ee5\u4e0b   \u662f \u6709\u5173 \u5982\u4f55 \u8bfb\u53d6 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u53c2\u6570 \uff1a   filename   (   str   )   -   \u8bb0\u5f55 \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u6216 \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4e4b\u524d \u7684 \u9009\u62e9 \u3002   show _ all   (   bool   )   -   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u8fd4\u56de \u4e3a \u6bcf \u5e27 \u5b58\u50a8 \u7684 \u6240\u6709 \u4fe1\u606f \uff08 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u72b6\u6001 \u3001 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u3001 \u65b9\u5411 \u548c \u52a8\u753b \u6570\u636e \u2026 \uff09 \u3002 \u5982\u679c \u4e3a   False   \uff0c \u5219 \u8fd4\u56de \u5173\u952e \u4e8b\u4ef6 \u548c \u5e27 \u7684 \u6458\u8981 \u3002   \u8fd4\u56de \uff1a   string   start _ recorder   (   self   ,   filename   ,   additional _ data   = False   )   \u542f\u7528 \u5f55\u5236 \u529f\u80fd \uff0c \u8be5 \u529f\u80fd \u5c06 \u5f00\u59cb \u4fdd\u5b58 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u91cd\u64ad \u4eff\u771f \u6240 \u9700 \u7684 \u6240\u6709 \u4fe1\u606f \u3002   \u53c2\u6570 \uff1a   filename   (   str   )   -   \u7528\u4e8e \u5199\u5165 \u8bb0\u5f55 \u6570\u636e \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u3002 \u4e00\u4e2a \u7b80\u5355 \u7684 \u540d\u79f0 \u4f1a \u5c06 \u5f55\u5236 \u4fdd\u5b58 \u5728 \u201c CarlaUE4 / Saved / recording . log \u201d \u4e2d \u3002 \u5426\u5219 \uff0c \u5982\u679c \u540d\u79f0 \u4e2d \u51fa\u73b0 \u67d0\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5219 \u4f1a \u5c06 \u5176 \u89c6\u4e3a \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002   additional _ data   (   bool   )   -   \u542f\u7528 \u6216 \u7981\u7528 \u8bb0\u5f55 \u7528\u4e8e \u518d\u73b0 \u4eff\u771f \u7684 \u5fc5\u8981 \u975e\u5fc5\u8981 \u6570\u636e \uff08 \u8fb9\u754c \u6846 \u4f4d\u7f6e \u3001 \u7269\u7406 \u63a7\u5236 \u53c2\u6570 \u63a7\u5236\u53c2\u6570 \u7b49 \uff09 \u3002   stop _ recorder   (   self   )   \u505c\u6b62 \u6b63\u5728 \u8fdb\u884c \u7684 \u5f55\u5236 \u3002 \u5982\u679c \u60a8 \u5728 \u6587\u4ef6 \u6587\u4ef6\u540d \u4e2d \u6307\u5b9a \u4e86 \u4e00\u4e2a \u8def\u5f84 \uff0c \u5219 \u5f55\u5236 \u6587\u4ef6 \u5c06 \u5728 \u90a3\u91cc \u3002 \u5982\u679c \u6ca1\u6709 \uff0c \u8bf7 \u67e5\u770b   CarlaUE4 / Saved /   \u5185\u90e8 \u3002   stop _ replayer   (   self   ,   keep _ actors   )   \u505c\u6b62 \u5f53\u524d \u91cd\u64ad \u3002   \u53c2\u6570 \uff1a   keep _ actors   (   bool   )   -   \u5982\u679c \u4f60 \u60f3 \u81ea\u52a8 \u5220\u9664 \u91cd\u64ad \u4e2d \u7684 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5219 \u4e3a   True \uff0c \u5982\u679c \u4f60 \u60f3 \u4fdd\u7559 \u4ed6\u4eec \uff0c \u5219 \u4e3a   False \u3002   \u83b7\u53d6 \u5668   get _ available _ maps   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0a \u53ef\u7528 \u6620\u5c04 \u7684 \u8def\u5f84 \u3002 \u8fd9\u4e9b \u8def\u5f84 \u662f \u52a8\u6001 \u7684 \uff0c \u5b83\u4eec \u5c06 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u521b\u5efa \uff0c \u56e0\u6b64 \u5728 \u6587\u4ef6 \u4e2d \u67e5\u627e \u65f6 \u627e \u4e0d\u5230 \u5b83\u4eec \u3002 \u6b64 \u65b9\u6cd5 \u53ef\u80fd \u7684 \u8fd4\u56de \u7ed3\u679c \u4e4b\u4e00 \u662f \uff1a   [ ' / Game / Carla / Maps / Town01 ' ,   ' / Game / Carla / Maps / Town02 ' ,   ' / Game / Carla / Maps / Town03 ' ,   ' / Game / Carla / Maps / Town04 ' ,   ' / Game / Carla / Maps / Town05 ' ,   ' / Game / Carla / Maps / Town06 ' ,   ' / Game / Carla / Maps / Town07 ' ] .   \u8fd4\u56de \uff1a   list ( str )   get _ client _ version   (   self   )   \u901a\u8fc7 \u5728 \u201c version . h \u201d \u6587\u4ef6 \u4e2d \u67e5\u9605 \u5ba2\u6237 \u5ba2\u6237\u7aef libcarla \u7248\u672c \uff0c \u8fd4\u56de \u8be5 \u7248\u672c \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u90fd \u53ef\u4ee5 \u4f7f\u7528 \u4e0d\u540c \u7684 libcarla \u7248\u672c \uff0c \u4f46 \u53ef\u80fd \u4f1a \u51fa\u73b0 \u4e00\u4e9b \u4e0e \u610f\u5916 \u4e0d \u517c\u5bb9 \u6709\u5173 \u7684 \u95ee\u9898 \u3002   \u8fd4\u56de \uff1a   str   get _ required _ files   (   self   ,   folder   ,   download   = True   )   \u8be2\u95ee \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef \u9700\u8981 \u54ea\u4e9b \u6587\u4ef6 \u624d\u80fd \u4f7f\u7528 \u5f53\u524d \u5730\u56fe \u3002 \u5982\u679c \u6587\u4ef6 \u4e0d \u5728 \u7f13\u5b58 \u4e2d \uff0c \u5219 \u81ea\u52a8 \u4e0b\u8f7d \u6587\u4ef6 \u3002   \u53c2\u6570 \uff1a   folder   (   str   )   -   \u6307\u5b9a \u8981 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5730\u56fe \u4e0a \u67e5\u770b \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u8be5 \u53c2\u6570 \u4e3a\u7a7a \u5c06 \u9012\u5f52 \u641c\u7d22 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e2d \u7684 \u6240\u6709 \u5730\u56fe \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5982\u679c \u60a8 \u4e0d \u719f\u6089 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5730\u56fe \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784 \uff0c \u5efa\u8bae \u8fd9\u6837 \u505a \u3002   download   (   bool   )   -   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u4e0b\u8f7d \u7f13\u5b58 \u4e2d \u5c1a\u672a \u5b58\u5728 \u7684 \u6587\u4ef6 \u3002 \u7f13\u5b58 \u53ef\u4ee5 \u5728   HOME \\ carlaCache   \u6216   USERPROFILE \\ carlaCache   \u4e2d \u627e\u5230 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u3002   get _ server _ version   (   self   )   \u901a\u8fc7 \u5728   version . h   \u6587\u4ef6 \u4e2d \u67e5\u9605 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 libcarla \u7248\u672c \uff0c \u8fd4\u56de \u8be5 \u7248\u672c \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u90fd \u5e94\u8be5 \u4f7f\u7528 \u76f8\u540c \u7684 libcarla \u7248\u672c \u3002   \u8fd4\u56de \uff1a   str   get _ trafficmanager   (   self   ,   client _ connection   = 8000   )   \u8fd4\u56de \u4e0e \u6307\u5b9a \u7aef\u53e3 \u76f8\u5173 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u3002 \u5982\u679c \u8be5 \u5b9e\u4f8b \u4e0d \u5b58\u5728 \uff0c \u5219 \u4f1a \u521b\u5efa \u8be5 \u5b9e\u4f8b \u3002   \u53c2\u6570 \uff1a   client _ connection   (   int   )   -   \u5c06 \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4f7f\u7528 \u7684 \u7aef\u53e3 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   8000   \u3002   \u8fd4\u56de \uff1a   carla . TrafficManager   get _ world   (   self   )   \u8fd4\u56de \u4eff\u771f \u4e2d \u5f53\u524d \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u7684 \u4e16\u754c \u5bf9\u8c61 \u3002 \u8be5 \u4e16\u754c \u7a0d\u540e \u5c06 \u7528\u4e8e \u52a0\u8f7d \u5730\u56fe \u3002   \u8fd4\u56de \uff1a   carla . World   \u8bbe\u7f6e \u5668   set _ files _ base _ folder   (   self   ,   path   )   \u53c2\u6570 \uff1a   path   (   str   )   -   \u8fd4\u56de \u4eff\u771f \u4e2d \u5f53\u524d \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u7684 \u4e16\u754c \u5bf9\u8c61 \u3002 \u8be5 \u4e16\u754c \u7a0d\u540e \u5c06 \u7528\u4e8e \u52a0\u8f7d \u5730\u56fe \u3002   set _ replayer _ ignore _ hero   (   self   ,   ignore _ hero   )   \u53c2\u6570 \uff1a   ignore _ hero   (   bool   )   -   \u5728 \u64ad\u653e \u5f55\u5236 \u7684 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u542f\u7528 \u6216 \u7981\u7528 \u82f1\u96c4 \u8f66\u8f86 \u7684 \u64ad\u653e \u3002   set _ replayer _ ignore _ spectator   (   self   ,   ignore _ spectator   )   \u53c2\u6570 \uff1a   ignore _ spectator   (   bool   )   -   \u786e\u5b9a \u56de\u653e \u7a0b\u5e8f \u662f\u5426 \u4f1a \u590d\u5236 \u8bb0\u5f55 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u52a8\u4f5c \u3002   set _ replayer _ time _ factor   (   self   ,   time _ factor   = 1.0   )   \u4f7f\u7528 \u65f6 \uff0c \u4f1a \u968f\u610f \u4fee\u6539 \u91cd\u65b0 \u4eff\u771f \u7684 \u65f6\u95f4 \u901f\u5ea6 \u3002 \u5f53 \u64ad\u653e \u65f6 \uff0c \u5b83 \u53ef\u4ee5 \u4f7f\u7528 \u591a\u6b21 \u3002   \u53c2\u6570 \uff1a   time _ factor   (   float   )   -   1.0 \u8868\u793a \u6b63\u5e38 \u65f6\u95f4 \u901f\u5ea6 \u3002 \u5927\u4e8e 1.0 \u8868\u793a \u5feb\u901f \u8fd0\u52a8 \uff08 2.0 \u8868\u793a \u53cc\u500d \u901f\u5ea6 \uff09 \uff0c \u5c0f\u4e8e 1.0 \u8868\u793a \u6162\u901f \u8fd0\u52a8 \uff08 0.5 \u8868\u793a \u4e00\u534a \u901f\u5ea6 \uff09 \u3002   set _ timeout   (   self   ,   seconds   )   \u8bbe\u7f6e \u5728 \u963b\u6b62 \u7f51\u7edc \u8c03\u7528 \u5e76 \u5f15\u53d1 \u8d85\u65f6 \u8d85\u65f6 \u9519\u8bef \u4e4b\u524d \u5141\u8bb8 \u7f51\u7edc \u8c03\u7528 \u7684 \u6700\u957f \u65f6\u95f4 \u3002   \u53c2\u6570 \uff1a   seconds   (   float   -   seconds   )   -   \u65b0 \u7684 \u8d85 \u65f6\u503c \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a 5 \u79d2 \u3002   carla . CollisionEvent   \u4ece   carla . SensorData   \u7ee7\u627f   \u4e3a   sensor . other . collision   \u5b9a\u4e49 \u78b0\u649e \u6570\u636e \u7684 \u7c7b \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e3a \u68c0\u6d4b \u5230 \u7684 \u6bcf\u4e2a \u78b0\u649e \u521b\u5efa \u4e00\u4e2a \u78b0\u649e \u6570\u636e \u3002 \u6bcf\u4e2a \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6bcf\u5e27 \u6bcf\u4e2a \u78b0\u649e \u4ea7\u751f \u4e00\u4e2a \u78b0\u649e \u4e8b\u4ef6 \u3002 \u901a\u8fc7 \u4e0e \u591a\u4e2a \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u78b0\u649e \uff0c \u53ef\u4ee5 \u5728 \u5355\u4e2a \u5e27 \u4e2d \u4ea7\u751f \u591a\u4e2a \u78b0\u649e \u4e8b\u4ef6 \u3002 \u70b9\u51fb   \u6b64\u5904   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor   (   carla . Actor   )   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fde\u63a5 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4e5f \u5c31\u662f \u6d4b\u91cf \u78b0\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   other _ actor   (   carla . Actor   )   \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u53c2\u4e0e \u78b0\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   normal _ impulse   (   carla . Vector3D   -   N * s   )   \u78b0\u649e \u4ea7\u751f \u7684 \u6b63\u5e38 \u51b2\u91cf \u3002   carla . Color   \u5b9a\u4e49 32 \u4f4d RGBA \u989c\u8272 \u7684 \u7c7b \u3002   \u5b9e\u4f8b \u53d8\u91cf   r   (   int   )   \u7ea2\u8272   ( 0 - 255 ) \u3002   g   (   int   )   \u7eff\u8272   ( 0 - 255 ) \u3002   b   (   int   )   \u84dd\u8272   ( 0 - 255 ) \u3002   a   (   int   )   Alpha   \u901a\u9053   ( 0 - 255 ) \u3002   \u65b9\u6cd5   __ init __   (   self   ,   r   = 0   ,   g   = 0   ,   b   = 0   ,   a   = 255   )   \u521d\u59cb \u521d\u59cb\u5316 \u989c\u8272 \uff0c \u9ed8\u8ba4 \u4e3a \u9ed1\u8272 \u3002   \u53c2\u6570 \uff1a   r   (   int   )   g   (   int   )   b   (   int   )   a   (   int   )   Dunder   \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . Color   )   __ ne __   (   self   ,   other   =   carla . Color   )   __ str __   (   self   )   carla . ColorConverter   \u5b9a\u4e49 \u53ef \u5e94\u7528 \u4e8e   carla . Image   \u7684 \u8f6c\u6362 \u6a21\u5f0f \u7684 \u7c7b \uff0c \u4ee5 \u663e\u793a   carla . Sensor   \u63d0\u4f9b \u7684 \u4fe1\u606f \u3002 \u6df1\u5ea6 \u8f6c\u6362 \u4f1a \u5bfc\u81f4 \u7cbe\u5ea6 \u635f\u5931 \uff0c \u56e0\u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u6df1\u5ea6 \u68c0\u6d4b \u4e3a \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \uff0c \u7136\u540e \u5c06 \u5176 \u8f6c\u6362 \u4e3a   0   \u5230   255   \u4e4b\u95f4 \u7684 \u7070\u5ea6 \u503c \u3002 \u67e5\u770b   carla . Sensor . listen   \u4e2d \u7684 \u7247\u6bb5 \uff0c \u4e86\u89e3 \u5982\u4f55 \u521b\u5efa \u548c \u4fdd\u5b58 \u56fe\u50cf \u7684 \u793a\u4f8b   sensor . camera . semantic _ segmentation   \u7684 \u6570\u636e \u3002   \u5b9e\u4f8b \u53d8\u91cf   CityScapesPalette   \u4f7f\u7528 \u84dd \u56fe\u5e93 \u63d0\u4f9b \u7684 \u6807\u7b7e \u5c06 \u56fe\u50cf \u8f6c\u6362 \u4e3a \u5206\u6bb5 \u5730\u56fe \u3002 \u7531   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u4f7f\u7528 \u3002   Depth   \u5c06 \u56fe\u50cf \u8f6c\u6362 \u4e3a \u7ebf\u6027 \u6df1\u5ea6 \u6df1\u5ea6\u56fe \u3002 \u7531   \u6df1\u5ea6 \u76f8\u673a   \u4f7f\u7528 \u3002   LogarithmicDepth   \u4f7f\u7528 \u5bf9\u6570 \u523b\u5ea6 \u5c06 \u56fe\u50cf \u8f6c\u6362 \u4e3a \u6df1\u5ea6 \u6df1\u5ea6\u56fe \uff0c \u4ece\u800c \u5728 \u5c0f \u8ddd\u79bb \u4e0a \u83b7\u5f97 \u66f4\u597d \u7684 \u7cbe\u5ea6 \uff0c \u4f46 \u5728 \u8ddd\u79bb \u8f83 \u8fdc \u65f6\u4f1a \u4e22\u5931 \u7cbe\u5ea6 \u3002   Raw   \u672a \u5bf9 \u56fe\u50cf \u5e94\u7528 \u4efb\u4f55 \u66f4\u6539 \u3002 \u7531   RGB   \u76f8\u673a   \u4f7f\u7528 \u3002   carla . CustomV2XData   \u7ee7\u627f \u81ea   carla . SensorData   \u8fd9\u662f \u5b9a\u4e49 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 V2X \u6d88\u606f \u7684 \u6570\u636e \u7c7b\u578b \u6570\u636e\u7c7b\u578b \u3002 \u4f5c\u4e3a   CustomV2XEvent   \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u63a5\u6536 \u3002   \u5b9e\u4f8b \u53d8\u91cf   power   (   float   -   \u6beb\u74e6 \u5206\u8d1d   dBm   )   \u63a5\u6536 \u529f\u7387 \u3002   \u65b9\u6cd5   get   (   self   )   \u83b7\u53d6 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d88\u606f \u3002 \u8fd4\u56de \u5305\u542b \u6d88\u606f \u7684 \u5d4c\u5957 \u5b57\u5178 \u3002 \u5b83 \u6709 \u4e24\u4e2a \u4e3b\u952e \uff1a   -   Header   :   dict   -   Message   :   str .   \u8fd4\u56de \uff1a   dict   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . CustomV2XEvent   \u7ee7\u627f \u81ea   carla . SensorData   \u5b9a\u4e49   sensor . other . v2x _ custom   \u63d0\u4f9b \u7684 \u6570\u636e \u7684 \u7c7b \u3002 \u8fd9\u662f \u4e00\u79cd \u96c6\u5408 \u7c7b\u578b \uff0c \u7528\u4e8e \u7ec4\u5408 \u8fd4\u56de \u591a\u4e2a   CustomV2XData   \u3002   \u65b9\u6cd5   \u83b7\u53d6 \u5668   get _ message _ count   (   self   )   \u83b7\u53d6 \u63a5\u53d7 \u5230 \u7684   CAM   \u6570\u91cf \u3002   \u8fd4\u56de \uff1a   int   \u9b54\u672f \u65b9\u6cd5   __ get _ item __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728 \u83b7\u53d6 \u7684   CustomV2XData   \u6570\u636e \u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   carla . DVSEvent   \u5b9a\u4e49   DVS   \u4e8b\u4ef6 \u7684 \u7c7b \u3002 \u4e8b\u4ef6 \u662f \u4e00\u4e2a \u56db\u5143 \u5143\u7ec4 \u56db\u5143\u7ec4 \uff0c \u56e0\u6b64 \u662f \u4e00\u4e2a \u7531   4   \u4e2a \u5143\u7d20 \u7ec4\u6210 \u7684 \u5143\u7ec4 \uff0c \u5176\u4e2d   x   \u3001 \u50cf\u7d20   y   \u5750\u6807 \u4f4d\u7f6e \u3001 \u65f6\u95f4 \u6233   t   \u548c \u4e8b\u4ef6 \u6781\u6027   pol   \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u5173\u4e8e \u5b83\u4eec \u7684 \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   x   (   int   )   X   \u50cf\u7d20 \u5750\u6807 \u3002   y   (   int   )   Y   \u50cf\u7d20 \u5750\u6807 \u3002   t   (   int   )   \u4e8b\u4ef6 \u53d1\u751f \u65f6\u523b \u7684 \u65f6\u95f4 \u6233 \u3002   pol   (   bool   )   \u4e8b\u4ef6 \u7684 \u6781\u6027 \u3002   True   \u8868\u793a \u6b63\u6570 \uff0c   False   \u8868\u793a \u8d1f\u6570 \u3002   \u65b9\u6cd5   Dunder   \u65b9\u6cd5   __ str __   (   self   )   carla . DVSEventArray   \u5728   carla . DVSEvent   \u4e2d \u5b9a\u4e49 \u4e8b\u4ef6 \u6d41 \u7684 \u7c7b \u3002 \u6b64\u7c7b \u6d41\u662f \u4efb\u610f \u5927\u5c0f \u7684 \u6570\u7ec4 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4e8b\u4ef6 \u7684 \u6570\u91cf \u3002 \u4e3a\u4e86 \u65b9\u4fbf \u8d77 \u89c1 \uff0c \u8be5\u7c7b \u8fd8 \u5b58\u50a8 \u89c6\u91ce \u3001 \u56fe\u50cf \u7684 \u9ad8\u5ea6 \u548c \u5bbd\u5ea6 \u4ee5\u53ca \u65f6\u95f4 \u6233 \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u5173\u4e8e \u5b83\u4eec \u7684 \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   fov   (   float   -   \u5ea6   )   \u56fe\u50cf \u7684 \u6c34\u5e73 \u89c6\u91ce \u3002   height   (   int   )   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   width   (   int   )   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   (   \u5b57\u8282   )   \u65b9\u6cd5   to _ array   (   self   )   \u6309 \u4ee5\u4e0b \u987a\u5e8f \u5c06 \u4e8b\u4ef6 \u6d41 \u8f6c\u6362 \u4e3a   int   \u503c \u6570\u7ec4   [ x ,   y ,   t ,   pol ]   \u3002   to _ array _ pol   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u6570\u7ec4 \uff0c \u8be5 \u6570\u7ec4 \u5177\u6709 \u6d41\u4e2d \u6240\u6709 \u4e8b\u4ef6 \u7684 \u6781\u6027 \u3002   to _ array _ t   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u6570\u7ec4 \uff0c \u5176\u4e2d \u5305\u542b \u6d41\u4e2d \u6240\u6709 \u4e8b\u4ef6 \u7684 \u65f6\u95f4 \u6233 \u3002   to _ array _ x   (   self   )   \u8fd4\u56de \u6d41\u4e2d \u6240\u6709 \u4e8b\u4ef6 \u7684 X \u50cf\u7d20 \u5750\u6807 \u7684 \u6570\u7ec4 \u3002   to _ array _ y   (   self   )   \u8fd4\u56de \u6d41\u4e2d \u6240\u6709 \u4e8b\u4ef6 \u7684 Y \u50cf\u7d20 \u5750\u6807 \u6570\u7ec4 \u3002   to _ image   (   self   )   \u6309\u7167 \u4ee5\u4e0b \u6a21\u5f0f \u8f6c\u6362 \u56fe\u50cf \uff1a \u84dd\u8272 \u8868\u793a \u6b63 \u4e8b\u4ef6 \uff0c \u7ea2\u8272 \u8868\u793a \u8d1f \u4e8b\u4ef6 \u3002   \u9b54\u672f \u65b9\u6cd5   __ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728   carla . DVSEvent   \u4f5c\u4e3a \u68c0\u7d22 \u7684 \u6570\u636e \u4e0a \u8fed\u4ee3 \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   color   =   carla . Color   )   __ str __   (   self   )   carla . DebugHelper   carla . World   \u7684 \u8f85\u52a9 \u7c7b \u90e8\u5206 \uff0c \u5b9a\u4e49 \u521b\u5efa \u8c03\u8bd5 \u5f62\u72b6 \u7684 \u65b9\u6cd5 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5f62\u72b6 \u6301\u7eed   1   \u79d2 \u3002 \u5b83\u4eec \u53ef\u4ee5 \u662f \u6c38\u4e45 \u6c38\u4e45\u6027 \u7684 \uff0c \u4f46 \u8981 \u8003\u8651 \u5230 \u8fd9\u6837 \u505a \u6240 \u9700 \u7684 \u8d44\u6e90 \u3002 \u67e5\u770b \u6b64\u7c7b \u7684 \u53ef\u7528 \u7247\u6bb5 \uff0c \u4e86\u89e3 \u5982\u4f55 \u5728   Carla   \u4e2d \u8f7b\u677e \u8c03\u8bd5 \u3002   \u65b9\u6cd5   draw _ arrow   (   self   ,   begin   ,   end   ,   thickness   = 0.1   ,   arrow _ size   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u4ece \u5f00\u59cb   begin   \u5230 \u7ed3\u675f   end   \u7ed8\u5236 \u4e00\u4e2a \u6307\u5411 \u8be5 \u65b9\u5411 \u7684 \u7bad\u5934 \u3002   \u53c2\u6570 \uff1a   begin   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u5750\u6807\u7cfb \u4e2d \u7bad\u5934 \u5f00\u59cb \u7684 \u70b9 \u3002   end   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u5750\u6807\u7cfb \u4e2d \u7bad\u5934 \u7ed3\u675f \u5e76 \u6307\u5411 \u7684 \u70b9 \u3002   thickness   (   float   -   \u7c73   )   -   \u7ebf \u7684 \u5bc6\u5ea6 \u3002   arrow _ size   (   float   -   \u7c73   )   -   \u7bad\u5934 \u5c16\u7aef \u7684 \u5927\u5c0f \u3002   color   (   carla . Color   )   -   \u7528\u4e8e \u4e3a \u5bf9\u8c61 \u7740\u8272 \u7684   RGB   \u4ee3\u7801 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5c06 \u5176 \u8bbe\u7f6e   0   \u4e3a \u6c38\u4e45 \u5f62\u72b6 \u3002   draw _ box   (   self   ,   box   ,   rotation   ,   thickness   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   snippet   \u2192   \u7ed8\u5236 \u4e00\u4e2a \u6846 \uff0c \u901a\u5e38 \u7528\u4e8e \u5bf9\u8c61 \u78b0\u649e \u4f53 \u3002   \u53c2\u6570 \uff1a   box   (   carla . BoundingBox   )   -   \u5305\u542b \u6bcf\u4e2a \u8f74 \u7684 \u4f4d\u7f6e \u548c \u6846 \u957f\u5ea6 \u7684 \u5bf9\u8c61 \u3002   rotation   (   carla . Rotation   -   \u5ea6   ( pitch , yaw , roll )   )   -   \u6839\u636e \u865a\u5e7b \u5f15\u64ce \u8f74\u7cfb \u7684 \u8fb9\u754c \u6846 \u65b9\u5411 \u3002   thickness   (   float   -   \u7c73   )   -   \u5b9a\u4e49 \u8fb9\u754c \u6846 \u7684 \u7ebf \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   \u7528\u4e8e \u4e3a \u5bf9\u8c61 \u7740\u8272 \u7684   RGB   \u4ee3\u7801 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   \u79d2   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5c06 \u5176 \u8bbe\u7f6e   0   \u4e3a \u6c38\u4e45 \u5f62\u72b6 \u3002   draw _ hud _ arrow   (   self   ,   begin   ,   end   ,   thickness   = 0.1   ,   arrow _ size   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u5728 HUD \u4e0a \u4ece\u5934   begin   \u5230 \u5c3e   end   \u753b \u4e00\u4e2a \u7bad\u5934 \uff0c \u8fd9\u4e2a \u7bad\u5934 \u53ea\u80fd \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u770b\u5230 \u3002   \u53c2\u6570 \uff1a   begin   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u7cfb\u7edf \u4e2d \u7bad\u5934 \u8d77\u59cb \u7684 \u70b9 \u3002   end   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u7cfb\u7edf \u4e2d \u7bad\u5934 \u7ed3\u675f \u5e76 \u6307\u5411 \u7684 \u70b9 \u3002   thickness   (   float   -   \u7c73   )   -   \u7ebf \u7684 \u5bc6\u5ea6 \u3002   arrow _ size   (   float   -   \u7c73   )   -   \u7bad\u5c16 \u7684 \u5927\u5c0f \u3002   color   (   carla . Color   )   -   RGB \u7f16\u7801 \u4e3a \u5bf9\u8c61 \u4e0a \u8272 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5bf9\u4e8e \u6c38\u4e45 \u5f62\u72b6 \uff0c \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   0   \u3002   draw _ hud _ box   (   self   ,   box   ,   rotation   ,   thickness   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u5728   HUD   \u4e0a \u7ed8\u5236 \u4e00\u4e2a \u6846 \uff0c \u901a\u5e38 \u7528\u4e8e \u5bf9\u8c61 \u78b0\u649e \u4f53 \u3002 \u8be5\u6846 \u53ea\u80fd \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u770b\u5230 \u3002   Parameters :   box   (   carla . BoundingBox   )   -   \u5305\u542b \u6bcf\u4e2a \u8f74 \u7684 \u6846 \u7684 \u4f4d\u7f6e \u548c \u957f\u5ea6 \u7684 \u5bf9\u8c61 \u3002   rotation   (   carla . Rotation   -   degrees   ( pitch , yaw , roll )   )   -   \u6839\u636e \u865a\u5e7b \u5f15\u64ce \u7684 \u8f74 \u7cfb\u7edf \u786e\u5b9a \u8fb9\u754c \u6846 \u7684 \u65b9\u5411 \u3002   thickness   (   float   -   \u7c73   )   -   \u5b9a\u4e49 \u8fb9\u754c \u6846\u7ebf \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   RGB   \u7f16\u7801 \u4e3a \u5bf9\u8c61 \u4e0a \u8272 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5bf9\u4e8e \u6c38\u4e45 \u5f62\u72b6 \uff0c \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   0   \u3002   draw _ hud _ line   (   self   ,   begin   ,   end   ,   thickness   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u5728 HUD \u4e0a \u5f00\u59cb   begin   \u548c \u7ed3\u675f   end   \u4e4b\u95f4 \u753b \u4e00\u6761 \u4e00\u6761\u7ebf \u3002 \u8fd9\u6761 \u8fd9\u6761\u7ebf \u53ea\u80fd \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u770b\u5230 \u3002   \u53c2\u6570 \uff1a   begin   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u7cfb\u7edf \u4e2d \u76f4\u7ebf \u5f00\u59cb \u7684 \u70b9 \u3002   end   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u7cfb\u7edf \u4e2d \u76f4\u7ebf \u7ed3\u675f \u7684 \u70b9 \u3002   thickness   (   float   -   \u7c73   )   -   \u7ebf \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   RGB   \u7f16\u7801 \u4e3a \u5bf9\u8c61 \u4e0a \u8272 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   \u79d2   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5bf9\u4e8e \u6c38\u4e45 \u5f62\u72b6 \uff0c \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   0   \u3002   draw _ hud _ point   (   self   ,   location   ,   size   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u5728   HUD   \u7684 \u4f4d\u7f6e   location   \u4e0a \u7ed8\u5236 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u3002 \u8fd9\u4e2a \u70b9 \u53ea\u80fd \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u770b\u5230 \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   -   \u7c73   )   -   \u70b9 \u5728 \u5750\u6807 \u5750\u6807\u7cfb \u4e2d\u4f7f \u7269\u4f53 \u5c45\u4e2d \u3002   size   (   float   -   \u7c73   )   -   \u70b9 \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   RGB   \u7f16\u7801 \u4e3a \u5bf9\u8c61 \u4e0a \u8272 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5bf9\u4e8e \u6c38\u4e45 \u5f62\u72b6 \uff0c \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   0   \u3002   draw _ line   (   self   ,   begin   ,   end   ,   thickness   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u5728 \u5f00\u59cb   begin   \u548c \u7ed3\u675f   end   \u4e4b\u95f4 \u7ed8\u5236 \u4e00\u6761 \u4e00\u6761\u7ebf \u3002   \u53c2\u6570 \uff1a   begin   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u5750\u6807\u7cfb \u4e2d \u76f4\u7ebf \u8d77\u70b9 \u3002   end   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u5750\u6807\u7cfb \u4e2d \u76f4\u7ebf \u7ec8\u70b9 \u3002   thickness   (   float   -   \u7c73   )   -   \u7ebf \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   \u7528\u4e8e \u4e3a \u5bf9\u8c61 \u7740\u8272 \u7684   RGB   \u4ee3\u7801 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   \u79d2   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5c06 \u5176 \u8bbe\u7f6e   0   \u4e3a \u6c38\u4e45 \u5f62\u72b6 \u3002   draw _ point   (   self   ,   location   ,   size   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u7ed8\u5236 \u4e00\u4e2a \u4e00\u4e2a\u70b9   location   \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   -   \u7c73   )   -   \u5728 \u5750\u6807 \u5750\u6807\u7cfb \u4e2d\u70b9 \u4ee5 \u5c06 \u5bf9\u8c61 \u5c45\u4e2d \u3002   size   (   float   -   \u7c73   )   -   \u70b9 \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   \u7528\u4e8e \u4e3a \u5bf9\u8c61 \u7740\u8272 \u7684   RGB   \u4ee3\u7801 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5c06 \u5176 \u8bbe\u7f6e   0   \u4e3a \u6c38\u4e45 \u5f62\u72b6 \u3002   draw _ string   (   self   ,   location   ,   text   ,   draw _ shadow   = False   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   snippet   \u2192   \u5728 \u4eff\u771f \u7684 \u7ed9\u5b9a \u4f4d\u7f6e \u7ed8\u5236 \u4e00\u4e2a \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u8be5 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u53ea\u80fd \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u770b\u5230 \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   -   \u7c73   )   -   \u4eff\u771f \u4e2d \u6587\u672c \u5c45\u4e2d \u7684 \u4f4d\u7f6e \u3002   text   (   str   )   -   \u65e8\u5728 \u5411 \u4e16\u754c \u5c55\u793a \u7684 \u6587\u672c \u3002   draw _ shadow   (   bool   )   -   \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u6295\u5c04 \u9634\u5f71 \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u662f \u7981\u7528 \u7684 \u3002   color   (   carla . Color   )   -   \u7528\u4e8e \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7740\u8272 \u7684   RGB   \u4ee3\u7801 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5c06 \u5176 \u8bbe\u7f6e   0   \u4e3a \u6c38\u4e45 \u5f62\u72b6 \u3002   carla . EnvironmentObject   \u8868\u793a \u5173\u5361 \u4e2d \u7684 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u7684 \u7c7b \uff0c \u8be5 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u53ef\u4ee5 \u662f \u4e0e \u5176\u4ed6 \u73af\u5883 \u5bf9\u8c61 \uff08 \u5373 \uff1a \u5efa\u7b51 \u5efa\u7b51\u7269 \uff09 \u5f62\u6210 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b9e\u4f8b \u53d8\u91cf   transform   (   carla . Transform   )   \u5305\u542b \u73af\u5883 \u5bf9\u8c61 \u5728 \u4e16\u754c \u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002   bounding _ box   (   carla . BoundingBox   )   \u5305\u542b \u4e16\u754c \u7a7a\u95f4 \u4e2d \u6bcf\u4e2a \u8f74 \u7684 \u4f4d\u7f6e \u3001 \u65cb\u8f6c \u548c \u8fb9\u754c \u6846 \u957f\u5ea6 \u7684 \u5bf9\u8c61 \u3002   id   (   int   )   \u7528\u4e8e \u6807\u8bc6 \u5173\u5361 \u4e2d \u5bf9\u8c61 \u7684 \u552f\u4e00   ID \u3002   name   (   string   )   \u73af\u5883 \u5bf9\u8c61   EnvironmentObject   \u7684 \u540d\u79f0 \u3002   type   (   carla . CityObjectLabel   )   Semantic   tag .   \u65b9\u6cd5   Dunder   \u65b9\u6cd5   __ str __   (   self   )   \u5c06 \u73af\u5883 \u5bf9\u8c61 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5e76 \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u4e2d \u663e\u793a \u5b83\u4eec \u3002   \u8fd4\u56de \uff1a   str   carla . FloatColor   \u5b9a\u4e49 \u6d6e\u70b9   RGBA   \u989c\u8272 \u7684 \u7c7b \u3002   \u5b9e\u4f8b \u53d8\u91cf   r   (   float   )   \u7ea2\u8272 \u3002   g   (   float   )   \u7eff\u8272 \u3002   b   (   float   )   \u84dd\u8272 \u3002   a   (   float   )   Alpha   \u901a\u9053 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   r   = 0   ,   g   = 0   ,   b   = 0   ,   a   = 1.0   )   \u521d\u59cb \u521d\u59cb\u5316 \u989c\u8272 \uff0c \u9ed8\u8ba4 \u4e3a \u9ed1\u8272 \u3002   \u53c2\u6570 \uff1a   r   (   float   )   g   (   float   )   b   (   float   )   a   (   float   )   Dunder   \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . FloatColor   )   __ ne __   (   self   ,   other   =   carla . FloatColor   )   carla . GBufferTextureID   \u5b9a\u4e49 \u6bcf\u4e2a GBuffer \u7eb9\u7406   ( \u53c2\u89c1 \u65b9\u6cd5   [ carla . Sensor . listen _ to _ gbuffer ] ( # carla . Sensor . listen _ to _ gbuffer )   ) \u3002   \u5b9e\u4f8b \u53d8\u91cf   SceneColor   \u7eb9\u7406 \u201c SceneColor \u201d \u5305\u542b \u56fe\u50cf \u7684 \u6700\u7ec8 \u989c\u8272 \u3002   SceneDepth   \u7eb9\u7406 \u201c SceneDepth \u201d \u5305\u542b \u6df1\u5ea6 \u7f13\u51b2 \u7f13\u51b2\u533a   -   \u4ee5 \u4e16\u754c \u5355\u4f4d \u4e3a \u7ebf\u6027 \u3002   SceneStencil   \u7eb9\u7406 \u201c SceneStencil \u201d \u5305\u542b \u6a21\u677f \u7f13\u51b2 \u7f13\u51b2\u533a \u3002   GBufferA   \u7eb9\u7406 \u201c GBufferA \u201d \u5305\u542b   RGB   \u901a\u9053 \u4e2d \u7684 \u4e16\u754c \u7a7a\u95f4 \u6cd5\u7ebf \u5411\u91cf \u3002 Alpha   \u901a\u9053 \u5305\u542b \u201c \u6bcf\u4e2a \u5bf9\u8c61 \u7684 \u6570\u636e \u201d \u3002   GBufferB   \u7eb9\u7406 \u201c GBufferB \u201d \u5206\u522b \u5305\u542b   RGB   \u901a\u9053 \u4e2d \u7684 \u91d1\u5c5e \u3001 \u955c\u9762 \u548c \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u3002 Alpha   \u901a\u9053 \u5305\u542b \u4e00\u4e2a \u63a9\u7801 \uff0c \u5176\u4e2d \u4f4e   4   \u4f4d \u8868\u793a \u7740\u8272 \u6a21\u578b \uff0c \u9ad8   4   \u4f4d \u5305\u542b \u9009\u62e9 \u9009\u62e9\u6027 \u8f93\u51fa \u63a9\u7801 \u3002   GBufferC   \u7eb9\u7406 \u201c GBufferC \u201d \u5305\u542b   RGB   \u901a\u9053 \u4e2d \u7684 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u989c\u8272 \uff0c \u4ee5\u53ca   Alpha   \u901a\u9053 \u4e2d \u7684 \u95f4\u63a5 \u8f90\u7167 \u7167\u5ea6 \u8f90\u7167\u5ea6 \u3002   \u5982\u679c \u4e0d \u5141\u8bb8 \u9759\u6001 \u95ea\u7535 \uff0c Alpha   \u901a\u9053 \u5c06 \u5305\u542b \u73af\u5883 \u73af\u5883\u5149 \u906e\u6321 \u3002   GBufferD   \u201c GBufferD \u201d \u7684 \u5185\u5bb9 \u6839\u636e \u6e32\u67d3 \u5bf9\u8c61 \u7684 \u6750\u8d28 \u7740\u8272 \u6a21\u578b   ( GBufferB )   \u7684 \u4e0d\u540c \u800c \u6709\u6240 \u4e0d\u540c \u6709\u6240\u4e0d\u540c \uff1a   MSM _ Subsurface   ( 2 ) ,   MSM _ PreintegratedSkin   ( 3 ) ,   MSM _ TwoSidedFoliage   ( 6 ) :   RGB :   \u6b21 \u8868\u9762 \u989c\u8272 \u3002   A :   \u4e0d \u900f\u660e \u660e\u5ea6 \u900f\u660e\u5ea6 \u3002   MSM _ ClearCoat   ( 4 ) :   R :   \u900f\u660e \u6d82\u5c42 \u3002   G :   \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u3002   MSM _ SubsurfaceProfile   ( 5 ) :   RGB :   \u6b21 \u8868\u9762 \u8f6e\u5ed3 \u3002   MSM _ Hair   ( 7 ) :   RG :   \u4e16\u754c \u6cd5\u7ebf \u3002   B :   \u80cc\u5149 \u503c \u3002   MSM _ Cloth   ( 8 ) :   RGB :   \u6b21 \u8868\u9762 \u989c\u8272 \u3002   A :   Cloth   value .   MSM _ Eye   ( 9 ) :   RG :   \u773c \u5207\u7ebf \u3002   B :   \u8679\u819c \u63a9\u6a21 \u3002   A :   \u8679\u819c \u8ddd\u79bb \u3002   GBufferE   \u7eb9\u7406 \u201c GBufferE \u201d \u5305\u542b   RGBA   \u901a\u9053 \u4e2d \u9884\u5148 \u8ba1\u7b97 \u7684 \u9634\u5f71 \u56e0\u5b50 \u3002 \u5982\u679c \u9009\u62e9 \u9009\u62e9\u6027 \u8f93\u51fa \u63a9\u7801   ( GBufferB )   \u6ca1\u6709 \u8bbe\u7f6e \u5176 \u7b2c   4   \u4f4d \uff0c \u5219 \u6b64 \u7eb9\u7406 \u4e0d\u53ef \u7528 \u3002   GBufferF   \u7eb9\u7406 \u201c GBufferF \u201d \u5305\u542b   RGB   \u901a\u9053 \u4e2d \u7684 \u4e16\u754c \u7a7a\u95f4 \u5207\u7ebf \u548c   Alpha   \u901a\u9053 \u4e2d \u7684 \u5f02\u6027 \u5404\u5411\u5f02\u6027 \u3002 \u5982\u679c \u9009\u62e9 \u9009\u62e9\u6027 \u8f93\u51fa \u63a9\u7801   ( GBufferB )   \u6ca1\u6709 \u8bbe\u7f6e \u5176 \u7b2c   5   \u4f4d \uff0c \u5219 \u6b64 \u7eb9\u7406 \u4e0d\u53ef \u7528 \u3002   Velocity   \u7eb9\u7406 \u201c \u901f\u5ea6 \u201d \u5305\u542b \u573a\u666f \u5bf9\u8c61 \u7684 \u5c4f\u5e55 \u7a7a\u95f4 \u901f\u5ea6 \u3002   SSAO   \u7eb9\u7406 \u201c SSAO \u201d \u5305\u542b \u5c4f\u5e55 \u7a7a\u95f4 \u73af\u5883 \u73af\u5883\u5149 \u906e\u6321 \u7eb9\u7406 \u3002   CustomDepth   \u7eb9\u7406 \u201c CustomDepth \u201d \u5305\u542b \u865a\u5e7b \u5f15\u64ce \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6df1\u5ea6 \u6570\u636e \u3002   CustomStencil   \u7eb9\u7406 \u201c CustomStencil \u201d \u5305\u542b \u865a\u5e7b \u5f15\u64ce \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6a21\u677f \u6570\u636e \u3002   carla . GearPhysicsControl   \u901a\u8fc7 \u5b9a\u4e49 \u6863\u4f4d \u4ee5\u53ca \u4f55\u65f6 \u8fd0\u884c \u8be5 \u6863\u4f4d \u6765 \u63d0\u4f9b \u5bf9 \u8f66\u8f86 \u53d8\u901f \u53d8\u901f\u7bb1 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u7684 \u8bbf\u95ee \u7684 \u7c7b \u3002   carla . VehiclePhysicsControl   \u7a0d\u540e \u5c06 \u4f7f\u7528 \u5b83 \u6765 \u5e2e\u52a9 \u4eff\u771f \u7269\u7406 \u3002   \u5b9e\u4f8b \u53d8\u91cf   ratio   (   float   )   \u9f7f\u8f6e \u7684 \u4f20\u52a8 \u4f20\u52a8\u6bd4 \u3002   down _ ratio   (   float   )   \u5f53\u524d   RPM   \u4e0e \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u5e94\u964d \u6863 \u7684   MaxRPM   \u4e4b\u95f4 \u7684 \u5546 \u3002   up _ ratio   (   float   )   \u5f53\u524d   RPM   \u4e0e \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u5e94 \u5347\u6863 \u7684   MaxRPM   \u4e4b\u95f4 \u7684 \u5546 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   ratio   = 1.0   ,   down _ ratio   = 0.5   ,   up _ ratio   = 0.65   )   \u53c2\u6570 \uff1a   ratio   (   float   )   down _ ratio   (   float   )   up _ ratio   (   float   )   Dunder   \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . GearPhysicsControl   )   __ ne __   (   self   ,   other   =   carla . GearPhysicsControl   )   __ str __   (   self   )   carla . GeoLocation   \u5305\u542b \u5730\u7406 \u5750\u6807 \u5730\u7406\u5750\u6807 \u4eff\u771f \u6570\u636e \u7684 \u7c7b \u3002   carla . Map   \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u65b9\u6cd5 \u8f6c\u6362 \u4eff\u771f \u4f4d\u7f6e   OpenDRIVE   \u6587\u4ef6 \u4e2d \u7684   \u6807\u8bb0 \u3002   \u5b9e\u4f8b \u53d8\u91cf   latitude   (   float   -   \u5ea6   )   \u5730\u56fe \u4e0a \u67d0\u4e2a \u70b9 \u7684 \u5317 / \u5357\u503c \u3002   longitude   (   float   -   \u5ea6   )   \u5730\u56fe \u4e0a \u67d0\u4e2a \u70b9 \u7684 \u897f / \u4e1c\u503c \u3002   altitude   (   float   -   \u7c73   )   \u76f8\u5bf9 \u4e8e \u5730\u9762 \u7684 \u9ad8\u5ea6 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   latitude   = 0.0   ,   longitude   = 0.0   ,   altitude   = 0.0   )   \u53c2\u6570 \uff1a   latitude   (   float   -   \u5ea6   )   longitude   (   float   -   \u5ea6   )   altitude   (   float   -   \u7c73   )   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . GeoLocation   )   __ ne __   (   self   ,   other   =   carla . GeoLocation   )   __ str __   (   self   )   carla . GnssMeasurement   \u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49 \u7531   sensor . other . gnss   \u6ce8\u518c \u7684 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u6570\u636e \u7684 \u7c7b \u3002 \u5b83 \u672c\u8d28 \u4e0a \u662f \u901a\u8fc7 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4f4d\u7f6e \u548c   OpenDRIVE   \u5730\u7406 \u53c2\u8003 \u6765 \u62a5\u544a \u5176 \u4f4d\u7f6e \u3002   \u5b9e\u4f8b \u53d8\u91cf   altitude   (   float   -   \u7c73   )   \u76f8\u5bf9 \u4e8e \u5730\u9762 \u7684 \u9ad8\u5ea6 \u3002   latitude   (   float   -   \u5ea6   )   \u5730\u56fe \u4e0a \u67d0\u4e2a \u70b9 \u7684 \u5317 / \u5357\u503c \u3002   longitude   (   float   -   \u5ea6   )   \u5730\u56fe \u4e0a \u67d0\u4e2a \u70b9 \u7684 \u897f / \u4e1c\u503c \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . IMUMeasurement   \u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49 \u7531   sensor . other . imu   \u6ce8\u518c \u7684 \u6570\u636e \u7c7b \uff0c \u6d89\u53ca \u6839\u636e \u5f53\u524d   carla . World   \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f6c\u6362 \u3002 \u5b83 \u672c\u8d28 \u4e0a \u5145\u5f53 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \u3001 \u9640\u87ba \u9640\u87ba\u4eea \u548c \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \u3002   \u5b9e\u4f8b \u53d8\u91cf   accelerometer   (   carla . Vector3D   -   m / s   2   )   \u7ebf\u6027 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   compass   (   float   -   \u5f27\u5ea6   )   \u76f8\u5bf9 \u4e8e \u5317\u65b9 \u7684 \u65b9\u5411 \uff08 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d\u4e3a   [ 0.0 ,   - 1.0 ,   0.0 ] \uff09 \u3002   gyroscope   (   carla . Vector3D   -   \u5f27\u5ea6 / \u79d2   )   \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . Image   \u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49   32   \u4f4d   BGRA   \u989c\u8272 \u56fe\u50cf \u7684 \u7c7b \uff0c \u8be5 \u56fe\u50cf \u5c06 \u7528\u4f5c \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u7d22 \u7684 \u521d\u59cb \u6570\u636e \u3002 \u6709 \u4e0d\u540c \u7684 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u76ee\u524d \u6709 \u4e09\u79cd \uff0c RGB \u3001 \u6df1\u5ea6 \u548c \u8bed\u4e49 \u5206\u5272 \uff09 \uff0c \u6bcf\u79cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5bf9 \u56fe\u50cf \u90fd \u6709 \u4e0d\u540c \u7684 \u7528\u9014 \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u5173\u4e8e \u5b83\u4eec \u7684 \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   fov   (   float   -   \u5ea6   )   \u56fe\u50cf \u7684 \u6c34\u5e73 \u89c6\u91ce \u3002   height   (   int   )   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   width   (   int   )   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   (   bytes   )   \u50cf\u7d20 \u6570\u636e \u7684 \u6241\u5e73 \u6570\u7ec4 \uff0c \u4f7f\u7528   reshape   \u521b\u5efa \u56fe\u50cf \u6570\u7ec4 \u3002   \u65b9\u6cd5   convert   (   self   ,   color _ converter   )   \u6309\u7167   color _ converter   \u6a21\u5f0f \u8f6c\u6362 \u56fe\u50cf \u3002   \u53c2\u6570 \uff1a   color _ converter   (   carla . ColorConverter   )   save _ to _ disk   (   self   ,   path   ,   color _ converter   = Raw   )   \u4f7f\u7528 \u5982\u4e0b \u6240\u793a \u7684 \u8f6c\u6362 \u8f6c\u6362\u5668 \u6a21\u5f0f   color _ converter   \u5c06 \u56fe\u50cf \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002 \u9ed8\u8ba4 \u8f6c\u6362 \u6a21\u5f0f \u662f   Raw   \uff0c \u4e0d\u4f1a \u5bf9 \u56fe\u50cf \u8fdb\u884c \u4efb\u4f55 \u66f4\u6539 \u3002   \u53c2\u6570 \uff1a   path   (   str   )   -   \u5c06 \u5305\u542b \u56fe\u50cf \u7684 \u8def\u5f84 \u3002   color _ converter   (   carla . ColorConverter   )   -   \u9ed8\u8ba4   Raw   \u4e0d\u4f1a \u8fdb\u884c \u4efb\u4f55 \u66f4\u6539 \u3002   \u9b54\u672f \u65b9\u6cd5   __ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728 \u5f62\u6210 \u56fe\u50cf \u7684   carla . Color   \u4e0a\u9762 \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   color   =   carla . Color   )   __ str __   (   self   )   carla . Junction   \u6839\u636e   OpenDRIVE   1.4   \u6807\u51c6 \uff0c \u4f53\u73b0   OpenDRIVE   \u6587\u4ef6 \u4e2d \u63cf\u8ff0 \u7684 \u9053\u8def \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u7684 \u7c7b \u3002   \u5b9e\u4f8b \u53d8\u91cf   id   (   int   )   OpenDRIVE   \u6587\u4ef6 \u4e2d \u627e\u5230 \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   bounding _ box   (   carla . BoundingBox   )   \u5c01\u88c5 \u8fde\u63a5 \u8f66\u9053 \u7684 \u8fb9\u754c \u6846 \u3002   \u65b9\u6cd5   \u83b7\u53d6 \u5668   get _ waypoints   (   self   ,   lane _ type   )   \u8fd4\u56de \u8def\u5f84 \u70b9 \u5bf9 \u7684 \u5217\u8868 \u3002 \u5217\u8868 \u4e2d \u7684 \u6bcf\u4e2a \u5143\u7ec4 \u9996\u5148 \u5305\u542b \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u8fb9\u754c \u5185 \u7684 \u521d\u59cb \u8def\u5f84 \u70b9 \uff0c \u7136\u540e \u5305\u542b \u6700\u7ec8 \u8def\u5f84 \u70b9 \uff0c \u63cf\u8ff0 \u6cbf \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u7684 \u6240\u8ff0 \u8f66\u9053 \u7684 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u3002 \u8f66\u9053 \u9075\u5faa \u5176   OpenDRIVE   \u5b9a\u4e49 \uff0c \u56e0\u6b64 \u7531\u4e8e \u53ef\u80fd \u7684 \u504f\u5dee \uff0c \u53ef\u80fd \u6709 \u8bb8\u591a \u4e0d\u540c \u7684 \u5143\u7ec4 \u5177\u6709 \u76f8\u540c \u7684 \u8d77\u59cb \u8def\u5f84 \u70b9 \uff0c \u56e0\u4e3a \u8fd9 \u88ab \u89c6\u4e3a \u4e0d\u540c \u7684 \u8f66\u9053 \u3002   \u53c2\u6570 \uff1a   lane _ type   (   carla . LaneType   )   -   \u83b7\u53d6 \u8def\u70b9 \u7684 \u8f66\u9053 \u7c7b\u578b \u3002   \u8fd4\u56de \uff1a   list ( tuple (   carla . Waypoint   ) )   carla . LabelledPoint   \u4f7f\u7528 \u8bed\u4e49 \u6807\u7b7e \u8868\u793a \u7a7a\u95f4 \u4f4d\u7f6e \u7684 \u7c7b \u3002   \u5b9e\u4f8b \u53d8\u91cf   location   \u4e09\u7ef4 \u7a7a\u95f4 \u7ef4\u7a7a\u95f4 \u4e09\u7ef4\u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u3002   label   \u70b9 \u7684 \u8bed\u4e49 \u6807\u7b7e \u3002   carla . Landmark   \u5b9a\u4e49 \u5f71\u54cd \u9053\u8def \u7684 \u4efb\u4f55 \u7c7b\u578b \u7684 \u4ea4\u901a \u5730\u6807 \u6216 \u6807\u5fd7 \u7684 \u7c7b \u3002 \u8fd9\u4e9b \u7c7b \u5728 \u5730 \u6807\u7684   OpenDRIVE   1.4   standard   \u6807\u51c6 \u5b9a\u4e49 \u53ca\u5176 \u5728 \u4eff\u771f \u4e2d \u7684 \u8868\u793a \u4e4b\u95f4 \u8fdb\u884c \u534f\u8c03 \u3002 \u6b64\u7c7b \u68c0\u7d22 \u5728   OpenDRIVE   \u4e2d \u5b9a\u4e49 \u5730 \u6807\u7684 \u6240\u6709 \u4fe1\u606f \uff0c \u5e76 \u63d0\u4f9b \u6709\u5173 \u5176 \u5f71\u54cd \u54ea\u4e9b \u8f66\u9053 \u4ee5\u53ca \u4f55\u65f6 \u5f71\u54cd \u7684 \u4fe1\u606f \u3002   carla . Waypoint   \u5bf9\u8c61 \u5c06 \u5c1d\u8bd5 \u68c0\u7d22 \u5176 \u8f66\u9053 \u89c4\u5219 \u6765 \u8bbf\u95ee \u5730\u6807 \u3002 \u56e0\u6b64 \uff0c \u67d0\u4e9b \u5c5e\u6027 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u6b63\u5728 \u54a8\u8be2 \u5730 \u6807\u7684 \u8def\u5f84 \u70b9 \uff0c \u4ece\u800c \u521b\u5efa \u5bf9\u8c61 \u521b\u5efa\u5bf9\u8c61 \u3002   \u5b9e\u4f8b \u53d8\u91cf   road _ id   (   int   )   \u5b9a\u4e49 \u6b64\u5730 \u6807\u7684 \u9053\u8def \u7684   OpenDRIVE   ID \u3002 \u7531\u4e8e   OpenDRIVE   \u9053\u8def \u5b9a\u4e49 \uff0c \u8be5 \u9053\u8def \u53ef\u80fd \u4e0e \u5730\u6807 \u5f53\u524d \u5f71\u54cd \u7684 \u9053\u8def \u4e0d\u540c \u3002 \u8fd9\u79cd \u60c5\u51b5 \u4e3b\u8981 \u53d1\u751f \u5728 \u4e0d\u540c \u8def\u7ebf \u7684 \u9053\u8def \u5206\u53c9 \u5904 \u3002   \u793a\u4f8b \uff1a \u5728 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u7684 \u4e00\u6761 \u5206\u53c9 \u9053\u8def \u4e2d \u5b9a\u4e49 \u4e86 \u4e00\u4e2a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff0c \u4f46 \u5b83 \u4f1a \u5f71\u54cd \u6240\u6709 \u53ef\u80fd \u7684 \u8def\u7ebf   \u3002   distance   (   float   -   \u7c73   )   \u5730\u6807 \u4e0e \u521b\u5efa \u5bf9\u8c61 \u521b\u5efa\u5bf9\u8c61 \u7684 \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \uff08 \u67e5\u8be2   get _ landmarks   \u6216   get _ landmarks _ of _ type   \uff09 \u3002   s   (   float   -   \u7c73   )   \u5730\u6807 \u6cbf \u9053\u8def \u51e0\u4f55 \u5f62\u72b6 \u5b9a\u4f4d \u7684 \u8ddd\u79bb   road _ id   \u3002   t   (   float   -   \u7c73   )   \u5730\u6807 \u8ddd \u9053\u8def \u8fb9\u7f18 \u7684 \u6a2a\u5411 \u8ddd\u79bb   road _ id   \u3002   id   (   str   )   OpenDRIVE   \u6587\u4ef6 \u4e2d \u5730 \u6807\u7684 \u552f\u4e00   ID \u3002   name   (   str   )   OpenDRIVE   \u6587\u4ef6 \u4e2d \u7684 \u5730\u6807 \u540d\u79f0 \u3002   is _ dynamic   (   bool   )   \u6307\u793a \u5730 \u6807\u7684 \u72b6\u6001 \u662f\u5426 \u968f \u65f6\u95f4 \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \uff0c \u4f8b\u5982 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002   orientation   (   carla . LandmarkOrientation   -   \u7c73   )   \u6307\u793a \u5730\u6807 \u9762\u5411 \u7684 \u8f66\u9053 \u3002   z _ offset   (   float   -   \u7c73   )   \u653e\u7f6e \u5730 \u6807\u7684 \u9ad8\u5ea6 \u3002   country   (   str   )   \u5b9a\u4e49 \u5730 \u6807\u7684 \u56fd\u5bb6 / \u5730\u533a \u4ee3\u7801 \uff08 OpenDRIVE   \u9ed8\u8ba4 \u4e3a \u5fb7\u56fd   2017 \uff09 \u3002   type   (   str   )   \u6839\u636e \u56fd\u5bb6 / \u5730\u533a \u4ee3\u7801 \u8f93\u5165 \u8f93\u5165\u5730 \u6807\u7684 \u7c7b\u578b \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   sub _ type   (   str   )   \u6839\u636e \u56fd\u5bb6 / \u5730\u533a \u4ee3\u7801 \u7684 \u5730\u6807 \u5b50 \u7c7b\u578b \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   value   (   float   )   \u4fe1\u53f7 \u4e2d \u6253\u5370 \u7684 \u503c \uff08 \u4f8b\u5982 \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u3001 \u6700\u5927 \u91cd\u91cf \u7b49 \uff09 \u3002   unit   (   str   )   \u5c5e\u6027   value   \u7684 \u6d4b\u91cf \u5355\u4f4d \u3002   height   (   float   -   \u7c73   )   \u4fe1\u53f7 \u7684 \u603b \u9ad8\u5ea6 \u3002   width   (   float   -   \u7c73   )   \u4fe1\u53f7 \u7684 \u603b \u5bbd\u5ea6 \u3002   text   (   str   )   \u4fe1\u53f7 \u4e2d \u7684 \u9644\u52a0 \u6587\u672c \u3002   h _ offset   (   float   -   \u7c73   )   \u4fe1\u53f7 \u76f8\u5bf9 \u4e8e OpenDRIVE \u4e2d   s   \u5904   road _ id   \u5b9a\u4e49 \u7684 \u65b9\u5411 \u504f\u79fb \u3002   pitch   (   float   -   \u7c73   )   \u4fe1\u53f7 \u7684 \u4fef\u4ef0 \u4ef0\u89d2 \u4fef\u4ef0\u89d2   ( Y - \u8f74 \u5728 \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u7cfb\u7edf ) .   roll   (   float   )   \u4fe1\u53f7 \u7684 \u7ffb\u6eda \u89d2   ( X - \u8f74 \u5728 \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u7cfb\u7edf ) .   waypoint   (   carla . Waypoint   )   \u653e\u7f6e \u5728 \u8fdb\u884c \u67e5\u8be2 \u7684 \u8f66\u9053 \u548c \u5730\u6807   s   \u5904 \u7684 \u8def\u5f84 \u70b9 \u3002 \u8fd9\u662f \u5730\u6807 \u6709\u6548 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002   transform   (   carla . Transform   )   \u4eff\u771f \u4e2d \u5730 \u6807\u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002   \u65b9\u6cd5   \u83b7\u53d6 \u5668   get _ lane _ validities   (   self   )   \u8fd4\u56de \u5730\u6807 \u5f71\u54cd \u7684 \u8f66\u9053 \u3002 \u7531\u4e8e \u53ef\u80fd \u5b58\u5728 \u5730\u6807 \u65e0\u6548 \u7684 \u7279\u5b9a \u8f66\u9053 \uff0c \u56e0\u6b64 \u8fd4\u56de \u7684 \u662f \u5305\u542b \u53d7 \u5f71\u54cd \u7684   lane _ id   \u8303\u56f4 \u7684 \u5bf9 \u5217\u8868 \uff1a   \u793a\u4f8b \uff1a \u5728 \u6709 5 \u6761 \u8f66\u9053 \u7684 \u9053\u8def \u4e2d \uff0c \u5176\u4e2d 3 \u4e0d\u53d7 \u6761\u4e0d\u53d7 \u5f71\u54cd \uff1a [ ( from _ lane1 , to _ lane2 ) , ( from _ lane4   , to _ lane5 ) ]   \u3002   \u8fd4\u56de \uff1a   list ( tuple ( int ) )   carla . LandmarkOrientation   \u7528\u4e8e \u5b9a\u4e49 \u9053\u8def \u4e2d \u5730\u6807 \u65b9\u5411 \u7684 \u8f85\u52a9 \u7c7b \u3002 \u8be5 \u5b9a\u4e49 \u5e76\u975e \u76f4\u63a5 \u4ece   OpenDRIVE   \u8f6c\u6362 \u800c \u6765 \uff0c \u800c\u662f \u4e3a\u4e86 \u4fbf\u4e8e \u7406\u89e3 \u800c \u8fdb\u884c \u4e86 \u8f6c\u6362 \u3002   \u5b9e\u4f8b \u53d8\u91cf   Positive   \u5730\u6807 \u671d\u5411 \u4e0e \u9053\u8def \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u5b9a\u4e49 \u65b9\u5411 \u76f8\u540c \u7684 \u8f66\u8f86 \uff08 OpenDRIVE   \u4e2d \u7684   0   \u8f66\u9053 \u548c \u8d1f \u8f66\u9053 \uff09 \u3002   Negative   \u5730\u6807 \u671d\u5411 \u4e0e \u9053\u8def \u51e0\u4f55 \u5b9a\u4e49 \u76f8\u53cd \u65b9\u5411 \u884c\u9a76 \u7684 \u8f66\u8f86 \uff08 OpenDRIVE \u4e2d \u7684 \u6b63 \u8f66\u9053 \uff09 \u3002   Both   \u90fd \u4f1a \u5f71\u54cd \u6cbf \u9053\u8def \u4e24\u4e2a \u65b9\u5411 \u884c\u9a76 \u7684 \u8f66\u8f86 \u3002   carla . LandmarkType   Helper   \u7c7b \u5305\u542b   OpenDRIVE   \u6807\u51c6   \uff08 \u5fb7\u56fd   2017 \uff09 \u4e2d \u9ed8\u8ba4 \u56fd\u5bb6 / \u5730\u533a \u4ee3\u7801 \u5b9a\u4e49 \u7684 \u4e00\u7ec4 \u5e38\u7528 \u5730\u6807 \u7c7b\u578b \u3002   carla . Landmark   \u4e0d \u5f15\u7528 \u6b64\u7c7b \u3002 \u5730\u6807 \u7c7b\u578b \u662f \u4e00\u4e2a \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u6839\u636e \u6240 \u4f7f\u7528 \u7684 \u56fd\u5bb6 / \u5730\u533a \u4ee3\u7801 \u7684 \u4e0d\u540c \uff0c \u5176 \u53d8\u5316 \u5f88\u5927 \u53d8\u5316\u5f88\u5927 \u3002 \u6b64\u7c7b \u4ec5 \u901a\u8fc7 \u5c06 \u9ed8\u8ba4 \u96c6\u4e2d \u7684 \u4e00\u4e9b \u6700 \u5e38\u7528 \u7684 \u63cf\u8ff0 \u4e3a \u679a\u4e3e \u6765 \u4f7f \u7ba1\u7406 \u5b83\u4eec \u53d8\u5f97 \u66f4 \u5bb9\u6613 \u3002   \u5b9e\u4f8b \u53d8\u91cf   Danger   \u7c7b\u578b   101 \u3002   LanesMerging   \u7c7b\u578b   121 \u3002   CautionPedestrian   \u7c7b\u578b   133 \u3002   CautionBicycle   \u7c7b\u578b   138 \u3002   LevelCrossing   \u7c7b\u578b   150 \u3002   StopSign   \u7c7b\u578b   206 \u3002   YieldSign   \u7c7b\u578b   205 \u3002   MandatoryTurnDirection   \u7c7b\u578b   209 \u3002   MandatoryLeftRightDirection   \u7c7b\u578b   211 \u3002   TwoChoiceTurnDirection   \u7c7b\u578b   214 \u3002   Roundabout   \u7c7b\u578b   215 \u3002   PassRightLeft   \u7c7b\u578b   222 \u3002   AccessForbidden   \u7c7b\u578b   250 \u3002   AccessForbiddenMotorvehicles   \u7c7b\u578b   251 \u3002   AccessForbiddenTrucks   \u7c7b\u578b   253 \u3002   AccessForbiddenBicycle   \u7c7b\u578b   254 \u3002   AccessForbiddenWeight   \u7c7b\u578b   263 \u3002   AccessForbiddenWidth   \u7c7b\u578b   264 \u3002   AccessForbiddenHeight   \u7c7b\u578b   265 \u3002   AccessForbiddenWrongDirection   \u7c7b\u578b   267 \u3002   ForbiddenUTurn   \u7c7b\u578b   272 \u3002   MaximumSpeed   \u7c7b\u578b   274 \u3002   ForbiddenOvertakingMotorvehicles   \u7c7b\u578b   276 \u3002   ForbiddenOvertakingTrucks   \u7c7b\u578b   277 \u3002   AbsoluteNoStop   \u7c7b\u578b   283 \u3002   RestrictedStop   \u7c7b\u578b   286 \u3002   HasWayNextIntersection   \u7c7b\u578b   301 \u3002   PriorityWay   \u7c7b\u578b   306 \u3002   PriorityWayEnd   \u7c7b\u578b   307 \u3002   CityBegin   \u7c7b\u578b   310 \u3002   CityEnd   \u7c7b\u578b   311 \u3002   Highway   \u7c7b\u578b   330 \u3002   DeadEnd   \u7c7b\u578b   357 \u3002   RecomendedSpeed   \u7c7b\u578b   380 \u3002   RecomendedSpeedEnd   \u7c7b\u578b   381 \u3002   carla . LaneChange   \u5b9a\u4e49 \u5de6\u8f6c \u3001 \u53f3\u8f6c \u3001 \u53cc\u8f6c \u6216 \u4e0d \u8f6c \u7684 \u6743\u9650 \u7684 \u7c7b \uff08 \u610f\u5473 \u610f\u5473\u7740 \u53ea \u5141\u8bb8 \u76f4\u884c \uff09 \u3002 \u6839\u636e   OpenDRIVE   \u6587\u4ef6 \u4e3a \u6bcf\u4e2a   carla . Waypoint   \u5b58\u50a8 \u6b64 \u4fe1\u606f \u3002   carla . Map . get _ waypoint   \u4e2d \u7684 \u7247\u6bb5 \u663e\u793a \u4e86 \u5982\u4f55 \u4f7f\u7528 \u8def\u5f84 \u70b9\u6765 \u4e86\u89e3 \u5141\u8bb8 \u54ea\u4e9b \u8f6c\u5f2f \u3002   \u5b9e\u4f8b \u53d8\u91cf   NONE   \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u4e0d \u5141\u8bb8 \u53f3\u8f6c \u6216 \u5de6\u8f6c \uff0c \u53ea\u80fd \u76f4\u884c \u3002   Right   \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u5141\u8bb8 \u53f3\u8f6c \u3002   Left   \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u5141\u8bb8 \u5de6\u8f6c \u3002   Both   \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u90fd \u5141\u8bb8 \u53f3\u8f6c \u6216 \u5de6\u8f6c \u3002   carla . LaneInvasionEvent   \u4ece   carla . SensorData   \u7ee7\u627f   \u4e3a   sensor . other . lane _ invasion   \u5b9a\u4e49 \u538b\u7ebf \u7684 \u7c7b \u3002 \u5b83 \u4ec5 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5de5\u4f5c \uff0c \u5e76 \u4f9d\u8d56   OpenDRIVE   \u6765 \u63d0\u4f9b \u53ef\u9760 \u7684 \u4fe1\u606f \u3002 \u6bcf\u6b21 \u53d1\u751f \u538b\u7ebf \u65f6 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u4f1a \u521b\u5efa \u4e00\u4e2a \u8fd9\u6837 \u7684 \u60c5\u51b5 \uff0c \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u53ef\u80fd \u4f1a \u53d1\u751f \u591a\u6b21 \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor   (   carla . Actor   )   \u83b7\u53d6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6240 \u8fde\u63a5 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5373 \u4fb5\u5165 \u53e6 \u4e00 \u8f66\u9053 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   crossed _ lane _ markings   (   list (   carla . LaneMarking   )   )   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5df2 \u7a7f\u8fc7 \u5e76 \u68c0\u6d4b \u5230 \u7684 \u8f66\u9053 \u6807\u8bb0 \u5217\u8868 \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . LaneMarking   \u6839\u636e   OpenDRIVE   1.4   \u6807\u51c6   \u6536\u96c6 \u6709\u5173 \u8f66\u9053 \u6807\u8bb0 \u7684 \u6240\u6709 \u4fe1\u606f \u7684 \u7c7b \u3002   \u5b9e\u4f8b \u53d8\u91cf   color   (   carla . LaneMarkingColor   )   \u6807\u8bb0 \u7684 \u5b9e\u9645 \u989c\u8272 \u3002   lane _ change   (   carla . LaneChange   )   \u8de8\u8d8a \u6240\u8ff0 \u8f66\u9053 \u6807\u8bb0 \u7684 \u6743\u9650 \u3002   type   (   carla . LaneMarkingType   )   \u8f66\u9053 \u6807\u8bb0 \u7c7b\u578b \u3002   width   (   float   )   \u6c34\u5e73 \u8f66\u9053 \u6807\u8bb0 \u539a\u5ea6 \u3002   carla . LaneMarkingColor   \u6839\u636e   OpenDRIVE   1.4   \u5b9a\u4e49 \u8f66\u9053 \u6807\u8bb0 \u989c\u8272 \u7684 \u7c7b \u3002   \u5b9e\u4f8b \u53d8\u91cf   Standard   \u9ed8\u8ba4 \u4e3a \u767d\u8272 \u3002   Blue   Green   Red   White   Yellow   Other   carla . LaneMarkingType   \u5b9a\u4e49   OpenDRIVE   1.4   \u63a5\u53d7 \u7684 \u8f66\u9053 \u6807\u8bb0 \u7c7b\u578b \u7684 \u7c7b \u3002   carla . Map . get _ waypoint   \u4e2d \u7684 \u7247\u6bb5 \u663e\u793a \u4e86 \u5982\u4f55 \u4f7f\u7528 \u8def\u5f84 \u70b9\u6765 \u68c0\u7d22 \u6709\u5173 \u76f8\u90bb \u8f66\u9053 \u6807\u8bb0 \u7684 \u4fe1\u606f \u3002   \u5173\u4e8e \u53cc \u7cbe\u5ea6 \u7c7b\u578b \u7684 \u6ce8\u610f \u4e8b\u9879 \u6ce8\u610f\u4e8b\u9879 \uff1a   \u8f66\u9053 \u6807\u8bb0 \u662f \u6839\u636e   OpenDRIVE   \u6807\u51c6 \u5b9a\u4e49 \u7684 \uff0c \u8be5 \u6807\u51c6 \u786e\u5b9a \u4e00\u6761 \u4e00\u6761\u7ebf \u5c06 \u88ab \u89c6\u4e3a \u201c BrokenSolid \u201d \u6216 \u201c SolidBroken \u201d \u3002 \u6bcf\u6761 \u9053\u8def \u90fd \u6709 \u4e00\u4e2a \u4e2d\u5fc3 \u8f66\u9053 \u6807\u8bb0 \uff0c \u6839\u636e \u8f66\u9053 \u65b9\u5411 \u4ece\u5de6\u5230\u53f3 \u5b9a\u4e49 \u3002 \u5176\u4f59 \u8f66\u9053 \u6807\u8bb0 \u6309 \u4ece \u4e2d\u5fc3 \u8f66\u9053 \u5230 \u6700\u8fd1 \u7684 \u9053\u8def \u5916\u4fa7 \u7684 \u987a\u5e8f \u5b9a\u4e49 \u3002   \u5b9e\u4f8b \u53d8\u91cf   NONE   Other   Broken   Solid   SolidSolid   SolidBroken   BrokenSolid   BrokenBroken   BottsDots   Grass   Curb   carla . LaneType   \u5b9a\u4e49   OpenDRIVE   1.4   \u63a5\u53d7 \u7684 \u53ef\u80fd \u901a\u9053 \u7c7b\u578b \u7684 \u7c7b \u3002 \u8be5 \u6807\u51c6 \u5b9a\u4e49 \u4e86 \u9053\u8def \u4fe1\u606f \u3002   carla . Map . get _ waypoint   \u4e2d \u7684 \u7247\u6bb5 \u5229\u7528 \u8def\u70b9 \u6765 \u83b7\u53d6 \u5f53\u524d \u548c \u76f8\u90bb \u8f66\u9053 \u7c7b\u578b \u3002   \u5b9e\u4f8b \u53d8\u91cf   NONE   Driving   Stop   Shoulder   Biking   Sidewalk   Border   Restricted   Parking   Bidirectional   Median   Special1   Special2   Special3   RoadWorks   Tram   Rail   Entry   Exit   OffRamp   OnRamp   Any   \u9664   NONE   \u4e4b\u5916 \u7684 \u6240\u6709 \u7c7b\u578b \u3002   carla . LidarDetection   carla . LidarMeasurement   \u4e2d \u5305\u542b \u7684 \u6570\u636e \u3002 \u5176\u4e2d \u6bcf \u4e00\u4e2a \u90fd \u4ee3\u8868 \u4e91\u4e2d \u7684 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u53ca\u5176 \u4f4d\u7f6e \u548c \u76f8\u5173 \u5f3a\u5ea6 \u3002   \u5b9e\u4f8b \u53d8\u91cf   point   (   carla . Location   -   \u7c73   )   xyz   \u5750\u6807 \u4e2d \u7684 \u70b9 \u3002   intensity   (   float   )   \u8ba1\u7b97 \u8be5\u70b9 \u7684 \u5f3a\u5ea6 \u4f5c\u4e3a   [ 0.0   ,   1.0 ]   \u4e4b\u95f4 \u7684 \u6807\u91cf \u503c \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . LidarMeasurement   \u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49 \u7531   sensor . lidar . ray _ cast   \u68c0\u7d22 \u7684 LIDAR \u6570\u636e \u7684 \u7c7b \u3002 \u8fd9 \u672c\u8d28 \u4e0a \u662f \u4f7f\u7528 \u5149\u7ebf \u6295\u5c04 \u4eff\u771f \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   channels   (   int   )   \u53d1\u5c04 \u7684 \u6fc0\u5149 \u6570\u91cf \u3002   horizontal _ angle   (   float   -   radians   )   \u6d4b\u91cf \u65f6   LIDAR   \u65cb\u8f6c \u7684 \u6c34\u5e73 \u89d2\u5ea6 \u3002   raw _ data   (   bytes   )   \u63a5\u6536 \u5230 \u7684   4D   \u70b9 \u5217\u8868 \u3002 \u6bcf\u4e2a \u70b9 \u7531   [ x , y , z ]   \u5750\u6807 \u52a0\u4e0a \u4e3a \u8be5\u70b9 \u8ba1\u7b97 \u7684 \u5f3a\u5ea6 \u7ec4\u6210 \u3002   \u65b9\u6cd5   save _ to _ disk   (   self   ,   path   )   \u5c06 \u70b9\u4e91 \u4f5c\u4e3a \u63cf\u8ff0 \u6765\u81ea   3D   \u626b\u63cf \u626b\u63cf\u4eea \u7684 \u6570\u636e \u7684   . ply   \u6587\u4ef6 \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002 \u751f\u6210 \u7684 \u6587\u4ef6 \u53ef\u4ee5 \u5728   MeshLab   \u4e2d \u4f7f\u7528 \uff0c MeshLab   \u662f \u4e00\u4e2a \u7528\u4e8e \u5904\u7406 \u6240\u8ff0 \u6587\u4ef6 \u7684 \u5f00\u6e90 \u7cfb\u7edf \u3002 \u53ea \u9700 \u8003\u8651 \u5230 \u8be5 \u8f74 \u53ef\u80fd \u4e0e \u865a\u5e7b \u5f15\u64ce \u4e0d\u540c \uff0c \u56e0\u6b64 \u9700\u8981 \u91cd\u65b0 \u5206\u914d \u91cd\u65b0\u5206\u914d \u3002   \u53c2\u6570 \uff1a   path   (   str   )   \u83b7\u53d6 \u5668   get _ point _ count   (   self   ,   channel   )   \u68c0\u7d22 \u7531\u6b64 \u6d4b\u91cf \u751f\u6210 \u7684 \u6309 \u901a\u9053 \u6392\u5e8f \u7684 \u70b9\u6570 \u3002 \u6309 \u901a\u9053 \u6392\u5e8f \u53ef\u4ee5 \u8bc6\u522b \u6bcf\u4e2a \u70b9 \u7684 \u539f\u59cb \u901a\u9053 \u3002   \u53c2\u6570 \uff1a   channel   (   int   )   \u9b54\u672f \u65b9\u6cd5   __ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728   carla . LidarDetection   \u83b7\u53d6 \u7684 \u6570\u636e \u4e0a \u8fed\u4ee3 \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   detection   =   carla . LidarDetection   )   __ str __   (   self   )   carla . Light   \u6b64\u7c7b \u516c\u5f00 \u573a\u666f \u4e2d \u5b58\u5728 \u7684 \u706f\u5149 \uff08 \u8f66\u8f86 \u706f\u5149 \u9664\u5916 \uff09 \u3002 \u706f\u5149 \u7684 \u5c5e\u6027 \u53ef\u4ee5 \u968f\u610f \u67e5\u8be2 \u548c \u6539\u53d8 \u3002 \u5f53 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fdb\u5165 \u591c\u95f4 \u6a21\u5f0f \uff08 \u592a\u9633 \u9ad8\u5ea6 \u4f4e\u4e8e \u96f6 \uff09 \u65f6 \uff0c \u706f\u4f1a \u81ea\u52a8 \u6253\u5f00 \u3002   \u5b9e\u4f8b \u53d8\u91cf   color   (   carla . Color   )   \u706f\u5149 \u7684 \u989c\u8272 \u3002   id   (   int   )   \u706f \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   intensity   (   float   -   lumens   )   \u5149 \u7684 \u5f3a\u5ea6 \u3002   is _ on   (   bool   )   \u706f \u7684 \u5f00\u5173 \u3002 \u5f53\u706f\u4eae \u65f6 \u8fd9 \u662f   True   \u3002 \u5f53 \u591c\u95f4 \u6a21\u5f0f \u542f\u52a8 \u65f6 \uff0c \u6b64\u9879 \u8bbe\u7f6e \u4e3a   True   \u3002   location   (   carla . Location   -   \u7c73   )   \u706f\u5149 \u7684 \u4f4d\u7f6e \u3002   light _ group   (   carla . LightGroup   )   \u706f\u5149 \u6240\u5c5e \u7684 \u7ec4 \u3002   light _ state   (   carla . LightState   )   \u706f\u5149 \u7684 \u72b6\u6001 \u3002 \u603b\u7ed3 \u5176 \u5c5e\u6027 \u3001 \u7ec4 \u4ee5\u53ca \u662f\u5426 \u6253\u5f00 / \u5173\u95ed \u3002   \u65b9\u6cd5   turn _ off   (   self   )   \u5173\u95ed \u706f \u3002   turn _ on   (   self   )   \u6253\u5f00 \u706f \u3002   \u8bbe\u7f6e \u5668   set _ color   (   self   ,   color   )   \u5c06 \u706f\u5149 \u7684 \u989c\u8272 \u66f4 \u6539\u4e3a   color   \u3002   \u53c2\u6570 \uff1a   color   (   carla . Color   )   set _ intensity   (   self   ,   intensity   )   \u5c06\u5149 \u7684 \u5f3a\u5ea6 \u66f4 \u6539\u4e3a   intensity   \u3002   \u53c2\u6570 \uff1a   intensity   (   float   -   lumens   )   set _ light _ group   (   self   ,   light _ group   )   \u5c06 \u706f\u5149 \u66f4 \u6539\u4e3a \u7ec4   light _ group   \u3002   \u53c2\u6570 \uff1a   light _ group   (   carla . LightGroup   )   set _ light _ state   (   self   ,   light _ state   )   \u5c06 \u706f\u5149 \u7684 \u72b6\u6001 \u66f4 \u6539\u4e3a   light _ state   \u3002 \u8fd9 \u53ef\u80fd \u4f1a \u540c\u65f6 \u66f4\u6539 \u5c5e\u6027 \u3001 \u5206\u7ec4 \u4ee5\u53ca \u6253\u5f00 / \u5173\u95ed \u706f \u3002   \u53c2\u6570 \uff1a   light _ state   (   carla . LightState   )   carla . LightGroup   \u6b64\u7c7b \u5c06 \u573a\u666f \u4e2d \u7684 \u706f\u5149 \u5206\u4e3a \u4e0d\u540c \u7684 \u7ec4 \u3002 \u8fd9\u4e9b \u53ef\u7528 \u7ec4 \u4f5c\u4e3a \u53ef \u7528\u4f5c \u6807\u5fd7 \u7684 \u679a\u4e3e \u503c \u63d0\u4f9b \u3002   \u7b14\u8bb0 \u3002   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u867d\u7136 \u6709 \u4e00\u4e2a   vehicle   \u7ec4 \uff0c \u4f46 \u8f66\u706f \u8fd8 \u4e0d\u80fd \u7528\u4f5c   carla . Light   \u5bf9\u8c61 \u3002 \u8fd9\u4e9b \u5fc5\u987b \u4f7f\u7528   carla . Vehicle   \u548c   carla . VehicleLightState   \u8fdb\u884c \u7ba1\u7406 \u3002   \u5b9e\u4f8b \u53d8\u91cf   None   \u6240\u6709 \u706f \u3002   Vehicle   Street   Building   Other   carla . LightManager   \u6b64\u7c7b \u5904\u7406 \u573a\u666f \u4e2d \u7684 \u706f\u5149 \u3002 \u5b83 \u7684 \u4e3b\u8981 \u8981\u7528 \u7528\u9014 \u4e3b\u8981\u7528\u9014 \u662f \u5728 \u4e00\u6b21 \u8c03\u7528 \u4e2d \u83b7\u53d6 \u548c \u8bbe\u7f6e \u706f\u5149 \u7ec4 \u6216 \u706f\u5149 \u5217\u8868 \u7684 \u72b6\u6001 \u3002 \u6b64\u7c7b \u7684 \u5b9e\u4f8b \u53ef\u4ee5 \u901a\u8fc7   carla . World . get _ lightmanager   ( )   \u68c0\u7d22 \u3002   \u7b14\u8bb0 \u3002   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u867d\u7136 \u6709 \u4e00\u4e2a   vehicle   \u7ec4 \uff0c \u4f46 \u8f66\u706f \u8fd8 \u4e0d\u80fd \u7528\u4f5c   carla . Light   \u5bf9\u8c61 \u3002 \u8fd9\u4e9b \u5fc5\u987b \u4f7f\u7528   carla . Vehicle   \u548c   carla . VehicleLightState   \u8fdb\u884c \u7ba1\u7406 \u3002   \u65b9\u6cd5   is _ active   (   self   ,   lights   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u5e03\u5c14 \u5e03\u5c14\u503c \uff0c \u8bf4\u660e \u5176\u4e2d \u7684 \u5143\u7d20   lights   \u662f\u5426 \u6253\u5f00 / \u5173\u95ed \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   \u8fd4\u56de \uff1a   list ( bool )   turn _ off   (   self   ,   lights   )   \u5173\u95ed   lights   \u4e2d \u7684 \u6240\u6709 \u706f \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u5173\u95ed \u7684 \u706f \u5217\u8868 \u3002   turn _ on   (   self   ,   lights   )   \u6253\u5f00   lights   \u4e2d \u7684 \u6240\u6709 \u706f \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u6253\u5f00 \u7684 \u706f \u5217\u8868 \u3002   \u83b7\u53d6 \u5668   get _ all _ lights   (   self   ,   light _ group   =   carla . LightGroup . None   )   \u8fd4\u56de \u5305\u542b \u7279\u5b9a \u7ec4\u4e2d \u7684 \u706f\u5149 \u7684 \u5217\u8868 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8be5\u7ec4 \u662f   None   \u3002   \u53c2\u6570 \uff1a   light _ group   (   carla . LightGroup   )   -   \u7528\u4e8e \u8fc7\u6ee4 \u8fd4\u56de \u7684 \u706f\u5149 \u7684 \u7ec4 \u3002 \u9ed8\u8ba4 \u4e3a   None   \u3002   \u8fd4\u56de \uff1a   list (   carla . Light   )   get _ color   (   self   ,   lights   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u989c\u8272 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   \u8fd4\u56de \uff1a   list (   carla . Color   )   \u8bbe\u7f6e \u5668 \uff1a   carla . LightManager . set _ color   get _ intensity   (   self   ,   lights   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5f3a\u5ea6 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   \u8fd4\u56de \uff1a   list ( float )   -   lumens   \u8bbe\u7f6e \u5668 \uff1a   carla . LightManager . set _ intensity   get _ light _ group   (   self   ,   lights   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u7ec4 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   \u8fd4\u56de \uff1a   list (   carla . LightGroup   )   \u8bbe\u7f6e \u5668 \uff1a   carla . LightManager . set _ light _ group   get _ light _ state   (   self   ,   lights   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u6240\u6709 \u5c5e\u6027 \u7684 \u72b6\u6001 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   * * \u8fd4\u56de \uff1a   * *   list (   carla . LightState   )   \u8bbe\u7f6e \u5668 \uff1a   carla . LightManager . set _ light _ state   get _ turned _ off _ lights   (   self   ,   light _ group   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u573a\u666f \u4e2d \u5173\u95ed \u7684 \u706f\u5149 \uff08 \u6309\u7ec4 \u8fc7\u6ee4 \uff09 \u3002   \u53c2\u6570 \uff1a   light _ group   (   carla . LightGroup   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   \u8fd4\u56de \uff1a   list (   carla . Light   )   get _ turned _ on _ lights   (   self   ,   light _ group   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u573a\u666f \u4e2d \u6253\u5f00 \u7684 \u706f\u5149 \uff08 \u6309\u7ec4 \u8fc7\u6ee4 \uff09 \u3002   \u53c2\u6570 \uff1a   light _ group   (   carla . LightGroup   )   -   List   of   lights   to   be   queried .   \u8fd4\u56de \uff1a   list (   carla . Light   )   \u8bbe\u7f6e \u5668   set _ active   (   self   ,   lights   ,   active   )   \u6253\u5f00 / \u5173\u95ed   lights   \u4e2d \u7684 \u5143\u7d20 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u6253\u5f00 / \u5173\u95ed \u7684 \u706f \u5217\u8868 \u3002   active   (   list ( bool )   )   -   \u8981 \u5e94\u7528 \u7684 \u5e03\u5c14 \u5e03\u5c14\u503c \u5217\u8868 \u3002   set _ color   (   self   ,   lights   ,   color   )   lights   \u5230   color   \u4e2d \u5143\u7d20 \u7684 \u989c\u8272 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   color   (   carla . Color   )   -   \u8981 \u5e94\u7528 \u7684 \u989c\u8272 \u3002   \u83b7\u53d6 \u5668 \uff1a   carla . LightManager . get _ color   set _ colors   (   self   ,   lights   ,   colors   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u989c\u8272 \u66f4 \u6539\u4e3a \u76f8\u5e94 \u7684   colors   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   colors   (   list (   carla . Color   )   )   -   \u8981 \u5e94\u7528 \u7684 \u989c\u8272 \u5217\u8868 \u3002   set _ day _ night _ cycle   (   self   ,   active   )   \u6240\u6709 \u573a\u666f \u706f \u90fd \u6709 \u663c\u591c \u5faa\u73af \uff0c \u968f\u7740 \u592a\u9633 \u7684 \u9ad8\u5ea6 \u81ea\u52a8 \u6253\u5f00 \u548c \u5173\u95ed \u3002 \u8fd9\u4f1a \u5e72\u6270 \u9700\u8981 \u5b8c\u5168 \u63a7\u5236 \u573a\u666f \u706f\u5149 \u7684 \u60c5\u51b5 \uff0c \u56e0\u6b64 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   False   \u4f1a \u505c\u7528 \u5b83 \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   True   \u6765 \u91cd\u65b0 \u6fc0\u6d3b \u5b83 \u3002   \u53c2\u6570 \uff1a   active   (   bool   )   -   ( \u53d6\u6d88 ) \u6fc0\u6d3b \u663c\u591c \u5faa\u73af \u3002   set _ intensities   (   self   ,   lights   ,   intensities   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5f3a\u5ea6 \u66f4 \u6539\u4e3a \u76f8\u5e94 \u7684   intensities   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   intensities   (   list ( float )   -   lumens   )   -   \u8981 \u5e94\u7528 \u7684 \u5f3a\u5ea6 \u5217\u8868 \u3002   set _ intensity   (   self   ,   lights   ,   intensity   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5f3a\u5ea6 \u6539\u4e3a   intensity   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   intensity   (   float   -   lumens   )   -   \u8981 \u5e94\u7528 \u7684 \u5f3a\u5ea6 \u3002   \u83b7\u53d6 \u5668 \uff1a   carla . LightManager . get _ intensity   set _ light _ group   (   self   ,   lights   ,   light _ group   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u7ec4 \u66f4 \u6539\u4e3a   light _ group   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   light _ group   (   carla . LightGroup   )   -   \u8981 \u5e94\u7528 \u7684 \u7ec4 \u3002   \u83b7\u53d6 \u5668 \uff1a   carla . LightManager . get _ light _ group   set _ light _ groups   (   self   ,   lights   ,   light _ groups   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u7ec4 \u66f4 \u6539\u4e3a \u76f8\u5e94 \u7684   light _ groups   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   light _ groups   (   list (   carla . LightGroup   )   )   -   \u8981 \u5e94\u7528 \u7684 \u7ec4 \u5217\u8868 \u3002   set _ light _ state   (   self   ,   lights   ,   light _ state   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5c5e\u6027 \u72b6\u6001 \u6539\u4e3a   light _ state   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   light _ state   (   carla . LightState   )   -   \u8981 \u5e94\u7528 \u7684 \u5c5e\u6027 \u7684 \u72b6\u6001 \u3002   \u83b7\u53d6 \u5668 \uff1a   carla . LightManager . get _ light _ state   set _ light _ states   (   self   ,   lights   ,   light _ states   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5c5e\u6027 \u72b6\u6001 \u66f4 \u6539\u4e3a \u76f8\u5e94 \u7684   light _ states   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   light _ states   (   list (   carla . LightState   )   )   -   \u8981 \u5e94\u7528 \u7684 \u5c5e\u6027 \u7684 \u72b6\u6001 \u5217\u8868 \u3002   carla . LightState   \u8fd9\u4e2a \u7c7b \u4ee3\u8868 \u9664\u4e86 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u548c \u4f4d\u7f6e \u4e4b\u5916 \u7684 \u6240\u6709 \u706f\u5149 \u53d8\u91cf \uff0c \u5b83\u4eec \u5e94\u8be5 \u662f \u9759\u6001 \u7684 \u3002 \u4f7f\u7528 \u6b64\u7c7b \u53ef\u4ee5 \u5728 \u4e00\u6b21 \u8c03\u7528 \u4e2d \u7ba1\u7406 \u706f\u5149 \u7684 \u6240\u6709 \u53c2\u6570 \u5316 \u3002   \u5b9e\u4f8b \u53d8\u91cf   intensity   (   float   -   lumens   )   \u5149 \u7684 \u5f3a\u5ea6 \u3002   color   (   carla . Color   )   \u706f\u5149 \u7684 \u989c\u8272 \u3002   group   (   carla . LightGroup   )   \u706f\u5149 \u6240\u5c5e \u7684 \u7ec4 \u3002   active   (   bool   )   \u706f \u7684 \u5f00\u5173 \u3002 \u5f53\u706f\u4eae \u65f6 \u4e3a   True   \u3002   \u65b9\u6cd5   __ init __   (   self   ,   intensity   = 0.0   ,   color   =   carla . Color   ( )   ,   group   =   carla . LightGroup . None   ,   active   = False   )   \u53c2\u6570 \uff1a   intensity   (   float   -   lumens   )   -   \u5149 \u7684 \u5f3a\u5ea6 \u3002 \u9ed8\u8ba4 \u4e3a   0.0   \u3002   color   (   carla . Color   )   -   \u5149 \u7684 \u989c\u8272 \u3002 \u9ed8\u8ba4 \u4e3a \u9ed1\u8272 \u3002   group   (   carla . LightGroup   )   -   \u706f\u5149 \u6240\u5c5e \u7684 \u7ec4 \u3002 \u9ed8\u8ba4 \u4e3a \u901a\u7528 \u7ec4   None   \u3002   active   (   bool   )   -   \u706f\u5149 \u5f00\u5173 \u3002 \u9ed8\u8ba4 \u4e3a   False   \uff0c \u706f \u5173\u95ed \u3002   carla . Location   \u4ece   carla . Vector3D   \u7ee7\u627f   \u4ee3\u8868 \u4e16\u754c \u4e0a \u7684 \u4e00\u4e2a \u5730\u65b9 \u3002   \u5b9e\u4f8b \u53d8\u91cf   x   (   float   -   \u7c73   )   X   \u8f74\u4e0a \u4ece \u539f \u70b9\u5230\u70b9 \u7684 \u8ddd\u79bb \u3002   y   (   float   -   \u7c73   )   Y   \u8f74\u4e0a \u4ece \u539f \u70b9\u5230\u70b9 \u7684 \u8ddd\u79bb \u3002   z   (   float   -   \u7c73   )   Z   \u8f74\u4e0a \u4ece \u539f \u70b9\u5230\u70b9 \u7684 \u8ddd\u79bb \u3002   \u65b9\u6cd5   __ init __   (   self   ,   x   = 0.0   ,   y   = 0.0   ,   z   = 0.0   )   \u53c2\u6570 \uff1a   x   (   float   )   y   (   float   )   z   (   float   )   distance   (   self   ,   location   )   \u8fd4\u56de \u4ece \u8be5 \u4f4d\u7f6e \u5230 \u53e6 \u4e00 \u4f4d\u7f6e \u7684 \u6b27\u51e0 \u51e0\u91cc \u6b27\u51e0\u91cc\u5f97 \u8ddd\u79bb \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   )   -   \u7528\u4e8e \u8ba1\u7b97 \u8ddd\u79bb \u7684 \u53e6 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u3002   \u8fd4\u56de \uff1a   float   -   \u7c73   \u9b54\u672f \u65b9\u6cd5   __ abs __   (   self   )   \u8fd4\u56de \u5177\u6709   x \u3001 y   \u548c   z   \u5206\u91cf \u7edd\u5bf9 \u7edd\u5bf9\u503c \u7684 \u4f4d\u7f6e \u3002   \u8fd4\u56de \uff1a   carla . Location   __ eq __   (   self   ,   other   =   carla . Location   )   \u5982\u679c \u4e24\u4e2a \u4f4d\u7f6e \u662f \u7a7a\u95f4 \u4e2d \u7684 \u540c \u4e00\u70b9 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de \uff1a   bool   __ ne __   (   self   ,   other   =   carla . Location   )   \u5982\u679c \u4e24\u4e2a \u4f4d\u7f6e \u662f \u7a7a\u95f4 \u4e2d \u7684 \u4e0d\u540c \u540c\u70b9 \u4e0d\u540c\u70b9 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de \uff1a   bool   __ str __   (   self   )   \u5c06 \u8f74 \u7684 \u503c \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   \u8fd4\u56de \uff1a   str   carla . Map   \u5305\u542b \u9053\u8def \u4fe1\u606f \u548c \u8def\u5f84 \u70b9 \u7ba1\u7406 \u7684 \u7c7b \u3002 \u4ece \u63cf\u8ff0 \u9053\u8def \u7684   OpenDRIVE   \u6587\u4ef6 \u4e2d \u68c0\u7d22 \u6570\u636e \u3002 \u5b9a\u4e49 \u4e86 \u4e00\u4e2a \u67e5\u8be2 \u7cfb\u7edf \uff0c \u5b83 \u4e0e   carla . Waypoint   \u643a\u624b \u5408\u4f5c \uff0c \u5c06 \u51e0\u4f55 \u4fe1\u606f \u4ece   . xodr   \u8f6c\u6362 \u4e3a \u81ea\u7136 \u4e16\u754c \u70b9 \u3002 Carla   \u76ee\u524d \u6b63\u5728 \u4f7f\u7528   OpenDRIVE   1.4   \u6807\u51c6   \u3002   \u5b9e\u4f8b \u53d8\u91cf   name   (   str   )   \u5730\u56fe \u7684 \u540d\u79f0 \u3002 \u5b83 \u5bf9\u5e94 \u4e8e \u4ece   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u52a0\u8f7d \u7684 \u865a\u5e7b \u5f15\u64ce \u4e2d \u7684   . umap \uff0c \u7136\u540e \u5f15\u7528   . xodr   \u9053\u8def \u63cf\u8ff0 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   name   ,   xodr _ content   )   \u6b64\u7c7b \u7684 \u6784\u9020 \u51fd\u6570 \u6784\u9020\u51fd\u6570 \u3002 \u5c3d\u7ba1 \u5728 \u521d\u59cb \u521d\u59cb\u5316 \u4e16\u754c \u65f6\u4f1a \u81ea\u52a8 \u751f\u6210 \u5730\u56fe \uff0c \u4f46 \u5728 \u65e0 \u6e32\u67d3 \u6a21\u5f0f \u4e0b \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u5728 \u4e0d \u8fd0\u884c \u4efb\u4f55   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u60c5\u51b5 \u4e0b \u4f7f\u7528   . xodr \u3002   \u53c2\u6570 \uff1a   name   (   str   )   -   \u5f53\u524d \u5730\u56fe \u7684 \u540d\u79f0 \u3002   xodr _ content   (   str   )   -   \u5b57\u7b26 \u5b57\u7b26\u4e32 \u683c\u5f0f \u7684   . xodr   \u5185\u5bb9 \u3002   \u8fd4\u56de \uff1a   list (   carla . Transform   )   cook _ in _ memory _ map   (   self   ,   path   )   \u4ece   Carla   \u6620\u5c04 \u751f\u6210 \u4e00\u4e2a \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \uff0c \u5176\u4e2d \u5305\u542b \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4f7f\u7528 \u7684 \u4fe1\u606f \u3002 \u6b64 \u65b9\u6cd5 \u4ec5 \u5728 \u5730\u56fe \u5bfc\u5165 \u8fc7\u7a0b \u4e2d \u4f7f\u7528 \u3002   \u53c2\u6570 \uff1a   path   (   str   )   -   \u5b58\u50a8 \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6620\u5c04 \u6587\u4ef6 \u7684 \u9884\u671f \u4f4d\u7f6e \u7684 \u8def\u5f84 \u3002   generate _ waypoints   (   self   ,   distance   )   \u8fd4\u56de \u4e00\u4e2a \u8def\u70b9 \u5217\u8868 \uff0c \u6bcf\u4e2a \u8f66\u9053 \u7684 \u8def\u70b9 \u4e4b\u95f4 \u90fd \u6709 \u4e00\u5b9a \u7684 \u8ddd\u79bb \uff0c \u5e76 \u4ee5 \u5176 \u4e3a \u4e2d\u5fc3 \u3002 \u8def\u70b9 \u4e0d \u6309 \u4efb\u4f55 \u7279\u5b9a \u987a\u5e8f \u5217\u51fa \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u540c\u4e00 \u9053\u8def \u3001 \u8def\u6bb5 \u548c \u8f66\u9053 \u5185 \u8ddd\u79bb \u8d85\u8fc7 2 \u5398\u7c73 \u7684 \u8def \u70b9\u5c06 \u5177\u6709 \u76f8\u540c \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   \u53c2\u6570 \uff1a   distance   (   float   -   \u7c73   )   -   \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u8fd1\u4f3c \u8ddd\u79bb \u3002   \u8fd4\u56de \uff1a   list (   carla . Waypoint   )   save _ to _ disk   (   self   ,   path   )   \u5c06 \u5f53\u524d \u6620\u5c04 \u7684   . xodr   OpenDRIVE   \u6587\u4ef6 \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002   \u53c2\u6570 \uff1a   path   -   \u4fdd\u5b58 \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   to _ opendrive   (   self   )   \u4ee5 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5f62\u5f0f \u8fd4\u56de \u5f53\u524d \u5730\u56fe \u7684   . xodr   OpenDRIVe   \u6587\u4ef6 \u3002   \u8fd4\u56de \uff1a   str   transform _ to _ geolocation   (   self   ,   location   )   \u5c06 \u4eff\u771f \u4e2d \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u7684 \u7ed9\u5b9a \u4f4d\u7f6e   location   \u8f6c\u6362 \u4e3a   carla . GeoLocation   \uff0c \u4ed6 \u8868\u793a \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \u3002 \u5730\u56fe \u7684 \u5730\u7406 \u4f4d\u7f6e \u5730\u7406\u4f4d\u7f6e \u5728   OpenDRIVE   \u6807\u7b7e   \u5185 \u5b9a\u4e49 \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   )   \u8fd4\u56de \uff1a   carla . GeoLocation   \u83b7\u53d6 \u5668   get _ all _ landmarks   (   self   )   \u8fd4\u56de \u5730\u56fe \u4e2d \u7684 \u6240\u6709 \u5730\u6807 \u3002 \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \u68c0\u7d22 \u5230 \u7684 \u5730\u6807 \u6709 \u4e00\u4e2a   null   \u8def\u5f84 \u70b9 \u3002   \u8fd4\u56de \uff1a   list (   carla . Landmark   )   get _ all _ landmarks _ from _ id   (   self   ,   opendrive _ id   )   \u8fd4\u56de \u5177\u6709 \u7279\u5b9a   OpenDRIVE   ID   \u7684 \u5730\u6807 \u3002 \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \u68c0\u7d22 \u7684 \u5730\u6807 \u5177\u6709   null   \u8def\u5f84 \u70b9 \u3002   \u53c2\u6570 \uff1a   opendrive _ id   (   string   )   -   \u5730 \u6807\u7684   OpenDRIVE   ID \u3002   \u8fd4\u56de \uff1a   list (   carla . Landmark   )   get _ all _ landmarks _ of _ type   (   self   ,   type   )   \u8fd4\u56de \u7279\u5b9a \u7c7b\u578b \u7684 \u5730\u6807 \u3002 \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \u68c0\u7d22 \u7684 \u5730\u6807 \u5177\u6709   null   \u8def\u5f84 \u70b9 \u3002   \u53c2\u6570 \uff1a   type   (   string   )   -   \u5730 \u6807\u7684 \u7c7b\u578b \u3002   \u8fd4\u56de \uff1a   list (   carla . Landmark   )   get _ crosswalks   (   self   )   \u4ee5 \u95ed\u5408 \u591a\u8fb9 \u591a\u8fb9\u5f62 \u7684 \u5f62\u5f0f \u8fd4\u56de \u5305\u542b \u6240\u6709 \u4eba\u884c \u4eba\u884c\u6a2a\u9053 \u533a\u57df \u7684 \u4f4d\u7f6e \u5217\u8868 \u3002 \u91cd\u590d \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u70b9 \uff0c \u8868\u793a \u591a\u8fb9 \u591a\u8fb9\u5f62 \u7684 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u3002   \u8fd4\u56de \uff1a   list (   carla . Location   )   get _ landmark _ group   (   self   ,   landmark   )   \u8fd4\u56de \u4e0e \u6307\u5b9a \u5730\u6807 \uff08 \u5305\u62ec \u5176 \u81ea\u8eab \uff09 \u4f4d\u4e8e \u540c \u4e00\u7ec4 \u4e2d \u7684 \u5730\u6807 \u3002 \u5982\u679c \u5730\u6807 \u4e0d \u5c5e\u4e8e \u4efb\u4f55 \u7ec4 \uff0c \u5219 \u8fd4\u56de \u7a7a \u5217\u8868 \u3002   \u53c2\u6570 \uff1a   landmark   (   carla . Landmark   )   -   \u5c5e\u4e8e \u8be5\u7ec4 \u7684 \u5730\u6807 \u3002   \u8fd4\u56de \uff1a   list (   carla . Landmark   )   get _ spawn _ points   (   self   )   \u8fd4\u56de \u5730\u56fe \u521b\u5efa \u521b\u5efa\u8005 \u63d0\u51fa \u7684 \u5efa\u8bae \u5217\u8868 \uff0c \u4ee5 \u7528\u4f5c \u8f66\u8f86 \u7684 \u751f\u6210 \u70b9 \u3002 \u8be5 \u5217\u8868 \u5305\u62ec \u5177\u6709 \u7279\u5b9a \u4f4d\u7f6e \u548c \u65b9\u5411 \u7684   carla . Transform   \u5bf9\u8c61 \u3002 \u4e3a\u4e86 \u907f\u514d   Z   \u578b \u78b0\u649e \uff0c \u4e0a\u8ff0 \u5730\u70b9 \u4f1a \u7a0d\u5fae \u5728 \u7a7a\u4e2d \uff0c \u56e0\u6b64 \u8f66\u8f86 \u5728 \u51fa\u53d1 \u524d\u4f1a \u7a0d\u5fae \u4e0b\u5760 \u3002   \u8fd4\u56de \uff1a   list (   carla . Transform   )   get _ topology   (   self   )   \u8fd4\u56de \u63cf\u8ff0   OpenDRIVE   \u6587\u4ef6 \u62d3\u6251 \u7684 \u6700\u5c0f \u56fe \u7684 \u5143\u7ec4 \u5217\u8868 \u3002 \u8fd9\u4e9b \u5143\u7ec4 \u5305\u542b \u4f4d\u4e8e \u9053\u8def \u8d77\u70b9 \u6216 \u7ec8\u70b9 \u7684 \u6210 \u5bf9 \u8def\u70b9 \u3002 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u662f \u8d77\u70b9 \uff0c \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u4ee3\u8868 \u53e6 \u4e00\u4e2a \u53ef\u4ee5 \u5230\u8fbe \u7684 \u8def \u7ec8\u70b9 \u3002 \u8be5\u56fe \u53ef\u4ee5 \u52a0\u8f7d \u5230   NetworkX   \u4e2d \u8fdb\u884c \u4f7f\u7528 \u3002 \u8f93\u51fa \u53ef\u80fd \u5982\u4e0b \u6240\u793a \uff1a   [ ( w0 ,   w1 ) ,   ( w0 ,   w2 ) ,   ( w1 ,   w3 ) ,   ( w2 ,   w3 ) ,   ( w0 ,   w4 ) ]   \u3002   \u8fd4\u56de \uff1a   list ( tuple (   carla . Waypoint   ,   carla . Waypoint   ) )   get _ waypoint   (   self   ,   location   ,   project _ to _ road   = True   ,   lane _ type   =   carla . LaneType . Driving   )   snippet   \u2192   \u8fd4\u56de \u53ef\u4ee5 \u4f4d\u4e8e \u7cbe\u786e \u4f4d\u7f6e \u6216 \u8f6c\u6362 \u5230 \u6700\u8fd1 \u8f66\u9053 \u4e2d\u5fc3 \u7684 \u8def\u5f84 \u70b9 \u3002 \u6240\u8ff0 \u8f66\u9053 \u7c7b\u578b \u53ef\u4ee5 \u4f7f\u7528 \u8bf8\u5982   LaneType . Driving   &   LaneType . Shoulder   \u7684 \u6807\u5fd7 \u6765 \u5b9a\u4e49 \u3002 \u5982\u679c \u627e\u5230 \u672a\u627e\u5230 \u8def\u5f84 \u70b9 \uff0c \u8be5 \u65b9\u6cd5 \u5c06 \u8fd4\u56de   None   \uff0c \u8fd9\u79cd \u60c5\u51b5 \u4ec5 \u5728 \u5c1d\u8bd5 \u68c0\u7d22 \u786e\u5207 \u4f4d\u7f6e \u7684 \u8def\u5f84 \u70b9\u65f6 \u53ef\u80fd \u4f1a \u53d1\u751f \u3002 \u8fd9 \u53ef\u4ee5 \u8f7b\u677e \u68c0\u67e5 \u67d0\u4e2a \u70b9 \u662f\u5426 \u5728 \u67d0\u6761 \u9053\u8def \u5185 \uff0c \u5426\u5219 \uff0c \u5b83 \u5c06 \u8fd4\u56de \u76f8\u5e94 \u7684 \u8def\u5f84 \u70b9 \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   -   \u7c73   )   -   \u7528\u4f5c   carla . Waypoint   \u53c2\u8003 \u7684 \u4efb\u52a1 \u3002   project _ to _ road   (   bool   )   -   \u5982\u679c \u662f   True   \uff0c \u8def\u5f84 \u70b9\u5c06 \u4f4d\u4e8e \u6700\u8fd1 \u8f66\u9053 \u7684 \u4e2d\u5fc3 \u3002 \u8fd9\u662f \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u3002 \u5982\u679c \u4e3a   False   \uff0c \u8def\u5f84 \u70b9\u5c06 \u6070\u597d \u4f4d\u4e8e   location   \u3002   None   \u8868\u793a \u8be5 \u4f4d\u7f6e \u4e0d \u5c5e\u4e8e \u9053\u8def \u3002   lane _ type   (   carla . LaneType   )   -   \u5c06 \u5bf9 \u6700\u8fd1 \u8f66\u9053 \u7684 \u641c\u7d22 \u9650\u5236 \u4e3a \u53ef\u4ee5 \u6807\u8bb0 \u7684 \u4e00\u79cd \u6216 \u591a\u79cd \u8f66\u9053 \u7c7b\u578b \u3002   \u8fd4\u56de \uff1a   carla . Waypoint   get _ waypoint _ xodr   (   self   ,   road _ id   ,   lane _ id   ,   s   )   \u5982\u679c \u4f20\u9012 \u7684 \u6240\u6709 \u53c2\u6570 \u90fd \u6b63\u786e \uff0c \u5219 \u8fd4\u56de \u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002 \u5426\u5219 \uff0c \u8fd4\u56de   None   \u3002   \u53c2\u6570 \uff1a   road _ id   (   int   )   -   \u83b7\u53d6 \u8def\u70b9 \u7684 \u9053\u8def id \u3002   lane _ id   (   int   )   -   \u83b7\u53d6 \u8def\u5f84 \u70b9 \u7684 \u8f66\u9053 id \u3002   s   (   float   -   \u7c73   )   -   \u6307\u5b9a \u4ece \u9053\u8def \u8d77\u70b9 \u5f00\u59cb \u7684 \u957f\u5ea6 \u3002   \u8fd4\u56de \uff1a   carla . Waypoint   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . MapLayer   \u8868\u793a \u5730\u56fe \u7684 \u6bcf\u4e2a \u53ef \u7ba1\u7406 \u7ba1\u7406\u5c42 \u7684 \u7c7b \u3002 \u53ef\u4ee5 \u7528\u4f5c \u6807\u5fd7 \u3002   \u8b66\u544a \uff1a \u53ea\u6709 \u201c Opt \u201d \u5730\u56fe \u624d\u80fd \u4f7f\u7528 \u5730\u56fe \u56fe\u5c42 \u3002   \u5b9e\u4f8b \u53d8\u91cf   NONE   \u672a \u9009\u62e9 \u4efb\u4f55 \u56fe\u5c42 \u3002   Buildings   Decals   Foliage   Ground   ParkedVehicles   Particles   Props   StreetLights   Walls   All   \u9009\u5b9a \u6240\u6709 \u56fe\u5c42 \u3002   carla . MaterialParameter   \u8868\u793a \u6750\u6599 \u53c2\u6570 \u7684 \u7c7b \u3002 \u5e76\u975e \u573a\u666f \u4e2d \u7684 \u6240\u6709 \u5bf9\u8c61 \u90fd \u5305\u542b \u6240\u6709 \u53c2\u6570 \u3002   \u5b9e\u4f8b \u53d8\u91cf   Normal   \u5bf9\u8c61 \u7684 \u6cd5\u7ebf \u8d34\u56fe \u3002 \u5b58\u5728 \u4e8e \u4e00\u5207 \u7269\u4f53 \u4e2d \u3002   Diffuse   \u7269\u4f53 \u7684 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u7eb9\u7406 \u3002 \u5b58\u5728 \u4e8e \u4e00\u5207 \u7269\u4f53 \u4e2d \u3002   AO _ Roughness _ Metallic _ Emissive   \u6bcf\u4e2a \u989c\u8272 \u901a\u9053 \u4ee3\u8868 \u6750\u8d28 \u5c5e\u6027 \u7684 \u7eb9\u7406 \uff08 R \uff1a \u73af\u5883 \u73af\u5883\u5149 \u906e\u6321 \uff0c G \uff1a \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \uff0c B \uff1a \u91d1\u5c5e \uff0c A \uff1a \u67d0\u4e9b \u7269\u4f53 \u4e2d \u7684 \u53d1\u5c04 / \u9ad8\u5ea6 \u8d34\u56fe \uff09 \u3002   Emissive   \u53d1\u5c04 \u7eb9\u7406 \u3002 \u5b58\u5728 \u4e8e \u4e00\u4e9b \u7269\u4f53 \u4e2d \u3002   carla . ObstacleDetectionEvent   \u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49   sensor . other . obstacle   \u969c\u788d \u969c\u788d\u7269 \u6570\u636e \u7684 \u7c7b \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor   (   carla . Actor   )   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6240 \u8fde\u63a5 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   other _ actor   (   carla . Actor   )   \u88ab \u89c6\u4e3a \u969c\u788d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u7269\u4f53 \u3002   distance   (   float   -   \u7c73   )   \u53c2\u4e0e \u53c2\u4e0e\u8005   actor   \u548c \u5176\u4ed6 \u4ed6\u4eba \u5176\u4ed6\u4eba   other   \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . OpendriveGenerationParameters   \u6b64\u7c7b \u5b9a\u4e49 \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u751f\u6210 \u4e16\u754c \u65f6 \u4f7f\u7528 \u7684 \u53c2\u6570 \u3002   \u5b9e\u4f8b \u53d8\u91cf   vertex _ distance   (   float   )   \u751f\u6210 \u7684 \u7f51\u683c \u9876\u70b9 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   2.0   \u3002   max _ road _ length   (   float   )   \u5355\u4e2a \u7f51\u683c \u90e8\u5206 \u7684 \u6700\u5927 \u9053\u8def \u957f\u5ea6 \u3002 \u5730\u56fe \u7684 \u7f51\u683c \u88ab \u5206\u4e3a \u591a\u4e2a \u90e8\u5206 \uff0c \u4ee5 \u907f\u514d \u4f20\u64ad \u95ee\u9898 \u3002   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   50.0   \u3002   wall _ height   (   float   )   \u5728 \u9053\u8def \u8fb9\u754c \u4e0a \u521b\u5efa \u7684 \u5899\u58c1 \u7684 \u9ad8\u5ea6 \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u9632\u6b62 \u8f66\u8f86 \u4ece \u9053\u8def \u4e0a \u4e0b\u6765 \u6389\u4e0b\u6765 \u3002   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   1.0   \u3002   additional _ width   (   float   )   \u53e6\u5916 \u8fd8\u6709 \u5e94\u7528 \u7684 \u8fde\u63a5 \u8f66\u9053 \u3002 \u590d\u6742 \u7684 \u60c5\u51b5 \u5f80\u5f80 \u53d1\u751f \u5728 \u8def\u53e3 \uff0c \u7a0d\u5fae \u589e\u52a0 \u4e00\u70b9 \u5c31 \u53ef\u4ee5 \u9632\u6b62 \u8f66\u8f86 \u5760\u843d \u8def\u9762 \u3002   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.6   \u3002   smooth _ junctions   (   bool   )   \u5982\u679c \u4e3a   True   \uff0c \u4ea4\u53c9 \u4ea4\u53c9\u70b9 \u5904 \u7684 \u7f51\u683c \u5c06 \u88ab \u5e73\u6ed1 \uff0c \u4ee5 \u9632\u6b62 \u9053\u8def \u963b\u585e \u5176\u4ed6 \u9053\u8def \u7684 \u95ee\u9898 \u3002   \u9ed8\u8ba4 \u4e3a   True   \u3002   enable _ mesh _ visibility   (   bool   )   \u5982\u679c \u4e3a   True   \uff0c \u5c06 \u6e32\u67d3 \u9053\u8def \u7f51\u683c \u3002 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   False   \u5e94\u8be5 \u4f1a \u51cf\u5c11 \u6e32\u67d3 \u5f00\u9500 \u3002   \u9ed8\u8ba4 \u4e3a   True   \u3002   enable _ pedestrian _ navigation   (   bool   )   \u5982\u679c \u4e3a   True   \uff0c \u5c06 \u4f7f\u7528   Recast   \u5de5\u5177 \u542f\u7528 \u884c\u4eba \u5bfc\u822a \u3002 \u5bf9\u4e8e \u975e\u5e38 \u5927 \u7684 \u5730\u56fe \uff0c \u5efa\u8bae \u7981\u7528 \u6b64 \u9009\u9879 \u3002   \u9ed8\u8ba4 \u4e3a   True   \u3002   carla . OpticalFlowImage   \u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49 \u8868\u793a \u89c6\u573a \u4e2d \u68c0\u6d4b \u5230 \u7684 \u5149\u6d41 \u7684 \u4e8c\u7ef4 \u6d6e\u70b9 \uff08 32   \u4f4d \uff09 \u5411\u91cf \u7684 \u5149\u6d41 \u56fe\u50cf \u7684 \u7c7b \u3002 \u77e2\u91cf \u7684 \u5206\u91cf \u8868\u793a \u7269\u4f53 \u5728 \u56fe\u50cf \u5e73\u9762 \u4e2d \u7684 \u4f4d\u79fb \u3002 \u6bcf\u4e2a \u7ec4\u4ef6 \u8f93\u51fa \u5f52\u4e00\u5316 \u8303\u56f4   [ - 2 , 2 ]   \u5185 \u7684 \u503c \uff0c \u8be5 \u8303\u56f4 \u7f29\u653e \u4e3a   [ - 2   size \uff0c 2   size ] \uff0c \u5927\u5c0f \u662f \u76f8\u5e94 \u7ec4\u4ef6 \u4e2d \u7684 \u603b \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u3002   \u5b9e\u4f8b \u53d8\u91cf   fov   (   float   -   \u5ea6   )   \u56fe\u50cf \u7684 \u6c34\u5e73 \u89c6\u91ce \u3002   height   (   int   )   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   width   (   int   )   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   (   bytes   )   \u5c55\u5e73 \u50cf\u7d20 \u6570\u636e \u6570\u7ec4 \uff0c \u4f7f\u7528   reshape   \u521b\u5efa \u56fe\u50cf \u6570\u7ec4 \u3002   \u65b9\u6cd5   \u83b7\u53d6 \u5668   get _ color _ coded _ flow   (   self   )   \u53ef\u89c6 \u53ef\u89c6\u5316 \u52a9\u624b \u3002 \u5c06 \u5149\u6d41 \u56fe\u50cf \u8f6c\u6362 \u4e3a   RGB   \u56fe\u50cf \u3002   \u8fd4\u56de \uff1a   carla . Image   \u9b54\u672f \u65b9\u6cd5   __ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u8fed\u4ee3 \u5f62\u6210 \u56fe\u50cf \u7684   carla . OpticalFlowPixel   \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   color   =   carla . Color   )   __ str __   (   self   )   carla . OpticalFlowPixel   \u5b9a\u4e49 \u8868\u793a \u5149\u6d41 \u50cf\u7d20 \u7684 \u4e8c\u7ef4 \u5411\u91cf \u7684 \u7c7b \u3002   \u5b9e\u4f8b \u53d8\u91cf   x   (   float   )   x   \u5206\u91cf \u4e2d \u7684 \u5149\u6d41 \u3002   y   (   float   )   y   \u5206\u91cf \u4e2d \u7684 \u5149\u6d41 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   x   = 0   ,   y   = 0   )   \u521d\u59cb \u521d\u59cb\u5316 \u5149\u6d41 \u50cf\u7d20 \u3002 \u9ed8\u8ba4 \u4e3a \u96f6 \u3002   \u53c2\u6570 \uff1a   x   (   float   )   y   (   float   )   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . OpticalFlowPixel   )   __ ne __   (   self   ,   other   =   carla . OpticalFlowPixel   )   __ str __   (   self   )   carla . Osm2Odr   \u5c06   OpenStreetMap   \u5730\u56fe \u8f6c\u6362 \u4e3a   OpenDRIVE   \u683c\u5f0f \u7684 \u7c7b \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u5728   Carla   \u4e2d \u52a0\u8f7d \u3002 \u5728   \u6587\u6863   \u4e2d \u4e86\u89e3 \u6709\u5173 \u6b64 \u529f\u80fd \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u65b9\u6cd5   convert   (   osm _ file   ,   settings   )   \u83b7\u53d6   . osm   \u6587\u4ef6 \uff08 OpenStreetMap   \u683c\u5f0f \uff09 \u7684 \u5185\u5bb9 \u5e76 \u8fd4\u56de \u63cf\u8ff0 \u6240\u8ff0 \u5730\u56fe \u7684   . xodr   \uff08 OpenDRIVE   \u683c\u5f0f \uff09 \u7684 \u5185\u5bb9 \u3002 \u4f20\u9012 \u4e00\u4e9b \u53c2\u6570 \u5316\u6765 \u8fdb\u884c \u8f6c\u6362 \u3002   \u53c2\u6570 \uff1a   osm _ file   (   str   )   -   \u8f93\u5165   OpenStreetMap   \u6587\u4ef6 \u7684 \u5185\u5bb9 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   settings   (   carla . OSM2ODRSettings   )   -   \u8f6c\u6362 \u7684 \u53c2\u6570 \u5316 \u3002   \u8fd4\u56de \uff1a   str   carla . Osm2OdrSettings   \u5305\u542b   carla . Osm2Odr   \u5c06 \u4f7f\u7528 \u7684 \u53c2\u6570 \u5316 \u7684 \u5e2e\u52a9 \u7a0b\u5e8f \u7c7b \uff0c \u7528\u4e8e \u5c06   OpenStreetMap   \u5730\u56fe \u8f6c\u6362 \u4e3a   OpenDRIVE   \u683c\u5f0f \u3002 \u5728   \u6587\u6863   \u4e2d \u4e86\u89e3 \u6709\u5173 \u6b64 \u529f\u80fd \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   use _ offsets   (   bool   )   \u5141\u8bb8 \u4f7f\u7528 \u504f\u79fb \u504f\u79fb\u91cf \u8fdb\u884c \u8f6c\u6362 \u3002 \u504f\u79fb \u504f\u79fb\u91cf \u5c06 \u79fb\u52a8 \u5730\u56fe \u7684 \u539f\u70b9 \u4f4d\u7f6e \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   False   \u3002   offset _ x   (   float   -   \u7c73   )   X   \u8f74 \u504f\u79fb \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0   \u3002   offset _ y   (   float   -   \u7c73   )   Y   \u8f74 \u504f\u79fb \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0   \u3002   default _ lane _ width   (   float   -   \u7c73   )   \u751f\u6210 \u7684   XODR   \u5730\u56fe \u4e2d \u63cf\u8ff0 \u7684 \u8f66\u9053 \u5bbd\u5ea6 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   4.0   \u3002   elevation _ layer _ height   (   float   -   \u7c73   )   \u5b9a\u4e49 \u5206\u9694 \u4e24\u4e2a \u4e0d\u540c   OpenStreetMap   \u56fe\u5c42   \u7684 \u9ad8\u5ea6 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0   \u3002   center _ map   (   bool   )   \u542f\u7528 \u6b64 \u9009\u9879 \u540e \uff0c \u5730\u56fe \u7684 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u5c06 \u53d1\u751f \u4f4d\u79fb \uff0c \u4ee5 \u4f7f \u5750\u6807 \u539f\u70b9 \u4e0e \u6574\u4e2a \u9053\u8def \u5730\u56fe \u7684 \u8fb9\u754c \u6846 \u4e2d\u5fc3 \u5339\u914d \u76f8\u5339\u914d \u3002   proj _ string   (   str   )   \u5b9a\u4e49 \u5c06 \u7528\u4e8e \u8ba1\u7b97 \u4ece \u5730\u7406 \u5750\u6807 \u5730\u7406\u5750\u6807 \u5230 \u5361\u5c14 \u7b1b\u5361\u5c14 \u5750\u6807 \u7684 \u6295\u5f71 \u7684   proj4   \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002 \u8be5 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5c06 \u5199\u5165 \u751f\u6210 \u7684   OpenDRIVE   \u4e2d \uff0c \u9664\u975e \u542f\u7528 \u4e86   use _ offsets   \u6216   center _ map   \u9009\u9879 \uff0c \u56e0\u4e3a \u8fd9\u4e9b \u9009\u9879 \u4f1a \u8986\u76d6 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u4e2d \u7684 \u67d0\u4e9b \u5b9a\u4e49 \u3002   generate _ traffic _ lights   (   bool   )   \u6307\u793a \u662f\u5426 \u5728 OpenDRIVE \u4e2d \u751f\u6210 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u6570\u636e \u3002   set _ traffic _ light _ excluded _ way _ types ( way _ types )   \u5b9a\u4e49 \u7684 \u9053\u8def \u7c7b\u578b \u4e0d\u4f1a \u751f\u6210 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002   all _ junctions _ with _ traffic _ lights   (   bool   )   \u7981\u7528 \u65f6 \uff0c \u8f6c\u6362 \u8f6c\u6362\u5668 \u5c06 \u4ec5 \u4ece   OpenStreetMaps   \u6570\u636e \u751f\u6210 \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u636e \u3002 \u542f\u7528 \u540e \uff0c \u6240\u6709 \u8def\u53e3 \u90fd \u4f1a \u751f\u6210 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002   \u65b9\u6cd5   \u8bbe\u7f6e \u5668   set _ osm _ way _ types   (   self   ,   way _ types   )   \u5b9a\u4e49 \u5c06 \u5bfc\u5165 \u5bfc\u5165\u5230   OpenDRIVE   \u7684   OpenStreetMaps   \u9053\u8def \u7c7b\u578b \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5bfc\u5165 \u7684 \u9053\u8def \u7c7b\u578b \u4e3a   motorway ,   motorway _ link ,   trunk ,   trunk _ link ,   primary ,   primary _ link ,   secondary ,   secondary _ link ,   tertiary ,   tertiary _ link ,   unclassified ,   residential   \u3002 \u6709\u5173 \u9053\u8def \u7c7b\u578b \u7684 \u5b8c\u6574 \u5217\u8868 \uff0c \u8bf7 \u67e5\u770b   \u6b64\u5904   \u3002   \u53c2\u6570 \uff1a   way _ types   (   list ( str )   )   -   \u9053\u8def \u7c7b\u578b \u5217\u8868 \u3002   set _ traffic _ light _ excluded _ way _ types   (   self   ,   way _ types   )   \u5b9a\u4e49 \u5373\u4f7f \u542f\u7528   generate _ traffic _ lights   \u4e5f \u4e0d\u4f1a \u751f\u6210 \u4ea4\u901a \u4ea4\u901a\u706f \u7684   OpenStreetMaps   \u9053\u8def \u7c7b\u578b \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u6392\u9664 \u7684 \u9053\u8def \u7c7b\u578b \u4e3a   motorway _ link ,   primary _ link ,   secondary _ link ,   tertiary _ link   \u3002   \u53c2\u6570 \uff1a   way _ types   (   list ( str )   )   -   \u9053\u8def \u7c7b\u578b \u5217\u8868 \u3002   carla . RadarDetection   carla . RadarMeasurement   \u4e2d \u5305\u542b \u7684 \u6570\u636e \u3002 \u5176\u4e2d \u6bcf \u4e00\u4e2a \u90fd \u4ee3\u8868 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 .   sensor . other . radar   \u8bb0\u5f55 \u7684 \u4e91\u4e2d \u7684 \u70b9 \u4e4b\u4e00 \uff0c \u5e76 \u5305\u542b \u4e0e \u96f7\u8fbe \u76f8\u5173 \u7684 \u8ddd\u79bb \u3001 \u89d2\u5ea6 \u548c \u901f\u5ea6 \u3002   \u5b9e\u4f8b \u53d8\u91cf   altitude   (   float   -   radians   )   \u68c0\u6d4b \u7684 \u9ad8\u5ea6 \u89d2 \u3002   azimuth   (   float   -   radians   )   \u68c0\u6d4b \u7684 \u65b9\u4f4d \u65b9\u4f4d\u89d2 \u3002   depth   (   float   -   \u7c73   )   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5230 \u68c0\u6d4b \u4f4d\u7f6e \u7684 \u8ddd\u79bb \u3002   velocity   (   float   -   m / s   )   \u88ab \u68c0\u6d4b \u7269\u4f53 \u671d\u5411 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u901f\u5ea6 \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . RadarMeasurement   \u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49 \u5e76 \u6536\u96c6 \u7531   sensor . other . radar   \u6ce8\u518c \u7684 \u6d4b\u91cf \u503c \u7684 \u7c7b \uff0c \u4ee3\u8868 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u524d\u9762 \u7684 \u70b9 \u5899 \u4ee5\u53ca \u4e0e\u5176 \u76f8\u5173 \u7684 \u8ddd\u79bb \u3001 \u89d2\u5ea6 \u548c \u901f\u5ea6 \u3002 \u6570\u636e \u7531   carla . RadarDetection   \u6570\u7ec4 \u7ec4\u6210 \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   raw _ data   (   bytes   )   carla . RadarDetection   \u96f7\u8fbe \u7684 \u5b8c\u6210 \u4fe1\u606f \u5df2\u7ecf \u88ab \u6ce8\u518c \u3002   \u65b9\u6cd5   \u8bbe\u7f6e \u5668   get _ detection _ count   (   self   )   \u68c0\u7d22 \u751f\u6210 \u7684 \u6761\u76ee \u6570 \uff0c \u4e0e   __ str __ ( )   \u76f8\u540c \u3002   \u9b54\u672f \u65b9\u6cd5   __ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728 \u83b7\u53d6 \u7684 \u6570\u636e   carla . RadarDetection   \u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   detection   =   carla . RadarDetection   )   __ str __   (   self   )   carla . Rotation   \u8868\u793a   3D   \u65cb\u8f6c \u4ee5\u53ca \u7a7a\u95f4 \u65b9\u5411 \u7684 \u7c7b \u3002   Carla   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u5750\u6807\u7cfb \uff0c \u5728 \u865a\u5e7b \u5f15\u64ce \u4e16\u754c \u91cc \uff0c \u7a7a\u95f4 \u5750\u6807 \u7684 \u5355\u4f4d \u662f \u5398\u7c73 \u3002 \u5176 \u8bbe\u8ba1 \u57fa\u4e8e \u7b2c\u4e00 \u4eba\u79f0 \u7b2c\u4e00\u4eba\u79f0 \u89c6\u89c9 \uff1a X   \u8f74\u6b63 \u65b9\u5411 \u8868\u793a \u5411\u524d \uff0c Y   \u8f74\u6b63 \u65b9\u5411 \u8868\u793a \u5411 \u53f3 \uff0c Z   \u8f74\u6b63 \u65b9\u5411 \u8868\u793a \u5411\u4e0a \u3002   \u6784\u9020 \u51fd\u6570 \u6784\u9020\u51fd\u6570 \u65b9\u6cd5 \u9075\u5faa \u7279\u5b9a \u7684 \u58f0\u660e \u987a\u5e8f \uff1a   ( pitch ,   yaw ,   roll )   \u5bf9\u5e94 \u4e8e   ( Y - rotation , Z - rotation , X - rotation )   .   \u865a\u5e7b \u5f15\u64ce \u7684 \u5750\u6807 \u5750\u6807\u7cfb   \u3002   \u5b9e\u4f8b \u53d8\u91cf   pitch   (   float   -   \u5ea6   )   Y - \u8f74 \u65cb\u8f6c \u89d2\u5ea6 \u3002   yaw   (   float   -   \u5ea6   )   Z - \u8f74 \u65cb\u8f6c \u89d2\u5ea6 \u3002   roll   (   float   -   \u5ea6   )   X - \u8f74 \u65cb\u8f6c \u89d2\u5ea6 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   pitch   = 0.0   ,   yaw   = 0.0   ,   roll   = 0.0   )   \u53c2\u6570 \uff1a   pitch   (   float   -   \u5ea6   )   -   Y - axis   rotation   angle .   yaw   (   float   -   \u5ea6   )   -   Z - axis   rotation   angle .   roll   (   float   -   \u5ea6   )   -   X - axis   rotation   angle .   \u8b66\u544a \uff1a   CARLA   ( pitch , yaw , roll )   \u548c \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684 \u58f0\u660e \u987a\u5e8f \u4e0d\u540c \u3002 \u5f53 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u65f6 \uff0c \u4e0d\u8981 \u6df7\u6dc6 \u8f74 \u7684 \u65cb\u8f6c \u3002   \u8bbe\u7f6e \u5668   get _ forward _ vector   (   self   )   \u6839\u636e \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u6307\u5411 \u524d\u65b9 \u7684 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   get _ right _ vector   (   self   )   \u6839\u636e \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u6307\u5411 \u53f3\u4fa7 \u7684 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   get _ up _ vector   (   self   )   \u6839\u636e \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u6307\u5411 \u4e0a\u65b9 \u7684 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . Rotation   )   \u5982\u679c \u4e24\u4e2a \u65cb\u8f6c \u4ee3\u8868 \u6bcf\u4e2a \u8f74 \u7684 \u76f8\u540c \u65b9\u5411 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de \uff1a   bool   __ ne __   (   self   ,   other   =   carla . Rotation   )   \u5982\u679c \u4e24\u4e2a \u65cb\u8f6c \u4ee3\u8868 \u6bcf\u4e2a \u8f74 \u7684 \u76f8\u540c \u65b9\u5411 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de \uff1a   bool   __ str __   (   self   )   \u5c06 \u8f74 \u7684 \u65b9\u5411 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   carla . RssActorConstellationData   \u7531   RssSensor . register _ actor _ constellation _ callback ( )   \u6ce8\u518c \u7684 \u56de\u8c03 \u4e2d \u63d0\u4f9b \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u3002   \u5b9e\u4f8b \u53d8\u91cf   ego _ match _ object   (   ad . map . match . Object   )   \u81ea\u6211 \u6620\u5c04 \u5339\u914d \u4fe1\u606f \u3002   ego _ route   (   ad . map . route . FullRoute   )   \u81ea\u6211 \u8def\u7531 \u3002   ego _ dynamics _ on _ route   (   carla . RssEgoDynamicsOnRoute   )   \u5173\u4e8e \u8def\u7ebf \u7684 \u5f53\u524d \u81ea\u6211 \u8f66\u8f86 \u52a8\u6001 \u3002   other _ match _ object   (   ad . map . match . Object   )   \u5176\u4ed6 \u5bf9\u8c61 \u7684 \u5730\u56fe \u5339\u914d \u4fe1\u606f \u3002 \u4ec5\u5f53 \u201c other _ actor \u201d \u4e0d\u662f \u201c None \u201d \u65f6 \u8fd9 \u624d \u6709\u6548 \u3002   other _ actor   (   carla . Actor   )   \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5982\u679c \u67e5\u8be2 \u9ed8\u8ba4 \u53c2\u6570 \u6216 \u7c7b\u578b \u4e3a   ad . rss . world . ObjectType . ArtificialObject   \u4e14 \u6ca1\u6709 \u4e13\u7528 \u201c   carla . Actor   '   ( as   e . g .   for   the   road   boundaries   \u201d \u7684 \u4eba\u5de5 \u5bf9\u8c61 \uff08 \u4f8b\u5982 \u76ee\u524d \u7684 \u9053\u8def \u8fb9\u754c \uff09 \uff0c \u5219 \u4e3a \u201c None \u201d \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . RssActorConstellationResult   \u5e94\u8be5 \u7531   RssSensor . register _ actor _ constellation _ callback ( )   \u6ce8\u518c \u7684 \u56de\u8c03 \u8fd4\u56de \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u3002   \u5b9e\u4f8b \u53d8\u91cf   rss _ calculation _ mode   (   ad . rss . map . RssMode   )   \u8981 \u5e94\u7528 \u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8ba1\u7b97 \u6a21\u5f0f \u3002   restrict _ speed _ limit _ mode   (   ad . rss . map . RestrictSpeedLimitMode   )   \u9650\u901f \u6a21\u5f0f \u3002   ego _ vehicle _ dynamics   (   ad . rss . world . RssDynamics   )   \u5c06 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u52a8\u6001 \u5e94\u7528 \u4e8e \u81ea\u6211 \u8f66\u8f86 \u3002   actor _ object _ type   (   ad . rss . world . ObjectType   )   \u8981 \u7528\u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5bf9\u8c61 \u7c7b\u578b \u3002   actor _ dynamics   (   ad . rss . world . RssDynamics   )   \u8981 \u5e94\u7528 \u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . RssEgoDynamicsOnRoute   \u63cf\u8ff0 \u8f66\u8f86 \u72b6\u6001 \u7684   carla . RssResponse   \u4e2d \u5305\u542b \u7684 \u90e8\u5206 \u6570\u636e \u3002 \u53c2\u6570 \u5305\u62ec \u5b83 \u5f53\u524d \u7684 \u52a8\u6001 \uff0c \u4ee5\u53ca \u5b83 \u5982\u4f55 \u6839\u636e \u76ee\u6807 \u8def\u7ebf \u524d\u8fdb \u3002   \u5b9e\u4f8b \u53d8\u91cf   ego _ speed   (   ad . physics . Speed   )   \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u3002   min _ stopping _ distance   (   ad . physics . Distance   )   \u5f53\u524d \u6700\u5c0f \u505c\u8f66 \u8ddd\u79bb \u3002   ego _ center   (   ad . map . point . ENUPoint   )   \u81ea\u6211 \u8f66\u8f86 \u88ab \u8003\u8651 \u7684 enu \u4f4d\u7f6e \u3002   ego _ heading   (   ad . map . point . ENUHeading   )   \u8003\u8651 \u7684 \u81ea\u6211 \u8f66\u8f86 \u7684 \u822a\u5411 \u3002   ego _ center _ within _ route   (   bool   )   \u8bf4\u660e \u81ea\u6211 \u8f66\u8f86 \u7684 \u4e2d\u5fc3 \u662f\u5426 \u5728 \u8def\u7ebf \u5185 \u3002   crossing _ border   (   bool   )   \u8bf4\u660e \u8f66\u8f86 \u662f\u5426 \u5df2\u7ecf \u8d8a\u8fc7 \u5176\u4e2d \u4e00\u4e2a \u8f66\u9053 \u8fb9\u754c \u3002   route _ heading   (   ad . map . point . ENUHeading   )   \u8def\u7ebf \u7684 \u8003\u8651 \u65b9\u5411 \u3002   route _ nominal _ center   (   ad . map . point . ENUPoint   )   \u5f53\u524d \u8def\u7ebf \u7684 \u540d\u4e49 \u4e2d\u5fc3 \u3002   heading _ diff   (   ad . map . point . ENUHeading   )   \u88ab \u8003\u8651 \u7684 \u65b9\u5411 \u504f\u79bb \u4e86 \u8def\u7ebf \u3002   route _ speed _ lat   (   ad . physics . Speed   )   \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u5206\u91cf   lat   \u4e0e \u8def\u7ebf \u6709\u5173 \u3002   route _ speed _ lon   (   ad . physics . Speed   )   \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u5206\u91cf   lon   \u4e0e \u8def\u7ebf \u6709\u5173 \u3002   route _ accel _ lat   (   ad . physics . Acceleration   )   \u81ea\u6211 \u8f66\u8f86 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5206\u91cf   lat   \u4e0e \u8def\u7ebf \u6709\u5173 \u3002   route _ accel _ lon   (   ad . physics . Acceleration   )   \u81ea\u6211 \u8f66\u8f86 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5206\u91cf   lon   \u4e0e \u8def\u7ebf \u6709\u5173 \u3002   avg _ route _ accel _ lat   (   ad . physics . Acceleration   )   \u81ea\u6211 \u8f66 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5206\u91cf   lat   \u4e0e \u7ecf\u8fc7 \u5e73\u5747 \u6ee4\u6ce2 \u5e73\u6ed1 \u7684 \u8def\u7ebf \u6709\u5173 \u3002   The   ego   vehicle ' s   acceleration   component   lat   regarding   the   route   smoothened   by   an   average   filter .   avg _ route _ accel _ lon   (   ad . physics . Acceleration   )   \u5bf9 \u7ecf\u8fc7 \u5e73\u5747 \u6ee4\u6ce2 \u5e73\u6ed1 \u7684 \u8def\u7ebf \u8fdb\u884c \u81ea \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5206\u91cf   lon   \u5206\u6790 \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . RssLogLevel   \u679a\u4e3e \u58f0\u660e \u4e2d \u4f7f\u7528 \u7684   carla . RssSensor   \u8bbe\u7f6e \u65e5\u5fd7 \u7ea7\u522b \u3002   \u5b9e\u4f8b \u53d8\u91cf   trace   debug   info   warn   err   critical   off   carla . RssResponse   \u4ece   carla . SensorData   \u7ee7\u627f   \u5305\u542b c   carla . RssSensor   \u8f93\u51fa \u7684 \u7c7b \u3002 \u8fd9 \u662f \u5bf9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7236 \u8f66\u8f86 \u6267\u884c \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u8ba1\u7b97 \u7684 \u7ed3\u679c \u3002   carla . RssRestrictor   \u5c06 \u4f7f\u7528 \u6570\u636e \u4fee\u6539 \u8f66\u8f86 \u7684   carla . VehicleControl   \u3002   \u5b9e\u4f8b \u53d8\u91cf   response _ valid   (   bool   )   \u8bf4\u660e \u54cd\u5e94 \u662f\u5426 \u6709\u6548 \u3002 \u5982\u679c \u8ba1\u7b97 \u5931\u8d25 \u6216 \u53d1\u751f \u5f02\u5e38 \uff0c \u5219 \u4e3a   False   \u3002   proper _ response   (   ad . rss . state . ProperResponse   )   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4e3a \u8f66\u8f86 \u8ba1\u7b97 \u7684 \u6b63\u786e \u54cd\u5e94 \u3002   rss _ state _ snapshot   (   ad . rss . state . RssStateSnapshot   )   \u8be6\u7ec6 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5728 \u5f53\u524d \u65f6\u523b \u7684 \u72b6\u6001 \u3002   ego _ dynamics _ on _ route   (   carla . RssEgoDynamicsOnRoute   )   \u5173\u4e8e \u8def\u7ebf \u7684 \u5f53\u524d \u81ea\u6211 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3002   world _ model   (   ad . rss . world . WorldModel   )   \u7528\u4e8e \u8ba1\u7b97 \u7684 \u4e16\u754c \u6a21\u578b \u3002   situation _ snapshot   (   ad . rss . situation . SituationSnapshot   )   \u4ece \u4e16\u754c \u6a21\u578b \u4e2d \u63d0\u53d6 \u7684 \u8be6\u7ec6 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u60c5\u51b5 \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . RssRestrictor   \u8fd9\u4e9b \u5bf9\u8c61 \u5c06 \u9650\u5236 \u5e94\u7528 \u4e8e   carla . VehicleControl   \u3002 \u5b83 \u662f   \u8d1f\u8d23 \u654f\u611f \u5b89\u5168 \u7684 C++ \u5e93   \u7684 Carla \u5b9e\u73b0 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u6b64\u7c7b \u4e0e   rss \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u534f\u540c \u540c\u5de5 \u5de5\u4f5c \u534f\u540c\u5de5\u4f5c \uff0c rss \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u63d0\u4f9b \u8981 \u5e94\u7528 \u7684 \u9650\u5236 \u7684 \u6570\u636e \u3002   \u65b9\u6cd5   restrict _ vehicle _ control   (   self   ,   vehicle _ control   ,   proper _ response   ,   ego _ dynamics _ on _ route   ,   vehicle _ physics   )   \u5e94\u7528   carla . RssSensor   \u5bf9   carla . VehicleControl   \u7ed9\u51fa \u7684 \u5b89\u5168 \u9650\u5236 \u3002   \u53c2\u6570 \uff1a   vehicle _ control   (   carla . VehicleControl   )   -   \u8981 \u9650\u5236 \u7684 \u8f93\u5165 \u8f66\u8f86 \u63a7\u5236 \u3002   proper _ response   (   ad . rss . state . ProperResponse   )   -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ea7\u751f \u7684 \u90e8\u5206 \u54cd\u5e94 \u3002 \u5305\u542b \u9002\u7528 \u4e8e \u8f66\u8f86 \u52a0\u901f \u7684 \u9650\u5236 \u3002   ego _ dynamics _ on _ route   (   carla . RssEgoDynamicsOnRoute   )   -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ea7\u751f \u7684 \u90e8\u5206 \u54cd\u5e94 \u3002 \u5305\u542b \u6709\u5173 \u5176 \u8def\u7ebf \u7684 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u548c \u65b9\u5411 \u3002   vehicle _ physics   (   carla . VehiclePhysicsControl   )   -   \u8f66\u8f86 \u7684 \u5f53\u524d \u7269\u7406 \u7279\u6027 \u3002 \u7528\u4e8e \u6b63\u786e \u5e94\u7528 \u9650\u5236 \u3002   \u8fd4\u56de :   carla . VehicleControl   \u8bbe\u7f6e \u5668   set _ log _ level   (   self   ,   log _ level   )   \u8bbe\u7f6e \u65e5\u5fd7 \u7ea7\u522b \u3002   \u53c2\u6570 \uff1a   log _ level   (   carla . RssLogLevel   )   -   \u65b0 \u65e5\u5fd7 \u7ea7\u522b \u3002   carla . RssRoadBoundariesMode   carla . RssSensor   \u4e2d \u4f7f\u7528 \u7684 \u679a\u4e3e \u58f0\u660e \uff0c \u7528\u4e8e \u542f\u7528 \u6216 \u7981\u7528   \u516c\u8def \u505c\u7559   \u529f\u80fd \u3002 \u800c\u8a00 \u603b\u800c\u8a00\u4e4b \uff0c \u6b64 \u529f\u80fd \u5c06 \u9053\u8def \u8fb9\u754c \u89c6\u4e3a \u865a\u62df \u5bf9\u8c61 \u3002 \u6700\u5c0f \u5b89\u5168 \u8ddd\u79bb \u68c0\u67e5 \u5e94\u7528 \u4e8e \u8fd9\u4e9b \u865a\u62df \u5899 \uff0c \u4ee5 \u786e\u4fdd \u8f66\u8f86 \u4e0d\u4f1a \u9a76\u79bb \u9053\u8def \u3002   \u5b9e\u4f8b \u53d8\u91cf   On   \u542f\u7528 \u201c \u505c\u7559 \u5728 \u8def\u4e0a \uff08   stay   on   road   \uff09 \u201d \u529f\u80fd \u3002   Off   \u7981\u7528 \u201c \u505c\u7559 \u5728 \u8def\u4e0a \uff08   stay   on   road   \uff09 \u201d \u529f\u80fd \u3002   carla . RssSensor   \u4ece   carla . Sensor   \u7ee7\u627f   \u6b64 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5de5\u4f5c \u539f\u7406 \u4e0e \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7565\u6709 \u4e0d\u540c \u7565\u6709\u4e0d\u540c \u3002 \u8bf7 \u67e5\u770b   \u7279\u5b9a \u6587\u6863   \u548c   rss \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \uff0c \u4ee5 \u5145\u5206 \u4e86\u89e3 \u5b83 \u3002   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f7f\u7528 \u4e16\u754c \u4fe1\u606f \u548c   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5e93   \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u5b89\u5168 \u68c0\u67e5 \u5b89\u5168\u68c0\u67e5 \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u7d22 \u5230 \u7684 \u8f93\u51fa \u662f   carla . RssResponse   \u3002 \u8fd9 \u5c06 \u7531   carla . RssRestrictor   \u4f7f\u7528 \u3002 \u5728 \u5c06 \u5176 \u5e94\u7528 \u4e8e \u8f66\u8f86 \u4e4b\u524d \u8fdb\u884c   carla . VehicleControl   \u3002   \u5b9e\u4f8b \u53d8\u91cf   ego _ vehicle _ dynamics   (   ad . rss . world . RssDynamics   )   \u8bf4\u660e \u5982\u679c \u6ca1\u6709 \u6ce8\u518c \u53c2\u4e0e \u53c2\u4e0e\u8005   constellation   \u56de\u8c03 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u8003\u8651 \u7684 \u81ea\u6211 \u8f66\u8f86 \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   \u3002   other _ vehicle _ dynamics   (   ad . rss . world . RssDynamics   )   \u8bf4\u660e \u5982\u679c \u6ca1\u6709 \u6ce8\u518c \u53c2\u4e0e \u53c2\u4e0e\u8005   constellation   \u56de\u8c03 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u4e3a \u5176\u4f59 \u8f66\u8f86 \u8003\u8651 \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   \u3002   pedestrian _ dynamics   (   ad . rss . world . RssDynamics   )   \u8bf4\u660e \u5982\u679c \u6ca1\u6709 \u6ce8\u518c \u53c2\u4e0e \u53c2\u4e0e\u8005   constellation   \u56de\u8c03 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u4e3a \u884c\u4eba \u8003\u8651 \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   \u3002   road _ boundaries _ mode   (   carla . RssRoadBoundariesMode   )   \u5207\u6362 \u505c\u7559 \u5728 \u9053\u8def \u4e0a   stay   on   road   \u7684 \u529f\u80fd \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5904\u4e8e \u7981\u7528 \uff08   Off   \uff09 \u72b6\u6001 \u3002   routing _ targets   (   vector <   carla . Transform   >   )   \u5f53\u524d \u8003\u8651 \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u8def\u7531 \u7684 \u76ee\u6807 \u5217\u8868 \u3002 \u5982\u679c \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \u8def\u7531 \u76ee\u6807 \uff0c \u5219 \u968f\u673a \u751f\u6210 \u8def\u7531 \u3002   \u65b9\u6cd5   append _ routing _ target   (   self   ,   routing _ target   )   \u5c06 \u65b0 \u7684 \u76ee\u6807 \u4f4d\u7f6e \u9644\u52a0 \u5230 \u8f66\u8f86 \u7684 \u5f53\u524d \u8def\u7ebf \u3002   \u53c2\u6570 \uff1a   routing _ target   (   carla . Transform   )   -   \u4e3a \u8def\u7ebf \u65b0\u5efa \u76ee\u6807 \u70b9 \u3002 \u5728 \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u540e \u9009\u62e9 \u8fd9\u4e9b \u9009\u9879 \uff0c \u4ee5 \u5f3a\u5236 \u8def\u7ebf \u8f6c\u5f2f \u3002   drop _ route   (   self   )   \u653e\u5f03 \u5f53\u524d \u8def\u7531 \u3002 \u5982\u679c   routing _ targets   \u4e2d \u8fd8\u6709 \u76ee\u6807 \uff0c \u5219 \u4f7f\u7528 \u8fd9\u4e9b \u76ee\u6807 \u521b\u5efa \u65b0\u8def \u7531 \u3002 \u5426\u5219 \uff0c \u5c06 \u968f\u673a \u521b\u5efa \u65b0\u8def \u7531 \u3002   register _ actor _ constellation _ callback   (   self   ,   callback   )   \u6ce8\u518c \u56de\u8c03 \u4ee5 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49   carla . RssActorConstellationResult   \u3002 \u901a\u8fc7 \u6b64 \u56de\u8c03 \uff0c \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570 \u7684 \u8bbe\u7f6e \u662f \u6839\u636e \u53c2\u4e0e \u53c2\u4e0e\u8005   constellation   \u5b8c\u6210 \u7684 \uff0c \u5e76\u4e14 \u8bbe\u7f6e \uff08 ego _ vehicle _ dynamics ,   other _ vehicle _ dynamics   and   pedestrian _ dynamics \uff09 \u6ca1\u6709 \u4efb\u4f55 \u6548\u679c \u3002   \u53c2\u6570 \uff1a   callback   -   \u6bcf\u5f53 \u8981 \u8ba1\u7b97 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u60c5\u51b5 \u65f6\u8981 \u8c03\u7528 \u7684 \u51fd\u6570 \u3002   reset _ routing _ targets   (   self   )   \u5220\u9664 \u5df2 \u9644\u52a0 \u5230 \u8def\u7531 \u7684 \u76ee\u6807 \u3002   \u8bbe\u7f6e \u5668   set _ log _ level   (   self   ,   log _ level   )   \u8bbe\u7f6e \u65e5\u5fd7 \u7ea7\u522b \u3002   \u53c2\u6570 \uff1a   log _ level   (   carla . RssLogLevel   )   -   \u65b0 \u7684 \u65e5\u5fd7 \u7ea7\u522b \u3002   set _ map _ log _ level   (   self   ,   log _ level   )   \u8bbe\u7f6e \u65e5\u5fd7 \u65e5\u5fd7 \u7ea7\u522b \u3002   \u53c2\u6570 \uff1a   log _ level   (   carla . RssLogLevel   )   -   New   map   log   level .   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . SemanticLidarDetection   carla . SemanticLidarMeasurement   \u4e2d \u5305\u542b \u7684 \u6570\u636e \u3002 \u5176\u4e2d \u6bcf \u4e00\u4e2a \u90fd \u4ee3\u8868 \u4e91\u4e2d \u7684 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u53ca\u5176 \u4f4d\u7f6e \u3001 \u5165\u5c04 \u5c04\u89d2 \u5165\u5c04\u89d2 \u7684 \u4f59\u5f26 \u3001 \u547d\u4e2d \u7269\u4f53 \u7684 \u7d22\u5f15 \u53ca\u5176 \u8bed\u4e49 \u6807\u8bb0 \u3002   \u5b9e\u4f8b \u53d8\u91cf   point   (   carla . Location   -   \u7c73   )   \u70b9 \u7684 [ x \uff0c y \uff0c z ] \u5750\u6807 \u3002   cos _ inc _ angle   (   float   )   \u5149\u7ebf \u4e0e \u88ab \u51fb\u4e2d \u7269\u4f53 \u6cd5\u7ebf \u4e4b\u95f4 \u5165\u5c04 \u5c04\u89d2 \u5165\u5c04\u89d2 \u7684 \u4f59\u5f26 \u3002   object _ idx   (   uint   )   \u88ab \u5149\u7ebf \u51fb\u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 ID \u3002   object _ tag   (   uint   )   \u88ab \u5149\u7ebf \u51fb\u4e2d \u90e8\u4ef6 \u7684 \u8bed\u4e49 \u6807\u7b7e \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . SemanticLidarMeasurement   \u4ece   carla . SensorData   \u7ee7\u627f   \u8be5\u7c7b \u5b9a\u4e49 \u7531   sensor . lidar . ray _ cast _ semantic   \u68c0\u7d22 \u7684 \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6570\u636e \u3002 \u8fd9 \u5b9e\u8d28 \u4e0a \u662f \u4f7f\u7528 \u5149\u7ebf \u6295\u5c04 \u6765 \u4eff\u771f \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002 \u5728 \u6b64 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   channels   (   int   )   \u6fc0\u5149 \u53d1\u5c04 \u6b21\u6570 \u3002   horizontal _ angle   (   float   -   radians   )   \u6c34\u5e73 \u89d2\u5ea6 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5728 \u6d4b\u91cf \u65f6 \u65cb\u8f6c \u3002   raw _ data   (   bytes   )   \u6536\u5230 \u539f\u59cb \u68c0\u6d4b \u6d4b\u70b9 \u68c0\u6d4b\u70b9 \u5217\u8868 \u3002 \u6bcf\u4e2a \u70b9 \u7531 [ x \uff0c y \uff0c z ] \u5750\u6807 \u52a0\u4e0a \u5165\u5c04 \u5c04\u89d2 \u5165\u5c04\u89d2 \u7684 \u4f59\u5f26 \uff0c \u547d\u4e2d \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7d22\u5f15 \u53ca\u5176 \u8bed\u4e49 \u6807\u8bb0 \u7ec4\u6210 \u3002   \u65b9\u6cd5   save _ to _ disk   (   self   ,   path   )   \u5c06 \u70b9\u4e91 \u4fdd\u5b58 \u4e3a \u63cf\u8ff0 \u4e09\u7ef4 \u626b\u63cf \u626b\u63cf\u4eea \u6570\u636e \u7684   . ply   \u6587\u4ef6 \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002 \u751f\u6210 \u7684 \u6587\u4ef6 \u53ef\u4ee5 \u5728   MeshLab   \u4e2d \u4f7f\u7528 \uff0c MeshLab \u662f \u4e00\u4e2a \u7528\u4e8e \u5904\u7406 \u4e0a\u8ff0 \u6587\u4ef6 \u7684 \u5f00\u6e90 \u7cfb\u7edf \u3002 \u53ea \u9700 \u8003\u8651 \u5230 \u8f74 \u53ef\u80fd \u4e0e \u4e0d \u771f\u5b9e \u7684 \u5f15\u64ce \u4e0d\u540c \uff0c \u56e0\u6b64 \u9700\u8981 \u91cd\u65b0 \u5206\u914d \u91cd\u65b0\u5206\u914d \u3002   \u53c2\u6570 \uff1a   path   (   str   )   \u83b7\u53d6 \u5668   get _ point _ count   (   self   ,   channel   )   \u83b7\u53d6 \u6b64 \u5ea6\u91cf \u751f\u6210 \u7684 \u6309 \u901a\u9053 \u6392\u5e8f \u7684 \u70b9\u6570 \u3002 \u901a\u8fc7 \u901a\u9053 \u6392\u5e8f \u53ef\u4ee5 \u8bc6\u522b \u6bcf\u4e2a \u70b9 \u7684 \u539f\u59cb \u901a\u9053 \u3002   \u53c2\u6570 \uff1a   channel   (   int   )   \u9b54\u672f \u65b9\u6cd5   __ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728 \u83b7\u53d6 \u5230 \u7684   carla . SemanticLidarDetection   \u6570\u636e \u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   detection   =   carla . SemanticLidarDetection   )   __ str __   (   self   )   carla . Sensor   \u4ece   carla . Actor   \u7ee7\u627f   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6784\u6210 \u4e86 \u4e00\u4e2a \u975e\u5e38 \u591a\u6837 \u591a\u6837\u5316 \u548c \u72ec\u7279 \u7684 \u7279\u5b9a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5bb6\u65cf \u3002 \u5b83\u4eec \u901a\u5e38 \u662f \u4f5c\u4e3a \u8f66\u8f86 \u7684 \u9644\u4ef6 / \u513f\u5b50 \u800c \u4ea7\u751f \u7684 \uff08 \u770b\u770b   carla . World   \u6765 \u4e86\u89e3 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u751f\u6210 \uff09 \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7ecf\u8fc7 \u7cbe\u5fc3 \u8bbe\u8ba1 \u7cbe\u5fc3\u8bbe\u8ba1 \uff0c \u53ef\u4ee5 \u68c0\u7d22 \u5b83\u4eec \u6b63\u5728 \u76d1\u542c \u7684 \u4e0d\u540c \u7c7b\u578b \u7684 \u6570\u636e \u3002 \u5b83\u4eec \u63a5\u6536 \u5230 \u7684 \u6570\u636e \u88ab \u5f62\u6210 \u4e3a \u4ece   carla . SensorData   \u7ee7\u627f \u7684 \u4e0d\u540c \u5b50\u7c7b \u3002 \uff08 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff09 \u3002   \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef \u5206\u4e3a \u4e24\u7ec4 \uff1a \u4e00\u7ec4 \u5728 \u6bcf\u4e2a \u8282\u62cd \u4e2d \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \uff08 \u76f8\u673a \u3001 \u70b9\u4e91 \u548c \u4e00\u4e9b \u7279\u5b9a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff09 \uff0c \u4e00\u7ec4 \u53e6\u4e00\u7ec4 \u4ec5 \u5728 \u7279\u5b9a \u60c5\u51b5 \u4e0b \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \uff08 \u89e6\u53d1 \u63a2\u6d4b \u6d4b\u5668 \u63a2\u6d4b\u5668 \uff09 \u3002 Carla   \u63d0\u4f9b \u4e86 \u4e00\u5957 \u7279\u5b9a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5b83\u4eec \u7684 \u84dd\u56fe \u53ef\u4ee5 \u5728   carla . BlueprintLibrary   \u4e2d \u627e\u5230 \u3002 \u5173\u4e8e \u4ed6\u4eec \u7684 \u504f\u597d \u548c \u653e\u7f6e \u4f4d\u7f6e \u7684 \u6240\u6709 \u4fe1\u606f \u90fd \u53ef\u4ee5 \u5728   \u8fd9\u91cc   \u627e\u5230 \uff0c \u4f46 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c Carla   \u4e2d \u53ef\u7528 \u7684 \u4fe1\u606f \u5217\u8868 \u5982\u4e0b \u3002   \u6bcf\u4e2a \u8282\u62cd \u63a5\u6536 \u7684 \u6570\u636e \u3002   -   \u6df1\u5ea6 \u76f8\u673a   -   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   -   IMU   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   -   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5149\u7ebf \u6295\u5c04   -   SemanticLidar   \u5149\u7ebf \u6295\u5c04   -   \u96f7\u8fbe   -   RGB   \u76f8\u673a   -   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   -   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u4ec5 \u5728 \u89e6\u53d1 \u65f6 \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \u3002   -   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   .   -   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   .   -   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   .   \u5b9e\u4f8b \u53d8\u91cf   is _ listening   (   boolean   )   \u5f53\u4e3a   True   \u65f6 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u7b49\u5f85 \u6570\u636e \u3002   \u65b9\u6cd5   disable _ for _ ros   (   self   )   \u5982\u679c \u6ca1\u6709 \u4efb\u4f55 \u76d1\u542c \uff0c \u5219 \u547d\u4ee4 \u4e0d \u5904\u7406 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ee5 \u5728   ROS2   \u4e2d \u53d1\u5e03 \u3002   enable _ for _ ros   (   self   )   \u547d\u4ee4 \u8981 \u5904\u7406 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u80fd\u591f \u5728 ROS2 \u4e2d \u53d1\u5e03 \uff0c \u800c \u65e0\u9700 \u4efb\u4f55 \u76d1\u542c \u3002   is _ enabled _ for _ ros   (   self   )   \u5982\u679c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5df2 \u542f\u7528 \uff0c \u5219 \u8fd4\u56de \uff1b \u5982\u679c \u6ca1\u6709 \u4efb\u4f55 \u76d1\u542c \uff0c \u5219 \u4e0d \u5728 ROS2 \u4e2d \u53d1\u5e03 \u3002   \u8fd4\u56de \uff1a   bool   is _ listening   (   self   )   \u8fd4\u56de \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u5426 \u5904\u4e8e \u76d1\u542c \u72b6\u6001 \u3002   \u8fd4\u56de \uff1a   bool   is _ listening _ gbuffer   (   self   ,   gbuffer _ id   )   \u8fd4\u56de \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u5426 \u5904\u4e8e \u7279\u5b9a   GBuffer   \u7eb9\u7406 \u7684 \u76d1\u542c \u72b6\u6001 \u3002   \u53c2\u6570 \uff1a   gbuffer _ id   (   carla . GBufferTextureID   )   -   \u76ee\u6807 \u865a\u5e7b \u5f15\u64ce GBuffer \u7eb9\u7406 \u7684 ID \u3002   \u8fd4\u56de \uff1a   bool   listen   (   self   ,   callback   )   snippet   \u2192   \u6bcf\u6b21 \u6536\u5230 \u65b0 \u7684 \u6d4b\u91cf \u503c\u65f6 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u8c03\u7528 \u7684 \u51fd\u6570 \u3002 \u6b64 \u51fd\u6570 \u9700\u8981 \u4e00\u4e2a \u5305\u542b \u5bf9\u8c61 \u7c7b\u578b   carla . SensorData   \u7684 \u53c2\u6570 \u3002   \u53c2\u6570 \uff1a   callback   (   function   )   -   \u88ab \u8c03\u7528 \u7684 \u51fd\u6570 \u6709 \u4e00\u4e2a \u53c2\u6570 \u5305\u542b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   listen _ to _ gbuffer   (   self   ,   gbuffer _ id   ,   callback   )   \u6bcf\u6b21 \u63a5\u6536 \u5230 \u6240 \u9700 \u7684   GBuffer   \u7eb9\u7406 \u65f6 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u8c03\u7528 \u7684 \u51fd\u6570 \u3002   \u6b64 \u51fd\u6570 \u9700\u8981 \u4e00\u4e2a \u5305\u542b \u5bf9\u8c61 \u7c7b\u578b   carla . SensorData   \u7684 \u53c2\u6570 \u3002   \u53c2\u6570 \uff1a   gbuffer _ id   (   carla . GBufferTextureID   )   -   \u76ee\u6807 \u865a\u5e7b \u5f15\u64ce   GBuffer   \u7eb9\u7406 \u7684 ID \u3002   callback   (   function   )   -   \u88ab \u8c03\u7528 \u7684 \u51fd\u6570 \u6709 \u4e00\u4e2a \u53c2\u6570 \uff0c \u5176\u4e2d \u5305\u542b \u63a5\u6536 \u5230 \u7684 GBuffer \u7eb9\u7406 \u3002   stop   (   self   )   \u547d\u4ee4 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u505c\u6b62 \u76d1\u542c \u6570\u636e \u3002   stop _ gbuffer   (   self   ,   gbuffer _ id   )   \u547d\u4ee4 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u505c\u6b62 \u76d1\u542c \u6307\u5b9a \u7684   GBuffer   \u7eb9\u7406 \u3002   \u53c2\u6570 \uff1a   gbuffer _ id   (   carla . GBufferTextureID   )   -   \u865a\u5e7b \u5f15\u64ce   GBuffer   \u7eb9\u7406 \u7684 ID \u3002   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . SensorData   \u5305\u542b   carla . Sensor   \u751f\u6210 \u7684 \u6570\u636e \u7684 \u6240\u6709 \u5bf9\u8c61 \u7684 \u57fa\u7c7b \u3002 \u8fd9\u4e2a \u5bf9\u8c61 \u5e94\u8be5 \u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6b63\u5728 \u76d1\u542c \u7684 \u51fd\u6570 \u7684 \u53c2\u6570 \uff0c \u4ee5\u4fbf \u4e0e \u5b83\u4eec \u4e00\u8d77 \u5de5\u4f5c \u3002 \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u7684 \u6bcf \u4e00\u4e2a \u90fd \u9700\u8981 \u7279\u5b9a \u7c7b\u578b \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002 \u4ee5\u4e0b \u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ca\u5176 \u76f8\u5e94 \u6570\u636e \u7684 \u5217\u8868 \u3002   -   \u76f8\u673a   ( RGB ,   \u6df1\u5ea6 \u548c \u8bed\u4e49 \u5206\u5272 ) :   carla . Image   .   -   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \uff1a   carla . CollisionEvent   .   -   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . GnssMeasurement   .   -   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . IMUMeasurement   .   -   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \uff1a   carla . LaneInvasionEvent   .   -   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . LidarMeasurement   .   -   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \uff1a   carla . ObstacleDetectionEvent   .   -   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . RadarMeasurement   .   -   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . RssResponse   .   -   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . SemanticLidarMeasurement   .   -   V2X \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u534f\u540c \u611f\u77e5 \u4fe1\u606f \uff1a   carla . CAMEvent   .   -   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 V2X \u6d88\u606f V2X \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . CustomV2XEvent   .   \u5b9e\u4f8b \u53d8\u91cf   frame   (   int   )   \u751f\u6210 \u6570\u636e \u65f6 \u7684 \u5e27 \u6570 \u3002   timestamp   (   float   -   seconds   )   \u751f\u6210 \u6570\u636e \u7684 \u6a21\u62df \u65f6\u95f4 \u3002   transform   (   carla . Transform   )   \u6570\u636e \u751f\u6210 \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8f6c\u6362 \u3002   carla . TextureColor   \u7c7b \u8868\u793a \u8981 \u4e0a \u4f20\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u7eb9\u7406 \u5bf9\u8c61 \u3002 \u50cf\u7d20 \u683c\u5f0f \u4e3a   RGBA \uff0c \u6bcf\u4e2a \u901a\u9053 \u4e3a   uint8 \u3002   \u5b9e\u4f8b \u53d8\u91cf   width   (   int   )   \u7eb9\u7406 \u7684   X   \u5750\u6807 \u5927\u5c0f \u3002   height   (   int   )   \u7eb9\u7406 \u7684   Y   \u5750\u6807 \u5927\u5c0f \u3002   \u65b9\u6cd5   __ init __   (   self   ,   width   ,   height   )   \u4f7f\u7528 \uff08   width   ,   height   \uff09 \u5927\u5c0f \u521d\u59cb \u521d\u59cb\u5316 \u7eb9\u7406 \u3002   \u53c2\u6570 \uff1a   width   (   int   )   height   (   int   )   get   (   self   ,   x   ,   y   )   \u83b7\u53d6 \uff08 x \uff0c y \uff09 \u50cf\u7d20 \u6570\u636e \u3002   \u53c2\u6570 \uff1a   x   (   int   )   y   (   int   )   \u8fd4\u56de :   carla . Color   set   (   self   ,   x   ,   y   ,   value   )   \u7528\u503c   value   \u8bbe\u7f6e \uff08 x \uff0c y \uff09 \u50cf\u7d20 \u6570\u636e \u3002   \u53c2\u6570 \uff1a   x   (   int   )   y   (   int   )   value   (   carla . Color   )   \u8bbe\u7f6e \u5668   set _ dimensions   (   self   ,   width   ,   height   )   \u5c06 \u7eb9\u7406 \u8c03\u6574 \u5230 \u6307\u5b9a \u7684 \u5c3a\u5bf8 \u3002   \u53c2\u6570 \uff1a   width   (   int   )   height   (   int   )   carla . TextureFloatColor   \u7c7b \u8868\u793a \u8981 \u4e0a \u4f20\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u7eb9\u7406 \u5bf9\u8c61 \u3002 \u50cf\u7d20 \u683c\u5f0f \u4e3a   RGBA \uff0c \u6bcf\u4e2a \u901a\u9053 \u7684 \u662f   float   \u3002   \u5b9e\u4f8b \u53d8\u91cf   width   (   int   )   \u7eb9\u7406 \u7684   X   \u5750\u6807 \u5927\u5c0f \u3002   height   (   int   )   \u7eb9\u7406 \u7684   Y   \u5750\u6807 \u5927\u5c0f \u3002   \u65b9\u6cd5   __ init __   (   self   ,   width   ,   height   )   \u4f7f\u7528 \uff08   width   ,   height   \uff09 \u5927\u5c0f \u521d\u59cb \u521d\u59cb\u5316 \u7eb9\u7406 \u3002   \u53c2\u6570 \uff1a   width   (   int   )   height   (   int   )   get   (   self   ,   x   ,   y   )   \u83b7\u53d6 \uff08 x \uff0c y \uff09 \u50cf\u7d20 \u6570\u636e \u3002   \u53c2\u6570 \uff1a   x   (   int   )   y   (   int   )   \u8fd4\u56de :   carla . FloatColor   set   (   self   ,   x   ,   y   ,   value   )   \u7528\u503c   value   \u8bbe\u7f6e \uff08 x \uff0c y \uff09 \u50cf\u7d20 \u6570\u636e \u3002   \u53c2\u6570 \uff1a   x   (   int   )   y   (   int   )   value   (   carla . FloatColor   )   \u8bbe\u7f6e \u5668   set _ dimensions   (   self   ,   width   ,   height   )   \u5c06 \u7eb9\u7406 \u8c03\u6574 \u5230 \u6307\u5b9a \u7684 \u5c3a\u5bf8 \u3002   \u53c2\u6570 \uff1a   width   (   int   )   height   (   int   )   carla . Timestamp   \u5305\u542b \u6a21\u62df \u6570\u636e \u65f6\u95f4 \u4fe1\u606f \u7684 \u7c7b \u3002 \u6b64 \u4fe1\u606f \u5c06 \u4f5c\u4e3a   carla . WorldSnapshot   \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u81ea\u52a8 \u52a8\u68c0 \u68c0\u7d22 \u81ea\u52a8\u68c0\u7d22 \u3002 \u662f \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6bcf \u4e00\u5e27 \u4e0a \u83b7\u5f97 \u7684 \uff0c \u4f46 \u4e5f \u53ef\u80fd \u7528\u4e8e \u8bb8\u591a \u5176\u4ed6 \u60c5\u51b5 \uff0c \u5982   carla . Sensor   \u6b63\u5728 \u68c0\u7d22 \u6570\u636e \u3002   \u5b9e\u4f8b \u53d8\u91cf   frame   (   int   )   \u81ea \u6a21\u62df \u6a21\u62df\u5668 \u542f\u52a8 \u4ee5\u6765 \u7ecf\u8fc7 \u7684 \u5e27 \u6570 \u3002   elapsed _ seconds   (   float   -   seconds   )   \u81ea \u5f53\u524d \u5267\u96c6 \u5f00\u59cb \u4ee5\u6765 \u7ecf\u8fc7 \u7684 \u6a21\u62df \u79d2\u6570 \u3002   delta _ seconds   (   float   -   seconds   )   \u81ea\u4e0a \u4e00\u5e27 \u4ee5\u6765 \u7ecf\u8fc7 \u7684 \u6a21\u62df \u79d2\u6570 \u3002   platform _ timestamp   (   float   -   seconds   )   \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u7ed9\u51fa \u7684 \u8fdb\u884c \u6b64 \u6d4b\u91cf \u7684 \u5e27 \u7684 \u65f6\u95f4 \u5bc4\u5b58 \u5bc4\u5b58\u5668 \uff0c \u5355\u4f4d \u4e3a \u79d2 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   frame   ,   elapsed _ seconds   ,   delta _ seconds   ,   platform _ timestamp   )   \u53c2\u6570 \uff1a   frame   (   int   )   elapsed _ seconds   (   float   -   \u79d2   )   delta _ seconds   (   float   -   \u79d2   )   platform _ timestamp   (   float   -   \u79d2   )   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . Timestamp   )   __ ne __   (   self   ,   other   =   carla . Timestamp   )   __ str __   (   self   )   carla . TrafficLight   \u4ece   carla . TrafficSign   \u7ee7\u627f   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u88ab \u8ba4\u4e3a \u662f \u4e00\u79cd \u7279\u5b9a \u7c7b\u578b \u7684 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3002 \u7531\u4e8e \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5927\u591a \u51fa\u73b0 \u5728 \u8def\u53e3 \uff0c \u56e0\u6b64 \u5b83\u4eec \u5c5e\u4e8e \u4e00\u4e2a \u5305\u542b \u4e0d\u540c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u7ec4 \u3002 \u5728 \u7ec4\u5185 \uff0c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u901a\u8fc7 \u5176\u6746 \u6307\u6570 \u8fdb\u884c \u533a\u5206 \u3002   \u5728 \u4e00\u4e2a \u4e00\u4e2a\u7ec4 \u5185 \uff0c \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u4ee5 \u5faa\u73af \u6a21\u5f0f \u53d8\u5316 \uff1a \u9009\u62e9 \u4e00\u4e2a \u7d22\u5f15 \uff0c \u5b83 \u5728 \u7eff\u8272 \u3001 \u9ec4\u8272 \u548c \u6700\u7ec8 \u7ea2\u8272 \u4e2d \u505c\u7559 \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u3002 \u5176\u4f59 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u5728 \u6574\u4e2a \u8fc7\u7a0b \u4e2d \u90fd \u4fdd\u6301 \u7ea2\u8272 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u5728 \u5faa\u73af \u7684 \u6700\u540e \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u6709 \u4e00\u4e2a \u95f4\u9699 \uff0c \u6240\u6709 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u90fd \u662f \u7ea2\u8272 \u7684 \u3002 \u4f46\u662f \uff0c \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u53ef\u4ee5 \u624b\u52a8 \u6539\u53d8 \u3002   \u5b9e\u4f8b \u53d8\u91cf   state   (   carla . TrafficLightState   )   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u5f53\u524d \u72b6\u6001 \u3002   \u65b9\u6cd5   freeze   (   self   ,   freeze   )   \u5728 \u5f53\u524d \u72b6\u6001 \u5c06 \u573a\u666f \u4e2d \u7684 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u505c\u6b62 \u3002   \u53c2\u6570 \uff1a   freeze   (   bool   )   is _ frozen   (   self   )   \u5982\u679c \u4ea4\u901a \u4ea4\u901a\u706f \u6839\u636e \u4e0a\u6b21 \u52fe\u9009 \u88ab \u51bb\u7ed3 \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06 \u8fd4\u56de   True   \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   bool   reset _ group   (   self   )   \u5c06 \u7ec4 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u91cd\u7f6e \u4e3a \u6a21\u62df \u5f00\u59cb \u65f6 \u7684 \u521d\u59cb \u72b6\u6001 \u521d\u59cb\u72b6\u6001 \u3002   Note :   \u6b64 \u65b9\u6cd5 \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8bbe\u7f6e \u5668   get _ affected _ lane _ waypoints   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u8def\u5f84 \u70b9 \u5217\u8868 \uff0c \u6307\u793a \u4ea4\u901a \u4ea4\u901a\u706f \u4ea7\u751f \u5f71\u54cd \u7684 \u4f4d\u7f6e \u548c \u8f66\u9053 \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   get _ elapsed _ time   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u4e0a\u6b21 \u6ef4\u7b54 \u4fe1\u606f \u8fd4\u56de \u81ea \u5f53\u524d \u706f\u5149 \u72b6\u6001 \u5f00\u59cb \u4ee5\u6765 \u7684 \u65f6\u95f4 \uff08 \u79d2 \uff09 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   float   -   seconds   get _ green _ time   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f \u8fd4\u56de \u4e3a \u7eff\u706f \u8bbe\u7f6e \u7684 \u65f6\u95f4 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   float   -   seconds   \u8bbe\u7f6e \u5668 \uff1a   carla . TrafficLight . set _ green _ time   get _ group _ traffic _ lights   (   self   )   \u8fd4\u56de \u6b64 \u4ea4\u901a \u4ea4\u901a\u706f \u6240\u5c5e \u7ec4\u4e2d \u7684 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   \u8fd4\u56de :   list (   carla . TrafficLight   )   Note :   \u6b64 \u65b9\u6cd5 \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   get _ light _ boxes   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u5305\u542b \u4ea4\u901a \u4ea4\u901a\u706f \u6bcf\u4e2a \u706f\u7bb1 \u7684 \u8fb9\u754c \u6846 \u5217\u8868 \u3002   \u8fd4\u56de :   list (   carla . BoundingBox   )   get _ opendrive _ id   (   self   )   \u8fd4\u56de \u6b64 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 OpenDRIVE   id \u3002   \u8fd4\u56de :   str   get _ pole _ index   (   self   )   \u8fd4\u56de \u5c06 \u5176 \u6807\u8bc6 \u4e3a \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u4ea4\u901a \u4ea4\u901a\u706f \u7ec4 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u7684 \u6746 \u7684 \u7d22\u5f15 \u3002   \u8fd4\u56de :   int   get _ red _ time   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f \u8fd4\u56de \u4ea4\u901a \u4ea4\u901a\u706f \u53d8\u7ea2 \u7684 \u65f6\u95f4 \u8bbe\u7f6e \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   float   -   seconds   \u8bbe\u7f6e \u5668 \uff1a   carla . TrafficLight . set _ red _ time   get _ state   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f \u8fd4\u56de \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   carla . TrafficLightState   \u8bbe\u7f6e \u8d77 \uff1a   carla . TrafficLight . set _ state   get _ stop _ waypoints   (   self   )   \u8fd4\u56de \u6307\u793a \u4ea4\u901a \u4ea4\u901a\u706f \u505c\u6b62 \u4f4d\u7f6e \u7684 \u8def\u70b9 \u5217\u8868 \u3002 \u8fd9\u4e9b \u8def\u70b9 \u662f \u6839\u636e \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u89e6\u53d1 \u6846 \u8ba1\u7b97 \u7b97\u51fa \u51fa\u6765 \u8ba1\u7b97\u51fa\u6765 \u7684 \uff0c \u8fd9\u4e9b \u89e6\u53d1 \u6846 \u6307\u793a \u8f66\u8f86 \u5e94\u8be5 \u505c \u5728 \u54ea\u91cc \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   get _ yellow _ time   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f \u8fd4\u56de \u4e3a \u4ea4\u901a \u4ea4\u901a\u706f \u8bbe\u7f6e \u4e3a \u9ec4\u8272 \u7684 \u65f6\u95f4 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   float   -   \u79d2   \u8bbe\u7f6e \u5668 \uff1a   carla . TrafficLight . set _ yellow _ time   \u8bbe\u7f6e \u5668   set _ green _ time   (   self   ,   green _ time   )   \u53c2\u6570 \uff1a   green _ time   (   float   -   \u79d2   )   -   \u8bbe\u7f6e \u7eff\u706f \u6fc0\u6d3b \u7684 \u7ed9\u5b9a \u65f6\u95f4 \u3002   \u83b7\u53d6 \u5668 :   carla . TrafficLight . get _ green _ time   set _ red _ time   (   self   ,   red _ time   )   \u8bbe\u7f6e \u7ea2\u8272 \u72b6\u6001 \u6fc0\u6d3b \u7684 \u7ed9\u5b9a \u65f6\u95f4 \u3002   \u53c2\u6570 \uff1a   red _ time   (   float   -   \u79d2   )   \u83b7\u53d6 \u5668 :   carla . TrafficLight . get _ red _ time   set _ state   (   self   ,   state   )   snippet   \u2192   \u5c06 \u7ed9\u5b9a \u72b6\u6001 \u8bbe\u7f6e \u4e3a \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u53c2\u6570 \uff1a   state   (   carla . TrafficLightState   )   \u83b7\u53d6 \u5668 :   carla . TrafficLight . get _ state   set _ yellow _ time   (   self   ,   yellow _ time   )   \u8bbe\u7f6e \u9ec4\u706f \u6fc0\u6d3b \u7684 \u7ed9\u5b9a \u65f6\u95f4 \u3002   \u53c2\u6570 \uff1a   yellow _ time   (   float   -   seconds   )   \u83b7\u53d6 \u5668 :   carla . TrafficLight . get _ yellow _ time   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . TrafficLightState   \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u6240\u6709 \u53ef\u80fd \u72b6\u6001 \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u5728 \u7279\u5b9a \u65f6\u95f4 \u6b65\u957f \u66f4\u6539 \u6216 \u624b\u52a8 \u66f4\u6539 \u3002   carla . TrafficLight . set _ state   \u4e2d \u7684 \u7247\u6bb5 \u4f1a \u52a8\u6001 \u66f4\u6539 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u3002   \u5b9e\u4f8b \u53d8\u91cf   Red   Yellow   Green   Off   Unknown   carla . TrafficManager   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u662f \u4e00\u4e2a \u7528   C++   \u6784\u5efa \u5728   CARLA   API   \u4e4b\u4e0a \u7684 \u6a21\u5757 \u3002 \u5b83 \u53ef\u4ee5 \u5904\u7406 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u7684 \u4efb\u4f55 \u8f66\u8f86 \u7ec4 \uff0c \u4ee5 \u73b0\u5b9e \u7684 \u57ce\u5e02 \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u586b\u5145 \u4eff\u771f \uff0c \u5e76 \u4e3a \u7528\u6237 \u63d0\u4f9b \u5b9a\u5236 \u67d0\u4e9b \u884c\u4e3a \u7684 \u673a\u4f1a \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u67b6\u6784 \u5206\u4e3a \u4e94\u4e2a \u4e0d\u540c \u7684 \u9762\u5411 \u76ee\u6807 \u7684 \u9636\u6bb5 \u548c \u4e00\u4e2a   PID   \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u4fe1\u606f \u5728 \u5176\u4e2d \u6d41\u52a8 \uff0c \u76f4\u5230 \u6700\u7ec8 \u5c06   carla . VehicleControl   \u5e94\u7528 \u4e8e \u5728 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u4e2d \u6ce8\u518c \u7684 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u8f86 \u3002 \u8981 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \uff0c \u8bf7 \u8bbf\u95ee \u6709\u5173 \u6b64 \u6a21\u5757 \u7684   \u6587\u6863   \u3002   \u65b9\u6cd5   auto _ lane _ change   (   self   ,   actor   ,   enable   )   \u6253\u5f00 \u6216 \u5173\u95ed \u8f66\u8f86 \u7684 \u8f66\u9053 \u53d8\u6362 \u884c\u4e3a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u8bbe\u7f6e \u88ab \u66f4\u6539 \u7684 \u8f66\u8f86 \u3002   enable   (   bool   )   -   True   \u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u5e76 \u542f\u7528 \u8f66\u9053 \u53d8\u66f4 \u3002   False   \u5c06 \u7981\u7528 \u5b83\u4eec \u3002   collision _ detection   (   self   ,   reference _ actor   ,   other _ actor   ,   detect _ collision   )   \u8c03\u6574 \u8f66\u8f86 \u4e0e \u53e6 \u4e00\u4e2a \u7279\u5b9a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u95f4 \u7684 \u78b0\u649e \u3002 \u4e3a\u4e86 \u5ffd\u7565 \u6240\u6709 \u5176\u4ed6 \u8f66\u8f86 \u3001 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u6216 \u884c\u4eba \uff0c \u8bf7 \u4f7f\u7528 \u540c \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u4e2d \u63cf\u8ff0 \u7684   \u7279\u5b9a   ignore   \u65b9\u6cd5 \u3002   \u53c2\u6570 :   reference _ actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u78b0\u649e \u7684 \u8f66\u8f86 \u3002   other _ actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u4e0e \u4e4b \u53d1\u751f \u78b0\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   reference _ actor   \u3002   detect _ collision   (   bool   )   -   True   \u662f \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u5e76 \u542f\u7528 \u78b0\u649e \u3002   False   \u5c06 \u7981\u7528 \u5b83\u4eec \u3002   distance _ to _ leading _ vehicle   (   self   ,   actor   ,   distance   )   \u8bbe\u7f6e \u8f66\u8f86 \u5fc5\u987b \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u4fdd\u6301 \u7684 \u6700\u5c0f \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002 \u8ddd\u79bb \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff0c \u4f1a \u5f71\u54cd \u6700\u5c0f \u79fb\u52a8 \u8ddd\u79bb \u3002 \u5b83 \u662f\u4ece \u8f66\u8f86 \u5bf9\u8c61 \u7684 \u524d \u5230 \u540e \u8ba1\u7b97 \u7684 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u6b63\u5728 \u66f4\u6539 \u6700\u5c0f \u8ddd\u79bb \u7684 \u8f66\u8f86 \u3002   distance   (   float   -   \u7c73   )   -   \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \u4e4b\u95f4 \u7684 \u7c73 \u3002   force _ lane _ change   (   self   ,   actor   ,   direction   )   \u5f3a\u5236 \u8f66\u8f86 \u6539\u53d8 \u5230 \u5176 \u5de6\u4fa7 \u6216 \u53f3\u4fa7 \u7684 \u8f66\u9053 \uff08 \u5982\u679c \u5b58\u5728 \uff09 \uff0c \u5982   \u4e2d \u6240\u793a   direction   \u3002 \u65e0\u8bba \u53d1\u751f \u4ec0\u4e48 \u60c5\u51b5 \uff0c \u8be5 \u65b9\u6cd5 \u90fd \u4f1a \u5e94\u7528 \u8f66\u9053 \u53d8\u6362 \uff0c \u800c \u5ffd\u7565 \u53ef\u80fd \u53d1\u751f \u7684 \u78b0\u649e \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u8f66\u8f86 \u88ab\u8feb \u6539\u53d8 \u8f66\u9053 \u3002   direction   (   bool   )   -   \u76ee\u6807 \u8f66\u9053 \u3002   True   \u662f \u53f3\u8fb9 \u7684 \uff0c   False   \u662f \u5de6\u8fb9 \u7684 \u3002   global _ lane _ offset   (   self   ,   offset   )   \u8bbe\u7f6e \u8ddd \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \u7684 \u5168\u5c40 \u8f66\u9053 \u504f\u79fb \u4f4d\u79fb \u3002 \u6b63\u503c \u8868\u793a \u5411 \u53f3 \u504f\u79fb \uff0c \u8d1f\u503c \u8868\u793a \u5411 \u5de6 \u504f\u79fb \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0 \u3002 \u6570\u5b57 \u9ad8\u5230 \u8db3\u4ee5 \u5bfc\u81f4 \u8f66\u8f86 \u9a76\u8fc7 \u5176\u4ed6 \u8f66\u9053 \u53ef\u80fd \u4f1a \u635f\u574f \u63a7\u5236 \u63a7\u5236\u5668 \u3002   \u53c2\u6570 :   offset   (   float   )   -   \u8f66\u9053 \u8ddd \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \u7684 \u504f\u79fb \u4f4d\u79fb \u3002   global _ percentage _ speed _ difference   (   self   ,   percentage   )   \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u9884\u671f \u901f\u5ea6 \u4e0e\u5176 \u5f53\u524d \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u7684 \u5dee\u503c \u3002 \u901a\u8fc7 \u5c06   perc   \u8bbe \u4e3a \u8d1f\u503c \u53ef\u4ee5 \u8d85\u51fa \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   30 \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u8d1f \u767e\u5206 \u767e\u5206\u6bd4 \u6765 \u8d85\u8fc7 \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u3002   \u53c2\u6570 :   percentage   (   float   )   -   \u9884\u671f \u901f\u5ea6 \u548c \u5f53\u524d \u9650\u5236 \u4e4b\u95f4 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u5dee\u5f02 \u3002   ignore _ lights _ percentage   (   self   ,   actor   ,   perc   )   \u5728 \u6bcf \u5e27 \u8fd0\u884c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u9636\u6bb5 \uff0c \u6b64 \u65b9\u6cd5 \u8bbe\u7f6e \u8f66\u8f86 \u5ffd\u7565 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u673a\u4f1a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   perc   (   float   )   -   0   \u5230   100   \u4e4b\u95f4 \u3002 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u88ab \u5ffd\u7565 \u7684 \u6b21\u6570 \u3002   ignore _ signs _ percentage   (   self   ,   actor   ,   perc   )   \u5728 \u6bcf \u5e27 \u8fd0\u884c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u9636\u6bb5 \uff0c \u6b64 \u65b9\u6cd5 \u8bbe\u7f6e \u8f66\u8f86 \u5ffd\u7565 \u505c\u8f66 \u6807\u5fd7 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u673a\u4f1a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u505c\u8f66 \u6807\u5fd7 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   perc   (   float   )   -   0   \u5230   100   \u4e4b\u95f4 \u3002 \u505c\u8f66 \u6807\u5fd7 \u88ab \u5ffd\u7565 \u7684 \u6b21\u6570 \u3002   ignore _ vehicles _ percentage   (   self   ,   actor   ,   perc   )   \u5728 \u6bcf \u5e27 \u8fd0\u884c \u7684 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u9636\u6bb5 \uff0c \u6b64 \u65b9\u6cd5 \u8bbe\u7f6e \u4e00\u4e2a \u8f66\u8f86 \u5ffd\u7565 \u4e0e \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u78b0\u649e \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u673a\u4f1a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u5176\u4ed6 \u8f66\u8f86 \u7684 \u8f66\u8f86 \u3002   perc   (   float   )   -   Between   0   and   100 .   0   \u5230   100   \u4e4b\u95f4 \u3002 \u78b0\u649e \u88ab \u5ffd\u7565 \u7684 \u6b21\u6570 \u3002   ignore _ walkers _ percentage   (   self   ,   actor   ,   perc   )   \u5728 \u6bcf \u5e27 \u8fd0\u884c \u7684 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u9636\u6bb5 \uff0c \u6b64 \u65b9\u6cd5 \u8bbe\u7f6e \u8f66\u8f86 \u5ffd\u7565 \u4e0e \u884c\u4eba \u78b0\u649e \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u673a\u4f1a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u573a\u666f \u4e2d \u884c\u4eba \u7684 \u8f66\u8f86 \u3002   perc   (   float   )   -   Between   0   and   100 .   0   \u5230   100   \u4e4b\u95f4 \u3002 \u78b0\u649e \u88ab \u5ffd\u7565 \u7684 \u6b21\u6570 \u3002   keep _ right _ rule _ percentage   (   self   ,   actor   ,   perc   )   \u5728 \u5b9a\u4f4d \u9636\u6bb5 \uff0c \u6b64 \u65b9\u6cd5 \u8bbe\u7f6e \u8f66\u8f86 \u9075\u5faa   \u9760\u53f3   \u89c4\u5219 \u5e76 \u7559\u5728 \u53f3\u4fa7 \u8f66\u9053 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u673a\u4f1a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u6b63\u5728 \u6539\u53d8 \u884c\u4e3a \u7684 \u8f66\u8f86 \u3002   perc   (   float   )   -   Between   0   and   100 .   0   \u5230   100   \u4e4b\u95f4 \u3002 \u8f66\u8f86 \u9075\u5faa \u9760\u53f3 \u89c4\u5219 \u7684 \u6b21\u6570 \u3002   random _ left _ lanechange _ percentage   (   self   ,   actor   ,   percentage   )   \u8c03\u6574 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u4e2d \u6267\u884c \u5de6\u53d8 \u9053 \u7684 \u6982\u7387 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u53d8\u9053 \u53ef\u7528 \u53ef\u7528\u6027 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u60a8 \u8981 \u67e5\u8be2 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   percentage   (   float   )   -   \u6362\u9053 \u6982\u7387 \uff0c \u4ee5 \u767e\u5206 \u767e\u5206\u6bd4 \u4e3a \u5355\u4f4d \uff08 0   \u5230   100   \u4e4b\u95f4 \uff09 \u3002   random _ right _ lanechange _ percentage   (   self   ,   actor   ,   percentage   )   \u8c03\u6574 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65 \u6267\u884c \u53f3\u53d8 \u9053 \u7684 \u6982\u7387 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u53d8\u9053 \u53ef\u7528 \u53ef\u7528\u6027 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u60a8 \u8981 \u67e5\u8be2 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   percentage   (   float   )   -   \u6362\u9053 \u6982\u7387 \uff0c \u4ee5 \u767e\u5206 \u767e\u5206\u6bd4 \u4e3a \u5355\u4f4d \uff08 0   \u5230   100   \u4e4b\u95f4 \uff09 \u3002   shut _ down   (   self   )   \u5173\u95ed \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   update _ vehicle _ lights   (   self   ,   actor   ,   do _ update   )   \u8bbe\u7f6e \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u662f\u5426 \u8d1f\u8d23 \u66f4\u65b0 \u8f66\u706f \u3002 \u9ed8\u8ba4 \u4e3a   False   \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4e0d\u4f1a \u66f4\u6539 \u8f66\u8f86 \u7684 \u8f66\u706f \u72b6\u6001 \uff0c \u9664\u975e \u5176   auto _ update _ status   \u8bbe \u4e3a   True   \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5176 \u706f\u5149 \u72b6\u6001 \u6b63\u5728 \u66f4\u6539 \u7684 \u8f66\u8f86 \u3002   do _ update   (   bool   )   -   \u5982\u679c \u4e3a   True   \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u7ba1\u7406 \u6307\u5b9a \u8f66\u8f86 \u7684 \u8f66\u706f \u3002   vehicle _ lane _ offset   (   self   ,   actor   ,   offset   )   \u8bbe\u7f6e \u76f8\u5bf9 \u4e8e \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \u7684 \u8f66\u9053 \u504f\u79fb \u4f4d\u79fb \u3002 \u6b63\u503c \u8868\u793a \u5411 \u53f3 \u504f\u79fb \uff0c \u8d1f\u503c \u8868\u793a \u5411 \u5de6 \u504f\u79fb \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0 \u3002 \u6570\u5b57 \u9ad8\u5230 \u8db3\u4ee5 \u5bfc\u81f4 \u8f66\u8f86 \u9a76\u8fc7 \u5176\u4ed6 \u8f66\u9053 \u53ef\u80fd \u4f1a \u635f\u574f \u63a7\u5236 \u63a7\u5236\u5668 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u8f66\u9053 \u504f\u79fb \u884c\u4e3a \u6b63\u5728 \u66f4\u6539 \u7684 \u8f66\u8f86 \u3002   offset   (   float   )   -   \u8f66\u9053 \u8ddd \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \u7684 \u504f\u79fb \u4f4d\u79fb \u3002   vehicle _ percentage _ speed _ difference   (   self   ,   actor   ,   percentage   )   \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u9884\u671f \u901f\u5ea6 \u4e0e\u5176 \u5f53\u524d \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u7684 \u5dee\u503c \u3002 \u901a\u8fc7 \u5c06   perc   \u8bbe \u4e3a \u8d1f\u503c \u53ef\u4ee5 \u8d85\u51fa \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   30 \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u8d1f \u767e\u5206 \u767e\u5206\u6bd4 \u6765 \u8d85\u8fc7 \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u901f\u5ea6 \u884c\u4e3a \u6b63\u5728 \u6539\u53d8 \u7684 \u8f66\u8f86 \u3002   percentage   (   float   )   -   \u9884\u671f \u901f\u5ea6 \u548c \u5f53\u524d \u9650\u5236 \u4e4b\u95f4 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u5dee\u5f02 \u3002   \u8bbe\u7f6e \u5668   get _ all _ actions   (   self   ,   actor   )   \u8fd4\u56de \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u5728 \u540e\u7eed \u6b65\u9aa4 \u4e2d \u6267\u884c \u7684 \u6240\u6709 \u5df2\u77e5 \u64cd\u4f5c \uff08 \u5373 \u9053\u8def \u9009\u9879 \u548c \u8def\u5f84 \u70b9 \uff09 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u60a8 \u8981 \u67e5\u8be2 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8fd4\u56de :   \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5217\u8868 \u5217\u8868 \u5982\u4e0b   -   [ \u9053\u8def \u9009\u9879 \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u4f8b\u5982 \u201c \u5de6 \u201d \u3001 \u201c \u53f3 \u201d \u3001 \u201c \u76f4 \u201d \uff09 \u3001 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9   (   carla . Waypoint   ) ]   get _ next _ action   (   self   ,   actor   )   \u8fd4\u56de \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u9075\u5faa \u7684 \u4e0b \u4e00\u4e2a \u5df2\u77e5 \u9053\u8def \u9009\u9879 \u548c \u8def\u5f84 \u70b9 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u60a8 \u8981 \u67e5\u8be2 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8fd4\u56de :   \u4e24\u4e2a \u5143\u7d20 \u7684 \u5217\u8868   -   [ \u9053\u8def \u9009\u9879 \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u4f8b\u5982 \u201c \u5de6 \u201d \u3001 \u201c \u53f3 \u201d \u3001 \u201c \u76f4 \u201d \uff09 \u3001 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9   (   carla . Waypoint   ) ]   get _ port   (   self   )   \u8fd4\u56de \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8fde\u63a5 \u7684 \u7aef\u53e3 \u3002 \u5982\u679c \u8be5 \u5bf9\u8c61 \u662f   TM - Client \uff0c \u5b83 \u5c06 \u8fd4\u56de \u5176 TM - Server \u7684 \u7aef\u53e3 \u3002 \u9605\u8bfb   \u6587\u6863   \u4ee5 \u4e86\u89e3 \u5176\u4e2d \u7684 \u5dee\u5f02 \u3002   \u8fd4\u56de :   uint16   \u8bbe\u7f6e \u5668   set _ boundaries _ respawn _ dormant _ vehicles   (   self   ,   lower _ bound   = 25.0   ,   upper _ bound   = actor _ active _ distance   )   \u8bbe\u7f6e \u8981 \u5728 \u82f1\u96c4 \u8f66\u8f86 \u9644\u8fd1 \u91cd\u751f \u7684 \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e0a\u9650 \u548c \u4e0b\u9650 \u3002   \u53c2\u6570 :   lower _ bound   (   float   )   -   \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u91cd\u751f \u65f6\u8ddd \u82f1\u96c4 \u8f66\u8f86 \u7684 \u6700\u5c0f \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   upper _ bound   (   float   )   -   \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u91cd\u751f \u65f6\u8ddd \u82f1\u96c4 \u8f66\u8f86 \u7684 \u6700\u5927 \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   \u8b66\u544a :   upper _ bound   \u4e0d\u80fd \u9ad8\u4e8e   actor _ active _ distance   \u3002   lower _ bound   \u4e0d\u80fd \u5c0f\u4e8e   25 \u3002   set _ desired _ speed   (   self   ,   actor   ,   speed   )   \u5c06 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u8bbe\u7f6e \u4e3a \u6307\u5b9a \u503c \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u901f\u5ea6 \u6b63\u5728 \u6539\u53d8 \u7684 \u8f66\u8f86 \u3002   speed   (   float   )   -   \u8f66\u8f86 \u79fb\u52a8 \u6240 \u9700 \u7684 \u901f\u5ea6 \u3002   set _ global _ distance _ to _ leading _ vehicle   (   self   ,   distance   )   \u8bbe\u7f6e \u8f66\u8f86 \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u5fc5\u987b \u4fdd\u6301 \u7684 \u6700\u5c0f \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002 \u8ddd\u79bb \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff0c \u4f1a \u5f71\u54cd \u6700\u5c0f \u79fb\u52a8 \u8ddd\u79bb \u3002 \u5b83 \u662f\u4ece \u8f66\u8f86 \u5bf9\u8c61 \u7684 \u4e2d\u5fc3 \u5230 \u4e2d\u5fc3 \u8ba1\u7b97 \u7684 \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u8f66\u8f86 \u4e4b\u95f4 \u7684 \u7c73\u6570 \u3002   set _ hybrid _ physics _ mode   (   self   ,   enabled   = False   )   \u542f\u7528 \u6216 \u7981\u7528 \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f \u3002 \u5728 \u6b64 \u6a21\u5f0f \u4e0b \uff0c \u8ddd\u79bb \u81ea\u8eab \u8f66\u8f86 \u8d85\u8fc7 \u4e00\u5b9a \u534a\u5f84 \u7684 \u8f66\u8f86 \u5c06 \u7981\u7528 \u5176 \u7269\u7406 \u529f\u80fd \u3002 \u901a\u8fc7 \u4e0d \u8ba1\u7b97 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u5c06 \u964d\u4f4e \u8ba1\u7b97 \u6210\u672c \u8ba1\u7b97\u6210\u672c \u3002 \u8f66\u8f86 \u5c06 \u88ab \u4f20\u9001 \u3002   \u53c2\u6570 :   enabled   (   bool   )   -   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u542f\u7528 \u6df7\u5408 \u7269\u7406 \u3002   set _ hybrid _ physics _ radius   (   self   ,   r   = 50.0   )   \u542f\u7528 \u6df7\u5408 \u7269\u7406 \u529f\u80fd \u540e \uff0c \u66f4\u6539 \u542f\u7528 \u7269\u7406 \u529f\u80fd \u7684 \u5f71\u54cd \u533a\u57df \u7684 \u534a\u5f84 \u3002   \u53c2\u6570 :   r   (   float   -   \u7c73   )   -   \u542f\u7528 \u7269\u7406 \u7684 \u65b0 \u534a\u5f84 \u3002   set _ osm _ mode   (   self   ,   mode _ switch   = True   )   \u542f\u7528 \u6216 \u7981\u7528   OSM   \u6a21\u5f0f \u3002 \u8be5 \u6a21\u5f0f \u5141\u8bb8 \u7528\u6237 \u5728 \u4f7f\u7528   OSM   \u529f\u80fd   \u521b\u5efa \u7684 \u5730\u56fe \u4e2d \u8fd0\u884c   TM \u3002 \u8fd9\u4e9b \u5730\u56fe \u5141\u8bb8 \u6709 \u80e1\u540c \u6b7b\u80e1\u540c \u3002 \u901a\u5e38 \uff0c \u5982\u679c \u8f66\u8f86 \u65e0\u6cd5 \u627e\u5230 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9 \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c31 \u4f1a \u5d29\u6e83 \u3002 \u5982\u679c \u542f\u7528   OSM   \u6a21\u5f0f \uff0c \u5b83 \u5c06 \u663e\u793a \u8b66\u544a \uff0c \u5e76 \u5728 \u5fc5\u8981 \u65f6 \u9500\u6bc1 \u8f66\u8f86 \u3002   \u53c2\u6570 :   mode _ switch   (   bool   )   -   \u5982\u679c   True   \uff0c \u5219 \u542f\u7528   OSM   \u6a21\u5f0f \u3002   set _ path   (   self   ,   actor   ,   path   )   \u8bbe\u7f6e \u8f66\u8f86 \u5728 \u53d7 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u65f6\u8981 \u9075\u5faa \u7684 \u4f4d\u7f6e \u5217\u8868 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5fc5\u987b \u9075\u5faa \u7ed9\u5b9a \u8def\u5f84 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   path   (   list   )   -   carla . Locations   \u7684 \u5217\u8868 \uff0c \u4f9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8ddf\u968f \u3002   \u8b66\u544a :   \u786e\u4fdd \u9053\u8def \u62d3\u6251 \u4e0d\u4f1a \u59a8\u788d \u7ed9\u5b9a \u8def\u5f84 \u3002   set _ random _ device _ seed   (   self   ,   value   )   \u4e3a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8bbe\u7f6e \u7279\u5b9a \u7684 \u968f\u673a \u79cd\u5b50 \uff0c \u4ece\u800c \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u7684 \u3002   \u53c2\u6570 :   value   (   int   )   -   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u751f\u6210 \u7684 \u79cd\u5b50 \u503c \u3002   set _ respawn _ dormant _ vehicles   (   self   ,   mode _ switch   = False   )   \u5982\u679c \u4e3a   True   \uff0c \u5927 \u5730\u56fe \u4e2d \u7684 \u8f66\u8f86 \u5728 \u4f11\u7720 \u65f6\u4f1a \u5728 \u82f1\u96c4 \u8f66\u8f86 \u9644\u8fd1 \u91cd\u751f \u3002 \u5426\u5219 \uff0c \u5b83\u4eec \u5c06 \u4fdd\u6301 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \uff0c \u76f4\u5230   actor _ active _ distance   \u518d\u6b21 \u8fdb\u5165 \u82f1\u96c4 \u8f66\u8f86 \u3002   \u53c2\u6570 :   mode _ switch   (   bool   )   set _ route   (   self   ,   actor   ,   path   )   \u8bbe\u7f6e \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u8f66\u8f86 \u8981 \u9075\u5faa \u7684 \u8def\u7ebf \u6307\u4ee4 \u5217\u8868 \u3002 \u53ef\u80fd \u7684 \u8def\u7ebf \u6307\u4ee4 \u662f ' Left ' ,   ' Right ' ,   ' Straight ' \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5fc5\u987b \u9075\u5faa \u7ed9\u5b9a \u8def\u7ebf \u6307\u793a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   path   (   list   )   -   \u8f66\u8f86 \u8981 \u9075\u5faa \u7684 \u8def\u7ebf \u6307\u4ee4 \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff09 \u5217\u8868 \u3002   \u8b66\u544a :   \u786e\u4fdd \u8f66\u9053 \u62d3\u6251 \u4e0d\u4f1a \u59a8\u788d \u7ed9\u5b9a \u8def\u7ebf \u3002   set _ synchronous _ mode   (   self   ,   mode _ switch   = True   )   \u5c06 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8bbe\u7f6e \u4e3a   \u540c\u6b65 \u6a21\u5f0f   \u3002 \u5728   \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u60c5\u51b5   \u4e0b \uff0c \u53ea\u6709   TM - Server   \u53ef\u4ee5 \u8fd0\u884c \u3002 \u7c7b\u4f3c \u5730 \uff0c \u5728 \u591a TM   \u60c5\u51b5 \u4e0b \uff0c \u53ea\u6709 \u4e00\u4e2a TM - Server   \u5fc5\u987b \u52fe\u9009 \u3002 \u5728 \u8fdb\u884c \u4e16\u754c \u52fe\u9009 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e2d \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \uff0c \u5e76 \u5728 \u5c06 \u4e16\u754c \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u540e \u7acb\u5373 \u8bbe\u7f6e \u540c\u6b65 \u65f6 \u54ea\u4e2a   TM   \u5c06 \u6210\u4e3a \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   \u53c2\u6570 :   mode _ switch   (   bool   )   -   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u542f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u540c\u6b65 \u6a21\u5f0f \u3002   \u8b66\u544a :   \u5982\u679c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \uff0c \u5219 \u6267\u884c \u6807\u8bb0 \u7684 \u540c\u4e00 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e2d \u7684   TM   \u4e5f   \u5fc5\u987b   \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002   carla . TrafficSign   \u4ece   carla . Actor   \u7ee7\u627f   \u4eff\u771f \u4e2d \u51fa\u73b0 \u7684 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \uff08 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u9664\u5916 \uff09 \u3002 \u8fd9\u4e9b \u5728   carla . TrafficLight   \u4e2d\u6709 \u81ea\u5df1 \u7684 \u7c7b \u4ece \u8be5\u7c7b \u7ee7\u627f \u3002 \u76ee\u524d \uff0c \u4e3b\u8981 \u5b9e\u65bd \u7684 \u662f \u901f\u5ea6 \u6807\u5fd7 \u3001 \u505c\u9760 \u505c\u9760\u7ad9 \u548c \u8ba9 \u884c \u6807\u5fd7 \uff0c \u4f46 \u8fd8\u6709 \u8bb8\u591a \u5176\u4ed6 \u6807\u5fd7 \u4e5f \u88ab \u7262\u8bb0 \u7262\u8bb0\u5728\u5fc3 \u3002   \u5b9e\u4f8b \u53d8\u91cf   trigger _ volume   \u4f4d\u4e8e \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u9644\u8fd1 \u7684   carla . BoundingBox   \uff0c \u91cc\u9762 \u7684   carla . Actor   \u53ef\u4ee5 \u77e5\u9053 \u5b83 \u3002   carla . Transform   \u8be5\u7c7b \u5b9a\u4e49 \u4e86 \u4e00\u4e2a \u53d8\u6362 \uff0c \u5373 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u7684 \u7ec4\u5408 \uff0c \u800c \u4e0d \u8fdb\u884c \u7f29\u653e \u3002   \u5b9e\u4f8b \u53d8\u91cf   location   (   carla . Location   )   \u63cf\u8ff0 \u5750\u6807 \u7cfb\u7edf \u4e2d \u7684 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u3002   rotation   (   carla . Rotation   -   degrees   ( pitch ,   yaw ,   roll )   )   \u63cf\u8ff0 \u6839\u636e \u865a\u5e7b \u5f15\u64ce \u7684 \u8f74 \u7cfb\u7edf \u8fdb\u884c \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u3002   \u65b9\u6cd5   __ init __   (   self   ,   location   ,   rotation   )   \u53c2\u6570 :   location   (   carla . Location   )   rotation   (   carla . Rotation   -   \u5ea6\u6570 \uff08 \u4fef\u4ef0 \u3001 \u504f\u822a \u3001 \u7ffb\u6eda \uff09   )   transform   (   self   ,   in _ point   )   \u4f7f\u7528 \u5f53\u524d \u53d8\u6362 \u4f5c\u4e3a \u53c2\u8003 \u53c2\u8003\u7cfb \u5c06 \u4e09\u7ef4 \u70b9 \u4ece \u5c40\u90e8 \u5750\u6807 \u8f6c\u6362 \u4e3a \u5168\u5c40 \u5750\u6807 \u3002   \u53c2\u6570 :   in _ point   (   carla . Location   )   -   \u5c06 \u5e94\u7528 \u53d8\u6362 \u7684 \u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u3002   transform _ vector   (   self   ,   in _ vector   )   \u4f7f\u7528 \u5f53\u524d \u53d8\u6362 \u4f5c\u4e3a \u53c2\u8003 \u53c2\u8003\u7cfb \u6765 \u65cb\u8f6c \u5411\u91cf \uff0c \u800c \u4e0d \u5e94\u7528 \u5e73\u79fb \u3002 \u4f8b\u5982 \uff0c \u7528 \u5b83 \u6765 \u53d8\u6362 \u901f\u5ea6 \u3002   \u53c2\u6570 :   in _ vector   (   carla . Vector3D   )   -   \u5c06 \u5e94\u7528 \u8f6c\u6362 \u7684 \u5411\u91cf \u3002   \u8bbe\u7f6e \u5668   get _ forward _ vector   (   self   )   \u4f7f\u7528 \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u524d\u5411 \u5411\u91cf \u3002   \u8fd4\u56de :   carla . Vector3D   get _ inverse _ matrix   (   self   )   \u8ba1\u7b97 \u9006\u53d8 \u53d8\u6362 \u9006\u53d8\u6362 \u7684   4   \u77e9\u9635 \u8868\u793a \u3002   \u8fd4\u56de :   list ( list ( float ) )   get _ matrix   (   self   )   \u8ba1\u7b97 \u53d8\u6362 \u7684   4   \u77e9\u9635 \u8868\u793a \u3002   \u8fd4\u56de :   list ( list ( float ) )   get _ right _ vector   (   self   )   \u4f7f\u7528 \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u53f3 \u5411\u91cf \u3002   \u8fd4\u56de :   carla . Vector3D   get _ up _ vector   (   self   )   \u4f7f\u7528 \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u5411\u4e0a \u5411\u91cf \u3002   \u8fd4\u56de :   carla . Vector3D   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . Transform   )   \u5982\u679c   this   \u548c   other   \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u90fd \u76f8\u7b49 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ ne __   (   self   ,   other   =   carla . Transform   )   \u5982\u679c   this   \u548c   other   \u7684 \u4efb\u4f55 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u4e0d \u76f8\u7b49 \uff0c \u5219   \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )   \u5c06 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   \u8fd4\u56de :   str   carla . Vector2D   \u6267\u884c \u4e8c\u7ef4 \u64cd\u4f5c \u7684 \u8f85\u52a9 \u7c7b \u3002   \u5b9e\u4f8b \u53d8\u91cf   x   (   float   )   X - axis   value .   y   (   float   )   Y - axis   value .   \u65b9\u6cd5   __ init __   (   self   ,   x   = 0.0   ,   y   = 0.0   )   \u53c2\u6570 :   x   (   float   )   y   (   float   )   length   (   self   )   \u8ba1\u7b97 \u5411\u91cf \u7684 \u957f\u5ea6 \u3002   \u8fd4\u56de :   float   make _ unit _ vector   (   self   )   \u8fd4\u56de \u5177\u6709 \u76f8\u540c \u65b9\u5411 \u548c \u5355\u4f4d \u957f\u5ea6 \u7684 \u5411\u91cf \u3002   \u8fd4\u56de :   carla . Vector3D   squared _ length   (   self   )   \u8ba1\u7b97 \u5411\u91cf \u7684 \u5e73\u65b9 \u957f\u5ea6 \u3002   \u8fd4\u56de :   float   \u9b54\u672f \u65b9\u6cd5   __ add __   (   self   ,   other   =   carla . Vector2D   )   __ eq __   (   self   ,   other   =   carla . Vector2D   )   \u5982\u679c \u6bcf\u4e2a \u8f74 \u7684 \u503c \u76f8\u7b49 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ mul __   (   self   ,   other   =   carla . Vector2D   )   __ ne __   (   self   ,   bool   =   carla . Vector2D   )   \u5982\u679c \u4efb\u4f55 \u8f74 \u7684 \u503c \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )   \u8fd4\u56de \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7684 \u5411\u91cf \u7684 \u8f74\u503c \u3002   \u8fd4\u56de :   str   __ sub __   (   self   ,   other   =   carla . Vector2D   )   __ truediv __   (   self   ,   other   =   carla . Vector2D   )   carla . Vector3D   \u6267\u884c \u4e09\u7ef4 \u64cd\u4f5c \u7684 \u8f85\u52a9 \u7c7b \u3002   \u5b9e\u4f8b \u53d8\u91cf   x   (   float   )   X - axis   value .   y   (   float   )   Y - axis   value .   z   (   float   )   Z - axis   value .   \u65b9\u6cd5   __ init __   (   self   ,   x   = 0.0   ,   y   = 0.0   ,   z   = 0.0   )   \u53c2\u6570 :   x   (   float   )   y   (   float   )   z   (   float   )   cross   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u53c9\u79ef \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   carla . Vector3D   distance   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   distance _ 2d   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u4e8c\u7ef4 \u8ddd\u79bb \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   distance _ squared   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u5e73\u65b9 \u8ddd\u79bb \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   distance _ squared _ 2d   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u4e8c\u7ef4 \u5e73\u65b9 \u8ddd\u79bb \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   dot   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u70b9\u79ef \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   dot _ 2d   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u4e8c\u7ef4 \u70b9\u79ef \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   length   (   self   )   \u8ba1\u7b97 \u5411\u91cf \u7684 \u957f\u5ea6 \u3002   \u8fd4\u56de :   float   make _ unit _ vector   (   self   )   \u8fd4\u56de \u5177\u6709 \u76f8\u540c \u65b9\u5411 \u548c \u5355\u4f4d \u957f\u5ea6 \u7684 \u5411\u91cf \u3002   \u8fd4\u56de :   carla . Vector3D   squared _ length   (   self   )   \u8ba1\u7b97 \u5411\u91cf \u7684 \u5e73\u65b9 \u957f\u5ea6 \u3002   \u8fd4\u56de :   float   \u8bbe\u7f6e \u5668   get _ vector _ angle   (   self   ,   vector   )   \u8ba1\u7b97 \u4e00\u5bf9 \u4e09\u7ef4 \u5411\u91cf \u4e4b\u95f4 \u7684 \u89d2\u5ea6 \uff08 \u4ee5 \u5f27\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   \u9b54\u672f \u65b9\u6cd5   __ abs __   (   self   )   \u8fd4\u56de \u5177\u6709   x \u3001 y   \u548c   z   \u5206\u91cf \u7edd\u5bf9 \u7edd\u5bf9\u503c \u7684   Vector3D \u3002   \u8fd4\u56de :   carla . Vector3D   __ add __   (   self   ,   other   =   carla . Vector3D   )   __ eq __   (   self   ,   other   =   carla . Vector3D   )   \u5982\u679c \u6bcf\u4e2a \u8f74 \u7684 \u503c \u76f8\u7b49 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ mul __   (   self   ,   other   =   carla . Vector3D   )   __ ne __   (   self   ,   other   =   carla . Vector3D   )   \u5982\u679c \u4efb\u4f55 \u8f74 \u7684 \u503c \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )   \u8fd4\u56de \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7684 \u5411\u91cf \u7684 \u8f74\u503c \u3002   \u8fd4\u56de :   str   __ sub __   (   self   ,   other   =   carla . Vector3D   )   __ truediv __   (   self   ,   other   =   carla . Vector3D   )   carla . Vehicle   \u4ece   carla . Actor   \u7ee7\u627f   CARLA   \u4e2d \u6700 \u91cd\u8981 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7fa4\u4f53 \u4e4b\u4e00 \u3002 \u5176\u4e2d \u5305\u62ec \u4ece \u6c7d\u8f66 \u5230 \u5361\u8f66 \u3001 \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \u3001 \u8d27\u8f66 \u3001 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4efb\u4f55 \u7c7b\u578b \u7684 \u8f66\u8f86 \u4ee5\u53ca \u8b66\u8f66 \u7b49 \u5b98\u65b9 \u8f66\u8f86 \u3002   carla . BlueprintLibrary   \u4e2d \u63d0\u4f9b \u4e86 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5e7f\u6cdb \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4ee5 \u6ee1\u8db3 \u4e0d\u540c \u7684 \u9700\u6c42 \u3002 \u8f66\u8f86 \u53ef\u4ee5 \u624b\u52a8 \u63a7\u5236 \uff0c \u4e5f \u53ef\u4ee5 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \uff0c \u7531   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fdb\u884c \u63a7\u5236 \u3002   \u5b9e\u4f8b \u53d8\u91cf   bounding _ box   (   carla . BoundingBox   )   \u5305\u542b \u8f66\u8f86 \u51e0\u4f55 \u5f62\u72b6 \u7684 \u8fb9\u754c \u6846 \u3002 \u5b83 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u662f \u76f8\u5bf9 \u4e8e \u5b83 \u6240 \u9644\u7740 \u7684 \u8f66\u8f86 \u800c\u8a00 \u7684 \u3002   \u65b9\u6cd5   apply _ ackermann _ control   (   self   ,   control   )   \u5728 \u4e0b \u4e00\u4e2a \u523b\u5ea6 \u5904 \u5e94\u7528 \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u5bf9\u8c61 \u3002   \u53c2\u6570 :   control   (   carla . VehicleAckermannControl   )   apply _ ackermann _ controller _ settings   (   self   ,   settings   )   \u5728 \u4e0b \u4e00\u4e2a   tick   \u4e2d\u5c06 \u65b0 \u7684 \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u8bbe\u7f6e \u5e94\u7528 \u4e8e \u6b64 \u8f66\u8f86 \u3002   \u53c2\u6570 :   settings   (   carla . AckermannControllerSettings   )   \u8b66\u544a :   \u6b64 \u65b9\u6cd5 \u786e\u5b9e \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   apply _ control   (   self   ,   control   )   \u5728 \u4e0b \u4e00\u4e2a   tick   \u4e0a \u5e94\u7528 \u63a7\u5236 \u5bf9\u8c61 \uff0c \u5176\u4e2d \u5305\u542b \u6cb9\u95e8 \u3001 \u8f6c\u5411 \u6216 \u6362\u6863 \u7b49 \u9a7e\u9a76 \u53c2\u6570 \u3002   \u53c2\u6570 :   control   (   carla . VehicleControl   )   apply _ physics _ control   (   self   ,   physics _ control   )   \u5728 \u4e0b \u4e00\u4e2a   tick   \u4e2d \u5e94\u7528 \u7269\u7406 \u63a7\u5236 \u5bf9\u8c61 \uff0c \u5176\u4e2d \u5305\u542b \u5c06 \u8f66\u8f86 \u5b9a\u4e49 \u4e3a \u5b9e\u4f53 \u7684 \u53c2\u6570 \u3002 \u4f8b\u5982 \uff1a \u8f6c\u52a8 \u60ef\u91cf \u8f6c\u52a8\u60ef\u91cf \u3001 \u8d28\u91cf \u3001 \u963b\u529b \u7cfb\u6570 \u7b49\u7b49 \u3002   \u53c2\u6570 :   physics _ control   (   carla . VehiclePhysicsControl   )   close _ door   (   self   ,   door _ idx   )   \u5982\u679c \u8f66\u8f86 \u6709 \u5b83 \uff0c \u5219 \u5173\u95ed \u8f66\u95e8   door _ idx   \u3002 \u4f7f\u7528   carla . VehicleDoor . All   \u5173\u95ed \u6240\u6709 \u53ef\u7528 \u7684 \u95e8 \u3002   \u53c2\u6570 :   door _ idx   (   carla . VehicleDoor   )   -   \u95e8 \u7d22\u5f15 \u3002   enable _ carsim   (   self   ,   simfile _ path   )   \u4e3a \u8be5 \u7279\u5b9a \u8f66\u8f86 \u542f\u7528   CarSim   \u7269 \u7406\u89e3 \u7b97\u5668 \u3002 \u4e3a\u4e86 \u4f7f\u6b64 \u529f\u80fd \u53d1\u6325 \u4f5c\u7528 \u53d1\u6325\u4f5c\u7528 \uff0c \u9700\u8981 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u8fd0\u884c \u6709\u6548 \u7684 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \u3002 \u63a7\u5236 \u8f93\u5165 \u88ab \u5b9a\u5411 \u91cd\u5b9a\u5411 \u5230   CarSim \uff0c \u5b83 \u5c06 \u63d0\u4f9b \u6bcf \u4e00\u5e27 \u7684 \u8f66\u8f86 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002   \u53c2\u6570 :   simfile _ path   (   str   )   -   \u5305\u542b \u4eff\u771f \u53c2\u6570 \u7684   . simfile   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   enable _ chrono _ physics   (   self   ,   max _ substeps   ,   max _ substep _ delta _ time   ,   vehicle _ json   ,   powertrain _ json   ,   tire _ json   ,   base _ json _ path   )   \u5728 \u751f\u6210 \u7684 \u8f66\u8f86 \u4e0a \u542f\u7528   Chrono   \u7269\u7406 \u3002   \u53c2\u6570 :   max _ substeps   (   int   )   -   Chrono   \u5b50 \u6b65\u9aa4 \u7684 \u6700\u5927 \u6570\u91cf \u3002   max _ substep _ delta _ time   (   int   )   -   \u5b50\u6b65 \u7684 \u6700\u5927 \u5927\u5c0f \u3002   vehicle _ json   (   str   )   -   \u76f8\u5bf9 \u4e8e   base _ json _ path   \u7684 \u8f66\u8f86   json   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   powertrain _ json   (   str   )   -   \u76f8\u5bf9 \u4e8e   base _ json _ path   \u7684 \u52a8\u529b \u603b\u6210   json   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   tire _ json   (   str   )   -   \u76f8\u5bf9 \u4e8e   base _ json _ path   \u7684 \u8f6e\u80ce   json   \u6587\u4ef6 \u3002   base _ json _ path   (   str   )   -   \u6307\u5411   chrono / data / vehicle   \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u8def\u5f84 \u3002 \u4f8b\u5982 \uff0c   / home / user / carla / Build / chrono - install / share / chrono / data / vehicle /   ( \u6700\u540e \u4e00\u4e2a \u5b57\u7b26 \u9700\u8981 \u662f   /   ) \u3002   \u6ce8\u610f :   \u786e\u4fdd \u786e\u4fdd\u60a8 \u5df2 \u4f7f\u7528 \u8be5 \u6807\u5fd7 \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   ARGS = \" -- chrono \"   \u3002 \u5982\u679c \u6ca1\u6709 \u8bbe\u7f6e \u6b64 \u6807\u5fd7 \uff0c \u60a8 \u5c06 \u65e0\u6cd5 \u4f7f\u7528   Chrono   \u7269\u7406 \u3002   \u8b66\u544a :   \u4e0d \u652f\u6301 \u78b0\u649e \u3002 \u5f53 \u68c0\u6d4b \u5230 \u78b0\u649e \u65f6 \uff0c \u7269\u7406 \u7cfb\u7edf \u5c06 \u6062\u590d \u4e3a \u9ed8\u8ba4 \u7684   Carla   \u7269\u7406 \u7cfb\u7edf \u3002   is _ at _ traffic _ light   (   self   )   \u5f53 \u4ea4\u901a \u4ea4\u901a\u706f \u4e3a \u7ea2\u8272 \u5e76\u4e14 \u8f66\u8f86 \u4f4d\u4e8e \u5176 \u8fb9\u754c \u6846\u5185 \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u53d7\u5230 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5f71\u54cd \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a \u523b\u5ea6 \u8fd4\u56de \u4ea4\u901a \u4ea4\u901a\u706f \u662f\u5426 \u5f71\u54cd \u8be5 \u8f66\u8f86 \uff08 \u5b83 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \uff09 \u3002   \u8fd4\u56de :   bool   open _ door   (   self   ,   door _ idx   )   \u5982\u679c \u8f66\u8f86 \u6709 \u8f66\u95e8 \uff0c \u5219 \u6253\u5f00 \u8f66\u95e8   door _ idx   \u3002 \u4f7f\u7528   carla . VehicleDoor . All   \u6253\u5f00 \u6240\u6709 \u53ef\u7528 \u7684 \u95e8 \u3002   \u53c2\u6570 :   door _ idx   (   carla . VehicleDoor   )   -   \u95e8 \u7d22\u5f15 \u3002   show _ debug _ telemetry   (   self   ,   enabled   = True   )   \u542f\u7528 \u6216 \u7981\u7528 \u6b64 \u8f66\u8f86 \u4e0a \u7684 \u9065\u6d4b \u3002 \u8fd9\u4f1a \u5728 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u7a97\u53e3 \u4e2d \u663e\u793a \u6709\u5173 \u8f66\u8f86 \u5f53\u524d \u72b6\u6001 \u548c \u65bd\u52a0 \u5230 \u5176 \u4e0a \u7684 \u529b \u7684 \u4fe1\u606f \u3002 \u53ea\u80fd \u663e\u793a \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u7684 \u4fe1\u606f \uff0c \u56e0\u6b64 \uff0c \u5982\u679c \u542f\u7528 \u7b2c\u4e8c \u4e8c\u8f86 \u7b2c\u4e8c\u8f86 \u8f66 \uff0c \u524d \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u5c06 \u81ea\u52a8 \u7981\u7528 \u3002   \u53c2\u6570 :   enabled   (   bool   )   use _ carsim _ road   (   self   ,   enabled   )   \u542f\u7528 \u6216 \u7981\u7528   CarSim   \u4e0e \u5730\u5f62 \u6587\u4ef6   . simfile   \u4e2d \u6307\u5b9a \u7684 \u4f7f\u7528 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u6b64 \u9009\u9879 \u5904\u4e8e \u7981\u7528 \u72b6\u6001 \uff0c CarSim   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u65b9\u6cd5 \u6765 \u5904\u7406 \u573a\u666f \u7684 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u3002   \u53c2\u6570 :   enabled   (   bool   )   \u8bbe\u7f6e \u5668   get _ ackermann _ controller _ settings   (   self   )   \u8fd4\u56de \u5e94\u7528 \u4e8e \u8be5 \u8f66\u8f86 \u7684 \u6700\u540e \u4e00\u4e2a \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u8bbe\u7f6e \u3002   \u8fd4\u56de :   carla . AckermannControllerSettings   \u8b66\u544a :   \u6b64 \u65b9\u6cd5 \u786e\u5b9e \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6765 \u68c0\u7d22 \u503c \u3002   get _ control   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd4\u56de \u6700\u540e \u4e00\u4e2a tick \u4e2d \u5e94\u7528 \u7684 \u63a7\u5236 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de :   carla . VehicleControl   get _ failure _ state   (   self   )   \u8f66\u8f86 \u6709 \u6545\u969c \u72b6\u6001 \uff0c \u8868\u660e \u5b83 \u65e0\u6cd5 \u7ee7\u7eed \u5176 \u8def\u7ebf \u3002 \u8be5 \u51fd\u6570 \u8fd4\u56de \u8f66\u8f86 \u7684 \u5177\u4f53 \u6545\u969c \u72b6\u6001 \uff0c \u6216\u8005 \u6362\u53e5 \u6362\u53e5\u8bdd \u6362\u53e5\u8bdd\u8bf4 \uff0c \u8fd4\u56de \u5bfc\u81f4 \u6545\u969c \u7684 \u539f\u56e0 \u3002   \u8fd4\u56de :   carla . VehicleFailureState   get _ light _ state   (   self   )   \u8fd4\u56de \u8868\u793a \u8f66\u8f86 \u706f \u72b6\u6001 \u7684 \u6807\u5fd7 \uff0c \u8fd9 \u8868\u793a \u54ea\u4e9b \u706f \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u6216 \u4e0d \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u3002   \u8fd4\u56de :   carla . VehicleLightState   Setter :   carla . Vehicle . set _ light _ state   get _ physics _ control   (   self   )   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fd4\u56de \u5e94\u7528 \u4e8e \u8be5 \u8f66\u8f86 \u7684 \u6700\u540e \u4e00\u4e2a \u7269\u7406 \u63a7\u5236 \u3002   \u8fd4\u56de :   carla . VehiclePhysicsControl   \u8b66\u544a :   \u6b64 \u65b9\u6cd5 \u786e\u5b9e \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6765 \u68c0\u7d22 \u503c \u3002   get _ speed _ limit   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a tick \u8fd4\u56de \u5f71\u54cd \u8be5 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \uff08 \u5b83 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \uff09 \u3002 \u5f53 \u7ecf\u8fc7 \u9650\u901f \u4fe1\u53f7 \u65f6 \uff0c \u9650\u901f \u4f1a \u66f4\u65b0 \uff0c \u56e0\u6b64 \u8f66\u8f86 \u5728 \u751f\u6210 \u540e \u53ef\u80fd \u5c31 \u6ca1\u6709 \u9650\u901f \u4fe1\u53f7 \u3002   \u8fd4\u56de :   float   -   \u5343\u7c73 / \u5c0f\u65f6   get _ traffic _ light   (   self   )   \u6839\u636e \u6700\u540e \u4e00\u4e2a \u523b\u5ea6 \u68c0\u7d22 \u5f71\u54cd \u6b64 \u8f66\u8f86 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u5982\u679c \u6709 \uff09 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de :   carla . TrafficLight   get _ traffic _ light _ state   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u4e0a \u4e00\u4e2a tick \u8fd4\u56de \u5f71\u54cd \u8be5 \u8f66\u8f86 \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u72b6\u6001 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002 \u5982\u679c \u5f53\u524d \u6ca1\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u5f71\u54cd \u8f66\u8f86 \uff0c \u5219 \u8fd4\u56de   green   \u3002   \u8fd4\u56de :   carla . TrafficLightState   get _ wheel _ steer _ angle   (   self   ,   wheel _ location   )   \u8fd4\u56de \u8f66\u8f86 \u8f66\u8f6e \u7684 \u7269\u7406 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   \u53c2\u6570 :   wheel _ location   (   carla . VehicleWheelLocation   )   \u8fd4\u56de :   float   Note :   \u8fd4\u56de \u57fa\u4e8e \u8f66\u8f6e \u7269\u7406 \u539f\u7406 \u7684 \u89d2\u5ea6 \uff0c \u800c \u4e0d\u662f \u89c6\u89d2 \u3002   \u8bbe\u7f6e \u5668   set _ autopilot   (   self   ,   enabled   = True   ,   port   = 8000   )   \u5728 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u5217\u8868 \u4e2d \u6ce8\u518c \u6216 \u5220\u9664 \u8f66\u8f86 \u3002 \u5f53   True   \u65f6 \uff0c \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u79fb\u52a8 \u8f66\u8f86 \u3002 \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u53d1\u751f \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   \u53c2\u6570 :   enabled   (   bool   )   port   (   uint16   )   -   \u8f66\u8f86 \u8981 \u5728 \u5176\u4e2d \u6ce8\u518c \u6216 \u4e0d \u5217\u51fa \u7684   TM - Server   \u7aef\u53e3 \u3002 \u5982\u679c \u4f20\u9012   None   \uff0c \u5b83 \u5c06 \u8003\u8651 \u9ed8\u8ba4   8000   \u7aef\u53e3 \u4e0a \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   set _ light _ state   (   self   ,   light _ state   )   \u4f7f\u7528 \u8868\u793a \u706f\u5149 \u6253\u5f00 \u548c \u5173\u95ed \u7684 \u6807\u5fd7 \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u706f\u5149 \u72b6\u6001 \u3002   \u53c2\u6570 :   light _ state   (   carla . VehicleLightState   )   \u83b7\u53d6 \u5668 :   carla . Vehicle . get _ light _ state   set _ wheel _ steer _ direction   (   self   ,   wheel _ location   ,   angle _ in _ deg   )   snippet   \u2192   \u76f4\u89c2 \u5730 \u8bbe\u7f6e \u8f66\u8f6e \u7684 \u89d2\u5ea6 \u3002   \u53c2\u6570 :   wheel _ location   (   carla . VehicleWheelLocation   )   angle _ in _ deg   (   float   )   \u8b66\u544a :   \u4e0d \u5f71\u54cd \u8f66\u8f86 \u7684 \u7269\u7406 \u7279\u6027 \u3002   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . VehicleAckermannControl   \u4f7f\u7528 \u963f\u514b \u963f\u514b\u66fc \u9a7e\u9a76 \u63a7\u5236 \u88c5\u7f6e \u7ba1\u7406 \u8f66\u8f86 \u7684 \u57fa\u672c \u8fd0\u52a8 \u3002   \u5b9e\u4f8b \u53d8\u91cf   steer   (   float   )   \u6240 \u9700 \u8f6c\u5411   ( rad ) \u3002 \u6b63\u503c \u4f4d\u4e8e \u53f3\u4fa7 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   steer _ speed   (   float   )   \u8f6c\u5411 \u901f\u5ea6   ( rad / s ) \u3002 \u96f6 \u8f6c\u5411 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u610f\u5473 \u610f\u5473\u7740 \u5c3d\u5feb \u6539\u53d8 \u8f6c\u5411 \u89d2 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   speed   (   float   )   \u6240 \u9700 \u901f\u5ea6   ( m / s ) \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   acceleration   (   float   )   \u6240 \u9700 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   ( m / s2 )   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   jerk   (   float   )   \u6240 \u9700 \u7684   jerk   ( m / s3 ) \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   steer   = 0.0   ,   steer _ speed   = 0.0   ,   speed   = 0.0   ,   acceleration   = 0.0   ,   jerk   = 0.0   )   \u53c2\u6570 :   steer   (   float   )   steer _ speed   (   float   )   speed   (   float   )   acceleration   (   float   )   jerk   (   float   )   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . AckermannVehicleControl   )   __ ne __   (   self   ,   other   =   carla . AckermannVehicleControl   )   __ str __   (   self   )   carla . VehicleControl   \u4f7f\u7528 \u5178\u578b \u7684 \u9a7e\u9a76 \u63a7\u5236 \u6765 \u7ba1\u7406 \u8f66\u8f86 \u7684 \u57fa\u672c \u8fd0\u52a8 \u3002   \u5b9e\u4f8b \u53d8\u91cf   throttle   (   float   )   \u7528\u4e8e \u63a7\u5236 \u8f66\u8f86 \u6cb9\u95e8 \u7684 \u6807\u91cf \u503c   [ 0.0 ,   1.0 ] \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   steer   (   float   )   \u7528\u4e8e \u63a7\u5236 \u8f66\u8f86 \u8f6c\u5411 \u7684 \u6807\u91cf \u503c   [ - 1.0 ,   1.0 ] \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   brake   (   float   )   \u7528\u4e8e \u63a7\u5236 \u8f66\u8f86 \u5236\u52a8 \u7684 \u6807\u91cf \u503c   [ 0.0 ,   1.0 ] \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   hand _ brake   (   bool   )   \u786e\u5b9a \u662f\u5426 \u4f7f\u7528 \u624b\u5239 \u3002 \u9ed8\u8ba4 \u4e3a   False   \u3002   reverse   (   bool   )   \u786e\u5b9a \u8f66\u8f86 \u662f\u5426 \u5411 \u540e \u79fb\u52a8 \u3002 \u9ed8\u8ba4 \u4e3a   False   \u3002   manual _ gear _ shift   (   bool   )   \u786e\u5b9a \u662f\u5426 \u901a\u8fc7 \u624b\u52a8 \u6362\u6863 \u6765 \u63a7\u5236 \u8f66\u8f86 \u3002 \u9ed8\u8ba4 \u4e3a   False   \u3002   gear   (   int   )   \u6307\u793a \u8f66\u8f86 \u884c\u9a76 \u7684 \u6863\u4f4d \u3002   \u65b9\u6cd5   __ init __   (   self   ,   throttle   = 0.0   ,   steer   = 0.0   ,   brake   = 0.0   ,   hand _ brake   = False   ,   reverse   = False   ,   manual _ gear _ shift   = False   ,   gear   = 0   )   \u53c2\u6570 :   throttle   (   float   )   -   [ 0.0 , 1.0 ]   \u4e4b\u95f4 \u7684 \u6807\u91cf \u503c \u3002   steer   (   float   )   -   [ 0.0 , 1.0 ]   \u4e4b\u95f4 \u7684 \u6807\u91cf \u503c \u3002   brake   (   float   )   -   [ 0.0 , 1.0 ]   \u4e4b\u95f4 \u7684 \u6807\u91cf \u503c \u3002   hand _ brake   (   bool   )   reverse   (   bool   )   manual _ gear _ shift   (   bool   )   gear   (   int   )   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . VehicleControl   )   __ ne __   (   self   ,   other   =   carla . VehicleControl   )   __ str __   (   self   )   carla . VehicleDoor   \u53ef\u80fd \u7684 \u7d22\u5f15 \u8868\u793a \u53ef\u80fd \u6253\u5f00 \u7684 \u95e8 \u3002 \u8bf7 \u6ce8\u610f \uff0c \u67d0\u4e9b \u8f66\u8f86 \u5e76\u975e \u6240\u6709 \u53ef\u80fd \u7684 \u8f66\u95e8 \u90fd \u80fd \u6253\u5f00 \u3002   \u5b9e\u4f8b \u53d8\u91cf   FL   \u5de6 \u524d\u95e8 \u3002   FR   \u53f3 \u524d\u95e8 \u3002   RL   \u5de6 \u540e\u95e8 \u3002   RR   \u53f3 \u540e\u95e8 \u3002   All   \u4ee3\u8868 \u6240\u6709 \u95e8 \u3002   carla . VehicleFailureState   \u5305\u542b \u8f66\u8f86 \u65e0\u6cd5 \u6062\u590d \u7684 \u4e0d\u540c \u6545\u969c \u72b6\u6001 \u7684 \u679a\u4e3e \u3002 \u8fd9\u4e9b \u7531   get _ failure _ state ( )   \u8fd4\u56de \uff0c \u5f53\u524d \u4ec5 \u5b9e\u73b0 \u4e86   Rollover \u3002   \u5b9e\u4f8b \u53d8\u91cf   NONE   Rollover   Engine   TirePuncture   carla . VehicleLightState   \u6982\u62ec \u8f66\u8f86 \u706f \u72b6\u6001 \u7684 \u7c7b \uff0c \u8fd9\u4e9b \u53ef\u4ee5 \u7528\u4f5c \u6807\u5fd7 \u3002 \u4f8b\u5982 \uff1a   VehicleLightState . HighBeam   &   VehicleLightState . Brake   \u5f53 \u4e24\u8005 \u90fd \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u65f6 \uff0c \u5c06 \u8fd4\u56de   True   \u3002 \u5728 \u4efb\u4f55 \u60c5\u51b5 \u4e0b \uff0c \u706f \u9ed8\u8ba4 \u90fd \u662f \u5173\u95ed \u7684 \uff0c \u5e76\u4e14 \u5e94\u8be5 \u7531 \u7528\u6237 \u901a\u8fc7 \u811a\u672c \u8fdb\u884c \u7ba1\u7406 \u3002 \u95ea\u5149 \u5149\u706f \u95ea\u5149\u706f \u81ea\u52a8 \u95ea\u70c1 \u3002   \u8b66\u544a \uff1a \u76ee\u524d \uff0c \u5e76\u975e \u6240\u6709 \u8f66\u8f86 \u90fd \u51c6\u5907 \u597d \u4f7f\u7528 \u6b64 \u529f\u80fd \uff0c \u8fd9 \u5c06 \u5728 \u4ee5\u540e \u7684 \u66f4\u65b0 \u4e2d \u6dfb\u52a0 \u5230 \u6240\u6709 \u8f66\u8f86 \u4e2d \u3002   \u5b9e\u4f8b \u53d8\u91cf   NONE   \u6240\u6709 \u706f\u5747 \u5173\u95ed \u3002   Position   LowBeam   HighBeam   Brake   RightBlinker   LeftBlinker   Reverse   Fog   Interior   Special1   \u8fd9 \u662f \u4e3a \u67d0\u4e9b \u5177\u6709 \u7279\u6b8a \u706f \uff08 \u4f8b\u5982 \u8b66\u62a5 \u8b66\u62a5\u5668 \uff09 \u7684 \u8f66\u8f86 \u4fdd\u7559 \u7684 \u3002   Special2   \u8fd9 \u662f \u4e3a \u67d0\u4e9b \u5177\u6709 \u7279\u6b8a \u706f \uff08 \u4f8b\u5982 \u8b66\u62a5 \u8b66\u62a5\u5668 \uff09 \u7684 \u8f66\u8f86 \u4fdd\u7559 \u7684 \u3002   All   \u6240\u6709 \u706f\u5747\u4eae \u8d77 \u3002   carla . VehiclePhysicsControl   \u603b\u7ed3 \u5c06 \u7528\u4e8e \u5c06   carla . Vehicle   \u4eff\u771f \u4e3a \u7269\u7406 \u5bf9\u8c61 \u7684 \u53c2\u6570 \u3002 \u4e0d\u8fc7 \uff0c \u8f66\u8f6e \u7684 \u5177\u4f53 \u8bbe\u7f6e \u662f \u4f7f\u7528   carla . WheelPhysicsControl   \u89c4\u5b9a \u7684 \u3002   \u5b9e\u4f8b \u53d8\u91cf   torque _ curve   (   list (   carla . Vector2D   )   )   \u66f2\u7ebf \uff0c \u6307\u793a \u5728 \u8f66\u8f86 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7684 \u7279\u5b9a   RPM   \u4e0b \u6d4b\u91cf \u7684 \u626d\u77e9 \uff08 \u4ee5   Nm   \u4e3a \u5355\u4f4d \uff09 \u3002   max _ rpm   (   float   )   \u8f66\u8f86 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7684 \u6700\u5927 \u8f6c\u901f \u3002   moi   (   float   -   kg * m   2   )   \u8f66\u8f86 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7684 \u8f6c\u52a8 \u60ef\u91cf \u8f6c\u52a8\u60ef\u91cf \u3002   damping _ rate _ full _ throttle   (   float   )   \u6cb9\u95e8 \u6700\u5927 \u65f6 \u7684 \u963b\u5c3c \u963b\u5c3c\u6bd4 \u3002   damping _ rate _ zero _ throttle _ clutch _ engaged   (   float   )   \u79bb\u5408 \u79bb\u5408\u5668 \u63a5\u5408 \u65f6 \u6cb9\u95e8 \u4e3a \u96f6\u65f6 \u7684 \u963b\u5c3c \u963b\u5c3c\u6bd4 \u3002   damping _ rate _ zero _ throttle _ clutch _ disengaged   (   float   )   \u5f53 \u6cb9\u95e8 \u4e3a \u96f6\u4e14 \u79bb\u5408 \u79bb\u5408\u5668 \u5206\u79bb \u65f6 \u7684 \u963b\u5c3c \u963b\u5c3c\u6bd4 \u3002   use _ gear _ autobox   (   bool   )   \u5982\u679c \u4e3a   True   \uff0c \u8f66\u8f86 \u5c06 \u914d\u5907 \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u3002   gear _ switch _ time   (   float   -   seconds   )   \u9f7f\u8f6e \u4e4b\u95f4 \u7684 \u5207\u6362 \u65f6\u95f4 \u3002   clutch _ strength   (   float   -   kg * m   2   / s   )   \u8f66\u8f86 \u7684 \u79bb\u5408 \u79bb\u5408\u5668 \u5f3a\u5ea6 \u3002   final _ ratio   (   float   )   \u4ece \u53d8\u901f \u53d8\u901f\u7bb1 \u5230 \u8f66\u8f6e \u7684 \u56fa\u5b9a \u6bd4\u7387 \u3002   forward _ gears   (   list (   carla . GearPhysicsControl   )   )   \u5b9a\u4e49 \u8f66\u8f86 \u9f7f\u8f6e \u7684 \u5bf9\u8c61 \u5217\u8868 \u3002   mass   (   float   -   kilograms   )   \u8f66\u8f86 \u7684 \u8d28\u91cf \u3002   drag _ coefficient   (   float   )   \u8f66\u8f86 \u5e95\u76d8 \u7684 \u963b\u529b \u7cfb\u6570 \u3002   center _ of _ mass   (   carla . Vector3D   -   \u7c73   )   \u8f66\u8f86 \u7684 \u8d28\u5fc3 \u3002   steering _ curve   (   list (   carla . Vector2D   )   )   \u6307\u793a \u7279\u5b9a \u524d\u8fdb \u901f\u5ea6 \u7684 \u6700\u5927 \u8f6c\u5411 \u7684 \u66f2\u7ebf \u3002   use _ sweep _ wheel _ collision   (   bool   )   \u542f\u7528 \u8f66\u8f6e \u78b0\u649e \u626b\u63cf \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u662f \u7981\u7528 \u7684 \uff0c \u5e76\u4e14 \u5b83 \u4e3a \u6bcf\u4e2a \u8f6e\u5b50 \u4f7f\u7528 \u4ece\u8f74\u5230 \u5730\u677f \u7684 \u7b80\u5355 \u5149\u7ebf \u6295\u5c04 \u3002 \u6b64 \u9009\u9879 \u63d0\u4f9b \u4e86 \u66f4\u597d \u7684 \u78b0\u649e \u6a21\u578b \uff0c \u5176\u4e2d \u68c0\u67e5 \u8f66\u8f6e \u7684 \u6574\u4e2a \u4f53\u79ef \u662f\u5426 \u53d1\u751f \u78b0\u649e \u3002   wheels   (   list (   carla . WheelPhysicsControl   )   )   \u8f6e\u5b50 \u7269\u7406 \u5bf9\u8c61 \u5217\u8868 \u3002 \u8be5 \u5217\u8868 \u5e94\u8be5 \u6709   4   \u4e2a \u5143\u7d20 \uff0c \u5176\u4e2d \u7d22\u5f15   0   \u5bf9\u5e94 \u4e8e \u5de6 \u524d\u8f6e \uff0c \u7d22\u5f15   1   \u5bf9\u5e94 \u4e8e \u53f3 \u524d\u8f6e \uff0c \u7d22\u5f15   2   \u5bf9\u5e94 \u4e8e \u5de6 \u540e\u8f6e \uff0c \u7d22\u5f15   3   \u5bf9\u5e94 \u4e8e \u53f3 \u540e\u8f6e \u3002 \u5bf9\u4e8e \u4e24\u8f6e \u8f66\u8f86 \uff0c \u524d\u8f6e \u548c \u540e\u8f6e \u8bbe\u7f6e \u76f8\u540c \u7684 \u503c \u3002   \u65b9\u6cd5   __ init __   (   self   ,   torque _ curve   = [ [ 0.0 ,   500.0 ] ,   [ 5000.0 ,   500.0 ] ]   ,   max _ rpm   = 5000.0   ,   moi   = 1.0   ,   damping _ rate _ full _ throttle   = 0.15   ,   damping _ rate _ zero _ throttle _ clutch _ engaged   = 2.0   ,   damping _ rate _ zero _ throttle _ clutch _ disengaged   = 0.35   ,   use _ gear _ autobox   = True   ,   gear _ switch _ time   = 0.5   ,   clutch _ strength   = 10.0   ,   final _ ratio   = 4.0   ,   forward _ gears   = list ( )   ,   drag _ coefficient   = 0.3   ,   center _ of _ mass   = [ 0.0 ,   0.0 ,   0.0 ]   ,   steering _ curve   = [ [ 0.0 ,   1.0 ] ,   [ 10.0 ,   0.5 ] ]   ,   wheels   = list ( )   ,   use _ sweep _ wheel _ collision   = False   ,   mass   = 1000.0   )   VehiclePhysicsControl   \u6784\u9020 \u51fd\u6570 \u6784\u9020\u51fd\u6570 \u3002   \u53c2\u6570 :   torque _ curve   (   list (   carla . Vector2D   )   )   max _ rpm   (   float   )   moi   (   float   -   kg * m   2   )   damping _ rate _ full _ throttle   (   float   )   damping _ rate _ zero _ throttle _ clutch _ engaged   (   float   )   damping _ rate _ zero _ throttle _ clutch _ disengaged   (   float   )   use _ gear _ autobox   (   bool   )   gear _ switch _ time   (   float   -   seconds   )   clutch _ strength   (   float   -   kg * m   2   / s   )   final _ ratio   (   float   )   forward _ gears   (   list (   carla . GearPhysicsControl   )   )   drag _ coefficient   (   float   )   center _ of _ mass   (   carla . Vector3D   )   steering _ curve   (   carla . Vector2D   )   wheels   (   list (   carla . WheelPhysicsControl   )   )   use _ sweep _ wheel _ collision   (   bool   )   mass   (   float   -   kilograms   )   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . VehiclePhysicsControl   )   __ ne __   (   self   ,   other   =   carla . VehiclePhysicsControl   )   __ str __   (   self   )   carla . VehicleWheelLocation   enum   \u4ee3\u8868 \u8f66\u8f86 \u4e0a \u6bcf\u4e2a \u8f66\u8f6e \u7684 \u4f4d\u7f6e \u3002 \u7528\u4e8e \u5728   carla . Vehicle . set _ wheel _ steer _ direction   \u6216   carla . Vehicle . get _ wheel _ steer _ angle   \u4e2d \u8bbe\u7f6e \u89d2\u5ea6 \u65f6 \u8bc6\u522b \u76ee\u6807 \u8f66\u8f6e \u3002   \u5b9e\u4f8b \u53d8\u91cf   FL _ Wheel   \u56db\u8f6e \u8f66\u8f86 \u7684 \u5de6 \u524d\u8f6e \u3002   FR _ Wheel   \u56db\u8f6e \u8f66\u8f86 \u7684 \u53f3 \u524d\u8f6e \u3002   BL _ Wheel   \u56db\u8f6e \u8f66\u8f86 \u7684 \u5de6 \u540e\u8f6e \u3002   BR _ Wheel   \u56db\u8f6e \u8f66\u8f86 \u7684 \u53f3 \u540e\u8f6e \u3002   Front _ Wheel   \u4e24\u8f6e \u8f66\u8f86 \u7684 \u524d\u8f6e \u3002   Back _ Wheel   \u4e24\u8f6e \u8f66\u8f86 \u7684 \u540e\u8f6e \u3002   carla . Walker   \u4ece   carla . Actor   \u7ee7\u627f   \u8be5\u7c7b \u4ece   carla . Actor   \u7ee7\u627f \u5e76 \u5b9a\u4e49 \u4eff\u771f \u4e2d \u7684 \u884c\u4eba \u3002 Walkers   \u662f \u4e00\u79cd \u7279\u6b8a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u53ef\u4ee5 \u7531   AI   (   carla . WalkerAIController   )   \u63a7\u5236 \uff0c \u4e5f \u53ef\u4ee5 \u901a\u8fc7 \u811a\u672c \u624b\u52a8 \u63a7\u5236 \uff0c \u4f7f\u7528 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217   carla . WalkerControl   \u6765 \u79fb\u52a8 \u5b83\u4eec \u53ca\u5176 \u9aa8\u9abc \u3002   \u65b9\u6cd5   apply _ control   (   self   ,   control   )   \u5728 \u4e0b \u4e00\u4e2a \u523b\u5ea6 \u4e0a \uff0c \u63a7\u4ef6 \u5c06 \u4ee5 \u7279\u5b9a \u901f\u5ea6 \u5411 \u7279\u5b9a \u65b9\u5411 \u79fb\u52a8 \u884c\u4eba \u3002 \u4e5f \u53ef\u4ee5 \u547d\u4ee4 \u8df3\u8dc3 \u3002   \u53c2\u6570 :   control   (   carla . WalkerControl   )   blend _ pose   (   self   ,   blend _ value   )   \u8bbe\u7f6e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u4e0e \u52a8\u753b \u7684 \u6df7\u5408 \u503c \u3002 \u8fd9\u4e9b \u503c \u53ef\u4ee5 \u662f \uff1a   0 :   \u4ec5 \u663e\u793a \u52a8\u753b   1 :   \u4ec5 \u663e\u793a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \uff08 \u7531 \u7528\u6237 \u4f7f\u7528   set _ bones ( )   \u8bbe\u7f6e \uff09   any   other :   \u5c06 \u5728 \u52a8\u753b \u548c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u4e4b\u95f4 \u63d2\u5165 \u6240\u6709 \u9aa8\u9abc \u4f4d\u7f6e \u3002   \u53c2\u6570 :   blend _ value   (   float   -   value   from   0   to   1   with   the   blend   percentage   )   hide _ pose   (   self   )   \u9690\u85cf \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u5e76 \u663e\u793a \u52a8\u753b \uff08 \u4e0e \u8c03\u7528   blend _ pose ( 0 )   \u76f8\u540c \uff09 \u3002   show _ pose   (   self   )   \u663e\u793a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u5e76 \u9690\u85cf \u52a8\u753b \uff08 \u4e0e \u8c03\u7528   blend _ pose ( 1 )   \u76f8\u540c \uff09 \u3002   \u8bbe\u7f6e \u5668   get _ bones   (   self   )   \u8fd4\u56de \u5305\u542b \u6765\u81ea \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6240\u6709 \u9aa8\u9abc \u53d8\u6362 \u7684 \u7ed3\u6784 \u3002 \u5bf9\u4e8e \u6bcf\u4e2a \u9aa8\u9abc \uff0c \u6211\u4eec \u5728 \u4e09\u4e2a \u4e0d\u540c \u7684 \u7a7a\u95f4 \u4e2d \u83b7\u53d6 \u540d\u79f0 \u53ca\u5176 \u53d8\u6362 \uff1a   name :   \u9aa8\u9abc \u540d\u79f0   world :   \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u53d8\u6362   component :   \u57fa\u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u67a2\u8f74 \u8fdb\u884c \u53d8\u6362   relative :   \u57fa\u4e8e \u7236\u7ea7 \u9aa8\u9abc \u8fdb\u884c \u53d8\u6362 \u3002   \u8fd4\u56de :   carla . WalkerBoneControlOut   Setter :   carla . Walker . set _ bones   get _ control   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd4\u56de \u5728 \u6700\u540e \u4e00\u4e2a tick \u671f\u95f4 \u5e94\u7528 \u4e8e \u6b64\u884c \u4eba \u7684 \u63a7\u5236 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de :   carla . WalkerControl   get _ pose _ from _ animation   (   self   )   \u590d\u5236 \u5f53\u524d \u52a8\u753b \u5e27 \u4f5c\u4e3a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u3002 \u6700\u521d \uff0c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u662f \u4e2d\u6027 \u884c\u4eba \u59ff\u52bf \u3002   \u8bbe\u7f6e \u5668   set _ bones   (   self   ,   bones   )   \u8bbe\u7f6e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u9aa8\u9abc \u3002 \u5bf9\u4e8e \u6211\u4eec \u60f3\u8981 \u8bbe\u7f6e \u7684 \u6bcf\u4e2a \u9aa8\u9abc \uff0c \u6211\u4eec \u4f7f\u7528 \u76f8\u5bf9 \u53d8\u6362 \u3002 \u4ec5\u4f1a \u8bbe\u7f6e \u6b64 \u5217\u8868 \u4e2d \u7684 \u9aa8\u9abc \u3002 \u5bf9\u4e8e \u6bcf\u4e2a \u9aa8\u9abc \uff0c \u60a8 \u9700\u8981 \u8bbe\u7f6e \u4ee5\u4e0b \u4fe1\u606f \uff1a   name :   \u9aa8\u9abc \u540d\u79f0   relative :   \u57fa\u4e8e \u9aa8\u9abc \u7236\u7ea7 \u8fdb\u884c \u53d8\u6362 \u3002   \u53c2\u6570 :   bones   (   carla . WalkerBoneControlIn   -   \u6211\u4eec \u60f3\u8981 \u8bbe\u7f6e \u7684 \u9aa8\u9abc \u5bf9 \uff08 bone _ name \uff0c transform \uff09 \u7684 \u5217\u8868   )   \u83b7\u53d6 \u5668 :   carla . Walker . get _ bones   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . WalkerAIController   \u4ece   carla . Actor   \u7ee7\u627f   \u5bf9 \u884c\u4eba \u8fdb\u884c   AI   \u63a7\u5236 \u7684 \u7c7b \u3002 \u63a7\u5236 \u63a7\u5236\u5668 \u88ab \u5b9a\u4e49 \u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f46 \u5b83\u4eec \u4e0e \u5176\u4ed6 \u63a7\u5236 \u63a7\u5236\u5668 \u6709 \u5f88\u5927 \u4e0d\u540c \u3002 \u5b83\u4eec \u5728 \u521b\u5efa \u8fc7\u7a0b \u4e2d \u9700\u8981 \u9644\u52a0 \u5230\u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8fd9\u662f \u5b83\u4eec \u5c06 \u63a7\u5236 \u7684 \u884c\u4eba \uff08 \u5982\u679c \u60a8 \u5c1a\u672a \u4e86\u89e3 \u5982\u4f55 \u751f\u6210   Actor \uff0c \u8bf7 \u67e5\u770b   carla . World   \uff09 \u3002 \u4ed6\u4eec \u8fd8 \u9700\u8981 \u4e00\u4e2a \u7279\u6b8a \u7684 \u84dd\u56fe \uff08 \u5df2 \u5728   carla . BlueprintLibrary   \u4e2d \u5b9a\u4e49 \u4e3a \u201c controller . ai . walker \u201d \uff09 \u3002 \u8fd9\u662f \u4e00\u4e2a \u7a7a \u7684 \u84dd\u56fe \uff0c \u56e0\u4e3a \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u63a7\u5236\u5668 \u5728 \u4eff\u771f \u4e2d\u662f \u4e0d \u53ef\u89c1 \u7684 \uff0c \u4f46\u4f1a \u8ddf\u968f \u5176\u7236 \u63a7\u5236 \u63a7\u5236\u5668 \u6765 \u6307\u793a \u6bcf \u4e00\u6b65 \u3002   \u65b9\u6cd5   go _ to _ location   (   self   ,   destination   )   \u8bbe\u7f6e \u884c\u4eba \u5c06 \u5230\u8fbe \u7684 \u76ee\u7684 \u76ee\u7684\u5730 \u3002   \u53c2\u6570 :   destination   (   carla . Location   -   \u7c73   )   start   (   self   )   \u4e3a \u5176\u7236 \u884c\u4eba \u542f\u7528   AI   \u63a7\u5236 \u3002   stop   (   self   )   snippet   \u2192   \u7981\u7528 \u5176\u7236 \u884c\u4eba \u7684   AI   \u63a7\u5236 \u3002   \u8bbe\u7f6e \u5668   set _ max _ speed   (   self   ,   speed   = 1.4   )   \u8bbe\u7f6e \u884c\u4eba \u7684 \u901f\u5ea6 \uff08 \u4ee5\u7c73 \u6bcf\u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   \u53c2\u6570 :   speed   (   float   -   m / s   )   -   \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u8f7b\u677e \u6b65\u884c \u901f\u5ea6 \u3002   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . WalkerBoneControlIn   \u8be5\u7c7b \u4e3a \u884c\u4eba \u63d0\u4f9b \u9aa8\u9abc \u7279\u5b9a \u7684 \u64cd\u4f5c \u3002 \u4e3a\u4e86 \u6e05\u6670 \u8d77 \u89c1 \uff0c \u884c\u4eba \u7684 \u9aa8\u9abc \u5df2\u7ecf \u7edf\u4e00 \uff0c \u5e76\u4e14 \u5e94\u7528 \u4e8e \u6bcf\u4e2a \u9aa8\u9abc \u7684 \u53d8\u6362 \u59cb\u7ec8 \u76f8\u5bf9 \u4e8e \u5176\u7236 \u9aa8\u9abc \u3002 \u8bf7 \u67e5\u770b   \u6b64\u5904   \uff0c \u4e86\u89e3 \u6709\u5173 \u5982\u4f55 \u521b\u5efa \u52a9\u884c\u5668 \u5e76 \u5b9a\u4e49 \u5176 \u8fd0\u52a8 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   bone _ transforms   (   list ( [ name , transform ] )   )   \u5217\u51fa \u6211\u4eec \u8981 \u8bbe\u7f6e \u7684 \u6bcf\u4e2a \u9aa8\u9abc \u7684 \u6570\u636e \uff1a   name :   \u9aa8\u9abc \u540d\u79f0   relative :   \u57fa\u4e8e \u9aa8\u9abc \u7236\u7ea7 \u8fdb\u884c \u53d8\u6362 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   list ( name , transform )   )   \u521d\u59cb \u521d\u59cb\u5316 \u4e00\u4e2a \u5305\u542b \u8981 \u5728 \u523b\u5ea6 \u4e0a \u5e94\u7528 \u7684 \u79fb\u52a8 \u7684 \u5bf9\u8c61 \u3002 \u8fd9\u4e9b \u4e0e \u9aa8\u9abc \u7684 \u540d\u79f0 \u548c \u5c06 \u5e94\u7528 \u4e8e \u5b83 \u7684 \u53d8\u6362 \u4e00\u8d77 \u5217\u51fa \u3002   \u53c2\u6570 :   list ( name , transform )   (   tuple   )   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . WalkerBoneControlOut   \u8be5\u7c7b \u7528\u4e8e \u8fd4\u56de \u884c\u4eba \u7684 \u6240\u6709 \u9aa8\u9abc \u4f4d\u7f6e \u3002 \u5bf9\u4e8e \u6bcf\u4e2a \u9aa8\u9abc \uff0c \u6211\u4eec \u5f97\u5230 \u5b83 \u7684 \u540d\u79f0 \u53ca\u5176 \u5728 \u4e09\u4e2a \u4e0d\u540c \u7a7a\u95f4 \uff08 \u4e16\u754c \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u76f8\u5bf9 \uff09 \u4e2d \u7684 \u53d8\u6362 \u3002   \u5b9e\u4f8b \u53d8\u91cf   bone _ transforms   (   list ( [ name , world ,   actor ,   relative ] )   )   \u6bcf\u4e2a \u9aa8\u9abc \u7684 \u4e00\u4e2a \u6761\u76ee \u5217\u8868 \uff0c \u5305\u542b \u4ee5\u4e0b \u4fe1\u606f \uff1a   name :   \u9aa8\u9abc \u540d\u79f0   world :   \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u53d8\u6362   component :   \u57fa\u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u67a2\u8f74 \u8fdb\u884c \u53d8\u6362   relative :   \u57fa\u4e8e \u9aa8\u9abc \u7236\u7ea7 \u8fdb\u884c \u53d8\u6362 \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . WalkerControl   \u6b64\u7c7b \u5b9a\u4e49 \u4e86 \u53ef\u4ee5 \u5411   carla . Walker   \u547d\u4ee4 \u901a\u8fc7 \u811a\u672c \u63a7\u5236 \u5b83 \u7684 \u7279\u5b9a \u65b9\u5411 \u3002   \u53ef\u4ee5 \u4e3a \u884c\u4eba \u89e3\u51b3 AI \u63a7\u5236 \uff0c \u4f46 \u7528\u4e8e \u6b64 \u76ee\u7684 \u7684 \u63a7\u4ef6 \u662f   carla . WalkerAIController   \u3002   \u5b9e\u4f8b \u53d8\u91cf   direction   (   carla . Vector3D   )   \u4f7f\u7528 \u4e0e \u884c\u4eba \u65b9\u5411 \u76f8\u5bf9 \u5e94 \u7684 \u5168\u5c40 \u5750\u6807 \u7684 \u5411\u91cf \u3002   speed   (   float   -   m / s   )   \u63a7\u5236 \u884c\u4eba \u901f\u5ea6 \u7684 \u6807\u91cf \u503c \u3002   jump   (   bool   )   \u5982\u679c \u4e3a   True   \uff0c \u884c\u4eba \u5c06 \u6267\u884c \u8df3\u8dc3 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   direction   = [ 1.0 ,   0.0 ,   0.0 ]   ,   speed   = 0.0   ,   jump   = False   )   \u53c2\u6570 :   direction   (   carla . Vector3D   )   speed   (   float   -   m / s   )   jump   (   bool   )   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . WalkerControl   )   \u548c   other   \u6bd4\u8f83 \u6bcf\u4e2a \u53d8\u91cf \uff0c \u5982\u679c \u5b83\u4eec \u90fd \u76f8\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   __ ne __   (   self   ,   other   =   carla . WalkerControl   )   \u548c   other   \u6bd4\u8f83 \u6bcf\u4e2a \u53d8\u91cf \uff0c \u5982\u679c \u5176\u4e2d \u4efb\u4f55 \u4e00\u4e2a \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   __ str __   (   self   )   carla . Waypoint   Carla   \u4e2d \u7684 \u8def\u5f84 \u70b9 \u88ab \u63cf\u8ff0 \u4e3a \u4e09\u7ef4 \u6709 \u5411 \u70b9 \u3002 \u4ed6\u4eec \u6709 \u4e00\u4e2a   carla . Transform   \uff0c \u5b83 \u53ef\u4ee5 \u5b9a\u4f4d \u9053\u8def \u4e2d \u7684 \u8def\u5f84 \u70b9 \u5e76 \u6839\u636e \u8f66\u9053 \u786e\u5b9a \u5176 \u65b9\u5411 \u3002 \u4ed6\u4eec \u8fd8 \u5b58\u50a8 \u5c5e\u4e8e \u8be5\u70b9 \u7684 \u6709\u5173 \u5176 \u8f66\u9053 \u548c \u8f66\u9053 \u6807\u8bb0 \u7684 \u9053\u8def \u4fe1\u606f \u3002   \u6709\u5173 \u8def\u5f84 \u70b9 \u548c   \u8def\u7ebf   API   \u7684 \u6240\u6709 \u4fe1\u606f \u5747 \u6309   OpenDRIVE   \u6587\u4ef6 \u63d0\u4f9b \u7684 \u65b9\u5f0f \u68c0\u7d22 \u3002 \u4e00\u65e6 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5411 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bf7\u6c42 \u5730\u56fe \u5bf9\u8c61 \uff0c \u5c31 \u4e0d\u518d \u9700\u8981 \u901a\u4fe1 \u3002   \u5b9e\u4f8b \u53d8\u91cf   id   (   int   )   \u6807\u8bc6 \u6807\u8bc6\u7b26 \u662f \u4f7f\u7528 \u4e0e   OpenDRIVE   \u51e0\u4f55 \u4e2d \u7684 \u6240\u8ff0 \u70b9 \u76f8\u5bf9 \u5e94 \u7684   road   ,   section   ,   lane   \u548c   s   \u503c \u7684 \u54c8\u5e0c \u7ec4\u5408 \u751f\u6210 \u7684 \u3002   s   \u7cbe\u5ea6 \u8bbe\u7f6e \u4e3a   2   \u5398\u7c73 \uff0c \u56e0\u6b64 \u5728 \u540c\u4e00 \u9053\u8def \u3001 \u8def\u6bb5 \u548c \u8f66\u9053 \u8ddd\u79bb \u4e2d\u8ddd\u79bb \u5c0f\u4e8e   2   \u5398\u7c73 \u7684   2   \u4e2a \u8def\u5f84 \u70b9\u5c06 \u5177\u6709 \u76f8\u540c \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26   \u3002   transform   (   carla . Transform   )   \u6839\u636e \u5f53\u524d \u8f66\u9053 \u4fe1\u606f \u786e\u5b9a \u8def\u70b9 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002 \u8be5 \u6570\u636e \u662f \u5728 \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u8bbf\u95ee \u65f6 \u8ba1\u7b97 \u7684 \u3002 \u5f53 \u521b\u5efa \u5927\u91cf \u8def\u5f84 \u70b9 \u4f46 \u4e0d \u9700\u8981 \u5b83\u4eec \u7684 \u7279\u5b9a \u8f6c\u6362 \u65f6 \uff0c \u5b83 \u4e0d\u4f1a \u7acb\u5373 \u521b\u5efa \uff0c \u4ee5 \u51cf\u8f7b \u8ba1\u7b97 \u6210\u672c \u8ba1\u7b97\u6210\u672c \u3002   road _ id   (   int   )   OpenDRIVE   \u9053\u8def \u7684   id \u3002   section _ id   (   int   )   OpenDRIVE   \u90e8\u5206 \u7684   id \uff0c \u57fa\u4e8e \u5b83\u4eec \u6700\u521d \u5b9a\u4e49 \u7684 \u987a\u5e8f \u3002   is _ junction   (   bool   )   \u5982\u679c \u5f53\u524d \u8def\u70b9 \u4f4d\u4e8e   OpenDRIVE   \u5b9a\u4e49 \u7684 \u4ea4\u6c47 \u4ea4\u6c47\u5904 \uff0c \u5219 \u4e3a   True   \u3002   junction _ id   (   int   )   OpenDRIVE   \u7ed3\u70b9 \u7684   id \u3002 \u6709\u5173 \u66f4 \u591a \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   OpenDRIVE   \u6587\u6863   \u3002   lane _ id   (   int   )   OpenDRIVE   \u8f66\u9053 \u7684   id \uff0c \u8be5\u503c \u53ef\u4ee5 \u662f \u6b63\u6570 \u6216 \u8d1f\u6570 \uff0c \u8868\u793a \u5f53\u524d \u8f66\u9053 \u76f8\u5bf9 \u4e8e \u9053\u8def \u7684 \u65b9\u5411 \u3002 \u6709\u5173 \u66f4 \u591a \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   OpenDRIVE   \u6587\u6863   \u3002   s   (   float   )   OpenDRIVE \u5f53\u524d \u4f4d\u7f6e \u7684   s   \u503c   \u3002   lane _ width   (   float   )   \u5f53\u524d   s   \u5904 \u9053\u8def \u7684 \u6c34\u5e73 \u5c3a\u5bf8 \u3002   lane _ change   (   carla . LaneChange   )   \u5f53\u524d \u8def\u70b9 \u4f4d\u7f6e \u7684 \u8f66\u9053 \u53d8\u66f4 \u5b9a\u4e49 \uff0c \u57fa\u4e8e   OpenDRIVE   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \u7684 \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u3002 \u5b83 \u8bf4\u660e \u662f\u5426 \u53ef\u4ee5 \u53d8\u9053 \u4ee5\u53ca \u671d \u54ea\u4e2a \u65b9\u5411 \u53d8\u9053 \u3002   lane _ type   (   carla . LaneType   )   \u5f53\u524d   Waypoint   \u7684 \u8f66\u9053 \u7c7b\u578b \uff0c \u57fa\u4e8e   OpenDRIVE   1.4   \u6807\u51c6 \u3002   right _ lane _ marking   (   carla . LaneMarking   )   \u57fa\u4e8e   Waypoint   \u65b9\u5411 \u7684 \u53f3 \u8f66\u9053 \u6807\u8bb0 \u4fe1\u606f \u3002   left _ lane _ marking   (   carla . LaneMarking   )   \u57fa\u4e8e   Waypoint   \u65b9\u5411 \u7684 \u5de6 \u8f66\u9053 \u6807\u8bb0 \u4fe1\u606f \u3002   \u65b9\u6cd5   next   (   self   ,   distance   )   \u5f53\u524d \u70b9 \u67d0\u4e2a \u8fd1\u4f3c \u8fd1\u4f3c\u503c \u7684 \u8def\u5f84 \u70b9 \u5217\u8868   distance   \u5b83\u4f1a \u8003\u8651 \u9053\u8def \u53ca\u5176 \u53ef\u80fd \u7684 \u504f\u5dee \uff0c \u800c \u4e0d \u6267\u884c \u4efb\u4f55 \u8f66\u9053 \u53d8\u66f4 \uff0c \u5e76 \u4e3a \u6bcf\u4e2a \u9009\u9879 \u8fd4\u56de \u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002 \u5982\u679c \u8f66\u9053 \u5728 \u6307\u5b9a \u8ddd\u79bb \u8ddd\u79bb\u5904 \u672a \u4e0e \u4efb\u4f55 \u5176\u4ed6 \u8f66\u9053 \u76f8\u8fde \uff0c \u5219 \u5217\u8868 \u53ef\u80fd \u4e3a\u7a7a \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u83b7\u53d6 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9 \u7684 \u5927\u81f4 \u8ddd\u79bb \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   next _ until _ lane _ end   (   self   ,   distance   )   \u8fd4\u56de \u4ece \u8fd9\u91cc \u5230 \u8f66\u9053 \u672b\u7aef \u7684 \u8def\u70b9 \u5217\u8868 \uff0c \u8fd9\u4e9b \u8def\u70b9 \u4e4b\u95f4 \u4ee5 \u4e00\u5b9a \u8ddd\u79bb   distance   \u5206\u9694 \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u5927\u81f4 \u8ddd\u79bb \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   previous   (   self   ,   distance   )   \u4f46 \u4e0e \u8f66\u9053 \u76f8\u53cd \u65b9\u5411 \u7684 \u8def\u70b9 \u5217\u8868   distance   \u4e0e   next ( )   \u7c7b\u4f3c \uff0c \u5b83\u4f1a \u8003\u8651 \u9053\u8def \u53ca\u5176 \u53ef\u80fd \u7684 \u504f\u5dee \uff0c \u800c \u4e0d \u6267\u884c \u4efb\u4f55 \u8f66\u9053 \u53d8\u66f4 \uff0c \u5e76 \u4e3a \u6bcf\u4e2a \u9009\u9879 \u8fd4\u56de \u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002 \u5982\u679c \u8f66\u9053 \u5728 \u6307\u5b9a \u8ddd\u79bb \u8ddd\u79bb\u5904 \u672a \u4e0e \u4efb\u4f55 \u5176\u4ed6 \u8f66\u9053 \u76f8\u8fde \uff0c \u5219 \u5217\u8868 \u53ef\u80fd \u4e3a\u7a7a \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u83b7\u53d6 \u5148\u524d \u8def\u5f84 \u70b9 \u7684 \u5927\u81f4 \u8ddd\u79bb \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   previous _ until _ lane _ start   (   self   ,   distance   )   \u8fd4\u56de \u4ece \u8fd9\u91cc \u5230 \u8f66\u9053 \u8d77\u70b9 \u7684 \u8def\u70b9 \u5217\u8868 \uff0c \u4ee5 \u4e00\u5b9a \u7684 \u8ddd\u79bb   distance   \u5206\u9694 \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u5927\u81f4 \u8ddd\u79bb \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   \u8bbe\u7f6e \u5668   get _ junction   (   self   )   \u5982\u679c \u8def\u5f84 \u70b9 \u5c5e\u4e8e \u8def\u53e3 \uff0c \u5219 \u6b64 \u65b9\u6cd5 \u8fd4\u56de \u5173\u8054 \u7684 \u8def\u53e3 \u5bf9\u8c61 \u3002 \u5426\u5219 \u8fd4\u56de   null \u3002   \u8fd4\u56de :   carla . Junction   get _ landmarks   (   self   ,   distance   ,   stop _ at _ junction   = False   )   \u8fd4\u56de \u4ece \u5f53\u524d \u8def\u5f84 \u70b9\u5230 \u6307\u5b9a \u8ddd\u79bb \u7684 \u9053\u8def \u4e0a \u7684 \u5730\u6807 \u5217\u8868 \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u4ece \u5f53\u524d \u8def\u5f84 \u70b9 \u641c\u7d22 \u5730 \u6807\u7684 \u6700\u5927 \u8ddd\u79bb \u3002   stop _ at _ junction   (   bool   )   -   \u542f\u7528 \u6216 \u7981\u7528 \u901a\u8fc7 \u8def\u53e3 \u7684 \u5730\u6807 \u641c\u7d22 \u3002   \u8fd4\u56de :   list (   carla . Landmark   )   get _ landmarks _ of _ type   (   self   ,   distance   ,   type   ,   stop _ at _ junction   = False   )   \u8fd4\u56de \u4ece \u5f53\u524d \u8def\u5f84 \u70b9\u5230 \u6307\u5b9a \u8ddd\u79bb \u7684 \u6307\u5b9a \u7c7b\u578b \u9053\u8def \u4e2d \u7684 \u5730\u6807 \u5217\u8868 \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u4ece \u5f53\u524d \u8def\u5f84 \u70b9 \u641c\u7d22 \u5730 \u6807\u7684 \u6700\u5927 \u8ddd\u79bb \u3002   type   (   str   )   -   \u8981 \u641c\u7d22 \u7684 \u5730\u6807 \u7c7b\u578b \u3002   stop _ at _ junction   (   bool   )   -   \u542f\u7528 \u6216 \u7981\u7528 \u901a\u8fc7 \u8def\u53e3 \u7684 \u5730\u6807 \u641c\u7d22 \u3002   \u8fd4\u56de :   list (   carla . Landmark   )   get _ left _ lane   (   self   )   \u6839\u636e \u5f53\u524d \u8def\u70b9 \u7684 \u65b9\u5411 \u5728 \u5de6 \u8f66\u9053 \u4e2d\u5fc3 \u751f\u6210 \u8def\u70b9 \uff0c \u540c\u65f6 \u8003\u8651 \u8be5 \u4f4d\u7f6e \u662f\u5426 \u5141\u8bb8 \u53d8\u9053 \u3002 \u5982\u679c \u8f66\u9053 \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   \u8fd4\u56de :   carla . Waypoint   get _ right _ lane   (   self   )   \u6839\u636e \u5f53\u524d \u8def\u70b9 \u7684 \u65b9\u5411 \u5728 \u53f3 \u8f66\u9053 \u4e2d\u5fc3 \u751f\u6210 \u8def\u70b9 \uff0c \u5e76 \u8003\u8651 \u8be5 \u4f4d\u7f6e \u662f\u5426 \u5141\u8bb8 \u53d8\u9053 \u3002 \u5982\u679c \u8f66\u9053 \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   \u8fd4\u56de :   carla . Waypoint   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . WeatherParameters   \u6b64\u7c7b \u5b9a\u4e49 \u4e86 \u5305\u542b \u5149\u7167 \u548c \u5929\u6c14 \u89c4\u8303 \u7684 \u5bf9\u8c61 \uff0c \u8fd9\u4e9b \u89c4\u8303 \u7a0d\u540e \u53ef\u4ee5 \u5e94\u7528 \u5728   carla . World   \u4e2d \u3002 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u8fd9\u4e9b \u6761\u4ef6 \u4ec5 \u5f71\u54cd   sensor . camera . rgb   \u3002 \u5b83\u4eec \u65e2 \u4e0d \u5f71\u54cd \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7269\u7406 \u7279\u6027 \uff0c \u4e5f \u4e0d \u5f71\u54cd \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u8fd9\u4e9b \u53c2\u6570 \u4e2d \u7684 \u6bcf \u4e00\u4e2a \u90fd \u72ec\u7acb \u4e8e \u5176\u4ed6 \u53c2\u6570 \u8d77 \u4f5c\u7528 \u3002 \u589e\u52a0 \u964d\u96e8 \u96e8\u91cf \u964d\u96e8\u91cf \u4e0d\u4f1a \u81ea\u52a8 \u5f62\u6210 \u6c34\u5751 \uff0c \u4e5f \u4e0d\u4f1a \u6539\u53d8 \u9053\u8def \u7684 \u6e7f\u5ea6 \u3002 \u8fd9 \u53ef\u4ee5 \u5b9e\u73b0 \u66f4\u597d \u7684 \u5b9a\u5236 \uff0c \u4f46 \u4e5f \u610f\u5473 \u610f\u5473\u7740 \u9700\u8981 \u7f16\u5199 \u73b0\u5b9e \u6761\u4ef6 \u7684 \u811a\u672c \u3002 \u7136\u800c \uff0c \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u5b9e\u9645 \u8fd0\u884c \u7684 \u52a8\u6001 \u5929\u6c14 \u6761\u4ef6 \u7684 \u793a\u4f8b \u3002   \u5b9e\u4f8b \u53d8\u91cf   cloudiness   (   float   )   \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \uff0c 0   \u8868\u793a \u6674\u6717 \u7684 \u5929\u7a7a \uff0c 100   \u8868\u793a \u5b8c\u5168 \u88ab \u4e91 \u8986\u76d6 \u3002   precipitation   (   float   )   \u964d\u96e8 \u5f3a\u5ea6 \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \uff0c 0   \u8868\u793a \u65e0\u96e8 \uff0c 100   \u8868\u793a \u5927\u96e8 \u3002   precipitation _ deposits   (   float   )   \u786e\u5b9a \u6c34\u5751 \u7684 \u521b\u5efa \u3002 \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \uff0c 0   \u8868\u793a \u5b8c\u5168 \u6ca1\u6709 \u6c34 \uff0c 100   \u8868\u793a \u9053\u8def \u5b8c\u5168 \u88ab \u6c34 \u8986\u76d6 \u3002 \u6c34\u5751 \u662f \u7528 \u9759\u6001 \u566a\u97f3 \u521b\u5efa \u7684 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u5b83\u4eec \u603b\u662f \u51fa\u73b0 \u5728 \u76f8\u540c \u7684 \u4f4d\u7f6e \u3002   wind _ intensity   (   float   )   \u63a7\u5236 \u98ce \u7684 \u5f3a\u5ea6 \uff0c \u503c \u4ece   0 \uff08 \u65e0 \u98ce \uff09 \u5230   100 \uff08 \u5f3a\u98ce \uff09 \u3002 \u98ce \u786e\u5b9e \u4f1a \u5f71\u54cd \u964d\u96e8 \u65b9\u5411 \u548c \u6811\u53f6 \uff0c \u56e0\u6b64 \u9650\u5236 \u8be5\u503c \u4ee5 \u907f\u514d \u52a8\u753b \u95ee\u9898 \u3002   sun _ azimuth _ angle   (   float   -   \u5ea6   )   \u592a\u9633 \u7684 \u65b9\u4f4d \u65b9\u4f4d\u89d2 \u3002 \u503c \u8303\u56f4 \u4e3a   0   \u5230   360 \u3002 \u96f6\u662f \u7531 \u865a\u5e7b \u5f15\u64ce \u786e\u5b9a \u7684 \u7403\u4f53 \u4e2d \u7684 \u539f\u70b9 \u3002   sun _ altitude _ angle   (   float   -   \u5ea6   )   \u592a\u9633 \u7684 \u9ad8\u5ea6 \u89d2 \u3002 \u503c \u8303\u56f4 \u4ece   - 90   \u5230   90 \uff0c \u5206\u522b \u5bf9\u5e94 \u4e8e \u5348\u591c \u548c \u4e2d\u5348 \u3002   fog _ density   (   float   )   \u96fe \u6d53\u5ea6 \u6216 \u539a\u5ea6 \u3002 \u5b83 \u4ec5 \u5f71\u54cd   RGB   \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \u3002   fog _ distance   (   float   -   \u7c73   )   \u96fe \u5f00\u59cb \u8ddd\u79bb \u3002 \u503c \u8303\u56f4 \u4ece   0   \u5230 \u65e0\u7a77 \u65e0\u7a77\u5927 \u3002   wetness   (   float   )   \u6e7f\u5ea6 \u5f3a\u5ea6 \u3002 \u5b83 \u4ec5 \u5f71\u54cd   RGB   \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \u3002   fog _ falloff   (   float   )   \u96fe \u7684 \u5bc6\u5ea6 \uff08 \u4ee5 \u7279\u5b9a \u8d28\u91cf \u8ba1 \uff09 \u4ece   0   \u5230 \u65e0\u7a77 \u65e0\u7a77\u5927 \u3002 \u503c\u8d8a \u5927 \uff0c \u96fe\u6c14 \u8d8a \u6d53\u91cd \uff0c \u96fe\u6c14 \u8fbe\u5230 \u7684 \u9ad8\u5ea6 \u4e5f \u8d8a \u5c0f \u3002 \u5bf9\u5e94 \u4e8e   UE   \u6587\u6863 \u4e2d \u7684   \u96fe \u9ad8\u5ea6 \u8870\u51cf   \u3002   \u5982\u679c \u503c\u4e3a   0 \uff0c \u96fe \u5c06 \u6bd4 \u7a7a\u6c14 \u4eae \uff0c \u5e76 \u8986\u76d6 \u6574\u4e2a \u573a\u666f \u3002   \u503c\u4e3a   1   \u65f6 \uff0c \u5bc6\u5ea6 \u5927\u7ea6 \u4e0e \u7a7a\u6c14 \u4e00\u6837 \uff0c \u53ef \u5230\u8fbe \u6b63\u5e38 \u5927\u5c0f \u7684 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u5bf9\u4e8e \u5927\u4e8e   5   \u7684 \u503c \uff0c \u7a7a\u6c14 \u5c06 \u975e\u5e38 \u7a20\u5bc6 \uff0c \u4ee5\u81f3 \u81f3\u4e8e \u4ee5\u81f3\u4e8e \u5728 \u5730\u9762 \u4e0a\u4f1a \u88ab \u538b\u7f29 \u3002   scattering _ intensity   (   float   )   \u63a7\u5236 \u5149\u5bf9 \u4f53\u79ef \u96fe \u7684 \u8d21\u732e \u7a0b\u5ea6 \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   0   \u65f6 \uff0c \u6ca1\u6709 \u8d21\u732e \u3002   mie _ scattering _ scale   (   float   )   \u63a7\u5236 \u5149 \u4e0e \u5927 \u9897\u7c92 \uff08 \u5982 \u82b1\u7c89 \u6216 \u7a7a\u6c14 \u6c61\u67d3 \u7a7a\u6c14\u6c61\u67d3 \uff09 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \uff0c \u5bfc\u81f4 \u5929\u7a7a \u6726\u80e7 \uff0c \u5149\u6e90 \u5468\u56f4 \u6709 \u5149\u6655 \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   0   \u65f6 \uff0c \u6ca1\u6709 \u8d21\u732e \u3002   rayleigh _ scattering _ scale   (   float   )   \u63a7\u5236 \u5149 \u4e0e \u7a7a\u6c14 \u5206\u5b50 \u7b49 \u5c0f \u7c92\u5b50 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u3002 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u5149 \u7684 \u6ce2\u957f \uff0c \u5bfc\u81f4 \u767d\u5929 \u7684 \u5929\u7a7a \u4e3a \u84dd\u8272 \uff0c \u665a\u4e0a \u7684 \u5929\u7a7a \u4e3a \u7ea2\u8272 \u3002   dust _ storm   (   float   )   \u786e\u5b9a \u6c99\u5c18 \u5c18\u66b4 \u6c99\u5c18\u66b4 \u5929\u6c14 \u7684 \u5f3a\u5ea6 \u3002 \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   cloudiness   = 0.0   ,   precipitation   = 0.0   ,   precipitation _ deposits   = 0.0   ,   wind _ intensity   = 0.0   ,   sun _ azimuth _ angle   = 0.0   ,   sun _ altitude _ angle   = 0.0   ,   fog _ density   = 0.0   ,   fog _ distance   = 0.0   ,   wetness   = 0.0   ,   fog _ falloff   = 0.0   ,   scattering _ intensity   = 0.0   ,   mie _ scattering _ scale   = 0.0   ,   rayleigh _ scattering _ scale   = 0.0331   )   \u521d\u59cb \u521d\u59cb\u5316 \u5b9a\u4e49 \u5929\u6c14 \u6761\u4ef6 \u7684 \u5bf9\u8c61 \u7684 \u65b9\u6cd5 \u3002 \u8be5\u7c7b \u6709 \u4e00\u4e9b \u9488\u5bf9 \u4e0d\u540c \u4e2d\u5348 \u548c \u65e5\u843d \u6761\u4ef6 \u7684 \u9884\u8bbe \uff0c \u5982 \u4e0b\u9762 \u7684 \u6ce8\u91ca \u6240\u793a \u3002   \u53c2\u6570 :   cloudiness   (   float   )   -   0   \u4e3a \u6674\u5929 \uff0c 100   \u4e3a \u9634\u5929 \u3002   precipitation   (   float   )   -   0   \u8868\u793a \u5b8c\u5168 \u6ca1\u6709 \u4e0b\u96e8 \uff0c 100   \u8868\u793a \u5927\u96e8 \u3002   precipitation _ deposits   (   float   )   -   0   \u8868\u793a \u9053\u8def \u4e0a \u6ca1\u6709 \u6c34\u5751 \uff0c 100   \u8868\u793a \u9053\u8def \u5b8c\u5168 \u88ab \u96e8\u6c34 \u8986\u76d6 \u3002   wind _ intensity   (   float   )   -   0   \u8868\u793a \u5e73\u6d6a \u98ce\u5e73\u6d6a\u9759 \uff0c 100   \u8868\u793a \u5f3a\u98ce \u3002   sun _ azimuth _ angle   (   float   -   \u5ea6   )   -   0   \u662f \u4efb\u610f \u5317 \uff0c 180   \u662f \u5176 \u5bf9\u5e94 \u7684 \u5357 \u3002   sun _ altitude _ angle   (   float   -   \u5ea6   )   -   90   \u662f \u4e2d\u5348 \uff0c - 90   \u662f \u5348\u591c \u3002   fog _ density   (   float   )   -   \u96fe \u7684 \u6d53\u5ea6 \u6216 \u539a\u5ea6 \uff0c \u4ece   0   \u5230   100 \u3002   fog _ distance   (   float   -   \u7c73   )   -   \u96fe \u5f00\u59cb \u7684 \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   wetness   (   float   )   -   \u9053\u8def \u7684 \u6e7f\u5ea6 \u767e\u5206 \u767e\u5206\u6bd4 \uff0c \u4ece   0   \u5230   100 \u3002   fog _ falloff   (   float   )   -   \u96fe \u7684 \u5bc6\u5ea6 \uff08 \u7279\u5b9a \u8d28\u91cf \uff09 \uff0c \u4ece   0   \u5230 \u65e0\u7a77 \u65e0\u7a77\u5927 \u3002   scattering _ intensity   (   float   )   -   \u63a7\u5236 \u5149\u7ebf \u5bf9 \u4f53\u79ef \u96fe \u7684 \u8d21\u732e \u7a0b\u5ea6 \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   0   \u65f6 \uff0c \u6ca1\u6709 \u8d21\u732e \u3002   mie _ scattering _ scale   (   float   )   -   \u63a7\u5236 \u5149 \u4e0e \u5927 \u9897\u7c92 \uff08 \u5982 \u82b1\u7c89 \u6216 \u7a7a\u6c14 \u6c61\u67d3 \u7a7a\u6c14\u6c61\u67d3 \uff09 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \uff0c \u5bfc\u81f4 \u5929\u7a7a \u6726\u80e7 \uff0c \u5149\u6e90 \u5468\u56f4 \u6709 \u5149\u6655 \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   0   \u65f6 \uff0c \u6ca1\u6709 \u8d21\u732e \u3002   rayleigh _ scattering _ scale   (   float   )   -   \u63a7\u5236 \u5149 \u4e0e \u7a7a\u6c14 \u5206\u5b50 \u7b49 \u5c0f \u9897\u7c92 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u3002 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u5149 \u7684 \u6ce2\u957f \uff0c \u5bfc\u81f4 \u767d\u5929 \u7684 \u5929\u7a7a \u4e3a \u84dd\u8272 \uff0c \u665a\u4e0a \u7684 \u5929\u7a7a \u4e3a \u7ea2\u8272 \u3002   \u7b14\u8bb0 :   ClearNoon ,   CloudyNoon ,   WetNoon ,   WetCloudyNoon ,   SoftRainNoon ,   MidRainyNoon ,   HardRainNoon ,   ClearSunset ,   CloudySunset ,   WetSunset ,   WetCloudySunset ,   SoftRainSunset ,   MidRainSunset ,   HardRainSunset .   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   )   \u5982\u679c \u4e24\u4e2a \u5bf9\u8c61 \u7684 \u53d8\u91cf \u76f8\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ ne __   (   self   ,   other   )   \u5982\u679c \u4e24\u4e2a \u5bf9\u8c61 \u7684 \u53d8\u91cf \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )   carla . WheelPhysicsControl   \u4e3a \u8f66\u8f6e \u5bf9\u8c61 \u5b9a\u4e49 \u7279\u5b9a \u7269\u7406 \u53c2\u6570 \u7684 \u7c7b \uff0c \u8fd9\u4e9b \u8f66\u8f6e \u5bf9\u8c61 \u5c06 \u6210\u4e3a   carla . VehiclePhysicsControl   \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u4ee5 \u5c06 \u8f66\u8f86 \u4eff\u771f \u4e3a \u6750\u8d28 \u5bf9\u8c61 \u3002   \u5b9e\u4f8b \u53d8\u91cf   tire _ friction   (   float   )   \u6307\u793a \u8f66\u8f6e \u6469\u64e6 \u6469\u64e6\u529b \u7684 \u6807\u91cf \u503c \u3002   damping _ rate   (   float   )   \u8f66\u8f6e \u7684 \u963b\u5c3c \u7387 \u3002   max _ steer _ angle   (   float   -   \u5ea6   )   \u8f66\u8f6e \u53ef\u4ee5 \u8f6c\u5411 \u7684 \u6700\u5927 \u89d2\u5ea6 \u3002   radius   (   float   -   centimeters   )   \u8f6e\u5b50 \u7684 \u534a\u5f84 \u3002   max _ brake _ torque   (   float   -   N * m   )   \u6700\u5927 \u5236\u52a8 \u626d\u77e9 \u3002   max _ handbrake _ torque   (   float   -   N * m   )   \u6700\u5927 \u624b\u5239 \u626d\u77e9 \u3002   position   (   carla . Vector3D   )   \u8f66\u8f6e \u7684 \u4e16\u754c \u4f4d\u7f6e \u3002 \u8fd9\u662f \u4e00\u4e2a \u53ea\u8bfb \u53c2\u6570 \u3002   long _ stiff _ value   (   float   -   kg   per   radian   )   \u6bcf \u5355\u4f4d \u91cd\u529b \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u7684 \u8f6e\u80ce \u7eb5\u5411 \u521a\u5ea6 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u6709 \u4e00\u4e2a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u503c \u3002   lat _ stiff _ max _ load   (   float   )   \u6700\u5927 \u6807\u51c6 \u6807\u51c6\u5316 \u8f6e\u80ce \u8d1f\u8f7d \uff0c \u5728 \u8be5 \u8d1f\u8f7d \u4e0b \uff0c \u65e0\u8bba \u5411 \u8f6e\u80ce \u65bd\u52a0 \u591a\u5c11 \u989d\u5916 \u8d1f\u8f7d \uff0c \u8f6e\u80ce \u90fd \u4e0d\u518d \u63d0\u4f9b \u4fa7\u5411 \u521a\u5ea6 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u6709 \u4e00\u4e2a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u503c \u3002   lat _ stiff _ value   (   float   )   \u6bcf \u5355\u4f4d \u6a2a\u5411 \u6ed1\u79fb \u7684 \u6700\u5927 \u521a\u5ea6 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u6709 \u4e00\u4e2a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u503c \u3002   \u65b9\u6cd5   __ init __   (   self   ,   tire _ friction   = 2.0   ,   damping _ rate   = 0.25   ,   max _ steer _ angle   = 70.0   ,   radius   = 30.0   ,   max _ brake _ torque   = 1500.0   ,   max _ handbrake _ torque   = 3000.0   ,   position   = ( 0.0 , 0.0 , 0.0 )   )   \u53c2\u6570 :   tire _ friction   (   float   )   damping _ rate   (   float   )   max _ steer _ angle   (   float   -   \u5ea6   )   radius   (   float   -   \u5398\u7c73   )   max _ brake _ torque   (   float   -   N * m   )   max _ handbrake _ torque   (   float   -   N * m   )   position   (   carla . Vector3D   -   \u7c73   )   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . WheelPhysicsControl   )   __ ne __   (   self   ,   other   =   carla . WheelPhysicsControl   )   __ str __   (   self   )   carla . World   \u4e16\u754c \u5bf9\u8c61 \u7531 \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa \uff0c \u4ee5\u4fbf \u4e3a \u4eff\u771f \u63d0\u4f9b \u4e00\u4e2a \u53d1\u751f \u7684 \u5730\u65b9 \u3002 \u4e16\u754c \u5305\u542b \u6211\u4eec \u53ef\u4ee5 \u770b\u5230 \u7684 \u5730\u56fe \uff0c \u5373 \u8d44\u4ea7 \uff0c \u800c \u4e0d\u662f \u5bfc\u822a \u5730\u56fe \u3002 \u5bfc\u822a \u5730\u56fe \u662f   carla . Map   \u7c7b \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u5b83 \u8fd8 \u7ba1\u7406 \u5176\u4e2d \u7684 \u5929\u6c14 \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u6bcf\u4e2a \u4eff\u771f \u53ea\u80fd \u6709 \u4e00\u4e2a \u4e16\u754c \uff0c \u4f46 \u53ef\u4ee5 \u968f\u65f6 \u66f4\u6539 \u3002   \u5b9e\u4f8b \u53d8\u91cf   id   (   int   )   \u4e0e \u8fd9\u4e2a \u4e16\u754c \u76f8\u5173 \u7684 \u5267\u96c6 \u7684   ID \u3002 \u5267\u96c6 \u662f \u4eff\u771f \u7684 \u4e0d\u540c \u9636\u6bb5 \u3002 \u6bcf\u5f53 \u4e16\u754c \u88ab \u7981\u7528 \u6216 \u91cd\u65b0 \u52a0\u8f7d \u65f6 \uff0c \u8fd9\u4e9b \u90fd \u4f1a \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002 \u8ddf\u8e2a \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u907f\u514d \u53ef\u80fd \u51fa\u73b0 \u7684 \u95ee\u9898 \u3002   debug   (   carla . DebugHelper   )   \u8d1f\u8d23 \u521b\u5efa \u4e0d\u540c \u7684 \u5f62\u72b6 \u4ee5 \u8fdb\u884c \u8c03\u8bd5 \u3002 \u67e5\u770b \u5b83 \u7684 \u7c7b \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u65b9\u6cd5   apply _ color _ texture _ to _ object   (   self   ,   object _ name   ,   material _ parameter   ,   texture   )   \u5bf9\u5e94 \u4e8e   material _ parameter   ( normal ,   diffuse ,   etc )   \u7684 \u5b57 \u6bb5 \u4e2d \u7684 \u5bf9\u8c61 \u5e94\u7528 \u5230 \u5bf9\u5e94 \u4e8e   object _ name   \u7684 \u573a\u666f \u4e2d \u7684   texture   \u5bf9\u8c61 \u3002   \u53c2\u6570 :   object _ name   (   str   )   material _ parameter   (   carla . MaterialParameter   )   texture   (   TextureColor   )   apply _ color _ texture _ to _ objects   (   self   ,   objects _ name _ list   ,   material _ parameter   ,   texture   )   \u5bf9\u5e94 \u4e8e   material _ parameter   ( normal ,   diffuse ,   etc )   \u7684 \u5b57 \u6bb5 \u4e2d \u7684 \u5bf9\u8c61 \u5e94\u7528 \u5230 \u5bf9\u5e94 \u4e8e   objects _ name _ list   \u7684 \u573a\u666f \u4e2d \u7684   texture   \u5bf9\u8c61 \u3002   \u53c2\u6570 :   objects _ name _ list   (   list ( str )   )   material _ parameter   (   carla . MaterialParameter   )   texture   (   TextureColor   )   apply _ float _ color _ texture _ to _ object   (   self   ,   object _ name   ,   material _ parameter   ,   texture   )   \u5bf9\u5e94 \u4e8e   material _ parameter   \uff08 \u6cd5\u7ebf \u3001 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u7b49 \uff09 \u7684 \u5b57 \u6bb5 \u4e2d \u7684 \u5bf9\u8c61 \u5e94\u7528 \u5230 \u4e0e   object _ name   \u4e2d \u7684 \u6240\u6709 \u5bf9\u8c61 \u5bf9\u5e94 \u7684 \u573a\u666f \u4e2d \u7684   texture   \u5bf9\u8c61 \u3002   \u53c2\u6570 :   object _ name   (   str   )   material _ parameter   (   carla . MaterialParameter   )   texture   (   TextureFloatColor   )   apply _ float _ color _ texture _ to _ objects   (   self   ,   objects _ name _ list   ,   material _ parameter   ,   texture   )   \u5bf9\u5e94 \u4e8e   material _ parameter   \uff08 \u6cd5\u7ebf \u3001 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u7b49 \uff09 \u7684 \u5b57 \u6bb5 \u4e2d \u7684 \u5bf9\u8c61 \u5e94\u7528 \u5230 \u4e0e   objects _ name _ list   \u4e2d \u7684 \u6240\u6709 \u5bf9\u8c61 \u5bf9\u5e94 \u7684 \u573a\u666f \u4e2d \u7684   texture   \u5bf9\u8c61 \u3002   \u53c2\u6570 :   objects _ name _ list   (   list ( str )   )   material _ parameter   (   carla . MaterialParameter   )   texture   (   TextureFloatColor   )   apply _ settings   (   self   ,   world _ settings   )   \u6b64 \u65b9\u6cd5 \u5c06 \u5bf9\u8c61 \u4e2d \u5305\u542b \u7684 \u8bbe\u7f6e \u5e94\u7528 \u4e8e \u8fd0\u884c \u7684 \u4eff\u771f \uff0c \u5e76 \u8fd4\u56de \u5b83\u4eec \u6240 \u5b9e\u73b0 \u7684 \u5e27 \u7684   ID \u3002   \u53c2\u6570 :   world _ settings   (   carla . WorldSettings   )   \u8fd4\u56de :   int   \u8b66\u544a :   \u5982\u679c \u542f\u7528 \u4e86 \u540c\u6b65 \u6a21\u5f0f \uff0c \u5e76\u4e14 \u6b63\u5728 \u8fd0\u884c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u5219 \u4e5f \u5fc5\u987b \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002 \u9605\u8bfb   \u672c\u6587   \u4ee5 \u4e86\u89e3 \u5982\u4f55 \u64cd\u4f5c \u3002   apply _ textures _ to _ object   (   self   ,   object _ name   ,   diffuse _ texture   ,   emissive _ texture   ,   normal _ texture   ,   ao _ roughness _ metallic _ emissive _ texture   )   \u5c06   carla . MaterialParameter   \u4e2d \u7684 \u6240\u6709 \u7eb9\u7406 \u5b57 \u6bb5 \u5e94\u7528 \u5230 \u5bf9\u8c61   object _ name   \u3002 \u8fd9\u91cc \u4e0d\u4f1a \u5e94\u7528 \u7a7a \u7eb9\u7406 \u3002   \u53c2\u6570 :   object _ name   (   str   )   diffuse _ texture   (   TextureColor   )   emissive _ texture   (   TextureFloatColor   )   normal _ texture   (   TextureFloatColor   )   ao _ roughness _ metallic _ emissive _ texture   (   TextureFloatColor   )   apply _ textures _ to _ objects   (   self   ,   objects _ name _ list   ,   diffuse _ texture   ,   emissive _ texture   ,   normal _ texture   ,   ao _ roughness _ metallic _ emissive _ texture   )   \u5c06   carla . MaterialParameter   \u4e2d \u7684 \u6240\u6709 \u7eb9\u7406 \u5b57 \u6bb5 \u5e94\u7528 \u4e8e   objects _ name _ list   \u4e2d \u7684 \u6240\u6709 \u5bf9\u8c61 \u3002 \u8fd9\u91cc \u4e0d\u4f1a \u5e94\u7528 \u7a7a \u7eb9\u7406 \u3002   \u53c2\u6570 :   objects _ name _ list   (   list ( str )   )   diffuse _ texture   (   TextureColor   )   emissive _ texture   (   TextureFloatColor   )   normal _ texture   (   TextureFloatColor   )   ao _ roughness _ metallic _ emissive _ texture   (   TextureFloatColor   )   cast _ ray   (   self   ,   initial _ location   ,   final _ location   )   \u5c06 \u5149\u7ebf \u4ece \u6307\u5b9a \u7684 initial _ location \u6295\u5c04 \u5230 final _ location \u3002 \u7136\u540e \uff0c \u8be5 \u51fd\u6570 \u68c0\u6d4b \u4e0e \u5c04\u7ebf \u76f8\u4ea4 \u7684 \u6240\u6709 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \uff0c \u5e76 \u6309 \u987a\u5e8f   \u8fd4\u56de   carla . LabelledPoint   \u5217\u8868 \u3002   \u53c2\u6570 :   initial _ location   (   carla . Location   )   -   The   initial   position   of   the   ray .   final _ location   (   carla . Location   )   -   The   final   position   of   the   ray .   \u8fd4\u56de :   list (   carla . LabelledPoint   )   enable _ environment _ objects   (   self   ,   env _ objects _ ids   ,   enable   )   snippet   \u2192   \u542f\u7528 \u6216 \u7981\u7528 \u4e00\u7ec4 \u7531 \u5176   id   \u6807\u8bc6 \u7684 \u73af\u5883 \u5bf9\u8c61 \u3002 \u8fd9\u4e9b \u5bf9\u8c61 \u5c06 \u4ece \u5173\u5361 \u4e2d \u51fa\u73b0 \u6216 \u6d88\u5931 \u3002   \u53c2\u6570 :   env _ objects _ ids   (   set ( int )   )   -   \u8981 \u66f4\u6539 \u7684 \u73af\u5883 \u5bf9\u8c61   ID   \u96c6 \u3002   enable   (   bool   )   -   \u5e94\u7528 \u4e8e \u96c6\u5408 \u4e2d \u6240\u6709 \u73af\u5883 \u5bf9\u8c61 \u7684 \u72b6\u6001 \u3002   freeze _ all _ traffic _ lights   (   self   ,   frozen   )   \u51bb\u7ed3 \u6216 \u89e3\u51bb \u573a\u666f \u4e2d \u7684 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u3002 \u7528\u6237 \u53ef\u4ee5 \u4fee\u6539 \u51bb\u7ed3 \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \uff0c \u4f46 \u65f6\u95f4 \u4e0d\u4f1a \u66f4\u65b0 \u5b83\u4eec \uff0c \u76f4\u5230 \u89e3\u51bb \u3002   \u53c2\u6570 :   frozen   (   bool   )   ground _ projection   (   self   ,   location   ,   search _ distance   )   \u5728 \u573a\u666f \u4e2d \u5411\u4e0b \u6295\u5f71 \u6307\u5b9a \u70b9 \u3002 \u8fd9\u4e9b \u51fd\u6570 \u4ece \u4f4d\u7f6e   ( 0 , 0 , - 1 ) \uff08 \u5411\u4e0b \uff09 \u6295\u5c04 \u4e00\u6761 \u5c04\u7ebf \uff0c \u5e76 \u8fd4\u56de \u4e00\u4e2a   carla . LabelledPoint   \u5bf9\u8c61 \uff0c \u8be5 \u5bf9\u8c61 \u5177\u6709 \u8be5 \u5c04\u7ebf \u76f8\u4ea4 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u51e0\u4f55 \u51e0\u4f55\u4f53 \uff08 \u901a\u5e38 \u662f \u5730\u9762 \uff09 \u3002 \u5982\u679c \u5728   search _ distance   \u8303\u56f4 \u5185 \u627e\u5230 \u672a\u627e\u5230 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \uff0c \u5219 \u51fd\u6570 \u8fd4\u56de   None   \u3002   \u53c2\u6570 :   location   (   carla . Location   )   -   \u8981 \u6295\u5f71 \u7684 \u70b9 \u3002   search _ distance   (   float   )   -   \u6267\u884c \u6295\u5f71 \u7684 \u6700\u5927 \u8ddd\u79bb \u3002   \u8fd4\u56de :   carla . LabelledPoint   load _ map _ layer   (   self   ,   map _ layers   )   snippet   \u2192   \u52a0\u8f7d \u56fe\u5c42 \u5230 \u6307\u5b9a \u5c42\u6b21 \u3002 \u5982\u679c \u8be5 \u5c42\u6b21 \u5df2\u7ecf \u52a0\u8f7d \u5219 \u6ca1\u6709 \u4efb\u4f55 \u6548\u679c \u3002   \u53c2\u6570 \uff1a   map _ layers   (   carla . MapLayer   )   -   \u52a0\u8f7d \u5230 \u6307\u5b9a \u5c42\u6b21 \u7684 \u63a9\u819c \u3002   \u8b66\u544a \uff1a   \u8fd9 \u4ec5\u4ec5 \u5f71\u54cd \u5206\u5c42 \uff08 Opt \uff09 \u5730\u56fe \u3002 \u6700\u5c0f \u5e03\u5c40 \u5305\u62ec \u9053\u8def \u3001 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3002   on _ tick   (   self   ,   callback   )   \u6b64 \u65b9\u6cd5 \u7528\u4e8e \u5f02\u6b65 \u6a21\u5f0f \u3002 \u5b83 \u4ece \u5ba2\u6237 \u5ba2\u6237\u7aef \u5b9a\u4e49 \u7684   callback   \u51fd\u6570 \u542f\u52a8 \u56de\u8c03 \uff0c \u5e76 \u8fd4\u56de \u56de\u8c03 \u7684   ID \u3002 \u6bcf\u5f53 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53d1\u51fa \u65f6 \u8282\u62cd \u65f6 \uff0c \u5c31 \u4f1a \u8c03\u7528 \u8be5 \u51fd\u6570 \u3002 \u5b83 \u9700\u8981 \u4e00\u4e2a   carla . WorldSnapshot   \u4f5c\u4e3a \u53c2\u6570 \uff0c \u8fd9 \u53ef\u4ee5 \u4ece   wait _ for _ tick ( )   \u83b7\u5f97 \u3002 \u4f7f\u7528   remove _ on _ tick ( )   \u6765 \u505c\u6b62 \u56de\u8c03 \u3002   \u53c2\u6570 \uff1a   callback   (   carla . WorldSnapshot   )   -   \u5c06 \u5feb\u7167 \u4f5c\u4e3a \u5f3a\u5236 \u53c2\u6570 \u7684 \u51fd\u6570 \uff0c \u5f53 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6536\u5230 \u8282\u62cd \u65f6 \u5c06 \u8c03\u7528 \u8be5 \u51fd\u6570 \u3002   \u8fd4\u56de :   int   project _ point   (   self   ,   location   ,   direction   ,   search _ distance   )   \u5c06 \u6307\u5b9a \u70b9 \u6295\u5f71 \u5230 \u573a\u666f \u4e2d \u7684 \u6240 \u9700 \u65b9\u5411 \u3002 \u8fd9\u4e9b \u51fd\u6570 \u4ece \u67d0\u4e2a \u65b9\u5411 \u7684 \u67d0\u4e2a \u4f4d\u7f6e \u6295\u5c04 \u4e00\u6761 \u5c04\u7ebf \uff0c \u5e76 \u8fd4\u56de \u4e00\u4e2a \u5e26\u6709 \u8be5 \u5c04\u7ebf \u76f8\u4ea4 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u51e0\u4f55 \u51e0\u4f55\u4f53 \u7684   carla . Labelled   \u5bf9\u8c61 \u3002 \u5982\u679c \u5728   search _ distance   \u8303\u56f4 \u5185 \u627e\u5230 \u672a\u627e\u5230 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \uff0c \u5219 \u51fd\u6570 \u8fd4\u56de   None   \u3002   \u53c2\u6570 :   location   (   carla . Location   )   -   \u8981 \u6295\u5f71 \u7684 \u70b9 \u3002   direction   (   carla . Vector3D   )   -   \u6295\u5f71 \u65b9\u5411 \u3002   search _ distance   (   float   )   -   \u6267\u884c \u6295\u5f71 \u7684 \u6700\u5927 \u8ddd\u79bb \u3002   \u8fd4\u56de :   carla . LabelledPoint   remove _ on _ tick   (   self   ,   callback _ id   )   \u505c\u6b62 \u4ee5   on _ tick ( )   \u542f\u52a8 \u7684 \u56de\u8c03   callback _ id   \u3002   \u53c2\u6570 :   callback _ id   (   callback   )   -   \u8981 \u5220\u9664 \u7684 \u56de\u8c03 \u3002 \u521b\u5efa \u56de\u8c03 \u65f6 \u8fd4\u56de ID \u3002   reset _ all _ traffic _ lights   (   self   )   \u5c06 \u5730\u56fe \u4e2d \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5468\u671f \u91cd\u7f6e \u4e3a \u521d\u59cb \u72b6\u6001 \u521d\u59cb\u72b6\u6001 \u3002   spawn _ actor   (   self   ,   blueprint   ,   transform   ,   attach _ to   = None   ,   attachment   = Rigid   )   snippet   \u2192   \u8be5 \u65b9\u6cd5 \u5c06 \u521b\u5efa \u3001 \u8fd4\u56de \u5e76 \u751f\u6210 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5230 \u4e16\u754c \u4e2d \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u9700\u8981 \u521b\u5efa \u53ef\u7528 \u7684 \u84dd\u56fe \u548c \u53d8\u6362 \uff08 \u4f4d\u7f6e \u548c \u65cb\u8f6c \uff09 \u3002 \u5b83 \u8fd8 \u53ef\u4ee5 \u9644\u52a0 \u5230 \u5177\u6709 \u7279\u5b9a \u9644\u4ef6 \u7c7b\u578b \u7684 \u7236\u7ea7 \u3002   \u53c2\u6570 :   blueprint   (   carla . ActorBlueprint   )   -   \u5c06 \u521b\u5efa \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5f15\u7528 \u3002   transform   (   carla . Transform   )   -   \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u751f\u6210 \u65f6 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002   attach _ to   (   carla . Actor   )   -   \u751f\u6210 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u8ddf\u968f \u7684 \u7236 \u5bf9\u8c61 \u3002   attachment   (   carla . AttachmentType   )   -   \u6839\u636e \u5176\u7236 \u5bf9\u8c61 \u786e\u5b9a \u4f4d\u7f6e \u53d8\u5316 \u7684 \u56fa\u5b9a \u548c \u4e25\u5bc6 \u7a0b\u5ea6 \u3002   \u8fd4\u56de :   carla . Actor   tick   (   self   ,   seconds   = 10.0   )   \u8be5 \u65b9\u6cd5 \u7528\u4e8e   \u540c\u6b65   \u6a21\u5f0f \uff0c \u5373 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5728 \u8ba1\u7b97 \u4e0b \u4e00\u5e27 \u4e4b\u524d \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5ba2\u6237 \u5ba2\u6237\u7aef \u8282\u62cd \u4fe1\u53f7 \u3002 \u8fd9\u4e2a \u65b9\u6cd5 \u5c06 \u53d1\u9001 \u8282\u62cd \u4fe1\u53f7 \uff0c \u5e76 \u8ba9 \u4f4d\u4e8e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u5b83 \u8fd4\u56de \u7531 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8ba1\u7b97 \u7684 \u65b0 \u5e27 ID \u3002   \u53c2\u6570 \uff1a   seconds   (   float   -   \u79d2   )   -   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5e94\u8be5 \u7b49\u5f85 \u8282\u62cd \u4fe1\u53f7 \u7684 \u6700\u5927 \u65f6\u95f4 \u3002 \u5b83 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e3a   10.0   \u3002   \u8fd4\u56de \uff1a   int   \u6ce8\u610f \uff1a   \u5982\u679c \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u6ca1\u6709 \u6536\u5230 \u8282\u62cd \u4fe1\u53f7 \uff0c \u4eff\u771f \u5c06 \u51bb\u7ed3 \u3002 \u6b64\u5916 \uff0c \u5982\u679c \u4ece \u4e0d\u540c \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u63a5\u6536 \u5230 \u8bb8\u591a \u8282\u62cd \u4fe1\u53f7 \uff0c \u5219 \u53ef\u80fd \u5b58\u5728 \u540c\u6b65 \u95ee\u9898 \u3002 \u8bf7 \u9605\u8bfb \u6709\u5173   __ \u540c\u6b65 \u6a21\u5f0f __   \u7684 \u6587\u6863 \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   try _ spawn _ actor   (   self   ,   blueprint   ,   transform   ,   attach _ to   = None   ,   attachment   = Rigid   )   \u548c   spawn _ actor ( )   \u4e00\u6837 \uff0c \u4f46\u662f \u5355 \u5931\u8d25 \u65f6\u5019 \u8fd4\u56de   None   \u800c \u4e0d\u662f \u629b\u51fa \u5f02\u5e38 \u3002   \u53c2\u6570 \uff1a   blueprint   (   carla . ActorBlueprint   )   -   \u5c06 \u4ece\u4e2d \u521b\u5efa \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5f15\u7528 \u3002   transform   (   carla . Transform   )   -   \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u4f7f\u7528 \u7684 \u4f4d\u7f6e \u548c \u671d\u5411 \u3002   attach _ to   (   carla . Actor   )   -   \u6d3e\u751f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u8ddf\u968f \u7684 \u7236 \u5bf9\u8c61 \u3002   attachment   (   carla . AttachmentType   )   -   \u6839\u636e \u5176\u7236 \u5bf9\u8c61 \u786e\u5b9a \u4f4d\u7f6e \u66f4\u6539 \u7684 \u56fa\u5b9a \u548c \u4e25\u683c \u7a0b\u5ea6 \u3002   \u8fd4\u56de \uff1a   carla . Actor   unload _ map _ layer   (   self   ,   map _ layers   )   snippet   \u2192   \u5c06 \u9009\u5b9a \u7684 \u56fe\u5c42 \u5378\u8f7d \u5230 \u6307\u5b9a \u5c42\u6b21 \u3002 \u5982\u679c \u5c42 \u5df2\u7ecf \u5378\u8f7d \uff0c \u5219 \u8c03\u7528 \u6ca1\u6709 \u4efb\u4f55 \u6548\u679c \u3002   \u53c2\u6570 :   map _ layers   (   carla . MapLayer   )   -   \u8981 \u5378\u8f7d \u56fe\u5c42 \u7684 \u63a9\u819c \u3002   \u8b66\u544a :   \u8fd9 \u4ec5\u4ec5 \u5f71\u54cd \u5206\u5c42 \uff08 Opt \uff09 \u5730\u56fe \u3002 \u6700\u5c0f \u5e03\u5c40 \u5305\u62ec \u9053\u8def \u3001 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3002   wait _ for _ tick   (   self   ,   seconds   = 10.0   )   \u8be5 \u65b9\u6cd5 \u4f7f\u7528 \u5f02\u6b65 \u6a21\u5f0f \u3002 \u5b83 \u4f7f \u5ba2\u6237 \u5ba2\u6237\u7aef \u7b49\u5f85 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8282\u62cd \u4fe1\u53f7 \u3002 \u5f53 \u8ba1\u7b97 \u4e0b \u4e00\u5e27 \u65f6 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u52fe\u9009 \u5e76 \u8fd4\u56de \u63cf\u8ff0 \u4e16\u754c \u65b0 \u72b6\u6001 \u7684 \u5feb\u7167 \u3002   \u53c2\u6570 :   seconds   (   float   -   seconds   )   -   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7b49\u5f85 \u6ef4\u7b54 \u7684 \u6700\u957f \u65f6\u95f4 \u3002 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e3a   10.0   \u3002   \u8fd4\u56de :   carla . WorldSnapshot   \u8bbe\u7f6e \u5668   get _ actor   (   self   ,   actor _ id   )   \u901a\u8fc7   ID   \u67e5\u627e \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5982\u679c \u627e\u5230 \u672a\u627e\u5230 \u5219 \u8fd4\u56de   None   \u3002   \u53c2\u6570 :   actor _ id   (   int   )   \u8fd4\u56de :   carla . Actor   get _ actors   (   self   ,   actor _ ids   = None   )   \u68c0\u7d22   carla . Actor   \u5143\u7d20 \u5217\u8868 \uff0c \u4f7f\u7528 \u63d0\u4f9b \u7684   ID   \u5217\u8868 \u6216\u4ec5 \u5217\u51fa \u821e\u53f0 \u4e0a \u7684 \u6bcf\u4e2a \u4eba \u3002 \u5982\u679c \u4e00\u4e2a ID \u4e0d \u4e0e \u4efb\u4f55 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u76f8\u5bf9 \u5e94 \uff0c \u5b83 \u5c06 \u88ab \u6392\u9664 \u5728 \u8fd4\u56de \u7684 \u5217\u8868 \u4e4b\u5916 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 ID \u5217\u8868 \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \u53ef\u80fd \u5177\u6709 \u4e0d\u540c \u7684 \u957f\u5ea6 \u3002   \u53c2\u6570 :   actor _ ids   (   list   )   -   \u6b63\u5728 \u641c\u7d22 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u8bbe\u7f6e \u4e3a   None   \u5e76 \u8fd4\u56de \u573a\u666f \u4e2d \u7684 \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8fd4\u56de :   carla . ActorList   get _ blueprint _ library   (   self   )   \u8fd4\u56de \u53ef\u7528 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u84dd\u56fe \u5217\u8868 \uff0c \u4ee5 \u65b9\u4fbf \u5b83\u4eec \u5728 \u4e16\u754c \u4e2d \u7684 \u751f\u6210 \u3002   \u8fd4\u56de :   carla . BlueprintLibrary   get _ environment _ objects   (   self   ,   object _ type   = Any   )   \u8fd4\u56de \u5177\u6709 \u8bf7\u6c42 \u7684 \u8bed\u4e49 \u6807\u8bb0 \u7684   EnvironmentObject   \u5217\u8868 \u3002 \u8be5 \u65b9\u6cd5 \u9ed8\u8ba4 \u8fd4\u56de \u5173\u5361 \u4e2d \u7684 \u6240\u6709 \u73af\u5883 \u5bf9\u8c61 \uff0c \u4f46 \u53ef\u4ee5 \u4f7f\u7528   object _ type   \u53c2\u6570 \u901a\u8fc7 \u8bed\u4e49 \u6807\u7b7e \u8fc7\u6ee4 \u67e5\u8be2 \u3002   \u53c2\u6570 :   object _ type   (   carla . CityObjectLabel   )   -   Semantic   tag   of   the   \u8fd4\u56de \u7684   EnvironmentObjects \u3002   \u8fd4\u56de :   array (   carla . EnvironmentObject   )   get _ level _ bbs   (   self   ,   actor _ type   = Any   )   \u8fd4\u56de \u4e00\u4e2a \u8fb9\u754c \u6846 \u6570\u7ec4 \uff0c \u5176\u4e2d \u5305\u542b \u4e16\u754c \u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002 \u8be5 \u65b9\u6cd5 \u9ed8\u8ba4 \u8fd4\u56de \u8be5 \u7ea7\u522b \u4e2d \u7684 \u6240\u6709 \u8fb9\u754c \u6846 \uff0c \u4f46 \u53ef\u4ee5 \u4f7f\u7528   actor _ type   \u53c2\u6570 \u901a\u8fc7 \u8bed\u4e49 \u6807\u7b7e \u8fc7\u6ee4 \u67e5\u8be2 \u3002   \u53c2\u6570 :   actor _ type   (   carla . CityObjectLabel   )   -   \u8fd4\u56de \u7684 \u8fb9\u754c \u6846\u4e2d \u5305\u542b \u7684 \u5143\u7d20 \u7684 \u8bed\u4e49 \u6807\u7b7e \u3002   \u8fd4\u56de :   array (   carla . BoundingBox   )   get _ lightmanager   (   self   )   \u8fd4\u56de   carla . LightManager   \u7684 \u5b9e\u4f8b \uff0c \u53ef \u7528\u4e8e \u5904\u7406 \u573a\u666f \u4e2d \u7684 \u706f\u5149 \u3002   \u8fd4\u56de :   carla . LightManager   get _ map   (   self   )   \u5411 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bf7\u6c42 \u5305\u542b \u6620\u5c04 \u6587\u4ef6 \u7684   XODR \uff0c \u5e76 \u5c06 \u5176 \u89e3\u6790 \u4e3a   carla . Map   \u8fd4\u56de \u3002   \u8fd4\u56de :   carla . Map   \u8b66\u544a :   \u6b64 \u65b9\u6cd5 \u786e\u5b9e \u8c03\u7528 \u4eff\u771f \u3002 \u5b83 \u4ee3\u4ef7 \u5f88 \u9ad8 \uff0c \u5e76\u4e14 \u53ea\u80fd \u8c03\u7528 \u4e00\u6b21 \u3002   get _ names _ of _ all _ objects   (   self   )   \u8fd4\u56de \u573a\u666f \u4e2d \u53ef\u4ee5 \u4f7f\u7528 \u5e94\u7528 \u7eb9\u7406 \u51fd\u6570 \u7ed8\u5236 \u7684 \u6240\u6709 \u5bf9\u8c61 \u7684 \u540d\u79f0 \u5217\u8868 \u3002   \u8fd4\u56de :   list ( str )   get _ random _ location _ from _ navigation   (   self   )   \u8fd9 \u53ea\u80fd \u4e0e \u884c\u4eba \u4e00\u8d77 \u4f7f\u7528 \u3002 \u5b83 \u4f7f\u7528   carla . WalkerAIController   \u4e2d \u7684   go _ to _ location ( )   \u65b9\u6cd5 \u68c0\u7d22 \u8981 \u7528\u4f5c \u76ee\u7684 \u76ee\u7684\u5730 \u7684 \u968f\u673a \u4f4d\u7f6e \u3002 \u8be5 \u4f4d\u7f6e \u5c06 \u662f \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u9053\u8def \u3001 \u4eba\u884c \u4eba\u884c\u6a2a\u9053 \u548c \u8349\u5730 \u533a\u57df \u4e0d \u5305\u62ec \u5728\u5185 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8003\u8651 \u73b0\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \uff0c \u56e0\u6b64 \u5982\u679c \u5728 \u5c1d\u8bd5 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \u53d1\u751f \u78b0\u649e \uff0c \u5b83 \u5c06 \u8fd4\u56de \u9519\u8bef \u3002 \u770b \u4e00\u4e0b \u4f8b\u5b50   generate _ traffic . py   \u3002   \u8fd4\u56de :   carla . Location   get _ settings   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u5bf9\u8c61 \uff0c \u5176\u4e2d \u5305\u542b \u6709\u5173 \u4eff\u771f \u7684 \u4e00\u4e9b \u6570\u636e \uff0c \u4f8b\u5982 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u7684 \u540c\u6b65 \u6216 \u6e32\u67d3 \u6a21\u5f0f \u3002   \u8fd4\u56de :   carla . WorldSettings   get _ snapshot   (   self   )   \u8fd4\u56de \u67d0\u4e2a \u65f6\u523b \u7684 \u4e16\u754c \u5feb\u7167 \uff0c \u5305\u542b \u6709\u5173 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6240\u6709 \u4fe1\u606f \u3002   \u8fd4\u56de :   carla . WorldSnapshot   get _ spectator   (   self   )   snippet   \u2192   \u8fd4\u56de \u89c2\u5bdf \u89c2\u5bdf\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u662f \u865a\u5e7b \u5f15\u64ce \u521b\u5efa \u7684 \u4e00\u79cd \u7279\u6b8a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u901a\u5e38 ID = 0 \uff0c \u5145\u5f53 \u6444\u50cf \u6444\u50cf\u673a \u5e76 \u63a7\u5236 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7a97\u53e3 \u4e2d \u7684 \u89c6\u56fe \u3002   \u8fd4\u56de :   carla . Actor   get _ traffic _ light   (   self   ,   landmark   )   \u63d0\u4f9b \u4e00\u4e2a \u5730\u6807 \uff0c \u8fd4\u56de \u5b83 \u63cf\u8ff0 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u5bf9\u8c61 \u3002   \u53c2\u6570 :   landmark   (   carla . Landmark   )   -   \u63cf\u8ff0 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5730\u6807 \u5bf9\u8c61 \u3002   \u8fd4\u56de :   carla . TrafficLight   get _ traffic _ light _ from _ opendrive _ id   (   self   ,   traffic _ light _ id   )   \u8fd4\u56de \u4e0e \u6307\u793a \u7684   OpenDRIVE   id   \u5bf9\u5e94 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u53c2\u6570 :   traffic _ light _ id   (   str   )   -   The   OpenDRIVE   id .   \u8fd4\u56de :   carla . TrafficLight   get _ traffic _ lights _ from _ waypoint   (   self   ,   waypoint   ,   distance   )   \u6b64 \u51fd\u6570 \u6cbf\u7740 \u6307\u5b9a \u8def\u70b9 \u524d\u9762 \u7684 \u9053\u8def \u6267\u884c \u641c\u7d22 \uff0c \u5e76 \u8fd4\u56de \u5728 \u6307\u5b9a \u641c\u7d22 \u8ddd\u79bb \u5185 \u627e\u5230 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \u3002   \u53c2\u6570 :   waypoint   (   carla . Waypoint   )   -   \u8f93\u5165 \u8def\u5f84 \u70b9 \u3002   distance   (   float   )   -   \u641c\u7d22 \u8ddd\u79bb \u3002   \u8fd4\u56de :   list (   carla . TrafficLight   )   get _ traffic _ lights _ in _ junction   (   self   ,   junction _ id   )   \u8fd4\u56de \u5f71\u54cd   junction _ id   \u4e2d \u6307\u793a \u7684 \u8def\u53e3 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \u3002   \u53c2\u6570 :   junction _ id   (   int   )   -   \u8fde\u63a5 \u63a5\u70b9 \u8fde\u63a5\u70b9 \u7684   id \u3002   \u8fd4\u56de :   list (   carla . TrafficLight   )   get _ traffic _ sign   (   self   ,   landmark   )   \u63d0\u4f9b \u4e00\u4e2a \u5730\u6807 \uff0c \u8fd4\u56de \u5b83 \u63cf\u8ff0 \u7684 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u5bf9\u8c61 \u3002   \u53c2\u6570 :   landmark   (   carla . Landmark   )   -   \u63cf\u8ff0 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u7684 \u5730\u6807 \u5bf9\u8c61 \u3002   \u8fd4\u56de :   carla . TrafficSign   get _ vehicles _ light _ states   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u952e \u662f   carla . Actor   ID \uff0c \u503c \u662f \u8be5 \u8f66\u8f86 \u7684   carla . VehicleLightState   \u3002   \u8fd4\u56de :   dict   get _ weather   (   self   )   \u68c0\u7d22 \u5305\u542b \u4eff\u771f \u4e2d \u5f53\u524d \u6d3b\u52a8 \u7684 \u5929\u6c14 \u53c2\u6570 \u7684 \u5bf9\u8c61 \uff0c \u4e3b\u8981 \u662f \u4e91\u91cf \u3001 \u964d\u6c34 \u6c34\u91cf \u964d\u6c34\u91cf \u3001 \u98ce \u548c \u592a\u9633 \u4f4d\u7f6e \u3002   \u8fd4\u56de :   carla . WeatherParameters   Setter :   carla . World . set _ weather   \u8bbe\u7f6e \u5668   set _ pedestrians _ cross _ factor   (   self   ,   percentage   )   \u53c2\u6570 :   percentage   (   float   )   -   \u8bbe\u7f6e \u53ef\u4ee5 \u5728 \u9053\u8def \u4e0a \u884c\u8d70 \u6216 \u5728 \u9053\u8def \u4e0a \u7684 \u4efb\u4f55 \u70b9 \u7a7f\u8d8a \u7684 \u884c\u4eba \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002 \u503c\u5e94 \u4ecb\u4e8e   0.0   \u548c \u4e4b\u95f4   1.0   \u3002 \u4f8b\u5982 \uff0c \u503c   0.1   \u8868\u793a \u5141\u8bb8   10%   \u7684 \u884c\u4eba \u5728 \u9053\u8def \u4e0a \u884c\u8d70 \u3002   \u9ed8\u8ba4 \u4e3a   0.0   \u3002   \u7b14\u8bb0 :   \u5e94 \u5728 \u884c\u4eba \u751f\u6210 \u4e4b\u524d \u8bbe\u7f6e \u3002   set _ pedestrians _ seed   (   self   ,   seed   )   \u53c2\u6570 :   seed   (   int   )   -   \u8bbe\u7f6e \u7528\u4e8e \u751f\u6210 \u4e0e \u884c\u4eba \u76f8\u5173 \u7684 \u4efb\u4f55 \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u7684 \u79cd\u5b50 \u3002   \u7b14\u8bb0 :   \u5e94 \u5728 \u884c\u4eba \u751f\u6210 \u4e4b\u524d \u8bbe\u7f6e \u3002 \u5982\u679c \u60a8 \u60f3 \u4e3a \u6bcf\u4e2a \u884c\u4eba \u91cd\u590d \u76f8\u540c \u7684 \u8eab\u4f53 \uff08 \u84dd\u56fe \uff09 \uff0c \u8bf7 \u5728   Python   \u4ee3\u7801 \uff08 \u968f\u673a \u9009\u62e9 \u84dd\u56fe \uff09 \u548c \u6b64\u5904 \u4f7f\u7528 \u76f8\u540c \u7684 \u79cd\u5b50 \uff0c \u5426\u5219 \u884c\u4eba \u5c06 \u91cd\u590d \u76f8\u540c \u7684 \u8def\u5f84 \uff0c \u4f46 \u8eab\u4f53 \u4f1a \u4e0d\u540c \u3002   set _ weather   (   self   ,   weather   )   \u5c06 \u4eff\u771f \u7684 \u5929\u6c14 \u53c2\u6570 \u66f4 \u6539\u4e3a \u5bf9\u8c61 \u4e2d \u5b9a\u4e49 \u7684 \u5176\u4ed6 \u53c2\u6570 \u3002   \u53c2\u6570 :   weather   (   carla . WeatherParameters   )   -   \u8981 \u5e94\u7528 \u7684 \u65b0 \u6761\u4ef6 \u3002   \u83b7\u53d6 \u5668 :   carla . World . get _ weather   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   \u4e16\u754c \u7684 \u5185\u5bb9 \u88ab \u89e3\u6790 \u6253\u5370 \u5e76\u6253\u5370 \u4e3a \u5f53\u524d \u72b6\u6001 \u7684 \u7b80\u77ed \u62a5\u544a \u3002   \u8fd4\u56de :   string   carla . WorldSettings   \u8be5 \u4eff\u771f \u5177\u6709 \u4e00\u4e9b \u9ad8\u7ea7 \u914d\u7f6e \u9009\u9879 \uff0c \u8fd9\u4e9b \u9009\u9879 \u5305\u542b \u5728 \u6b64\u7c7b \u4e2d \uff0c \u5e76\u4e14 \u53ef\u4ee5 \u4f7f\u7528   carla . World   \u53ca\u5176 \u65b9\u6cd5 \u8fdb\u884c \u7ba1\u7406 \u3002 \u8fd9\u4e9b \u5141\u8bb8 \u7528\u6237 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540c\u6b65 / \u5f02\u6b65 \u3001 \u6fc0\u6d3b \u201c \u65e0 \u6e32\u67d3 \u6a21\u5f0f \u201d \u4ee5\u53ca \u4eff\u771f \u662f\u5426 \u5e94 \u4ee5 \u56fa\u5b9a \u6216 \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \u8fd0\u884c \u4e4b\u95f4 \u8fdb\u884c \u9009\u62e9 \u3002 \u5982\u679c \u60a8 \u60f3 \u4e86\u89e3 \u7684\u8bdd   \u8bf7 \u67e5\u770b   \u6b64 \u5185\u5bb9   \u3002   \u5b9e\u4f8b \u53d8\u91cf   synchronous _ mode   (   bool   )   \u8868\u793a \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u7684 \u540c\u6b65 \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   true   \u65f6 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6ef4\u7b54 \u4ee5\u4fbf \u7ee7\u7eed \u524d\u8fdb \u7ee7\u7eed\u524d\u8fdb \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u4e3a   false \u3002   no _ rendering _ mode   (   bool   )   \u542f\u7528 \u540e \uff0c \u4eff\u771f \u5c06 \u6839\u672c \u4e0d \u8fd0\u884c \u6e32\u67d3 \u3002 \u8fd9 \u4e3b\u8981 \u7528\u4e8e \u907f\u514d \u7e41\u5fd9 \u4ea4\u901a \u4eff\u771f \u671f\u95f4 \u7684 \u5f00\u9500 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u4e3a   false \u3002   fixed _ delta _ seconds   (   float   )   \u786e\u4fdd \u4eff\u771f \u7684 \u4e24\u4e2a \u6b65\u9aa4 \u4e4b\u95f4 \u7ecf\u8fc7 \u7684 \u65f6\u95f4 \u662f \u56fa\u5b9a \u7684 \u3002 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   0.0   \u4ee5 \u4f7f\u7528 \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \uff0c \u5c31 \u50cf \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u53d1\u751f \u7684 \u90a3\u6837 \u3002   substepping   (   bool   )   \u542f\u7528 \u7269\u7406 \u5b50 \u6b65\u8fdb \u3002 \u6b64 \u9009\u9879 \u5141\u8bb8 \u8ba1\u7b97 \u4e24\u4e2a \u6e32\u67d3 \u5e27 \u4e4b\u95f4 \u7684 \u4e00\u4e9b \u7269\u7406 \u5b50 \u6b65\u9aa4 \u3002 \u5982\u679c \u8bbe\u7f6e \u4e86 \u540c\u6b65 \u6a21\u5f0f \uff0c \u5219 \u5b50 \u6b65\u9aa4 \u7684 \u6570\u91cf \u53ca\u5176 \u65f6\u95f4 \u95f4\u9694 \u662f \u56fa\u5b9a \u7684 \u5e76 \u8fdb\u884c \u8ba1\u7b97 \uff0c \u4ee5\u4fbf \u6ee1\u8db3   carla . WorldSettings . max _ substep   \u548c   carla . WorldSettings . max _ substep _ delta _ time   \u7684 \u8981\u6c42 \u3002 \u6700\u540e \u4e24\u4e2a \u53c2\u6570 \u9700\u8981 \u4e0e   carla . WorldSettings . fixed _ delta _ seconds   \u517c\u5bb9 \u3002 \u9ed8\u8ba4 \u542f\u7528 \u3002   max _ substep _ delta _ time   (   float   )   \u5b50 \u6b65\u9aa4 \u7684 \u6700\u5927 \u589e\u91cf \u65f6\u95f4 \u3002 \u5982\u679c   carla . WorldSettingsmax _ substep   \u8db3\u591f \u9ad8 \uff0c \u5219 \u5b50\u6b65 \u589e\u91cf \u65f6\u95f4 \u5c06 \u59cb\u7ec8 \u4f4e\u4e8e \u6216 \u7b49\u4e8e \u8be5\u503c \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8be5\u503c \u8bbe\u7f6e \u4e3a   0.01 \u3002   max _ substeps   (   int   )   \u5141\u8bb8 \u7684 \u6700\u5927 \u7269\u7406 \u5b50 \u6b65\u6570 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8be5\u503c \u8bbe\u7f6e \u4e3a   10 \u3002   max _ culling _ distance   (   float   )   \u914d\u7f6e \u5173\u5361 \u4e2d \u6bcf\u4e2a \u7f51\u683c \u7684 \u6700\u5927 \u7ed8\u5236 \u8ddd\u79bb \u3002   deterministic _ ragdolls   (   bool   )   \u5b9a\u4e49 \u662f\u5426 \u5bf9 \u884c\u4eba \u6b7b\u4ea1 \u52a8\u753b \u6216 \u7269\u7406 \u5a03\u5a03 \u5e03\u5a03\u5a03 \u4eff\u771f \u4f7f\u7528 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u7269\u7406 \u3002 \u542f\u7528 \u540e \uff0c \u884c\u4eba \u7684 \u6b7b\u4ea1 \u52a8\u753b \u4e0d\u592a \u771f\u5b9e \uff0c \u4f46 \u786e\u4fdd \u4e86 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u3002 \u7981\u7528 \u540e \uff0c \u884c\u4eba \u5c06 \u88ab \u4eff\u771f \u4e3a \u5a03\u5a03 \u5e03\u5a03\u5a03 \uff0c \u5177\u6709 \u66f4 \u771f\u5b9e \u7684 \u4eff\u771f \u548c \u78b0\u649e \uff0c \u4f46 \u65e0\u6cd5 \u786e\u4fdd \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u3002   tile _ stream _ distance   (   float   )   \u4ec5 \u7528\u4e8e \u5927\u578b \u5730\u56fe \u3002 \u914d\u7f6e \u4ece \u82f1\u96c4 \u8f66\u8f86 \u4f20\u8f93 \u74e6\u7247 \u5730\u56fe \u7684 \u6700\u5927 \u8ddd\u79bb \u3002 \u6b64 \u8303\u56f4 \u5185 \u7684 \u5730\u56fe \u533a\u57df \u5c06 \u53ef\u89c1 \uff08 \u5e76\u4e14 \u80fd\u591f \u4eff\u771f \u7269\u7406 \uff09 \u3002 \u8be5 \u533a\u57df \u4e4b\u5916 \u7684 \u533a\u57df \u5c06 \u4e0d\u4f1a \u88ab \u52a0\u8f7d \u3002   actor _ active _ distance   (   float   )   \u4ec5 \u7528\u4e8e \u5927\u578b \u5730\u56fe \u3002 \u914d\u7f6e \u4e0e \u82f1\u96c4 \u8f66\u8f86 \u7684 \u8ddd\u79bb \u4ee5 \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8f6c\u6362 \u4e3a \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002 \u5728 \u6b64 \u8303\u56f4 \u5185 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u5904\u4e8e \u6d3b\u8dc3 \u72b6\u6001 \uff0c \u800c \u5728 \u8be5 \u8303\u56f4 \u4e4b\u5916 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002   spectator _ as _ ego   (   bool   )   \u4ec5 \u7528\u4e8e \u5927\u578b \u5730\u56fe \u3002 \u5b9a\u4e49 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u5bf9\u5927 \u5730\u56fe \u4e2d \u56fe\u5757 \u52a0\u8f7d \u7684 \u5f71\u54cd \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5728 \u6ca1\u6709 \u81ea\u6211 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u89c2\u5bdf \u89c2\u5bdf\u8005 \u5c06 \u5f15\u53d1 \u76f8\u90bb \u56fe\u5757 \u7684 \u52a0\u8f7d \u3002 \u5bf9\u4e8e \u7acb\u5373 \u4ea7\u751f \u81ea\u6211 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u6765\u8bf4 \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u5e26\u6765 \u4e0d\u4fbf \u3002   \u65b9\u6cd5   __ init __   (   self   ,   synchronous _ mode   = False   ,   no _ rendering _ mode   = False   ,   fixed _ delta _ seconds   = 0.0   ,   max _ culling _ distance   = 0.0   ,   deterministic _ ragdolls   = False   ,   tile _ stream _ distance   = 3000   ,   actor _ active _ distance   = 2000   ,   spectator _ as _ ego   = True   )   \u521b\u5efa \u4e00\u4e2a \u5305\u542b \u6240 \u9700 \u8bbe\u7f6e \u7684 \u5bf9\u8c61 \uff0c \u8fd9\u4e9b \u8bbe\u7f6e \u7a0d\u540e \u53ef\u4ee5 \u901a\u8fc7   carla . World   \u53ca\u5176 \u65b9\u6cd5   apply _ settings ( )   \u5e94\u7528 \u3002   \u53c2\u6570 :   synchronous _ mode   (   bool   )   -   \u542f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5219 \u8bbe\u7f6e \u4e3a   true \u3002   no _ rendering _ mode   (   bool   )   -   \u5728 \u4eff\u771f \u4e2d \u5b8c\u5168 \u7981\u7528 \u6e32\u67d3 \u5219 \u8bbe\u7f6e \u4e3a   true \u3002   fixed _ delta _ seconds   (   float   -   seconds   )   -   \u5728 \u5e27 \u4e4b\u95f4 \u8bbe\u7f6e \u4e3a \u56fa\u5b9a \u7684 \u6b65\u957f \u3002   0.0   \u610f\u5473 \u610f\u5473\u7740 \u53d8 \u6b65\u957f \u4e14 \u4e3a \u6a21\u5f0f \u6a21\u5f0f \u3002   max _ culling _ distance   (   float   -   \u7c73   )   -   \u5bf9\u4e8e \u5173\u5361 \u7684 \u6bcf \u4e00\u4e2a \u7f51\u683c \u914d\u7f6e \u6700\u5927 \u7684 \u7ed8\u5236 \u8ddd\u79bb \u3002   deterministic _ ragdolls   (   bool   )   -   \u5bf9\u4e8e \u884c\u4eba \u6b7b\u4ea1 \u4f7f\u7528 \u786e\u5b9a \u7684 \u7269\u7406 \u6216 \u5a03\u5a03 \u5e03\u5a03\u5a03 \u4eff\u771f \u5b9a\u4e49 wether \u3002   tile _ stream _ distance   (   float   -   \u7c73   )   -   \u4ec5 \u7528\u4e8e \u5927 \u5730\u56fe \u3002 \u4ece \u82f1\u96c4 \u8f66\u8f86 \u5230\u6d41 \u74e6\u7247 \u5730\u56fe \u914d\u7f6e \u6700\u5927 \u8ddd\u79bb \u3002   actor _ active _ distance   (   float   -   \u7c73   )   -   \u4ec5 \u7528\u4e8e \u5927 \u5730\u56fe \u3002 \u914d\u7f6e \u4e0e \u82f1\u96c4 \u8f66\u8f86 \u7684 \u8ddd\u79bb \u4ee5 \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8f6c\u6362 \u4e3a \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002   spectator _ as _ ego   (   bool   )   -   \u4ec5 \u7528\u4e8e \u5927 \u5730\u56fe \u3002 \u5728 \u5927\u578b \u8d34\u56fe \u4e2d \u5b9a\u4e49 \u89c2\u4f17 \u5bf9 \u5e73\u94fa \u52a0\u8f7d \u7684 \u5f71\u54cd \u3002   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . WorldSettings   )   \u5982\u679c \u5bf9\u8c61 \u7684 \u53d8\u91cf \u76f8\u540c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ ne __   (   self   ,   other   =   carla . WorldSettings   )   \u5982\u679c \u5bf9\u8c61 \u7684 \u53d8\u91cf \u4e0d\u540c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )   \u5bf9\u4e8e \u5b57\u7b26 \u5b57\u7b26\u4e32 \u89e3\u6790 \u5df2 \u5efa\u7acb \u7684 \u8bbe\u7f6e \u5e76 \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u4e2d \u663e\u793a \u51fa\u6765 \u3002   \u8fd4\u56de :   str   carla . WorldSnapshot   \u5feb\u7167 \u5305\u62ec \u67d0\u4e00 \u65f6\u523b \u573a\u666f \u4e2d \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u5b83 \u521b\u5efa \u5e76 \u7ed9\u51fa \u4e00\u4e9b \u5217 \u5305\u542b   carla . ActorSnapshot   \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6bcf \u4e00\u4e2a \u4e0d\u80fd \u5b58\u50a8 \u7684 \u8282\u62cd \u4fe1\u53f7 \u4e2d \u83b7\u53d6 \u4e00\u4e2a \u65b0 \u7684 \u5feb\u7167 \u3002   \u5b9e\u4f8b \u53d8\u91cf   id   (   int   )   \u4e3a\u4e86 \u5206\u8fa8 \u6bcf \u4e00\u4e2a \u5feb\u7167 \u7684 \u552f\u4e00 \u503c \u3002   frame   (   int   )   \u83b7\u53d6 \u5feb\u7167 \u65f6 \u7684 \u4eff\u771f \u65f6\u95f4 \u3002   timestamp   (   carla . Timestamp   -   seconds   )   \u83b7\u53d6 \u5feb\u7167 \u65f6\u5019 \u7684 \u7cbe\u786e \u65f6\u523b \u3002 \u7531 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u7ed9\u51fa \u7684 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \u7684 \u7c7b \u3002   \u65b9\u6cd5   find   (   self   ,   actor _ id   )   \u7ed9\u51fa \u67d0\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \uff0c \u8fd4\u56de \u5bf9\u5e94 \u7684 \u5feb\u7167 \uff0c \u5982\u679c \u6ca1\u6709 \u627e\u5230 \u5219 \u8fd4\u56de   None   \u3002   \u53c2\u6570 \uff1a   actor _ id   (   int   )   \u8fd4\u56de :   carla . ActorSnapshot   has _ actor   (   self   ,   actor _ id   )   \u7ed9\u51fa \u67d0\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \uff0c \u5982\u679c \u6709 \u5bf9\u5e94 \u7684 \u5feb\u7167 \u5219 \u68c0\u67e5 \uff0c \u5982\u679c \u5728 \u8fd9\u4e2a \u65f6\u523b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u51fa\u73b0 \u3002   \u53c2\u6570 \uff1a   actor _ id   (   int   )   \u8fd4\u56de \uff1a   bool   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . WorldSnapshot   )   \u5982\u679c \u65f6\u95f4 \u6233   timestamp   \u76f8\u540c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ iter __   (   self   )   \u5728 \u5b58\u50a8 \u7684 \u5feb\u7167 \u4e0a \u8fdb\u884c \u8fed\u4ee3   carla . ActorSnapshot   \u3002   __ len __   (   self   )   \u8fd4\u56de \u5728 \u8be5 \u5feb\u7167 \u4e0a \u5448\u73b0 \u7684   carla . ActorSnapshot   \u7684 \u6570\u91cf \u3002   \u8fd4\u56de :   int   __ ne __   (   self   ,   other   =   carla . WorldSnapshot   )   \u5982\u679c \u65f6\u95f4 \u6233   timestamp   \u90fd \u4e0d\u540c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   command . ApplyAngularImpulse   carla . Actor   \u4e2d   add _ angular _ impulse ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f7f\u7528   angular   impulse \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   Actor   affected   by   the   command .   impulse   (   carla . Vector3D   -   degrees * s   )   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0a \u7684 \u89d2 \u51b2\u91cf \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   impulse   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u5c06\u8981 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216\u8005 \u5b83 \u7684   ID \u3002   impulse   (   carla . Vector3D   -   degrees * s   )   command . ApplyForce   carla . Actor   \u4e2d   add _ force ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65bd\u52a0 \u4e00\u4e2a \u529b \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u88ab \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   force   (   carla . Vector3D   -   N   )   \u5728 \u65f6\u95f4 \u4e0a \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65bd\u52a0 \u529b \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   force   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u5c06\u8981 \u65bd\u52a0 \u547d\u4ee4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684   ID \u3002   force   (   carla . Vector3D   -   N   )   command . ApplyImpulse   carla . Actor   \u4e2d   add _ impulse ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u6700 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65bd\u52a0 \u7684   impulse \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   impulse   (   carla . Vector3D   -   N * s   )   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   Impulse \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   impulse   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216\u8005 \u5b83 \u7684   ID \u3002   impulse   (   carla . Vector3D   -   N * s   )   command . ApplyTargetAngularVelocity   carla . Actor   \u4e2d   set _ target _ angular _ velocity ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u88ab \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   angular _ velocity   (   carla . Vector3D   -   deg / s   )   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e09\u7ef4 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   angular _ velocity   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5c06\u8981 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216\u8005 \u5b83 \u7684 ID \u3002   angular _ velocity   (   carla . Vector3D   -   deg / s   )   -   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5411\u91cf \u3002   command . ApplyTargetVelocity   carla . Actor   \u4e2d   set _ target _ velocity ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u88ab \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   velocity   (   carla . Vector3D   -   m / s   )   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e09\u7ef4 \u901f\u5ea6 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   velocity   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684 ID \u3002   velocity   (   carla . Vector3D   -   m / s   )   -   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u5411\u91cf \u3002   command . ApplyTorque   carla . Actor   \u4e2d   add _ torque ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e94\u7528   torque \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   torque   (   carla . Vector3D   -   \u5ea6   )   \u5728 \u65f6\u95f4 \u4e0a \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e94\u7528 \u529b\u77e9 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   torque   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u5b83 \u7684   ID \u3002   torque   (   carla . Vector3D   -   \u5ea6   )   command . ApplyTransform   carla . Actor   \u4e2d   set _ transform ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8bbe\u7f6e \u65b0 \u7684 \u53d8\u6362 \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   transform   (   carla . Transform   )   \u6240 \u4f7f\u7528 \u7684 \u53d8\u6362 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   transform   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684   ID \u3002   transform   (   carla . Transform   )   command . ApplyVehicleAckermannControl   carla . Vehicle   \u4e2d   apply _ ackermann _ control ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u8f66\u8f86 \u5e94\u7528 \u67d0\u4e2a \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u63a7\u5236\u5668 \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   control   (   carla . AckermannVehicleControl   )   \u5e94\u7528 \u7684 \u8f66\u8f86 \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   control   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684   ID \u3002   control   (   carla . AckermannVehicleControl   )   command . ApplyVehicleControl   \u5728   carla . Vehicle   \u4e2d   apply _ control ( )   \u547d\u4ee4 \u8fdb\u884c \u9002\u5e94 \uff0c \u5b9e\u73b0 \u5bf9 \u8f66\u8f86 \u5e94\u7528 \u67d0\u4e2a \u63a7\u5236 \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   control   (   carla . VehicleControl   )   \u5e94\u7528 \u7684 \u8f66\u8f86 \u63a7\u5236 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   control   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u5c06\u8981 \u5e94\u7528 \u547d\u4ee4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684 ID \u3002   control   (   carla . VehicleControl   )   command . ApplyVehiclePhysicsControl   carla . Vehicle   \u4e2d   apply _ physics _ control ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u8f66\u8f86 \u5e94\u7528 \u4e00\u4e2a \u65b0 \u7684 \u7269\u7406 \u63a7\u5236 \uff0c \u4fee\u6539 \u5b83 \u7684 \u7269\u7406 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   physics _ control   (   carla . VehiclePhysicsControl   )   \u5e94\u7528 \u7684 \u7269\u7406 \u63a7\u5236 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   physics _ control   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684 ID \u3002   physics _ control   (   carla . VehiclePhysicsControl   )   command . ApplyWalkerControl   carla . Walker   \u4e2d   apply _ control ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u884c\u4eba \u5e94\u7528 \u63a7\u5236 \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u884c\u4eba \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   control   (   carla . WalkerControl   )   \u5e94\u7528 \u7684 \u884c\u4eba \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   control   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u5c06\u8981 \u5e94\u7528 \u547d\u4ee4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216\u8005 \u5b83 \u7684 ID \u3002   control   (   carla . WalkerControl   )   command . ApplyWalkerState   \u5bf9 \u884c\u4eba \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e94\u7528 \u72b6\u6001 \u3002 \u5bf9 \u521d\u59cb \u521d\u59cb\u5316 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u3001 \u671d\u5411 \u548c \u901f\u5ea6 \u7279\u522b \u6709\u7528 \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u884c\u4eba \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   transform   (   carla . Transform   )   \u5e94\u7528 \u7684 \u8f6c\u6362 \u3002   speed   (   float   -   m / s   )   \u5e94\u7528 \u7684 \u901f\u5ea6 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   transform   ,   speed   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5f15\u7528 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684 ID \u3002   transform   (   carla . Transform   )   speed   (   float   -   m / s   )   command . DestroyActor   carla . Actor   \u4e2d   destroy ( )   \u547d\u4ee4 \u7684 \u6539\u7f16 \u7248 \uff0c \u5c06 \u544a\u8bc9 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u9500\u6bc1 \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5df2\u7ecf \u88ab \u9500\u6bc1 \u5219 \u6ca1\u6709 \u5f71\u54cd \u3002 \u5f53 \u5728   carla . Client   \u4e2d \u6267\u884c   apply _ batch _ sync ( )   \u5c06\u4f1a \u8fd4\u56de \u4e00\u4e2a \u5e03\u5c14 \u5e03\u5c14\u503c \u72b6\u6001 \u8868\u793a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u88ab \u6210\u529f \u9500\u6bc1 \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684   ID \u3002   command . Response   \u58f0\u660e \u547d\u4ee4 \u6267\u884c \u7684 \u7ed3\u679c \uff0c \u4e0d\u662f \u547d\u4ee4 \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 ID \uff08 \u5f53 \u6210\u529f \u65f6 \uff09 \uff0c \u5c31\u662f \u9519\u8bef \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff08 \u5f53 \u5931\u8d25 \u65f6 \uff09 \uff0c \u53c2\u4e0e \u53c2\u4e0e\u8005   ID   \u53d6\u51b3 \u53d6\u51b3\u4e8e \u547d\u4ee4 \u662f\u5426 \u6267\u884c \u6210\u529f \u3002   carla . Client   \u4e2d \u7684 \u65b9\u6cd5   apply _ batch _ sync ( )   \u8fd4\u56de \u8fd9\u4e9b \u7684 \u5217\u8868 \u6765 \u603b\u7ed3 \u6279\u91cf \u7684 \u6267\u884c \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u58f0\u660e \u8be5 \u547d\u4ee4 \u6210\u529f \u4e86 \u3002   error   (   str   )   \u58f0\u660e \u547d\u4ee4 \u5931\u8d25 \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   \u65b9\u6cd5   has _ error   (   self   )   \u5982\u679c \u547d\u4ee4 \u6267\u884c \u5931\u8d25 \u5219 \u8fd4\u56de   True   \uff0c \u5982\u679c \u6210\u529f \u5219 \u8fd4\u56de   False   \u3002   \u8fd4\u56de :   bool   command . SetAutopilot   carla . Vehicle   \u4e2d   set _ autopilot ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u6253\u5f00 / \u5173\u95ed \u8f66\u8f86 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   enabled   (   bool   )   \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u5c06 \u88ab \u6fc0\u6d3b \u6216\u8005 \u5931\u6d3b \u3002   port   (   uint16   )   \u6ce8\u518c \u6216 unlisted \u8f66\u8f86 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7aef\u53e3 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   enabled   ,   port   = 8000   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u5e94\u7528 \u547d\u4ee4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684 ID \u3002   enabled   (   bool   )   port   (   uint16   )   -   \u6ce8\u518c \u6216 unlisted \u8f66\u8f86 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7aef\u53e3 \u3002 \u5982\u679c \u4f20\u9012 \u7684 \u662f   None   \uff0c \u4f1a \u8003\u8651 \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u9ed8\u8ba4 \u7aef\u53e3   8000   \u3002   command . SetEnableGravity   carla . Actor   \u4e2d   set _ enable _ gravity ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u7981\u7528 \u6216 \u542f\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u91cd\u529b \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   carla . Actor   or   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   enabled   (   bool   )   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   enabled   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u53c2\u4e0e \u53c2\u4e0e\u8005 ID \u3002   enabled   (   bool   )   command . SetSimulatePhysics   carla . Actor   \u4e2d   set _ simulate _ physics ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u786e\u5b9a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u4f1a \u88ab \u7269\u7406 \u5f71\u54cd \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   enabled   (   bool   )   \u662f\u5426 \u6fc0\u6d3b \u7269\u7406 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   enabled   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 ID \u3002   enabled   (   bool   )   command . SetVehicleLightState   carla . Vehicle   \u4e2d   set _ light _ state ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   light _ state   (   carla . VehicleLightState   )   \u5b9a\u4e49 \u8f66\u8f86 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   light _ state   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216\u8005 \u5b83 \u7684 ID \u3002   light _ state   (   carla . VehicleLightState   )   -   Recaps   \u8f66\u8f86 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \uff0c \u8fd9\u4e9b \u80fd \u88ab \u7528\u4f5c \u4e00\u4e2a \u6807\u5fd7 \u3002   command . ShowDebugTelemetry   carla . Actor   \u4e2d   show _ debug _ telemetry ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u663e\u793a \u8f66\u8f86 \u7684   telemetry   \u6570\u636e \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   carla . Actor   or   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   enabled   (   bool   )   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   enabled   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u53c2\u4e0e \u53c2\u4e0e\u8005 ID \u3002   enabled   (   bool   )   command . SpawnActor   carla . World   \u4e2d   spawn _ actor ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u57fa\u4e8e \u63d0\u4f9b \u7684 \u84dd\u56fe \u548c \u53d8\u6362 \u5728 \u4e16\u754c \u4e2d \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5982\u679c \u63d0\u4f9b \u4e86 \u7236\u7c7b \uff0c \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06\u4f1a \u9644 \u5728 \u4e0a\u9762 \u3002   \u5b9e\u4f8b \u53d8\u91cf   transform   (   carla . Transform   )   \u5e94\u7528 \u7684 \u53d8\u6362 \u3002   parent _ id   (   int   )   \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6807\u5fd7 \u3002   \u65b9\u6cd5   __ init __   (   self   )   __ init __   (   self   ,   blueprint   ,   transform   )   \u53c2\u6570 \uff1a   blueprint   (   carla . ActorBlueprint   )   transform   (   carla . Transform   )   __ init __   (   self   ,   blueprint   ,   transform   ,   parent   )   \u53c2\u6570 \uff1a   blueprint   (   carla . ActorBlueprint   )   transform   (   carla . Transform   )   parent   (   carla . Actor   or   int   )   then   (   self   ,   command   )   \u94fe\u63a5 \u4e00\u4e2a \u5176\u4ed6 \u5c06\u8981 \u7acb\u523b \u6267\u884c \u7684 \u547d\u4ee4 \u3002 \u5b83 \u5141\u8bb8 ease \u975e\u5e38 \u5e38\u89c1 \u7684 \u6d41 \uff0c \u6bd4\u5982 \u901a\u8fc7 \u547d\u4ee4 \u751f\u6210 \u4e00\u7ec4 \u8f66\u8f86 \uff0c \u5e76 \u4f7f\u7528 \u8be5 \u65b9\u6cd5 \u8bbe\u7f6e \u81ea\u52a8 \u9a7e\u9a76 \u3002   \u53c2\u6570 \uff1a   command   (   any   carla   Command   )   -   \u4e00\u4e2a   Carla   \u547d\u4ee4 \u3002   function   CopyToClipboard ( containerid )   {   if   ( document . selection )   {   var   range   =   document . body . createTextRange ( ) ;   range . moveToElementText ( document . getElementById ( containerid ) ) ;   range . select ( ) . createTextRange ( ) ;   document . execCommand ( \" copy \" ) ;   }   else   if   ( window . getSelection )   {   var   range   =   document . createRange ( ) ;   range . selectNode ( document . getElementById ( containerid ) ) ;   window . getSelection ( ) . addRange ( range ) ;   document . execCommand ( \" copy \" ) ;   }   }   function   CloseSnipet ( )   {   document . getElementById ( \" snipets - container \" ) . innerHTML   =   null ;   }   carla . World . enable _ environment _ objects   \u4ee3\u7801 \u7247\u6bb5   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u5728 \u5730\u56fe \u4e0a \u663e\u793a \u6216 \u9690\u85cf \u7279\u5b9a \u5efa\u7b51 \u3002   #   Get   the   buildings   in   the   world   world   =   client . get _ world ( )   env _ objs   =   world . get _ environment _ objects ( carla . CityObjectLabel . Buildings )   #   \u8bbf\u95ee \u5355\u4e2a \u5efa\u7b51 IDs \u5e76 \u4fdd\u5b58 \u5230 \u4e00\u4e2a \u96c6\u5408 \u4e2d   building _ 01   =   env _ objs [ 0 ]   building _ 02   =   env _ objs [ 1 ]   objects _ to _ toggle   =   { building _ 01 . id ,   building _ 02 . id }   #   \u9690\u85cf \u5efa\u7b51   world . enable _ environment _ objects ( objects _ to _ toggle ,   False )   #   \u663e\u793a \u5efa\u7b51   world . enable _ environment _ objects ( objects _ to _ toggle ,   True )   Copy   snippet   Close   snippet   carla . DebugHelper . draw _ string   \u4ee3\u7801 \u7247\u6bb5   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u662f   lane _ explorer . py   \u793a\u4f8b \u7684 \u4fee\u6539   #   \u5b83 \u5728 \u76f4\u63a5 \u4e2d \u7ed8\u5236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8def\u5f84 \uff0c \u6253\u5370 \u6bcf\u4e2a \u8def\u5f84 \u70b9 \u7684 \u4fe1\u606f \u3002   #   ...   current _ w   =   map . get _ waypoint ( vehicle . get _ location ( ) )   while   True :   next _ w   =   map . get _ waypoint ( vehicle . get _ location ( ) ,   lane _ type = carla . LaneType . Driving   |   carla . LaneType . Shoulder   |   carla . LaneType . Sidewalk   )   #   \u68c0\u67e5 \u8f66\u8f86 \u662f\u5426 \u5728 \u79fb\u52a8   if   next _ w . id   ! =   current _ w . id :   vector   =   vehicle . get _ velocity ( )   #   Check   if   the   vehicle   is   on   a   sidewalk   if   current _ w . lane _ type   = =   carla . LaneType . Sidewalk :   draw _ waypoint _ union ( debug ,   current _ w ,   next _ w ,   cyan   if   current _ w . is _ junction   else   red ,   60 )   else :   draw _ waypoint _ union ( debug ,   current _ w ,   next _ w ,   cyan   if   current _ w . is _ junction   else   green ,   60 )   debug . draw _ string ( current _ w . transform . location ,   str ( ' % 15.0 f   km / h '   %   ( 3.6   *   math . sqrt ( vector . x * * 2   +   vector . y * * 2   +   vector . z * * 2 ) ) ) ,   False ,   orange ,   60 )   draw _ transform ( debug ,   current _ w . transform ,   white ,   60 )   #   \u66f4\u65b0 \u5f53\u524d \u8def\u5f84 \u70b9 \u5e76 \u4f11\u7720 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4   current _ w   =   next _ w   time . sleep ( args . tick _ time )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . World . unload _ map _ layer   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u5728 \u5206\u5c42 \u5730\u56fe \" _ Opt \" \u4e0a \u5173\u95ed \u51e0\u5c42   #   \u4ee5 \u6700\u5c0f \u5e03\u5c40 \uff08 \u9053\u8def \u3001 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \uff09 \u52a0\u8f7d \u57ce\u9547 \uff0c \u8fd8 \u5305\u62ec \u5efa\u7b51 \u548c \u505c\u9760 \u7684 \u8f66\u8f86   world   =   client . load _ world ( ' Town01 _ Opt ' ,   carla . MapLayer . Buildings   |   carla . MapLayer . ParkedVehicles )   #   \u9690\u85cf \u5efa\u7b51   world . unload _ map _ layer ( carla . MapLayer . Buildings )   #   \u9690\u85cf \u505c\u9760 \u7684 \u8f66\u8f86   world . unload _ map _ layer ( carla . MapLayer . ParkedVehicles )   Copy   snippet   Close   snippet   Snippet   for   carla . Vehicle . set _ wheel _ steer _ direction   #   \u8bbe\u7f6e \u524d \u8f6e\u8f6c 40 \u00b0 \u8f66\u8f86 \u7684 \u5916\u89c2 \u3002 \u4e0d\u4f1a \u5f71\u54cd \u8f66\u8f86 \u7684 \u7269\u7406 \u3002   vehicle . set _ wheel _ steer _ direction ( carla . VehicleWheelLocation . FR _ Wheel ,   40.0 )   vehicle . set _ wheel _ steer _ direction ( carla . VehicleWheelLocation . FL _ Wheel ,   40.0 )   Copy   snippet   Close   snippet   Snippet   for   carla . Client .__ init __   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u5728   PythonAPI / Examples   \u4e2d \u7684 \u6bcf\u4e2a \u811a\u672c \u4e2d \u90fd \u6709 \uff0c \u8fd0\u884c \u811a\u672c \u65f6\u5019 \u7528\u4e8e \u89e3\u6790 \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa \u53c2\u6570 \u3002   argparser   =   argparse . ArgumentParser (   description = __ doc __ )   argparser . add _ argument (   ' -- host ' ,   metavar = ' H ' ,   default = ' 127.0 . 0.1 ' ,   help = ' IP   of   the   host   server   ( default :   127.0 . 0.1 ) ' )   argparser . add _ argument (   ' - p ' ,   ' -- port ' ,   metavar = ' P ' ,   default = 2000 ,   type = int ,   help = ' TCP   port   to   listen   to   ( default :   2000 ) ' )   argparser . add _ argument (   ' - s ' ,   ' -- speed ' ,   metavar = ' FACTOR ' ,   default = 1.0 ,   type = float ,   help = ' rate   at   which   the   weather   changes   ( default :   1.0 ) ' )   args   =   argparser . parse _ args ( )   speed _ factor   =   args . speed   update _ freq   =   0.1   /   speed _ factor   client   =   carla . Client ( args . host ,   args . port )   Copy   snippet   Close   snippet   carla . Map . get _ waypoint   \u4ee3\u7801 \u7247\u6bb5   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u663e\u793a \u5f53\u524d \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u5f71\u54cd \u7684 \u8f66\u8f86 \u3002   #   \u663e\u793a \u5f53\u524d \u8f66\u8f86 \u7c7b\u578b \uff0c \u5728 \u5b9e\u9645 \u7684 \u8f66\u9053 \u6216 \u5468\u56f4 \u7684 \u7269\u4f53 \u4e2d \u8f66\u9053 \u7ebf \u662f\u5426 \u6539\u53d8 \u3002   #   ...   waypoint   =   world . get _ map ( ) . get _ waypoint ( vehicle . get _ location ( ) , project _ to _ road = True ,   lane _ type = ( carla . LaneType . Driving   |   carla . LaneType . Shoulder   |   carla . LaneType . Sidewalk ) )   print ( \" Current   lane   type :   \"   +   str ( waypoint . lane _ type ) )   #   Check   current   lane   change   allowed   print ( \" Current   Lane   change :   \"   +   str ( waypoint . lane _ change ) )   #   Left   and   Right   lane   markings   print ( \" L   lane   marking   type :   \"   +   str ( waypoint . left _ lane _ marking . type ) )   print ( \" L   lane   marking   change :   \"   +   str ( waypoint . left _ lane _ marking . lane _ change ) )   print ( \" R   lane   marking   type :   \"   +   str ( waypoint . right _ lane _ marking . type ) )   print ( \" R   lane   marking   change :   \"   +   str ( waypoint . right _ lane _ marking . lane _ change ) )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . World . spawn _ actor   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u4f7f\u7528 \u4e0d\u540c \u7684 \u9644\u7740 \u5c06 \u4e0d\u540c \u7684 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6216\u4f20\u611f\u5668 \u9644\u7740 \u5230 \u8f66\u8f86 \u4e2d \u3002   #   ...   camera   =   world . spawn _ actor ( rgb _ camera _ bp ,   transform ,   attach _ to = vehicle ,   attachment _ type = Attachment . Rigid )   #   \u9ed8\u8ba4 \u9644\u7740 \uff1a Attachment . Rigid   gnss _ sensor   =   world . spawn _ actor ( sensor _ gnss _ bp ,   transform ,   attach _ to = vehicle )   collision _ sensor   =   world . spawn _ actor ( sensor _ collision _ bp ,   transform ,   attach _ to = vehicle )   lane _ invasion _ sensor   =   world . spawn _ actor ( sensor _ lane _ invasion _ bp ,   transform ,   attach _ to = vehicle )   #   ...   Copy   snippet   Close   snippet   carla . WalkerAIController . stop   \u4ee3\u7801 \u7247\u6bb5   #   To   destroy   the   pedestrians ,   stop   them   from   the   navigation ,   and   then   destroy   the   objects   ( actor   and   controller ) .   #   stop   pedestrians   ( list   is   [ controller ,   actor ,   controller ,   actor   ... ] )   for   i   in   range ( 0 ,   len ( all _ id ) ,   2 ) :   all _ actors [ i ] . stop ( )   #   destroy   pedestrian   ( actor   and   controller )   client . apply _ batch ( [ carla . command . DestroyActor ( x )   for   x   in   all _ id ] )   Copy   snippet   Close   snippet   Snippet   for   carla . DebugHelper . draw _ box   #   This   recipe   shows   how   to   draw   traffic   light   actor   bounding   boxes   from   a   world   snapshot .   #   ....   debug   =   world . debug   world _ snapshot   =   world . get _ snapshot ( )   for   actor _ snapshot   in   world _ snapshot :   actual _ actor   =   world . get _ actor ( actor _ snapshot . id )   if   actual _ actor . type _ id   = =   ' traffic . traffic _ light ' :   debug . draw _ box ( carla . BoundingBox ( actor _ snapshot . get _ transform ( ) . location , carla . Vector3D ( 0.5 , 0.5 , 2 ) ) , actor _ snapshot . get _ transform ( ) . rotation ,   0.05 ,   carla . Color ( 255 , 0 , 0 , 0 ) , 0 )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . World . get _ spectator   #   This   recipe   spawns   an   actor   and   the   spectator   camera   at   the   actor ' s   location .   #   ...   world   =   client . get _ world ( )   spectator   =   world . get _ spectator ( )   vehicle _ bp   =   random . choice ( world . get _ blueprint _ library ( ) . filter ( ' vehicle . bmw . * ' ) )   transform   =   random . choice ( world . get _ map ( ) . get _ spawn _ points ( ) )   vehicle   =   world . try _ spawn _ actor ( vehicle _ bp ,   transform )   #   Wait   for   world   to   get   the   vehicle   actor   world . tick ( )   world _ snapshot   =   world . wait _ for _ tick ( )   actor _ snapshot   =   world _ snapshot . find ( vehicle . id )   #   Set   spectator   at   given   transform   ( vehicle   transform )   spectator . set _ transform ( actor _ snapshot . get _ transform ( ) )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . Sensor . listen   #   This   recipe   applies   a   color   conversion   to   the   image   taken   by   a   camera   sensor ,   #   so   it   is   converted   to   a   semantic   segmentation   image .   #   ...   camera _ bp   =   world . get _ blueprint _ library ( ) . filter ( ' sensor . camera . semantic _ segmentation ' )   #   ...   cc   =   carla . ColorConverter . CityScapesPalette   camera . listen ( lambda   image :   image . save _ to _ disk ( ' output / % 06d . png '   %   image . frame ,   cc ) )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . TrafficLight . set _ state   #   This   recipe   changes   from   red   to   green   the   traffic   light   that   affects   the   vehicle .   #   This   is   done   by   detecting   if   the   vehicle   actor   is   at   a   traffic   light .   #   ...   world   =   client . get _ world ( )   spectator   =   world . get _ spectator ( )   vehicle _ bp   =   random . choice ( world . get _ blueprint _ library ( ) . filter ( ' vehicle . bmw . * ' ) )   transform   =   random . choice ( world . get _ map ( ) . get _ spawn _ points ( ) )   vehicle   =   world . try _ spawn _ actor ( vehicle _ bp ,   transform )   #   Wait   for   world   to   get   the   vehicle   actor   world . tick ( )   world _ snapshot   =   world . wait _ for _ tick ( )   actor _ snapshot   =   world _ snapshot . find ( vehicle . id )   #   Set   spectator   at   given   transform   ( vehicle   transform )   spectator . set _ transform ( actor _ snapshot . get _ transform ( ) )   #   ...#   ...   if   vehicle _ actor . is _ at _ traffic _ light ( ) :   traffic _ light   =   vehicle _ actor . get _ traffic _ light ( )   if   traffic _ light . get _ state ( )   = =   carla . TrafficLightState . Red :   #   world . hud . notification ( \" Traffic   light   changed !   Good   to   go ! \" )   traffic _ light . set _ state ( carla . TrafficLightState . Green )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . ActorBlueprint . set _ attribute   #   This   recipe   changes   attributes   of   different   type   of   blueprint   actors .   #   ...   walker _ bp   =   world . get _ blueprint _ library ( ) . filter ( ' walker . pedestrian.0002 ' )   walker _ bp . set _ attribute ( ' is _ invincible ' ,   True )   #   ...   #   Changes   attribute   randomly   by   the   recommended   value   vehicle _ bp   =   wolrd . get _ blueprint _ library ( ) . filter ( ' vehicle . bmw . * ' )   color   =   random . choice ( vehicle _ bp . get _ attribute ( ' color ' ) . recommended _ values )   vehicle _ bp . set _ attribute ( ' color ' ,   color )   #   ...   camera _ bp   =   world . get _ blueprint _ library ( ) . filter ( ' sensor . camera . rgb ' )   camera _ bp . set _ attribute ( ' image _ size _ x ' ,   600 )   camera _ bp . set _ attribute ( ' image _ size _ y ' ,   600 )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . Client . apply _ batch _ sync   #   0 .   Choose   a   blueprint   fo   the   walkers   world   =   client . get _ world ( )   blueprintsWalkers   =   world . get _ blueprint _ library ( ) . filter ( \" walker . pedestrian . * \" )   walker _ bp   =   random . choice ( blueprintsWalkers )   #   1 .   Take   all   the   random   locations   to   spawn   spawn _ points   =   [ ]   for   i   in   range ( 50 ) :   spawn _ point   =   carla . Transform ( )   spawn _ point . location   =   world . get _ random _ location _ from _ navigation ( )   if   ( spawn _ point . location   ! =   None ) :   spawn _ points . append ( spawn _ point )   #   2 .   Build   the   batch   of   commands   to   spawn   the   pedestrians   batch   =   [ ]   for   spawn _ point   in   spawn _ points :   walker _ bp   =   random . choice ( blueprintsWalkers )   batch . append ( carla . command . SpawnActor ( walker _ bp ,   spawn _ point ) )   #   2.1   apply   the   batch   results   =   client . apply _ batch _ sync ( batch ,   True )   for   i   in   range ( len ( results ) ) :   if   results [ i ] . error :   logging . error ( results [ i ] . error )   else :   walkers _ list . append ( { \" id \" :   results [ i ] . actor _ id } )   #   3 .   Spawn   walker   AI   controllers   for   each   walker   batch   =   [ ]   walker _ controller _ bp   =   world . get _ blueprint _ library ( ) . find ( ' controller . ai . walker ' )   for   i   in   range ( len ( walkers _ list ) ) :   batch . append ( carla . command . SpawnActor ( walker _ controller _ bp ,   carla . Transform ( ) ,   walkers _ list [ i ] [ \" id \" ] ) )   #   3.1   apply   the   batch   results   =   client . apply _ batch _ sync ( batch ,   True )   for   i   in   range ( len ( results ) ) :   if   results [ i ] . error :   logging . error ( results [ i ] . error )   else :   walkers _ list [ i ] [ \" con \" ]   =   results [ i ] . actor _ id   #   4 .   Put   altogether   the   walker   and   controller   ids   for   i   in   range ( len ( walkers _ list ) ) :   all _ id . append ( walkers _ list [ i ] [ \" con \" ] )   all _ id . append ( walkers _ list [ i ] [ \" id \" ] )   all _ actors   =   world . get _ actors ( all _ id )   #   wait   for   a   tick   to   ensure   client   receives   the   last   transform   of   the   walkers   we   have   just   created   world . wait _ for _ tick ( )   #   5 .   initialize   each   controller   and   set   target   to   walk   to   ( list   is   [ controller ,   actor ,   controller ,   actor   ... ] )   for   i   in   range ( 0 ,   len ( all _ actors ) ,   2 ) :   #   start   walker   all _ actors [ i ] . start ( )   #   set   walk   to   random   point   all _ actors [ i ] . go _ to _ location ( world . get _ random _ location _ from _ navigation ( ) )   #   random   max   speed   all _ actors [ i ] . set _ max _ speed ( 1   +   random . random ( ) )   #   max   speed   between   1   and   2   ( default   is   1.4   m / s )   Copy   snippet   Close   snippet   Snippet   for   carla . World . load _ map _ layer   #   This   recipe   toggles   on   several   layers   in   our   \" _ Opt \"   maps   #   Load   town   one   with   only   minimum   layout   ( roads ,   sidewalks ,   traffic   lights   and   traffic   signs )   world   =   client . load _ world ( ' Town01 _ Opt ' ,   carla . MapLayer . None )   #   Toggle   all   buildings   on   world . load _ map _ layer ( carla . MapLayer . Buildings )   #   Toggle   all   foliage   on   world . load _ map _ layer ( carla . MapLayer . Foliage )   #   Toggle   all   parked   vehicles   on   world . load _ map _ layer ( carla . MapLayer . ParkedVehicles )   Copy   snippet   Close   snippet   function   ButtonAction ( container _ name ) {   if ( window _ big ) {   snipet _ name   =   container _ name . replace ( ' - snipet _ button ' , ' - snipet ' ) ;   document . getElementById ( \" snipets - container \" ) . innerHTML   =   document . getElementById ( snipet _ name ) . innerHTML ;   }   else {   document . getElementById ( \" snipets - container \" ) . innerHTML   =   null ; code _ name   =   container _ name . replace ( ' - snipet _ button ' , ' - code ' ) ;   var   range   =   document . createRange ( ) ;   range . selectNode ( document . getElementById ( code _ name ) ) ;   alert ( range ) ;   }   }   function   WindowResize ( ) {   if ( window . innerWidth   >   1200 ) {   window _ big   =   true ;   }   else {   window _ big   =   false ;   }   }   var   window _ big ;   if ( window . innerWidth   >   1200 ) {   window _ big   =   true ;   }   else {   window _ big   =   false ;   }   buttons   =   document . getElementsByClassName ( ' SnipetButton ' )   for   ( let   i   =   0 ;   i   <   buttons . length ;   i ++ )   {   buttons [ i ] . addEventListener ( \" click \" , function ( ) { ButtonAction ( buttons [ i ] . id ) ; } , true ) ;   }   window . onresize   =   WindowResize ;","title":"Python   api"},{"location":"python_api/#python-api","text":"\u6b64 \u53c2\u8003 \u5305\u542b   Python   API   \u7684 \u6240\u6709 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002 \u8981 \u67e5\u9605 \u7279\u5b9a   Carla   \u7248\u672c \u7684 \u5148\u524d \u53c2\u8003 \uff0c \u8bf7 \u4f7f\u7528 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u7684 \u9762\u677f \u66f4\u6539 \u6587\u6863 \u7248\u672c \u3002   \u8fd9\u4f1a \u5c06 \u6574\u4e2a \u6587\u6863 \u66f4 \u6539\u4e3a \u4e4b\u524d \u7684 \u72b6\u6001 \u3002 \u8bf7 \u8bb0\u4f4f \uff0c   \u6700\u65b0   \u7248\u672c \u662f   dev   \u5206\u652f \uff0c \u53ef\u80fd \u4f1a \u663e\u793a \u4efb\u4f55   Carla   \u6253\u5305 \u7248\u672c \u4e2d \u4e0d\u53ef \u7528 \u7684 \u529f\u80fd \u3002","title":"Python   API   \u53c2\u8003"},{"location":"python_api/#carlaackermanncontrollersettings","text":"\u7ba1\u7406   Ackermann   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u8bbe\u7f6e \u3002","title":"carla . AckermannControllerSettings"},{"location":"python_api/#_1","text":"speed _ kp   (   float   )   \u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u6bd4\u4f8b \u9879 \u3002   speed _ ki   (   float   )   \u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u79ef\u5206 \u9879 \u3002   speed _ kd   (   float   )   \u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5fae\u5206 \u9879 \u3002   accel _ kp   (   float   )   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u6bd4\u4f8b \u9879 \u3002   accel _ ki   (   float   )   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u79ef\u5206 \u9879 \u3002   accel _ kd   (   float   )   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5fae\u5206 \u9879 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_2","text":"__ init __   (   self   ,   speed _ kp   = 0.15   ,   speed _ ki   = 0.0   ,   speed _ kd   = 0.25   ,   accel _ kp   = 0.01   ,   accel _ ki   = 0.0   ,   accel _ kd   = 0.01   )   Parameters :   speed _ kp   (   float   )   speed _ ki   (   float   )   speed _ kd   (   float   )   accel _ kp   (   float   )   accel _ ki   (   float   )   accel _ kd   (   float   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_3","text":"__ eq __   (   self   ,   other   =   carla . AckermannControllerSettings   )   __ ne __   (   self   ,   other   =   carla . AckermannControllerSettings   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaactor","text":"Carla   \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5b9a\u4e49 \u4e3a \u5728 \u4eff\u771f \u4e2d \u53d1\u6325 \u4f5c\u7528 \u53d1\u6325\u4f5c\u7528 \u6216 \u53ef\u4ee5 \u79fb\u52a8 \u7684 \u4efb\u4f55 \u7269\u4f53 \u3002 \u5176\u4e2d \u5305\u62ec \uff1a \u884c\u4eba \u3001 \u8f66\u8f86 \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \uff08 \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u89c6\u4e3a \u5176\u4e2d \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff09 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u4eff\u771f \u4e2d \u7531   carla . World   \u751f\u6210 \uff0c \u5e76\u4e14 \u9700\u8981 \u521b\u5efa   carla . ActorBlueprint   \u3002 \u8fd9\u4e9b \u84dd\u56fe \u5c5e\u4e8e   Carla   \u63d0\u4f9b \u7684 \u5e93 \uff0c \u8bf7 \u5728   \u6b64\u5904   \u627e\u5230 \u6709\u5173 \u5b83\u4eec \u7684 \u66f4 \u591a \u4fe1\u606f \u3002","title":"carla . Actor"},{"location":"python_api/#_4","text":"attributes   (   dict   )   \u5305\u542b \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240 \u57fa\u4e8e \u84dd\u56fe \u5c5e\u6027 \u7684 \u5b57\u5178 \u3002   id   (   int   )   \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002 \u5728 \u7ed9\u5b9a \u7684 \u60c5\u8282 \u4e2d\u662f \u552f\u4e00 \u7684 \u3002   type _ id   (   str   )   \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240 \u57fa\u4e8e \u7684 \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \uff0c \u4f8b\u5982   vehicle . ford . mustang   \u3002   is _ alive   (   bool   )   \u8fd4\u56de \u6b64 \u5bf9\u8c61 \u662f\u5426 \u662f\u5426\u662f \u4f7f\u7528 \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53e5\u67c4 \u9500\u6bc1 \u7684 \u3002   is _ active   (   bool   )   \u8fd4\u56de \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001   ( True )   \u6216\u975e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001   ( False ) \u3002   is _ dormant   (   bool   )   \u8fd4\u56de \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001   ( True )   \u6216\u975e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001   ( False )   -   \u4e0e   is _ active   \u76f8\u53cd \u3002   parent   (   carla . Actor   )   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u9644\u52a0 \u5230 \u4ed6\u4eec \u5c06 \u8ddf\u968f \u7684 \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8fd9 \u5c31\u662f \u6240\u8bf4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   semantic _ tags   (   list ( int )   )   \u84dd\u56fe \u5217\u8868 \u7ec4\u4ef6 \u4e3a\u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63d0\u4f9b \u7684 \u8bed\u4e49 \u6807\u7b7e \u5217\u8868 \u3002 \u4f8b\u5982 \uff0c \u4ea4\u901a \u4ea4\u901a\u706f \u53ef\u4ee5 \u7528   Pole   \u548c   TrafficLight   \u3002 \u8fd9\u4e9b \u6807\u7b7e \u7531 \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f7f\u7528 \u3002 \u5728   \u6b64\u5904   \u67e5\u627e \u6709\u5173 \u6b64 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   actor _ state   (   carla . ActorState   )   \u8fd4\u56de   carla . ActorState   \uff0c \u5b83 \u53ef\u4ee5 \u8bc6\u522b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u5904\u4e8e \u6d3b\u52a8 \u3001 \u4f11\u7720 \u6216 \u65e0\u6548 \u72b6\u6001 \u3002   bounding _ box   (   carla . BoundingBox   )   \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u51e0\u4f55 \u5f62\u72b6 \u7684 \u8fb9\u754c \u6846 \u3002 \u5b83 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u662f \u76f8\u5bf9 \u4e8e \u5b83 \u6240 \u9644\u7740 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_5","text":"add _ angular _ impulse   (   self   ,   angular _ impulse   )   \u5728 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d28\u5fc3 \u5904 \u5e94\u7528 \u89d2 \u51b2\u91cf \u3002 \u6b64 \u65b9\u6cd5 \u9002\u7528 \u4e8e \u77ac\u65f6 \u626d\u77e9 \uff0c \u901a\u5e38 \u5e94\u7528 \u4e00\u6b21 \u3002 \u4f7f\u7528   add _ torque ( )   \u5728 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u5185 \u65bd\u52a0 \u65cb\u8f6c \u529b \u3002   \u53c2\u6570 :   angular _ impulse   (   carla . Vector3D   -   degrees * s   )   -   \u5168\u5c40 \u5750\u6807 \u4e2d \u7684 \u89d2 \u51b2\u91cf \u77e2\u91cf \u3002   add _ force   (   self   ,   force   )   \u5728 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d28\u5fc3 \u5904 \u65bd\u52a0 \u529b \u3002 \u6b64 \u65b9\u6cd5 \u9002\u7528 \u4e8e \u5728 \u4e00\u5b9a \u65f6\u95f4 \u5185 \u65bd\u52a0 \u7684 \u529b \u3002 \u4f7f\u7528   add _ impulse ( )   \u65bd\u52a0 \u4ec5 \u6301\u7eed \u77ac\u95f4 \u7684 \u51b2\u91cf \u3002   \u53c2\u6570 :   force   (   carla . Vector3D   -   N   )   -   \u5168\u5c40 \u5750\u6807 \u4e2d \u7684 \u529b \u77e2\u91cf \u3002   add _ impulse   (   self   ,   impulse   )   \u5728 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d28\u5fc3 \u5904 \u65bd\u52a0 \u51b2\u91cf \u3002 \u6b64 \u65b9\u6cd5 \u9002\u7528 \u4e8e \u77ac\u65f6 \u529b \uff0c \u901a\u5e38 \u5e94\u7528 \u4e00\u6b21 \u3002 \u4f7f\u7528   add _ force ( )   \u5728 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u5185 \u65bd\u52a0 \u529b \u3002   \u53c2\u6570 :   impulse   (   carla . Vector3D   -   N * s   )   -   \u5168\u5c40 \u5750\u6807 \u4e2d \u7684 \u51b2\u91cf \u77e2\u91cf \u3002   add _ torque   (   self   ,   torque   )   \u5728 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d28\u5fc3 \u5904 \u5e94\u7528 \u626d\u77e9 \u3002 \u6b64 \u65b9\u6cd5 \u9002\u7528 \u4e8e \u5728 \u4e00\u5b9a \u65f6\u95f4 \u5185 \u65bd\u52a0 \u7684 \u626d\u77e9 \u3002 \u4f7f\u7528   add _ angular _ impulse ( )   \u65bd\u52a0 \u4ec5 \u6301\u7eed \u77ac\u95f4 \u7684 \u626d\u77e9 \u3002   \u53c2\u6570 :   torque   (   carla . Vector3D   -   \u5ea6   )   -   \u5168\u5c40 \u5750\u6807 \u4e2d \u7684 \u626d\u77e9 \u77e2\u91cf \u3002   destroy   (   self   )   \u544a\u8bc9 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u9500\u6bc1 \u8fd9\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5982\u679c \u6210\u529f \u5219   True   \u3002 \u5982\u679c \u5df2\u7ecf \u88ab \u7834\u574f \u5219 \u6ca1\u6709 \u4efb\u4f55 \u6548\u679c \u3002   \u8fd4\u56de :   bool   \u8b66\u544a :   T \u6b64 \u65b9\u6cd5 \u4f1a \u963b\u6b62 \u811a\u672c \uff0c \u76f4\u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5b8c\u6210 \u9500\u6bc1 \u4e3a\u6b62 \u3002   disable _ constant _ velocity   (   self   )   \u7981\u7528 \u4e4b\u524d \u4e3a   carla . Vehicle   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8bbe\u7f6e \u7684 \u4efb\u4f55 \u6052\u5b9a \u901f\u5ea6 \u3002   enable _ constant _ velocity   (   self   ,   velocity   )   \u5c06 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u77e2\u91cf \u8bbe\u7f6e \u4e3a \u968f \u65f6\u95f4 \u53d8\u5316 \u7684 \u6052\u5b9a \u503c \u3002 \u6240 \u5f97\u5230 \u7684 \u901f\u5ea6 \u5c06 \u8fd1\u4f3c \u8fd1\u4f3c\u4e8e   velocity   \u6240 \u8bbe\u7f6e \u7684 \u901f\u5ea6 \uff0c \u4e0e   set _ target _ velocity ( )   \u4e00\u6837 \u3002   \u53c2\u6570 :   velocity   (   carla . Vector3D   -   m / s   )   -   Velocity   vector   in   local   space .   \u6ce8\u610f :   \u53ea\u6709   carla . Vehicle   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \u3002   \u8b66\u544a :   \u4e3a   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7ba1\u7406 \u7684 \u8f66\u8f86 \u542f\u7528 \u6052\u5b9a \u901f\u5ea6 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u51b2\u7a81 \u3002 \u6b64 \u65b9\u6cd5 \u4f1a \u8986\u76d6 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5bf9 \u901f\u5ea6 \u7684 \u4efb\u4f55 \u66f4\u6539 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_6","text":"get _ acceleration   (   self   )   \u8fd4\u56de \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6700\u540e \u4e00\u4e2a tick \u671f\u95f4 \u6536\u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e09\u7ef4 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5411\u91cf \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de :   carla . Vector3D   -   m / s   2   get _ angular _ velocity   (   self   )   \u8fd4\u56de \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6700\u540e \u4e00\u4e2a tick \u671f\u95f4 \u63a5\u6536 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5411\u91cf \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   -   deg / s   get _ location   (   self   )   \u8fd4\u56de \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u4e0a \u4e00\u6b21 tick \u671f\u95f4 \u63a5\u6536 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de \uff1a   carla . Location   -   \u7c73   \u8bbe\u7f6e \u5668 :   carla . Actor . set _ location   get _ transform   (   self   )   \u8fd4\u56de \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6700\u540e \u4e00\u4e2a tick \u671f\u95f4 \u63a5\u6536 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u53d8\u6362 \uff08 \u4f4d\u7f6e \u548c \u65cb\u8f6c \uff09 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de :   carla . Transform   \u8bbe\u7f6e \u5668 :   carla . Actor . set _ transform   get _ velocity   (   self   )   \u8fd4\u56de \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6700\u540e \u4e00\u4e2a tick \u671f\u95f4 \u63a5\u6536 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u5411\u91cf \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   -   m / s   get _ world   (   self   )   \u8fd4\u56de \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240\u5c5e \u7684 \u4e16\u754c \u3002   \u8fd4\u56de :   carla . World","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#_7","text":"set _ enable _ gravity   (   self   ,   enabled   )   \u542f\u7528 \u6216 \u7981\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u91cd\u529b \u3002   \u9ed8\u8ba4   \u4e3a   True \u3002   \u53c2\u6570 \uff1a   enabled   (   bool   )   set _ location   (   self   ,   location   )   \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f20\u9001 \u5230 \u7ed9\u5b9a \u4f4d\u7f6e \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   -   \u7c73   )   \u83b7\u53d6 \u5668 \uff1a   carla . Actor . get _ location   set _ simulate _ physics   (   self   ,   enabled   = True   )   \u542f\u7528 \u6216 \u7981\u7528 \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0a \u7684 \u7269\u7406 \u4eff\u771f \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff1a   enabled   (   bool   )   set _ target _ angular _ velocity   (   self   ,   angular _ velocity   )   \u8bbe\u7f6e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u77e2\u91cf \u3002 \u8fd9 \u662f \u5728 \u7269\u7406 \u6b65\u9aa4 \u4e4b\u524d \u5e94\u7528 \u7684 \uff0c \u56e0\u6b64 \u6700\u7ec8 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5c06 \u53d7\u5230 \u6469\u64e6 \u7b49 \u5916\u529b \u7684 \u5f71\u54cd \u3002   \u53c2\u6570 \uff1a   angular _ velocity   (   carla . Vector3D   -   deg / s   )   set _ target _ velocity   (   self   ,   velocity   )   \u8bbe\u7f6e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u5411\u91cf \u3002 \u8fd9 \u662f \u5728 \u7269\u7406 \u6b65\u9aa4 \u4e4b\u524d \u5e94\u7528 \u7684 \uff0c \u56e0\u6b64 \u6700\u7ec8 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5c06 \u53d7\u5230 \u6469\u64e6 \u7b49 \u5916\u529b \u7684 \u5f71\u54cd \u3002   \u53c2\u6570 \uff1a   velocity   (   carla . Vector3D   )   set _ transform   (   self   ,   transform   )   \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f20\u9001 \u5230 \u7ed9\u5b9a \u7684 \u53d8\u6362 \uff08 \u4f4d\u7f6e \u548c \u65cb\u8f6c \uff09 \u3002   \u53c2\u6570 \uff1a   transform   (   carla . Transform   )   \u83b7\u53d6 \u5668 \uff1a   carla . Actor . get _ transform","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_8","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaactorattribute","text":"Carla   \u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u84dd \u56fe\u5e93 \uff0c \u53ef\u4ee5 \u901a\u8fc7   carla . BlueprintLibrary   \u8fdb\u884c \u8bbf\u95ee \u3002 \u6bcf\u4e2a \u84dd\u56fe \u90fd \u6709 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5185\u90e8 \u5b9a\u4e49 \u7684 \u5c5e\u6027 \u3002 \u5176\u4e2d \u4e00\u4e9b \u662f \u53ef\u4ee5 \u4fee\u6539 \u7684 \uff0c \u53e6 \u4e00\u4e9b \u4e00\u4e9b\u5219 \u662f \u4e0d\u53ef \u4fee\u6539 \u7684 \u3002 \u4e3a \u53ef \u8bbe\u7f6e \u7684 \u503c \u63d0\u4f9b \u4e86 \u63a8\u8350 \u63a8\u8350\u503c \u5217\u8868 \u3002","title":"carla . ActorAttribute"},{"location":"python_api/#_9","text":"id   (   str   )   \u5e93\u4e2d \u5c5e\u6027 \u7684 \u540d\u79f0 \u548c \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   is _ modifiable   (   bool   )   \u5982\u679c \u5c5e\u6027 \u7684 \u503c \u53ef\u4ee5 \u4fee\u6539 \uff0c \u5219 \u4e3a   True   \u3002   recommended _ values   (   list ( str )   )   \u8bbe\u8ba1 \u84dd\u56fe \u7684 \u4eba\u5458 \u5efa\u8bae \u7684 \u503c \u5217\u8868 \u3002   type   (   carla . ActorAttributeType   )   \u5c5e\u6027 \u7684 \u53c2\u6570 \u7c7b\u578b \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_10","text":"as _ bool   (   self   )   \u5c06 \u5c5e\u6027 \u8bfb\u53d6 \u4e3a \u5e03\u5c14 \u5e03\u5c14\u503c \u3002   as _ color   (   self   )   \u5c06 \u5c5e\u6027 \u8bfb\u53d6 \u4e3a   carla . Color   \u3002   as _ float   (   self   )   \u5c06 \u5c5e\u6027 \u8bfb\u53d6 \u4e3a \u6d6e\u70b9 \u578b \u3002   as _ int   (   self   )   \u5c06 \u5c5e\u6027 \u8bfb\u53d6 \u4e3a   int \u3002   as _ str   (   self   )   \u5c06 \u5c5e\u6027 \u8bfb\u53d6 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_11","text":"__ bool __   (   self   )   __ eq __   (   self   ,   other   = bool   /   int   /   float   /   str   /   carla . Color   /   carla . ActorAttribute   )   \u5982\u679c \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5c5e\u6027   \u548c   other   \u76f8\u540c \uff0c \u5219 \u8fd4\u56de   true \u3002   \u8fd4\u56de \uff1a   bool   __ float __   (   self   )   __ int __   (   self   )   __ ne __   (   self   ,   other   = bool   /   int   /   float   /   str   /   carla . Color   /   carla . ActorAttribute   )   \u5982\u679c \u6b64   actor   \u7684 \u5c5e\u6027 \u548c   other   \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de   true \u3002   \u8fd4\u56de \uff1a   bool   __ nonzero __   (   self   )   \u5982\u679c \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5c5e\u6027 \u4e0d\u4e3a \u96f6 \u6216   null \uff0c \u5219 \u8fd4\u56de   true \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaactorattributetype","text":"Carla   \u5728   carla . BlueprintLibrary   \u4e2d\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u84dd \u56fe\u5e93 \uff0c \u6bcf\u4e2a \u84dd\u56fe \u5177\u6709 \u4e0d\u540c \u7684 \u5c5e\u6027 \u3002 \u6b64\u7c7b \u5c06   carla . ActorAttribute   \u4e2d \u7684 \u7c7b\u578b \u5b9a\u4e49 \u7c7b\u578b\u5b9a\u4e49 \u4e3a \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u679a\u4e3e \u3002 \u6240\u6709 \u8fd9\u4e9b \u4fe1\u606f \u5747 \u5728 \u5185\u90e8 \u7ba1\u7406 \uff0c \u5e76 \u5728 \u6b64\u5904 \u5217\u51fa \uff0c \u4ee5\u4fbf \u66f4\u597d \u5730 \u7406\u89e3   Carla   \u7684 \u5de5\u4f5c \u539f\u7406 \u3002","title":"carla . ActorAttributeType"},{"location":"python_api/#_12","text":"Bool   Int   Float   String   RGBColor","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlaactorblueprint","text":"Carla   \u4e3a   Actor   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u84dd \u56fe\u5e93 \uff0c \u53ef\u4ee5 \u901a\u8fc7   carla . BlueprintLibrary   \u8fdb\u884c \u67e5\u9605 \u3002 \u5176\u4e2d \u6bcf \u4e00\u4e2a \u90fd \u5305\u542b \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u548c \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u53ef\u4ee5 \u4fee\u6539 \u6216 \u4e0d\u53ef \u4fee\u6539 \u7684 \u5c5e\u6027 \u3002 \u8be5\u7c7b \u662f \u5e93 \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u521b\u5efa \u4e4b\u95f4 \u7684 \u4e2d\u95f4 \u6b65\u9aa4 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u9700\u8981 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u84dd\u56fe \u624d\u80fd \u4ea7\u751f \u3002 \u8fd9\u4e9b \u5c06 \u6240\u8ff0 \u84dd\u56fe \u7684 \u4fe1\u606f \u53ca\u5176 \u5c5e\u6027 \u548c \u4e00\u4e9b \u6807\u7b7e \u5b58\u50a8 \u5728 \u5bf9\u8c61 \u4e2d\u4ee5 \u5bf9 \u5176 \u8fdb\u884c \u5206\u7c7b \u3002 \u7136\u540e \uff0c \u7528\u6237 \u53ef\u4ee5 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4e00\u4e9b \u5c5e\u6027 \u5e76 \u6700\u7ec8 \u901a\u8fc7   carla . World   \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002","title":"carla . ActorBlueprint"},{"location":"python_api/#_13","text":"id   (   str   )   \u5e93\u5185 \u6240\u8ff0 \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002 \u4f8b\u5982   walker . pedestrian.0001   \u3002   tags   (   list ( str )   )   \u6bcf\u4e2a \u84dd\u56fe \u5177\u6709 \u7684 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63cf\u8ff0 \u5b83\u4eec \u7684 \u6807\u7b7e \u5217\u8868 \u3002 \u4f8b\u5982   [ ' 0001 ' ,   ' pedestrian ' ,   ' walker ' ]   \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_14","text":"has _ attribute   (   self   ,   id   )   \u5982\u679c \u84dd\u56fe \u5305\u542b \u8be5   id   \u5c5e\u6027 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u53c2\u6570 \uff1a   id   (   str   )   -   \u4f8b\u5982   gender   \u5c06 \u4e3a \u884c\u4eba \u7684 \u84dd\u56fe \u8fd4\u56de   True   \u3002   \u8fd4\u56de \uff1a   bool   has _ tag   (   self   ,   tag   )   \u5982\u679c \u84dd\u56fe \u5df2 \u5217\u51fa \u6307\u5b9a   tag   \u7684 \u5185\u5bb9 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u53c2\u6570 \uff1a   tag   (   str   )   -   \u4f8b\u5982 \uff1a   ' walker ' \u3002   \u8fd4\u56de \uff1a   bool   match _ tags   (   self   ,   wildcard _ pattern   )   \u5982\u679c \u4e3a\u6b64 \u84dd\u56fe \u5217\u51fa \u7684 \u4efb\u4f55 \u6807\u8bb0 \u5339\u914d   wildcard _ pattern   \uff0c \u5219 \u8fd4\u56de   True   \u3002 \u5339\u914d \u9075\u5faa   fnmatch   \u6807\u51c6 \u3002   \u53c2\u6570 \uff1a   wildcard _ pattern   (   str   )   \u8fd4\u56de \uff1a   bool","title":"\u65b9\u6cd5"},{"location":"python_api/#_15","text":"get _ attribute   (   self   ,   id   )   \u8fd4\u56de \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5c5e\u6027 \u4ee5\u53ca   id   \u6807\u8bc6 \u6807\u8bc6\u7b26 \uff08 \u5982\u679c \u5b58\u5728 \uff09 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff1a   id   (   str   )   \u8fd4\u56de \uff1a   carla . ActorAttribute   \u8bbe\u7f6e \u5668 \uff1a   carla . ActorBlueprint . set _ attribute","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#_16","text":"set _ attribute   (   self   ,   id   ,   value   )   snippet   \u2192   \u5982\u679c   id   \u5c5e\u6027 \u662f \u53ef \u4fee\u6539 \u7684 \uff0c \u5c06 \u5176\u503c \u6539\u4e3a   value   \u3002   \u53c2\u6570 \uff1a   id   (   str   )   -   \u8981 \u66f4\u6539 \u5c5e\u6027 \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   value   (   str   )   -   \u6240\u8ff0 \u5c5e\u6027 \u7684 \u65b0\u503c \u3002   \u83b7\u53d6 \u5668 \uff1a   carla . ActorBlueprint . get _ attribute","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#dunder","text":"__ iter __   (   self   )   \u5728 \u84dd\u56fe \u6709 \u7684   carla . ActorAttribute   \u4e4b\u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   \u8fd4\u56de \u6b64 \u84dd\u56fe \u7684 \u5c5e\u6027 \u6570\u91cf \u3002   __ str __   (   self   )","title":"Dunder   \u65b9\u6cd5"},{"location":"python_api/#carlaactorlist","text":"\u4e00\u4e2a \u7c7b \uff0c \u5b83 \u5305\u542b \u73b0\u573a \u51fa\u73b0 \u7684 \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e76 \u63d0\u4f9b \u5bf9 \u4ed6\u4eec \u7684 \u8bbf\u95ee \u3002 \u8be5 \u5217\u8868 \u7531 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u81ea\u52a8 \u521b\u5efa \u548c \u66f4\u65b0 \uff0c \u53ef\u4ee5 \u4f7f\u7528   carla . World   \u8fd4\u56de \u3002","title":"carla . ActorList"},{"location":"python_api/#_17","text":"filter   (   self   ,   wildcard _ pattern   )   \u7b5b\u9009 \u5339\u914d   wildcard _ pattern   \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \uff0c \u4ee5 \u5bf9\u6297 \u53d8\u91cf   type _ id   ( \u5b83 \u6807\u8bc6 \u7528\u4e8e \u751f\u6210 \u5b83\u4eec \u7684 \u84dd\u56fe ) \u3002 \u5339\u914d \u9075\u5faa   fnmatch   \u6807\u51c6 \u3002   \u53c2\u6570 \uff1a   wildcard _ pattern   (   str   )   \u8fd4\u56de \uff1a   list   find   (   self   ,   actor _ id   )   \u4f7f\u7528 \u5176 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u67e5\u627e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e76 \u8fd4\u56de \u5b83 \uff0c \u5982\u679c \u4e0d \u5b58\u5728 \u5219 \u8fd4\u56de   None   \u3002   \u53c2\u6570 \uff1a   actor _ id   (   int   )   \u8fd4\u56de \uff1a   carla . Actor","title":"\u65b9\u6cd5"},{"location":"python_api/#dunder_1","text":"__ getitem __   (   self   ,   pos   = int   )   \u8fd4\u56de \u4e0e \u5217\u8868 \u4e2d   pos   \u4f4d\u7f6e \u76f8\u5bf9 \u5e94 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8fd4\u56de \uff1a   carla . Actor   __ iter __   (   self   )   \u5728 \u5305\u542b   carla . Actor   \u7684 \u5217\u8868 \u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   \u8fd4\u56de \u5217\u51fa \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6570\u91cf \u3002   \u8fd4\u56de \uff1a   int   __ str __   (   self   )   \u5728 \u5217\u51fa \u7684 \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0a \u89e3\u6790 ID \u3002   \u8fd4\u56de \uff1a   str","title":"Dunder   \u65b9\u6cd5"},{"location":"python_api/#carlaactorsnapshot","text":"\u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u7279\u5b9a \u65f6\u523b \u7684 \u6240\u6709 \u4fe1\u606f \u7684 \u7c7b \u3002 \u8fd9\u4e9b \u5bf9\u8c61 \u5305\u542b \u5728   carla . WorldSnapshot   \u4e2d \uff0c \u5e76 \u5728 \u6bcf\u4e2a \u65f6\u949f \u5468\u671f \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e00\u6b21 \u3002","title":"carla . ActorSnapshot"},{"location":"python_api/#_18","text":"id   (   int   )   \u5feb\u7167 \u672c\u8eab \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_19","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_20","text":"get _ acceleration   (   self   )   \u8fd4\u56de \u5728 \u8be5 tick \u4e2d\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ce8\u518c \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   -   m / s   2   get _ angular _ velocity   (   self   )   \u8fd4\u56de \u4e3a \u8be5 tick \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ce8\u518c \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   -   rad / s   get _ transform   (   self   )   \u8fd4\u56de \u8be5   tick   \u4e2d \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53d8\u6362 \uff08 \u4f4d\u7f6e \u548c \u65cb\u8f6c \uff09 \u3002   \u8fd4\u56de \uff1a   carla . Transform   get _ velocity   (   self   )   \u8fd4\u56de \u5728 \u8be5 tick \u4e2d\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ce8\u518c \u7684 \u901f\u5ea6 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   -   m / s","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#carlaactorstate","text":"\u5b9a\u4e49 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u72b6\u6001 \u7684 \u7c7b \u3002","title":"carla . ActorState"},{"location":"python_api/#_21","text":"Invalid   \u5982\u679c \u51fa\u73b0 \u95ee\u9898 \uff0c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c31\u662f \u65e0\u6548 \u7684 \u3002   Active   \u5f53 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u89c6 \u53ef\u89c6\u5316 \u5e76\u4e14 \u53ef\u4ee5 \u5f71\u54cd \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \uff0c \u5b83 \u5c31\u662f \u6d3b\u8dc3 \u7684 \u3002   Dormant   \u5f53 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0d \u88ab \u53ef\u89c6 \u53ef\u89c6\u5316 \u5e76\u4e14 \u4e0d\u4f1a \u901a\u8fc7 \u7269\u7406 \u5f71\u54cd \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \uff0c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c31 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002 \u4f8b\u5982 \uff0c \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f4d\u4e8e \u5927 \u5730\u56fe \u4e2d \u5df2 \u5378\u8f7d \u7684 \u56fe\u5757 \u4e0a \uff0c \u5219 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlaattachmenttype","text":"\u5b9a\u4e49 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0e \u5176\u7236 \u7ea7 \u4e4b\u95f4 \u7684 \u9644\u4ef6 \u9009\u9879 \u7684 \u7c7b \u3002 \u5f53 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \uff0c \u5b83\u4eec \u53ef\u4ee5 \u9644\u52a0 \u5230 \u53e6 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0a \uff0c \u8fd9\u6837 \u5b83\u4eec \u7684 \u4f4d\u7f6e \u5c31 \u4f1a \u76f8\u5e94 \u6539\u53d8 \u3002 \u8fd9 \u5bf9\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7279\u522b \u6709\u7528 \u3002   carla . World . spawn _ actor   \u4e2d \u7684 \u7247\u6bb5 \u663e\u793a \u4e86 \u4e00\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u751f\u6210 \u65f6 \u8fde\u63a5 \u5230 \u6c7d\u8f66 \u4e0a \u3002 \u8bf7 \u6ce8\u610f \uff0c \u9644\u4ef6 \u7c7b\u578b \u5728 \u7c7b \u4e2d \u58f0\u660e \u4e3a \u679a\u4e3e \u3002","title":"carla . AttachmentType"},{"location":"python_api/#_22","text":"Rigid   \u901a\u8fc7 \u6b64 \u56fa\u5b9a \u9644\u4ef6 \uff0c \u5bf9\u8c61 \u4e25\u683c \u9075\u5faa \u5176\u7236 \u4f4d\u7f6e \u3002 \u8fd9\u662f \u63a8\u8350 \u7684 \u9644\u4ef6 \uff0c \u7528\u4e8e \u4ece \u4eff\u771f \u4e2d \u68c0\u7d22 \u7cbe\u786e \u6570\u636e \u3002   SpringArm   \u4e00\u79cd \u9644\u4ef6 \uff0c \u53ef \u6839\u636e \u5176\u7236 \u7ea7 \u6269\u5c55 \u6216 \u7f29\u56de \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u3002 \u4ec5 \u5efa\u8bae \u5728 \u9700\u8981 \u5e73\u6ed1 \u8fd0\u52a8 \u7684 \u4eff\u771f \u4e2d \u5f55\u5236 \u89c6\u9891 \u65f6 \u4f7f\u7528 \u6b64 \u9644\u4ef6 \u3002 SpringArms   \u662f \u4e00\u4e2a \u865a\u5e7b \u5f15\u64ce \u7ec4\u4ef6 \uff0c \u56e0\u6b64   check   the   UE   \u6587\u6863   \u4ee5 \u4e86\u89e3 \u6709\u5173 \u5b83\u4eec \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u8b66\u544a \uff1a   \u5f53 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 Z \u8f74\u4e0a \u4ea7\u751f \u76f8\u5bf9 \u5e73\u79fb \u65f6 \uff0c   SpringArm   \u9644\u4ef6 \u5448\u73b0 \u73b0\u51fa \u5448\u73b0\u51fa \u5947\u602a \u7684 \u884c\u4e3a \u3002 \uff08 \u6bd4\u5982 \uff1a   child _ location   =   Location ( 0 , 0 , 2 )   \uff09 \u3002   SpringArmGhost   \u4e00\u4e2a \u4e0e \u524d \u4e00\u4e2a \u7c7b\u4f3c \u7684 \u9644\u4ef6 \uff0c \u4f46 \u5b83 \u4e0d\u4f1a \u8fdb\u884c \u78b0\u649e \u6d4b\u8bd5 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u5b83 \u4e0d\u4f1a \u6269\u5c55 \u6216 \u6536\u7f29 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u3002   ghost   \u4e00\u8bcd \u56e0\u4e3a \u662f\u56e0\u4e3a \u8fd9\u6837 \u76f8\u673a \u5c31 \u53ef\u4ee5 \u7a7f\u8fc7 \u5899\u58c1 \u548c \u5176\u4ed6 \u51e0\u4f55 \u5f62\u72b6 \u3002 \u6b64 \u9644\u4ef6 \u4ec5 \u5efa\u8bae \u7528\u4e8e \u5f55\u5236 \u9700\u8981 \u5e73\u6ed1 \u79fb\u52a8 \u7684 \u4eff\u771f \u89c6\u9891 \u3002 SpringArms   \u662f \u4e00\u4e2a \u865a\u5e7b \u5f15\u64ce \u7ec4\u4ef6 \uff0c \u8bf7   \u67e5\u770b \u865a\u5e7b \u5f15\u64ce \u6587\u6863   \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u8b66\u544a \uff1a   \u5f53 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 Z \u8f74\u4e0a \u4ea7\u751f \u76f8\u5bf9 \u5e73\u79fb \u65f6 \uff0c   SpringArm   \u9644\u4ef6 \u4f1a \u51fa\u73b0 \u5947\u602a \u7684 \u884c\u4e3a \uff08 \u6bd4\u5982   child _ location   =   Location ( 0 , 0 , 2 )   \uff09 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlablueprintlibrary","text":"\u5305\u542b \u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u751f\u6210 \u63d0\u4f9b \u7684 \u84dd\u56fe \u7684 \u7c7b \u3002 \u5b83 \u7684 \u4e3b\u8981 \u5e94\u7528 \u662f \u8fd4\u56de \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240 \u9700 \u7684   carla . ActorBlueprint   \u5bf9\u8c61 \u3002 \u6bcf\u4e2a \u84dd\u56fe \u90fd \u6709 \u4e00\u4e2a \u6807\u8bc6 \u6807\u8bc6\u7b26 \u548c \u5c5e\u6027 \uff0c \u8fd9\u4e9b \u5c5e\u6027 \u53ef\u80fd \u662f \u53ef \u4fee\u6539 \u7684 \uff0c \u4e5f \u53ef\u80fd \u662f \u4e0d\u53ef \u4fee\u6539 \u7684 \u3002 \u8be5\u5e93 \u7531 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u81ea\u52a8 \u521b\u5efa \uff0c \u53ef\u4ee5 \u901a\u8fc7   carla . World   \u8bbf\u95ee \u3002   \u8fd9   \u662f \u5305\u542b \u6bcf\u4e2a \u53ef\u7528 \u84dd\u56fe \u53ca\u5176 \u7ec6\u8282 \u7684 \u53c2\u8003 \u3002","title":"carla . BlueprintLibrary"},{"location":"python_api/#_23","text":"filter   (   self   ,   wildcard _ pattern   )   \u6839\u636e \u6b64\u5e93 \u4e2d \u5305\u542b \u7684 \u6bcf\u4e2a \u84dd\u56fe \u7684 id \u548c \u6807\u8bb0 \u8fc7\u6ee4 \u4e0e \u901a\u914d\u7b26 \u6a21\u5f0f   wildcard _ pattern   \u5339\u914d \u7684 \u84dd\u56fe \u5217\u8868 \uff0c \u5e76 \u5c06 \u7ed3\u679c \u4f5c\u4e3a \u65b0 \u7684 \u7ed3\u679c \u8fd4\u56de \u3002 \u5339\u914d \u9075\u5faa   fnmatch   \u6807\u51c6 \u3002   \u53c2\u6570 \uff1a   wildcard _ pattern   (   str   )   \u8fd4\u56de \uff1a   carla . BlueprintLibrary   filter _ by _ attribute   (   self   ,   name   ,   value   )   \u6839\u636e \u6b64\u5e93 \u4e2d \u5305\u542b \u7684 \u6bcf\u4e2a \u84dd\u56fe \uff0c \u7b5b\u9009 \u5177\u6709 \u4e0e\u503c   value   \u5339\u914d \u7684 \u7ed9\u5b9a \u5c5e\u6027 \u7684 \u84dd\u56fe \u5217\u8868 \uff0c \u5e76 \u5c06 \u7ed3\u679c \u4f5c\u4e3a \u65b0 \u7684 \u7ed3\u679c \u8fd4\u56de \u3002 \u5339\u914d \u9075\u5faa   fnmatch   \u6807\u51c6 \u3002   \u53c2\u6570 \uff1a   name   (   str   )   value   (   str   )   \u8fd4\u56de \uff1a   carla . BlueprintLibrary   find   (   self   ,   id   )   \u8fd4\u56de \u4e0e \u8be5 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u5bf9\u5e94 \u7684 \u84dd\u56fe \u3002   \u53c2\u6570 \uff1a   id   (   str   )   \u8fd4\u56de \uff1a   carla . ActorBlueprint","title":"\u65b9\u6cd5"},{"location":"python_api/#dunder_2","text":"__ getitem __   (   self   ,   pos   = int   )   \u8fd4\u56de \u5b58\u50a8 \u5728 \u5305\u542b \u84dd\u56fe \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u5185   pos   \u4f4d\u7f6e \u7684 \u84dd\u56fe \u3002   \u8fd4\u56de :   carla . ActorBlueprint   __ iter __   (   self   )   \u5728 \u5b58\u50a8 \u5e93   carla . ActorBlueprint   \u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   \u8fd4\u56de \u6784\u6210 \u5e93 \u7684 \u84dd\u56fe \u6570\u91cf \u3002   \u8fd4\u56de \uff1a   int   __ str __   (   self   )   \u89e3\u6790 \u8981 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5316 \u7684 \u6bcf\u4e2a \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   \u8fd4\u56de \uff1a   string","title":"Dunder   \u65b9\u6cd5"},{"location":"python_api/#carlaboundingbox","text":"\u8fb9\u754c \u6846 \u5305\u542b \u573a\u666f \u4e2d \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5143\u7d20 \u7684 \u51e0\u4f55 \u51e0\u4f55\u4f53 \u3002 \u5b83\u4eec \u53ef\u4ee5 \u88ab   carla . DebugHelper   \u6216   carla . Client   \u7528\u4e8e \u7ed8\u5236 \u5b83\u4eec \u7684 \u5f62\u72b6 \u4ee5 \u8fdb\u884c \u8c03\u8bd5 \u3002 \u770b\u770b   carla . DebugHelper . draw _ box   \uff0c \u5176\u4e2d \u4f7f\u7528 \u4e16\u754c \u5feb\u7167 \u7ed8\u5236 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u8fb9\u754c \u6846 \u3002","title":"carla . BoundingBox"},{"location":"python_api/#_24","text":"extent   (   carla . Vector3D   -   \u7c73   )   \u4ece \u957f\u65b9 \u957f\u65b9\u4f53 \u4e2d\u5fc3 \u5230 \u4e00\u4e2a \u9876\u70b9 \u7684 \u77e2\u91cf \u3002 \u6bcf\u4e2a \u8f74\u4e2d \u7684 \u503c \u7b49\u4e8e \u8be5\u8f74\u6846 \u5927\u5c0f \u7684 \u4e00\u534a \u3002   extent . x   *   2   \u5c06 \u8fd4\u56de \u6846\u5728 x \u8f74\u4e0a \u7684 \u5927\u5c0f \u3002   location   (   carla . Location   -   \u7c73   )   \u8fb9\u754c \u6846 \u7684 \u4e2d\u5fc3 \u3002   rotation   (   carla . Rotation   )   \u8fb9\u754c \u6846 \u7684 \u671d\u5411 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_25","text":"__ init __   (   self   ,   location   ,   extent   )   \u53c2\u6570 \uff1a   location   (   carla . Location   )   -   \u76f8\u5bf9 \u4e8e \u5176\u7236 \u6846 \u7684 \u4e2d\u5fc3 \u3002   extent   (   carla . Vector3D   -   \u7c73   )   -   \u5305\u542b \u6bcf\u4e2a \u8f74 \u7684 \u957f\u65b9 \u957f\u65b9\u4f53 \u5927\u5c0f \u7684 \u4e00\u534a \u7684 \u77e2\u91cf \u3002   contains   (   self   ,   world _ point   ,   transform   )   \u5982\u679c \u5728 \u4e16\u754c \u7a7a\u95f4 \u4e2d \u4f20\u9012 \u7684 \u70b9 \u5728 \u6b64 \u8fb9\u754c \u6846\u5185 \uff0c \u5219 \u8fd4\u56de   True   \u3002   Parameters :   world _ point   (   carla . Location   -   \u7c73   )   -   \u8981 \u68c0\u67e5 \u7684 \u4e16\u754c \u7a7a\u95f4 \u4e2d \u7684 \u70b9 \u3002   transform   (   carla . Transform   )   -   \u5305\u542b \u5c06 \u6b64 \u5bf9\u8c61 \u7684 \u5c40\u90e8 \u7a7a\u95f4 \u8f6c\u6362 \u4e3a \u4e16\u754c \u7a7a\u95f4 \u6240 \u9700 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   \u8fd4\u56de \uff1a   bool","title":"\u65b9\u6cd5"},{"location":"python_api/#_26","text":"get _ local _ vertices   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u8be5 \u5bf9\u8c61 \u7684 \u9876\u70b9 \u5728 \u5c40\u90e8 \u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u3002   \u8fd4\u56de \uff1a   list (   carla . Location   )   get _ world _ vertices   (   self   ,   transform   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u8be5 \u5bf9\u8c61 \u7684 \u9876\u70b9 \u5728 \u4e16\u754c \u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u3002   \u53c2\u6570 \uff1a   transform   (   carla . Transform   )   -   \u5305\u542b \u5c06 \u6b64 \u5bf9\u8c61 \u7684 \u672c\u5730 \u7a7a\u95f4 \u8f6c\u6362 \u4e3a \u4e16\u754c \u7a7a\u95f4 \u6240 \u9700 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   \u8fd4\u56de \uff1a   list (   carla . Location   )","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#dunder_3","text":"__ eq __   (   self   ,   other   =   carla . BoundingBox   )   \u5982\u679c \u6b64 \u548c \u53e6 \u4e00\u4e2a   other   \u7684 \u4f4d\u7f6e \u548c \u8303\u56f4 \u76f8\u7b49 \uff0c \u5219 \u8fd4\u56de true \u3002   \u8fd4\u56de \uff1a   bool   __ ne __   (   self   ,   other   =   carla . BoundingBox   )   \u5982\u679c \u6b64 \u548c \u5176\u4ed6   other   \u7684 \u4f4d\u7f6e \u6216 \u8303\u56f4 \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de true \u3002   \u8fd4\u56de \uff1a   bool   __ str __   (   self   )   \u5c06 \u8fb9\u754c \u6846 \u7684 \u4f4d\u7f6e \u548c \u8303\u56f4 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   \u8fd4\u56de \uff1a   str","title":"Dunder   \u65b9\u6cd5"},{"location":"python_api/#_27","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlacamevent","text":"\u7ee7\u627f \u81ea   carla . SensorData   \u5b9a\u4e49   sensor . other . v2x   \u63d0\u4f9b \u7684 \u6570\u636e \u7684 \u7c7b \u3002 \u8fd9\u662f \u4e00\u79cd \u96c6\u5408 \u7c7b\u578b \uff0c \u7528\u4e8e \u7ec4\u5408 \u8fd4\u56de \u591a\u4e2a   CAMData   \u3002","title":"carla . CAMEvent"},{"location":"python_api/#_28","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_29","text":"get _ message _ count   (   self   )   \u83b7\u53d6 \u63a5\u53d7 \u5230 \u7684   CAM   \u6570\u91cf \u3002   \u8fd4\u56de \uff1a   int","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#_30","text":"__ get _ item __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728 \u83b7\u53d6 \u5230 \u7684   CAMData   \u6570\u636e \u4e0a \u8fed\u4ee3 \u3002   __ len __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlacityobjectlabel","text":"\u5305\u542b \u53ef \u7528\u4e8e \u8fc7\u6ee4   carla . World . get _ level _ bbs   ( )   \u8fd4\u56de \u7684 \u8fb9\u754c \u6846 \u7684 \u4e0d\u540c \u6807\u7b7e \u7684 \u679a\u4e3e \u58f0\u660e \u3002 \u8fd9\u4e9b \u503c \u5bf9\u5e94 \u4e8e \u573a\u666f \u4e2d \u5143\u7d20 \u6240 \u5177\u6709 \u7684   \u8bed\u4e49 \u6807\u7b7e   \u3002","title":"carla . CityObjectLabel"},{"location":"python_api/#_31","text":"None   Buildings   Fences   Other   Pedestrians   Poles   RoadLines   Roads   Sidewalks   TrafficSigns   Vegetation   Vehicles   Walls   Sky   Ground   Bridge   RailTrack   GuardRail   TrafficLight   Static   Dynamic   Water   Terrain   Any","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlaclient","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06   Carla   \u8fde\u63a5 \u5230 \u8fd0\u884c \u4eff\u771f \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u90fd \u5305\u542b   Carla   \u5e93   ( libcarla ) \uff0c \u4f46 \u5b58\u5728 \u4e00\u4e9b \u5dee\u5f02 \uff0c \u5141\u8bb8 \u5b83\u4eec \u4e4b\u95f4 \u8fdb\u884c \u901a\u4fe1 \u3002 \u53ef\u4ee5 \u521b\u5efa \u8bb8\u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u6bcf\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u90fd \u4f1a \u8fde\u63a5 \u5230 \u4eff\u771f \u5185 \u7684   RPC   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4ee5 \u53d1\u9001 \u547d\u4ee4 \u3002 \u4eff\u771f \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u8fd0\u884c \u3002 \u4e00\u65e6 \u5efa\u7acb \u8fde\u63a5 \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06 \u4ec5 \u63a5\u6536 \u4ece \u4eff\u771f \u68c0\u7d22 \u7684 \u6570\u636e \u3002 \u884c\u4eba \u662f \u4f8b\u5916 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8d1f\u8d23 \u7ba1\u7406 \u8d1f\u8d23\u7ba1\u7406 \u884c\u4eba \uff0c \u56e0\u6b64 \uff0c \u5982\u679c \u60a8 \u4e0e \u591a\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e00\u8d77 \u8fd0\u884c \u4eff\u771f \uff0c \u53ef\u80fd \u4f1a \u51fa\u73b0 \u4e00\u4e9b \u95ee\u9898 \u3002 \u4f8b\u5982 \uff0c \u5982\u679c \u60a8 \u901a\u8fc7 \u4e0d\u540c \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u751f\u6210 \u884c\u4eba \uff0c \u5219 \u53ef\u80fd \u4f1a \u53d1\u751f \u51b2\u7a81 \u53d1\u751f\u51b2\u7a81 \uff0c \u56e0\u4e3a \u6bcf\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ea \u77e5\u9053 \u5b83 \u8d1f\u8d23 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd8 \u5177\u6709 \u8bb0\u5f55 \u529f\u80fd \uff0c \u53ef\u4ee5 \u5728 \u8fd0\u884c \u4eff\u771f \u65f6 \u4fdd\u5b58 \u4eff\u771f \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u8fd9 \u4f7f\u5f97 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53ef\u4ee5 \u968f\u610f \u91cd\u653e \u91cd\u653e\u4ee5 \u83b7\u53d6 \u53d6\u4fe1 \u4fe1\u606f \u83b7\u53d6\u4fe1\u606f \u5e76 \u8fdb\u884c \u5b9e\u9a8c \u3002   \u4ee5\u4e0b   \u662f \u6709\u5173 \u5982\u4f55 \u4f7f\u7528 \u6b64 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u7684 \u4e00\u4e9b \u4fe1\u606f \u3002","title":"carla . Client"},{"location":"python_api/#_32","text":"__ init __   (   self   ,   host   = 127.0 . 0.1   ,   port   = 2000   ,   worker _ threads   = 0   )   snippet   \u2192   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6784\u9020 \u5668 \u3002   \u53c2\u6570 \uff1a   host   (   str   )   -   \u8fd0\u884c Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5b9e\u4f8b \u7684 \u5730\u5740 IP\u5730\u5740 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a localhost \uff08 127.0 . 0.1 \uff09 \u3002   port   (   int   )   -   \u8fd0\u884c Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5b9e\u4f8b \u7684 TCP \u7aef\u53e3 \u3002 \u9ed8\u8ba4 \u4e3a   2000   \u548c \u968f\u540e \u7684 2001   \u3002   worker _ threads   (   int   )   -   \u7528\u4e8e \u540e\u53f0 \u66f4\u65b0 \u7684 \u5de5\u4f5c \u7ebf\u7a0b \u6570 \u3002 \u5982\u679c \u4e3a   0 \uff0c \u5219 \u4f7f\u7528 \u6240\u6709 \u53ef\u7528 \u7684 \u5e76\u53d1 \u6027 \u3002   apply _ batch   (   self   ,   commands   )   \u5728 \u5355\u4e2a \u4eff\u771f \u6b65\u4e0a \u6267\u884c \u547d\u4ee4 \u6267\u884c\u547d\u4ee4 \u5217\u8868 \uff0c \u4e0d \u68c0\u7d22 \u4efb\u4f55 \u4fe1\u606f \u3002 \u5982\u679c \u9700\u8981 \u6709\u5173 \u6bcf\u4e2a \u547d\u4ee4 \u7684 \u54cd\u5e94 \u7684 \u4fe1\u606f \uff0c \u8bf7 \u4f7f\u7528   apply _ batch _ sync ( )   \u65b9\u6cd5 \u3002   \u4e0b\u9762   \u662f \u4e00\u4e2a \u5173\u4e8e \u5982\u4f55 \u5220\u9664   Carla   \u4e2d \u51fa\u73b0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u793a\u4f8b \u3002 \u4e00\u6b21 \u5217\u51fa \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005   carla . ActorList   \u3002   \u53c2\u6570 \uff1a   commands   (   list   )   -   \u8981 \u6279\u91cf \u6267\u884c \u7684 \u547d\u4ee4 \u5217\u8868 \u3002 \u6bcf\u4e2a \u547d\u4ee4 \u90fd \u4e0d\u540c \uff0c \u5e76\u4e14 \u6709 \u81ea\u5df1 \u7684 \u53c2\u6570 \u3002 \u5b83\u4eec \u663e\u793a \u5728 \u6b64 \u9875\u9762 \u5e95\u90e8 \u5217\u51fa \u3002   apply _ batch _ sync   (   self   ,   commands   ,   due _ tick _ cue   = False   )   snippet   \u2192   \u5728 \u5355\u4e2a \u4eff\u771f \u6b65\u4e0a \u6267\u884c \u547d\u4ee4 \u6267\u884c\u547d\u4ee4 \u5217\u8868 \uff0c \u963b\u6b62 \u76f4\u5230 \u547d\u4ee4 \u94fe\u63a5 \uff0c \u5e76 \u8fd4\u56de   command . Response   \u5217\u8868 \u3002 \u53ef \u7528\u4e8e \u786e\u5b9a \u5355\u4e2a \u547d\u4ee4 \u662f\u5426 \u6210\u529f \u7684 \u54cd\u5e94 \u3002   \u4e0b\u9762   \u662f \u4e00\u4e2a \u7528\u6765 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f8b\u5b50 \u3002   \u53c2\u6570 \uff1a   commands   (   list   )   -   \u8981 \u6279\u91cf \u6267\u884c \u7684 \u547d\u4ee4 \u5217\u8868 \u3002 \u53ef\u7528 \u7684 \u547d\u4ee4 \u5217 \u5728 \u65b9\u6cd5   apply _ batch ( )   \u7684 \u6b63\u4e0a \u4e0a\u65b9 \u6b63\u4e0a\u65b9 \u3002   due _ tick _ cue   (   bool   )   -   \u4e00\u4e2a \u5e03\u5c14 \u53c2\u6570 \uff0c \u7528\u4e8e \u6307\u5b9a \u662f\u5426 \u6267\u884c   Carla \u3002 \u5728   \u540c\u6b65 \u6a21\u5f0f   \u4e0b \u5e94\u7528 \u5904\u7406 \u6279\u5904\u7406 \u540e \u8fdb\u884c   carla . World . tick   \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u4e3a   False   \u3002   \u8fd4\u56de \uff1a   list ( command . Response )   generate _ opendrive _ world   (   self   ,   opendrive   ,   parameters   = ( 2.0 ,   50.0 ,   1.0 ,   0.6 ,   true ,   true )   ,   reset _ settings   = True   )   \u4f7f\u7528 \u4ece OpenDRIVE \u6587\u4ef6 \u7684 \u5185\u5bb9 \u751f\u6210 \u7684 \u57fa\u672c \u4e09\u7ef4 \u62d3\u6251 \u52a0\u8f7d \u4e16\u754c \u65b0\u4e16\u754c \u3002 \u6b64 \u5185\u5bb9 \u4f5c\u4e3a   string   \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u3002 \u5b83 \u7c7b\u4f3c \u4e8e   client . load _ world ( map _ name )   \uff0c \u4f46 \u5141\u8bb8 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 OpenDRIVE \u6620\u5c04 \u3002 \u6c7d\u8f66 \u53ef\u4ee5 \u5728 \u5730\u56fe \u4e0a \u884c\u9a76 \uff0c \u4f46 \u9664\u4e86 \u9053\u8def \u548c \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u4e4b\u5916 \uff0c \u6ca1\u6709 \u4efb\u4f55 \u56fe\u5f62 \u3002   \u53c2\u6570 \uff1a   opendrive   (   str   )   -   OpenDRIVE \u6587\u4ef6 \u7684 \u5185\u5bb9 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32   string   \uff0c   \u800c \u4e0d\u662f   . xodr   \u7684 \u8def\u5f84   \u3002   parameters   (   carla . OpendriveGenerationParameters   )   -   \u7f51\u683c \u751f\u6210 \u7684 \u5176\u4ed6 \u8bbe\u7f6e \u3002 \u5982\u679c \u6ca1\u6709 \u63d0\u4f9b \uff0c \u5c06 \u4f7f\u7528 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002   reset _ settings   (   bool   )   -   \u9009\u9879 \u53ef \u5c06 \u5267\u96c6 \u8bbe\u7f6e \u91cd\u7f6e \u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff0c \u8bbe\u7f6e \u4e3a false   \u53ef \u4fdd\u7559 \u5f53\u524d \u8bbe\u7f6e \u3002 \u8fd9 \u5bf9\u4e8e \u5728 \u66f4\u6539 \u6620\u5c04 \u65f6 \u4fdd\u6301 \u540c\u6b65 \u6a21\u5f0f \u548c \u4fdd\u6301 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u573a\u666f \u975e\u5e38 \u6709\u7528 \u3002   load _ world   (   self   ,   map _ name   ,   reset _ settings   = True   ,   map _ layers   =   carla . MapLayer . All   )   \u4f7f\u7528   map _ name   \u4f7f\u7528 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u521b\u5efa \u4e16\u754c \u65b0\u4e16\u754c \u3002 \u5f53\u4eca \u4eca\u4e16 \u4e16\u754c \u5f53\u4eca\u4e16\u754c \u7684 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u5c06 \u88ab \u6467\u6bc1 \u3002   \u53c2\u6570 \uff1a   map _ name   (   str   )   -   \u8981 \u5728 \u8fd9\u4e2a \u4e16\u754c \u4e0a \u4f7f\u7528 \u7684 \u5730\u56fe \u7684 \u540d\u79f0 \u3002 \u63a5\u53d7 \u5b8c\u6574 \u8def\u5f84 \u548c \u5730\u56fe \u540d\u79f0 \uff0c \u4f8b\u5982 \u201c / Game / Calla / Maps / Town01 \u201d \u6216 \u201c Town01 \u201d \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u8fd9\u4e9b \u8def\u5f84 \u662f \u52a8\u6001 \u7684 \u3002   reset _ settings   (   bool   )   -   \u9009\u9879 \u53ef \u5c06 \u60c5\u8282 \u8bbe\u7f6e \u91cd\u7f6e \u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff0c \u8bbe\u7f6e \u4e3a false \u53ef \u4fdd\u7559 \u5f53\u524d \u8bbe\u7f6e \u3002 \u8fd9 \u5bf9\u4e8e \u5728 \u66f4\u6539 \u6620\u5c04 \u65f6 \u4fdd\u6301 \u540c\u6b65 \u6a21\u5f0f \u548c \u4fdd\u6301 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u573a\u666f \u975e\u5e38 \u6709\u7528 \u3002   map _ layers   (   carla . MapLayer   )   -   \u5c06 \u52a0\u8f7d \u7684 \u5730\u56fe \u7684 \u56fe\u5c42 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5c06 \u52a0\u8f7d \u6240\u6709 \u56fe\u5c42 \u3002 \u53c2\u6570 \u6b64\u53c2\u6570 \u7684 \u4f5c\u7528 \u7c7b\u4f3c \u4e8e \u6807\u5fd7 \u63a9\u7801 \u3002   \u8b66\u544a \uff1a   map _ layers   \u4ec5 \u5bf9 \" Opt \" \u5730\u56fe \u53ef\u7528 \u3002   reload _ world   (   self   ,   reset _ settings   = True   )   \u91cd\u65b0 \u52a0\u8f7d \u5f53\u524d \u4e16\u754c \uff0c \u8bf7 \u6ce8\u610f \uff0c \u5c06 \u4f7f\u7528 \u540c\u4e00 \u5730\u56fe \u4f7f\u7528 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u521b\u5efa \u4e00\u4e2a \u4e16\u754c \u65b0\u4e16\u754c \u3002 \u4e16\u754c \u4e0a \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u5c06 \u88ab \u9500\u6bc1 \uff0c   \u4f46   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u5c06 \u7ee7\u7eed \u5b58\u5728 \u3002   \u53c2\u6570 \uff1a   reset _ settings   (   bool   )   -   \u9009\u9879 \u53ef \u5c06 \u60c5\u8282 \u8bbe\u7f6e \u91cd\u7f6e \u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff0c \u8bbe\u7f6e \u4e3a false \u53ef \u4fdd\u7559 \u5f53\u524d \u8bbe\u7f6e \u3002 \u8fd9 \u5bf9\u4e8e \u5728 \u66f4\u6539 \u6620\u5c04 \u65f6 \u4fdd\u6301 \u540c\u6b65 \u6a21\u5f0f \u548c \u4fdd\u6301 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u573a\u666f \u975e\u5e38 \u6709\u7528 \u3002   Raises :   \u5bf9\u5e94 \u7684 \u8fd0\u884c \u65f6 \u9519\u8bef   RuntimeError \u3002   replay _ file   (   self   ,   name   ,   start   ,   duration   ,   follow _ id   ,   replay _ sensors   )   \u4f7f\u7528   map _ name   \u52a0\u8f7d \u5177\u6709 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u7684 \u4e16\u754c \u65b0\u4e16\u754c \u3002 \u5f53\u524d \u4e16\u754c \u4e2d \u7684 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u5c06 \u88ab \u9500\u6bc1 \uff0c   \u4f46   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u5c06 \u7ee7\u7eed \u5b58\u5728 \u3002   \u53c2\u6570 \uff1a   name   (   str   )   -   \u5305\u542b \u4eff\u771f \u4fe1\u606f \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u3002   start   (   float   -   seconds   )   -   \u5f00\u59cb \u64ad\u653e \u4eff\u771f \u7684 \u65f6\u95f4 \u3002 \u8d1f\u6570 \u8868\u793a \u4ece \u7ed3\u5c3e \u5f00\u59cb \u8bfb\u53d6 \uff0c \u5728 \u5f55\u5236 \u7ed3\u675f \u524d 10 \u79d2 \u4e3a - 10 \u3002   duration   (   float   -   seconds   )   -   \u5c06 \u4f7f\u7528 \u4fe1\u606f   name   \u6587\u4ef6 \u91cd\u65b0 \u6267\u884c \u7684 \u65f6\u95f4 \u3002 \u5982\u679c \u5230\u8fbe \u7ec8\u70b9 \uff0c \u4eff\u771f \u5c06 \u7ee7\u7eed \u3002   follow _ id   (   int   )   -   \u8981 \u8ddf\u968f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002 \u5982\u679c \u6b64\u503c \u4e3a 0 \uff0c \u5219 \u7981\u7528 \u76f8\u673a \u3002   replay _ sensors   (   bool   )   -   \u7528\u4e8e \u5728 \u64ad\u653e \u671f\u95f4 \u542f\u7528 \u6216 \u7981\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u751f\u6210 \u7684 \u6807\u5fd7 \u3002   request _ file   (   self   ,   name   )   \u7531   carla . Client . get _ required _ files   \u8fd4\u56de \u9700\u8981 \u6587\u4ef6 \u7684 \u4e00\u4e2a \u8bf7\u6c42 \u3002   \u53c2\u6570 \uff1a   name   (   str   )   -   \u60a8 \u8bf7\u6c42 \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u3002   show _ recorder _ actors _ blocked   (   self   ,   filename   ,   min _ time   ,   min _ distance   )   \u7ec8\u7aef \u5c06 \u663e\u793a \u88ab \u89c6\u4e3a \u88ab \u5c4f\u853d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6ce8\u518c \u4fe1\u606f \u3002 \u5f53 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u5185 \u6ca1\u6709 \u79fb\u52a8 \u6700\u5c0f \u8ddd\u79bb \u65f6 \uff0c \u5373   min _ distance   \u548c   min _ time   \uff0c \u5219 \u89c6\u4e3a \u88ab \u963b\u6321 \u3002   \u53c2\u6570 \uff1a   filename   (   str   )   -   \u8981 \u52a0\u8f7d \u7684 \u5f55\u5236 \u6587\u4ef6 \u7684 \u540d\u79f0 \u3002   min _ time   (   float   -   seconds   )   -   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u88ab \u8ba4\u4e3a \u88ab \u963b\u6321 \u4e4b\u524d \u5fc5\u987b \u79fb\u52a8 \u6700 \u77ed\u8ddd \u8ddd\u79bb \u77ed\u8ddd\u79bb \u7684 \u6700 \u77ed\u65f6 \u65f6\u95f4 \u77ed\u65f6\u95f4 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a 60 \u79d2 \u3002   min _ distance   (   float   -   centimeters   )   -   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5fc5\u987b \u79fb\u52a8 \u7684 \u6700\u5c0f \u8ddd\u79bb \u624d\u80fd \u4e0d \u88ab \u89c6\u4e3a \u88ab \u963b\u6321 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a 100 \u5398\u7c73 \u3002   \u8fd4\u56de \uff1a   string   show _ recorder _ collisions   (   self   ,   filename   ,   category1   ,   category2   )   \u7ec8\u7aef \u5c06 \u663e\u793a \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8bb0\u5f55 \u7684 \u78b0\u649e \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u6307\u5b9a \u6240 \u6d89\u53ca \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7c7b\u578b \u6765 \u8fc7\u6ee4 \u8fd9\u4e9b \u5185\u5bb9 \u3002 \u7c7b\u522b \u5c06 \u5728   category1   \u548c   category1   \u4e2d \u6307\u5b9a \u5982\u4e0b \uff1a \u201c h \u201d = \u82f1\u96c4 \uff0c \u4e00\u79cd \u53ef\u4ee5 \u624b\u52a8 \u63a7\u5236 \u6216 \u7531 \u7528\u6237 \u7ba1\u7406 \u7684 \u8f66\u8f86 \u3002 \u201d v ' = \u8f66\u8f86 ' w ' = \u884c\u4eba ' t ' = \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f ' o ' = \u5176\u4ed6 ' a ' = \u4efb\u4f55 \u5982\u679c \u60a8 \u53ea \u60f3 \u770b\u5230 \u8f66\u8f86 \u548c \u6b65\u884c \u884c\u8005 \u6b65\u884c\u8005 \u4e4b\u95f4 \u7684 \u78b0\u649e \uff0c \u8bf7 \u5c06   category1   \u7528\u4f5c ' v ' \uff0c \u5c06   category2   \u7528\u4f5c ' w ' \uff0c \u53cd\u4e4b \u4ea6\u7136 \u53cd\u4e4b\u4ea6\u7136 \u3002 \u5982\u679c \u8981 \u67e5\u770b \u6240\u6709 \u78b0\u649e \uff08 \u8fc7\u6ee4 \u6389 \uff09 \uff0c \u53ef\u4ee5 \u5bf9 \u4e24\u4e2a \u53c2\u6570 \u90fd \u4f7f\u7528 \u201c a \u201d \u3002   \u53c2\u6570 \uff1a   filename   (   str   )   -   \u8bb0\u5f55 \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u6216 \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4e4b\u524d \u7684 \u9009\u62e9 \u3002   category1   (   single   char   )   -   \u6307\u5b9a \u51b2\u7a81 \u4e2d \u6d89\u53ca \u7684 \u7b2c\u4e00 \u4e00\u7c7b \u7b2c\u4e00\u7c7b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5b57\u7b26 \u53d8\u91cf \u3002   category2   (   single   char   )   -   \u6307\u5b9a \u51b2\u7a81 \u4e2d \u6d89\u53ca \u7684 \u7b2c\u4e8c \u4e8c\u7c7b \u7b2c\u4e8c\u7c7b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5b57\u7b26 \u53d8\u91cf \u3002   \u8fd4\u56de \uff1a   string   show _ recorder _ file _ info   (   self   ,   filename   ,   show _ all   )   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u4fdd\u5b58 \u7684 \u4fe1\u606f \u5c06 \u88ab \u89e3\u6790 \u5e76 \u4ee5 \u6587\u672c \u5f62\u5f0f \u663e\u793a \u5728 \u60a8 \u7684 \u7ec8\u7aef \u4e2d \uff08 \u5e27 \u3001 \u65f6\u95f4 \u3001 \u4e8b\u4ef6 \u3001 \u72b6\u6001 \u3001 \u4f4d\u7f6e \u2026 \uff09 \u3002 \u53ef\u4ee5 \u4f7f\u7528   show _ all   \u53c2\u6570 \u6307\u5b9a \u663e\u793a \u7684 \u4fe1\u606f \u3002   \u4ee5\u4e0b   \u662f \u6709\u5173 \u5982\u4f55 \u8bfb\u53d6 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u53c2\u6570 \uff1a   filename   (   str   )   -   \u8bb0\u5f55 \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u6216 \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4e4b\u524d \u7684 \u9009\u62e9 \u3002   show _ all   (   bool   )   -   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u8fd4\u56de \u4e3a \u6bcf \u5e27 \u5b58\u50a8 \u7684 \u6240\u6709 \u4fe1\u606f \uff08 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u72b6\u6001 \u3001 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u3001 \u65b9\u5411 \u548c \u52a8\u753b \u6570\u636e \u2026 \uff09 \u3002 \u5982\u679c \u4e3a   False   \uff0c \u5219 \u8fd4\u56de \u5173\u952e \u4e8b\u4ef6 \u548c \u5e27 \u7684 \u6458\u8981 \u3002   \u8fd4\u56de \uff1a   string   start _ recorder   (   self   ,   filename   ,   additional _ data   = False   )   \u542f\u7528 \u5f55\u5236 \u529f\u80fd \uff0c \u8be5 \u529f\u80fd \u5c06 \u5f00\u59cb \u4fdd\u5b58 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u91cd\u64ad \u4eff\u771f \u6240 \u9700 \u7684 \u6240\u6709 \u4fe1\u606f \u3002   \u53c2\u6570 \uff1a   filename   (   str   )   -   \u7528\u4e8e \u5199\u5165 \u8bb0\u5f55 \u6570\u636e \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u3002 \u4e00\u4e2a \u7b80\u5355 \u7684 \u540d\u79f0 \u4f1a \u5c06 \u5f55\u5236 \u4fdd\u5b58 \u5728 \u201c CarlaUE4 / Saved / recording . log \u201d \u4e2d \u3002 \u5426\u5219 \uff0c \u5982\u679c \u540d\u79f0 \u4e2d \u51fa\u73b0 \u67d0\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5219 \u4f1a \u5c06 \u5176 \u89c6\u4e3a \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002   additional _ data   (   bool   )   -   \u542f\u7528 \u6216 \u7981\u7528 \u8bb0\u5f55 \u7528\u4e8e \u518d\u73b0 \u4eff\u771f \u7684 \u5fc5\u8981 \u975e\u5fc5\u8981 \u6570\u636e \uff08 \u8fb9\u754c \u6846 \u4f4d\u7f6e \u3001 \u7269\u7406 \u63a7\u5236 \u53c2\u6570 \u63a7\u5236\u53c2\u6570 \u7b49 \uff09 \u3002   stop _ recorder   (   self   )   \u505c\u6b62 \u6b63\u5728 \u8fdb\u884c \u7684 \u5f55\u5236 \u3002 \u5982\u679c \u60a8 \u5728 \u6587\u4ef6 \u6587\u4ef6\u540d \u4e2d \u6307\u5b9a \u4e86 \u4e00\u4e2a \u8def\u5f84 \uff0c \u5219 \u5f55\u5236 \u6587\u4ef6 \u5c06 \u5728 \u90a3\u91cc \u3002 \u5982\u679c \u6ca1\u6709 \uff0c \u8bf7 \u67e5\u770b   CarlaUE4 / Saved /   \u5185\u90e8 \u3002   stop _ replayer   (   self   ,   keep _ actors   )   \u505c\u6b62 \u5f53\u524d \u91cd\u64ad \u3002   \u53c2\u6570 \uff1a   keep _ actors   (   bool   )   -   \u5982\u679c \u4f60 \u60f3 \u81ea\u52a8 \u5220\u9664 \u91cd\u64ad \u4e2d \u7684 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5219 \u4e3a   True \uff0c \u5982\u679c \u4f60 \u60f3 \u4fdd\u7559 \u4ed6\u4eec \uff0c \u5219 \u4e3a   False \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_33","text":"get _ available _ maps   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0a \u53ef\u7528 \u6620\u5c04 \u7684 \u8def\u5f84 \u3002 \u8fd9\u4e9b \u8def\u5f84 \u662f \u52a8\u6001 \u7684 \uff0c \u5b83\u4eec \u5c06 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u521b\u5efa \uff0c \u56e0\u6b64 \u5728 \u6587\u4ef6 \u4e2d \u67e5\u627e \u65f6 \u627e \u4e0d\u5230 \u5b83\u4eec \u3002 \u6b64 \u65b9\u6cd5 \u53ef\u80fd \u7684 \u8fd4\u56de \u7ed3\u679c \u4e4b\u4e00 \u662f \uff1a   [ ' / Game / Carla / Maps / Town01 ' ,   ' / Game / Carla / Maps / Town02 ' ,   ' / Game / Carla / Maps / Town03 ' ,   ' / Game / Carla / Maps / Town04 ' ,   ' / Game / Carla / Maps / Town05 ' ,   ' / Game / Carla / Maps / Town06 ' ,   ' / Game / Carla / Maps / Town07 ' ] .   \u8fd4\u56de \uff1a   list ( str )   get _ client _ version   (   self   )   \u901a\u8fc7 \u5728 \u201c version . h \u201d \u6587\u4ef6 \u4e2d \u67e5\u9605 \u5ba2\u6237 \u5ba2\u6237\u7aef libcarla \u7248\u672c \uff0c \u8fd4\u56de \u8be5 \u7248\u672c \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u90fd \u53ef\u4ee5 \u4f7f\u7528 \u4e0d\u540c \u7684 libcarla \u7248\u672c \uff0c \u4f46 \u53ef\u80fd \u4f1a \u51fa\u73b0 \u4e00\u4e9b \u4e0e \u610f\u5916 \u4e0d \u517c\u5bb9 \u6709\u5173 \u7684 \u95ee\u9898 \u3002   \u8fd4\u56de \uff1a   str   get _ required _ files   (   self   ,   folder   ,   download   = True   )   \u8be2\u95ee \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef \u9700\u8981 \u54ea\u4e9b \u6587\u4ef6 \u624d\u80fd \u4f7f\u7528 \u5f53\u524d \u5730\u56fe \u3002 \u5982\u679c \u6587\u4ef6 \u4e0d \u5728 \u7f13\u5b58 \u4e2d \uff0c \u5219 \u81ea\u52a8 \u4e0b\u8f7d \u6587\u4ef6 \u3002   \u53c2\u6570 \uff1a   folder   (   str   )   -   \u6307\u5b9a \u8981 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5730\u56fe \u4e0a \u67e5\u770b \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u8be5 \u53c2\u6570 \u4e3a\u7a7a \u5c06 \u9012\u5f52 \u641c\u7d22 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e2d \u7684 \u6240\u6709 \u5730\u56fe \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5982\u679c \u60a8 \u4e0d \u719f\u6089 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5730\u56fe \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784 \uff0c \u5efa\u8bae \u8fd9\u6837 \u505a \u3002   download   (   bool   )   -   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u4e0b\u8f7d \u7f13\u5b58 \u4e2d \u5c1a\u672a \u5b58\u5728 \u7684 \u6587\u4ef6 \u3002 \u7f13\u5b58 \u53ef\u4ee5 \u5728   HOME \\ carlaCache   \u6216   USERPROFILE \\ carlaCache   \u4e2d \u627e\u5230 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u3002   get _ server _ version   (   self   )   \u901a\u8fc7 \u5728   version . h   \u6587\u4ef6 \u4e2d \u67e5\u9605 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 libcarla \u7248\u672c \uff0c \u8fd4\u56de \u8be5 \u7248\u672c \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u90fd \u5e94\u8be5 \u4f7f\u7528 \u76f8\u540c \u7684 libcarla \u7248\u672c \u3002   \u8fd4\u56de \uff1a   str   get _ trafficmanager   (   self   ,   client _ connection   = 8000   )   \u8fd4\u56de \u4e0e \u6307\u5b9a \u7aef\u53e3 \u76f8\u5173 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u3002 \u5982\u679c \u8be5 \u5b9e\u4f8b \u4e0d \u5b58\u5728 \uff0c \u5219 \u4f1a \u521b\u5efa \u8be5 \u5b9e\u4f8b \u3002   \u53c2\u6570 \uff1a   client _ connection   (   int   )   -   \u5c06 \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4f7f\u7528 \u7684 \u7aef\u53e3 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   8000   \u3002   \u8fd4\u56de \uff1a   carla . TrafficManager   get _ world   (   self   )   \u8fd4\u56de \u4eff\u771f \u4e2d \u5f53\u524d \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u7684 \u4e16\u754c \u5bf9\u8c61 \u3002 \u8be5 \u4e16\u754c \u7a0d\u540e \u5c06 \u7528\u4e8e \u52a0\u8f7d \u5730\u56fe \u3002   \u8fd4\u56de \uff1a   carla . World","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#_34","text":"set _ files _ base _ folder   (   self   ,   path   )   \u53c2\u6570 \uff1a   path   (   str   )   -   \u8fd4\u56de \u4eff\u771f \u4e2d \u5f53\u524d \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u7684 \u4e16\u754c \u5bf9\u8c61 \u3002 \u8be5 \u4e16\u754c \u7a0d\u540e \u5c06 \u7528\u4e8e \u52a0\u8f7d \u5730\u56fe \u3002   set _ replayer _ ignore _ hero   (   self   ,   ignore _ hero   )   \u53c2\u6570 \uff1a   ignore _ hero   (   bool   )   -   \u5728 \u64ad\u653e \u5f55\u5236 \u7684 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u542f\u7528 \u6216 \u7981\u7528 \u82f1\u96c4 \u8f66\u8f86 \u7684 \u64ad\u653e \u3002   set _ replayer _ ignore _ spectator   (   self   ,   ignore _ spectator   )   \u53c2\u6570 \uff1a   ignore _ spectator   (   bool   )   -   \u786e\u5b9a \u56de\u653e \u7a0b\u5e8f \u662f\u5426 \u4f1a \u590d\u5236 \u8bb0\u5f55 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u52a8\u4f5c \u3002   set _ replayer _ time _ factor   (   self   ,   time _ factor   = 1.0   )   \u4f7f\u7528 \u65f6 \uff0c \u4f1a \u968f\u610f \u4fee\u6539 \u91cd\u65b0 \u4eff\u771f \u7684 \u65f6\u95f4 \u901f\u5ea6 \u3002 \u5f53 \u64ad\u653e \u65f6 \uff0c \u5b83 \u53ef\u4ee5 \u4f7f\u7528 \u591a\u6b21 \u3002   \u53c2\u6570 \uff1a   time _ factor   (   float   )   -   1.0 \u8868\u793a \u6b63\u5e38 \u65f6\u95f4 \u901f\u5ea6 \u3002 \u5927\u4e8e 1.0 \u8868\u793a \u5feb\u901f \u8fd0\u52a8 \uff08 2.0 \u8868\u793a \u53cc\u500d \u901f\u5ea6 \uff09 \uff0c \u5c0f\u4e8e 1.0 \u8868\u793a \u6162\u901f \u8fd0\u52a8 \uff08 0.5 \u8868\u793a \u4e00\u534a \u901f\u5ea6 \uff09 \u3002   set _ timeout   (   self   ,   seconds   )   \u8bbe\u7f6e \u5728 \u963b\u6b62 \u7f51\u7edc \u8c03\u7528 \u5e76 \u5f15\u53d1 \u8d85\u65f6 \u8d85\u65f6 \u9519\u8bef \u4e4b\u524d \u5141\u8bb8 \u7f51\u7edc \u8c03\u7528 \u7684 \u6700\u957f \u65f6\u95f4 \u3002   \u53c2\u6570 \uff1a   seconds   (   float   -   seconds   )   -   \u65b0 \u7684 \u8d85 \u65f6\u503c \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a 5 \u79d2 \u3002","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#carlacollisionevent","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u4e3a   sensor . other . collision   \u5b9a\u4e49 \u78b0\u649e \u6570\u636e \u7684 \u7c7b \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e3a \u68c0\u6d4b \u5230 \u7684 \u6bcf\u4e2a \u78b0\u649e \u521b\u5efa \u4e00\u4e2a \u78b0\u649e \u6570\u636e \u3002 \u6bcf\u4e2a \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6bcf\u5e27 \u6bcf\u4e2a \u78b0\u649e \u4ea7\u751f \u4e00\u4e2a \u78b0\u649e \u4e8b\u4ef6 \u3002 \u901a\u8fc7 \u4e0e \u591a\u4e2a \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u78b0\u649e \uff0c \u53ef\u4ee5 \u5728 \u5355\u4e2a \u5e27 \u4e2d \u4ea7\u751f \u591a\u4e2a \u78b0\u649e \u4e8b\u4ef6 \u3002 \u70b9\u51fb   \u6b64\u5904   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002","title":"carla . CollisionEvent"},{"location":"python_api/#_35","text":"actor   (   carla . Actor   )   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fde\u63a5 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4e5f \u5c31\u662f \u6d4b\u91cf \u78b0\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   other _ actor   (   carla . Actor   )   \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u53c2\u4e0e \u78b0\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   normal _ impulse   (   carla . Vector3D   -   N * s   )   \u78b0\u649e \u4ea7\u751f \u7684 \u6b63\u5e38 \u51b2\u91cf \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlacolor","text":"\u5b9a\u4e49 32 \u4f4d RGBA \u989c\u8272 \u7684 \u7c7b \u3002","title":"carla . Color"},{"location":"python_api/#_36","text":"r   (   int   )   \u7ea2\u8272   ( 0 - 255 ) \u3002   g   (   int   )   \u7eff\u8272   ( 0 - 255 ) \u3002   b   (   int   )   \u84dd\u8272   ( 0 - 255 ) \u3002   a   (   int   )   Alpha   \u901a\u9053   ( 0 - 255 ) \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_37","text":"__ init __   (   self   ,   r   = 0   ,   g   = 0   ,   b   = 0   ,   a   = 255   )   \u521d\u59cb \u521d\u59cb\u5316 \u989c\u8272 \uff0c \u9ed8\u8ba4 \u4e3a \u9ed1\u8272 \u3002   \u53c2\u6570 \uff1a   r   (   int   )   g   (   int   )   b   (   int   )   a   (   int   )","title":"\u65b9\u6cd5"},{"location":"python_api/#dunder_4","text":"__ eq __   (   self   ,   other   =   carla . Color   )   __ ne __   (   self   ,   other   =   carla . Color   )   __ str __   (   self   )","title":"Dunder   \u65b9\u6cd5"},{"location":"python_api/#carlacolorconverter","text":"\u5b9a\u4e49 \u53ef \u5e94\u7528 \u4e8e   carla . Image   \u7684 \u8f6c\u6362 \u6a21\u5f0f \u7684 \u7c7b \uff0c \u4ee5 \u663e\u793a   carla . Sensor   \u63d0\u4f9b \u7684 \u4fe1\u606f \u3002 \u6df1\u5ea6 \u8f6c\u6362 \u4f1a \u5bfc\u81f4 \u7cbe\u5ea6 \u635f\u5931 \uff0c \u56e0\u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u6df1\u5ea6 \u68c0\u6d4b \u4e3a \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \uff0c \u7136\u540e \u5c06 \u5176 \u8f6c\u6362 \u4e3a   0   \u5230   255   \u4e4b\u95f4 \u7684 \u7070\u5ea6 \u503c \u3002 \u67e5\u770b   carla . Sensor . listen   \u4e2d \u7684 \u7247\u6bb5 \uff0c \u4e86\u89e3 \u5982\u4f55 \u521b\u5efa \u548c \u4fdd\u5b58 \u56fe\u50cf \u7684 \u793a\u4f8b   sensor . camera . semantic _ segmentation   \u7684 \u6570\u636e \u3002","title":"carla . ColorConverter"},{"location":"python_api/#_38","text":"CityScapesPalette   \u4f7f\u7528 \u84dd \u56fe\u5e93 \u63d0\u4f9b \u7684 \u6807\u7b7e \u5c06 \u56fe\u50cf \u8f6c\u6362 \u4e3a \u5206\u6bb5 \u5730\u56fe \u3002 \u7531   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u4f7f\u7528 \u3002   Depth   \u5c06 \u56fe\u50cf \u8f6c\u6362 \u4e3a \u7ebf\u6027 \u6df1\u5ea6 \u6df1\u5ea6\u56fe \u3002 \u7531   \u6df1\u5ea6 \u76f8\u673a   \u4f7f\u7528 \u3002   LogarithmicDepth   \u4f7f\u7528 \u5bf9\u6570 \u523b\u5ea6 \u5c06 \u56fe\u50cf \u8f6c\u6362 \u4e3a \u6df1\u5ea6 \u6df1\u5ea6\u56fe \uff0c \u4ece\u800c \u5728 \u5c0f \u8ddd\u79bb \u4e0a \u83b7\u5f97 \u66f4\u597d \u7684 \u7cbe\u5ea6 \uff0c \u4f46 \u5728 \u8ddd\u79bb \u8f83 \u8fdc \u65f6\u4f1a \u4e22\u5931 \u7cbe\u5ea6 \u3002   Raw   \u672a \u5bf9 \u56fe\u50cf \u5e94\u7528 \u4efb\u4f55 \u66f4\u6539 \u3002 \u7531   RGB   \u76f8\u673a   \u4f7f\u7528 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlacustomv2xdata","text":"\u7ee7\u627f \u81ea   carla . SensorData   \u8fd9\u662f \u5b9a\u4e49 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 V2X \u6d88\u606f \u7684 \u6570\u636e \u7c7b\u578b \u6570\u636e\u7c7b\u578b \u3002 \u4f5c\u4e3a   CustomV2XEvent   \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u63a5\u6536 \u3002","title":"carla . CustomV2XData"},{"location":"python_api/#_39","text":"power   (   float   -   \u6beb\u74e6 \u5206\u8d1d   dBm   )   \u63a5\u6536 \u529f\u7387 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_40","text":"get   (   self   )   \u83b7\u53d6 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d88\u606f \u3002 \u8fd4\u56de \u5305\u542b \u6d88\u606f \u7684 \u5d4c\u5957 \u5b57\u5178 \u3002 \u5b83 \u6709 \u4e24\u4e2a \u4e3b\u952e \uff1a   -   Header   :   dict   -   Message   :   str .   \u8fd4\u56de \uff1a   dict","title":"\u65b9\u6cd5"},{"location":"python_api/#_41","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlacustomv2xevent","text":"\u7ee7\u627f \u81ea   carla . SensorData   \u5b9a\u4e49   sensor . other . v2x _ custom   \u63d0\u4f9b \u7684 \u6570\u636e \u7684 \u7c7b \u3002 \u8fd9\u662f \u4e00\u79cd \u96c6\u5408 \u7c7b\u578b \uff0c \u7528\u4e8e \u7ec4\u5408 \u8fd4\u56de \u591a\u4e2a   CustomV2XData   \u3002","title":"carla . CustomV2XEvent"},{"location":"python_api/#_42","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_43","text":"get _ message _ count   (   self   )   \u83b7\u53d6 \u63a5\u53d7 \u5230 \u7684   CAM   \u6570\u91cf \u3002   \u8fd4\u56de \uff1a   int","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#_44","text":"__ get _ item __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728 \u83b7\u53d6 \u7684   CustomV2XData   \u6570\u636e \u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carladvsevent","text":"\u5b9a\u4e49   DVS   \u4e8b\u4ef6 \u7684 \u7c7b \u3002 \u4e8b\u4ef6 \u662f \u4e00\u4e2a \u56db\u5143 \u5143\u7ec4 \u56db\u5143\u7ec4 \uff0c \u56e0\u6b64 \u662f \u4e00\u4e2a \u7531   4   \u4e2a \u5143\u7d20 \u7ec4\u6210 \u7684 \u5143\u7ec4 \uff0c \u5176\u4e2d   x   \u3001 \u50cf\u7d20   y   \u5750\u6807 \u4f4d\u7f6e \u3001 \u65f6\u95f4 \u6233   t   \u548c \u4e8b\u4ef6 \u6781\u6027   pol   \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u5173\u4e8e \u5b83\u4eec \u7684 \u4fe1\u606f \u3002","title":"carla . DVSEvent"},{"location":"python_api/#_45","text":"x   (   int   )   X   \u50cf\u7d20 \u5750\u6807 \u3002   y   (   int   )   Y   \u50cf\u7d20 \u5750\u6807 \u3002   t   (   int   )   \u4e8b\u4ef6 \u53d1\u751f \u65f6\u523b \u7684 \u65f6\u95f4 \u6233 \u3002   pol   (   bool   )   \u4e8b\u4ef6 \u7684 \u6781\u6027 \u3002   True   \u8868\u793a \u6b63\u6570 \uff0c   False   \u8868\u793a \u8d1f\u6570 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_46","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#dunder_5","text":"__ str __   (   self   )","title":"Dunder   \u65b9\u6cd5"},{"location":"python_api/#carladvseventarray","text":"\u5728   carla . DVSEvent   \u4e2d \u5b9a\u4e49 \u4e8b\u4ef6 \u6d41 \u7684 \u7c7b \u3002 \u6b64\u7c7b \u6d41\u662f \u4efb\u610f \u5927\u5c0f \u7684 \u6570\u7ec4 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4e8b\u4ef6 \u7684 \u6570\u91cf \u3002 \u4e3a\u4e86 \u65b9\u4fbf \u8d77 \u89c1 \uff0c \u8be5\u7c7b \u8fd8 \u5b58\u50a8 \u89c6\u91ce \u3001 \u56fe\u50cf \u7684 \u9ad8\u5ea6 \u548c \u5bbd\u5ea6 \u4ee5\u53ca \u65f6\u95f4 \u6233 \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u5173\u4e8e \u5b83\u4eec \u7684 \u4fe1\u606f \u3002","title":"carla . DVSEventArray"},{"location":"python_api/#_47","text":"fov   (   float   -   \u5ea6   )   \u56fe\u50cf \u7684 \u6c34\u5e73 \u89c6\u91ce \u3002   height   (   int   )   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   width   (   int   )   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   (   \u5b57\u8282   )","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_48","text":"to _ array   (   self   )   \u6309 \u4ee5\u4e0b \u987a\u5e8f \u5c06 \u4e8b\u4ef6 \u6d41 \u8f6c\u6362 \u4e3a   int   \u503c \u6570\u7ec4   [ x ,   y ,   t ,   pol ]   \u3002   to _ array _ pol   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u6570\u7ec4 \uff0c \u8be5 \u6570\u7ec4 \u5177\u6709 \u6d41\u4e2d \u6240\u6709 \u4e8b\u4ef6 \u7684 \u6781\u6027 \u3002   to _ array _ t   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u6570\u7ec4 \uff0c \u5176\u4e2d \u5305\u542b \u6d41\u4e2d \u6240\u6709 \u4e8b\u4ef6 \u7684 \u65f6\u95f4 \u6233 \u3002   to _ array _ x   (   self   )   \u8fd4\u56de \u6d41\u4e2d \u6240\u6709 \u4e8b\u4ef6 \u7684 X \u50cf\u7d20 \u5750\u6807 \u7684 \u6570\u7ec4 \u3002   to _ array _ y   (   self   )   \u8fd4\u56de \u6d41\u4e2d \u6240\u6709 \u4e8b\u4ef6 \u7684 Y \u50cf\u7d20 \u5750\u6807 \u6570\u7ec4 \u3002   to _ image   (   self   )   \u6309\u7167 \u4ee5\u4e0b \u6a21\u5f0f \u8f6c\u6362 \u56fe\u50cf \uff1a \u84dd\u8272 \u8868\u793a \u6b63 \u4e8b\u4ef6 \uff0c \u7ea2\u8272 \u8868\u793a \u8d1f \u4e8b\u4ef6 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_49","text":"__ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728   carla . DVSEvent   \u4f5c\u4e3a \u68c0\u7d22 \u7684 \u6570\u636e \u4e0a \u8fed\u4ee3 \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   color   =   carla . Color   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carladebughelper","text":"carla . World   \u7684 \u8f85\u52a9 \u7c7b \u90e8\u5206 \uff0c \u5b9a\u4e49 \u521b\u5efa \u8c03\u8bd5 \u5f62\u72b6 \u7684 \u65b9\u6cd5 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5f62\u72b6 \u6301\u7eed   1   \u79d2 \u3002 \u5b83\u4eec \u53ef\u4ee5 \u662f \u6c38\u4e45 \u6c38\u4e45\u6027 \u7684 \uff0c \u4f46 \u8981 \u8003\u8651 \u5230 \u8fd9\u6837 \u505a \u6240 \u9700 \u7684 \u8d44\u6e90 \u3002 \u67e5\u770b \u6b64\u7c7b \u7684 \u53ef\u7528 \u7247\u6bb5 \uff0c \u4e86\u89e3 \u5982\u4f55 \u5728   Carla   \u4e2d \u8f7b\u677e \u8c03\u8bd5 \u3002","title":"carla . DebugHelper"},{"location":"python_api/#_50","text":"draw _ arrow   (   self   ,   begin   ,   end   ,   thickness   = 0.1   ,   arrow _ size   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u4ece \u5f00\u59cb   begin   \u5230 \u7ed3\u675f   end   \u7ed8\u5236 \u4e00\u4e2a \u6307\u5411 \u8be5 \u65b9\u5411 \u7684 \u7bad\u5934 \u3002   \u53c2\u6570 \uff1a   begin   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u5750\u6807\u7cfb \u4e2d \u7bad\u5934 \u5f00\u59cb \u7684 \u70b9 \u3002   end   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u5750\u6807\u7cfb \u4e2d \u7bad\u5934 \u7ed3\u675f \u5e76 \u6307\u5411 \u7684 \u70b9 \u3002   thickness   (   float   -   \u7c73   )   -   \u7ebf \u7684 \u5bc6\u5ea6 \u3002   arrow _ size   (   float   -   \u7c73   )   -   \u7bad\u5934 \u5c16\u7aef \u7684 \u5927\u5c0f \u3002   color   (   carla . Color   )   -   \u7528\u4e8e \u4e3a \u5bf9\u8c61 \u7740\u8272 \u7684   RGB   \u4ee3\u7801 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5c06 \u5176 \u8bbe\u7f6e   0   \u4e3a \u6c38\u4e45 \u5f62\u72b6 \u3002   draw _ box   (   self   ,   box   ,   rotation   ,   thickness   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   snippet   \u2192   \u7ed8\u5236 \u4e00\u4e2a \u6846 \uff0c \u901a\u5e38 \u7528\u4e8e \u5bf9\u8c61 \u78b0\u649e \u4f53 \u3002   \u53c2\u6570 \uff1a   box   (   carla . BoundingBox   )   -   \u5305\u542b \u6bcf\u4e2a \u8f74 \u7684 \u4f4d\u7f6e \u548c \u6846 \u957f\u5ea6 \u7684 \u5bf9\u8c61 \u3002   rotation   (   carla . Rotation   -   \u5ea6   ( pitch , yaw , roll )   )   -   \u6839\u636e \u865a\u5e7b \u5f15\u64ce \u8f74\u7cfb \u7684 \u8fb9\u754c \u6846 \u65b9\u5411 \u3002   thickness   (   float   -   \u7c73   )   -   \u5b9a\u4e49 \u8fb9\u754c \u6846 \u7684 \u7ebf \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   \u7528\u4e8e \u4e3a \u5bf9\u8c61 \u7740\u8272 \u7684   RGB   \u4ee3\u7801 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   \u79d2   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5c06 \u5176 \u8bbe\u7f6e   0   \u4e3a \u6c38\u4e45 \u5f62\u72b6 \u3002   draw _ hud _ arrow   (   self   ,   begin   ,   end   ,   thickness   = 0.1   ,   arrow _ size   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u5728 HUD \u4e0a \u4ece\u5934   begin   \u5230 \u5c3e   end   \u753b \u4e00\u4e2a \u7bad\u5934 \uff0c \u8fd9\u4e2a \u7bad\u5934 \u53ea\u80fd \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u770b\u5230 \u3002   \u53c2\u6570 \uff1a   begin   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u7cfb\u7edf \u4e2d \u7bad\u5934 \u8d77\u59cb \u7684 \u70b9 \u3002   end   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u7cfb\u7edf \u4e2d \u7bad\u5934 \u7ed3\u675f \u5e76 \u6307\u5411 \u7684 \u70b9 \u3002   thickness   (   float   -   \u7c73   )   -   \u7ebf \u7684 \u5bc6\u5ea6 \u3002   arrow _ size   (   float   -   \u7c73   )   -   \u7bad\u5c16 \u7684 \u5927\u5c0f \u3002   color   (   carla . Color   )   -   RGB \u7f16\u7801 \u4e3a \u5bf9\u8c61 \u4e0a \u8272 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5bf9\u4e8e \u6c38\u4e45 \u5f62\u72b6 \uff0c \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   0   \u3002   draw _ hud _ box   (   self   ,   box   ,   rotation   ,   thickness   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u5728   HUD   \u4e0a \u7ed8\u5236 \u4e00\u4e2a \u6846 \uff0c \u901a\u5e38 \u7528\u4e8e \u5bf9\u8c61 \u78b0\u649e \u4f53 \u3002 \u8be5\u6846 \u53ea\u80fd \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u770b\u5230 \u3002   Parameters :   box   (   carla . BoundingBox   )   -   \u5305\u542b \u6bcf\u4e2a \u8f74 \u7684 \u6846 \u7684 \u4f4d\u7f6e \u548c \u957f\u5ea6 \u7684 \u5bf9\u8c61 \u3002   rotation   (   carla . Rotation   -   degrees   ( pitch , yaw , roll )   )   -   \u6839\u636e \u865a\u5e7b \u5f15\u64ce \u7684 \u8f74 \u7cfb\u7edf \u786e\u5b9a \u8fb9\u754c \u6846 \u7684 \u65b9\u5411 \u3002   thickness   (   float   -   \u7c73   )   -   \u5b9a\u4e49 \u8fb9\u754c \u6846\u7ebf \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   RGB   \u7f16\u7801 \u4e3a \u5bf9\u8c61 \u4e0a \u8272 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5bf9\u4e8e \u6c38\u4e45 \u5f62\u72b6 \uff0c \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   0   \u3002   draw _ hud _ line   (   self   ,   begin   ,   end   ,   thickness   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u5728 HUD \u4e0a \u5f00\u59cb   begin   \u548c \u7ed3\u675f   end   \u4e4b\u95f4 \u753b \u4e00\u6761 \u4e00\u6761\u7ebf \u3002 \u8fd9\u6761 \u8fd9\u6761\u7ebf \u53ea\u80fd \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u770b\u5230 \u3002   \u53c2\u6570 \uff1a   begin   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u7cfb\u7edf \u4e2d \u76f4\u7ebf \u5f00\u59cb \u7684 \u70b9 \u3002   end   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u7cfb\u7edf \u4e2d \u76f4\u7ebf \u7ed3\u675f \u7684 \u70b9 \u3002   thickness   (   float   -   \u7c73   )   -   \u7ebf \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   RGB   \u7f16\u7801 \u4e3a \u5bf9\u8c61 \u4e0a \u8272 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   \u79d2   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5bf9\u4e8e \u6c38\u4e45 \u5f62\u72b6 \uff0c \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   0   \u3002   draw _ hud _ point   (   self   ,   location   ,   size   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u5728   HUD   \u7684 \u4f4d\u7f6e   location   \u4e0a \u7ed8\u5236 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u3002 \u8fd9\u4e2a \u70b9 \u53ea\u80fd \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u770b\u5230 \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   -   \u7c73   )   -   \u70b9 \u5728 \u5750\u6807 \u5750\u6807\u7cfb \u4e2d\u4f7f \u7269\u4f53 \u5c45\u4e2d \u3002   size   (   float   -   \u7c73   )   -   \u70b9 \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   RGB   \u7f16\u7801 \u4e3a \u5bf9\u8c61 \u4e0a \u8272 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5bf9\u4e8e \u6c38\u4e45 \u5f62\u72b6 \uff0c \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   0   \u3002   draw _ line   (   self   ,   begin   ,   end   ,   thickness   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u5728 \u5f00\u59cb   begin   \u548c \u7ed3\u675f   end   \u4e4b\u95f4 \u7ed8\u5236 \u4e00\u6761 \u4e00\u6761\u7ebf \u3002   \u53c2\u6570 \uff1a   begin   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u5750\u6807\u7cfb \u4e2d \u76f4\u7ebf \u8d77\u70b9 \u3002   end   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u5750\u6807\u7cfb \u4e2d \u76f4\u7ebf \u7ec8\u70b9 \u3002   thickness   (   float   -   \u7c73   )   -   \u7ebf \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   \u7528\u4e8e \u4e3a \u5bf9\u8c61 \u7740\u8272 \u7684   RGB   \u4ee3\u7801 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   \u79d2   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5c06 \u5176 \u8bbe\u7f6e   0   \u4e3a \u6c38\u4e45 \u5f62\u72b6 \u3002   draw _ point   (   self   ,   location   ,   size   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u7ed8\u5236 \u4e00\u4e2a \u4e00\u4e2a\u70b9   location   \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   -   \u7c73   )   -   \u5728 \u5750\u6807 \u5750\u6807\u7cfb \u4e2d\u70b9 \u4ee5 \u5c06 \u5bf9\u8c61 \u5c45\u4e2d \u3002   size   (   float   -   \u7c73   )   -   \u70b9 \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   \u7528\u4e8e \u4e3a \u5bf9\u8c61 \u7740\u8272 \u7684   RGB   \u4ee3\u7801 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5c06 \u5176 \u8bbe\u7f6e   0   \u4e3a \u6c38\u4e45 \u5f62\u72b6 \u3002   draw _ string   (   self   ,   location   ,   text   ,   draw _ shadow   = False   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   snippet   \u2192   \u5728 \u4eff\u771f \u7684 \u7ed9\u5b9a \u4f4d\u7f6e \u7ed8\u5236 \u4e00\u4e2a \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u8be5 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u53ea\u80fd \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u770b\u5230 \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   -   \u7c73   )   -   \u4eff\u771f \u4e2d \u6587\u672c \u5c45\u4e2d \u7684 \u4f4d\u7f6e \u3002   text   (   str   )   -   \u65e8\u5728 \u5411 \u4e16\u754c \u5c55\u793a \u7684 \u6587\u672c \u3002   draw _ shadow   (   bool   )   -   \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u6295\u5c04 \u9634\u5f71 \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u662f \u7981\u7528 \u7684 \u3002   color   (   carla . Color   )   -   \u7528\u4e8e \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7740\u8272 \u7684   RGB   \u4ee3\u7801 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5c06 \u5176 \u8bbe\u7f6e   0   \u4e3a \u6c38\u4e45 \u5f62\u72b6 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#carlaenvironmentobject","text":"\u8868\u793a \u5173\u5361 \u4e2d \u7684 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u7684 \u7c7b \uff0c \u8be5 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u53ef\u4ee5 \u662f \u4e0e \u5176\u4ed6 \u73af\u5883 \u5bf9\u8c61 \uff08 \u5373 \uff1a \u5efa\u7b51 \u5efa\u7b51\u7269 \uff09 \u5f62\u6210 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002","title":"carla . EnvironmentObject"},{"location":"python_api/#_51","text":"transform   (   carla . Transform   )   \u5305\u542b \u73af\u5883 \u5bf9\u8c61 \u5728 \u4e16\u754c \u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002   bounding _ box   (   carla . BoundingBox   )   \u5305\u542b \u4e16\u754c \u7a7a\u95f4 \u4e2d \u6bcf\u4e2a \u8f74 \u7684 \u4f4d\u7f6e \u3001 \u65cb\u8f6c \u548c \u8fb9\u754c \u6846 \u957f\u5ea6 \u7684 \u5bf9\u8c61 \u3002   id   (   int   )   \u7528\u4e8e \u6807\u8bc6 \u5173\u5361 \u4e2d \u5bf9\u8c61 \u7684 \u552f\u4e00   ID \u3002   name   (   string   )   \u73af\u5883 \u5bf9\u8c61   EnvironmentObject   \u7684 \u540d\u79f0 \u3002   type   (   carla . CityObjectLabel   )   Semantic   tag .","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_52","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#dunder_6","text":"__ str __   (   self   )   \u5c06 \u73af\u5883 \u5bf9\u8c61 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5e76 \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u4e2d \u663e\u793a \u5b83\u4eec \u3002   \u8fd4\u56de \uff1a   str","title":"Dunder   \u65b9\u6cd5"},{"location":"python_api/#carlafloatcolor","text":"\u5b9a\u4e49 \u6d6e\u70b9   RGBA   \u989c\u8272 \u7684 \u7c7b \u3002","title":"carla . FloatColor"},{"location":"python_api/#_53","text":"r   (   float   )   \u7ea2\u8272 \u3002   g   (   float   )   \u7eff\u8272 \u3002   b   (   float   )   \u84dd\u8272 \u3002   a   (   float   )   Alpha   \u901a\u9053 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_54","text":"__ init __   (   self   ,   r   = 0   ,   g   = 0   ,   b   = 0   ,   a   = 1.0   )   \u521d\u59cb \u521d\u59cb\u5316 \u989c\u8272 \uff0c \u9ed8\u8ba4 \u4e3a \u9ed1\u8272 \u3002   \u53c2\u6570 \uff1a   r   (   float   )   g   (   float   )   b   (   float   )   a   (   float   )","title":"\u65b9\u6cd5"},{"location":"python_api/#dunder_7","text":"__ eq __   (   self   ,   other   =   carla . FloatColor   )   __ ne __   (   self   ,   other   =   carla . FloatColor   )","title":"Dunder   \u65b9\u6cd5"},{"location":"python_api/#carlagbuffertextureid","text":"\u5b9a\u4e49 \u6bcf\u4e2a GBuffer \u7eb9\u7406   ( \u53c2\u89c1 \u65b9\u6cd5   [ carla . Sensor . listen _ to _ gbuffer ] ( # carla . Sensor . listen _ to _ gbuffer )   ) \u3002","title":"carla . GBufferTextureID"},{"location":"python_api/#_55","text":"SceneColor   \u7eb9\u7406 \u201c SceneColor \u201d \u5305\u542b \u56fe\u50cf \u7684 \u6700\u7ec8 \u989c\u8272 \u3002   SceneDepth   \u7eb9\u7406 \u201c SceneDepth \u201d \u5305\u542b \u6df1\u5ea6 \u7f13\u51b2 \u7f13\u51b2\u533a   -   \u4ee5 \u4e16\u754c \u5355\u4f4d \u4e3a \u7ebf\u6027 \u3002   SceneStencil   \u7eb9\u7406 \u201c SceneStencil \u201d \u5305\u542b \u6a21\u677f \u7f13\u51b2 \u7f13\u51b2\u533a \u3002   GBufferA   \u7eb9\u7406 \u201c GBufferA \u201d \u5305\u542b   RGB   \u901a\u9053 \u4e2d \u7684 \u4e16\u754c \u7a7a\u95f4 \u6cd5\u7ebf \u5411\u91cf \u3002 Alpha   \u901a\u9053 \u5305\u542b \u201c \u6bcf\u4e2a \u5bf9\u8c61 \u7684 \u6570\u636e \u201d \u3002   GBufferB   \u7eb9\u7406 \u201c GBufferB \u201d \u5206\u522b \u5305\u542b   RGB   \u901a\u9053 \u4e2d \u7684 \u91d1\u5c5e \u3001 \u955c\u9762 \u548c \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u3002 Alpha   \u901a\u9053 \u5305\u542b \u4e00\u4e2a \u63a9\u7801 \uff0c \u5176\u4e2d \u4f4e   4   \u4f4d \u8868\u793a \u7740\u8272 \u6a21\u578b \uff0c \u9ad8   4   \u4f4d \u5305\u542b \u9009\u62e9 \u9009\u62e9\u6027 \u8f93\u51fa \u63a9\u7801 \u3002   GBufferC   \u7eb9\u7406 \u201c GBufferC \u201d \u5305\u542b   RGB   \u901a\u9053 \u4e2d \u7684 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u989c\u8272 \uff0c \u4ee5\u53ca   Alpha   \u901a\u9053 \u4e2d \u7684 \u95f4\u63a5 \u8f90\u7167 \u7167\u5ea6 \u8f90\u7167\u5ea6 \u3002   \u5982\u679c \u4e0d \u5141\u8bb8 \u9759\u6001 \u95ea\u7535 \uff0c Alpha   \u901a\u9053 \u5c06 \u5305\u542b \u73af\u5883 \u73af\u5883\u5149 \u906e\u6321 \u3002   GBufferD   \u201c GBufferD \u201d \u7684 \u5185\u5bb9 \u6839\u636e \u6e32\u67d3 \u5bf9\u8c61 \u7684 \u6750\u8d28 \u7740\u8272 \u6a21\u578b   ( GBufferB )   \u7684 \u4e0d\u540c \u800c \u6709\u6240 \u4e0d\u540c \u6709\u6240\u4e0d\u540c \uff1a   MSM _ Subsurface   ( 2 ) ,   MSM _ PreintegratedSkin   ( 3 ) ,   MSM _ TwoSidedFoliage   ( 6 ) :   RGB :   \u6b21 \u8868\u9762 \u989c\u8272 \u3002   A :   \u4e0d \u900f\u660e \u660e\u5ea6 \u900f\u660e\u5ea6 \u3002   MSM _ ClearCoat   ( 4 ) :   R :   \u900f\u660e \u6d82\u5c42 \u3002   G :   \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u3002   MSM _ SubsurfaceProfile   ( 5 ) :   RGB :   \u6b21 \u8868\u9762 \u8f6e\u5ed3 \u3002   MSM _ Hair   ( 7 ) :   RG :   \u4e16\u754c \u6cd5\u7ebf \u3002   B :   \u80cc\u5149 \u503c \u3002   MSM _ Cloth   ( 8 ) :   RGB :   \u6b21 \u8868\u9762 \u989c\u8272 \u3002   A :   Cloth   value .   MSM _ Eye   ( 9 ) :   RG :   \u773c \u5207\u7ebf \u3002   B :   \u8679\u819c \u63a9\u6a21 \u3002   A :   \u8679\u819c \u8ddd\u79bb \u3002   GBufferE   \u7eb9\u7406 \u201c GBufferE \u201d \u5305\u542b   RGBA   \u901a\u9053 \u4e2d \u9884\u5148 \u8ba1\u7b97 \u7684 \u9634\u5f71 \u56e0\u5b50 \u3002 \u5982\u679c \u9009\u62e9 \u9009\u62e9\u6027 \u8f93\u51fa \u63a9\u7801   ( GBufferB )   \u6ca1\u6709 \u8bbe\u7f6e \u5176 \u7b2c   4   \u4f4d \uff0c \u5219 \u6b64 \u7eb9\u7406 \u4e0d\u53ef \u7528 \u3002   GBufferF   \u7eb9\u7406 \u201c GBufferF \u201d \u5305\u542b   RGB   \u901a\u9053 \u4e2d \u7684 \u4e16\u754c \u7a7a\u95f4 \u5207\u7ebf \u548c   Alpha   \u901a\u9053 \u4e2d \u7684 \u5f02\u6027 \u5404\u5411\u5f02\u6027 \u3002 \u5982\u679c \u9009\u62e9 \u9009\u62e9\u6027 \u8f93\u51fa \u63a9\u7801   ( GBufferB )   \u6ca1\u6709 \u8bbe\u7f6e \u5176 \u7b2c   5   \u4f4d \uff0c \u5219 \u6b64 \u7eb9\u7406 \u4e0d\u53ef \u7528 \u3002   Velocity   \u7eb9\u7406 \u201c \u901f\u5ea6 \u201d \u5305\u542b \u573a\u666f \u5bf9\u8c61 \u7684 \u5c4f\u5e55 \u7a7a\u95f4 \u901f\u5ea6 \u3002   SSAO   \u7eb9\u7406 \u201c SSAO \u201d \u5305\u542b \u5c4f\u5e55 \u7a7a\u95f4 \u73af\u5883 \u73af\u5883\u5149 \u906e\u6321 \u7eb9\u7406 \u3002   CustomDepth   \u7eb9\u7406 \u201c CustomDepth \u201d \u5305\u542b \u865a\u5e7b \u5f15\u64ce \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6df1\u5ea6 \u6570\u636e \u3002   CustomStencil   \u7eb9\u7406 \u201c CustomStencil \u201d \u5305\u542b \u865a\u5e7b \u5f15\u64ce \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6a21\u677f \u6570\u636e \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlagearphysicscontrol","text":"\u901a\u8fc7 \u5b9a\u4e49 \u6863\u4f4d \u4ee5\u53ca \u4f55\u65f6 \u8fd0\u884c \u8be5 \u6863\u4f4d \u6765 \u63d0\u4f9b \u5bf9 \u8f66\u8f86 \u53d8\u901f \u53d8\u901f\u7bb1 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u7684 \u8bbf\u95ee \u7684 \u7c7b \u3002   carla . VehiclePhysicsControl   \u7a0d\u540e \u5c06 \u4f7f\u7528 \u5b83 \u6765 \u5e2e\u52a9 \u4eff\u771f \u7269\u7406 \u3002","title":"carla . GearPhysicsControl"},{"location":"python_api/#_56","text":"ratio   (   float   )   \u9f7f\u8f6e \u7684 \u4f20\u52a8 \u4f20\u52a8\u6bd4 \u3002   down _ ratio   (   float   )   \u5f53\u524d   RPM   \u4e0e \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u5e94\u964d \u6863 \u7684   MaxRPM   \u4e4b\u95f4 \u7684 \u5546 \u3002   up _ ratio   (   float   )   \u5f53\u524d   RPM   \u4e0e \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u5e94 \u5347\u6863 \u7684   MaxRPM   \u4e4b\u95f4 \u7684 \u5546 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_57","text":"__ init __   (   self   ,   ratio   = 1.0   ,   down _ ratio   = 0.5   ,   up _ ratio   = 0.65   )   \u53c2\u6570 \uff1a   ratio   (   float   )   down _ ratio   (   float   )   up _ ratio   (   float   )","title":"\u65b9\u6cd5"},{"location":"python_api/#dunder_8","text":"__ eq __   (   self   ,   other   =   carla . GearPhysicsControl   )   __ ne __   (   self   ,   other   =   carla . GearPhysicsControl   )   __ str __   (   self   )","title":"Dunder   \u65b9\u6cd5"},{"location":"python_api/#carlageolocation","text":"\u5305\u542b \u5730\u7406 \u5750\u6807 \u5730\u7406\u5750\u6807 \u4eff\u771f \u6570\u636e \u7684 \u7c7b \u3002   carla . Map   \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u65b9\u6cd5 \u8f6c\u6362 \u4eff\u771f \u4f4d\u7f6e   OpenDRIVE   \u6587\u4ef6 \u4e2d \u7684   \u6807\u8bb0 \u3002","title":"carla . GeoLocation"},{"location":"python_api/#_58","text":"latitude   (   float   -   \u5ea6   )   \u5730\u56fe \u4e0a \u67d0\u4e2a \u70b9 \u7684 \u5317 / \u5357\u503c \u3002   longitude   (   float   -   \u5ea6   )   \u5730\u56fe \u4e0a \u67d0\u4e2a \u70b9 \u7684 \u897f / \u4e1c\u503c \u3002   altitude   (   float   -   \u7c73   )   \u76f8\u5bf9 \u4e8e \u5730\u9762 \u7684 \u9ad8\u5ea6 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_59","text":"__ init __   (   self   ,   latitude   = 0.0   ,   longitude   = 0.0   ,   altitude   = 0.0   )   \u53c2\u6570 \uff1a   latitude   (   float   -   \u5ea6   )   longitude   (   float   -   \u5ea6   )   altitude   (   float   -   \u7c73   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_60","text":"__ eq __   (   self   ,   other   =   carla . GeoLocation   )   __ ne __   (   self   ,   other   =   carla . GeoLocation   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlagnssmeasurement","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49 \u7531   sensor . other . gnss   \u6ce8\u518c \u7684 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u6570\u636e \u7684 \u7c7b \u3002 \u5b83 \u672c\u8d28 \u4e0a \u662f \u901a\u8fc7 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4f4d\u7f6e \u548c   OpenDRIVE   \u5730\u7406 \u53c2\u8003 \u6765 \u62a5\u544a \u5176 \u4f4d\u7f6e \u3002","title":"carla . GnssMeasurement"},{"location":"python_api/#_61","text":"altitude   (   float   -   \u7c73   )   \u76f8\u5bf9 \u4e8e \u5730\u9762 \u7684 \u9ad8\u5ea6 \u3002   latitude   (   float   -   \u5ea6   )   \u5730\u56fe \u4e0a \u67d0\u4e2a \u70b9 \u7684 \u5317 / \u5357\u503c \u3002   longitude   (   float   -   \u5ea6   )   \u5730\u56fe \u4e0a \u67d0\u4e2a \u70b9 \u7684 \u897f / \u4e1c\u503c \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_62","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_63","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaimumeasurement","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49 \u7531   sensor . other . imu   \u6ce8\u518c \u7684 \u6570\u636e \u7c7b \uff0c \u6d89\u53ca \u6839\u636e \u5f53\u524d   carla . World   \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f6c\u6362 \u3002 \u5b83 \u672c\u8d28 \u4e0a \u5145\u5f53 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \u3001 \u9640\u87ba \u9640\u87ba\u4eea \u548c \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \u3002","title":"carla . IMUMeasurement"},{"location":"python_api/#_64","text":"accelerometer   (   carla . Vector3D   -   m / s   2   )   \u7ebf\u6027 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   compass   (   float   -   \u5f27\u5ea6   )   \u76f8\u5bf9 \u4e8e \u5317\u65b9 \u7684 \u65b9\u5411 \uff08 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d\u4e3a   [ 0.0 ,   - 1.0 ,   0.0 ] \uff09 \u3002   gyroscope   (   carla . Vector3D   -   \u5f27\u5ea6 / \u79d2   )   \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_65","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_66","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaimage","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49   32   \u4f4d   BGRA   \u989c\u8272 \u56fe\u50cf \u7684 \u7c7b \uff0c \u8be5 \u56fe\u50cf \u5c06 \u7528\u4f5c \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u7d22 \u7684 \u521d\u59cb \u6570\u636e \u3002 \u6709 \u4e0d\u540c \u7684 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u76ee\u524d \u6709 \u4e09\u79cd \uff0c RGB \u3001 \u6df1\u5ea6 \u548c \u8bed\u4e49 \u5206\u5272 \uff09 \uff0c \u6bcf\u79cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5bf9 \u56fe\u50cf \u90fd \u6709 \u4e0d\u540c \u7684 \u7528\u9014 \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u5173\u4e8e \u5b83\u4eec \u7684 \u4fe1\u606f \u3002","title":"carla . Image"},{"location":"python_api/#_67","text":"fov   (   float   -   \u5ea6   )   \u56fe\u50cf \u7684 \u6c34\u5e73 \u89c6\u91ce \u3002   height   (   int   )   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   width   (   int   )   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   (   bytes   )   \u50cf\u7d20 \u6570\u636e \u7684 \u6241\u5e73 \u6570\u7ec4 \uff0c \u4f7f\u7528   reshape   \u521b\u5efa \u56fe\u50cf \u6570\u7ec4 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_68","text":"convert   (   self   ,   color _ converter   )   \u6309\u7167   color _ converter   \u6a21\u5f0f \u8f6c\u6362 \u56fe\u50cf \u3002   \u53c2\u6570 \uff1a   color _ converter   (   carla . ColorConverter   )   save _ to _ disk   (   self   ,   path   ,   color _ converter   = Raw   )   \u4f7f\u7528 \u5982\u4e0b \u6240\u793a \u7684 \u8f6c\u6362 \u8f6c\u6362\u5668 \u6a21\u5f0f   color _ converter   \u5c06 \u56fe\u50cf \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002 \u9ed8\u8ba4 \u8f6c\u6362 \u6a21\u5f0f \u662f   Raw   \uff0c \u4e0d\u4f1a \u5bf9 \u56fe\u50cf \u8fdb\u884c \u4efb\u4f55 \u66f4\u6539 \u3002   \u53c2\u6570 \uff1a   path   (   str   )   -   \u5c06 \u5305\u542b \u56fe\u50cf \u7684 \u8def\u5f84 \u3002   color _ converter   (   carla . ColorConverter   )   -   \u9ed8\u8ba4   Raw   \u4e0d\u4f1a \u8fdb\u884c \u4efb\u4f55 \u66f4\u6539 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_69","text":"__ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728 \u5f62\u6210 \u56fe\u50cf \u7684   carla . Color   \u4e0a\u9762 \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   color   =   carla . Color   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlajunction","text":"\u6839\u636e   OpenDRIVE   1.4   \u6807\u51c6 \uff0c \u4f53\u73b0   OpenDRIVE   \u6587\u4ef6 \u4e2d \u63cf\u8ff0 \u7684 \u9053\u8def \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u7684 \u7c7b \u3002","title":"carla . Junction"},{"location":"python_api/#_70","text":"id   (   int   )   OpenDRIVE   \u6587\u4ef6 \u4e2d \u627e\u5230 \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   bounding _ box   (   carla . BoundingBox   )   \u5c01\u88c5 \u8fde\u63a5 \u8f66\u9053 \u7684 \u8fb9\u754c \u6846 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_71","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_72","text":"get _ waypoints   (   self   ,   lane _ type   )   \u8fd4\u56de \u8def\u5f84 \u70b9 \u5bf9 \u7684 \u5217\u8868 \u3002 \u5217\u8868 \u4e2d \u7684 \u6bcf\u4e2a \u5143\u7ec4 \u9996\u5148 \u5305\u542b \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u8fb9\u754c \u5185 \u7684 \u521d\u59cb \u8def\u5f84 \u70b9 \uff0c \u7136\u540e \u5305\u542b \u6700\u7ec8 \u8def\u5f84 \u70b9 \uff0c \u63cf\u8ff0 \u6cbf \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u7684 \u6240\u8ff0 \u8f66\u9053 \u7684 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u3002 \u8f66\u9053 \u9075\u5faa \u5176   OpenDRIVE   \u5b9a\u4e49 \uff0c \u56e0\u6b64 \u7531\u4e8e \u53ef\u80fd \u7684 \u504f\u5dee \uff0c \u53ef\u80fd \u6709 \u8bb8\u591a \u4e0d\u540c \u7684 \u5143\u7ec4 \u5177\u6709 \u76f8\u540c \u7684 \u8d77\u59cb \u8def\u5f84 \u70b9 \uff0c \u56e0\u4e3a \u8fd9 \u88ab \u89c6\u4e3a \u4e0d\u540c \u7684 \u8f66\u9053 \u3002   \u53c2\u6570 \uff1a   lane _ type   (   carla . LaneType   )   -   \u83b7\u53d6 \u8def\u70b9 \u7684 \u8f66\u9053 \u7c7b\u578b \u3002   \u8fd4\u56de \uff1a   list ( tuple (   carla . Waypoint   ) )","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#carlalabelledpoint","text":"\u4f7f\u7528 \u8bed\u4e49 \u6807\u7b7e \u8868\u793a \u7a7a\u95f4 \u4f4d\u7f6e \u7684 \u7c7b \u3002","title":"carla . LabelledPoint"},{"location":"python_api/#_73","text":"location   \u4e09\u7ef4 \u7a7a\u95f4 \u7ef4\u7a7a\u95f4 \u4e09\u7ef4\u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u3002   label   \u70b9 \u7684 \u8bed\u4e49 \u6807\u7b7e \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlalandmark","text":"\u5b9a\u4e49 \u5f71\u54cd \u9053\u8def \u7684 \u4efb\u4f55 \u7c7b\u578b \u7684 \u4ea4\u901a \u5730\u6807 \u6216 \u6807\u5fd7 \u7684 \u7c7b \u3002 \u8fd9\u4e9b \u7c7b \u5728 \u5730 \u6807\u7684   OpenDRIVE   1.4   standard   \u6807\u51c6 \u5b9a\u4e49 \u53ca\u5176 \u5728 \u4eff\u771f \u4e2d \u7684 \u8868\u793a \u4e4b\u95f4 \u8fdb\u884c \u534f\u8c03 \u3002 \u6b64\u7c7b \u68c0\u7d22 \u5728   OpenDRIVE   \u4e2d \u5b9a\u4e49 \u5730 \u6807\u7684 \u6240\u6709 \u4fe1\u606f \uff0c \u5e76 \u63d0\u4f9b \u6709\u5173 \u5176 \u5f71\u54cd \u54ea\u4e9b \u8f66\u9053 \u4ee5\u53ca \u4f55\u65f6 \u5f71\u54cd \u7684 \u4fe1\u606f \u3002   carla . Waypoint   \u5bf9\u8c61 \u5c06 \u5c1d\u8bd5 \u68c0\u7d22 \u5176 \u8f66\u9053 \u89c4\u5219 \u6765 \u8bbf\u95ee \u5730\u6807 \u3002 \u56e0\u6b64 \uff0c \u67d0\u4e9b \u5c5e\u6027 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u6b63\u5728 \u54a8\u8be2 \u5730 \u6807\u7684 \u8def\u5f84 \u70b9 \uff0c \u4ece\u800c \u521b\u5efa \u5bf9\u8c61 \u521b\u5efa\u5bf9\u8c61 \u3002","title":"carla . Landmark"},{"location":"python_api/#_74","text":"road _ id   (   int   )   \u5b9a\u4e49 \u6b64\u5730 \u6807\u7684 \u9053\u8def \u7684   OpenDRIVE   ID \u3002 \u7531\u4e8e   OpenDRIVE   \u9053\u8def \u5b9a\u4e49 \uff0c \u8be5 \u9053\u8def \u53ef\u80fd \u4e0e \u5730\u6807 \u5f53\u524d \u5f71\u54cd \u7684 \u9053\u8def \u4e0d\u540c \u3002 \u8fd9\u79cd \u60c5\u51b5 \u4e3b\u8981 \u53d1\u751f \u5728 \u4e0d\u540c \u8def\u7ebf \u7684 \u9053\u8def \u5206\u53c9 \u5904 \u3002   \u793a\u4f8b \uff1a \u5728 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u7684 \u4e00\u6761 \u5206\u53c9 \u9053\u8def \u4e2d \u5b9a\u4e49 \u4e86 \u4e00\u4e2a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff0c \u4f46 \u5b83 \u4f1a \u5f71\u54cd \u6240\u6709 \u53ef\u80fd \u7684 \u8def\u7ebf   \u3002   distance   (   float   -   \u7c73   )   \u5730\u6807 \u4e0e \u521b\u5efa \u5bf9\u8c61 \u521b\u5efa\u5bf9\u8c61 \u7684 \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \uff08 \u67e5\u8be2   get _ landmarks   \u6216   get _ landmarks _ of _ type   \uff09 \u3002   s   (   float   -   \u7c73   )   \u5730\u6807 \u6cbf \u9053\u8def \u51e0\u4f55 \u5f62\u72b6 \u5b9a\u4f4d \u7684 \u8ddd\u79bb   road _ id   \u3002   t   (   float   -   \u7c73   )   \u5730\u6807 \u8ddd \u9053\u8def \u8fb9\u7f18 \u7684 \u6a2a\u5411 \u8ddd\u79bb   road _ id   \u3002   id   (   str   )   OpenDRIVE   \u6587\u4ef6 \u4e2d \u5730 \u6807\u7684 \u552f\u4e00   ID \u3002   name   (   str   )   OpenDRIVE   \u6587\u4ef6 \u4e2d \u7684 \u5730\u6807 \u540d\u79f0 \u3002   is _ dynamic   (   bool   )   \u6307\u793a \u5730 \u6807\u7684 \u72b6\u6001 \u662f\u5426 \u968f \u65f6\u95f4 \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \uff0c \u4f8b\u5982 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002   orientation   (   carla . LandmarkOrientation   -   \u7c73   )   \u6307\u793a \u5730\u6807 \u9762\u5411 \u7684 \u8f66\u9053 \u3002   z _ offset   (   float   -   \u7c73   )   \u653e\u7f6e \u5730 \u6807\u7684 \u9ad8\u5ea6 \u3002   country   (   str   )   \u5b9a\u4e49 \u5730 \u6807\u7684 \u56fd\u5bb6 / \u5730\u533a \u4ee3\u7801 \uff08 OpenDRIVE   \u9ed8\u8ba4 \u4e3a \u5fb7\u56fd   2017 \uff09 \u3002   type   (   str   )   \u6839\u636e \u56fd\u5bb6 / \u5730\u533a \u4ee3\u7801 \u8f93\u5165 \u8f93\u5165\u5730 \u6807\u7684 \u7c7b\u578b \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   sub _ type   (   str   )   \u6839\u636e \u56fd\u5bb6 / \u5730\u533a \u4ee3\u7801 \u7684 \u5730\u6807 \u5b50 \u7c7b\u578b \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   value   (   float   )   \u4fe1\u53f7 \u4e2d \u6253\u5370 \u7684 \u503c \uff08 \u4f8b\u5982 \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u3001 \u6700\u5927 \u91cd\u91cf \u7b49 \uff09 \u3002   unit   (   str   )   \u5c5e\u6027   value   \u7684 \u6d4b\u91cf \u5355\u4f4d \u3002   height   (   float   -   \u7c73   )   \u4fe1\u53f7 \u7684 \u603b \u9ad8\u5ea6 \u3002   width   (   float   -   \u7c73   )   \u4fe1\u53f7 \u7684 \u603b \u5bbd\u5ea6 \u3002   text   (   str   )   \u4fe1\u53f7 \u4e2d \u7684 \u9644\u52a0 \u6587\u672c \u3002   h _ offset   (   float   -   \u7c73   )   \u4fe1\u53f7 \u76f8\u5bf9 \u4e8e OpenDRIVE \u4e2d   s   \u5904   road _ id   \u5b9a\u4e49 \u7684 \u65b9\u5411 \u504f\u79fb \u3002   pitch   (   float   -   \u7c73   )   \u4fe1\u53f7 \u7684 \u4fef\u4ef0 \u4ef0\u89d2 \u4fef\u4ef0\u89d2   ( Y - \u8f74 \u5728 \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u7cfb\u7edf ) .   roll   (   float   )   \u4fe1\u53f7 \u7684 \u7ffb\u6eda \u89d2   ( X - \u8f74 \u5728 \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u7cfb\u7edf ) .   waypoint   (   carla . Waypoint   )   \u653e\u7f6e \u5728 \u8fdb\u884c \u67e5\u8be2 \u7684 \u8f66\u9053 \u548c \u5730\u6807   s   \u5904 \u7684 \u8def\u5f84 \u70b9 \u3002 \u8fd9\u662f \u5730\u6807 \u6709\u6548 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002   transform   (   carla . Transform   )   \u4eff\u771f \u4e2d \u5730 \u6807\u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_75","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_76","text":"get _ lane _ validities   (   self   )   \u8fd4\u56de \u5730\u6807 \u5f71\u54cd \u7684 \u8f66\u9053 \u3002 \u7531\u4e8e \u53ef\u80fd \u5b58\u5728 \u5730\u6807 \u65e0\u6548 \u7684 \u7279\u5b9a \u8f66\u9053 \uff0c \u56e0\u6b64 \u8fd4\u56de \u7684 \u662f \u5305\u542b \u53d7 \u5f71\u54cd \u7684   lane _ id   \u8303\u56f4 \u7684 \u5bf9 \u5217\u8868 \uff1a   \u793a\u4f8b \uff1a \u5728 \u6709 5 \u6761 \u8f66\u9053 \u7684 \u9053\u8def \u4e2d \uff0c \u5176\u4e2d 3 \u4e0d\u53d7 \u6761\u4e0d\u53d7 \u5f71\u54cd \uff1a [ ( from _ lane1 , to _ lane2 ) , ( from _ lane4   , to _ lane5 ) ]   \u3002   \u8fd4\u56de \uff1a   list ( tuple ( int ) )","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#carlalandmarkorientation","text":"\u7528\u4e8e \u5b9a\u4e49 \u9053\u8def \u4e2d \u5730\u6807 \u65b9\u5411 \u7684 \u8f85\u52a9 \u7c7b \u3002 \u8be5 \u5b9a\u4e49 \u5e76\u975e \u76f4\u63a5 \u4ece   OpenDRIVE   \u8f6c\u6362 \u800c \u6765 \uff0c \u800c\u662f \u4e3a\u4e86 \u4fbf\u4e8e \u7406\u89e3 \u800c \u8fdb\u884c \u4e86 \u8f6c\u6362 \u3002","title":"carla . LandmarkOrientation"},{"location":"python_api/#_77","text":"Positive   \u5730\u6807 \u671d\u5411 \u4e0e \u9053\u8def \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u5b9a\u4e49 \u65b9\u5411 \u76f8\u540c \u7684 \u8f66\u8f86 \uff08 OpenDRIVE   \u4e2d \u7684   0   \u8f66\u9053 \u548c \u8d1f \u8f66\u9053 \uff09 \u3002   Negative   \u5730\u6807 \u671d\u5411 \u4e0e \u9053\u8def \u51e0\u4f55 \u5b9a\u4e49 \u76f8\u53cd \u65b9\u5411 \u884c\u9a76 \u7684 \u8f66\u8f86 \uff08 OpenDRIVE \u4e2d \u7684 \u6b63 \u8f66\u9053 \uff09 \u3002   Both   \u90fd \u4f1a \u5f71\u54cd \u6cbf \u9053\u8def \u4e24\u4e2a \u65b9\u5411 \u884c\u9a76 \u7684 \u8f66\u8f86 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlalandmarktype","text":"Helper   \u7c7b \u5305\u542b   OpenDRIVE   \u6807\u51c6   \uff08 \u5fb7\u56fd   2017 \uff09 \u4e2d \u9ed8\u8ba4 \u56fd\u5bb6 / \u5730\u533a \u4ee3\u7801 \u5b9a\u4e49 \u7684 \u4e00\u7ec4 \u5e38\u7528 \u5730\u6807 \u7c7b\u578b \u3002   carla . Landmark   \u4e0d \u5f15\u7528 \u6b64\u7c7b \u3002 \u5730\u6807 \u7c7b\u578b \u662f \u4e00\u4e2a \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u6839\u636e \u6240 \u4f7f\u7528 \u7684 \u56fd\u5bb6 / \u5730\u533a \u4ee3\u7801 \u7684 \u4e0d\u540c \uff0c \u5176 \u53d8\u5316 \u5f88\u5927 \u53d8\u5316\u5f88\u5927 \u3002 \u6b64\u7c7b \u4ec5 \u901a\u8fc7 \u5c06 \u9ed8\u8ba4 \u96c6\u4e2d \u7684 \u4e00\u4e9b \u6700 \u5e38\u7528 \u7684 \u63cf\u8ff0 \u4e3a \u679a\u4e3e \u6765 \u4f7f \u7ba1\u7406 \u5b83\u4eec \u53d8\u5f97 \u66f4 \u5bb9\u6613 \u3002","title":"carla . LandmarkType"},{"location":"python_api/#_78","text":"Danger   \u7c7b\u578b   101 \u3002   LanesMerging   \u7c7b\u578b   121 \u3002   CautionPedestrian   \u7c7b\u578b   133 \u3002   CautionBicycle   \u7c7b\u578b   138 \u3002   LevelCrossing   \u7c7b\u578b   150 \u3002   StopSign   \u7c7b\u578b   206 \u3002   YieldSign   \u7c7b\u578b   205 \u3002   MandatoryTurnDirection   \u7c7b\u578b   209 \u3002   MandatoryLeftRightDirection   \u7c7b\u578b   211 \u3002   TwoChoiceTurnDirection   \u7c7b\u578b   214 \u3002   Roundabout   \u7c7b\u578b   215 \u3002   PassRightLeft   \u7c7b\u578b   222 \u3002   AccessForbidden   \u7c7b\u578b   250 \u3002   AccessForbiddenMotorvehicles   \u7c7b\u578b   251 \u3002   AccessForbiddenTrucks   \u7c7b\u578b   253 \u3002   AccessForbiddenBicycle   \u7c7b\u578b   254 \u3002   AccessForbiddenWeight   \u7c7b\u578b   263 \u3002   AccessForbiddenWidth   \u7c7b\u578b   264 \u3002   AccessForbiddenHeight   \u7c7b\u578b   265 \u3002   AccessForbiddenWrongDirection   \u7c7b\u578b   267 \u3002   ForbiddenUTurn   \u7c7b\u578b   272 \u3002   MaximumSpeed   \u7c7b\u578b   274 \u3002   ForbiddenOvertakingMotorvehicles   \u7c7b\u578b   276 \u3002   ForbiddenOvertakingTrucks   \u7c7b\u578b   277 \u3002   AbsoluteNoStop   \u7c7b\u578b   283 \u3002   RestrictedStop   \u7c7b\u578b   286 \u3002   HasWayNextIntersection   \u7c7b\u578b   301 \u3002   PriorityWay   \u7c7b\u578b   306 \u3002   PriorityWayEnd   \u7c7b\u578b   307 \u3002   CityBegin   \u7c7b\u578b   310 \u3002   CityEnd   \u7c7b\u578b   311 \u3002   Highway   \u7c7b\u578b   330 \u3002   DeadEnd   \u7c7b\u578b   357 \u3002   RecomendedSpeed   \u7c7b\u578b   380 \u3002   RecomendedSpeedEnd   \u7c7b\u578b   381 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlalanechange","text":"\u5b9a\u4e49 \u5de6\u8f6c \u3001 \u53f3\u8f6c \u3001 \u53cc\u8f6c \u6216 \u4e0d \u8f6c \u7684 \u6743\u9650 \u7684 \u7c7b \uff08 \u610f\u5473 \u610f\u5473\u7740 \u53ea \u5141\u8bb8 \u76f4\u884c \uff09 \u3002 \u6839\u636e   OpenDRIVE   \u6587\u4ef6 \u4e3a \u6bcf\u4e2a   carla . Waypoint   \u5b58\u50a8 \u6b64 \u4fe1\u606f \u3002   carla . Map . get _ waypoint   \u4e2d \u7684 \u7247\u6bb5 \u663e\u793a \u4e86 \u5982\u4f55 \u4f7f\u7528 \u8def\u5f84 \u70b9\u6765 \u4e86\u89e3 \u5141\u8bb8 \u54ea\u4e9b \u8f6c\u5f2f \u3002","title":"carla . LaneChange"},{"location":"python_api/#_79","text":"NONE   \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u4e0d \u5141\u8bb8 \u53f3\u8f6c \u6216 \u5de6\u8f6c \uff0c \u53ea\u80fd \u76f4\u884c \u3002   Right   \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u5141\u8bb8 \u53f3\u8f6c \u3002   Left   \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u5141\u8bb8 \u5de6\u8f6c \u3002   Both   \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u90fd \u5141\u8bb8 \u53f3\u8f6c \u6216 \u5de6\u8f6c \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlalaneinvasionevent","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u4e3a   sensor . other . lane _ invasion   \u5b9a\u4e49 \u538b\u7ebf \u7684 \u7c7b \u3002 \u5b83 \u4ec5 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5de5\u4f5c \uff0c \u5e76 \u4f9d\u8d56   OpenDRIVE   \u6765 \u63d0\u4f9b \u53ef\u9760 \u7684 \u4fe1\u606f \u3002 \u6bcf\u6b21 \u53d1\u751f \u538b\u7ebf \u65f6 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u4f1a \u521b\u5efa \u4e00\u4e2a \u8fd9\u6837 \u7684 \u60c5\u51b5 \uff0c \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u53ef\u80fd \u4f1a \u53d1\u751f \u591a\u6b21 \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002","title":"carla . LaneInvasionEvent"},{"location":"python_api/#_80","text":"actor   (   carla . Actor   )   \u83b7\u53d6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6240 \u8fde\u63a5 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5373 \u4fb5\u5165 \u53e6 \u4e00 \u8f66\u9053 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   crossed _ lane _ markings   (   list (   carla . LaneMarking   )   )   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5df2 \u7a7f\u8fc7 \u5e76 \u68c0\u6d4b \u5230 \u7684 \u8f66\u9053 \u6807\u8bb0 \u5217\u8868 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_81","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_82","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlalanemarking","text":"\u6839\u636e   OpenDRIVE   1.4   \u6807\u51c6   \u6536\u96c6 \u6709\u5173 \u8f66\u9053 \u6807\u8bb0 \u7684 \u6240\u6709 \u4fe1\u606f \u7684 \u7c7b \u3002","title":"carla . LaneMarking"},{"location":"python_api/#_83","text":"color   (   carla . LaneMarkingColor   )   \u6807\u8bb0 \u7684 \u5b9e\u9645 \u989c\u8272 \u3002   lane _ change   (   carla . LaneChange   )   \u8de8\u8d8a \u6240\u8ff0 \u8f66\u9053 \u6807\u8bb0 \u7684 \u6743\u9650 \u3002   type   (   carla . LaneMarkingType   )   \u8f66\u9053 \u6807\u8bb0 \u7c7b\u578b \u3002   width   (   float   )   \u6c34\u5e73 \u8f66\u9053 \u6807\u8bb0 \u539a\u5ea6 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlalanemarkingcolor","text":"\u6839\u636e   OpenDRIVE   1.4   \u5b9a\u4e49 \u8f66\u9053 \u6807\u8bb0 \u989c\u8272 \u7684 \u7c7b \u3002","title":"carla . LaneMarkingColor"},{"location":"python_api/#_84","text":"Standard   \u9ed8\u8ba4 \u4e3a \u767d\u8272 \u3002   Blue   Green   Red   White   Yellow   Other","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlalanemarkingtype","text":"\u5b9a\u4e49   OpenDRIVE   1.4   \u63a5\u53d7 \u7684 \u8f66\u9053 \u6807\u8bb0 \u7c7b\u578b \u7684 \u7c7b \u3002   carla . Map . get _ waypoint   \u4e2d \u7684 \u7247\u6bb5 \u663e\u793a \u4e86 \u5982\u4f55 \u4f7f\u7528 \u8def\u5f84 \u70b9\u6765 \u68c0\u7d22 \u6709\u5173 \u76f8\u90bb \u8f66\u9053 \u6807\u8bb0 \u7684 \u4fe1\u606f \u3002   \u5173\u4e8e \u53cc \u7cbe\u5ea6 \u7c7b\u578b \u7684 \u6ce8\u610f \u4e8b\u9879 \u6ce8\u610f\u4e8b\u9879 \uff1a   \u8f66\u9053 \u6807\u8bb0 \u662f \u6839\u636e   OpenDRIVE   \u6807\u51c6 \u5b9a\u4e49 \u7684 \uff0c \u8be5 \u6807\u51c6 \u786e\u5b9a \u4e00\u6761 \u4e00\u6761\u7ebf \u5c06 \u88ab \u89c6\u4e3a \u201c BrokenSolid \u201d \u6216 \u201c SolidBroken \u201d \u3002 \u6bcf\u6761 \u9053\u8def \u90fd \u6709 \u4e00\u4e2a \u4e2d\u5fc3 \u8f66\u9053 \u6807\u8bb0 \uff0c \u6839\u636e \u8f66\u9053 \u65b9\u5411 \u4ece\u5de6\u5230\u53f3 \u5b9a\u4e49 \u3002 \u5176\u4f59 \u8f66\u9053 \u6807\u8bb0 \u6309 \u4ece \u4e2d\u5fc3 \u8f66\u9053 \u5230 \u6700\u8fd1 \u7684 \u9053\u8def \u5916\u4fa7 \u7684 \u987a\u5e8f \u5b9a\u4e49 \u3002","title":"carla . LaneMarkingType"},{"location":"python_api/#_85","text":"NONE   Other   Broken   Solid   SolidSolid   SolidBroken   BrokenSolid   BrokenBroken   BottsDots   Grass   Curb","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlalanetype","text":"\u5b9a\u4e49   OpenDRIVE   1.4   \u63a5\u53d7 \u7684 \u53ef\u80fd \u901a\u9053 \u7c7b\u578b \u7684 \u7c7b \u3002 \u8be5 \u6807\u51c6 \u5b9a\u4e49 \u4e86 \u9053\u8def \u4fe1\u606f \u3002   carla . Map . get _ waypoint   \u4e2d \u7684 \u7247\u6bb5 \u5229\u7528 \u8def\u70b9 \u6765 \u83b7\u53d6 \u5f53\u524d \u548c \u76f8\u90bb \u8f66\u9053 \u7c7b\u578b \u3002","title":"carla . LaneType"},{"location":"python_api/#_86","text":"NONE   Driving   Stop   Shoulder   Biking   Sidewalk   Border   Restricted   Parking   Bidirectional   Median   Special1   Special2   Special3   RoadWorks   Tram   Rail   Entry   Exit   OffRamp   OnRamp   Any   \u9664   NONE   \u4e4b\u5916 \u7684 \u6240\u6709 \u7c7b\u578b \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlalidardetection","text":"carla . LidarMeasurement   \u4e2d \u5305\u542b \u7684 \u6570\u636e \u3002 \u5176\u4e2d \u6bcf \u4e00\u4e2a \u90fd \u4ee3\u8868 \u4e91\u4e2d \u7684 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u53ca\u5176 \u4f4d\u7f6e \u548c \u76f8\u5173 \u5f3a\u5ea6 \u3002","title":"carla . LidarDetection"},{"location":"python_api/#_87","text":"point   (   carla . Location   -   \u7c73   )   xyz   \u5750\u6807 \u4e2d \u7684 \u70b9 \u3002   intensity   (   float   )   \u8ba1\u7b97 \u8be5\u70b9 \u7684 \u5f3a\u5ea6 \u4f5c\u4e3a   [ 0.0   ,   1.0 ]   \u4e4b\u95f4 \u7684 \u6807\u91cf \u503c \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_88","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_89","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlalidarmeasurement","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49 \u7531   sensor . lidar . ray _ cast   \u68c0\u7d22 \u7684 LIDAR \u6570\u636e \u7684 \u7c7b \u3002 \u8fd9 \u672c\u8d28 \u4e0a \u662f \u4f7f\u7528 \u5149\u7ebf \u6295\u5c04 \u4eff\u771f \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002","title":"carla . LidarMeasurement"},{"location":"python_api/#_90","text":"channels   (   int   )   \u53d1\u5c04 \u7684 \u6fc0\u5149 \u6570\u91cf \u3002   horizontal _ angle   (   float   -   radians   )   \u6d4b\u91cf \u65f6   LIDAR   \u65cb\u8f6c \u7684 \u6c34\u5e73 \u89d2\u5ea6 \u3002   raw _ data   (   bytes   )   \u63a5\u6536 \u5230 \u7684   4D   \u70b9 \u5217\u8868 \u3002 \u6bcf\u4e2a \u70b9 \u7531   [ x , y , z ]   \u5750\u6807 \u52a0\u4e0a \u4e3a \u8be5\u70b9 \u8ba1\u7b97 \u7684 \u5f3a\u5ea6 \u7ec4\u6210 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_91","text":"save _ to _ disk   (   self   ,   path   )   \u5c06 \u70b9\u4e91 \u4f5c\u4e3a \u63cf\u8ff0 \u6765\u81ea   3D   \u626b\u63cf \u626b\u63cf\u4eea \u7684 \u6570\u636e \u7684   . ply   \u6587\u4ef6 \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002 \u751f\u6210 \u7684 \u6587\u4ef6 \u53ef\u4ee5 \u5728   MeshLab   \u4e2d \u4f7f\u7528 \uff0c MeshLab   \u662f \u4e00\u4e2a \u7528\u4e8e \u5904\u7406 \u6240\u8ff0 \u6587\u4ef6 \u7684 \u5f00\u6e90 \u7cfb\u7edf \u3002 \u53ea \u9700 \u8003\u8651 \u5230 \u8be5 \u8f74 \u53ef\u80fd \u4e0e \u865a\u5e7b \u5f15\u64ce \u4e0d\u540c \uff0c \u56e0\u6b64 \u9700\u8981 \u91cd\u65b0 \u5206\u914d \u91cd\u65b0\u5206\u914d \u3002   \u53c2\u6570 \uff1a   path   (   str   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_92","text":"get _ point _ count   (   self   ,   channel   )   \u68c0\u7d22 \u7531\u6b64 \u6d4b\u91cf \u751f\u6210 \u7684 \u6309 \u901a\u9053 \u6392\u5e8f \u7684 \u70b9\u6570 \u3002 \u6309 \u901a\u9053 \u6392\u5e8f \u53ef\u4ee5 \u8bc6\u522b \u6bcf\u4e2a \u70b9 \u7684 \u539f\u59cb \u901a\u9053 \u3002   \u53c2\u6570 \uff1a   channel   (   int   )","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#_93","text":"__ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728   carla . LidarDetection   \u83b7\u53d6 \u7684 \u6570\u636e \u4e0a \u8fed\u4ee3 \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   detection   =   carla . LidarDetection   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlalight","text":"\u6b64\u7c7b \u516c\u5f00 \u573a\u666f \u4e2d \u5b58\u5728 \u7684 \u706f\u5149 \uff08 \u8f66\u8f86 \u706f\u5149 \u9664\u5916 \uff09 \u3002 \u706f\u5149 \u7684 \u5c5e\u6027 \u53ef\u4ee5 \u968f\u610f \u67e5\u8be2 \u548c \u6539\u53d8 \u3002 \u5f53 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fdb\u5165 \u591c\u95f4 \u6a21\u5f0f \uff08 \u592a\u9633 \u9ad8\u5ea6 \u4f4e\u4e8e \u96f6 \uff09 \u65f6 \uff0c \u706f\u4f1a \u81ea\u52a8 \u6253\u5f00 \u3002","title":"carla . Light"},{"location":"python_api/#_94","text":"color   (   carla . Color   )   \u706f\u5149 \u7684 \u989c\u8272 \u3002   id   (   int   )   \u706f \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   intensity   (   float   -   lumens   )   \u5149 \u7684 \u5f3a\u5ea6 \u3002   is _ on   (   bool   )   \u706f \u7684 \u5f00\u5173 \u3002 \u5f53\u706f\u4eae \u65f6 \u8fd9 \u662f   True   \u3002 \u5f53 \u591c\u95f4 \u6a21\u5f0f \u542f\u52a8 \u65f6 \uff0c \u6b64\u9879 \u8bbe\u7f6e \u4e3a   True   \u3002   location   (   carla . Location   -   \u7c73   )   \u706f\u5149 \u7684 \u4f4d\u7f6e \u3002   light _ group   (   carla . LightGroup   )   \u706f\u5149 \u6240\u5c5e \u7684 \u7ec4 \u3002   light _ state   (   carla . LightState   )   \u706f\u5149 \u7684 \u72b6\u6001 \u3002 \u603b\u7ed3 \u5176 \u5c5e\u6027 \u3001 \u7ec4 \u4ee5\u53ca \u662f\u5426 \u6253\u5f00 / \u5173\u95ed \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_95","text":"turn _ off   (   self   )   \u5173\u95ed \u706f \u3002   turn _ on   (   self   )   \u6253\u5f00 \u706f \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_96","text":"set _ color   (   self   ,   color   )   \u5c06 \u706f\u5149 \u7684 \u989c\u8272 \u66f4 \u6539\u4e3a   color   \u3002   \u53c2\u6570 \uff1a   color   (   carla . Color   )   set _ intensity   (   self   ,   intensity   )   \u5c06\u5149 \u7684 \u5f3a\u5ea6 \u66f4 \u6539\u4e3a   intensity   \u3002   \u53c2\u6570 \uff1a   intensity   (   float   -   lumens   )   set _ light _ group   (   self   ,   light _ group   )   \u5c06 \u706f\u5149 \u66f4 \u6539\u4e3a \u7ec4   light _ group   \u3002   \u53c2\u6570 \uff1a   light _ group   (   carla . LightGroup   )   set _ light _ state   (   self   ,   light _ state   )   \u5c06 \u706f\u5149 \u7684 \u72b6\u6001 \u66f4 \u6539\u4e3a   light _ state   \u3002 \u8fd9 \u53ef\u80fd \u4f1a \u540c\u65f6 \u66f4\u6539 \u5c5e\u6027 \u3001 \u5206\u7ec4 \u4ee5\u53ca \u6253\u5f00 / \u5173\u95ed \u706f \u3002   \u53c2\u6570 \uff1a   light _ state   (   carla . LightState   )","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#carlalightgroup","text":"\u6b64\u7c7b \u5c06 \u573a\u666f \u4e2d \u7684 \u706f\u5149 \u5206\u4e3a \u4e0d\u540c \u7684 \u7ec4 \u3002 \u8fd9\u4e9b \u53ef\u7528 \u7ec4 \u4f5c\u4e3a \u53ef \u7528\u4f5c \u6807\u5fd7 \u7684 \u679a\u4e3e \u503c \u63d0\u4f9b \u3002   \u7b14\u8bb0 \u3002   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u867d\u7136 \u6709 \u4e00\u4e2a   vehicle   \u7ec4 \uff0c \u4f46 \u8f66\u706f \u8fd8 \u4e0d\u80fd \u7528\u4f5c   carla . Light   \u5bf9\u8c61 \u3002 \u8fd9\u4e9b \u5fc5\u987b \u4f7f\u7528   carla . Vehicle   \u548c   carla . VehicleLightState   \u8fdb\u884c \u7ba1\u7406 \u3002","title":"carla . LightGroup"},{"location":"python_api/#_97","text":"None   \u6240\u6709 \u706f \u3002   Vehicle   Street   Building   Other","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlalightmanager","text":"\u6b64\u7c7b \u5904\u7406 \u573a\u666f \u4e2d \u7684 \u706f\u5149 \u3002 \u5b83 \u7684 \u4e3b\u8981 \u8981\u7528 \u7528\u9014 \u4e3b\u8981\u7528\u9014 \u662f \u5728 \u4e00\u6b21 \u8c03\u7528 \u4e2d \u83b7\u53d6 \u548c \u8bbe\u7f6e \u706f\u5149 \u7ec4 \u6216 \u706f\u5149 \u5217\u8868 \u7684 \u72b6\u6001 \u3002 \u6b64\u7c7b \u7684 \u5b9e\u4f8b \u53ef\u4ee5 \u901a\u8fc7   carla . World . get _ lightmanager   ( )   \u68c0\u7d22 \u3002   \u7b14\u8bb0 \u3002   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u867d\u7136 \u6709 \u4e00\u4e2a   vehicle   \u7ec4 \uff0c \u4f46 \u8f66\u706f \u8fd8 \u4e0d\u80fd \u7528\u4f5c   carla . Light   \u5bf9\u8c61 \u3002 \u8fd9\u4e9b \u5fc5\u987b \u4f7f\u7528   carla . Vehicle   \u548c   carla . VehicleLightState   \u8fdb\u884c \u7ba1\u7406 \u3002","title":"carla . LightManager"},{"location":"python_api/#_98","text":"is _ active   (   self   ,   lights   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u5e03\u5c14 \u5e03\u5c14\u503c \uff0c \u8bf4\u660e \u5176\u4e2d \u7684 \u5143\u7d20   lights   \u662f\u5426 \u6253\u5f00 / \u5173\u95ed \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   \u8fd4\u56de \uff1a   list ( bool )   turn _ off   (   self   ,   lights   )   \u5173\u95ed   lights   \u4e2d \u7684 \u6240\u6709 \u706f \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u5173\u95ed \u7684 \u706f \u5217\u8868 \u3002   turn _ on   (   self   ,   lights   )   \u6253\u5f00   lights   \u4e2d \u7684 \u6240\u6709 \u706f \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u6253\u5f00 \u7684 \u706f \u5217\u8868 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_99","text":"get _ all _ lights   (   self   ,   light _ group   =   carla . LightGroup . None   )   \u8fd4\u56de \u5305\u542b \u7279\u5b9a \u7ec4\u4e2d \u7684 \u706f\u5149 \u7684 \u5217\u8868 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8be5\u7ec4 \u662f   None   \u3002   \u53c2\u6570 \uff1a   light _ group   (   carla . LightGroup   )   -   \u7528\u4e8e \u8fc7\u6ee4 \u8fd4\u56de \u7684 \u706f\u5149 \u7684 \u7ec4 \u3002 \u9ed8\u8ba4 \u4e3a   None   \u3002   \u8fd4\u56de \uff1a   list (   carla . Light   )   get _ color   (   self   ,   lights   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u989c\u8272 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   \u8fd4\u56de \uff1a   list (   carla . Color   )   \u8bbe\u7f6e \u5668 \uff1a   carla . LightManager . set _ color   get _ intensity   (   self   ,   lights   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5f3a\u5ea6 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   \u8fd4\u56de \uff1a   list ( float )   -   lumens   \u8bbe\u7f6e \u5668 \uff1a   carla . LightManager . set _ intensity   get _ light _ group   (   self   ,   lights   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u7ec4 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   \u8fd4\u56de \uff1a   list (   carla . LightGroup   )   \u8bbe\u7f6e \u5668 \uff1a   carla . LightManager . set _ light _ group   get _ light _ state   (   self   ,   lights   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u6240\u6709 \u5c5e\u6027 \u7684 \u72b6\u6001 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   * * \u8fd4\u56de \uff1a   * *   list (   carla . LightState   )   \u8bbe\u7f6e \u5668 \uff1a   carla . LightManager . set _ light _ state   get _ turned _ off _ lights   (   self   ,   light _ group   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u573a\u666f \u4e2d \u5173\u95ed \u7684 \u706f\u5149 \uff08 \u6309\u7ec4 \u8fc7\u6ee4 \uff09 \u3002   \u53c2\u6570 \uff1a   light _ group   (   carla . LightGroup   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   \u8fd4\u56de \uff1a   list (   carla . Light   )   get _ turned _ on _ lights   (   self   ,   light _ group   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u573a\u666f \u4e2d \u6253\u5f00 \u7684 \u706f\u5149 \uff08 \u6309\u7ec4 \u8fc7\u6ee4 \uff09 \u3002   \u53c2\u6570 \uff1a   light _ group   (   carla . LightGroup   )   -   List   of   lights   to   be   queried .   \u8fd4\u56de \uff1a   list (   carla . Light   )","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#_100","text":"set _ active   (   self   ,   lights   ,   active   )   \u6253\u5f00 / \u5173\u95ed   lights   \u4e2d \u7684 \u5143\u7d20 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u6253\u5f00 / \u5173\u95ed \u7684 \u706f \u5217\u8868 \u3002   active   (   list ( bool )   )   -   \u8981 \u5e94\u7528 \u7684 \u5e03\u5c14 \u5e03\u5c14\u503c \u5217\u8868 \u3002   set _ color   (   self   ,   lights   ,   color   )   lights   \u5230   color   \u4e2d \u5143\u7d20 \u7684 \u989c\u8272 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   color   (   carla . Color   )   -   \u8981 \u5e94\u7528 \u7684 \u989c\u8272 \u3002   \u83b7\u53d6 \u5668 \uff1a   carla . LightManager . get _ color   set _ colors   (   self   ,   lights   ,   colors   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u989c\u8272 \u66f4 \u6539\u4e3a \u76f8\u5e94 \u7684   colors   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   colors   (   list (   carla . Color   )   )   -   \u8981 \u5e94\u7528 \u7684 \u989c\u8272 \u5217\u8868 \u3002   set _ day _ night _ cycle   (   self   ,   active   )   \u6240\u6709 \u573a\u666f \u706f \u90fd \u6709 \u663c\u591c \u5faa\u73af \uff0c \u968f\u7740 \u592a\u9633 \u7684 \u9ad8\u5ea6 \u81ea\u52a8 \u6253\u5f00 \u548c \u5173\u95ed \u3002 \u8fd9\u4f1a \u5e72\u6270 \u9700\u8981 \u5b8c\u5168 \u63a7\u5236 \u573a\u666f \u706f\u5149 \u7684 \u60c5\u51b5 \uff0c \u56e0\u6b64 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   False   \u4f1a \u505c\u7528 \u5b83 \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   True   \u6765 \u91cd\u65b0 \u6fc0\u6d3b \u5b83 \u3002   \u53c2\u6570 \uff1a   active   (   bool   )   -   ( \u53d6\u6d88 ) \u6fc0\u6d3b \u663c\u591c \u5faa\u73af \u3002   set _ intensities   (   self   ,   lights   ,   intensities   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5f3a\u5ea6 \u66f4 \u6539\u4e3a \u76f8\u5e94 \u7684   intensities   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   intensities   (   list ( float )   -   lumens   )   -   \u8981 \u5e94\u7528 \u7684 \u5f3a\u5ea6 \u5217\u8868 \u3002   set _ intensity   (   self   ,   lights   ,   intensity   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5f3a\u5ea6 \u6539\u4e3a   intensity   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   intensity   (   float   -   lumens   )   -   \u8981 \u5e94\u7528 \u7684 \u5f3a\u5ea6 \u3002   \u83b7\u53d6 \u5668 \uff1a   carla . LightManager . get _ intensity   set _ light _ group   (   self   ,   lights   ,   light _ group   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u7ec4 \u66f4 \u6539\u4e3a   light _ group   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   light _ group   (   carla . LightGroup   )   -   \u8981 \u5e94\u7528 \u7684 \u7ec4 \u3002   \u83b7\u53d6 \u5668 \uff1a   carla . LightManager . get _ light _ group   set _ light _ groups   (   self   ,   lights   ,   light _ groups   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u7ec4 \u66f4 \u6539\u4e3a \u76f8\u5e94 \u7684   light _ groups   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   light _ groups   (   list (   carla . LightGroup   )   )   -   \u8981 \u5e94\u7528 \u7684 \u7ec4 \u5217\u8868 \u3002   set _ light _ state   (   self   ,   lights   ,   light _ state   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5c5e\u6027 \u72b6\u6001 \u6539\u4e3a   light _ state   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   light _ state   (   carla . LightState   )   -   \u8981 \u5e94\u7528 \u7684 \u5c5e\u6027 \u7684 \u72b6\u6001 \u3002   \u83b7\u53d6 \u5668 \uff1a   carla . LightManager . get _ light _ state   set _ light _ states   (   self   ,   lights   ,   light _ states   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5c5e\u6027 \u72b6\u6001 \u66f4 \u6539\u4e3a \u76f8\u5e94 \u7684   light _ states   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   light _ states   (   list (   carla . LightState   )   )   -   \u8981 \u5e94\u7528 \u7684 \u5c5e\u6027 \u7684 \u72b6\u6001 \u5217\u8868 \u3002","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#carlalightstate","text":"\u8fd9\u4e2a \u7c7b \u4ee3\u8868 \u9664\u4e86 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u548c \u4f4d\u7f6e \u4e4b\u5916 \u7684 \u6240\u6709 \u706f\u5149 \u53d8\u91cf \uff0c \u5b83\u4eec \u5e94\u8be5 \u662f \u9759\u6001 \u7684 \u3002 \u4f7f\u7528 \u6b64\u7c7b \u53ef\u4ee5 \u5728 \u4e00\u6b21 \u8c03\u7528 \u4e2d \u7ba1\u7406 \u706f\u5149 \u7684 \u6240\u6709 \u53c2\u6570 \u5316 \u3002","title":"carla . LightState"},{"location":"python_api/#_101","text":"intensity   (   float   -   lumens   )   \u5149 \u7684 \u5f3a\u5ea6 \u3002   color   (   carla . Color   )   \u706f\u5149 \u7684 \u989c\u8272 \u3002   group   (   carla . LightGroup   )   \u706f\u5149 \u6240\u5c5e \u7684 \u7ec4 \u3002   active   (   bool   )   \u706f \u7684 \u5f00\u5173 \u3002 \u5f53\u706f\u4eae \u65f6 \u4e3a   True   \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_102","text":"__ init __   (   self   ,   intensity   = 0.0   ,   color   =   carla . Color   ( )   ,   group   =   carla . LightGroup . None   ,   active   = False   )   \u53c2\u6570 \uff1a   intensity   (   float   -   lumens   )   -   \u5149 \u7684 \u5f3a\u5ea6 \u3002 \u9ed8\u8ba4 \u4e3a   0.0   \u3002   color   (   carla . Color   )   -   \u5149 \u7684 \u989c\u8272 \u3002 \u9ed8\u8ba4 \u4e3a \u9ed1\u8272 \u3002   group   (   carla . LightGroup   )   -   \u706f\u5149 \u6240\u5c5e \u7684 \u7ec4 \u3002 \u9ed8\u8ba4 \u4e3a \u901a\u7528 \u7ec4   None   \u3002   active   (   bool   )   -   \u706f\u5149 \u5f00\u5173 \u3002 \u9ed8\u8ba4 \u4e3a   False   \uff0c \u706f \u5173\u95ed \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#carlalocation","text":"\u4ece   carla . Vector3D   \u7ee7\u627f   \u4ee3\u8868 \u4e16\u754c \u4e0a \u7684 \u4e00\u4e2a \u5730\u65b9 \u3002","title":"carla . Location"},{"location":"python_api/#_103","text":"x   (   float   -   \u7c73   )   X   \u8f74\u4e0a \u4ece \u539f \u70b9\u5230\u70b9 \u7684 \u8ddd\u79bb \u3002   y   (   float   -   \u7c73   )   Y   \u8f74\u4e0a \u4ece \u539f \u70b9\u5230\u70b9 \u7684 \u8ddd\u79bb \u3002   z   (   float   -   \u7c73   )   Z   \u8f74\u4e0a \u4ece \u539f \u70b9\u5230\u70b9 \u7684 \u8ddd\u79bb \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_104","text":"__ init __   (   self   ,   x   = 0.0   ,   y   = 0.0   ,   z   = 0.0   )   \u53c2\u6570 \uff1a   x   (   float   )   y   (   float   )   z   (   float   )   distance   (   self   ,   location   )   \u8fd4\u56de \u4ece \u8be5 \u4f4d\u7f6e \u5230 \u53e6 \u4e00 \u4f4d\u7f6e \u7684 \u6b27\u51e0 \u51e0\u91cc \u6b27\u51e0\u91cc\u5f97 \u8ddd\u79bb \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   )   -   \u7528\u4e8e \u8ba1\u7b97 \u8ddd\u79bb \u7684 \u53e6 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u3002   \u8fd4\u56de \uff1a   float   -   \u7c73","title":"\u65b9\u6cd5"},{"location":"python_api/#_105","text":"__ abs __   (   self   )   \u8fd4\u56de \u5177\u6709   x \u3001 y   \u548c   z   \u5206\u91cf \u7edd\u5bf9 \u7edd\u5bf9\u503c \u7684 \u4f4d\u7f6e \u3002   \u8fd4\u56de \uff1a   carla . Location   __ eq __   (   self   ,   other   =   carla . Location   )   \u5982\u679c \u4e24\u4e2a \u4f4d\u7f6e \u662f \u7a7a\u95f4 \u4e2d \u7684 \u540c \u4e00\u70b9 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de \uff1a   bool   __ ne __   (   self   ,   other   =   carla . Location   )   \u5982\u679c \u4e24\u4e2a \u4f4d\u7f6e \u662f \u7a7a\u95f4 \u4e2d \u7684 \u4e0d\u540c \u540c\u70b9 \u4e0d\u540c\u70b9 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de \uff1a   bool   __ str __   (   self   )   \u5c06 \u8f74 \u7684 \u503c \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   \u8fd4\u56de \uff1a   str","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlamap","text":"\u5305\u542b \u9053\u8def \u4fe1\u606f \u548c \u8def\u5f84 \u70b9 \u7ba1\u7406 \u7684 \u7c7b \u3002 \u4ece \u63cf\u8ff0 \u9053\u8def \u7684   OpenDRIVE   \u6587\u4ef6 \u4e2d \u68c0\u7d22 \u6570\u636e \u3002 \u5b9a\u4e49 \u4e86 \u4e00\u4e2a \u67e5\u8be2 \u7cfb\u7edf \uff0c \u5b83 \u4e0e   carla . Waypoint   \u643a\u624b \u5408\u4f5c \uff0c \u5c06 \u51e0\u4f55 \u4fe1\u606f \u4ece   . xodr   \u8f6c\u6362 \u4e3a \u81ea\u7136 \u4e16\u754c \u70b9 \u3002 Carla   \u76ee\u524d \u6b63\u5728 \u4f7f\u7528   OpenDRIVE   1.4   \u6807\u51c6   \u3002","title":"carla . Map"},{"location":"python_api/#_106","text":"name   (   str   )   \u5730\u56fe \u7684 \u540d\u79f0 \u3002 \u5b83 \u5bf9\u5e94 \u4e8e \u4ece   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u52a0\u8f7d \u7684 \u865a\u5e7b \u5f15\u64ce \u4e2d \u7684   . umap \uff0c \u7136\u540e \u5f15\u7528   . xodr   \u9053\u8def \u63cf\u8ff0 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_107","text":"__ init __   (   self   ,   name   ,   xodr _ content   )   \u6b64\u7c7b \u7684 \u6784\u9020 \u51fd\u6570 \u6784\u9020\u51fd\u6570 \u3002 \u5c3d\u7ba1 \u5728 \u521d\u59cb \u521d\u59cb\u5316 \u4e16\u754c \u65f6\u4f1a \u81ea\u52a8 \u751f\u6210 \u5730\u56fe \uff0c \u4f46 \u5728 \u65e0 \u6e32\u67d3 \u6a21\u5f0f \u4e0b \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u5728 \u4e0d \u8fd0\u884c \u4efb\u4f55   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u60c5\u51b5 \u4e0b \u4f7f\u7528   . xodr \u3002   \u53c2\u6570 \uff1a   name   (   str   )   -   \u5f53\u524d \u5730\u56fe \u7684 \u540d\u79f0 \u3002   xodr _ content   (   str   )   -   \u5b57\u7b26 \u5b57\u7b26\u4e32 \u683c\u5f0f \u7684   . xodr   \u5185\u5bb9 \u3002   \u8fd4\u56de \uff1a   list (   carla . Transform   )   cook _ in _ memory _ map   (   self   ,   path   )   \u4ece   Carla   \u6620\u5c04 \u751f\u6210 \u4e00\u4e2a \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \uff0c \u5176\u4e2d \u5305\u542b \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4f7f\u7528 \u7684 \u4fe1\u606f \u3002 \u6b64 \u65b9\u6cd5 \u4ec5 \u5728 \u5730\u56fe \u5bfc\u5165 \u8fc7\u7a0b \u4e2d \u4f7f\u7528 \u3002   \u53c2\u6570 \uff1a   path   (   str   )   -   \u5b58\u50a8 \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6620\u5c04 \u6587\u4ef6 \u7684 \u9884\u671f \u4f4d\u7f6e \u7684 \u8def\u5f84 \u3002   generate _ waypoints   (   self   ,   distance   )   \u8fd4\u56de \u4e00\u4e2a \u8def\u70b9 \u5217\u8868 \uff0c \u6bcf\u4e2a \u8f66\u9053 \u7684 \u8def\u70b9 \u4e4b\u95f4 \u90fd \u6709 \u4e00\u5b9a \u7684 \u8ddd\u79bb \uff0c \u5e76 \u4ee5 \u5176 \u4e3a \u4e2d\u5fc3 \u3002 \u8def\u70b9 \u4e0d \u6309 \u4efb\u4f55 \u7279\u5b9a \u987a\u5e8f \u5217\u51fa \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u540c\u4e00 \u9053\u8def \u3001 \u8def\u6bb5 \u548c \u8f66\u9053 \u5185 \u8ddd\u79bb \u8d85\u8fc7 2 \u5398\u7c73 \u7684 \u8def \u70b9\u5c06 \u5177\u6709 \u76f8\u540c \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   \u53c2\u6570 \uff1a   distance   (   float   -   \u7c73   )   -   \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u8fd1\u4f3c \u8ddd\u79bb \u3002   \u8fd4\u56de \uff1a   list (   carla . Waypoint   )   save _ to _ disk   (   self   ,   path   )   \u5c06 \u5f53\u524d \u6620\u5c04 \u7684   . xodr   OpenDRIVE   \u6587\u4ef6 \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002   \u53c2\u6570 \uff1a   path   -   \u4fdd\u5b58 \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   to _ opendrive   (   self   )   \u4ee5 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5f62\u5f0f \u8fd4\u56de \u5f53\u524d \u5730\u56fe \u7684   . xodr   OpenDRIVe   \u6587\u4ef6 \u3002   \u8fd4\u56de \uff1a   str   transform _ to _ geolocation   (   self   ,   location   )   \u5c06 \u4eff\u771f \u4e2d \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u7684 \u7ed9\u5b9a \u4f4d\u7f6e   location   \u8f6c\u6362 \u4e3a   carla . GeoLocation   \uff0c \u4ed6 \u8868\u793a \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \u3002 \u5730\u56fe \u7684 \u5730\u7406 \u4f4d\u7f6e \u5730\u7406\u4f4d\u7f6e \u5728   OpenDRIVE   \u6807\u7b7e   \u5185 \u5b9a\u4e49 \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   )   \u8fd4\u56de \uff1a   carla . GeoLocation","title":"\u65b9\u6cd5"},{"location":"python_api/#_108","text":"get _ all _ landmarks   (   self   )   \u8fd4\u56de \u5730\u56fe \u4e2d \u7684 \u6240\u6709 \u5730\u6807 \u3002 \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \u68c0\u7d22 \u5230 \u7684 \u5730\u6807 \u6709 \u4e00\u4e2a   null   \u8def\u5f84 \u70b9 \u3002   \u8fd4\u56de \uff1a   list (   carla . Landmark   )   get _ all _ landmarks _ from _ id   (   self   ,   opendrive _ id   )   \u8fd4\u56de \u5177\u6709 \u7279\u5b9a   OpenDRIVE   ID   \u7684 \u5730\u6807 \u3002 \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \u68c0\u7d22 \u7684 \u5730\u6807 \u5177\u6709   null   \u8def\u5f84 \u70b9 \u3002   \u53c2\u6570 \uff1a   opendrive _ id   (   string   )   -   \u5730 \u6807\u7684   OpenDRIVE   ID \u3002   \u8fd4\u56de \uff1a   list (   carla . Landmark   )   get _ all _ landmarks _ of _ type   (   self   ,   type   )   \u8fd4\u56de \u7279\u5b9a \u7c7b\u578b \u7684 \u5730\u6807 \u3002 \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \u68c0\u7d22 \u7684 \u5730\u6807 \u5177\u6709   null   \u8def\u5f84 \u70b9 \u3002   \u53c2\u6570 \uff1a   type   (   string   )   -   \u5730 \u6807\u7684 \u7c7b\u578b \u3002   \u8fd4\u56de \uff1a   list (   carla . Landmark   )   get _ crosswalks   (   self   )   \u4ee5 \u95ed\u5408 \u591a\u8fb9 \u591a\u8fb9\u5f62 \u7684 \u5f62\u5f0f \u8fd4\u56de \u5305\u542b \u6240\u6709 \u4eba\u884c \u4eba\u884c\u6a2a\u9053 \u533a\u57df \u7684 \u4f4d\u7f6e \u5217\u8868 \u3002 \u91cd\u590d \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u70b9 \uff0c \u8868\u793a \u591a\u8fb9 \u591a\u8fb9\u5f62 \u7684 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u3002   \u8fd4\u56de \uff1a   list (   carla . Location   )   get _ landmark _ group   (   self   ,   landmark   )   \u8fd4\u56de \u4e0e \u6307\u5b9a \u5730\u6807 \uff08 \u5305\u62ec \u5176 \u81ea\u8eab \uff09 \u4f4d\u4e8e \u540c \u4e00\u7ec4 \u4e2d \u7684 \u5730\u6807 \u3002 \u5982\u679c \u5730\u6807 \u4e0d \u5c5e\u4e8e \u4efb\u4f55 \u7ec4 \uff0c \u5219 \u8fd4\u56de \u7a7a \u5217\u8868 \u3002   \u53c2\u6570 \uff1a   landmark   (   carla . Landmark   )   -   \u5c5e\u4e8e \u8be5\u7ec4 \u7684 \u5730\u6807 \u3002   \u8fd4\u56de \uff1a   list (   carla . Landmark   )   get _ spawn _ points   (   self   )   \u8fd4\u56de \u5730\u56fe \u521b\u5efa \u521b\u5efa\u8005 \u63d0\u51fa \u7684 \u5efa\u8bae \u5217\u8868 \uff0c \u4ee5 \u7528\u4f5c \u8f66\u8f86 \u7684 \u751f\u6210 \u70b9 \u3002 \u8be5 \u5217\u8868 \u5305\u62ec \u5177\u6709 \u7279\u5b9a \u4f4d\u7f6e \u548c \u65b9\u5411 \u7684   carla . Transform   \u5bf9\u8c61 \u3002 \u4e3a\u4e86 \u907f\u514d   Z   \u578b \u78b0\u649e \uff0c \u4e0a\u8ff0 \u5730\u70b9 \u4f1a \u7a0d\u5fae \u5728 \u7a7a\u4e2d \uff0c \u56e0\u6b64 \u8f66\u8f86 \u5728 \u51fa\u53d1 \u524d\u4f1a \u7a0d\u5fae \u4e0b\u5760 \u3002   \u8fd4\u56de \uff1a   list (   carla . Transform   )   get _ topology   (   self   )   \u8fd4\u56de \u63cf\u8ff0   OpenDRIVE   \u6587\u4ef6 \u62d3\u6251 \u7684 \u6700\u5c0f \u56fe \u7684 \u5143\u7ec4 \u5217\u8868 \u3002 \u8fd9\u4e9b \u5143\u7ec4 \u5305\u542b \u4f4d\u4e8e \u9053\u8def \u8d77\u70b9 \u6216 \u7ec8\u70b9 \u7684 \u6210 \u5bf9 \u8def\u70b9 \u3002 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u662f \u8d77\u70b9 \uff0c \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u4ee3\u8868 \u53e6 \u4e00\u4e2a \u53ef\u4ee5 \u5230\u8fbe \u7684 \u8def \u7ec8\u70b9 \u3002 \u8be5\u56fe \u53ef\u4ee5 \u52a0\u8f7d \u5230   NetworkX   \u4e2d \u8fdb\u884c \u4f7f\u7528 \u3002 \u8f93\u51fa \u53ef\u80fd \u5982\u4e0b \u6240\u793a \uff1a   [ ( w0 ,   w1 ) ,   ( w0 ,   w2 ) ,   ( w1 ,   w3 ) ,   ( w2 ,   w3 ) ,   ( w0 ,   w4 ) ]   \u3002   \u8fd4\u56de \uff1a   list ( tuple (   carla . Waypoint   ,   carla . Waypoint   ) )   get _ waypoint   (   self   ,   location   ,   project _ to _ road   = True   ,   lane _ type   =   carla . LaneType . Driving   )   snippet   \u2192   \u8fd4\u56de \u53ef\u4ee5 \u4f4d\u4e8e \u7cbe\u786e \u4f4d\u7f6e \u6216 \u8f6c\u6362 \u5230 \u6700\u8fd1 \u8f66\u9053 \u4e2d\u5fc3 \u7684 \u8def\u5f84 \u70b9 \u3002 \u6240\u8ff0 \u8f66\u9053 \u7c7b\u578b \u53ef\u4ee5 \u4f7f\u7528 \u8bf8\u5982   LaneType . Driving   &   LaneType . Shoulder   \u7684 \u6807\u5fd7 \u6765 \u5b9a\u4e49 \u3002 \u5982\u679c \u627e\u5230 \u672a\u627e\u5230 \u8def\u5f84 \u70b9 \uff0c \u8be5 \u65b9\u6cd5 \u5c06 \u8fd4\u56de   None   \uff0c \u8fd9\u79cd \u60c5\u51b5 \u4ec5 \u5728 \u5c1d\u8bd5 \u68c0\u7d22 \u786e\u5207 \u4f4d\u7f6e \u7684 \u8def\u5f84 \u70b9\u65f6 \u53ef\u80fd \u4f1a \u53d1\u751f \u3002 \u8fd9 \u53ef\u4ee5 \u8f7b\u677e \u68c0\u67e5 \u67d0\u4e2a \u70b9 \u662f\u5426 \u5728 \u67d0\u6761 \u9053\u8def \u5185 \uff0c \u5426\u5219 \uff0c \u5b83 \u5c06 \u8fd4\u56de \u76f8\u5e94 \u7684 \u8def\u5f84 \u70b9 \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   -   \u7c73   )   -   \u7528\u4f5c   carla . Waypoint   \u53c2\u8003 \u7684 \u4efb\u52a1 \u3002   project _ to _ road   (   bool   )   -   \u5982\u679c \u662f   True   \uff0c \u8def\u5f84 \u70b9\u5c06 \u4f4d\u4e8e \u6700\u8fd1 \u8f66\u9053 \u7684 \u4e2d\u5fc3 \u3002 \u8fd9\u662f \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u3002 \u5982\u679c \u4e3a   False   \uff0c \u8def\u5f84 \u70b9\u5c06 \u6070\u597d \u4f4d\u4e8e   location   \u3002   None   \u8868\u793a \u8be5 \u4f4d\u7f6e \u4e0d \u5c5e\u4e8e \u9053\u8def \u3002   lane _ type   (   carla . LaneType   )   -   \u5c06 \u5bf9 \u6700\u8fd1 \u8f66\u9053 \u7684 \u641c\u7d22 \u9650\u5236 \u4e3a \u53ef\u4ee5 \u6807\u8bb0 \u7684 \u4e00\u79cd \u6216 \u591a\u79cd \u8f66\u9053 \u7c7b\u578b \u3002   \u8fd4\u56de \uff1a   carla . Waypoint   get _ waypoint _ xodr   (   self   ,   road _ id   ,   lane _ id   ,   s   )   \u5982\u679c \u4f20\u9012 \u7684 \u6240\u6709 \u53c2\u6570 \u90fd \u6b63\u786e \uff0c \u5219 \u8fd4\u56de \u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002 \u5426\u5219 \uff0c \u8fd4\u56de   None   \u3002   \u53c2\u6570 \uff1a   road _ id   (   int   )   -   \u83b7\u53d6 \u8def\u70b9 \u7684 \u9053\u8def id \u3002   lane _ id   (   int   )   -   \u83b7\u53d6 \u8def\u5f84 \u70b9 \u7684 \u8f66\u9053 id \u3002   s   (   float   -   \u7c73   )   -   \u6307\u5b9a \u4ece \u9053\u8def \u8d77\u70b9 \u5f00\u59cb \u7684 \u957f\u5ea6 \u3002   \u8fd4\u56de \uff1a   carla . Waypoint","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#_109","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlamaplayer","text":"\u8868\u793a \u5730\u56fe \u7684 \u6bcf\u4e2a \u53ef \u7ba1\u7406 \u7ba1\u7406\u5c42 \u7684 \u7c7b \u3002 \u53ef\u4ee5 \u7528\u4f5c \u6807\u5fd7 \u3002   \u8b66\u544a \uff1a \u53ea\u6709 \u201c Opt \u201d \u5730\u56fe \u624d\u80fd \u4f7f\u7528 \u5730\u56fe \u56fe\u5c42 \u3002","title":"carla . MapLayer"},{"location":"python_api/#_110","text":"NONE   \u672a \u9009\u62e9 \u4efb\u4f55 \u56fe\u5c42 \u3002   Buildings   Decals   Foliage   Ground   ParkedVehicles   Particles   Props   StreetLights   Walls   All   \u9009\u5b9a \u6240\u6709 \u56fe\u5c42 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlamaterialparameter","text":"\u8868\u793a \u6750\u6599 \u53c2\u6570 \u7684 \u7c7b \u3002 \u5e76\u975e \u573a\u666f \u4e2d \u7684 \u6240\u6709 \u5bf9\u8c61 \u90fd \u5305\u542b \u6240\u6709 \u53c2\u6570 \u3002","title":"carla . MaterialParameter"},{"location":"python_api/#_111","text":"Normal   \u5bf9\u8c61 \u7684 \u6cd5\u7ebf \u8d34\u56fe \u3002 \u5b58\u5728 \u4e8e \u4e00\u5207 \u7269\u4f53 \u4e2d \u3002   Diffuse   \u7269\u4f53 \u7684 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u7eb9\u7406 \u3002 \u5b58\u5728 \u4e8e \u4e00\u5207 \u7269\u4f53 \u4e2d \u3002   AO _ Roughness _ Metallic _ Emissive   \u6bcf\u4e2a \u989c\u8272 \u901a\u9053 \u4ee3\u8868 \u6750\u8d28 \u5c5e\u6027 \u7684 \u7eb9\u7406 \uff08 R \uff1a \u73af\u5883 \u73af\u5883\u5149 \u906e\u6321 \uff0c G \uff1a \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \uff0c B \uff1a \u91d1\u5c5e \uff0c A \uff1a \u67d0\u4e9b \u7269\u4f53 \u4e2d \u7684 \u53d1\u5c04 / \u9ad8\u5ea6 \u8d34\u56fe \uff09 \u3002   Emissive   \u53d1\u5c04 \u7eb9\u7406 \u3002 \u5b58\u5728 \u4e8e \u4e00\u4e9b \u7269\u4f53 \u4e2d \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlaobstacledetectionevent","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49   sensor . other . obstacle   \u969c\u788d \u969c\u788d\u7269 \u6570\u636e \u7684 \u7c7b \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002","title":"carla . ObstacleDetectionEvent"},{"location":"python_api/#_112","text":"actor   (   carla . Actor   )   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6240 \u8fde\u63a5 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   other _ actor   (   carla . Actor   )   \u88ab \u89c6\u4e3a \u969c\u788d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u7269\u4f53 \u3002   distance   (   float   -   \u7c73   )   \u53c2\u4e0e \u53c2\u4e0e\u8005   actor   \u548c \u5176\u4ed6 \u4ed6\u4eba \u5176\u4ed6\u4eba   other   \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_113","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_114","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaopendrivegenerationparameters","text":"\u6b64\u7c7b \u5b9a\u4e49 \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u751f\u6210 \u4e16\u754c \u65f6 \u4f7f\u7528 \u7684 \u53c2\u6570 \u3002","title":"carla . OpendriveGenerationParameters"},{"location":"python_api/#_115","text":"vertex _ distance   (   float   )   \u751f\u6210 \u7684 \u7f51\u683c \u9876\u70b9 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   2.0   \u3002   max _ road _ length   (   float   )   \u5355\u4e2a \u7f51\u683c \u90e8\u5206 \u7684 \u6700\u5927 \u9053\u8def \u957f\u5ea6 \u3002 \u5730\u56fe \u7684 \u7f51\u683c \u88ab \u5206\u4e3a \u591a\u4e2a \u90e8\u5206 \uff0c \u4ee5 \u907f\u514d \u4f20\u64ad \u95ee\u9898 \u3002   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   50.0   \u3002   wall _ height   (   float   )   \u5728 \u9053\u8def \u8fb9\u754c \u4e0a \u521b\u5efa \u7684 \u5899\u58c1 \u7684 \u9ad8\u5ea6 \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u9632\u6b62 \u8f66\u8f86 \u4ece \u9053\u8def \u4e0a \u4e0b\u6765 \u6389\u4e0b\u6765 \u3002   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   1.0   \u3002   additional _ width   (   float   )   \u53e6\u5916 \u8fd8\u6709 \u5e94\u7528 \u7684 \u8fde\u63a5 \u8f66\u9053 \u3002 \u590d\u6742 \u7684 \u60c5\u51b5 \u5f80\u5f80 \u53d1\u751f \u5728 \u8def\u53e3 \uff0c \u7a0d\u5fae \u589e\u52a0 \u4e00\u70b9 \u5c31 \u53ef\u4ee5 \u9632\u6b62 \u8f66\u8f86 \u5760\u843d \u8def\u9762 \u3002   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.6   \u3002   smooth _ junctions   (   bool   )   \u5982\u679c \u4e3a   True   \uff0c \u4ea4\u53c9 \u4ea4\u53c9\u70b9 \u5904 \u7684 \u7f51\u683c \u5c06 \u88ab \u5e73\u6ed1 \uff0c \u4ee5 \u9632\u6b62 \u9053\u8def \u963b\u585e \u5176\u4ed6 \u9053\u8def \u7684 \u95ee\u9898 \u3002   \u9ed8\u8ba4 \u4e3a   True   \u3002   enable _ mesh _ visibility   (   bool   )   \u5982\u679c \u4e3a   True   \uff0c \u5c06 \u6e32\u67d3 \u9053\u8def \u7f51\u683c \u3002 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   False   \u5e94\u8be5 \u4f1a \u51cf\u5c11 \u6e32\u67d3 \u5f00\u9500 \u3002   \u9ed8\u8ba4 \u4e3a   True   \u3002   enable _ pedestrian _ navigation   (   bool   )   \u5982\u679c \u4e3a   True   \uff0c \u5c06 \u4f7f\u7528   Recast   \u5de5\u5177 \u542f\u7528 \u884c\u4eba \u5bfc\u822a \u3002 \u5bf9\u4e8e \u975e\u5e38 \u5927 \u7684 \u5730\u56fe \uff0c \u5efa\u8bae \u7981\u7528 \u6b64 \u9009\u9879 \u3002   \u9ed8\u8ba4 \u4e3a   True   \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlaopticalflowimage","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49 \u8868\u793a \u89c6\u573a \u4e2d \u68c0\u6d4b \u5230 \u7684 \u5149\u6d41 \u7684 \u4e8c\u7ef4 \u6d6e\u70b9 \uff08 32   \u4f4d \uff09 \u5411\u91cf \u7684 \u5149\u6d41 \u56fe\u50cf \u7684 \u7c7b \u3002 \u77e2\u91cf \u7684 \u5206\u91cf \u8868\u793a \u7269\u4f53 \u5728 \u56fe\u50cf \u5e73\u9762 \u4e2d \u7684 \u4f4d\u79fb \u3002 \u6bcf\u4e2a \u7ec4\u4ef6 \u8f93\u51fa \u5f52\u4e00\u5316 \u8303\u56f4   [ - 2 , 2 ]   \u5185 \u7684 \u503c \uff0c \u8be5 \u8303\u56f4 \u7f29\u653e \u4e3a   [ - 2   size \uff0c 2   size ] \uff0c \u5927\u5c0f \u662f \u76f8\u5e94 \u7ec4\u4ef6 \u4e2d \u7684 \u603b \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u3002","title":"carla . OpticalFlowImage"},{"location":"python_api/#_116","text":"fov   (   float   -   \u5ea6   )   \u56fe\u50cf \u7684 \u6c34\u5e73 \u89c6\u91ce \u3002   height   (   int   )   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   width   (   int   )   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   (   bytes   )   \u5c55\u5e73 \u50cf\u7d20 \u6570\u636e \u6570\u7ec4 \uff0c \u4f7f\u7528   reshape   \u521b\u5efa \u56fe\u50cf \u6570\u7ec4 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_117","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_118","text":"get _ color _ coded _ flow   (   self   )   \u53ef\u89c6 \u53ef\u89c6\u5316 \u52a9\u624b \u3002 \u5c06 \u5149\u6d41 \u56fe\u50cf \u8f6c\u6362 \u4e3a   RGB   \u56fe\u50cf \u3002   \u8fd4\u56de \uff1a   carla . Image","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#_119","text":"__ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u8fed\u4ee3 \u5f62\u6210 \u56fe\u50cf \u7684   carla . OpticalFlowPixel   \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   color   =   carla . Color   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaopticalflowpixel","text":"\u5b9a\u4e49 \u8868\u793a \u5149\u6d41 \u50cf\u7d20 \u7684 \u4e8c\u7ef4 \u5411\u91cf \u7684 \u7c7b \u3002","title":"carla . OpticalFlowPixel"},{"location":"python_api/#_120","text":"x   (   float   )   x   \u5206\u91cf \u4e2d \u7684 \u5149\u6d41 \u3002   y   (   float   )   y   \u5206\u91cf \u4e2d \u7684 \u5149\u6d41 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_121","text":"__ init __   (   self   ,   x   = 0   ,   y   = 0   )   \u521d\u59cb \u521d\u59cb\u5316 \u5149\u6d41 \u50cf\u7d20 \u3002 \u9ed8\u8ba4 \u4e3a \u96f6 \u3002   \u53c2\u6570 \uff1a   x   (   float   )   y   (   float   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_122","text":"__ eq __   (   self   ,   other   =   carla . OpticalFlowPixel   )   __ ne __   (   self   ,   other   =   carla . OpticalFlowPixel   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaosm2odr","text":"\u5c06   OpenStreetMap   \u5730\u56fe \u8f6c\u6362 \u4e3a   OpenDRIVE   \u683c\u5f0f \u7684 \u7c7b \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u5728   Carla   \u4e2d \u52a0\u8f7d \u3002 \u5728   \u6587\u6863   \u4e2d \u4e86\u89e3 \u6709\u5173 \u6b64 \u529f\u80fd \u7684 \u66f4 \u591a \u4fe1\u606f \u3002","title":"carla . Osm2Odr"},{"location":"python_api/#_123","text":"convert   (   osm _ file   ,   settings   )   \u83b7\u53d6   . osm   \u6587\u4ef6 \uff08 OpenStreetMap   \u683c\u5f0f \uff09 \u7684 \u5185\u5bb9 \u5e76 \u8fd4\u56de \u63cf\u8ff0 \u6240\u8ff0 \u5730\u56fe \u7684   . xodr   \uff08 OpenDRIVE   \u683c\u5f0f \uff09 \u7684 \u5185\u5bb9 \u3002 \u4f20\u9012 \u4e00\u4e9b \u53c2\u6570 \u5316\u6765 \u8fdb\u884c \u8f6c\u6362 \u3002   \u53c2\u6570 \uff1a   osm _ file   (   str   )   -   \u8f93\u5165   OpenStreetMap   \u6587\u4ef6 \u7684 \u5185\u5bb9 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   settings   (   carla . OSM2ODRSettings   )   -   \u8f6c\u6362 \u7684 \u53c2\u6570 \u5316 \u3002   \u8fd4\u56de \uff1a   str","title":"\u65b9\u6cd5"},{"location":"python_api/#carlaosm2odrsettings","text":"\u5305\u542b   carla . Osm2Odr   \u5c06 \u4f7f\u7528 \u7684 \u53c2\u6570 \u5316 \u7684 \u5e2e\u52a9 \u7a0b\u5e8f \u7c7b \uff0c \u7528\u4e8e \u5c06   OpenStreetMap   \u5730\u56fe \u8f6c\u6362 \u4e3a   OpenDRIVE   \u683c\u5f0f \u3002 \u5728   \u6587\u6863   \u4e2d \u4e86\u89e3 \u6709\u5173 \u6b64 \u529f\u80fd \u7684 \u66f4 \u591a \u4fe1\u606f \u3002","title":"carla . Osm2OdrSettings"},{"location":"python_api/#_124","text":"use _ offsets   (   bool   )   \u5141\u8bb8 \u4f7f\u7528 \u504f\u79fb \u504f\u79fb\u91cf \u8fdb\u884c \u8f6c\u6362 \u3002 \u504f\u79fb \u504f\u79fb\u91cf \u5c06 \u79fb\u52a8 \u5730\u56fe \u7684 \u539f\u70b9 \u4f4d\u7f6e \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   False   \u3002   offset _ x   (   float   -   \u7c73   )   X   \u8f74 \u504f\u79fb \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0   \u3002   offset _ y   (   float   -   \u7c73   )   Y   \u8f74 \u504f\u79fb \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0   \u3002   default _ lane _ width   (   float   -   \u7c73   )   \u751f\u6210 \u7684   XODR   \u5730\u56fe \u4e2d \u63cf\u8ff0 \u7684 \u8f66\u9053 \u5bbd\u5ea6 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   4.0   \u3002   elevation _ layer _ height   (   float   -   \u7c73   )   \u5b9a\u4e49 \u5206\u9694 \u4e24\u4e2a \u4e0d\u540c   OpenStreetMap   \u56fe\u5c42   \u7684 \u9ad8\u5ea6 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0   \u3002   center _ map   (   bool   )   \u542f\u7528 \u6b64 \u9009\u9879 \u540e \uff0c \u5730\u56fe \u7684 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u5c06 \u53d1\u751f \u4f4d\u79fb \uff0c \u4ee5 \u4f7f \u5750\u6807 \u539f\u70b9 \u4e0e \u6574\u4e2a \u9053\u8def \u5730\u56fe \u7684 \u8fb9\u754c \u6846 \u4e2d\u5fc3 \u5339\u914d \u76f8\u5339\u914d \u3002   proj _ string   (   str   )   \u5b9a\u4e49 \u5c06 \u7528\u4e8e \u8ba1\u7b97 \u4ece \u5730\u7406 \u5750\u6807 \u5730\u7406\u5750\u6807 \u5230 \u5361\u5c14 \u7b1b\u5361\u5c14 \u5750\u6807 \u7684 \u6295\u5f71 \u7684   proj4   \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002 \u8be5 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5c06 \u5199\u5165 \u751f\u6210 \u7684   OpenDRIVE   \u4e2d \uff0c \u9664\u975e \u542f\u7528 \u4e86   use _ offsets   \u6216   center _ map   \u9009\u9879 \uff0c \u56e0\u4e3a \u8fd9\u4e9b \u9009\u9879 \u4f1a \u8986\u76d6 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u4e2d \u7684 \u67d0\u4e9b \u5b9a\u4e49 \u3002   generate _ traffic _ lights   (   bool   )   \u6307\u793a \u662f\u5426 \u5728 OpenDRIVE \u4e2d \u751f\u6210 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u6570\u636e \u3002   set _ traffic _ light _ excluded _ way _ types ( way _ types )   \u5b9a\u4e49 \u7684 \u9053\u8def \u7c7b\u578b \u4e0d\u4f1a \u751f\u6210 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002   all _ junctions _ with _ traffic _ lights   (   bool   )   \u7981\u7528 \u65f6 \uff0c \u8f6c\u6362 \u8f6c\u6362\u5668 \u5c06 \u4ec5 \u4ece   OpenStreetMaps   \u6570\u636e \u751f\u6210 \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u636e \u3002 \u542f\u7528 \u540e \uff0c \u6240\u6709 \u8def\u53e3 \u90fd \u4f1a \u751f\u6210 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_125","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_126","text":"set _ osm _ way _ types   (   self   ,   way _ types   )   \u5b9a\u4e49 \u5c06 \u5bfc\u5165 \u5bfc\u5165\u5230   OpenDRIVE   \u7684   OpenStreetMaps   \u9053\u8def \u7c7b\u578b \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5bfc\u5165 \u7684 \u9053\u8def \u7c7b\u578b \u4e3a   motorway ,   motorway _ link ,   trunk ,   trunk _ link ,   primary ,   primary _ link ,   secondary ,   secondary _ link ,   tertiary ,   tertiary _ link ,   unclassified ,   residential   \u3002 \u6709\u5173 \u9053\u8def \u7c7b\u578b \u7684 \u5b8c\u6574 \u5217\u8868 \uff0c \u8bf7 \u67e5\u770b   \u6b64\u5904   \u3002   \u53c2\u6570 \uff1a   way _ types   (   list ( str )   )   -   \u9053\u8def \u7c7b\u578b \u5217\u8868 \u3002   set _ traffic _ light _ excluded _ way _ types   (   self   ,   way _ types   )   \u5b9a\u4e49 \u5373\u4f7f \u542f\u7528   generate _ traffic _ lights   \u4e5f \u4e0d\u4f1a \u751f\u6210 \u4ea4\u901a \u4ea4\u901a\u706f \u7684   OpenStreetMaps   \u9053\u8def \u7c7b\u578b \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u6392\u9664 \u7684 \u9053\u8def \u7c7b\u578b \u4e3a   motorway _ link ,   primary _ link ,   secondary _ link ,   tertiary _ link   \u3002   \u53c2\u6570 \uff1a   way _ types   (   list ( str )   )   -   \u9053\u8def \u7c7b\u578b \u5217\u8868 \u3002","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#carlaradardetection","text":"carla . RadarMeasurement   \u4e2d \u5305\u542b \u7684 \u6570\u636e \u3002 \u5176\u4e2d \u6bcf \u4e00\u4e2a \u90fd \u4ee3\u8868 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 .   sensor . other . radar   \u8bb0\u5f55 \u7684 \u4e91\u4e2d \u7684 \u70b9 \u4e4b\u4e00 \uff0c \u5e76 \u5305\u542b \u4e0e \u96f7\u8fbe \u76f8\u5173 \u7684 \u8ddd\u79bb \u3001 \u89d2\u5ea6 \u548c \u901f\u5ea6 \u3002","title":"carla . RadarDetection"},{"location":"python_api/#_127","text":"altitude   (   float   -   radians   )   \u68c0\u6d4b \u7684 \u9ad8\u5ea6 \u89d2 \u3002   azimuth   (   float   -   radians   )   \u68c0\u6d4b \u7684 \u65b9\u4f4d \u65b9\u4f4d\u89d2 \u3002   depth   (   float   -   \u7c73   )   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5230 \u68c0\u6d4b \u4f4d\u7f6e \u7684 \u8ddd\u79bb \u3002   velocity   (   float   -   m / s   )   \u88ab \u68c0\u6d4b \u7269\u4f53 \u671d\u5411 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u901f\u5ea6 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_128","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_129","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaradarmeasurement","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49 \u5e76 \u6536\u96c6 \u7531   sensor . other . radar   \u6ce8\u518c \u7684 \u6d4b\u91cf \u503c \u7684 \u7c7b \uff0c \u4ee3\u8868 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u524d\u9762 \u7684 \u70b9 \u5899 \u4ee5\u53ca \u4e0e\u5176 \u76f8\u5173 \u7684 \u8ddd\u79bb \u3001 \u89d2\u5ea6 \u548c \u901f\u5ea6 \u3002 \u6570\u636e \u7531   carla . RadarDetection   \u6570\u7ec4 \u7ec4\u6210 \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002","title":"carla . RadarMeasurement"},{"location":"python_api/#_130","text":"raw _ data   (   bytes   )   carla . RadarDetection   \u96f7\u8fbe \u7684 \u5b8c\u6210 \u4fe1\u606f \u5df2\u7ecf \u88ab \u6ce8\u518c \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_131","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_132","text":"get _ detection _ count   (   self   )   \u68c0\u7d22 \u751f\u6210 \u7684 \u6761\u76ee \u6570 \uff0c \u4e0e   __ str __ ( )   \u76f8\u540c \u3002","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_133","text":"__ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728 \u83b7\u53d6 \u7684 \u6570\u636e   carla . RadarDetection   \u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   detection   =   carla . RadarDetection   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlarotation","text":"\u8868\u793a   3D   \u65cb\u8f6c \u4ee5\u53ca \u7a7a\u95f4 \u65b9\u5411 \u7684 \u7c7b \u3002   Carla   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u5750\u6807\u7cfb \uff0c \u5728 \u865a\u5e7b \u5f15\u64ce \u4e16\u754c \u91cc \uff0c \u7a7a\u95f4 \u5750\u6807 \u7684 \u5355\u4f4d \u662f \u5398\u7c73 \u3002 \u5176 \u8bbe\u8ba1 \u57fa\u4e8e \u7b2c\u4e00 \u4eba\u79f0 \u7b2c\u4e00\u4eba\u79f0 \u89c6\u89c9 \uff1a X   \u8f74\u6b63 \u65b9\u5411 \u8868\u793a \u5411\u524d \uff0c Y   \u8f74\u6b63 \u65b9\u5411 \u8868\u793a \u5411 \u53f3 \uff0c Z   \u8f74\u6b63 \u65b9\u5411 \u8868\u793a \u5411\u4e0a \u3002   \u6784\u9020 \u51fd\u6570 \u6784\u9020\u51fd\u6570 \u65b9\u6cd5 \u9075\u5faa \u7279\u5b9a \u7684 \u58f0\u660e \u987a\u5e8f \uff1a   ( pitch ,   yaw ,   roll )   \u5bf9\u5e94 \u4e8e   ( Y - rotation , Z - rotation , X - rotation )   .   \u865a\u5e7b \u5f15\u64ce \u7684 \u5750\u6807 \u5750\u6807\u7cfb   \u3002","title":"carla . Rotation"},{"location":"python_api/#_134","text":"pitch   (   float   -   \u5ea6   )   Y - \u8f74 \u65cb\u8f6c \u89d2\u5ea6 \u3002   yaw   (   float   -   \u5ea6   )   Z - \u8f74 \u65cb\u8f6c \u89d2\u5ea6 \u3002   roll   (   float   -   \u5ea6   )   X - \u8f74 \u65cb\u8f6c \u89d2\u5ea6 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_135","text":"__ init __   (   self   ,   pitch   = 0.0   ,   yaw   = 0.0   ,   roll   = 0.0   )   \u53c2\u6570 \uff1a   pitch   (   float   -   \u5ea6   )   -   Y - axis   rotation   angle .   yaw   (   float   -   \u5ea6   )   -   Z - axis   rotation   angle .   roll   (   float   -   \u5ea6   )   -   X - axis   rotation   angle .   \u8b66\u544a \uff1a   CARLA   ( pitch , yaw , roll )   \u548c \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684 \u58f0\u660e \u987a\u5e8f \u4e0d\u540c \u3002 \u5f53 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u65f6 \uff0c \u4e0d\u8981 \u6df7\u6dc6 \u8f74 \u7684 \u65cb\u8f6c \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_136","text":"get _ forward _ vector   (   self   )   \u6839\u636e \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u6307\u5411 \u524d\u65b9 \u7684 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   get _ right _ vector   (   self   )   \u6839\u636e \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u6307\u5411 \u53f3\u4fa7 \u7684 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   get _ up _ vector   (   self   )   \u6839\u636e \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u6307\u5411 \u4e0a\u65b9 \u7684 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_137","text":"__ eq __   (   self   ,   other   =   carla . Rotation   )   \u5982\u679c \u4e24\u4e2a \u65cb\u8f6c \u4ee3\u8868 \u6bcf\u4e2a \u8f74 \u7684 \u76f8\u540c \u65b9\u5411 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de \uff1a   bool   __ ne __   (   self   ,   other   =   carla . Rotation   )   \u5982\u679c \u4e24\u4e2a \u65cb\u8f6c \u4ee3\u8868 \u6bcf\u4e2a \u8f74 \u7684 \u76f8\u540c \u65b9\u5411 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de \uff1a   bool   __ str __   (   self   )   \u5c06 \u8f74 \u7684 \u65b9\u5411 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlarssactorconstellationdata","text":"\u7531   RssSensor . register _ actor _ constellation _ callback ( )   \u6ce8\u518c \u7684 \u56de\u8c03 \u4e2d \u63d0\u4f9b \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u3002","title":"carla . RssActorConstellationData"},{"location":"python_api/#_138","text":"ego _ match _ object   (   ad . map . match . Object   )   \u81ea\u6211 \u6620\u5c04 \u5339\u914d \u4fe1\u606f \u3002   ego _ route   (   ad . map . route . FullRoute   )   \u81ea\u6211 \u8def\u7531 \u3002   ego _ dynamics _ on _ route   (   carla . RssEgoDynamicsOnRoute   )   \u5173\u4e8e \u8def\u7ebf \u7684 \u5f53\u524d \u81ea\u6211 \u8f66\u8f86 \u52a8\u6001 \u3002   other _ match _ object   (   ad . map . match . Object   )   \u5176\u4ed6 \u5bf9\u8c61 \u7684 \u5730\u56fe \u5339\u914d \u4fe1\u606f \u3002 \u4ec5\u5f53 \u201c other _ actor \u201d \u4e0d\u662f \u201c None \u201d \u65f6 \u8fd9 \u624d \u6709\u6548 \u3002   other _ actor   (   carla . Actor   )   \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5982\u679c \u67e5\u8be2 \u9ed8\u8ba4 \u53c2\u6570 \u6216 \u7c7b\u578b \u4e3a   ad . rss . world . ObjectType . ArtificialObject   \u4e14 \u6ca1\u6709 \u4e13\u7528 \u201c   carla . Actor   '   ( as   e . g .   for   the   road   boundaries   \u201d \u7684 \u4eba\u5de5 \u5bf9\u8c61 \uff08 \u4f8b\u5982 \u76ee\u524d \u7684 \u9053\u8def \u8fb9\u754c \uff09 \uff0c \u5219 \u4e3a \u201c None \u201d \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_139","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_140","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlarssactorconstellationresult","text":"\u5e94\u8be5 \u7531   RssSensor . register _ actor _ constellation _ callback ( )   \u6ce8\u518c \u7684 \u56de\u8c03 \u8fd4\u56de \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u3002","title":"carla . RssActorConstellationResult"},{"location":"python_api/#_141","text":"rss _ calculation _ mode   (   ad . rss . map . RssMode   )   \u8981 \u5e94\u7528 \u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8ba1\u7b97 \u6a21\u5f0f \u3002   restrict _ speed _ limit _ mode   (   ad . rss . map . RestrictSpeedLimitMode   )   \u9650\u901f \u6a21\u5f0f \u3002   ego _ vehicle _ dynamics   (   ad . rss . world . RssDynamics   )   \u5c06 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u52a8\u6001 \u5e94\u7528 \u4e8e \u81ea\u6211 \u8f66\u8f86 \u3002   actor _ object _ type   (   ad . rss . world . ObjectType   )   \u8981 \u7528\u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5bf9\u8c61 \u7c7b\u578b \u3002   actor _ dynamics   (   ad . rss . world . RssDynamics   )   \u8981 \u5e94\u7528 \u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_142","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_143","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlarssegodynamicsonroute","text":"\u63cf\u8ff0 \u8f66\u8f86 \u72b6\u6001 \u7684   carla . RssResponse   \u4e2d \u5305\u542b \u7684 \u90e8\u5206 \u6570\u636e \u3002 \u53c2\u6570 \u5305\u62ec \u5b83 \u5f53\u524d \u7684 \u52a8\u6001 \uff0c \u4ee5\u53ca \u5b83 \u5982\u4f55 \u6839\u636e \u76ee\u6807 \u8def\u7ebf \u524d\u8fdb \u3002","title":"carla . RssEgoDynamicsOnRoute"},{"location":"python_api/#_144","text":"ego _ speed   (   ad . physics . Speed   )   \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u3002   min _ stopping _ distance   (   ad . physics . Distance   )   \u5f53\u524d \u6700\u5c0f \u505c\u8f66 \u8ddd\u79bb \u3002   ego _ center   (   ad . map . point . ENUPoint   )   \u81ea\u6211 \u8f66\u8f86 \u88ab \u8003\u8651 \u7684 enu \u4f4d\u7f6e \u3002   ego _ heading   (   ad . map . point . ENUHeading   )   \u8003\u8651 \u7684 \u81ea\u6211 \u8f66\u8f86 \u7684 \u822a\u5411 \u3002   ego _ center _ within _ route   (   bool   )   \u8bf4\u660e \u81ea\u6211 \u8f66\u8f86 \u7684 \u4e2d\u5fc3 \u662f\u5426 \u5728 \u8def\u7ebf \u5185 \u3002   crossing _ border   (   bool   )   \u8bf4\u660e \u8f66\u8f86 \u662f\u5426 \u5df2\u7ecf \u8d8a\u8fc7 \u5176\u4e2d \u4e00\u4e2a \u8f66\u9053 \u8fb9\u754c \u3002   route _ heading   (   ad . map . point . ENUHeading   )   \u8def\u7ebf \u7684 \u8003\u8651 \u65b9\u5411 \u3002   route _ nominal _ center   (   ad . map . point . ENUPoint   )   \u5f53\u524d \u8def\u7ebf \u7684 \u540d\u4e49 \u4e2d\u5fc3 \u3002   heading _ diff   (   ad . map . point . ENUHeading   )   \u88ab \u8003\u8651 \u7684 \u65b9\u5411 \u504f\u79bb \u4e86 \u8def\u7ebf \u3002   route _ speed _ lat   (   ad . physics . Speed   )   \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u5206\u91cf   lat   \u4e0e \u8def\u7ebf \u6709\u5173 \u3002   route _ speed _ lon   (   ad . physics . Speed   )   \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u5206\u91cf   lon   \u4e0e \u8def\u7ebf \u6709\u5173 \u3002   route _ accel _ lat   (   ad . physics . Acceleration   )   \u81ea\u6211 \u8f66\u8f86 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5206\u91cf   lat   \u4e0e \u8def\u7ebf \u6709\u5173 \u3002   route _ accel _ lon   (   ad . physics . Acceleration   )   \u81ea\u6211 \u8f66\u8f86 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5206\u91cf   lon   \u4e0e \u8def\u7ebf \u6709\u5173 \u3002   avg _ route _ accel _ lat   (   ad . physics . Acceleration   )   \u81ea\u6211 \u8f66 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5206\u91cf   lat   \u4e0e \u7ecf\u8fc7 \u5e73\u5747 \u6ee4\u6ce2 \u5e73\u6ed1 \u7684 \u8def\u7ebf \u6709\u5173 \u3002   The   ego   vehicle ' s   acceleration   component   lat   regarding   the   route   smoothened   by   an   average   filter .   avg _ route _ accel _ lon   (   ad . physics . Acceleration   )   \u5bf9 \u7ecf\u8fc7 \u5e73\u5747 \u6ee4\u6ce2 \u5e73\u6ed1 \u7684 \u8def\u7ebf \u8fdb\u884c \u81ea \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5206\u91cf   lon   \u5206\u6790 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_145","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_146","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlarssloglevel","text":"\u679a\u4e3e \u58f0\u660e \u4e2d \u4f7f\u7528 \u7684   carla . RssSensor   \u8bbe\u7f6e \u65e5\u5fd7 \u7ea7\u522b \u3002","title":"carla . RssLogLevel"},{"location":"python_api/#_147","text":"trace   debug   info   warn   err   critical   off","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlarssresponse","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u5305\u542b c   carla . RssSensor   \u8f93\u51fa \u7684 \u7c7b \u3002 \u8fd9 \u662f \u5bf9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7236 \u8f66\u8f86 \u6267\u884c \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u8ba1\u7b97 \u7684 \u7ed3\u679c \u3002   carla . RssRestrictor   \u5c06 \u4f7f\u7528 \u6570\u636e \u4fee\u6539 \u8f66\u8f86 \u7684   carla . VehicleControl   \u3002","title":"carla . RssResponse"},{"location":"python_api/#_148","text":"response _ valid   (   bool   )   \u8bf4\u660e \u54cd\u5e94 \u662f\u5426 \u6709\u6548 \u3002 \u5982\u679c \u8ba1\u7b97 \u5931\u8d25 \u6216 \u53d1\u751f \u5f02\u5e38 \uff0c \u5219 \u4e3a   False   \u3002   proper _ response   (   ad . rss . state . ProperResponse   )   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4e3a \u8f66\u8f86 \u8ba1\u7b97 \u7684 \u6b63\u786e \u54cd\u5e94 \u3002   rss _ state _ snapshot   (   ad . rss . state . RssStateSnapshot   )   \u8be6\u7ec6 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5728 \u5f53\u524d \u65f6\u523b \u7684 \u72b6\u6001 \u3002   ego _ dynamics _ on _ route   (   carla . RssEgoDynamicsOnRoute   )   \u5173\u4e8e \u8def\u7ebf \u7684 \u5f53\u524d \u81ea\u6211 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3002   world _ model   (   ad . rss . world . WorldModel   )   \u7528\u4e8e \u8ba1\u7b97 \u7684 \u4e16\u754c \u6a21\u578b \u3002   situation _ snapshot   (   ad . rss . situation . SituationSnapshot   )   \u4ece \u4e16\u754c \u6a21\u578b \u4e2d \u63d0\u53d6 \u7684 \u8be6\u7ec6 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u60c5\u51b5 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_149","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_150","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlarssrestrictor","text":"\u8fd9\u4e9b \u5bf9\u8c61 \u5c06 \u9650\u5236 \u5e94\u7528 \u4e8e   carla . VehicleControl   \u3002 \u5b83 \u662f   \u8d1f\u8d23 \u654f\u611f \u5b89\u5168 \u7684 C++ \u5e93   \u7684 Carla \u5b9e\u73b0 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u6b64\u7c7b \u4e0e   rss \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u534f\u540c \u540c\u5de5 \u5de5\u4f5c \u534f\u540c\u5de5\u4f5c \uff0c rss \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u63d0\u4f9b \u8981 \u5e94\u7528 \u7684 \u9650\u5236 \u7684 \u6570\u636e \u3002","title":"carla . RssRestrictor"},{"location":"python_api/#_151","text":"restrict _ vehicle _ control   (   self   ,   vehicle _ control   ,   proper _ response   ,   ego _ dynamics _ on _ route   ,   vehicle _ physics   )   \u5e94\u7528   carla . RssSensor   \u5bf9   carla . VehicleControl   \u7ed9\u51fa \u7684 \u5b89\u5168 \u9650\u5236 \u3002   \u53c2\u6570 \uff1a   vehicle _ control   (   carla . VehicleControl   )   -   \u8981 \u9650\u5236 \u7684 \u8f93\u5165 \u8f66\u8f86 \u63a7\u5236 \u3002   proper _ response   (   ad . rss . state . ProperResponse   )   -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ea7\u751f \u7684 \u90e8\u5206 \u54cd\u5e94 \u3002 \u5305\u542b \u9002\u7528 \u4e8e \u8f66\u8f86 \u52a0\u901f \u7684 \u9650\u5236 \u3002   ego _ dynamics _ on _ route   (   carla . RssEgoDynamicsOnRoute   )   -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ea7\u751f \u7684 \u90e8\u5206 \u54cd\u5e94 \u3002 \u5305\u542b \u6709\u5173 \u5176 \u8def\u7ebf \u7684 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u548c \u65b9\u5411 \u3002   vehicle _ physics   (   carla . VehiclePhysicsControl   )   -   \u8f66\u8f86 \u7684 \u5f53\u524d \u7269\u7406 \u7279\u6027 \u3002 \u7528\u4e8e \u6b63\u786e \u5e94\u7528 \u9650\u5236 \u3002   \u8fd4\u56de :   carla . VehicleControl","title":"\u65b9\u6cd5"},{"location":"python_api/#_152","text":"set _ log _ level   (   self   ,   log _ level   )   \u8bbe\u7f6e \u65e5\u5fd7 \u7ea7\u522b \u3002   \u53c2\u6570 \uff1a   log _ level   (   carla . RssLogLevel   )   -   \u65b0 \u65e5\u5fd7 \u7ea7\u522b \u3002","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#carlarssroadboundariesmode","text":"carla . RssSensor   \u4e2d \u4f7f\u7528 \u7684 \u679a\u4e3e \u58f0\u660e \uff0c \u7528\u4e8e \u542f\u7528 \u6216 \u7981\u7528   \u516c\u8def \u505c\u7559   \u529f\u80fd \u3002 \u800c\u8a00 \u603b\u800c\u8a00\u4e4b \uff0c \u6b64 \u529f\u80fd \u5c06 \u9053\u8def \u8fb9\u754c \u89c6\u4e3a \u865a\u62df \u5bf9\u8c61 \u3002 \u6700\u5c0f \u5b89\u5168 \u8ddd\u79bb \u68c0\u67e5 \u5e94\u7528 \u4e8e \u8fd9\u4e9b \u865a\u62df \u5899 \uff0c \u4ee5 \u786e\u4fdd \u8f66\u8f86 \u4e0d\u4f1a \u9a76\u79bb \u9053\u8def \u3002","title":"carla . RssRoadBoundariesMode"},{"location":"python_api/#_153","text":"On   \u542f\u7528 \u201c \u505c\u7559 \u5728 \u8def\u4e0a \uff08   stay   on   road   \uff09 \u201d \u529f\u80fd \u3002   Off   \u7981\u7528 \u201c \u505c\u7559 \u5728 \u8def\u4e0a \uff08   stay   on   road   \uff09 \u201d \u529f\u80fd \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlarsssensor","text":"\u4ece   carla . Sensor   \u7ee7\u627f   \u6b64 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5de5\u4f5c \u539f\u7406 \u4e0e \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7565\u6709 \u4e0d\u540c \u7565\u6709\u4e0d\u540c \u3002 \u8bf7 \u67e5\u770b   \u7279\u5b9a \u6587\u6863   \u548c   rss \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \uff0c \u4ee5 \u5145\u5206 \u4e86\u89e3 \u5b83 \u3002   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f7f\u7528 \u4e16\u754c \u4fe1\u606f \u548c   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5e93   \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u5b89\u5168 \u68c0\u67e5 \u5b89\u5168\u68c0\u67e5 \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u7d22 \u5230 \u7684 \u8f93\u51fa \u662f   carla . RssResponse   \u3002 \u8fd9 \u5c06 \u7531   carla . RssRestrictor   \u4f7f\u7528 \u3002 \u5728 \u5c06 \u5176 \u5e94\u7528 \u4e8e \u8f66\u8f86 \u4e4b\u524d \u8fdb\u884c   carla . VehicleControl   \u3002","title":"carla . RssSensor"},{"location":"python_api/#_154","text":"ego _ vehicle _ dynamics   (   ad . rss . world . RssDynamics   )   \u8bf4\u660e \u5982\u679c \u6ca1\u6709 \u6ce8\u518c \u53c2\u4e0e \u53c2\u4e0e\u8005   constellation   \u56de\u8c03 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u8003\u8651 \u7684 \u81ea\u6211 \u8f66\u8f86 \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   \u3002   other _ vehicle _ dynamics   (   ad . rss . world . RssDynamics   )   \u8bf4\u660e \u5982\u679c \u6ca1\u6709 \u6ce8\u518c \u53c2\u4e0e \u53c2\u4e0e\u8005   constellation   \u56de\u8c03 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u4e3a \u5176\u4f59 \u8f66\u8f86 \u8003\u8651 \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   \u3002   pedestrian _ dynamics   (   ad . rss . world . RssDynamics   )   \u8bf4\u660e \u5982\u679c \u6ca1\u6709 \u6ce8\u518c \u53c2\u4e0e \u53c2\u4e0e\u8005   constellation   \u56de\u8c03 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u4e3a \u884c\u4eba \u8003\u8651 \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   \u3002   road _ boundaries _ mode   (   carla . RssRoadBoundariesMode   )   \u5207\u6362 \u505c\u7559 \u5728 \u9053\u8def \u4e0a   stay   on   road   \u7684 \u529f\u80fd \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5904\u4e8e \u7981\u7528 \uff08   Off   \uff09 \u72b6\u6001 \u3002   routing _ targets   (   vector <   carla . Transform   >   )   \u5f53\u524d \u8003\u8651 \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u8def\u7531 \u7684 \u76ee\u6807 \u5217\u8868 \u3002 \u5982\u679c \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \u8def\u7531 \u76ee\u6807 \uff0c \u5219 \u968f\u673a \u751f\u6210 \u8def\u7531 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_155","text":"append _ routing _ target   (   self   ,   routing _ target   )   \u5c06 \u65b0 \u7684 \u76ee\u6807 \u4f4d\u7f6e \u9644\u52a0 \u5230 \u8f66\u8f86 \u7684 \u5f53\u524d \u8def\u7ebf \u3002   \u53c2\u6570 \uff1a   routing _ target   (   carla . Transform   )   -   \u4e3a \u8def\u7ebf \u65b0\u5efa \u76ee\u6807 \u70b9 \u3002 \u5728 \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u540e \u9009\u62e9 \u8fd9\u4e9b \u9009\u9879 \uff0c \u4ee5 \u5f3a\u5236 \u8def\u7ebf \u8f6c\u5f2f \u3002   drop _ route   (   self   )   \u653e\u5f03 \u5f53\u524d \u8def\u7531 \u3002 \u5982\u679c   routing _ targets   \u4e2d \u8fd8\u6709 \u76ee\u6807 \uff0c \u5219 \u4f7f\u7528 \u8fd9\u4e9b \u76ee\u6807 \u521b\u5efa \u65b0\u8def \u7531 \u3002 \u5426\u5219 \uff0c \u5c06 \u968f\u673a \u521b\u5efa \u65b0\u8def \u7531 \u3002   register _ actor _ constellation _ callback   (   self   ,   callback   )   \u6ce8\u518c \u56de\u8c03 \u4ee5 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49   carla . RssActorConstellationResult   \u3002 \u901a\u8fc7 \u6b64 \u56de\u8c03 \uff0c \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570 \u7684 \u8bbe\u7f6e \u662f \u6839\u636e \u53c2\u4e0e \u53c2\u4e0e\u8005   constellation   \u5b8c\u6210 \u7684 \uff0c \u5e76\u4e14 \u8bbe\u7f6e \uff08 ego _ vehicle _ dynamics ,   other _ vehicle _ dynamics   and   pedestrian _ dynamics \uff09 \u6ca1\u6709 \u4efb\u4f55 \u6548\u679c \u3002   \u53c2\u6570 \uff1a   callback   -   \u6bcf\u5f53 \u8981 \u8ba1\u7b97 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u60c5\u51b5 \u65f6\u8981 \u8c03\u7528 \u7684 \u51fd\u6570 \u3002   reset _ routing _ targets   (   self   )   \u5220\u9664 \u5df2 \u9644\u52a0 \u5230 \u8def\u7531 \u7684 \u76ee\u6807 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_156","text":"set _ log _ level   (   self   ,   log _ level   )   \u8bbe\u7f6e \u65e5\u5fd7 \u7ea7\u522b \u3002   \u53c2\u6570 \uff1a   log _ level   (   carla . RssLogLevel   )   -   \u65b0 \u7684 \u65e5\u5fd7 \u7ea7\u522b \u3002   set _ map _ log _ level   (   self   ,   log _ level   )   \u8bbe\u7f6e \u65e5\u5fd7 \u65e5\u5fd7 \u7ea7\u522b \u3002   \u53c2\u6570 \uff1a   log _ level   (   carla . RssLogLevel   )   -   New   map   log   level .","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_157","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlasemanticlidardetection","text":"carla . SemanticLidarMeasurement   \u4e2d \u5305\u542b \u7684 \u6570\u636e \u3002 \u5176\u4e2d \u6bcf \u4e00\u4e2a \u90fd \u4ee3\u8868 \u4e91\u4e2d \u7684 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u53ca\u5176 \u4f4d\u7f6e \u3001 \u5165\u5c04 \u5c04\u89d2 \u5165\u5c04\u89d2 \u7684 \u4f59\u5f26 \u3001 \u547d\u4e2d \u7269\u4f53 \u7684 \u7d22\u5f15 \u53ca\u5176 \u8bed\u4e49 \u6807\u8bb0 \u3002","title":"carla . SemanticLidarDetection"},{"location":"python_api/#_158","text":"point   (   carla . Location   -   \u7c73   )   \u70b9 \u7684 [ x \uff0c y \uff0c z ] \u5750\u6807 \u3002   cos _ inc _ angle   (   float   )   \u5149\u7ebf \u4e0e \u88ab \u51fb\u4e2d \u7269\u4f53 \u6cd5\u7ebf \u4e4b\u95f4 \u5165\u5c04 \u5c04\u89d2 \u5165\u5c04\u89d2 \u7684 \u4f59\u5f26 \u3002   object _ idx   (   uint   )   \u88ab \u5149\u7ebf \u51fb\u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 ID \u3002   object _ tag   (   uint   )   \u88ab \u5149\u7ebf \u51fb\u4e2d \u90e8\u4ef6 \u7684 \u8bed\u4e49 \u6807\u7b7e \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_159","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_160","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlasemanticlidarmeasurement","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u8be5\u7c7b \u5b9a\u4e49 \u7531   sensor . lidar . ray _ cast _ semantic   \u68c0\u7d22 \u7684 \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6570\u636e \u3002 \u8fd9 \u5b9e\u8d28 \u4e0a \u662f \u4f7f\u7528 \u5149\u7ebf \u6295\u5c04 \u6765 \u4eff\u771f \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002 \u5728 \u6b64 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002","title":"carla . SemanticLidarMeasurement"},{"location":"python_api/#_161","text":"channels   (   int   )   \u6fc0\u5149 \u53d1\u5c04 \u6b21\u6570 \u3002   horizontal _ angle   (   float   -   radians   )   \u6c34\u5e73 \u89d2\u5ea6 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5728 \u6d4b\u91cf \u65f6 \u65cb\u8f6c \u3002   raw _ data   (   bytes   )   \u6536\u5230 \u539f\u59cb \u68c0\u6d4b \u6d4b\u70b9 \u68c0\u6d4b\u70b9 \u5217\u8868 \u3002 \u6bcf\u4e2a \u70b9 \u7531 [ x \uff0c y \uff0c z ] \u5750\u6807 \u52a0\u4e0a \u5165\u5c04 \u5c04\u89d2 \u5165\u5c04\u89d2 \u7684 \u4f59\u5f26 \uff0c \u547d\u4e2d \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7d22\u5f15 \u53ca\u5176 \u8bed\u4e49 \u6807\u8bb0 \u7ec4\u6210 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_162","text":"save _ to _ disk   (   self   ,   path   )   \u5c06 \u70b9\u4e91 \u4fdd\u5b58 \u4e3a \u63cf\u8ff0 \u4e09\u7ef4 \u626b\u63cf \u626b\u63cf\u4eea \u6570\u636e \u7684   . ply   \u6587\u4ef6 \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002 \u751f\u6210 \u7684 \u6587\u4ef6 \u53ef\u4ee5 \u5728   MeshLab   \u4e2d \u4f7f\u7528 \uff0c MeshLab \u662f \u4e00\u4e2a \u7528\u4e8e \u5904\u7406 \u4e0a\u8ff0 \u6587\u4ef6 \u7684 \u5f00\u6e90 \u7cfb\u7edf \u3002 \u53ea \u9700 \u8003\u8651 \u5230 \u8f74 \u53ef\u80fd \u4e0e \u4e0d \u771f\u5b9e \u7684 \u5f15\u64ce \u4e0d\u540c \uff0c \u56e0\u6b64 \u9700\u8981 \u91cd\u65b0 \u5206\u914d \u91cd\u65b0\u5206\u914d \u3002   \u53c2\u6570 \uff1a   path   (   str   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_163","text":"get _ point _ count   (   self   ,   channel   )   \u83b7\u53d6 \u6b64 \u5ea6\u91cf \u751f\u6210 \u7684 \u6309 \u901a\u9053 \u6392\u5e8f \u7684 \u70b9\u6570 \u3002 \u901a\u8fc7 \u901a\u9053 \u6392\u5e8f \u53ef\u4ee5 \u8bc6\u522b \u6bcf\u4e2a \u70b9 \u7684 \u539f\u59cb \u901a\u9053 \u3002   \u53c2\u6570 \uff1a   channel   (   int   )","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#_164","text":"__ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728 \u83b7\u53d6 \u5230 \u7684   carla . SemanticLidarDetection   \u6570\u636e \u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   detection   =   carla . SemanticLidarDetection   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlasensor","text":"\u4ece   carla . Actor   \u7ee7\u627f   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6784\u6210 \u4e86 \u4e00\u4e2a \u975e\u5e38 \u591a\u6837 \u591a\u6837\u5316 \u548c \u72ec\u7279 \u7684 \u7279\u5b9a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5bb6\u65cf \u3002 \u5b83\u4eec \u901a\u5e38 \u662f \u4f5c\u4e3a \u8f66\u8f86 \u7684 \u9644\u4ef6 / \u513f\u5b50 \u800c \u4ea7\u751f \u7684 \uff08 \u770b\u770b   carla . World   \u6765 \u4e86\u89e3 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u751f\u6210 \uff09 \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7ecf\u8fc7 \u7cbe\u5fc3 \u8bbe\u8ba1 \u7cbe\u5fc3\u8bbe\u8ba1 \uff0c \u53ef\u4ee5 \u68c0\u7d22 \u5b83\u4eec \u6b63\u5728 \u76d1\u542c \u7684 \u4e0d\u540c \u7c7b\u578b \u7684 \u6570\u636e \u3002 \u5b83\u4eec \u63a5\u6536 \u5230 \u7684 \u6570\u636e \u88ab \u5f62\u6210 \u4e3a \u4ece   carla . SensorData   \u7ee7\u627f \u7684 \u4e0d\u540c \u5b50\u7c7b \u3002 \uff08 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff09 \u3002   \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef \u5206\u4e3a \u4e24\u7ec4 \uff1a \u4e00\u7ec4 \u5728 \u6bcf\u4e2a \u8282\u62cd \u4e2d \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \uff08 \u76f8\u673a \u3001 \u70b9\u4e91 \u548c \u4e00\u4e9b \u7279\u5b9a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff09 \uff0c \u4e00\u7ec4 \u53e6\u4e00\u7ec4 \u4ec5 \u5728 \u7279\u5b9a \u60c5\u51b5 \u4e0b \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \uff08 \u89e6\u53d1 \u63a2\u6d4b \u6d4b\u5668 \u63a2\u6d4b\u5668 \uff09 \u3002 Carla   \u63d0\u4f9b \u4e86 \u4e00\u5957 \u7279\u5b9a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5b83\u4eec \u7684 \u84dd\u56fe \u53ef\u4ee5 \u5728   carla . BlueprintLibrary   \u4e2d \u627e\u5230 \u3002 \u5173\u4e8e \u4ed6\u4eec \u7684 \u504f\u597d \u548c \u653e\u7f6e \u4f4d\u7f6e \u7684 \u6240\u6709 \u4fe1\u606f \u90fd \u53ef\u4ee5 \u5728   \u8fd9\u91cc   \u627e\u5230 \uff0c \u4f46 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c Carla   \u4e2d \u53ef\u7528 \u7684 \u4fe1\u606f \u5217\u8868 \u5982\u4e0b \u3002   \u6bcf\u4e2a \u8282\u62cd \u63a5\u6536 \u7684 \u6570\u636e \u3002   -   \u6df1\u5ea6 \u76f8\u673a   -   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   -   IMU   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   -   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5149\u7ebf \u6295\u5c04   -   SemanticLidar   \u5149\u7ebf \u6295\u5c04   -   \u96f7\u8fbe   -   RGB   \u76f8\u673a   -   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   -   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u4ec5 \u5728 \u89e6\u53d1 \u65f6 \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \u3002   -   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   .   -   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   .   -   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   .","title":"carla . Sensor"},{"location":"python_api/#_165","text":"is _ listening   (   boolean   )   \u5f53\u4e3a   True   \u65f6 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u7b49\u5f85 \u6570\u636e \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_166","text":"disable _ for _ ros   (   self   )   \u5982\u679c \u6ca1\u6709 \u4efb\u4f55 \u76d1\u542c \uff0c \u5219 \u547d\u4ee4 \u4e0d \u5904\u7406 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ee5 \u5728   ROS2   \u4e2d \u53d1\u5e03 \u3002   enable _ for _ ros   (   self   )   \u547d\u4ee4 \u8981 \u5904\u7406 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u80fd\u591f \u5728 ROS2 \u4e2d \u53d1\u5e03 \uff0c \u800c \u65e0\u9700 \u4efb\u4f55 \u76d1\u542c \u3002   is _ enabled _ for _ ros   (   self   )   \u5982\u679c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5df2 \u542f\u7528 \uff0c \u5219 \u8fd4\u56de \uff1b \u5982\u679c \u6ca1\u6709 \u4efb\u4f55 \u76d1\u542c \uff0c \u5219 \u4e0d \u5728 ROS2 \u4e2d \u53d1\u5e03 \u3002   \u8fd4\u56de \uff1a   bool   is _ listening   (   self   )   \u8fd4\u56de \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u5426 \u5904\u4e8e \u76d1\u542c \u72b6\u6001 \u3002   \u8fd4\u56de \uff1a   bool   is _ listening _ gbuffer   (   self   ,   gbuffer _ id   )   \u8fd4\u56de \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u5426 \u5904\u4e8e \u7279\u5b9a   GBuffer   \u7eb9\u7406 \u7684 \u76d1\u542c \u72b6\u6001 \u3002   \u53c2\u6570 \uff1a   gbuffer _ id   (   carla . GBufferTextureID   )   -   \u76ee\u6807 \u865a\u5e7b \u5f15\u64ce GBuffer \u7eb9\u7406 \u7684 ID \u3002   \u8fd4\u56de \uff1a   bool   listen   (   self   ,   callback   )   snippet   \u2192   \u6bcf\u6b21 \u6536\u5230 \u65b0 \u7684 \u6d4b\u91cf \u503c\u65f6 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u8c03\u7528 \u7684 \u51fd\u6570 \u3002 \u6b64 \u51fd\u6570 \u9700\u8981 \u4e00\u4e2a \u5305\u542b \u5bf9\u8c61 \u7c7b\u578b   carla . SensorData   \u7684 \u53c2\u6570 \u3002   \u53c2\u6570 \uff1a   callback   (   function   )   -   \u88ab \u8c03\u7528 \u7684 \u51fd\u6570 \u6709 \u4e00\u4e2a \u53c2\u6570 \u5305\u542b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   listen _ to _ gbuffer   (   self   ,   gbuffer _ id   ,   callback   )   \u6bcf\u6b21 \u63a5\u6536 \u5230 \u6240 \u9700 \u7684   GBuffer   \u7eb9\u7406 \u65f6 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u8c03\u7528 \u7684 \u51fd\u6570 \u3002   \u6b64 \u51fd\u6570 \u9700\u8981 \u4e00\u4e2a \u5305\u542b \u5bf9\u8c61 \u7c7b\u578b   carla . SensorData   \u7684 \u53c2\u6570 \u3002   \u53c2\u6570 \uff1a   gbuffer _ id   (   carla . GBufferTextureID   )   -   \u76ee\u6807 \u865a\u5e7b \u5f15\u64ce   GBuffer   \u7eb9\u7406 \u7684 ID \u3002   callback   (   function   )   -   \u88ab \u8c03\u7528 \u7684 \u51fd\u6570 \u6709 \u4e00\u4e2a \u53c2\u6570 \uff0c \u5176\u4e2d \u5305\u542b \u63a5\u6536 \u5230 \u7684 GBuffer \u7eb9\u7406 \u3002   stop   (   self   )   \u547d\u4ee4 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u505c\u6b62 \u76d1\u542c \u6570\u636e \u3002   stop _ gbuffer   (   self   ,   gbuffer _ id   )   \u547d\u4ee4 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u505c\u6b62 \u76d1\u542c \u6307\u5b9a \u7684   GBuffer   \u7eb9\u7406 \u3002   \u53c2\u6570 \uff1a   gbuffer _ id   (   carla . GBufferTextureID   )   -   \u865a\u5e7b \u5f15\u64ce   GBuffer   \u7eb9\u7406 \u7684 ID \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_167","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlasensordata","text":"\u5305\u542b   carla . Sensor   \u751f\u6210 \u7684 \u6570\u636e \u7684 \u6240\u6709 \u5bf9\u8c61 \u7684 \u57fa\u7c7b \u3002 \u8fd9\u4e2a \u5bf9\u8c61 \u5e94\u8be5 \u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6b63\u5728 \u76d1\u542c \u7684 \u51fd\u6570 \u7684 \u53c2\u6570 \uff0c \u4ee5\u4fbf \u4e0e \u5b83\u4eec \u4e00\u8d77 \u5de5\u4f5c \u3002 \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u7684 \u6bcf \u4e00\u4e2a \u90fd \u9700\u8981 \u7279\u5b9a \u7c7b\u578b \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002 \u4ee5\u4e0b \u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ca\u5176 \u76f8\u5e94 \u6570\u636e \u7684 \u5217\u8868 \u3002   -   \u76f8\u673a   ( RGB ,   \u6df1\u5ea6 \u548c \u8bed\u4e49 \u5206\u5272 ) :   carla . Image   .   -   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \uff1a   carla . CollisionEvent   .   -   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . GnssMeasurement   .   -   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . IMUMeasurement   .   -   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \uff1a   carla . LaneInvasionEvent   .   -   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . LidarMeasurement   .   -   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \uff1a   carla . ObstacleDetectionEvent   .   -   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . RadarMeasurement   .   -   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . RssResponse   .   -   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . SemanticLidarMeasurement   .   -   V2X \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u534f\u540c \u611f\u77e5 \u4fe1\u606f \uff1a   carla . CAMEvent   .   -   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 V2X \u6d88\u606f V2X \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . CustomV2XEvent   .","title":"carla . SensorData"},{"location":"python_api/#_168","text":"frame   (   int   )   \u751f\u6210 \u6570\u636e \u65f6 \u7684 \u5e27 \u6570 \u3002   timestamp   (   float   -   seconds   )   \u751f\u6210 \u6570\u636e \u7684 \u6a21\u62df \u65f6\u95f4 \u3002   transform   (   carla . Transform   )   \u6570\u636e \u751f\u6210 \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8f6c\u6362 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlatexturecolor","text":"\u7c7b \u8868\u793a \u8981 \u4e0a \u4f20\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u7eb9\u7406 \u5bf9\u8c61 \u3002 \u50cf\u7d20 \u683c\u5f0f \u4e3a   RGBA \uff0c \u6bcf\u4e2a \u901a\u9053 \u4e3a   uint8 \u3002","title":"carla . TextureColor"},{"location":"python_api/#_169","text":"width   (   int   )   \u7eb9\u7406 \u7684   X   \u5750\u6807 \u5927\u5c0f \u3002   height   (   int   )   \u7eb9\u7406 \u7684   Y   \u5750\u6807 \u5927\u5c0f \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_170","text":"__ init __   (   self   ,   width   ,   height   )   \u4f7f\u7528 \uff08   width   ,   height   \uff09 \u5927\u5c0f \u521d\u59cb \u521d\u59cb\u5316 \u7eb9\u7406 \u3002   \u53c2\u6570 \uff1a   width   (   int   )   height   (   int   )   get   (   self   ,   x   ,   y   )   \u83b7\u53d6 \uff08 x \uff0c y \uff09 \u50cf\u7d20 \u6570\u636e \u3002   \u53c2\u6570 \uff1a   x   (   int   )   y   (   int   )   \u8fd4\u56de :   carla . Color   set   (   self   ,   x   ,   y   ,   value   )   \u7528\u503c   value   \u8bbe\u7f6e \uff08 x \uff0c y \uff09 \u50cf\u7d20 \u6570\u636e \u3002   \u53c2\u6570 \uff1a   x   (   int   )   y   (   int   )   value   (   carla . Color   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_171","text":"set _ dimensions   (   self   ,   width   ,   height   )   \u5c06 \u7eb9\u7406 \u8c03\u6574 \u5230 \u6307\u5b9a \u7684 \u5c3a\u5bf8 \u3002   \u53c2\u6570 \uff1a   width   (   int   )   height   (   int   )","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#carlatexturefloatcolor","text":"\u7c7b \u8868\u793a \u8981 \u4e0a \u4f20\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u7eb9\u7406 \u5bf9\u8c61 \u3002 \u50cf\u7d20 \u683c\u5f0f \u4e3a   RGBA \uff0c \u6bcf\u4e2a \u901a\u9053 \u7684 \u662f   float   \u3002","title":"carla . TextureFloatColor"},{"location":"python_api/#_172","text":"width   (   int   )   \u7eb9\u7406 \u7684   X   \u5750\u6807 \u5927\u5c0f \u3002   height   (   int   )   \u7eb9\u7406 \u7684   Y   \u5750\u6807 \u5927\u5c0f \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_173","text":"__ init __   (   self   ,   width   ,   height   )   \u4f7f\u7528 \uff08   width   ,   height   \uff09 \u5927\u5c0f \u521d\u59cb \u521d\u59cb\u5316 \u7eb9\u7406 \u3002   \u53c2\u6570 \uff1a   width   (   int   )   height   (   int   )   get   (   self   ,   x   ,   y   )   \u83b7\u53d6 \uff08 x \uff0c y \uff09 \u50cf\u7d20 \u6570\u636e \u3002   \u53c2\u6570 \uff1a   x   (   int   )   y   (   int   )   \u8fd4\u56de :   carla . FloatColor   set   (   self   ,   x   ,   y   ,   value   )   \u7528\u503c   value   \u8bbe\u7f6e \uff08 x \uff0c y \uff09 \u50cf\u7d20 \u6570\u636e \u3002   \u53c2\u6570 \uff1a   x   (   int   )   y   (   int   )   value   (   carla . FloatColor   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_174","text":"set _ dimensions   (   self   ,   width   ,   height   )   \u5c06 \u7eb9\u7406 \u8c03\u6574 \u5230 \u6307\u5b9a \u7684 \u5c3a\u5bf8 \u3002   \u53c2\u6570 \uff1a   width   (   int   )   height   (   int   )","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#carlatimestamp","text":"\u5305\u542b \u6a21\u62df \u6570\u636e \u65f6\u95f4 \u4fe1\u606f \u7684 \u7c7b \u3002 \u6b64 \u4fe1\u606f \u5c06 \u4f5c\u4e3a   carla . WorldSnapshot   \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u81ea\u52a8 \u52a8\u68c0 \u68c0\u7d22 \u81ea\u52a8\u68c0\u7d22 \u3002 \u662f \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6bcf \u4e00\u5e27 \u4e0a \u83b7\u5f97 \u7684 \uff0c \u4f46 \u4e5f \u53ef\u80fd \u7528\u4e8e \u8bb8\u591a \u5176\u4ed6 \u60c5\u51b5 \uff0c \u5982   carla . Sensor   \u6b63\u5728 \u68c0\u7d22 \u6570\u636e \u3002","title":"carla . Timestamp"},{"location":"python_api/#_175","text":"frame   (   int   )   \u81ea \u6a21\u62df \u6a21\u62df\u5668 \u542f\u52a8 \u4ee5\u6765 \u7ecf\u8fc7 \u7684 \u5e27 \u6570 \u3002   elapsed _ seconds   (   float   -   seconds   )   \u81ea \u5f53\u524d \u5267\u96c6 \u5f00\u59cb \u4ee5\u6765 \u7ecf\u8fc7 \u7684 \u6a21\u62df \u79d2\u6570 \u3002   delta _ seconds   (   float   -   seconds   )   \u81ea\u4e0a \u4e00\u5e27 \u4ee5\u6765 \u7ecf\u8fc7 \u7684 \u6a21\u62df \u79d2\u6570 \u3002   platform _ timestamp   (   float   -   seconds   )   \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u7ed9\u51fa \u7684 \u8fdb\u884c \u6b64 \u6d4b\u91cf \u7684 \u5e27 \u7684 \u65f6\u95f4 \u5bc4\u5b58 \u5bc4\u5b58\u5668 \uff0c \u5355\u4f4d \u4e3a \u79d2 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_176","text":"__ init __   (   self   ,   frame   ,   elapsed _ seconds   ,   delta _ seconds   ,   platform _ timestamp   )   \u53c2\u6570 \uff1a   frame   (   int   )   elapsed _ seconds   (   float   -   \u79d2   )   delta _ seconds   (   float   -   \u79d2   )   platform _ timestamp   (   float   -   \u79d2   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_177","text":"__ eq __   (   self   ,   other   =   carla . Timestamp   )   __ ne __   (   self   ,   other   =   carla . Timestamp   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlatrafficlight","text":"\u4ece   carla . TrafficSign   \u7ee7\u627f   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u88ab \u8ba4\u4e3a \u662f \u4e00\u79cd \u7279\u5b9a \u7c7b\u578b \u7684 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3002 \u7531\u4e8e \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5927\u591a \u51fa\u73b0 \u5728 \u8def\u53e3 \uff0c \u56e0\u6b64 \u5b83\u4eec \u5c5e\u4e8e \u4e00\u4e2a \u5305\u542b \u4e0d\u540c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u7ec4 \u3002 \u5728 \u7ec4\u5185 \uff0c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u901a\u8fc7 \u5176\u6746 \u6307\u6570 \u8fdb\u884c \u533a\u5206 \u3002   \u5728 \u4e00\u4e2a \u4e00\u4e2a\u7ec4 \u5185 \uff0c \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u4ee5 \u5faa\u73af \u6a21\u5f0f \u53d8\u5316 \uff1a \u9009\u62e9 \u4e00\u4e2a \u7d22\u5f15 \uff0c \u5b83 \u5728 \u7eff\u8272 \u3001 \u9ec4\u8272 \u548c \u6700\u7ec8 \u7ea2\u8272 \u4e2d \u505c\u7559 \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u3002 \u5176\u4f59 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u5728 \u6574\u4e2a \u8fc7\u7a0b \u4e2d \u90fd \u4fdd\u6301 \u7ea2\u8272 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u5728 \u5faa\u73af \u7684 \u6700\u540e \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u6709 \u4e00\u4e2a \u95f4\u9699 \uff0c \u6240\u6709 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u90fd \u662f \u7ea2\u8272 \u7684 \u3002 \u4f46\u662f \uff0c \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u53ef\u4ee5 \u624b\u52a8 \u6539\u53d8 \u3002","title":"carla . TrafficLight"},{"location":"python_api/#_178","text":"state   (   carla . TrafficLightState   )   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u5f53\u524d \u72b6\u6001 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_179","text":"freeze   (   self   ,   freeze   )   \u5728 \u5f53\u524d \u72b6\u6001 \u5c06 \u573a\u666f \u4e2d \u7684 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u505c\u6b62 \u3002   \u53c2\u6570 \uff1a   freeze   (   bool   )   is _ frozen   (   self   )   \u5982\u679c \u4ea4\u901a \u4ea4\u901a\u706f \u6839\u636e \u4e0a\u6b21 \u52fe\u9009 \u88ab \u51bb\u7ed3 \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06 \u8fd4\u56de   True   \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   bool   reset _ group   (   self   )   \u5c06 \u7ec4 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u91cd\u7f6e \u4e3a \u6a21\u62df \u5f00\u59cb \u65f6 \u7684 \u521d\u59cb \u72b6\u6001 \u521d\u59cb\u72b6\u6001 \u3002   Note :   \u6b64 \u65b9\u6cd5 \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_180","text":"get _ affected _ lane _ waypoints   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u8def\u5f84 \u70b9 \u5217\u8868 \uff0c \u6307\u793a \u4ea4\u901a \u4ea4\u901a\u706f \u4ea7\u751f \u5f71\u54cd \u7684 \u4f4d\u7f6e \u548c \u8f66\u9053 \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   get _ elapsed _ time   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u4e0a\u6b21 \u6ef4\u7b54 \u4fe1\u606f \u8fd4\u56de \u81ea \u5f53\u524d \u706f\u5149 \u72b6\u6001 \u5f00\u59cb \u4ee5\u6765 \u7684 \u65f6\u95f4 \uff08 \u79d2 \uff09 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   float   -   seconds   get _ green _ time   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f \u8fd4\u56de \u4e3a \u7eff\u706f \u8bbe\u7f6e \u7684 \u65f6\u95f4 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   float   -   seconds   \u8bbe\u7f6e \u5668 \uff1a   carla . TrafficLight . set _ green _ time   get _ group _ traffic _ lights   (   self   )   \u8fd4\u56de \u6b64 \u4ea4\u901a \u4ea4\u901a\u706f \u6240\u5c5e \u7ec4\u4e2d \u7684 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   \u8fd4\u56de :   list (   carla . TrafficLight   )   Note :   \u6b64 \u65b9\u6cd5 \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   get _ light _ boxes   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u5305\u542b \u4ea4\u901a \u4ea4\u901a\u706f \u6bcf\u4e2a \u706f\u7bb1 \u7684 \u8fb9\u754c \u6846 \u5217\u8868 \u3002   \u8fd4\u56de :   list (   carla . BoundingBox   )   get _ opendrive _ id   (   self   )   \u8fd4\u56de \u6b64 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 OpenDRIVE   id \u3002   \u8fd4\u56de :   str   get _ pole _ index   (   self   )   \u8fd4\u56de \u5c06 \u5176 \u6807\u8bc6 \u4e3a \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u4ea4\u901a \u4ea4\u901a\u706f \u7ec4 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u7684 \u6746 \u7684 \u7d22\u5f15 \u3002   \u8fd4\u56de :   int   get _ red _ time   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f \u8fd4\u56de \u4ea4\u901a \u4ea4\u901a\u706f \u53d8\u7ea2 \u7684 \u65f6\u95f4 \u8bbe\u7f6e \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   float   -   seconds   \u8bbe\u7f6e \u5668 \uff1a   carla . TrafficLight . set _ red _ time   get _ state   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f \u8fd4\u56de \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   carla . TrafficLightState   \u8bbe\u7f6e \u8d77 \uff1a   carla . TrafficLight . set _ state   get _ stop _ waypoints   (   self   )   \u8fd4\u56de \u6307\u793a \u4ea4\u901a \u4ea4\u901a\u706f \u505c\u6b62 \u4f4d\u7f6e \u7684 \u8def\u70b9 \u5217\u8868 \u3002 \u8fd9\u4e9b \u8def\u70b9 \u662f \u6839\u636e \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u89e6\u53d1 \u6846 \u8ba1\u7b97 \u7b97\u51fa \u51fa\u6765 \u8ba1\u7b97\u51fa\u6765 \u7684 \uff0c \u8fd9\u4e9b \u89e6\u53d1 \u6846 \u6307\u793a \u8f66\u8f86 \u5e94\u8be5 \u505c \u5728 \u54ea\u91cc \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   get _ yellow _ time   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f \u8fd4\u56de \u4e3a \u4ea4\u901a \u4ea4\u901a\u706f \u8bbe\u7f6e \u4e3a \u9ec4\u8272 \u7684 \u65f6\u95f4 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   float   -   \u79d2   \u8bbe\u7f6e \u5668 \uff1a   carla . TrafficLight . set _ yellow _ time","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_181","text":"set _ green _ time   (   self   ,   green _ time   )   \u53c2\u6570 \uff1a   green _ time   (   float   -   \u79d2   )   -   \u8bbe\u7f6e \u7eff\u706f \u6fc0\u6d3b \u7684 \u7ed9\u5b9a \u65f6\u95f4 \u3002   \u83b7\u53d6 \u5668 :   carla . TrafficLight . get _ green _ time   set _ red _ time   (   self   ,   red _ time   )   \u8bbe\u7f6e \u7ea2\u8272 \u72b6\u6001 \u6fc0\u6d3b \u7684 \u7ed9\u5b9a \u65f6\u95f4 \u3002   \u53c2\u6570 \uff1a   red _ time   (   float   -   \u79d2   )   \u83b7\u53d6 \u5668 :   carla . TrafficLight . get _ red _ time   set _ state   (   self   ,   state   )   snippet   \u2192   \u5c06 \u7ed9\u5b9a \u72b6\u6001 \u8bbe\u7f6e \u4e3a \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u53c2\u6570 \uff1a   state   (   carla . TrafficLightState   )   \u83b7\u53d6 \u5668 :   carla . TrafficLight . get _ state   set _ yellow _ time   (   self   ,   yellow _ time   )   \u8bbe\u7f6e \u9ec4\u706f \u6fc0\u6d3b \u7684 \u7ed9\u5b9a \u65f6\u95f4 \u3002   \u53c2\u6570 \uff1a   yellow _ time   (   float   -   seconds   )   \u83b7\u53d6 \u5668 :   carla . TrafficLight . get _ yellow _ time","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_182","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlatrafficlightstate","text":"\u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u6240\u6709 \u53ef\u80fd \u72b6\u6001 \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u5728 \u7279\u5b9a \u65f6\u95f4 \u6b65\u957f \u66f4\u6539 \u6216 \u624b\u52a8 \u66f4\u6539 \u3002   carla . TrafficLight . set _ state   \u4e2d \u7684 \u7247\u6bb5 \u4f1a \u52a8\u6001 \u66f4\u6539 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u3002","title":"carla . TrafficLightState"},{"location":"python_api/#_183","text":"Red   Yellow   Green   Off   Unknown","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlatrafficmanager","text":"\u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u662f \u4e00\u4e2a \u7528   C++   \u6784\u5efa \u5728   CARLA   API   \u4e4b\u4e0a \u7684 \u6a21\u5757 \u3002 \u5b83 \u53ef\u4ee5 \u5904\u7406 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u7684 \u4efb\u4f55 \u8f66\u8f86 \u7ec4 \uff0c \u4ee5 \u73b0\u5b9e \u7684 \u57ce\u5e02 \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u586b\u5145 \u4eff\u771f \uff0c \u5e76 \u4e3a \u7528\u6237 \u63d0\u4f9b \u5b9a\u5236 \u67d0\u4e9b \u884c\u4e3a \u7684 \u673a\u4f1a \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u67b6\u6784 \u5206\u4e3a \u4e94\u4e2a \u4e0d\u540c \u7684 \u9762\u5411 \u76ee\u6807 \u7684 \u9636\u6bb5 \u548c \u4e00\u4e2a   PID   \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u4fe1\u606f \u5728 \u5176\u4e2d \u6d41\u52a8 \uff0c \u76f4\u5230 \u6700\u7ec8 \u5c06   carla . VehicleControl   \u5e94\u7528 \u4e8e \u5728 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u4e2d \u6ce8\u518c \u7684 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u8f86 \u3002 \u8981 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \uff0c \u8bf7 \u8bbf\u95ee \u6709\u5173 \u6b64 \u6a21\u5757 \u7684   \u6587\u6863   \u3002","title":"carla . TrafficManager"},{"location":"python_api/#_184","text":"auto _ lane _ change   (   self   ,   actor   ,   enable   )   \u6253\u5f00 \u6216 \u5173\u95ed \u8f66\u8f86 \u7684 \u8f66\u9053 \u53d8\u6362 \u884c\u4e3a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u8bbe\u7f6e \u88ab \u66f4\u6539 \u7684 \u8f66\u8f86 \u3002   enable   (   bool   )   -   True   \u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u5e76 \u542f\u7528 \u8f66\u9053 \u53d8\u66f4 \u3002   False   \u5c06 \u7981\u7528 \u5b83\u4eec \u3002   collision _ detection   (   self   ,   reference _ actor   ,   other _ actor   ,   detect _ collision   )   \u8c03\u6574 \u8f66\u8f86 \u4e0e \u53e6 \u4e00\u4e2a \u7279\u5b9a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u95f4 \u7684 \u78b0\u649e \u3002 \u4e3a\u4e86 \u5ffd\u7565 \u6240\u6709 \u5176\u4ed6 \u8f66\u8f86 \u3001 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u6216 \u884c\u4eba \uff0c \u8bf7 \u4f7f\u7528 \u540c \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u4e2d \u63cf\u8ff0 \u7684   \u7279\u5b9a   ignore   \u65b9\u6cd5 \u3002   \u53c2\u6570 :   reference _ actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u78b0\u649e \u7684 \u8f66\u8f86 \u3002   other _ actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u4e0e \u4e4b \u53d1\u751f \u78b0\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   reference _ actor   \u3002   detect _ collision   (   bool   )   -   True   \u662f \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u5e76 \u542f\u7528 \u78b0\u649e \u3002   False   \u5c06 \u7981\u7528 \u5b83\u4eec \u3002   distance _ to _ leading _ vehicle   (   self   ,   actor   ,   distance   )   \u8bbe\u7f6e \u8f66\u8f86 \u5fc5\u987b \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u4fdd\u6301 \u7684 \u6700\u5c0f \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002 \u8ddd\u79bb \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff0c \u4f1a \u5f71\u54cd \u6700\u5c0f \u79fb\u52a8 \u8ddd\u79bb \u3002 \u5b83 \u662f\u4ece \u8f66\u8f86 \u5bf9\u8c61 \u7684 \u524d \u5230 \u540e \u8ba1\u7b97 \u7684 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u6b63\u5728 \u66f4\u6539 \u6700\u5c0f \u8ddd\u79bb \u7684 \u8f66\u8f86 \u3002   distance   (   float   -   \u7c73   )   -   \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \u4e4b\u95f4 \u7684 \u7c73 \u3002   force _ lane _ change   (   self   ,   actor   ,   direction   )   \u5f3a\u5236 \u8f66\u8f86 \u6539\u53d8 \u5230 \u5176 \u5de6\u4fa7 \u6216 \u53f3\u4fa7 \u7684 \u8f66\u9053 \uff08 \u5982\u679c \u5b58\u5728 \uff09 \uff0c \u5982   \u4e2d \u6240\u793a   direction   \u3002 \u65e0\u8bba \u53d1\u751f \u4ec0\u4e48 \u60c5\u51b5 \uff0c \u8be5 \u65b9\u6cd5 \u90fd \u4f1a \u5e94\u7528 \u8f66\u9053 \u53d8\u6362 \uff0c \u800c \u5ffd\u7565 \u53ef\u80fd \u53d1\u751f \u7684 \u78b0\u649e \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u8f66\u8f86 \u88ab\u8feb \u6539\u53d8 \u8f66\u9053 \u3002   direction   (   bool   )   -   \u76ee\u6807 \u8f66\u9053 \u3002   True   \u662f \u53f3\u8fb9 \u7684 \uff0c   False   \u662f \u5de6\u8fb9 \u7684 \u3002   global _ lane _ offset   (   self   ,   offset   )   \u8bbe\u7f6e \u8ddd \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \u7684 \u5168\u5c40 \u8f66\u9053 \u504f\u79fb \u4f4d\u79fb \u3002 \u6b63\u503c \u8868\u793a \u5411 \u53f3 \u504f\u79fb \uff0c \u8d1f\u503c \u8868\u793a \u5411 \u5de6 \u504f\u79fb \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0 \u3002 \u6570\u5b57 \u9ad8\u5230 \u8db3\u4ee5 \u5bfc\u81f4 \u8f66\u8f86 \u9a76\u8fc7 \u5176\u4ed6 \u8f66\u9053 \u53ef\u80fd \u4f1a \u635f\u574f \u63a7\u5236 \u63a7\u5236\u5668 \u3002   \u53c2\u6570 :   offset   (   float   )   -   \u8f66\u9053 \u8ddd \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \u7684 \u504f\u79fb \u4f4d\u79fb \u3002   global _ percentage _ speed _ difference   (   self   ,   percentage   )   \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u9884\u671f \u901f\u5ea6 \u4e0e\u5176 \u5f53\u524d \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u7684 \u5dee\u503c \u3002 \u901a\u8fc7 \u5c06   perc   \u8bbe \u4e3a \u8d1f\u503c \u53ef\u4ee5 \u8d85\u51fa \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   30 \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u8d1f \u767e\u5206 \u767e\u5206\u6bd4 \u6765 \u8d85\u8fc7 \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u3002   \u53c2\u6570 :   percentage   (   float   )   -   \u9884\u671f \u901f\u5ea6 \u548c \u5f53\u524d \u9650\u5236 \u4e4b\u95f4 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u5dee\u5f02 \u3002   ignore _ lights _ percentage   (   self   ,   actor   ,   perc   )   \u5728 \u6bcf \u5e27 \u8fd0\u884c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u9636\u6bb5 \uff0c \u6b64 \u65b9\u6cd5 \u8bbe\u7f6e \u8f66\u8f86 \u5ffd\u7565 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u673a\u4f1a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   perc   (   float   )   -   0   \u5230   100   \u4e4b\u95f4 \u3002 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u88ab \u5ffd\u7565 \u7684 \u6b21\u6570 \u3002   ignore _ signs _ percentage   (   self   ,   actor   ,   perc   )   \u5728 \u6bcf \u5e27 \u8fd0\u884c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u9636\u6bb5 \uff0c \u6b64 \u65b9\u6cd5 \u8bbe\u7f6e \u8f66\u8f86 \u5ffd\u7565 \u505c\u8f66 \u6807\u5fd7 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u673a\u4f1a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u505c\u8f66 \u6807\u5fd7 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   perc   (   float   )   -   0   \u5230   100   \u4e4b\u95f4 \u3002 \u505c\u8f66 \u6807\u5fd7 \u88ab \u5ffd\u7565 \u7684 \u6b21\u6570 \u3002   ignore _ vehicles _ percentage   (   self   ,   actor   ,   perc   )   \u5728 \u6bcf \u5e27 \u8fd0\u884c \u7684 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u9636\u6bb5 \uff0c \u6b64 \u65b9\u6cd5 \u8bbe\u7f6e \u4e00\u4e2a \u8f66\u8f86 \u5ffd\u7565 \u4e0e \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u78b0\u649e \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u673a\u4f1a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u5176\u4ed6 \u8f66\u8f86 \u7684 \u8f66\u8f86 \u3002   perc   (   float   )   -   Between   0   and   100 .   0   \u5230   100   \u4e4b\u95f4 \u3002 \u78b0\u649e \u88ab \u5ffd\u7565 \u7684 \u6b21\u6570 \u3002   ignore _ walkers _ percentage   (   self   ,   actor   ,   perc   )   \u5728 \u6bcf \u5e27 \u8fd0\u884c \u7684 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u9636\u6bb5 \uff0c \u6b64 \u65b9\u6cd5 \u8bbe\u7f6e \u8f66\u8f86 \u5ffd\u7565 \u4e0e \u884c\u4eba \u78b0\u649e \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u673a\u4f1a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u573a\u666f \u4e2d \u884c\u4eba \u7684 \u8f66\u8f86 \u3002   perc   (   float   )   -   Between   0   and   100 .   0   \u5230   100   \u4e4b\u95f4 \u3002 \u78b0\u649e \u88ab \u5ffd\u7565 \u7684 \u6b21\u6570 \u3002   keep _ right _ rule _ percentage   (   self   ,   actor   ,   perc   )   \u5728 \u5b9a\u4f4d \u9636\u6bb5 \uff0c \u6b64 \u65b9\u6cd5 \u8bbe\u7f6e \u8f66\u8f86 \u9075\u5faa   \u9760\u53f3   \u89c4\u5219 \u5e76 \u7559\u5728 \u53f3\u4fa7 \u8f66\u9053 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u673a\u4f1a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u6b63\u5728 \u6539\u53d8 \u884c\u4e3a \u7684 \u8f66\u8f86 \u3002   perc   (   float   )   -   Between   0   and   100 .   0   \u5230   100   \u4e4b\u95f4 \u3002 \u8f66\u8f86 \u9075\u5faa \u9760\u53f3 \u89c4\u5219 \u7684 \u6b21\u6570 \u3002   random _ left _ lanechange _ percentage   (   self   ,   actor   ,   percentage   )   \u8c03\u6574 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u4e2d \u6267\u884c \u5de6\u53d8 \u9053 \u7684 \u6982\u7387 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u53d8\u9053 \u53ef\u7528 \u53ef\u7528\u6027 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u60a8 \u8981 \u67e5\u8be2 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   percentage   (   float   )   -   \u6362\u9053 \u6982\u7387 \uff0c \u4ee5 \u767e\u5206 \u767e\u5206\u6bd4 \u4e3a \u5355\u4f4d \uff08 0   \u5230   100   \u4e4b\u95f4 \uff09 \u3002   random _ right _ lanechange _ percentage   (   self   ,   actor   ,   percentage   )   \u8c03\u6574 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65 \u6267\u884c \u53f3\u53d8 \u9053 \u7684 \u6982\u7387 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u53d8\u9053 \u53ef\u7528 \u53ef\u7528\u6027 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u60a8 \u8981 \u67e5\u8be2 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   percentage   (   float   )   -   \u6362\u9053 \u6982\u7387 \uff0c \u4ee5 \u767e\u5206 \u767e\u5206\u6bd4 \u4e3a \u5355\u4f4d \uff08 0   \u5230   100   \u4e4b\u95f4 \uff09 \u3002   shut _ down   (   self   )   \u5173\u95ed \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   update _ vehicle _ lights   (   self   ,   actor   ,   do _ update   )   \u8bbe\u7f6e \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u662f\u5426 \u8d1f\u8d23 \u66f4\u65b0 \u8f66\u706f \u3002 \u9ed8\u8ba4 \u4e3a   False   \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4e0d\u4f1a \u66f4\u6539 \u8f66\u8f86 \u7684 \u8f66\u706f \u72b6\u6001 \uff0c \u9664\u975e \u5176   auto _ update _ status   \u8bbe \u4e3a   True   \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5176 \u706f\u5149 \u72b6\u6001 \u6b63\u5728 \u66f4\u6539 \u7684 \u8f66\u8f86 \u3002   do _ update   (   bool   )   -   \u5982\u679c \u4e3a   True   \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u7ba1\u7406 \u6307\u5b9a \u8f66\u8f86 \u7684 \u8f66\u706f \u3002   vehicle _ lane _ offset   (   self   ,   actor   ,   offset   )   \u8bbe\u7f6e \u76f8\u5bf9 \u4e8e \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \u7684 \u8f66\u9053 \u504f\u79fb \u4f4d\u79fb \u3002 \u6b63\u503c \u8868\u793a \u5411 \u53f3 \u504f\u79fb \uff0c \u8d1f\u503c \u8868\u793a \u5411 \u5de6 \u504f\u79fb \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0 \u3002 \u6570\u5b57 \u9ad8\u5230 \u8db3\u4ee5 \u5bfc\u81f4 \u8f66\u8f86 \u9a76\u8fc7 \u5176\u4ed6 \u8f66\u9053 \u53ef\u80fd \u4f1a \u635f\u574f \u63a7\u5236 \u63a7\u5236\u5668 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u8f66\u9053 \u504f\u79fb \u884c\u4e3a \u6b63\u5728 \u66f4\u6539 \u7684 \u8f66\u8f86 \u3002   offset   (   float   )   -   \u8f66\u9053 \u8ddd \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \u7684 \u504f\u79fb \u4f4d\u79fb \u3002   vehicle _ percentage _ speed _ difference   (   self   ,   actor   ,   percentage   )   \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u9884\u671f \u901f\u5ea6 \u4e0e\u5176 \u5f53\u524d \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u7684 \u5dee\u503c \u3002 \u901a\u8fc7 \u5c06   perc   \u8bbe \u4e3a \u8d1f\u503c \u53ef\u4ee5 \u8d85\u51fa \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   30 \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u8d1f \u767e\u5206 \u767e\u5206\u6bd4 \u6765 \u8d85\u8fc7 \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u901f\u5ea6 \u884c\u4e3a \u6b63\u5728 \u6539\u53d8 \u7684 \u8f66\u8f86 \u3002   percentage   (   float   )   -   \u9884\u671f \u901f\u5ea6 \u548c \u5f53\u524d \u9650\u5236 \u4e4b\u95f4 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u5dee\u5f02 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_185","text":"get _ all _ actions   (   self   ,   actor   )   \u8fd4\u56de \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u5728 \u540e\u7eed \u6b65\u9aa4 \u4e2d \u6267\u884c \u7684 \u6240\u6709 \u5df2\u77e5 \u64cd\u4f5c \uff08 \u5373 \u9053\u8def \u9009\u9879 \u548c \u8def\u5f84 \u70b9 \uff09 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u60a8 \u8981 \u67e5\u8be2 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8fd4\u56de :   \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5217\u8868 \u5217\u8868 \u5982\u4e0b   -   [ \u9053\u8def \u9009\u9879 \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u4f8b\u5982 \u201c \u5de6 \u201d \u3001 \u201c \u53f3 \u201d \u3001 \u201c \u76f4 \u201d \uff09 \u3001 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9   (   carla . Waypoint   ) ]   get _ next _ action   (   self   ,   actor   )   \u8fd4\u56de \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u9075\u5faa \u7684 \u4e0b \u4e00\u4e2a \u5df2\u77e5 \u9053\u8def \u9009\u9879 \u548c \u8def\u5f84 \u70b9 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u60a8 \u8981 \u67e5\u8be2 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8fd4\u56de :   \u4e24\u4e2a \u5143\u7d20 \u7684 \u5217\u8868   -   [ \u9053\u8def \u9009\u9879 \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u4f8b\u5982 \u201c \u5de6 \u201d \u3001 \u201c \u53f3 \u201d \u3001 \u201c \u76f4 \u201d \uff09 \u3001 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9   (   carla . Waypoint   ) ]   get _ port   (   self   )   \u8fd4\u56de \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8fde\u63a5 \u7684 \u7aef\u53e3 \u3002 \u5982\u679c \u8be5 \u5bf9\u8c61 \u662f   TM - Client \uff0c \u5b83 \u5c06 \u8fd4\u56de \u5176 TM - Server \u7684 \u7aef\u53e3 \u3002 \u9605\u8bfb   \u6587\u6863   \u4ee5 \u4e86\u89e3 \u5176\u4e2d \u7684 \u5dee\u5f02 \u3002   \u8fd4\u56de :   uint16","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_186","text":"set _ boundaries _ respawn _ dormant _ vehicles   (   self   ,   lower _ bound   = 25.0   ,   upper _ bound   = actor _ active _ distance   )   \u8bbe\u7f6e \u8981 \u5728 \u82f1\u96c4 \u8f66\u8f86 \u9644\u8fd1 \u91cd\u751f \u7684 \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e0a\u9650 \u548c \u4e0b\u9650 \u3002   \u53c2\u6570 :   lower _ bound   (   float   )   -   \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u91cd\u751f \u65f6\u8ddd \u82f1\u96c4 \u8f66\u8f86 \u7684 \u6700\u5c0f \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   upper _ bound   (   float   )   -   \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u91cd\u751f \u65f6\u8ddd \u82f1\u96c4 \u8f66\u8f86 \u7684 \u6700\u5927 \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   \u8b66\u544a :   upper _ bound   \u4e0d\u80fd \u9ad8\u4e8e   actor _ active _ distance   \u3002   lower _ bound   \u4e0d\u80fd \u5c0f\u4e8e   25 \u3002   set _ desired _ speed   (   self   ,   actor   ,   speed   )   \u5c06 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u8bbe\u7f6e \u4e3a \u6307\u5b9a \u503c \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u901f\u5ea6 \u6b63\u5728 \u6539\u53d8 \u7684 \u8f66\u8f86 \u3002   speed   (   float   )   -   \u8f66\u8f86 \u79fb\u52a8 \u6240 \u9700 \u7684 \u901f\u5ea6 \u3002   set _ global _ distance _ to _ leading _ vehicle   (   self   ,   distance   )   \u8bbe\u7f6e \u8f66\u8f86 \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u5fc5\u987b \u4fdd\u6301 \u7684 \u6700\u5c0f \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002 \u8ddd\u79bb \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff0c \u4f1a \u5f71\u54cd \u6700\u5c0f \u79fb\u52a8 \u8ddd\u79bb \u3002 \u5b83 \u662f\u4ece \u8f66\u8f86 \u5bf9\u8c61 \u7684 \u4e2d\u5fc3 \u5230 \u4e2d\u5fc3 \u8ba1\u7b97 \u7684 \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u8f66\u8f86 \u4e4b\u95f4 \u7684 \u7c73\u6570 \u3002   set _ hybrid _ physics _ mode   (   self   ,   enabled   = False   )   \u542f\u7528 \u6216 \u7981\u7528 \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f \u3002 \u5728 \u6b64 \u6a21\u5f0f \u4e0b \uff0c \u8ddd\u79bb \u81ea\u8eab \u8f66\u8f86 \u8d85\u8fc7 \u4e00\u5b9a \u534a\u5f84 \u7684 \u8f66\u8f86 \u5c06 \u7981\u7528 \u5176 \u7269\u7406 \u529f\u80fd \u3002 \u901a\u8fc7 \u4e0d \u8ba1\u7b97 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u5c06 \u964d\u4f4e \u8ba1\u7b97 \u6210\u672c \u8ba1\u7b97\u6210\u672c \u3002 \u8f66\u8f86 \u5c06 \u88ab \u4f20\u9001 \u3002   \u53c2\u6570 :   enabled   (   bool   )   -   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u542f\u7528 \u6df7\u5408 \u7269\u7406 \u3002   set _ hybrid _ physics _ radius   (   self   ,   r   = 50.0   )   \u542f\u7528 \u6df7\u5408 \u7269\u7406 \u529f\u80fd \u540e \uff0c \u66f4\u6539 \u542f\u7528 \u7269\u7406 \u529f\u80fd \u7684 \u5f71\u54cd \u533a\u57df \u7684 \u534a\u5f84 \u3002   \u53c2\u6570 :   r   (   float   -   \u7c73   )   -   \u542f\u7528 \u7269\u7406 \u7684 \u65b0 \u534a\u5f84 \u3002   set _ osm _ mode   (   self   ,   mode _ switch   = True   )   \u542f\u7528 \u6216 \u7981\u7528   OSM   \u6a21\u5f0f \u3002 \u8be5 \u6a21\u5f0f \u5141\u8bb8 \u7528\u6237 \u5728 \u4f7f\u7528   OSM   \u529f\u80fd   \u521b\u5efa \u7684 \u5730\u56fe \u4e2d \u8fd0\u884c   TM \u3002 \u8fd9\u4e9b \u5730\u56fe \u5141\u8bb8 \u6709 \u80e1\u540c \u6b7b\u80e1\u540c \u3002 \u901a\u5e38 \uff0c \u5982\u679c \u8f66\u8f86 \u65e0\u6cd5 \u627e\u5230 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9 \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c31 \u4f1a \u5d29\u6e83 \u3002 \u5982\u679c \u542f\u7528   OSM   \u6a21\u5f0f \uff0c \u5b83 \u5c06 \u663e\u793a \u8b66\u544a \uff0c \u5e76 \u5728 \u5fc5\u8981 \u65f6 \u9500\u6bc1 \u8f66\u8f86 \u3002   \u53c2\u6570 :   mode _ switch   (   bool   )   -   \u5982\u679c   True   \uff0c \u5219 \u542f\u7528   OSM   \u6a21\u5f0f \u3002   set _ path   (   self   ,   actor   ,   path   )   \u8bbe\u7f6e \u8f66\u8f86 \u5728 \u53d7 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u65f6\u8981 \u9075\u5faa \u7684 \u4f4d\u7f6e \u5217\u8868 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5fc5\u987b \u9075\u5faa \u7ed9\u5b9a \u8def\u5f84 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   path   (   list   )   -   carla . Locations   \u7684 \u5217\u8868 \uff0c \u4f9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8ddf\u968f \u3002   \u8b66\u544a :   \u786e\u4fdd \u9053\u8def \u62d3\u6251 \u4e0d\u4f1a \u59a8\u788d \u7ed9\u5b9a \u8def\u5f84 \u3002   set _ random _ device _ seed   (   self   ,   value   )   \u4e3a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8bbe\u7f6e \u7279\u5b9a \u7684 \u968f\u673a \u79cd\u5b50 \uff0c \u4ece\u800c \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u7684 \u3002   \u53c2\u6570 :   value   (   int   )   -   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u751f\u6210 \u7684 \u79cd\u5b50 \u503c \u3002   set _ respawn _ dormant _ vehicles   (   self   ,   mode _ switch   = False   )   \u5982\u679c \u4e3a   True   \uff0c \u5927 \u5730\u56fe \u4e2d \u7684 \u8f66\u8f86 \u5728 \u4f11\u7720 \u65f6\u4f1a \u5728 \u82f1\u96c4 \u8f66\u8f86 \u9644\u8fd1 \u91cd\u751f \u3002 \u5426\u5219 \uff0c \u5b83\u4eec \u5c06 \u4fdd\u6301 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \uff0c \u76f4\u5230   actor _ active _ distance   \u518d\u6b21 \u8fdb\u5165 \u82f1\u96c4 \u8f66\u8f86 \u3002   \u53c2\u6570 :   mode _ switch   (   bool   )   set _ route   (   self   ,   actor   ,   path   )   \u8bbe\u7f6e \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u8f66\u8f86 \u8981 \u9075\u5faa \u7684 \u8def\u7ebf \u6307\u4ee4 \u5217\u8868 \u3002 \u53ef\u80fd \u7684 \u8def\u7ebf \u6307\u4ee4 \u662f ' Left ' ,   ' Right ' ,   ' Straight ' \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5fc5\u987b \u9075\u5faa \u7ed9\u5b9a \u8def\u7ebf \u6307\u793a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   path   (   list   )   -   \u8f66\u8f86 \u8981 \u9075\u5faa \u7684 \u8def\u7ebf \u6307\u4ee4 \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff09 \u5217\u8868 \u3002   \u8b66\u544a :   \u786e\u4fdd \u8f66\u9053 \u62d3\u6251 \u4e0d\u4f1a \u59a8\u788d \u7ed9\u5b9a \u8def\u7ebf \u3002   set _ synchronous _ mode   (   self   ,   mode _ switch   = True   )   \u5c06 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8bbe\u7f6e \u4e3a   \u540c\u6b65 \u6a21\u5f0f   \u3002 \u5728   \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u60c5\u51b5   \u4e0b \uff0c \u53ea\u6709   TM - Server   \u53ef\u4ee5 \u8fd0\u884c \u3002 \u7c7b\u4f3c \u5730 \uff0c \u5728 \u591a TM   \u60c5\u51b5 \u4e0b \uff0c \u53ea\u6709 \u4e00\u4e2a TM - Server   \u5fc5\u987b \u52fe\u9009 \u3002 \u5728 \u8fdb\u884c \u4e16\u754c \u52fe\u9009 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e2d \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \uff0c \u5e76 \u5728 \u5c06 \u4e16\u754c \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u540e \u7acb\u5373 \u8bbe\u7f6e \u540c\u6b65 \u65f6 \u54ea\u4e2a   TM   \u5c06 \u6210\u4e3a \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   \u53c2\u6570 :   mode _ switch   (   bool   )   -   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u542f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u540c\u6b65 \u6a21\u5f0f \u3002   \u8b66\u544a :   \u5982\u679c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \uff0c \u5219 \u6267\u884c \u6807\u8bb0 \u7684 \u540c\u4e00 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e2d \u7684   TM   \u4e5f   \u5fc5\u987b   \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#carlatrafficsign","text":"\u4ece   carla . Actor   \u7ee7\u627f   \u4eff\u771f \u4e2d \u51fa\u73b0 \u7684 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \uff08 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u9664\u5916 \uff09 \u3002 \u8fd9\u4e9b \u5728   carla . TrafficLight   \u4e2d\u6709 \u81ea\u5df1 \u7684 \u7c7b \u4ece \u8be5\u7c7b \u7ee7\u627f \u3002 \u76ee\u524d \uff0c \u4e3b\u8981 \u5b9e\u65bd \u7684 \u662f \u901f\u5ea6 \u6807\u5fd7 \u3001 \u505c\u9760 \u505c\u9760\u7ad9 \u548c \u8ba9 \u884c \u6807\u5fd7 \uff0c \u4f46 \u8fd8\u6709 \u8bb8\u591a \u5176\u4ed6 \u6807\u5fd7 \u4e5f \u88ab \u7262\u8bb0 \u7262\u8bb0\u5728\u5fc3 \u3002","title":"carla . TrafficSign"},{"location":"python_api/#_187","text":"trigger _ volume   \u4f4d\u4e8e \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u9644\u8fd1 \u7684   carla . BoundingBox   \uff0c \u91cc\u9762 \u7684   carla . Actor   \u53ef\u4ee5 \u77e5\u9053 \u5b83 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlatransform","text":"\u8be5\u7c7b \u5b9a\u4e49 \u4e86 \u4e00\u4e2a \u53d8\u6362 \uff0c \u5373 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u7684 \u7ec4\u5408 \uff0c \u800c \u4e0d \u8fdb\u884c \u7f29\u653e \u3002","title":"carla . Transform"},{"location":"python_api/#_188","text":"location   (   carla . Location   )   \u63cf\u8ff0 \u5750\u6807 \u7cfb\u7edf \u4e2d \u7684 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u3002   rotation   (   carla . Rotation   -   degrees   ( pitch ,   yaw ,   roll )   )   \u63cf\u8ff0 \u6839\u636e \u865a\u5e7b \u5f15\u64ce \u7684 \u8f74 \u7cfb\u7edf \u8fdb\u884c \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_189","text":"__ init __   (   self   ,   location   ,   rotation   )   \u53c2\u6570 :   location   (   carla . Location   )   rotation   (   carla . Rotation   -   \u5ea6\u6570 \uff08 \u4fef\u4ef0 \u3001 \u504f\u822a \u3001 \u7ffb\u6eda \uff09   )   transform   (   self   ,   in _ point   )   \u4f7f\u7528 \u5f53\u524d \u53d8\u6362 \u4f5c\u4e3a \u53c2\u8003 \u53c2\u8003\u7cfb \u5c06 \u4e09\u7ef4 \u70b9 \u4ece \u5c40\u90e8 \u5750\u6807 \u8f6c\u6362 \u4e3a \u5168\u5c40 \u5750\u6807 \u3002   \u53c2\u6570 :   in _ point   (   carla . Location   )   -   \u5c06 \u5e94\u7528 \u53d8\u6362 \u7684 \u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u3002   transform _ vector   (   self   ,   in _ vector   )   \u4f7f\u7528 \u5f53\u524d \u53d8\u6362 \u4f5c\u4e3a \u53c2\u8003 \u53c2\u8003\u7cfb \u6765 \u65cb\u8f6c \u5411\u91cf \uff0c \u800c \u4e0d \u5e94\u7528 \u5e73\u79fb \u3002 \u4f8b\u5982 \uff0c \u7528 \u5b83 \u6765 \u53d8\u6362 \u901f\u5ea6 \u3002   \u53c2\u6570 :   in _ vector   (   carla . Vector3D   )   -   \u5c06 \u5e94\u7528 \u8f6c\u6362 \u7684 \u5411\u91cf \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_190","text":"get _ forward _ vector   (   self   )   \u4f7f\u7528 \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u524d\u5411 \u5411\u91cf \u3002   \u8fd4\u56de :   carla . Vector3D   get _ inverse _ matrix   (   self   )   \u8ba1\u7b97 \u9006\u53d8 \u53d8\u6362 \u9006\u53d8\u6362 \u7684   4   \u77e9\u9635 \u8868\u793a \u3002   \u8fd4\u56de :   list ( list ( float ) )   get _ matrix   (   self   )   \u8ba1\u7b97 \u53d8\u6362 \u7684   4   \u77e9\u9635 \u8868\u793a \u3002   \u8fd4\u56de :   list ( list ( float ) )   get _ right _ vector   (   self   )   \u4f7f\u7528 \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u53f3 \u5411\u91cf \u3002   \u8fd4\u56de :   carla . Vector3D   get _ up _ vector   (   self   )   \u4f7f\u7528 \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u5411\u4e0a \u5411\u91cf \u3002   \u8fd4\u56de :   carla . Vector3D","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_191","text":"__ eq __   (   self   ,   other   =   carla . Transform   )   \u5982\u679c   this   \u548c   other   \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u90fd \u76f8\u7b49 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ ne __   (   self   ,   other   =   carla . Transform   )   \u5982\u679c   this   \u548c   other   \u7684 \u4efb\u4f55 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u4e0d \u76f8\u7b49 \uff0c \u5219   \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )   \u5c06 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   \u8fd4\u56de :   str","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlavector2d","text":"\u6267\u884c \u4e8c\u7ef4 \u64cd\u4f5c \u7684 \u8f85\u52a9 \u7c7b \u3002","title":"carla . Vector2D"},{"location":"python_api/#_192","text":"x   (   float   )   X - axis   value .   y   (   float   )   Y - axis   value .","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_193","text":"__ init __   (   self   ,   x   = 0.0   ,   y   = 0.0   )   \u53c2\u6570 :   x   (   float   )   y   (   float   )   length   (   self   )   \u8ba1\u7b97 \u5411\u91cf \u7684 \u957f\u5ea6 \u3002   \u8fd4\u56de :   float   make _ unit _ vector   (   self   )   \u8fd4\u56de \u5177\u6709 \u76f8\u540c \u65b9\u5411 \u548c \u5355\u4f4d \u957f\u5ea6 \u7684 \u5411\u91cf \u3002   \u8fd4\u56de :   carla . Vector3D   squared _ length   (   self   )   \u8ba1\u7b97 \u5411\u91cf \u7684 \u5e73\u65b9 \u957f\u5ea6 \u3002   \u8fd4\u56de :   float","title":"\u65b9\u6cd5"},{"location":"python_api/#_194","text":"__ add __   (   self   ,   other   =   carla . Vector2D   )   __ eq __   (   self   ,   other   =   carla . Vector2D   )   \u5982\u679c \u6bcf\u4e2a \u8f74 \u7684 \u503c \u76f8\u7b49 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ mul __   (   self   ,   other   =   carla . Vector2D   )   __ ne __   (   self   ,   bool   =   carla . Vector2D   )   \u5982\u679c \u4efb\u4f55 \u8f74 \u7684 \u503c \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )   \u8fd4\u56de \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7684 \u5411\u91cf \u7684 \u8f74\u503c \u3002   \u8fd4\u56de :   str   __ sub __   (   self   ,   other   =   carla . Vector2D   )   __ truediv __   (   self   ,   other   =   carla . Vector2D   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlavector3d","text":"\u6267\u884c \u4e09\u7ef4 \u64cd\u4f5c \u7684 \u8f85\u52a9 \u7c7b \u3002","title":"carla . Vector3D"},{"location":"python_api/#_195","text":"x   (   float   )   X - axis   value .   y   (   float   )   Y - axis   value .   z   (   float   )   Z - axis   value .","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_196","text":"__ init __   (   self   ,   x   = 0.0   ,   y   = 0.0   ,   z   = 0.0   )   \u53c2\u6570 :   x   (   float   )   y   (   float   )   z   (   float   )   cross   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u53c9\u79ef \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   carla . Vector3D   distance   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   distance _ 2d   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u4e8c\u7ef4 \u8ddd\u79bb \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   distance _ squared   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u5e73\u65b9 \u8ddd\u79bb \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   distance _ squared _ 2d   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u4e8c\u7ef4 \u5e73\u65b9 \u8ddd\u79bb \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   dot   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u70b9\u79ef \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   dot _ 2d   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u4e8c\u7ef4 \u70b9\u79ef \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   length   (   self   )   \u8ba1\u7b97 \u5411\u91cf \u7684 \u957f\u5ea6 \u3002   \u8fd4\u56de :   float   make _ unit _ vector   (   self   )   \u8fd4\u56de \u5177\u6709 \u76f8\u540c \u65b9\u5411 \u548c \u5355\u4f4d \u957f\u5ea6 \u7684 \u5411\u91cf \u3002   \u8fd4\u56de :   carla . Vector3D   squared _ length   (   self   )   \u8ba1\u7b97 \u5411\u91cf \u7684 \u5e73\u65b9 \u957f\u5ea6 \u3002   \u8fd4\u56de :   float","title":"\u65b9\u6cd5"},{"location":"python_api/#_197","text":"get _ vector _ angle   (   self   ,   vector   )   \u8ba1\u7b97 \u4e00\u5bf9 \u4e09\u7ef4 \u5411\u91cf \u4e4b\u95f4 \u7684 \u89d2\u5ea6 \uff08 \u4ee5 \u5f27\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_198","text":"__ abs __   (   self   )   \u8fd4\u56de \u5177\u6709   x \u3001 y   \u548c   z   \u5206\u91cf \u7edd\u5bf9 \u7edd\u5bf9\u503c \u7684   Vector3D \u3002   \u8fd4\u56de :   carla . Vector3D   __ add __   (   self   ,   other   =   carla . Vector3D   )   __ eq __   (   self   ,   other   =   carla . Vector3D   )   \u5982\u679c \u6bcf\u4e2a \u8f74 \u7684 \u503c \u76f8\u7b49 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ mul __   (   self   ,   other   =   carla . Vector3D   )   __ ne __   (   self   ,   other   =   carla . Vector3D   )   \u5982\u679c \u4efb\u4f55 \u8f74 \u7684 \u503c \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )   \u8fd4\u56de \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7684 \u5411\u91cf \u7684 \u8f74\u503c \u3002   \u8fd4\u56de :   str   __ sub __   (   self   ,   other   =   carla . Vector3D   )   __ truediv __   (   self   ,   other   =   carla . Vector3D   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlavehicle","text":"\u4ece   carla . Actor   \u7ee7\u627f   CARLA   \u4e2d \u6700 \u91cd\u8981 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7fa4\u4f53 \u4e4b\u4e00 \u3002 \u5176\u4e2d \u5305\u62ec \u4ece \u6c7d\u8f66 \u5230 \u5361\u8f66 \u3001 \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \u3001 \u8d27\u8f66 \u3001 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4efb\u4f55 \u7c7b\u578b \u7684 \u8f66\u8f86 \u4ee5\u53ca \u8b66\u8f66 \u7b49 \u5b98\u65b9 \u8f66\u8f86 \u3002   carla . BlueprintLibrary   \u4e2d \u63d0\u4f9b \u4e86 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5e7f\u6cdb \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4ee5 \u6ee1\u8db3 \u4e0d\u540c \u7684 \u9700\u6c42 \u3002 \u8f66\u8f86 \u53ef\u4ee5 \u624b\u52a8 \u63a7\u5236 \uff0c \u4e5f \u53ef\u4ee5 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \uff0c \u7531   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fdb\u884c \u63a7\u5236 \u3002","title":"carla . Vehicle"},{"location":"python_api/#_199","text":"bounding _ box   (   carla . BoundingBox   )   \u5305\u542b \u8f66\u8f86 \u51e0\u4f55 \u5f62\u72b6 \u7684 \u8fb9\u754c \u6846 \u3002 \u5b83 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u662f \u76f8\u5bf9 \u4e8e \u5b83 \u6240 \u9644\u7740 \u7684 \u8f66\u8f86 \u800c\u8a00 \u7684 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_200","text":"apply _ ackermann _ control   (   self   ,   control   )   \u5728 \u4e0b \u4e00\u4e2a \u523b\u5ea6 \u5904 \u5e94\u7528 \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u5bf9\u8c61 \u3002   \u53c2\u6570 :   control   (   carla . VehicleAckermannControl   )   apply _ ackermann _ controller _ settings   (   self   ,   settings   )   \u5728 \u4e0b \u4e00\u4e2a   tick   \u4e2d\u5c06 \u65b0 \u7684 \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u8bbe\u7f6e \u5e94\u7528 \u4e8e \u6b64 \u8f66\u8f86 \u3002   \u53c2\u6570 :   settings   (   carla . AckermannControllerSettings   )   \u8b66\u544a :   \u6b64 \u65b9\u6cd5 \u786e\u5b9e \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   apply _ control   (   self   ,   control   )   \u5728 \u4e0b \u4e00\u4e2a   tick   \u4e0a \u5e94\u7528 \u63a7\u5236 \u5bf9\u8c61 \uff0c \u5176\u4e2d \u5305\u542b \u6cb9\u95e8 \u3001 \u8f6c\u5411 \u6216 \u6362\u6863 \u7b49 \u9a7e\u9a76 \u53c2\u6570 \u3002   \u53c2\u6570 :   control   (   carla . VehicleControl   )   apply _ physics _ control   (   self   ,   physics _ control   )   \u5728 \u4e0b \u4e00\u4e2a   tick   \u4e2d \u5e94\u7528 \u7269\u7406 \u63a7\u5236 \u5bf9\u8c61 \uff0c \u5176\u4e2d \u5305\u542b \u5c06 \u8f66\u8f86 \u5b9a\u4e49 \u4e3a \u5b9e\u4f53 \u7684 \u53c2\u6570 \u3002 \u4f8b\u5982 \uff1a \u8f6c\u52a8 \u60ef\u91cf \u8f6c\u52a8\u60ef\u91cf \u3001 \u8d28\u91cf \u3001 \u963b\u529b \u7cfb\u6570 \u7b49\u7b49 \u3002   \u53c2\u6570 :   physics _ control   (   carla . VehiclePhysicsControl   )   close _ door   (   self   ,   door _ idx   )   \u5982\u679c \u8f66\u8f86 \u6709 \u5b83 \uff0c \u5219 \u5173\u95ed \u8f66\u95e8   door _ idx   \u3002 \u4f7f\u7528   carla . VehicleDoor . All   \u5173\u95ed \u6240\u6709 \u53ef\u7528 \u7684 \u95e8 \u3002   \u53c2\u6570 :   door _ idx   (   carla . VehicleDoor   )   -   \u95e8 \u7d22\u5f15 \u3002   enable _ carsim   (   self   ,   simfile _ path   )   \u4e3a \u8be5 \u7279\u5b9a \u8f66\u8f86 \u542f\u7528   CarSim   \u7269 \u7406\u89e3 \u7b97\u5668 \u3002 \u4e3a\u4e86 \u4f7f\u6b64 \u529f\u80fd \u53d1\u6325 \u4f5c\u7528 \u53d1\u6325\u4f5c\u7528 \uff0c \u9700\u8981 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u8fd0\u884c \u6709\u6548 \u7684 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \u3002 \u63a7\u5236 \u8f93\u5165 \u88ab \u5b9a\u5411 \u91cd\u5b9a\u5411 \u5230   CarSim \uff0c \u5b83 \u5c06 \u63d0\u4f9b \u6bcf \u4e00\u5e27 \u7684 \u8f66\u8f86 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002   \u53c2\u6570 :   simfile _ path   (   str   )   -   \u5305\u542b \u4eff\u771f \u53c2\u6570 \u7684   . simfile   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   enable _ chrono _ physics   (   self   ,   max _ substeps   ,   max _ substep _ delta _ time   ,   vehicle _ json   ,   powertrain _ json   ,   tire _ json   ,   base _ json _ path   )   \u5728 \u751f\u6210 \u7684 \u8f66\u8f86 \u4e0a \u542f\u7528   Chrono   \u7269\u7406 \u3002   \u53c2\u6570 :   max _ substeps   (   int   )   -   Chrono   \u5b50 \u6b65\u9aa4 \u7684 \u6700\u5927 \u6570\u91cf \u3002   max _ substep _ delta _ time   (   int   )   -   \u5b50\u6b65 \u7684 \u6700\u5927 \u5927\u5c0f \u3002   vehicle _ json   (   str   )   -   \u76f8\u5bf9 \u4e8e   base _ json _ path   \u7684 \u8f66\u8f86   json   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   powertrain _ json   (   str   )   -   \u76f8\u5bf9 \u4e8e   base _ json _ path   \u7684 \u52a8\u529b \u603b\u6210   json   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   tire _ json   (   str   )   -   \u76f8\u5bf9 \u4e8e   base _ json _ path   \u7684 \u8f6e\u80ce   json   \u6587\u4ef6 \u3002   base _ json _ path   (   str   )   -   \u6307\u5411   chrono / data / vehicle   \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u8def\u5f84 \u3002 \u4f8b\u5982 \uff0c   / home / user / carla / Build / chrono - install / share / chrono / data / vehicle /   ( \u6700\u540e \u4e00\u4e2a \u5b57\u7b26 \u9700\u8981 \u662f   /   ) \u3002   \u6ce8\u610f :   \u786e\u4fdd \u786e\u4fdd\u60a8 \u5df2 \u4f7f\u7528 \u8be5 \u6807\u5fd7 \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   ARGS = \" -- chrono \"   \u3002 \u5982\u679c \u6ca1\u6709 \u8bbe\u7f6e \u6b64 \u6807\u5fd7 \uff0c \u60a8 \u5c06 \u65e0\u6cd5 \u4f7f\u7528   Chrono   \u7269\u7406 \u3002   \u8b66\u544a :   \u4e0d \u652f\u6301 \u78b0\u649e \u3002 \u5f53 \u68c0\u6d4b \u5230 \u78b0\u649e \u65f6 \uff0c \u7269\u7406 \u7cfb\u7edf \u5c06 \u6062\u590d \u4e3a \u9ed8\u8ba4 \u7684   Carla   \u7269\u7406 \u7cfb\u7edf \u3002   is _ at _ traffic _ light   (   self   )   \u5f53 \u4ea4\u901a \u4ea4\u901a\u706f \u4e3a \u7ea2\u8272 \u5e76\u4e14 \u8f66\u8f86 \u4f4d\u4e8e \u5176 \u8fb9\u754c \u6846\u5185 \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u53d7\u5230 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5f71\u54cd \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a \u523b\u5ea6 \u8fd4\u56de \u4ea4\u901a \u4ea4\u901a\u706f \u662f\u5426 \u5f71\u54cd \u8be5 \u8f66\u8f86 \uff08 \u5b83 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \uff09 \u3002   \u8fd4\u56de :   bool   open _ door   (   self   ,   door _ idx   )   \u5982\u679c \u8f66\u8f86 \u6709 \u8f66\u95e8 \uff0c \u5219 \u6253\u5f00 \u8f66\u95e8   door _ idx   \u3002 \u4f7f\u7528   carla . VehicleDoor . All   \u6253\u5f00 \u6240\u6709 \u53ef\u7528 \u7684 \u95e8 \u3002   \u53c2\u6570 :   door _ idx   (   carla . VehicleDoor   )   -   \u95e8 \u7d22\u5f15 \u3002   show _ debug _ telemetry   (   self   ,   enabled   = True   )   \u542f\u7528 \u6216 \u7981\u7528 \u6b64 \u8f66\u8f86 \u4e0a \u7684 \u9065\u6d4b \u3002 \u8fd9\u4f1a \u5728 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u7a97\u53e3 \u4e2d \u663e\u793a \u6709\u5173 \u8f66\u8f86 \u5f53\u524d \u72b6\u6001 \u548c \u65bd\u52a0 \u5230 \u5176 \u4e0a \u7684 \u529b \u7684 \u4fe1\u606f \u3002 \u53ea\u80fd \u663e\u793a \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u7684 \u4fe1\u606f \uff0c \u56e0\u6b64 \uff0c \u5982\u679c \u542f\u7528 \u7b2c\u4e8c \u4e8c\u8f86 \u7b2c\u4e8c\u8f86 \u8f66 \uff0c \u524d \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u5c06 \u81ea\u52a8 \u7981\u7528 \u3002   \u53c2\u6570 :   enabled   (   bool   )   use _ carsim _ road   (   self   ,   enabled   )   \u542f\u7528 \u6216 \u7981\u7528   CarSim   \u4e0e \u5730\u5f62 \u6587\u4ef6   . simfile   \u4e2d \u6307\u5b9a \u7684 \u4f7f\u7528 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u6b64 \u9009\u9879 \u5904\u4e8e \u7981\u7528 \u72b6\u6001 \uff0c CarSim   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u65b9\u6cd5 \u6765 \u5904\u7406 \u573a\u666f \u7684 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u3002   \u53c2\u6570 :   enabled   (   bool   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_201","text":"get _ ackermann _ controller _ settings   (   self   )   \u8fd4\u56de \u5e94\u7528 \u4e8e \u8be5 \u8f66\u8f86 \u7684 \u6700\u540e \u4e00\u4e2a \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u8bbe\u7f6e \u3002   \u8fd4\u56de :   carla . AckermannControllerSettings   \u8b66\u544a :   \u6b64 \u65b9\u6cd5 \u786e\u5b9e \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6765 \u68c0\u7d22 \u503c \u3002   get _ control   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd4\u56de \u6700\u540e \u4e00\u4e2a tick \u4e2d \u5e94\u7528 \u7684 \u63a7\u5236 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de :   carla . VehicleControl   get _ failure _ state   (   self   )   \u8f66\u8f86 \u6709 \u6545\u969c \u72b6\u6001 \uff0c \u8868\u660e \u5b83 \u65e0\u6cd5 \u7ee7\u7eed \u5176 \u8def\u7ebf \u3002 \u8be5 \u51fd\u6570 \u8fd4\u56de \u8f66\u8f86 \u7684 \u5177\u4f53 \u6545\u969c \u72b6\u6001 \uff0c \u6216\u8005 \u6362\u53e5 \u6362\u53e5\u8bdd \u6362\u53e5\u8bdd\u8bf4 \uff0c \u8fd4\u56de \u5bfc\u81f4 \u6545\u969c \u7684 \u539f\u56e0 \u3002   \u8fd4\u56de :   carla . VehicleFailureState   get _ light _ state   (   self   )   \u8fd4\u56de \u8868\u793a \u8f66\u8f86 \u706f \u72b6\u6001 \u7684 \u6807\u5fd7 \uff0c \u8fd9 \u8868\u793a \u54ea\u4e9b \u706f \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u6216 \u4e0d \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u3002   \u8fd4\u56de :   carla . VehicleLightState   Setter :   carla . Vehicle . set _ light _ state   get _ physics _ control   (   self   )   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fd4\u56de \u5e94\u7528 \u4e8e \u8be5 \u8f66\u8f86 \u7684 \u6700\u540e \u4e00\u4e2a \u7269\u7406 \u63a7\u5236 \u3002   \u8fd4\u56de :   carla . VehiclePhysicsControl   \u8b66\u544a :   \u6b64 \u65b9\u6cd5 \u786e\u5b9e \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6765 \u68c0\u7d22 \u503c \u3002   get _ speed _ limit   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a tick \u8fd4\u56de \u5f71\u54cd \u8be5 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \uff08 \u5b83 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \uff09 \u3002 \u5f53 \u7ecf\u8fc7 \u9650\u901f \u4fe1\u53f7 \u65f6 \uff0c \u9650\u901f \u4f1a \u66f4\u65b0 \uff0c \u56e0\u6b64 \u8f66\u8f86 \u5728 \u751f\u6210 \u540e \u53ef\u80fd \u5c31 \u6ca1\u6709 \u9650\u901f \u4fe1\u53f7 \u3002   \u8fd4\u56de :   float   -   \u5343\u7c73 / \u5c0f\u65f6   get _ traffic _ light   (   self   )   \u6839\u636e \u6700\u540e \u4e00\u4e2a \u523b\u5ea6 \u68c0\u7d22 \u5f71\u54cd \u6b64 \u8f66\u8f86 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u5982\u679c \u6709 \uff09 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de :   carla . TrafficLight   get _ traffic _ light _ state   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u4e0a \u4e00\u4e2a tick \u8fd4\u56de \u5f71\u54cd \u8be5 \u8f66\u8f86 \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u72b6\u6001 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002 \u5982\u679c \u5f53\u524d \u6ca1\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u5f71\u54cd \u8f66\u8f86 \uff0c \u5219 \u8fd4\u56de   green   \u3002   \u8fd4\u56de :   carla . TrafficLightState   get _ wheel _ steer _ angle   (   self   ,   wheel _ location   )   \u8fd4\u56de \u8f66\u8f86 \u8f66\u8f6e \u7684 \u7269\u7406 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   \u53c2\u6570 :   wheel _ location   (   carla . VehicleWheelLocation   )   \u8fd4\u56de :   float   Note :   \u8fd4\u56de \u57fa\u4e8e \u8f66\u8f6e \u7269\u7406 \u539f\u7406 \u7684 \u89d2\u5ea6 \uff0c \u800c \u4e0d\u662f \u89c6\u89d2 \u3002","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_202","text":"set _ autopilot   (   self   ,   enabled   = True   ,   port   = 8000   )   \u5728 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u5217\u8868 \u4e2d \u6ce8\u518c \u6216 \u5220\u9664 \u8f66\u8f86 \u3002 \u5f53   True   \u65f6 \uff0c \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u79fb\u52a8 \u8f66\u8f86 \u3002 \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u53d1\u751f \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   \u53c2\u6570 :   enabled   (   bool   )   port   (   uint16   )   -   \u8f66\u8f86 \u8981 \u5728 \u5176\u4e2d \u6ce8\u518c \u6216 \u4e0d \u5217\u51fa \u7684   TM - Server   \u7aef\u53e3 \u3002 \u5982\u679c \u4f20\u9012   None   \uff0c \u5b83 \u5c06 \u8003\u8651 \u9ed8\u8ba4   8000   \u7aef\u53e3 \u4e0a \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   set _ light _ state   (   self   ,   light _ state   )   \u4f7f\u7528 \u8868\u793a \u706f\u5149 \u6253\u5f00 \u548c \u5173\u95ed \u7684 \u6807\u5fd7 \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u706f\u5149 \u72b6\u6001 \u3002   \u53c2\u6570 :   light _ state   (   carla . VehicleLightState   )   \u83b7\u53d6 \u5668 :   carla . Vehicle . get _ light _ state   set _ wheel _ steer _ direction   (   self   ,   wheel _ location   ,   angle _ in _ deg   )   snippet   \u2192   \u76f4\u89c2 \u5730 \u8bbe\u7f6e \u8f66\u8f6e \u7684 \u89d2\u5ea6 \u3002   \u53c2\u6570 :   wheel _ location   (   carla . VehicleWheelLocation   )   angle _ in _ deg   (   float   )   \u8b66\u544a :   \u4e0d \u5f71\u54cd \u8f66\u8f86 \u7684 \u7269\u7406 \u7279\u6027 \u3002","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_203","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlavehicleackermanncontrol","text":"\u4f7f\u7528 \u963f\u514b \u963f\u514b\u66fc \u9a7e\u9a76 \u63a7\u5236 \u88c5\u7f6e \u7ba1\u7406 \u8f66\u8f86 \u7684 \u57fa\u672c \u8fd0\u52a8 \u3002","title":"carla . VehicleAckermannControl"},{"location":"python_api/#_204","text":"steer   (   float   )   \u6240 \u9700 \u8f6c\u5411   ( rad ) \u3002 \u6b63\u503c \u4f4d\u4e8e \u53f3\u4fa7 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   steer _ speed   (   float   )   \u8f6c\u5411 \u901f\u5ea6   ( rad / s ) \u3002 \u96f6 \u8f6c\u5411 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u610f\u5473 \u610f\u5473\u7740 \u5c3d\u5feb \u6539\u53d8 \u8f6c\u5411 \u89d2 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   speed   (   float   )   \u6240 \u9700 \u901f\u5ea6   ( m / s ) \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   acceleration   (   float   )   \u6240 \u9700 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   ( m / s2 )   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   jerk   (   float   )   \u6240 \u9700 \u7684   jerk   ( m / s3 ) \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_205","text":"__ init __   (   self   ,   steer   = 0.0   ,   steer _ speed   = 0.0   ,   speed   = 0.0   ,   acceleration   = 0.0   ,   jerk   = 0.0   )   \u53c2\u6570 :   steer   (   float   )   steer _ speed   (   float   )   speed   (   float   )   acceleration   (   float   )   jerk   (   float   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_206","text":"__ eq __   (   self   ,   other   =   carla . AckermannVehicleControl   )   __ ne __   (   self   ,   other   =   carla . AckermannVehicleControl   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlavehiclecontrol","text":"\u4f7f\u7528 \u5178\u578b \u7684 \u9a7e\u9a76 \u63a7\u5236 \u6765 \u7ba1\u7406 \u8f66\u8f86 \u7684 \u57fa\u672c \u8fd0\u52a8 \u3002","title":"carla . VehicleControl"},{"location":"python_api/#_207","text":"throttle   (   float   )   \u7528\u4e8e \u63a7\u5236 \u8f66\u8f86 \u6cb9\u95e8 \u7684 \u6807\u91cf \u503c   [ 0.0 ,   1.0 ] \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   steer   (   float   )   \u7528\u4e8e \u63a7\u5236 \u8f66\u8f86 \u8f6c\u5411 \u7684 \u6807\u91cf \u503c   [ - 1.0 ,   1.0 ] \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   brake   (   float   )   \u7528\u4e8e \u63a7\u5236 \u8f66\u8f86 \u5236\u52a8 \u7684 \u6807\u91cf \u503c   [ 0.0 ,   1.0 ] \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   hand _ brake   (   bool   )   \u786e\u5b9a \u662f\u5426 \u4f7f\u7528 \u624b\u5239 \u3002 \u9ed8\u8ba4 \u4e3a   False   \u3002   reverse   (   bool   )   \u786e\u5b9a \u8f66\u8f86 \u662f\u5426 \u5411 \u540e \u79fb\u52a8 \u3002 \u9ed8\u8ba4 \u4e3a   False   \u3002   manual _ gear _ shift   (   bool   )   \u786e\u5b9a \u662f\u5426 \u901a\u8fc7 \u624b\u52a8 \u6362\u6863 \u6765 \u63a7\u5236 \u8f66\u8f86 \u3002 \u9ed8\u8ba4 \u4e3a   False   \u3002   gear   (   int   )   \u6307\u793a \u8f66\u8f86 \u884c\u9a76 \u7684 \u6863\u4f4d \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_208","text":"__ init __   (   self   ,   throttle   = 0.0   ,   steer   = 0.0   ,   brake   = 0.0   ,   hand _ brake   = False   ,   reverse   = False   ,   manual _ gear _ shift   = False   ,   gear   = 0   )   \u53c2\u6570 :   throttle   (   float   )   -   [ 0.0 , 1.0 ]   \u4e4b\u95f4 \u7684 \u6807\u91cf \u503c \u3002   steer   (   float   )   -   [ 0.0 , 1.0 ]   \u4e4b\u95f4 \u7684 \u6807\u91cf \u503c \u3002   brake   (   float   )   -   [ 0.0 , 1.0 ]   \u4e4b\u95f4 \u7684 \u6807\u91cf \u503c \u3002   hand _ brake   (   bool   )   reverse   (   bool   )   manual _ gear _ shift   (   bool   )   gear   (   int   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_209","text":"__ eq __   (   self   ,   other   =   carla . VehicleControl   )   __ ne __   (   self   ,   other   =   carla . VehicleControl   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlavehicledoor","text":"\u53ef\u80fd \u7684 \u7d22\u5f15 \u8868\u793a \u53ef\u80fd \u6253\u5f00 \u7684 \u95e8 \u3002 \u8bf7 \u6ce8\u610f \uff0c \u67d0\u4e9b \u8f66\u8f86 \u5e76\u975e \u6240\u6709 \u53ef\u80fd \u7684 \u8f66\u95e8 \u90fd \u80fd \u6253\u5f00 \u3002","title":"carla . VehicleDoor"},{"location":"python_api/#_210","text":"FL   \u5de6 \u524d\u95e8 \u3002   FR   \u53f3 \u524d\u95e8 \u3002   RL   \u5de6 \u540e\u95e8 \u3002   RR   \u53f3 \u540e\u95e8 \u3002   All   \u4ee3\u8868 \u6240\u6709 \u95e8 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlavehiclefailurestate","text":"\u5305\u542b \u8f66\u8f86 \u65e0\u6cd5 \u6062\u590d \u7684 \u4e0d\u540c \u6545\u969c \u72b6\u6001 \u7684 \u679a\u4e3e \u3002 \u8fd9\u4e9b \u7531   get _ failure _ state ( )   \u8fd4\u56de \uff0c \u5f53\u524d \u4ec5 \u5b9e\u73b0 \u4e86   Rollover \u3002","title":"carla . VehicleFailureState"},{"location":"python_api/#_211","text":"NONE   Rollover   Engine   TirePuncture","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlavehiclelightstate","text":"\u6982\u62ec \u8f66\u8f86 \u706f \u72b6\u6001 \u7684 \u7c7b \uff0c \u8fd9\u4e9b \u53ef\u4ee5 \u7528\u4f5c \u6807\u5fd7 \u3002 \u4f8b\u5982 \uff1a   VehicleLightState . HighBeam   &   VehicleLightState . Brake   \u5f53 \u4e24\u8005 \u90fd \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u65f6 \uff0c \u5c06 \u8fd4\u56de   True   \u3002 \u5728 \u4efb\u4f55 \u60c5\u51b5 \u4e0b \uff0c \u706f \u9ed8\u8ba4 \u90fd \u662f \u5173\u95ed \u7684 \uff0c \u5e76\u4e14 \u5e94\u8be5 \u7531 \u7528\u6237 \u901a\u8fc7 \u811a\u672c \u8fdb\u884c \u7ba1\u7406 \u3002 \u95ea\u5149 \u5149\u706f \u95ea\u5149\u706f \u81ea\u52a8 \u95ea\u70c1 \u3002   \u8b66\u544a \uff1a \u76ee\u524d \uff0c \u5e76\u975e \u6240\u6709 \u8f66\u8f86 \u90fd \u51c6\u5907 \u597d \u4f7f\u7528 \u6b64 \u529f\u80fd \uff0c \u8fd9 \u5c06 \u5728 \u4ee5\u540e \u7684 \u66f4\u65b0 \u4e2d \u6dfb\u52a0 \u5230 \u6240\u6709 \u8f66\u8f86 \u4e2d \u3002","title":"carla . VehicleLightState"},{"location":"python_api/#_212","text":"NONE   \u6240\u6709 \u706f\u5747 \u5173\u95ed \u3002   Position   LowBeam   HighBeam   Brake   RightBlinker   LeftBlinker   Reverse   Fog   Interior   Special1   \u8fd9 \u662f \u4e3a \u67d0\u4e9b \u5177\u6709 \u7279\u6b8a \u706f \uff08 \u4f8b\u5982 \u8b66\u62a5 \u8b66\u62a5\u5668 \uff09 \u7684 \u8f66\u8f86 \u4fdd\u7559 \u7684 \u3002   Special2   \u8fd9 \u662f \u4e3a \u67d0\u4e9b \u5177\u6709 \u7279\u6b8a \u706f \uff08 \u4f8b\u5982 \u8b66\u62a5 \u8b66\u62a5\u5668 \uff09 \u7684 \u8f66\u8f86 \u4fdd\u7559 \u7684 \u3002   All   \u6240\u6709 \u706f\u5747\u4eae \u8d77 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlavehiclephysicscontrol","text":"\u603b\u7ed3 \u5c06 \u7528\u4e8e \u5c06   carla . Vehicle   \u4eff\u771f \u4e3a \u7269\u7406 \u5bf9\u8c61 \u7684 \u53c2\u6570 \u3002 \u4e0d\u8fc7 \uff0c \u8f66\u8f6e \u7684 \u5177\u4f53 \u8bbe\u7f6e \u662f \u4f7f\u7528   carla . WheelPhysicsControl   \u89c4\u5b9a \u7684 \u3002","title":"carla . VehiclePhysicsControl"},{"location":"python_api/#_213","text":"torque _ curve   (   list (   carla . Vector2D   )   )   \u66f2\u7ebf \uff0c \u6307\u793a \u5728 \u8f66\u8f86 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7684 \u7279\u5b9a   RPM   \u4e0b \u6d4b\u91cf \u7684 \u626d\u77e9 \uff08 \u4ee5   Nm   \u4e3a \u5355\u4f4d \uff09 \u3002   max _ rpm   (   float   )   \u8f66\u8f86 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7684 \u6700\u5927 \u8f6c\u901f \u3002   moi   (   float   -   kg * m   2   )   \u8f66\u8f86 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7684 \u8f6c\u52a8 \u60ef\u91cf \u8f6c\u52a8\u60ef\u91cf \u3002   damping _ rate _ full _ throttle   (   float   )   \u6cb9\u95e8 \u6700\u5927 \u65f6 \u7684 \u963b\u5c3c \u963b\u5c3c\u6bd4 \u3002   damping _ rate _ zero _ throttle _ clutch _ engaged   (   float   )   \u79bb\u5408 \u79bb\u5408\u5668 \u63a5\u5408 \u65f6 \u6cb9\u95e8 \u4e3a \u96f6\u65f6 \u7684 \u963b\u5c3c \u963b\u5c3c\u6bd4 \u3002   damping _ rate _ zero _ throttle _ clutch _ disengaged   (   float   )   \u5f53 \u6cb9\u95e8 \u4e3a \u96f6\u4e14 \u79bb\u5408 \u79bb\u5408\u5668 \u5206\u79bb \u65f6 \u7684 \u963b\u5c3c \u963b\u5c3c\u6bd4 \u3002   use _ gear _ autobox   (   bool   )   \u5982\u679c \u4e3a   True   \uff0c \u8f66\u8f86 \u5c06 \u914d\u5907 \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u3002   gear _ switch _ time   (   float   -   seconds   )   \u9f7f\u8f6e \u4e4b\u95f4 \u7684 \u5207\u6362 \u65f6\u95f4 \u3002   clutch _ strength   (   float   -   kg * m   2   / s   )   \u8f66\u8f86 \u7684 \u79bb\u5408 \u79bb\u5408\u5668 \u5f3a\u5ea6 \u3002   final _ ratio   (   float   )   \u4ece \u53d8\u901f \u53d8\u901f\u7bb1 \u5230 \u8f66\u8f6e \u7684 \u56fa\u5b9a \u6bd4\u7387 \u3002   forward _ gears   (   list (   carla . GearPhysicsControl   )   )   \u5b9a\u4e49 \u8f66\u8f86 \u9f7f\u8f6e \u7684 \u5bf9\u8c61 \u5217\u8868 \u3002   mass   (   float   -   kilograms   )   \u8f66\u8f86 \u7684 \u8d28\u91cf \u3002   drag _ coefficient   (   float   )   \u8f66\u8f86 \u5e95\u76d8 \u7684 \u963b\u529b \u7cfb\u6570 \u3002   center _ of _ mass   (   carla . Vector3D   -   \u7c73   )   \u8f66\u8f86 \u7684 \u8d28\u5fc3 \u3002   steering _ curve   (   list (   carla . Vector2D   )   )   \u6307\u793a \u7279\u5b9a \u524d\u8fdb \u901f\u5ea6 \u7684 \u6700\u5927 \u8f6c\u5411 \u7684 \u66f2\u7ebf \u3002   use _ sweep _ wheel _ collision   (   bool   )   \u542f\u7528 \u8f66\u8f6e \u78b0\u649e \u626b\u63cf \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u662f \u7981\u7528 \u7684 \uff0c \u5e76\u4e14 \u5b83 \u4e3a \u6bcf\u4e2a \u8f6e\u5b50 \u4f7f\u7528 \u4ece\u8f74\u5230 \u5730\u677f \u7684 \u7b80\u5355 \u5149\u7ebf \u6295\u5c04 \u3002 \u6b64 \u9009\u9879 \u63d0\u4f9b \u4e86 \u66f4\u597d \u7684 \u78b0\u649e \u6a21\u578b \uff0c \u5176\u4e2d \u68c0\u67e5 \u8f66\u8f6e \u7684 \u6574\u4e2a \u4f53\u79ef \u662f\u5426 \u53d1\u751f \u78b0\u649e \u3002   wheels   (   list (   carla . WheelPhysicsControl   )   )   \u8f6e\u5b50 \u7269\u7406 \u5bf9\u8c61 \u5217\u8868 \u3002 \u8be5 \u5217\u8868 \u5e94\u8be5 \u6709   4   \u4e2a \u5143\u7d20 \uff0c \u5176\u4e2d \u7d22\u5f15   0   \u5bf9\u5e94 \u4e8e \u5de6 \u524d\u8f6e \uff0c \u7d22\u5f15   1   \u5bf9\u5e94 \u4e8e \u53f3 \u524d\u8f6e \uff0c \u7d22\u5f15   2   \u5bf9\u5e94 \u4e8e \u5de6 \u540e\u8f6e \uff0c \u7d22\u5f15   3   \u5bf9\u5e94 \u4e8e \u53f3 \u540e\u8f6e \u3002 \u5bf9\u4e8e \u4e24\u8f6e \u8f66\u8f86 \uff0c \u524d\u8f6e \u548c \u540e\u8f6e \u8bbe\u7f6e \u76f8\u540c \u7684 \u503c \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_214","text":"__ init __   (   self   ,   torque _ curve   = [ [ 0.0 ,   500.0 ] ,   [ 5000.0 ,   500.0 ] ]   ,   max _ rpm   = 5000.0   ,   moi   = 1.0   ,   damping _ rate _ full _ throttle   = 0.15   ,   damping _ rate _ zero _ throttle _ clutch _ engaged   = 2.0   ,   damping _ rate _ zero _ throttle _ clutch _ disengaged   = 0.35   ,   use _ gear _ autobox   = True   ,   gear _ switch _ time   = 0.5   ,   clutch _ strength   = 10.0   ,   final _ ratio   = 4.0   ,   forward _ gears   = list ( )   ,   drag _ coefficient   = 0.3   ,   center _ of _ mass   = [ 0.0 ,   0.0 ,   0.0 ]   ,   steering _ curve   = [ [ 0.0 ,   1.0 ] ,   [ 10.0 ,   0.5 ] ]   ,   wheels   = list ( )   ,   use _ sweep _ wheel _ collision   = False   ,   mass   = 1000.0   )   VehiclePhysicsControl   \u6784\u9020 \u51fd\u6570 \u6784\u9020\u51fd\u6570 \u3002   \u53c2\u6570 :   torque _ curve   (   list (   carla . Vector2D   )   )   max _ rpm   (   float   )   moi   (   float   -   kg * m   2   )   damping _ rate _ full _ throttle   (   float   )   damping _ rate _ zero _ throttle _ clutch _ engaged   (   float   )   damping _ rate _ zero _ throttle _ clutch _ disengaged   (   float   )   use _ gear _ autobox   (   bool   )   gear _ switch _ time   (   float   -   seconds   )   clutch _ strength   (   float   -   kg * m   2   / s   )   final _ ratio   (   float   )   forward _ gears   (   list (   carla . GearPhysicsControl   )   )   drag _ coefficient   (   float   )   center _ of _ mass   (   carla . Vector3D   )   steering _ curve   (   carla . Vector2D   )   wheels   (   list (   carla . WheelPhysicsControl   )   )   use _ sweep _ wheel _ collision   (   bool   )   mass   (   float   -   kilograms   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_215","text":"__ eq __   (   self   ,   other   =   carla . VehiclePhysicsControl   )   __ ne __   (   self   ,   other   =   carla . VehiclePhysicsControl   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlavehiclewheellocation","text":"enum   \u4ee3\u8868 \u8f66\u8f86 \u4e0a \u6bcf\u4e2a \u8f66\u8f6e \u7684 \u4f4d\u7f6e \u3002 \u7528\u4e8e \u5728   carla . Vehicle . set _ wheel _ steer _ direction   \u6216   carla . Vehicle . get _ wheel _ steer _ angle   \u4e2d \u8bbe\u7f6e \u89d2\u5ea6 \u65f6 \u8bc6\u522b \u76ee\u6807 \u8f66\u8f6e \u3002","title":"carla . VehicleWheelLocation"},{"location":"python_api/#_216","text":"FL _ Wheel   \u56db\u8f6e \u8f66\u8f86 \u7684 \u5de6 \u524d\u8f6e \u3002   FR _ Wheel   \u56db\u8f6e \u8f66\u8f86 \u7684 \u53f3 \u524d\u8f6e \u3002   BL _ Wheel   \u56db\u8f6e \u8f66\u8f86 \u7684 \u5de6 \u540e\u8f6e \u3002   BR _ Wheel   \u56db\u8f6e \u8f66\u8f86 \u7684 \u53f3 \u540e\u8f6e \u3002   Front _ Wheel   \u4e24\u8f6e \u8f66\u8f86 \u7684 \u524d\u8f6e \u3002   Back _ Wheel   \u4e24\u8f6e \u8f66\u8f86 \u7684 \u540e\u8f6e \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlawalker","text":"\u4ece   carla . Actor   \u7ee7\u627f   \u8be5\u7c7b \u4ece   carla . Actor   \u7ee7\u627f \u5e76 \u5b9a\u4e49 \u4eff\u771f \u4e2d \u7684 \u884c\u4eba \u3002 Walkers   \u662f \u4e00\u79cd \u7279\u6b8a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u53ef\u4ee5 \u7531   AI   (   carla . WalkerAIController   )   \u63a7\u5236 \uff0c \u4e5f \u53ef\u4ee5 \u901a\u8fc7 \u811a\u672c \u624b\u52a8 \u63a7\u5236 \uff0c \u4f7f\u7528 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217   carla . WalkerControl   \u6765 \u79fb\u52a8 \u5b83\u4eec \u53ca\u5176 \u9aa8\u9abc \u3002","title":"carla . Walker"},{"location":"python_api/#_217","text":"apply _ control   (   self   ,   control   )   \u5728 \u4e0b \u4e00\u4e2a \u523b\u5ea6 \u4e0a \uff0c \u63a7\u4ef6 \u5c06 \u4ee5 \u7279\u5b9a \u901f\u5ea6 \u5411 \u7279\u5b9a \u65b9\u5411 \u79fb\u52a8 \u884c\u4eba \u3002 \u4e5f \u53ef\u4ee5 \u547d\u4ee4 \u8df3\u8dc3 \u3002   \u53c2\u6570 :   control   (   carla . WalkerControl   )   blend _ pose   (   self   ,   blend _ value   )   \u8bbe\u7f6e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u4e0e \u52a8\u753b \u7684 \u6df7\u5408 \u503c \u3002 \u8fd9\u4e9b \u503c \u53ef\u4ee5 \u662f \uff1a   0 :   \u4ec5 \u663e\u793a \u52a8\u753b   1 :   \u4ec5 \u663e\u793a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \uff08 \u7531 \u7528\u6237 \u4f7f\u7528   set _ bones ( )   \u8bbe\u7f6e \uff09   any   other :   \u5c06 \u5728 \u52a8\u753b \u548c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u4e4b\u95f4 \u63d2\u5165 \u6240\u6709 \u9aa8\u9abc \u4f4d\u7f6e \u3002   \u53c2\u6570 :   blend _ value   (   float   -   value   from   0   to   1   with   the   blend   percentage   )   hide _ pose   (   self   )   \u9690\u85cf \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u5e76 \u663e\u793a \u52a8\u753b \uff08 \u4e0e \u8c03\u7528   blend _ pose ( 0 )   \u76f8\u540c \uff09 \u3002   show _ pose   (   self   )   \u663e\u793a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u5e76 \u9690\u85cf \u52a8\u753b \uff08 \u4e0e \u8c03\u7528   blend _ pose ( 1 )   \u76f8\u540c \uff09 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_218","text":"get _ bones   (   self   )   \u8fd4\u56de \u5305\u542b \u6765\u81ea \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6240\u6709 \u9aa8\u9abc \u53d8\u6362 \u7684 \u7ed3\u6784 \u3002 \u5bf9\u4e8e \u6bcf\u4e2a \u9aa8\u9abc \uff0c \u6211\u4eec \u5728 \u4e09\u4e2a \u4e0d\u540c \u7684 \u7a7a\u95f4 \u4e2d \u83b7\u53d6 \u540d\u79f0 \u53ca\u5176 \u53d8\u6362 \uff1a   name :   \u9aa8\u9abc \u540d\u79f0   world :   \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u53d8\u6362   component :   \u57fa\u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u67a2\u8f74 \u8fdb\u884c \u53d8\u6362   relative :   \u57fa\u4e8e \u7236\u7ea7 \u9aa8\u9abc \u8fdb\u884c \u53d8\u6362 \u3002   \u8fd4\u56de :   carla . WalkerBoneControlOut   Setter :   carla . Walker . set _ bones   get _ control   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd4\u56de \u5728 \u6700\u540e \u4e00\u4e2a tick \u671f\u95f4 \u5e94\u7528 \u4e8e \u6b64\u884c \u4eba \u7684 \u63a7\u5236 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de :   carla . WalkerControl   get _ pose _ from _ animation   (   self   )   \u590d\u5236 \u5f53\u524d \u52a8\u753b \u5e27 \u4f5c\u4e3a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u3002 \u6700\u521d \uff0c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u662f \u4e2d\u6027 \u884c\u4eba \u59ff\u52bf \u3002","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_219","text":"set _ bones   (   self   ,   bones   )   \u8bbe\u7f6e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u9aa8\u9abc \u3002 \u5bf9\u4e8e \u6211\u4eec \u60f3\u8981 \u8bbe\u7f6e \u7684 \u6bcf\u4e2a \u9aa8\u9abc \uff0c \u6211\u4eec \u4f7f\u7528 \u76f8\u5bf9 \u53d8\u6362 \u3002 \u4ec5\u4f1a \u8bbe\u7f6e \u6b64 \u5217\u8868 \u4e2d \u7684 \u9aa8\u9abc \u3002 \u5bf9\u4e8e \u6bcf\u4e2a \u9aa8\u9abc \uff0c \u60a8 \u9700\u8981 \u8bbe\u7f6e \u4ee5\u4e0b \u4fe1\u606f \uff1a   name :   \u9aa8\u9abc \u540d\u79f0   relative :   \u57fa\u4e8e \u9aa8\u9abc \u7236\u7ea7 \u8fdb\u884c \u53d8\u6362 \u3002   \u53c2\u6570 :   bones   (   carla . WalkerBoneControlIn   -   \u6211\u4eec \u60f3\u8981 \u8bbe\u7f6e \u7684 \u9aa8\u9abc \u5bf9 \uff08 bone _ name \uff0c transform \uff09 \u7684 \u5217\u8868   )   \u83b7\u53d6 \u5668 :   carla . Walker . get _ bones","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_220","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlawalkeraicontroller","text":"\u4ece   carla . Actor   \u7ee7\u627f   \u5bf9 \u884c\u4eba \u8fdb\u884c   AI   \u63a7\u5236 \u7684 \u7c7b \u3002 \u63a7\u5236 \u63a7\u5236\u5668 \u88ab \u5b9a\u4e49 \u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f46 \u5b83\u4eec \u4e0e \u5176\u4ed6 \u63a7\u5236 \u63a7\u5236\u5668 \u6709 \u5f88\u5927 \u4e0d\u540c \u3002 \u5b83\u4eec \u5728 \u521b\u5efa \u8fc7\u7a0b \u4e2d \u9700\u8981 \u9644\u52a0 \u5230\u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8fd9\u662f \u5b83\u4eec \u5c06 \u63a7\u5236 \u7684 \u884c\u4eba \uff08 \u5982\u679c \u60a8 \u5c1a\u672a \u4e86\u89e3 \u5982\u4f55 \u751f\u6210   Actor \uff0c \u8bf7 \u67e5\u770b   carla . World   \uff09 \u3002 \u4ed6\u4eec \u8fd8 \u9700\u8981 \u4e00\u4e2a \u7279\u6b8a \u7684 \u84dd\u56fe \uff08 \u5df2 \u5728   carla . BlueprintLibrary   \u4e2d \u5b9a\u4e49 \u4e3a \u201c controller . ai . walker \u201d \uff09 \u3002 \u8fd9\u662f \u4e00\u4e2a \u7a7a \u7684 \u84dd\u56fe \uff0c \u56e0\u4e3a \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u63a7\u5236\u5668 \u5728 \u4eff\u771f \u4e2d\u662f \u4e0d \u53ef\u89c1 \u7684 \uff0c \u4f46\u4f1a \u8ddf\u968f \u5176\u7236 \u63a7\u5236 \u63a7\u5236\u5668 \u6765 \u6307\u793a \u6bcf \u4e00\u6b65 \u3002","title":"carla . WalkerAIController"},{"location":"python_api/#_221","text":"go _ to _ location   (   self   ,   destination   )   \u8bbe\u7f6e \u884c\u4eba \u5c06 \u5230\u8fbe \u7684 \u76ee\u7684 \u76ee\u7684\u5730 \u3002   \u53c2\u6570 :   destination   (   carla . Location   -   \u7c73   )   start   (   self   )   \u4e3a \u5176\u7236 \u884c\u4eba \u542f\u7528   AI   \u63a7\u5236 \u3002   stop   (   self   )   snippet   \u2192   \u7981\u7528 \u5176\u7236 \u884c\u4eba \u7684   AI   \u63a7\u5236 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_222","text":"set _ max _ speed   (   self   ,   speed   = 1.4   )   \u8bbe\u7f6e \u884c\u4eba \u7684 \u901f\u5ea6 \uff08 \u4ee5\u7c73 \u6bcf\u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   \u53c2\u6570 :   speed   (   float   -   m / s   )   -   \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u8f7b\u677e \u6b65\u884c \u901f\u5ea6 \u3002","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_223","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlawalkerbonecontrolin","text":"\u8be5\u7c7b \u4e3a \u884c\u4eba \u63d0\u4f9b \u9aa8\u9abc \u7279\u5b9a \u7684 \u64cd\u4f5c \u3002 \u4e3a\u4e86 \u6e05\u6670 \u8d77 \u89c1 \uff0c \u884c\u4eba \u7684 \u9aa8\u9abc \u5df2\u7ecf \u7edf\u4e00 \uff0c \u5e76\u4e14 \u5e94\u7528 \u4e8e \u6bcf\u4e2a \u9aa8\u9abc \u7684 \u53d8\u6362 \u59cb\u7ec8 \u76f8\u5bf9 \u4e8e \u5176\u7236 \u9aa8\u9abc \u3002 \u8bf7 \u67e5\u770b   \u6b64\u5904   \uff0c \u4e86\u89e3 \u6709\u5173 \u5982\u4f55 \u521b\u5efa \u52a9\u884c\u5668 \u5e76 \u5b9a\u4e49 \u5176 \u8fd0\u52a8 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002","title":"carla . WalkerBoneControlIn"},{"location":"python_api/#_224","text":"bone _ transforms   (   list ( [ name , transform ] )   )   \u5217\u51fa \u6211\u4eec \u8981 \u8bbe\u7f6e \u7684 \u6bcf\u4e2a \u9aa8\u9abc \u7684 \u6570\u636e \uff1a   name :   \u9aa8\u9abc \u540d\u79f0   relative :   \u57fa\u4e8e \u9aa8\u9abc \u7236\u7ea7 \u8fdb\u884c \u53d8\u6362 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_225","text":"__ init __   (   self   ,   list ( name , transform )   )   \u521d\u59cb \u521d\u59cb\u5316 \u4e00\u4e2a \u5305\u542b \u8981 \u5728 \u523b\u5ea6 \u4e0a \u5e94\u7528 \u7684 \u79fb\u52a8 \u7684 \u5bf9\u8c61 \u3002 \u8fd9\u4e9b \u4e0e \u9aa8\u9abc \u7684 \u540d\u79f0 \u548c \u5c06 \u5e94\u7528 \u4e8e \u5b83 \u7684 \u53d8\u6362 \u4e00\u8d77 \u5217\u51fa \u3002   \u53c2\u6570 :   list ( name , transform )   (   tuple   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_226","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlawalkerbonecontrolout","text":"\u8be5\u7c7b \u7528\u4e8e \u8fd4\u56de \u884c\u4eba \u7684 \u6240\u6709 \u9aa8\u9abc \u4f4d\u7f6e \u3002 \u5bf9\u4e8e \u6bcf\u4e2a \u9aa8\u9abc \uff0c \u6211\u4eec \u5f97\u5230 \u5b83 \u7684 \u540d\u79f0 \u53ca\u5176 \u5728 \u4e09\u4e2a \u4e0d\u540c \u7a7a\u95f4 \uff08 \u4e16\u754c \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u76f8\u5bf9 \uff09 \u4e2d \u7684 \u53d8\u6362 \u3002","title":"carla . WalkerBoneControlOut"},{"location":"python_api/#_227","text":"bone _ transforms   (   list ( [ name , world ,   actor ,   relative ] )   )   \u6bcf\u4e2a \u9aa8\u9abc \u7684 \u4e00\u4e2a \u6761\u76ee \u5217\u8868 \uff0c \u5305\u542b \u4ee5\u4e0b \u4fe1\u606f \uff1a   name :   \u9aa8\u9abc \u540d\u79f0   world :   \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u53d8\u6362   component :   \u57fa\u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u67a2\u8f74 \u8fdb\u884c \u53d8\u6362   relative :   \u57fa\u4e8e \u9aa8\u9abc \u7236\u7ea7 \u8fdb\u884c \u53d8\u6362 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_228","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_229","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlawalkercontrol","text":"\u6b64\u7c7b \u5b9a\u4e49 \u4e86 \u53ef\u4ee5 \u5411   carla . Walker   \u547d\u4ee4 \u901a\u8fc7 \u811a\u672c \u63a7\u5236 \u5b83 \u7684 \u7279\u5b9a \u65b9\u5411 \u3002   \u53ef\u4ee5 \u4e3a \u884c\u4eba \u89e3\u51b3 AI \u63a7\u5236 \uff0c \u4f46 \u7528\u4e8e \u6b64 \u76ee\u7684 \u7684 \u63a7\u4ef6 \u662f   carla . WalkerAIController   \u3002","title":"carla . WalkerControl"},{"location":"python_api/#_230","text":"direction   (   carla . Vector3D   )   \u4f7f\u7528 \u4e0e \u884c\u4eba \u65b9\u5411 \u76f8\u5bf9 \u5e94 \u7684 \u5168\u5c40 \u5750\u6807 \u7684 \u5411\u91cf \u3002   speed   (   float   -   m / s   )   \u63a7\u5236 \u884c\u4eba \u901f\u5ea6 \u7684 \u6807\u91cf \u503c \u3002   jump   (   bool   )   \u5982\u679c \u4e3a   True   \uff0c \u884c\u4eba \u5c06 \u6267\u884c \u8df3\u8dc3 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_231","text":"__ init __   (   self   ,   direction   = [ 1.0 ,   0.0 ,   0.0 ]   ,   speed   = 0.0   ,   jump   = False   )   \u53c2\u6570 :   direction   (   carla . Vector3D   )   speed   (   float   -   m / s   )   jump   (   bool   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_232","text":"__ eq __   (   self   ,   other   =   carla . WalkerControl   )   \u548c   other   \u6bd4\u8f83 \u6bcf\u4e2a \u53d8\u91cf \uff0c \u5982\u679c \u5b83\u4eec \u90fd \u76f8\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   __ ne __   (   self   ,   other   =   carla . WalkerControl   )   \u548c   other   \u6bd4\u8f83 \u6bcf\u4e2a \u53d8\u91cf \uff0c \u5982\u679c \u5176\u4e2d \u4efb\u4f55 \u4e00\u4e2a \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlawaypoint","text":"Carla   \u4e2d \u7684 \u8def\u5f84 \u70b9 \u88ab \u63cf\u8ff0 \u4e3a \u4e09\u7ef4 \u6709 \u5411 \u70b9 \u3002 \u4ed6\u4eec \u6709 \u4e00\u4e2a   carla . Transform   \uff0c \u5b83 \u53ef\u4ee5 \u5b9a\u4f4d \u9053\u8def \u4e2d \u7684 \u8def\u5f84 \u70b9 \u5e76 \u6839\u636e \u8f66\u9053 \u786e\u5b9a \u5176 \u65b9\u5411 \u3002 \u4ed6\u4eec \u8fd8 \u5b58\u50a8 \u5c5e\u4e8e \u8be5\u70b9 \u7684 \u6709\u5173 \u5176 \u8f66\u9053 \u548c \u8f66\u9053 \u6807\u8bb0 \u7684 \u9053\u8def \u4fe1\u606f \u3002   \u6709\u5173 \u8def\u5f84 \u70b9 \u548c   \u8def\u7ebf   API   \u7684 \u6240\u6709 \u4fe1\u606f \u5747 \u6309   OpenDRIVE   \u6587\u4ef6 \u63d0\u4f9b \u7684 \u65b9\u5f0f \u68c0\u7d22 \u3002 \u4e00\u65e6 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5411 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bf7\u6c42 \u5730\u56fe \u5bf9\u8c61 \uff0c \u5c31 \u4e0d\u518d \u9700\u8981 \u901a\u4fe1 \u3002","title":"carla . Waypoint"},{"location":"python_api/#_233","text":"id   (   int   )   \u6807\u8bc6 \u6807\u8bc6\u7b26 \u662f \u4f7f\u7528 \u4e0e   OpenDRIVE   \u51e0\u4f55 \u4e2d \u7684 \u6240\u8ff0 \u70b9 \u76f8\u5bf9 \u5e94 \u7684   road   ,   section   ,   lane   \u548c   s   \u503c \u7684 \u54c8\u5e0c \u7ec4\u5408 \u751f\u6210 \u7684 \u3002   s   \u7cbe\u5ea6 \u8bbe\u7f6e \u4e3a   2   \u5398\u7c73 \uff0c \u56e0\u6b64 \u5728 \u540c\u4e00 \u9053\u8def \u3001 \u8def\u6bb5 \u548c \u8f66\u9053 \u8ddd\u79bb \u4e2d\u8ddd\u79bb \u5c0f\u4e8e   2   \u5398\u7c73 \u7684   2   \u4e2a \u8def\u5f84 \u70b9\u5c06 \u5177\u6709 \u76f8\u540c \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26   \u3002   transform   (   carla . Transform   )   \u6839\u636e \u5f53\u524d \u8f66\u9053 \u4fe1\u606f \u786e\u5b9a \u8def\u70b9 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002 \u8be5 \u6570\u636e \u662f \u5728 \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u8bbf\u95ee \u65f6 \u8ba1\u7b97 \u7684 \u3002 \u5f53 \u521b\u5efa \u5927\u91cf \u8def\u5f84 \u70b9 \u4f46 \u4e0d \u9700\u8981 \u5b83\u4eec \u7684 \u7279\u5b9a \u8f6c\u6362 \u65f6 \uff0c \u5b83 \u4e0d\u4f1a \u7acb\u5373 \u521b\u5efa \uff0c \u4ee5 \u51cf\u8f7b \u8ba1\u7b97 \u6210\u672c \u8ba1\u7b97\u6210\u672c \u3002   road _ id   (   int   )   OpenDRIVE   \u9053\u8def \u7684   id \u3002   section _ id   (   int   )   OpenDRIVE   \u90e8\u5206 \u7684   id \uff0c \u57fa\u4e8e \u5b83\u4eec \u6700\u521d \u5b9a\u4e49 \u7684 \u987a\u5e8f \u3002   is _ junction   (   bool   )   \u5982\u679c \u5f53\u524d \u8def\u70b9 \u4f4d\u4e8e   OpenDRIVE   \u5b9a\u4e49 \u7684 \u4ea4\u6c47 \u4ea4\u6c47\u5904 \uff0c \u5219 \u4e3a   True   \u3002   junction _ id   (   int   )   OpenDRIVE   \u7ed3\u70b9 \u7684   id \u3002 \u6709\u5173 \u66f4 \u591a \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   OpenDRIVE   \u6587\u6863   \u3002   lane _ id   (   int   )   OpenDRIVE   \u8f66\u9053 \u7684   id \uff0c \u8be5\u503c \u53ef\u4ee5 \u662f \u6b63\u6570 \u6216 \u8d1f\u6570 \uff0c \u8868\u793a \u5f53\u524d \u8f66\u9053 \u76f8\u5bf9 \u4e8e \u9053\u8def \u7684 \u65b9\u5411 \u3002 \u6709\u5173 \u66f4 \u591a \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   OpenDRIVE   \u6587\u6863   \u3002   s   (   float   )   OpenDRIVE \u5f53\u524d \u4f4d\u7f6e \u7684   s   \u503c   \u3002   lane _ width   (   float   )   \u5f53\u524d   s   \u5904 \u9053\u8def \u7684 \u6c34\u5e73 \u5c3a\u5bf8 \u3002   lane _ change   (   carla . LaneChange   )   \u5f53\u524d \u8def\u70b9 \u4f4d\u7f6e \u7684 \u8f66\u9053 \u53d8\u66f4 \u5b9a\u4e49 \uff0c \u57fa\u4e8e   OpenDRIVE   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \u7684 \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u3002 \u5b83 \u8bf4\u660e \u662f\u5426 \u53ef\u4ee5 \u53d8\u9053 \u4ee5\u53ca \u671d \u54ea\u4e2a \u65b9\u5411 \u53d8\u9053 \u3002   lane _ type   (   carla . LaneType   )   \u5f53\u524d   Waypoint   \u7684 \u8f66\u9053 \u7c7b\u578b \uff0c \u57fa\u4e8e   OpenDRIVE   1.4   \u6807\u51c6 \u3002   right _ lane _ marking   (   carla . LaneMarking   )   \u57fa\u4e8e   Waypoint   \u65b9\u5411 \u7684 \u53f3 \u8f66\u9053 \u6807\u8bb0 \u4fe1\u606f \u3002   left _ lane _ marking   (   carla . LaneMarking   )   \u57fa\u4e8e   Waypoint   \u65b9\u5411 \u7684 \u5de6 \u8f66\u9053 \u6807\u8bb0 \u4fe1\u606f \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_234","text":"next   (   self   ,   distance   )   \u5f53\u524d \u70b9 \u67d0\u4e2a \u8fd1\u4f3c \u8fd1\u4f3c\u503c \u7684 \u8def\u5f84 \u70b9 \u5217\u8868   distance   \u5b83\u4f1a \u8003\u8651 \u9053\u8def \u53ca\u5176 \u53ef\u80fd \u7684 \u504f\u5dee \uff0c \u800c \u4e0d \u6267\u884c \u4efb\u4f55 \u8f66\u9053 \u53d8\u66f4 \uff0c \u5e76 \u4e3a \u6bcf\u4e2a \u9009\u9879 \u8fd4\u56de \u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002 \u5982\u679c \u8f66\u9053 \u5728 \u6307\u5b9a \u8ddd\u79bb \u8ddd\u79bb\u5904 \u672a \u4e0e \u4efb\u4f55 \u5176\u4ed6 \u8f66\u9053 \u76f8\u8fde \uff0c \u5219 \u5217\u8868 \u53ef\u80fd \u4e3a\u7a7a \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u83b7\u53d6 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9 \u7684 \u5927\u81f4 \u8ddd\u79bb \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   next _ until _ lane _ end   (   self   ,   distance   )   \u8fd4\u56de \u4ece \u8fd9\u91cc \u5230 \u8f66\u9053 \u672b\u7aef \u7684 \u8def\u70b9 \u5217\u8868 \uff0c \u8fd9\u4e9b \u8def\u70b9 \u4e4b\u95f4 \u4ee5 \u4e00\u5b9a \u8ddd\u79bb   distance   \u5206\u9694 \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u5927\u81f4 \u8ddd\u79bb \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   previous   (   self   ,   distance   )   \u4f46 \u4e0e \u8f66\u9053 \u76f8\u53cd \u65b9\u5411 \u7684 \u8def\u70b9 \u5217\u8868   distance   \u4e0e   next ( )   \u7c7b\u4f3c \uff0c \u5b83\u4f1a \u8003\u8651 \u9053\u8def \u53ca\u5176 \u53ef\u80fd \u7684 \u504f\u5dee \uff0c \u800c \u4e0d \u6267\u884c \u4efb\u4f55 \u8f66\u9053 \u53d8\u66f4 \uff0c \u5e76 \u4e3a \u6bcf\u4e2a \u9009\u9879 \u8fd4\u56de \u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002 \u5982\u679c \u8f66\u9053 \u5728 \u6307\u5b9a \u8ddd\u79bb \u8ddd\u79bb\u5904 \u672a \u4e0e \u4efb\u4f55 \u5176\u4ed6 \u8f66\u9053 \u76f8\u8fde \uff0c \u5219 \u5217\u8868 \u53ef\u80fd \u4e3a\u7a7a \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u83b7\u53d6 \u5148\u524d \u8def\u5f84 \u70b9 \u7684 \u5927\u81f4 \u8ddd\u79bb \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   previous _ until _ lane _ start   (   self   ,   distance   )   \u8fd4\u56de \u4ece \u8fd9\u91cc \u5230 \u8f66\u9053 \u8d77\u70b9 \u7684 \u8def\u70b9 \u5217\u8868 \uff0c \u4ee5 \u4e00\u5b9a \u7684 \u8ddd\u79bb   distance   \u5206\u9694 \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u5927\u81f4 \u8ddd\u79bb \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_235","text":"get _ junction   (   self   )   \u5982\u679c \u8def\u5f84 \u70b9 \u5c5e\u4e8e \u8def\u53e3 \uff0c \u5219 \u6b64 \u65b9\u6cd5 \u8fd4\u56de \u5173\u8054 \u7684 \u8def\u53e3 \u5bf9\u8c61 \u3002 \u5426\u5219 \u8fd4\u56de   null \u3002   \u8fd4\u56de :   carla . Junction   get _ landmarks   (   self   ,   distance   ,   stop _ at _ junction   = False   )   \u8fd4\u56de \u4ece \u5f53\u524d \u8def\u5f84 \u70b9\u5230 \u6307\u5b9a \u8ddd\u79bb \u7684 \u9053\u8def \u4e0a \u7684 \u5730\u6807 \u5217\u8868 \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u4ece \u5f53\u524d \u8def\u5f84 \u70b9 \u641c\u7d22 \u5730 \u6807\u7684 \u6700\u5927 \u8ddd\u79bb \u3002   stop _ at _ junction   (   bool   )   -   \u542f\u7528 \u6216 \u7981\u7528 \u901a\u8fc7 \u8def\u53e3 \u7684 \u5730\u6807 \u641c\u7d22 \u3002   \u8fd4\u56de :   list (   carla . Landmark   )   get _ landmarks _ of _ type   (   self   ,   distance   ,   type   ,   stop _ at _ junction   = False   )   \u8fd4\u56de \u4ece \u5f53\u524d \u8def\u5f84 \u70b9\u5230 \u6307\u5b9a \u8ddd\u79bb \u7684 \u6307\u5b9a \u7c7b\u578b \u9053\u8def \u4e2d \u7684 \u5730\u6807 \u5217\u8868 \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u4ece \u5f53\u524d \u8def\u5f84 \u70b9 \u641c\u7d22 \u5730 \u6807\u7684 \u6700\u5927 \u8ddd\u79bb \u3002   type   (   str   )   -   \u8981 \u641c\u7d22 \u7684 \u5730\u6807 \u7c7b\u578b \u3002   stop _ at _ junction   (   bool   )   -   \u542f\u7528 \u6216 \u7981\u7528 \u901a\u8fc7 \u8def\u53e3 \u7684 \u5730\u6807 \u641c\u7d22 \u3002   \u8fd4\u56de :   list (   carla . Landmark   )   get _ left _ lane   (   self   )   \u6839\u636e \u5f53\u524d \u8def\u70b9 \u7684 \u65b9\u5411 \u5728 \u5de6 \u8f66\u9053 \u4e2d\u5fc3 \u751f\u6210 \u8def\u70b9 \uff0c \u540c\u65f6 \u8003\u8651 \u8be5 \u4f4d\u7f6e \u662f\u5426 \u5141\u8bb8 \u53d8\u9053 \u3002 \u5982\u679c \u8f66\u9053 \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   \u8fd4\u56de :   carla . Waypoint   get _ right _ lane   (   self   )   \u6839\u636e \u5f53\u524d \u8def\u70b9 \u7684 \u65b9\u5411 \u5728 \u53f3 \u8f66\u9053 \u4e2d\u5fc3 \u751f\u6210 \u8def\u70b9 \uff0c \u5e76 \u8003\u8651 \u8be5 \u4f4d\u7f6e \u662f\u5426 \u5141\u8bb8 \u53d8\u9053 \u3002 \u5982\u679c \u8f66\u9053 \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   \u8fd4\u56de :   carla . Waypoint","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_236","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaweatherparameters","text":"\u6b64\u7c7b \u5b9a\u4e49 \u4e86 \u5305\u542b \u5149\u7167 \u548c \u5929\u6c14 \u89c4\u8303 \u7684 \u5bf9\u8c61 \uff0c \u8fd9\u4e9b \u89c4\u8303 \u7a0d\u540e \u53ef\u4ee5 \u5e94\u7528 \u5728   carla . World   \u4e2d \u3002 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u8fd9\u4e9b \u6761\u4ef6 \u4ec5 \u5f71\u54cd   sensor . camera . rgb   \u3002 \u5b83\u4eec \u65e2 \u4e0d \u5f71\u54cd \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7269\u7406 \u7279\u6027 \uff0c \u4e5f \u4e0d \u5f71\u54cd \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u8fd9\u4e9b \u53c2\u6570 \u4e2d \u7684 \u6bcf \u4e00\u4e2a \u90fd \u72ec\u7acb \u4e8e \u5176\u4ed6 \u53c2\u6570 \u8d77 \u4f5c\u7528 \u3002 \u589e\u52a0 \u964d\u96e8 \u96e8\u91cf \u964d\u96e8\u91cf \u4e0d\u4f1a \u81ea\u52a8 \u5f62\u6210 \u6c34\u5751 \uff0c \u4e5f \u4e0d\u4f1a \u6539\u53d8 \u9053\u8def \u7684 \u6e7f\u5ea6 \u3002 \u8fd9 \u53ef\u4ee5 \u5b9e\u73b0 \u66f4\u597d \u7684 \u5b9a\u5236 \uff0c \u4f46 \u4e5f \u610f\u5473 \u610f\u5473\u7740 \u9700\u8981 \u7f16\u5199 \u73b0\u5b9e \u6761\u4ef6 \u7684 \u811a\u672c \u3002 \u7136\u800c \uff0c \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u5b9e\u9645 \u8fd0\u884c \u7684 \u52a8\u6001 \u5929\u6c14 \u6761\u4ef6 \u7684 \u793a\u4f8b \u3002","title":"carla . WeatherParameters"},{"location":"python_api/#_237","text":"cloudiness   (   float   )   \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \uff0c 0   \u8868\u793a \u6674\u6717 \u7684 \u5929\u7a7a \uff0c 100   \u8868\u793a \u5b8c\u5168 \u88ab \u4e91 \u8986\u76d6 \u3002   precipitation   (   float   )   \u964d\u96e8 \u5f3a\u5ea6 \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \uff0c 0   \u8868\u793a \u65e0\u96e8 \uff0c 100   \u8868\u793a \u5927\u96e8 \u3002   precipitation _ deposits   (   float   )   \u786e\u5b9a \u6c34\u5751 \u7684 \u521b\u5efa \u3002 \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \uff0c 0   \u8868\u793a \u5b8c\u5168 \u6ca1\u6709 \u6c34 \uff0c 100   \u8868\u793a \u9053\u8def \u5b8c\u5168 \u88ab \u6c34 \u8986\u76d6 \u3002 \u6c34\u5751 \u662f \u7528 \u9759\u6001 \u566a\u97f3 \u521b\u5efa \u7684 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u5b83\u4eec \u603b\u662f \u51fa\u73b0 \u5728 \u76f8\u540c \u7684 \u4f4d\u7f6e \u3002   wind _ intensity   (   float   )   \u63a7\u5236 \u98ce \u7684 \u5f3a\u5ea6 \uff0c \u503c \u4ece   0 \uff08 \u65e0 \u98ce \uff09 \u5230   100 \uff08 \u5f3a\u98ce \uff09 \u3002 \u98ce \u786e\u5b9e \u4f1a \u5f71\u54cd \u964d\u96e8 \u65b9\u5411 \u548c \u6811\u53f6 \uff0c \u56e0\u6b64 \u9650\u5236 \u8be5\u503c \u4ee5 \u907f\u514d \u52a8\u753b \u95ee\u9898 \u3002   sun _ azimuth _ angle   (   float   -   \u5ea6   )   \u592a\u9633 \u7684 \u65b9\u4f4d \u65b9\u4f4d\u89d2 \u3002 \u503c \u8303\u56f4 \u4e3a   0   \u5230   360 \u3002 \u96f6\u662f \u7531 \u865a\u5e7b \u5f15\u64ce \u786e\u5b9a \u7684 \u7403\u4f53 \u4e2d \u7684 \u539f\u70b9 \u3002   sun _ altitude _ angle   (   float   -   \u5ea6   )   \u592a\u9633 \u7684 \u9ad8\u5ea6 \u89d2 \u3002 \u503c \u8303\u56f4 \u4ece   - 90   \u5230   90 \uff0c \u5206\u522b \u5bf9\u5e94 \u4e8e \u5348\u591c \u548c \u4e2d\u5348 \u3002   fog _ density   (   float   )   \u96fe \u6d53\u5ea6 \u6216 \u539a\u5ea6 \u3002 \u5b83 \u4ec5 \u5f71\u54cd   RGB   \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \u3002   fog _ distance   (   float   -   \u7c73   )   \u96fe \u5f00\u59cb \u8ddd\u79bb \u3002 \u503c \u8303\u56f4 \u4ece   0   \u5230 \u65e0\u7a77 \u65e0\u7a77\u5927 \u3002   wetness   (   float   )   \u6e7f\u5ea6 \u5f3a\u5ea6 \u3002 \u5b83 \u4ec5 \u5f71\u54cd   RGB   \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \u3002   fog _ falloff   (   float   )   \u96fe \u7684 \u5bc6\u5ea6 \uff08 \u4ee5 \u7279\u5b9a \u8d28\u91cf \u8ba1 \uff09 \u4ece   0   \u5230 \u65e0\u7a77 \u65e0\u7a77\u5927 \u3002 \u503c\u8d8a \u5927 \uff0c \u96fe\u6c14 \u8d8a \u6d53\u91cd \uff0c \u96fe\u6c14 \u8fbe\u5230 \u7684 \u9ad8\u5ea6 \u4e5f \u8d8a \u5c0f \u3002 \u5bf9\u5e94 \u4e8e   UE   \u6587\u6863 \u4e2d \u7684   \u96fe \u9ad8\u5ea6 \u8870\u51cf   \u3002   \u5982\u679c \u503c\u4e3a   0 \uff0c \u96fe \u5c06 \u6bd4 \u7a7a\u6c14 \u4eae \uff0c \u5e76 \u8986\u76d6 \u6574\u4e2a \u573a\u666f \u3002   \u503c\u4e3a   1   \u65f6 \uff0c \u5bc6\u5ea6 \u5927\u7ea6 \u4e0e \u7a7a\u6c14 \u4e00\u6837 \uff0c \u53ef \u5230\u8fbe \u6b63\u5e38 \u5927\u5c0f \u7684 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u5bf9\u4e8e \u5927\u4e8e   5   \u7684 \u503c \uff0c \u7a7a\u6c14 \u5c06 \u975e\u5e38 \u7a20\u5bc6 \uff0c \u4ee5\u81f3 \u81f3\u4e8e \u4ee5\u81f3\u4e8e \u5728 \u5730\u9762 \u4e0a\u4f1a \u88ab \u538b\u7f29 \u3002   scattering _ intensity   (   float   )   \u63a7\u5236 \u5149\u5bf9 \u4f53\u79ef \u96fe \u7684 \u8d21\u732e \u7a0b\u5ea6 \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   0   \u65f6 \uff0c \u6ca1\u6709 \u8d21\u732e \u3002   mie _ scattering _ scale   (   float   )   \u63a7\u5236 \u5149 \u4e0e \u5927 \u9897\u7c92 \uff08 \u5982 \u82b1\u7c89 \u6216 \u7a7a\u6c14 \u6c61\u67d3 \u7a7a\u6c14\u6c61\u67d3 \uff09 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \uff0c \u5bfc\u81f4 \u5929\u7a7a \u6726\u80e7 \uff0c \u5149\u6e90 \u5468\u56f4 \u6709 \u5149\u6655 \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   0   \u65f6 \uff0c \u6ca1\u6709 \u8d21\u732e \u3002   rayleigh _ scattering _ scale   (   float   )   \u63a7\u5236 \u5149 \u4e0e \u7a7a\u6c14 \u5206\u5b50 \u7b49 \u5c0f \u7c92\u5b50 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u3002 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u5149 \u7684 \u6ce2\u957f \uff0c \u5bfc\u81f4 \u767d\u5929 \u7684 \u5929\u7a7a \u4e3a \u84dd\u8272 \uff0c \u665a\u4e0a \u7684 \u5929\u7a7a \u4e3a \u7ea2\u8272 \u3002   dust _ storm   (   float   )   \u786e\u5b9a \u6c99\u5c18 \u5c18\u66b4 \u6c99\u5c18\u66b4 \u5929\u6c14 \u7684 \u5f3a\u5ea6 \u3002 \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_238","text":"__ init __   (   self   ,   cloudiness   = 0.0   ,   precipitation   = 0.0   ,   precipitation _ deposits   = 0.0   ,   wind _ intensity   = 0.0   ,   sun _ azimuth _ angle   = 0.0   ,   sun _ altitude _ angle   = 0.0   ,   fog _ density   = 0.0   ,   fog _ distance   = 0.0   ,   wetness   = 0.0   ,   fog _ falloff   = 0.0   ,   scattering _ intensity   = 0.0   ,   mie _ scattering _ scale   = 0.0   ,   rayleigh _ scattering _ scale   = 0.0331   )   \u521d\u59cb \u521d\u59cb\u5316 \u5b9a\u4e49 \u5929\u6c14 \u6761\u4ef6 \u7684 \u5bf9\u8c61 \u7684 \u65b9\u6cd5 \u3002 \u8be5\u7c7b \u6709 \u4e00\u4e9b \u9488\u5bf9 \u4e0d\u540c \u4e2d\u5348 \u548c \u65e5\u843d \u6761\u4ef6 \u7684 \u9884\u8bbe \uff0c \u5982 \u4e0b\u9762 \u7684 \u6ce8\u91ca \u6240\u793a \u3002   \u53c2\u6570 :   cloudiness   (   float   )   -   0   \u4e3a \u6674\u5929 \uff0c 100   \u4e3a \u9634\u5929 \u3002   precipitation   (   float   )   -   0   \u8868\u793a \u5b8c\u5168 \u6ca1\u6709 \u4e0b\u96e8 \uff0c 100   \u8868\u793a \u5927\u96e8 \u3002   precipitation _ deposits   (   float   )   -   0   \u8868\u793a \u9053\u8def \u4e0a \u6ca1\u6709 \u6c34\u5751 \uff0c 100   \u8868\u793a \u9053\u8def \u5b8c\u5168 \u88ab \u96e8\u6c34 \u8986\u76d6 \u3002   wind _ intensity   (   float   )   -   0   \u8868\u793a \u5e73\u6d6a \u98ce\u5e73\u6d6a\u9759 \uff0c 100   \u8868\u793a \u5f3a\u98ce \u3002   sun _ azimuth _ angle   (   float   -   \u5ea6   )   -   0   \u662f \u4efb\u610f \u5317 \uff0c 180   \u662f \u5176 \u5bf9\u5e94 \u7684 \u5357 \u3002   sun _ altitude _ angle   (   float   -   \u5ea6   )   -   90   \u662f \u4e2d\u5348 \uff0c - 90   \u662f \u5348\u591c \u3002   fog _ density   (   float   )   -   \u96fe \u7684 \u6d53\u5ea6 \u6216 \u539a\u5ea6 \uff0c \u4ece   0   \u5230   100 \u3002   fog _ distance   (   float   -   \u7c73   )   -   \u96fe \u5f00\u59cb \u7684 \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   wetness   (   float   )   -   \u9053\u8def \u7684 \u6e7f\u5ea6 \u767e\u5206 \u767e\u5206\u6bd4 \uff0c \u4ece   0   \u5230   100 \u3002   fog _ falloff   (   float   )   -   \u96fe \u7684 \u5bc6\u5ea6 \uff08 \u7279\u5b9a \u8d28\u91cf \uff09 \uff0c \u4ece   0   \u5230 \u65e0\u7a77 \u65e0\u7a77\u5927 \u3002   scattering _ intensity   (   float   )   -   \u63a7\u5236 \u5149\u7ebf \u5bf9 \u4f53\u79ef \u96fe \u7684 \u8d21\u732e \u7a0b\u5ea6 \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   0   \u65f6 \uff0c \u6ca1\u6709 \u8d21\u732e \u3002   mie _ scattering _ scale   (   float   )   -   \u63a7\u5236 \u5149 \u4e0e \u5927 \u9897\u7c92 \uff08 \u5982 \u82b1\u7c89 \u6216 \u7a7a\u6c14 \u6c61\u67d3 \u7a7a\u6c14\u6c61\u67d3 \uff09 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \uff0c \u5bfc\u81f4 \u5929\u7a7a \u6726\u80e7 \uff0c \u5149\u6e90 \u5468\u56f4 \u6709 \u5149\u6655 \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   0   \u65f6 \uff0c \u6ca1\u6709 \u8d21\u732e \u3002   rayleigh _ scattering _ scale   (   float   )   -   \u63a7\u5236 \u5149 \u4e0e \u7a7a\u6c14 \u5206\u5b50 \u7b49 \u5c0f \u9897\u7c92 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u3002 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u5149 \u7684 \u6ce2\u957f \uff0c \u5bfc\u81f4 \u767d\u5929 \u7684 \u5929\u7a7a \u4e3a \u84dd\u8272 \uff0c \u665a\u4e0a \u7684 \u5929\u7a7a \u4e3a \u7ea2\u8272 \u3002   \u7b14\u8bb0 :   ClearNoon ,   CloudyNoon ,   WetNoon ,   WetCloudyNoon ,   SoftRainNoon ,   MidRainyNoon ,   HardRainNoon ,   ClearSunset ,   CloudySunset ,   WetSunset ,   WetCloudySunset ,   SoftRainSunset ,   MidRainSunset ,   HardRainSunset .","title":"\u65b9\u6cd5"},{"location":"python_api/#_239","text":"__ eq __   (   self   ,   other   )   \u5982\u679c \u4e24\u4e2a \u5bf9\u8c61 \u7684 \u53d8\u91cf \u76f8\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ ne __   (   self   ,   other   )   \u5982\u679c \u4e24\u4e2a \u5bf9\u8c61 \u7684 \u53d8\u91cf \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlawheelphysicscontrol","text":"\u4e3a \u8f66\u8f6e \u5bf9\u8c61 \u5b9a\u4e49 \u7279\u5b9a \u7269\u7406 \u53c2\u6570 \u7684 \u7c7b \uff0c \u8fd9\u4e9b \u8f66\u8f6e \u5bf9\u8c61 \u5c06 \u6210\u4e3a   carla . VehiclePhysicsControl   \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u4ee5 \u5c06 \u8f66\u8f86 \u4eff\u771f \u4e3a \u6750\u8d28 \u5bf9\u8c61 \u3002","title":"carla . WheelPhysicsControl"},{"location":"python_api/#_240","text":"tire _ friction   (   float   )   \u6307\u793a \u8f66\u8f6e \u6469\u64e6 \u6469\u64e6\u529b \u7684 \u6807\u91cf \u503c \u3002   damping _ rate   (   float   )   \u8f66\u8f6e \u7684 \u963b\u5c3c \u7387 \u3002   max _ steer _ angle   (   float   -   \u5ea6   )   \u8f66\u8f6e \u53ef\u4ee5 \u8f6c\u5411 \u7684 \u6700\u5927 \u89d2\u5ea6 \u3002   radius   (   float   -   centimeters   )   \u8f6e\u5b50 \u7684 \u534a\u5f84 \u3002   max _ brake _ torque   (   float   -   N * m   )   \u6700\u5927 \u5236\u52a8 \u626d\u77e9 \u3002   max _ handbrake _ torque   (   float   -   N * m   )   \u6700\u5927 \u624b\u5239 \u626d\u77e9 \u3002   position   (   carla . Vector3D   )   \u8f66\u8f6e \u7684 \u4e16\u754c \u4f4d\u7f6e \u3002 \u8fd9\u662f \u4e00\u4e2a \u53ea\u8bfb \u53c2\u6570 \u3002   long _ stiff _ value   (   float   -   kg   per   radian   )   \u6bcf \u5355\u4f4d \u91cd\u529b \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u7684 \u8f6e\u80ce \u7eb5\u5411 \u521a\u5ea6 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u6709 \u4e00\u4e2a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u503c \u3002   lat _ stiff _ max _ load   (   float   )   \u6700\u5927 \u6807\u51c6 \u6807\u51c6\u5316 \u8f6e\u80ce \u8d1f\u8f7d \uff0c \u5728 \u8be5 \u8d1f\u8f7d \u4e0b \uff0c \u65e0\u8bba \u5411 \u8f6e\u80ce \u65bd\u52a0 \u591a\u5c11 \u989d\u5916 \u8d1f\u8f7d \uff0c \u8f6e\u80ce \u90fd \u4e0d\u518d \u63d0\u4f9b \u4fa7\u5411 \u521a\u5ea6 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u6709 \u4e00\u4e2a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u503c \u3002   lat _ stiff _ value   (   float   )   \u6bcf \u5355\u4f4d \u6a2a\u5411 \u6ed1\u79fb \u7684 \u6700\u5927 \u521a\u5ea6 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u6709 \u4e00\u4e2a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u503c \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_241","text":"__ init __   (   self   ,   tire _ friction   = 2.0   ,   damping _ rate   = 0.25   ,   max _ steer _ angle   = 70.0   ,   radius   = 30.0   ,   max _ brake _ torque   = 1500.0   ,   max _ handbrake _ torque   = 3000.0   ,   position   = ( 0.0 , 0.0 , 0.0 )   )   \u53c2\u6570 :   tire _ friction   (   float   )   damping _ rate   (   float   )   max _ steer _ angle   (   float   -   \u5ea6   )   radius   (   float   -   \u5398\u7c73   )   max _ brake _ torque   (   float   -   N * m   )   max _ handbrake _ torque   (   float   -   N * m   )   position   (   carla . Vector3D   -   \u7c73   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_242","text":"__ eq __   (   self   ,   other   =   carla . WheelPhysicsControl   )   __ ne __   (   self   ,   other   =   carla . WheelPhysicsControl   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaworld","text":"\u4e16\u754c \u5bf9\u8c61 \u7531 \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa \uff0c \u4ee5\u4fbf \u4e3a \u4eff\u771f \u63d0\u4f9b \u4e00\u4e2a \u53d1\u751f \u7684 \u5730\u65b9 \u3002 \u4e16\u754c \u5305\u542b \u6211\u4eec \u53ef\u4ee5 \u770b\u5230 \u7684 \u5730\u56fe \uff0c \u5373 \u8d44\u4ea7 \uff0c \u800c \u4e0d\u662f \u5bfc\u822a \u5730\u56fe \u3002 \u5bfc\u822a \u5730\u56fe \u662f   carla . Map   \u7c7b \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u5b83 \u8fd8 \u7ba1\u7406 \u5176\u4e2d \u7684 \u5929\u6c14 \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u6bcf\u4e2a \u4eff\u771f \u53ea\u80fd \u6709 \u4e00\u4e2a \u4e16\u754c \uff0c \u4f46 \u53ef\u4ee5 \u968f\u65f6 \u66f4\u6539 \u3002","title":"carla . World"},{"location":"python_api/#_243","text":"id   (   int   )   \u4e0e \u8fd9\u4e2a \u4e16\u754c \u76f8\u5173 \u7684 \u5267\u96c6 \u7684   ID \u3002 \u5267\u96c6 \u662f \u4eff\u771f \u7684 \u4e0d\u540c \u9636\u6bb5 \u3002 \u6bcf\u5f53 \u4e16\u754c \u88ab \u7981\u7528 \u6216 \u91cd\u65b0 \u52a0\u8f7d \u65f6 \uff0c \u8fd9\u4e9b \u90fd \u4f1a \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002 \u8ddf\u8e2a \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u907f\u514d \u53ef\u80fd \u51fa\u73b0 \u7684 \u95ee\u9898 \u3002   debug   (   carla . DebugHelper   )   \u8d1f\u8d23 \u521b\u5efa \u4e0d\u540c \u7684 \u5f62\u72b6 \u4ee5 \u8fdb\u884c \u8c03\u8bd5 \u3002 \u67e5\u770b \u5b83 \u7684 \u7c7b \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_244","text":"apply _ color _ texture _ to _ object   (   self   ,   object _ name   ,   material _ parameter   ,   texture   )   \u5bf9\u5e94 \u4e8e   material _ parameter   ( normal ,   diffuse ,   etc )   \u7684 \u5b57 \u6bb5 \u4e2d \u7684 \u5bf9\u8c61 \u5e94\u7528 \u5230 \u5bf9\u5e94 \u4e8e   object _ name   \u7684 \u573a\u666f \u4e2d \u7684   texture   \u5bf9\u8c61 \u3002   \u53c2\u6570 :   object _ name   (   str   )   material _ parameter   (   carla . MaterialParameter   )   texture   (   TextureColor   )   apply _ color _ texture _ to _ objects   (   self   ,   objects _ name _ list   ,   material _ parameter   ,   texture   )   \u5bf9\u5e94 \u4e8e   material _ parameter   ( normal ,   diffuse ,   etc )   \u7684 \u5b57 \u6bb5 \u4e2d \u7684 \u5bf9\u8c61 \u5e94\u7528 \u5230 \u5bf9\u5e94 \u4e8e   objects _ name _ list   \u7684 \u573a\u666f \u4e2d \u7684   texture   \u5bf9\u8c61 \u3002   \u53c2\u6570 :   objects _ name _ list   (   list ( str )   )   material _ parameter   (   carla . MaterialParameter   )   texture   (   TextureColor   )   apply _ float _ color _ texture _ to _ object   (   self   ,   object _ name   ,   material _ parameter   ,   texture   )   \u5bf9\u5e94 \u4e8e   material _ parameter   \uff08 \u6cd5\u7ebf \u3001 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u7b49 \uff09 \u7684 \u5b57 \u6bb5 \u4e2d \u7684 \u5bf9\u8c61 \u5e94\u7528 \u5230 \u4e0e   object _ name   \u4e2d \u7684 \u6240\u6709 \u5bf9\u8c61 \u5bf9\u5e94 \u7684 \u573a\u666f \u4e2d \u7684   texture   \u5bf9\u8c61 \u3002   \u53c2\u6570 :   object _ name   (   str   )   material _ parameter   (   carla . MaterialParameter   )   texture   (   TextureFloatColor   )   apply _ float _ color _ texture _ to _ objects   (   self   ,   objects _ name _ list   ,   material _ parameter   ,   texture   )   \u5bf9\u5e94 \u4e8e   material _ parameter   \uff08 \u6cd5\u7ebf \u3001 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u7b49 \uff09 \u7684 \u5b57 \u6bb5 \u4e2d \u7684 \u5bf9\u8c61 \u5e94\u7528 \u5230 \u4e0e   objects _ name _ list   \u4e2d \u7684 \u6240\u6709 \u5bf9\u8c61 \u5bf9\u5e94 \u7684 \u573a\u666f \u4e2d \u7684   texture   \u5bf9\u8c61 \u3002   \u53c2\u6570 :   objects _ name _ list   (   list ( str )   )   material _ parameter   (   carla . MaterialParameter   )   texture   (   TextureFloatColor   )   apply _ settings   (   self   ,   world _ settings   )   \u6b64 \u65b9\u6cd5 \u5c06 \u5bf9\u8c61 \u4e2d \u5305\u542b \u7684 \u8bbe\u7f6e \u5e94\u7528 \u4e8e \u8fd0\u884c \u7684 \u4eff\u771f \uff0c \u5e76 \u8fd4\u56de \u5b83\u4eec \u6240 \u5b9e\u73b0 \u7684 \u5e27 \u7684   ID \u3002   \u53c2\u6570 :   world _ settings   (   carla . WorldSettings   )   \u8fd4\u56de :   int   \u8b66\u544a :   \u5982\u679c \u542f\u7528 \u4e86 \u540c\u6b65 \u6a21\u5f0f \uff0c \u5e76\u4e14 \u6b63\u5728 \u8fd0\u884c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u5219 \u4e5f \u5fc5\u987b \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002 \u9605\u8bfb   \u672c\u6587   \u4ee5 \u4e86\u89e3 \u5982\u4f55 \u64cd\u4f5c \u3002   apply _ textures _ to _ object   (   self   ,   object _ name   ,   diffuse _ texture   ,   emissive _ texture   ,   normal _ texture   ,   ao _ roughness _ metallic _ emissive _ texture   )   \u5c06   carla . MaterialParameter   \u4e2d \u7684 \u6240\u6709 \u7eb9\u7406 \u5b57 \u6bb5 \u5e94\u7528 \u5230 \u5bf9\u8c61   object _ name   \u3002 \u8fd9\u91cc \u4e0d\u4f1a \u5e94\u7528 \u7a7a \u7eb9\u7406 \u3002   \u53c2\u6570 :   object _ name   (   str   )   diffuse _ texture   (   TextureColor   )   emissive _ texture   (   TextureFloatColor   )   normal _ texture   (   TextureFloatColor   )   ao _ roughness _ metallic _ emissive _ texture   (   TextureFloatColor   )   apply _ textures _ to _ objects   (   self   ,   objects _ name _ list   ,   diffuse _ texture   ,   emissive _ texture   ,   normal _ texture   ,   ao _ roughness _ metallic _ emissive _ texture   )   \u5c06   carla . MaterialParameter   \u4e2d \u7684 \u6240\u6709 \u7eb9\u7406 \u5b57 \u6bb5 \u5e94\u7528 \u4e8e   objects _ name _ list   \u4e2d \u7684 \u6240\u6709 \u5bf9\u8c61 \u3002 \u8fd9\u91cc \u4e0d\u4f1a \u5e94\u7528 \u7a7a \u7eb9\u7406 \u3002   \u53c2\u6570 :   objects _ name _ list   (   list ( str )   )   diffuse _ texture   (   TextureColor   )   emissive _ texture   (   TextureFloatColor   )   normal _ texture   (   TextureFloatColor   )   ao _ roughness _ metallic _ emissive _ texture   (   TextureFloatColor   )   cast _ ray   (   self   ,   initial _ location   ,   final _ location   )   \u5c06 \u5149\u7ebf \u4ece \u6307\u5b9a \u7684 initial _ location \u6295\u5c04 \u5230 final _ location \u3002 \u7136\u540e \uff0c \u8be5 \u51fd\u6570 \u68c0\u6d4b \u4e0e \u5c04\u7ebf \u76f8\u4ea4 \u7684 \u6240\u6709 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \uff0c \u5e76 \u6309 \u987a\u5e8f   \u8fd4\u56de   carla . LabelledPoint   \u5217\u8868 \u3002   \u53c2\u6570 :   initial _ location   (   carla . Location   )   -   The   initial   position   of   the   ray .   final _ location   (   carla . Location   )   -   The   final   position   of   the   ray .   \u8fd4\u56de :   list (   carla . LabelledPoint   )   enable _ environment _ objects   (   self   ,   env _ objects _ ids   ,   enable   )   snippet   \u2192   \u542f\u7528 \u6216 \u7981\u7528 \u4e00\u7ec4 \u7531 \u5176   id   \u6807\u8bc6 \u7684 \u73af\u5883 \u5bf9\u8c61 \u3002 \u8fd9\u4e9b \u5bf9\u8c61 \u5c06 \u4ece \u5173\u5361 \u4e2d \u51fa\u73b0 \u6216 \u6d88\u5931 \u3002   \u53c2\u6570 :   env _ objects _ ids   (   set ( int )   )   -   \u8981 \u66f4\u6539 \u7684 \u73af\u5883 \u5bf9\u8c61   ID   \u96c6 \u3002   enable   (   bool   )   -   \u5e94\u7528 \u4e8e \u96c6\u5408 \u4e2d \u6240\u6709 \u73af\u5883 \u5bf9\u8c61 \u7684 \u72b6\u6001 \u3002   freeze _ all _ traffic _ lights   (   self   ,   frozen   )   \u51bb\u7ed3 \u6216 \u89e3\u51bb \u573a\u666f \u4e2d \u7684 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u3002 \u7528\u6237 \u53ef\u4ee5 \u4fee\u6539 \u51bb\u7ed3 \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \uff0c \u4f46 \u65f6\u95f4 \u4e0d\u4f1a \u66f4\u65b0 \u5b83\u4eec \uff0c \u76f4\u5230 \u89e3\u51bb \u3002   \u53c2\u6570 :   frozen   (   bool   )   ground _ projection   (   self   ,   location   ,   search _ distance   )   \u5728 \u573a\u666f \u4e2d \u5411\u4e0b \u6295\u5f71 \u6307\u5b9a \u70b9 \u3002 \u8fd9\u4e9b \u51fd\u6570 \u4ece \u4f4d\u7f6e   ( 0 , 0 , - 1 ) \uff08 \u5411\u4e0b \uff09 \u6295\u5c04 \u4e00\u6761 \u5c04\u7ebf \uff0c \u5e76 \u8fd4\u56de \u4e00\u4e2a   carla . LabelledPoint   \u5bf9\u8c61 \uff0c \u8be5 \u5bf9\u8c61 \u5177\u6709 \u8be5 \u5c04\u7ebf \u76f8\u4ea4 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u51e0\u4f55 \u51e0\u4f55\u4f53 \uff08 \u901a\u5e38 \u662f \u5730\u9762 \uff09 \u3002 \u5982\u679c \u5728   search _ distance   \u8303\u56f4 \u5185 \u627e\u5230 \u672a\u627e\u5230 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \uff0c \u5219 \u51fd\u6570 \u8fd4\u56de   None   \u3002   \u53c2\u6570 :   location   (   carla . Location   )   -   \u8981 \u6295\u5f71 \u7684 \u70b9 \u3002   search _ distance   (   float   )   -   \u6267\u884c \u6295\u5f71 \u7684 \u6700\u5927 \u8ddd\u79bb \u3002   \u8fd4\u56de :   carla . LabelledPoint   load _ map _ layer   (   self   ,   map _ layers   )   snippet   \u2192   \u52a0\u8f7d \u56fe\u5c42 \u5230 \u6307\u5b9a \u5c42\u6b21 \u3002 \u5982\u679c \u8be5 \u5c42\u6b21 \u5df2\u7ecf \u52a0\u8f7d \u5219 \u6ca1\u6709 \u4efb\u4f55 \u6548\u679c \u3002   \u53c2\u6570 \uff1a   map _ layers   (   carla . MapLayer   )   -   \u52a0\u8f7d \u5230 \u6307\u5b9a \u5c42\u6b21 \u7684 \u63a9\u819c \u3002   \u8b66\u544a \uff1a   \u8fd9 \u4ec5\u4ec5 \u5f71\u54cd \u5206\u5c42 \uff08 Opt \uff09 \u5730\u56fe \u3002 \u6700\u5c0f \u5e03\u5c40 \u5305\u62ec \u9053\u8def \u3001 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3002   on _ tick   (   self   ,   callback   )   \u6b64 \u65b9\u6cd5 \u7528\u4e8e \u5f02\u6b65 \u6a21\u5f0f \u3002 \u5b83 \u4ece \u5ba2\u6237 \u5ba2\u6237\u7aef \u5b9a\u4e49 \u7684   callback   \u51fd\u6570 \u542f\u52a8 \u56de\u8c03 \uff0c \u5e76 \u8fd4\u56de \u56de\u8c03 \u7684   ID \u3002 \u6bcf\u5f53 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53d1\u51fa \u65f6 \u8282\u62cd \u65f6 \uff0c \u5c31 \u4f1a \u8c03\u7528 \u8be5 \u51fd\u6570 \u3002 \u5b83 \u9700\u8981 \u4e00\u4e2a   carla . WorldSnapshot   \u4f5c\u4e3a \u53c2\u6570 \uff0c \u8fd9 \u53ef\u4ee5 \u4ece   wait _ for _ tick ( )   \u83b7\u5f97 \u3002 \u4f7f\u7528   remove _ on _ tick ( )   \u6765 \u505c\u6b62 \u56de\u8c03 \u3002   \u53c2\u6570 \uff1a   callback   (   carla . WorldSnapshot   )   -   \u5c06 \u5feb\u7167 \u4f5c\u4e3a \u5f3a\u5236 \u53c2\u6570 \u7684 \u51fd\u6570 \uff0c \u5f53 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6536\u5230 \u8282\u62cd \u65f6 \u5c06 \u8c03\u7528 \u8be5 \u51fd\u6570 \u3002   \u8fd4\u56de :   int   project _ point   (   self   ,   location   ,   direction   ,   search _ distance   )   \u5c06 \u6307\u5b9a \u70b9 \u6295\u5f71 \u5230 \u573a\u666f \u4e2d \u7684 \u6240 \u9700 \u65b9\u5411 \u3002 \u8fd9\u4e9b \u51fd\u6570 \u4ece \u67d0\u4e2a \u65b9\u5411 \u7684 \u67d0\u4e2a \u4f4d\u7f6e \u6295\u5c04 \u4e00\u6761 \u5c04\u7ebf \uff0c \u5e76 \u8fd4\u56de \u4e00\u4e2a \u5e26\u6709 \u8be5 \u5c04\u7ebf \u76f8\u4ea4 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u51e0\u4f55 \u51e0\u4f55\u4f53 \u7684   carla . Labelled   \u5bf9\u8c61 \u3002 \u5982\u679c \u5728   search _ distance   \u8303\u56f4 \u5185 \u627e\u5230 \u672a\u627e\u5230 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \uff0c \u5219 \u51fd\u6570 \u8fd4\u56de   None   \u3002   \u53c2\u6570 :   location   (   carla . Location   )   -   \u8981 \u6295\u5f71 \u7684 \u70b9 \u3002   direction   (   carla . Vector3D   )   -   \u6295\u5f71 \u65b9\u5411 \u3002   search _ distance   (   float   )   -   \u6267\u884c \u6295\u5f71 \u7684 \u6700\u5927 \u8ddd\u79bb \u3002   \u8fd4\u56de :   carla . LabelledPoint   remove _ on _ tick   (   self   ,   callback _ id   )   \u505c\u6b62 \u4ee5   on _ tick ( )   \u542f\u52a8 \u7684 \u56de\u8c03   callback _ id   \u3002   \u53c2\u6570 :   callback _ id   (   callback   )   -   \u8981 \u5220\u9664 \u7684 \u56de\u8c03 \u3002 \u521b\u5efa \u56de\u8c03 \u65f6 \u8fd4\u56de ID \u3002   reset _ all _ traffic _ lights   (   self   )   \u5c06 \u5730\u56fe \u4e2d \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5468\u671f \u91cd\u7f6e \u4e3a \u521d\u59cb \u72b6\u6001 \u521d\u59cb\u72b6\u6001 \u3002   spawn _ actor   (   self   ,   blueprint   ,   transform   ,   attach _ to   = None   ,   attachment   = Rigid   )   snippet   \u2192   \u8be5 \u65b9\u6cd5 \u5c06 \u521b\u5efa \u3001 \u8fd4\u56de \u5e76 \u751f\u6210 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5230 \u4e16\u754c \u4e2d \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u9700\u8981 \u521b\u5efa \u53ef\u7528 \u7684 \u84dd\u56fe \u548c \u53d8\u6362 \uff08 \u4f4d\u7f6e \u548c \u65cb\u8f6c \uff09 \u3002 \u5b83 \u8fd8 \u53ef\u4ee5 \u9644\u52a0 \u5230 \u5177\u6709 \u7279\u5b9a \u9644\u4ef6 \u7c7b\u578b \u7684 \u7236\u7ea7 \u3002   \u53c2\u6570 :   blueprint   (   carla . ActorBlueprint   )   -   \u5c06 \u521b\u5efa \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5f15\u7528 \u3002   transform   (   carla . Transform   )   -   \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u751f\u6210 \u65f6 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002   attach _ to   (   carla . Actor   )   -   \u751f\u6210 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u8ddf\u968f \u7684 \u7236 \u5bf9\u8c61 \u3002   attachment   (   carla . AttachmentType   )   -   \u6839\u636e \u5176\u7236 \u5bf9\u8c61 \u786e\u5b9a \u4f4d\u7f6e \u53d8\u5316 \u7684 \u56fa\u5b9a \u548c \u4e25\u5bc6 \u7a0b\u5ea6 \u3002   \u8fd4\u56de :   carla . Actor   tick   (   self   ,   seconds   = 10.0   )   \u8be5 \u65b9\u6cd5 \u7528\u4e8e   \u540c\u6b65   \u6a21\u5f0f \uff0c \u5373 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5728 \u8ba1\u7b97 \u4e0b \u4e00\u5e27 \u4e4b\u524d \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5ba2\u6237 \u5ba2\u6237\u7aef \u8282\u62cd \u4fe1\u53f7 \u3002 \u8fd9\u4e2a \u65b9\u6cd5 \u5c06 \u53d1\u9001 \u8282\u62cd \u4fe1\u53f7 \uff0c \u5e76 \u8ba9 \u4f4d\u4e8e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u5b83 \u8fd4\u56de \u7531 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8ba1\u7b97 \u7684 \u65b0 \u5e27 ID \u3002   \u53c2\u6570 \uff1a   seconds   (   float   -   \u79d2   )   -   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5e94\u8be5 \u7b49\u5f85 \u8282\u62cd \u4fe1\u53f7 \u7684 \u6700\u5927 \u65f6\u95f4 \u3002 \u5b83 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e3a   10.0   \u3002   \u8fd4\u56de \uff1a   int   \u6ce8\u610f \uff1a   \u5982\u679c \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u6ca1\u6709 \u6536\u5230 \u8282\u62cd \u4fe1\u53f7 \uff0c \u4eff\u771f \u5c06 \u51bb\u7ed3 \u3002 \u6b64\u5916 \uff0c \u5982\u679c \u4ece \u4e0d\u540c \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u63a5\u6536 \u5230 \u8bb8\u591a \u8282\u62cd \u4fe1\u53f7 \uff0c \u5219 \u53ef\u80fd \u5b58\u5728 \u540c\u6b65 \u95ee\u9898 \u3002 \u8bf7 \u9605\u8bfb \u6709\u5173   __ \u540c\u6b65 \u6a21\u5f0f __   \u7684 \u6587\u6863 \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   try _ spawn _ actor   (   self   ,   blueprint   ,   transform   ,   attach _ to   = None   ,   attachment   = Rigid   )   \u548c   spawn _ actor ( )   \u4e00\u6837 \uff0c \u4f46\u662f \u5355 \u5931\u8d25 \u65f6\u5019 \u8fd4\u56de   None   \u800c \u4e0d\u662f \u629b\u51fa \u5f02\u5e38 \u3002   \u53c2\u6570 \uff1a   blueprint   (   carla . ActorBlueprint   )   -   \u5c06 \u4ece\u4e2d \u521b\u5efa \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5f15\u7528 \u3002   transform   (   carla . Transform   )   -   \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u4f7f\u7528 \u7684 \u4f4d\u7f6e \u548c \u671d\u5411 \u3002   attach _ to   (   carla . Actor   )   -   \u6d3e\u751f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u8ddf\u968f \u7684 \u7236 \u5bf9\u8c61 \u3002   attachment   (   carla . AttachmentType   )   -   \u6839\u636e \u5176\u7236 \u5bf9\u8c61 \u786e\u5b9a \u4f4d\u7f6e \u66f4\u6539 \u7684 \u56fa\u5b9a \u548c \u4e25\u683c \u7a0b\u5ea6 \u3002   \u8fd4\u56de \uff1a   carla . Actor   unload _ map _ layer   (   self   ,   map _ layers   )   snippet   \u2192   \u5c06 \u9009\u5b9a \u7684 \u56fe\u5c42 \u5378\u8f7d \u5230 \u6307\u5b9a \u5c42\u6b21 \u3002 \u5982\u679c \u5c42 \u5df2\u7ecf \u5378\u8f7d \uff0c \u5219 \u8c03\u7528 \u6ca1\u6709 \u4efb\u4f55 \u6548\u679c \u3002   \u53c2\u6570 :   map _ layers   (   carla . MapLayer   )   -   \u8981 \u5378\u8f7d \u56fe\u5c42 \u7684 \u63a9\u819c \u3002   \u8b66\u544a :   \u8fd9 \u4ec5\u4ec5 \u5f71\u54cd \u5206\u5c42 \uff08 Opt \uff09 \u5730\u56fe \u3002 \u6700\u5c0f \u5e03\u5c40 \u5305\u62ec \u9053\u8def \u3001 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3002   wait _ for _ tick   (   self   ,   seconds   = 10.0   )   \u8be5 \u65b9\u6cd5 \u4f7f\u7528 \u5f02\u6b65 \u6a21\u5f0f \u3002 \u5b83 \u4f7f \u5ba2\u6237 \u5ba2\u6237\u7aef \u7b49\u5f85 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8282\u62cd \u4fe1\u53f7 \u3002 \u5f53 \u8ba1\u7b97 \u4e0b \u4e00\u5e27 \u65f6 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u52fe\u9009 \u5e76 \u8fd4\u56de \u63cf\u8ff0 \u4e16\u754c \u65b0 \u72b6\u6001 \u7684 \u5feb\u7167 \u3002   \u53c2\u6570 :   seconds   (   float   -   seconds   )   -   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7b49\u5f85 \u6ef4\u7b54 \u7684 \u6700\u957f \u65f6\u95f4 \u3002 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e3a   10.0   \u3002   \u8fd4\u56de :   carla . WorldSnapshot","title":"\u65b9\u6cd5"},{"location":"python_api/#_245","text":"get _ actor   (   self   ,   actor _ id   )   \u901a\u8fc7   ID   \u67e5\u627e \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5982\u679c \u627e\u5230 \u672a\u627e\u5230 \u5219 \u8fd4\u56de   None   \u3002   \u53c2\u6570 :   actor _ id   (   int   )   \u8fd4\u56de :   carla . Actor   get _ actors   (   self   ,   actor _ ids   = None   )   \u68c0\u7d22   carla . Actor   \u5143\u7d20 \u5217\u8868 \uff0c \u4f7f\u7528 \u63d0\u4f9b \u7684   ID   \u5217\u8868 \u6216\u4ec5 \u5217\u51fa \u821e\u53f0 \u4e0a \u7684 \u6bcf\u4e2a \u4eba \u3002 \u5982\u679c \u4e00\u4e2a ID \u4e0d \u4e0e \u4efb\u4f55 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u76f8\u5bf9 \u5e94 \uff0c \u5b83 \u5c06 \u88ab \u6392\u9664 \u5728 \u8fd4\u56de \u7684 \u5217\u8868 \u4e4b\u5916 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 ID \u5217\u8868 \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \u53ef\u80fd \u5177\u6709 \u4e0d\u540c \u7684 \u957f\u5ea6 \u3002   \u53c2\u6570 :   actor _ ids   (   list   )   -   \u6b63\u5728 \u641c\u7d22 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u8bbe\u7f6e \u4e3a   None   \u5e76 \u8fd4\u56de \u573a\u666f \u4e2d \u7684 \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8fd4\u56de :   carla . ActorList   get _ blueprint _ library   (   self   )   \u8fd4\u56de \u53ef\u7528 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u84dd\u56fe \u5217\u8868 \uff0c \u4ee5 \u65b9\u4fbf \u5b83\u4eec \u5728 \u4e16\u754c \u4e2d \u7684 \u751f\u6210 \u3002   \u8fd4\u56de :   carla . BlueprintLibrary   get _ environment _ objects   (   self   ,   object _ type   = Any   )   \u8fd4\u56de \u5177\u6709 \u8bf7\u6c42 \u7684 \u8bed\u4e49 \u6807\u8bb0 \u7684   EnvironmentObject   \u5217\u8868 \u3002 \u8be5 \u65b9\u6cd5 \u9ed8\u8ba4 \u8fd4\u56de \u5173\u5361 \u4e2d \u7684 \u6240\u6709 \u73af\u5883 \u5bf9\u8c61 \uff0c \u4f46 \u53ef\u4ee5 \u4f7f\u7528   object _ type   \u53c2\u6570 \u901a\u8fc7 \u8bed\u4e49 \u6807\u7b7e \u8fc7\u6ee4 \u67e5\u8be2 \u3002   \u53c2\u6570 :   object _ type   (   carla . CityObjectLabel   )   -   Semantic   tag   of   the   \u8fd4\u56de \u7684   EnvironmentObjects \u3002   \u8fd4\u56de :   array (   carla . EnvironmentObject   )   get _ level _ bbs   (   self   ,   actor _ type   = Any   )   \u8fd4\u56de \u4e00\u4e2a \u8fb9\u754c \u6846 \u6570\u7ec4 \uff0c \u5176\u4e2d \u5305\u542b \u4e16\u754c \u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002 \u8be5 \u65b9\u6cd5 \u9ed8\u8ba4 \u8fd4\u56de \u8be5 \u7ea7\u522b \u4e2d \u7684 \u6240\u6709 \u8fb9\u754c \u6846 \uff0c \u4f46 \u53ef\u4ee5 \u4f7f\u7528   actor _ type   \u53c2\u6570 \u901a\u8fc7 \u8bed\u4e49 \u6807\u7b7e \u8fc7\u6ee4 \u67e5\u8be2 \u3002   \u53c2\u6570 :   actor _ type   (   carla . CityObjectLabel   )   -   \u8fd4\u56de \u7684 \u8fb9\u754c \u6846\u4e2d \u5305\u542b \u7684 \u5143\u7d20 \u7684 \u8bed\u4e49 \u6807\u7b7e \u3002   \u8fd4\u56de :   array (   carla . BoundingBox   )   get _ lightmanager   (   self   )   \u8fd4\u56de   carla . LightManager   \u7684 \u5b9e\u4f8b \uff0c \u53ef \u7528\u4e8e \u5904\u7406 \u573a\u666f \u4e2d \u7684 \u706f\u5149 \u3002   \u8fd4\u56de :   carla . LightManager   get _ map   (   self   )   \u5411 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bf7\u6c42 \u5305\u542b \u6620\u5c04 \u6587\u4ef6 \u7684   XODR \uff0c \u5e76 \u5c06 \u5176 \u89e3\u6790 \u4e3a   carla . Map   \u8fd4\u56de \u3002   \u8fd4\u56de :   carla . Map   \u8b66\u544a :   \u6b64 \u65b9\u6cd5 \u786e\u5b9e \u8c03\u7528 \u4eff\u771f \u3002 \u5b83 \u4ee3\u4ef7 \u5f88 \u9ad8 \uff0c \u5e76\u4e14 \u53ea\u80fd \u8c03\u7528 \u4e00\u6b21 \u3002   get _ names _ of _ all _ objects   (   self   )   \u8fd4\u56de \u573a\u666f \u4e2d \u53ef\u4ee5 \u4f7f\u7528 \u5e94\u7528 \u7eb9\u7406 \u51fd\u6570 \u7ed8\u5236 \u7684 \u6240\u6709 \u5bf9\u8c61 \u7684 \u540d\u79f0 \u5217\u8868 \u3002   \u8fd4\u56de :   list ( str )   get _ random _ location _ from _ navigation   (   self   )   \u8fd9 \u53ea\u80fd \u4e0e \u884c\u4eba \u4e00\u8d77 \u4f7f\u7528 \u3002 \u5b83 \u4f7f\u7528   carla . WalkerAIController   \u4e2d \u7684   go _ to _ location ( )   \u65b9\u6cd5 \u68c0\u7d22 \u8981 \u7528\u4f5c \u76ee\u7684 \u76ee\u7684\u5730 \u7684 \u968f\u673a \u4f4d\u7f6e \u3002 \u8be5 \u4f4d\u7f6e \u5c06 \u662f \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u9053\u8def \u3001 \u4eba\u884c \u4eba\u884c\u6a2a\u9053 \u548c \u8349\u5730 \u533a\u57df \u4e0d \u5305\u62ec \u5728\u5185 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8003\u8651 \u73b0\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \uff0c \u56e0\u6b64 \u5982\u679c \u5728 \u5c1d\u8bd5 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \u53d1\u751f \u78b0\u649e \uff0c \u5b83 \u5c06 \u8fd4\u56de \u9519\u8bef \u3002 \u770b \u4e00\u4e0b \u4f8b\u5b50   generate _ traffic . py   \u3002   \u8fd4\u56de :   carla . Location   get _ settings   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u5bf9\u8c61 \uff0c \u5176\u4e2d \u5305\u542b \u6709\u5173 \u4eff\u771f \u7684 \u4e00\u4e9b \u6570\u636e \uff0c \u4f8b\u5982 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u7684 \u540c\u6b65 \u6216 \u6e32\u67d3 \u6a21\u5f0f \u3002   \u8fd4\u56de :   carla . WorldSettings   get _ snapshot   (   self   )   \u8fd4\u56de \u67d0\u4e2a \u65f6\u523b \u7684 \u4e16\u754c \u5feb\u7167 \uff0c \u5305\u542b \u6709\u5173 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6240\u6709 \u4fe1\u606f \u3002   \u8fd4\u56de :   carla . WorldSnapshot   get _ spectator   (   self   )   snippet   \u2192   \u8fd4\u56de \u89c2\u5bdf \u89c2\u5bdf\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u662f \u865a\u5e7b \u5f15\u64ce \u521b\u5efa \u7684 \u4e00\u79cd \u7279\u6b8a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u901a\u5e38 ID = 0 \uff0c \u5145\u5f53 \u6444\u50cf \u6444\u50cf\u673a \u5e76 \u63a7\u5236 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7a97\u53e3 \u4e2d \u7684 \u89c6\u56fe \u3002   \u8fd4\u56de :   carla . Actor   get _ traffic _ light   (   self   ,   landmark   )   \u63d0\u4f9b \u4e00\u4e2a \u5730\u6807 \uff0c \u8fd4\u56de \u5b83 \u63cf\u8ff0 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u5bf9\u8c61 \u3002   \u53c2\u6570 :   landmark   (   carla . Landmark   )   -   \u63cf\u8ff0 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5730\u6807 \u5bf9\u8c61 \u3002   \u8fd4\u56de :   carla . TrafficLight   get _ traffic _ light _ from _ opendrive _ id   (   self   ,   traffic _ light _ id   )   \u8fd4\u56de \u4e0e \u6307\u793a \u7684   OpenDRIVE   id   \u5bf9\u5e94 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u53c2\u6570 :   traffic _ light _ id   (   str   )   -   The   OpenDRIVE   id .   \u8fd4\u56de :   carla . TrafficLight   get _ traffic _ lights _ from _ waypoint   (   self   ,   waypoint   ,   distance   )   \u6b64 \u51fd\u6570 \u6cbf\u7740 \u6307\u5b9a \u8def\u70b9 \u524d\u9762 \u7684 \u9053\u8def \u6267\u884c \u641c\u7d22 \uff0c \u5e76 \u8fd4\u56de \u5728 \u6307\u5b9a \u641c\u7d22 \u8ddd\u79bb \u5185 \u627e\u5230 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \u3002   \u53c2\u6570 :   waypoint   (   carla . Waypoint   )   -   \u8f93\u5165 \u8def\u5f84 \u70b9 \u3002   distance   (   float   )   -   \u641c\u7d22 \u8ddd\u79bb \u3002   \u8fd4\u56de :   list (   carla . TrafficLight   )   get _ traffic _ lights _ in _ junction   (   self   ,   junction _ id   )   \u8fd4\u56de \u5f71\u54cd   junction _ id   \u4e2d \u6307\u793a \u7684 \u8def\u53e3 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \u3002   \u53c2\u6570 :   junction _ id   (   int   )   -   \u8fde\u63a5 \u63a5\u70b9 \u8fde\u63a5\u70b9 \u7684   id \u3002   \u8fd4\u56de :   list (   carla . TrafficLight   )   get _ traffic _ sign   (   self   ,   landmark   )   \u63d0\u4f9b \u4e00\u4e2a \u5730\u6807 \uff0c \u8fd4\u56de \u5b83 \u63cf\u8ff0 \u7684 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u5bf9\u8c61 \u3002   \u53c2\u6570 :   landmark   (   carla . Landmark   )   -   \u63cf\u8ff0 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u7684 \u5730\u6807 \u5bf9\u8c61 \u3002   \u8fd4\u56de :   carla . TrafficSign   get _ vehicles _ light _ states   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u952e \u662f   carla . Actor   ID \uff0c \u503c \u662f \u8be5 \u8f66\u8f86 \u7684   carla . VehicleLightState   \u3002   \u8fd4\u56de :   dict   get _ weather   (   self   )   \u68c0\u7d22 \u5305\u542b \u4eff\u771f \u4e2d \u5f53\u524d \u6d3b\u52a8 \u7684 \u5929\u6c14 \u53c2\u6570 \u7684 \u5bf9\u8c61 \uff0c \u4e3b\u8981 \u662f \u4e91\u91cf \u3001 \u964d\u6c34 \u6c34\u91cf \u964d\u6c34\u91cf \u3001 \u98ce \u548c \u592a\u9633 \u4f4d\u7f6e \u3002   \u8fd4\u56de :   carla . WeatherParameters   Setter :   carla . World . set _ weather","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_246","text":"set _ pedestrians _ cross _ factor   (   self   ,   percentage   )   \u53c2\u6570 :   percentage   (   float   )   -   \u8bbe\u7f6e \u53ef\u4ee5 \u5728 \u9053\u8def \u4e0a \u884c\u8d70 \u6216 \u5728 \u9053\u8def \u4e0a \u7684 \u4efb\u4f55 \u70b9 \u7a7f\u8d8a \u7684 \u884c\u4eba \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002 \u503c\u5e94 \u4ecb\u4e8e   0.0   \u548c \u4e4b\u95f4   1.0   \u3002 \u4f8b\u5982 \uff0c \u503c   0.1   \u8868\u793a \u5141\u8bb8   10%   \u7684 \u884c\u4eba \u5728 \u9053\u8def \u4e0a \u884c\u8d70 \u3002   \u9ed8\u8ba4 \u4e3a   0.0   \u3002   \u7b14\u8bb0 :   \u5e94 \u5728 \u884c\u4eba \u751f\u6210 \u4e4b\u524d \u8bbe\u7f6e \u3002   set _ pedestrians _ seed   (   self   ,   seed   )   \u53c2\u6570 :   seed   (   int   )   -   \u8bbe\u7f6e \u7528\u4e8e \u751f\u6210 \u4e0e \u884c\u4eba \u76f8\u5173 \u7684 \u4efb\u4f55 \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u7684 \u79cd\u5b50 \u3002   \u7b14\u8bb0 :   \u5e94 \u5728 \u884c\u4eba \u751f\u6210 \u4e4b\u524d \u8bbe\u7f6e \u3002 \u5982\u679c \u60a8 \u60f3 \u4e3a \u6bcf\u4e2a \u884c\u4eba \u91cd\u590d \u76f8\u540c \u7684 \u8eab\u4f53 \uff08 \u84dd\u56fe \uff09 \uff0c \u8bf7 \u5728   Python   \u4ee3\u7801 \uff08 \u968f\u673a \u9009\u62e9 \u84dd\u56fe \uff09 \u548c \u6b64\u5904 \u4f7f\u7528 \u76f8\u540c \u7684 \u79cd\u5b50 \uff0c \u5426\u5219 \u884c\u4eba \u5c06 \u91cd\u590d \u76f8\u540c \u7684 \u8def\u5f84 \uff0c \u4f46 \u8eab\u4f53 \u4f1a \u4e0d\u540c \u3002   set _ weather   (   self   ,   weather   )   \u5c06 \u4eff\u771f \u7684 \u5929\u6c14 \u53c2\u6570 \u66f4 \u6539\u4e3a \u5bf9\u8c61 \u4e2d \u5b9a\u4e49 \u7684 \u5176\u4ed6 \u53c2\u6570 \u3002   \u53c2\u6570 :   weather   (   carla . WeatherParameters   )   -   \u8981 \u5e94\u7528 \u7684 \u65b0 \u6761\u4ef6 \u3002   \u83b7\u53d6 \u5668 :   carla . World . get _ weather","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_247","text":"__ str __   (   self   )   \u4e16\u754c \u7684 \u5185\u5bb9 \u88ab \u89e3\u6790 \u6253\u5370 \u5e76\u6253\u5370 \u4e3a \u5f53\u524d \u72b6\u6001 \u7684 \u7b80\u77ed \u62a5\u544a \u3002   \u8fd4\u56de :   string","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaworldsettings","text":"\u8be5 \u4eff\u771f \u5177\u6709 \u4e00\u4e9b \u9ad8\u7ea7 \u914d\u7f6e \u9009\u9879 \uff0c \u8fd9\u4e9b \u9009\u9879 \u5305\u542b \u5728 \u6b64\u7c7b \u4e2d \uff0c \u5e76\u4e14 \u53ef\u4ee5 \u4f7f\u7528   carla . World   \u53ca\u5176 \u65b9\u6cd5 \u8fdb\u884c \u7ba1\u7406 \u3002 \u8fd9\u4e9b \u5141\u8bb8 \u7528\u6237 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540c\u6b65 / \u5f02\u6b65 \u3001 \u6fc0\u6d3b \u201c \u65e0 \u6e32\u67d3 \u6a21\u5f0f \u201d \u4ee5\u53ca \u4eff\u771f \u662f\u5426 \u5e94 \u4ee5 \u56fa\u5b9a \u6216 \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \u8fd0\u884c \u4e4b\u95f4 \u8fdb\u884c \u9009\u62e9 \u3002 \u5982\u679c \u60a8 \u60f3 \u4e86\u89e3 \u7684\u8bdd   \u8bf7 \u67e5\u770b   \u6b64 \u5185\u5bb9   \u3002","title":"carla . WorldSettings"},{"location":"python_api/#_248","text":"synchronous _ mode   (   bool   )   \u8868\u793a \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u7684 \u540c\u6b65 \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   true   \u65f6 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6ef4\u7b54 \u4ee5\u4fbf \u7ee7\u7eed \u524d\u8fdb \u7ee7\u7eed\u524d\u8fdb \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u4e3a   false \u3002   no _ rendering _ mode   (   bool   )   \u542f\u7528 \u540e \uff0c \u4eff\u771f \u5c06 \u6839\u672c \u4e0d \u8fd0\u884c \u6e32\u67d3 \u3002 \u8fd9 \u4e3b\u8981 \u7528\u4e8e \u907f\u514d \u7e41\u5fd9 \u4ea4\u901a \u4eff\u771f \u671f\u95f4 \u7684 \u5f00\u9500 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u4e3a   false \u3002   fixed _ delta _ seconds   (   float   )   \u786e\u4fdd \u4eff\u771f \u7684 \u4e24\u4e2a \u6b65\u9aa4 \u4e4b\u95f4 \u7ecf\u8fc7 \u7684 \u65f6\u95f4 \u662f \u56fa\u5b9a \u7684 \u3002 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   0.0   \u4ee5 \u4f7f\u7528 \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \uff0c \u5c31 \u50cf \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u53d1\u751f \u7684 \u90a3\u6837 \u3002   substepping   (   bool   )   \u542f\u7528 \u7269\u7406 \u5b50 \u6b65\u8fdb \u3002 \u6b64 \u9009\u9879 \u5141\u8bb8 \u8ba1\u7b97 \u4e24\u4e2a \u6e32\u67d3 \u5e27 \u4e4b\u95f4 \u7684 \u4e00\u4e9b \u7269\u7406 \u5b50 \u6b65\u9aa4 \u3002 \u5982\u679c \u8bbe\u7f6e \u4e86 \u540c\u6b65 \u6a21\u5f0f \uff0c \u5219 \u5b50 \u6b65\u9aa4 \u7684 \u6570\u91cf \u53ca\u5176 \u65f6\u95f4 \u95f4\u9694 \u662f \u56fa\u5b9a \u7684 \u5e76 \u8fdb\u884c \u8ba1\u7b97 \uff0c \u4ee5\u4fbf \u6ee1\u8db3   carla . WorldSettings . max _ substep   \u548c   carla . WorldSettings . max _ substep _ delta _ time   \u7684 \u8981\u6c42 \u3002 \u6700\u540e \u4e24\u4e2a \u53c2\u6570 \u9700\u8981 \u4e0e   carla . WorldSettings . fixed _ delta _ seconds   \u517c\u5bb9 \u3002 \u9ed8\u8ba4 \u542f\u7528 \u3002   max _ substep _ delta _ time   (   float   )   \u5b50 \u6b65\u9aa4 \u7684 \u6700\u5927 \u589e\u91cf \u65f6\u95f4 \u3002 \u5982\u679c   carla . WorldSettingsmax _ substep   \u8db3\u591f \u9ad8 \uff0c \u5219 \u5b50\u6b65 \u589e\u91cf \u65f6\u95f4 \u5c06 \u59cb\u7ec8 \u4f4e\u4e8e \u6216 \u7b49\u4e8e \u8be5\u503c \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8be5\u503c \u8bbe\u7f6e \u4e3a   0.01 \u3002   max _ substeps   (   int   )   \u5141\u8bb8 \u7684 \u6700\u5927 \u7269\u7406 \u5b50 \u6b65\u6570 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8be5\u503c \u8bbe\u7f6e \u4e3a   10 \u3002   max _ culling _ distance   (   float   )   \u914d\u7f6e \u5173\u5361 \u4e2d \u6bcf\u4e2a \u7f51\u683c \u7684 \u6700\u5927 \u7ed8\u5236 \u8ddd\u79bb \u3002   deterministic _ ragdolls   (   bool   )   \u5b9a\u4e49 \u662f\u5426 \u5bf9 \u884c\u4eba \u6b7b\u4ea1 \u52a8\u753b \u6216 \u7269\u7406 \u5a03\u5a03 \u5e03\u5a03\u5a03 \u4eff\u771f \u4f7f\u7528 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u7269\u7406 \u3002 \u542f\u7528 \u540e \uff0c \u884c\u4eba \u7684 \u6b7b\u4ea1 \u52a8\u753b \u4e0d\u592a \u771f\u5b9e \uff0c \u4f46 \u786e\u4fdd \u4e86 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u3002 \u7981\u7528 \u540e \uff0c \u884c\u4eba \u5c06 \u88ab \u4eff\u771f \u4e3a \u5a03\u5a03 \u5e03\u5a03\u5a03 \uff0c \u5177\u6709 \u66f4 \u771f\u5b9e \u7684 \u4eff\u771f \u548c \u78b0\u649e \uff0c \u4f46 \u65e0\u6cd5 \u786e\u4fdd \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u3002   tile _ stream _ distance   (   float   )   \u4ec5 \u7528\u4e8e \u5927\u578b \u5730\u56fe \u3002 \u914d\u7f6e \u4ece \u82f1\u96c4 \u8f66\u8f86 \u4f20\u8f93 \u74e6\u7247 \u5730\u56fe \u7684 \u6700\u5927 \u8ddd\u79bb \u3002 \u6b64 \u8303\u56f4 \u5185 \u7684 \u5730\u56fe \u533a\u57df \u5c06 \u53ef\u89c1 \uff08 \u5e76\u4e14 \u80fd\u591f \u4eff\u771f \u7269\u7406 \uff09 \u3002 \u8be5 \u533a\u57df \u4e4b\u5916 \u7684 \u533a\u57df \u5c06 \u4e0d\u4f1a \u88ab \u52a0\u8f7d \u3002   actor _ active _ distance   (   float   )   \u4ec5 \u7528\u4e8e \u5927\u578b \u5730\u56fe \u3002 \u914d\u7f6e \u4e0e \u82f1\u96c4 \u8f66\u8f86 \u7684 \u8ddd\u79bb \u4ee5 \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8f6c\u6362 \u4e3a \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002 \u5728 \u6b64 \u8303\u56f4 \u5185 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u5904\u4e8e \u6d3b\u8dc3 \u72b6\u6001 \uff0c \u800c \u5728 \u8be5 \u8303\u56f4 \u4e4b\u5916 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002   spectator _ as _ ego   (   bool   )   \u4ec5 \u7528\u4e8e \u5927\u578b \u5730\u56fe \u3002 \u5b9a\u4e49 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u5bf9\u5927 \u5730\u56fe \u4e2d \u56fe\u5757 \u52a0\u8f7d \u7684 \u5f71\u54cd \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5728 \u6ca1\u6709 \u81ea\u6211 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u89c2\u5bdf \u89c2\u5bdf\u8005 \u5c06 \u5f15\u53d1 \u76f8\u90bb \u56fe\u5757 \u7684 \u52a0\u8f7d \u3002 \u5bf9\u4e8e \u7acb\u5373 \u4ea7\u751f \u81ea\u6211 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u6765\u8bf4 \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u5e26\u6765 \u4e0d\u4fbf \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_249","text":"__ init __   (   self   ,   synchronous _ mode   = False   ,   no _ rendering _ mode   = False   ,   fixed _ delta _ seconds   = 0.0   ,   max _ culling _ distance   = 0.0   ,   deterministic _ ragdolls   = False   ,   tile _ stream _ distance   = 3000   ,   actor _ active _ distance   = 2000   ,   spectator _ as _ ego   = True   )   \u521b\u5efa \u4e00\u4e2a \u5305\u542b \u6240 \u9700 \u8bbe\u7f6e \u7684 \u5bf9\u8c61 \uff0c \u8fd9\u4e9b \u8bbe\u7f6e \u7a0d\u540e \u53ef\u4ee5 \u901a\u8fc7   carla . World   \u53ca\u5176 \u65b9\u6cd5   apply _ settings ( )   \u5e94\u7528 \u3002   \u53c2\u6570 :   synchronous _ mode   (   bool   )   -   \u542f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5219 \u8bbe\u7f6e \u4e3a   true \u3002   no _ rendering _ mode   (   bool   )   -   \u5728 \u4eff\u771f \u4e2d \u5b8c\u5168 \u7981\u7528 \u6e32\u67d3 \u5219 \u8bbe\u7f6e \u4e3a   true \u3002   fixed _ delta _ seconds   (   float   -   seconds   )   -   \u5728 \u5e27 \u4e4b\u95f4 \u8bbe\u7f6e \u4e3a \u56fa\u5b9a \u7684 \u6b65\u957f \u3002   0.0   \u610f\u5473 \u610f\u5473\u7740 \u53d8 \u6b65\u957f \u4e14 \u4e3a \u6a21\u5f0f \u6a21\u5f0f \u3002   max _ culling _ distance   (   float   -   \u7c73   )   -   \u5bf9\u4e8e \u5173\u5361 \u7684 \u6bcf \u4e00\u4e2a \u7f51\u683c \u914d\u7f6e \u6700\u5927 \u7684 \u7ed8\u5236 \u8ddd\u79bb \u3002   deterministic _ ragdolls   (   bool   )   -   \u5bf9\u4e8e \u884c\u4eba \u6b7b\u4ea1 \u4f7f\u7528 \u786e\u5b9a \u7684 \u7269\u7406 \u6216 \u5a03\u5a03 \u5e03\u5a03\u5a03 \u4eff\u771f \u5b9a\u4e49 wether \u3002   tile _ stream _ distance   (   float   -   \u7c73   )   -   \u4ec5 \u7528\u4e8e \u5927 \u5730\u56fe \u3002 \u4ece \u82f1\u96c4 \u8f66\u8f86 \u5230\u6d41 \u74e6\u7247 \u5730\u56fe \u914d\u7f6e \u6700\u5927 \u8ddd\u79bb \u3002   actor _ active _ distance   (   float   -   \u7c73   )   -   \u4ec5 \u7528\u4e8e \u5927 \u5730\u56fe \u3002 \u914d\u7f6e \u4e0e \u82f1\u96c4 \u8f66\u8f86 \u7684 \u8ddd\u79bb \u4ee5 \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8f6c\u6362 \u4e3a \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002   spectator _ as _ ego   (   bool   )   -   \u4ec5 \u7528\u4e8e \u5927 \u5730\u56fe \u3002 \u5728 \u5927\u578b \u8d34\u56fe \u4e2d \u5b9a\u4e49 \u89c2\u4f17 \u5bf9 \u5e73\u94fa \u52a0\u8f7d \u7684 \u5f71\u54cd \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_250","text":"__ eq __   (   self   ,   other   =   carla . WorldSettings   )   \u5982\u679c \u5bf9\u8c61 \u7684 \u53d8\u91cf \u76f8\u540c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ ne __   (   self   ,   other   =   carla . WorldSettings   )   \u5982\u679c \u5bf9\u8c61 \u7684 \u53d8\u91cf \u4e0d\u540c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )   \u5bf9\u4e8e \u5b57\u7b26 \u5b57\u7b26\u4e32 \u89e3\u6790 \u5df2 \u5efa\u7acb \u7684 \u8bbe\u7f6e \u5e76 \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u4e2d \u663e\u793a \u51fa\u6765 \u3002   \u8fd4\u56de :   str","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaworldsnapshot","text":"\u5feb\u7167 \u5305\u62ec \u67d0\u4e00 \u65f6\u523b \u573a\u666f \u4e2d \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u5b83 \u521b\u5efa \u5e76 \u7ed9\u51fa \u4e00\u4e9b \u5217 \u5305\u542b   carla . ActorSnapshot   \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6bcf \u4e00\u4e2a \u4e0d\u80fd \u5b58\u50a8 \u7684 \u8282\u62cd \u4fe1\u53f7 \u4e2d \u83b7\u53d6 \u4e00\u4e2a \u65b0 \u7684 \u5feb\u7167 \u3002","title":"carla . WorldSnapshot"},{"location":"python_api/#_251","text":"id   (   int   )   \u4e3a\u4e86 \u5206\u8fa8 \u6bcf \u4e00\u4e2a \u5feb\u7167 \u7684 \u552f\u4e00 \u503c \u3002   frame   (   int   )   \u83b7\u53d6 \u5feb\u7167 \u65f6 \u7684 \u4eff\u771f \u65f6\u95f4 \u3002   timestamp   (   carla . Timestamp   -   seconds   )   \u83b7\u53d6 \u5feb\u7167 \u65f6\u5019 \u7684 \u7cbe\u786e \u65f6\u523b \u3002 \u7531 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u7ed9\u51fa \u7684 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \u7684 \u7c7b \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_252","text":"find   (   self   ,   actor _ id   )   \u7ed9\u51fa \u67d0\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \uff0c \u8fd4\u56de \u5bf9\u5e94 \u7684 \u5feb\u7167 \uff0c \u5982\u679c \u6ca1\u6709 \u627e\u5230 \u5219 \u8fd4\u56de   None   \u3002   \u53c2\u6570 \uff1a   actor _ id   (   int   )   \u8fd4\u56de :   carla . ActorSnapshot   has _ actor   (   self   ,   actor _ id   )   \u7ed9\u51fa \u67d0\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \uff0c \u5982\u679c \u6709 \u5bf9\u5e94 \u7684 \u5feb\u7167 \u5219 \u68c0\u67e5 \uff0c \u5982\u679c \u5728 \u8fd9\u4e2a \u65f6\u523b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u51fa\u73b0 \u3002   \u53c2\u6570 \uff1a   actor _ id   (   int   )   \u8fd4\u56de \uff1a   bool","title":"\u65b9\u6cd5"},{"location":"python_api/#_253","text":"__ eq __   (   self   ,   other   =   carla . WorldSnapshot   )   \u5982\u679c \u65f6\u95f4 \u6233   timestamp   \u76f8\u540c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ iter __   (   self   )   \u5728 \u5b58\u50a8 \u7684 \u5feb\u7167 \u4e0a \u8fdb\u884c \u8fed\u4ee3   carla . ActorSnapshot   \u3002   __ len __   (   self   )   \u8fd4\u56de \u5728 \u8be5 \u5feb\u7167 \u4e0a \u5448\u73b0 \u7684   carla . ActorSnapshot   \u7684 \u6570\u91cf \u3002   \u8fd4\u56de :   int   __ ne __   (   self   ,   other   =   carla . WorldSnapshot   )   \u5982\u679c \u65f6\u95f4 \u6233   timestamp   \u90fd \u4e0d\u540c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#commandapplyangularimpulse","text":"carla . Actor   \u4e2d   add _ angular _ impulse ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f7f\u7528   angular   impulse \u3002","title":"command . ApplyAngularImpulse"},{"location":"python_api/#_254","text":"actor _ id   (   int   )   Actor   affected   by   the   command .   impulse   (   carla . Vector3D   -   degrees * s   )   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0a \u7684 \u89d2 \u51b2\u91cf \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_255","text":"__ init __   (   self   ,   actor   ,   impulse   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u5c06\u8981 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216\u8005 \u5b83 \u7684   ID \u3002   impulse   (   carla . Vector3D   -   degrees * s   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplyforce","text":"carla . Actor   \u4e2d   add _ force ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65bd\u52a0 \u4e00\u4e2a \u529b \u3002","title":"command . ApplyForce"},{"location":"python_api/#_256","text":"actor _ id   (   int   )   \u88ab \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   force   (   carla . Vector3D   -   N   )   \u5728 \u65f6\u95f4 \u4e0a \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65bd\u52a0 \u529b \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_257","text":"__ init __   (   self   ,   actor   ,   force   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u5c06\u8981 \u65bd\u52a0 \u547d\u4ee4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684   ID \u3002   force   (   carla . Vector3D   -   N   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplyimpulse","text":"carla . Actor   \u4e2d   add _ impulse ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u6700 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65bd\u52a0 \u7684   impulse \u3002","title":"command . ApplyImpulse"},{"location":"python_api/#_258","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   impulse   (   carla . Vector3D   -   N * s   )   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   Impulse \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_259","text":"__ init __   (   self   ,   actor   ,   impulse   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216\u8005 \u5b83 \u7684   ID \u3002   impulse   (   carla . Vector3D   -   N * s   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplytargetangularvelocity","text":"carla . Actor   \u4e2d   set _ target _ angular _ velocity ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002","title":"command . ApplyTargetAngularVelocity"},{"location":"python_api/#_260","text":"actor _ id   (   int   )   \u88ab \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   angular _ velocity   (   carla . Vector3D   -   deg / s   )   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e09\u7ef4 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_261","text":"__ init __   (   self   ,   actor   ,   angular _ velocity   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5c06\u8981 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216\u8005 \u5b83 \u7684 ID \u3002   angular _ velocity   (   carla . Vector3D   -   deg / s   )   -   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5411\u91cf \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplytargetvelocity","text":"carla . Actor   \u4e2d   set _ target _ velocity ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002","title":"command . ApplyTargetVelocity"},{"location":"python_api/#_262","text":"actor _ id   (   int   )   \u88ab \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   velocity   (   carla . Vector3D   -   m / s   )   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e09\u7ef4 \u901f\u5ea6 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_263","text":"__ init __   (   self   ,   actor   ,   velocity   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684 ID \u3002   velocity   (   carla . Vector3D   -   m / s   )   -   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u5411\u91cf \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplytorque","text":"carla . Actor   \u4e2d   add _ torque ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e94\u7528   torque \u3002","title":"command . ApplyTorque"},{"location":"python_api/#_264","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   torque   (   carla . Vector3D   -   \u5ea6   )   \u5728 \u65f6\u95f4 \u4e0a \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e94\u7528 \u529b\u77e9 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_265","text":"__ init __   (   self   ,   actor   ,   torque   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u5b83 \u7684   ID \u3002   torque   (   carla . Vector3D   -   \u5ea6   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplytransform","text":"carla . Actor   \u4e2d   set _ transform ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8bbe\u7f6e \u65b0 \u7684 \u53d8\u6362 \u3002","title":"command . ApplyTransform"},{"location":"python_api/#_266","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   transform   (   carla . Transform   )   \u6240 \u4f7f\u7528 \u7684 \u53d8\u6362 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_267","text":"__ init __   (   self   ,   actor   ,   transform   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684   ID \u3002   transform   (   carla . Transform   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplyvehicleackermanncontrol","text":"carla . Vehicle   \u4e2d   apply _ ackermann _ control ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u8f66\u8f86 \u5e94\u7528 \u67d0\u4e2a \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u63a7\u5236\u5668 \u3002","title":"command . ApplyVehicleAckermannControl"},{"location":"python_api/#_268","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   control   (   carla . AckermannVehicleControl   )   \u5e94\u7528 \u7684 \u8f66\u8f86 \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_269","text":"__ init __   (   self   ,   actor   ,   control   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684   ID \u3002   control   (   carla . AckermannVehicleControl   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplyvehiclecontrol","text":"\u5728   carla . Vehicle   \u4e2d   apply _ control ( )   \u547d\u4ee4 \u8fdb\u884c \u9002\u5e94 \uff0c \u5b9e\u73b0 \u5bf9 \u8f66\u8f86 \u5e94\u7528 \u67d0\u4e2a \u63a7\u5236 \u3002","title":"command . ApplyVehicleControl"},{"location":"python_api/#_270","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   control   (   carla . VehicleControl   )   \u5e94\u7528 \u7684 \u8f66\u8f86 \u63a7\u5236 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_271","text":"__ init __   (   self   ,   actor   ,   control   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u5c06\u8981 \u5e94\u7528 \u547d\u4ee4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684 ID \u3002   control   (   carla . VehicleControl   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplyvehiclephysicscontrol","text":"carla . Vehicle   \u4e2d   apply _ physics _ control ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u8f66\u8f86 \u5e94\u7528 \u4e00\u4e2a \u65b0 \u7684 \u7269\u7406 \u63a7\u5236 \uff0c \u4fee\u6539 \u5b83 \u7684 \u7269\u7406 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002","title":"command . ApplyVehiclePhysicsControl"},{"location":"python_api/#_272","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   physics _ control   (   carla . VehiclePhysicsControl   )   \u5e94\u7528 \u7684 \u7269\u7406 \u63a7\u5236 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_273","text":"__ init __   (   self   ,   actor   ,   physics _ control   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684 ID \u3002   physics _ control   (   carla . VehiclePhysicsControl   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplywalkercontrol","text":"carla . Walker   \u4e2d   apply _ control ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u884c\u4eba \u5e94\u7528 \u63a7\u5236 \u3002","title":"command . ApplyWalkerControl"},{"location":"python_api/#_274","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u884c\u4eba \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   control   (   carla . WalkerControl   )   \u5e94\u7528 \u7684 \u884c\u4eba \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_275","text":"__ init __   (   self   ,   actor   ,   control   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u5c06\u8981 \u5e94\u7528 \u547d\u4ee4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216\u8005 \u5b83 \u7684 ID \u3002   control   (   carla . WalkerControl   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplywalkerstate","text":"\u5bf9 \u884c\u4eba \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e94\u7528 \u72b6\u6001 \u3002 \u5bf9 \u521d\u59cb \u521d\u59cb\u5316 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u3001 \u671d\u5411 \u548c \u901f\u5ea6 \u7279\u522b \u6709\u7528 \u3002","title":"command . ApplyWalkerState"},{"location":"python_api/#_276","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u884c\u4eba \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   transform   (   carla . Transform   )   \u5e94\u7528 \u7684 \u8f6c\u6362 \u3002   speed   (   float   -   m / s   )   \u5e94\u7528 \u7684 \u901f\u5ea6 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_277","text":"__ init __   (   self   ,   actor   ,   transform   ,   speed   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5f15\u7528 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684 ID \u3002   transform   (   carla . Transform   )   speed   (   float   -   m / s   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commanddestroyactor","text":"carla . Actor   \u4e2d   destroy ( )   \u547d\u4ee4 \u7684 \u6539\u7f16 \u7248 \uff0c \u5c06 \u544a\u8bc9 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u9500\u6bc1 \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5df2\u7ecf \u88ab \u9500\u6bc1 \u5219 \u6ca1\u6709 \u5f71\u54cd \u3002 \u5f53 \u5728   carla . Client   \u4e2d \u6267\u884c   apply _ batch _ sync ( )   \u5c06\u4f1a \u8fd4\u56de \u4e00\u4e2a \u5e03\u5c14 \u5e03\u5c14\u503c \u72b6\u6001 \u8868\u793a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u88ab \u6210\u529f \u9500\u6bc1 \u3002","title":"command . DestroyActor"},{"location":"python_api/#_278","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_279","text":"__ init __   (   self   ,   actor   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684   ID \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#commandresponse","text":"\u58f0\u660e \u547d\u4ee4 \u6267\u884c \u7684 \u7ed3\u679c \uff0c \u4e0d\u662f \u547d\u4ee4 \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 ID \uff08 \u5f53 \u6210\u529f \u65f6 \uff09 \uff0c \u5c31\u662f \u9519\u8bef \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff08 \u5f53 \u5931\u8d25 \u65f6 \uff09 \uff0c \u53c2\u4e0e \u53c2\u4e0e\u8005   ID   \u53d6\u51b3 \u53d6\u51b3\u4e8e \u547d\u4ee4 \u662f\u5426 \u6267\u884c \u6210\u529f \u3002   carla . Client   \u4e2d \u7684 \u65b9\u6cd5   apply _ batch _ sync ( )   \u8fd4\u56de \u8fd9\u4e9b \u7684 \u5217\u8868 \u6765 \u603b\u7ed3 \u6279\u91cf \u7684 \u6267\u884c \u3002","title":"command . Response"},{"location":"python_api/#_280","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u58f0\u660e \u8be5 \u547d\u4ee4 \u6210\u529f \u4e86 \u3002   error   (   str   )   \u58f0\u660e \u547d\u4ee4 \u5931\u8d25 \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_281","text":"has _ error   (   self   )   \u5982\u679c \u547d\u4ee4 \u6267\u884c \u5931\u8d25 \u5219 \u8fd4\u56de   True   \uff0c \u5982\u679c \u6210\u529f \u5219 \u8fd4\u56de   False   \u3002   \u8fd4\u56de :   bool","title":"\u65b9\u6cd5"},{"location":"python_api/#commandsetautopilot","text":"carla . Vehicle   \u4e2d   set _ autopilot ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u6253\u5f00 / \u5173\u95ed \u8f66\u8f86 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u3002","title":"command . SetAutopilot"},{"location":"python_api/#_282","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   enabled   (   bool   )   \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u5c06 \u88ab \u6fc0\u6d3b \u6216\u8005 \u5931\u6d3b \u3002   port   (   uint16   )   \u6ce8\u518c \u6216 unlisted \u8f66\u8f86 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7aef\u53e3 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_283","text":"__ init __   (   self   ,   actor   ,   enabled   ,   port   = 8000   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u5e94\u7528 \u547d\u4ee4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684 ID \u3002   enabled   (   bool   )   port   (   uint16   )   -   \u6ce8\u518c \u6216 unlisted \u8f66\u8f86 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7aef\u53e3 \u3002 \u5982\u679c \u4f20\u9012 \u7684 \u662f   None   \uff0c \u4f1a \u8003\u8651 \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u9ed8\u8ba4 \u7aef\u53e3   8000   \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#commandsetenablegravity","text":"carla . Actor   \u4e2d   set _ enable _ gravity ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u7981\u7528 \u6216 \u542f\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u91cd\u529b \u3002","title":"command . SetEnableGravity"},{"location":"python_api/#_284","text":"actor _ id   (   carla . Actor   or   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   enabled   (   bool   )","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_285","text":"__ init __   (   self   ,   actor   ,   enabled   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u53c2\u4e0e \u53c2\u4e0e\u8005 ID \u3002   enabled   (   bool   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandsetsimulatephysics","text":"carla . Actor   \u4e2d   set _ simulate _ physics ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u786e\u5b9a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u4f1a \u88ab \u7269\u7406 \u5f71\u54cd \u3002","title":"command . SetSimulatePhysics"},{"location":"python_api/#_286","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   enabled   (   bool   )   \u662f\u5426 \u6fc0\u6d3b \u7269\u7406 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_287","text":"__ init __   (   self   ,   actor   ,   enabled   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 ID \u3002   enabled   (   bool   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandsetvehiclelightstate","text":"carla . Vehicle   \u4e2d   set _ light _ state ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u3002","title":"command . SetVehicleLightState"},{"location":"python_api/#_288","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   light _ state   (   carla . VehicleLightState   )   \u5b9a\u4e49 \u8f66\u8f86 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_289","text":"__ init __   (   self   ,   actor   ,   light _ state   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216\u8005 \u5b83 \u7684 ID \u3002   light _ state   (   carla . VehicleLightState   )   -   Recaps   \u8f66\u8f86 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \uff0c \u8fd9\u4e9b \u80fd \u88ab \u7528\u4f5c \u4e00\u4e2a \u6807\u5fd7 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#commandshowdebugtelemetry","text":"carla . Actor   \u4e2d   show _ debug _ telemetry ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u663e\u793a \u8f66\u8f86 \u7684   telemetry   \u6570\u636e \u3002","title":"command . ShowDebugTelemetry"},{"location":"python_api/#_290","text":"actor _ id   (   carla . Actor   or   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   enabled   (   bool   )","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_291","text":"__ init __   (   self   ,   actor   ,   enabled   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u53c2\u4e0e \u53c2\u4e0e\u8005 ID \u3002   enabled   (   bool   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandspawnactor","text":"carla . World   \u4e2d   spawn _ actor ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u57fa\u4e8e \u63d0\u4f9b \u7684 \u84dd\u56fe \u548c \u53d8\u6362 \u5728 \u4e16\u754c \u4e2d \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5982\u679c \u63d0\u4f9b \u4e86 \u7236\u7c7b \uff0c \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06\u4f1a \u9644 \u5728 \u4e0a\u9762 \u3002","title":"command . SpawnActor"},{"location":"python_api/#_292","text":"transform   (   carla . Transform   )   \u5e94\u7528 \u7684 \u53d8\u6362 \u3002   parent _ id   (   int   )   \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6807\u5fd7 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_293","text":"__ init __   (   self   )   __ init __   (   self   ,   blueprint   ,   transform   )   \u53c2\u6570 \uff1a   blueprint   (   carla . ActorBlueprint   )   transform   (   carla . Transform   )   __ init __   (   self   ,   blueprint   ,   transform   ,   parent   )   \u53c2\u6570 \uff1a   blueprint   (   carla . ActorBlueprint   )   transform   (   carla . Transform   )   parent   (   carla . Actor   or   int   )   then   (   self   ,   command   )   \u94fe\u63a5 \u4e00\u4e2a \u5176\u4ed6 \u5c06\u8981 \u7acb\u523b \u6267\u884c \u7684 \u547d\u4ee4 \u3002 \u5b83 \u5141\u8bb8 ease \u975e\u5e38 \u5e38\u89c1 \u7684 \u6d41 \uff0c \u6bd4\u5982 \u901a\u8fc7 \u547d\u4ee4 \u751f\u6210 \u4e00\u7ec4 \u8f66\u8f86 \uff0c \u5e76 \u4f7f\u7528 \u8be5 \u65b9\u6cd5 \u8bbe\u7f6e \u81ea\u52a8 \u9a7e\u9a76 \u3002   \u53c2\u6570 \uff1a   command   (   any   carla   Command   )   -   \u4e00\u4e2a   Carla   \u547d\u4ee4 \u3002   function   CopyToClipboard ( containerid )   {   if   ( document . selection )   {   var   range   =   document . body . createTextRange ( ) ;   range . moveToElementText ( document . getElementById ( containerid ) ) ;   range . select ( ) . createTextRange ( ) ;   document . execCommand ( \" copy \" ) ;   }   else   if   ( window . getSelection )   {   var   range   =   document . createRange ( ) ;   range . selectNode ( document . getElementById ( containerid ) ) ;   window . getSelection ( ) . addRange ( range ) ;   document . execCommand ( \" copy \" ) ;   }   }   function   CloseSnipet ( )   {   document . getElementById ( \" snipets - container \" ) . innerHTML   =   null ;   }   carla . World . enable _ environment _ objects   \u4ee3\u7801 \u7247\u6bb5   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u5728 \u5730\u56fe \u4e0a \u663e\u793a \u6216 \u9690\u85cf \u7279\u5b9a \u5efa\u7b51 \u3002   #   Get   the   buildings   in   the   world   world   =   client . get _ world ( )   env _ objs   =   world . get _ environment _ objects ( carla . CityObjectLabel . Buildings )   #   \u8bbf\u95ee \u5355\u4e2a \u5efa\u7b51 IDs \u5e76 \u4fdd\u5b58 \u5230 \u4e00\u4e2a \u96c6\u5408 \u4e2d   building _ 01   =   env _ objs [ 0 ]   building _ 02   =   env _ objs [ 1 ]   objects _ to _ toggle   =   { building _ 01 . id ,   building _ 02 . id }   #   \u9690\u85cf \u5efa\u7b51   world . enable _ environment _ objects ( objects _ to _ toggle ,   False )   #   \u663e\u793a \u5efa\u7b51   world . enable _ environment _ objects ( objects _ to _ toggle ,   True )   Copy   snippet   Close   snippet   carla . DebugHelper . draw _ string   \u4ee3\u7801 \u7247\u6bb5   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u662f   lane _ explorer . py   \u793a\u4f8b \u7684 \u4fee\u6539   #   \u5b83 \u5728 \u76f4\u63a5 \u4e2d \u7ed8\u5236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8def\u5f84 \uff0c \u6253\u5370 \u6bcf\u4e2a \u8def\u5f84 \u70b9 \u7684 \u4fe1\u606f \u3002   #   ...   current _ w   =   map . get _ waypoint ( vehicle . get _ location ( ) )   while   True :   next _ w   =   map . get _ waypoint ( vehicle . get _ location ( ) ,   lane _ type = carla . LaneType . Driving   |   carla . LaneType . Shoulder   |   carla . LaneType . Sidewalk   )   #   \u68c0\u67e5 \u8f66\u8f86 \u662f\u5426 \u5728 \u79fb\u52a8   if   next _ w . id   ! =   current _ w . id :   vector   =   vehicle . get _ velocity ( )   #   Check   if   the   vehicle   is   on   a   sidewalk   if   current _ w . lane _ type   = =   carla . LaneType . Sidewalk :   draw _ waypoint _ union ( debug ,   current _ w ,   next _ w ,   cyan   if   current _ w . is _ junction   else   red ,   60 )   else :   draw _ waypoint _ union ( debug ,   current _ w ,   next _ w ,   cyan   if   current _ w . is _ junction   else   green ,   60 )   debug . draw _ string ( current _ w . transform . location ,   str ( ' % 15.0 f   km / h '   %   ( 3.6   *   math . sqrt ( vector . x * * 2   +   vector . y * * 2   +   vector . z * * 2 ) ) ) ,   False ,   orange ,   60 )   draw _ transform ( debug ,   current _ w . transform ,   white ,   60 )   #   \u66f4\u65b0 \u5f53\u524d \u8def\u5f84 \u70b9 \u5e76 \u4f11\u7720 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4   current _ w   =   next _ w   time . sleep ( args . tick _ time )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . World . unload _ map _ layer   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u5728 \u5206\u5c42 \u5730\u56fe \" _ Opt \" \u4e0a \u5173\u95ed \u51e0\u5c42   #   \u4ee5 \u6700\u5c0f \u5e03\u5c40 \uff08 \u9053\u8def \u3001 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \uff09 \u52a0\u8f7d \u57ce\u9547 \uff0c \u8fd8 \u5305\u62ec \u5efa\u7b51 \u548c \u505c\u9760 \u7684 \u8f66\u8f86   world   =   client . load _ world ( ' Town01 _ Opt ' ,   carla . MapLayer . Buildings   |   carla . MapLayer . ParkedVehicles )   #   \u9690\u85cf \u5efa\u7b51   world . unload _ map _ layer ( carla . MapLayer . Buildings )   #   \u9690\u85cf \u505c\u9760 \u7684 \u8f66\u8f86   world . unload _ map _ layer ( carla . MapLayer . ParkedVehicles )   Copy   snippet   Close   snippet   Snippet   for   carla . Vehicle . set _ wheel _ steer _ direction   #   \u8bbe\u7f6e \u524d \u8f6e\u8f6c 40 \u00b0 \u8f66\u8f86 \u7684 \u5916\u89c2 \u3002 \u4e0d\u4f1a \u5f71\u54cd \u8f66\u8f86 \u7684 \u7269\u7406 \u3002   vehicle . set _ wheel _ steer _ direction ( carla . VehicleWheelLocation . FR _ Wheel ,   40.0 )   vehicle . set _ wheel _ steer _ direction ( carla . VehicleWheelLocation . FL _ Wheel ,   40.0 )   Copy   snippet   Close   snippet   Snippet   for   carla . Client .__ init __   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u5728   PythonAPI / Examples   \u4e2d \u7684 \u6bcf\u4e2a \u811a\u672c \u4e2d \u90fd \u6709 \uff0c \u8fd0\u884c \u811a\u672c \u65f6\u5019 \u7528\u4e8e \u89e3\u6790 \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa \u53c2\u6570 \u3002   argparser   =   argparse . ArgumentParser (   description = __ doc __ )   argparser . add _ argument (   ' -- host ' ,   metavar = ' H ' ,   default = ' 127.0 . 0.1 ' ,   help = ' IP   of   the   host   server   ( default :   127.0 . 0.1 ) ' )   argparser . add _ argument (   ' - p ' ,   ' -- port ' ,   metavar = ' P ' ,   default = 2000 ,   type = int ,   help = ' TCP   port   to   listen   to   ( default :   2000 ) ' )   argparser . add _ argument (   ' - s ' ,   ' -- speed ' ,   metavar = ' FACTOR ' ,   default = 1.0 ,   type = float ,   help = ' rate   at   which   the   weather   changes   ( default :   1.0 ) ' )   args   =   argparser . parse _ args ( )   speed _ factor   =   args . speed   update _ freq   =   0.1   /   speed _ factor   client   =   carla . Client ( args . host ,   args . port )   Copy   snippet   Close   snippet   carla . Map . get _ waypoint   \u4ee3\u7801 \u7247\u6bb5   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u663e\u793a \u5f53\u524d \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u5f71\u54cd \u7684 \u8f66\u8f86 \u3002   #   \u663e\u793a \u5f53\u524d \u8f66\u8f86 \u7c7b\u578b \uff0c \u5728 \u5b9e\u9645 \u7684 \u8f66\u9053 \u6216 \u5468\u56f4 \u7684 \u7269\u4f53 \u4e2d \u8f66\u9053 \u7ebf \u662f\u5426 \u6539\u53d8 \u3002   #   ...   waypoint   =   world . get _ map ( ) . get _ waypoint ( vehicle . get _ location ( ) , project _ to _ road = True ,   lane _ type = ( carla . LaneType . Driving   |   carla . LaneType . Shoulder   |   carla . LaneType . Sidewalk ) )   print ( \" Current   lane   type :   \"   +   str ( waypoint . lane _ type ) )   #   Check   current   lane   change   allowed   print ( \" Current   Lane   change :   \"   +   str ( waypoint . lane _ change ) )   #   Left   and   Right   lane   markings   print ( \" L   lane   marking   type :   \"   +   str ( waypoint . left _ lane _ marking . type ) )   print ( \" L   lane   marking   change :   \"   +   str ( waypoint . left _ lane _ marking . lane _ change ) )   print ( \" R   lane   marking   type :   \"   +   str ( waypoint . right _ lane _ marking . type ) )   print ( \" R   lane   marking   change :   \"   +   str ( waypoint . right _ lane _ marking . lane _ change ) )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . World . spawn _ actor   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u4f7f\u7528 \u4e0d\u540c \u7684 \u9644\u7740 \u5c06 \u4e0d\u540c \u7684 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6216\u4f20\u611f\u5668 \u9644\u7740 \u5230 \u8f66\u8f86 \u4e2d \u3002   #   ...   camera   =   world . spawn _ actor ( rgb _ camera _ bp ,   transform ,   attach _ to = vehicle ,   attachment _ type = Attachment . Rigid )   #   \u9ed8\u8ba4 \u9644\u7740 \uff1a Attachment . Rigid   gnss _ sensor   =   world . spawn _ actor ( sensor _ gnss _ bp ,   transform ,   attach _ to = vehicle )   collision _ sensor   =   world . spawn _ actor ( sensor _ collision _ bp ,   transform ,   attach _ to = vehicle )   lane _ invasion _ sensor   =   world . spawn _ actor ( sensor _ lane _ invasion _ bp ,   transform ,   attach _ to = vehicle )   #   ...   Copy   snippet   Close   snippet   carla . WalkerAIController . stop   \u4ee3\u7801 \u7247\u6bb5   #   To   destroy   the   pedestrians ,   stop   them   from   the   navigation ,   and   then   destroy   the   objects   ( actor   and   controller ) .   #   stop   pedestrians   ( list   is   [ controller ,   actor ,   controller ,   actor   ... ] )   for   i   in   range ( 0 ,   len ( all _ id ) ,   2 ) :   all _ actors [ i ] . stop ( )   #   destroy   pedestrian   ( actor   and   controller )   client . apply _ batch ( [ carla . command . DestroyActor ( x )   for   x   in   all _ id ] )   Copy   snippet   Close   snippet   Snippet   for   carla . DebugHelper . draw _ box   #   This   recipe   shows   how   to   draw   traffic   light   actor   bounding   boxes   from   a   world   snapshot .   #   ....   debug   =   world . debug   world _ snapshot   =   world . get _ snapshot ( )   for   actor _ snapshot   in   world _ snapshot :   actual _ actor   =   world . get _ actor ( actor _ snapshot . id )   if   actual _ actor . type _ id   = =   ' traffic . traffic _ light ' :   debug . draw _ box ( carla . BoundingBox ( actor _ snapshot . get _ transform ( ) . location , carla . Vector3D ( 0.5 , 0.5 , 2 ) ) , actor _ snapshot . get _ transform ( ) . rotation ,   0.05 ,   carla . Color ( 255 , 0 , 0 , 0 ) , 0 )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . World . get _ spectator   #   This   recipe   spawns   an   actor   and   the   spectator   camera   at   the   actor ' s   location .   #   ...   world   =   client . get _ world ( )   spectator   =   world . get _ spectator ( )   vehicle _ bp   =   random . choice ( world . get _ blueprint _ library ( ) . filter ( ' vehicle . bmw . * ' ) )   transform   =   random . choice ( world . get _ map ( ) . get _ spawn _ points ( ) )   vehicle   =   world . try _ spawn _ actor ( vehicle _ bp ,   transform )   #   Wait   for   world   to   get   the   vehicle   actor   world . tick ( )   world _ snapshot   =   world . wait _ for _ tick ( )   actor _ snapshot   =   world _ snapshot . find ( vehicle . id )   #   Set   spectator   at   given   transform   ( vehicle   transform )   spectator . set _ transform ( actor _ snapshot . get _ transform ( ) )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . Sensor . listen   #   This   recipe   applies   a   color   conversion   to   the   image   taken   by   a   camera   sensor ,   #   so   it   is   converted   to   a   semantic   segmentation   image .   #   ...   camera _ bp   =   world . get _ blueprint _ library ( ) . filter ( ' sensor . camera . semantic _ segmentation ' )   #   ...   cc   =   carla . ColorConverter . CityScapesPalette   camera . listen ( lambda   image :   image . save _ to _ disk ( ' output / % 06d . png '   %   image . frame ,   cc ) )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . TrafficLight . set _ state   #   This   recipe   changes   from   red   to   green   the   traffic   light   that   affects   the   vehicle .   #   This   is   done   by   detecting   if   the   vehicle   actor   is   at   a   traffic   light .   #   ...   world   =   client . get _ world ( )   spectator   =   world . get _ spectator ( )   vehicle _ bp   =   random . choice ( world . get _ blueprint _ library ( ) . filter ( ' vehicle . bmw . * ' ) )   transform   =   random . choice ( world . get _ map ( ) . get _ spawn _ points ( ) )   vehicle   =   world . try _ spawn _ actor ( vehicle _ bp ,   transform )   #   Wait   for   world   to   get   the   vehicle   actor   world . tick ( )   world _ snapshot   =   world . wait _ for _ tick ( )   actor _ snapshot   =   world _ snapshot . find ( vehicle . id )   #   Set   spectator   at   given   transform   ( vehicle   transform )   spectator . set _ transform ( actor _ snapshot . get _ transform ( ) )   #   ...#   ...   if   vehicle _ actor . is _ at _ traffic _ light ( ) :   traffic _ light   =   vehicle _ actor . get _ traffic _ light ( )   if   traffic _ light . get _ state ( )   = =   carla . TrafficLightState . Red :   #   world . hud . notification ( \" Traffic   light   changed !   Good   to   go ! \" )   traffic _ light . set _ state ( carla . TrafficLightState . Green )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . ActorBlueprint . set _ attribute   #   This   recipe   changes   attributes   of   different   type   of   blueprint   actors .   #   ...   walker _ bp   =   world . get _ blueprint _ library ( ) . filter ( ' walker . pedestrian.0002 ' )   walker _ bp . set _ attribute ( ' is _ invincible ' ,   True )   #   ...   #   Changes   attribute   randomly   by   the   recommended   value   vehicle _ bp   =   wolrd . get _ blueprint _ library ( ) . filter ( ' vehicle . bmw . * ' )   color   =   random . choice ( vehicle _ bp . get _ attribute ( ' color ' ) . recommended _ values )   vehicle _ bp . set _ attribute ( ' color ' ,   color )   #   ...   camera _ bp   =   world . get _ blueprint _ library ( ) . filter ( ' sensor . camera . rgb ' )   camera _ bp . set _ attribute ( ' image _ size _ x ' ,   600 )   camera _ bp . set _ attribute ( ' image _ size _ y ' ,   600 )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . Client . apply _ batch _ sync   #   0 .   Choose   a   blueprint   fo   the   walkers   world   =   client . get _ world ( )   blueprintsWalkers   =   world . get _ blueprint _ library ( ) . filter ( \" walker . pedestrian . * \" )   walker _ bp   =   random . choice ( blueprintsWalkers )   #   1 .   Take   all   the   random   locations   to   spawn   spawn _ points   =   [ ]   for   i   in   range ( 50 ) :   spawn _ point   =   carla . Transform ( )   spawn _ point . location   =   world . get _ random _ location _ from _ navigation ( )   if   ( spawn _ point . location   ! =   None ) :   spawn _ points . append ( spawn _ point )   #   2 .   Build   the   batch   of   commands   to   spawn   the   pedestrians   batch   =   [ ]   for   spawn _ point   in   spawn _ points :   walker _ bp   =   random . choice ( blueprintsWalkers )   batch . append ( carla . command . SpawnActor ( walker _ bp ,   spawn _ point ) )   #   2.1   apply   the   batch   results   =   client . apply _ batch _ sync ( batch ,   True )   for   i   in   range ( len ( results ) ) :   if   results [ i ] . error :   logging . error ( results [ i ] . error )   else :   walkers _ list . append ( { \" id \" :   results [ i ] . actor _ id } )   #   3 .   Spawn   walker   AI   controllers   for   each   walker   batch   =   [ ]   walker _ controller _ bp   =   world . get _ blueprint _ library ( ) . find ( ' controller . ai . walker ' )   for   i   in   range ( len ( walkers _ list ) ) :   batch . append ( carla . command . SpawnActor ( walker _ controller _ bp ,   carla . Transform ( ) ,   walkers _ list [ i ] [ \" id \" ] ) )   #   3.1   apply   the   batch   results   =   client . apply _ batch _ sync ( batch ,   True )   for   i   in   range ( len ( results ) ) :   if   results [ i ] . error :   logging . error ( results [ i ] . error )   else :   walkers _ list [ i ] [ \" con \" ]   =   results [ i ] . actor _ id   #   4 .   Put   altogether   the   walker   and   controller   ids   for   i   in   range ( len ( walkers _ list ) ) :   all _ id . append ( walkers _ list [ i ] [ \" con \" ] )   all _ id . append ( walkers _ list [ i ] [ \" id \" ] )   all _ actors   =   world . get _ actors ( all _ id )   #   wait   for   a   tick   to   ensure   client   receives   the   last   transform   of   the   walkers   we   have   just   created   world . wait _ for _ tick ( )   #   5 .   initialize   each   controller   and   set   target   to   walk   to   ( list   is   [ controller ,   actor ,   controller ,   actor   ... ] )   for   i   in   range ( 0 ,   len ( all _ actors ) ,   2 ) :   #   start   walker   all _ actors [ i ] . start ( )   #   set   walk   to   random   point   all _ actors [ i ] . go _ to _ location ( world . get _ random _ location _ from _ navigation ( ) )   #   random   max   speed   all _ actors [ i ] . set _ max _ speed ( 1   +   random . random ( ) )   #   max   speed   between   1   and   2   ( default   is   1.4   m / s )   Copy   snippet   Close   snippet   Snippet   for   carla . World . load _ map _ layer   #   This   recipe   toggles   on   several   layers   in   our   \" _ Opt \"   maps   #   Load   town   one   with   only   minimum   layout   ( roads ,   sidewalks ,   traffic   lights   and   traffic   signs )   world   =   client . load _ world ( ' Town01 _ Opt ' ,   carla . MapLayer . None )   #   Toggle   all   buildings   on   world . load _ map _ layer ( carla . MapLayer . Buildings )   #   Toggle   all   foliage   on   world . load _ map _ layer ( carla . MapLayer . Foliage )   #   Toggle   all   parked   vehicles   on   world . load _ map _ layer ( carla . MapLayer . ParkedVehicles )   Copy   snippet   Close   snippet   function   ButtonAction ( container _ name ) {   if ( window _ big ) {   snipet _ name   =   container _ name . replace ( ' - snipet _ button ' , ' - snipet ' ) ;   document . getElementById ( \" snipets - container \" ) . innerHTML   =   document . getElementById ( snipet _ name ) . innerHTML ;   }   else {   document . getElementById ( \" snipets - container \" ) . innerHTML   =   null ; code _ name   =   container _ name . replace ( ' - snipet _ button ' , ' - code ' ) ;   var   range   =   document . createRange ( ) ;   range . selectNode ( document . getElementById ( code _ name ) ) ;   alert ( range ) ;   }   }   function   WindowResize ( ) {   if ( window . innerWidth   >   1200 ) {   window _ big   =   true ;   }   else {   window _ big   =   false ;   }   }   var   window _ big ;   if ( window . innerWidth   >   1200 ) {   window _ big   =   true ;   }   else {   window _ big   =   false ;   }   buttons   =   document . getElementsByClassName ( ' SnipetButton ' )   for   ( let   i   =   0 ;   i   <   buttons . length ;   i ++ )   {   buttons [ i ] . addEventListener ( \" click \" , function ( ) { ButtonAction ( buttons [ i ] . id ) ; } , true ) ;   }   window . onresize   =   WindowResize ;","title":"\u65b9\u6cd5"},{"location":"ref_cpp/","text":"C++   \u53c2\u8003   C++   \u5ba2\u6237 \u5ba2\u6237\u7aef   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u5728   Linux   \u4e0a\u7528   make   \u6784\u5efa \uff0c \u5728 Windows \u4e0a\u7528   cmake   \u6784\u5efa \u3002   CARLA _ ROOT / Examples / CppClient / main . cpp   \u4e2d \u7684 \u5b58\u50a8 \u5e93\u4e2d \u63d0\u4f9b \u4e86 \u4e00\u4e2a C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u793a\u4f8b \u3002 \u8fd9\u4e2a \u793a\u4f8b \u5c55\u793a \u4e86 \u5982\u4f55 \u5c06 C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5230 CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5e76 \u4f7f\u7528 API \u6267\u884c \u4e00\u4e9b \u7b80\u5355 \u7684 \u4efb\u52a1 \u3002   \u8981 \u6784\u5efa \u793a\u4f8b C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u8bf7 \u5728 \u5b58\u50a8 \u5e93 \u7684   CARLA _ ROOT / Examples / CppClient   \u76ee\u5f55 \u4e2d \u6253\u5f00 \u4e00\u4e2a \u7ec8\u7aef \u3002 \u5728 \u6b64 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c   make   \uff0c \u7136\u540e \u6267\u884c   . / bin / cpp _ client   \u6765 \u8fd0\u884c \u793a\u4f8b \u3002 \u8be5 \u793a\u4f8b \u5c06 \u4ece \u53ef\u7528 \u5730\u56fe \u4e2d \u9009\u62e9 \u4e00\u4e2a \u968f\u673a \u5730\u56fe \uff0c \u7136\u540e \u52a0\u8f7d \u5b83 \u3002 \u7136\u540e \uff0c \u5b83 \u5c06 \u751f\u6210 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u5e76 \u5bf9 \u8be5\u8f66 \u5e94\u7528 \u63a7\u5236 \u3002   \u6709\u5173 \u6b64 \u793a\u4f8b \u811a\u672c \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u793a\u4f8b   \u3001   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef   \u3002   C++   \u6587\u6863   \u6211\u4eec \u4f7f\u7528   Doxygen   \u751f\u6210   C++   \u4ee3\u7801 \u7684 \u6587\u6863 \uff1a   Libcarla / source   Unreal / CarlaUE4 / Source   Unreal / CarlaUE4 / Plugins   \u751f\u6210 \u7684 \u6587\u6863 \u53ef \u901a\u8fc7 \u6b64   \u94fe\u63a5   \u83b7\u53d6 \u3002   \u7b14\u8bb0   \u6587\u6863 \u66f4\u65b0 \u7531   GitHub   \u81ea\u52a8 \u5b8c\u6210 \u3002   \u521b\u5efa   doxygen   \u6587\u6863   \u91cd\u8981   \u9700\u8981   Doxygen   \u6765 \u751f\u6210 \u6587\u6863 \uff0c \u9700\u8981   Graphviz   \u4f5c\u4e3a \u56fe\u5f62 \u7ed8\u5236 \u5de5\u5177 \u5de5\u5177\u5305 \u3002   1 -   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u5b89\u88c5   doxygen   \u548c   graphviz \uff1a   #   linux   sudo   apt - get   install   doxygen   graphviz   2 -   \u5b89\u88c5 \u540e \uff0c \u8f6c \u5230   Doxyfile   \u6587\u4ef6 \u6240\u5728 \u7684 \u9879\u76ee \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   doxygen   \u5b83 \u5c06 \u5f00\u59cb \u6784\u5efa \u6587\u6863 \u7f51\u9875 \u3002   \u751f\u6210 \u7684 \u7f51\u9875 \u53ef\u4ee5 \u5728   Doxygen / html /   \u4e2d \u627e\u5230   3 -   \u5728 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u6253\u5f00   index . html   \u3002 \u73b0\u5728 \u60a8 \u5df2\u7ecf \u6709 \u4e86 \u672c\u5730   cpp   \u6587\u6863 \uff01   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd0\u884c   \u5728 vs2019 \u4e2d \u70b9\u51fb \u83dc\u5355   \u6587\u4ef6 - > \u6253\u5f00 - > CMake   \uff0c \u6253\u5f00   Examples \\ CppClient \\ CMakeLists . txt   \uff1b   \u70b9\u51fb   \u7ba1\u7406 \u914d\u7f6e   \uff0c \u6dfb\u52a0 \u65b0 \u7684 \u914d\u7f6e   x64 - release   \uff1b \uff08 \u6ce8\u610f \uff1a   x64 - Debug   \u8fd8\u6709 \u95ee\u9898 \uff09 \uff1b   \u542f\u52a8 Carla \u670d\u52a1 \u670d\u52a1\u7aef \u540e \uff0c \u5728 vs2019 \u4e2d \u70b9\u51fb   \u8c03\u8bd5 - > \u5f00\u59cb \u6267\u884c   \u3002   \u9605\u8bfb   HUD   :   Heads - up   Displays ,   \u5934\u663e \u3002 \u7528\u6237 \u754c\u9762 \u7528\u6237\u754c\u9762   \uff08 UI \uff09 \u548c   \u5934\u663e   \uff08 HUD \uff09 \u662f \u6e38\u620f \u5411 \u73a9\u5bb6 \u63d0\u4f9b \u6e38\u620f \u4fe1\u606f \u4ee5\u53ca \u5728 \u67d0\u4e9b \u60c5\u51b5 \u4e0b \u5141\u8bb8 \u73a9\u5bb6 \u4e0e \u6e38\u620f \u4e92\u52a8 \u7684 \u65b9\u5f0f \u3002 HUD \u6307 \u7684 \u662f \u6e38\u620f \u671f\u95f4 \u5728 \u5c4f\u5e55 \u4e0a \u8986\u76d6 \u7684 \u72b6\u6001 \u548c \u4fe1\u606f \u3002 HUD \u7684 \u76ee\u7684 \u662f   \u544a\u77e5 \u73a9\u5bb6 \u5f53\u524d \u6e38\u620f \u72b6\u6001 \uff0c \u5373 \u5206\u6570 \u3001 \u751f\u547d \u503c \u3001 \u6e38\u620f \u5269\u4f59 \u65f6\u95f4 \u5269\u4f59\u65f6\u95f4 \u7b49 \u3002   HUD \u901a\u5e38 \u662f \u4e0d\u53ef \u4e92\u52a8 \u7684 \uff0c \u610f\u5473 \u610f\u5473\u7740 \u73a9\u5bb6 \u4e0d\u80fd \u5355\u51fb HUD \u7684 \u5143\u7d20 \uff0c \u56e0\u6b64   \u5728 HUD \u548c \u7528\u6237 \u754c\u9762 \u7528\u6237\u754c\u9762 \u96be\u4ee5 \u5206\u79bb \u7684 \u67d0\u4e9b \u7c7b\u578b \u6e38\u620f \u4e2d \uff0c \u8fd9\u4e9b \u5143\u7d20 \u4f1a \u663e\u793a \u4e3a \u7070\u8272 \u533a\u57df \u3002","title":"Ref   cpp"},{"location":"ref_cpp/#c","text":"","title":"C++   \u53c2\u8003"},{"location":"ref_cpp/#c_1","text":"C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u5728   Linux   \u4e0a\u7528   make   \u6784\u5efa \uff0c \u5728 Windows \u4e0a\u7528   cmake   \u6784\u5efa \u3002   CARLA _ ROOT / Examples / CppClient / main . cpp   \u4e2d \u7684 \u5b58\u50a8 \u5e93\u4e2d \u63d0\u4f9b \u4e86 \u4e00\u4e2a C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u793a\u4f8b \u3002 \u8fd9\u4e2a \u793a\u4f8b \u5c55\u793a \u4e86 \u5982\u4f55 \u5c06 C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5230 CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5e76 \u4f7f\u7528 API \u6267\u884c \u4e00\u4e9b \u7b80\u5355 \u7684 \u4efb\u52a1 \u3002   \u8981 \u6784\u5efa \u793a\u4f8b C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u8bf7 \u5728 \u5b58\u50a8 \u5e93 \u7684   CARLA _ ROOT / Examples / CppClient   \u76ee\u5f55 \u4e2d \u6253\u5f00 \u4e00\u4e2a \u7ec8\u7aef \u3002 \u5728 \u6b64 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c   make   \uff0c \u7136\u540e \u6267\u884c   . / bin / cpp _ client   \u6765 \u8fd0\u884c \u793a\u4f8b \u3002 \u8be5 \u793a\u4f8b \u5c06 \u4ece \u53ef\u7528 \u5730\u56fe \u4e2d \u9009\u62e9 \u4e00\u4e2a \u968f\u673a \u5730\u56fe \uff0c \u7136\u540e \u52a0\u8f7d \u5b83 \u3002 \u7136\u540e \uff0c \u5b83 \u5c06 \u751f\u6210 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u5e76 \u5bf9 \u8be5\u8f66 \u5e94\u7528 \u63a7\u5236 \u3002   \u6709\u5173 \u6b64 \u793a\u4f8b \u811a\u672c \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u793a\u4f8b   \u3001   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef   \u3002","title":"C++   \u5ba2\u6237\u7aef"},{"location":"ref_cpp/#c_2","text":"\u6211\u4eec \u4f7f\u7528   Doxygen   \u751f\u6210   C++   \u4ee3\u7801 \u7684 \u6587\u6863 \uff1a   Libcarla / source   Unreal / CarlaUE4 / Source   Unreal / CarlaUE4 / Plugins   \u751f\u6210 \u7684 \u6587\u6863 \u53ef \u901a\u8fc7 \u6b64   \u94fe\u63a5   \u83b7\u53d6 \u3002   \u7b14\u8bb0   \u6587\u6863 \u66f4\u65b0 \u7531   GitHub   \u81ea\u52a8 \u5b8c\u6210 \u3002","title":"C++   \u6587\u6863"},{"location":"ref_cpp/#doxygen","text":"\u91cd\u8981   \u9700\u8981   Doxygen   \u6765 \u751f\u6210 \u6587\u6863 \uff0c \u9700\u8981   Graphviz   \u4f5c\u4e3a \u56fe\u5f62 \u7ed8\u5236 \u5de5\u5177 \u5de5\u5177\u5305 \u3002   1 -   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u5b89\u88c5   doxygen   \u548c   graphviz \uff1a   #   linux   sudo   apt - get   install   doxygen   graphviz   2 -   \u5b89\u88c5 \u540e \uff0c \u8f6c \u5230   Doxyfile   \u6587\u4ef6 \u6240\u5728 \u7684 \u9879\u76ee \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   doxygen   \u5b83 \u5c06 \u5f00\u59cb \u6784\u5efa \u6587\u6863 \u7f51\u9875 \u3002   \u751f\u6210 \u7684 \u7f51\u9875 \u53ef\u4ee5 \u5728   Doxygen / html /   \u4e2d \u627e\u5230   3 -   \u5728 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u6253\u5f00   index . html   \u3002 \u73b0\u5728 \u60a8 \u5df2\u7ecf \u6709 \u4e86 \u672c\u5730   cpp   \u6587\u6863 \uff01","title":"\u521b\u5efa   doxygen   \u6587\u6863"},{"location":"ref_cpp/#c_3","text":"\u5728 vs2019 \u4e2d \u70b9\u51fb \u83dc\u5355   \u6587\u4ef6 - > \u6253\u5f00 - > CMake   \uff0c \u6253\u5f00   Examples \\ CppClient \\ CMakeLists . txt   \uff1b   \u70b9\u51fb   \u7ba1\u7406 \u914d\u7f6e   \uff0c \u6dfb\u52a0 \u65b0 \u7684 \u914d\u7f6e   x64 - release   \uff1b \uff08 \u6ce8\u610f \uff1a   x64 - Debug   \u8fd8\u6709 \u95ee\u9898 \uff09 \uff1b   \u542f\u52a8 Carla \u670d\u52a1 \u670d\u52a1\u7aef \u540e \uff0c \u5728 vs2019 \u4e2d \u70b9\u51fb   \u8c03\u8bd5 - > \u5f00\u59cb \u6267\u884c   \u3002","title":"C++ \u5ba2\u6237\u7aef \u8fd0\u884c"},{"location":"ref_cpp/#_1","text":"HUD   :   Heads - up   Displays ,   \u5934\u663e \u3002 \u7528\u6237 \u754c\u9762 \u7528\u6237\u754c\u9762   \uff08 UI \uff09 \u548c   \u5934\u663e   \uff08 HUD \uff09 \u662f \u6e38\u620f \u5411 \u73a9\u5bb6 \u63d0\u4f9b \u6e38\u620f \u4fe1\u606f \u4ee5\u53ca \u5728 \u67d0\u4e9b \u60c5\u51b5 \u4e0b \u5141\u8bb8 \u73a9\u5bb6 \u4e0e \u6e38\u620f \u4e92\u52a8 \u7684 \u65b9\u5f0f \u3002 HUD \u6307 \u7684 \u662f \u6e38\u620f \u671f\u95f4 \u5728 \u5c4f\u5e55 \u4e0a \u8986\u76d6 \u7684 \u72b6\u6001 \u548c \u4fe1\u606f \u3002 HUD \u7684 \u76ee\u7684 \u662f   \u544a\u77e5 \u73a9\u5bb6 \u5f53\u524d \u6e38\u620f \u72b6\u6001 \uff0c \u5373 \u5206\u6570 \u3001 \u751f\u547d \u503c \u3001 \u6e38\u620f \u5269\u4f59 \u65f6\u95f4 \u5269\u4f59\u65f6\u95f4 \u7b49 \u3002   HUD \u901a\u5e38 \u662f \u4e0d\u53ef \u4e92\u52a8 \u7684 \uff0c \u610f\u5473 \u610f\u5473\u7740 \u73a9\u5bb6 \u4e0d\u80fd \u5355\u51fb HUD \u7684 \u5143\u7d20 \uff0c \u56e0\u6b64   \u5728 HUD \u548c \u7528\u6237 \u754c\u9762 \u7528\u6237\u754c\u9762 \u96be\u4ee5 \u5206\u79bb \u7684 \u67d0\u4e9b \u7c7b\u578b \u6e38\u620f \u4e2d \uff0c \u8fd9\u4e9b \u5143\u7d20 \u4f1a \u663e\u793a \u4e3a \u7070\u8272 \u533a\u57df \u3002","title":"\u9605\u8bfb"},{"location":"ref_recorder_binary_file_format/","text":"\u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u7cfb\u7edf \u5c06 \u91cd\u653e \u4eff\u771f \u6240 \u9700 \u7684 \u6240\u6709 \u4fe1\u606f \u4fdd\u5b58 \u5728 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u4e2d \uff0c \u5bf9 \u591a \u5b57\u8282 \u503c \u4f7f\u7528 \u5c0f\u7aef \u5b57\u8282 \u987a\u5e8f \u3002   1 - 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  \u5e27 \u5f00\u59cb   \u8be5 \u6570\u636e \u6570\u636e\u5305 \u6807\u8bb0 \u65b0\u5e27 \u7684 \u5f00\u59cb \uff0c \u5e76\u4e14 \u5b83 \u5c06 \u662f \u5f00\u59cb \u6bcf\u4e2a \u5e27 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u6570\u636e \u6570\u636e\u5305 \u3002 \u6240\u6709 \u6570\u636e \u6570\u636e\u5305 \u90fd \u9700\u8981 \u653e\u7f6e \u5728   Frame   Start   \u548c   Frame   End   \u4e4b\u95f4 \u3002   \u56e0\u6b64 \uff0c \u7ecf\u8fc7 \u65f6\u95f4   +   \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4   =   \u4e0b \u4e00\u5e27 \u7ecf\u8fc7 \u7684 \u65f6\u95f4 \u3002   \u6570\u636e \u6570\u636e\u5305   1   -   \u5e27 \u7ed3\u675f   \u8be5 \u5e27 \u6ca1\u6709 \u6570\u636e \uff0c \u4ec5 \u6807\u8bb0 \u5f53\u524d \u5e27 \u7684 \u7ed3\u675f \u3002 \u8fd9 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u91cd\u653e \u91cd\u653e\u5668 \u5728 \u65b0 \u4e00\u5e27 \u5f00\u59cb \u4e4b\u524d \u77e5\u9053 \u6bcf \u4e00\u5e27 \u7684 \u7ed3\u675f \u3002 \u901a\u5e38 \uff0c \u4e0b \u4e00\u5e27 \u5e94\u8be5 \u662f \u5e27 \u8d77\u59cb \u6570\u636e \u6570\u636e\u5305 \u4ee5 \u5f00\u59cb \u65b0\u5e27 \u3002   \u6570\u636e \u6570\u636e\u5305   2   -   \u4e8b\u4ef6 \u6dfb\u52a0   \u8fd9\u4e2a \u6570\u636e \u6570\u636e\u5305 \u8bf4\u660e \u4e86 \u6211\u4eec \u9700\u8981 \u5728 \u5f53\u524d \u5e27 \u521b\u5efa \u591a\u5c11 \u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u5b57 \u6bb5   \u603b\u8ba1   \u8868\u793a \u540e\u9762 \u6709 \u591a\u5c11 \u6761 \u8bb0\u5f55 \u3002 \u6bcf\u6761 \u8bb0\u5f55 \u90fd \u4ee5   id   \u5b57 \u6bb5 \u5f00\u5934 \uff0c \u5373 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5f55\u5236 \u65f6\u6240 \u62e5\u6709 \u7684   id \uff08 \u5728 \u64ad\u653e \u65f6 \uff0c \u8be5   id   \u53ef\u4ee5 \u5728 \u5185\u90e8 \u66f4\u6539 \uff0c \u4f46 \u6211\u4eec \u9700\u8981 \u4f7f\u7528 \u6b64   id   \uff09 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   \u7c7b\u578b   \u53ef\u4ee5 \u6709 \u4ee5\u4e0b \u53ef\u80fd \u7684 \u503c \uff1a   0   =   \u5176\u4ed6   1   =   \u8f66\u8f86   2   =   \u884c\u4eba   3   =   \u4ea4\u901a \u4ea4\u901a\u706f   4   =   \u65e0\u6548   \u4e4b\u540e \uff0c \u7ee7\u7eed \u6211\u4eec \u60f3\u8981 \u521b\u5efa \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   \u4f4d\u7f6e   \u548c   \u65cb\u8f6c   \u3002   \u5728 \u6211\u4eec \u5f97\u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u63cf\u8ff0 \u4e4b\u540e \u3002 \u63cf\u8ff0   uid   \u662f \u63cf\u8ff0 \u7684 \u6570\u5b57   ID \uff0c \u800c   id   \u662f \u6587\u672c   ID \uff0c \u4f8b\u5982 \" vehicle . seat . leon \" \u3002   \u7136\u540e \u662f \u5176   \u5c5e\u6027   \u7684 \u96c6\u5408 \uff0c \u4f8b\u5982 \u989c\u8272 \u3001 \u8f6e\u5b50 \u6570\u91cf \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7b49 \u3002 \u5c5e\u6027 \u7684 \u6570\u91cf \u662f \u53ef\u53d8 \u7684 \uff0c \u5e94\u8be5 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   number _ of _ wheels   =   4   sticky _ control   =   true   color   =   79 , 33 , 85   role _ name   =   autopilot   \u6570\u636e \u6570\u636e\u5305   3   -   \u4e8b\u4ef6 \u5220\u9664   \u8fd9\u4e2a \u6570\u636e \u6570\u636e\u5305 \u8bf4\u660e \u4e86 \u8fd9 \u4e00\u5e27 \u9700\u8981 \u9500\u6bc1 \u591a\u5c11 \u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u5b83 \u6709 \u8bb0\u5f55   \u603b\u6570   \uff0c \u6bcf\u6761 \u8bb0\u5f55 \u90fd \u6709 \u8981 \u5220\u9664 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 ID   \u3002   \u4f8b\u5982 \uff0c \u8fd9\u4e2a \u6570\u636e \u6570\u636e\u5305 \u53ef\u80fd \u662f \u8fd9\u6837 \u7684 \uff1a   \u6570\u5b57   3   \u5c06 \u6570\u636e \u6570\u636e\u5305 \u6807\u8bc6 \u4e3a \u4e8b\u4ef6 \u5220\u9664 \u3002 \u6570\u5b57   16   \u662f \u6570\u636e \u6570\u636e\u5305 \u6570\u636e \u7684 \u5927\u5c0f \uff08 4   \u4e2a \u5b57 \u6bb5 \uff0c \u6bcf\u4e2a \u5b57 \u6bb5   4   \u5b57\u8282 \uff09 \u3002 \u56e0\u6b64 \uff0c \u5982\u679c \u6211\u4eec \u4e0d\u60f3 \u5904\u7406 \u8fd9\u4e2a \u6570\u636e \u6570\u636e\u5305 \uff0c \u6211\u4eec \u53ef\u4ee5 \u8df3\u8fc7 \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u7684   16   \u4e2a \u5b57\u8282 \uff0c \u76f4\u63a5 \u8fdb\u5165 \u4e0b \u4e00\u4e2a \u6570\u636e \u6570\u636e\u5305 \u7684 \u5f00\u5934 \u3002 \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u7684   3   \u8868\u793a \u540e\u9762 \u7684 \u603b \u8bb0\u5f55 \uff0c \u6bcf\u6761 \u8bb0\u5f55 \u90fd \u662f \u8981 \u5220\u9664 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id \u3002 \u56e0\u6b64 \uff0c \u6211\u4eec \u9700\u8981 \u5728 \u8fd9 \u4e00\u5e27 \u4e2d \u5220\u9664 \u53c2\u4e0e \u53c2\u4e0e\u8005   100 \u3001 101   \u548c   120 \u3002   \u6570\u636e \u6570\u636e\u5305   4   -   \u4e8b\u4ef6 \u7236\u7ea7   \u8be5 \u6570\u636e \u6570\u636e\u5305 \u8bf4\u660e \u54ea\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f \u53e6 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u7236\u6bcd \uff09 \u7684 \u5b69\u5b50 \u3002   \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a   id   \u662f\u5b50 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a   id   \u662f \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u6570\u636e \u6570\u636e\u5305   5   -   \u4e8b\u4ef6 \u78b0\u649e   \u5982\u679c \u4e24\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u95f4 \u53d1\u751f \u78b0\u649e \uff0c \u5b83 \u5c06 \u88ab \u6ce8\u518c \u5230 \u8fd9\u4e2a \u6570\u636e \u6570\u636e\u5305 \u4e2d \u3002 \u76ee\u524d \uff0c \u53ea\u6709 \u5177\u6709 \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u624d \u4f1a \u62a5\u544a \u78b0\u649e \uff0c \u56e0\u6b64 \u76ee\u524d \u53ea\u6709 \u82f1\u96c4 \u8f66\u8f86 \u4f1a \u81ea\u52a8 \u8fde\u63a5 \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   id   \u53ea\u662f \u4e00\u4e2a \u7528\u4e8e \u5728 \u5185\u90e8 \u6807\u8bc6 \u6bcf\u6b21 \u78b0\u649e \u7684 \u5e8f\u5217 \u3002 \u540c\u4e00 \u5e27 \u4e2d \u53ef\u80fd \u4f1a \u53d1\u751f \u540c\u4e00 \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u95f4 \u7684 \u591a\u6b21 \u78b0\u649e \uff0c \u56e0\u4e3a \u7269\u7406 \u5e27 \u901f\u7387 \u662f \u56fa\u5b9a \u7684 \uff0c \u5e76\u4e14 \u540c\u4e00 \u6e32\u67d3 \u5e27 \u4e2d \u901a\u5e38 \u5b58\u5728 \u591a\u4e2a \u7269\u7406 \u5b50 \u6b65\u9aa4 \u3002   \u6570\u636e \u6570\u636e\u5305   6   -   \u4f4d\u7f6e   \u8be5 \u6570\u636e \u6570\u636e\u5305 \u8bb0\u5f55 \u573a\u666f \u4e2d \u5b58\u5728 \u7684   \u8f66\u8f86   \u548c   \u884c\u4eba   \u7c7b\u578b \u7684 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002   \u6570\u636e \u6570\u636e\u5305   7   -   \u4ea4\u901a \u4ea4\u901a\u706f   \u8be5 \u6570\u636e \u6570\u636e\u5305 \u8bb0\u5f55 \u4e86 \u573a\u666f \u4e2d \u6240\u6709   \u4ea4\u901a \u4ea4\u901a\u706f   \u7684 \u72b6\u6001 \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u5b83 \u5b58\u50a8 \u72b6\u6001 \u5b58\u50a8\u72b6\u6001 \uff08 \u7ea2\u8272 \u3001 \u6a59\u8272 \u6216 \u7eff\u8272 \uff09 \u4ee5\u53ca \u7b49\u5f85 \u66f4 \u6539\u4e3a \u65b0 \u72b6\u6001 \u7684 \u65f6\u95f4 \u3002   \u6570\u636e \u6570\u636e\u5305   8   -   \u8f66\u8f86 \u52a8\u753b   \u8be5 \u6570\u636e \u6570\u636e\u5305 \u8bb0\u5f55 \u4e86 \u8f66\u8f86 \u3001 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u548c \u5c71\u5730 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u52a8\u753b \u3002 \u8be5 \u6570\u636e \u6570\u636e\u5305 \u5b58\u50a8 \u4e86   \u6cb9\u95e8   \u3001   \u65b9\u5411 \u65b9\u5411\u76d8   \u3001   \u5220\u8f66   \u3001   \u624b\u5239   \u548c   \u6392\u6321   \u8f93\u5165 \uff0c \u7136\u540e \u5728 \u64ad\u653e \u65f6 \u8bbe\u7f6e \u5b83\u4eec \u3002   \u6570\u636e \u6570\u636e\u5305   9   -   \u884c\u4eba \u52a8\u753b   \u8be5 \u6570\u636e \u6570\u636e\u5305 \u8bb0\u5f55 \u4e86 \u884c\u4eba \u7684 \u52a8\u753b \u3002 \u5b83 \u53ea\u662f \u4fdd\u5b58 \u52a8\u753b \u4e2d \u4f7f\u7528 \u7684 \u884c\u4eba \u7684   \u901f\u5ea6   \u3002   4 -   \u5e27 \u5e03\u5c40   \u4e00\u4e2a \u5e27 \u7531 \u591a\u4e2a \u6570\u636e \u6570\u636e\u5305 \u7ec4\u6210 \uff0c \u5176\u4e2d \u6240\u6709 \u6570\u636e \u6570\u636e\u5305 \u90fd \u662f \u53ef\u9009 \u7684 \uff0c \u9664\u4e86 \u90a3\u4e9b \u5728 \u8be5 \u5e27 \u4e2d \u5177\u6709   \u5f00\u59cb   \u548c   \u7ed3\u675f   \u7684 \u6570\u636e \u6570\u636e\u5305 \u4e4b\u5916 \uff0c \u5b83\u4eec \u5fc5\u987b \u59cb\u7ec8 \u5b58\u5728 \u3002   \u4e8b\u4ef6   \u6570\u636e \u6570\u636e\u5305 \u4ec5 \u5b58\u5728 \u4e8e \u5b83\u4eec \u53d1\u751f \u7684 \u5e27 \u4e2d \u3002   \u4f4d\u7f6e   \u548c   \u4ea4\u901a \u4ea4\u901a\u706f   \u6570\u636e \u6570\u636e\u5305 \u5e94\u8be5 \u5b58\u5728 \u4e8e \u6240\u6709 \u5e27 \u4e2d \uff0c \u56e0\u4e3a \u5b83\u4eec \u9700\u8981 \u79fb\u52a8 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e76 \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u8bbe\u7f6e \u4e3a \u5176 \u72b6\u6001 \u3002 \u5b83\u4eec \u662f \u53ef\u9009 \u7684 \uff0c \u4f46 \u5982\u679c \u5b83\u4eec \u4e0d \u5b58\u5728 \uff0c \u90a3\u4e48 \u91cd\u653e \u91cd\u653e\u5668 \u5c06 \u65e0\u6cd5 \u79fb\u52a8 \u6216 \u8bbe\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u3002   \u52a8\u753b   \u5305 \u4e5f \u662f \u53ef\u9009 \u7684 \uff0c \u4f46 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83\u4eec \u4f1a \u88ab \u8bb0\u5f55 \u3002 \u8fd9\u6837 \u884c\u4eba \u5c31 \u4f1a \u88ab \u52a8\u753b \u5316 \uff0c \u5e76\u4e14 \u8f66\u8f6e \u4e5f \u4f1a \u8ddf\u968f \u8f66\u8f86 \u7684 \u65b9\u5411 \u3002   5 -   \u6587\u4ef6 \u5e03\u5c40   \u6587\u4ef6 \u7684 \u5e03\u5c40 \u4ee5   \u4fe1\u606f \u5934   \u5f00\u59cb \uff0c \u7136\u540e \u662f \u5206\u7ec4 \u7684 \u6570\u636e \u6570\u636e\u5305 \u96c6\u5408 \u3002 \u6bcf\u7ec4 \u4e2d \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u662f   \u5e27 \u5f00\u59cb   \u6570\u636e \u6570\u636e\u5305 \uff0c \u6700\u540e \u4e00\u4e2a \u662f   \u5e27 \u7ed3\u675f   \u6570\u636e \u6570\u636e\u5305 \u3002 \u5728 \u8fd9 \u4e24\u8005 \u4e4b\u95f4 \u4e24\u8005\u4e4b\u95f4 \uff0c \u6211\u4eec \u8fd8 \u53ef\u4ee5 \u627e\u5230 \u5176\u4f59 \u7684 \u6570\u636e \u6570\u636e\u5305 \u3002   \u901a\u5e38 \uff0c \u6700\u597d \u9996\u5148 \u62e5\u6709 \u6709\u5173 \u4e8b\u4ef6 \u7684 \u6240\u6709 \u6570\u636e \u6570\u636e\u5305 \uff0c \u7136\u540e \u518d \u62e5\u6709 \u6709\u5173 \u4f4d\u7f6e \u548c \u72b6\u6001 \u7684 \u6570\u636e \u6570\u636e\u5305 \u3002   \u4e8b\u4ef6 \u5305\u662f \u53ef\u9009 \u7684 \uff0c \u56e0\u4e3a \u5b83\u4eec \u5728 \u53d1\u751f \u65f6 \u51fa\u73b0 \uff0c \u6240\u4ee5 \u6211\u4eec \u53ef\u4ee5 \u6709 \u8fd9\u6837 \u7684 \u5e03\u5c40 \uff1a   \u5728   \u7b2c   1   \u5e27   \u4e2d \uff0c \u521b\u5efa \u4e86 \u4e00\u4e9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e76 \u91cd\u65b0 \u8bbe\u7f6e \u4e86 \u7236\u7ea7 \uff0c \u56e0\u6b64 \u6211\u4eec \u53ef\u4ee5 \u5728 \u56fe\u50cf \u4e2d \u89c2\u5bdf \u5176 \u4e8b\u4ef6 \u3002 \u5728   \u7b2c   2   \u5e27   \u4e2d \u6ca1\u6709 \u4e8b\u4ef6 \u3002 \u5728   \u7b2c   3   \u5e27   \u4e2d \uff0c \u4e00\u4e9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53d1\u751f \u4e86 \u78b0\u649e \uff0c \u56e0\u6b64 \u78b0\u649e \u4e8b\u4ef6 \u4f1a \u968f\u8be5 \u4fe1\u606f \u4e00\u8d77 \u51fa\u73b0 \u3002 \u5728   \u7b2c   4   \u5e27   \u4e2d \uff0c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u88ab \u9500\u6bc1 \u3002","title":"Ref   recorder   binary   file   format"},{"location":"ref_recorder_binary_file_format/#_1","text":"\u8bb0\u5f55 \u8bb0\u5f55\u5668 \u7cfb\u7edf \u5c06 \u91cd\u653e \u4eff\u771f \u6240 \u9700 \u7684 \u6240\u6709 \u4fe1\u606f \u4fdd\u5b58 \u5728 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u4e2d \uff0c \u5bf9 \u591a \u5b57\u8282 \u503c \u4f7f\u7528 \u5c0f\u7aef \u5b57\u8282 \u987a\u5e8f \u3002   1 -   \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u5b57\u7b26 \u5b57\u7b26\u4e32   2 -   \u4fe1\u606f \u5934   3 -   \u6570\u636e \u6570\u636e\u5305   \u6570\u636e \u6570\u636e\u5305   0   -   \u5e27 \u5f00\u59cb   \u6570\u636e \u6570\u636e\u5305   1   -   \u5e27 \u7ed3\u675f   \u6570\u636e \u6570\u636e\u5305   2   -   \u4e8b\u4ef6 \u6dfb\u52a0   \u6570\u636e \u6570\u636e\u5305   3   -   \u4e8b\u4ef6 \u5220\u9664   \u6570\u636e \u6570\u636e\u5305   4   -   \u4e8b\u4ef6 \u7236\u7ea7   \u6570\u636e \u6570\u636e\u5305   5   -   \u4e8b\u4ef6 \u78b0\u649e   \u6570\u636e \u6570\u636e\u5305   6   -   \u4f4d\u7f6e   \u6570\u636e \u6570\u636e\u5305   7   -   \u4ea4\u901a \u4ea4\u901a\u706f   \u6570\u636e \u6570\u636e\u5305   8   -   \u8f66\u8f86 \u52a8\u753b   \u6570\u636e \u6570\u636e\u5305   9   -   \u884c\u4eba \u52a8\u753b   4 -   \u5e27 \u5e03\u5c40   5 -   \u6587\u4ef6 \u5e03\u5c40   \u5728 \u4e0b \u4e00\u5f20 \u4ee3\u8868 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u7684 \u56fe\u50cf \u4e2d \uff0c \u6211\u4eec \u53ef\u4ee5 \u5feb\u901f \u67e5\u770b \u6240\u6709 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002 \u56fe\u50cf \u4e2d \u53ef\u89c6 \u53ef\u89c6\u5316 \u7684 \u6bcf\u4e2a \u90e8\u5206 \u5c06 \u5728 \u4ee5\u4e0b \u90e8\u5206 \u4e2d \u8fdb\u884c \u89e3\u91ca \uff1a   \u603b\u4e4b \uff0c \u8be5 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u6709 \u4e00\u4e2a \u5c0f \u5934 \uff0c \u5176\u4e2d \u5305\u542b \u4e00\u822c \u4fe1\u606f \uff08 \u7248\u672c \u3001 \u9b54\u672f \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3001 \u65e5\u671f \u548c \u4f7f\u7528 \u7684 \u5730\u56fe \uff09 \u548c \u4e0d\u540c \u7c7b\u578b \u7684 \u6570\u636e \u6570\u636e\u5305 \u96c6\u5408 \uff08 \u76ee\u524d \u6211\u4eec \u4f7f\u7528   10   \u79cd \u7c7b\u578b \uff0c \u4f46 \u5c06\u6765 \u4f1a \u7ee7\u7eed \u589e\u957f \uff09   \u3002","title":"\u8bb0\u5f55\u5668 \u4e8c\u8fdb\u5236 \u6587\u4ef6\u683c\u5f0f"},{"location":"ref_recorder_binary_file_format/#1-","text":"\u5b57\u7b26 \u5b57\u7b26\u4e32 \u9996\u5148 \u4f7f\u7528 \u5176 \u957f\u5ea6 \u8fdb\u884c \u7f16\u7801 \uff0c \u7136\u540e \u662f \u5176 \u5b57\u7b26 \uff08 \u4e0d \u4ee5 \u5b57\u7b26 \u7a7a\u5b57\u7b26 \u7ed3\u5c3e \uff09 \u3002 \u4f8b\u5982 \uff0c \u5b57\u7b26 \u5b57\u7b26\u4e32 \u201c Town06 \u201d \u5c06 \u4fdd\u5b58 \u4e3a \u5341\u516d \u8fdb\u5236 \u5341\u516d\u8fdb\u5236 \u503c \uff1a 06   00   54   6f   77   6e   30   36","title":"1 -   \u4e8c\u8fdb\u5236 \u5b57\u7b26\u4e32  "},{"location":"ref_recorder_binary_file_format/#2-","text":"\u4fe1\u606f \u6807\u5934 \u5305\u542b \u6709\u5173 \u5f55\u5236 \u6587\u4ef6 \u7684 \u4e00\u822c \u4fe1\u606f \u3002 \u57fa\u672c \u57fa\u672c\u4e0a \uff0c \u5b83 \u5305\u542b \u7248\u672c \u548c \u4e00\u4e2a \u9b54\u672f \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u7528\u4e8e \u5c06 \u8be5 \u6587\u4ef6 \u6807\u8bc6 \u4e3a \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u3002 \u5982\u679c \u6807\u9898 \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \uff0c \u90a3\u4e48 \u7248\u672c \u4e5f \u4f1a \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002 \u6b64\u5916 \uff0c \u5b83 \u8fd8 \u5305\u542b \u4e00\u4e2a \u65e5\u671f \u65f6\u95f4 \u6233 \uff0c \u4ee5\u53ca \u4ece   1900   \u5e74 \u5f00\u59cb \u7684 \u79d2\u6570 \uff0c \u5e76\u4e14 \u8fd8 \u5305\u542b \u4e00\u4e2a \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u5176\u4e2d \u5305\u542b \u7528\u4e8e \u8bb0\u5f55 \u7684 \u5730\u56fe \u540d\u79f0 \u3002   \u793a\u4f8b \u4fe1\u606f \u5934 \u662f \uff1a","title":"2 - 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  \u6587\u4ef6 \u5e03\u5c40  "},{"location":"ref_sensors/","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u6df1\u5ea6 \u76f8\u673a   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   RGB \u76f8\u673a   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u5b9e\u4f8b \u5206\u5272 \u76f8\u673a   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u76f8\u673a   \u5149\u6d41 \u76f8\u673a   V2X   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u534f\u540c \u611f\u77e5   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d88\u606f   \u91cd\u8981   \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u5750\u6807\u7cfb \uff08   x   -   \u5411\u524d   \uff0c   y   -   \u5411 \u53f3   \uff0c   z   -   \u5411\u4e0a   \uff09 \uff0c \u5e76 \u8fd4\u56de \u672c\u5730 \u7a7a\u95f4 \u4e2d \u7684 \u5750\u6807 \u3002 \u4f7f\u7528 \u4efb\u4f55 \u53ef\u89c6 \u53ef\u89c6\u5316 \u8f6f\u4ef6 \u65f6 \uff0c \u8bf7 \u6ce8\u610f \u5176 \u5750\u6807 \u5750\u6807\u7cfb \u3002 \u8bb8\u591a \u53cd\u8f6c   Y   \u8f74 \uff0c \u56e0\u6b64 \u76f4\u63a5 \u53ef\u89c6 \u53ef\u89c6\u5316 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u955c\u50cf \u8f93\u51fa \u3002   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u84dd\u56fe \uff1a   sensor . other . collision   \u8f93\u51fa \uff1a   \u6bcf\u6b21 \u78b0\u649e \u7684   carla . CollisionEvent   \u3002   \u6bcf\u5f53 \u5176\u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0e \u4e16\u754c \u4e0a \u7684 \u67d0\u4e9b \u7269\u4f53 \u53d1\u751f \u78b0\u649e \u65f6 \uff0c \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u4f1a \u8bb0\u5f55 \u4e00\u4e2a \u4e8b\u4ef6 \u3002 \u6bcf\u4e2a \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6bcf\u5e27 \u6bcf\u6b21 \u78b0\u649e \u90fd \u4f1a \u4ea7\u751f \u4e00\u4e2a \u78b0\u649e \u4e8b\u4ef6 \u3002 \u901a\u8fc7 \u4e0e \u591a\u4e2a \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u78b0\u649e \uff0c \u53ef\u4ee5 \u5728 \u5355\u4e2a \u5e27 \u4e2d \u4ea7\u751f \u591a\u4e2a \u78b0\u649e \u4e8b\u4ef6 \u3002 \u4e3a\u4e86 \u786e\u4fdd \u68c0\u6d4b \u5230 \u4e0e \u4efb\u4f55 \u7c7b\u578b \u7684 \u5bf9\u8c61 \u7684 \u78b0\u649e \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e3a \u5efa\u7b51 \u5efa\u7b51\u7269 \u6216 \u704c\u6728 \u6728\u4e1b \u704c\u6728\u4e1b \u7b49 \u5143\u7d20 \u521b\u5efa \u201c \u5047 \u201d \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u68c0\u7d22 \u8bed\u4e49 \u6807\u7b7e \u6765 \u8bc6\u522b \u5b83 \u3002   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u6ca1\u6709 \u4efb\u4f55 \u53ef \u914d\u7f6e \u7684 \u5c5e\u6027 \u3002   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   actor   carla . Actor   \u6d4b\u91cf \u78b0\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7236\u7ea7 \uff09 \u3002   other _ actor   carla . Actor   \u4e0e \u7236\u7ea7 \u76f8\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   normal _ impulse   carla . Vector3D   \u78b0\u649e \u7684 \u6b63\u5e38 \u8109\u51b2 \u7ed3\u679c \u3002   \u6df1\u5ea6 \u76f8\u673a   \u84dd\u56fe \uff1a   sensor . camera . depth   \u8f93\u51fa \uff1a   \u6bcf\u6b65 \u7684 \u56fe\u50cf   carla . Image   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u76f8\u673a \u63d0\u4f9b \u573a\u666f \u7684 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \uff0c \u7f16\u7801 \u6bcf\u4e2a \u50cf\u7d20 \u5230 \u76f8\u673a \u7684 \u8ddd\u79bb \uff08 \u4e5f \u79f0\u4e3a   \u6df1\u5ea6 \u7f13\u51b2 \u7f13\u51b2\u533a   \u6216   z   \u7f13\u51b2 \u7f13\u51b2\u533a   \uff09 \u4ee5 \u521b\u5efa \u5143\u7d20 \u7684 \u6df1\u5ea6 \u6df1\u5ea6\u56fe \u3002   \u8be5 \u56fe\u50cf \u4f7f\u7528   RGB   \u989c\u8272 \u7a7a\u95f4 \u7684   3   \u4e2a \u901a\u9053 \uff08 \u4ece \u5b57\u8282 \u4f4e\u5b57\u8282 \u5230 \u5b57\u8282 \u9ad8\u5b57\u8282 \uff09 \u5bf9 \u6bcf\u4e2a \u50cf\u7d20 \u7684 \u6df1\u5ea6 \u503c \u8fdb\u884c \u7f16\u7801 \uff1a   R   - >   G   - >   B   \u3002 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \u7684 \u5b9e\u9645 \u8ddd\u79bb \u53ef\u4ee5 \u901a\u8fc7 \u4ee5\u4e0b \u65b9\u5f0f \u89e3\u7801 \uff1a   normalized   =   ( R   +   G   *   256   +   B   *   256   *   256 )   /   ( 256   *   256   *   256   -   1 )   in _ meters   =   1000   *   normalized   \u7136\u540e \uff0c \u5e94 \u4f7f\u7528   carla . colorConverter   \u5c06 \u8f93\u51fa   carla . Image   \u4fdd\u5b58 \u5230 \u78c1\u76d8 \uff0c \u8be5   carla . colorConverter   \u4f1a \u5c06 \u5b58\u50a8 \u5728   RGB   \u901a\u9053 \u4e2d \u7684 \u8ddd\u79bb \u8f6c\u6362 \u4e3a \u5305\u542b \u8be5 \u8ddd\u79bb \u7684   [ 0 , 1 ]   \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \uff0c \u7136\u540e \u5c06 \u5176 \u8f6c\u6362 \u4e3a \u7070\u5ea6 \u3002   carla . colorConverter   \u4e2d\u6709 \u4e24\u4e2a \u9009\u9879 \u53ef \u83b7\u53d6 \u6df1\u5ea6 \u89c6\u56fe \uff1a   Depth   \u548c   Logaritmic   depth   \u3002 \u4e24\u8005 \u7684 \u7cbe\u5ea6 \u90fd \u662f \u6beb\u7c73 \u7ea7 \u7684 \uff0c \u4f46 \u5bf9\u6570 \u65b9\u6cd5 \u53ef\u4ee5 \u4e3a \u66f4 \u8fd1 \u7684 \u7269\u4f53 \u63d0\u4f9b \u66f4\u597d \u7684 \u7ed3\u679c \u3002   ...   raw _ image . save _ to _ disk ( \" path / to / save / converted / image \" , carla . Depth )   \u76f8\u673a \u57fa\u672c \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   image _ size _ x   int   800   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ y   int   600   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   fov   float   90.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   \u76f8\u673a \u955c\u5934 \u7578\u53d8 \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   lens _ circle _ falloff   float   5.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ circle _ multiplier   float   0.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ k   float   - 1.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ kcube   float   0.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ x _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   lens _ y _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   width   int   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   height   int   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   fov   float   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   bytes   BGRA   32   \u4f4d \u50cf\u7d20 \u9635\u5217 \u3002   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u84dd\u56fe \uff1a   sensor . other . gnss   Output :   \u6bcf \u4e00\u6b65 \u7684 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u7684 \u6d4b\u91cf   carla . GNSSMeasurement   \uff08   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u62a5\u544a \u5176\u7236 \u5bf9\u8c61 \u7684 \u5f53\u524d   gnss   \u4f4d\u7f6e   \u3002 \u8fd9\u662f \u901a\u8fc7 \u5c06 \u5ea6\u91cf \u4f4d\u7f6e \u6dfb\u52a0 \u5230   OpenDRIVE   \u5730\u56fe \u5b9a\u4e49 \u4e2d \u5b9a\u4e49 \u7684 \u521d\u59cb \u5730\u7406 \u53c2\u8003 \u4f4d\u7f6e \u6765 \u8ba1\u7b97 \u7684 \u3002   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   noise _ alt _ bias   float   0.0   \u6d77\u62d4 \u62d4\u9ad8 \u9ad8\u5ea6 \u6d77\u62d4\u9ad8\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ alt _ stddev   float   0.0   \u6d77\u62d4 \u62d4\u9ad8 \u9ad8\u5ea6 \u6d77\u62d4\u9ad8\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ lat _ bias   float   0.0   \u7eac\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ lat _ stddev   float   0.0   \u7eac\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ lon _ bias   float   0.0   \u7ecf\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ lon _ stddev   float   0.0   \u7ecf\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ seed   int   0   \u4f2a \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u751f\u6210 \u6210\u5668 \u751f\u6210\u5668 \u7684 \u521d\u59cb \u521d\u59cb\u5316 \u7a0b\u5e8f \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   latitude   double   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7eac\u5ea6 \u3002   longitude   double   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7ecf\u5ea6 \u3002   altitude   double   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6d77\u62d4 \u62d4\u9ad8 \u9ad8\u5ea6 \u6d77\u62d4\u9ad8\u5ea6 \u3002   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u84dd\u56fe \uff1a   sensor . other . imu   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65 \u7684 \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u6d4b\u91cf \u503c   carla . IMUMeasurement   \uff08 \u9664\u975e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8282\u62cd   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u63d0\u4f9b \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \u3001 \u9640\u87ba \u9640\u87ba\u4eea \u548c \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \u5c06 \u4e3a \u7236 \u5bf9\u8c61 \u68c0\u7d22 \u7684 \u6d4b\u91cf \u503c \u3002 \u6570\u636e \u662f\u4ece \u5bf9\u8c61 \u7684 \u5f53\u524d \u72b6\u6001 \u6536\u96c6 \u7684 \u3002   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   noise _ accel _ stddev _ x   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 X   \u8f74 \uff09 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ accel _ stddev _ y   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 Y   \u8f74 \uff09 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ accel _ stddev _ z   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 Z   \u8f74 \uff09 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ gyro _ bias _ x   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \uff08 X   \u8f74 \uff09 \u3002   noise _ gyro _ bias _ y   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \uff08 Y   \u8f74 \uff09 \u3002   noise _ gyro _ bias _ z   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \uff08 Z   \u8f74 \uff09 \u3002   noise _ gyro _ stddev _ x   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \uff08 X   \u8f74 \uff09 \u3002   noise _ gyro _ stddev _ y   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \uff08 Y   \u8f74 \uff09 \u3002   noise _ gyro _ stddev _ z   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \uff08 Z   \u8f74 \uff09 \u3002   noise _ seed   int   0   \u4f2a \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u751f\u6210 \u6210\u5668 \u751f\u6210\u5668 \u7684 \u521d\u59cb \u521d\u59cb\u5316 \u7a0b\u5e8f \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   accelerometer   carla . Vector3D   \u6d4b\u91cf \u7ebf\u6027 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 \u4ee5   m / s ^ 2   \u4e3a \u5355\u4f4d \uff09 \u3002   gyroscope   carla . Vector3D   \u6d4b\u91cf \u901f\u5ea6 \u89d2\u901f\u5ea6 \uff08 \u4ee5   rad / sec   \u4e3a \u5355\u4f4d \uff09 \u3002   compass   float   \u4ee5 \u5f27\u5ea6 \u4e3a \u5355\u4f4d \u7684 \u65b9\u5411 \u3002 \u5317\u662f 0 \u5f27\u5ea6 \u3002   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u8ba1\u7b97 \u65b9\u6cd5 \u8ba1\u7b97\u65b9\u6cd5 \uff1a   $ $   d _ 2   ( i )   =   - 2.0   \\ times   [   {   y _ 1   \\ over   { h _ 1   \\ times   h _ 2   }   }   -   {   y _ 2   \\ over   {   h _ 2   \\ times   ( h _ 1 + h _ 2 )   }   }   -   { y _ 0   \\ over   {   h _ 1   \\ times   ( h _ 1   +   h _ 2 )   } }   ]   . $ $   \u5176\u4e2d \uff0c ( h _ 1 )   \u4e3a \u5f53\u524d \u65f6\u95f4 \u589e\u91cf \uff0c ( h _ 2 ) \u4e3a \u524d \u4e00\u4e2a \u65f6\u95f4 \u589e\u91cf \u3002   \u6ce8\u610f   \u5bf9\u4e8e \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \uff0c \u5317\u4e3a   0   \u5f27\u5ea6 \u3002 \u4e1c\u4e3a   pi   / 2   \u5f27\u5ea6 \uff0c \u5357\u4e3a   pi   \u5f27\u5ea6 \uff0c \u897f\u4e3a   3   pi   / 2   \u5f27\u5ea6 \u3002 \u5728   Carla   \u7684 \u5168\u5c40 \u5750\u6807 \u5750\u6807\u7cfb \u4e2d \uff0c \u5317\u4e3a   Y   \u8f74 \u51cf\u5c0f \u7684 \u65b9\u5411 \u3002 \u4e1c\u4e3a   X   \u8f74 \u589e\u52a0 \u7684 \u65b9\u5411 \u3002 \u8f6c\u6362 \u4e3a \u5ea6\u6570 \u7684 \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \u503c \u7b49\u4e8e   90   -   \u504f\u822a   \u3002   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u84dd\u56fe \uff1a   sensor . other . lane _ invasion   \u8f93\u51fa \uff1a   \u6bcf\u6b21 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u7684   carla . LaneInvasionEvent   \u3002   \u6bcf\u6b21 \u5176\u7236 \u7ea7 \u7a7f\u8fc7 \u8f66\u9053 \u6807\u8bb0 \u65f6 \u90fd \u4f1a \u6ce8\u518c \u4e00\u4e2a \u4e8b\u4ef6 \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f7f\u7528 \u5730\u56fe \u7684   OpenDRIVE   \u63cf\u8ff0 \u63d0\u4f9b \u7684 \u9053\u8def \u6570\u636e \uff0c \u901a\u8fc7 \u8003\u8651 \u8f66\u8f6e \u4e4b\u95f4 \u7684 \u7a7a\u95f4 \u6765 \u786e\u5b9a \u4e3b \u8f66\u8f86 \u662f\u5426 \u6b63\u5728 \u4fb5\u5165 \u53e6 \u4e00 \u8f66\u9053 \u3002 \u7136\u800c \uff0c \u6709 \u4e00\u4e9b \u4e8b\u60c5 \u9700\u8981 \u8003\u8651 \uff1a   OpenDRIVE   \u6587\u4ef6 \u548c \u5730\u56fe \u4e4b\u95f4 \u7684 \u5dee\u5f02 \u5c06 \u5bfc\u81f4 \u89c4\u5219 \u4e0d\u89c4\u5219 \u73b0\u8c61 \uff0c \u4f8b\u5982 \u5728 \u5730\u56fe \u4e2d \u4e0d \u53ef\u89c1 \u7684 \u4ea4\u53c9 \u8f66\u9053 \u3002   \u8f93\u51fa \u68c0\u7d22 \u4ea4\u53c9 \u8f66\u9053 \u6807\u8bb0 \u5217\u8868 \uff1a \u8ba1\u7b97 \u5728   OpenDRIVE   \u4e2d \u5b8c\u6210 \uff0c \u5e76 \u5c06 \u56db\u4e2a \u8f66\u8f6e \u4e4b\u95f4 \u7684 \u6574\u4e2a \u7a7a\u95f4 \u89c6\u4e3a \u4e00\u4e2a \u6574\u4f53 \u3002 \u56e0\u6b64 \uff0c \u53ef\u80fd \u6709 \u4e0d\u6b62 \u4e00\u6761 \u8f66\u9053 \u540c\u65f6 \u7a7f\u8fc7 \u3002   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6ca1\u6709 \u4efb\u4f55 \u53ef \u914d\u7f6e \u5c5e\u6027 \u3002   \u91cd\u8981   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5b8c\u5168 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5de5\u4f5c \u3002   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   actor   carla . Actor   \u4fb5\u5165 \u53e6 \u4e00 \u8f66\u9053 \u7684 \u8f66\u8f86 \uff08 \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff09 \u3002   crossed _ lane _ markings   list (   carla . LaneMarking   )   \u5df2 \u7a7f\u8d8a \u7684 \u8f66\u9053 \u6807\u8bb0 \u5217\u8868 \u3002   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u84dd\u56fe \uff1a   sensor . lidar . ray _ cast   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65   carla . LidarMeasurement   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6d4b\u91cf \u5305\u542b \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff0c \u5176\u4e2d \u5305\u542b \u5728 \u67d0\u4e2a \u65f6\u95f4 \u95f4\u9694 \u5185 \u751f\u6210 \u7684 \u6240\u6709 \u70b9 1 / FPS \u3002 \u5728 \u6b64 \u95f4\u9694 \u671f\u95f4 \uff0c \u7269\u7406 \u4e0d\u4f1a \u66f4\u65b0 \uff0c \u56e0\u6b64 \u6d4b\u91cf \u4e2d \u7684 \u6240\u6709 \u70b9 \u90fd \u53cd\u6620 \u573a\u666f \u7684 \u76f8\u540c \u201c \u9759\u6001 \u56fe\u7247 \u201d \u3002   points _ per _ channel _ each _ step   =   points _ per _ second   /   ( FPS   *   channels )   \u6b64 \u8f93\u51fa \u5305\u542b \u4eff\u771f \u70b9\u4e91 \uff0c \u56e0\u6b64 \u53ef\u4ee5 \u5bf9 \u5176 \u8fdb\u884c \u8fed\u4ee3 \u4ee5 \u68c0\u7d22 \u5b83\u4eec \u7684 \u5217\u8868   carla . Location   \uff1a   for   location   in   lidar _ measurement :   print ( location )   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6d4b\u91cf \u7684 \u4fe1\u606f \u88ab \u7f16\u7801 \u4e3a   4D   \u70b9 \u3002 \u524d \u4e09\u4e2a \u662f   xyz   \u5750\u6807 \u4e2d \u7684 \u7a7a\u95f4 \u70b9 \uff0c \u6700\u540e \u4e00\u4e2a \u662f \u65c5\u884c \u8fc7\u7a0b \u4e2d \u7684 \u5f3a\u5ea6 \u635f\u5931 \u3002 \u8be5 \u5f3a\u5ea6 \u901a\u8fc7 \u4ee5\u4e0b \u516c\u5f0f \u8ba1\u7b97 \u3002   a   \u2014   \u8870\u51cf \u7cfb\u6570 \u8870\u51cf\u7cfb\u6570 \u3002 \u8fd9 \u53ef\u80fd \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6ce2\u957f \u548c \u5927\u6c14 \u6761\u4ef6 \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5c5e\u6027 \u5bf9 \u5176 \u8fdb\u884c \u4fee\u6539   atmosphere _ attenuation _ rate   \u3002   d   \u2014   \u4ece \u51fb\u4e2d \u70b9\u5230 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8ddd\u79bb   \u4e3a\u4e86 \u83b7\u5f97 \u66f4\u597d \u7684 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \uff0c \u53ef\u4ee5 \u5220\u9664 \u4e91\u4e2d \u7684 \u70b9 \u3002 \u8fd9\u662f \u4eff\u771f \u5916\u90e8 \u6270\u52a8 \u9020\u6210 \u7684 \u635f\u5931 \u7684 \u7b80\u5355 \u65b9\u6cd5 \u3002 \u8fd9 \u53ef\u4ee5 \u7ed3\u5408 \u4e24\u4e2a \u4e0d\u540c \u7684 \u6765 \u5b8c\u6210 \u3002   General   drop - off   \u2014   \u968f\u673a \u6389\u843d \u7684 \u5206\u6570 \u6bd4\u4f8b \u3002 \u8fd9 \u662f \u5728 \u8ddf\u8e2a \u4e4b\u524d \u5b8c\u6210 \u7684 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u4e0d\u4f1a \u8ba1\u7b97 \u88ab \u4e22\u5f03 \u7684 \u70b9 \uff0c \u4ece\u800c \u63d0\u9ad8 \u6027\u80fd \u3002 \u5982\u679c \u662f   dropoff _ general _ rate   =   0.5   \uff0c \u5219 \u6263\u6389 \u4e00\u534a \u7684 \u5206\u6570 \u3002   Instensity - based   drop - off   \u2014   \u5bf9\u4e8e \u68c0\u6d4b \u5230 \u7684 \u6bcf\u4e2a \u70b9 \uff0c \u6839\u636e \u8ba1\u7b97 \u7684 \u5f3a\u5ea6 \u7684 \u6982\u7387 \u6267\u884c \u989d\u5916 \u7684 \u4e0b\u964d \u3002 \u8be5 \u6982\u7387 \u7531 \u4e24\u4e2a \u53c2\u6570 \u786e\u5b9a \u3002   dropoff _ zero _ intensity   \u662f \u5f3a\u5ea6 \u4e3a \u96f6 \u7684 \u70b9 \u88ab \u4e22\u5f03 \u7684 \u6982\u7387 \u3002   dropoff _ intensity _ limit   \u662f \u9608\u503c \u5f3a\u5ea6 \uff0c \u8d85\u8fc7 \u8be5 \u9608\u503c \u5c06 \u4e0d\u4f1a \u6389\u843d \u4efb\u4f55 \u5206\u6570 \u3002 \u8303\u56f4 \u5185 \u7684 \u70b9 \u88ab \u4e22\u5f03 \u7684 \u6982\u7387 \u662f \u57fa\u4e8e \u8fd9 \u4e24\u4e2a \u53c2\u6570 \u7684 \u7ebf\u6027 \u6bd4\u4f8b \u3002   \u6b64\u5916 \uff0c \u8be5   noise _ stddev   \u5c5e\u6027 \u8fd8 \u4f7f \u566a\u58f0 \u6a21\u578b \u80fd\u591f \u4eff\u771f \u73b0\u5b9e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u51fa\u73b0 \u7684 \u610f\u5916 \u504f\u5dee \u3002 \u5bf9\u4e8e \u6b63\u503c \uff0c \u6bcf\u4e2a \u70b9 \u90fd \u4f1a \u6cbf\u7740 \u6fc0\u5149 \u5c04\u7ebf \u7684 \u77e2\u91cf \u968f\u673a \u6270\u52a8 \u3002 \u7ed3\u679c \u662f \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5177\u6709 \u5b8c\u7f8e \u7684 \u89d2\u5ea6 \u5b9a\u4f4d \uff0c \u4f46 \u8ddd\u79bb \u6d4b\u91cf \u5b58\u5728 \u566a\u97f3 \u3002   \u53ef\u4ee5 \u8c03\u6574 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7684 \u65cb\u8f6c \u4ee5 \u8986\u76d6 \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u7684 \u7279\u5b9a \u89d2\u5ea6 \uff08 \u4f7f\u7528   \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f   \uff09 \u3002 \u4f8b\u5982 \uff0c \u6bcf\u6b65 \u65cb\u8f6c \u4e00\u6b21 \uff08 \u6574\u5708 \u8f93\u51fa \uff0c \u5982\u4e0b \u56fe \uff09 \uff0c \u65cb\u8f6c \u9891\u7387 \u548c \u4eff\u771f \u7684   FPS   \u5e94\u8be5 \u76f8\u7b49 \u3002   1 .   \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u9891\u7387   sensors _ bp [ ' lidar ' ] [ 0 ] . set _ attribute ( ' rotation _ frequency ' , ' 10 ' )   .   2 .   \u4f7f\u7528   python3   config . py   -- fps = 10   \u8fd0\u884c \u4eff\u771f \u3002   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   channels   int   32   \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6570\u91cf \u3002   range   float   10.0   \u6d4b\u91cf / \u5149\u7ebf \u6295\u5c04 \u7684 \u6700\u5927 \u8ddd\u79bb \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff08 Carla   0.9 . 6   \u6216 \u66f4 \u4f4e\u7248 \u7248\u672c \u4f4e\u7248\u672c \u4e3a \u5398\u7c73 \uff09 \u3002   points _ per _ second   int   56000   \u6240\u6709 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6bcf\u79d2 \u751f\u6210 \u7684 \u70b9 \u3002   rotation _ frequency   float   10.0   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u65cb\u8f6c \u9891\u7387 \u3002   upper _ fov   float   10.0   \u6700\u9ad8 \u6fc0\u5149 \u7684 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   lower _ fov   float   - 30.0   \u6700\u4f4e \u6fc0\u5149 \u7684 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   horizontal _ fov   float   360.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \uff0c 0   -   360 \u3002   atmosphere _ attenuation _ rate   float   0.004   \u6d4b\u91cf \u6bcf\u7c73 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5f3a\u5ea6 \u635f\u5931 \u7684 \u7cfb\u6570 \u3002 \u68c0\u67e5 \u4e0a\u9762 \u7684 \u5f3a\u5ea6 \u8ba1\u7b97 \u3002   dropoff _ general _ rate   float   0.45   \u968f\u673a \u4e22\u5f03 \u7684 \u70b9 \u7684 \u4e00\u822c \u6bd4\u4f8b \u3002   dropoff _ intensity _ limit   float   0.8   \u5bf9\u4e8e \u57fa\u4e8e \u5f3a\u5ea6 \u7684 \u4e0b\u964d \uff0c \u5f3a\u5ea6 \u9608\u503c \uff0c \u9ad8\u4e8e \u8be5\u503c \u5219 \u4e0d\u4f1a \u4e0b\u964d \u4efb\u4f55 \u70b9 \u3002   dropoff _ zero _ intensity   float   0.4   \u5bf9\u4e8e \u57fa\u4e8e \u5f3a\u5ea6 \u7684 \u4e0b\u964d \uff0c \u6bcf\u4e2a \u5f3a\u5ea6 \u4e3a \u96f6 \u7684 \u70b9 \u88ab \u4e0b\u964d \u7684 \u6982\u7387 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   noise _ stddev   float   0.0   \u566a\u58f0 \u6a21\u578b \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \uff0c \u7528\u4e8e \u5e72\u6270 \u6cbf\u5176 \u5149\u7ebf \u6295\u5c04 \u77e2\u91cf \u7684 \u6bcf\u4e2a \u70b9 \u3002   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   horizontal _ angle   float   \u5f53\u524d \u5e27 \u4e2d \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7684   XY   \u5e73\u9762 \u4e2d \u7684 \u89d2\u5ea6 \uff08 \u5f27\u5ea6 \uff09 \u3002   channels   int   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7684 \u901a\u9053 \uff08 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \uff09 \u6570\u91cf \u3002   get _ point _ count ( channel )   int   \u6bcf\u4e2a \u901a\u9053 \u6355\u83b7 \u6b64\u5e27 \u7684 \u70b9\u6570 \u3002   raw _ data   bytes   32   \u4f4d \u6d6e\u70b9 \u6570\u7ec4 \uff08 \u6bcf\u4e2a \u70b9 \u7684   XYZI \uff09 \u3002   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u84dd\u56fe \uff1a   sensor . other . obstacle   \u8f93\u51fa \uff1a   \u6bcf\u4e2a \u969c\u788d \u969c\u788d\u7269 \u7684   carla . ObstacleDetectionEvent   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u6bcf\u5f53 \u7236\u7ea7 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u524d\u65b9 \u6709 \u969c\u788d \u65f6 \uff0c \u90fd \u4f1a \u6ce8\u518c \u4e00\u4e2a \u4e8b\u4ef6 \u3002 \u4e3a\u4e86 \u9884\u6d4b \u969c\u788d \u969c\u788d\u7269 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u6bcd\u8f66 \u524d\u65b9 \u521b\u5efa \u4e00\u4e2a \u80f6\u56ca \u5f62\u72b6 \uff0c \u5e76\u7528 \u5b83 \u6765 \u68c0\u67e5 \u78b0\u649e \u3002 \u4e3a\u4e86 \u786e\u4fdd \u68c0\u6d4b \u5230 \u4e0e \u4efb\u4f55 \u7c7b\u578b \u7684 \u5bf9\u8c61 \u7684 \u78b0\u649e \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e3a \u5efa\u7b51 \u5efa\u7b51\u7269 \u6216 \u704c\u6728 \u6728\u4e1b \u704c\u6728\u4e1b \u7b49 \u5143\u7d20 \u521b\u5efa \u201c \u5047 \u201d \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u68c0\u7d22 \u8bed\u4e49 \u6807\u7b7e \u6765 \u8bc6\u522b \u5b83 \u3002   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   distance   float   5   \u8f68\u8ff9 \u8ddd\u79bb \u3002   hit _ radius   float   0.5   \u8f68\u8ff9 \u7684 \u534a\u5f84 \u3002   only _ dynamics   bool   False   \u5982\u679c \u4e3a   true \uff0c \u5219 \u8f68\u8ff9 \u5c06 \u4ec5 \u8003\u8651 \u52a8\u6001 \u5bf9\u8c61 \u3002   debug _ linetrace   bool   False   \u5982\u679c \u4e3a   true \uff0c \u5219 \u8f68\u8ff9 \u5c06 \u53ef\u89c1 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u8f66 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   actor   carla . Actor   \u68c0\u6d4b \u5230 \u969c\u788d \u969c\u788d\u7269 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u7236\u7ea7 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff09 \u3002   other _ actor   carla . Actor   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u88ab \u68c0\u6d4b \u4e3a \u969c\u788d \u969c\u788d\u7269 \u3002   distance   float   \u4ece \u53c2\u4e0e \u53c2\u4e0e\u8005   actor   \u5230 \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005   other _ actor   \u7684 \u8ddd\u79bb \u3002   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u84dd\u56fe \uff1a   sensor . other . radar   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65   carla . RadarMeasurement   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u521b\u5efa \u4e00\u4e2a \u5706\u9525 \u89c6\u56fe \uff0c \u8be5 \u89c6\u56fe \u88ab \u8f6c\u6362 \u4e3a \u89c6\u91ce \u4e2d \u7684 \u5143\u7d20 \u53ca\u5176 \u76f8\u5bf9 \u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u901f\u5ea6 \u7684 \u4e8c\u7ef4 \u70b9\u56fe \u3002 \u8fd9 \u53ef \u7528\u4e8e \u5851\u9020 \u5143\u7d20 \u5e76 \u8bc4\u4f30 \u5b83\u4eec \u7684 \u8fd0\u52a8 \u548c \u65b9\u5411 \u3002 \u7531\u4e8e \u4f7f\u7528 \u5750\u6807 \u6781\u5750\u6807 \uff0c \u8fd9\u4e9b \u70b9\u5c06 \u96c6\u4e2d \u5728 \u89c6\u56fe \u4e2d\u5fc3 \u5468\u56f4 \u3002   \u6d4b\u91cf \u7684 \u70b9 \u4f5c\u4e3a   carla . RadarDetection   \u6570\u7ec4 \u5305\u542b \u5728   carla . RadarMeasurement   \u4e2d \uff0c \u8be5 \u6570\u7ec4 \u6307\u5b9a \u5b83\u4eec \u7684 \u5750\u6807 \u6781\u5750\u6807 \u3001 \u8ddd\u79bb \u548c \u901f\u5ea6 \u3002 \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u63d0\u4f9b \u7684 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u53ef\u4ee5 \u8f7b\u677e \u8f6c\u6362 \u4e3a   numpy   \u53ef \u7ba1\u7406 \u7684 \u683c\u5f0f \uff1a   #   \u4e3a\u4e86 \u83b7\u5f97   numpy   [ [ vel ,   azimuth ,   altitude ,   depth ] , ... [ , , , ] ] :   points   =   np . frombuffer ( radar _ data . raw _ data ,   dtype = np . dtype ( ' f4 ' ) )   points   =   np . reshape ( points ,   ( len ( radar _ data ) ,   4 ) )   \u63d0\u4f9b \u7684 \u811a\u672c   manual _ control . py   \u4f7f\u7528 \u6b64 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6765 \u663e\u793a \u6b63\u5728 \u68c0\u6d4b \u7684 \u70b9 \uff0c \u5e76 \u5728 \u9759\u6001 \u65f6 \u5c06 \u5176 \u7ed8\u5236 \u4e3a \u767d\u8272 \uff0c \u5728 \u5411 \u7269\u4f53 \u79fb\u52a8 \u65f6 \u5c06 \u5176 \u7ed8\u5236 \u4e3a \u7ea2\u8272 \uff0c \u5728 \u8fdc\u79bb \u7269\u4f53 \u65f6 \u5c06 \u5176 \u7ed8\u5236 \u4e3a \u84dd\u8272 \uff1a   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   horizontal _ fov   float   30.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   points _ per _ second   int   1500   \u6240\u6709 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6bcf\u79d2 \u751f\u6210 \u7684 \u70b9 \u3002   range   float   100   \u6d4b\u91cf / \u5149\u7ebf \u6295\u5c04 \u7684 \u6700\u5927 \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   vertical _ fov   float   30.0   \u5782\u76f4 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   raw _ data   carla . RadarDetection   \u68c0\u6d4b \u5230 \u7684 \u70b9 \u5217\u8868 \u3002   RadarDetection   \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   altitude   float   \u4ee5 \u5f27\u5ea6 \u8868\u793a \u7684 \u9ad8\u5ea6 \u89d2 \u3002   azimuth   float   \u65b9\u4f4d \u65b9\u4f4d\u89d2 \uff08 \u4ee5 \u5f27\u5ea6 \u8868\u793a \uff09 \u3002   depth   float   \u8ddd\u79bb \u4ee5\u7c73 \u4e3a \u5355\u4f4d \u3002   velocity   float   \u671d\u5411 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u901f\u5ea6 \u3002   RGB   \u76f8\u673a   \u84dd\u56fe \uff1a   sensor . camera . rgb   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65   carla . Image   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u201c RGB \u201d \u76f8\u673a \u5145\u5f53 \u6355\u83b7 \u573a\u666f \u56fe\u50cf \u7684 \u5e38\u89c4 \u76f8\u673a \u3002   carla . colorConverter   \u5982\u679c   enable _ postprocess _ effects   \u542f\u7528 \uff0c \u4e3a\u4e86 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \uff0c \u4e00\u7ec4 \u5904\u7406 \u540e\u5904\u7406 \u6548\u679c \u5c06 \u5e94\u7528 \u4e8e \u56fe\u50cf \uff1a   Vignette :   \u4f7f \u5c4f\u5e55 \u8fb9\u6846 \u53d8\u6697 \u3002   Grain   jitter :   \u4e3a \u6e32\u67d3 \u6dfb\u52a0 \u4e00\u4e9b \u566a\u70b9 \u3002   Bloom :   \u5f3a\u70c8 \u7684 \u5149\u7ebf \u4f1a \u707c\u70e7 \u5b83\u4eec \u5468\u56f4 \u7684 \u533a\u57df \u3002   Auto   exposure :   \u4fee\u6539 \u56fe\u50cf \u4f3d\u739b\u4ee5 \u4eff\u771f \u773c\u775b \u5bf9 \u8f83 \u6697 \u6216 \u8f83\u4eae \u533a\u57df \u7684 \u9002\u5e94 \u3002   Lens   flares :   \u4eff\u771f \u660e\u4eae \u7269\u4f53 \u5728 \u955c\u5934 \u4e0a \u7684 \u53cd\u5c04 \u3002   Depth   of   field :   \u6a21\u7cca \u9760\u8fd1 \u6216 \u8fdc\u79bb \u76f8\u673a \u7684 \u7269\u4f53 \u3002   sensor _ tick   \u544a\u8bc9 \u6211\u4eec \u5e0c\u671b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u6570\u636e \u7684 \u901f\u5ea6 \u6709 \u591a \u5feb \u3002 \u503c\u4e3a   1.5   \u610f\u5473 \u610f\u5473\u7740 \u6211\u4eec \u5e0c\u671b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6bcf \u534a\u79d2 \u6355\u83b7 \u4e00\u6b21 \u6570\u636e \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u503c   0.0   \u8868\u793a \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5feb \u3002   \u76f8\u673a \u57fa\u672c \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   bloom _ intensity   float   0.675   \u5149\u6655 \u5904\u7406 \u540e\u5904\u7406 \u6548\u679c \u7684 \u5f3a\u5ea6 \uff0c   0.0   \u7528\u4e8e \u7981\u7528 \u5b83 \u3002   fov   float   90.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   fstop   float   1.4   \u76f8\u673a \u955c\u5934 \u7684 \u6253\u5f00 \u3002 \u5178\u578b \u955c\u5934 \u7684 \u5149\u5708   1 / fstop   \u4e3a   f / 1.2 \uff08 \u66f4\u5927 \u7684 \u5149\u5708 \uff09 \u3002 \u8f83\u5927 \u7684 \u6570\u5b57 \u5c06 \u51cf\u5c11 \u666f\u6df1 \u6548\u679c \u3002   image _ size _ x   int   800   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ y   int   600   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   iso   float   100.0   \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7075\u654f \u654f\u5ea6 \u7075\u654f\u5ea6 \u3002   gamma   float   2.2   \u76f8\u673a \u7684 \u76ee\u6807 \u4f3d\u739b\u503c \u3002   lens _ flare _ intensity   float   0.1   \u955c\u5934 \u7729\u5149 \u5904\u7406 \u540e\u5904\u7406 \u6548\u679c \u7684 \u5f3a\u5ea6 \uff0c   0.0   \u7528\u4e8e \u7981\u7528 \u5b83 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   shutter _ speed   float   200.0   \u76f8\u673a \u5feb\u95e8 \u901f\u5ea6 \u5feb\u95e8\u901f\u5ea6 \uff0c \u4ee5 \u79d2 \u4e3a \u5355\u4f4d   ( 1.0 / s ) \u3002   \u76f8\u673a \u955c\u5934 \u7578\u53d8 \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   lens _ circle _ falloff   float   5.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ circle _ multiplier   float   0.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ k   float   - 1.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ kcube   float   0.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ x _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   lens _ y _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   \u9ad8\u7ea7 \u76f8\u673a \u5c5e\u6027   \u7531\u4e8e \u8fd9\u4e9b \u6548\u679c \u662f \u7531 \u865a\u5e7b \u5f15\u64ce \u63d0\u4f9b \u7684 \uff0c \u8bf7 \u52a1\u5fc5 \u68c0\u67e5 \u4ed6\u4eec \u7684 \u6587\u6863 \uff1a   \u81ea\u52a8 \u66dd\u5149   \u5f71\u89c6 \u7ea7 \u666f\u6df1 \u65b9\u6848   \u989c\u8272 \u5206\u7ea7 \u548c \u7535\u5f71 \u8272\u8c03 \u6620\u5c04 \u5c04\u5668 \u6620\u5c04\u5668   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   min _ fstop   float   1.2   \u6700\u5927 \u5149\u5708 \u3002   blade _ count   int   5   \u6784\u6210 \u9694\u819c \u673a\u6784 \u7684 \u53f6\u7247 \u6570\u91cf \u3002   exposure _ mode   str   histogram   \u53ef\u4ee5 \u662f   manual   \u6216 or   histogram   \u3002 \u66f4 \u591a \u5185\u5bb9 \u8bf7 \u53c2\u89c1   UE4   \u6587\u6863   \u3002   exposure _ compensation   float   Linux :   + 0.75   Windows :   0.0   \u66dd\u5149 \u7684 \u5bf9\u6570 \u8c03\u6574 \u3002 0 \uff1a \u65e0 \u8c03\u6574 \uff0c - 1 \uff1a 2   \u500d \u66f4 \u6697 \uff0c - 2 \uff1a 4   \u66f4\u6697 \uff0c 1 \uff1a 2   \u500d \u66f4\u4eae \uff0c 2 \uff1a 4   \u500d \u66f4\u4eae \u3002   exposure _ min _ bright   float   10.0   \u5728   exposure _ mode :   \" histogram \"   \u3002 \u81ea\u52a8 \u66dd\u5149 \u7684 \u6700\u4f4e \u4eae\u5ea6 \u3002 \u773c\u775b \u80fd \u9002\u5e94 \u7684 \u6700\u4f4e \u9650\u5ea6 \u3002 \u5fc5\u987b \u5927\u4e8e   0   \u4e14 \u5c0f\u4e8e \u6216 \u7b49\u4e8e   exposure _ max _ bright   \u3002   exposure _ max _ bright   float   12.0   \u5728 ` exposure _ mode :   \" histogram \" ` \u4e2d \u3002 \u81ea\u52a8 \u66dd\u5149 \u7684 \u6700\u5927 \u4eae\u5ea6 \u3002 \u773c\u775b \u80fd \u9002\u5e94 \u7684 \u6700\u9ad8 \u9650\u5ea6 \u3002 \u5fc5\u987b \u5927\u4e8e   0   \u4e14 \u5927\u4e8e \u6216 \u7b49\u4e8e   ` exposure _ min _ bright ` \u3002   exposure _ speed _ up   float   3.0   \u5728   exposure _ mode :   \" histogram \"   \u3002 \u3002 \u4ece \u9ed1\u6697 \u73af\u5883 \u5230 \u660e\u4eae \u73af\u5883 \u7684 \u9002\u5e94 \u901f\u5ea6 \u3002   exposure _ speed _ down   float   1.0   \u5728   exposure _ mode :   \" histogram \"   \u3002 \u4ece \u660e\u4eae \u73af\u5883 \u5230 \u9ed1\u6697 \u73af\u5883 \u7684 \u9002\u5e94 \u901f\u5ea6 \u3002   calibration _ constant   float   16.0   18%   \u53cd\u7167 \u53cd\u7167\u7387 \u7684 \u6821\u51c6 \u5e38\u6570 \u3002   focal _ distance   float   1000.0   \u666f\u6df1 \u6548\u679c \u5e94 \u6e05\u6670 \u7684 \u8ddd\u79bb \u3002 \u4ee5 \u5398\u7c73 \uff08 \u865a\u5e7b \u5f15\u64ce \u5355\u4f4d \uff09 \u4e3a \u5355\u4f4d \u6d4b\u91cf \u3002   blur _ amount   float   1.0   \u8fd0\u52a8 \u6a21\u7cca \u7684 \u5f3a\u5ea6 / \u5f3a\u5ea6 \u3002   blur _ radius   float   0.0   1080p   \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u4e0b \u7684 \u534a\u5f84 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \uff0c \u6839\u636e \u8ddd \u76f8\u673a \u7684 \u8ddd\u79bb \u4eff\u771f \u5927\u6c14 \u6563\u5c04 \u3002   motion _ blur _ intensity   float   0.45   \u8fd0\u52a8 \u6a21\u7cca \u7684 \u5f3a\u5ea6   [ 0 , 1 ] \u3002   motion _ blur _ max _ distortion   float   0.35   \u8fd0\u52a8 \u6a21\u7cca \u5f15\u8d77 \u7684 \u6700\u5927 \u5931\u771f \u3002 \u5c4f\u5e55 \u5bbd\u5ea6 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   motion _ blur _ min _ object _ screen _ size   float   0.1   \u5bf9\u4e8e \u8fd0\u52a8 \u6a21\u7cca \uff0c \u5bf9\u8c61 \u5fc5\u987b \u5177\u6709 \u5c4f\u5e55 \u5bbd\u5ea6 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \uff0c \u8f83 \u4f4e \u7684 \u503c \u610f\u5473 \u610f\u5473\u7740 \u8f83\u5c11 \u7684 \u7ed8\u5236 \u8c03\u7528 \u3002   slope   float   0.88   \u8272\u8c03 \u6620\u5c04 \u5c04\u5668 \u6620\u5c04\u5668   S   \u66f2\u7ebf \u7684 \u9661\u5ea6 \u3002 \u503c\u8d8a \u5927 \uff0c \u659c\u7387 \u8d8a \u9661 \uff08 \u8d8a\u6697 \uff09 [ 0.0 ,   1.0 ] \u3002   toe   float   0.55   \u8c03\u6574 \u8272\u8c03 \u6620\u5c04 \u5c04\u5668 \u6620\u5c04\u5668 \u4e2d \u7684 \u6df1\u8272   [ 0.0 ,   1.0 ] \u3002   shoulder   float   0.26   \u8c03\u6574 \u8272\u8c03 \u6620\u5c04 \u5c04\u5668 \u6620\u5c04\u5668 \u4e2d \u7684 \u660e\u4eae \u989c\u8272   [ 0.0 ,   1.0 ] \u3002   black _ clip   float   0.0   \u4e0d \u5e94 \u8c03\u6574 \u6b64\u503c \u3002 \u8bbe\u7f6e \u4ea4\u53c9 \u53d1\u751f \u548c \u9ed1\u8272 \u8272\u8c03 \u5f00\u59cb \u5207\u65ad \u5176\u503c \u7684 \u4f4d\u7f6e   [ 0.0 ,   1.0 ] \u3002   white _ clip   float   0.04   \u8bbe\u7f6e \u4ea4\u53c9 \u53d1\u751f \u7684 \u4f4d\u7f6e \uff0c \u5e76\u4e14 \u767d\u8272 \u8272\u8c03 \u5f00\u59cb \u5207\u65ad \u5176\u503c \u3002 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u60c5\u51b5 \u4e0b\u4f1a \u6709 \u7ec6\u5fae \u7684 \u53d8\u5316   [ 0.0 ,   1.0 ] \u3002   temp   float   6500.0   \u5e73\u8861 \u767d\u5e73\u8861 \u4e0e \u573a\u666f \u4e2d \u5149\u7ebf \u7684 \u6e29\u5ea6 \u6709\u5173 \u3002   \u767d\u5149   \uff1a \u5f53 \u4e0e \u5149\u6e29 \u5339\u914d \u65f6 \u3002   \u6696\u5149   \uff1a \u5f53 \u9ad8\u4e8e \u573a\u666f \u4e2d \u7684 \u5149\u7ebf \u65f6 \uff0c \u5448 \u6de1\u9ec4 \u9ec4\u8272 \u6de1\u9ec4\u8272 \u3002   \u51b7\u5149   \uff1a \u4f4e\u4e8e \u5149\u7ebf \u65f6 \u3002 \u84dd\u8272 \u3002   tint   float   0.0   \u5e73\u8861 \u767d\u5e73\u8861 \u6e29\u5ea6 \u8272\u8c03 \u3002 \u8c03\u6574 \u9752\u8272 \u548c \u6d0b\u7ea2 \u7ea2\u8272 \u6d0b\u7ea2\u8272 \u7684 \u989c\u8272 \u8303\u56f4 \u3002 \u8fd9 \u5e94\u8be5 \u4e0e \u5e73\u8861 \u767d\u5e73\u8861 \u6e29\u5ea6 \u5c5e\u6027 \u4e00\u8d77 \u4f7f\u7528 \u4ee5 \u83b7\u5f97 \u51c6\u786e \u7684 \u989c\u8272 \u3002 \u5728 \u67d0\u4e9b \u5149\u6e29 \u4e0b \uff0c \u989c\u8272 \u53ef\u80fd \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u66f4 \u9ec4 \u6216 \u66f4 \u84dd \u3002 \u8fd9 \u53ef \u7528\u4e8e \u5e73\u8861 \u6700\u7ec8 \u7684 \u989c\u8272 \uff0c \u4f7f \u5176 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u66f4 \u81ea\u7136 \u3002   chromatic _ aberration _ intensity   float   0.0   \u7528\u4e8e \u63a7\u5236 \u8272\u5f69 \u504f\u79fb \u7684 \u7f29\u653e \u56e0\u5b50 \uff0c \u5728 \u5c4f\u5e55 \u8fb9\u6846 \u4e0a \u66f4 \u660e\u663e \u3002   chromatic _ aberration _ offset   float   0.0   \u5230 \u53d1\u751f \u6548\u679c \u7684 \u56fe\u50cf \u4e2d\u5fc3 \u7684 \u6b63\u5219 \u5316 \u8ddd\u79bb \u3002   enable _ postprocess _ effects   bool   True   \u5904\u7406 \u540e\u5904\u7406 \u6548\u679c \u6fc0\u6d3b \u3002   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   width   int   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   height   int   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   fov   float   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   bytes   BGRA   32   \u4f4d \u50cf\u7d20 \u9635\u5217 \u3002   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u84dd\u56fe \uff1a   sensor . other . rss   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65   carla . RssResponse   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u91cd\u8981   \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u5728 \u9605\u8bfb \u672c\u6587 \u4e4b\u524d \u5148 \u9605\u8bfb \u5177\u4f53 \u7684   \u4efb \u654f\u611f \u5b89\u5168 \u6587\u6863   \u3002   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u96c6\u6210 \u4e86   Carla   \u4e2d \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168   C++   \u5e93   \u3002 \u5b83 \u5728   Carla   \u4e2d \u9ed8\u8ba4 \u88ab \u7981\u7528 \uff0c \u5e76\u4e14 \u5fc5\u987b \u663e\u5f0f \u6784\u5efa \u624d\u80fd \u4f7f\u7528 \u3002   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8ba1\u7b97 \u8f66\u8f86 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u72b6\u6001 \u5e76 \u68c0\u7d22 \u5f53\u524d \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u54cd\u5e94 \u4f5c\u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   carla . RssRestrictor   \u5c06 \u4f7f\u7528 \u6b64 \u6570\u636e \u6765 \u8c03\u6574   carla . VehicleControl   \uff0c \u7136\u540e \u518d \u5c06 \u5176 \u5e94\u7528 \u4e8e \u8f66\u8f86 \u3002   \u8fd9\u4e9b \u63a7\u5236 \u63a7\u5236\u5668 \u53ef\u4ee5 \u901a\u8fc7   \u81ea\u52a8 \u9a7e\u9a76   \u5806\u6808 \u6216 \u7528\u6237 \u8f93\u5165 \u751f\u6210 \u3002 \u4f8b\u5982 \uff0c \u4e0b\u9762 \u6709 \u4e00\u6bb5 \u6765\u81ea   \u7684 \u4ee3\u7801 \u7247\u6bb5   PythonAPI / examples / rss / manual _ control _ rss . py   \uff0c \u5176\u4e2d \u5728 \u5fc5\u8981 \u65f6 \u4f7f\u7528 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4fee\u6539 \u7528\u6237 \u8f93\u5165 \u3002   1 .   \u68c0\u67e5   RssSensor   \u662f\u5426 \u751f\u6210 \u5305\u542b \u9650\u5236 \u7684 \u6709\u6548 \u54cd\u5e94 \u3002   2 .   \u6536\u96c6 \u8f66\u8f86 \u7684 \u5f53\u524d \u52a8\u6001 \u548c \u8f66\u8f86 \u7269\u7406 \u7279\u6027 \u3002   3 .   \u4f7f\u7528   RssSensor   \u7684 \u54cd\u5e94 \u4ee5\u53ca \u8f66\u8f86 \u5f53\u524d \u7684 \u52a8\u6001 \u548c \u7269\u7406 \u7279\u6027 \u5bf9 \u8f66\u8f86 \u63a7\u5236 \u65bd\u52a0 \u9650\u5236 \u3002   rss _ proper _ response   =   self ._ world . rss _ sensor . proper _ response   if   self ._ world . rss _ sensor   and   self ._ world . rss _ sensor . response _ valid   else   None   if   rss _ proper _ response :   ...   vehicle _ control   =   self ._ restrictor . restrict _ vehicle _ control (   vehicle _ control ,   rss _ proper _ response ,   self ._ world . rss _ sensor . ego _ dynamics _ on _ route ,   self ._ vehicle _ physics )   carla . RssSensor   \u7c7b   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u84dd\u56fe \u6ca1\u6709 \u53ef \u4fee\u6539 \u7684 \u5c5e\u6027 \u3002 \u4f46\u662f \uff0c \u5b83 \u5b9e\u4f8b \u5316 \u7684   carla . RssSensor   \u5bf9\u8c61 \u5177\u6709   Python   API   \u53c2\u8003 \u4e2d \u8be6\u7ec6 \u4ecb\u7ecd \u7684 \u5c5e\u6027 \u548c \u65b9\u6cd5 \u3002 \u4ee5\u4e0b \u662f \u5b83\u4eec \u7684 \u6458\u8981 \u3002   carla . RssSensor   \u53d8\u91cf   \u7c7b\u578b   \u63cf\u8ff0   ego _ vehicle _ dynamics   ad . rss . world . RssDynamics   \u5e94\u7528 \u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   other _ vehicle _ dynamics   ad . rss . world . RssDynamics   \u9002\u7528 \u4e8e \u5176\u4ed6 \u8f66\u8f86 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   pedestrian _ dynamics   ad . rss . world . RssDynamics   \u9002\u7528 \u4e8e \u884c\u4eba \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   road _ boundaries _ mode   carla . RssRoadBoundariesMode   \u542f\u7528 / \u7981\u7528   \u7559\u5728 \u9053\u8def \u4e0a   \u529f\u80fd \u3002 \u9ed8\u8ba4 \u4e3a   \u5173\u95ed   \u3002   #   rss _ sensor . py   \u4ee3\u7801 \u7247\u6bb5   #   The   carla . RssSensor   is   updated   when   listening   for   a   new   carla . RssResponse   def   _ on _ rss _ response ( weak _ self ,   response ) :   ...   self . timestamp   =   response . timestamp   self . response _ valid   =   response . response _ valid   self . proper _ response   =   response . proper _ response   self . ego _ dynamics _ on _ route   =   response . ego _ dynamics _ on _ route   self . rss _ state _ snapshot   =   response . rss _ state _ snapshot   self . situation _ snapshot   =   response . situation _ snapshot   self . world _ model   =   response . world _ model   \u8b66\u544a   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5b8c\u5168 \u5de5\u4f5c \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e2d \u6ca1\u6709 \u84dd\u56fe \u3002 \u5bf9 \u5c5e\u6027 \u7684 \u66f4\u6539 \u5c06 \u5728 \u8c03\u7528   listen ( )   \u540e   \u751f\u6548 \u3002   \u6b64\u7c7b \u4e2d \u53ef\u7528 \u7684 \u65b9\u6cd5 \u4e0e \u8f66\u8f86 \u7684 \u8def\u7ebf \u6709\u5173 \u3002 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u8ba1\u7b97 \u59cb\u7ec8 \u57fa\u4e8e \u672c\u8f66 \u901a\u8fc7 \u9053\u8def \u7f51\u7edc \u7684 \u8def\u7ebf \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5141\u8bb8 \u901a\u8fc7 \u63d0\u4f9b \u4e00\u4e9b \u5173\u952e \u5173\u952e\u70b9 \u6765 \u63a7\u5236 \u6240 \u8003\u8651 \u7684 \u8def\u7ebf \uff0c \u8fd9\u4e9b \u5173\u952e \u5173\u952e\u70b9 \u53ef\u80fd \u662f   carla . Transform   \u4e2d \u7684   carla . Waypoint   \u3002 \u6700\u597d \u5728 \u4ea4\u53c9 \u4ea4\u53c9\u70b9 \u4e4b\u540e \u9009\u62e9 \u8fd9\u4e9b \u70b9 \uff0c \u4ee5 \u5f3a\u5236 \u8def\u7ebf \u91c7\u53d6 \u6240 \u9700 \u7684 \u8f6c\u5f2f \u3002   carla . RssSensor   \u65b9\u6cd5   \u63cf\u8ff0   routing _ targets   \u83b7\u53d6 \u7528\u4e8e \u8def\u7531 \u7684 \u5f53\u524d \u8def\u7531 \u76ee\u6807 \u5217\u8868 \u3002   append _ routing _ target   \u5c06 \u9644\u52a0 \u4f4d\u7f6e \u9644\u52a0 \u5230 \u5f53\u524d \u8def\u7531 \u76ee\u6807 \u3002   reset _ routing _ targets   \u5220\u9664 \u9644\u52a0 \u7684 \u8def\u7531 \u76ee\u6807 \u3002   drop _ route   \u653e\u5f03 \u5f53\u524d \u8def\u7531 \u5e76 \u521b\u5efa \u4e00\u6761 \u65b0\u8def \u7531 \u3002   register _ actor _ constellation _ callback   \u6ce8\u518c \u56de\u8c03 \u6765\u81ea \u5b9a\u4e49 \u8ba1\u7b97 \u3002   set _ log _ level   \u8bbe\u7f6e \u65e5\u5fd7 \u7ea7\u522b \u3002   set _ map _ log _ level   \u8bbe\u7f6e \u7528\u4e8e \u5730\u56fe \u76f8\u5173 \u65e5\u5fd7 \u7684 \u65e5\u5fd7 \u7ea7\u522b \u3002   #   \u66f4\u65b0 \u5f53\u524d \u8def\u7ebf   self . sensor . reset _ routing _ targets ( )   if   routing _ targets :   for   target   in   routing _ targets :   self . sensor . append _ routing _ target ( target )   \u7b14\u8bb0   \u5982\u679c \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \u8def\u7531 \u76ee\u6807 \uff0c \u5219 \u4f1a \u521b\u5efa \u968f\u673a \u8def\u7531 \u3002   \u8f93\u51fa \u5c5e\u6027   carla . RssResponse   \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   response _ valid   bool   \u54cd\u5e94 \u6570\u636e \u7684 \u6709\u6548 \u6709\u6548\u6027 \u3002   proper _ response   ad . rss . state . ProperResponse   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4e3a \u8f66\u8f86 \u8ba1\u7b97 \u7684 \u6b63\u786e \u54cd\u5e94 \uff0c \u5305\u62ec \u52a0\u901f \u9650\u5236 \u3002   rss _ state _ snapshot   ad . rss . state . RssStateSnapshot   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u72b6\u6001 \u4e3a \u5f53\u524d \u65f6\u95f4 \u70b9 \u3002 \u8fd9\u662f \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u8ba1\u7b97 \u7684 \u8be6\u7ec6 \u7684 \u5355\u72ec \u8f93\u51fa \u3002   situation _ snapshot   ad . rss . situation . SituationSnapshot   \u5f53\u524d \u65f6\u95f4 \u70b9 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u60c5\u51b5 \u3002 \u8fd9\u662f \u7528\u4e8e   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u8ba1\u7b97 \u7684 \u7ecf\u8fc7 \u5904\u7406 \u7684 \u8f93\u5165 \u6570\u636e \u3002   world _ model   ad . rss . world . WorldModel   \u5f53\u524d \u65f6\u95f4 \u70b9 \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u4e16\u754c \u6a21\u578b \u3002 \u8fd9\u662f   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u8ba1\u7b97 \u7684 \u8f93\u5165 \u6570\u636e \u3002   ego _ dynamics _ on _ route   carla . RssEgoDynamicsOnRoute   \u5173\u4e8e \u8def\u7ebf \u7684 \u5f53\u524d \u81ea\u6211 \u8f66\u8f86 \u52a8\u6001 \u3002   \u5982\u679c \u6ce8\u518c \u4e86   actor _ constellation _ callback \uff0c \u5219 \u4f1a \u89e6\u53d1 \u4ee5\u4e0b \u8c03\u7528 \uff1a   \u9ed8\u8ba4 \u8ba1\u7b97   (   actor _ constellation _ data . other _ actor = None   )   \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8ba1\u7b97   #   rss _ sensor . py   \u4ee3\u7801 \u7247\u6bb5   #   \u6ce8\u518c \u8be5 \u51fd\u6570 \u4e3a   actor _ constellation _ callback   def   _ on _ actor _ constellation _ request ( self ,   actor _ constellation _ data ) :   actor _ constellation _ result   =   carla . RssActorConstellationResult ( )   actor _ constellation _ result . rss _ calculation _ mode   =   ad . rss . map . RssMode . NotRelevant   actor _ constellation _ result . restrict _ speed _ limit _ mode   =   ad . rss . map . RssSceneCreation . RestrictSpeedLimitMode . IncreasedSpeedLimit10   actor _ constellation _ result . ego _ vehicle _ dynamics   =   self . current _ vehicle _ parameters   actor _ constellation _ result . actor _ object _ type   =   ad . rss . world . ObjectType . Invalid   actor _ constellation _ result . actor _ dynamics   =   self . current _ vehicle _ parameters   actor _ id   =   - 1   actor _ type _ id   =   \" none \"   if   actor _ constellation _ data . other _ actor   ! =   None :   #   \u4e3a \u7279\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5b9a\u5236   actor _ constellation _ result   ...   else :   #   \u9ed8\u8ba4   ...   return   actor _ constellation _ result   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u84dd\u56fe \uff1a   sensor . lidar . ray _ cast _ semantic   \u8f93\u51fa \uff1a   \u6bcf\u6b65   carla . SemanticLidarMeasurement   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4eff\u771f \u4f7f\u7528 \u5c04\u7ebf \u6295\u5c04 \u5b9e\u73b0 \u7684 \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff0c \u516c\u5f00 \u6709\u5173 \u5c04\u7ebf \u6295\u5c04 \u547d\u4e2d \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u5b83 \u7684 \u884c\u4e3a \u4e0e   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u975e\u5e38 \u76f8\u4f3c \uff0c \u4f46 \u5b83\u4eec \u4e4b\u95f4 \u6709 \u4e24\u4e2a \u4e3b\u8981 \u533a\u522b \u3002   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u68c0\u7d22 \u5230 \u7684 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u6bcf\u4e2a \u70b9 \u5305\u542b \u66f4 \u591a \u6570\u636e \u3002   \u8be5\u70b9 \u7684 \u5750\u6807 \uff08 \u4e0e \u666e\u901a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4e00\u6837 \uff09 \u3002   \u5165\u5c04 \u5c04\u89d2 \u5165\u5c04\u89d2 \u4e0e \u8868\u9762 \u6cd5\u7ebf \u4e4b\u95f4 \u7684 \u4f59\u5f26 \u503c \u3002   \u5b9e\u4f8b \u548c \u8bed\u4e49 \u57fa\u7840 \u4e8b\u5b9e \u3002 \u57fa\u672c \u57fa\u672c\u4e0a \u662f   Carla   \u5bf9\u8c61 \u547d\u4e2d \u7684 \u7d22\u5f15 \u53ca\u5176 \u8bed\u4e49 \u6807\u7b7e \u3002   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u65e2 \u4e0d \u5305\u542b \u5f3a\u5ea6 \u3001 \u8870\u51cf \u4e5f \u4e0d \u5305\u542b \u566a\u58f0 \u6a21\u578b \u5c5e\u6027 \u3002   \u8fd9\u4e9b \u70b9 \u662f \u901a\u8fc7 \u4e3a \u5782\u76f4   FOV   \u4e2d \u5206\u5e03 \u7684 \u6bcf\u4e2a \u901a\u9053 \u6dfb\u52a0 \u6fc0\u5149 \u6765 \u8ba1\u7b97 \u7684 \u3002 \u65cb\u8f6c \u662f \u901a\u8fc7 \u8ba1\u7b97 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5728 \u4e00\u5e27 \u4e2d \u65cb\u8f6c \u7684 \u6c34\u5e73 \u89d2\u5ea6 \u6765 \u4eff\u771f \u7684 \u3002 \u70b9\u4e91 \u662f \u901a\u8fc7 \u5728 \u6bcf\u4e2a \u6b65\u9aa4 \u4e2d \u5bf9 \u6bcf\u4e2a \u6fc0\u5149 \u8fdb\u884c \u5149\u7ebf \u6295\u5c04 \u6765 \u8ba1\u7b97 \u7684 \u3002   points _ per _ channel _ each _ step   =   points _ per _ second   /   ( FPS   *   channels )   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6d4b\u91cf \u5305\u542b \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff0c \u5176\u4e2d \u5305\u542b \u5728 \u67d0\u4e2a \u65f6\u95f4   1 / FPS   \u95f4\u9694 \u5185 \u751f\u6210 \u7684 \u6240\u6709 \u70b9 \u3002 \u5728 \u6b64 \u95f4\u9694 \u671f\u95f4 \uff0c \u7269\u7406 \u4e0d\u4f1a \u66f4\u65b0 \uff0c \u56e0\u6b64 \u6d4b\u91cf \u4e2d \u7684 \u6240\u6709 \u70b9 \u90fd \u53cd\u6620 \u573a\u666f \u7684 \u76f8\u540c \u201c \u9759\u6001 \u56fe\u7247 \u201d \u3002   \u6b64 \u8f93\u51fa \u5305\u542b \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u8bed\u4e49 \u68c0\u6d4b \u4e91 \uff0c \u56e0\u6b64 \uff0c \u53ef\u4ee5 \u5bf9 \u5176 \u8fdb\u884c \u8fed\u4ee3 \u4ee5 \u68c0\u7d22 \u5176 \u5217\u8868   carla . SemanticLidarDetection   \uff1a   for   detection   in   semantic _ lidar _ measurement :   print ( detection )   \u53ef\u4ee5 \u8c03\u6574 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7684 \u65cb\u8f6c \u4ee5 \u8986\u76d6 \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u7684 \u7279\u5b9a \u89d2\u5ea6 \uff08 \u4f7f\u7528   \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f   \uff09 \u3002 \u4f8b\u5982 \uff0c \u6bcf\u6b65 \u65cb\u8f6c \u4e00\u6b21 \uff08 \u6574\u5708 \u8f93\u51fa \uff0c \u5982\u4e0b \u56fe \uff09 \uff0c \u65cb\u8f6c \u9891\u7387 \u548c \u4eff\u771f \u7684 FPS \u5e94\u8be5 \u76f8\u7b49 \u3002   1 .   \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u9891\u7387   sensors _ bp [ ' lidar ' ] [ 0 ] . set _ attribute ( ' rotation _ frequency ' , ' 10 ' )   \u3002   2 .   \u4f7f\u7528   python3   config . py   -- fps = 10   \u8fd0\u884c \u4eff\u771f \u3002   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   channels   int   32   \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6570\u91cf \u3002   range   float   10.0   \u6d4b\u91cf / \u5149\u7ebf \u6295\u5c04 \u7684 \u6700\u5927 \u8ddd\u79bb \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff08 Carla   0.9 . 6   \u6216 \u66f4 \u4f4e\u7248 \u7248\u672c \u4f4e\u7248\u672c \u4e3a \u5398\u7c73 \uff09 \u3002   points _ per _ second   int   56000   \u6240\u6709 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6bcf\u79d2 \u751f\u6210 \u7684 \u70b9 \u3002   rotation _ frequency   float   10.0   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u65cb\u8f6c \u9891\u7387 \u3002   upper _ fov   float   10.0   \u6700\u9ad8 \u6fc0\u5149 \u7684 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   lower _ fov   float   - 30.0   \u6700\u4f4e \u6fc0\u5149 \u7684 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   horizontal _ fov   float   360.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \uff0c 0   -   360 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   horizontal _ angle   float   \u5f53\u524d \u5e27 \u4e2d   LIDAR   \u7684   XY   \u5e73\u9762 \u4e2d \u7684 \u89d2\u5ea6 \uff08 \u5f27\u5ea6 \uff09 \u3002   channels   int   LIDAR   \u7684 \u901a\u9053 \uff08 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \uff09 \u6570\u91cf \u3002   get _ point _ count ( channel )   int   \u5f53\u524d \u5e27 \u4e2d \u6355\u83b7 \u7684 \u6bcf\u4e2a \u901a\u9053 \u7684 \u70b9\u6570 \u3002   raw _ data   bytes   \u5305\u542b \u5177\u6709 \u5b9e\u4f8b \u548c \u8bed\u4e49 \u4fe1\u606f \u7684 \u70b9\u4e91 \u7684 \u6570\u7ec4 \u3002 \u5bf9\u4e8e \u6bcf\u4e2a \u70b9 \uff0c \u5b58\u50a8 \u56db\u4e2a   32   \u4f4d \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \u3002   XYZ   \u5750\u6807 \u3002   \u5165\u5c04 \u5c04\u89d2 \u5165\u5c04\u89d2 \u7684 \u4f59\u5f26 \u3002   Unsigned   int   \u5305\u542b \u547d\u4e2d \u5bf9\u8c61 \u7684 \u7d22\u5f15 \u3002   Unsigned   int   \u5305\u542b \u5bf9\u8c61   it   \u7684 \u8bed\u4e49 \u6807\u7b7e \u3002   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u84dd\u56fe \uff1a   sensor . camera . semantic _ segmentation   \u8f93\u51fa \uff1a   \u6bcf\u6b65   carla . Image   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u8be5 \u6444\u50cf \u6444\u50cf\u673a \u6839\u636e \u5176 \u6807\u7b7e \u4ee5 \u4e0d\u540c \u7684 \u989c\u8272 \u663e\u793a \u5b83 \uff0c \u4ece\u800c \u5bf9 \u53ef\u89c1 \u7684 \u6bcf\u4e2a \u7269\u4f53 \u8fdb\u884c \u5206\u7c7b \uff08 \u4f8b\u5982 \uff0c \u884c\u4eba \u4e0e \u8f66\u8f86 \u7684 \u989c\u8272 \u4e0d\u540c \uff09 \u3002 \u5f53 \u4eff\u771f \u5f00\u59cb \u65f6 \uff0c \u573a\u666f \u4e2d \u7684 \u6bcf\u4e2a \u5143\u7d20 \u90fd \u4f1a \u4f7f\u7528 \u6807\u7b7e \u521b\u5efa \u3002 \u6240\u4ee5 \u5f53 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ea7\u751f \u65f6 \u5c31 \u4f1a \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \u3002 \u5bf9\u8c61 \u6309 \u5176 \u5728 \u9879\u76ee \u4e2d \u7684 \u76f8\u5bf9 \u6587\u4ef6 \u8def\u5f84 \u8fdb\u884c \u5206\u7c7b \u3002 \u4f8b\u5982 \uff0c \u5b58\u50a8 \u5728 \u4e2d \u7684 \u7f51\u683c   Unreal / CarlaUE4 / Content / Static / Pedestrians   \u88ab \u6807\u8bb0 \u4e3a   Pedestrian   \u3002   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u63d0\u4f9b \u7684 \u56fe\u50cf \u7684 \u6807\u7b7e \u4fe1\u606f   \u7f16\u7801 \u5728 \u7ea2\u8272 \u901a\u9053 \u4e2d   \uff1a   \u7ea2\u8272 \u503c\u4e3a   \u7684 \u50cf\u7d20   x   \u5c5e\u4e8e \u5e26\u6709 \u6807\u7b7e \u7684 \u5bf9\u8c61   x   \u3002 \u8fd9\u4e2a \u539f\u59cb \u7684   carla . Image   \u53ef\u4ee5 \u5728   carla . ColorConverter   \u4e2d \u7684   CityScapesPalette   \u7684 \u5e2e\u52a9 \u4e0b \u5b58\u50a8 \u548c \u8f6c\u6362 \uff0c \u4ee5 \u5e94\u7528 \u6807\u7b7e \u4fe1\u606f \u5e76 \u901a\u8fc7 \u8bed\u4e49 \u5206\u5272 \u663e\u793a \u56fe\u7247 \u3002   ...   raw _ image . save _ to _ disk ( \" path / to / save / converted / image \" , carla . cityScapesPalette )   \u76ee\u524d \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u6807\u7b7e \uff08 \u6ce8\u610f \uff1a \u4ece \u7248\u672c 0.9 . 13 \u5230 0.9 . 14 \u6570\u5b57 \u6240 \u5bf9\u5e94 \u7684 \u6807\u7b7e \u53d1\u751f \u4e86 \u5f88\u5927 \u53d8\u5316 \uff09 \uff1a   \u503c   \u6807\u7b7e   \u8f6c\u6362 \u540e \u7684 \u989c\u8272   \u63cf\u8ff0   0   Unlabeled   ( 0 ,   0 ,   0 )   \u8003\u8651 \u5c1a\u672a \u5206\u7c7b \u7684 \u5143\u7d20   Unlabeled   \u3002 \u8be5 \u7c7b\u522b \u5e94\u8be5 \u662f \u7a7a \u7684 \u6216 \u81f3\u5c11 \u5305\u542b \u6ca1\u6709 \u51b2\u7a81 \u7684 \u5143\u7d20 \u3002   1   Roads   ( 128 ,   64 ,   128 )   \u6c7d\u8f66 \u901a\u5e38 \u884c\u9a76 \u7684 \u90e8\u5206 \u5730\u9762 \u3002   \u6bd4\u5982 \uff0c \u4efb\u4f55 \u65b9\u5411 \u7684 \u8f66\u9053 \u548c \u8857\u9053 \u3002   2   SideWalk   ( 244 ,   35 ,   232 )   \u6307\u5b9a \u4f9b \u884c\u4eba \u6216 \u9a91 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u8005 \u4f7f\u7528 \u7684 \u5730\u9762 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u4e0d\u4ec5 \u901a\u8fc7 \u6807\u8bb0 \uff0c \u8fd8 \u901a\u8fc7 \u4e00\u4e9b \u969c\u788d \u969c\u788d\u7269 \uff08 \u4f8b\u5982 \u8def\u7f18 \u77f3 \u6216 \u6746\u5b50 \uff09 \u5c06 \u9053\u8def \u4e0e \u9053\u8def \u5206 \u9694\u5f00 \u3002 \u8be5 \u6807\u7b7e \u5305\u62ec \u53ef\u80fd \u5212\u5b9a \u7684 \u8def\u8fb9 \u3001 \u4ea4\u901a \u4ea4\u901a\u5c9b \uff08 \u6b65\u884c \u90e8\u5206 \uff09 \u548c \u6b65\u884c \u533a \u3002   3   Building   ( 70 ,   70 ,   70 )   \u623f\u5c4b \u3001 \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c \u7b49 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4ee5\u53ca \u9644\u7740 \u5728 \u5176 \u4e0a \u7684 \u5143\u7d20 \u3002   \u4f8b\u5982 \u7a7a\u8c03 \u3001 \u811a\u624b \u811a\u624b\u67b6 \u3001 \u906e\u9633 \u906e\u9633\u7bf7 \u6216 \u68af\u5b50 \u7b49 \u3002   4   Wall   ( 102 ,   102 ,   156 )   \u72ec\u7acb \u7684 \u7acb\u5899 \u3002 \u4e0d\u662f \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   5   Fence   ( 100 ,   40 ,   40 )   \u969c\u788d \u969c\u788d\u7269 \u3001 \u680f\u6746 \u6216 \u5176\u4ed6 \u76f4\u7acb \u7ed3\u6784 \u3002 \u57fa\u672c \u57fa\u672c\u4e0a \u662f \u5305\u56f4 \u5730\u9762 \u533a\u57df \u7684 \u6728\u6750 \u6216 \u7535\u7ebf \u7ec4\u4ef6 \u3002   6   Pole   ( 153 ,   153 ,   153 )   \u4e3b\u8981 \u4e3a \u5782\u76f4 \u65b9\u5411 \u7684 \u5c0f\u578b \u6746 \u3002 \u5982\u679c \u6746\u6709 \u6c34\u5e73 \u90e8\u5206 \uff08 \u901a\u5e38 \u7528\u4e8e \u4ea4\u901a \u4ea4\u901a\u706f \u6746 \uff09 \uff0c \u5219 \u4e5f \u88ab \u89c6\u4e3a \u6746 \u3002   \u4f8b\u5982 \u6807\u5fd7 \u6746 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u6746 \u3002   7   TrafficLight   ( 250 ,   170 ,   30 )   \u6ca1\u6709 \u706f\u6746 \u7684 \u4ea4\u901a \u706f\u7bb1 \u3002   8   TrafficSign   ( 220 ,   220 ,   0 )   \u7531\u5dde / \u5e02 \u5f53\u5c40 \u5b89\u88c5 \u7684 \u6807\u5fd7 \uff0c \u901a\u5e38 \u7528\u4e8e \u4ea4\u901a \u7ba1\u5236 \u4ea4\u901a\u7ba1\u5236 \u3002 \u6b64 \u7c7b\u522b \u4e0d \u5305\u62ec \u9644\u6709 \u6807\u5fd7 \u7684 \u6746 \u3002   \u4f8b\u5982 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3001 \u505c\u8f66 \u6807\u5fd7 \u3001 \u65b9\u5411 \u6807\u5fd7 ...   9   Vegetation   ( 107 ,   142 ,   35 )   \u6811\u6728 \u3001 \u6811\u7bf1 \u3001 \u5404\u79cd \u5782\u76f4 \u690d\u88ab \u3002 \u8003\u8651 \u5730\u9762 \u690d\u88ab   Terrain   \u3002   10   Terrain   ( 145 ,   170 ,   100 )   \u8349 \u3001 \u5730\u9762 \u690d\u88ab \u3001 \u571f\u58e4 \u6216 \u6c99\u5b50 \u3002 \u8fd9\u4e9b \u533a\u57df \u4e0d \u9002\u5408 \u884c\u9a76 \u3002 \u8be5 \u6807\u7b7e \u5305\u62ec \u53ef\u80fd \u7684 \u9650\u5236 \u9650\u5236\u6027 \u8def\u7f18\u77f3 \u3002   11   Sky   ( 70 ,   130 ,   180 )   \u5f00\u9614 \u7684 \u5929\u7a7a \u3002 \u5305\u62ec \u4e91 \u548c \u592a\u9633 \u3002   12   Pedestrian   ( 220 ,   20 ,   60 )   \u6b65\u884c \u6216 \u4e58\u5750 / \u9a7e\u9a76 \u4efb\u4f55 \u7c7b\u578b \u7684 \u8f66\u8f86 \u6216 \u79fb\u52a8 \u7cfb\u7edf \u7684 \u4eba \u3002   \u4f8b\u5982 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u6216 \u8e0f\u677f \u677f\u8f66 \u8e0f\u677f\u8f66 \u3001 \u6ed1\u677f \u3001 \u9a6c \u3001 \u65f1\u51b0 \u51b0\u978b \u65f1\u51b0\u978b \u3001 \u8f6e\u6905 \u7b49 \u3002   13   Rider   ( 0 ,   0 ,   142 )   \u4eba\u7c7b \u4e58\u5750 / \u9a7e\u9a76 \u4efb\u4f55 \u7c7b\u578b \u7684 \u8f66\u8f86 \u6216 \u79fb\u52a8 \u7cfb\u7edf \u3002   \u4f8b\u5982 \uff1a \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u6216 \u8e0f\u677f \u677f\u8f66 \u8e0f\u677f\u8f66 \u3001 \u6ed1\u677f \u3001 \u9a6c \u3001 \u8f6e\u6ed1 \u3001 \u8f6e\u6905 \u7b49 \u3002   14   Car   ( 0 ,   0 ,   142 )   \u6c7d\u8f66 \u3001 \u5927\u84ec \u8d27\u8f66   15   Truck   ( 0 ,   0 ,   70 )   \u5361\u8f66   16   Bus   ( 0 ,   60 ,   100 )   \u516c\u4ea4 \u516c\u4ea4\u8f66   17   Truck   ( 0 ,   80 ,   100 )   \u706b\u8f66   18   Motorcycle   ( 0 ,   0 ,   230 )   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   19   Bicycle   ( 119 ,   11 ,   32 )   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   20   Static   ( 110 ,   190 ,   160 )   \u573a\u666f \u4e2d \u7684 \u5143\u7d20 \u548c \u9053\u5177 \u662f \u4e0d\u53ef \u79fb\u52a8 \u7684 \u3002   \u4f8b\u5982 \u6d88\u9632 \u6d88\u9632\u6813 \u3001 \u56fa\u5b9a \u957f\u51f3 \u3001 \u55b7\u6cc9 \u3001 \u516c\u4ea4 \u8f66\u7ad9 \u516c\u4ea4\u8f66 \u516c\u4ea4\u8f66\u7ad9 \u7b49 \u3002   21   Dynamic   ( 170 ,   120 ,   50 )   \u4f4d\u7f6e \u5bb9\u6613 \u968f \u65f6\u95f4 \u53d8\u5316 \u7684 \u5143\u7d20 \u3002   \u4f8b\u5982 \u53ef \u79fb\u52a8 \u5783\u573e \u5783\u573e\u6876 \u3001 \u624b\u63a8 \u63a8\u8f66 \u624b\u63a8\u8f66 \u3001 \u888b\u5b50 \u3001 \u8f6e\u6905 \u3001 \u52a8\u7269 \u7b49 \u3002   22   Other   ( 55 ,   90 ,   80 )   \u4e00\u5207 \u4e0d \u5c5e\u4e8e \u4efb\u4f55 \u5176\u4ed6 \u7c7b\u522b \u7684 \u4e1c\u897f \u3002   23   Water   ( 45 ,   60 ,   150 )   \u6c34\u5e73 \u6c34\u9762 \u3002   \u4f8b\u5982 \u6e56\u6cca \u3001 \u6d77\u6d0b \u3001 \u6cb3\u6d41 \u3002   24   RoadLine   ( 157 ,   234 ,   50 )   \u9053\u8def \u4e0a \u7684 \u6807\u8bb0 \u3002   25   Ground   ( 81 ,   0 ,   81 )   \u4e0e \u4efb\u4f55 \u5176\u4ed6 \u7c7b\u522b \u4e0d \u5339\u914d \u7684 \u4efb\u4f55 \u6c34\u5e73 \u5730\u9762 \u7ed3\u6784 \u3002 \u4f8b\u5982 \uff0c \u8f66\u8f86 \u548c \u884c\u4eba \u5171\u4eab \u7684 \u533a\u57df \uff0c \u6216 \u901a\u8fc7 \u8def\u7f18 \u4e0e \u9053\u8def \u5206\u9694 \u7684 \u5e73\u5766 \u73af\u5c9b \u3002   26   Bridge   ( 150 ,   100 ,   100 )   \u53ea\u6709 \u6865 \u7684 \u7ed3\u6784 \u3002 \u6805\u680f \u3001 \u4eba \u3001 \u8f66\u8f86 \u4ee5\u53ca \u5176\u4e0a \u7684 \u5176\u4ed6 \u5143\u7d20 \u90fd \u88ab \u5355\u72ec \u6807\u8bb0 \u3002   27   RailTrack   ( 230 ,   150 ,   140 )   \u5404\u79cd \u975e \u6c7d\u8f66 \u884c\u9a76 \u7684 \u94c1\u8f68 \u3002   \u4f8b\u5982 \u5730\u94c1 \u548c \u706b\u8f66 \u94c1\u8f68 \u3002   28   GuardRail   ( 180 ,   165 ,   180 )   \u6240\u6709 \u7c7b\u578b \u7684 \u62a4\u680f / \u9632\u649e \u680f \u3002   \u7b14\u8bb0   \u9605\u8bfb   \u672c   \u6559\u7a0b \u4ee5 \u521b\u5efa \u65b0 \u7684 \u8bed\u4e49 \u6807\u7b7e \u3002   \u76f8\u673a \u57fa\u672c \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   fov   float   90.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ x   int   800   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ y   int   600   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u6ef4\u7b54 \u6ef4\u7b54\u58f0 \uff09 \u3002   \u76f8\u673a \u955c\u5934 \u7578\u53d8 \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   lens _ circle _ falloff   float   5.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ circle _ multiplier   float   0.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ k   float   - 1.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ kcube   float   0.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ x _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   lens _ y _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   fov   float   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   height   int   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   bytes   BGRA   32   \u4f4d \u50cf\u7d20 \u9635\u5217 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   width   int   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   \u5b9e\u4f8b \u5206\u5272 \u76f8\u673a   \u84dd\u56fe \uff1a   sensor . camera . instance _ segmentation   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65 \u4e00\u4e2a   carla . Image   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u8be5 \u76f8\u673a \u6839\u636e \u7c7b\u522b \u548c \u5b9e\u4f8b   ID   \u5bf9 \u89c6\u91ce \u4e2d \u7684 \u6bcf\u4e2a \u5bf9\u8c61 \u8fdb\u884c \u5206\u7c7b \u3002 \u5f53 \u6a21\u62df \u5f00\u59cb \u65f6 \uff0c \u573a\u666f \u4e2d \u7684 \u6bcf\u4e2a \u5143\u7d20 \u90fd \u4f1a \u88ab \u521b\u5efa \u4e3a \u4e00\u4e2a \u6807\u7b7e \u3002 \u56e0\u6b64 \uff0c \u5f53 \u751f\u6210 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \u5c31 \u4f1a \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \u3002 \u5bf9\u8c61 \u6839\u636e \u5176 \u5728 \u9879\u76ee \u4e2d \u7684 \u76f8\u5bf9 \u6587\u4ef6 \u8def\u5f84 \u8fdb\u884c \u5206\u7c7b \u3002 \u4f8b\u5982 \uff0c \u5b58\u50a8 \u5728   Unreal / CarlaUE4 / Content / Static / Pedestrians   \u4e2d \u7684 \u7f51\u683c \u88ab \u6807\u8bb0 \u4e3a \u884c\u4eba   Pedestrian   \u3002   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u63d0\u4f9b \u4e00\u5f20   \u5728 \u7ea2\u8272 \u901a\u9053 \u4e2d \u7f16\u7801 \u4e86   \u6807\u7b7e \u4fe1\u606f \u7684 \u56fe\u50cf \uff1a \u7ea2\u8272 \u503c\u4e3a   x   \u7684 \u50cf\u7d20 \u5c5e\u4e8e \u5e26\u6709 \u6807\u7b7e   x   \u7684 \u5bf9\u8c61 \u3002 \u50cf\u7d20 \u7684 \u7eff\u8272 \u548c \u84dd\u8272 \u503c \u5b9a\u4e49 \u5bf9\u8c61 \u7684 \u552f\u4e00   ID \u3002 \u4f8b\u5982 \uff0c 8   \u4f4d   RGB   \u503c\u4e3a   [ 10 ,   20 ,   55 ]   \u7684 \u50cf\u7d20 \u662f \u4e00\u8f86 \u5177\u6709 \u552f\u4e00 \u5b9e\u4f8b   ID   20 - 55   \u7684 \u8f66\u8f86 \uff08 \u8bed\u4e49 \u6807\u7b7e \u4e3a   10 \uff09 \u3002   \u57fa\u672c \u76f8\u673a \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \u63cf\u8ff0   fov   float   90.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ x   int   800   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ y   int   600   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u6a21\u62df \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   \u76f8\u673a \u955c\u5934 \u7578\u53d8 \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \u63cf\u8ff0   lens _ circle _ falloff   float   5.0   \u8303\u56f4 \uff1a [ 0.0 ,   10.0 ]   lens _ circle _ multiplier   float   0.0   \u8303\u56f4 \uff1a [ 0.0 ,   10.0 ]   lens _ k   float   - 1.0   \u8303\u56f4 \uff1a [ - inf ,   inf ]   lens _ kcube   float   0.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ x _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   lens _ y _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   fov   float   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   frame   int   \u6d4b\u91cf \u53d1\u751f \u65f6 \u7684 \u5e27 \u53f7 \u3002   height   int   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   bytes   BGRA   32   \u4f4d \u50cf\u7d20 \u6570\u7ec4 \u3002   timestamp   double   \u81ea \u60c5\u8282 \u5f00\u59cb \u4ee5\u6765 \u7684 \u6d4b\u91cf \u6a21\u62df \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   width   int   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u76f8\u673a   \u84dd\u56fe \uff1a   sensor . camera . dvs   \u8f93\u51fa \uff1a   \u6bcf\u6b65   carla . DVSEventArray   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \uff08 Dynamic   Vision   Sensor ,   DVS \uff09 \u6216 \u4e8b\u4ef6 \u76f8\u673a \u662f \u4e00\u79cd \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u4f20\u7edf \u76f8\u673a \u4f20\u7edf\u76f8\u673a \u5b8c\u5168 \u4e0d\u540c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u4e8b\u4ef6 \u76f8\u673a \u4e0d\u662f \u4ee5 \u56fa\u5b9a \u901f\u7387 \u6355\u83b7 \u5f3a\u5ea6 \u56fe\u50cf \uff0c \u800c\u662f \u4ee5 \u4e8b\u4ef6 \u6d41 \u7684 \u5f62\u5f0f \u5f02\u6b65 \u6d4b\u91cf \u5f3a\u5ea6 \u53d8\u5316 \uff0c \u5bf9 \u6bcf\u4e2a \u50cf\u7d20 \u7684 \u4eae\u5ea6 \u53d8\u5316 \u8fdb\u884c \u7f16\u7801 \u3002 \u4e0e \u6807\u51c6 \u6444\u50cf \u6444\u50cf\u673a \u76f8\u6bd4 \uff0c \u4e8b\u4ef6 \u6444\u50cf \u6444\u50cf\u673a \u5177\u6709 \u72ec\u7279 \u7684 \u5c5e\u6027 \u3002 \u5b83\u4eec \u5177\u6709 \u975e\u5e38 \u9ad8 \u7684 \u52a8\u6001 \u8303\u56f4 \uff08 140   dB   \u4e0e   60   dB \uff09 \u3001 \u65e0 \u8fd0\u52a8 \u6a21\u7cca \u548c \u9ad8 \u65f6\u95f4 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \uff08 \u5fae\u79d2 \u7ea7 \uff09 \u3002 \u56e0\u6b64 \uff0c \u4e8b\u4ef6 \u76f8\u673a \u662f \u5373\u4f7f \u5728 \u5177\u6709 \u6311\u6218 \u6311\u6218\u6027 \u7684 \u9ad8\u901f \u573a\u666f \u548c \u9ad8 \u52a8\u6001 \u8303\u56f4 \u73af\u5883 \u4e0b \u4e5f \u80fd \u63d0\u4f9b \u9ad8\u8d28 \u8d28\u91cf \u9ad8\u8d28\u91cf \u89c6\u89c9 \u4fe1\u606f \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4e3a \u57fa\u4e8e \u89c6\u89c9 \u7684 \u7b97\u6cd5 \u63d0\u4f9b \u4e86 \u65b0 \u7684 \u5e94\u7528 \u9886\u57df \u5e94\u7528\u9886\u57df \u3002   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6444\u50cf \u6444\u50cf\u673a \u8f93\u51fa \u4e8b\u4ef6 \u6d41 \u3002 \u5f53 \u5bf9\u6570 \u5f3a\u5ea6 \u7684 \u53d8\u5316 \u8fbe\u5230 \u9884\u5b9a \u4e49 \u7684 \u6052\u5b9a \u9608\u503c \uff08 \u901a\u5e38 \u5728   15%   \u5230   30%   \u4e4b\u95f4 \uff09 \u65f6 \uff0c \u5728 \u65f6\u95f4 \u6233 \u5904 \u7684 \u50cf\u7d20 \u5904   e = ( x , y , t , pol )   \u89e6\u53d1 \u4e8b\u4ef6 \u3002   L ( x , y , t )   -   L ( x , y , t - \\ delta   t )   =   pol   C   t - \\ delta   t   \u662f \u8be5 \u50cf\u7d20 \u4e0a \u6700\u540e \u4e00\u4e2a \u4e8b\u4ef6 \u88ab \u89e6\u53d1 \u7684 \u65f6\u95f4 \uff0c \u5e76\u4e14   pol   \u662f \u6839\u636e \u4eae\u5ea6 \u53d8\u5316 \u7684 \u7b26\u53f7 \u7684 \u4e8b\u4ef6 \u7684 \u6781\u6027 \u3002   + 1   \u5f53 \u4eae\u5ea6 \u589e\u52a0 \u65f6 \u6781\u6027 \u4e3a \u6b63 \uff0c   - 1   \u5f53 \u4eae\u5ea6 \u51cf\u5c11 \u65f6 \u6781\u6027 \u4e3a \u8d1f \u3002 \u5de5\u4f5c \u539f\u7406 \u5982\u4e0b \u56fe \u6240\u793a \u3002 \u6807\u51c6 \u76f8\u673a \u4ee5 \u56fa\u5b9a \u901f\u7387 \u8f93\u51fa \u5e27 \uff0c \u4ece\u800c \u5728 \u573a\u666f \u4e2d \u4e0d \u5b58\u5728 \u8fd0\u52a8 \u65f6 \u53d1\u9001 \u5197\u4f59 \u4fe1\u606f \u3002 \u76f8\u6bd4 \u4e4b\u4e0b \u76f8\u6bd4\u4e4b\u4e0b \uff0c \u4e8b\u4ef6 \u6444\u50cf \u6444\u50cf\u673a \u662f \u6570\u636e \u9a71\u52a8 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u80fd\u591f \u4ee5 \u5fae\u79d2 \u5ef6\u8fdf \u54cd\u5e94 \u4eae\u5ea6 \u53d8\u5316 \u3002 \u5728 \u7ed8\u56fe \u4e2d \uff0c \u53ea\u8981 \uff08 \u7b26\u53f7 \u5e26\u7b26\u53f7 \u7684 \uff09 \u4eae\u5ea6 \u53d8\u5316 \u968f \u65f6\u95f4 \u8d85\u8fc7   C   \u4e00\u7ef4 \u7684 \u5bf9\u6bd4 \u5bf9\u6bd4\u5ea6 \u9608\u503c \uff0c \u5c31 \u4f1a \u751f\u6210 \u6b63 \uff08 \u6216\u8d1f \uff09 \u4e8b\u4ef6 \uff08 \u84dd\u70b9 \u3001 \u7ea2 \u70b9 \uff09   \u3002 \u89c2\u5bdf \u4fe1\u53f7 \u5feb\u901f \u53d8\u5316 \u65f6 \u4e8b\u4ef6 \u7387 \u5982\u4f55 \u589e\u957f \u3002   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6444\u50cf \u6444\u50cf\u673a \u7684 \u5f53\u524d \u5b9e\u73b0 \u5728 \u4e24\u4e2a \u8fde\u7eed \u540c\u6b65 \u5e27 \u4e4b\u95f4 \u4ee5 \u7edf\u4e00 \u91c7\u6837 \u65b9\u5f0f \u5de5\u4f5c \u3002 \u56e0\u6b64 \uff0c \u4e3a\u4e86 \u4eff\u771f \u771f\u5b9e \u4e8b\u4ef6 \u76f8\u673a \u7684 \u9ad8 \u65f6\u95f4 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \uff08 \u5fae\u79d2 \u7ea7 \uff09 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9700\u8981 \u4ee5 \u9ad8\u9891 \u9891\u7387 \u9ad8\u9891\u7387 \u6267\u884c \uff08 \u6bd4 \u4f20\u7edf \u76f8\u673a \u4f20\u7edf\u76f8\u673a \u7684 \u9891\u7387 \u9ad8\u5f97 \u591a \uff09 \u3002 \u5b9e\u9645 \u5b9e\u9645\u4e0a \uff0c Carla   \u6c7d\u8f66 \u884c\u9a76 \u901f\u5ea6 \u8d8a \u5feb \uff0c \u4e8b\u4ef6 \u6570\u91cf \u5c31 \u4f1a \u589e\u52a0 \u3002 \u56e0\u6b64 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9891\u7387 \u5e94 \u968f\u7740 \u573a\u666f \u7684 \u52a8\u6001 \u800c \u76f8\u5e94 \u589e\u52a0 \u3002 \u7528\u6237 \u5e94\u8be5 \u5728 \u65f6\u95f4 \u7cbe\u5ea6 \u548c \u8ba1\u7b97 \u6210\u672c \u8ba1\u7b97\u6210\u672c \u4e4b\u95f4 \u627e\u5230 \u5e73\u8861 \u3002   \u63d0\u4f9b \u7684 \u811a\u672c   manual _ control . py   \u4f7f\u7528 \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u6765 \u5c55\u793a \u5982\u4f55 \u914d\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u5982\u4f55 \u83b7\u53d6 \u4e8b\u4ef6 \u6d41 \u4ee5\u53ca \u5982\u4f55 \u4ee5 \u56fe\u50cf \u683c\u5f0f \u56fe\u50cf\u683c\u5f0f \uff08 \u901a\u5e38 \u79f0\u4e3a \u4e8b\u4ef6 \u6846\u67b6 \uff09 \u63cf\u8ff0 \u6b64\u7c7b \u4e8b\u4ef6 \u3002   \u8bf7 \u6ce8\u610f \uff0c \u7531\u4e8e \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6444\u50cf \u6444\u50cf\u673a \u7684 \u91c7\u6837 \u65b9\u6cd5 \uff0c \u5982\u679c \u4e24\u4e2a \u8fde\u7eed \u540c\u6b65 \u5e27 \u4e4b\u95f4 \u6ca1\u6709 \u50cf\u7d20 \u5dee\u5f02 \uff0c \u6444\u50cf \u6444\u50cf\u673a \u5c06 \u4e0d\u4f1a \u8fd4\u56de \u56fe\u50cf \u3002 \u8fd9 \u603b\u662f \u53d1\u751f \u5728 \u7b2c\u4e00 \u5e27 \u4e2d \uff0c \u56e0\u4e3a \u6ca1\u6709 \u524d \u4e00\u5e27 \u53ef \u4f9b \u6bd4\u8f83 \uff0c \u5e76\u4e14 \u5728 \u5e27 \u4e4b\u95f4 \u6ca1\u6709 \u79fb\u52a8 \u7684 \u60c5\u51b5 \u4e0b \u4e5f \u662f \u5982\u6b64 \u3002   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f \u4e00\u4e2a \u76f8\u673a \uff0c \u56e0\u6b64 \u5177\u6709   RGB   \u76f8\u673a \u4e2d \u53ef\u7528 \u7684 \u6240\u6709 \u5c5e\u6027 \u3002 \u7136\u800c \uff0c \u4e8b\u4ef6 \u6444\u50cf \u6444\u50cf\u673a \u7684 \u5de5\u4f5c \u539f\u7406 \u51e0\u4e4e \u6ca1\u6709 \u4ec0\u4e48 \u72ec\u6709 \u7684 \u5c5e\u6027 \u3002   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u76f8\u673a \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   positive _ threshold   float   0.3   \u4e0e \u4eae\u5ea6 \u53d8\u5316 \u589e\u91cf \u76f8\u5173 \u7684 \u6b63 \u9608\u503c   C   ( 0 - 1 ) \u3002   negative _ threshold   float   0.3   \u4e0e \u4eae\u5ea6 \u53d8\u5316 \u51cf\u5c11 \u76f8\u5173 \u7684 \u8d1f \u9608\u503c   C   ( 0 - 1 ) \u3002   sigma _ positive _ threshold   float   0   \u79ef\u6781 \u4e8b\u4ef6 \u7684 \u767d \u566a\u58f0 \u6807\u51c6 \u6807\u51c6\u5dee   ( 0 - 1 ) \u3002   sigma _ negative _ threshold   float   0   \u8d1f\u9762 \u4e8b\u4ef6 \u7684 \u767d \u566a\u58f0 \u6807\u51c6 \u6807\u51c6\u5dee   ( 0 - 1 ) \u3002   refractory _ period _ ns   int   0.0   \u4e0d\u5e94 \u4e0d\u5e94\u671f \uff08 \u50cf\u7d20 \u5728 \u89e6\u53d1 \u4e8b\u4ef6 \u540e \u65e0\u6cd5 \u89e6\u53d1 \u4e8b\u4ef6 \u7684 \u65f6\u95f4 \uff09 \uff0c \u4ee5 \u7eb3\u79d2 \u4e3a \u5355\u4f4d \u3002 \u5b83 \u9650\u5236 \u4e86 \u89e6\u53d1 \u4e8b\u4ef6 \u7684 \u6700\u9ad8 \u9891\u7387 \u3002   use _ log   bool   true   \u662f\u5426 \u4ee5 \u5bf9\u6570 \u5f3a\u5ea6 \u6807\u5ea6 \u5de5\u4f5c \u3002   log _ eps   float   0.001   \u7528\u4e8e \u5c06 \u56fe\u50cf \u8f6c\u6362 \u4e3a \u65e5\u5fd7 \u7684   Epsilon   \u503c \uff1a   L   =   log ( eps   +   I   /   255.0 )   .   \u5176\u4e2d   I   \u662f   RGB   \u56fe\u50cf \u7684 \u7070\u5ea6 \u503c \uff1a   I   =   0.2989 * R   +   0.5870 * G   +   0.1140 * B   .   \u5149\u6d41 \u76f8\u673a   \u5149\u6d41 \u76f8\u673a \u6355\u6349 \u4ece \u76f8\u673a \u7684 \u89d2\u5ea6 \u611f\u77e5 \u7684 \u8fd0\u52a8 \u3002 \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bb0\u5f55 \u7684 \u6bcf\u4e2a \u50cf\u7d20 \u90fd \u5bf9 \u6295\u5f71 \u5230 \u56fe\u50cf \u5e73\u9762 \u7684 \u8be5 \u70b9 \u7684 \u901f\u5ea6 \u8fdb\u884c \u7f16\u7801 \u3002 \u50cf\u7d20 \u7684 \u901f\u5ea6 \u5728   [ - 2 , 2 ]   \u8303\u56f4 \u5185 \u7f16\u7801 \u3002 \u4e3a\u4e86 \u83b7\u5f97 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \u7684 \u8fd0\u52a8 \uff0c \u53ef\u4ee5 \u5c06 \u8be5 \u4fe1\u606f \u4e0e \u56fe\u50cf \u5927\u5c0f \u4e00\u8d77 \u7f29\u653e \u81f3 [ - 2   *   image _ size ,   2   *   image _ size ] \u3002   \u5149\u6d41 \u76f8\u673a \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   image _ size _ x   int   800   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ y   int   600   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   fov   float   90.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   \u5149\u6d41 \u76f8\u673a \u955c\u5934 \u7578\u53d8 \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   lens _ circle _ falloff   float   5.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ circle _ multiplier   float   0.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ k   float   - 1.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ kcube   float   0.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ x _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   lens _ y _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   width   int   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   height   int   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   fov   float   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   bytes   \u5305\u542b \u4e24\u4e2a \u6d6e\u70b9 \u503c \u7684   BGRA   64   \u4f4d \u50cf\u7d20 \u6570\u7ec4 \u3002   V2X   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8f66\u8054 \u4e07\u7269   ( Vehicle - to - everything ,   V2X )   \u901a\u4fe1 \u662f \u672a\u6765 \u534f\u4f5c \u667a\u80fd \u4ea4\u901a \u7cfb\u7edf \u4ea4\u901a\u7cfb\u7edf \u5e94\u7528 \u7684 \u4e00\u4e2a \u91cd\u8981 \u65b9\u9762 \u3002 \u5728 \u5b9e\u9645 \u8f66\u8f86 \u4e2d \uff0c \u8fd9 \u9700\u8981 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u4e0a \u90fd \u6709 \u4e00\u4e2a \u4e13\u7528 \u7684 \u8f66\u8f7d \u5355\u5143   ( onboard   unit ,   OBU ) \uff0c \u80fd\u591f \u901a\u8fc7 \u65e0\u7ebf \u4fe1\u9053 \u53d1\u9001 \u548c \u63a5\u6536 \u4fe1\u606f \u3002 \u6839\u636e \u5730\u533a \uff08 \u6b27\u6d32 \u3001 \u4e2d\u56fd \u3001 \u7f8e\u56fd \uff09 \uff0c \u4f7f\u7528 \u4e0d\u540c \u7684 \u7269\u7406 \u6280\u672f \u3001 \u534f\u8bae \u548c \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u6d88\u606f \u683c\u5f0f \u3002   CARLA   \u76ee\u524d \u652f\u6301 \u6a21\u62df \u7b80\u5355 \u7684 \u5e7f\u64ad \u65e0\u7ebf \u4fe1\u9053 \u548c \u4e24\u6761 \u5e94\u7528 \u6d88\u606f \u3002 \u5c1a \u4e0d \u652f\u6301 \u7f51\u7edc \u8bbf\u95ee \u548c \u8f6c\u53d1 \u534f\u8bae \u3002 \u4e24\u6761 \u5b9e\u73b0 \u7684 \u6d88\u606f \u5206\u522b \u662f \u7b26\u5408 \u6b27\u6d32 \u6807\u51c6   ETSI   \u7684   \u534f\u4f5c \u611f\u77e5 \u6d88\u606f   \u548c   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d88\u606f   \u7c7b\u578b \uff0c \u53ef \u7528\u4e8e \u4f20\u8f93 \u4efb\u610f \u5b57\u7b26 \u5b57\u7b26\u4e32 \u6570\u636e \uff08 \u4f8b\u5982   JSON \uff09 \u3002 V2X   \u901a\u4fe1 \u6709 \u4e24\u79cd \u4e0d\u540c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u53ef\u4ee5 \u5355\u72ec \u4f7f\u7528 \uff0c \u6bcf\u79cd \u5e94\u7528 \u6d88\u606f \u7c7b\u578b \u5404 \u4e00\u4e2a \u3002   \u57fa\u672c \u57fa\u672c\u4e0a \uff0c \u65e0\u7ebf \u901a\u9053 \u5305\u542b \u4e24\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4ee5\u4e0b \u8ba1\u7b97 \uff1a   ReceivedPower   =   OtherTransmitPower   +   combined _ antenna _ gain   -   loss   IF   ( ReceivedPower   > =   receiver _ sensitivity )   THEN   message   is   received   \u8981 \u6a21\u62df   V2X   \u901a\u4fe1 \uff0c \u81f3\u5c11 \u9700\u8981 \u751f\u6210 \u4e24\u4e2a \u76f8\u540c \u7c7b\u578b \u7684   V2X   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u81f3\u5c11 \u4e00\u5bf9 \u53d1\u9001 \u53d1\u9001\u5668 - \u63a5\u6536 \u63a5\u6536\u5668 \uff09 \u3002 \u7531\u4e8e \u63a5\u6536 \u529f\u7387 \u662f \u5728 \u63a5\u6536 \u63a5\u6536\u5668 \u7aef   V2X   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e0a \u8ba1\u7b97 \u7684 \uff0c \u56e0\u6b64 \u53ea\u6709 \u63a5\u6536 \u63a5\u6536\u5668 \u7aef \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e0a \u6307\u5b9a \u7684 \u5929\u7ebf \u589e\u76ca \u624d \u4f1a \u7eb3\u5165 \u6b64 \u8ba1\u7b97 \u4e2d \u3002 \u53ef\u4ee5 \u914d\u7f6e \u4f20\u8f93 \u529f\u7387 \u548c \u63a5\u6536 \u63a5\u6536\u5668 \u7075\u654f \u654f\u5ea6 \u7075\u654f\u5ea6 \uff08 \u53c2\u9605 \u8bf7\u53c2\u9605   \u84dd\u56fe \u5c5e\u6027   \uff09 \u3002   \u635f\u8017   \u8ba1\u7b97 \u53d6\u51b3 \u53d6\u51b3\u4e8e   -   \u53d1\u9001 \u65b9 \u548c \u63a5\u6536 \u65b9 \u4e4b\u95f4 \u7684 \u53ef\u89c1 \u6027 \u6761\u4ef6 \uff1a \u89c6\u7ebf \uff08 \u65e0 \u969c\u788d \u969c\u788d\u7269 \uff09 \u3001 \u88ab \u5efa\u7b51 \u5efa\u7b51\u7269 \u906e\u6321 \u7684 \u975e \u89c6\u7ebf \u6216 \u88ab \u8f66\u8f86 \u906e\u6321 \u7684 \u975e \u89c6\u7ebf \uff0c \u4ee5\u53ca   -   \u573a\u666f \uff1a \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3001 \u4e61\u6751 \u6216 \u57ce\u5e02 \u73af\u5883   \u867d\u7136 \u5728   CARLA   \u4e2d \u6a21\u62df \u4e86 \u53ef\u89c1 \u6027 \uff0c \u4f46 \u7528\u6237 \u53ef\u4ee5 \u914d\u7f6e \u573a\u666f \uff08 \u53c2\u89c1   \u84dd\u56fe \u5c5e\u6027   \uff09 \uff0c \u4ee5\u53ca \u65e0\u7ebf \u4fe1\u9053 \u7684 \u5176\u4ed6 \u51e0\u4e2a \u5c5e\u6027 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u5b50 \uff09 \u7c7b\u578b   \u534f\u540c \u611f\u77e5 \u6d88\u606f   \u84dd\u56fe \uff1a   sensor . other . v2x   \u8f93\u51fa \uff1a   carla . CAMData   ,   \u6839\u636e   ETSI   CAM   ( ooperative   Awareness   Message \uff0c \u534f\u540c \u8b66\u793a \u6d88\u606f )   \u6807\u51c6 \u89e6\u53d1 \uff0c \u9664\u975e \u53e6\u6709 \u914d\u7f6e   \u6839\u636e   ETSI   \u6807\u51c6 \u7684 \u89e6\u53d1 \u6761\u4ef6 \uff1a   -   \u822a\u5411 \u89d2 \u53d8\u5316   >   $ 4 $ \u00b0   -   \u4f4d\u7f6e \u5dee   >   $ 4 $   m   -   \u901f\u5ea6 \u53d8\u5316   >   $ 5 $   m / s   -   \u7ecf\u8fc7 \u65f6\u95f4   >   CAM   \u751f\u6210 \u65f6\u95f4 \uff08 \u53ef \u914d\u7f6e \uff09   -   \u4f4e\u9891 \u5bb9\u5668 \u7ecf\u8fc7 \u65f6\u95f4   $ >   500 $   ms   \u5bf9\u4e8e   CAM   V2X   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u9002\u7528 \u5176\u4ed6 \u84dd\u56fe \u5c5e\u6027 \uff1a   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \u63cf\u8ff0   \u6d88\u606f \u751f\u6210   gen _ cam _ min   float   $ 0.1 $   \u4e24\u4e2a \u8fde\u7eed   CAM   \u4e4b\u95f4 \u7684 \u6700 \u77ed\u65f6 \u65f6\u95f4 \u77ed\u65f6\u95f4 \u95f4\u9694 \uff08 \u79d2 \uff09   gen _ cam _ max   float   $ 1.0 $   \u4e24\u4e2a \u8fde\u7eed   CAM   \u4e4b\u95f4 \u7684 \u6700\u5927 \u65f6\u95f4 \u95f4\u9694 \uff08 \u79d2 \uff09   fixed _ rate   bool   false   [ true ]   \u5728 \u6bcf\u4e2a   Carla   \u8282\u62cd \u4e2d \u751f\u6210 \u4e00\u4e2a   CAM \uff08 \u4ec5 \u7528\u4e8e \u8c03\u8bd5 \u76ee\u7684 \uff0c \u4f1a \u5bfc\u81f4 \u901f\u5ea6 \u53d8\u6162 \uff09   \u6570\u636e \u751f\u6210   noise _ vel _ stddev _ x   float   0.0   \u566a\u58f0 \u6a21\u578b \u4e2d \u901f\u5ea6 \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \uff08 X   \u8f74 \uff09 \u3002   noise _ accel _ stddev _ x   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 X   \u8f74 \uff09 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ accel _ stddev _ y   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \uff08 Y   \u8f74 \uff09 \u3002   noise _ accel _ stddev _ z   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 Z   \u8f74 \uff09 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ yawrate _ bias   float   0.0   \u566a\u58f0 \u6a21\u578b \u4e2d \u504f\u822a \u901f\u5ea6 \u89d2\u901f\u5ea6 \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ yawrate _ stddev   float   0.0   \u504f\u822a \u901f\u5ea6 \u89d2\u901f\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ alt _ bias   float   0.0   \u566a\u58f0 \u6a21\u578b \u4e2d \u6d77\u62d4 \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ alt _ stddev   float   0.0   \u6d77\u62d4 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ lat _ bias   float   0.0   \u7eac\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ lat _ stddev   float   0.0   \u7eac\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u6807\u51c6\u5dee \u53c2\u6570 \u3002   noise _ lon _ bias   float   0.0   \u566a\u58f0 \u6a21\u578b \u4e2d \u7ecf\u5ea6 \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ lon _ stddev   float   0.0   \u566a\u58f0 \u6a21\u578b \u4e2d \u7ecf\u5ea6 \u7684 \u6807\u51c6 \u6807\u51c6\u5dee \u53c2\u6570 \u3002   noise _ head _ bias   float   0.0   \u822a\u5411 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ head _ stddev   float   0.0   \u822a\u5411 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49   V2X   \u6d88\u606f   \u84dd\u56fe \uff1a   sensor . other . v2x _ custom   \u8f93\u51fa \uff1a   carla . CustomV2XData   \uff0c \u5728 \u8c03\u7528   send ( )   \u540e \u89e6\u53d1 \u4e0b \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f   \u65b9\u6cd5   send   (   self   ,   callback   )   \u7528\u6237 \u6bcf\u6b21 \u53d1\u9001 \u6d88\u606f \u65f6 \u5fc5\u987b \u8c03\u7528 \u7684 \u51fd\u6570 \u3002 \u6b64 \u51fd\u6570 \u9700\u8981 \u4e00\u4e2a \u5305\u542b \u5bf9\u8c61 \u7c7b\u578b   carla . SensorData   \u7684 \u53c2\u6570 \u6765 \u5904\u7406 \u3002   \u53c2\u6570 \uff1a   data   (   function   )   -   \u88ab \u8c03\u7528 \u7684 \u51fd\u6570 \u5e26\u6709 \u4e00\u4e2a \u5305\u542b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u7684 \u53c2\u6570 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49   V2X   \u6d88\u606f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7565\u6709 \u4e0d\u540c \u7565\u6709\u4e0d\u540c \uff0c \u56e0\u4e3a \u5b83 \u9664\u4e86   \u4fa6\u542c   \u51fd\u6570 \u4e4b\u5916 \u8fd8 \u5177\u6709   \u53d1\u9001   \u51fd\u6570 \uff0c \u9700\u8981 \u5148 \u8c03\u7528 \u8be5 \u51fd\u6570 \uff0c \u7136\u540e \u5176\u4ed6 \u6b64\u7c7b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u624d\u80fd \u63a5\u6536 \u4efb\u4f55 \u5185\u5bb9 \u3002 \u53ea\u6709 \u5728 \u8c03\u7528   \u53d1\u9001   \u65f6\u624d \u4f1a \u89e6\u53d1 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d88\u606f \u7684 \u4f20\u8f93 \u3002 \u53d1\u9001 \u9001\u7ed9 \u53d1\u9001\u7ed9   \u53d1\u9001   \u51fd\u6570 \u7684 \u6bcf\u6761 \u6d88\u606f \u4ec5 \u5411 \u5f53\u524d \u751f\u6210 \u7684 \u6240\u6709 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49   V2X   \u6d88\u606f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f20\u8f93 \u4e00\u6b21 \u3002   \u793a\u4f8b \uff1a   bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . v2x _ custom ' )   sensor   =   world . spawn _ actor ( bp ,   carla . Transform ( ) ,   attach _ to = parent )   sensor . send ( \" Hello   CARLA \" )   V2X   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u84dd\u56fe \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \u63cf\u8ff0   transmit _ power   float   $ 21.5 $   \u53d1\u9001 \u65b9 \u4f20\u8f93 \u529f\u7387 \uff08 \u5355\u4f4d \uff1a dBm \uff09   receiver _ sensitivity   float   $ - 99 $   \u63a5\u6536 \u63a5\u6536\u5668 \u7075\u654f \u654f\u5ea6 \u7075\u654f\u5ea6 \uff08 \u5355\u4f4d \uff1a dBm \uff09   frequency _ ghz   float   $ 5.9 $   \u4f20\u8f93 \u9891\u7387 \uff08 GHz \uff09 \u3002 5.9   GHz   \u662f \u591a\u4e2a \u7269\u7406 \u4fe1\u9053 \u7684 \u6807\u51c6 \u3002   noise _ seed   int   $ 0 $   \u566a\u58f0 \u521d\u59cb \u521d\u59cb\u5316 \u7684 \u968f\u673a \u53c2\u6570   filter _ distance   float   $ 500 $   \u6700\u5927 \u4f20\u8f93 \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \uff0c \u4e0a\u9762 \u7684 \u8def\u5f84 \u635f\u8017 \u8ba1\u7b97 \u56e0 \u6a21\u62df \u901f\u5ea6 \u800c \u7565\u8fc7   \u8def\u5f84 \u635f\u8017 \u6a21\u578b \u53c2\u6570   combined _ antenna _ gain   float   $ 10.0 $   \u53d1\u5c04 \u53d1\u5c04\u673a \u548c \u63a5\u6536 \u63a5\u6536\u673a \u5929\u7ebf \u7684 \u7ec4\u5408 \u589e\u76ca \uff08 \u4ee5   dBi   \u4e3a \u5355\u4f4d \uff09 \uff0c \u8f90\u5c04 \u6548\u7387 \u8f90\u5c04\u6548\u7387 \u548c \u65b9\u5411 \u5411\u6027 \u65b9\u5411\u6027 \u7684 \u53c2\u6570   d _ ref   float   $   1.0   $   \u5bf9\u6570 \u8ddd\u79bb \u8def\u5f84 \u635f\u8017 \u6a21\u578b \u7684 \u53c2\u8003 \u8ddd\u79bb \uff08 \u5355\u4f4d \uff1a \u7c73 \uff09   path _ loss _ exponent   float   2.7   \u7531\u4e8e \u5efa\u7b51 \u5efa\u7b51\u7269 \u906e\u6321 \u5bfc\u81f4 \u7684 \u975e \u89c6\u8ddd \u635f\u8017 \u53c2\u6570   scenario   string   urban   \u9009\u9879 \uff1a [ urban ,   rustic ,   highly   available ] \uff0c \u5b9a\u4e49 \u8870\u843d \u566a\u58f0 \u53c2\u6570   path _ loss _ model   string   geometric   \u4f7f\u7528 \u7684 \u901a\u7528 \u8def\u5f84 \u635f\u8017 \u6a21\u578b \u3002 \u9009\u9879 \uff1a [ geometric ,   winor ]   use _ etsi _ fading   bool   true   \u4f7f\u7528   ETSI   \u51fa\u7248 \u51fa\u7248\u7269 \u4e2d \u63d0\u5230 \u7684 \u8870\u843d \u53c2\u6570 \uff08 true \uff09 \uff0c \u6216 \u4f7f\u7528 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8870\u843d \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee   custom _ fading _ stddev   float   0.0   \u8870\u51cf \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u503c \uff0c \u4ec5\u5f53   use _ etsi _ fading   \u8bbe\u7f6e \u4e3a   false   \u65f6\u624d \u4f7f\u7528","title":"Ref   sensors"},{"location":"ref_sensors/#_1","text":"\u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u6df1\u5ea6 \u76f8\u673a   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   RGB \u76f8\u673a   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u5b9e\u4f8b \u5206\u5272 \u76f8\u673a   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u76f8\u673a   \u5149\u6d41 \u76f8\u673a   V2X   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u534f\u540c \u611f\u77e5   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d88\u606f   \u91cd\u8981   \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u5750\u6807\u7cfb \uff08   x   -   \u5411\u524d   \uff0c   y   -   \u5411 \u53f3   \uff0c   z   -   \u5411\u4e0a   \uff09 \uff0c \u5e76 \u8fd4\u56de \u672c\u5730 \u7a7a\u95f4 \u4e2d \u7684 \u5750\u6807 \u3002 \u4f7f\u7528 \u4efb\u4f55 \u53ef\u89c6 \u53ef\u89c6\u5316 \u8f6f\u4ef6 \u65f6 \uff0c \u8bf7 \u6ce8\u610f \u5176 \u5750\u6807 \u5750\u6807\u7cfb \u3002 \u8bb8\u591a \u53cd\u8f6c   Y   \u8f74 \uff0c \u56e0\u6b64 \u76f4\u63a5 \u53ef\u89c6 \u53ef\u89c6\u5316 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u955c\u50cf \u8f93\u51fa \u3002","title":"\u4f20\u611f\u5668 \u53c2\u8003"},{"location":"ref_sensors/#_2","text":"\u84dd\u56fe \uff1a   sensor . other . collision   \u8f93\u51fa \uff1a   \u6bcf\u6b21 \u78b0\u649e \u7684   carla . CollisionEvent   \u3002   \u6bcf\u5f53 \u5176\u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0e \u4e16\u754c \u4e0a \u7684 \u67d0\u4e9b \u7269\u4f53 \u53d1\u751f \u78b0\u649e \u65f6 \uff0c \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u4f1a \u8bb0\u5f55 \u4e00\u4e2a \u4e8b\u4ef6 \u3002 \u6bcf\u4e2a \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6bcf\u5e27 \u6bcf\u6b21 \u78b0\u649e \u90fd \u4f1a \u4ea7\u751f \u4e00\u4e2a \u78b0\u649e \u4e8b\u4ef6 \u3002 \u901a\u8fc7 \u4e0e \u591a\u4e2a \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u78b0\u649e \uff0c \u53ef\u4ee5 \u5728 \u5355\u4e2a \u5e27 \u4e2d \u4ea7\u751f \u591a\u4e2a \u78b0\u649e \u4e8b\u4ef6 \u3002 \u4e3a\u4e86 \u786e\u4fdd \u68c0\u6d4b \u5230 \u4e0e \u4efb\u4f55 \u7c7b\u578b \u7684 \u5bf9\u8c61 \u7684 \u78b0\u649e \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e3a \u5efa\u7b51 \u5efa\u7b51\u7269 \u6216 \u704c\u6728 \u6728\u4e1b \u704c\u6728\u4e1b \u7b49 \u5143\u7d20 \u521b\u5efa \u201c \u5047 \u201d \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u68c0\u7d22 \u8bed\u4e49 \u6807\u7b7e \u6765 \u8bc6\u522b \u5b83 \u3002   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u6ca1\u6709 \u4efb\u4f55 \u53ef \u914d\u7f6e \u7684 \u5c5e\u6027 \u3002","title":"\u78b0\u649e \u68c0\u6d4b\u5668  "},{"location":"ref_sensors/#_3","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   actor   carla . Actor   \u6d4b\u91cf \u78b0\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7236\u7ea7 \uff09 \u3002   other _ actor   carla . Actor   \u4e0e \u7236\u7ea7 \u76f8\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   normal _ impulse   carla . Vector3D   \u78b0\u649e \u7684 \u6b63\u5e38 \u8109\u51b2 \u7ed3\u679c \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_4","text":"\u84dd\u56fe \uff1a   sensor . camera . depth   \u8f93\u51fa \uff1a   \u6bcf\u6b65 \u7684 \u56fe\u50cf   carla . Image   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u76f8\u673a \u63d0\u4f9b \u573a\u666f \u7684 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \uff0c \u7f16\u7801 \u6bcf\u4e2a \u50cf\u7d20 \u5230 \u76f8\u673a \u7684 \u8ddd\u79bb \uff08 \u4e5f \u79f0\u4e3a   \u6df1\u5ea6 \u7f13\u51b2 \u7f13\u51b2\u533a   \u6216   z   \u7f13\u51b2 \u7f13\u51b2\u533a   \uff09 \u4ee5 \u521b\u5efa \u5143\u7d20 \u7684 \u6df1\u5ea6 \u6df1\u5ea6\u56fe \u3002   \u8be5 \u56fe\u50cf \u4f7f\u7528   RGB   \u989c\u8272 \u7a7a\u95f4 \u7684   3   \u4e2a \u901a\u9053 \uff08 \u4ece \u5b57\u8282 \u4f4e\u5b57\u8282 \u5230 \u5b57\u8282 \u9ad8\u5b57\u8282 \uff09 \u5bf9 \u6bcf\u4e2a \u50cf\u7d20 \u7684 \u6df1\u5ea6 \u503c \u8fdb\u884c \u7f16\u7801 \uff1a   R   - >   G   - >   B   \u3002 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \u7684 \u5b9e\u9645 \u8ddd\u79bb \u53ef\u4ee5 \u901a\u8fc7 \u4ee5\u4e0b \u65b9\u5f0f \u89e3\u7801 \uff1a   normalized   =   ( R   +   G   *   256   +   B   *   256   *   256 )   /   ( 256   *   256   *   256   -   1 )   in _ meters   =   1000   *   normalized   \u7136\u540e \uff0c \u5e94 \u4f7f\u7528   carla . colorConverter   \u5c06 \u8f93\u51fa   carla . Image   \u4fdd\u5b58 \u5230 \u78c1\u76d8 \uff0c \u8be5   carla . colorConverter   \u4f1a \u5c06 \u5b58\u50a8 \u5728   RGB   \u901a\u9053 \u4e2d \u7684 \u8ddd\u79bb \u8f6c\u6362 \u4e3a \u5305\u542b \u8be5 \u8ddd\u79bb \u7684   [ 0 , 1 ]   \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \uff0c \u7136\u540e \u5c06 \u5176 \u8f6c\u6362 \u4e3a \u7070\u5ea6 \u3002   carla . colorConverter   \u4e2d\u6709 \u4e24\u4e2a \u9009\u9879 \u53ef \u83b7\u53d6 \u6df1\u5ea6 \u89c6\u56fe \uff1a   Depth   \u548c   Logaritmic   depth   \u3002 \u4e24\u8005 \u7684 \u7cbe\u5ea6 \u90fd \u662f \u6beb\u7c73 \u7ea7 \u7684 \uff0c \u4f46 \u5bf9\u6570 \u65b9\u6cd5 \u53ef\u4ee5 \u4e3a \u66f4 \u8fd1 \u7684 \u7269\u4f53 \u63d0\u4f9b \u66f4\u597d \u7684 \u7ed3\u679c \u3002   ...   raw _ image . save _ to _ disk ( \" path / to / save / converted / image \" , carla . Depth )","title":"\u6df1\u5ea6 \u76f8\u673a  "},{"location":"ref_sensors/#_5","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   image _ size _ x   int   800   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ y   int   600   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   fov   float   90.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002","title":"\u76f8\u673a \u57fa\u672c \u5c5e\u6027"},{"location":"ref_sensors/#_6","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   lens _ circle _ falloff   float   5.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ circle _ multiplier   float   0.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ k   float   - 1.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ kcube   float   0.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ x _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   lens _ y _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]","title":"\u76f8\u673a \u955c\u5934 \u7578\u53d8 \u5c5e\u6027"},{"location":"ref_sensors/#_7","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   width   int   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   height   int   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   fov   float   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   bytes   BGRA   32   \u4f4d \u50cf\u7d20 \u9635\u5217 \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_8","text":"\u84dd\u56fe \uff1a   sensor . other . gnss   Output :   \u6bcf \u4e00\u6b65 \u7684 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u7684 \u6d4b\u91cf   carla . GNSSMeasurement   \uff08   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u62a5\u544a \u5176\u7236 \u5bf9\u8c61 \u7684 \u5f53\u524d   gnss   \u4f4d\u7f6e   \u3002 \u8fd9\u662f \u901a\u8fc7 \u5c06 \u5ea6\u91cf \u4f4d\u7f6e \u6dfb\u52a0 \u5230   OpenDRIVE   \u5730\u56fe \u5b9a\u4e49 \u4e2d \u5b9a\u4e49 \u7684 \u521d\u59cb \u5730\u7406 \u53c2\u8003 \u4f4d\u7f6e \u6765 \u8ba1\u7b97 \u7684 \u3002","title":"\u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f\u5668  "},{"location":"ref_sensors/#_9","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   noise _ alt _ bias   float   0.0   \u6d77\u62d4 \u62d4\u9ad8 \u9ad8\u5ea6 \u6d77\u62d4\u9ad8\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ alt _ stddev   float   0.0   \u6d77\u62d4 \u62d4\u9ad8 \u9ad8\u5ea6 \u6d77\u62d4\u9ad8\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ lat _ bias   float   0.0   \u7eac\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ lat _ stddev   float   0.0   \u7eac\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ lon _ bias   float   0.0   \u7ecf\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ lon _ stddev   float   0.0   \u7ecf\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ seed   int   0   \u4f2a \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u751f\u6210 \u6210\u5668 \u751f\u6210\u5668 \u7684 \u521d\u59cb \u521d\u59cb\u5316 \u7a0b\u5e8f \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002","title":"\u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u5c5e\u6027"},{"location":"ref_sensors/#_10","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   latitude   double   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7eac\u5ea6 \u3002   longitude   double   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7ecf\u5ea6 \u3002   altitude   double   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6d77\u62d4 \u62d4\u9ad8 \u9ad8\u5ea6 \u6d77\u62d4\u9ad8\u5ea6 \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_11","text":"\u84dd\u56fe \uff1a   sensor . other . imu   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65 \u7684 \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u6d4b\u91cf \u503c   carla . IMUMeasurement   \uff08 \u9664\u975e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8282\u62cd   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u63d0\u4f9b \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \u3001 \u9640\u87ba \u9640\u87ba\u4eea \u548c \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \u5c06 \u4e3a \u7236 \u5bf9\u8c61 \u68c0\u7d22 \u7684 \u6d4b\u91cf \u503c \u3002 \u6570\u636e \u662f\u4ece \u5bf9\u8c61 \u7684 \u5f53\u524d \u72b6\u6001 \u6536\u96c6 \u7684 \u3002","title":"\u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u4f20\u611f\u5668  "},{"location":"ref_sensors/#_12","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   noise _ accel _ stddev _ x   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 X   \u8f74 \uff09 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ accel _ stddev _ y   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 Y   \u8f74 \uff09 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ accel _ stddev _ z   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 Z   \u8f74 \uff09 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ gyro _ bias _ x   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \uff08 X   \u8f74 \uff09 \u3002   noise _ gyro _ bias _ y   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \uff08 Y   \u8f74 \uff09 \u3002   noise _ gyro _ bias _ z   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \uff08 Z   \u8f74 \uff09 \u3002   noise _ gyro _ stddev _ x   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \uff08 X   \u8f74 \uff09 \u3002   noise _ gyro _ stddev _ y   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \uff08 Y   \u8f74 \uff09 \u3002   noise _ gyro _ stddev _ z   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \uff08 Z   \u8f74 \uff09 \u3002   noise _ seed   int   0   \u4f2a \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u751f\u6210 \u6210\u5668 \u751f\u6210\u5668 \u7684 \u521d\u59cb \u521d\u59cb\u5316 \u7a0b\u5e8f \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002","title":"\u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u5c5e\u6027"},{"location":"ref_sensors/#_13","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   accelerometer   carla . Vector3D   \u6d4b\u91cf \u7ebf\u6027 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 \u4ee5   m / s ^ 2   \u4e3a \u5355\u4f4d \uff09 \u3002   gyroscope   carla . Vector3D   \u6d4b\u91cf \u901f\u5ea6 \u89d2\u901f\u5ea6 \uff08 \u4ee5   rad / sec   \u4e3a \u5355\u4f4d \uff09 \u3002   compass   float   \u4ee5 \u5f27\u5ea6 \u4e3a \u5355\u4f4d \u7684 \u65b9\u5411 \u3002 \u5317\u662f 0 \u5f27\u5ea6 \u3002   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u8ba1\u7b97 \u65b9\u6cd5 \u8ba1\u7b97\u65b9\u6cd5 \uff1a   $ $   d _ 2   ( i )   =   - 2.0   \\ times   [   {   y _ 1   \\ over   { h _ 1   \\ times   h _ 2   }   }   -   {   y _ 2   \\ over   {   h _ 2   \\ times   ( h _ 1 + h _ 2 )   }   }   -   { y _ 0   \\ over   {   h _ 1   \\ times   ( h _ 1   +   h _ 2 )   } }   ]   . $ $   \u5176\u4e2d \uff0c ( h _ 1 )   \u4e3a \u5f53\u524d \u65f6\u95f4 \u589e\u91cf \uff0c ( h _ 2 ) \u4e3a \u524d \u4e00\u4e2a \u65f6\u95f4 \u589e\u91cf \u3002   \u6ce8\u610f   \u5bf9\u4e8e \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \uff0c \u5317\u4e3a   0   \u5f27\u5ea6 \u3002 \u4e1c\u4e3a   pi   / 2   \u5f27\u5ea6 \uff0c \u5357\u4e3a   pi   \u5f27\u5ea6 \uff0c \u897f\u4e3a   3   pi   / 2   \u5f27\u5ea6 \u3002 \u5728   Carla   \u7684 \u5168\u5c40 \u5750\u6807 \u5750\u6807\u7cfb \u4e2d \uff0c \u5317\u4e3a   Y   \u8f74 \u51cf\u5c0f \u7684 \u65b9\u5411 \u3002 \u4e1c\u4e3a   X   \u8f74 \u589e\u52a0 \u7684 \u65b9\u5411 \u3002 \u8f6c\u6362 \u4e3a \u5ea6\u6570 \u7684 \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \u503c \u7b49\u4e8e   90   -   \u504f\u822a   \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_14","text":"\u84dd\u56fe \uff1a   sensor . other . lane _ invasion   \u8f93\u51fa \uff1a   \u6bcf\u6b21 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u7684   carla . LaneInvasionEvent   \u3002   \u6bcf\u6b21 \u5176\u7236 \u7ea7 \u7a7f\u8fc7 \u8f66\u9053 \u6807\u8bb0 \u65f6 \u90fd \u4f1a \u6ce8\u518c \u4e00\u4e2a \u4e8b\u4ef6 \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f7f\u7528 \u5730\u56fe \u7684   OpenDRIVE   \u63cf\u8ff0 \u63d0\u4f9b \u7684 \u9053\u8def \u6570\u636e \uff0c \u901a\u8fc7 \u8003\u8651 \u8f66\u8f6e \u4e4b\u95f4 \u7684 \u7a7a\u95f4 \u6765 \u786e\u5b9a \u4e3b \u8f66\u8f86 \u662f\u5426 \u6b63\u5728 \u4fb5\u5165 \u53e6 \u4e00 \u8f66\u9053 \u3002 \u7136\u800c \uff0c \u6709 \u4e00\u4e9b \u4e8b\u60c5 \u9700\u8981 \u8003\u8651 \uff1a   OpenDRIVE   \u6587\u4ef6 \u548c \u5730\u56fe \u4e4b\u95f4 \u7684 \u5dee\u5f02 \u5c06 \u5bfc\u81f4 \u89c4\u5219 \u4e0d\u89c4\u5219 \u73b0\u8c61 \uff0c \u4f8b\u5982 \u5728 \u5730\u56fe \u4e2d \u4e0d \u53ef\u89c1 \u7684 \u4ea4\u53c9 \u8f66\u9053 \u3002   \u8f93\u51fa \u68c0\u7d22 \u4ea4\u53c9 \u8f66\u9053 \u6807\u8bb0 \u5217\u8868 \uff1a \u8ba1\u7b97 \u5728   OpenDRIVE   \u4e2d \u5b8c\u6210 \uff0c \u5e76 \u5c06 \u56db\u4e2a \u8f66\u8f6e \u4e4b\u95f4 \u7684 \u6574\u4e2a \u7a7a\u95f4 \u89c6\u4e3a \u4e00\u4e2a \u6574\u4f53 \u3002 \u56e0\u6b64 \uff0c \u53ef\u80fd \u6709 \u4e0d\u6b62 \u4e00\u6761 \u8f66\u9053 \u540c\u65f6 \u7a7f\u8fc7 \u3002   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6ca1\u6709 \u4efb\u4f55 \u53ef \u914d\u7f6e \u5c5e\u6027 \u3002   \u91cd\u8981   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5b8c\u5168 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5de5\u4f5c \u3002","title":"\u538b\u7ebf \u68c0\u6d4b\u5668  "},{"location":"ref_sensors/#_15","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   actor   carla . Actor   \u4fb5\u5165 \u53e6 \u4e00 \u8f66\u9053 \u7684 \u8f66\u8f86 \uff08 \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff09 \u3002   crossed _ lane _ markings   list (   carla . LaneMarking   )   \u5df2 \u7a7f\u8d8a \u7684 \u8f66\u9053 \u6807\u8bb0 \u5217\u8868 \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_16","text":"\u84dd\u56fe \uff1a   sensor . lidar . ray _ cast   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65   carla . LidarMeasurement   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6d4b\u91cf \u5305\u542b \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff0c \u5176\u4e2d \u5305\u542b \u5728 \u67d0\u4e2a \u65f6\u95f4 \u95f4\u9694 \u5185 \u751f\u6210 \u7684 \u6240\u6709 \u70b9 1 / FPS \u3002 \u5728 \u6b64 \u95f4\u9694 \u671f\u95f4 \uff0c \u7269\u7406 \u4e0d\u4f1a \u66f4\u65b0 \uff0c \u56e0\u6b64 \u6d4b\u91cf \u4e2d \u7684 \u6240\u6709 \u70b9 \u90fd \u53cd\u6620 \u573a\u666f \u7684 \u76f8\u540c \u201c \u9759\u6001 \u56fe\u7247 \u201d \u3002   points _ per _ channel _ each _ step   =   points _ per _ second   /   ( FPS   *   channels )   \u6b64 \u8f93\u51fa \u5305\u542b \u4eff\u771f \u70b9\u4e91 \uff0c \u56e0\u6b64 \u53ef\u4ee5 \u5bf9 \u5176 \u8fdb\u884c \u8fed\u4ee3 \u4ee5 \u68c0\u7d22 \u5b83\u4eec \u7684 \u5217\u8868   carla . Location   \uff1a   for   location   in   lidar _ measurement :   print ( location )   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6d4b\u91cf \u7684 \u4fe1\u606f \u88ab \u7f16\u7801 \u4e3a   4D   \u70b9 \u3002 \u524d \u4e09\u4e2a \u662f   xyz   \u5750\u6807 \u4e2d \u7684 \u7a7a\u95f4 \u70b9 \uff0c \u6700\u540e \u4e00\u4e2a \u662f \u65c5\u884c \u8fc7\u7a0b \u4e2d \u7684 \u5f3a\u5ea6 \u635f\u5931 \u3002 \u8be5 \u5f3a\u5ea6 \u901a\u8fc7 \u4ee5\u4e0b \u516c\u5f0f \u8ba1\u7b97 \u3002   a   \u2014   \u8870\u51cf \u7cfb\u6570 \u8870\u51cf\u7cfb\u6570 \u3002 \u8fd9 \u53ef\u80fd \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6ce2\u957f \u548c \u5927\u6c14 \u6761\u4ef6 \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5c5e\u6027 \u5bf9 \u5176 \u8fdb\u884c \u4fee\u6539   atmosphere _ attenuation _ rate   \u3002   d   \u2014   \u4ece \u51fb\u4e2d \u70b9\u5230 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8ddd\u79bb   \u4e3a\u4e86 \u83b7\u5f97 \u66f4\u597d \u7684 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \uff0c \u53ef\u4ee5 \u5220\u9664 \u4e91\u4e2d \u7684 \u70b9 \u3002 \u8fd9\u662f \u4eff\u771f \u5916\u90e8 \u6270\u52a8 \u9020\u6210 \u7684 \u635f\u5931 \u7684 \u7b80\u5355 \u65b9\u6cd5 \u3002 \u8fd9 \u53ef\u4ee5 \u7ed3\u5408 \u4e24\u4e2a \u4e0d\u540c \u7684 \u6765 \u5b8c\u6210 \u3002   General   drop - off   \u2014   \u968f\u673a \u6389\u843d \u7684 \u5206\u6570 \u6bd4\u4f8b \u3002 \u8fd9 \u662f \u5728 \u8ddf\u8e2a \u4e4b\u524d \u5b8c\u6210 \u7684 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u4e0d\u4f1a \u8ba1\u7b97 \u88ab \u4e22\u5f03 \u7684 \u70b9 \uff0c \u4ece\u800c \u63d0\u9ad8 \u6027\u80fd \u3002 \u5982\u679c \u662f   dropoff _ general _ rate   =   0.5   \uff0c \u5219 \u6263\u6389 \u4e00\u534a \u7684 \u5206\u6570 \u3002   Instensity - based   drop - off   \u2014   \u5bf9\u4e8e \u68c0\u6d4b \u5230 \u7684 \u6bcf\u4e2a \u70b9 \uff0c \u6839\u636e \u8ba1\u7b97 \u7684 \u5f3a\u5ea6 \u7684 \u6982\u7387 \u6267\u884c \u989d\u5916 \u7684 \u4e0b\u964d \u3002 \u8be5 \u6982\u7387 \u7531 \u4e24\u4e2a \u53c2\u6570 \u786e\u5b9a \u3002   dropoff _ zero _ intensity   \u662f \u5f3a\u5ea6 \u4e3a \u96f6 \u7684 \u70b9 \u88ab \u4e22\u5f03 \u7684 \u6982\u7387 \u3002   dropoff _ intensity _ limit   \u662f \u9608\u503c \u5f3a\u5ea6 \uff0c \u8d85\u8fc7 \u8be5 \u9608\u503c \u5c06 \u4e0d\u4f1a \u6389\u843d \u4efb\u4f55 \u5206\u6570 \u3002 \u8303\u56f4 \u5185 \u7684 \u70b9 \u88ab \u4e22\u5f03 \u7684 \u6982\u7387 \u662f \u57fa\u4e8e \u8fd9 \u4e24\u4e2a \u53c2\u6570 \u7684 \u7ebf\u6027 \u6bd4\u4f8b \u3002   \u6b64\u5916 \uff0c \u8be5   noise _ stddev   \u5c5e\u6027 \u8fd8 \u4f7f \u566a\u58f0 \u6a21\u578b \u80fd\u591f \u4eff\u771f \u73b0\u5b9e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u51fa\u73b0 \u7684 \u610f\u5916 \u504f\u5dee \u3002 \u5bf9\u4e8e \u6b63\u503c \uff0c \u6bcf\u4e2a \u70b9 \u90fd \u4f1a \u6cbf\u7740 \u6fc0\u5149 \u5c04\u7ebf \u7684 \u77e2\u91cf \u968f\u673a \u6270\u52a8 \u3002 \u7ed3\u679c \u662f \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5177\u6709 \u5b8c\u7f8e \u7684 \u89d2\u5ea6 \u5b9a\u4f4d \uff0c \u4f46 \u8ddd\u79bb \u6d4b\u91cf \u5b58\u5728 \u566a\u97f3 \u3002   \u53ef\u4ee5 \u8c03\u6574 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7684 \u65cb\u8f6c \u4ee5 \u8986\u76d6 \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u7684 \u7279\u5b9a \u89d2\u5ea6 \uff08 \u4f7f\u7528   \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f   \uff09 \u3002 \u4f8b\u5982 \uff0c \u6bcf\u6b65 \u65cb\u8f6c \u4e00\u6b21 \uff08 \u6574\u5708 \u8f93\u51fa \uff0c \u5982\u4e0b \u56fe \uff09 \uff0c \u65cb\u8f6c \u9891\u7387 \u548c \u4eff\u771f \u7684   FPS   \u5e94\u8be5 \u76f8\u7b49 \u3002   1 .   \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u9891\u7387   sensors _ bp [ ' lidar ' ] [ 0 ] . set _ attribute ( ' rotation _ frequency ' , ' 10 ' )   .   2 .   \u4f7f\u7528   python3   config . py   -- fps = 10   \u8fd0\u884c \u4eff\u771f \u3002","title":"\u6fc0\u5149\u96f7\u8fbe \u4f20\u611f\u5668  "},{"location":"ref_sensors/#_17","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   channels   int   32   \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6570\u91cf \u3002   range   float   10.0   \u6d4b\u91cf / \u5149\u7ebf \u6295\u5c04 \u7684 \u6700\u5927 \u8ddd\u79bb \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff08 Carla   0.9 . 6   \u6216 \u66f4 \u4f4e\u7248 \u7248\u672c \u4f4e\u7248\u672c \u4e3a \u5398\u7c73 \uff09 \u3002   points _ per _ second   int   56000   \u6240\u6709 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6bcf\u79d2 \u751f\u6210 \u7684 \u70b9 \u3002   rotation _ frequency   float   10.0   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u65cb\u8f6c \u9891\u7387 \u3002   upper _ fov   float   10.0   \u6700\u9ad8 \u6fc0\u5149 \u7684 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   lower _ fov   float   - 30.0   \u6700\u4f4e \u6fc0\u5149 \u7684 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   horizontal _ fov   float   360.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \uff0c 0   -   360 \u3002   atmosphere _ attenuation _ rate   float   0.004   \u6d4b\u91cf \u6bcf\u7c73 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5f3a\u5ea6 \u635f\u5931 \u7684 \u7cfb\u6570 \u3002 \u68c0\u67e5 \u4e0a\u9762 \u7684 \u5f3a\u5ea6 \u8ba1\u7b97 \u3002   dropoff _ general _ rate   float   0.45   \u968f\u673a \u4e22\u5f03 \u7684 \u70b9 \u7684 \u4e00\u822c \u6bd4\u4f8b \u3002   dropoff _ intensity _ limit   float   0.8   \u5bf9\u4e8e \u57fa\u4e8e \u5f3a\u5ea6 \u7684 \u4e0b\u964d \uff0c \u5f3a\u5ea6 \u9608\u503c \uff0c \u9ad8\u4e8e \u8be5\u503c \u5219 \u4e0d\u4f1a \u4e0b\u964d \u4efb\u4f55 \u70b9 \u3002   dropoff _ zero _ intensity   float   0.4   \u5bf9\u4e8e \u57fa\u4e8e \u5f3a\u5ea6 \u7684 \u4e0b\u964d \uff0c \u6bcf\u4e2a \u5f3a\u5ea6 \u4e3a \u96f6 \u7684 \u70b9 \u88ab \u4e0b\u964d \u7684 \u6982\u7387 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   noise _ stddev   float   0.0   \u566a\u58f0 \u6a21\u578b \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \uff0c \u7528\u4e8e \u5e72\u6270 \u6cbf\u5176 \u5149\u7ebf \u6295\u5c04 \u77e2\u91cf \u7684 \u6bcf\u4e2a \u70b9 \u3002","title":"\u6fc0\u5149\u96f7\u8fbe \u5c5e\u6027"},{"location":"ref_sensors/#_18","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   horizontal _ angle   float   \u5f53\u524d \u5e27 \u4e2d \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7684   XY   \u5e73\u9762 \u4e2d \u7684 \u89d2\u5ea6 \uff08 \u5f27\u5ea6 \uff09 \u3002   channels   int   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7684 \u901a\u9053 \uff08 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \uff09 \u6570\u91cf \u3002   get _ point _ count ( channel )   int   \u6bcf\u4e2a \u901a\u9053 \u6355\u83b7 \u6b64\u5e27 \u7684 \u70b9\u6570 \u3002   raw _ data   bytes   32   \u4f4d \u6d6e\u70b9 \u6570\u7ec4 \uff08 \u6bcf\u4e2a \u70b9 \u7684   XYZI \uff09 \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_19","text":"\u84dd\u56fe \uff1a   sensor . other . obstacle   \u8f93\u51fa \uff1a   \u6bcf\u4e2a \u969c\u788d \u969c\u788d\u7269 \u7684   carla . ObstacleDetectionEvent   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u6bcf\u5f53 \u7236\u7ea7 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u524d\u65b9 \u6709 \u969c\u788d \u65f6 \uff0c \u90fd \u4f1a \u6ce8\u518c \u4e00\u4e2a \u4e8b\u4ef6 \u3002 \u4e3a\u4e86 \u9884\u6d4b \u969c\u788d \u969c\u788d\u7269 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u6bcd\u8f66 \u524d\u65b9 \u521b\u5efa \u4e00\u4e2a \u80f6\u56ca \u5f62\u72b6 \uff0c \u5e76\u7528 \u5b83 \u6765 \u68c0\u67e5 \u78b0\u649e \u3002 \u4e3a\u4e86 \u786e\u4fdd \u68c0\u6d4b \u5230 \u4e0e \u4efb\u4f55 \u7c7b\u578b \u7684 \u5bf9\u8c61 \u7684 \u78b0\u649e \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e3a \u5efa\u7b51 \u5efa\u7b51\u7269 \u6216 \u704c\u6728 \u6728\u4e1b \u704c\u6728\u4e1b \u7b49 \u5143\u7d20 \u521b\u5efa \u201c \u5047 \u201d \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u68c0\u7d22 \u8bed\u4e49 \u6807\u7b7e \u6765 \u8bc6\u522b \u5b83 \u3002   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   distance   float   5   \u8f68\u8ff9 \u8ddd\u79bb \u3002   hit _ radius   float   0.5   \u8f68\u8ff9 \u7684 \u534a\u5f84 \u3002   only _ dynamics   bool   False   \u5982\u679c \u4e3a   true \uff0c \u5219 \u8f68\u8ff9 \u5c06 \u4ec5 \u8003\u8651 \u52a8\u6001 \u5bf9\u8c61 \u3002   debug _ linetrace   bool   False   \u5982\u679c \u4e3a   true \uff0c \u5219 \u8f68\u8ff9 \u5c06 \u53ef\u89c1 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002","title":"\u969c\u788d\u7269 \u68c0\u6d4b\u5668  "},{"location":"ref_sensors/#_20","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u8f66 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   actor   carla . Actor   \u68c0\u6d4b \u5230 \u969c\u788d \u969c\u788d\u7269 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u7236\u7ea7 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff09 \u3002   other _ actor   carla . Actor   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u88ab \u68c0\u6d4b \u4e3a \u969c\u788d \u969c\u788d\u7269 \u3002   distance   float   \u4ece \u53c2\u4e0e \u53c2\u4e0e\u8005   actor   \u5230 \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005   other _ actor   \u7684 \u8ddd\u79bb \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_21","text":"\u84dd\u56fe \uff1a   sensor . other . radar   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65   carla . RadarMeasurement   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u521b\u5efa \u4e00\u4e2a \u5706\u9525 \u89c6\u56fe \uff0c \u8be5 \u89c6\u56fe \u88ab \u8f6c\u6362 \u4e3a \u89c6\u91ce \u4e2d \u7684 \u5143\u7d20 \u53ca\u5176 \u76f8\u5bf9 \u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u901f\u5ea6 \u7684 \u4e8c\u7ef4 \u70b9\u56fe \u3002 \u8fd9 \u53ef \u7528\u4e8e \u5851\u9020 \u5143\u7d20 \u5e76 \u8bc4\u4f30 \u5b83\u4eec \u7684 \u8fd0\u52a8 \u548c \u65b9\u5411 \u3002 \u7531\u4e8e \u4f7f\u7528 \u5750\u6807 \u6781\u5750\u6807 \uff0c \u8fd9\u4e9b \u70b9\u5c06 \u96c6\u4e2d \u5728 \u89c6\u56fe \u4e2d\u5fc3 \u5468\u56f4 \u3002   \u6d4b\u91cf \u7684 \u70b9 \u4f5c\u4e3a   carla . RadarDetection   \u6570\u7ec4 \u5305\u542b \u5728   carla . RadarMeasurement   \u4e2d \uff0c \u8be5 \u6570\u7ec4 \u6307\u5b9a \u5b83\u4eec \u7684 \u5750\u6807 \u6781\u5750\u6807 \u3001 \u8ddd\u79bb \u548c \u901f\u5ea6 \u3002 \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u63d0\u4f9b \u7684 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u53ef\u4ee5 \u8f7b\u677e \u8f6c\u6362 \u4e3a   numpy   \u53ef \u7ba1\u7406 \u7684 \u683c\u5f0f \uff1a   #   \u4e3a\u4e86 \u83b7\u5f97   numpy   [ [ vel ,   azimuth ,   altitude ,   depth ] , ... [ , , , ] ] :   points   =   np . frombuffer ( radar _ data . raw _ data ,   dtype = np . dtype ( ' f4 ' ) )   points   =   np . reshape ( points ,   ( len ( radar _ data ) ,   4 ) )   \u63d0\u4f9b \u7684 \u811a\u672c   manual _ control . py   \u4f7f\u7528 \u6b64 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6765 \u663e\u793a \u6b63\u5728 \u68c0\u6d4b \u7684 \u70b9 \uff0c \u5e76 \u5728 \u9759\u6001 \u65f6 \u5c06 \u5176 \u7ed8\u5236 \u4e3a \u767d\u8272 \uff0c \u5728 \u5411 \u7269\u4f53 \u79fb\u52a8 \u65f6 \u5c06 \u5176 \u7ed8\u5236 \u4e3a \u7ea2\u8272 \uff0c \u5728 \u8fdc\u79bb \u7269\u4f53 \u65f6 \u5c06 \u5176 \u7ed8\u5236 \u4e3a \u84dd\u8272 \uff1a   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   horizontal _ fov   float   30.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   points _ per _ second   int   1500   \u6240\u6709 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6bcf\u79d2 \u751f\u6210 \u7684 \u70b9 \u3002   range   float   100   \u6d4b\u91cf / \u5149\u7ebf \u6295\u5c04 \u7684 \u6700\u5927 \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   vertical _ fov   float   30.0   \u5782\u76f4 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002","title":"\u96f7\u8fbe \u4f20\u611f\u5668  "},{"location":"ref_sensors/#_22","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   raw _ data   carla . RadarDetection   \u68c0\u6d4b \u5230 \u7684 \u70b9 \u5217\u8868 \u3002   RadarDetection   \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   altitude   float   \u4ee5 \u5f27\u5ea6 \u8868\u793a \u7684 \u9ad8\u5ea6 \u89d2 \u3002   azimuth   float   \u65b9\u4f4d \u65b9\u4f4d\u89d2 \uff08 \u4ee5 \u5f27\u5ea6 \u8868\u793a \uff09 \u3002   depth   float   \u8ddd\u79bb \u4ee5\u7c73 \u4e3a \u5355\u4f4d \u3002   velocity   float   \u671d\u5411 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u901f\u5ea6 \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#rgb","text":"\u84dd\u56fe \uff1a   sensor . camera . rgb   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65   carla . Image   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u201c RGB \u201d \u76f8\u673a \u5145\u5f53 \u6355\u83b7 \u573a\u666f \u56fe\u50cf \u7684 \u5e38\u89c4 \u76f8\u673a \u3002   carla . colorConverter   \u5982\u679c   enable _ postprocess _ effects   \u542f\u7528 \uff0c \u4e3a\u4e86 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \uff0c \u4e00\u7ec4 \u5904\u7406 \u540e\u5904\u7406 \u6548\u679c \u5c06 \u5e94\u7528 \u4e8e \u56fe\u50cf \uff1a   Vignette :   \u4f7f \u5c4f\u5e55 \u8fb9\u6846 \u53d8\u6697 \u3002   Grain   jitter :   \u4e3a \u6e32\u67d3 \u6dfb\u52a0 \u4e00\u4e9b \u566a\u70b9 \u3002   Bloom :   \u5f3a\u70c8 \u7684 \u5149\u7ebf \u4f1a \u707c\u70e7 \u5b83\u4eec \u5468\u56f4 \u7684 \u533a\u57df \u3002   Auto   exposure :   \u4fee\u6539 \u56fe\u50cf \u4f3d\u739b\u4ee5 \u4eff\u771f \u773c\u775b \u5bf9 \u8f83 \u6697 \u6216 \u8f83\u4eae \u533a\u57df \u7684 \u9002\u5e94 \u3002   Lens   flares :   \u4eff\u771f \u660e\u4eae \u7269\u4f53 \u5728 \u955c\u5934 \u4e0a \u7684 \u53cd\u5c04 \u3002   Depth   of   field :   \u6a21\u7cca \u9760\u8fd1 \u6216 \u8fdc\u79bb \u76f8\u673a \u7684 \u7269\u4f53 \u3002   sensor _ tick   \u544a\u8bc9 \u6211\u4eec \u5e0c\u671b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u6570\u636e \u7684 \u901f\u5ea6 \u6709 \u591a \u5feb \u3002 \u503c\u4e3a   1.5   \u610f\u5473 \u610f\u5473\u7740 \u6211\u4eec \u5e0c\u671b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6bcf \u534a\u79d2 \u6355\u83b7 \u4e00\u6b21 \u6570\u636e \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u503c   0.0   \u8868\u793a \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5feb \u3002","title":"RGB   \u76f8\u673a  "},{"location":"ref_sensors/#_23","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   bloom _ intensity   float   0.675   \u5149\u6655 \u5904\u7406 \u540e\u5904\u7406 \u6548\u679c \u7684 \u5f3a\u5ea6 \uff0c   0.0   \u7528\u4e8e \u7981\u7528 \u5b83 \u3002   fov   float   90.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   fstop   float   1.4   \u76f8\u673a \u955c\u5934 \u7684 \u6253\u5f00 \u3002 \u5178\u578b \u955c\u5934 \u7684 \u5149\u5708   1 / fstop   \u4e3a   f / 1.2 \uff08 \u66f4\u5927 \u7684 \u5149\u5708 \uff09 \u3002 \u8f83\u5927 \u7684 \u6570\u5b57 \u5c06 \u51cf\u5c11 \u666f\u6df1 \u6548\u679c \u3002   image _ size _ x   int   800   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ y   int   600   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   iso   float   100.0   \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7075\u654f \u654f\u5ea6 \u7075\u654f\u5ea6 \u3002   gamma   float   2.2   \u76f8\u673a \u7684 \u76ee\u6807 \u4f3d\u739b\u503c \u3002   lens _ flare _ intensity   float   0.1   \u955c\u5934 \u7729\u5149 \u5904\u7406 \u540e\u5904\u7406 \u6548\u679c \u7684 \u5f3a\u5ea6 \uff0c   0.0   \u7528\u4e8e \u7981\u7528 \u5b83 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   shutter _ speed   float   200.0   \u76f8\u673a \u5feb\u95e8 \u901f\u5ea6 \u5feb\u95e8\u901f\u5ea6 \uff0c \u4ee5 \u79d2 \u4e3a \u5355\u4f4d   ( 1.0 / s ) \u3002","title":"\u76f8\u673a \u57fa\u672c \u5c5e\u6027"},{"location":"ref_sensors/#_24","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   lens _ circle _ falloff   float   5.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ circle _ multiplier   float   0.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ k   float   - 1.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ kcube   float   0.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ x _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   lens _ y _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]","title":"\u76f8\u673a \u955c\u5934 \u7578\u53d8 \u5c5e\u6027"},{"location":"ref_sensors/#_25","text":"\u7531\u4e8e \u8fd9\u4e9b \u6548\u679c \u662f \u7531 \u865a\u5e7b \u5f15\u64ce \u63d0\u4f9b \u7684 \uff0c \u8bf7 \u52a1\u5fc5 \u68c0\u67e5 \u4ed6\u4eec \u7684 \u6587\u6863 \uff1a   \u81ea\u52a8 \u66dd\u5149   \u5f71\u89c6 \u7ea7 \u666f\u6df1 \u65b9\u6848   \u989c\u8272 \u5206\u7ea7 \u548c \u7535\u5f71 \u8272\u8c03 \u6620\u5c04 \u5c04\u5668 \u6620\u5c04\u5668   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   min _ fstop   float   1.2   \u6700\u5927 \u5149\u5708 \u3002   blade _ count   int   5   \u6784\u6210 \u9694\u819c \u673a\u6784 \u7684 \u53f6\u7247 \u6570\u91cf \u3002   exposure _ mode   str   histogram   \u53ef\u4ee5 \u662f   manual   \u6216 or   histogram   \u3002 \u66f4 \u591a \u5185\u5bb9 \u8bf7 \u53c2\u89c1   UE4   \u6587\u6863   \u3002   exposure _ compensation   float   Linux :   + 0.75   Windows :   0.0   \u66dd\u5149 \u7684 \u5bf9\u6570 \u8c03\u6574 \u3002 0 \uff1a \u65e0 \u8c03\u6574 \uff0c - 1 \uff1a 2   \u500d \u66f4 \u6697 \uff0c - 2 \uff1a 4   \u66f4\u6697 \uff0c 1 \uff1a 2   \u500d \u66f4\u4eae \uff0c 2 \uff1a 4   \u500d \u66f4\u4eae \u3002   exposure _ min _ bright   float   10.0   \u5728   exposure _ mode :   \" histogram \"   \u3002 \u81ea\u52a8 \u66dd\u5149 \u7684 \u6700\u4f4e \u4eae\u5ea6 \u3002 \u773c\u775b \u80fd \u9002\u5e94 \u7684 \u6700\u4f4e \u9650\u5ea6 \u3002 \u5fc5\u987b \u5927\u4e8e   0   \u4e14 \u5c0f\u4e8e \u6216 \u7b49\u4e8e   exposure _ max _ bright   \u3002   exposure _ max _ bright   float   12.0   \u5728 ` exposure _ mode :   \" histogram \" ` \u4e2d \u3002 \u81ea\u52a8 \u66dd\u5149 \u7684 \u6700\u5927 \u4eae\u5ea6 \u3002 \u773c\u775b \u80fd \u9002\u5e94 \u7684 \u6700\u9ad8 \u9650\u5ea6 \u3002 \u5fc5\u987b \u5927\u4e8e   0   \u4e14 \u5927\u4e8e \u6216 \u7b49\u4e8e   ` exposure _ min _ bright ` \u3002   exposure _ speed _ up   float   3.0   \u5728   exposure _ mode :   \" histogram \"   \u3002 \u3002 \u4ece \u9ed1\u6697 \u73af\u5883 \u5230 \u660e\u4eae \u73af\u5883 \u7684 \u9002\u5e94 \u901f\u5ea6 \u3002   exposure _ speed _ down   float   1.0   \u5728   exposure _ mode :   \" histogram \"   \u3002 \u4ece \u660e\u4eae \u73af\u5883 \u5230 \u9ed1\u6697 \u73af\u5883 \u7684 \u9002\u5e94 \u901f\u5ea6 \u3002   calibration _ constant   float   16.0   18%   \u53cd\u7167 \u53cd\u7167\u7387 \u7684 \u6821\u51c6 \u5e38\u6570 \u3002   focal _ distance   float   1000.0   \u666f\u6df1 \u6548\u679c \u5e94 \u6e05\u6670 \u7684 \u8ddd\u79bb \u3002 \u4ee5 \u5398\u7c73 \uff08 \u865a\u5e7b \u5f15\u64ce \u5355\u4f4d \uff09 \u4e3a \u5355\u4f4d \u6d4b\u91cf \u3002   blur _ amount   float   1.0   \u8fd0\u52a8 \u6a21\u7cca \u7684 \u5f3a\u5ea6 / \u5f3a\u5ea6 \u3002   blur _ radius   float   0.0   1080p   \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u4e0b \u7684 \u534a\u5f84 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \uff0c \u6839\u636e \u8ddd \u76f8\u673a \u7684 \u8ddd\u79bb \u4eff\u771f \u5927\u6c14 \u6563\u5c04 \u3002   motion _ blur _ intensity   float   0.45   \u8fd0\u52a8 \u6a21\u7cca \u7684 \u5f3a\u5ea6   [ 0 , 1 ] \u3002   motion _ blur _ max _ distortion   float   0.35   \u8fd0\u52a8 \u6a21\u7cca \u5f15\u8d77 \u7684 \u6700\u5927 \u5931\u771f \u3002 \u5c4f\u5e55 \u5bbd\u5ea6 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   motion _ blur _ min _ object _ screen _ size   float   0.1   \u5bf9\u4e8e \u8fd0\u52a8 \u6a21\u7cca \uff0c \u5bf9\u8c61 \u5fc5\u987b \u5177\u6709 \u5c4f\u5e55 \u5bbd\u5ea6 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \uff0c \u8f83 \u4f4e \u7684 \u503c \u610f\u5473 \u610f\u5473\u7740 \u8f83\u5c11 \u7684 \u7ed8\u5236 \u8c03\u7528 \u3002   slope   float   0.88   \u8272\u8c03 \u6620\u5c04 \u5c04\u5668 \u6620\u5c04\u5668   S   \u66f2\u7ebf \u7684 \u9661\u5ea6 \u3002 \u503c\u8d8a \u5927 \uff0c \u659c\u7387 \u8d8a \u9661 \uff08 \u8d8a\u6697 \uff09 [ 0.0 ,   1.0 ] \u3002   toe   float   0.55   \u8c03\u6574 \u8272\u8c03 \u6620\u5c04 \u5c04\u5668 \u6620\u5c04\u5668 \u4e2d \u7684 \u6df1\u8272   [ 0.0 ,   1.0 ] \u3002   shoulder   float   0.26   \u8c03\u6574 \u8272\u8c03 \u6620\u5c04 \u5c04\u5668 \u6620\u5c04\u5668 \u4e2d \u7684 \u660e\u4eae \u989c\u8272   [ 0.0 ,   1.0 ] \u3002   black _ clip   float   0.0   \u4e0d \u5e94 \u8c03\u6574 \u6b64\u503c \u3002 \u8bbe\u7f6e \u4ea4\u53c9 \u53d1\u751f \u548c \u9ed1\u8272 \u8272\u8c03 \u5f00\u59cb \u5207\u65ad \u5176\u503c \u7684 \u4f4d\u7f6e   [ 0.0 ,   1.0 ] \u3002   white _ clip   float   0.04   \u8bbe\u7f6e \u4ea4\u53c9 \u53d1\u751f \u7684 \u4f4d\u7f6e \uff0c \u5e76\u4e14 \u767d\u8272 \u8272\u8c03 \u5f00\u59cb \u5207\u65ad \u5176\u503c \u3002 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u60c5\u51b5 \u4e0b\u4f1a \u6709 \u7ec6\u5fae \u7684 \u53d8\u5316   [ 0.0 ,   1.0 ] \u3002   temp   float   6500.0   \u5e73\u8861 \u767d\u5e73\u8861 \u4e0e \u573a\u666f \u4e2d \u5149\u7ebf \u7684 \u6e29\u5ea6 \u6709\u5173 \u3002   \u767d\u5149   \uff1a \u5f53 \u4e0e \u5149\u6e29 \u5339\u914d \u65f6 \u3002   \u6696\u5149   \uff1a \u5f53 \u9ad8\u4e8e \u573a\u666f \u4e2d \u7684 \u5149\u7ebf \u65f6 \uff0c \u5448 \u6de1\u9ec4 \u9ec4\u8272 \u6de1\u9ec4\u8272 \u3002   \u51b7\u5149   \uff1a \u4f4e\u4e8e \u5149\u7ebf \u65f6 \u3002 \u84dd\u8272 \u3002   tint   float   0.0   \u5e73\u8861 \u767d\u5e73\u8861 \u6e29\u5ea6 \u8272\u8c03 \u3002 \u8c03\u6574 \u9752\u8272 \u548c \u6d0b\u7ea2 \u7ea2\u8272 \u6d0b\u7ea2\u8272 \u7684 \u989c\u8272 \u8303\u56f4 \u3002 \u8fd9 \u5e94\u8be5 \u4e0e \u5e73\u8861 \u767d\u5e73\u8861 \u6e29\u5ea6 \u5c5e\u6027 \u4e00\u8d77 \u4f7f\u7528 \u4ee5 \u83b7\u5f97 \u51c6\u786e \u7684 \u989c\u8272 \u3002 \u5728 \u67d0\u4e9b \u5149\u6e29 \u4e0b \uff0c \u989c\u8272 \u53ef\u80fd \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u66f4 \u9ec4 \u6216 \u66f4 \u84dd \u3002 \u8fd9 \u53ef \u7528\u4e8e \u5e73\u8861 \u6700\u7ec8 \u7684 \u989c\u8272 \uff0c \u4f7f \u5176 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u66f4 \u81ea\u7136 \u3002   chromatic _ aberration _ intensity   float   0.0   \u7528\u4e8e \u63a7\u5236 \u8272\u5f69 \u504f\u79fb \u7684 \u7f29\u653e \u56e0\u5b50 \uff0c \u5728 \u5c4f\u5e55 \u8fb9\u6846 \u4e0a \u66f4 \u660e\u663e \u3002   chromatic _ aberration _ offset   float   0.0   \u5230 \u53d1\u751f \u6548\u679c \u7684 \u56fe\u50cf \u4e2d\u5fc3 \u7684 \u6b63\u5219 \u5316 \u8ddd\u79bb \u3002   enable _ postprocess _ effects   bool   True   \u5904\u7406 \u540e\u5904\u7406 \u6548\u679c \u6fc0\u6d3b \u3002","title":"\u9ad8\u7ea7 \u76f8\u673a \u5c5e\u6027"},{"location":"ref_sensors/#_26","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   width   int   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   height   int   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   fov   float   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   bytes   BGRA   32   \u4f4d \u50cf\u7d20 \u9635\u5217 \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_27","text":"\u84dd\u56fe \uff1a   sensor . other . rss   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65   carla . RssResponse   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u91cd\u8981   \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u5728 \u9605\u8bfb \u672c\u6587 \u4e4b\u524d \u5148 \u9605\u8bfb \u5177\u4f53 \u7684   \u4efb \u654f\u611f \u5b89\u5168 \u6587\u6863   \u3002   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u96c6\u6210 \u4e86   Carla   \u4e2d \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168   C++   \u5e93   \u3002 \u5b83 \u5728   Carla   \u4e2d \u9ed8\u8ba4 \u88ab \u7981\u7528 \uff0c \u5e76\u4e14 \u5fc5\u987b \u663e\u5f0f \u6784\u5efa \u624d\u80fd \u4f7f\u7528 \u3002   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8ba1\u7b97 \u8f66\u8f86 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u72b6\u6001 \u5e76 \u68c0\u7d22 \u5f53\u524d \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u54cd\u5e94 \u4f5c\u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   carla . RssRestrictor   \u5c06 \u4f7f\u7528 \u6b64 \u6570\u636e \u6765 \u8c03\u6574   carla . VehicleControl   \uff0c \u7136\u540e \u518d \u5c06 \u5176 \u5e94\u7528 \u4e8e \u8f66\u8f86 \u3002   \u8fd9\u4e9b \u63a7\u5236 \u63a7\u5236\u5668 \u53ef\u4ee5 \u901a\u8fc7   \u81ea\u52a8 \u9a7e\u9a76   \u5806\u6808 \u6216 \u7528\u6237 \u8f93\u5165 \u751f\u6210 \u3002 \u4f8b\u5982 \uff0c \u4e0b\u9762 \u6709 \u4e00\u6bb5 \u6765\u81ea   \u7684 \u4ee3\u7801 \u7247\u6bb5   PythonAPI / examples / rss / manual _ control _ rss . py   \uff0c \u5176\u4e2d \u5728 \u5fc5\u8981 \u65f6 \u4f7f\u7528 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4fee\u6539 \u7528\u6237 \u8f93\u5165 \u3002   1 .   \u68c0\u67e5   RssSensor   \u662f\u5426 \u751f\u6210 \u5305\u542b \u9650\u5236 \u7684 \u6709\u6548 \u54cd\u5e94 \u3002   2 .   \u6536\u96c6 \u8f66\u8f86 \u7684 \u5f53\u524d \u52a8\u6001 \u548c \u8f66\u8f86 \u7269\u7406 \u7279\u6027 \u3002   3 .   \u4f7f\u7528   RssSensor   \u7684 \u54cd\u5e94 \u4ee5\u53ca \u8f66\u8f86 \u5f53\u524d \u7684 \u52a8\u6001 \u548c \u7269\u7406 \u7279\u6027 \u5bf9 \u8f66\u8f86 \u63a7\u5236 \u65bd\u52a0 \u9650\u5236 \u3002   rss _ proper _ response   =   self ._ world . rss _ sensor . proper _ response   if   self ._ world . rss _ sensor   and   self ._ world . rss _ sensor . response _ valid   else   None   if   rss _ proper _ response :   ...   vehicle _ control   =   self ._ restrictor . restrict _ vehicle _ control (   vehicle _ control ,   rss _ proper _ response ,   self ._ world . rss _ sensor . ego _ dynamics _ on _ route ,   self ._ vehicle _ physics )","title":"\u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f\u5668  "},{"location":"ref_sensors/#carlarsssensor","text":"\u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u84dd\u56fe \u6ca1\u6709 \u53ef \u4fee\u6539 \u7684 \u5c5e\u6027 \u3002 \u4f46\u662f \uff0c \u5b83 \u5b9e\u4f8b \u5316 \u7684   carla . RssSensor   \u5bf9\u8c61 \u5177\u6709   Python   API   \u53c2\u8003 \u4e2d \u8be6\u7ec6 \u4ecb\u7ecd \u7684 \u5c5e\u6027 \u548c \u65b9\u6cd5 \u3002 \u4ee5\u4e0b \u662f \u5b83\u4eec \u7684 \u6458\u8981 \u3002   carla . RssSensor   \u53d8\u91cf   \u7c7b\u578b   \u63cf\u8ff0   ego _ vehicle _ dynamics   ad . rss . world . RssDynamics   \u5e94\u7528 \u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   other _ vehicle _ dynamics   ad . rss . world . RssDynamics   \u9002\u7528 \u4e8e \u5176\u4ed6 \u8f66\u8f86 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   pedestrian _ dynamics   ad . rss . world . RssDynamics   \u9002\u7528 \u4e8e \u884c\u4eba \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   road _ boundaries _ mode   carla . RssRoadBoundariesMode   \u542f\u7528 / \u7981\u7528   \u7559\u5728 \u9053\u8def \u4e0a   \u529f\u80fd \u3002 \u9ed8\u8ba4 \u4e3a   \u5173\u95ed   \u3002   #   rss _ sensor . py   \u4ee3\u7801 \u7247\u6bb5   #   The   carla . RssSensor   is   updated   when   listening   for   a   new   carla . RssResponse   def   _ on _ rss _ response ( weak _ self ,   response ) :   ...   self . timestamp   =   response . timestamp   self . response _ valid   =   response . response _ valid   self . proper _ response   =   response . proper _ response   self . ego _ dynamics _ on _ route   =   response . ego _ dynamics _ on _ route   self . rss _ state _ snapshot   =   response . rss _ state _ snapshot   self . situation _ snapshot   =   response . situation _ snapshot   self . world _ model   =   response . world _ model   \u8b66\u544a   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5b8c\u5168 \u5de5\u4f5c \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e2d \u6ca1\u6709 \u84dd\u56fe \u3002 \u5bf9 \u5c5e\u6027 \u7684 \u66f4\u6539 \u5c06 \u5728 \u8c03\u7528   listen ( )   \u540e   \u751f\u6548 \u3002   \u6b64\u7c7b \u4e2d \u53ef\u7528 \u7684 \u65b9\u6cd5 \u4e0e \u8f66\u8f86 \u7684 \u8def\u7ebf \u6709\u5173 \u3002 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u8ba1\u7b97 \u59cb\u7ec8 \u57fa\u4e8e \u672c\u8f66 \u901a\u8fc7 \u9053\u8def \u7f51\u7edc \u7684 \u8def\u7ebf \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5141\u8bb8 \u901a\u8fc7 \u63d0\u4f9b \u4e00\u4e9b \u5173\u952e \u5173\u952e\u70b9 \u6765 \u63a7\u5236 \u6240 \u8003\u8651 \u7684 \u8def\u7ebf \uff0c \u8fd9\u4e9b \u5173\u952e \u5173\u952e\u70b9 \u53ef\u80fd \u662f   carla . Transform   \u4e2d \u7684   carla . Waypoint   \u3002 \u6700\u597d \u5728 \u4ea4\u53c9 \u4ea4\u53c9\u70b9 \u4e4b\u540e \u9009\u62e9 \u8fd9\u4e9b \u70b9 \uff0c \u4ee5 \u5f3a\u5236 \u8def\u7ebf \u91c7\u53d6 \u6240 \u9700 \u7684 \u8f6c\u5f2f \u3002   carla . RssSensor   \u65b9\u6cd5   \u63cf\u8ff0   routing _ targets   \u83b7\u53d6 \u7528\u4e8e \u8def\u7531 \u7684 \u5f53\u524d \u8def\u7531 \u76ee\u6807 \u5217\u8868 \u3002   append _ routing _ target   \u5c06 \u9644\u52a0 \u4f4d\u7f6e \u9644\u52a0 \u5230 \u5f53\u524d \u8def\u7531 \u76ee\u6807 \u3002   reset _ routing _ targets   \u5220\u9664 \u9644\u52a0 \u7684 \u8def\u7531 \u76ee\u6807 \u3002   drop _ route   \u653e\u5f03 \u5f53\u524d \u8def\u7531 \u5e76 \u521b\u5efa \u4e00\u6761 \u65b0\u8def \u7531 \u3002   register _ actor _ constellation _ callback   \u6ce8\u518c \u56de\u8c03 \u6765\u81ea \u5b9a\u4e49 \u8ba1\u7b97 \u3002   set _ log _ level   \u8bbe\u7f6e \u65e5\u5fd7 \u7ea7\u522b \u3002   set _ map _ log _ level   \u8bbe\u7f6e \u7528\u4e8e \u5730\u56fe \u76f8\u5173 \u65e5\u5fd7 \u7684 \u65e5\u5fd7 \u7ea7\u522b \u3002   #   \u66f4\u65b0 \u5f53\u524d \u8def\u7ebf   self . sensor . reset _ routing _ targets ( )   if   routing _ targets :   for   target   in   routing _ targets :   self . sensor . append _ routing _ target ( target )   \u7b14\u8bb0   \u5982\u679c \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \u8def\u7531 \u76ee\u6807 \uff0c \u5219 \u4f1a \u521b\u5efa \u968f\u673a \u8def\u7531 \u3002","title":"carla . RssSensor   \u7c7b"},{"location":"ref_sensors/#_28","text":"carla . RssResponse   \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   response _ valid   bool   \u54cd\u5e94 \u6570\u636e \u7684 \u6709\u6548 \u6709\u6548\u6027 \u3002   proper _ response   ad . rss . state . ProperResponse   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4e3a \u8f66\u8f86 \u8ba1\u7b97 \u7684 \u6b63\u786e \u54cd\u5e94 \uff0c \u5305\u62ec \u52a0\u901f \u9650\u5236 \u3002   rss _ state _ snapshot   ad . rss . state . RssStateSnapshot   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u72b6\u6001 \u4e3a \u5f53\u524d \u65f6\u95f4 \u70b9 \u3002 \u8fd9\u662f \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u8ba1\u7b97 \u7684 \u8be6\u7ec6 \u7684 \u5355\u72ec \u8f93\u51fa \u3002   situation _ snapshot   ad . rss . situation . SituationSnapshot   \u5f53\u524d \u65f6\u95f4 \u70b9 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u60c5\u51b5 \u3002 \u8fd9\u662f \u7528\u4e8e   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u8ba1\u7b97 \u7684 \u7ecf\u8fc7 \u5904\u7406 \u7684 \u8f93\u5165 \u6570\u636e \u3002   world _ model   ad . rss . world . WorldModel   \u5f53\u524d \u65f6\u95f4 \u70b9 \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u4e16\u754c \u6a21\u578b \u3002 \u8fd9\u662f   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u8ba1\u7b97 \u7684 \u8f93\u5165 \u6570\u636e \u3002   ego _ dynamics _ on _ route   carla . RssEgoDynamicsOnRoute   \u5173\u4e8e \u8def\u7ebf \u7684 \u5f53\u524d \u81ea\u6211 \u8f66\u8f86 \u52a8\u6001 \u3002   \u5982\u679c \u6ce8\u518c \u4e86   actor _ constellation _ callback \uff0c \u5219 \u4f1a \u89e6\u53d1 \u4ee5\u4e0b \u8c03\u7528 \uff1a   \u9ed8\u8ba4 \u8ba1\u7b97   (   actor _ constellation _ data . other _ actor = None   )   \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8ba1\u7b97   #   rss _ sensor . py   \u4ee3\u7801 \u7247\u6bb5   #   \u6ce8\u518c \u8be5 \u51fd\u6570 \u4e3a   actor _ constellation _ callback   def   _ on _ actor _ constellation _ request ( self ,   actor _ constellation _ data ) :   actor _ constellation _ result   =   carla . RssActorConstellationResult ( )   actor _ constellation _ result . rss _ calculation _ mode   =   ad . rss . map . RssMode . NotRelevant   actor _ constellation _ result . restrict _ speed _ limit _ mode   =   ad . rss . map . RssSceneCreation . RestrictSpeedLimitMode . IncreasedSpeedLimit10   actor _ constellation _ result . ego _ vehicle _ dynamics   =   self . current _ vehicle _ parameters   actor _ constellation _ result . actor _ object _ type   =   ad . rss . world . ObjectType . Invalid   actor _ constellation _ result . actor _ dynamics   =   self . current _ vehicle _ parameters   actor _ id   =   - 1   actor _ type _ id   =   \" none \"   if   actor _ constellation _ data . other _ actor   ! =   None :   #   \u4e3a \u7279\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5b9a\u5236   actor _ constellation _ result   ...   else :   #   \u9ed8\u8ba4   ...   return   actor _ constellation _ result","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_29","text":"\u84dd\u56fe \uff1a   sensor . lidar . ray _ cast _ semantic   \u8f93\u51fa \uff1a   \u6bcf\u6b65   carla . SemanticLidarMeasurement   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4eff\u771f \u4f7f\u7528 \u5c04\u7ebf \u6295\u5c04 \u5b9e\u73b0 \u7684 \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff0c \u516c\u5f00 \u6709\u5173 \u5c04\u7ebf \u6295\u5c04 \u547d\u4e2d \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u5b83 \u7684 \u884c\u4e3a \u4e0e   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u975e\u5e38 \u76f8\u4f3c \uff0c \u4f46 \u5b83\u4eec \u4e4b\u95f4 \u6709 \u4e24\u4e2a \u4e3b\u8981 \u533a\u522b \u3002   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u68c0\u7d22 \u5230 \u7684 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u6bcf\u4e2a \u70b9 \u5305\u542b \u66f4 \u591a \u6570\u636e \u3002   \u8be5\u70b9 \u7684 \u5750\u6807 \uff08 \u4e0e \u666e\u901a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4e00\u6837 \uff09 \u3002   \u5165\u5c04 \u5c04\u89d2 \u5165\u5c04\u89d2 \u4e0e \u8868\u9762 \u6cd5\u7ebf \u4e4b\u95f4 \u7684 \u4f59\u5f26 \u503c \u3002   \u5b9e\u4f8b \u548c \u8bed\u4e49 \u57fa\u7840 \u4e8b\u5b9e \u3002 \u57fa\u672c \u57fa\u672c\u4e0a \u662f   Carla   \u5bf9\u8c61 \u547d\u4e2d \u7684 \u7d22\u5f15 \u53ca\u5176 \u8bed\u4e49 \u6807\u7b7e \u3002   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u65e2 \u4e0d \u5305\u542b \u5f3a\u5ea6 \u3001 \u8870\u51cf \u4e5f \u4e0d \u5305\u542b \u566a\u58f0 \u6a21\u578b \u5c5e\u6027 \u3002   \u8fd9\u4e9b \u70b9 \u662f \u901a\u8fc7 \u4e3a \u5782\u76f4   FOV   \u4e2d \u5206\u5e03 \u7684 \u6bcf\u4e2a \u901a\u9053 \u6dfb\u52a0 \u6fc0\u5149 \u6765 \u8ba1\u7b97 \u7684 \u3002 \u65cb\u8f6c \u662f \u901a\u8fc7 \u8ba1\u7b97 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5728 \u4e00\u5e27 \u4e2d \u65cb\u8f6c \u7684 \u6c34\u5e73 \u89d2\u5ea6 \u6765 \u4eff\u771f \u7684 \u3002 \u70b9\u4e91 \u662f \u901a\u8fc7 \u5728 \u6bcf\u4e2a \u6b65\u9aa4 \u4e2d \u5bf9 \u6bcf\u4e2a \u6fc0\u5149 \u8fdb\u884c \u5149\u7ebf \u6295\u5c04 \u6765 \u8ba1\u7b97 \u7684 \u3002   points _ per _ channel _ each _ step   =   points _ per _ second   /   ( FPS   *   channels )   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6d4b\u91cf \u5305\u542b \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff0c \u5176\u4e2d \u5305\u542b \u5728 \u67d0\u4e2a \u65f6\u95f4   1 / FPS   \u95f4\u9694 \u5185 \u751f\u6210 \u7684 \u6240\u6709 \u70b9 \u3002 \u5728 \u6b64 \u95f4\u9694 \u671f\u95f4 \uff0c \u7269\u7406 \u4e0d\u4f1a \u66f4\u65b0 \uff0c \u56e0\u6b64 \u6d4b\u91cf \u4e2d \u7684 \u6240\u6709 \u70b9 \u90fd \u53cd\u6620 \u573a\u666f \u7684 \u76f8\u540c \u201c \u9759\u6001 \u56fe\u7247 \u201d \u3002   \u6b64 \u8f93\u51fa \u5305\u542b \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u8bed\u4e49 \u68c0\u6d4b \u4e91 \uff0c \u56e0\u6b64 \uff0c \u53ef\u4ee5 \u5bf9 \u5176 \u8fdb\u884c \u8fed\u4ee3 \u4ee5 \u68c0\u7d22 \u5176 \u5217\u8868   carla . SemanticLidarDetection   \uff1a   for   detection   in   semantic _ lidar _ measurement :   print ( detection )   \u53ef\u4ee5 \u8c03\u6574 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7684 \u65cb\u8f6c \u4ee5 \u8986\u76d6 \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u7684 \u7279\u5b9a \u89d2\u5ea6 \uff08 \u4f7f\u7528   \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f   \uff09 \u3002 \u4f8b\u5982 \uff0c \u6bcf\u6b65 \u65cb\u8f6c \u4e00\u6b21 \uff08 \u6574\u5708 \u8f93\u51fa \uff0c \u5982\u4e0b \u56fe \uff09 \uff0c \u65cb\u8f6c \u9891\u7387 \u548c \u4eff\u771f \u7684 FPS \u5e94\u8be5 \u76f8\u7b49 \u3002   1 .   \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u9891\u7387   sensors _ bp [ ' lidar ' ] [ 0 ] . set _ attribute ( ' rotation _ frequency ' , ' 10 ' )   \u3002   2 .   \u4f7f\u7528   python3   config . py   -- fps = 10   \u8fd0\u884c \u4eff\u771f \u3002","title":"\u8bed\u4e49 \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f\u5668  "},{"location":"ref_sensors/#_30","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   channels   int   32   \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6570\u91cf \u3002   range   float   10.0   \u6d4b\u91cf / \u5149\u7ebf \u6295\u5c04 \u7684 \u6700\u5927 \u8ddd\u79bb \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff08 Carla   0.9 . 6   \u6216 \u66f4 \u4f4e\u7248 \u7248\u672c \u4f4e\u7248\u672c \u4e3a \u5398\u7c73 \uff09 \u3002   points _ per _ second   int   56000   \u6240\u6709 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6bcf\u79d2 \u751f\u6210 \u7684 \u70b9 \u3002   rotation _ frequency   float   10.0   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u65cb\u8f6c \u9891\u7387 \u3002   upper _ fov   float   10.0   \u6700\u9ad8 \u6fc0\u5149 \u7684 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   lower _ fov   float   - 30.0   \u6700\u4f4e \u6fc0\u5149 \u7684 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   horizontal _ fov   float   360.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \uff0c 0   -   360 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002","title":"\u8bed\u4e49 \u6fc0\u5149\u96f7\u8fbe \u5c5e\u6027"},{"location":"ref_sensors/#_31","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   horizontal _ angle   float   \u5f53\u524d \u5e27 \u4e2d   LIDAR   \u7684   XY   \u5e73\u9762 \u4e2d \u7684 \u89d2\u5ea6 \uff08 \u5f27\u5ea6 \uff09 \u3002   channels   int   LIDAR   \u7684 \u901a\u9053 \uff08 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \uff09 \u6570\u91cf \u3002   get _ point _ count ( channel )   int   \u5f53\u524d \u5e27 \u4e2d \u6355\u83b7 \u7684 \u6bcf\u4e2a \u901a\u9053 \u7684 \u70b9\u6570 \u3002   raw _ data   bytes   \u5305\u542b \u5177\u6709 \u5b9e\u4f8b \u548c \u8bed\u4e49 \u4fe1\u606f \u7684 \u70b9\u4e91 \u7684 \u6570\u7ec4 \u3002 \u5bf9\u4e8e \u6bcf\u4e2a \u70b9 \uff0c \u5b58\u50a8 \u56db\u4e2a   32   \u4f4d \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \u3002   XYZ   \u5750\u6807 \u3002   \u5165\u5c04 \u5c04\u89d2 \u5165\u5c04\u89d2 \u7684 \u4f59\u5f26 \u3002   Unsigned   int   \u5305\u542b \u547d\u4e2d \u5bf9\u8c61 \u7684 \u7d22\u5f15 \u3002   Unsigned   int   \u5305\u542b \u5bf9\u8c61   it   \u7684 \u8bed\u4e49 \u6807\u7b7e \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_32","text":"\u84dd\u56fe \uff1a   sensor . camera . semantic _ segmentation   \u8f93\u51fa \uff1a   \u6bcf\u6b65   carla . Image   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u8be5 \u6444\u50cf \u6444\u50cf\u673a \u6839\u636e \u5176 \u6807\u7b7e \u4ee5 \u4e0d\u540c \u7684 \u989c\u8272 \u663e\u793a \u5b83 \uff0c \u4ece\u800c \u5bf9 \u53ef\u89c1 \u7684 \u6bcf\u4e2a \u7269\u4f53 \u8fdb\u884c \u5206\u7c7b \uff08 \u4f8b\u5982 \uff0c \u884c\u4eba \u4e0e \u8f66\u8f86 \u7684 \u989c\u8272 \u4e0d\u540c \uff09 \u3002 \u5f53 \u4eff\u771f \u5f00\u59cb \u65f6 \uff0c \u573a\u666f \u4e2d \u7684 \u6bcf\u4e2a \u5143\u7d20 \u90fd \u4f1a \u4f7f\u7528 \u6807\u7b7e \u521b\u5efa \u3002 \u6240\u4ee5 \u5f53 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ea7\u751f \u65f6 \u5c31 \u4f1a \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \u3002 \u5bf9\u8c61 \u6309 \u5176 \u5728 \u9879\u76ee \u4e2d \u7684 \u76f8\u5bf9 \u6587\u4ef6 \u8def\u5f84 \u8fdb\u884c \u5206\u7c7b \u3002 \u4f8b\u5982 \uff0c \u5b58\u50a8 \u5728 \u4e2d \u7684 \u7f51\u683c   Unreal / CarlaUE4 / Content / Static / Pedestrians   \u88ab \u6807\u8bb0 \u4e3a   Pedestrian   \u3002   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u63d0\u4f9b \u7684 \u56fe\u50cf \u7684 \u6807\u7b7e \u4fe1\u606f   \u7f16\u7801 \u5728 \u7ea2\u8272 \u901a\u9053 \u4e2d   \uff1a   \u7ea2\u8272 \u503c\u4e3a   \u7684 \u50cf\u7d20   x   \u5c5e\u4e8e \u5e26\u6709 \u6807\u7b7e \u7684 \u5bf9\u8c61   x   \u3002 \u8fd9\u4e2a \u539f\u59cb \u7684   carla . Image   \u53ef\u4ee5 \u5728   carla . ColorConverter   \u4e2d \u7684   CityScapesPalette   \u7684 \u5e2e\u52a9 \u4e0b \u5b58\u50a8 \u548c \u8f6c\u6362 \uff0c \u4ee5 \u5e94\u7528 \u6807\u7b7e \u4fe1\u606f \u5e76 \u901a\u8fc7 \u8bed\u4e49 \u5206\u5272 \u663e\u793a \u56fe\u7247 \u3002   ...   raw _ image . save _ to _ disk ( \" path / to / save / converted / image \" , carla . cityScapesPalette )   \u76ee\u524d \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u6807\u7b7e \uff08 \u6ce8\u610f \uff1a \u4ece \u7248\u672c 0.9 . 13 \u5230 0.9 . 14 \u6570\u5b57 \u6240 \u5bf9\u5e94 \u7684 \u6807\u7b7e \u53d1\u751f \u4e86 \u5f88\u5927 \u53d8\u5316 \uff09 \uff1a   \u503c   \u6807\u7b7e   \u8f6c\u6362 \u540e \u7684 \u989c\u8272   \u63cf\u8ff0   0   Unlabeled   ( 0 ,   0 ,   0 )   \u8003\u8651 \u5c1a\u672a \u5206\u7c7b \u7684 \u5143\u7d20   Unlabeled   \u3002 \u8be5 \u7c7b\u522b \u5e94\u8be5 \u662f \u7a7a \u7684 \u6216 \u81f3\u5c11 \u5305\u542b \u6ca1\u6709 \u51b2\u7a81 \u7684 \u5143\u7d20 \u3002   1   Roads   ( 128 ,   64 ,   128 )   \u6c7d\u8f66 \u901a\u5e38 \u884c\u9a76 \u7684 \u90e8\u5206 \u5730\u9762 \u3002   \u6bd4\u5982 \uff0c \u4efb\u4f55 \u65b9\u5411 \u7684 \u8f66\u9053 \u548c \u8857\u9053 \u3002   2   SideWalk   ( 244 ,   35 ,   232 )   \u6307\u5b9a \u4f9b \u884c\u4eba \u6216 \u9a91 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u8005 \u4f7f\u7528 \u7684 \u5730\u9762 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u4e0d\u4ec5 \u901a\u8fc7 \u6807\u8bb0 \uff0c \u8fd8 \u901a\u8fc7 \u4e00\u4e9b \u969c\u788d \u969c\u788d\u7269 \uff08 \u4f8b\u5982 \u8def\u7f18 \u77f3 \u6216 \u6746\u5b50 \uff09 \u5c06 \u9053\u8def \u4e0e \u9053\u8def \u5206 \u9694\u5f00 \u3002 \u8be5 \u6807\u7b7e \u5305\u62ec \u53ef\u80fd \u5212\u5b9a \u7684 \u8def\u8fb9 \u3001 \u4ea4\u901a \u4ea4\u901a\u5c9b \uff08 \u6b65\u884c \u90e8\u5206 \uff09 \u548c \u6b65\u884c \u533a \u3002   3   Building   ( 70 ,   70 ,   70 )   \u623f\u5c4b \u3001 \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c \u7b49 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4ee5\u53ca \u9644\u7740 \u5728 \u5176 \u4e0a \u7684 \u5143\u7d20 \u3002   \u4f8b\u5982 \u7a7a\u8c03 \u3001 \u811a\u624b \u811a\u624b\u67b6 \u3001 \u906e\u9633 \u906e\u9633\u7bf7 \u6216 \u68af\u5b50 \u7b49 \u3002   4   Wall   ( 102 ,   102 ,   156 )   \u72ec\u7acb \u7684 \u7acb\u5899 \u3002 \u4e0d\u662f \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   5   Fence   ( 100 ,   40 ,   40 )   \u969c\u788d \u969c\u788d\u7269 \u3001 \u680f\u6746 \u6216 \u5176\u4ed6 \u76f4\u7acb \u7ed3\u6784 \u3002 \u57fa\u672c \u57fa\u672c\u4e0a \u662f \u5305\u56f4 \u5730\u9762 \u533a\u57df \u7684 \u6728\u6750 \u6216 \u7535\u7ebf \u7ec4\u4ef6 \u3002   6   Pole   ( 153 ,   153 ,   153 )   \u4e3b\u8981 \u4e3a \u5782\u76f4 \u65b9\u5411 \u7684 \u5c0f\u578b \u6746 \u3002 \u5982\u679c \u6746\u6709 \u6c34\u5e73 \u90e8\u5206 \uff08 \u901a\u5e38 \u7528\u4e8e \u4ea4\u901a \u4ea4\u901a\u706f \u6746 \uff09 \uff0c \u5219 \u4e5f \u88ab \u89c6\u4e3a \u6746 \u3002   \u4f8b\u5982 \u6807\u5fd7 \u6746 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u6746 \u3002   7   TrafficLight   ( 250 ,   170 ,   30 )   \u6ca1\u6709 \u706f\u6746 \u7684 \u4ea4\u901a \u706f\u7bb1 \u3002   8   TrafficSign   ( 220 ,   220 ,   0 )   \u7531\u5dde / \u5e02 \u5f53\u5c40 \u5b89\u88c5 \u7684 \u6807\u5fd7 \uff0c \u901a\u5e38 \u7528\u4e8e \u4ea4\u901a \u7ba1\u5236 \u4ea4\u901a\u7ba1\u5236 \u3002 \u6b64 \u7c7b\u522b \u4e0d \u5305\u62ec \u9644\u6709 \u6807\u5fd7 \u7684 \u6746 \u3002   \u4f8b\u5982 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3001 \u505c\u8f66 \u6807\u5fd7 \u3001 \u65b9\u5411 \u6807\u5fd7 ...   9   Vegetation   ( 107 ,   142 ,   35 )   \u6811\u6728 \u3001 \u6811\u7bf1 \u3001 \u5404\u79cd \u5782\u76f4 \u690d\u88ab \u3002 \u8003\u8651 \u5730\u9762 \u690d\u88ab   Terrain   \u3002   10   Terrain   ( 145 ,   170 ,   100 )   \u8349 \u3001 \u5730\u9762 \u690d\u88ab \u3001 \u571f\u58e4 \u6216 \u6c99\u5b50 \u3002 \u8fd9\u4e9b \u533a\u57df \u4e0d \u9002\u5408 \u884c\u9a76 \u3002 \u8be5 \u6807\u7b7e \u5305\u62ec \u53ef\u80fd \u7684 \u9650\u5236 \u9650\u5236\u6027 \u8def\u7f18\u77f3 \u3002   11   Sky   ( 70 ,   130 ,   180 )   \u5f00\u9614 \u7684 \u5929\u7a7a \u3002 \u5305\u62ec \u4e91 \u548c \u592a\u9633 \u3002   12   Pedestrian   ( 220 ,   20 ,   60 )   \u6b65\u884c \u6216 \u4e58\u5750 / \u9a7e\u9a76 \u4efb\u4f55 \u7c7b\u578b \u7684 \u8f66\u8f86 \u6216 \u79fb\u52a8 \u7cfb\u7edf \u7684 \u4eba \u3002   \u4f8b\u5982 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u6216 \u8e0f\u677f \u677f\u8f66 \u8e0f\u677f\u8f66 \u3001 \u6ed1\u677f \u3001 \u9a6c \u3001 \u65f1\u51b0 \u51b0\u978b \u65f1\u51b0\u978b \u3001 \u8f6e\u6905 \u7b49 \u3002   13   Rider   ( 0 ,   0 ,   142 )   \u4eba\u7c7b \u4e58\u5750 / \u9a7e\u9a76 \u4efb\u4f55 \u7c7b\u578b \u7684 \u8f66\u8f86 \u6216 \u79fb\u52a8 \u7cfb\u7edf \u3002   \u4f8b\u5982 \uff1a \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u6216 \u8e0f\u677f \u677f\u8f66 \u8e0f\u677f\u8f66 \u3001 \u6ed1\u677f \u3001 \u9a6c \u3001 \u8f6e\u6ed1 \u3001 \u8f6e\u6905 \u7b49 \u3002   14   Car   ( 0 ,   0 ,   142 )   \u6c7d\u8f66 \u3001 \u5927\u84ec \u8d27\u8f66   15   Truck   ( 0 ,   0 ,   70 )   \u5361\u8f66   16   Bus   ( 0 ,   60 ,   100 )   \u516c\u4ea4 \u516c\u4ea4\u8f66   17   Truck   ( 0 ,   80 ,   100 )   \u706b\u8f66   18   Motorcycle   ( 0 ,   0 ,   230 )   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   19   Bicycle   ( 119 ,   11 ,   32 )   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   20   Static   ( 110 ,   190 ,   160 )   \u573a\u666f \u4e2d \u7684 \u5143\u7d20 \u548c \u9053\u5177 \u662f \u4e0d\u53ef \u79fb\u52a8 \u7684 \u3002   \u4f8b\u5982 \u6d88\u9632 \u6d88\u9632\u6813 \u3001 \u56fa\u5b9a \u957f\u51f3 \u3001 \u55b7\u6cc9 \u3001 \u516c\u4ea4 \u8f66\u7ad9 \u516c\u4ea4\u8f66 \u516c\u4ea4\u8f66\u7ad9 \u7b49 \u3002   21   Dynamic   ( 170 ,   120 ,   50 )   \u4f4d\u7f6e \u5bb9\u6613 \u968f \u65f6\u95f4 \u53d8\u5316 \u7684 \u5143\u7d20 \u3002   \u4f8b\u5982 \u53ef \u79fb\u52a8 \u5783\u573e \u5783\u573e\u6876 \u3001 \u624b\u63a8 \u63a8\u8f66 \u624b\u63a8\u8f66 \u3001 \u888b\u5b50 \u3001 \u8f6e\u6905 \u3001 \u52a8\u7269 \u7b49 \u3002   22   Other   ( 55 ,   90 ,   80 )   \u4e00\u5207 \u4e0d \u5c5e\u4e8e \u4efb\u4f55 \u5176\u4ed6 \u7c7b\u522b \u7684 \u4e1c\u897f \u3002   23   Water   ( 45 ,   60 ,   150 )   \u6c34\u5e73 \u6c34\u9762 \u3002   \u4f8b\u5982 \u6e56\u6cca \u3001 \u6d77\u6d0b \u3001 \u6cb3\u6d41 \u3002   24   RoadLine   ( 157 ,   234 ,   50 )   \u9053\u8def \u4e0a \u7684 \u6807\u8bb0 \u3002   25   Ground   ( 81 ,   0 ,   81 )   \u4e0e \u4efb\u4f55 \u5176\u4ed6 \u7c7b\u522b \u4e0d \u5339\u914d \u7684 \u4efb\u4f55 \u6c34\u5e73 \u5730\u9762 \u7ed3\u6784 \u3002 \u4f8b\u5982 \uff0c \u8f66\u8f86 \u548c \u884c\u4eba \u5171\u4eab \u7684 \u533a\u57df \uff0c \u6216 \u901a\u8fc7 \u8def\u7f18 \u4e0e \u9053\u8def \u5206\u9694 \u7684 \u5e73\u5766 \u73af\u5c9b \u3002   26   Bridge   ( 150 ,   100 ,   100 )   \u53ea\u6709 \u6865 \u7684 \u7ed3\u6784 \u3002 \u6805\u680f \u3001 \u4eba \u3001 \u8f66\u8f86 \u4ee5\u53ca \u5176\u4e0a \u7684 \u5176\u4ed6 \u5143\u7d20 \u90fd \u88ab \u5355\u72ec \u6807\u8bb0 \u3002   27   RailTrack   ( 230 ,   150 ,   140 )   \u5404\u79cd \u975e \u6c7d\u8f66 \u884c\u9a76 \u7684 \u94c1\u8f68 \u3002   \u4f8b\u5982 \u5730\u94c1 \u548c \u706b\u8f66 \u94c1\u8f68 \u3002   28   GuardRail   ( 180 ,   165 ,   180 )   \u6240\u6709 \u7c7b\u578b \u7684 \u62a4\u680f / \u9632\u649e \u680f \u3002   \u7b14\u8bb0   \u9605\u8bfb   \u672c   \u6559\u7a0b \u4ee5 \u521b\u5efa \u65b0 \u7684 \u8bed\u4e49 \u6807\u7b7e \u3002","title":"\u8bed\u4e49 \u5206\u5272 \u76f8\u673a  "},{"location":"ref_sensors/#_33","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   fov   float   90.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ x   int   800   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ y   int   600   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u6ef4\u7b54 \u6ef4\u7b54\u58f0 \uff09 \u3002","title":"\u76f8\u673a \u57fa\u672c \u5c5e\u6027"},{"location":"ref_sensors/#_34","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   lens _ circle _ falloff   float   5.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ circle _ multiplier   float   0.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ k   float   - 1.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ kcube   float   0.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ x _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   lens _ y _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]","title":"\u76f8\u673a \u955c\u5934 \u7578\u53d8 \u5c5e\u6027"},{"location":"ref_sensors/#_35","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   fov   float   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   height   int   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   bytes   BGRA   32   \u4f4d \u50cf\u7d20 \u9635\u5217 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   width   int   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_36","text":"\u84dd\u56fe \uff1a   sensor . camera . instance _ segmentation   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65 \u4e00\u4e2a   carla . Image   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u8be5 \u76f8\u673a \u6839\u636e \u7c7b\u522b \u548c \u5b9e\u4f8b   ID   \u5bf9 \u89c6\u91ce \u4e2d \u7684 \u6bcf\u4e2a \u5bf9\u8c61 \u8fdb\u884c \u5206\u7c7b \u3002 \u5f53 \u6a21\u62df \u5f00\u59cb \u65f6 \uff0c \u573a\u666f \u4e2d \u7684 \u6bcf\u4e2a \u5143\u7d20 \u90fd \u4f1a \u88ab \u521b\u5efa \u4e3a \u4e00\u4e2a \u6807\u7b7e \u3002 \u56e0\u6b64 \uff0c \u5f53 \u751f\u6210 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \u5c31 \u4f1a \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \u3002 \u5bf9\u8c61 \u6839\u636e \u5176 \u5728 \u9879\u76ee \u4e2d \u7684 \u76f8\u5bf9 \u6587\u4ef6 \u8def\u5f84 \u8fdb\u884c \u5206\u7c7b \u3002 \u4f8b\u5982 \uff0c \u5b58\u50a8 \u5728   Unreal / CarlaUE4 / Content / Static / Pedestrians   \u4e2d \u7684 \u7f51\u683c \u88ab \u6807\u8bb0 \u4e3a \u884c\u4eba   Pedestrian   \u3002   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u63d0\u4f9b \u4e00\u5f20   \u5728 \u7ea2\u8272 \u901a\u9053 \u4e2d \u7f16\u7801 \u4e86   \u6807\u7b7e \u4fe1\u606f \u7684 \u56fe\u50cf \uff1a \u7ea2\u8272 \u503c\u4e3a   x   \u7684 \u50cf\u7d20 \u5c5e\u4e8e \u5e26\u6709 \u6807\u7b7e   x   \u7684 \u5bf9\u8c61 \u3002 \u50cf\u7d20 \u7684 \u7eff\u8272 \u548c \u84dd\u8272 \u503c \u5b9a\u4e49 \u5bf9\u8c61 \u7684 \u552f\u4e00   ID \u3002 \u4f8b\u5982 \uff0c 8   \u4f4d   RGB   \u503c\u4e3a   [ 10 ,   20 ,   55 ]   \u7684 \u50cf\u7d20 \u662f \u4e00\u8f86 \u5177\u6709 \u552f\u4e00 \u5b9e\u4f8b   ID   20 - 55   \u7684 \u8f66\u8f86 \uff08 \u8bed\u4e49 \u6807\u7b7e \u4e3a   10 \uff09 \u3002","title":"\u5b9e\u4f8b \u5206\u5272 \u76f8\u673a  "},{"location":"ref_sensors/#_37","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \u63cf\u8ff0   fov   float   90.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ x   int   800   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ y   int   600   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u6a21\u62df \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002","title":"\u57fa\u672c \u76f8\u673a \u5c5e\u6027"},{"location":"ref_sensors/#_38","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \u63cf\u8ff0   lens _ circle _ falloff   float   5.0   \u8303\u56f4 \uff1a [ 0.0 ,   10.0 ]   lens _ circle _ multiplier   float   0.0   \u8303\u56f4 \uff1a [ 0.0 ,   10.0 ]   lens _ k   float   - 1.0   \u8303\u56f4 \uff1a [ - inf ,   inf ]   lens _ kcube   float   0.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ x _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   lens _ y _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]","title":"\u76f8\u673a \u955c\u5934 \u7578\u53d8 \u5c5e\u6027"},{"location":"ref_sensors/#_39","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   fov   float   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   frame   int   \u6d4b\u91cf \u53d1\u751f \u65f6 \u7684 \u5e27 \u53f7 \u3002   height   int   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   bytes   BGRA   32   \u4f4d \u50cf\u7d20 \u6570\u7ec4 \u3002   timestamp   double   \u81ea \u60c5\u8282 \u5f00\u59cb \u4ee5\u6765 \u7684 \u6d4b\u91cf \u6a21\u62df \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   width   int   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_40","text":"\u84dd\u56fe \uff1a   sensor . camera . dvs   \u8f93\u51fa \uff1a   \u6bcf\u6b65   carla . DVSEventArray   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \uff08 Dynamic   Vision   Sensor ,   DVS \uff09 \u6216 \u4e8b\u4ef6 \u76f8\u673a \u662f \u4e00\u79cd \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u4f20\u7edf \u76f8\u673a \u4f20\u7edf\u76f8\u673a \u5b8c\u5168 \u4e0d\u540c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u4e8b\u4ef6 \u76f8\u673a \u4e0d\u662f \u4ee5 \u56fa\u5b9a \u901f\u7387 \u6355\u83b7 \u5f3a\u5ea6 \u56fe\u50cf \uff0c \u800c\u662f \u4ee5 \u4e8b\u4ef6 \u6d41 \u7684 \u5f62\u5f0f \u5f02\u6b65 \u6d4b\u91cf \u5f3a\u5ea6 \u53d8\u5316 \uff0c \u5bf9 \u6bcf\u4e2a \u50cf\u7d20 \u7684 \u4eae\u5ea6 \u53d8\u5316 \u8fdb\u884c \u7f16\u7801 \u3002 \u4e0e \u6807\u51c6 \u6444\u50cf \u6444\u50cf\u673a \u76f8\u6bd4 \uff0c \u4e8b\u4ef6 \u6444\u50cf \u6444\u50cf\u673a \u5177\u6709 \u72ec\u7279 \u7684 \u5c5e\u6027 \u3002 \u5b83\u4eec \u5177\u6709 \u975e\u5e38 \u9ad8 \u7684 \u52a8\u6001 \u8303\u56f4 \uff08 140   dB   \u4e0e   60   dB \uff09 \u3001 \u65e0 \u8fd0\u52a8 \u6a21\u7cca \u548c \u9ad8 \u65f6\u95f4 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \uff08 \u5fae\u79d2 \u7ea7 \uff09 \u3002 \u56e0\u6b64 \uff0c \u4e8b\u4ef6 \u76f8\u673a \u662f \u5373\u4f7f \u5728 \u5177\u6709 \u6311\u6218 \u6311\u6218\u6027 \u7684 \u9ad8\u901f \u573a\u666f \u548c \u9ad8 \u52a8\u6001 \u8303\u56f4 \u73af\u5883 \u4e0b \u4e5f \u80fd \u63d0\u4f9b \u9ad8\u8d28 \u8d28\u91cf \u9ad8\u8d28\u91cf \u89c6\u89c9 \u4fe1\u606f \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4e3a \u57fa\u4e8e \u89c6\u89c9 \u7684 \u7b97\u6cd5 \u63d0\u4f9b \u4e86 \u65b0 \u7684 \u5e94\u7528 \u9886\u57df \u5e94\u7528\u9886\u57df \u3002   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6444\u50cf \u6444\u50cf\u673a \u8f93\u51fa \u4e8b\u4ef6 \u6d41 \u3002 \u5f53 \u5bf9\u6570 \u5f3a\u5ea6 \u7684 \u53d8\u5316 \u8fbe\u5230 \u9884\u5b9a \u4e49 \u7684 \u6052\u5b9a \u9608\u503c \uff08 \u901a\u5e38 \u5728   15%   \u5230   30%   \u4e4b\u95f4 \uff09 \u65f6 \uff0c \u5728 \u65f6\u95f4 \u6233 \u5904 \u7684 \u50cf\u7d20 \u5904   e = ( x , y , t , pol )   \u89e6\u53d1 \u4e8b\u4ef6 \u3002   L ( x , y , t )   -   L ( x , y , t - \\ delta   t )   =   pol   C   t - \\ delta   t   \u662f \u8be5 \u50cf\u7d20 \u4e0a \u6700\u540e \u4e00\u4e2a \u4e8b\u4ef6 \u88ab \u89e6\u53d1 \u7684 \u65f6\u95f4 \uff0c \u5e76\u4e14   pol   \u662f \u6839\u636e \u4eae\u5ea6 \u53d8\u5316 \u7684 \u7b26\u53f7 \u7684 \u4e8b\u4ef6 \u7684 \u6781\u6027 \u3002   + 1   \u5f53 \u4eae\u5ea6 \u589e\u52a0 \u65f6 \u6781\u6027 \u4e3a \u6b63 \uff0c   - 1   \u5f53 \u4eae\u5ea6 \u51cf\u5c11 \u65f6 \u6781\u6027 \u4e3a \u8d1f \u3002 \u5de5\u4f5c \u539f\u7406 \u5982\u4e0b \u56fe \u6240\u793a \u3002 \u6807\u51c6 \u76f8\u673a \u4ee5 \u56fa\u5b9a \u901f\u7387 \u8f93\u51fa \u5e27 \uff0c \u4ece\u800c \u5728 \u573a\u666f \u4e2d \u4e0d \u5b58\u5728 \u8fd0\u52a8 \u65f6 \u53d1\u9001 \u5197\u4f59 \u4fe1\u606f \u3002 \u76f8\u6bd4 \u4e4b\u4e0b \u76f8\u6bd4\u4e4b\u4e0b \uff0c \u4e8b\u4ef6 \u6444\u50cf \u6444\u50cf\u673a \u662f \u6570\u636e \u9a71\u52a8 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u80fd\u591f \u4ee5 \u5fae\u79d2 \u5ef6\u8fdf \u54cd\u5e94 \u4eae\u5ea6 \u53d8\u5316 \u3002 \u5728 \u7ed8\u56fe \u4e2d \uff0c \u53ea\u8981 \uff08 \u7b26\u53f7 \u5e26\u7b26\u53f7 \u7684 \uff09 \u4eae\u5ea6 \u53d8\u5316 \u968f \u65f6\u95f4 \u8d85\u8fc7   C   \u4e00\u7ef4 \u7684 \u5bf9\u6bd4 \u5bf9\u6bd4\u5ea6 \u9608\u503c \uff0c \u5c31 \u4f1a \u751f\u6210 \u6b63 \uff08 \u6216\u8d1f \uff09 \u4e8b\u4ef6 \uff08 \u84dd\u70b9 \u3001 \u7ea2 \u70b9 \uff09   \u3002 \u89c2\u5bdf \u4fe1\u53f7 \u5feb\u901f \u53d8\u5316 \u65f6 \u4e8b\u4ef6 \u7387 \u5982\u4f55 \u589e\u957f \u3002   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6444\u50cf \u6444\u50cf\u673a \u7684 \u5f53\u524d \u5b9e\u73b0 \u5728 \u4e24\u4e2a \u8fde\u7eed \u540c\u6b65 \u5e27 \u4e4b\u95f4 \u4ee5 \u7edf\u4e00 \u91c7\u6837 \u65b9\u5f0f \u5de5\u4f5c \u3002 \u56e0\u6b64 \uff0c \u4e3a\u4e86 \u4eff\u771f \u771f\u5b9e \u4e8b\u4ef6 \u76f8\u673a \u7684 \u9ad8 \u65f6\u95f4 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \uff08 \u5fae\u79d2 \u7ea7 \uff09 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9700\u8981 \u4ee5 \u9ad8\u9891 \u9891\u7387 \u9ad8\u9891\u7387 \u6267\u884c \uff08 \u6bd4 \u4f20\u7edf \u76f8\u673a \u4f20\u7edf\u76f8\u673a \u7684 \u9891\u7387 \u9ad8\u5f97 \u591a \uff09 \u3002 \u5b9e\u9645 \u5b9e\u9645\u4e0a \uff0c Carla   \u6c7d\u8f66 \u884c\u9a76 \u901f\u5ea6 \u8d8a \u5feb \uff0c \u4e8b\u4ef6 \u6570\u91cf \u5c31 \u4f1a \u589e\u52a0 \u3002 \u56e0\u6b64 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9891\u7387 \u5e94 \u968f\u7740 \u573a\u666f \u7684 \u52a8\u6001 \u800c \u76f8\u5e94 \u589e\u52a0 \u3002 \u7528\u6237 \u5e94\u8be5 \u5728 \u65f6\u95f4 \u7cbe\u5ea6 \u548c \u8ba1\u7b97 \u6210\u672c \u8ba1\u7b97\u6210\u672c \u4e4b\u95f4 \u627e\u5230 \u5e73\u8861 \u3002   \u63d0\u4f9b \u7684 \u811a\u672c   manual _ control . py   \u4f7f\u7528 \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u6765 \u5c55\u793a \u5982\u4f55 \u914d\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u5982\u4f55 \u83b7\u53d6 \u4e8b\u4ef6 \u6d41 \u4ee5\u53ca \u5982\u4f55 \u4ee5 \u56fe\u50cf \u683c\u5f0f \u56fe\u50cf\u683c\u5f0f \uff08 \u901a\u5e38 \u79f0\u4e3a \u4e8b\u4ef6 \u6846\u67b6 \uff09 \u63cf\u8ff0 \u6b64\u7c7b \u4e8b\u4ef6 \u3002   \u8bf7 \u6ce8\u610f \uff0c \u7531\u4e8e \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6444\u50cf \u6444\u50cf\u673a \u7684 \u91c7\u6837 \u65b9\u6cd5 \uff0c \u5982\u679c \u4e24\u4e2a \u8fde\u7eed \u540c\u6b65 \u5e27 \u4e4b\u95f4 \u6ca1\u6709 \u50cf\u7d20 \u5dee\u5f02 \uff0c \u6444\u50cf \u6444\u50cf\u673a \u5c06 \u4e0d\u4f1a \u8fd4\u56de \u56fe\u50cf \u3002 \u8fd9 \u603b\u662f \u53d1\u751f \u5728 \u7b2c\u4e00 \u5e27 \u4e2d \uff0c \u56e0\u4e3a \u6ca1\u6709 \u524d \u4e00\u5e27 \u53ef \u4f9b \u6bd4\u8f83 \uff0c \u5e76\u4e14 \u5728 \u5e27 \u4e4b\u95f4 \u6ca1\u6709 \u79fb\u52a8 \u7684 \u60c5\u51b5 \u4e0b \u4e5f \u662f \u5982\u6b64 \u3002   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f \u4e00\u4e2a \u76f8\u673a \uff0c \u56e0\u6b64 \u5177\u6709   RGB   \u76f8\u673a \u4e2d \u53ef\u7528 \u7684 \u6240\u6709 \u5c5e\u6027 \u3002 \u7136\u800c \uff0c \u4e8b\u4ef6 \u6444\u50cf \u6444\u50cf\u673a \u7684 \u5de5\u4f5c \u539f\u7406 \u51e0\u4e4e \u6ca1\u6709 \u4ec0\u4e48 \u72ec\u6709 \u7684 \u5c5e\u6027 \u3002","title":"\u52a8\u6001 \u89c6\u89c9 \u4f20\u611f\u5668 \u76f8\u673a  "},{"location":"ref_sensors/#_41","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   positive _ threshold   float   0.3   \u4e0e \u4eae\u5ea6 \u53d8\u5316 \u589e\u91cf \u76f8\u5173 \u7684 \u6b63 \u9608\u503c   C   ( 0 - 1 ) \u3002   negative _ threshold   float   0.3   \u4e0e \u4eae\u5ea6 \u53d8\u5316 \u51cf\u5c11 \u76f8\u5173 \u7684 \u8d1f \u9608\u503c   C   ( 0 - 1 ) \u3002   sigma _ positive _ threshold   float   0   \u79ef\u6781 \u4e8b\u4ef6 \u7684 \u767d \u566a\u58f0 \u6807\u51c6 \u6807\u51c6\u5dee   ( 0 - 1 ) \u3002   sigma _ negative _ threshold   float   0   \u8d1f\u9762 \u4e8b\u4ef6 \u7684 \u767d \u566a\u58f0 \u6807\u51c6 \u6807\u51c6\u5dee   ( 0 - 1 ) \u3002   refractory _ period _ ns   int   0.0   \u4e0d\u5e94 \u4e0d\u5e94\u671f \uff08 \u50cf\u7d20 \u5728 \u89e6\u53d1 \u4e8b\u4ef6 \u540e \u65e0\u6cd5 \u89e6\u53d1 \u4e8b\u4ef6 \u7684 \u65f6\u95f4 \uff09 \uff0c \u4ee5 \u7eb3\u79d2 \u4e3a \u5355\u4f4d \u3002 \u5b83 \u9650\u5236 \u4e86 \u89e6\u53d1 \u4e8b\u4ef6 \u7684 \u6700\u9ad8 \u9891\u7387 \u3002   use _ log   bool   true   \u662f\u5426 \u4ee5 \u5bf9\u6570 \u5f3a\u5ea6 \u6807\u5ea6 \u5de5\u4f5c \u3002   log _ eps   float   0.001   \u7528\u4e8e \u5c06 \u56fe\u50cf \u8f6c\u6362 \u4e3a \u65e5\u5fd7 \u7684   Epsilon   \u503c \uff1a   L   =   log ( eps   +   I   /   255.0 )   .   \u5176\u4e2d   I   \u662f   RGB   \u56fe\u50cf \u7684 \u7070\u5ea6 \u503c \uff1a   I   =   0.2989 * R   +   0.5870 * G   +   0.1140 * B   .","title":"\u52a8\u6001 \u89c6\u89c9 \u4f20\u611f\u5668 \u76f8\u673a \u5c5e\u6027"},{"location":"ref_sensors/#_42","text":"\u5149\u6d41 \u76f8\u673a \u6355\u6349 \u4ece \u76f8\u673a \u7684 \u89d2\u5ea6 \u611f\u77e5 \u7684 \u8fd0\u52a8 \u3002 \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bb0\u5f55 \u7684 \u6bcf\u4e2a \u50cf\u7d20 \u90fd \u5bf9 \u6295\u5f71 \u5230 \u56fe\u50cf \u5e73\u9762 \u7684 \u8be5 \u70b9 \u7684 \u901f\u5ea6 \u8fdb\u884c \u7f16\u7801 \u3002 \u50cf\u7d20 \u7684 \u901f\u5ea6 \u5728   [ - 2 , 2 ]   \u8303\u56f4 \u5185 \u7f16\u7801 \u3002 \u4e3a\u4e86 \u83b7\u5f97 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \u7684 \u8fd0\u52a8 \uff0c \u53ef\u4ee5 \u5c06 \u8be5 \u4fe1\u606f \u4e0e \u56fe\u50cf \u5927\u5c0f \u4e00\u8d77 \u7f29\u653e \u81f3 [ - 2   *   image _ size ,   2   *   image _ size ] \u3002","title":"\u5149\u6d41 \u76f8\u673a  "},{"location":"ref_sensors/#_43","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   image _ size _ x   int   800   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ y   int   600   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   fov   float   90.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002","title":"\u5149\u6d41 \u76f8\u673a \u5c5e\u6027"},{"location":"ref_sensors/#_44","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   lens _ circle _ falloff   float   5.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ circle _ multiplier   float   0.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ k   float   - 1.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ kcube   float   0.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ x _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   lens _ y _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]","title":"\u5149\u6d41 \u76f8\u673a \u955c\u5934 \u7578\u53d8 \u5c5e\u6027"},{"location":"ref_sensors/#_45","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   width   int   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   height   int   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   fov   float   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   bytes   \u5305\u542b \u4e24\u4e2a \u6d6e\u70b9 \u503c \u7684   BGRA   64   \u4f4d \u50cf\u7d20 \u6570\u7ec4 \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#v2x","text":"\u8f66\u8054 \u4e07\u7269   ( Vehicle - to - everything ,   V2X )   \u901a\u4fe1 \u662f \u672a\u6765 \u534f\u4f5c \u667a\u80fd \u4ea4\u901a \u7cfb\u7edf \u4ea4\u901a\u7cfb\u7edf \u5e94\u7528 \u7684 \u4e00\u4e2a \u91cd\u8981 \u65b9\u9762 \u3002 \u5728 \u5b9e\u9645 \u8f66\u8f86 \u4e2d \uff0c \u8fd9 \u9700\u8981 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u4e0a \u90fd \u6709 \u4e00\u4e2a \u4e13\u7528 \u7684 \u8f66\u8f7d \u5355\u5143   ( onboard   unit ,   OBU ) \uff0c \u80fd\u591f \u901a\u8fc7 \u65e0\u7ebf \u4fe1\u9053 \u53d1\u9001 \u548c \u63a5\u6536 \u4fe1\u606f \u3002 \u6839\u636e \u5730\u533a \uff08 \u6b27\u6d32 \u3001 \u4e2d\u56fd \u3001 \u7f8e\u56fd \uff09 \uff0c \u4f7f\u7528 \u4e0d\u540c \u7684 \u7269\u7406 \u6280\u672f \u3001 \u534f\u8bae \u548c \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u6d88\u606f \u683c\u5f0f \u3002   CARLA   \u76ee\u524d \u652f\u6301 \u6a21\u62df \u7b80\u5355 \u7684 \u5e7f\u64ad \u65e0\u7ebf \u4fe1\u9053 \u548c \u4e24\u6761 \u5e94\u7528 \u6d88\u606f \u3002 \u5c1a \u4e0d \u652f\u6301 \u7f51\u7edc \u8bbf\u95ee \u548c \u8f6c\u53d1 \u534f\u8bae \u3002 \u4e24\u6761 \u5b9e\u73b0 \u7684 \u6d88\u606f \u5206\u522b \u662f \u7b26\u5408 \u6b27\u6d32 \u6807\u51c6   ETSI   \u7684   \u534f\u4f5c \u611f\u77e5 \u6d88\u606f   \u548c   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d88\u606f   \u7c7b\u578b \uff0c \u53ef \u7528\u4e8e \u4f20\u8f93 \u4efb\u610f \u5b57\u7b26 \u5b57\u7b26\u4e32 \u6570\u636e \uff08 \u4f8b\u5982   JSON \uff09 \u3002 V2X   \u901a\u4fe1 \u6709 \u4e24\u79cd \u4e0d\u540c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u53ef\u4ee5 \u5355\u72ec \u4f7f\u7528 \uff0c \u6bcf\u79cd \u5e94\u7528 \u6d88\u606f \u7c7b\u578b \u5404 \u4e00\u4e2a \u3002   \u57fa\u672c \u57fa\u672c\u4e0a \uff0c \u65e0\u7ebf \u901a\u9053 \u5305\u542b \u4e24\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4ee5\u4e0b \u8ba1\u7b97 \uff1a   ReceivedPower   =   OtherTransmitPower   +   combined _ antenna _ gain   -   loss   IF   ( ReceivedPower   > =   receiver _ sensitivity )   THEN   message   is   received   \u8981 \u6a21\u62df   V2X   \u901a\u4fe1 \uff0c \u81f3\u5c11 \u9700\u8981 \u751f\u6210 \u4e24\u4e2a \u76f8\u540c \u7c7b\u578b \u7684   V2X   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u81f3\u5c11 \u4e00\u5bf9 \u53d1\u9001 \u53d1\u9001\u5668 - \u63a5\u6536 \u63a5\u6536\u5668 \uff09 \u3002 \u7531\u4e8e \u63a5\u6536 \u529f\u7387 \u662f \u5728 \u63a5\u6536 \u63a5\u6536\u5668 \u7aef   V2X   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e0a \u8ba1\u7b97 \u7684 \uff0c \u56e0\u6b64 \u53ea\u6709 \u63a5\u6536 \u63a5\u6536\u5668 \u7aef \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e0a \u6307\u5b9a \u7684 \u5929\u7ebf \u589e\u76ca \u624d \u4f1a \u7eb3\u5165 \u6b64 \u8ba1\u7b97 \u4e2d \u3002 \u53ef\u4ee5 \u914d\u7f6e \u4f20\u8f93 \u529f\u7387 \u548c \u63a5\u6536 \u63a5\u6536\u5668 \u7075\u654f \u654f\u5ea6 \u7075\u654f\u5ea6 \uff08 \u53c2\u9605 \u8bf7\u53c2\u9605   \u84dd\u56fe \u5c5e\u6027   \uff09 \u3002   \u635f\u8017   \u8ba1\u7b97 \u53d6\u51b3 \u53d6\u51b3\u4e8e   -   \u53d1\u9001 \u65b9 \u548c \u63a5\u6536 \u65b9 \u4e4b\u95f4 \u7684 \u53ef\u89c1 \u6027 \u6761\u4ef6 \uff1a \u89c6\u7ebf \uff08 \u65e0 \u969c\u788d \u969c\u788d\u7269 \uff09 \u3001 \u88ab \u5efa\u7b51 \u5efa\u7b51\u7269 \u906e\u6321 \u7684 \u975e \u89c6\u7ebf \u6216 \u88ab \u8f66\u8f86 \u906e\u6321 \u7684 \u975e \u89c6\u7ebf \uff0c \u4ee5\u53ca   -   \u573a\u666f \uff1a \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3001 \u4e61\u6751 \u6216 \u57ce\u5e02 \u73af\u5883   \u867d\u7136 \u5728   CARLA   \u4e2d \u6a21\u62df \u4e86 \u53ef\u89c1 \u6027 \uff0c \u4f46 \u7528\u6237 \u53ef\u4ee5 \u914d\u7f6e \u573a\u666f \uff08 \u53c2\u89c1   \u84dd\u56fe \u5c5e\u6027   \uff09 \uff0c \u4ee5\u53ca \u65e0\u7ebf \u4fe1\u9053 \u7684 \u5176\u4ed6 \u51e0\u4e2a \u5c5e\u6027 \u3002","title":"V2X   \u4f20\u611f\u5668  "},{"location":"ref_sensors/#_46","text":"","title":"\u4f20\u611f\u5668 \uff08 \u5b50 \uff09 \u7c7b\u578b"},{"location":"ref_sensors/#_47","text":"\u84dd\u56fe \uff1a   sensor . other . v2x   \u8f93\u51fa \uff1a   carla . CAMData   ,   \u6839\u636e   ETSI   CAM   ( ooperative   Awareness   Message \uff0c \u534f\u540c \u8b66\u793a \u6d88\u606f )   \u6807\u51c6 \u89e6\u53d1 \uff0c \u9664\u975e \u53e6\u6709 \u914d\u7f6e   \u6839\u636e   ETSI   \u6807\u51c6 \u7684 \u89e6\u53d1 \u6761\u4ef6 \uff1a   -   \u822a\u5411 \u89d2 \u53d8\u5316   >   $ 4 $ \u00b0   -   \u4f4d\u7f6e \u5dee   >   $ 4 $   m   -   \u901f\u5ea6 \u53d8\u5316   >   $ 5 $   m / s   -   \u7ecf\u8fc7 \u65f6\u95f4   >   CAM   \u751f\u6210 \u65f6\u95f4 \uff08 \u53ef \u914d\u7f6e \uff09   -   \u4f4e\u9891 \u5bb9\u5668 \u7ecf\u8fc7 \u65f6\u95f4   $ >   500 $   ms   \u5bf9\u4e8e   CAM   V2X   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u9002\u7528 \u5176\u4ed6 \u84dd\u56fe \u5c5e\u6027 \uff1a   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \u63cf\u8ff0   \u6d88\u606f \u751f\u6210   gen _ cam _ min   float   $ 0.1 $   \u4e24\u4e2a \u8fde\u7eed   CAM   \u4e4b\u95f4 \u7684 \u6700 \u77ed\u65f6 \u65f6\u95f4 \u77ed\u65f6\u95f4 \u95f4\u9694 \uff08 \u79d2 \uff09   gen _ cam _ max   float   $ 1.0 $   \u4e24\u4e2a \u8fde\u7eed   CAM   \u4e4b\u95f4 \u7684 \u6700\u5927 \u65f6\u95f4 \u95f4\u9694 \uff08 \u79d2 \uff09   fixed _ rate   bool   false   [ true ]   \u5728 \u6bcf\u4e2a   Carla   \u8282\u62cd \u4e2d \u751f\u6210 \u4e00\u4e2a   CAM \uff08 \u4ec5 \u7528\u4e8e \u8c03\u8bd5 \u76ee\u7684 \uff0c \u4f1a \u5bfc\u81f4 \u901f\u5ea6 \u53d8\u6162 \uff09   \u6570\u636e \u751f\u6210   noise _ vel _ stddev _ x   float   0.0   \u566a\u58f0 \u6a21\u578b \u4e2d \u901f\u5ea6 \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \uff08 X   \u8f74 \uff09 \u3002   noise _ accel _ stddev _ x   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 X   \u8f74 \uff09 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ accel _ stddev _ y   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \uff08 Y   \u8f74 \uff09 \u3002   noise _ accel _ stddev _ z   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 Z   \u8f74 \uff09 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ yawrate _ bias   float   0.0   \u566a\u58f0 \u6a21\u578b \u4e2d \u504f\u822a \u901f\u5ea6 \u89d2\u901f\u5ea6 \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ yawrate _ stddev   float   0.0   \u504f\u822a \u901f\u5ea6 \u89d2\u901f\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ alt _ bias   float   0.0   \u566a\u58f0 \u6a21\u578b \u4e2d \u6d77\u62d4 \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ alt _ stddev   float   0.0   \u6d77\u62d4 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ lat _ bias   float   0.0   \u7eac\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ lat _ stddev   float   0.0   \u7eac\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u6807\u51c6\u5dee \u53c2\u6570 \u3002   noise _ lon _ bias   float   0.0   \u566a\u58f0 \u6a21\u578b \u4e2d \u7ecf\u5ea6 \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ lon _ stddev   float   0.0   \u566a\u58f0 \u6a21\u578b \u4e2d \u7ecf\u5ea6 \u7684 \u6807\u51c6 \u6807\u51c6\u5dee \u53c2\u6570 \u3002   noise _ head _ bias   float   0.0   \u822a\u5411 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ head _ stddev   float   0.0   \u822a\u5411 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002","title":"\u534f\u540c \u611f\u77e5 \u6d88\u606f  "},{"location":"ref_sensors/#v2x_1","text":"\u84dd\u56fe \uff1a   sensor . other . v2x _ custom   \u8f93\u51fa \uff1a   carla . CustomV2XData   \uff0c \u5728 \u8c03\u7528   send ( )   \u540e \u89e6\u53d1 \u4e0b \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f","title":"\u81ea\u5b9a\u4e49   V2X   \u6d88\u606f  "},{"location":"ref_sensors/#_48","text":"send   (   self   ,   callback   )   \u7528\u6237 \u6bcf\u6b21 \u53d1\u9001 \u6d88\u606f \u65f6 \u5fc5\u987b \u8c03\u7528 \u7684 \u51fd\u6570 \u3002 \u6b64 \u51fd\u6570 \u9700\u8981 \u4e00\u4e2a \u5305\u542b \u5bf9\u8c61 \u7c7b\u578b   carla . SensorData   \u7684 \u53c2\u6570 \u6765 \u5904\u7406 \u3002   \u53c2\u6570 \uff1a   data   (   function   )   -   \u88ab \u8c03\u7528 \u7684 \u51fd\u6570 \u5e26\u6709 \u4e00\u4e2a \u5305\u542b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u7684 \u53c2\u6570 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49   V2X   \u6d88\u606f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7565\u6709 \u4e0d\u540c \u7565\u6709\u4e0d\u540c \uff0c \u56e0\u4e3a \u5b83 \u9664\u4e86   \u4fa6\u542c   \u51fd\u6570 \u4e4b\u5916 \u8fd8 \u5177\u6709   \u53d1\u9001   \u51fd\u6570 \uff0c \u9700\u8981 \u5148 \u8c03\u7528 \u8be5 \u51fd\u6570 \uff0c \u7136\u540e \u5176\u4ed6 \u6b64\u7c7b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u624d\u80fd \u63a5\u6536 \u4efb\u4f55 \u5185\u5bb9 \u3002 \u53ea\u6709 \u5728 \u8c03\u7528   \u53d1\u9001   \u65f6\u624d \u4f1a \u89e6\u53d1 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d88\u606f \u7684 \u4f20\u8f93 \u3002 \u53d1\u9001 \u9001\u7ed9 \u53d1\u9001\u7ed9   \u53d1\u9001   \u51fd\u6570 \u7684 \u6bcf\u6761 \u6d88\u606f \u4ec5 \u5411 \u5f53\u524d \u751f\u6210 \u7684 \u6240\u6709 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49   V2X   \u6d88\u606f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f20\u8f93 \u4e00\u6b21 \u3002   \u793a\u4f8b \uff1a   bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . v2x _ custom ' )   sensor   =   world . spawn _ actor ( bp ,   carla . Transform ( ) ,   attach _ to = parent )   sensor . send ( \" Hello   CARLA \" )","title":"\u65b9\u6cd5"},{"location":"ref_sensors/#v2x_2","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \u63cf\u8ff0   transmit _ power   float   $ 21.5 $   \u53d1\u9001 \u65b9 \u4f20\u8f93 \u529f\u7387 \uff08 \u5355\u4f4d \uff1a dBm \uff09   receiver _ sensitivity   float   $ - 99 $   \u63a5\u6536 \u63a5\u6536\u5668 \u7075\u654f \u654f\u5ea6 \u7075\u654f\u5ea6 \uff08 \u5355\u4f4d \uff1a dBm \uff09   frequency _ ghz   float   $ 5.9 $   \u4f20\u8f93 \u9891\u7387 \uff08 GHz \uff09 \u3002 5.9   GHz   \u662f \u591a\u4e2a \u7269\u7406 \u4fe1\u9053 \u7684 \u6807\u51c6 \u3002   noise _ seed   int   $ 0 $   \u566a\u58f0 \u521d\u59cb \u521d\u59cb\u5316 \u7684 \u968f\u673a \u53c2\u6570   filter _ distance   float   $ 500 $   \u6700\u5927 \u4f20\u8f93 \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \uff0c \u4e0a\u9762 \u7684 \u8def\u5f84 \u635f\u8017 \u8ba1\u7b97 \u56e0 \u6a21\u62df \u901f\u5ea6 \u800c \u7565\u8fc7   \u8def\u5f84 \u635f\u8017 \u6a21\u578b \u53c2\u6570   combined _ antenna _ gain   float   $ 10.0 $   \u53d1\u5c04 \u53d1\u5c04\u673a \u548c \u63a5\u6536 \u63a5\u6536\u673a \u5929\u7ebf \u7684 \u7ec4\u5408 \u589e\u76ca \uff08 \u4ee5   dBi   \u4e3a \u5355\u4f4d \uff09 \uff0c \u8f90\u5c04 \u6548\u7387 \u8f90\u5c04\u6548\u7387 \u548c \u65b9\u5411 \u5411\u6027 \u65b9\u5411\u6027 \u7684 \u53c2\u6570   d _ ref   float   $   1.0   $   \u5bf9\u6570 \u8ddd\u79bb \u8def\u5f84 \u635f\u8017 \u6a21\u578b \u7684 \u53c2\u8003 \u8ddd\u79bb \uff08 \u5355\u4f4d \uff1a \u7c73 \uff09   path _ loss _ exponent   float   2.7   \u7531\u4e8e \u5efa\u7b51 \u5efa\u7b51\u7269 \u906e\u6321 \u5bfc\u81f4 \u7684 \u975e \u89c6\u8ddd \u635f\u8017 \u53c2\u6570   scenario   string   urban   \u9009\u9879 \uff1a [ urban ,   rustic ,   highly   available ] \uff0c \u5b9a\u4e49 \u8870\u843d \u566a\u58f0 \u53c2\u6570   path _ loss _ model   string   geometric   \u4f7f\u7528 \u7684 \u901a\u7528 \u8def\u5f84 \u635f\u8017 \u6a21\u578b \u3002 \u9009\u9879 \uff1a [ geometric ,   winor ]   use _ etsi _ fading   bool   true   \u4f7f\u7528   ETSI   \u51fa\u7248 \u51fa\u7248\u7269 \u4e2d \u63d0\u5230 \u7684 \u8870\u843d \u53c2\u6570 \uff08 true \uff09 \uff0c \u6216 \u4f7f\u7528 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8870\u843d \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee   custom _ fading _ stddev   float   0.0   \u8870\u51cf \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u503c \uff0c \u4ec5\u5f53   use _ etsi _ fading   \u8bbe\u7f6e \u4e3a   false   \u65f6\u624d \u4f7f\u7528","title":"V2X   \u4f20\u611f\u5668 \u84dd\u56fe \u5c5e\u6027"},{"location":"release_readme/","text":"Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u611f\u8c22 \u611f\u8c22\u60a8 \u4e0b\u8f7d   Carla \uff01   http : / / carla . org /   \u5982\u4f55 \u8fd0\u884c   Carla   \u5728 \u6b64 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u542f\u52a8 \u7ec8\u7aef \u5e76 \u901a\u8fc7 \u8fd0\u884c \u6765 \u6267\u884c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   . / CarlaUE4 . sh   \u8fd9 \u5c06 \u542f\u52a8 \u4e00\u4e2a \u53ef\u4ee5 \u770b\u5230 \u57ce\u5e02 \u666f\u89c2 \u7684 \u7a97\u53e3 \u3002 \u8fd9\u662f \u201c \u89c2\u5bdf \u89c2\u5bdf\u8005 \u201d \u89c6\u56fe \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u9f20\u6807 \u548c   WASD   \u952e \u5728 \u57ce\u5e02 \u4e2d \u98de\u884c \uff0c \u4f46 \u65e0\u6cd5 \u4e0e \u6b64 \u89c6\u56fe \u4e2d \u7684 \u4e16\u754c \u8fdb\u884c \u4ea4\u4e92 \u3002 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u73b0\u5728 \u4f5c\u4e3a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fd0\u884c \uff0c \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u8fde\u63a5 \u5e76 \u4e0e \u4e16\u754c \u4ea4\u4e92 \u3002   \u8ba9 \u6211\u4eec \u9996\u5148 \u5411 \u57ce\u5e02 \u6dfb\u52a0 \u4e00\u4e9b \u5b9e\u65f6 \u5185\u5bb9 \uff0c \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7684 \u7ec8\u7aef \u7a97\u53e3 \u5e76 \u6267\u884c   . / generate _ traffic . py   - n   80   \u8fd9 \u4f7f\u5f97 \u5168\u7403 \u589e\u52a0 \u4e86   80   \u8f86 \u4ee5 \u201c \u81ea\u52a8 \u9a7e\u9a76 \u201d \u6a21\u5f0f \u884c\u9a76 \u7684 \u8f66\u8f86 \u3002 \u56de\u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7a97\u53e3 \uff0c \u6211\u4eec \u5e94\u8be5 \u770b\u5230 \u8fd9\u4e9b \u8f66\u8f86 \u5728 \u57ce\u5e02 \u4e2d \u884c\u9a76 \u3002 \u4ed6\u4eec \u5c06 \u7ee7\u7eed \u968f\u673a \u9a7e\u9a76 \uff0c \u76f4\u5230 \u6211\u4eec \u505c\u6b62 \u811a\u672c \u3002 \u6211\u4eec \u6682\u65f6 \u628a \u5b83\u4eec \u7559\u5728 \u90a3\u91cc \u5427 \u3002   \u73b0\u5728 \uff0c \u5361\u62c9 \u5929\u6c14 \u6674\u6717 \u5929\u6c14\u6674\u6717 \uff0c \u9633\u5149 \u5149\u660e \u660e\u5a9a \u9633\u5149\u660e\u5a9a \uff0c \u4f46 \u8fd9 \u5e76 \u4e0d\u662f \u4e00\u4e2a \u975e\u5e38 \u6709\u8da3 \u7684 \u9a7e\u9a76 \u6761\u4ef6 \u3002 Carla   \u7684 \u4e00\u9879 \u5f88\u9177 \u7684 \u529f\u80fd \u662f \u60a8 \u53ef\u4ee5 \u63a7\u5236 \u4e16\u754c \u7684 \u5929\u6c14 \u548c \u7167\u660e \u6761\u4ef6 \u3002 \u6211\u4eec \u73b0\u5728 \u5c06 \u542f\u52a8 \u4e00\u4e2a \u52a8\u6001 \u63a7\u5236 \u52a8\u6001\u63a7\u5236 \u4e00\u5929 \u4e2d \u7684 \u5929\u6c14 \u548c \u65f6\u95f4 \u7684 \u811a\u672c \uff0c \u6253\u5f00 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u7a97\u53e3 \u5e76 \u6267\u884c   . / dynamic _ weather . py   \u8fd9\u5ea7 \u57ce\u5e02 \u73b0\u5728 \u5df2\u7ecf \u51c6\u5907 \u597d \u8ba9 \u6211\u4eec \u5f00\u8f66 \u4e86 \uff0c \u6211\u4eec \u7ec8\u4e8e \u53ef\u4ee5 \u8fd0\u884c \u4e86   . / manual _ control . py   \u8fd9 \u5e94\u8be5 \u4f1a \u6253\u5f00 \u4e00\u4e2a \u7a97\u53e3 \u65b0\u7a97\u53e3 \uff0c \u5176\u4e2d \u5305\u542b \u6c7d\u8f66 \u7684 \u7b2c\u4e09 \u4eba\u79f0 \u7b2c\u4e09\u4eba\u79f0 \u89c6\u56fe \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528   WASD / \u7bad\u5934 \u7bad\u5934\u952e   \u9a7e\u9a76 \u8fd9\u8f86 \u8f66 \u3002 \u6309 \u201c h \u201d \u67e5\u770b \u6240\u6709 \u53ef\u7528 \u9009\u9879 \u3002   \u6709\u5173 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u548c \u8fd0\u884c \u9009\u9879 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u6211\u4eec \u7684   \u5728\u7ebf \u6587\u6863   \u3002","title":"Carla   \u4eff\u771f\u5668"},{"location":"release_readme/#carla","text":"\u611f\u8c22 \u611f\u8c22\u60a8 \u4e0b\u8f7d   Carla \uff01   http : / / carla . org /","title":"Carla   \u4eff\u771f\u5668"},{"location":"release_readme/#carla_1","text":"\u5728 \u6b64 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u542f\u52a8 \u7ec8\u7aef \u5e76 \u901a\u8fc7 \u8fd0\u884c \u6765 \u6267\u884c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   . / CarlaUE4 . sh   \u8fd9 \u5c06 \u542f\u52a8 \u4e00\u4e2a \u53ef\u4ee5 \u770b\u5230 \u57ce\u5e02 \u666f\u89c2 \u7684 \u7a97\u53e3 \u3002 \u8fd9\u662f \u201c \u89c2\u5bdf \u89c2\u5bdf\u8005 \u201d \u89c6\u56fe \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u9f20\u6807 \u548c   WASD   \u952e \u5728 \u57ce\u5e02 \u4e2d \u98de\u884c \uff0c \u4f46 \u65e0\u6cd5 \u4e0e \u6b64 \u89c6\u56fe \u4e2d \u7684 \u4e16\u754c \u8fdb\u884c \u4ea4\u4e92 \u3002 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u73b0\u5728 \u4f5c\u4e3a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fd0\u884c \uff0c \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u8fde\u63a5 \u5e76 \u4e0e \u4e16\u754c \u4ea4\u4e92 \u3002   \u8ba9 \u6211\u4eec \u9996\u5148 \u5411 \u57ce\u5e02 \u6dfb\u52a0 \u4e00\u4e9b \u5b9e\u65f6 \u5185\u5bb9 \uff0c \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7684 \u7ec8\u7aef \u7a97\u53e3 \u5e76 \u6267\u884c   . / generate _ traffic . py   - n   80   \u8fd9 \u4f7f\u5f97 \u5168\u7403 \u589e\u52a0 \u4e86   80   \u8f86 \u4ee5 \u201c \u81ea\u52a8 \u9a7e\u9a76 \u201d \u6a21\u5f0f \u884c\u9a76 \u7684 \u8f66\u8f86 \u3002 \u56de\u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7a97\u53e3 \uff0c \u6211\u4eec \u5e94\u8be5 \u770b\u5230 \u8fd9\u4e9b \u8f66\u8f86 \u5728 \u57ce\u5e02 \u4e2d \u884c\u9a76 \u3002 \u4ed6\u4eec \u5c06 \u7ee7\u7eed \u968f\u673a \u9a7e\u9a76 \uff0c \u76f4\u5230 \u6211\u4eec \u505c\u6b62 \u811a\u672c \u3002 \u6211\u4eec \u6682\u65f6 \u628a \u5b83\u4eec \u7559\u5728 \u90a3\u91cc \u5427 \u3002   \u73b0\u5728 \uff0c \u5361\u62c9 \u5929\u6c14 \u6674\u6717 \u5929\u6c14\u6674\u6717 \uff0c \u9633\u5149 \u5149\u660e \u660e\u5a9a \u9633\u5149\u660e\u5a9a \uff0c \u4f46 \u8fd9 \u5e76 \u4e0d\u662f \u4e00\u4e2a \u975e\u5e38 \u6709\u8da3 \u7684 \u9a7e\u9a76 \u6761\u4ef6 \u3002 Carla   \u7684 \u4e00\u9879 \u5f88\u9177 \u7684 \u529f\u80fd \u662f \u60a8 \u53ef\u4ee5 \u63a7\u5236 \u4e16\u754c \u7684 \u5929\u6c14 \u548c \u7167\u660e \u6761\u4ef6 \u3002 \u6211\u4eec \u73b0\u5728 \u5c06 \u542f\u52a8 \u4e00\u4e2a \u52a8\u6001 \u63a7\u5236 \u52a8\u6001\u63a7\u5236 \u4e00\u5929 \u4e2d \u7684 \u5929\u6c14 \u548c \u65f6\u95f4 \u7684 \u811a\u672c \uff0c \u6253\u5f00 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u7a97\u53e3 \u5e76 \u6267\u884c   . / dynamic _ weather . py   \u8fd9\u5ea7 \u57ce\u5e02 \u73b0\u5728 \u5df2\u7ecf \u51c6\u5907 \u597d \u8ba9 \u6211\u4eec \u5f00\u8f66 \u4e86 \uff0c \u6211\u4eec \u7ec8\u4e8e \u53ef\u4ee5 \u8fd0\u884c \u4e86   . / manual _ control . py   \u8fd9 \u5e94\u8be5 \u4f1a \u6253\u5f00 \u4e00\u4e2a \u7a97\u53e3 \u65b0\u7a97\u53e3 \uff0c \u5176\u4e2d \u5305\u542b \u6c7d\u8f66 \u7684 \u7b2c\u4e09 \u4eba\u79f0 \u7b2c\u4e09\u4eba\u79f0 \u89c6\u56fe \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528   WASD / \u7bad\u5934 \u7bad\u5934\u952e   \u9a7e\u9a76 \u8fd9\u8f86 \u8f66 \u3002 \u6309 \u201c h \u201d \u67e5\u770b \u6240\u6709 \u53ef\u7528 \u9009\u9879 \u3002   \u6709\u5173 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u548c \u8fd0\u884c \u9009\u9879 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u6211\u4eec \u7684   \u5728\u7ebf \u6587\u6863   \u3002","title":"\u5982\u4f55 \u8fd0\u884c   Carla"},{"location":"ros_compatibility/","text":"ROS   \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u8282\u70b9   ROS   \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u8282\u70b9   \u662f \u4e00\u4e2a \u63a5\u53e3 \uff0c \u5141\u8bb8 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u4e0e   ROS   1   \u548c   ROS   2   \u65e0\u7f1d \u4f7f\u7528 \u3002 \u6839\u636e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   ROS _ VERSION   \uff0c \u76f8\u540c \u7684   API   \u5c06 \u8c03\u7528   ROS   1   \u6216   ROS   2   \u51fd\u6570 \u3002 \u5b83 \u901a\u8fc7 \u521b\u5efa \u7ee7\u627f   CompatibleNode   \u521b\u5efa \u7c7b \u3002   ROS   \u53c2\u6570   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5728   ROS   2   \u4e2d \u8bbe\u7f6e \u6216 \u8bbf\u95ee \u53c2\u6570 \u4e4b\u524d \u9700\u8981 \u58f0\u660e \u53c2\u6570 \u3002 ROS   1   \u4e2d \u5e76\u975e \u5982\u6b64 \u5e76\u975e\u5982\u6b64 \u3002 \u4e3a\u4e86 \u4fdd\u6301   ROS   1   \u548c   ROS   2   \u6a21\u5f0f \u4ee5 \u76f8\u4f3c \u7684 \u65b9\u5f0f \u5de5\u4f5c \uff0c \u5728   ROS   2   \u7684   CompatibleNode   \u7248\u672c \u4e2d\u5c06 \u53c2\u6570   allow _ undeclared _ parameters   \u8bbe\u7f6e \u4e3a   True   \uff0c \u5141\u8bb8 \u4f7f\u7528 \u53c2\u6570   TrueCompatibleNode   \u800c \u65e0\u9700 \u4e8b\u5148 \u58f0\u660e \u3002   \u670d\u52a1   \u5728   ROS   2   \u4e2d \uff0c \u670d\u52a1 \u53ef\u4ee5 \u5f02\u6b65 \u8c03\u7528 \u3002 ROS   1   \u4e2d \u5e76\u975e \u5982\u6b64 \u5e76\u975e\u5982\u6b64 \u3002 \u56e0\u6b64 \uff0c ROS   2   \u7248\u672c \u7684   call _ service ( )   \u65b9\u6cd5 \u5728 \u5f02\u6b65 \u8c03\u7528 \u540e \u4f1a \u7b49\u5f85 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u54cd\u5e94 \uff0c \u4ee5 \u4eff\u771f   ROS   1   \u7684 \u540c\u6b65 \u884c\u4e3a \u3002   \u7b14\u8bb0   \u5728 \u7b49\u5f85 \u54cd\u5e94 \u65f6 \uff0c ROS   2   \u7684   call _ service ( )   \u65b9\u6cd5 \u4f1a \u65cb\u8f6c \u8282\u70b9 \u3002 \u5982\u679c \u53e6 \u4e00\u4e2a \u7ebf\u7a0b \u5e76\u884c \u65cb\u8f6c \u540c\u4e00 \u8282\u70b9 \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u95ee\u9898 \uff08 \u9519\u8bef \u6216 \u6b7b\u9501 \uff09 \u3002","title":"ROS   \u517c\u5bb9\u6027 \u8282\u70b9"},{"location":"ros_compatibility/#ros","text":"ROS   \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u8282\u70b9   \u662f \u4e00\u4e2a \u63a5\u53e3 \uff0c \u5141\u8bb8 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u4e0e   ROS   1   \u548c   ROS   2   \u65e0\u7f1d \u4f7f\u7528 \u3002 \u6839\u636e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   ROS _ VERSION   \uff0c \u76f8\u540c \u7684   API   \u5c06 \u8c03\u7528   ROS   1   \u6216   ROS   2   \u51fd\u6570 \u3002 \u5b83 \u901a\u8fc7 \u521b\u5efa \u7ee7\u627f   CompatibleNode   \u521b\u5efa \u7c7b \u3002","title":"ROS   \u517c\u5bb9\u6027 \u8282\u70b9"},{"location":"ros_compatibility/#ros_1","text":"\u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5728   ROS   2   \u4e2d \u8bbe\u7f6e \u6216 \u8bbf\u95ee \u53c2\u6570 \u4e4b\u524d \u9700\u8981 \u58f0\u660e \u53c2\u6570 \u3002 ROS   1   \u4e2d \u5e76\u975e \u5982\u6b64 \u5e76\u975e\u5982\u6b64 \u3002 \u4e3a\u4e86 \u4fdd\u6301   ROS   1   \u548c   ROS   2   \u6a21\u5f0f \u4ee5 \u76f8\u4f3c \u7684 \u65b9\u5f0f \u5de5\u4f5c \uff0c \u5728   ROS   2   \u7684   CompatibleNode   \u7248\u672c \u4e2d\u5c06 \u53c2\u6570   allow _ undeclared _ parameters   \u8bbe\u7f6e \u4e3a   True   \uff0c \u5141\u8bb8 \u4f7f\u7528 \u53c2\u6570   TrueCompatibleNode   \u800c \u65e0\u9700 \u4e8b\u5148 \u58f0\u660e \u3002","title":"ROS   \u53c2\u6570"},{"location":"ros_compatibility/#_1","text":"\u5728   ROS   2   \u4e2d \uff0c \u670d\u52a1 \u53ef\u4ee5 \u5f02\u6b65 \u8c03\u7528 \u3002 ROS   1   \u4e2d \u5e76\u975e \u5982\u6b64 \u5e76\u975e\u5982\u6b64 \u3002 \u56e0\u6b64 \uff0c ROS   2   \u7248\u672c \u7684   call _ service ( )   \u65b9\u6cd5 \u5728 \u5f02\u6b65 \u8c03\u7528 \u540e \u4f1a \u7b49\u5f85 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u54cd\u5e94 \uff0c \u4ee5 \u4eff\u771f   ROS   1   \u7684 \u540c\u6b65 \u884c\u4e3a \u3002   \u7b14\u8bb0   \u5728 \u7b49\u5f85 \u54cd\u5e94 \u65f6 \uff0c ROS   2   \u7684   call _ service ( )   \u65b9\u6cd5 \u4f1a \u65cb\u8f6c \u8282\u70b9 \u3002 \u5982\u679c \u53e6 \u4e00\u4e2a \u7ebf\u7a0b \u5e76\u884c \u65cb\u8f6c \u540c\u4e00 \u8282\u70b9 \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u95ee\u9898 \uff08 \u9519\u8bef \u6216 \u6b7b\u9501 \uff09 \u3002","title":"\u670d\u52a1"},{"location":"ros_documentation/","text":"ROS   \u6865   ROS   \u6865 \u53ef \u5b9e\u73b0   ROS   \u548c   Carla   \u4e4b\u95f4 \u7684 \u53cc\u5411 \u901a\u4fe1 \u53cc\u5411\u901a\u4fe1 \u3002 \u6765\u81ea   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u4fe1\u606f \u88ab \u8f6c\u6362 \u4e3a   ROS   \u4e3b\u9898 \u3002 \u4ee5 \u540c\u6837 \u7684 \u65b9\u5f0f \uff0c ROS   \u4e2d \u7684 \u8282\u70b9 \u4e4b\u95f4 \u53d1\u9001 \u7684 \u6d88\u606f \u88ab \u8f6c\u6362 \u4e3a \u8981 \u5728   Carla   \u4e2d \u5e94\u7528 \u7684 \u547d\u4ee4 \u3002   ROS   \u6865 \u4e0e   ROS   1   \u548c   ROS   2   \u517c\u5bb9 \u3002   ROS   \u6865 \u5177\u6709 \u4ee5\u4e0b \u7279\u70b9 \uff1a   \u4e3a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u76f8\u673a \uff08 \u6df1\u5ea6 \u3001 \u5206\u5272 \u3001 rgb \u3001 dvs \uff09 \u3001 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u3001 \u96f7\u8fbe \u548c \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u63d0\u4f9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u63d0\u4f9b \u5bf9\u8c61 \u6570\u636e \uff0c \u4f8b\u5982 \u53d8\u6362 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u3001 \u53ef\u89c6 \u53ef\u89c6\u5316 \u6807\u8bb0 \u3001 \u78b0\u649e \u548c \u538b\u7ebf \u3002   \u901a\u8fc7 \u8f6c\u5411 \u3001 \u6cb9\u95e8 \u548c \u5236\u52a8 \u63a7\u5236 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u3002   \u63a7\u5236   Carla   \u4eff\u771f \u7684 \u5404\u4e2a \u65b9\u9762 \u5404\u4e2a\u65b9\u9762 \uff0c \u4f8b\u5982 \u540c\u6b65 \u6a21\u5f0f \u3001 \u64ad\u653e \u548c \u6682\u505c \u4eff\u771f \u4ee5\u53ca \u8bbe\u7f6e \u4eff\u771f \u53c2\u6570 \u3002   \u5f00\u59cb \u4f7f\u7528   \u4e3a   ROS   1   \u5b89\u88c5   ROS   \u6865   \u4e3a   ROS   2   \u5b89\u88c5   ROS   \u6865   \u4e86\u89e3 \u4e3b\u8981 \u7684   ROS   \u6865\u63a5 \u5305   Carla   \u7684   ROS   \u6865   -   \u8fd0\u884c   ROS   \u6865 \u6240 \u9700 \u7684 \u4e3b\u5305   ROS   \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u8282\u70b9   -   \u5141\u8bb8 \u76f8\u540c   API   \u8c03\u7528   ROS   1   \u6216   ROS   2   \u51fd\u6570 \u7684 \u63a5\u53e3   \u4e86\u89e3 \u989d\u5916 \u7684   ROS   \u6865\u63a5 \u5305   Carla   \u751f\u6210 \u5bf9\u8c61   -   \u63d0\u4f9b \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901a\u7528 \u65b9\u6cd5   Carla   \u624b\u52a8 \u63a7\u5236   -   \u7528\u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684 \u57fa\u4e8e   ROS   \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u548c \u63a7\u5236 \u5de5\u5177 \uff08 \u7c7b\u4f3c \u4e8e   Carla   \u63d0\u4f9b \u7684   carla _ manual _ control . py   \uff09   Carla   \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236   -   \u4e00\u4e2a \u5c06 \u963f\u514b \u963f\u514b\u66fc \u547d\u4ee4 \u8f6c\u4e3a \u8f6c\u5411 / \u6cb9\u95e8 / \u5239\u8f66 \u7684 \u63a7\u5236 \u63a7\u5236\u5668   Carla   \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   -   \u53d1\u5e03 \u548c \u67e5\u8be2   Carla   \u8def\u5f84 \u70b9   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406   -   \u9075\u5faa \u8def\u7ebf \u3001 \u907f\u514d \u78b0\u649e \u5e76 \u9075\u5b88 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u793a\u4f8b \u4ee3\u7406   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u793a\u4f8b   -   \u4e00\u4e2a \u793a\u4f8b \u5305 \uff0c \u63d0\u4f9b \u4f7f\u7528 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u542f\u52a8   Carla   ROS   \u73af\u5883 \u6240 \u9700 \u7684 \u4e00\u5207   Carla   ROS   Scenario   Runner   -   \u901a\u8fc7   ROS   \u4f7f\u7528   Carla   Scenario   Runner   \u6267\u884c   OpenScenarios   \u7684 \u5305\u88c5 \u5668   Carla   \u626d\u8f6c \u63a7\u5236   -   \u5c06 \u626d\u8f6c \u63a7\u5236 \u8f6c\u6362 \u4e3a   Carla   \u8f66\u8f86 \u63a7\u5236   RVIZ   \u63d2\u4ef6   -   \u7528\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 / \u63a7\u5236   Carla   \u7684   RVIZ   \u63d2\u4ef6   RQT   \u63d2\u4ef6   -   \u7528\u4e8e \u63a7\u5236   Carla   \u7684   RQT   \u63d2\u4ef6   PCL   \u8bb0\u5f55 \u8bb0\u5f55\u5668   -   \u6839\u636e \u4eff\u771f \u6355\u83b7 \u7684 \u6570\u636e \u521b\u5efa \u70b9\u4e91 \u5730\u56fe   \u63a2\u7d22 \u53c2\u8003 \u8d44\u6599 \u53c2\u8003\u8d44\u6599   ROS   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   -   \u4e0d\u540c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u53ef\u7528 \u7684 \u53c2\u8003 \u4e3b\u9898   ROS   \u6d88\u606f   -   Carla   ROS   \u6d88\u606f \u4e2d \u63d0\u4f9b \u7684 \u53c2\u8003 \u53c2\u6570","title":"Ros   documentation"},{"location":"ros_documentation/#ros","text":"ROS   \u6865 \u53ef \u5b9e\u73b0   ROS   \u548c   Carla   \u4e4b\u95f4 \u7684 \u53cc\u5411 \u901a\u4fe1 \u53cc\u5411\u901a\u4fe1 \u3002 \u6765\u81ea   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u4fe1\u606f \u88ab \u8f6c\u6362 \u4e3a   ROS   \u4e3b\u9898 \u3002 \u4ee5 \u540c\u6837 \u7684 \u65b9\u5f0f \uff0c ROS   \u4e2d \u7684 \u8282\u70b9 \u4e4b\u95f4 \u53d1\u9001 \u7684 \u6d88\u606f \u88ab \u8f6c\u6362 \u4e3a \u8981 \u5728   Carla   \u4e2d \u5e94\u7528 \u7684 \u547d\u4ee4 \u3002   ROS   \u6865 \u4e0e   ROS   1   \u548c   ROS   2   \u517c\u5bb9 \u3002   ROS   \u6865 \u5177\u6709 \u4ee5\u4e0b \u7279\u70b9 \uff1a   \u4e3a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u76f8\u673a \uff08 \u6df1\u5ea6 \u3001 \u5206\u5272 \u3001 rgb \u3001 dvs \uff09 \u3001 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u3001 \u96f7\u8fbe \u548c \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u63d0\u4f9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u63d0\u4f9b \u5bf9\u8c61 \u6570\u636e \uff0c \u4f8b\u5982 \u53d8\u6362 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u3001 \u53ef\u89c6 \u53ef\u89c6\u5316 \u6807\u8bb0 \u3001 \u78b0\u649e \u548c \u538b\u7ebf \u3002   \u901a\u8fc7 \u8f6c\u5411 \u3001 \u6cb9\u95e8 \u548c \u5236\u52a8 \u63a7\u5236 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u3002   \u63a7\u5236   Carla   \u4eff\u771f \u7684 \u5404\u4e2a \u65b9\u9762 \u5404\u4e2a\u65b9\u9762 \uff0c \u4f8b\u5982 \u540c\u6b65 \u6a21\u5f0f \u3001 \u64ad\u653e \u548c \u6682\u505c \u4eff\u771f \u4ee5\u53ca \u8bbe\u7f6e \u4eff\u771f \u53c2\u6570 \u3002","title":"ROS   \u6865"},{"location":"ros_documentation/#_1","text":"\u4e3a   ROS   1   \u5b89\u88c5   ROS   \u6865   \u4e3a   ROS   2   \u5b89\u88c5   ROS   \u6865","title":"\u5f00\u59cb \u4f7f\u7528"},{"location":"ros_documentation/#ros_1","text":"Carla   \u7684   ROS   \u6865   -   \u8fd0\u884c   ROS   \u6865 \u6240 \u9700 \u7684 \u4e3b\u5305   ROS   \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u8282\u70b9   -   \u5141\u8bb8 \u76f8\u540c   API   \u8c03\u7528   ROS   1   \u6216   ROS   2   \u51fd\u6570 \u7684 \u63a5\u53e3","title":"\u4e86\u89e3 \u4e3b\u8981 \u7684   ROS   \u6865\u63a5 \u5305"},{"location":"ros_documentation/#ros_2","text":"Carla   \u751f\u6210 \u5bf9\u8c61   -   \u63d0\u4f9b \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901a\u7528 \u65b9\u6cd5   Carla   \u624b\u52a8 \u63a7\u5236   -   \u7528\u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684 \u57fa\u4e8e   ROS   \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u548c \u63a7\u5236 \u5de5\u5177 \uff08 \u7c7b\u4f3c \u4e8e   Carla   \u63d0\u4f9b \u7684   carla _ manual _ control . py   \uff09   Carla   \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236   -   \u4e00\u4e2a \u5c06 \u963f\u514b \u963f\u514b\u66fc \u547d\u4ee4 \u8f6c\u4e3a \u8f6c\u5411 / \u6cb9\u95e8 / \u5239\u8f66 \u7684 \u63a7\u5236 \u63a7\u5236\u5668   Carla   \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   -   \u53d1\u5e03 \u548c \u67e5\u8be2   Carla   \u8def\u5f84 \u70b9   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406   -   \u9075\u5faa \u8def\u7ebf \u3001 \u907f\u514d \u78b0\u649e \u5e76 \u9075\u5b88 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u793a\u4f8b \u4ee3\u7406   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u793a\u4f8b   -   \u4e00\u4e2a \u793a\u4f8b \u5305 \uff0c \u63d0\u4f9b \u4f7f\u7528 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u542f\u52a8   Carla   ROS   \u73af\u5883 \u6240 \u9700 \u7684 \u4e00\u5207   Carla   ROS   Scenario   Runner   -   \u901a\u8fc7   ROS   \u4f7f\u7528   Carla   Scenario   Runner   \u6267\u884c   OpenScenarios   \u7684 \u5305\u88c5 \u5668   Carla   \u626d\u8f6c \u63a7\u5236   -   \u5c06 \u626d\u8f6c \u63a7\u5236 \u8f6c\u6362 \u4e3a   Carla   \u8f66\u8f86 \u63a7\u5236   RVIZ   \u63d2\u4ef6   -   \u7528\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 / \u63a7\u5236   Carla   \u7684   RVIZ   \u63d2\u4ef6   RQT   \u63d2\u4ef6   -   \u7528\u4e8e \u63a7\u5236   Carla   \u7684   RQT   \u63d2\u4ef6   PCL   \u8bb0\u5f55 \u8bb0\u5f55\u5668   -   \u6839\u636e \u4eff\u771f \u6355\u83b7 \u7684 \u6570\u636e \u521b\u5efa \u70b9\u4e91 \u5730\u56fe","title":"\u4e86\u89e3 \u989d\u5916 \u7684   ROS   \u6865\u63a5 \u5305"},{"location":"ros_documentation/#_2","text":"ROS   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   -   \u4e0d\u540c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u53ef\u7528 \u7684 \u53c2\u8003 \u4e3b\u9898   ROS   \u6d88\u606f   -   Carla   ROS   \u6d88\u606f \u4e2d \u63d0\u4f9b \u7684 \u53c2\u8003 \u53c2\u6570","title":"\u63a2\u7d22 \u53c2\u8003\u8d44\u6599"},{"location":"ros_index/","text":"ROS   \u6865 \u6587\u6863   \u8fd9\u662f   ROS   \u6865 \u7684 \u6587\u6863 \uff0c \u5b83 \u5b9e\u73b0 \u4e86   ROS   \u548c   Carla   \u4e4b\u95f4 \u7684 \u53cc\u5411 \u901a\u4fe1 \u53cc\u5411\u901a\u4fe1 \u3002 \u6765\u81ea   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u4fe1\u606f \u88ab \u8f6c\u6362 \u4e3a ROS \u4e3b\u9898 \u3002 \u4ee5 \u540c\u6837 \u7684 \u65b9\u5f0f \uff0c ROS \u4e2d \u8282\u70b9 \u4e4b\u95f4 \u53d1\u9001 \u7684 \u6d88\u606f \u88ab \u8f6c\u6362 \u4e3a   Carla   \u4e2d \u5e94\u7528 \u7684 \u547d\u4ee4 \u3002   ROS \u6865 \u4e0e ROS1 \u548c ROS2 \u90fd \u662f \u76f8\u5bb9 \u7684 \u3002   ROS \u6865 \u5177\u6709 \u4ee5\u4e0b \u7279\u70b9 \uff1a   \u4e3a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u76f8\u673a \uff08 \u6df1\u5ea6 \u3001 \u5206\u5272 \u3001 rgb \u3001 dvs \uff09 \u3001 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u3001 \u96f7\u8fbe \u548c IMU \u63d0\u4f9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u63d0\u4f9b \u5bf9\u8c61 \u6570\u636e \uff0c \u5982 \u53d8\u6362 \u3001 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u72b6\u6001 \u3001 \u53ef\u89c6 \u53ef\u89c6\u5316 \u6807\u8bb0 \u3001 \u78b0\u649e \u548c \u538b\u7ebf \u3002   \u901a\u8fc7 \u8f6c\u5411 \u3001 \u6cb9\u95e8 \u548c \u5236\u52a8 \u5236\u52a8\u5668 \u63a7\u5236 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u3002   \u63a7\u5236   Carla   \u4eff\u771f \u7684 \u5404\u4e2a \u65b9\u9762 \u5404\u4e2a\u65b9\u9762 \uff0c \u5982 \u540c\u6b65 \u6a21\u5f0f \u3001 \u64ad\u653e \u548c \u6682\u505c \u4eff\u771f \u4ee5\u53ca \u8bbe\u7f6e \u4eff\u771f \u53c2\u6570 \u3002   \u5f00\u59cb   \u4e3a ROS   1 \u5b89\u88c5 ROS \u6865   \u4e3a ROS   2 \u5b89\u88c5 ROS \u6865   \u4e86\u89e3 \u4e3b\u8981 \u7684   ROS   \u6865\u63a5 \u5305   CARLA   \u7684   ROS   \u6865   -   \u8fd0\u884c ROS \u6865 \u6240 \u9700 \u7684 \u4e3b \u7a0b\u5e8f \u7a0b\u5e8f\u5305   ROS   \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u8282\u70b9   -   \u5141\u8bb8 \u540c\u4e00   API   \u8c03\u7528   ROS   1   \u6216   ROS   2   \u51fd\u6570 \u7684 \u63a5\u53e3   \u4e86\u89e3 \u5176\u4ed6 ROS \u6865\u63a5 \u5305   Carla   \u751f\u6210 \u5bf9\u8c61   -   \u63d0\u4f9b \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901a\u7528 \u65b9\u6cd5   Carla   \u624b\u52a8 \u63a7\u5236   -   \u7528\u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684 \u57fa\u4e8e   ROS   \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u548c \u63a7\u5236 \u5de5\u5177 \uff08 \u7c7b\u4f3c \u4e8e   Carla   \u63d0\u4f9b \u7684   carla _ manual _ control . py   \uff09   Carla   \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236   -   \u5c06 \u963f\u514b \u963f\u514b\u66fc \u547d\u4ee4 \u8f6c\u6362 \u4e3a   \u8f6c\u5411 / \u6cb9\u95e8 / \u5239\u8f66   \u7684 \u63a7\u5236 \u63a7\u5236\u5668   Carla   \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   -   \u53d1\u5e03 \u548c \u67e5\u8be2   Carla   \u8def\u5f84 \u70b9   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406   -   \u9075\u5faa \u8def\u7ebf \u3001 \u907f\u514d \u78b0\u649e \u5e76 \u9075\u5b88 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u793a\u4f8b \u4ee3\u7406   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u793a\u4f8b   -   \u4e00\u4e2a \u793a\u4f8b \u5305 \uff0c \u63d0\u4f9b \u4e86 \u4f7f\u7528 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u542f\u52a8 Carla   ROS \u73af\u5883 \u6240 \u9700 \u7684 \u4e00\u5207   Carla   ROS   Scenario   Runner   -   \u901a\u8fc7   ROS   \u4e0e   Carla   Scenario   Runner   \u4e00\u8d77 \u6267\u884c   OpenScenarios   \u7684 \u5305\u88c5 \u5668   Carla   \u626d\u66f2 \u63a7\u5236   -   \u5c06 \u626d\u66f2 \u63a7\u5236 \u8f6c\u6362 \u4e3a   Carla   \u8f66\u8f86 \u63a7\u5236   RVIZ   plugin   -   \u53ef\u89c6 \u53ef\u89c6\u5316 / \u63a7\u5236   Carla   \u7684 RVIZ \u63d2\u4ef6   RQT   \u63d2\u4ef6   -   \u63a7\u5236   Carla   \u7684 RQT \u63d2\u4ef6   PCL   \u8bb0\u5f55 \u8bb0\u5f55\u5668   -   \u6839\u636e \u4ece \u4eff\u771f \u4e2d \u6355\u83b7 \u7684 \u6570\u636e \u521b\u5efa \u70b9\u4e91 \u5730\u56fe   \u63a2\u7d22 \u53c2\u8003 \u8d44\u6599 \u53c2\u8003\u8d44\u6599   ROS   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   -   \u4e0d\u540c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u63d0\u4f9b \u7684 \u53c2\u8003 \u4e3b\u9898   ROS   messages   -   Carla   ROS \u6d88\u606f \u4e2d \u63d0\u4f9b \u7684 \u53c2\u8003 \u53c2\u6570","title":"ROS   \u6865 \u6587\u6863"},{"location":"ros_index/#ros","text":"\u8fd9\u662f   ROS   \u6865 \u7684 \u6587\u6863 \uff0c \u5b83 \u5b9e\u73b0 \u4e86   ROS   \u548c   Carla   \u4e4b\u95f4 \u7684 \u53cc\u5411 \u901a\u4fe1 \u53cc\u5411\u901a\u4fe1 \u3002 \u6765\u81ea   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u4fe1\u606f \u88ab \u8f6c\u6362 \u4e3a ROS \u4e3b\u9898 \u3002 \u4ee5 \u540c\u6837 \u7684 \u65b9\u5f0f \uff0c ROS \u4e2d \u8282\u70b9 \u4e4b\u95f4 \u53d1\u9001 \u7684 \u6d88\u606f \u88ab \u8f6c\u6362 \u4e3a   Carla   \u4e2d \u5e94\u7528 \u7684 \u547d\u4ee4 \u3002   ROS \u6865 \u4e0e ROS1 \u548c ROS2 \u90fd \u662f \u76f8\u5bb9 \u7684 \u3002   ROS \u6865 \u5177\u6709 \u4ee5\u4e0b \u7279\u70b9 \uff1a   \u4e3a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u76f8\u673a \uff08 \u6df1\u5ea6 \u3001 \u5206\u5272 \u3001 rgb \u3001 dvs \uff09 \u3001 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u3001 \u96f7\u8fbe \u548c IMU \u63d0\u4f9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u63d0\u4f9b \u5bf9\u8c61 \u6570\u636e \uff0c \u5982 \u53d8\u6362 \u3001 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u72b6\u6001 \u3001 \u53ef\u89c6 \u53ef\u89c6\u5316 \u6807\u8bb0 \u3001 \u78b0\u649e \u548c \u538b\u7ebf \u3002   \u901a\u8fc7 \u8f6c\u5411 \u3001 \u6cb9\u95e8 \u548c \u5236\u52a8 \u5236\u52a8\u5668 \u63a7\u5236 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u3002   \u63a7\u5236   Carla   \u4eff\u771f \u7684 \u5404\u4e2a \u65b9\u9762 \u5404\u4e2a\u65b9\u9762 \uff0c \u5982 \u540c\u6b65 \u6a21\u5f0f \u3001 \u64ad\u653e \u548c \u6682\u505c \u4eff\u771f \u4ee5\u53ca \u8bbe\u7f6e \u4eff\u771f \u53c2\u6570 \u3002","title":"ROS   \u6865 \u6587\u6863"},{"location":"ros_index/#_1","text":"\u4e3a ROS   1 \u5b89\u88c5 ROS \u6865   \u4e3a ROS   2 \u5b89\u88c5 ROS \u6865","title":"\u5f00\u59cb"},{"location":"ros_index/#ros_1","text":"CARLA   \u7684   ROS   \u6865   -   \u8fd0\u884c ROS \u6865 \u6240 \u9700 \u7684 \u4e3b \u7a0b\u5e8f \u7a0b\u5e8f\u5305   ROS   \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u8282\u70b9   -   \u5141\u8bb8 \u540c\u4e00   API   \u8c03\u7528   ROS   1   \u6216   ROS   2   \u51fd\u6570 \u7684 \u63a5\u53e3","title":"\u4e86\u89e3 \u4e3b\u8981 \u7684   ROS   \u6865\u63a5 \u5305"},{"location":"ros_index/#ros_2","text":"Carla   \u751f\u6210 \u5bf9\u8c61   -   \u63d0\u4f9b \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901a\u7528 \u65b9\u6cd5   Carla   \u624b\u52a8 \u63a7\u5236   -   \u7528\u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684 \u57fa\u4e8e   ROS   \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u548c \u63a7\u5236 \u5de5\u5177 \uff08 \u7c7b\u4f3c \u4e8e   Carla   \u63d0\u4f9b \u7684   carla _ manual _ control . py   \uff09   Carla   \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236   -   \u5c06 \u963f\u514b \u963f\u514b\u66fc \u547d\u4ee4 \u8f6c\u6362 \u4e3a   \u8f6c\u5411 / \u6cb9\u95e8 / \u5239\u8f66   \u7684 \u63a7\u5236 \u63a7\u5236\u5668   Carla   \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   -   \u53d1\u5e03 \u548c \u67e5\u8be2   Carla   \u8def\u5f84 \u70b9   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406   -   \u9075\u5faa \u8def\u7ebf \u3001 \u907f\u514d \u78b0\u649e \u5e76 \u9075\u5b88 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u793a\u4f8b \u4ee3\u7406   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u793a\u4f8b   -   \u4e00\u4e2a \u793a\u4f8b \u5305 \uff0c \u63d0\u4f9b \u4e86 \u4f7f\u7528 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u542f\u52a8 Carla   ROS \u73af\u5883 \u6240 \u9700 \u7684 \u4e00\u5207   Carla   ROS   Scenario   Runner   -   \u901a\u8fc7   ROS   \u4e0e   Carla   Scenario   Runner   \u4e00\u8d77 \u6267\u884c   OpenScenarios   \u7684 \u5305\u88c5 \u5668   Carla   \u626d\u66f2 \u63a7\u5236   -   \u5c06 \u626d\u66f2 \u63a7\u5236 \u8f6c\u6362 \u4e3a   Carla   \u8f66\u8f86 \u63a7\u5236   RVIZ   plugin   -   \u53ef\u89c6 \u53ef\u89c6\u5316 / \u63a7\u5236   Carla   \u7684 RVIZ \u63d2\u4ef6   RQT   \u63d2\u4ef6   -   \u63a7\u5236   Carla   \u7684 RQT \u63d2\u4ef6   PCL   \u8bb0\u5f55 \u8bb0\u5f55\u5668   -   \u6839\u636e \u4ece \u4eff\u771f \u4e2d \u6355\u83b7 \u7684 \u6570\u636e \u521b\u5efa \u70b9\u4e91 \u5730\u56fe","title":"\u4e86\u89e3 \u5176\u4ed6 ROS \u6865\u63a5 \u5305"},{"location":"ros_index/#_2","text":"ROS   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   -   \u4e0d\u540c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u63d0\u4f9b \u7684 \u53c2\u8003 \u4e3b\u9898   ROS   messages   -   Carla   ROS \u6d88\u606f \u4e2d \u63d0\u4f9b \u7684 \u53c2\u8003 \u53c2\u6570","title":"\u63a2\u7d22 \u53c2\u8003\u8d44\u6599"},{"location":"ros_installation_ros1/","text":"ROS   1   \u7684   ROS   \u6865\u63a5 \u5b89\u88c5   \u672c \u8282 \u4ecb\u7ecd \u5982\u4f55 \u5728   Linux   \u4e0a \u5b89\u88c5   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u4ee5 \u4e0e   ROS   1   \u4e00\u8d77 \u4f7f\u7528 \u3002 \u60a8 \u5c06 \u627e\u5230 \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6 \u3001 \u5b89\u88c5 \u6b65\u9aa4 \u3001 \u5982\u4f55 \u8fd0\u884c \u57fa\u672c \u5305\u4ee5 \u786e\u4fdd \u4e00\u5207 \u6b63\u5e38 \u4e00\u5207\u6b63\u5e38 \u8fd0\u884c \u4ee5\u53ca \u8fd0\u884c \u6d4b\u8bd5 \u7684 \u547d\u4ee4 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   ROS   \u6865 \u5b89\u88c5   A .   \u4f7f\u7528   Debian   \u5b58\u50a8 \u5e93   B .   \u4f7f\u7528 \u6e90 \u5b58\u50a8 \u5e93   \u8fd0\u884c   ROS   \u6865   \u6d4b\u8bd5   \u91cd\u8981   ROS   \u6865 \u5c1a\u672a \u5728   Windows   \u4e2d \u8fdb\u884c \u6d4b\u8bd5 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5728 \u4f7f\u7528   ROS   \u6865 \u4e4b\u524d \uff0c \u60a8 \u9700\u8981 \u6ee1\u8db3 \u4ee5\u4e0b \u8f6f\u4ef6 \u8981\u6c42 \uff1a   \u6839\u636e \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u5b89\u88c5   ROS \uff1a   ROS   Melodic   \u2014   \u9002\u7528 \u4e8e   Ubuntu   18.04   ( Bionic )   ROS   Noetic   \u2014   \u9002\u7528 \u4e8e   20.04   ( Focal )   \u6839\u636e \u60a8 \u7684 \u9700\u8981 \uff0c \u53ef\u80fd \u9700\u8981 \u989d\u5916 \u7684   ROS   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u4f7f\u7528   rviz   \u6765 \u53ef\u89c6 \u53ef\u89c6\u5316   ROS   \u6570\u636e \u3002   Carla   0.9 . 7   \u6216 \u66f4 \u9ad8 \u7248\u672c   \u2014   \u4ee5\u524d \u7684 \u7248\u672c \u4e0e   ROS   \u6865 \u4e0d \u517c\u5bb9 \u3002 \u6309\u7167   \u5feb\u901f \u542f\u52a8 \u5b89\u88c5   \u6216 \u9488\u5bf9   Linux   \u8fdb\u884c \u6784\u5efa \u3002 \u5efa\u8bae \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5c06   ROS   \u6865\u63a5 \u7248\u672c \u4e0e   Carla   \u7248\u672c \u5339\u914d \u3002   ROS   \u6865 \u5b89\u88c5   \u6709 \u4e24\u4e2a \u9009\u9879 \u53ef \u7528\u4e8e \u5b89\u88c5   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \uff1a   \u901a\u8fc7   Debian   \u5b58\u50a8 \u5e93\u4e2d \u7684   apt   \u5de5\u5177 \u8fdb\u884c \u5b89\u88c5 \u3002 \u4ec5 \u9002\u7528 \u4e8e   Ubuntu   18.04 \u3002   \u4ece   GitHub   \u4e0a \u7684 \u6e90 \u5b58\u50a8 \u5e93 \u514b\u9686 \u3002   \u4e0b\u9762 \u8be6\u7ec6 \u4ecb\u7ecd \u8fd9 \u4e24\u79cd \u65b9\u6cd5 \u3002   \u91cd\u8981   \u8981 \u5b89\u88c5   0.9 . 10   \u4e4b\u524d \u7684   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u7248\u672c \uff0c \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u65e7\u7248 \u7248\u672c \u65e7\u7248\u672c \u7684   Carla   \u6587\u6863 \u4e2d \u7684 \u8bf4\u660e \u3002 \u4f7f\u7528 \u7a97\u53e3 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u7684 \u9762\u677f \u66f4 \u6539\u4e3a \u9002\u5f53 \u7248\u672c \u7684 \u6587\u6863 \u3002   A .   \u4f7f\u7528   Debian   \u5b58\u50a8 \u5e93   \u7b14\u8bb0   \u6b64 \u5b89\u88c5 \u65b9\u6cd5 \u4ec5 \u9002\u7528 \u4e8e   Ubuntu   18.04 \u3002 \u5bf9\u4e8e \u5176\u4ed6 \u652f\u6301 \u7684 \u53d1\u884c \u53d1\u884c\u7248 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   B   \u90e8\u5206 \uff1a \u4f7f\u7528 \u6e90 \u5b58\u50a8 \u5e93   \u3002   1 .   \u5728 \u60a8 \u7684 \u7cfb\u7edf \u4e2d \u8bbe\u7f6e   Debian   \u5b58\u50a8 \u5e93 \uff1a   sudo   apt - key   adv   -- keyserver   keyserver . ubuntu . com   -- recv - keys   1AF1527DE64CB8D9   sudo   add - apt - repository   \" deb   [ arch = amd64 ]   http : / / dist . carla . org / carla   $ ( lsb _ release   - sc )   main \"   2 .   \u5b89\u88c5 ROS \u6865 \uff1a   \u6700\u65b0 \u7248\u672c \uff1a   sudo   apt - get   update   #   \u66f4\u65b0 Debian \u5305 \u7d22\u5f15   sudo   apt - get   install   carla - ros - bridge   #   \u5b89\u88c5 \u6700\u65b0 \u7684 ROS \u6865\u63a5 \u7248\u672c \uff0c \u6216 \u66f4\u65b0 \u5f53\u524d \u7684 \u5b89\u88c5   \u901a\u8fc7 \u5411 \u547d\u4ee4 \u6dfb\u52a0 \u7248\u672c \u6807\u7b7e \u6765 \u5b89\u88c5 \u7279\u5b9a \u7248\u672c \uff1a   apt - cache   madison   carla - ros - bridge   #   \u5217\u51fa ROS \u6865\u63a5 \u7684 \u53ef\u7528 \u7248\u672c   sudo   apt - get   install   carla - ros - bridge = 0.9 . 10 - 1   #   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u201c 0.9 . 10 \u201d \u6307 \u7684 \u662f ROS \u6865\u63a5 \u7248\u672c \uff0c \u201c 1 \u201d \u6307 \u7684 \u662f Debian \u7248\u672c   3 .   \u68c0\u67e5   / opt /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d ROS \u6865 \u662f\u5426 \u5df2 \u5b89\u88c5 \u6210\u529f \u3002   B .   \u4f7f\u7528 \u6e90 \u5b58\u50a8 \u5e93   1 .   \u521b\u5efa catkin \u5de5\u4f5c \u533a \uff1a   mkdir   - p   ~ / carla - ros - bridge / catkin _ ws / src   2 .   \u514b\u9686   ROS   \u6865 \u5b58\u50a8 \u5e93\u548c\u5b50 \u6a21\u5757 \uff1a   cd   ~ / carla - ros - bridge   git   clone   -- recurse - submodules   https : / / github . com / carla - simulator / ros - bridge . git   catkin _ ws / src / ros - bridge   5 .   \u6839\u636e \u60a8 \u5b89\u88c5 \u7684   ROS   \u7248\u672c \u8bbe\u7f6e   ROS   \u73af\u5883 \uff1a   source   / opt / ros / < melodic / noetic > / setup . bash   6 .   \u5b89\u88c5 \u6240 \u9700 \u7684   ros   \u4f9d\u8d56 \u9879 \uff1a   cd   catkin _ ws   rosdep   update   rosdep   install   -- from - paths   src   -- ignore - src   - r   7 .   \u6784\u5efa ROS \u6865 \uff1a   catkin   build   #   alternatively   catkin _ make   \u8fd0\u884c   ROS   \u6865   1 .   \u6309\u7167 \u5b89\u88c5   Carla   \u65f6 \u4f7f\u7528 \u7684 \u5b89\u88c5 \u65b9\u6cd5 \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff1a   #   \u5305 \u7248\u672c \u5728   carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   . / CarlaUE4 . sh   #   Debian   \u5b89\u88c5 \u5728   ` opt / carla - simulator / `   . / CarlaUE4 . sh   #   \u4ece   carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u7684 \u6e90 \u7248\u672c \u6784\u5efa   make   launch   2 .   \u5c06 \u6b63\u786e \u7684   Carla   \u6a21\u5757 \u6dfb\u52a0 \u5230 \u60a8 \u7684   Python   \u8def\u5f84 \uff1a   export   CARLA _ ROOT = < path - to - carla >   export   PYTHONPATH = $ PYTHONPATH : $ CARLA _ ROOT / PythonAPI / carla / dist / carla - < carla _ version _ and _ arch > . egg : $ CARLA _ ROOT / PythonAPI / carla   3 .   \u6839\u636e   ROS   \u6865 \u7684 \u5b89\u88c5 \u65b9\u6cd5 \u6dfb\u52a0   ROS   \u6865 \u5de5\u4f5c \u7a7a\u95f4 \u7684 \u6e90 \u8def\u5f84 \u3002 \u6bcf\u6b21 \u60a8 \u60f3\u8981 \u8fd0\u884c   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u65f6 \uff0c \u90fd \u5e94\u8be5 \u5728 \u6bcf\u4e2a \u7ec8\u7aef \u4e2d \u5b8c\u6210 \u6b64 \u64cd\u4f5c \uff1a   #   \u7528\u4e8e   debian   \u5b89\u88c5   ROS   \u6865 \u3002 \u6839\u636e \u5df2 \u5b89\u88c5 \u7684   ROS   \u7248\u672c \u66f4\u6539 \u547d\u4ee4 \u3002   source   / opt / carla - ros - bridge / < melodic / noetic > / setup . bash   #   \u4e3a   GitHub   \u5e93 \u5b89\u88c5   ROS   \u6865   source   ~ / carla - ros - bridge / catkin _ ws / devel / setup . bash   \u91cd\u8981   \u6e90 \u8def\u5f84 \u53ef\u4ee5 \u6c38\u4e45 \u8bbe\u7f6e \uff0c \u4f46 \u5728 \u4f7f\u7528 \u5176\u4ed6 \u5de5\u4f5c \u533a\u65f6 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u51b2\u7a81 \u3002   4 .   \u542f\u52a8   ROS   \u6865 \u3002 \u4f7f\u7528 \u4efb\u4f55 \u53ef\u7528 \u7684 \u4e0d\u540c \u542f\u52a8 \u6587\u4ef6 \u6765 \u68c0\u67e5 \u5b89\u88c5 \uff1a   #   \u9009\u9879 1 : \u542f\u52a8   ros   \u6865   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge . launch   #   \u9009\u9879 2 : \u542f\u52a8 ros \u6865 \u548c \u4e00\u4e2a \u793a\u4f8b \u81ea\u6211 \u8f66\u8f86   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch   \u7b14\u8bb0   \u5982\u679c \u60a8 \u6536\u5230 \u9519\u8bef \uff1a   ImportError :   no   module   named   CARLA   \u5219 \u7f3a\u5c11   CARLA   Python   API   \u7684 \u8def\u5f84 \u3002 apt   \u5b89\u88c5 \u4f1a \u81ea\u52a8 \u8bbe\u7f6e \u8def\u5f84 \uff0c \u4f46 \u5176\u4ed6 \u5b89\u88c5 \u53ef\u80fd \u4f1a \u4e22\u5931 \u8be5 \u8def\u5f84 \u3002   \u60a8 \u9700\u8981 \u5c06 \u9002\u5f53 \u7684   . egg   \u6587\u4ef6 \u6dfb\u52a0 \u5230 \u60a8 \u7684   Python   \u8def\u5f84 \u4e2d \u3002 \u60a8 \u5c06 \u5728   / PythonAPI /   \u6216   / PythonAPI / dist /   \u4e2d \u627e\u5230 \u8be5 \u6587\u4ef6 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e   Carla   \u5b89\u88c5 \u3002 \u4f7f\u7528 \u4e0e \u60a8 \u5b89\u88c5 \u7684   Python   \u7248\u672c \u76f8\u5bf9 \u5e94 \u7684   . egg   \u6587\u4ef6 \uff0c \u4f7f\u7528 \u6587\u4ef6 \u7684 \u5b8c\u6574 \u8def\u5f84 \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   export   PYTHONPATH = $ PYTHONPATH : path / to / carla / PythonAPI / < your _ egg _ file >   \u5efa\u8bae \u901a\u8fc7 \u5c06 \u524d \u4e00\u884c \u6dfb\u52a0 \u5230   . bashrc   \u6587\u4ef6 \u4e2d\u6765 \u6c38\u4e45 \u8bbe\u7f6e \u6b64 \u53d8\u91cf \u3002   \u8981 \u68c0\u67e5   Carla   \u5e93 \u662f\u5426 \u53ef\u4ee5 \u6b63\u786e \u5bfc\u5165 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u5e76 \u7b49\u5f85 \u6210\u529f \u6d88\u606f \uff1a   python3   - c   ' import   carla ; print ( \" Success \" ) '   #   python3   or   python   - c   ' import   carla ; print ( \" Success \" ) '   #   python2   \u6d4b\u8bd5   \u4f7f\u7528   catkin   \u6267\u884c \u6d4b\u8bd5 \uff1a   1 .   \u6784\u5efa \u5305 \uff1a   catkin _ make   - DCATKIN _ ENABLE _ TESTING = 0   2 .   \u8fd0\u884c \u6d4b\u8bd5 \uff1a   rostest   carla _ ros _ bridge   ros _ bridge _ client . test","title":"ROS   1   \u7684   ROS   \u6865\u63a5 \u5b89\u88c5"},{"location":"ros_installation_ros1/#ros-1-ros","text":"\u672c \u8282 \u4ecb\u7ecd \u5982\u4f55 \u5728   Linux   \u4e0a \u5b89\u88c5   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u4ee5 \u4e0e   ROS   1   \u4e00\u8d77 \u4f7f\u7528 \u3002 \u60a8 \u5c06 \u627e\u5230 \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6 \u3001 \u5b89\u88c5 \u6b65\u9aa4 \u3001 \u5982\u4f55 \u8fd0\u884c \u57fa\u672c \u5305\u4ee5 \u786e\u4fdd \u4e00\u5207 \u6b63\u5e38 \u4e00\u5207\u6b63\u5e38 \u8fd0\u884c \u4ee5\u53ca \u8fd0\u884c \u6d4b\u8bd5 \u7684 \u547d\u4ee4 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   ROS   \u6865 \u5b89\u88c5   A .   \u4f7f\u7528   Debian   \u5b58\u50a8 \u5e93   B .   \u4f7f\u7528 \u6e90 \u5b58\u50a8 \u5e93   \u8fd0\u884c   ROS   \u6865   \u6d4b\u8bd5   \u91cd\u8981   ROS   \u6865 \u5c1a\u672a \u5728   Windows   \u4e2d \u8fdb\u884c \u6d4b\u8bd5 \u3002","title":"ROS   1   \u7684   ROS   \u6865\u63a5 \u5b89\u88c5"},{"location":"ros_installation_ros1/#_1","text":"\u5728 \u4f7f\u7528   ROS   \u6865 \u4e4b\u524d \uff0c \u60a8 \u9700\u8981 \u6ee1\u8db3 \u4ee5\u4e0b \u8f6f\u4ef6 \u8981\u6c42 \uff1a   \u6839\u636e \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u5b89\u88c5   ROS \uff1a   ROS   Melodic   \u2014   \u9002\u7528 \u4e8e   Ubuntu   18.04   ( Bionic )   ROS   Noetic   \u2014   \u9002\u7528 \u4e8e   20.04   ( Focal )   \u6839\u636e \u60a8 \u7684 \u9700\u8981 \uff0c \u53ef\u80fd \u9700\u8981 \u989d\u5916 \u7684   ROS   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u4f7f\u7528   rviz   \u6765 \u53ef\u89c6 \u53ef\u89c6\u5316   ROS   \u6570\u636e \u3002   Carla   0.9 . 7   \u6216 \u66f4 \u9ad8 \u7248\u672c   \u2014   \u4ee5\u524d \u7684 \u7248\u672c \u4e0e   ROS   \u6865 \u4e0d \u517c\u5bb9 \u3002 \u6309\u7167   \u5feb\u901f \u542f\u52a8 \u5b89\u88c5   \u6216 \u9488\u5bf9   Linux   \u8fdb\u884c \u6784\u5efa \u3002 \u5efa\u8bae \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5c06   ROS   \u6865\u63a5 \u7248\u672c \u4e0e   Carla   \u7248\u672c \u5339\u914d \u3002","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d"},{"location":"ros_installation_ros1/#ros","text":"\u6709 \u4e24\u4e2a \u9009\u9879 \u53ef \u7528\u4e8e \u5b89\u88c5   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \uff1a   \u901a\u8fc7   Debian   \u5b58\u50a8 \u5e93\u4e2d \u7684   apt   \u5de5\u5177 \u8fdb\u884c \u5b89\u88c5 \u3002 \u4ec5 \u9002\u7528 \u4e8e   Ubuntu   18.04 \u3002   \u4ece   GitHub   \u4e0a \u7684 \u6e90 \u5b58\u50a8 \u5e93 \u514b\u9686 \u3002   \u4e0b\u9762 \u8be6\u7ec6 \u4ecb\u7ecd \u8fd9 \u4e24\u79cd \u65b9\u6cd5 \u3002   \u91cd\u8981   \u8981 \u5b89\u88c5   0.9 . 10   \u4e4b\u524d \u7684   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u7248\u672c \uff0c \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u65e7\u7248 \u7248\u672c \u65e7\u7248\u672c \u7684   Carla   \u6587\u6863 \u4e2d \u7684 \u8bf4\u660e \u3002 \u4f7f\u7528 \u7a97\u53e3 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u7684 \u9762\u677f \u66f4 \u6539\u4e3a \u9002\u5f53 \u7248\u672c \u7684 \u6587\u6863 \u3002","title":"ROS   \u6865 \u5b89\u88c5"},{"location":"ros_installation_ros1/#a-debian","text":"\u7b14\u8bb0   \u6b64 \u5b89\u88c5 \u65b9\u6cd5 \u4ec5 \u9002\u7528 \u4e8e   Ubuntu   18.04 \u3002 \u5bf9\u4e8e \u5176\u4ed6 \u652f\u6301 \u7684 \u53d1\u884c \u53d1\u884c\u7248 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   B   \u90e8\u5206 \uff1a \u4f7f\u7528 \u6e90 \u5b58\u50a8 \u5e93   \u3002   1 .   \u5728 \u60a8 \u7684 \u7cfb\u7edf \u4e2d \u8bbe\u7f6e   Debian   \u5b58\u50a8 \u5e93 \uff1a   sudo   apt - key   adv   -- keyserver   keyserver . ubuntu . com   -- recv - keys   1AF1527DE64CB8D9   sudo   add - apt - repository   \" deb   [ arch = amd64 ]   http : / / dist . carla . org / carla   $ ( lsb _ release   - sc )   main \"   2 .   \u5b89\u88c5 ROS \u6865 \uff1a   \u6700\u65b0 \u7248\u672c \uff1a   sudo   apt - get   update   #   \u66f4\u65b0 Debian \u5305 \u7d22\u5f15   sudo   apt - get   install   carla - ros - bridge   #   \u5b89\u88c5 \u6700\u65b0 \u7684 ROS \u6865\u63a5 \u7248\u672c \uff0c \u6216 \u66f4\u65b0 \u5f53\u524d \u7684 \u5b89\u88c5   \u901a\u8fc7 \u5411 \u547d\u4ee4 \u6dfb\u52a0 \u7248\u672c \u6807\u7b7e \u6765 \u5b89\u88c5 \u7279\u5b9a \u7248\u672c \uff1a   apt - cache   madison   carla - ros - bridge   #   \u5217\u51fa ROS \u6865\u63a5 \u7684 \u53ef\u7528 \u7248\u672c   sudo   apt - get   install   carla - ros - bridge = 0.9 . 10 - 1   #   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u201c 0.9 . 10 \u201d \u6307 \u7684 \u662f ROS \u6865\u63a5 \u7248\u672c \uff0c \u201c 1 \u201d \u6307 \u7684 \u662f Debian \u7248\u672c   3 .   \u68c0\u67e5   / opt /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d ROS \u6865 \u662f\u5426 \u5df2 \u5b89\u88c5 \u6210\u529f \u3002","title":"A .   \u4f7f\u7528   Debian   \u5b58\u50a8 \u5e93"},{"location":"ros_installation_ros1/#b","text":"1 .   \u521b\u5efa catkin \u5de5\u4f5c \u533a \uff1a   mkdir   - p   ~ / carla - ros - bridge / catkin _ ws / src   2 .   \u514b\u9686   ROS   \u6865 \u5b58\u50a8 \u5e93\u548c\u5b50 \u6a21\u5757 \uff1a   cd   ~ / carla - ros - bridge   git   clone   -- recurse - submodules   https : / / github . com / carla - simulator / ros - bridge . git   catkin _ ws / src / ros - bridge   5 .   \u6839\u636e \u60a8 \u5b89\u88c5 \u7684   ROS   \u7248\u672c \u8bbe\u7f6e   ROS   \u73af\u5883 \uff1a   source   / opt / ros / < melodic / noetic > / setup . bash   6 .   \u5b89\u88c5 \u6240 \u9700 \u7684   ros   \u4f9d\u8d56 \u9879 \uff1a   cd   catkin _ ws   rosdep   update   rosdep   install   -- from - paths   src   -- ignore - src   - r   7 .   \u6784\u5efa ROS \u6865 \uff1a   catkin   build   #   alternatively   catkin _ make","title":"B .   \u4f7f\u7528 \u6e90 \u5b58\u50a8 \u5e93"},{"location":"ros_installation_ros1/#ros_1","text":"1 .   \u6309\u7167 \u5b89\u88c5   Carla   \u65f6 \u4f7f\u7528 \u7684 \u5b89\u88c5 \u65b9\u6cd5 \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff1a   #   \u5305 \u7248\u672c \u5728   carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   . / CarlaUE4 . sh   #   Debian   \u5b89\u88c5 \u5728   ` opt / carla - simulator / `   . / CarlaUE4 . sh   #   \u4ece   carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u7684 \u6e90 \u7248\u672c \u6784\u5efa   make   launch   2 .   \u5c06 \u6b63\u786e \u7684   Carla   \u6a21\u5757 \u6dfb\u52a0 \u5230 \u60a8 \u7684   Python   \u8def\u5f84 \uff1a   export   CARLA _ ROOT = < path - to - carla >   export   PYTHONPATH = $ PYTHONPATH : $ CARLA _ ROOT / PythonAPI / carla / dist / carla - < carla _ version _ and _ arch > . egg : $ CARLA _ ROOT / PythonAPI / carla   3 .   \u6839\u636e   ROS   \u6865 \u7684 \u5b89\u88c5 \u65b9\u6cd5 \u6dfb\u52a0   ROS   \u6865 \u5de5\u4f5c \u7a7a\u95f4 \u7684 \u6e90 \u8def\u5f84 \u3002 \u6bcf\u6b21 \u60a8 \u60f3\u8981 \u8fd0\u884c   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u65f6 \uff0c \u90fd \u5e94\u8be5 \u5728 \u6bcf\u4e2a \u7ec8\u7aef \u4e2d \u5b8c\u6210 \u6b64 \u64cd\u4f5c \uff1a   #   \u7528\u4e8e   debian   \u5b89\u88c5   ROS   \u6865 \u3002 \u6839\u636e \u5df2 \u5b89\u88c5 \u7684   ROS   \u7248\u672c \u66f4\u6539 \u547d\u4ee4 \u3002   source   / opt / carla - ros - bridge / < melodic / noetic > / setup . bash   #   \u4e3a   GitHub   \u5e93 \u5b89\u88c5   ROS   \u6865   source   ~ / carla - ros - bridge / catkin _ ws / devel / setup . bash   \u91cd\u8981   \u6e90 \u8def\u5f84 \u53ef\u4ee5 \u6c38\u4e45 \u8bbe\u7f6e \uff0c \u4f46 \u5728 \u4f7f\u7528 \u5176\u4ed6 \u5de5\u4f5c \u533a\u65f6 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u51b2\u7a81 \u3002   4 .   \u542f\u52a8   ROS   \u6865 \u3002 \u4f7f\u7528 \u4efb\u4f55 \u53ef\u7528 \u7684 \u4e0d\u540c \u542f\u52a8 \u6587\u4ef6 \u6765 \u68c0\u67e5 \u5b89\u88c5 \uff1a   #   \u9009\u9879 1 : \u542f\u52a8   ros   \u6865   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge . launch   #   \u9009\u9879 2 : \u542f\u52a8 ros \u6865 \u548c \u4e00\u4e2a \u793a\u4f8b \u81ea\u6211 \u8f66\u8f86   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch   \u7b14\u8bb0   \u5982\u679c \u60a8 \u6536\u5230 \u9519\u8bef \uff1a   ImportError :   no   module   named   CARLA   \u5219 \u7f3a\u5c11   CARLA   Python   API   \u7684 \u8def\u5f84 \u3002 apt   \u5b89\u88c5 \u4f1a \u81ea\u52a8 \u8bbe\u7f6e \u8def\u5f84 \uff0c \u4f46 \u5176\u4ed6 \u5b89\u88c5 \u53ef\u80fd \u4f1a \u4e22\u5931 \u8be5 \u8def\u5f84 \u3002   \u60a8 \u9700\u8981 \u5c06 \u9002\u5f53 \u7684   . egg   \u6587\u4ef6 \u6dfb\u52a0 \u5230 \u60a8 \u7684   Python   \u8def\u5f84 \u4e2d \u3002 \u60a8 \u5c06 \u5728   / PythonAPI /   \u6216   / PythonAPI / dist /   \u4e2d \u627e\u5230 \u8be5 \u6587\u4ef6 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e   Carla   \u5b89\u88c5 \u3002 \u4f7f\u7528 \u4e0e \u60a8 \u5b89\u88c5 \u7684   Python   \u7248\u672c \u76f8\u5bf9 \u5e94 \u7684   . egg   \u6587\u4ef6 \uff0c \u4f7f\u7528 \u6587\u4ef6 \u7684 \u5b8c\u6574 \u8def\u5f84 \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   export   PYTHONPATH = $ PYTHONPATH : path / to / carla / PythonAPI / < your _ egg _ file >   \u5efa\u8bae \u901a\u8fc7 \u5c06 \u524d \u4e00\u884c \u6dfb\u52a0 \u5230   . bashrc   \u6587\u4ef6 \u4e2d\u6765 \u6c38\u4e45 \u8bbe\u7f6e \u6b64 \u53d8\u91cf \u3002   \u8981 \u68c0\u67e5   Carla   \u5e93 \u662f\u5426 \u53ef\u4ee5 \u6b63\u786e \u5bfc\u5165 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u5e76 \u7b49\u5f85 \u6210\u529f \u6d88\u606f \uff1a   python3   - c   ' import   carla ; print ( \" Success \" ) '   #   python3   or   python   - c   ' import   carla ; print ( \" Success \" ) '   #   python2","title":"\u8fd0\u884c   ROS   \u6865"},{"location":"ros_installation_ros1/#_2","text":"\u4f7f\u7528   catkin   \u6267\u884c \u6d4b\u8bd5 \uff1a   1 .   \u6784\u5efa \u5305 \uff1a   catkin _ make   - DCATKIN _ ENABLE _ TESTING = 0   2 .   \u8fd0\u884c \u6d4b\u8bd5 \uff1a   rostest   carla _ ros _ bridge   ros _ bridge _ client . test","title":"\u6d4b\u8bd5"},{"location":"ros_installation_ros2/","text":"ROS   2 \u7684 ROS \u6865 \u5b89\u88c5   \u672c\u8282 \u662f \u5173\u4e8e \u5982\u4f55 \u5728   Linux   \u4e0a \u5b89\u88c5   ROS   \u6865\u4ee5 \u4e0e   ROS   2   \u4e00\u8d77 \u4f7f\u7528 \u7684 \u6307\u5357 \u3002 \u60a8 \u5c06 \u627e\u5230 \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6 \u3001 \u5b89\u88c5 \u6b65\u9aa4 \u3001 \u5982\u4f55 \u8fd0\u884c \u57fa\u672c \u5305\u4ee5 \u786e\u4fdd \u4e00\u5207 \u6b63\u5e38 \u4e00\u5207\u6b63\u5e38 \u5de5\u4f5c \u4ee5\u53ca \u8fd0\u884c \u6d4b\u8bd5 \u7684 \u547d\u4ee4 \u3002   \u5f00\u59cb \u4e4b\u524d   ROS \u6865 \u5b89\u88c5   \u8fd0\u884c ROS \u6865   \u6d4b\u8bd5   \u91cd\u8981   \u9002\u7528 \u4e8e Windows   \u7684   ROS \u4ecd \u5728   \u5b9e\u9a8c   \u3002 \u5b83 \u53ea \u5728 Linux \u7cfb\u7edf \u4e0a \u8fdb\u884c \u8fc7 \u6d4b\u8bd5 \u3002   \u5f00\u59cb \u4e4b\u524d   \u5728 \u4f7f\u7528 ROS \u6865 \u4e4b\u524d \uff0c \u60a8 \u9700\u8981 \u6ee1\u8db3 \u4ee5\u4e0b \u8f6f\u4ef6 \u8981\u6c42 \uff1a   \u5b89\u88c5   ROS :   ROS   2   Foxy   \u2014   \u9488\u5bf9   Ubuntu   20.04   ( Focal )   - \u6839\u636e \u60a8 \u7684 \u9700\u8981 \uff0c \u53ef\u80fd \u9700\u8981 \u989d\u5916 \u7684   ROS   \u5305 \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u662f \u7528   rviz   \u5c06 ROS \u6570\u636e \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   CARLA   0.9 . 11 \u6216 \u66f4 \u9ad8 \u7248\u672c \u2014 \u2014 \u4ee5\u524d \u7684 \u7248\u672c \u4e0e ROS \u6865 \u4e0d \u517c\u5bb9 \u3002 \u9075\u5faa   \u5feb\u901f \u542f\u52a8 \u5b89\u88c5   \u6216\u8005 \u4e3a   Linux \u6784\u5efa   \u3002 \u5efa\u8bae \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5c06 ROS \u6865\u63a5 \u7248\u672c \u4e0e CARLA \u7248\u672c \u5339\u914d \u76f8\u5339\u914d \u3002   ROS \u6865 \u5b89\u88c5   \u6ce8\u610f   Debian \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u5b89\u88c5 \u8fd8 \u4e0d\u80fd \u7528\u4e8e ROS   2 \u3002   1 .   \u8bbe\u7f6e \u9879\u76ee \u76ee\u5f55 \u5e76 \u514b\u9686 ROS \u7f51\u6865 \u5b58\u50a8 \u5e93\u548c\u5b50 \u6a21\u5757 \uff1a   mkdir   - p   ~ / carla - ros - bridge   &&   cd   ~ / carla - ros - bridge   git   clone   -- recurse - submodules   https : / / github . com / carla - simulator / ros - bridge . git   src / ros - bridge   2 .   \u8bbe\u7f6e   ROS   \u73af\u5883 \uff1a   source   / opt / ros / foxy / setup . bash   3 .   \u5b89\u88c5   ROS   \u4f9d\u8d56 \uff1a   rosdep   update   rosdep   install   -- from - paths   src   -- ignore - src   - r   4 .   \u4f7f\u7528 colcon \u6784\u5efa ROS \u6865 \u7684 \u5de5\u4f5c \u7a7a\u95f4 \uff1a   colcon   build   \u8fd0\u884c ROS \u6865   1 .   Start   a   CARLA   server   according   to   the   installation   method   used   to   install   CARLA :   #   Package   version   in   carla   root   folder   . / CarlaUE4 . sh   #   Debian   installation   in   ` opt / carla - simulator / `   . / CarlaUE4 . sh   #   Build   from   source   version   in   carla   root   folder   make   launch   2 .   Add   the   correct   CARLA   modules   to   your   Python   path :   export   CARLA _ ROOT = < path - to - carla >   export   PYTHONPATH = $ PYTHONPATH : $ CARLA _ ROOT / PythonAPI / carla / dist / carla - < carla _ version _ and _ arch > . egg : $ CARLA _ ROOT / PythonAPI / carla   3 .   Add   the   source   path   for   the   ROS   bridge   workspace :   source   . / install / setup . bash   4 .   In   another   terminal ,   start   the   ROS   2   bridge .   You   can   run   one   of   the   two   options   below :   #   Option   1 ,   start   the   basic   ROS   bridge   package   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge . launch . py   #   Option   2 ,   start   the   ROS   bridge   with   an   example   ego   vehicle   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch . py   Note   If   you   receive   the   error :   ImportError :   no   module   named   CARLA   then   the   path   to   the   CARLA   Python   API   is   missing .   The   apt   installation   sets   the   path   automatically ,   but   it   may   be   missing   for   other   installations .   You   will   need   to   add   the   appropriate   . egg   file   to   your   Python   path .   You   will   find   the   file   in   either   / PythonAPI /   or   / PythonAPI / dist /   depending   on   the   CARLA   installation .   Execute   the   following   command   with   the   complete   path   to   the   . egg   file ,   using   the   file   that   corresponds   to   your   installed   version   of   Python :   export   PYTHONPATH = $ PYTHONPATH : path / to / carla / PythonAPI / < your _ egg _ file >   It   is   recommended   to   set   this   variable   permanently   by   adding   the   previous   line   to   your   . bashrc   file .   To   check   the   CARLA   library   can   be   imported   correctly ,   run   the   following   command   and   wait   for   a   success   message :   python3   - c   ' import   carla ; print ( \" Success \" ) '   #   python3   or   python   - c   ' import   carla ; print ( \" Success \" ) '   #   python2   \u6d4b\u8bd5   To   execute   tests   using   colcon :   1 .   Build   the   package :   colcon   build   -- packages - up - to   carla _ ros _ bridge   2 .   Run   the   tests :   launch _ test   carla _ ros _ bridge / test / ros _ bridge _ client _ ros2 _ test . py","title":"ROS   2 \u7684 ROS \u6865 \u5b89\u88c5"},{"location":"ros_installation_ros2/#ros-2ros","text":"\u672c\u8282 \u662f \u5173\u4e8e \u5982\u4f55 \u5728   Linux   \u4e0a \u5b89\u88c5   ROS   \u6865\u4ee5 \u4e0e   ROS   2   \u4e00\u8d77 \u4f7f\u7528 \u7684 \u6307\u5357 \u3002 \u60a8 \u5c06 \u627e\u5230 \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6 \u3001 \u5b89\u88c5 \u6b65\u9aa4 \u3001 \u5982\u4f55 \u8fd0\u884c \u57fa\u672c \u5305\u4ee5 \u786e\u4fdd \u4e00\u5207 \u6b63\u5e38 \u4e00\u5207\u6b63\u5e38 \u5de5\u4f5c \u4ee5\u53ca \u8fd0\u884c \u6d4b\u8bd5 \u7684 \u547d\u4ee4 \u3002   \u5f00\u59cb \u4e4b\u524d   ROS \u6865 \u5b89\u88c5   \u8fd0\u884c ROS \u6865   \u6d4b\u8bd5   \u91cd\u8981   \u9002\u7528 \u4e8e Windows   \u7684   ROS \u4ecd \u5728   \u5b9e\u9a8c   \u3002 \u5b83 \u53ea \u5728 Linux \u7cfb\u7edf \u4e0a \u8fdb\u884c \u8fc7 \u6d4b\u8bd5 \u3002","title":"ROS   2 \u7684 ROS \u6865 \u5b89\u88c5"},{"location":"ros_installation_ros2/#_1","text":"\u5728 \u4f7f\u7528 ROS \u6865 \u4e4b\u524d \uff0c \u60a8 \u9700\u8981 \u6ee1\u8db3 \u4ee5\u4e0b \u8f6f\u4ef6 \u8981\u6c42 \uff1a   \u5b89\u88c5   ROS :   ROS   2   Foxy   \u2014   \u9488\u5bf9   Ubuntu   20.04   ( Focal )   - \u6839\u636e \u60a8 \u7684 \u9700\u8981 \uff0c \u53ef\u80fd \u9700\u8981 \u989d\u5916 \u7684   ROS   \u5305 \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u662f \u7528   rviz   \u5c06 ROS \u6570\u636e \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   CARLA   0.9 . 11 \u6216 \u66f4 \u9ad8 \u7248\u672c \u2014 \u2014 \u4ee5\u524d \u7684 \u7248\u672c \u4e0e ROS \u6865 \u4e0d \u517c\u5bb9 \u3002 \u9075\u5faa   \u5feb\u901f \u542f\u52a8 \u5b89\u88c5   \u6216\u8005 \u4e3a   Linux \u6784\u5efa   \u3002 \u5efa\u8bae \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5c06 ROS \u6865\u63a5 \u7248\u672c \u4e0e CARLA \u7248\u672c \u5339\u914d \u76f8\u5339\u914d \u3002","title":"\u5f00\u59cb \u4e4b\u524d"},{"location":"ros_installation_ros2/#ros","text":"\u6ce8\u610f   Debian \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u5b89\u88c5 \u8fd8 \u4e0d\u80fd \u7528\u4e8e ROS   2 \u3002   1 .   \u8bbe\u7f6e \u9879\u76ee \u76ee\u5f55 \u5e76 \u514b\u9686 ROS \u7f51\u6865 \u5b58\u50a8 \u5e93\u548c\u5b50 \u6a21\u5757 \uff1a   mkdir   - p   ~ / carla - ros - bridge   &&   cd   ~ / carla - ros - bridge   git   clone   -- recurse - submodules   https : / / github . com / carla - simulator / ros - bridge . git   src / ros - bridge   2 .   \u8bbe\u7f6e   ROS   \u73af\u5883 \uff1a   source   / opt / ros / foxy / setup . bash   3 .   \u5b89\u88c5   ROS   \u4f9d\u8d56 \uff1a   rosdep   update   rosdep   install   -- from - paths   src   -- ignore - src   - r   4 .   \u4f7f\u7528 colcon \u6784\u5efa ROS \u6865 \u7684 \u5de5\u4f5c \u7a7a\u95f4 \uff1a   colcon   build","title":"ROS \u6865 \u5b89\u88c5"},{"location":"ros_installation_ros2/#ros_1","text":"1 .   Start   a   CARLA   server   according   to   the   installation   method   used   to   install   CARLA :   #   Package   version   in   carla   root   folder   . / CarlaUE4 . sh   #   Debian   installation   in   ` opt / carla - simulator / `   . / CarlaUE4 . sh   #   Build   from   source   version   in   carla   root   folder   make   launch   2 .   Add   the   correct   CARLA   modules   to   your   Python   path :   export   CARLA _ ROOT = < path - to - carla >   export   PYTHONPATH = $ PYTHONPATH : $ CARLA _ ROOT / PythonAPI / carla / dist / carla - < carla _ version _ and _ arch > . egg : $ CARLA _ ROOT / PythonAPI / carla   3 .   Add   the   source   path   for   the   ROS   bridge   workspace :   source   . / install / setup . bash   4 .   In   another   terminal ,   start   the   ROS   2   bridge .   You   can   run   one   of   the   two   options   below :   #   Option   1 ,   start   the   basic   ROS   bridge   package   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge . launch . py   #   Option   2 ,   start   the   ROS   bridge   with   an   example   ego   vehicle   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch . py   Note   If   you   receive   the   error :   ImportError :   no   module   named   CARLA   then   the   path   to   the   CARLA   Python   API   is   missing .   The   apt   installation   sets   the   path   automatically ,   but   it   may   be   missing   for   other   installations .   You   will   need   to   add   the   appropriate   . egg   file   to   your   Python   path .   You   will   find   the   file   in   either   / PythonAPI /   or   / PythonAPI / dist /   depending   on   the   CARLA   installation .   Execute   the   following   command   with   the   complete   path   to   the   . egg   file ,   using   the   file   that   corresponds   to   your   installed   version   of   Python :   export   PYTHONPATH = $ PYTHONPATH : path / to / carla / PythonAPI / < your _ egg _ file >   It   is   recommended   to   set   this   variable   permanently   by   adding   the   previous   line   to   your   . bashrc   file .   To   check   the   CARLA   library   can   be   imported   correctly ,   run   the   following   command   and   wait   for   a   success   message :   python3   - c   ' import   carla ; print ( \" Success \" ) '   #   python3   or   python   - c   ' import   carla ; print ( \" Success \" ) '   #   python2","title":"\u8fd0\u884c ROS \u6865"},{"location":"ros_installation_ros2/#_2","text":"To   execute   tests   using   colcon :   1 .   Build   the   package :   colcon   build   -- packages - up - to   carla _ ros _ bridge   2 .   Run   the   tests :   launch _ test   carla _ ros _ bridge / test / ros _ bridge _ client _ ros2 _ test . py","title":"\u6d4b\u8bd5"},{"location":"ros_msgs/","text":"Carla   \u6d88\u606f \u53c2\u8003   \u4ee5\u4e0b \u53c2\u8003 \u5217\u51fa \u4e86   ROS   \u6865\u4e2d \u53ef\u7528 \u7684 \u6240\u6709   Carla   \u6d88\u606f \u3002   \u5bf9 \u8fd9\u4e9b \u6d88\u606f \u6216   Carla - ROS   \u6865 \u7684 \u4efb\u4f55 \u7591\u95ee \u90fd \u53ef\u4ee5 \u5728 \u8bba\u575b \u4e2d \u89e3\u51b3 \u3002   Carla   \u8bba\u575b   CarlaActorInfo . msg   ROS   \u548c   Carla   \u4e4b\u95f4 \u5171\u4eab \u6709\u5173 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4fe1\u606f \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   id   uint32   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 ID \u3002   parent _ id   uint32   \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002 \u5982\u679c \u6ca1\u6709 \u53ef\u7528 \u7684 \u7236\u7ea7 \uff0c \u5219 \u4e3a ` 0 ` \u3002   type   string   \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240 \u57fa\u4e8e \u7684 \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   rolename   string   \u751f\u6210 \u65f6 \u5206\u914d \u7ed9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u540d\u79f0 \u3002   CarlaActorList . msg   \u5305\u542b   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e00\u4e9b \u57fa\u672c \u4fe1\u606f \u7684 \u6d88\u606f \u5217\u8868 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   actors   CarlaActorInfo   \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4fe1\u606f \u7684 \u6d88\u606f \u5217\u8868 \u3002   CarlaCollisionEvent . msg   \u68c0\u7d22 \u7531 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u6d4b \u5230 \u7684 \u78b0\u649e \u4e8b\u4ef6 \u7684 \u6570\u636e \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   header   Header   \u6d88\u606f \u53d1\u5e03 \u65f6 \u7684 \u65f6\u95f4 \u6233 \u548c \u5e27 ID \u3002   other _ actor _ id   uint32   \u68c0\u6d4b \u5230 \u78b0\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   normal _ impulse   geometry _ msgs / Vector3   \u8868\u793a \u78b0\u649e \u4ea7\u751f \u7684 \u8109\u51b2 \u7684 \u77e2\u91cf \u3002   CarlaControl . msg   \u8fd9\u4e9b \u6d88\u606f \u5728 \u540c\u6b65 \u3001 \u975e \u88ab\u52a8 \u6a21\u5f0f \u88ab\u52a8\u6a21\u5f0f \u4e0b \u63a7\u5236 \u4eff\u771f \u3002 \u5b9a\u4e49 \u7684 \u5e38\u91cf \u88ab \u7ffb\u8bd1 \u4e3a \u6b65\u8fdb \u547d\u4ee4 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   command   int8   \u64ad\u653e   = 0   \u6682\u505c   = 1   STEP _ ONCE   = 2   CarlaEgoVehicleControl . msg   \u53d1\u9001 \u6d88\u606f \u4ee5 \u5728 \u81ea\u52a8 \u9a7e\u9a76 \u548c \u624b\u52a8 \u4e24\u79cd \u6a21\u5f0f \u4e0b \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u63a7\u5236 \u3002 \u8fd9\u4e9b \u5185\u5bb9 \u4ee5 \u5806\u6808 \u5f62\u5f0f \u53d1\u5e03 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   header   Header   \u6d88\u606f \u53d1\u5e03 \u65f6 \u7684 \u65f6\u95f4 \u6233 \u548c \u5e27 ID \u3002   throttle   float32   \u63a7\u5236 \u8f66\u8f86 \u6cb9\u95e8 \u7684 \u6807\u91cf \u503c \uff1a   [ 0.0 ,   1.0 ]   steer   float32   \u63a7\u5236 \u8f66\u8f86 \u8f6c\u5411 \u65b9\u5411 \u7684 \u6807\u91cf \u503c \uff1a   [ - 1.0 ,   1.0 ]   \u6765 \u63a7\u5236 \u8f66\u8f86 \u8f6c\u5411   brake   float32   \u63a7\u5236 \u8f66\u8f86 \u5239\u8f66 \u7684 \u6807\u91cf \u503c \uff1a   [ 0.0 ,   1.0 ]   hand _ brake   bool   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u542f\u7528 \u624b\u5239 \u3002   reverse   bool   \u5982\u679c \u4e3a   True   \uff0c \u8f66\u8f86 \u5c06 \u5411 \u540e \u79fb\u52a8 \u3002   gear   int32   \u8f66\u8f86 \u4e2d \u53ef\u7528 \u6863\u4f4d \u4e4b\u95f4 \u7684 \u53d8\u5316 \u3002   manual _ gear _ shift   bool   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u5c06 \u4f7f\u7528   gear   \u8fdb\u884c \u6362\u6863 \u3002   CarlaEgoVehicleInfo . msg   \u6709\u5173 \u8f66\u8f86 \u7684 \u9759\u6001 \u4fe1\u606f \uff0c \u4e3b\u8981 \u662f \u7528\u4e8e \u5b9a\u4e49 \u8f66\u8f86 \u7269\u7406 \u7279\u6027 \u7684 \u5c5e\u6027 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   id   uint32   \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   type   string   \u8be5 \u8f66\u8f86 \u6240 \u57fa\u4e8e \u7684 \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   type   string   \u8be5 \u8f66\u8f86 \u6240 \u57fa\u4e8e \u7684 \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   rolename   string   \u5206\u914d \u7ed9 \u8f66\u8f86 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   wheels   CarlaEgoVehicleInfoWheel   \u5305\u542b \u6709\u5173 \u8f66\u8f6e \u4fe1\u606f \u7684 \u6d88\u606f \u5217\u8868 \u3002   max _ rpm   float32   \u8f66\u8f86 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7684 \u6700\u5927 \u8f6c\u901f \u3002   moi   float32   \u8f66\u8f86 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7684 \u8f6c\u52a8 \u60ef\u91cf \u8f6c\u52a8\u60ef\u91cf \u3002   damping _ rate _ full _ throttle   float32   \u6cb9\u95e8 \u6700\u5927 \u65f6 \u7684 \u963b\u5c3c \u7387 \u3002   damping _ rate _ zero _ throttle   _ clutch _ engaged   float32   \u5f53 \u79bb\u5408 \u79bb\u5408\u5668 \u63a5\u5408 \u4e14 \u6cb9\u95e8 \u4e3a \u96f6\u65f6 \u7684 \u963b\u5c3c \u7387 \u3002   damping _ rate _ zero _ throttle   _ clutch _ disengaged   float32   \u5f53 \u6cb9\u95e8 \u4e3a \u96f6\u4e14 \u79bb\u5408 \u79bb\u5408\u5668 \u5206\u79bb \u65f6 \u7684 \u963b\u5c3c \u7387 \u3002   use _ gear _ autobox   bool   \u5982\u679c \u4e3a   True   \uff0c \u8f66\u8f86 \u5c06 \u914d\u5907 \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u3002   gear _ switch _ time   float32   \u6863\u4f4d \u4e4b\u95f4 \u7684 \u5207\u6362 \u65f6\u95f4 \u3002   clutch _ strength   float32   \u8f66\u8f86 \u7684 \u79bb\u5408 \u79bb\u5408\u5668 \u5f3a\u5ea6 \u3002 \u4ee5   Kgm ^ 2 / s   \u4e3a \u5355\u4f4d \u6d4b\u91cf \u3002   mass   float32   \u8f66\u8f86 \u7684 \u8d28\u91cf \u4ee5 \u5343\u514b \u4e3a \u5355\u4f4d \u6d4b\u91cf \u3002   drag _ coefficient   float32   \u8f66\u8f86 \u5e95\u76d8 \u7684 \u963b\u529b \u7cfb\u6570 \u3002   center _ of _ mass   geometry _ msgs / Vector3   \u8f66\u8f86 \u7684 \u8d28\u5fc3 \u3002   CarlaEgoVehicleInfoWheel . msg   \u6709\u5173 \u8f66\u8f6e \u7684 \u9759\u6001 \u4fe1\u606f \u5c06 \u6210\u4e3a   CarlaEgoVehicleInfo . msg   \u6d88\u606f \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   tire _ friction   float32   \u8868\u793a \u8f66\u8f6e \u6469\u64e6 \u6469\u64e6\u529b \u7684 \u6807\u91cf \u503c \u3002   damping _ rate   float32   \u8f66\u8f6e \u7684 \u963b\u5c3c \u7387 \u3002   max _ steer _ angle   float32   \u8f66\u8f6e \u53ef\u4ee5 \u8f6c\u5411 \u7684 \u6700\u5927 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   radius   float32   \u8f6e\u5b50 \u7684 \u534a\u5f84 \uff0c \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \u3002   max _ brake _ torque   float32   \u6700\u5927 \u5236\u52a8 \u626d\u77e9 \uff08 Nm \uff09 \u3002   max _ handbrake _ torque   float32   \u6700\u5927 \u624b\u5239 \u626d\u77e9 \uff08 Nm \uff09 \u3002   position   geometry _ msgs / Vector3   \u8f66\u8f6e \u7684 \u4e16\u754c \u4f4d\u7f6e \u3002   CarlaEgoVehicleStatus . msg   \u8f66\u8f86 \u4f5c\u4e3a \u4e16\u754c \u4e0a \u7269\u4f53 \u7684 \u5f53\u524d \u72b6\u6001 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   header   Header   \u6d88\u606f \u53d1\u5e03 \u65f6 \u7684 \u65f6\u95f4 \u6233 \u548c \u5e27 ID \u3002   velocity   float32   \u8f66\u8f86 \u7684 \u5f53\u524d \u901f\u5ea6 \u3002   acceleration   geometry _ msgs / Accel   \u8f66\u8f86 \u5f53\u524d \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   orientation   geometry _ msgs / Quaternion   \u8f66\u8f86 \u7684 \u5f53\u524d \u671d\u5411 \u3002   control   CarlaEgoVehicleControl   Carla   \u62a5\u544a \u7684 \u5f53\u524d \u63a7\u5236 \u503c \u3002   CarlaLaneInvasionEvent . msg   \u8fd9\u4e9b \u6d88\u606f \u53d1\u5e03 \u7531 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u7684 \u538b\u7ebf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u6d4b \u5230 \u7684 \u538b\u7ebf \u3002 \u6700\u540e \u4e00\u6b65 \u4e2d \u68c0\u6d4b \u5230 \u7684 \u5165\u4fb5 \u5c06 \u4f5c\u4e3a \u5177\u6709 \u5e38\u91cf \u5b9a\u4e49 \u7684 \u5217\u8868 \u4f20\u9012 \uff0c \u4ee5 \u8bc6\u522b \u7a7f\u8fc7 \u7684 \u8f66\u9053 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   header   header   \u6d88\u606f \u53d1\u5e03 \u65f6 \u7684 \u65f6\u95f4 \u6233 \u548c \u5e27 ID \u3002   crossed _ lane _ markings   int32 [ ]   LANE _ MARKING _ OTHER   = 0   LANE _ MARKING _ BROKEN   = 1   LANE _ MARKING _ SOLID   = 2   CarlaScenario . msg   \u6d4b\u8bd5 \u573a\u666f \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   name   string   \u573a\u666f \u540d\u79f0 \u3002   scenario _ file   string   \u8be5 \u573a\u666f \u7684 \u6d4b\u8bd5 \u6587\u4ef6 \u3002   destination   geometry _ msgs / Pose   \u573a\u666f \u7684 \u76ee\u6807 \u4f4d\u7f6e \u3002   target _ speed   float64   \u573a\u666f \u671f\u95f4 \u671f\u671b \u7684 \u901f\u5ea6 \u3002   CarlaScenarioList . msg   \u8981 \u5728   ScenarioRunner   \u4e2d \u8fd0\u884c \u7684 \u6d4b\u8bd5 \u573a\u666f \u5217\u8868 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   scenarios   CarlaScenario [ ]   \u573a\u666f \u5217\u8868 \u3002   CarlaScenarioRunnerStatus . msg   ScenarioRunner   \u7684 \u5f53\u524d \u72b6\u6001 \u3002 \u5b83 \u662f \u4f7f\u7528 \u5e38\u91cf \u6765 \u7ba1\u7406 \u7684 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   status   uint8   \u573a\u666f \u7684 \u5f53\u524d \u72b6\u6001 \u4f5c\u4e3a \u679a\u4e3e \uff1a   STOPPED   = 0   STARTING   = 1   RUNNING   = 2   SHUTTINGDOWN   = 3   ERROR   = 4   CarlaStatus . msg   \u5f53\u524d \u4e16\u754c \u7684 \u4eff\u771f \u8bbe\u7f6e \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   frame   uint64   \u5f53\u524d \u5e27 \u53f7 \u3002   fixed _ delta _ seconds   float32   \u6700\u540e \u4e00\u6b65 \u548c \u5f53\u524d \u6b65 \u4e4b\u95f4 \u7684 \u4eff\u771f \u65f6\u95f4 \u3002   synchronous _ mode   bool   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \u3002   synchronous _ mode _ running   bool   \u5f53 \u4eff\u771f \u8fd0\u884c \u65f6\u4e3a   True   \u3002 \u6682\u505c \u65f6\u4e3a   False   \u3002   CarlaTrafficLightStatus . msg   \u5173\u4e8e \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u7684 \u6052\u5b9a \u5b9a\u4e49 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   id   uint32   \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   state   uint8   RED   = 0   YELLOW   = 1   GREEN   = 2   OFF   = 3   UNKNOWN   = 4   CarlaTrafficLightStatusList . msg   \u4ea4\u901a \u4ea4\u901a\u706f \u5217\u8868 \u53ca\u5176 \u72b6\u6001 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   scenarios   CarlaTrafficLightStatus [ ]   \u6c47\u603b \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u6d88\u606f \u5217\u8868 \u3002   CarlaWalkerControl . msg   \u5c06 \u8fd0\u52a8 \u63a7\u5236 \u63a7\u5236\u5668 \u5e94\u7528 \u4e8e \u884c\u4eba \u6240 \u9700 \u7684 \u4fe1\u606f \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   direction   geometry _ msgs / Vector3   \u63a7\u5236 \u884c\u4eba \u65b9\u5411 \u7684 \u5411\u91cf \u3002   speed   float32   \u7528\u4e8e \u63a7\u5236 \u884c\u4eba \u901f\u5ea6 \u7684 \u6807\u91cf \u503c \u3002   jump   bool   \u5982\u679c \u4e3a   True   \uff0c \u884c\u4eba \u4f1a \u8df3\u8dc3 \u3002   CarlaWaypoint . msg   \u8def\u5f84 \u70b9 \u5bf9\u8c61 \u4e2d \u5305\u542b \u7684 \u6570\u636e \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   road _ id   int32   OpenDRIVE   \u9053\u8def \u7684   id \u3002   section _ id   int32   OpenDRIVE   \u90e8\u5206 \u7684   id \uff0c \u57fa\u4e8e \u5b83\u4eec \u6700\u521d \u5b9a\u4e49 \u7684 \u987a\u5e8f \u3002   lane _ id   int32   OpenDRIVE   \u8f66\u9053 \u7684 id \uff0c \u8be5\u503c \u53ef\u4ee5 \u662f \u6b63\u6570 \u6216 \u8d1f\u6570 \uff0c \u8868\u793a \u5f53\u524d \u8f66\u9053 \u76f8\u5bf9 \u4e8e \u9053\u8def \u7684 \u65b9\u5411 \u3002   is _ junction   bool   \u5982\u679c \u5f53\u524d \u8def\u70b9 \u4f4d\u4e8e   OpenDRIVE   \u5b9a\u4e49 \u7684 \u4ea4\u6c47 \u4ea4\u6c47\u70b9 \u4e0a \uff0c \u5219 \u4e3a   True   \u3002   is _ junction   geometry _ msgs / Pose   \u5f53 \u4eff\u771f \u8fd0\u884c \u65f6\u4e3a   True   \u3002 \u6682\u505c \u65f6\u4e3a   False   \u3002   CarlaWorldInfo . msg   \u6709\u5173 \u5f53\u524d   Carla   \u5730\u56fe \u7684 \u4fe1\u606f \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   map _ name   string   \u5f53\u524d \u4e16\u754c \u4e2d \u52a0\u8f7d \u7684   Carla   \u5730\u56fe \u7684 \u540d\u79f0 \u3002   opendrive   string   \u5f53\u524d \u5730\u56fe \u7684   . xodr   OpenDRIVE   \u6587\u4ef6 \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5f62\u5f0f \uff09 \u3002   EgoVehicleControlCurrent . msg   \u8f66\u8f86 \u7684 \u5f53\u524d \u65f6\u95f4 \u3001 \u901f\u5ea6 \u548c \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u503c \u3002 \u7531 \u63a7\u5236 \u63a7\u5236\u5668 \u4f7f\u7528 \u3002 \u5b83 \u662f   Carla _ Ackermann _ Control . EgoVehicleControlInfo . msg   \u6d88\u606f \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   time _ sec   float32   \u5e94\u7528 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5f53\u524d \u65f6\u95f4 \u3002   speed   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u5e94\u7528 \u7684 \u5f53\u524d \u901f\u5ea6 \u3002   speed _ abs   float32   \u4e3a \u7edd\u5bf9 \u7edd\u5bf9\u503c \u7684 \u901f\u5ea6 \u3002   accel   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u5e94\u7528 \u7684 \u5f53\u524d \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   EgoVehicleControlInfo . msg   \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u63a7\u5236\u5668 \u5185 \u7684 \u5f53\u524d \u503c \u3002 \u8fd9\u4e9b \u6d88\u606f \u5bf9\u4e8e \u8c03\u8bd5 \u5f88 \u6709\u7528 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   header   header   \u6d88\u606f \u53d1\u5e03 \u65f6 \u7684 \u65f6\u95f4 \u6233 \u548c \u5e27 ID \u3002   restrictions   EgoVehicleControlMaxima   \u63a7\u5236 \u63a7\u5236\u5668 \u503c \u7684 \u9650\u5236 \u3002   target   EgoVehicleControlTarget   \u63a7\u5236 \u63a7\u5236\u5668 \u503c \u7684 \u9650\u5236 \u3002   current   EgoVehicleControlCurrent   \u63a7\u5236 \u63a7\u5236\u5668 \u503c \u7684 \u9650\u5236 \u3002   status   EgoVehicleControlStatus   \u63a7\u5236 \u63a7\u5236\u5668 \u503c \u7684 \u9650\u5236 \u3002   output   CarlaEgoVehicleControl   \u63a7\u5236 \u63a7\u5236\u5668 \u503c \u7684 \u9650\u5236 \u3002   EgoVehicleControlMaxima . msg   \u63a7\u5236 \u63a7\u5236\u5668 \u9650\u5236 \uff08 \u6781\u9650 \u9650\u503c \u6781\u9650\u503c \uff09 \u3002 \u5b83 \u662f   Carla _ Ackermann _ Control . EgoVehicleControlInfo . msg   \u6d88\u606f \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   max _ steering _ angle   float32   \u8f66\u8f86 \u7684 \u6700\u5927 \u8f6c\u5411 \u89d2 \u3002   max _ speed   float32   \u8f66\u8f86 \u7684 \u6700\u5927 \u901f\u5ea6 \u3002   max _ accel   float32   \u8f66\u8f86 \u7684 \u6700\u5927 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   max _ decel   float32   \u8f66\u8f86 \u7684 \u6700\u5927 \u51cf \u901f\u5ea6 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   8m / s ^ 2   min _ accel   float32   \u8f66\u8f86 \u7684 \u6700\u5c0f \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002 \u5f53 \u963f\u514b \u963f\u514b\u66fc \u76ee\u6807 \u52a0\u901f \u65f6 \u3002 \u8d85\u8fc7 \u6b64\u503c \uff0c \u8f93\u5165 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002 \u88ab \u63a7\u5236 \u3002   max _ pedal   float32   \u6700\u5c0f \u8e0f\u677f \u3002   EgoVehicleControlStatus . msg   \u81ea\u6211 \u8f66\u8f86 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5f53\u524d \u72b6\u6001 \u3002 \u5b83 \u662f   Carla _ Ackermann _ Control . EgoVehicleControlInfo . msg   \u6d88\u606f \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   status   string   \u5f53\u524d \u63a7\u5236 \u72b6\u6001 \u3002   speed _ control _ activation _ count   uint8   \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \u3002   speed _ control _ accel _ delta   float32   \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \u3002   speed _ control _ accel _ target   float32   \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \u3002   accel _ control _ pedal _ delta   float32   \u52a0\u901f \u63a7\u5236 \u63a7\u5236\u5668 \u3002   accel _ control _ pedal _ target   float32   \u52a0\u901f \u63a7\u5236 \u63a7\u5236\u5668 \u3002   brake _ upper _ border   float32   \u6401\u7f6e \u8e0f\u677f \u7684 \u8fb9\u6846 \u3002   throttle _ lower _ border   float32   \u6401\u7f6e \u8e0f\u677f \u7684 \u8fb9\u6846 \u3002   EgoVehicleControlTarget . msg   \u81ea\u6211 \u8f66\u8f86 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u76ee\u6807 \u6807\u503c \u76ee\u6807\u503c \u3002 \u5b83 \u662f   Carla _ Ackermann _ Control . EgoVehicleControlInfo . msg   \u6d88\u606f \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   steering _ angle   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u76ee\u6807 \u8f6c\u5411 \u89d2 \u3002   speed   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u76ee\u6807 \u901f\u5ea6 \u3002   speed _ abs   float32   \u4e3a \u7edd\u5bf9 \u7edd\u5bf9\u503c \u7684 \u901f\u5ea6 \u3002   accel   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u76ee\u6807 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   jerk   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u76ee\u6807 \u6296\u52a8 \u3002","title":"Carla   \u6d88\u606f \u53c2\u8003"},{"location":"ros_msgs/#carla","text":"\u4ee5\u4e0b \u53c2\u8003 \u5217\u51fa \u4e86   ROS   \u6865\u4e2d \u53ef\u7528 \u7684 \u6240\u6709   Carla   \u6d88\u606f \u3002   \u5bf9 \u8fd9\u4e9b \u6d88\u606f \u6216   Carla - ROS   \u6865 \u7684 \u4efb\u4f55 \u7591\u95ee \u90fd \u53ef\u4ee5 \u5728 \u8bba\u575b \u4e2d \u89e3\u51b3 \u3002   Carla   \u8bba\u575b","title":"Carla   \u6d88\u606f \u53c2\u8003"},{"location":"ros_msgs/#carlaactorinfomsg","text":"ROS   \u548c   Carla   \u4e4b\u95f4 \u5171\u4eab \u6709\u5173 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4fe1\u606f \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   id   uint32   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 ID \u3002   parent _ id   uint32   \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002 \u5982\u679c \u6ca1\u6709 \u53ef\u7528 \u7684 \u7236\u7ea7 \uff0c \u5219 \u4e3a ` 0 ` \u3002   type   string   \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240 \u57fa\u4e8e \u7684 \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   rolename   string   \u751f\u6210 \u65f6 \u5206\u914d \u7ed9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u540d\u79f0 \u3002","title":"CarlaActorInfo . msg"},{"location":"ros_msgs/#carlaactorlistmsg","text":"\u5305\u542b   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e00\u4e9b \u57fa\u672c \u4fe1\u606f \u7684 \u6d88\u606f \u5217\u8868 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   actors   CarlaActorInfo   \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4fe1\u606f \u7684 \u6d88\u606f \u5217\u8868 \u3002","title":"CarlaActorList . msg"},{"location":"ros_msgs/#carlacollisioneventmsg","text":"\u68c0\u7d22 \u7531 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u6d4b \u5230 \u7684 \u78b0\u649e \u4e8b\u4ef6 \u7684 \u6570\u636e \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   header   Header   \u6d88\u606f \u53d1\u5e03 \u65f6 \u7684 \u65f6\u95f4 \u6233 \u548c \u5e27 ID \u3002   other _ actor _ id   uint32   \u68c0\u6d4b \u5230 \u78b0\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   normal _ impulse   geometry _ msgs / Vector3   \u8868\u793a \u78b0\u649e \u4ea7\u751f \u7684 \u8109\u51b2 \u7684 \u77e2\u91cf \u3002","title":"CarlaCollisionEvent . msg"},{"location":"ros_msgs/#carlacontrolmsg","text":"\u8fd9\u4e9b \u6d88\u606f \u5728 \u540c\u6b65 \u3001 \u975e \u88ab\u52a8 \u6a21\u5f0f \u88ab\u52a8\u6a21\u5f0f \u4e0b \u63a7\u5236 \u4eff\u771f \u3002 \u5b9a\u4e49 \u7684 \u5e38\u91cf \u88ab \u7ffb\u8bd1 \u4e3a \u6b65\u8fdb \u547d\u4ee4 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   command   int8   \u64ad\u653e   = 0   \u6682\u505c   = 1   STEP _ ONCE   = 2","title":"CarlaControl . msg"},{"location":"ros_msgs/#carlaegovehiclecontrolmsg","text":"\u53d1\u9001 \u6d88\u606f \u4ee5 \u5728 \u81ea\u52a8 \u9a7e\u9a76 \u548c \u624b\u52a8 \u4e24\u79cd \u6a21\u5f0f \u4e0b \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u63a7\u5236 \u3002 \u8fd9\u4e9b \u5185\u5bb9 \u4ee5 \u5806\u6808 \u5f62\u5f0f \u53d1\u5e03 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   header   Header   \u6d88\u606f \u53d1\u5e03 \u65f6 \u7684 \u65f6\u95f4 \u6233 \u548c \u5e27 ID \u3002   throttle   float32   \u63a7\u5236 \u8f66\u8f86 \u6cb9\u95e8 \u7684 \u6807\u91cf \u503c \uff1a   [ 0.0 ,   1.0 ]   steer   float32   \u63a7\u5236 \u8f66\u8f86 \u8f6c\u5411 \u65b9\u5411 \u7684 \u6807\u91cf \u503c \uff1a   [ - 1.0 ,   1.0 ]   \u6765 \u63a7\u5236 \u8f66\u8f86 \u8f6c\u5411   brake   float32   \u63a7\u5236 \u8f66\u8f86 \u5239\u8f66 \u7684 \u6807\u91cf \u503c \uff1a   [ 0.0 ,   1.0 ]   hand _ brake   bool   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u542f\u7528 \u624b\u5239 \u3002   reverse   bool   \u5982\u679c \u4e3a   True   \uff0c \u8f66\u8f86 \u5c06 \u5411 \u540e \u79fb\u52a8 \u3002   gear   int32   \u8f66\u8f86 \u4e2d \u53ef\u7528 \u6863\u4f4d \u4e4b\u95f4 \u7684 \u53d8\u5316 \u3002   manual _ gear _ shift   bool   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u5c06 \u4f7f\u7528   gear   \u8fdb\u884c \u6362\u6863 \u3002","title":"CarlaEgoVehicleControl . msg"},{"location":"ros_msgs/#carlaegovehicleinfomsg","text":"\u6709\u5173 \u8f66\u8f86 \u7684 \u9759\u6001 \u4fe1\u606f \uff0c \u4e3b\u8981 \u662f \u7528\u4e8e \u5b9a\u4e49 \u8f66\u8f86 \u7269\u7406 \u7279\u6027 \u7684 \u5c5e\u6027 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   id   uint32   \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   type   string   \u8be5 \u8f66\u8f86 \u6240 \u57fa\u4e8e \u7684 \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   type   string   \u8be5 \u8f66\u8f86 \u6240 \u57fa\u4e8e \u7684 \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   rolename   string   \u5206\u914d \u7ed9 \u8f66\u8f86 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   wheels   CarlaEgoVehicleInfoWheel   \u5305\u542b \u6709\u5173 \u8f66\u8f6e \u4fe1\u606f \u7684 \u6d88\u606f \u5217\u8868 \u3002   max _ rpm   float32   \u8f66\u8f86 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7684 \u6700\u5927 \u8f6c\u901f \u3002   moi   float32   \u8f66\u8f86 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7684 \u8f6c\u52a8 \u60ef\u91cf \u8f6c\u52a8\u60ef\u91cf \u3002   damping _ rate _ full _ throttle   float32   \u6cb9\u95e8 \u6700\u5927 \u65f6 \u7684 \u963b\u5c3c \u7387 \u3002   damping _ rate _ zero _ throttle   _ clutch _ engaged   float32   \u5f53 \u79bb\u5408 \u79bb\u5408\u5668 \u63a5\u5408 \u4e14 \u6cb9\u95e8 \u4e3a \u96f6\u65f6 \u7684 \u963b\u5c3c \u7387 \u3002   damping _ rate _ zero _ throttle   _ clutch _ disengaged   float32   \u5f53 \u6cb9\u95e8 \u4e3a \u96f6\u4e14 \u79bb\u5408 \u79bb\u5408\u5668 \u5206\u79bb \u65f6 \u7684 \u963b\u5c3c \u7387 \u3002   use _ gear _ autobox   bool   \u5982\u679c \u4e3a   True   \uff0c \u8f66\u8f86 \u5c06 \u914d\u5907 \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u3002   gear _ switch _ time   float32   \u6863\u4f4d \u4e4b\u95f4 \u7684 \u5207\u6362 \u65f6\u95f4 \u3002   clutch _ strength   float32   \u8f66\u8f86 \u7684 \u79bb\u5408 \u79bb\u5408\u5668 \u5f3a\u5ea6 \u3002 \u4ee5   Kgm ^ 2 / s   \u4e3a \u5355\u4f4d \u6d4b\u91cf \u3002   mass   float32   \u8f66\u8f86 \u7684 \u8d28\u91cf \u4ee5 \u5343\u514b \u4e3a \u5355\u4f4d \u6d4b\u91cf \u3002   drag _ coefficient   float32   \u8f66\u8f86 \u5e95\u76d8 \u7684 \u963b\u529b \u7cfb\u6570 \u3002   center _ of _ mass   geometry _ msgs / Vector3   \u8f66\u8f86 \u7684 \u8d28\u5fc3 \u3002","title":"CarlaEgoVehicleInfo . msg"},{"location":"ros_msgs/#carlaegovehicleinfowheelmsg","text":"\u6709\u5173 \u8f66\u8f6e \u7684 \u9759\u6001 \u4fe1\u606f \u5c06 \u6210\u4e3a   CarlaEgoVehicleInfo . msg   \u6d88\u606f \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   tire _ friction   float32   \u8868\u793a \u8f66\u8f6e \u6469\u64e6 \u6469\u64e6\u529b \u7684 \u6807\u91cf \u503c \u3002   damping _ rate   float32   \u8f66\u8f6e \u7684 \u963b\u5c3c \u7387 \u3002   max _ steer _ angle   float32   \u8f66\u8f6e \u53ef\u4ee5 \u8f6c\u5411 \u7684 \u6700\u5927 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   radius   float32   \u8f6e\u5b50 \u7684 \u534a\u5f84 \uff0c \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \u3002   max _ brake _ torque   float32   \u6700\u5927 \u5236\u52a8 \u626d\u77e9 \uff08 Nm \uff09 \u3002   max _ handbrake _ torque   float32   \u6700\u5927 \u624b\u5239 \u626d\u77e9 \uff08 Nm \uff09 \u3002   position   geometry _ msgs / Vector3   \u8f66\u8f6e \u7684 \u4e16\u754c \u4f4d\u7f6e \u3002","title":"CarlaEgoVehicleInfoWheel . msg"},{"location":"ros_msgs/#carlaegovehiclestatusmsg","text":"\u8f66\u8f86 \u4f5c\u4e3a \u4e16\u754c \u4e0a \u7269\u4f53 \u7684 \u5f53\u524d \u72b6\u6001 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   header   Header   \u6d88\u606f \u53d1\u5e03 \u65f6 \u7684 \u65f6\u95f4 \u6233 \u548c \u5e27 ID \u3002   velocity   float32   \u8f66\u8f86 \u7684 \u5f53\u524d \u901f\u5ea6 \u3002   acceleration   geometry _ msgs / Accel   \u8f66\u8f86 \u5f53\u524d \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   orientation   geometry _ msgs / Quaternion   \u8f66\u8f86 \u7684 \u5f53\u524d \u671d\u5411 \u3002   control   CarlaEgoVehicleControl   Carla   \u62a5\u544a \u7684 \u5f53\u524d \u63a7\u5236 \u503c \u3002","title":"CarlaEgoVehicleStatus . msg"},{"location":"ros_msgs/#carlalaneinvasioneventmsg","text":"\u8fd9\u4e9b \u6d88\u606f \u53d1\u5e03 \u7531 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u7684 \u538b\u7ebf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u6d4b \u5230 \u7684 \u538b\u7ebf \u3002 \u6700\u540e \u4e00\u6b65 \u4e2d \u68c0\u6d4b \u5230 \u7684 \u5165\u4fb5 \u5c06 \u4f5c\u4e3a \u5177\u6709 \u5e38\u91cf \u5b9a\u4e49 \u7684 \u5217\u8868 \u4f20\u9012 \uff0c \u4ee5 \u8bc6\u522b \u7a7f\u8fc7 \u7684 \u8f66\u9053 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   header   header   \u6d88\u606f \u53d1\u5e03 \u65f6 \u7684 \u65f6\u95f4 \u6233 \u548c \u5e27 ID \u3002   crossed _ lane _ markings   int32 [ ]   LANE _ MARKING _ OTHER   = 0   LANE _ MARKING _ BROKEN   = 1   LANE _ MARKING _ SOLID   = 2","title":"CarlaLaneInvasionEvent . msg"},{"location":"ros_msgs/#carlascenariomsg","text":"\u6d4b\u8bd5 \u573a\u666f \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   name   string   \u573a\u666f \u540d\u79f0 \u3002   scenario _ file   string   \u8be5 \u573a\u666f \u7684 \u6d4b\u8bd5 \u6587\u4ef6 \u3002   destination   geometry _ msgs / Pose   \u573a\u666f \u7684 \u76ee\u6807 \u4f4d\u7f6e \u3002   target _ speed   float64   \u573a\u666f \u671f\u95f4 \u671f\u671b \u7684 \u901f\u5ea6 \u3002","title":"CarlaScenario . msg"},{"location":"ros_msgs/#carlascenariolistmsg","text":"\u8981 \u5728   ScenarioRunner   \u4e2d \u8fd0\u884c \u7684 \u6d4b\u8bd5 \u573a\u666f \u5217\u8868 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   scenarios   CarlaScenario [ ]   \u573a\u666f \u5217\u8868 \u3002","title":"CarlaScenarioList . msg"},{"location":"ros_msgs/#carlascenariorunnerstatusmsg","text":"ScenarioRunner   \u7684 \u5f53\u524d \u72b6\u6001 \u3002 \u5b83 \u662f \u4f7f\u7528 \u5e38\u91cf \u6765 \u7ba1\u7406 \u7684 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   status   uint8   \u573a\u666f \u7684 \u5f53\u524d \u72b6\u6001 \u4f5c\u4e3a \u679a\u4e3e \uff1a   STOPPED   = 0   STARTING   = 1   RUNNING   = 2   SHUTTINGDOWN   = 3   ERROR   = 4","title":"CarlaScenarioRunnerStatus . msg"},{"location":"ros_msgs/#carlastatusmsg","text":"\u5f53\u524d \u4e16\u754c \u7684 \u4eff\u771f \u8bbe\u7f6e \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   frame   uint64   \u5f53\u524d \u5e27 \u53f7 \u3002   fixed _ delta _ seconds   float32   \u6700\u540e \u4e00\u6b65 \u548c \u5f53\u524d \u6b65 \u4e4b\u95f4 \u7684 \u4eff\u771f \u65f6\u95f4 \u3002   synchronous _ mode   bool   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \u3002   synchronous _ mode _ running   bool   \u5f53 \u4eff\u771f \u8fd0\u884c \u65f6\u4e3a   True   \u3002 \u6682\u505c \u65f6\u4e3a   False   \u3002","title":"CarlaStatus . msg"},{"location":"ros_msgs/#carlatrafficlightstatusmsg","text":"\u5173\u4e8e \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u7684 \u6052\u5b9a \u5b9a\u4e49 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   id   uint32   \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   state   uint8   RED   = 0   YELLOW   = 1   GREEN   = 2   OFF   = 3   UNKNOWN   = 4","title":"CarlaTrafficLightStatus . msg"},{"location":"ros_msgs/#carlatrafficlightstatuslistmsg","text":"\u4ea4\u901a \u4ea4\u901a\u706f \u5217\u8868 \u53ca\u5176 \u72b6\u6001 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   scenarios   CarlaTrafficLightStatus [ ]   \u6c47\u603b \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u6d88\u606f \u5217\u8868 \u3002","title":"CarlaTrafficLightStatusList . msg"},{"location":"ros_msgs/#carlawalkercontrolmsg","text":"\u5c06 \u8fd0\u52a8 \u63a7\u5236 \u63a7\u5236\u5668 \u5e94\u7528 \u4e8e \u884c\u4eba \u6240 \u9700 \u7684 \u4fe1\u606f \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   direction   geometry _ msgs / Vector3   \u63a7\u5236 \u884c\u4eba \u65b9\u5411 \u7684 \u5411\u91cf \u3002   speed   float32   \u7528\u4e8e \u63a7\u5236 \u884c\u4eba \u901f\u5ea6 \u7684 \u6807\u91cf \u503c \u3002   jump   bool   \u5982\u679c \u4e3a   True   \uff0c \u884c\u4eba \u4f1a \u8df3\u8dc3 \u3002","title":"CarlaWalkerControl . msg"},{"location":"ros_msgs/#carlawaypointmsg","text":"\u8def\u5f84 \u70b9 \u5bf9\u8c61 \u4e2d \u5305\u542b \u7684 \u6570\u636e \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   road _ id   int32   OpenDRIVE   \u9053\u8def \u7684   id \u3002   section _ id   int32   OpenDRIVE   \u90e8\u5206 \u7684   id \uff0c \u57fa\u4e8e \u5b83\u4eec \u6700\u521d \u5b9a\u4e49 \u7684 \u987a\u5e8f \u3002   lane _ id   int32   OpenDRIVE   \u8f66\u9053 \u7684 id \uff0c \u8be5\u503c \u53ef\u4ee5 \u662f \u6b63\u6570 \u6216 \u8d1f\u6570 \uff0c \u8868\u793a \u5f53\u524d \u8f66\u9053 \u76f8\u5bf9 \u4e8e \u9053\u8def \u7684 \u65b9\u5411 \u3002   is _ junction   bool   \u5982\u679c \u5f53\u524d \u8def\u70b9 \u4f4d\u4e8e   OpenDRIVE   \u5b9a\u4e49 \u7684 \u4ea4\u6c47 \u4ea4\u6c47\u70b9 \u4e0a \uff0c \u5219 \u4e3a   True   \u3002   is _ junction   geometry _ msgs / Pose   \u5f53 \u4eff\u771f \u8fd0\u884c \u65f6\u4e3a   True   \u3002 \u6682\u505c \u65f6\u4e3a   False   \u3002","title":"CarlaWaypoint . msg"},{"location":"ros_msgs/#carlaworldinfomsg","text":"\u6709\u5173 \u5f53\u524d   Carla   \u5730\u56fe \u7684 \u4fe1\u606f \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   map _ name   string   \u5f53\u524d \u4e16\u754c \u4e2d \u52a0\u8f7d \u7684   Carla   \u5730\u56fe \u7684 \u540d\u79f0 \u3002   opendrive   string   \u5f53\u524d \u5730\u56fe \u7684   . xodr   OpenDRIVE   \u6587\u4ef6 \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5f62\u5f0f \uff09 \u3002","title":"CarlaWorldInfo . msg"},{"location":"ros_msgs/#egovehiclecontrolcurrentmsg","text":"\u8f66\u8f86 \u7684 \u5f53\u524d \u65f6\u95f4 \u3001 \u901f\u5ea6 \u548c \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u503c \u3002 \u7531 \u63a7\u5236 \u63a7\u5236\u5668 \u4f7f\u7528 \u3002 \u5b83 \u662f   Carla _ Ackermann _ Control . EgoVehicleControlInfo . msg   \u6d88\u606f \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   time _ sec   float32   \u5e94\u7528 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5f53\u524d \u65f6\u95f4 \u3002   speed   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u5e94\u7528 \u7684 \u5f53\u524d \u901f\u5ea6 \u3002   speed _ abs   float32   \u4e3a \u7edd\u5bf9 \u7edd\u5bf9\u503c \u7684 \u901f\u5ea6 \u3002   accel   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u5e94\u7528 \u7684 \u5f53\u524d \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002","title":"EgoVehicleControlCurrent . msg"},{"location":"ros_msgs/#egovehiclecontrolinfomsg","text":"\u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u63a7\u5236\u5668 \u5185 \u7684 \u5f53\u524d \u503c \u3002 \u8fd9\u4e9b \u6d88\u606f \u5bf9\u4e8e \u8c03\u8bd5 \u5f88 \u6709\u7528 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   header   header   \u6d88\u606f \u53d1\u5e03 \u65f6 \u7684 \u65f6\u95f4 \u6233 \u548c \u5e27 ID \u3002   restrictions   EgoVehicleControlMaxima   \u63a7\u5236 \u63a7\u5236\u5668 \u503c \u7684 \u9650\u5236 \u3002   target   EgoVehicleControlTarget   \u63a7\u5236 \u63a7\u5236\u5668 \u503c \u7684 \u9650\u5236 \u3002   current   EgoVehicleControlCurrent   \u63a7\u5236 \u63a7\u5236\u5668 \u503c \u7684 \u9650\u5236 \u3002   status   EgoVehicleControlStatus   \u63a7\u5236 \u63a7\u5236\u5668 \u503c \u7684 \u9650\u5236 \u3002   output   CarlaEgoVehicleControl   \u63a7\u5236 \u63a7\u5236\u5668 \u503c \u7684 \u9650\u5236 \u3002","title":"EgoVehicleControlInfo . msg"},{"location":"ros_msgs/#egovehiclecontrolmaximamsg","text":"\u63a7\u5236 \u63a7\u5236\u5668 \u9650\u5236 \uff08 \u6781\u9650 \u9650\u503c \u6781\u9650\u503c \uff09 \u3002 \u5b83 \u662f   Carla _ Ackermann _ Control . EgoVehicleControlInfo . msg   \u6d88\u606f \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   max _ steering _ angle   float32   \u8f66\u8f86 \u7684 \u6700\u5927 \u8f6c\u5411 \u89d2 \u3002   max _ speed   float32   \u8f66\u8f86 \u7684 \u6700\u5927 \u901f\u5ea6 \u3002   max _ accel   float32   \u8f66\u8f86 \u7684 \u6700\u5927 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   max _ decel   float32   \u8f66\u8f86 \u7684 \u6700\u5927 \u51cf \u901f\u5ea6 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   8m / s ^ 2   min _ accel   float32   \u8f66\u8f86 \u7684 \u6700\u5c0f \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002 \u5f53 \u963f\u514b \u963f\u514b\u66fc \u76ee\u6807 \u52a0\u901f \u65f6 \u3002 \u8d85\u8fc7 \u6b64\u503c \uff0c \u8f93\u5165 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002 \u88ab \u63a7\u5236 \u3002   max _ pedal   float32   \u6700\u5c0f \u8e0f\u677f \u3002","title":"EgoVehicleControlMaxima . msg"},{"location":"ros_msgs/#egovehiclecontrolstatusmsg","text":"\u81ea\u6211 \u8f66\u8f86 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5f53\u524d \u72b6\u6001 \u3002 \u5b83 \u662f   Carla _ Ackermann _ Control . EgoVehicleControlInfo . msg   \u6d88\u606f \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   status   string   \u5f53\u524d \u63a7\u5236 \u72b6\u6001 \u3002   speed _ control _ activation _ count   uint8   \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \u3002   speed _ control _ accel _ delta   float32   \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \u3002   speed _ control _ accel _ target   float32   \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \u3002   accel _ control _ pedal _ delta   float32   \u52a0\u901f \u63a7\u5236 \u63a7\u5236\u5668 \u3002   accel _ control _ pedal _ target   float32   \u52a0\u901f \u63a7\u5236 \u63a7\u5236\u5668 \u3002   brake _ upper _ border   float32   \u6401\u7f6e \u8e0f\u677f \u7684 \u8fb9\u6846 \u3002   throttle _ lower _ border   float32   \u6401\u7f6e \u8e0f\u677f \u7684 \u8fb9\u6846 \u3002","title":"EgoVehicleControlStatus . msg"},{"location":"ros_msgs/#egovehiclecontroltargetmsg","text":"\u81ea\u6211 \u8f66\u8f86 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u76ee\u6807 \u6807\u503c \u76ee\u6807\u503c \u3002 \u5b83 \u662f   Carla _ Ackermann _ Control . EgoVehicleControlInfo . msg   \u6d88\u606f \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   steering _ angle   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u76ee\u6807 \u8f6c\u5411 \u89d2 \u3002   speed   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u76ee\u6807 \u901f\u5ea6 \u3002   speed _ abs   float32   \u4e3a \u7edd\u5bf9 \u7edd\u5bf9\u503c \u7684 \u901f\u5ea6 \u3002   accel   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u76ee\u6807 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   jerk   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u76ee\u6807 \u6296\u52a8 \u3002","title":"EgoVehicleControlTarget . msg"},{"location":"ros_sensors/","text":"ROS   \u6865 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u53ef\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   RGB   \u76f8\u673a   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / image   sensor _ msgs / Image   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / camera _ info   sensor _ msgs / CameraInfo   \u6df1\u5ea6 \u76f8\u673a   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / image   sensor _ msgs / Image   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / camera _ info   sensor _ msgs / CameraInfo   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / image   sensor _ msgs / Image   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / camera _ info   sensor _ msgs / CameraInfo   DVS   \u76f8\u673a   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / events   sensor _ msgs / PointCloud2   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / image   sensor _ msgs / Image   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / camera _ info   sensor _ msgs / CameraInfo   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   sensor _ msgs / PointCloud2   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   sensor _ msgs / PointCloud2   \u96f7\u8fbe   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   sensor _ msgs / PointCloud2   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   sensor _ msgs / Imu   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   sensor _ msgs / NavSatFix   \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   carla _ msgs / CarlaCollisionEvent   \u538b\u7ebf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   carla _ msgs / CarlaLaneInvasionEvent   \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u53d8\u6362 \uff08 TF \uff09 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u5f53 \u751f\u6210 \u6b64\u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65f6 \uff0c \u5c06 \u53d1\u5e03 \u81ea\u6211 \u8f66\u8f86 \u7684 \u8f6c\u6362 \u6570\u636e \u3002   \u6ce8\u610f \uff1a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u6d4b\u91cf \u5b8c\u6210 \u540e \u53d1\u5e03 \u8f6c\u6362 \u6570\u636e \u3002 child _ frame _ id   \u4e0e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e3b\u9898 \u7684 \u524d\u7f00 \u76f8\u5bf9 \u5e94 \u3002   \u91cc\u7a0b \u91cc\u7a0b\u8ba1 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < PARENT   ROLE   NAME > / < SENSOR   ROLE   NAME >   nav _ msgs / Odometry   \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u91cc\u7a0b \u91cc\u7a0b\u8ba1 \u3002   \u8f66\u901f \u8868 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < PARENT   ROLE   NAME > / < SENSOR   ROLE   NAME >   std _ msgs / Float32   \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u3002 \u5355\u4f4d \uff1a \u7c73 / \u79d2 \u3002   \u5730\u56fe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   std _ msgs / String   \u4ee5 \u9501\u5b9a \u4e3b\u9898 \u4e0a \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5f62\u5f0f \u63d0\u4f9b   OpenDRIVE   \u6620\u5c04 \u3002   \u76ee\u6807 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   derived _ object _ msgs / ObjectArray   \u53d1\u5e03 \u6240\u6709 \u8f66\u8f86 \u548c \u884c\u4eba \u3002 \u5982\u679c \u9644\u52a0 \u5230 \u7236\u7ea7 \uff0c \u5219 \u4e0d \u5305\u542b \u7236\u7ea7 \u3002   \u6807\u8bb0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   visualization _ msgs / Marker   \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316   \u4ea4\u901a \u4ea4\u901a\u706f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / status   carla _ msgs / CarlaTrafficLightStatusList   \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u53ca\u5176 \u72b6\u6001 \u7684 \u5217\u8868 \u3002   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / info   carla _ msgs / CarlaTrafficLightInfoList   \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u9759\u6001 \u4fe1\u606f \uff08 \u4f8b\u5982 \u4f4d\u7f6e \uff09 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   carla _ msgs / CarlaActorList   \u6240\u6709   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5217\u8868 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63a7\u5236 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8be5 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5141\u8bb8 \u901a\u8fc7 \u5728   Pose   \u548c   Twist   \u6570\u636e \u7c7b\u578b \u6570\u636e\u7c7b\u578b \u4e2d \u53d1\u5e03 \u59ff\u52bf \u548c \u901f\u5ea6 \u6765 \u63a7\u5236 \u5176\u6240 \u8fde\u63a5 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u4f8b\u5982   ego _ vehicle \uff09 \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \u3002 \u6ce8\u610f \uff1a \u6b64 \u63a7\u5236 \u65b9\u6cd5 \u4e0d \u8003\u8651 \u8f66\u8f86 \u9650\u5236 \u3002 \u5b83 \u5141\u8bb8 \u73b0\u5b9e \u4e16\u754c \u4e2d \u4e0d \u53ef\u80fd \u7684 \u8fd0\u52a8 \uff0c \u4f8b\u5982 \u98de\u884c \u6216 \u65cb\u8f6c \u3002 \u76ee\u524d \uff0c \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e94\u7528 \u5b8c\u6574 \u7684 \u7ebf\u6027 \u77e2\u91cf \uff0c \u4f46\u4ec5 \u5e94\u7528 \u89d2\u5ea6 \u77e2\u91cf \u7684 \u504f\u822a \u3002   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / set _ transform   geometry _ msgs / Pose   \u8f6c\u6362 \u4ee5 \u5e94\u7528 \u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7236\u7ea7 \u3002   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / set _ target _ velocity   geometry _ msgs / Twist   \u5e94\u7528 \u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7236\u7ea7 \u7684 \u901f\u5ea6 \uff08 \u89d2\u5ea6 \u548c \u7ebf\u6027 \uff09 \u3002","title":"ROS   \u6865 \u4f20\u611f\u5668"},{"location":"ros_sensors/#ros","text":"","title":"ROS   \u6865 \u4f20\u611f\u5668"},{"location":"ros_sensors/#_1","text":"","title":"\u53ef\u7528 \u4f20\u611f\u5668"},{"location":"ros_sensors/#rgb","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / image   sensor _ msgs / Image   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / camera _ info   sensor _ msgs / CameraInfo","title":"RGB   \u76f8\u673a"},{"location":"ros_sensors/#_2","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / image   sensor _ msgs / Image   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / camera _ info   sensor _ msgs / CameraInfo","title":"\u6df1\u5ea6 \u76f8\u673a"},{"location":"ros_sensors/#_3","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / image   sensor _ msgs / Image   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / camera _ info   sensor _ msgs / CameraInfo","title":"\u8bed\u4e49 \u5206\u5272 \u76f8\u673a"},{"location":"ros_sensors/#dvs","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / events   sensor _ msgs / PointCloud2   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / image   sensor _ msgs / Image   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / camera _ info   sensor _ msgs / CameraInfo","title":"DVS   \u76f8\u673a"},{"location":"ros_sensors/#_4","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   sensor _ msgs / PointCloud2","title":"\u6fc0\u5149\u96f7\u8fbe"},{"location":"ros_sensors/#_5","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   sensor _ msgs / PointCloud2","title":"\u8bed\u4e49 \u6fc0\u5149\u96f7\u8fbe"},{"location":"ros_sensors/#_6","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   sensor _ msgs / PointCloud2","title":"\u96f7\u8fbe"},{"location":"ros_sensors/#_7","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   sensor _ msgs / Imu","title":"\u60ef\u6027 \u6d4b\u91cf \u5355\u5143"},{"location":"ros_sensors/#_8","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   sensor _ msgs / NavSatFix","title":"\u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf"},{"location":"ros_sensors/#_9","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   carla _ msgs / CarlaCollisionEvent","title":"\u78b0\u649e \u4f20\u611f\u5668"},{"location":"ros_sensors/#_10","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   carla _ msgs / CarlaLaneInvasionEvent   \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668","title":"\u538b\u7ebf \u4f20\u611f\u5668"},{"location":"ros_sensors/#tf","text":"\u5f53 \u751f\u6210 \u6b64\u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65f6 \uff0c \u5c06 \u53d1\u5e03 \u81ea\u6211 \u8f66\u8f86 \u7684 \u8f6c\u6362 \u6570\u636e \u3002   \u6ce8\u610f \uff1a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u6d4b\u91cf \u5b8c\u6210 \u540e \u53d1\u5e03 \u8f6c\u6362 \u6570\u636e \u3002 child _ frame _ id   \u4e0e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e3b\u9898 \u7684 \u524d\u7f00 \u76f8\u5bf9 \u5e94 \u3002","title":"\u53d8\u6362 \uff08 TF \uff09 \u4f20\u611f\u5668"},{"location":"ros_sensors/#_11","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < PARENT   ROLE   NAME > / < SENSOR   ROLE   NAME >   nav _ msgs / Odometry   \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u91cc\u7a0b \u91cc\u7a0b\u8ba1 \u3002","title":"\u91cc\u7a0b\u8ba1 \u4f20\u611f\u5668"},{"location":"ros_sensors/#_12","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < PARENT   ROLE   NAME > / < SENSOR   ROLE   NAME >   std _ msgs / Float32   \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u3002 \u5355\u4f4d \uff1a \u7c73 / \u79d2 \u3002","title":"\u8f66\u901f \u8868 \u4f20\u611f\u5668"},{"location":"ros_sensors/#_13","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   std _ msgs / String   \u4ee5 \u9501\u5b9a \u4e3b\u9898 \u4e0a \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5f62\u5f0f \u63d0\u4f9b   OpenDRIVE   \u6620\u5c04 \u3002","title":"\u5730\u56fe \u4f20\u611f\u5668"},{"location":"ros_sensors/#_14","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   derived _ object _ msgs / ObjectArray   \u53d1\u5e03 \u6240\u6709 \u8f66\u8f86 \u548c \u884c\u4eba \u3002 \u5982\u679c \u9644\u52a0 \u5230 \u7236\u7ea7 \uff0c \u5219 \u4e0d \u5305\u542b \u7236\u7ea7 \u3002","title":"\u76ee\u6807 \u4f20\u611f\u5668"},{"location":"ros_sensors/#_15","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   visualization _ msgs / Marker   \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316","title":"\u6807\u8bb0 \u4f20\u611f\u5668"},{"location":"ros_sensors/#_16","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / status   carla _ msgs / CarlaTrafficLightStatusList   \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u53ca\u5176 \u72b6\u6001 \u7684 \u5217\u8868 \u3002   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / info   carla _ msgs / CarlaTrafficLightInfoList   \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u9759\u6001 \u4fe1\u606f \uff08 \u4f8b\u5982 \u4f4d\u7f6e \uff09 \u3002","title":"\u4ea4\u901a\u706f \u4f20\u611f\u5668"},{"location":"ros_sensors/#_17","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   carla _ msgs / CarlaActorList   \u6240\u6709   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5217\u8868 \u3002","title":"\u53c2\u4e0e\u8005 \u5217\u8868 \u4f20\u611f\u5668"},{"location":"ros_sensors/#_18","text":"\u8be5 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5141\u8bb8 \u901a\u8fc7 \u5728   Pose   \u548c   Twist   \u6570\u636e \u7c7b\u578b \u6570\u636e\u7c7b\u578b \u4e2d \u53d1\u5e03 \u59ff\u52bf \u548c \u901f\u5ea6 \u6765 \u63a7\u5236 \u5176\u6240 \u8fde\u63a5 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u4f8b\u5982   ego _ vehicle \uff09 \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \u3002 \u6ce8\u610f \uff1a \u6b64 \u63a7\u5236 \u65b9\u6cd5 \u4e0d \u8003\u8651 \u8f66\u8f86 \u9650\u5236 \u3002 \u5b83 \u5141\u8bb8 \u73b0\u5b9e \u4e16\u754c \u4e2d \u4e0d \u53ef\u80fd \u7684 \u8fd0\u52a8 \uff0c \u4f8b\u5982 \u98de\u884c \u6216 \u65cb\u8f6c \u3002 \u76ee\u524d \uff0c \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e94\u7528 \u5b8c\u6574 \u7684 \u7ebf\u6027 \u77e2\u91cf \uff0c \u4f46\u4ec5 \u5e94\u7528 \u89d2\u5ea6 \u77e2\u91cf \u7684 \u504f\u822a \u3002   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / set _ transform   geometry _ msgs / Pose   \u8f6c\u6362 \u4ee5 \u5e94\u7528 \u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7236\u7ea7 \u3002   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / set _ target _ velocity   geometry _ msgs / Twist   \u5e94\u7528 \u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7236\u7ea7 \u7684 \u901f\u5ea6 \uff08 \u89d2\u5ea6 \u548c \u7ebf\u6027 \uff09 \u3002","title":"\u53c2\u4e0e\u8005 \u63a7\u5236 \u4f20\u611f\u5668"},{"location":"rqt_plugin/","text":"RQT   Carla   \u63d2\u4ef6   RQT   \u63d2\u4ef6   \u662f \u4e00\u4e2a \u7b80\u5355 \u7684 \u754c\u9762 \uff0c \u7528\u4e8e \u6682\u505c \u3001 \u64ad\u653e \u548c \u63a7\u5236 \u4eff\u771f \u7684 \u6b65\u9aa4 \u3002 \u8981 \u4f7f\u7528 \u5b83 \uff0c \u8bf7 \u5728   ROS   \u6865\u4ee5 \u540c\u6b65 \u6a21\u5f0f \u8fd0\u884c \u7684 \u60c5\u51b5 \u4e0b \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   rqt   -- standalone   rqt _ carla _ control   \u60a8 \u5c06 \u80fd\u591f \u901a\u8fc7   GUI   \u63a7\u5236 \u6b65\u9aa4 \uff1a","title":"RQT   Carla   \u63d2\u4ef6"},{"location":"rqt_plugin/#rqt-carla","text":"RQT   \u63d2\u4ef6   \u662f \u4e00\u4e2a \u7b80\u5355 \u7684 \u754c\u9762 \uff0c \u7528\u4e8e \u6682\u505c \u3001 \u64ad\u653e \u548c \u63a7\u5236 \u4eff\u771f \u7684 \u6b65\u9aa4 \u3002 \u8981 \u4f7f\u7528 \u5b83 \uff0c \u8bf7 \u5728   ROS   \u6865\u4ee5 \u540c\u6b65 \u6a21\u5f0f \u8fd0\u884c \u7684 \u60c5\u51b5 \u4e0b \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   rqt   -- standalone   rqt _ carla _ control   \u60a8 \u5c06 \u80fd\u591f \u901a\u8fc7   GUI   \u63a7\u5236 \u6b65\u9aa4 \uff1a","title":"RQT   Carla   \u63d2\u4ef6"},{"location":"run_ros/","text":"ROS   \u6865\u5305   carla _ ros _ bridge   \u5305\u662f \u8fd0\u884c \u57fa\u672c   ROS   \u6865\u63a5 \u529f\u80fd \u6240 \u9700 \u7684 \u4e3b\u5305 \u3002 \u5728 \u672c\u8282 \u4e2d \uff0c \u60a8 \u5c06 \u5b66\u4e60 \u5982\u4f55 \u51c6\u5907   ROS   \u73af\u5883 \u3001 \u8fd0\u884c   ROS   \u6865 \u3001 \u5982\u4f55 \u914d\u7f6e \u8bbe\u7f6e \u3001 \u540c\u6b65 \u6a21\u5f0f \u7684 \u4f7f\u7528 \u3001 \u63a7\u5236 \u81ea\u4e3b \u8f66\u8f86 \u4ee5\u53ca \u53ef\u7528 \u7684 \u8ba2\u9605 \u3001 \u53d1\u5e03 \u548c \u670d\u52a1 \u7684 \u6458\u8981 \u3002   \u8bbe\u7f6e   ROS   \u73af\u5883   \u51c6\u5907   ROS   1   \u73af\u5883   \u51c6\u5907   ROS   2   \u73af\u5883   \u8fd0\u884c   ROS   \u6865   \u914d\u7f6e   Carla   \u8bbe\u7f6e   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528   ROS   \u6865   \u81ea\u6211 \u8f66\u8f86 \u63a7\u5236   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u8ba2\u9605   \u53d1\u5e03   \u670d\u52a1   \u8bbe\u7f6e   ROS   \u73af\u5883   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u4f7f\u7528 \u5177\u6709 \u901a\u7528 \u63a5\u53e3 \u7684 \u5355\u72ec \u5b9e\u73b0 \u6765 \u652f\u6301   ROS   1   \u548c   ROS   2 \u3002 \u5f53 \u60a8 \u60f3\u8981 \u8fd0\u884c   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u65f6 \uff0c \u60a8 \u5fc5\u987b \u6839\u636e \u60a8 \u4f7f\u7528 \u7684 \u6bcf\u4e2a \u7ec8\u7aef \u4e2d \u7684   ROS   \u7248\u672c \u8bbe\u7f6e   ROS   \u73af\u5883 \uff1a   \u51c6\u5907   ROS   1   \u73af\u5883 \uff1a   \u8981 \u8fd0\u884c \u7684 \u547d\u4ee4 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u662f \u901a\u8fc7   Debian   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u8fd8\u662f \u901a\u8fc7 \u6e90 \u6784\u5efa \u5b89\u88c5   ROS   \u6865 \u3002 \u60a8 \u8fd8 \u9700\u8981 \u66f4\u6539   Debian   \u9009\u9879 \u8def\u5f84 \u4e2d \u7684   ROS   \u7248\u672c \uff1a   #   \u7528\u4e8e debian \u5b89\u88c5 ROS \u6865 \u3002 \u6839\u636e \u5df2 \u5b89\u88c5 \u7684 ROS \u7248\u672c \u66f4\u6539 \u547d\u4ee4 \u3002   source   / opt / carla - ros - bridge / < melodic / noetic > / setup . bash   #   \u4e3a   GitHub   \u5e93 \u5b89\u88c5   ROS   \u6865   source   ~ / carla - ros - bridge / catkin _ ws / devel / setup . bash   \u51c6\u5907   ROS   2   \u73af\u5883 \uff1a   source   . / install / setup . bash   \u8fd0\u884c   ROS   \u6865   \u8bbe\u7f6e   ROS   \u73af\u5883 \u5e76 \u8fd0\u884c   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \uff0c \u60a8 \u9700\u8981 \u5148 \u542f\u52a8   carla _ ros _ bridge   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff0c \u7136\u540e \u624d\u80fd \u4f7f\u7528 \u4efb\u4f55 \u5176\u4ed6 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002 \u4e3a\u6b64 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   ROS   1   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge . launch   #   ROS   2   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge . launch . py   \u8fd8\u6709 \u5176\u4ed6 \u542f\u52a8 \u6587\u4ef6 \u7ed3\u5408 \u4e86 \u4e0a\u8ff0 \u529f\u80fd \uff0c \u5728 \u542f\u52a8 \u5176\u4ed6 \u5305 \u6216 \u63d2\u4ef6 \u7684 \u540c\u65f6 \u542f\u52a8   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \uff1a   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch   ( ROS   1 )   \u548c   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch . py   ( ROS   2 )   \u6cbf\u7740   carla _ spawn _ objects   \u548c   carla _ manual _ control   \u5305 \u4e00\u8d77 \u542f\u52a8   ROS   \u6865 \u3002   \u914d\u7f6e   Carla   \u8bbe\u7f6e   \u914d\u7f6e \u5e94\u8be5 \u5728 \u542f\u52a8 \u6587\u4ef6 \u4e2d \u8bbe\u7f6e \uff0c \u6216\u8005 \u5728 \u4ece \u547d\u4ee4 \u547d\u4ee4\u884c \u8fd0\u884c \u6587\u4ef6 \u65f6 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \uff0c \u4f8b\u5982 \uff1a   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge . launch   passive : = True   \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u8bbe\u7f6e \uff1a   use _ sim _ time   :   \u5e94 \u8bbe\u7f6e \u4e3a   True   \u4ee5 \u786e\u4fdd   ROS   \u4f7f\u7528 \u4eff\u771f \u65f6\u95f4 \u800c \u4e0d\u662f \u7cfb\u7edf \u65f6\u95f4 \u3002 \u8be5 \u53c2\u6570 \u5c06 \u4f7f   ROS   / clock   \u4e3b\u9898 \u4e0e   Carla   \u4eff\u771f \u65f6\u95f4 \u540c\u6b65 \u3002   host   and   port   :   \u4f7f\u7528   Python   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5230   Carla   \u7684 \u7f51\u7edc \u8bbe\u7f6e \u3002   timeout   :   \u7b49\u5f85 \u6210\u529f \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u65f6\u95f4 \u3002   passive   :   \u88ab\u52a8 \u6a21\u5f0f \u88ab\u52a8\u6a21\u5f0f \u7528\u4e8e \u540c\u6b65 \u6a21\u5f0f \u3002 \u542f\u7528 \u540e \uff0c ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u5c06 \u9000\u5c45 \u6b21\u8981 \u5730\u4f4d \uff0c \u800c \u53e6 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5fc5\u987b   \u4e0e \u4e16\u754c \u4ea4\u9053 \u6253\u4ea4\u9053 \u3002 ROS   \u6865 \u5c06 \u7b49\u5f85 \u63a5\u6536 \u6765\u81ea \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6240\u6709 \u9884\u671f \u6570\u636e \u3002   synchronous _ mode   :   \u5982\u679c \u662f   false   :   \u6570\u636e \u5728 \u6bcf\u4e2a \u8282\u62cd   world . on _ tick ( )   \u548c \u6bcf\u4e2a   sensor . listen ( )   \u56de\u8c03 \u65f6 \u8fdb\u884c \u53d1\u5e03 \u3002   \u5982\u679c \u662f   true   \uff08 \u9ed8\u8ba4 \uff09   :   ROS   \u6865 \u5728 \u4e0b \u4e00\u4e2a \u8282\u62cd \u4e4b\u524d \u7b49\u5f85 \u6240\u6709 \u9884\u671f \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6d88\u606f \u3002 \u8fd9 \u53ef\u80fd \u4f1a \u51cf\u6162 \u6574\u4e2a \u4eff\u771f \u7684 \u901f\u5ea6 \uff0c \u4f46 \u53ef\u4ee5 \u786e\u4fdd \u7ed3\u679c \u7684 \u91cd\u590d \u590d\u6027 \u91cd\u590d\u6027 \u53ef\u91cd\u590d\u6027 \u3002   synchronous _ mode _ wait _ for _ vehicle _ control _ command   :   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u6682\u505c \u8ba1\u65f6 \u76f4\u5230 \u8f66\u8f86 \u63a7\u5236 \u5b8c\u6210 \u3002   fixed _ delta _ seconds   :   \u4eff\u771f \u6b65\u9aa4 \u4e4b\u95f4 \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u589e\u91cf \u79d2 \uff09 \u3002   \u5b83 \u5fc5\u987b \u4f4e\u4e8e   0.1   \u3002 \u67e5\u770b   \u6587\u6863   \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002   ego _ vehicle   :   \u7528\u4e8e \u8bc6\u522b \u81ea\u6211 \u8f66\u8f86 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0 \u3002 \u5c06 \u521b\u5efa \u76f8\u5173 \u4e3b\u9898 \uff0c \u4ee5\u4fbf \u80fd\u591f \u901a\u8fc7   ROS   \u63a7\u5236 \u8fd9\u4e9b \u8f66\u8f86 \u3002   town   :   \u4f7f\u7528 \u53ef\u7528 \u7684   Carla   \u57ce\u9547 \uff08 \u4f8b\u5982 \u201c town01 \u201d \uff09 \u6216   OpenDRIVE   \u6587\u4ef6 \uff08 \u4ee5   . xodr   \u7ed3\u5c3e \uff09 \u3002   register _ all _ sensors   :   \u5982\u679c \u662f   false   :   \u4ec5 \u6ce8\u518c \u6865 \u751f\u6210 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u5982\u679c \u662f   true \uff08 \u9ed8\u8ba4 \uff09   :   \u4eff\u771f \u4e2d \u5b58\u5728 \u7684 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5747 \u5df2 \u6ce8\u518c \u3002   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528   ROS   ROS   \u6865 \u9ed8\u8ba4 \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u8fd0\u884c \u3002 \u5b83 \u5c06 \u7b49\u5f85 \u5f53\u524d \u5e27 \u5185 \u9884\u671f \u7684 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \uff0c \u4ee5 \u786e\u4fdd \u53ef \u91cd\u73b0 \u7684 \u7ed3\u679c \u3002   \u5f53\u4ee5 \u540c\u6b65 \u6a21\u5f0f \u8fd0\u884c \u591a\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u65f6 \uff0c \u53ea \u5141\u8bb8 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u5411 \u4e16\u754c \u53d1 \u8282\u62cd \u3002 \u9664\u975e \u542f\u7528 \u88ab\u52a8 \u6a21\u5f0f \u88ab\u52a8\u6a21\u5f0f \uff0c \u5426\u5219 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u5c06 \u662f \u552f\u4e00 \u5141\u8bb8 \u4e0e \u4e16\u754c \u4ea4\u4e92 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002 \u5728   ros - bridge / carla _ ros _ bridge / config / settings . yaml   \u4e2d \u542f\u7528 \u88ab\u52a8 \u6a21\u5f0f \u88ab\u52a8\u6a21\u5f0f \u5c06 \u4f7f   ROS   \u6865 \u540e\u9000 \u4e00\u6b65 \uff0c \u5e76 \u5141\u8bb8 \u53e6 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u6765 \u64cd\u4f5c \u4e16\u754c \u3002   \u53e6 \u4e00\u4e2a \u5ba2\u6237 \u5fc5\u987b \u5411 \u4e16\u754c \u53d1 \u8282\u62cd \uff0c \u5426\u5219   Carla   \u5c06 \u51bb\u7ed3 \u3002   \u5982\u679c   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u4e0d \u5904\u4e8e \u88ab\u52a8 \u6a21\u5f0f \u88ab\u52a8\u6a21\u5f0f \uff08 ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u662f \u552f\u4e00 \u7684 \uff09 \uff0c \u5219 \u6709 \u4e24\u79cd \u65b9\u6cd5 \u5c06 \u6b65\u8fdb \u63a7\u5236 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff1a   \u7528 \u6d88\u606f \u5411 \u4e3b\u9898   / carla / control   \u53d1\u9001   carla _ msgs . CarlaControl   \u3002   \u4f7f\u7528   \u63a7\u5236   rqt   \u63d2\u4ef6   \u3002 \u8be5 \u63d2\u4ef6 \u542f\u52a8 \u4e00\u4e2a \u5177\u6709 \u7b80\u5355 \u754c\u9762 \u7684 \u7a97\u53e3 \u65b0\u7a97\u53e3 \u3002 \u7136\u540e \u5b83 \u7528\u4e8e \u7ba1\u7406 \u6b65\u9aa4 \u5e76 \u5728   / carla / control   \u4e3b\u9898 \u4e2d \u53d1\u5e03 \u3002 \u8981 \u4f7f\u7528 \u5b83 \uff0c \u8bf7 \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528   Carla   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   rqt   -- standalone   rqt _ carla _ control   \u81ea\u6211 \u8f66\u8f86 \u63a7\u5236   \u6709 \u4e24\u79cd \u63a7\u5236 \u81ea\u6211 \u8f66\u8f86 \u7684 \u6a21\u5f0f \uff1a   \u6b63\u5e38 \u6a21\u5f0f   -   \u4ece   / carla / < ROLE   NAME > / vehicle _ control _ cmd   \u8bfb\u53d6 \u547d\u4ee4   \u624b\u52a8 \u6a21\u5f0f   -   \u4ece   / carla / < ROLE   NAME > / vehicle _ control _ cmd _ manual   \u8bfb\u53d6 \u547d\u4ee4 \u3002 \u8fd9 \u5141\u8bb8 \u624b\u52a8 \u8986\u76d6 \u8f6f\u4ef6 \u5806\u6808 \u53d1\u5e03 \u7684 \u8f66\u8f86 \u63a7\u5236 \u547d\u4ee4 \u3002   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u53d1\u5e03 \u5230   / carla / < ROLE   NAME > / vehicle _ control _ manual _ override   \u6765 \u5728 \u4e24\u79cd \u6a21\u5f0f \u4e4b\u95f4 \u5207\u6362 \u3002 \u6709\u5173 \u4f7f\u7528 \u7684 \u793a\u4f8b \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Carla   \u624b\u52a8 \u63a7\u5236   \u3002   \u8981 \u4ece \u547d\u4ee4 \u547d\u4ee4\u884c \u6d4b\u8bd5 \u8f6c\u5411 \uff1a   1 .   \u4f7f\u7528   ego   \u8f66\u8f86 \u542f\u52a8   ROS   \u6865 \uff1a   #   ROS   1   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch   #   ROS   2   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch . py   2 .   \u5728 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u4e2d \uff0c \u53d1\u5e03 \u5230 \u4e3b\u9898   / carla / < ROLE   NAME > / vehicle _ control _ cmd   #   \u6700\u5927 \u5411\u524d \u6cb9\u95e8 \uff0c \u6700\u5927 \u53f3\u8f6c \u5411\u53f3\u8f6c \u5411   #   \u5bf9\u4e8e   ros1   rostopic   pub   / carla / ego _ vehicle / vehicle _ control _ cmd   carla _ msgs / CarlaEgoVehicleControl   \" { throttle :   1.0 ,   steer :   1.0 } \"   - r   10   #   \u5bf9\u4e8e   ros2   ros2   topic   pub   / carla / ego _ vehicle / vehicle _ control _ cmd   carla _ msgs / CarlaEgoVehicleControl   \" { throttle :   1.0 ,   steer :   1.0 } \"   - r   10   \u5f53\u524d \u8f66\u8f86 \u7684 \u72b6\u6001 \u53ef\u4ee5 \u901a\u8fc7 \u4e3b\u9898   / carla / < ROLE   NAME > / vehicle _ status   \u83b7\u5f97 \u3002 \u6709\u5173 \u8f66\u8f86 \u7684 \u9759\u6001 \u4fe1\u606f \u53ef\u4ee5 \u901a\u8fc7   / carla / < ROLE   NAME > / vehicle _ info   \u63a5\u6536 .   \u53ef\u4ee5 \u4f7f\u7528   AckermannDrive   \u6d88\u606f \u6765 \u63a7\u5236 \u81ea\u6211 \u8f66\u8f86 \u3002 \u8fd9 \u53ef\u4ee5 \u901a\u8fc7 \u4f7f\u7528   Carla   \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236   \u5305\u6765 \u5b9e\u73b0 \u3002   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u8ba2\u9605   \u4e3b\u9898   \u7c7b\u522b   \u63cf\u8ff0   / carla / debug _ marker   \u53ef\u89c6 \u53ef\u89c6\u5316 _ msgs / MarkerArray   \u5728   Carla   \u4e16\u754c \u4e2d \u7ed8\u5236 \u6807\u8bb0 \u3002   / carla / weather _ control   carla _ msgs / CarlaWeatherParameters   \u8bbe\u7f6e   Carla   \u5929\u6c14 \u53c2\u6570   / clock   rosgraph _ msgs / Clock   \u5728   ROS   \u4e2d \u53d1\u5e03 \u4eff\u771f \u65f6\u95f4 \u3002   \u7b14\u8bb0   \u4f7f\u7528   debug _ marker   \u65f6 \uff0c \u8bf7 \u6ce8\u610f \u6807\u8bb0 \u53ef\u80fd \u4f1a \u5f71\u54cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53d1\u5e03 \u7684 \u6570\u636e \u3002 \u652f\u6301 \u7684 \u6807\u8bb0 \u5305\u62ec \uff1a \u7bad\u5934 \uff08 \u7531 \u4e24\u4e2a \u70b9 \u6307\u5b9a \uff09 \u3001 \u70b9 \u3001 \u7acb\u65b9 \u7acb\u65b9\u4f53 \u548c \u7ebf\u6761 \u3002   \u53d1\u5e03   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / status   carla _ msgs / CarlaStatus   \u8bfb\u53d6   Carla   \u7684 \u5f53\u524d \u72b6\u6001   / carla / world _ info   carla _ msgs / CarlaWorldInfo   \u6709\u5173 \u5f53\u524d   Carla   \u5730\u56fe \u7684 \u4fe1\u606f \u3002   / clock   rosgraph _ msgs / Clock   \u5728   ROS   \u4e2d \u53d1\u5e03 \u4eff\u771f \u65f6\u95f4 \u3002   / rosout   rosgraph _ msgs / Log   ROS   \u65e5\u5fd7 \u8bb0\u5f55 \u3002   \u670d\u52a1   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / destroy _ object   carla _ msgs / DestroyObject . srv   \u9500\u6bc1 \u4e00\u4e2a \u7269\u4f53   / carla / get _ blueprints   carla _ msgs / GetBlueprints . srv   \u83b7\u53d6 \u84dd\u56fe   / carla / spawn _ object   carla _ msgs / SpawnObject . srv   \u751f\u6210 \u4e00\u4e2a \u5bf9\u8c61","title":"ROS   \u6865\u5305"},{"location":"run_ros/#ros","text":"carla _ ros _ bridge   \u5305\u662f \u8fd0\u884c \u57fa\u672c   ROS   \u6865\u63a5 \u529f\u80fd \u6240 \u9700 \u7684 \u4e3b\u5305 \u3002 \u5728 \u672c\u8282 \u4e2d \uff0c \u60a8 \u5c06 \u5b66\u4e60 \u5982\u4f55 \u51c6\u5907   ROS   \u73af\u5883 \u3001 \u8fd0\u884c   ROS   \u6865 \u3001 \u5982\u4f55 \u914d\u7f6e \u8bbe\u7f6e \u3001 \u540c\u6b65 \u6a21\u5f0f \u7684 \u4f7f\u7528 \u3001 \u63a7\u5236 \u81ea\u4e3b \u8f66\u8f86 \u4ee5\u53ca \u53ef\u7528 \u7684 \u8ba2\u9605 \u3001 \u53d1\u5e03 \u548c \u670d\u52a1 \u7684 \u6458\u8981 \u3002   \u8bbe\u7f6e   ROS   \u73af\u5883   \u51c6\u5907   ROS   1   \u73af\u5883   \u51c6\u5907   ROS   2   \u73af\u5883   \u8fd0\u884c   ROS   \u6865   \u914d\u7f6e   Carla   \u8bbe\u7f6e   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528   ROS   \u6865   \u81ea\u6211 \u8f66\u8f86 \u63a7\u5236   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u8ba2\u9605   \u53d1\u5e03   \u670d\u52a1","title":"ROS   \u6865\u5305"},{"location":"run_ros/#ros_1","text":"ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u4f7f\u7528 \u5177\u6709 \u901a\u7528 \u63a5\u53e3 \u7684 \u5355\u72ec \u5b9e\u73b0 \u6765 \u652f\u6301   ROS   1   \u548c   ROS   2 \u3002 \u5f53 \u60a8 \u60f3\u8981 \u8fd0\u884c   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u65f6 \uff0c \u60a8 \u5fc5\u987b \u6839\u636e \u60a8 \u4f7f\u7528 \u7684 \u6bcf\u4e2a \u7ec8\u7aef \u4e2d \u7684   ROS   \u7248\u672c \u8bbe\u7f6e   ROS   \u73af\u5883 \uff1a","title":"\u8bbe\u7f6e   ROS   \u73af\u5883"},{"location":"run_ros/#ros-1","text":"\u8981 \u8fd0\u884c \u7684 \u547d\u4ee4 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u662f \u901a\u8fc7   Debian   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u8fd8\u662f \u901a\u8fc7 \u6e90 \u6784\u5efa \u5b89\u88c5   ROS   \u6865 \u3002 \u60a8 \u8fd8 \u9700\u8981 \u66f4\u6539   Debian   \u9009\u9879 \u8def\u5f84 \u4e2d \u7684   ROS   \u7248\u672c \uff1a   #   \u7528\u4e8e debian \u5b89\u88c5 ROS \u6865 \u3002 \u6839\u636e \u5df2 \u5b89\u88c5 \u7684 ROS \u7248\u672c \u66f4\u6539 \u547d\u4ee4 \u3002   source   / opt / carla - ros - bridge / < melodic / noetic > / setup . bash   #   \u4e3a   GitHub   \u5e93 \u5b89\u88c5   ROS   \u6865   source   ~ / carla - ros - bridge / catkin _ ws / devel / setup . bash","title":"\u51c6\u5907   ROS   1   \u73af\u5883 \uff1a"},{"location":"run_ros/#ros-2","text":"source   . / install / setup . bash","title":"\u51c6\u5907   ROS   2   \u73af\u5883 \uff1a"},{"location":"run_ros/#ros_2","text":"\u8bbe\u7f6e   ROS   \u73af\u5883 \u5e76 \u8fd0\u884c   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \uff0c \u60a8 \u9700\u8981 \u5148 \u542f\u52a8   carla _ ros _ bridge   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff0c \u7136\u540e \u624d\u80fd \u4f7f\u7528 \u4efb\u4f55 \u5176\u4ed6 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002 \u4e3a\u6b64 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   ROS   1   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge . launch   #   ROS   2   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge . launch . py   \u8fd8\u6709 \u5176\u4ed6 \u542f\u52a8 \u6587\u4ef6 \u7ed3\u5408 \u4e86 \u4e0a\u8ff0 \u529f\u80fd \uff0c \u5728 \u542f\u52a8 \u5176\u4ed6 \u5305 \u6216 \u63d2\u4ef6 \u7684 \u540c\u65f6 \u542f\u52a8   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \uff1a   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch   ( ROS   1 )   \u548c   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch . py   ( ROS   2 )   \u6cbf\u7740   carla _ spawn _ objects   \u548c   carla _ manual _ control   \u5305 \u4e00\u8d77 \u542f\u52a8   ROS   \u6865 \u3002","title":"\u8fd0\u884c   ROS   \u6865"},{"location":"run_ros/#carla","text":"\u914d\u7f6e \u5e94\u8be5 \u5728 \u542f\u52a8 \u6587\u4ef6 \u4e2d \u8bbe\u7f6e \uff0c \u6216\u8005 \u5728 \u4ece \u547d\u4ee4 \u547d\u4ee4\u884c \u8fd0\u884c \u6587\u4ef6 \u65f6 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \uff0c \u4f8b\u5982 \uff1a   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge . launch   passive : = True   \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u8bbe\u7f6e \uff1a   use _ sim _ time   :   \u5e94 \u8bbe\u7f6e \u4e3a   True   \u4ee5 \u786e\u4fdd   ROS   \u4f7f\u7528 \u4eff\u771f \u65f6\u95f4 \u800c \u4e0d\u662f \u7cfb\u7edf \u65f6\u95f4 \u3002 \u8be5 \u53c2\u6570 \u5c06 \u4f7f   ROS   / clock   \u4e3b\u9898 \u4e0e   Carla   \u4eff\u771f \u65f6\u95f4 \u540c\u6b65 \u3002   host   and   port   :   \u4f7f\u7528   Python   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5230   Carla   \u7684 \u7f51\u7edc \u8bbe\u7f6e \u3002   timeout   :   \u7b49\u5f85 \u6210\u529f \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u65f6\u95f4 \u3002   passive   :   \u88ab\u52a8 \u6a21\u5f0f \u88ab\u52a8\u6a21\u5f0f \u7528\u4e8e \u540c\u6b65 \u6a21\u5f0f \u3002 \u542f\u7528 \u540e \uff0c ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u5c06 \u9000\u5c45 \u6b21\u8981 \u5730\u4f4d \uff0c \u800c \u53e6 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5fc5\u987b   \u4e0e \u4e16\u754c \u4ea4\u9053 \u6253\u4ea4\u9053 \u3002 ROS   \u6865 \u5c06 \u7b49\u5f85 \u63a5\u6536 \u6765\u81ea \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6240\u6709 \u9884\u671f \u6570\u636e \u3002   synchronous _ mode   :   \u5982\u679c \u662f   false   :   \u6570\u636e \u5728 \u6bcf\u4e2a \u8282\u62cd   world . on _ tick ( )   \u548c \u6bcf\u4e2a   sensor . listen ( )   \u56de\u8c03 \u65f6 \u8fdb\u884c \u53d1\u5e03 \u3002   \u5982\u679c \u662f   true   \uff08 \u9ed8\u8ba4 \uff09   :   ROS   \u6865 \u5728 \u4e0b \u4e00\u4e2a \u8282\u62cd \u4e4b\u524d \u7b49\u5f85 \u6240\u6709 \u9884\u671f \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6d88\u606f \u3002 \u8fd9 \u53ef\u80fd \u4f1a \u51cf\u6162 \u6574\u4e2a \u4eff\u771f \u7684 \u901f\u5ea6 \uff0c \u4f46 \u53ef\u4ee5 \u786e\u4fdd \u7ed3\u679c \u7684 \u91cd\u590d \u590d\u6027 \u91cd\u590d\u6027 \u53ef\u91cd\u590d\u6027 \u3002   synchronous _ mode _ wait _ for _ vehicle _ control _ command   :   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u6682\u505c \u8ba1\u65f6 \u76f4\u5230 \u8f66\u8f86 \u63a7\u5236 \u5b8c\u6210 \u3002   fixed _ delta _ seconds   :   \u4eff\u771f \u6b65\u9aa4 \u4e4b\u95f4 \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u589e\u91cf \u79d2 \uff09 \u3002   \u5b83 \u5fc5\u987b \u4f4e\u4e8e   0.1   \u3002 \u67e5\u770b   \u6587\u6863   \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002   ego _ vehicle   :   \u7528\u4e8e \u8bc6\u522b \u81ea\u6211 \u8f66\u8f86 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0 \u3002 \u5c06 \u521b\u5efa \u76f8\u5173 \u4e3b\u9898 \uff0c \u4ee5\u4fbf \u80fd\u591f \u901a\u8fc7   ROS   \u63a7\u5236 \u8fd9\u4e9b \u8f66\u8f86 \u3002   town   :   \u4f7f\u7528 \u53ef\u7528 \u7684   Carla   \u57ce\u9547 \uff08 \u4f8b\u5982 \u201c town01 \u201d \uff09 \u6216   OpenDRIVE   \u6587\u4ef6 \uff08 \u4ee5   . xodr   \u7ed3\u5c3e \uff09 \u3002   register _ all _ sensors   :   \u5982\u679c \u662f   false   :   \u4ec5 \u6ce8\u518c \u6865 \u751f\u6210 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u5982\u679c \u662f   true \uff08 \u9ed8\u8ba4 \uff09   :   \u4eff\u771f \u4e2d \u5b58\u5728 \u7684 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5747 \u5df2 \u6ce8\u518c \u3002","title":"\u914d\u7f6e   Carla   \u8bbe\u7f6e"},{"location":"run_ros/#ros_3","text":"ROS   \u6865 \u9ed8\u8ba4 \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u8fd0\u884c \u3002 \u5b83 \u5c06 \u7b49\u5f85 \u5f53\u524d \u5e27 \u5185 \u9884\u671f \u7684 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \uff0c \u4ee5 \u786e\u4fdd \u53ef \u91cd\u73b0 \u7684 \u7ed3\u679c \u3002   \u5f53\u4ee5 \u540c\u6b65 \u6a21\u5f0f \u8fd0\u884c \u591a\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u65f6 \uff0c \u53ea \u5141\u8bb8 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u5411 \u4e16\u754c \u53d1 \u8282\u62cd \u3002 \u9664\u975e \u542f\u7528 \u88ab\u52a8 \u6a21\u5f0f \u88ab\u52a8\u6a21\u5f0f \uff0c \u5426\u5219 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u5c06 \u662f \u552f\u4e00 \u5141\u8bb8 \u4e0e \u4e16\u754c \u4ea4\u4e92 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002 \u5728   ros - bridge / carla _ ros _ bridge / config / settings . yaml   \u4e2d \u542f\u7528 \u88ab\u52a8 \u6a21\u5f0f \u88ab\u52a8\u6a21\u5f0f \u5c06 \u4f7f   ROS   \u6865 \u540e\u9000 \u4e00\u6b65 \uff0c \u5e76 \u5141\u8bb8 \u53e6 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u6765 \u64cd\u4f5c \u4e16\u754c \u3002   \u53e6 \u4e00\u4e2a \u5ba2\u6237 \u5fc5\u987b \u5411 \u4e16\u754c \u53d1 \u8282\u62cd \uff0c \u5426\u5219   Carla   \u5c06 \u51bb\u7ed3 \u3002   \u5982\u679c   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u4e0d \u5904\u4e8e \u88ab\u52a8 \u6a21\u5f0f \u88ab\u52a8\u6a21\u5f0f \uff08 ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u662f \u552f\u4e00 \u7684 \uff09 \uff0c \u5219 \u6709 \u4e24\u79cd \u65b9\u6cd5 \u5c06 \u6b65\u8fdb \u63a7\u5236 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff1a   \u7528 \u6d88\u606f \u5411 \u4e3b\u9898   / carla / control   \u53d1\u9001   carla _ msgs . CarlaControl   \u3002   \u4f7f\u7528   \u63a7\u5236   rqt   \u63d2\u4ef6   \u3002 \u8be5 \u63d2\u4ef6 \u542f\u52a8 \u4e00\u4e2a \u5177\u6709 \u7b80\u5355 \u754c\u9762 \u7684 \u7a97\u53e3 \u65b0\u7a97\u53e3 \u3002 \u7136\u540e \u5b83 \u7528\u4e8e \u7ba1\u7406 \u6b65\u9aa4 \u5e76 \u5728   / carla / control   \u4e3b\u9898 \u4e2d \u53d1\u5e03 \u3002 \u8981 \u4f7f\u7528 \u5b83 \uff0c \u8bf7 \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528   Carla   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   rqt   -- standalone   rqt _ carla _ control","title":"\u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528   ROS"},{"location":"run_ros/#_1","text":"\u6709 \u4e24\u79cd \u63a7\u5236 \u81ea\u6211 \u8f66\u8f86 \u7684 \u6a21\u5f0f \uff1a   \u6b63\u5e38 \u6a21\u5f0f   -   \u4ece   / carla / < ROLE   NAME > / vehicle _ control _ cmd   \u8bfb\u53d6 \u547d\u4ee4   \u624b\u52a8 \u6a21\u5f0f   -   \u4ece   / carla / < ROLE   NAME > / vehicle _ control _ cmd _ manual   \u8bfb\u53d6 \u547d\u4ee4 \u3002 \u8fd9 \u5141\u8bb8 \u624b\u52a8 \u8986\u76d6 \u8f6f\u4ef6 \u5806\u6808 \u53d1\u5e03 \u7684 \u8f66\u8f86 \u63a7\u5236 \u547d\u4ee4 \u3002   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u53d1\u5e03 \u5230   / carla / < ROLE   NAME > / vehicle _ control _ manual _ override   \u6765 \u5728 \u4e24\u79cd \u6a21\u5f0f \u4e4b\u95f4 \u5207\u6362 \u3002 \u6709\u5173 \u4f7f\u7528 \u7684 \u793a\u4f8b \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Carla   \u624b\u52a8 \u63a7\u5236   \u3002   \u8981 \u4ece \u547d\u4ee4 \u547d\u4ee4\u884c \u6d4b\u8bd5 \u8f6c\u5411 \uff1a   1 .   \u4f7f\u7528   ego   \u8f66\u8f86 \u542f\u52a8   ROS   \u6865 \uff1a   #   ROS   1   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch   #   ROS   2   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch . py   2 .   \u5728 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u4e2d \uff0c \u53d1\u5e03 \u5230 \u4e3b\u9898   / carla / < ROLE   NAME > / vehicle _ control _ cmd   #   \u6700\u5927 \u5411\u524d \u6cb9\u95e8 \uff0c \u6700\u5927 \u53f3\u8f6c \u5411\u53f3\u8f6c \u5411   #   \u5bf9\u4e8e   ros1   rostopic   pub   / carla / ego _ vehicle / vehicle _ control _ cmd   carla _ msgs / CarlaEgoVehicleControl   \" { throttle :   1.0 ,   steer :   1.0 } \"   - r   10   #   \u5bf9\u4e8e   ros2   ros2   topic   pub   / carla / ego _ vehicle / vehicle _ control _ cmd   carla _ msgs / CarlaEgoVehicleControl   \" { throttle :   1.0 ,   steer :   1.0 } \"   - r   10   \u5f53\u524d \u8f66\u8f86 \u7684 \u72b6\u6001 \u53ef\u4ee5 \u901a\u8fc7 \u4e3b\u9898   / carla / < ROLE   NAME > / vehicle _ status   \u83b7\u5f97 \u3002 \u6709\u5173 \u8f66\u8f86 \u7684 \u9759\u6001 \u4fe1\u606f \u53ef\u4ee5 \u901a\u8fc7   / carla / < ROLE   NAME > / vehicle _ info   \u63a5\u6536 .   \u53ef\u4ee5 \u4f7f\u7528   AckermannDrive   \u6d88\u606f \u6765 \u63a7\u5236 \u81ea\u6211 \u8f66\u8f86 \u3002 \u8fd9 \u53ef\u4ee5 \u901a\u8fc7 \u4f7f\u7528   Carla   \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236   \u5305\u6765 \u5b9e\u73b0 \u3002","title":"\u81ea\u6211 \u8f66\u8f86 \u63a7\u5236"},{"location":"run_ros/#ros_4","text":"","title":"ROS   \u5e94\u7528 \u7a0b\u5e8f\u63a5\u53e3"},{"location":"run_ros/#_2","text":"\u4e3b\u9898   \u7c7b\u522b   \u63cf\u8ff0   / carla / debug _ marker   \u53ef\u89c6 \u53ef\u89c6\u5316 _ msgs / MarkerArray   \u5728   Carla   \u4e16\u754c \u4e2d \u7ed8\u5236 \u6807\u8bb0 \u3002   / carla / weather _ control   carla _ msgs / CarlaWeatherParameters   \u8bbe\u7f6e   Carla   \u5929\u6c14 \u53c2\u6570   / clock   rosgraph _ msgs / Clock   \u5728   ROS   \u4e2d \u53d1\u5e03 \u4eff\u771f \u65f6\u95f4 \u3002   \u7b14\u8bb0   \u4f7f\u7528   debug _ marker   \u65f6 \uff0c \u8bf7 \u6ce8\u610f \u6807\u8bb0 \u53ef\u80fd \u4f1a \u5f71\u54cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53d1\u5e03 \u7684 \u6570\u636e \u3002 \u652f\u6301 \u7684 \u6807\u8bb0 \u5305\u62ec \uff1a \u7bad\u5934 \uff08 \u7531 \u4e24\u4e2a \u70b9 \u6307\u5b9a \uff09 \u3001 \u70b9 \u3001 \u7acb\u65b9 \u7acb\u65b9\u4f53 \u548c \u7ebf\u6761 \u3002","title":"\u8ba2\u9605"},{"location":"run_ros/#_3","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / status   carla _ msgs / CarlaStatus   \u8bfb\u53d6   Carla   \u7684 \u5f53\u524d \u72b6\u6001   / carla / world _ info   carla _ msgs / CarlaWorldInfo   \u6709\u5173 \u5f53\u524d   Carla   \u5730\u56fe \u7684 \u4fe1\u606f \u3002   / clock   rosgraph _ msgs / Clock   \u5728   ROS   \u4e2d \u53d1\u5e03 \u4eff\u771f \u65f6\u95f4 \u3002   / rosout   rosgraph _ msgs / Log   ROS   \u65e5\u5fd7 \u8bb0\u5f55 \u3002","title":"\u53d1\u5e03"},{"location":"run_ros/#_4","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / destroy _ object   carla _ msgs / DestroyObject . srv   \u9500\u6bc1 \u4e00\u4e2a \u7269\u4f53   / carla / get _ blueprints   carla _ msgs / GetBlueprints . srv   \u83b7\u53d6 \u84dd\u56fe   / carla / spawn _ object   carla _ msgs / SpawnObject . srv   \u751f\u6210 \u4e00\u4e2a \u5bf9\u8c61","title":"\u670d\u52a1"},{"location":"rviz_plugin/","text":"RVIZ   Carla   \u63d2\u4ef6   RVIZ   \u63d2\u4ef6   \u63d0\u4f9b \u4e86 \u57fa\u4e8e   RVIZ   ROS \u5305 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u5de5\u5177 \u3002   \u4f7f\u7528   RVIZ   \u8fd0\u884c   ROS   \u6865   RVIZ   \u63d2\u4ef6 \u7684 \u529f\u80fd   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u8ba2\u9605   \u53d1\u5e03   \u670d\u52a1   \u4f7f\u7528   RVIZ   \u8fd0\u884c   ROS   \u6865   RVIZ   \u63d2\u4ef6 \u9700\u8981 \u4e00\u4e2a \u540d\u4e3a   ego _ vehicle   \u7684 \u81ea\u6211 \u8f66\u8f86 \u3002 \u8981 \u67e5\u770b   ROS   \u6865 \u4e0e   RVIZ   \u914d\u5408 \u4f7f\u7528 \u7684 \u793a\u4f8b \uff0c \u8bf7 \u5728 \u8fd0\u884c \u7684   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0a \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   1 .   \u5728 \u542f\u7528   RVIZ   \u7684 \u60c5\u51b5 \u4e0b \u542f\u52a8   ROS   \u6865 \uff1a   #   ROS   1   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge . launch   #   ROS   2   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge . launch . py   2 .   \u542f\u52a8   RVIZ \uff1a   #   ROS   1   rosrun   rviz   rviz   #   ROS   2   ros2   run   rviz2   rviz2   2 .   \u4f7f\u7528   carla _ spawn _ objects   \u5305 \u751f\u6210 \u4e00\u8f86 \u81ea\u6211 \u8f66\u8f86 \uff1a   #   ROS   1   roslaunch   carla _ spawn _ objects   carla _ spawn _ objects . launch   #   ROS   2   ros2   launch   carla _ spawn _ objects   carla _ spawn _ objects . launch . py   3 .   \u4f7f\u7528   carla _ manual _ control   \u5305 \u63a7\u5236 \u81ea\u6211 \u8f66\u8f86 \uff08 \u6309\u4e0b B \u53ef \u542f\u7528 \u624b\u52a8 \u8f6c\u5411 \uff09 \uff1a   #   ROS   1   roslaunch   carla _ manual _ control   carla _ manual _ control . launch   #   ROS   2   ros2   launch   carla _ manual _ control   carla _ manual _ control . launch . py   RVIZ   \u63d2\u4ef6 \u7684 \u529f\u80fd   \u81ea\u6211 \u8f66\u8f86 \u72b6\u6001 \u53ef\u89c6 \u53ef\u89c6\u5316   -   \u53ef\u89c6 \u53ef\u89c6\u5316 \u8f66\u8f86 \u4f4d\u7f6e \u548c \u63a7\u5236 \u3002   \u5411 \u5176\u4ed6 \u8282\u70b9 \u63d0\u4f9b   RVIZ   \u89c6\u56fe \u59ff\u52bf   -   \u8fde\u63a5   actor . pseudo . control   \u5230 \u76f8\u673a \u540e \uff0c \u901a\u8fc7 \u53d1\u5e03 \u59ff\u52bf \u6d88\u606f \u5728   Carla   \u4e16\u754c \u4e2d \u79fb\u52a8 \u76f8\u673a \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u89c6 \u53ef\u89c6\u5316   -   \u53ef\u89c6 \u53ef\u89c6\u5316   RGB \u3001 LIDAR \u3001 \u6df1\u5ea6 \u3001 DVS   \u548c \u8bed\u4e49 \u5206\u5272 \u76f8\u673a \u4fe1\u606f \u3002   \u6267\u884c \u573a\u666f   -   \u4f7f\u7528   carla _ ros _ scenario _ runner   \u5305 \u89e6\u53d1 \u573a\u666f \u3002   \u64ad\u653e / \u6682\u505c \u4eff\u771f   -   \u5982\u679c \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \uff0c \u60a8 \u53ef\u4ee5 \u64ad\u653e \u548c \u6682\u505c \u4eff\u771f \u3002   \u624b\u52a8 \u8986\u76d6 \u81ea\u6211 \u8f66\u8f86 \u63a7\u5236   -   \u4f7f\u7528   RVIZ   Visualization   Tutorials   \u53ef\u89c6 \u53ef\u89c6\u5316 \u6559\u7a0b \u4e2d \u7684 \u9a71\u52a8 \u5c0f \u90e8\u4ef6 \u548c \u4ece \u626d\u66f2 \u8f6c\u6362 \u4e3a \u8f66\u8f86 \u63a7\u5236 \u7684   \u8282\u70b9   \uff0c \u901a\u8fc7 \u9f20\u6807 \u9a7e\u9a76 \u8f66\u8f86 \u3002   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u8ba2\u9605   Topic   Type   Description   / carla / status   carla _ msgs / CarlaStatus   \u8bfb\u53d6   Carla   \u7684 \u5f53\u524d \u72b6\u6001   / carla / ego _ vehicle / vehicle _ status   carla _ msgs / CarlaEgoVehicleStatus   \u663e\u793a \u672c\u8f66 \u5f53\u524d \u72b6\u6001   / carla / ego _ vehicle / odometry   nav _ msgs / Odometry   \u663e\u793a \u81ea\u6211 \u8f66\u8f86 \u7684 \u5f53\u524d \u59ff\u6001   / scenario _ runner / status   carla _ ros _ scenario _ runner _ types / CarlaScenarioRunnerStatus   \u53ef\u89c6 \u53ef\u89c6\u5316 \u573a\u666f \u8fd0\u884c \u72b6\u6001   / carla / available _ scenarios   carla _ ros _ scenario _ runner _ types / CarlaScenarioList   \u63d0\u4f9b \u8981 \u6267\u884c \u7684 \u573a\u666f \u5217\u8868 \uff08 \u5728 \u7ec4\u5408 \u6846\u4e2d \u7981\u7528 \uff09   \u53d1\u5e03   Topic   Type   Description   / carla / control   carla _ msgs / CarlaControl   \u64ad\u653e / \u6682\u505c / \u6b65\u8fdb   Carla   / carla / ego _ vehicle / spectator _ pose   geometry _ msgs / PoseStamped   \u53d1\u5e03   RVIZ   \u76f8\u673a \u89c6\u56fe \u7684 \u5f53\u524d \u59ff\u6001   / carla / ego _ vehicle / vehicle _ control _ manual _ override   std _ msgs / Bool   \u542f\u7528 / \u7981\u7528 \u8f66\u8f86 \u63a7\u5236 \u8986\u76d6   / carla / ego _ vehicle / twist   geometry _ msgs / Twist   \u901a\u8fc7 \u9f20\u6807 \u521b\u5efa \u7684 \u626d\u66f2 \u547d\u4ee4   \u670d\u52a1   Topic   Type   Description   / scenario _ runner / execute _ scenario   carla _ ros _ scenario _ runner _ types / ExecuteScenario   \u6267\u884c \u9009\u5b9a \u7684 \u573a\u666f","title":"RVIZ   Carla   \u63d2\u4ef6"},{"location":"rviz_plugin/#rviz-carla","text":"RVIZ   \u63d2\u4ef6   \u63d0\u4f9b \u4e86 \u57fa\u4e8e   RVIZ   ROS \u5305 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u5de5\u5177 \u3002   \u4f7f\u7528   RVIZ   \u8fd0\u884c   ROS   \u6865   RVIZ   \u63d2\u4ef6 \u7684 \u529f\u80fd   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u8ba2\u9605   \u53d1\u5e03   \u670d\u52a1","title":"RVIZ   Carla   \u63d2\u4ef6"},{"location":"rviz_plugin/#rviz-ros","text":"RVIZ   \u63d2\u4ef6 \u9700\u8981 \u4e00\u4e2a \u540d\u4e3a   ego _ vehicle   \u7684 \u81ea\u6211 \u8f66\u8f86 \u3002 \u8981 \u67e5\u770b   ROS   \u6865 \u4e0e   RVIZ   \u914d\u5408 \u4f7f\u7528 \u7684 \u793a\u4f8b \uff0c \u8bf7 \u5728 \u8fd0\u884c \u7684   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0a \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   1 .   \u5728 \u542f\u7528   RVIZ   \u7684 \u60c5\u51b5 \u4e0b \u542f\u52a8   ROS   \u6865 \uff1a   #   ROS   1   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge . launch   #   ROS   2   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge . launch . py   2 .   \u542f\u52a8   RVIZ \uff1a   #   ROS   1   rosrun   rviz   rviz   #   ROS   2   ros2   run   rviz2   rviz2   2 .   \u4f7f\u7528   carla _ spawn _ objects   \u5305 \u751f\u6210 \u4e00\u8f86 \u81ea\u6211 \u8f66\u8f86 \uff1a   #   ROS   1   roslaunch   carla _ spawn _ objects   carla _ spawn _ objects . launch   #   ROS   2   ros2   launch   carla _ spawn _ objects   carla _ spawn _ objects . launch . py   3 .   \u4f7f\u7528   carla _ manual _ control   \u5305 \u63a7\u5236 \u81ea\u6211 \u8f66\u8f86 \uff08 \u6309\u4e0b B \u53ef \u542f\u7528 \u624b\u52a8 \u8f6c\u5411 \uff09 \uff1a   #   ROS   1   roslaunch   carla _ manual _ control   carla _ manual _ control . launch   #   ROS   2   ros2   launch   carla _ manual _ control   carla _ manual _ control . launch . py","title":"\u4f7f\u7528   RVIZ   \u8fd0\u884c   ROS   \u6865"},{"location":"rviz_plugin/#rviz","text":"\u81ea\u6211 \u8f66\u8f86 \u72b6\u6001 \u53ef\u89c6 \u53ef\u89c6\u5316   -   \u53ef\u89c6 \u53ef\u89c6\u5316 \u8f66\u8f86 \u4f4d\u7f6e \u548c \u63a7\u5236 \u3002   \u5411 \u5176\u4ed6 \u8282\u70b9 \u63d0\u4f9b   RVIZ   \u89c6\u56fe \u59ff\u52bf   -   \u8fde\u63a5   actor . pseudo . control   \u5230 \u76f8\u673a \u540e \uff0c \u901a\u8fc7 \u53d1\u5e03 \u59ff\u52bf \u6d88\u606f \u5728   Carla   \u4e16\u754c \u4e2d \u79fb\u52a8 \u76f8\u673a \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u89c6 \u53ef\u89c6\u5316   -   \u53ef\u89c6 \u53ef\u89c6\u5316   RGB \u3001 LIDAR \u3001 \u6df1\u5ea6 \u3001 DVS   \u548c \u8bed\u4e49 \u5206\u5272 \u76f8\u673a \u4fe1\u606f \u3002   \u6267\u884c \u573a\u666f   -   \u4f7f\u7528   carla _ ros _ scenario _ runner   \u5305 \u89e6\u53d1 \u573a\u666f \u3002   \u64ad\u653e / \u6682\u505c \u4eff\u771f   -   \u5982\u679c \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \uff0c \u60a8 \u53ef\u4ee5 \u64ad\u653e \u548c \u6682\u505c \u4eff\u771f \u3002   \u624b\u52a8 \u8986\u76d6 \u81ea\u6211 \u8f66\u8f86 \u63a7\u5236   -   \u4f7f\u7528   RVIZ   Visualization   Tutorials   \u53ef\u89c6 \u53ef\u89c6\u5316 \u6559\u7a0b \u4e2d \u7684 \u9a71\u52a8 \u5c0f \u90e8\u4ef6 \u548c \u4ece \u626d\u66f2 \u8f6c\u6362 \u4e3a \u8f66\u8f86 \u63a7\u5236 \u7684   \u8282\u70b9   \uff0c \u901a\u8fc7 \u9f20\u6807 \u9a7e\u9a76 \u8f66\u8f86 \u3002","title":"RVIZ   \u63d2\u4ef6 \u7684 \u529f\u80fd"},{"location":"rviz_plugin/#ros","text":"","title":"ROS   \u5e94\u7528 \u7a0b\u5e8f\u63a5\u53e3"},{"location":"rviz_plugin/#_1","text":"Topic   Type   Description   / carla / status   carla _ msgs / CarlaStatus   \u8bfb\u53d6   Carla   \u7684 \u5f53\u524d \u72b6\u6001   / carla / ego _ vehicle / vehicle _ status   carla _ msgs / CarlaEgoVehicleStatus   \u663e\u793a \u672c\u8f66 \u5f53\u524d \u72b6\u6001   / carla / ego _ vehicle / odometry   nav _ msgs / Odometry   \u663e\u793a \u81ea\u6211 \u8f66\u8f86 \u7684 \u5f53\u524d \u59ff\u6001   / scenario _ runner / status   carla _ ros _ scenario _ runner _ types / CarlaScenarioRunnerStatus   \u53ef\u89c6 \u53ef\u89c6\u5316 \u573a\u666f \u8fd0\u884c \u72b6\u6001   / carla / available _ scenarios   carla _ ros _ scenario _ runner _ types / CarlaScenarioList   \u63d0\u4f9b \u8981 \u6267\u884c \u7684 \u573a\u666f \u5217\u8868 \uff08 \u5728 \u7ec4\u5408 \u6846\u4e2d \u7981\u7528 \uff09","title":"\u8ba2\u9605"},{"location":"rviz_plugin/#_2","text":"Topic   Type   Description   / carla / control   carla _ msgs / CarlaControl   \u64ad\u653e / \u6682\u505c / \u6b65\u8fdb   Carla   / carla / ego _ vehicle / spectator _ pose   geometry _ msgs / PoseStamped   \u53d1\u5e03   RVIZ   \u76f8\u673a \u89c6\u56fe \u7684 \u5f53\u524d \u59ff\u6001   / carla / ego _ vehicle / vehicle _ control _ manual _ override   std _ msgs / Bool   \u542f\u7528 / \u7981\u7528 \u8f66\u8f86 \u63a7\u5236 \u8986\u76d6   / carla / ego _ vehicle / twist   geometry _ msgs / Twist   \u901a\u8fc7 \u9f20\u6807 \u521b\u5efa \u7684 \u626d\u66f2 \u547d\u4ee4","title":"\u53d1\u5e03"},{"location":"rviz_plugin/#_3","text":"Topic   Type   Description   / scenario _ runner / execute _ scenario   carla _ ros _ scenario _ runner _ types / ExecuteScenario   \u6267\u884c \u9009\u5b9a \u7684 \u573a\u666f","title":"\u670d\u52a1"},{"location":"scenario_runner/","text":"Carla   \u7684 \u573a\u666f \u8fd0\u884c \u5668   ScenarioRunner   \u662f \u4e00\u4e2a \u5141\u8bb8   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5b9a\u4e49 \u548c \u6267\u884c \u4ea4\u901a \u573a\u666f \u7684 \u6a21\u5757 \u3002 \u53ef\u4ee5 \u901a\u8fc7   Python   \u63a5\u53e3 \u6216 \u4f7f\u7528   OpenSCENARIO   \u6807\u51c6 \u6765 \u5b9a\u4e49 \u573a\u666f \u3002 \u6700\u65b0 \u7248\u672c \u7684 scenario _ runner   \u8fd8 \u652f\u6301 \u5373\u5c06 \u63a8\u51fa \u7684   OpenSCENARIO   \u6807\u51c6 \u548c   OpenSCENARIO   2.0   \u6807\u51c6 \u3002   ScenarioRunner   \u8fd8 \u53ef \u7528\u4e8e \u901a\u8fc7 \u8f7b\u677e \u521b\u5efa \u590d\u6742 \u7684 \u4ea4\u901a \u573a\u666f \u548c \u4f9b \u4ee3\u7406 \u5bfc\u822a \u7684 \u8def\u7ebf \u6765 \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u7684 \u8bc4\u4f30 \u505a\u597d \u51c6\u5907 \u3002 \u8fd9\u4e9b \u7ed3\u679c \u53ef\u4ee5 \u5728   Carla   \u6392\u884c \u6392\u884c\u699c   \u4e0a \u8fdb\u884c \u9a8c\u8bc1 \u548c \u5171\u4eab \uff0c Carla   \u6392\u884c \u6392\u884c\u699c \u662f \u4e00\u4e2a \u5f00\u653e \u5e73\u53f0 \u5f00\u653e\u5e73\u53f0 \uff0c \u4f9b \u793e\u533a \u516c\u5e73 \u5730 \u6bd4\u8f83 \u4ed6\u4eec \u7684 \u8fdb\u5ea6 \uff0c \u5728 \u73b0\u5b9e \u7684 \u4ea4\u901a \u60c5\u51b5 \u4e0b \u8bc4\u4f30 \u4ee3\u7406 \u3002   Carla   \u8bba\u575b \u6709 \u4e00\u4e2a \u5173\u4e8e   ScenarioRunner   \u7684 \u4e13\u95e8 \u7248\u5757 \uff0c \u4f9b \u7528\u6237 \u53d1\u8868 \u5728 \u9605\u8bfb \u672c \u6587\u6863 \u8fc7\u7a0b \u4e2d \u53ef\u80fd \u51fa\u73b0 \u7684 \u4efb\u4f55 \u7591\u95ee \u6216 \u5efa\u8bae \u3002   Carla   \u8bba\u575b   \u5feb\u901f \u5f00\u59cb   \u5165\u95e8 \u6587\u6863   -   \u6709\u5173 \u5982\u4f55 \u4e0b\u8f7d \u548c \u542f\u52a8   ScenarioRunner   \u7684 \u6559\u7a0b \u3002   \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65   \u2014   \u6709\u5173 \u5982\u4f55 \u8fd0\u884c \u4e0d\u540c \u7c7b\u578b \u573a\u666f \u7684 \u7b80\u8981 \u6559\u7a0b \u3002   \u521b\u5efa \u65b0 \u573a\u666f   \u2014   \u6709\u5173 \u5982\u4f55 \u4f7f\u7528   ScenarioRunner   \u521b\u5efa \u65b0 \u573a\u666f \u7684 \u6559\u7a0b \u3002   \u6307\u6807 \u6a21\u5757   \u2014   \u6307\u6807 \u6a21\u5757 \u7684 \u8bf4\u660e \u3002   \u5e38\u89c1 \u95ee\u9898 \u9898\u89e3 \u89e3\u7b54 \u95ee\u9898\u89e3\u7b54   \u2014   \u4e00\u4e9b \u6700 \u5e38\u89c1 \u7684 \u5b89\u88c5 \u95ee\u9898 \u3002   \u53d1\u884c \u8bf4\u660e   \u2014   \u6bcf\u4e2a \u7248\u672c \u5217\u51fa \u7684 \u529f\u80fd \u3001 \u4fee\u590d \u548c \u5176\u4ed6 \u66f4\u6539 \u3002   \u53c2\u8003   \u573a\u666f \u5217\u8868   \u2014   ScenarioRunner   \u4e2d \u63d0\u4f9b \u7684 \u793a\u4f8b \u573a\u666f \u3002   OpenScenario   \u652f\u6301   \u2014   OpenSCENARIO   \u529f\u80fd \u7684 \u652f\u6301 \u72b6\u6001 \u3002   \u8d21\u732e   \u884c\u4e3a \u4e3a\u51c6 \u51c6\u5219 \u884c\u4e3a\u51c6\u5219   \u2014   \u8d21\u732e \u8d21\u732e\u8005 \u7684 \u6807\u51c6 \u6743\u5229 \u548c \u4e49\u52a1 \u3002   \u7f16\u7801 \u6807\u51c6 \u7f16\u7801\u6807\u51c6   \u2014   \u7f16\u5199 \u6b63\u786e \u4ee3\u7801 \u7684 \u6307\u5357 \u3002   \u8d21\u732e \u6307\u5357   \u2014   \u4e3a   ScenarioRunner   \u505a\u51fa \u8d21\u732e \u7684 \u4e0d\u540c \u65b9\u5f0f \u3002","title":"Scenario   runner"},{"location":"scenario_runner/#carla","text":"ScenarioRunner   \u662f \u4e00\u4e2a \u5141\u8bb8   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5b9a\u4e49 \u548c \u6267\u884c \u4ea4\u901a \u573a\u666f \u7684 \u6a21\u5757 \u3002 \u53ef\u4ee5 \u901a\u8fc7   Python   \u63a5\u53e3 \u6216 \u4f7f\u7528   OpenSCENARIO   \u6807\u51c6 \u6765 \u5b9a\u4e49 \u573a\u666f \u3002 \u6700\u65b0 \u7248\u672c \u7684 scenario _ runner   \u8fd8 \u652f\u6301 \u5373\u5c06 \u63a8\u51fa \u7684   OpenSCENARIO   \u6807\u51c6 \u548c   OpenSCENARIO   2.0   \u6807\u51c6 \u3002   ScenarioRunner   \u8fd8 \u53ef \u7528\u4e8e \u901a\u8fc7 \u8f7b\u677e \u521b\u5efa \u590d\u6742 \u7684 \u4ea4\u901a \u573a\u666f \u548c \u4f9b \u4ee3\u7406 \u5bfc\u822a \u7684 \u8def\u7ebf \u6765 \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u7684 \u8bc4\u4f30 \u505a\u597d \u51c6\u5907 \u3002 \u8fd9\u4e9b \u7ed3\u679c \u53ef\u4ee5 \u5728   Carla   \u6392\u884c \u6392\u884c\u699c   \u4e0a \u8fdb\u884c \u9a8c\u8bc1 \u548c \u5171\u4eab \uff0c Carla   \u6392\u884c \u6392\u884c\u699c \u662f \u4e00\u4e2a \u5f00\u653e \u5e73\u53f0 \u5f00\u653e\u5e73\u53f0 \uff0c \u4f9b \u793e\u533a \u516c\u5e73 \u5730 \u6bd4\u8f83 \u4ed6\u4eec \u7684 \u8fdb\u5ea6 \uff0c \u5728 \u73b0\u5b9e \u7684 \u4ea4\u901a \u60c5\u51b5 \u4e0b \u8bc4\u4f30 \u4ee3\u7406 \u3002   Carla   \u8bba\u575b \u6709 \u4e00\u4e2a \u5173\u4e8e   ScenarioRunner   \u7684 \u4e13\u95e8 \u7248\u5757 \uff0c \u4f9b \u7528\u6237 \u53d1\u8868 \u5728 \u9605\u8bfb \u672c \u6587\u6863 \u8fc7\u7a0b \u4e2d \u53ef\u80fd \u51fa\u73b0 \u7684 \u4efb\u4f55 \u7591\u95ee \u6216 \u5efa\u8bae \u3002   Carla   \u8bba\u575b","title":"Carla   \u7684 \u573a\u666f \u8fd0\u884c \u5668"},{"location":"scenario_runner/#_1","text":"\u5165\u95e8 \u6587\u6863   -   \u6709\u5173 \u5982\u4f55 \u4e0b\u8f7d \u548c \u542f\u52a8   ScenarioRunner   \u7684 \u6559\u7a0b \u3002   \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65   \u2014   \u6709\u5173 \u5982\u4f55 \u8fd0\u884c \u4e0d\u540c \u7c7b\u578b \u573a\u666f \u7684 \u7b80\u8981 \u6559\u7a0b \u3002   \u521b\u5efa \u65b0 \u573a\u666f   \u2014   \u6709\u5173 \u5982\u4f55 \u4f7f\u7528   ScenarioRunner   \u521b\u5efa \u65b0 \u573a\u666f \u7684 \u6559\u7a0b \u3002   \u6307\u6807 \u6a21\u5757   \u2014   \u6307\u6807 \u6a21\u5757 \u7684 \u8bf4\u660e \u3002   \u5e38\u89c1 \u95ee\u9898 \u9898\u89e3 \u89e3\u7b54 \u95ee\u9898\u89e3\u7b54   \u2014   \u4e00\u4e9b \u6700 \u5e38\u89c1 \u7684 \u5b89\u88c5 \u95ee\u9898 \u3002   \u53d1\u884c \u8bf4\u660e   \u2014   \u6bcf\u4e2a \u7248\u672c \u5217\u51fa \u7684 \u529f\u80fd \u3001 \u4fee\u590d \u548c \u5176\u4ed6 \u66f4\u6539 \u3002","title":"\u5feb\u901f \u5f00\u59cb"},{"location":"scenario_runner/#_2","text":"\u573a\u666f \u5217\u8868   \u2014   ScenarioRunner   \u4e2d \u63d0\u4f9b \u7684 \u793a\u4f8b \u573a\u666f \u3002   OpenScenario   \u652f\u6301   \u2014   OpenSCENARIO   \u529f\u80fd \u7684 \u652f\u6301 \u72b6\u6001 \u3002","title":"\u53c2\u8003"},{"location":"scenario_runner/#_3","text":"\u884c\u4e3a \u4e3a\u51c6 \u51c6\u5219 \u884c\u4e3a\u51c6\u5219   \u2014   \u8d21\u732e \u8d21\u732e\u8005 \u7684 \u6807\u51c6 \u6743\u5229 \u548c \u4e49\u52a1 \u3002   \u7f16\u7801 \u6807\u51c6 \u7f16\u7801\u6807\u51c6   \u2014   \u7f16\u5199 \u6b63\u786e \u4ee3\u7801 \u7684 \u6307\u5357 \u3002   \u8d21\u732e \u6307\u5357   \u2014   \u4e3a   ScenarioRunner   \u505a\u51fa \u8d21\u732e \u7684 \u4e0d\u540c \u65b9\u5f0f \u3002","title":"\u8d21\u732e"},{"location":"simulator_keyboard_input/","text":"Carla   \u6a21\u62df \u6a21\u62df\u5668 \u952e\u76d8 \u8f93\u5165 \u952e\u76d8\u8f93\u5165   \u5728 \u6a21\u62df \u6a21\u62df\u5668 \u7a97\u53e3 \u4e2d \u73a9\u6e38 \u6e38\u620f \u73a9\u6e38\u620f \u65f6 \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u6309\u952e \u7ed1\u5b9a \u3002 \u8bf7 \u6ce8\u610f \uff0c \u8f66\u8f86 \u63a7\u5236 \u4ec5 \u5728   \u72ec\u7acb \u6a21\u5f0f   \u4e0b \u8fd0\u884c \u65f6 \u53ef\u7528 \u3002   \u952e   \u52a8\u4f5c   W   \u6cb9\u95e8   S   \u5239\u8f66   A   D   \u65b9\u5411 \u65b9\u5411\u76d8   Q   \u5207\u6362 \u5012 \u6863   Space   \u624b\u5239   P   \u5207\u6362 \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea   \\ leftarrow   \\ rightarrow   \\ uparrow   \\ downarrow   \u79fb\u52a8 \u76f8\u673a   PgUp   PgDn   \u653e\u5927 \u548c \u7f29\u5c0f   \u9f20\u6807 \u6eda\u8f6e   \u653e\u5927 \u548c \u7f29\u5c0f   Tab   \u5207\u6362 \u673a\u8f7d \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934   F11   \u5207\u6362 \u5168\u5c4f   R   \u91cd\u542f \u5173\u5361   G   \u5207\u6362 \u5934\u663e   C   \u6539\u53d8 \u5929\u6c14 / \u5149\u7167   Enter   \u8df3   F   \u4f7f\u7528 \u529b   F   \u9000\u51fa","title":"Carla   \u6a21\u62df\u5668 \u952e\u76d8\u8f93\u5165"},{"location":"simulator_keyboard_input/#carla","text":"\u5728 \u6a21\u62df \u6a21\u62df\u5668 \u7a97\u53e3 \u4e2d \u73a9\u6e38 \u6e38\u620f \u73a9\u6e38\u620f \u65f6 \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u6309\u952e \u7ed1\u5b9a \u3002 \u8bf7 \u6ce8\u610f \uff0c \u8f66\u8f86 \u63a7\u5236 \u4ec5 \u5728   \u72ec\u7acb \u6a21\u5f0f   \u4e0b \u8fd0\u884c \u65f6 \u53ef\u7528 \u3002   \u952e   \u52a8\u4f5c   W   \u6cb9\u95e8   S   \u5239\u8f66   A   D   \u65b9\u5411 \u65b9\u5411\u76d8   Q   \u5207\u6362 \u5012 \u6863   Space   \u624b\u5239   P   \u5207\u6362 \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea   \\ leftarrow   \\ rightarrow   \\ uparrow   \\ downarrow   \u79fb\u52a8 \u76f8\u673a   PgUp   PgDn   \u653e\u5927 \u548c \u7f29\u5c0f   \u9f20\u6807 \u6eda\u8f6e   \u653e\u5927 \u548c \u7f29\u5c0f   Tab   \u5207\u6362 \u673a\u8f7d \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934   F11   \u5207\u6362 \u5168\u5c4f   R   \u91cd\u542f \u5173\u5361   G   \u5207\u6362 \u5934\u663e   C   \u6539\u53d8 \u5929\u6c14 / \u5149\u7167   Enter   \u8df3   F   \u4f7f\u7528 \u529b   F   \u9000\u51fa","title":"Carla   \u6a21\u62df\u5668 \u952e\u76d8\u8f93\u5165"},{"location":"start_introduction/","text":"Carla   \u91cd\u8981   \u672c \u6587\u6863 \u53c2\u8003 \u6700\u65b0 \u7248\u672c \u7684   Carla \u3002 \u6709\u5173 \u4ee5\u524d \u7248\u672c \u7684 \u6587\u6863 \uff0c \u8bf7 \u5728 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u770b\u5230 \u6b64 \u6309\u94ae \u7684 \u4f4d\u7f6e \u9009\u62e9 \u6240 \u9700 \u7684 \u7248\u672c \uff1a   Carla   \u662f \u4e00\u6b3e \u5f00\u6e90 \u81ea\u52a8 \u9a7e\u9a76 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002 \u5b83 \u662f \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u6784\u5efa \u7684 \uff0c \u4f5c\u4e3a \u4e00\u4e2a \u6a21\u5757 \u6a21\u5757\u5316 \u4e14 \u7075\u6d3b \u7684   API \uff0c \u53ef\u4ee5 \u89e3\u51b3 \u81ea\u52a8 \u9a7e\u9a76 \u95ee\u9898 \u4e2d \u6d89\u53ca \u7684 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u4efb\u52a1 \u3002 Carla   \u7684 \u4e3b\u8981 \u76ee\u6807 \u4e4b\u4e00 \u662f \u5e2e\u52a9 \u81ea\u52a8 \u9a7e\u9a76 \u7814\u53d1 \u6c11\u4e3b \u6c11\u4e3b\u5316 \uff0c \u6210\u4e3a \u7528\u6237 \u53ef\u4ee5 \u8f7b\u677e \u8bbf\u95ee \u548c \u5b9a\u5236 \u7684 \u5de5\u5177 \u3002 \u4e3a\u6b64 \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5fc5\u987b \u6ee1\u8db3 \u4e00\u822c \u9a7e\u9a76 \u95ee\u9898 \u4e2d \u4e0d\u540c \u7528\u4f8b \u7684 \u8981\u6c42 \uff08 \u4f8b\u5982 \u5b66\u4e60 \u9a7e\u9a76 \u7b56\u7565 \u3001 \u8bad\u7ec3 \u611f\u77e5 \u7b97\u6cd5 \u7b49 \uff09 \u3002 Carla   \u57fa\u4e8e \u865a\u5e7b \u5f15\u64ce \u6765 \u8fd0\u884c \u4eff\u771f \uff0c \u5e76 \u4f7f\u7528   OpenDRIVE   \u6807\u51c6 \uff08 \u76ee\u524d \u4e3a   1.4 \uff09 \u6765 \u5b9a\u4e49 \u9053\u8def \u548c \u57ce\u5e02 \u8bbe\u7f6e \u3002 \u5bf9 \u4eff\u771f \u7684 \u63a7\u5236 \u662f \u901a\u8fc7   Python   \u548c   C++   \u5904\u7406 \u7684   API   \u6388\u4e88 \u7684 \uff0c \u8be5   API   \u968f\u7740 \u9879\u76ee \u7684 \u53d1\u5c55 \u800c \u4e0d\u65ad \u589e\u957f \u3002   \u4e3a\u4e86 \u987a\u5229 \u5f00\u53d1 \u3001 \u8bad\u7ec3 \u548c \u9a8c\u8bc1 \u9a7e\u9a76 \u7cfb\u7edf \u7684 \u8fc7\u7a0b \uff0c Carla   \u53d1\u5c55 \u6210\u4e3a \u4e00\u4e2a \u7531 \u793e\u533a \u56f4\u7ed5 \u4e3b \u5e73\u53f0 \u6784\u5efa \u7684 \u9879\u76ee \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u4e86\u89e3   Carla   \u7684 \u5de5\u4f5c \u539f\u7406 \u975e\u5e38 \u91cd\u8981 \uff0c \u8fd9\u6837 \u624d\u80fd \u5145\u5206 \u7406\u89e3 \u5176 \u529f\u80fd \u3002   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7531 \u53ef \u6269\u5c55 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u67b6\u6784 \u7ec4\u6210 \u3002   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8d1f\u8d23 \u4e0e \u4eff\u771f \u672c\u8eab \u76f8\u5173 \u7684 \u6240\u6709 \u4e8b\u60c5 \uff1a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6e32\u67d3 \u3001 \u7269\u7406 \u8ba1\u7b97 \u3001 \u4e16\u754c \u72b6\u6001 \u53ca\u5176 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u66f4\u65b0 \u7b49 \u3002 \u5305\u62ec   \u865a\u5e7b \u5f15\u64ce \u63d2\u4ef6   \u3001   Libcarla \u670d\u52a1 \u670d\u52a1\u7aef   \u3001 \u8fdc\u7a0b \u8fc7\u7a0b \u8c03\u7528 \u670d\u52a1 \u3002 \u7531\u4e8e \u5b83 \u7684 \u76ee\u6807 \u662f \u5b9e\u9645 \u7ed3\u679c \uff0c \u56e0\u6b64 \u5408\u9002 \u6700\u5408\u9002 \u7684 \u9009\u62e9 \u662f \u4f7f\u7528 \u4e13\u7528   GPU   \u8fd0\u884c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5c24\u5176 \u662f \u5728 \u5904\u7406 \u673a\u5668 \u5b66\u4e60 \u65f6 \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u7531 \u4e00\u7ec4 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6a21\u5757 \u7ec4\u6210 \uff0c \u63a7\u5236 \u573a\u666f \u4e2d \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u903b\u8f91 \u5e76 \u8bbe\u7f6e \u4e16\u754c \u6761\u4ef6 \u3002 Carla \u67b6\u6784 \u7684 \u8bbe\u8ba1 \u8bf7 \u53c2\u8003   \u94fe\u63a5   \u3002 \u8fd9\u662f \u901a\u8fc7 \u5229\u7528   Carla   API \uff08 Python   \u6216   C++   \u8bed\u8a00 \uff09 \u6765 \u5b9e\u73b0 \u7684 \uff0c Carla   API   \u662f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e4b\u95f4 \u7684 \u4e2d\u4ecb \u5c42 \uff0c \u4e0d\u65ad \u53d1\u5c55 \u4ee5 \u63d0\u4f9b \u65b0 \u529f\u80fd \u3002   \u8fd9 \u603b\u7ed3 \u4e86 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u57fa\u672c \u7ed3\u6784 \u3002 \u7136\u800c \uff0c \u4e86\u89e3   Carla   \u7684 \u610f\u4e49 \u4e0d\u6b62 \u8fdc\u4e0d\u6b62 \u4e8e \u6b64 \uff0c \u56e0\u4e3a \u5b83 \u5171\u5b58 \u4e86 \u8bb8\u591a \u4e0d\u540c \u7684 \u529f\u80fd \u548c \u5143\u7d20 \u3002 \u4e0b\u9762 \u5217\u51fa \u4e86 \u5176\u4e2d \u4e00\u4e9b \uff0c \u4ee5\u4fbf \u4e86\u89e3   Carla   \u53ef\u4ee5 \u5b9e\u73b0 \u7684 \u529f\u80fd \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   \u4e00\u79cd \u5185\u7f6e \u7cfb\u7edf \uff0c \u9664\u4e86 \u7528\u4e8e \u5b66\u4e60 \u7684 \u8f66\u8f86 \u5916 \uff0c \u8fd8 \u53ef\u4ee5 \u63a7\u5236 \u8f66\u8f86 \u3002 \u5b83 \u5145\u5f53   Carla   \u63d0\u4f9b \u7684 \u6307\u6325 \uff0c \u4ee5 \u73b0\u5b9e \u7684 \u884c\u4e3a \u91cd\u5efa \u7c7b\u4f3c \u57ce\u5e02 \u7684 \u73af\u5883 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u8f66\u8f86 \u4f9d\u9760 \u5b83\u4eec \u6765 \u5206\u53d1 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u7684 \u4fe1\u606f \u3002 \u5728   Carla   \u4e2d \uff0c \u5b83\u4eec \u662f \u9644\u7740 \u5728 \u8f66\u8f86 \u4e0a \u7684 \u7279\u5b9a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u53ef\u4ee5 \u68c0\u7d22 \u548c \u5b58\u50a8 \u5b83\u4eec \u63a5\u6536 \u5230 \u7684 \u6570\u636e \u4ee5 \u7b80\u5316 \u6d41\u7a0b \u3002 \u76ee\u524d \u8be5 \u9879\u76ee \u652f\u6301 \u4e0d\u540c \u7c7b\u578b \u7684 \u6280\u672f \uff0c \u4ece \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u5230 \u96f7\u8fbe \u3001 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7b49\u7b49 \u3002   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002   \u6b64 \u529f\u80fd \u7528\u4e8e \u4e3a \u4e16\u754c \u4e0a \u7684 \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u9010\u6b65 \u91cd\u6f14 \u4eff\u771f \u3002 \u5b83 \u5141\u8bb8 \u8bbf\u95ee \u4e16\u754c \u4e0a \u4efb\u4f55 \u5730\u65b9 \u7684 \u65f6\u95f4 \u7ebf\u4e2d \u7684 \u4efb\u4f55 \u4f55\u65f6 \u65f6\u523b \u4efb\u4f55\u65f6\u523b \uff0c \u8fd9\u662f \u4e00\u4e2a \u5f88\u68d2 \u7684 \u8ffd\u8e2a \u5de5\u5177 \u3002   \u673a\u5668 \u673a\u5668\u4eba \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u6865\u63a5 \u548c   Autoware   \u5b9e\u73b0 \u3002   \u4f5c\u4e3a \u666e\u904d \u666e\u904d\u5316 \u7684 \u95ee\u9898 \uff0c Carla   \u9879\u76ee \u81f4\u529b \u81f4\u529b\u4e8e \u5c06 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u96c6\u6210 \u5230 \u5176\u4ed6 \u5b66\u4e60 \u73af\u5883 \u4e2d \u3002   \u5f00\u653e \u8d44\u4ea7 \u3002   Carla   \u4e3a \u57ce\u5e02 \u73af\u5883 \u63d0\u4f9b \u4e86 \u4e0d\u540c \u7684 \u5730\u56fe \uff0c \u53ef\u4ee5 \u63a7\u5236 \u5929\u6c14 \u6761\u4ef6 \uff0c \u5e76 \u63d0\u4f9b \u4e00\u4e2a \u5305\u542b \u5927\u91cf \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u84dd \u56fe\u5e93 \u3002 \u7136\u800c \uff0c \u8fd9\u4e9b \u5143\u7d20 \u53ef\u4ee5 \u5b9a\u5236 \uff0c \u5e76\u4e14 \u53ef\u4ee5 \u6309\u7167 \u7b80\u5355 \u7684 \u6307\u5bfc \u539f\u5219 \u751f\u6210 \u65b0\u5143 \u5143\u7d20 \u65b0\u5143\u7d20 \u3002   Scenario   runner .   \u4e3a\u4e86 \u7b80\u5316 \u8f66\u8f86 \u7684 \u5b66\u4e60 \u8fc7\u7a0b \uff0c Carla   \u63d0\u4f9b \u4e86 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u63cf\u8ff0 \u4e0d\u540c \u60c5\u51b5 \u7684 \u8fed\u4ee3 \u8def\u7ebf \u3002 \u8fd9\u4e9b \u4e5f \u4e3a   Carla   \u6311\u6218   \u5960\u5b9a \u4e86 \u57fa\u7840 \uff0c \u6bcf\u4e2a \u4eba \u90fd \u53ef\u4ee5 \u6d4b\u8bd5 \u4ed6\u4eec \u7684 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u5e76 \u8dfb\u8eab \u6392\u884c \u6392\u884c\u699c \u3002   \u8be5 \u9879\u76ee   Carla   \u5feb\u901f \u7a33\u5b9a \u5730 \u53d1\u5c55 \uff0c \u6269\u5927 \u4e86 \u63d0\u4f9b \u7684 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8303\u56f4 \uff0c \u5e76 \u4e3a \u4e0d\u540c \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u65b9\u6cd5 \u5f00\u8f9f \u4e86 \u9053\u8def \u3002 \u5b83 \u5728 \u8fd9\u6837 \u505a \u7684 \u540c\u65f6 \u6c38\u8fdc \u4e0d\u4f1a \u5fd8\u8bb0 \u5176 \u5f00\u6e90 \u6027\u8d28 \u3002 \u8be5 \u9879\u76ee \u662f \u900f\u660e \u7684 \uff0c \u5145\u5f53 \u4e00\u4e2a \u767d\u76d2 \uff0c \u4efb\u4f55 \u4f55\u4eba \u4efb\u4f55\u4eba \u90fd \u53ef\u4ee5 \u8bbf\u95ee \u5de5\u5177 \u548c \u5f00\u53d1 \u793e\u533a \u3002 Carla   \u6b63\u662f \u5728 \u6c11\u4e3b \u6c11\u4e3b\u5316 \u4e2d \u627e\u5230 \u4e86 \u81ea\u5df1 \u7684 \u4ef7\u503c \u3002   \u8c08\u8bba   Carla   \u5982\u4f55 \u6210\u957f \u610f\u5473 \u610f\u5473\u7740 \u8c08\u8bba \u4e00\u4e2a \u5171\u540c \u6df1\u5165 \u7814\u7a76 \u6df1\u5165\u7814\u7a76 \u81ea\u52a8 \u9a7e\u9a76 \u5f7b\u5e95 \u95ee\u9898 \u7684 \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u793e\u533a \u3002 \u6bcf\u4e2a \u4eba \u90fd \u53ef\u4ee5 \u81ea\u7531 \u5730 \u4e0e   Carla   \u4e00\u8d77 \u63a2\u7d22 \uff0c \u627e\u5230 \u81ea\u5df1 \u7684 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c \u7136\u540e \u4e0e \u793e\u533a \u5176\u4ed6 \u6210\u5458 \u5206\u4eab \u4ed6\u4eec \u7684 \u6210\u5c31 \u3002   \u672c \u6587\u6863 \u5c06 \u6210\u4e3a \u60a8 \u4e00\u8def \u8def\u4e0a \u4e00\u8def\u4e0a \u7684 \u4f34\u4fa3 \u3002 \u4e0b \u4e00\u9875 \u5305\u542b   \u5feb\u901f \u5165\u95e8   \u8bf4\u660e \uff0c \u4f9b \u90a3\u4e9b \u6e34\u671b \u5b89\u88c5   Carla   \u7248\u672c \u7684 \u4eba \u4f7f\u7528 \u3002 \u8fd8\u6709 \u9002\u7528 \u4e8e   Linux   \u548c   Windows   \u7684 \u6784\u5efa \u6307\u5357 \u3002 \u8fd9 \u5c06 \u4f7f   Carla   \u4ece \u5b58\u50a8 \u5e93\u4e2d \u51fa\u6765 \uff0c \u5e76 \u5141\u8bb8 \u6df1\u5165 \u4e86\u89e3 \u5176 \u529f\u80fd \u3002   \u6b22\u8fce \u6765\u5230   Carla \u3002   Linux   \u6784\u5efa   Windows   \u6784\u5efa","title":"Start   introduction"},{"location":"start_introduction/#carla","text":"\u91cd\u8981   \u672c \u6587\u6863 \u53c2\u8003 \u6700\u65b0 \u7248\u672c \u7684   Carla \u3002 \u6709\u5173 \u4ee5\u524d \u7248\u672c \u7684 \u6587\u6863 \uff0c \u8bf7 \u5728 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u770b\u5230 \u6b64 \u6309\u94ae \u7684 \u4f4d\u7f6e \u9009\u62e9 \u6240 \u9700 \u7684 \u7248\u672c \uff1a   Carla   \u662f \u4e00\u6b3e \u5f00\u6e90 \u81ea\u52a8 \u9a7e\u9a76 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002 \u5b83 \u662f \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u6784\u5efa \u7684 \uff0c \u4f5c\u4e3a \u4e00\u4e2a \u6a21\u5757 \u6a21\u5757\u5316 \u4e14 \u7075\u6d3b \u7684   API \uff0c \u53ef\u4ee5 \u89e3\u51b3 \u81ea\u52a8 \u9a7e\u9a76 \u95ee\u9898 \u4e2d \u6d89\u53ca \u7684 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u4efb\u52a1 \u3002 Carla   \u7684 \u4e3b\u8981 \u76ee\u6807 \u4e4b\u4e00 \u662f \u5e2e\u52a9 \u81ea\u52a8 \u9a7e\u9a76 \u7814\u53d1 \u6c11\u4e3b \u6c11\u4e3b\u5316 \uff0c \u6210\u4e3a \u7528\u6237 \u53ef\u4ee5 \u8f7b\u677e \u8bbf\u95ee \u548c \u5b9a\u5236 \u7684 \u5de5\u5177 \u3002 \u4e3a\u6b64 \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5fc5\u987b \u6ee1\u8db3 \u4e00\u822c \u9a7e\u9a76 \u95ee\u9898 \u4e2d \u4e0d\u540c \u7528\u4f8b \u7684 \u8981\u6c42 \uff08 \u4f8b\u5982 \u5b66\u4e60 \u9a7e\u9a76 \u7b56\u7565 \u3001 \u8bad\u7ec3 \u611f\u77e5 \u7b97\u6cd5 \u7b49 \uff09 \u3002 Carla   \u57fa\u4e8e \u865a\u5e7b \u5f15\u64ce \u6765 \u8fd0\u884c \u4eff\u771f \uff0c \u5e76 \u4f7f\u7528   OpenDRIVE   \u6807\u51c6 \uff08 \u76ee\u524d \u4e3a   1.4 \uff09 \u6765 \u5b9a\u4e49 \u9053\u8def \u548c \u57ce\u5e02 \u8bbe\u7f6e \u3002 \u5bf9 \u4eff\u771f \u7684 \u63a7\u5236 \u662f \u901a\u8fc7   Python   \u548c   C++   \u5904\u7406 \u7684   API   \u6388\u4e88 \u7684 \uff0c \u8be5   API   \u968f\u7740 \u9879\u76ee \u7684 \u53d1\u5c55 \u800c \u4e0d\u65ad \u589e\u957f \u3002   \u4e3a\u4e86 \u987a\u5229 \u5f00\u53d1 \u3001 \u8bad\u7ec3 \u548c \u9a8c\u8bc1 \u9a7e\u9a76 \u7cfb\u7edf \u7684 \u8fc7\u7a0b \uff0c Carla   \u53d1\u5c55 \u6210\u4e3a \u4e00\u4e2a \u7531 \u793e\u533a \u56f4\u7ed5 \u4e3b \u5e73\u53f0 \u6784\u5efa \u7684 \u9879\u76ee \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u4e86\u89e3   Carla   \u7684 \u5de5\u4f5c \u539f\u7406 \u975e\u5e38 \u91cd\u8981 \uff0c \u8fd9\u6837 \u624d\u80fd \u5145\u5206 \u7406\u89e3 \u5176 \u529f\u80fd \u3002","title":"Carla"},{"location":"start_introduction/#_1","text":"Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7531 \u53ef \u6269\u5c55 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u67b6\u6784 \u7ec4\u6210 \u3002   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8d1f\u8d23 \u4e0e \u4eff\u771f \u672c\u8eab \u76f8\u5173 \u7684 \u6240\u6709 \u4e8b\u60c5 \uff1a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6e32\u67d3 \u3001 \u7269\u7406 \u8ba1\u7b97 \u3001 \u4e16\u754c \u72b6\u6001 \u53ca\u5176 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u66f4\u65b0 \u7b49 \u3002 \u5305\u62ec   \u865a\u5e7b \u5f15\u64ce \u63d2\u4ef6   \u3001   Libcarla \u670d\u52a1 \u670d\u52a1\u7aef   \u3001 \u8fdc\u7a0b \u8fc7\u7a0b \u8c03\u7528 \u670d\u52a1 \u3002 \u7531\u4e8e \u5b83 \u7684 \u76ee\u6807 \u662f \u5b9e\u9645 \u7ed3\u679c \uff0c \u56e0\u6b64 \u5408\u9002 \u6700\u5408\u9002 \u7684 \u9009\u62e9 \u662f \u4f7f\u7528 \u4e13\u7528   GPU   \u8fd0\u884c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5c24\u5176 \u662f \u5728 \u5904\u7406 \u673a\u5668 \u5b66\u4e60 \u65f6 \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u7531 \u4e00\u7ec4 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6a21\u5757 \u7ec4\u6210 \uff0c \u63a7\u5236 \u573a\u666f \u4e2d \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u903b\u8f91 \u5e76 \u8bbe\u7f6e \u4e16\u754c \u6761\u4ef6 \u3002 Carla \u67b6\u6784 \u7684 \u8bbe\u8ba1 \u8bf7 \u53c2\u8003   \u94fe\u63a5   \u3002 \u8fd9\u662f \u901a\u8fc7 \u5229\u7528   Carla   API \uff08 Python   \u6216   C++   \u8bed\u8a00 \uff09 \u6765 \u5b9e\u73b0 \u7684 \uff0c Carla   API   \u662f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e4b\u95f4 \u7684 \u4e2d\u4ecb \u5c42 \uff0c \u4e0d\u65ad \u53d1\u5c55 \u4ee5 \u63d0\u4f9b \u65b0 \u529f\u80fd \u3002   \u8fd9 \u603b\u7ed3 \u4e86 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u57fa\u672c \u7ed3\u6784 \u3002 \u7136\u800c \uff0c \u4e86\u89e3   Carla   \u7684 \u610f\u4e49 \u4e0d\u6b62 \u8fdc\u4e0d\u6b62 \u4e8e \u6b64 \uff0c \u56e0\u4e3a \u5b83 \u5171\u5b58 \u4e86 \u8bb8\u591a \u4e0d\u540c \u7684 \u529f\u80fd \u548c \u5143\u7d20 \u3002 \u4e0b\u9762 \u5217\u51fa \u4e86 \u5176\u4e2d \u4e00\u4e9b \uff0c \u4ee5\u4fbf \u4e86\u89e3   Carla   \u53ef\u4ee5 \u5b9e\u73b0 \u7684 \u529f\u80fd \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   \u4e00\u79cd \u5185\u7f6e \u7cfb\u7edf \uff0c \u9664\u4e86 \u7528\u4e8e \u5b66\u4e60 \u7684 \u8f66\u8f86 \u5916 \uff0c \u8fd8 \u53ef\u4ee5 \u63a7\u5236 \u8f66\u8f86 \u3002 \u5b83 \u5145\u5f53   Carla   \u63d0\u4f9b \u7684 \u6307\u6325 \uff0c \u4ee5 \u73b0\u5b9e \u7684 \u884c\u4e3a \u91cd\u5efa \u7c7b\u4f3c \u57ce\u5e02 \u7684 \u73af\u5883 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u8f66\u8f86 \u4f9d\u9760 \u5b83\u4eec \u6765 \u5206\u53d1 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u7684 \u4fe1\u606f \u3002 \u5728   Carla   \u4e2d \uff0c \u5b83\u4eec \u662f \u9644\u7740 \u5728 \u8f66\u8f86 \u4e0a \u7684 \u7279\u5b9a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u53ef\u4ee5 \u68c0\u7d22 \u548c \u5b58\u50a8 \u5b83\u4eec \u63a5\u6536 \u5230 \u7684 \u6570\u636e \u4ee5 \u7b80\u5316 \u6d41\u7a0b \u3002 \u76ee\u524d \u8be5 \u9879\u76ee \u652f\u6301 \u4e0d\u540c \u7c7b\u578b \u7684 \u6280\u672f \uff0c \u4ece \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u5230 \u96f7\u8fbe \u3001 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7b49\u7b49 \u3002   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002   \u6b64 \u529f\u80fd \u7528\u4e8e \u4e3a \u4e16\u754c \u4e0a \u7684 \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u9010\u6b65 \u91cd\u6f14 \u4eff\u771f \u3002 \u5b83 \u5141\u8bb8 \u8bbf\u95ee \u4e16\u754c \u4e0a \u4efb\u4f55 \u5730\u65b9 \u7684 \u65f6\u95f4 \u7ebf\u4e2d \u7684 \u4efb\u4f55 \u4f55\u65f6 \u65f6\u523b \u4efb\u4f55\u65f6\u523b \uff0c \u8fd9\u662f \u4e00\u4e2a \u5f88\u68d2 \u7684 \u8ffd\u8e2a \u5de5\u5177 \u3002   \u673a\u5668 \u673a\u5668\u4eba \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u6865\u63a5 \u548c   Autoware   \u5b9e\u73b0 \u3002   \u4f5c\u4e3a \u666e\u904d \u666e\u904d\u5316 \u7684 \u95ee\u9898 \uff0c Carla   \u9879\u76ee \u81f4\u529b \u81f4\u529b\u4e8e \u5c06 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u96c6\u6210 \u5230 \u5176\u4ed6 \u5b66\u4e60 \u73af\u5883 \u4e2d \u3002   \u5f00\u653e \u8d44\u4ea7 \u3002   Carla   \u4e3a \u57ce\u5e02 \u73af\u5883 \u63d0\u4f9b \u4e86 \u4e0d\u540c \u7684 \u5730\u56fe \uff0c \u53ef\u4ee5 \u63a7\u5236 \u5929\u6c14 \u6761\u4ef6 \uff0c \u5e76 \u63d0\u4f9b \u4e00\u4e2a \u5305\u542b \u5927\u91cf \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u84dd \u56fe\u5e93 \u3002 \u7136\u800c \uff0c \u8fd9\u4e9b \u5143\u7d20 \u53ef\u4ee5 \u5b9a\u5236 \uff0c \u5e76\u4e14 \u53ef\u4ee5 \u6309\u7167 \u7b80\u5355 \u7684 \u6307\u5bfc \u539f\u5219 \u751f\u6210 \u65b0\u5143 \u5143\u7d20 \u65b0\u5143\u7d20 \u3002   Scenario   runner .   \u4e3a\u4e86 \u7b80\u5316 \u8f66\u8f86 \u7684 \u5b66\u4e60 \u8fc7\u7a0b \uff0c Carla   \u63d0\u4f9b \u4e86 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u63cf\u8ff0 \u4e0d\u540c \u60c5\u51b5 \u7684 \u8fed\u4ee3 \u8def\u7ebf \u3002 \u8fd9\u4e9b \u4e5f \u4e3a   Carla   \u6311\u6218   \u5960\u5b9a \u4e86 \u57fa\u7840 \uff0c \u6bcf\u4e2a \u4eba \u90fd \u53ef\u4ee5 \u6d4b\u8bd5 \u4ed6\u4eec \u7684 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u5e76 \u8dfb\u8eab \u6392\u884c \u6392\u884c\u699c \u3002","title":"\u4eff\u771f\u5668"},{"location":"start_introduction/#_2","text":"Carla   \u5feb\u901f \u7a33\u5b9a \u5730 \u53d1\u5c55 \uff0c \u6269\u5927 \u4e86 \u63d0\u4f9b \u7684 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8303\u56f4 \uff0c \u5e76 \u4e3a \u4e0d\u540c \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u65b9\u6cd5 \u5f00\u8f9f \u4e86 \u9053\u8def \u3002 \u5b83 \u5728 \u8fd9\u6837 \u505a \u7684 \u540c\u65f6 \u6c38\u8fdc \u4e0d\u4f1a \u5fd8\u8bb0 \u5176 \u5f00\u6e90 \u6027\u8d28 \u3002 \u8be5 \u9879\u76ee \u662f \u900f\u660e \u7684 \uff0c \u5145\u5f53 \u4e00\u4e2a \u767d\u76d2 \uff0c \u4efb\u4f55 \u4f55\u4eba \u4efb\u4f55\u4eba \u90fd \u53ef\u4ee5 \u8bbf\u95ee \u5de5\u5177 \u548c \u5f00\u53d1 \u793e\u533a \u3002 Carla   \u6b63\u662f \u5728 \u6c11\u4e3b \u6c11\u4e3b\u5316 \u4e2d \u627e\u5230 \u4e86 \u81ea\u5df1 \u7684 \u4ef7\u503c \u3002   \u8c08\u8bba   Carla   \u5982\u4f55 \u6210\u957f \u610f\u5473 \u610f\u5473\u7740 \u8c08\u8bba \u4e00\u4e2a \u5171\u540c \u6df1\u5165 \u7814\u7a76 \u6df1\u5165\u7814\u7a76 \u81ea\u52a8 \u9a7e\u9a76 \u5f7b\u5e95 \u95ee\u9898 \u7684 \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u793e\u533a \u3002 \u6bcf\u4e2a \u4eba \u90fd \u53ef\u4ee5 \u81ea\u7531 \u5730 \u4e0e   Carla   \u4e00\u8d77 \u63a2\u7d22 \uff0c \u627e\u5230 \u81ea\u5df1 \u7684 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c \u7136\u540e \u4e0e \u793e\u533a \u5176\u4ed6 \u6210\u5458 \u5206\u4eab \u4ed6\u4eec \u7684 \u6210\u5c31 \u3002   \u672c \u6587\u6863 \u5c06 \u6210\u4e3a \u60a8 \u4e00\u8def \u8def\u4e0a \u4e00\u8def\u4e0a \u7684 \u4f34\u4fa3 \u3002 \u4e0b \u4e00\u9875 \u5305\u542b   \u5feb\u901f \u5165\u95e8   \u8bf4\u660e \uff0c \u4f9b \u90a3\u4e9b \u6e34\u671b \u5b89\u88c5   Carla   \u7248\u672c \u7684 \u4eba \u4f7f\u7528 \u3002 \u8fd8\u6709 \u9002\u7528 \u4e8e   Linux   \u548c   Windows   \u7684 \u6784\u5efa \u6307\u5357 \u3002 \u8fd9 \u5c06 \u4f7f   Carla   \u4ece \u5b58\u50a8 \u5e93\u4e2d \u51fa\u6765 \uff0c \u5e76 \u5141\u8bb8 \u6df1\u5165 \u4e86\u89e3 \u5176 \u529f\u80fd \u3002   \u6b22\u8fce \u6765\u5230   Carla \u3002   Linux   \u6784\u5efa   Windows   \u6784\u5efa","title":"\u8be5 \u9879\u76ee"},{"location":"start_quickstart/","text":"\u5feb\u901f \u542f\u52a8 \u5305 \u5b89\u88c5   \u672c \u6307\u5357 \u4ecb\u7ecd \u5982\u4f55 \u4e0b\u8f7d \u548c \u5b89\u88c5   Carla   \u7684 \u6253\u5305 \u7248\u672c \u3002 \u8be5 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u5305\u62ec   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u4e24\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u9009\u9879 \u3002 \u8fd8 \u53ef\u4ee5 \u4e0b\u8f7d \u5176\u4ed6 \u8d44\u6e90 \u5e76 \u5c06 \u5176 \u5bfc\u5165 \u5bfc\u5165\u5230 \u5305\u4e2d \u3002 \u9700\u8981 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u9ad8\u7ea7 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u548c \u5f00\u53d1 \u9009\u9879 \u4e0d\u53ef \u7528 \uff0c \u4f46 \u53ef\u4ee5 \u901a\u8fc7 \u4f7f\u7528 \u9002\u7528 \u4e8e   Windows   \u6216   Linux   \u7684   Carla   \u6784\u5efa \u7248\u672c \u6765 \u8bbf\u95ee \u8fd9\u4e9b \u9009\u9879 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   Carla   \u5b89\u88c5   A .   Debian   Carla   \u5b89\u88c5   B .   \u5305 \u5b89\u88c5   \u5bfc\u5165 \u989d\u5916 \u8d44\u4ea7   \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93   0.9 . 12   \u4e4b\u524d \u7684   Carla   \u7248\u672c   Carla   0.9 . 12 +   \u8fd0\u884c   Carla   \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879   \u66f4\u65b0   Carla   \u8ddf\u8fdb   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5b89\u88c5   Carla   \u4e4b\u524d \u5e94 \u6ee1\u8db3 \u4ee5\u4e0b \u8981\u6c42 \uff1a   \u7cfb\u7edf \u8981\u6c42 \u3002   Carla   \u662f \u4e3a   Windows   \u548c   Linux   \u7cfb\u7edf \u6784\u5efa \u7684 \u3002   \u8db3\u591f \u7684   GPU \u3002   Carla   \u65e8\u5728 \u5b9e\u73b0 \u771f\u5b9e \u4eff\u771f \uff0c \u56e0\u6b64 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u81f3\u5c11 \u9700\u8981   6   GB   GPU \uff0c \u4f46 \u6211\u4eec \u5efa\u8bae \u4f7f\u7528   8   GB \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u4f7f\u7528 \u4e13\u7528   GPU   \u8fdb\u884c \u673a\u5668 \u5b66\u4e60 \u3002   \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u3002   Carla   \u5c06 \u4f7f\u7528 \u5927\u7ea6   20   GB   \u7684 \u7a7a\u95f4 \u3002   Python .   Python   \u662f   Carla   \u4e2d \u7684 \u4e3b\u8981 \u811a\u672c \u8bed\u8a00 \u811a\u672c\u8bed\u8a00 \u3002 Carla   \u5728   Linux   \u4e0a \u652f\u6301   Python   2.7   \u548c   Python   3 \uff0c \u5728   Windows   \u4e0a \u652f\u6301   Python   3 \u3002   Pip .   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u7684 \u67d0\u4e9b \u5b89\u88c5 \u65b9\u6cd5 \u9700\u8981   pip   \u6216   pip3   \uff08 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684   Python   \u7248\u672c \uff09 \u7248\u672c   20.3   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002 \u8981 \u68c0\u67e5 \u60a8 \u7684   pip   \u7248\u672c \uff1a   #   \u5bf9\u4e8e   Python   3   pip3   - V   #   \u5bf9\u4e8e   Python   2   pip   - V   \u5982\u679c \u60a8 \u9700\u8981 \u5347\u7ea7 \uff1a   #   \u5bf9\u4e8e   Python   3   pip3   install   -- upgrade   pip   #   \u5bf9\u4e8e   Python   2   pip   install   -- upgrade   pip   \u4e24\u4e2a   TCP   \u7aef\u53e3 \u548c \u826f\u597d \u7684 \u4e92\u8054 \u8054\u7f51 \u4e92\u8054\u7f51 \u8fde\u63a5 \u3002   \u9ed8\u8ba4 \u4e3a   2000   \u5e74 \u548c   2001   \u5e74 \u3002 \u786e\u4fdd \u8fd9\u4e9b \u7aef\u53e3 \u672a \u88ab \u9632\u706b \u706b\u5899 \u9632\u706b\u5899 \u6216 \u4efb\u4f55 \u5176\u4ed6 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u963b\u6b62 \u3002   \u5176\u4ed6 \u9700\u6c42 \u3002   Carla   \u9700\u8981 \u4e00\u4e9b   Python   \u4f9d\u8d56 \u9879 \u3002 \u6839\u636e \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u5b89\u88c5 \u4f9d\u8d56 \u9879 \uff1a   Windows   pip3   install   -- user   pygame   numpy   Linux   pip   install   -- user   pygame   numpy   &&   pip3   install   -- user   pygame   numpy   Carla   \u5b89\u88c5   \u6709 \u4e24\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u4e0b\u8f7d \u5e76 \u5b89\u88c5   Carla   \u4f5c\u4e3a \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff1a   A )   \u4e0b\u8f7d   Debian   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002   B )   \u4ece   GitHub   \u4e0b\u8f7d \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002   A .   Debian   Carla   \u5b89\u88c5   Debain   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u9002\u7528 \u4e8e   Ubuntu   18.04   \u548c   Ubuntu   20.04 \uff0c \u4f46   \u5b98\u65b9 \u652f\u6301 \u7684 \u5e73\u53f0 \u662f   Ubuntu   18.04   \u3002   1 .   \u5728 \u7cfb\u7edf \u4e2d \u8bbe\u7f6e Debian \u5b58\u50a8 \u5e93 \uff1a   sudo   apt - key   adv   -- keyserver   keyserver . ubuntu . com   -- recv - keys   1AF1527DE64CB8D9   sudo   add - apt - repository   \" deb   [ arch = amd64 ]   http : / / dist . carla . org / carla   $ ( lsb _ release   - sc )   main \"   2 .   \u5b89\u88c5   Carla   \u5e76 \u68c0\u67e5   / opt /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u662f\u5426 \u6709 \u5b89\u88c5 \uff1a   sudo   apt - get   update   #   Update   the   Debian   package   index   sudo   apt - get   install   carla - simulator   #   Install   the   latest   Carla   version ,   or   update   the   current   installation   cd   / opt / carla - simulator   #   Open   the   folder   where   Carla   is   installed   \u8be5 \u5b58\u50a8 \u5e93 \u5305\u542b   Carla   0.9 . 10   \u53ca \u66f4 \u9ad8 \u7248\u672c \u3002 \u8981 \u5b89\u88c5 \u7279\u5b9a \u7248\u672c \uff0c \u8bf7 \u5c06 \u7248\u672c \u6807\u7b7e \u6dfb\u52a0 \u5230 \u5b89\u88c5 \u547d\u4ee4 \u4e2d \uff1a   apt - cache   madison   carla - simulator   #   List   the   available   versions   of   Carla   sudo   apt - get   install   carla - simulator = 0.9 . 10 - 1   #   In   this   case ,   \" 0.9 . 10 \"   refers   to   a   CARLA   version ,   and   \" 1 \"   to   the   Debian   revision   \u91cd\u8981   \u8981 \u5b89\u88c5   0.9 . 10   \u4e4b\u524d \u7684   Carla   \u7248\u672c \uff0c \u8bf7 \u4f7f\u7528 \u7a97\u53e3 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u7684 \u9762\u677f \u66f4 \u6539\u4e3a \u6587\u6863 \u7684 \u65e9\u671f \u7248\u672c \uff0c \u7136\u540e \u6309\u7167 \u65e7 \u7684 \u8bf4\u660e \u8fdb\u884c \u64cd\u4f5c \u3002   B .   \u5305 \u5b89\u88c5   Carla   \u4ed3\u5e93   \u8be5 \u5b58\u50a8 \u5e93 \u5305\u542b \u4e0d\u540c \u7248\u672c \u7684   Carla \u3002 \u60a8 \u5c06 \u627e\u5230 \u4e0b\u8f7d \u5305\u542b \u6240\u6709 \u6700\u65b0 \u4fee\u590d \u548c \u529f\u80fd \u7684   \u5f53\u524d \u7248\u672c   \u3001 \u4ee5\u524d \u7684 \u7248\u672c \u4ee5\u53ca \u5305\u542b \u6240\u6709 \u5f00\u53d1 \u4fee\u590d \u548c \u529f\u80fd \u7684   \u591c\u95f4 \u6784\u5efa   \uff08 \u591c\u95f4 \u6784\u5efa \u662f   Carla   \u6700 \u4e0d \u7a33\u5b9a \u7684 \u7248\u672c \uff09 \u7684 \u9009\u9879 \u3002   \u8be5 \u5305\u662f \u4e00\u4e2a \u540d\u4e3a   CARLA _ version . number   \u7684 \u538b\u7f29 \u6587\u4ef6 \u538b\u7f29\u6587\u4ef6 \u3002 \u4e0b\u8f7d \u5e76 \u89e3\u538b \u53d1\u5e03 \u6587\u4ef6 \u3002 \u5b83 \u5305\u542b \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u9884 \u7f16\u8bd1 \u7248\u672c \u3001 Python   API   \u6a21\u5757 \u548c \u4e00\u4e9b \u7528\u4f5c \u793a\u4f8b \u7684 \u811a\u672c \u3002   \u5bfc\u5165 \u989d\u5916 \u8d44\u4ea7   \u6bcf\u4e2a \u7248\u672c \u90fd \u6709 \u5176 \u81ea\u5df1 \u7684 \u9644\u52a0 \u8d44\u4ea7 \u548c \u5730\u56fe \u5730\u56fe\u5305 \u3002 \u6b64 \u9644\u52a0 \u5305 \u5305\u62ec \u5730\u56fe   Town06   \u3001   Town07   \u548c   Town10   \u3002 \u5b83\u4eec \u5355\u72ec \u5b58\u50a8 \u4ee5 \u51cf\u5c11 \u6784\u5efa \u7684 \u5927\u5c0f \uff0c \u56e0\u6b64 \u53ea\u80fd \u5728 \u5b89\u88c5 \u4e3b\u5305 \u540e \u624d\u80fd \u5bfc\u5165 \u5b83\u4eec \u3002   1 .   \u4e0b\u8f7d   \u9002\u5408 \u60a8 \u6240 \u9700 \u7248\u672c \u7684   Carla   \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002   2 .   \u89e3\u538b \u89e3\u538b\u5305 \uff1a   \u5728   Linux   \u4e0a   :   \u5c06 \u5305 \u79fb\u52a8 \u5230   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u811a\u672c \u4ee5 \u63d0\u53d6 \u5185\u5bb9 \uff1a   cd   path / to / carla / root   . / ImportAssets . sh   \u5728   Windows   \u4e0a   :   \u76f4\u63a5 \u5c06 \u5185\u5bb9 \u63d0\u53d6 \u5230 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93   0.9 . 12   \u4e4b\u524d \u7684   Carla   \u7248\u672c   \u4ee5\u524d \u7248\u672c \u7684   Carla   \u4e0d \u9700\u8981 \u5b89\u88c5   Python   \u5e93 \uff0c \u5b83\u4eec \u9644\u5e26 \u4e86 \u4e00\u4e2a   . egg   \u5f00\u7bb1 \u5373\u7528 \u7684 \u6587\u4ef6 \u3002   Carla   \u7248\u672c   0.9 . 12 +   \u663e \u7740 \u6539\u53d8 \u4e86 \u8fd9\u79cd \u884c\u4e3a \uff1b \u6709 \u591a\u4e2a \u9009\u9879 \u53ef \u7528\u4e8e \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93   \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   0.9 . 12   \u4e4b\u524d \u7684   Carla   \u7248\u672c \uff0c \u8bf7 \u5728 \u5c4f\u5e55 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u9009\u62e9 \u8be5 \u7248\u672c \u4ee5 \u67e5\u770b \u76f8\u5173 \u6587\u6863 \u3002 \u5426\u5219 \uff0c \u8bf7 \u9605\u8bfb \u4e0b\u9762 \u6709\u5173   Carla   0.9 . 12 +   \u4e2d \u53ef\u7528 \u9009\u9879 \u7684 \u4fe1\u606f \u3002   Carla   0.9 . 12 +   \u6709 \u591a\u4e2a \u9009\u9879 \u53ef \u7528\u4e8e \u5b89\u88c5 \u548c \u4f7f\u7528   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff1a   . egg   \u6587\u4ef6   . whl   \u6587\u4ef6   \u53ef \u4e0b\u8f7d \u7684 Python \u5305   \u5728 \u51b3\u5b9a \u4f7f\u7528 \u54ea \u79cd \u65b9\u6cd5 \u4e4b\u524d \uff0c \u8bf7 \u9605\u8bfb \u4e0b\u9762 \u6709\u5173 \u6bcf\u79cd \u65b9\u6cd5 \u7684 \u8981\u6c42 \u548c \u9650\u5236 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002 \u8bf7 \u6ce8\u610f \uff0c \u6df7\u5408 \u4f7f\u7528 \u4e0d\u540c \u7684 \u65b9\u6cd5 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u4e0d \u517c\u5bb9 \uff0c \u56e0\u6b64 \u8bf7 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u4f7f\u7528 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \uff0c \u6216\u8005 \u5728 \u4f7f\u7528 \u65b0\u5e93 \u4e4b\u524d   \u5378\u8f7d   \u4ee5\u524d \u5b89\u88c5 \u7684 \u5e93 \u3002   A .   . egg   \u6587\u4ef6   Carla   \u63d0\u4f9b \u4e86 \u5728   PythonAPI / carla / dist /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u7684 \u4e0d\u540c   Python   \u7248\u672c   . egg   \u6587\u4ef6 \uff0c \u53ef\u4ee5 \u5f00\u7bb1 \u5373\u7528 \u3002   PythonAPI / examples   \u4e2d \u7684 \u6bcf\u4e2a \u793a\u4f8b \u811a\u672c \u90fd \u5305\u542b \u4e00\u4e2a \u81ea\u52a8 \u67e5\u627e \u6b64 \u6587\u4ef6 \u7684   \u4ee3\u7801 \u7247\u6bb5   \u3002 \u5728   Linux   \u4e2d \uff0c \u60a8 \u53ef\u80fd \u9700\u8981 \u5c06 \u6b64 \u6587\u4ef6 \u6dfb\u52a0 \u5230 \u60a8 \u7684   PYTHONPATH   \u3002 . \u5728   \u6b64\u5904   \u9605\u8bfb \u6709\u5173   Carla   \u4e2d   . egg   \u6587\u4ef6 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u5982\u679c \u60a8 \u4e4b\u524d \u5df2\u7ecf \u5b89\u88c5 \u4e86 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93   pip   \uff0c \u5219 \u8be5\u5e93 \u5c06 \u4f18\u5148 \u4e8e \u8be5   . egg   \u6587\u4ef6   \u3002 \u60a8 \u9700\u8981 \u5148   \u5378\u8f7d   \u4ee5\u524d \u7684 \u5e93 \u3002   B .   . whl   \u6587\u4ef6   Carla   \u63d0\u4f9b \u4e86 \u4e0d\u540c   Python   \u7248\u672c \u7684   . whl   \u6587\u4ef6 \u3002 \u60a8 \u5c06 \u9700\u8981 \u5b89\u88c5 \u8be5 . whl \u6587\u4ef6 \u3002 \u8be5   . whl   \u6587\u4ef6 \u4f4d\u4e8e   PythonAPI / carla / dist /   \u3002 \u6bcf\u4e2a \u53d7 \u652f\u6301 \u7684   Python   \u7248\u672c \u90fd \u6709 \u4e00\u4e2a \u6587\u4ef6 \uff0c \u7531 \u6587\u4ef6 \u6587\u4ef6\u540d \u6307\u793a \uff08 \u4f8b\u5982 \uff0c carla - 0.9 . 12 -   cp36   - cp36m - manylinux _ 2 _ 27 _ x86 _ 64 . whl   \u8868\u793a   Python   3.6 \uff09 \u3002   \u5efa\u8bae \u5728 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u4e2d \u5b89\u88c5   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u4ee5 \u907f\u514d \u5728 \u4f7f\u7528 \u591a\u4e2a \u7248\u672c \u65f6 \u53d1\u751f \u51b2\u7a81 \u53d1\u751f\u51b2\u7a81 \u3002   \u8981 \u5b89\u88c5   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff0c \u9009\u62e9 \u9002\u5408 \u60a8 \u6240 \u9700   Python   \u7248\u672c \u7684 \u6587\u4ef6 \u3002 \u60a8 \u5c06 \u9700\u8981   pip / pip3   \u7248\u672c   20.3   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002 \u6709\u5173 \u5982\u4f55 \u68c0\u67e5 \u7248\u672c \u548c \u5347\u7ea7 pip / pip3 \u7684 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u5f00\u59cb \u4e4b\u524d   \u90e8\u5206 \uff1a   #   Python   3   pip3   install   < wheel - file - name > . whl   #   Python   2   pip   install   < wheel - file - name > . whl   \u5982\u679c \u60a8 \u4e4b\u524d \u5b89\u88c5 \u4e86 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u5219 \u5e94\u5148   \u5378\u8f7d   \u65e7 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u7136\u540e \u518d \u5b89\u88c5 \u65b0 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002   C .   \u53ef \u4e0b\u8f7d \u7684   Python   \u5305   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u53ef\u4ee5 \u4ece   PyPi   \u4e0b\u8f7d \u3002 \u8be5\u5e93 \u4e0e   Python   \u7248\u672c   2.7 \u3001 3.6 \u3001 3.7   \u548c   3.8   \u517c\u5bb9 \u3002 \u8981 \u5b89\u88c5 \u5b83 \uff0c \u60a8 \u9700\u8981   pip / pip3   \u7248\u672c   20.3   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002 \u6709\u5173 \u5982\u4f55 \u68c0\u67e5 \u7248\u672c \u548c \u5347\u7ea7 pip / pip3 \u7684 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u5f00\u59cb \u4e4b\u524d   \u90e8\u5206 \u3002   \u5efa\u8bae \u5728 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u4e2d \u5b89\u88c5   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u4ee5 \u907f\u514d \u5728 \u4f7f\u7528 \u591a\u4e2a \u7248\u672c \u65f6 \u53d1\u751f \u51b2\u7a81 \u53d1\u751f\u51b2\u7a81 \u3002   \u8981 \u4ece   PyPi   \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   Python   3   pip3   install   carla   #   Python   2   pip   install   carla   PyPi   \u4e0b\u8f7d \u4ec5 \u9002\u5408 \u4e0e   Carla   \u5305 \u4e00\u8d77 \u4f7f\u7528 \uff08 \u5373 \u4e0d\u9002 \u7528\u4e8e \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684 \u7248\u672c \uff09 \u3002 \u7531\u4e8e   PyPi   \u4e0b\u8f7d   \u4ec5 \u5305\u542b \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93   \uff0c \u56e0\u6b64 \u5728 \u60a8 \u5c06 \u4e0e \u8fdc\u7a0b   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u4e14 \u4e0d \u9700\u8981 \u4e0b\u8f7d \u5b8c\u6574 \u7684   Carla   \u5305 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u975e\u5e38 \u6709\u7528 \u3002   \u8fd0\u884c   Carla   \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u65b9\u6cd5 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4f7f\u7528 \u7684 \u5b89\u88c5 \u65b9\u6cd5 \u548c \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \uff1a   Debian   \u5b89\u88c5 :   cd   / opt / carla - simulator / bin /   . / CarlaUE4 . sh   Linux   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u5b89\u88c5 \uff1a   cd   path / to / carla / root   . / CarlaUE4 . sh   Windows   \u5305 \u5b89\u88c5 \uff1a   cd   path / to / carla / root   CarlaUE4 . exe   \u5c06 \u5f39\u51fa \u4e00\u4e2a \u5305\u542b \u57ce\u5e02 \u666f\u89c2 \u7684 \u7a97\u53e3 \u3002 \u8fd9\u662f   \u89c2\u5bdf \u89c2\u5bdf\u8005   \u7684 \u770b\u6cd5 \u3002 \u8981 \u5728 \u57ce\u5e02 \u4e2d \u98de\u884c \uff0c \u8bf7 \u4f7f\u7528 \u9f20\u6807 \u548c WASD \u6309\u952e \uff0c \u6309\u4f4f \u9f20\u6807 \u53f3\u952e \u63a7\u5236 \u65b9\u5411 \u3002   \u8fd9\u662f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \uff0c \u5b83 \u73b0\u5728 \u6b63\u5728 \u8fd0\u884c \u5e76 \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5e76 \u4e0e \u4e16\u754c \u4ea4\u4e92 \u3002 \u60a8 \u53ef\u4ee5 \u5c1d\u8bd5 \u4e00\u4e9b \u793a\u4f8b \u811a\u672c \u6765 \u5728 \u57ce\u5e02 \u4e2d \u4ea7\u751f \u751f\u547d \u5e76 \u9a7e\u9a76 \u6c7d\u8f66 \uff1a   #   \u7ec8\u7aef   A   cd   PythonAPI \\ examples   python3   - m   pip   install   - r   requirements . txt   #   Support   for   Python2   is   provided   in   the   CARLA   release   packages   python3   generate _ traffic . py   #   Terminal   B   cd   PythonAPI \\ examples   python3   manual _ control . py   \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879   \u542f\u52a8   Carla   \u65f6\u6709 \u4e00\u4e9b \u53ef\u7528 \u7684 \u914d\u7f6e \u9009\u9879 \uff0c \u53ef\u4ee5 \u6309 \u5982\u4e0b \u65b9\u5f0f \u4f7f\u7528 \u5b83\u4eec \uff1a   . / CarlaUE4 . sh   - carla - rpc - port = 3000   - carla - rpc - port = N   \u4fa6\u542c \u7aef\u53e3   N   \u4e0a \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u3002 \u5a92\u4f53 \u6d41\u5a92\u4f53 \u7aef\u53e3 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e3a   N + 1   \u3002   - carla - streaming - port = N   \u6307\u5b9a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u6570\u636e\u6d41 \u7684 \u7aef\u53e3 \u3002 \u4f7f\u7528   0   \u83b7\u53d6 \u968f\u673a \u672a \u4f7f\u7528 \u7684 \u7aef\u53e3 \u3002 \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u7aef\u53e3 \u5c06 \u81ea\u52a8 \u8bbe\u7f6e \u4e3a   N + 1   \u3002   - quality - level = { Low , Epic }   \u66f4\u6539 \u56fe\u5f62 \u8d28\u91cf \u7ea7\u522b \u3002   \u5728   \u6e32\u67d3 \u9009\u9879   \u4e2d \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u865a\u5e7b \u5f15\u64ce   4   \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u5217\u8868   \u3002   \u3002 \u865a\u5e7b \u5f15\u64ce \u63d0\u4f9b \u4e86 \u5f88\u591a \u9009\u9879 \uff0c \u4f46 \u5e76\u975e \u6240\u6709 \u8fd9\u4e9b \u9009\u9879 \u5728   Carla   \u4e2d \u90fd \u53ef\u7528 \u3002   \u8be5 \u811a\u672c   PythonAPI / util / config . py   \u63d0\u4f9b \u4e86 \u66f4 \u591a \u914d\u7f6e \u9009\u9879 \uff0c \u5e94 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u542f\u52a8 \u65f6 \u8fd0\u884c \uff1a   . / config . py   -- no - rendering   #   \u7981\u7528 \u6e32\u67d3   . / config . py   -- map   Town05   #   \u6539\u53d8 \u5730\u56fe \u3001   . / config . py   -- weather   ClearNoon   #   \u6539\u53d8 \u5929\u6c14   . / config . py   -- help   #   \u68c0\u67e5 \u6240\u6709 \u53ef \u83b7\u5f97 \u7684 \u914d\u7f6e \u9009\u9879   \u66f4\u65b0   Carla   \u65e0\u6cd5 \u66f4\u65b0   Carla   \u7684 \u6253\u5305 \u7248\u672c \u3002 \u5f53\u65b0 \u7248\u672c \u53d1\u5e03 \u65f6 \uff0c \u5b58\u50a8 \u5e93\u4f1a \u66f4\u65b0 \uff0c \u60a8 \u9700\u8981 \u5220\u9664 \u4ee5\u524d \u7684 \u7248\u672c \u5e76 \u5b89\u88c5 \u65b0 \u7248\u672c \u3002   \u5982\u679c \u60a8 \u4f7f\u7528   pip / pip3   \u5b89\u88c5 \u4e86 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u5219 \u5e94 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u5c06 \u5176 \u5378\u8f7d \uff1a   #   Python   3   pip3   uninstall   carla   #   Python   2   pip   uninstall   carla   \u8ddf\u8fdb   \u73b0\u5728 \u60a8 \u5e94\u8be5 \u5df2\u7ecf \u542f\u52a8 \u5e76 \u8fd0\u884c \u4e86   Carla   \u7684 \u6253\u5305 \u7248\u672c \u3002 \u5982\u679c \u60a8 \u5728 \u5b89\u88c5 \u8fc7\u7a0b \u4e2d \u9047\u5230 \u4efb\u4f55 \u56f0\u96be \uff0c \u8bf7 \u968f\u65f6 \u5728   Carla   \u8bba\u575b   \u6216   Discord   \u9891\u9053 \u4e2d \u53d1\u5e16 \u3002   \u4e0b \u4e00\u6b65 \u662f \u8be6\u7ec6 \u4e86\u89e3   Carla   \u7684 \u6838\u5fc3 \u6982\u5ff5 \u3002 \u9605\u8bfb   \u201c \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \u201d   \u90e8\u5206 \u5f00\u59cb \u5b66\u4e60 \u3002 \u60a8 \u8fd8 \u53ef\u4ee5 \u5728   Python   API   \u53c2\u8003 \u4e2d \u627e\u5230 \u6709\u5173   Python   API   \u7c7b \u548c \u65b9\u6cd5 \u7684 \u6240\u6709 \u4fe1\u606f \u3002   \u524d\u5f80 \uff1a \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65","title":"Start   quickstart"},{"location":"start_quickstart/#_1","text":"\u672c \u6307\u5357 \u4ecb\u7ecd \u5982\u4f55 \u4e0b\u8f7d \u548c \u5b89\u88c5   Carla   \u7684 \u6253\u5305 \u7248\u672c \u3002 \u8be5 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u5305\u62ec   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u4e24\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u9009\u9879 \u3002 \u8fd8 \u53ef\u4ee5 \u4e0b\u8f7d \u5176\u4ed6 \u8d44\u6e90 \u5e76 \u5c06 \u5176 \u5bfc\u5165 \u5bfc\u5165\u5230 \u5305\u4e2d \u3002 \u9700\u8981 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u9ad8\u7ea7 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u548c \u5f00\u53d1 \u9009\u9879 \u4e0d\u53ef \u7528 \uff0c \u4f46 \u53ef\u4ee5 \u901a\u8fc7 \u4f7f\u7528 \u9002\u7528 \u4e8e   Windows   \u6216   Linux   \u7684   Carla   \u6784\u5efa \u7248\u672c \u6765 \u8bbf\u95ee \u8fd9\u4e9b \u9009\u9879 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   Carla   \u5b89\u88c5   A .   Debian   Carla   \u5b89\u88c5   B .   \u5305 \u5b89\u88c5   \u5bfc\u5165 \u989d\u5916 \u8d44\u4ea7   \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93   0.9 . 12   \u4e4b\u524d \u7684   Carla   \u7248\u672c   Carla   0.9 . 12 +   \u8fd0\u884c   Carla   \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879   \u66f4\u65b0   Carla   \u8ddf\u8fdb","title":"\u5feb\u901f \u542f\u52a8 \u5305 \u5b89\u88c5"},{"location":"start_quickstart/#_2","text":"\u5b89\u88c5   Carla   \u4e4b\u524d \u5e94 \u6ee1\u8db3 \u4ee5\u4e0b \u8981\u6c42 \uff1a   \u7cfb\u7edf \u8981\u6c42 \u3002   Carla   \u662f \u4e3a   Windows   \u548c   Linux   \u7cfb\u7edf \u6784\u5efa \u7684 \u3002   \u8db3\u591f \u7684   GPU \u3002   Carla   \u65e8\u5728 \u5b9e\u73b0 \u771f\u5b9e \u4eff\u771f \uff0c \u56e0\u6b64 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u81f3\u5c11 \u9700\u8981   6   GB   GPU \uff0c \u4f46 \u6211\u4eec \u5efa\u8bae \u4f7f\u7528   8   GB \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u4f7f\u7528 \u4e13\u7528   GPU   \u8fdb\u884c \u673a\u5668 \u5b66\u4e60 \u3002   \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u3002   Carla   \u5c06 \u4f7f\u7528 \u5927\u7ea6   20   GB   \u7684 \u7a7a\u95f4 \u3002   Python .   Python   \u662f   Carla   \u4e2d \u7684 \u4e3b\u8981 \u811a\u672c \u8bed\u8a00 \u811a\u672c\u8bed\u8a00 \u3002 Carla   \u5728   Linux   \u4e0a \u652f\u6301   Python   2.7   \u548c   Python   3 \uff0c \u5728   Windows   \u4e0a \u652f\u6301   Python   3 \u3002   Pip .   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u7684 \u67d0\u4e9b \u5b89\u88c5 \u65b9\u6cd5 \u9700\u8981   pip   \u6216   pip3   \uff08 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684   Python   \u7248\u672c \uff09 \u7248\u672c   20.3   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002 \u8981 \u68c0\u67e5 \u60a8 \u7684   pip   \u7248\u672c \uff1a   #   \u5bf9\u4e8e   Python   3   pip3   - V   #   \u5bf9\u4e8e   Python   2   pip   - V   \u5982\u679c \u60a8 \u9700\u8981 \u5347\u7ea7 \uff1a   #   \u5bf9\u4e8e   Python   3   pip3   install   -- upgrade   pip   #   \u5bf9\u4e8e   Python   2   pip   install   -- upgrade   pip   \u4e24\u4e2a   TCP   \u7aef\u53e3 \u548c \u826f\u597d \u7684 \u4e92\u8054 \u8054\u7f51 \u4e92\u8054\u7f51 \u8fde\u63a5 \u3002   \u9ed8\u8ba4 \u4e3a   2000   \u5e74 \u548c   2001   \u5e74 \u3002 \u786e\u4fdd \u8fd9\u4e9b \u7aef\u53e3 \u672a \u88ab \u9632\u706b \u706b\u5899 \u9632\u706b\u5899 \u6216 \u4efb\u4f55 \u5176\u4ed6 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u963b\u6b62 \u3002   \u5176\u4ed6 \u9700\u6c42 \u3002   Carla   \u9700\u8981 \u4e00\u4e9b   Python   \u4f9d\u8d56 \u9879 \u3002 \u6839\u636e \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u5b89\u88c5 \u4f9d\u8d56 \u9879 \uff1a","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"start_quickstart/#windows","text":"pip3   install   -- user   pygame   numpy","title":"Windows"},{"location":"start_quickstart/#linux","text":"pip   install   -- user   pygame   numpy   &&   pip3   install   -- user   pygame   numpy","title":"Linux"},{"location":"start_quickstart/#carla","text":"\u6709 \u4e24\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u4e0b\u8f7d \u5e76 \u5b89\u88c5   Carla   \u4f5c\u4e3a \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff1a   A )   \u4e0b\u8f7d   Debian   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002   B )   \u4ece   GitHub   \u4e0b\u8f7d \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002","title":"Carla   \u5b89\u88c5  "},{"location":"start_quickstart/#a-debian-carla","text":"Debain   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u9002\u7528 \u4e8e   Ubuntu   18.04   \u548c   Ubuntu   20.04 \uff0c \u4f46   \u5b98\u65b9 \u652f\u6301 \u7684 \u5e73\u53f0 \u662f   Ubuntu   18.04   \u3002   1 .   \u5728 \u7cfb\u7edf \u4e2d \u8bbe\u7f6e Debian \u5b58\u50a8 \u5e93 \uff1a   sudo   apt - key   adv   -- keyserver   keyserver . ubuntu . com   -- recv - keys   1AF1527DE64CB8D9   sudo   add - apt - repository   \" deb   [ arch = amd64 ]   http : / / dist . carla . org / carla   $ ( lsb _ release   - sc )   main \"   2 .   \u5b89\u88c5   Carla   \u5e76 \u68c0\u67e5   / opt /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u662f\u5426 \u6709 \u5b89\u88c5 \uff1a   sudo   apt - get   update   #   Update   the   Debian   package   index   sudo   apt - get   install   carla - simulator   #   Install   the   latest   Carla   version ,   or   update   the   current   installation   cd   / opt / carla - simulator   #   Open   the   folder   where   Carla   is   installed   \u8be5 \u5b58\u50a8 \u5e93 \u5305\u542b   Carla   0.9 . 10   \u53ca \u66f4 \u9ad8 \u7248\u672c \u3002 \u8981 \u5b89\u88c5 \u7279\u5b9a \u7248\u672c \uff0c \u8bf7 \u5c06 \u7248\u672c \u6807\u7b7e \u6dfb\u52a0 \u5230 \u5b89\u88c5 \u547d\u4ee4 \u4e2d \uff1a   apt - cache   madison   carla - simulator   #   List   the   available   versions   of   Carla   sudo   apt - get   install   carla - simulator = 0.9 . 10 - 1   #   In   this   case ,   \" 0.9 . 10 \"   refers   to   a   CARLA   version ,   and   \" 1 \"   to   the   Debian   revision   \u91cd\u8981   \u8981 \u5b89\u88c5   0.9 . 10   \u4e4b\u524d \u7684   Carla   \u7248\u672c \uff0c \u8bf7 \u4f7f\u7528 \u7a97\u53e3 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u7684 \u9762\u677f \u66f4 \u6539\u4e3a \u6587\u6863 \u7684 \u65e9\u671f \u7248\u672c \uff0c \u7136\u540e \u6309\u7167 \u65e7 \u7684 \u8bf4\u660e \u8fdb\u884c \u64cd\u4f5c \u3002","title":"A .   Debian   Carla   \u5b89\u88c5  "},{"location":"start_quickstart/#b","text":"Carla   \u4ed3\u5e93   \u8be5 \u5b58\u50a8 \u5e93 \u5305\u542b \u4e0d\u540c \u7248\u672c \u7684   Carla \u3002 \u60a8 \u5c06 \u627e\u5230 \u4e0b\u8f7d \u5305\u542b \u6240\u6709 \u6700\u65b0 \u4fee\u590d \u548c \u529f\u80fd \u7684   \u5f53\u524d \u7248\u672c   \u3001 \u4ee5\u524d \u7684 \u7248\u672c \u4ee5\u53ca \u5305\u542b \u6240\u6709 \u5f00\u53d1 \u4fee\u590d \u548c \u529f\u80fd \u7684   \u591c\u95f4 \u6784\u5efa   \uff08 \u591c\u95f4 \u6784\u5efa \u662f   Carla   \u6700 \u4e0d \u7a33\u5b9a \u7684 \u7248\u672c \uff09 \u7684 \u9009\u9879 \u3002   \u8be5 \u5305\u662f \u4e00\u4e2a \u540d\u4e3a   CARLA _ version . number   \u7684 \u538b\u7f29 \u6587\u4ef6 \u538b\u7f29\u6587\u4ef6 \u3002 \u4e0b\u8f7d \u5e76 \u89e3\u538b \u53d1\u5e03 \u6587\u4ef6 \u3002 \u5b83 \u5305\u542b \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u9884 \u7f16\u8bd1 \u7248\u672c \u3001 Python   API   \u6a21\u5757 \u548c \u4e00\u4e9b \u7528\u4f5c \u793a\u4f8b \u7684 \u811a\u672c \u3002","title":"B .   \u5305 \u5b89\u88c5  "},{"location":"start_quickstart/#_3","text":"\u6bcf\u4e2a \u7248\u672c \u90fd \u6709 \u5176 \u81ea\u5df1 \u7684 \u9644\u52a0 \u8d44\u4ea7 \u548c \u5730\u56fe \u5730\u56fe\u5305 \u3002 \u6b64 \u9644\u52a0 \u5305 \u5305\u62ec \u5730\u56fe   Town06   \u3001   Town07   \u548c   Town10   \u3002 \u5b83\u4eec \u5355\u72ec \u5b58\u50a8 \u4ee5 \u51cf\u5c11 \u6784\u5efa \u7684 \u5927\u5c0f \uff0c \u56e0\u6b64 \u53ea\u80fd \u5728 \u5b89\u88c5 \u4e3b\u5305 \u540e \u624d\u80fd \u5bfc\u5165 \u5b83\u4eec \u3002   1 .   \u4e0b\u8f7d   \u9002\u5408 \u60a8 \u6240 \u9700 \u7248\u672c \u7684   Carla   \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002   2 .   \u89e3\u538b \u89e3\u538b\u5305 \uff1a   \u5728   Linux   \u4e0a   :   \u5c06 \u5305 \u79fb\u52a8 \u5230   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u811a\u672c \u4ee5 \u63d0\u53d6 \u5185\u5bb9 \uff1a   cd   path / to / carla / root   . / ImportAssets . sh   \u5728   Windows   \u4e0a   :   \u76f4\u63a5 \u5c06 \u5185\u5bb9 \u63d0\u53d6 \u5230 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002","title":"\u5bfc\u5165 \u989d\u5916 \u8d44\u4ea7"},{"location":"start_quickstart/#_4","text":"","title":"\u5b89\u88c5 \u5ba2\u6237\u7aef \u5e93  "},{"location":"start_quickstart/#0912-carla","text":"\u4ee5\u524d \u7248\u672c \u7684   Carla   \u4e0d \u9700\u8981 \u5b89\u88c5   Python   \u5e93 \uff0c \u5b83\u4eec \u9644\u5e26 \u4e86 \u4e00\u4e2a   . egg   \u5f00\u7bb1 \u5373\u7528 \u7684 \u6587\u4ef6 \u3002   Carla   \u7248\u672c   0.9 . 12 +   \u663e \u7740 \u6539\u53d8 \u4e86 \u8fd9\u79cd \u884c\u4e3a \uff1b \u6709 \u591a\u4e2a \u9009\u9879 \u53ef \u7528\u4e8e \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93   \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   0.9 . 12   \u4e4b\u524d \u7684   Carla   \u7248\u672c \uff0c \u8bf7 \u5728 \u5c4f\u5e55 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u9009\u62e9 \u8be5 \u7248\u672c \u4ee5 \u67e5\u770b \u76f8\u5173 \u6587\u6863 \u3002 \u5426\u5219 \uff0c \u8bf7 \u9605\u8bfb \u4e0b\u9762 \u6709\u5173   Carla   0.9 . 12 +   \u4e2d \u53ef\u7528 \u9009\u9879 \u7684 \u4fe1\u606f \u3002","title":"0.9 . 12   \u4e4b\u524d \u7684   Carla   \u7248\u672c  "},{"location":"start_quickstart/#carla-0912","text":"\u6709 \u591a\u4e2a \u9009\u9879 \u53ef \u7528\u4e8e \u5b89\u88c5 \u548c \u4f7f\u7528   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff1a   . egg   \u6587\u4ef6   . whl   \u6587\u4ef6   \u53ef \u4e0b\u8f7d \u7684 Python \u5305   \u5728 \u51b3\u5b9a \u4f7f\u7528 \u54ea \u79cd \u65b9\u6cd5 \u4e4b\u524d \uff0c \u8bf7 \u9605\u8bfb \u4e0b\u9762 \u6709\u5173 \u6bcf\u79cd \u65b9\u6cd5 \u7684 \u8981\u6c42 \u548c \u9650\u5236 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002 \u8bf7 \u6ce8\u610f \uff0c \u6df7\u5408 \u4f7f\u7528 \u4e0d\u540c \u7684 \u65b9\u6cd5 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u4e0d \u517c\u5bb9 \uff0c \u56e0\u6b64 \u8bf7 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u4f7f\u7528 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \uff0c \u6216\u8005 \u5728 \u4f7f\u7528 \u65b0\u5e93 \u4e4b\u524d   \u5378\u8f7d   \u4ee5\u524d \u5b89\u88c5 \u7684 \u5e93 \u3002   A .   . egg   \u6587\u4ef6   Carla   \u63d0\u4f9b \u4e86 \u5728   PythonAPI / carla / dist /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u7684 \u4e0d\u540c   Python   \u7248\u672c   . egg   \u6587\u4ef6 \uff0c \u53ef\u4ee5 \u5f00\u7bb1 \u5373\u7528 \u3002   PythonAPI / examples   \u4e2d \u7684 \u6bcf\u4e2a \u793a\u4f8b \u811a\u672c \u90fd \u5305\u542b \u4e00\u4e2a \u81ea\u52a8 \u67e5\u627e \u6b64 \u6587\u4ef6 \u7684   \u4ee3\u7801 \u7247\u6bb5   \u3002 \u5728   Linux   \u4e2d \uff0c \u60a8 \u53ef\u80fd \u9700\u8981 \u5c06 \u6b64 \u6587\u4ef6 \u6dfb\u52a0 \u5230 \u60a8 \u7684   PYTHONPATH   \u3002 . \u5728   \u6b64\u5904   \u9605\u8bfb \u6709\u5173   Carla   \u4e2d   . egg   \u6587\u4ef6 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u5982\u679c \u60a8 \u4e4b\u524d \u5df2\u7ecf \u5b89\u88c5 \u4e86 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93   pip   \uff0c \u5219 \u8be5\u5e93 \u5c06 \u4f18\u5148 \u4e8e \u8be5   . egg   \u6587\u4ef6   \u3002 \u60a8 \u9700\u8981 \u5148   \u5378\u8f7d   \u4ee5\u524d \u7684 \u5e93 \u3002   B .   . whl   \u6587\u4ef6   Carla   \u63d0\u4f9b \u4e86 \u4e0d\u540c   Python   \u7248\u672c \u7684   . whl   \u6587\u4ef6 \u3002 \u60a8 \u5c06 \u9700\u8981 \u5b89\u88c5 \u8be5 . whl \u6587\u4ef6 \u3002 \u8be5   . whl   \u6587\u4ef6 \u4f4d\u4e8e   PythonAPI / carla / dist /   \u3002 \u6bcf\u4e2a \u53d7 \u652f\u6301 \u7684   Python   \u7248\u672c \u90fd \u6709 \u4e00\u4e2a \u6587\u4ef6 \uff0c \u7531 \u6587\u4ef6 \u6587\u4ef6\u540d \u6307\u793a \uff08 \u4f8b\u5982 \uff0c carla - 0.9 . 12 -   cp36   - cp36m - manylinux _ 2 _ 27 _ x86 _ 64 . whl   \u8868\u793a   Python   3.6 \uff09 \u3002   \u5efa\u8bae \u5728 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u4e2d \u5b89\u88c5   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u4ee5 \u907f\u514d \u5728 \u4f7f\u7528 \u591a\u4e2a \u7248\u672c \u65f6 \u53d1\u751f \u51b2\u7a81 \u53d1\u751f\u51b2\u7a81 \u3002   \u8981 \u5b89\u88c5   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff0c \u9009\u62e9 \u9002\u5408 \u60a8 \u6240 \u9700   Python   \u7248\u672c \u7684 \u6587\u4ef6 \u3002 \u60a8 \u5c06 \u9700\u8981   pip / pip3   \u7248\u672c   20.3   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002 \u6709\u5173 \u5982\u4f55 \u68c0\u67e5 \u7248\u672c \u548c \u5347\u7ea7 pip / pip3 \u7684 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u5f00\u59cb \u4e4b\u524d   \u90e8\u5206 \uff1a   #   Python   3   pip3   install   < wheel - file - name > . whl   #   Python   2   pip   install   < wheel - file - name > . whl   \u5982\u679c \u60a8 \u4e4b\u524d \u5b89\u88c5 \u4e86 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u5219 \u5e94\u5148   \u5378\u8f7d   \u65e7 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u7136\u540e \u518d \u5b89\u88c5 \u65b0 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002   C .   \u53ef \u4e0b\u8f7d \u7684   Python   \u5305   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u53ef\u4ee5 \u4ece   PyPi   \u4e0b\u8f7d \u3002 \u8be5\u5e93 \u4e0e   Python   \u7248\u672c   2.7 \u3001 3.6 \u3001 3.7   \u548c   3.8   \u517c\u5bb9 \u3002 \u8981 \u5b89\u88c5 \u5b83 \uff0c \u60a8 \u9700\u8981   pip / pip3   \u7248\u672c   20.3   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002 \u6709\u5173 \u5982\u4f55 \u68c0\u67e5 \u7248\u672c \u548c \u5347\u7ea7 pip / pip3 \u7684 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u5f00\u59cb \u4e4b\u524d   \u90e8\u5206 \u3002   \u5efa\u8bae \u5728 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u4e2d \u5b89\u88c5   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u4ee5 \u907f\u514d \u5728 \u4f7f\u7528 \u591a\u4e2a \u7248\u672c \u65f6 \u53d1\u751f \u51b2\u7a81 \u53d1\u751f\u51b2\u7a81 \u3002   \u8981 \u4ece   PyPi   \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   Python   3   pip3   install   carla   #   Python   2   pip   install   carla   PyPi   \u4e0b\u8f7d \u4ec5 \u9002\u5408 \u4e0e   Carla   \u5305 \u4e00\u8d77 \u4f7f\u7528 \uff08 \u5373 \u4e0d\u9002 \u7528\u4e8e \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684 \u7248\u672c \uff09 \u3002 \u7531\u4e8e   PyPi   \u4e0b\u8f7d   \u4ec5 \u5305\u542b \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93   \uff0c \u56e0\u6b64 \u5728 \u60a8 \u5c06 \u4e0e \u8fdc\u7a0b   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u4e14 \u4e0d \u9700\u8981 \u4e0b\u8f7d \u5b8c\u6574 \u7684   Carla   \u5305 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u975e\u5e38 \u6709\u7528 \u3002","title":"Carla   0.9 . 12 +  "},{"location":"start_quickstart/#carla_1","text":"\u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u65b9\u6cd5 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4f7f\u7528 \u7684 \u5b89\u88c5 \u65b9\u6cd5 \u548c \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \uff1a   Debian   \u5b89\u88c5 :   cd   / opt / carla - simulator / bin /   . / CarlaUE4 . sh   Linux   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u5b89\u88c5 \uff1a   cd   path / to / carla / root   . / CarlaUE4 . sh   Windows   \u5305 \u5b89\u88c5 \uff1a   cd   path / to / carla / root   CarlaUE4 . exe   \u5c06 \u5f39\u51fa \u4e00\u4e2a \u5305\u542b \u57ce\u5e02 \u666f\u89c2 \u7684 \u7a97\u53e3 \u3002 \u8fd9\u662f   \u89c2\u5bdf \u89c2\u5bdf\u8005   \u7684 \u770b\u6cd5 \u3002 \u8981 \u5728 \u57ce\u5e02 \u4e2d \u98de\u884c \uff0c \u8bf7 \u4f7f\u7528 \u9f20\u6807 \u548c WASD \u6309\u952e \uff0c \u6309\u4f4f \u9f20\u6807 \u53f3\u952e \u63a7\u5236 \u65b9\u5411 \u3002   \u8fd9\u662f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \uff0c \u5b83 \u73b0\u5728 \u6b63\u5728 \u8fd0\u884c \u5e76 \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5e76 \u4e0e \u4e16\u754c \u4ea4\u4e92 \u3002 \u60a8 \u53ef\u4ee5 \u5c1d\u8bd5 \u4e00\u4e9b \u793a\u4f8b \u811a\u672c \u6765 \u5728 \u57ce\u5e02 \u4e2d \u4ea7\u751f \u751f\u547d \u5e76 \u9a7e\u9a76 \u6c7d\u8f66 \uff1a   #   \u7ec8\u7aef   A   cd   PythonAPI \\ examples   python3   - m   pip   install   - r   requirements . txt   #   Support   for   Python2   is   provided   in   the   CARLA   release   packages   python3   generate _ traffic . py   #   Terminal   B   cd   PythonAPI \\ examples   python3   manual _ control . py","title":"\u8fd0\u884c   Carla  "},{"location":"start_quickstart/#_5","text":"\u542f\u52a8   Carla   \u65f6\u6709 \u4e00\u4e9b \u53ef\u7528 \u7684 \u914d\u7f6e \u9009\u9879 \uff0c \u53ef\u4ee5 \u6309 \u5982\u4e0b \u65b9\u5f0f \u4f7f\u7528 \u5b83\u4eec \uff1a   . / CarlaUE4 . sh   - carla - rpc - port = 3000   - carla - rpc - port = N   \u4fa6\u542c \u7aef\u53e3   N   \u4e0a \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u3002 \u5a92\u4f53 \u6d41\u5a92\u4f53 \u7aef\u53e3 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e3a   N + 1   \u3002   - carla - streaming - port = N   \u6307\u5b9a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u6570\u636e\u6d41 \u7684 \u7aef\u53e3 \u3002 \u4f7f\u7528   0   \u83b7\u53d6 \u968f\u673a \u672a \u4f7f\u7528 \u7684 \u7aef\u53e3 \u3002 \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u7aef\u53e3 \u5c06 \u81ea\u52a8 \u8bbe\u7f6e \u4e3a   N + 1   \u3002   - quality - level = { Low , Epic }   \u66f4\u6539 \u56fe\u5f62 \u8d28\u91cf \u7ea7\u522b \u3002   \u5728   \u6e32\u67d3 \u9009\u9879   \u4e2d \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u865a\u5e7b \u5f15\u64ce   4   \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u5217\u8868   \u3002   \u3002 \u865a\u5e7b \u5f15\u64ce \u63d0\u4f9b \u4e86 \u5f88\u591a \u9009\u9879 \uff0c \u4f46 \u5e76\u975e \u6240\u6709 \u8fd9\u4e9b \u9009\u9879 \u5728   Carla   \u4e2d \u90fd \u53ef\u7528 \u3002   \u8be5 \u811a\u672c   PythonAPI / util / config . py   \u63d0\u4f9b \u4e86 \u66f4 \u591a \u914d\u7f6e \u9009\u9879 \uff0c \u5e94 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u542f\u52a8 \u65f6 \u8fd0\u884c \uff1a   . / config . py   -- no - rendering   #   \u7981\u7528 \u6e32\u67d3   . / config . py   -- map   Town05   #   \u6539\u53d8 \u5730\u56fe \u3001   . / config . py   -- weather   ClearNoon   #   \u6539\u53d8 \u5929\u6c14   . / config . py   -- help   #   \u68c0\u67e5 \u6240\u6709 \u53ef \u83b7\u5f97 \u7684 \u914d\u7f6e \u9009\u9879","title":"\u547d\u4ee4\u884c \u9009\u9879  "},{"location":"start_quickstart/#carla_2","text":"\u65e0\u6cd5 \u66f4\u65b0   Carla   \u7684 \u6253\u5305 \u7248\u672c \u3002 \u5f53\u65b0 \u7248\u672c \u53d1\u5e03 \u65f6 \uff0c \u5b58\u50a8 \u5e93\u4f1a \u66f4\u65b0 \uff0c \u60a8 \u9700\u8981 \u5220\u9664 \u4ee5\u524d \u7684 \u7248\u672c \u5e76 \u5b89\u88c5 \u65b0 \u7248\u672c \u3002   \u5982\u679c \u60a8 \u4f7f\u7528   pip / pip3   \u5b89\u88c5 \u4e86 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u5219 \u5e94 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u5c06 \u5176 \u5378\u8f7d \uff1a   #   Python   3   pip3   uninstall   carla   #   Python   2   pip   uninstall   carla","title":"\u66f4\u65b0   Carla  "},{"location":"start_quickstart/#_6","text":"\u73b0\u5728 \u60a8 \u5e94\u8be5 \u5df2\u7ecf \u542f\u52a8 \u5e76 \u8fd0\u884c \u4e86   Carla   \u7684 \u6253\u5305 \u7248\u672c \u3002 \u5982\u679c \u60a8 \u5728 \u5b89\u88c5 \u8fc7\u7a0b \u4e2d \u9047\u5230 \u4efb\u4f55 \u56f0\u96be \uff0c \u8bf7 \u968f\u65f6 \u5728   Carla   \u8bba\u575b   \u6216   Discord   \u9891\u9053 \u4e2d \u53d1\u5e16 \u3002   \u4e0b \u4e00\u6b65 \u662f \u8be6\u7ec6 \u4e86\u89e3   Carla   \u7684 \u6838\u5fc3 \u6982\u5ff5 \u3002 \u9605\u8bfb   \u201c \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \u201d   \u90e8\u5206 \u5f00\u59cb \u5b66\u4e60 \u3002 \u60a8 \u8fd8 \u53ef\u4ee5 \u5728   Python   API   \u53c2\u8003 \u4e2d \u627e\u5230 \u6709\u5173   Python   API   \u7c7b \u548c \u65b9\u6cd5 \u7684 \u6240\u6709 \u4fe1\u606f \u3002   \u524d\u5f80 \uff1a \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65","title":"\u8ddf\u8fdb  "},{"location":"todo/","text":"\u5f85 \u505a   \u6280\u672f \u6587\u6863   \u4fee\u590d \u9875\u9762 \u5185 \u7684 \u8df3\u8f6c \uff1b   \u5b8c\u5584 \u5bf9\u5e94 \u6587\u6863 \u7684 \u793a\u4f8b \u4ee3\u7801 \uff08 \u505a\u597d \u914d\u7f6e \u8bf4\u660e \uff09 \uff1b   \u6574\u7406   UE5 \u4e2d \u5b9e\u73b0 \u8fdc\u7a0b \u591a\u7528 \u7528\u6237 \u591a\u7528\u6237 \u534f\u4f5c \u7f16\u8f91   \u3001   \u8868\u60c5 \u5efa\u6a21   Epic \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf \u7248\u672c \u63a7\u5236 \u7248\u672c\u63a7\u5236   Carla   \u793e\u533a \u3001 \u6df1\u4fe1 \u79d1\u521b \u3001 \u4e2d\u6587 \u793e\u533a \u7684 \u6587\u6863 \u3001 \u4ee3\u7801   carla   \u793a\u4f8b   awesome   \uff1b   \u6574\u7406   \u795e\u7ecf \u79d1\u5b66 \u795e\u7ecf\u79d1 \u795e\u7ecf\u79d1\u5b66 \u539f\u7406   \u3001   \u524d\u989d \u53f6 \u76ae\u5c42   \u3001 \u5f3a\u5316 \u5b66\u4e60 \u5bfc\u8bba \u5fc3\u7406 \u7406\u5b66 \u5fc3\u7406\u5b66 \u7ae0\u8282 \uff1b   \u6e38\u620f \u5f00\u53d1   \uff1a   \u591a \u73a9\u5bb6   \u3001   \u4e0a\u4e0b \u9009\u62e9 \u5e76 \u56de\u8f66   SUMMIT \uff1a \u5927\u89c4 \u89c4\u6a21 \u5927\u89c4\u6a21 \u6df7\u5408 \u4ea4\u901a \u6761\u4ef6 \u4e0b \u7684 \u57ce\u5e02 \u9a7e\u9a76 \u6a21\u62df \u6a21\u62df\u5668   \u4e00\u53e5 \u8bdd \u751f\u6210 \u60f3\u8981 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u5173\u952e \u573a\u666f   \u7b2c\u4e09 \u4e09\u65b9 \u7b2c\u4e09\u65b9 \u5de5\u5177   Carla \u8c03\u8bd5 \u5de5\u5177   \uff0c \u4e0b\u8f7d   \u94fe\u63a5   \u3002   \u5b66\u672f \u7814\u7a76 \u5b66\u672f\u7814\u7a76   \u611f\u77e5   \u8f66\u8f86 / \u884c\u4eba \uff1a   \u68c0\u6d4b \u3001 \u8ddf\u8e2a \u3001 \u518d \u8bc6\u522b \u3001 \u8bed\u4e49 \u5206\u5272 \u3001 \u884c\u4e3a \u5efa\u6a21 \u3001 \u5bf9\u6297 \u8bad\u7ec3 \u3001 \u591a \u6a21\u6001 \u878d\u5408 \u3001 \u60ef\u89c6 \u878d\u5408 \u7b49 \u3002   \u884c\u4eba \uff1a   \u8fc7 \u9a6c\u8def \u548c \u4e0d\u8fc7 \u9a6c\u8def \u5206\u7c7b \u3001 \u59ff\u6001 \u81ea \u7f16\u7801 \uff08 \u589e\u52a0 \u6240 \u63d0\u53d6 \u9aa8\u67b6 \u7684 \u8d28\u91cf \uff09 \u3001 \u59ff\u6001 \u4f30\u8ba1 \u3001 \u59ff\u6001 \u62ac\u5347 \uff1b \u8fd0\u52a8 \u5b9a\u5411 \u91cd\u5b9a\u5411 \u3001 \u98ce\u683c \u8fc1\u79fb \uff1b   \u89c4\u5212   \u5efa\u56fe \u3001   \u5b9a\u4f4d   \u3001 \u89c4\u5212 \u3001 \u51b3\u7b56 \u3002   \u51b3\u7b56 \u7684 \u4f26\u7406 \u548c \u516c\u5e73 \u3002   \u63a7\u5236   PID \u3001 \u57fa\u4e8e \u6a21\u578b \u7684 \u63a7\u5236 \u3002   \u901a\u8fc7   carla . Walker . set _ bones ( )   \u5bf9 \u884c\u4eba \u9aa8\u9abc \u8fdb\u884c \u53d8\u6362 \u3002   \u573a\u666f   \u4ee3\u7406 \u3001   \u667a\u80fd \u9a7e\u9a76   \u7b49 \u3002   \u63d0\u4f9b \u6570\u636e \u63d0\u4f9b\u6570\u636e \u5b6a\u751f \u5efa\u7b51 \u751f\u6210 \u7684   Python   \u63a5\u53e3 \u3002   \u4ee3\u7406   \u865a\u62df \u62df\u4eba \u865a\u62df\u4eba \u9884\u6d4b \u9a7e\u9a76 \u884c\u4e3a \u7684 \u795e\u7ecf \u6fc0\u6d3b \u7ed3\u6784   CloningDCB   \uff1a   \u57fa\u4e8e \u514b\u9686 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8ba4\u77e5 \u884c\u4e3a \u7684 \u81ea\u52a8 \u9a7e\u9a76   \uff0c   \u6280\u672f \u62a5\u544a   \u3002   \u9a7e\u9a76 \u3001 \u884c\u8d70 \u3001 \u7ad9\u7acb \u3001 \u8dd1\u6b65 \uff1b   \u827a\u672f \u589e\u5f3a   \u573a\u666f \u7684 \u81ea\u52a8 \u81ea\u52a8\u5316 \u5efa\u6a21 \uff08 \u5220\u9664 \uff09 \uff1a \u9053\u8def \u3001   \u5efa\u7b51   \u7b49 \uff1b   \u8d44\u4ea7 \uff1a \u9053\u8def \u3001 \u5efa\u7b51 \u3001   \u884c\u4eba   \u3001 \u8f66\u8f86 \u3001 \u6811\u6728 \u7b49 \uff1b   \u4f53\u79ef \u96fe \u3001 \u96ea \u3001 \u810f   \u7684 \u652f\u6301 \uff1b   \u6e56 \u5de5\u5546 \u3001 \u91d1 \u91b4 \u9ad8\u901f \u573a\u666f   \u5927 \u6587\u4ef6 \u652f\u6301   \uff1b   \u6e56 \u5de5\u5546 \u573a\u666f \u5206\u652f   https : / / bitbucket . org / carla - simulator / carla - content   Unreal / CarlaUE4 / Content / Carla   \u4e2d \u7535 \u8f6f\u4ef6 \u8f6f\u4ef6\u56ed   \u65b0 \u5b89\u88c5 apkpure \uff0c \u518d \u5b89\u88c5 RealityScan   \u884c\u4eba   \u53c2\u8003   \u884c\u4eba \u6784\u5efa \u6d41\u7a0b   \u3002   \u672a \u5b9a\u4f4d \u529f\u80fd \uff1a \u8dd1\u6b65 \uff1b \u672a \u5b9e\u73b0 \u529f\u80fd \uff1a \u4ea4\u8c08 \u3001 \u53eb \u51fa\u79df \u79df\u8f66 \u51fa\u79df\u8f66 \u3001 \u5750\u4e0b \u3002   \u865a\u5e7b \u5f15\u64ce   \u5f15\u64ce \u4f18\u5316 \uff1a   \u6587\u6863   \u672c\u5730 \u672c\u5730\u5316 \u6574\u7406 \u3002   \u52a0\u8f7d \u8fdb\u5ea6   \uff1b   \u6709\u9650 \u6709\u9650\u5143   \u5f00\u6e90 \u591a \u7269\u7406 \u573a \u4eff\u771f \u5f15\u64ce   Chrono   \u5904\u7406 \u78b0\u649e \u3002   \u53ef \u53d8\u5f62 \u8d44\u4ea7   \u8f66\u8f86 \u78b0\u649e   \u58f0\u97f3   \u865a\u5e7b \u97f3\u9891 \u7684 \u58f0\u5b66 \u9879\u76ee   \u3002   \u7528   C++   \u589e\u52a0 \u97f3\u89c6 \u89c6\u9891 \u97f3\u89c6\u9891 \u4e92\u52a8   \u3001   \u5229\u7528 \u84dd\u56fe \u5236\u4f5c \u7acb\u4f53 \u73af\u5883 \u58f0   \u3002","title":"\u5f85 \u505a"},{"location":"todo/#_1","text":"","title":"\u5f85 \u505a"},{"location":"todo/#_2","text":"\u4fee\u590d \u9875\u9762 \u5185 \u7684 \u8df3\u8f6c \uff1b   \u5b8c\u5584 \u5bf9\u5e94 \u6587\u6863 \u7684 \u793a\u4f8b \u4ee3\u7801 \uff08 \u505a\u597d \u914d\u7f6e \u8bf4\u660e \uff09 \uff1b   \u6574\u7406   UE5 \u4e2d \u5b9e\u73b0 \u8fdc\u7a0b \u591a\u7528 \u7528\u6237 \u591a\u7528\u6237 \u534f\u4f5c \u7f16\u8f91   \u3001   \u8868\u60c5 \u5efa\u6a21   Epic \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf \u7248\u672c \u63a7\u5236 \u7248\u672c\u63a7\u5236   Carla   \u793e\u533a \u3001 \u6df1\u4fe1 \u79d1\u521b \u3001 \u4e2d\u6587 \u793e\u533a \u7684 \u6587\u6863 \u3001 \u4ee3\u7801   carla   \u793a\u4f8b   awesome   \uff1b   \u6574\u7406   \u795e\u7ecf \u79d1\u5b66 \u795e\u7ecf\u79d1 \u795e\u7ecf\u79d1\u5b66 \u539f\u7406   \u3001   \u524d\u989d \u53f6 \u76ae\u5c42   \u3001 \u5f3a\u5316 \u5b66\u4e60 \u5bfc\u8bba \u5fc3\u7406 \u7406\u5b66 \u5fc3\u7406\u5b66 \u7ae0\u8282 \uff1b   \u6e38\u620f \u5f00\u53d1   \uff1a   \u591a \u73a9\u5bb6   \u3001   \u4e0a\u4e0b \u9009\u62e9 \u5e76 \u56de\u8f66   SUMMIT \uff1a \u5927\u89c4 \u89c4\u6a21 \u5927\u89c4\u6a21 \u6df7\u5408 \u4ea4\u901a \u6761\u4ef6 \u4e0b \u7684 \u57ce\u5e02 \u9a7e\u9a76 \u6a21\u62df \u6a21\u62df\u5668   \u4e00\u53e5 \u8bdd \u751f\u6210 \u60f3\u8981 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u5173\u952e \u573a\u666f","title":"\u6280\u672f \u6587\u6863"},{"location":"todo/#_3","text":"Carla \u8c03\u8bd5 \u5de5\u5177   \uff0c \u4e0b\u8f7d   \u94fe\u63a5   \u3002","title":"\u7b2c\u4e09\u65b9 \u5de5\u5177"},{"location":"todo/#_4","text":"","title":"\u5b66\u672f\u7814\u7a76"},{"location":"todo/#_5","text":"\u8f66\u8f86 / \u884c\u4eba \uff1a   \u68c0\u6d4b \u3001 \u8ddf\u8e2a \u3001 \u518d \u8bc6\u522b \u3001 \u8bed\u4e49 \u5206\u5272 \u3001 \u884c\u4e3a \u5efa\u6a21 \u3001 \u5bf9\u6297 \u8bad\u7ec3 \u3001 \u591a \u6a21\u6001 \u878d\u5408 \u3001 \u60ef\u89c6 \u878d\u5408 \u7b49 \u3002   \u884c\u4eba \uff1a   \u8fc7 \u9a6c\u8def \u548c \u4e0d\u8fc7 \u9a6c\u8def \u5206\u7c7b \u3001 \u59ff\u6001 \u81ea \u7f16\u7801 \uff08 \u589e\u52a0 \u6240 \u63d0\u53d6 \u9aa8\u67b6 \u7684 \u8d28\u91cf \uff09 \u3001 \u59ff\u6001 \u4f30\u8ba1 \u3001 \u59ff\u6001 \u62ac\u5347 \uff1b \u8fd0\u52a8 \u5b9a\u5411 \u91cd\u5b9a\u5411 \u3001 \u98ce\u683c \u8fc1\u79fb \uff1b","title":"\u611f\u77e5"},{"location":"todo/#_6","text":"\u5efa\u56fe \u3001   \u5b9a\u4f4d   \u3001 \u89c4\u5212 \u3001 \u51b3\u7b56 \u3002   \u51b3\u7b56 \u7684 \u4f26\u7406 \u548c \u516c\u5e73 \u3002","title":"\u89c4\u5212"},{"location":"todo/#_7","text":"PID \u3001 \u57fa\u4e8e \u6a21\u578b \u7684 \u63a7\u5236 \u3002   \u901a\u8fc7   carla . Walker . set _ bones ( )   \u5bf9 \u884c\u4eba \u9aa8\u9abc \u8fdb\u884c \u53d8\u6362 \u3002","title":"\u63a7\u5236"},{"location":"todo/#_8","text":"\u4ee3\u7406 \u3001   \u667a\u80fd \u9a7e\u9a76   \u7b49 \u3002   \u63d0\u4f9b \u6570\u636e \u63d0\u4f9b\u6570\u636e \u5b6a\u751f \u5efa\u7b51 \u751f\u6210 \u7684   Python   \u63a5\u53e3 \u3002","title":"\u573a\u666f"},{"location":"todo/#_9","text":"\u865a\u62df \u62df\u4eba \u865a\u62df\u4eba \u9884\u6d4b \u9a7e\u9a76 \u884c\u4e3a \u7684 \u795e\u7ecf \u6fc0\u6d3b \u7ed3\u6784   CloningDCB   \uff1a   \u57fa\u4e8e \u514b\u9686 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8ba4\u77e5 \u884c\u4e3a \u7684 \u81ea\u52a8 \u9a7e\u9a76   \uff0c   \u6280\u672f \u62a5\u544a   \u3002   \u9a7e\u9a76 \u3001 \u884c\u8d70 \u3001 \u7ad9\u7acb \u3001 \u8dd1\u6b65 \uff1b","title":"\u4ee3\u7406"},{"location":"todo/#_10","text":"\u573a\u666f \u7684 \u81ea\u52a8 \u81ea\u52a8\u5316 \u5efa\u6a21 \uff08 \u5220\u9664 \uff09 \uff1a \u9053\u8def \u3001   \u5efa\u7b51   \u7b49 \uff1b   \u8d44\u4ea7 \uff1a \u9053\u8def \u3001 \u5efa\u7b51 \u3001   \u884c\u4eba   \u3001 \u8f66\u8f86 \u3001 \u6811\u6728 \u7b49 \uff1b   \u4f53\u79ef \u96fe \u3001 \u96ea \u3001 \u810f   \u7684 \u652f\u6301 \uff1b   \u6e56 \u5de5\u5546 \u3001 \u91d1 \u91b4 \u9ad8\u901f \u573a\u666f   \u5927 \u6587\u4ef6 \u652f\u6301   \uff1b   \u6e56 \u5de5\u5546 \u573a\u666f \u5206\u652f   https : / / bitbucket . org / carla - simulator / carla - content   Unreal / CarlaUE4 / Content / Carla   \u4e2d \u7535 \u8f6f\u4ef6 \u8f6f\u4ef6\u56ed   \u65b0 \u5b89\u88c5 apkpure \uff0c \u518d \u5b89\u88c5 RealityScan","title":"\u827a\u672f \u589e\u5f3a"},{"location":"todo/#_11","text":"\u53c2\u8003   \u884c\u4eba \u6784\u5efa \u6d41\u7a0b   \u3002   \u672a \u5b9a\u4f4d \u529f\u80fd \uff1a \u8dd1\u6b65 \uff1b \u672a \u5b9e\u73b0 \u529f\u80fd \uff1a \u4ea4\u8c08 \u3001 \u53eb \u51fa\u79df \u79df\u8f66 \u51fa\u79df\u8f66 \u3001 \u5750\u4e0b \u3002","title":"\u884c\u4eba"},{"location":"todo/#_12","text":"\u5f15\u64ce \u4f18\u5316 \uff1a   \u6587\u6863   \u672c\u5730 \u672c\u5730\u5316 \u6574\u7406 \u3002   \u52a0\u8f7d \u8fdb\u5ea6   \uff1b","title":"\u865a\u5e7b \u5f15\u64ce"},{"location":"todo/#_13","text":"\u5f00\u6e90 \u591a \u7269\u7406 \u573a \u4eff\u771f \u5f15\u64ce   Chrono   \u5904\u7406 \u78b0\u649e \u3002   \u53ef \u53d8\u5f62 \u8d44\u4ea7   \u8f66\u8f86 \u78b0\u649e","title":"\u6709\u9650\u5143"},{"location":"todo/#_14","text":"\u865a\u5e7b \u97f3\u9891 \u7684 \u58f0\u5b66 \u9879\u76ee   \u3002   \u7528   C++   \u589e\u52a0 \u97f3\u89c6 \u89c6\u9891 \u97f3\u89c6\u9891 \u4e92\u52a8   \u3001   \u5229\u7528 \u84dd\u56fe \u5236\u4f5c \u7acb\u4f53 \u73af\u5883 \u58f0   \u3002","title":"\u58f0\u97f3"},{"location":"ts_traffic_simulation_overview/","text":"Carla   \u4e2d \u7684 \u4ea4\u901a \u4eff\u771f   \u4ea4\u901a \u4eff\u771f \u662f \u81ea\u52a8 \u9a7e\u9a76 \u5806\u6808 \u51c6\u786e \u9ad8\u6548 \u7684 \u8bad\u7ec3 \u548c \u6d4b\u8bd5 \u4e0d\u53ef \u6216\u7f3a \u4e0d\u53ef\u6216\u7f3a \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 Carla   \u63d0\u4f9b \u4e86 \u8bb8\u591a \u4e0d\u540c \u7684 \u9009\u9879 \u6765 \u4eff\u771f \u4ea4\u901a \u548c \u7279\u5b9a \u7684 \u4ea4\u901a \u573a\u666f \u3002 \u672c \u8282 \u6982\u8ff0 \u4e86 \u53ef\u7528 \u9009\u9879 \uff0c \u53ef \u5e2e\u52a9 \u60a8 \u786e\u5b9a \u6700 \u9002\u5408 \u60a8 \u7684 \u7528\u4f8b \u7684 \u9009\u9879 \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   Scenario   Runner   \u548c   OpenScenario   Scenic   SUMO   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u662f   Carla   \u4e2d \u7684 \u4e00\u4e2a \u6a21\u5757 \uff0c \u7528\u4e8e \u4ece \u5ba2\u6237 \u5ba2\u6237\u7aef \u63a7\u5236 \u4eff\u771f \u4e2d \u7684 \u67d0\u4e9b \u8f66\u8f86 \u3002   carla . Vehicle . set _ autopilot   \u8f66\u8f86 \u901a\u8fc7 \u65b9\u6cd5 \u6216 \u6ce8\u518c \u5230 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 command . SetAutopilot \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u63a7\u5236 \u662f \u901a\u8fc7   \u4e0d\u540c \u9636\u6bb5   \u7684 \u5faa\u73af \u6765 \u7ba1\u7406 \u7684 \uff0c \u6bcf\u4e2a \u9636\u6bb5 \u90fd \u5728 \u4e0d\u540c \u7684 \u7ebf\u7a0b \u4e0a \u8fd0\u884c \u3002   \u7528\u4e8e \uff1a   \u7528 \u771f\u5b9e \u7684 \u57ce\u5e02 \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u586b\u5145 \u4eff\u771f \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4ea4\u901a \u884c\u4e3a   \u4ee5 \u8bbe\u7f6e \u7279\u5b9a \u7684 \u5b66\u4e60 \u73af\u5883 \u3002   \u5f00\u53d1 \u4e0e \u9636\u6bb5 \u76f8\u5173 \u7684 \u529f\u80fd \u548c \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \uff0c \u540c\u65f6 \u63d0\u9ad8 \u8ba1\u7b97 \u6548\u7387 \u3002   \u8f6c \u81f3 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   Scenario   Runner   \u548c   OpenScenario   Scenario   Runner   \u63d0\u4f9b \u5f00\u7bb1 \u5373\u7528 \u7684   \u9884\u5b9a \u4e49 \u4ea4\u901a \u573a\u666f   \uff0c \u8fd8 \u5141\u8bb8 \u7528\u6237 \u4f7f\u7528   Python   \u6216   OpenSCENARIO   1.0   \u6807\u51c6   \u5b9a\u4e49 \u81ea\u5df1   \u7684 \u573a\u666f \u3002   OpenSCENARIO   \u7684 \u4e3b\u8981 \u8981\u7528 \u7528\u9014 \u4e3b\u8981\u7528\u9014 \u662f \u63cf\u8ff0 \u6d89\u53ca \u591a\u8f86 \u8f66 \u7684 \u590d\u6742 \u64cd\u4f5c \u3002 \u7528\u6237 \u53ef\u4ee5 \u5728   \u8fd9\u91cc   \u67e5\u770b   Scenario   Runner   \u652f\u6301   OpenSCENARIO   \u7684 \u54ea\u4e9b \u529f\u80fd \u3002 \u8fd9\u4e9b \u529f\u80fd \u5305\u62ec \u6f14\u4e60 \u3001 \u52a8\u4f5c \u3001 \u6761\u4ef6 \u3001 \u6545\u4e8b \u548c \u6545\u4e8b \u677f \u3002   Scenario   Runner   \u5fc5\u987b \u4e0e \u4e3b   Carla   \u5305   \u5206\u5f00   \u5b89\u88c5 \u3002   \u7528\u4e8e \uff1a   \u521b\u5efa \u590d\u6742 \u7684 \u4ea4\u901a \u573a\u666f \u548c \u8def\u7ebf \uff0c \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u505a\u597d \u51c6\u5907 \uff0c \u4ee5\u4fbf \u5728   Carla   \u6392\u884c \u6392\u884c\u699c   \u4e0a \u8fdb\u884c \u8bc4\u4f30 \u3002   \u5b9a\u4e49 \u53ef \u9488\u5bf9 \u573a\u666f \u4eff\u771f \u7684 \u8bb0\u5f55 \u8fd0\u884c \u7684 \u5b9a\u5236   \u6307\u6807   \uff0c \u4ece\u800c \u65e0\u9700 \u91cd\u590d \u8fd0\u884c \u4eff\u771f \u3002   \u8f6c \u5230   Scenario   Runner   Scenic   Scenic   \u662f \u4e00\u79cd \u7279\u5b9a \u9886\u57df \u7684 \u6982\u7387 \u7f16\u7a0b \u8bed\u8a00 \u7f16\u7a0b\u8bed\u8a00 \uff0c \u7528\u4e8e \u5bf9 \u673a\u5668 \u673a\u5668\u4eba \u548c \u81ea\u52a8 \u9a7e\u9a76 \u6c7d\u8f66 \u7b49 \u7f51\u7edc \u7269\u7406 \u7cfb\u7edf \u7684 \u73af\u5883 \u8fdb\u884c \u5efa\u6a21 \u3002 Scenic   \u63d0\u4f9b \u4e86 \u4e00\u4e2a   \u4e13\u95e8 \u9886\u57df   \u6765 \u4fc3\u8fdb   Scenic   \u811a\u672c \u5728   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e0a \u7684 \u6267\u884c \u3002   Scenic   \u573a\u666f \u5b9a\u4e49 \u6613\u4e8e \u9605\u8bfb \u548c \u6784\u5efa \u3002   \u6b64\u5904   \u63d0\u4f9b \u4e86 \u521b\u5efa \u7b80\u5355 \u573a\u666f \u7684 \u6559\u7a0b \u3002   \u7528\u4e8e \uff1a   \u4f7f\u7528 \u5355\u4e2a \u573a\u666f \u5b9a\u4e49 \u751f\u6210 \u591a\u4e2a \u4e0d\u540c \u7684 \u573a\u666f \u3002   \u4e3a \u52a8\u6001 \u4ee3\u7406 \u5b9a\u4e49 \u6982\u7387 \u7b56\u7565 \uff0c \u4ee5\u4fbf \u968f\u7740 \u65f6\u95f4 \u7684 \u63a8\u79fb \u91c7\u53d6 \u884c\u52a8 \u91c7\u53d6\u884c\u52a8 \u4ee5 \u54cd\u5e94 \u4e16\u754c \u72b6\u51b5 \u3002   \u8f6c \u81f3   Scenic   \u6559\u7a0b   SUMO   SUMO   \u662f \u4e00\u79cd \u5f00\u6e90 \u3001 \u5fae\u89c2 \u3001 \u591a \u6a21\u5f0f \u4ea4\u901a \u4eff\u771f \u3002 \u5728   SUMO   \u4e2d \uff0c \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u7ecf\u8fc7 \u660e\u786e \u5efa\u6a21 \uff0c \u6709 \u81ea\u5df1 \u7684 \u8def\u7ebf \uff0c \u5e76 \u901a\u8fc7 \u7f51\u7edc \u5355\u72ec \u79fb\u52a8 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u662f \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u7684 \uff0c \u4f46 \u6709 \u591a\u79cd \u9009\u9879 \u53ef\u4ee5 \u5f15\u5165 \u968f\u673a \u968f\u673a\u6027 \u3002   Carla   \u63d0\u4f9b \u4e86 \u4e0e   SUMO   \u7684 \u8054\u5408 \u4eff\u771f \u529f\u80fd \uff0c \u5141\u8bb8 \u5728 \u4e24\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e4b\u95f4 \u5206\u914d \u4efb\u52a1 \u5206\u914d\u4efb\u52a1 \u3002 \u8f66\u8f86 \u53ef\u4ee5 \u901a\u8fc7   SUMO   \u5728   Carla   \u4e2d \u4ea7\u751f \uff0c \u5e76 \u7531   SUMO   \u8fdb\u884c \u7ba1\u7406 \uff0c \u5c31 \u50cf \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u6240 \u505a \u7684 \u90a3\u6837 \u3002   \u7528\u4e8e \uff1a   \u5728 \u4e00\u4e2a \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u4e2d \u5229\u7528   Carla   \u548c   SUMO   \u7684 \u529f\u80fd \u3002   \u8f6c \u81f3   SUMO   \u534f\u540c \u4eff\u771f   \u5982\u679c \u60a8 \u5bf9   Carla   \u4e2d \u4eff\u771f \u4ea4\u901a \u7684 \u4e0d\u540c \u9009\u9879 \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u6216   Discord   \u4e2d \u53d1\u5e16 \u3002   Carla   \u8bba\u575b","title":"Ts   traffic   simulation   overview"},{"location":"ts_traffic_simulation_overview/#carla","text":"\u4ea4\u901a \u4eff\u771f \u662f \u81ea\u52a8 \u9a7e\u9a76 \u5806\u6808 \u51c6\u786e \u9ad8\u6548 \u7684 \u8bad\u7ec3 \u548c \u6d4b\u8bd5 \u4e0d\u53ef \u6216\u7f3a \u4e0d\u53ef\u6216\u7f3a \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 Carla   \u63d0\u4f9b \u4e86 \u8bb8\u591a \u4e0d\u540c \u7684 \u9009\u9879 \u6765 \u4eff\u771f \u4ea4\u901a \u548c \u7279\u5b9a \u7684 \u4ea4\u901a \u573a\u666f \u3002 \u672c \u8282 \u6982\u8ff0 \u4e86 \u53ef\u7528 \u9009\u9879 \uff0c \u53ef \u5e2e\u52a9 \u60a8 \u786e\u5b9a \u6700 \u9002\u5408 \u60a8 \u7684 \u7528\u4f8b \u7684 \u9009\u9879 \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   Scenario   Runner   \u548c   OpenScenario   Scenic   SUMO","title":"Carla   \u4e2d \u7684 \u4ea4\u901a \u4eff\u771f"},{"location":"ts_traffic_simulation_overview/#_1","text":"\u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u662f   Carla   \u4e2d \u7684 \u4e00\u4e2a \u6a21\u5757 \uff0c \u7528\u4e8e \u4ece \u5ba2\u6237 \u5ba2\u6237\u7aef \u63a7\u5236 \u4eff\u771f \u4e2d \u7684 \u67d0\u4e9b \u8f66\u8f86 \u3002   carla . Vehicle . set _ autopilot   \u8f66\u8f86 \u901a\u8fc7 \u65b9\u6cd5 \u6216 \u6ce8\u518c \u5230 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 command . SetAutopilot \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u63a7\u5236 \u662f \u901a\u8fc7   \u4e0d\u540c \u9636\u6bb5   \u7684 \u5faa\u73af \u6765 \u7ba1\u7406 \u7684 \uff0c \u6bcf\u4e2a \u9636\u6bb5 \u90fd \u5728 \u4e0d\u540c \u7684 \u7ebf\u7a0b \u4e0a \u8fd0\u884c \u3002   \u7528\u4e8e \uff1a   \u7528 \u771f\u5b9e \u7684 \u57ce\u5e02 \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u586b\u5145 \u4eff\u771f \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4ea4\u901a \u884c\u4e3a   \u4ee5 \u8bbe\u7f6e \u7279\u5b9a \u7684 \u5b66\u4e60 \u73af\u5883 \u3002   \u5f00\u53d1 \u4e0e \u9636\u6bb5 \u76f8\u5173 \u7684 \u529f\u80fd \u548c \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \uff0c \u540c\u65f6 \u63d0\u9ad8 \u8ba1\u7b97 \u6548\u7387 \u3002   \u8f6c \u81f3 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668","title":"\u4ea4\u901a\u7ba1\u7406 \u5668  "},{"location":"ts_traffic_simulation_overview/#scenario-runner-openscenario","text":"Scenario   Runner   \u63d0\u4f9b \u5f00\u7bb1 \u5373\u7528 \u7684   \u9884\u5b9a \u4e49 \u4ea4\u901a \u573a\u666f   \uff0c \u8fd8 \u5141\u8bb8 \u7528\u6237 \u4f7f\u7528   Python   \u6216   OpenSCENARIO   1.0   \u6807\u51c6   \u5b9a\u4e49 \u81ea\u5df1   \u7684 \u573a\u666f \u3002   OpenSCENARIO   \u7684 \u4e3b\u8981 \u8981\u7528 \u7528\u9014 \u4e3b\u8981\u7528\u9014 \u662f \u63cf\u8ff0 \u6d89\u53ca \u591a\u8f86 \u8f66 \u7684 \u590d\u6742 \u64cd\u4f5c \u3002 \u7528\u6237 \u53ef\u4ee5 \u5728   \u8fd9\u91cc   \u67e5\u770b   Scenario   Runner   \u652f\u6301   OpenSCENARIO   \u7684 \u54ea\u4e9b \u529f\u80fd \u3002 \u8fd9\u4e9b \u529f\u80fd \u5305\u62ec \u6f14\u4e60 \u3001 \u52a8\u4f5c \u3001 \u6761\u4ef6 \u3001 \u6545\u4e8b \u548c \u6545\u4e8b \u677f \u3002   Scenario   Runner   \u5fc5\u987b \u4e0e \u4e3b   Carla   \u5305   \u5206\u5f00   \u5b89\u88c5 \u3002   \u7528\u4e8e \uff1a   \u521b\u5efa \u590d\u6742 \u7684 \u4ea4\u901a \u573a\u666f \u548c \u8def\u7ebf \uff0c \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u505a\u597d \u51c6\u5907 \uff0c \u4ee5\u4fbf \u5728   Carla   \u6392\u884c \u6392\u884c\u699c   \u4e0a \u8fdb\u884c \u8bc4\u4f30 \u3002   \u5b9a\u4e49 \u53ef \u9488\u5bf9 \u573a\u666f \u4eff\u771f \u7684 \u8bb0\u5f55 \u8fd0\u884c \u7684 \u5b9a\u5236   \u6307\u6807   \uff0c \u4ece\u800c \u65e0\u9700 \u91cd\u590d \u8fd0\u884c \u4eff\u771f \u3002   \u8f6c \u5230   Scenario   Runner","title":"Scenario   Runner   \u548c   OpenScenario  "},{"location":"ts_traffic_simulation_overview/#scenic","text":"Scenic   \u662f \u4e00\u79cd \u7279\u5b9a \u9886\u57df \u7684 \u6982\u7387 \u7f16\u7a0b \u8bed\u8a00 \u7f16\u7a0b\u8bed\u8a00 \uff0c \u7528\u4e8e \u5bf9 \u673a\u5668 \u673a\u5668\u4eba \u548c \u81ea\u52a8 \u9a7e\u9a76 \u6c7d\u8f66 \u7b49 \u7f51\u7edc \u7269\u7406 \u7cfb\u7edf \u7684 \u73af\u5883 \u8fdb\u884c \u5efa\u6a21 \u3002 Scenic   \u63d0\u4f9b \u4e86 \u4e00\u4e2a   \u4e13\u95e8 \u9886\u57df   \u6765 \u4fc3\u8fdb   Scenic   \u811a\u672c \u5728   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e0a \u7684 \u6267\u884c \u3002   Scenic   \u573a\u666f \u5b9a\u4e49 \u6613\u4e8e \u9605\u8bfb \u548c \u6784\u5efa \u3002   \u6b64\u5904   \u63d0\u4f9b \u4e86 \u521b\u5efa \u7b80\u5355 \u573a\u666f \u7684 \u6559\u7a0b \u3002   \u7528\u4e8e \uff1a   \u4f7f\u7528 \u5355\u4e2a \u573a\u666f \u5b9a\u4e49 \u751f\u6210 \u591a\u4e2a \u4e0d\u540c \u7684 \u573a\u666f \u3002   \u4e3a \u52a8\u6001 \u4ee3\u7406 \u5b9a\u4e49 \u6982\u7387 \u7b56\u7565 \uff0c \u4ee5\u4fbf \u968f\u7740 \u65f6\u95f4 \u7684 \u63a8\u79fb \u91c7\u53d6 \u884c\u52a8 \u91c7\u53d6\u884c\u52a8 \u4ee5 \u54cd\u5e94 \u4e16\u754c \u72b6\u51b5 \u3002   \u8f6c \u81f3   Scenic   \u6559\u7a0b","title":"Scenic  "},{"location":"ts_traffic_simulation_overview/#sumo","text":"SUMO   \u662f \u4e00\u79cd \u5f00\u6e90 \u3001 \u5fae\u89c2 \u3001 \u591a \u6a21\u5f0f \u4ea4\u901a \u4eff\u771f \u3002 \u5728   SUMO   \u4e2d \uff0c \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u7ecf\u8fc7 \u660e\u786e \u5efa\u6a21 \uff0c \u6709 \u81ea\u5df1 \u7684 \u8def\u7ebf \uff0c \u5e76 \u901a\u8fc7 \u7f51\u7edc \u5355\u72ec \u79fb\u52a8 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u662f \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u7684 \uff0c \u4f46 \u6709 \u591a\u79cd \u9009\u9879 \u53ef\u4ee5 \u5f15\u5165 \u968f\u673a \u968f\u673a\u6027 \u3002   Carla   \u63d0\u4f9b \u4e86 \u4e0e   SUMO   \u7684 \u8054\u5408 \u4eff\u771f \u529f\u80fd \uff0c \u5141\u8bb8 \u5728 \u4e24\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e4b\u95f4 \u5206\u914d \u4efb\u52a1 \u5206\u914d\u4efb\u52a1 \u3002 \u8f66\u8f86 \u53ef\u4ee5 \u901a\u8fc7   SUMO   \u5728   Carla   \u4e2d \u4ea7\u751f \uff0c \u5e76 \u7531   SUMO   \u8fdb\u884c \u7ba1\u7406 \uff0c \u5c31 \u50cf \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u6240 \u505a \u7684 \u90a3\u6837 \u3002   \u7528\u4e8e \uff1a   \u5728 \u4e00\u4e2a \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u4e2d \u5229\u7528   Carla   \u548c   SUMO   \u7684 \u529f\u80fd \u3002   \u8f6c \u81f3   SUMO   \u534f\u540c \u4eff\u771f   \u5982\u679c \u60a8 \u5bf9   Carla   \u4e2d \u4eff\u771f \u4ea4\u901a \u7684 \u4e0d\u540c \u9009\u9879 \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u6216   Discord   \u4e2d \u53d1\u5e16 \u3002   Carla   \u8bba\u575b","title":"SUMO  "},{"location":"tuto_A_add_props/","text":"\u6dfb\u52a0 \u65b0 \u9053\u5177   \u9664\u4e86 \u5730\u56fe \u548c \u8f66\u8f86 \u4e4b\u5916 \uff0c \u9053\u5177 \u662f \u573a\u666f \u4e2d \u7684 \u8d44\u4ea7 \u3002 \u5176\u4e2d \u5305\u62ec \u8def\u706f \u3001 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u6811\u6728 \u7b49\u7b49 \u3002 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u53ef\u4ee5 \u968f\u65f6 \u901a\u8fc7 \u7b80\u5355 \u7684 \u8fc7\u7a0b \u5bfc\u5165 \u65b0 \u9053\u5177 \u3002 \u8fd9 \u5bf9\u4e8e \u5728 \u5730\u56fe \u4e2d \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u73af\u5883 \u975e\u5e38 \u6709\u7528 \u3002   \u51c6\u5907 \u5305   \u521b\u5efa \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784   \u521b\u5efa   JSON   \u63cf\u8ff0   \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u5305\u4e2d   \u5728 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u4e2d \u5bfc\u5165   \u51c6\u5907 \u5305   \u521b\u5efa \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784   1 .   \u5728   carla / Import   \u91cc\u9762 \u521b\u5efa \u4e00\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   .   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u540d\u79f0 \u4e0d \u76f8\u5173 \u3002   2 .   \u521b\u5efa \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u5e94\u8be5 \u6709 \u4e00\u4e2a \u901a\u7528 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u6765 \u5b58\u653e \u6240\u6709 \u9053\u5177 \uff0c \u5e76\u4e14 \u5728 \u5176\u4e2d \u5305\u542b \u4e0e \u8981 \u5bfc\u5165 \u7684 \u9053\u5177 \u4e00\u6837 \u591a \u7684 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   3 .   \u5c06 \u5404\u4e2a \u9053\u5177 \u7684 \u6587\u4ef6 \u79fb\u52a8 \u5230 \u76f8\u5e94 \u7684 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u9053\u5177 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5c06 \u5305\u542b   . fbx   \u7f51\u683c \u7269\u4f53 \uff0c \u4ee5\u53ca \u5b83 \u6240 \u9700 \u7684 \u7eb9\u7406 \uff08 \u53ef \u9009 \uff09 \u3002   \u4f8b\u5982 \uff0c \u5305\u542b \u4e24\u4e2a \u72ec\u7acb \u5305 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e94 \u5177\u6709 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u7ed3\u6784 \u7684 \u7ed3\u6784 \u3002   Import   \u2502   \u251c \u2500 \u2500   Package01   \u2502   \u251c \u2500 \u2500   Package01 . json   \u2502   \u2514 \u2500 \u2500   Props   \u2502   \u251c \u2500 \u2500   Prop01   \u2502   \u2502   \u251c \u2500 \u2500   Prop01 _ Diff . png   \u2502   \u2502   \u251c \u2500 \u2500   Prop01 _ Norm . png   \u2502   \u2502   \u251c \u2500 \u2500   Prop01 _ Spec . png   \u2502   \u2502   \u2514 \u2500 \u2500   Prop01 . fbx   \u2502   \u2514 \u2500 \u2500   Prop02   \u2502   \u2514 \u2500 \u2500   Prop02 . fbx   \u2514 \u2500 \u2500   Package02   \u251c \u2500 \u2500   Packag02 . json   \u2514 \u2500 \u2500   Props   \u2514 \u2500 \u2500   Prop03   \u2514 \u2500 \u2500   Prop03 . fbx   \u521b\u5efa   JSON   \u63cf\u8ff0   \u5728 \u5305 \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u521b\u5efa \u4e00\u4e2a   . json   \u6587\u4ef6 \u3002 \u5728 \u5305 \u4e4b\u540e \u547d\u540d \u6587\u4ef6 \u3002 \u8bf7 \u6ce8\u610f \uff0c \u8fd9 \u5c06 \u662f \u53d1\u884c \u53d1\u884c\u7248 \u540d\u79f0 \u3002 \u6587\u4ef6 \u7684 \u5185\u5bb9 \u5c06 \u63cf\u8ff0 \u5730\u56fe   maps   \u548c \u9053\u5177   props   \u7684   JSON   \u6570\u7ec4 \uff0c \u4ee5\u53ca \u6bcf\u4e2a \u5730\u56fe \u548c \u9053\u5177 \u7684 \u57fa\u672c \u4fe1\u606f \u3002   Maps   \u4e0d\u662f \u672c \u6559\u7a0b \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u56e0\u6b64 \u8be5 \u5b9a\u4e49 \u5c06 \u4e3a \u7a7a \u3002 \u6709 \u4e00\u4e2a \u5177\u4f53 \u7684 \u6559\u7a0b \u6765   \u6dfb\u52a0 \u65b0 \u5730\u56fe   \u3002   Props   \u9700\u8981 \u4ee5\u4e0b \u53c2\u6570 \u3002   \u9053\u5177 \u7684   name   \u3002 \u8fd9 \u5fc5\u987b \u4e0e   . fbx   \u76f8\u540c \u3002   . fbx   \u7684   source   \u8def\u5f84 \u3002   \u9053\u5177 \u7684   size   \u4f30\u8ba1 \u3002 \u6b64\u5904 \u5217\u51fa \u4e86 \u53ef\u80fd \u7684 \u503c \u3002   tiny   small   medium   big   huge   \u8bed\u4e49 \u5206\u5272 \u7684   tag   \u3002 \u5982\u679c \u6807\u7b7e \u62fc\u5199 \u5199\u9519 \u9519\u8bef \u62fc\u5199\u9519\u8bef \uff0c \u5b83 \u5c06 \u88ab \u8bfb\u53d6 \u4e3a   Unlabeled   .   Bridge   Building   Dynamic   Fence   Ground   GuardRail   Other   Pedestrian   Pole   RailTrack   Road   RoadLine   SideWalk   Sky   Static   Terrain   TrafficLight   TrafficSign   Unlabeled   Vegetation   Vehicles   Wall   Water   \u6700\u540e \uff0c   . json   \u5e94\u8be5 \u4e0e \u4e0b\u9762 \u7684 \u7c7b\u4f3c \u3002   {   \" maps \" :   [   ] ,   \" props \" :   [   {   \" name \" :   \" MyProp01 \" ,   \" size \" :   \" medium \" ,   \" source \" :   \" . / Props / Prop01 / Prop01 . fbx \" ,   \" tag \" :   \" SemanticSegmentationTag01 \"   } ,   {   \" name \" :   \" MyProp02 \" ,   \" size \" :   \" small \" ,   \" source \" :   \" . / Props / Prop02 / Prop02 . fbx \" ,   \" tag \" :   \" SemanticSegmentationTag02 \"   }   ]   }   \u8b66\u544a   \u5177\u6709 \u76f8\u540c \u540d\u79f0 \u7684 \u5305 \u5c06 \u4ea7\u751f \u9519\u8bef \u3002   \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u5305\u4e2d   \u8fd9\u662f \u7528\u4e8e \u5c06 \u9053\u5177 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u5305 \uff08 \u4f8b\u5982   Carla   0.9 . 8 \uff09 \u4e2d \u7684 \u65b9\u6cd5 \u3002   \u5c06 \u521b\u5efa \u865a\u5e7b \u5f15\u64ce \u7684   Docker   \u6620\u50cf \u3002 \u5b83 \u5145\u5f53 \u4e00\u4e2a \u9ed1\u76d2 \u76d2\u5b50 \u9ed1\u76d2\u5b50 \uff0c \u81ea\u52a8 \u5c06 \u5305 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u955c\u50cf \u4e2d \uff0c \u5e76 \u751f\u6210 \u5206\u53d1 \u5305 \u3002 Docker   \u955c\u50cf \u9700\u8981   4   \u5c0f\u65f6 \u548c   400GB   \u624d\u80fd \u6784\u5efa \u3002 \u7136\u800c \uff0c \u8fd9\u4ec5 \u662f \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u9700\u8981 \u3002   1 .   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u7684   Docker   \u955c\u50cf \u3002   \u8bf7 \u6309\u7167   \u4ee5\u4e0b \u8bf4\u660e   \u6784\u5efa \u6620\u50cf \u3002   2 .   \u8fd0\u884c \u811a\u672c \u6765 \u70d8\u57f9 \u9053\u5177 \u3002   ~ / carla / Util / Docker   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d\u6709 \u4e00\u4e2a \u811a\u672c \uff0c \u5b83 \u4e0e \u4e4b\u524d \u521b\u5efa \u7684   Docker   \u6620\u50cf \u8fde\u63a5 \uff0c \u5e76 \u81ea\u52a8 \u8fdb\u884c \u5bfc\u5165 \u3002 \u5b83 \u53ea \u9700\u8981 \u8f93\u5165 \u548c \u8f93\u51fa \u6587\u4ef6 \u7684 \u8def\u5f84 \u4ee5\u53ca \u8981 \u5bfc\u5165 \u7684 \u5305 \u7684 \u540d\u79f0 \u3002   python3   docker _ tools . py   -- input   ~ / path _ to _ package   -- output   ~ / path _ for _ output _ assets   -- package = Package01   3 .   \u5b9a\u4f4d \u5305   \u3002   Docker   \u5e94\u8be5 \u5df2\u7ecf \u5728 \u8f93\u51fa \u8def\u5f84 \u4e2d \u751f\u6210 \u4e86 \u5305   Package01 . tar . gz   \u3002 \u8fd9\u662f \u8d44\u4ea7 \u7684 \u72ec\u7acb \u5305 \u3002   4 .   \u5c06 \u5305 \u5bfc\u5165   Carla \u3002   \u5728   Windows   \u4e0a \uff0c   \u5c06 \u5305 \u89e3\u538b \u5230   WindowsNoEditor   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5728   Linux   \u4e0a \uff0c   \u5c06 \u5305 \u79fb\u52a8 \u5230   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u7136\u540e \u8fd0\u884c \u811a\u672c \u5c06 \u5176 \u5bfc\u5165 \u3002   cd   Util   . / ImportAssets . sh   \u7b14\u8bb0   Linux   \u4e0a \u6709 \u4e00\u4e2a \u66ff\u4ee3 \u65b9\u6848 \u3002 \u5c06 \u5305 \u79fb\u52a8 \u5230   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5e76 \u8fd0\u884c \u811a\u672c   Util / ImportAssets . sh   \u4ee5 \u63d0\u53d6 \u5305 \u3002   \u5728 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u4e2d \u5bfc\u5165   \u8fd9 \u662f\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u5c06 \u9053\u5177 \u5bfc\u5165 \u5bfc\u5165\u5230 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla   \u7684 \u65b9\u6cd5 \u3002   \u5c06 \u8bfb\u53d6   JSON   \u6587\u4ef6 \u4ee5 \u5c06 \u9053\u5177 \u653e\u5165 \u865a\u5e7b \u5f15\u64ce   Content   \u4e2d \u3002 \u6b64\u5916 \uff0c \u5b83 \u5c06 \u5728 \u5305 \u7684   Config   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u521b\u5efa \u4e00\u4e2a   Package1 . Package . json   \u6587\u4ef6 \u3002 \u8fd9 \u5c06 \u7528\u4e8e \u5b9a\u4e49 \u84dd \u56fe\u5e93 \u4e2d \u7684 \u9053\u5177 \uff0c \u5e76 \u5728   Python   API   \u4e2d \u516c\u5f00 \u5b83\u4eec \u3002 \u5982\u679c \u5305 \u4f5c\u4e3a   \u72ec\u7acb \u5305   \u5bfc\u51fa \uff0c \u4e5f \u5c06 \u4f7f\u7528 \u5b83 \u3002   \u4e00\u5207 \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u540e \uff0c \u8fd0\u884c \u547d\u4ee4 \u3002   make   import   \u8b66\u544a   \u786e\u4fdd \u8be5\u5305 \u4f4d\u4e8e   Carla   \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u3002   \u8fd9 \u5c31\u662f \u5173\u4e8e \u5c06 \u65b0 \u9053\u5177 \u5bfc\u5165   Carla   \u7684 \u4e0d\u540c \u65b9\u6cd5 \u7684 \u5168\u90e8 \u4fe1\u606f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"tuto   A   add   props"},{"location":"tuto_A_add_props/#_1","text":"\u9664\u4e86 \u5730\u56fe \u548c \u8f66\u8f86 \u4e4b\u5916 \uff0c \u9053\u5177 \u662f \u573a\u666f \u4e2d \u7684 \u8d44\u4ea7 \u3002 \u5176\u4e2d \u5305\u62ec \u8def\u706f \u3001 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u6811\u6728 \u7b49\u7b49 \u3002 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u53ef\u4ee5 \u968f\u65f6 \u901a\u8fc7 \u7b80\u5355 \u7684 \u8fc7\u7a0b \u5bfc\u5165 \u65b0 \u9053\u5177 \u3002 \u8fd9 \u5bf9\u4e8e \u5728 \u5730\u56fe \u4e2d \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u73af\u5883 \u975e\u5e38 \u6709\u7528 \u3002   \u51c6\u5907 \u5305   \u521b\u5efa \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784   \u521b\u5efa   JSON   \u63cf\u8ff0   \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u5305\u4e2d   \u5728 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u4e2d \u5bfc\u5165","title":"\u6dfb\u52a0 \u65b0 \u9053\u5177"},{"location":"tuto_A_add_props/#_2","text":"","title":"\u51c6\u5907 \u5305  "},{"location":"tuto_A_add_props/#_3","text":"1 .   \u5728   carla / Import   \u91cc\u9762 \u521b\u5efa \u4e00\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   .   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u540d\u79f0 \u4e0d \u76f8\u5173 \u3002   2 .   \u521b\u5efa \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u5e94\u8be5 \u6709 \u4e00\u4e2a \u901a\u7528 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u6765 \u5b58\u653e \u6240\u6709 \u9053\u5177 \uff0c \u5e76\u4e14 \u5728 \u5176\u4e2d \u5305\u542b \u4e0e \u8981 \u5bfc\u5165 \u7684 \u9053\u5177 \u4e00\u6837 \u591a \u7684 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   3 .   \u5c06 \u5404\u4e2a \u9053\u5177 \u7684 \u6587\u4ef6 \u79fb\u52a8 \u5230 \u76f8\u5e94 \u7684 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u9053\u5177 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5c06 \u5305\u542b   . fbx   \u7f51\u683c \u7269\u4f53 \uff0c \u4ee5\u53ca \u5b83 \u6240 \u9700 \u7684 \u7eb9\u7406 \uff08 \u53ef \u9009 \uff09 \u3002   \u4f8b\u5982 \uff0c \u5305\u542b \u4e24\u4e2a \u72ec\u7acb \u5305 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e94 \u5177\u6709 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u7ed3\u6784 \u7684 \u7ed3\u6784 \u3002   Import   \u2502   \u251c \u2500 \u2500   Package01   \u2502   \u251c \u2500 \u2500   Package01 . json   \u2502   \u2514 \u2500 \u2500   Props   \u2502   \u251c \u2500 \u2500   Prop01   \u2502   \u2502   \u251c \u2500 \u2500   Prop01 _ Diff . png   \u2502   \u2502   \u251c \u2500 \u2500   Prop01 _ Norm . png   \u2502   \u2502   \u251c \u2500 \u2500   Prop01 _ Spec . png   \u2502   \u2502   \u2514 \u2500 \u2500   Prop01 . fbx   \u2502   \u2514 \u2500 \u2500   Prop02   \u2502   \u2514 \u2500 \u2500   Prop02 . fbx   \u2514 \u2500 \u2500   Package02   \u251c \u2500 \u2500   Packag02 . json   \u2514 \u2500 \u2500   Props   \u2514 \u2500 \u2500   Prop03   \u2514 \u2500 \u2500   Prop03 . fbx","title":"\u521b\u5efa \u6587\u4ef6\u5939 \u7ed3\u6784  "},{"location":"tuto_A_add_props/#json","text":"\u5728 \u5305 \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u521b\u5efa \u4e00\u4e2a   . json   \u6587\u4ef6 \u3002 \u5728 \u5305 \u4e4b\u540e \u547d\u540d \u6587\u4ef6 \u3002 \u8bf7 \u6ce8\u610f \uff0c \u8fd9 \u5c06 \u662f \u53d1\u884c \u53d1\u884c\u7248 \u540d\u79f0 \u3002 \u6587\u4ef6 \u7684 \u5185\u5bb9 \u5c06 \u63cf\u8ff0 \u5730\u56fe   maps   \u548c \u9053\u5177   props   \u7684   JSON   \u6570\u7ec4 \uff0c \u4ee5\u53ca \u6bcf\u4e2a \u5730\u56fe \u548c \u9053\u5177 \u7684 \u57fa\u672c \u4fe1\u606f \u3002   Maps   \u4e0d\u662f \u672c \u6559\u7a0b \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u56e0\u6b64 \u8be5 \u5b9a\u4e49 \u5c06 \u4e3a \u7a7a \u3002 \u6709 \u4e00\u4e2a \u5177\u4f53 \u7684 \u6559\u7a0b \u6765   \u6dfb\u52a0 \u65b0 \u5730\u56fe   \u3002   Props   \u9700\u8981 \u4ee5\u4e0b \u53c2\u6570 \u3002   \u9053\u5177 \u7684   name   \u3002 \u8fd9 \u5fc5\u987b \u4e0e   . fbx   \u76f8\u540c \u3002   . fbx   \u7684   source   \u8def\u5f84 \u3002   \u9053\u5177 \u7684   size   \u4f30\u8ba1 \u3002 \u6b64\u5904 \u5217\u51fa \u4e86 \u53ef\u80fd \u7684 \u503c \u3002   tiny   small   medium   big   huge   \u8bed\u4e49 \u5206\u5272 \u7684   tag   \u3002 \u5982\u679c \u6807\u7b7e \u62fc\u5199 \u5199\u9519 \u9519\u8bef \u62fc\u5199\u9519\u8bef \uff0c \u5b83 \u5c06 \u88ab \u8bfb\u53d6 \u4e3a   Unlabeled   .   Bridge   Building   Dynamic   Fence   Ground   GuardRail   Other   Pedestrian   Pole   RailTrack   Road   RoadLine   SideWalk   Sky   Static   Terrain   TrafficLight   TrafficSign   Unlabeled   Vegetation   Vehicles   Wall   Water   \u6700\u540e \uff0c   . json   \u5e94\u8be5 \u4e0e \u4e0b\u9762 \u7684 \u7c7b\u4f3c \u3002   {   \" maps \" :   [   ] ,   \" props \" :   [   {   \" name \" :   \" MyProp01 \" ,   \" size \" :   \" medium \" ,   \" source \" :   \" . / Props / Prop01 / Prop01 . fbx \" ,   \" tag \" :   \" SemanticSegmentationTag01 \"   } ,   {   \" name \" :   \" MyProp02 \" ,   \" size \" :   \" small \" ,   \" source \" :   \" . / Props / Prop02 / Prop02 . fbx \" ,   \" tag \" :   \" SemanticSegmentationTag02 \"   }   ]   }   \u8b66\u544a   \u5177\u6709 \u76f8\u540c \u540d\u79f0 \u7684 \u5305 \u5c06 \u4ea7\u751f \u9519\u8bef \u3002","title":"\u521b\u5efa   JSON   \u63cf\u8ff0  "},{"location":"tuto_A_add_props/#carla","text":"\u8fd9\u662f \u7528\u4e8e \u5c06 \u9053\u5177 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u5305 \uff08 \u4f8b\u5982   Carla   0.9 . 8 \uff09 \u4e2d \u7684 \u65b9\u6cd5 \u3002   \u5c06 \u521b\u5efa \u865a\u5e7b \u5f15\u64ce \u7684   Docker   \u6620\u50cf \u3002 \u5b83 \u5145\u5f53 \u4e00\u4e2a \u9ed1\u76d2 \u76d2\u5b50 \u9ed1\u76d2\u5b50 \uff0c \u81ea\u52a8 \u5c06 \u5305 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u955c\u50cf \u4e2d \uff0c \u5e76 \u751f\u6210 \u5206\u53d1 \u5305 \u3002 Docker   \u955c\u50cf \u9700\u8981   4   \u5c0f\u65f6 \u548c   400GB   \u624d\u80fd \u6784\u5efa \u3002 \u7136\u800c \uff0c \u8fd9\u4ec5 \u662f \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u9700\u8981 \u3002   1 .   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u7684   Docker   \u955c\u50cf \u3002   \u8bf7 \u6309\u7167   \u4ee5\u4e0b \u8bf4\u660e   \u6784\u5efa \u6620\u50cf \u3002   2 .   \u8fd0\u884c \u811a\u672c \u6765 \u70d8\u57f9 \u9053\u5177 \u3002   ~ / carla / Util / Docker   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d\u6709 \u4e00\u4e2a \u811a\u672c \uff0c \u5b83 \u4e0e \u4e4b\u524d \u521b\u5efa \u7684   Docker   \u6620\u50cf \u8fde\u63a5 \uff0c \u5e76 \u81ea\u52a8 \u8fdb\u884c \u5bfc\u5165 \u3002 \u5b83 \u53ea \u9700\u8981 \u8f93\u5165 \u548c \u8f93\u51fa \u6587\u4ef6 \u7684 \u8def\u5f84 \u4ee5\u53ca \u8981 \u5bfc\u5165 \u7684 \u5305 \u7684 \u540d\u79f0 \u3002   python3   docker _ tools . py   -- input   ~ / path _ to _ package   -- output   ~ / path _ for _ output _ assets   -- package = Package01   3 .   \u5b9a\u4f4d \u5305   \u3002   Docker   \u5e94\u8be5 \u5df2\u7ecf \u5728 \u8f93\u51fa \u8def\u5f84 \u4e2d \u751f\u6210 \u4e86 \u5305   Package01 . tar . gz   \u3002 \u8fd9\u662f \u8d44\u4ea7 \u7684 \u72ec\u7acb \u5305 \u3002   4 .   \u5c06 \u5305 \u5bfc\u5165   Carla \u3002   \u5728   Windows   \u4e0a \uff0c   \u5c06 \u5305 \u89e3\u538b \u5230   WindowsNoEditor   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5728   Linux   \u4e0a \uff0c   \u5c06 \u5305 \u79fb\u52a8 \u5230   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u7136\u540e \u8fd0\u884c \u811a\u672c \u5c06 \u5176 \u5bfc\u5165 \u3002   cd   Util   . / ImportAssets . sh   \u7b14\u8bb0   Linux   \u4e0a \u6709 \u4e00\u4e2a \u66ff\u4ee3 \u65b9\u6848 \u3002 \u5c06 \u5305 \u79fb\u52a8 \u5230   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5e76 \u8fd0\u884c \u811a\u672c   Util / ImportAssets . sh   \u4ee5 \u63d0\u53d6 \u5305 \u3002","title":"\u5bfc\u5165\u5230   Carla   \u5305\u4e2d  "},{"location":"tuto_A_add_props/#_4","text":"\u8fd9 \u662f\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u5c06 \u9053\u5177 \u5bfc\u5165 \u5bfc\u5165\u5230 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla   \u7684 \u65b9\u6cd5 \u3002   \u5c06 \u8bfb\u53d6   JSON   \u6587\u4ef6 \u4ee5 \u5c06 \u9053\u5177 \u653e\u5165 \u865a\u5e7b \u5f15\u64ce   Content   \u4e2d \u3002 \u6b64\u5916 \uff0c \u5b83 \u5c06 \u5728 \u5305 \u7684   Config   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u521b\u5efa \u4e00\u4e2a   Package1 . Package . json   \u6587\u4ef6 \u3002 \u8fd9 \u5c06 \u7528\u4e8e \u5b9a\u4e49 \u84dd \u56fe\u5e93 \u4e2d \u7684 \u9053\u5177 \uff0c \u5e76 \u5728   Python   API   \u4e2d \u516c\u5f00 \u5b83\u4eec \u3002 \u5982\u679c \u5305 \u4f5c\u4e3a   \u72ec\u7acb \u5305   \u5bfc\u51fa \uff0c \u4e5f \u5c06 \u4f7f\u7528 \u5b83 \u3002   \u4e00\u5207 \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u540e \uff0c \u8fd0\u884c \u547d\u4ee4 \u3002   make   import   \u8b66\u544a   \u786e\u4fdd \u8be5\u5305 \u4f4d\u4e8e   Carla   \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u3002   \u8fd9 \u5c31\u662f \u5173\u4e8e \u5c06 \u65b0 \u9053\u5177 \u5bfc\u5165   Carla   \u7684 \u4e0d\u540c \u65b9\u6cd5 \u7684 \u5168\u90e8 \u4fe1\u606f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"\u5728 \u6e90\u4ee3\u7801 \u6784\u5efa \u4e2d \u5bfc\u5165  "},{"location":"tuto_A_add_vehicle/","text":"\u6dfb\u52a0 \u65b0\u8f66   \u8fd9\u4e2a \u6559\u7a0b \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u5411   Carla   \u6dfb\u52a0 \u65b0 \u7684 \u8f66\u8f86 \u3002 \u6559\u7a0b \u5206\u4e3a \u4e24\u4e2a \u90e8\u5206 \uff0c \u4e00\u4e2a \u7528\u4e8e \u56db\u8f6e \u8f66\u8f86 \uff0c \u53e6 \u4e00\u4e2a \u7528\u4e8e \u4e24\u8f6e \u8f66\u8f86 \u3002 \u6559\u7a0b \u6982\u8ff0 \u4e86 \u5efa\u6a21 \u8f66\u8f86 \u65f6 \u5fc5\u987b \u6ee1\u8db3 \u7684 \u57fa\u672c \u8981\u6c42 \uff0c \u4ee5 \u786e\u4fdd \u8f66\u8f86 \u5728   Carla   \u4e2d \u8fd0\u884c \u826f\u597d \uff0c \u5e76 \u63d0\u4f9b \u4e86 \u5728 \u5c06 \u8f66\u8f86 \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce \u540e \u6240 \u9700 \u7684 \u914d\u7f6e \u8bf4\u660e \u3002   \u6dfb\u52a0   4   \u8f6e \u8f66\u8f86   \u7ed1\u5b9a \u5e76 \u5efa\u6a21 \u8f66\u8f86   \u5bfc\u5165 \u5e76 \u914d\u7f6e \u8f66\u8f86   \u6dfb\u52a0   N   \u8f6e \u8f66\u8f86   \u6dfb\u52a0   2   \u8f6e \u8f66\u8f86   \u91cd\u8981   \u672c \u6559\u7a0b \u4ec5 \u9002\u7528 \u4e8e \u4f7f\u7528 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u5e76 \u6709\u6743 \u8bbf\u95ee \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u7528\u6237 \u3002   \u6dfb\u52a0   4   \u8f6e \u8f66\u8f86   \u6dfb\u52a0 \u5230   Carla   \u7684 \u8f66\u8f86 \u9700\u8981 \u4f7f\u7528 \u53ef \u5728   \u6b64\u5904   \u627e\u5230 \u7684 \u901a\u7528 \u57fa\u7840 \u9aa8\u67b6 \u3002 \u6b64 \u94fe\u63a5 \u5c06 \u4e0b\u8f7d \u4e00\u4e2a \u540d\u4e3a   VehicleSkeleton . rar   \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5176\u4e2d \u5305\u542b \u4e24\u79cd \u4e0d\u540c \u683c\u5f0f \u7684 \u57fa\u672c \u6846\u67b6 \uff0c \u4e00\u79cd \u4e3a   ASCII \uff0c \u53e6 \u4e00\u79cd \u4e3a \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u3002 \u60a8 \u4f7f\u7528 \u7684 \u683c\u5f0f \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684   3D   \u5efa\u6a21 \u8f6f\u4ef6 \u8981\u6c42 \u3002   \u9aa8\u67b6 \u9aa8\u9abc \u7684 \u4f4d\u7f6e \u53ef\u4ee5 \u66f4\u6539 \uff0c \u4f46 \u4efb\u4f55 \u5176\u4ed6 \u64cd\u4f5c \uff08 \u4f8b\u5982 \u65cb\u8f6c \u3001 \u6dfb\u52a0 \u65b0 \u9aa8\u9abc \u6216 \u66f4\u6539 \u5f53\u524d \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \uff09 \u90fd \u4f1a \u5bfc\u81f4 \u9519\u8bef \u3002   \u7ed1\u5b9a \u5e76 \u5efa\u6a21 \u8f66\u8f86   \u672c \u8282 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u8f66\u8f86 \u5efa\u6a21 \u9636\u6bb5 \u7684 \u6700\u4f4e \u8981\u6c42 \uff0c \u4ee5 \u786e\u4fdd \u5176 \u53ef\u4ee5 \u5728   Carla   \u4e2d \u6210\u529f \u4f7f\u7528 \u3002 \u8be5 \u8fc7\u7a0b \u5305\u62ec \u5c06 \u9aa8\u67b6 \u6b63\u786e \u7ed1\u5b9a \u5230 \u8f66\u8f86 \u7684 \u5e95\u5ea7 \u548c \u8f66\u8f6e \u3001 \u521b\u5efa \u7269\u7406 \u8d44\u6e90 \u548c \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7f51\u683c \uff0c \u4ee5\u53ca \u5bfc\u51fa \u4e3a \u6b63\u786e \u7684 \u683c\u5f0f \u3002   1 .   \u5bfc\u5165 \u57fa\u7840 \u9aa8\u67b6 \u3002   \u5c06 \u57fa\u7840 \u9aa8\u67b6 \u5bfc\u5165 \u60a8 \u9996\u9009 \u7684 \u4e09\u7ef4 \u5efa\u6a21 \u8f6f\u4ef6 \u4e2d \u3002 \u5e38\u89c1 \u7684 \u7f16\u8f91 \u7f16\u8f91\u5668 \u5305\u62ec   Maya   \u548c   Blender \u3002   2 .   \u7ed1\u5b9a \u9aa8\u9abc \u3002   \u6839\u636e \u4e0b\u9762 \u7684 \u547d\u540d \u6cd5\u5c06 \u9aa8\u9abc \u7ed1\u5b9a \u5230 \u8f66\u8f86 \u7f51\u683c \u7684 \u76f8\u5e94 \u90e8\u5206 \u3002 \u786e\u4fdd \u8f6e\u5b50 \u7684 \u9aa8\u9abc \u5728 \u7f51\u683c \u5185 \u5c45\u4e2d \u3002   \u5de6 \u524d\u8f6e \uff1a   Wheel _ Front _ Left   \u53f3 \u524d\u8f6e \uff1a   Wheel _ Front _ Right   \u5de6 \u540e\u8f6e \uff1a   Wheel _ Rear _ Left   \u53f3 \u540e\u8f6e \uff1a   Wheel _ Rear _ Right   \u7f51\u683c \u7684 \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \uff1a   VehicleBase   \u8b66\u544a   \u4e0d\u8981 \u5bf9 \u9aa8\u9abc \u540d\u79f0 \u6216 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u8fdb\u884c \u4efb\u4f55 \u66f4\u6539 \uff0c \u4e5f \u4e0d\u8981 \u6dfb\u52a0 \u4efb\u4f55 \u65b0 \u9aa8\u9abc \u3002   3 .   \u4e3a \u60a8 \u7684 \u8f66\u8f86 \u5efa\u6a21 \u3002   \u8f66\u8f86 \u5e94 \u62e5\u6709 \u5927\u7ea6   50 , 000   -   100 , 000   \u4e2a   tris \u3002 \u6211\u4eec \u4f7f\u7528 \u5b9e\u9645 \u6c7d\u8f66 \u7684 \u5c3a\u5bf8 \u548c \u6bd4\u4f8b \u6765 \u5efa\u6a21 \u8f66\u8f86 \u3002   \u6211\u4eec \u5efa\u8bae \u5efa\u8bae\u60a8 \u5c06 \u8f66\u8f86 \u5206\u4e3a \u4ee5\u4e0b \u6750\u8d28 \uff1a   Bodywork   :   \u8f66\u8f86 \u7684 \u91d1\u5c5e \u90e8\u5206 \u3002 \u8be5 \u6750\u8d28 \u5df2 \u66f4 \u6539\u4e3a \u865a\u5e7b \u5f15\u64ce \u6750\u8d28 \u3002 \u53ef\u4ee5 \u6dfb\u52a0 \u5fbd\u6807 \u548c \u7ec6\u8282 \uff0c \u4f46 \u4e3a\u4e86 \u53ef\u89c1 \uff0c \u5fc5\u987b \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684   Alpha   \u901a\u9053 \u5c06 \u5b83\u4eec \u7ed8\u5236 \u4e3a \u4e0d\u540c \u7684 \u989c\u8272 \u3002   Glass _ Ext   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u53ef\u4ee5 \u4ece \u8f66\u8f86 \u5916\u90e8 \u770b\u5230 \u5185\u90e8 \u3002   Glass _ Int   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u8f66\u8f86 \u5185\u90e8 \u5230 \u5916\u90e8 \u7684 \u53ef\u89c1 \u6027 \u3002   Lights   :   \u5934\u706f \u3001 \u6307\u793a \u6307\u793a\u706f \u7b49 \u3002   LightGlass _ Ext   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u5916\u90e8 \u5230 \u5185\u90e8 \u7684 \u706f\u5149 \u53ef\u89c1 \u6027 \u3002   LightGlass _ Int   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u5185\u90e8 \u5230 \u5916\u90e8 \u770b\u5230 \u5149 \u3002   LicensePlate   :   29x12   \u5398\u7c73 \u7684 \u77e9\u5f62 \u5e73\u9762 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528   Carla   \u63d0\u4f9b \u7684   . fbx   \u4ee5 \u83b7\u5f97 \u6700\u4f73 \u83b7\u5f97\u6700\u4f73 \u7ed3\u679c \uff0c \u8bf7 \u5728   \u6b64\u5904   \u4e0b\u8f7d \u3002 \u7eb9\u7406 \u5c06 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u81ea\u52a8 \u5206\u914d \u3002   Interior   :   \u4efb\u4f55 \u5176\u4ed6 \u4e0d \u9002\u5408 \u4e0a\u8ff0 \u90e8\u5206 \u7684 \u7ec6\u8282 \u90fd \u53ef\u4ee5 \u8fdb\u5165   \u5185\u9970   .   \u6750\u6599 \uff08 Material \uff09 \u5e94 \u4f7f\u7528 \u683c\u5f0f   M _ CarPart _ CarName   \u547d\u540d \uff0c \u4f8b\u5982   M _ Bodywork _ Mustang   \u3002   \u7eb9\u7406 \uff08 Textures \uff09 \u5e94 \u4f7f\u7528 \u683c\u5f0f   T _ CarPart _ CarName   \u547d\u540d \uff0c \u4f8b\u5982   T _ Bodywork _ Mustang   \u3002 \u7eb9\u7406 \u7684 \u5927\u5c0f \u5e94\u4e3a   2048x2048 \u3002   \u865a\u5e7b \u5f15\u64ce \u4f1a \u81ea\u52a8 \u521b\u5efa ( Level   of   Details ,   LOD ) \uff0c \u4f46 \u60a8 \u4e5f \u53ef\u4ee5 \u5728   3D   \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u624b\u52a8 \u521b\u5efa \u5b83\u4eec \u3002 Tri   \u8ba1\u6570 \u5982\u4e0b \uff1a   LOD   0   :   100 , 000   tris   LOD   1   :   80 , 000   tris   LOD   2   :   60 , 000   tris   LOD   3   :   30 , 000   tris   4 .   \u521b\u5efa \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u3002   \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u662f \u4e00\u4e2a \u9644\u52a0 \u7f51\u683c \uff0c \u5141\u8bb8 \u865a\u5e7b \u5f15\u64ce \u8ba1\u7b97 \u8f66\u8f86 \u7684 \u7269\u7406 \u7279\u6027 \u3002 \u5b83 \u5e94\u8be5 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u7b80\u5355 \uff0c \u51cf\u5c11 \u591a\u8fb9 \u591a\u8fb9\u5f62 \u6570\u91cf \uff0c \u5e76\u4e14 \u5e94\u8be5 \u8986\u76d6 \u9664 \u8f66\u8f6e \u4e4b\u5916 \u7684 \u6574\u4e2a \u8f66\u8f86 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605 \u4e0b\u56fe \u7684 \u793a\u4f8b \u3002   \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u5e94 \u5bfc\u51fa \u4e3a \u5355\u72ec \u7684   . fbx   \u6587\u4ef6 \u3002 \u6700\u7ec8 \u6587\u4ef6 \u5e94 \u6ee1\u8db3 \u4ee5\u4e0b \u8981\u6c42 \uff1a   \u6709 \u4e00\u4e2a \u57fa\u7840 \u7f51\u683c \u3002 \u8fd9 \u5e94\u8be5 \u662f \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u7684 \u526f\u672c \u3002 \u5b83 \u5e94\u8be5 \u4e0e \u539f\u59cb \u8f66\u8f86 \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \u3002   \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u4f53 \u5fc5\u987b \u4f7f\u7528 \u683c\u5f0f   UCX _ < vehicle _ name > _ < number _ of _ mesh >   \u547d\u540d \uff0c   \u5426\u5219 \u865a\u5e7b \u5f15\u64ce \u5c06 \u65e0\u6cd5 \u8bc6\u522b \u3002   \u7f51\u683c \u4e0d\u5f97 \u8d85\u51fa \u539f\u59cb \u6a21\u578b \u7684 \u8fb9\u754c \u3002   \u7f51\u683c \u5e94 \u4e0e \u539f\u59cb \u6a21\u578b \u5177\u6709 \u76f8\u540c \u7684 \u4f4d\u7f6e \u3002   \u5c06 \u6700\u7ec8   . fbx   \u7f51\u683c \u5bfc\u51fa \u4e3a \u540d\u4e3a   SMC _ < vehicle _ name > . fbx   \u7684 \u6587\u4ef6 \u3002   5 .   \u4e3a \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u521b\u5efa \u7f51\u683c \u3002   \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7f51\u683c \u8bbe\u7f6e \u5c06 \u7531 \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 RADAR \u3001 LiDAR   \u548c   Semantic   LiDAR \uff09 \u68c0\u6d4b \u5230 \u7684 \u8f66\u8f86 \u5f62\u72b6 \u3002 \u8be5 \u7f51\u683c \u5e94\u8be5 \u5177\u6709 \u6bd4 \u7269\u7406 \u8d44\u4ea7 \u7f51\u683c \u7a0d\u5fae \u66f4 \u660e\u786e \u7684 \u51e0\u4f55 \u5f62\u72b6 \uff0c \u4ee5 \u63d0\u9ad8 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4eff\u771f \u7684 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \uff0c \u4f46 \u51fa\u4e8e \u6027\u80fd \u539f\u56e0 \uff0c \u4e0d\u5982 \u6c7d\u8f66 \u7f51\u683c \u90a3\u4e48 \u8be6\u7ec6 \u3002   \u521b\u5efa \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7f51\u683c \u65f6\u8bf7 \u8003\u8651 \u4ee5\u4e0b \u51e0\u70b9 \u4ee5\u4e0b\u51e0\u70b9 \uff1a   \u7f51\u683c \u5e94 \u8986\u76d6 \u8f66\u8f86 \u7684 \u5404\u4e2a \u65b9\u9762 \u5404\u4e2a\u65b9\u9762 \uff0c \u5305\u62ec \u8f66\u8f6e \u3001 \u540e\u89c6 \u540e\u89c6\u955c \u548c \u683c\u6805 \u3002   \u8f6e\u5b50 \u5e94\u4e3a \u4e0d \u8d85\u8fc7   16   \u5708 \u7684 \u5706\u67f1 \u67f1\u4f53 \u5706\u67f1\u4f53 \u3002   \u5982\u679c \u9700\u8981 \uff0c \u53ef\u4ee5 \u5c06 \u5404\u79cd \u7f51\u683c \u8fde\u63a5 \u5728 \u4e00\u8d77 \u3002   \u7f51\u683c \u4e0d\u5f97 \u8d85\u51fa \u539f\u59cb \u6a21\u578b \u7684 \u8fb9\u754c \u3002   \u7f51\u683c \u5e94\u8be5 \u4e0e \u539f\u59cb \u7f51\u683c \u5177\u6709 \u76f8\u540c \u7684 \u4f4d\u7f6e \u3002   \u5c06 \u6700\u7ec8 \u7f51\u683c \u5bfc\u51fa \u540d\u4e3a   SM _ sc _ < vehicle _ name > . fbx   \u7684   . fbx   \u6587\u4ef6 \u3002   5 .   \u5bfc\u51fa \u8f66\u8f86 \u7f51\u683c \u3002   \u9009\u62e9 \u6240\u6709 \u4e3b\u8981 \u8f66\u8f86 \u7f51\u683c \u548c \u9aa8\u67b6 \u5e95\u5ea7 \u5e76 \u5bfc\u51fa \u4e3a   . fbx   \u3002   \u5bfc\u5165 \u5e76 \u914d\u7f6e \u8f66\u8f86   \u672c \u8282 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5c06 \u8f66\u8f86 \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce \u4ee5 \u5728   Carla   \u4e2d \u4f7f\u7528 \u7684 \u8fc7\u7a0b \u3002 \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u6267\u884c \u8fd9\u4e9b \u6b65\u9aa4 \u3002   1 .   \u521b\u5efa \u8f66\u8f86 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u5728   Content / Carla / Static / Vehicles / 4Wheeled   \u91cc \u521b\u5efa \u4e00\u4e2a \u540d\u4e3a   < vehicle _ name >   \u7684 \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   2 .   \u5bfc\u5165   . fbx   \u3002   \u5728 \u65b0 \u7684 \u8f66\u8f86 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u901a\u8fc7 \u5728   Content   Browser   \u4e2d \u53f3\u952e \u5355\u51fb \u5e76 \u9009\u62e9   \u5bfc\u5165 \u5bfc\u5165\u5230   Game / Carla / Static / Vehicles / 4Wheeled / < vehicle _ name >   \u6765 \u5bfc\u5165 \u4e3b \u8f66\u8f86 \u9aa8\u67b6   . fbx   \u3002   \u5728 \u5f39\u51fa \u7684 \u5bf9\u8bdd \u5bf9\u8bdd\u6846 \u4e2d \uff1a   \u5c06 \u5bfc\u5165 \u5185\u5bb9 \u7c7b\u578b   Import   Content   Type   \u8bbe\u7f6e \u4e3a   Geometry   and   Skinning   Weights   \u3002   \u5c06   Normal   Import   Method   \u8bbe\u7f6e \u4e3a   Import   Normals   \u3002   \uff08 \u53ef \u9009 \uff09 \u5c06   Material   Import   Method   \u8bbe\u7f6e \u4e3a   Do   not   create   materials   \u3002 \u53d6\u6d88 \u9009\u4e2d   Import   Textures   \u4ee5 \u907f\u514d \u865a\u5e7b \u5f15\u64ce \u521b\u5efa \u9ed8\u8ba4 \u6750\u8d28 \u3002   \u9aa8\u67b6 \u7f51\u683c \u4f53\u5c06 \u4e0e \u4e24\u4e2a \u65b0 \u6587\u4ef6   < vehicle _ name > _ PhysicsAssets   and   < vehicle _ name > _ Skeleton   \u4e00\u8d77 \u51fa\u73b0 \u3002   \u5c06 \u5176\u4f59   . fbx   \u6587\u4ef6 \u4e0e \u4e3b \u8f66\u8f86 \u9aa8\u67b6   . fbx   \u6587\u4ef6 \u5206\u5f00 \u5bfc\u5165 \u3002   3 .   \u8bbe\u7f6e \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u3002   \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   Content   Browser   < vehicle _ name > _ PhysicsAssets   \u3002   Skeleton   Tree   \u9762\u677f \u4e2d \u53f3\u952e \u5355\u51fb   Vehicle _ Base   \u7684 \u7f51\u683c \u4f53 \uff0c \u7136\u540e \u8f6c \u5230   Copy   Collision   from   StaticMesh   \u3002   \u641c\u7d22 \u5e76 \u9009\u62e9 \u60a8 \u7684   SMC _ < vehicle _ name >   \u6587\u4ef6 \u3002 \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230 \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u7684 \u8f6e\u5ed3 \u51fa\u73b0 \u5728 \u89c6 \u53e3\u4e2d \u3002   \u4ece   Vehicle _ Base   \u4e2d \u5220\u9664 \u9ed8\u8ba4 \u7684 \u80f6\u56ca \u5f62\u72b6 \u3002   \u9009\u62e9 \u6240\u6709 \u8f6e\u5b50 \uff1a   \u8f6c \u5230   Tools   \u9762\u677f \u5e76 \u5c06 \u201c \u57fa\u5143 \u7c7b\u578b   Primitive   Type   \u201d \u66f4 \u6539\u4e3a   Sphere   \u3002   \u8f6c \u5230 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f   Details   \u9762\u677f \u5e76 \u5c06 \u7269\u7406 \u7c7b\u578b   Physics   Type   \u66f4 \u6539\u4e3a   Kinematic   \u3002   \u5c06 \u7ebf\u6027 \u963b\u5c3c   Linear   Damping   \u8bbe\u7f6e \u4e3a   0   \u3002 \u8fd9 \u5c06 \u6d88\u9664 \u8f66\u8f6e \u4e0a \u7684 \u4efb\u4f55 \u989d\u5916 \u6469\u64e6 \u3002   \u4e3a \u6240\u6709 \u7f51\u683c \u542f\u7528   Simulation   Generates   Hit   Event   \u3002   \u5355\u51fb   Re - generate   Bodies   \u3002   \u5c06 \u8f66\u8f6e \u7403\u4f53 \u8c03\u6574 \u81f3 \u8f66\u8f6e \u5c3a\u5bf8 \u3002   \u4fdd\u5b58 \u5e76 \u5173\u95ed \u7a97\u53e3 \u3002   4 .   \u521b\u5efa \u52a8\u753b \u84dd\u56fe \u3002   \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   Content   Browser   \u4e2d \uff0c \u53f3\u952e \u5355\u51fb \u8f66\u8f86 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u9009\u62e9   Animation   - >   Animation   Blueprint   \u3002   \u5728 \u7236\u7c7b   Parent   Class   \u4e2d \u641c\u7d22 \u5e76 \u9009\u62e9   VehicleAnimInstance   \u3002   \u5728 \u76ee\u6807 \u9aa8\u67b6   Target   Skeleton   \u4e2d \u641c\u7d22 \u5e76 \u9009\u62e9   < vehicle _ name > _ Skeleton   \u3002   \u6309   OK   \u5e76 \u5c06 \u84dd\u56fe \u547d\u540d \u91cd\u547d\u540d \u4e3a   AnimBP _ < vehicle _ name >   \u3002   5 .   \u914d\u7f6e \u52a8\u753b \u84dd\u56fe \u3002   \u4e3a\u4e86 \u7b80\u5316 \u914d\u7f6e \u52a8\u753b \u84dd\u56fe \u7684 \u8fc7\u7a0b \uff0c \u6211\u4eec \u5c06 \u4ece \u672c\u5730   Carla   \u8f66\u8f86 \u590d\u5236 \u73b0\u6709 \u7684 \u52a8\u753b \u84dd\u56fe \uff1a   \u8f6c \u5230   Content / Carla / Static / Vehicle   \u5e76 \u9009\u62e9 \u4efb\u4f55   Carla   \u8f66\u8f86 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u6253\u5f00 \u5176 \u52a8\u753b \u84dd\u56fe \u3002   \u5728   My   Blueprint   \u9762\u677f \u4e2d \uff0c \u53cc\u51fb   AnimGraph   \u3002 \u60a8 \u5c06 \u770b\u5230 \u56fe\u8868 \u51fa\u73b0 \u5728 \u89c6 \u53e3\u4e2d \u3002   \u5355\u51fb \u5e76 \u62d6\u52a8 \u4ee5 \u9009\u62e9   Mesh   Space   Ref   Pose   \u3001   Wheel   Handler   \u548c   Component   To   Local   \u7ec4\u4ef6 \u3002 \u53f3\u952e \u5355\u51fb \u5e76 \u9009\u62e9 \u590d\u5236 \u3002   \u8fd4\u56de \u60a8 \u81ea\u5df1 \u7684 \u8f66\u8f86 \u52a8\u753b \u84dd\u56fe \u5e76 \u5c06 \u590d\u5236 \u7684 \u5185\u5bb9 \u7c98\u8d34 \u5230 \u56fe\u5f62 \u533a\u57df \u4e2d \u3002   \u5355\u51fb   Component   To   Local   \u7ec4\u4ef6 \u4e2d \u7684 \u7ad9\u7acb \u4eba\u7269 \u5e76 \u5c06 \u5176 \u62d6\u52a8 \u5230   Output   Pose   \u4e2d \u7684 \u4eba\u7269 \uff0c \u4ee5 \u5c06 \u7ec4\u4ef6 \u8fde\u63a5 \u5728 \u4e00\u8d77 \u3002   \u5355\u51fb \u5de6\u4e0a \u4e0a\u89d2 \u5de6\u4e0a\u89d2 \u7684   Compile   \u3002 \u60a8 \u73b0\u5728 \u5e94\u8be5 \u770b\u5230 \u4e00\u6761 \u8109\u52a8 \u7684 \u7ebf \u6d41\u8fc7 \u6574\u4e2a \u5e8f\u5217 \u3002   \u4fdd\u5b58 \u5e76 \u5173\u95ed \u7a97\u53e3 \u3002   6 .   \u51c6\u5907 \u8f66\u8f86 \u548c \u8f66\u8f6e \u84dd\u56fe \u3002   \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   Content   Browser   \u4e2d \uff0c \u8f6c \u5230   Content / Carla / Blueprints / Vehicles   \u5e76 \u521b\u5efa \u4e00\u4e2a \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   < vehicle _ name >   \u3002   \u5728 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \uff0c \u53f3\u952e \u5355\u51fb \u5e76 \u8f6c\u5230   Blueprint   Class   \u3002 \u5728 \u5f39\u51fa \u7a97\u53e3 \u4e2d \u6253\u5f00   All   Classes   \u90e8\u5206 \u3002   \u641c\u7d22   BaseVehiclePawn   \u5e76 \u6309   Select   \u3002   \u5c06 \u6587\u4ef6 \u547d\u540d \u91cd\u547d\u540d \u4e3a   BP _ < vehicle _ name >   \u3002   \u8f6c \u5230   Carla / Blueprints / Vehicles   \u4e2d \u4efb\u4f55 \u672c\u5730   Carla   \u8f66\u8f86 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   Content   Browser   \u4e2d \uff0c \u5c06 \u56db\u8f6e \u84dd\u56fe \u590d\u5236 \u590d\u5236\u5230 \u60a8 \u81ea\u5df1 \u8f66\u8f86 \u7684 \u84dd\u56fe \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u547d\u540d \u91cd\u547d\u540d \u6587\u4ef6 \u4ee5 \u5c06 \u65e7 \u8f66\u8f86 \u540d\u79f0 \u66ff\u6362 \u4e3a \u60a8 \u81ea\u5df1 \u7684 \u8f66\u8f86 \u540d\u79f0 \u3002   7 .   \u914d\u7f6e \u8f6e\u5b50 \u84dd\u56fe \u3002   \u5728 \u8f66\u8f86 \u84dd\u56fe \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u6253\u5f00 \u6240\u6709 \u56db\u4e2a \u8f66\u8f6e \u84dd\u56fe \u3002   \u5728   Class   Defaults   \u9762\u677f \u4e2d \uff0c \u5c06   Collision   Mesh   \u8bbe\u7f6e \u4e3a   Wheel _ Shape   \u3002   \u7701\u7565 \u6b64 \u6b65\u9aa4 \u5c06 \u5bfc\u81f4 \u8f66\u8f86 \u8f66\u8f6e \u9677\u5165 \u5730\u9762   \u3002   \u6839\u636e \u60a8 \u7684 \u8f66\u8f86 \u89c4\u683c \u8c03\u6574 \u8f66\u8f6e \u5f62\u72b6 \u534a\u5f84 \u3001 \u5bbd\u5ea6 \u3001 \u8d28\u91cf \u548c \u963b\u5c3c \u7387 \u7684 \u503c \u3002   \u5c06 \u8f6e\u80ce \u914d\u7f6e   Tire   Config   \u8bbe\u7f6e \u4e3a   CommonTireConfig   \u3002   \u5728 \u524d\u8f6e \u4e0a \u6839\u636e \u60a8 \u7684 \u559c\u597d \u8bbe\u7f6e \u8f6c\u5411 \u89d2\u5ea6   Steer   Angle   \uff08 \u9ed8\u8ba4 \u4e3a   70   \uff09 \u3002 \u53d6\u6d88 \u9009\u4e2d   Affected   by   Handbrake   \u3002   \u5728 \u540e\u8f6e \u4e0a\u5c06 \u8f6c\u5411 \u89d2\u5ea6   Steer   Angle   \u8bbe\u7f6e \u4e3a   0   \u3002 \u68c0\u67e5   Affected   by   Handbrake   \u3002   \u8bbe\u7f6e \u60ac\u67b6 \u503c\u65f6 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528   \u6b64\u5904   \u7684 \u503c \u4f5c\u4e3a \u6307\u5bfc \u3002   \u7f16\u8bd1 \u5e76 \u4fdd\u5b58 \u3002   8 .   \u914d\u7f6e \u8f66\u8f86 \u84dd\u56fe \u3002   \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   Content   Browser   \u4e2d \uff0c \u6253\u5f00 \u60a8 \u7684   BP _ < vehicle _ name >   \u3002   \u5728   Components   \u9762\u677f \u4e2d \uff0c \u9009\u62e9   Mesh   ( VehicleMesh )   ( Inherited )   \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Skeletal   Mesh   \u5e76 \u641c\u7d22 \u5e76 \u9009\u62e9 \u8f66\u8f86 \u7684 \u57fa\u7840 \u9aa8\u67b6 \u6587\u4ef6 \uff08 \u4f4d\u4e8e   Carla / Static / Vehicles / 4Wheeled / < vehicle _ name >   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff09 \u3002   \u8f6c \u5230   Details   \u9762\u677f \u4e2d \u7684   Anim   Class   \u3002 \u641c\u7d22 \u5e76 \u9009\u62e9 \u60a8 \u7684   AnimBP _ < vehicle _ name >   \u6587\u4ef6 \u3002   \u5728   Components   \u9762\u677f \u4e2d \uff0c \u9009\u62e9   Custom   Collision   ( Inherited )   \u3002   \u5728   Details   \u9762\u677f \u4e2d \u9009\u62e9   Static   Mesh   \u5e76 \u641c\u7d22 \u60a8 \u7684   SM _ sc _ < vehicle _ name >   \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7f51\u683c \u4f53 \u3002   \u5728   Components   \u9762\u677f \u4e2d \uff0c \u9009\u62e9   VehicleMovement   ( MovementComp )   ( Inherited )   \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u641c\u7d22   wheel   \u3002 \u60a8 \u5c06 \u627e\u5230 \u6bcf\u4e2a \u8f6e\u5b50 \u7684 \u8bbe\u7f6e \u3002 \u5bf9\u4e8e \u6bcf \u4e00\u4e2a \uff0c \u5355\u51fb   Wheel   Class   \u5e76 \u641c\u7d22 \u4e0e \u6b63\u786e \u8f66\u8f6e \u4f4d\u7f6e \u76f8\u5bf9 \u5e94 \u7684   BP _ < vehicle _ name > _ < wheel _ name >   \u6587\u4ef6 \u3002   \u5982\u679c \u60a8 \u7684 \u8f66\u8f86 \u6709 \u4efb\u4f55 \u4e0e \u57fa\u7840 \u7f51\u683c \u5206\u5f00 \u7684 \u9644\u52a0 \u7f51\u683c \uff08 \u95e8 \u3001 \u706f \u7b49 \uff09 \uff1a   \u5c06 \u5b83\u4eec \u62d6 \u5230   Components   \u9762\u677f \u4e2d \u7684   Mesh   ( VehicleMesh )   ( Inherited )   \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u3002   \u9009\u62e9 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u7684 \u989d\u5916 \u7f51\u683c \u5e76 \u5728   Details   \u9762\u677f \u4e2d \u641c\u7d22   Collision   \u3002   \u5c06 \u78b0\u649e \u9884\u8bbe   Collision   Presets   \u8bbe\u7f6e \u4e3a   NoCollision   \u3002   \u9009\u62e9 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u7684 \u4efb\u4f55 \u706f\u5149 \u7f51\u683c \u3002 \u5728   Details   \u9762\u677f \u4e2d \u641c\u7d22   Tag   \u5e76 \u6dfb\u52a0 \u6807\u7b7e   emissive   \u3002   \u5355\u51fb   Save   \u5e76   Compile   \u3002   \u6211\u4eec \u8fd8 \u53ef\u4ee5   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u7684 \u8f66\u724c   \u3002   9 .   \u5c06 \u8f66\u8f86 \u6dfb\u52a0 \u5230 \u84dd \u56fe\u5e93 \u4e2d \u3002   .   \u5728   Content / Carla / Blueprint / Vehicle   \u4e2d \uff0c \u6253\u5f00   VehicleFactory   \u6587\u4ef6 \u3002   \u5728   Generate   Definitions   \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u53cc\u51fb   Vehicles   \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u5c55\u5f00   Default   Value   \u90e8\u5206 \u5e76 \u5411 \u8f66\u8f86 \u6570\u7ec4 \u6dfb\u52a0 \u4e00\u4e2a \u65b0\u5143 \u5143\u7d20 \u65b0\u5143\u7d20 \u3002   \u586b\u5199 \u60a8 \u8f66\u8f86 \u7684   Make   \u548c   Model   \u3002   \u4f7f\u7528 \u60a8 \u7684   BP _ < vehicle _ name >   \u6587\u4ef6 \u586b\u5199   Class   \u503c \u3002   \uff08 \u53ef \u9009 \uff09 \u4e3a \u8f66\u8f86 \u63d0\u4f9b \u4e00\u7ec4 \u63a8\u8350 \u989c\u8272 \u3002   \u7f16\u8bd1 \u5e76 \u4fdd\u5b58 \u3002   10 .   \u6d4b\u8bd5 \u8f66\u8f86   \u3002   \u542f\u52a8   Carla \uff0c \u6253\u5f00 \u7ec8\u7aef   PythonAPI / examples   \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   python3   manual _ control . py   -- filter   < model _ name >   #   The   make   or   model   defined   in   step   9   \u7b14\u8bb0   \u5373\u4f7f \u60a8 \u5728 \u54c1\u724c \u548c \u578b\u53f7 \u4e2d \u4f7f\u7528 \u4e86 \u5927\u5199 \u5b57\u7b26 \uff0c \u5b83\u4eec \u5728 \u4f20\u9012 \u7ed9 \u8fc7\u6ee4 \u6ee4\u5668 \u8fc7\u6ee4\u5668 \u65f6 \u4e5f \u9700\u8981 \u8f6c\u6362 \u4e3a \u5c0f\u5199 \u5b57\u7b26 \u3002   \u6dfb\u52a0   N   \u8f6e \u8f66\u8f86   \u6dfb\u52a0   N   \u8f6e \u8f66\u8f86 \u9075\u5faa \u4e0e \u4e0a\u8ff0   4   \u8f6e \u8f66\u8f86 \u76f8\u540c \u7684 \u5bfc\u5165 \u7ba1\u9053 \uff0c \u4f46 \u6709 \u51e0\u4e2a \u6b65\u9aa4 \u4e0d\u540c \u3002   5 .   \u914d\u7f6e   N   \u8f6e \u8f66\u8f86 \u7684 \u52a8\u753b \u84dd\u56fe   \u641c\u7d22   BaseVehiclePawnNW   \u5e76 \u6309   Select   \u3002   6 .   \u51c6\u5907 \u8f66\u8f86 \u548c \u8f66\u8f6e \u84dd\u56fe   \u8f6c \u5230   Carla / Blueprints / Vehicles   \u4e2d \u6240\u6709 \u672c\u5730   Carla   \u8f66\u8f86 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u5c06 \u56db\u8f6e \u84dd\u56fe \u590d\u5236 \u590d\u5236\u5230 \u60a8 \u81ea\u5df1 \u8f66\u8f86 \u7684 \u84dd\u56fe \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u547d\u540d \u91cd\u547d\u540d \u6587\u4ef6 \u4ee5 \u5c06 \u65e7 \u8f66\u8f86 \u540d\u79f0 \u66ff\u6362 \u4e3a \u60a8 \u81ea\u5df1 \u7684 \u8f66\u8f86 \u540d\u79f0 \u3002   \u590d\u5236 \u56db\u4e2a \u8f6e\u5b50 \uff0c \u7136\u540e \u518d\u6b21 \u590d\u5236 \u5176\u4ed6 \u8f6e\u5b50 \u3002 \u5982\u679c \u662f   6   \u8f6e \u8f66\u8f86 \uff0c \u60a8 \u5c06 \u9700\u8981   6   \u4e2a \u4e0d\u540c \u7684 \u8f66\u8f6e \uff1a FLW \u3001 FRW \u3001 MLW \u3001 MRW \u3001 RLW \u3001 RRW \u3002   7 .   \u914d\u7f6e \u8f6e\u5b50 \u84dd\u56fe   \u5bf9\u4e8e   4   \u8f6e \u8f66\u8f86 \uff0c \u8bf7 \u9075\u5faa \u4e0a\u8ff0 \u7b2c   7   \u8282 \u3002   N   \u8f6e \u8f66\u8f86 \u7684 \u4e3b\u8981 \u533a\u522b \u5728\u4e8e \u624b\u5239 \u548c \u8f6c\u5411 \u53c2\u6570 \u7684 \u5f71\u54cd \u3002 \u5728 \u67d0\u4e9b \u8f66\u8f86 \uff08 \u4f8b\u5982 \u957f\u8f74 \u8f74\u8ddd \u957f\u8f74\u8ddd \u5361\u8f66 \uff09 \u4e2d \uff0c \u524d   2   \u5bf9 \u8f66\u8f6e \u5c06 \u8fdb\u884c \u8f6c\u5411 \uff0c \u5176\u4e2d \u4e00\u7ec4 \u53ef\u80fd \u6bd4 \u5176\u4ed6 \u8f66\u8f6e \u8f6c\u5411 \u66f4 \u591a \u3002 \u6700\u540e \u9762 \u7684 \u4e00\u5bf9 \u53ef\u80fd \u4f1a \u53d7\u5230 \u624b\u5239 \u7684 \u5f71\u54cd \uff0c \u5177\u4f53 \u60c5\u51b5 \u5177\u4f53\u60c5\u51b5 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u6b63\u5728 \u5efa\u6a21 \u7684 \u8f66\u8f86 \u3002   8 .   \u914d\u7f6e \u8f66\u8f86 \u84dd\u56fe   \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u201d \u9762\u677f \u4e2d \uff0c \u641c\u7d22   wheel   \u3002 \u60a8 \u5c06 \u627e\u5230 \u6bcf\u4e2a \u8f6e\u5b50 \u7684 \u8bbe\u7f6e \u3002 \u5bf9\u4e8e \u6bcf \u4e00\u4e2a \uff0c \u5355\u51fb \u8f66\u8f6e \u7c7b\u522b \u5e76 \u641c\u7d22   BP _   _   \u5bf9\u5e94 \u4e8e \u6b63\u786e \u8f66\u8f6e \u4f4d\u7f6e \u7684 \u6587\u4ef6 \u3002   \u8fd9\u662f \u6b63\u786e \u7684 \uff0c \u4f46 \u53ea\u662f \u4e3a\u4e86 \u6307\u5b9a \uff0c \u5728   N   \u8f6e \u8f66\u8f86 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u60a8 \u9700\u8981 \u8bbe\u7f6e \u6240\u6709 \u8f66\u8f6e \u3002 \u8fd9\u662f   6   \u8f6e \u8f66\u8f86 \u7684 \u793a\u4f8b \uff1a   \u6700\u540e \uff0c \u4e00\u4e2a \u989d\u5916 \u7684 \u8003\u8651 \u56e0\u7d20 \u662f \u8bbe\u7f6e \u5dee\u901f \u5dee\u901f\u5668 \u3002 \u5bf9\u4e8e   4   \u8f6e \u8f66\u8f86 \uff0c \u6211\u4eec \u6709 \u4e0d\u540c \u7684 \u5dee\u901f \u5dee\u901f\u5668 \u9884\u8bbe \uff08 \u9650\u6ed1 \u3001 \u5f00\u653e   4W   \u7b49 \uff09 \uff0c \u4f46 \u5bf9\u4e8e   N   \u8f6e \u8f66\u8f86 \uff0c \u60a8 \u9700\u8981 \u9009\u62e9 \u8981 \u5728 \u54ea\u4e9b \u8f66\u8f6e \u4e0a \u5e94\u7528 \u626d\u77e9 \u3002 \u672c\u4f8b \u4e2d \u6211\u4eec \u9009\u62e9 \u53ea\u6709 \u4e2d \u540e\u8f6e \u6709 \u626d\u77e9 \uff0c \u524d\u8f6e \u6ca1\u6709 \u626d\u77e9 \uff0c \u60a8 \u53ef\u4ee5 \u6307\u5b9a \u5176\u4ed6 \u914d\u7f6e \u3002 \u8fd9\u4e9b \u6570\u5b57 \u5c06 \u4e0e \u672c\u6587 \u4e0a\u65b9 \u7684 \u56fe\u50cf \u76f8\u540c \uff08 \u4f8b\u5982 \uff0c 0   \u5c06 \u662f \u5de6 \u524d\u8f6e \uff0c \u5982\u4e0a \u6240\u8ff0 \u5982\u4e0a\u6240\u8ff0 \uff09 \u3002   \u6240\u6709 \u5176\u4ed6 \u53c2\u6570 \uff0c \u5982 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u3001 \u53d8\u901f \u53d8\u901f\u7bb1 \u3001 \u8f6c\u5411 \u66f2\u7ebf \uff0c \u5747 \u4e0e \u56db\u8f6e \u8f66\u8f86 \u76f8\u540c \u3002   \u6dfb\u52a0   2   \u8f6e \u8f66\u8f86   \u6dfb\u52a0   2   \u8f6e \u8f66\u8f86 \u4e0e \u6dfb\u52a0   4   \u8f6e \u8f66\u8f86 \u7c7b\u4f3c \uff0c \u4f46 \u7531\u4e8e \u52a8\u753b \u7684 \u590d\u6742 \u590d\u6742\u6027 \uff0c \u60a8 \u9700\u8981 \u8bbe\u7f6e \u989d\u5916 \u7684 \u9aa8\u9abc \u6765 \u5f15\u5bfc \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u52a8\u753b \u3002   \u8fd9   \u662f \u4e24\u8f6e \u8f66\u8f86 \u53c2\u8003 \u9aa8\u67b6 \u7684 \u94fe\u63a5 \u3002   \u4e0e   4   \u8f6e \u8f66\u8f86 \u4e00\u6837 \uff0c \u5c06 \u6a21\u578b \u671d\u5411 \u6b63 \u201c x \u201d \uff0c \u6bcf\u4e2a \u9aa8\u9abc \u8f74 \u671d\u5411 \u6b63   x \uff0c z   \u8f74\u671d \u4e0a \u3002   Bone   Setup :   -   Bike _ Rig :   #   \u7f51\u683c \u7684 \u539f\u70b9 \u3002 \u5c06 \u5176 \u653e\u7f6e \u5728 \u573a\u666f \u7684 0 \u70b9   -   BikeBody :   #   \u6a21\u578b \u8eab\u4f53 \u7684 \u4e2d\u5fc3 \u3002   -   Pedals :   #   \u5982\u679c \u8f66\u8f86 \u662f \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \uff0c \u5c06 \u811a\u8e0f \u8e0f\u677f \u811a\u8e0f\u677f \u7ed1 \u5728 \u8fd9\u5757 \u9aa8\u5934 \u4e0a \uff0c \u5c31 \u4f1a \u968f\u7740 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u800c \u65cb\u8f6c \u3002   -   RightPedal :   #   \u5982\u679c \u8f66\u8f86 \u662f \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \uff0c \u5219 \u8bbe\u7f6e \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u811a\u90e8 \u4f4d\u7f6e \u5e76 \u4e0e \u811a\u8e0f \u8e0f\u677f \u811a\u8e0f\u677f \u4e00\u8d77 \u65cb\u8f6c \u3002   -   LeftPedal :   #   ^   -   RearWheel :   #   \u8f66\u8f86 \u540e\u8f6e   -   Handler :   #   \u4e0e \u8f66\u8f86 \u7684 \u524d\u8f6e \u4e00\u8d77 \u65cb\u8f6c \uff0c \u5c06 \u8f66\u8f86 \u64cd\u7eb5 \u64cd\u7eb5\u5668 \u56fa\u5b9a \u5728 \u5176 \u4e0a \u3002   -   HandlerMidBone :   #   \u5b9a\u4f4d \u5728 \u524d\u8f6e \u9aa8\u67b6 \u4e0a \uff0c \u4ee5 \u786e\u5b9a \u64cd\u7eb5 \u64cd\u7eb5\u5668 \u4e0e \u8f66\u8f6e \u7684 \u65b9\u5411   -   HandlerRight :   #   \u8bbe\u7f6e \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u624b \u7684 \u4f4d\u7f6e \uff0c \u65e0\u9700 \u5c06 \u5176 \u7ed1\u5b9a \u5230 \u4efb\u4f55 \u4e1c\u897f \u3002   -   HandlerLeft :   #   ^   -   Frontwheel :   #   \u8f66\u8f86 \u7684 \u524d\u8f6e \u3002   -   RightHelperRotator :   #   \u8fd9 \u56db\u5757 \u989d\u5916 \u7684 \u9aa8\u5934 \u662f \u4e3a \u4e00\u4e2a \u8fc7\u65f6 \u7684 \u7cfb\u7edf \u63d0\u4f9b \u7684 \uff0c \u8be5 \u7cfb\u7edf \u901a\u8fc7 \u4f7f\u7528 \u4f20\u7edf \u7684 \u9690\u5f62 \u8f66\u8f6e \u4f7f \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7a33\u5b9a   -   RightHelprWheel :   #   ^   -   LeftHelperRotator :   #   ^   -   LeftHelperWheel :   #   ^   -   Seat :   #   \u8bbe\u7f6e \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u9acb\u9aa8 \u7684 \u4f4d\u7f6e \u3002 \u65e0\u9700 \u5c06 \u5176 \u7ed1 \u5728 \u4efb\u4f55 \u4e1c\u897f \u4e0a \uff0c \u53ea \u9700 \u5c0f\u5fc3 \u653e\u7f6e \u5373\u53ef \u3002   1 .   \u5c06   fbx   \u4f5c\u4e3a   Skelletal   Mesh   \u5bfc\u5165 \u5bfc\u5165\u5230 \u5176 \u81ea\u5df1 \u7684   Content / Carla / Static / Vehicles / 2Wheeled   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u5bfc\u5165 \u65f6 \uff0c \u9009\u62e9 \u201c General2WheeledVehicleSkeleton \u201d \u4f5c\u4e3a \u9aa8\u67b6 \uff0c \u5e94 \u81ea\u52a8 \u521b\u5efa \u5e76 \u94fe\u63a5 \u7269\u7406 \u8d44\u6e90 \u3002   2 .   \u8c03\u6574 \u7269\u7406 \u8d44\u6e90 \u3002 \u5220\u9664 \u81ea\u52a8 \u521b\u5efa \u7684 \u6846 \u5e76 \u5411   BikeBody   \u9aa8\u9abc \u6dfb\u52a0 \u6846 \uff0c \u5c1d\u8bd5 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5339\u914d \u5f62\u72b6 \uff0c \u786e\u4fdd \u542f\u7528 \u751f\u6210 \u547d\u4e2d \u4e8b\u4ef6 \u3002 \u4e3a \u6bcf\u4e2a \u8f6e\u5b50 \u6dfb\u52a0 \u4e00\u4e2a \u7403\u4f53 \u5e76 \u5c06 \u5176 \u201c \u7269\u7406 \u7c7b\u578b \u201d \u8bbe\u7f6e \u4e3a \u201c \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u201d \u3002   3 .   \u521b\u5efa   Content / Blueprints / Vehicles / < vehicle - model >   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   4 .   \u5728 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u521b\u5efa \u4e24\u4e2a \u6d3e\u751f \u81ea \u201c VehicleWheel \u201d \u7c7b \u7684 \u84dd\u56fe \u7c7b \u3002 \u8c03\u7528   < vehicle - model > _ FrontWheel   \u548c   < vehicle - model > _ RearWheel   \u3002 \u5c06 \u5176   \" Shape   Radius \"   \u8bbe\u7f6e \u4e3a \u4e0e \u7f51\u683c \u8f6e \u534a\u5f84 \u5b8c\u5168 \u5339\u914d \uff08 \u5c0f\u5fc3 \uff0c \u534a\u5f84 \u4e0d\u662f \u76f4\u5f84 \uff09 \u3002 \u5c06 \u5176 \u201c \u8f6e\u80ce \u914d\u7f6e \u201d \u8bbe\u7f6e \u4e3a \u201c CommonTireConfig \u201d \u3002 \u5728 \u524d\u8f6e \u4e0a \u53d6\u6d88 \u9009\u4e2d \u201c \u53d7 \u624b\u5239 \u5f71\u54cd \u201d \uff0c \u5728 \u540e\u8f6e \u4e0a\u5c06 \u201c \u8f6c\u5411 \u89d2 \u201d \u8bbe\u7f6e \u4e3a \u96f6 \u3002   5 .   \u5728 \u540c\u4e00 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u521b\u5efa \u4e00\u4e2a \u6d3e\u751f   Base2WheeledVehicle   \u7684 \u84dd\u56fe \u7c7b \uff0c \u5e76 \u8c03\u7528 \u5b83   < vehicle - model >   \u3002 \u6253\u5f00 \u5b83 \u8fdb\u884c \u7f16\u8f91 \uff0c \u9009\u62e9 \u7ec4\u4ef6 \u201c Mesh \u201d \uff0c \u5c06 \u201c Skeletal   Mesh \u201d \u548c \u201c Anim   Class \u201d \u8bbe\u7f6e \u4e3a \u76f8\u5e94 \u7684 \u3002 \u7136\u540e \u9009\u62e9   VehicleBounds   \u7ec4\u4ef6 \u5e76 \u8bbe\u7f6e \u5927\u5c0f \u4ee5 \u8986\u76d6 \u8f66\u8f86 \u533a\u57df \uff08 \u5982\u4e0a \u4e0a\u56fe \u5982\u4e0a\u56fe \u6240\u793a \uff09 \u3002   6 .   \u9009\u62e9 \u7ec4\u4ef6 \u201c VehicleMovement \u201d \uff0c \u5728 \u201c Vehicle   Setup \u201d \u4e0b \u5c55\u5f00 \u201c Wheel   Setups \u201d \uff0c \u8bbe\u7f6e \u5404\u4e2a \u8f66\u8f6e \u3002   0 :   \u8f6e\u7c7b =   < vehicle - model > _ FrontWheel   ,   \u9aa8\u9abc \u540d\u79f0 =   FrontWheel   1 :   \u8f6e\u7c7b =   < vehicle - model > _ FrontWheel   ,   \u9aa8\u9abc \u540d\u79f0 =   FrontWheel   2 :   \u8f6e\u7c7b =   < vehicle - model > _ RearWheel   ,   \u9aa8\u9abc \u540d\u79f0 =   RearWheel   3 :   \u8f6e\u7c7b =   < vehicle - model > _ RearWheel   ,   \u9aa8\u9abc \u540d\u79f0 =   RearWheel   \uff08 \u60a8 \u4f1a \u6ce8\u610f \u5230 \uff0c \u6211\u4eec \u57fa\u672c \u57fa\u672c\u4e0a \u5728 \u6bcf\u4e2a \u9aa8\u9abc \u4e2d \u653e\u7f6e \u4e86 \u4e24\u4e2a \u8f6e\u5b50 \u3002 unreal   \u63d0\u4f9b \u7684 \u8f66\u8f86 \u7c7b\u522b \u4e0d \u652f\u6301 \u8f66\u8f6e \u7f16\u53f7 \u4e0d\u540c \u540c\u4e8e \u4e0d\u540c\u4e8e   4   \u7684 \u8f66\u8f86 \uff0c \u56e0\u6b64 \u6211\u4eec \u5fc5\u987b \u8ba9 \u5b83 \u76f8\u4fe1 \u8f66\u8f86 \u5177\u6709 4 \u4e2a \u8f6e\u5b50 \uff09   7 .   \u9009\u62e9 \u53d8\u91cf   \" is   bike \"   \uff0c \u5982\u679c \u60a8 \u7684 \u578b\u53f7 \u662f \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \uff0c \u5219 \u52fe\u9009 \u5b83 \u3002 \u8fd9 \u5c06 \u6fc0\u6d3b \u8e0f\u677f \u65cb\u8f6c \u3002 \u5982\u679c \u60a8 \u8981 \u5b89\u88c5 \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \uff0c \u8bf7 \u4e0d\u8981 \u6807\u8bb0 \u3002   8 .   \u627e\u5230 \u53d8\u91cf   back   Rotation   \u5e76 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u66f4 \u5408\u9002 \u7684 \u4f4d\u7f6e \uff0c \u66f4\u597d \u5730 \u9009\u62e9 \u7ec4\u4ef6   SkeletalMesh \uff08 \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \uff09 \u5e76 \u5c06 \u5176 \u6cbf   x   \u8f74 \u79fb\u52a8 \uff0c \u76f4\u5230 \u5176 \u4f4d\u4e8e \u5ea7\u6905 \u4f4d\u7f6e \u3002   9 .   \u6d4b\u8bd5 \u4e00\u4e0b \uff0c \u8fdb\u5165 CarlaGameMode \u84dd\u56fe \u5e76 \u5c06 \u201c Default   Pawn   Class \u201d \u66f4 \u6539\u4e3a \u65b0\u521b \u521b\u5efa \u65b0\u521b\u5efa \u7684 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u84dd\u56fe \u3002","title":"tuto   A   add   vehicle"},{"location":"tuto_A_add_vehicle/#_1","text":"\u8fd9\u4e2a \u6559\u7a0b \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u5411   Carla   \u6dfb\u52a0 \u65b0 \u7684 \u8f66\u8f86 \u3002 \u6559\u7a0b \u5206\u4e3a \u4e24\u4e2a \u90e8\u5206 \uff0c \u4e00\u4e2a \u7528\u4e8e \u56db\u8f6e \u8f66\u8f86 \uff0c \u53e6 \u4e00\u4e2a \u7528\u4e8e \u4e24\u8f6e \u8f66\u8f86 \u3002 \u6559\u7a0b \u6982\u8ff0 \u4e86 \u5efa\u6a21 \u8f66\u8f86 \u65f6 \u5fc5\u987b \u6ee1\u8db3 \u7684 \u57fa\u672c \u8981\u6c42 \uff0c \u4ee5 \u786e\u4fdd \u8f66\u8f86 \u5728   Carla   \u4e2d \u8fd0\u884c \u826f\u597d \uff0c \u5e76 \u63d0\u4f9b \u4e86 \u5728 \u5c06 \u8f66\u8f86 \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce \u540e \u6240 \u9700 \u7684 \u914d\u7f6e \u8bf4\u660e \u3002   \u6dfb\u52a0   4   \u8f6e \u8f66\u8f86   \u7ed1\u5b9a \u5e76 \u5efa\u6a21 \u8f66\u8f86   \u5bfc\u5165 \u5e76 \u914d\u7f6e \u8f66\u8f86   \u6dfb\u52a0   N   \u8f6e \u8f66\u8f86   \u6dfb\u52a0   2   \u8f6e \u8f66\u8f86   \u91cd\u8981   \u672c \u6559\u7a0b \u4ec5 \u9002\u7528 \u4e8e \u4f7f\u7528 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u5e76 \u6709\u6743 \u8bbf\u95ee \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u7528\u6237 \u3002","title":"\u6dfb\u52a0 \u65b0\u8f66"},{"location":"tuto_A_add_vehicle/#4","text":"\u6dfb\u52a0 \u5230   Carla   \u7684 \u8f66\u8f86 \u9700\u8981 \u4f7f\u7528 \u53ef \u5728   \u6b64\u5904   \u627e\u5230 \u7684 \u901a\u7528 \u57fa\u7840 \u9aa8\u67b6 \u3002 \u6b64 \u94fe\u63a5 \u5c06 \u4e0b\u8f7d \u4e00\u4e2a \u540d\u4e3a   VehicleSkeleton . rar   \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5176\u4e2d \u5305\u542b \u4e24\u79cd \u4e0d\u540c \u683c\u5f0f \u7684 \u57fa\u672c \u6846\u67b6 \uff0c \u4e00\u79cd \u4e3a   ASCII \uff0c \u53e6 \u4e00\u79cd \u4e3a \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u3002 \u60a8 \u4f7f\u7528 \u7684 \u683c\u5f0f \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684   3D   \u5efa\u6a21 \u8f6f\u4ef6 \u8981\u6c42 \u3002   \u9aa8\u67b6 \u9aa8\u9abc \u7684 \u4f4d\u7f6e \u53ef\u4ee5 \u66f4\u6539 \uff0c \u4f46 \u4efb\u4f55 \u5176\u4ed6 \u64cd\u4f5c \uff08 \u4f8b\u5982 \u65cb\u8f6c \u3001 \u6dfb\u52a0 \u65b0 \u9aa8\u9abc \u6216 \u66f4\u6539 \u5f53\u524d \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \uff09 \u90fd \u4f1a \u5bfc\u81f4 \u9519\u8bef \u3002","title":"\u6dfb\u52a0   4   \u8f6e \u8f66\u8f86  "},{"location":"tuto_A_add_vehicle/#_2","text":"\u672c \u8282 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u8f66\u8f86 \u5efa\u6a21 \u9636\u6bb5 \u7684 \u6700\u4f4e \u8981\u6c42 \uff0c \u4ee5 \u786e\u4fdd \u5176 \u53ef\u4ee5 \u5728   Carla   \u4e2d \u6210\u529f \u4f7f\u7528 \u3002 \u8be5 \u8fc7\u7a0b \u5305\u62ec \u5c06 \u9aa8\u67b6 \u6b63\u786e \u7ed1\u5b9a \u5230 \u8f66\u8f86 \u7684 \u5e95\u5ea7 \u548c \u8f66\u8f6e \u3001 \u521b\u5efa \u7269\u7406 \u8d44\u6e90 \u548c \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7f51\u683c \uff0c \u4ee5\u53ca \u5bfc\u51fa \u4e3a \u6b63\u786e \u7684 \u683c\u5f0f \u3002   1 .   \u5bfc\u5165 \u57fa\u7840 \u9aa8\u67b6 \u3002   \u5c06 \u57fa\u7840 \u9aa8\u67b6 \u5bfc\u5165 \u60a8 \u9996\u9009 \u7684 \u4e09\u7ef4 \u5efa\u6a21 \u8f6f\u4ef6 \u4e2d \u3002 \u5e38\u89c1 \u7684 \u7f16\u8f91 \u7f16\u8f91\u5668 \u5305\u62ec   Maya   \u548c   Blender \u3002   2 .   \u7ed1\u5b9a \u9aa8\u9abc \u3002   \u6839\u636e \u4e0b\u9762 \u7684 \u547d\u540d \u6cd5\u5c06 \u9aa8\u9abc \u7ed1\u5b9a \u5230 \u8f66\u8f86 \u7f51\u683c \u7684 \u76f8\u5e94 \u90e8\u5206 \u3002 \u786e\u4fdd \u8f6e\u5b50 \u7684 \u9aa8\u9abc \u5728 \u7f51\u683c \u5185 \u5c45\u4e2d \u3002   \u5de6 \u524d\u8f6e \uff1a   Wheel _ Front _ Left   \u53f3 \u524d\u8f6e \uff1a   Wheel _ Front _ Right   \u5de6 \u540e\u8f6e \uff1a   Wheel _ Rear _ Left   \u53f3 \u540e\u8f6e \uff1a   Wheel _ Rear _ Right   \u7f51\u683c \u7684 \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \uff1a   VehicleBase   \u8b66\u544a   \u4e0d\u8981 \u5bf9 \u9aa8\u9abc \u540d\u79f0 \u6216 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u8fdb\u884c \u4efb\u4f55 \u66f4\u6539 \uff0c \u4e5f \u4e0d\u8981 \u6dfb\u52a0 \u4efb\u4f55 \u65b0 \u9aa8\u9abc \u3002   3 .   \u4e3a \u60a8 \u7684 \u8f66\u8f86 \u5efa\u6a21 \u3002   \u8f66\u8f86 \u5e94 \u62e5\u6709 \u5927\u7ea6   50 , 000   -   100 , 000   \u4e2a   tris \u3002 \u6211\u4eec \u4f7f\u7528 \u5b9e\u9645 \u6c7d\u8f66 \u7684 \u5c3a\u5bf8 \u548c \u6bd4\u4f8b \u6765 \u5efa\u6a21 \u8f66\u8f86 \u3002   \u6211\u4eec \u5efa\u8bae \u5efa\u8bae\u60a8 \u5c06 \u8f66\u8f86 \u5206\u4e3a \u4ee5\u4e0b \u6750\u8d28 \uff1a   Bodywork   :   \u8f66\u8f86 \u7684 \u91d1\u5c5e \u90e8\u5206 \u3002 \u8be5 \u6750\u8d28 \u5df2 \u66f4 \u6539\u4e3a \u865a\u5e7b \u5f15\u64ce \u6750\u8d28 \u3002 \u53ef\u4ee5 \u6dfb\u52a0 \u5fbd\u6807 \u548c \u7ec6\u8282 \uff0c \u4f46 \u4e3a\u4e86 \u53ef\u89c1 \uff0c \u5fc5\u987b \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684   Alpha   \u901a\u9053 \u5c06 \u5b83\u4eec \u7ed8\u5236 \u4e3a \u4e0d\u540c \u7684 \u989c\u8272 \u3002   Glass _ Ext   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u53ef\u4ee5 \u4ece \u8f66\u8f86 \u5916\u90e8 \u770b\u5230 \u5185\u90e8 \u3002   Glass _ Int   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u8f66\u8f86 \u5185\u90e8 \u5230 \u5916\u90e8 \u7684 \u53ef\u89c1 \u6027 \u3002   Lights   :   \u5934\u706f \u3001 \u6307\u793a \u6307\u793a\u706f \u7b49 \u3002   LightGlass _ Ext   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u5916\u90e8 \u5230 \u5185\u90e8 \u7684 \u706f\u5149 \u53ef\u89c1 \u6027 \u3002   LightGlass _ Int   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u5185\u90e8 \u5230 \u5916\u90e8 \u770b\u5230 \u5149 \u3002   LicensePlate   :   29x12   \u5398\u7c73 \u7684 \u77e9\u5f62 \u5e73\u9762 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528   Carla   \u63d0\u4f9b \u7684   . fbx   \u4ee5 \u83b7\u5f97 \u6700\u4f73 \u83b7\u5f97\u6700\u4f73 \u7ed3\u679c \uff0c \u8bf7 \u5728   \u6b64\u5904   \u4e0b\u8f7d \u3002 \u7eb9\u7406 \u5c06 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u81ea\u52a8 \u5206\u914d \u3002   Interior   :   \u4efb\u4f55 \u5176\u4ed6 \u4e0d \u9002\u5408 \u4e0a\u8ff0 \u90e8\u5206 \u7684 \u7ec6\u8282 \u90fd \u53ef\u4ee5 \u8fdb\u5165   \u5185\u9970   .   \u6750\u6599 \uff08 Material \uff09 \u5e94 \u4f7f\u7528 \u683c\u5f0f   M _ CarPart _ CarName   \u547d\u540d \uff0c \u4f8b\u5982   M _ Bodywork _ Mustang   \u3002   \u7eb9\u7406 \uff08 Textures \uff09 \u5e94 \u4f7f\u7528 \u683c\u5f0f   T _ CarPart _ CarName   \u547d\u540d \uff0c \u4f8b\u5982   T _ Bodywork _ Mustang   \u3002 \u7eb9\u7406 \u7684 \u5927\u5c0f \u5e94\u4e3a   2048x2048 \u3002   \u865a\u5e7b \u5f15\u64ce \u4f1a \u81ea\u52a8 \u521b\u5efa ( Level   of   Details ,   LOD ) \uff0c \u4f46 \u60a8 \u4e5f \u53ef\u4ee5 \u5728   3D   \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u624b\u52a8 \u521b\u5efa \u5b83\u4eec \u3002 Tri   \u8ba1\u6570 \u5982\u4e0b \uff1a   LOD   0   :   100 , 000   tris   LOD   1   :   80 , 000   tris   LOD   2   :   60 , 000   tris   LOD   3   :   30 , 000   tris   4 .   \u521b\u5efa \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u3002   \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u662f \u4e00\u4e2a \u9644\u52a0 \u7f51\u683c \uff0c \u5141\u8bb8 \u865a\u5e7b \u5f15\u64ce \u8ba1\u7b97 \u8f66\u8f86 \u7684 \u7269\u7406 \u7279\u6027 \u3002 \u5b83 \u5e94\u8be5 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u7b80\u5355 \uff0c \u51cf\u5c11 \u591a\u8fb9 \u591a\u8fb9\u5f62 \u6570\u91cf \uff0c \u5e76\u4e14 \u5e94\u8be5 \u8986\u76d6 \u9664 \u8f66\u8f6e \u4e4b\u5916 \u7684 \u6574\u4e2a \u8f66\u8f86 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605 \u4e0b\u56fe \u7684 \u793a\u4f8b \u3002   \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u5e94 \u5bfc\u51fa \u4e3a \u5355\u72ec \u7684   . fbx   \u6587\u4ef6 \u3002 \u6700\u7ec8 \u6587\u4ef6 \u5e94 \u6ee1\u8db3 \u4ee5\u4e0b \u8981\u6c42 \uff1a   \u6709 \u4e00\u4e2a \u57fa\u7840 \u7f51\u683c \u3002 \u8fd9 \u5e94\u8be5 \u662f \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u7684 \u526f\u672c \u3002 \u5b83 \u5e94\u8be5 \u4e0e \u539f\u59cb \u8f66\u8f86 \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \u3002   \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u4f53 \u5fc5\u987b \u4f7f\u7528 \u683c\u5f0f   UCX _ < vehicle _ name > _ < number _ of _ mesh >   \u547d\u540d \uff0c   \u5426\u5219 \u865a\u5e7b \u5f15\u64ce \u5c06 \u65e0\u6cd5 \u8bc6\u522b \u3002   \u7f51\u683c \u4e0d\u5f97 \u8d85\u51fa \u539f\u59cb \u6a21\u578b \u7684 \u8fb9\u754c \u3002   \u7f51\u683c \u5e94 \u4e0e \u539f\u59cb \u6a21\u578b \u5177\u6709 \u76f8\u540c \u7684 \u4f4d\u7f6e \u3002   \u5c06 \u6700\u7ec8   . fbx   \u7f51\u683c \u5bfc\u51fa \u4e3a \u540d\u4e3a   SMC _ < vehicle _ name > . fbx   \u7684 \u6587\u4ef6 \u3002   5 .   \u4e3a \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u521b\u5efa \u7f51\u683c \u3002   \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7f51\u683c \u8bbe\u7f6e \u5c06 \u7531 \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 RADAR \u3001 LiDAR   \u548c   Semantic   LiDAR \uff09 \u68c0\u6d4b \u5230 \u7684 \u8f66\u8f86 \u5f62\u72b6 \u3002 \u8be5 \u7f51\u683c \u5e94\u8be5 \u5177\u6709 \u6bd4 \u7269\u7406 \u8d44\u4ea7 \u7f51\u683c \u7a0d\u5fae \u66f4 \u660e\u786e \u7684 \u51e0\u4f55 \u5f62\u72b6 \uff0c \u4ee5 \u63d0\u9ad8 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4eff\u771f \u7684 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \uff0c \u4f46 \u51fa\u4e8e \u6027\u80fd \u539f\u56e0 \uff0c \u4e0d\u5982 \u6c7d\u8f66 \u7f51\u683c \u90a3\u4e48 \u8be6\u7ec6 \u3002   \u521b\u5efa \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7f51\u683c \u65f6\u8bf7 \u8003\u8651 \u4ee5\u4e0b \u51e0\u70b9 \u4ee5\u4e0b\u51e0\u70b9 \uff1a   \u7f51\u683c \u5e94 \u8986\u76d6 \u8f66\u8f86 \u7684 \u5404\u4e2a \u65b9\u9762 \u5404\u4e2a\u65b9\u9762 \uff0c \u5305\u62ec \u8f66\u8f6e \u3001 \u540e\u89c6 \u540e\u89c6\u955c \u548c \u683c\u6805 \u3002   \u8f6e\u5b50 \u5e94\u4e3a \u4e0d \u8d85\u8fc7   16   \u5708 \u7684 \u5706\u67f1 \u67f1\u4f53 \u5706\u67f1\u4f53 \u3002   \u5982\u679c \u9700\u8981 \uff0c \u53ef\u4ee5 \u5c06 \u5404\u79cd \u7f51\u683c \u8fde\u63a5 \u5728 \u4e00\u8d77 \u3002   \u7f51\u683c \u4e0d\u5f97 \u8d85\u51fa \u539f\u59cb \u6a21\u578b \u7684 \u8fb9\u754c \u3002   \u7f51\u683c \u5e94\u8be5 \u4e0e \u539f\u59cb \u7f51\u683c \u5177\u6709 \u76f8\u540c \u7684 \u4f4d\u7f6e \u3002   \u5c06 \u6700\u7ec8 \u7f51\u683c \u5bfc\u51fa \u540d\u4e3a   SM _ sc _ < vehicle _ name > . fbx   \u7684   . fbx   \u6587\u4ef6 \u3002   5 .   \u5bfc\u51fa \u8f66\u8f86 \u7f51\u683c \u3002   \u9009\u62e9 \u6240\u6709 \u4e3b\u8981 \u8f66\u8f86 \u7f51\u683c \u548c \u9aa8\u67b6 \u5e95\u5ea7 \u5e76 \u5bfc\u51fa \u4e3a   . fbx   \u3002","title":"\u7ed1\u5b9a \u5e76 \u5efa\u6a21 \u8f66\u8f86  "},{"location":"tuto_A_add_vehicle/#_3","text":"\u672c \u8282 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5c06 \u8f66\u8f86 \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce \u4ee5 \u5728   Carla   \u4e2d \u4f7f\u7528 \u7684 \u8fc7\u7a0b \u3002 \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u6267\u884c \u8fd9\u4e9b \u6b65\u9aa4 \u3002   1 .   \u521b\u5efa \u8f66\u8f86 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u5728   Content / Carla / Static / Vehicles / 4Wheeled   \u91cc \u521b\u5efa \u4e00\u4e2a \u540d\u4e3a   < vehicle _ name >   \u7684 \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   2 .   \u5bfc\u5165   . fbx   \u3002   \u5728 \u65b0 \u7684 \u8f66\u8f86 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u901a\u8fc7 \u5728   Content   Browser   \u4e2d \u53f3\u952e \u5355\u51fb \u5e76 \u9009\u62e9   \u5bfc\u5165 \u5bfc\u5165\u5230   Game / Carla / Static / Vehicles / 4Wheeled / < vehicle _ name >   \u6765 \u5bfc\u5165 \u4e3b \u8f66\u8f86 \u9aa8\u67b6   . fbx   \u3002   \u5728 \u5f39\u51fa \u7684 \u5bf9\u8bdd \u5bf9\u8bdd\u6846 \u4e2d \uff1a   \u5c06 \u5bfc\u5165 \u5185\u5bb9 \u7c7b\u578b   Import   Content   Type   \u8bbe\u7f6e \u4e3a   Geometry   and   Skinning   Weights   \u3002   \u5c06   Normal   Import   Method   \u8bbe\u7f6e \u4e3a   Import   Normals   \u3002   \uff08 \u53ef \u9009 \uff09 \u5c06   Material   Import   Method   \u8bbe\u7f6e \u4e3a   Do   not   create   materials   \u3002 \u53d6\u6d88 \u9009\u4e2d   Import   Textures   \u4ee5 \u907f\u514d \u865a\u5e7b \u5f15\u64ce \u521b\u5efa \u9ed8\u8ba4 \u6750\u8d28 \u3002   \u9aa8\u67b6 \u7f51\u683c \u4f53\u5c06 \u4e0e \u4e24\u4e2a \u65b0 \u6587\u4ef6   < vehicle _ name > _ PhysicsAssets   and   < vehicle _ name > _ Skeleton   \u4e00\u8d77 \u51fa\u73b0 \u3002   \u5c06 \u5176\u4f59   . fbx   \u6587\u4ef6 \u4e0e \u4e3b \u8f66\u8f86 \u9aa8\u67b6   . fbx   \u6587\u4ef6 \u5206\u5f00 \u5bfc\u5165 \u3002   3 .   \u8bbe\u7f6e \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u3002   \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   Content   Browser   < vehicle _ name > _ PhysicsAssets   \u3002   Skeleton   Tree   \u9762\u677f \u4e2d \u53f3\u952e \u5355\u51fb   Vehicle _ Base   \u7684 \u7f51\u683c \u4f53 \uff0c \u7136\u540e \u8f6c \u5230   Copy   Collision   from   StaticMesh   \u3002   \u641c\u7d22 \u5e76 \u9009\u62e9 \u60a8 \u7684   SMC _ < vehicle _ name >   \u6587\u4ef6 \u3002 \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230 \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u7684 \u8f6e\u5ed3 \u51fa\u73b0 \u5728 \u89c6 \u53e3\u4e2d \u3002   \u4ece   Vehicle _ Base   \u4e2d \u5220\u9664 \u9ed8\u8ba4 \u7684 \u80f6\u56ca \u5f62\u72b6 \u3002   \u9009\u62e9 \u6240\u6709 \u8f6e\u5b50 \uff1a   \u8f6c \u5230   Tools   \u9762\u677f \u5e76 \u5c06 \u201c \u57fa\u5143 \u7c7b\u578b   Primitive   Type   \u201d \u66f4 \u6539\u4e3a   Sphere   \u3002   \u8f6c \u5230 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f   Details   \u9762\u677f \u5e76 \u5c06 \u7269\u7406 \u7c7b\u578b   Physics   Type   \u66f4 \u6539\u4e3a   Kinematic   \u3002   \u5c06 \u7ebf\u6027 \u963b\u5c3c   Linear   Damping   \u8bbe\u7f6e \u4e3a   0   \u3002 \u8fd9 \u5c06 \u6d88\u9664 \u8f66\u8f6e \u4e0a \u7684 \u4efb\u4f55 \u989d\u5916 \u6469\u64e6 \u3002   \u4e3a \u6240\u6709 \u7f51\u683c \u542f\u7528   Simulation   Generates   Hit   Event   \u3002   \u5355\u51fb   Re - generate   Bodies   \u3002   \u5c06 \u8f66\u8f6e \u7403\u4f53 \u8c03\u6574 \u81f3 \u8f66\u8f6e \u5c3a\u5bf8 \u3002   \u4fdd\u5b58 \u5e76 \u5173\u95ed \u7a97\u53e3 \u3002   4 .   \u521b\u5efa \u52a8\u753b \u84dd\u56fe \u3002   \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   Content   Browser   \u4e2d \uff0c \u53f3\u952e \u5355\u51fb \u8f66\u8f86 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u9009\u62e9   Animation   - >   Animation   Blueprint   \u3002   \u5728 \u7236\u7c7b   Parent   Class   \u4e2d \u641c\u7d22 \u5e76 \u9009\u62e9   VehicleAnimInstance   \u3002   \u5728 \u76ee\u6807 \u9aa8\u67b6   Target   Skeleton   \u4e2d \u641c\u7d22 \u5e76 \u9009\u62e9   < vehicle _ name > _ Skeleton   \u3002   \u6309   OK   \u5e76 \u5c06 \u84dd\u56fe \u547d\u540d \u91cd\u547d\u540d \u4e3a   AnimBP _ < vehicle _ name >   \u3002   5 .   \u914d\u7f6e \u52a8\u753b \u84dd\u56fe \u3002   \u4e3a\u4e86 \u7b80\u5316 \u914d\u7f6e \u52a8\u753b \u84dd\u56fe \u7684 \u8fc7\u7a0b \uff0c \u6211\u4eec \u5c06 \u4ece \u672c\u5730   Carla   \u8f66\u8f86 \u590d\u5236 \u73b0\u6709 \u7684 \u52a8\u753b \u84dd\u56fe \uff1a   \u8f6c \u5230   Content / Carla / Static / Vehicle   \u5e76 \u9009\u62e9 \u4efb\u4f55   Carla   \u8f66\u8f86 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u6253\u5f00 \u5176 \u52a8\u753b \u84dd\u56fe \u3002   \u5728   My   Blueprint   \u9762\u677f \u4e2d \uff0c \u53cc\u51fb   AnimGraph   \u3002 \u60a8 \u5c06 \u770b\u5230 \u56fe\u8868 \u51fa\u73b0 \u5728 \u89c6 \u53e3\u4e2d \u3002   \u5355\u51fb \u5e76 \u62d6\u52a8 \u4ee5 \u9009\u62e9   Mesh   Space   Ref   Pose   \u3001   Wheel   Handler   \u548c   Component   To   Local   \u7ec4\u4ef6 \u3002 \u53f3\u952e \u5355\u51fb \u5e76 \u9009\u62e9 \u590d\u5236 \u3002   \u8fd4\u56de \u60a8 \u81ea\u5df1 \u7684 \u8f66\u8f86 \u52a8\u753b \u84dd\u56fe \u5e76 \u5c06 \u590d\u5236 \u7684 \u5185\u5bb9 \u7c98\u8d34 \u5230 \u56fe\u5f62 \u533a\u57df \u4e2d \u3002   \u5355\u51fb   Component   To   Local   \u7ec4\u4ef6 \u4e2d \u7684 \u7ad9\u7acb \u4eba\u7269 \u5e76 \u5c06 \u5176 \u62d6\u52a8 \u5230   Output   Pose   \u4e2d \u7684 \u4eba\u7269 \uff0c \u4ee5 \u5c06 \u7ec4\u4ef6 \u8fde\u63a5 \u5728 \u4e00\u8d77 \u3002   \u5355\u51fb \u5de6\u4e0a \u4e0a\u89d2 \u5de6\u4e0a\u89d2 \u7684   Compile   \u3002 \u60a8 \u73b0\u5728 \u5e94\u8be5 \u770b\u5230 \u4e00\u6761 \u8109\u52a8 \u7684 \u7ebf \u6d41\u8fc7 \u6574\u4e2a \u5e8f\u5217 \u3002   \u4fdd\u5b58 \u5e76 \u5173\u95ed \u7a97\u53e3 \u3002   6 .   \u51c6\u5907 \u8f66\u8f86 \u548c \u8f66\u8f6e \u84dd\u56fe \u3002   \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   Content   Browser   \u4e2d \uff0c \u8f6c \u5230   Content / Carla / Blueprints / Vehicles   \u5e76 \u521b\u5efa \u4e00\u4e2a \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   < vehicle _ name >   \u3002   \u5728 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \uff0c \u53f3\u952e \u5355\u51fb \u5e76 \u8f6c\u5230   Blueprint   Class   \u3002 \u5728 \u5f39\u51fa \u7a97\u53e3 \u4e2d \u6253\u5f00   All   Classes   \u90e8\u5206 \u3002   \u641c\u7d22   BaseVehiclePawn   \u5e76 \u6309   Select   \u3002   \u5c06 \u6587\u4ef6 \u547d\u540d \u91cd\u547d\u540d \u4e3a   BP _ < vehicle _ name >   \u3002   \u8f6c \u5230   Carla / Blueprints / Vehicles   \u4e2d \u4efb\u4f55 \u672c\u5730   Carla   \u8f66\u8f86 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   Content   Browser   \u4e2d \uff0c \u5c06 \u56db\u8f6e \u84dd\u56fe \u590d\u5236 \u590d\u5236\u5230 \u60a8 \u81ea\u5df1 \u8f66\u8f86 \u7684 \u84dd\u56fe \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u547d\u540d \u91cd\u547d\u540d \u6587\u4ef6 \u4ee5 \u5c06 \u65e7 \u8f66\u8f86 \u540d\u79f0 \u66ff\u6362 \u4e3a \u60a8 \u81ea\u5df1 \u7684 \u8f66\u8f86 \u540d\u79f0 \u3002   7 .   \u914d\u7f6e \u8f6e\u5b50 \u84dd\u56fe \u3002   \u5728 \u8f66\u8f86 \u84dd\u56fe \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u6253\u5f00 \u6240\u6709 \u56db\u4e2a \u8f66\u8f6e \u84dd\u56fe \u3002   \u5728   Class   Defaults   \u9762\u677f \u4e2d \uff0c \u5c06   Collision   Mesh   \u8bbe\u7f6e \u4e3a   Wheel _ Shape   \u3002   \u7701\u7565 \u6b64 \u6b65\u9aa4 \u5c06 \u5bfc\u81f4 \u8f66\u8f86 \u8f66\u8f6e \u9677\u5165 \u5730\u9762   \u3002   \u6839\u636e \u60a8 \u7684 \u8f66\u8f86 \u89c4\u683c \u8c03\u6574 \u8f66\u8f6e \u5f62\u72b6 \u534a\u5f84 \u3001 \u5bbd\u5ea6 \u3001 \u8d28\u91cf \u548c \u963b\u5c3c \u7387 \u7684 \u503c \u3002   \u5c06 \u8f6e\u80ce \u914d\u7f6e   Tire   Config   \u8bbe\u7f6e \u4e3a   CommonTireConfig   \u3002   \u5728 \u524d\u8f6e \u4e0a \u6839\u636e \u60a8 \u7684 \u559c\u597d \u8bbe\u7f6e \u8f6c\u5411 \u89d2\u5ea6   Steer   Angle   \uff08 \u9ed8\u8ba4 \u4e3a   70   \uff09 \u3002 \u53d6\u6d88 \u9009\u4e2d   Affected   by   Handbrake   \u3002   \u5728 \u540e\u8f6e \u4e0a\u5c06 \u8f6c\u5411 \u89d2\u5ea6   Steer   Angle   \u8bbe\u7f6e \u4e3a   0   \u3002 \u68c0\u67e5   Affected   by   Handbrake   \u3002   \u8bbe\u7f6e \u60ac\u67b6 \u503c\u65f6 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528   \u6b64\u5904   \u7684 \u503c \u4f5c\u4e3a \u6307\u5bfc \u3002   \u7f16\u8bd1 \u5e76 \u4fdd\u5b58 \u3002   8 .   \u914d\u7f6e \u8f66\u8f86 \u84dd\u56fe \u3002   \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   Content   Browser   \u4e2d \uff0c \u6253\u5f00 \u60a8 \u7684   BP _ < vehicle _ name >   \u3002   \u5728   Components   \u9762\u677f \u4e2d \uff0c \u9009\u62e9   Mesh   ( VehicleMesh )   ( Inherited )   \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Skeletal   Mesh   \u5e76 \u641c\u7d22 \u5e76 \u9009\u62e9 \u8f66\u8f86 \u7684 \u57fa\u7840 \u9aa8\u67b6 \u6587\u4ef6 \uff08 \u4f4d\u4e8e   Carla / Static / Vehicles / 4Wheeled / < vehicle _ name >   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff09 \u3002   \u8f6c \u5230   Details   \u9762\u677f \u4e2d \u7684   Anim   Class   \u3002 \u641c\u7d22 \u5e76 \u9009\u62e9 \u60a8 \u7684   AnimBP _ < vehicle _ name >   \u6587\u4ef6 \u3002   \u5728   Components   \u9762\u677f \u4e2d \uff0c \u9009\u62e9   Custom   Collision   ( Inherited )   \u3002   \u5728   Details   \u9762\u677f \u4e2d \u9009\u62e9   Static   Mesh   \u5e76 \u641c\u7d22 \u60a8 \u7684   SM _ sc _ < vehicle _ name >   \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7f51\u683c \u4f53 \u3002   \u5728   Components   \u9762\u677f \u4e2d \uff0c \u9009\u62e9   VehicleMovement   ( MovementComp )   ( Inherited )   \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u641c\u7d22   wheel   \u3002 \u60a8 \u5c06 \u627e\u5230 \u6bcf\u4e2a \u8f6e\u5b50 \u7684 \u8bbe\u7f6e \u3002 \u5bf9\u4e8e \u6bcf \u4e00\u4e2a \uff0c \u5355\u51fb   Wheel   Class   \u5e76 \u641c\u7d22 \u4e0e \u6b63\u786e \u8f66\u8f6e \u4f4d\u7f6e \u76f8\u5bf9 \u5e94 \u7684   BP _ < vehicle _ name > _ < wheel _ name >   \u6587\u4ef6 \u3002   \u5982\u679c \u60a8 \u7684 \u8f66\u8f86 \u6709 \u4efb\u4f55 \u4e0e \u57fa\u7840 \u7f51\u683c \u5206\u5f00 \u7684 \u9644\u52a0 \u7f51\u683c \uff08 \u95e8 \u3001 \u706f \u7b49 \uff09 \uff1a   \u5c06 \u5b83\u4eec \u62d6 \u5230   Components   \u9762\u677f \u4e2d \u7684   Mesh   ( VehicleMesh )   ( Inherited )   \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u3002   \u9009\u62e9 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u7684 \u989d\u5916 \u7f51\u683c \u5e76 \u5728   Details   \u9762\u677f \u4e2d \u641c\u7d22   Collision   \u3002   \u5c06 \u78b0\u649e \u9884\u8bbe   Collision   Presets   \u8bbe\u7f6e \u4e3a   NoCollision   \u3002   \u9009\u62e9 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u7684 \u4efb\u4f55 \u706f\u5149 \u7f51\u683c \u3002 \u5728   Details   \u9762\u677f \u4e2d \u641c\u7d22   Tag   \u5e76 \u6dfb\u52a0 \u6807\u7b7e   emissive   \u3002   \u5355\u51fb   Save   \u5e76   Compile   \u3002   \u6211\u4eec \u8fd8 \u53ef\u4ee5   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u7684 \u8f66\u724c   \u3002   9 .   \u5c06 \u8f66\u8f86 \u6dfb\u52a0 \u5230 \u84dd \u56fe\u5e93 \u4e2d \u3002   .   \u5728   Content / Carla / Blueprint / Vehicle   \u4e2d \uff0c \u6253\u5f00   VehicleFactory   \u6587\u4ef6 \u3002   \u5728   Generate   Definitions   \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u53cc\u51fb   Vehicles   \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u5c55\u5f00   Default   Value   \u90e8\u5206 \u5e76 \u5411 \u8f66\u8f86 \u6570\u7ec4 \u6dfb\u52a0 \u4e00\u4e2a \u65b0\u5143 \u5143\u7d20 \u65b0\u5143\u7d20 \u3002   \u586b\u5199 \u60a8 \u8f66\u8f86 \u7684   Make   \u548c   Model   \u3002   \u4f7f\u7528 \u60a8 \u7684   BP _ < vehicle _ name >   \u6587\u4ef6 \u586b\u5199   Class   \u503c \u3002   \uff08 \u53ef \u9009 \uff09 \u4e3a \u8f66\u8f86 \u63d0\u4f9b \u4e00\u7ec4 \u63a8\u8350 \u989c\u8272 \u3002   \u7f16\u8bd1 \u5e76 \u4fdd\u5b58 \u3002   10 .   \u6d4b\u8bd5 \u8f66\u8f86   \u3002   \u542f\u52a8   Carla \uff0c \u6253\u5f00 \u7ec8\u7aef   PythonAPI / examples   \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   python3   manual _ control . py   -- filter   < model _ name >   #   The   make   or   model   defined   in   step   9   \u7b14\u8bb0   \u5373\u4f7f \u60a8 \u5728 \u54c1\u724c \u548c \u578b\u53f7 \u4e2d \u4f7f\u7528 \u4e86 \u5927\u5199 \u5b57\u7b26 \uff0c \u5b83\u4eec \u5728 \u4f20\u9012 \u7ed9 \u8fc7\u6ee4 \u6ee4\u5668 \u8fc7\u6ee4\u5668 \u65f6 \u4e5f \u9700\u8981 \u8f6c\u6362 \u4e3a \u5c0f\u5199 \u5b57\u7b26 \u3002","title":"\u5bfc\u5165 \u5e76 \u914d\u7f6e \u8f66\u8f86  "},{"location":"tuto_A_add_vehicle/#n","text":"\u6dfb\u52a0   N   \u8f6e \u8f66\u8f86 \u9075\u5faa \u4e0e \u4e0a\u8ff0   4   \u8f6e \u8f66\u8f86 \u76f8\u540c \u7684 \u5bfc\u5165 \u7ba1\u9053 \uff0c \u4f46 \u6709 \u51e0\u4e2a \u6b65\u9aa4 \u4e0d\u540c \u3002   5 .   \u914d\u7f6e   N   \u8f6e \u8f66\u8f86 \u7684 \u52a8\u753b \u84dd\u56fe   \u641c\u7d22   BaseVehiclePawnNW   \u5e76 \u6309   Select   \u3002   6 .   \u51c6\u5907 \u8f66\u8f86 \u548c \u8f66\u8f6e \u84dd\u56fe   \u8f6c \u5230   Carla / Blueprints / Vehicles   \u4e2d \u6240\u6709 \u672c\u5730   Carla   \u8f66\u8f86 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u5c06 \u56db\u8f6e \u84dd\u56fe \u590d\u5236 \u590d\u5236\u5230 \u60a8 \u81ea\u5df1 \u8f66\u8f86 \u7684 \u84dd\u56fe \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u547d\u540d \u91cd\u547d\u540d \u6587\u4ef6 \u4ee5 \u5c06 \u65e7 \u8f66\u8f86 \u540d\u79f0 \u66ff\u6362 \u4e3a \u60a8 \u81ea\u5df1 \u7684 \u8f66\u8f86 \u540d\u79f0 \u3002   \u590d\u5236 \u56db\u4e2a \u8f6e\u5b50 \uff0c \u7136\u540e \u518d\u6b21 \u590d\u5236 \u5176\u4ed6 \u8f6e\u5b50 \u3002 \u5982\u679c \u662f   6   \u8f6e \u8f66\u8f86 \uff0c \u60a8 \u5c06 \u9700\u8981   6   \u4e2a \u4e0d\u540c \u7684 \u8f66\u8f6e \uff1a FLW \u3001 FRW \u3001 MLW \u3001 MRW \u3001 RLW \u3001 RRW \u3002   7 .   \u914d\u7f6e \u8f6e\u5b50 \u84dd\u56fe   \u5bf9\u4e8e   4   \u8f6e \u8f66\u8f86 \uff0c \u8bf7 \u9075\u5faa \u4e0a\u8ff0 \u7b2c   7   \u8282 \u3002   N   \u8f6e \u8f66\u8f86 \u7684 \u4e3b\u8981 \u533a\u522b \u5728\u4e8e \u624b\u5239 \u548c \u8f6c\u5411 \u53c2\u6570 \u7684 \u5f71\u54cd \u3002 \u5728 \u67d0\u4e9b \u8f66\u8f86 \uff08 \u4f8b\u5982 \u957f\u8f74 \u8f74\u8ddd \u957f\u8f74\u8ddd \u5361\u8f66 \uff09 \u4e2d \uff0c \u524d   2   \u5bf9 \u8f66\u8f6e \u5c06 \u8fdb\u884c \u8f6c\u5411 \uff0c \u5176\u4e2d \u4e00\u7ec4 \u53ef\u80fd \u6bd4 \u5176\u4ed6 \u8f66\u8f6e \u8f6c\u5411 \u66f4 \u591a \u3002 \u6700\u540e \u9762 \u7684 \u4e00\u5bf9 \u53ef\u80fd \u4f1a \u53d7\u5230 \u624b\u5239 \u7684 \u5f71\u54cd \uff0c \u5177\u4f53 \u60c5\u51b5 \u5177\u4f53\u60c5\u51b5 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u6b63\u5728 \u5efa\u6a21 \u7684 \u8f66\u8f86 \u3002   8 .   \u914d\u7f6e \u8f66\u8f86 \u84dd\u56fe   \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u201d \u9762\u677f \u4e2d \uff0c \u641c\u7d22   wheel   \u3002 \u60a8 \u5c06 \u627e\u5230 \u6bcf\u4e2a \u8f6e\u5b50 \u7684 \u8bbe\u7f6e \u3002 \u5bf9\u4e8e \u6bcf \u4e00\u4e2a \uff0c \u5355\u51fb \u8f66\u8f6e \u7c7b\u522b \u5e76 \u641c\u7d22   BP _   _   \u5bf9\u5e94 \u4e8e \u6b63\u786e \u8f66\u8f6e \u4f4d\u7f6e \u7684 \u6587\u4ef6 \u3002   \u8fd9\u662f \u6b63\u786e \u7684 \uff0c \u4f46 \u53ea\u662f \u4e3a\u4e86 \u6307\u5b9a \uff0c \u5728   N   \u8f6e \u8f66\u8f86 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u60a8 \u9700\u8981 \u8bbe\u7f6e \u6240\u6709 \u8f66\u8f6e \u3002 \u8fd9\u662f   6   \u8f6e \u8f66\u8f86 \u7684 \u793a\u4f8b \uff1a   \u6700\u540e \uff0c \u4e00\u4e2a \u989d\u5916 \u7684 \u8003\u8651 \u56e0\u7d20 \u662f \u8bbe\u7f6e \u5dee\u901f \u5dee\u901f\u5668 \u3002 \u5bf9\u4e8e   4   \u8f6e \u8f66\u8f86 \uff0c \u6211\u4eec \u6709 \u4e0d\u540c \u7684 \u5dee\u901f \u5dee\u901f\u5668 \u9884\u8bbe \uff08 \u9650\u6ed1 \u3001 \u5f00\u653e   4W   \u7b49 \uff09 \uff0c \u4f46 \u5bf9\u4e8e   N   \u8f6e \u8f66\u8f86 \uff0c \u60a8 \u9700\u8981 \u9009\u62e9 \u8981 \u5728 \u54ea\u4e9b \u8f66\u8f6e \u4e0a \u5e94\u7528 \u626d\u77e9 \u3002 \u672c\u4f8b \u4e2d \u6211\u4eec \u9009\u62e9 \u53ea\u6709 \u4e2d \u540e\u8f6e \u6709 \u626d\u77e9 \uff0c \u524d\u8f6e \u6ca1\u6709 \u626d\u77e9 \uff0c \u60a8 \u53ef\u4ee5 \u6307\u5b9a \u5176\u4ed6 \u914d\u7f6e \u3002 \u8fd9\u4e9b \u6570\u5b57 \u5c06 \u4e0e \u672c\u6587 \u4e0a\u65b9 \u7684 \u56fe\u50cf \u76f8\u540c \uff08 \u4f8b\u5982 \uff0c 0   \u5c06 \u662f \u5de6 \u524d\u8f6e \uff0c \u5982\u4e0a \u6240\u8ff0 \u5982\u4e0a\u6240\u8ff0 \uff09 \u3002   \u6240\u6709 \u5176\u4ed6 \u53c2\u6570 \uff0c \u5982 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u3001 \u53d8\u901f \u53d8\u901f\u7bb1 \u3001 \u8f6c\u5411 \u66f2\u7ebf \uff0c \u5747 \u4e0e \u56db\u8f6e \u8f66\u8f86 \u76f8\u540c \u3002","title":"\u6dfb\u52a0   N   \u8f6e \u8f66\u8f86  "},{"location":"tuto_A_add_vehicle/#2","text":"\u6dfb\u52a0   2   \u8f6e \u8f66\u8f86 \u4e0e \u6dfb\u52a0   4   \u8f6e \u8f66\u8f86 \u7c7b\u4f3c \uff0c \u4f46 \u7531\u4e8e \u52a8\u753b \u7684 \u590d\u6742 \u590d\u6742\u6027 \uff0c \u60a8 \u9700\u8981 \u8bbe\u7f6e \u989d\u5916 \u7684 \u9aa8\u9abc \u6765 \u5f15\u5bfc \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u52a8\u753b \u3002   \u8fd9   \u662f \u4e24\u8f6e \u8f66\u8f86 \u53c2\u8003 \u9aa8\u67b6 \u7684 \u94fe\u63a5 \u3002   \u4e0e   4   \u8f6e \u8f66\u8f86 \u4e00\u6837 \uff0c \u5c06 \u6a21\u578b \u671d\u5411 \u6b63 \u201c x \u201d \uff0c \u6bcf\u4e2a \u9aa8\u9abc \u8f74 \u671d\u5411 \u6b63   x \uff0c z   \u8f74\u671d \u4e0a \u3002   Bone   Setup :   -   Bike _ Rig :   #   \u7f51\u683c \u7684 \u539f\u70b9 \u3002 \u5c06 \u5176 \u653e\u7f6e \u5728 \u573a\u666f \u7684 0 \u70b9   -   BikeBody :   #   \u6a21\u578b \u8eab\u4f53 \u7684 \u4e2d\u5fc3 \u3002   -   Pedals :   #   \u5982\u679c \u8f66\u8f86 \u662f \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \uff0c \u5c06 \u811a\u8e0f \u8e0f\u677f \u811a\u8e0f\u677f \u7ed1 \u5728 \u8fd9\u5757 \u9aa8\u5934 \u4e0a \uff0c \u5c31 \u4f1a \u968f\u7740 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u800c \u65cb\u8f6c \u3002   -   RightPedal :   #   \u5982\u679c \u8f66\u8f86 \u662f \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \uff0c \u5219 \u8bbe\u7f6e \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u811a\u90e8 \u4f4d\u7f6e \u5e76 \u4e0e \u811a\u8e0f \u8e0f\u677f \u811a\u8e0f\u677f \u4e00\u8d77 \u65cb\u8f6c \u3002   -   LeftPedal :   #   ^   -   RearWheel :   #   \u8f66\u8f86 \u540e\u8f6e   -   Handler :   #   \u4e0e \u8f66\u8f86 \u7684 \u524d\u8f6e \u4e00\u8d77 \u65cb\u8f6c \uff0c \u5c06 \u8f66\u8f86 \u64cd\u7eb5 \u64cd\u7eb5\u5668 \u56fa\u5b9a \u5728 \u5176 \u4e0a \u3002   -   HandlerMidBone :   #   \u5b9a\u4f4d \u5728 \u524d\u8f6e \u9aa8\u67b6 \u4e0a \uff0c \u4ee5 \u786e\u5b9a \u64cd\u7eb5 \u64cd\u7eb5\u5668 \u4e0e \u8f66\u8f6e \u7684 \u65b9\u5411   -   HandlerRight :   #   \u8bbe\u7f6e \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u624b \u7684 \u4f4d\u7f6e \uff0c \u65e0\u9700 \u5c06 \u5176 \u7ed1\u5b9a \u5230 \u4efb\u4f55 \u4e1c\u897f \u3002   -   HandlerLeft :   #   ^   -   Frontwheel :   #   \u8f66\u8f86 \u7684 \u524d\u8f6e \u3002   -   RightHelperRotator :   #   \u8fd9 \u56db\u5757 \u989d\u5916 \u7684 \u9aa8\u5934 \u662f \u4e3a \u4e00\u4e2a \u8fc7\u65f6 \u7684 \u7cfb\u7edf \u63d0\u4f9b \u7684 \uff0c \u8be5 \u7cfb\u7edf \u901a\u8fc7 \u4f7f\u7528 \u4f20\u7edf \u7684 \u9690\u5f62 \u8f66\u8f6e \u4f7f \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7a33\u5b9a   -   RightHelprWheel :   #   ^   -   LeftHelperRotator :   #   ^   -   LeftHelperWheel :   #   ^   -   Seat :   #   \u8bbe\u7f6e \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u9acb\u9aa8 \u7684 \u4f4d\u7f6e \u3002 \u65e0\u9700 \u5c06 \u5176 \u7ed1 \u5728 \u4efb\u4f55 \u4e1c\u897f \u4e0a \uff0c \u53ea \u9700 \u5c0f\u5fc3 \u653e\u7f6e \u5373\u53ef \u3002   1 .   \u5c06   fbx   \u4f5c\u4e3a   Skelletal   Mesh   \u5bfc\u5165 \u5bfc\u5165\u5230 \u5176 \u81ea\u5df1 \u7684   Content / Carla / Static / Vehicles / 2Wheeled   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u5bfc\u5165 \u65f6 \uff0c \u9009\u62e9 \u201c General2WheeledVehicleSkeleton \u201d \u4f5c\u4e3a \u9aa8\u67b6 \uff0c \u5e94 \u81ea\u52a8 \u521b\u5efa \u5e76 \u94fe\u63a5 \u7269\u7406 \u8d44\u6e90 \u3002   2 .   \u8c03\u6574 \u7269\u7406 \u8d44\u6e90 \u3002 \u5220\u9664 \u81ea\u52a8 \u521b\u5efa \u7684 \u6846 \u5e76 \u5411   BikeBody   \u9aa8\u9abc \u6dfb\u52a0 \u6846 \uff0c \u5c1d\u8bd5 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5339\u914d \u5f62\u72b6 \uff0c \u786e\u4fdd \u542f\u7528 \u751f\u6210 \u547d\u4e2d \u4e8b\u4ef6 \u3002 \u4e3a \u6bcf\u4e2a \u8f6e\u5b50 \u6dfb\u52a0 \u4e00\u4e2a \u7403\u4f53 \u5e76 \u5c06 \u5176 \u201c \u7269\u7406 \u7c7b\u578b \u201d \u8bbe\u7f6e \u4e3a \u201c \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u201d \u3002   3 .   \u521b\u5efa   Content / Blueprints / Vehicles / < vehicle - model >   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   4 .   \u5728 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u521b\u5efa \u4e24\u4e2a \u6d3e\u751f \u81ea \u201c VehicleWheel \u201d \u7c7b \u7684 \u84dd\u56fe \u7c7b \u3002 \u8c03\u7528   < vehicle - model > _ FrontWheel   \u548c   < vehicle - model > _ RearWheel   \u3002 \u5c06 \u5176   \" Shape   Radius \"   \u8bbe\u7f6e \u4e3a \u4e0e \u7f51\u683c \u8f6e \u534a\u5f84 \u5b8c\u5168 \u5339\u914d \uff08 \u5c0f\u5fc3 \uff0c \u534a\u5f84 \u4e0d\u662f \u76f4\u5f84 \uff09 \u3002 \u5c06 \u5176 \u201c \u8f6e\u80ce \u914d\u7f6e \u201d \u8bbe\u7f6e \u4e3a \u201c CommonTireConfig \u201d \u3002 \u5728 \u524d\u8f6e \u4e0a \u53d6\u6d88 \u9009\u4e2d \u201c \u53d7 \u624b\u5239 \u5f71\u54cd \u201d \uff0c \u5728 \u540e\u8f6e \u4e0a\u5c06 \u201c \u8f6c\u5411 \u89d2 \u201d \u8bbe\u7f6e \u4e3a \u96f6 \u3002   5 .   \u5728 \u540c\u4e00 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u521b\u5efa \u4e00\u4e2a \u6d3e\u751f   Base2WheeledVehicle   \u7684 \u84dd\u56fe \u7c7b \uff0c \u5e76 \u8c03\u7528 \u5b83   < vehicle - model >   \u3002 \u6253\u5f00 \u5b83 \u8fdb\u884c \u7f16\u8f91 \uff0c \u9009\u62e9 \u7ec4\u4ef6 \u201c Mesh \u201d \uff0c \u5c06 \u201c Skeletal   Mesh \u201d \u548c \u201c Anim   Class \u201d \u8bbe\u7f6e \u4e3a \u76f8\u5e94 \u7684 \u3002 \u7136\u540e \u9009\u62e9   VehicleBounds   \u7ec4\u4ef6 \u5e76 \u8bbe\u7f6e \u5927\u5c0f \u4ee5 \u8986\u76d6 \u8f66\u8f86 \u533a\u57df \uff08 \u5982\u4e0a \u4e0a\u56fe \u5982\u4e0a\u56fe \u6240\u793a \uff09 \u3002   6 .   \u9009\u62e9 \u7ec4\u4ef6 \u201c VehicleMovement \u201d \uff0c \u5728 \u201c Vehicle   Setup \u201d \u4e0b \u5c55\u5f00 \u201c Wheel   Setups \u201d \uff0c \u8bbe\u7f6e \u5404\u4e2a \u8f66\u8f6e \u3002   0 :   \u8f6e\u7c7b =   < vehicle - model > _ FrontWheel   ,   \u9aa8\u9abc \u540d\u79f0 =   FrontWheel   1 :   \u8f6e\u7c7b =   < vehicle - model > _ FrontWheel   ,   \u9aa8\u9abc \u540d\u79f0 =   FrontWheel   2 :   \u8f6e\u7c7b =   < vehicle - model > _ RearWheel   ,   \u9aa8\u9abc \u540d\u79f0 =   RearWheel   3 :   \u8f6e\u7c7b =   < vehicle - model > _ RearWheel   ,   \u9aa8\u9abc \u540d\u79f0 =   RearWheel   \uff08 \u60a8 \u4f1a \u6ce8\u610f \u5230 \uff0c \u6211\u4eec \u57fa\u672c \u57fa\u672c\u4e0a \u5728 \u6bcf\u4e2a \u9aa8\u9abc \u4e2d \u653e\u7f6e \u4e86 \u4e24\u4e2a \u8f6e\u5b50 \u3002 unreal   \u63d0\u4f9b \u7684 \u8f66\u8f86 \u7c7b\u522b \u4e0d \u652f\u6301 \u8f66\u8f6e \u7f16\u53f7 \u4e0d\u540c \u540c\u4e8e \u4e0d\u540c\u4e8e   4   \u7684 \u8f66\u8f86 \uff0c \u56e0\u6b64 \u6211\u4eec \u5fc5\u987b \u8ba9 \u5b83 \u76f8\u4fe1 \u8f66\u8f86 \u5177\u6709 4 \u4e2a \u8f6e\u5b50 \uff09   7 .   \u9009\u62e9 \u53d8\u91cf   \" is   bike \"   \uff0c \u5982\u679c \u60a8 \u7684 \u578b\u53f7 \u662f \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \uff0c \u5219 \u52fe\u9009 \u5b83 \u3002 \u8fd9 \u5c06 \u6fc0\u6d3b \u8e0f\u677f \u65cb\u8f6c \u3002 \u5982\u679c \u60a8 \u8981 \u5b89\u88c5 \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \uff0c \u8bf7 \u4e0d\u8981 \u6807\u8bb0 \u3002   8 .   \u627e\u5230 \u53d8\u91cf   back   Rotation   \u5e76 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u66f4 \u5408\u9002 \u7684 \u4f4d\u7f6e \uff0c \u66f4\u597d \u5730 \u9009\u62e9 \u7ec4\u4ef6   SkeletalMesh \uff08 \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \uff09 \u5e76 \u5c06 \u5176 \u6cbf   x   \u8f74 \u79fb\u52a8 \uff0c \u76f4\u5230 \u5176 \u4f4d\u4e8e \u5ea7\u6905 \u4f4d\u7f6e \u3002   9 .   \u6d4b\u8bd5 \u4e00\u4e0b \uff0c \u8fdb\u5165 CarlaGameMode \u84dd\u56fe \u5e76 \u5c06 \u201c Default   Pawn   Class \u201d \u66f4 \u6539\u4e3a \u65b0\u521b \u521b\u5efa \u65b0\u521b\u5efa \u7684 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u84dd\u56fe \u3002","title":"\u6dfb\u52a0   2   \u8f6e \u8f66\u8f86  "},{"location":"tuto_A_create_standalone/","text":"\u521b\u5efa \u8d44\u4ea7 \u53d1\u884c \u5305   \u4f7f\u7528 \u72ec\u7acb \u5305 \u7ba1\u7406 \u8d44\u4ea7 \u662f   Carla   \u7684 \u5e38\u89c1 \u505a\u6cd5 \u3002 \u5c06 \u5b83\u4eec \u653e\u5728 \u4e00\u8fb9 \u53ef\u4ee5 \u51cf\u5c11 \u6784\u5efa \u7684 \u5927\u5c0f \u3002 \u8fd9\u4e9b \u8d44\u6e90 \u5305 \u53ef\u4ee5 \u968f\u65f6 \u8f7b\u677e \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u5305\u4e2d \u3002 \u5b83\u4eec \u5bf9\u4e8e \u4ee5\u6709 \u7ec4\u7ec7 \u7684 \u65b9\u5f0f \u8f7b\u677e \u5206\u914d \u8d44\u4ea7 \u4e5f \u975e\u5e38 \u6709\u7528 \u3002   \u5728 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u51fa \u5305   \u4f7f\u7528   Docker   \u5bfc\u51fa \u5305   \u5c06 \u8d44\u6e90 \u5bfc\u5165   Carla   \u5305   \u5728 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u51fa \u5305   \u5c06 \u8d44\u4ea7 \u5bfc\u5165 \u865a\u5e7b \u540e \uff0c \u7528\u6237 \u53ef\u4ee5 \u4e3a \u5176 \u751f\u6210   \u72ec\u7acb \u7684 \u5305   \u3002 \u8fd9 \u5c06 \u7528\u4e8e \u5c06 \u5185\u5bb9 \u5206\u53d1 \u5230   Carla   \u5305 \uff0c \u4f8b\u5982   0.9 . 8 \u3002   \u8981 \u5bfc\u51fa \u5305 \uff0c \u53ea \u9700 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u5373\u53ef \u3002   make   package   ARGS = \" -- packages = Package1 , Package2 \"   \u8fd9 \u5c06 \u4e3a \u5217\u51fa \u7684 \u6bcf\u4e2a \u5305 \u521b\u5efa \u4e00\u4e2a \u538b\u7f29 \u5728   . tar . gz   \u6587\u4ef6 \u4e2d \u7684 \u72ec\u7acb \u5305 \u3002 \u5728   Linux   \u4e0a \u6587\u4ef6 \u5c06 \u4fdd\u5b58 \u5728   Dist   \uff0c \u5728   Windows   \u4e0a \u6587\u4ef6 \u4fdd\u5b58 \u5728   / Build / UE4Carla /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u3002   \u4f7f\u7528   Docker   \u5bfc\u51fa \u5305   \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u53ef\u4ee5 \u6784\u5efa \u5728   Docker   \u6620\u50cf \u4e2d \uff0c \u7136\u540e \u53ef\u4ee5 \u4f7f\u7528 \u8be5 \u6620\u50cf \u521b\u5efa \u5305 \u6216 \u5bfc\u51fa \u8d44\u6e90 \u4ee5 \u5728 \u5305\u4e2d \u4f7f\u7528 \u3002   \u8981 \u521b\u5efa   Docker   \u6620\u50cf \uff0c \u8bf7 \u6309\u7167   \u6b64\u5904   \u7684 \u6559\u7a0b \u8fdb\u884c \u64cd\u4f5c \u3002   \u51c6\u5907 \u597d \u955c\u50cf \u540e \uff1a   \u5bfc\u822a \u81f3   Util / Docker   \u3002   \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4e4b\u4e00 \u521b\u5efa   Carla   \u5305 \u6216 \u51c6\u5907 \u5728 \u5305\u4e2d \u4f7f\u7528 \u7684 \u8d44\u6e90 \uff1a   #   \u521b\u5efa \u72ec\u7acb \u7684 \u5305   . / docker _ tools . py   -- output   / output / path   #   \u70d8\u57f9 \u5728   Carla   \u5305\u4e2d \u4f7f\u7528 \u7684 \u8d44\u4ea7   . / docker _ tools . py   -- input   / assets / to / import / path   -- output   / output / path   -- packages   PkgeName1 , PkgeName2   \u5c06 \u8d44\u6e90 \u5bfc\u5165   Carla   \u5305   \u72ec\u7acb \u5305 \u5305\u542b \u5728   . tar . gz   \u6587\u4ef6 \u4e2d \u3002 \u63d0\u53d6 \u65b9\u5f0f \u53d6\u51b3 \u53d6\u51b3\u4e8e \u5e73\u53f0 \u3002   \u5728   Windows   \u4e0a \uff0c   \u5c06 \u538b\u7f29 \u6587\u4ef6 \u538b\u7f29\u6587\u4ef6 \u89e3\u538b \u5230 \u4e3b\u6839   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5728   Linux   \u4e0a \uff0c   \u5c06 \u538b\u7f29 \u6587\u4ef6 \u538b\u7f29\u6587\u4ef6 \u79fb\u81f3   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u811a\u672c \u3002   cd   Import   . / ImportAssets . sh   \u7b14\u8bb0   \u72ec\u7acb \u5305 \u65e0\u6cd5 \u76f4\u63a5 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u6784\u5efa \u4e2d \u3002 \u6309\u7167 \u6559\u7a0b \u5bfc\u5165   \u9053\u5177   \u3001   \u5730\u56fe   \u6216   \u8f66\u8f86   \u3002   \u8fd9 \u603b\u7ed3 \u4e86 \u5982\u4f55 \u5728   Carla   \u4e2d \u521b\u5efa \u548c \u4f7f\u7528 \u72ec\u7acb \u5305 \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u610f\u5916 \u95ee\u9898 \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e16 \u3002   Carla   \u8bba\u575b","title":"tuto   A   create   standalone"},{"location":"tuto_A_create_standalone/#_1","text":"\u4f7f\u7528 \u72ec\u7acb \u5305 \u7ba1\u7406 \u8d44\u4ea7 \u662f   Carla   \u7684 \u5e38\u89c1 \u505a\u6cd5 \u3002 \u5c06 \u5b83\u4eec \u653e\u5728 \u4e00\u8fb9 \u53ef\u4ee5 \u51cf\u5c11 \u6784\u5efa \u7684 \u5927\u5c0f \u3002 \u8fd9\u4e9b \u8d44\u6e90 \u5305 \u53ef\u4ee5 \u968f\u65f6 \u8f7b\u677e \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u5305\u4e2d \u3002 \u5b83\u4eec \u5bf9\u4e8e \u4ee5\u6709 \u7ec4\u7ec7 \u7684 \u65b9\u5f0f \u8f7b\u677e \u5206\u914d \u8d44\u4ea7 \u4e5f \u975e\u5e38 \u6709\u7528 \u3002   \u5728 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u51fa \u5305   \u4f7f\u7528   Docker   \u5bfc\u51fa \u5305   \u5c06 \u8d44\u6e90 \u5bfc\u5165   Carla   \u5305","title":"\u521b\u5efa \u8d44\u4ea7 \u53d1\u884c \u5305"},{"location":"tuto_A_create_standalone/#carla","text":"\u5c06 \u8d44\u4ea7 \u5bfc\u5165 \u865a\u5e7b \u540e \uff0c \u7528\u6237 \u53ef\u4ee5 \u4e3a \u5176 \u751f\u6210   \u72ec\u7acb \u7684 \u5305   \u3002 \u8fd9 \u5c06 \u7528\u4e8e \u5c06 \u5185\u5bb9 \u5206\u53d1 \u5230   Carla   \u5305 \uff0c \u4f8b\u5982   0.9 . 8 \u3002   \u8981 \u5bfc\u51fa \u5305 \uff0c \u53ea \u9700 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u5373\u53ef \u3002   make   package   ARGS = \" -- packages = Package1 , Package2 \"   \u8fd9 \u5c06 \u4e3a \u5217\u51fa \u7684 \u6bcf\u4e2a \u5305 \u521b\u5efa \u4e00\u4e2a \u538b\u7f29 \u5728   . tar . gz   \u6587\u4ef6 \u4e2d \u7684 \u72ec\u7acb \u5305 \u3002 \u5728   Linux   \u4e0a \u6587\u4ef6 \u5c06 \u4fdd\u5b58 \u5728   Dist   \uff0c \u5728   Windows   \u4e0a \u6587\u4ef6 \u4fdd\u5b58 \u5728   / Build / UE4Carla /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u3002","title":"\u5728 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u51fa \u5305  "},{"location":"tuto_A_create_standalone/#docker","text":"\u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u53ef\u4ee5 \u6784\u5efa \u5728   Docker   \u6620\u50cf \u4e2d \uff0c \u7136\u540e \u53ef\u4ee5 \u4f7f\u7528 \u8be5 \u6620\u50cf \u521b\u5efa \u5305 \u6216 \u5bfc\u51fa \u8d44\u6e90 \u4ee5 \u5728 \u5305\u4e2d \u4f7f\u7528 \u3002   \u8981 \u521b\u5efa   Docker   \u6620\u50cf \uff0c \u8bf7 \u6309\u7167   \u6b64\u5904   \u7684 \u6559\u7a0b \u8fdb\u884c \u64cd\u4f5c \u3002   \u51c6\u5907 \u597d \u955c\u50cf \u540e \uff1a   \u5bfc\u822a \u81f3   Util / Docker   \u3002   \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4e4b\u4e00 \u521b\u5efa   Carla   \u5305 \u6216 \u51c6\u5907 \u5728 \u5305\u4e2d \u4f7f\u7528 \u7684 \u8d44\u6e90 \uff1a   #   \u521b\u5efa \u72ec\u7acb \u7684 \u5305   . / docker _ tools . py   -- output   / output / path   #   \u70d8\u57f9 \u5728   Carla   \u5305\u4e2d \u4f7f\u7528 \u7684 \u8d44\u4ea7   . / docker _ tools . py   -- input   / assets / to / import / path   -- output   / output / path   -- packages   PkgeName1 , PkgeName2","title":"\u4f7f\u7528   Docker   \u5bfc\u51fa \u5305  "},{"location":"tuto_A_create_standalone/#carla_1","text":"\u72ec\u7acb \u5305 \u5305\u542b \u5728   . tar . gz   \u6587\u4ef6 \u4e2d \u3002 \u63d0\u53d6 \u65b9\u5f0f \u53d6\u51b3 \u53d6\u51b3\u4e8e \u5e73\u53f0 \u3002   \u5728   Windows   \u4e0a \uff0c   \u5c06 \u538b\u7f29 \u6587\u4ef6 \u538b\u7f29\u6587\u4ef6 \u89e3\u538b \u5230 \u4e3b\u6839   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5728   Linux   \u4e0a \uff0c   \u5c06 \u538b\u7f29 \u6587\u4ef6 \u538b\u7f29\u6587\u4ef6 \u79fb\u81f3   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u811a\u672c \u3002   cd   Import   . / ImportAssets . sh   \u7b14\u8bb0   \u72ec\u7acb \u5305 \u65e0\u6cd5 \u76f4\u63a5 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u6784\u5efa \u4e2d \u3002 \u6309\u7167 \u6559\u7a0b \u5bfc\u5165   \u9053\u5177   \u3001   \u5730\u56fe   \u6216   \u8f66\u8f86   \u3002   \u8fd9 \u603b\u7ed3 \u4e86 \u5982\u4f55 \u5728   Carla   \u4e2d \u521b\u5efa \u548c \u4f7f\u7528 \u72ec\u7acb \u5305 \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u610f\u5916 \u95ee\u9898 \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e16 \u3002   Carla   \u8bba\u575b","title":"\u5c06 \u8d44\u6e90 \u5bfc\u5165   Carla   \u5305  "},{"location":"tuto_A_material_customization/","text":"\u6750\u8d28 \u5b9a\u5236   Carla   \u56e2\u961f \u51c6\u5907 \u6bcf\u4e2a \u8d44\u4ea7 \u5728 \u67d0\u4e9b \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e0b \u8fd0\u884c \u3002 \u4f46\u662f \uff0c \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684 \u7528\u6237 \u53ef\u4ee5 \u4fee\u6539 \u8fd9\u4e9b \u5185\u5bb9 \u4ee5 \u6700 \u9002\u5408 \u4ed6\u4eec \u7684 \u9700\u6c42 \u3002   \u6c7d\u8f66 \u6750\u8d28   \u5b9a\u5236 \u6c7d\u8f66 \u6750\u8d28   \u5916\u89c2 \u7279\u6027   \u5efa\u7b51 \u6750\u8d28   \u5b9a\u5236 \u5efa\u7b51 \u6750\u6599 \u5efa\u7b51\u6750\u6599   \u91cd\u8981   \u672c \u6559\u7a0b \u4ec5 \u9002\u7528 \u4e8e \u4f7f\u7528 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u5e76 \u6709\u6743 \u8bbf\u95ee \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u7528\u6237 \u3002   \u6c7d\u8f66 \u6750\u8d28   \u5728   Carla   \u4e2d \uff0c \u6709 \u4e00\u7ec4 \u4e3b \u6750\u6599 \u7528\u4f5c \u8f66\u8f86 \u4e0d\u540c \u90e8\u4ef6 \u7684 \u6a21\u677f \u3002 \u4e3a \u6bcf\u4e2a \u8f66\u8f86 \u6a21\u578b \u521b\u5efa \u4e00\u4e2a \u5b9e\u4f8b \uff0c \u7136\u540e \u66f4 \u6539\u4e3a \u6240 \u9700 \u7684 \u7ed3\u679c \u3002 \u4e3b\u8981 \u6750\u8d28 \u53ef\u4ee5 \u5728   Content / Carla / Static / GenericMaterials / Vehicles   \uff08 \u4f4d\u4e8e \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7684   Unreal / CarlaUE4   \u76ee\u5f55 \u4e2d \uff09 \u4e2d \u627e\u5230 \uff0c \u5982\u4e0b \u6240\u793a \u3002   \u9002\u7528 \u4e8e \u6c7d\u8f66 \u7684 \u4e3b \u6750\u6599 \u3002   M _ CarExterior _ Master   \u2014   \u5e94\u7528 \u4e8e \u8f66\u8eab \u7684 \u6750\u8d28 \u3002   M _ CarInterior _ Master   \u2014   \u5e94\u7528 \u4e8e \u6c7d\u8f66 \u5185\u90e8 \u7684 \u6750\u8d28 \u3002   M _ CarLightsGlass _ Master   \u2014   \u5e94\u7528 \u4e8e \u8986\u76d6 \u8f66\u706f \u7684 \u73bb\u7483 \u7684 \u6750\u8d28 \u3002   M _ CarWindows _ Master   \u2014   \u5e94\u7528 \u4e8e \u7a97\u6237 \u7684 \u6750\u8d28 \u3002   M _ CarLicensePlate _ Master   \u2014   \u5e94\u7528 \u4e8e \u8f66\u724c \u7684 \u6750\u8d28 \u3002   M _ VehicleLights _ Master   \u2014   \u4f5c\u4e3a \u53d1\u5c04 \u7eb9\u7406 \u5e94\u7528 \u4e8e \u6c7d\u8f66 \u8f66\u706f \u6c7d\u8f66\u706f \u7684 \u6750\u8d28 \u3002   M _ VehicleLights _ Sirens _ Master   \u2014   \u5e94\u7528 \u4e8e \u8b66\u62a5 \u8b66\u62a5\u5668 \u7684 \u6750\u8d28 \uff08 \u5982\u679c \u9002\u7528 \uff09 \u3002   \u5b9a\u5236 \u6c7d\u8f66 \u6750\u8d28   \u521b\u5efa \u4e3b \u6750\u6599 \u7684 \u5b9e\u4f8b \u5e76 \u5c06 \u5b83\u4eec \u5b58\u50a8 \u5728 \u65b0 \u6a21\u578b \u7684 \u76f8\u5e94 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u4ee5\u4e0b \u662f \u84dd \u56fe\u5e93 \u4e2d\u4e3a \u8b66\u8f66 \u521b\u5efa \u7684 \u5b9e\u4f8b \uff0c   vehicle . dodge _ charger . police   \u3002   \u8b66\u8f66 \u84dd\u56fe \u7684 \u5b9e\u4f8b \u6750\u6599 \u3002   \u6750\u6599 \u7684 \u901a\u7528 \u6587\u6863 \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528 \u5b83\u4eec \u53ef\u4ee5 \u5728   \u865a\u5e7b \u5f15\u64ce \u6587\u6863   \u4e2d \u627e\u5230 \u3002 \u6240\u6709 \u6750\u6599 \u90fd \u53ef\u4ee5 \u8fdb\u884c \u5f88\u5927 \u7a0b\u5ea6 \u7684 \u4fee\u6539 \uff0c \u4f46 \u53ea\u6709 \u5916\u89c2 \u6750\u6599 \u7684 \u6027\u80fd \u503c\u5f97 \u503c\u5f97\u4e00\u63d0 \u3002 \u5176\u4ed6 \u6750\u6599 \u5177\u6709 \u67d0\u4e9b \u53ef\u4ee5 \u66f4\u6539 \u7684 \u5c5e\u6027 \uff0c \u4f8b\u5982 \u73bb\u7483 \u6750\u6599 \u7684 \u4e0d \u900f\u660e \u660e\u5ea6 \u900f\u660e\u5ea6 \u548c \u989c\u8272 \uff0c \u4f46 \u4e0d \u5efa\u8bae \u8fd9\u6837 \u505a \uff0c \u9664\u975e \u6709 \u7279\u5b9a \u7528\u9014 \u3002   \u5916\u89c2 \u7279\u6027   \u5916\u89c2 \u6750\u6599 \u5e94\u7528 \u4e8e \u8f66\u8eab \uff0c \u662f \u6700 \u53ef \u5b9a\u5236 \u7684 \u4e00\u79cd \uff08 \u53cc\u51fb   M _ CarExterior _ Master   \uff0c \u8fdb\u5165   \u53c2\u6570 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \u9009\u9879 \u9009\u9879\u5361 \uff09 \u3002   Base   color   \u2014   \u8f66\u8eab \u7684 \u57fa\u8272 \u3002   Tint   shade   \u2014   \u8272\u8c03 \u7684 \u53ef\u89c1 \u53ef\u89c1\u5ea6 \u6839\u636e \u53ef\u89c6 \u89d2\u5ea6 \u800c \u53d8\u5316 \u3002   \u5e26\u6709 \u7c89\u7ea2 \u7ea2\u8272 \u7c89\u7ea2\u8272 \u8c03 \u7684 \u7ea2\u8272 \u6c7d\u8f66 \u3002 \u5de6\u4fa7 \uff0c \u8272\u8c03 \u5df2 \u7981\u7528 \uff0c \u53f3\u4fa7 \uff0c \u8272\u8c03 \u5df2 \u542f\u7528 \u3002   Global   Dust   \u2014   \u6d82 \u5728 \u6c7d\u8f66 \u4e0a \u7684 \u6c61\u57a2 \u7eb9\u7406 \u3002 \u7070\u5c18 \u4f1a \u5806\u79ef \u5728 \u51e0\u4f55 \u51e0\u4f55\u4f53 \u7684 \u9876\u90e8 \uff0c \u800c \u5728 \u5e95\u90e8 \u51e0\u4e4e \u4e0d\u4f1a \u88ab \u6ce8\u610f \u5230 \u3002 \u5982\u679c \u65cb\u8f6c \u51e0\u4f55 \u51e0\u4f55\u4f53 \uff0c \u7070\u5c18 \u5c06 \u51fa\u73b0 \u5728 \u8f66\u8f86 \u9876\u90e8 \u7684 \u90e8\u4ef6 \u4e0a \u3002   Dust _ Amount   \u2014   \u7eb9\u7406 \u7684 \u4e0d \u900f\u660e \u660e\u5ea6 \u900f\u660e\u5ea6 \u3002   DustColor   \u2014   \u7070\u5c18 \u7eb9\u7406 \u7684 \u57fa\u8272 \u3002   Tiling   \u2014   \u7070\u5c18 \u7eb9\u7406 \u56fe\u6848 \u7684 \u5927\u5c0f \u548c \u91cd\u590d \u3002   Thickness   \u2014   \u7070\u5c18 \u7684 \u5bc6\u5ea6 \u3002   Roughness   \u2014   \u7531\u4e8e \u7070\u5c18 \u800c \u51cf\u5c11 \u6c7d\u8f66 \u7684 \u91d1\u5c5e \u53cd\u5c04 \u3002   \u6c7d\u8f66 \u6750\u6599 \u4e2d \u7684 \u7070\u5c18 \u7279\u6027 \u3002   Global   Flakes   \u2014   \u6c7d\u8f66 \u91d1\u5c5e \u91d1\u5c5e\u6f06 \u4e0a \u95ea\u95ea \u53d1\u5149 \u95ea\u95ea\u53d1\u5149 \u7684 \u8584\u7247 \u3002   Flakes   On / Off   \u2014   \u542f\u7528 \u6216 \u7981\u7528 \u8be5 \u529f\u80fd \u3002   Flake   Scale   \u2014   \u8584\u7247 \u7684 \u5927\u5c0f \u3002   Flake   Brightness   \u2014   \u95ea\u5149 \u7684 \u5f3a\u5ea6 \u3002   Flakes   Color   \u2014   \u7c92\u5b50 \u7684 \u57fa\u8272 \u3002   \u6c7d\u8f66 \u6750\u6599 \u4e2d \u7684 \u8584\u7247 \u7279\u6027 \u3002   Global   Gain   \u2014   \u6c7d\u8f66 \u5e95\u6f06 \u7684 \u566a\u97f3 \u3002   Gain   On / Off   \u2014   \u542f\u7528 \u6216 \u7981\u7528 \u8be5 \u529f\u80fd \u3002   Scale   \u2014   \u589e\u76ca \u7684 \u5927\u5c0f \u3002   Color   \u2014   \u589e\u76ca \u7684 \u57fa\u8272 \u3002   \u6c7d\u8f66 \u6750\u8d28 \u4e2d \u7684 \u589e\u76ca \u5c5e\u6027 \u3002   Global   Mud   \u2014   \u6d82 \u5728 \u6c7d\u8f66 \u4e0a \u7684 \u6ce5\u6d46 \u7eb9\u7406 \u3002 \u6ce5\u6d46 \u4ece\u8f66 \u7684 \u5e95\u90e8 \u5230 \u9876\u90e8 \u51fa\u73b0 \u3002   Height   \u2014   \u6c7d\u8f66 \u51fa\u73b0 \u6ce5\u6d46 \u7684 \u90e8\u5206 \u3002   Mud _ Color   \u2014   \u6ce5\u6d46 \u7eb9\u7406 \u7684 \u5e95\u8272 \u3002   Mud _ Tiling   \u2014   \u6ce5\u6d46 \u7eb9\u7406 \u56fe\u6848 \u7684 \u5927\u5c0f \u548c \u91cd\u590d \u3002   Mud _ Thickness   \u2014   \u6ce5\u6d46 \u7684 \u5bc6\u5ea6 \u3002   \u6c7d\u8f66 \u6750\u8d28 \u4e2d \u7684 \u6ce5\u6d46 \u7279\u6027 \u3002   Global   Noise   \u2014   \u5e94\u7528 \u4e8e \u6750\u8d28 \u6cd5\u7ebf \u7684 \u566a\u58f0 \u3002 \u6253\u9020 \u6a59\u76ae \u6548\u679c \u3002   Noise   On / Off   \u2014   \u542f\u7528 \u6216 \u7981\u7528 \u8be5 \u529f\u80fd \u3002   Noise   Scale   \u2014   \u901a\u8fc7 \u66f4\u6539 \u6cd5\u7ebf \u8d34\u56fe \u521b\u5efa \u7684 \u51f9\u51f8 \u5927\u5c0f \u3002   \u6c7d\u8f66 \u6750\u8d28 \u7684 \u566a\u58f0 \u7279\u6027 \u3002   Global   Surface   \u2014   \u6d82 \u5728 \u8f66\u8f86 \u6cb9\u6f06 \u4e0a \u7684 \u5149\u6cfd \u548c \u900f\u660e \u6d82\u5c42 \u3002 \u8fd9\u662f   \u6c7d\u8f66 \u55b7\u6f06   \u7684 \u6700\u540e \u4e00\u6b65 \u3002   Clear   Coat   \u2014   \u6d82\u5c42 \u7684 \u4e0d \u900f\u660e \u660e\u5ea6 \u900f\u660e\u5ea6 \u3002   Clear   Coat   Roughness   \u2014   \u6240\u5f97 \u6750\u8d28 \u7684 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \uff08 \u5149\u6cfd \u5149\u6cfd\u5ea6 \uff09 \u3002   Metallic   \u2014   \u6240\u5f97 \u6750\u8d28 \u7684 \u53cd\u5c04 \u3002   \u5e94\u7528 \u4e8e \u6750\u8d28 \u8868\u9762 \u6d82\u5c42 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u5efa\u7b51 \u6750\u8d28   \u5e94\u7528 \u4e8e \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u6750\u8d28 \u7531 \u56db\u79cd \u57fa\u672c \u7eb9\u7406 \u7ec4\u6210 \uff0c \u8fd9\u4e9b \u7eb9\u7406 \u7ec4\u5408 \u5728 \u4e00\u8d77 \u786e\u5b9a \u6750\u8d28 \u7684 \u57fa\u672c \u5c5e\u6027 \uff08 \u4f8b\u5982 \u6253\u5f00   Content / Carla / Static / Building / SM _ Apartment01 _ 1   \uff09 \u3002   Diffuse   \u2014   \u5305\u542b \u6750\u8d28 \u7684 \u57fa\u672c \u7ed8\u753b \u3002   RGB   \u2014   \u5e26\u6709 \u57fa\u8272 \u7684 \u901a\u9053 \u3002   Alpha   \u2014   \u6b64 \u901a\u9053 \u5b9a\u4e49 \u4e00\u4e2a \u63a9\u819c \uff0c \u5141\u8bb8 \u4fee\u6539 \u767d\u8272 \u90e8\u5206 \u7684 \u989c\u8272 \u3002 \u8fd9 \u5bf9\u4e8e \u4ece \u76f8\u540c \u6750\u6599 \u521b\u5efa \u4e00\u4e9b \u53d8\u4f53 \u975e\u5e38 \u6709\u7528 \u3002   ORME   \u2014   \u4f7f\u7528 \u7279\u5b9a \u901a\u9053 \u6620\u5c04 \u6750\u8d28 \u7684 \u4e0d\u540c \u5c5e\u6027 \u3002   Ambient   occlusion   \u2014   \u5305\u542b \u5728   R   \u901a\u9053 \u4e2d \u3002   Roughness   \u2014   \u5305\u542b \u5728   G   \u901a\u9053 \u4e2d \u3002   Metallic   map   \u2014   \u5305\u542b \u5728   B   \u901a\u9053 \u4e2d \u3002   Emissive   mask   \u2014   \u5305\u542b \u5728   Alpha   \u901a\u9053 \u4e2d \u3002 \u8be5 \u63a9\u6a21 \u5141\u8bb8 \u6539\u53d8 \u767d\u8272 \u90e8\u5206 \u7684 \u53d1\u5c04 \u989c\u8272 \u548c \u5f3a\u5ea6 \u3002   Normal   \u2014   \u5305\u542b \u6750\u8d28 \u7684 \u6cd5\u7ebf \u8d34\u56fe \u3002   RGB   \u2014   \u6cd5\u7ebf \u8d34\u56fe \u4fe1\u606f \u3002   Emissive   \u2014   \u5982\u679c \u9002\u7528 \uff0c \u6b64 \u7eb9\u7406 \u7528\u4e8e \u8bbe\u7f6e \u7eb9\u7406 \u7684 \u81ea \u53d1\u5149 \u57fa\u8272 \u3002   RGB   \u2014   \u7eb9\u7406 \u4e2d \u53d1\u5c04 \u5143\u7d20 \u7684 \u989c\u8272 \u4fe1\u606f \u3002   \u5b9a\u5236 \u5efa\u7b51 \u6750\u6599 \u5efa\u7b51\u6750\u6599   \u4e0e \u6c7d\u8f66 \u6750\u6599 \u7c7b\u4f3c \uff0c \u5982\u679c \u9700\u8981 \uff0c \u5efa\u7b51 \u6750\u6599 \u5efa\u7b51\u6750\u6599 \u53ef\u4ee5 \u8fdb\u884c \u5f88\u5927 \u7684 \u6539\u53d8 \uff0c \u4f46 \u4ec5 \u5f53 \u7528\u6237 \u5177\u6709 \u865a\u5e7b \u5f15\u64ce \u65b9\u9762 \u7684 \u4e00\u4e9b \u4e13\u4e1a \u77e5\u8bc6 \u4e13\u4e1a\u77e5\u8bc6 \u65f6\u624d \u5efa\u8bae \u8fd9\u6837 \u505a \u3002 \u4f46\u662f \uff0c \u5efa\u7b51 \u5efa\u7b51\u7269 \u4f7f\u7528 \u7684 \u4e24\u4e2a \u4e3b\u8981 \u7740\u8272 \u7740\u8272\u5668 \u53ef\u4ee5 \u8fdb\u884c \u4e00\u4e9b \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \uff08 \u4f8b\u5982 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \u6253\u5f00   Content / Carla / Static / GenericMaterials / 00 _ MasterOpt / M _ GlassMaster   \uff09 \u3002   \u73bb\u7483 \u7740\u8272 \u7740\u8272\u5668   \u2014   M _ GlassMaster   .   Opacity   \u2014   \u5728 \u767d\u8272 \u533a\u57df \u53cd\u5c04 \u6f2b\u53cd\u5c04   Diffuse   Alpha   \u7eb9\u7406 \u4e0a \u542f\u7528 \u989c\u8272 \u6539\u53d8 \u3002   Color   \u2014   \u57fa\u4e8e \u767d\u8272 \u533a\u57df \u53cd\u5c04 \u6f2b\u53cd\u5c04   Diffuse   Alpha   \u7eb9\u7406 \u5e94\u7528 \u8272\u8c03 \u3002   \u5efa\u7b51 \u7740\u8272 \u7740\u8272\u5668   \u2014   M _ MaterialMaster   Global   2 .   Color   Variation / Change   Color   \u2014   \u5728 \u767d\u8272 \u533a\u57df \u53cd\u5c04 \u6f2b\u53cd\u5c04 (   Diffuse   )   \u7684   Alpha   \u7eb9\u7406 \u4e0a \u542f\u7528 \u989c\u8272 \u6539\u53d8 \u3002   Global   2 .   Color   Variation / Color   \u2014   \u57fa\u4e8e \u767d\u8272 \u533a\u57df \u53cd\u5c04 \u6f2b\u53cd\u5c04   Diffuse   Alpha   \u7eb9\u7406 \u5e94\u7528 \u8272\u8c03 \u3002   Global   3 .   Emissive / Emissive   Texture   \u2014   \u542f\u7528   \u81ea \u53d1\u5149 ( Emissive )   \u7eb9\u7406 \u7684 \u4f7f\u7528 \u3002   Global   3 .   Emissive / EmissiveColor   \u2014   \u57fa\u4e8e   ORME   Emissive   mask   \u7684 \u767d\u8272 \u533a\u57df \u5e94\u7528 \u8272\u8c03 \u3002   Global   3 .   Emissive / Emissive   attenuance   \u2014   BP _ Lights   \u4e2d \u9664\u4ee5 \u5f3a\u5ea6 \u56e0\u5b50 \u4ee5 \u83b7\u5f97 \u9002\u5f53 \u7684 \u53d1\u5c04 \u503c \u3002   Global   4 .   Corrections / RoughnessCorrection   \u2014   \u66f4\u6539 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u8d34\u56fe \u7684 \u5f3a\u5ea6 \u3002   Global   4 .   Corrections / MetallicCorrection   \u2014   \u66f4\u6539 \u91d1\u5c5e \u8d34\u56fe \u7684 \u5f3a\u5ea6 \u3002   NormalFlatness   \u2014   \u66f4\u6539 \u6cd5\u7ebf \u8d34\u56fe \u7684 \u5f3a\u5ea6 \u3002   \u8fd9\u662f \u7528\u6237 \u5b9a\u5236 \u8f66\u8f86 \u548c \u5efa\u7b51 \u5efa\u7b51\u7269 \u6750\u6599 \u7684 \u6700\u663e \u7740 \u65b9\u5f0f \u7684 \u603b\u7ed3 \u3002   \u4efb\u4f55 \u53ef\u80fd \u51fa\u73b0 \u7684 \u7591\u95ee \u90fd \u975e\u5e38 \u6b22\u8fce \u5728 \u8bba\u575b \u4e2d \u63d0\u51fa \u3002   Carla   \u8bba\u575b","title":"\u6750\u8d28 \u5b9a\u5236"},{"location":"tuto_A_material_customization/#_1","text":"Carla   \u56e2\u961f \u51c6\u5907 \u6bcf\u4e2a \u8d44\u4ea7 \u5728 \u67d0\u4e9b \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e0b \u8fd0\u884c \u3002 \u4f46\u662f \uff0c \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684 \u7528\u6237 \u53ef\u4ee5 \u4fee\u6539 \u8fd9\u4e9b \u5185\u5bb9 \u4ee5 \u6700 \u9002\u5408 \u4ed6\u4eec \u7684 \u9700\u6c42 \u3002   \u6c7d\u8f66 \u6750\u8d28   \u5b9a\u5236 \u6c7d\u8f66 \u6750\u8d28   \u5916\u89c2 \u7279\u6027   \u5efa\u7b51 \u6750\u8d28   \u5b9a\u5236 \u5efa\u7b51 \u6750\u6599 \u5efa\u7b51\u6750\u6599   \u91cd\u8981   \u672c \u6559\u7a0b \u4ec5 \u9002\u7528 \u4e8e \u4f7f\u7528 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u5e76 \u6709\u6743 \u8bbf\u95ee \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u7528\u6237 \u3002","title":"\u6750\u8d28 \u5b9a\u5236"},{"location":"tuto_A_material_customization/#_2","text":"\u5728   Carla   \u4e2d \uff0c \u6709 \u4e00\u7ec4 \u4e3b \u6750\u6599 \u7528\u4f5c \u8f66\u8f86 \u4e0d\u540c \u90e8\u4ef6 \u7684 \u6a21\u677f \u3002 \u4e3a \u6bcf\u4e2a \u8f66\u8f86 \u6a21\u578b \u521b\u5efa \u4e00\u4e2a \u5b9e\u4f8b \uff0c \u7136\u540e \u66f4 \u6539\u4e3a \u6240 \u9700 \u7684 \u7ed3\u679c \u3002 \u4e3b\u8981 \u6750\u8d28 \u53ef\u4ee5 \u5728   Content / Carla / Static / GenericMaterials / Vehicles   \uff08 \u4f4d\u4e8e \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7684   Unreal / CarlaUE4   \u76ee\u5f55 \u4e2d \uff09 \u4e2d \u627e\u5230 \uff0c \u5982\u4e0b \u6240\u793a \u3002   \u9002\u7528 \u4e8e \u6c7d\u8f66 \u7684 \u4e3b \u6750\u6599 \u3002   M _ CarExterior _ Master   \u2014   \u5e94\u7528 \u4e8e \u8f66\u8eab \u7684 \u6750\u8d28 \u3002   M _ CarInterior _ Master   \u2014   \u5e94\u7528 \u4e8e \u6c7d\u8f66 \u5185\u90e8 \u7684 \u6750\u8d28 \u3002   M _ CarLightsGlass _ Master   \u2014   \u5e94\u7528 \u4e8e \u8986\u76d6 \u8f66\u706f \u7684 \u73bb\u7483 \u7684 \u6750\u8d28 \u3002   M _ CarWindows _ Master   \u2014   \u5e94\u7528 \u4e8e \u7a97\u6237 \u7684 \u6750\u8d28 \u3002   M _ CarLicensePlate _ Master   \u2014   \u5e94\u7528 \u4e8e \u8f66\u724c \u7684 \u6750\u8d28 \u3002   M _ VehicleLights _ Master   \u2014   \u4f5c\u4e3a \u53d1\u5c04 \u7eb9\u7406 \u5e94\u7528 \u4e8e \u6c7d\u8f66 \u8f66\u706f \u6c7d\u8f66\u706f \u7684 \u6750\u8d28 \u3002   M _ VehicleLights _ Sirens _ Master   \u2014   \u5e94\u7528 \u4e8e \u8b66\u62a5 \u8b66\u62a5\u5668 \u7684 \u6750\u8d28 \uff08 \u5982\u679c \u9002\u7528 \uff09 \u3002","title":"\u6c7d\u8f66 \u6750\u8d28  "},{"location":"tuto_A_material_customization/#_3","text":"\u521b\u5efa \u4e3b \u6750\u6599 \u7684 \u5b9e\u4f8b \u5e76 \u5c06 \u5b83\u4eec \u5b58\u50a8 \u5728 \u65b0 \u6a21\u578b \u7684 \u76f8\u5e94 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u4ee5\u4e0b \u662f \u84dd \u56fe\u5e93 \u4e2d\u4e3a \u8b66\u8f66 \u521b\u5efa \u7684 \u5b9e\u4f8b \uff0c   vehicle . dodge _ charger . police   \u3002   \u8b66\u8f66 \u84dd\u56fe \u7684 \u5b9e\u4f8b \u6750\u6599 \u3002   \u6750\u6599 \u7684 \u901a\u7528 \u6587\u6863 \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528 \u5b83\u4eec \u53ef\u4ee5 \u5728   \u865a\u5e7b \u5f15\u64ce \u6587\u6863   \u4e2d \u627e\u5230 \u3002 \u6240\u6709 \u6750\u6599 \u90fd \u53ef\u4ee5 \u8fdb\u884c \u5f88\u5927 \u7a0b\u5ea6 \u7684 \u4fee\u6539 \uff0c \u4f46 \u53ea\u6709 \u5916\u89c2 \u6750\u6599 \u7684 \u6027\u80fd \u503c\u5f97 \u503c\u5f97\u4e00\u63d0 \u3002 \u5176\u4ed6 \u6750\u6599 \u5177\u6709 \u67d0\u4e9b \u53ef\u4ee5 \u66f4\u6539 \u7684 \u5c5e\u6027 \uff0c \u4f8b\u5982 \u73bb\u7483 \u6750\u6599 \u7684 \u4e0d \u900f\u660e \u660e\u5ea6 \u900f\u660e\u5ea6 \u548c \u989c\u8272 \uff0c \u4f46 \u4e0d \u5efa\u8bae \u8fd9\u6837 \u505a \uff0c \u9664\u975e \u6709 \u7279\u5b9a \u7528\u9014 \u3002","title":"\u5b9a\u5236 \u6c7d\u8f66 \u6750\u8d28  "},{"location":"tuto_A_material_customization/#_4","text":"\u5916\u89c2 \u6750\u6599 \u5e94\u7528 \u4e8e \u8f66\u8eab \uff0c \u662f \u6700 \u53ef \u5b9a\u5236 \u7684 \u4e00\u79cd \uff08 \u53cc\u51fb   M _ CarExterior _ Master   \uff0c \u8fdb\u5165   \u53c2\u6570 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \u9009\u9879 \u9009\u9879\u5361 \uff09 \u3002   Base   color   \u2014   \u8f66\u8eab \u7684 \u57fa\u8272 \u3002   Tint   shade   \u2014   \u8272\u8c03 \u7684 \u53ef\u89c1 \u53ef\u89c1\u5ea6 \u6839\u636e \u53ef\u89c6 \u89d2\u5ea6 \u800c \u53d8\u5316 \u3002   \u5e26\u6709 \u7c89\u7ea2 \u7ea2\u8272 \u7c89\u7ea2\u8272 \u8c03 \u7684 \u7ea2\u8272 \u6c7d\u8f66 \u3002 \u5de6\u4fa7 \uff0c \u8272\u8c03 \u5df2 \u7981\u7528 \uff0c \u53f3\u4fa7 \uff0c \u8272\u8c03 \u5df2 \u542f\u7528 \u3002   Global   Dust   \u2014   \u6d82 \u5728 \u6c7d\u8f66 \u4e0a \u7684 \u6c61\u57a2 \u7eb9\u7406 \u3002 \u7070\u5c18 \u4f1a \u5806\u79ef \u5728 \u51e0\u4f55 \u51e0\u4f55\u4f53 \u7684 \u9876\u90e8 \uff0c \u800c \u5728 \u5e95\u90e8 \u51e0\u4e4e \u4e0d\u4f1a \u88ab \u6ce8\u610f \u5230 \u3002 \u5982\u679c \u65cb\u8f6c \u51e0\u4f55 \u51e0\u4f55\u4f53 \uff0c \u7070\u5c18 \u5c06 \u51fa\u73b0 \u5728 \u8f66\u8f86 \u9876\u90e8 \u7684 \u90e8\u4ef6 \u4e0a \u3002   Dust _ Amount   \u2014   \u7eb9\u7406 \u7684 \u4e0d \u900f\u660e \u660e\u5ea6 \u900f\u660e\u5ea6 \u3002   DustColor   \u2014   \u7070\u5c18 \u7eb9\u7406 \u7684 \u57fa\u8272 \u3002   Tiling   \u2014   \u7070\u5c18 \u7eb9\u7406 \u56fe\u6848 \u7684 \u5927\u5c0f \u548c \u91cd\u590d \u3002   Thickness   \u2014   \u7070\u5c18 \u7684 \u5bc6\u5ea6 \u3002   Roughness   \u2014   \u7531\u4e8e \u7070\u5c18 \u800c \u51cf\u5c11 \u6c7d\u8f66 \u7684 \u91d1\u5c5e \u53cd\u5c04 \u3002   \u6c7d\u8f66 \u6750\u6599 \u4e2d \u7684 \u7070\u5c18 \u7279\u6027 \u3002   Global   Flakes   \u2014   \u6c7d\u8f66 \u91d1\u5c5e \u91d1\u5c5e\u6f06 \u4e0a \u95ea\u95ea \u53d1\u5149 \u95ea\u95ea\u53d1\u5149 \u7684 \u8584\u7247 \u3002   Flakes   On / Off   \u2014   \u542f\u7528 \u6216 \u7981\u7528 \u8be5 \u529f\u80fd \u3002   Flake   Scale   \u2014   \u8584\u7247 \u7684 \u5927\u5c0f \u3002   Flake   Brightness   \u2014   \u95ea\u5149 \u7684 \u5f3a\u5ea6 \u3002   Flakes   Color   \u2014   \u7c92\u5b50 \u7684 \u57fa\u8272 \u3002   \u6c7d\u8f66 \u6750\u6599 \u4e2d \u7684 \u8584\u7247 \u7279\u6027 \u3002   Global   Gain   \u2014   \u6c7d\u8f66 \u5e95\u6f06 \u7684 \u566a\u97f3 \u3002   Gain   On / Off   \u2014   \u542f\u7528 \u6216 \u7981\u7528 \u8be5 \u529f\u80fd \u3002   Scale   \u2014   \u589e\u76ca \u7684 \u5927\u5c0f \u3002   Color   \u2014   \u589e\u76ca \u7684 \u57fa\u8272 \u3002   \u6c7d\u8f66 \u6750\u8d28 \u4e2d \u7684 \u589e\u76ca \u5c5e\u6027 \u3002   Global   Mud   \u2014   \u6d82 \u5728 \u6c7d\u8f66 \u4e0a \u7684 \u6ce5\u6d46 \u7eb9\u7406 \u3002 \u6ce5\u6d46 \u4ece\u8f66 \u7684 \u5e95\u90e8 \u5230 \u9876\u90e8 \u51fa\u73b0 \u3002   Height   \u2014   \u6c7d\u8f66 \u51fa\u73b0 \u6ce5\u6d46 \u7684 \u90e8\u5206 \u3002   Mud _ Color   \u2014   \u6ce5\u6d46 \u7eb9\u7406 \u7684 \u5e95\u8272 \u3002   Mud _ Tiling   \u2014   \u6ce5\u6d46 \u7eb9\u7406 \u56fe\u6848 \u7684 \u5927\u5c0f \u548c \u91cd\u590d \u3002   Mud _ Thickness   \u2014   \u6ce5\u6d46 \u7684 \u5bc6\u5ea6 \u3002   \u6c7d\u8f66 \u6750\u8d28 \u4e2d \u7684 \u6ce5\u6d46 \u7279\u6027 \u3002   Global   Noise   \u2014   \u5e94\u7528 \u4e8e \u6750\u8d28 \u6cd5\u7ebf \u7684 \u566a\u58f0 \u3002 \u6253\u9020 \u6a59\u76ae \u6548\u679c \u3002   Noise   On / Off   \u2014   \u542f\u7528 \u6216 \u7981\u7528 \u8be5 \u529f\u80fd \u3002   Noise   Scale   \u2014   \u901a\u8fc7 \u66f4\u6539 \u6cd5\u7ebf \u8d34\u56fe \u521b\u5efa \u7684 \u51f9\u51f8 \u5927\u5c0f \u3002   \u6c7d\u8f66 \u6750\u8d28 \u7684 \u566a\u58f0 \u7279\u6027 \u3002   Global   Surface   \u2014   \u6d82 \u5728 \u8f66\u8f86 \u6cb9\u6f06 \u4e0a \u7684 \u5149\u6cfd \u548c \u900f\u660e \u6d82\u5c42 \u3002 \u8fd9\u662f   \u6c7d\u8f66 \u55b7\u6f06   \u7684 \u6700\u540e \u4e00\u6b65 \u3002   Clear   Coat   \u2014   \u6d82\u5c42 \u7684 \u4e0d \u900f\u660e \u660e\u5ea6 \u900f\u660e\u5ea6 \u3002   Clear   Coat   Roughness   \u2014   \u6240\u5f97 \u6750\u8d28 \u7684 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \uff08 \u5149\u6cfd \u5149\u6cfd\u5ea6 \uff09 \u3002   Metallic   \u2014   \u6240\u5f97 \u6750\u8d28 \u7684 \u53cd\u5c04 \u3002   \u5e94\u7528 \u4e8e \u6750\u8d28 \u8868\u9762 \u6d82\u5c42 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002","title":"\u5916\u89c2 \u7279\u6027  "},{"location":"tuto_A_material_customization/#_5","text":"\u5e94\u7528 \u4e8e \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u6750\u8d28 \u7531 \u56db\u79cd \u57fa\u672c \u7eb9\u7406 \u7ec4\u6210 \uff0c \u8fd9\u4e9b \u7eb9\u7406 \u7ec4\u5408 \u5728 \u4e00\u8d77 \u786e\u5b9a \u6750\u8d28 \u7684 \u57fa\u672c \u5c5e\u6027 \uff08 \u4f8b\u5982 \u6253\u5f00   Content / Carla / Static / Building / SM _ Apartment01 _ 1   \uff09 \u3002   Diffuse   \u2014   \u5305\u542b \u6750\u8d28 \u7684 \u57fa\u672c \u7ed8\u753b \u3002   RGB   \u2014   \u5e26\u6709 \u57fa\u8272 \u7684 \u901a\u9053 \u3002   Alpha   \u2014   \u6b64 \u901a\u9053 \u5b9a\u4e49 \u4e00\u4e2a \u63a9\u819c \uff0c \u5141\u8bb8 \u4fee\u6539 \u767d\u8272 \u90e8\u5206 \u7684 \u989c\u8272 \u3002 \u8fd9 \u5bf9\u4e8e \u4ece \u76f8\u540c \u6750\u6599 \u521b\u5efa \u4e00\u4e9b \u53d8\u4f53 \u975e\u5e38 \u6709\u7528 \u3002   ORME   \u2014   \u4f7f\u7528 \u7279\u5b9a \u901a\u9053 \u6620\u5c04 \u6750\u8d28 \u7684 \u4e0d\u540c \u5c5e\u6027 \u3002   Ambient   occlusion   \u2014   \u5305\u542b \u5728   R   \u901a\u9053 \u4e2d \u3002   Roughness   \u2014   \u5305\u542b \u5728   G   \u901a\u9053 \u4e2d \u3002   Metallic   map   \u2014   \u5305\u542b \u5728   B   \u901a\u9053 \u4e2d \u3002   Emissive   mask   \u2014   \u5305\u542b \u5728   Alpha   \u901a\u9053 \u4e2d \u3002 \u8be5 \u63a9\u6a21 \u5141\u8bb8 \u6539\u53d8 \u767d\u8272 \u90e8\u5206 \u7684 \u53d1\u5c04 \u989c\u8272 \u548c \u5f3a\u5ea6 \u3002   Normal   \u2014   \u5305\u542b \u6750\u8d28 \u7684 \u6cd5\u7ebf \u8d34\u56fe \u3002   RGB   \u2014   \u6cd5\u7ebf \u8d34\u56fe \u4fe1\u606f \u3002   Emissive   \u2014   \u5982\u679c \u9002\u7528 \uff0c \u6b64 \u7eb9\u7406 \u7528\u4e8e \u8bbe\u7f6e \u7eb9\u7406 \u7684 \u81ea \u53d1\u5149 \u57fa\u8272 \u3002   RGB   \u2014   \u7eb9\u7406 \u4e2d \u53d1\u5c04 \u5143\u7d20 \u7684 \u989c\u8272 \u4fe1\u606f \u3002","title":"\u5efa\u7b51 \u6750\u8d28  "},{"location":"tuto_A_material_customization/#_6","text":"\u4e0e \u6c7d\u8f66 \u6750\u6599 \u7c7b\u4f3c \uff0c \u5982\u679c \u9700\u8981 \uff0c \u5efa\u7b51 \u6750\u6599 \u5efa\u7b51\u6750\u6599 \u53ef\u4ee5 \u8fdb\u884c \u5f88\u5927 \u7684 \u6539\u53d8 \uff0c \u4f46 \u4ec5 \u5f53 \u7528\u6237 \u5177\u6709 \u865a\u5e7b \u5f15\u64ce \u65b9\u9762 \u7684 \u4e00\u4e9b \u4e13\u4e1a \u77e5\u8bc6 \u4e13\u4e1a\u77e5\u8bc6 \u65f6\u624d \u5efa\u8bae \u8fd9\u6837 \u505a \u3002 \u4f46\u662f \uff0c \u5efa\u7b51 \u5efa\u7b51\u7269 \u4f7f\u7528 \u7684 \u4e24\u4e2a \u4e3b\u8981 \u7740\u8272 \u7740\u8272\u5668 \u53ef\u4ee5 \u8fdb\u884c \u4e00\u4e9b \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \uff08 \u4f8b\u5982 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \u6253\u5f00   Content / Carla / Static / GenericMaterials / 00 _ MasterOpt / M _ GlassMaster   \uff09 \u3002   \u73bb\u7483 \u7740\u8272 \u7740\u8272\u5668   \u2014   M _ GlassMaster   .   Opacity   \u2014   \u5728 \u767d\u8272 \u533a\u57df \u53cd\u5c04 \u6f2b\u53cd\u5c04   Diffuse   Alpha   \u7eb9\u7406 \u4e0a \u542f\u7528 \u989c\u8272 \u6539\u53d8 \u3002   Color   \u2014   \u57fa\u4e8e \u767d\u8272 \u533a\u57df \u53cd\u5c04 \u6f2b\u53cd\u5c04   Diffuse   Alpha   \u7eb9\u7406 \u5e94\u7528 \u8272\u8c03 \u3002   \u5efa\u7b51 \u7740\u8272 \u7740\u8272\u5668   \u2014   M _ MaterialMaster   Global   2 .   Color   Variation / Change   Color   \u2014   \u5728 \u767d\u8272 \u533a\u57df \u53cd\u5c04 \u6f2b\u53cd\u5c04 (   Diffuse   )   \u7684   Alpha   \u7eb9\u7406 \u4e0a \u542f\u7528 \u989c\u8272 \u6539\u53d8 \u3002   Global   2 .   Color   Variation / Color   \u2014   \u57fa\u4e8e \u767d\u8272 \u533a\u57df \u53cd\u5c04 \u6f2b\u53cd\u5c04   Diffuse   Alpha   \u7eb9\u7406 \u5e94\u7528 \u8272\u8c03 \u3002   Global   3 .   Emissive / Emissive   Texture   \u2014   \u542f\u7528   \u81ea \u53d1\u5149 ( Emissive )   \u7eb9\u7406 \u7684 \u4f7f\u7528 \u3002   Global   3 .   Emissive / EmissiveColor   \u2014   \u57fa\u4e8e   ORME   Emissive   mask   \u7684 \u767d\u8272 \u533a\u57df \u5e94\u7528 \u8272\u8c03 \u3002   Global   3 .   Emissive / Emissive   attenuance   \u2014   BP _ Lights   \u4e2d \u9664\u4ee5 \u5f3a\u5ea6 \u56e0\u5b50 \u4ee5 \u83b7\u5f97 \u9002\u5f53 \u7684 \u53d1\u5c04 \u503c \u3002   Global   4 .   Corrections / RoughnessCorrection   \u2014   \u66f4\u6539 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u8d34\u56fe \u7684 \u5f3a\u5ea6 \u3002   Global   4 .   Corrections / MetallicCorrection   \u2014   \u66f4\u6539 \u91d1\u5c5e \u8d34\u56fe \u7684 \u5f3a\u5ea6 \u3002   NormalFlatness   \u2014   \u66f4\u6539 \u6cd5\u7ebf \u8d34\u56fe \u7684 \u5f3a\u5ea6 \u3002   \u8fd9\u662f \u7528\u6237 \u5b9a\u5236 \u8f66\u8f86 \u548c \u5efa\u7b51 \u5efa\u7b51\u7269 \u6750\u6599 \u7684 \u6700\u663e \u7740 \u65b9\u5f0f \u7684 \u603b\u7ed3 \u3002   \u4efb\u4f55 \u53ef\u80fd \u51fa\u73b0 \u7684 \u7591\u95ee \u90fd \u975e\u5e38 \u6b22\u8fce \u5728 \u8bba\u575b \u4e2d \u63d0\u51fa \u3002   Carla   \u8bba\u575b","title":"\u5b9a\u5236 \u5efa\u7b51\u6750\u6599  "},{"location":"tuto_D_bat/","text":"\u5904\u7406 \u6279\u5904\u7406 \u811a\u672c   % ~ dp0   ~   \u662f \u6269\u5c55 \u7684 \u610f\u601d \uff0c \u53d8\u91cf \u6269\u5145 ( \u4e0b\u9762 \u8be6\u7ec6 \u4ecb\u7ecd ) \uff0c \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e \u628a \u4e00\u4e2a \u76f8\u5bf9 \u8def\u5f84 \u76f8\u5bf9\u8def\u5f84 \u8f6c\u6362 \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84   % 0   \u4ee3\u6307 \u5904\u7406 \u6279\u5904\u7406 \u6587\u4ef6 \u81ea\u8eab \uff08 \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84   \" D : \\ test \\ bat \\ test . bat \" \uff0c \u6ce8\u610f \u6709 \u5f15\u53f7 \u53cc\u5f15\u53f7 \uff09   % ~ d0   \u662f \u6307 \u5904\u7406 \u6279\u5904\u7406 \u6240\u5728 \u7684 \u76d8\u7b26 \uff0c \u5176\u4e2d d \u4ee3\u8868   drive   \u3002 ( \u6269\u5145 \u5230 \u76d8\u7b26   D :   )   % ~ p0   \u662f \u6307 \u5904\u7406 \u6279\u5904\u7406 \u6240\u5728 \u7684 \u76ee\u5f55 \uff0c \u5176\u4e2d p \u4ee3\u8868   path   \u3002 ( \u6269\u5145 \u5230 \u8def\u5f84   \\ test \\ bat \\   \uff0c \u6ce8\u610f \u6700\u540e \u6709\u4e2a   \\   \uff09   % ~ dp0   \u662f \u5904\u7406 \u6279\u5904\u7406 \u6240\u5728 \u7684 \u76d8\u7b26 \u52a0 \u8def\u5f84 \u3002 \uff08 \u6269\u5145 \u5230 \u76d8\u7b26 \u548c \u8def\u5f84   \uff1a D : \\ test \\ bat \\ \uff09","title":"tuto   D   bat"},{"location":"tuto_D_bat/#_1","text":"% ~ dp0   ~   \u662f \u6269\u5c55 \u7684 \u610f\u601d \uff0c \u53d8\u91cf \u6269\u5145 ( \u4e0b\u9762 \u8be6\u7ec6 \u4ecb\u7ecd ) \uff0c \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e \u628a \u4e00\u4e2a \u76f8\u5bf9 \u8def\u5f84 \u76f8\u5bf9\u8def\u5f84 \u8f6c\u6362 \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84   % 0   \u4ee3\u6307 \u5904\u7406 \u6279\u5904\u7406 \u6587\u4ef6 \u81ea\u8eab \uff08 \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84   \" D : \\ test \\ bat \\ test . bat \" \uff0c \u6ce8\u610f \u6709 \u5f15\u53f7 \u53cc\u5f15\u53f7 \uff09   % ~ d0   \u662f \u6307 \u5904\u7406 \u6279\u5904\u7406 \u6240\u5728 \u7684 \u76d8\u7b26 \uff0c \u5176\u4e2d d \u4ee3\u8868   drive   \u3002 ( \u6269\u5145 \u5230 \u76d8\u7b26   D :   )   % ~ p0   \u662f \u6307 \u5904\u7406 \u6279\u5904\u7406 \u6240\u5728 \u7684 \u76ee\u5f55 \uff0c \u5176\u4e2d p \u4ee3\u8868   path   \u3002 ( \u6269\u5145 \u5230 \u8def\u5f84   \\ test \\ bat \\   \uff0c \u6ce8\u610f \u6700\u540e \u6709\u4e2a   \\   \uff09   % ~ dp0   \u662f \u5904\u7406 \u6279\u5904\u7406 \u6240\u5728 \u7684 \u76d8\u7b26 \u52a0 \u8def\u5f84 \u3002 \uff08 \u6269\u5145 \u5230 \u76d8\u7b26 \u548c \u8def\u5f84   \uff1a D : \\ test \\ bat \\ \uff09","title":"\u6279\u5904\u7406 \u811a\u672c"},{"location":"tuto_D_cmake/","text":"CMake \u547d\u4ee4 \u4ecb\u7ecd   \u53c2\u8003   \u6559\u7a0b   \u3002   \u53c2\u6570 \u89e3\u91ca   \u89e3\u91ca \u5728   Util / BuildTools / *   \u76ee\u5f55 \u4e0b \u6240 \u4f7f\u7528 \u5230 \u7684 \u5404\u4e2a \u811a\u672c \uff1a   \u53c2\u6570   \u542b\u4e49   - G   % GENERATOR%   % PLATFORM%   \u6307\u5b9a \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u7248\u672c \u3001 \u5e73\u53f0   - DCMAKE _ BUILD _ TYPE = Client   \u6307\u5b9a \u6784\u5efa \u7c7b\u578b   - DCMAKE _ CXX _ FLAGS _ RELEASE = \" / MD   / MP \"   \u4e3a   / MD   / MP   \u6784\u5efa \u8bbe\u7f6e C++ \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u4f18\u5316 \u7ea7\u522b   - DCMAKE _ INSTALL _ PREFIX   \u6307\u5b9a \u8fd9\u4e9b \u6587\u4ef6 \u5e94\u8be5 \u62f7\u8d1d \u62f7\u8d1d\u5230 \u54ea\u4e2a \u76ee\u5f55 \u6839\u76ee\u5f55 \uff08 PythonAPI \u91cc \uff09   -- build   .   \u5bf9 \u751f\u6210 \u597d \u7684 \u9879\u76ee \u8fdb\u884c \u7f16\u8bd1 \u6784\u5efa \uff0c   .   \u6307 \u7684 \u662f \u751f\u6210 \u597d \u7684 build   tree \u7684 \u8def\u5f84   -- config   Release   \u6784\u5efa \u540e\u4f1a \u6309 install \u89c4\u5219 \u5b89\u88c5 \u4e00\u4efd \uff0c \u540c\u65f6 \u5728   - DCMAKE _ INSTALL _ PREFIX   \u6307\u5b9a \u7684 \u8def\u5f84 \u4e0b \u4e5f \u4f1a \u5b89\u88c5 \u4e00\u4efd \u3002   findstr   / V   \" Up - to - date : \"   \u5bf9 \u6253\u5370 \u5370\u4e0d \u5305\u542b \u76f8\u7b26 \u9879\u76ee \u7684 \u884c \u3002","title":"tuto   D   cmake"},{"location":"tuto_D_cmake/#cmake","text":"\u53c2\u8003   \u6559\u7a0b   \u3002","title":"CMake \u547d\u4ee4 \u4ecb\u7ecd"},{"location":"tuto_D_cmake/#_1","text":"\u89e3\u91ca \u5728   Util / BuildTools / *   \u76ee\u5f55 \u4e0b \u6240 \u4f7f\u7528 \u5230 \u7684 \u5404\u4e2a \u811a\u672c \uff1a   \u53c2\u6570   \u542b\u4e49   - G   % GENERATOR%   % PLATFORM%   \u6307\u5b9a \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u7248\u672c \u3001 \u5e73\u53f0   - DCMAKE _ BUILD _ TYPE = Client   \u6307\u5b9a \u6784\u5efa \u7c7b\u578b   - DCMAKE _ CXX _ FLAGS _ RELEASE = \" / MD   / MP \"   \u4e3a   / MD   / MP   \u6784\u5efa \u8bbe\u7f6e C++ \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u4f18\u5316 \u7ea7\u522b   - DCMAKE _ INSTALL _ PREFIX   \u6307\u5b9a \u8fd9\u4e9b \u6587\u4ef6 \u5e94\u8be5 \u62f7\u8d1d \u62f7\u8d1d\u5230 \u54ea\u4e2a \u76ee\u5f55 \u6839\u76ee\u5f55 \uff08 PythonAPI \u91cc \uff09   -- build   .   \u5bf9 \u751f\u6210 \u597d \u7684 \u9879\u76ee \u8fdb\u884c \u7f16\u8bd1 \u6784\u5efa \uff0c   .   \u6307 \u7684 \u662f \u751f\u6210 \u597d \u7684 build   tree \u7684 \u8def\u5f84   -- config   Release   \u6784\u5efa \u540e\u4f1a \u6309 install \u89c4\u5219 \u5b89\u88c5 \u4e00\u4efd \uff0c \u540c\u65f6 \u5728   - DCMAKE _ INSTALL _ PREFIX   \u6307\u5b9a \u7684 \u8def\u5f84 \u4e0b \u4e5f \u4f1a \u5b89\u88c5 \u4e00\u4efd \u3002   findstr   / V   \" Up - to - date : \"   \u5bf9 \u6253\u5370 \u5370\u4e0d \u5305\u542b \u76f8\u7b26 \u9879\u76ee \u7684 \u884c \u3002","title":"\u53c2\u6570 \u89e3\u91ca"},{"location":"tuto_D_contribute_assets/","text":"\u5982\u4f55 \u5347\u7ea7 \u5185\u5bb9   \u6211\u4eec \u7684 \u5185\u5bb9 \u9a7b\u7559 \u5728 \u5355\u72ec \u7684   Git   LFS   \u4ed3\u5e93   \u4e2d \u3002 \u4f5c\u4e3a \u6784\u5efa \u7cfb\u7edf \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u6211\u4eec \u751f\u6210 \u5e76 \u4e0a\u4f20 \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff0c \u5176\u4e2d \u5305\u542b \u5e26\u6709 \u5f53\u524d \u65e5\u671f \u548c \u63d0\u4ea4 \u6807\u8bb0 \u7684 \u8be5 \u5185\u5bb9 \u7684 \u6700\u65b0 \u7248\u672c \u3002 \u6211\u4eec \u5b9a\u671f \u5347\u7ea7   Carla   \u4ed3\u5e93   \uff0c \u5e76 \u63d0\u4f9b \u6700\u65b0 \u7248\u672c \u5185\u5bb9 \u5305 \u7684 \u94fe\u63a5 \u3002 \u672c \u6587\u6863 \u5305\u542b \u5c06 \u6b64 \u94fe\u63a5 \u66f4\u65b0 \u5230 \u6700\u65b0 \u7248\u672c \u6240 \u9700 \u7684 \u624b\u52a8 \u6b65\u9aa4 \u3002   \u590d\u5236 \u60a8 \u8981 \u94fe\u63a5 \u7684 \u5185\u5bb9 \u5305 \u7684 \u6807\u7b7e \u3002   \u53ef\u4ee5 \u901a\u8fc7 \u67e5\u770b \u6700\u65b0   Jenkins   \u6784\u5efa   \u7684   \u5de5\u4ef6 \u90e8\u5206 \u4e2d \u751f\u6210 \u7684 \u5305 \u540d\u79f0 \u6765 \u627e\u5230 \u6b64 \u6807\u7b7e \uff0c \u4f8b\u5982   20190617 _ 086f97f . tar . gz   \u3002   \u5c06 \u6807\u8bb0 \u7c98\u8d34 \u5230   ContentVersions . txt   \u4e2d \u3002   \u901a\u8fc7 \u5c06 \u6807\u8bb0 \u7c98\u8d34 \u5230 \u6587\u4ef6 \u672b\u5c3e \u6765   \u7f16\u8f91   Edit   ContentVersions . txt   \uff0c   \u4f8b\u5982   Latest :   20190617 _ 086f97f   ( \u4e0d \u5305\u62ec   . tar . gz   \u90e8\u5206 \uff09 \u3002   \u6253\u5f00 \u62c9\u53d6 \u8bf7\u6c42 \u3002   \u63d0\u4ea4 \u66f4\u6539 \u5e76 \u6253\u5f00 \u65b0 \u7684 \u62c9\u53d6 \u8bf7\u6c42 \u3002","title":"\u5982\u4f55 \u5347\u7ea7 \u5185\u5bb9"},{"location":"tuto_D_contribute_assets/#_1","text":"\u6211\u4eec \u7684 \u5185\u5bb9 \u9a7b\u7559 \u5728 \u5355\u72ec \u7684   Git   LFS   \u4ed3\u5e93   \u4e2d \u3002 \u4f5c\u4e3a \u6784\u5efa \u7cfb\u7edf \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u6211\u4eec \u751f\u6210 \u5e76 \u4e0a\u4f20 \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff0c \u5176\u4e2d \u5305\u542b \u5e26\u6709 \u5f53\u524d \u65e5\u671f \u548c \u63d0\u4ea4 \u6807\u8bb0 \u7684 \u8be5 \u5185\u5bb9 \u7684 \u6700\u65b0 \u7248\u672c \u3002 \u6211\u4eec \u5b9a\u671f \u5347\u7ea7   Carla   \u4ed3\u5e93   \uff0c \u5e76 \u63d0\u4f9b \u6700\u65b0 \u7248\u672c \u5185\u5bb9 \u5305 \u7684 \u94fe\u63a5 \u3002 \u672c \u6587\u6863 \u5305\u542b \u5c06 \u6b64 \u94fe\u63a5 \u66f4\u65b0 \u5230 \u6700\u65b0 \u7248\u672c \u6240 \u9700 \u7684 \u624b\u52a8 \u6b65\u9aa4 \u3002   \u590d\u5236 \u60a8 \u8981 \u94fe\u63a5 \u7684 \u5185\u5bb9 \u5305 \u7684 \u6807\u7b7e \u3002   \u53ef\u4ee5 \u901a\u8fc7 \u67e5\u770b \u6700\u65b0   Jenkins   \u6784\u5efa   \u7684   \u5de5\u4ef6 \u90e8\u5206 \u4e2d \u751f\u6210 \u7684 \u5305 \u540d\u79f0 \u6765 \u627e\u5230 \u6b64 \u6807\u7b7e \uff0c \u4f8b\u5982   20190617 _ 086f97f . tar . gz   \u3002   \u5c06 \u6807\u8bb0 \u7c98\u8d34 \u5230   ContentVersions . txt   \u4e2d \u3002   \u901a\u8fc7 \u5c06 \u6807\u8bb0 \u7c98\u8d34 \u5230 \u6587\u4ef6 \u672b\u5c3e \u6765   \u7f16\u8f91   Edit   ContentVersions . txt   \uff0c   \u4f8b\u5982   Latest :   20190617 _ 086f97f   ( \u4e0d \u5305\u62ec   . tar . gz   \u90e8\u5206 \uff09 \u3002   \u6253\u5f00 \u62c9\u53d6 \u8bf7\u6c42 \u3002   \u63d0\u4ea4 \u66f4\u6539 \u5e76 \u6253\u5f00 \u65b0 \u7684 \u62c9\u53d6 \u8bf7\u6c42 \u3002","title":"\u5982\u4f55 \u5347\u7ea7 \u5185\u5bb9"},{"location":"tuto_D_create_semantic_tags/","text":"\u521b\u5efa \u8bed\u4e49 \u6807\u7b7e   \u4e86\u89e3 \u5982\u4f55 \u5b9a\u4e49 \u8bed\u4e49 \u5206\u5272 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6807\u7b7e \u3002 \u8fd9\u4e9b \u8fd8 \u53ef\u4ee5 \u6dfb\u52a0 \u5230   carla . CityObjectLabel   \u4ee5 \u8fc7\u6ee4   carla . World   \u68c0\u7d22 \u7684 \u8fb9\u754c \u6846 \u3002   \u521b\u5efa \u65b0 \u7684 \u8bed\u4e49 \u6807\u7b7e   1 .   \u521b\u5efa \u6807\u7b7e   ID   2 .   \u521b\u5efa \u8d44\u4ea7 \u7684 \u865a\u5e7b \u5f15\u64ce \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   3 .   \u521b\u5efa \u865a\u5e7b \u5f15\u64ce \u4e0e \u4ee3\u7801 \u6807\u7b7e \u7684 \u53cc\u5411 \u5bf9\u5e94 \u5173\u7cfb   4 .   \u5b9a\u4e49 \u989c\u8272 \u4ee3\u7801 \u989c\u8272\u4ee3\u7801   5 .   \u6dfb\u52a0 \u6807\u8bb0 \u5143\u7d20   \u5c06 \u6807\u7b7e \u6dfb\u52a0 \u5230   carla . CityObjectLabel   \u521b\u5efa \u65b0 \u7684 \u8bed\u4e49 \u6807\u7b7e   1 .   \u521b\u5efa \u6807\u7b7e   ID   \u6253\u5f00   LibCarla / source / carla / rpc   \u4e2d \u7684   ObjectLabel . h   \u3002 \u4f7f\u7528 \u4e0e \u5176\u4f59 \u6807\u7b7e \u76f8\u540c \u7684 \u683c\u5f0f \u5728 \u679a\u4e3e \u672b\u5c3e \u6dfb\u52a0 \u65b0 \u6807\u7b7e \u3002   \u7b14\u8bb0   \u6807\u7b7e \u4e0d\u5fc5 \u6309 \u987a\u5e8f \u51fa\u73b0 \u3002 \u4f46\u662f \uff0c \u6309 \u987a\u5e8f \u5217\u51fa \u5b83\u4eec \u662f \u4e00\u4e2a \u5f88 \u597d \u7684 \u505a\u6cd5 \u3002   2 .   \u521b\u5efa \u8d44\u4ea7 \u7684 \u865a\u5e7b \u5f15\u64ce \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u6253\u5f00 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668   \u5e76 \u8f6c\u5230   Carla / Static   \u3002 \u521b\u5efa \u4e00\u4e2a \u540d\u4e3a \u60a8 \u7684 \u6807\u7b7e \u7684 \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u7b14\u8bb0   \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u548c \u6807\u7b7e \u4e0d\u5fc5 \u547d\u540d \u76f8\u540c \u3002 \u7136\u800c \uff0c \u8fd9\u6837 \u505a \u662f \u4e00\u4e2a \u5f88 \u597d \u7684 \u505a\u6cd5 \u3002   3 .   \u521b\u5efa \u865a\u5e7b \u5f15\u64ce \u4e0e \u4ee3\u7801 \u6807\u7b7e \u7684 \u53cc\u5411 \u5bf9\u5e94 \u5173\u7cfb   3.1 .   \u6253\u5f00   Unreal / CarlaUE4 / Plugins / Carla / Source / Carla / Game   \u4e2d \u7684   Tagger . cpp   \u3002 \u8f6c \u5230   GetLabelByFolderName   \u5217\u8868 \u672b\u5c3e \u6dfb\u52a0 \u60a8 \u7684 \u6807\u7b7e \u3002 \u88ab \u6bd4\u8f83 \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u662f   2 .   \u4e2d \u4f7f\u7528 \u7684 \u865a\u5e7b \u5f15\u64ce \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u540d\u79f0 \uff0c \u56e0\u6b64 \u8fd9\u91cc \u4f7f\u7528 \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u7684 \u540d\u79f0 \u3002   3.2 .   \u5728 \u76f8\u540c \u7684   Tagger . cpp   \u8f6c \u5230   GetTagAsString   \u3002   \u5728 \u5f00\u5173 \u672b\u5c3e \u6dfb\u52a0 \u65b0 \u6807\u7b7e \u3002   4 .   \u5b9a\u4e49 \u989c\u8272 \u4ee3\u7801 \u989c\u8272\u4ee3\u7801   \u5728   LibCarla / source / carla / image   \u4e2d \u6253\u5f00   CityScapesPalette . h   \u3002 \u5728 \u6570\u7ec4 \u672b\u5c3e \u6dfb\u52a0 \u65b0 \u6807\u7b7e \u7684 \u989c\u8272 \u4ee3\u7801 \u989c\u8272\u4ee3\u7801 \u3002   \u7b14\u8bb0   \u6570\u7ec4 \u4e2d \u7684 \u4f4d\u7f6e \u5fc5\u987b \u4e0e \u6807\u7b7e   ID   \u76f8\u5bf9 \u5e94 \uff0c \u5728 \u672c\u4f8b \u4e2d\u4e3a   23u   .   5 .   \u6dfb\u52a0 \u6807\u8bb0 \u7f51\u683c   \u65b0 \u7684 \u8bed\u4e49 \u6807\u7b7e \u5df2 \u53ef\u4f9b \u4f7f\u7528 \u53ef\u4f9b\u4f7f\u7528 \u3002 \u53ea\u6709 \u5b58\u50a8 \u5728 \u6807\u7b7e \u7684 \u865a\u5e7b \u5f15\u64ce \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u7684 \u7f51\u683c \u624d \u4f1a \u88ab \u6807\u8bb0 \u4e3a \u6b64\u7c7b \u3002 \u5c06 \u76f8\u5e94 \u7684 \u7f51\u683c \u79fb\u52a8 \u6216 \u5bfc\u5165 \u5bfc\u5165\u5230 \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u4ee5\u4fbf \u6b63\u786e \u6807\u8bb0 \u3002   \u5c06 \u6807\u7b7e \u6dfb\u52a0 \u5230   carla . CityObjectLabel   \u8fd9 \u4e00\u6b65 \u4e0e \u8bed\u4e49 \u5206\u5272 \u6ca1\u6709 \u76f4\u63a5 \u5173\u7cfb \u3002 \u4f46\u662f \uff0c \u8fd9\u4e9b \u6807\u7b7e \u53ef \u7528\u4e8e \u8fc7\u6ee4   carla . World   \u4e2d \u7684 \u8fb9\u754c \u6846 \u67e5\u8be2 \u3002 \u4e3a\u6b64 \uff0c \u5fc5\u987b \u5c06 \u6807\u7b7e \u6dfb\u52a0 \u5230 PythonAPI   \u4e2d \u7684   carla . CityObjectLabel   \u679a\u4e3e \u4e2d \u3002   \u5728   carla / PythonAPI / carla / source / libcarla   \u4e2d \u6253\u5f00   World . cpp   \u5e76 \u5728 \u679a\u4e3e \u672b\u5c3e \u6dfb\u52a0 \u65b0 \u6807\u7b7e \u3002   \u5982\u679c \u6709 \u4efb\u4f55 \u95ee\u9898 \u3001 \u7591\u95ee \u6216 \u5efa\u8bae \uff0c \u8bf7 \u9605\u8bfb   \u5e38\u89c1 \u95ee\u9898 \u9898\u89e3 \u89e3\u7b54 \u95ee\u9898\u89e3\u7b54   \u9875\u9762 \u6216 \u5728   Carla   \u8bba\u575b   \u4e2d \u53d1\u5e16 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u6dfb\u52a0 \u65b0 \u9053\u5177","title":"\u521b\u5efa \u8bed\u4e49 \u6807\u7b7e"},{"location":"tuto_D_create_semantic_tags/#_1","text":"\u4e86\u89e3 \u5982\u4f55 \u5b9a\u4e49 \u8bed\u4e49 \u5206\u5272 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6807\u7b7e \u3002 \u8fd9\u4e9b \u8fd8 \u53ef\u4ee5 \u6dfb\u52a0 \u5230   carla . CityObjectLabel   \u4ee5 \u8fc7\u6ee4   carla . World   \u68c0\u7d22 \u7684 \u8fb9\u754c \u6846 \u3002   \u521b\u5efa \u65b0 \u7684 \u8bed\u4e49 \u6807\u7b7e   1 .   \u521b\u5efa \u6807\u7b7e   ID   2 .   \u521b\u5efa \u8d44\u4ea7 \u7684 \u865a\u5e7b \u5f15\u64ce \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   3 .   \u521b\u5efa \u865a\u5e7b \u5f15\u64ce \u4e0e \u4ee3\u7801 \u6807\u7b7e \u7684 \u53cc\u5411 \u5bf9\u5e94 \u5173\u7cfb   4 .   \u5b9a\u4e49 \u989c\u8272 \u4ee3\u7801 \u989c\u8272\u4ee3\u7801   5 .   \u6dfb\u52a0 \u6807\u8bb0 \u5143\u7d20   \u5c06 \u6807\u7b7e \u6dfb\u52a0 \u5230   carla . CityObjectLabel","title":"\u521b\u5efa \u8bed\u4e49 \u6807\u7b7e"},{"location":"tuto_D_create_semantic_tags/#_2","text":"","title":"\u521b\u5efa \u65b0 \u7684 \u8bed\u4e49 \u6807\u7b7e  "},{"location":"tuto_D_create_semantic_tags/#1-id","text":"\u6253\u5f00   LibCarla / source / carla / rpc   \u4e2d \u7684   ObjectLabel . h   \u3002 \u4f7f\u7528 \u4e0e \u5176\u4f59 \u6807\u7b7e \u76f8\u540c \u7684 \u683c\u5f0f \u5728 \u679a\u4e3e \u672b\u5c3e \u6dfb\u52a0 \u65b0 \u6807\u7b7e \u3002   \u7b14\u8bb0   \u6807\u7b7e \u4e0d\u5fc5 \u6309 \u987a\u5e8f \u51fa\u73b0 \u3002 \u4f46\u662f \uff0c \u6309 \u987a\u5e8f \u5217\u51fa \u5b83\u4eec \u662f \u4e00\u4e2a \u5f88 \u597d \u7684 \u505a\u6cd5 \u3002","title":"1 .   \u521b\u5efa \u6807\u7b7e   ID  "},{"location":"tuto_D_create_semantic_tags/#2","text":"\u6253\u5f00 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668   \u5e76 \u8f6c\u5230   Carla / Static   \u3002 \u521b\u5efa \u4e00\u4e2a \u540d\u4e3a \u60a8 \u7684 \u6807\u7b7e \u7684 \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u7b14\u8bb0   \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u548c \u6807\u7b7e \u4e0d\u5fc5 \u547d\u540d \u76f8\u540c \u3002 \u7136\u800c \uff0c \u8fd9\u6837 \u505a \u662f \u4e00\u4e2a \u5f88 \u597d \u7684 \u505a\u6cd5 \u3002","title":"2 .   \u521b\u5efa \u8d44\u4ea7 \u7684 \u865a\u5e7b \u5f15\u64ce \u6587\u4ef6\u5939  "},{"location":"tuto_D_create_semantic_tags/#3","text":"3.1 .   \u6253\u5f00   Unreal / CarlaUE4 / Plugins / Carla / Source / Carla / Game   \u4e2d \u7684   Tagger . cpp   \u3002 \u8f6c \u5230   GetLabelByFolderName   \u5217\u8868 \u672b\u5c3e \u6dfb\u52a0 \u60a8 \u7684 \u6807\u7b7e \u3002 \u88ab \u6bd4\u8f83 \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u662f   2 .   \u4e2d \u4f7f\u7528 \u7684 \u865a\u5e7b \u5f15\u64ce \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u540d\u79f0 \uff0c \u56e0\u6b64 \u8fd9\u91cc \u4f7f\u7528 \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u7684 \u540d\u79f0 \u3002   3.2 .   \u5728 \u76f8\u540c \u7684   Tagger . cpp   \u8f6c \u5230   GetTagAsString   \u3002   \u5728 \u5f00\u5173 \u672b\u5c3e \u6dfb\u52a0 \u65b0 \u6807\u7b7e \u3002","title":"3 .   \u521b\u5efa \u865a\u5e7b \u5f15\u64ce \u4e0e \u4ee3\u7801 \u6807\u7b7e \u7684 \u53cc\u5411 \u5bf9\u5e94 \u5173\u7cfb  "},{"location":"tuto_D_create_semantic_tags/#4","text":"\u5728   LibCarla / source / carla / image   \u4e2d \u6253\u5f00   CityScapesPalette . h   \u3002 \u5728 \u6570\u7ec4 \u672b\u5c3e \u6dfb\u52a0 \u65b0 \u6807\u7b7e \u7684 \u989c\u8272 \u4ee3\u7801 \u989c\u8272\u4ee3\u7801 \u3002   \u7b14\u8bb0   \u6570\u7ec4 \u4e2d \u7684 \u4f4d\u7f6e \u5fc5\u987b \u4e0e \u6807\u7b7e   ID   \u76f8\u5bf9 \u5e94 \uff0c \u5728 \u672c\u4f8b \u4e2d\u4e3a   23u   .","title":"4 .   \u5b9a\u4e49 \u989c\u8272\u4ee3\u7801  "},{"location":"tuto_D_create_semantic_tags/#5","text":"\u65b0 \u7684 \u8bed\u4e49 \u6807\u7b7e \u5df2 \u53ef\u4f9b \u4f7f\u7528 \u53ef\u4f9b\u4f7f\u7528 \u3002 \u53ea\u6709 \u5b58\u50a8 \u5728 \u6807\u7b7e \u7684 \u865a\u5e7b \u5f15\u64ce \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u7684 \u7f51\u683c \u624d \u4f1a \u88ab \u6807\u8bb0 \u4e3a \u6b64\u7c7b \u3002 \u5c06 \u76f8\u5e94 \u7684 \u7f51\u683c \u79fb\u52a8 \u6216 \u5bfc\u5165 \u5bfc\u5165\u5230 \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u4ee5\u4fbf \u6b63\u786e \u6807\u8bb0 \u3002","title":"5 .   \u6dfb\u52a0 \u6807\u8bb0 \u7f51\u683c  "},{"location":"tuto_D_create_semantic_tags/#carlacityobjectlabel","text":"\u8fd9 \u4e00\u6b65 \u4e0e \u8bed\u4e49 \u5206\u5272 \u6ca1\u6709 \u76f4\u63a5 \u5173\u7cfb \u3002 \u4f46\u662f \uff0c \u8fd9\u4e9b \u6807\u7b7e \u53ef \u7528\u4e8e \u8fc7\u6ee4   carla . World   \u4e2d \u7684 \u8fb9\u754c \u6846 \u67e5\u8be2 \u3002 \u4e3a\u6b64 \uff0c \u5fc5\u987b \u5c06 \u6807\u7b7e \u6dfb\u52a0 \u5230 PythonAPI   \u4e2d \u7684   carla . CityObjectLabel   \u679a\u4e3e \u4e2d \u3002   \u5728   carla / PythonAPI / carla / source / libcarla   \u4e2d \u6253\u5f00   World . cpp   \u5e76 \u5728 \u679a\u4e3e \u672b\u5c3e \u6dfb\u52a0 \u65b0 \u6807\u7b7e \u3002   \u5982\u679c \u6709 \u4efb\u4f55 \u95ee\u9898 \u3001 \u7591\u95ee \u6216 \u5efa\u8bae \uff0c \u8bf7 \u9605\u8bfb   \u5e38\u89c1 \u95ee\u9898 \u9898\u89e3 \u89e3\u7b54 \u95ee\u9898\u89e3\u7b54   \u9875\u9762 \u6216 \u5728   Carla   \u8bba\u575b   \u4e2d \u53d1\u5e16 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u6dfb\u52a0 \u65b0 \u9053\u5177","title":"\u5c06 \u6807\u7b7e \u6dfb\u52a0 \u5230   carla . CityObjectLabel  "},{"location":"tuto_D_create_sensor/","text":"\u5982\u4f55 \u6dfb\u52a0 \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u672c \u6559\u7a0b \u4ecb\u7ecd \u4e86 \u5411   Carla   \u6dfb\u52a0 \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6 \u3002 \u5b83 \u63d0\u4f9b \u4e86 \u5728 \u865a\u5e7b \u5f15\u64ce   4   \u4e2d \u5b9e\u73b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e76 \u901a\u8fc7   Carla   \u7684   Python   API   \u516c\u5f00 \u5176 \u6570\u636e \u7684 \u5fc5\u8981 \u6b65\u9aa4 \u3002 \u6211\u4eec \u5c06 \u901a\u8fc7 \u521b\u5efa \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f5c\u4e3a \u793a\u4f8b \u6765 \u9075\u5faa \u6240\u6709 \u6b65\u9aa4 \u3002   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u4ecb\u7ecd   \u521b\u5efa \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   1 -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u4e0e \u53c2\u4e0e\u8005   2 -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u4e32\u884c \u5668   3 -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5bf9\u8c61   4 -   \u6ce8\u518c \u60a8 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   5 -   \u4f7f\u7528 \u793a\u4f8b   \u9644\u5f55   \u91cd\u7528 \u7f13\u51b2 \u7f13\u51b2\u533a   \u5f02\u6b65 \u53d1\u9001 \u6570\u636e \u53d1\u9001\u6570\u636e   \u5ba2\u6237 \u5ba2\u6237\u7aef \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u4e3a\u4e86 \u5b9e\u73b0 \u65b0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u60a8 \u9700\u8981 \u7f16\u8bd1   Carla   \u4ee3\u7801 \u6e90\u4ee3\u7801 \uff0c \u6709\u5173 \u5982\u4f55 \u5b9e\u73b0 \u6b64 \u76ee\u7684 \u7684 \u8be6\u7ec6 \u8bf4\u660e \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   \u3002   \u672c \u6559\u7a0b \u8fd8 \u5047\u8bbe \u8bfb\u8005 \u7cbe\u901a   C++   \u7f16\u7a0b \u3002   \u4ecb\u7ecd   Carla   \u4e2d \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f \u4e00\u79cd \u7279\u6b8a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u53ef\u4ee5 \u4ea7\u751f \u6570\u636e \u6570\u636e\u6d41 \u3002 \u6709\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6bcf\u6b21 \u66f4\u65b0 \u65f6 \u90fd \u4f1a \u8fde\u7eed \u4ea7\u751f \u6570\u636e \uff0c \u800c \u53e6 \u4e00\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ec5 \u5728 \u67d0\u4e9b \u4e8b\u4ef6 \u53d1\u751f \u540e \u624d \u4ea7\u751f \u6570\u636e \u3002 \u4f8b\u5982 \uff0c \u76f8\u673a \u5728 \u6bcf\u6b21 \u66f4\u65b0 \u65f6 \u90fd \u4f1a \u751f\u6210 \u56fe\u50cf \uff0c \u4f46 \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ec5 \u5728 \u53d1\u751f \u78b0\u649e \u65f6\u624d \u4f1a \u89e6\u53d1 \u3002   \u5c3d\u7ba1 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \uff08 \u865a\u5e7b \u5f15\u64ce   4 \uff09 \u4e2d \u8ba1\u7b97 \u6d4b\u91cf \u7ed3\u679c \uff0c \u4f46 \u503c\u5f97 \u6ce8\u610f \u503c\u5f97\u6ce8\u610f \u7684 \u662f \uff0c \u67d0\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ec5 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e2d \u8fd0\u884c \u3002 \u6b64\u7c7b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4e00\u4e2a \u4f8b\u5b50 \u662f   LaneInvasion \uff0c \u6bcf\u6b21 \u8d8a\u8fc7 \u8f66\u9053 \u6807\u8bb0 \u65f6 \u5b83 \u90fd \u4f1a \u53d1\u51fa \u901a\u77e5 \u53d1\u51fa\u901a\u77e5 \u3002 \u6709\u5173 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u9644\u5f55 \uff1a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u91cd\u70b9 \u5173\u6ce8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u4e3a\u4e86 \u8ba9 \u865a\u5e7b \u5f15\u64ce   4   \u5185 \u8fd0\u884c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u6570\u636e \u4e00\u8def \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   Python   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u6211\u4eec \u9700\u8981 \u8986\u76d6 \u6574\u4e2a \u901a\u4fe1 \u7ba1\u9053 \u3002   \u56e0\u6b64 \uff0c \u6211\u4eec \u9700\u8981 \u4ee5\u4e0b \u7c7b\u6765 \u6db5\u76d6 \u7ba1\u9053 \u7684 \u4e0d\u540c \u6b65\u9aa4   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u8d1f\u8d23 \u6d4b\u91cf \u548c / \u6216 \u4eff\u771f \u6570\u636e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   4 \u6846\u67b6 \u5728   Carla   \u63d2\u4ef6 \u4e2d \u8fd0\u884c \u3002 \u7528\u6237 \u53ef\u4ee5 \u4f5c\u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8bbf\u95ee \u3002   \u4e32\u884c \u5668   \u5bf9\u8c61 \u5305\u542b \u7528\u4e8e \u5e8f\u5217 \u5e8f\u5217\u5316 \u548c \u53cd \u5e8f\u5217 \u5e8f\u5217\u5316 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u751f\u6210 \u7684 \u6570\u636e \u7684 \u65b9\u6cd5 \u3002 \u5728   LibCarla   \u4e2d \u8fd0\u884c \uff0c \u5305\u62ec \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e   \u8868\u793a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u751f\u6210 \u7684 \u6570\u636e \u7684 \u5bf9\u8c61 \u3002 \u8fd9 \u662f \u5c06 \u5728   C++   \u548c   Python   API   \u4e2d \u4f20\u9012 \u7ed9 \u6700\u7ec8 \u7528\u6237 \u6700\u7ec8\u7528\u6237 \u7684 \u5bf9\u8c61 \u3002   \u7b14\u8bb0   \u4e3a\u4e86 \u786e\u4fdd \u6700\u4f73 \u6027\u80fd \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f7f\u7528 \u57fa\u4e8e \u6a21\u677f \u5143 \u7f16\u7a0b \u7684 \u201c \u7f16\u8bd1 \u65f6 \u63d2\u4ef6 \u7cfb\u7edf \u201d \u8fdb\u884c \u6ce8\u518c \u548c \u8c03\u5ea6 \u3002 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\uff0c \u6211\u4eec \u4e0d\u4f1a \u8003\u8651 \u6240\u6709 \u7684 \u8fb9\u7f18 \u60c5\u51b5 \uff0c \u4e5f \u4e0d\u4f1a \u4ee5 \u6700 \u6709\u6548 \u7684 \u65b9\u5f0f \u5b9e\u73b0 \u3002 \u8fd9 \u53ea\u662f \u4e00\u4e2a \u8bf4\u660e \u660e\u6027 \u8bf4\u660e\u6027 \u793a\u4f8b \u3002   1 -   \u521b\u5efa \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8fd9\u662f \u6211\u4eec \u8981 \u521b\u5efa \u7684 \u6700 \u590d\u6742 \u7684 \u7c7b \u3002 \u8fd9\u91cc \u6211\u4eec \u5728 \u865a\u5e7b \u5f15\u64ce \u6846\u67b6 \u5185 \u8fd0\u884c \uff0c \u865a\u5e7b \u5f15\u64ce   4   API   \u7684 \u77e5\u8bc6 \u5c06 \u975e\u5e38 \u6709 \u5e2e\u52a9 \uff0c \u4f46 \u4e0d\u662f \u4e0d\u53ef \u5fc5\u4e0d\u53ef\u5c11 \u7684 \uff0c \u6211\u4eec \u5047\u8bbe \u8bfb\u8005 \u4ee5\u524d \u4ece\u672a \u4f7f\u7528 \u8fc7 \u865a\u5e7b \u5f15\u64ce   4 \u3002   \u5728   UE4   \u5185\u90e8 \uff0c \u6211\u4eec \u6709 \u4e00\u4e2a \u4e0e \u5ba2\u6237 \u5ba2\u6237\u7aef \u7c7b\u4f3c \u7684 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \uff0c   ASensor   \u6d3e\u751f \u81ea   AActor   \uff0c \u800c   Actor   \u5927\u81f4 \u662f \u53ef\u4ee5 \u653e\u5165 \u4e16\u754c \u4e2d \u7684 \u4efb\u4f55 \u5bf9\u8c61 \u3002   AActor   \u6709 \u4e00\u4e2a \u540d\u4e3a \u7684 \u865a\u62df \u51fd\u6570   Tick   \uff0c \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u5b83 \u5728 \u6bcf\u6b21 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u66f4\u65b0 \u65f6 \u66f4\u65b0 \u6211\u4eec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u5728 \u66f4 \u9ad8 \u7684 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d   UObject   \uff0c \u6211\u4eec \u6709 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u865a\u5e7b \u5f15\u64ce   4   \u7c7b \u7684 \u57fa\u7c7b \u3002 \u91cd\u8981 \u7684 \u662f \u8981 \u77e5\u9053 \u6d3e\u751f \u7684 \u5bf9\u8c61   UObject   \u662f \u901a\u8fc7 \u6307\u9488 \u8fdb\u884c \u5904\u7406 \u7684 \uff0c \u5e76\u4e14 \u5f53 \u5b83\u4eec \u4e0d\u518d \u88ab \u5f15\u7528 \u65f6\u4f1a \u88ab \u5783\u573e \u6536\u96c6 \u3002 \u6307\u5411   UObjects   \u7684 \u7c7b \u6210\u5458 \u9700\u8981 \u7528\u5b8f   UPROPERTY   \u8fdb\u884c \u6807\u8bb0 \uff0c \u5426\u5219 \u5b83\u4eec \u5c06 \u88ab \u5783\u573e \u6536\u96c6 \u3002   \u5f00\u59cb \u5427 \u3002   \u8be5\u7c7b \u5fc5\u987b \u4f4d\u4e8e   Carla   \u63d2\u4ef6 \u5185 \uff0c \u6211\u4eec \u5c06 \u4e3a \u65b0 \u7684   C++   \u7c7b \u521b\u5efa \u4e24\u4e2a \u6587\u4ef6   Unreal / CarlaUE4 / Plugins / Carla / Source / Carla / Sensor / SafeDistanceSensor . h   Unreal / CarlaUE4 / Plugins / Carla / Source / Carla / Sensor / SafeDistanceSensor . cpp   \u8d77\u7801 \u6700\u8d77\u7801 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9700\u8981 \u7ee7\u627f   ASensor   \uff0c \u5e76 \u63d0\u4f9b \u9759\u6001 \u65b9\u6cd5 \u9759\u6001\u65b9\u6cd5   GetSensorDefinition   \uff1b \u4f46 \u6211\u4eec \u8fd8 \u5c06 \u91cd\u5199   Set   \u3001   SetOwner   \u3001   \u548c   Tick   \u65b9\u6cd5 \u3002 \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fd8 \u9700\u8981 \u4e00\u4e2a \u89e6\u53d1 \u76d2\u6765 \u68c0\u6d4b \u6211\u4eec \u5468\u56f4 \u7684 \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u6709 \u4e86 \u8fd9\u4e2a \u548c \u4e00\u4e9b \u5fc5\u9700 \u7684 \u865a\u5e7b \u5f15\u64ce 4   \u6837\u677f \u4ee3\u7801 \uff0c \u6587\u4ef6 \u5934\u6587\u4ef6 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u50cf   # pragma   once   # include   \" Carla / Sensor / Sensor . h \"   # include   \" Carla / Actor / ActorDefinition . h \"   # include   \" Carla / Actor / ActorDescription . h \"   # include   \" Components / BoxComponent . h \"   # include   \" SafeDistanceSensor . generated . h \"   UCLASS ( )   class   CARLA _ API   ASafeDistanceSensor   :   public   ASensor   {   GENERATED _ BODY ( )   public :   ASafeDistanceSensor ( const   FObjectInitializer   & ObjectInitializer ) ;   static   FActorDefinition   GetSensorDefinition ( ) ;   void   Set ( const   FActorDescription   & ActorDescription )   override ;   void   SetOwner ( AActor   * Owner )   override ;   void   Tick ( float   DeltaSeconds )   override ;   private :   UPROPERTY ( )   UBoxComponent   * Box   =   nullptr ;   } ;   \u5728   cpp   \u6587\u4ef6 \u4e2d \uff0c \u9996\u5148 \u6211\u4eec \u9700\u8981 \u4e00\u4e9b \u5305\u542b   # include   \" Carla . h \"   # include   \" Carla / Sensor / SafeDistanceSensor . h \"   # include   \" Carla / Actor / ActorBlueprintFunctionLibrary . h \"   # include   \" Carla / Game / CarlaEpisode . h \"   # include   \" Carla / Util / BoundingBoxCalculator . h \"   # include   \" Carla / Vehicle / CarlaWheeledVehicle . h \"   \u7136\u540e \u6211\u4eec \u5c31 \u53ef\u4ee5 \u7ee7\u7eed \u5b9e\u73b0 \u8be5 \u529f\u80fd \u4e86 \u3002 \u6784\u9020 \u51fd\u6570 \u6784\u9020\u51fd\u6570 \u5c06 \u521b\u5efa \u89e6\u53d1 \u6846 \uff0c \u5e76 \u544a\u8bc9 \u865a\u5e7b \u5f15\u64ce 4   \u6211\u4eec \u5e0c\u671b \u8c03\u7528 \u6211\u4eec \u7684 \u52fe\u9009 \u51fd\u6570 \u3002 \u5982\u679c \u6211\u4eec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6ca1\u6709 \u4f7f\u7528 \u523b\u5ea6 \u529f\u80fd \uff0c \u6211\u4eec \u53ef\u4ee5 \u5728 \u6b64\u5904 \u7981\u7528 \u5b83 \u4ee5 \u907f\u514d \u4e0d\u5fc5 \u5fc5\u8981 \u4e0d\u5fc5\u8981 \u7684 \u523b\u5ea6   ASafeDistanceSensor : : ASafeDistanceSensor ( const   FObjectInitializer   & ObjectInitializer )   :   Super ( ObjectInitializer )   {   Box   =   CreateDefaultSubobject < UBoxComponent > ( TEXT ( \" BoxOverlap \" ) ) ;   Box - > SetupAttachment ( RootComponent ) ;   Box - > SetHiddenInGame ( true ) ;   / /   Disable   for   debugging .   Box - > SetCollisionProfileName ( FName ( \" OverlapAll \" ) ) ;   PrimaryActorTick . bCanEverTick   =   true ;   }   \u73b0\u5728 \u6211\u4eec \u9700\u8981 \u544a\u8bc9   Carla   \u8fd9\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6709 \u4ec0\u4e48 \u5c5e\u6027 \uff0c \u8fd9 \u5c06 \u7528\u4e8e \u5728 \u6211\u4eec \u7684 \u84dd \u56fe\u5e93 \u4e2d \u521b\u5efa \u4e00\u4e2a \u65b0 \u7684 \u84dd\u56fe \uff0c \u7528\u6237 \u53ef\u4ee5 \u4f7f\u7528 \u8fd9\u4e2a \u84dd\u56fe \u6765 \u914d\u7f6e \u548c \u751f\u6210 \u8fd9\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u6211\u4eec \u5c06 \u5728 \u8fd9\u91cc \u5b9a\u4e49 \u89e6\u53d1 \u6846 \u7684 \u5c5e\u6027 \uff0c \u5728 \u672c\u4f8b \u4e2d \u6211\u4eec \u5c06 \u4ec5 \u516c\u5f00   X   \u548c   Y   \u5b89\u5168 \u8ddd\u79bb   FActorDefinition   ASafeDistanceSensor : : GetSensorDefinition ( )   {   auto   Definition   =   UActorBlueprintFunctionLibrary : : MakeGenericSensorDefinition (   TEXT ( \" other \" ) ,   TEXT ( \" safe _ distance \" ) ) ;   FActorVariation   Front ;   Front . Id   =   TEXT ( \" safe _ distance _ front \" ) ;   Front . Type   =   EActorAttributeType : : Float ;   Front . RecommendedValues   =   {   TEXT ( \" 1.0 \" )   } ;   Front . bRestrictToRecommended   =   false ;   FActorVariation   Back ;   Back . Id   =   TEXT ( \" safe _ distance _ back \" ) ;   Back . Type   =   EActorAttributeType : : Float ;   Back . RecommendedValues   =   {   TEXT ( \" 0.5 \" )   } ;   Back . bRestrictToRecommended   =   false ;   FActorVariation   Lateral ;   Lateral . Id   =   TEXT ( \" safe _ distance _ lateral \" ) ;   Lateral . Type   =   EActorAttributeType : : Float ;   Lateral . RecommendedValues   =   {   TEXT ( \" 0.5 \" )   } ;   Lateral . bRestrictToRecommended   =   false ;   Definition . Variations . Append ( {   Front ,   Back ,   Lateral   } ) ;   return   Definition ;   }   \u8fd9\u6837 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5de5\u5382 \u5c31 \u80fd\u591f \u6839\u636e \u7528\u6237 \u9700\u6c42 \u521b\u5efa \u5b89\u5168 \u8ddd\u79bb \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u521b\u5efa \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u540e \uff0c \u7acb\u5373 \u4f7f\u7528 \u7528\u6237 \u8bf7\u6c42 \u7684 \u53c2\u6570 \u8c03\u7528 \u8be5   Set   \u51fd\u6570   void   ASafeDistanceSensor : : Set ( const   FActorDescription   & Description )   {   Super : : Set ( Description ) ;   float   Front   =   UActorBlueprintFunctionLibrary : : RetrieveActorAttributeToFloat (   \" safe _ distance _ front \" ,   Description . Variations ,   1.0 f ) ;   float   Back   =   UActorBlueprintFunctionLibrary : : RetrieveActorAttributeToFloat (   \" safe _ distance _ back \" ,   Description . Variations ,   0.5 f ) ;   float   Lateral   =   UActorBlueprintFunctionLibrary : : RetrieveActorAttributeToFloat (   \" safe _ distance _ lateral \" ,   Description . Variations ,   0.5 f ) ;   constexpr   float   M _ TO _ CM   =   100.0 f ;   / /   Unit   conversion .   float   LocationX   =   M _ TO _ CM   *   ( Front   -   Back )   /   2.0 f ;   float   ExtentX   =   M _ TO _ CM   *   ( Front   +   Back )   /   2.0 f ;   float   ExtentY   =   M _ TO _ CM   *   Lateral ;   Box - > SetRelativeLocation ( FVector { LocationX ,   0.0 f ,   0.0 f } ) ;   Box - > SetBoxExtent ( FVector { ExtentX ,   ExtentY ,   0.0 f } ) ;   }   \u8bf7 \u6ce8\u610f \uff0c set   \u51fd\u6570 \u662f \u5728 \u865a\u5e7b \u5f15\u64ce   4   \u4e4b\u524d \u8c03\u7528 \u7684   BeginPlay   \uff0c \u6211\u4eec \u8fd9\u91cc \u4e0d\u4f1a \u4f7f\u7528 \u8fd9\u4e2a \u865a\u62df \u51fd\u6570 \uff0c \u4f46 \u5b83 \u5bf9\u4e8e \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5f88 \u91cd\u8981 \u3002   \u73b0\u5728 \u6211\u4eec \u5c06 \u6839\u636e \u6211\u4eec \u6240 \u9644\u52a0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8fb9\u754c \u6846\u6765 \u6269\u5c55 \u76d2\u5b50 \u4f53\u79ef \u3002 \u4e3a\u6b64 \uff0c \u6700 \u65b9\u4fbf \u7684 \u65b9\u6cd5 \u662f \u4f7f\u7528   SetOwner   \u865a \u51fd\u6570 \u3002 \u5f53 \u6211\u4eec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fde\u63a5 \u5230 \u53e6 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \uff0c \u4f1a \u8c03\u7528 \u6b64 \u51fd\u6570 \u3002   void   ASafeDistanceSensor : : SetOwner ( AActor   * Owner )   {   Super : : SetOwner ( Owner ) ;   auto   BoundingBox   =   UBoundingBoxCalculator : : GetActorBoundingBox ( Owner ) ;   Box - > SetBoxExtent ( BoundingBox . Extent   +   Box - > GetUnscaledBoxExtent ( ) ) ;   }   \u552f\u4e00 \u8981 \u505a \u7684 \u5c31\u662f \u5b9e\u9645 \u6d4b\u91cf \uff0c \u56e0\u4e3a \u6211\u4eec \u5c06 \u4f7f\u7528 \u8be5   Tick   \u51fd\u6570 \u3002 \u6211\u4eec \u5c06 \u67e5\u627e \u5f53\u524d \u4e0e \u6211\u4eec \u7684 \u76d2\u5b50 \u91cd\u53e0 \u7684 \u6240\u6709 \u8f66\u8f86 \uff0c \u5e76 \u5c06 \u6b64 \u5217\u8868 \u53d1\u9001 \u9001\u7ed9 \u53d1\u9001\u7ed9 \u5ba2\u6237   void   ASafeDistanceSensor : : Tick ( float   DeltaSeconds )   {   Super : : Tick ( DeltaSeconds ) ;   TSet < AActor   * >   DetectedActors ;   Box - > GetOverlappingActors ( DetectedActors ,   ACarlaWheeledVehicle : : StaticClass ( ) ) ;   DetectedActors . Remove ( GetOwner ( ) ) ;   if   ( DetectedActors . Num ( )   >   0 )   {   auto   Stream   =   GetDataStream ( * this ) ;   Stream . Send ( * this ,   GetEpisode ( ) ,   DetectedActors ) ;   }   }   \u7b14\u8bb0   \u5728 \u53ef \u6295\u5165 \u751f\u4ea7 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \uff0c \u8be5   Tick   \u51fd\u6570 \u5e94\u8be5 \u975e\u5e38 \u4f18\u5316 \uff0c \u7279\u522b \u662f \u5f53 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53d1\u9001 \u5927\u91cf \u6570\u636e \u65f6 \u3002 \u6e38\u620f \u7ebf\u7a0b \u4e2d \u7684 \u6bcf\u6b21 \u66f4\u65b0 \u90fd \u4f1a \u8c03\u7528 \u6b64 \u51fd\u6570 \uff0c \u56e0\u6b64 \u4f1a\u663e \u7740 \u5f71\u54cd \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u6027\u80fd \u3002   \u597d \u5427 \uff0c \u8fd9\u91cc \u53d1\u751f \u4e86 \u4e00\u4e9b \u6211\u4eec \u8fd8 \u6ca1\u6709 \u63d0\u5230 \u7684 \u4e8b\u60c5 \uff0c \u8fd9\u4e2a \u6d41\u662f \u4ec0\u4e48 \uff1f   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u6709 \u4e00\u4e2a \u5173\u8054 \u7684 \u6570\u636e \u6570\u636e\u6d41 \u3002 \u8be5\u6d41 \u7528\u4e8e \u5c06 \u6570\u636e \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u8fd9 \u662f \u60a8 \u5728   Python   API   \u4e2d \u4f7f\u7528   sensor . listen ( callback )   \u65b9\u6cd5 \u65f6 \u8ba2\u9605 \u7684 \u6d41 \u3002 \u6bcf\u6b21 \u5411 \u8fd9\u91cc \u53d1\u9001 \u4e00\u4e9b \u6570\u636e \u65f6 \uff0c \u90fd \u4f1a \u89e6\u53d1 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u56de\u8c03 \u3002 \u4f46 \u4e4b\u524d \u5728\u6b64\u4e4b\u524d \uff0c \u6570\u636e \u5c06 \u7ecf\u8fc7 \u591a\u4e2a \u5c42 \u3002 \u9996\u5148 \u662f \u6211\u4eec \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u8981 \u521b\u5efa \u7684 \u5e8f\u5217 \u5e8f\u5217\u5316 \u5668 \u3002 \u4e00\u65e6 \u6211\u4eec \u5b8c\u6210 \u4e86 \u4e0b \u4e00\u8282 \u7684   Serialize   \u529f\u80fd \uff0c \u6211\u4eec \u5c31 \u4f1a \u5b8c\u5168 \u7406\u89e3 \u8fd9 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   2 -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u4e32\u884c \u5668   \u8fd9\u4e2a \u7c7b \u5176\u5b9e \u6bd4\u8f83 \u7b80\u5355 \u6bd4\u8f83\u7b80\u5355 \uff0c \u53ea \u9700\u8981 \u6709 \u4e24\u4e2a \u9759\u6001 \u65b9\u6cd5 \u9759\u6001\u65b9\u6cd5 \uff0c   Serialize   \u548c   Deserialize   \u3002 \u6211\u4eec \u5c06 \u4e3a \u5b83 \u6dfb\u52a0 \u4e24\u4e2a \u6587\u4ef6 \uff0c \u8fd9\u6b21 \u662f   LibCarla   LibCarla / source / carla / sensor / s11n / SafeDistanceSerializer . h   LibCarla / source / carla / sensor / s11n / SafeDistanceSerializer . cpp   \u8ba9 \u6211\u4eec \u4ece   Serialize   \u51fd\u6570 \u5f00\u59cb \u3002 \u8be5 \u51fd\u6570 \u5c06 \u63a5\u6536 \u6211\u4eec \u4f20\u9012 \u7ed9   Stream . Send ( ... )   \u51fd\u6570 \u7684 \u4efb\u4f55 \u5185\u5bb9 \u4f5c\u4e3a \u53c2\u6570 \uff0c \u552f\u4e00 \u7684 \u6761\u4ef6 \u662f \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u53c2\u6570 \u5fc5\u987b \u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e76\u4e14 \u5b83 \u5fc5\u987b \u8fd4\u56de \u4e00\u4e2a \u7f13\u51b2 \u7f13\u51b2\u533a \u3002   static   Buffer   Serialize ( const   Sensor   & ,   ... ) ;   carla : : Buffer   \u53ea\u662f \u4e00\u5757 \u52a8\u6001 \u5206\u914d \u52a8\u6001\u5206\u914d \u7684 \u539f\u59cb \u5185\u5b58 \uff0c \u5177\u6709 \u4e00\u4e9b \u65b9\u4fbf \u7684 \u529f\u80fd \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528 \u5b83 \u5411 \u5ba2\u6237 \u5ba2\u6237\u7aef \u53d1\u9001 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u3002   \u5728 \u6b64 \u793a\u4f8b \u4e2d \uff0c \u6211\u4eec \u9700\u8981 \u4ee5 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6709 \u610f\u4e49 \u7684 \u65b9\u5f0f \u5c06 \u68c0\u6d4b \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \u5199\u5165 \u7f13\u51b2 \u7f13\u51b2\u533a \u3002 \u8fd9 \u5c31\u662f \u6211\u4eec \u5c06 \u5267\u96c6 \u5bf9\u8c61 \u4f20\u9012 \u7ed9 \u6b64 \u51fd\u6570 \u7684 \u539f\u56e0 \u3002   UCarlaEpisode   \u7c7b \u8868\u793a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u8fd0\u884c \u7684 \u5f53\u524d   \u60c5\u8282   \uff0c \u5373 \u81ea \u4e0a\u6b21 \u52a0\u8f7d \u5730\u56fe \u4ee5\u6765 \u7684 \u4eff\u771f \u72b6\u6001 \u3002 \u5b83 \u5305\u542b \u4e0e   Carla   \u76f8\u5173 \u7684 \u6240\u6709 \u4fe1\u606f \uff0c \u9664 \u5176\u4ed6 \u5916 \uff0c \u5b83 \u8fd8 \u5141\u8bb8 \u641c\u7d22 \u53c2\u4e0e \u53c2\u4e0e\u8005   ID \u3002 \u6211\u4eec \u53ef\u4ee5 \u5c06 \u8fd9\u4e9b   ID   \u53d1\u9001 \u9001\u7ed9 \u53d1\u9001\u7ed9 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06 \u80fd\u591f \u5c06 \u8fd9\u4e9b   ID   \u8bc6\u522b \u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005   template   < typename   SensorT ,   typename   EpisodeT ,   typename   ActorListT >   static   Buffer   Serialize (   const   SensorT   & ,   const   EpisodeT   & episode ,   const   ActorListT   & detected _ actors )   {   const   uint32 _ t   size _ in _ bytes   =   sizeof ( ActorId )   *   detected _ actors . Num ( ) ;   Buffer   buffer { size _ in _ bytes } ;   unsigned   char   * it   =   buffer . data ( ) ;   for   ( auto   * actor   :   detected _ actors )   {   ActorId   id   =   episode . FindActor ( actor ) . GetActorId ( ) ;   std : : memcpy ( it ,   & id ,   sizeof ( ActorId ) ) ;   it   + =   sizeof ( ActorId ) ;   }   return   buffer ;   }   \u6ce8\u610f \uff1a \u6211\u4eec \u5bf9 \u865a\u5e7b \u5f15\u64ce   4   \u7c7b \u8fdb\u884c \u6a21\u677f \u5316\u4ee5 \u907f\u514d \u5728   LibCarla   \u4e2d \u5305\u542b \u8fd9\u4e9b \u6587\u4ef6 \u3002   \u6211\u4eec \u8981 \u8fd4\u56de \u7684 \u8fd9\u4e2a \u7f13\u51b2 \u7f13\u51b2\u533a \u5c06\u4f1a \u8fd4\u56de \u7ed9 \u6211\u4eec \uff0c \u4e0d\u8fc7 \u53ea\u4e0d\u8fc7 \u8fd9\u6b21 \u662f \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5728 \u5c01\u88c5 \u5728   RawData   \u5bf9\u8c61 \u4e2d \u7684   Deserialize   \u51fd\u6570 \u4e2d   static   SharedPtr < SensorData >   Deserialize ( RawData   && data ) ;   \u6211\u4eec \u5728   cpp   \u6587\u4ef6 \u4e2d \u5b9e\u73b0 \u8fd9\u4e2a \u65b9\u6cd5 \uff0c \u6bd4\u8f83 \u7b80\u5355 \u6bd4\u8f83\u7b80\u5355   SharedPtr < SensorData >   SafeDistanceSerializer : : Deserialize ( RawData   && data )   {   return   SharedPtr < SensorData > ( new   data : : SafeDistanceEvent ( std : : move ( data ) ) ) ;   }   \u9664\u4e86 \u6211\u4eec \u8fd8 \u6ca1\u6709 \u5b9a\u4e49 \u4ec0\u4e48 \u662f   SafeDistanceEvent \u3002   3 -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5bf9\u8c61   \u6211\u4eec \u9700\u8981 \u4e3a \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7528\u6237 \u521b\u5efa \u4e00\u4e2a \u6570\u636e \u5bf9\u8c61 \uff0c \u8868\u793a   \u5b89\u5168 \u8ddd\u79bb \u4e8b\u4ef6   \u7684 \u6570\u636e \u3002 \u6211\u4eec \u5c06 \u6b64 \u6587\u4ef6 \u6dfb\u52a0 \u5230   LibCarla / source / carla / sensor / data / SafeDistanceEvent . h   \u8be5 \u5bf9\u8c61 \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005   ID   \u5217\u8868 \u3002 \u4e3a\u6b64 \uff0c \u6211\u4eec \u5c06 \u4ece   Array   \u6a21\u677f \u6d3e\u751f   # pragma   once   # include   \" carla / rpc / ActorId . h \"   # include   \" carla / sensor / data / Array . h \"   namespace   carla   {   namespace   sensor   {   namespace   data   {   class   SafeDistanceEvent   :   public   Array < rpc : : ActorId >   {   public :   explicit   SafeDistanceEvent ( RawData   && data )   :   Array < rpc : : ActorId > ( std : : move ( data ) )   { }   } ;   }   / /   namespace   data   }   / /   namespace   sensor   }   / /   namespace   carla   \u6570\u7ec4 \u6a21\u677f \u5c06 \u628a \u6211\u4eec \u5728   Serialize   \u65b9\u6cd5 \u4e2d \u521b\u5efa \u7684 \u7f13\u51b2 \u7f13\u51b2\u533a \u91cd\u65b0 \u89e3\u91ca \u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005   ID   \u6570\u7ec4 \uff0c \u5e76\u4e14 \u5b83 \u80fd\u591f \u76f4\u63a5 \u4ece \u6211\u4eec \u6536\u5230 \u7684 \u7f13\u51b2 \u7f13\u51b2\u533a \u4e2d \u6267\u884c \u6b64 \u64cd\u4f5c \uff0c \u800c \u65e0\u9700 \u5206\u914d \u4efb\u4f55 \u65b0 \u5185\u5b58 \u3002 \u867d\u7136 \u5bf9\u4e8e \u8fd9\u4e2a \u5c0f \u4f8b\u5b50 \u6765\u8bf4 \u53ef\u80fd \u6709\u70b9 \u5927\u6750\u5c0f\u7528 \uff0c \u4f46 \u8fd9\u79cd \u673a\u5236 \u4e5f \u9002\u7528 \u4e8e \u5927 \u6570\u636e \u5757 \uff1b \u60f3\u8c61 \u4e00\u4e0b \u6211\u4eec \u6b63\u5728 \u53d1\u9001 \u9ad8\u6e05 \u56fe\u50cf \uff0c \u6211\u4eec \u901a\u8fc7 \u91cd\u7528 \u539f\u59cb \u5185\u5b58 \u8282\u7701 \u4e86 \u5f88\u591a \u3002   \u73b0\u5728 \u6211\u4eec \u9700\u8981 \u5c06 \u6b64\u7c7b \u516c\u5f00 \u7ed9   Python \u3002 \u5728 \u6211\u4eec \u7684 \u793a\u4f8b \u4e2d \uff0c \u6211\u4eec \u6ca1\u6709 \u6dfb\u52a0 \u4efb\u4f55 \u989d\u5916 \u7684 \u65b9\u6cd5 \uff0c \u56e0\u6b64 \u6211\u4eec \u53ea \u516c\u5f00 \u4e0e   Array   \u76f8\u5173 \u7684 \u65b9\u6cd5 \u3002 \u6211\u4eec \u901a\u8fc7 \u4f7f\u7528   Boost . Python   \u7ed1\u5b9a \u6765 \u5b9e\u73b0 \u6b64 \u76ee\u7684 \uff0c \u5c06 \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u6dfb\u52a0 \u5230   PythonAPI / carla / source / libcarla / SensorData . cpp   \u3002   class _ <   csd : : SafeDistanceEvent ,   / /   actual   type .   bases < cs : : SensorData > ,   / /   parent   type .   boost : : noncopyable ,   / /   disable   copy .   boost : : shared _ ptr < csd : : SafeDistanceEvent >   / /   use   as   shared _ ptr .   > ( \" SafeDistanceEvent \" ,   no _ init )   / /   name ,   and   disable   construction .   . def ( \" __ len __ \" ,   & csd : : SafeDistanceEvent : : size )   . def ( \" __ iter __ \" ,   iterator < csd : : SafeDistanceEvent > ( ) )   . def ( \" __ getitem __ \" ,   + [ ] ( const   csd : : SafeDistanceEvent   & self ,   size _ t   pos )   - >   cr : : ActorId   {   return   self . at ( pos ) ;   } )   ;   \u6ce8\u610f \uff1a   csd   \u662f \u540d\u79f0 \u7a7a\u95f4   carla : : sensor : : data   \u7684 \u522b\u540d \u3002   \u6211\u4eec \u5728 \u8fd9\u91cc \u6240 \u505a \u7684 \u662f \u5728   Python   \u4e2d \u516c\u5f00 \u4e00\u4e9b   C++   \u65b9\u6cd5 \u3002 \u8fd9\u6837 \uff0c Python   API   \u5c06 \u80fd\u591f \u8bc6\u522b \u6211\u4eec \u7684 \u65b0 \u4e8b\u4ef6 \uff0c \u5e76\u4e14 \u5176 \u884c\u4e3a \u7c7b\u4f3c \u4e8e   Python   \u4e2d \u7684 \u6570\u7ec4 \uff0c \u53ea\u662f \u4e0d\u80fd \u4fee\u6539 \u3002   4 -   \u6ce8\u518c \u60a8 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u73b0\u5728 \u7ba1\u9053 \u5df2 \u5b8c\u6210 \uff0c \u6211\u4eec \u5df2 \u51c6\u5907 \u597d \u6ce8\u518c \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u6211\u4eec \u5728   LibCarla / source / carla / sensor / SensorRegistry . h   \u4e2d \u8fd9\u6837 \u505a \u3002 \u6309\u7167 \u6b64 \u6587\u4ef6 \u5934\u6587\u4ef6 \u4e2d \u7684 \u8bf4\u660e \u6dfb\u52a0 \u4e0d\u540c \u7684 \u5305\u542b \u548c \u524d \u5411 \u58f0\u660e \uff0c \u5e76 \u5c06 \u4ee5\u4e0b \u5bf9 \u6dfb\u52a0 \u5230 \u6ce8\u518c \u6ce8\u518c\u8868 \u4e2d   std : : pair < ASafeDistanceSensor   * ,   s11n : : SafeDistanceSerializer >   \u6709 \u4e86 \u8fd9\u4e2a \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6ce8\u518c \u6ce8\u518c\u8868 \u73b0\u5728 \u53ef\u4ee5 \u53d1\u6325 \u5176 \u9b54\u529b \uff0c \u5c06 \u6b63\u786e \u7684 \u6570\u636e \u5206\u6d3e \u5230 \u6b63\u786e \u7684 \u5e8f\u5217 \u5e8f\u5217\u5316 \u5668 \u3002   \u73b0\u5728 \u91cd\u65b0 \u7f16\u8bd1   Carla \uff0c \u5e0c\u671b \u4e00\u5207 \u987a\u5229 \u4e00\u5207\u987a\u5229 \u5e76\u4e14 \u6ca1\u6709 \u9519\u8bef \u3002 \u4e0d\u5e78 \u7684 \u662f \uff0c \u8fd9\u91cc \u7684 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u9519\u8bef \u90fd \u4e0e \u6a21\u677f \u6709\u5173 \uff0c \u5e76\u4e14 \u9519\u8bef \u6d88\u606f \u53ef\u80fd \u6709\u70b9 \u795e\u79d8 \u3002   make   rebuild   5 -   \u4f7f\u7528 \u793a\u4f8b   \u6700\u540e \uff0c \u6211\u4eec \u5df2\u7ecf \u5305\u542b \u4e86 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5e76\u4e14 \u5df2\u7ecf \u5b8c\u6210 \u4e86 \u91cd\u65b0 \u7f16\u8bd1 \uff0c \u73b0\u5728 \u6211\u4eec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e94\u8be5 \u53ef\u4ee5 \u5728   Python   \u4e2d \u4f7f\u7528 \u3002   \u8981 \u751f\u6210 \u8fd9\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u6211\u4eec \u53ea \u9700 \u5728 \u84dd \u56fe\u5e93 \u4e2d \u627e\u5230 \u5b83 \uff0c \u5982\u679c \u4e00\u5207 \u987a\u5229 \u4e00\u5207\u987a\u5229 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5de5\u5382 \u5e94\u8be5 \u5df2 \u5c06 \u6211\u4eec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6dfb\u52a0 \u5230\u5e93 \u4e2d   blueprint   =   blueprint _ library . find ( ' sensor . other . safe _ distance ' )   sensor   =   world . spawn _ actor ( blueprint ,   carla . Transform ( ) ,   attach _ to = vehicle )   \u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u901a\u8fc7 \u6ce8\u518c \u56de\u8c03 \u51fd\u6570 \u6765 \u5f00\u59cb \u76d1\u542c \u4e8b\u4ef6   world _ ref   =   weakref . ref ( world )   def   callback ( event ) :   for   actor _ id   in   event :   vehicle   =   world _ ref ( ) . get _ actor ( actor _ id )   print ( ' Vehicle   too   close :   % s '   %   vehicle . type _ id )   sensor . listen ( callback )   \u6b64 \u56de\u8c03 \u5c06 \u6267\u884c \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u5728 \u6211\u4eec \u7684 \u5b89\u5168 \u8ddd\u79bb \u6846\u4e2d \u7684 \u6bcf\u6b21 \u66f4\u65b0 \uff0c \u4f8b\u5982   Vehicle   too   close :   vehicle . audi . a2   Vehicle   too   close :   vehicle . mercedes - benz . coupe   \u5c31\u662f \u8fd9\u6837 \uff0c \u6211\u4eec \u6709 \u4e00\u4e2a \u65b0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6b63\u5728 \u5de5\u4f5c \uff01   \u9644\u5f55   \u91cd\u7528 \u7f13\u51b2 \u7f13\u51b2\u533a   \u4e3a\u4e86 \u4f18\u5316 \u5185\u5b58 \u4f7f\u7528 \uff0c \u6211\u4eec \u53ef\u4ee5 \u5229\u7528 \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53d1\u9001 \u76f8\u4f3c \u5927\u5c0f \u7684 \u7f13\u51b2 \u7f13\u51b2\u533a \u7684 \u4e8b\u5b9e \uff1b \u7279\u522b \u662f \uff0c \u5728 \u76f8\u673a \u7684 \u60c5\u51b5 \u4e0b \uff0c \u56fe\u50cf \u7684 \u5927\u5c0f \u5728 \u6267\u884c \u671f\u95f4 \u662f \u6052\u5b9a \u7684 \u3002 \u5728 \u8fd9\u4e9b \u60c5\u51b5 \u4e0b \uff0c \u6211\u4eec \u53ef\u4ee5 \u901a\u8fc7 \u91cd\u7528 \u5e27 \u4e4b\u95f4 \u5206\u914d \u7684 \u5185\u5b58 \u6765 \u8282\u7701 \u5927\u91cf \u8d44\u6e90 \u3002   \u6bcf\u4e2a \u6d41\u90fd \u5305\u542b \u4e00\u4e2a   \u7f13\u51b2 \u6c60   \uff0c \u53ef \u7528\u4e8e \u907f\u514d \u4e0d\u5fc5 \u5fc5\u8981 \u4e0d\u5fc5\u8981 \u7684 \u5185\u5b58 \u5206\u914d \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u6709 \u4e00\u4e2a \u5173\u8054 \u7684 \u6d41 \uff0c \u56e0\u6b64 \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u6709 \u81ea\u5df1 \u7684 \u7f13\u51b2 \u6c60 \u3002   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u4ece\u6c60 \u4e2d \u68c0\u7d22 \u7f13\u51b2 \u7f13\u51b2\u533a   auto   Buffer   =   Stream . PopBufferFromPool ( ) ;   \u5982\u679c \u6c60\u4e3a \u7a7a \uff0c \u5219 \u8fd4\u56de \u4e00\u4e2a \u7a7a \u7f13\u51b2 \u7f13\u51b2\u533a \uff0c \u5373 \u6ca1\u6709 \u5206\u914d \u5185\u5b58 \u5206\u914d\u5185\u5b58 \u7684 \u7f13\u51b2 \u7f13\u51b2\u533a \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u5f53 \u60a8 \u8c03\u6574 \u7f13\u51b2 \u7f13\u51b2\u533a \u5927 \u5c0f\u65f6 \uff0c \u5c06 \u5206\u914d \u65b0 \u7684 \u5185\u5b58 \u3002 \u5728 \u7b2c\u4e00 \u5e27 \u671f\u95f4 \uff0c \u8fd9\u79cd \u60c5\u51b5 \u4f1a \u53d1\u751f \u51e0\u6b21 \u3002 \u4f46\u662f \uff0c \u5982\u679c \u4ece\u6c60 \u4e2d \u68c0\u7d22 \u7f13\u51b2 \u7f13\u51b2\u533a \uff0c \u5219 \u4e00\u65e6 \u7f13\u51b2 \u7f13\u51b2\u533a \u8d85\u51fa \u8303\u56f4 \u8d85\u51fa\u8303\u56f4 \uff0c \u5176 \u5185\u5b58 \u5c06 \u8fd4\u56de \u5230 \u6c60\u4e2d \u3002 \u4e0b\u6b21 \u4ece\u6c60 \u4e2d \u83b7\u53d6 \u53e6 \u4e00\u4e2a \u7f13\u51b2 \u7f13\u51b2\u533a \u65f6 \uff0c \u5b83 \u5c06 \u5305\u542b \u4ece\u524d \u4e00\u4e2a \u7f13\u51b2 \u7f13\u51b2\u533a \u5206\u914d \u7684 \u5185\u5b58 \u3002 \u6b63\u5982 \u60a8 \u6240 \u770b\u5230 \u7684 \uff0c \u7f13\u51b2 \u7f13\u51b2\u533a \u5bf9\u8c61 \u5b9e\u9645 \u5b9e\u9645\u4e0a \u5145\u5f53 \u6307\u5411 \u8fde\u7eed \u539f\u59cb \u5185\u5b58 \u7684 \u667a\u80fd \u6307\u9488 \u3002 \u53ea\u8981 \u60a8 \u8bf7\u6c42 \u7684 \u5185\u5b58 \u4e0d \u8d85\u8fc7 \u5f53\u524d \u5206\u914d \u7684 \u5185\u5b58 \uff0c \u7f13\u51b2 \u7f13\u51b2\u533a \u5c31 \u4f1a \u91cd\u7528 \u8be5 \u5185\u5b58 \u3002 \u5982\u679c \u60a8 \u8bf7\u6c42 \u66f4 \u591a \uff0c \u5219 \u5fc5\u987b \u5220\u9664 \u5f53\u524d \u5185\u5b58 \u5e76 \u5206\u914d \u66f4\u5927 \u7684 \u5757 \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u7247\u6bb5 \u8bf4\u660e \u4e86 \u7f13\u51b2 \u7f13\u51b2\u533a \u7684 \u5de5\u4f5c \u539f\u7406   Buffer   buffer ;   buffer . reset ( 1024u ) ;   / /   ( size   1024   bytes ,   capacity   1024   bytes )   - >   allocates   buffer . reset ( 512u ) ;   / /   ( size   512   bytes ,   capacity   1024   bytes )   buffer . reset ( 2048u ) ;   / /   ( size   2048   bytes ,   capacity   2048   bytes )   - >   allocates   \u5f02\u6b65 \u53d1\u9001 \u6570\u636e \u53d1\u9001\u6570\u636e   \u67d0\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u80fd \u9700\u8981 \u5f02\u6b65 \u53d1\u9001 \u6570\u636e \u53d1\u9001\u6570\u636e \uff0c \u8981\u4e48 \u662f \u4e3a\u4e86 \u6027\u80fd \uff0c \u8981\u4e48 \u56e0\u4e3a \u662f\u56e0\u4e3a \u6570\u636e \u662f \u5728 \u4e0d\u540c \u7684 \u7ebf\u7a0b \u4e2d \u751f\u6210 \u7684 \uff0c \u4f8b\u5982 \uff0c \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ece \u6e32\u67d3 \u7ebf\u7a0b \u53d1\u9001 \u56fe\u50cf \u3002   \u5f02\u6b65 \u4f7f\u7528 \u6570\u636e \u6570\u636e\u6d41 \u662f \u5b8c\u5168 \u53ef\u4ee5 \u7684 \uff0c \u53ea\u8981 \u6570\u636e \u6570\u636e\u6d41 \u672c\u8eab \u662f \u5728 \u6e38\u620f \u7ebf\u7a0b \u4e2d \u521b\u5efa \u7684 \u3002 \u4f8b\u5982   void   MySensor : : Tick ( float   DeltaSeconds )   {   Super : : Tick ( DeltaSeconds ) ;   auto   Stream   =   GetDataStream ( * this ) ;   std : : async ( std : : launch : : async ,   [ Stream = std : : move ( Stream ) ] ( )   {   auto   Data   =   ComputeData ( ) ;   Stream . Send ( * this ,   Data ) ;   } ) ;   }   \u5ba2\u6237 \u5ba2\u6237\u7aef \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6709\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e0d \u9700\u8981 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fdb\u884c \u6d4b\u91cf \uff0c \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u4ee5 \u5b8c\u5168 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd0\u884c \uff0c \u4ece\u800c \u4f7f \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u514d\u4e8e \u989d\u5916 \u7684 \u8ba1\u7b97 \u3002 \u6b64\u7c7b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u793a\u4f8b \u662f   LaneInvasion   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u901a\u5e38 \u7684 \u65b9\u6cd5 \u662f \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u521b\u5efa \u4e00\u4e2a \u201c \u865a\u62df \u201d \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4ee5\u4fbf \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u77e5\u9053 \u8fd9\u6837 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5b58\u5728 \u3002 \u7136\u800c \uff0c \u8fd9\u4e2a \u865a\u62df \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e0d\u4f1a \u53d1\u51fa \u8282\u62cd \uff0c \u4e5f \u4e0d\u4f1a \u53d1\u9001 \u4efb\u4f55 \u7c7b\u578b \u7684 \u6570\u636e \u3002 \u7136\u800c \uff0c \u5b83 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u5bf9\u5e94 \u90e8\u5206 \u6ce8\u518c \u4e86 \u4e00\u4e2a \u201c on   tick \u201d \u56de\u8c03 \uff0c \u4ee5\u4fbf \u5728 \u6bcf\u6b21 \u65b0 \u66f4\u65b0 \u65f6 \u6267\u884c \u4e00\u4e9b \u4ee3\u7801 \u3002 \u4f8b\u5982 \uff0c LaneInvasion   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f1a \u6ce8\u518c \u4e00\u4e2a \u56de\u8c03 \uff0c \u6bcf\u6b21 \u8d8a\u8fc7 \u8f66\u9053 \u6807\u8bb0 \u65f6 \u90fd \u4f1a \u53d1\u51fa \u901a\u77e5 \u53d1\u51fa\u901a\u77e5 \u3002   \u8003\u8651 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u201c on   tick \u201d \u56de\u8c03 \u662f \u5e76\u53d1 \u6267\u884c \u7684 \uff0c \u5373 \u76f8\u540c \u7684 \u65b9\u6cd5 \u53ef\u80fd \u7531 \u4e0d\u540c \u7684 \u7ebf\u7a0b \u540c\u65f6 \u6267\u884c \uff0c \u8fd9 \u4e00\u70b9 \u975e\u5e38 \u91cd\u8981 \u3002 \u8bbf\u95ee \u7684 \u4efb\u4f55 \u6570\u636e \u90fd \u5fc5\u987b \u6b63\u786e \u540c\u6b65 \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u4e92\u65a5 \u4f53 \u3001 \u4f7f\u7528 \u539f\u5b50 \uff0c \u6216\u8005 \u66f4\u597d \u5730 \u786e\u4fdd \u6240\u6709 \u8bbf\u95ee \u7684 \u6210\u5458 \u4fdd\u6301 \u4e0d\u53d8 \u3002","title":"\u5982\u4f55 \u6dfb\u52a0 \u65b0 \u4f20\u611f\u5668"},{"location":"tuto_D_create_sensor/#_1","text":"\u672c \u6559\u7a0b \u4ecb\u7ecd \u4e86 \u5411   Carla   \u6dfb\u52a0 \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6 \u3002 \u5b83 \u63d0\u4f9b \u4e86 \u5728 \u865a\u5e7b \u5f15\u64ce   4   \u4e2d \u5b9e\u73b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e76 \u901a\u8fc7   Carla   \u7684   Python   API   \u516c\u5f00 \u5176 \u6570\u636e \u7684 \u5fc5\u8981 \u6b65\u9aa4 \u3002 \u6211\u4eec \u5c06 \u901a\u8fc7 \u521b\u5efa \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f5c\u4e3a \u793a\u4f8b \u6765 \u9075\u5faa \u6240\u6709 \u6b65\u9aa4 \u3002   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u4ecb\u7ecd   \u521b\u5efa \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   1 -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u4e0e \u53c2\u4e0e\u8005   2 -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u4e32\u884c \u5668   3 -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5bf9\u8c61   4 -   \u6ce8\u518c \u60a8 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   5 -   \u4f7f\u7528 \u793a\u4f8b   \u9644\u5f55   \u91cd\u7528 \u7f13\u51b2 \u7f13\u51b2\u533a   \u5f02\u6b65 \u53d1\u9001 \u6570\u636e \u53d1\u9001\u6570\u636e   \u5ba2\u6237 \u5ba2\u6237\u7aef \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668","title":"\u5982\u4f55 \u6dfb\u52a0 \u65b0 \u4f20\u611f\u5668"},{"location":"tuto_D_create_sensor/#_2","text":"\u4e3a\u4e86 \u5b9e\u73b0 \u65b0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u60a8 \u9700\u8981 \u7f16\u8bd1   Carla   \u4ee3\u7801 \u6e90\u4ee3\u7801 \uff0c \u6709\u5173 \u5982\u4f55 \u5b9e\u73b0 \u6b64 \u76ee\u7684 \u7684 \u8be6\u7ec6 \u8bf4\u660e \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   \u3002   \u672c \u6559\u7a0b \u8fd8 \u5047\u8bbe \u8bfb\u8005 \u7cbe\u901a   C++   \u7f16\u7a0b \u3002","title":"\u5148\u51b3\u6761\u4ef6  "},{"location":"tuto_D_create_sensor/#_3","text":"Carla   \u4e2d \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f \u4e00\u79cd \u7279\u6b8a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u53ef\u4ee5 \u4ea7\u751f \u6570\u636e \u6570\u636e\u6d41 \u3002 \u6709\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6bcf\u6b21 \u66f4\u65b0 \u65f6 \u90fd \u4f1a \u8fde\u7eed \u4ea7\u751f \u6570\u636e \uff0c \u800c \u53e6 \u4e00\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ec5 \u5728 \u67d0\u4e9b \u4e8b\u4ef6 \u53d1\u751f \u540e \u624d \u4ea7\u751f \u6570\u636e \u3002 \u4f8b\u5982 \uff0c \u76f8\u673a \u5728 \u6bcf\u6b21 \u66f4\u65b0 \u65f6 \u90fd \u4f1a \u751f\u6210 \u56fe\u50cf \uff0c \u4f46 \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ec5 \u5728 \u53d1\u751f \u78b0\u649e \u65f6\u624d \u4f1a \u89e6\u53d1 \u3002   \u5c3d\u7ba1 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \uff08 \u865a\u5e7b \u5f15\u64ce   4 \uff09 \u4e2d \u8ba1\u7b97 \u6d4b\u91cf \u7ed3\u679c \uff0c \u4f46 \u503c\u5f97 \u6ce8\u610f \u503c\u5f97\u6ce8\u610f \u7684 \u662f \uff0c \u67d0\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ec5 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e2d \u8fd0\u884c \u3002 \u6b64\u7c7b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4e00\u4e2a \u4f8b\u5b50 \u662f   LaneInvasion \uff0c \u6bcf\u6b21 \u8d8a\u8fc7 \u8f66\u9053 \u6807\u8bb0 \u65f6 \u5b83 \u90fd \u4f1a \u53d1\u51fa \u901a\u77e5 \u53d1\u51fa\u901a\u77e5 \u3002 \u6709\u5173 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u9644\u5f55 \uff1a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u91cd\u70b9 \u5173\u6ce8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u4e3a\u4e86 \u8ba9 \u865a\u5e7b \u5f15\u64ce   4   \u5185 \u8fd0\u884c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u6570\u636e \u4e00\u8def \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   Python   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u6211\u4eec \u9700\u8981 \u8986\u76d6 \u6574\u4e2a \u901a\u4fe1 \u7ba1\u9053 \u3002   \u56e0\u6b64 \uff0c \u6211\u4eec \u9700\u8981 \u4ee5\u4e0b \u7c7b\u6765 \u6db5\u76d6 \u7ba1\u9053 \u7684 \u4e0d\u540c \u6b65\u9aa4   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u8d1f\u8d23 \u6d4b\u91cf \u548c / \u6216 \u4eff\u771f \u6570\u636e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   4 \u6846\u67b6 \u5728   Carla   \u63d2\u4ef6 \u4e2d \u8fd0\u884c \u3002 \u7528\u6237 \u53ef\u4ee5 \u4f5c\u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8bbf\u95ee \u3002   \u4e32\u884c \u5668   \u5bf9\u8c61 \u5305\u542b \u7528\u4e8e \u5e8f\u5217 \u5e8f\u5217\u5316 \u548c \u53cd \u5e8f\u5217 \u5e8f\u5217\u5316 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u751f\u6210 \u7684 \u6570\u636e \u7684 \u65b9\u6cd5 \u3002 \u5728   LibCarla   \u4e2d \u8fd0\u884c \uff0c \u5305\u62ec \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e   \u8868\u793a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u751f\u6210 \u7684 \u6570\u636e \u7684 \u5bf9\u8c61 \u3002 \u8fd9 \u662f \u5c06 \u5728   C++   \u548c   Python   API   \u4e2d \u4f20\u9012 \u7ed9 \u6700\u7ec8 \u7528\u6237 \u6700\u7ec8\u7528\u6237 \u7684 \u5bf9\u8c61 \u3002   \u7b14\u8bb0   \u4e3a\u4e86 \u786e\u4fdd \u6700\u4f73 \u6027\u80fd \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f7f\u7528 \u57fa\u4e8e \u6a21\u677f \u5143 \u7f16\u7a0b \u7684 \u201c \u7f16\u8bd1 \u65f6 \u63d2\u4ef6 \u7cfb\u7edf \u201d \u8fdb\u884c \u6ce8\u518c \u548c \u8c03\u5ea6 \u3002 \u6700\u6709 \u53ef\u80fd \u7684 \u662f \uff0c \u5728 \u6240\u6709 \u90e8\u5206 \u90fd \u5b58\u5728 \u4e4b\u524d \uff0c \u4ee3\u7801 \u4e0d\u4f1a \u7f16\u8bd1 \u3002","title":"\u4ecb\u7ecd  "},{"location":"tuto_D_create_sensor/#_4","text":"\u5b8c\u6574 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u5728 \u8fd9\u91cc \u3002   \u6211\u4eec \u5c06 \u521b\u5efa \u4e00\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6765 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\u8981 \u521b\u5efa \u7684 \u6700 \u590d\u6742 \u7684 \u7c7b \u3002 \u8fd9\u91cc \u6211\u4eec \u5728 \u865a\u5e7b \u5f15\u64ce \u6846\u67b6 \u5185 \u8fd0\u884c \uff0c \u865a\u5e7b \u5f15\u64ce   4   API   \u7684 \u77e5\u8bc6 \u5c06 \u975e\u5e38 \u6709 \u5e2e\u52a9 \uff0c \u4f46 \u4e0d\u662f \u4e0d\u53ef \u5fc5\u4e0d\u53ef\u5c11 \u7684 \uff0c \u6211\u4eec \u5047\u8bbe \u8bfb\u8005 \u4ee5\u524d \u4ece\u672a \u4f7f\u7528 \u8fc7 \u865a\u5e7b \u5f15\u64ce   4 \u3002   \u5728   UE4   \u5185\u90e8 \uff0c \u6211\u4eec \u6709 \u4e00\u4e2a \u4e0e \u5ba2\u6237 \u5ba2\u6237\u7aef \u7c7b\u4f3c \u7684 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \uff0c   ASensor   \u6d3e\u751f \u81ea   AActor   \uff0c \u800c   Actor   \u5927\u81f4 \u662f \u53ef\u4ee5 \u653e\u5165 \u4e16\u754c \u4e2d \u7684 \u4efb\u4f55 \u5bf9\u8c61 \u3002   AActor   \u6709 \u4e00\u4e2a \u540d\u4e3a \u7684 \u865a\u62df \u51fd\u6570   Tick   \uff0c \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u5b83 \u5728 \u6bcf\u6b21 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u66f4\u65b0 \u65f6 \u66f4\u65b0 \u6211\u4eec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u5728 \u66f4 \u9ad8 \u7684 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d   UObject   \uff0c \u6211\u4eec \u6709 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u865a\u5e7b \u5f15\u64ce   4   \u7c7b \u7684 \u57fa\u7c7b \u3002 \u91cd\u8981 \u7684 \u662f \u8981 \u77e5\u9053 \u6d3e\u751f \u7684 \u5bf9\u8c61   UObject   \u662f \u901a\u8fc7 \u6307\u9488 \u8fdb\u884c \u5904\u7406 \u7684 \uff0c \u5e76\u4e14 \u5f53 \u5b83\u4eec \u4e0d\u518d \u88ab \u5f15\u7528 \u65f6\u4f1a \u88ab \u5783\u573e \u6536\u96c6 \u3002 \u6307\u5411   UObjects   \u7684 \u7c7b \u6210\u5458 \u9700\u8981 \u7528\u5b8f   UPROPERTY   \u8fdb\u884c \u6807\u8bb0 \uff0c \u5426\u5219 \u5b83\u4eec \u5c06 \u88ab \u5783\u573e \u6536\u96c6 \u3002   \u5f00\u59cb \u5427 \u3002   \u8be5\u7c7b \u5fc5\u987b \u4f4d\u4e8e   Carla   \u63d2\u4ef6 \u5185 \uff0c \u6211\u4eec \u5c06 \u4e3a \u65b0 \u7684   C++   \u7c7b \u521b\u5efa \u4e24\u4e2a \u6587\u4ef6   Unreal / CarlaUE4 / Plugins / Carla / Source / Carla / Sensor / SafeDistanceSensor . h   Unreal / CarlaUE4 / Plugins / Carla / Source / Carla / Sensor / SafeDistanceSensor . cpp   \u8d77\u7801 \u6700\u8d77\u7801 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9700\u8981 \u7ee7\u627f   ASensor   \uff0c \u5e76 \u63d0\u4f9b \u9759\u6001 \u65b9\u6cd5 \u9759\u6001\u65b9\u6cd5   GetSensorDefinition   \uff1b \u4f46 \u6211\u4eec \u8fd8 \u5c06 \u91cd\u5199   Set   \u3001   SetOwner   \u3001   \u548c   Tick   \u65b9\u6cd5 \u3002 \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fd8 \u9700\u8981 \u4e00\u4e2a \u89e6\u53d1 \u76d2\u6765 \u68c0\u6d4b \u6211\u4eec \u5468\u56f4 \u7684 \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u6709 \u4e86 \u8fd9\u4e2a \u548c \u4e00\u4e9b \u5fc5\u9700 \u7684 \u865a\u5e7b \u5f15\u64ce 4   \u6837\u677f \u4ee3\u7801 \uff0c \u6587\u4ef6 \u5934\u6587\u4ef6 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u50cf   # pragma   once   # include   \" Carla / Sensor / Sensor . h \"   # include   \" Carla / Actor / ActorDefinition . h \"   # include   \" Carla / Actor / ActorDescription . h \"   # include   \" Components / BoxComponent . h \"   # include   \" SafeDistanceSensor . generated . h \"   UCLASS ( )   class   CARLA _ API   ASafeDistanceSensor   :   public   ASensor   {   GENERATED _ BODY ( )   public :   ASafeDistanceSensor ( const   FObjectInitializer   & ObjectInitializer ) ;   static   FActorDefinition   GetSensorDefinition ( ) ;   void   Set ( const   FActorDescription   & ActorDescription )   override ;   void   SetOwner ( AActor   * Owner )   override ;   void   Tick ( float   DeltaSeconds )   override ;   private :   UPROPERTY ( )   UBoxComponent   * Box   =   nullptr ;   } ;   \u5728   cpp   \u6587\u4ef6 \u4e2d \uff0c \u9996\u5148 \u6211\u4eec \u9700\u8981 \u4e00\u4e9b \u5305\u542b   # include   \" Carla . h \"   # include   \" Carla / Sensor / SafeDistanceSensor . h \"   # include   \" Carla / Actor / ActorBlueprintFunctionLibrary . h \"   # include   \" Carla / Game / CarlaEpisode . h \"   # include   \" Carla / Util / BoundingBoxCalculator . h \"   # include   \" Carla / Vehicle / CarlaWheeledVehicle . h \"   \u7136\u540e \u6211\u4eec \u5c31 \u53ef\u4ee5 \u7ee7\u7eed \u5b9e\u73b0 \u8be5 \u529f\u80fd \u4e86 \u3002 \u6784\u9020 \u51fd\u6570 \u6784\u9020\u51fd\u6570 \u5c06 \u521b\u5efa \u89e6\u53d1 \u6846 \uff0c \u5e76 \u544a\u8bc9 \u865a\u5e7b \u5f15\u64ce 4   \u6211\u4eec \u5e0c\u671b \u8c03\u7528 \u6211\u4eec \u7684 \u52fe\u9009 \u51fd\u6570 \u3002 \u5982\u679c \u6211\u4eec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6ca1\u6709 \u4f7f\u7528 \u523b\u5ea6 \u529f\u80fd \uff0c \u6211\u4eec \u53ef\u4ee5 \u5728 \u6b64\u5904 \u7981\u7528 \u5b83 \u4ee5 \u907f\u514d \u4e0d\u5fc5 \u5fc5\u8981 \u4e0d\u5fc5\u8981 \u7684 \u523b\u5ea6   ASafeDistanceSensor : : ASafeDistanceSensor ( const   FObjectInitializer   & ObjectInitializer )   :   Super ( ObjectInitializer )   {   Box   =   CreateDefaultSubobject < UBoxComponent > ( TEXT ( \" BoxOverlap \" ) ) ;   Box - > SetupAttachment ( RootComponent ) ;   Box - > SetHiddenInGame ( true ) ;   / /   Disable   for   debugging .   Box - > SetCollisionProfileName ( FName ( \" OverlapAll \" ) ) ;   PrimaryActorTick . bCanEverTick   =   true ;   }   \u73b0\u5728 \u6211\u4eec \u9700\u8981 \u544a\u8bc9   Carla   \u8fd9\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6709 \u4ec0\u4e48 \u5c5e\u6027 \uff0c \u8fd9 \u5c06 \u7528\u4e8e \u5728 \u6211\u4eec \u7684 \u84dd \u56fe\u5e93 \u4e2d \u521b\u5efa \u4e00\u4e2a \u65b0 \u7684 \u84dd\u56fe \uff0c \u7528\u6237 \u53ef\u4ee5 \u4f7f\u7528 \u8fd9\u4e2a \u84dd\u56fe \u6765 \u914d\u7f6e \u548c \u751f\u6210 \u8fd9\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u6211\u4eec \u5c06 \u5728 \u8fd9\u91cc \u5b9a\u4e49 \u89e6\u53d1 \u6846 \u7684 \u5c5e\u6027 \uff0c \u5728 \u672c\u4f8b \u4e2d \u6211\u4eec \u5c06 \u4ec5 \u516c\u5f00   X   \u548c   Y   \u5b89\u5168 \u8ddd\u79bb   FActorDefinition   ASafeDistanceSensor : : GetSensorDefinition ( )   {   auto   Definition   =   UActorBlueprintFunctionLibrary : : MakeGenericSensorDefinition (   TEXT ( \" other \" ) ,   TEXT ( \" safe _ distance \" ) ) ;   FActorVariation   Front ;   Front . Id   =   TEXT ( \" safe _ distance _ front \" ) ;   Front . Type   =   EActorAttributeType : : Float ;   Front . RecommendedValues   =   {   TEXT ( \" 1.0 \" )   } ;   Front . bRestrictToRecommended   =   false ;   FActorVariation   Back ;   Back . Id   =   TEXT ( \" safe _ distance _ back \" ) ;   Back . Type   =   EActorAttributeType : : Float ;   Back . RecommendedValues   =   {   TEXT ( \" 0.5 \" )   } ;   Back . bRestrictToRecommended   =   false ;   FActorVariation   Lateral ;   Lateral . Id   =   TEXT ( \" safe _ distance _ lateral \" ) ;   Lateral . Type   =   EActorAttributeType : : Float ;   Lateral . RecommendedValues   =   {   TEXT ( \" 0.5 \" )   } ;   Lateral . bRestrictToRecommended   =   false ;   Definition . Variations . Append ( {   Front ,   Back ,   Lateral   } ) ;   return   Definition ;   }   \u8fd9\u6837 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5de5\u5382 \u5c31 \u80fd\u591f \u6839\u636e \u7528\u6237 \u9700\u6c42 \u521b\u5efa \u5b89\u5168 \u8ddd\u79bb \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u521b\u5efa \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u540e \uff0c \u7acb\u5373 \u4f7f\u7528 \u7528\u6237 \u8bf7\u6c42 \u7684 \u53c2\u6570 \u8c03\u7528 \u8be5   Set   \u51fd\u6570   void   ASafeDistanceSensor : : Set ( const   FActorDescription   & Description )   {   Super : : Set ( Description ) ;   float   Front   =   UActorBlueprintFunctionLibrary : : RetrieveActorAttributeToFloat (   \" safe _ distance _ front \" ,   Description . Variations ,   1.0 f ) ;   float   Back   =   UActorBlueprintFunctionLibrary : : RetrieveActorAttributeToFloat (   \" safe _ distance _ back \" ,   Description . Variations ,   0.5 f ) ;   float   Lateral   =   UActorBlueprintFunctionLibrary : : RetrieveActorAttributeToFloat (   \" safe _ distance _ lateral \" ,   Description . Variations ,   0.5 f ) ;   constexpr   float   M _ TO _ CM   =   100.0 f ;   / /   Unit   conversion .   float   LocationX   =   M _ TO _ CM   *   ( Front   -   Back )   /   2.0 f ;   float   ExtentX   =   M _ TO _ CM   *   ( Front   +   Back )   /   2.0 f ;   float   ExtentY   =   M _ TO _ CM   *   Lateral ;   Box - > SetRelativeLocation ( FVector { LocationX ,   0.0 f ,   0.0 f } ) ;   Box - > SetBoxExtent ( FVector { ExtentX ,   ExtentY ,   0.0 f } ) ;   }   \u8bf7 \u6ce8\u610f \uff0c set   \u51fd\u6570 \u662f \u5728 \u865a\u5e7b \u5f15\u64ce   4   \u4e4b\u524d \u8c03\u7528 \u7684   BeginPlay   \uff0c \u6211\u4eec \u8fd9\u91cc \u4e0d\u4f1a \u4f7f\u7528 \u8fd9\u4e2a \u865a\u62df \u51fd\u6570 \uff0c \u4f46 \u5b83 \u5bf9\u4e8e \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5f88 \u91cd\u8981 \u3002   \u73b0\u5728 \u6211\u4eec \u5c06 \u6839\u636e \u6211\u4eec \u6240 \u9644\u52a0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8fb9\u754c \u6846\u6765 \u6269\u5c55 \u76d2\u5b50 \u4f53\u79ef \u3002 \u4e3a\u6b64 \uff0c \u6700 \u65b9\u4fbf \u7684 \u65b9\u6cd5 \u662f \u4f7f\u7528   SetOwner   \u865a \u51fd\u6570 \u3002 \u5f53 \u6211\u4eec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fde\u63a5 \u5230 \u53e6 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \uff0c \u4f1a \u8c03\u7528 \u6b64 \u51fd\u6570 \u3002   void   ASafeDistanceSensor : : SetOwner ( AActor   * Owner )   {   Super : : SetOwner ( Owner ) ;   auto   BoundingBox   =   UBoundingBoxCalculator : : GetActorBoundingBox ( Owner ) ;   Box - > SetBoxExtent ( BoundingBox . Extent   +   Box - > GetUnscaledBoxExtent ( ) ) ;   }   \u552f\u4e00 \u8981 \u505a \u7684 \u5c31\u662f \u5b9e\u9645 \u6d4b\u91cf \uff0c \u56e0\u4e3a \u6211\u4eec \u5c06 \u4f7f\u7528 \u8be5   Tick   \u51fd\u6570 \u3002 \u6211\u4eec \u5c06 \u67e5\u627e \u5f53\u524d \u4e0e \u6211\u4eec \u7684 \u76d2\u5b50 \u91cd\u53e0 \u7684 \u6240\u6709 \u8f66\u8f86 \uff0c \u5e76 \u5c06 \u6b64 \u5217\u8868 \u53d1\u9001 \u9001\u7ed9 \u53d1\u9001\u7ed9 \u5ba2\u6237   void   ASafeDistanceSensor : : Tick ( float   DeltaSeconds )   {   Super : : Tick ( DeltaSeconds ) ;   TSet < AActor   * >   DetectedActors ;   Box - > GetOverlappingActors ( DetectedActors ,   ACarlaWheeledVehicle : : StaticClass ( ) ) ;   DetectedActors . Remove ( GetOwner ( ) ) ;   if   ( DetectedActors . Num ( )   >   0 )   {   auto   Stream   =   GetDataStream ( * this ) ;   Stream . Send ( * this ,   GetEpisode ( ) ,   DetectedActors ) ;   }   }   \u7b14\u8bb0   \u5728 \u53ef \u6295\u5165 \u751f\u4ea7 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \uff0c \u8be5   Tick   \u51fd\u6570 \u5e94\u8be5 \u975e\u5e38 \u4f18\u5316 \uff0c \u7279\u522b \u662f \u5f53 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53d1\u9001 \u5927\u91cf \u6570\u636e \u65f6 \u3002 \u6e38\u620f \u7ebf\u7a0b \u4e2d \u7684 \u6bcf\u6b21 \u66f4\u65b0 \u90fd \u4f1a \u8c03\u7528 \u6b64 \u51fd\u6570 \uff0c \u56e0\u6b64 \u4f1a\u663e \u7740 \u5f71\u54cd \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u6027\u80fd \u3002   \u597d \u5427 \uff0c \u8fd9\u91cc \u53d1\u751f \u4e86 \u4e00\u4e9b \u6211\u4eec \u8fd8 \u6ca1\u6709 \u63d0\u5230 \u7684 \u4e8b\u60c5 \uff0c \u8fd9\u4e2a \u6d41\u662f \u4ec0\u4e48 \uff1f   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u6709 \u4e00\u4e2a \u5173\u8054 \u7684 \u6570\u636e \u6570\u636e\u6d41 \u3002 \u8be5\u6d41 \u7528\u4e8e \u5c06 \u6570\u636e \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u8fd9 \u662f \u60a8 \u5728   Python   API   \u4e2d \u4f7f\u7528   sensor . listen ( callback )   \u65b9\u6cd5 \u65f6 \u8ba2\u9605 \u7684 \u6d41 \u3002 \u6bcf\u6b21 \u5411 \u8fd9\u91cc \u53d1\u9001 \u4e00\u4e9b \u6570\u636e \u65f6 \uff0c \u90fd \u4f1a \u89e6\u53d1 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u56de\u8c03 \u3002 \u4f46 \u4e4b\u524d \u5728\u6b64\u4e4b\u524d \uff0c \u6570\u636e \u5c06 \u7ecf\u8fc7 \u591a\u4e2a \u5c42 \u3002 \u9996\u5148 \u662f \u6211\u4eec \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u8981 \u521b\u5efa \u7684 \u5e8f\u5217 \u5e8f\u5217\u5316 \u5668 \u3002 \u4e00\u65e6 \u6211\u4eec \u5b8c\u6210 \u4e86 \u4e0b \u4e00\u8282 \u7684   Serialize   \u529f\u80fd \uff0c \u6211\u4eec \u5c31 \u4f1a \u5b8c\u5168 \u7406\u89e3 \u8fd9 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002","title":"1 -   \u521b\u5efa \u65b0 \u4f20\u611f\u5668  "},{"location":"tuto_D_create_sensor/#2-","text":"\u8fd9\u4e2a \u7c7b \u5176\u5b9e \u6bd4\u8f83 \u7b80\u5355 \u6bd4\u8f83\u7b80\u5355 \uff0c \u53ea \u9700\u8981 \u6709 \u4e24\u4e2a \u9759\u6001 \u65b9\u6cd5 \u9759\u6001\u65b9\u6cd5 \uff0c   Serialize   \u548c   Deserialize   \u3002 \u6211\u4eec \u5c06 \u4e3a \u5b83 \u6dfb\u52a0 \u4e24\u4e2a \u6587\u4ef6 \uff0c \u8fd9\u6b21 \u662f   LibCarla   LibCarla / source / carla / sensor / s11n / SafeDistanceSerializer . h   LibCarla / source / carla / sensor / s11n / SafeDistanceSerializer . cpp   \u8ba9 \u6211\u4eec \u4ece   Serialize   \u51fd\u6570 \u5f00\u59cb \u3002 \u8be5 \u51fd\u6570 \u5c06 \u63a5\u6536 \u6211\u4eec \u4f20\u9012 \u7ed9   Stream . Send ( ... )   \u51fd\u6570 \u7684 \u4efb\u4f55 \u5185\u5bb9 \u4f5c\u4e3a \u53c2\u6570 \uff0c \u552f\u4e00 \u7684 \u6761\u4ef6 \u662f \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u53c2\u6570 \u5fc5\u987b \u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e76\u4e14 \u5b83 \u5fc5\u987b \u8fd4\u56de \u4e00\u4e2a \u7f13\u51b2 \u7f13\u51b2\u533a \u3002   static   Buffer   Serialize ( const   Sensor   & ,   ... ) ;   carla : : Buffer   \u53ea\u662f \u4e00\u5757 \u52a8\u6001 \u5206\u914d \u52a8\u6001\u5206\u914d \u7684 \u539f\u59cb \u5185\u5b58 \uff0c \u5177\u6709 \u4e00\u4e9b \u65b9\u4fbf \u7684 \u529f\u80fd \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528 \u5b83 \u5411 \u5ba2\u6237 \u5ba2\u6237\u7aef \u53d1\u9001 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u3002   \u5728 \u6b64 \u793a\u4f8b \u4e2d \uff0c \u6211\u4eec \u9700\u8981 \u4ee5 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6709 \u610f\u4e49 \u7684 \u65b9\u5f0f \u5c06 \u68c0\u6d4b \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \u5199\u5165 \u7f13\u51b2 \u7f13\u51b2\u533a \u3002 \u8fd9 \u5c31\u662f \u6211\u4eec \u5c06 \u5267\u96c6 \u5bf9\u8c61 \u4f20\u9012 \u7ed9 \u6b64 \u51fd\u6570 \u7684 \u539f\u56e0 \u3002   UCarlaEpisode   \u7c7b \u8868\u793a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u8fd0\u884c \u7684 \u5f53\u524d   \u60c5\u8282   \uff0c \u5373 \u81ea \u4e0a\u6b21 \u52a0\u8f7d \u5730\u56fe \u4ee5\u6765 \u7684 \u4eff\u771f \u72b6\u6001 \u3002 \u5b83 \u5305\u542b \u4e0e   Carla   \u76f8\u5173 \u7684 \u6240\u6709 \u4fe1\u606f \uff0c \u9664 \u5176\u4ed6 \u5916 \uff0c \u5b83 \u8fd8 \u5141\u8bb8 \u641c\u7d22 \u53c2\u4e0e \u53c2\u4e0e\u8005   ID \u3002 \u6211\u4eec \u53ef\u4ee5 \u5c06 \u8fd9\u4e9b   ID   \u53d1\u9001 \u9001\u7ed9 \u53d1\u9001\u7ed9 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06 \u80fd\u591f \u5c06 \u8fd9\u4e9b   ID   \u8bc6\u522b \u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005   template   < typename   SensorT ,   typename   EpisodeT ,   typename   ActorListT >   static   Buffer   Serialize (   const   SensorT   & ,   const   EpisodeT   & episode ,   const   ActorListT   & detected _ actors )   {   const   uint32 _ t   size _ in _ bytes   =   sizeof ( ActorId )   *   detected _ actors . Num ( ) ;   Buffer   buffer { size _ in _ bytes } ;   unsigned   char   * it   =   buffer . data ( ) ;   for   ( auto   * actor   :   detected _ actors )   {   ActorId   id   =   episode . FindActor ( actor ) . GetActorId ( ) ;   std : : memcpy ( it ,   & id ,   sizeof ( ActorId ) ) ;   it   + =   sizeof ( ActorId ) ;   }   return   buffer ;   }   \u6ce8\u610f \uff1a \u6211\u4eec \u5bf9 \u865a\u5e7b \u5f15\u64ce   4   \u7c7b \u8fdb\u884c \u6a21\u677f \u5316\u4ee5 \u907f\u514d \u5728   LibCarla   \u4e2d \u5305\u542b \u8fd9\u4e9b \u6587\u4ef6 \u3002   \u6211\u4eec \u8981 \u8fd4\u56de \u7684 \u8fd9\u4e2a \u7f13\u51b2 \u7f13\u51b2\u533a \u5c06\u4f1a \u8fd4\u56de \u7ed9 \u6211\u4eec \uff0c \u4e0d\u8fc7 \u53ea\u4e0d\u8fc7 \u8fd9\u6b21 \u662f \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5728 \u5c01\u88c5 \u5728   RawData   \u5bf9\u8c61 \u4e2d \u7684   Deserialize   \u51fd\u6570 \u4e2d   static   SharedPtr < SensorData >   Deserialize ( RawData   && data ) ;   \u6211\u4eec \u5728   cpp   \u6587\u4ef6 \u4e2d \u5b9e\u73b0 \u8fd9\u4e2a \u65b9\u6cd5 \uff0c \u6bd4\u8f83 \u7b80\u5355 \u6bd4\u8f83\u7b80\u5355   SharedPtr < SensorData >   SafeDistanceSerializer : : Deserialize ( RawData   && data )   {   return   SharedPtr < SensorData > ( new   data : : SafeDistanceEvent ( std : : move ( data ) ) ) ;   }   \u9664\u4e86 \u6211\u4eec \u8fd8 \u6ca1\u6709 \u5b9a\u4e49 \u4ec0\u4e48 \u662f   SafeDistanceEvent \u3002","title":"2 -   \u4f20\u611f\u5668 \u6570\u636e \u4e32\u884c \u5668  "},{"location":"tuto_D_create_sensor/#3-","text":"\u6211\u4eec \u9700\u8981 \u4e3a \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7528\u6237 \u521b\u5efa \u4e00\u4e2a \u6570\u636e \u5bf9\u8c61 \uff0c \u8868\u793a   \u5b89\u5168 \u8ddd\u79bb \u4e8b\u4ef6   \u7684 \u6570\u636e \u3002 \u6211\u4eec \u5c06 \u6b64 \u6587\u4ef6 \u6dfb\u52a0 \u5230   LibCarla / source / carla / sensor / data / SafeDistanceEvent . h   \u8be5 \u5bf9\u8c61 \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005   ID   \u5217\u8868 \u3002 \u4e3a\u6b64 \uff0c \u6211\u4eec \u5c06 \u4ece   Array   \u6a21\u677f \u6d3e\u751f   # pragma   once   # include   \" carla / rpc / ActorId . h \"   # include   \" carla / sensor / data / Array . h \"   namespace   carla   {   namespace   sensor   {   namespace   data   {   class   SafeDistanceEvent   :   public   Array < rpc : : ActorId >   {   public :   explicit   SafeDistanceEvent ( RawData   && data )   :   Array < rpc : : ActorId > ( std : : move ( data ) )   { }   } ;   }   / /   namespace   data   }   / /   namespace   sensor   }   / /   namespace   carla   \u6570\u7ec4 \u6a21\u677f \u5c06 \u628a \u6211\u4eec \u5728   Serialize   \u65b9\u6cd5 \u4e2d \u521b\u5efa \u7684 \u7f13\u51b2 \u7f13\u51b2\u533a \u91cd\u65b0 \u89e3\u91ca \u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005   ID   \u6570\u7ec4 \uff0c \u5e76\u4e14 \u5b83 \u80fd\u591f \u76f4\u63a5 \u4ece \u6211\u4eec \u6536\u5230 \u7684 \u7f13\u51b2 \u7f13\u51b2\u533a \u4e2d \u6267\u884c \u6b64 \u64cd\u4f5c \uff0c \u800c \u65e0\u9700 \u5206\u914d \u4efb\u4f55 \u65b0 \u5185\u5b58 \u3002 \u867d\u7136 \u5bf9\u4e8e \u8fd9\u4e2a \u5c0f \u4f8b\u5b50 \u6765\u8bf4 \u53ef\u80fd \u6709\u70b9 \u5927\u6750\u5c0f\u7528 \uff0c \u4f46 \u8fd9\u79cd \u673a\u5236 \u4e5f \u9002\u7528 \u4e8e \u5927 \u6570\u636e \u5757 \uff1b \u60f3\u8c61 \u4e00\u4e0b \u6211\u4eec \u6b63\u5728 \u53d1\u9001 \u9ad8\u6e05 \u56fe\u50cf \uff0c \u6211\u4eec \u901a\u8fc7 \u91cd\u7528 \u539f\u59cb \u5185\u5b58 \u8282\u7701 \u4e86 \u5f88\u591a \u3002   \u73b0\u5728 \u6211\u4eec \u9700\u8981 \u5c06 \u6b64\u7c7b \u516c\u5f00 \u7ed9   Python \u3002 \u5728 \u6211\u4eec \u7684 \u793a\u4f8b \u4e2d \uff0c \u6211\u4eec \u6ca1\u6709 \u6dfb\u52a0 \u4efb\u4f55 \u989d\u5916 \u7684 \u65b9\u6cd5 \uff0c \u56e0\u6b64 \u6211\u4eec \u53ea \u516c\u5f00 \u4e0e   Array   \u76f8\u5173 \u7684 \u65b9\u6cd5 \u3002 \u6211\u4eec \u901a\u8fc7 \u4f7f\u7528   Boost . Python   \u7ed1\u5b9a \u6765 \u5b9e\u73b0 \u6b64 \u76ee\u7684 \uff0c \u5c06 \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u6dfb\u52a0 \u5230   PythonAPI / carla / source / libcarla / SensorData . cpp   \u3002   class _ <   csd : : SafeDistanceEvent ,   / /   actual   type .   bases < cs : : SensorData > ,   / /   parent   type .   boost : : noncopyable ,   / /   disable   copy .   boost : : shared _ ptr < csd : : SafeDistanceEvent >   / /   use   as   shared _ ptr .   > ( \" SafeDistanceEvent \" ,   no _ init )   / /   name ,   and   disable   construction .   . def ( \" __ len __ \" ,   & csd : : SafeDistanceEvent : : size )   . def ( \" __ iter __ \" ,   iterator < csd : : SafeDistanceEvent > ( ) )   . def ( \" __ getitem __ \" ,   + [ ] ( const   csd : : SafeDistanceEvent   & self ,   size _ t   pos )   - >   cr : : ActorId   {   return   self . at ( pos ) ;   } )   ;   \u6ce8\u610f \uff1a   csd   \u662f \u540d\u79f0 \u7a7a\u95f4   carla : : sensor : : data   \u7684 \u522b\u540d \u3002   \u6211\u4eec \u5728 \u8fd9\u91cc \u6240 \u505a \u7684 \u662f \u5728   Python   \u4e2d \u516c\u5f00 \u4e00\u4e9b   C++   \u65b9\u6cd5 \u3002 \u8fd9\u6837 \uff0c Python   API   \u5c06 \u80fd\u591f \u8bc6\u522b \u6211\u4eec \u7684 \u65b0 \u4e8b\u4ef6 \uff0c \u5e76\u4e14 \u5176 \u884c\u4e3a \u7c7b\u4f3c \u4e8e   Python   \u4e2d \u7684 \u6570\u7ec4 \uff0c \u53ea\u662f \u4e0d\u80fd \u4fee\u6539 \u3002","title":"3 -   \u4f20\u611f\u5668 \u6570\u636e \u5bf9\u8c61  "},{"location":"tuto_D_create_sensor/#4-","text":"\u73b0\u5728 \u7ba1\u9053 \u5df2 \u5b8c\u6210 \uff0c \u6211\u4eec \u5df2 \u51c6\u5907 \u597d \u6ce8\u518c \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u6211\u4eec \u5728   LibCarla / source / carla / sensor / SensorRegistry . h   \u4e2d \u8fd9\u6837 \u505a \u3002 \u6309\u7167 \u6b64 \u6587\u4ef6 \u5934\u6587\u4ef6 \u4e2d \u7684 \u8bf4\u660e \u6dfb\u52a0 \u4e0d\u540c \u7684 \u5305\u542b \u548c \u524d \u5411 \u58f0\u660e \uff0c \u5e76 \u5c06 \u4ee5\u4e0b \u5bf9 \u6dfb\u52a0 \u5230 \u6ce8\u518c \u6ce8\u518c\u8868 \u4e2d   std : : pair < ASafeDistanceSensor   * ,   s11n : : SafeDistanceSerializer >   \u6709 \u4e86 \u8fd9\u4e2a \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6ce8\u518c \u6ce8\u518c\u8868 \u73b0\u5728 \u53ef\u4ee5 \u53d1\u6325 \u5176 \u9b54\u529b \uff0c \u5c06 \u6b63\u786e \u7684 \u6570\u636e \u5206\u6d3e \u5230 \u6b63\u786e \u7684 \u5e8f\u5217 \u5e8f\u5217\u5316 \u5668 \u3002   \u73b0\u5728 \u91cd\u65b0 \u7f16\u8bd1   Carla \uff0c \u5e0c\u671b \u4e00\u5207 \u987a\u5229 \u4e00\u5207\u987a\u5229 \u5e76\u4e14 \u6ca1\u6709 \u9519\u8bef \u3002 \u4e0d\u5e78 \u7684 \u662f \uff0c \u8fd9\u91cc \u7684 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u9519\u8bef \u90fd \u4e0e \u6a21\u677f \u6709\u5173 \uff0c \u5e76\u4e14 \u9519\u8bef \u6d88\u606f \u53ef\u80fd \u6709\u70b9 \u795e\u79d8 \u3002   make   rebuild","title":"4 -   \u6ce8\u518c \u60a8 \u7684 \u4f20\u611f\u5668  "},{"location":"tuto_D_create_sensor/#5-","text":"\u6700\u540e \uff0c \u6211\u4eec \u5df2\u7ecf \u5305\u542b \u4e86 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5e76\u4e14 \u5df2\u7ecf \u5b8c\u6210 \u4e86 \u91cd\u65b0 \u7f16\u8bd1 \uff0c \u73b0\u5728 \u6211\u4eec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e94\u8be5 \u53ef\u4ee5 \u5728   Python   \u4e2d \u4f7f\u7528 \u3002   \u8981 \u751f\u6210 \u8fd9\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u6211\u4eec \u53ea \u9700 \u5728 \u84dd \u56fe\u5e93 \u4e2d \u627e\u5230 \u5b83 \uff0c \u5982\u679c \u4e00\u5207 \u987a\u5229 \u4e00\u5207\u987a\u5229 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5de5\u5382 \u5e94\u8be5 \u5df2 \u5c06 \u6211\u4eec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6dfb\u52a0 \u5230\u5e93 \u4e2d   blueprint   =   blueprint _ library . find ( ' sensor . other . safe _ distance ' )   sensor   =   world . spawn _ actor ( blueprint ,   carla . Transform ( ) ,   attach _ to = vehicle )   \u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u901a\u8fc7 \u6ce8\u518c \u56de\u8c03 \u51fd\u6570 \u6765 \u5f00\u59cb \u76d1\u542c \u4e8b\u4ef6   world _ ref   =   weakref . ref ( world )   def   callback ( event ) :   for   actor _ id   in   event :   vehicle   =   world _ ref ( ) . get _ actor ( actor _ id )   print ( ' Vehicle   too   close :   % s '   %   vehicle . type _ id )   sensor . listen ( callback )   \u6b64 \u56de\u8c03 \u5c06 \u6267\u884c \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u5728 \u6211\u4eec \u7684 \u5b89\u5168 \u8ddd\u79bb \u6846\u4e2d \u7684 \u6bcf\u6b21 \u66f4\u65b0 \uff0c \u4f8b\u5982   Vehicle   too   close :   vehicle . audi . a2   Vehicle   too   close :   vehicle . mercedes - benz . coupe   \u5c31\u662f \u8fd9\u6837 \uff0c \u6211\u4eec \u6709 \u4e00\u4e2a \u65b0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6b63\u5728 \u5de5\u4f5c \uff01","title":"5 -   \u4f7f\u7528 \u793a\u4f8b  "},{"location":"tuto_D_create_sensor/#_5","text":"","title":"\u9644\u5f55  "},{"location":"tuto_D_create_sensor/#_6","text":"\u4e3a\u4e86 \u4f18\u5316 \u5185\u5b58 \u4f7f\u7528 \uff0c \u6211\u4eec \u53ef\u4ee5 \u5229\u7528 \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53d1\u9001 \u76f8\u4f3c \u5927\u5c0f \u7684 \u7f13\u51b2 \u7f13\u51b2\u533a \u7684 \u4e8b\u5b9e \uff1b \u7279\u522b \u662f \uff0c \u5728 \u76f8\u673a \u7684 \u60c5\u51b5 \u4e0b \uff0c \u56fe\u50cf \u7684 \u5927\u5c0f \u5728 \u6267\u884c \u671f\u95f4 \u662f \u6052\u5b9a \u7684 \u3002 \u5728 \u8fd9\u4e9b \u60c5\u51b5 \u4e0b \uff0c \u6211\u4eec \u53ef\u4ee5 \u901a\u8fc7 \u91cd\u7528 \u5e27 \u4e4b\u95f4 \u5206\u914d \u7684 \u5185\u5b58 \u6765 \u8282\u7701 \u5927\u91cf \u8d44\u6e90 \u3002   \u6bcf\u4e2a \u6d41\u90fd \u5305\u542b \u4e00\u4e2a   \u7f13\u51b2 \u6c60   \uff0c \u53ef \u7528\u4e8e \u907f\u514d \u4e0d\u5fc5 \u5fc5\u8981 \u4e0d\u5fc5\u8981 \u7684 \u5185\u5b58 \u5206\u914d \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u6709 \u4e00\u4e2a \u5173\u8054 \u7684 \u6d41 \uff0c \u56e0\u6b64 \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u6709 \u81ea\u5df1 \u7684 \u7f13\u51b2 \u6c60 \u3002   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u4ece\u6c60 \u4e2d \u68c0\u7d22 \u7f13\u51b2 \u7f13\u51b2\u533a   auto   Buffer   =   Stream . PopBufferFromPool ( ) ;   \u5982\u679c \u6c60\u4e3a \u7a7a \uff0c \u5219 \u8fd4\u56de \u4e00\u4e2a \u7a7a \u7f13\u51b2 \u7f13\u51b2\u533a \uff0c \u5373 \u6ca1\u6709 \u5206\u914d \u5185\u5b58 \u5206\u914d\u5185\u5b58 \u7684 \u7f13\u51b2 \u7f13\u51b2\u533a \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u5f53 \u60a8 \u8c03\u6574 \u7f13\u51b2 \u7f13\u51b2\u533a \u5927 \u5c0f\u65f6 \uff0c \u5c06 \u5206\u914d \u65b0 \u7684 \u5185\u5b58 \u3002 \u5728 \u7b2c\u4e00 \u5e27 \u671f\u95f4 \uff0c \u8fd9\u79cd \u60c5\u51b5 \u4f1a \u53d1\u751f \u51e0\u6b21 \u3002 \u4f46\u662f \uff0c \u5982\u679c \u4ece\u6c60 \u4e2d \u68c0\u7d22 \u7f13\u51b2 \u7f13\u51b2\u533a \uff0c \u5219 \u4e00\u65e6 \u7f13\u51b2 \u7f13\u51b2\u533a \u8d85\u51fa \u8303\u56f4 \u8d85\u51fa\u8303\u56f4 \uff0c \u5176 \u5185\u5b58 \u5c06 \u8fd4\u56de \u5230 \u6c60\u4e2d \u3002 \u4e0b\u6b21 \u4ece\u6c60 \u4e2d \u83b7\u53d6 \u53e6 \u4e00\u4e2a \u7f13\u51b2 \u7f13\u51b2\u533a \u65f6 \uff0c \u5b83 \u5c06 \u5305\u542b \u4ece\u524d \u4e00\u4e2a \u7f13\u51b2 \u7f13\u51b2\u533a \u5206\u914d \u7684 \u5185\u5b58 \u3002 \u6b63\u5982 \u60a8 \u6240 \u770b\u5230 \u7684 \uff0c \u7f13\u51b2 \u7f13\u51b2\u533a \u5bf9\u8c61 \u5b9e\u9645 \u5b9e\u9645\u4e0a \u5145\u5f53 \u6307\u5411 \u8fde\u7eed \u539f\u59cb \u5185\u5b58 \u7684 \u667a\u80fd \u6307\u9488 \u3002 \u53ea\u8981 \u60a8 \u8bf7\u6c42 \u7684 \u5185\u5b58 \u4e0d \u8d85\u8fc7 \u5f53\u524d \u5206\u914d \u7684 \u5185\u5b58 \uff0c \u7f13\u51b2 \u7f13\u51b2\u533a \u5c31 \u4f1a \u91cd\u7528 \u8be5 \u5185\u5b58 \u3002 \u5982\u679c \u60a8 \u8bf7\u6c42 \u66f4 \u591a \uff0c \u5219 \u5fc5\u987b \u5220\u9664 \u5f53\u524d \u5185\u5b58 \u5e76 \u5206\u914d \u66f4\u5927 \u7684 \u5757 \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u7247\u6bb5 \u8bf4\u660e \u4e86 \u7f13\u51b2 \u7f13\u51b2\u533a \u7684 \u5de5\u4f5c \u539f\u7406   Buffer   buffer ;   buffer . reset ( 1024u ) ;   / /   ( size   1024   bytes ,   capacity   1024   bytes )   - >   allocates   buffer . reset ( 512u ) ;   / /   ( size   512   bytes ,   capacity   1024   bytes )   buffer . reset ( 2048u ) ;   / /   ( size   2048   bytes ,   capacity   2048   bytes )   - >   allocates","title":"\u91cd\u7528 \u7f13\u51b2\u533a  "},{"location":"tuto_D_create_sensor/#_7","text":"\u67d0\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u80fd \u9700\u8981 \u5f02\u6b65 \u53d1\u9001 \u6570\u636e \u53d1\u9001\u6570\u636e \uff0c \u8981\u4e48 \u662f \u4e3a\u4e86 \u6027\u80fd \uff0c \u8981\u4e48 \u56e0\u4e3a \u662f\u56e0\u4e3a \u6570\u636e \u662f \u5728 \u4e0d\u540c \u7684 \u7ebf\u7a0b \u4e2d \u751f\u6210 \u7684 \uff0c \u4f8b\u5982 \uff0c \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ece \u6e32\u67d3 \u7ebf\u7a0b \u53d1\u9001 \u56fe\u50cf \u3002   \u5f02\u6b65 \u4f7f\u7528 \u6570\u636e \u6570\u636e\u6d41 \u662f \u5b8c\u5168 \u53ef\u4ee5 \u7684 \uff0c \u53ea\u8981 \u6570\u636e \u6570\u636e\u6d41 \u672c\u8eab \u662f \u5728 \u6e38\u620f \u7ebf\u7a0b \u4e2d \u521b\u5efa \u7684 \u3002 \u4f8b\u5982   void   MySensor : : Tick ( float   DeltaSeconds )   {   Super : : Tick ( DeltaSeconds ) ;   auto   Stream   =   GetDataStream ( * this ) ;   std : : async ( std : : launch : : async ,   [ Stream = std : : move ( Stream ) ] ( )   {   auto   Data   =   ComputeData ( ) ;   Stream . Send ( * this ,   Data ) ;   } ) ;   }","title":"\u5f02\u6b65 \u53d1\u9001\u6570\u636e  "},{"location":"tuto_D_create_sensor/#_8","text":"\u6709\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e0d \u9700\u8981 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fdb\u884c \u6d4b\u91cf \uff0c \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u4ee5 \u5b8c\u5168 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd0\u884c \uff0c \u4ece\u800c \u4f7f \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u514d\u4e8e \u989d\u5916 \u7684 \u8ba1\u7b97 \u3002 \u6b64\u7c7b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u793a\u4f8b \u662f   LaneInvasion   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u901a\u5e38 \u7684 \u65b9\u6cd5 \u662f \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u521b\u5efa \u4e00\u4e2a \u201c \u865a\u62df \u201d \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4ee5\u4fbf \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u77e5\u9053 \u8fd9\u6837 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5b58\u5728 \u3002 \u7136\u800c \uff0c \u8fd9\u4e2a \u865a\u62df \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e0d\u4f1a \u53d1\u51fa \u8282\u62cd \uff0c \u4e5f \u4e0d\u4f1a \u53d1\u9001 \u4efb\u4f55 \u7c7b\u578b \u7684 \u6570\u636e \u3002 \u7136\u800c \uff0c \u5b83 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u5bf9\u5e94 \u90e8\u5206 \u6ce8\u518c \u4e86 \u4e00\u4e2a \u201c on   tick \u201d \u56de\u8c03 \uff0c \u4ee5\u4fbf \u5728 \u6bcf\u6b21 \u65b0 \u66f4\u65b0 \u65f6 \u6267\u884c \u4e00\u4e9b \u4ee3\u7801 \u3002 \u4f8b\u5982 \uff0c LaneInvasion   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f1a \u6ce8\u518c \u4e00\u4e2a \u56de\u8c03 \uff0c \u6bcf\u6b21 \u8d8a\u8fc7 \u8f66\u9053 \u6807\u8bb0 \u65f6 \u90fd \u4f1a \u53d1\u51fa \u901a\u77e5 \u53d1\u51fa\u901a\u77e5 \u3002   \u8003\u8651 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u201c on   tick \u201d \u56de\u8c03 \u662f \u5e76\u53d1 \u6267\u884c \u7684 \uff0c \u5373 \u76f8\u540c \u7684 \u65b9\u6cd5 \u53ef\u80fd \u7531 \u4e0d\u540c \u7684 \u7ebf\u7a0b \u540c\u65f6 \u6267\u884c \uff0c \u8fd9 \u4e00\u70b9 \u975e\u5e38 \u91cd\u8981 \u3002 \u8bbf\u95ee \u7684 \u4efb\u4f55 \u6570\u636e \u90fd \u5fc5\u987b \u6b63\u786e \u540c\u6b65 \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u4e92\u65a5 \u4f53 \u3001 \u4f7f\u7528 \u539f\u5b50 \uff0c \u6216\u8005 \u66f4\u597d \u5730 \u786e\u4fdd \u6240\u6709 \u8bbf\u95ee \u7684 \u6210\u5458 \u4fdd\u6301 \u4e0d\u53d8 \u3002","title":"\u5ba2\u6237\u7aef \u4f20\u611f\u5668  "},{"location":"tuto_D_customize_vehicle_suspension/","text":"\u5b9a\u5236 \u8f66\u8f86 \u60ac\u67b6   \u672c \u6559\u7a0b \u4ecb\u7ecd \u4e86   Carla   \u8f66\u8f86 \u60ac\u67b6 \u7cfb\u7edf \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6 \uff0c \u4ee5\u53ca \u5982\u4f55 \u9488\u5bf9 \u4e0d\u540c \u7684 \u53ef\u7528 \u8f66\u8f86 \u5b9e\u65bd \u8fd9\u4e9b \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6 \u3002 \u4f7f\u7528 \u6b64 \u4fe1\u606f \u53ef\u4ee5 \u8bbf\u95ee \u865a\u5e7b \u5f15\u64ce \u4e2d \u8f66\u8f86 \u7684 \u60ac\u67b6 \u53c2\u6570 \uff0c \u5e76 \u968f\u610f \u5bf9 \u5176 \u8fdb\u884c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u3002   \u60ac\u67b6 \u7cfb\u7edf \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6   \u60ac\u67b6 \u7ec4   \u8f7f \u8dd1\u8f66   \u8d8a\u91ce   \u5361\u8f66   \u57ce\u5e02 \u8f66   \u8d27\u8f66   \u60ac\u67b6 \u7cfb\u7edf \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6   \u8f66\u8f86 \u7684 \u60ac\u67b6 \u7cfb\u7edf \u7531 \u6240\u8ff0 \u8f66\u8f86 \u7684 \u8f66\u8f6e \u9650\u5b9a \u3002 \u6bcf\u4e2a \u8f66\u8f6e \u90fd \u6709 \u4e00\u4e2a \u5e26\u6709 \u4e00\u4e9b \u53c2\u6570 \u5316 \u7684 \u72ec\u7acb \u84dd\u56fe \uff0c \u5176\u4e2d \u5305\u62ec \u60ac\u67b6 \u7cfb\u7edf \u3002   \u8fd9\u4e9b \u84dd\u56fe \u53ef\u4ee5 \u5728   Content / Carla / Blueprints / Vehicles / < vehicle _ name >   \u4e2d \u627e\u5230 \u3002 \u5b83\u4eec \u7684 \u540d\u79f0 \u5982\u4e0b \uff1a   BP _ < vehicle _ name > _ < F / R > < R / L > W   \u3002   F   \u6216   R   \u76f8\u5e94 \u5730 \u7528\u4e8e \u524d\u8f6e \u6216 \u540e\u8f6e \u3002   R   \u6216   L   \u5e94\u5730 \u7528\u4e8e \u53f3\u8f6e \u6216 \u5de6\u8f6e \u3002   \u5728 \u672c\u4f8b \u4e2d \uff0c \u5965\u8fea A2 \u5de6 \u524d\u8f6e \u7684 \u84dd\u56fe \u547d\u540d \u4e3a   BP _ AudiA2 _ FLW   .   shape _ radius   \u8ba9 \u8f66\u8f6e \u505c \u5728 \u8def\u9762 \u4e0a \uff0c \u65e2 \u4e0d \u60ac\u505c \u4e5f \u4e0d \u5728 \u8def\u9762 \u5185\u90e8 \u3002   \u5728 \u84dd\u56fe \u4e2d \uff0c \u6709 \u4e00\u4e2a \u90e8\u5206 \u5305\u542b \u6709\u5173 \u8f66\u8f6e \u60ac\u67b6 \u7684 \u4e00\u4e9b \u53c2\u6570 \u5316 \u3002 \u4ee5\u4e0b \u662f \u865a\u5e7b \u5f15\u64ce \u4e2d \u63cf\u8ff0 \u7684 \u5b83\u4eec \u7684 \u5b9a\u4e49 \u3002   Suspension   Force   Offset   \u2014   \u8ddd \u65bd\u52a0 \u60ac\u6302 \u529b \u7684 \u4f4d\u7f6e \u7684 \u5782\u76f4 \u504f\u79fb \uff08 \u6cbf   Z   \u8f74 \uff09 \u3002   Suspension   Max   Raise   \u2014   \u8f66\u8f6e \u53ef\u4ee5 \u8d85\u51fa \u9759\u6b62 \u4f4d\u7f6e \u591a\u8fdc \u3002   Suspension   Max   Drop   \u2014   \u8f66\u8f6e \u53ef\u4ee5 \u4e0b\u964d \u5230 \u9759\u6b62 \u4f4d\u7f6e \u4ee5\u4e0b \u591a\u8fdc \u3002   Suspension   Natural   Frequency   \u2014   \u60ac\u67b6 \u7684 \u632f\u8361 \u9891\u7387 \u3002 \u6807\u51c6 \u6c7d\u8f66 \u7684 \u503c \u4ecb\u4e8e   5   \u548c \u4e4b\u95f4   10   \u3002   Suspension   Damping   Ratio   \u2014   \u80fd\u91cf \u4ece \u5f39\u7c27 \u8017\u6563 \u7684 \u901f\u7387 \u3002 \u6807\u51c6 \u6c7d\u8f66 \u7684 \u503c \u4ecb\u4e8e   0.8   \u548c   1.2   \u4e4b\u95f4 \u3002 \u503c   < 1   \u66f4\u52a0 \u8fdf\u7f13 \uff0c \u503c   > 1   \u66f4\u52a0 \u52a8\u8361 \u3002   Sweep   Type   \u2014   \u8f66\u8f6e \u60ac\u67b6 \u662f\u5426 \u8003\u8651 \u7b80\u5355 \u3001 \u590d\u6742 \u6216 \u4e24\u8005 \u800c\u6709 \u517c\u800c\u6709\u4e4b \u3002   \u8f66\u8f6e \u84dd\u56fe \u4e2d \u7684 \u60ac\u67b6 \u9762\u677f \u3002   \u7b14\u8bb0   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8f66\u8f86 \u7684 \u6240\u6709 \u8f66\u8f6e \u5728   Carla   \u4e2d \u5177\u6709 \u76f8\u540c \u7684 \u53c2\u6570 \u5316 \u3002 \u4ee5\u4e0b \u89e3\u91ca \u5c06 \u6309 \u8f66\u8f86 \u800c \u4e0d\u662f \u6309 \u8f66\u8f6e \u8fdb\u884c \u4ecb\u7ecd \u3002   \u60ac\u67b6 \u7ec4   \u6839\u636e \u5176 \u7cfb\u7edf \u60ac\u67b6 \uff0c Carla   \u4e2d \u7684 \u8f66\u8f86 \u53ef \u5206\u4e3a \u4e94\u7ec4 \u3002 \u7ec4\u4e2d \u7684 \u6240\u6709 \u8f66\u8f86 \u90fd \u5177\u6709 \u76f8\u540c \u7684 \u53c2\u6570 \u5316 \uff0c \u56e0\u4e3a \u5b83\u4eec \u9884\u8ba1 \u5728 \u9053\u8def \u4e0a \u5177\u6709 \u76f8\u4f3c \u7684 \u884c\u4e3a \u3002 \u8f66\u8f86 \u7684 \u60ac\u67b6 \u53ef\u4ee5 \u968f\u610f \u4fee\u6539 \uff0c \u4e0d\u53d7 \u8fd9 \u4e94\u7ec4 \u7684 \u9650\u5236 \u3002 \u7136\u800c \uff0c \u4e86\u89e3 \u8fd9\u4e9b \u5e76 \u89c2\u5bdf \u5b83\u4eec \u5728 \u4eff\u771f \u4e2d \u7684 \u884c\u4e3a \u5bf9\u4e8e \u5b9a\u4e49 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60ac\u67b6 \u975e\u5e38 \u6709\u7528 \u3002   \u8fd9 \u4e94\u4e2a \u7ec4\u662f \uff1a   \u8f7f \u8dd1\u8f66   \u3001   \u8d8a\u91ce \u8d8a\u91ce\u8f66   \u3001   \u5361\u8f66   \u3001   \u57ce\u5e02 \u8f66   \u548c   \u8d27\u8f66   \u3002 \u901a\u8fc7 \u4ed4\u7ec6 \u7ec6\u89c2 \u89c2\u5bdf \u4ed4\u7ec6\u89c2\u5bdf \uff0c \u8fd9\u4e9b \u7ec4 \u7684 \u53c2\u6570 \u5316 \u9075\u5faa \u7279\u5b9a \u7684 \u6a21\u5f0f \u3002   \u521a\u6027 \u60ac\u67b6   \u8f7f \u8dd1\u8f66   \u57ce\u5e02 \u8f66   \u8d27\u8f66   \u8d8a\u91ce   \u5361\u8f66   \u8f6f \u60ac\u67b6   \u5f53 \u4ece \u8f6f \u60ac\u67b6 \u8f6c\u5411 \u786c \u60ac\u67b6 \u65f6 \uff0c \u53c2\u6570 \u5316\u6709 \u4e00\u4e9b \u660e\u663e \u7684 \u8d8b\u52bf \u3002   Suspension   Max   Raise   \u548c   Suspension   Max   Drop   \u7684   \u51cf\u5c11   \u2014   \u521a\u6027 \u8f66\u8f86 \u5e94 \u5728 \u5e73\u5766 \u7684 \u9053\u8def \u4e0a \u884c\u9a76 \u4e14 \u6ca1\u6709 \u98a0\u7c38 \u3002 \u51fa\u4e8e \u7a7a\u6c14 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u7684 \u8003\u8651 \uff0c \u5e95\u76d8 \u4e0d \u5e94 \u5927\u5e45 \u79fb\u52a8 \uff0c \u800c\u5e94 \u59cb\u7ec8 \u4fdd\u6301 \u59cb\u7ec8\u4fdd\u6301 \u9760\u8fd1 \u5730\u9762 \u3002   Suspension   Damping   Ratio   \u7684   \u589e\u52a0   \u2014   \u5bf9\u4e8e \u521a\u6027 \u8f66\u8f86 \u6765\u8bf4 \uff0c \u51cf\u9707 \u51cf\u9707\u5668 \u5438\u6536 \u7684 \u5f39\u8df3 \u66f4\u5927 \u3002   \u8f7f \u8dd1\u8f66   \u5177\u6709 \u6700 \u786c \u60ac\u67b6 \u7684 \u8f66\u8f86 \u3002   \u53c2\u6570 \u5316   \u6c7d\u8f66   Suspension   Force   Offset   \u2014   0.0   Suspension   Max   Raise   \u2014   7.5   Suspension   Max   Drop   \u2014   7.5   Suspension   Natural   Frequency   \u2014   9.5   Suspension   Damping   Ratio   \u2014   1.0   Sweep   Type   \u2014   SimpleAndComplex   vehicle . audi . tt   vehicle . lincoln . mkz2017   vehicle . mercedes - benz . coupe   vehicle . seat . leon   vehicle . tesla . model3   \u8d8a\u91ce   \u914d\u5907 \u8f6f \u60ac\u67b6 \u7684 \u8f66\u8f86 \u3002   \u53c2\u6570 \u5316   \u6c7d\u8f66   Suspension   Force   Offset   \u2014   0.0   Suspension   Max   Raise   \u2014   15.0   Suspension   Max   Drop   \u2014   15.0   Suspension   Natural   Frequency   \u2014   7.0   Suspension   Damping   Ratio   \u2014   0.5   Sweep   Type   \u2014   SimpleAndComplex   vehicle . audi . etron   vehicle . jeep . wrangler _ rubicon   vehicle . nissan . patrol   vehicle . tesla . cybertruck   \u5361\u8f66   \u5177\u6709 \u6700\u8f6f \u60ac\u67b6 \u7684 \u8f66\u8f86 \u3002   \u53c2\u6570 \u5316   \u6c7d\u8f66   Suspension   Force   Offset   \u2014   0.0   Suspension   Max   Raise   \u2014   17.0   Suspension   Max   Drop   \u2014   17.0   Suspension   Natural   Frequency   \u2014   6.0   Suspension   Damping   Ratio   \u2014   0.4   Sweep   Type   \u2014   SimpleAndComplex   vehicle . carlamotors . carlacola   \u57ce\u5e02 \u8f66   \u914d\u5907 \u8f6f \u60ac\u67b6 \u7684 \u8f66\u8f86 \u3002   \u53c2\u6570 \u5316   \u6c7d\u8f66   Suspension   Force   Offset   \u2014   0.0   Suspension   Max   Raise   \u2014   8.0   Suspension   Max   Drop   \u2014   8.0   Suspension   Natural   Frequency   \u2014   9.0   Suspension   Damping   Ratio   \u2014   0.8   Sweep   Type   \u2014   SimpleAndComplex   vehicle . audi . a2   vehicle . bmw . grandtourer   vehicle . chevrolet . impala   vehicle . citroen . c3   vehicle . dodge _ charger . police   vehicle . mini . cooperst   vehicle . mustang . mustang   vehicle . nissan . micra   vehicle . toyota . prius   \u8d27\u8f66   \u5177\u6709 \u4e2d \u5730 \u60ac\u67b6 \u7684 \u8f66\u8f86 \u3002   \u53c2\u6570 \u5316   \u6c7d\u8f66   Suspension   Force   Offset   \u2014   0.0   Suspension   Max   Raise   \u2014   9.0   Suspension   Max   Drop   \u2014   9.0   Suspension   Natural   Frequency   \u2014   8.0   Suspension   Damping   Ratio   \u2014   0.8   Sweep   Type   \u2014   SimpleAndComplex   vehicle . volkswagen . t2   \u4f7f\u7528 \u8bba\u575b \u53d1\u5e03 \u6709\u5173 \u6b64 \u4e3b\u9898 \u7684 \u4efb\u4f55 \u7591\u95ee \u3001 \u95ee\u9898 \u6216 \u5efa\u8bae \u3002   Carla   \u8bba\u575b   \u4ee5\u4e0b \u662f \u672c\u6587 \u4e4b\u540e \u7684 \u4e00\u4e9b \u5efa\u8bae \u8bfb\u7269 \u3002   \u63a7\u5236 \u8f66\u8f86 \u7269\u7406   \u6dfb\u52a0 \u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668   \u751f\u6210 \u8be6\u7ec6 \u7684 \u78b0\u649e","title":"\u5b9a\u5236 \u8f66\u8f86 \u60ac\u67b6"},{"location":"tuto_D_customize_vehicle_suspension/#_1","text":"\u672c \u6559\u7a0b \u4ecb\u7ecd \u4e86   Carla   \u8f66\u8f86 \u60ac\u67b6 \u7cfb\u7edf \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6 \uff0c \u4ee5\u53ca \u5982\u4f55 \u9488\u5bf9 \u4e0d\u540c \u7684 \u53ef\u7528 \u8f66\u8f86 \u5b9e\u65bd \u8fd9\u4e9b \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6 \u3002 \u4f7f\u7528 \u6b64 \u4fe1\u606f \u53ef\u4ee5 \u8bbf\u95ee \u865a\u5e7b \u5f15\u64ce \u4e2d \u8f66\u8f86 \u7684 \u60ac\u67b6 \u53c2\u6570 \uff0c \u5e76 \u968f\u610f \u5bf9 \u5176 \u8fdb\u884c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u3002   \u60ac\u67b6 \u7cfb\u7edf \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6   \u60ac\u67b6 \u7ec4   \u8f7f \u8dd1\u8f66   \u8d8a\u91ce   \u5361\u8f66   \u57ce\u5e02 \u8f66   \u8d27\u8f66","title":"\u5b9a\u5236 \u8f66\u8f86 \u60ac\u67b6"},{"location":"tuto_D_customize_vehicle_suspension/#_2","text":"\u8f66\u8f86 \u7684 \u60ac\u67b6 \u7cfb\u7edf \u7531 \u6240\u8ff0 \u8f66\u8f86 \u7684 \u8f66\u8f6e \u9650\u5b9a \u3002 \u6bcf\u4e2a \u8f66\u8f6e \u90fd \u6709 \u4e00\u4e2a \u5e26\u6709 \u4e00\u4e9b \u53c2\u6570 \u5316 \u7684 \u72ec\u7acb \u84dd\u56fe \uff0c \u5176\u4e2d \u5305\u62ec \u60ac\u67b6 \u7cfb\u7edf \u3002   \u8fd9\u4e9b \u84dd\u56fe \u53ef\u4ee5 \u5728   Content / Carla / Blueprints / Vehicles / < vehicle _ name >   \u4e2d \u627e\u5230 \u3002 \u5b83\u4eec \u7684 \u540d\u79f0 \u5982\u4e0b \uff1a   BP _ < vehicle _ name > _ < F / R > < R / L > W   \u3002   F   \u6216   R   \u76f8\u5e94 \u5730 \u7528\u4e8e \u524d\u8f6e \u6216 \u540e\u8f6e \u3002   R   \u6216   L   \u5e94\u5730 \u7528\u4e8e \u53f3\u8f6e \u6216 \u5de6\u8f6e \u3002   \u5728 \u672c\u4f8b \u4e2d \uff0c \u5965\u8fea A2 \u5de6 \u524d\u8f6e \u7684 \u84dd\u56fe \u547d\u540d \u4e3a   BP _ AudiA2 _ FLW   .   shape _ radius   \u8ba9 \u8f66\u8f6e \u505c \u5728 \u8def\u9762 \u4e0a \uff0c \u65e2 \u4e0d \u60ac\u505c \u4e5f \u4e0d \u5728 \u8def\u9762 \u5185\u90e8 \u3002   \u5728 \u84dd\u56fe \u4e2d \uff0c \u6709 \u4e00\u4e2a \u90e8\u5206 \u5305\u542b \u6709\u5173 \u8f66\u8f6e \u60ac\u67b6 \u7684 \u4e00\u4e9b \u53c2\u6570 \u5316 \u3002 \u4ee5\u4e0b \u662f \u865a\u5e7b \u5f15\u64ce \u4e2d \u63cf\u8ff0 \u7684 \u5b83\u4eec \u7684 \u5b9a\u4e49 \u3002   Suspension   Force   Offset   \u2014   \u8ddd \u65bd\u52a0 \u60ac\u6302 \u529b \u7684 \u4f4d\u7f6e \u7684 \u5782\u76f4 \u504f\u79fb \uff08 \u6cbf   Z   \u8f74 \uff09 \u3002   Suspension   Max   Raise   \u2014   \u8f66\u8f6e \u53ef\u4ee5 \u8d85\u51fa \u9759\u6b62 \u4f4d\u7f6e \u591a\u8fdc \u3002   Suspension   Max   Drop   \u2014   \u8f66\u8f6e \u53ef\u4ee5 \u4e0b\u964d \u5230 \u9759\u6b62 \u4f4d\u7f6e \u4ee5\u4e0b \u591a\u8fdc \u3002   Suspension   Natural   Frequency   \u2014   \u60ac\u67b6 \u7684 \u632f\u8361 \u9891\u7387 \u3002 \u6807\u51c6 \u6c7d\u8f66 \u7684 \u503c \u4ecb\u4e8e   5   \u548c \u4e4b\u95f4   10   \u3002   Suspension   Damping   Ratio   \u2014   \u80fd\u91cf \u4ece \u5f39\u7c27 \u8017\u6563 \u7684 \u901f\u7387 \u3002 \u6807\u51c6 \u6c7d\u8f66 \u7684 \u503c \u4ecb\u4e8e   0.8   \u548c   1.2   \u4e4b\u95f4 \u3002 \u503c   < 1   \u66f4\u52a0 \u8fdf\u7f13 \uff0c \u503c   > 1   \u66f4\u52a0 \u52a8\u8361 \u3002   Sweep   Type   \u2014   \u8f66\u8f6e \u60ac\u67b6 \u662f\u5426 \u8003\u8651 \u7b80\u5355 \u3001 \u590d\u6742 \u6216 \u4e24\u8005 \u800c\u6709 \u517c\u800c\u6709\u4e4b \u3002   \u8f66\u8f6e \u84dd\u56fe \u4e2d \u7684 \u60ac\u67b6 \u9762\u677f \u3002   \u7b14\u8bb0   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8f66\u8f86 \u7684 \u6240\u6709 \u8f66\u8f6e \u5728   Carla   \u4e2d \u5177\u6709 \u76f8\u540c \u7684 \u53c2\u6570 \u5316 \u3002 \u4ee5\u4e0b \u89e3\u91ca \u5c06 \u6309 \u8f66\u8f86 \u800c \u4e0d\u662f \u6309 \u8f66\u8f6e \u8fdb\u884c \u4ecb\u7ecd \u3002","title":"\u60ac\u67b6 \u7cfb\u7edf \u7684 \u57fa\u7840\u77e5\u8bc6  "},{"location":"tuto_D_customize_vehicle_suspension/#_3","text":"\u6839\u636e \u5176 \u7cfb\u7edf \u60ac\u67b6 \uff0c Carla   \u4e2d \u7684 \u8f66\u8f86 \u53ef \u5206\u4e3a \u4e94\u7ec4 \u3002 \u7ec4\u4e2d \u7684 \u6240\u6709 \u8f66\u8f86 \u90fd \u5177\u6709 \u76f8\u540c \u7684 \u53c2\u6570 \u5316 \uff0c \u56e0\u4e3a \u5b83\u4eec \u9884\u8ba1 \u5728 \u9053\u8def \u4e0a \u5177\u6709 \u76f8\u4f3c \u7684 \u884c\u4e3a \u3002 \u8f66\u8f86 \u7684 \u60ac\u67b6 \u53ef\u4ee5 \u968f\u610f \u4fee\u6539 \uff0c \u4e0d\u53d7 \u8fd9 \u4e94\u7ec4 \u7684 \u9650\u5236 \u3002 \u7136\u800c \uff0c \u4e86\u89e3 \u8fd9\u4e9b \u5e76 \u89c2\u5bdf \u5b83\u4eec \u5728 \u4eff\u771f \u4e2d \u7684 \u884c\u4e3a \u5bf9\u4e8e \u5b9a\u4e49 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60ac\u67b6 \u975e\u5e38 \u6709\u7528 \u3002   \u8fd9 \u4e94\u4e2a \u7ec4\u662f \uff1a   \u8f7f \u8dd1\u8f66   \u3001   \u8d8a\u91ce \u8d8a\u91ce\u8f66   \u3001   \u5361\u8f66   \u3001   \u57ce\u5e02 \u8f66   \u548c   \u8d27\u8f66   \u3002 \u901a\u8fc7 \u4ed4\u7ec6 \u7ec6\u89c2 \u89c2\u5bdf \u4ed4\u7ec6\u89c2\u5bdf \uff0c \u8fd9\u4e9b \u7ec4 \u7684 \u53c2\u6570 \u5316 \u9075\u5faa \u7279\u5b9a \u7684 \u6a21\u5f0f \u3002   \u521a\u6027 \u60ac\u67b6   \u8f7f \u8dd1\u8f66   \u57ce\u5e02 \u8f66   \u8d27\u8f66   \u8d8a\u91ce   \u5361\u8f66   \u8f6f \u60ac\u67b6   \u5f53 \u4ece \u8f6f \u60ac\u67b6 \u8f6c\u5411 \u786c \u60ac\u67b6 \u65f6 \uff0c \u53c2\u6570 \u5316\u6709 \u4e00\u4e9b \u660e\u663e \u7684 \u8d8b\u52bf \u3002   Suspension   Max   Raise   \u548c   Suspension   Max   Drop   \u7684   \u51cf\u5c11   \u2014   \u521a\u6027 \u8f66\u8f86 \u5e94 \u5728 \u5e73\u5766 \u7684 \u9053\u8def \u4e0a \u884c\u9a76 \u4e14 \u6ca1\u6709 \u98a0\u7c38 \u3002 \u51fa\u4e8e \u7a7a\u6c14 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u7684 \u8003\u8651 \uff0c \u5e95\u76d8 \u4e0d \u5e94 \u5927\u5e45 \u79fb\u52a8 \uff0c \u800c\u5e94 \u59cb\u7ec8 \u4fdd\u6301 \u59cb\u7ec8\u4fdd\u6301 \u9760\u8fd1 \u5730\u9762 \u3002   Suspension   Damping   Ratio   \u7684   \u589e\u52a0   \u2014   \u5bf9\u4e8e \u521a\u6027 \u8f66\u8f86 \u6765\u8bf4 \uff0c \u51cf\u9707 \u51cf\u9707\u5668 \u5438\u6536 \u7684 \u5f39\u8df3 \u66f4\u5927 \u3002","title":"\u60ac\u67b6 \u7ec4  "},{"location":"tuto_D_customize_vehicle_suspension/#_4","text":"\u5177\u6709 \u6700 \u786c \u60ac\u67b6 \u7684 \u8f66\u8f86 \u3002   \u53c2\u6570 \u5316   \u6c7d\u8f66   Suspension   Force   Offset   \u2014   0.0   Suspension   Max   Raise   \u2014   7.5   Suspension   Max   Drop   \u2014   7.5   Suspension   Natural   Frequency   \u2014   9.5   Suspension   Damping   Ratio   \u2014   1.0   Sweep   Type   \u2014   SimpleAndComplex   vehicle . audi . tt   vehicle . lincoln . mkz2017   vehicle . mercedes - benz . coupe   vehicle . seat . leon   vehicle . tesla . model3","title":"\u8f7f \u8dd1\u8f66  "},{"location":"tuto_D_customize_vehicle_suspension/#_5","text":"\u914d\u5907 \u8f6f \u60ac\u67b6 \u7684 \u8f66\u8f86 \u3002   \u53c2\u6570 \u5316   \u6c7d\u8f66   Suspension   Force   Offset   \u2014   0.0   Suspension   Max   Raise   \u2014   15.0   Suspension   Max   Drop   \u2014   15.0   Suspension   Natural   Frequency   \u2014   7.0   Suspension   Damping   Ratio   \u2014   0.5   Sweep   Type   \u2014   SimpleAndComplex   vehicle . audi . etron   vehicle . jeep . wrangler _ rubicon   vehicle . nissan . patrol   vehicle . tesla . cybertruck","title":"\u8d8a\u91ce  "},{"location":"tuto_D_customize_vehicle_suspension/#_6","text":"\u5177\u6709 \u6700\u8f6f \u60ac\u67b6 \u7684 \u8f66\u8f86 \u3002   \u53c2\u6570 \u5316   \u6c7d\u8f66   Suspension   Force   Offset   \u2014   0.0   Suspension   Max   Raise   \u2014   17.0   Suspension   Max   Drop   \u2014   17.0   Suspension   Natural   Frequency   \u2014   6.0   Suspension   Damping   Ratio   \u2014   0.4   Sweep   Type   \u2014   SimpleAndComplex   vehicle . carlamotors . carlacola","title":"\u5361\u8f66  "},{"location":"tuto_D_customize_vehicle_suspension/#_7","text":"\u914d\u5907 \u8f6f \u60ac\u67b6 \u7684 \u8f66\u8f86 \u3002   \u53c2\u6570 \u5316   \u6c7d\u8f66   Suspension   Force   Offset   \u2014   0.0   Suspension   Max   Raise   \u2014   8.0   Suspension   Max   Drop   \u2014   8.0   Suspension   Natural   Frequency   \u2014   9.0   Suspension   Damping   Ratio   \u2014   0.8   Sweep   Type   \u2014   SimpleAndComplex   vehicle . audi . a2   vehicle . bmw . grandtourer   vehicle . chevrolet . impala   vehicle . citroen . c3   vehicle . dodge _ charger . police   vehicle . mini . cooperst   vehicle . mustang . mustang   vehicle . nissan . micra   vehicle . toyota . prius","title":"\u57ce\u5e02 \u8f66  "},{"location":"tuto_D_customize_vehicle_suspension/#_8","text":"\u5177\u6709 \u4e2d \u5730 \u60ac\u67b6 \u7684 \u8f66\u8f86 \u3002   \u53c2\u6570 \u5316   \u6c7d\u8f66   Suspension   Force   Offset   \u2014   0.0   Suspension   Max   Raise   \u2014   9.0   Suspension   Max   Drop   \u2014   9.0   Suspension   Natural   Frequency   \u2014   8.0   Suspension   Damping   Ratio   \u2014   0.8   Sweep   Type   \u2014   SimpleAndComplex   vehicle . volkswagen . t2   \u4f7f\u7528 \u8bba\u575b \u53d1\u5e03 \u6709\u5173 \u6b64 \u4e3b\u9898 \u7684 \u4efb\u4f55 \u7591\u95ee \u3001 \u95ee\u9898 \u6216 \u5efa\u8bae \u3002   Carla   \u8bba\u575b   \u4ee5\u4e0b \u662f \u672c\u6587 \u4e4b\u540e \u7684 \u4e00\u4e9b \u5efa\u8bae \u8bfb\u7269 \u3002   \u63a7\u5236 \u8f66\u8f86 \u7269\u7406   \u6dfb\u52a0 \u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668   \u751f\u6210 \u8be6\u7ec6 \u7684 \u78b0\u649e","title":"\u8d27\u8f66  "},{"location":"tuto_D_generate_colliders/","text":"\u751f\u6210 \u8be6\u7ec6 \u7684 \u78b0\u649e \u4f53   \u672c \u6559\u7a0b \u4ecb\u7ecd \u5982\u4f55 \u4e3a \u8f66\u8f86 \u521b\u5efa \u66f4 \u51c6\u786e \u7684 \u78b0\u649e \u8fb9\u754c \uff08 \u76f8\u5bf9 \u4e8e \u5bf9\u8c61 \u7684 \u539f\u59cb \u5f62\u72b6 \uff09 \u3002 \u5b83\u4eec \u53ef\u4ee5 \u7528\u4f5c \u7269\u7406 \u78b0\u649e \u4f53 \uff0c \u4e0e \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u517c\u5bb9 \uff0c \u4e5f \u53ef\u4ee5 \u7528\u4f5c \u57fa\u4e8e \u5149\u7ebf \u6295\u5c04 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u4f8b\u5982 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff09 \u7684 \u8f85\u52a9 \u78b0\u649e \u4f53 \uff0c \u4ee5 \u68c0\u7d22 \u66f4 \u51c6\u786e \u7684 \u6570\u636e \u3002 \u65b0 \u7684 \u78b0\u649e \u673a \u53ef\u4ee5 \u96c6\u6210 \u5230   Carla   \u4e2d \uff0c \u4ee5\u4fbf \u6240\u6709 \u793e\u533a \u90fd \u80fd \u4ece\u4e2d \u53d7\u76ca \u3002 \u5728   \u6b64\u5904   \u4e86\u89e3 \u6709\u5173 \u5982\u4f55 \u4e3a \u5185\u5bb9 \u5b58\u50a8 \u5e93 \u505a\u51fa \u8d21\u732e \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u6709 \u4e24\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u521b\u5efa \u65b0 \u7684 \u78b0\u649e \u4f53 \uff0c \u4f46 \u5b83\u4eec \u5e76 \u4e0d \u5b8c\u5168 \u7b49\u6548 \u3002   \u5149\u7ebf \u6295\u5c04 \u78b0\u649e \u4f53   \u2014   \u8fd9\u79cd \u65b9\u6cd5 \u9700\u8981 \u4e00\u4e9b \u57fa\u672c \u7684 \u4e09\u7ef4 \u5efa\u6a21 \u6280\u80fd \u3002 \u8f66\u8f86 \u4e2d \u6dfb\u52a0 \u4e86 \u8f85\u52a9 \u78b0\u649e \u4f53 \uff0c \u4ee5\u4fbf \u57fa\u4e8e \u5149\u7ebf \u6295\u5c04 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u4f8b\u5982 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff09 \u68c0\u7d22 \u66f4 \u7cbe\u786e \u7684 \u6570\u636e \u3002   \u7269\u7406 \u78b0\u649e \u4f53   \u2014   \u8fd9\u79cd \u65b9\u6cd5 \u9075\u5faa \u8d21\u732e \u8d21\u732e\u8005   Yan   Kaganovsky   /   yankagan   \u521b\u5efa \u7684   \u6559\u7a0b   \uff0c \u65e0\u9700 \u624b\u52a8 \u5efa\u6a21 \u5373\u53ef \u521b\u5efa \u7f51\u683c \u3002 \u7136\u540e \uff0c \u8be5 \u7f51\u683c \u7528\u4f5c \u8f66\u8f86 \u7684 \u4e3b \u78b0\u649e \u4f53 \uff0c \u7528\u4e8e \u7269\u7406 \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u6d4b \uff08 \u9664\u975e \u6dfb\u52a0 \u8f85\u52a9 \u78b0\u649e \u4f53 \uff09 \u3002   \u5149\u7ebf \u6295\u5c04 \u78b0\u649e \u4f53   1 - \u5bfc\u51fa \u8f66\u8f86   FBX   2 - \u751f\u6210 \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u7f51\u683c   3 - \u5c06 \u7f51\u683c \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce   4 - \u6dfb\u52a0 \u7f51\u683c \u4f5c\u4e3a \u78b0\u649e \u4f53   \u7269\u7406 \u78b0\u649e \u4f53   0 - \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   1 - \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5b9a\u4e49 \u8f6e\u5b50 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e   2 - \u5c06 \u8f66\u8f86 \u5bfc\u51fa \u4e3a   FBX   3   \u5230   4 - \u5bfc\u5165 \u5bfc\u5165\u5230   Blender   \u5e76 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8fb9\u754c   5 - \u4ece   Blender   \u5bfc\u51fa \u5230   FBX   6   \u5230   8 - \u5bfc\u5165 \u78b0\u649e \u4f53 \u5e76 \u5b9a\u4e49 \u7269\u7406   \u5149\u7ebf \u6295\u5c04 \u78b0\u649e \u4f53   1 - \u5bfc\u51fa \u8f66\u8f86   FBX   \u9996\u5148 \u9700\u8981 \u4ee5 \u8f66\u8f86 \u7684 \u539f\u59cb \u7f51\u683c \u4f5c\u4e3a \u53c2\u8003 \u3002 \u51fa\u4e8e \u5b66\u4e60 \u76ee\u7684 \uff0c \u672c \u6559\u7a0b \u5bfc\u51fa   Carla   \u8f66\u8f86 \u7684 \u7f51\u683c \u3002   1.1   \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6253\u5f00   Carla   \u5e76 \u8f6c\u5230   Content / Carla / Static / Vehicles / 4Wheeled / < model _ of _ vehicle >   \u3002   1.2   \u5728   SM _ < model _ of _ vehicle >   \u70b9\u51fb   right - click   \u5c06 \u8f66\u8f86 \u7f51\u683c \u5bfc\u51fa \u4e3a   FBX \u3002   2 - \u751f\u6210 \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u7f51\u683c   2.1   \u6253\u5f00 \u4e09\u7ef4 \u5efa\u6a21 \u8f6f\u4ef6 \uff0c \u5e76 \u4f7f\u7528 \u539f\u59cb \u7f51\u683c \u4f5c\u4e3a \u53c2\u8003 \uff0c \u5efa\u6a21 \u4e00\u4e2a \u4e0e \u539f\u59cb \u7f51\u683c \u4fdd\u6301 \u53ef\u9760 \u7684 \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u7f51\u683c \u3002   2.2   \u5c06 \u65b0 \u7f51\u683c \u4fdd\u5b58 \u4e3a FBX \u3002 \u5c06 \u7f51\u683c \u547d\u540d \u4e3a   sm _ sc _ < model _ of _ vehicle > . fbx   \u3002 \u4f8b\u5982   sm _ sc _ audiTT . fbx   .   \u7b14\u8bb0   \u81f3\u4e8e \u8f66\u8f6e \u548c \u9644\u52a0 \u5143\u4ef6 \uff08 \u4f8b\u5982 \u8f66\u9876 \u3001 \u6321\u6ce5 \u6ce5\u677f \u6321\u6ce5\u677f \u7b49 \uff09 \uff0c \u65b0 \u7f51\u683c \u5e94\u8be5 \u975e\u5e38 \u51c6\u786e \u5730 \u9075\u5faa \u51e0\u4f55 \u5f62\u72b6 \u3002 \u653e\u7f6e \u7b80\u5355 \u7684 \u7acb\u65b9 \u7acb\u65b9\u4f53 \u662f \u4e0d\u884c \u7684 \u3002   3 - \u5c06 \u7f51\u683c \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce   3.1   \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6253\u5f00   Carla   \u5e76 \u8f6c\u5230   Content / Carla / Static / Vehicles / 4Wheeled / < model _ of _ vehicle >   .   3.2   \u70b9\u51fb   right - click   \u5bfc\u5165 \u65b0 \u7f51\u683c   SM _ sc _ < model _ of _ vehicle > . fbx   \u3002   4 - \u6dfb\u52a0 \u7f51\u683c \u4f5c\u4e3a \u78b0\u649e \u4f53   4.1   \u8fdb\u5165   Content / Carla / Blueprints / Vehicles / < model _ of _ vehicle >   \u5e76 \u6253\u5f00 \u540d\u4e3a   BP _ < model _ of _ vehicle >   \u7684 \u8f66\u8f86 \u7684 \u84dd\u56fe \u3002   4.2   \u9009\u62e9   CustomCollision   \u5143\u7d20 \u5e76 \u5728   Static   mesh   \u5c5e\u6027 \u4e2d \u6dfb\u52a0   SM _ sc _ < model _ of _ vehicle > . fbx   \u3002   4.3   \u70b9\u51fb \u4e0a\u65b9 \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u7684   Compile   \u5e76 \u4fdd\u5b58 \u66f4\u6539 \u3002   \u7b14\u8bb0   \u5bf9\u4e8e \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \u548c \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7b49 \u8f66\u8f86 \uff0c \u4f7f\u7528 \u76f8\u540c \u7684 \u7ec4\u4ef6   CustomCollision   \u66f4\u6539 \u8f66\u8f86 \u672c\u8eab \u7684 \u78b0\u649e \u4f53 \u7f51\u683c \u3002   \u7269\u7406 \u78b0\u649e \u4f53   \u91cd\u8981   \u672c \u6559\u7a0b \u57fa\u4e8e   yankagan   \u7684   \u8d21\u732e   \uff01 \u8d21\u732e \u8d21\u732e\u8005 \u8fd8 \u5e0c\u671b \u611f\u8c22   Francisco   E   \u5173\u4e8e   \u5982\u4f55 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u5bfc\u5165 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e   \u7684 \u6559\u7a0b \u3002   \u8be5 \u89c6\u9891   \u5c55\u793a \u4e86 \u9075\u5faa \u672c \u6559\u7a0b \u540e \u6240 \u53d6\u5f97 \u7684 \u7ed3\u679c \u3002   0 - \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u5728   Linux   \u6216   Windows   \u4e0a   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla   \u3002   \u53ef \u4ece   \u5b98\u65b9 \u7f51\u7ad9 \u5b98\u65b9\u7f51 \u5b98\u65b9\u7f51\u7ad9   \u514d\u8d39 \u83b7\u53d6   Blender   2.80   \u6216 \u66f4\u65b0 \u7248\u672c   \uff08 \u5f00\u6e90   3D   \u5efa\u6a21 \u8f6f\u4ef6 \uff09 \u3002   \u6309\u7167   \u6b64\u5904   \u7684 \u8bf4\u660e \u4f7f\u7528   Blender   \u7684   VHACD   \u63d2\u4ef6   \u3002 \u8be5 \u63d2\u4ef6 \u4f7f\u7528 \u51f8\u5305 \u96c6\u5408 \u81ea\u52a8 \u521b\u5efa \u9009\u5b9a \u5bf9\u8c61 \u7684 \u8fd1\u4f3c \u8fd1\u4f3c\u503c \u3002   \u9605\u8bfb \u66f4 \u591a   \u3002   \u7b14\u8bb0   \u8fd9\u4e2a   \u7cfb\u5217   \u548c   Udemy   \u8bfe\u7a0b   \u5bf9\u4e8e \u65b0\u624b \u6765\u8bf4 \u53ef\u80fd \u662f \u4e00\u4e2a \u5f88 \u597d \u7684   Blender   \u5165\u95e8 \u6559\u7a0b \u5165\u95e8\u6559\u7a0b \u3002   1 - \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5b9a\u4e49 \u8f6e\u5b50 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e   \u7b2c   1   \u6b65 .   ( \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d )   \u2014   \u6dfb\u52a0 \u8f66\u8f6e \u7684 \u78b0\u649e \u8fb9\u754c \u3002 \u4ee5\u4e0b \u89c6\u9891 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u8fd9\u4e9b \u6b65\u9aa4 \u3002   2 - \u5c06 \u8f66\u8f86 \u5bfc\u51fa \u4e3a   FBX   \u7b2c   2   \u6b65 .   ( \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d )   \u2014   \u5c06 \u8f66\u8f86 \u7684 \u9aa8\u67b6 \u7f51\u683c \u7269\u4f53 \u5bfc\u51fa \u5230   FBX   \u6587\u4ef6 \u3002   2.1   \u8f6c \u5230   Content / Carla / Static / Vehicles / 4Wheeled / < model _ of _ vehicle >   \u3002   2.2   \u5728   SM _ < model _ of _ vehicle >   \u70b9\u51fb   right - click   \uff0c \u5c06 \u8f66\u8f86 \u7f51\u683c \u5bfc\u51fa \u4e3a   FBX \u3002   3   \u5230   4 - \u5bfc\u5165 \u5bfc\u5165\u5230   Blender   \u5e76 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8fb9\u754c   \u7b2c   3   \u6b65 .   ( \u5728   Blender   \u4e2d )   \u2014   \u5c06   FBX   \u6587\u4ef6 \u5bfc\u5165   Blender \u3002   \u7b2c   4   \u6b65 .   ( \u5728   Blender   \u4e2d )   \u2014   \u6dfb\u52a0 \u51f8\u5305 \u7f51\u683c \u4ee5 \u5f62\u6210 \u65b0 \u7684 \u78b0\u649e \u8fb9\u754c \uff08 \u865a\u5e7b \u5f15\u64ce \u5bf9 \u8ba1\u7b97 \u6548\u7387 \u7684 \u8981\u6c42 \uff09 \u3002 \u8fd9\u662f \u6700\u96be \u7684 \u4e00\u6b65 \u3002 \u5982\u679c \u9009\u62e9 \u6574\u8f86 \u8f66 \uff0c VHACD   \u521b\u5efa \u7684 \u78b0\u649e \u8fb9\u754c \u5c06 \u4e0d \u7cbe\u786e \u4e14 \u6df7\u4e71 \u3002 \u5b83 \u5c06 \u5305\u542b \u950b\u5229 \u7684 \u8fb9\u7f18 \uff0c \u8fd9\u4f1a \u6270\u4e71 \u9053\u8def \u4e0a \u7684 \u884c\u9a76 \u3002 \u8f6e\u5b50 \u5468\u56f4 \u8981 \u6709 \u5149\u6ed1 \u7684 \u8fb9\u754c \uff0c \u8fd9 \u4e00\u70b9 \u5f88 \u91cd\u8981 \u3002 \u5728 \u8f66 \u8eab\u4e0a \u4f7f\u7528 \u51f8 \u5206\u89e3 \uff0c \u540e\u89c6 \u540e\u89c6\u955c \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u4ecd\u7136 \u4e0d \u6b63\u786e \u3002 \u5bf9\u4e8e \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u6765\u8bf4 \uff0c \u8f66\u8f86 \u7684 \u7ec6\u8282 \u975e\u5e38 \u91cd\u8981 \u3002 \u7531\u4e8e \u4e0a\u8ff0 \u539f\u56e0 \uff0c \u8fd9\u4e9b \u6b65\u9aa4 \u88ab \u5206\u4e3a \u4e24\u4e2a \u90e8\u5206 \u3002   4.1   \u4f7f\u7528   VHACD   \u5de5\u5177 \u5207 \u51fa \u8f66\u8f6e \u7684 \u5e95\u90e8 \u3001 \u4fa7\u89c6 \u955c \u548c \u8f66\u8eab \u7684 \u9876\u90e8 \uff0c \u4ee5 \u521b\u5efa \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8fb9\u754c \u3002 \u4f7f\u7528   VHACD   \u5de5\u5177 \u526a\u6389 \u6c7d\u8f66 \u7684 \u4e0b \u534a \u90e8\u5206 \u4ee5 \u521b\u5efa \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u8fb9\u754c \uff08 \u6c7d\u8f66 \u7684 \u9876\u90e8 \uff09 \u3002   4.2   \u4f7f\u7528   VHACD   \u5de5\u5177 \u4e3a \u540e\u89c6 \u540e\u89c6\u955c \u521b\u5efa \u5355\u72ec \u7684 \u8fb9\u754c \u3002   \u8b66\u544a   \u547d\u540d \u5bf9\u8c61 \u65f6\u8981 \u975e\u5e38 \u5c0f\u5fc3 \u3002 \u6bcf\u4e2a \u8fb9\u754c \u5e94 \u4ee5   UCX _   \u5f00\u5934 \uff0c \u5176\u4f59 \u540d\u79f0 \u5fc5\u987b \u4e0e \u539f\u59cb \u7f51\u683c   \u5b8c\u5168   \u76f8\u540c   \u3002   5 - \u4ece   Blender   \u5bfc\u51fa \u5230   FBX   \u7b2c   5   \u6b65 .   ( \u5728   Blender   \u4e2d )   \u2014   \u5c06 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e \u8fb9\u754c \u5bfc\u51fa \u5230   FBX   \u6587\u4ef6 \u4e2d \u3002   5.1   \u4ec5 \u9009\u62e9 \u539f\u59cb \u8f66\u8f86 \u548c \u6240\u6709 \u65b0 \u6dfb\u52a0 \u7684 \u7269\u4f53 \u8fdb\u884c \u78b0\u649e \u3002   5.2   \u5728 \u5bfc\u51fa \u83dc\u5355 \u4e2d \uff0c \u9009\u4e2d   selected   objects   \u5e76 \u4ec5 \u9009\u62e9 \u201c Mesh \u201d \u3002   6   \u5230   8 - \u5bfc\u5165 \u78b0\u649e \u4f53 \u5e76 \u5b9a\u4e49 \u7269\u7406   \u7b2c   6   \u6b65 .   ( \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d )   \u2014   \u5c06 \u65b0   FBX   \u4f5c\u4e3a \u865a\u5e7b \u8d44\u6e90 \u6587\u4ef6 \uff08 \u9759\u6001 \u7f51\u683c \u7269\u4f53 \uff09 \u5bfc\u5165   Carla \u3002   \u7b2c   7   \u6b65 .   ( \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d )   \u2014   \u5c06 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e \u4f53 \u5bfc\u5165 \u5bfc\u5165\u5230 \u7279\u5b9a \u8f66\u8f86 \u7684 \u7269\u7406 \u8d44\u6e90 \u4e2d \uff0c \u4ee5\u4fbf \u5c06 \u5176 \u7528\u4e8e \u8ba1\u7b97 \u3002   \u7b2c   8   \u6b65 .   ( \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d )   \u2014   \u521b\u5efa \u8fde\u63a5 \u4e0d\u540c \u5173\u8282 \u7684 \u7ea6\u675f \u5e76 \u5b9a\u4e49 \u6240\u6709 \u90e8\u4ef6 \u7684 \u7269\u7406 \u7279\u6027 \u3002   \u8fd9\u662f \u5173\u4e8e \u5982\u4f55 \u66f4\u6539   Carla   \u4e2d \u8f66\u8f86 \u7684 \u9ed8\u8ba4 \u78b0\u649e \u4f53 \u7684 \u603b\u7ed3 \u3002   \u6253\u5f00   Carla   \u5e76 \u95f2\u901b \u4e00\u4f1a \u4f1a\u513f \u4e00\u4f1a\u513f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"\u751f\u6210 \u8be6\u7ec6 \u7684 \u78b0\u649e \u4f53"},{"location":"tuto_D_generate_colliders/#_1","text":"\u672c \u6559\u7a0b \u4ecb\u7ecd \u5982\u4f55 \u4e3a \u8f66\u8f86 \u521b\u5efa \u66f4 \u51c6\u786e \u7684 \u78b0\u649e \u8fb9\u754c \uff08 \u76f8\u5bf9 \u4e8e \u5bf9\u8c61 \u7684 \u539f\u59cb \u5f62\u72b6 \uff09 \u3002 \u5b83\u4eec \u53ef\u4ee5 \u7528\u4f5c \u7269\u7406 \u78b0\u649e \u4f53 \uff0c \u4e0e \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u517c\u5bb9 \uff0c \u4e5f \u53ef\u4ee5 \u7528\u4f5c \u57fa\u4e8e \u5149\u7ebf \u6295\u5c04 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u4f8b\u5982 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff09 \u7684 \u8f85\u52a9 \u78b0\u649e \u4f53 \uff0c \u4ee5 \u68c0\u7d22 \u66f4 \u51c6\u786e \u7684 \u6570\u636e \u3002 \u65b0 \u7684 \u78b0\u649e \u673a \u53ef\u4ee5 \u96c6\u6210 \u5230   Carla   \u4e2d \uff0c \u4ee5\u4fbf \u6240\u6709 \u793e\u533a \u90fd \u80fd \u4ece\u4e2d \u53d7\u76ca \u3002 \u5728   \u6b64\u5904   \u4e86\u89e3 \u6709\u5173 \u5982\u4f55 \u4e3a \u5185\u5bb9 \u5b58\u50a8 \u5e93 \u505a\u51fa \u8d21\u732e \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u6709 \u4e24\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u521b\u5efa \u65b0 \u7684 \u78b0\u649e \u4f53 \uff0c \u4f46 \u5b83\u4eec \u5e76 \u4e0d \u5b8c\u5168 \u7b49\u6548 \u3002   \u5149\u7ebf \u6295\u5c04 \u78b0\u649e \u4f53   \u2014   \u8fd9\u79cd \u65b9\u6cd5 \u9700\u8981 \u4e00\u4e9b \u57fa\u672c \u7684 \u4e09\u7ef4 \u5efa\u6a21 \u6280\u80fd \u3002 \u8f66\u8f86 \u4e2d \u6dfb\u52a0 \u4e86 \u8f85\u52a9 \u78b0\u649e \u4f53 \uff0c \u4ee5\u4fbf \u57fa\u4e8e \u5149\u7ebf \u6295\u5c04 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u4f8b\u5982 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff09 \u68c0\u7d22 \u66f4 \u7cbe\u786e \u7684 \u6570\u636e \u3002   \u7269\u7406 \u78b0\u649e \u4f53   \u2014   \u8fd9\u79cd \u65b9\u6cd5 \u9075\u5faa \u8d21\u732e \u8d21\u732e\u8005   Yan   Kaganovsky   /   yankagan   \u521b\u5efa \u7684   \u6559\u7a0b   \uff0c \u65e0\u9700 \u624b\u52a8 \u5efa\u6a21 \u5373\u53ef \u521b\u5efa \u7f51\u683c \u3002 \u7136\u540e \uff0c \u8be5 \u7f51\u683c \u7528\u4f5c \u8f66\u8f86 \u7684 \u4e3b \u78b0\u649e \u4f53 \uff0c \u7528\u4e8e \u7269\u7406 \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u6d4b \uff08 \u9664\u975e \u6dfb\u52a0 \u8f85\u52a9 \u78b0\u649e \u4f53 \uff09 \u3002   \u5149\u7ebf \u6295\u5c04 \u78b0\u649e \u4f53   1 - \u5bfc\u51fa \u8f66\u8f86   FBX   2 - \u751f\u6210 \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u7f51\u683c   3 - \u5c06 \u7f51\u683c \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce   4 - \u6dfb\u52a0 \u7f51\u683c \u4f5c\u4e3a \u78b0\u649e \u4f53   \u7269\u7406 \u78b0\u649e \u4f53   0 - \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   1 - \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5b9a\u4e49 \u8f6e\u5b50 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e   2 - \u5c06 \u8f66\u8f86 \u5bfc\u51fa \u4e3a   FBX   3   \u5230   4 - \u5bfc\u5165 \u5bfc\u5165\u5230   Blender   \u5e76 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8fb9\u754c   5 - \u4ece   Blender   \u5bfc\u51fa \u5230   FBX   6   \u5230   8 - \u5bfc\u5165 \u78b0\u649e \u4f53 \u5e76 \u5b9a\u4e49 \u7269\u7406","title":"\u751f\u6210 \u8be6\u7ec6 \u7684 \u78b0\u649e \u4f53"},{"location":"tuto_D_generate_colliders/#_2","text":"","title":"\u5149\u7ebf \u6295\u5c04 \u78b0\u649e \u4f53  "},{"location":"tuto_D_generate_colliders/#1-fbx","text":"\u9996\u5148 \u9700\u8981 \u4ee5 \u8f66\u8f86 \u7684 \u539f\u59cb \u7f51\u683c \u4f5c\u4e3a \u53c2\u8003 \u3002 \u51fa\u4e8e \u5b66\u4e60 \u76ee\u7684 \uff0c \u672c \u6559\u7a0b \u5bfc\u51fa   Carla   \u8f66\u8f86 \u7684 \u7f51\u683c \u3002   1.1   \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6253\u5f00   Carla   \u5e76 \u8f6c\u5230   Content / Carla / Static / Vehicles / 4Wheeled / < model _ of _ vehicle >   \u3002   1.2   \u5728   SM _ < model _ of _ vehicle >   \u70b9\u51fb   right - click   \u5c06 \u8f66\u8f86 \u7f51\u683c \u5bfc\u51fa \u4e3a   FBX \u3002","title":"1 - \u5bfc\u51fa \u8f66\u8f86   FBX  "},{"location":"tuto_D_generate_colliders/#2-","text":"2.1   \u6253\u5f00 \u4e09\u7ef4 \u5efa\u6a21 \u8f6f\u4ef6 \uff0c \u5e76 \u4f7f\u7528 \u539f\u59cb \u7f51\u683c \u4f5c\u4e3a \u53c2\u8003 \uff0c \u5efa\u6a21 \u4e00\u4e2a \u4e0e \u539f\u59cb \u7f51\u683c \u4fdd\u6301 \u53ef\u9760 \u7684 \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u7f51\u683c \u3002   2.2   \u5c06 \u65b0 \u7f51\u683c \u4fdd\u5b58 \u4e3a FBX \u3002 \u5c06 \u7f51\u683c \u547d\u540d \u4e3a   sm _ sc _ < model _ of _ vehicle > . fbx   \u3002 \u4f8b\u5982   sm _ sc _ audiTT . fbx   .   \u7b14\u8bb0   \u81f3\u4e8e \u8f66\u8f6e \u548c \u9644\u52a0 \u5143\u4ef6 \uff08 \u4f8b\u5982 \u8f66\u9876 \u3001 \u6321\u6ce5 \u6ce5\u677f \u6321\u6ce5\u677f \u7b49 \uff09 \uff0c \u65b0 \u7f51\u683c \u5e94\u8be5 \u975e\u5e38 \u51c6\u786e \u5730 \u9075\u5faa \u51e0\u4f55 \u5f62\u72b6 \u3002 \u653e\u7f6e \u7b80\u5355 \u7684 \u7acb\u65b9 \u7acb\u65b9\u4f53 \u662f \u4e0d\u884c \u7684 \u3002","title":"2 - \u751f\u6210 \u4f4e\u5bc6\u5ea6 \u7f51\u683c  "},{"location":"tuto_D_generate_colliders/#3-","text":"3.1   \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6253\u5f00   Carla   \u5e76 \u8f6c\u5230   Content / Carla / Static / Vehicles / 4Wheeled / < model _ of _ vehicle >   .   3.2   \u70b9\u51fb   right - click   \u5bfc\u5165 \u65b0 \u7f51\u683c   SM _ sc _ < model _ of _ vehicle > . fbx   \u3002","title":"3 - \u5c06 \u7f51\u683c \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce  "},{"location":"tuto_D_generate_colliders/#4-","text":"4.1   \u8fdb\u5165   Content / Carla / Blueprints / Vehicles / < model _ of _ vehicle >   \u5e76 \u6253\u5f00 \u540d\u4e3a   BP _ < model _ of _ vehicle >   \u7684 \u8f66\u8f86 \u7684 \u84dd\u56fe \u3002   4.2   \u9009\u62e9   CustomCollision   \u5143\u7d20 \u5e76 \u5728   Static   mesh   \u5c5e\u6027 \u4e2d \u6dfb\u52a0   SM _ sc _ < model _ of _ vehicle > . fbx   \u3002   4.3   \u70b9\u51fb \u4e0a\u65b9 \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u7684   Compile   \u5e76 \u4fdd\u5b58 \u66f4\u6539 \u3002   \u7b14\u8bb0   \u5bf9\u4e8e \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \u548c \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7b49 \u8f66\u8f86 \uff0c \u4f7f\u7528 \u76f8\u540c \u7684 \u7ec4\u4ef6   CustomCollision   \u66f4\u6539 \u8f66\u8f86 \u672c\u8eab \u7684 \u78b0\u649e \u4f53 \u7f51\u683c \u3002","title":"4 - \u6dfb\u52a0 \u7f51\u683c \u4f5c\u4e3a \u78b0\u649e \u4f53  "},{"location":"tuto_D_generate_colliders/#_3","text":"\u91cd\u8981   \u672c \u6559\u7a0b \u57fa\u4e8e   yankagan   \u7684   \u8d21\u732e   \uff01 \u8d21\u732e \u8d21\u732e\u8005 \u8fd8 \u5e0c\u671b \u611f\u8c22   Francisco   E   \u5173\u4e8e   \u5982\u4f55 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u5bfc\u5165 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e   \u7684 \u6559\u7a0b \u3002   \u8be5 \u89c6\u9891   \u5c55\u793a \u4e86 \u9075\u5faa \u672c \u6559\u7a0b \u540e \u6240 \u53d6\u5f97 \u7684 \u7ed3\u679c \u3002","title":"\u7269\u7406 \u78b0\u649e \u4f53  "},{"location":"tuto_D_generate_colliders/#0-","text":"\u5728   Linux   \u6216   Windows   \u4e0a   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla   \u3002   \u53ef \u4ece   \u5b98\u65b9 \u7f51\u7ad9 \u5b98\u65b9\u7f51 \u5b98\u65b9\u7f51\u7ad9   \u514d\u8d39 \u83b7\u53d6   Blender   2.80   \u6216 \u66f4\u65b0 \u7248\u672c   \uff08 \u5f00\u6e90   3D   \u5efa\u6a21 \u8f6f\u4ef6 \uff09 \u3002   \u6309\u7167   \u6b64\u5904   \u7684 \u8bf4\u660e \u4f7f\u7528   Blender   \u7684   VHACD   \u63d2\u4ef6   \u3002 \u8be5 \u63d2\u4ef6 \u4f7f\u7528 \u51f8\u5305 \u96c6\u5408 \u81ea\u52a8 \u521b\u5efa \u9009\u5b9a \u5bf9\u8c61 \u7684 \u8fd1\u4f3c \u8fd1\u4f3c\u503c \u3002   \u9605\u8bfb \u66f4 \u591a   \u3002   \u7b14\u8bb0   \u8fd9\u4e2a   \u7cfb\u5217   \u548c   Udemy   \u8bfe\u7a0b   \u5bf9\u4e8e \u65b0\u624b \u6765\u8bf4 \u53ef\u80fd \u662f \u4e00\u4e2a \u5f88 \u597d \u7684   Blender   \u5165\u95e8 \u6559\u7a0b \u5165\u95e8\u6559\u7a0b \u3002","title":"0 - \u5148\u51b3\u6761\u4ef6  "},{"location":"tuto_D_generate_colliders/#1-","text":"\u7b2c   1   \u6b65 .   ( \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d )   \u2014   \u6dfb\u52a0 \u8f66\u8f6e \u7684 \u78b0\u649e \u8fb9\u754c \u3002 \u4ee5\u4e0b \u89c6\u9891 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u8fd9\u4e9b \u6b65\u9aa4 \u3002","title":"1 - \u5728 \u865a\u5e7b \u7f16\u8f91\u5668 \u4e2d \u5b9a\u4e49 \u8f6e\u5b50 \u7684 \u81ea\u5b9a\u4e49 \u78b0\u649e  "},{"location":"tuto_D_generate_colliders/#2-fbx","text":"\u7b2c   2   \u6b65 .   ( \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d )   \u2014   \u5c06 \u8f66\u8f86 \u7684 \u9aa8\u67b6 \u7f51\u683c \u7269\u4f53 \u5bfc\u51fa \u5230   FBX   \u6587\u4ef6 \u3002   2.1   \u8f6c \u5230   Content / Carla / Static / Vehicles / 4Wheeled / < model _ of _ vehicle >   \u3002   2.2   \u5728   SM _ < model _ of _ vehicle >   \u70b9\u51fb   right - click   \uff0c \u5c06 \u8f66\u8f86 \u7f51\u683c \u5bfc\u51fa \u4e3a   FBX \u3002","title":"2 - \u5c06 \u8f66\u8f86 \u5bfc\u51fa \u4e3a   FBX  "},{"location":"tuto_D_generate_colliders/#3-4-blender","text":"\u7b2c   3   \u6b65 .   ( \u5728   Blender   \u4e2d )   \u2014   \u5c06   FBX   \u6587\u4ef6 \u5bfc\u5165   Blender \u3002   \u7b2c   4   \u6b65 .   ( \u5728   Blender   \u4e2d )   \u2014   \u6dfb\u52a0 \u51f8\u5305 \u7f51\u683c \u4ee5 \u5f62\u6210 \u65b0 \u7684 \u78b0\u649e \u8fb9\u754c \uff08 \u865a\u5e7b \u5f15\u64ce \u5bf9 \u8ba1\u7b97 \u6548\u7387 \u7684 \u8981\u6c42 \uff09 \u3002 \u8fd9\u662f \u6700\u96be \u7684 \u4e00\u6b65 \u3002 \u5982\u679c \u9009\u62e9 \u6574\u8f86 \u8f66 \uff0c VHACD   \u521b\u5efa \u7684 \u78b0\u649e \u8fb9\u754c \u5c06 \u4e0d \u7cbe\u786e \u4e14 \u6df7\u4e71 \u3002 \u5b83 \u5c06 \u5305\u542b \u950b\u5229 \u7684 \u8fb9\u7f18 \uff0c \u8fd9\u4f1a \u6270\u4e71 \u9053\u8def \u4e0a \u7684 \u884c\u9a76 \u3002 \u8f6e\u5b50 \u5468\u56f4 \u8981 \u6709 \u5149\u6ed1 \u7684 \u8fb9\u754c \uff0c \u8fd9 \u4e00\u70b9 \u5f88 \u91cd\u8981 \u3002 \u5728 \u8f66 \u8eab\u4e0a \u4f7f\u7528 \u51f8 \u5206\u89e3 \uff0c \u540e\u89c6 \u540e\u89c6\u955c \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u4ecd\u7136 \u4e0d \u6b63\u786e \u3002 \u5bf9\u4e8e \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u6765\u8bf4 \uff0c \u8f66\u8f86 \u7684 \u7ec6\u8282 \u975e\u5e38 \u91cd\u8981 \u3002 \u7531\u4e8e \u4e0a\u8ff0 \u539f\u56e0 \uff0c \u8fd9\u4e9b \u6b65\u9aa4 \u88ab \u5206\u4e3a \u4e24\u4e2a \u90e8\u5206 \u3002   4.1   \u4f7f\u7528   VHACD   \u5de5\u5177 \u5207 \u51fa \u8f66\u8f6e \u7684 \u5e95\u90e8 \u3001 \u4fa7\u89c6 \u955c \u548c \u8f66\u8eab \u7684 \u9876\u90e8 \uff0c \u4ee5 \u521b\u5efa \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8fb9\u754c \u3002 \u4f7f\u7528   VHACD   \u5de5\u5177 \u526a\u6389 \u6c7d\u8f66 \u7684 \u4e0b \u534a \u90e8\u5206 \u4ee5 \u521b\u5efa \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u8fb9\u754c \uff08 \u6c7d\u8f66 \u7684 \u9876\u90e8 \uff09 \u3002   4.2   \u4f7f\u7528   VHACD   \u5de5\u5177 \u4e3a \u540e\u89c6 \u540e\u89c6\u955c \u521b\u5efa \u5355\u72ec \u7684 \u8fb9\u754c \u3002   \u8b66\u544a   \u547d\u540d \u5bf9\u8c61 \u65f6\u8981 \u975e\u5e38 \u5c0f\u5fc3 \u3002 \u6bcf\u4e2a \u8fb9\u754c \u5e94 \u4ee5   UCX _   \u5f00\u5934 \uff0c \u5176\u4f59 \u540d\u79f0 \u5fc5\u987b \u4e0e \u539f\u59cb \u7f51\u683c   \u5b8c\u5168   \u76f8\u540c   \u3002","title":"3   \u5230   4 - \u5bfc\u5165\u5230   Blender   \u5e76 \u521b\u5efa \u81ea\u5b9a\u4e49 \u8fb9\u754c  "},{"location":"tuto_D_generate_colliders/#5-blender-fbx","text":"\u7b2c   5   \u6b65 .   ( \u5728   Blender   \u4e2d )   \u2014   \u5c06 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e \u8fb9\u754c \u5bfc\u51fa \u5230   FBX   \u6587\u4ef6 \u4e2d \u3002   5.1   \u4ec5 \u9009\u62e9 \u539f\u59cb \u8f66\u8f86 \u548c \u6240\u6709 \u65b0 \u6dfb\u52a0 \u7684 \u7269\u4f53 \u8fdb\u884c \u78b0\u649e \u3002   5.2   \u5728 \u5bfc\u51fa \u83dc\u5355 \u4e2d \uff0c \u9009\u4e2d   selected   objects   \u5e76 \u4ec5 \u9009\u62e9 \u201c Mesh \u201d \u3002","title":"5 - \u4ece   Blender   \u5bfc\u51fa \u5230   FBX  "},{"location":"tuto_D_generate_colliders/#6-8-","text":"\u7b2c   6   \u6b65 .   ( \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d )   \u2014   \u5c06 \u65b0   FBX   \u4f5c\u4e3a \u865a\u5e7b \u8d44\u6e90 \u6587\u4ef6 \uff08 \u9759\u6001 \u7f51\u683c \u7269\u4f53 \uff09 \u5bfc\u5165   Carla \u3002   \u7b2c   7   \u6b65 .   ( \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d )   \u2014   \u5c06 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e \u4f53 \u5bfc\u5165 \u5bfc\u5165\u5230 \u7279\u5b9a \u8f66\u8f86 \u7684 \u7269\u7406 \u8d44\u6e90 \u4e2d \uff0c \u4ee5\u4fbf \u5c06 \u5176 \u7528\u4e8e \u8ba1\u7b97 \u3002   \u7b2c   8   \u6b65 .   ( \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d )   \u2014   \u521b\u5efa \u8fde\u63a5 \u4e0d\u540c \u5173\u8282 \u7684 \u7ea6\u675f \u5e76 \u5b9a\u4e49 \u6240\u6709 \u90e8\u4ef6 \u7684 \u7269\u7406 \u7279\u6027 \u3002   \u8fd9\u662f \u5173\u4e8e \u5982\u4f55 \u66f4\u6539   Carla   \u4e2d \u8f66\u8f86 \u7684 \u9ed8\u8ba4 \u78b0\u649e \u4f53 \u7684 \u603b\u7ed3 \u3002   \u6253\u5f00   Carla   \u5e76 \u95f2\u901b \u4e00\u4f1a \u4f1a\u513f \u4e00\u4f1a\u513f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"6   \u5230   8 - \u5bfc\u5165 \u78b0\u649e \u4f53 \u5e76 \u5b9a\u4e49 \u7269\u7406  "},{"location":"tuto_D_linux_debug/","text":"Linux   \u4e0a \u7684 \u8c03\u8bd5   Python   \u7a0b\u5e8f \u8c03\u8bd5 \u7a0b\u5e8f\u8c03\u8bd5   VScode   \u6309   Ctrl + Shift + P   \uff0c \u8f93\u5165   Python : Select   Interpreter   \u5e76 \u9009\u62e9 \uff1b   \u9009\u62e9 \u6216 \u521b\u5efa \u6240 \u9700 \u7684 Python \u89e3\u91ca \u91ca\u5668 \u89e3\u91ca\u5668 \uff1b   \u5355\u51fb \u884c\u53f7 \u5de6\u4fa7 \u8bbe\u7f6e \u65ad\u70b9 \uff1b   \u70b9\u51fb \u53f3\u4e0a \u4e0a\u89d2 \u53f3\u4e0a\u89d2 \u4e09\u89d2 \u7bad\u5934 \uff0c \u9009\u62e9   Python   Debugger :   Debug   Python   File   \uff1b   shell   wget   - O   - O   :   ( output )   \u4ee5 \u6307\u5b9a \u7684 \u6587\u4ef6 \u6587\u4ef6\u540d \u4fdd\u5b58   cut   - d   \"   \"   - f   1   - d :   \u6307\u5b9a \u5b57\u6bb5 \u7684 \u5206\u9694 \u5206\u9694\u7b26 \uff0c \u9ed8\u8ba4 \u7684 \u5b57 \u6bb5 \u5206\u9694 \u5206\u9694\u7b26 \u4e3a \u201c TAB \u201d \uff1b   - f :   \u663e\u793a \u6307\u5b9a \u5b57\u6bb5 \u7684 \u5185\u5bb9 \uff1b   \u67e5\u770b \u5df2\u6709 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \uff1a   shell   script   conda   env   list   Git   \u975e \u5546\u7528 \u73af\u5883 \u4e0b \u7684 Git   \u56fe\u5f62 \u754c\u9762 \u56fe\u5f62\u754c\u9762 \u5de5\u5177   SmartGit   \u3002","title":"tuto   D   linux   debug"},{"location":"tuto_D_linux_debug/#linux","text":"","title":"Linux   \u4e0a \u7684 \u8c03\u8bd5"},{"location":"tuto_D_linux_debug/#python","text":"","title":"Python   \u7a0b\u5e8f\u8c03\u8bd5"},{"location":"tuto_D_linux_debug/#vscode","text":"\u6309   Ctrl + Shift + P   \uff0c \u8f93\u5165   Python : Select   Interpreter   \u5e76 \u9009\u62e9 \uff1b   \u9009\u62e9 \u6216 \u521b\u5efa \u6240 \u9700 \u7684 Python \u89e3\u91ca \u91ca\u5668 \u89e3\u91ca\u5668 \uff1b   \u5355\u51fb \u884c\u53f7 \u5de6\u4fa7 \u8bbe\u7f6e \u65ad\u70b9 \uff1b   \u70b9\u51fb \u53f3\u4e0a \u4e0a\u89d2 \u53f3\u4e0a\u89d2 \u4e09\u89d2 \u7bad\u5934 \uff0c \u9009\u62e9   Python   Debugger :   Debug   Python   File   \uff1b","title":"VScode"},{"location":"tuto_D_linux_debug/#shell","text":"wget   - O   - O   :   ( output )   \u4ee5 \u6307\u5b9a \u7684 \u6587\u4ef6 \u6587\u4ef6\u540d \u4fdd\u5b58   cut   - d   \"   \"   - f   1   - d :   \u6307\u5b9a \u5b57\u6bb5 \u7684 \u5206\u9694 \u5206\u9694\u7b26 \uff0c \u9ed8\u8ba4 \u7684 \u5b57 \u6bb5 \u5206\u9694 \u5206\u9694\u7b26 \u4e3a \u201c TAB \u201d \uff1b   - f :   \u663e\u793a \u6307\u5b9a \u5b57\u6bb5 \u7684 \u5185\u5bb9 \uff1b   \u67e5\u770b \u5df2\u6709 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \uff1a   shell   script   conda   env   list","title":"shell"},{"location":"tuto_D_linux_debug/#git","text":"\u975e \u5546\u7528 \u73af\u5883 \u4e0b \u7684 Git   \u56fe\u5f62 \u754c\u9762 \u56fe\u5f62\u754c\u9762 \u5de5\u5177   SmartGit   \u3002","title":"Git"},{"location":"tuto_D_make_release/","text":"\u5982\u4f55 \u53d1\u5e03   \u672c \u6587\u6863 \u9002\u7528 \u4e8e \u60f3\u8981 \u53d1\u5e03 \u65b0 \u7248\u672c \u7684 \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u3002   \u786e\u4fdd \u5185\u5bb9 \u662f \u6700\u65b0 \u7684 \u3002   \u53c2\u9605 \u8bf7\u53c2\u9605   \u5347\u7ea7 \u5185\u5bb9   \u3002   \u5fc5\u8981 \u65f6 \u589e\u52a0   Carla   \u7248\u672c \u3002   \u589e\u52a0 \u4ee5\u4e0b \u6587\u4ef6 \u4e2d \u7684 \u7248\u672c \uff1a   DefaultGame . ini   ,   Carla . uplugin   ,   setup . py   ,   ContentVersions . txt   \u3002 Grep   \u67e5\u770b \u5f53\u524d \u7248\u672c \uff0c \u4ee5 \u786e\u4fdd \u786e\u4fdd\u60a8 \u4e0d\u4f1a \u9519\u8fc7 \u4efb\u4f55 \u53c2\u8003 \u3002   \u6e05\u9664   CHANGELOG . md \u3002   \u786e\u4fdd \u53d8\u66f4 \u65e5\u5fd7 \u662f \u6700\u65b0 \u7684 \uff0c \u5fc5\u8981 \u65f6 \u91cd\u5199 \u5e76 \u91cd\u65b0 \u7ec4\u7ec7 \uff1b \u8003\u8651 \u54ea\u4e9b \u9879\u76ee \u54ea\u4e9b\u9879\u76ee \u5bf9 \u7528\u6237 \u6765\u8bf4 \u66f4 \u91cd\u8981 \u3002   \u63d0\u4ea4 \u66f4\u6539 \u5e76 \u6dfb\u52a0 \u65b0 \u6807\u7b7e \u3002   \u63d0\u4ea4 \u6240\u6709 \u66f4\u6539 \u540e \uff0c \u6dfb\u52a0 \u4e00\u4e2a \u65b0 \u6807\u7b7e   git   tag   - a   X . X . X   \uff08 \u7528 \u6700\u65b0 \u7248\u672c \u66ff\u6362   X . X . X   \uff09 \u3002   \u6dfb\u52a0 \u6b64 \u7248\u672c \u7684 \u53d8\u66f4 \u65e5\u5fd7 \u4f5c\u4e3a \u6807\u7b7e \u6d88\u606f \u3002   \u6807\u7b7e \u5185\u5bb9 \u4ed3\u5e93 \u3002   \u5728 \u786e\u5207 \u7684 \u63d0\u4ea4 \u5904 \u5c06 \u7c7b\u4f3c \u7684 \u6807\u7b7e \u6dfb\u52a0 \u5230 \u5185\u5bb9 \u5b58\u50a8 \u5e93 \uff0c \u5982   ContentVersions . txt   \u4e2d \u3002   \u63a8\u9001 \u66f4\u6539 \u3002   \u5c06 \u6240\u6709 \u66f4\u6539 \u63a8\u9001 \u5230 \u4e24\u4e2a \u5b58\u50a8 \u5e93 \uff0c \u4ee5 \u63a8\u9001 \u60a8 \u53ef\u80fd \u9700\u8981 \u4f7f\u7528   git   push   -- tags   \u7684 \u6807\u7b7e \u3002 \u5982 \u6709 \u5fc5\u8981 \uff0c \u521b\u5efa \u62c9\u53d6 \u8bf7\u6c42 \u3002   \u7f16\u8f91   GitHub   \u7248\u672c \u3002   \u8f6c \u5230   GitHub   \u53d1\u5e03   \u5e76 \u5728 \u65b0\u521b \u521b\u5efa \u65b0\u521b\u5efa \u7684 \u6807\u7b7e \u4e4b\u4e0a \u521b\u5efa \u4e00\u4e2a \u65b0 \u7248\u672c \u3002 \u7b49\u5230   Jenkins   \u5b8c\u6210 \u53d1\u5e03 \u6700\u65b0 \u7248\u672c \u7684 \u6784\u5efa \uff0c \u5e76 \u5c06 \u4e0b\u8f7d \u94fe\u63a5 \u6dfb\u52a0 \u5230 \u65b0\u521b \u521b\u5efa \u65b0\u521b\u5efa \u7684 \u7248\u672c \u3002   \u53d1\u5e03 \u53ef \u6267\u884c \u6e38\u620f   \u5b89\u88c5   pyinstaller   \uff1a   pip   install   pyinstaller   \u6216 \u5b89\u88c5 \u56fe\u5f62 \u7a97\u53e3 \u6253\u5305 \u5de5\u5177 \uff1a   pip   install   auto - py - to - exe   \u7136\u540e \u8fd0\u884c   auto - py - to - exe   \u3002   \u8bbe\u8ba1   \u53c2\u8003   BeamNG   \u95ee\u9898   \u70b9\u51fb \u6253\u5305 \u540e \u7684 \u6587\u4ef6 \u51fa\u73b0 \u9519\u8bef \uff1a   TypeError :   expected   str ,   bytes   or   os . PathLike   object ,   not   _ io . BytesIO   \u89e3\u51b3 \uff1a   pygame . font . Font ( pygame . font . get _ default _ font ( ) ,   20 )   \u83b7\u5f97 \u7684 \u5b57\u4f53 \u6587\u4ef6 \u4e3a   freesansbold . ttf   \uff0c \u6700\u540e \u5c06 \u5b57\u4f53 \u6587\u4ef6 \u62f7\u8d1d \u62f7\u8d1d\u5230 \u548c exe \u6587\u4ef6 \u76f8\u540c \u7684 \u8def\u5f84 \uff0c \u7136\u540e \u6267\u884c \u5373\u53ef \u3002","title":"\u5982\u4f55 \u53d1\u5e03"},{"location":"tuto_D_make_release/#_1","text":"\u672c \u6587\u6863 \u9002\u7528 \u4e8e \u60f3\u8981 \u53d1\u5e03 \u65b0 \u7248\u672c \u7684 \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u3002   \u786e\u4fdd \u5185\u5bb9 \u662f \u6700\u65b0 \u7684 \u3002   \u53c2\u9605 \u8bf7\u53c2\u9605   \u5347\u7ea7 \u5185\u5bb9   \u3002   \u5fc5\u8981 \u65f6 \u589e\u52a0   Carla   \u7248\u672c \u3002   \u589e\u52a0 \u4ee5\u4e0b \u6587\u4ef6 \u4e2d \u7684 \u7248\u672c \uff1a   DefaultGame . ini   ,   Carla . uplugin   ,   setup . py   ,   ContentVersions . txt   \u3002 Grep   \u67e5\u770b \u5f53\u524d \u7248\u672c \uff0c \u4ee5 \u786e\u4fdd \u786e\u4fdd\u60a8 \u4e0d\u4f1a \u9519\u8fc7 \u4efb\u4f55 \u53c2\u8003 \u3002   \u6e05\u9664   CHANGELOG . md \u3002   \u786e\u4fdd \u53d8\u66f4 \u65e5\u5fd7 \u662f \u6700\u65b0 \u7684 \uff0c \u5fc5\u8981 \u65f6 \u91cd\u5199 \u5e76 \u91cd\u65b0 \u7ec4\u7ec7 \uff1b \u8003\u8651 \u54ea\u4e9b \u9879\u76ee \u54ea\u4e9b\u9879\u76ee \u5bf9 \u7528\u6237 \u6765\u8bf4 \u66f4 \u91cd\u8981 \u3002   \u63d0\u4ea4 \u66f4\u6539 \u5e76 \u6dfb\u52a0 \u65b0 \u6807\u7b7e \u3002   \u63d0\u4ea4 \u6240\u6709 \u66f4\u6539 \u540e \uff0c \u6dfb\u52a0 \u4e00\u4e2a \u65b0 \u6807\u7b7e   git   tag   - a   X . X . X   \uff08 \u7528 \u6700\u65b0 \u7248\u672c \u66ff\u6362   X . X . X   \uff09 \u3002   \u6dfb\u52a0 \u6b64 \u7248\u672c \u7684 \u53d8\u66f4 \u65e5\u5fd7 \u4f5c\u4e3a \u6807\u7b7e \u6d88\u606f \u3002   \u6807\u7b7e \u5185\u5bb9 \u4ed3\u5e93 \u3002   \u5728 \u786e\u5207 \u7684 \u63d0\u4ea4 \u5904 \u5c06 \u7c7b\u4f3c \u7684 \u6807\u7b7e \u6dfb\u52a0 \u5230 \u5185\u5bb9 \u5b58\u50a8 \u5e93 \uff0c \u5982   ContentVersions . txt   \u4e2d \u3002   \u63a8\u9001 \u66f4\u6539 \u3002   \u5c06 \u6240\u6709 \u66f4\u6539 \u63a8\u9001 \u5230 \u4e24\u4e2a \u5b58\u50a8 \u5e93 \uff0c \u4ee5 \u63a8\u9001 \u60a8 \u53ef\u80fd \u9700\u8981 \u4f7f\u7528   git   push   -- tags   \u7684 \u6807\u7b7e \u3002 \u5982 \u6709 \u5fc5\u8981 \uff0c \u521b\u5efa \u62c9\u53d6 \u8bf7\u6c42 \u3002   \u7f16\u8f91   GitHub   \u7248\u672c \u3002   \u8f6c \u5230   GitHub   \u53d1\u5e03   \u5e76 \u5728 \u65b0\u521b \u521b\u5efa \u65b0\u521b\u5efa \u7684 \u6807\u7b7e \u4e4b\u4e0a \u521b\u5efa \u4e00\u4e2a \u65b0 \u7248\u672c \u3002 \u7b49\u5230   Jenkins   \u5b8c\u6210 \u53d1\u5e03 \u6700\u65b0 \u7248\u672c \u7684 \u6784\u5efa \uff0c \u5e76 \u5c06 \u4e0b\u8f7d \u94fe\u63a5 \u6dfb\u52a0 \u5230 \u65b0\u521b \u521b\u5efa \u65b0\u521b\u5efa \u7684 \u7248\u672c \u3002","title":"\u5982\u4f55 \u53d1\u5e03"},{"location":"tuto_D_make_release/#_2","text":"\u5b89\u88c5   pyinstaller   \uff1a   pip   install   pyinstaller   \u6216 \u5b89\u88c5 \u56fe\u5f62 \u7a97\u53e3 \u6253\u5305 \u5de5\u5177 \uff1a   pip   install   auto - py - to - exe   \u7136\u540e \u8fd0\u884c   auto - py - to - exe   \u3002","title":"\u53d1\u5e03 \u53ef \u6267\u884c \u6e38\u620f"},{"location":"tuto_D_make_release/#_3","text":"\u53c2\u8003   BeamNG","title":"\u8bbe\u8ba1"},{"location":"tuto_D_make_release/#_4","text":"\u70b9\u51fb \u6253\u5305 \u540e \u7684 \u6587\u4ef6 \u51fa\u73b0 \u9519\u8bef \uff1a   TypeError :   expected   str ,   bytes   or   os . PathLike   object ,   not   _ io . BytesIO   \u89e3\u51b3 \uff1a   pygame . font . Font ( pygame . font . get _ default _ font ( ) ,   20 )   \u83b7\u5f97 \u7684 \u5b57\u4f53 \u6587\u4ef6 \u4e3a   freesansbold . ttf   \uff0c \u6700\u540e \u5c06 \u5b57\u4f53 \u6587\u4ef6 \u62f7\u8d1d \u62f7\u8d1d\u5230 \u548c exe \u6587\u4ef6 \u76f8\u540c \u7684 \u8def\u5f84 \uff0c \u7136\u540e \u6267\u884c \u5373\u53ef \u3002","title":"\u95ee\u9898"},{"location":"tuto_D_python_api/","text":"\u89e3\u8bfb   setup . py   \u5916\u90e8 \u94fe\u63a5 \u94fe\u63a5\u5e93   \u542b\u4e49   shlwapi . lib   \u5305\u542b \u4e86 \u5927\u91cf \u7684 Windows \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5904\u7406 \u65b9\u6cd5   Advapi32 . lib   \u5305\u542b \u7684 \u51fd\u6570 \u4e0e \u5bf9\u8c61 \u7684 \u5b89\u5168 \u5b89\u5168\u6027 \uff0c \u6ce8\u518c \u6ce8\u518c\u8868 \u7684 \u64cd\u63a7 \u4ee5\u53ca \u4e8b\u4ef6 \u65e5\u5fd7 \u6709\u5173   ole32 . lib   \u4e00\u822c \u662f \u9700\u8981 \u751f\u6210 \u4e00\u4e2a \u552f\u4e00 \u7684 uuid \u65f6 \u7528\u5230   shell32 . lib   \u5305\u542b \u4e86 \u4e00\u4e9b \u4e0e Shel \u76f8\u5173 \u7684 \u51fd\u6570 \u548c \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u7684 \u5b9a\u4e49 \u3002 \u8fd9\u4e9b \u51fd\u6570 \u548c \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u53ef\u4ee5 \u7528\u4e8e \u521b\u5efa \u548c \u7ba1\u7406 windows \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668\u4e2d \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3001 \u6587\u4ef6 \u3001 \u5feb\u6377 \u65b9\u5f0f \u5feb\u6377\u65b9\u5f0f \u7b49 \u5bf9\u8c61 \uff0c \u4ee5\u53ca \u5b9e\u73b0 \u4e00\u4e9b \u4e0e Shel \u76f8\u5173 \u7684 \u529f\u80fd \uff0c \u5982 \u62d6\u653e \u3001 \u526a\u8d34 \u8d34\u677f \u526a\u8d34\u677f \u64cd\u4f5c \u3001 \u6587\u4ef6 \u5173\u8054 \u7b49 \u3002   ole32 . lib   \u4e00\u822c \u662f \u9700\u8981 \u751f\u6210 \u4e00\u4e2a \u552f\u4e00 \u7684 uuid \u65f6 \u7528\u5230   libboost _ python37 - vc142 - mt - x64 - 1 _ 80 . lib   python \u8c03\u7528 c++ \u7684 \u63a5\u53e3   libboost _ filesystem - vc142 - mt - x64 - 1 _ 80 . lib   boost \u7684 \u6587\u4ef6 \u7cfb\u7edf \u6587\u4ef6\u7cfb\u7edf \u5e93   rpc . lib   \u8fdc\u7a0b \u8fc7\u7a0b \u8c03\u7528 \u5e93 \uff0c \u63d0\u4f9b \u4e86 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u5b9e\u73b0 \u3002   carla _ client . lib   LibCarla \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5b9e\u73b0   libpng . lib   \u56fe\u7247 \u5904\u7406 \u5e93   zlib . lib   \u89e3\u538b \u538b\u7f29 \u89e3\u538b\u7f29 \u5e93   Recast . lib   \u8981 \u529f\u80fd \u662f \u5c06 \u573a\u666f \u7f51\u683c \u6a21\u578b \u751f\u6210 \u7528\u4e8e \u5bfb\u8def \u7684 \u7f51\u683c \u6a21\u578b \uff08 Navigation   Mesh \uff0c \u4fd7\u79f0   \u884c\u8d70 \u9762   \uff0c \u6807\u8bb0 \u54ea\u4e9b \u5730\u65b9 \u54ea\u4e9b\u5730\u65b9 \u53ef \u884c\u8d70 \u7684 \u591a\u8fb9 \u591a\u8fb9\u5f62 \u7f51\u683c \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \uff09 \u3002   Detour . lib   \u4e3b\u8981 \u529f\u80fd \u662f \u5229\u7528 \u4e0a \u4e00\u6b65 \u6240 \u751f\u6210 \u7684 Navigation   Mesh \u8fdb\u884c   \u5bfb\u8def   \u3002   DetourCrowd . lib   \u63d0\u4f9b \u4e86   \u7fa4\u4f53   \u5bfb\u8def \u884c\u4e3a \u7684 \u529f\u80fd \u3002   xerces - c _ 3 . lib   XML \u6587\u6863 \u89e3\u6790 \u5f00\u6e90 \u9879\u76ee \u3002   sqlite3 . lib   \u5d4c\u5165 \u5d4c\u5165\u5f0f \u6570\u636e \u636e\u5e93 \u6570\u636e\u5e93 \u3002   proj . lib   \u901a\u7528 \u5750\u6807 \u8f6c\u6362 \u5e93 \u3002   osm2odr . lib   OpenStreetMap \u8f6c OpenDrive \u5e93 \u3002","title":"tuto   D   python   api"},{"location":"tuto_D_python_api/#setuppy","text":"\u5916\u90e8 \u94fe\u63a5 \u94fe\u63a5\u5e93   \u542b\u4e49   shlwapi . lib   \u5305\u542b \u4e86 \u5927\u91cf \u7684 Windows \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5904\u7406 \u65b9\u6cd5   Advapi32 . lib   \u5305\u542b \u7684 \u51fd\u6570 \u4e0e \u5bf9\u8c61 \u7684 \u5b89\u5168 \u5b89\u5168\u6027 \uff0c \u6ce8\u518c \u6ce8\u518c\u8868 \u7684 \u64cd\u63a7 \u4ee5\u53ca \u4e8b\u4ef6 \u65e5\u5fd7 \u6709\u5173   ole32 . lib   \u4e00\u822c \u662f \u9700\u8981 \u751f\u6210 \u4e00\u4e2a \u552f\u4e00 \u7684 uuid \u65f6 \u7528\u5230   shell32 . lib   \u5305\u542b \u4e86 \u4e00\u4e9b \u4e0e Shel \u76f8\u5173 \u7684 \u51fd\u6570 \u548c \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u7684 \u5b9a\u4e49 \u3002 \u8fd9\u4e9b \u51fd\u6570 \u548c \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u53ef\u4ee5 \u7528\u4e8e \u521b\u5efa \u548c \u7ba1\u7406 windows \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668\u4e2d \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3001 \u6587\u4ef6 \u3001 \u5feb\u6377 \u65b9\u5f0f \u5feb\u6377\u65b9\u5f0f \u7b49 \u5bf9\u8c61 \uff0c \u4ee5\u53ca \u5b9e\u73b0 \u4e00\u4e9b \u4e0e Shel \u76f8\u5173 \u7684 \u529f\u80fd \uff0c \u5982 \u62d6\u653e \u3001 \u526a\u8d34 \u8d34\u677f \u526a\u8d34\u677f \u64cd\u4f5c \u3001 \u6587\u4ef6 \u5173\u8054 \u7b49 \u3002   ole32 . lib   \u4e00\u822c \u662f \u9700\u8981 \u751f\u6210 \u4e00\u4e2a \u552f\u4e00 \u7684 uuid \u65f6 \u7528\u5230   libboost _ python37 - vc142 - mt - x64 - 1 _ 80 . lib   python \u8c03\u7528 c++ \u7684 \u63a5\u53e3   libboost _ filesystem - vc142 - mt - x64 - 1 _ 80 . lib   boost \u7684 \u6587\u4ef6 \u7cfb\u7edf \u6587\u4ef6\u7cfb\u7edf \u5e93   rpc . lib   \u8fdc\u7a0b \u8fc7\u7a0b \u8c03\u7528 \u5e93 \uff0c \u63d0\u4f9b \u4e86 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u5b9e\u73b0 \u3002   carla _ client . lib   LibCarla \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5b9e\u73b0   libpng . lib   \u56fe\u7247 \u5904\u7406 \u5e93   zlib . lib   \u89e3\u538b \u538b\u7f29 \u89e3\u538b\u7f29 \u5e93   Recast . lib   \u8981 \u529f\u80fd \u662f \u5c06 \u573a\u666f \u7f51\u683c \u6a21\u578b \u751f\u6210 \u7528\u4e8e \u5bfb\u8def \u7684 \u7f51\u683c \u6a21\u578b \uff08 Navigation   Mesh \uff0c \u4fd7\u79f0   \u884c\u8d70 \u9762   \uff0c \u6807\u8bb0 \u54ea\u4e9b \u5730\u65b9 \u54ea\u4e9b\u5730\u65b9 \u53ef \u884c\u8d70 \u7684 \u591a\u8fb9 \u591a\u8fb9\u5f62 \u7f51\u683c \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \uff09 \u3002   Detour . lib   \u4e3b\u8981 \u529f\u80fd \u662f \u5229\u7528 \u4e0a \u4e00\u6b65 \u6240 \u751f\u6210 \u7684 Navigation   Mesh \u8fdb\u884c   \u5bfb\u8def   \u3002   DetourCrowd . lib   \u63d0\u4f9b \u4e86   \u7fa4\u4f53   \u5bfb\u8def \u884c\u4e3a \u7684 \u529f\u80fd \u3002   xerces - c _ 3 . lib   XML \u6587\u6863 \u89e3\u6790 \u5f00\u6e90 \u9879\u76ee \u3002   sqlite3 . lib   \u5d4c\u5165 \u5d4c\u5165\u5f0f \u6570\u636e \u636e\u5e93 \u6570\u636e\u5e93 \u3002   proj . lib   \u901a\u7528 \u5750\u6807 \u8f6c\u6362 \u5e93 \u3002   osm2odr . lib   OpenStreetMap \u8f6c OpenDrive \u5e93 \u3002","title":"\u89e3\u8bfb   setup . py"},{"location":"tuto_D_windows_debug/","text":"\u5728   Windows   \u4e0a \u8fdb\u884c   Carla   \u7684 \u8c03\u8bd5   \u865a\u5e7b \u5f15\u64ce Carla \u63d2\u4ef6 \u7684 \u8c03\u8bd5   \u8c03\u8bd5 LibCarla   Python   \u6269\u5c55 \u6a21\u5757   \u8c03\u8bd5 PythonAPI   \u6784\u5efa \u8c03\u8bd5 \u7248\u672c   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u8c03\u8bd5   \u5176\u4ed6   \u68c0\u67e5 \u6240 \u4f9d\u8d56 dll \u5e93 \u7684 \u7b26\u53f7 \u662f\u5426 \u52a0\u8f7d   VS2019   \u6253\u5f00   CarlaUE4   \u7684   Cmake   \u5de5\u7a0b   \u5bfc\u5165 \u5d29\u6e83 \u95ee\u9898   VS   \u8c03\u8bd5   UE   \u9879\u76ee   \u95ee\u9898   \u6280\u5de7   \u5b66\u4e60   \u7a0b\u5e8f \u8c03\u7528 \u6d41\u7a0b \uff1a Python \u3001 libcarla . cp37 - win _ amd64 . pyd \u3001 LibCarla \u3001 CarlaUE4 \u3002   \u865a\u5e7b \u5f15\u64ce Carla \u63d2\u4ef6 \u7684 \u8c03\u8bd5   \u8fdb\u5165 \u76ee\u5f55   carla / Unreal / CarlaUE4 /   \uff0c \u53f3\u952e \u6587\u4ef6   CarlaUE4 . uproject   \uff0c \u9009\u62e9 \u8fd0\u884c   Generate   Visual   Studio   project   files   \uff0c \u5728 \u5f53\u524d \u76ee\u5f55 \u5f53\u524d\u76ee\u5f55 \u4e2d\u5c06 \u4f1a \u751f\u6210 VS \u7684 \u5de5\u7a0b \u6587\u4ef6 \uff0c \u53cc\u51fb \u6253\u5f00   CarlaUE4 . sln   \u3002   \u7b14\u8bb0   \u5982\u679c \u53f3\u952e \u83dc\u5355 \u4e2d\u672a \u51fa\u73b0   Generate   Visual   Studio   project   files   \u9009\u9879 \uff0c \u5219 \u5230 \u865a\u5e7b \u5f15\u64ce \u7684 \u76ee\u5f55 \u4e2d\u8fd0 \u53cc\u51fb \u6267\u884c   engine \\ Engine \\ Binaries \\ Win64 \\ UnrealVersionSelector . exe   \uff0c \u5c06 \u865a\u5e7b \u5f15\u64ce \u8f6f\u4ef6 \u6ce8\u518c \u5230 \u7cfb\u7edf \u4e2d \u3002 \u5982\u679c \u62a5\u9519 \uff1a   \uff08 \u8c03\u8bd5 \u6570\u5b57 \u5b6a\u751f \u5de5\u5177 \uff09 \u5728   \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848   \u4e2d \u5c55\u5f00   Games - > CarlaUE4   \uff0c \u5728 \u60f3\u8981 \u67e5\u770b \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u884c \u7684 \u6700 \u5de6\u4fa7 \u5355\u51fb \u589e\u52a0 \u65ad\u70b9 \uff08 \u6bd4\u5982 \uff1a   CarlaUE4 - > Plugins - > CarlaTools - > Source - > CarlaTools - > Private   \u7684   OpenDriveToMap . cpp   \u7684   GenerateTileStandalone ( )   \uff09 \uff0c \u5728 \u83dc\u5355 \u8fd0\u884c   \u8c03\u8bd5 ( D ) - > \u5f00\u59cb \u8c03\u8bd5 ( S )   \uff0c \u7a0b\u5e8f \u5c06 \u5728 \u65ad\u70b9 \u51fa \u6682\u505c \u3002 \u901a\u8fc7   \u8c03\u5f0f ( D ) - > \u7a97\u53e3 ( W ) - > \u76d1\u89c6 ( W ) - > \u76d1\u89c6   1   \u6253\u5f00 \u53d8\u91cf \u76d1\u89c6 \u7a97\u53e3 \uff0c \u67e5\u770b \u53d8\u91cf \u91cf\u503c \u53d8\u91cf\u503c \u662f\u5426 \u5f02\u5e38 \u3002   \u8c03\u8bd5   Carla \u670d\u52a1 \u670d\u52a1\u7aef   \uff1a \u65ad\u70b9 \u6253 \u5728   Carla / Game / CarlaEngine . cpp   \u7684 \u7b2c 87 \u884c \uff0c \u7136\u540e \u5f00\u59cb \u8c03\u5f0f \uff0c \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u70b9\u51fb   \u8fd0\u884c   \u5219 \u4f1a \u5728 \u65ad\u70b9 \u5904 \u505c\u6b62 \u3002   \u914d\u7f6e \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \u5305\u62ec \uff1a   Debug   :   \u6e38\u620f \u548c \u5f15\u64ce \u5168\u90fd \u53ef\u4ee5 \u8c03\u8bd5 \uff0c \u65e0 \u4f18\u5316 \uff0c \u901f\u5ea6 \u901f\u5ea6\u6162 \uff0c \u6ca1\u6709 Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \uff0c \u8d44\u6e90 \u9700\u8981 Cook \u3002   Debug   Editor   \uff1a \u6e38\u620f \u548c \u5f15\u64ce \u5168\u90e8 \u53ef\u4ee5 \u8c03\u8bd5 \uff0c \u65e0 \u4f18\u5316 \uff0c \u53ef\u4ee5 \u4f7f\u7528 Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \uff0c \u8d44\u6e90 \u4e0d \u9700\u8981 Cook \uff0c \u53ef \u76f4\u63a5 \u542f\u52a8 \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \uff08 \u7528   generate _ traffic . py   \u8c03\u8bd5 \u4f1a \u5d29\u6e83 \uff0c   manual _ control . py   \u53ef\u4ee5 \uff09   DebugGame   \uff1a \u6e38\u620f \u4ee3\u7801 \u53ef \u8c03\u8bd5 \u65e0 \u4f18\u5316 \uff0c Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \u4e0d\u53ef \u4f7f\u7528 \uff0c \u5f15\u64ce \u4e0d\u53ef \u8c03\u8bd5 \uff0c \u8d44\u6e90 \u9700\u8981 Cook \u3002   DebugGame   Editor   \uff1a \u6e38\u620f \u4ee3\u7801 \u53ef \u8c03\u8bd5 \u65e0 \u4f18\u5316 \uff0c \u53ef\u4ee5 \u4f7f\u7528 Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \uff0c \u5f15\u64ce \u4e0d\u53ef \u8c03\u8bd5 \uff0c \u8d44\u6e90 \u4e0d \u9700\u8981 Cook \u3002   Development   \uff1a \u6e38\u620f \u3001 \u7f16\u8f91 \u7f16\u8f91\u5668 \u3001 \u5f15\u64ce \u90fd \u4e0d\u53ef \u8c03\u8bd5 \uff0c Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \u4e0d\u53ef \u4f7f\u7528 \uff0c \u8d44\u6e90 \u9700\u8981 Cook \u3002 \uff08 The   global   shader   cache   file   ' D : / work / workspace / engine / Engine / GlobalshaderCache - PCD3D _ M5 . bin '   is   missing . \uff09   Development   Editor   \uff1a \u6e38\u620f \u3001 \u7f16\u8f91 \u7f16\u8f91\u5668 \u3001 \u5f15\u64ce \u90fd \u4e0d\u53ef \u8c03\u8bd5 \uff0c Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \u53ef \u4f7f\u7528 \uff0c \u8d44\u6e90 \u4e0d \u9700\u8981 Cook \u3002 \uff08 \u9ed8\u8ba4 \uff09   Shipping   \uff1a \u53d1\u884c \u53d1\u884c\u7248 \uff0c \u6781\u81f4 \u4f18\u5316 \uff0c \u4f30\u8ba1 \u8c03\u8bd5 \u4fe1\u606f \u8c03\u8bd5\u4fe1\u606f \u90fd \u6ca1 \u4e86 \u3002   Test   \uff1a \u5305\u542b \u989d\u5916 \u7684 \u6d4b\u8bd5 \u4ee3\u7801 \u6d4b\u8bd5\u4ee3\u7801 \u3002   \u8c03\u8bd5 LibCarla   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5411 \u670d\u52a1 \u670d\u52a1\u7aef \u8c03\u7528 \u5b9e\u73b0 \u7684 \u529f\u80fd \u3002   *   \u811a\u672c   BuildLibCarla . bat   \u8c03\u7528   cmake   \u547d\u4ee4 \u8fdb\u884c \u6784\u5efa \uff1a   cmake   - G   % GENERATOR%   % PLATFORM% ^   - DCMAKE _ BUILD _ TYPE = Server ^   - DCMAKE _ CXX _ FLAGS _ RELEASE = \" / MD   / MP \" ^   - DCMAKE _ INSTALL _ PREFIX = \" % LIBCARLA _ SERVER _ INSTALL _ PATH : \\ = / % \" ^   \" % ROOT _ PATH% \"   \u5176\u4e2d \uff0c   - G   \u8868\u793a \u6307\u5b9a \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u7248\u672c \uff08   set   GENERATOR = \" Visual   Studio   16   2019 \"   \u3001   set   PLATFORM = - A   x64   \uff09 \uff1b   - DCMAKE _ BUILD _ TYPE   \u7684 \u53ef\u9009 \u9009\u9879 \u53ef\u9009\u9879 \u5305\u62ec \uff1a   Client   ,   Server   ,   Pytorch   ,   ros2   \uff1b   - D   CMAKE _ BUILD _ TYPE = \" Debug \"   \u53ef\u9009 \u53ef\u9009\u503c \u5305\u62ec \uff1a   Debug   ,   Release   ,   RelWithDebInfo   ,   MinSizeRel   \u3002   CMAKE _ CXX _ FLAGS _ RELEASE   \u8bbe\u7f6e \u7f16\u8bd1 \u7c7b\u578b   Release   \u65f6 \u7684 \u7f16\u8bd1 \u9009\u9879 \uff1b   \u8c03\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u5728   Build   \u76ee\u5f55 \u4e0b \u751f\u6210   Makefile   \u6587\u4ef6 \uff1a   cmake   -- build   .   -- config   Release   -- target   install   |   findstr   / V   \" Up - to - date : \"   \u4f7f\u7528 VS \u6253\u5f00   Build \\ libcarla - visualstudio \\ CARLA . sln   \u3002 \u4f7f\u7528 \u547d\u4ee4   make   client   \u6253\u5f00 \u7684 \u5c31\u662f   LibCarla \\ cmake \\ client \\ CMakeLists . txt   \u5bf9\u5e94 \u7684 \u9879\u76ee \u3002 \uff08 \u4f7f\u7528   make   server   \u6253\u5f00 \u7684 \u5219 \u662f   LibCarla \\ cmake \\ server \\ CMakeLists . txt   \u5bf9\u5e94 \u7684 \u9879\u76ee \uff09   \uff08   Build   \u76ee\u5f55 \u4e0b \u8fd8 \u5305\u62ec   osm2odr - visualstudio / SUMO . sln   \u7684 VS \u5de5\u7a0b \uff09 \u3002   \u53f3\u952e   carla _ client _ debug   \u5c06 \u5176   \u8bbe \u4e3a \u542f\u52a8 \u9879\u76ee   \u3002   \u9644\u7740 \u5230   Python   \u7a0b\u5e8f \u542f\u52a8 \u8c03\u8bd5 \u540e \uff0c \u51fa\u73b0   \u5f53\u524d \u4e0d\u4f1a \u547d \u4e2d\u65ad \u65ad\u70b9 \u4e2d\u65ad\u70b9   \u8fd8 \u6ca1\u6709 \u4e3a \u8be5 \u6587\u6863 \u52a0\u8f7d \u4efb\u4f55 \u7b26\u53f7   \u7684 \u8b66\u544a \u3002   \u89e3\u51b3   \u5728   BuildLibCarla . bat   \u4e2d \uff0c \u5c06   -- config   \u53c2\u6570 \u4ece   Release   \u4fee\u6539 \u4e3a   Debug   \u3002   \u6ce8\u610f   \u5728 vs2019 \u4e2d \u751f\u6210   carla _ client _ debug   \u7684 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u65f6 \u51fa\u73b0   fatal   error   C1189 :   # error   :   \" Incompatible   build   options \"   \u9519\u8bef \uff0c \u56e0\u4e3a   \u5728 \u4e0d \u6307\u5b9a \u8c03\u8bd5 \u8fd0\u884c \u65f6 \u7684 \u60c5\u51b5 \u4e0b \u4f7f\u7528 / RTC \u9009\u9879 \u5c06 \u5bfc\u81f4 \u94fe\u63a5 \u5668 \u9519\u8bef   \uff0c \u5219 \u9700\u8981 \u5c06 \u201c \u9879\u76ee \u5c5e\u6027   -- >   C++   -- >   \u57fa\u672c \u8fd0\u884c \u65f6 \u68c0\u67e5 \u201d   \u6539\u4e3a   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \uff0c \u7136\u540e \u91cd\u65b0 \u751f\u6210 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u3002 \u6216\u8005 \u53f3\u952e   carla _ client _ debug   \u9879\u76ee \u8fdb\u884c \u751f\u6210 \u3002   \u6ce8\u610f   \u53f3\u952e   carla _ client _ debug   \uff0c \u9009\u62e9   \u8c03\u8bd5   - >   \u542f\u52a8 \u65b0 \u5b9e\u4f8b   \u3002   \u4e14 \u9700\u8981 \u5728 \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u4e2d \u65b0\u5efa Python \u9879\u76ee \u7528\u4e8e \u6d4b\u8bd5 \u3002   \u53c2\u8003   vs \u8c03\u8bd5 C++   \u3002   \u8c03\u8bd5   carla _ client   \u65f6 \uff0c vs \u62a5\u9519 \uff1a   boost : : python : : error _ already _ set   \uff0c \u5c1d\u8bd5   \u6355\u83b7 \u5177\u4f53 \u5f02\u5e38   \u3002   Python   \u6269\u5c55 \u6a21\u5757   LibCarla \u7f16\u8bd1 \u540e \u751f\u6210   Python37 / Lib / site - packages / carla / libcarla . cp37 - win _ amd64 . pyd   \u7ed9 Python \u8fdb\u884c \u8c03\u7528 \u3002 \u4e3a\u4e86 \u63d0\u9ad8 \u8fd0\u884c \u901f\u5ea6 \uff0c \u5c06 \u5f53\u524d \u76ee\u5f55 \u5f53\u524d\u76ee\u5f55 \u4e2d \u7684   __ init __. py   \u548c   command . py   \u7f16\u8bd1 \u4e3a   __ pycache __   \u76ee\u5f55 \u4e2d \u7684   byte   code ( \u5b57\u8282 \u7801 )   \u3002   \u8c03\u8bd5 PythonAPI   boost _ python \u5e93 \u6240\u5728 \u7684 \u76ee\u5f55 \u4e3a \uff1a   carla \\ Build \\ boost - 1.80 . 0 - install \\ lib \\ libboost _ python37 - vc142 - mt - x64 - 1 _ 80 . lib   \uff0c   mt - x64   \u4e4b\u95f4 \u5e26\u6709   gd   \u7684 \u662f \u5bf9\u5e94 \u7684 \u8c03\u8bd5 \u7248\u672c \u3002 \u793a\u4f8b \u53c2\u8003   \u94fe\u63a5   \u3002   \u5217\u51fa \u6240\u6709 \u53ef\u7528 \u7684 \u547d\u4ee4 \uff1a   python   setup . py   -- help - commands   \u6784\u5efa \u547d\u4ee4 \uff1a   python   setup . py   build   \u6784\u5efa \u8c03\u8bd5 \u7248\u672c   \u53f3\u952e   CARLA   \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c   \u6dfb\u52a0   - >   \u65b0\u5efa \u9879\u76ee   - >   Python \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f   \uff1b   \u5c06   manual _ control . py   \u6587\u4ef6 \u5185\u5bb9 \u590d\u5236 \u590d\u5236\u5230 \u65b0\u5efa \u5de5\u7a0b \u7684   PythonApplication . py   \u6587\u4ef6 \u4e2d \uff1b   \u5728 . py \u6587\u4ef6 \u7684 \u5f00\u59cb \u5904 \u589e\u52a0   input ( )   \u4ee3\u7801 \uff1b   \u53f3\u952e . py \u6587\u4ef6 \uff0c \u70b9\u51fb   \u5f00\u59cb \u6267\u884c \uff08 \u8c03\u8bd5 \uff09   \uff0c \u4f1a\u5f39 \u51fa \u547d\u4ee4 \u547d\u4ee4\u884c \u754c\u9762 \uff1b   \u53f3\u952e   carla _ client _ debug   \u9879\u76ee - >   \u8c03\u8bd5   - >   \u542f\u52a8 \u65b0 \u5b9e\u4f8b   \uff1b   \u5728 \u7b2c 4 \u6b65\u5f39 \u51fa \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u754c\u9762 \u4e2d \u6572 \u56de\u8f66 \uff1b   \u53c2\u8003   \u94fe\u63a5   \uff0c \u6548\u679c \u672a\u77e5 \u3002   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u8c03\u8bd5   \u9519\u8bef   LNK2038   \u68c0\u6d4b \u5230 \u201c _ ITERATOR _ DEBUG _ LEVEL \u201d \u7684 \u4e0d \u5339\u914d \u9879 :   \u503c \u201c 0 \u201d \u4e0d \u5339\u914d \u503c \u201c 2 \u201d   \u9519\u8bef   LNK2038   \u68c0\u6d4b \u5230 \u201c RuntimeLibrary \u201d \u7684 \u4e0d \u5339\u914d \u9879 :   \u503c \u201c MD _ DynamicRelease \u201d \u4e0d \u5339\u914d \u503c \u201c MDd _ DynamicDebug \u201d   \u5f53\u524d \u5de5\u7a0b \u662f Debug \u7248\u672c \uff08 0 \uff09 \uff0c \u800c \u5f15\u7528 \u7684 \u5e93 \u6587\u4ef6 \u65f6 Release \u7248\u672c \uff08 2 \uff09 \u3002   \u9700\u8981 \u5c06 \u5176\u4ed6 \u7684 . lib \u6587\u4ef6 \u7f16\u8bd1 \u4e3a debug \u6a21\u5f0f \uff1a   1 . \u5207\u6362 \u5230 \u76ee\u5f55   Util \\ InstallersWin   \uff0c \u5c06   install _ boost . bat   \u5185 \u7684 b2 \u8fd0\u884c \u53c2\u6570 \u6539\u4e3a   variant = debug   \uff0c \uff08 \u6839\u636e   Setup . bat   \uff09 \u8fd0\u884c   install _ boost . bat   \uff1a   install _ boost . bat   -- build - dir   D : \\ work \\ buffer   -- toolset   msvc - 14.2   -- version   1.80 . 0   - j   4   \u4f1a \u81ea\u52a8 \u5c06 boost \u7684 \u5e93 \u548c \u6587\u4ef6 \u5934\u6587\u4ef6 \u5b89\u88c5 \u5230 \u76ee\u5f55   D : \\ work \\ buffer \\ boost - 1.80 . 0 - install   \u91cc\u9762 \u3002   \u5c06   install _ recast . bat   \u4e2d \u7684   Relase   \u6539\u4e3a   Debug   \u3002   \u5c06   - DCMAKE _ CXX _ FLAGS _ RELASE = \" / MD   / MP \"   \u6539\u4e3a \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b \u8c03\u8bd5 DLL   - DCMAKE _ CXX _ FLAGS _ DEBUG = \" / MDd   / MP \"   \uff0c \u8fd0\u884c   install _ recast . bat   \u3002   install _ recast . bat   -- build - dir   D : \\ work \\ buffer   -- generator   \" Visual   Studio   16   2019 \"   \u5c06   install _ rpclib . bat   \u4e2d \u7684   Relase   \u6539\u4e3a   Debug   \uff0c \u8fd0\u884c   install _ rpclib . bat   \u3002   \u5c06   - DCMAKE _ CXX _ FLAGS _ RELASE = \" / MD   / MP \"   \u6539\u4e3a \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b \u8c03\u8bd5 DLL   - DCMAKE _ CXX _ FLAGS _ DEBUG = \" / MDd   / MP \"   \u3002   install _ rpclib . bat   -- build - dir   D : \\ work \\ buffer   -- generator   \" Visual   Studio   16   2019 \"   2 . \u5c06 \u7b2c 1 \u6b65 \u751f\u6210 \u7684 \u5b89\u88c5 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55 \u914d\u7f6e \u5230   Examples \\ CppClient \\ CMakeLists . txt   \u4e2d \uff0c \u5bf9\u5e94 \u7684 \u6587\u4ef6 \u5934\u6587\u4ef6 \u548c \u5e93 \u6587\u4ef6 \u90fd \u6539\u4e3a Debug \u7248\u672c \uff1b   3 . \u5728   main . cpp   \u4e2d \u589e\u52a0 \u65ad\u70b9 \uff0c \u5e76 \u5f00\u59cb \u8c03\u8bd5 \uff1b   auto   world   =   client . LoadWorld ( \" town _ name \" ) ;   \u6539\u4e3a \uff1a   auto   world   =   client . LoadWorld ( \" Town10HD _ Opt \" ) ;   4 . \u7a0b\u5e8f \u5728 \u65ad\u70b9 \u505c\u6b62 \u540e \u6309 F10 \u8fd0\u884c \u4e0b \u4e00\u6b65 \uff0c \u6309 F11 \u8fdb\u5165 LibCarla \u4e2d \u7684 \u51fd\u6570 \u5b9e\u73b0 \u3002   \u5176\u4ed6   \u68c0\u67e5 \u6240 \u4f9d\u8d56 dll \u5e93 \u7684 \u7b26\u53f7 \u662f\u5426 \u52a0\u8f7d   \u4e0b \u65ad\u70b9 \uff0c F5 \u8c03\u8bd5 \u3002 \u7136\u540e \u201c \u8c03\u8bd5   -   \u7a97\u53e3   -   \u6a21\u5757 \u201d \u6253\u5f00 \u6a21\u5757 \u7a97\u53e3 \u3002   VS2019   \u6253\u5f00   CarlaUE4   \u7684   Cmake   \u5de5\u7a0b   windows \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u4e0b \u901a\u8fc7 vs2019 \u6253\u5f00 \u5e76 \u7f16\u8bd1 carla \uff1a   \u5f00 Carla \u7684 CMake \u9879\u76ee \uff08 \u53c2\u8003   CMake   \u5165\u95e8 \u6559\u7a0b \u5165\u95e8\u6559\u7a0b   \uff09 \uff1a   \u4ece   VS   \u7684 \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   File -- > Open -- > CMake   ,   \u5728 \u5bf9\u8bdd \u5bf9\u8bdd\u6846 \u4e2d \u627e\u5230   Carla   \u6240\u5728 \u7684 \u672c\u5730 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff08 \u5305\u542b CMakeLists \uff09 \uff0c \u9009\u62e9 CMakeLists . txt \u6587\u4ef6 \uff0c \u6253\u5f00 \uff0c Visual   studio   \u4f1a \u81ea\u52a8 \u52a0\u8f7d \u6b64 \u4ed3\u5e93 \uff0c \u89e3\u6790   CMakeLists . txt   \u6587\u4ef6 \uff0c \u5e76 \u63d0\u53d6 \u5176 \u914d\u7f6e \u548c \u53d8\u91cf \u4fe1\u606f \u3002 \u89e3\u6790 \u5b8c\u6210 \uff08 \u9700\u8981 \u4f1a\u513f \u7b49\u4f1a\u513f \u6216\u8005 \u91cd\u542f \uff09 \u4f1a \u4ece   \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668   \u4e2d \u770b\u5230   . cpp   \u6587\u4ef6 \u3002   \u4fee\u6539 \u914d\u7f6e \uff1a   \u70b9\u51fb   x64 - Debug   \u4e0b\u62c9 \u83dc\u5355 \u4e0b\u62c9\u83dc\u5355 \u4e2d \u7684   \u7ba1\u7406 \u914d\u7f6e   \uff0c \u5e76 \u5728 \u5f39\u51fa \u7684 \u754c\u9762 \u70b9\u51fb   \u7f16\u8f91 JSON   \uff08 \u8be5 \u8fc7\u7a0b \u5728 \u5de5\u7a0b \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e0b \u751f\u6210   CMakeSettings . json   \uff09 \uff0c \u5c06 \u6240 \u9700\u8981 \u6784\u5efa \u7684 \u7c7b\u578b \u6539\u4e3a \u60f3 \u7f16\u8bd1 \u7684 \u7c7b\u578b \uff0c \u6bd4\u5982   Client   \u3002   \u751f\u6210 \uff1a   \u70b9\u51fb \u83dc\u5355 \u83dc\u5355\u680f   \u751f\u6210   -   \u5168\u90e8 \u751f\u6210   \u6216   \u90e8\u5206 \u751f\u6210   \u5373\u53ef \u3002   \u5bfc\u5165 \u5d29\u6e83 \u95ee\u9898   \u4f8b\u5982 \uff0c \u5bfc\u5165 \u6d4b\u8bd5 \u94fe\u63a5 \uff1a   \u5c0f \u5730\u56fe \uff1a   https : / / overpass - api . de / api / map ? bbox = 112.9088 , 28.2221 , 112.9172 , 28.2290   \u5927 \u5730\u56fe \uff1a   https : / / overpass - api . de / api / map ? bbox = 112.8553 , 28.1931 , 112.9396 , 28.2504   \u91d1 \u91b4 \u9ad8\u901f \uff1a   https : / / overpass - api . de / api / map ? bbox = 113.5293 , 27.6893 , 113.5516 , 27.7074   CarlaUE4 - > Plugins - > CarlaTools - > Source - > CarlaTools - > Private   \u7684   OpenDriveToMap . cpp   463 \u884c   GenerateTileStandalone ( )   \uff0c \u7136\u540e \u8c03\u7528   ExecuteTileCommandlet ( )   :   UCommandlet \u662f   Unreal   Engine   \u4e2d \u7528\u4e8e \u5b9e\u73b0 \u547d\u4ee4 \u547d\u4ee4\u884c \u64cd\u4f5c \u7684 \u57fa\u7c7b \u3002 \u5b83 \u5141\u8bb8 \u5f00\u53d1 \u5f00\u53d1\u8005 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u547d\u4ee4 \uff0c \u5e76 \u5728 \u5f15\u64ce \u542f\u52a8 \u65f6 \u6267\u884c \u8fd9\u4e9b \u547d\u4ee4 \u3002 \u8fd9\u4e2a \u7c7b \u4e3b\u8981 \u7528\u4e8e \u6269\u5c55 \u5f15\u64ce \u529f\u80fd \uff0c \u63d0\u4f9b \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u5de5\u5177 \u3002   ExecuteTileCommandlet ( )   \u8c03\u7528 \u7684 \u662f   carla \\ Unreal \\ CarlaUE4 \\ Plugins \\ CarlaTools \\ Intermediate \\ Build \\ Win64 \\ UE4Editor \\ Inc \\ CarlaTools \\ OpenDriveToMap . gen . cpp   \uff08 \u53cd\u5c04 \u6587\u4ef6 gen \uff09 194 \u884c \u7684   static   FName   NAME _ UOpenDriveToMap _ ExecuteTileCommandlet   =   FName ( TEXT ( \" ExecuteTileCommandlet \" ) ) ;   void   UOpenDriveToMap : : ExecuteTileCommandlet ( )   {   ProcessEvent ( FindFunctionChecked ( NAME _ UOpenDriveToMap _ ExecuteTileCommandlet ) , NULL ) ;   }   \u627e\u5230 \u540d\u4e3a \u201c ExecuteTileCommandlet \u201d \u7684   UFunction   \u5bf9\u8c61 \uff1b   \u6267\u884c \u201c ProcessEvent \u201d \u51fd\u6570 \uff0c \u7136\u540e \u4ece \u5168\u5c40 \u51fd\u6570 \u6620\u5c04 \u8868 \u627e\u5230 \u5bf9\u5e94 \u7684 \u51fd\u6570 \u6307\u9488 \u51fd\u6570\u6307\u9488 \u6267\u884c \uff08 \u5229\u7528 \u51fd\u6570 \u540d \u8c03\u7528 UFUNCTION \u51fd\u6570 \uff09 \u3002   \u84dd\u56fe \u7684 \u5b57\u8282 \u7801   \uff1a \u5728   engine \\ Engine \\ Source \\ Runtime \\ CoreUObject \\ Public \\ UObject \\ Script . h   \u8fd9\u4e2a \u6587\u4ef6 \u4e2d\u6709 \u4e00\u4e2a   enum   EExprToken   \uff0c \u8fd9\u4e2a \u679a\u4e3e \u5c31\u662f \u84dd\u56fe \u7684 \u5b57\u8282 \u7801 \u5b9a\u4e49 \u3002 \u5f15\u64ce \u4e2d \u4f7f\u7528 \u4e00\u4e2a \u5168\u5c40 \u67e5\u627e \u8868 \uff0c \u628a \u4e0a\u8ff0 \u5b57\u8282 \u7801 \u6620\u5c04 \u5230 \u51fd\u6570 \u6307\u9488 \u51fd\u6570\u6307\u9488 \u3002 \u5728 \u8fd0\u884c \u65f6 \uff0c \u4ece \u4e00\u4e2a \u5b57\u8282 \u7801 \u6570\u7ec4 \u4e2d \u9010\u4e2a \u53d6\u51fa \u5b57\u8282 \u7801 \uff0c \u5e76 \u67e5\u627e \u51fd\u6570 \u6307\u9488 \u51fd\u6570\u6307\u9488 \uff0c \u8fdb\u884c \u8c03\u7528 \uff0c \u4e5f \u5c31 \u5b8c\u6210 \u4e86 \u6240\u8c13 \u7684 \u201c \u5b57\u8282 \u7801 \u89e3\u91ca \u6267\u884c \u201d \u7684 \u8fc7\u7a0b \u3002   \u6539\u4e3a   void   UOpenDriveToMap : : GenerateTileStandalone ( ) {   UE _ LOG ( LogCarlaToolsMapGenerator ,   Log ,   TEXT ( \" UOpenDriveToMap : : GenerateTileStandalone   Function   called \" ) ) ;   / /   ExecuteTileCommandlet ( ) ;   GenerateTile ( ) ;   UEditorLoadingAndSavingUtils : : SaveDirtyPackages ( true ,   true ) ;   UEditorLevelLibrary : : SaveCurrentLevel ( ) ;   }   \u6ce8\u610f \uff1a \u5927 \u5730\u56fe \u4e5f \u53ea\u80fd \u751f\u6210 \u4e00\u5c0f \u5c0f\u7247 \u4e00\u5c0f\u7247 \u5730\u56fe \u3002   \u62a5\u9519 \u4fe1\u606f \uff1a   D : \\ work \\ workspace \\ engine / Engine / Binanes \\ Win64 \\ UE4Editor   .. / .. / .. / .. / carla / Unreal / CaraUE4 / CaraUE4 . uproject   - run = GenerateTileCommandlet   \"   \"   - FilePath =   .. / .. / .. / .. / carla / Unreal / CarlaUE4 / Content / Custo   [ 2024.04 . 30 - 06.58 . 10 : 090 ] [   0 ] LogInit :   Executing   Class   / Script / CarlaTools . GenerateTileCommandlet   [ 2024.04 . 30 - 06.58 . 10 : 090 ] [   0 ] LogOutputDevice :   Warning :   ( 0   frames )   \u5d29\u6e83 \u65e5\u5fd7 \uff1a   LoginId : bc22576a452b36c1831fe8942b55e57a   EpicAccountId : 77cf3795af004e58a037e9c9d4a5aa0d   Assertion   failed :   Pair   ! =   nullptr   [ File : D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Core \\ Public \\ Containers / Map . h ]   [ Line :   621 ]   UE4Editor _ Core ! AssertFailedImplV ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Core \\ Private \\ Misc \\ AssertionMacros . cpp : 104 ]   UE4Editor _ Core ! FDebug : : CheckVerifyFailedImpl ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Core \\ Private \\ Misc \\ AssertionMacros . cpp : 461 ]   UE4Editor _ CarlaTools ! UGenerateTileCommandlet : : Main ( )   [ D : \\ work \\ workspace \\ carla \\ Unreal \\ CarlaUE4 \\ Plugins \\ CarlaTools \\ Source \\ CarlaTools \\ Private \\ Commandlet \\ GenerateTileCommandlet . cpp : 75 ]   UE4Editor ! FEngineLoop : : PreInitPostStartupScreen ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Launch \\ Private \\ LaunchEngineLoop . cpp : 3369 ]   UE4Editor ! GuardedMain ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Launch \\ Private \\ Launch . cpp : 127 ]   UE4Editor ! GuardedMainWrapper ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Launch \\ Private \\ Windows \\ LaunchWindows . cpp : 137 ]   UE4Editor ! WinMain ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Launch \\ Private \\ Windows \\ LaunchWindows . cpp : 268 ]   UE4Editor ! __ scrt _ common _ main _ seh ( )   [ d : \\ agent \\ _ work \\ 2 \\ s \\ src \\ vctools \\ crt \\ vcstartup \\ src \\ startup \\ exe _ common . inl : 288 ]   kernel32   ntdll   \u53ef\u77e5 \uff1a   OpenDriveMap - > FilePath   =   ParamsMap [ \" FilePath \" ] ;   \u62a5 \u7684 \u9519 \uff0c \u5e94\u8be5 \u662f \u8def\u5f84 \u4e0b . xodr \u6587\u4ef6 \u4e0d \u5b58\u5728 \u3002   \u5d29\u6e83 \u65e5\u5fd7 \u4f4d\u4e8e \uff1a   engine \\ Engine \\ Binaries \\ Win64 \\ CommandletParameters . txt   \u627e\u5230 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u8fd0\u884c \u53c2\u6570 \u4e3a \uff1a   - run = GenerateTileCommandlet   \"   \"   -   F   i   l   e   P   a   t   h   =   .   .   /   .   .   /   .   .   /   .   .   /   c   a   r   l   a   /   U   n   r   e   a   l   /   C   a   r   l   a   U   E   4   /   C   o   n   t   e   n   t   /   C   u   s   t   o   m   M   a   p   s   /   t   e   s   t   _   3   7   /   O   p   e   n   D   r   i   v   e   /   t   e   s   t   _   3   7   .   x   o   d   r   \"   \"   -   B   a   s   e   L   e   v   e   l   N   a   m   e   =   /   G   a   m   e   /   C   u   s   t   o   m   M   a   p   s   /   t   e   s   t   _   3   7   /   t   e   s   t   _   3   7   \"   \"   -   G   e   o   C   o   o   r   d   s   X   =   2   7   .   6   8   9   3   0   1   \"   \"   -   G   e   o   C   o   o   r   d   s   Y   =   1   1   3   .   5   2   9   2   9   7   \"   \"   -   C   T   i   l   e   X   =   4   \"   \"   -   C   T   i   l   e   Y   =   0   \"   \"   -   A   l   l   o   w   C   o   m   m   a   n   d   l   e   t   R   e   n   d   e   r   i   n   g   \u53c2\u6570 \u591a \u4e86 \u5f88\u591a \u7a7a\u683c   \u6b63\u786e \u5e94\u8be5 \u4e3a \uff1a   D : \\ work \\ workspace \\ engine \\ Engine \\ Binaries \\ Win64 \\ UE4Editor   .. / .. / .. / .. / carla / Unreal / CarlaUE4 / CarlaUE4 . uproject   - run = GenerateTileCommandlet   - FilePath = .. / .. / .. / .. / carla / Unreal / CarlaUE4 / Content / CustomMaps / test _ 37 / OpenDrive / test _ 37 . xodr   - BaseLevelName = / Game / CustomMaps / test _ 37 / test _ 37   - GeoCoordsX = 27.689301   - GeoCoordsY = 113.529297   - CTileX = 4   - CTileY = 0   - AllowCommandletRendering   D : \\ work \\ workspace \\ engine \\ Engine \\ Binaries \\ Win64 \\ UE4Editor - Cmd   D : / work / workspace / carla / Unreal / CarlaUE4 / CarlaUE4 . uproject   - run = GenerateTileCommandlet   - FilePath = D : / work / workspace / carla / Unreal / CarlaUE4 / Content / CustomMaps / test _ 37 / OpenDrive / test _ 37 . xodr   - BaseLevelName = / Game / CustomMaps / test _ 37 / test _ 37   - GeoCoordsX = 27.689301   - GeoCoordsY = 113.529297   - CTileX = 4   - CTileY = 0   - AllowCommandletRendering   \u76f4\u63a5 \u547d\u4ee4 \u547d\u4ee4\u884c \u8fd0\u884c \u62a5\u9519 \uff08 \u5fc5\u987b \u786e\u4fdd \u4e0d\u662f Commandlet \u542f\u52a8 \uff0c \u800c \u5fc5\u987b \u662f Editor \u542f\u52a8 \uff09 \uff1a   LogWindows :   Error :   Assertion   failed :   ! IsRunningCommandlet ( )   [ File : D : / work / workspace / engine / Engine / Plugins / Developer / RenderDocPlugin / Source / RenderDocPlugin / Private / SRenderDocPluginEditorExtension . cpp ]   [ Line :   107 ]   VS   \u8c03\u8bd5   UE   \u9879\u76ee   \u53d8\u91cf \u5df2 \u88ab \u4f18\u5316 \u6389 \uff0c \u56e0\u800c \u4e0d\u53ef \u7528 \u3002   VS \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   DebugGammingEditor   \uff0c \u7136\u540e \u5f00\u59cb \u8c03\u8bd5 \uff0c \u5c31 \u53ef\u4ee5 \u6dfb\u52a0 \u8981 \u76d1\u89c6 \u7684 \u9879 \u3002   \u95ee\u9898   \u5d29\u6e83 \u4e8e   engine \\ Engine \\ Source \\ Runtime \\ CoreUObject \\ Private \\ UObject \\ ScriptCore . cpp   1990 \u884c   Function - > Invoke ( this ,   NewStack ,   ReturnValueAddress ) ;   \u5f39 \u51fa \u62a5\u9519 \u4fe1\u606f \u6846 \uff1a   Failed   to   open   descriptor   file   . / .. / .. / .. / carla / Unreal / CarlaUE4 / CarlaUE4 . uproject   VS \u8df3\u8f6c \u4ee3\u7801 \u592a\u6162   \u5728 VS \u4e2d \u70b9\u51fb \u8c03\u8bd5 \u6216 \u8fd0\u884c \u65f6\u62a5 \u9519 \uff1a   \u9519\u8bef   C4067   \u9884 \u5904\u7406 \u7406\u5668 \u5904\u7406\u5668 \u6307\u4ee4 \u540e \u6709 \u610f\u5916 \u6807\u8bb0   -   \u5e94 \u8f93\u5165 \u6362\u884c \u6362\u884c\u7b26   \u548c   \u9519\u8bef   C1012   \u62ec\u53f7 \u4e0d \u5339\u914d :   \u7f3a\u5c11 \u201c ) \u201d   \u89e3\u51b3 \uff1a \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u4f7f\u7528   make   launch   ARGS = ' -- chrono '   \u8fdb\u884c \u91cd\u65b0 \u7f16\u8bd1 \u540e \uff0c \u7136\u540e \u518d\u7528 VS \u542f\u52a8 \u8c03\u8bd5 \u3002   \u6267\u884c \u201c make   launch \u201d \u65f6 \u51fa\u9519 \uff0c ' Renderer / Public / GBufferView . h '   \u8868\u73b0 \u4e3a \u6253\u5f00   CarlaUE4 . sln   \u540e \u6ca1\u6709   UnrealBuildTool   \u9009\u9879 \u3002   \u56e0\u4e3a \u672a \u5728   STOCK   UNREAL   ENGINE   \u4e2d \u627e\u5230 \u5b83 \u3002 \u5b83 \u662f \u6dfb\u52a0 \u5230   CARLA   \u5206\u652f \u4e2d \u7684 \u5185\u5bb9 \u3002 \u5982\u679c \u60a8 \u5728 \u4e24\u4e2a \u7248\u672c \u7684   Unreal   \u548c   Carla   \u4e4b\u95f4 \u6267\u884c   git   diff \uff0c \u60a8 \u5c06 \u770b\u5230 \u53ea\u6709 \u5c11\u91cf \u66f4\u6539 \uff0c \u5e76\u4e14 \u6dfb\u52a0 \u4e86   GBuffer   \u89c6\u56fe \u3002   \u89e3\u51b3 \uff1a \u53f3\u952e \u6587\u4ef6   CarlaUE4 . uproject   \uff0c \u9009\u62e9   Switch   Unreal   Engine   version   \uff0c \u5e76 \u9009\u62e9 \u9700\u8981 \u4f7f\u7528 \u7684 \u865a\u5e7b \u5f15\u64ce \u7248\u672c \uff08 \u5982\u679c \u6ca1\u6709 \u751f\u6210 \u65b0 \u7684   CarlaUE4 . sln   \uff0c \u5219 \u9700\u8981 \u5148 \u5220\u9664 \u518d \u91cd\u65b0 \u751f\u6210   CarlaUE4 . sln   \uff09 \u3002 \u8fd8\u6709 \u53ef\u80fd \u62a5\u9519 \uff1a   \u9884 \u5904\u7406 \u7406\u5668 \u5904\u7406\u5668 \u6307\u4ee4 \u540e \u6709 \u610f\u5916 \u6807\u8bb0   -   \u5e94 \u8f93\u5165 \u6362\u884c \u6362\u884c\u7b26   \uff0c \u9700\u8981 \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u4e2d\u5148 \u8fd0\u884c   make   launch   \u6216\u8005   make   launch   ARGS = \" -- chrono \"   \u7136\u540e \u518d \u5728 vs \u4e2d \u8fd0\u884c \u3002   \u4f9d\u8d56   boost - 1.80 . 0   Python \u5c01\u88c5 C++ \u5e93 \u8c03\u8bd5   \u3002   \u53d1\u5e03   \u5305\u542b \u6240\u6709 \u8f6f\u4ef6 \u4f9d\u8d56 \uff0c \u53cc\u51fb   launch . bat   \u542f\u52a8 \u8f6f\u4ef6 \u3002   VS2019 \u793e\u533a \u7248 \u5b89\u88c5   \u89e3\u538b \u5b89\u88c5 \u5b89\u88c5\u5305 \uff1a   7z   x   filename . zip   - o .   \u65b0 \u7535\u8111 \u8fd0\u884c   NativeDesktop . exe   \u51fa\u73b0   \u6b64 \u7248\u672c \u7684 Windows \u4e0d \u652f\u6301 \u6b64 \u4ea7\u54c1 \uff0c \u8bf7 \u5c1d\u8bd5 \u5347\u7ea7 Windows \u3002   \u6280\u5de7   \u8fdb\u884c \u51fd\u6570 \u8df3\u8f6c \u65f6 \uff0c vs \u4e00\u81f4 \u51fa\u73b0   \u6b63\u5728 \u8fdb\u884c IntelliSense   \uff1a   \u9009\u62e9 \u201c \u5de5\u5177 \u201d \u83dc\u5355 \u83dc\u5355\u680f \u4e0b \u7684 \u201c \u9009\u9879 \u201d \u6309\u94ae \u6253\u5f00 \u9009\u9879 \u9875\u9762 \uff0c \u627e\u5230   \u6587\u672c \u7f16\u8f91 \u6587\u672c\u7f16\u8f91 \u5668 - > C / C++ - > \u9ad8\u7ea7 , \u5728 \u53f3\u4fa7 \u7684 \u7981\u7528 IntelliSense \u4e2d \u6539\u4e3a True   \u68c0\u67e5 \u7b26\u53f7 \u662f\u5426 \u52a0\u8f7d   \u542f\u52a8 \u8c03\u5f0f \u5e76 \u5728 \u65ad\u70b9 \u505c\u4e0b \uff0c \u7136\u540e \u201c \u8c03\u8bd5   -   \u7a97\u53e3   -   \u6a21\u5757 \u201d \u6253\u5f00 \u6a21\u5757 \u7a97\u53e3 \u3002   \u627e\u5230 \u7b2c\u4e09 \u4e09\u65b9 \u7b2c\u4e09\u65b9 dll \u7684 \u540d\u5b57 \uff0c \u770b \u201c \u7b26\u53f7 \u6587\u4ef6 \u201d \u4e00\u680f \u662f \u7a7a \u7684 \u3002 \u8bf4\u660e \u8fd9\u4e2a dll \u7684 \u7b26\u53f7 \u6587\u4ef6 \u6ca1\u6709 \u52a0\u8f7d \u3002   \u628a . pdb \u548c . dll \u653e\u5728 \u4e00\u8d77 \u3002 \u518d\u6b21 \u8c03\u8bd5 \u3002 \u53ef\u4ee5 \u770b\u5230 \u7b26\u53f7 \u6587\u4ef6 \u5df2\u7ecf \u52a0\u8f7d \u4e86 \u3002   \u6539\u53d8 ubuntu \u7ec8\u7aef \u663e\u793a \u8bed\u8a00 \uff08 \u684c\u9762 \u7cfb\u7edf \u4e2d\u6587 \uff0c \u7ec8\u7aef \u63d0\u793a \u82f1\u6587 \uff09   vim   ~ / . bashrc   export   LANGUAGE = en _ US   export   LANG = en _ US . UTF - 8   source   ~ / . bashrc   \u65e5\u5fd7 \u8bb0\u5f55   UE _ LOG   \u51fd\u6570 \u8bb0\u5f55 \u7684 \u65e5\u5fd7 \u4f4d\u4e8e   carla \\ Unreal \\ CarlaUE4 \\ Saved \\ Logs \\ CarlaUE4 . log   \u6587\u4ef6 \u4e2d \u3002   \u5de5\u5177   VScode \u8c03\u8bd5 shell   bash \u811a\u672c   \u5728 VScode \u4e2d \u5b89\u88c5   Bash   Debug   \uff0c   \u5b66\u4e60   bat \u811a\u672c   LibCarla   \u8bf4\u660e   CarlaUE4   \u8bf4\u660e","title":"\u5728   Windows   \u4e0a \u8fdb\u884c   Carla   \u7684 \u8c03\u8bd5"},{"location":"tuto_D_windows_debug/#windows-carla","text":"\u865a\u5e7b \u5f15\u64ce Carla \u63d2\u4ef6 \u7684 \u8c03\u8bd5   \u8c03\u8bd5 LibCarla   Python   \u6269\u5c55 \u6a21\u5757   \u8c03\u8bd5 PythonAPI   \u6784\u5efa \u8c03\u8bd5 \u7248\u672c   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u8c03\u8bd5   \u5176\u4ed6   \u68c0\u67e5 \u6240 \u4f9d\u8d56 dll \u5e93 \u7684 \u7b26\u53f7 \u662f\u5426 \u52a0\u8f7d   VS2019   \u6253\u5f00   CarlaUE4   \u7684   Cmake   \u5de5\u7a0b   \u5bfc\u5165 \u5d29\u6e83 \u95ee\u9898   VS   \u8c03\u8bd5   UE   \u9879\u76ee   \u95ee\u9898   \u6280\u5de7   \u5b66\u4e60   \u7a0b\u5e8f \u8c03\u7528 \u6d41\u7a0b \uff1a Python \u3001 libcarla . cp37 - win _ amd64 . pyd \u3001 LibCarla \u3001 CarlaUE4 \u3002","title":"\u5728   Windows   \u4e0a \u8fdb\u884c   Carla   \u7684 \u8c03\u8bd5"},{"location":"tuto_D_windows_debug/#carla","text":"\u8fdb\u5165 \u76ee\u5f55   carla / Unreal / CarlaUE4 /   \uff0c \u53f3\u952e \u6587\u4ef6   CarlaUE4 . uproject   \uff0c \u9009\u62e9 \u8fd0\u884c   Generate   Visual   Studio   project   files   \uff0c \u5728 \u5f53\u524d \u76ee\u5f55 \u5f53\u524d\u76ee\u5f55 \u4e2d\u5c06 \u4f1a \u751f\u6210 VS \u7684 \u5de5\u7a0b \u6587\u4ef6 \uff0c \u53cc\u51fb \u6253\u5f00   CarlaUE4 . sln   \u3002   \u7b14\u8bb0   \u5982\u679c \u53f3\u952e \u83dc\u5355 \u4e2d\u672a \u51fa\u73b0   Generate   Visual   Studio   project   files   \u9009\u9879 \uff0c \u5219 \u5230 \u865a\u5e7b \u5f15\u64ce \u7684 \u76ee\u5f55 \u4e2d\u8fd0 \u53cc\u51fb \u6267\u884c   engine \\ Engine \\ Binaries \\ Win64 \\ UnrealVersionSelector . exe   \uff0c \u5c06 \u865a\u5e7b \u5f15\u64ce \u8f6f\u4ef6 \u6ce8\u518c \u5230 \u7cfb\u7edf \u4e2d \u3002 \u5982\u679c \u62a5\u9519 \uff1a   \uff08 \u8c03\u8bd5 \u6570\u5b57 \u5b6a\u751f \u5de5\u5177 \uff09 \u5728   \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848   \u4e2d \u5c55\u5f00   Games - > CarlaUE4   \uff0c \u5728 \u60f3\u8981 \u67e5\u770b \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u884c \u7684 \u6700 \u5de6\u4fa7 \u5355\u51fb \u589e\u52a0 \u65ad\u70b9 \uff08 \u6bd4\u5982 \uff1a   CarlaUE4 - > Plugins - > CarlaTools - > Source - > CarlaTools - > Private   \u7684   OpenDriveToMap . cpp   \u7684   GenerateTileStandalone ( )   \uff09 \uff0c \u5728 \u83dc\u5355 \u8fd0\u884c   \u8c03\u8bd5 ( D ) - > \u5f00\u59cb \u8c03\u8bd5 ( S )   \uff0c \u7a0b\u5e8f \u5c06 \u5728 \u65ad\u70b9 \u51fa \u6682\u505c \u3002 \u901a\u8fc7   \u8c03\u5f0f ( D ) - > \u7a97\u53e3 ( W ) - > \u76d1\u89c6 ( W ) - > \u76d1\u89c6   1   \u6253\u5f00 \u53d8\u91cf \u76d1\u89c6 \u7a97\u53e3 \uff0c \u67e5\u770b \u53d8\u91cf \u91cf\u503c \u53d8\u91cf\u503c \u662f\u5426 \u5f02\u5e38 \u3002   \u8c03\u8bd5   Carla \u670d\u52a1 \u670d\u52a1\u7aef   \uff1a \u65ad\u70b9 \u6253 \u5728   Carla / Game / CarlaEngine . cpp   \u7684 \u7b2c 87 \u884c \uff0c \u7136\u540e \u5f00\u59cb \u8c03\u5f0f \uff0c \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u70b9\u51fb   \u8fd0\u884c   \u5219 \u4f1a \u5728 \u65ad\u70b9 \u5904 \u505c\u6b62 \u3002   \u914d\u7f6e \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \u5305\u62ec \uff1a   Debug   :   \u6e38\u620f \u548c \u5f15\u64ce \u5168\u90fd \u53ef\u4ee5 \u8c03\u8bd5 \uff0c \u65e0 \u4f18\u5316 \uff0c \u901f\u5ea6 \u901f\u5ea6\u6162 \uff0c \u6ca1\u6709 Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \uff0c \u8d44\u6e90 \u9700\u8981 Cook \u3002   Debug   Editor   \uff1a \u6e38\u620f \u548c \u5f15\u64ce \u5168\u90e8 \u53ef\u4ee5 \u8c03\u8bd5 \uff0c \u65e0 \u4f18\u5316 \uff0c \u53ef\u4ee5 \u4f7f\u7528 Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \uff0c \u8d44\u6e90 \u4e0d \u9700\u8981 Cook \uff0c \u53ef \u76f4\u63a5 \u542f\u52a8 \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \uff08 \u7528   generate _ traffic . py   \u8c03\u8bd5 \u4f1a \u5d29\u6e83 \uff0c   manual _ control . py   \u53ef\u4ee5 \uff09   DebugGame   \uff1a \u6e38\u620f \u4ee3\u7801 \u53ef \u8c03\u8bd5 \u65e0 \u4f18\u5316 \uff0c Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \u4e0d\u53ef \u4f7f\u7528 \uff0c \u5f15\u64ce \u4e0d\u53ef \u8c03\u8bd5 \uff0c \u8d44\u6e90 \u9700\u8981 Cook \u3002   DebugGame   Editor   \uff1a \u6e38\u620f \u4ee3\u7801 \u53ef \u8c03\u8bd5 \u65e0 \u4f18\u5316 \uff0c \u53ef\u4ee5 \u4f7f\u7528 Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \uff0c \u5f15\u64ce \u4e0d\u53ef \u8c03\u8bd5 \uff0c \u8d44\u6e90 \u4e0d \u9700\u8981 Cook \u3002   Development   \uff1a \u6e38\u620f \u3001 \u7f16\u8f91 \u7f16\u8f91\u5668 \u3001 \u5f15\u64ce \u90fd \u4e0d\u53ef \u8c03\u8bd5 \uff0c Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \u4e0d\u53ef \u4f7f\u7528 \uff0c \u8d44\u6e90 \u9700\u8981 Cook \u3002 \uff08 The   global   shader   cache   file   ' D : / work / workspace / engine / Engine / GlobalshaderCache - PCD3D _ M5 . bin '   is   missing . \uff09   Development   Editor   \uff1a \u6e38\u620f \u3001 \u7f16\u8f91 \u7f16\u8f91\u5668 \u3001 \u5f15\u64ce \u90fd \u4e0d\u53ef \u8c03\u8bd5 \uff0c Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \u53ef \u4f7f\u7528 \uff0c \u8d44\u6e90 \u4e0d \u9700\u8981 Cook \u3002 \uff08 \u9ed8\u8ba4 \uff09   Shipping   \uff1a \u53d1\u884c \u53d1\u884c\u7248 \uff0c \u6781\u81f4 \u4f18\u5316 \uff0c \u4f30\u8ba1 \u8c03\u8bd5 \u4fe1\u606f \u8c03\u8bd5\u4fe1\u606f \u90fd \u6ca1 \u4e86 \u3002   Test   \uff1a \u5305\u542b \u989d\u5916 \u7684 \u6d4b\u8bd5 \u4ee3\u7801 \u6d4b\u8bd5\u4ee3\u7801 \u3002","title":"\u865a\u5e7b \u5f15\u64ce Carla \u63d2\u4ef6 \u7684 \u8c03\u8bd5  "},{"location":"tuto_D_windows_debug/#libcarla","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef   \u5411 \u670d\u52a1 \u670d\u52a1\u7aef \u8c03\u7528 \u5b9e\u73b0 \u7684 \u529f\u80fd \u3002   *   \u811a\u672c   BuildLibCarla . bat   \u8c03\u7528   cmake   \u547d\u4ee4 \u8fdb\u884c \u6784\u5efa \uff1a   cmake   - G   % GENERATOR%   % PLATFORM% ^   - DCMAKE _ BUILD _ TYPE = Server ^   - DCMAKE _ CXX _ FLAGS _ RELEASE = \" / MD   / MP \" ^   - DCMAKE _ INSTALL _ PREFIX = \" % LIBCARLA _ SERVER _ INSTALL _ PATH : \\ = / % \" ^   \" % ROOT _ PATH% \"   \u5176\u4e2d \uff0c   - G   \u8868\u793a \u6307\u5b9a \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u7248\u672c \uff08   set   GENERATOR = \" Visual   Studio   16   2019 \"   \u3001   set   PLATFORM = - A   x64   \uff09 \uff1b   - DCMAKE _ BUILD _ TYPE   \u7684 \u53ef\u9009 \u9009\u9879 \u53ef\u9009\u9879 \u5305\u62ec \uff1a   Client   ,   Server   ,   Pytorch   ,   ros2   \uff1b   - D   CMAKE _ BUILD _ TYPE = \" Debug \"   \u53ef\u9009 \u53ef\u9009\u503c \u5305\u62ec \uff1a   Debug   ,   Release   ,   RelWithDebInfo   ,   MinSizeRel   \u3002   CMAKE _ CXX _ FLAGS _ RELEASE   \u8bbe\u7f6e \u7f16\u8bd1 \u7c7b\u578b   Release   \u65f6 \u7684 \u7f16\u8bd1 \u9009\u9879 \uff1b   \u8c03\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u5728   Build   \u76ee\u5f55 \u4e0b \u751f\u6210   Makefile   \u6587\u4ef6 \uff1a   cmake   -- build   .   -- config   Release   -- target   install   |   findstr   / V   \" Up - to - date : \"   \u4f7f\u7528 VS \u6253\u5f00   Build \\ libcarla - visualstudio \\ CARLA . sln   \u3002 \u4f7f\u7528 \u547d\u4ee4   make   client   \u6253\u5f00 \u7684 \u5c31\u662f   LibCarla \\ cmake \\ client \\ CMakeLists . txt   \u5bf9\u5e94 \u7684 \u9879\u76ee \u3002 \uff08 \u4f7f\u7528   make   server   \u6253\u5f00 \u7684 \u5219 \u662f   LibCarla \\ cmake \\ server \\ CMakeLists . txt   \u5bf9\u5e94 \u7684 \u9879\u76ee \uff09   \uff08   Build   \u76ee\u5f55 \u4e0b \u8fd8 \u5305\u62ec   osm2odr - visualstudio / SUMO . sln   \u7684 VS \u5de5\u7a0b \uff09 \u3002   \u53f3\u952e   carla _ client _ debug   \u5c06 \u5176   \u8bbe \u4e3a \u542f\u52a8 \u9879\u76ee   \u3002   \u9644\u7740 \u5230   Python   \u7a0b\u5e8f \u542f\u52a8 \u8c03\u8bd5 \u540e \uff0c \u51fa\u73b0   \u5f53\u524d \u4e0d\u4f1a \u547d \u4e2d\u65ad \u65ad\u70b9 \u4e2d\u65ad\u70b9   \u8fd8 \u6ca1\u6709 \u4e3a \u8be5 \u6587\u6863 \u52a0\u8f7d \u4efb\u4f55 \u7b26\u53f7   \u7684 \u8b66\u544a \u3002   \u89e3\u51b3   \u5728   BuildLibCarla . bat   \u4e2d \uff0c \u5c06   -- config   \u53c2\u6570 \u4ece   Release   \u4fee\u6539 \u4e3a   Debug   \u3002   \u6ce8\u610f   \u5728 vs2019 \u4e2d \u751f\u6210   carla _ client _ debug   \u7684 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u65f6 \u51fa\u73b0   fatal   error   C1189 :   # error   :   \" Incompatible   build   options \"   \u9519\u8bef \uff0c \u56e0\u4e3a   \u5728 \u4e0d \u6307\u5b9a \u8c03\u8bd5 \u8fd0\u884c \u65f6 \u7684 \u60c5\u51b5 \u4e0b \u4f7f\u7528 / RTC \u9009\u9879 \u5c06 \u5bfc\u81f4 \u94fe\u63a5 \u5668 \u9519\u8bef   \uff0c \u5219 \u9700\u8981 \u5c06 \u201c \u9879\u76ee \u5c5e\u6027   -- >   C++   -- >   \u57fa\u672c \u8fd0\u884c \u65f6 \u68c0\u67e5 \u201d   \u6539\u4e3a   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \uff0c \u7136\u540e \u91cd\u65b0 \u751f\u6210 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u3002 \u6216\u8005 \u53f3\u952e   carla _ client _ debug   \u9879\u76ee \u8fdb\u884c \u751f\u6210 \u3002   \u6ce8\u610f   \u53f3\u952e   carla _ client _ debug   \uff0c \u9009\u62e9   \u8c03\u8bd5   - >   \u542f\u52a8 \u65b0 \u5b9e\u4f8b   \u3002   \u4e14 \u9700\u8981 \u5728 \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u4e2d \u65b0\u5efa Python \u9879\u76ee \u7528\u4e8e \u6d4b\u8bd5 \u3002   \u53c2\u8003   vs \u8c03\u8bd5 C++   \u3002   \u8c03\u8bd5   carla _ client   \u65f6 \uff0c vs \u62a5\u9519 \uff1a   boost : : python : : error _ already _ set   \uff0c \u5c1d\u8bd5   \u6355\u83b7 \u5177\u4f53 \u5f02\u5e38   \u3002","title":"\u8c03\u8bd5 LibCarla  "},{"location":"tuto_D_windows_debug/#python","text":"LibCarla \u7f16\u8bd1 \u540e \u751f\u6210   Python37 / Lib / site - packages / carla / libcarla . cp37 - win _ amd64 . pyd   \u7ed9 Python \u8fdb\u884c \u8c03\u7528 \u3002 \u4e3a\u4e86 \u63d0\u9ad8 \u8fd0\u884c \u901f\u5ea6 \uff0c \u5c06 \u5f53\u524d \u76ee\u5f55 \u5f53\u524d\u76ee\u5f55 \u4e2d \u7684   __ init __. py   \u548c   command . py   \u7f16\u8bd1 \u4e3a   __ pycache __   \u76ee\u5f55 \u4e2d \u7684   byte   code ( \u5b57\u8282 \u7801 )   \u3002","title":"Python   \u6269\u5c55 \u6a21\u5757  "},{"location":"tuto_D_windows_debug/#pythonapi","text":"boost _ python \u5e93 \u6240\u5728 \u7684 \u76ee\u5f55 \u4e3a \uff1a   carla \\ Build \\ boost - 1.80 . 0 - install \\ lib \\ libboost _ python37 - vc142 - mt - x64 - 1 _ 80 . lib   \uff0c   mt - x64   \u4e4b\u95f4 \u5e26\u6709   gd   \u7684 \u662f \u5bf9\u5e94 \u7684 \u8c03\u8bd5 \u7248\u672c \u3002 \u793a\u4f8b \u53c2\u8003   \u94fe\u63a5   \u3002   \u5217\u51fa \u6240\u6709 \u53ef\u7528 \u7684 \u547d\u4ee4 \uff1a   python   setup . py   -- help - commands   \u6784\u5efa \u547d\u4ee4 \uff1a   python   setup . py   build","title":"\u8c03\u8bd5 PythonAPI  "},{"location":"tuto_D_windows_debug/#_1","text":"\u53f3\u952e   CARLA   \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c   \u6dfb\u52a0   - >   \u65b0\u5efa \u9879\u76ee   - >   Python \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f   \uff1b   \u5c06   manual _ control . py   \u6587\u4ef6 \u5185\u5bb9 \u590d\u5236 \u590d\u5236\u5230 \u65b0\u5efa \u5de5\u7a0b \u7684   PythonApplication . py   \u6587\u4ef6 \u4e2d \uff1b   \u5728 . py \u6587\u4ef6 \u7684 \u5f00\u59cb \u5904 \u589e\u52a0   input ( )   \u4ee3\u7801 \uff1b   \u53f3\u952e . py \u6587\u4ef6 \uff0c \u70b9\u51fb   \u5f00\u59cb \u6267\u884c \uff08 \u8c03\u8bd5 \uff09   \uff0c \u4f1a\u5f39 \u51fa \u547d\u4ee4 \u547d\u4ee4\u884c \u754c\u9762 \uff1b   \u53f3\u952e   carla _ client _ debug   \u9879\u76ee - >   \u8c03\u8bd5   - >   \u542f\u52a8 \u65b0 \u5b9e\u4f8b   \uff1b   \u5728 \u7b2c 4 \u6b65\u5f39 \u51fa \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u754c\u9762 \u4e2d \u6572 \u56de\u8f66 \uff1b   \u53c2\u8003   \u94fe\u63a5   \uff0c \u6548\u679c \u672a\u77e5 \u3002","title":"\u6784\u5efa \u8c03\u8bd5 \u7248\u672c  "},{"location":"tuto_D_windows_debug/#c","text":"\u9519\u8bef   LNK2038   \u68c0\u6d4b \u5230 \u201c _ ITERATOR _ DEBUG _ LEVEL \u201d \u7684 \u4e0d \u5339\u914d \u9879 :   \u503c \u201c 0 \u201d \u4e0d \u5339\u914d \u503c \u201c 2 \u201d   \u9519\u8bef   LNK2038   \u68c0\u6d4b \u5230 \u201c RuntimeLibrary \u201d \u7684 \u4e0d \u5339\u914d \u9879 :   \u503c \u201c MD _ DynamicRelease \u201d \u4e0d \u5339\u914d \u503c \u201c MDd _ DynamicDebug \u201d   \u5f53\u524d \u5de5\u7a0b \u662f Debug \u7248\u672c \uff08 0 \uff09 \uff0c \u800c \u5f15\u7528 \u7684 \u5e93 \u6587\u4ef6 \u65f6 Release \u7248\u672c \uff08 2 \uff09 \u3002   \u9700\u8981 \u5c06 \u5176\u4ed6 \u7684 . lib \u6587\u4ef6 \u7f16\u8bd1 \u4e3a debug \u6a21\u5f0f \uff1a   1 . \u5207\u6362 \u5230 \u76ee\u5f55   Util \\ InstallersWin   \uff0c \u5c06   install _ boost . bat   \u5185 \u7684 b2 \u8fd0\u884c \u53c2\u6570 \u6539\u4e3a   variant = debug   \uff0c \uff08 \u6839\u636e   Setup . bat   \uff09 \u8fd0\u884c   install _ boost . bat   \uff1a   install _ boost . bat   -- build - dir   D : \\ work \\ buffer   -- toolset   msvc - 14.2   -- version   1.80 . 0   - j   4   \u4f1a \u81ea\u52a8 \u5c06 boost \u7684 \u5e93 \u548c \u6587\u4ef6 \u5934\u6587\u4ef6 \u5b89\u88c5 \u5230 \u76ee\u5f55   D : \\ work \\ buffer \\ boost - 1.80 . 0 - install   \u91cc\u9762 \u3002   \u5c06   install _ recast . bat   \u4e2d \u7684   Relase   \u6539\u4e3a   Debug   \u3002   \u5c06   - DCMAKE _ CXX _ FLAGS _ RELASE = \" / MD   / MP \"   \u6539\u4e3a \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b \u8c03\u8bd5 DLL   - DCMAKE _ CXX _ FLAGS _ DEBUG = \" / MDd   / MP \"   \uff0c \u8fd0\u884c   install _ recast . bat   \u3002   install _ recast . bat   -- build - dir   D : \\ work \\ buffer   -- generator   \" Visual   Studio   16   2019 \"   \u5c06   install _ rpclib . bat   \u4e2d \u7684   Relase   \u6539\u4e3a   Debug   \uff0c \u8fd0\u884c   install _ rpclib . bat   \u3002   \u5c06   - DCMAKE _ CXX _ FLAGS _ RELASE = \" / MD   / MP \"   \u6539\u4e3a \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b \u8c03\u8bd5 DLL   - DCMAKE _ CXX _ FLAGS _ DEBUG = \" / MDd   / MP \"   \u3002   install _ rpclib . bat   -- build - dir   D : \\ work \\ buffer   -- generator   \" Visual   Studio   16   2019 \"   2 . \u5c06 \u7b2c 1 \u6b65 \u751f\u6210 \u7684 \u5b89\u88c5 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55 \u914d\u7f6e \u5230   Examples \\ CppClient \\ CMakeLists . txt   \u4e2d \uff0c \u5bf9\u5e94 \u7684 \u6587\u4ef6 \u5934\u6587\u4ef6 \u548c \u5e93 \u6587\u4ef6 \u90fd \u6539\u4e3a Debug \u7248\u672c \uff1b   3 . \u5728   main . cpp   \u4e2d \u589e\u52a0 \u65ad\u70b9 \uff0c \u5e76 \u5f00\u59cb \u8c03\u8bd5 \uff1b   auto   world   =   client . LoadWorld ( \" town _ name \" ) ;   \u6539\u4e3a \uff1a   auto   world   =   client . LoadWorld ( \" Town10HD _ Opt \" ) ;   4 . \u7a0b\u5e8f \u5728 \u65ad\u70b9 \u505c\u6b62 \u540e \u6309 F10 \u8fd0\u884c \u4e0b \u4e00\u6b65 \uff0c \u6309 F11 \u8fdb\u5165 LibCarla \u4e2d \u7684 \u51fd\u6570 \u5b9e\u73b0 \u3002","title":"C++ \u5ba2\u6237\u7aef \u8c03\u8bd5  "},{"location":"tuto_D_windows_debug/#_2","text":"","title":"\u5176\u4ed6  "},{"location":"tuto_D_windows_debug/#dll","text":"\u4e0b \u65ad\u70b9 \uff0c F5 \u8c03\u8bd5 \u3002 \u7136\u540e \u201c \u8c03\u8bd5   -   \u7a97\u53e3   -   \u6a21\u5757 \u201d \u6253\u5f00 \u6a21\u5757 \u7a97\u53e3 \u3002","title":"\u68c0\u67e5 \u6240 \u4f9d\u8d56 dll \u5e93 \u7684 \u7b26\u53f7 \u662f\u5426 \u52a0\u8f7d  "},{"location":"tuto_D_windows_debug/#vs2019-carlaue4-cmake","text":"windows \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u4e0b \u901a\u8fc7 vs2019 \u6253\u5f00 \u5e76 \u7f16\u8bd1 carla \uff1a   \u5f00 Carla \u7684 CMake \u9879\u76ee \uff08 \u53c2\u8003   CMake   \u5165\u95e8 \u6559\u7a0b \u5165\u95e8\u6559\u7a0b   \uff09 \uff1a   \u4ece   VS   \u7684 \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   File -- > Open -- > CMake   ,   \u5728 \u5bf9\u8bdd \u5bf9\u8bdd\u6846 \u4e2d \u627e\u5230   Carla   \u6240\u5728 \u7684 \u672c\u5730 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff08 \u5305\u542b CMakeLists \uff09 \uff0c \u9009\u62e9 CMakeLists . txt \u6587\u4ef6 \uff0c \u6253\u5f00 \uff0c Visual   studio   \u4f1a \u81ea\u52a8 \u52a0\u8f7d \u6b64 \u4ed3\u5e93 \uff0c \u89e3\u6790   CMakeLists . txt   \u6587\u4ef6 \uff0c \u5e76 \u63d0\u53d6 \u5176 \u914d\u7f6e \u548c \u53d8\u91cf \u4fe1\u606f \u3002 \u89e3\u6790 \u5b8c\u6210 \uff08 \u9700\u8981 \u4f1a\u513f \u7b49\u4f1a\u513f \u6216\u8005 \u91cd\u542f \uff09 \u4f1a \u4ece   \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668   \u4e2d \u770b\u5230   . cpp   \u6587\u4ef6 \u3002   \u4fee\u6539 \u914d\u7f6e \uff1a   \u70b9\u51fb   x64 - Debug   \u4e0b\u62c9 \u83dc\u5355 \u4e0b\u62c9\u83dc\u5355 \u4e2d \u7684   \u7ba1\u7406 \u914d\u7f6e   \uff0c \u5e76 \u5728 \u5f39\u51fa \u7684 \u754c\u9762 \u70b9\u51fb   \u7f16\u8f91 JSON   \uff08 \u8be5 \u8fc7\u7a0b \u5728 \u5de5\u7a0b \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e0b \u751f\u6210   CMakeSettings . json   \uff09 \uff0c \u5c06 \u6240 \u9700\u8981 \u6784\u5efa \u7684 \u7c7b\u578b \u6539\u4e3a \u60f3 \u7f16\u8bd1 \u7684 \u7c7b\u578b \uff0c \u6bd4\u5982   Client   \u3002   \u751f\u6210 \uff1a   \u70b9\u51fb \u83dc\u5355 \u83dc\u5355\u680f   \u751f\u6210   -   \u5168\u90e8 \u751f\u6210   \u6216   \u90e8\u5206 \u751f\u6210   \u5373\u53ef \u3002","title":"VS2019   \u6253\u5f00   CarlaUE4   \u7684   Cmake   \u5de5\u7a0b  "},{"location":"tuto_D_windows_debug/#_3","text":"\u4f8b\u5982 \uff0c \u5bfc\u5165 \u6d4b\u8bd5 \u94fe\u63a5 \uff1a   \u5c0f \u5730\u56fe \uff1a   https : / / overpass - api . de / api / map ? bbox = 112.9088 , 28.2221 , 112.9172 , 28.2290   \u5927 \u5730\u56fe \uff1a   https : / / overpass - api . de / api / map ? bbox = 112.8553 , 28.1931 , 112.9396 , 28.2504   \u91d1 \u91b4 \u9ad8\u901f \uff1a   https : / / overpass - api . de / api / map ? bbox = 113.5293 , 27.6893 , 113.5516 , 27.7074   CarlaUE4 - > Plugins - > CarlaTools - > Source - > CarlaTools - > Private   \u7684   OpenDriveToMap . cpp   463 \u884c   GenerateTileStandalone ( )   \uff0c \u7136\u540e \u8c03\u7528   ExecuteTileCommandlet ( )   :   UCommandlet \u662f   Unreal   Engine   \u4e2d \u7528\u4e8e \u5b9e\u73b0 \u547d\u4ee4 \u547d\u4ee4\u884c \u64cd\u4f5c \u7684 \u57fa\u7c7b \u3002 \u5b83 \u5141\u8bb8 \u5f00\u53d1 \u5f00\u53d1\u8005 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u547d\u4ee4 \uff0c \u5e76 \u5728 \u5f15\u64ce \u542f\u52a8 \u65f6 \u6267\u884c \u8fd9\u4e9b \u547d\u4ee4 \u3002 \u8fd9\u4e2a \u7c7b \u4e3b\u8981 \u7528\u4e8e \u6269\u5c55 \u5f15\u64ce \u529f\u80fd \uff0c \u63d0\u4f9b \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u5de5\u5177 \u3002   ExecuteTileCommandlet ( )   \u8c03\u7528 \u7684 \u662f   carla \\ Unreal \\ CarlaUE4 \\ Plugins \\ CarlaTools \\ Intermediate \\ Build \\ Win64 \\ UE4Editor \\ Inc \\ CarlaTools \\ OpenDriveToMap . gen . cpp   \uff08 \u53cd\u5c04 \u6587\u4ef6 gen \uff09 194 \u884c \u7684   static   FName   NAME _ UOpenDriveToMap _ ExecuteTileCommandlet   =   FName ( TEXT ( \" ExecuteTileCommandlet \" ) ) ;   void   UOpenDriveToMap : : ExecuteTileCommandlet ( )   {   ProcessEvent ( FindFunctionChecked ( NAME _ UOpenDriveToMap _ ExecuteTileCommandlet ) , NULL ) ;   }   \u627e\u5230 \u540d\u4e3a \u201c ExecuteTileCommandlet \u201d \u7684   UFunction   \u5bf9\u8c61 \uff1b   \u6267\u884c \u201c ProcessEvent \u201d \u51fd\u6570 \uff0c \u7136\u540e \u4ece \u5168\u5c40 \u51fd\u6570 \u6620\u5c04 \u8868 \u627e\u5230 \u5bf9\u5e94 \u7684 \u51fd\u6570 \u6307\u9488 \u51fd\u6570\u6307\u9488 \u6267\u884c \uff08 \u5229\u7528 \u51fd\u6570 \u540d \u8c03\u7528 UFUNCTION \u51fd\u6570 \uff09 \u3002   \u84dd\u56fe \u7684 \u5b57\u8282 \u7801   \uff1a \u5728   engine \\ Engine \\ Source \\ Runtime \\ CoreUObject \\ Public \\ UObject \\ Script . h   \u8fd9\u4e2a \u6587\u4ef6 \u4e2d\u6709 \u4e00\u4e2a   enum   EExprToken   \uff0c \u8fd9\u4e2a \u679a\u4e3e \u5c31\u662f \u84dd\u56fe \u7684 \u5b57\u8282 \u7801 \u5b9a\u4e49 \u3002 \u5f15\u64ce \u4e2d \u4f7f\u7528 \u4e00\u4e2a \u5168\u5c40 \u67e5\u627e \u8868 \uff0c \u628a \u4e0a\u8ff0 \u5b57\u8282 \u7801 \u6620\u5c04 \u5230 \u51fd\u6570 \u6307\u9488 \u51fd\u6570\u6307\u9488 \u3002 \u5728 \u8fd0\u884c \u65f6 \uff0c \u4ece \u4e00\u4e2a \u5b57\u8282 \u7801 \u6570\u7ec4 \u4e2d \u9010\u4e2a \u53d6\u51fa \u5b57\u8282 \u7801 \uff0c \u5e76 \u67e5\u627e \u51fd\u6570 \u6307\u9488 \u51fd\u6570\u6307\u9488 \uff0c \u8fdb\u884c \u8c03\u7528 \uff0c \u4e5f \u5c31 \u5b8c\u6210 \u4e86 \u6240\u8c13 \u7684 \u201c \u5b57\u8282 \u7801 \u89e3\u91ca \u6267\u884c \u201d \u7684 \u8fc7\u7a0b \u3002   \u6539\u4e3a   void   UOpenDriveToMap : : GenerateTileStandalone ( ) {   UE _ LOG ( LogCarlaToolsMapGenerator ,   Log ,   TEXT ( \" UOpenDriveToMap : : GenerateTileStandalone   Function   called \" ) ) ;   / /   ExecuteTileCommandlet ( ) ;   GenerateTile ( ) ;   UEditorLoadingAndSavingUtils : : SaveDirtyPackages ( true ,   true ) ;   UEditorLevelLibrary : : SaveCurrentLevel ( ) ;   }   \u6ce8\u610f \uff1a \u5927 \u5730\u56fe \u4e5f \u53ea\u80fd \u751f\u6210 \u4e00\u5c0f \u5c0f\u7247 \u4e00\u5c0f\u7247 \u5730\u56fe \u3002   \u62a5\u9519 \u4fe1\u606f \uff1a   D : \\ work \\ workspace \\ engine / Engine / Binanes \\ Win64 \\ UE4Editor   .. / .. / .. / .. / carla / Unreal / CaraUE4 / CaraUE4 . uproject   - run = GenerateTileCommandlet   \"   \"   - FilePath =   .. / .. / .. / .. / carla / Unreal / CarlaUE4 / Content / Custo   [ 2024.04 . 30 - 06.58 . 10 : 090 ] [   0 ] LogInit :   Executing   Class   / Script / CarlaTools . GenerateTileCommandlet   [ 2024.04 . 30 - 06.58 . 10 : 090 ] [   0 ] LogOutputDevice :   Warning :   ( 0   frames )   \u5d29\u6e83 \u65e5\u5fd7 \uff1a   LoginId : bc22576a452b36c1831fe8942b55e57a   EpicAccountId : 77cf3795af004e58a037e9c9d4a5aa0d   Assertion   failed :   Pair   ! =   nullptr   [ File : D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Core \\ Public \\ Containers / Map . h ]   [ Line :   621 ]   UE4Editor _ Core ! AssertFailedImplV ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Core \\ Private \\ Misc \\ AssertionMacros . cpp : 104 ]   UE4Editor _ Core ! FDebug : : CheckVerifyFailedImpl ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Core \\ Private \\ Misc \\ AssertionMacros . cpp : 461 ]   UE4Editor _ CarlaTools ! UGenerateTileCommandlet : : Main ( )   [ D : \\ work \\ workspace \\ carla \\ Unreal \\ CarlaUE4 \\ Plugins \\ CarlaTools \\ Source \\ CarlaTools \\ Private \\ Commandlet \\ GenerateTileCommandlet . cpp : 75 ]   UE4Editor ! FEngineLoop : : PreInitPostStartupScreen ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Launch \\ Private \\ LaunchEngineLoop . cpp : 3369 ]   UE4Editor ! GuardedMain ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Launch \\ Private \\ Launch . cpp : 127 ]   UE4Editor ! GuardedMainWrapper ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Launch \\ Private \\ Windows \\ LaunchWindows . cpp : 137 ]   UE4Editor ! WinMain ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Launch \\ Private \\ Windows \\ LaunchWindows . cpp : 268 ]   UE4Editor ! __ scrt _ common _ main _ seh ( )   [ d : \\ agent \\ _ work \\ 2 \\ s \\ src \\ vctools \\ crt \\ vcstartup \\ src \\ startup \\ exe _ common . inl : 288 ]   kernel32   ntdll   \u53ef\u77e5 \uff1a   OpenDriveMap - > FilePath   =   ParamsMap [ \" FilePath \" ] ;   \u62a5 \u7684 \u9519 \uff0c \u5e94\u8be5 \u662f \u8def\u5f84 \u4e0b . xodr \u6587\u4ef6 \u4e0d \u5b58\u5728 \u3002   \u5d29\u6e83 \u65e5\u5fd7 \u4f4d\u4e8e \uff1a   engine \\ Engine \\ Binaries \\ Win64 \\ CommandletParameters . txt   \u627e\u5230 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u8fd0\u884c \u53c2\u6570 \u4e3a \uff1a   - run = GenerateTileCommandlet   \"   \"   -   F   i   l   e   P   a   t   h   =   .   .   /   .   .   /   .   .   /   .   .   /   c   a   r   l   a   /   U   n   r   e   a   l   /   C   a   r   l   a   U   E   4   /   C   o   n   t   e   n   t   /   C   u   s   t   o   m   M   a   p   s   /   t   e   s   t   _   3   7   /   O   p   e   n   D   r   i   v   e   /   t   e   s   t   _   3   7   .   x   o   d   r   \"   \"   -   B   a   s   e   L   e   v   e   l   N   a   m   e   =   /   G   a   m   e   /   C   u   s   t   o   m   M   a   p   s   /   t   e   s   t   _   3   7   /   t   e   s   t   _   3   7   \"   \"   -   G   e   o   C   o   o   r   d   s   X   =   2   7   .   6   8   9   3   0   1   \"   \"   -   G   e   o   C   o   o   r   d   s   Y   =   1   1   3   .   5   2   9   2   9   7   \"   \"   -   C   T   i   l   e   X   =   4   \"   \"   -   C   T   i   l   e   Y   =   0   \"   \"   -   A   l   l   o   w   C   o   m   m   a   n   d   l   e   t   R   e   n   d   e   r   i   n   g   \u53c2\u6570 \u591a \u4e86 \u5f88\u591a \u7a7a\u683c   \u6b63\u786e \u5e94\u8be5 \u4e3a \uff1a   D : \\ work \\ workspace \\ engine \\ Engine \\ Binaries \\ Win64 \\ UE4Editor   .. / .. / .. / .. / carla / Unreal / CarlaUE4 / CarlaUE4 . uproject   - run = GenerateTileCommandlet   - FilePath = .. / .. / .. / .. / carla / Unreal / CarlaUE4 / Content / CustomMaps / test _ 37 / OpenDrive / test _ 37 . xodr   - BaseLevelName = / Game / CustomMaps / test _ 37 / test _ 37   - GeoCoordsX = 27.689301   - GeoCoordsY = 113.529297   - CTileX = 4   - CTileY = 0   - AllowCommandletRendering   D : \\ work \\ workspace \\ engine \\ Engine \\ Binaries \\ Win64 \\ UE4Editor - Cmd   D : / work / workspace / carla / Unreal / CarlaUE4 / CarlaUE4 . uproject   - run = GenerateTileCommandlet   - FilePath = D : / work / workspace / carla / Unreal / CarlaUE4 / Content / CustomMaps / test _ 37 / OpenDrive / test _ 37 . xodr   - BaseLevelName = / Game / CustomMaps / test _ 37 / test _ 37   - GeoCoordsX = 27.689301   - GeoCoordsY = 113.529297   - CTileX = 4   - CTileY = 0   - AllowCommandletRendering   \u76f4\u63a5 \u547d\u4ee4 \u547d\u4ee4\u884c \u8fd0\u884c \u62a5\u9519 \uff08 \u5fc5\u987b \u786e\u4fdd \u4e0d\u662f Commandlet \u542f\u52a8 \uff0c \u800c \u5fc5\u987b \u662f Editor \u542f\u52a8 \uff09 \uff1a   LogWindows :   Error :   Assertion   failed :   ! IsRunningCommandlet ( )   [ File : D : / work / workspace / engine / Engine / Plugins / Developer / RenderDocPlugin / Source / RenderDocPlugin / Private / SRenderDocPluginEditorExtension . cpp ]   [ Line :   107 ]","title":"\u5bfc\u5165 \u5d29\u6e83 \u95ee\u9898  "},{"location":"tuto_D_windows_debug/#vs-ue","text":"\u53d8\u91cf \u5df2 \u88ab \u4f18\u5316 \u6389 \uff0c \u56e0\u800c \u4e0d\u53ef \u7528 \u3002   VS \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   DebugGammingEditor   \uff0c \u7136\u540e \u5f00\u59cb \u8c03\u8bd5 \uff0c \u5c31 \u53ef\u4ee5 \u6dfb\u52a0 \u8981 \u76d1\u89c6 \u7684 \u9879 \u3002","title":"VS   \u8c03\u8bd5   UE   \u9879\u76ee    "},{"location":"tuto_D_windows_debug/#_4","text":"\u5d29\u6e83 \u4e8e   engine \\ Engine \\ Source \\ Runtime \\ CoreUObject \\ Private \\ UObject \\ ScriptCore . cpp   1990 \u884c   Function - > Invoke ( this ,   NewStack ,   ReturnValueAddress ) ;   \u5f39 \u51fa \u62a5\u9519 \u4fe1\u606f \u6846 \uff1a   Failed   to   open   descriptor   file   . / .. / .. / .. / carla / Unreal / CarlaUE4 / CarlaUE4 . uproject   VS \u8df3\u8f6c \u4ee3\u7801 \u592a\u6162   \u5728 VS \u4e2d \u70b9\u51fb \u8c03\u8bd5 \u6216 \u8fd0\u884c \u65f6\u62a5 \u9519 \uff1a   \u9519\u8bef   C4067   \u9884 \u5904\u7406 \u7406\u5668 \u5904\u7406\u5668 \u6307\u4ee4 \u540e \u6709 \u610f\u5916 \u6807\u8bb0   -   \u5e94 \u8f93\u5165 \u6362\u884c \u6362\u884c\u7b26   \u548c   \u9519\u8bef   C1012   \u62ec\u53f7 \u4e0d \u5339\u914d :   \u7f3a\u5c11 \u201c ) \u201d   \u89e3\u51b3 \uff1a \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u4f7f\u7528   make   launch   ARGS = ' -- chrono '   \u8fdb\u884c \u91cd\u65b0 \u7f16\u8bd1 \u540e \uff0c \u7136\u540e \u518d\u7528 VS \u542f\u52a8 \u8c03\u8bd5 \u3002   \u6267\u884c \u201c make   launch \u201d \u65f6 \u51fa\u9519 \uff0c ' Renderer / Public / GBufferView . h '   \u8868\u73b0 \u4e3a \u6253\u5f00   CarlaUE4 . sln   \u540e \u6ca1\u6709   UnrealBuildTool   \u9009\u9879 \u3002   \u56e0\u4e3a \u672a \u5728   STOCK   UNREAL   ENGINE   \u4e2d \u627e\u5230 \u5b83 \u3002 \u5b83 \u662f \u6dfb\u52a0 \u5230   CARLA   \u5206\u652f \u4e2d \u7684 \u5185\u5bb9 \u3002 \u5982\u679c \u60a8 \u5728 \u4e24\u4e2a \u7248\u672c \u7684   Unreal   \u548c   Carla   \u4e4b\u95f4 \u6267\u884c   git   diff \uff0c \u60a8 \u5c06 \u770b\u5230 \u53ea\u6709 \u5c11\u91cf \u66f4\u6539 \uff0c \u5e76\u4e14 \u6dfb\u52a0 \u4e86   GBuffer   \u89c6\u56fe \u3002   \u89e3\u51b3 \uff1a \u53f3\u952e \u6587\u4ef6   CarlaUE4 . uproject   \uff0c \u9009\u62e9   Switch   Unreal   Engine   version   \uff0c \u5e76 \u9009\u62e9 \u9700\u8981 \u4f7f\u7528 \u7684 \u865a\u5e7b \u5f15\u64ce \u7248\u672c \uff08 \u5982\u679c \u6ca1\u6709 \u751f\u6210 \u65b0 \u7684   CarlaUE4 . sln   \uff0c \u5219 \u9700\u8981 \u5148 \u5220\u9664 \u518d \u91cd\u65b0 \u751f\u6210   CarlaUE4 . sln   \uff09 \u3002 \u8fd8\u6709 \u53ef\u80fd \u62a5\u9519 \uff1a   \u9884 \u5904\u7406 \u7406\u5668 \u5904\u7406\u5668 \u6307\u4ee4 \u540e \u6709 \u610f\u5916 \u6807\u8bb0   -   \u5e94 \u8f93\u5165 \u6362\u884c \u6362\u884c\u7b26   \uff0c \u9700\u8981 \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u4e2d\u5148 \u8fd0\u884c   make   launch   \u6216\u8005   make   launch   ARGS = \" -- chrono \"   \u7136\u540e \u518d \u5728 vs \u4e2d \u8fd0\u884c \u3002","title":"\u95ee\u9898  "},{"location":"tuto_D_windows_debug/#_5","text":"","title":"\u4f9d\u8d56  "},{"location":"tuto_D_windows_debug/#boost-1800","text":"Python \u5c01\u88c5 C++ \u5e93 \u8c03\u8bd5   \u3002","title":"boost - 1.80 . 0"},{"location":"tuto_D_windows_debug/#_6","text":"\u5305\u542b \u6240\u6709 \u8f6f\u4ef6 \u4f9d\u8d56 \uff0c \u53cc\u51fb   launch . bat   \u542f\u52a8 \u8f6f\u4ef6 \u3002","title":"\u53d1\u5e03  "},{"location":"tuto_D_windows_debug/#vs2019","text":"\u89e3\u538b \u5b89\u88c5 \u5b89\u88c5\u5305 \uff1a   7z   x   filename . zip   - o .   \u65b0 \u7535\u8111 \u8fd0\u884c   NativeDesktop . exe   \u51fa\u73b0   \u6b64 \u7248\u672c \u7684 Windows \u4e0d \u652f\u6301 \u6b64 \u4ea7\u54c1 \uff0c \u8bf7 \u5c1d\u8bd5 \u5347\u7ea7 Windows \u3002","title":"VS2019 \u793e\u533a \u7248 \u5b89\u88c5"},{"location":"tuto_D_windows_debug/#_7","text":"\u8fdb\u884c \u51fd\u6570 \u8df3\u8f6c \u65f6 \uff0c vs \u4e00\u81f4 \u51fa\u73b0   \u6b63\u5728 \u8fdb\u884c IntelliSense   \uff1a   \u9009\u62e9 \u201c \u5de5\u5177 \u201d \u83dc\u5355 \u83dc\u5355\u680f \u4e0b \u7684 \u201c \u9009\u9879 \u201d \u6309\u94ae \u6253\u5f00 \u9009\u9879 \u9875\u9762 \uff0c \u627e\u5230   \u6587\u672c \u7f16\u8f91 \u6587\u672c\u7f16\u8f91 \u5668 - > C / C++ - > \u9ad8\u7ea7 , \u5728 \u53f3\u4fa7 \u7684 \u7981\u7528 IntelliSense \u4e2d \u6539\u4e3a True   \u68c0\u67e5 \u7b26\u53f7 \u662f\u5426 \u52a0\u8f7d   \u542f\u52a8 \u8c03\u5f0f \u5e76 \u5728 \u65ad\u70b9 \u505c\u4e0b \uff0c \u7136\u540e \u201c \u8c03\u8bd5   -   \u7a97\u53e3   -   \u6a21\u5757 \u201d \u6253\u5f00 \u6a21\u5757 \u7a97\u53e3 \u3002   \u627e\u5230 \u7b2c\u4e09 \u4e09\u65b9 \u7b2c\u4e09\u65b9 dll \u7684 \u540d\u5b57 \uff0c \u770b \u201c \u7b26\u53f7 \u6587\u4ef6 \u201d \u4e00\u680f \u662f \u7a7a \u7684 \u3002 \u8bf4\u660e \u8fd9\u4e2a dll \u7684 \u7b26\u53f7 \u6587\u4ef6 \u6ca1\u6709 \u52a0\u8f7d \u3002   \u628a . pdb \u548c . dll \u653e\u5728 \u4e00\u8d77 \u3002 \u518d\u6b21 \u8c03\u8bd5 \u3002 \u53ef\u4ee5 \u770b\u5230 \u7b26\u53f7 \u6587\u4ef6 \u5df2\u7ecf \u52a0\u8f7d \u4e86 \u3002   \u6539\u53d8 ubuntu \u7ec8\u7aef \u663e\u793a \u8bed\u8a00 \uff08 \u684c\u9762 \u7cfb\u7edf \u4e2d\u6587 \uff0c \u7ec8\u7aef \u63d0\u793a \u82f1\u6587 \uff09   vim   ~ / . bashrc   export   LANGUAGE = en _ US   export   LANG = en _ US . UTF - 8   source   ~ / . bashrc   \u65e5\u5fd7 \u8bb0\u5f55   UE _ LOG   \u51fd\u6570 \u8bb0\u5f55 \u7684 \u65e5\u5fd7 \u4f4d\u4e8e   carla \\ Unreal \\ CarlaUE4 \\ Saved \\ Logs \\ CarlaUE4 . log   \u6587\u4ef6 \u4e2d \u3002","title":"\u6280\u5de7  "},{"location":"tuto_D_windows_debug/#_8","text":"VScode \u8c03\u8bd5 shell   bash \u811a\u672c   \u5728 VScode \u4e2d \u5b89\u88c5   Bash   Debug   \uff0c","title":"\u5de5\u5177"},{"location":"tuto_D_windows_debug/#_9","text":"bat \u811a\u672c   LibCarla   \u8bf4\u660e   CarlaUE4   \u8bf4\u660e","title":"\u5b66\u4e60  "},{"location":"tuto_E_gallery/","text":"\u57fa\u672c \u793a\u4f8b   \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u914d\u7f6e \u548c \u4f7f\u7528   \u6d41\u91cf \u9884\u6d4b   Carla   \u6559\u7a0b   ( Python   API )   \u8bf7 \u4f7f\u7528   0.9 . 14   \u7248\u672c \u6216\u8005 \u5176\u4ed6 \u517c\u5bb9   API   \u7684   Carla   \u7248\u672c \u3002   #   \u5f00\u59cb   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   . / CarlaUE4 . sh   - quality - level = epic   - resx = 800   - resy = 600   #   \u5982\u679c \u60a8 \u6ca1\u6709 \u5f3a\u5927 \u7684   GPU   . / CarlaUE4 . sh   - quality - level = low   - resx = 800   - resy = 600   #   \u8fd0\u884c \u793a\u4f8b   python   01 _ get _ started . py   python   02 _ sync _ mode . py   python   03 _ RGB _ camera . py   python   04 _ more _ cameras . py   python   05 _ open3d _ library . py   python   06 _ trafic _ manager . py   python   07 _ 3d _ bounding _ boxes . py   python   08 _ draw _ waypoints . py   python   09 _ basic _ navigation . py   python   10 _ manual _ control . py   Gallery   \u793a\u4f8b   01 :   \u5f00\u59cb   ( \u5f02\u6b65 \uff1a \u8f66\u8f86 \u4f1a \u6709 \u6296\u52a8 \u611f \uff09   \u793a\u4f8b   02 :   \u540c\u6b65   \u793a\u4f8b   03 :   RGB   \u76f8\u673a   \u793a\u4f8b   04 :   \u66f4 \u591a \u76f8\u673a   \u793a\u4f8b   05 :   Open3D   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe   \u793a\u4f8b   06 :   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u793a\u4f8b   07 :   3D   \u8fb9\u754c \u6846   \u793a\u4f8b   08 :   \u7ed8\u5236 \u8def\u5f84 \u70b9   \u793a\u4f8b   09 :   \u57fa\u672c \u5bfc\u822a   \u793a\u4f8b   10 :   \u624b\u52a8 \u63a7\u5236","title":"tuto   E   gallery"},{"location":"tuto_E_gallery/#_1","text":"\u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u914d\u7f6e \u548c \u4f7f\u7528   \u6d41\u91cf \u9884\u6d4b","title":"\u57fa\u672c \u793a\u4f8b"},{"location":"tuto_E_gallery/#carla-python-api","text":"\u8bf7 \u4f7f\u7528   0.9 . 14   \u7248\u672c \u6216\u8005 \u5176\u4ed6 \u517c\u5bb9   API   \u7684   Carla   \u7248\u672c \u3002   #   \u5f00\u59cb   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   . / CarlaUE4 . sh   - quality - level = epic   - resx = 800   - resy = 600   #   \u5982\u679c \u60a8 \u6ca1\u6709 \u5f3a\u5927 \u7684   GPU   . / CarlaUE4 . sh   - quality - level = low   - resx = 800   - resy = 600   #   \u8fd0\u884c \u793a\u4f8b   python   01 _ get _ started . py   python   02 _ sync _ mode . py   python   03 _ RGB _ camera . py   python   04 _ more _ cameras . py   python   05 _ open3d _ library . py   python   06 _ trafic _ manager . py   python   07 _ 3d _ bounding _ boxes . py   python   08 _ draw _ waypoints . py   python   09 _ basic _ navigation . py   python   10 _ manual _ control . py","title":"Carla   \u6559\u7a0b   ( Python   API )"},{"location":"tuto_E_gallery/#gallery","text":"\u793a\u4f8b   01 :   \u5f00\u59cb   ( \u5f02\u6b65 \uff1a \u8f66\u8f86 \u4f1a \u6709 \u6296\u52a8 \u611f \uff09   \u793a\u4f8b   02 :   \u540c\u6b65   \u793a\u4f8b   03 :   RGB   \u76f8\u673a   \u793a\u4f8b   04 :   \u66f4 \u591a \u76f8\u673a   \u793a\u4f8b   05 :   Open3D   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe   \u793a\u4f8b   06 :   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u793a\u4f8b   07 :   3D   \u8fb9\u754c \u6846   \u793a\u4f8b   08 :   \u7ed8\u5236 \u8def\u5f84 \u70b9   \u793a\u4f8b   09 :   \u57fa\u672c \u5bfc\u822a   \u793a\u4f8b   10 :   \u624b\u52a8 \u63a7\u5236","title":"Gallery"},{"location":"tuto_G_G29_windows/","text":"carla   \u4e0e \u7f57\u6280   G29   \u65b9\u5411 \u65b9\u5411\u76d8 \u7684 \u53cd\u9988 \u529b\u53cd\u9988   ubuntu   \u73af\u5883 \u4e0b \u4f7f\u7528   jstest - gtk \u3001 ROS   \u8fdb\u884c \u65b9\u5411 \u65b9\u5411\u76d8 \u63a7\u5236 \u53c2\u8003   \u94fe\u63a5   \u3002   \u672c \u6559\u7a0b \u5728 windows \u73af\u5883 \u4e0b \u8054\u8c03 \uff0c \u539f\u5148 \u7684 \u60f3\u6cd5 \u662f \u5728 windows \u73af\u5883 \u4e0b \u5b89\u88c5 ros2 \uff0c \u901a\u8fc7 \u7f57\u6280 \u7684 sdk \u6765 \u66ff\u6362 jstest - gtk \uff0c \u91cd\u5199 ros2 \u8282\u70b9 \u6765 \u5b9e\u73b0 \u3002 \u7f57\u6280 g29sdk \u53ef \u53c2\u8003   \u94fe\u63a5   \u3002   \u4f46 \u7531\u4e8e C++ \u7684 g29   sdk \u5f3a\u5236 \u8981\u6c42 \u754c\u9762 \uff0c carla \u5728 \u63a7\u5236 \u65b9\u5411 \u65b9\u5411\u76d8 \u65f6 \u4e5f \u8981\u6c42 \u6307\u5b9a   pygame   \u754c\u9762 \uff0c   G29python \u4ee3\u7801   \u7528 \u7684 C#   dll \u4fee\u6539 \uff0c \u521d\u59cb \u521d\u59cb\u5316 \u8fc7\u7a0b \u4e0d \u9700\u8981 \u754c\u9762 \u3002 \u540c\u65f6 \u7531\u4e8e \u662f   python   \u5199 \u7684 \uff0c \u53ef\u4ee5 \u7ed5\u5f00 ros2 \u8fd9\u4e2a \u8fc7\u7a0b \uff0c \u51cf\u5c11 \u975e\u5e38 \u591a \u7684 \u5b66\u4e60 \u91cf \u3002   \u5177\u4f53 \u8054\u8c03 \u8fc7\u7a0b \uff1a   \u73af\u5883 \uff1a python3.7 \u3001 carla0.9 . 14 \u3001 \u7f57\u6280 G - hub \u9a71\u52a8 \u3001 G29 \u65b9\u5411 \u65b9\u5411\u76d8 \u3002   \u9996\u5148 \u53bb   \u7f57\u6280 \u5b98\u7f51   \u5b89\u88c5 \u65b9\u5411 \u65b9\u5411\u76d8 \u9a71\u52a8 \u542f\u52a8 \uff0c \u5b89\u88c5 \u597d\u540e \u9a71\u52a8 \u754c\u9762 \u663e\u793a \u754c\u9762\u663e\u793a G29 \u65b9\u5411 \u65b9\u5411\u76d8 \uff0c \u540c\u65f6 \u65b9\u5411 \u65b9\u5411\u76d8 \u8f6c\u52a8 \u81ea\u68c0 \u3002   python \u73af\u5883 \u4e2d \u5b89\u88c5   Carla   \u4e0e logidrivepy   pip   install   carla   pip   install   logidrivepy   \u8fd9\u91cc \u8981 \u521b\u5efa \u4e00\u4e2a ini \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3002   wheel _ config . ini   [ G29   Racing   Wheel ]   steering _ wheel   =   0   throttle   =   2   brake   =   3   reverse   =   5   handbrake   =   4   \u5176\u4e2d \u6570\u5b57 \u53ef\u80fd \u9700\u8981 \u81ea\u5df1 \u8bd5 \u8fd9\u91cc   steering _ wheel   \u8868\u793a \u65b9\u5411 \u65b9\u5411\u76d8 \u65b9\u5411 \u3001   throttle   \u8868\u793a \u6cb9\u95e8 \u548c   brake   \u5239\u8f66 \u5df2\u7ecf \u662f \u6b63\u786e \u7684 \u8bbe\u7f6e \u4e86 \u3002 \u8981 \u4fdd\u8bc1 \u8fd9\u4e2a \u8bbe\u7f6e \u548c   . py   \u6587\u4ef6 \u5728 \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u76ee\u5f55 \u4e0b \u5426\u5219 \u4f1a \u62a5\u9519 \u3002   \u4e0b\u8f7d carla - API \u540e \uff0c \u8fd0\u884c carla \u670d\u52a1 \u670d\u52a1\u7aef \uff1a   \u968f\u540e \u8fd0\u884c   PythonAPI / examples / manual _ control _ steeringwheel . py   \u6587\u4ef6 \u3002   \u6b64\u65f6 \u5373\u53ef \u5f00\u542f \u8f66\u8f86 \u3002   \u81ea\u52a8 \u9a7e\u9a76 \u53cd\u9988 \u529b\u53cd\u9988   \u53e6\u542f \u4e00\u4e2a \u6587\u4ef6 \uff0c \u590d\u5236 \u4ee5\u4e0b \u4ee3\u7801   import   sys   import   carla   sys . path . append ( ' .. / logidrivepy ' )   from   logidrivepy   import   LogitechController   import   time   class   SimpleController :   def   __ init __ ( self ,   k ) :   #   k   \u662f \u6bd4\u4f8b \u589e\u76ca \uff0c \u7528\u4e8e \u8c03\u6574 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u54cd\u5e94 \u901f\u5ea6 \u54cd\u5e94\u901f\u5ea6   self . k   =   k   def   control ( self ,   aim ,   now ) :   #   \u8ba1\u7b97 \u4f4d\u7f6e \u5dee\u503c   error   =   now   -   aim   #   \u8ba1\u7b97 \u8f93\u51fa \u529b   force   =   self . k   *   error   return   force   class   ForceFeedback :   def   __ init __ ( self ) :   self . position   =   None   self . torque   =   None   class   Node ( ) :   def   __ init __ ( self ,   client ) :   self . client   =   client   self . world   =   client . get _ world ( )   self . actor   =   self . get _ hero ( )   def   get _ hero ( self ) :   for   actor   in   self . world . get _ actors ( ) :   if   actor . attributes . get ( \" role _ name \" )   in   [ \" hero \" ,   \" ego _ vehicle \" ] :   return   actor   def   timer _ cb ( self ) :   out _ msg   =   ForceFeedback ( )   steering _ angle   =   self . actor . get _ control ( ) . steer   out _ msg . position   =   steering _ angle   out _ msg . torque   =   0.8   def   get _ position ( self ) :   steering _ angle   =   self . actor . get _ control ( ) . steer   position   =   steering _ angle   return   position   def   main ( args = None ) :   controller   =   LogitechController ( )   controller . steering _ initialize ( )   print ( \" \\ n --- Logitech   Spin   Test --- \" )   client   =   carla . Client ( \" 127.0 . 0.1 \" ,   2000 )   client . set _ timeout ( 2.0 )   carla _ car   =   Node ( client )   #   \u521b\u5efa \u4e00\u4e2a PID \u63a7\u5236 \u63a7\u5236\u5668   sc   =   SimpleController ( k = 1 )   #   \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u4e2d \uff0c \u66f4\u65b0 \u63a7\u5236 \u63a7\u5236\u5668 \u5e76 \u4f7f\u7528 \u65b0 \u7684 \u529b   while   True :   aim   =   carla _ car . get _ position ( )   *   150   now   =   ( controller . LogiGetStateENGINES ( 0 ) . contents . lX )   /   327.50   if   ( abs ( aim ) < 1 ) :   controller . LogiPlaySoftstopForce ( 0 , 0 )   controller . logi _ update ( )   time . sleep ( 0.1 )   controller . LogiStopSoftstopForce ( 0 )   controller . logi _ update ( )   print ( \" Target :   { } ,   Current   State :   { } \" . format ( aim ,   now ) )   else :   force   =   sc . control ( now ,   aim )   controller . LogiPlayConstantForce ( 0 ,   - int ( force ) * 2 )   controller . logi _ update ( )   print ( \" Force :   { } ,   Target :   { } ,   Current   State :   { } \" . format ( force ,   aim ,   now ) )   time . sleep ( 0.1 )   controller . steering _ shutdown ( )   if   __ name __   = =   \" __ main __ \" :   main ( )   \u5728   pygame   \u754c\u9762 \u6309 \u952e\u76d8   P   \u5f00\u542f \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u6b64\u65f6 \u65b9\u5411 \u65b9\u5411\u76d8 \u4f1a \u968f\u7740 \u8f66\u8f86 \u81ea\u884c \u8f6c\u52a8 \u3002   \u8fd9\u4e2a \u4ee3\u7801 \u662f \u6d4b\u8bd5 \u7528 \u7684 \u6548\u679c \u4e0d\u592a\u597d \uff0c \u6709 \u66f4\u597d \u6548\u679c \u9700\u6c42 \u5f97\u6362 \u66f4\u597d \u7684 \u63a7\u5236 \u4ee3\u7801 \u63a7\u5236\u4ee3\u7801 \u4e86 \u3002","title":"carla   \u4e0e \u7f57\u6280   G29   \u65b9\u5411\u76d8 \u7684 \u529b\u53cd\u9988"},{"location":"tuto_G_G29_windows/#carla-g29","text":"ubuntu   \u73af\u5883 \u4e0b \u4f7f\u7528   jstest - gtk \u3001 ROS   \u8fdb\u884c \u65b9\u5411 \u65b9\u5411\u76d8 \u63a7\u5236 \u53c2\u8003   \u94fe\u63a5   \u3002   \u672c \u6559\u7a0b \u5728 windows \u73af\u5883 \u4e0b \u8054\u8c03 \uff0c \u539f\u5148 \u7684 \u60f3\u6cd5 \u662f \u5728 windows \u73af\u5883 \u4e0b \u5b89\u88c5 ros2 \uff0c \u901a\u8fc7 \u7f57\u6280 \u7684 sdk \u6765 \u66ff\u6362 jstest - gtk \uff0c \u91cd\u5199 ros2 \u8282\u70b9 \u6765 \u5b9e\u73b0 \u3002 \u7f57\u6280 g29sdk \u53ef \u53c2\u8003   \u94fe\u63a5   \u3002   \u4f46 \u7531\u4e8e C++ \u7684 g29   sdk \u5f3a\u5236 \u8981\u6c42 \u754c\u9762 \uff0c carla \u5728 \u63a7\u5236 \u65b9\u5411 \u65b9\u5411\u76d8 \u65f6 \u4e5f \u8981\u6c42 \u6307\u5b9a   pygame   \u754c\u9762 \uff0c   G29python \u4ee3\u7801   \u7528 \u7684 C#   dll \u4fee\u6539 \uff0c \u521d\u59cb \u521d\u59cb\u5316 \u8fc7\u7a0b \u4e0d \u9700\u8981 \u754c\u9762 \u3002 \u540c\u65f6 \u7531\u4e8e \u662f   python   \u5199 \u7684 \uff0c \u53ef\u4ee5 \u7ed5\u5f00 ros2 \u8fd9\u4e2a \u8fc7\u7a0b \uff0c \u51cf\u5c11 \u975e\u5e38 \u591a \u7684 \u5b66\u4e60 \u91cf \u3002   \u5177\u4f53 \u8054\u8c03 \u8fc7\u7a0b \uff1a   \u73af\u5883 \uff1a python3.7 \u3001 carla0.9 . 14 \u3001 \u7f57\u6280 G - hub \u9a71\u52a8 \u3001 G29 \u65b9\u5411 \u65b9\u5411\u76d8 \u3002   \u9996\u5148 \u53bb   \u7f57\u6280 \u5b98\u7f51   \u5b89\u88c5 \u65b9\u5411 \u65b9\u5411\u76d8 \u9a71\u52a8 \u542f\u52a8 \uff0c \u5b89\u88c5 \u597d\u540e \u9a71\u52a8 \u754c\u9762 \u663e\u793a \u754c\u9762\u663e\u793a G29 \u65b9\u5411 \u65b9\u5411\u76d8 \uff0c \u540c\u65f6 \u65b9\u5411 \u65b9\u5411\u76d8 \u8f6c\u52a8 \u81ea\u68c0 \u3002   python \u73af\u5883 \u4e2d \u5b89\u88c5   Carla   \u4e0e logidrivepy   pip   install   carla   pip   install   logidrivepy   \u8fd9\u91cc \u8981 \u521b\u5efa \u4e00\u4e2a ini \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3002   wheel _ config . ini   [ G29   Racing   Wheel ]   steering _ wheel   =   0   throttle   =   2   brake   =   3   reverse   =   5   handbrake   =   4   \u5176\u4e2d \u6570\u5b57 \u53ef\u80fd \u9700\u8981 \u81ea\u5df1 \u8bd5 \u8fd9\u91cc   steering _ wheel   \u8868\u793a \u65b9\u5411 \u65b9\u5411\u76d8 \u65b9\u5411 \u3001   throttle   \u8868\u793a \u6cb9\u95e8 \u548c   brake   \u5239\u8f66 \u5df2\u7ecf \u662f \u6b63\u786e \u7684 \u8bbe\u7f6e \u4e86 \u3002 \u8981 \u4fdd\u8bc1 \u8fd9\u4e2a \u8bbe\u7f6e \u548c   . py   \u6587\u4ef6 \u5728 \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u76ee\u5f55 \u4e0b \u5426\u5219 \u4f1a \u62a5\u9519 \u3002   \u4e0b\u8f7d carla - API \u540e \uff0c \u8fd0\u884c carla \u670d\u52a1 \u670d\u52a1\u7aef \uff1a   \u968f\u540e \u8fd0\u884c   PythonAPI / examples / manual _ control _ steeringwheel . py   \u6587\u4ef6 \u3002   \u6b64\u65f6 \u5373\u53ef \u5f00\u542f \u8f66\u8f86 \u3002","title":"carla   \u4e0e \u7f57\u6280   G29   \u65b9\u5411\u76d8 \u7684 \u529b\u53cd\u9988"},{"location":"tuto_G_G29_windows/#_1","text":"\u53e6\u542f \u4e00\u4e2a \u6587\u4ef6 \uff0c \u590d\u5236 \u4ee5\u4e0b \u4ee3\u7801   import   sys   import   carla   sys . path . append ( ' .. / logidrivepy ' )   from   logidrivepy   import   LogitechController   import   time   class   SimpleController :   def   __ init __ ( self ,   k ) :   #   k   \u662f \u6bd4\u4f8b \u589e\u76ca \uff0c \u7528\u4e8e \u8c03\u6574 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u54cd\u5e94 \u901f\u5ea6 \u54cd\u5e94\u901f\u5ea6   self . k   =   k   def   control ( self ,   aim ,   now ) :   #   \u8ba1\u7b97 \u4f4d\u7f6e \u5dee\u503c   error   =   now   -   aim   #   \u8ba1\u7b97 \u8f93\u51fa \u529b   force   =   self . k   *   error   return   force   class   ForceFeedback :   def   __ init __ ( self ) :   self . position   =   None   self . torque   =   None   class   Node ( ) :   def   __ init __ ( self ,   client ) :   self . client   =   client   self . world   =   client . get _ world ( )   self . actor   =   self . get _ hero ( )   def   get _ hero ( self ) :   for   actor   in   self . world . get _ actors ( ) :   if   actor . attributes . get ( \" role _ name \" )   in   [ \" hero \" ,   \" ego _ vehicle \" ] :   return   actor   def   timer _ cb ( self ) :   out _ msg   =   ForceFeedback ( )   steering _ angle   =   self . actor . get _ control ( ) . steer   out _ msg . position   =   steering _ angle   out _ msg . torque   =   0.8   def   get _ position ( self ) :   steering _ angle   =   self . actor . get _ control ( ) . steer   position   =   steering _ angle   return   position   def   main ( args = None ) :   controller   =   LogitechController ( )   controller . steering _ initialize ( )   print ( \" \\ n --- Logitech   Spin   Test --- \" )   client   =   carla . Client ( \" 127.0 . 0.1 \" ,   2000 )   client . set _ timeout ( 2.0 )   carla _ car   =   Node ( client )   #   \u521b\u5efa \u4e00\u4e2a PID \u63a7\u5236 \u63a7\u5236\u5668   sc   =   SimpleController ( k = 1 )   #   \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u4e2d \uff0c \u66f4\u65b0 \u63a7\u5236 \u63a7\u5236\u5668 \u5e76 \u4f7f\u7528 \u65b0 \u7684 \u529b   while   True :   aim   =   carla _ car . get _ position ( )   *   150   now   =   ( controller . LogiGetStateENGINES ( 0 ) . contents . lX )   /   327.50   if   ( abs ( aim ) < 1 ) :   controller . LogiPlaySoftstopForce ( 0 , 0 )   controller . logi _ update ( )   time . sleep ( 0.1 )   controller . LogiStopSoftstopForce ( 0 )   controller . logi _ update ( )   print ( \" Target :   { } ,   Current   State :   { } \" . format ( aim ,   now ) )   else :   force   =   sc . control ( now ,   aim )   controller . LogiPlayConstantForce ( 0 ,   - int ( force ) * 2 )   controller . logi _ update ( )   print ( \" Force :   { } ,   Target :   { } ,   Current   State :   { } \" . format ( force ,   aim ,   now ) )   time . sleep ( 0.1 )   controller . steering _ shutdown ( )   if   __ name __   = =   \" __ main __ \" :   main ( )   \u5728   pygame   \u754c\u9762 \u6309 \u952e\u76d8   P   \u5f00\u542f \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u6b64\u65f6 \u65b9\u5411 \u65b9\u5411\u76d8 \u4f1a \u968f\u7740 \u8f66\u8f86 \u81ea\u884c \u8f6c\u52a8 \u3002   \u8fd9\u4e2a \u4ee3\u7801 \u662f \u6d4b\u8bd5 \u7528 \u7684 \u6548\u679c \u4e0d\u592a\u597d \uff0c \u6709 \u66f4\u597d \u6548\u679c \u9700\u6c42 \u5f97\u6362 \u66f4\u597d \u7684 \u63a7\u5236 \u4ee3\u7801 \u63a7\u5236\u4ee3\u7801 \u4e86 \u3002","title":"\u81ea\u52a8 \u9a7e\u9a76 \u529b\u53cd\u9988"},{"location":"tuto_G_add_friction_triggers/","text":"\u5982\u4f55 \u6dfb\u52a0 \u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668   \u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 (   Friction   Triggers   )   \u662f \u53ef\u4ee5 \u5728 \u8fd0\u884c \u65f6 \u6dfb\u52a0 \u7684 \u6846 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \uff0c \u8ba9 \u7528\u6237 \u5728 \u5904\u4e8e \u8fd9\u4e9b \u7c7b\u578b \u7684 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \u5185\u65f6 \u5b9a\u4e49 \u8f66\u8f86 \u8f66\u8f6e \u7684 \u4e0d\u540c \u6469\u64e6 \u6469\u64e6\u529b \u3002 \u4f8b\u5982 \uff0c \u8fd9 \u5bf9\u4e8e \u52a8\u6001 \u5730 \u5728 \u5730\u56fe \u7684 \u67d0\u4e9b \u533a\u57df \u4e2d \u5236\u4f5c \u5149\u6ed1 \u7684 \u8868\u9762 \u53ef\u80fd \u5f88 \u6709\u7528 \u3002   \u4e3a\u4e86 \u4f7f\u7528   PythonAPI   \u751f\u6210 \u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \uff0c \u7528\u6237 \u5fc5\u987b \u9996\u5148 \u83b7\u53d6   static . trigger . friction   \u84dd\u56fe \u5b9a\u4e49 \uff0c \u7136\u540e \u4e3a \u8be5 \u84dd\u56fe \u5b9a\u4e49 \u8bbe\u7f6e \u4ee5\u4e0b \u5fc5\u8981 \u5c5e\u6027 \uff1a   friction   :   \u5f53 \u8f66\u8f86 \u4f4d\u4e8e \u89e6\u53d1 \u76d2\u5185 \u65f6 \uff0c \u89e6\u53d1 \u76d2 \u7684 \u6469\u64e6 \u6469\u64e6\u529b \u3002   extent _ x   :   X   \u5750\u6807 \u4e2d \u8fb9\u754c \u6846 \u7684 \u8303\u56f4 \uff08 \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   extent _ y   :   Y   \u5750\u6807 \u4e2d \u8fb9\u754c \u6846 \u7684 \u8303\u56f4 \uff08 \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   extent _ z   :   Z   \u5750\u6807 \u4e2d \u8fb9\u754c \u6846 \u7684 \u8303\u56f4 \uff08 \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   \u5b8c\u6210 \u6b64 \u64cd\u4f5c \u540e \uff0c \u5b9a\u4e49 \u4e00\u4e2a \u53d8\u6362 \u6765 \u6307\u5b9a \u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u5e76 \u751f\u6210 \u5b83 \u3002   \u4f8b\u5b50   import   carla   def   main ( ) :   #   \u8fde\u63a5 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef   client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   client . set _ timeout ( 2.0 )   #   \u83b7\u53d6 \u4e8b\u4ef6 \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005   world   =   client . get _ world ( )   actors   =   world . get _ actors ( )   #   Find   Trigger   Friction   Blueprint   friction _ bp   =   world . get _ blueprint _ library ( ) . find ( ' static . trigger . friction ' )   extent   =   carla . Location ( 700.0 ,   700.0 ,   700.0 )   friction _ bp . set _ attribute ( ' friction ' ,   str ( 0.0 ) )   friction _ bp . set _ attribute ( ' extent _ x ' ,   str ( extent . x ) )   friction _ bp . set _ attribute ( ' extent _ y ' ,   str ( extent . y ) )   friction _ bp . set _ attribute ( ' extent _ z ' ,   str ( extent . z ) )   #   Spawn   Trigger   Friction   transform   =   carla . Transform ( )   transform . location   =   carla . Location ( 100.0 ,   0.0 ,   0.0 )   world . spawn _ actor ( friction _ bp ,   transform )   #   Optional   for   visualizing   trigger   world . debug . draw _ box ( box = carla . BoundingBox ( transform . location ,   extent   *   1e - 2 ) ,   rotation = transform . rotation ,   life _ time = 100 ,   thickness = 0.5 ,   color = carla . Color ( r = 255 , g = 0 , b = 0 ) )   if   __ name __   = =   ' __ main __ ' :   main ( )","title":"\u5982\u4f55 \u6dfb\u52a0 \u6469\u64e6 \u89e6\u53d1\u5668"},{"location":"tuto_G_add_friction_triggers/#_1","text":"\u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 (   Friction   Triggers   )   \u662f \u53ef\u4ee5 \u5728 \u8fd0\u884c \u65f6 \u6dfb\u52a0 \u7684 \u6846 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \uff0c \u8ba9 \u7528\u6237 \u5728 \u5904\u4e8e \u8fd9\u4e9b \u7c7b\u578b \u7684 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \u5185\u65f6 \u5b9a\u4e49 \u8f66\u8f86 \u8f66\u8f6e \u7684 \u4e0d\u540c \u6469\u64e6 \u6469\u64e6\u529b \u3002 \u4f8b\u5982 \uff0c \u8fd9 \u5bf9\u4e8e \u52a8\u6001 \u5730 \u5728 \u5730\u56fe \u7684 \u67d0\u4e9b \u533a\u57df \u4e2d \u5236\u4f5c \u5149\u6ed1 \u7684 \u8868\u9762 \u53ef\u80fd \u5f88 \u6709\u7528 \u3002   \u4e3a\u4e86 \u4f7f\u7528   PythonAPI   \u751f\u6210 \u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \uff0c \u7528\u6237 \u5fc5\u987b \u9996\u5148 \u83b7\u53d6   static . trigger . friction   \u84dd\u56fe \u5b9a\u4e49 \uff0c \u7136\u540e \u4e3a \u8be5 \u84dd\u56fe \u5b9a\u4e49 \u8bbe\u7f6e \u4ee5\u4e0b \u5fc5\u8981 \u5c5e\u6027 \uff1a   friction   :   \u5f53 \u8f66\u8f86 \u4f4d\u4e8e \u89e6\u53d1 \u76d2\u5185 \u65f6 \uff0c \u89e6\u53d1 \u76d2 \u7684 \u6469\u64e6 \u6469\u64e6\u529b \u3002   extent _ x   :   X   \u5750\u6807 \u4e2d \u8fb9\u754c \u6846 \u7684 \u8303\u56f4 \uff08 \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   extent _ y   :   Y   \u5750\u6807 \u4e2d \u8fb9\u754c \u6846 \u7684 \u8303\u56f4 \uff08 \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   extent _ z   :   Z   \u5750\u6807 \u4e2d \u8fb9\u754c \u6846 \u7684 \u8303\u56f4 \uff08 \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   \u5b8c\u6210 \u6b64 \u64cd\u4f5c \u540e \uff0c \u5b9a\u4e49 \u4e00\u4e2a \u53d8\u6362 \u6765 \u6307\u5b9a \u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u5e76 \u751f\u6210 \u5b83 \u3002","title":"\u5982\u4f55 \u6dfb\u52a0 \u6469\u64e6 \u89e6\u53d1\u5668"},{"location":"tuto_G_add_friction_triggers/#_2","text":"import   carla   def   main ( ) :   #   \u8fde\u63a5 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef   client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   client . set _ timeout ( 2.0 )   #   \u83b7\u53d6 \u4e8b\u4ef6 \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005   world   =   client . get _ world ( )   actors   =   world . get _ actors ( )   #   Find   Trigger   Friction   Blueprint   friction _ bp   =   world . get _ blueprint _ library ( ) . find ( ' static . trigger . friction ' )   extent   =   carla . Location ( 700.0 ,   700.0 ,   700.0 )   friction _ bp . set _ attribute ( ' friction ' ,   str ( 0.0 ) )   friction _ bp . set _ attribute ( ' extent _ x ' ,   str ( extent . x ) )   friction _ bp . set _ attribute ( ' extent _ y ' ,   str ( extent . y ) )   friction _ bp . set _ attribute ( ' extent _ z ' ,   str ( extent . z ) )   #   Spawn   Trigger   Friction   transform   =   carla . Transform ( )   transform . location   =   carla . Location ( 100.0 ,   0.0 ,   0.0 )   world . spawn _ actor ( friction _ bp ,   transform )   #   Optional   for   visualizing   trigger   world . debug . draw _ box ( box = carla . BoundingBox ( transform . location ,   extent   *   1e - 2 ) ,   rotation = transform . rotation ,   life _ time = 100 ,   thickness = 0.5 ,   color = carla . Color ( r = 255 , g = 0 , b = 0 ) )   if   __ name __   = =   ' __ main __ ' :   main ( )","title":"\u4f8b\u5b50"},{"location":"tuto_G_bounding_boxes/","text":"\u8fb9\u754c \u6846   \u4f7f \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u4e86\u89e3 \u5176 \u73af\u5883 \u7684 \u4e00\u4e2a \u91cd\u8981 \u56e0\u7d20 \u5728\u4e8e \u4f30\u8ba1 \u8f66\u8f86 \u5468\u56f4 \u7269\u4f53 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002 \u4e3a\u6b64 \uff0c \u6709 \u5fc5\u8981 \u63a8\u65ad \u5bf9\u8c61 \u8fb9\u754c \u6846 \u7684 \u4f4d\u7f6e \u3002   Carla   \u4eff\u771f \u4e2d \u7684 \u5bf9\u8c61 \u90fd \u6709 \u4e00\u4e2a \u8fb9\u754c \u6846 \uff0c \u5e76\u4e14   Carla   Python   API   \u63d0\u4f9b \u4e86 \u8bbf\u95ee \u6bcf\u4e2a \u5bf9\u8c61 \u7684 \u8fb9\u754c \u6846 \u7684 \u51fd\u6570 \u3002 \u672c \u6559\u7a0b \u5c55\u793a \u5982\u4f55 \u8bbf\u95ee \u8fb9\u754c \u6846 \uff0c \u7136\u540e \u5c06 \u5b83\u4eec \u6295\u5f71 \u5230 \u76f8\u673a \u5e73\u9762 \u4e2d \u3002   \u8bbe\u7f6e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u8ba9 \u6211\u4eec \u7f16\u5199 \u6807\u51c6   Carla   \u6837\u677f \u4ee3\u7801 \uff0c \u8bbe\u7f6e \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u4e16\u754c \u5bf9\u8c61 \uff0c \u751f\u6210 \u8f66\u8f86 \u5e76 \u4e3a \u5176 \u9644\u52a0 \u76f8\u673a \uff1a   import   carla   import   math   import   random   import   time   import   queue   import   numpy   as   np   import   cv2   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   bp _ lib   =   world . get _ blueprint _ library ( )   #   \u751f\u6210 \u8f66\u8f86   vehicle _ bp   = bp _ lib . find ( ' vehicle . lincoln . mkz _ 2020 ' )   vehicle   =   world . try _ spawn _ actor ( vehicle _ bp ,   random . choice ( spawn _ points ) )   #   \u751f\u6210 \u76f8\u673a   camera _ bp   =   bp _ lib . find ( ' sensor . camera . rgb ' )   camera _ init _ trans   =   carla . Transform ( carla . Location ( z = 2 ) )   camera   =   world . spawn _ actor ( camera _ bp ,   camera _ init _ trans ,   attach _ to = vehicle )   vehicle . set _ autopilot ( True )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u8bbe\u7f6e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   Enables   synchronous   mode   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   #   \u83b7\u53d6 \u5730\u56fe \u7684 \u751f\u6210 \u70b9   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   #   \u521b\u5efa \u4e00\u4e2a \u961f\u5217 \u6765 \u5b58\u50a8 \u548c \u68c0\u7d22 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e   image _ queue   =   queue . Queue ( )   camera . listen ( image _ queue . put )   \u51e0\u4f55 \u53d8\u6362 \u51e0\u4f55\u53d8\u6362   \u6211\u4eec \u60f3\u8981 \u4ece \u4eff\u771f \u4e2d \u83b7\u53d6 \u4e09\u7ef4 \u70b9 \u5e76 \u5c06 \u5b83\u4eec \u6295\u5f71 \u5230 \u76f8\u673a \u7684 \u4e8c\u7ef4 \u5e73\u9762 \u4e2d \u3002 \u9996\u5148 \uff0c \u6211\u4eec \u9700\u8981 \u6784\u9020 \u76f8\u673a \u6295\u5f71 \u77e9\u9635 \uff1a   def   build _ projection _ matrix ( w ,   h ,   fov ) :   focal   =   w   /   ( 2.0   *   np . tan ( fov   *   np . pi   /   360.0 ) )   K   =   np . identity ( 3 )   K [ 0 ,   0 ]   =   K [ 1 ,   1 ]   =   focal   K [ 0 ,   2 ]   =   w   /   2.0   K [ 1 ,   2 ]   =   h   /   2.0   return   K   \u6211\u4eec \u60f3\u8981 \u4f7f\u7528 \u76f8\u673a \u6295\u5f71 \u77e9\u9635 \u5c06 \u4e09\u7ef4 \u70b9 \u6295\u5f71 \u5230 \u4e8c\u7ef4 \u70b9 \u3002 \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \u662f \u4f7f\u7528 \u53ef \u901a\u8fc7   camera . get _ transform ( ) . get _ inverse _ matrix ( )   \u68c0\u7d22 \u7684 \u9006 \u76f8\u673a \u53d8\u6362 \uff0c \u5c06 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4e09\u7ef4 \u5750\u6807 \u53d8\u6362 \u4e3a \u76f8\u673a \u5750\u6807 \u3002 \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u6211\u4eec \u4f7f\u7528 \u76f8\u673a \u6295\u5f71 \u77e9\u9635 \u5c06 \u76f8\u673a \u5750\u6807 \u4e2d \u7684 \u4e09\u7ef4 \u70b9 \u6295\u5f71 \u5230 \u4e8c\u7ef4 \u76f8\u673a \u5e73\u9762 \u4e2d \uff1a   def   get _ image _ point ( loc ,   K ,   w2c ) :   #   \u8ba1\u7b97 \u4e09\u7ef4 \u5750\u6807 \u7684 \u4e8c\u7ef4 \u6295\u5f71   #   \u8bbe\u7f6e \u8f93\u5165 \u5750\u6807 \u7684 \u683c\u5f0f \uff08 loc \u662f \u4e00\u4e2a carla . Position \u5bf9\u8c61 \uff09   point   =   np . array ( [ loc . x ,   loc . y ,   loc . z ,   1 ] )   #   \u53d8\u6362 \u5230 \u76f8\u673a \u5750\u6807   point _ camera   =   np . dot ( w2c ,   point )   #   \u65b0 \u7684 \uff0c \u6211\u4eec \u5fc5\u987b \u4ece UE4 \u7684 \u5750\u6807 \u5750\u6807\u7cfb \u66f4 \u6539\u4e3a \u201c standard \u201d   #   ( x ,   y   , z )   - >   ( y ,   - z ,   x )   #   \u6211\u4eec \u8fd8 \u53bb\u6389 \u4e86 \u7b2c\u56db \u56db\u4e2a \u7b2c\u56db\u4e2a \u6210\u5206   point _ camera   =   [ point _ camera [ 1 ] ,   - point _ camera [ 2 ] ,   point _ camera [ 0 ] ]   #   \u73b0\u5728 \u4f7f\u7528 \u76f8\u673a \u77e9\u9635 \u6295\u5f71 3D - > 2D   point _ img   =   np . dot ( K ,   point _ camera )   #   \u6b63\u5219 \u5316   point _ img [ 0 ]   / =   point _ img [ 2 ]   point _ img [ 1 ]   / =   point _ img [ 2 ]   return   point _ img [ 0 : 2 ]   \u73b0\u5728 \u6211\u4eec \u6709 \u4e86 \u6295\u5f71   3D   - >   2D   \u7684 \u529f\u80fd \uff0c \u6211\u4eec \u53ef\u4ee5 \u68c0\u7d22 \u76f8\u673a \u89c4\u683c \uff1a   #   \u83b7\u53d6 \u4e16\u754c \u7684 \u76f8\u673a \u77e9\u9635   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   #   Get   the   attributes   from   the   camera   image _ w   =   camera _ bp . get _ attribute ( \" image _ size _ x \" ) . as _ int ( )   image _ h   =   camera _ bp . get _ attribute ( \" image _ size _ y \" ) . as _ int ( )   fov   =   camera _ bp . get _ attribute ( \" fov \" ) . as _ float ( )   #   Calculate   the   camera   projection   matrix   to   project   from   3D   - >   2D   K   =   build _ projection _ matrix ( image _ w ,   image _ h ,   fov )   \u8fb9\u754c \u6846   Carla   \u5bf9\u8c61 \u90fd \u6709 \u4e00\u4e2a \u5173\u8054 \u7684 \u8fb9\u754c \u6846 \u3002 Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005   \u6709 \u4e00\u4e2a   bounding _ box   \u5c5e\u6027 \uff0c \u8be5 \u5c5e\u6027 \u5177\u6709   carla . BoundingBox   \u5bf9\u8c61 \u7c7b\u578b \u3002 \u8fb9\u754c \u6846 \u7684 \u9876\u70b9 \u53ef\u4ee5 \u901a\u8fc7   getter   \u51fd\u6570   . get _ world _ vertices ( )   \u6216   get _ local _ vertices ( )   \u4e4b\u4e00 \u68c0\u7d22 \u3002   \u9700\u8981 \u6ce8\u610f \u7684 \u662f \uff0c \u8981 \u83b7\u53d6 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u8fb9\u754c \u6846 \u7684 \u4e09\u7ef4 \u5750\u6807 \uff0c \u60a8 \u9700\u8981 \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u53d8\u6362 \u4f5c\u4e3a \u8be5   get _ world _ vertices ( )   \u65b9\u6cd5 \u7684 \u53c2\u6570 \uff0c \u5982\u4e0b \u6240\u793a \uff1a   actor . get _ world _ vertices ( actor . get _ transform ( ) )   \u5bf9\u4e8e \u5730\u56fe \u4e2d \u7684 \u7269\u4f53 \uff0c \u5982 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u8def\u6807 \uff0c \u53ef\u4ee5 \u901a\u8fc7   carla . World   \u65b9\u6cd5   get _ level _ bbs ( )   \u68c0\u7d22 \u8fb9\u754c \u6846 get _ level _ bbs ( ) \u3002   carla . CityObjectLabel   \u53ef\u4ee5 \u7528\u4f5c \u53c2\u6570 \u6765 \u5c06 \u8fb9\u754c \u6846 \u5217\u8868 \u8fc7\u6ee4 \u5230 \u76f8\u5173 \u5bf9\u8c61 \uff1a   #   Retrieve   all   bounding   boxes   for   traffic   lights   within   the   level   bounding _ box _ set   =   world . get _ level _ bbs ( carla . CityObjectLabel . TrafficLight )   #   Filter   the   list   to   extract   bounding   boxes   within   a   50m   radius   nearby _ bboxes   =   [ ]   for   bbox   in   bounding _ box _ set :   if   bbox . location . distance ( actor . get _ transform ( ) . location )   <   50 :   nearby _ bboxes   \u53ef\u4ee5 \u4f7f\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f4d\u7f6e \u6765 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u8fc7\u6ee4 \u8be5 \u5217\u8868 \uff0c \u4ee5 \u8bc6\u522b \u9644\u8fd1 \u7684 \u5bf9\u8c61 \uff0c \u56e0\u6b64 \u53ef\u80fd \u4f4d\u4e8e \u8fde\u63a5 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u76f8\u673a \u7684 \u89c6\u91ce \u5185 \u3002   \u4e3a\u4e86 \u5728 \u76f8\u673a \u56fe\u50cf \u4e0a \u7ed8\u5236 \u8fb9\u754c \u6846 \uff0c \u6211\u4eec \u9700\u8981 \u4ee5 \u9002\u5f53 \u7684 \u987a\u5e8f \u8fde\u63a5 \u9876\u70b9 \u4ee5 \u521b\u5efa \u8fb9\u7f18 \u3002 \u4e3a\u4e86 \u5b9e\u73b0 \u8fd9 \u4e00\u70b9 \uff0c \u6211\u4eec \u9700\u8981 \u4ee5\u4e0b \u8fb9 \u5bf9 \u5217\u8868 \uff1a   edges   =   [ [ 0 , 1 ] ,   [ 1 , 3 ] ,   [ 3 , 2 ] ,   [ 2 , 0 ] ,   [ 0 , 4 ] ,   [ 4 , 5 ] ,   [ 5 , 1 ] ,   [ 5 , 7 ] ,   [ 7 , 6 ] ,   [ 6 , 4 ] ,   [ 6 , 2 ] ,   [ 7 , 3 ] ]   \u6e32\u67d3 \u8fb9\u754c \u6846   \u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u8bbe\u7f6e \u4e86 \u51e0\u4f55 \u6295\u5f71 \u548c \u4eff\u771f \uff0c \u6211\u4eec \u53ef\u4ee5 \u7ee7\u7eed \u521b\u5efa \u6e38\u620f \u5faa\u73af \u5e76 \u5c06 \u8fb9\u754c \u6846 \u6e32\u67d3 \u5230 \u573a\u666f \u4e2d \u3002   #   Set   up   the   set   of   bounding   boxes   from   the   level   #   We   filter   for   traffic   lights   and   traffic   signs   bounding _ box _ set   =   world . get _ level _ bbs ( carla . CityObjectLabel . TrafficLight )   bounding _ box _ set . extend ( world . get _ level _ bbs ( carla . CityObjectLabel . TrafficSigns ) )   #   Remember   the   edge   pairs   edges   =   [ [ 0 , 1 ] ,   [ 1 , 3 ] ,   [ 3 , 2 ] ,   [ 2 , 0 ] ,   [ 0 , 4 ] ,   [ 4 , 5 ] ,   [ 5 , 1 ] ,   [ 5 , 7 ] ,   [ 7 , 6 ] ,   [ 6 , 4 ] ,   [ 6 , 2 ] ,   [ 7 , 3 ] ]   \u4e3a\u4e86 \u67e5\u770b \u8fb9\u754c \u6846 \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528   OpenCV   \u7a97\u53e3 \u6765 \u663e\u793a \u76f8\u673a \u8f93\u51fa \u3002   #   Retrieve   the   first   image   world . tick ( )   image   =   image _ queue . get ( )   #   Reshape   the   raw   data   into   an   RGB   array   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   Display   the   image   in   an   OpenCV   display   window   cv2 . namedWindow ( ' ImageWindowName ' ,   cv2 . WINDOW _ AUTOSIZE )   cv2 . imshow ( ' ImageWindowName ' , img )   cv2 . waitKey ( 1 )   \u73b0\u5728 \u6211\u4eec \u5c06 \u5f00\u59cb \u6e38\u620f \u5faa\u73af \uff1a   while   True :   #   Retrieve   and   reshape   the   image   world . tick ( )   image   =   image _ queue . get ( )   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   Get   the   camera   matrix   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   for   bb   in   bounding _ box _ set :   #   Filter   for   distance   from   ego   vehicle   if   bb . location . distance ( vehicle . get _ transform ( ) . location )   <   50 :   #   Calculate   the   dot   product   between   the   forward   vector   #   of   the   vehicle   and   the   vector   between   the   vehicle   #   and   the   bounding   box .   We   threshold   this   dot   product   #   to   limit   to   drawing   bounding   boxes   IN   FRONT   OF   THE   CAMERA   forward _ vec   =   vehicle . get _ transform ( ) . get _ forward _ vector ( )   ray   =   bb . location   -   vehicle . get _ transform ( ) . location   if   forward _ vec . dot ( ray )   >   1 :   #   Cycle   through   the   vertices   verts   =   [ v   for   v   in   bb . get _ world _ vertices ( carla . Transform ( ) ) ]   for   edge   in   edges :   #   Join   the   vertices   into   edges   p1   =   get _ image _ point ( verts [ edge [ 0 ] ] ,   K ,   world _ 2 _ camera )   p2   =   get _ image _ point ( verts [ edge [ 1 ] ] ,   K ,   world _ 2 _ camera )   #   Draw   the   edges   into   the   camera   output   cv2 . line ( img ,   ( int ( p1 [ 0 ] ) , int ( p1 [ 1 ] ) ) ,   ( int ( p2 [ 0 ] ) , int ( p2 [ 1 ] ) ) ,   ( 0 , 0 , 255 ,   255 ) ,   1 )   #   Now   draw   the   image   into   the   OpenCV   display   window   cv2 . imshow ( ' ImageWindowName ' , img )   #   Break   the   loop   if   the   user   presses   the   Q   key   if   cv2 . waitKey ( 1 )   = =   ord ( ' q ' ) :   break   #   Close   the   OpenCV   display   window   when   the   game   loop   stops   cv2 . destroyAllWindows ( )   \u73b0\u5728 \u6211\u4eec \u5c06 \u4e09\u7ef4 \u8fb9\u754c \u6846 \u6e32\u67d3 \u5230 \u56fe\u50cf \u4e2d \uff0c \u4ee5\u4fbf \u6211\u4eec \u53ef\u4ee5 \u5728 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa \u4e2d \u89c2\u5bdf \u5b83\u4eec \u3002   \u8f66\u8f86 \u8fb9\u754c \u6846   \u6211\u4eec \u53ef\u80fd \u8fd8 \u60f3 \u6e32\u67d3 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8fb9\u754c \u6846 \uff0c \u7279\u522b \u662f \u8f66\u8f86 \u7684 \u8fb9\u754c \u6846 \u3002   \u9996\u5148 \uff0c \u8ba9 \u6211\u4eec \u5728 \u4eff\u771f \u4e2d \u6dfb\u52a0 \u4e00\u4e9b \u5176\u4ed6 \u8f66\u8f86 \uff1a   for   i   in   range ( 50 ) :   vehicle _ bp   =   random . choice ( bp _ lib . filter ( ' vehicle ' ) )   npc   =   world . try _ spawn _ actor ( vehicle _ bp ,   random . choice ( spawn _ points ) )   if   npc :   npc . set _ autopilot ( True )   \u68c0\u7d22 \u7b2c\u4e00 \u4e00\u5f20 \u7b2c\u4e00\u5f20 \u56fe\u50cf \u5e76 \u50cf \u4ee5\u524d \u4e00\u6837 \u8bbe\u7f6e   OpenCV   \u663e\u793a \u7a97\u53e3 \uff1a   #   Retrieve   the   first   image   world . tick ( )   image   =   image _ queue . get ( )   #   Reshape   the   raw   data   into   an   RGB   array   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   Display   the   image   in   an   OpenCV   display   window   cv2 . namedWindow ( ' ImageWindowName ' ,   cv2 . WINDOW _ AUTOSIZE )   cv2 . imshow ( ' ImageWindowName ' , img )   cv2 . waitKey ( 1 )   \u73b0\u5728 \u6211\u4eec \u4f7f\u7528 \u4fee\u6539 \u540e \u7684 \u6e38\u620f \u5faa\u73af \u6765 \u7ed8\u5236 \u8f66\u8f86 \u8fb9\u754c \u6846 \uff1a   while   True :   #   Retrieve   and   reshape   the   image   world . tick ( )   image   =   image _ queue . get ( )   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   Get   the   camera   matrix   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   for   npc   in   world . get _ actors ( ) . filter ( ' * vehicle * ' ) :   #   Filter   out   the   ego   vehicle   if   npc . id   ! =   vehicle . id :   bb   =   npc . bounding _ box   dist   =   npc . get _ transform ( ) . location . distance ( vehicle . get _ transform ( ) . location )   #   Filter   for   the   vehicles   within   50m   if   dist   <   50 :   #   Calculate   the   dot   product   between   the   forward   vector   #   of   the   vehicle   and   the   vector   between   the   vehicle   #   and   the   other   vehicle .   We   threshold   this   dot   product   #   to   limit   to   drawing   bounding   boxes   IN   FRONT   OF   THE   CAMERA   forward _ vec   =   vehicle . get _ transform ( ) . get _ forward _ vector ( )   ray   =   npc . get _ transform ( ) . location   -   vehicle . get _ transform ( ) . location   if   forward _ vec . dot ( ray )   >   1 :   p1   =   get _ image _ point ( bb . location ,   K ,   world _ 2 _ camera )   verts   =   [ v   for   v   in   bb . get _ world _ vertices ( npc . get _ transform ( ) ) ]   for   edge   in   edges :   p1   =   get _ image _ point ( verts [ edge [ 0 ] ] ,   K ,   world _ 2 _ camera )   p2   =   get _ image _ point ( verts [ edge [ 1 ] ] ,   K ,   world _ 2 _ camera )   cv2 . line ( img ,   ( int ( p1 [ 0 ] ) , int ( p1 [ 1 ] ) ) ,   ( int ( p2 [ 0 ] ) , int ( p2 [ 1 ] ) ) ,   ( 255 , 0 , 0 ,   255 ) ,   1 )   cv2 . imshow ( ' ImageWindowName ' , img )   if   cv2 . waitKey ( 1 )   = =   ord ( ' q ' ) :   break   cv2 . destroyAllWindows ( )   \u4e8c\u7ef4 \u8fb9\u754c \u6846   \u8bad\u7ec3 \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u6765 \u68c0\u6d4b \u4e8c\u7ef4 \u8fb9\u754c \u6846\u800c \u4e0d\u662f \u4e0a\u9762 \u6f14\u793a \u7684 \u4e09\u7ef4 \u8fb9\u754c \u6846\u662f \u5f88 \u5e38\u89c1 \u7684 \u3002 \u524d\u9762 \u7684 \u811a\u672c \u53ef\u4ee5 \u8f7b\u677e \u6269\u5c55 \u4ee5 \u751f\u6210 \u4e8c\u7ef4 \u8fb9\u754c \u6846 \u3002 \u6211\u4eec \u53ea \u9700\u8981 \u4f7f\u7528 \u4e09\u7ef4 \u8fb9\u754c \u6846 \u7684 \u672b\u7aef \u5373\u53ef \u3002 \u5bf9\u4e8e \u6e32\u67d3 \u7684 \u6bcf\u4e2a \u8fb9\u754c \u6846 \uff0c \u6211\u4eec \u627e\u5230 \u56fe\u50cf \u5750\u6807 \u4e2d \u6700 \u5de6\u8fb9 \u3001 \u6700 \u53f3\u8fb9 \u3001 \u6700\u9ad8 \u548c \u6700\u4f4e \u7684 \u6295\u5f71 \u9876\u70b9 \u3002   while   True :   #   Retrieve   and   reshape   the   image   world . tick ( )   image   =   image _ queue . get ( )   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   Get   the   camera   matrix   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   for   npc   in   world . get _ actors ( ) . filter ( ' * vehicle * ' ) :   #   Filter   out   the   ego   vehicle   if   npc . id   ! =   vehicle . id :   bb   =   npc . bounding _ box   dist   =   npc . get _ transform ( ) . location . distance ( vehicle . get _ transform ( ) . location )   #   Filter   for   the   vehicles   within   50m   if   dist   <   50 :   #   Calculate   the   dot   product   between   the   forward   vector   #   of   the   vehicle   and   the   vector   between   the   vehicle   #   and   the   other   vehicle .   We   threshold   this   dot   product   #   to   limit   to   drawing   bounding   boxes   IN   FRONT   OF   THE   CAMERA   forward _ vec   =   vehicle . get _ transform ( ) . get _ forward _ vector ( )   ray   =   npc . get _ transform ( ) . location   -   vehicle . get _ transform ( ) . location   if   forward _ vec . dot ( ray )   >   1 :   p1   =   get _ image _ point ( bb . location ,   K ,   world _ 2 _ camera ) http : / / host . robots . ox . ac . uk / pascal / VOC /   verts   =   [ v   for   v   in   bb . get _ world _ vertices ( npc . get _ transform ( ) ) ]   x _ max   =   - 10000   x _ min   =   10000   y _ max   =   - 10000   y _ min   =   10000   for   vert   in   verts :   p   =   get _ image _ point ( vert ,   K ,   world _ 2 _ camera )   #   Find   the   rightmost   vertex   if   p [ 0 ]   >   x _ max :   x _ max   =   p [ 0 ]   #   Find   the   leftmost   vertex   if   p [ 0 ]   <   x _ min :   x _ min   =   p [ 0 ]   #   Find   the   highest   vertex   if   p [ 1 ]   >   y _ max :   y _ max   =   p [ 1 ]   #   Find   the   lowest   vertex   if   p [ 1 ]   <   y _ min :   y _ min   =   p [ 1 ]   cv2 . line ( img ,   ( int ( x _ min ) , int ( y _ min ) ) ,   ( int ( x _ max ) , int ( y _ min ) ) ,   ( 0 , 0 , 255 ,   255 ) ,   1 )   cv2 . line ( img ,   ( int ( x _ min ) , int ( y _ max ) ) ,   ( int ( x _ max ) , int ( y _ max ) ) ,   ( 0 , 0 , 255 ,   255 ) ,   1 )   cv2 . line ( img ,   ( int ( x _ min ) , int ( y _ min ) ) ,   ( int ( x _ min ) , int ( y _ max ) ) ,   ( 0 , 0 , 255 ,   255 ) ,   1 )   cv2 . line ( img ,   ( int ( x _ max ) , int ( y _ min ) ) ,   ( int ( x _ max ) , int ( y _ max ) ) ,   ( 0 , 0 , 255 ,   255 ) ,   1 )   cv2 . imshow ( ' ImageWindowName ' , img )   if   cv2 . waitKey ( 1 )   = =   ord ( ' q ' ) :   break   cv2 . destroyAllWindows ( )   \u5bfc\u51fa \u8fb9\u754c \u6846   \u6e32\u67d3 \u8fb9\u754c \u6846 \u5bf9\u4e8e \u6211\u4eec \u786e\u4fdd \u8fb9\u754c \u6846 \u5bf9\u4e8e \u8c03\u8bd5 \u76ee\u7684 \u662f \u6b63\u786e \u7684 \u5f88 \u6709\u7528 \u3002 \u7136\u800c \uff0c \u5982\u679c \u6211\u4eec \u60f3 \u5728 \u8bad\u7ec3 \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u65f6 \u5b9e\u9645 \u4f7f\u7528 \u5b83\u4eec \uff0c \u6211\u4eec \u5c06 \u9700\u8981 \u5bfc\u51fa \u5b83\u4eec \u3002 \u7528\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u548c \u7269\u4f53 \u68c0\u6d4b \u7684 \u5e38\u89c1 \u6570\u636e \u5b58\u50a8 \u5e93 \u4f7f\u7528 \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7684 \u683c\u5f0f \uff0c \u4f8b\u5982   KITTI   \u6216   PASCAL   VOC   \u6216   MicroSoft   COCO   \u3002   Pascal   VOC   \u683c\u5f0f   \u8fd9\u4e9b \u6570\u636e \u96c6 \u901a\u5e38 \u4f7f\u7528   JSON   \u6216   XML   \u683c\u5f0f \u6765 \u5b58\u50a8 \u6ce8\u91ca \u3002 PASCAL   VOC   \u683c\u5f0f \u6709 \u4e00\u4e2a \u65b9\u4fbf \u7684   Python   \u5e93 \u3002   from   pascal _ voc _ writer   import   Writer   ...   ...   ...   while   True :   #   Retrieve   the   image   world . tick ( )   image   =   image _ queue . get ( )   #   Get   the   camera   matrix   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   frame _ path   =   ' output / % 06d '   %   image . frame   #   Save   the   image   image . save _ to _ disk ( frame _ path   +   ' . png ' )   #   Initialize   the   exporter   writer   =   Writer ( frame _ path   +   ' . png ' ,   image _ w ,   image _ h )   for   npc   in   world . get _ actors ( ) . filter ( ' * vehicle * ' ) :   if   npc . id   ! =   vehicle . id :   bb   =   npc . bounding _ box   dist   =   npc . get _ transform ( ) . location . distance ( vehicle . get _ transform ( ) . location )   if   dist   <   50 :   forward _ vec   =   vehicle . get _ transform ( ) . get _ forward _ vector ( )   ray   =   npc . get _ transform ( ) . location   -   vehicle . get _ transform ( ) . location   if   forward _ vec . dot ( ray )   >   1 :   p1   =   get _ image _ point ( bb . location ,   K ,   world _ 2 _ camera )   verts   =   [ v   for   v   in   bb . get _ world _ vertices ( npc . get _ transform ( ) ) ]   x _ max   =   - 10000   x _ min   =   10000   y _ max   =   - 10000   y _ min   =   10000   for   vert   in   verts :   p   =   get _ image _ point ( vert ,   K ,   world _ 2 _ camera )   if   p [ 0 ]   >   x _ max :   x _ max   =   p [ 0 ]   if   p [ 0 ]   <   x _ min :   x _ min   =   p [ 0 ]   if   p [ 1 ]   >   y _ max :   y _ max   =   p [ 1 ]   if   p [ 1 ]   <   y _ min :   y _ min   =   p [ 1 ]   #   Add   the   object   to   the   frame   ( ensure   it   is   inside   the   image )   if   x _ min   >   0   and   x _ max   <   image _ w   and   y _ min   >   0   and   y _ max   <   image _ h :   writer . addObject ( ' vehicle ' ,   x _ min ,   y _ min ,   x _ max ,   y _ max )   #   Save   the   bounding   boxes   in   the   scene   writer . save ( frame _ path   +   ' . xml ' )   \u5bf9\u4e8e \u4eff\u771f \u7684 \u6bcf\u4e2a \u6e32\u67d3 \u5e27 \uff0c \u60a8 \u73b0\u5728 \u5c06 \u5bfc\u51fa \u4e00\u4e2a \u968f\u9644 \u7684   XML   \u6587\u4ef6 \uff0c \u5176\u4e2d \u5305\u542b \u5e27 \u4e2d \u8fb9\u754c \u6846 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u5728   PASCAL   VOC   \u683c\u5f0f \u4e2d \uff0c XML   \u6587\u4ef6 \u5305\u542b \u6d89\u53ca \u968f\u9644 \u56fe\u50cf \u6587\u4ef6 \u56fe\u50cf\u6587\u4ef6 \u3001 \u56fe\u50cf \u5c3a\u5bf8 \u7684 \u4fe1\u606f \uff0c \u5982\u679c \u9700\u8981 \uff0c \u8fd8 \u53ef\u4ee5 \u5305\u62ec \u8f66\u8f86 \u7c7b\u578b \u7b49 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   < ! --   Example   PASCAL   VOC   format   file -- >   < annotation >   < folder > output < / folder >   < filename > 023235 . png < / filename >   < path > / home / matt / Documents / temp / output / 023235 . png < / path >   < source >   < database > Unknown < / database >   < / source >   < size >   < width > 800 < / width >   < height > 600 < / height >   < depth > 3 < / depth >   < / size >   < segmented > 0 < / segmented >   < object >   < name > vehicle < / name >   < pose > Unspecified < / pose >   < truncated > 0 < / truncated >   < difficult > 0 < / difficult >   < bndbox >   < xmin > 503 < / xmin >   < ymin > 310 < / ymin >   < xmax > 511 < / xmax >   < ymax > 321 < / ymax >   < / bndbox >   < / object >   < object >   < name > vehicle < / name >   < pose > Unspecified < / pose >   < truncated > 0 < / truncated >   < difficult > 0 < / difficult >   < bndbox >   < xmin > 490 < / xmin >   < ymin > 310 < / ymin >   < xmax > 498 < / xmax >   < ymax > 321 < / ymax >   < / bndbox >   < / object >   < / annotation >   \u5fae\u8f6f   COCO   \u683c\u5f0f   \u53e6 \u4e00\u79cd \u6d41\u884c \u7684 \u5bfc\u51fa \u683c\u5f0f \u662f   MicroSoft   COCO   \u3002 COCO   \u683c\u5f0f \u4f7f\u7528   JSON   \u6587\u4ef6 \u6765 \u4fdd\u5b58 \u5bf9 \u56fe\u50cf \u548c \u6ce8\u91ca \u7684 \u5f15\u7528 \u3002 \u8be5 \u683c\u5f0f \u5305\u62ec \u5355\u4e2a   JSON   \u6587\u4ef6 \u5b57\u6bb5 \u4e2d \u7684 \u56fe\u50cf \u548c \u6ce8\u91ca \uff0c \u4ee5\u53ca \u6709\u5173 \u6570\u636e \u96c6 \u548c \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u7684 \u4fe1\u606f \u3002 \u4e0e \u67d0\u4e9b \u5176\u4ed6 \u683c\u5f0f \u76f8\u6bd4 \uff0c \u5bf9 \u6240\u6709 \u6536\u96c6 \u7684 \u56fe\u50cf \u548c \u6240\u6709 \u76f8\u5173 \u6ce8\u91ca \u7684 \u5f15\u7528 \u90fd \u4f4d\u4e8e \u540c\u4e00 \u6587\u4ef6 \u4e2d \u3002   \u60a8 \u5e94\u8be5 \u521b\u5efa \u4e00\u4e2a \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u793a\u4f8b \u7684   JSON   \u5b57\u5178 \uff1a   simulation _ dataset   =   {   \" info \" :   { } ,   \" licenses \" :   [   {   \" url \" :   \" http : / / creativecommons . org / licenses / by - nc - sa / 2.0 / \" ,   \" id \" :   1 ,   \" name \" :   \" Attribution - NonCommercial - ShareAlike   License \"   } ] ,   \" images \" :   [ ... ,   {   \" license \" :   1 ,   \" file _ name \" :   \" 023235 . png \" ,   \" height \" :   600 ,   \" width \" :   800 ,   \" date _ captured \" :   \" 2022 - 04 - 14   17 : 02 : 52 \" ,   \" id \" :   23235   } ,   ...   ] ,   \" categories \" :   [ ...   { \" supercategory \" :   \" vehicle \" ,   \" id \" :   10 ,   \" name \" :   \" vehicle \"   } ,   ... ] ,   \" annotations \" :   [   ... ,   {   \" segmentation \" :   [ ] ,   \" area \" :   9262.89 ,   \" iscrowd \" :   0 ,   \" image _ id \" :   23235 ,   \" bbox \" :   [ 503.3 ,   310.4 ,   118.3 ,   78.3 ]   } ,   ...   ]   }   \u4fe1\u606f \u548c \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u90e8\u5206 \u5e94 \u76f8\u5e94 \u586b\u5199 \u6216 \u7559\u7a7a \u3002 \u4eff\u771f \u4e2d \u7684 \u56fe\u50cf \u5e94 \u5b58\u50a8 \u5728   images   \u5b57\u5178 \u5b57\u6bb5 \u4e2d \u7684 \u6570\u7ec4 \u4e2d \u3002 \u8fb9\u754c \u6846\u5e94 \u5b58\u50a8 \u5728 \u5177\u6709 \u5339\u914d   image _ id   \u7684   annotations   \u5b57\u5178 \u5b57\u6bb5 \u4e2d \u3002 \u8fb9\u754c \u6846 \u5b58\u50a8 \u4e3a   [ x _ min ,   y _ min ,   width ,   height ]   \u3002   \u7136\u540e \u53ef\u4ee5 \u4f7f\u7528   Python   JSON   \u5e93 \u5c06 \u5b57\u5178 \u4fdd\u5b58 \u4e3a   JSON   \u6587\u4ef6 \uff1a   import   json   with   open ( ' simulation _ data . json ' ,   ' w ' )   as   json _ file :   json . dump ( simulation _ dataset ,   json _ file )   \u6709\u5173   COCO   \u6570\u636e \u683c\u5f0f \u6570\u636e\u683c\u5f0f \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8bf7 \u53c2\u89c1   \u6b64\u5904   \u3002   \u5e94\u8be5 \u6ce8\u610f \u7684 \u662f \uff0c \u5728 \u672c \u6559\u7a0b \u4e2d \u6211\u4eec \u6ca1\u6709 \u8003\u8651 \u91cd\u53e0 \u7684 \u8fb9\u754c \u6846 \u3002 \u4e3a\u4e86 \u5728 \u91cd\u53e0 \u7684 \u60c5\u51b5 \u4e0b \u8bc6\u522b \u524d\u666f \u8fb9\u754c \u6846 \uff0c \u9700\u8981 \u8fdb\u884c \u989d\u5916 \u7684 \u5de5\u4f5c \u3002","title":"\u8fb9\u754c \u6846"},{"location":"tuto_G_bounding_boxes/#_1","text":"\u4f7f \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u4e86\u89e3 \u5176 \u73af\u5883 \u7684 \u4e00\u4e2a \u91cd\u8981 \u56e0\u7d20 \u5728\u4e8e \u4f30\u8ba1 \u8f66\u8f86 \u5468\u56f4 \u7269\u4f53 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002 \u4e3a\u6b64 \uff0c \u6709 \u5fc5\u8981 \u63a8\u65ad \u5bf9\u8c61 \u8fb9\u754c \u6846 \u7684 \u4f4d\u7f6e \u3002   Carla   \u4eff\u771f \u4e2d \u7684 \u5bf9\u8c61 \u90fd \u6709 \u4e00\u4e2a \u8fb9\u754c \u6846 \uff0c \u5e76\u4e14   Carla   Python   API   \u63d0\u4f9b \u4e86 \u8bbf\u95ee \u6bcf\u4e2a \u5bf9\u8c61 \u7684 \u8fb9\u754c \u6846 \u7684 \u51fd\u6570 \u3002 \u672c \u6559\u7a0b \u5c55\u793a \u5982\u4f55 \u8bbf\u95ee \u8fb9\u754c \u6846 \uff0c \u7136\u540e \u5c06 \u5b83\u4eec \u6295\u5f71 \u5230 \u76f8\u673a \u5e73\u9762 \u4e2d \u3002","title":"\u8fb9\u754c \u6846"},{"location":"tuto_G_bounding_boxes/#_2","text":"\u8ba9 \u6211\u4eec \u7f16\u5199 \u6807\u51c6   Carla   \u6837\u677f \u4ee3\u7801 \uff0c \u8bbe\u7f6e \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u4e16\u754c \u5bf9\u8c61 \uff0c \u751f\u6210 \u8f66\u8f86 \u5e76 \u4e3a \u5176 \u9644\u52a0 \u76f8\u673a \uff1a   import   carla   import   math   import   random   import   time   import   queue   import   numpy   as   np   import   cv2   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   bp _ lib   =   world . get _ blueprint _ library ( )   #   \u751f\u6210 \u8f66\u8f86   vehicle _ bp   = bp _ lib . find ( ' vehicle . lincoln . mkz _ 2020 ' )   vehicle   =   world . try _ spawn _ actor ( vehicle _ bp ,   random . choice ( spawn _ points ) )   #   \u751f\u6210 \u76f8\u673a   camera _ bp   =   bp _ lib . find ( ' sensor . camera . rgb ' )   camera _ init _ trans   =   carla . Transform ( carla . Location ( z = 2 ) )   camera   =   world . spawn _ actor ( camera _ bp ,   camera _ init _ trans ,   attach _ to = vehicle )   vehicle . set _ autopilot ( True )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u8bbe\u7f6e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   Enables   synchronous   mode   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   #   \u83b7\u53d6 \u5730\u56fe \u7684 \u751f\u6210 \u70b9   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   #   \u521b\u5efa \u4e00\u4e2a \u961f\u5217 \u6765 \u5b58\u50a8 \u548c \u68c0\u7d22 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e   image _ queue   =   queue . Queue ( )   camera . listen ( image _ queue . put )","title":"\u8bbe\u7f6e \u4eff\u771f\u5668"},{"location":"tuto_G_bounding_boxes/#_3","text":"\u6211\u4eec \u60f3\u8981 \u4ece \u4eff\u771f \u4e2d \u83b7\u53d6 \u4e09\u7ef4 \u70b9 \u5e76 \u5c06 \u5b83\u4eec \u6295\u5f71 \u5230 \u76f8\u673a \u7684 \u4e8c\u7ef4 \u5e73\u9762 \u4e2d \u3002 \u9996\u5148 \uff0c \u6211\u4eec \u9700\u8981 \u6784\u9020 \u76f8\u673a \u6295\u5f71 \u77e9\u9635 \uff1a   def   build _ projection _ matrix ( w ,   h ,   fov ) :   focal   =   w   /   ( 2.0   *   np . tan ( fov   *   np . pi   /   360.0 ) )   K   =   np . identity ( 3 )   K [ 0 ,   0 ]   =   K [ 1 ,   1 ]   =   focal   K [ 0 ,   2 ]   =   w   /   2.0   K [ 1 ,   2 ]   =   h   /   2.0   return   K   \u6211\u4eec \u60f3\u8981 \u4f7f\u7528 \u76f8\u673a \u6295\u5f71 \u77e9\u9635 \u5c06 \u4e09\u7ef4 \u70b9 \u6295\u5f71 \u5230 \u4e8c\u7ef4 \u70b9 \u3002 \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \u662f \u4f7f\u7528 \u53ef \u901a\u8fc7   camera . get _ transform ( ) . get _ inverse _ matrix ( )   \u68c0\u7d22 \u7684 \u9006 \u76f8\u673a \u53d8\u6362 \uff0c \u5c06 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4e09\u7ef4 \u5750\u6807 \u53d8\u6362 \u4e3a \u76f8\u673a \u5750\u6807 \u3002 \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u6211\u4eec \u4f7f\u7528 \u76f8\u673a \u6295\u5f71 \u77e9\u9635 \u5c06 \u76f8\u673a \u5750\u6807 \u4e2d \u7684 \u4e09\u7ef4 \u70b9 \u6295\u5f71 \u5230 \u4e8c\u7ef4 \u76f8\u673a \u5e73\u9762 \u4e2d \uff1a   def   get _ image _ point ( loc ,   K ,   w2c ) :   #   \u8ba1\u7b97 \u4e09\u7ef4 \u5750\u6807 \u7684 \u4e8c\u7ef4 \u6295\u5f71   #   \u8bbe\u7f6e \u8f93\u5165 \u5750\u6807 \u7684 \u683c\u5f0f \uff08 loc \u662f \u4e00\u4e2a carla . Position \u5bf9\u8c61 \uff09   point   =   np . array ( [ loc . x ,   loc . y ,   loc . z ,   1 ] )   #   \u53d8\u6362 \u5230 \u76f8\u673a \u5750\u6807   point _ camera   =   np . dot ( w2c ,   point )   #   \u65b0 \u7684 \uff0c \u6211\u4eec \u5fc5\u987b \u4ece UE4 \u7684 \u5750\u6807 \u5750\u6807\u7cfb \u66f4 \u6539\u4e3a \u201c standard \u201d   #   ( x ,   y   , z )   - >   ( y ,   - z ,   x )   #   \u6211\u4eec \u8fd8 \u53bb\u6389 \u4e86 \u7b2c\u56db \u56db\u4e2a \u7b2c\u56db\u4e2a \u6210\u5206   point _ camera   =   [ point _ camera [ 1 ] ,   - point _ camera [ 2 ] ,   point _ camera [ 0 ] ]   #   \u73b0\u5728 \u4f7f\u7528 \u76f8\u673a \u77e9\u9635 \u6295\u5f71 3D - > 2D   point _ img   =   np . dot ( K ,   point _ camera )   #   \u6b63\u5219 \u5316   point _ img [ 0 ]   / =   point _ img [ 2 ]   point _ img [ 1 ]   / =   point _ img [ 2 ]   return   point _ img [ 0 : 2 ]   \u73b0\u5728 \u6211\u4eec \u6709 \u4e86 \u6295\u5f71   3D   - >   2D   \u7684 \u529f\u80fd \uff0c \u6211\u4eec \u53ef\u4ee5 \u68c0\u7d22 \u76f8\u673a \u89c4\u683c \uff1a   #   \u83b7\u53d6 \u4e16\u754c \u7684 \u76f8\u673a \u77e9\u9635   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   #   Get   the   attributes   from   the   camera   image _ w   =   camera _ bp . get _ attribute ( \" image _ size _ x \" ) . as _ int ( )   image _ h   =   camera _ bp . get _ attribute ( \" image _ size _ y \" ) . as _ int ( )   fov   =   camera _ bp . get _ attribute ( \" fov \" ) . as _ float ( )   #   Calculate   the   camera   projection   matrix   to   project   from   3D   - >   2D   K   =   build _ projection _ matrix ( image _ w ,   image _ h ,   fov )","title":"\u51e0\u4f55\u53d8\u6362"},{"location":"tuto_G_bounding_boxes/#_4","text":"Carla   \u5bf9\u8c61 \u90fd \u6709 \u4e00\u4e2a \u5173\u8054 \u7684 \u8fb9\u754c \u6846 \u3002 Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005   \u6709 \u4e00\u4e2a   bounding _ box   \u5c5e\u6027 \uff0c \u8be5 \u5c5e\u6027 \u5177\u6709   carla . BoundingBox   \u5bf9\u8c61 \u7c7b\u578b \u3002 \u8fb9\u754c \u6846 \u7684 \u9876\u70b9 \u53ef\u4ee5 \u901a\u8fc7   getter   \u51fd\u6570   . get _ world _ vertices ( )   \u6216   get _ local _ vertices ( )   \u4e4b\u4e00 \u68c0\u7d22 \u3002   \u9700\u8981 \u6ce8\u610f \u7684 \u662f \uff0c \u8981 \u83b7\u53d6 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u8fb9\u754c \u6846 \u7684 \u4e09\u7ef4 \u5750\u6807 \uff0c \u60a8 \u9700\u8981 \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u53d8\u6362 \u4f5c\u4e3a \u8be5   get _ world _ vertices ( )   \u65b9\u6cd5 \u7684 \u53c2\u6570 \uff0c \u5982\u4e0b \u6240\u793a \uff1a   actor . get _ world _ vertices ( actor . get _ transform ( ) )   \u5bf9\u4e8e \u5730\u56fe \u4e2d \u7684 \u7269\u4f53 \uff0c \u5982 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u8def\u6807 \uff0c \u53ef\u4ee5 \u901a\u8fc7   carla . World   \u65b9\u6cd5   get _ level _ bbs ( )   \u68c0\u7d22 \u8fb9\u754c \u6846 get _ level _ bbs ( ) \u3002   carla . CityObjectLabel   \u53ef\u4ee5 \u7528\u4f5c \u53c2\u6570 \u6765 \u5c06 \u8fb9\u754c \u6846 \u5217\u8868 \u8fc7\u6ee4 \u5230 \u76f8\u5173 \u5bf9\u8c61 \uff1a   #   Retrieve   all   bounding   boxes   for   traffic   lights   within   the   level   bounding _ box _ set   =   world . get _ level _ bbs ( carla . CityObjectLabel . TrafficLight )   #   Filter   the   list   to   extract   bounding   boxes   within   a   50m   radius   nearby _ bboxes   =   [ ]   for   bbox   in   bounding _ box _ set :   if   bbox . location . distance ( actor . get _ transform ( ) . location )   <   50 :   nearby _ bboxes   \u53ef\u4ee5 \u4f7f\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f4d\u7f6e \u6765 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u8fc7\u6ee4 \u8be5 \u5217\u8868 \uff0c \u4ee5 \u8bc6\u522b \u9644\u8fd1 \u7684 \u5bf9\u8c61 \uff0c \u56e0\u6b64 \u53ef\u80fd \u4f4d\u4e8e \u8fde\u63a5 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u76f8\u673a \u7684 \u89c6\u91ce \u5185 \u3002   \u4e3a\u4e86 \u5728 \u76f8\u673a \u56fe\u50cf \u4e0a \u7ed8\u5236 \u8fb9\u754c \u6846 \uff0c \u6211\u4eec \u9700\u8981 \u4ee5 \u9002\u5f53 \u7684 \u987a\u5e8f \u8fde\u63a5 \u9876\u70b9 \u4ee5 \u521b\u5efa \u8fb9\u7f18 \u3002 \u4e3a\u4e86 \u5b9e\u73b0 \u8fd9 \u4e00\u70b9 \uff0c \u6211\u4eec \u9700\u8981 \u4ee5\u4e0b \u8fb9 \u5bf9 \u5217\u8868 \uff1a   edges   =   [ [ 0 , 1 ] ,   [ 1 , 3 ] ,   [ 3 , 2 ] ,   [ 2 , 0 ] ,   [ 0 , 4 ] ,   [ 4 , 5 ] ,   [ 5 , 1 ] ,   [ 5 , 7 ] ,   [ 7 , 6 ] ,   [ 6 , 4 ] ,   [ 6 , 2 ] ,   [ 7 , 3 ] ]","title":"\u8fb9\u754c \u6846"},{"location":"tuto_G_bounding_boxes/#_5","text":"\u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u8bbe\u7f6e \u4e86 \u51e0\u4f55 \u6295\u5f71 \u548c \u4eff\u771f \uff0c \u6211\u4eec \u53ef\u4ee5 \u7ee7\u7eed \u521b\u5efa \u6e38\u620f \u5faa\u73af \u5e76 \u5c06 \u8fb9\u754c \u6846 \u6e32\u67d3 \u5230 \u573a\u666f \u4e2d \u3002   #   Set   up   the   set   of   bounding   boxes   from   the   level   #   We   filter   for   traffic   lights   and   traffic   signs   bounding _ box _ set   =   world . get _ level _ bbs ( carla . CityObjectLabel . TrafficLight )   bounding _ box _ set . extend ( world . get _ level _ bbs ( carla . CityObjectLabel . TrafficSigns ) )   #   Remember   the   edge   pairs   edges   =   [ [ 0 , 1 ] ,   [ 1 , 3 ] ,   [ 3 , 2 ] ,   [ 2 , 0 ] ,   [ 0 , 4 ] ,   [ 4 , 5 ] ,   [ 5 , 1 ] ,   [ 5 , 7 ] ,   [ 7 , 6 ] ,   [ 6 , 4 ] ,   [ 6 , 2 ] ,   [ 7 , 3 ] ]   \u4e3a\u4e86 \u67e5\u770b \u8fb9\u754c \u6846 \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528   OpenCV   \u7a97\u53e3 \u6765 \u663e\u793a \u76f8\u673a \u8f93\u51fa \u3002   #   Retrieve   the   first   image   world . tick ( )   image   =   image _ queue . get ( )   #   Reshape   the   raw   data   into   an   RGB   array   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   Display   the   image   in   an   OpenCV   display   window   cv2 . namedWindow ( ' ImageWindowName ' ,   cv2 . WINDOW _ AUTOSIZE )   cv2 . imshow ( ' ImageWindowName ' , img )   cv2 . waitKey ( 1 )   \u73b0\u5728 \u6211\u4eec \u5c06 \u5f00\u59cb \u6e38\u620f \u5faa\u73af \uff1a   while   True :   #   Retrieve   and   reshape   the   image   world . tick ( )   image   =   image _ queue . get ( )   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   Get   the   camera   matrix   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   for   bb   in   bounding _ box _ set :   #   Filter   for   distance   from   ego   vehicle   if   bb . location . distance ( vehicle . get _ transform ( ) . location )   <   50 :   #   Calculate   the   dot   product   between   the   forward   vector   #   of   the   vehicle   and   the   vector   between   the   vehicle   #   and   the   bounding   box .   We   threshold   this   dot   product   #   to   limit   to   drawing   bounding   boxes   IN   FRONT   OF   THE   CAMERA   forward _ vec   =   vehicle . get _ transform ( ) . get _ forward _ vector ( )   ray   =   bb . location   -   vehicle . get _ transform ( ) . location   if   forward _ vec . dot ( ray )   >   1 :   #   Cycle   through   the   vertices   verts   =   [ v   for   v   in   bb . get _ world _ vertices ( carla . Transform ( ) ) ]   for   edge   in   edges :   #   Join   the   vertices   into   edges   p1   =   get _ image _ point ( verts [ edge [ 0 ] ] ,   K ,   world _ 2 _ camera )   p2   =   get _ image _ point ( verts [ edge [ 1 ] ] ,   K ,   world _ 2 _ camera )   #   Draw   the   edges   into   the   camera   output   cv2 . line ( img ,   ( int ( p1 [ 0 ] ) , int ( p1 [ 1 ] ) ) ,   ( int ( p2 [ 0 ] ) , int ( p2 [ 1 ] ) ) ,   ( 0 , 0 , 255 ,   255 ) ,   1 )   #   Now   draw   the   image   into   the   OpenCV   display   window   cv2 . imshow ( ' ImageWindowName ' , img )   #   Break   the   loop   if   the   user   presses   the   Q   key   if   cv2 . waitKey ( 1 )   = =   ord ( ' q ' ) :   break   #   Close   the   OpenCV   display   window   when   the   game   loop   stops   cv2 . destroyAllWindows ( )   \u73b0\u5728 \u6211\u4eec \u5c06 \u4e09\u7ef4 \u8fb9\u754c \u6846 \u6e32\u67d3 \u5230 \u56fe\u50cf \u4e2d \uff0c \u4ee5\u4fbf \u6211\u4eec \u53ef\u4ee5 \u5728 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa \u4e2d \u89c2\u5bdf \u5b83\u4eec \u3002","title":"\u6e32\u67d3 \u8fb9\u754c \u6846"},{"location":"tuto_G_bounding_boxes/#_6","text":"\u6211\u4eec \u53ef\u80fd \u8fd8 \u60f3 \u6e32\u67d3 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8fb9\u754c \u6846 \uff0c \u7279\u522b \u662f \u8f66\u8f86 \u7684 \u8fb9\u754c \u6846 \u3002   \u9996\u5148 \uff0c \u8ba9 \u6211\u4eec \u5728 \u4eff\u771f \u4e2d \u6dfb\u52a0 \u4e00\u4e9b \u5176\u4ed6 \u8f66\u8f86 \uff1a   for   i   in   range ( 50 ) :   vehicle _ bp   =   random . choice ( bp _ lib . filter ( ' vehicle ' ) )   npc   =   world . try _ spawn _ actor ( vehicle _ bp ,   random . choice ( spawn _ points ) )   if   npc :   npc . set _ autopilot ( True )   \u68c0\u7d22 \u7b2c\u4e00 \u4e00\u5f20 \u7b2c\u4e00\u5f20 \u56fe\u50cf \u5e76 \u50cf \u4ee5\u524d \u4e00\u6837 \u8bbe\u7f6e   OpenCV   \u663e\u793a \u7a97\u53e3 \uff1a   #   Retrieve   the   first   image   world . tick ( )   image   =   image _ queue . get ( )   #   Reshape   the   raw   data   into   an   RGB   array   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   Display   the   image   in   an   OpenCV   display   window   cv2 . namedWindow ( ' ImageWindowName ' ,   cv2 . WINDOW _ AUTOSIZE )   cv2 . imshow ( ' ImageWindowName ' , img )   cv2 . waitKey ( 1 )   \u73b0\u5728 \u6211\u4eec \u4f7f\u7528 \u4fee\u6539 \u540e \u7684 \u6e38\u620f \u5faa\u73af \u6765 \u7ed8\u5236 \u8f66\u8f86 \u8fb9\u754c \u6846 \uff1a   while   True :   #   Retrieve   and   reshape   the   image   world . tick ( )   image   =   image _ queue . get ( )   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   Get   the   camera   matrix   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   for   npc   in   world . get _ actors ( ) . filter ( ' * vehicle * ' ) :   #   Filter   out   the   ego   vehicle   if   npc . id   ! =   vehicle . id :   bb   =   npc . bounding _ box   dist   =   npc . get _ transform ( ) . location . distance ( vehicle . get _ transform ( ) . location )   #   Filter   for   the   vehicles   within   50m   if   dist   <   50 :   #   Calculate   the   dot   product   between   the   forward   vector   #   of   the   vehicle   and   the   vector   between   the   vehicle   #   and   the   other   vehicle .   We   threshold   this   dot   product   #   to   limit   to   drawing   bounding   boxes   IN   FRONT   OF   THE   CAMERA   forward _ vec   =   vehicle . get _ transform ( ) . get _ forward _ vector ( )   ray   =   npc . get _ transform ( ) . location   -   vehicle . get _ transform ( ) . location   if   forward _ vec . dot ( ray )   >   1 :   p1   =   get _ image _ point ( bb . location ,   K ,   world _ 2 _ camera )   verts   =   [ v   for   v   in   bb . get _ world _ vertices ( npc . get _ transform ( ) ) ]   for   edge   in   edges :   p1   =   get _ image _ point ( verts [ edge [ 0 ] ] ,   K ,   world _ 2 _ camera )   p2   =   get _ image _ point ( verts [ edge [ 1 ] ] ,   K ,   world _ 2 _ camera )   cv2 . line ( img ,   ( int ( p1 [ 0 ] ) , int ( p1 [ 1 ] ) ) ,   ( int ( p2 [ 0 ] ) , int ( p2 [ 1 ] ) ) ,   ( 255 , 0 , 0 ,   255 ) ,   1 )   cv2 . imshow ( ' ImageWindowName ' , img )   if   cv2 . waitKey ( 1 )   = =   ord ( ' q ' ) :   break   cv2 . destroyAllWindows ( )","title":"\u8f66\u8f86 \u8fb9\u754c \u6846"},{"location":"tuto_G_bounding_boxes/#_7","text":"\u8bad\u7ec3 \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u6765 \u68c0\u6d4b \u4e8c\u7ef4 \u8fb9\u754c \u6846\u800c \u4e0d\u662f \u4e0a\u9762 \u6f14\u793a \u7684 \u4e09\u7ef4 \u8fb9\u754c \u6846\u662f \u5f88 \u5e38\u89c1 \u7684 \u3002 \u524d\u9762 \u7684 \u811a\u672c \u53ef\u4ee5 \u8f7b\u677e \u6269\u5c55 \u4ee5 \u751f\u6210 \u4e8c\u7ef4 \u8fb9\u754c \u6846 \u3002 \u6211\u4eec \u53ea \u9700\u8981 \u4f7f\u7528 \u4e09\u7ef4 \u8fb9\u754c \u6846 \u7684 \u672b\u7aef \u5373\u53ef \u3002 \u5bf9\u4e8e \u6e32\u67d3 \u7684 \u6bcf\u4e2a \u8fb9\u754c \u6846 \uff0c \u6211\u4eec \u627e\u5230 \u56fe\u50cf \u5750\u6807 \u4e2d \u6700 \u5de6\u8fb9 \u3001 \u6700 \u53f3\u8fb9 \u3001 \u6700\u9ad8 \u548c \u6700\u4f4e \u7684 \u6295\u5f71 \u9876\u70b9 \u3002   while   True :   #   Retrieve   and   reshape   the   image   world . tick ( )   image   =   image _ queue . get ( )   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   Get   the   camera   matrix   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   for   npc   in   world . get _ actors ( ) . filter ( ' * vehicle * ' ) :   #   Filter   out   the   ego   vehicle   if   npc . id   ! =   vehicle . id :   bb   =   npc . bounding _ box   dist   =   npc . get _ transform ( ) . location . distance ( vehicle . get _ transform ( ) . location )   #   Filter   for   the   vehicles   within   50m   if   dist   <   50 :   #   Calculate   the   dot   product   between   the   forward   vector   #   of   the   vehicle   and   the   vector   between   the   vehicle   #   and   the   other   vehicle .   We   threshold   this   dot   product   #   to   limit   to   drawing   bounding   boxes   IN   FRONT   OF   THE   CAMERA   forward _ vec   =   vehicle . get _ transform ( ) . get _ forward _ vector ( )   ray   =   npc . get _ transform ( ) . location   -   vehicle . get _ transform ( ) . location   if   forward _ vec . dot ( ray )   >   1 :   p1   =   get _ image _ point ( bb . location ,   K ,   world _ 2 _ camera ) http : / / host . robots . ox . ac . uk / pascal / VOC /   verts   =   [ v   for   v   in   bb . get _ world _ vertices ( npc . get _ transform ( ) ) ]   x _ max   =   - 10000   x _ min   =   10000   y _ max   =   - 10000   y _ min   =   10000   for   vert   in   verts :   p   =   get _ image _ point ( vert ,   K ,   world _ 2 _ camera )   #   Find   the   rightmost   vertex   if   p [ 0 ]   >   x _ max :   x _ max   =   p [ 0 ]   #   Find   the   leftmost   vertex   if   p [ 0 ]   <   x _ min :   x _ min   =   p [ 0 ]   #   Find   the   highest   vertex   if   p [ 1 ]   >   y _ max :   y _ max   =   p [ 1 ]   #   Find   the   lowest   vertex   if   p [ 1 ]   <   y _ min :   y _ min   =   p [ 1 ]   cv2 . line ( img ,   ( int ( x _ min ) , int ( y _ min ) ) ,   ( int ( x _ max ) , int ( y _ min ) ) ,   ( 0 , 0 , 255 ,   255 ) ,   1 )   cv2 . line ( img ,   ( int ( x _ min ) , int ( y _ max ) ) ,   ( int ( x _ max ) , int ( y _ max ) ) ,   ( 0 , 0 , 255 ,   255 ) ,   1 )   cv2 . line ( img ,   ( int ( x _ min ) , int ( y _ min ) ) ,   ( int ( x _ min ) , int ( y _ max ) ) ,   ( 0 , 0 , 255 ,   255 ) ,   1 )   cv2 . line ( img ,   ( int ( x _ max ) , int ( y _ min ) ) ,   ( int ( x _ max ) , int ( y _ max ) ) ,   ( 0 , 0 , 255 ,   255 ) ,   1 )   cv2 . imshow ( ' ImageWindowName ' , img )   if   cv2 . waitKey ( 1 )   = =   ord ( ' q ' ) :   break   cv2 . destroyAllWindows ( )","title":"\u4e8c\u7ef4 \u8fb9\u754c \u6846"},{"location":"tuto_G_bounding_boxes/#_8","text":"\u6e32\u67d3 \u8fb9\u754c \u6846 \u5bf9\u4e8e \u6211\u4eec \u786e\u4fdd \u8fb9\u754c \u6846 \u5bf9\u4e8e \u8c03\u8bd5 \u76ee\u7684 \u662f \u6b63\u786e \u7684 \u5f88 \u6709\u7528 \u3002 \u7136\u800c \uff0c \u5982\u679c \u6211\u4eec \u60f3 \u5728 \u8bad\u7ec3 \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u65f6 \u5b9e\u9645 \u4f7f\u7528 \u5b83\u4eec \uff0c \u6211\u4eec \u5c06 \u9700\u8981 \u5bfc\u51fa \u5b83\u4eec \u3002 \u7528\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u548c \u7269\u4f53 \u68c0\u6d4b \u7684 \u5e38\u89c1 \u6570\u636e \u5b58\u50a8 \u5e93 \u4f7f\u7528 \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7684 \u683c\u5f0f \uff0c \u4f8b\u5982   KITTI   \u6216   PASCAL   VOC   \u6216   MicroSoft   COCO   \u3002","title":"\u5bfc\u51fa \u8fb9\u754c \u6846"},{"location":"tuto_G_bounding_boxes/#pascal-voc","text":"\u8fd9\u4e9b \u6570\u636e \u96c6 \u901a\u5e38 \u4f7f\u7528   JSON   \u6216   XML   \u683c\u5f0f \u6765 \u5b58\u50a8 \u6ce8\u91ca \u3002 PASCAL   VOC   \u683c\u5f0f \u6709 \u4e00\u4e2a \u65b9\u4fbf \u7684   Python   \u5e93 \u3002   from   pascal _ voc _ writer   import   Writer   ...   ...   ...   while   True :   #   Retrieve   the   image   world . tick ( )   image   =   image _ queue . get ( )   #   Get   the   camera   matrix   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   frame _ path   =   ' output / % 06d '   %   image . frame   #   Save   the   image   image . save _ to _ disk ( frame _ path   +   ' . png ' )   #   Initialize   the   exporter   writer   =   Writer ( frame _ path   +   ' . png ' ,   image _ w ,   image _ h )   for   npc   in   world . get _ actors ( ) . filter ( ' * vehicle * ' ) :   if   npc . id   ! =   vehicle . id :   bb   =   npc . bounding _ box   dist   =   npc . get _ transform ( ) . location . distance ( vehicle . get _ transform ( ) . location )   if   dist   <   50 :   forward _ vec   =   vehicle . get _ transform ( ) . get _ forward _ vector ( )   ray   =   npc . get _ transform ( ) . location   -   vehicle . get _ transform ( ) . location   if   forward _ vec . dot ( ray )   >   1 :   p1   =   get _ image _ point ( bb . location ,   K ,   world _ 2 _ camera )   verts   =   [ v   for   v   in   bb . get _ world _ vertices ( npc . get _ transform ( ) ) ]   x _ max   =   - 10000   x _ min   =   10000   y _ max   =   - 10000   y _ min   =   10000   for   vert   in   verts :   p   =   get _ image _ point ( vert ,   K ,   world _ 2 _ camera )   if   p [ 0 ]   >   x _ max :   x _ max   =   p [ 0 ]   if   p [ 0 ]   <   x _ min :   x _ min   =   p [ 0 ]   if   p [ 1 ]   >   y _ max :   y _ max   =   p [ 1 ]   if   p [ 1 ]   <   y _ min :   y _ min   =   p [ 1 ]   #   Add   the   object   to   the   frame   ( ensure   it   is   inside   the   image )   if   x _ min   >   0   and   x _ max   <   image _ w   and   y _ min   >   0   and   y _ max   <   image _ h :   writer . addObject ( ' vehicle ' ,   x _ min ,   y _ min ,   x _ max ,   y _ max )   #   Save   the   bounding   boxes   in   the   scene   writer . save ( frame _ path   +   ' . xml ' )   \u5bf9\u4e8e \u4eff\u771f \u7684 \u6bcf\u4e2a \u6e32\u67d3 \u5e27 \uff0c \u60a8 \u73b0\u5728 \u5c06 \u5bfc\u51fa \u4e00\u4e2a \u968f\u9644 \u7684   XML   \u6587\u4ef6 \uff0c \u5176\u4e2d \u5305\u542b \u5e27 \u4e2d \u8fb9\u754c \u6846 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u5728   PASCAL   VOC   \u683c\u5f0f \u4e2d \uff0c XML   \u6587\u4ef6 \u5305\u542b \u6d89\u53ca \u968f\u9644 \u56fe\u50cf \u6587\u4ef6 \u56fe\u50cf\u6587\u4ef6 \u3001 \u56fe\u50cf \u5c3a\u5bf8 \u7684 \u4fe1\u606f \uff0c \u5982\u679c \u9700\u8981 \uff0c \u8fd8 \u53ef\u4ee5 \u5305\u62ec \u8f66\u8f86 \u7c7b\u578b \u7b49 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   < ! --   Example   PASCAL   VOC   format   file -- >   < annotation >   < folder > output < / folder >   < filename > 023235 . png < / filename >   < path > / home / matt / Documents / temp / output / 023235 . png < / path >   < source >   < database > Unknown < / database >   < / source >   < size >   < width > 800 < / width >   < height > 600 < / height >   < depth > 3 < / depth >   < / size >   < segmented > 0 < / segmented >   < object >   < name > vehicle < / name >   < pose > Unspecified < / pose >   < truncated > 0 < / truncated >   < difficult > 0 < / difficult >   < bndbox >   < xmin > 503 < / xmin >   < ymin > 310 < / ymin >   < xmax > 511 < / xmax >   < ymax > 321 < / ymax >   < / bndbox >   < / object >   < object >   < name > vehicle < / name >   < pose > Unspecified < / pose >   < truncated > 0 < / truncated >   < difficult > 0 < / difficult >   < bndbox >   < xmin > 490 < / xmin >   < ymin > 310 < / ymin >   < xmax > 498 < / xmax >   < ymax > 321 < / ymax >   < / bndbox >   < / object >   < / annotation >","title":"Pascal   VOC   \u683c\u5f0f"},{"location":"tuto_G_bounding_boxes/#coco","text":"\u53e6 \u4e00\u79cd \u6d41\u884c \u7684 \u5bfc\u51fa \u683c\u5f0f \u662f   MicroSoft   COCO   \u3002 COCO   \u683c\u5f0f \u4f7f\u7528   JSON   \u6587\u4ef6 \u6765 \u4fdd\u5b58 \u5bf9 \u56fe\u50cf \u548c \u6ce8\u91ca \u7684 \u5f15\u7528 \u3002 \u8be5 \u683c\u5f0f \u5305\u62ec \u5355\u4e2a   JSON   \u6587\u4ef6 \u5b57\u6bb5 \u4e2d \u7684 \u56fe\u50cf \u548c \u6ce8\u91ca \uff0c \u4ee5\u53ca \u6709\u5173 \u6570\u636e \u96c6 \u548c \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u7684 \u4fe1\u606f \u3002 \u4e0e \u67d0\u4e9b \u5176\u4ed6 \u683c\u5f0f \u76f8\u6bd4 \uff0c \u5bf9 \u6240\u6709 \u6536\u96c6 \u7684 \u56fe\u50cf \u548c \u6240\u6709 \u76f8\u5173 \u6ce8\u91ca \u7684 \u5f15\u7528 \u90fd \u4f4d\u4e8e \u540c\u4e00 \u6587\u4ef6 \u4e2d \u3002   \u60a8 \u5e94\u8be5 \u521b\u5efa \u4e00\u4e2a \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u793a\u4f8b \u7684   JSON   \u5b57\u5178 \uff1a   simulation _ dataset   =   {   \" info \" :   { } ,   \" licenses \" :   [   {   \" url \" :   \" http : / / creativecommons . org / licenses / by - nc - sa / 2.0 / \" ,   \" id \" :   1 ,   \" name \" :   \" Attribution - NonCommercial - ShareAlike   License \"   } ] ,   \" images \" :   [ ... ,   {   \" license \" :   1 ,   \" file _ name \" :   \" 023235 . png \" ,   \" height \" :   600 ,   \" width \" :   800 ,   \" date _ captured \" :   \" 2022 - 04 - 14   17 : 02 : 52 \" ,   \" id \" :   23235   } ,   ...   ] ,   \" categories \" :   [ ...   { \" supercategory \" :   \" vehicle \" ,   \" id \" :   10 ,   \" name \" :   \" vehicle \"   } ,   ... ] ,   \" annotations \" :   [   ... ,   {   \" segmentation \" :   [ ] ,   \" area \" :   9262.89 ,   \" iscrowd \" :   0 ,   \" image _ id \" :   23235 ,   \" bbox \" :   [ 503.3 ,   310.4 ,   118.3 ,   78.3 ]   } ,   ...   ]   }   \u4fe1\u606f \u548c \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u90e8\u5206 \u5e94 \u76f8\u5e94 \u586b\u5199 \u6216 \u7559\u7a7a \u3002 \u4eff\u771f \u4e2d \u7684 \u56fe\u50cf \u5e94 \u5b58\u50a8 \u5728   images   \u5b57\u5178 \u5b57\u6bb5 \u4e2d \u7684 \u6570\u7ec4 \u4e2d \u3002 \u8fb9\u754c \u6846\u5e94 \u5b58\u50a8 \u5728 \u5177\u6709 \u5339\u914d   image _ id   \u7684   annotations   \u5b57\u5178 \u5b57\u6bb5 \u4e2d \u3002 \u8fb9\u754c \u6846 \u5b58\u50a8 \u4e3a   [ x _ min ,   y _ min ,   width ,   height ]   \u3002   \u7136\u540e \u53ef\u4ee5 \u4f7f\u7528   Python   JSON   \u5e93 \u5c06 \u5b57\u5178 \u4fdd\u5b58 \u4e3a   JSON   \u6587\u4ef6 \uff1a   import   json   with   open ( ' simulation _ data . json ' ,   ' w ' )   as   json _ file :   json . dump ( simulation _ dataset ,   json _ file )   \u6709\u5173   COCO   \u6570\u636e \u683c\u5f0f \u6570\u636e\u683c\u5f0f \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8bf7 \u53c2\u89c1   \u6b64\u5904   \u3002   \u5e94\u8be5 \u6ce8\u610f \u7684 \u662f \uff0c \u5728 \u672c \u6559\u7a0b \u4e2d \u6211\u4eec \u6ca1\u6709 \u8003\u8651 \u91cd\u53e0 \u7684 \u8fb9\u754c \u6846 \u3002 \u4e3a\u4e86 \u5728 \u91cd\u53e0 \u7684 \u60c5\u51b5 \u4e0b \u8bc6\u522b \u524d\u666f \u8fb9\u754c \u6846 \uff0c \u9700\u8981 \u8fdb\u884c \u989d\u5916 \u7684 \u5de5\u4f5c \u3002","title":"\u5fae\u8f6f   COCO   \u683c\u5f0f"},{"location":"tuto_G_carsim_integration/","text":"CarSim   \u96c6\u6210   Carla   \u4e0e   CarSim   \u7684 \u96c6\u6210 \u5141\u8bb8 \u5c06   Carla   \u4e2d \u7684 \u8f66\u8f86 \u63a7\u5236 \u8f6c\u53d1 \u5230   CarSim \u3002 CarSim   \u5c06 \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u6240\u6709 \u5fc5\u9700 \u7684 \u7269\u7406 \u8ba1\u7b97 \uff0c \u5e76 \u5c06 \u65b0 \u72b6\u6001 \u8fd4\u56de \u7ed9   Carla \u3002   \u672c\u9875 \u5411 \u60a8 \u5c55\u793a \u5982\u4f55 \u751f\u6210   . sim   \u6587\u4ef6 \uff0c \u89e3\u91ca   Carla   \u548c   CarSim   \u4e4b\u95f4 \u7684 \u8f66\u8f86 \u5c3a\u5bf8 \u5982\u4f55 \u5173\u8054 \uff0c \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528   CarSim   \u96c6\u6210 \u5728   Carla   \u4e0a \u8fd0\u884c \u4eff\u771f \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u8bbe\u7f6e   CarSim   \u751f\u6210   . sim   \u6587\u4ef6   \u5728   Windows   \u4e0a   \u5728   Ubuntu   \u4e0a   \u8f66\u8f86 \u5c3a\u5bf8   \u8fd0\u884c \u4eff\u771f   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u60a8 \u9700\u8981   CarSim   \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u624d\u80fd \u542f\u52a8 \u5e76 \u8fd0\u884c \u8f6f\u4ef6 \u8be5\u8f6f\u4ef6 \u3002 \u5982\u679c \u60a8 \u76ee\u524d \u6ca1\u6709   CarSim   \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \uff0c \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u8054\u7cfb \u56e2\u961f \u4ee5 \u83b7\u53d6 \u53d6\u4fe1 \u4fe1\u606f \u83b7\u53d6\u4fe1\u606f \u3002   \u8981 \u5141\u8bb8 \u4e0e \u865a\u5e7b \u5f15\u64ce \u901a\u4fe1 \uff0c \u60a8 \u9700\u8981 \u5b89\u88c5 \u9002\u7528 \u4e8e \u865a\u5e7b \u5f15\u64ce   4.24   \u7684   VehicleSim   Dynamics   \u63d2\u4ef6 \uff08 \u7248\u672c   2020.0 \uff09 \u3002 \u6709\u5173 \u67e5\u627e \u63d2\u4ef6 \u7279\u5b9a \u7248\u672c \u7684 \u4fe1\u606f \uff0c \u8bf7 \u68c0\u67e5 \u6b64   \u94fe\u63a5   \u3002 \u63d2\u4ef6 \u7684 \u5b89\u88c5 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \uff1a   \u5bf9\u4e8e   Windows   :   \u5728   \u8fd9\u91cc   \u83b7\u53d6 \u63d2\u4ef6 \u3002   \u5bf9\u4e8e   Ubuntu   :   \u5728   \u8fd9\u91cc   \u4e0b\u8f7d \u63d2\u4ef6 \u3002   \u5c06 \u6587\u4ef6   CarSim . Build . cs   \u66ff\u6362 \u4e3a   \u6b64\u5904   \u627e\u5230 \u7684 \u6587\u4ef6 \uff0c \u4ee5\u4fbf \u4e3a   Ubuntu   \u4f7f\u7528 \u6b63\u786e \u7684 \u6c42\u89e3 \u5668 \u3002   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u7684 \u6253\u5305 \u7248\u672c \uff0c \u5219 \u53ef\u4ee5 \u8df3\u8fc7 \u6b64 \u6b65\u9aa4 \u3002 \u6253\u5305 \u7248\u672c \u5df2 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \u7f16\u8bd1 \uff0c \u4f46 \u5982\u679c \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \uff0c \u5219 \u9700\u8981 \u4f7f\u7528   -- carsim   \u6807\u5fd7 \u7f16\u8bd1 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   \u5982\u679c \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \uff0c \u8bf7 \u5728 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4ee5 \u4f7f\u7528   -- carsim   \u6807\u5fd7 \u7f16\u8bd1 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff1a   make   launch   ARGS = \" -- carsim \"   \u8bbe\u7f6e   CarSim   \u4ee5\u4e0b \u90e8\u5206 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u751f\u6210 \u8fd0\u884c \u4eff\u771f \u6240 \u9700 \u7684   . sim   \u6587\u4ef6 \u3002 \u8fd8\u6709 \u5173\u4e8e   Carla   \u548c   CarSim   \u4e4b\u95f4 \u8f66\u8f86 \u5c3a\u5bf8 \u5173\u7cfb \u7684 \u8be6\u7ec6 \u91cd\u8981 \u4fe1\u606f \u3002   \u751f\u6210 . sim   \u6587\u4ef6   \u8be5   . sim   \u6587\u4ef6 \u63cf\u8ff0 \u4e86 \u8981 \u5728   Carla   \u548c   CarSim   \u4e2d \u8fd0\u884c \u7684 \u4eff\u771f \u3002 \u63d2\u4ef6 \u9700\u8981 \u6b64 \u6587\u4ef6 \u624d\u80fd \u8fd0\u884c \u4eff\u771f \u3002 \u76ee\u524d \u65e0\u6cd5 \u5728   Ubuntu   \u4e0a \u751f\u6210 \u6b64 \u6587\u4ef6 \uff0c \u4f46\u662f \u6211\u4eec \u5c06 \u5728 \u4e0b\u9762 \u4ecb\u7ecd \u5982\u4f55 \u4f7f\u7528 \u4e4b\u524d \u751f\u6210 \u7684 \u6587\u4ef6 \u5728   Ubuntu   \u4e0a \u8fd0\u884c \u4eff\u771f \u3002   \u5728   Windows   \u4e0a   \u5728   CarSim   \u4e0a \u914d\u7f6e \u5b8c \u6240\u6709 \u53c2\u6570 \u540e \uff0c \u4f7f\u7528   GUI   \u751f\u6210   . sim   \u6587\u4ef6 \uff0c \u5982\u4e0b \u6240\u793a \uff1a   \u751f\u6210 \u7684   . sim   \u6587\u4ef6 \u5e94 \u5982\u4e0b \u6240\u793a \uff1a   SIMFILE   SET _ MACRO   $ ( ROOT _ FILE _ NAME ) $   Run _ dd7a828d - 4b14 - 4c77 - 9d09 - 1974401d6b25   SET _ MACRO   $ ( OUTPUT _ PATH ) $   D : \\ carsim \\ Data \\ Results   SET _ MACRO   $ ( WORK _ DIR ) $   D : \\ carsim \\ Data \\   SET _ MACRO   $ ( OUTPUT _ FILE _ PREFIX ) $   $ ( WORK _ DIR ) $ Results \\ Run _ dd7a828d - 4b14 - 4c77 - 9d09 - 1974401d6b25 \\ LastRun   FILEBASE   $ ( OUTPUT _ FILE _ PREFIX ) $   INPUT   $ ( WORK _ DIR ) $ Results \\ $ ( ROOT _ FILE _ NAME ) $ \\ Run _ all . par   INPUTARCHIVE   $ ( OUTPUT _ FILE _ PREFIX ) $ _ all . par   ECHO   $ ( OUTPUT _ FILE _ PREFIX ) $ _ echo . par   FINAL   $ ( OUTPUT _ FILE _ PREFIX ) $ _ end . par   LOGFILE   $ ( OUTPUT _ FILE _ PREFIX ) $ _ log . txt   ERDFILE   $ ( OUTPUT _ FILE _ PREFIX ) $ . vs   PROGDIR   D : \\ carsim \\   DATADIR   D : \\ carsim \\ Data \\   GUI _ REFRESH _ V   CarSim _ RefreshEvent _ 7760   RESOURCEDIR   D : \\ carsim \\ \\ Resources \\   PRODUCT _ ID   CarSim   PRODUCT _ VER   2020.0   ANIFILE   D : \\ carsim \\ Data \\ runs \\ animator . par   VEHICLE _ CODE   i _ i   EXT _ MODEL _ STEP   0.00050000   PORTS _ IMP   0   PORTS _ EXP   0   DLLFILE   D : \\ carsim \\ Programs \\ solvers \\ carsim _ 64 . dll   END   \u5728 Ubuntu \u4e0a   \u65e0\u6cd5 \u5728   Ubuntu   \u4e0a \u901a\u8fc7   GUI   \u521b\u5efa   . sim   \u6587\u4ef6 \u3002 \u4e3a\u4e86 \u7ee7\u7eed \uff0c \u60a8 \u9700\u8981 \u6267\u884c \u4ee5\u4e0b \u6b65\u9aa4 \uff1a   \u5728   Windows   \u4e2d \u751f\u6210   . sim   \u6587\u4ef6 \u6216 \u4f7f\u7528 \u4e0b\u9762 \u7684 \u6587\u4ef6 \u6a21\u677f \u3002   \u4fee\u6539 \u8be5   . sim   \u6587\u4ef6 \uff0c \u4f7f \u53d8\u91cf   INPUT   ,   INPUTARCHIVE   ,   LOGFILE   \u7b49 \u6307\u5411   Ubuntu   \u7cfb\u7edf \u4e2d \u7684 \u76f8\u5e94 \u6587\u4ef6 \u3002   \u66ff\u6362   DLLFILE   \u884c\u4ee5 \u6307\u5411   CarSim   \u89e3 \u7b97\u5668 \uff0c \u5728 \u9ed8\u8ba4 \u5b89\u88c5 \u4e2d \uff0c \u8be5\u89e3 \u7b97\u5668 \u5c06 \u4e3a   SOFILE   / opt / carsim _ 2020.0 / lib64 / libcarsim . so.2020 . 0   .   \u751f\u6210 \u7684 \u6587\u4ef6 \u5e94 \u4e0e \u6b64 \u7c7b\u4f3c \uff1a   SIMFILE   FILEBASE   / path / to / LastRun   INPUT   / path / to / Run _ all . par   INPUTARCHIVE   / path / to / LastRun _ all . par   ECHO   / path / to / LastRun _ echo . par   FINAL   / path / to / LastRun _ end . par   LOGFILE   / path / to / LastRun _ log . txt   ERDFILE   / path / to / LastRun . vs   PROGDIR   / opt / carsim _ 2020.0 / lib64 /   DATADIR   .   PRODUCT _ ID   CarSim   PRODUCT _ VER   2020.0   VEHICLE _ CODE   i _ i   SOFILE   / opt / carsim _ 2020.0 / lib64 / libcarsim . so.2020 . 0   END   \u8f66\u8f86 \u5c3a\u5bf8   \u5c3d\u7ba1   CarSim   \u5141\u8bb8 \u60a8 \u6307\u5b9a \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u7684 \u8f66\u8f86 \u5c3a\u5bf8 \uff0c \u4f46 \u76ee\u524d   CarSim   \u8f66\u8f86 \u548c   Carla   \u8f66\u8f86 \u4e4b\u95f4 \u6ca1\u6709 \u5173\u8054 \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u4e24\u4e2a \u9879\u76ee \u4e2d \u7684 \u8f66\u8f86 \u5c06 \u5177\u6709 \u4e0d\u540c \u7684 \u5c3a\u5bf8 \u3002 Carla   \u8f66\u8f86 \u7684 \u4f5c\u7528 \u53ea\u662f \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u5145\u5f53 \u5360\u4f4d \u7b26 \u3002   \u7b14\u8bb0   Carla   \u548c   CarSim   \u4e2d \u7684 \u8f66\u8f86 \u5c3a\u5bf8 \u4e4b\u95f4 \u6ca1\u6709 \u76f8\u5173 \u76f8\u5173\u6027 \u3002 Carla   \u8f66\u8f86 \u53ea\u662f \u4e00\u4e2a \u4eff\u771f \u5360\u4f4d \u7b26 \u3002   \u8fd0\u884c \u4eff\u771f   \u8fd0\u884c \u4eff\u771f \u65f6\u6240 \u9700\u8981 \u505a \u7684 \u5c31\u662f \u5728 \u751f\u6210 \u8f66\u8f86 \u65f6 \u542f\u7528   CarSim \u3002 \u8fd9 \u53ef\u4ee5 \u901a\u8fc7 \u5c06   . sim   \u6587\u4ef6 \u8def\u5f84 \u4f20\u9012 \u7ed9 Python   API   \u7684   \u65b9\u6cd5   \u6765 \u5b8c\u6210 \uff1a   vehicle . enable _ carsim ( < path _ to _ ue4simfile . sim > )   \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u8f66\u8f86 \u7684 \u6240\u6709 \u8f93\u5165 \u63a7\u4ef6 \u90fd \u5c06 \u8f6c\u53d1 \u5230   CarSim \u3002 CarSim   \u5c06 \u66f4\u65b0 \u7269\u7406 \u5e76 \u5c06 \u8f66\u8f86 \u72b6\u6001 \uff08 \u53d8\u6362 \uff09 \u53d1\u9001 \u56de   Carla   \u8f66\u8f86 \u3002   \u4eff\u771f \u5b8c\u6210 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u50cf \u5f80\u5e38 \u4e00\u6837 \u5206\u6790   CarSim   \u4e2d \u7684 \u6240\u6709 \u6570\u636e \u3002","title":"CarSim   \u96c6\u6210"},{"location":"tuto_G_carsim_integration/#carsim","text":"Carla   \u4e0e   CarSim   \u7684 \u96c6\u6210 \u5141\u8bb8 \u5c06   Carla   \u4e2d \u7684 \u8f66\u8f86 \u63a7\u5236 \u8f6c\u53d1 \u5230   CarSim \u3002 CarSim   \u5c06 \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u6240\u6709 \u5fc5\u9700 \u7684 \u7269\u7406 \u8ba1\u7b97 \uff0c \u5e76 \u5c06 \u65b0 \u72b6\u6001 \u8fd4\u56de \u7ed9   Carla \u3002   \u672c\u9875 \u5411 \u60a8 \u5c55\u793a \u5982\u4f55 \u751f\u6210   . sim   \u6587\u4ef6 \uff0c \u89e3\u91ca   Carla   \u548c   CarSim   \u4e4b\u95f4 \u7684 \u8f66\u8f86 \u5c3a\u5bf8 \u5982\u4f55 \u5173\u8054 \uff0c \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528   CarSim   \u96c6\u6210 \u5728   Carla   \u4e0a \u8fd0\u884c \u4eff\u771f \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u8bbe\u7f6e   CarSim   \u751f\u6210   . sim   \u6587\u4ef6   \u5728   Windows   \u4e0a   \u5728   Ubuntu   \u4e0a   \u8f66\u8f86 \u5c3a\u5bf8   \u8fd0\u884c \u4eff\u771f","title":"CarSim   \u96c6\u6210"},{"location":"tuto_G_carsim_integration/#_1","text":"\u60a8 \u9700\u8981   CarSim   \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u624d\u80fd \u542f\u52a8 \u5e76 \u8fd0\u884c \u8f6f\u4ef6 \u8be5\u8f6f\u4ef6 \u3002 \u5982\u679c \u60a8 \u76ee\u524d \u6ca1\u6709   CarSim   \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \uff0c \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u8054\u7cfb \u56e2\u961f \u4ee5 \u83b7\u53d6 \u53d6\u4fe1 \u4fe1\u606f \u83b7\u53d6\u4fe1\u606f \u3002   \u8981 \u5141\u8bb8 \u4e0e \u865a\u5e7b \u5f15\u64ce \u901a\u4fe1 \uff0c \u60a8 \u9700\u8981 \u5b89\u88c5 \u9002\u7528 \u4e8e \u865a\u5e7b \u5f15\u64ce   4.24   \u7684   VehicleSim   Dynamics   \u63d2\u4ef6 \uff08 \u7248\u672c   2020.0 \uff09 \u3002 \u6709\u5173 \u67e5\u627e \u63d2\u4ef6 \u7279\u5b9a \u7248\u672c \u7684 \u4fe1\u606f \uff0c \u8bf7 \u68c0\u67e5 \u6b64   \u94fe\u63a5   \u3002 \u63d2\u4ef6 \u7684 \u5b89\u88c5 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \uff1a   \u5bf9\u4e8e   Windows   :   \u5728   \u8fd9\u91cc   \u83b7\u53d6 \u63d2\u4ef6 \u3002   \u5bf9\u4e8e   Ubuntu   :   \u5728   \u8fd9\u91cc   \u4e0b\u8f7d \u63d2\u4ef6 \u3002   \u5c06 \u6587\u4ef6   CarSim . Build . cs   \u66ff\u6362 \u4e3a   \u6b64\u5904   \u627e\u5230 \u7684 \u6587\u4ef6 \uff0c \u4ee5\u4fbf \u4e3a   Ubuntu   \u4f7f\u7528 \u6b63\u786e \u7684 \u6c42\u89e3 \u5668 \u3002   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u7684 \u6253\u5305 \u7248\u672c \uff0c \u5219 \u53ef\u4ee5 \u8df3\u8fc7 \u6b64 \u6b65\u9aa4 \u3002 \u6253\u5305 \u7248\u672c \u5df2 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \u7f16\u8bd1 \uff0c \u4f46 \u5982\u679c \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \uff0c \u5219 \u9700\u8981 \u4f7f\u7528   -- carsim   \u6807\u5fd7 \u7f16\u8bd1 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   \u5982\u679c \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \uff0c \u8bf7 \u5728 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4ee5 \u4f7f\u7528   -- carsim   \u6807\u5fd7 \u7f16\u8bd1 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff1a   make   launch   ARGS = \" -- carsim \"","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"tuto_G_carsim_integration/#carsim_1","text":"\u4ee5\u4e0b \u90e8\u5206 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u751f\u6210 \u8fd0\u884c \u4eff\u771f \u6240 \u9700 \u7684   . sim   \u6587\u4ef6 \u3002 \u8fd8\u6709 \u5173\u4e8e   Carla   \u548c   CarSim   \u4e4b\u95f4 \u8f66\u8f86 \u5c3a\u5bf8 \u5173\u7cfb \u7684 \u8be6\u7ec6 \u91cd\u8981 \u4fe1\u606f \u3002","title":"\u8bbe\u7f6e   CarSim  "},{"location":"tuto_G_carsim_integration/#sim","text":"\u8be5   . sim   \u6587\u4ef6 \u63cf\u8ff0 \u4e86 \u8981 \u5728   Carla   \u548c   CarSim   \u4e2d \u8fd0\u884c \u7684 \u4eff\u771f \u3002 \u63d2\u4ef6 \u9700\u8981 \u6b64 \u6587\u4ef6 \u624d\u80fd \u8fd0\u884c \u4eff\u771f \u3002 \u76ee\u524d \u65e0\u6cd5 \u5728   Ubuntu   \u4e0a \u751f\u6210 \u6b64 \u6587\u4ef6 \uff0c \u4f46\u662f \u6211\u4eec \u5c06 \u5728 \u4e0b\u9762 \u4ecb\u7ecd \u5982\u4f55 \u4f7f\u7528 \u4e4b\u524d \u751f\u6210 \u7684 \u6587\u4ef6 \u5728   Ubuntu   \u4e0a \u8fd0\u884c \u4eff\u771f \u3002","title":"\u751f\u6210 . sim   \u6587\u4ef6  "},{"location":"tuto_G_carsim_integration/#windows","text":"\u5728   CarSim   \u4e0a \u914d\u7f6e \u5b8c \u6240\u6709 \u53c2\u6570 \u540e \uff0c \u4f7f\u7528   GUI   \u751f\u6210   . sim   \u6587\u4ef6 \uff0c \u5982\u4e0b \u6240\u793a \uff1a   \u751f\u6210 \u7684   . sim   \u6587\u4ef6 \u5e94 \u5982\u4e0b \u6240\u793a \uff1a   SIMFILE   SET _ MACRO   $ ( ROOT _ FILE _ NAME ) $   Run _ dd7a828d - 4b14 - 4c77 - 9d09 - 1974401d6b25   SET _ MACRO   $ ( OUTPUT _ PATH ) $   D : \\ carsim \\ Data \\ Results   SET _ MACRO   $ ( WORK _ DIR ) $   D : \\ carsim \\ Data \\   SET _ MACRO   $ ( OUTPUT _ FILE _ PREFIX ) $   $ ( WORK _ DIR ) $ Results \\ Run _ dd7a828d - 4b14 - 4c77 - 9d09 - 1974401d6b25 \\ LastRun   FILEBASE   $ ( OUTPUT _ FILE _ PREFIX ) $   INPUT   $ ( WORK _ DIR ) $ Results \\ $ ( ROOT _ FILE _ NAME ) $ \\ Run _ all . par   INPUTARCHIVE   $ ( OUTPUT _ FILE _ PREFIX ) $ _ all . par   ECHO   $ ( OUTPUT _ FILE _ PREFIX ) $ _ echo . par   FINAL   $ ( OUTPUT _ FILE _ PREFIX ) $ _ end . par   LOGFILE   $ ( OUTPUT _ FILE _ PREFIX ) $ _ log . txt   ERDFILE   $ ( OUTPUT _ FILE _ PREFIX ) $ . vs   PROGDIR   D : \\ carsim \\   DATADIR   D : \\ carsim \\ Data \\   GUI _ REFRESH _ V   CarSim _ RefreshEvent _ 7760   RESOURCEDIR   D : \\ carsim \\ \\ Resources \\   PRODUCT _ ID   CarSim   PRODUCT _ VER   2020.0   ANIFILE   D : \\ carsim \\ Data \\ runs \\ animator . par   VEHICLE _ CODE   i _ i   EXT _ MODEL _ STEP   0.00050000   PORTS _ IMP   0   PORTS _ EXP   0   DLLFILE   D : \\ carsim \\ Programs \\ solvers \\ carsim _ 64 . dll   END","title":"\u5728   Windows   \u4e0a  "},{"location":"tuto_G_carsim_integration/#ubuntu","text":"\u65e0\u6cd5 \u5728   Ubuntu   \u4e0a \u901a\u8fc7   GUI   \u521b\u5efa   . sim   \u6587\u4ef6 \u3002 \u4e3a\u4e86 \u7ee7\u7eed \uff0c \u60a8 \u9700\u8981 \u6267\u884c \u4ee5\u4e0b \u6b65\u9aa4 \uff1a   \u5728   Windows   \u4e2d \u751f\u6210   . sim   \u6587\u4ef6 \u6216 \u4f7f\u7528 \u4e0b\u9762 \u7684 \u6587\u4ef6 \u6a21\u677f \u3002   \u4fee\u6539 \u8be5   . sim   \u6587\u4ef6 \uff0c \u4f7f \u53d8\u91cf   INPUT   ,   INPUTARCHIVE   ,   LOGFILE   \u7b49 \u6307\u5411   Ubuntu   \u7cfb\u7edf \u4e2d \u7684 \u76f8\u5e94 \u6587\u4ef6 \u3002   \u66ff\u6362   DLLFILE   \u884c\u4ee5 \u6307\u5411   CarSim   \u89e3 \u7b97\u5668 \uff0c \u5728 \u9ed8\u8ba4 \u5b89\u88c5 \u4e2d \uff0c \u8be5\u89e3 \u7b97\u5668 \u5c06 \u4e3a   SOFILE   / opt / carsim _ 2020.0 / lib64 / libcarsim . so.2020 . 0   .   \u751f\u6210 \u7684 \u6587\u4ef6 \u5e94 \u4e0e \u6b64 \u7c7b\u4f3c \uff1a   SIMFILE   FILEBASE   / path / to / LastRun   INPUT   / path / to / Run _ all . par   INPUTARCHIVE   / path / to / LastRun _ all . par   ECHO   / path / to / LastRun _ echo . par   FINAL   / path / to / LastRun _ end . par   LOGFILE   / path / to / LastRun _ log . txt   ERDFILE   / path / to / LastRun . vs   PROGDIR   / opt / carsim _ 2020.0 / lib64 /   DATADIR   .   PRODUCT _ ID   CarSim   PRODUCT _ VER   2020.0   VEHICLE _ CODE   i _ i   SOFILE   / opt / carsim _ 2020.0 / lib64 / libcarsim . so.2020 . 0   END","title":"\u5728 Ubuntu \u4e0a  "},{"location":"tuto_G_carsim_integration/#_2","text":"\u5c3d\u7ba1   CarSim   \u5141\u8bb8 \u60a8 \u6307\u5b9a \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u7684 \u8f66\u8f86 \u5c3a\u5bf8 \uff0c \u4f46 \u76ee\u524d   CarSim   \u8f66\u8f86 \u548c   Carla   \u8f66\u8f86 \u4e4b\u95f4 \u6ca1\u6709 \u5173\u8054 \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u4e24\u4e2a \u9879\u76ee \u4e2d \u7684 \u8f66\u8f86 \u5c06 \u5177\u6709 \u4e0d\u540c \u7684 \u5c3a\u5bf8 \u3002 Carla   \u8f66\u8f86 \u7684 \u4f5c\u7528 \u53ea\u662f \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u5145\u5f53 \u5360\u4f4d \u7b26 \u3002   \u7b14\u8bb0   Carla   \u548c   CarSim   \u4e2d \u7684 \u8f66\u8f86 \u5c3a\u5bf8 \u4e4b\u95f4 \u6ca1\u6709 \u76f8\u5173 \u76f8\u5173\u6027 \u3002 Carla   \u8f66\u8f86 \u53ea\u662f \u4e00\u4e2a \u4eff\u771f \u5360\u4f4d \u7b26 \u3002","title":"\u8f66\u8f86 \u5c3a\u5bf8  "},{"location":"tuto_G_carsim_integration/#_3","text":"\u8fd0\u884c \u4eff\u771f \u65f6\u6240 \u9700\u8981 \u505a \u7684 \u5c31\u662f \u5728 \u751f\u6210 \u8f66\u8f86 \u65f6 \u542f\u7528   CarSim \u3002 \u8fd9 \u53ef\u4ee5 \u901a\u8fc7 \u5c06   . sim   \u6587\u4ef6 \u8def\u5f84 \u4f20\u9012 \u7ed9 Python   API   \u7684   \u65b9\u6cd5   \u6765 \u5b8c\u6210 \uff1a   vehicle . enable _ carsim ( < path _ to _ ue4simfile . sim > )   \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u8f66\u8f86 \u7684 \u6240\u6709 \u8f93\u5165 \u63a7\u4ef6 \u90fd \u5c06 \u8f6c\u53d1 \u5230   CarSim \u3002 CarSim   \u5c06 \u66f4\u65b0 \u7269\u7406 \u5e76 \u5c06 \u8f66\u8f86 \u72b6\u6001 \uff08 \u53d8\u6362 \uff09 \u53d1\u9001 \u56de   Carla   \u8f66\u8f86 \u3002   \u4eff\u771f \u5b8c\u6210 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u50cf \u5f80\u5e38 \u4e00\u6837 \u5206\u6790   CarSim   \u4e2d \u7684 \u6240\u6709 \u6570\u636e \u3002","title":"\u8fd0\u884c \u4eff\u771f  "},{"location":"tuto_G_chrono/","text":"Chrono   \u96c6\u6210   \u672c \u6307\u5357 \u6982\u8ff0 \u4e86   Chrono   \u662f \u4ec0\u4e48 \u3001 \u5982\u4f55 \u5728   Carla   \u4e2d \u4f7f\u7528 \u5b83 \u4ee5\u53ca \u96c6\u6210 \u4e2d \u6d89\u53ca \u7684 \u9650\u5236 \u3002   Chrono   \u9879\u76ee   \u5728   Carla   \u4e0a \u4f7f\u7528   Chrono   \u914d\u7f6e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u542f\u7528   Chrono   \u7269\u7406   \u5c40\u9650 \u9650\u6027 \u5c40\u9650\u6027   Chrono   \u9879\u76ee   Project   Chrono   \u662f \u4e00\u6b3e \u5f00\u6e90 \u591a \u7269\u7406 \u573a \u4eff\u771f \u5f15\u64ce \uff0c \u5b83 \u4f7f\u7528 \u57fa\u4e8e \u6a21\u677f \u7684 \u65b9\u6cd5 \u63d0\u4f9b \u9ad8\u5ea6 \u771f\u5b9e \u7684 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3002 Carla   \u4e2d \u7684 \u96c6\u6210 \u5141\u8bb8 \u7528\u6237 \u5728 \u5bfc\u822a \u5730\u56fe \u65f6 \u5229\u7528   Chrono   \u6a21\u677f \u6765 \u4eff\u771f \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3002   \u5728   Carla   \u4e0a \u4f7f\u7528   Chrono   \u8981 \u4f7f\u7528   Chrono   \u96c6\u6210 \uff0c \u60a8 \u5fc5\u987b \u9996\u5148 \u5728 \u542f\u52a8 \u65f6 \u4f7f\u7528 \u6807\u7b7e \u914d\u7f6e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u7136\u540e \u4f7f\u7528   PythonAPI   \u5728 \u751f\u6210 \u7684 \u8f66\u8f86 \u4e0a \u542f\u7528 \u5b83 \u3002 \u8bf7 \u9605\u8bfb \u4ee5 \u83b7\u5f97 \u66f4 \u591a \u8be6\u60c5 \u3002   \u914d\u7f6e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u4ec5\u5f53   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f7f\u7528   Chrono   \u6807\u7b7e \u7f16\u8bd1 \u65f6 \uff0c Chrono   \u624d \u4f1a \u5de5\u4f5c \u3002   \u5728 \u4ece   Carla   \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7248\u672c \u4e2d   \uff0c \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff1a   make   launch   ARGS = \" -- chrono \"   \u6ce8\u610f   \u4f7f\u7528 \u4e0a\u8ff0 \u547d\u4ee4 \u7f16\u8bd1 \u540e \uff0c \u518d \u8fd0\u884c   make   launch   \u3001   make   package   \u5219 \u7f16\u8bd1 \u62a5\u9519 \uff1a   Unreal \\ CarlaUE4 \\ Plugins \\ Carla \\ CarlaDependencies \\ include \\ Eigen \\ src / Core / util / ForwardDeclarations . h ( 58 ) :   error   C4067 :   \u9884 \u5904\u7406 \u7406\u5668 \u5904\u7406\u5668 \u6307\u4ee4 \u540e \u6709 \u610f\u5916 \u6807\u8bb0   -   \u5e94 \u8f93\u5165 \u6362\u884c \u6362\u884c\u7b26   \uff0c \u539f\u56e0 \u4e0d\u660e \u3002   \u542f\u7528   Chrono   \u7269\u7406   Chrono   \u7269\u7406 \u662f \u901a\u8fc7   Actor   \u7c7b \u63d0\u4f9b \u7684   enable _ chrono _ physics   \u65b9\u6cd5 \u542f\u7528 \u7684 \u3002 \u9664\u4e86 \u5b50 \u6b65\u9aa4 \u548c\u5b50 \u6b65\u9aa4 \u589e\u91cf \u65f6\u95f4 \u7684 \u503c \u4e4b\u5916 \uff0c \u5b83 \u8fd8 \u9700\u8981 \u4e09\u4e2a \u6a21\u677f \u6587\u4ef6 \u548c \u4e00\u4e2a \u57fa\u672c \u8def\u5f84 \u6765 \u5b9a\u4f4d \u8fd9\u4e9b \u6587\u4ef6 \uff1a   base _ path   :   \u5305\u542b \u6a21\u677f \u6587\u4ef6 \u7684 \u76ee\u5f55 \u8def\u5f84 \u3002 \u8fd9 \u5bf9\u4e8e \u786e\u4fdd \u4ece \u6a21\u677f \u6587\u4ef6 \u5f15\u7528 \u7684 \u8f85\u52a9 \u6587\u4ef6 \u5177\u6709 \u7528\u4e8e \u641c\u7d22 \u7684 \u516c\u5171 \u57fa\u672c \u8def\u5f84 \u662f \u5fc5\u8981 \u7684 \u3002   vehicle _ json   :   \u76f8\u5bf9 \u4e8e   base _ path   \u7684 \u8f66\u8f86 \u6a21\u677f \u6587\u4ef6   .   tire _ json   :   \u76f8\u5bf9 \u4e8e   base _ path   \u7684 \u8f6e\u80ce \u6a21\u677f \u6587\u4ef6 \u3002   powertrain _ json   :   \u76f8\u5bf9 \u4e8e   base _ path   \u52a8\u529b \u603b\u6210 \u6a21\u677f \u6587\u4ef6 \u3002   \u91cd\u8981   \u4ed4\u7ec6 \u68c0\u67e5 \u4ed4\u7ec6\u68c0\u67e5 \u60a8 \u7684 \u8def\u5f84 \u3002 \u4e0d \u6b63\u786e \u6216 \u7f3a\u5931 \u7684 \u8def\u5f84 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u865a\u5e7b \u5f15\u64ce \u5d29\u6e83 \u3002   Build / chrono - install / share / chrono / data / vehicle   \u4e2d \u63d0\u4f9b \u4e86 \u9002\u7528 \u4e8e \u4e0d\u540c \u8f66\u8f86 \u7684 \u5404\u79cd \u793a\u4f8b \u6a21\u677f \u6587\u4ef6 \u3002 \u9605\u8bfb   Chrono   \u5de5\u7a0b \u7684   \u6587\u6863   \uff08 \u6216 \u53c2\u8003   \u4e2d\u6587 \u6587\u6863   \uff09 \uff0c \u4e86\u89e3 \u6709\u5173 \u5176 \u8f66\u8f86 \u793a\u4f8b \u4ee5\u53ca \u5982\u4f55 \u521b\u5efa \u6a21\u677f \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u53c2\u9605 \u8bf7\u53c2\u9605 \u4e0b\u9762 \u7684 \u793a\u4f8b \uff0c \u4e86\u89e3 \u5982\u4f55 \u542f\u7528   Chrono   \u7269\u7406 \uff1a   #   \u751f\u6210 \u8f66\u8f86   vehicle   =   world . spawn _ actor ( bp ,   spawn _ point )   #   \u8bbe\u7f6e \u57fa\u7840 \u8def\u5f84   base _ path   =   \" D : / work / workspace / carla / Build / chrono - install / data / vehicle / \"   #   \u8bbe\u7f6e \u6a21\u677f \u6587\u4ef6   vehicle _ json   =   \" sedan / vehicle / Sedan _ Vehicle . json \"   powertrain _ json   =   \" sedan / powertrain / Sedan _ SimpleMapPowertrain . json \"   tire _ json   =   \" sedan / tire / Sedan _ TMeasyTire . json \"   #   \u542f\u7528   Chrono   \u7269\u7406 \u7279\u6027   vehicle . enable _ chrono _ physics ( 5000 ,   0.002 ,   vehicle _ json ,   powertrain _ json ,   tire _ json ,   base _ path )   \u60a8 \u53ef\u4ee5 \u4f7f\u7528   PythonAPI / examples   \u4e2d \u7684 \u793a\u4f8b \u811a\u672c   manual _ control _ chrono . py   \u5c1d\u8bd5   Chrono   \u7269\u7406 \u96c6\u6210 \u3002 \u8fd0\u884c \u811a\u672c \u540e \uff0c \u6309   Ctrl   +   o   \u542f\u7528   Chrono \u3002   \u5c40\u9650 \u9650\u6027 \u5c40\u9650\u6027   \u6b64 \u96c6\u6210 \u4e0d \u652f\u6301 \u78b0\u649e \u3002   \u5f53 \u53d1\u751f \u78b0\u649e \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u6062\u590d \u4e3a   Carla   \u9ed8\u8ba4 \u7269\u7406 \u72b6\u6001 \u3002","title":"Chrono   \u96c6\u6210"},{"location":"tuto_G_chrono/#chrono","text":"\u672c \u6307\u5357 \u6982\u8ff0 \u4e86   Chrono   \u662f \u4ec0\u4e48 \u3001 \u5982\u4f55 \u5728   Carla   \u4e2d \u4f7f\u7528 \u5b83 \u4ee5\u53ca \u96c6\u6210 \u4e2d \u6d89\u53ca \u7684 \u9650\u5236 \u3002   Chrono   \u9879\u76ee   \u5728   Carla   \u4e0a \u4f7f\u7528   Chrono   \u914d\u7f6e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u542f\u7528   Chrono   \u7269\u7406   \u5c40\u9650 \u9650\u6027 \u5c40\u9650\u6027","title":"Chrono   \u96c6\u6210"},{"location":"tuto_G_chrono/#chrono_1","text":"Project   Chrono   \u662f \u4e00\u6b3e \u5f00\u6e90 \u591a \u7269\u7406 \u573a \u4eff\u771f \u5f15\u64ce \uff0c \u5b83 \u4f7f\u7528 \u57fa\u4e8e \u6a21\u677f \u7684 \u65b9\u6cd5 \u63d0\u4f9b \u9ad8\u5ea6 \u771f\u5b9e \u7684 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3002 Carla   \u4e2d \u7684 \u96c6\u6210 \u5141\u8bb8 \u7528\u6237 \u5728 \u5bfc\u822a \u5730\u56fe \u65f6 \u5229\u7528   Chrono   \u6a21\u677f \u6765 \u4eff\u771f \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3002","title":"Chrono   \u9879\u76ee  "},{"location":"tuto_G_chrono/#carla-chrono","text":"\u8981 \u4f7f\u7528   Chrono   \u96c6\u6210 \uff0c \u60a8 \u5fc5\u987b \u9996\u5148 \u5728 \u542f\u52a8 \u65f6 \u4f7f\u7528 \u6807\u7b7e \u914d\u7f6e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u7136\u540e \u4f7f\u7528   PythonAPI   \u5728 \u751f\u6210 \u7684 \u8f66\u8f86 \u4e0a \u542f\u7528 \u5b83 \u3002 \u8bf7 \u9605\u8bfb \u4ee5 \u83b7\u5f97 \u66f4 \u591a \u8be6\u60c5 \u3002","title":"\u5728   Carla   \u4e0a \u4f7f\u7528   Chrono  "},{"location":"tuto_G_chrono/#_1","text":"\u4ec5\u5f53   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f7f\u7528   Chrono   \u6807\u7b7e \u7f16\u8bd1 \u65f6 \uff0c Chrono   \u624d \u4f1a \u5de5\u4f5c \u3002   \u5728 \u4ece   Carla   \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7248\u672c \u4e2d   \uff0c \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff1a   make   launch   ARGS = \" -- chrono \"   \u6ce8\u610f   \u4f7f\u7528 \u4e0a\u8ff0 \u547d\u4ee4 \u7f16\u8bd1 \u540e \uff0c \u518d \u8fd0\u884c   make   launch   \u3001   make   package   \u5219 \u7f16\u8bd1 \u62a5\u9519 \uff1a   Unreal \\ CarlaUE4 \\ Plugins \\ Carla \\ CarlaDependencies \\ include \\ Eigen \\ src / Core / util / ForwardDeclarations . h ( 58 ) :   error   C4067 :   \u9884 \u5904\u7406 \u7406\u5668 \u5904\u7406\u5668 \u6307\u4ee4 \u540e \u6709 \u610f\u5916 \u6807\u8bb0   -   \u5e94 \u8f93\u5165 \u6362\u884c \u6362\u884c\u7b26   \uff0c \u539f\u56e0 \u4e0d\u660e \u3002","title":"\u914d\u7f6e \u670d\u52a1\u5668  "},{"location":"tuto_G_chrono/#chrono_2","text":"Chrono   \u7269\u7406 \u662f \u901a\u8fc7   Actor   \u7c7b \u63d0\u4f9b \u7684   enable _ chrono _ physics   \u65b9\u6cd5 \u542f\u7528 \u7684 \u3002 \u9664\u4e86 \u5b50 \u6b65\u9aa4 \u548c\u5b50 \u6b65\u9aa4 \u589e\u91cf \u65f6\u95f4 \u7684 \u503c \u4e4b\u5916 \uff0c \u5b83 \u8fd8 \u9700\u8981 \u4e09\u4e2a \u6a21\u677f \u6587\u4ef6 \u548c \u4e00\u4e2a \u57fa\u672c \u8def\u5f84 \u6765 \u5b9a\u4f4d \u8fd9\u4e9b \u6587\u4ef6 \uff1a   base _ path   :   \u5305\u542b \u6a21\u677f \u6587\u4ef6 \u7684 \u76ee\u5f55 \u8def\u5f84 \u3002 \u8fd9 \u5bf9\u4e8e \u786e\u4fdd \u4ece \u6a21\u677f \u6587\u4ef6 \u5f15\u7528 \u7684 \u8f85\u52a9 \u6587\u4ef6 \u5177\u6709 \u7528\u4e8e \u641c\u7d22 \u7684 \u516c\u5171 \u57fa\u672c \u8def\u5f84 \u662f \u5fc5\u8981 \u7684 \u3002   vehicle _ json   :   \u76f8\u5bf9 \u4e8e   base _ path   \u7684 \u8f66\u8f86 \u6a21\u677f \u6587\u4ef6   .   tire _ json   :   \u76f8\u5bf9 \u4e8e   base _ path   \u7684 \u8f6e\u80ce \u6a21\u677f \u6587\u4ef6 \u3002   powertrain _ json   :   \u76f8\u5bf9 \u4e8e   base _ path   \u52a8\u529b \u603b\u6210 \u6a21\u677f \u6587\u4ef6 \u3002   \u91cd\u8981   \u4ed4\u7ec6 \u68c0\u67e5 \u4ed4\u7ec6\u68c0\u67e5 \u60a8 \u7684 \u8def\u5f84 \u3002 \u4e0d \u6b63\u786e \u6216 \u7f3a\u5931 \u7684 \u8def\u5f84 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u865a\u5e7b \u5f15\u64ce \u5d29\u6e83 \u3002   Build / chrono - install / share / chrono / data / vehicle   \u4e2d \u63d0\u4f9b \u4e86 \u9002\u7528 \u4e8e \u4e0d\u540c \u8f66\u8f86 \u7684 \u5404\u79cd \u793a\u4f8b \u6a21\u677f \u6587\u4ef6 \u3002 \u9605\u8bfb   Chrono   \u5de5\u7a0b \u7684   \u6587\u6863   \uff08 \u6216 \u53c2\u8003   \u4e2d\u6587 \u6587\u6863   \uff09 \uff0c \u4e86\u89e3 \u6709\u5173 \u5176 \u8f66\u8f86 \u793a\u4f8b \u4ee5\u53ca \u5982\u4f55 \u521b\u5efa \u6a21\u677f \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u53c2\u9605 \u8bf7\u53c2\u9605 \u4e0b\u9762 \u7684 \u793a\u4f8b \uff0c \u4e86\u89e3 \u5982\u4f55 \u542f\u7528   Chrono   \u7269\u7406 \uff1a   #   \u751f\u6210 \u8f66\u8f86   vehicle   =   world . spawn _ actor ( bp ,   spawn _ point )   #   \u8bbe\u7f6e \u57fa\u7840 \u8def\u5f84   base _ path   =   \" D : / work / workspace / carla / Build / chrono - install / data / vehicle / \"   #   \u8bbe\u7f6e \u6a21\u677f \u6587\u4ef6   vehicle _ json   =   \" sedan / vehicle / Sedan _ Vehicle . json \"   powertrain _ json   =   \" sedan / powertrain / Sedan _ SimpleMapPowertrain . json \"   tire _ json   =   \" sedan / tire / Sedan _ TMeasyTire . json \"   #   \u542f\u7528   Chrono   \u7269\u7406 \u7279\u6027   vehicle . enable _ chrono _ physics ( 5000 ,   0.002 ,   vehicle _ json ,   powertrain _ json ,   tire _ json ,   base _ path )   \u60a8 \u53ef\u4ee5 \u4f7f\u7528   PythonAPI / examples   \u4e2d \u7684 \u793a\u4f8b \u811a\u672c   manual _ control _ chrono . py   \u5c1d\u8bd5   Chrono   \u7269\u7406 \u96c6\u6210 \u3002 \u8fd0\u884c \u811a\u672c \u540e \uff0c \u6309   Ctrl   +   o   \u542f\u7528   Chrono \u3002","title":"\u542f\u7528   Chrono   \u7269\u7406  "},{"location":"tuto_G_chrono/#_2","text":"\u6b64 \u96c6\u6210 \u4e0d \u652f\u6301 \u78b0\u649e \u3002   \u5f53 \u53d1\u751f \u78b0\u649e \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u6062\u590d \u4e3a   Carla   \u9ed8\u8ba4 \u7269\u7406 \u72b6\u6001 \u3002","title":"\u5c40\u9650\u6027  "},{"location":"tuto_G_control_vehicle_physics/","text":"\u63a7\u5236 \u548c \u76d1\u63a7 \u8f66\u8f86 \u7269\u7406 \u7279\u6027   \u53ef\u4ee5 \u8c03\u6574 \u8f66\u8f86 \u53ca\u5176 \u8f66\u8f6e \u7684 \u7269\u7406 \u5c5e\u6027 \u3002 \u8fd9\u4e9b \u66f4\u6539   \u4ec5   \u5e94\u7528 \u4e8e \u8fd0\u884c \u65f6 \uff0c \u5e76\u4e14 \u5728 \u6267\u884c \u7ed3\u675f \u65f6\u5c06\u503c \u8bbe\u7f6e \u56de \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002   \u8fd9\u4e9b \u5c5e\u6027 \u901a\u8fc7   carla . VehiclePhysicsControl   \u5bf9\u8c61 \u8fdb\u884c \u63a7\u5236   \uff0c \u8be5 \u5bf9\u8c61 \u8fd8 \u901a\u8fc7   carla . WheelPhysicsControl   \u5bf9\u8c61 \u63d0\u4f9b \u5bf9 \u6bcf\u4e2a \u8f66\u8f6e \u7269\u7406 \u7279\u6027 \u7684 \u63a7\u5236   \u3002   \u8f66\u8f86 \u63a7\u5236 \u4ee3\u7801 \u63a7\u5236\u4ee3\u7801 \u793a\u4f8b   \u67e5\u770b \u8f66\u8f86 \u9065\u6d4b \u6570\u636e   \u8f66\u8f86 \u63a7\u5236 \u4ee3\u7801 \u63a7\u5236\u4ee3\u7801 \u793a\u4f8b   import   carla   import   random   def   main ( ) :   #   \u8fde\u63a5 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef   client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   client . set _ timeout ( 2.0 )   #   \u83b7\u5f97 \u4e16\u754c \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005   world   =   client . get _ world ( )   actors   =   world . get _ actors ( )   #   \u4ece \u4e16\u754c \u83b7\u5f97 \u4e00\u8f86 \u968f\u673a \u8f66\u8f86 \uff08 \u5e94\u8be5 \u81f3\u5c11 \u6709 \u4e00\u8f86 \uff09   vehicle   =   random . choice ( [ actor   for   actor   in   actors   if   ' vehicle '   in   actor . type _ id ] )   #   \u521b\u5efa \u8f66\u8f6e \u7269\u7406 \u63a7\u5236   front _ left _ wheel   =   carla . WheelPhysicsControl ( tire _ friction = 2.0 ,   damping _ rate = 1.5 ,   max _ steer _ angle = 70.0 ,   long _ stiff _ value = 1000 )   front _ right _ wheel   =   carla . WheelPhysicsControl ( tire _ friction = 2.0 ,   damping _ rate = 1.5 ,   max _ steer _ angle = 70.0 ,   long _ stiff _ value = 1000 )   rear _ left _ wheel   =   carla . WheelPhysicsControl ( tire _ friction = 3.0 ,   damping _ rate = 1.5 ,   max _ steer _ angle = 0.0 ,   long _ stiff _ value = 1000 )   rear _ right _ wheel   =   carla . WheelPhysicsControl ( tire _ friction = 3.0 ,   damping _ rate = 1.5 ,   max _ steer _ angle = 0.0 ,   long _ stiff _ value = 1000 )   wheels   =   [ front _ left _ wheel ,   front _ right _ wheel ,   rear _ left _ wheel ,   rear _ right _ wheel ]   #   \u6539\u53d8 \u8f66\u8f86 \u7684 \u8f66\u8f86 \u7269\u7406 \u63a7\u5236 \u53c2\u6570 \u63a7\u5236\u53c2\u6570   physics _ control   =   vehicle . get _ physics _ control ( )   physics _ control . torque _ curve   =   [ carla . Vector2D ( x = 0 ,   y = 400 ) ,   carla . Vector2D ( x = 1300 ,   y = 600 ) ]   physics _ control . max _ rpm   =   10000   physics _ control . moi   =   1.0   physics _ control . damping _ rate _ full _ throttle   =   0.0   physics _ control . use _ gear _ autobox   =   True   physics _ control . gear _ switch _ time   =   0.5   physics _ control . clutch _ strength   =   10   physics _ control . mass   =   10000   physics _ control . drag _ coefficient   =   0.25   physics _ control . steering _ curve   =   [ carla . Vector2D ( x = 0 ,   y = 1 ) ,   carla . Vector2D ( x = 100 ,   y = 1 ) ,   carla . Vector2D ( x = 300 ,   y = 1 ) ]   physics _ control . use _ sweep _ wheel _ collision   =   True   physics _ control . wheels   =   wheels   #   \u5bf9 \u8f66\u8f86 \u5e94\u7528 \u8f66\u8f86 \u7269\u7406 \u63a7\u5236   vehicle . apply _ physics _ control ( physics _ control )   print ( physics _ control )   if   __ name __   = =   ' __ main __ ' :   main ( )   \u67e5\u770b \u8f66\u8f86 \u9065\u6d4b \u6570\u636e   \u901a\u8fc7 \u8c03\u7528   Actor . enable _ debug _ telemetry   \u65b9\u6cd5 \u53ef\u4ee5 \u5b9e\u73b0 \u8f66\u8f86 \u9065\u6d4b \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002 \u8fd9 \u5c06 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7a97\u53e3 \u4e0a \u63d0\u4f9b \u591a\u4e2a \u6307\u6807 \u7684 \u56fe\u5f62 \u89c6\u56fe \u4ee5\u53ca \u4eff\u771f \u7a97\u53e3 \u4e0a \u7684 \u8f66\u8f86 \u53c2\u8003 \u8003\u70b9 \u53c2\u8003\u70b9 \u3002   \u60a8 \u53ef\u4ee5 \u5c1d\u8bd5 \u4f4d\u4e8e   PythonAPI / examples   \u4e2d \u7684 \u793a\u4f8b \u811a\u672c \u4e2d \u7684 \u9065\u6d4b \u53ef\u89c6 \u53ef\u89c6\u5316 \u5de5\u5177   manual _ control . py   \u3002 \u6309   T   \u6fc0\u6d3b \u9065\u6d4b \u89c6\u56fe \u3002","title":"\u63a7\u5236 \u548c \u76d1\u63a7 \u8f66\u8f86 \u7269\u7406 \u7279\u6027"},{"location":"tuto_G_control_vehicle_physics/#_1","text":"\u53ef\u4ee5 \u8c03\u6574 \u8f66\u8f86 \u53ca\u5176 \u8f66\u8f6e \u7684 \u7269\u7406 \u5c5e\u6027 \u3002 \u8fd9\u4e9b \u66f4\u6539   \u4ec5   \u5e94\u7528 \u4e8e \u8fd0\u884c \u65f6 \uff0c \u5e76\u4e14 \u5728 \u6267\u884c \u7ed3\u675f \u65f6\u5c06\u503c \u8bbe\u7f6e \u56de \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002   \u8fd9\u4e9b \u5c5e\u6027 \u901a\u8fc7   carla . VehiclePhysicsControl   \u5bf9\u8c61 \u8fdb\u884c \u63a7\u5236   \uff0c \u8be5 \u5bf9\u8c61 \u8fd8 \u901a\u8fc7   carla . WheelPhysicsControl   \u5bf9\u8c61 \u63d0\u4f9b \u5bf9 \u6bcf\u4e2a \u8f66\u8f6e \u7269\u7406 \u7279\u6027 \u7684 \u63a7\u5236   \u3002   \u8f66\u8f86 \u63a7\u5236 \u4ee3\u7801 \u63a7\u5236\u4ee3\u7801 \u793a\u4f8b   \u67e5\u770b \u8f66\u8f86 \u9065\u6d4b \u6570\u636e","title":"\u63a7\u5236 \u548c \u76d1\u63a7 \u8f66\u8f86 \u7269\u7406 \u7279\u6027"},{"location":"tuto_G_control_vehicle_physics/#_2","text":"import   carla   import   random   def   main ( ) :   #   \u8fde\u63a5 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef   client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   client . set _ timeout ( 2.0 )   #   \u83b7\u5f97 \u4e16\u754c \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005   world   =   client . get _ world ( )   actors   =   world . get _ actors ( )   #   \u4ece \u4e16\u754c \u83b7\u5f97 \u4e00\u8f86 \u968f\u673a \u8f66\u8f86 \uff08 \u5e94\u8be5 \u81f3\u5c11 \u6709 \u4e00\u8f86 \uff09   vehicle   =   random . choice ( [ actor   for   actor   in   actors   if   ' vehicle '   in   actor . type _ id ] )   #   \u521b\u5efa \u8f66\u8f6e \u7269\u7406 \u63a7\u5236   front _ left _ wheel   =   carla . WheelPhysicsControl ( tire _ friction = 2.0 ,   damping _ rate = 1.5 ,   max _ steer _ angle = 70.0 ,   long _ stiff _ value = 1000 )   front _ right _ wheel   =   carla . WheelPhysicsControl ( tire _ friction = 2.0 ,   damping _ rate = 1.5 ,   max _ steer _ angle = 70.0 ,   long _ stiff _ value = 1000 )   rear _ left _ wheel   =   carla . WheelPhysicsControl ( tire _ friction = 3.0 ,   damping _ rate = 1.5 ,   max _ steer _ angle = 0.0 ,   long _ stiff _ value = 1000 )   rear _ right _ wheel   =   carla . WheelPhysicsControl ( tire _ friction = 3.0 ,   damping _ rate = 1.5 ,   max _ steer _ angle = 0.0 ,   long _ stiff _ value = 1000 )   wheels   =   [ front _ left _ wheel ,   front _ right _ wheel ,   rear _ left _ wheel ,   rear _ right _ wheel ]   #   \u6539\u53d8 \u8f66\u8f86 \u7684 \u8f66\u8f86 \u7269\u7406 \u63a7\u5236 \u53c2\u6570 \u63a7\u5236\u53c2\u6570   physics _ control   =   vehicle . get _ physics _ control ( )   physics _ control . torque _ curve   =   [ carla . Vector2D ( x = 0 ,   y = 400 ) ,   carla . Vector2D ( x = 1300 ,   y = 600 ) ]   physics _ control . max _ rpm   =   10000   physics _ control . moi   =   1.0   physics _ control . damping _ rate _ full _ throttle   =   0.0   physics _ control . use _ gear _ autobox   =   True   physics _ control . gear _ switch _ time   =   0.5   physics _ control . clutch _ strength   =   10   physics _ control . mass   =   10000   physics _ control . drag _ coefficient   =   0.25   physics _ control . steering _ curve   =   [ carla . Vector2D ( x = 0 ,   y = 1 ) ,   carla . Vector2D ( x = 100 ,   y = 1 ) ,   carla . Vector2D ( x = 300 ,   y = 1 ) ]   physics _ control . use _ sweep _ wheel _ collision   =   True   physics _ control . wheels   =   wheels   #   \u5bf9 \u8f66\u8f86 \u5e94\u7528 \u8f66\u8f86 \u7269\u7406 \u63a7\u5236   vehicle . apply _ physics _ control ( physics _ control )   print ( physics _ control )   if   __ name __   = =   ' __ main __ ' :   main ( )","title":"\u8f66\u8f86 \u63a7\u5236\u4ee3\u7801 \u793a\u4f8b  "},{"location":"tuto_G_control_vehicle_physics/#_3","text":"\u901a\u8fc7 \u8c03\u7528   Actor . enable _ debug _ telemetry   \u65b9\u6cd5 \u53ef\u4ee5 \u5b9e\u73b0 \u8f66\u8f86 \u9065\u6d4b \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002 \u8fd9 \u5c06 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7a97\u53e3 \u4e0a \u63d0\u4f9b \u591a\u4e2a \u6307\u6807 \u7684 \u56fe\u5f62 \u89c6\u56fe \u4ee5\u53ca \u4eff\u771f \u7a97\u53e3 \u4e0a \u7684 \u8f66\u8f86 \u53c2\u8003 \u8003\u70b9 \u53c2\u8003\u70b9 \u3002   \u60a8 \u53ef\u4ee5 \u5c1d\u8bd5 \u4f4d\u4e8e   PythonAPI / examples   \u4e2d \u7684 \u793a\u4f8b \u811a\u672c \u4e2d \u7684 \u9065\u6d4b \u53ef\u89c6 \u53ef\u89c6\u5316 \u5de5\u5177   manual _ control . py   \u3002 \u6309   T   \u6fc0\u6d3b \u9065\u6d4b \u89c6\u56fe \u3002","title":"\u67e5\u770b \u8f66\u8f86 \u9065\u6d4b \u6570\u636e  "},{"location":"tuto_G_control_walker_skeletons/","text":"\u884c\u4eba \u9aa8\u9abc \u63a7\u5236   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u4ecb\u7ecd \u5982\u4f55 \u901a\u8fc7   Carla   Python   API   \u624b\u52a8 \u63a7\u5236 \u884c\u4eba \u7684 \u9aa8\u9abc \u5e76 \u4e3a \u5176 \u8bbe\u7f6e \u52a8\u753b \u3002 \u6240\u6709 \u53ef\u7528 \u7c7b \u548c \u65b9\u6cd5 \u7684 \u53c2\u8003 \u53ef\u4ee5 \u5728   Python   API   \u53c2\u8003   \u4e2d \u627e\u5230   \u3002   \u884c\u4eba \u9aa8\u9abc \u7ed3\u6784   \u624b\u52a8 \u63a7\u5236 \u884c\u4eba \u9aa8\u9abc   \u8fde\u63a5 \u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u751f\u6210 \u884c\u4eba   \u63a7\u5236 \u884c\u4eba \u9aa8\u9abc   \u7b14\u8bb0   \u672c \u6587\u6863 \u5047\u8bbe \u7528\u6237 \u719f\u6089   Python   API \u3002   \u3002   \u7528\u6237 \u5728 \u9605\u8bfb \u672c \u6587\u6863 \u4e4b\u524d \u5e94 \u9605\u8bfb \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \u6559\u7a0b \uff1a   \u6838\u5fc3 \u6982\u5ff5   \u3002 \u8fdb\u884c \u884c\u4eba \u5efa\u6a21 \u8bf7 \u53c2\u8003   \u94fe\u63a5   \u3002   \u884c\u4eba \u9aa8\u9abc \u7ed3\u6784   \u6240\u6709 \u884c\u4eba \u90fd \u5177\u6709 \u76f8\u540c \u7684 \u9aa8\u9abc \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u548c \u9aa8\u9abc \u540d\u79f0 \u3002 \u4e0b\u9762 \u662f \u9aa8\u67b6 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u7684 \u56fe\u50cf \u3002 \u9aa8\u9abc \u7684 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u56fe \u53c2\u8003   \u94fe\u63a5   \u3002   crl _ root   \u2514 \u2500 \u2500   crl _ hips __ C   \u251c \u2500 \u2500   crl _ spine __ C   \u2502   \u2514 \u2500 \u2500   crl _ spine01 __ C   \u2502   \u251c \u2500 \u2500   ctrl _ shoulder __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ arm __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ foreArm __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ hand __ L   \u2502   \u2502   \u251c \u2500 \u2500   crl _ handThumb __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumb01 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumb02 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumbEnd __ L   \u2502   \u2502   \u251c \u2500 \u2500   crl _ handIndex __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndex01 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndex02 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndexEnd __ L   \u2502   \u2502   \u251c \u2500 \u2500   crl _ handMiddle _ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddle01 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddle02 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddleEnd __ L   \u2502   \u2502   \u251c \u2500 \u2500   crl _ handRing _ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRing01 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRing02 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRingEnd __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handPinky _ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handPinky01 __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handPinky02 __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handPinkyEnd __ L   \u2502   \u251c \u2500 \u2500   crl _ neck __ C   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ Head __ C   \u2502   \u2502   \u251c \u2500 \u2500   crl _ eye __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ eye __ R   \u2502   \u2514 \u2500 \u2500   crl _ shoulder __ R   \u2502   \u2514 \u2500 \u2500   crl _ arm __ R   \u2502   \u2514 \u2500 \u2500   crl _ foreArm __ R   \u2502   \u2514 \u2500 \u2500   crl _ hand __ R   \u2502   \u251c \u2500 \u2500   crl _ handThumb __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumb01 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumb02 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumbEnd __ R   \u2502   \u251c \u2500 \u2500   crl _ handIndex __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndex01 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndex02 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndexEnd __ R   \u2502   \u251c \u2500 \u2500   crl _ handMiddle _ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddle01 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddle02 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddleEnd __ R   \u2502   \u251c \u2500 \u2500   crl _ handRing _ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRing01 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRing02 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRingEnd __ R   \u2502   \u2514 \u2500 \u2500   crl _ handPinky _ R   \u2502   \u2514 \u2500 \u2500   crl _ handPinky01 __ R   \u2502   \u2514 \u2500 \u2500   crl _ handPinky02 __ R   \u2502   \u2514 \u2500 \u2500   crl _ handPinkyEnd __ R   \u251c \u2500 \u2500   crl _ thigh __ L   \u2502   \u2514 \u2500 \u2500   crl _ leg __ L   \u2502   \u2514 \u2500 \u2500   crl _ foot __ L   \u2502   \u2514 \u2500 \u2500   crl _ toe __ L   \u2502   \u2514 \u2500 \u2500   crl _ toeEnd __ L   \u2514 \u2500 \u2500   crl _ thigh __ R   \u2514 \u2500 \u2500   crl _ leg __ R   \u2514 \u2500 \u2500   crl _ foot __ R   \u2514 \u2500 \u2500   crl _ toe __ R   \u2514 \u2500 \u2500   crl _ toeEnd __ R   \u624b\u52a8 \u63a7\u5236 \u884c\u4eba \u9aa8\u9abc   \u4ee5\u4e0b \u662f \u5982\u4f55 \u901a\u8fc7   Carla   Python   API   \u66f4\u6539 \u884c\u4eba \u9aa8\u9abc \u53d8\u6362 \u7684 \u8be6\u7ec6 \u5206\u6b65 \u793a\u4f8b \u3002   \u8fde\u63a5 \u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u5bfc\u5165 \u672c\u4f8b \u4e2d \u4f7f\u7528 \u7684 \u5fc5\u8981 \u5e93   import   carla   import   random   \u521d\u59cb \u521d\u59cb\u5316   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef   client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   client . set _ timeout ( 2.0 )   \u751f\u6210 \u884c\u4eba   \u5728 \u5730\u56fe \u7684 \u4e00\u4e2a \u751f\u6210 \u70b9 \u751f\u6210 \u4e00\u4e2a \u968f\u673a \u884c\u4eba \u3002   world   =   client . get _ world ( )   blueprint   =   random . choice ( self . world . get _ blueprint _ library ( ) . filter ( ' walker . * ' ) )   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   spawn _ point   =   random . choice ( spawn _ points )   if   spawn _ points   else   carla . Transform ( )   world . try _ spawn _ actor ( blueprint ,   spawn _ point )   \u63a7\u5236 \u884c\u4eba \u9aa8\u9abc   \u53ef\u4ee5 \u901a\u8fc7 \u5c06   WalkerBoneControl   \u7c7b \u7684 \u5b9e\u4f8b \u4f20\u9012 \u7ed9 \u884c\u4eba \u7684   apply _ control   \u51fd\u6570 \u6765 \u4fee\u6539 \u884c\u4eba \u7684 \u9aa8\u67b6 \u3002   WalkerBoneControl   \u7c7b \u5305\u542b \u8981 \u4fee\u6539 \u7684 \u9aa8\u9abc \u7684 \u53d8\u6362 \u3002 \u5b83 \u7684   bone _ transforms   \u6210\u5458 \u662f \u6210 \u5bf9\u503c \u5143\u7ec4 \u7684 \u5217\u8868 \uff0c \u5176\u4e2d \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u503c \u662f \u9aa8\u9abc \u540d\u79f0 \uff0c \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u503c \u662f \u9aa8\u9abc \u53d8\u6362 \u3002 \u53ef\u4ee5 \u5728 \u6bcf\u4e2a \u523b\u5ea6 \u4e0a \u8c03\u7528   apply _ control   \u51fd\u6570 \u6765 \u4e3a \u884c\u4eba \u7684 \u9aa8\u9abc \u8bbe\u7f6e \u52a8\u753b \u3002 \u6bcf\u4e2a \u53d8\u6362 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u90fd \u662f \u76f8\u5bf9 \u4e8e \u5176\u7236 \u53d8\u6362 \u7684 \u3002 \u56e0\u6b64 \uff0c \u5f53 \u4fee\u6539 \u7236 \u9aa8\u9abc \u7684 \u53d8\u6362 \u65f6 \uff0c \u5b50 \u9aa8\u9abc \u5728 \u6a21\u578b \u7a7a\u95f4 \u4e2d \u7684 \u53d8\u6362 \u4e5f \u4f1a \u76f8\u5bf9 \u6539\u53d8 \u3002   \u5728 \u4e0b\u9762 \u7684 \u793a\u4f8b \u4e2d \uff0c \u884c\u4eba \u7684 \u624b \u8bbe\u7f6e \u4e3a \u56f4\u7ed5 \u524d\u8f74 \u65cb\u8f6c   90   \u5ea6 \uff0c \u5e76\u4e14 \u4f4d\u7f6e \u8bbe\u7f6e \u4e3a \u539f\u70b9 \u3002   control   =   carla . WalkerBoneControl ( )   first _ tuple   =   ( ' crl _ hand __ R ' ,   carla . Transform ( rotation = carla . Rotation ( roll = 90 ) ) )   second _ tuple   =   ( ' crl _ hand __ L ' ,   carla . Transform ( rotation = carla . Rotation ( roll = 90 ) ) )   control . bone _ transforms   =   [ first _ tuple ,   second _ tuple ]   world . player . apply _ control ( control )","title":"\u884c\u4eba \u9aa8\u9abc \u63a7\u5236"},{"location":"tuto_G_control_walker_skeletons/#_1","text":"\u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u4ecb\u7ecd \u5982\u4f55 \u901a\u8fc7   Carla   Python   API   \u624b\u52a8 \u63a7\u5236 \u884c\u4eba \u7684 \u9aa8\u9abc \u5e76 \u4e3a \u5176 \u8bbe\u7f6e \u52a8\u753b \u3002 \u6240\u6709 \u53ef\u7528 \u7c7b \u548c \u65b9\u6cd5 \u7684 \u53c2\u8003 \u53ef\u4ee5 \u5728   Python   API   \u53c2\u8003   \u4e2d \u627e\u5230   \u3002   \u884c\u4eba \u9aa8\u9abc \u7ed3\u6784   \u624b\u52a8 \u63a7\u5236 \u884c\u4eba \u9aa8\u9abc   \u8fde\u63a5 \u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u751f\u6210 \u884c\u4eba   \u63a7\u5236 \u884c\u4eba \u9aa8\u9abc   \u7b14\u8bb0   \u672c \u6587\u6863 \u5047\u8bbe \u7528\u6237 \u719f\u6089   Python   API \u3002   \u3002   \u7528\u6237 \u5728 \u9605\u8bfb \u672c \u6587\u6863 \u4e4b\u524d \u5e94 \u9605\u8bfb \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \u6559\u7a0b \uff1a   \u6838\u5fc3 \u6982\u5ff5   \u3002 \u8fdb\u884c \u884c\u4eba \u5efa\u6a21 \u8bf7 \u53c2\u8003   \u94fe\u63a5   \u3002","title":"\u884c\u4eba \u9aa8\u9abc \u63a7\u5236"},{"location":"tuto_G_control_walker_skeletons/#_2","text":"\u6240\u6709 \u884c\u4eba \u90fd \u5177\u6709 \u76f8\u540c \u7684 \u9aa8\u9abc \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u548c \u9aa8\u9abc \u540d\u79f0 \u3002 \u4e0b\u9762 \u662f \u9aa8\u67b6 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u7684 \u56fe\u50cf \u3002 \u9aa8\u9abc \u7684 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u56fe \u53c2\u8003   \u94fe\u63a5   \u3002   crl _ root   \u2514 \u2500 \u2500   crl _ hips __ C   \u251c \u2500 \u2500   crl _ spine __ C   \u2502   \u2514 \u2500 \u2500   crl _ spine01 __ C   \u2502   \u251c \u2500 \u2500   ctrl _ shoulder __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ arm __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ foreArm __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ hand __ L   \u2502   \u2502   \u251c \u2500 \u2500   crl _ handThumb __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumb01 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumb02 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumbEnd __ L   \u2502   \u2502   \u251c \u2500 \u2500   crl _ handIndex __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndex01 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndex02 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndexEnd __ L   \u2502   \u2502   \u251c \u2500 \u2500   crl _ handMiddle _ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddle01 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddle02 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddleEnd __ L   \u2502   \u2502   \u251c \u2500 \u2500   crl _ handRing _ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRing01 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRing02 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRingEnd __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handPinky _ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handPinky01 __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handPinky02 __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handPinkyEnd __ L   \u2502   \u251c \u2500 \u2500   crl _ neck __ C   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ Head __ C   \u2502   \u2502   \u251c \u2500 \u2500   crl _ eye __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ eye __ R   \u2502   \u2514 \u2500 \u2500   crl _ shoulder __ R   \u2502   \u2514 \u2500 \u2500   crl _ arm __ R   \u2502   \u2514 \u2500 \u2500   crl _ foreArm __ R   \u2502   \u2514 \u2500 \u2500   crl _ hand __ R   \u2502   \u251c \u2500 \u2500   crl _ handThumb __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumb01 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumb02 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumbEnd __ R   \u2502   \u251c \u2500 \u2500   crl _ handIndex __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndex01 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndex02 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndexEnd __ R   \u2502   \u251c \u2500 \u2500   crl _ handMiddle _ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddle01 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddle02 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddleEnd __ R   \u2502   \u251c \u2500 \u2500   crl _ handRing _ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRing01 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRing02 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRingEnd __ R   \u2502   \u2514 \u2500 \u2500   crl _ handPinky _ R   \u2502   \u2514 \u2500 \u2500   crl _ handPinky01 __ R   \u2502   \u2514 \u2500 \u2500   crl _ handPinky02 __ R   \u2502   \u2514 \u2500 \u2500   crl _ handPinkyEnd __ R   \u251c \u2500 \u2500   crl _ thigh __ L   \u2502   \u2514 \u2500 \u2500   crl _ leg __ L   \u2502   \u2514 \u2500 \u2500   crl _ foot __ L   \u2502   \u2514 \u2500 \u2500   crl _ toe __ L   \u2502   \u2514 \u2500 \u2500   crl _ toeEnd __ L   \u2514 \u2500 \u2500   crl _ thigh __ R   \u2514 \u2500 \u2500   crl _ leg __ R   \u2514 \u2500 \u2500   crl _ foot __ R   \u2514 \u2500 \u2500   crl _ toe __ R   \u2514 \u2500 \u2500   crl _ toeEnd __ R","title":"\u884c\u4eba \u9aa8\u9abc \u7ed3\u6784    "},{"location":"tuto_G_control_walker_skeletons/#_3","text":"\u4ee5\u4e0b \u662f \u5982\u4f55 \u901a\u8fc7   Carla   Python   API   \u66f4\u6539 \u884c\u4eba \u9aa8\u9abc \u53d8\u6362 \u7684 \u8be6\u7ec6 \u5206\u6b65 \u793a\u4f8b \u3002","title":"\u624b\u52a8 \u63a7\u5236 \u884c\u4eba \u9aa8\u9abc  "},{"location":"tuto_G_control_walker_skeletons/#_4","text":"\u5bfc\u5165 \u672c\u4f8b \u4e2d \u4f7f\u7528 \u7684 \u5fc5\u8981 \u5e93   import   carla   import   random   \u521d\u59cb \u521d\u59cb\u5316   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef   client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   client . set _ timeout ( 2.0 )","title":"\u8fde\u63a5 \u5230 \u4eff\u771f\u5668  "},{"location":"tuto_G_control_walker_skeletons/#_5","text":"\u5728 \u5730\u56fe \u7684 \u4e00\u4e2a \u751f\u6210 \u70b9 \u751f\u6210 \u4e00\u4e2a \u968f\u673a \u884c\u4eba \u3002   world   =   client . get _ world ( )   blueprint   =   random . choice ( self . world . get _ blueprint _ library ( ) . filter ( ' walker . * ' ) )   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   spawn _ point   =   random . choice ( spawn _ points )   if   spawn _ points   else   carla . Transform ( )   world . try _ spawn _ actor ( blueprint ,   spawn _ point )","title":"\u751f\u6210 \u884c\u4eba    "},{"location":"tuto_G_control_walker_skeletons/#_6","text":"\u53ef\u4ee5 \u901a\u8fc7 \u5c06   WalkerBoneControl   \u7c7b \u7684 \u5b9e\u4f8b \u4f20\u9012 \u7ed9 \u884c\u4eba \u7684   apply _ control   \u51fd\u6570 \u6765 \u4fee\u6539 \u884c\u4eba \u7684 \u9aa8\u67b6 \u3002   WalkerBoneControl   \u7c7b \u5305\u542b \u8981 \u4fee\u6539 \u7684 \u9aa8\u9abc \u7684 \u53d8\u6362 \u3002 \u5b83 \u7684   bone _ transforms   \u6210\u5458 \u662f \u6210 \u5bf9\u503c \u5143\u7ec4 \u7684 \u5217\u8868 \uff0c \u5176\u4e2d \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u503c \u662f \u9aa8\u9abc \u540d\u79f0 \uff0c \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u503c \u662f \u9aa8\u9abc \u53d8\u6362 \u3002 \u53ef\u4ee5 \u5728 \u6bcf\u4e2a \u523b\u5ea6 \u4e0a \u8c03\u7528   apply _ control   \u51fd\u6570 \u6765 \u4e3a \u884c\u4eba \u7684 \u9aa8\u9abc \u8bbe\u7f6e \u52a8\u753b \u3002 \u6bcf\u4e2a \u53d8\u6362 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u90fd \u662f \u76f8\u5bf9 \u4e8e \u5176\u7236 \u53d8\u6362 \u7684 \u3002 \u56e0\u6b64 \uff0c \u5f53 \u4fee\u6539 \u7236 \u9aa8\u9abc \u7684 \u53d8\u6362 \u65f6 \uff0c \u5b50 \u9aa8\u9abc \u5728 \u6a21\u578b \u7a7a\u95f4 \u4e2d \u7684 \u53d8\u6362 \u4e5f \u4f1a \u76f8\u5bf9 \u6539\u53d8 \u3002   \u5728 \u4e0b\u9762 \u7684 \u793a\u4f8b \u4e2d \uff0c \u884c\u4eba \u7684 \u624b \u8bbe\u7f6e \u4e3a \u56f4\u7ed5 \u524d\u8f74 \u65cb\u8f6c   90   \u5ea6 \uff0c \u5e76\u4e14 \u4f4d\u7f6e \u8bbe\u7f6e \u4e3a \u539f\u70b9 \u3002   control   =   carla . WalkerBoneControl ( )   first _ tuple   =   ( ' crl _ hand __ R ' ,   carla . Transform ( rotation = carla . Rotation ( roll = 90 ) ) )   second _ tuple   =   ( ' crl _ hand __ L ' ,   carla . Transform ( rotation = carla . Rotation ( roll = 90 ) ) )   control . bone _ transforms   =   [ first _ tuple ,   second _ tuple ]   world . player . apply _ control ( control )","title":"\u63a7\u5236 \u884c\u4eba \u9aa8\u9abc    "},{"location":"tuto_G_esmini/","text":"esmini   \u4e0b\u8f7d   \u4e0b\u8f7d   esmini \u548c esmini - demo _ windows   \u3002   \u8fd0\u884c   esmini \\ bin > esmini   -- window   60   60   800   400   -- osc   . / esmini - demo / resources / xosc / cut - in . xosc","title":"tuto   G   esmini"},{"location":"tuto_G_esmini/#esmini","text":"\u4e0b\u8f7d   \u4e0b\u8f7d   esmini \u548c esmini - demo _ windows   \u3002   \u8fd0\u884c   esmini \\ bin > esmini   -- window   60   60   800   400   -- osc   . / esmini - demo / resources / xosc / cut - in . xosc","title":"esmini"},{"location":"tuto_G_instance_segmentation_sensor/","text":"\u5b9e\u4f8b \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u5b9e\u4f8b \u5206\u5272 ( Instance   segmentation )   \u662f \u4e00\u79cd \u65b0\u578b \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u53ef \u4e3a \u573a\u666f \u4e2d \u7684 \u6bcf\u4e2a \u5bf9\u8c61 \u751f\u6210 \u552f\u4e00 \u7684 \u50cf\u7d20 \u503c \u3002 \u8fd9 \u4e0e \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5f62\u6210 \u5bf9\u6bd4 \uff0c \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5bf9\u4e8e \u76f8\u540c \u5bf9\u8c61 \u7c7b \u7684 \u5b9e\u4f8b \uff08 \u4f8b\u5982 \u8f66\u8f86 \uff09 \u5177\u6709 \u76f8\u540c \u7684   ID \u3002   \u8981 \u751f\u6210 \u8bed\u4e49 \u5206\u5272 \u76f8\u673a \uff0c \u6211\u4eec \u9700\u8981   sensor . camera . instance _ segmentation   \u84dd\u56fe \uff1a   instance _ camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . instance _ segmentation ' )   \u793a\u4f8b   \u6211\u4eec \u5c06 \u9996\u5148 \u8bbe\u7f6e \u4e00\u4e2a \u5e26\u6709 \u5b9e\u4f8b \u5206\u5272 \u76f8\u673a \u7684 \u4e16\u754c \uff0c \u5e76 \u5728 \u573a\u666f \u4e2d \u751f\u6210 \u5927\u91cf \u8f66\u8f86 \u3002   \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5e76 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002   import   carla   import   random   import   time   import   queue   #   \u8fde\u63a5 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e76 \u5c06 Carla \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   world . apply _ settings ( settings )   \u8bbe\u7f6e \u5b9e\u4f8b \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e76 \u5c06 \u5176 \u751f\u6210 \u5728 \u6240 \u9700 \u7684 \u5730\u56fe \u4f4d\u7f6e \u3002   #   \u83b7\u5f97 \u5730\u56fe \u7684 \u751f\u6210 \u70b9 \u548c \u89c2\u5bdf \u89c2\u5bdf\u8005   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   spectator   =   world . get _ spectator ( )   #   \u5728 \u5730\u56fe \u4e0a \u67d0\u4e9b \u4f4d\u7f6e \u8bbe\u7f6e \u76f8\u673a   cam _ location   =   carla . Location ( x = - 46 . ,   y = 152 ,   z = 18 )   cam _ rotation   =   carla . Rotation ( pitch = - 21 ,   yaw = - 93.4 ,   roll = 0 )   camera _ transform   =   carla . Transform ( location = cam _ location ,   rotation = cam _ rotation )   spectator . set _ transform ( camera _ transform )   #   \u83b7\u53d6 \u8bed\u4e49 \u76f8\u673a \u84dd\u56fe \u548c \u751f\u6210 \u76f8\u673a   instance _ camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . instance _ segmentation ' )   instance _ camera   =   world . try _ spawn _ actor ( instance _ camera _ bp ,   camera _ transform )   \u5728 \u6444\u50cf \u6444\u50cf\u673a \u5468\u56f4 \u751f\u6210 \u8f66\u8f86 \uff0c \u7528 \u5927\u91cf \u5bf9\u8c61 \u5b9e\u4f8b \u586b\u5145 \u573a\u666f \u3002   #   \u5728 \u76f8\u673a \u5468\u56f4 80 \u7c73 \u5185 \u751f\u6210 \u8f66\u8f86   vehicle _ bp _ library   =   world . get _ blueprint _ library ( ) . filter ( ' * vehicle * ' )   radius   =   80   for   spawn _ point   in   spawn _ points :   vec   =   [ spawn _ point . location . x   -   cam _ location . x ,   spawn _ point . location . y   -   cam _ location . y ]   if   vec [ 0 ] * vec [ 0 ]   +   vec [ 1 ] * vec [ 1 ]   <   radius * radius :   world . try _ spawn _ actor ( random . choice ( vehicle _ bp _ library ) ,   spawn _ point )   world . tick ( )   \u73b0\u5728 \u751f\u6210 \u56fe\u50cf \u3002   #   \u5c06 \u56fe\u7247 \u4fdd\u5b58 \u5230 \u78c1\u76d8   instance _ image _ queue   =   queue . Queue ( )   instance _ camera . listen ( instance _ image _ queue . put )   world . tick ( )   instance _ image = instance _ image _ queue . get ( )   instance _ image . save _ to _ disk ( ' instance _ segmentation . png ' )   \u56fe\u50cf \u8f93\u51fa   \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u7684 \u5b9e\u4f8b \u5206\u5272 \u56fe\u50cf \u7684 \u5b9e\u4f8b   ID   \u7f16\u7801 \u5728   RGB   \u56fe\u50cf \u6587\u4ef6 \u56fe\u50cf\u6587\u4ef6 \u7684   G   \u548c   B   \u901a\u9053 \u4e2d \u3002 R \u901a\u9053 \u5305\u542b \u6807\u51c6 \u8bed\u4e49 ID \u3002","title":"\u5b9e\u4f8b \u5206\u5272 \u4f20\u611f\u5668"},{"location":"tuto_G_instance_segmentation_sensor/#_1","text":"\u5b9e\u4f8b \u5206\u5272 ( Instance   segmentation )   \u662f \u4e00\u79cd \u65b0\u578b \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u53ef \u4e3a \u573a\u666f \u4e2d \u7684 \u6bcf\u4e2a \u5bf9\u8c61 \u751f\u6210 \u552f\u4e00 \u7684 \u50cf\u7d20 \u503c \u3002 \u8fd9 \u4e0e \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5f62\u6210 \u5bf9\u6bd4 \uff0c \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5bf9\u4e8e \u76f8\u540c \u5bf9\u8c61 \u7c7b \u7684 \u5b9e\u4f8b \uff08 \u4f8b\u5982 \u8f66\u8f86 \uff09 \u5177\u6709 \u76f8\u540c \u7684   ID \u3002   \u8981 \u751f\u6210 \u8bed\u4e49 \u5206\u5272 \u76f8\u673a \uff0c \u6211\u4eec \u9700\u8981   sensor . camera . instance _ segmentation   \u84dd\u56fe \uff1a   instance _ camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . instance _ segmentation ' )","title":"\u5b9e\u4f8b \u5206\u5272 \u4f20\u611f\u5668"},{"location":"tuto_G_instance_segmentation_sensor/#_2","text":"\u6211\u4eec \u5c06 \u9996\u5148 \u8bbe\u7f6e \u4e00\u4e2a \u5e26\u6709 \u5b9e\u4f8b \u5206\u5272 \u76f8\u673a \u7684 \u4e16\u754c \uff0c \u5e76 \u5728 \u573a\u666f \u4e2d \u751f\u6210 \u5927\u91cf \u8f66\u8f86 \u3002   \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5e76 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002   import   carla   import   random   import   time   import   queue   #   \u8fde\u63a5 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e76 \u5c06 Carla \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   world . apply _ settings ( settings )   \u8bbe\u7f6e \u5b9e\u4f8b \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e76 \u5c06 \u5176 \u751f\u6210 \u5728 \u6240 \u9700 \u7684 \u5730\u56fe \u4f4d\u7f6e \u3002   #   \u83b7\u5f97 \u5730\u56fe \u7684 \u751f\u6210 \u70b9 \u548c \u89c2\u5bdf \u89c2\u5bdf\u8005   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   spectator   =   world . get _ spectator ( )   #   \u5728 \u5730\u56fe \u4e0a \u67d0\u4e9b \u4f4d\u7f6e \u8bbe\u7f6e \u76f8\u673a   cam _ location   =   carla . Location ( x = - 46 . ,   y = 152 ,   z = 18 )   cam _ rotation   =   carla . Rotation ( pitch = - 21 ,   yaw = - 93.4 ,   roll = 0 )   camera _ transform   =   carla . Transform ( location = cam _ location ,   rotation = cam _ rotation )   spectator . set _ transform ( camera _ transform )   #   \u83b7\u53d6 \u8bed\u4e49 \u76f8\u673a \u84dd\u56fe \u548c \u751f\u6210 \u76f8\u673a   instance _ camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . instance _ segmentation ' )   instance _ camera   =   world . try _ spawn _ actor ( instance _ camera _ bp ,   camera _ transform )   \u5728 \u6444\u50cf \u6444\u50cf\u673a \u5468\u56f4 \u751f\u6210 \u8f66\u8f86 \uff0c \u7528 \u5927\u91cf \u5bf9\u8c61 \u5b9e\u4f8b \u586b\u5145 \u573a\u666f \u3002   #   \u5728 \u76f8\u673a \u5468\u56f4 80 \u7c73 \u5185 \u751f\u6210 \u8f66\u8f86   vehicle _ bp _ library   =   world . get _ blueprint _ library ( ) . filter ( ' * vehicle * ' )   radius   =   80   for   spawn _ point   in   spawn _ points :   vec   =   [ spawn _ point . location . x   -   cam _ location . x ,   spawn _ point . location . y   -   cam _ location . y ]   if   vec [ 0 ] * vec [ 0 ]   +   vec [ 1 ] * vec [ 1 ]   <   radius * radius :   world . try _ spawn _ actor ( random . choice ( vehicle _ bp _ library ) ,   spawn _ point )   world . tick ( )   \u73b0\u5728 \u751f\u6210 \u56fe\u50cf \u3002   #   \u5c06 \u56fe\u7247 \u4fdd\u5b58 \u5230 \u78c1\u76d8   instance _ image _ queue   =   queue . Queue ( )   instance _ camera . listen ( instance _ image _ queue . put )   world . tick ( )   instance _ image = instance _ image _ queue . get ( )   instance _ image . save _ to _ disk ( ' instance _ segmentation . png ' )","title":"\u793a\u4f8b"},{"location":"tuto_G_instance_segmentation_sensor/#_3","text":"\u4fdd\u5b58 \u5230 \u78c1\u76d8 \u7684 \u5b9e\u4f8b \u5206\u5272 \u56fe\u50cf \u7684 \u5b9e\u4f8b   ID   \u7f16\u7801 \u5728   RGB   \u56fe\u50cf \u6587\u4ef6 \u56fe\u50cf\u6587\u4ef6 \u7684   G   \u548c   B   \u901a\u9053 \u4e2d \u3002 R \u901a\u9053 \u5305\u542b \u6807\u51c6 \u8bed\u4e49 ID \u3002","title":"\u56fe\u50cf \u8f93\u51fa"},{"location":"tuto_G_lfs/","text":"\u5927 \u6587\u4ef6 \u652f\u6301   \u53c2\u8003   \u6559\u7a0b   \u3002","title":"tuto   G   lfs"},{"location":"tuto_G_lfs/#_1","text":"\u53c2\u8003   \u6559\u7a0b   \u3002","title":"\u5927 \u6587\u4ef6 \u652f\u6301"},{"location":"tuto_G_openstreetmap/","text":"\u4f7f\u7528   OpenStreetMap   \u751f\u6210 \u5730\u56fe   \u5728 \u672c \u6307\u5357 \u4e2d \uff0c \u60a8 \u5c06 \u5b66\u4e60 \uff1a   \u5982\u4f55 \u4ece   OpenStreetMaps   \u5bfc\u51fa \u5730\u56fe \u3002   Carla   \u4e2d \u53ef\u4ee5 \u4f7f\u7528 \u7684 \u4e0d\u540c \u683c\u5f0f \u7684 \u5730\u56fe \u4ee5\u53ca \u6bcf\u79cd \u683c\u5f0f \u7684 \u9650\u5236 \u3002   \u5982\u4f55 \u5c06 \u672c\u673a   . osm   \u683c\u5f0f \u8f6c\u6362 \u4e3a   . xodr   \u3002   \u5982\u4f55 \u5728   . xodr   \u6587\u4ef6 \u4e2d \u5305\u542b \u4ea4\u901a \u4ea4\u901a\u706f \u4fe1\u606f \u3002   \u5982\u4f55 \u5728   Carla   \u4eff\u771f \u4e2d \u8fd0\u884c \u6700\u7ec8 \u5730\u56fe \u3002   OpenStreetMap   \u662f \u7531 \u6570\u5343 \u5343\u540d \u6570\u5343\u540d \u8d21\u732e \u8d21\u732e\u8005 \u5f00\u53d1 \u7684 \u5f00\u653e \u6570\u636e \u4e16\u754c \u5730\u56fe \u4e16\u754c\u5730\u56fe \uff0c \u5e76 \u6839\u636e   Open   Data   Commons   Open   Database   License   \u83b7\u5f97 \u8bb8\u53ef \u3002 \u5730\u56fe \u7684 \u5404\u4e2a \u90e8\u5206 \u53ef\u4ee5 \u5bfc\u51fa \u4e3a   XML   \u683c\u5f0f \u7684   . osm   \u6587\u4ef6 \u3002 Carla   \u53ef\u4ee5 \u5c06 \u6b64 \u6587\u4ef6 \u8f6c\u6362 \u4e3a   OpenDRIVE   \u683c\u5f0f \u5e76 \u4f7f\u7528   OpenDRIVE   Standalone   Mode   \u5bfc\u5165 \u5b83 \u3002   \u4f7f\u7528   OpenStreetMap   \u5bfc\u51fa \u5730\u56fe   \u5728   Carla   \u4e2d \u4f7f\u7528   OpenStreetMaps   \u5c06   OpenStreetMap   \u683c\u5f0f \u8f6c\u6362 \u4e3a   OpenDRIVE   \u683c\u5f0f   Linux   Windows   \u751f\u6210 \u4ea4\u901a \u4ea4\u901a\u706f   \u5bfc\u5165   Carla   \u4f7f\u7528   OpenStreetMap   \u5bfc\u51fa \u5730\u56fe   \u672c \u8282 \u4ecb\u7ecd \u5982\u4f55 \u4ece   Open   Street   Map   \u5bfc\u51fa \u6240 \u9700 \u7684 \u5730\u56fe \u4fe1\u606f \u5730\u56fe\u4fe1\u606f \uff1a   1 .   \u5bfc\u822a \u81f3   Open   Street   Map   \u7f51\u7ad9   \u3002 \u60a8 \u5c06 \u5728 \u7a97\u53e3 \u53f3\u4fa7 \u770b\u5230 \u5730\u56fe \u89c6\u56fe \u548c \u4e00\u4e2a \u9762\u677f \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u5176\u4e2d \u914d\u7f6e \u4e0d\u540c \u7684 \u5730\u56fe \u56fe\u5c42 \u3001 \u67e5\u8be2 \u4e0d\u540c \u7684 \u8981\u7d20 \u3001 \u5207\u6362 \u56fe\u4f8b \u7b49 \u3002   2 .   \u641c\u7d22 \u60a8 \u60f3\u8981 \u7684 \u4f4d\u7f6e \u5e76 \u653e\u5927 \u5230 \u7279\u5b9a \u533a\u57df \u3002   \u7b14\u8bb0   \u5982\u679c \u60a8 \u60f3 \u4f7f\u7528 \u5927 \u8303\u56f4 \u7684 \u5730\u56fe \uff0c \u4f8b\u5982 \u5df4\u9ece \uff0c \u60a8 \u53ef\u4ee5 \u8003\u8651 \u4f7f\u7528   Carla   \u7684   \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd   \u3002   3 .   \u5355\u51fb \u7a97\u53e3 \u5de6\u4e0a \u4e0a\u89d2 \u5de6\u4e0a\u89d2 \u7684 \u201c \u5bfc\u51fa (   Export   ) \u201d \u4ee5 \u6253\u5f00 \u201c \u5bfc\u51fa (   Export   ) \u201d \u9762\u677f \u3002   4 .   \u5355\u51fb \u201c   \u5bfc\u51fa   \u201d \u9762\u677f \u4e2d \u7684 \u201c _ \u624b\u52a8 _ \u9009\u62e9 \u4e0d\u540c \u533a\u57df \u201d \u3002   5 .   \u901a\u8fc7 \u62d6\u52a8 \u89c6 \u53e3\u4e2d \u65b9\u5f62 \u533a\u57df \u7684 \u89d2\u6765 \u9009\u62e9 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u533a\u57df \u3002   6 .   \u5355\u51fb \u5bfc\u51fa \u9762\u677f \u4e2d \u7684   \u5bfc\u51fa   \u6309\u94ae \uff0c \u5c06 \u6240\u9009 \u533a\u57df \u7684 \u5730\u56fe \u4fe1\u606f \u5730\u56fe\u4fe1\u606f \u4fdd\u5b58 \u4e3a   . osm   \u6587\u4ef6 \u3002   \u5728   Carla   \u4e2d \u4f7f\u7528   OpenStreetMaps   \u5f00\u653e \u8857\u9053 \u5730\u56fe \u6570\u636e \u53ef\u4ee5 \u901a\u8fc7 \u4e09\u79cd \u4e0d\u540c \u7684 \u65b9\u6cd5 \u5728   Carla   \u4e2d \u4f7f\u7528 \u3002 \u60a8 \u4f7f\u7528 \u7684 \u65b9\u6cd5 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u6570\u636e \u662f\u5426 \u4e3a \u539f\u59cb \u683c\u5f0f \uff0c \u6216\u8005 \u60a8 \u662f\u5426 \u4f7f\u7528 \u4ee5\u4e0b \u90e8\u5206 \u4e2d \u8bf4\u660e \u7684 \u8f6c\u6362 \u65b9\u6cd5 \u8f6c\u6362\u65b9\u6cd5 \u6765 \u8f6c\u6362   . osm   \u6587\u4ef6 \u3002   . osm   \u4fdd\u7559 \u6587\u4ef6 \u662f \u6700 \u53d7\u9650 \u9650\u5236 \u53d7\u9650\u5236 \u7684 \u65b9\u6cd5 \uff0c \u56e0\u4e3a \u5b83 \u4e0d \u5141\u8bb8 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8bbe\u7f6e \u3002   \u53ef\u7528   . xodr   \u683c\u5f0f \u9009\u9879 \uff1a   \u5728 \u60a8 \u81ea\u5df1 \u7684 \u811a\u672c \u4e2d \u751f\u6210 \u5730\u56fe \u3002   \u8be5 \u65b9\u6cd5 \u5141\u8bb8 \u53c2\u6570 \u5316 \u3002   \u5c06 \u6587\u4ef6 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9   Carla   \u7684   config . py   \u3002   \u6b64 \u65b9\u6cd5 \u4e0d \u5141\u8bb8 \u53c2\u6570 \u5316 \u3002   \u53ef\u7528   . osm   \u683c\u5f0f \u9009\u9879 \uff1a   \u5c06 \u6587\u4ef6 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9   Carla   \u7684   config . py   \u3002   \u6b64 \u65b9\u6cd5 \u4e0d \u5141\u8bb8 \u53c2\u6570 \u5316 \u3002   \u4ee5\u4e0b \u90e8\u5206 \u5c06 \u63d0\u4f9b \u6709\u5173 \u4e0a\u9762 \u5217\u51fa \u7684 \u9009\u9879 \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u5c06   OpenStreetMap   \u683c\u5f0f \u8f6c\u6362 \u4e3a   OpenDRIVE   \u683c\u5f0f   \u672c \u8282 \u6f14\u793a \u5982\u4f55 \u4f7f\u7528   Python   API   \u5c06 \u6211\u4eec \u5728 \u4e0a \u4e00\u8282 \u4e2d \u5bfc\u51fa \u7684   . osm   \u6587\u4ef6 \u8f6c\u6362 \u4e3a   . xodr   \u683c\u5f0f \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u5728   Carla   \u4e2d \u4f7f\u7528 \u3002   carla . Osm2OdrSettings   \u7c7b \u7528\u4e8e \u914d\u7f6e \u8f6c\u6362 \u8bbe\u7f6e \uff0c \u4f8b\u5982 \u504f\u79fb \u503c \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u751f\u6210 \u3001 \u539f\u70b9 \u5750\u6807 \u7b49 \u3002 \u53ef \u914d\u7f6e \u53c2\u6570 \u7684 \u5b8c\u6574 \u5217\u8868 \u53ef\u4ee5 \u5728   Python   API   \u6587\u6863   \u4e2d \u627e\u5230 \u3002   carla . Osm2Odr   \u7c7b \u4f7f\u7528 \u8fd9\u4e9b \u8bbe\u7f6e \u6765 \u89e3\u6790   . osm   \u6570\u636e \u5e76 \u4ee5   . xodr   \u683c\u5f0f \u8f93\u51fa \u3002   \u5728   Windows   \u4e2d \uff0c   . osm   \u6587\u4ef6 \u5fc5\u987b \u7f16\u7801 \u4e3a   UTF - 8   .   \u8fd9 \u5728   Linux   \u4e2d\u662f \u4e0d\u5fc5 \u5fc5\u8981 \u4e0d\u5fc5\u8981 \u7684 \u3002 \u4ee5\u4e0b \u662f \u793a\u4f8b \u4ee3\u7801 \u7247\u6bb5 \uff0c \u663e\u793a \u5982\u4f55 \u6839\u636e \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u6267\u884c \u6587\u4ef6 \u8f6c\u6362 \uff1a   Linux   #   \u8bfb\u53d6   . osm   \u6570\u636e   f   =   open ( \" path / to / osm / file \" ,   ' r ' )   osm _ data   =   f . read ( )   f . close ( )   #   \u5b9a\u4e49 \u60f3\u8981 \u7684 \u8bbe\u7f6e \u3002 \u5728 \u8be5 \u6848\u4f8b \u4e2d\u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002 values .   settings   =   carla . Osm2OdrSettings ( )   #   \u8bbe\u7f6e \u5bfc\u51fa \u5230   OpenDRIVE   \u7684   OSM   \u9053\u8def \u7c7b\u578b \u3002   settings . set _ osm _ way _ types ( [ \" motorway \" ,   \" motorway _ link \" ,   \" trunk \" ,   \" trunk _ link \" ,   \" primary \" ,   \" primary _ link \" ,   \" secondary \" ,   \" secondary _ link \" ,   \" tertiary \" ,   \" tertiary _ link \" ,   \" unclassified \" ,   \" residential \" ] )   #   \u8f6c\u4e3a   . xodr   xodr _ data   =   carla . Osm2Odr . convert ( osm _ data ,   settings )   #   \u4fdd\u5b58 \u4e3a   opendrive   \u6587\u4ef6   f   =   open ( \" path / to / output / file \" ,   ' w ' )   f . write ( xodr _ data )   f . close ( )   Windows   import   io   #   \u8bfb\u53d6   . osm   \u6570\u636e   f   =   io . open ( \" test \" ,   mode = \" r \" ,   encoding = \" utf - 8 \" )   osm _ data   =   f . read ( )   f . close ( )   #   \u5b9a\u4e49 \u60f3\u8981 \u7684 \u8bbe\u7f6e \u3002 \u5728 \u8be5 \u6848\u4f8b \u4e2d\u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002   settings   =   carla . Osm2OdrSettings ( )   #   \u8bbe\u7f6e \u5bfc\u51fa \u6210   OpenDRIVE   \u7684   OSM   \u9053\u8def \u7c7b\u578b   settings . set _ osm _ way _ types ( [ \" motorway \" ,   \" motorway _ link \" ,   \" trunk \" ,   \" trunk _ link \" ,   \" primary \" ,   \" primary _ link \" ,   \" secondary \" ,   \" secondary _ link \" ,   \" tertiary \" ,   \" tertiary _ link \" ,   \" unclassified \" ,   \" residential \" ] )   #   \u8f6c\u4e3a   . xodr   xodr _ data   =   carla . Osm2Odr . convert ( osm _ data ,   settings )   #   \u4fdd\u5b58 \u6210   opendrive   \u6587\u4ef6   f   =   open ( \" path / to / output / file \" ,   ' w ' )   f . write ( xodr _ data )   f . close ( )   \u751f\u6210 \u4ea4\u901a \u4ea4\u901a\u706f   Open   Street   Map   \u6570\u636e \u53ef\u4ee5 \u5b9a\u4e49 \u54ea\u4e9b \u8def\u53e3 \u53d7 \u4ea4\u901a \u4ea4\u901a\u706f \u63a7\u5236 \u3002 \u8981 \u5728   Carla   \u4e2d \u4f7f\u7528 \u6b64 \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u636e \uff0c \u60a8 \u9700\u8981 \u5728 \u5c06   . osm   \u6587\u4ef6 \u8f6c\u6362 \u4e3a   . xodr   \u683c\u5f0f \u4e4b\u524d \u901a\u8fc7   Python   API   \u5728   OSM   \u5730\u56fe \u8bbe\u7f6e \u4e2d \u542f\u7528 \u5b83 \uff1a   #   \u5b9a\u4e49 \u60f3\u8981 \u7684 \u8bbe\u7f6e \u3002 \u5728 \u8be5 \u6848\u4f8b \u4e2d\u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002   settings   =   carla . Osm2OdrSettings ( )   #   \u542f\u7528 \u4ece   OSM   \u6570\u636e \u4e2d \u751f\u6210 \u4ea4\u901a \u4ea4\u901a\u706f   settings . generate _ traffic _ lights   =   True   #   \u8f6c\u4e3a   . xodr   xodr _ data   =   carla . Osm2Odr . convert ( osm _ data ,   settings )   \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u636e \u8d28\u91cf \u53ef\u80fd \u56e0 \u63d0\u53d6 \u6570\u636e \u7684 \u533a\u57df \u800c\u5f02 \u3002 \u4e00\u4e9b \u4ea4\u901a \u4ea4\u901a\u706f \u4fe1\u606f \u53ef\u80fd \u5b8c\u5168 \u4e22\u5931 \u3002 \u8981 \u514b\u670d \u8fd9\u4e9b \u9650\u5236 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528   Python   API   \u5c06 \u6240\u6709 \u8def\u53e3 \u914d\u7f6e \u4e3a \u7531 \u4ea4\u901a \u4ea4\u901a\u706f \u63a7\u5236 \uff1a   settings . all _ junctions _ with _ traffic _ lights   =   True   \u60a8 \u8fd8 \u53ef\u4ee5 \u6392\u9664 \u67d0\u4e9b \u9053\u8def \uff08 \u4f8b\u5982 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u94fe\u63a5 \uff09 \u751f\u6210 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \uff1a   settings . set _ traffic _ light _ excluded _ way _ types ( [ \" motorway _ link \" ] )   \u5bfc\u5165   Carla   \u672c \u8282 \u4ecb\u7ecd \u5982\u4f55 \u4f7f\u7528 \u53ef\u7528 \u7684 \u4e0d\u540c \u9009\u9879 \uff0c \u901a\u8fc7   OpenDRIVE   \u72ec\u7acb \u6a21\u5f0f   \u5c06   Open   Street   Map   \u4fe1\u606f \u63d0\u53d6 \u4fe1\u606f\u63d0\u53d6 \u5230   Carla   \u4e2d \u3002   \u6709 \u4ee5\u4e0b \u4e09\u4e2a \u9009\u9879 \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \uff1a   A )   \u4f7f\u7528 \u60a8 \u81ea\u5df1 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49   Python   \u811a\u672c \u4e2d \u7684 \u8f6c\u6362   . xodr   \u6587\u4ef6   \u751f\u6210 \u5730\u56fe \u8be5 \u65b9\u6cd5 \u5141\u8bb8 \u53c2\u6570 \u5316   \u3002   B )   \u5c06 \u8f6c\u6362 \u540e \u7684   . xodr   \u6587\u4ef6 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9   Carla   config . py   \u811a\u672c \u3002   \u6b64 \u65b9\u6cd5 \u4e0d \u5141\u8bb8 \u53c2\u6570 \u5316 \u3002   C )   \u5c06 \u539f\u59cb   . osm   \u6587\u4ef6 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9   Carla   config . py   \u811a\u672c \u3002   \u6b64 \u65b9\u6cd5 \u4e0d \u5141\u8bb8 \u53c2\u6570 \u5316 \u3002   A )   \u4f7f\u7528 \u60a8 \u81ea\u5df1 \u7684 \u811a\u672c   \u751f\u6210 \u65b0 \u5730\u56fe \u5e76 \u963b\u6b62 \u4eff\u771f \uff0c \u76f4\u5230 \u901a\u8fc7 \u8c03\u7528   client . generate _ opendrive _ world ( )   \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u3002 \u4f7f\u7528   carla . OpendriveGenerationParameters   \u7c7b \u914d\u7f6e \u7f51\u683c \u751f\u6210 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605 \u4e0b\u9762 \u7684 \u793a\u4f8b \uff1a   vertex _ distance   =   2.0   #   \u4ee5\u7c73 \u4e3a \u5355\u4f4d   max _ road _ length   =   500.0   #   \u4ee5\u7c73 \u4e3a \u5355\u4f4d   wall _ height   =   0.0   #   \u4ee5\u7c73 \u4e3a \u5355\u4f4d   extra _ width   =   0.6   #   \u4ee5\u7c73 \u4e3a \u5355\u4f4d   world   =   client . generate _ opendrive _ world (   xodr _ xml ,   carla . OpendriveGenerationParameters (   vertex _ distance = vertex _ distance ,   max _ road _ length = max _ road _ length ,   wall _ height = wall _ height ,   additional _ width = extra _ width ,   smooth _ junctions = True ,   enable _ mesh _ visibility = True ) )   \u7b14\u8bb0   \u5f3a\u70c8 \u63a8\u8350 \u5f3a\u70c8\u63a8\u8350   wall _ height   =   0.0   \u3002 OpenStreetMap   \u5c06 \u76f8\u53cd \u65b9\u5411 \u7684 \u8f66\u9053 \u5b9a\u4e49 \u4e3a \u4e0d\u540c \u7684 \u9053\u8def \u3002 \u5982\u679c \u751f\u6210 \u5899\u58c1 \uff0c \u8fd9 \u5c06 \u5bfc\u81f4 \u5899\u58c1 \u91cd\u53e0 \u548c \u610f\u5916 \u7684 \u78b0\u649e \u3002   B )   \u5c06   . xodr   \u4f20\u9012 \u7ed9   config . py   \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \uff0c \u5728 \u5355\u72ec \u7684 \u7ec8\u7aef \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u52a0\u8f7d   Open   Street   Map \uff1a   cd   PythonAPI / util   python3   config . py   - x = / path / to / xodr / file   \u5c06 \u4f7f\u7528   \u9ed8\u8ba4 \u53c2\u6570   \u3002   C )   \u5c06   . osm   \u4f20\u9012 \u7ed9   config . py   \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \uff0c \u5728 \u5355\u72ec \u7684 \u7ec8\u7aef \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u52a0\u8f7d   Open   Street   Map \uff1a   cd   PythonAPI / util   python3   config . py   -- osm - path = / path / to / OSM / file   \u5c06 \u4f7f\u7528   \u9ed8\u8ba4 \u53c2\u6570   \u3002   \u65e0\u8bba \u4f7f\u7528 \u54ea \u79cd \u65b9\u6cd5 \uff0c \u5730\u56fe \u90fd \u5c06 \u88ab \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u4e2d \uff0c \u7ed3\u679c \u5e94 \u7c7b\u4f3c \u4e8e \u4e0b\u56fe \uff1a   \u4f7f\u7528   OpenStreetMap   \u751f\u6210   Carla   \u5730\u56fe \u7684 \u7ed3\u679c \u3002   \u8b66\u544a   \u751f\u6210 \u7684 \u9053\u8def \u5728 \u5730\u56fe \u7684 \u8fb9\u754c \u5904 \u7a81\u7136 \u7ed3\u675f \u3002 \u5f53 \u8f66\u8f86 \u65e0\u6cd5 \u627e\u5230 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9\u65f6 \uff0c \u8fd9 \u5c06 \u5bfc\u81f4 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5d29\u6e83 \u3002 \u4e3a\u4e86 \u907f\u514d \u8fd9\u79cd \u60c5\u51b5 \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u4e2d \u7684   OSM   \u6a21\u5f0f \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e3a True   (   set _ osm _ mode ( )   ) \u3002 \u8fd9 \u5c06 \u5728 \u5fc5\u8981 \u65f6 \u663e\u793a \u8b66\u544a \u5e76 \u9500\u6bc1 \u8f66\u8f86 \u3002   \u4e0e \u6b64 \u4e3b\u9898 \u76f8\u5173 \u7684 \u4efb\u4f55 \u95ee\u9898 \u548c \u7591\u95ee \u90fd \u53ef\u4ee5 \u5728   Carla   \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"\u4f7f\u7528   OpenStreetMap   \u751f\u6210 \u5730\u56fe"},{"location":"tuto_G_openstreetmap/#openstreetmap","text":"\u5728 \u672c \u6307\u5357 \u4e2d \uff0c \u60a8 \u5c06 \u5b66\u4e60 \uff1a   \u5982\u4f55 \u4ece   OpenStreetMaps   \u5bfc\u51fa \u5730\u56fe \u3002   Carla   \u4e2d \u53ef\u4ee5 \u4f7f\u7528 \u7684 \u4e0d\u540c \u683c\u5f0f \u7684 \u5730\u56fe \u4ee5\u53ca \u6bcf\u79cd \u683c\u5f0f \u7684 \u9650\u5236 \u3002   \u5982\u4f55 \u5c06 \u672c\u673a   . osm   \u683c\u5f0f \u8f6c\u6362 \u4e3a   . xodr   \u3002   \u5982\u4f55 \u5728   . xodr   \u6587\u4ef6 \u4e2d \u5305\u542b \u4ea4\u901a \u4ea4\u901a\u706f \u4fe1\u606f \u3002   \u5982\u4f55 \u5728   Carla   \u4eff\u771f \u4e2d \u8fd0\u884c \u6700\u7ec8 \u5730\u56fe \u3002   OpenStreetMap   \u662f \u7531 \u6570\u5343 \u5343\u540d \u6570\u5343\u540d \u8d21\u732e \u8d21\u732e\u8005 \u5f00\u53d1 \u7684 \u5f00\u653e \u6570\u636e \u4e16\u754c \u5730\u56fe \u4e16\u754c\u5730\u56fe \uff0c \u5e76 \u6839\u636e   Open   Data   Commons   Open   Database   License   \u83b7\u5f97 \u8bb8\u53ef \u3002 \u5730\u56fe \u7684 \u5404\u4e2a \u90e8\u5206 \u53ef\u4ee5 \u5bfc\u51fa \u4e3a   XML   \u683c\u5f0f \u7684   . osm   \u6587\u4ef6 \u3002 Carla   \u53ef\u4ee5 \u5c06 \u6b64 \u6587\u4ef6 \u8f6c\u6362 \u4e3a   OpenDRIVE   \u683c\u5f0f \u5e76 \u4f7f\u7528   OpenDRIVE   Standalone   Mode   \u5bfc\u5165 \u5b83 \u3002   \u4f7f\u7528   OpenStreetMap   \u5bfc\u51fa \u5730\u56fe   \u5728   Carla   \u4e2d \u4f7f\u7528   OpenStreetMaps   \u5c06   OpenStreetMap   \u683c\u5f0f \u8f6c\u6362 \u4e3a   OpenDRIVE   \u683c\u5f0f   Linux   Windows   \u751f\u6210 \u4ea4\u901a \u4ea4\u901a\u706f   \u5bfc\u5165   Carla","title":"\u4f7f\u7528   OpenStreetMap   \u751f\u6210 \u5730\u56fe"},{"location":"tuto_G_openstreetmap/#openstreetmap_1","text":"\u672c \u8282 \u4ecb\u7ecd \u5982\u4f55 \u4ece   Open   Street   Map   \u5bfc\u51fa \u6240 \u9700 \u7684 \u5730\u56fe \u4fe1\u606f \u5730\u56fe\u4fe1\u606f \uff1a   1 .   \u5bfc\u822a \u81f3   Open   Street   Map   \u7f51\u7ad9   \u3002 \u60a8 \u5c06 \u5728 \u7a97\u53e3 \u53f3\u4fa7 \u770b\u5230 \u5730\u56fe \u89c6\u56fe \u548c \u4e00\u4e2a \u9762\u677f \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u5176\u4e2d \u914d\u7f6e \u4e0d\u540c \u7684 \u5730\u56fe \u56fe\u5c42 \u3001 \u67e5\u8be2 \u4e0d\u540c \u7684 \u8981\u7d20 \u3001 \u5207\u6362 \u56fe\u4f8b \u7b49 \u3002   2 .   \u641c\u7d22 \u60a8 \u60f3\u8981 \u7684 \u4f4d\u7f6e \u5e76 \u653e\u5927 \u5230 \u7279\u5b9a \u533a\u57df \u3002   \u7b14\u8bb0   \u5982\u679c \u60a8 \u60f3 \u4f7f\u7528 \u5927 \u8303\u56f4 \u7684 \u5730\u56fe \uff0c \u4f8b\u5982 \u5df4\u9ece \uff0c \u60a8 \u53ef\u4ee5 \u8003\u8651 \u4f7f\u7528   Carla   \u7684   \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd   \u3002   3 .   \u5355\u51fb \u7a97\u53e3 \u5de6\u4e0a \u4e0a\u89d2 \u5de6\u4e0a\u89d2 \u7684 \u201c \u5bfc\u51fa (   Export   ) \u201d \u4ee5 \u6253\u5f00 \u201c \u5bfc\u51fa (   Export   ) \u201d \u9762\u677f \u3002   4 .   \u5355\u51fb \u201c   \u5bfc\u51fa   \u201d \u9762\u677f \u4e2d \u7684 \u201c _ \u624b\u52a8 _ \u9009\u62e9 \u4e0d\u540c \u533a\u57df \u201d \u3002   5 .   \u901a\u8fc7 \u62d6\u52a8 \u89c6 \u53e3\u4e2d \u65b9\u5f62 \u533a\u57df \u7684 \u89d2\u6765 \u9009\u62e9 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u533a\u57df \u3002   6 .   \u5355\u51fb \u5bfc\u51fa \u9762\u677f \u4e2d \u7684   \u5bfc\u51fa   \u6309\u94ae \uff0c \u5c06 \u6240\u9009 \u533a\u57df \u7684 \u5730\u56fe \u4fe1\u606f \u5730\u56fe\u4fe1\u606f \u4fdd\u5b58 \u4e3a   . osm   \u6587\u4ef6 \u3002","title":"\u4f7f\u7528   OpenStreetMap   \u5bfc\u51fa \u5730\u56fe  "},{"location":"tuto_G_openstreetmap/#carla-openstreetmaps","text":"\u5f00\u653e \u8857\u9053 \u5730\u56fe \u6570\u636e \u53ef\u4ee5 \u901a\u8fc7 \u4e09\u79cd \u4e0d\u540c \u7684 \u65b9\u6cd5 \u5728   Carla   \u4e2d \u4f7f\u7528 \u3002 \u60a8 \u4f7f\u7528 \u7684 \u65b9\u6cd5 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u6570\u636e \u662f\u5426 \u4e3a \u539f\u59cb \u683c\u5f0f \uff0c \u6216\u8005 \u60a8 \u662f\u5426 \u4f7f\u7528 \u4ee5\u4e0b \u90e8\u5206 \u4e2d \u8bf4\u660e \u7684 \u8f6c\u6362 \u65b9\u6cd5 \u8f6c\u6362\u65b9\u6cd5 \u6765 \u8f6c\u6362   . osm   \u6587\u4ef6 \u3002   . osm   \u4fdd\u7559 \u6587\u4ef6 \u662f \u6700 \u53d7\u9650 \u9650\u5236 \u53d7\u9650\u5236 \u7684 \u65b9\u6cd5 \uff0c \u56e0\u4e3a \u5b83 \u4e0d \u5141\u8bb8 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8bbe\u7f6e \u3002   \u53ef\u7528   . xodr   \u683c\u5f0f \u9009\u9879 \uff1a   \u5728 \u60a8 \u81ea\u5df1 \u7684 \u811a\u672c \u4e2d \u751f\u6210 \u5730\u56fe \u3002   \u8be5 \u65b9\u6cd5 \u5141\u8bb8 \u53c2\u6570 \u5316 \u3002   \u5c06 \u6587\u4ef6 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9   Carla   \u7684   config . py   \u3002   \u6b64 \u65b9\u6cd5 \u4e0d \u5141\u8bb8 \u53c2\u6570 \u5316 \u3002   \u53ef\u7528   . osm   \u683c\u5f0f \u9009\u9879 \uff1a   \u5c06 \u6587\u4ef6 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9   Carla   \u7684   config . py   \u3002   \u6b64 \u65b9\u6cd5 \u4e0d \u5141\u8bb8 \u53c2\u6570 \u5316 \u3002   \u4ee5\u4e0b \u90e8\u5206 \u5c06 \u63d0\u4f9b \u6709\u5173 \u4e0a\u9762 \u5217\u51fa \u7684 \u9009\u9879 \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002","title":"\u5728   Carla   \u4e2d \u4f7f\u7528   OpenStreetMaps  "},{"location":"tuto_G_openstreetmap/#openstreetmap-opendrive","text":"\u672c \u8282 \u6f14\u793a \u5982\u4f55 \u4f7f\u7528   Python   API   \u5c06 \u6211\u4eec \u5728 \u4e0a \u4e00\u8282 \u4e2d \u5bfc\u51fa \u7684   . osm   \u6587\u4ef6 \u8f6c\u6362 \u4e3a   . xodr   \u683c\u5f0f \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u5728   Carla   \u4e2d \u4f7f\u7528 \u3002   carla . Osm2OdrSettings   \u7c7b \u7528\u4e8e \u914d\u7f6e \u8f6c\u6362 \u8bbe\u7f6e \uff0c \u4f8b\u5982 \u504f\u79fb \u503c \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u751f\u6210 \u3001 \u539f\u70b9 \u5750\u6807 \u7b49 \u3002 \u53ef \u914d\u7f6e \u53c2\u6570 \u7684 \u5b8c\u6574 \u5217\u8868 \u53ef\u4ee5 \u5728   Python   API   \u6587\u6863   \u4e2d \u627e\u5230 \u3002   carla . Osm2Odr   \u7c7b \u4f7f\u7528 \u8fd9\u4e9b \u8bbe\u7f6e \u6765 \u89e3\u6790   . osm   \u6570\u636e \u5e76 \u4ee5   . xodr   \u683c\u5f0f \u8f93\u51fa \u3002   \u5728   Windows   \u4e2d \uff0c   . osm   \u6587\u4ef6 \u5fc5\u987b \u7f16\u7801 \u4e3a   UTF - 8   .   \u8fd9 \u5728   Linux   \u4e2d\u662f \u4e0d\u5fc5 \u5fc5\u8981 \u4e0d\u5fc5\u8981 \u7684 \u3002 \u4ee5\u4e0b \u662f \u793a\u4f8b \u4ee3\u7801 \u7247\u6bb5 \uff0c \u663e\u793a \u5982\u4f55 \u6839\u636e \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u6267\u884c \u6587\u4ef6 \u8f6c\u6362 \uff1a","title":"\u5c06   OpenStreetMap   \u683c\u5f0f \u8f6c\u6362 \u4e3a   OpenDRIVE   \u683c\u5f0f  "},{"location":"tuto_G_openstreetmap/#linux","text":"#   \u8bfb\u53d6   . osm   \u6570\u636e   f   =   open ( \" path / to / osm / file \" ,   ' r ' )   osm _ data   =   f . read ( )   f . close ( )   #   \u5b9a\u4e49 \u60f3\u8981 \u7684 \u8bbe\u7f6e \u3002 \u5728 \u8be5 \u6848\u4f8b \u4e2d\u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002 values .   settings   =   carla . Osm2OdrSettings ( )   #   \u8bbe\u7f6e \u5bfc\u51fa \u5230   OpenDRIVE   \u7684   OSM   \u9053\u8def \u7c7b\u578b \u3002   settings . set _ osm _ way _ types ( [ \" motorway \" ,   \" motorway _ link \" ,   \" trunk \" ,   \" trunk _ link \" ,   \" primary \" ,   \" primary _ link \" ,   \" secondary \" ,   \" secondary _ link \" ,   \" tertiary \" ,   \" tertiary _ link \" ,   \" unclassified \" ,   \" residential \" ] )   #   \u8f6c\u4e3a   . xodr   xodr _ data   =   carla . Osm2Odr . convert ( osm _ data ,   settings )   #   \u4fdd\u5b58 \u4e3a   opendrive   \u6587\u4ef6   f   =   open ( \" path / to / output / file \" ,   ' w ' )   f . write ( xodr _ data )   f . close ( )","title":"Linux  "},{"location":"tuto_G_openstreetmap/#windows","text":"import   io   #   \u8bfb\u53d6   . osm   \u6570\u636e   f   =   io . open ( \" test \" ,   mode = \" r \" ,   encoding = \" utf - 8 \" )   osm _ data   =   f . read ( )   f . close ( )   #   \u5b9a\u4e49 \u60f3\u8981 \u7684 \u8bbe\u7f6e \u3002 \u5728 \u8be5 \u6848\u4f8b \u4e2d\u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002   settings   =   carla . Osm2OdrSettings ( )   #   \u8bbe\u7f6e \u5bfc\u51fa \u6210   OpenDRIVE   \u7684   OSM   \u9053\u8def \u7c7b\u578b   settings . set _ osm _ way _ types ( [ \" motorway \" ,   \" motorway _ link \" ,   \" trunk \" ,   \" trunk _ link \" ,   \" primary \" ,   \" primary _ link \" ,   \" secondary \" ,   \" secondary _ link \" ,   \" tertiary \" ,   \" tertiary _ link \" ,   \" unclassified \" ,   \" residential \" ] )   #   \u8f6c\u4e3a   . xodr   xodr _ data   =   carla . Osm2Odr . convert ( osm _ data ,   settings )   #   \u4fdd\u5b58 \u6210   opendrive   \u6587\u4ef6   f   =   open ( \" path / to / output / file \" ,   ' w ' )   f . write ( xodr _ data )   f . close ( )","title":"Windows  "},{"location":"tuto_G_openstreetmap/#_1","text":"Open   Street   Map   \u6570\u636e \u53ef\u4ee5 \u5b9a\u4e49 \u54ea\u4e9b \u8def\u53e3 \u53d7 \u4ea4\u901a \u4ea4\u901a\u706f \u63a7\u5236 \u3002 \u8981 \u5728   Carla   \u4e2d \u4f7f\u7528 \u6b64 \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u636e \uff0c \u60a8 \u9700\u8981 \u5728 \u5c06   . osm   \u6587\u4ef6 \u8f6c\u6362 \u4e3a   . xodr   \u683c\u5f0f \u4e4b\u524d \u901a\u8fc7   Python   API   \u5728   OSM   \u5730\u56fe \u8bbe\u7f6e \u4e2d \u542f\u7528 \u5b83 \uff1a   #   \u5b9a\u4e49 \u60f3\u8981 \u7684 \u8bbe\u7f6e \u3002 \u5728 \u8be5 \u6848\u4f8b \u4e2d\u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002   settings   =   carla . Osm2OdrSettings ( )   #   \u542f\u7528 \u4ece   OSM   \u6570\u636e \u4e2d \u751f\u6210 \u4ea4\u901a \u4ea4\u901a\u706f   settings . generate _ traffic _ lights   =   True   #   \u8f6c\u4e3a   . xodr   xodr _ data   =   carla . Osm2Odr . convert ( osm _ data ,   settings )   \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u636e \u8d28\u91cf \u53ef\u80fd \u56e0 \u63d0\u53d6 \u6570\u636e \u7684 \u533a\u57df \u800c\u5f02 \u3002 \u4e00\u4e9b \u4ea4\u901a \u4ea4\u901a\u706f \u4fe1\u606f \u53ef\u80fd \u5b8c\u5168 \u4e22\u5931 \u3002 \u8981 \u514b\u670d \u8fd9\u4e9b \u9650\u5236 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528   Python   API   \u5c06 \u6240\u6709 \u8def\u53e3 \u914d\u7f6e \u4e3a \u7531 \u4ea4\u901a \u4ea4\u901a\u706f \u63a7\u5236 \uff1a   settings . all _ junctions _ with _ traffic _ lights   =   True   \u60a8 \u8fd8 \u53ef\u4ee5 \u6392\u9664 \u67d0\u4e9b \u9053\u8def \uff08 \u4f8b\u5982 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u94fe\u63a5 \uff09 \u751f\u6210 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \uff1a   settings . set _ traffic _ light _ excluded _ way _ types ( [ \" motorway _ link \" ] )","title":"\u751f\u6210 \u4ea4\u901a\u706f  "},{"location":"tuto_G_openstreetmap/#carla","text":"\u672c \u8282 \u4ecb\u7ecd \u5982\u4f55 \u4f7f\u7528 \u53ef\u7528 \u7684 \u4e0d\u540c \u9009\u9879 \uff0c \u901a\u8fc7   OpenDRIVE   \u72ec\u7acb \u6a21\u5f0f   \u5c06   Open   Street   Map   \u4fe1\u606f \u63d0\u53d6 \u4fe1\u606f\u63d0\u53d6 \u5230   Carla   \u4e2d \u3002   \u6709 \u4ee5\u4e0b \u4e09\u4e2a \u9009\u9879 \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \uff1a   A )   \u4f7f\u7528 \u60a8 \u81ea\u5df1 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49   Python   \u811a\u672c \u4e2d \u7684 \u8f6c\u6362   . xodr   \u6587\u4ef6   \u751f\u6210 \u5730\u56fe \u8be5 \u65b9\u6cd5 \u5141\u8bb8 \u53c2\u6570 \u5316   \u3002   B )   \u5c06 \u8f6c\u6362 \u540e \u7684   . xodr   \u6587\u4ef6 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9   Carla   config . py   \u811a\u672c \u3002   \u6b64 \u65b9\u6cd5 \u4e0d \u5141\u8bb8 \u53c2\u6570 \u5316 \u3002   C )   \u5c06 \u539f\u59cb   . osm   \u6587\u4ef6 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9   Carla   config . py   \u811a\u672c \u3002   \u6b64 \u65b9\u6cd5 \u4e0d \u5141\u8bb8 \u53c2\u6570 \u5316 \u3002","title":"\u5bfc\u5165   Carla  "},{"location":"tuto_G_openstreetmap/#a","text":"\u751f\u6210 \u65b0 \u5730\u56fe \u5e76 \u963b\u6b62 \u4eff\u771f \uff0c \u76f4\u5230 \u901a\u8fc7 \u8c03\u7528   client . generate _ opendrive _ world ( )   \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u3002 \u4f7f\u7528   carla . OpendriveGenerationParameters   \u7c7b \u914d\u7f6e \u7f51\u683c \u751f\u6210 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605 \u4e0b\u9762 \u7684 \u793a\u4f8b \uff1a   vertex _ distance   =   2.0   #   \u4ee5\u7c73 \u4e3a \u5355\u4f4d   max _ road _ length   =   500.0   #   \u4ee5\u7c73 \u4e3a \u5355\u4f4d   wall _ height   =   0.0   #   \u4ee5\u7c73 \u4e3a \u5355\u4f4d   extra _ width   =   0.6   #   \u4ee5\u7c73 \u4e3a \u5355\u4f4d   world   =   client . generate _ opendrive _ world (   xodr _ xml ,   carla . OpendriveGenerationParameters (   vertex _ distance = vertex _ distance ,   max _ road _ length = max _ road _ length ,   wall _ height = wall _ height ,   additional _ width = extra _ width ,   smooth _ junctions = True ,   enable _ mesh _ visibility = True ) )   \u7b14\u8bb0   \u5f3a\u70c8 \u63a8\u8350 \u5f3a\u70c8\u63a8\u8350   wall _ height   =   0.0   \u3002 OpenStreetMap   \u5c06 \u76f8\u53cd \u65b9\u5411 \u7684 \u8f66\u9053 \u5b9a\u4e49 \u4e3a \u4e0d\u540c \u7684 \u9053\u8def \u3002 \u5982\u679c \u751f\u6210 \u5899\u58c1 \uff0c \u8fd9 \u5c06 \u5bfc\u81f4 \u5899\u58c1 \u91cd\u53e0 \u548c \u610f\u5916 \u7684 \u78b0\u649e \u3002","title":"A )   \u4f7f\u7528 \u60a8 \u81ea\u5df1 \u7684 \u811a\u672c"},{"location":"tuto_G_openstreetmap/#b-xodr-configpy","text":"\u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \uff0c \u5728 \u5355\u72ec \u7684 \u7ec8\u7aef \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u52a0\u8f7d   Open   Street   Map \uff1a   cd   PythonAPI / util   python3   config . py   - x = / path / to / xodr / file   \u5c06 \u4f7f\u7528   \u9ed8\u8ba4 \u53c2\u6570   \u3002","title":"B )   \u5c06   . xodr   \u4f20\u9012 \u7ed9   config . py"},{"location":"tuto_G_openstreetmap/#c-osm-configpy","text":"\u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \uff0c \u5728 \u5355\u72ec \u7684 \u7ec8\u7aef \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u52a0\u8f7d   Open   Street   Map \uff1a   cd   PythonAPI / util   python3   config . py   -- osm - path = / path / to / OSM / file   \u5c06 \u4f7f\u7528   \u9ed8\u8ba4 \u53c2\u6570   \u3002   \u65e0\u8bba \u4f7f\u7528 \u54ea \u79cd \u65b9\u6cd5 \uff0c \u5730\u56fe \u90fd \u5c06 \u88ab \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u4e2d \uff0c \u7ed3\u679c \u5e94 \u7c7b\u4f3c \u4e8e \u4e0b\u56fe \uff1a   \u4f7f\u7528   OpenStreetMap   \u751f\u6210   Carla   \u5730\u56fe \u7684 \u7ed3\u679c \u3002   \u8b66\u544a   \u751f\u6210 \u7684 \u9053\u8def \u5728 \u5730\u56fe \u7684 \u8fb9\u754c \u5904 \u7a81\u7136 \u7ed3\u675f \u3002 \u5f53 \u8f66\u8f86 \u65e0\u6cd5 \u627e\u5230 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9\u65f6 \uff0c \u8fd9 \u5c06 \u5bfc\u81f4 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5d29\u6e83 \u3002 \u4e3a\u4e86 \u907f\u514d \u8fd9\u79cd \u60c5\u51b5 \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u4e2d \u7684   OSM   \u6a21\u5f0f \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e3a True   (   set _ osm _ mode ( )   ) \u3002 \u8fd9 \u5c06 \u5728 \u5fc5\u8981 \u65f6 \u663e\u793a \u8b66\u544a \u5e76 \u9500\u6bc1 \u8f66\u8f86 \u3002   \u4e0e \u6b64 \u4e3b\u9898 \u76f8\u5173 \u7684 \u4efb\u4f55 \u95ee\u9898 \u548c \u7591\u95ee \u90fd \u53ef\u4ee5 \u5728   Carla   \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"C )   \u5c06   . osm   \u4f20\u9012 \u7ed9   config . py"},{"location":"tuto_G_pedestrian_navigation/","text":"\u901a\u8fc7   API   \u83b7\u53d6 \u884c\u4eba \u771f\u5b9e \u9aa8\u9abc   \u4e3a\u4e86 \u8bad\u7ec3 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \uff0c \u5fc5\u987b \u786e\u4fdd \u5b83\u4eec \u4e0d\u4ec5 \u80fd\u591f \u8bc6\u522b \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u9053\u8def \u548c \u6c7d\u8f66 \uff0c \u8fd8 \u80fd\u591f \u8bc6\u522b \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u548c \u8fc7 \u9a6c\u8def \u7684 \u884c\u4eba \uff0c \u4ee5 \u786e\u4fdd \u6240\u6709 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u7684 \u5b89\u5168 \u3002 Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u63d0\u4f9b \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u7684 \u884c\u4eba \uff0c \u4ee5 \u4eba\u4f53 \u5f62\u6001 \u586b\u5145 \u60a8 \u7684 \u4eff\u771f \u548c \u8bad\u7ec3 \u6570\u636e \u3002 \u5728 \u8bb8\u591a \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u5e94\u7528 \u4e2d \uff0c \u4eba\u4f53 \u59ff\u6001 \u4f30\u8ba1 \u662f \u4e00\u4e2a \u91cd\u8981 \u56e0\u7d20 \uff0c \u5305\u62ec \u81ea\u52a8 \u9a7e\u9a76 \u3001 \u5b89\u5168 \u3001 \u4eba\u7fa4 \u63a7\u5236 \u548c \u591a\u4e2a \u673a\u5668 \u673a\u5668\u4eba \u5e94\u7528 \u3002   Carla   \u7684   API   \u63d0\u4f9b \u4e86 \u4ece \u4eff\u771f \u4e2d \u7684 \u884c\u4eba \u83b7\u53d6 \u771f\u5b9e \u9aa8\u67b6 \u7684 \u529f\u80fd \u3002 \u9aa8\u67b6 \u7531 \u4e00\u7ec4 \u9aa8\u9abc \u7ec4\u6210 \uff0c \u6bcf\u4e2a \u9aa8\u9abc \u90fd \u6709 \u4e00\u4e2a \u6839 \u8282\u70b9 \u6216 \u9876\u70b9 \u4ee5\u53ca \u4e00\u4e2a \u5b9a\u4e49 \u9aa8\u9abc \u59ff\u52bf \uff08 \u6216 \u65b9\u5411 \uff09 \u7684 \u5411\u91cf \u3002 \u8fd9\u4e9b \u9aa8\u9abc \u63a7\u5236 \u4eff\u771f \u884c\u4eba \u7684 \u56db\u80a2 \u548c \u8eab\u4f53 \u7684 \u8fd0\u52a8 \u3002 \u901a\u8fc7 \u5c06 \u5404\u4e2a \u9aa8\u9abc \u7684 \u96c6\u5408 \u6536\u96c6 \u5728 \u4e00\u8d77 \uff0c \u53ef\u4ee5 \u6784\u5efa \u865a\u62df \u62df\u4eba \u865a\u62df\u4eba \u59ff\u52bf \u7684 \u6a21\u578b \uff0c \u8be5 \u6a21\u578b \u53ef \u7528\u4e8e \u4e0e \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u4f30\u8ba1 \u7684 \u59ff\u52bf \u6a21\u578b \u8fdb\u884c \u6bd4\u8f83 \uff0c \u751a\u81f3 \u7528\u4e8e \u8bad\u7ec3 \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u8fdb\u884c \u59ff\u52bf \u4f30\u8ba1 \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u5b8c\u6210 \u5728 \u5730\u56fe \u4e2d \u751f\u6210 \u884c\u4eba \u3001 \u8bbe\u7f6e   AI   \u63a7\u5236 \u63a7\u5236\u5668 \u6765 \u79fb\u52a8 \u884c\u4eba \u3001 \u7136\u540e \u83b7\u53d6 \u771f\u5b9e \u9aa8\u67b6 \u5e76 \u5c06 \u9aa8\u9abc \u6295\u5f71 \u5230   2D   \u76f8\u673a \u6355\u83b7 \u4e0a \u7684 \u6b65\u9aa4 \u3002   \u8bbe\u7f6e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u5728   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u751f\u6210 \u884c\u4eba   AI   \u63a7\u5236 \u63a7\u5236\u5668 \u5f15\u5bfc \u884c\u4eba \u5728 \u5730\u56fe \u4e0a \u884c\u8d70   \u76f8\u673a \u51e0\u4f55   \u6784\u5efa \u9aa8\u67b6   \u603b\u7ed3   \u8bbe\u7f6e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u9996\u5148 \uff0c \u6309\u7167 \u60a8 \u7684 \u6807\u51c6 \u5de5\u4f5c \u6d41\u7a0b \u542f\u52a8   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \uff0c \u65e0\u8bba \u65e0\u8bba\u662f \u5728 \u72ec\u7acb \u6a21\u5f0f \u4e0b \u8fd8\u662f \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u3002 \u6211\u4eec \u5c06 \u5bfc\u5165 \u51e0\u4e2a \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f \u5e93\u4ee5 \u7528\u4e8e \u6570\u5b66 \u548c \u7ed8\u56fe \u3002 \u4e3a\u4e86 \u8ba9 \u6211\u4eec \u66f4\u597d \u5730 \u63a7\u5236 \u4eff\u771f \uff0c \u6211\u4eec \u5c06 \u5728 \u672c \u6559\u7a0b \u4e2d \u4f7f\u7528   \u540c\u6b65 \u6a21\u5f0f   \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u6211\u4eec \u7684   Python   \u5ba2\u6237 \u5ba2\u6237\u7aef \u63a7\u5236 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u65f6\u95f4 \u8fdb\u7a0b \u3002   import   carla   import   random   import   numpy   as   np   import   math   import   queue   import   cv2   # OpenCV   to   manipulate   and   save   the   images   #   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5e76 \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \u4eff\u771f   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   #   \u6211\u4eec \u4e5f \u4f1a \u8bbe\u7f6e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4ee5\u4fbf \u6211\u4eec \u80fd \u770b\u5230 \u6211\u4eec \u6240 \u505a \u7684   spectator   =   world . get _ spectator ( )   \u5728   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u751f\u6210 \u884c\u4eba   \u9996\u5148 \uff0c \u6211\u4eec \u60f3 \u5728 \u4eff\u771f \u4e2d \u751f\u6210 \u4e00\u4e2a \u884c\u4eba \u3002 \u8fd9 \u53ef\u4ee5 \u4f7f\u7528   world . get _ random _ location _ from _ navigation ( )   \u5728 \u968f\u673a \u4f4d\u7f6e \u5b8c\u6210 \uff0c \u4e5f \u53ef\u4ee5 \u4f7f\u7528 \u4ece \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u6536\u96c6 \u7684 \u5750\u6807 \u6765 \u9009\u62e9 \u3002 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \uff0c \u5c06 \u4e00\u4e2a \u7a7a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6dfb\u52a0 \u5230 \u8981 \u751f\u6210 \u884c\u4eba \u7684 \u4f4d\u7f6e \uff0c \u7136\u540e \u4f7f\u7528 \u53f3\u4fa7 \u7684 \u68c0\u67e5 \u5668 \u67e5\u8be2 \u5750\u6807 \u3002   \u7b14\u8bb0   \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \uff0c \u800c   Carla   \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff0c \u56e0\u6b64 \u5fc5\u987b \u8f6c\u6362 \u5355\u4f4d \u3002 \u5728   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u4f7f\u7528 \u4e4b\u524d \uff0c \u8bf7 \u786e\u4fdd \u5c06 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5750\u6807 \u9664\u4ee5   100 \u3002   \u4e00\u65e6 \u4f60 \u9009\u62e9 \u4e86 \u5750\u6807 \uff0c \u4f60 \u5c31 \u53ef\u4ee5 \u751f\u6210 \u884c\u4eba \u3002 \u6211\u4eec \u8fd8 \u5c06 \u751f\u6210 \u4e00\u4e2a \u76f8\u673a \u6765 \u6536\u96c6 \u56fe\u50cf \u3002 \u6211\u4eec \u8fd8 \u9700\u8981 \u4e00\u4e2a \u961f\u5217   Queue   \u5bf9\u8c61 \u6765 \u5141\u8bb8 \u6211\u4eec \u8f7b\u677e \u8bbf\u95ee \u6765\u81ea \u76f8\u673a \u7684 \u6570\u636e \uff08 \u56e0\u4e3a \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u5176 \u81ea\u5df1 \u7684 \u7ebf\u7a0b \u4e0a \u8fd0\u884c \uff0c \u4e0e \u8fd0\u884c \u811a\u672c \u7684 \u4e3b   Python   \u7ebf\u7a0b \u5206\u5f00 \uff09 \u3002   \u4e3a\u4e86 \u770b\u5230 \u6211\u4eec \u7684 \u884c\u4eba \uff0c \u6211\u4eec \u9700\u8981 \u53d8\u6362 \u76f8\u673a \uff0c \u4f7f \u5176 \u6307\u5411 \u6211\u4eec \u751f\u6210 \u7684 \u884c\u4eba \u3002 \u4e3a\u6b64 \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528 \u4e00\u4e2a \u51fd\u6570 \u6765 \u8ba1\u7b97 \u4f7f \u76f8\u673a \u5c45\u4e2d \u6240 \u9700 \u7684 \u5e73\u79fb \u548c \u65cb\u8f6c \uff1a   def   center _ camera ( ped ,   rot _ offset = 0 ) :   #   \u65cb\u8f6c \u76f8\u673a \u4ee5 \u9762\u5411 \u884c\u4eba \u5e76 \u5e94\u7528 \u504f\u79fb   trans   =   ped . get _ transform ( )   offset _ radians   =   2   *   math . pi   *   rot _ offset / 360   x   =   math . cos ( offset _ radians )   *   - 2   y   =   math . sin ( offset _ radians )   *   2   trans . location . x   + =   x   trans . location . y   + =   y   trans . location . z   =   2   trans . rotation . pitch   =   - 16   trans . rotation . roll   =   0   trans . rotation . yaw   =   - rot _ offset   spectator . set _ transform ( trans )   return   trans   \u73b0\u5728 \u6211\u4eec \u5c06 \u751f\u6210 \u884c\u4eba \u3001 \u6444\u50cf \u6444\u50cf\u673a \u3001 \u63a7\u5236 \u63a7\u5236\u5668 \u5e76 \u79fb\u52a8 \u89c2\u5bdf \u89c2\u5bdf\u8005 \uff0c \u4ee5\u4fbf \u6211\u4eec \u53ef\u4ee5 \u770b\u5230 \u6211\u4eec \u6240 \u505a \u7684 \u4e8b\u60c5 \uff1a   #   \u83b7\u53d6 \u884c\u4eba \u84dd\u56fe \u5e76 \u751f\u6210 \u5b83   pedestrian _ bp   =   random . choice ( world . get _ blueprint _ library ( ) . filter ( ' * walker . pedestrian * ' ) )   transform   =   carla . Transform ( carla . Location ( x = - 134 , y = 78.1 , z = 1.18 ) )   pedestrian   =   world . try _ spawn _ actor ( pedestrian _ bp ,   transform )   #   \u751f\u6210 \u4e00\u4e2a   RGB   \u76f8\u673a   camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   camera   =   world . spawn _ actor ( camera _ bp ,   transform )   #   \u521b\u5efa \u4e00\u4e2a \u961f\u5217 \u6765 \u5b58\u50a8 \u5e76 \u83b7\u53d6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e   image _ queue   =   queue . Queue ( )   camera . listen ( image _ queue . put )   world . tick ( )   image _ queue . get ( )   #   \u6bcf\u6b21 \u8c03\u7528   world . tick ( )   \u65f6 \uff0c \u6211\u4eec \u5fc5\u987b \u8c03\u7528   image _ queue . get ( )   \u4ee5 \u786e\u4fdd \u65f6\u95f4 \u6b65\u957f \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u4fdd\u6301 \u540c\u6b65   #   \u73b0\u5728 \uff0c \u6211\u4eec \u5c06 \u65cb\u8f6c \u76f8\u673a \u4ee5 \u9762\u5411 \u884c\u4eba   camera . set _ transform ( center _ camera ( pedestrian ) )   #   \u79fb\u52a8 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4ee5 \u67e5\u770b \u7ed3\u679c   spectator . set _ transform ( camera . get _ transform ( ) )   #   \u4e3a \u884c\u4eba \u8bbe\u7f6e AI \u63a7\u5236 \u63a7\u5236\u5668   controller _ bp   =   world . get _ blueprint _ library ( ) . find ( ' controller . ai . walker ' )   controller   =   world . spawn _ actor ( controller _ bp ,   pedestrian . get _ transform ( ) ,   pedestrian )   #   \u542f\u52a8 \u63a7\u5236 \u63a7\u5236\u5668 \u5e76 \u7ed9 \u5b83 \u4e00\u4e2a \u968f\u673a \u4f4d\u7f6e   controller . start ( )   controller . go _ to _ location ( world . get _ random _ location _ from _ navigation ( ) )   #   \u5c06 \u4e16\u754c \u79fb\u52a8 \u51e0\u5e27 \uff0c \u8ba9 \u884c\u4eba \u751f\u6210   for   frame   in   range ( 0 , 5 ) :   world . tick ( )   trash   =   image _ queue . get ( )   AI   \u63a7\u5236 \u63a7\u5236\u5668 \u5f15\u5bfc \u884c\u4eba \u5728 \u5730\u56fe \u4e0a \u884c\u8d70   \u4e0a \u4e00\u6b65 \u6211\u4eec \u8fd8 \u521d\u59cb \u521d\u59cb\u5316 \u4e86 \u4e00\u4e2a   AI   \u63a7\u5236 \u63a7\u5236\u5668 \u6765 \u5e2e\u52a9 \u884c\u4eba \u5728 \u5730\u56fe \u4e0a \u667a\u80fd \u79fb\u52a8 \uff0c \u4ee3\u7801 \u5982\u4e0b \uff08 \u65e0\u9700 \u91cd\u590d \uff09 \uff1a   controller _ bp   =   world . get _ blueprint _ library ( ) . find ( ' controller . ai . walker ' )   controller   =   world . spawn _ actor ( controller _ bp ,   pedestrian . get _ transform ( ) ,   pedestrian )   controller . start ( )   controller . go _ to _ location ( world . get _ random _ location _ from _ navigation ( ) )   \u73b0\u5728 \uff0c \u884c\u4eba \u5c06 \u968f\u7740 \u4eff\u771f \u7684 \u6bcf\u6b21 \u63a8\u8fdb   (   world . tick ( )   )   \u81ea\u4e3b \u79fb\u52a8 \u3002   \u76f8\u673a \u51e0\u4f55   \u73b0\u5728 \u6211\u4eec \u9700\u8981 \u6267\u884c \u4e00\u4e9b \u51e0\u4f55 \u8ba1\u7b97 \u3002 \u9996\u5148 \uff0c \u6211\u4eec \u60f3\u8981 \u5c06 \u9aa8\u9abc \u7684 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u8f6c\u6362 \u4e3a \u76f8\u673a \u5750\u6807 \uff0c \u6211\u4eec \u4f7f\u7528 \u76f8\u673a \u53d8\u6362 \u7684 \u9006\u53d8 \u53d8\u6362 \u9006\u53d8\u6362 \u6765 \u5b9e\u73b0 \u8fd9 \u4e00\u70b9 \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u5750\u6807 \u5c06 \u8f6c\u6362 \u4e3a \u76f8\u5bf9 \u4e8e \u4f4d\u4e8e \u539f\u70b9 \u3001 \u9762\u5411   x   \u6b63 \u65b9\u5411 \u7684 \u76f8\u673a \u3002   #   \u83b7\u53d6 4x4 \u77e9\u9635 \u4ee5 \u5c06 \u70b9 \u4ece \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u8f6c\u6362 \u4e3a \u76f8\u673a \u5750\u6807   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   \u7136\u540e \uff0c \u6211\u4eec \u9700\u8981 \u4f7f\u7528 \u76f8\u673a \u77e9\u9635 \u6216 \u6295\u5f71 \u77e9\u9635 \u5c06 \u4e09\u7ef4 \u70b9 \u6295\u5f71 \u5230 \u76f8\u673a \u7684 \u4e8c\u7ef4 \u89c6\u573a   ( FOV ,   field   of   view )   \u4e0a \uff0c \u5c06 \u5b83\u4eec \u53e0\u52a0 \u5728 \u8f93\u51fa \u56fe\u50cf \u4e0a \u3002 \u4ee5\u4e0b \u51fd\u6570 \u751f\u6210 \u6b64 \u4e09\u7ef4 \u5230 \u4e8c\u7ef4 \u8f6c\u6362 \u6240 \u9700 \u7684   \u76f8\u673a \u77e9\u9635   \u3002   def   build _ projection _ matrix ( w ,   h ,   fov ) :   focal   =   w   /   ( 2.0   *   np . tan ( fov   *   np . pi   /   360.0 ) )   K   =   np . identity ( 3 )   K [ 0 ,   0 ]   =   K [ 1 ,   1 ]   =   focal   K [ 0 ,   2 ]   =   w   /   2.0   K [ 1 ,   2 ]   =   h   /   2.0   return   K   \u6784\u5efa \u9aa8\u67b6   \u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u5c06 \u6d3b\u52a8 \u90e8\u4ef6 \u7ec4\u88c5 \u5728 \u4e00\u8d77 \u3002 \u9996\u5148 \uff0c \u4f7f\u7528   pedestrian . get _ bones ( )   \u4ece \u4eff\u771f \u4e2d \u6536\u96c6 \u9aa8\u9abc \u5750\u6807 \uff0c \u7136\u540e \u5c06 \u9aa8\u9abc \u7ec4\u5408 \u5728 \u4e00\u8d77 \u5e76 \u5c06 \u5176 \u6295\u5f71 \u5230 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4e8c\u7ef4 \u6210\u50cf \u5e73\u9762 \u4e0a \u3002 \u4f7f\u7528 skeletal . txt \u4e2d \u5b9a\u4e49 \u7684 \u5bf9 \u5c06 \u9aa8\u9abc \u8fde\u63a5 \u8fde\u63a5\u6210 \u5b8c\u6574 \u7684 \u9aa8\u67b6 \uff0c \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u4e0b\u8f7d \u8be5 \u6587\u4ef6 \u3002   \u6211\u4eec \u9700\u8981 \u4e00\u4e2a \u51fd\u6570 \u6765 \u8fed\u4ee3   sculpture . txt   \u4e2d \u5b9a\u4e49 \u7684 \u9aa8\u9abc \u5bf9 \uff0c \u5e76 \u5c06 \u9aa8\u9abc \u5750\u6807 \u8fde\u63a5 \u5230 \u53ef\u4ee5 \u8986\u76d6 \u5230 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u56fe\u50cf \u4e0a \u7684 \u7ebf \u4e2d \u3002   def   get _ image _ point ( bone _ trans ) :   #   \u8ba1\u7b97 \u9aa8\u9abc \u5750\u6807 \u7684 \u4e8c\u7ef4 \u6295\u5f71   #   \u83b7\u53d6 \u9aa8\u6839 \u7684 \u4e16\u754c \u4f4d\u7f6e   loc   =   bone _ trans . world . location   bone   =   np . array ( [ loc . x ,   loc . y ,   loc . z ,   1 ] )   #   \u8f6c\u6362 \u4e3a \u76f8\u673a \u5750\u6807   point _ camera   =   np . dot ( world _ 2 _ camera ,   bone )   #   \u6211\u4eec \u5fc5\u987b \u4ece UE4 \u7684 \u5750\u6807 \u5750\u6807\u7cfb \u66f4 \u6539\u4e3a \u201c \u6807\u51c6 \u201d \u5750\u6807 \u5750\u6807\u7cfb   #   ( x ,   y   , z )   - >   ( y ,   - z ,   x )   #   \u6211\u4eec \u8fd8 \u5220\u9664 \u4e86 \u7b2c\u56db \u56db\u4e2a \u7b2c\u56db\u4e2a \u7ec4\u4ef6   point _ camera   =   [ point _ camera [ 1 ] ,   - point _ camera [ 2 ] ,   point _ camera [ 0 ] ]   #   \u73b0\u5728 \u4f7f\u7528 \u6444\u5f71 \u6444\u5f71\u673a \u77e9\u9635 \u6295\u5f71 3D - > 2D   point _ img   =   np . dot ( K ,   point _ camera )   #   \u6b63\u5219 \u5316   point _ img [ 0 ]   / =   point _ img [ 2 ]   point _ img [ 1 ]   / =   point _ img [ 2 ]   return   point _ img [ 0 : 2 ]   def   build _ skeleton ( ped ,   sk _ links ,   K ) :   ########   \u83b7\u53d6 \u884c\u4eba \u9aa8\u67b6   #########   bones   =   ped . get _ bones ( )   #   \u5217\u51fa \u5c06 \u6295\u5f71 \u5230 \u76f8\u673a \u8f93\u51fa \u4e0a\u884c \u7684 \u5b58\u50a8 \u4f4d\u7f6e   lines   =   [ ]   #   \u5728   skeleton . txt   \u4e2d \u904d\u5386 \u9aa8\u9abc \u5bf9 \u5e76 \u83b7\u53d6 \u5173\u8282 \u4f4d\u7f6e   for   link   in   sk _ links [ 1 : ] :   #   \u5c06 \u4e24\u5757 \u9aa8\u5934 \u7684 \u6839\u90e8 \u8fde\u63a5 \u63a5\u8d77 \u8d77\u6765 \u8fde\u63a5\u8d77\u6765   bone _ transform _ 1   =   next ( filter ( lambda   b :   b . name   = =   link [ 0 ] ,   bones . bone _ transforms ) ,   None )   bone _ transform _ 2   =   next ( filter ( lambda   b :   b . name   = =   link [ 1 ] ,   bones . bone _ transforms ) ,   None )   #   \u67d0\u4e9b \u9aa8\u9abc \u540d\u79f0 \u4e0d \u5339\u914d   if   bone _ transform _ 1   is   not   None   and   bone _ transform _ 2   is   not   None :   #   \u8ba1\u7b97 \u4e09\u7ef4 \u9aa8\u9abc \u5750\u6807 \u7684 \u4e8c\u7ef4 \u6295\u5f71   point _ image   =   get _ image _ point ( bone _ transform _ 1 )   #   \u5c06\u884c \u5f00\u59cb \u9644\u52a0 \u5230\u884c \u5217\u8868   lines . append ( [ point _ image [ 0 ] ,   point _ image [ 1 ] ,   0 ,   0 ] )   #   \u8ba1\u7b97 \u4e09\u7ef4 \u9aa8\u9abc \u5750\u6807 \u7684 \u4e8c\u7ef4 \u6295\u5f71   point _ image   =   get _ image _ point ( bone _ transform _ 2 )   #   \u5c06 \u884c\u5c3e \u9644\u52a0 \u5230\u884c \u5217\u8868   lines [ - 1 ] [ 2 ]   =   point _ image [ 0 ]   lines [ - 1 ] [ 3 ]   =   point _ image [ 1 ]   return   lines   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u8ba9 \u6211\u4eec \u4ece   sculpture . txt   \u4e2d \u8bfb\u53d6 \u9aa8\u9abc \u5bf9 \uff1a   skeleton _ links   =   [ ]   with   open ( ' skeleton . txt ' )   as   f :   while   True :   line   =   f . readline ( )   if   not   line :   break   stripped   =   list ( map ( str . strip ,   line . strip ( ) . split ( ' , ' ) ) )   skeleton _ links . append ( stripped )   world . tick ( )   trash   =   image _ queue . get ( )   \u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u8fed\u4ee3 \u51e0\u5e27 \uff0c \u5728 \u6bcf \u5e27 \u4e2d \u6784\u5efa \u9aa8\u67b6 \uff0c \u5e76 \u5c06 \u9aa8\u67b6 \u6295\u5f71 \u5230 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa \u4e0a \u3002 \u6211\u4eec \u4f7f\u7528   OpenCV   \u5c06 \u9aa8\u67b6 \u7ed8\u5236 \u5230 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa \u4e0a \u5e76 \u4fdd\u5b58 \u56fe\u50cf \uff1a   \u7b14\u8bb0   \u786e\u4fdd \u5df2 \u5728 \u5de5\u4f5c \u76ee\u5f55 \u4e2d \u521b\u5efa \u540d\u4e3a   out /   \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u6765 \u5b58\u50a8 \u56fe\u50cf   for   frame   in   range ( 0 , 360 ) :   #   \u5728 \u884c\u4eba \u5468\u56f4 \u79fb\u52a8 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934   camera . set _ transform ( center _ camera ( pedestrian ,   frame   +   200 ) )   #   \u63a8\u8fdb \u5e27 \u5e76 \u83b7\u53d6 \u56fe\u50cf   world . tick ( )   #   \u4ece \u961f\u5217 \u4e2d \u83b7\u53d6 \u5e27   image   =   image _ queue . get ( )   #   \u83b7\u53d6 4x4 \u77e9\u9635 \u4ee5 \u5c06 \u70b9 \u4ece \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u8f6c\u6362 \u4e3a \u76f8\u673a \u5750\u6807   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   #   \u4ece \u76f8\u673a \u83b7\u53d6 \u4e00\u4e9b \u5c5e\u6027   image _ w   =   camera _ bp . get _ attribute ( \" image _ size _ x \" ) . as _ int ( )   image _ h   =   camera _ bp . get _ attribute ( \" image _ size _ y \" ) . as _ int ( )   fov   =   camera _ bp . get _ attribute ( \" fov \" ) . as _ float ( )   #   \u8ba1\u7b97 \u8981 \u4ece 3D - > 2D \u6295\u5f71 \u7684 \u76f8\u673a \u77e9\u9635   K   =   build _ projection _ matrix ( image _ w ,   image _ h ,   fov )   #   \u6784\u5efa \u5c06 \u663e\u793a \u9aa8\u67b6 \u7684 \u7ebf \u5217\u8868   lines   =   build _ skeleton ( pedestrian ,   skeleton _ links ,   K )   #   \u5c06 \u6570\u636e \u91cd\u5851 \u4e3a 2D   RBGA   \u77e9\u9635   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   \u4f7f\u7528   OpenCV   \u5c06 \u7ebf\u6761 \u7ed8\u5236 \u5230 \u56fe\u50cf \u4e2d   for   line   in   lines :   l   =   [ int ( x )   for   x   in   line ]   cv2 . line ( img ,   ( l [ 0 ] , l [ 1 ] ) ,   ( l [ 2 ] , l [ 3 ] ) ,   ( 255 , 0 , 0 ,   255 ) ,   2 )   #   \u4fdd\u5b58 \u56fe\u50cf   cv2 . imwrite ( ' out / skeleton% 04d . png '   %   frame ,   img )   \u5728   out /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u60a8 \u73b0\u5728 \u5e94\u8be5 \u6709 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5e27 \uff0c \u5176\u4e2d \u9aa8\u67b6 \u8986\u76d6 \u5728 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa \u4e0a \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u5c06 \u5e27 \u52a0\u5165 \u89c6\u9891 \u6765 \u91cd\u5efa \u4ee5\u4e0b \u52a8\u753b \uff1a   \u603b\u7ed3   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u60a8 \u5b66\u4e60 \u4e86 \u5982\u4f55 \u4f7f\u7528   AI   \u63a7\u5236 \u63a7\u5236\u5668 \u751f\u6210 \u884c\u4eba \uff0c \u6062\u590d \u884c\u4eba \u9aa8\u9abc \u7684 \u771f\u5b9e \u4e09\u7ef4 \u5750\u6807 \uff0c \u5e76 \u5c06 \u8fd9\u4e9b \u9aa8\u9abc \u6295\u5f71 \u5230 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u7684 \u4e8c\u7ef4 \u56fe\u50cf \u4e0a \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u672c \u6559\u7a0b \u4e2d\u5b66 \u5230 \u7684 \u6280\u672f \uff0c \u4f7f\u7528   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e3a \u4eba\u4f53 \u59ff\u52bf \u4f30\u8ba1 \u6846\u67b6 \u8bbe\u7f6e \u8bad\u7ec3 \u548c \u9a8c\u8bc1 \uff0c \u5b8c\u6574 \u4ee3\u7801   \u94fe\u63a5   \u3002","title":"\u901a\u8fc7   API   \u83b7\u53d6 \u884c\u4eba \u771f\u5b9e \u9aa8\u9abc"},{"location":"tuto_G_pedestrian_navigation/#api","text":"\u4e3a\u4e86 \u8bad\u7ec3 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \uff0c \u5fc5\u987b \u786e\u4fdd \u5b83\u4eec \u4e0d\u4ec5 \u80fd\u591f \u8bc6\u522b \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u9053\u8def \u548c \u6c7d\u8f66 \uff0c \u8fd8 \u80fd\u591f \u8bc6\u522b \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u548c \u8fc7 \u9a6c\u8def \u7684 \u884c\u4eba \uff0c \u4ee5 \u786e\u4fdd \u6240\u6709 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u7684 \u5b89\u5168 \u3002 Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u63d0\u4f9b \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u7684 \u884c\u4eba \uff0c \u4ee5 \u4eba\u4f53 \u5f62\u6001 \u586b\u5145 \u60a8 \u7684 \u4eff\u771f \u548c \u8bad\u7ec3 \u6570\u636e \u3002 \u5728 \u8bb8\u591a \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u5e94\u7528 \u4e2d \uff0c \u4eba\u4f53 \u59ff\u6001 \u4f30\u8ba1 \u662f \u4e00\u4e2a \u91cd\u8981 \u56e0\u7d20 \uff0c \u5305\u62ec \u81ea\u52a8 \u9a7e\u9a76 \u3001 \u5b89\u5168 \u3001 \u4eba\u7fa4 \u63a7\u5236 \u548c \u591a\u4e2a \u673a\u5668 \u673a\u5668\u4eba \u5e94\u7528 \u3002   Carla   \u7684   API   \u63d0\u4f9b \u4e86 \u4ece \u4eff\u771f \u4e2d \u7684 \u884c\u4eba \u83b7\u53d6 \u771f\u5b9e \u9aa8\u67b6 \u7684 \u529f\u80fd \u3002 \u9aa8\u67b6 \u7531 \u4e00\u7ec4 \u9aa8\u9abc \u7ec4\u6210 \uff0c \u6bcf\u4e2a \u9aa8\u9abc \u90fd \u6709 \u4e00\u4e2a \u6839 \u8282\u70b9 \u6216 \u9876\u70b9 \u4ee5\u53ca \u4e00\u4e2a \u5b9a\u4e49 \u9aa8\u9abc \u59ff\u52bf \uff08 \u6216 \u65b9\u5411 \uff09 \u7684 \u5411\u91cf \u3002 \u8fd9\u4e9b \u9aa8\u9abc \u63a7\u5236 \u4eff\u771f \u884c\u4eba \u7684 \u56db\u80a2 \u548c \u8eab\u4f53 \u7684 \u8fd0\u52a8 \u3002 \u901a\u8fc7 \u5c06 \u5404\u4e2a \u9aa8\u9abc \u7684 \u96c6\u5408 \u6536\u96c6 \u5728 \u4e00\u8d77 \uff0c \u53ef\u4ee5 \u6784\u5efa \u865a\u62df \u62df\u4eba \u865a\u62df\u4eba \u59ff\u52bf \u7684 \u6a21\u578b \uff0c \u8be5 \u6a21\u578b \u53ef \u7528\u4e8e \u4e0e \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u4f30\u8ba1 \u7684 \u59ff\u52bf \u6a21\u578b \u8fdb\u884c \u6bd4\u8f83 \uff0c \u751a\u81f3 \u7528\u4e8e \u8bad\u7ec3 \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u8fdb\u884c \u59ff\u52bf \u4f30\u8ba1 \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u5b8c\u6210 \u5728 \u5730\u56fe \u4e2d \u751f\u6210 \u884c\u4eba \u3001 \u8bbe\u7f6e   AI   \u63a7\u5236 \u63a7\u5236\u5668 \u6765 \u79fb\u52a8 \u884c\u4eba \u3001 \u7136\u540e \u83b7\u53d6 \u771f\u5b9e \u9aa8\u67b6 \u5e76 \u5c06 \u9aa8\u9abc \u6295\u5f71 \u5230   2D   \u76f8\u673a \u6355\u83b7 \u4e0a \u7684 \u6b65\u9aa4 \u3002   \u8bbe\u7f6e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u5728   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u751f\u6210 \u884c\u4eba   AI   \u63a7\u5236 \u63a7\u5236\u5668 \u5f15\u5bfc \u884c\u4eba \u5728 \u5730\u56fe \u4e0a \u884c\u8d70   \u76f8\u673a \u51e0\u4f55   \u6784\u5efa \u9aa8\u67b6   \u603b\u7ed3","title":"\u901a\u8fc7   API   \u83b7\u53d6 \u884c\u4eba \u771f\u5b9e \u9aa8\u9abc"},{"location":"tuto_G_pedestrian_navigation/#_1","text":"\u9996\u5148 \uff0c \u6309\u7167 \u60a8 \u7684 \u6807\u51c6 \u5de5\u4f5c \u6d41\u7a0b \u542f\u52a8   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \uff0c \u65e0\u8bba \u65e0\u8bba\u662f \u5728 \u72ec\u7acb \u6a21\u5f0f \u4e0b \u8fd8\u662f \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u3002 \u6211\u4eec \u5c06 \u5bfc\u5165 \u51e0\u4e2a \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f \u5e93\u4ee5 \u7528\u4e8e \u6570\u5b66 \u548c \u7ed8\u56fe \u3002 \u4e3a\u4e86 \u8ba9 \u6211\u4eec \u66f4\u597d \u5730 \u63a7\u5236 \u4eff\u771f \uff0c \u6211\u4eec \u5c06 \u5728 \u672c \u6559\u7a0b \u4e2d \u4f7f\u7528   \u540c\u6b65 \u6a21\u5f0f   \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u6211\u4eec \u7684   Python   \u5ba2\u6237 \u5ba2\u6237\u7aef \u63a7\u5236 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u65f6\u95f4 \u8fdb\u7a0b \u3002   import   carla   import   random   import   numpy   as   np   import   math   import   queue   import   cv2   # OpenCV   to   manipulate   and   save   the   images   #   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5e76 \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \u4eff\u771f   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   #   \u6211\u4eec \u4e5f \u4f1a \u8bbe\u7f6e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4ee5\u4fbf \u6211\u4eec \u80fd \u770b\u5230 \u6211\u4eec \u6240 \u505a \u7684   spectator   =   world . get _ spectator ( )","title":"\u8bbe\u7f6e \u4eff\u771f\u5668  "},{"location":"tuto_G_pedestrian_navigation/#carla","text":"\u9996\u5148 \uff0c \u6211\u4eec \u60f3 \u5728 \u4eff\u771f \u4e2d \u751f\u6210 \u4e00\u4e2a \u884c\u4eba \u3002 \u8fd9 \u53ef\u4ee5 \u4f7f\u7528   world . get _ random _ location _ from _ navigation ( )   \u5728 \u968f\u673a \u4f4d\u7f6e \u5b8c\u6210 \uff0c \u4e5f \u53ef\u4ee5 \u4f7f\u7528 \u4ece \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u6536\u96c6 \u7684 \u5750\u6807 \u6765 \u9009\u62e9 \u3002 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \uff0c \u5c06 \u4e00\u4e2a \u7a7a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6dfb\u52a0 \u5230 \u8981 \u751f\u6210 \u884c\u4eba \u7684 \u4f4d\u7f6e \uff0c \u7136\u540e \u4f7f\u7528 \u53f3\u4fa7 \u7684 \u68c0\u67e5 \u5668 \u67e5\u8be2 \u5750\u6807 \u3002   \u7b14\u8bb0   \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \uff0c \u800c   Carla   \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff0c \u56e0\u6b64 \u5fc5\u987b \u8f6c\u6362 \u5355\u4f4d \u3002 \u5728   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u4f7f\u7528 \u4e4b\u524d \uff0c \u8bf7 \u786e\u4fdd \u5c06 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5750\u6807 \u9664\u4ee5   100 \u3002   \u4e00\u65e6 \u4f60 \u9009\u62e9 \u4e86 \u5750\u6807 \uff0c \u4f60 \u5c31 \u53ef\u4ee5 \u751f\u6210 \u884c\u4eba \u3002 \u6211\u4eec \u8fd8 \u5c06 \u751f\u6210 \u4e00\u4e2a \u76f8\u673a \u6765 \u6536\u96c6 \u56fe\u50cf \u3002 \u6211\u4eec \u8fd8 \u9700\u8981 \u4e00\u4e2a \u961f\u5217   Queue   \u5bf9\u8c61 \u6765 \u5141\u8bb8 \u6211\u4eec \u8f7b\u677e \u8bbf\u95ee \u6765\u81ea \u76f8\u673a \u7684 \u6570\u636e \uff08 \u56e0\u4e3a \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u5176 \u81ea\u5df1 \u7684 \u7ebf\u7a0b \u4e0a \u8fd0\u884c \uff0c \u4e0e \u8fd0\u884c \u811a\u672c \u7684 \u4e3b   Python   \u7ebf\u7a0b \u5206\u5f00 \uff09 \u3002   \u4e3a\u4e86 \u770b\u5230 \u6211\u4eec \u7684 \u884c\u4eba \uff0c \u6211\u4eec \u9700\u8981 \u53d8\u6362 \u76f8\u673a \uff0c \u4f7f \u5176 \u6307\u5411 \u6211\u4eec \u751f\u6210 \u7684 \u884c\u4eba \u3002 \u4e3a\u6b64 \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528 \u4e00\u4e2a \u51fd\u6570 \u6765 \u8ba1\u7b97 \u4f7f \u76f8\u673a \u5c45\u4e2d \u6240 \u9700 \u7684 \u5e73\u79fb \u548c \u65cb\u8f6c \uff1a   def   center _ camera ( ped ,   rot _ offset = 0 ) :   #   \u65cb\u8f6c \u76f8\u673a \u4ee5 \u9762\u5411 \u884c\u4eba \u5e76 \u5e94\u7528 \u504f\u79fb   trans   =   ped . get _ transform ( )   offset _ radians   =   2   *   math . pi   *   rot _ offset / 360   x   =   math . cos ( offset _ radians )   *   - 2   y   =   math . sin ( offset _ radians )   *   2   trans . location . x   + =   x   trans . location . y   + =   y   trans . location . z   =   2   trans . rotation . pitch   =   - 16   trans . rotation . roll   =   0   trans . rotation . yaw   =   - rot _ offset   spectator . set _ transform ( trans )   return   trans   \u73b0\u5728 \u6211\u4eec \u5c06 \u751f\u6210 \u884c\u4eba \u3001 \u6444\u50cf \u6444\u50cf\u673a \u3001 \u63a7\u5236 \u63a7\u5236\u5668 \u5e76 \u79fb\u52a8 \u89c2\u5bdf \u89c2\u5bdf\u8005 \uff0c \u4ee5\u4fbf \u6211\u4eec \u53ef\u4ee5 \u770b\u5230 \u6211\u4eec \u6240 \u505a \u7684 \u4e8b\u60c5 \uff1a   #   \u83b7\u53d6 \u884c\u4eba \u84dd\u56fe \u5e76 \u751f\u6210 \u5b83   pedestrian _ bp   =   random . choice ( world . get _ blueprint _ library ( ) . filter ( ' * walker . pedestrian * ' ) )   transform   =   carla . Transform ( carla . Location ( x = - 134 , y = 78.1 , z = 1.18 ) )   pedestrian   =   world . try _ spawn _ actor ( pedestrian _ bp ,   transform )   #   \u751f\u6210 \u4e00\u4e2a   RGB   \u76f8\u673a   camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   camera   =   world . spawn _ actor ( camera _ bp ,   transform )   #   \u521b\u5efa \u4e00\u4e2a \u961f\u5217 \u6765 \u5b58\u50a8 \u5e76 \u83b7\u53d6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e   image _ queue   =   queue . Queue ( )   camera . listen ( image _ queue . put )   world . tick ( )   image _ queue . get ( )   #   \u6bcf\u6b21 \u8c03\u7528   world . tick ( )   \u65f6 \uff0c \u6211\u4eec \u5fc5\u987b \u8c03\u7528   image _ queue . get ( )   \u4ee5 \u786e\u4fdd \u65f6\u95f4 \u6b65\u957f \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u4fdd\u6301 \u540c\u6b65   #   \u73b0\u5728 \uff0c \u6211\u4eec \u5c06 \u65cb\u8f6c \u76f8\u673a \u4ee5 \u9762\u5411 \u884c\u4eba   camera . set _ transform ( center _ camera ( pedestrian ) )   #   \u79fb\u52a8 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4ee5 \u67e5\u770b \u7ed3\u679c   spectator . set _ transform ( camera . get _ transform ( ) )   #   \u4e3a \u884c\u4eba \u8bbe\u7f6e AI \u63a7\u5236 \u63a7\u5236\u5668   controller _ bp   =   world . get _ blueprint _ library ( ) . find ( ' controller . ai . walker ' )   controller   =   world . spawn _ actor ( controller _ bp ,   pedestrian . get _ transform ( ) ,   pedestrian )   #   \u542f\u52a8 \u63a7\u5236 \u63a7\u5236\u5668 \u5e76 \u7ed9 \u5b83 \u4e00\u4e2a \u968f\u673a \u4f4d\u7f6e   controller . start ( )   controller . go _ to _ location ( world . get _ random _ location _ from _ navigation ( ) )   #   \u5c06 \u4e16\u754c \u79fb\u52a8 \u51e0\u5e27 \uff0c \u8ba9 \u884c\u4eba \u751f\u6210   for   frame   in   range ( 0 , 5 ) :   world . tick ( )   trash   =   image _ queue . get ( )","title":"\u5728   Carla   \u4eff\u771f\u5668 \u4e2d \u751f\u6210 \u884c\u4eba  "},{"location":"tuto_G_pedestrian_navigation/#ai","text":"\u4e0a \u4e00\u6b65 \u6211\u4eec \u8fd8 \u521d\u59cb \u521d\u59cb\u5316 \u4e86 \u4e00\u4e2a   AI   \u63a7\u5236 \u63a7\u5236\u5668 \u6765 \u5e2e\u52a9 \u884c\u4eba \u5728 \u5730\u56fe \u4e0a \u667a\u80fd \u79fb\u52a8 \uff0c \u4ee3\u7801 \u5982\u4e0b \uff08 \u65e0\u9700 \u91cd\u590d \uff09 \uff1a   controller _ bp   =   world . get _ blueprint _ library ( ) . find ( ' controller . ai . walker ' )   controller   =   world . spawn _ actor ( controller _ bp ,   pedestrian . get _ transform ( ) ,   pedestrian )   controller . start ( )   controller . go _ to _ location ( world . get _ random _ location _ from _ navigation ( ) )   \u73b0\u5728 \uff0c \u884c\u4eba \u5c06 \u968f\u7740 \u4eff\u771f \u7684 \u6bcf\u6b21 \u63a8\u8fdb   (   world . tick ( )   )   \u81ea\u4e3b \u79fb\u52a8 \u3002","title":"AI   \u63a7\u5236\u5668 \u5f15\u5bfc \u884c\u4eba \u5728 \u5730\u56fe \u4e0a \u884c\u8d70  "},{"location":"tuto_G_pedestrian_navigation/#_2","text":"\u73b0\u5728 \u6211\u4eec \u9700\u8981 \u6267\u884c \u4e00\u4e9b \u51e0\u4f55 \u8ba1\u7b97 \u3002 \u9996\u5148 \uff0c \u6211\u4eec \u60f3\u8981 \u5c06 \u9aa8\u9abc \u7684 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u8f6c\u6362 \u4e3a \u76f8\u673a \u5750\u6807 \uff0c \u6211\u4eec \u4f7f\u7528 \u76f8\u673a \u53d8\u6362 \u7684 \u9006\u53d8 \u53d8\u6362 \u9006\u53d8\u6362 \u6765 \u5b9e\u73b0 \u8fd9 \u4e00\u70b9 \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u5750\u6807 \u5c06 \u8f6c\u6362 \u4e3a \u76f8\u5bf9 \u4e8e \u4f4d\u4e8e \u539f\u70b9 \u3001 \u9762\u5411   x   \u6b63 \u65b9\u5411 \u7684 \u76f8\u673a \u3002   #   \u83b7\u53d6 4x4 \u77e9\u9635 \u4ee5 \u5c06 \u70b9 \u4ece \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u8f6c\u6362 \u4e3a \u76f8\u673a \u5750\u6807   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   \u7136\u540e \uff0c \u6211\u4eec \u9700\u8981 \u4f7f\u7528 \u76f8\u673a \u77e9\u9635 \u6216 \u6295\u5f71 \u77e9\u9635 \u5c06 \u4e09\u7ef4 \u70b9 \u6295\u5f71 \u5230 \u76f8\u673a \u7684 \u4e8c\u7ef4 \u89c6\u573a   ( FOV ,   field   of   view )   \u4e0a \uff0c \u5c06 \u5b83\u4eec \u53e0\u52a0 \u5728 \u8f93\u51fa \u56fe\u50cf \u4e0a \u3002 \u4ee5\u4e0b \u51fd\u6570 \u751f\u6210 \u6b64 \u4e09\u7ef4 \u5230 \u4e8c\u7ef4 \u8f6c\u6362 \u6240 \u9700 \u7684   \u76f8\u673a \u77e9\u9635   \u3002   def   build _ projection _ matrix ( w ,   h ,   fov ) :   focal   =   w   /   ( 2.0   *   np . tan ( fov   *   np . pi   /   360.0 ) )   K   =   np . identity ( 3 )   K [ 0 ,   0 ]   =   K [ 1 ,   1 ]   =   focal   K [ 0 ,   2 ]   =   w   /   2.0   K [ 1 ,   2 ]   =   h   /   2.0   return   K","title":"\u76f8\u673a \u51e0\u4f55  "},{"location":"tuto_G_pedestrian_navigation/#_3","text":"\u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u5c06 \u6d3b\u52a8 \u90e8\u4ef6 \u7ec4\u88c5 \u5728 \u4e00\u8d77 \u3002 \u9996\u5148 \uff0c \u4f7f\u7528   pedestrian . get _ bones ( )   \u4ece \u4eff\u771f \u4e2d \u6536\u96c6 \u9aa8\u9abc \u5750\u6807 \uff0c \u7136\u540e \u5c06 \u9aa8\u9abc \u7ec4\u5408 \u5728 \u4e00\u8d77 \u5e76 \u5c06 \u5176 \u6295\u5f71 \u5230 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4e8c\u7ef4 \u6210\u50cf \u5e73\u9762 \u4e0a \u3002 \u4f7f\u7528 skeletal . txt \u4e2d \u5b9a\u4e49 \u7684 \u5bf9 \u5c06 \u9aa8\u9abc \u8fde\u63a5 \u8fde\u63a5\u6210 \u5b8c\u6574 \u7684 \u9aa8\u67b6 \uff0c \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u4e0b\u8f7d \u8be5 \u6587\u4ef6 \u3002   \u6211\u4eec \u9700\u8981 \u4e00\u4e2a \u51fd\u6570 \u6765 \u8fed\u4ee3   sculpture . txt   \u4e2d \u5b9a\u4e49 \u7684 \u9aa8\u9abc \u5bf9 \uff0c \u5e76 \u5c06 \u9aa8\u9abc \u5750\u6807 \u8fde\u63a5 \u5230 \u53ef\u4ee5 \u8986\u76d6 \u5230 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u56fe\u50cf \u4e0a \u7684 \u7ebf \u4e2d \u3002   def   get _ image _ point ( bone _ trans ) :   #   \u8ba1\u7b97 \u9aa8\u9abc \u5750\u6807 \u7684 \u4e8c\u7ef4 \u6295\u5f71   #   \u83b7\u53d6 \u9aa8\u6839 \u7684 \u4e16\u754c \u4f4d\u7f6e   loc   =   bone _ trans . world . location   bone   =   np . array ( [ loc . x ,   loc . y ,   loc . z ,   1 ] )   #   \u8f6c\u6362 \u4e3a \u76f8\u673a \u5750\u6807   point _ camera   =   np . dot ( world _ 2 _ camera ,   bone )   #   \u6211\u4eec \u5fc5\u987b \u4ece UE4 \u7684 \u5750\u6807 \u5750\u6807\u7cfb \u66f4 \u6539\u4e3a \u201c \u6807\u51c6 \u201d \u5750\u6807 \u5750\u6807\u7cfb   #   ( x ,   y   , z )   - >   ( y ,   - z ,   x )   #   \u6211\u4eec \u8fd8 \u5220\u9664 \u4e86 \u7b2c\u56db \u56db\u4e2a \u7b2c\u56db\u4e2a \u7ec4\u4ef6   point _ camera   =   [ point _ camera [ 1 ] ,   - point _ camera [ 2 ] ,   point _ camera [ 0 ] ]   #   \u73b0\u5728 \u4f7f\u7528 \u6444\u5f71 \u6444\u5f71\u673a \u77e9\u9635 \u6295\u5f71 3D - > 2D   point _ img   =   np . dot ( K ,   point _ camera )   #   \u6b63\u5219 \u5316   point _ img [ 0 ]   / =   point _ img [ 2 ]   point _ img [ 1 ]   / =   point _ img [ 2 ]   return   point _ img [ 0 : 2 ]   def   build _ skeleton ( ped ,   sk _ links ,   K ) :   ########   \u83b7\u53d6 \u884c\u4eba \u9aa8\u67b6   #########   bones   =   ped . get _ bones ( )   #   \u5217\u51fa \u5c06 \u6295\u5f71 \u5230 \u76f8\u673a \u8f93\u51fa \u4e0a\u884c \u7684 \u5b58\u50a8 \u4f4d\u7f6e   lines   =   [ ]   #   \u5728   skeleton . txt   \u4e2d \u904d\u5386 \u9aa8\u9abc \u5bf9 \u5e76 \u83b7\u53d6 \u5173\u8282 \u4f4d\u7f6e   for   link   in   sk _ links [ 1 : ] :   #   \u5c06 \u4e24\u5757 \u9aa8\u5934 \u7684 \u6839\u90e8 \u8fde\u63a5 \u63a5\u8d77 \u8d77\u6765 \u8fde\u63a5\u8d77\u6765   bone _ transform _ 1   =   next ( filter ( lambda   b :   b . name   = =   link [ 0 ] ,   bones . bone _ transforms ) ,   None )   bone _ transform _ 2   =   next ( filter ( lambda   b :   b . name   = =   link [ 1 ] ,   bones . bone _ transforms ) ,   None )   #   \u67d0\u4e9b \u9aa8\u9abc \u540d\u79f0 \u4e0d \u5339\u914d   if   bone _ transform _ 1   is   not   None   and   bone _ transform _ 2   is   not   None :   #   \u8ba1\u7b97 \u4e09\u7ef4 \u9aa8\u9abc \u5750\u6807 \u7684 \u4e8c\u7ef4 \u6295\u5f71   point _ image   =   get _ image _ point ( bone _ transform _ 1 )   #   \u5c06\u884c \u5f00\u59cb \u9644\u52a0 \u5230\u884c \u5217\u8868   lines . append ( [ point _ image [ 0 ] ,   point _ image [ 1 ] ,   0 ,   0 ] )   #   \u8ba1\u7b97 \u4e09\u7ef4 \u9aa8\u9abc \u5750\u6807 \u7684 \u4e8c\u7ef4 \u6295\u5f71   point _ image   =   get _ image _ point ( bone _ transform _ 2 )   #   \u5c06 \u884c\u5c3e \u9644\u52a0 \u5230\u884c \u5217\u8868   lines [ - 1 ] [ 2 ]   =   point _ image [ 0 ]   lines [ - 1 ] [ 3 ]   =   point _ image [ 1 ]   return   lines   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u8ba9 \u6211\u4eec \u4ece   sculpture . txt   \u4e2d \u8bfb\u53d6 \u9aa8\u9abc \u5bf9 \uff1a   skeleton _ links   =   [ ]   with   open ( ' skeleton . txt ' )   as   f :   while   True :   line   =   f . readline ( )   if   not   line :   break   stripped   =   list ( map ( str . strip ,   line . strip ( ) . split ( ' , ' ) ) )   skeleton _ links . append ( stripped )   world . tick ( )   trash   =   image _ queue . get ( )   \u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u8fed\u4ee3 \u51e0\u5e27 \uff0c \u5728 \u6bcf \u5e27 \u4e2d \u6784\u5efa \u9aa8\u67b6 \uff0c \u5e76 \u5c06 \u9aa8\u67b6 \u6295\u5f71 \u5230 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa \u4e0a \u3002 \u6211\u4eec \u4f7f\u7528   OpenCV   \u5c06 \u9aa8\u67b6 \u7ed8\u5236 \u5230 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa \u4e0a \u5e76 \u4fdd\u5b58 \u56fe\u50cf \uff1a   \u7b14\u8bb0   \u786e\u4fdd \u5df2 \u5728 \u5de5\u4f5c \u76ee\u5f55 \u4e2d \u521b\u5efa \u540d\u4e3a   out /   \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u6765 \u5b58\u50a8 \u56fe\u50cf   for   frame   in   range ( 0 , 360 ) :   #   \u5728 \u884c\u4eba \u5468\u56f4 \u79fb\u52a8 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934   camera . set _ transform ( center _ camera ( pedestrian ,   frame   +   200 ) )   #   \u63a8\u8fdb \u5e27 \u5e76 \u83b7\u53d6 \u56fe\u50cf   world . tick ( )   #   \u4ece \u961f\u5217 \u4e2d \u83b7\u53d6 \u5e27   image   =   image _ queue . get ( )   #   \u83b7\u53d6 4x4 \u77e9\u9635 \u4ee5 \u5c06 \u70b9 \u4ece \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u8f6c\u6362 \u4e3a \u76f8\u673a \u5750\u6807   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   #   \u4ece \u76f8\u673a \u83b7\u53d6 \u4e00\u4e9b \u5c5e\u6027   image _ w   =   camera _ bp . get _ attribute ( \" image _ size _ x \" ) . as _ int ( )   image _ h   =   camera _ bp . get _ attribute ( \" image _ size _ y \" ) . as _ int ( )   fov   =   camera _ bp . get _ attribute ( \" fov \" ) . as _ float ( )   #   \u8ba1\u7b97 \u8981 \u4ece 3D - > 2D \u6295\u5f71 \u7684 \u76f8\u673a \u77e9\u9635   K   =   build _ projection _ matrix ( image _ w ,   image _ h ,   fov )   #   \u6784\u5efa \u5c06 \u663e\u793a \u9aa8\u67b6 \u7684 \u7ebf \u5217\u8868   lines   =   build _ skeleton ( pedestrian ,   skeleton _ links ,   K )   #   \u5c06 \u6570\u636e \u91cd\u5851 \u4e3a 2D   RBGA   \u77e9\u9635   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   \u4f7f\u7528   OpenCV   \u5c06 \u7ebf\u6761 \u7ed8\u5236 \u5230 \u56fe\u50cf \u4e2d   for   line   in   lines :   l   =   [ int ( x )   for   x   in   line ]   cv2 . line ( img ,   ( l [ 0 ] , l [ 1 ] ) ,   ( l [ 2 ] , l [ 3 ] ) ,   ( 255 , 0 , 0 ,   255 ) ,   2 )   #   \u4fdd\u5b58 \u56fe\u50cf   cv2 . imwrite ( ' out / skeleton% 04d . png '   %   frame ,   img )   \u5728   out /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u60a8 \u73b0\u5728 \u5e94\u8be5 \u6709 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5e27 \uff0c \u5176\u4e2d \u9aa8\u67b6 \u8986\u76d6 \u5728 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa \u4e0a \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u5c06 \u5e27 \u52a0\u5165 \u89c6\u9891 \u6765 \u91cd\u5efa \u4ee5\u4e0b \u52a8\u753b \uff1a","title":"\u6784\u5efa \u9aa8\u67b6  "},{"location":"tuto_G_pedestrian_navigation/#_4","text":"\u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u60a8 \u5b66\u4e60 \u4e86 \u5982\u4f55 \u4f7f\u7528   AI   \u63a7\u5236 \u63a7\u5236\u5668 \u751f\u6210 \u884c\u4eba \uff0c \u6062\u590d \u884c\u4eba \u9aa8\u9abc \u7684 \u771f\u5b9e \u4e09\u7ef4 \u5750\u6807 \uff0c \u5e76 \u5c06 \u8fd9\u4e9b \u9aa8\u9abc \u6295\u5f71 \u5230 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u7684 \u4e8c\u7ef4 \u56fe\u50cf \u4e0a \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u672c \u6559\u7a0b \u4e2d\u5b66 \u5230 \u7684 \u6280\u672f \uff0c \u4f7f\u7528   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e3a \u4eba\u4f53 \u59ff\u52bf \u4f30\u8ba1 \u6846\u67b6 \u8bbe\u7f6e \u8bad\u7ec3 \u548c \u9a8c\u8bc1 \uff0c \u5b8c\u6574 \u4ee3\u7801   \u94fe\u63a5   \u3002","title":"\u603b\u7ed3  "},{"location":"tuto_G_pedestrian_visual/","text":"\u83b7\u53d6 \u884c\u4eba \u89c6\u91ce   \u884c\u4eba \u63a7\u5236   \u654f\u6377 \u7684 \u884c\u4e3a \u6a21\u4eff \uff1a \u8df3\u821e   \u57fa\u4e8e \u7269\u7406 \u7684 \u4eba\u5f62 \u63a7\u5236 \u63a7\u5236\u5668 \uff1a \u610f\u5916 \u8dcc\u5012   \u5bfc\u822a   \u5728 \u6ca1\u6709 \u5730\u56fe \u7684 \u57ce\u5e02 \u5bfc\u822a","title":"tuto   G   pedestrian   visual"},{"location":"tuto_G_pedestrian_visual/#_1","text":"","title":"\u83b7\u53d6 \u884c\u4eba \u89c6\u91ce"},{"location":"tuto_G_pedestrian_visual/#_2","text":"\u654f\u6377 \u7684 \u884c\u4e3a \u6a21\u4eff \uff1a \u8df3\u821e   \u57fa\u4e8e \u7269\u7406 \u7684 \u4eba\u5f62 \u63a7\u5236 \u63a7\u5236\u5668 \uff1a \u610f\u5916 \u8dcc\u5012","title":"\u884c\u4eba \u63a7\u5236"},{"location":"tuto_G_pedestrian_visual/#_3","text":"\u5728 \u6ca1\u6709 \u5730\u56fe \u7684 \u57ce\u5e02 \u5bfc\u822a","title":"\u5bfc\u822a"},{"location":"tuto_G_pygame/","text":"Pygame   \u7528\u4e8e \u8f66\u8f86 \u63a7\u5236   PyGame   \u662f \u4e00\u7ec4 \u5e73\u53f0 \u8de8\u5e73\u53f0 \u7684   Python   \u6a21\u5757 \uff0c \u53ef \u7528\u4e8e \u7f16\u5199 \u89c6\u9891 \u6e38\u620f \u3002 \u5b83 \u63d0\u4f9b \u4e86 \u4e00\u79cd \u6e32\u67d3   Carla   \u5b9e\u65f6 \u89c6\u89c9 \u8f93\u51fa \u7684 \u6709\u7528 \u65b9\u6cd5 \uff0c \u4ee5\u4fbf \u76d1\u89c6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa \uff0c \u4f8b\u5982 \u6444\u50cf \u6444\u50cf\u673a \u3002 PyGame   \u8fd8 \u53ef\u4ee5 \u6355\u83b7 \u952e\u76d8 \u4e8b\u4ef6 \uff0c \u56e0\u6b64 \u5b83 \u662f \u63a7\u5236 \u8f66\u8f86 \u7b49 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u597d \u65b9\u6cd5 \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u5b66\u4e60 \u5982\u4f55 \u8bbe\u7f6e \u4e00\u4e2a \u7b80\u5355 \u7684   PyGame   \u754c\u9762 \uff0c \u8be5 \u754c\u9762 \u4f7f \u6211\u4eec \u80fd\u591f \u76d1\u63a7 \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u5730\u56fe \u5468\u56f4 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u4ea4\u901a \uff0c \u7136\u540e \u4f7f\u7528 \u952e\u76d8 \u624b\u52a8 \u63a7\u5236 \u4efb\u4f55 \u8f66\u8f86 \u3002   \u8bbe\u7f6e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5e76 \u521d\u59cb \u521d\u59cb\u5316 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u9996\u5148 \uff0c \u6211\u4eec \u5c06 \u521d\u59cb \u521d\u59cb\u5316 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5e76 \u521b\u5efa \u4e00\u4e9b \u968f\u673a \u5206\u5e03 \u5728 \u57ce\u5e02 \u5468\u56f4 \u7684 \u6d41\u91cf \u3002   import   carla   import   random   import   pygame   import   numpy   as   np   #   \u8fde\u63a5 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e76 \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \u6a21\u62df \u6a21\u62df\u5668   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   Enables   synchronous   mode   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   traffic _ manager   =   client . get _ trafficmanager ( )   traffic _ manager . set _ synchronous _ mode ( True )   #   \u5982\u679c \u6709 \u590d\u73b0 \u7684 \u5fc5\u8981 \uff0c \u53ef\u4ee5 \u8bbe\u7f6e \u968f\u673a \u79cd\u5b50   traffic _ manager . set _ random _ device _ seed ( 0 )   random . seed ( 0 )   #   \u6211\u4eec \u4e5f \u4f1a \u542f\u52a8 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4ee5\u4fbf \u80fd \u770b\u5230 \u6211\u4eec \u6240 \u505a \u7684   spectator   =   world . get _ spectator ( )   \u751f\u6210 \u8f66\u8f86   \u6211\u4eec \u60f3\u8981 \u521b\u5efa \u4e00\u4e2a \u5728 \u6574\u4e2a \u57ce\u5e02 \u4e2d \u4ea7\u751f \u7684 \u8f66\u8f86 \u96c6\u5408 \uff0c \u5e76 \u8ba9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u5b83\u4eec \u3002   #   \u83b7\u53d6 \u5730\u56fe \u7684 \u751f\u6210 \u70b9   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   #   \u4ece \u84dd \u56fe\u5e93 \u4e2d \u9009\u62e9 \u4e00\u4e9b \u6a21\u578b   models   =   [ ' dodge ' ,   ' audi ' ,   ' model3 ' ,   ' mini ' ,   ' mustang ' ,   ' lincoln ' ,   ' prius ' ,   ' nissan ' ,   ' crown ' ,   ' impala ' ]   blueprints   =   [ ]   for   vehicle   in   world . get _ blueprint _ library ( ) . filter ( ' * vehicle * ' ) :   if   any ( model   in   vehicle . id   for   model   in   models ) :   blueprints . append ( vehicle )   #   \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u6700\u5927 \u6570\u76ee \uff0c \u5e76 \u51c6\u5907 \u6211\u4eec \u751f\u6210 \u7684 \u5217\u8868   max _ vehicles   =   50   max _ vehicles   =   min ( [ max _ vehicles ,   len ( spawn _ points ) ] )   vehicles   =   [ ]   #   \u968f\u673a \u9009\u53d6 \u751f\u6210 \u70b9 \u7684 \u6837\u672c \u5e76 \u751f\u6210 \u8f66\u8f86   for   i ,   spawn _ point   in   enumerate ( random . sample ( spawn _ points ,   max _ vehicles ) ) :   temp   =   world . try _ spawn _ actor ( random . choice ( blueprints ) ,   spawn _ point )   if   temp   is   not   None :   vehicles . append ( temp )   #   \u89e3\u6790 \u751f\u6210 \u8f66\u8f86 \u7684 \u5217\u8868 \uff0c \u5e76 \u901a\u8fc7   set _ autopilot ( )   \u7ed9\u4e88 \u63a7\u5236   for   vehicle   in   vehicles :   vehicle . set _ autopilot ( True )   #   Randomly   set   the   probability   that   a   vehicle   will   ignore   traffic   lights   traffic _ manager . ignore _ lights _ percentage ( vehicle ,   random . randint ( 0 , 50 ) )   \u4f7f\u7528   PyGame   \u6e32\u67d3 \u76f8\u673a \u8f93\u51fa \u5e76 \u63a7\u5236 \u8f66\u8f86   \u73b0\u5728 \u6211\u4eec \u6709 \u4e00\u4e2a \u4ea4\u901a \u62e5\u6324 \u7684 \u57ce\u5e02 \uff0c \u6211\u4eec \u53ef\u4ee5 \u8bbe\u7f6e \u4e00\u4e2a \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u6765 \u8ddf\u8e2a \u5176\u4e2d \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \uff0c \u5e76 \u8bbe\u7f6e \u4e00\u4e2a \u63a7\u5236 \u754c\u9762 \u6765 \u901a\u8fc7 \u952e\u76d8 \u8f93\u5165 \u952e\u76d8\u8f93\u5165 \u63a5\u7ba1 \u5b83 \u3002   \u9996\u5148 \uff0c \u6211\u4eec \u9700\u8981 \u4e3a   camera . listen ( ... )   \u5b9a\u4e49 \u4e00\u4e2a \u56de\u8c03 \u51fd\u6570 \uff0c \u7528\u4e8e \u5c06 \u50cf\u7d20 \u6570\u636e \u6e32\u67d3 \u5230   PyGame   \u63a5\u53e3 \u3002 PyGame   \u5c06 \u6570\u636e \u6e32\u67d3 \u5230 \u8868\u9762 \uff0c \u7136\u540e \u6e32\u67d3 \u5230 \u5c4f\u5e55 \uff0c \u56e0\u6b64 \u5728 \u56de\u8c03 \u4e2d \uff0c \u6211\u4eec \u586b\u5145 \u5b58\u50a8 \u5728 \u4f20\u9012 \u7ed9 \u56de\u8c03 \u51fd\u6570 \u7684 \u5bf9\u8c61 \u4e2d \u7684 \u8868\u9762 \u3002   #   \u6e32\u67d3 \u5bf9\u8c61 \u4ee5 \u4fdd\u6301 \u5e76 \u4f20\u9012   PyGame   \u8868\u9762   class   RenderObject ( object ) :   def   __ init __ ( self ,   width ,   height ) :   init _ image   =   np . random . randint ( 0 , 255 , ( height , width , 3 ) , dtype = ' uint8 ' )   #   \u521b\u5efa \u4e0e \u9635\u5217 \u4e0a \u7684 \u6570\u636e \u548c \u683c\u5f0f \u6700 \u76f8\u4f3c \u7684 \u65b0 \u66f2\u9762   self . surface   =   pygame . surfarray . make _ surface ( init _ image . swapaxes ( 0 , 1 ) )   #   \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u56de\u8c03 \uff0c \u5c06 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u7684 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u91cd\u5851 \u4e3a \u4e8c\u7ef4   RGB \uff0c \u5e76 \u5e94\u7528 \u4e8e   PyGame \u66f2\u9762   def   pygame _ callback ( data ,   obj ) :   img   =   np . reshape ( np . copy ( data . raw _ data ) ,   ( data . height ,   data . width ,   4 ) )   img   =   img [ : , : , : 3 ]   img   =   img [ : ,   : ,   : : - 1 ]   obj . surface   =   pygame . surfarray . make _ surface ( img . swapaxes ( 0 , 1 ) )   \u73b0\u5728 \u6211\u4eec \u5c06 \u521b\u5efa \u4e00\u4e2a \u5bf9\u8c61 \u6765 \u5904\u7406 \u63a7\u5236 \u903b\u8f91 \u3002 \u8fd9 \u901a\u5e38 \u9700\u8981 \u8fdb\u884c \u4e00\u4e9b \u8c03\u6574 \u624d\u80fd \u6ee1\u8db3 \u7279\u5b9a \u9700\u6c42 \uff0c \u4f46 \u8fd9 \u6982\u8ff0 \u4e86 \u4e00\u4e2a \u57fa\u672c \u754c\u9762 \u3002 \u5f53 \u63a7\u5236 \u8f66\u8f86 \u65f6 \uff0c \u8be5 \u63a7\u5236 \u754c\u9762 \u5141\u8bb8 \u901a\u8fc7 \u4efb\u4f55 \u6807\u51c6 \u952e\u76d8 \u4e0a \u7684 \u7bad\u5934 \u7bad\u5934\u952e \u8fdb\u884c \u63a7\u5236 \u3002 \u5411\u524d \u7bad\u5934 \u52a0\u901f \uff0c \u5411 \u540e \u7bad\u5934 \u5236\u52a8 \uff0c \u5de6\u53f3 \u7bad\u5934 \u8f6c\u52a8 \u8f66\u8f86 \u3002 \u5982\u679c \u5728 \u8f66\u8f86 \u9759\u6b62 \u6216 \u505c\u6b62 \u65f6 \u6309\u4f4f \u5411\u4e0b \u7bad\u5934 \uff0c \u5b83 \u5c06 \u63a5\u5408 \u5012 \u6863 \u5e76 \u5f00\u59cb \u5411 \u540e \u79fb\u52a8 \u3002   #   Control   object   to   manage   vehicle   controls   class   ControlObject ( object ) :   def   __ init __ ( self ,   veh ) :   #   Conrol   parameters   to   store   the   control   state   self ._ vehicle   =   veh   self ._ steer   =   0   self ._ throttle   =   False   self ._ brake   =   False   self ._ steer   =   None   self ._ steer _ cache   =   0   #   A   carla . VehicleControl   object   is   needed   to   alter   the   #   vehicle ' s   control   state   self ._ control   =   carla . VehicleControl ( )   #   Check   for   key   press   events   in   the   PyGame   window   #   and   define   the   control   state   def   parse _ control ( self ,   event ) :   if   event . type   = =   pygame . KEYDOWN :   if   event . key   = =   pygame . K _ RETURN :   self ._ vehicle . set _ autopilot ( False )   if   event . key   = =   pygame . K _ UP :   self ._ throttle   =   True   if   event . key   = =   pygame . K _ DOWN :   self ._ brake   =   True   if   event . key   = =   pygame . K _ RIGHT :   self ._ steer   =   1   if   event . key   = =   pygame . K _ LEFT :   self ._ steer   =   - 1   if   event . type   = =   pygame . KEYUP :   if   event . key   = =   pygame . K _ UP :   self ._ throttle   =   False   if   event . key   = =   pygame . K _ DOWN :   self ._ brake   =   False   self ._ control . reverse   =   False   if   event . key   = =   pygame . K _ RIGHT :   self ._ steer   =   None   if   event . key   = =   pygame . K _ LEFT :   self ._ steer   =   None   #   \u5904\u7406 \u5f53\u524d \u63a7\u5236 \u72b6\u6001 \uff0c \u66f4\u6539 \u63a7\u5236 \u53c2\u6570 \u63a7\u5236\u53c2\u6570   #   if   the   key   remains   pressed   def   process _ control ( self ) :   if   self ._ throttle :   self ._ control . throttle   =   min ( self ._ control . throttle   +   0.01 ,   1 )   self ._ control . gear   =   1   self ._ control . brake   =   False   elif   not   self ._ brake :   self ._ control . throttle   =   0.0   if   self ._ brake :   #   If   the   down   arrow   is   held   down   when   the   car   is   stationary ,   switch   to   reverse   if   self ._ vehicle . get _ velocity ( ) . length ( )   <   0.01   and   not   self ._ control . reverse :   self ._ control . brake   =   0.0   self ._ control . gear   =   1   self ._ control . reverse   =   True   self ._ control . throttle   =   min ( self ._ control . throttle   +   0.1 ,   1 )   elif   self ._ control . reverse :   self ._ control . throttle   =   min ( self ._ control . throttle   +   0.1 ,   1 )   else :   self ._ control . throttle   =   0.0   self ._ control . brake   =   min ( self ._ control . brake   +   0.3 ,   1 )   else :   self ._ control . brake   =   0.0   if   self ._ steer   is   not   None :   if   self ._ steer   = =   1 :   self ._ steer _ cache   + =   0.03   if   self ._ steer   = =   - 1 :   self ._ steer _ cache   - =   0.03   min ( 0.7 ,   max ( - 0.7 ,   self ._ steer _ cache ) )   self ._ control . steer   =   round ( self ._ steer _ cache , 1 )   else :   if   self ._ steer _ cache   >   0.0 :   self ._ steer _ cache   * =   0.2   if   self ._ steer _ cache   <   0.0 :   self ._ steer _ cache   * =   0.2   if   0.01   >   self ._ steer _ cache   >   - 0.01 :   self ._ steer _ cache   =   0.0   self ._ control . steer   =   round ( self ._ steer _ cache , 1 )   #   \u00c1 pply   the   control   parameters   to   the   ego   vehicle   self ._ vehicle . apply _ control ( self ._ control )   \u73b0\u5728 \u6211\u4eec \u5c06 \u521d\u59cb \u521d\u59cb\u5316 \u8f66\u8f86 \u548c \u76f8\u673a \u3002   #   Randomly   select   a   vehicle   to   follow   with   the   camera   ego _ vehicle   =   random . choice ( vehicles )   #   Initialise   the   camera   floating   behind   the   vehicle   camera _ init _ trans   =   carla . Transform ( carla . Location ( x = - 5 ,   z = 3 ) ,   carla . Rotation ( pitch = - 20 ) )   camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   camera   =   world . spawn _ actor ( camera _ bp ,   camera _ init _ trans ,   attach _ to = ego _ vehicle )   #   Start   camera   with   PyGame   callback   camera . listen ( lambda   image :   pygame _ callback ( image ,   renderObject ) )   #   Get   camera   dimensions   image _ w   =   camera _ bp . get _ attribute ( \" image _ size _ x \" ) . as _ int ( )   image _ h   =   camera _ bp . get _ attribute ( \" image _ size _ y \" ) . as _ int ( )   #   Instantiate   objects   for   rendering   and   vehicle   control   renderObject   =   RenderObject ( image _ w ,   image _ h )   controlObject   =   ControlObject ( ego _ vehicle )   \u521d\u59cb \u521d\u59cb\u5316   PyGame   \u63a5\u53e3 \u3002 \u8fd9 \u5c06 \u8c03\u7528   PyGame   \u7684 \u7a97\u53e3 \u65b0\u7a97\u53e3 \u3002   #   Initialise   the   display   pygame . init ( )   gameDisplay   =   pygame . display . set _ mode ( ( image _ w , image _ h ) ,   pygame . HWSURFACE   |   pygame . DOUBLEBUF )   #   Draw   black   to   the   display   gameDisplay . fill ( ( 0 , 0 , 0 ) )   gameDisplay . blit ( renderObject . surface ,   ( 0 , 0 ) )   pygame . display . flip ( )   \u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u5f00\u59cb \u6e38\u620f \u5faa\u73af \u4e86 \u3002 \u8be5 \u89c6\u56fe \u53ef\u4ee5 \u5728 \u5730\u56fe \u4e2d \u7684 \u4e0d\u540c \u8f66\u8f86 \u4e4b\u95f4 \u968f\u673a \u5faa\u73af \uff0c \u5e76 \u5728 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u4e0b \u53ef\u89c6 \u53ef\u89c6\u5316 \u5b83\u4eec \u5728 \u4ea4\u901a \u4e2d \u7684 \u65c5\u7a0b \u3002 \u6309   TAB   \u952e \u5207\u6362 \u5230 \u968f\u673a \u9009\u62e9 \u7684 \u65b0 \u8f66\u8f86 \uff0c \u6309 \u56de\u8f66 \u56de\u8f66\u952e \u53ef\u4ee5 \u901a\u8fc7 \u952e\u76d8 \u4e0a \u7684 \u7bad\u5934 \u7bad\u5934\u952e \u624b\u52a8 \u63a7\u5236 \u8f66\u8f86 \u3002 \u4f8b\u5982 \uff0c \u5982\u679c \u9700\u8981 \u6311\u6218 \u9a7e\u9a76 \u884c\u4e3a \u4e0d \u7a33\u5b9a \u7684 \u4ee3\u7406 \uff0c \u8fd9\u79cd \u8bbe\u7f6e \u53ef\u80fd \u4f1a \u5f88 \u6709\u7528 \u3002 \u53ef\u4ee5 \u8c03\u6574 \u9009\u62e9 \u903b\u8f91 \u4ee5 \u9009\u62e9 \u4e0e \u4ee3\u7406 \u9a7e\u9a76 \u7684 \u8f66\u8f86 \u63a5\u8fd1 \u7684 \u8f66\u8f86 \u3002   #   Game   loop   crashed   =   False   while   not   crashed :   #   Advance   the   simulation   time   world . tick ( )   #   Update   the   display   gameDisplay . blit ( renderObject . surface ,   ( 0 , 0 ) )   pygame . display . flip ( )   #   Process   the   current   control   state   controlObject . process _ control ( )   #   Collect   key   press   events   for   event   in   pygame . event . get ( ) :   #   If   the   window   is   closed ,   break   the   while   loop   if   event . type   = =   pygame . QUIT :   crashed   =   True   #   Parse   effect   of   key   press   event   on   control   state   controlObject . parse _ control ( event )   if   event . type   = =   pygame . KEYUP :   #   TAB   key   switches   vehicle   if   event . key   = =   pygame . K _ TAB :   ego _ vehicle . set _ autopilot ( True )   ego _ vehicle   =   random . choice ( vehicles )   #   Ensure   vehicle   is   still   alive   ( might   have   been   destroyed )   if   ego _ vehicle . is _ alive :   #   Stop   and   remove   the   camera   camera . stop ( )   camera . destroy ( )   #   Spawn   new   camera   and   attach   to   new   vehicle   controlObject   =   ControlObject ( ego _ vehicle )   camera   =   world . spawn _ actor ( camera _ bp ,   camera _ init _ trans ,   attach _ to = ego _ vehicle )   camera . listen ( lambda   image :   pygame _ callback ( image ,   renderObject ) )   #   Update   PyGame   window   gameDisplay . fill ( ( 0 , 0 , 0 ) )   gameDisplay . blit ( renderObject . surface ,   ( 0 , 0 ) )   pygame . display . flip ( )   #   Stop   camera   and   quit   PyGame   after   exiting   game   loop   camera . stop ( )   pygame . quit ( )","title":"Pygame   \u7528\u4e8e \u8f66\u8f86 \u63a7\u5236"},{"location":"tuto_G_pygame/#pygame","text":"PyGame   \u662f \u4e00\u7ec4 \u5e73\u53f0 \u8de8\u5e73\u53f0 \u7684   Python   \u6a21\u5757 \uff0c \u53ef \u7528\u4e8e \u7f16\u5199 \u89c6\u9891 \u6e38\u620f \u3002 \u5b83 \u63d0\u4f9b \u4e86 \u4e00\u79cd \u6e32\u67d3   Carla   \u5b9e\u65f6 \u89c6\u89c9 \u8f93\u51fa \u7684 \u6709\u7528 \u65b9\u6cd5 \uff0c \u4ee5\u4fbf \u76d1\u89c6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa \uff0c \u4f8b\u5982 \u6444\u50cf \u6444\u50cf\u673a \u3002 PyGame   \u8fd8 \u53ef\u4ee5 \u6355\u83b7 \u952e\u76d8 \u4e8b\u4ef6 \uff0c \u56e0\u6b64 \u5b83 \u662f \u63a7\u5236 \u8f66\u8f86 \u7b49 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u597d \u65b9\u6cd5 \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u5b66\u4e60 \u5982\u4f55 \u8bbe\u7f6e \u4e00\u4e2a \u7b80\u5355 \u7684   PyGame   \u754c\u9762 \uff0c \u8be5 \u754c\u9762 \u4f7f \u6211\u4eec \u80fd\u591f \u76d1\u63a7 \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u5730\u56fe \u5468\u56f4 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u4ea4\u901a \uff0c \u7136\u540e \u4f7f\u7528 \u952e\u76d8 \u624b\u52a8 \u63a7\u5236 \u4efb\u4f55 \u8f66\u8f86 \u3002","title":"Pygame   \u7528\u4e8e \u8f66\u8f86 \u63a7\u5236"},{"location":"tuto_G_pygame/#_1","text":"\u9996\u5148 \uff0c \u6211\u4eec \u5c06 \u521d\u59cb \u521d\u59cb\u5316 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5e76 \u521b\u5efa \u4e00\u4e9b \u968f\u673a \u5206\u5e03 \u5728 \u57ce\u5e02 \u5468\u56f4 \u7684 \u6d41\u91cf \u3002   import   carla   import   random   import   pygame   import   numpy   as   np   #   \u8fde\u63a5 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e76 \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \u6a21\u62df \u6a21\u62df\u5668   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   Enables   synchronous   mode   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   traffic _ manager   =   client . get _ trafficmanager ( )   traffic _ manager . set _ synchronous _ mode ( True )   #   \u5982\u679c \u6709 \u590d\u73b0 \u7684 \u5fc5\u8981 \uff0c \u53ef\u4ee5 \u8bbe\u7f6e \u968f\u673a \u79cd\u5b50   traffic _ manager . set _ random _ device _ seed ( 0 )   random . seed ( 0 )   #   \u6211\u4eec \u4e5f \u4f1a \u542f\u52a8 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4ee5\u4fbf \u80fd \u770b\u5230 \u6211\u4eec \u6240 \u505a \u7684   spectator   =   world . get _ spectator ( )","title":"\u8bbe\u7f6e \u4eff\u771f\u5668 \u5e76 \u521d\u59cb\u5316 \u4ea4\u901a\u7ba1\u7406 \u5668"},{"location":"tuto_G_pygame/#_2","text":"\u6211\u4eec \u60f3\u8981 \u521b\u5efa \u4e00\u4e2a \u5728 \u6574\u4e2a \u57ce\u5e02 \u4e2d \u4ea7\u751f \u7684 \u8f66\u8f86 \u96c6\u5408 \uff0c \u5e76 \u8ba9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u5b83\u4eec \u3002   #   \u83b7\u53d6 \u5730\u56fe \u7684 \u751f\u6210 \u70b9   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   #   \u4ece \u84dd \u56fe\u5e93 \u4e2d \u9009\u62e9 \u4e00\u4e9b \u6a21\u578b   models   =   [ ' dodge ' ,   ' audi ' ,   ' model3 ' ,   ' mini ' ,   ' mustang ' ,   ' lincoln ' ,   ' prius ' ,   ' nissan ' ,   ' crown ' ,   ' impala ' ]   blueprints   =   [ ]   for   vehicle   in   world . get _ blueprint _ library ( ) . filter ( ' * vehicle * ' ) :   if   any ( model   in   vehicle . id   for   model   in   models ) :   blueprints . append ( vehicle )   #   \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u6700\u5927 \u6570\u76ee \uff0c \u5e76 \u51c6\u5907 \u6211\u4eec \u751f\u6210 \u7684 \u5217\u8868   max _ vehicles   =   50   max _ vehicles   =   min ( [ max _ vehicles ,   len ( spawn _ points ) ] )   vehicles   =   [ ]   #   \u968f\u673a \u9009\u53d6 \u751f\u6210 \u70b9 \u7684 \u6837\u672c \u5e76 \u751f\u6210 \u8f66\u8f86   for   i ,   spawn _ point   in   enumerate ( random . sample ( spawn _ points ,   max _ vehicles ) ) :   temp   =   world . try _ spawn _ actor ( random . choice ( blueprints ) ,   spawn _ point )   if   temp   is   not   None :   vehicles . append ( temp )   #   \u89e3\u6790 \u751f\u6210 \u8f66\u8f86 \u7684 \u5217\u8868 \uff0c \u5e76 \u901a\u8fc7   set _ autopilot ( )   \u7ed9\u4e88 \u63a7\u5236   for   vehicle   in   vehicles :   vehicle . set _ autopilot ( True )   #   Randomly   set   the   probability   that   a   vehicle   will   ignore   traffic   lights   traffic _ manager . ignore _ lights _ percentage ( vehicle ,   random . randint ( 0 , 50 ) )","title":"\u751f\u6210 \u8f66\u8f86"},{"location":"tuto_G_pygame/#pygame_1","text":"\u73b0\u5728 \u6211\u4eec \u6709 \u4e00\u4e2a \u4ea4\u901a \u62e5\u6324 \u7684 \u57ce\u5e02 \uff0c \u6211\u4eec \u53ef\u4ee5 \u8bbe\u7f6e \u4e00\u4e2a \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u6765 \u8ddf\u8e2a \u5176\u4e2d \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \uff0c \u5e76 \u8bbe\u7f6e \u4e00\u4e2a \u63a7\u5236 \u754c\u9762 \u6765 \u901a\u8fc7 \u952e\u76d8 \u8f93\u5165 \u952e\u76d8\u8f93\u5165 \u63a5\u7ba1 \u5b83 \u3002   \u9996\u5148 \uff0c \u6211\u4eec \u9700\u8981 \u4e3a   camera . listen ( ... )   \u5b9a\u4e49 \u4e00\u4e2a \u56de\u8c03 \u51fd\u6570 \uff0c \u7528\u4e8e \u5c06 \u50cf\u7d20 \u6570\u636e \u6e32\u67d3 \u5230   PyGame   \u63a5\u53e3 \u3002 PyGame   \u5c06 \u6570\u636e \u6e32\u67d3 \u5230 \u8868\u9762 \uff0c \u7136\u540e \u6e32\u67d3 \u5230 \u5c4f\u5e55 \uff0c \u56e0\u6b64 \u5728 \u56de\u8c03 \u4e2d \uff0c \u6211\u4eec \u586b\u5145 \u5b58\u50a8 \u5728 \u4f20\u9012 \u7ed9 \u56de\u8c03 \u51fd\u6570 \u7684 \u5bf9\u8c61 \u4e2d \u7684 \u8868\u9762 \u3002   #   \u6e32\u67d3 \u5bf9\u8c61 \u4ee5 \u4fdd\u6301 \u5e76 \u4f20\u9012   PyGame   \u8868\u9762   class   RenderObject ( object ) :   def   __ init __ ( self ,   width ,   height ) :   init _ image   =   np . random . randint ( 0 , 255 , ( height , width , 3 ) , dtype = ' uint8 ' )   #   \u521b\u5efa \u4e0e \u9635\u5217 \u4e0a \u7684 \u6570\u636e \u548c \u683c\u5f0f \u6700 \u76f8\u4f3c \u7684 \u65b0 \u66f2\u9762   self . surface   =   pygame . surfarray . make _ surface ( init _ image . swapaxes ( 0 , 1 ) )   #   \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u56de\u8c03 \uff0c \u5c06 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u7684 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u91cd\u5851 \u4e3a \u4e8c\u7ef4   RGB \uff0c \u5e76 \u5e94\u7528 \u4e8e   PyGame \u66f2\u9762   def   pygame _ callback ( data ,   obj ) :   img   =   np . reshape ( np . copy ( data . raw _ data ) ,   ( data . height ,   data . width ,   4 ) )   img   =   img [ : , : , : 3 ]   img   =   img [ : ,   : ,   : : - 1 ]   obj . surface   =   pygame . surfarray . make _ surface ( img . swapaxes ( 0 , 1 ) )   \u73b0\u5728 \u6211\u4eec \u5c06 \u521b\u5efa \u4e00\u4e2a \u5bf9\u8c61 \u6765 \u5904\u7406 \u63a7\u5236 \u903b\u8f91 \u3002 \u8fd9 \u901a\u5e38 \u9700\u8981 \u8fdb\u884c \u4e00\u4e9b \u8c03\u6574 \u624d\u80fd \u6ee1\u8db3 \u7279\u5b9a \u9700\u6c42 \uff0c \u4f46 \u8fd9 \u6982\u8ff0 \u4e86 \u4e00\u4e2a \u57fa\u672c \u754c\u9762 \u3002 \u5f53 \u63a7\u5236 \u8f66\u8f86 \u65f6 \uff0c \u8be5 \u63a7\u5236 \u754c\u9762 \u5141\u8bb8 \u901a\u8fc7 \u4efb\u4f55 \u6807\u51c6 \u952e\u76d8 \u4e0a \u7684 \u7bad\u5934 \u7bad\u5934\u952e \u8fdb\u884c \u63a7\u5236 \u3002 \u5411\u524d \u7bad\u5934 \u52a0\u901f \uff0c \u5411 \u540e \u7bad\u5934 \u5236\u52a8 \uff0c \u5de6\u53f3 \u7bad\u5934 \u8f6c\u52a8 \u8f66\u8f86 \u3002 \u5982\u679c \u5728 \u8f66\u8f86 \u9759\u6b62 \u6216 \u505c\u6b62 \u65f6 \u6309\u4f4f \u5411\u4e0b \u7bad\u5934 \uff0c \u5b83 \u5c06 \u63a5\u5408 \u5012 \u6863 \u5e76 \u5f00\u59cb \u5411 \u540e \u79fb\u52a8 \u3002   #   Control   object   to   manage   vehicle   controls   class   ControlObject ( object ) :   def   __ init __ ( self ,   veh ) :   #   Conrol   parameters   to   store   the   control   state   self ._ vehicle   =   veh   self ._ steer   =   0   self ._ throttle   =   False   self ._ brake   =   False   self ._ steer   =   None   self ._ steer _ cache   =   0   #   A   carla . VehicleControl   object   is   needed   to   alter   the   #   vehicle ' s   control   state   self ._ control   =   carla . VehicleControl ( )   #   Check   for   key   press   events   in   the   PyGame   window   #   and   define   the   control   state   def   parse _ control ( self ,   event ) :   if   event . type   = =   pygame . KEYDOWN :   if   event . key   = =   pygame . K _ RETURN :   self ._ vehicle . set _ autopilot ( False )   if   event . key   = =   pygame . K _ UP :   self ._ throttle   =   True   if   event . key   = =   pygame . K _ DOWN :   self ._ brake   =   True   if   event . key   = =   pygame . K _ RIGHT :   self ._ steer   =   1   if   event . key   = =   pygame . K _ LEFT :   self ._ steer   =   - 1   if   event . type   = =   pygame . KEYUP :   if   event . key   = =   pygame . K _ UP :   self ._ throttle   =   False   if   event . key   = =   pygame . K _ DOWN :   self ._ brake   =   False   self ._ control . reverse   =   False   if   event . key   = =   pygame . K _ RIGHT :   self ._ steer   =   None   if   event . key   = =   pygame . K _ LEFT :   self ._ steer   =   None   #   \u5904\u7406 \u5f53\u524d \u63a7\u5236 \u72b6\u6001 \uff0c \u66f4\u6539 \u63a7\u5236 \u53c2\u6570 \u63a7\u5236\u53c2\u6570   #   if   the   key   remains   pressed   def   process _ control ( self ) :   if   self ._ throttle :   self ._ control . throttle   =   min ( self ._ control . throttle   +   0.01 ,   1 )   self ._ control . gear   =   1   self ._ control . brake   =   False   elif   not   self ._ brake :   self ._ control . throttle   =   0.0   if   self ._ brake :   #   If   the   down   arrow   is   held   down   when   the   car   is   stationary ,   switch   to   reverse   if   self ._ vehicle . get _ velocity ( ) . length ( )   <   0.01   and   not   self ._ control . reverse :   self ._ control . brake   =   0.0   self ._ control . gear   =   1   self ._ control . reverse   =   True   self ._ control . throttle   =   min ( self ._ control . throttle   +   0.1 ,   1 )   elif   self ._ control . reverse :   self ._ control . throttle   =   min ( self ._ control . throttle   +   0.1 ,   1 )   else :   self ._ control . throttle   =   0.0   self ._ control . brake   =   min ( self ._ control . brake   +   0.3 ,   1 )   else :   self ._ control . brake   =   0.0   if   self ._ steer   is   not   None :   if   self ._ steer   = =   1 :   self ._ steer _ cache   + =   0.03   if   self ._ steer   = =   - 1 :   self ._ steer _ cache   - =   0.03   min ( 0.7 ,   max ( - 0.7 ,   self ._ steer _ cache ) )   self ._ control . steer   =   round ( self ._ steer _ cache , 1 )   else :   if   self ._ steer _ cache   >   0.0 :   self ._ steer _ cache   * =   0.2   if   self ._ steer _ cache   <   0.0 :   self ._ steer _ cache   * =   0.2   if   0.01   >   self ._ steer _ cache   >   - 0.01 :   self ._ steer _ cache   =   0.0   self ._ control . steer   =   round ( self ._ steer _ cache , 1 )   #   \u00c1 pply   the   control   parameters   to   the   ego   vehicle   self ._ vehicle . apply _ control ( self ._ control )   \u73b0\u5728 \u6211\u4eec \u5c06 \u521d\u59cb \u521d\u59cb\u5316 \u8f66\u8f86 \u548c \u76f8\u673a \u3002   #   Randomly   select   a   vehicle   to   follow   with   the   camera   ego _ vehicle   =   random . choice ( vehicles )   #   Initialise   the   camera   floating   behind   the   vehicle   camera _ init _ trans   =   carla . Transform ( carla . Location ( x = - 5 ,   z = 3 ) ,   carla . Rotation ( pitch = - 20 ) )   camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   camera   =   world . spawn _ actor ( camera _ bp ,   camera _ init _ trans ,   attach _ to = ego _ vehicle )   #   Start   camera   with   PyGame   callback   camera . listen ( lambda   image :   pygame _ callback ( image ,   renderObject ) )   #   Get   camera   dimensions   image _ w   =   camera _ bp . get _ attribute ( \" image _ size _ x \" ) . as _ int ( )   image _ h   =   camera _ bp . get _ attribute ( \" image _ size _ y \" ) . as _ int ( )   #   Instantiate   objects   for   rendering   and   vehicle   control   renderObject   =   RenderObject ( image _ w ,   image _ h )   controlObject   =   ControlObject ( ego _ vehicle )   \u521d\u59cb \u521d\u59cb\u5316   PyGame   \u63a5\u53e3 \u3002 \u8fd9 \u5c06 \u8c03\u7528   PyGame   \u7684 \u7a97\u53e3 \u65b0\u7a97\u53e3 \u3002   #   Initialise   the   display   pygame . init ( )   gameDisplay   =   pygame . display . set _ mode ( ( image _ w , image _ h ) ,   pygame . HWSURFACE   |   pygame . DOUBLEBUF )   #   Draw   black   to   the   display   gameDisplay . fill ( ( 0 , 0 , 0 ) )   gameDisplay . blit ( renderObject . surface ,   ( 0 , 0 ) )   pygame . display . flip ( )   \u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u5f00\u59cb \u6e38\u620f \u5faa\u73af \u4e86 \u3002 \u8be5 \u89c6\u56fe \u53ef\u4ee5 \u5728 \u5730\u56fe \u4e2d \u7684 \u4e0d\u540c \u8f66\u8f86 \u4e4b\u95f4 \u968f\u673a \u5faa\u73af \uff0c \u5e76 \u5728 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u4e0b \u53ef\u89c6 \u53ef\u89c6\u5316 \u5b83\u4eec \u5728 \u4ea4\u901a \u4e2d \u7684 \u65c5\u7a0b \u3002 \u6309   TAB   \u952e \u5207\u6362 \u5230 \u968f\u673a \u9009\u62e9 \u7684 \u65b0 \u8f66\u8f86 \uff0c \u6309 \u56de\u8f66 \u56de\u8f66\u952e \u53ef\u4ee5 \u901a\u8fc7 \u952e\u76d8 \u4e0a \u7684 \u7bad\u5934 \u7bad\u5934\u952e \u624b\u52a8 \u63a7\u5236 \u8f66\u8f86 \u3002 \u4f8b\u5982 \uff0c \u5982\u679c \u9700\u8981 \u6311\u6218 \u9a7e\u9a76 \u884c\u4e3a \u4e0d \u7a33\u5b9a \u7684 \u4ee3\u7406 \uff0c \u8fd9\u79cd \u8bbe\u7f6e \u53ef\u80fd \u4f1a \u5f88 \u6709\u7528 \u3002 \u53ef\u4ee5 \u8c03\u6574 \u9009\u62e9 \u903b\u8f91 \u4ee5 \u9009\u62e9 \u4e0e \u4ee3\u7406 \u9a7e\u9a76 \u7684 \u8f66\u8f86 \u63a5\u8fd1 \u7684 \u8f66\u8f86 \u3002   #   Game   loop   crashed   =   False   while   not   crashed :   #   Advance   the   simulation   time   world . tick ( )   #   Update   the   display   gameDisplay . blit ( renderObject . surface ,   ( 0 , 0 ) )   pygame . display . flip ( )   #   Process   the   current   control   state   controlObject . process _ control ( )   #   Collect   key   press   events   for   event   in   pygame . event . get ( ) :   #   If   the   window   is   closed ,   break   the   while   loop   if   event . type   = =   pygame . QUIT :   crashed   =   True   #   Parse   effect   of   key   press   event   on   control   state   controlObject . parse _ control ( event )   if   event . type   = =   pygame . KEYUP :   #   TAB   key   switches   vehicle   if   event . key   = =   pygame . K _ TAB :   ego _ vehicle . set _ autopilot ( True )   ego _ vehicle   =   random . choice ( vehicles )   #   Ensure   vehicle   is   still   alive   ( might   have   been   destroyed )   if   ego _ vehicle . is _ alive :   #   Stop   and   remove   the   camera   camera . stop ( )   camera . destroy ( )   #   Spawn   new   camera   and   attach   to   new   vehicle   controlObject   =   ControlObject ( ego _ vehicle )   camera   =   world . spawn _ actor ( camera _ bp ,   camera _ init _ trans ,   attach _ to = ego _ vehicle )   camera . listen ( lambda   image :   pygame _ callback ( image ,   renderObject ) )   #   Update   PyGame   window   gameDisplay . fill ( ( 0 , 0 , 0 ) )   gameDisplay . blit ( renderObject . surface ,   ( 0 , 0 ) )   pygame . display . flip ( )   #   Stop   camera   and   quit   PyGame   after   exiting   game   loop   camera . stop ( )   pygame . quit ( )","title":"\u4f7f\u7528   PyGame   \u6e32\u67d3 \u76f8\u673a \u8f93\u51fa \u5e76 \u63a7\u5236 \u8f66\u8f86"},{"location":"tuto_G_retrieve_data/","text":"\u68c0\u7d22 \u4eff\u771f \u6570\u636e   \u5728   Carla   \u4e2d \uff0c \u5b66\u4e60 \u4e00\u79cd \u6709\u6548 \u7684 \u65b9\u6cd5 \u6765 \u68c0\u7d22 \u4eff\u771f \u6570\u636e \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002 \u8fd9\u4e2a \u6574\u4f53 \u6559\u7a0b \u9002\u5408 \u65b0\u624b \u548c \u7ecf\u9a8c \u4e30\u5bcc \u7ecf\u9a8c\u4e30\u5bcc \u7684 \u7528\u6237 \u3002 \u5b83 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \uff0c \u9010\u6e10 \u6df1\u5165 \u63a2\u8ba8 \u6df1\u5165\u63a2\u8ba8   Carla   \u4e2d \u53ef\u7528 \u7684 \u8bb8\u591a \u9009\u9879 \u3002   \u9996\u5148 \uff0c \u4f7f\u7528 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8bbe\u7f6e \u548c \u6d41\u91cf \u521d\u59cb \u521d\u59cb\u5316 \u4eff\u771f \u3002 \u4e00\u8f86 \u81ea\u6211 \u8f66\u8f86 \u5c06 \u5728 \u57ce\u5e02 \u4e2d \u6f2b\u6e38 \uff0c \u53ef\u9009 \u53ef\u9009\u5730 \u914d\u5907 \u4e00\u4e9b \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u8bb0\u5f55 \u4eff\u771f \uff0c \u4ee5\u4fbf \u4ee5\u540e \u67e5\u8be2 \u4ee5 \u627e\u5230 \u4eae\u70b9 \u3002 \u4e4b\u540e \uff0c \u539f\u59cb \u4eff\u771f \u88ab \u56de\u653e \uff0c \u5e76 \u88ab \u5229\u7528 \u5230 \u6781\u9650 \u3002 \u53ef\u4ee5 \u6dfb\u52a0 \u65b0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6765 \u68c0\u7d22 \u4e00\u81f4 \u7684 \u6570\u636e \u3002 \u5929\u6c14 \u6761\u4ef6 \u662f \u53ef\u4ee5 \u6539\u53d8 \u7684 \u3002 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u751a\u81f3 \u53ef\u4ee5 \u7528\u4e8e \u6d4b\u8bd5 \u5177\u6709 \u4e0d\u540c \u8f93\u51fa \u7684 \u7279\u5b9a \u573a\u666f \u3002   \u6982\u8ff0   \u8bbe\u7f6e \u4eff\u771f   \u5730\u56fe \u8bbe\u7f6e   \u5929\u6c14 \u8bbe\u7f6e   \u8bbe\u7f6e \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf   Carla   \u4ea4\u901a \u548c \u884c\u4eba   SUMO   \u534f\u540c \u4eff\u771f \u4ea4\u901a   \u8bbe\u7f6e \u81ea\u6211 \u8f66\u8f86   \u751f\u6210 \u81ea\u6211 \u8f66\u8f86   \u653e\u7f6e \u89c2\u5bdf \u89c2\u5bdf\u8005   \u8bbe\u7f6e \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   RGB   \u76f8\u673a   \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8bbe\u7f6e \u9ad8\u7ea7 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6df1\u5ea6 \u76f8\u673a   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u975e \u6e32\u67d3 \u6a21\u5f0f   \u5feb\u901f \u4eff\u771f   \u65e0\u9700 \u6e32\u67d3 \u7684 \u624b\u52a8 \u63a7\u5236   \u8bb0\u5f55 \u548c \u68c0\u7d22 \u6570\u636e   \u5f00\u59cb \u8bb0\u5f55   \u6355\u83b7 \u5e76 \u8bb0\u5f55   \u505c\u6b62 \u8bb0\u5f55   \u5229\u7528 \u8bb0\u5f55   \u67e5\u8be2 \u4e8b\u4ef6   \u9009\u62e9 \u4e00\u4e2a \u7247\u6bb5   \u68c0\u7d22 \u66f4 \u591a \u6570\u636e   \u6539\u53d8 \u5929\u6c14   \u5c1d\u8bd5 \u65b0 \u7684 \u7ed3\u679c   \u6559\u7a0b \u811a\u672c   \u6982\u8ff0   \u5728 \u68c0\u7d22 \u4eff\u771f \u6570\u636e \u7684 \u8fc7\u7a0b \u4e2d \u5b58\u5728 \u4e00\u4e9b \u5e38\u89c1 \u9519\u8bef \u3002 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u5145\u65a5 \u7740 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u5b58\u50a8 \u65e0\u7528 \u7684 \u6570\u636e \u6216 \u52aa\u529b \u5bfb\u627e \u7279\u5b9a \u4e8b\u4ef6 \u90fd \u662f \u4e00\u4e9b \u4f8b\u5b50 \u3002 \u7136\u800c \uff0c \u53ef\u4ee5 \u63d0\u4f9b \u8be5 \u8fc7\u7a0b \u7684 \u4e00\u4e9b \u6982\u8981 \u3002 \u76ee\u6807 \u662f \u786e\u4fdd \u6570\u636e \u53ef\u4ee5 \u68c0\u7d22 \u548c \u590d\u5236 \uff0c \u5e76\u4e14 \u53ef\u4ee5 \u968f\u610f \u68c0\u67e5 \u68c0\u67e5\u548c \u66f4\u6539 \u4eff\u771f \u3002   \u7b14\u8bb0   \u672c \u6559\u7a0b \u4f7f\u7528   Carla   0.9 . 8   deb   \u5305   \u3002 \u6839\u636e \u60a8 \u7684   Carla   \u7248\u672c \u548c \u5b89\u88c5 \uff0c \u53ef\u80fd \u4f1a \u6709 \u7ec6\u5fae \u7684 \u53d8\u5316 \uff0c \u7279\u522b \u662f \u5728 \u8def\u5f84 \u65b9\u9762 \u3002   \u672c \u6559\u7a0b \u4e3a \u4e0d\u540c \u6b65\u9aa4 \u63d0\u4f9b \u4e86 \u591a\u79cd \u9009\u9879 \u3002 \u4e00\u76f4 \u4ee5\u6765 \uff0c \u90fd \u4f1a \u63d0\u5230 \u4e0d\u540c \u7684 \u811a\u672c \u3002 \u5e76 \u4e0d\u662f \u6240\u6709 \u7684 \u90fd \u4f1a \u88ab \u4f7f\u7528 \uff0c \u8fd9 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u5177\u4f53 \u7684 \u7528\u4f8b \u3002 \u5176\u4e2d \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u5df2 \u5728   Carla   \u4e2d \u63d0\u4f9b \u7528\u4e8e \u901a\u7528 \u76ee\u7684 \u3002   config . py   \u66f4\u6539 \u4eff\u771f \u8bbe\u7f6e \u3002 \u5730\u56fe \u3001 \u6e32\u67d3 \u9009\u9879 \u3001 \u8bbe\u7f6e \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f ...   carla / PythonAPI / util / config . py   dynamic _ weather . py   \u521b\u5efa \u6709\u8da3 \u7684 \u5929\u6c14 \u6761\u4ef6 \u3002   carla / PythonAPI / examples / dynamic _ weather . py   spawn _ npc . py   spawn _ npc . py \u751f\u6210 \u4e00\u4e9b \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u7684 \u8f66\u8f86 \u548c \u884c\u4eba \u3002   carla / PythonAPI / examples / spawn _ npc . py   manual _ control . py   \u751f\u6210 \u4e00\u4e2a \u81ea\u6211 \u8f66\u8f86 \uff0c \u5e76 \u63d0\u4f9b \u5bf9 \u5176 \u7684 \u63a7\u5236 \u3002   carla / PythonAPI / examples / manual _ control . py   \u4f46\u662f \uff0c \u6559\u7a0b \u4e2d \u63d0\u5230 \u7684 \u4e24\u4e2a \u811a\u672c \u5728   Carla   \u4e2d \u627e \u4e0d\u5230 \u3002 \u5b83\u4eec \u5305\u542b \u5f15\u7528 \u7684 \u4ee3\u7801 \u7247\u6bb5 \u3002 \u8fd9\u6709 \u53cc\u91cd \u76ee\u7684 \u3002 \u9996\u5148 \uff0c \u9f13\u52b1 \u7528\u6237 \u6784\u5efa \u81ea\u5df1 \u7684 \u811a\u672c \u3002 \u5145\u5206 \u7406\u89e3 \u4ee3\u7801 \u7684 \u4f5c\u7528 \u975e\u5e38 \u91cd\u8981 \u3002 \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u672c \u6559\u7a0b \u53ea\u662f \u4e00\u4e2a \u5927\u7eb2 \uff0c \u53ef\u80fd \u800c\u4e14 \u5e94\u8be5 \u6839\u636e \u7528\u6237 \u7684 \u559c\u597d \u800c \u6709 \u5f88\u5927 \u7684 \u4e0d\u540c \u3002 \u8fd9 \u4e24\u4e2a \u811a\u672c \u53ea\u662f \u4e00\u4e2a \u793a\u4f8b \u3002   tutorial _ ego . py   \u751f\u6210 \u5e26\u6709 \u4e00\u4e9b \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u81ea\u6211 \u8f66\u8f86 \uff0c \u5e76 \u542f\u7528 \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u3002 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u88ab \u653e\u7f6e \u5728 \u751f\u6210 \u4f4d\u7f6e \u3002 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u4ece \u4e00 \u5f00\u59cb \u5c31 \u542f\u52a8 \uff0c \u5e76 \u5728 \u811a\u672c \u5b8c\u6210 \u65f6 \u505c\u6b62 \u3002   tutorial _ replay . py   \u91cd\u65b0 \u6267\u884c   tutorial _ ego . py   \u8bb0\u5f55 \u7684 \u4eff\u771f \u3002 \u6709 \u4e0d\u540c \u7684 \u4ee3\u7801 \u7247\u6bb5 \u53ef\u4ee5 \u67e5\u8be2 \u8bb0\u5f55 \u3001 \u751f\u6210 \u4e00\u4e9b \u9ad8\u7ea7 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u6539\u53d8 \u5929\u6c14 \u6761\u4ef6 \u4ee5\u53ca \u91cd\u65b0 \u6267\u884c \u8bb0\u5f55 \u8bb0\u5f55\u7247 \u6bb5 \u3002   \u5b8c\u6574 \u7684 \u4ee3\u7801 \u53ef\u4ee5 \u5728 \u6559\u7a0b \u7684 \u6700\u540e \u90e8\u5206 \u627e\u5230 \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u8fd9\u4e9b \u5e76 \u4e0d \u4e25\u683c \uff0c \u800c\u662f \u53ef\u4ee5 \u5b9a\u5236 \u7684 \u3002 \u5728   Carla   \u4e2d \u68c0\u7d22 \u6570\u636e \u7684 \u529f\u80fd \u6b63\u5982 \u7528\u6237 \u6240 \u5e0c\u671b \u7684 \u90a3\u6837 \u5f3a\u5927 \u3002   \u91cd\u8981   \u672c \u6559\u7a0b \u9700\u8981 \u4e00\u4e9b   Python   \u77e5\u8bc6 \u3002   \u8bbe\u7f6e \u4eff\u771f   \u8981 \u505a \u7684 \u7b2c\u4e00 \u4e00\u4ef6 \u7b2c\u4e00\u4ef6 \u4e8b\u662f \u5c06 \u4eff\u771f \u8bbe\u7f6e \u4e3a \u6240 \u9700 \u7684 \u73af\u5883 \u3002   \u8fd0\u884c   Carla \u3002   cd   / opt / carla / bin   . / CarlaUE . sh   \u5730\u56fe \u8bbe\u7f6e   \u9009\u62e9 \u8981 \u8fd0\u884c \u4eff\u771f \u7684 \u5730\u56fe \u3002 \u67e5\u770b   \u5730\u56fe \u6587\u6863   \u4ee5 \u4e86\u89e3 \u6709\u5173 \u5176 \u7279\u5b9a \u5c5e\u6027 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002 \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u9009\u62e9   Town07   \u3002   \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \u3002 \u4f7f\u7528   config . py   \u811a\u672c \u66f4\u6539 \u5730\u56fe \u3002   cd   / opt / carla / PythonAPI / utils   python3   config . py   -- map   Town01   \u8be5 \u811a\u672c \u53ef\u4ee5 \u542f\u7528 \u4e0d\u540c \u7684 \u8bbe\u7f6e \u3002 \u5176\u4e2d \u4e00\u4e9b \u5c06 \u5728 \u6559\u7a0b \u4e2d \u63d0\u53ca \uff0c \u53e6 \u4e00\u4e9b \u4e00\u4e9b\u5219 \u4e0d\u4f1a \u3002 \u4e0b\u9762 \u6709 \u4e00\u4e2a \u7b80\u77ed \u7684 \u603b\u7ed3 \u3002   config . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   -- host   H   IP   of   the   host   Carla   Simulator   ( default :   localhost )   - p   P ,   -- port   P   TCP   port   of   Carla   Simulator   ( default :   2000 )   - d ,   -- default   set   default   settings   - m   MAP ,   -- map   MAP   load   a   new   map ,   use   -- list   to   see   available   maps   - r ,   -- reload - map   reload   current   map   -- delta - seconds   S   set   fixed   delta   seconds ,   zero   for   variable   frame   rate   -- fps   N   set   fixed   FPS ,   zero   for   variable   FPS   ( similar   to   -- delta - seconds )   -- rendering   enable   rendering   -- no - rendering   disable   rendering   -- no - sync   disable   synchronous   mode   -- weather   WEATHER   set   weather   preset ,   use   -- list   to   see   available   presets   - i ,   -- inspect   inspect   simulation   - l ,   -- list   list   available   options   - b   FILTER ,   -- list - blueprints   FILTER   list   available   blueprints   matching   FILTER   ( use   ' * '   to   list   them   all )   - x   XODR _ FILE _ PATH ,   -- xodr - path   XODR _ FILE _ PATH   load   a   new   map   with   a   minimum   physical   road   representation   of   the   provided   OpenDRIVE   Town07   \u7684 \u7a7a\u4e2d \u89c6\u89d2   \u5929\u6c14 \u8bbe\u7f6e   \u6bcf\u4e2a \u57ce\u9547 \u90fd \u6709 \u9002\u5408 \u5b83 \u7684 \u7279\u5b9a \u5929\u6c14 \uff0c \u4f46\u662f \u53ef\u4ee5 \u968f\u610f \u8bbe\u7f6e \u3002 \u6709 \u4e24\u4e2a \u811a\u672c \u63d0\u4f9b \u4e86 \u89e3\u51b3 \u6b64 \u95ee\u9898 \u7684 \u4e0d\u540c \u65b9\u6cd5 \u3002 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8bbe\u7f6e \u4e86 \u52a8\u6001 \u5929\u6c14 \uff0c \u968f\u7740 \u65f6\u95f4 \u7684 \u63a8\u79fb \uff0c \u60c5\u51b5 \u4f1a \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002 \u53e6 \u4e00\u4e2a \u8bbe\u7f6e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14 \u6761\u4ef6 \u3002 \u8fd8 \u53ef\u4ee5 \u5bf9 \u5929\u6c14 \u6761\u4ef6 \u8fdb\u884c \u7f16\u7801 \u3002 \u7a0d\u540e   \u5929\u6c14 \u6761\u4ef6 \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316   \u65f6 \u5c06 \u5bf9\u6b64 \u8fdb\u884c \u4ecb\u7ecd \u3002   \u8bbe\u7f6e \u52a8\u6001 \u5929\u6c14   \u3002 \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \u5e76 \u8fd0\u884c   dynamic _ weather . py   \u3002 \u8be5 \u811a\u672c \u5141\u8bb8 \u8bbe\u7f6e \u5929\u6c14 \u53d8\u5316 \u7684 \u6bd4\u7387 \uff0c \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u662f   1.0   \u3002   cd   / opt / carla / PythonAPI / examples   python3   dynamic _ weather . py   -- speed   1.0   \u8bbe\u7f6e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6761\u4ef6   \u4f7f\u7528 \u811a\u672c   environment . py   \u3002 \u6709 \u5f88\u591a \u53ef\u80fd \u7684 \u8bbe\u7f6e \u3002 \u67e5\u770b \u53ef \u9009 \u53c2\u6570 \u4ee5\u53ca   carla . WeatherParameters   \u7684 \u6587\u6863 \u3002   cd   / opt / carla / PythonAPI / util   python3   environment . py   -- clouds   100   -- rain   80   -- wetness   100   -- puddles   60   -- wind   80   -- fog   50   environment . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   -- host   H   IP   of   the   host   server   ( default :   127.0 . 0.1 )   - p   P ,   -- port   P   TCP   port   to   listen   to   ( default :   2000 )   -- sun   SUN   Sun   position   presets   [ sunset   |   day   |   night ]   -- weather   WEATHER   Weather   condition   presets   [ clear   |   overcast   |   rain ]   -- altitude   A ,   - alt   A   Sun   altitude   [ - 90.0 ,   90.0 ]   -- azimuth   A ,   - azm   A   Sun   azimuth   [ 0.0 ,   360.0 ]   -- clouds   C ,   - c   C   Clouds   amount   [ 0.0 ,   100.0 ]   -- rain   R ,   - r   R   Rain   amount   [ 0.0 ,   100.0 ]   -- puddles   Pd ,   - pd   Pd   Puddles   amount   [ 0.0 ,   100.0 ]   -- wind   W ,   - w   W   Wind   intensity   [ 0.0 ,   100.0 ]   -- fog   F ,   - f   F   Fog   intensity   [ 0.0 ,   100.0 ]   -- fogdist   Fd ,   - fd   Fd   Fog   Distance   [ 0.0 ,   inf )   -- wetness   Wet ,   - wet   Wet   Wetness   intensity   [ 0.0 ,   100.0 ]   \u4f7f\u7528 \u5929\u6c14 \u6539\u53d8   \u8bbe\u7f6e \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf   \u4eff\u771f \u4ea4\u901a \u662f \u8ba9 \u5730\u56fe \u6829\u6829 \u6829\u6829\u5982\u751f \u7684 \u6700\u4f73 \u65b9\u6cd5 \u4e4b\u4e00 \u3002 \u8fd8 \u9700\u8981 \u68c0\u7d22 \u57ce\u5e02 \u73af\u5883 \u7684 \u6570\u636e \u3002 \u5728   Carla   \u4e2d\u6709 \u4e0d\u540c \u7684 \u9009\u62e9 \u53ef\u4ee5 \u5b9e\u73b0 \u8fd9 \u4e00\u70b9 \u3002   Carla   \u4ea4\u901a \u548c \u884c\u4eba   Carla   \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u7531   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u6a21\u5757 \u7ba1\u7406 \u3002 \u81f3\u4e8e \u884c\u4eba \uff0c \u4ed6\u4eec \u6bcf\u4e2a \u4eba \u90fd \u6709 \u81ea\u5df1 \u7684   carla . WalkerAIController   \u3002   \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \uff0c \u7136\u540e \u8fd0\u884c   spawn _ npc . py   \u6765 \u751f\u6210 \u8f66\u8f86 \u548c \u884c\u4eba \u3002 \u8ba9 \u6211\u4eec \u751f\u6210   50   \u8f86\u8f66 \u548c \u76f8\u540c \u6570\u91cf \u7684 \u884c\u4eba \u3002   cd   / opt / carla / PythonAPI / examples   python3   spawn _ npc . py   - n   50   - w   50   -- safe   spawn _ npc . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   -- host   H   IP   of   the   host   server   ( default :   127.0 . 0.1 )   - p   P ,   -- port   P   TCP   port   to   listen   to   ( default :   2000 )   - n   N ,   -- number - of - vehicles   N   number   of   vehicles   ( default :   10 )   - w   W ,   -- number - of - walkers   W   number   of   walkers   ( default :   50 )   -- safe   avoid   spawning   vehicles   prone   to   accidents   -- filterv   PATTERN   vehicles   filter   ( default :   \" vehicle . * \" )   -- filterw   PATTERN   pedestrians   filter   ( default :   \" walker . pedestrian . * \" )   - tm _ p   P ,   -- tm - port   P   port   to   communicate   with   TM   ( default :   8000 )   -- async   Asynchronous   mode   execution   \u751f\u6210 \u8f66\u8f86 \u4ee5 \u4eff\u771f \u4ea4\u901a \u3002   SUMO   \u534f\u540c \u4eff\u771f \u4ea4\u901a   Carla   \u53ef\u4ee5 \u4e0e   SUMO   \u8fd0\u884c \u8054\u5408 \u4eff\u771f \u3002 \u8fd9 \u5141\u8bb8 \u5728   SUMO   \u4e2d \u521b\u5efa \u5c06 \u4f20\u64ad \u5230   Carla   \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3002 \u8fd9\u79cd \u8054\u5408 \u4eff\u771f \u662f \u53cc\u5411 \u7684 \u3002 \u5728   Carla   \u4e2d \u751f\u6210 \u7684 \u8f66\u8f86 \u5c06 \u5728   SUMO   \u4e2d \u751f\u6210 \u3002 \u6709\u5173 \u6b64 \u529f\u80fd \u7684 \u5177\u4f53 \u6587\u6863 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u3002   \u6b64 \u529f\u80fd \u9002\u7528 \u4e8e   Carla   0.9 . 8   \u53ca \u66f4 \u9ad8 \u7248\u672c \u7684   Town01   \u3001   Town04   \u548c   Town05   \u3002 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u662f \u6700 \u7a33\u5b9a \u7684 \u3002   \u7b14\u8bb0   \u8054\u5408 \u4eff\u771f \u5c06 \u5728   Carla   \u4e2d \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \u3002 \u9605\u8bfb   \u6587\u6863   \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002   \u9996\u5148 \uff0c \u5b89\u88c5 SUMO \u3002   sudo   add - apt - repository   ppa : sumo / stable   sudo   apt - get   update   sudo   apt - get   install   sumo   sumo - tools   sumo - doc   \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   SUMO _ HOME \u3002   echo   \" export   SUMO _ HOME = / usr / share / sumo \"   > >   ~ / . bashrc   &&   source   ~ / . bashrc   \u5728   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6253\u5f00 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u8fd0\u884c   SUMO - Carla   \u540c\u6b65 \u811a\u672c   \u3002   cd   ~ / carla / Co - Simulation / Sumo   python3   run _ synchronization . py   examples / Town01 . sumocfg   -- sumo - gui   SUMO   \u7a97\u53e3 \u5e94\u8be5 \u5df2 \u6253\u5f00 \u3002   \u6309 \u201c \u8fd0\u884c \u201d   \u4ee5 \u5728 \u4e24\u4e2a \u4eff\u771f \u4e2d \u542f\u52a8 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3002   >   \" Play \"   on   SUMO   window .   \u8be5 \u811a\u672c \u751f\u6210 \u7684 \u6d41\u91cf \u662f   Carla   \u56e2\u961f \u521b\u5efa \u7684 \u793a\u4f8b \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83\u4f1a \u6cbf\u7740 \u76f8\u540c \u7684 \u8def\u7ebf \u751f\u6210 \u76f8\u540c \u7684 \u8f66\u8f86 \u3002 \u7528\u6237 \u53ef\u4ee5 \u5728   SUMO   \u4e2d \u66f4\u6539 \u8fd9\u4e9b \u5185\u5bb9 \u3002   SUMO   \u548c   Carla   \u534f\u540c \u4eff\u771f \u4ea4\u901a \u3002   \u8b66\u544a   \u76ee\u524d \uff0c SUMO   \u8054\u5408 \u4eff\u771f \u8fd8\u662f \u6d4b\u8bd5 \u6d4b\u8bd5\u7248 \u529f\u80fd \u3002 \u8f66\u8f86 \u6ca1\u6709 \u7269\u7406 \u7279\u6027 \uff0c \u4e5f \u4e0d \u8003\u8651   Carla   \u4ea4\u901a \u4ea4\u901a\u706f \u3002   \u8bbe\u7f6e \u81ea\u6211 \u8f66\u8f86   \u4ece \u73b0\u5728 \u5230 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u505c\u6b62 \u7684 \u4e00\u523b \u90a3\u4e00\u523b \uff0c \u5c06\u4f1a \u6709 \u4e00\u4e9b \u5c5e\u4e8e   tutorial _ ego . py   \u7684 \u4ee3\u7801 \u7247\u6bb5 \u3002 \u8be5 \u811a\u672c \u751f\u6210 \u81ea\u6211 \u8f66\u8f86 \uff0c \u53ef \u9009 \u4e00\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5e76 \u8bb0\u5f55 \u4eff\u771f \uff0c \u76f4\u5230 \u7528\u6237 \u5b8c\u6210 \u811a\u672c \u3002   \u751f\u6210 \u81ea\u6211 \u8f66\u8f86   \u7528\u6237 \u63a7\u5236 \u7684 \u8f66\u8f86 \u5728   Carla   \u4e2d \u901a\u5e38 \u901a\u8fc7 \u5c06 \u5c5e\u6027   role _ name   \u8bbe\u7f6e \u4e3a   ego   \u6765 \u533a\u5206 \u3002 \u53ef\u4ee5 \u8bbe\u7f6e \u5176\u4ed6 \u5c5e\u6027 \uff0c \u5176\u4e2d \u4e00\u4e9b \u5177\u6709 \u63a8\u8350 \u63a8\u8350\u503c \u3002   \u4e0b\u9762 \uff0c \u4ece   \u84dd \u56fe\u5e93   \u4e2d \u68c0\u7d22 \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9 \u6a21\u578b \uff0c \u5e76 \u4f7f\u7528 \u968f\u673a \u63a8\u8350 \u7684 \u989c\u8272 \u751f\u6210 \u3002 \u9009\u62e9 \u5730\u56fe \u63a8\u8350 \u7684 \u751f\u6210 \u70b9 \u4e4b\u4e00 \u6765 \u653e\u7f6e \u81ea\u6211 \u8f66\u8f86 \u3002   #   --------------   #   Spawn   ego   vehicle   #   --------------   ego _ bp   =   world . get _ blueprint _ library ( ) . find ( ' vehicle . tesla . model3 ' )   ego _ bp . set _ attribute ( ' role _ name ' , ' ego ' )   print ( ' \\ nEgo   role _ name   is   set ' )   ego _ color   =   random . choice ( ego _ bp . get _ attribute ( ' color ' ) . recommended _ values )   ego _ bp . set _ attribute ( ' color ' , ego _ color )   print ( ' \\ nEgo   color   is   set ' )   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   number _ of _ spawn _ points   =   len ( spawn _ points )   if   0   <   number _ of _ spawn _ points :   random . shuffle ( spawn _ points )   ego _ transform   =   spawn _ points [ 0 ]   ego _ vehicle   =   world . spawn _ actor ( ego _ bp , ego _ transform )   print ( ' \\ nEgo   is   spawned ' )   else :   logging . warning ( ' Could   not   found   any   spawn   points ' )   \u653e\u7f6e \u89c2\u5bdf \u89c2\u5bdf\u8005   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63a7\u5236 \u4eff\u771f \u89c6\u56fe \u3002 \u901a\u8fc7 \u811a\u672c \u79fb\u52a8 \u5b83 \u662f \u53ef\u9009 \u7684 \uff0c \u4f46 \u5b83 \u53ef\u80fd \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u627e\u5230 \u81ea\u6211 \u8f66\u8f86 \u3002   #   --------------   #   \u81ea\u6211 \u8f66\u8f86 \u4f4d\u7f6e \u7684 \u89c2\u5bdf \u89c2\u5bdf\u8005   #   --------------   spectator   =   world . get _ spectator ( )   world _ snapshot   =   world . wait _ for _ tick ( )   spectator . set _ transform ( ego _ vehicle . get _ transform ( ) )   \u8bbe\u7f6e \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u751f\u6210 \u4efb\u4f55 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8fc7\u7a0b \u90fd \u975e\u5e38 \u76f8\u4f3c \u3002   1 .   \u4f7f\u7528 \u5e93 \u67e5\u627e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u84dd\u56fe \u3002   2 .   \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7279\u5b9a \u5c5e\u6027 \u3002 \u8fd9 \u4e00\u70b9 \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002 \u5c5e\u6027 \u5c06 \u5851\u9020 \u68c0\u7d22 \u5230 \u7684 \u6570\u636e \u3002   3 .   \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fde\u63a5 \u81f3 \u81ea\u6211 \u8f66\u8f86 \u3002 \u8be5 \u53d8\u6362 \u662f \u76f8\u5bf9 \u4e8e \u5176\u7236 \u7ea7 \u7684 \u3002   carla . AttachmentType   \u5c06 \u786e\u5b9a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f4d\u7f6e \u7684 \u66f4\u65b0 \u65b9\u5f0f \u3002   4 .   \u6dfb\u52a0   listen ( )   \u65b9\u6cd5 \u3002 \u8fd9\u662f \u5173\u952e \u8981\u7d20 \u3002 \u6bcf\u6b21 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4fa6\u542c \u6570\u636e \u65f6 \u90fd \u4f1a \u8c03\u7528 \u7684   lambda   \u65b9\u6cd5 \u3002 \u53c2\u6570 \u662f \u68c0\u7d22 \u5230 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u7262\u8bb0 \u8fd9\u4e00 \u57fa\u672c \u51c6\u5219 \u57fa\u672c\u51c6\u5219 \uff0c \u8ba9 \u6211\u4eec \u4e3a \u81ea\u6211 \u8f66\u8f86 \u8bbe\u7f6e \u4e00\u4e9b \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   RGB   \u76f8\u673a   RGB   \u76f8\u673a   \u751f\u6210 \u903c\u771f \u7684 \u573a\u666f \u56fe\u7247 \u3002 \u5b83 \u662f \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u53ef \u8bbe\u7f6e \u5c5e\u6027 \u8f83 \u591a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4f46 \u5b83 \u4e5f \u662f \u4e00\u4e2a \u57fa\u672c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u5b83 \u5e94\u8be5 \u88ab \u7406\u89e3 \u4e3a \u4e00\u4e2a \u771f\u6b63 \u7684 \u76f8\u673a \uff0c \u5177\u6709 \u8bf8\u5982   focal _ distance   \u3001   shutter _ speed   \u6216   gamma   \u786e\u5b9a \u5176 \u5185\u90e8 \u5982\u4f55 \u5de5\u4f5c \u7684 \u5c5e\u6027 \u3002 \u8fd8\u6709 \u4e00\u7ec4 \u7279\u5b9a \u7684 \u5c5e\u6027 \u6765 \u5b9a\u4e49 \u955c\u5934 \u7578\u53d8 \uff0c \u4ee5\u53ca \u8bb8\u591a \u9ad8\u7ea7 \u5c5e\u6027 \u3002 \u4f8b\u5982 \uff0c   lens _ circle _ multiplier   \u53ef\u4ee5 \u7528\u6765 \u5b9e\u73b0 \u7c7b\u4f3c \u4e8e \u773c\u775b \u9c7c \u955c\u5934 \u7684 \u6548\u679c \u3002 \u5728 \u6587\u6863 \u4e2d \u4e86\u89e3 \u6709\u5173 \u5b83\u4eec \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u4e3a\u4e86 \u7b80\u5355 \u8d77 \u89c1 \uff0c \u811a\u672c \u4ec5 \u8bbe\u7f6e \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6700 \u5e38\u7528 \u7684 \u5c5e\u6027 \u3002   image _ size _ x   \u548c   image _ size _ y   \u5c06 \u6539\u53d8 \u8f93\u51fa \u56fe\u50cf \u7684 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u3002   fov   \u662f \u76f8\u673a \u7684 \u6c34\u5e73 \u89c6\u91ce \u3002   \u8bbe\u7f6e \u5c5e\u6027 \u540e \uff0c \u5c31 \u53ef\u4ee5 \u751f\u6210 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e86 \u3002 \u811a\u672c \u5c06 \u6444\u50cf \u6444\u50cf\u673a \u653e\u7f6e \u5728 \u6c7d\u8f66 \u5f15\u64ce \u5f15\u64ce\u76d6 \u4e2d \uff0c \u5e76 \u6307\u5411 \u524d\u65b9 \u3002 \u5b83 \u5c06 \u6355\u6349 \u6c7d\u8f66 \u7684 \u524d \u89c6\u56fe \u3002   \u6bcf \u4e00\u6b65 \u90fd \u4f1a \u4ee5   carla . Image   \u7684 \u5f62\u5f0f \u68c0\u7d22 \u6570\u636e \u3002 Listen   \u65b9\u6cd5 \u5c06 \u5b83\u4eec \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002 \u8def\u5f84 \u53ef\u4ee5 \u968f\u610f \u6539\u53d8 \u3002 \u6bcf\u5f20 \u56fe\u50cf \u7684 \u540d\u79f0 \u5747 \u6839\u636e \u62cd\u6444 \u955c\u5934 \u7684 \u4eff\u771f \u5e27 \u8fdb\u884c \u7f16\u7801 \u3002   #   --------------   #   Spawn   attached   RGB   camera   #   --------------   cam _ bp   =   None   cam _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   cam _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   cam _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   cam _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   cam _ location   =   carla . Location ( 2 , 0 , 1 )   cam _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   cam _ transform   =   carla . Transform ( cam _ location , cam _ rotation )   ego _ cam   =   world . spawn _ actor ( cam _ bp , cam _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   ego _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' tutorial / output / %. 6d . jpg '   %   image . frame ) )   RGB   camera   output   \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u5f53 \u5b83\u4eec \u6240 \u9644\u52a0 \u7684 \u5bf9\u8c61 \u6ce8\u518c \u7279\u5b9a \u4e8b\u4ef6 \u65f6 \uff0c \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f1a \u68c0\u7d22 \u6570\u636e \u3002 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5206\u4e3a \u4e09\u79cd \u7c7b\u578b \uff0c \u6bcf\u79cd \u90fd \u63cf\u8ff0 \u4e00\u79cd \u7c7b\u578b \u7684 \u4e8b\u4ef6 \u3002   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u3002   \u68c0\u7d22 \u5176\u7236 \u7ea7 \u4e0e \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u95f4 \u7684 \u78b0\u649e \u3002   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u3002   \u5f53 \u5176\u7236 \u7ea7 \u7a7f\u8fc7 \u8f66\u9053 \u6807\u8bb0 \u65f6 \u8fdb\u884c \u6ce8\u518c \u3002   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u3002   \u68c0\u6d4b \u5176\u7236 \u7ea7 \u524d\u65b9 \u53ef\u80fd \u5b58\u5728 \u7684 \u969c\u788d \u969c\u788d\u7269 \u3002   \u4ed6\u4eec \u68c0\u7d22 \u5230 \u7684 \u6570\u636e \u5c06 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u7a0d\u540e \u51b3\u5b9a \u8981 \u91cd\u65b0 \u6267\u884c \u4eff\u771f \u7684 \u54ea \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u4e8b\u5b9e \u4e8b\u5b9e\u4e0a \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u663e\u5f0f \u67e5\u8be2 \u51b2\u7a81 \u3002 \u8fd9\u662f \u51c6\u5907 \u6253\u5370 \u7684 \u3002   \u53ea\u6709 \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u84dd\u56fe \u6709 \u9700\u8981 \u8bbe\u7f6e \u7684 \u5c5e\u6027 \u3002 \u4ee5\u4e0b \u662f \u4e00\u4e9b \u91cd\u8981 \u7684 \u5185\u5bb9 \u3002   sensor _ tick   \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ec5 \u5728   x   \u79d2\u949f \u540e \u68c0\u7d22 \u6570\u636e \u3002 \u8fd9\u662f \u68c0\u7d22 \u6bcf \u4e00\u6b65 \u6570\u636e \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5e38\u89c1 \u5c5e\u6027 \u3002   distance   \u548c   hit - radius   \u5851\u9020 \u7528\u4e8e \u68c0\u6d4b \u524d\u65b9 \u969c\u788d \u969c\u788d\u7269 \u7684 \u8c03\u8bd5 \u7ebf \u3002   only _ dynamics   \u786e\u5b9a \u662f\u5426 \u5e94 \u8003\u8651 \u9759\u6001 \u5bf9\u8c61 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4efb\u4f55 \u5bf9\u8c61 \u90fd \u4f1a \u88ab \u8003\u8651 \u3002   \u8be5 \u811a\u672c \u5c06 \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u8bbe\u7f6e \u4e3a \u4ec5 \u8003\u8651 \u52a8\u6001 \u5bf9\u8c61 \u3002 \u5982\u679c \u8f66\u8f86 \u4e0e \u4efb\u4f55 \u9759\u6001 \u7269\u4f53 \u53d1\u751f \u78b0\u649e \uff0c \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u4f1a \u68c0\u6d4b \u5230 \u3002   #   --------------   #   Add   collision   sensor   to   ego   vehicle .   #   --------------   col _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . collision ' )   col _ location   =   carla . Location ( 0 , 0 , 0 )   col _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   col _ transform   =   carla . Transform ( col _ location , col _ rotation )   ego _ col   =   world . spawn _ actor ( col _ bp , col _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   col _ callback ( colli ) :   print ( \" Collision   detected : \\ n \" + str ( colli ) + ' \\ n ' )   ego _ col . listen ( lambda   colli :   col _ callback ( colli ) )   #   --------------   #   Add   Lane   invasion   sensor   to   ego   vehicle .   #   --------------   lane _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . lane _ invasion ' )   lane _ location   =   carla . Location ( 0 , 0 , 0 )   lane _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   lane _ transform   =   carla . Transform ( lane _ location , lane _ rotation )   ego _ lane   =   world . spawn _ actor ( lane _ bp , lane _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   lane _ callback ( lane ) :   print ( \" Lane   invasion   detected : \\ n \" + str ( lane ) + ' \\ n ' )   ego _ lane . listen ( lambda   lane :   lane _ callback ( lane ) )   #   --------------   #   Add   Obstacle   sensor   to   ego   vehicle .   #   --------------   obs _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . obstacle ' )   obs _ bp . set _ attribute ( \" only _ dynamics \" , str ( True ) )   obs _ location   =   carla . Location ( 0 , 0 , 0 )   obs _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   obs _ transform   =   carla . Transform ( obs _ location , obs _ rotation )   ego _ obs   =   world . spawn _ actor ( obs _ bp , obs _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   obs _ callback ( obs ) :   print ( \" Obstacle   detected : \\ n \" + str ( obs ) + ' \\ n ' )   ego _ obs . listen ( lambda   obs :   obs _ callback ( obs ) )   Output   for   detector   sensors   \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6682\u65f6 \u53ea \u8003\u8651 \u8be5\u7c7b \u522b\u7684 \u4e24\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u68c0\u7d22 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5730\u7406 \u4f4d\u7f6e \u5730\u7406\u4f4d\u7f6e \u3002   IMU   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u5305\u62ec \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \u3001 \u9640\u87ba \u9640\u87ba\u4eea \u548c \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \u3002   \u4e3a\u4e86 \u83b7\u5f97 \u8f66\u8f86 \u5bf9\u8c61 \u7684 \u4e00\u822c \u6d4b\u91cf \u503c \uff0c \u8fd9 \u4e24\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ee5 \u8f66\u8f86 \u5bf9\u8c61 \u4e3a \u4e2d\u5fc3 \u751f\u6210 \u3002   \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u7528 \u7684 \u5c5e\u6027 \u4e3b\u8981 \u8bbe\u7f6e \u6d4b\u91cf \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u5747\u503c \u5e73\u5747\u503c \u6216 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002 \u8fd9 \u5bf9\u4e8e \u83b7\u5f97 \u66f4 \u73b0\u5b9e \u7684 \u63aa\u65bd \u5f88 \u6709\u7528 \u3002 \u7136\u800c \uff0c \u5728   tutorial _ ego . py   \u4e2d \u53ea \u8bbe\u7f6e \u4e86 \u4e00\u4e2a \u5c5e\u6027 \u3002   sensor _ tick   .   \u7531\u4e8e \u6b64 \u6d4b\u91cf \u503c \u5728 \u6b65\u9aa4 \u4e4b\u95f4 \u4e0d \u5e94\u6709 \u663e \u7740 \u53d8\u5316 \uff0c \u56e0\u6b64 \u53ef\u4ee5 \u7ecf\u5e38 \u68c0\u7d22 \u6570\u636e \u3002 \u5728 \u672c\u4f8b \u4e2d \uff0c \u8bbe\u7f6e \u4e3a \u6bcf \u4e09\u79d2 \u6253\u5370 \u4e00\u6b21 \u3002   #   --------------   #   \u7ed9 \u81ea\u6211 \u8f66\u8f86 \u6dfb\u52a0 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   #   --------------   gnss _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . gnss ' )   gnss _ location   =   carla . Location ( 0 , 0 , 0 )   gnss _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   gnss _ transform   =   carla . Transform ( gnss _ location , gnss _ rotation )   gnss _ bp . set _ attribute ( \" sensor _ tick \" , str ( 3.0 ) )   ego _ gnss   =   world . spawn _ actor ( gnss _ bp , gnss _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   gnss _ callback ( gnss ) :   print ( \" GNSS   measure : \\ n \" + str ( gnss ) + ' \\ n ' )   ego _ gnss . listen ( lambda   gnss :   gnss _ callback ( gnss ) )   #   --------------   #   Add   IMU   sensor   to   ego   vehicle .   #   --------------   imu _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . imu ' )   imu _ location   =   carla . Location ( 0 , 0 , 0 )   imu _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   imu _ transform   =   carla . Transform ( imu _ location , imu _ rotation )   imu _ bp . set _ attribute ( \" sensor _ tick \" , str ( 3.0 ) )   ego _ imu   =   world . spawn _ actor ( imu _ bp , imu _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   imu _ callback ( imu ) :   print ( \" IMU   measure : \\ n \" + str ( imu ) + ' \\ n ' )   ego _ imu . listen ( lambda   imu :   imu _ callback ( imu ) )   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u548c \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa   \u8bbe\u7f6e \u9ad8\u7ea7 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u811a\u672c   tutorial _ replay . py   \u9664 \u5176\u4ed6 \u5916 \u8fd8 \u5305\u542b \u66f4 \u591a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5b9a\u4e49 \u3002 \u5b83\u4eec \u7684 \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u57fa\u672c \u7684 \u76f8\u540c \uff0c \u4f46 \u7406\u89e3 \u53ef\u80fd \u6709\u70b9 \u56f0\u96be \u3002   \u6df1\u5ea6 \u76f8\u673a   \u6df1\u5ea6 \u76f8\u673a   \u751f\u6210 \u573a\u666f \u7684 \u56fe\u7247 \uff0c \u5c06 \u6bcf\u4e2a \u50cf\u7d20 \u6620\u5c04 \u5230 \u7070\u5ea6 \u6df1\u5ea6 \u6df1\u5ea6\u56fe \u4e2d \u3002 \u7136\u800c \uff0c \u8f93\u51fa \u5e76 \u4e0d \u7b80\u5355 \u3002 \u76f8\u673a \u7684 \u6df1\u5ea6 \u7f13\u51b2 \u7f13\u51b2\u533a \u4f7f\u7528   RGB   \u989c\u8272 \u7a7a\u95f4 \u8fdb\u884c \u6620\u5c04 \u3002 \u5fc5\u987b \u5c06 \u5176 \u8f6c\u6362 \u4e3a \u7070\u5ea6 \u624d\u80fd \u7406\u89e3 \u3002   \u4e3a\u6b64 \uff0c \u53ea \u9700 \u5c06 \u56fe\u50cf \u4fdd\u5b58 \u4e3a   RGB   \u76f8\u673a \u7684 \u56fe\u50cf \uff0c \u4f46 \u5bf9 \u5176 \u5e94\u7528   carla . ColorConverter   \u5373\u53ef \u3002 \u6df1\u5ea6 \u76f8\u673a \u6709 \u4e24\u79cd \u53ef\u7528 \u7684 \u8f6c\u6362 \u3002   carla . ColorConverter . Depth   \u4ee5 \u6beb\u7c73 \u7ea7 \u7cbe\u5ea6 \u8f6c\u6362 \u539f\u59cb \u6df1\u5ea6 \u3002   carla . ColorConverter . LogarithmicDepth   \u4e5f \u5177\u6709 \u6beb\u7c73 \u7ea7 \u7c92\u5ea6 \uff0c \u4f46 \u5728 \u8fd1\u8ddd \u8ddd\u79bb \u8fd1\u8ddd\u79bb \u5185 \u63d0\u4f9b \u66f4\u597d \u7684 \u7ed3\u679c \uff0c \u800c \u5bf9\u4e8e \u8f83\u8fdc \u7684 \u5143\u7d20 \u5219 \u7a0d\u5dee \u4e00\u4e9b \u3002   \u6df1\u5ea6 \u76f8\u673a \u7684 \u5c5e\u6027 \u4ec5 \u8bbe\u7f6e \u4e4b\u524d \u5728   RGB   \u76f8\u673a \u4e2d \u6240\u8ff0 \u7684 \u5143\u7d20 \uff1a   fov   \u3001   image _ size _ x   \u3001   image _ size _ y   \u548c   sensor _ tick   \u3002 \u8be5 \u811a\u672c \u5c06 \u6b64 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e \u4e3a \u4e0e \u4e4b\u524d \u4f7f\u7528 \u7684   RGB   \u76f8\u673a \u5339\u914d \u76f8\u5339\u914d \u3002   #   --------------   #   Add   a   Depth   camera   to   ego   vehicle .   #   --------------   depth _ cam   =   None   depth _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . depth ' )   depth _ location   =   carla . Location ( 2 , 0 , 1 )   depth _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   depth _ transform   =   carla . Transform ( depth _ location , depth _ rotation )   depth _ cam   =   world . spawn _ actor ( depth _ bp , depth _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   #   This   time ,   a   color   converter   is   applied   to   the   image ,   to   get   the   semantic   segmentation   view   depth _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' tutorial / new _ depth _ output / %. 6d . jpg '   %   image . frame , carla . ColorConverter . LogarithmicDepth ) )   Depth   camera   output .   Simple   conversion   on   the   left ,   logarithmic   on   the   right .   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u6839\u636e \u5143\u7d20 \u7684 \u6807\u8bb0 \u65b9\u5f0f \u5c06 \u573a\u666f \u4e2d \u7684 \u5143\u7d20 \u6e32\u67d3 \u4e3a \u4e0d\u540c \u7684 \u989c\u8272 \u3002 \u6807\u7b7e \u7531 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6839\u636e \u7528\u4e8e \u751f\u6210 \u7684 \u8d44\u6e90 \u7684 \u8def\u5f84 \u521b\u5efa \u3002 \u4f8b\u5982 \uff0c \u6807\u8bb0 \u4e3a   Pedestrians   \u7684 \u7f51\u683c \u4f53\u662f \u4f7f\u7528 \u5b58\u50a8 \u5728   Unreal / CarlaUE4 / Content / Static / Pedestrians   \u4e2d \u7684 \u5185\u5bb9 \u751f\u6210 \u7684 \u3002   \u4e0e \u4efb\u4f55 \u76f8\u673a \u4e00\u6837 \uff0c \u8f93\u51fa \u662f \u56fe\u50cf \uff0c \u4f46 \u6bcf\u4e2a \u50cf\u7d20 \u90fd \u5305\u542b \u5728 \u7ea2\u8272 \u901a\u9053 \u4e2d \u7f16\u7801 \u7684 \u6807\u7b7e \u3002 \u5fc5\u987b \u4f7f\u7528   ColorConverter . CityScapesPalette   \u8f6c\u6362 \u6b64 \u539f\u59cb \u56fe\u50cf \u3002 \u53ef\u4ee5 \u521b\u5efa \u65b0 \u6807\u7b7e \uff0c \u8bf7 \u9605\u8bfb   \u6587\u6863   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u8be5 \u76f8\u673a \u53ef\u7528 \u7684 \u5c5e\u6027 \u4e0e \u6df1\u5ea6 \u76f8\u673a \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u3002 \u8be5 \u811a\u672c \u8fd8 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u4e0e \u539f\u59cb   RGB   \u76f8\u673a \u5339\u914d \u76f8\u5339\u914d \u3002   #   --------------   #   Add   a   new   semantic   segmentation   camera   to   my   ego   #   --------------   sem _ cam   =   None   sem _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . semantic _ segmentation ' )   sem _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   sem _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   sem _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   sem _ location   =   carla . Location ( 2 , 0 , 1 )   sem _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   sem _ transform   =   carla . Transform ( sem _ location , sem _ rotation )   sem _ cam   =   world . spawn _ actor ( sem _ bp , sem _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   #   This   time ,   a   color   converter   is   applied   to   the   image ,   to   get   the   semantic   segmentation   view   sem _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' tutorial / new _ sem _ output / %. 6d . jpg '   %   image . frame , carla . ColorConverter . CityScapesPalette ) )   Semantic   segmentation   camera   output   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4eff\u771f \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002 \u5b83 \u521b\u5efa \u4e86 \u4e00\u4e2a \u4ee5 \u4e09\u7ef4 \u5f62\u5f0f \u6620\u5c04 \u573a\u666f \u7684 \u70b9\u4e91 \u3002 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5305\u542b \u4e00\u7ec4 \u4ee5 \u7279\u5b9a \u9891\u7387 \u65cb\u8f6c \u7684 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u3002 \u6fc0\u5149 \u6295\u5c04 \u649e\u51fb \u8ddd\u79bb \uff0c \u5e76 \u5c06 \u6bcf\u6b21 \u5c04\u51fb \u5b58\u50a8 \u4e3a \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u3002   \u53ef\u4ee5 \u4f7f\u7528 \u4e0d\u540c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c5e\u6027 \u6765 \u8bbe\u7f6e \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u9635\u5217 \u7684 \u5e03\u7f6e \u65b9\u5f0f \u3002   upper _ fov   \u548c   lower _ fov   \u5206\u522b \u662f \u6700\u9ad8 \u548c \u6700\u4f4e \u6fc0\u5149 \u7684 \u89d2\u5ea6 \u3002   channels   \u8bbe\u7f6e \u8981 \u4f7f\u7528 \u7684 \u6fc0\u5149 \u6570\u91cf \u3002 \u8fd9\u4e9b \u6cbf\u7740 \u6240 \u9700 \u7684   fov   \u5206\u5e03 \u3002   \u5176\u4ed6 \u5c5e\u6027 \u8bbe\u7f6e \u8be5\u70b9 \u7684 \u8ba1\u7b97 \u65b9\u5f0f \u3002 \u5b83\u4eec \u786e\u5b9a \u6bcf\u4e2a \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6bcf \u4e00\u6b65 \u8ba1\u7b97 \u7684 \u70b9\u6570 \uff1a   points _ per _ second   /   ( FPS   *   channels )   .   range   \u662f \u6355\u83b7 \u7684 \u6700\u5927 \u8ddd\u79bb \u3002   points _ per _ second   \u662f \u6bcf\u79d2 \u83b7\u5f97 \u7684 \u70b9\u6570 \u3002 \u8be5 \u6570\u91cf \u9664\u4ee5   channels   \u7684 \u6570\u91cf \u3002   rotation _ frequency   \u662f \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6bcf\u79d2 \u65cb\u8f6c \u7684 \u6b21\u6570 \u3002   \u70b9\u4e91 \u8f93\u51fa \u88ab \u63cf\u8ff0 \u4e3a   [ carla . LidarMeasurement ] \u3002 \u5b83 \u53ef\u4ee5 \u4f5c\u4e3a   [ carla . Location ]   \u5217\u8868 \u8fdb\u884c \u8fed\u4ee3 \u6216 \u4fdd\u5b58 \u4e3a   . ply   \u6807\u51c6 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u3002   #   --------------   #   Add   a   new   LIDAR   sensor   to   my   ego   #   --------------   lidar _ cam   =   None   lidar _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . lidar . ray _ cast ' )   lidar _ bp . set _ attribute ( ' channels ' , str ( 32 ) )   lidar _ bp . set _ attribute ( ' points _ per _ second ' , str ( 90000 ) )   lidar _ bp . set _ attribute ( ' rotation _ frequency ' , str ( 40 ) )   lidar _ bp . set _ attribute ( ' range ' , str ( 20 ) )   lidar _ location   =   carla . Location ( 0 , 0 , 2 )   lidar _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   lidar _ transform   =   carla . Transform ( lidar _ location , lidar _ rotation )   lidar _ sen   =   world . spawn _ actor ( lidar _ bp , lidar _ transform , attach _ to = ego _ vehicle )   lidar _ sen . listen ( lambda   point _ cloud :   point _ cloud . save _ to _ disk ( ' tutorial / new _ lidar _ output / %. 6d . ply '   %   point _ cloud . frame ) )   . ply   \u8f93\u51fa \u53ef\u4ee5 \u4f7f\u7528   Meshlab   \u8fdb\u884c \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   1 .   \u5b89\u88c5   Meshlab   \u3002   sudo   apt - get   update   - y   sudo   apt - get   install   - y   meshlab   2 .   \u6253\u5f00   Meshlab   \u3002   meshlab   3 .   \u6253\u5f00 \u5176\u4e2d \u4e00\u4e2a   . ply   \u6587\u4ef6 \u3002   File   >   Import   mesh ...   \u7ecf\u8fc7 Meshlab \u5904\u7406 \u540e \u7684 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u8f93\u51fa \u3002   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e0e   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7c7b\u4f3c \u3002 \u5b83 \u521b\u5efa \u4e00\u4e2a \u5706\u9525 \u89c6\u56fe \uff0c \u5e76 \u5411 \u5185\u90e8 \u53d1\u5c04 \u6fc0\u5149 \u4ee5 \u5c04\u7ebf \u6295\u5c04 \u5176 \u5f71\u54cd \u3002 \u8f93\u51fa \u662f   carla . RadarMeasurement   \u3002 \u5b83 \u5305\u542b \u7531 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u68c0\u7d22 \u5230 \u7684   carla . RadarDetection   \u7684 \u5217\u8868 \u3002 \u8fd9\u4e9b \u4e0d\u662f \u7a7a\u95f4 \u4e2d \u7684 \u70b9 \uff0c \u800c\u662f \u4f7f\u7528 \u6709\u5173 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6570\u636e \u8fdb\u884c \u7684 \u68c0\u6d4b \uff1a   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5c5e\u6027 \u4e3b\u8981 \u51b3\u5b9a \u4e86 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u7684 \u5b9a\u4f4d \u65b9\u5f0f \u3002   horizontal _ fov   \u548c   vertical _ fov   \u786e\u5b9a \u5706\u9525 \u89c6\u56fe \u7684 \u632f\u5e45 \u3002   channels   \u7f6e \u8981 \u4f7f\u7528 \u7684 \u6fc0\u5149 \u6570\u91cf \u3002 \u8fd9\u4e9b \u6cbf\u7740 \u6240 \u9700   fov   \u7684 \u5206\u5e03 \u3002   range   \u662f \u6fc0\u5149 \u5149\u7ebf \u6295\u5c04 \u7684 \u6700\u5927 \u8ddd\u79bb \u3002   points _ per _ second   \u8bbe\u7f6e \u8981 \u6355\u83b7 \u7684 \u70b9 \u7684 \u6570\u91cf \uff0c \u8fd9\u4e9b \u70b9\u5c06 \u5728 \u6307\u5b9a \u7684 \u901a\u9053 \u4e4b\u95f4 \u5206\u914d \u3002   \u8be5 \u811a\u672c \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u653e\u7f6e \u5728 \u6c7d\u8f66 \u5f15\u64ce \u5f15\u64ce\u76d6 \u4e0a \uff0c \u5e76 \u5411\u4e0a \u65cb\u8f6c \u4e00\u70b9 \u3002 \u8fd9\u6837 \uff0c \u8f93\u51fa \u5c06 \u6620\u5c04 \u6c7d\u8f66 \u7684 \u524d \u89c6\u56fe \u3002   horizontal _ fov   \u662f \u589e\u52a0 \u7684 \uff0c   vertical _ fov   \u662f \u51cf\u5c11 \u7684 \u3002 \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u7684 \u533a\u57df \u7279\u522b \u662f \u8f66\u8f86 \u548c \u884c\u4eba \u901a\u5e38 \u79fb\u52a8 \u7684 \u9ad8\u5ea6 \u3002 \u8ddd\u79bb   range   \u4e5f \u4ece   100m   \u66f4 \u6539\u4e3a   10m \uff0c \u4ee5\u4fbf \u4ec5 \u68c0\u7d22 \u8f66\u8f86 \u6b63\u524d \u524d\u65b9 \u6b63\u524d\u65b9 \u7684 \u6570\u636e \u3002   \u8fd9\u6b21 \u7684 \u56de\u8c03 \u6709\u70b9 \u590d\u6742 \uff0c \u663e\u793a \u4e86 \u5b83 \u7684 \u66f4 \u529f\u80fd \u591a\u529f\u80fd \u3002 \u5b83 \u5c06 \u5b9e\u65f6 \u7ed8\u5236 \u96f7\u8fbe \u6355\u83b7 \u7684 \u70b9 \u3002 \u8fd9\u4e9b \u70b9\u5c06 \u6839\u636e \u5b83\u4eec \u76f8\u5bf9 \u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u800c \u7740\u8272 \u3002   Blue   \u8868\u793a \u63a5\u8fd1 \u8f66\u8f86 \u7684 \u70b9 \u3002   Red   \u8868\u793a \u8fdc\u79bb \u63a5\u8fd1 \u8f66\u8f86 \u7684 \u70b9 \u3002   White   \u4ee3\u8868 \u5173\u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684 \u9759\u6001 \u70b9 \u3002   #   --------------   #   Add   a   new   radar   sensor   to   my   ego   #   --------------   rad _ cam   =   None   rad _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . radar ' )   rad _ bp . set _ attribute ( ' horizontal _ fov ' ,   str ( 35 ) )   rad _ bp . set _ attribute ( ' vertical _ fov ' ,   str ( 20 ) )   rad _ bp . set _ attribute ( ' range ' ,   str ( 20 ) )   rad _ location   =   carla . Location ( x = 2.0 ,   z = 1.0 )   rad _ rotation   =   carla . Rotation ( pitch = 5 )   rad _ transform   =   carla . Transform ( rad _ location , rad _ rotation )   rad _ ego   =   world . spawn _ actor ( rad _ bp , rad _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   rad _ callback ( radar _ data ) :   velocity _ range   =   7.5   #   m / s   current _ rot   =   radar _ data . transform . rotation   for   detect   in   radar _ data :   azi   =   math . degrees ( detect . azimuth )   alt   =   math . degrees ( detect . altitude )   #   The   0.25   adjusts   a   bit   the   distance   so   the   dots   can   #   be   properly   seen   fw _ vec   =   carla . Vector3D ( x = detect . depth   -   0.25 )   carla . Transform (   carla . Location ( ) ,   carla . Rotation (   pitch = current _ rot . pitch   +   alt ,   yaw = current _ rot . yaw   +   azi ,   roll = current _ rot . roll ) ) . transform ( fw _ vec )   def   clamp ( min _ v ,   max _ v ,   value ) :   return   max ( min _ v ,   min ( value ,   max _ v ) )   norm _ velocity   =   detect . velocity   /   velocity _ range   #   range   [ - 1 ,   1 ]   r   =   int ( clamp ( 0.0 ,   1.0 ,   1.0   -   norm _ velocity )   *   255.0 )   g   =   int ( clamp ( 0.0 ,   1.0 ,   1.0   -   abs ( norm _ velocity ) )   *   255.0 )   b   =   int ( abs ( clamp ( -   1.0 ,   0.0 ,   -   1.0   -   norm _ velocity ) )   *   255.0 )   world . debug . draw _ point (   radar _ data . transform . location   +   fw _ vec ,   size = 0.075 ,   life _ time = 0.06 ,   persistent _ lines = False ,   color = carla . Color ( r ,   g ,   b ) )   rad _ ego . listen ( lambda   radar _ data :   rad _ callback ( radar _ data ) )   \u96f7\u8fbe \u8f93\u51fa \u3002 \u8f66\u8f86 \u505c \u5728 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5904 \uff0c \u56e0\u6b64 \u5176 \u524d\u9762 \u7684 \u9759\u6001 \u5143\u7d20 \u663e\u793a \u4e3a \u767d\u8272 \u3002   \u975e \u6e32\u67d3 \u6a21\u5f0f   \u65e0 \u6e32\u67d3 \u6a21\u5f0f   \u5bf9\u4e8e \u8fd0\u884c \u521d\u59cb \u4eff\u771f \u975e\u5e38 \u6709\u7528 \uff0c \u7a0d\u540e \u5c06 \u518d\u6b21 \u64ad\u653e \u8be5 \u4eff\u771f \u4ee5 \u68c0\u7d22 \u6570\u636e \u3002 \u7279\u522b \u662f \u5982\u679c \u8be5 \u4eff\u771f \u5b58\u5728 \u4e00\u4e9b \u6781\u7aef \u6761\u4ef6 \uff0c \u4f8b\u5982 \u4ea4\u901a \u5bc6\u96c6 \u3002   \u5feb\u901f \u4eff\u771f   \u7981\u7528 \u6e32\u67d3 \u5c06 \u4e3a \u4eff\u771f \u8282\u7701 \u5927\u91cf \u5de5\u4f5c \u3002 \u7531\u4e8e \u4e0d \u4f7f\u7528   GPU \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53ef\u4ee5 \u5168\u901f \u5de5\u4f5c \u3002 \u8fd9 \u5bf9\u4e8e \u5feb\u901f \u4eff\u771f \u590d\u6742 \u7684 \u6761\u4ef6 \u5f88 \u6709\u7528 \u3002 \u6700\u597d \u7684 \u65b9\u6cd5 \u662f \u8bbe\u7f6e \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u3002 \u4ee5 \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f \u8fd0\u884c \u5f02\u6b65 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5e76\u4e14 \u4e0d \u8fdb\u884c \u6e32\u67d3 \uff0c \u4eff\u771f \u7684 \u552f\u4e00 \u9650\u5236 \u662f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u5185\u90e8 \u903b\u8f91 \u3002   \u76f8\u540c \u7684   config . py   \u7528\u4e8e   \u8bbe\u7f6e \u5730\u56fe   \u53ef\u4ee5 \u7981\u7528 \u6e32\u67d3 \uff0c \u5e76 \u8bbe\u7f6e \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u3002   cd   / opt / carla / PythonAPI / utils   python3   config . py   -- no - rendering   -- delta - seconds   0.05   #   Never   greater   than   0.1 s   \u8b66\u544a   \u5728 \u4f7f\u7528 \u540c\u6b65 \u548c \u65f6\u95f4 \u6b65 \u4e4b\u524d \uff0c \u8bf7 \u5148 \u9605\u8bfb   \u6587\u6863   \u3002   \u65e0\u9700 \u6e32\u67d3 \u7684 \u624b\u52a8 \u63a7\u5236   \u811a\u672c   PythonAPI / examples / no _ rendering _ mode . py   \u63d0\u4f9b \u4e86 \u4eff\u771f \u7684 \u6982\u8ff0 \u3002 \u5b83 \u4f7f\u7528   Pygame   \u521b\u5efa \u4e86 \u4e00\u4e2a \u7b80\u7ea6 \u7684 \u9e1f\u77b0 \u9e1f\u77b0\u56fe \uff0c \u5b83 \u5c06 \u8ddf\u968f \u81ea\u6211 \u8f66\u8f86 \u3002 \u8fd9 \u53ef\u4ee5 \u4e0e   manual _ control . py   \u4e00\u8d77 \u4f7f\u7528 \u6765 \u751f\u6210 \u4e00\u6761 \u51e0\u4e4e \u6ca1\u6709 \u6210\u672c \u7684 \u8def\u7ebf \uff0c \u8bb0\u5f55 \u5b83 \uff0c \u7136\u540e \u56de\u653e \u5e76 \u5229\u7528 \u5b83 \u6765 \u6536\u96c6 \u6570\u636e \u3002   cd   / opt / carla / PythonAPI / examples   python3   manual _ control . py   cd   / opt / carla / PythonAPI / examples   python3   no _ rendering _ mode . py   -- no - rendering   no _ rendering _ mode . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   - v ,   -- verbose   print   debug   information   -- host   H   IP   of   the   host   server   ( default :   127.0 . 0.1 )   - p   P ,   -- port   P   TCP   port   to   listen   to   ( default :   2000 )   -- res   WIDTHxHEIGHT   window   resolution   ( default :   1280x720 )   -- filter   PATTERN   actor   filter   ( default :   \" vehicle . * \" )   -- map   TOWN   start   a   new   episode   at   the   given   TOWN   -- no - rendering   switch   off   server   rendering   -- show - triggers   show   trigger   boxes   of   traffic   signs   -- show - connections   show   waypoint   connections   -- show - spawn - points   show   recommended   spawn   points   no _ rendering _ mode . py   working   in   Town07   \u7b14\u8bb0   \u5728 \u6b64 \u6a21\u5f0f \u4e0b \uff0c \u57fa\u4e8e   GPU   \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u68c0\u7d22 \u7a7a \u6570\u636e \u3002 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u6ca1\u7528 \uff0c \u4f46 \u63a2\u6d4b \u6d4b\u5668 \u63a2\u6d4b\u5668 \u7b49 \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u4ee5 \u6b63\u5e38 \u5de5\u4f5c \u3002   \u8bb0\u5f55 \u548c \u68c0\u7d22 \u6570\u636e   \u5f00\u59cb \u8bb0\u5f55   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u53ef\u4ee5 \u968f\u65f6 \u542f\u52a8 \u3002 \u811a\u672c \u4ece \u4e00 \u5f00\u59cb \u5c31 \u8fd9\u6837 \u505a \uff0c \u4ee5\u4fbf \u6355\u6349 \u4e00\u5207 \uff0c \u5305\u62ec \u7b2c\u4e00 \u4e00\u6279 \u7b2c\u4e00\u6279 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4ea7\u751f \u3002 \u5982\u679c \u6ca1\u6709 \u8be6\u7ec6 \u8def\u5f84 \uff0c \u65e5\u5fd7 \u5c06 \u4fdd\u5b58 \u5230   CarlaUE4 / Saved   \u3002   #   --------------   #   \u5f00\u59cb \u8bb0\u5f55   #   --------------   client . start _ recorder ( ' ~ / tutorial / recorder / recording01 . log ' )   \u6355\u83b7 \u5e76 \u8bb0\u5f55   \u6709 \u8bb8\u591a \u4e0d\u540c \u7684 \u65b9\u6cd5 \u53ef\u4ee5 \u505a\u5230 \u8fd9 \u4e00\u70b9 \u3002 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u60c5\u51b5 \u4e0b \uff0c \u5b83\u4f1a \u56e0\u4e3a \u8ba9 \u5b83 \u56db\u5904 \u6f2b\u6e38 \u6216 \u624b\u52a8 \u63a7\u5236 \u800c \u51fa\u73b0 \u6545\u969c \u3002 \u4ea7\u751f \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6570\u636e \u5c06 \u88ab \u5373\u65f6 \u68c0\u7d22 \u3002 \u8bf7 \u52a1\u5fc5 \u5728 \u8bb0\u5f55 \u65f6 \u8fdb\u884c \u68c0\u67e5 \uff0c \u4ee5 \u786e\u4fdd \u4e00\u5207 \u8bbe\u7f6e \u6b63\u786e \u3002   \u542f\u7528 \u81ea\u52a8 \u9a7e\u9a76 \u3002   \u8fd9\u4f1a \u5c06 \u8f66\u8f86 \u6ce8\u518c \u5230   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u3002 \u5b83 \u5c06 \u65e0\u4f11 \u4f11\u6b62 \u65e0\u4f11\u6b62 \u5730 \u5728 \u57ce\u5e02 \u4e2d \u6f2b\u6e38 \u3002 \u8be5 \u811a\u672c \u6267\u884c \u6b64 \u64cd\u4f5c \uff0c \u5e76 \u521b\u5efa \u4e00\u4e2a \u5faa\u73af \u4ee5 \u963b\u6b62 \u811a\u672c \u5b8c\u6210 \u3002 \u5f55\u5236 \u5c06 \u7ee7\u7eed \u8fdb\u884c \uff0c \u76f4\u5230 \u7528\u6237 \u5b8c\u6210 \u811a\u672c \u3002 \u6216\u8005 \uff0c \u53ef\u4ee5 \u8bbe\u7f6e \u8ba1\u65f6 \u8ba1\u65f6\u5668 \u4ee5 \u5728 \u7279\u5b9a \u65f6\u95f4 \u540e \u5b8c\u6210 \u811a\u672c \u3002   #   --------------   #   \u6355\u83b7 \u6570\u636e   #   --------------   ego _ vehicle . set _ autopilot ( True )   print ( ' \\ nEgo   autopilot   enabled ' )   while   True :   world _ snapshot   =   world . wait _ for _ tick ( )   \u624b\u52a8 \u63a7\u5236 \u3002   \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e2d \u8fd0\u884c \u811a\u672c   PythonAPI / examples / manual _ control . py   \uff0c \u5728 \u53e6 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e2d \u8fd0\u884c \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002 \u9a7e\u9a76 \u81ea\u6211 \u8f66\u8f86 \u6765 \u521b\u5efa \u6240 \u9700 \u7684 \u8def\u7ebf \uff0c \u5e76 \u5728 \u5b8c\u6210 \u540e \u505c\u6b62 \u8bb0\u5f55 \u8bb0\u5f55\u4eea \u3002   tutorial _ ego . py   \u811a\u672c \u53ef \u7528\u4e8e \u7ba1\u7406 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \uff0c \u4f46 \u8bf7 \u786e\u4fdd \u6ce8\u91ca \u5176\u4ed6 \u4ee3\u7801 \u7247\u6bb5 \u3002   cd   / opt / carla / PythonAPI / examples   python3   manual _ control . py   \u7b14\u8bb0   \u4e3a\u4e86 \u907f\u514d \u6e32\u67d3 \u5e76 \u8282\u7701 \u8ba1\u7b97 \u6210\u672c \u8ba1\u7b97\u6210\u672c \uff0c \u8bf7 \u542f\u7528   [   \u65e0 \u6e32\u67d3 \u6a21\u5f0f   ]   \u3002 \u8be5 \u811a\u672c   / PythonAPI / examples / no _ rendering _ mode . py   \u5728 \u521b\u5efa \u7b80\u5355 \u7684 \u9e1f\u77b0 \u9e1f\u77b0\u56fe \u65f6 \u6267\u884c \u6b64 \u64cd\u4f5c \u3002   \u505c\u6b62 \u8bb0\u5f55   \u505c\u6b62 \u8c03\u7528 \u751a\u81f3 \u6bd4 \u5f00\u59cb \u8c03\u7528 \u66f4 \u7b80\u5355 \u3002 \u8bb0\u5f55 \u5b8c\u6210 \u540e \uff0c \u8bb0\u5f55 \u5c06 \u4fdd\u5b58 \u5728 \u524d\u9762 \u6307\u5b9a \u7684 \u8def\u5f84 \u4e2d \u3002   #   --------------   #   \u505c\u6b62 \u8bb0\u5f55   #   --------------   client . stop _ recorder ( )   \u5229\u7528 \u8bb0\u5f55   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u4eff\u771f \u5df2\u7ecf \u88ab \u8bb0\u5f55 \u5f55\u4e0b \u4e0b\u6765 \u5f55\u4e0b\u6765 \u8bb0\u5f55\u4e0b\u6765 \u3002 \u73b0\u5728 \uff0c \u662f \u65f6\u5019 \u68c0\u67e5 \u8bb0\u5f55 \uff0c \u627e\u5230 \u6700 \u5f15\u4eba \u6ce8\u76ee \u5f15\u4eba\u6ce8\u76ee \u7684 \u65f6\u523b \uff0c \u5e76 \u5229\u7528 \u5b83\u4eec \u3002 \u8fd9\u4e9b \u6b65\u9aa4 \u96c6\u4e2d \u5728 \u811a\u672c   tutorial _ replay . py   \u4e2d \u3002 \u8be5 \u5927\u7eb2 \u7531 \u6ce8\u91ca \u7684 \u4e0d\u540c \u4ee3\u7801 \u4ee3\u7801\u6bb5 \u6784\u6210 \u3002   \u73b0\u5728 \u662f \u8fd0\u884c \u65b0 \u4eff\u771f \u7684 \u65f6\u5019 \u4e86 \u3002   . / CarlaUE4 . sh   \u8981 \u91cd\u65b0 \u8fdb\u884c \u4eff\u771f \uff0c \u8bf7   \u9009\u62e9 \u4e00\u4e2a \u7247\u6bb5   \u5e76 \u8fd0\u884c \u5305\u542b \u64ad\u653e \u4ee3\u7801 \u7684 \u811a\u672c \u3002   python3   tuto _ replay . py   \u67e5\u8be2 \u4e8b\u4ef6   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u6863   \u4e2d \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u4e0d\u540c \u7684 \u67e5\u8be2 \u3002 \u603b\u4e4b \uff0c \u5b83\u4eec \u68c0\u7d22 \u7279\u5b9a \u4e8b\u4ef6 \u6216 \u5e27 \u7684 \u6570\u636e \u3002 \u4f7f\u7528 \u67e5\u8be2 \u6765 \u7814\u7a76 \u8bb0\u5f55 \u3002 \u627e\u5230 \u805a\u5149 \u5149\u706f \u805a\u5149\u706f \u65f6\u523b \uff0c \u8ffd\u8e2a \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u7684 \u5185\u5bb9 \u3002   #   --------------   #   Query   the   recording   #   --------------   #   Show   only   the   most   important   events   in   the   recording .   print ( client . show _ recorder _ file _ info ( \" ~ / tutorial / recorder / recording01 . log \" , False ) )   #   Show   actors   not   moving   1   meter   in   10   seconds .   print ( client . show _ recorder _ actors _ blocked ( \" ~ / tutorial / recorder / recording01 . log \" , 10 , 1 ) )   #   Filter   collisions   between   vehicles   ' v '   and   ' a '   any   other   type   of   actor .   print ( client . show _ recorder _ collisions ( \" ~ / tutorial / recorder / recording01 . log \" , ' v ' , ' a ' ) )   \u7b14\u8bb0   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u4e0d \u9700\u8981 \u6253\u5f00 \u5373\u53ef \u8fdb\u884c \u67e5\u8be2 \u3002   \u663e\u793a \u91cd\u8981 \u4e8b\u4ef6 \u7684 \u67e5\u8be2 \u3002 \u8fd9\u662f \u81ea\u6211 \u8f66\u8f86 \u4ea7\u751f \u7684 \u6846\u67b6 \u3002   \u67e5\u8be2 \u663e\u793a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u88ab \u963b\u6b62 \u3002 \u5728 \u6b64 \u4eff\u771f \u4e2d \uff0c \u81ea\u6211 \u8f66\u8f86 \u4fdd\u6301 \u963b\u585e \u72b6\u6001 \u963b\u585e\u72b6\u6001   100   \u79d2 \u3002   \u663e\u793a \u81ea\u6211 \u8f66\u8f86 \u4e0e \u201c \u5176\u4ed6 \u201d \u7c7b\u578b \u7684 \u5bf9\u8c61 \u4e4b\u95f4 \u7684 \u78b0\u649e \u7684 \u67e5\u8be2 \u3002   \u7b14\u8bb0   \u83b7\u53d6 \u6bcf \u4e00\u5e27 \u7684 \u8be6\u7ec6 \u6587\u4ef6 \u4fe1\u606f \u53ef\u80fd \u4f1a \u8ba9 \u4eba \u4e0d\u77e5 \u4e0d\u77e5\u6240\u63aa \u3002 \u5728 \u5176\u4ed6 \u67e5\u8be2 \u4e4b\u540e \u4f7f\u7528 \u5b83 \u6765 \u4e86\u89e3 \u8981 \u67e5\u770b \u7684 \u4f4d\u7f6e \u3002   \u9009\u62e9 \u4e00\u4e2a \u7247\u6bb5   \u67e5\u8be2 \u4e4b\u540e \uff0c \u5728 \u4e71\u641e \u4e4b\u524d \u56de\u653e \u4e00\u4e9b \u4eff\u771f \u7247\u6bb5 \u53ef\u80fd \u662f \u4e2a \u597d \u4e3b\u610f \u3002 \u8fd9\u6837 \u505a \u975e\u5e38 \u7b80\u5355 \u975e\u5e38\u7b80\u5355 \uff0c \u800c\u4e14 \u975e\u5e38 \u6709 \u5e2e\u52a9 \u3002 \u4e86\u89e3 \u6709\u5173 \u4eff\u771f \u7684 \u66f4 \u591a \u4fe1\u606f \u3002 \u8fd9\u662f \u4ee5\u540e \u8282\u7701 \u65f6\u95f4 \u8282\u7701\u65f6\u95f4 \u7684 \u6700\u4f73 \u65b9\u6cd5 \u3002   \u8be5 \u65b9\u6cd5 \u5141\u8bb8 \u9009\u62e9 \u64ad\u653e \u7684 \u5f00\u59cb \u70b9 \u548c \u7ed3\u675f \u70b9 \u4ee5\u53ca \u8981 \u8ddf\u968f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   #   --------------   #   Reenact   a   fragment   of   the   recording   #   --------------   client . replay _ file ( \" ~ / tutorial / recorder / recording01 . log \" , 45 , 10 , 0 )   \u4ee5\u4e0b \u662f \u73b0\u5728 \u53ef\u4ee5 \u505a \u7684 \u4e8b\u60c5 \u7684 \u5217\u8868 \u3002   \u4f7f\u7528 \u67e5\u8be2 \u4e2d \u7684 \u4fe1\u606f \u3002   \u627e\u51fa \u4e8b\u4ef6 \u4e2d \u6d89\u53ca \u7684 \u65f6\u523b \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u7136\u540e \u518d\u6b21 \u64ad\u653e \u3002 \u5728 \u4e8b\u4ef6 \u53d1\u751f \u524d \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u542f\u52a8 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002   \u8ddf\u968f \u4e0d\u540c \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u4e0d\u540c \u7684 \u89c6\u89d2 \u5c06 \u663e\u793a \u67e5\u8be2 \u4e2d\u672a \u5305\u542b \u7684 \u65b0 \u4e8b\u4ef6 \u3002   \u81ea\u7531 \u5730 \u89c2\u5bdf \u5468\u56f4 \u7684 \u60c5\u51b5 \u3002   \u5c06   actor _ id   \u8bbe \u4e3a   0   \uff0c \u5e76 \u83b7\u5f97 \u4eff\u771f \u7684 \u603b\u4f53 \u89c6\u56fe \u3002 \u501f\u52a9 \u8bb0\u5f55 \uff0c \u60a8 \u53ef\u4ee5 \u968f\u65f6 \u968f\u5730 \u968f\u65f6\u968f\u5730 \u3002   \u7b14\u8bb0   \u5f53 \u8bb0\u5f55 \u505c\u6b62 \u65f6 \uff0c \u4eff\u771f \u4e0d\u4f1a \u505c\u6b62 \u3002 \u884c\u4eba \u5c06 \u9759\u6b62 \u4e0d\u52a8 \u9759\u6b62\u4e0d\u52a8 \uff0c \u8f66\u8f86 \u5c06 \u7ee7\u7eed \u884c\u9a76 \u3002 \u5982\u679c \u65e5\u5fd7 \u7ed3\u675f \u6216 \u64ad\u653e \u5230\u8fbe \u6307\u5b9a \u7684 \u7ed3\u675f \u70b9 \uff0c \u5219 \u53ef\u80fd \u4f1a \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \u3002   \u68c0\u7d22 \u66f4 \u591a \u6570\u636e   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5c06 \u5728 \u6b64 \u4eff\u771f \u4e2d \u91cd\u65b0 \u521b\u5efa \u4e0e \u539f\u59cb \u6761\u4ef6 \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u7684 \u6761\u4ef6 \u3002 \u8fd9 \u786e\u4fdd \u4e86 \u4e0d\u540c \u64ad\u653e \u4e2d \u7684 \u6570\u636e \u4e00\u81f4 \u3002   \u6536\u96c6 \u91cd\u8981 \u65f6\u523b \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u4e8b\u4ef6 \u7684 \u5217\u8868 \u3002 \u9700\u8981 \u65f6 \u6dfb\u52a0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e76 \u56de\u653e \u4eff\u771f \u3002 \u8be5 \u8fc7\u7a0b \u4e0e \u4e4b\u524d \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u3002 \u811a\u672c   tutorial _ replay . py   \u63d0\u4f9b \u4e86 \u4e0d\u540c \u7684 \u793a\u4f8b \uff0c \u8fd9\u4e9b \u793a\u4f8b \u5df2 \u5728   \u201c \u8bbe\u7f6e \u9ad8\u7ea7 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u201d   \u90e8\u5206 \u4e2d \u8fdb\u884c \u4e86 \u5f7b\u5e95 \u89e3\u91ca \u3002 \u5176\u4ed6 \u5df2 \u5728   \u8bbe\u7f6e \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u90e8\u5206 \u4e2d \u8fdb\u884c \u4e86 \u89e3\u91ca \u3002   \u6839\u636e \u9700\u8981 \u6dfb\u52a0 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u591a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u6839\u636e \u9700\u8981 \u591a\u6b21 \u56de\u653e \u4eff\u771f \u5e76 \u68c0\u7d22 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u591a \u7684 \u6570\u636e \u3002   \u6539\u53d8 \u5929\u6c14   \u8bb0\u5f55 \u5c06 \u91cd\u73b0 \u539f\u59cb \u7684 \u5929\u6c14 \u72b6\u51b5 \u5929\u6c14\u72b6\u51b5 \u3002 \u7136\u800c \uff0c \u8fd9\u4e9b \u53ef\u4ee5 \u968f\u610f \u6539\u53d8 \u3002 \u5728 \u4fdd\u6301 \u5176\u4f59 \u4e8b\u4ef6 \u76f8\u540c \u7684 \u60c5\u51b5 \u4e0b \uff0c \u6bd4\u8f83 \u5b83 \u5982\u4f55 \u5f71\u54cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u80fd \u4f1a \u5f88 \u6709\u8da3 \u3002   \u83b7\u53d6 \u5f53\u524d \u5929\u6c14 \u5e76 \u81ea\u7531 \u4fee\u6539 \u3002 \u8bf7 \u8bb0\u4f4f \uff0c   carla . WeatherParameters   \u6709 \u4e00\u4e9b \u53ef\u7528 \u7684 \u9884\u8bbe \u3002 \u8be5 \u811a\u672c \u4f1a \u5c06 \u73af\u5883 \u66f4 \u6539\u4e3a \u6709\u96fe \u7684 \u65e5\u843d \u3002   #   --------------   #   \u4e3a \u56de\u653e \u6539\u53d8 \u5929\u6c14   #   --------------   weather   =   world . get _ weather ( )   weather . sun _ altitude _ angle   =   - 30   weather . fog _ density   =   65   weather . fog _ distance   =   10   world . set _ weather ( weather )   \u5c1d\u8bd5 \u65b0 \u7684 \u7ed3\u679c   \u65b0 \u7684 \u4eff\u771f \u4e0e \u8bb0\u5f55 \u6ca1\u6709 \u4e25\u683c \u7684 \u8054\u7cfb \u3002 \u5b83 \u53ef\u4ee5 \u968f\u65f6 \u4fee\u6539 \uff0c \u5373\u4f7f \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u505c\u6b62 \uff0c \u4eff\u771f \u4e5f \u4f1a \u7ee7\u7eed \u3002   \u8fd9 \u5bf9\u4e8e \u7528\u6237 \u6765\u8bf4 \u662f \u6709\u5229 \u53ef\u56fe \u5229\u53ef\u56fe \u6709\u5229\u53ef\u56fe \u7684 \u3002 \u4f8b\u5982 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u56de\u653e \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u524d \u7684 \u4eff\u771f \u5e76 \u751f\u6210 \u6216 \u9500\u6bc1 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6765 \u5f3a\u5236 \u6216 \u907f\u514d \u78b0\u649e \u3002 \u5728 \u7279\u5b9a \u65f6\u523b \u7ed3\u675f \u8bb0\u5f55 \u4e5f \u5f88 \u6709\u7528 \u3002 \u8fd9\u6837 \u505a \uff0c \u8f66\u8f86 \u53ef\u80fd \u4f1a \u91c7\u53d6 \u4e0d\u540c \u7684 \u8def\u5f84 \u3002   \u6539\u53d8 \u6761\u4ef6 \u5e76 \u6270\u4e71 \u4eff\u771f \u3002 \u6ca1\u6709 \u4ec0\u4e48 \u53ef \u5931\u53bb \u7684 \uff0c \u56e0\u4e3a \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5141\u8bb8 \u521d\u59cb \u4eff\u771f \u59cb\u7ec8 \u53ef\u4ee5 \u91cd\u65b0 \u8fdb\u884c \u3002 \u8fd9\u662f \u5145\u5206 \u5206\u53d1 \u53d1\u6325 \u5145\u5206\u53d1\u6325   Carla   \u6f5c\u529b \u7684 \u5173\u952e \u3002   \u6559\u7a0b \u811a\u672c   \u4e0b\u9762 \u662f \u6536\u96c6 \u672c \u6559\u7a0b \u4ee3\u7801 \u7247\u6bb5 \u7684 \u4e24\u4e2a \u811a\u672c \u3002 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4ee3\u7801 \u90fd \u5e26\u6709 \u6ce8\u91ca \uff0c \u56e0\u4e3a \u9700\u8981 \u5bf9 \u5176 \u8fdb\u884c \u4fee\u6539 \u4ee5 \u9002\u5e94 \u7279\u5b9a \u76ee\u7684 \u3002   tutorial _ ego . py   import   glob   import   os   import   sys   import   time   try :   sys . path . append ( glob . glob ( ' .. / carla / dist / carla - * % d .% d -% s . egg '   %   (   sys . version _ info . major ,   sys . version _ info . minor ,   ' win - amd64 '   if   os . name   = =   ' nt '   else   ' linux - x86 _ 64 ' ) ) [ 0 ] )   except   IndexError :   pass   import   carla   import   argparse   import   logging   import   random   def   main ( ) :   argparser   =   argparse . ArgumentParser (   description = __ doc __ )   argparser . add _ argument (   ' -- host ' ,   metavar = ' H ' ,   default = ' 127.0 . 0.1 ' ,   help = ' IP   of   the   host   server   ( default :   127.0 . 0.1 ) ' )   argparser . add _ argument (   ' - p ' ,   ' -- port ' ,   metavar = ' P ' ,   default = 2000 ,   type = int ,   help = ' TCP   port   to   listen   to   ( default :   2000 ) ' )   args   =   argparser . parse _ args ( )   logging . basicConfig ( format = ' % ( levelname ) s :   % ( message ) s ' ,   level = logging . INFO )   client   =   carla . Client ( args . host ,   args . port )   client . set _ timeout ( 10.0 )   try :   world   =   client . get _ world ( )   ego _ vehicle   =   None   ego _ cam   =   None   ego _ col   =   None   ego _ lane   =   None   ego _ obs   =   None   ego _ gnss   =   None   ego _ imu   =   None   #   --------------   #   Start   recording   #   --------------   \" \" \"   client . start _ recorder ( ' ~ / tutorial / recorder / recording01 . log ' )   \" \" \"   #   --------------   #   Spawn   ego   vehicle   #   --------------   \" \" \"   ego _ bp   =   world . get _ blueprint _ library ( ) . find ( ' vehicle . tesla . model3 ' )   ego _ bp . set _ attribute ( ' role _ name ' , ' ego ' )   print ( ' \\ nEgo   role _ name   is   set ' )   ego _ color   =   random . choice ( ego _ bp . get _ attribute ( ' color ' ) . recommended _ values )   ego _ bp . set _ attribute ( ' color ' , ego _ color )   print ( ' \\ nEgo   color   is   set ' )   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   number _ of _ spawn _ points   =   len ( spawn _ points )   if   0   <   number _ of _ spawn _ points :   random . shuffle ( spawn _ points )   ego _ transform   =   spawn _ points [ 0 ]   ego _ vehicle   =   world . spawn _ actor ( ego _ bp , ego _ transform )   print ( ' \\ nEgo   is   spawned ' )   else :   logging . warning ( ' Could   not   found   any   spawn   points ' )   \" \" \"   #   --------------   #   Add   a   RGB   camera   sensor   to   ego   vehicle .   #   --------------   \" \" \"   cam _ bp   =   None   cam _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   cam _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   cam _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   cam _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   cam _ location   =   carla . Location ( 2 , 0 , 1 )   cam _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   cam _ transform   =   carla . Transform ( cam _ location , cam _ rotation )   ego _ cam   =   world . spawn _ actor ( cam _ bp , cam _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   ego _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' ~ / tutorial / output / %. 6d . jpg '   %   image . frame ) )   \" \" \"   #   --------------   #   Add   collision   sensor   to   ego   vehicle .   #   --------------   \" \" \"   col _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . collision ' )   col _ location   =   carla . Location ( 0 , 0 , 0 )   col _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   col _ transform   =   carla . Transform ( col _ location , col _ rotation )   ego _ col   =   world . spawn _ actor ( col _ bp , col _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   col _ callback ( colli ) :   print ( \" Collision   detected : \\ n \" + str ( colli ) + ' \\ n ' )   ego _ col . listen ( lambda   colli :   col _ callback ( colli ) )   \" \" \"   #   --------------   #   Add   Lane   invasion   sensor   to   ego   vehicle .   #   --------------   \" \" \"   lane _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . lane _ invasion ' )   lane _ location   =   carla . Location ( 0 , 0 , 0 )   lane _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   lane _ transform   =   carla . Transform ( lane _ location , lane _ rotation )   ego _ lane   =   world . spawn _ actor ( lane _ bp , lane _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   lane _ callback ( lane ) :   print ( \" Lane   invasion   detected : \\ n \" + str ( lane ) + ' \\ n ' )   ego _ lane . listen ( lambda   lane :   lane _ callback ( lane ) )   \" \" \"   #   --------------   #   Add   Obstacle   sensor   to   ego   vehicle .   #   --------------   \" \" \"   obs _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . obstacle ' )   obs _ bp . set _ attribute ( \" only _ dynamics \" , str ( True ) )   obs _ location   =   carla . Location ( 0 , 0 , 0 )   obs _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   obs _ transform   =   carla . Transform ( obs _ location , obs _ rotation )   ego _ obs   =   world . spawn _ actor ( obs _ bp , obs _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   obs _ callback ( obs ) :   print ( \" Obstacle   detected : \\ n \" + str ( obs ) + ' \\ n ' )   ego _ obs . listen ( lambda   obs :   obs _ callback ( obs ) )   \" \" \"   #   --------------   #   \u7ed9 \u81ea\u6211 \u8f66\u8f86 \u6dfb\u52a0 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   #   --------------   \" \" \"   gnss _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . gnss ' )   gnss _ location   =   carla . Location ( 0 , 0 , 0 )   gnss _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   gnss _ transform   =   carla . Transform ( gnss _ location , gnss _ rotation )   gnss _ bp . set _ attribute ( \" sensor _ tick \" , str ( 3.0 ) )   ego _ gnss   =   world . spawn _ actor ( gnss _ bp , gnss _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   gnss _ callback ( gnss ) :   print ( \" GNSS   measure : \\ n \" + str ( gnss ) + ' \\ n ' )   ego _ gnss . listen ( lambda   gnss :   gnss _ callback ( gnss ) )   \" \" \"   #   --------------   #   Add   IMU   sensor   to   ego   vehicle .   #   --------------   \" \" \"   imu _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . imu ' )   imu _ location   =   carla . Location ( 0 , 0 , 0 )   imu _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   imu _ transform   =   carla . Transform ( imu _ location , imu _ rotation )   imu _ bp . set _ attribute ( \" sensor _ tick \" , str ( 3.0 ) )   ego _ imu   =   world . spawn _ actor ( imu _ bp , imu _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   imu _ callback ( imu ) :   print ( \" IMU   measure : \\ n \" + str ( imu ) + ' \\ n ' )   ego _ imu . listen ( lambda   imu :   imu _ callback ( imu ) )   \" \" \"   #   --------------   #   Place   spectator   on   ego   spawning   #   --------------   \" \" \"   spectator   =   world . get _ spectator ( )   world _ snapshot   =   world . wait _ for _ tick ( )   spectator . set _ transform ( ego _ vehicle . get _ transform ( ) )   \" \" \"   #   --------------   #   Enable   autopilot   for   ego   vehicle   #   --------------   \" \" \"   ego _ vehicle . set _ autopilot ( True )   \" \" \"   #   --------------   #   Game   loop .   Prevents   the   script   from   finishing .   #   --------------   while   True :   world _ snapshot   =   world . wait _ for _ tick ( )   finally :   #   --------------   #   Stop   recording   and   destroy   actors   #   --------------   client . stop _ recorder ( )   if   ego _ vehicle   is   not   None :   if   ego _ cam   is   not   None :   ego _ cam . stop ( )   ego _ cam . destroy ( )   if   ego _ col   is   not   None :   ego _ col . stop ( )   ego _ col . destroy ( )   if   ego _ lane   is   not   None :   ego _ lane . stop ( )   ego _ lane . destroy ( )   if   ego _ obs   is   not   None :   ego _ obs . stop ( )   ego _ obs . destroy ( )   if   ego _ gnss   is   not   None :   ego _ gnss . stop ( )   ego _ gnss . destroy ( )   if   ego _ imu   is   not   None :   ego _ imu . stop ( )   ego _ imu . destroy ( )   ego _ vehicle . destroy ( )   if   __ name __   = =   ' __ main __ ' :   try :   main ( )   except   KeyboardInterrupt :   pass   finally :   print ( ' \\ nDone   with   tutorial _ ego . ' )   tutorial _ replay . py   import   glob   import   os   import   sys   import   time   import   math   import   weakref   try :   sys . path . append ( glob . glob ( ' .. / carla / dist / carla - * % d .% d -% s . egg '   %   (   sys . version _ info . major ,   sys . version _ info . minor ,   ' win - amd64 '   if   os . name   = =   ' nt '   else   ' linux - x86 _ 64 ' ) ) [ 0 ] )   except   IndexError :   pass   import   carla   import   argparse   import   logging   import   random   def   main ( ) :   client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   client . set _ timeout ( 10.0 )   try :   world   =   client . get _ world ( )   ego _ vehicle   =   None   ego _ cam   =   None   depth _ cam   =   None   depth _ cam02   =   None   sem _ cam   =   None   rad _ ego   =   None   lidar _ sen   =   None   #   --------------   #   Query   the   recording   #   --------------   \" \" \"   #   Show   the   most   important   events   in   the   recording .   print ( client . show _ recorder _ file _ info ( \" ~ / tutorial / recorder / recording05 . log \" , False ) )   #   Show   actors   not   moving   1   meter   in   10   seconds .   # print ( client . show _ recorder _ actors _ blocked ( \" ~ / tutorial / recorder / recording04 . log \" , 10 , 1 ) )   #   Show   collisions   between   any   type   of   actor .   # print ( client . show _ recorder _ collisions ( \" ~ / tutorial / recorder / recording04 . log \" , ' v ' , ' a ' ) )   \" \" \"   #   --------------   #   Reenact   a   fragment   of   the   recording   #   --------------   \" \" \"   client . replay _ file ( \" ~ / tutorial / recorder / recording03 . log \" , 0 , 30 , 0 )   \" \" \"   #   --------------   #   Set   playback   simulation   conditions   #   --------------   \" \" \"   ego _ vehicle   =   world . get _ actor ( 322 )   # Store   the   ID   from   the   simulation   or   query   the   recording   to   find   out   \" \" \"   #   --------------   #   Place   spectator   on   ego   spawning   #   --------------   \" \" \"   spectator   =   world . get _ spectator ( )   world _ snapshot   =   world . wait _ for _ tick ( )   spectator . set _ transform ( ego _ vehicle . get _ transform ( ) )   \" \" \"   #   --------------   #   Change   weather   conditions   #   --------------   \" \" \"   weather   =   world . get _ weather ( )   weather . sun _ altitude _ angle   =   - 30   weather . fog _ density   =   65   weather . fog _ distance   =   10   world . set _ weather ( weather )   \" \" \"   #   --------------   #   Add   a   RGB   camera   to   ego   vehicle .   #   --------------   \" \" \"   cam _ bp   =   None   cam _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   cam _ location   =   carla . Location ( 2 , 0 , 1 )   cam _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   cam _ transform   =   carla . Transform ( cam _ location , cam _ rotation )   cam _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   cam _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   cam _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   ego _ cam   =   world . spawn _ actor ( cam _ bp , cam _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   ego _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' ~ / tutorial / new _ rgb _ output / %. 6d . jpg '   %   image . frame ) )   \" \" \"   #   --------------   #   Add   a   Logarithmic   Depth   camera   to   ego   vehicle .   #   --------------   \" \" \"   depth _ cam   =   None   depth _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . depth ' )   depth _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   depth _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   depth _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   depth _ location   =   carla . Location ( 2 , 0 , 1 )   depth _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   depth _ transform   =   carla . Transform ( depth _ location , depth _ rotation )   depth _ cam   =   world . spawn _ actor ( depth _ bp , depth _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   #   This   time ,   a   color   converter   is   applied   to   the   image ,   to   get   the   semantic   segmentation   view   depth _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' ~ / tutorial / de _ log / %. 6d . jpg '   %   image . frame , carla . ColorConverter . LogarithmicDepth ) )   \" \" \"   #   --------------   #   Add   a   Depth   camera   to   ego   vehicle .   #   --------------   \" \" \"   depth _ cam02   =   None   depth _ bp02   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . depth ' )   depth _ bp02 . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   depth _ bp02 . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   depth _ bp02 . set _ attribute ( \" fov \" , str ( 105 ) )   depth _ location02   =   carla . Location ( 2 , 0 , 1 )   depth _ rotation02   =   carla . Rotation ( 0 , 180 , 0 )   depth _ transform02   =   carla . Transform ( depth _ location02 , depth _ rotation02 )   depth _ cam02   =   world . spawn _ actor ( depth _ bp02 , depth _ transform02 , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   #   This   time ,   a   color   converter   is   applied   to   the   image ,   to   get   the   semantic   segmentation   view   depth _ cam02 . listen ( lambda   image :   image . save _ to _ disk ( ' ~ / tutorial / de / %. 6d . jpg '   %   image . frame , carla . ColorConverter . Depth ) )   \" \" \"   #   --------------   #   Add   a   new   semantic   segmentation   camera   to   ego   vehicle   #   --------------   \" \" \"   sem _ cam   =   None   sem _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . semantic _ segmentation ' )   sem _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   sem _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   sem _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   sem _ location   =   carla . Location ( 2 , 0 , 1 )   sem _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   sem _ transform   =   carla . Transform ( sem _ location , sem _ rotation )   sem _ cam   =   world . spawn _ actor ( sem _ bp , sem _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   #   This   time ,   a   color   converter   is   applied   to   the   image ,   to   get   the   semantic   segmentation   view   sem _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' ~ / tutorial / new _ sem _ output / %. 6d . jpg '   %   image . frame , carla . ColorConverter . CityScapesPalette ) )   \" \" \"   #   --------------   #   Add   a   new   radar   sensor   to   ego   vehicle   #   --------------   \" \" \"   rad _ cam   =   None   rad _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . radar ' )   rad _ bp . set _ attribute ( ' horizontal _ fov ' ,   str ( 35 ) )   rad _ bp . set _ attribute ( ' vertical _ fov ' ,   str ( 20 ) )   rad _ bp . set _ attribute ( ' range ' ,   str ( 20 ) )   rad _ location   =   carla . Location ( x = 2.8 ,   z = 1.0 )   rad _ rotation   =   carla . Rotation ( pitch = 5 )   rad _ transform   =   carla . Transform ( rad _ location , rad _ rotation )   rad _ ego   =   world . spawn _ actor ( rad _ bp , rad _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   rad _ callback ( radar _ data ) :   velocity _ range   =   7.5   #   m / s   current _ rot   =   radar _ data . transform . rotation   for   detect   in   radar _ data :   azi   =   math . degrees ( detect . azimuth )   alt   =   math . degrees ( detect . altitude )   #   The   0.25   adjusts   a   bit   the   distance   so   the   dots   can   #   be   properly   seen   fw _ vec   =   carla . Vector3D ( x = detect . depth   -   0.25 )   carla . Transform (   carla . Location ( ) ,   carla . Rotation (   pitch = current _ rot . pitch   +   alt ,   yaw = current _ rot . yaw   +   azi ,   roll = current _ rot . roll ) ) . transform ( fw _ vec )   def   clamp ( min _ v ,   max _ v ,   value ) :   return   max ( min _ v ,   min ( value ,   max _ v ) )   norm _ velocity   =   detect . velocity   /   velocity _ range   #   range   [ - 1 ,   1 ]   r   =   int ( clamp ( 0.0 ,   1.0 ,   1.0   -   norm _ velocity )   *   255.0 )   g   =   int ( clamp ( 0.0 ,   1.0 ,   1.0   -   abs ( norm _ velocity ) )   *   255.0 )   b   =   int ( abs ( clamp ( -   1.0 ,   0.0 ,   -   1.0   -   norm _ velocity ) )   *   255.0 )   world . debug . draw _ point (   radar _ data . transform . location   +   fw _ vec ,   size = 0.075 ,   life _ time = 0.06 ,   persistent _ lines = False ,   color = carla . Color ( r ,   g ,   b ) )   rad _ ego . listen ( lambda   radar _ data :   rad _ callback ( radar _ data ) )   \" \" \"   #   --------------   #   Add   a   new   LIDAR   sensor   to   ego   vehicle   #   --------------   \" \" \"   lidar _ cam   =   None   lidar _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . lidar . ray _ cast ' )   lidar _ bp . set _ attribute ( ' channels ' , str ( 32 ) )   lidar _ bp . set _ attribute ( ' points _ per _ second ' , str ( 90000 ) )   lidar _ bp . set _ attribute ( ' rotation _ frequency ' , str ( 40 ) )   lidar _ bp . set _ attribute ( ' range ' , str ( 20 ) )   lidar _ location   =   carla . Location ( 0 , 0 , 2 )   lidar _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   lidar _ transform   =   carla . Transform ( lidar _ location , lidar _ rotation )   lidar _ sen   =   world . spawn _ actor ( lidar _ bp , lidar _ transform , attach _ to = ego _ vehicle , attachment _ type = carla . AttachmentType . Rigid )   lidar _ sen . listen ( lambda   point _ cloud :   point _ cloud . save _ to _ disk ( ' / home / adas / Desktop / tutorial / new _ lidar _ output / %. 6d . ply '   %   point _ cloud . frame ) )   \" \" \"   #   --------------   #   Game   loop .   Prevents   the   script   from   finishing .   #   --------------   while   True :   world _ snapshot   =   world . wait _ for _ tick ( )   finally :   #   --------------   #   Destroy   actors   #   --------------   if   ego _ vehicle   is   not   None :   if   ego _ cam   is   not   None :   ego _ cam . stop ( )   ego _ cam . destroy ( )   if   depth _ cam   is   not   None :   depth _ cam . stop ( )   depth _ cam . destroy ( )   if   sem _ cam   is   not   None :   sem _ cam . stop ( )   sem _ cam . destroy ( )   if   rad _ ego   is   not   None :   rad _ ego . stop ( )   rad _ ego . destroy ( )   if   lidar _ sen   is   not   None :   lidar _ sen . stop ( )   lidar _ sen . destroy ( )   ego _ vehicle . destroy ( )   print ( ' \\ nNothing   to   be   done . ' )   if   __ name __   = =   ' __ main __ ' :   try :   main ( )   except   KeyboardInterrupt :   pass   finally :   print ( ' \\ nDone   with   tutorial _ replay . ' )   \u8fd9\u662f \u5173\u4e8e \u5982\u4f55 \u4ece \u4eff\u771f \u4e2d \u6b63\u786e \u68c0\u7d22 \u6570\u636e \u7684 \u603b\u7ed3 \u3002 \u786e\u4fdd \u5c1d\u8bd5 \u4e00\u4e0b \uff0c \u6539\u53d8 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u6761\u4ef6 \uff0c \u5c1d\u8bd5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e \u3002 \u53ef\u80fd \u53ef\u80fd\u6027 \u662f \u6b62\u5883 \u65e0\u6b62\u5883 \u3002   \u8bf7 \u8bbf\u95ee \u8bba\u575b \uff0c \u53d1\u8868 \u5728 \u9605\u8bfb \u8fc7\u7a0b \u4e2d \u60f3\u5230 \u7684 \u4efb\u4f55 \u7591\u95ee \u6216 \u5efa\u8bae \u3002   Carla   \u8bba\u575b","title":"\u68c0\u7d22 \u4eff\u771f \u6570\u636e"},{"location":"tuto_G_retrieve_data/#_1","text":"\u5728   Carla   \u4e2d \uff0c \u5b66\u4e60 \u4e00\u79cd \u6709\u6548 \u7684 \u65b9\u6cd5 \u6765 \u68c0\u7d22 \u4eff\u771f \u6570\u636e \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002 \u8fd9\u4e2a \u6574\u4f53 \u6559\u7a0b \u9002\u5408 \u65b0\u624b \u548c \u7ecf\u9a8c \u4e30\u5bcc \u7ecf\u9a8c\u4e30\u5bcc \u7684 \u7528\u6237 \u3002 \u5b83 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \uff0c \u9010\u6e10 \u6df1\u5165 \u63a2\u8ba8 \u6df1\u5165\u63a2\u8ba8   Carla   \u4e2d \u53ef\u7528 \u7684 \u8bb8\u591a \u9009\u9879 \u3002   \u9996\u5148 \uff0c \u4f7f\u7528 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8bbe\u7f6e \u548c \u6d41\u91cf \u521d\u59cb \u521d\u59cb\u5316 \u4eff\u771f \u3002 \u4e00\u8f86 \u81ea\u6211 \u8f66\u8f86 \u5c06 \u5728 \u57ce\u5e02 \u4e2d \u6f2b\u6e38 \uff0c \u53ef\u9009 \u53ef\u9009\u5730 \u914d\u5907 \u4e00\u4e9b \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u8bb0\u5f55 \u4eff\u771f \uff0c \u4ee5\u4fbf \u4ee5\u540e \u67e5\u8be2 \u4ee5 \u627e\u5230 \u4eae\u70b9 \u3002 \u4e4b\u540e \uff0c \u539f\u59cb \u4eff\u771f \u88ab \u56de\u653e \uff0c \u5e76 \u88ab \u5229\u7528 \u5230 \u6781\u9650 \u3002 \u53ef\u4ee5 \u6dfb\u52a0 \u65b0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6765 \u68c0\u7d22 \u4e00\u81f4 \u7684 \u6570\u636e \u3002 \u5929\u6c14 \u6761\u4ef6 \u662f \u53ef\u4ee5 \u6539\u53d8 \u7684 \u3002 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u751a\u81f3 \u53ef\u4ee5 \u7528\u4e8e \u6d4b\u8bd5 \u5177\u6709 \u4e0d\u540c \u8f93\u51fa \u7684 \u7279\u5b9a \u573a\u666f \u3002   \u6982\u8ff0   \u8bbe\u7f6e \u4eff\u771f   \u5730\u56fe \u8bbe\u7f6e   \u5929\u6c14 \u8bbe\u7f6e   \u8bbe\u7f6e \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf   Carla   \u4ea4\u901a \u548c \u884c\u4eba   SUMO   \u534f\u540c \u4eff\u771f \u4ea4\u901a   \u8bbe\u7f6e \u81ea\u6211 \u8f66\u8f86   \u751f\u6210 \u81ea\u6211 \u8f66\u8f86   \u653e\u7f6e \u89c2\u5bdf \u89c2\u5bdf\u8005   \u8bbe\u7f6e \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   RGB   \u76f8\u673a   \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8bbe\u7f6e \u9ad8\u7ea7 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6df1\u5ea6 \u76f8\u673a   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u975e \u6e32\u67d3 \u6a21\u5f0f   \u5feb\u901f \u4eff\u771f   \u65e0\u9700 \u6e32\u67d3 \u7684 \u624b\u52a8 \u63a7\u5236   \u8bb0\u5f55 \u548c \u68c0\u7d22 \u6570\u636e   \u5f00\u59cb \u8bb0\u5f55   \u6355\u83b7 \u5e76 \u8bb0\u5f55   \u505c\u6b62 \u8bb0\u5f55   \u5229\u7528 \u8bb0\u5f55   \u67e5\u8be2 \u4e8b\u4ef6   \u9009\u62e9 \u4e00\u4e2a \u7247\u6bb5   \u68c0\u7d22 \u66f4 \u591a \u6570\u636e   \u6539\u53d8 \u5929\u6c14   \u5c1d\u8bd5 \u65b0 \u7684 \u7ed3\u679c   \u6559\u7a0b \u811a\u672c","title":"\u68c0\u7d22 \u4eff\u771f \u6570\u636e"},{"location":"tuto_G_retrieve_data/#_2","text":"\u5728 \u68c0\u7d22 \u4eff\u771f \u6570\u636e \u7684 \u8fc7\u7a0b \u4e2d \u5b58\u5728 \u4e00\u4e9b \u5e38\u89c1 \u9519\u8bef \u3002 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u5145\u65a5 \u7740 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u5b58\u50a8 \u65e0\u7528 \u7684 \u6570\u636e \u6216 \u52aa\u529b \u5bfb\u627e \u7279\u5b9a \u4e8b\u4ef6 \u90fd \u662f \u4e00\u4e9b \u4f8b\u5b50 \u3002 \u7136\u800c \uff0c \u53ef\u4ee5 \u63d0\u4f9b \u8be5 \u8fc7\u7a0b \u7684 \u4e00\u4e9b \u6982\u8981 \u3002 \u76ee\u6807 \u662f \u786e\u4fdd \u6570\u636e \u53ef\u4ee5 \u68c0\u7d22 \u548c \u590d\u5236 \uff0c \u5e76\u4e14 \u53ef\u4ee5 \u968f\u610f \u68c0\u67e5 \u68c0\u67e5\u548c \u66f4\u6539 \u4eff\u771f \u3002   \u7b14\u8bb0   \u672c \u6559\u7a0b \u4f7f\u7528   Carla   0.9 . 8   deb   \u5305   \u3002 \u6839\u636e \u60a8 \u7684   Carla   \u7248\u672c \u548c \u5b89\u88c5 \uff0c \u53ef\u80fd \u4f1a \u6709 \u7ec6\u5fae \u7684 \u53d8\u5316 \uff0c \u7279\u522b \u662f \u5728 \u8def\u5f84 \u65b9\u9762 \u3002   \u672c \u6559\u7a0b \u4e3a \u4e0d\u540c \u6b65\u9aa4 \u63d0\u4f9b \u4e86 \u591a\u79cd \u9009\u9879 \u3002 \u4e00\u76f4 \u4ee5\u6765 \uff0c \u90fd \u4f1a \u63d0\u5230 \u4e0d\u540c \u7684 \u811a\u672c \u3002 \u5e76 \u4e0d\u662f \u6240\u6709 \u7684 \u90fd \u4f1a \u88ab \u4f7f\u7528 \uff0c \u8fd9 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u5177\u4f53 \u7684 \u7528\u4f8b \u3002 \u5176\u4e2d \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u5df2 \u5728   Carla   \u4e2d \u63d0\u4f9b \u7528\u4e8e \u901a\u7528 \u76ee\u7684 \u3002   config . py   \u66f4\u6539 \u4eff\u771f \u8bbe\u7f6e \u3002 \u5730\u56fe \u3001 \u6e32\u67d3 \u9009\u9879 \u3001 \u8bbe\u7f6e \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f ...   carla / PythonAPI / util / config . py   dynamic _ weather . py   \u521b\u5efa \u6709\u8da3 \u7684 \u5929\u6c14 \u6761\u4ef6 \u3002   carla / PythonAPI / examples / dynamic _ weather . py   spawn _ npc . py   spawn _ npc . py \u751f\u6210 \u4e00\u4e9b \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u7684 \u8f66\u8f86 \u548c \u884c\u4eba \u3002   carla / PythonAPI / examples / spawn _ npc . py   manual _ control . py   \u751f\u6210 \u4e00\u4e2a \u81ea\u6211 \u8f66\u8f86 \uff0c \u5e76 \u63d0\u4f9b \u5bf9 \u5176 \u7684 \u63a7\u5236 \u3002   carla / PythonAPI / examples / manual _ control . py   \u4f46\u662f \uff0c \u6559\u7a0b \u4e2d \u63d0\u5230 \u7684 \u4e24\u4e2a \u811a\u672c \u5728   Carla   \u4e2d \u627e \u4e0d\u5230 \u3002 \u5b83\u4eec \u5305\u542b \u5f15\u7528 \u7684 \u4ee3\u7801 \u7247\u6bb5 \u3002 \u8fd9\u6709 \u53cc\u91cd \u76ee\u7684 \u3002 \u9996\u5148 \uff0c \u9f13\u52b1 \u7528\u6237 \u6784\u5efa \u81ea\u5df1 \u7684 \u811a\u672c \u3002 \u5145\u5206 \u7406\u89e3 \u4ee3\u7801 \u7684 \u4f5c\u7528 \u975e\u5e38 \u91cd\u8981 \u3002 \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u672c \u6559\u7a0b \u53ea\u662f \u4e00\u4e2a \u5927\u7eb2 \uff0c \u53ef\u80fd \u800c\u4e14 \u5e94\u8be5 \u6839\u636e \u7528\u6237 \u7684 \u559c\u597d \u800c \u6709 \u5f88\u5927 \u7684 \u4e0d\u540c \u3002 \u8fd9 \u4e24\u4e2a \u811a\u672c \u53ea\u662f \u4e00\u4e2a \u793a\u4f8b \u3002   tutorial _ ego . py   \u751f\u6210 \u5e26\u6709 \u4e00\u4e9b \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u81ea\u6211 \u8f66\u8f86 \uff0c \u5e76 \u542f\u7528 \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u3002 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u88ab \u653e\u7f6e \u5728 \u751f\u6210 \u4f4d\u7f6e \u3002 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u4ece \u4e00 \u5f00\u59cb \u5c31 \u542f\u52a8 \uff0c \u5e76 \u5728 \u811a\u672c \u5b8c\u6210 \u65f6 \u505c\u6b62 \u3002   tutorial _ replay . py   \u91cd\u65b0 \u6267\u884c   tutorial _ ego . py   \u8bb0\u5f55 \u7684 \u4eff\u771f \u3002 \u6709 \u4e0d\u540c \u7684 \u4ee3\u7801 \u7247\u6bb5 \u53ef\u4ee5 \u67e5\u8be2 \u8bb0\u5f55 \u3001 \u751f\u6210 \u4e00\u4e9b \u9ad8\u7ea7 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u6539\u53d8 \u5929\u6c14 \u6761\u4ef6 \u4ee5\u53ca \u91cd\u65b0 \u6267\u884c \u8bb0\u5f55 \u8bb0\u5f55\u7247 \u6bb5 \u3002   \u5b8c\u6574 \u7684 \u4ee3\u7801 \u53ef\u4ee5 \u5728 \u6559\u7a0b \u7684 \u6700\u540e \u90e8\u5206 \u627e\u5230 \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u8fd9\u4e9b \u5e76 \u4e0d \u4e25\u683c \uff0c \u800c\u662f \u53ef\u4ee5 \u5b9a\u5236 \u7684 \u3002 \u5728   Carla   \u4e2d \u68c0\u7d22 \u6570\u636e \u7684 \u529f\u80fd \u6b63\u5982 \u7528\u6237 \u6240 \u5e0c\u671b \u7684 \u90a3\u6837 \u5f3a\u5927 \u3002   \u91cd\u8981   \u672c \u6559\u7a0b \u9700\u8981 \u4e00\u4e9b   Python   \u77e5\u8bc6 \u3002","title":"\u6982\u8ff0  "},{"location":"tuto_G_retrieve_data/#_3","text":"\u8981 \u505a \u7684 \u7b2c\u4e00 \u4e00\u4ef6 \u7b2c\u4e00\u4ef6 \u4e8b\u662f \u5c06 \u4eff\u771f \u8bbe\u7f6e \u4e3a \u6240 \u9700 \u7684 \u73af\u5883 \u3002   \u8fd0\u884c   Carla \u3002   cd   / opt / carla / bin   . / CarlaUE . sh","title":"\u8bbe\u7f6e \u4eff\u771f  "},{"location":"tuto_G_retrieve_data/#_4","text":"\u9009\u62e9 \u8981 \u8fd0\u884c \u4eff\u771f \u7684 \u5730\u56fe \u3002 \u67e5\u770b   \u5730\u56fe \u6587\u6863   \u4ee5 \u4e86\u89e3 \u6709\u5173 \u5176 \u7279\u5b9a \u5c5e\u6027 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002 \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u9009\u62e9   Town07   \u3002   \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \u3002 \u4f7f\u7528   config . py   \u811a\u672c \u66f4\u6539 \u5730\u56fe \u3002   cd   / opt / carla / PythonAPI / utils   python3   config . py   -- map   Town01   \u8be5 \u811a\u672c \u53ef\u4ee5 \u542f\u7528 \u4e0d\u540c \u7684 \u8bbe\u7f6e \u3002 \u5176\u4e2d \u4e00\u4e9b \u5c06 \u5728 \u6559\u7a0b \u4e2d \u63d0\u53ca \uff0c \u53e6 \u4e00\u4e9b \u4e00\u4e9b\u5219 \u4e0d\u4f1a \u3002 \u4e0b\u9762 \u6709 \u4e00\u4e2a \u7b80\u77ed \u7684 \u603b\u7ed3 \u3002   config . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   -- host   H   IP   of   the   host   Carla   Simulator   ( default :   localhost )   - p   P ,   -- port   P   TCP   port   of   Carla   Simulator   ( default :   2000 )   - d ,   -- default   set   default   settings   - m   MAP ,   -- map   MAP   load   a   new   map ,   use   -- list   to   see   available   maps   - r ,   -- reload - map   reload   current   map   -- delta - seconds   S   set   fixed   delta   seconds ,   zero   for   variable   frame   rate   -- fps   N   set   fixed   FPS ,   zero   for   variable   FPS   ( similar   to   -- delta - seconds )   -- rendering   enable   rendering   -- no - rendering   disable   rendering   -- no - sync   disable   synchronous   mode   -- weather   WEATHER   set   weather   preset ,   use   -- list   to   see   available   presets   - i ,   -- inspect   inspect   simulation   - l ,   -- list   list   available   options   - b   FILTER ,   -- list - blueprints   FILTER   list   available   blueprints   matching   FILTER   ( use   ' * '   to   list   them   all )   - x   XODR _ FILE _ PATH ,   -- xodr - path   XODR _ FILE _ PATH   load   a   new   map   with   a   minimum   physical   road   representation   of   the   provided   OpenDRIVE   Town07   \u7684 \u7a7a\u4e2d \u89c6\u89d2","title":"\u5730\u56fe \u8bbe\u7f6e  "},{"location":"tuto_G_retrieve_data/#_5","text":"\u6bcf\u4e2a \u57ce\u9547 \u90fd \u6709 \u9002\u5408 \u5b83 \u7684 \u7279\u5b9a \u5929\u6c14 \uff0c \u4f46\u662f \u53ef\u4ee5 \u968f\u610f \u8bbe\u7f6e \u3002 \u6709 \u4e24\u4e2a \u811a\u672c \u63d0\u4f9b \u4e86 \u89e3\u51b3 \u6b64 \u95ee\u9898 \u7684 \u4e0d\u540c \u65b9\u6cd5 \u3002 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8bbe\u7f6e \u4e86 \u52a8\u6001 \u5929\u6c14 \uff0c \u968f\u7740 \u65f6\u95f4 \u7684 \u63a8\u79fb \uff0c \u60c5\u51b5 \u4f1a \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002 \u53e6 \u4e00\u4e2a \u8bbe\u7f6e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14 \u6761\u4ef6 \u3002 \u8fd8 \u53ef\u4ee5 \u5bf9 \u5929\u6c14 \u6761\u4ef6 \u8fdb\u884c \u7f16\u7801 \u3002 \u7a0d\u540e   \u5929\u6c14 \u6761\u4ef6 \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316   \u65f6 \u5c06 \u5bf9\u6b64 \u8fdb\u884c \u4ecb\u7ecd \u3002   \u8bbe\u7f6e \u52a8\u6001 \u5929\u6c14   \u3002 \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \u5e76 \u8fd0\u884c   dynamic _ weather . py   \u3002 \u8be5 \u811a\u672c \u5141\u8bb8 \u8bbe\u7f6e \u5929\u6c14 \u53d8\u5316 \u7684 \u6bd4\u7387 \uff0c \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u662f   1.0   \u3002   cd   / opt / carla / PythonAPI / examples   python3   dynamic _ weather . py   -- speed   1.0   \u8bbe\u7f6e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6761\u4ef6   \u4f7f\u7528 \u811a\u672c   environment . py   \u3002 \u6709 \u5f88\u591a \u53ef\u80fd \u7684 \u8bbe\u7f6e \u3002 \u67e5\u770b \u53ef \u9009 \u53c2\u6570 \u4ee5\u53ca   carla . WeatherParameters   \u7684 \u6587\u6863 \u3002   cd   / opt / carla / PythonAPI / util   python3   environment . py   -- clouds   100   -- rain   80   -- wetness   100   -- puddles   60   -- wind   80   -- fog   50   environment . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   -- host   H   IP   of   the   host   server   ( default :   127.0 . 0.1 )   - p   P ,   -- port   P   TCP   port   to   listen   to   ( default :   2000 )   -- sun   SUN   Sun   position   presets   [ sunset   |   day   |   night ]   -- weather   WEATHER   Weather   condition   presets   [ clear   |   overcast   |   rain ]   -- altitude   A ,   - alt   A   Sun   altitude   [ - 90.0 ,   90.0 ]   -- azimuth   A ,   - azm   A   Sun   azimuth   [ 0.0 ,   360.0 ]   -- clouds   C ,   - c   C   Clouds   amount   [ 0.0 ,   100.0 ]   -- rain   R ,   - r   R   Rain   amount   [ 0.0 ,   100.0 ]   -- puddles   Pd ,   - pd   Pd   Puddles   amount   [ 0.0 ,   100.0 ]   -- wind   W ,   - w   W   Wind   intensity   [ 0.0 ,   100.0 ]   -- fog   F ,   - f   F   Fog   intensity   [ 0.0 ,   100.0 ]   -- fogdist   Fd ,   - fd   Fd   Fog   Distance   [ 0.0 ,   inf )   -- wetness   Wet ,   - wet   Wet   Wetness   intensity   [ 0.0 ,   100.0 ]   \u4f7f\u7528 \u5929\u6c14 \u6539\u53d8","title":"\u5929\u6c14 \u8bbe\u7f6e  "},{"location":"tuto_G_retrieve_data/#_6","text":"\u4eff\u771f \u4ea4\u901a \u662f \u8ba9 \u5730\u56fe \u6829\u6829 \u6829\u6829\u5982\u751f \u7684 \u6700\u4f73 \u65b9\u6cd5 \u4e4b\u4e00 \u3002 \u8fd8 \u9700\u8981 \u68c0\u7d22 \u57ce\u5e02 \u73af\u5883 \u7684 \u6570\u636e \u3002 \u5728   Carla   \u4e2d\u6709 \u4e0d\u540c \u7684 \u9009\u62e9 \u53ef\u4ee5 \u5b9e\u73b0 \u8fd9 \u4e00\u70b9 \u3002","title":"\u8bbe\u7f6e \u4ea4\u901a\u6d41\u91cf  "},{"location":"tuto_G_retrieve_data/#carla","text":"Carla   \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u7531   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u6a21\u5757 \u7ba1\u7406 \u3002 \u81f3\u4e8e \u884c\u4eba \uff0c \u4ed6\u4eec \u6bcf\u4e2a \u4eba \u90fd \u6709 \u81ea\u5df1 \u7684   carla . WalkerAIController   \u3002   \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \uff0c \u7136\u540e \u8fd0\u884c   spawn _ npc . py   \u6765 \u751f\u6210 \u8f66\u8f86 \u548c \u884c\u4eba \u3002 \u8ba9 \u6211\u4eec \u751f\u6210   50   \u8f86\u8f66 \u548c \u76f8\u540c \u6570\u91cf \u7684 \u884c\u4eba \u3002   cd   / opt / carla / PythonAPI / examples   python3   spawn _ npc . py   - n   50   - w   50   -- safe   spawn _ npc . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   -- host   H   IP   of   the   host   server   ( default :   127.0 . 0.1 )   - p   P ,   -- port   P   TCP   port   to   listen   to   ( default :   2000 )   - n   N ,   -- number - of - vehicles   N   number   of   vehicles   ( default :   10 )   - w   W ,   -- number - of - walkers   W   number   of   walkers   ( default :   50 )   -- safe   avoid   spawning   vehicles   prone   to   accidents   -- filterv   PATTERN   vehicles   filter   ( default :   \" vehicle . * \" )   -- filterw   PATTERN   pedestrians   filter   ( default :   \" walker . pedestrian . * \" )   - tm _ p   P ,   -- tm - port   P   port   to   communicate   with   TM   ( default :   8000 )   -- async   Asynchronous   mode   execution   \u751f\u6210 \u8f66\u8f86 \u4ee5 \u4eff\u771f \u4ea4\u901a \u3002","title":"Carla   \u4ea4\u901a \u548c \u884c\u4eba  "},{"location":"tuto_G_retrieve_data/#sumo","text":"Carla   \u53ef\u4ee5 \u4e0e   SUMO   \u8fd0\u884c \u8054\u5408 \u4eff\u771f \u3002 \u8fd9 \u5141\u8bb8 \u5728   SUMO   \u4e2d \u521b\u5efa \u5c06 \u4f20\u64ad \u5230   Carla   \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3002 \u8fd9\u79cd \u8054\u5408 \u4eff\u771f \u662f \u53cc\u5411 \u7684 \u3002 \u5728   Carla   \u4e2d \u751f\u6210 \u7684 \u8f66\u8f86 \u5c06 \u5728   SUMO   \u4e2d \u751f\u6210 \u3002 \u6709\u5173 \u6b64 \u529f\u80fd \u7684 \u5177\u4f53 \u6587\u6863 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u3002   \u6b64 \u529f\u80fd \u9002\u7528 \u4e8e   Carla   0.9 . 8   \u53ca \u66f4 \u9ad8 \u7248\u672c \u7684   Town01   \u3001   Town04   \u548c   Town05   \u3002 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u662f \u6700 \u7a33\u5b9a \u7684 \u3002   \u7b14\u8bb0   \u8054\u5408 \u4eff\u771f \u5c06 \u5728   Carla   \u4e2d \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \u3002 \u9605\u8bfb   \u6587\u6863   \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002   \u9996\u5148 \uff0c \u5b89\u88c5 SUMO \u3002   sudo   add - apt - repository   ppa : sumo / stable   sudo   apt - get   update   sudo   apt - get   install   sumo   sumo - tools   sumo - doc   \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   SUMO _ HOME \u3002   echo   \" export   SUMO _ HOME = / usr / share / sumo \"   > >   ~ / . bashrc   &&   source   ~ / . bashrc   \u5728   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6253\u5f00 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u8fd0\u884c   SUMO - Carla   \u540c\u6b65 \u811a\u672c   \u3002   cd   ~ / carla / Co - Simulation / Sumo   python3   run _ synchronization . py   examples / Town01 . sumocfg   -- sumo - gui   SUMO   \u7a97\u53e3 \u5e94\u8be5 \u5df2 \u6253\u5f00 \u3002   \u6309 \u201c \u8fd0\u884c \u201d   \u4ee5 \u5728 \u4e24\u4e2a \u4eff\u771f \u4e2d \u542f\u52a8 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3002   >   \" Play \"   on   SUMO   window .   \u8be5 \u811a\u672c \u751f\u6210 \u7684 \u6d41\u91cf \u662f   Carla   \u56e2\u961f \u521b\u5efa \u7684 \u793a\u4f8b \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83\u4f1a \u6cbf\u7740 \u76f8\u540c \u7684 \u8def\u7ebf \u751f\u6210 \u76f8\u540c \u7684 \u8f66\u8f86 \u3002 \u7528\u6237 \u53ef\u4ee5 \u5728   SUMO   \u4e2d \u66f4\u6539 \u8fd9\u4e9b \u5185\u5bb9 \u3002   SUMO   \u548c   Carla   \u534f\u540c \u4eff\u771f \u4ea4\u901a \u3002   \u8b66\u544a   \u76ee\u524d \uff0c SUMO   \u8054\u5408 \u4eff\u771f \u8fd8\u662f \u6d4b\u8bd5 \u6d4b\u8bd5\u7248 \u529f\u80fd \u3002 \u8f66\u8f86 \u6ca1\u6709 \u7269\u7406 \u7279\u6027 \uff0c \u4e5f \u4e0d \u8003\u8651   Carla   \u4ea4\u901a \u4ea4\u901a\u706f \u3002","title":"SUMO   \u534f\u540c \u4eff\u771f \u4ea4\u901a  "},{"location":"tuto_G_retrieve_data/#_7","text":"\u4ece \u73b0\u5728 \u5230 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u505c\u6b62 \u7684 \u4e00\u523b \u90a3\u4e00\u523b \uff0c \u5c06\u4f1a \u6709 \u4e00\u4e9b \u5c5e\u4e8e   tutorial _ ego . py   \u7684 \u4ee3\u7801 \u7247\u6bb5 \u3002 \u8be5 \u811a\u672c \u751f\u6210 \u81ea\u6211 \u8f66\u8f86 \uff0c \u53ef \u9009 \u4e00\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5e76 \u8bb0\u5f55 \u4eff\u771f \uff0c \u76f4\u5230 \u7528\u6237 \u5b8c\u6210 \u811a\u672c \u3002","title":"\u8bbe\u7f6e \u81ea\u6211 \u8f66\u8f86  "},{"location":"tuto_G_retrieve_data/#_8","text":"\u7528\u6237 \u63a7\u5236 \u7684 \u8f66\u8f86 \u5728   Carla   \u4e2d \u901a\u5e38 \u901a\u8fc7 \u5c06 \u5c5e\u6027   role _ name   \u8bbe\u7f6e \u4e3a   ego   \u6765 \u533a\u5206 \u3002 \u53ef\u4ee5 \u8bbe\u7f6e \u5176\u4ed6 \u5c5e\u6027 \uff0c \u5176\u4e2d \u4e00\u4e9b \u5177\u6709 \u63a8\u8350 \u63a8\u8350\u503c \u3002   \u4e0b\u9762 \uff0c \u4ece   \u84dd \u56fe\u5e93   \u4e2d \u68c0\u7d22 \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9 \u6a21\u578b \uff0c \u5e76 \u4f7f\u7528 \u968f\u673a \u63a8\u8350 \u7684 \u989c\u8272 \u751f\u6210 \u3002 \u9009\u62e9 \u5730\u56fe \u63a8\u8350 \u7684 \u751f\u6210 \u70b9 \u4e4b\u4e00 \u6765 \u653e\u7f6e \u81ea\u6211 \u8f66\u8f86 \u3002   #   --------------   #   Spawn   ego   vehicle   #   --------------   ego _ bp   =   world . get _ blueprint _ library ( ) . find ( ' vehicle . tesla . model3 ' )   ego _ bp . set _ attribute ( ' role _ name ' , ' ego ' )   print ( ' \\ nEgo   role _ name   is   set ' )   ego _ color   =   random . choice ( ego _ bp . get _ attribute ( ' color ' ) . recommended _ values )   ego _ bp . set _ attribute ( ' color ' , ego _ color )   print ( ' \\ nEgo   color   is   set ' )   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   number _ of _ spawn _ points   =   len ( spawn _ points )   if   0   <   number _ of _ spawn _ points :   random . shuffle ( spawn _ points )   ego _ transform   =   spawn _ points [ 0 ]   ego _ vehicle   =   world . spawn _ actor ( ego _ bp , ego _ transform )   print ( ' \\ nEgo   is   spawned ' )   else :   logging . warning ( ' Could   not   found   any   spawn   points ' )","title":"\u751f\u6210 \u81ea\u6211 \u8f66\u8f86  "},{"location":"tuto_G_retrieve_data/#_9","text":"\u89c2\u5bdf \u89c2\u5bdf\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63a7\u5236 \u4eff\u771f \u89c6\u56fe \u3002 \u901a\u8fc7 \u811a\u672c \u79fb\u52a8 \u5b83 \u662f \u53ef\u9009 \u7684 \uff0c \u4f46 \u5b83 \u53ef\u80fd \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u627e\u5230 \u81ea\u6211 \u8f66\u8f86 \u3002   #   --------------   #   \u81ea\u6211 \u8f66\u8f86 \u4f4d\u7f6e \u7684 \u89c2\u5bdf \u89c2\u5bdf\u8005   #   --------------   spectator   =   world . get _ spectator ( )   world _ snapshot   =   world . wait _ for _ tick ( )   spectator . set _ transform ( ego _ vehicle . get _ transform ( ) )","title":"\u653e\u7f6e \u89c2\u5bdf\u8005  "},{"location":"tuto_G_retrieve_data/#_10","text":"\u751f\u6210 \u4efb\u4f55 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8fc7\u7a0b \u90fd \u975e\u5e38 \u76f8\u4f3c \u3002   1 .   \u4f7f\u7528 \u5e93 \u67e5\u627e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u84dd\u56fe \u3002   2 .   \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7279\u5b9a \u5c5e\u6027 \u3002 \u8fd9 \u4e00\u70b9 \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002 \u5c5e\u6027 \u5c06 \u5851\u9020 \u68c0\u7d22 \u5230 \u7684 \u6570\u636e \u3002   3 .   \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fde\u63a5 \u81f3 \u81ea\u6211 \u8f66\u8f86 \u3002 \u8be5 \u53d8\u6362 \u662f \u76f8\u5bf9 \u4e8e \u5176\u7236 \u7ea7 \u7684 \u3002   carla . AttachmentType   \u5c06 \u786e\u5b9a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f4d\u7f6e \u7684 \u66f4\u65b0 \u65b9\u5f0f \u3002   4 .   \u6dfb\u52a0   listen ( )   \u65b9\u6cd5 \u3002 \u8fd9\u662f \u5173\u952e \u8981\u7d20 \u3002 \u6bcf\u6b21 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4fa6\u542c \u6570\u636e \u65f6 \u90fd \u4f1a \u8c03\u7528 \u7684   lambda   \u65b9\u6cd5 \u3002 \u53c2\u6570 \u662f \u68c0\u7d22 \u5230 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u7262\u8bb0 \u8fd9\u4e00 \u57fa\u672c \u51c6\u5219 \u57fa\u672c\u51c6\u5219 \uff0c \u8ba9 \u6211\u4eec \u4e3a \u81ea\u6211 \u8f66\u8f86 \u8bbe\u7f6e \u4e00\u4e9b \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002","title":"\u8bbe\u7f6e \u57fa\u672c \u4f20\u611f\u5668  "},{"location":"tuto_G_retrieve_data/#rgb","text":"RGB   \u76f8\u673a   \u751f\u6210 \u903c\u771f \u7684 \u573a\u666f \u56fe\u7247 \u3002 \u5b83 \u662f \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u53ef \u8bbe\u7f6e \u5c5e\u6027 \u8f83 \u591a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4f46 \u5b83 \u4e5f \u662f \u4e00\u4e2a \u57fa\u672c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u5b83 \u5e94\u8be5 \u88ab \u7406\u89e3 \u4e3a \u4e00\u4e2a \u771f\u6b63 \u7684 \u76f8\u673a \uff0c \u5177\u6709 \u8bf8\u5982   focal _ distance   \u3001   shutter _ speed   \u6216   gamma   \u786e\u5b9a \u5176 \u5185\u90e8 \u5982\u4f55 \u5de5\u4f5c \u7684 \u5c5e\u6027 \u3002 \u8fd8\u6709 \u4e00\u7ec4 \u7279\u5b9a \u7684 \u5c5e\u6027 \u6765 \u5b9a\u4e49 \u955c\u5934 \u7578\u53d8 \uff0c \u4ee5\u53ca \u8bb8\u591a \u9ad8\u7ea7 \u5c5e\u6027 \u3002 \u4f8b\u5982 \uff0c   lens _ circle _ multiplier   \u53ef\u4ee5 \u7528\u6765 \u5b9e\u73b0 \u7c7b\u4f3c \u4e8e \u773c\u775b \u9c7c \u955c\u5934 \u7684 \u6548\u679c \u3002 \u5728 \u6587\u6863 \u4e2d \u4e86\u89e3 \u6709\u5173 \u5b83\u4eec \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u4e3a\u4e86 \u7b80\u5355 \u8d77 \u89c1 \uff0c \u811a\u672c \u4ec5 \u8bbe\u7f6e \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6700 \u5e38\u7528 \u7684 \u5c5e\u6027 \u3002   image _ size _ x   \u548c   image _ size _ y   \u5c06 \u6539\u53d8 \u8f93\u51fa \u56fe\u50cf \u7684 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u3002   fov   \u662f \u76f8\u673a \u7684 \u6c34\u5e73 \u89c6\u91ce \u3002   \u8bbe\u7f6e \u5c5e\u6027 \u540e \uff0c \u5c31 \u53ef\u4ee5 \u751f\u6210 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e86 \u3002 \u811a\u672c \u5c06 \u6444\u50cf \u6444\u50cf\u673a \u653e\u7f6e \u5728 \u6c7d\u8f66 \u5f15\u64ce \u5f15\u64ce\u76d6 \u4e2d \uff0c \u5e76 \u6307\u5411 \u524d\u65b9 \u3002 \u5b83 \u5c06 \u6355\u6349 \u6c7d\u8f66 \u7684 \u524d \u89c6\u56fe \u3002   \u6bcf \u4e00\u6b65 \u90fd \u4f1a \u4ee5   carla . Image   \u7684 \u5f62\u5f0f \u68c0\u7d22 \u6570\u636e \u3002 Listen   \u65b9\u6cd5 \u5c06 \u5b83\u4eec \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002 \u8def\u5f84 \u53ef\u4ee5 \u968f\u610f \u6539\u53d8 \u3002 \u6bcf\u5f20 \u56fe\u50cf \u7684 \u540d\u79f0 \u5747 \u6839\u636e \u62cd\u6444 \u955c\u5934 \u7684 \u4eff\u771f \u5e27 \u8fdb\u884c \u7f16\u7801 \u3002   #   --------------   #   Spawn   attached   RGB   camera   #   --------------   cam _ bp   =   None   cam _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   cam _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   cam _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   cam _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   cam _ location   =   carla . Location ( 2 , 0 , 1 )   cam _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   cam _ transform   =   carla . Transform ( cam _ location , cam _ rotation )   ego _ cam   =   world . spawn _ actor ( cam _ bp , cam _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   ego _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' tutorial / output / %. 6d . jpg '   %   image . frame ) )   RGB   camera   output","title":"RGB   \u76f8\u673a  "},{"location":"tuto_G_retrieve_data/#_11","text":"\u5f53 \u5b83\u4eec \u6240 \u9644\u52a0 \u7684 \u5bf9\u8c61 \u6ce8\u518c \u7279\u5b9a \u4e8b\u4ef6 \u65f6 \uff0c \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f1a \u68c0\u7d22 \u6570\u636e \u3002 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5206\u4e3a \u4e09\u79cd \u7c7b\u578b \uff0c \u6bcf\u79cd \u90fd \u63cf\u8ff0 \u4e00\u79cd \u7c7b\u578b \u7684 \u4e8b\u4ef6 \u3002   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u3002   \u68c0\u7d22 \u5176\u7236 \u7ea7 \u4e0e \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u95f4 \u7684 \u78b0\u649e \u3002   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u3002   \u5f53 \u5176\u7236 \u7ea7 \u7a7f\u8fc7 \u8f66\u9053 \u6807\u8bb0 \u65f6 \u8fdb\u884c \u6ce8\u518c \u3002   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u3002   \u68c0\u6d4b \u5176\u7236 \u7ea7 \u524d\u65b9 \u53ef\u80fd \u5b58\u5728 \u7684 \u969c\u788d \u969c\u788d\u7269 \u3002   \u4ed6\u4eec \u68c0\u7d22 \u5230 \u7684 \u6570\u636e \u5c06 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u7a0d\u540e \u51b3\u5b9a \u8981 \u91cd\u65b0 \u6267\u884c \u4eff\u771f \u7684 \u54ea \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u4e8b\u5b9e \u4e8b\u5b9e\u4e0a \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u663e\u5f0f \u67e5\u8be2 \u51b2\u7a81 \u3002 \u8fd9\u662f \u51c6\u5907 \u6253\u5370 \u7684 \u3002   \u53ea\u6709 \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u84dd\u56fe \u6709 \u9700\u8981 \u8bbe\u7f6e \u7684 \u5c5e\u6027 \u3002 \u4ee5\u4e0b \u662f \u4e00\u4e9b \u91cd\u8981 \u7684 \u5185\u5bb9 \u3002   sensor _ tick   \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ec5 \u5728   x   \u79d2\u949f \u540e \u68c0\u7d22 \u6570\u636e \u3002 \u8fd9\u662f \u68c0\u7d22 \u6bcf \u4e00\u6b65 \u6570\u636e \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5e38\u89c1 \u5c5e\u6027 \u3002   distance   \u548c   hit - radius   \u5851\u9020 \u7528\u4e8e \u68c0\u6d4b \u524d\u65b9 \u969c\u788d \u969c\u788d\u7269 \u7684 \u8c03\u8bd5 \u7ebf \u3002   only _ dynamics   \u786e\u5b9a \u662f\u5426 \u5e94 \u8003\u8651 \u9759\u6001 \u5bf9\u8c61 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4efb\u4f55 \u5bf9\u8c61 \u90fd \u4f1a \u88ab \u8003\u8651 \u3002   \u8be5 \u811a\u672c \u5c06 \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u8bbe\u7f6e \u4e3a \u4ec5 \u8003\u8651 \u52a8\u6001 \u5bf9\u8c61 \u3002 \u5982\u679c \u8f66\u8f86 \u4e0e \u4efb\u4f55 \u9759\u6001 \u7269\u4f53 \u53d1\u751f \u78b0\u649e \uff0c \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u4f1a \u68c0\u6d4b \u5230 \u3002   #   --------------   #   Add   collision   sensor   to   ego   vehicle .   #   --------------   col _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . collision ' )   col _ location   =   carla . Location ( 0 , 0 , 0 )   col _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   col _ transform   =   carla . Transform ( col _ location , col _ rotation )   ego _ col   =   world . spawn _ actor ( col _ bp , col _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   col _ callback ( colli ) :   print ( \" Collision   detected : \\ n \" + str ( colli ) + ' \\ n ' )   ego _ col . listen ( lambda   colli :   col _ callback ( colli ) )   #   --------------   #   Add   Lane   invasion   sensor   to   ego   vehicle .   #   --------------   lane _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . lane _ invasion ' )   lane _ location   =   carla . Location ( 0 , 0 , 0 )   lane _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   lane _ transform   =   carla . Transform ( lane _ location , lane _ rotation )   ego _ lane   =   world . spawn _ actor ( lane _ bp , lane _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   lane _ callback ( lane ) :   print ( \" Lane   invasion   detected : \\ n \" + str ( lane ) + ' \\ n ' )   ego _ lane . listen ( lambda   lane :   lane _ callback ( lane ) )   #   --------------   #   Add   Obstacle   sensor   to   ego   vehicle .   #   --------------   obs _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . obstacle ' )   obs _ bp . set _ attribute ( \" only _ dynamics \" , str ( True ) )   obs _ location   =   carla . Location ( 0 , 0 , 0 )   obs _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   obs _ transform   =   carla . Transform ( obs _ location , obs _ rotation )   ego _ obs   =   world . spawn _ actor ( obs _ bp , obs _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   obs _ callback ( obs ) :   print ( \" Obstacle   detected : \\ n \" + str ( obs ) + ' \\ n ' )   ego _ obs . listen ( lambda   obs :   obs _ callback ( obs ) )   Output   for   detector   sensors","title":"\u68c0\u6d4b\u5668  "},{"location":"tuto_G_retrieve_data/#_12","text":"\u6682\u65f6 \u53ea \u8003\u8651 \u8be5\u7c7b \u522b\u7684 \u4e24\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u68c0\u7d22 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5730\u7406 \u4f4d\u7f6e \u5730\u7406\u4f4d\u7f6e \u3002   IMU   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u5305\u62ec \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \u3001 \u9640\u87ba \u9640\u87ba\u4eea \u548c \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \u3002   \u4e3a\u4e86 \u83b7\u5f97 \u8f66\u8f86 \u5bf9\u8c61 \u7684 \u4e00\u822c \u6d4b\u91cf \u503c \uff0c \u8fd9 \u4e24\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ee5 \u8f66\u8f86 \u5bf9\u8c61 \u4e3a \u4e2d\u5fc3 \u751f\u6210 \u3002   \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u7528 \u7684 \u5c5e\u6027 \u4e3b\u8981 \u8bbe\u7f6e \u6d4b\u91cf \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u5747\u503c \u5e73\u5747\u503c \u6216 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002 \u8fd9 \u5bf9\u4e8e \u83b7\u5f97 \u66f4 \u73b0\u5b9e \u7684 \u63aa\u65bd \u5f88 \u6709\u7528 \u3002 \u7136\u800c \uff0c \u5728   tutorial _ ego . py   \u4e2d \u53ea \u8bbe\u7f6e \u4e86 \u4e00\u4e2a \u5c5e\u6027 \u3002   sensor _ tick   .   \u7531\u4e8e \u6b64 \u6d4b\u91cf \u503c \u5728 \u6b65\u9aa4 \u4e4b\u95f4 \u4e0d \u5e94\u6709 \u663e \u7740 \u53d8\u5316 \uff0c \u56e0\u6b64 \u53ef\u4ee5 \u7ecf\u5e38 \u68c0\u7d22 \u6570\u636e \u3002 \u5728 \u672c\u4f8b \u4e2d \uff0c \u8bbe\u7f6e \u4e3a \u6bcf \u4e09\u79d2 \u6253\u5370 \u4e00\u6b21 \u3002   #   --------------   #   \u7ed9 \u81ea\u6211 \u8f66\u8f86 \u6dfb\u52a0 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   #   --------------   gnss _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . gnss ' )   gnss _ location   =   carla . Location ( 0 , 0 , 0 )   gnss _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   gnss _ transform   =   carla . Transform ( gnss _ location , gnss _ rotation )   gnss _ bp . set _ attribute ( \" sensor _ tick \" , str ( 3.0 ) )   ego _ gnss   =   world . spawn _ actor ( gnss _ bp , gnss _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   gnss _ callback ( gnss ) :   print ( \" GNSS   measure : \\ n \" + str ( gnss ) + ' \\ n ' )   ego _ gnss . listen ( lambda   gnss :   gnss _ callback ( gnss ) )   #   --------------   #   Add   IMU   sensor   to   ego   vehicle .   #   --------------   imu _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . imu ' )   imu _ location   =   carla . Location ( 0 , 0 , 0 )   imu _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   imu _ transform   =   carla . Transform ( imu _ location , imu _ rotation )   imu _ bp . set _ attribute ( \" sensor _ tick \" , str ( 3.0 ) )   ego _ imu   =   world . spawn _ actor ( imu _ bp , imu _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   imu _ callback ( imu ) :   print ( \" IMU   measure : \\ n \" + str ( imu ) + ' \\ n ' )   ego _ imu . listen ( lambda   imu :   imu _ callback ( imu ) )   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u548c \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa","title":"\u5176\u4ed6 \u4f20\u611f\u5668  "},{"location":"tuto_G_retrieve_data/#_13","text":"\u811a\u672c   tutorial _ replay . py   \u9664 \u5176\u4ed6 \u5916 \u8fd8 \u5305\u542b \u66f4 \u591a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5b9a\u4e49 \u3002 \u5b83\u4eec \u7684 \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u57fa\u672c \u7684 \u76f8\u540c \uff0c \u4f46 \u7406\u89e3 \u53ef\u80fd \u6709\u70b9 \u56f0\u96be \u3002","title":"\u8bbe\u7f6e \u9ad8\u7ea7 \u4f20\u611f\u5668  "},{"location":"tuto_G_retrieve_data/#_14","text":"\u6df1\u5ea6 \u76f8\u673a   \u751f\u6210 \u573a\u666f \u7684 \u56fe\u7247 \uff0c \u5c06 \u6bcf\u4e2a \u50cf\u7d20 \u6620\u5c04 \u5230 \u7070\u5ea6 \u6df1\u5ea6 \u6df1\u5ea6\u56fe \u4e2d \u3002 \u7136\u800c \uff0c \u8f93\u51fa \u5e76 \u4e0d \u7b80\u5355 \u3002 \u76f8\u673a \u7684 \u6df1\u5ea6 \u7f13\u51b2 \u7f13\u51b2\u533a \u4f7f\u7528   RGB   \u989c\u8272 \u7a7a\u95f4 \u8fdb\u884c \u6620\u5c04 \u3002 \u5fc5\u987b \u5c06 \u5176 \u8f6c\u6362 \u4e3a \u7070\u5ea6 \u624d\u80fd \u7406\u89e3 \u3002   \u4e3a\u6b64 \uff0c \u53ea \u9700 \u5c06 \u56fe\u50cf \u4fdd\u5b58 \u4e3a   RGB   \u76f8\u673a \u7684 \u56fe\u50cf \uff0c \u4f46 \u5bf9 \u5176 \u5e94\u7528   carla . ColorConverter   \u5373\u53ef \u3002 \u6df1\u5ea6 \u76f8\u673a \u6709 \u4e24\u79cd \u53ef\u7528 \u7684 \u8f6c\u6362 \u3002   carla . ColorConverter . Depth   \u4ee5 \u6beb\u7c73 \u7ea7 \u7cbe\u5ea6 \u8f6c\u6362 \u539f\u59cb \u6df1\u5ea6 \u3002   carla . ColorConverter . LogarithmicDepth   \u4e5f \u5177\u6709 \u6beb\u7c73 \u7ea7 \u7c92\u5ea6 \uff0c \u4f46 \u5728 \u8fd1\u8ddd \u8ddd\u79bb \u8fd1\u8ddd\u79bb \u5185 \u63d0\u4f9b \u66f4\u597d \u7684 \u7ed3\u679c \uff0c \u800c \u5bf9\u4e8e \u8f83\u8fdc \u7684 \u5143\u7d20 \u5219 \u7a0d\u5dee \u4e00\u4e9b \u3002   \u6df1\u5ea6 \u76f8\u673a \u7684 \u5c5e\u6027 \u4ec5 \u8bbe\u7f6e \u4e4b\u524d \u5728   RGB   \u76f8\u673a \u4e2d \u6240\u8ff0 \u7684 \u5143\u7d20 \uff1a   fov   \u3001   image _ size _ x   \u3001   image _ size _ y   \u548c   sensor _ tick   \u3002 \u8be5 \u811a\u672c \u5c06 \u6b64 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e \u4e3a \u4e0e \u4e4b\u524d \u4f7f\u7528 \u7684   RGB   \u76f8\u673a \u5339\u914d \u76f8\u5339\u914d \u3002   #   --------------   #   Add   a   Depth   camera   to   ego   vehicle .   #   --------------   depth _ cam   =   None   depth _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . depth ' )   depth _ location   =   carla . Location ( 2 , 0 , 1 )   depth _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   depth _ transform   =   carla . Transform ( depth _ location , depth _ rotation )   depth _ cam   =   world . spawn _ actor ( depth _ bp , depth _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   #   This   time ,   a   color   converter   is   applied   to   the   image ,   to   get   the   semantic   segmentation   view   depth _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' tutorial / new _ depth _ output / %. 6d . jpg '   %   image . frame , carla . ColorConverter . LogarithmicDepth ) )   Depth   camera   output .   Simple   conversion   on   the   left ,   logarithmic   on   the   right .","title":"\u6df1\u5ea6 \u76f8\u673a  "},{"location":"tuto_G_retrieve_data/#_15","text":"\u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u6839\u636e \u5143\u7d20 \u7684 \u6807\u8bb0 \u65b9\u5f0f \u5c06 \u573a\u666f \u4e2d \u7684 \u5143\u7d20 \u6e32\u67d3 \u4e3a \u4e0d\u540c \u7684 \u989c\u8272 \u3002 \u6807\u7b7e \u7531 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6839\u636e \u7528\u4e8e \u751f\u6210 \u7684 \u8d44\u6e90 \u7684 \u8def\u5f84 \u521b\u5efa \u3002 \u4f8b\u5982 \uff0c \u6807\u8bb0 \u4e3a   Pedestrians   \u7684 \u7f51\u683c \u4f53\u662f \u4f7f\u7528 \u5b58\u50a8 \u5728   Unreal / CarlaUE4 / Content / Static / Pedestrians   \u4e2d \u7684 \u5185\u5bb9 \u751f\u6210 \u7684 \u3002   \u4e0e \u4efb\u4f55 \u76f8\u673a \u4e00\u6837 \uff0c \u8f93\u51fa \u662f \u56fe\u50cf \uff0c \u4f46 \u6bcf\u4e2a \u50cf\u7d20 \u90fd \u5305\u542b \u5728 \u7ea2\u8272 \u901a\u9053 \u4e2d \u7f16\u7801 \u7684 \u6807\u7b7e \u3002 \u5fc5\u987b \u4f7f\u7528   ColorConverter . CityScapesPalette   \u8f6c\u6362 \u6b64 \u539f\u59cb \u56fe\u50cf \u3002 \u53ef\u4ee5 \u521b\u5efa \u65b0 \u6807\u7b7e \uff0c \u8bf7 \u9605\u8bfb   \u6587\u6863   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u8be5 \u76f8\u673a \u53ef\u7528 \u7684 \u5c5e\u6027 \u4e0e \u6df1\u5ea6 \u76f8\u673a \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u3002 \u8be5 \u811a\u672c \u8fd8 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u4e0e \u539f\u59cb   RGB   \u76f8\u673a \u5339\u914d \u76f8\u5339\u914d \u3002   #   --------------   #   Add   a   new   semantic   segmentation   camera   to   my   ego   #   --------------   sem _ cam   =   None   sem _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . semantic _ segmentation ' )   sem _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   sem _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   sem _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   sem _ location   =   carla . Location ( 2 , 0 , 1 )   sem _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   sem _ transform   =   carla . Transform ( sem _ location , sem _ rotation )   sem _ cam   =   world . spawn _ actor ( sem _ bp , sem _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   #   This   time ,   a   color   converter   is   applied   to   the   image ,   to   get   the   semantic   segmentation   view   sem _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' tutorial / new _ sem _ output / %. 6d . jpg '   %   image . frame , carla . ColorConverter . CityScapesPalette ) )   Semantic   segmentation   camera   output","title":"\u8bed\u4e49 \u5206\u5272 \u76f8\u673a  "},{"location":"tuto_G_retrieve_data/#_16","text":"\u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4eff\u771f \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002 \u5b83 \u521b\u5efa \u4e86 \u4e00\u4e2a \u4ee5 \u4e09\u7ef4 \u5f62\u5f0f \u6620\u5c04 \u573a\u666f \u7684 \u70b9\u4e91 \u3002 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5305\u542b \u4e00\u7ec4 \u4ee5 \u7279\u5b9a \u9891\u7387 \u65cb\u8f6c \u7684 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u3002 \u6fc0\u5149 \u6295\u5c04 \u649e\u51fb \u8ddd\u79bb \uff0c \u5e76 \u5c06 \u6bcf\u6b21 \u5c04\u51fb \u5b58\u50a8 \u4e3a \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u3002   \u53ef\u4ee5 \u4f7f\u7528 \u4e0d\u540c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c5e\u6027 \u6765 \u8bbe\u7f6e \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u9635\u5217 \u7684 \u5e03\u7f6e \u65b9\u5f0f \u3002   upper _ fov   \u548c   lower _ fov   \u5206\u522b \u662f \u6700\u9ad8 \u548c \u6700\u4f4e \u6fc0\u5149 \u7684 \u89d2\u5ea6 \u3002   channels   \u8bbe\u7f6e \u8981 \u4f7f\u7528 \u7684 \u6fc0\u5149 \u6570\u91cf \u3002 \u8fd9\u4e9b \u6cbf\u7740 \u6240 \u9700 \u7684   fov   \u5206\u5e03 \u3002   \u5176\u4ed6 \u5c5e\u6027 \u8bbe\u7f6e \u8be5\u70b9 \u7684 \u8ba1\u7b97 \u65b9\u5f0f \u3002 \u5b83\u4eec \u786e\u5b9a \u6bcf\u4e2a \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6bcf \u4e00\u6b65 \u8ba1\u7b97 \u7684 \u70b9\u6570 \uff1a   points _ per _ second   /   ( FPS   *   channels )   .   range   \u662f \u6355\u83b7 \u7684 \u6700\u5927 \u8ddd\u79bb \u3002   points _ per _ second   \u662f \u6bcf\u79d2 \u83b7\u5f97 \u7684 \u70b9\u6570 \u3002 \u8be5 \u6570\u91cf \u9664\u4ee5   channels   \u7684 \u6570\u91cf \u3002   rotation _ frequency   \u662f \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6bcf\u79d2 \u65cb\u8f6c \u7684 \u6b21\u6570 \u3002   \u70b9\u4e91 \u8f93\u51fa \u88ab \u63cf\u8ff0 \u4e3a   [ carla . LidarMeasurement ] \u3002 \u5b83 \u53ef\u4ee5 \u4f5c\u4e3a   [ carla . Location ]   \u5217\u8868 \u8fdb\u884c \u8fed\u4ee3 \u6216 \u4fdd\u5b58 \u4e3a   . ply   \u6807\u51c6 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u3002   #   --------------   #   Add   a   new   LIDAR   sensor   to   my   ego   #   --------------   lidar _ cam   =   None   lidar _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . lidar . ray _ cast ' )   lidar _ bp . set _ attribute ( ' channels ' , str ( 32 ) )   lidar _ bp . set _ attribute ( ' points _ per _ second ' , str ( 90000 ) )   lidar _ bp . set _ attribute ( ' rotation _ frequency ' , str ( 40 ) )   lidar _ bp . set _ attribute ( ' range ' , str ( 20 ) )   lidar _ location   =   carla . Location ( 0 , 0 , 2 )   lidar _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   lidar _ transform   =   carla . Transform ( lidar _ location , lidar _ rotation )   lidar _ sen   =   world . spawn _ actor ( lidar _ bp , lidar _ transform , attach _ to = ego _ vehicle )   lidar _ sen . listen ( lambda   point _ cloud :   point _ cloud . save _ to _ disk ( ' tutorial / new _ lidar _ output / %. 6d . ply '   %   point _ cloud . frame ) )   . ply   \u8f93\u51fa \u53ef\u4ee5 \u4f7f\u7528   Meshlab   \u8fdb\u884c \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   1 .   \u5b89\u88c5   Meshlab   \u3002   sudo   apt - get   update   - y   sudo   apt - get   install   - y   meshlab   2 .   \u6253\u5f00   Meshlab   \u3002   meshlab   3 .   \u6253\u5f00 \u5176\u4e2d \u4e00\u4e2a   . ply   \u6587\u4ef6 \u3002   File   >   Import   mesh ...   \u7ecf\u8fc7 Meshlab \u5904\u7406 \u540e \u7684 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u8f93\u51fa \u3002","title":"\u6fc0\u5149\u96f7\u8fbe \u5149\u7ebf \u6295\u5c04 \u4f20\u611f\u5668  "},{"location":"tuto_G_retrieve_data/#_17","text":"\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e0e   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7c7b\u4f3c \u3002 \u5b83 \u521b\u5efa \u4e00\u4e2a \u5706\u9525 \u89c6\u56fe \uff0c \u5e76 \u5411 \u5185\u90e8 \u53d1\u5c04 \u6fc0\u5149 \u4ee5 \u5c04\u7ebf \u6295\u5c04 \u5176 \u5f71\u54cd \u3002 \u8f93\u51fa \u662f   carla . RadarMeasurement   \u3002 \u5b83 \u5305\u542b \u7531 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u68c0\u7d22 \u5230 \u7684   carla . RadarDetection   \u7684 \u5217\u8868 \u3002 \u8fd9\u4e9b \u4e0d\u662f \u7a7a\u95f4 \u4e2d \u7684 \u70b9 \uff0c \u800c\u662f \u4f7f\u7528 \u6709\u5173 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6570\u636e \u8fdb\u884c \u7684 \u68c0\u6d4b \uff1a   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5c5e\u6027 \u4e3b\u8981 \u51b3\u5b9a \u4e86 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u7684 \u5b9a\u4f4d \u65b9\u5f0f \u3002   horizontal _ fov   \u548c   vertical _ fov   \u786e\u5b9a \u5706\u9525 \u89c6\u56fe \u7684 \u632f\u5e45 \u3002   channels   \u7f6e \u8981 \u4f7f\u7528 \u7684 \u6fc0\u5149 \u6570\u91cf \u3002 \u8fd9\u4e9b \u6cbf\u7740 \u6240 \u9700   fov   \u7684 \u5206\u5e03 \u3002   range   \u662f \u6fc0\u5149 \u5149\u7ebf \u6295\u5c04 \u7684 \u6700\u5927 \u8ddd\u79bb \u3002   points _ per _ second   \u8bbe\u7f6e \u8981 \u6355\u83b7 \u7684 \u70b9 \u7684 \u6570\u91cf \uff0c \u8fd9\u4e9b \u70b9\u5c06 \u5728 \u6307\u5b9a \u7684 \u901a\u9053 \u4e4b\u95f4 \u5206\u914d \u3002   \u8be5 \u811a\u672c \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u653e\u7f6e \u5728 \u6c7d\u8f66 \u5f15\u64ce \u5f15\u64ce\u76d6 \u4e0a \uff0c \u5e76 \u5411\u4e0a \u65cb\u8f6c \u4e00\u70b9 \u3002 \u8fd9\u6837 \uff0c \u8f93\u51fa \u5c06 \u6620\u5c04 \u6c7d\u8f66 \u7684 \u524d \u89c6\u56fe \u3002   horizontal _ fov   \u662f \u589e\u52a0 \u7684 \uff0c   vertical _ fov   \u662f \u51cf\u5c11 \u7684 \u3002 \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u7684 \u533a\u57df \u7279\u522b \u662f \u8f66\u8f86 \u548c \u884c\u4eba \u901a\u5e38 \u79fb\u52a8 \u7684 \u9ad8\u5ea6 \u3002 \u8ddd\u79bb   range   \u4e5f \u4ece   100m   \u66f4 \u6539\u4e3a   10m \uff0c \u4ee5\u4fbf \u4ec5 \u68c0\u7d22 \u8f66\u8f86 \u6b63\u524d \u524d\u65b9 \u6b63\u524d\u65b9 \u7684 \u6570\u636e \u3002   \u8fd9\u6b21 \u7684 \u56de\u8c03 \u6709\u70b9 \u590d\u6742 \uff0c \u663e\u793a \u4e86 \u5b83 \u7684 \u66f4 \u529f\u80fd \u591a\u529f\u80fd \u3002 \u5b83 \u5c06 \u5b9e\u65f6 \u7ed8\u5236 \u96f7\u8fbe \u6355\u83b7 \u7684 \u70b9 \u3002 \u8fd9\u4e9b \u70b9\u5c06 \u6839\u636e \u5b83\u4eec \u76f8\u5bf9 \u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u800c \u7740\u8272 \u3002   Blue   \u8868\u793a \u63a5\u8fd1 \u8f66\u8f86 \u7684 \u70b9 \u3002   Red   \u8868\u793a \u8fdc\u79bb \u63a5\u8fd1 \u8f66\u8f86 \u7684 \u70b9 \u3002   White   \u4ee3\u8868 \u5173\u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684 \u9759\u6001 \u70b9 \u3002   #   --------------   #   Add   a   new   radar   sensor   to   my   ego   #   --------------   rad _ cam   =   None   rad _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . radar ' )   rad _ bp . set _ attribute ( ' horizontal _ fov ' ,   str ( 35 ) )   rad _ bp . set _ attribute ( ' vertical _ fov ' ,   str ( 20 ) )   rad _ bp . set _ attribute ( ' range ' ,   str ( 20 ) )   rad _ location   =   carla . Location ( x = 2.0 ,   z = 1.0 )   rad _ rotation   =   carla . Rotation ( pitch = 5 )   rad _ transform   =   carla . Transform ( rad _ location , rad _ rotation )   rad _ ego   =   world . spawn _ actor ( rad _ bp , rad _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   rad _ callback ( radar _ data ) :   velocity _ range   =   7.5   #   m / s   current _ rot   =   radar _ data . transform . rotation   for   detect   in   radar _ data :   azi   =   math . degrees ( detect . azimuth )   alt   =   math . degrees ( detect . altitude )   #   The   0.25   adjusts   a   bit   the   distance   so   the   dots   can   #   be   properly   seen   fw _ vec   =   carla . Vector3D ( x = detect . depth   -   0.25 )   carla . Transform (   carla . Location ( ) ,   carla . Rotation (   pitch = current _ rot . pitch   +   alt ,   yaw = current _ rot . yaw   +   azi ,   roll = current _ rot . roll ) ) . transform ( fw _ vec )   def   clamp ( min _ v ,   max _ v ,   value ) :   return   max ( min _ v ,   min ( value ,   max _ v ) )   norm _ velocity   =   detect . velocity   /   velocity _ range   #   range   [ - 1 ,   1 ]   r   =   int ( clamp ( 0.0 ,   1.0 ,   1.0   -   norm _ velocity )   *   255.0 )   g   =   int ( clamp ( 0.0 ,   1.0 ,   1.0   -   abs ( norm _ velocity ) )   *   255.0 )   b   =   int ( abs ( clamp ( -   1.0 ,   0.0 ,   -   1.0   -   norm _ velocity ) )   *   255.0 )   world . debug . draw _ point (   radar _ data . transform . location   +   fw _ vec ,   size = 0.075 ,   life _ time = 0.06 ,   persistent _ lines = False ,   color = carla . Color ( r ,   g ,   b ) )   rad _ ego . listen ( lambda   radar _ data :   rad _ callback ( radar _ data ) )   \u96f7\u8fbe \u8f93\u51fa \u3002 \u8f66\u8f86 \u505c \u5728 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5904 \uff0c \u56e0\u6b64 \u5176 \u524d\u9762 \u7684 \u9759\u6001 \u5143\u7d20 \u663e\u793a \u4e3a \u767d\u8272 \u3002","title":"\u96f7\u8fbe \u4f20\u611f\u5668  "},{"location":"tuto_G_retrieve_data/#_18","text":"\u65e0 \u6e32\u67d3 \u6a21\u5f0f   \u5bf9\u4e8e \u8fd0\u884c \u521d\u59cb \u4eff\u771f \u975e\u5e38 \u6709\u7528 \uff0c \u7a0d\u540e \u5c06 \u518d\u6b21 \u64ad\u653e \u8be5 \u4eff\u771f \u4ee5 \u68c0\u7d22 \u6570\u636e \u3002 \u7279\u522b \u662f \u5982\u679c \u8be5 \u4eff\u771f \u5b58\u5728 \u4e00\u4e9b \u6781\u7aef \u6761\u4ef6 \uff0c \u4f8b\u5982 \u4ea4\u901a \u5bc6\u96c6 \u3002","title":"\u975e \u6e32\u67d3 \u6a21\u5f0f  "},{"location":"tuto_G_retrieve_data/#_19","text":"\u7981\u7528 \u6e32\u67d3 \u5c06 \u4e3a \u4eff\u771f \u8282\u7701 \u5927\u91cf \u5de5\u4f5c \u3002 \u7531\u4e8e \u4e0d \u4f7f\u7528   GPU \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53ef\u4ee5 \u5168\u901f \u5de5\u4f5c \u3002 \u8fd9 \u5bf9\u4e8e \u5feb\u901f \u4eff\u771f \u590d\u6742 \u7684 \u6761\u4ef6 \u5f88 \u6709\u7528 \u3002 \u6700\u597d \u7684 \u65b9\u6cd5 \u662f \u8bbe\u7f6e \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u3002 \u4ee5 \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f \u8fd0\u884c \u5f02\u6b65 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5e76\u4e14 \u4e0d \u8fdb\u884c \u6e32\u67d3 \uff0c \u4eff\u771f \u7684 \u552f\u4e00 \u9650\u5236 \u662f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u5185\u90e8 \u903b\u8f91 \u3002   \u76f8\u540c \u7684   config . py   \u7528\u4e8e   \u8bbe\u7f6e \u5730\u56fe   \u53ef\u4ee5 \u7981\u7528 \u6e32\u67d3 \uff0c \u5e76 \u8bbe\u7f6e \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u3002   cd   / opt / carla / PythonAPI / utils   python3   config . py   -- no - rendering   -- delta - seconds   0.05   #   Never   greater   than   0.1 s   \u8b66\u544a   \u5728 \u4f7f\u7528 \u540c\u6b65 \u548c \u65f6\u95f4 \u6b65 \u4e4b\u524d \uff0c \u8bf7 \u5148 \u9605\u8bfb   \u6587\u6863   \u3002","title":"\u5feb\u901f \u4eff\u771f  "},{"location":"tuto_G_retrieve_data/#_20","text":"\u811a\u672c   PythonAPI / examples / no _ rendering _ mode . py   \u63d0\u4f9b \u4e86 \u4eff\u771f \u7684 \u6982\u8ff0 \u3002 \u5b83 \u4f7f\u7528   Pygame   \u521b\u5efa \u4e86 \u4e00\u4e2a \u7b80\u7ea6 \u7684 \u9e1f\u77b0 \u9e1f\u77b0\u56fe \uff0c \u5b83 \u5c06 \u8ddf\u968f \u81ea\u6211 \u8f66\u8f86 \u3002 \u8fd9 \u53ef\u4ee5 \u4e0e   manual _ control . py   \u4e00\u8d77 \u4f7f\u7528 \u6765 \u751f\u6210 \u4e00\u6761 \u51e0\u4e4e \u6ca1\u6709 \u6210\u672c \u7684 \u8def\u7ebf \uff0c \u8bb0\u5f55 \u5b83 \uff0c \u7136\u540e \u56de\u653e \u5e76 \u5229\u7528 \u5b83 \u6765 \u6536\u96c6 \u6570\u636e \u3002   cd   / opt / carla / PythonAPI / examples   python3   manual _ control . py   cd   / opt / carla / PythonAPI / examples   python3   no _ rendering _ mode . py   -- no - rendering   no _ rendering _ mode . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   - v ,   -- verbose   print   debug   information   -- host   H   IP   of   the   host   server   ( default :   127.0 . 0.1 )   - p   P ,   -- port   P   TCP   port   to   listen   to   ( default :   2000 )   -- res   WIDTHxHEIGHT   window   resolution   ( default :   1280x720 )   -- filter   PATTERN   actor   filter   ( default :   \" vehicle . * \" )   -- map   TOWN   start   a   new   episode   at   the   given   TOWN   -- no - rendering   switch   off   server   rendering   -- show - triggers   show   trigger   boxes   of   traffic   signs   -- show - connections   show   waypoint   connections   -- show - spawn - points   show   recommended   spawn   points   no _ rendering _ mode . py   working   in   Town07   \u7b14\u8bb0   \u5728 \u6b64 \u6a21\u5f0f \u4e0b \uff0c \u57fa\u4e8e   GPU   \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u68c0\u7d22 \u7a7a \u6570\u636e \u3002 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u6ca1\u7528 \uff0c \u4f46 \u63a2\u6d4b \u6d4b\u5668 \u63a2\u6d4b\u5668 \u7b49 \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u4ee5 \u6b63\u5e38 \u5de5\u4f5c \u3002","title":"\u65e0\u9700 \u6e32\u67d3 \u7684 \u624b\u52a8 \u63a7\u5236  "},{"location":"tuto_G_retrieve_data/#_21","text":"","title":"\u8bb0\u5f55 \u548c \u68c0\u7d22 \u6570\u636e  "},{"location":"tuto_G_retrieve_data/#_22","text":"\u8bb0\u5f55 \u8bb0\u5f55\u5668   \u53ef\u4ee5 \u968f\u65f6 \u542f\u52a8 \u3002 \u811a\u672c \u4ece \u4e00 \u5f00\u59cb \u5c31 \u8fd9\u6837 \u505a \uff0c \u4ee5\u4fbf \u6355\u6349 \u4e00\u5207 \uff0c \u5305\u62ec \u7b2c\u4e00 \u4e00\u6279 \u7b2c\u4e00\u6279 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4ea7\u751f \u3002 \u5982\u679c \u6ca1\u6709 \u8be6\u7ec6 \u8def\u5f84 \uff0c \u65e5\u5fd7 \u5c06 \u4fdd\u5b58 \u5230   CarlaUE4 / Saved   \u3002   #   --------------   #   \u5f00\u59cb \u8bb0\u5f55   #   --------------   client . start _ recorder ( ' ~ / tutorial / recorder / recording01 . log ' )","title":"\u5f00\u59cb \u8bb0\u5f55  "},{"location":"tuto_G_retrieve_data/#_23","text":"\u6709 \u8bb8\u591a \u4e0d\u540c \u7684 \u65b9\u6cd5 \u53ef\u4ee5 \u505a\u5230 \u8fd9 \u4e00\u70b9 \u3002 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u60c5\u51b5 \u4e0b \uff0c \u5b83\u4f1a \u56e0\u4e3a \u8ba9 \u5b83 \u56db\u5904 \u6f2b\u6e38 \u6216 \u624b\u52a8 \u63a7\u5236 \u800c \u51fa\u73b0 \u6545\u969c \u3002 \u4ea7\u751f \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6570\u636e \u5c06 \u88ab \u5373\u65f6 \u68c0\u7d22 \u3002 \u8bf7 \u52a1\u5fc5 \u5728 \u8bb0\u5f55 \u65f6 \u8fdb\u884c \u68c0\u67e5 \uff0c \u4ee5 \u786e\u4fdd \u4e00\u5207 \u8bbe\u7f6e \u6b63\u786e \u3002   \u542f\u7528 \u81ea\u52a8 \u9a7e\u9a76 \u3002   \u8fd9\u4f1a \u5c06 \u8f66\u8f86 \u6ce8\u518c \u5230   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u3002 \u5b83 \u5c06 \u65e0\u4f11 \u4f11\u6b62 \u65e0\u4f11\u6b62 \u5730 \u5728 \u57ce\u5e02 \u4e2d \u6f2b\u6e38 \u3002 \u8be5 \u811a\u672c \u6267\u884c \u6b64 \u64cd\u4f5c \uff0c \u5e76 \u521b\u5efa \u4e00\u4e2a \u5faa\u73af \u4ee5 \u963b\u6b62 \u811a\u672c \u5b8c\u6210 \u3002 \u5f55\u5236 \u5c06 \u7ee7\u7eed \u8fdb\u884c \uff0c \u76f4\u5230 \u7528\u6237 \u5b8c\u6210 \u811a\u672c \u3002 \u6216\u8005 \uff0c \u53ef\u4ee5 \u8bbe\u7f6e \u8ba1\u65f6 \u8ba1\u65f6\u5668 \u4ee5 \u5728 \u7279\u5b9a \u65f6\u95f4 \u540e \u5b8c\u6210 \u811a\u672c \u3002   #   --------------   #   \u6355\u83b7 \u6570\u636e   #   --------------   ego _ vehicle . set _ autopilot ( True )   print ( ' \\ nEgo   autopilot   enabled ' )   while   True :   world _ snapshot   =   world . wait _ for _ tick ( )   \u624b\u52a8 \u63a7\u5236 \u3002   \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e2d \u8fd0\u884c \u811a\u672c   PythonAPI / examples / manual _ control . py   \uff0c \u5728 \u53e6 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e2d \u8fd0\u884c \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002 \u9a7e\u9a76 \u81ea\u6211 \u8f66\u8f86 \u6765 \u521b\u5efa \u6240 \u9700 \u7684 \u8def\u7ebf \uff0c \u5e76 \u5728 \u5b8c\u6210 \u540e \u505c\u6b62 \u8bb0\u5f55 \u8bb0\u5f55\u4eea \u3002   tutorial _ ego . py   \u811a\u672c \u53ef \u7528\u4e8e \u7ba1\u7406 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \uff0c \u4f46 \u8bf7 \u786e\u4fdd \u6ce8\u91ca \u5176\u4ed6 \u4ee3\u7801 \u7247\u6bb5 \u3002   cd   / opt / carla / PythonAPI / examples   python3   manual _ control . py   \u7b14\u8bb0   \u4e3a\u4e86 \u907f\u514d \u6e32\u67d3 \u5e76 \u8282\u7701 \u8ba1\u7b97 \u6210\u672c \u8ba1\u7b97\u6210\u672c \uff0c \u8bf7 \u542f\u7528   [   \u65e0 \u6e32\u67d3 \u6a21\u5f0f   ]   \u3002 \u8be5 \u811a\u672c   / PythonAPI / examples / no _ rendering _ mode . py   \u5728 \u521b\u5efa \u7b80\u5355 \u7684 \u9e1f\u77b0 \u9e1f\u77b0\u56fe \u65f6 \u6267\u884c \u6b64 \u64cd\u4f5c \u3002","title":"\u6355\u83b7 \u5e76 \u8bb0\u5f55  "},{"location":"tuto_G_retrieve_data/#_24","text":"\u505c\u6b62 \u8c03\u7528 \u751a\u81f3 \u6bd4 \u5f00\u59cb \u8c03\u7528 \u66f4 \u7b80\u5355 \u3002 \u8bb0\u5f55 \u5b8c\u6210 \u540e \uff0c \u8bb0\u5f55 \u5c06 \u4fdd\u5b58 \u5728 \u524d\u9762 \u6307\u5b9a \u7684 \u8def\u5f84 \u4e2d \u3002   #   --------------   #   \u505c\u6b62 \u8bb0\u5f55   #   --------------   client . stop _ recorder ( )","title":"\u505c\u6b62 \u8bb0\u5f55    "},{"location":"tuto_G_retrieve_data/#_25","text":"\u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u4eff\u771f \u5df2\u7ecf \u88ab \u8bb0\u5f55 \u5f55\u4e0b \u4e0b\u6765 \u5f55\u4e0b\u6765 \u8bb0\u5f55\u4e0b\u6765 \u3002 \u73b0\u5728 \uff0c \u662f \u65f6\u5019 \u68c0\u67e5 \u8bb0\u5f55 \uff0c \u627e\u5230 \u6700 \u5f15\u4eba \u6ce8\u76ee \u5f15\u4eba\u6ce8\u76ee \u7684 \u65f6\u523b \uff0c \u5e76 \u5229\u7528 \u5b83\u4eec \u3002 \u8fd9\u4e9b \u6b65\u9aa4 \u96c6\u4e2d \u5728 \u811a\u672c   tutorial _ replay . py   \u4e2d \u3002 \u8be5 \u5927\u7eb2 \u7531 \u6ce8\u91ca \u7684 \u4e0d\u540c \u4ee3\u7801 \u4ee3\u7801\u6bb5 \u6784\u6210 \u3002   \u73b0\u5728 \u662f \u8fd0\u884c \u65b0 \u4eff\u771f \u7684 \u65f6\u5019 \u4e86 \u3002   . / CarlaUE4 . sh   \u8981 \u91cd\u65b0 \u8fdb\u884c \u4eff\u771f \uff0c \u8bf7   \u9009\u62e9 \u4e00\u4e2a \u7247\u6bb5   \u5e76 \u8fd0\u884c \u5305\u542b \u64ad\u653e \u4ee3\u7801 \u7684 \u811a\u672c \u3002   python3   tuto _ replay . py","title":"\u5229\u7528 \u8bb0\u5f55  "},{"location":"tuto_G_retrieve_data/#_26","text":"\u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u6863   \u4e2d \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u4e0d\u540c \u7684 \u67e5\u8be2 \u3002 \u603b\u4e4b \uff0c \u5b83\u4eec \u68c0\u7d22 \u7279\u5b9a \u4e8b\u4ef6 \u6216 \u5e27 \u7684 \u6570\u636e \u3002 \u4f7f\u7528 \u67e5\u8be2 \u6765 \u7814\u7a76 \u8bb0\u5f55 \u3002 \u627e\u5230 \u805a\u5149 \u5149\u706f \u805a\u5149\u706f \u65f6\u523b \uff0c \u8ffd\u8e2a \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u7684 \u5185\u5bb9 \u3002   #   --------------   #   Query   the   recording   #   --------------   #   Show   only   the   most   important   events   in   the   recording .   print ( client . show _ recorder _ file _ info ( \" ~ / tutorial / recorder / recording01 . log \" , False ) )   #   Show   actors   not   moving   1   meter   in   10   seconds .   print ( client . show _ recorder _ actors _ blocked ( \" ~ / tutorial / recorder / recording01 . log \" , 10 , 1 ) )   #   Filter   collisions   between   vehicles   ' v '   and   ' a '   any   other   type   of   actor .   print ( client . show _ recorder _ collisions ( \" ~ / tutorial / recorder / recording01 . log \" , ' v ' , ' a ' ) )   \u7b14\u8bb0   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u4e0d \u9700\u8981 \u6253\u5f00 \u5373\u53ef \u8fdb\u884c \u67e5\u8be2 \u3002   \u663e\u793a \u91cd\u8981 \u4e8b\u4ef6 \u7684 \u67e5\u8be2 \u3002 \u8fd9\u662f \u81ea\u6211 \u8f66\u8f86 \u4ea7\u751f \u7684 \u6846\u67b6 \u3002   \u67e5\u8be2 \u663e\u793a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u88ab \u963b\u6b62 \u3002 \u5728 \u6b64 \u4eff\u771f \u4e2d \uff0c \u81ea\u6211 \u8f66\u8f86 \u4fdd\u6301 \u963b\u585e \u72b6\u6001 \u963b\u585e\u72b6\u6001   100   \u79d2 \u3002   \u663e\u793a \u81ea\u6211 \u8f66\u8f86 \u4e0e \u201c \u5176\u4ed6 \u201d \u7c7b\u578b \u7684 \u5bf9\u8c61 \u4e4b\u95f4 \u7684 \u78b0\u649e \u7684 \u67e5\u8be2 \u3002   \u7b14\u8bb0   \u83b7\u53d6 \u6bcf \u4e00\u5e27 \u7684 \u8be6\u7ec6 \u6587\u4ef6 \u4fe1\u606f \u53ef\u80fd \u4f1a \u8ba9 \u4eba \u4e0d\u77e5 \u4e0d\u77e5\u6240\u63aa \u3002 \u5728 \u5176\u4ed6 \u67e5\u8be2 \u4e4b\u540e \u4f7f\u7528 \u5b83 \u6765 \u4e86\u89e3 \u8981 \u67e5\u770b \u7684 \u4f4d\u7f6e \u3002","title":"\u67e5\u8be2 \u4e8b\u4ef6  "},{"location":"tuto_G_retrieve_data/#_27","text":"\u67e5\u8be2 \u4e4b\u540e \uff0c \u5728 \u4e71\u641e \u4e4b\u524d \u56de\u653e \u4e00\u4e9b \u4eff\u771f \u7247\u6bb5 \u53ef\u80fd \u662f \u4e2a \u597d \u4e3b\u610f \u3002 \u8fd9\u6837 \u505a \u975e\u5e38 \u7b80\u5355 \u975e\u5e38\u7b80\u5355 \uff0c \u800c\u4e14 \u975e\u5e38 \u6709 \u5e2e\u52a9 \u3002 \u4e86\u89e3 \u6709\u5173 \u4eff\u771f \u7684 \u66f4 \u591a \u4fe1\u606f \u3002 \u8fd9\u662f \u4ee5\u540e \u8282\u7701 \u65f6\u95f4 \u8282\u7701\u65f6\u95f4 \u7684 \u6700\u4f73 \u65b9\u6cd5 \u3002   \u8be5 \u65b9\u6cd5 \u5141\u8bb8 \u9009\u62e9 \u64ad\u653e \u7684 \u5f00\u59cb \u70b9 \u548c \u7ed3\u675f \u70b9 \u4ee5\u53ca \u8981 \u8ddf\u968f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   #   --------------   #   Reenact   a   fragment   of   the   recording   #   --------------   client . replay _ file ( \" ~ / tutorial / recorder / recording01 . log \" , 45 , 10 , 0 )   \u4ee5\u4e0b \u662f \u73b0\u5728 \u53ef\u4ee5 \u505a \u7684 \u4e8b\u60c5 \u7684 \u5217\u8868 \u3002   \u4f7f\u7528 \u67e5\u8be2 \u4e2d \u7684 \u4fe1\u606f \u3002   \u627e\u51fa \u4e8b\u4ef6 \u4e2d \u6d89\u53ca \u7684 \u65f6\u523b \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u7136\u540e \u518d\u6b21 \u64ad\u653e \u3002 \u5728 \u4e8b\u4ef6 \u53d1\u751f \u524d \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u542f\u52a8 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002   \u8ddf\u968f \u4e0d\u540c \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u4e0d\u540c \u7684 \u89c6\u89d2 \u5c06 \u663e\u793a \u67e5\u8be2 \u4e2d\u672a \u5305\u542b \u7684 \u65b0 \u4e8b\u4ef6 \u3002   \u81ea\u7531 \u5730 \u89c2\u5bdf \u5468\u56f4 \u7684 \u60c5\u51b5 \u3002   \u5c06   actor _ id   \u8bbe \u4e3a   0   \uff0c \u5e76 \u83b7\u5f97 \u4eff\u771f \u7684 \u603b\u4f53 \u89c6\u56fe \u3002 \u501f\u52a9 \u8bb0\u5f55 \uff0c \u60a8 \u53ef\u4ee5 \u968f\u65f6 \u968f\u5730 \u968f\u65f6\u968f\u5730 \u3002   \u7b14\u8bb0   \u5f53 \u8bb0\u5f55 \u505c\u6b62 \u65f6 \uff0c \u4eff\u771f \u4e0d\u4f1a \u505c\u6b62 \u3002 \u884c\u4eba \u5c06 \u9759\u6b62 \u4e0d\u52a8 \u9759\u6b62\u4e0d\u52a8 \uff0c \u8f66\u8f86 \u5c06 \u7ee7\u7eed \u884c\u9a76 \u3002 \u5982\u679c \u65e5\u5fd7 \u7ed3\u675f \u6216 \u64ad\u653e \u5230\u8fbe \u6307\u5b9a \u7684 \u7ed3\u675f \u70b9 \uff0c \u5219 \u53ef\u80fd \u4f1a \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \u3002","title":"\u9009\u62e9 \u4e00\u4e2a \u7247\u6bb5  "},{"location":"tuto_G_retrieve_data/#_28","text":"\u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5c06 \u5728 \u6b64 \u4eff\u771f \u4e2d \u91cd\u65b0 \u521b\u5efa \u4e0e \u539f\u59cb \u6761\u4ef6 \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u7684 \u6761\u4ef6 \u3002 \u8fd9 \u786e\u4fdd \u4e86 \u4e0d\u540c \u64ad\u653e \u4e2d \u7684 \u6570\u636e \u4e00\u81f4 \u3002   \u6536\u96c6 \u91cd\u8981 \u65f6\u523b \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u4e8b\u4ef6 \u7684 \u5217\u8868 \u3002 \u9700\u8981 \u65f6 \u6dfb\u52a0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e76 \u56de\u653e \u4eff\u771f \u3002 \u8be5 \u8fc7\u7a0b \u4e0e \u4e4b\u524d \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u3002 \u811a\u672c   tutorial _ replay . py   \u63d0\u4f9b \u4e86 \u4e0d\u540c \u7684 \u793a\u4f8b \uff0c \u8fd9\u4e9b \u793a\u4f8b \u5df2 \u5728   \u201c \u8bbe\u7f6e \u9ad8\u7ea7 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u201d   \u90e8\u5206 \u4e2d \u8fdb\u884c \u4e86 \u5f7b\u5e95 \u89e3\u91ca \u3002 \u5176\u4ed6 \u5df2 \u5728   \u8bbe\u7f6e \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u90e8\u5206 \u4e2d \u8fdb\u884c \u4e86 \u89e3\u91ca \u3002   \u6839\u636e \u9700\u8981 \u6dfb\u52a0 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u591a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u6839\u636e \u9700\u8981 \u591a\u6b21 \u56de\u653e \u4eff\u771f \u5e76 \u68c0\u7d22 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u591a \u7684 \u6570\u636e \u3002","title":"\u68c0\u7d22 \u66f4 \u591a \u6570\u636e  "},{"location":"tuto_G_retrieve_data/#_29","text":"\u8bb0\u5f55 \u5c06 \u91cd\u73b0 \u539f\u59cb \u7684 \u5929\u6c14 \u72b6\u51b5 \u5929\u6c14\u72b6\u51b5 \u3002 \u7136\u800c \uff0c \u8fd9\u4e9b \u53ef\u4ee5 \u968f\u610f \u6539\u53d8 \u3002 \u5728 \u4fdd\u6301 \u5176\u4f59 \u4e8b\u4ef6 \u76f8\u540c \u7684 \u60c5\u51b5 \u4e0b \uff0c \u6bd4\u8f83 \u5b83 \u5982\u4f55 \u5f71\u54cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u80fd \u4f1a \u5f88 \u6709\u8da3 \u3002   \u83b7\u53d6 \u5f53\u524d \u5929\u6c14 \u5e76 \u81ea\u7531 \u4fee\u6539 \u3002 \u8bf7 \u8bb0\u4f4f \uff0c   carla . WeatherParameters   \u6709 \u4e00\u4e9b \u53ef\u7528 \u7684 \u9884\u8bbe \u3002 \u8be5 \u811a\u672c \u4f1a \u5c06 \u73af\u5883 \u66f4 \u6539\u4e3a \u6709\u96fe \u7684 \u65e5\u843d \u3002   #   --------------   #   \u4e3a \u56de\u653e \u6539\u53d8 \u5929\u6c14   #   --------------   weather   =   world . get _ weather ( )   weather . sun _ altitude _ angle   =   - 30   weather . fog _ density   =   65   weather . fog _ distance   =   10   world . set _ weather ( weather )","title":"\u6539\u53d8 \u5929\u6c14  "},{"location":"tuto_G_retrieve_data/#_30","text":"\u65b0 \u7684 \u4eff\u771f \u4e0e \u8bb0\u5f55 \u6ca1\u6709 \u4e25\u683c \u7684 \u8054\u7cfb \u3002 \u5b83 \u53ef\u4ee5 \u968f\u65f6 \u4fee\u6539 \uff0c \u5373\u4f7f \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u505c\u6b62 \uff0c \u4eff\u771f \u4e5f \u4f1a \u7ee7\u7eed \u3002   \u8fd9 \u5bf9\u4e8e \u7528\u6237 \u6765\u8bf4 \u662f \u6709\u5229 \u53ef\u56fe \u5229\u53ef\u56fe \u6709\u5229\u53ef\u56fe \u7684 \u3002 \u4f8b\u5982 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u56de\u653e \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u524d \u7684 \u4eff\u771f \u5e76 \u751f\u6210 \u6216 \u9500\u6bc1 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6765 \u5f3a\u5236 \u6216 \u907f\u514d \u78b0\u649e \u3002 \u5728 \u7279\u5b9a \u65f6\u523b \u7ed3\u675f \u8bb0\u5f55 \u4e5f \u5f88 \u6709\u7528 \u3002 \u8fd9\u6837 \u505a \uff0c \u8f66\u8f86 \u53ef\u80fd \u4f1a \u91c7\u53d6 \u4e0d\u540c \u7684 \u8def\u5f84 \u3002   \u6539\u53d8 \u6761\u4ef6 \u5e76 \u6270\u4e71 \u4eff\u771f \u3002 \u6ca1\u6709 \u4ec0\u4e48 \u53ef \u5931\u53bb \u7684 \uff0c \u56e0\u4e3a \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5141\u8bb8 \u521d\u59cb \u4eff\u771f \u59cb\u7ec8 \u53ef\u4ee5 \u91cd\u65b0 \u8fdb\u884c \u3002 \u8fd9\u662f \u5145\u5206 \u5206\u53d1 \u53d1\u6325 \u5145\u5206\u53d1\u6325   Carla   \u6f5c\u529b \u7684 \u5173\u952e \u3002","title":"\u5c1d\u8bd5 \u65b0 \u7684 \u7ed3\u679c  "},{"location":"tuto_G_retrieve_data/#_31","text":"\u4e0b\u9762 \u662f \u6536\u96c6 \u672c \u6559\u7a0b \u4ee3\u7801 \u7247\u6bb5 \u7684 \u4e24\u4e2a \u811a\u672c \u3002 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4ee3\u7801 \u90fd \u5e26\u6709 \u6ce8\u91ca \uff0c \u56e0\u4e3a \u9700\u8981 \u5bf9 \u5176 \u8fdb\u884c \u4fee\u6539 \u4ee5 \u9002\u5e94 \u7279\u5b9a \u76ee\u7684 \u3002   tutorial _ ego . py   import   glob   import   os   import   sys   import   time   try :   sys . path . append ( glob . glob ( ' .. / carla / dist / carla - * % d .% d -% s . egg '   %   (   sys . version _ info . major ,   sys . version _ info . minor ,   ' win - amd64 '   if   os . name   = =   ' nt '   else   ' linux - x86 _ 64 ' ) ) [ 0 ] )   except   IndexError :   pass   import   carla   import   argparse   import   logging   import   random   def   main ( ) :   argparser   =   argparse . ArgumentParser (   description = __ doc __ )   argparser . add _ argument (   ' -- host ' ,   metavar = ' H ' ,   default = ' 127.0 . 0.1 ' ,   help = ' IP   of   the   host   server   ( default :   127.0 . 0.1 ) ' )   argparser . add _ argument (   ' - p ' ,   ' -- port ' ,   metavar = ' P ' ,   default = 2000 ,   type = int ,   help = ' TCP   port   to   listen   to   ( default :   2000 ) ' )   args   =   argparser . parse _ args ( )   logging . basicConfig ( format = ' % ( levelname ) s :   % ( message ) s ' ,   level = logging . INFO )   client   =   carla . Client ( args . host ,   args . port )   client . set _ timeout ( 10.0 )   try :   world   =   client . get _ world ( )   ego _ vehicle   =   None   ego _ cam   =   None   ego _ col   =   None   ego _ lane   =   None   ego _ obs   =   None   ego _ gnss   =   None   ego _ imu   =   None   #   --------------   #   Start   recording   #   --------------   \" \" \"   client . start _ recorder ( ' ~ / tutorial / recorder / recording01 . log ' )   \" \" \"   #   --------------   #   Spawn   ego   vehicle   #   --------------   \" \" \"   ego _ bp   =   world . get _ blueprint _ library ( ) . find ( ' vehicle . tesla . model3 ' )   ego _ bp . set _ attribute ( ' role _ name ' , ' ego ' )   print ( ' \\ nEgo   role _ name   is   set ' )   ego _ color   =   random . choice ( ego _ bp . get _ attribute ( ' color ' ) . recommended _ values )   ego _ bp . set _ attribute ( ' color ' , ego _ color )   print ( ' \\ nEgo   color   is   set ' )   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   number _ of _ spawn _ points   =   len ( spawn _ points )   if   0   <   number _ of _ spawn _ points :   random . shuffle ( spawn _ points )   ego _ transform   =   spawn _ points [ 0 ]   ego _ vehicle   =   world . spawn _ actor ( ego _ bp , ego _ transform )   print ( ' \\ nEgo   is   spawned ' )   else :   logging . warning ( ' Could   not   found   any   spawn   points ' )   \" \" \"   #   --------------   #   Add   a   RGB   camera   sensor   to   ego   vehicle .   #   --------------   \" \" \"   cam _ bp   =   None   cam _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   cam _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   cam _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   cam _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   cam _ location   =   carla . Location ( 2 , 0 , 1 )   cam _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   cam _ transform   =   carla . Transform ( cam _ location , cam _ rotation )   ego _ cam   =   world . spawn _ actor ( cam _ bp , cam _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   ego _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' ~ / tutorial / output / %. 6d . jpg '   %   image . frame ) )   \" \" \"   #   --------------   #   Add   collision   sensor   to   ego   vehicle .   #   --------------   \" \" \"   col _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . collision ' )   col _ location   =   carla . Location ( 0 , 0 , 0 )   col _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   col _ transform   =   carla . Transform ( col _ location , col _ rotation )   ego _ col   =   world . spawn _ actor ( col _ bp , col _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   col _ callback ( colli ) :   print ( \" Collision   detected : \\ n \" + str ( colli ) + ' \\ n ' )   ego _ col . listen ( lambda   colli :   col _ callback ( colli ) )   \" \" \"   #   --------------   #   Add   Lane   invasion   sensor   to   ego   vehicle .   #   --------------   \" \" \"   lane _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . lane _ invasion ' )   lane _ location   =   carla . Location ( 0 , 0 , 0 )   lane _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   lane _ transform   =   carla . Transform ( lane _ location , lane _ rotation )   ego _ lane   =   world . spawn _ actor ( lane _ bp , lane _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   lane _ callback ( lane ) :   print ( \" Lane   invasion   detected : \\ n \" + str ( lane ) + ' \\ n ' )   ego _ lane . listen ( lambda   lane :   lane _ callback ( lane ) )   \" \" \"   #   --------------   #   Add   Obstacle   sensor   to   ego   vehicle .   #   --------------   \" \" \"   obs _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . obstacle ' )   obs _ bp . set _ attribute ( \" only _ dynamics \" , str ( True ) )   obs _ location   =   carla . Location ( 0 , 0 , 0 )   obs _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   obs _ transform   =   carla . Transform ( obs _ location , obs _ rotation )   ego _ obs   =   world . spawn _ actor ( obs _ bp , obs _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   obs _ callback ( obs ) :   print ( \" Obstacle   detected : \\ n \" + str ( obs ) + ' \\ n ' )   ego _ obs . listen ( lambda   obs :   obs _ callback ( obs ) )   \" \" \"   #   --------------   #   \u7ed9 \u81ea\u6211 \u8f66\u8f86 \u6dfb\u52a0 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   #   --------------   \" \" \"   gnss _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . gnss ' )   gnss _ location   =   carla . Location ( 0 , 0 , 0 )   gnss _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   gnss _ transform   =   carla . Transform ( gnss _ location , gnss _ rotation )   gnss _ bp . set _ attribute ( \" sensor _ tick \" , str ( 3.0 ) )   ego _ gnss   =   world . spawn _ actor ( gnss _ bp , gnss _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   gnss _ callback ( gnss ) :   print ( \" GNSS   measure : \\ n \" + str ( gnss ) + ' \\ n ' )   ego _ gnss . listen ( lambda   gnss :   gnss _ callback ( gnss ) )   \" \" \"   #   --------------   #   Add   IMU   sensor   to   ego   vehicle .   #   --------------   \" \" \"   imu _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . imu ' )   imu _ location   =   carla . Location ( 0 , 0 , 0 )   imu _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   imu _ transform   =   carla . Transform ( imu _ location , imu _ rotation )   imu _ bp . set _ attribute ( \" sensor _ tick \" , str ( 3.0 ) )   ego _ imu   =   world . spawn _ actor ( imu _ bp , imu _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   imu _ callback ( imu ) :   print ( \" IMU   measure : \\ n \" + str ( imu ) + ' \\ n ' )   ego _ imu . listen ( lambda   imu :   imu _ callback ( imu ) )   \" \" \"   #   --------------   #   Place   spectator   on   ego   spawning   #   --------------   \" \" \"   spectator   =   world . get _ spectator ( )   world _ snapshot   =   world . wait _ for _ tick ( )   spectator . set _ transform ( ego _ vehicle . get _ transform ( ) )   \" \" \"   #   --------------   #   Enable   autopilot   for   ego   vehicle   #   --------------   \" \" \"   ego _ vehicle . set _ autopilot ( True )   \" \" \"   #   --------------   #   Game   loop .   Prevents   the   script   from   finishing .   #   --------------   while   True :   world _ snapshot   =   world . wait _ for _ tick ( )   finally :   #   --------------   #   Stop   recording   and   destroy   actors   #   --------------   client . stop _ recorder ( )   if   ego _ vehicle   is   not   None :   if   ego _ cam   is   not   None :   ego _ cam . stop ( )   ego _ cam . destroy ( )   if   ego _ col   is   not   None :   ego _ col . stop ( )   ego _ col . destroy ( )   if   ego _ lane   is   not   None :   ego _ lane . stop ( )   ego _ lane . destroy ( )   if   ego _ obs   is   not   None :   ego _ obs . stop ( )   ego _ obs . destroy ( )   if   ego _ gnss   is   not   None :   ego _ gnss . stop ( )   ego _ gnss . destroy ( )   if   ego _ imu   is   not   None :   ego _ imu . stop ( )   ego _ imu . destroy ( )   ego _ vehicle . destroy ( )   if   __ name __   = =   ' __ main __ ' :   try :   main ( )   except   KeyboardInterrupt :   pass   finally :   print ( ' \\ nDone   with   tutorial _ ego . ' )   tutorial _ replay . py   import   glob   import   os   import   sys   import   time   import   math   import   weakref   try :   sys . path . append ( glob . glob ( ' .. / carla / dist / carla - * % d .% d -% s . egg '   %   (   sys . version _ info . major ,   sys . version _ info . minor ,   ' win - amd64 '   if   os . name   = =   ' nt '   else   ' linux - x86 _ 64 ' ) ) [ 0 ] )   except   IndexError :   pass   import   carla   import   argparse   import   logging   import   random   def   main ( ) :   client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   client . set _ timeout ( 10.0 )   try :   world   =   client . get _ world ( )   ego _ vehicle   =   None   ego _ cam   =   None   depth _ cam   =   None   depth _ cam02   =   None   sem _ cam   =   None   rad _ ego   =   None   lidar _ sen   =   None   #   --------------   #   Query   the   recording   #   --------------   \" \" \"   #   Show   the   most   important   events   in   the   recording .   print ( client . show _ recorder _ file _ info ( \" ~ / tutorial / recorder / recording05 . log \" , False ) )   #   Show   actors   not   moving   1   meter   in   10   seconds .   # print ( client . show _ recorder _ actors _ blocked ( \" ~ / tutorial / recorder / recording04 . log \" , 10 , 1 ) )   #   Show   collisions   between   any   type   of   actor .   # print ( client . show _ recorder _ collisions ( \" ~ / tutorial / recorder / recording04 . log \" , ' v ' , ' a ' ) )   \" \" \"   #   --------------   #   Reenact   a   fragment   of   the   recording   #   --------------   \" \" \"   client . replay _ file ( \" ~ / tutorial / recorder / recording03 . log \" , 0 , 30 , 0 )   \" \" \"   #   --------------   #   Set   playback   simulation   conditions   #   --------------   \" \" \"   ego _ vehicle   =   world . get _ actor ( 322 )   # Store   the   ID   from   the   simulation   or   query   the   recording   to   find   out   \" \" \"   #   --------------   #   Place   spectator   on   ego   spawning   #   --------------   \" \" \"   spectator   =   world . get _ spectator ( )   world _ snapshot   =   world . wait _ for _ tick ( )   spectator . set _ transform ( ego _ vehicle . get _ transform ( ) )   \" \" \"   #   --------------   #   Change   weather   conditions   #   --------------   \" \" \"   weather   =   world . get _ weather ( )   weather . sun _ altitude _ angle   =   - 30   weather . fog _ density   =   65   weather . fog _ distance   =   10   world . set _ weather ( weather )   \" \" \"   #   --------------   #   Add   a   RGB   camera   to   ego   vehicle .   #   --------------   \" \" \"   cam _ bp   =   None   cam _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   cam _ location   =   carla . Location ( 2 , 0 , 1 )   cam _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   cam _ transform   =   carla . Transform ( cam _ location , cam _ rotation )   cam _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   cam _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   cam _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   ego _ cam   =   world . spawn _ actor ( cam _ bp , cam _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   ego _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' ~ / tutorial / new _ rgb _ output / %. 6d . jpg '   %   image . frame ) )   \" \" \"   #   --------------   #   Add   a   Logarithmic   Depth   camera   to   ego   vehicle .   #   --------------   \" \" \"   depth _ cam   =   None   depth _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . depth ' )   depth _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   depth _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   depth _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   depth _ location   =   carla . Location ( 2 , 0 , 1 )   depth _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   depth _ transform   =   carla . Transform ( depth _ location , depth _ rotation )   depth _ cam   =   world . spawn _ actor ( depth _ bp , depth _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   #   This   time ,   a   color   converter   is   applied   to   the   image ,   to   get   the   semantic   segmentation   view   depth _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' ~ / tutorial / de _ log / %. 6d . jpg '   %   image . frame , carla . ColorConverter . LogarithmicDepth ) )   \" \" \"   #   --------------   #   Add   a   Depth   camera   to   ego   vehicle .   #   --------------   \" \" \"   depth _ cam02   =   None   depth _ bp02   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . depth ' )   depth _ bp02 . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   depth _ bp02 . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   depth _ bp02 . set _ attribute ( \" fov \" , str ( 105 ) )   depth _ location02   =   carla . Location ( 2 , 0 , 1 )   depth _ rotation02   =   carla . Rotation ( 0 , 180 , 0 )   depth _ transform02   =   carla . Transform ( depth _ location02 , depth _ rotation02 )   depth _ cam02   =   world . spawn _ actor ( depth _ bp02 , depth _ transform02 , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   #   This   time ,   a   color   converter   is   applied   to   the   image ,   to   get   the   semantic   segmentation   view   depth _ cam02 . listen ( lambda   image :   image . save _ to _ disk ( ' ~ / tutorial / de / %. 6d . jpg '   %   image . frame , carla . ColorConverter . Depth ) )   \" \" \"   #   --------------   #   Add   a   new   semantic   segmentation   camera   to   ego   vehicle   #   --------------   \" \" \"   sem _ cam   =   None   sem _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . semantic _ segmentation ' )   sem _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   sem _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   sem _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   sem _ location   =   carla . Location ( 2 , 0 , 1 )   sem _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   sem _ transform   =   carla . Transform ( sem _ location , sem _ rotation )   sem _ cam   =   world . spawn _ actor ( sem _ bp , sem _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   #   This   time ,   a   color   converter   is   applied   to   the   image ,   to   get   the   semantic   segmentation   view   sem _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' ~ / tutorial / new _ sem _ output / %. 6d . jpg '   %   image . frame , carla . ColorConverter . CityScapesPalette ) )   \" \" \"   #   --------------   #   Add   a   new   radar   sensor   to   ego   vehicle   #   --------------   \" \" \"   rad _ cam   =   None   rad _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . radar ' )   rad _ bp . set _ attribute ( ' horizontal _ fov ' ,   str ( 35 ) )   rad _ bp . set _ attribute ( ' vertical _ fov ' ,   str ( 20 ) )   rad _ bp . set _ attribute ( ' range ' ,   str ( 20 ) )   rad _ location   =   carla . Location ( x = 2.8 ,   z = 1.0 )   rad _ rotation   =   carla . Rotation ( pitch = 5 )   rad _ transform   =   carla . Transform ( rad _ location , rad _ rotation )   rad _ ego   =   world . spawn _ actor ( rad _ bp , rad _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   rad _ callback ( radar _ data ) :   velocity _ range   =   7.5   #   m / s   current _ rot   =   radar _ data . transform . rotation   for   detect   in   radar _ data :   azi   =   math . degrees ( detect . azimuth )   alt   =   math . degrees ( detect . altitude )   #   The   0.25   adjusts   a   bit   the   distance   so   the   dots   can   #   be   properly   seen   fw _ vec   =   carla . Vector3D ( x = detect . depth   -   0.25 )   carla . Transform (   carla . Location ( ) ,   carla . Rotation (   pitch = current _ rot . pitch   +   alt ,   yaw = current _ rot . yaw   +   azi ,   roll = current _ rot . roll ) ) . transform ( fw _ vec )   def   clamp ( min _ v ,   max _ v ,   value ) :   return   max ( min _ v ,   min ( value ,   max _ v ) )   norm _ velocity   =   detect . velocity   /   velocity _ range   #   range   [ - 1 ,   1 ]   r   =   int ( clamp ( 0.0 ,   1.0 ,   1.0   -   norm _ velocity )   *   255.0 )   g   =   int ( clamp ( 0.0 ,   1.0 ,   1.0   -   abs ( norm _ velocity ) )   *   255.0 )   b   =   int ( abs ( clamp ( -   1.0 ,   0.0 ,   -   1.0   -   norm _ velocity ) )   *   255.0 )   world . debug . draw _ point (   radar _ data . transform . location   +   fw _ vec ,   size = 0.075 ,   life _ time = 0.06 ,   persistent _ lines = False ,   color = carla . Color ( r ,   g ,   b ) )   rad _ ego . listen ( lambda   radar _ data :   rad _ callback ( radar _ data ) )   \" \" \"   #   --------------   #   Add   a   new   LIDAR   sensor   to   ego   vehicle   #   --------------   \" \" \"   lidar _ cam   =   None   lidar _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . lidar . ray _ cast ' )   lidar _ bp . set _ attribute ( ' channels ' , str ( 32 ) )   lidar _ bp . set _ attribute ( ' points _ per _ second ' , str ( 90000 ) )   lidar _ bp . set _ attribute ( ' rotation _ frequency ' , str ( 40 ) )   lidar _ bp . set _ attribute ( ' range ' , str ( 20 ) )   lidar _ location   =   carla . Location ( 0 , 0 , 2 )   lidar _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   lidar _ transform   =   carla . Transform ( lidar _ location , lidar _ rotation )   lidar _ sen   =   world . spawn _ actor ( lidar _ bp , lidar _ transform , attach _ to = ego _ vehicle , attachment _ type = carla . AttachmentType . Rigid )   lidar _ sen . listen ( lambda   point _ cloud :   point _ cloud . save _ to _ disk ( ' / home / adas / Desktop / tutorial / new _ lidar _ output / %. 6d . ply '   %   point _ cloud . frame ) )   \" \" \"   #   --------------   #   Game   loop .   Prevents   the   script   from   finishing .   #   --------------   while   True :   world _ snapshot   =   world . wait _ for _ tick ( )   finally :   #   --------------   #   Destroy   actors   #   --------------   if   ego _ vehicle   is   not   None :   if   ego _ cam   is   not   None :   ego _ cam . stop ( )   ego _ cam . destroy ( )   if   depth _ cam   is   not   None :   depth _ cam . stop ( )   depth _ cam . destroy ( )   if   sem _ cam   is   not   None :   sem _ cam . stop ( )   sem _ cam . destroy ( )   if   rad _ ego   is   not   None :   rad _ ego . stop ( )   rad _ ego . destroy ( )   if   lidar _ sen   is   not   None :   lidar _ sen . stop ( )   lidar _ sen . destroy ( )   ego _ vehicle . destroy ( )   print ( ' \\ nNothing   to   be   done . ' )   if   __ name __   = =   ' __ main __ ' :   try :   main ( )   except   KeyboardInterrupt :   pass   finally :   print ( ' \\ nDone   with   tutorial _ replay . ' )   \u8fd9\u662f \u5173\u4e8e \u5982\u4f55 \u4ece \u4eff\u771f \u4e2d \u6b63\u786e \u68c0\u7d22 \u6570\u636e \u7684 \u603b\u7ed3 \u3002 \u786e\u4fdd \u5c1d\u8bd5 \u4e00\u4e0b \uff0c \u6539\u53d8 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u6761\u4ef6 \uff0c \u5c1d\u8bd5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e \u3002 \u53ef\u80fd \u53ef\u80fd\u6027 \u662f \u6b62\u5883 \u65e0\u6b62\u5883 \u3002   \u8bf7 \u8bbf\u95ee \u8bba\u575b \uff0c \u53d1\u8868 \u5728 \u9605\u8bfb \u8fc7\u7a0b \u4e2d \u60f3\u5230 \u7684 \u4efb\u4f55 \u7591\u95ee \u6216 \u5efa\u8bae \u3002   Carla   \u8bba\u575b","title":"\u6559\u7a0b \u811a\u672c  "},{"location":"tuto_G_rllib_integration/","text":"RLlib   \u96c6\u6210   RLlib   \u96c6\u6210 \u5e26\u6765 \u4e86   Ray / RLlib   \u5e93 \u548c   Carla   \u4e4b\u95f4 \u7684 \u652f\u6301 \uff0c \u5141\u8bb8 \u8f7b\u677e \u4f7f\u7528   Carla   \u73af\u5883 \u8fdb\u884c \u8bad\u7ec3 \u548c \u63a8\u7406 \u3002 Ray   \u662f \u4e00\u4e2a \u5f00\u6e90 \u6846\u67b6 \uff0c \u4e3a \u6784\u5efa \u5206\u5e03 \u5e03\u5f0f \u5e94\u7528 \u5206\u5e03\u5f0f \u5206\u5e03\u5f0f\u5e94\u7528 \u7a0b\u5e8f \u63d0\u4f9b \u4e86 \u7b80\u5355 \u3001 \u901a\u7528 \u7684   API \u3002 Ray   \u4e0e   RLlib \uff08 \u4e00\u4e2a \u53ef \u6269\u5c55 \u7684 \u5f3a\u5316 \u5b66\u4e60 \u5e93 \uff09 \u548c   Tune \uff08 \u4e00\u4e2a \u53ef \u6269\u5c55 \u7684 \u8d85 \u53c2\u6570 \u8c03\u6574 \u5e93 \uff09 \u6253\u5305 \u5728 \u4e00\u8d77 \u3002   RLlib   \u96c6\u6210 \u5141\u8bb8 \u7528\u6237 \u521b\u5efa \u548c \u4f7f\u7528   Carla   \u4f5c\u4e3a   Ray   \u7684 \u73af\u5883 \uff0c \u5e76 \u5c06 \u8be5 \u73af\u5883 \u7528\u4e8e \u8bad\u7ec3 \u548c \u63a8\u7406 \u76ee\u7684 \u3002 \u8be5 \u96c6\u6210 \u53ef\u4ee5 \u5728 \u672c\u5730 \u4f7f\u7528 \uff0c \u4e5f \u53ef\u4ee5 \u901a\u8fc7   AWS   \u5728 \u4e91\u4e2d \u4f7f\u7528 \u3002   \u5728 \u672c \u6307\u5357 \u4e2d \uff0c \u6211\u4eec \u5c06 \u6982\u8ff0 \u5728 \u672c\u5730 \u548c   AWS   \u4e0a \u8fd0\u884c   RLlib   \u96c6\u6210 \u6240 \u9700 \u7684 \u8981\u6c42 \u3001 \u96c6\u6210 \u5b58\u50a8 \u5e93 \u7684 \u7ed3\u6784 \u3001 \u5982\u4f55 \u4f7f\u7528 \u8be5\u5e93 \u7684 \u6982\u8ff0 \uff0c \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528   Carla   \u8bbe\u7f6e   Ray   \u5b9e\u9a8c \u7684 \u793a\u4f8b \u4e00\u4e2a \u73af\u5883 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u672c\u5730 \u8fd0\u884c \u7684 \u8981\u6c42   \u5728   AWS   \u4e91\u4e0a \u8fd0\u884c \u7684 \u8981\u6c42   RLlib   \u4ed3\u5e93 \u7ed3\u6784   \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c   \u5b9e\u9a8c \u7c7b   \u73af\u5883 \u914d\u7f6e   \u8bad\u7ec3 \u548c \u63a8\u7406 \u811a\u672c   DQN   \u793a\u4f8b   \u5728   AWS   \u4e0a \u8fd0\u884c   \u914d\u7f6e   AWS   \u521b\u5efa \u8bad\u7ec3   AMI   \u914d\u7f6e \u96c6\u7fa4   \u8fd0\u884c \u8bad\u7ec3   \u5728   AWS   \u4e0a \u8fd0\u884c   DQN   \u793a\u4f8b   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u4ece   GitHub   \u4e0b\u8f7d   RLlib   \u96c6\u6210 \u6216 \u76f4\u63a5 \u514b\u9686 \u4ed3\u5e93 \uff1a   git   clone   https : / / github . com / carla - simulator / rllib - integration . git   \u8981\u6c42 \u4f1a \u6709\u6240 \u4e0d\u540c \u6709\u6240\u4e0d\u540c \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u662f \u5728 \u672c\u5730 \u8fd0\u884c \u8fd8\u662f \u5728   AWS   \u4e0a \u8fd0\u884c \uff1a   \u672c\u5730 \u8fd0\u884c \u7684 \u8981\u6c42   \u5b89\u88c5   Carla   \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u7248\u672c   \u5e76 \u5bfc\u5165   \u9644\u52a0 \u8d44\u6e90   \u3002   \u63a8\u8350 \u7684 \u7248\u672c \u662f   Carla   0.9 . 11   \uff0c \u56e0\u4e3a \u96c6\u6210 \u662f \u4f7f\u7528 \u6b64 \u7248\u672c \u8bbe\u8ba1 \u548c \u6d4b\u8bd5 \u7684 \u3002 \u5176\u4ed6 \u7248\u672c \u53ef\u80fd \u517c\u5bb9 \uff0c \u4f46 \u5c1a\u672a \u7ecf\u8fc7 \u5145\u5206 \u6d4b\u8bd5 \uff0c \u56e0\u6b64 \u8bf7 \u81ea\u884c \u51b3\u5b9a \u81ea\u884c\u51b3\u5b9a \u4f7f\u7528 \u8fd9\u4e9b \u7248\u672c \u3002   \u5bfc\u822a \u5230   RLlib   \u96c6\u6210 \u5b58\u50a8 \u5e93 \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u5b89\u88c5   Python   \u8981\u6c42 \uff1a   pip3   install   - r   requirements . txt   \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u4ee5 \u67e5\u627e   Carla   \u5305 \u6216 \u6dfb\u52a0   CARLA _ ROOT = path / to / carla   \u5230 \u60a8 \u7684   . bashrc   \u6587\u4ef6 \u4e2d \uff1a   export   CARLA _ ROOT = path / to / carla   \u5728   AWS   \u4e91\u4e0a \u8fd0\u884c \u7684 \u8981\u6c42   \u5728   RLlib   \u96c6\u6210 \u5b58\u50a8 \u5e93\u4e2d \u627e\u5230 \u7684 \u5b89\u88c5 \u811a\u672c \u4e2d \u4f1a \u81ea\u52a8 \u6ee1\u8db3 \u5728   AWS   \u4e0a \u8fd0\u884c \u7684 \u8981\u6c42 \u3002   \u5728 \u201c \u5728   AWS   \u4e0a \u8fd0\u884c \u201d   \u90e8\u5206 \u4e2d \u67e5\u627e \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   RLlib   \u5b58\u50a8 \u5e93 \u7ed3\u6784   \u5b58\u50a8 \u5e93 \u5206\u4e3a \u4e09\u4e2a \u76ee\u5f55 \uff1a   rllib _ integration   \u5305\u542b \u4e0e   Carla   \u76f8\u5173 \u7684 \u6240\u6709 \u57fa\u7840 \u8bbe\u65bd \u57fa\u7840\u8bbe\u65bd \u4ee5\u53ca \u5982\u4f55 \u8bbe\u7f6e   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3001 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u8fd9 \u63d0\u4f9b \u4e86 \u6240\u6709 \u8bad\u7ec3 \u548c \u6d4b\u8bd5 \u5b9e\u9a8c \u5fc5\u987b \u9075\u5faa \u7684 \u57fa\u672c \u7ed3\u6784 \u3002   aws   \u5177\u6709 \u5728   AWS   \u5b9e\u4f8b \u4e2d \u8fd0\u884c \u6240 \u9700 \u7684 \u6587\u4ef6 \u3002   aws _ helper . py   \u63d0\u4f9b \u4e86 \u591a\u79cd \u7b80\u5316 \u53ef\u7b80\u5316   EC2   \u5b9e\u4f8b \u7ba1\u7406 \u7684 \u529f\u80fd \uff0c \u5305\u62ec \u5b9e\u4f8b \u521b\u5efa \u4ee5\u53ca \u53d1\u9001 \u548c \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \u3002   \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e2d \u7684   dqn _ example   \u548c   dqn _ *   \u6587\u4ef6 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u6613\u4e8e \u7406\u89e3 \u7684 \u793a\u4f8b \uff0c \u8bf4\u660e \u5982\u4f55 \u4f7f\u7528   Carla   \u4f5c\u4e3a \u73af\u5883 \u6765 \u8bbe\u7f6e   Ray   \u5b9e\u9a8c \u3002   \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c   \u672c \u8282 \u6982\u8ff0 \u4e86 \u5982\u4f55 \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c \u3002 \u66f4 \u5177\u4f53 \u7684 \u793a\u4f8b \u8bf7 \u53c2\u89c1 \u4e0b \u4e00\u8282   \u201c DQN   \u793a\u4f8b \u201d   \u3002   \u60a8 \u5c06 \u9700\u8981 \u521b\u5efa \u81f3\u5c11 \u56db\u4e2a \u6587\u4ef6 \uff1a   \u5b9e\u9a8c \u7c7b   \u73af\u5883 \u914d\u7f6e   \u8bad\u7ec3 \u548c \u63a8\u7406 \u811a\u672c   1 .   \u5b9e\u9a8c \u7c7b   \u8981 \u4f7f\u7528   Carla   \u73af\u5883 \uff0c \u60a8 \u9700\u8981 \u5b9a\u4e49 \u8bad\u7ec3 \u5b9e\u9a8c \u3002 Ray   \u8981\u6c42 \u73af\u5883 \u8fd4\u56de \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7279\u5b9a \u4fe1\u606f \u3002 \u60a8 \u53ef\u4ee5 \u5728   rllib - integration / rllib _ integration / carla _ env . py   \u4e2d \u67e5\u770b \u6709\u5173   Carla   \u73af\u5883 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   Ray   \u6240 \u9700 \u7684 \u4fe1\u606f \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684 \u5177\u4f53 \u5b9e\u9a8c \uff0c \u56e0\u6b64 \u6240\u6709 \u5b9e\u9a8c \u90fd \u5e94 \u7ee7\u627f \u81ea   BaseExperiment   \u3002 \u6b64\u7c7b \u5305\u542b \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c \u9700\u8981 \u8986\u76d6 \u7684 \u6240\u6709 \u51fd\u6570 \u3002 \u8fd9\u4e9b \u90fd \u662f \u4e0e \u8bad\u7ec3 \u7684 \u884c\u52a8 \u3001 \u89c2\u5bdf \u548c \u5956\u52b1 \u76f8\u5173 \u7684 \u529f\u80fd \u3002   2 .   \u73af\u5883 \u914d\u7f6e   \u5b9e\u9a8c \u5e94\u8be5 \u901a\u8fc7   . yaml   \u6587\u4ef6 \u8fdb\u884c \u914d\u7f6e \u3002 \u901a\u8fc7 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u4f20\u9012 \u7684 \u4efb\u4f55 \u8bbe\u7f6e \u90fd \u5c06 \u8986\u76d6 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u3002 \u4e0b\u9762 \u89e3\u91ca \u4e86 \u4e0d\u540c \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u7684 \u4f4d\u7f6e \u3002   \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u6709 \u4e09\u4e2a \u4e3b\u8981 \u8981\u7528 \u7528\u9014 \u4e3b\u8981\u7528\u9014 \uff1a   \u8bbe\u7f6e \u5927\u90e8 \u90e8\u5206 \u5927\u90e8\u5206   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bbe\u7f6e \uff0c \u4f8b\u5982 \u8d85\u65f6 \u6216 \u5730\u56fe \u8d28\u91cf \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u6b64\u5904   \u7684 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002   \u8bbe\u7f6e \u7279\u5b9a \u4e8e \u60a8 \u7684 \u5b9e\u9a8c \u7684 \u53d8\u91cf \uff0c \u4ee5\u53ca \u6307\u5b9a \u57ce\u9547 \u6761\u4ef6 \u4ee5\u53ca \u81ea\u6211 \u8f66\u8f86 \u53ca\u5176 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u751f\u6210 \u3002 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u53ef \u5728   \u6b64\u5904   \u627e\u5230 \uff0c \u5e76 \u63d0\u4f9b \u5982\u4f55 \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u793a\u4f8b \u3002   \u914d\u7f6e \u7279\u5b9a \u4e8e   Ray   \u7684 \u8bad\u7ec3   \u8bbe\u7f6e \u3002 \u8fd9\u4e9b \u8bbe\u7f6e \u4e0e \u6240 \u4f7f\u7528 \u7684 \u7279\u5b9a \u8bad\u7ec3 \u8bad\u7ec3\u5668 \u76f8\u5173 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f \u5185\u7f6e \u6a21\u578b \uff0c \u5219 \u53ef\u4ee5 \u5728 \u6b64\u5904 \u5e94\u7528 \u5176 \u8bbe\u7f6e \u3002   3 .   \u8bad\u7ec3 \u548c \u63a8\u7406 \u811a\u672c   \u6700\u540e \u4e00\u6b65 \u662f \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u8bad\u7ec3 \u548c \u63a8\u7406 \u811a\u672c \u3002 \u8fd9\u90e8 \u90e8\u5206 \u8fd9\u90e8\u5206 \u5b8c\u5168 \u7531 \u60a8 \u51b3\u5b9a \uff0c \u5e76\u4e14 \u4f9d\u8d56 \u8d56\u4e8e \u4f9d\u8d56\u4e8e   Ray   API \u3002 \u5982\u679c \u60a8 \u60f3 \u521b\u5efa \u81ea\u5df1 \u7684 \u7279\u5b9a \u6a21\u578b \uff0c \u8bf7 \u67e5\u770b   Ray   \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6a21\u578b \u6587\u6863   \u3002   DQN   \u793a\u4f8b   \u672c \u8282 \u4ee5\u4e0a \u4e00\u8282 \u4e3a \u57fa\u7840 \uff0c \u5c55\u793a \u5982\u4f55 \u4f7f\u7528   BirdView   pseudosensor   \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c   Ray   \u7684   DQNTrainer   \u8fdb\u884c   RLlib   \u96c6\u6210 \u7684 \u5177\u4f53 \u793a\u4f8b \u3002   DQN \u793a\u4f8b \u7684 \u7ed3\u6784 \u5982\u4e0b \uff1a   \u5b9e\u9a8c \u7c7b   :   DQNExperiment   \uff0c \u8986\u76d6   BaseExperiment   \u7c7b \u7684 \u65b9\u6cd5 \u3002   \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6   :   dqn _ example / dqn _ config . yaml   \u8bad\u7ec3 \u6587\u4ef6   :   dqn _ train . py   \u63a8\u7406 \u6587\u4ef6   :   \u6709   Ray   :   dqn _ inference _ ray . py   \u6ca1\u6709   Ray   :   dqn _ inference . py   \u8981 \u5728 \u672c\u5730 \u8fd0\u884c \u8be5 \u793a\u4f8b \uff1a   \u5b89\u88c5   pytorch :   pip3   install   - r   dqn _ example / dqn _ requirements . txt   \u8fd0\u884c \u8bad\u7ec3 \u6587\u4ef6 \uff1a   python3   dqn _ train . py   dqn _ example / dqn _ config . yaml   -- name   dqn   \u7b14\u8bb0   \u9ed8\u8ba4 \u914d\u7f6e \u4f7f\u7528   1   \u4e2a   GPU   \u548c   12   \u4e2a   CPU \uff0c \u56e0\u6b64 \u5982\u679c \u60a8 \u7684 \u672c\u5730 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u6ca1\u6709 \u8be5 \u5bb9\u91cf \uff0c \u8bf7 \u51cf\u5c0f   \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6   \u4e2d \u7684 \u6570\u5b57 \u3002   \u5982\u679c \u9047\u5230 \u5185\u5b58 \u4e0d\u8db3 \u5185\u5b58\u4e0d\u8db3 \u95ee\u9898 \uff0c \u8bf7 \u8003\u8651 \u51cf\u5c11 \u8be5   buffer _ size   \u53c2\u6570 \u3002   \u5728   AWS   \u4e0a \u8fd0\u884c   \u672c \u8282 \u4ecb\u7ecd \u5982\u4f55 \u4f7f\u7528   RLlib   \u96c6\u6210 \u5728   AWS   EC2   \u5b9e\u4f8b \u4e0a \u81ea\u52a8 \u8fd0\u884c \u8bad\u7ec3 \u548c \u63a8\u7406 \u3002 \u4e3a\u4e86 \u5904\u7406 \u5b9e\u4f8b \u7684 \u7f29\u653e \uff0c \u6211\u4eec \u4f7f\u7528   Ray   autoscaler   API   \u3002   \u914d\u7f6e   AWS   \u60a8 \u9700\u8981 \u6b63\u786e \u914d\u7f6e   boto3   \u73af\u5883 \u3002 \u8bf7 \u70b9\u51fb   \u6b64\u5904   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u521b\u5efa \u8bad\u7ec3   AMI   \u4f7f\u7528 \u63d0\u4f9b \u7684   aws _ helper . py   \u811a\u672c \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u81ea\u52a8 \u521b\u5efa \u8bad\u7ec3 \u6240 \u9700 \u7684 \u6620\u50cf \uff0c \u5e76 \u4f20\u5165 \u57fa\u7840 \u6620\u50cf \u7684 \u540d\u79f0 \u548c   install . sh   \u5728 \u4ee5\u4e0b \u4f4d\u7f6e   rllib - integration / aws / install   \u627e\u5230 \u7684 \u5b89\u88c5 \u811a\u672c \uff1a   python3   aws _ helper . py   create - image   -- name   < AMI - name >   -- installation - scripts   < installation - scripts >   -- instance - type   < instance - type >   -- volume - size   < volume - size >   \u914d\u7f6e \u96c6\u7fa4   \u521b\u5efa \u56fe\u50cf \u540e \uff0c \u5c06\u4f1a \u8f93\u51fa \u5e26\u6709 \u56fe\u50cf \u4fe1\u606f \u7684 \u8f93\u51fa \u3002 \u8981 \u4f7f\u7528   Ray   \u81ea\u52a8 \u7f29\u653e \u5668 \uff0c \u8bf7 \u4f7f\u7528 \u8f93\u51fa \u4e2d \u7684 \u4fe1\u606f \u66f4\u65b0   autoscaler   configuration   file   \u4e2d \u7684   < ImageId >   \u548c   < SecurityGroupIds >   \u8bbe\u7f6e \u3002   \u8fd0\u884c \u8bad\u7ec3   \u521b\u5efa \u955c\u50cf \u540e \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528   Ray   \u7684   API   \u5728 \u96c6\u7fa4 \u4e0a \u8fd0\u884c \u8bad\u7ec3 \uff1a   \u521d\u59cb \u521d\u59cb\u5316 \u96c6\u7fa4 \uff1a   ray   up   < autoscaler _ configuration _ file >   \uff08 \u53ef \u9009 \uff09 \u5982\u679c \u96c6\u7fa4 \u521d\u59cb \u521d\u59cb\u5316 \u540e \u672c\u5730 \u4ee3\u7801 \u88ab \u4fee\u6539 \uff0c \u8bf7 \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \u66f4\u65b0 \uff1a   ray   rsync - up   < autoscaler _ configuration _ file >   < path _ to _ local _ folder >   < path _ to _ remote _ folder >   \u8fd0\u884c \u8bad\u7ec3 \uff1a   ray   submit   < autoscaler _ configuration _ file >   < training _ file >   \uff08 \u53ef \u9009 \uff09 \u76d1\u63a7 \u96c6\u7fa4 \u72b6\u6001 \uff1a   ray   attach   < autoscaler _ configuration _ file >   watch   - n   1   ray   status   \u5173\u95ed \u96c6\u7fa4 \uff1a   ray   down   < autoscaler _ configuration _ file >   \u5728   AWS   \u4e0a \u8fd0\u884c   DQN   \u793a\u4f8b   \u8981 \u5728   AWS   \u4e0a \u8fd0\u884c   DQN   \u793a\u4f8b \uff1a   \u901a\u8fc7 \u5c06   dqn _ example / dqn _ autoscaler . yaml   \u914d\u7f6e \u4f20\u9012 \u7ed9 \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u521b\u5efa \u6620\u50cf \uff1a   python3   aws _ helper . py   create - image   -- name   < AMI - name >   -- installation - scripts   install / install . sh   -- instance - type   < instance - type >   -- volume - size   < volume - size >   \u4f7f\u7528 \u4e0a \u4e00\u4e2a \u547d\u4ee4   dqn _ autoscaler . yaml   \u63d0\u4f9b \u7684 \u4fe1\u606f \u66f4\u65b0   < ImageId >   \u548c   < SecurityGroupIds >   \u8bbe\u7f6e \u3002   \u521d\u59cb \u521d\u59cb\u5316 \u96c6\u7fa4 \uff1a   ray   up   dqn _ example / dqn _ autoscaler . yaml   \uff08 \u53ef \u9009 \uff09 \u4f7f\u7528 \u672c\u5730 \u66f4\u6539 \u66f4\u65b0 \u8fdc\u7a0b \u6587\u4ef6 \uff1a   ray   rsync - up   dqn _ example / dqn _ autoscaler . yaml   dqn _ example   .   ray   rsync - up   dqn _ example / dqn _ autoscaler . yaml   rllib _ integration   .   \u8fd0\u884c \u8bad\u7ec3 \uff1a   ray   submit   dqn _ example / dqn _ autoscaler . yaml   dqn _ train . py   --   dqn _ example / dqn _ config . yaml   -- auto   6 . \uff08 \u53ef \u9009 \uff09 \u76d1\u63a7 \u96c6\u7fa4 \u72b6\u6001 \uff1a   ray   attach   dqn _ example / dqn _ autoscaler . yaml   watch   - n   1   ray   status   \u5173\u95ed \u96c6\u7fa4 \uff1a   ray   down   dqn _ example / dqn _ autoscaler . yaml   \u672c \u6307\u5357 \u6982\u8ff0 \u4e86 \u5982\u4f55 \u5728   AWS   \u548c \u672c\u5730 \u8ba1\u7b97 \u7b97\u673a \u673a\u4e0a \u5b89\u88c5 \u8ba1\u7b97\u673a \u8ba1\u7b97\u673a\u4e0a\u5b89\u88c5 \u548c \u8fd0\u884c   RLlib   \u96c6\u6210 \u3002 \u5982\u679c \u60a8 \u5bf9 \u672c \u6307\u5357 \u6709 \u4efb\u4f55 \u7591\u95ee \u6216 \u9047\u5230 \u4efb\u4f55 \u95ee\u9898 \uff0c \u8bf7 \u968f\u65f6 \u5728   \u8bba\u575b   \u4e2d \u53d1\u5e16 \u6216 \u5728   GitHub   \u4e0a \u63d0\u51fa \u95ee\u9898 \u3002","title":"RLlib   \u96c6\u6210"},{"location":"tuto_G_rllib_integration/#rllib","text":"RLlib   \u96c6\u6210 \u5e26\u6765 \u4e86   Ray / RLlib   \u5e93 \u548c   Carla   \u4e4b\u95f4 \u7684 \u652f\u6301 \uff0c \u5141\u8bb8 \u8f7b\u677e \u4f7f\u7528   Carla   \u73af\u5883 \u8fdb\u884c \u8bad\u7ec3 \u548c \u63a8\u7406 \u3002 Ray   \u662f \u4e00\u4e2a \u5f00\u6e90 \u6846\u67b6 \uff0c \u4e3a \u6784\u5efa \u5206\u5e03 \u5e03\u5f0f \u5e94\u7528 \u5206\u5e03\u5f0f \u5206\u5e03\u5f0f\u5e94\u7528 \u7a0b\u5e8f \u63d0\u4f9b \u4e86 \u7b80\u5355 \u3001 \u901a\u7528 \u7684   API \u3002 Ray   \u4e0e   RLlib \uff08 \u4e00\u4e2a \u53ef \u6269\u5c55 \u7684 \u5f3a\u5316 \u5b66\u4e60 \u5e93 \uff09 \u548c   Tune \uff08 \u4e00\u4e2a \u53ef \u6269\u5c55 \u7684 \u8d85 \u53c2\u6570 \u8c03\u6574 \u5e93 \uff09 \u6253\u5305 \u5728 \u4e00\u8d77 \u3002   RLlib   \u96c6\u6210 \u5141\u8bb8 \u7528\u6237 \u521b\u5efa \u548c \u4f7f\u7528   Carla   \u4f5c\u4e3a   Ray   \u7684 \u73af\u5883 \uff0c \u5e76 \u5c06 \u8be5 \u73af\u5883 \u7528\u4e8e \u8bad\u7ec3 \u548c \u63a8\u7406 \u76ee\u7684 \u3002 \u8be5 \u96c6\u6210 \u53ef\u4ee5 \u5728 \u672c\u5730 \u4f7f\u7528 \uff0c \u4e5f \u53ef\u4ee5 \u901a\u8fc7   AWS   \u5728 \u4e91\u4e2d \u4f7f\u7528 \u3002   \u5728 \u672c \u6307\u5357 \u4e2d \uff0c \u6211\u4eec \u5c06 \u6982\u8ff0 \u5728 \u672c\u5730 \u548c   AWS   \u4e0a \u8fd0\u884c   RLlib   \u96c6\u6210 \u6240 \u9700 \u7684 \u8981\u6c42 \u3001 \u96c6\u6210 \u5b58\u50a8 \u5e93 \u7684 \u7ed3\u6784 \u3001 \u5982\u4f55 \u4f7f\u7528 \u8be5\u5e93 \u7684 \u6982\u8ff0 \uff0c \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528   Carla   \u8bbe\u7f6e   Ray   \u5b9e\u9a8c \u7684 \u793a\u4f8b \u4e00\u4e2a \u73af\u5883 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u672c\u5730 \u8fd0\u884c \u7684 \u8981\u6c42   \u5728   AWS   \u4e91\u4e0a \u8fd0\u884c \u7684 \u8981\u6c42   RLlib   \u4ed3\u5e93 \u7ed3\u6784   \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c   \u5b9e\u9a8c \u7c7b   \u73af\u5883 \u914d\u7f6e   \u8bad\u7ec3 \u548c \u63a8\u7406 \u811a\u672c   DQN   \u793a\u4f8b   \u5728   AWS   \u4e0a \u8fd0\u884c   \u914d\u7f6e   AWS   \u521b\u5efa \u8bad\u7ec3   AMI   \u914d\u7f6e \u96c6\u7fa4   \u8fd0\u884c \u8bad\u7ec3   \u5728   AWS   \u4e0a \u8fd0\u884c   DQN   \u793a\u4f8b","title":"RLlib   \u96c6\u6210"},{"location":"tuto_G_rllib_integration/#_1","text":"\u4ece   GitHub   \u4e0b\u8f7d   RLlib   \u96c6\u6210 \u6216 \u76f4\u63a5 \u514b\u9686 \u4ed3\u5e93 \uff1a   git   clone   https : / / github . com / carla - simulator / rllib - integration . git   \u8981\u6c42 \u4f1a \u6709\u6240 \u4e0d\u540c \u6709\u6240\u4e0d\u540c \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u662f \u5728 \u672c\u5730 \u8fd0\u884c \u8fd8\u662f \u5728   AWS   \u4e0a \u8fd0\u884c \uff1a","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"tuto_G_rllib_integration/#_2","text":"\u5b89\u88c5   Carla   \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u7248\u672c   \u5e76 \u5bfc\u5165   \u9644\u52a0 \u8d44\u6e90   \u3002   \u63a8\u8350 \u7684 \u7248\u672c \u662f   Carla   0.9 . 11   \uff0c \u56e0\u4e3a \u96c6\u6210 \u662f \u4f7f\u7528 \u6b64 \u7248\u672c \u8bbe\u8ba1 \u548c \u6d4b\u8bd5 \u7684 \u3002 \u5176\u4ed6 \u7248\u672c \u53ef\u80fd \u517c\u5bb9 \uff0c \u4f46 \u5c1a\u672a \u7ecf\u8fc7 \u5145\u5206 \u6d4b\u8bd5 \uff0c \u56e0\u6b64 \u8bf7 \u81ea\u884c \u51b3\u5b9a \u81ea\u884c\u51b3\u5b9a \u4f7f\u7528 \u8fd9\u4e9b \u7248\u672c \u3002   \u5bfc\u822a \u5230   RLlib   \u96c6\u6210 \u5b58\u50a8 \u5e93 \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u5b89\u88c5   Python   \u8981\u6c42 \uff1a   pip3   install   - r   requirements . txt   \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u4ee5 \u67e5\u627e   Carla   \u5305 \u6216 \u6dfb\u52a0   CARLA _ ROOT = path / to / carla   \u5230 \u60a8 \u7684   . bashrc   \u6587\u4ef6 \u4e2d \uff1a   export   CARLA _ ROOT = path / to / carla","title":"\u672c\u5730 \u8fd0\u884c \u7684 \u8981\u6c42  "},{"location":"tuto_G_rllib_integration/#aws","text":"\u5728   RLlib   \u96c6\u6210 \u5b58\u50a8 \u5e93\u4e2d \u627e\u5230 \u7684 \u5b89\u88c5 \u811a\u672c \u4e2d \u4f1a \u81ea\u52a8 \u6ee1\u8db3 \u5728   AWS   \u4e0a \u8fd0\u884c \u7684 \u8981\u6c42 \u3002   \u5728 \u201c \u5728   AWS   \u4e0a \u8fd0\u884c \u201d   \u90e8\u5206 \u4e2d \u67e5\u627e \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002","title":"\u5728   AWS   \u4e91\u4e0a \u8fd0\u884c \u7684 \u8981\u6c42  "},{"location":"tuto_G_rllib_integration/#rllib_1","text":"\u5b58\u50a8 \u5e93 \u5206\u4e3a \u4e09\u4e2a \u76ee\u5f55 \uff1a   rllib _ integration   \u5305\u542b \u4e0e   Carla   \u76f8\u5173 \u7684 \u6240\u6709 \u57fa\u7840 \u8bbe\u65bd \u57fa\u7840\u8bbe\u65bd \u4ee5\u53ca \u5982\u4f55 \u8bbe\u7f6e   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3001 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u8fd9 \u63d0\u4f9b \u4e86 \u6240\u6709 \u8bad\u7ec3 \u548c \u6d4b\u8bd5 \u5b9e\u9a8c \u5fc5\u987b \u9075\u5faa \u7684 \u57fa\u672c \u7ed3\u6784 \u3002   aws   \u5177\u6709 \u5728   AWS   \u5b9e\u4f8b \u4e2d \u8fd0\u884c \u6240 \u9700 \u7684 \u6587\u4ef6 \u3002   aws _ helper . py   \u63d0\u4f9b \u4e86 \u591a\u79cd \u7b80\u5316 \u53ef\u7b80\u5316   EC2   \u5b9e\u4f8b \u7ba1\u7406 \u7684 \u529f\u80fd \uff0c \u5305\u62ec \u5b9e\u4f8b \u521b\u5efa \u4ee5\u53ca \u53d1\u9001 \u548c \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \u3002   \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e2d \u7684   dqn _ example   \u548c   dqn _ *   \u6587\u4ef6 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u6613\u4e8e \u7406\u89e3 \u7684 \u793a\u4f8b \uff0c \u8bf4\u660e \u5982\u4f55 \u4f7f\u7528   Carla   \u4f5c\u4e3a \u73af\u5883 \u6765 \u8bbe\u7f6e   Ray   \u5b9e\u9a8c \u3002","title":"RLlib   \u5b58\u50a8 \u5e93 \u7ed3\u6784  "},{"location":"tuto_G_rllib_integration/#_3","text":"\u672c \u8282 \u6982\u8ff0 \u4e86 \u5982\u4f55 \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c \u3002 \u66f4 \u5177\u4f53 \u7684 \u793a\u4f8b \u8bf7 \u53c2\u89c1 \u4e0b \u4e00\u8282   \u201c DQN   \u793a\u4f8b \u201d   \u3002   \u60a8 \u5c06 \u9700\u8981 \u521b\u5efa \u81f3\u5c11 \u56db\u4e2a \u6587\u4ef6 \uff1a   \u5b9e\u9a8c \u7c7b   \u73af\u5883 \u914d\u7f6e   \u8bad\u7ec3 \u548c \u63a8\u7406 \u811a\u672c","title":"\u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c  "},{"location":"tuto_G_rllib_integration/#1","text":"\u8981 \u4f7f\u7528   Carla   \u73af\u5883 \uff0c \u60a8 \u9700\u8981 \u5b9a\u4e49 \u8bad\u7ec3 \u5b9e\u9a8c \u3002 Ray   \u8981\u6c42 \u73af\u5883 \u8fd4\u56de \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7279\u5b9a \u4fe1\u606f \u3002 \u60a8 \u53ef\u4ee5 \u5728   rllib - integration / rllib _ integration / carla _ env . py   \u4e2d \u67e5\u770b \u6709\u5173   Carla   \u73af\u5883 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   Ray   \u6240 \u9700 \u7684 \u4fe1\u606f \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684 \u5177\u4f53 \u5b9e\u9a8c \uff0c \u56e0\u6b64 \u6240\u6709 \u5b9e\u9a8c \u90fd \u5e94 \u7ee7\u627f \u81ea   BaseExperiment   \u3002 \u6b64\u7c7b \u5305\u542b \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c \u9700\u8981 \u8986\u76d6 \u7684 \u6240\u6709 \u51fd\u6570 \u3002 \u8fd9\u4e9b \u90fd \u662f \u4e0e \u8bad\u7ec3 \u7684 \u884c\u52a8 \u3001 \u89c2\u5bdf \u548c \u5956\u52b1 \u76f8\u5173 \u7684 \u529f\u80fd \u3002","title":"1 .   \u5b9e\u9a8c \u7c7b  "},{"location":"tuto_G_rllib_integration/#2","text":"\u5b9e\u9a8c \u5e94\u8be5 \u901a\u8fc7   . yaml   \u6587\u4ef6 \u8fdb\u884c \u914d\u7f6e \u3002 \u901a\u8fc7 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u4f20\u9012 \u7684 \u4efb\u4f55 \u8bbe\u7f6e \u90fd \u5c06 \u8986\u76d6 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u3002 \u4e0b\u9762 \u89e3\u91ca \u4e86 \u4e0d\u540c \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u7684 \u4f4d\u7f6e \u3002   \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u6709 \u4e09\u4e2a \u4e3b\u8981 \u8981\u7528 \u7528\u9014 \u4e3b\u8981\u7528\u9014 \uff1a   \u8bbe\u7f6e \u5927\u90e8 \u90e8\u5206 \u5927\u90e8\u5206   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bbe\u7f6e \uff0c \u4f8b\u5982 \u8d85\u65f6 \u6216 \u5730\u56fe \u8d28\u91cf \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u6b64\u5904   \u7684 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002   \u8bbe\u7f6e \u7279\u5b9a \u4e8e \u60a8 \u7684 \u5b9e\u9a8c \u7684 \u53d8\u91cf \uff0c \u4ee5\u53ca \u6307\u5b9a \u57ce\u9547 \u6761\u4ef6 \u4ee5\u53ca \u81ea\u6211 \u8f66\u8f86 \u53ca\u5176 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u751f\u6210 \u3002 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u53ef \u5728   \u6b64\u5904   \u627e\u5230 \uff0c \u5e76 \u63d0\u4f9b \u5982\u4f55 \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u793a\u4f8b \u3002   \u914d\u7f6e \u7279\u5b9a \u4e8e   Ray   \u7684 \u8bad\u7ec3   \u8bbe\u7f6e \u3002 \u8fd9\u4e9b \u8bbe\u7f6e \u4e0e \u6240 \u4f7f\u7528 \u7684 \u7279\u5b9a \u8bad\u7ec3 \u8bad\u7ec3\u5668 \u76f8\u5173 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f \u5185\u7f6e \u6a21\u578b \uff0c \u5219 \u53ef\u4ee5 \u5728 \u6b64\u5904 \u5e94\u7528 \u5176 \u8bbe\u7f6e \u3002","title":"2 .   \u73af\u5883 \u914d\u7f6e  "},{"location":"tuto_G_rllib_integration/#3","text":"\u6700\u540e \u4e00\u6b65 \u662f \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u8bad\u7ec3 \u548c \u63a8\u7406 \u811a\u672c \u3002 \u8fd9\u90e8 \u90e8\u5206 \u8fd9\u90e8\u5206 \u5b8c\u5168 \u7531 \u60a8 \u51b3\u5b9a \uff0c \u5e76\u4e14 \u4f9d\u8d56 \u8d56\u4e8e \u4f9d\u8d56\u4e8e   Ray   API \u3002 \u5982\u679c \u60a8 \u60f3 \u521b\u5efa \u81ea\u5df1 \u7684 \u7279\u5b9a \u6a21\u578b \uff0c \u8bf7 \u67e5\u770b   Ray   \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6a21\u578b \u6587\u6863   \u3002","title":"3 .   \u8bad\u7ec3 \u548c \u63a8\u7406 \u811a\u672c  "},{"location":"tuto_G_rllib_integration/#dqn","text":"\u672c \u8282 \u4ee5\u4e0a \u4e00\u8282 \u4e3a \u57fa\u7840 \uff0c \u5c55\u793a \u5982\u4f55 \u4f7f\u7528   BirdView   pseudosensor   \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c   Ray   \u7684   DQNTrainer   \u8fdb\u884c   RLlib   \u96c6\u6210 \u7684 \u5177\u4f53 \u793a\u4f8b \u3002   DQN \u793a\u4f8b \u7684 \u7ed3\u6784 \u5982\u4e0b \uff1a   \u5b9e\u9a8c \u7c7b   :   DQNExperiment   \uff0c \u8986\u76d6   BaseExperiment   \u7c7b \u7684 \u65b9\u6cd5 \u3002   \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6   :   dqn _ example / dqn _ config . yaml   \u8bad\u7ec3 \u6587\u4ef6   :   dqn _ train . py   \u63a8\u7406 \u6587\u4ef6   :   \u6709   Ray   :   dqn _ inference _ ray . py   \u6ca1\u6709   Ray   :   dqn _ inference . py   \u8981 \u5728 \u672c\u5730 \u8fd0\u884c \u8be5 \u793a\u4f8b \uff1a   \u5b89\u88c5   pytorch :   pip3   install   - r   dqn _ example / dqn _ requirements . txt   \u8fd0\u884c \u8bad\u7ec3 \u6587\u4ef6 \uff1a   python3   dqn _ train . py   dqn _ example / dqn _ config . yaml   -- name   dqn   \u7b14\u8bb0   \u9ed8\u8ba4 \u914d\u7f6e \u4f7f\u7528   1   \u4e2a   GPU   \u548c   12   \u4e2a   CPU \uff0c \u56e0\u6b64 \u5982\u679c \u60a8 \u7684 \u672c\u5730 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u6ca1\u6709 \u8be5 \u5bb9\u91cf \uff0c \u8bf7 \u51cf\u5c0f   \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6   \u4e2d \u7684 \u6570\u5b57 \u3002   \u5982\u679c \u9047\u5230 \u5185\u5b58 \u4e0d\u8db3 \u5185\u5b58\u4e0d\u8db3 \u95ee\u9898 \uff0c \u8bf7 \u8003\u8651 \u51cf\u5c11 \u8be5   buffer _ size   \u53c2\u6570 \u3002","title":"DQN   \u793a\u4f8b  "},{"location":"tuto_G_rllib_integration/#aws_1","text":"\u672c \u8282 \u4ecb\u7ecd \u5982\u4f55 \u4f7f\u7528   RLlib   \u96c6\u6210 \u5728   AWS   EC2   \u5b9e\u4f8b \u4e0a \u81ea\u52a8 \u8fd0\u884c \u8bad\u7ec3 \u548c \u63a8\u7406 \u3002 \u4e3a\u4e86 \u5904\u7406 \u5b9e\u4f8b \u7684 \u7f29\u653e \uff0c \u6211\u4eec \u4f7f\u7528   Ray   autoscaler   API   \u3002","title":"\u5728   AWS   \u4e0a \u8fd0\u884c  "},{"location":"tuto_G_rllib_integration/#aws_2","text":"\u60a8 \u9700\u8981 \u6b63\u786e \u914d\u7f6e   boto3   \u73af\u5883 \u3002 \u8bf7 \u70b9\u51fb   \u6b64\u5904   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u914d\u7f6e   AWS  "},{"location":"tuto_G_rllib_integration/#ami","text":"\u4f7f\u7528 \u63d0\u4f9b \u7684   aws _ helper . py   \u811a\u672c \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u81ea\u52a8 \u521b\u5efa \u8bad\u7ec3 \u6240 \u9700 \u7684 \u6620\u50cf \uff0c \u5e76 \u4f20\u5165 \u57fa\u7840 \u6620\u50cf \u7684 \u540d\u79f0 \u548c   install . sh   \u5728 \u4ee5\u4e0b \u4f4d\u7f6e   rllib - integration / aws / install   \u627e\u5230 \u7684 \u5b89\u88c5 \u811a\u672c \uff1a   python3   aws _ helper . py   create - image   -- name   < AMI - name >   -- installation - scripts   < installation - scripts >   -- instance - type   < instance - type >   -- volume - size   < volume - size >","title":"\u521b\u5efa \u8bad\u7ec3   AMI  "},{"location":"tuto_G_rllib_integration/#_4","text":"\u521b\u5efa \u56fe\u50cf \u540e \uff0c \u5c06\u4f1a \u8f93\u51fa \u5e26\u6709 \u56fe\u50cf \u4fe1\u606f \u7684 \u8f93\u51fa \u3002 \u8981 \u4f7f\u7528   Ray   \u81ea\u52a8 \u7f29\u653e \u5668 \uff0c \u8bf7 \u4f7f\u7528 \u8f93\u51fa \u4e2d \u7684 \u4fe1\u606f \u66f4\u65b0   autoscaler   configuration   file   \u4e2d \u7684   < ImageId >   \u548c   < SecurityGroupIds >   \u8bbe\u7f6e \u3002","title":"\u914d\u7f6e \u96c6\u7fa4  "},{"location":"tuto_G_rllib_integration/#_5","text":"\u521b\u5efa \u955c\u50cf \u540e \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528   Ray   \u7684   API   \u5728 \u96c6\u7fa4 \u4e0a \u8fd0\u884c \u8bad\u7ec3 \uff1a   \u521d\u59cb \u521d\u59cb\u5316 \u96c6\u7fa4 \uff1a   ray   up   < autoscaler _ configuration _ file >   \uff08 \u53ef \u9009 \uff09 \u5982\u679c \u96c6\u7fa4 \u521d\u59cb \u521d\u59cb\u5316 \u540e \u672c\u5730 \u4ee3\u7801 \u88ab \u4fee\u6539 \uff0c \u8bf7 \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \u66f4\u65b0 \uff1a   ray   rsync - up   < autoscaler _ configuration _ file >   < path _ to _ local _ folder >   < path _ to _ remote _ folder >   \u8fd0\u884c \u8bad\u7ec3 \uff1a   ray   submit   < autoscaler _ configuration _ file >   < training _ file >   \uff08 \u53ef \u9009 \uff09 \u76d1\u63a7 \u96c6\u7fa4 \u72b6\u6001 \uff1a   ray   attach   < autoscaler _ configuration _ file >   watch   - n   1   ray   status   \u5173\u95ed \u96c6\u7fa4 \uff1a   ray   down   < autoscaler _ configuration _ file >","title":"\u8fd0\u884c \u8bad\u7ec3  "},{"location":"tuto_G_rllib_integration/#aws-dqn","text":"\u8981 \u5728   AWS   \u4e0a \u8fd0\u884c   DQN   \u793a\u4f8b \uff1a   \u901a\u8fc7 \u5c06   dqn _ example / dqn _ autoscaler . yaml   \u914d\u7f6e \u4f20\u9012 \u7ed9 \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u521b\u5efa \u6620\u50cf \uff1a   python3   aws _ helper . py   create - image   -- name   < AMI - name >   -- installation - scripts   install / install . sh   -- instance - type   < instance - type >   -- volume - size   < volume - size >   \u4f7f\u7528 \u4e0a \u4e00\u4e2a \u547d\u4ee4   dqn _ autoscaler . yaml   \u63d0\u4f9b \u7684 \u4fe1\u606f \u66f4\u65b0   < ImageId >   \u548c   < SecurityGroupIds >   \u8bbe\u7f6e \u3002   \u521d\u59cb \u521d\u59cb\u5316 \u96c6\u7fa4 \uff1a   ray   up   dqn _ example / dqn _ autoscaler . yaml   \uff08 \u53ef \u9009 \uff09 \u4f7f\u7528 \u672c\u5730 \u66f4\u6539 \u66f4\u65b0 \u8fdc\u7a0b \u6587\u4ef6 \uff1a   ray   rsync - up   dqn _ example / dqn _ autoscaler . yaml   dqn _ example   .   ray   rsync - up   dqn _ example / dqn _ autoscaler . yaml   rllib _ integration   .   \u8fd0\u884c \u8bad\u7ec3 \uff1a   ray   submit   dqn _ example / dqn _ autoscaler . yaml   dqn _ train . py   --   dqn _ example / dqn _ config . yaml   -- auto   6 . \uff08 \u53ef \u9009 \uff09 \u76d1\u63a7 \u96c6\u7fa4 \u72b6\u6001 \uff1a   ray   attach   dqn _ example / dqn _ autoscaler . yaml   watch   - n   1   ray   status   \u5173\u95ed \u96c6\u7fa4 \uff1a   ray   down   dqn _ example / dqn _ autoscaler . yaml   \u672c \u6307\u5357 \u6982\u8ff0 \u4e86 \u5982\u4f55 \u5728   AWS   \u548c \u672c\u5730 \u8ba1\u7b97 \u7b97\u673a \u673a\u4e0a \u5b89\u88c5 \u8ba1\u7b97\u673a \u8ba1\u7b97\u673a\u4e0a\u5b89\u88c5 \u548c \u8fd0\u884c   RLlib   \u96c6\u6210 \u3002 \u5982\u679c \u60a8 \u5bf9 \u672c \u6307\u5357 \u6709 \u4efb\u4f55 \u7591\u95ee \u6216 \u9047\u5230 \u4efb\u4f55 \u95ee\u9898 \uff0c \u8bf7 \u968f\u65f6 \u5728   \u8bba\u575b   \u4e2d \u53d1\u5e16 \u6216 \u5728   GitHub   \u4e0a \u63d0\u51fa \u95ee\u9898 \u3002","title":"\u5728   AWS   \u4e0a \u8fd0\u884c   DQN   \u793a\u4f8b  "},{"location":"tuto_G_scenic/","text":"Scenic   \u672c \u6307\u5357 \u6982\u8ff0 \u4e86 \u5982\u4f55 \u5c06   Scenic   \u4e0e   Carla   \u7ed3\u5408 \u4f7f\u7528 \uff0c \u901a\u8fc7 \u5355\u4e2a \u573a\u666f \u5b9a\u4e49 \u751f\u6210 \u591a\u4e2a \u4e0d\u540c \u7684 \u573a\u666f \u3002 \u5b83 \u5047\u8bbe \u7528\u6237 \u4e8b\u5148 \u4e86\u89e3 \u573a\u666f \u8bed\u6cd5 \u3002 \u5982\u679c \u60a8 \u9700\u8981 \u4e86\u89e3 \u6709\u5173   Scenic   \u7684 \u66f4 \u591a \u4fe1\u606f \uff0c \u8bf7 \u9605\u8bfb \u4ed6\u4eec \u7684   \u201c Scenic   \u5165\u95e8 \u201d   \u6307\u5357 \uff0c \u5e76 \u67e5\u770b \u4ed6\u4eec \u6709\u5173 \u521b\u5efa   \u9759\u6001   \u548c   \u52a8\u6001   \u573a\u666f \u7684 \u6559\u7a0b \u3002   \u5728 \u672c \u6307\u5357 \u7ed3\u675f \u65f6 \uff0c \u60a8 \u5c06 \u4e86\u89e3 \uff1a   \u5728   Carla   \u4e0a \u8fd0\u884c   Scenic   \u811a\u672c \u6240 \u9700 \u7684 \u6700\u4f4e \u8981\u6c42 \u3002   \u5982\u4f55 \u7f16\u5199 \u7b80\u5355 \u7684 \u573a\u666f \u5b9a\u4e49 \u6765 \u751f\u6210 \u5927\u91cf \u573a\u666f \u4eff\u771f \u3002   \u5982\u4f55 \u5728   Carla   \u4e0a \u8fd0\u884c   Scenic   \u811a\u672c \u3002   \u7528\u4e8e \u5728   Carla   \u4e0a \u914d\u7f6e \u573a\u666f \u4eff\u771f \u7684 \u53c2\u6570 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   Scenic   \u57df   \u521b\u5efa \u4e0e   Carla   \u4e00\u8d77 \u4f7f\u7528 \u7684   Scenic   \u573a\u666f   \u8fd0\u884c \u573a\u666f   \u9644\u52a0 \u53c2\u6570   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5728 \u5c06   Scenic   \u4e0e   Carla   \u7ed3\u5408 \u4f7f\u7528 \u4e4b\u524d \uff0c \u60a8 \u9700\u8981 \u6ee1\u8db3 \u4ee5\u4e0b \u8981\u6c42 \uff1a   \u5b89\u88c5   Python   3.8   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002   \u5b89\u88c5   Scenic   \u3002   Scenic   \u57df   Scenic   \u6709 \u4e00\u4e2a \u901a\u7528 \u9a7e\u9a76 \u57df \uff0c \u5141\u8bb8 \u7528\u6237 \u5b9a\u4e49 \u53ef\u4ee5 \u5728 \u4efb\u4f55 \u9a7e\u9a76 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e0a \u8fd0\u884c \u7684 \u573a\u666f \u3002 \u6b64\u5916 \uff0c \u5b83 \u8fd8\u6709 \u7279\u5b9a \u4e8e \u6bcf\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u5176\u4ed6 \u57df \u3002 \u8bf7 \u5728   \u6b64\u5904   \u67e5\u770b \u6709\u5173   Scenic   \u57df \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u6bcf\u4e2a \u9886\u57df \u4e2d \u7279\u522b \u91cd\u8981 \u7684 \u662f \u884c\u4e3a \u548c \u52a8\u4f5c \u7684 \u5b9a\u4e49 \u3002 \u68c0\u67e5 \u4ee5\u4e0b \u94fe\u63a5 \uff0c \u83b7\u53d6 \u6709\u5173   Scenic   \u9a7e\u9a76 \u57df \u548c   Carla   \u57df \u7684 \u884c\u4e3a \u548c \u64cd\u4f5c \u7684 \u53c2\u8003 \u6750\u6599 \uff1a   the   Scenic   \u9a7e\u9a76 \u9886\u57df \u7684 \u884c\u4e3a   Carla   \u57df \u4e2d \u7684 \u884c\u4e3a   Scenic   \u9a7e\u9a76 \u57df \u7684 \u52a8\u4f5c   Carla   \u57df \u4e2d \u7684 \u52a8\u4f5c   \u521b\u5efa \u4e0e   Carla   \u4e00\u8d77 \u4f7f\u7528 \u7684   Scenic   \u573a\u666f   \u672c\u8282 \u5c06 \u4ecb\u7ecd \u5982\u4f55 \u7f16\u5199 \u57fa\u672c \u7684 \u573a\u666f \u811a\u672c \uff0c \u5176\u4e2d \u9886\u5934 \u8f66\u8f86 \u7531\u4e8e \u9053\u8def \u4e0a \u7684 \u969c\u788d \u969c\u788d\u7269 \u800c \u7a81\u7136 \u51cf\u901f \u3002 \u7136\u540e \uff0c \u672c\u8f66 \u9700\u8981 \u7a81\u7136 \u5236\u52a8 \u4ee5 \u907f\u514d \u4e0e \u524d\u8f66 \u53d1\u751f \u78b0\u649e \u3002   \u5b8c\u6574 \u7684 \u811a\u672c   \u4ee5\u53ca \u6d89\u53ca \u66f4 \u590d\u6742 \u9053\u8def \u7f51\u7edc \u7684 \u5176\u4ed6 \u793a\u4f8b \u53ef\u4ee5 \u5728   Scenic   \u5b58\u50a8 \u5e93\u4e2d \u627e\u5230 \u3002   1 .   \u8bbe\u7f6e \u5730\u56fe \u53c2\u6570 \u5e76 \u58f0\u660e \u573a\u666f \u4f7f\u7528 \u7684 \u6a21\u578b \uff1a   \u5e94 \u5c06   . xodr   \u6587\u4ef6 \u8bbe\u7f6e \u4e3a   map   \u53c2\u6570 \u6570\u503c \u53c2\u6570\u503c \uff0c \u7a0d\u540e \u5c06 \u4f7f\u7528 \u8be5 \u6587\u4ef6 \u751f\u6210 \u9053\u8def \u7f51\u7edc \u4fe1\u606f \u3002   \u53c2\u6570   carla _ map   \u662f \u6307 \u60a8 \u60f3\u8981 \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u7684   Carla   \u5730\u56fe \u7684 \u540d\u79f0 \u3002 \u5982\u679c \u5df2 \u5b9a\u4e49 \uff0c \u5219   Scenic   \u5c06 \u52a0\u8f7d \u5730\u56fe \u7684 \u6240\u6709 \u8d44\u4ea7 \uff08 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u6811\u6728 \u7b49 \uff09 \uff0c \u5982\u679c \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \uff0c \u5219 \u5c06 \u4f7f\u7528   OpenDRIVE   \u72ec\u7acb \u6a21\u5f0f   \u3002   \u8be5 \u6a21\u578b \u5305\u62ec \u7279\u5b9a \u4e8e   Carla   \u4e0a \u8fd0\u884c \u573a\u666f \u7684 \u6240\u6709 \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f \u3002 \u8fd9 \u5e94\u8be5 \u5728 \u60a8 \u60f3\u8981 \u5728   Carla   \u4e0a \u8fd0\u884c \u7684 \u6240\u6709 \u811a\u672c \u4e2d \u5b9a\u4e49 \u3002   ##   SET   MAP   AND   MODEL   param   map   =   localPath ( ' .. / .. / .. / tests / formats / opendrive / maps / CARLA / Town01 . xodr ' )   param   carla _ map   =   ' Town01 '   model   scenic . simulators . carla . model   2 .   \u5b9a\u4e49 \u573a\u666f \u4e2d\u8981 \u4f7f\u7528 \u7684 \u5e38\u91cf \uff1a   \u8be5 \u573a\u666f \u6d89\u53ca \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \uff0c \u9886\u5934 \u8f66\u8f86 \u548c \u81ea\u6211 \u8f66\u8f86 \u3002 \u6211\u4eec \u5c06 \u5b9a\u4e49 \u81ea\u6211 \u8f66\u8f86 \u6a21\u578b \u3001 \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \u7684 \u901f\u5ea6 \u3001 \u5236\u52a8 \u8ddd\u79bb \u9608\u503c \u4ee5\u53ca \u5236 \u52a8\u91cf \u3002   ##   CONSTANTS   EGO _ MODEL   =   \" vehicle . lincoln . mkz _ 2017 \"   EGO _ SPEED   =   10   EGO _ BRAKING _ THRESHOLD   =   12   LEAD _ CAR _ SPEED   =   10   LEADCAR _ BRAKING _ THRESHOLD   =   10   BRAKE _ ACTION   =   1.0   3   .   \u5b9a\u4e49 \u573a\u666f \u884c\u4e3a \uff1a   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528   Scenic   \u884c\u4e3a \u5e93   \u6765 \u6307\u793a \u81ea\u6211 \u8f66\u8f86 \u4ee5 \u9884\u5b9a \u4e49 \u7684 \u901f\u5ea6 \u6cbf\u7740 \u8f66\u9053 \u884c\u9a76 \uff0c \u7136\u540e \u5728 \u4e0e \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u76f8\u8ddd \u4e00\u5b9a \u8ddd\u79bb \u65f6 \u7d27\u6025 \u5236\u52a8 \u7d27\u6025\u5236\u52a8 \u3002 \u9886\u5148 \u7684 \u8f66\u8f86 \u4e5f \u4f1a \u4ee5 \u9884\u5b9a \u7684 \u901f\u5ea6 \u6cbf\u7740 \u8f66\u9053 \u884c\u9a76 \uff0c \u5e76 \u5728 \u8ddd\u79bb \u4efb\u4f55 \u7269\u4f53 \u4e00\u5b9a \u8ddd\u79bb \u5185 \u7d27\u6025 \u5236\u52a8 \u7d27\u6025\u5236\u52a8 \uff1a   ##   DEFINING   BEHAVIORS   #   EGO   BEHAVIOR :   Follow   lane ,   and   brake   after   passing   a   threshold   distance   to   the   leading   car   behavior   EgoBehavior ( speed = 10 ) :   try :   do   FollowLaneBehavior ( speed )   interrupt   when   withinDistanceToAnyCars ( self ,   EGO _ BRAKING _ THRESHOLD ) :   take   SetBrakeAction ( BRAKE _ ACTION )   #   LEAD   CAR   BEHAVIOR :   Follow   lane ,   and   brake   after   passing   a   threshold   distance   to   obstacle   behavior   LeadingCarBehavior ( speed = 10 ) :   try :   do   FollowLaneBehavior ( speed )   interrupt   when   withinDistanceToAnyObjs ( self ,   LEADCAR _ BRAKING _ THRESHOLD ) :   take   SetBrakeAction ( BRAKE _ ACTION )   4 .   \u751f\u6210 \u8def\u7f51 \uff1a   Scenic   \u9053\u8def \u5e93   \u7528\u4e8e \u751f\u6210 \u9053\u8def \u7f51\u7edc \u51e0\u4f55 \u5f62\u72b6 \u548c \u4ea4\u901a \u4fe1\u606f \u3002 \u9053\u8def \u7f51\u7edc \u7531   Network   \u7c7b \u7684 \u5b9e\u4f8b \u8868\u793a \uff0c \u5e76 \u7531 \u811a\u672c \u5f00\u5934 \u5b9a\u4e49 \u7684 \u6587\u4ef6 \u751f\u6210 \u3002   ##   DEFINING   SPATIAL   RELATIONS   #   make   sure   to   put   ' * '   to   uniformly   randomly   select   from   all   elements   of   the   list ,   ' lanes '   lane   =   Uniform ( * network . lanes )   5 .   \u8bbe\u7f6e \u573a\u666f \uff1a   \u6211\u4eec \u73b0\u5728 \u5c06 \u5b9a\u4e49 \u8f66\u8f86 \u7684 \u8d77\u59cb \u4f4d\u7f6e \u548c \u7269\u4f53 \u7684 \u653e\u7f6e \u3002   \u5728 \u8f66\u9053 \u4e2d\u95f4 \u653e\u7f6e \u5783\u573e \u5783\u573e\u6876 \uff1a   obstacle   =   Trash   on   lane . centerline   \u5c06 \u9886\u5148 \u8f66\u8f86 \u4ee5 \u9884\u5b9a \u901f\u5ea6 \u6cbf \u9053\u8def \u884c\u9a76 \uff0c \u8ddd\u79bb \u969c\u788d \u969c\u788d\u7269 \u540e\u65b9   50   \u81f3   30   \u7c73 \uff1a   leadCar   =   Car   following   roadDirection   from   obstacle   for   Range ( - 50 ,   - 30 ) ,   with   behavior   LeadingCarBehavior ( LEAD _ CAR _ SPEED )   \u5c06 \u672c\u8f66 \u4ee5 \u9884\u5b9a \u901f\u5ea6 \u6cbf\u7740 \u9053\u8def \u884c\u9a76 \uff0c \u8ddd\u79bb \u524d \u8f66   15   \u5230   10   \u7c73 \uff1a   ego   =   Car   following   roadDirection   from   leadCar   for   Range ( - 15 ,   - 10 ) ,   with   blueprint   EGO _ MODEL ,   with   behavior   EgoBehavior ( EGO _ SPEED )   \u8981\u6c42 \u573a\u666f \u53d1\u751f \u5728 \u8ddd \u8def\u53e3   80   \u7c73 \u4ee5\u4e0a \u7684 \u4f4d\u7f6e \uff1a   require   ( distance   to   intersection )   >   80   6 .   \u8bbe\u7f6e \u7ed3\u675f \u70b9 \uff0c \u4ee5\u4fbf \u811a\u672c \u77e5\u9053 \u573a\u666f \u4f55\u65f6 \u5b8c\u6210 \uff1a   \u5f53 \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u4f4e\u4e8e \u6bcf\u79d2   0.1   \u7c73 \u5e76\u4e14 \u8ddd\u79bb \u969c\u788d \u969c\u788d\u7269 \u4e0d\u5230   30   \u7c73 \u65f6 \uff0c \u8be5 \u573a\u666f \u5c06 \u7ed3\u675f \u3002   terminate   when   ego . speed   <   0.1   and   ( distance   to   obstacle )   <   30   \u8fd0\u884c \u573a\u666f   \u8981 \u8fd0\u884c   Scenic   \u573a\u666f \uff1a   1 .   \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   2 .   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   scenic   path / to / scenic / script . scenic   -- simulate   \u5c06 \u51fa\u73b0 \u4e00\u4e2a   pygame   \u7a97\u53e3 \uff0c \u5e76\u4e14 \u573a\u666f \u5c06 \u91cd\u590d \u64ad\u653e \uff0c \u6bcf\u6b21 \u90fd \u4f1a \u5728 \u811a\u672c \u4e2d \u8bbe\u7f6e \u7684 \u9650\u5236 \u8303\u56f4 \u5185 \u751f\u6210 \u4e00\u4e2a \u72ec\u7279 \u7684 \u573a\u666f \u3002 \u8981 \u505c\u6b62 \u573a\u666f \u751f\u6210 \uff0c \u8bf7 \u5728 \u7ec8\u7aef \u4e2d \u6309   ctrl   +   C   \u3002   \u9644\u52a0 \u53c2\u6570   Carla   \u6a21\u578b \u63d0\u4f9b \u4e86 \u51e0\u4e2a \u5168\u5c40 \u53c2\u6570 \uff0c \u53ef\u4ee5 \u5728 \u4f7f\u7528   param   \u8bed\u53e5   \u6216 \u901a\u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u4f7f\u7528   -- param   option   \u9009\u9879 \u7684 \u573a\u666f \u4e2d \u8986\u76d6 \u8fd9\u4e9b \u53c2\u6570 \u3002   \u4e0b\u9762 \u662f   Carla   \u6a21\u578b \u4e2d \u7684 \u53ef \u914d\u7f6e \u53c2\u6570 \u6570\u8868 \u53c2\u6570\u8868 \uff1a   \u540d\u79f0   \u503c   \u63cf\u8ff0   carla _ map   str   \u8981 \u4f7f\u7528 \u7684   Carla   \u5730\u56fe \u7684 \u540d\u79f0 \uff08 \u4f8b\u5982 \u201c Town01 \u201d \uff09 \u3002 \u5982\u679c \u8bbe\u7f6e \u4e3a   None   \uff0c Carla   \u5c06 \u5c1d\u8bd5 \u4f7f\u7528   map   \u53c2\u6570 \u4e2d \u5b9a\u4e49 \u7684   . xodr   \u6587\u4ef6 \u5728   OpenDRIVE   \u72ec\u7acb \u6a21\u5f0f \u4e0b \u521b\u5efa \u4e16\u754c \u3002   timestep   float   \u7528\u4e8e \u4eff\u771f \u7684 \u65f6\u95f4 \u6b65\u957f \uff08 Scenic   \u4e2d\u65ad   Carla   \u8fd0\u884c \u884c\u4e3a \u3001 \u68c0\u67e5 \u9700\u6c42 \u7b49 \u7684 \u9891\u7387 \uff09 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.1   \u79d2 \u3002   weather   str   \u6216   dict   \u7528\u4e8e \u5929\u6c14 \u7684 \u4eff\u771f \u3002 \u53ef\u4ee5 \u662f \u6807\u8bc6   Carla   \u5929\u6c14 \u9884\u8bbe \u4e4b\u4e00 \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff08 \u4f8b\u5982 \u201c ClearSunset \u201d \uff09 \uff0c \u4e5f \u53ef\u4ee5 \u662f \u6307\u5b9a \u6240\u6709   \u5929\u6c14 \u53c2\u6570   \u7684 \u5b57\u5178 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u662f \u6240\u6709 \u5929\u6c14 \u9884\u8bbe \u7684 \u5747\u5300 \u5206\u5e03 \u5747\u5300\u5206\u5e03 \u3002   address   str   \u8fde\u63a5 \u5230   Carla   \u7684   IP   \u5730\u5740 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a \u672c\u5730 \u4e3b\u673a   ( 127.0 . 0.1 ) \u3002   port   int   \u8fde\u63a5 \u81f3   Carla   \u7684 \u7aef\u53e3 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   2000 \u3002   timeout   float   \u5c1d\u8bd5 \u8fde\u63a5 \u5230   Carla   \u65f6 \u7b49\u5f85 \u7684 \u6700\u957f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   10 \u3002   render   int   \u662f\u5426 \u8ba9   Carla   \u521b\u5efa \u4e00\u4e2a \u7a97\u53e3 \uff0c \u4ece \u81ea\u6211 \u5ba2\u4f53 \u7684 \u89d2\u5ea6 \u663e\u793a \u4eff\u771f \uff1a   1   \u662f \uff0c   0   \u5426 \u3002 \u9ed8\u8ba4   1   \u3002   record   str   \u5982\u679c \u975e\u7a7a \uff0c \u5219 \u4fdd\u5b58 \u7528\u4e8e \u91cd \u653e \u4eff\u771f \u7684   Carla   \u8bb0\u5f55 \u6587\u4ef6 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002","title":"Scenic"},{"location":"tuto_G_scenic/#scenic","text":"\u672c \u6307\u5357 \u6982\u8ff0 \u4e86 \u5982\u4f55 \u5c06   Scenic   \u4e0e   Carla   \u7ed3\u5408 \u4f7f\u7528 \uff0c \u901a\u8fc7 \u5355\u4e2a \u573a\u666f \u5b9a\u4e49 \u751f\u6210 \u591a\u4e2a \u4e0d\u540c \u7684 \u573a\u666f \u3002 \u5b83 \u5047\u8bbe \u7528\u6237 \u4e8b\u5148 \u4e86\u89e3 \u573a\u666f \u8bed\u6cd5 \u3002 \u5982\u679c \u60a8 \u9700\u8981 \u4e86\u89e3 \u6709\u5173   Scenic   \u7684 \u66f4 \u591a \u4fe1\u606f \uff0c \u8bf7 \u9605\u8bfb \u4ed6\u4eec \u7684   \u201c Scenic   \u5165\u95e8 \u201d   \u6307\u5357 \uff0c \u5e76 \u67e5\u770b \u4ed6\u4eec \u6709\u5173 \u521b\u5efa   \u9759\u6001   \u548c   \u52a8\u6001   \u573a\u666f \u7684 \u6559\u7a0b \u3002   \u5728 \u672c \u6307\u5357 \u7ed3\u675f \u65f6 \uff0c \u60a8 \u5c06 \u4e86\u89e3 \uff1a   \u5728   Carla   \u4e0a \u8fd0\u884c   Scenic   \u811a\u672c \u6240 \u9700 \u7684 \u6700\u4f4e \u8981\u6c42 \u3002   \u5982\u4f55 \u7f16\u5199 \u7b80\u5355 \u7684 \u573a\u666f \u5b9a\u4e49 \u6765 \u751f\u6210 \u5927\u91cf \u573a\u666f \u4eff\u771f \u3002   \u5982\u4f55 \u5728   Carla   \u4e0a \u8fd0\u884c   Scenic   \u811a\u672c \u3002   \u7528\u4e8e \u5728   Carla   \u4e0a \u914d\u7f6e \u573a\u666f \u4eff\u771f \u7684 \u53c2\u6570 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   Scenic   \u57df   \u521b\u5efa \u4e0e   Carla   \u4e00\u8d77 \u4f7f\u7528 \u7684   Scenic   \u573a\u666f   \u8fd0\u884c \u573a\u666f   \u9644\u52a0 \u53c2\u6570","title":"Scenic"},{"location":"tuto_G_scenic/#_1","text":"\u5728 \u5c06   Scenic   \u4e0e   Carla   \u7ed3\u5408 \u4f7f\u7528 \u4e4b\u524d \uff0c \u60a8 \u9700\u8981 \u6ee1\u8db3 \u4ee5\u4e0b \u8981\u6c42 \uff1a   \u5b89\u88c5   Python   3.8   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002   \u5b89\u88c5   Scenic   \u3002","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"tuto_G_scenic/#scenic_1","text":"Scenic   \u6709 \u4e00\u4e2a \u901a\u7528 \u9a7e\u9a76 \u57df \uff0c \u5141\u8bb8 \u7528\u6237 \u5b9a\u4e49 \u53ef\u4ee5 \u5728 \u4efb\u4f55 \u9a7e\u9a76 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e0a \u8fd0\u884c \u7684 \u573a\u666f \u3002 \u6b64\u5916 \uff0c \u5b83 \u8fd8\u6709 \u7279\u5b9a \u4e8e \u6bcf\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u5176\u4ed6 \u57df \u3002 \u8bf7 \u5728   \u6b64\u5904   \u67e5\u770b \u6709\u5173   Scenic   \u57df \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u6bcf\u4e2a \u9886\u57df \u4e2d \u7279\u522b \u91cd\u8981 \u7684 \u662f \u884c\u4e3a \u548c \u52a8\u4f5c \u7684 \u5b9a\u4e49 \u3002 \u68c0\u67e5 \u4ee5\u4e0b \u94fe\u63a5 \uff0c \u83b7\u53d6 \u6709\u5173   Scenic   \u9a7e\u9a76 \u57df \u548c   Carla   \u57df \u7684 \u884c\u4e3a \u548c \u64cd\u4f5c \u7684 \u53c2\u8003 \u6750\u6599 \uff1a   the   Scenic   \u9a7e\u9a76 \u9886\u57df \u7684 \u884c\u4e3a   Carla   \u57df \u4e2d \u7684 \u884c\u4e3a   Scenic   \u9a7e\u9a76 \u57df \u7684 \u52a8\u4f5c   Carla   \u57df \u4e2d \u7684 \u52a8\u4f5c","title":"Scenic   \u57df  "},{"location":"tuto_G_scenic/#carla-scenic","text":"\u672c\u8282 \u5c06 \u4ecb\u7ecd \u5982\u4f55 \u7f16\u5199 \u57fa\u672c \u7684 \u573a\u666f \u811a\u672c \uff0c \u5176\u4e2d \u9886\u5934 \u8f66\u8f86 \u7531\u4e8e \u9053\u8def \u4e0a \u7684 \u969c\u788d \u969c\u788d\u7269 \u800c \u7a81\u7136 \u51cf\u901f \u3002 \u7136\u540e \uff0c \u672c\u8f66 \u9700\u8981 \u7a81\u7136 \u5236\u52a8 \u4ee5 \u907f\u514d \u4e0e \u524d\u8f66 \u53d1\u751f \u78b0\u649e \u3002   \u5b8c\u6574 \u7684 \u811a\u672c   \u4ee5\u53ca \u6d89\u53ca \u66f4 \u590d\u6742 \u9053\u8def \u7f51\u7edc \u7684 \u5176\u4ed6 \u793a\u4f8b \u53ef\u4ee5 \u5728   Scenic   \u5b58\u50a8 \u5e93\u4e2d \u627e\u5230 \u3002   1 .   \u8bbe\u7f6e \u5730\u56fe \u53c2\u6570 \u5e76 \u58f0\u660e \u573a\u666f \u4f7f\u7528 \u7684 \u6a21\u578b \uff1a   \u5e94 \u5c06   . xodr   \u6587\u4ef6 \u8bbe\u7f6e \u4e3a   map   \u53c2\u6570 \u6570\u503c \u53c2\u6570\u503c \uff0c \u7a0d\u540e \u5c06 \u4f7f\u7528 \u8be5 \u6587\u4ef6 \u751f\u6210 \u9053\u8def \u7f51\u7edc \u4fe1\u606f \u3002   \u53c2\u6570   carla _ map   \u662f \u6307 \u60a8 \u60f3\u8981 \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u7684   Carla   \u5730\u56fe \u7684 \u540d\u79f0 \u3002 \u5982\u679c \u5df2 \u5b9a\u4e49 \uff0c \u5219   Scenic   \u5c06 \u52a0\u8f7d \u5730\u56fe \u7684 \u6240\u6709 \u8d44\u4ea7 \uff08 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u6811\u6728 \u7b49 \uff09 \uff0c \u5982\u679c \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \uff0c \u5219 \u5c06 \u4f7f\u7528   OpenDRIVE   \u72ec\u7acb \u6a21\u5f0f   \u3002   \u8be5 \u6a21\u578b \u5305\u62ec \u7279\u5b9a \u4e8e   Carla   \u4e0a \u8fd0\u884c \u573a\u666f \u7684 \u6240\u6709 \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f \u3002 \u8fd9 \u5e94\u8be5 \u5728 \u60a8 \u60f3\u8981 \u5728   Carla   \u4e0a \u8fd0\u884c \u7684 \u6240\u6709 \u811a\u672c \u4e2d \u5b9a\u4e49 \u3002   ##   SET   MAP   AND   MODEL   param   map   =   localPath ( ' .. / .. / .. / tests / formats / opendrive / maps / CARLA / Town01 . xodr ' )   param   carla _ map   =   ' Town01 '   model   scenic . simulators . carla . model   2 .   \u5b9a\u4e49 \u573a\u666f \u4e2d\u8981 \u4f7f\u7528 \u7684 \u5e38\u91cf \uff1a   \u8be5 \u573a\u666f \u6d89\u53ca \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \uff0c \u9886\u5934 \u8f66\u8f86 \u548c \u81ea\u6211 \u8f66\u8f86 \u3002 \u6211\u4eec \u5c06 \u5b9a\u4e49 \u81ea\u6211 \u8f66\u8f86 \u6a21\u578b \u3001 \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \u7684 \u901f\u5ea6 \u3001 \u5236\u52a8 \u8ddd\u79bb \u9608\u503c \u4ee5\u53ca \u5236 \u52a8\u91cf \u3002   ##   CONSTANTS   EGO _ MODEL   =   \" vehicle . lincoln . mkz _ 2017 \"   EGO _ SPEED   =   10   EGO _ BRAKING _ THRESHOLD   =   12   LEAD _ CAR _ SPEED   =   10   LEADCAR _ BRAKING _ THRESHOLD   =   10   BRAKE _ ACTION   =   1.0   3   .   \u5b9a\u4e49 \u573a\u666f \u884c\u4e3a \uff1a   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528   Scenic   \u884c\u4e3a \u5e93   \u6765 \u6307\u793a \u81ea\u6211 \u8f66\u8f86 \u4ee5 \u9884\u5b9a \u4e49 \u7684 \u901f\u5ea6 \u6cbf\u7740 \u8f66\u9053 \u884c\u9a76 \uff0c \u7136\u540e \u5728 \u4e0e \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u76f8\u8ddd \u4e00\u5b9a \u8ddd\u79bb \u65f6 \u7d27\u6025 \u5236\u52a8 \u7d27\u6025\u5236\u52a8 \u3002 \u9886\u5148 \u7684 \u8f66\u8f86 \u4e5f \u4f1a \u4ee5 \u9884\u5b9a \u7684 \u901f\u5ea6 \u6cbf\u7740 \u8f66\u9053 \u884c\u9a76 \uff0c \u5e76 \u5728 \u8ddd\u79bb \u4efb\u4f55 \u7269\u4f53 \u4e00\u5b9a \u8ddd\u79bb \u5185 \u7d27\u6025 \u5236\u52a8 \u7d27\u6025\u5236\u52a8 \uff1a   ##   DEFINING   BEHAVIORS   #   EGO   BEHAVIOR :   Follow   lane ,   and   brake   after   passing   a   threshold   distance   to   the   leading   car   behavior   EgoBehavior ( speed = 10 ) :   try :   do   FollowLaneBehavior ( speed )   interrupt   when   withinDistanceToAnyCars ( self ,   EGO _ BRAKING _ THRESHOLD ) :   take   SetBrakeAction ( BRAKE _ ACTION )   #   LEAD   CAR   BEHAVIOR :   Follow   lane ,   and   brake   after   passing   a   threshold   distance   to   obstacle   behavior   LeadingCarBehavior ( speed = 10 ) :   try :   do   FollowLaneBehavior ( speed )   interrupt   when   withinDistanceToAnyObjs ( self ,   LEADCAR _ BRAKING _ THRESHOLD ) :   take   SetBrakeAction ( BRAKE _ ACTION )   4 .   \u751f\u6210 \u8def\u7f51 \uff1a   Scenic   \u9053\u8def \u5e93   \u7528\u4e8e \u751f\u6210 \u9053\u8def \u7f51\u7edc \u51e0\u4f55 \u5f62\u72b6 \u548c \u4ea4\u901a \u4fe1\u606f \u3002 \u9053\u8def \u7f51\u7edc \u7531   Network   \u7c7b \u7684 \u5b9e\u4f8b \u8868\u793a \uff0c \u5e76 \u7531 \u811a\u672c \u5f00\u5934 \u5b9a\u4e49 \u7684 \u6587\u4ef6 \u751f\u6210 \u3002   ##   DEFINING   SPATIAL   RELATIONS   #   make   sure   to   put   ' * '   to   uniformly   randomly   select   from   all   elements   of   the   list ,   ' lanes '   lane   =   Uniform ( * network . lanes )   5 .   \u8bbe\u7f6e \u573a\u666f \uff1a   \u6211\u4eec \u73b0\u5728 \u5c06 \u5b9a\u4e49 \u8f66\u8f86 \u7684 \u8d77\u59cb \u4f4d\u7f6e \u548c \u7269\u4f53 \u7684 \u653e\u7f6e \u3002   \u5728 \u8f66\u9053 \u4e2d\u95f4 \u653e\u7f6e \u5783\u573e \u5783\u573e\u6876 \uff1a   obstacle   =   Trash   on   lane . centerline   \u5c06 \u9886\u5148 \u8f66\u8f86 \u4ee5 \u9884\u5b9a \u901f\u5ea6 \u6cbf \u9053\u8def \u884c\u9a76 \uff0c \u8ddd\u79bb \u969c\u788d \u969c\u788d\u7269 \u540e\u65b9   50   \u81f3   30   \u7c73 \uff1a   leadCar   =   Car   following   roadDirection   from   obstacle   for   Range ( - 50 ,   - 30 ) ,   with   behavior   LeadingCarBehavior ( LEAD _ CAR _ SPEED )   \u5c06 \u672c\u8f66 \u4ee5 \u9884\u5b9a \u901f\u5ea6 \u6cbf\u7740 \u9053\u8def \u884c\u9a76 \uff0c \u8ddd\u79bb \u524d \u8f66   15   \u5230   10   \u7c73 \uff1a   ego   =   Car   following   roadDirection   from   leadCar   for   Range ( - 15 ,   - 10 ) ,   with   blueprint   EGO _ MODEL ,   with   behavior   EgoBehavior ( EGO _ SPEED )   \u8981\u6c42 \u573a\u666f \u53d1\u751f \u5728 \u8ddd \u8def\u53e3   80   \u7c73 \u4ee5\u4e0a \u7684 \u4f4d\u7f6e \uff1a   require   ( distance   to   intersection )   >   80   6 .   \u8bbe\u7f6e \u7ed3\u675f \u70b9 \uff0c \u4ee5\u4fbf \u811a\u672c \u77e5\u9053 \u573a\u666f \u4f55\u65f6 \u5b8c\u6210 \uff1a   \u5f53 \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u4f4e\u4e8e \u6bcf\u79d2   0.1   \u7c73 \u5e76\u4e14 \u8ddd\u79bb \u969c\u788d \u969c\u788d\u7269 \u4e0d\u5230   30   \u7c73 \u65f6 \uff0c \u8be5 \u573a\u666f \u5c06 \u7ed3\u675f \u3002   terminate   when   ego . speed   <   0.1   and   ( distance   to   obstacle )   <   30","title":"\u521b\u5efa \u4e0e   Carla   \u4e00\u8d77 \u4f7f\u7528 \u7684   Scenic   \u573a\u666f  "},{"location":"tuto_G_scenic/#_2","text":"\u8981 \u8fd0\u884c   Scenic   \u573a\u666f \uff1a   1 .   \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   2 .   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   scenic   path / to / scenic / script . scenic   -- simulate   \u5c06 \u51fa\u73b0 \u4e00\u4e2a   pygame   \u7a97\u53e3 \uff0c \u5e76\u4e14 \u573a\u666f \u5c06 \u91cd\u590d \u64ad\u653e \uff0c \u6bcf\u6b21 \u90fd \u4f1a \u5728 \u811a\u672c \u4e2d \u8bbe\u7f6e \u7684 \u9650\u5236 \u8303\u56f4 \u5185 \u751f\u6210 \u4e00\u4e2a \u72ec\u7279 \u7684 \u573a\u666f \u3002 \u8981 \u505c\u6b62 \u573a\u666f \u751f\u6210 \uff0c \u8bf7 \u5728 \u7ec8\u7aef \u4e2d \u6309   ctrl   +   C   \u3002","title":"\u8fd0\u884c \u573a\u666f  "},{"location":"tuto_G_scenic/#_3","text":"Carla   \u6a21\u578b \u63d0\u4f9b \u4e86 \u51e0\u4e2a \u5168\u5c40 \u53c2\u6570 \uff0c \u53ef\u4ee5 \u5728 \u4f7f\u7528   param   \u8bed\u53e5   \u6216 \u901a\u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u4f7f\u7528   -- param   option   \u9009\u9879 \u7684 \u573a\u666f \u4e2d \u8986\u76d6 \u8fd9\u4e9b \u53c2\u6570 \u3002   \u4e0b\u9762 \u662f   Carla   \u6a21\u578b \u4e2d \u7684 \u53ef \u914d\u7f6e \u53c2\u6570 \u6570\u8868 \u53c2\u6570\u8868 \uff1a   \u540d\u79f0   \u503c   \u63cf\u8ff0   carla _ map   str   \u8981 \u4f7f\u7528 \u7684   Carla   \u5730\u56fe \u7684 \u540d\u79f0 \uff08 \u4f8b\u5982 \u201c Town01 \u201d \uff09 \u3002 \u5982\u679c \u8bbe\u7f6e \u4e3a   None   \uff0c Carla   \u5c06 \u5c1d\u8bd5 \u4f7f\u7528   map   \u53c2\u6570 \u4e2d \u5b9a\u4e49 \u7684   . xodr   \u6587\u4ef6 \u5728   OpenDRIVE   \u72ec\u7acb \u6a21\u5f0f \u4e0b \u521b\u5efa \u4e16\u754c \u3002   timestep   float   \u7528\u4e8e \u4eff\u771f \u7684 \u65f6\u95f4 \u6b65\u957f \uff08 Scenic   \u4e2d\u65ad   Carla   \u8fd0\u884c \u884c\u4e3a \u3001 \u68c0\u67e5 \u9700\u6c42 \u7b49 \u7684 \u9891\u7387 \uff09 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.1   \u79d2 \u3002   weather   str   \u6216   dict   \u7528\u4e8e \u5929\u6c14 \u7684 \u4eff\u771f \u3002 \u53ef\u4ee5 \u662f \u6807\u8bc6   Carla   \u5929\u6c14 \u9884\u8bbe \u4e4b\u4e00 \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff08 \u4f8b\u5982 \u201c ClearSunset \u201d \uff09 \uff0c \u4e5f \u53ef\u4ee5 \u662f \u6307\u5b9a \u6240\u6709   \u5929\u6c14 \u53c2\u6570   \u7684 \u5b57\u5178 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u662f \u6240\u6709 \u5929\u6c14 \u9884\u8bbe \u7684 \u5747\u5300 \u5206\u5e03 \u5747\u5300\u5206\u5e03 \u3002   address   str   \u8fde\u63a5 \u5230   Carla   \u7684   IP   \u5730\u5740 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a \u672c\u5730 \u4e3b\u673a   ( 127.0 . 0.1 ) \u3002   port   int   \u8fde\u63a5 \u81f3   Carla   \u7684 \u7aef\u53e3 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   2000 \u3002   timeout   float   \u5c1d\u8bd5 \u8fde\u63a5 \u5230   Carla   \u65f6 \u7b49\u5f85 \u7684 \u6700\u957f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   10 \u3002   render   int   \u662f\u5426 \u8ba9   Carla   \u521b\u5efa \u4e00\u4e2a \u7a97\u53e3 \uff0c \u4ece \u81ea\u6211 \u5ba2\u4f53 \u7684 \u89d2\u5ea6 \u663e\u793a \u4eff\u771f \uff1a   1   \u662f \uff0c   0   \u5426 \u3002 \u9ed8\u8ba4   1   \u3002   record   str   \u5982\u679c \u975e\u7a7a \uff0c \u5219 \u4fdd\u5b58 \u7528\u4e8e \u91cd \u653e \u4eff\u771f \u7684   Carla   \u8bb0\u5f55 \u6587\u4ef6 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002","title":"\u9644\u52a0 \u53c2\u6570  "},{"location":"tuto_G_texture_streaming/","text":"\u901a\u8fc7   API   \u66f4\u6539 \u7eb9\u7406   Carla   API   \u53ef \u7528\u4e8e \u5728 \u8fd0\u884c \u65f6 \u4fee\u6539 \u8d44\u6e90 \u7eb9\u7406 \u3002 \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u5b66\u4e60 \u5982\u4f55 \u9009\u62e9 \u8d44\u6e90 \uff0c \u7136\u540e \u5728   Carla   \u4eff\u771f \u8fd0\u884c \u65f6 \u4fee\u6539 \u5176 \u7eb9\u7406 \u3002   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u9009\u62e9 \u4e00\u4e2a \u8d44\u6e90   \u9996\u5148 \uff0c \u6211\u4eec \u9700\u8981 \u52a0\u8f7d \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5e76 \u52a0\u8f7d   Carla   \u5730\u56fe \uff0c \u6309\u7167   Linux   \u6216   Windows   \u7684 \u8bf4\u660e \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \uff0c \u7136\u540e \u6784\u5efa \u5e76 \u542f\u52a8 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \u8ba9 \u6211\u4eec \u6253\u5f00 \u52a0\u8f7d \u4e86   Town   10 \uff08 \u9ed8\u8ba4 \u57ce\u9547 \uff09 \u7684 \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u7136\u540e \u9009\u62e9 \u8981 \u4f7f\u7528 \u7684 \u5efa\u7b51 \u5efa\u7b51\u7269 \uff1a   \u6211\u4eec \u9009\u62e9   BP _ Apartment04 _ v05 _ Opt   \u8fdb\u884c \u7eb9\u7406 \u64cd\u4f5c \uff0c \u540d\u79f0 \u53ef\u4ee5 \u5728 \u201c \u4e16\u754c \u5927\u7eb2 \u89c6\u56fe ( World   Outliner ) \u201d \u9762\u677f \u4e2d \u770b\u5230 \u3002 \u786e\u4fdd \u5c06 \u9f20\u6807 \u60ac\u505c \u9f20\u6807\u60ac\u505c \u5728 \u4e16\u754c \u5927\u7eb2 \u89c6\u56fe \u4e2d \u7684 \u540d\u79f0 \u4e0a \u5e76 \u4f7f\u7528 \u5de5\u5177 \u63d0\u793a \u4e2d \u5b9a\u4e49 \u7684 \u540d\u79f0 \u3002 \u5185\u90e8 \u540d\u79f0 \u53ef\u80fd \u4e0e \u5217\u8868 \u4e2d \u663e\u793a \u7684 \u6807\u9898 \u4e0d\u540c \u3002 \u5728 \u672c\u4f8b \u4e2d \uff0c \u5185\u90e8 \u540d\u79f0 \u5b9e\u9645 \u5b9e\u9645\u4e0a \u662f   BP _ Apartment04 _ v05 _ Opt _ 2   \u3002   \u5bfc\u51fa \u7eb9\u7406 \u4ee5\u4f9b \u4f7f\u7528   \u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u9009\u62e9 \u4e86 \u5efa\u7b51 \u5efa\u7b51\u7269 \uff0c \u6211\u4eec \u53ef\u4ee5 \u4fee\u6539 \u7528\u4e8e \u63a7\u5236 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5916\u89c2 \u7684 \u7eb9\u7406 \u3002 \u9009\u62e9 \u5efa\u7b51 \u5efa\u7b51\u7269 \u540e \uff0c \u5728 \u201c \u7ec6\u8282 \u201d \u9762\u677f \u4e2d \uff0c \u60a8 \u5c06 \u770b\u5230 \u8d44\u4ea7 \u7684 \u4e00\u4e9b \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u4f8b\u5982 \u4f4d\u7f6e \u3001 \u65cb\u8f6c \u548c \u7f29\u653e \u3002 \u5355\u51fb \u201c StaticMesh \uff08 \u7ee7\u627f \uff09 \u201d \u4ee5 \u6253\u5f00 \u7f51\u683c \u4f53 \u5c5e\u6027 \uff0c \u7136\u540e \u5728 \u9762\u677f \u7684 \u201c \u9759\u6001 \u7f51\u683c \u4f53 \u201d \u90e8\u5206 \u4e2d \u5355\u51fb \u653e\u5927 \u653e\u5927\u955c \u56fe\u6807 \u3002 \u8fd9\u4f1a \u5c06 \u5c5e\u4e8e \u8d44\u6e90 \u7684 \u6750\u8d28 \u548c \u7eb9\u7406 \u7f6e\u4e8e \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u7684 \u7126\u70b9 \u3002 \u5728 \u672c\u4f8b \u4e2d \uff0c \u6211\u4eec \u8981 \u68c0\u67e5   T _ Apartment04 _ D _ Opt   \u7eb9\u7406 \u3002 \u5982\u679c \u53cc\u51fb \u7eb9\u7406 \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u68c0\u67e5 \u5b83 \uff0c \u4f46\u662f \uff0c \u5728 \u672c\u4f8b \u4e2d \u6211\u4eec \u60f3\u8981 \u5bfc\u51fa \u5b83 \uff0c \u4ee5\u4fbf \u6211\u4eec \u53ef\u4ee5 \u4fee\u6539 \u5b83 \u3002 \u5355\u51fb   T _ Apartment04 _ D _ Opt   \u5e76 \u53f3\u952e \u9009\u62e9   \u8d44\u4ea7 \u64cd\u4f5c   >   \u5bfc\u51fa   \u3002 \u4ee5 \u9002\u5f53 \u7684 \u683c\u5f0f \u4fdd\u5b58 \u6587\u4ef6 \uff08 \u6211\u4eec \u5728 \u8fd9\u91cc \u9009\u62e9   TGA   \u683c\u5f0f \uff09 \u3002   \u5728 \u60a8 \u559c\u6b22 \u7684 \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406 \u8f6f\u4ef6 \u4e2d \u6253\u5f00 \u5bfc\u51fa \u7684 \u7eb9\u7406 \uff0c \u5e76 \u6839\u636e \u9700\u8981 \u7f16\u8f91 \u7eb9\u7406 \u3002 \u5728 \u4e0b\u56fe \u4e2d \uff0c \u4e0a\u534a \u90e8\u5206 \u53ef\u4ee5 \u770b\u5230 \u539f\u59cb \u7eb9\u7406 \uff0c \u4e0b \u534a \u90e8\u5206 \u663e\u793a \u4fee\u6539 \u540e \u7684 \u7eb9\u7406 \u3002   \u5c06 \u4fee\u6539 \u540e \u7684 \u7eb9\u7406 \u5bfc\u51fa \u5230 \u9002\u5f53 \u7684 \u4f4d\u7f6e \uff0c \u7136\u540e \u6253\u5f00 \u4ee3\u7801 \u7f16\u8f91 \u7f16\u8f91\u5668 \u8fd0\u884c \u4e00\u4e9b   Python   \u6765 \u66f4\u65b0 \u6b63\u5728 \u8fd0\u884c \u7684   Carla   \u4eff\u771f \u4e2d \u7684 \u7eb9\u7406 \u3002   \u901a\u8fc7 API \u66f4\u65b0 \u7eb9\u7406   \u5982\u679c \u5c1a\u672a \u542f\u52a8 \uff0c \u8bf7 \u4ece \u547d\u4ee4 \u547d\u4ee4\u884c \u542f\u52a8   Carla   \u4eff\u771f \uff0c \u6216 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u542f\u52a8 \u4eff\u771f \u3002 \u6211\u4eec \u5c06 \u4f7f\u7528   Python   \u56fe\u50cf \u5e93   ( PIL )   \u4ece \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406 \u8f6f\u4ef6 \u5bfc\u51fa \u7684 \u56fe\u50cf \u6587\u4ef6 \u56fe\u50cf\u6587\u4ef6 \u4e2d \u8bfb\u53d6 \u7eb9\u7406 \u3002   \u8fde\u63a5 \u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   import   carla   from   PIL   import   Image   #   Connect   to   client   client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   client . set _ timeout ( 2.0 )   \u66f4\u65b0 \u7eb9\u7406   \u52a0\u8f7d \u4fee\u6539 \u540e \u7684 \u56fe\u50cf \u540e \uff0c \u5b9e\u4f8b \u5316   carla . TextureColor   \u5bf9\u8c61 \u5e76 \u586b\u5145 \u52a0\u8f7d \u56fe\u50cf \u4e2d \u7684 \u50cf\u7d20 \u6570\u636e \u3002   \u4f7f\u7528   carla . World   \u5bf9\u8c61 \u7684   apply _ color _ texture _ to _ object ( ... )   \u65b9\u6cd5 \u6765 \u66f4\u65b0 \u7eb9\u7406 \u3002 \u60a8 \u5e94\u8be5 \u5728   UE4   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u89c6\u56fe \u4e2d \u770b\u5230 \u7eb9\u7406 \u66f4\u65b0 \u3002   #   Load   the   modified   texture   image   =   Image . open ( ' BP _ Apartment04 _ v05 _ modified . tga ' )   height   =   image . size [ 1 ]   width   =   image . size [ 0 ]   #   Instantiate   a   carla . TextureColor   object   and   populate   #   the   pixels   with   data   from   the   modified   image   texture   =   carla . TextureColor ( width   , height )   for   x   in   range ( 0 , width ) :   for   y   in   range ( 0 , height ) :   color   =   image . getpixel ( ( x , y ) )   r   =   int ( color [ 0 ] )   g   =   int ( color [ 1 ] )   b   =   int ( color [ 2 ] )   a   =   255   texture . set ( x ,   y ,   carla . Color ( r , g , b , a ) )   #   Now   apply   the   texture   to   the   building   asset   world . apply _ color _ texture _ to _ object ( ' BP _ Apartment04 _ v05 _ Opt _ 2 ' ,   carla . MaterialParameter . Diffuse ,   texture )   \u901a\u8fc7   API   \u67e5\u627e \u5bf9\u8c61 \u540d\u79f0   \u8981 \u5728 \u4e0d \u4f9d\u8d56 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u60c5\u51b5 \u4e0b \u67e5\u627e \u5bf9\u8c61 \uff0c \u60a8 \u8fd8 \u53ef\u4ee5 \u4f7f\u7528   world . get _ names _ of _ all _ objects ( )   \u67e5\u8be2 \u5bf9\u8c61 \u540d\u79f0 \u3002 \u901a\u8fc7 \u4f7f\u7528   Python   \u7684 \u5185\u7f6e   filter ( ... )   \u65b9\u6cd5 \uff0c \u60a8 \u53ef\u4ee5 \u5c06 \u76ee\u6807 \u5bf9\u8c61 \u5f52\u96f6 \u3002   #   Filter   world   objects   for   those   with   ' Apartment '   in   the   name   list ( filter ( lambda   k :   ' Apartment '   in   k ,   world . get _ names _ of _ all _ objects ( ) ) )","title":"\u901a\u8fc7   API   \u66f4\u6539 \u7eb9\u7406"},{"location":"tuto_G_texture_streaming/#api","text":"Carla   API   \u53ef \u7528\u4e8e \u5728 \u8fd0\u884c \u65f6 \u4fee\u6539 \u8d44\u6e90 \u7eb9\u7406 \u3002 \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u5b66\u4e60 \u5982\u4f55 \u9009\u62e9 \u8d44\u6e90 \uff0c \u7136\u540e \u5728   Carla   \u4eff\u771f \u8fd0\u884c \u65f6 \u4fee\u6539 \u5176 \u7eb9\u7406 \u3002","title":"\u901a\u8fc7   API   \u66f4\u6539 \u7eb9\u7406"},{"location":"tuto_G_texture_streaming/#_1","text":"\u9996\u5148 \uff0c \u6211\u4eec \u9700\u8981 \u52a0\u8f7d \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5e76 \u52a0\u8f7d   Carla   \u5730\u56fe \uff0c \u6309\u7167   Linux   \u6216   Windows   \u7684 \u8bf4\u660e \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \uff0c \u7136\u540e \u6784\u5efa \u5e76 \u542f\u52a8 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \u8ba9 \u6211\u4eec \u6253\u5f00 \u52a0\u8f7d \u4e86   Town   10 \uff08 \u9ed8\u8ba4 \u57ce\u9547 \uff09 \u7684 \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u7136\u540e \u9009\u62e9 \u8981 \u4f7f\u7528 \u7684 \u5efa\u7b51 \u5efa\u7b51\u7269 \uff1a   \u6211\u4eec \u9009\u62e9   BP _ Apartment04 _ v05 _ Opt   \u8fdb\u884c \u7eb9\u7406 \u64cd\u4f5c \uff0c \u540d\u79f0 \u53ef\u4ee5 \u5728 \u201c \u4e16\u754c \u5927\u7eb2 \u89c6\u56fe ( World   Outliner ) \u201d \u9762\u677f \u4e2d \u770b\u5230 \u3002 \u786e\u4fdd \u5c06 \u9f20\u6807 \u60ac\u505c \u9f20\u6807\u60ac\u505c \u5728 \u4e16\u754c \u5927\u7eb2 \u89c6\u56fe \u4e2d \u7684 \u540d\u79f0 \u4e0a \u5e76 \u4f7f\u7528 \u5de5\u5177 \u63d0\u793a \u4e2d \u5b9a\u4e49 \u7684 \u540d\u79f0 \u3002 \u5185\u90e8 \u540d\u79f0 \u53ef\u80fd \u4e0e \u5217\u8868 \u4e2d \u663e\u793a \u7684 \u6807\u9898 \u4e0d\u540c \u3002 \u5728 \u672c\u4f8b \u4e2d \uff0c \u5185\u90e8 \u540d\u79f0 \u5b9e\u9645 \u5b9e\u9645\u4e0a \u662f   BP _ Apartment04 _ v05 _ Opt _ 2   \u3002","title":"\u5728 \u865a\u5e7b \u7f16\u8f91\u5668 \u4e2d \u9009\u62e9 \u4e00\u4e2a \u8d44\u6e90"},{"location":"tuto_G_texture_streaming/#_2","text":"\u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u9009\u62e9 \u4e86 \u5efa\u7b51 \u5efa\u7b51\u7269 \uff0c \u6211\u4eec \u53ef\u4ee5 \u4fee\u6539 \u7528\u4e8e \u63a7\u5236 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5916\u89c2 \u7684 \u7eb9\u7406 \u3002 \u9009\u62e9 \u5efa\u7b51 \u5efa\u7b51\u7269 \u540e \uff0c \u5728 \u201c \u7ec6\u8282 \u201d \u9762\u677f \u4e2d \uff0c \u60a8 \u5c06 \u770b\u5230 \u8d44\u4ea7 \u7684 \u4e00\u4e9b \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u4f8b\u5982 \u4f4d\u7f6e \u3001 \u65cb\u8f6c \u548c \u7f29\u653e \u3002 \u5355\u51fb \u201c StaticMesh \uff08 \u7ee7\u627f \uff09 \u201d \u4ee5 \u6253\u5f00 \u7f51\u683c \u4f53 \u5c5e\u6027 \uff0c \u7136\u540e \u5728 \u9762\u677f \u7684 \u201c \u9759\u6001 \u7f51\u683c \u4f53 \u201d \u90e8\u5206 \u4e2d \u5355\u51fb \u653e\u5927 \u653e\u5927\u955c \u56fe\u6807 \u3002 \u8fd9\u4f1a \u5c06 \u5c5e\u4e8e \u8d44\u6e90 \u7684 \u6750\u8d28 \u548c \u7eb9\u7406 \u7f6e\u4e8e \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u7684 \u7126\u70b9 \u3002 \u5728 \u672c\u4f8b \u4e2d \uff0c \u6211\u4eec \u8981 \u68c0\u67e5   T _ Apartment04 _ D _ Opt   \u7eb9\u7406 \u3002 \u5982\u679c \u53cc\u51fb \u7eb9\u7406 \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u68c0\u67e5 \u5b83 \uff0c \u4f46\u662f \uff0c \u5728 \u672c\u4f8b \u4e2d \u6211\u4eec \u60f3\u8981 \u5bfc\u51fa \u5b83 \uff0c \u4ee5\u4fbf \u6211\u4eec \u53ef\u4ee5 \u4fee\u6539 \u5b83 \u3002 \u5355\u51fb   T _ Apartment04 _ D _ Opt   \u5e76 \u53f3\u952e \u9009\u62e9   \u8d44\u4ea7 \u64cd\u4f5c   >   \u5bfc\u51fa   \u3002 \u4ee5 \u9002\u5f53 \u7684 \u683c\u5f0f \u4fdd\u5b58 \u6587\u4ef6 \uff08 \u6211\u4eec \u5728 \u8fd9\u91cc \u9009\u62e9   TGA   \u683c\u5f0f \uff09 \u3002   \u5728 \u60a8 \u559c\u6b22 \u7684 \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406 \u8f6f\u4ef6 \u4e2d \u6253\u5f00 \u5bfc\u51fa \u7684 \u7eb9\u7406 \uff0c \u5e76 \u6839\u636e \u9700\u8981 \u7f16\u8f91 \u7eb9\u7406 \u3002 \u5728 \u4e0b\u56fe \u4e2d \uff0c \u4e0a\u534a \u90e8\u5206 \u53ef\u4ee5 \u770b\u5230 \u539f\u59cb \u7eb9\u7406 \uff0c \u4e0b \u534a \u90e8\u5206 \u663e\u793a \u4fee\u6539 \u540e \u7684 \u7eb9\u7406 \u3002   \u5c06 \u4fee\u6539 \u540e \u7684 \u7eb9\u7406 \u5bfc\u51fa \u5230 \u9002\u5f53 \u7684 \u4f4d\u7f6e \uff0c \u7136\u540e \u6253\u5f00 \u4ee3\u7801 \u7f16\u8f91 \u7f16\u8f91\u5668 \u8fd0\u884c \u4e00\u4e9b   Python   \u6765 \u66f4\u65b0 \u6b63\u5728 \u8fd0\u884c \u7684   Carla   \u4eff\u771f \u4e2d \u7684 \u7eb9\u7406 \u3002","title":"\u5bfc\u51fa \u7eb9\u7406 \u4ee5\u4f9b \u4f7f\u7528"},{"location":"tuto_G_texture_streaming/#api_1","text":"\u5982\u679c \u5c1a\u672a \u542f\u52a8 \uff0c \u8bf7 \u4ece \u547d\u4ee4 \u547d\u4ee4\u884c \u542f\u52a8   Carla   \u4eff\u771f \uff0c \u6216 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u542f\u52a8 \u4eff\u771f \u3002 \u6211\u4eec \u5c06 \u4f7f\u7528   Python   \u56fe\u50cf \u5e93   ( PIL )   \u4ece \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406 \u8f6f\u4ef6 \u5bfc\u51fa \u7684 \u56fe\u50cf \u6587\u4ef6 \u56fe\u50cf\u6587\u4ef6 \u4e2d \u8bfb\u53d6 \u7eb9\u7406 \u3002","title":"\u901a\u8fc7 API \u66f4\u65b0 \u7eb9\u7406"},{"location":"tuto_G_texture_streaming/#_3","text":"import   carla   from   PIL   import   Image   #   Connect   to   client   client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   client . set _ timeout ( 2.0 )","title":"\u8fde\u63a5 \u5230 \u4eff\u771f\u5668"},{"location":"tuto_G_texture_streaming/#_4","text":"\u52a0\u8f7d \u4fee\u6539 \u540e \u7684 \u56fe\u50cf \u540e \uff0c \u5b9e\u4f8b \u5316   carla . TextureColor   \u5bf9\u8c61 \u5e76 \u586b\u5145 \u52a0\u8f7d \u56fe\u50cf \u4e2d \u7684 \u50cf\u7d20 \u6570\u636e \u3002   \u4f7f\u7528   carla . World   \u5bf9\u8c61 \u7684   apply _ color _ texture _ to _ object ( ... )   \u65b9\u6cd5 \u6765 \u66f4\u65b0 \u7eb9\u7406 \u3002 \u60a8 \u5e94\u8be5 \u5728   UE4   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u89c6\u56fe \u4e2d \u770b\u5230 \u7eb9\u7406 \u66f4\u65b0 \u3002   #   Load   the   modified   texture   image   =   Image . open ( ' BP _ Apartment04 _ v05 _ modified . tga ' )   height   =   image . size [ 1 ]   width   =   image . size [ 0 ]   #   Instantiate   a   carla . TextureColor   object   and   populate   #   the   pixels   with   data   from   the   modified   image   texture   =   carla . TextureColor ( width   , height )   for   x   in   range ( 0 , width ) :   for   y   in   range ( 0 , height ) :   color   =   image . getpixel ( ( x , y ) )   r   =   int ( color [ 0 ] )   g   =   int ( color [ 1 ] )   b   =   int ( color [ 2 ] )   a   =   255   texture . set ( x ,   y ,   carla . Color ( r , g , b , a ) )   #   Now   apply   the   texture   to   the   building   asset   world . apply _ color _ texture _ to _ object ( ' BP _ Apartment04 _ v05 _ Opt _ 2 ' ,   carla . MaterialParameter . Diffuse ,   texture )","title":"\u66f4\u65b0 \u7eb9\u7406"},{"location":"tuto_G_texture_streaming/#api_2","text":"\u8981 \u5728 \u4e0d \u4f9d\u8d56 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u60c5\u51b5 \u4e0b \u67e5\u627e \u5bf9\u8c61 \uff0c \u60a8 \u8fd8 \u53ef\u4ee5 \u4f7f\u7528   world . get _ names _ of _ all _ objects ( )   \u67e5\u8be2 \u5bf9\u8c61 \u540d\u79f0 \u3002 \u901a\u8fc7 \u4f7f\u7528   Python   \u7684 \u5185\u7f6e   filter ( ... )   \u65b9\u6cd5 \uff0c \u60a8 \u53ef\u4ee5 \u5c06 \u76ee\u6807 \u5bf9\u8c61 \u5f52\u96f6 \u3002   #   Filter   world   objects   for   those   with   ' Apartment '   in   the   name   list ( filter ( lambda   k :   ' Apartment '   in   k ,   world . get _ names _ of _ all _ objects ( ) ) )","title":"\u901a\u8fc7   API   \u67e5\u627e \u5bf9\u8c61 \u540d\u79f0"},{"location":"tuto_G_traffic_light/","text":"\u4ea4\u901a \u4ea4\u901a\u706f \u914d\u7f6e \u548c \u4f7f\u7528 \uff08 get _ traffic _ light \uff09   \u4ea4\u901a \u4ea4\u901a\u706f \u5728 Carla \u4e2d \u7684 \u7b80\u5355 \u914d\u7f6e   \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u9009\u62e9   Carla   >   Static   >   TrafficLight   >   StreetLights _ 01   \u4e0b \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u84dd\u56fe \u3002   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u62d6 \u5230 \u573a\u666f \u4e2d \uff0c \u8fdb\u884c \u4f4d\u7f6e \u8c03\u6574 \u3002   \u4e0e \u4ea4\u901a \u4ea4\u901a\u706f \u76f8\u8fde \u8fde\u63a5 \u76f8\u8fde\u63a5 \u7684 \u6709 \u4e00\u4e2a   \u7acb\u65b9 \u7acb\u65b9\u4f53 \u7ec4\u4ef6   \uff0c \u901a\u8fc7 \u62d6 \u5230 \u8fd9\u4e2a \u7acb\u65b9 \u7acb\u65b9\u4f53 \u7684 \u4f4d\u7f6e \u548c \u6539\u53d8 \u957f\u5ea6 \u6765 \u51b3\u5b9a \u5bf9\u5e94 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u5f71\u54cd \u8303\u56f4 \u3002   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u5206\u914d \u7ed9 \u8def\u53e3 \u4ea4\u901a \u4ea4\u901a\u706f \u7ec4 \uff1a \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u9009\u62e9   Carla   >   Static   >   TrafficLight   >   StreetLights _ 01   \u4e0b \u9009\u62e9   BP _ TrafficLightGroup   \u62d6\u52a8 \u5230 \u8def\u53e3 \uff0c \u5e76 \u5728 \u8be5 \u5bf9\u8c61 \u7684 \u7ec6\u8282 \u9762\u677f \u4e0b \u627e\u5230   Traffic   Light   \uff0c \u5c06 \u9700\u8981 \u6dfb\u52a0 \u5230 \u8be5 \u8def\u53e3 \u7ec4 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u8bbe\u7f6e \u3002   \u53c2\u8003 \u94fe\u63a5 \uff1a   \u5185\u5bb9 \u521b\u4f5c   -   \u5730\u56fe   -   \u4ea4\u901a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6587\u6863   ( openhutb . github . io )   \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u90e8\u5206   \u4f7f\u7528 python \u811a\u672c \u7b80\u5355 \u4f7f\u7528 \u4ea4\u901a \u4ea4\u901a\u706f   \u521b\u5efa \u4e0e carla \u7684 \u8fde\u63a5   client   =   carla . Client ( args . host ,   args . port )   client . set _ timeout ( 10.0 )   #   \u8bbe\u7f6e \u8d85\u65f6   world   =   client . get _ world ( )   #   \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   \u83b7\u53d6 \u573a\u666f \u4e2d \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5bf9\u8c61   traffic _ lights   =   world . get _ actors ( ) . filter ( ' traffic . traffic _ light ' )   1 \u3001 \u83b7\u53d6 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u4f4d\u7f6e \u4fe1\u606f   def   get _ light _ location ( world , traffic _ lights ) :   #   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u4f4d\u7f6e \u4fe1\u606f \u5b58\u50a8   traffic _ lights _ location   =   { }   for   traffic _ light   in   traffic _ lights :   location   =   traffic _ light . get _ location ( )   # status   =   traffic _ light . get _ state ( )   position   =   ( location . x ,   location . y ,   location . z )   #   status _ str   =   str ( status ) . split ( ' . ' ) [ - 1 ]   #   traffic _ lights _ data [ traffic _ light . id ]   =   { ' position ' :   position ,   ' status ' :   status _ str }   traffic _ lights _ location [ traffic _ light . id ]   =   { ' position ' :   position }   #   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u5728 carla \u4e2d \u6807\u793a \u51fa\u6765 \uff0c \u4ee5 traffic _ light . id   world . debug . draw _ string ( location ,   str ( traffic _ light . id )   ,   life _ time = 6000 ,   color = carla . Color ( 255 ,   0 ,   0 ) )   return   traffic _ lights _ location   print ( traffic _ lights _ location )   2 \u3001 \u83b7\u53d6 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u5f53\u524d \u914d\u65f6 \u65b9\u6848   def   get _ light _ time ( traffic _ lights ) :   # \u83b7\u53d6 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u914d\u65f6 \u4fe1\u606f   #   \u521b\u5efa \u4e00\u4e2a \u7a7a \u7684 \u5b57\u5178 \uff0c \u7528\u4e8e \u5b58\u50a8 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u4fe1\u606f   traffic _ lights _ time   =   { }   #   \u904d\u5386 \u6240\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f   for   traffic _ light   in   traffic _ lights :   #   \u83b7\u53d6 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 ID   traffic _ light _ id   =   traffic _ light . id   #   \u83b7\u53d6 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u5f53\u524d \u72b6\u6001   status   =   traffic _ light . get _ state ( )   status _ str   =   str ( status ) . split ( ' . ' ) [ - 1 ]   #   \u83b7\u53d6 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6\u95f4   red _ time   =   traffic _ light . get _ red _ time ( )   green _ time   =   traffic _ light . get _ green _ time ( )   yellow _ time   =   traffic _ light . get _ yellow _ time ( )   #   \u5c06 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u4fe1\u606f \u6dfb\u52a0 \u5230 \u5b57\u5178 \u4e2d   traffic _ lights _ time [ traffic _ light _ id ]   =   { ' status ' :   status _ str ,   ' red _ time ' :   red _ time ,   ' green _ time ' :   green _ time ,   ' yellow _ time ' :   yellow _ time }   print ( traffic _ lights _ time )   return   traffic _ lights _ time   3 \u3001 \u4fee\u6539 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u914d\u65f6 \u65b9\u6848   def   change _ light _ time ( traffic _ lights , traffic _ light _ id , red _ time , yellow _ time , green _ time , world ) :   #   \u904d\u5386 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u627e\u5230 \u5bf9\u5e94 \u8def\u706f   for   traffic _ light   in   traffic _ lights :   if   traffic _ light . id   = =   traffic _ light _ id :   # \u5c55\u793a \u539f\u59cb \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u914d\u65f6 \u65b9\u6848   redtime   =   traffic _ light . get _ red _ time ( )   greentime   =   traffic _ light . get _ green _ time ( )   yellowtime   =   traffic _ light . get _ yellow _ time ( )   print ( \" \u7f16\u53f7 \u4e3a { } \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u7ea2\u706f \u65f6\u95f4 \u4e3a { } \uff0c \u9ec4\u706f \u65f6\u95f4 \u4e3a { } \uff0c \u7eff\u706f \u65f6\u95f4 \u4e3a { } \" . format ( traffic _ light _ id ,   redtime ,   yellowtime ,   greentime ) )   #   \u4fee\u6539 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6 \u957f   traffic _ light . set _ red _ time ( float ( red _ time ) )   traffic _ light . set _ yellow _ time ( float ( yellow _ time ) )   traffic _ light . set _ green _ time ( float ( green _ time ) )   print ( \" \u5df2 \u4fee\u6539 \u7f16\u53f7 \u4e3a { } \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u7ea2\u706f \u65f6\u95f4 \u4e3a { } \uff0c \u9ec4\u706f \u65f6\u95f4 \u4e3a { } \uff0c \u7eff\u706f \u65f6\u95f4 \u4e3a { } \" . format ( traffic _ light _ id ,   red _ time ,   yellow _ time ,   green _ time ) )   world . tick ( )   # \u66f4\u65b0 Carla \u4e16\u754c \u7684 \u72b6\u6001 \uff0c \u4f7f\u5f97 \u4fee\u6539 \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65b9\u6848 \u7acb\u5373 \u751f\u6548 \u3002   4 \u3001 \u6839\u636e \u8def\u53e3 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u8c03\u6574 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u914d\u65f6 \u65b9\u6848   4.1 \u3001 \u83b7\u53d6 \u6307\u5b9a \u8def\u53e3 \u7684 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf   def   get _ traffic _ flow ( world ) :   #   \u83b7\u53d6 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684 \u8f66\u8f86 \u5217\u8868   vehicle _ list   =   world . get _ actors ( ) . filter ( ' vehicle . * ' )   #   \u521b\u5efa \u4e00\u4e2a \u7a7a \u7684 \u5b57\u5178 , \u5b58\u50a8 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u4fe1\u606f   # vehicle _ positions   =   { }   #   \u521b\u5efa \u4e24\u4e2a \u7a7a \u5217\u8868 \uff0c \u7528\u4e8e \u5b58\u50a8 \u65f6\u523b \u548c \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u6570\u636e   # timestamps   =   [ ]   traffic _ flow   =   [ ]   #   \u5faa\u73af \u63a8\u8fdb \u4eff\u771f \u65f6\u95f4 \u5e76 \u7edf\u8ba1 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf   for   t   in   range ( 1000 ) :   #   \u5047\u8bbe \u4eff\u771f 1000 \u4e2a \u65f6\u95f4 \u6b65   #   \u63a8\u8fdb \u4eff\u771f \u65f6\u95f4   world . tick ( )   #   \u91cd\u7f6e \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u8ba1\u6570   count   =   0   #   \u904d\u5386 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684 \u8f66\u8f86   for   vehicle   in   vehicle _ list :   #   \u83b7\u53d6 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u4fe1\u606f   location   =   vehicle . get _ location ( )   x   =   location . x   y   =   location . y   z   =   location . z   # \u6682\u65f6 \u91c7\u7528 xmin , xmax , ymin , ymax \u6765 \u6307\u5b9a \u533a\u57df \u8def\u53e3   if   x   < =   xmax   and   x   > =   xmin   and   y   < =   ymax   and   y   > =   ymin :   count   + =   1   # vehicle _ positions [ vehicle . id ]   =   ( x ,   y ,   z )   #   \u5c06 \u65f6\u95f4 \u548c \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u6570\u636e \u6dfb\u52a0 \u5230 \u76f8\u5e94 \u7684 \u5217\u8868 \u4e2d   #   timestamps . append ( t )   traffic _ flow . append ( count )   # \u91c7\u7528 1000 \u4e2a \u65f6\u95f4 \u6b65 \u7684 \u8def\u53e3 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u7684 \u5747\u503c \u4f5c\u4e3a \u8fd9 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u7684 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf   return   int ( np . mean ( traffic _ flow ) )   4.2 \u3001 \u8c03\u6574 \u914d\u65f6 \u65b9\u6848   def   traffic _ signal ( traffic _ lights , traffic _ flow , world ) :   # \u6839\u636e \u8def\u53e3 \u7684 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u53bb \u4f18\u5316 \u8def\u53e3 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u914d\u65f6 \u65b9\u6848 \u7b80\u5355 \u793a\u4f8b   # \u8be5 \u793a\u4f8b \u4e2d \u8bbe\u7f6e \u7684 \u8f66\u8f86 \u603b\u6570 \u4e3a 70 \u8f86 \uff0c \u5206\u4e3a \u9ad8 \u6d41\u91cf \uff1a \u8def\u53e3 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf > 7 , \u4e2d \u6d41\u91cf \uff1a \u8def\u53e3 \u8f66\u8f86 \u5728 4 \u2014 7 \uff0c \u4f4e \u6d41\u91cf \uff1a \u8def\u53e3 \u8f66\u8f86 < 4   print ( ' \u8def\u53e3 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u4e3a { } ' . format ( traffic _ flow ) )   #   \u904d\u5386 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f   for   traffic _ light   in   traffic _ lights :   # \u83b7\u5f97 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u4f4d\u7f6e \u4fe1\u606f   location   =   traffic _ light . get _ location ( )   # \u627e\u5230 \u4f4d\u4e8e \u8be5 \u8def\u53e3 \u8303\u56f4 \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f   if   location . x > = xmin   and   location . x < = xmax   and   location . y > = ymin   and   location . y < = ymax :   #   \u83b7\u53d6 \u4ea4\u901a \u4ea4\u901a\u706f ID   traffic _ light _ id   =   traffic _ light . id   #   \u83b7\u53d6 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u914d\u65f6 \u65b9\u6848   red _ time   =   traffic _ light . get _ red _ time ( )   green _ time   =   traffic _ light . get _ green _ time ( )   yellow _ time   =   traffic _ light . get _ yellow _ time ( )   #   \u6839\u636e \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6 \u957f   if   traffic _ flow   < =   4 :   #   \u4f4e \u6d41\u91cf \uff0c \u589e\u52a0 \u7ea2\u706f \u706f \u65f6\u95f4   red _ time   =   red _ time + 5   elif   traffic _ flow   > 4   and   traffic _ flow   < 7 :   #   \u4e2d\u7b49 \u6d41\u91cf \uff0c \u5e73\u8861 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6 \u957f   red _ time   = red _ time + 3   yellow _ time   =   yellow _ time + 2   green _ time   =   green _ time + 2   else :   #   \u9ad8 \u6d41\u91cf \uff0c \u589e\u52a0 \u7eff\u706f \u65f6\u95f4   red _ time   =   red _ time + 1   yellow _ time = yellow _ time + 1   green _ time   =   green _ time + 5   # \u4fee\u6539 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u914d\u65f6 \u65b9\u6848   change _ light _ time ( traffic _ lights , traffic _ light _ id , red _ time , yellow _ time , green _ time , world )","title":"\u4ea4\u901a\u706f \u914d\u7f6e \u548c \u4f7f\u7528 \uff08 get _ traffic _ light \uff09"},{"location":"tuto_G_traffic_light/#get_traffic_light","text":"","title":"\u4ea4\u901a\u706f \u914d\u7f6e \u548c \u4f7f\u7528 \uff08 get _ traffic _ light \uff09"},{"location":"tuto_G_traffic_light/#carla","text":"\u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u9009\u62e9   Carla   >   Static   >   TrafficLight   >   StreetLights _ 01   \u4e0b \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u84dd\u56fe \u3002   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u62d6 \u5230 \u573a\u666f \u4e2d \uff0c \u8fdb\u884c \u4f4d\u7f6e \u8c03\u6574 \u3002   \u4e0e \u4ea4\u901a \u4ea4\u901a\u706f \u76f8\u8fde \u8fde\u63a5 \u76f8\u8fde\u63a5 \u7684 \u6709 \u4e00\u4e2a   \u7acb\u65b9 \u7acb\u65b9\u4f53 \u7ec4\u4ef6   \uff0c \u901a\u8fc7 \u62d6 \u5230 \u8fd9\u4e2a \u7acb\u65b9 \u7acb\u65b9\u4f53 \u7684 \u4f4d\u7f6e \u548c \u6539\u53d8 \u957f\u5ea6 \u6765 \u51b3\u5b9a \u5bf9\u5e94 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u5f71\u54cd \u8303\u56f4 \u3002   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u5206\u914d \u7ed9 \u8def\u53e3 \u4ea4\u901a \u4ea4\u901a\u706f \u7ec4 \uff1a \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u9009\u62e9   Carla   >   Static   >   TrafficLight   >   StreetLights _ 01   \u4e0b \u9009\u62e9   BP _ TrafficLightGroup   \u62d6\u52a8 \u5230 \u8def\u53e3 \uff0c \u5e76 \u5728 \u8be5 \u5bf9\u8c61 \u7684 \u7ec6\u8282 \u9762\u677f \u4e0b \u627e\u5230   Traffic   Light   \uff0c \u5c06 \u9700\u8981 \u6dfb\u52a0 \u5230 \u8be5 \u8def\u53e3 \u7ec4 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u8bbe\u7f6e \u3002   \u53c2\u8003 \u94fe\u63a5 \uff1a   \u5185\u5bb9 \u521b\u4f5c   -   \u5730\u56fe   -   \u4ea4\u901a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6587\u6863   ( openhutb . github . io )   \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u90e8\u5206","title":"\u4ea4\u901a\u706f \u5728 Carla \u4e2d \u7684 \u7b80\u5355 \u914d\u7f6e"},{"location":"tuto_G_traffic_light/#python","text":"","title":"\u4f7f\u7528 python \u811a\u672c \u7b80\u5355 \u4f7f\u7528 \u4ea4\u901a\u706f"},{"location":"tuto_G_traffic_light/#carla_1","text":"client   =   carla . Client ( args . host ,   args . port )   client . set _ timeout ( 10.0 )   #   \u8bbe\u7f6e \u8d85\u65f6   world   =   client . get _ world ( )   #   \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )","title":"\u521b\u5efa \u4e0e carla \u7684 \u8fde\u63a5"},{"location":"tuto_G_traffic_light/#_1","text":"traffic _ lights   =   world . get _ actors ( ) . filter ( ' traffic . traffic _ light ' )","title":"\u83b7\u53d6 \u573a\u666f \u4e2d \u7684 \u7ea2\u7eff\u706f \u5bf9\u8c61"},{"location":"tuto_G_traffic_light/#1","text":"def   get _ light _ location ( world , traffic _ lights ) :   #   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u4f4d\u7f6e \u4fe1\u606f \u5b58\u50a8   traffic _ lights _ location   =   { }   for   traffic _ light   in   traffic _ lights :   location   =   traffic _ light . get _ location ( )   # status   =   traffic _ light . get _ state ( )   position   =   ( location . x ,   location . y ,   location . z )   #   status _ str   =   str ( status ) . split ( ' . ' ) [ - 1 ]   #   traffic _ lights _ data [ traffic _ light . id ]   =   { ' position ' :   position ,   ' status ' :   status _ str }   traffic _ lights _ location [ traffic _ light . id ]   =   { ' position ' :   position }   #   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u5728 carla \u4e2d \u6807\u793a \u51fa\u6765 \uff0c \u4ee5 traffic _ light . id   world . debug . draw _ string ( location ,   str ( traffic _ light . id )   ,   life _ time = 6000 ,   color = carla . Color ( 255 ,   0 ,   0 ) )   return   traffic _ lights _ location   print ( traffic _ lights _ location )","title":"1 \u3001 \u83b7\u53d6 \u7ea2\u7eff\u706f \u7684 \u4f4d\u7f6e \u4fe1\u606f"},{"location":"tuto_G_traffic_light/#2","text":"def   get _ light _ time ( traffic _ lights ) :   # \u83b7\u53d6 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u914d\u65f6 \u4fe1\u606f   #   \u521b\u5efa \u4e00\u4e2a \u7a7a \u7684 \u5b57\u5178 \uff0c \u7528\u4e8e \u5b58\u50a8 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u4fe1\u606f   traffic _ lights _ time   =   { }   #   \u904d\u5386 \u6240\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f   for   traffic _ light   in   traffic _ lights :   #   \u83b7\u53d6 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 ID   traffic _ light _ id   =   traffic _ light . id   #   \u83b7\u53d6 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u5f53\u524d \u72b6\u6001   status   =   traffic _ light . get _ state ( )   status _ str   =   str ( status ) . split ( ' . ' ) [ - 1 ]   #   \u83b7\u53d6 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6\u95f4   red _ time   =   traffic _ light . get _ red _ time ( )   green _ time   =   traffic _ light . get _ green _ time ( )   yellow _ time   =   traffic _ light . get _ yellow _ time ( )   #   \u5c06 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u4fe1\u606f \u6dfb\u52a0 \u5230 \u5b57\u5178 \u4e2d   traffic _ lights _ time [ traffic _ light _ id ]   =   { ' status ' :   status _ str ,   ' red _ time ' :   red _ time ,   ' green _ time ' :   green _ time ,   ' yellow _ time ' :   yellow _ time }   print ( traffic _ lights _ time )   return   traffic _ lights _ time","title":"2 \u3001 \u83b7\u53d6 \u7ea2\u7eff\u706f \u7684 \u5f53\u524d \u914d\u65f6 \u65b9\u6848"},{"location":"tuto_G_traffic_light/#3","text":"def   change _ light _ time ( traffic _ lights , traffic _ light _ id , red _ time , yellow _ time , green _ time , world ) :   #   \u904d\u5386 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u627e\u5230 \u5bf9\u5e94 \u8def\u706f   for   traffic _ light   in   traffic _ lights :   if   traffic _ light . id   = =   traffic _ light _ id :   # \u5c55\u793a \u539f\u59cb \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u914d\u65f6 \u65b9\u6848   redtime   =   traffic _ light . get _ red _ time ( )   greentime   =   traffic _ light . get _ green _ time ( )   yellowtime   =   traffic _ light . get _ yellow _ time ( )   print ( \" \u7f16\u53f7 \u4e3a { } \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u7ea2\u706f \u65f6\u95f4 \u4e3a { } \uff0c \u9ec4\u706f \u65f6\u95f4 \u4e3a { } \uff0c \u7eff\u706f \u65f6\u95f4 \u4e3a { } \" . format ( traffic _ light _ id ,   redtime ,   yellowtime ,   greentime ) )   #   \u4fee\u6539 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6 \u957f   traffic _ light . set _ red _ time ( float ( red _ time ) )   traffic _ light . set _ yellow _ time ( float ( yellow _ time ) )   traffic _ light . set _ green _ time ( float ( green _ time ) )   print ( \" \u5df2 \u4fee\u6539 \u7f16\u53f7 \u4e3a { } \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u7ea2\u706f \u65f6\u95f4 \u4e3a { } \uff0c \u9ec4\u706f \u65f6\u95f4 \u4e3a { } \uff0c \u7eff\u706f \u65f6\u95f4 \u4e3a { } \" . format ( traffic _ light _ id ,   red _ time ,   yellow _ time ,   green _ time ) )   world . tick ( )   # \u66f4\u65b0 Carla \u4e16\u754c \u7684 \u72b6\u6001 \uff0c \u4f7f\u5f97 \u4fee\u6539 \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65b9\u6848 \u7acb\u5373 \u751f\u6548 \u3002","title":"3 \u3001 \u4fee\u6539 \u7ea2\u7eff\u706f \u7684 \u914d\u65f6 \u65b9\u6848"},{"location":"tuto_G_traffic_light/#4","text":"","title":"4 \u3001 \u6839\u636e \u8def\u53e3 \u8f66\u6d41\u91cf \u8c03\u6574 \u4ea4\u901a\u706f \u7684 \u7ea2\u7eff\u706f \u914d\u65f6 \u65b9\u6848"},{"location":"tuto_G_traffic_light/#41","text":"def   get _ traffic _ flow ( world ) :   #   \u83b7\u53d6 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684 \u8f66\u8f86 \u5217\u8868   vehicle _ list   =   world . get _ actors ( ) . filter ( ' vehicle . * ' )   #   \u521b\u5efa \u4e00\u4e2a \u7a7a \u7684 \u5b57\u5178 , \u5b58\u50a8 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u4fe1\u606f   # vehicle _ positions   =   { }   #   \u521b\u5efa \u4e24\u4e2a \u7a7a \u5217\u8868 \uff0c \u7528\u4e8e \u5b58\u50a8 \u65f6\u523b \u548c \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u6570\u636e   # timestamps   =   [ ]   traffic _ flow   =   [ ]   #   \u5faa\u73af \u63a8\u8fdb \u4eff\u771f \u65f6\u95f4 \u5e76 \u7edf\u8ba1 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf   for   t   in   range ( 1000 ) :   #   \u5047\u8bbe \u4eff\u771f 1000 \u4e2a \u65f6\u95f4 \u6b65   #   \u63a8\u8fdb \u4eff\u771f \u65f6\u95f4   world . tick ( )   #   \u91cd\u7f6e \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u8ba1\u6570   count   =   0   #   \u904d\u5386 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684 \u8f66\u8f86   for   vehicle   in   vehicle _ list :   #   \u83b7\u53d6 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u4fe1\u606f   location   =   vehicle . get _ location ( )   x   =   location . x   y   =   location . y   z   =   location . z   # \u6682\u65f6 \u91c7\u7528 xmin , xmax , ymin , ymax \u6765 \u6307\u5b9a \u533a\u57df \u8def\u53e3   if   x   < =   xmax   and   x   > =   xmin   and   y   < =   ymax   and   y   > =   ymin :   count   + =   1   # vehicle _ positions [ vehicle . id ]   =   ( x ,   y ,   z )   #   \u5c06 \u65f6\u95f4 \u548c \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u6570\u636e \u6dfb\u52a0 \u5230 \u76f8\u5e94 \u7684 \u5217\u8868 \u4e2d   #   timestamps . append ( t )   traffic _ flow . append ( count )   # \u91c7\u7528 1000 \u4e2a \u65f6\u95f4 \u6b65 \u7684 \u8def\u53e3 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u7684 \u5747\u503c \u4f5c\u4e3a \u8fd9 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u7684 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf   return   int ( np . mean ( traffic _ flow ) )","title":"4.1 \u3001 \u83b7\u53d6 \u6307\u5b9a \u8def\u53e3 \u7684 \u8f66\u6d41\u91cf"},{"location":"tuto_G_traffic_light/#42","text":"def   traffic _ signal ( traffic _ lights , traffic _ flow , world ) :   # \u6839\u636e \u8def\u53e3 \u7684 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u53bb \u4f18\u5316 \u8def\u53e3 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u914d\u65f6 \u65b9\u6848 \u7b80\u5355 \u793a\u4f8b   # \u8be5 \u793a\u4f8b \u4e2d \u8bbe\u7f6e \u7684 \u8f66\u8f86 \u603b\u6570 \u4e3a 70 \u8f86 \uff0c \u5206\u4e3a \u9ad8 \u6d41\u91cf \uff1a \u8def\u53e3 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf > 7 , \u4e2d \u6d41\u91cf \uff1a \u8def\u53e3 \u8f66\u8f86 \u5728 4 \u2014 7 \uff0c \u4f4e \u6d41\u91cf \uff1a \u8def\u53e3 \u8f66\u8f86 < 4   print ( ' \u8def\u53e3 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u4e3a { } ' . format ( traffic _ flow ) )   #   \u904d\u5386 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f   for   traffic _ light   in   traffic _ lights :   # \u83b7\u5f97 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u4f4d\u7f6e \u4fe1\u606f   location   =   traffic _ light . get _ location ( )   # \u627e\u5230 \u4f4d\u4e8e \u8be5 \u8def\u53e3 \u8303\u56f4 \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f   if   location . x > = xmin   and   location . x < = xmax   and   location . y > = ymin   and   location . y < = ymax :   #   \u83b7\u53d6 \u4ea4\u901a \u4ea4\u901a\u706f ID   traffic _ light _ id   =   traffic _ light . id   #   \u83b7\u53d6 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u914d\u65f6 \u65b9\u6848   red _ time   =   traffic _ light . get _ red _ time ( )   green _ time   =   traffic _ light . get _ green _ time ( )   yellow _ time   =   traffic _ light . get _ yellow _ time ( )   #   \u6839\u636e \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6 \u957f   if   traffic _ flow   < =   4 :   #   \u4f4e \u6d41\u91cf \uff0c \u589e\u52a0 \u7ea2\u706f \u706f \u65f6\u95f4   red _ time   =   red _ time + 5   elif   traffic _ flow   > 4   and   traffic _ flow   < 7 :   #   \u4e2d\u7b49 \u6d41\u91cf \uff0c \u5e73\u8861 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6 \u957f   red _ time   = red _ time + 3   yellow _ time   =   yellow _ time + 2   green _ time   =   green _ time + 2   else :   #   \u9ad8 \u6d41\u91cf \uff0c \u589e\u52a0 \u7eff\u706f \u65f6\u95f4   red _ time   =   red _ time + 1   yellow _ time = yellow _ time + 1   green _ time   =   green _ time + 5   # \u4fee\u6539 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u914d\u65f6 \u65b9\u6848   change _ light _ time ( traffic _ lights , traffic _ light _ id , red _ time , yellow _ time , green _ time , world )","title":"4.2 \u3001 \u8c03\u6574 \u914d\u65f6 \u65b9\u6848"},{"location":"tuto_G_traffic_manager/","text":"\u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u5f53 \u6211\u4eec \u8bad\u7ec3 \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u6765 \u63a7\u5236 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u65f6 \uff0c \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u5fc5\u987b \u5e94\u5bf9 \u7684 \u5173\u952e \u6311\u6218 \u4e4b\u4e00 \u662f \u5176\u4ed6 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u3002 \u9664\u4e86 \u8bc6\u522b \u548c \u5bfc\u822a \u9053\u8def \u7f51\u7edc \u62d3\u6251 \u7f51\u7edc\u62d3\u6251 \u4ee5\u53ca \u7ef4\u62a4 \u8f66\u9053 \u89c4\u5219 \u7684 \u4efb\u52a1 \u4e4b\u5916 \uff0c \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u8fd8 \u5fc5\u987b \u8bc6\u522b \u5176\u4ed6 \u8f66\u8f86 \u5e76 \u9884\u6d4b \u5bf9 \u5176 \u8ba1\u5212 \u884c\u52a8 \u65b9\u6848 \u7684 \u5f71\u54cd \u3002 Carla   \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u80fd\u591f \u7ba1\u7406 \u901a\u8fc7 \u4eff\u771f \u5bfc\u822a \u7684 \u8f66\u8f86 \u7fa4 \uff0c \u5e76 \u4e3a \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u7684 \u8f66\u8f86 \uff08 \u5373 \u6211\u4eec \u6b63\u5728 \u8bad\u7ec3 \u6216 \u63a7\u5236 \u7684 \u8f66\u8f86 \uff09 \u8bbe\u7f6e \u969c\u788d \u8bbe\u7f6e\u969c\u788d \u548c \u6311\u6218 \u3002 \u5728   Carla   \u6587\u732e \u4e2d \uff0c \u6211\u4eec \u5c06 \u8fd9\u79cd \u8f66\u8f86 \u79f0\u4e3a \u201c \u81ea\u6211 \u8f66\u8f86 \u201d \u4ee5\u793a \u533a\u522b \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7ba1\u7406 \u5730\u56fe \u5185\u975e \u73a9\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8f66\u8f86 \u7684 \u884c\u4e3a \u548c \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \uff0c \u7528 \u8f66\u8f86 \u586b\u5145 \u4eff\u771f \uff0c \u5176 \u884c\u4e3a \u4e0e \u5176\u4ed6 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u5728 \u771f\u5b9e \u9053\u8def \u7f51\u7edc \u4e0a \u7684 \u884c\u4e3a \u76f8\u540c \u3002 \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u4ecb\u7ecd \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u4e00\u4e9b \u529f\u80fd \u4ee5\u53ca \u5982\u4f55 \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u5b83 \u6765 \u521b\u5efa \u548c \u63a7\u5236 \u975e \u73a9\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8bbe\u7f6e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5e76 \u521d\u59cb \u521d\u59cb\u5316 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u9996\u5148 \uff0c \u6211\u4eec \u5c06 \u521d\u59cb \u521d\u59cb\u5316 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5e76 \u521b\u5efa \u4e00\u4e9b \u968f\u673a \u5206\u5e03 \u5728 \u57ce\u5e02 \u5468\u56f4 \u7684 \u6d41\u91cf \u3002   import   carla   import   random   #   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5e76 \u83b7\u53d6 \u65f6\u95f4 \u5bf9\u8c61   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   Enables   synchronous   mode   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   traffic _ manager   =   client . get _ trafficmanager ( )   traffic _ manager . set _ synchronous _ mode ( True )   #   \u5982\u679c \u6709 \u5fc5\u8981 \u8bbe\u7f6e \u4e00\u4e2a \u79cd\u5b50 \uff0c \u4ee5\u4fbf \u80fd\u591f \u91cd\u73b0 \u884c\u4e3a   traffic _ manager . set _ random _ device _ seed ( 0 )   random . seed ( 0 )   #   \u542f\u52a8 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4ee5\u4fbf \u80fd \u5f00\u5230 \u6240 \u505a \u7684 \u4e8b   spectator   =   world . get _ spectator ( )   \u751f\u6210 \u8f66\u8f86   \u5f53 \u6211\u4eec \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8f66\u8f86 \u65f6 \uff0c \u5b83\u4eec \u9700\u8981 \u4e00\u4e2a \u751f\u6210 \u7684 \u5730\u56fe \u4f4d\u7f6e \u3002 \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u81ea\u5df1 \u9009\u62e9 \u7684 \u5730\u56fe \u5750\u6807 \u81ea\u884c \u5b9a\u4e49 \u8fd9\u4e9b \u3002 \u7136\u800c \uff0c \u4e3a\u4e86 \u89e3\u51b3 \u8fd9\u4e2a \u95ee\u9898 \uff0c \u6bcf\u4e2a   Carla   \u5730\u56fe \u90fd \u6709 \u4e00\u7ec4 \u9884\u5b9a \u4e49 \u7684 \u751f\u6210 \u70b9 \uff0c \u5747\u5300 \u5206\u5e03 \u5747\u5300\u5206\u5e03 \u5728 \u6574\u4e2a \u9053\u8def \u7f51\u7edc \u4e2d \u3002 \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u8fd9\u4e9b \u751f\u6210 \u70b9\u6765 \u751f\u6210 \u6211\u4eec \u7684 \u8f66\u8f86 \u3002   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528   Carla   \u7684 \u8c03\u8bd5 \u529f\u80fd \u6765 \u67e5\u770b \u751f\u6210 \u70b9 \u5728 \u54ea\u91cc \u3002 \u8fd0\u884c \u4ee5\u4e0b \u4ee3\u7801 \uff0c \u7136\u540e \u98de\u8fc7 \u5730\u56fe \u5e76 \u68c0\u67e5 \u751f\u6210 \u70b9 \u7684 \u4f4d\u7f6e \u3002 \u5f53 \u6211\u4eec \u60f3\u8981 \u9009\u62e9 \u66f4 \u5177\u4f53 \u7684 \u70b9 \u7528\u4e8e \u751f\u6210 \u6216 \u5f15\u5bfc \u8f66\u8f86 \u65f6 \uff0c \u8fd9\u4f1a \u7528\u573a \u6d3e\u4e0a\u7528\u573a \u3002   #   \u5728 \u5730\u56fe \u4e0a\u4ee5 \u6570\u5b57 \u7ed8\u5236 \u751f\u6210 \u70b9 \u7684 \u4f4d\u7f6e   for   i ,   spawn _ point   in   enumerate ( spawn _ points ) :   world . debug . draw _ string ( spawn _ point . location ,   str ( i ) ,   life _ time = 10 )   #   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u6211\u4eec \u9700\u8981 \u8fd0\u884c \u4eff\u771f \u6765 \u98de\u884c \u89c2\u5bdf \u5219 \u4f1a   while   True :   world . tick ( )   \u73b0\u5728 \u8ba9 \u6211\u4eec \u751f\u6210 \u4e00\u4e9b \u8f66\u8f86 \u3002   #   \u4ece \u84dd \u56fe\u5e93 \u4e2d \u9009\u62e9 \u4e00\u4e9b \u6a21\u578b   models   =   [ ' dodge ' ,   ' audi ' ,   ' model3 ' ,   ' mini ' ,   ' mustang ' ,   ' lincoln ' ,   ' prius ' ,   ' nissan ' ,   ' crown ' ,   ' impala ' ]   blueprints   =   [ ]   for   vehicle   in   world . get _ blueprint _ library ( ) . filter ( ' * vehicle * ' ) :   if   any ( model   in   vehicle . id   for   model   in   models ) :   blueprints . append ( vehicle )   #   \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u6700\u5927 \u6570\u76ee \u5e76 \u51c6\u5907 \u6211\u4eec \u751f\u6210 \u7684 \u4e00\u4e2a \u5217\u8868   max _ vehicles   =   50   max _ vehicles   =   min ( [ max _ vehicles ,   len ( spawn _ points ) ] )   vehicles   =   [ ]   #   \u5bf9 \u751f\u6210 \u70b9 \u8fdb\u884c \u968f\u673a \u91c7\u6837 \u5e76 \u751f\u6210 \u4e00\u4e9b \u8f66\u8f86 \u3002   for   i ,   spawn _ point   in   enumerate ( random . sample ( spawn _ points ,   max _ vehicles ) ) :   temp   =   world . try _ spawn _ actor ( random . choice ( blueprints ) ,   spawn _ point )   if   temp   is   not   None :   vehicles . append ( temp )   #   \u8fd0\u884c \u4eff\u771f \u4ee5\u4fbf \u6211\u4eec \u80fd \u67e5\u770b \u89c2\u5bdf \u89c2\u5bdf\u8005 \u7684 \u7ed3\u679c   while   True :   world . tick ( )   \u5982\u679c \u60a8 \u73b0\u5728 \u4e0e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4e00\u8d77 \u98de\u8fc7 \u5730\u56fe \uff0c \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230 \u9759\u6b62 \u7684 \u8f66\u8f86 \u5360\u636e \u5730\u56fe \u4e2d \u7684 \u9053\u8def \u3002   \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u8f66\u8f86   \u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u8ba9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u6211\u4eec \u7684 \u8f66\u8f86 \u5e76 \u8ba9 \u4eff\u771f \u8fd0\u884c \u3002 \u4e00\u65e6 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u4e86 \u8f66\u8f86 \uff0c \u5b83\u4eec \u5c31 \u4f1a \u5728 \u9053\u8def \u4e0a \u81ea\u4e3b \u79fb\u52a8 \uff0c \u9075\u5faa \u9053\u8def \u7f51\u7edc \u7684 \u7279\u5f81 \uff0c \u5982 \u8f66\u9053 \u548c \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff0c \u5e76 \u907f\u514d \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u53d1\u751f \u78b0\u649e \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u5177 \u6709 \u8bb8\u591a \u529f\u80fd \uff0c \u5141\u8bb8 \u4fee\u6539 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u7279\u5b9a \u884c\u4e3a \u3002 \u5728 \u4e0b\u9762 \u7684 \u4f8b\u5b50 \u4e2d \uff0c \u6211\u4eec \u4e3a \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u8bbe\u7f6e \u4e86 \u5ffd\u7565 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u968f\u673a \u6982\u7387 \uff0c \u56e0\u6b64 \u6709\u4e9b \u8f66\u8f86 \u4f1a \u503e\u5411 \u4e8e \u5ffd\u7565 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff0c \u800c \u53e6 \u4e00\u4e9b \u8f66\u8f86 \u5219 \u4f1a \u9075\u5b88 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u3002 \u53ef\u4ee5 \u8bbe\u7f6e \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7684 \u884c\u4e3a \uff0c \u6709\u5173 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Python   API   \u53c2\u8003 \u3002   #   \u89e3\u6790 \u6240 \u751f\u6210 \u8f66\u8f86 \u7684 \u5217\u8868 \u5e76 \u901a\u8fc7 set _ autopilot ( ) \u5c06 \u63a7\u5236 \u63a7\u5236\u6743 \u4ea4\u7ed9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   for   vehicle   in   vehicles :   vehicle . set _ autopilot ( True )   #   Randomly   set   the   probability   that   a   vehicle   will   ignore   traffic   lights   traffic _ manager . ignore _ lights _ percentage ( vehicle ,   random . randint ( 0 , 50 ) )   while   True :   world . tick ( )   \u5982\u679c \u60a8 \u73b0\u5728 \u4e0e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4e00\u8d77 \u98de\u8fc7 \u5730\u56fe \uff0c \u60a8 \u5c06 \u770b\u5230 \u8f66\u8f86 \u5728 \u5730\u56fe \u4e0a \u81ea\u52a8 \u884c\u9a76 \u3002   \u6307\u5b9a \u8f66\u8f86 \u884c\u9a76 \u8def\u7ebf \u884c\u9a76\u8def\u7ebf   \u5728 \u524d\u9762 \u7684 \u6b65\u9aa4 \u4e2d \uff0c \u6211\u4eec \u4e86\u89e3 \u4e86 \u5982\u4f55 \u5728 \u5730\u56fe \u4e2d \u751f\u6210 \u4e00\u7ec4 \u8f66\u8f86 \uff0c \u7136\u540e \u5c06 \u5b83\u4eec \u7684 \u63a7\u5236 \u63a7\u5236\u6743 \u4ea4\u7ed9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u4ee5 \u521b\u5efa \u4e00\u4e2a \u5145\u6ee1 \u79fb\u52a8 \u4ea4\u901a \u7684 \u7e41\u5fd9 \u57ce\u9547 \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u5177 \u6709 \u66f4 \u6df1\u5165 \u7684 \u529f\u80fd \uff0c \u53ef\u4ee5 \u66f4 \u7d27\u5bc6 \u5730 \u63a7\u5236 \u8f66\u8f86 \u7684 \u884c\u4e3a \u3002   \u6211\u4eec \u73b0\u5728 \u5c06 \u4f7f\u7528   traffic _ manager . set _ path ( )   \u529f\u80fd \u5f15\u5bfc \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8f66\u8f86 \u6cbf\u7740 \u7279\u5b9a \u8def\u5f84 \u884c\u9a76 \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u6211\u4eec \u5c06 \u521b\u5efa \u4e24\u6761 \u6c47\u805a \u7684 \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \uff0c \u5b83\u4eec \u5c06 \u5728 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u6c47\u805a \u5e76 \u9020\u6210 \u62e5\u5835 \u3002   \u9996\u5148 \uff0c \u6211\u4eec \u5c06 \u9009\u62e9 \u4e00\u4e9b \u8def\u5f84 \u70b9\u6765 \u6784\u5efa \u6211\u4eec \u7684 \u8def\u5f84 \u3002 \u751f\u6210 \u70b9 \u662f \u65b9\u4fbf \u7684 \u8def\u5f84 \u70b9 \uff0c \u4e0e \u4e4b\u524d \u4e00\u6837 \uff0c \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528   Carla   \u7684 \u8c03\u8bd5 \u5de5\u5177 \u5728 \u5730\u56fe \u4e0a \u7ed8\u5236 \u751f\u6210 \u70b9 \u7684 \u4f4d\u7f6e \u3002 \u901a\u8fc7 \u4e0e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4e00\u8d77 \u98de\u8fc7 \u5730\u56fe \uff0c \u6211\u4eec \u53ef\u4ee5 \u9009\u62e9 \u8981 \u7528\u4e8e \u8def\u5f84 \u7684 \u751f\u6210 \u70b9 \u7684 \u7d22\u5f15 \u3002 \u8be5 \u51fd\u6570 \u4f7f\u7528 \u6307\u5b9a \u4e3a   carla . Locations   \u7684 \u5750\u6807 \u5217\u8868 \u3002   #   \u5728 \u5730\u56fe \u4e0a \u4f7f\u7528 \u6570\u5b57 \u7ed8\u5236 \u751f\u6210 \u70b9 \u7684 \u4f4d\u7f6e   for   i ,   spawn _ point   in   enumerate ( spawn _ points ) :   world . debug . draw _ string ( spawn _ point . location ,   str ( i ) ,   life _ time = 10 )   #   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u6211\u4eec \u9700\u8981 \u8fd0\u884c \u4eff\u771f \u4f7f \u89c2\u5bdf \u89c2\u5bdf\u8005 \u98de\u8fc7 \u573a\u666f   while   True :   world . tick ( )   \u6211\u4eec \u9009\u62e9 \u751f\u6210 \u70b9 \u548c \u8def\u5f84 \u70b9\u6765 \u57ce\u9547 \u5728\u57ce\u9547 \u5185 \u521b\u5efa \u4e24\u6761 \u6c47\u805a \u7684 \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \uff0c \u4ece\u800c \u9020\u6210 \u62e5\u5835 \uff0c \u8fd9 \u53ef\u80fd \u662f \u5411 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u5c55\u793a \u7684 \u4e00\u4e2a \u6709\u8da3 \u7684 \u573a\u666f \u3002   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   #   \u8def\u7ebf   1   spawn _ point _ 1   =   spawn _ points [ 32 ]   #   \u4ece \u6240 \u9009\u62e9 \u7684 \u751f\u6210 \u70b9\u4e2d \u521b\u5efa \u8def\u7ebf   1   route _ 1 _ indices   =   [ 129 ,   28 ,   124 ,   33 ,   97 ,   119 ,   58 ,   154 ,   147 ]   route _ 1   =   [ ]   for   ind   in   route _ 1 _ indices :   route _ 1 . append ( spawn _ points [ ind ] . location )   #   \u8def\u7ebf   2   spawn _ point _ 2   =   spawn _ points [ 149 ]   #   \u4ece \u6240 \u9009\u62e9 \u7684 \u751f\u6210 \u70b9\u4e2d \u521b\u5efa \u8def\u7ebf   2   route _ 2 _ indices   =   [ 21 ,   76 ,   38 ,   34 ,   90 ,   3 ]   route _ 2   =   [ ]   for   ind   in   route _ 2 _ indices :   route _ 2 . append ( spawn _ points [ ind ] . location )   #   \u73b0\u5728 \u8ba9 \u6211\u4eec \u5728 \u5730\u56fe \u4e0a \u6253\u5370 \u51fa \u5b83\u4eec \uff0c \u4ee5\u4fbf \u6211\u4eec \u80fd \u770b\u5230 \u6211\u4eec \u7684 \u8def\u5f84   world . debug . draw _ string ( spawn _ point _ 1 . location ,   ' Spawn   point   1 ' ,   life _ time = 30 ,   color = carla . Color ( 255 , 0 , 0 ) )   world . debug . draw _ string ( spawn _ point _ 2 . location ,   ' Spawn   point   2 ' ,   life _ time = 30 ,   color = carla . Color ( 0 , 0 , 255 ) )   for   ind   in   route _ 1 _ indices :   spawn _ points [ ind ] . location   world . debug . draw _ string ( spawn _ points [ ind ] . location ,   str ( ind ) ,   life _ time = 60 ,   color = carla . Color ( 255 , 0 , 0 ) )   for   ind   in   route _ 2 _ indices :   spawn _ points [ ind ] . location   world . debug . draw _ string ( spawn _ points [ ind ] . location ,   str ( ind ) ,   life _ time = 60 ,   color = carla . Color ( 0 , 0 , 255 ) )   while   True :   world . tick ( )   \u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u9009\u62e9 \u4e86 \u751f\u6210 \u70b9 \u548c \u8def\u5f84 \u70b9 \uff0c \u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u5f00\u59cb \u751f\u6210 \u4ea4\u901a \u5e76 \u5c06 \u751f\u6210 \u7684 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u9075\u5faa \u6211\u4eec \u7684 \u8def\u5f84 \u70b9 \u5217\u8868 \u3002   #   \u5728 \u751f\u6210 \u65f6\u95f4 \u4e4b\u95f4 \u8bbe\u7f6e \u5ef6\u8fdf \u4ee5 \u521b\u5efa \u7a7a\u9699   spawn _ delay   =   20   counter   =   spawn _ delay   #   \u8bbe\u7f6e \u6700\u5927 \u8f66\u8f86 \uff08 \u4e3a \u66f4 \u4f4e \u7684 \u786c\u4ef6 \u8bbe\u7f6e \u66f4 \u5c0f \u7684 \u503c \uff09   max _ vehicles   =   200   #   \u5728 \u751f\u6210 \u70b9 \u4e4b\u95f4 \u8f6e\u6d41   alt   =   False   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   while   True :   world . tick ( )   n _ vehicles   =   len ( world . get _ actors ( ) . filter ( ' * vehicle * ' ) )   vehicle _ bp   =   random . choice ( blueprints )   #   \u4ec5 \u5728 \u5ef6\u8fdf \u4e4b\u540e \u751f\u6210 \u8f66\u8f86   if   counter   = =   spawn _ delay   and   n _ vehicles   <   max _ vehicles :   #   Alternate   spawn   points   if   alt :   vehicle   =   world . try _ spawn _ actor ( vehicle _ bp ,   spawn _ point _ 1 )   else :   vehicle   =   world . try _ spawn _ actor ( vehicle _ bp ,   spawn _ point _ 2 )   if   vehicle :   #   \u5982\u679c \u8f66\u8f86 \u6210\u529f \u751f\u6210   vehicle . set _ autopilot ( True )   #   \u5c06 \u8f66\u8f86 \u7684 \u63a7\u5236 \u5168 \u4ea4\u7ed9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   #   \u8bbe\u7f6e \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8f66\u8f86 \u63a7\u5236 \u7684 \u53c2\u6570 \uff0c \u6211\u4eec \u4e0d\u60f3 \u53d8\u9053   traffic _ manager . update _ vehicle _ lights ( vehicle ,   True )   traffic _ manager . random _ left _ lanechange _ percentage ( vehicle ,   0 )   traffic _ manager . random _ right _ lanechange _ percentage ( vehicle ,   0 )   traffic _ manager . auto _ lane _ change ( vehicle ,   False )   #   \u5728 \u751f\u6210 \u70b9 \u4e4b\u95f4 \u8f6e\u6d41   if   alt :   traffic _ manager . set _ path ( vehicle ,   route _ 1 )   alt   =   False   else :   traffic _ manager . set _ path ( vehicle ,   route _ 2 )   alt   =   True   vehicle   =   None   counter   - =   1   elif   counter   >   0 :   counter   - =   1   elif   counter   = =   0 :   counter   =   spawn _ delay   \u901a\u8fc7 \u4e0a\u9762 \u7684 \u4ee3\u7801 \uff0c \u6211\u4eec \u5728 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   set _ path ( )   \u529f\u80fd \u7684 \u5f15\u5bfc \u4e0b \u521b\u5efa \u4e86 \u6765\u81ea \u5730\u56fe \u4e24\u4fa7 \u7684 \u4e24\u4e2a \u6c47\u805a \u7684 \u6d41\u91cf \u6d41 \u3002 \u8fd9 \u5bfc\u81f4 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u9053\u8def \u62e5\u5835 \u3002 \u8fd9\u79cd \u6280\u672f \u53ef\u4ee5 \u66f4 \u5927\u89c4 \u89c4\u6a21 \u5927\u89c4\u6a21 \u5730 \u7528\u4e8e \u4eff\u771f \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u7684 \u591a\u79cd \u68d8\u624b \u60c5\u51b5 \uff0c \u4f8b\u5982 \u7e41\u5fd9 \u7684 \u73af\u5c9b \u6216 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u3002","title":"\u4ea4\u901a\u7ba1\u7406 \u5668"},{"location":"tuto_G_traffic_manager/#_1","text":"\u5f53 \u6211\u4eec \u8bad\u7ec3 \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u6765 \u63a7\u5236 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u65f6 \uff0c \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u5fc5\u987b \u5e94\u5bf9 \u7684 \u5173\u952e \u6311\u6218 \u4e4b\u4e00 \u662f \u5176\u4ed6 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u3002 \u9664\u4e86 \u8bc6\u522b \u548c \u5bfc\u822a \u9053\u8def \u7f51\u7edc \u62d3\u6251 \u7f51\u7edc\u62d3\u6251 \u4ee5\u53ca \u7ef4\u62a4 \u8f66\u9053 \u89c4\u5219 \u7684 \u4efb\u52a1 \u4e4b\u5916 \uff0c \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u8fd8 \u5fc5\u987b \u8bc6\u522b \u5176\u4ed6 \u8f66\u8f86 \u5e76 \u9884\u6d4b \u5bf9 \u5176 \u8ba1\u5212 \u884c\u52a8 \u65b9\u6848 \u7684 \u5f71\u54cd \u3002 Carla   \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u80fd\u591f \u7ba1\u7406 \u901a\u8fc7 \u4eff\u771f \u5bfc\u822a \u7684 \u8f66\u8f86 \u7fa4 \uff0c \u5e76 \u4e3a \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u7684 \u8f66\u8f86 \uff08 \u5373 \u6211\u4eec \u6b63\u5728 \u8bad\u7ec3 \u6216 \u63a7\u5236 \u7684 \u8f66\u8f86 \uff09 \u8bbe\u7f6e \u969c\u788d \u8bbe\u7f6e\u969c\u788d \u548c \u6311\u6218 \u3002 \u5728   Carla   \u6587\u732e \u4e2d \uff0c \u6211\u4eec \u5c06 \u8fd9\u79cd \u8f66\u8f86 \u79f0\u4e3a \u201c \u81ea\u6211 \u8f66\u8f86 \u201d \u4ee5\u793a \u533a\u522b \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7ba1\u7406 \u5730\u56fe \u5185\u975e \u73a9\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8f66\u8f86 \u7684 \u884c\u4e3a \u548c \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \uff0c \u7528 \u8f66\u8f86 \u586b\u5145 \u4eff\u771f \uff0c \u5176 \u884c\u4e3a \u4e0e \u5176\u4ed6 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u5728 \u771f\u5b9e \u9053\u8def \u7f51\u7edc \u4e0a \u7684 \u884c\u4e3a \u76f8\u540c \u3002 \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u4ecb\u7ecd \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u4e00\u4e9b \u529f\u80fd \u4ee5\u53ca \u5982\u4f55 \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u5b83 \u6765 \u521b\u5efa \u548c \u63a7\u5236 \u975e \u73a9\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002","title":"\u4ea4\u901a\u7ba1\u7406 \u5668"},{"location":"tuto_G_traffic_manager/#_2","text":"\u9996\u5148 \uff0c \u6211\u4eec \u5c06 \u521d\u59cb \u521d\u59cb\u5316 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5e76 \u521b\u5efa \u4e00\u4e9b \u968f\u673a \u5206\u5e03 \u5728 \u57ce\u5e02 \u5468\u56f4 \u7684 \u6d41\u91cf \u3002   import   carla   import   random   #   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5e76 \u83b7\u53d6 \u65f6\u95f4 \u5bf9\u8c61   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   Enables   synchronous   mode   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   traffic _ manager   =   client . get _ trafficmanager ( )   traffic _ manager . set _ synchronous _ mode ( True )   #   \u5982\u679c \u6709 \u5fc5\u8981 \u8bbe\u7f6e \u4e00\u4e2a \u79cd\u5b50 \uff0c \u4ee5\u4fbf \u80fd\u591f \u91cd\u73b0 \u884c\u4e3a   traffic _ manager . set _ random _ device _ seed ( 0 )   random . seed ( 0 )   #   \u542f\u52a8 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4ee5\u4fbf \u80fd \u5f00\u5230 \u6240 \u505a \u7684 \u4e8b   spectator   =   world . get _ spectator ( )","title":"\u8bbe\u7f6e \u4eff\u771f\u5668 \u5e76 \u521d\u59cb\u5316 \u4ea4\u901a\u7ba1\u7406 \u5668"},{"location":"tuto_G_traffic_manager/#_3","text":"\u5f53 \u6211\u4eec \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8f66\u8f86 \u65f6 \uff0c \u5b83\u4eec \u9700\u8981 \u4e00\u4e2a \u751f\u6210 \u7684 \u5730\u56fe \u4f4d\u7f6e \u3002 \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u81ea\u5df1 \u9009\u62e9 \u7684 \u5730\u56fe \u5750\u6807 \u81ea\u884c \u5b9a\u4e49 \u8fd9\u4e9b \u3002 \u7136\u800c \uff0c \u4e3a\u4e86 \u89e3\u51b3 \u8fd9\u4e2a \u95ee\u9898 \uff0c \u6bcf\u4e2a   Carla   \u5730\u56fe \u90fd \u6709 \u4e00\u7ec4 \u9884\u5b9a \u4e49 \u7684 \u751f\u6210 \u70b9 \uff0c \u5747\u5300 \u5206\u5e03 \u5747\u5300\u5206\u5e03 \u5728 \u6574\u4e2a \u9053\u8def \u7f51\u7edc \u4e2d \u3002 \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u8fd9\u4e9b \u751f\u6210 \u70b9\u6765 \u751f\u6210 \u6211\u4eec \u7684 \u8f66\u8f86 \u3002   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528   Carla   \u7684 \u8c03\u8bd5 \u529f\u80fd \u6765 \u67e5\u770b \u751f\u6210 \u70b9 \u5728 \u54ea\u91cc \u3002 \u8fd0\u884c \u4ee5\u4e0b \u4ee3\u7801 \uff0c \u7136\u540e \u98de\u8fc7 \u5730\u56fe \u5e76 \u68c0\u67e5 \u751f\u6210 \u70b9 \u7684 \u4f4d\u7f6e \u3002 \u5f53 \u6211\u4eec \u60f3\u8981 \u9009\u62e9 \u66f4 \u5177\u4f53 \u7684 \u70b9 \u7528\u4e8e \u751f\u6210 \u6216 \u5f15\u5bfc \u8f66\u8f86 \u65f6 \uff0c \u8fd9\u4f1a \u7528\u573a \u6d3e\u4e0a\u7528\u573a \u3002   #   \u5728 \u5730\u56fe \u4e0a\u4ee5 \u6570\u5b57 \u7ed8\u5236 \u751f\u6210 \u70b9 \u7684 \u4f4d\u7f6e   for   i ,   spawn _ point   in   enumerate ( spawn _ points ) :   world . debug . draw _ string ( spawn _ point . location ,   str ( i ) ,   life _ time = 10 )   #   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u6211\u4eec \u9700\u8981 \u8fd0\u884c \u4eff\u771f \u6765 \u98de\u884c \u89c2\u5bdf \u5219 \u4f1a   while   True :   world . tick ( )   \u73b0\u5728 \u8ba9 \u6211\u4eec \u751f\u6210 \u4e00\u4e9b \u8f66\u8f86 \u3002   #   \u4ece \u84dd \u56fe\u5e93 \u4e2d \u9009\u62e9 \u4e00\u4e9b \u6a21\u578b   models   =   [ ' dodge ' ,   ' audi ' ,   ' model3 ' ,   ' mini ' ,   ' mustang ' ,   ' lincoln ' ,   ' prius ' ,   ' nissan ' ,   ' crown ' ,   ' impala ' ]   blueprints   =   [ ]   for   vehicle   in   world . get _ blueprint _ library ( ) . filter ( ' * vehicle * ' ) :   if   any ( model   in   vehicle . id   for   model   in   models ) :   blueprints . append ( vehicle )   #   \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u6700\u5927 \u6570\u76ee \u5e76 \u51c6\u5907 \u6211\u4eec \u751f\u6210 \u7684 \u4e00\u4e2a \u5217\u8868   max _ vehicles   =   50   max _ vehicles   =   min ( [ max _ vehicles ,   len ( spawn _ points ) ] )   vehicles   =   [ ]   #   \u5bf9 \u751f\u6210 \u70b9 \u8fdb\u884c \u968f\u673a \u91c7\u6837 \u5e76 \u751f\u6210 \u4e00\u4e9b \u8f66\u8f86 \u3002   for   i ,   spawn _ point   in   enumerate ( random . sample ( spawn _ points ,   max _ vehicles ) ) :   temp   =   world . try _ spawn _ actor ( random . choice ( blueprints ) ,   spawn _ point )   if   temp   is   not   None :   vehicles . append ( temp )   #   \u8fd0\u884c \u4eff\u771f \u4ee5\u4fbf \u6211\u4eec \u80fd \u67e5\u770b \u89c2\u5bdf \u89c2\u5bdf\u8005 \u7684 \u7ed3\u679c   while   True :   world . tick ( )   \u5982\u679c \u60a8 \u73b0\u5728 \u4e0e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4e00\u8d77 \u98de\u8fc7 \u5730\u56fe \uff0c \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230 \u9759\u6b62 \u7684 \u8f66\u8f86 \u5360\u636e \u5730\u56fe \u4e2d \u7684 \u9053\u8def \u3002","title":"\u751f\u6210 \u8f66\u8f86"},{"location":"tuto_G_traffic_manager/#_4","text":"\u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u8ba9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u6211\u4eec \u7684 \u8f66\u8f86 \u5e76 \u8ba9 \u4eff\u771f \u8fd0\u884c \u3002 \u4e00\u65e6 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u4e86 \u8f66\u8f86 \uff0c \u5b83\u4eec \u5c31 \u4f1a \u5728 \u9053\u8def \u4e0a \u81ea\u4e3b \u79fb\u52a8 \uff0c \u9075\u5faa \u9053\u8def \u7f51\u7edc \u7684 \u7279\u5f81 \uff0c \u5982 \u8f66\u9053 \u548c \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff0c \u5e76 \u907f\u514d \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u53d1\u751f \u78b0\u649e \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u5177 \u6709 \u8bb8\u591a \u529f\u80fd \uff0c \u5141\u8bb8 \u4fee\u6539 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u7279\u5b9a \u884c\u4e3a \u3002 \u5728 \u4e0b\u9762 \u7684 \u4f8b\u5b50 \u4e2d \uff0c \u6211\u4eec \u4e3a \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u8bbe\u7f6e \u4e86 \u5ffd\u7565 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u968f\u673a \u6982\u7387 \uff0c \u56e0\u6b64 \u6709\u4e9b \u8f66\u8f86 \u4f1a \u503e\u5411 \u4e8e \u5ffd\u7565 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff0c \u800c \u53e6 \u4e00\u4e9b \u8f66\u8f86 \u5219 \u4f1a \u9075\u5b88 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u3002 \u53ef\u4ee5 \u8bbe\u7f6e \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7684 \u884c\u4e3a \uff0c \u6709\u5173 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Python   API   \u53c2\u8003 \u3002   #   \u89e3\u6790 \u6240 \u751f\u6210 \u8f66\u8f86 \u7684 \u5217\u8868 \u5e76 \u901a\u8fc7 set _ autopilot ( ) \u5c06 \u63a7\u5236 \u63a7\u5236\u6743 \u4ea4\u7ed9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   for   vehicle   in   vehicles :   vehicle . set _ autopilot ( True )   #   Randomly   set   the   probability   that   a   vehicle   will   ignore   traffic   lights   traffic _ manager . ignore _ lights _ percentage ( vehicle ,   random . randint ( 0 , 50 ) )   while   True :   world . tick ( )   \u5982\u679c \u60a8 \u73b0\u5728 \u4e0e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4e00\u8d77 \u98de\u8fc7 \u5730\u56fe \uff0c \u60a8 \u5c06 \u770b\u5230 \u8f66\u8f86 \u5728 \u5730\u56fe \u4e0a \u81ea\u52a8 \u884c\u9a76 \u3002","title":"\u4f7f\u7528 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u8f66\u8f86"},{"location":"tuto_G_traffic_manager/#_5","text":"\u5728 \u524d\u9762 \u7684 \u6b65\u9aa4 \u4e2d \uff0c \u6211\u4eec \u4e86\u89e3 \u4e86 \u5982\u4f55 \u5728 \u5730\u56fe \u4e2d \u751f\u6210 \u4e00\u7ec4 \u8f66\u8f86 \uff0c \u7136\u540e \u5c06 \u5b83\u4eec \u7684 \u63a7\u5236 \u63a7\u5236\u6743 \u4ea4\u7ed9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u4ee5 \u521b\u5efa \u4e00\u4e2a \u5145\u6ee1 \u79fb\u52a8 \u4ea4\u901a \u7684 \u7e41\u5fd9 \u57ce\u9547 \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u5177 \u6709 \u66f4 \u6df1\u5165 \u7684 \u529f\u80fd \uff0c \u53ef\u4ee5 \u66f4 \u7d27\u5bc6 \u5730 \u63a7\u5236 \u8f66\u8f86 \u7684 \u884c\u4e3a \u3002   \u6211\u4eec \u73b0\u5728 \u5c06 \u4f7f\u7528   traffic _ manager . set _ path ( )   \u529f\u80fd \u5f15\u5bfc \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8f66\u8f86 \u6cbf\u7740 \u7279\u5b9a \u8def\u5f84 \u884c\u9a76 \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u6211\u4eec \u5c06 \u521b\u5efa \u4e24\u6761 \u6c47\u805a \u7684 \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \uff0c \u5b83\u4eec \u5c06 \u5728 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u6c47\u805a \u5e76 \u9020\u6210 \u62e5\u5835 \u3002   \u9996\u5148 \uff0c \u6211\u4eec \u5c06 \u9009\u62e9 \u4e00\u4e9b \u8def\u5f84 \u70b9\u6765 \u6784\u5efa \u6211\u4eec \u7684 \u8def\u5f84 \u3002 \u751f\u6210 \u70b9 \u662f \u65b9\u4fbf \u7684 \u8def\u5f84 \u70b9 \uff0c \u4e0e \u4e4b\u524d \u4e00\u6837 \uff0c \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528   Carla   \u7684 \u8c03\u8bd5 \u5de5\u5177 \u5728 \u5730\u56fe \u4e0a \u7ed8\u5236 \u751f\u6210 \u70b9 \u7684 \u4f4d\u7f6e \u3002 \u901a\u8fc7 \u4e0e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4e00\u8d77 \u98de\u8fc7 \u5730\u56fe \uff0c \u6211\u4eec \u53ef\u4ee5 \u9009\u62e9 \u8981 \u7528\u4e8e \u8def\u5f84 \u7684 \u751f\u6210 \u70b9 \u7684 \u7d22\u5f15 \u3002 \u8be5 \u51fd\u6570 \u4f7f\u7528 \u6307\u5b9a \u4e3a   carla . Locations   \u7684 \u5750\u6807 \u5217\u8868 \u3002   #   \u5728 \u5730\u56fe \u4e0a \u4f7f\u7528 \u6570\u5b57 \u7ed8\u5236 \u751f\u6210 \u70b9 \u7684 \u4f4d\u7f6e   for   i ,   spawn _ point   in   enumerate ( spawn _ points ) :   world . debug . draw _ string ( spawn _ point . location ,   str ( i ) ,   life _ time = 10 )   #   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u6211\u4eec \u9700\u8981 \u8fd0\u884c \u4eff\u771f \u4f7f \u89c2\u5bdf \u89c2\u5bdf\u8005 \u98de\u8fc7 \u573a\u666f   while   True :   world . tick ( )   \u6211\u4eec \u9009\u62e9 \u751f\u6210 \u70b9 \u548c \u8def\u5f84 \u70b9\u6765 \u57ce\u9547 \u5728\u57ce\u9547 \u5185 \u521b\u5efa \u4e24\u6761 \u6c47\u805a \u7684 \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \uff0c \u4ece\u800c \u9020\u6210 \u62e5\u5835 \uff0c \u8fd9 \u53ef\u80fd \u662f \u5411 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u5c55\u793a \u7684 \u4e00\u4e2a \u6709\u8da3 \u7684 \u573a\u666f \u3002   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   #   \u8def\u7ebf   1   spawn _ point _ 1   =   spawn _ points [ 32 ]   #   \u4ece \u6240 \u9009\u62e9 \u7684 \u751f\u6210 \u70b9\u4e2d \u521b\u5efa \u8def\u7ebf   1   route _ 1 _ indices   =   [ 129 ,   28 ,   124 ,   33 ,   97 ,   119 ,   58 ,   154 ,   147 ]   route _ 1   =   [ ]   for   ind   in   route _ 1 _ indices :   route _ 1 . append ( spawn _ points [ ind ] . location )   #   \u8def\u7ebf   2   spawn _ point _ 2   =   spawn _ points [ 149 ]   #   \u4ece \u6240 \u9009\u62e9 \u7684 \u751f\u6210 \u70b9\u4e2d \u521b\u5efa \u8def\u7ebf   2   route _ 2 _ indices   =   [ 21 ,   76 ,   38 ,   34 ,   90 ,   3 ]   route _ 2   =   [ ]   for   ind   in   route _ 2 _ indices :   route _ 2 . append ( spawn _ points [ ind ] . location )   #   \u73b0\u5728 \u8ba9 \u6211\u4eec \u5728 \u5730\u56fe \u4e0a \u6253\u5370 \u51fa \u5b83\u4eec \uff0c \u4ee5\u4fbf \u6211\u4eec \u80fd \u770b\u5230 \u6211\u4eec \u7684 \u8def\u5f84   world . debug . draw _ string ( spawn _ point _ 1 . location ,   ' Spawn   point   1 ' ,   life _ time = 30 ,   color = carla . Color ( 255 , 0 , 0 ) )   world . debug . draw _ string ( spawn _ point _ 2 . location ,   ' Spawn   point   2 ' ,   life _ time = 30 ,   color = carla . Color ( 0 , 0 , 255 ) )   for   ind   in   route _ 1 _ indices :   spawn _ points [ ind ] . location   world . debug . draw _ string ( spawn _ points [ ind ] . location ,   str ( ind ) ,   life _ time = 60 ,   color = carla . Color ( 255 , 0 , 0 ) )   for   ind   in   route _ 2 _ indices :   spawn _ points [ ind ] . location   world . debug . draw _ string ( spawn _ points [ ind ] . location ,   str ( ind ) ,   life _ time = 60 ,   color = carla . Color ( 0 , 0 , 255 ) )   while   True :   world . tick ( )   \u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u9009\u62e9 \u4e86 \u751f\u6210 \u70b9 \u548c \u8def\u5f84 \u70b9 \uff0c \u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u5f00\u59cb \u751f\u6210 \u4ea4\u901a \u5e76 \u5c06 \u751f\u6210 \u7684 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u9075\u5faa \u6211\u4eec \u7684 \u8def\u5f84 \u70b9 \u5217\u8868 \u3002   #   \u5728 \u751f\u6210 \u65f6\u95f4 \u4e4b\u95f4 \u8bbe\u7f6e \u5ef6\u8fdf \u4ee5 \u521b\u5efa \u7a7a\u9699   spawn _ delay   =   20   counter   =   spawn _ delay   #   \u8bbe\u7f6e \u6700\u5927 \u8f66\u8f86 \uff08 \u4e3a \u66f4 \u4f4e \u7684 \u786c\u4ef6 \u8bbe\u7f6e \u66f4 \u5c0f \u7684 \u503c \uff09   max _ vehicles   =   200   #   \u5728 \u751f\u6210 \u70b9 \u4e4b\u95f4 \u8f6e\u6d41   alt   =   False   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   while   True :   world . tick ( )   n _ vehicles   =   len ( world . get _ actors ( ) . filter ( ' * vehicle * ' ) )   vehicle _ bp   =   random . choice ( blueprints )   #   \u4ec5 \u5728 \u5ef6\u8fdf \u4e4b\u540e \u751f\u6210 \u8f66\u8f86   if   counter   = =   spawn _ delay   and   n _ vehicles   <   max _ vehicles :   #   Alternate   spawn   points   if   alt :   vehicle   =   world . try _ spawn _ actor ( vehicle _ bp ,   spawn _ point _ 1 )   else :   vehicle   =   world . try _ spawn _ actor ( vehicle _ bp ,   spawn _ point _ 2 )   if   vehicle :   #   \u5982\u679c \u8f66\u8f86 \u6210\u529f \u751f\u6210   vehicle . set _ autopilot ( True )   #   \u5c06 \u8f66\u8f86 \u7684 \u63a7\u5236 \u5168 \u4ea4\u7ed9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   #   \u8bbe\u7f6e \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8f66\u8f86 \u63a7\u5236 \u7684 \u53c2\u6570 \uff0c \u6211\u4eec \u4e0d\u60f3 \u53d8\u9053   traffic _ manager . update _ vehicle _ lights ( vehicle ,   True )   traffic _ manager . random _ left _ lanechange _ percentage ( vehicle ,   0 )   traffic _ manager . random _ right _ lanechange _ percentage ( vehicle ,   0 )   traffic _ manager . auto _ lane _ change ( vehicle ,   False )   #   \u5728 \u751f\u6210 \u70b9 \u4e4b\u95f4 \u8f6e\u6d41   if   alt :   traffic _ manager . set _ path ( vehicle ,   route _ 1 )   alt   =   False   else :   traffic _ manager . set _ path ( vehicle ,   route _ 2 )   alt   =   True   vehicle   =   None   counter   - =   1   elif   counter   >   0 :   counter   - =   1   elif   counter   = =   0 :   counter   =   spawn _ delay   \u901a\u8fc7 \u4e0a\u9762 \u7684 \u4ee3\u7801 \uff0c \u6211\u4eec \u5728 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   set _ path ( )   \u529f\u80fd \u7684 \u5f15\u5bfc \u4e0b \u521b\u5efa \u4e86 \u6765\u81ea \u5730\u56fe \u4e24\u4fa7 \u7684 \u4e24\u4e2a \u6c47\u805a \u7684 \u6d41\u91cf \u6d41 \u3002 \u8fd9 \u5bfc\u81f4 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u9053\u8def \u62e5\u5835 \u3002 \u8fd9\u79cd \u6280\u672f \u53ef\u4ee5 \u66f4 \u5927\u89c4 \u89c4\u6a21 \u5927\u89c4\u6a21 \u5730 \u7528\u4e8e \u4eff\u771f \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u7684 \u591a\u79cd \u68d8\u624b \u60c5\u51b5 \uff0c \u4f8b\u5982 \u7e41\u5fd9 \u7684 \u73af\u5c9b \u6216 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u3002","title":"\u6307\u5b9a \u8f66\u8f86 \u884c\u9a76\u8def\u7ebf"},{"location":"tuto_G_traffic_prediction/","text":"\u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u9884\u6d4b   \u6ce8\u610f   \u8fd0\u884c \u8be5 \u811a\u672c \u4e4b\u524d \uff0c \u5e94\u5148 \u8fd0\u884c generate _ traffic . py \u5e76 \u786e\u4fdd \u5728 town10 \u4e2d \u6210\u529f \u653e\u7f6e \u8f66\u8f86 \u3002   main \u51fd\u6570 \u4e2d \u9996\u5148 \u5b9a\u4e49 \u4e86 argparser \u548c carla \u6a21\u5757 \uff0c \u5176\u4e2d \uff0c argparse \u6a21\u5757 \u7528\u4e8e \u89e3\u6790 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \uff0c \u5305\u62ec host \uff08 \u4e3b\u673a \u5730\u5740 IP\u5730\u5740 \uff09 \u3001 port \uff08 TCP \u7aef\u53e3 \u53e3\u53f7 \u7aef\u53e3\u53f7 \uff09 \u3001 traffic _ id \uff08 \u4ea4\u901a \u4ea4\u901a\u706f ID \uff09 \u3001 color _ id \uff08 \u4ea4\u901a \u4ea4\u901a\u706f \u989c\u8272 ID \uff09 \u548c color _ time \uff08 \u4ea4\u901a \u4ea4\u901a\u706f \u65f6\u95f4 \uff09 \u3002   args =   argparser . parse _ arg ( )   argparser   =   argparse . ArgumentParser ( description = __ doc __ )   argparser . add _ argument ( ' -- host ' ,   metavar = ' H ' ,   default = ' 127.0 . 0.1 ' ,   help = ' IP   of   the   host   server   ( default :   127.0 . 0.1 ) ' )   argparser . add _ argument ( ' - p ' ,   ' -- port ' ,   metavar = ' P ' ,   default = 2000 ,   type = int ,   help = ' TCP   port   to   listen   to   ( default :   2000 ) ' )   argparser . add _ argument ( ' -- traffic _ id ' ,   metavar = ' I ' ,   default = 1 ,   type = int ,   help = ' traffic   light   id ' )   argparser . add _ argument ( ' -- color _ id ' ,   metavar = ' C ' ,   default = 1 ,   type = int ,   help = ' traffic   light   color   id ' )   argparser . add _ argument ( ' -- color _ time ' ,   metavar = ' T ' ,   default = 20 ,   type = int ,   help = ' set   traffic   light   time ' )   \u4f7f\u7528 \u6307\u5b9a \u7684 \u4e3b\u673a \u5730\u5740 IP\u5730\u5740 \u548c \u7aef\u53e3 \u53e3\u53f7 \u7aef\u53e3\u53f7 \u8fde\u63a5 \u5230 Carla \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002 \u540c\u65f6 \uff0c \u8bbe\u7f6e \u4e0e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u901a\u4fe1 \u7684 \u8d85\u65f6 \u65f6\u95f4 \u3002 \u6700\u540e \uff0c \u4ee3\u7801 \u901a\u8fc7 \u83b7\u53d6 Carla \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u4e16\u754c \u5bf9\u8c61 \uff0c \u53ef\u4ee5 \u5728 \u4eff\u771f \u73af\u5883 \u4e2d \u8fdb\u884c \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u64cd\u4f5c \u548c \u63a7\u5236 \u3002   client   =   carla . Client ( args . host ,   args . port )   client . set _ timeout ( 10.0 )   world   =   client . get _ world ( )   \u4f7f\u7528 world . get _ settings ( ) \u65b9\u6cd5 \u83b7\u53d6 Carla \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u5f53\u524d \u8bbe\u7f6e \u3002 \u5c06 Carla \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u8bbe\u7f6e \u66f4 \u6539\u4e3a \u540c\u6b65 \u6a21\u5f0f \uff0c \u5e76 \u5c06 \u65f6\u95f4 \u6b65\u957f \u8bbe\u7f6e \u4e3a 0.05 \u79d2 \uff0c \u4ee5\u4fbf \u4ee5 \u56fa\u5b9a \u7684 \u65f6\u95f4 \u95f4\u9694 \u8fdb\u884c \u4eff\u771f \uff0c \u63a7\u5236 \u4eff\u771f \u7684 \u901f\u5ea6 \u548c \u7cbe\u786e \u7cbe\u786e\u5ea6 \u3002   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   settings . fixed _ delta _ seconds   =   0.05   # \u4eff\u771f \u73af\u5883 \u4f1a\u4ee5 0.05 \u79d2 \u7684 \u65f6\u95f4 \u524d\u8fdb \u3002   world . apply _ settings ( settings )   \u83b7\u53d6 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684   \u8f66\u8f86 \u5217\u8868   vehicle _ list   =   world . get _ actors ( ) . filter ( ' vehicle . * ' )   \u5212\u5b9a   \u8def\u53e3 \u8303\u56f4   xmax   =   - 11   xmin   =   - 77   ymax   =   57   ymin   =   - 13   \u521b\u5efa \u591a\u4e2a \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \uff0c \u5176\u4e2d vehicle _ positions \u7528\u4e8e \u5b58\u50a8 \u8f66\u8f86 \u5b9e\u65f6 \u4f4d\u7f6e \uff0c traffic _ data \u7528\u4e8e \u5b58\u50a8 \u8def\u53e3 \u5b9e\u65f6 \u7684 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u6570\u636e \uff0c timestamps \u7528\u4e8e \u5b58\u50a8 \u65f6\u95f4 \u6233 \uff0c traffic _ flow \u7528\u4e8e \u7edf\u8ba1 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u3002   vehicle _ positions   =   { }   traffic _ data   =   [ ]   timestamps   =   [ ]   traffic _ flow   =   [ ]   \u7edf\u8ba1 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u6570\u636e   \u3002 \u5047\u8bbe \u4eff\u771f \u65f6\u95f4 \u6b65 \u4e00\u5171 \u4e3a 1000 \u3002 \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u4e2d \uff0c \u904d\u5386 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684 \u8f66\u8f86 \u3002 \u5bf9\u4e8e \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u8f86 \uff0c \u83b7\u53d6 \u5176 \u4f4d\u7f6e \u4fe1\u606f \uff0c \u5e76 \u5224\u65ad \u5176 \u662f\u5426 \u5728 \u76ee\u6807 \u8def\u53e3 \u7684 \u533a\u57df \u5185 \u3002 \u5982\u679c \u8f66\u8f86 \u5728 \u533a\u57df \u5185 \uff0c \u5c06 \u8ba1\u6570 \u8ba1\u6570\u5668 \u52a0 1 \uff0c \u5e76 \u5c06 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u4fe1\u606f \u5b58\u50a8 \u5230 \u5b57\u5178 vehicle _ positions \u4e2d \u3002   for   t   in   range ( 1000 ) :   world . tick ( )   count   =   0   for   vehicle   in   vehicle _ list \uff1a   location   =   vehicle . get _ location ( )   x   =   location . x   y   =   location . y   z   =   location . z   if   x   < =   xmax   and   x   > =   xmin   and   y   < =   ymax   and   y   > =   ymin :   count   + =   1   vehicle _ positions [ vehicle . id ]   =   ( x ,   y ,   z )   \u5bf9\u5e94 \u7684 \u65f6\u95f4 \u6233 \u548c \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u6570\u636e \u5206\u522b \u5b58\u5165 timestamps \u3001 traffic _ flow \uff0c   \u800c traffic _ data \u5305\u62ec \u8fd9 \u4e24\u79cd \u6570\u636e \u3002   traffic _ data . append ( ( t ,   count ) )   timestamps . append ( t )   traffic _ flow . append ( count )   traffic _ data \u5199\u5165 csv \u6587\u4ef6   filename   =   \" traffic _ data . csv \"   with   open ( filename ,   \" w \" ,   newline = ' ' ,   encoding = ' utf - 8 ' )   as   file :   writer   =   csv . writer ( file )   writer . writerow ( [ \" head \" ,   \" value \" ] )   #   \u5199\u5165 \u8868\u5934   for   data   in   traffic _ data :   writer . writerow ( [ data [ 0 ] ,   data [ 1 ] ] )   #   \u5199\u5165 \u6570\u636e   data   =   load _ data ( ' traffic _ data . csv ' ,   200 ) # \u8bfb\u53d6 \u6570\u636e \u8bfb\u53d6\u6570\u636e   \u4ece \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u6587\u4ef6 \u4e2d \u52a0\u8f7d   \u6570\u636e   \u5e76 \u8fdb\u884c   \u5904\u7406 \u9884\u5904\u7406   \u3002 \u9996\u5148 \u5c06 \u6570\u636e \u8bfb\u53d6 \u4e3a DataFrame \u5bf9\u8c61 \uff0c \u5e76 \u7ed8\u5236 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u7684 \u6298\u7ebf \u7ebf\u56fe \u6298\u7ebf\u56fe \u3002 \u901a\u8fc7 \u6307\u5b9a \u7684 \u65f6\u95f4 \u6b65 \u5927\u5c0f \u5bf9 \u6570\u636e \u8fdb\u884c \u5207\u7247 \uff0c \u5f62\u6210 \u8bad\u7ec3 \u6837\u672c \u8bad\u7ec3\u6837\u672c \u5e76 \u8fd4\u56de \u3002   def   load _ data ( filename ,   time _ step ) :   df   =   pd . read _ csv ( filename )   data   =   df . value   plt . title ( ' original   data ' )   plt . plot ( data )   plt . show ( )   result   =   [ ]   for   index   in   range ( len ( data )   -   time _ step ) :   result . append ( data [ index : index   +   time _ step   +   1 ] )   return   np . array ( result )   \u4f7f\u7528 MinMaxScaler \u5bf9 \u6570\u636e \u8fdb\u884c   * \u5f52\u4e00\u5316   \u5904\u7406 \uff0c \u7136\u540e \u6309\u7167 7 \uff1a 3 \u7684 \u6bd4\u4f8b \u5c06 \u6570\u636e \u96c6 \u5212\u5206 \u4e3a \u8bad\u7ec3 \u96c6 \u548c \u6d4b\u8bd5 \u96c6 \u3002   scaler   =   MinMaxScaler ( feature _ range = ( 0 ,   1 ) )   dataset   =   scaler . fit _ transform ( data )   train _ count   =   int ( 0.7   *   len ( dataset ) )   x _ train _ set ,   x _ test _ set   =   dataset [ : train _ count ,   : - 1 ] ,   dataset [ train _ count : ,   : - 1 ]   y _ train _ set ,   y _ test _ set   =   dataset [ : train _ count ,   - 1 ] ,   dataset [ train _ count : ,   - 1 ]   \u5bf9 \u8bad\u7ec3 \u96c6 \u548c \u6d4b\u8bd5 \u96c6 \u7684 \u8f93\u5165 \u548c \u8f93\u51fa \u6570\u636e \u8fdb\u884c \u7ef4\u5ea6 \u8c03\u6574 \uff0c \u5176\u4e2d \u8f93\u5165 \u6570\u636e x _ train _ set \u3001 x _ test _ set   \u4e3a \u4e09\u7ef4 \uff0c \u5982 ( \u6837\u672c \u6570\u91cf ,   \u65f6\u95f4 \u6b65\u6570 ,   \u7279\u5f81 \u6570\u91cf \uff09 \uff0c \u8f93\u51fa \u6570\u636e y _ train _ set \u3001 y _ test _ set \u4e3a \u4e8c\u7ef4 \uff0c \u5982 ( \u6837\u672c \u6570\u91cf ,   1 ) \u3002 \u4ee5 \u6ee1\u8db3 LSTM \u6a21\u578b \u7684 \u8f93\u5165 \u8981\u6c42 \u3002   x _ train _ set   =   x _ train _ set . reshape ( x _ train _ set . shape [ 0 ] ,   1 ,   x _ train _ set . shape [ 1 ] )   x _ test _ set   =   x _ test _ set . reshape ( x _ test _ set . shape [ 0 ] ,   1 ,   x _ test _ set . shape [ 1 ] )   y _ train _ set   =   y _ train _ set . reshape ( y _ train _ set . shape [ 0 ] ,   1 )   y _ test _ set   =   y _ test _ set . reshape ( y _ test _ set . shape [ 0 ] ,   1 )   \u5b9a\u4e49 \u5e76 \u521b\u5efa \u4e86 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e3a [ 200 , 500 , 500 , 1 ] LSTM \u6a21\u578b \uff0c \u5176\u4e2d 200 \uff0c 500 \uff0c 500 \uff0c 1 \u5206\u522b \u8868\u793a \u6a21\u578b \u7684 \u4e09\u4e2a \u9690 \u5c42\u5c42 \u7684 \u795e\u7ecf \u795e\u7ecf\u5143 \u6570\u91cf \uff0c 1 \u4e3a \u8f93\u51fa \u5c42 \u7684 \u795e\u7ecf \u795e\u7ecf\u5143 \u6570\u91cf \u3002   layer   =   [ 200 ,   500 ,   500 ,   1 ]   model   =   build _ lstm _ model ( layer )   \u6784\u5efa LST \u6a21\u578b   \u3002 \u8be5 \u51fd\u6570 \u521b\u5efa Sequential \u6a21\u578b \u5bf9\u8c61 \uff0c \u7528\u4e8e \u6309 \u987a\u5e8f \u5806\u53e0 \u795e\u7ecf \u7f51\u7edc \u7f51\u7edc\u5c42 \u3002 \u6dfb\u52a0 LSTM \u5c42 \u3001 Dropout \u5c42 \u548c Dense \u5168 \u8fde\u63a5 \u5c42 \uff0c \u4ee5\u53ca \u8bbe\u7f6e \u635f\u5931 \u51fd\u6570 \u548c \u4f18\u5316 \u5668 \uff0c \u63d0\u4f9b \u4e00\u4e2a \u7b80\u6d01 \u7684 \u65b9\u5f0f \u6765 \u521b\u5efa \u548c \u7f16\u8bd1 LSTM \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u6a21\u578b \uff0c \u4ee5\u4fbf \u8fdb\u884c \u540e\u7eed \u7684 \u8bad\u7ec3 \u548c \u9884\u6d4b \u64cd\u4f5c \u3002   def   build _ lstm _ model ( layer ) :   model   =   Sequential ( )   model . add ( LSTM (   input _ shape = ( 1 ,   layer [ 0 ] ) ,   units = layer [ 1 ] ,   return _ sequences = True ) )   model . add ( Dropout ( 0.2 ) )   model . add ( LSTM (   units = layer [ 2 ] ,   return _ sequences = False ) )   model . add ( Dropout ( 0.2 ) )   model . add ( Dense ( units = layer [ 3 ] ,   activation = ' linear ' ) )   model . compile ( loss = ' mse ' ,   optimizer = ' adam ' )   return   model   \u8bad\u7ec3 \u6a21\u578b   \u3002 \u5c06 \u51c6\u5907 \u597d \u7684 \u8bad\u7ec3 \u96c6 \u6570\u636e x _ train _ set \u548c \u5bf9\u5e94 \u7684 \u76ee\u6807 \u6807\u503c \u76ee\u6807\u503c y _ train _ set \uff0c \u5bf9 \u6784\u5efa \u597d \u7684 \u6a21\u578b \u8fdb\u884c \u8bad\u7ec3 \u3002 \u5176\u4e2d \uff0c batch _ size \u4e3a \u6bcf\u6b21 \u8fed\u4ee3 \u4f7f\u7528 \u7684 \u6837\u672c \u6570\u91cf \uff0c epochs \u4e3a \u8bad\u7ec3 \u7684 \u8fed\u4ee3 \u6b21\u6570   \uff0c validation _ split :   \u9a8c\u8bc1 \u96c6 \u7684 \u6bd4\u4f8b \u3002   model . fit ( x _ train _ set ,   y _ train _ set ,   batch _ size = 100 ,   epochs = 25 ,   validation _ split = 0.2 )   \u9884\u6d4b \u672a\u6765 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf   \u3002 \u4f7f\u7528 \u8bad\u7ec3 \u597d \u7684 \u6a21\u578b \u5bf9 \u6d4b\u8bd5 \u96c6 \u6570\u636e x _ test _ set \u8fdb\u884c \u9884\u6d4b \uff0c \u5f97\u5230 \u9884\u6d4b \u7ed3\u679c y _ predicted \u3002   y _ predicted   =   model . predict ( x _ test _ set )   \u7ed8\u5236 \u66f2\u7ebf   \uff0c \u9996\u5148 \u8fdb\u884c \u4e86 \u6570\u636e \u7684 \u586b\u5145 \u548c \u9006 \u6807\u51c6 \u6807\u51c6\u5316 \u5904\u7406 \uff0c \u5c06 \u5176 \u8f6c\u6362 \u56de \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u7684 \u8303\u56f4 \uff0c \u7136\u540e \u8c03\u7528 plot _ curve \u51fd\u6570 \u8fdb\u884c \u66f2\u7ebf \u7ed8\u5236 \uff0c \u4ee5\u4fbf \u53ef\u89c6 \u53ef\u89c6\u5316 \u5bf9\u6bd4 \u6a21\u578b \u7684 \u9884\u6d4b \u7ed3\u679c \u548c \u771f\u5b9e \u7684 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \uff0c \u4ee5\u4fbf \u8fdb\u884c \u7ed3\u679c \u8bc4\u4f30 \u548c \u5206\u6790 \u3002   temp   =   np . zeros ( ( len ( y _ test _ set ) ,   200 ) )   origin _ temp   =   np . hstack ( ( temp ,   y _ test _ set ) )   predict _ temp   =   np . hstack ( ( temp ,   y _ predicted ) )   origin _ test   =   scaler . inverse _ transform ( origin _ temp )   predict _ test   =   scaler . inverse _ transform ( predict _ temp )   predict _ test   =   np . round ( predict _ test ) . astype ( int )   plot _ curve ( origin _ test [ : ,   - 1 ] ,   predict _ test [ : ,   - 1 ] )   \u5b9a\u4e49 plot _ curve \u51fd\u6570 \u7528\u4e8e \u7ed8\u5236 \u771f\u5b9e \u6570\u636e \u548c \u9884\u6d4b \u6570\u636e \u7684 \u66f2\u7ebf \u7ebf\u56fe \u66f2\u7ebf\u56fe \u3002 \u4e0b\u56fe \u57fa\u4e8e 200 \u79d2 \u4e4b\u524d \u7684 \u5386\u53f2 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u6570\u636e \uff0c \u5bf9 \u672a\u6765 \u65f6\u95f4 \u5e8f\u5217 \u7684 \u6d41\u91cf \u9884\u6d4b \u3002   def   plot _ curve ( true _ data ,   predicted _ data ) :   fig ,   ax   =   plt . subplots ( )   ax . plot ( true _ data ,   label = ' True   data ' )   ax . plot ( predicted _ data ,   label = ' Predicted   data ' )   ax . legend ( )   #   \u8bbe\u7f6e y \u8f74 \u7684 \u683c\u5f0f \u683c\u5f0f\u5316 \u4e3a \u6574\u6570   ax . yaxis . set _ major _ formatter ( ticker . ScalarFormatter ( useOffset = False ,   useMathText = True ) )   ax . yaxis . set _ major _ locator ( ticker . MaxNLocator ( integer = True ) )   plt . show ( )   \u4e0b\u56fe \u57fa\u4e8e 200 \u79d2 \u7684 \u5386\u53f2 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u6570\u636e \uff0c \u5bf9 \u672a\u6765 \u65f6\u95f4 \u5e8f\u5217 \u7684 \u6d41\u91cf \u9884\u6d4b \u3002","title":"\u4ea4\u901a\u6d41\u91cf \u9884\u6d4b"},{"location":"tuto_G_traffic_prediction/#_1","text":"\u6ce8\u610f   \u8fd0\u884c \u8be5 \u811a\u672c \u4e4b\u524d \uff0c \u5e94\u5148 \u8fd0\u884c generate _ traffic . py \u5e76 \u786e\u4fdd \u5728 town10 \u4e2d \u6210\u529f \u653e\u7f6e \u8f66\u8f86 \u3002   main \u51fd\u6570 \u4e2d \u9996\u5148 \u5b9a\u4e49 \u4e86 argparser \u548c carla \u6a21\u5757 \uff0c \u5176\u4e2d \uff0c argparse \u6a21\u5757 \u7528\u4e8e \u89e3\u6790 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \uff0c \u5305\u62ec host \uff08 \u4e3b\u673a \u5730\u5740 IP\u5730\u5740 \uff09 \u3001 port \uff08 TCP \u7aef\u53e3 \u53e3\u53f7 \u7aef\u53e3\u53f7 \uff09 \u3001 traffic _ id \uff08 \u4ea4\u901a \u4ea4\u901a\u706f ID \uff09 \u3001 color _ id \uff08 \u4ea4\u901a \u4ea4\u901a\u706f \u989c\u8272 ID \uff09 \u548c color _ time \uff08 \u4ea4\u901a \u4ea4\u901a\u706f \u65f6\u95f4 \uff09 \u3002   args =   argparser . parse _ arg ( )   argparser   =   argparse . ArgumentParser ( description = __ doc __ )   argparser . add _ argument ( ' -- host ' ,   metavar = ' H ' ,   default = ' 127.0 . 0.1 ' ,   help = ' IP   of   the   host   server   ( default :   127.0 . 0.1 ) ' )   argparser . add _ argument ( ' - p ' ,   ' -- port ' ,   metavar = ' P ' ,   default = 2000 ,   type = int ,   help = ' TCP   port   to   listen   to   ( default :   2000 ) ' )   argparser . add _ argument ( ' -- traffic _ id ' ,   metavar = ' I ' ,   default = 1 ,   type = int ,   help = ' traffic   light   id ' )   argparser . add _ argument ( ' -- color _ id ' ,   metavar = ' C ' ,   default = 1 ,   type = int ,   help = ' traffic   light   color   id ' )   argparser . add _ argument ( ' -- color _ time ' ,   metavar = ' T ' ,   default = 20 ,   type = int ,   help = ' set   traffic   light   time ' )   \u4f7f\u7528 \u6307\u5b9a \u7684 \u4e3b\u673a \u5730\u5740 IP\u5730\u5740 \u548c \u7aef\u53e3 \u53e3\u53f7 \u7aef\u53e3\u53f7 \u8fde\u63a5 \u5230 Carla \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002 \u540c\u65f6 \uff0c \u8bbe\u7f6e \u4e0e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u901a\u4fe1 \u7684 \u8d85\u65f6 \u65f6\u95f4 \u3002 \u6700\u540e \uff0c \u4ee3\u7801 \u901a\u8fc7 \u83b7\u53d6 Carla \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u4e16\u754c \u5bf9\u8c61 \uff0c \u53ef\u4ee5 \u5728 \u4eff\u771f \u73af\u5883 \u4e2d \u8fdb\u884c \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u64cd\u4f5c \u548c \u63a7\u5236 \u3002   client   =   carla . Client ( args . host ,   args . port )   client . set _ timeout ( 10.0 )   world   =   client . get _ world ( )   \u4f7f\u7528 world . get _ settings ( ) \u65b9\u6cd5 \u83b7\u53d6 Carla \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u5f53\u524d \u8bbe\u7f6e \u3002 \u5c06 Carla \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u8bbe\u7f6e \u66f4 \u6539\u4e3a \u540c\u6b65 \u6a21\u5f0f \uff0c \u5e76 \u5c06 \u65f6\u95f4 \u6b65\u957f \u8bbe\u7f6e \u4e3a 0.05 \u79d2 \uff0c \u4ee5\u4fbf \u4ee5 \u56fa\u5b9a \u7684 \u65f6\u95f4 \u95f4\u9694 \u8fdb\u884c \u4eff\u771f \uff0c \u63a7\u5236 \u4eff\u771f \u7684 \u901f\u5ea6 \u548c \u7cbe\u786e \u7cbe\u786e\u5ea6 \u3002   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   settings . fixed _ delta _ seconds   =   0.05   # \u4eff\u771f \u73af\u5883 \u4f1a\u4ee5 0.05 \u79d2 \u7684 \u65f6\u95f4 \u524d\u8fdb \u3002   world . apply _ settings ( settings )   \u83b7\u53d6 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684   \u8f66\u8f86 \u5217\u8868   vehicle _ list   =   world . get _ actors ( ) . filter ( ' vehicle . * ' )   \u5212\u5b9a   \u8def\u53e3 \u8303\u56f4   xmax   =   - 11   xmin   =   - 77   ymax   =   57   ymin   =   - 13   \u521b\u5efa \u591a\u4e2a \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \uff0c \u5176\u4e2d vehicle _ positions \u7528\u4e8e \u5b58\u50a8 \u8f66\u8f86 \u5b9e\u65f6 \u4f4d\u7f6e \uff0c traffic _ data \u7528\u4e8e \u5b58\u50a8 \u8def\u53e3 \u5b9e\u65f6 \u7684 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u6570\u636e \uff0c timestamps \u7528\u4e8e \u5b58\u50a8 \u65f6\u95f4 \u6233 \uff0c traffic _ flow \u7528\u4e8e \u7edf\u8ba1 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u3002   vehicle _ positions   =   { }   traffic _ data   =   [ ]   timestamps   =   [ ]   traffic _ flow   =   [ ]   \u7edf\u8ba1 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u6570\u636e   \u3002 \u5047\u8bbe \u4eff\u771f \u65f6\u95f4 \u6b65 \u4e00\u5171 \u4e3a 1000 \u3002 \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u4e2d \uff0c \u904d\u5386 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684 \u8f66\u8f86 \u3002 \u5bf9\u4e8e \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u8f86 \uff0c \u83b7\u53d6 \u5176 \u4f4d\u7f6e \u4fe1\u606f \uff0c \u5e76 \u5224\u65ad \u5176 \u662f\u5426 \u5728 \u76ee\u6807 \u8def\u53e3 \u7684 \u533a\u57df \u5185 \u3002 \u5982\u679c \u8f66\u8f86 \u5728 \u533a\u57df \u5185 \uff0c \u5c06 \u8ba1\u6570 \u8ba1\u6570\u5668 \u52a0 1 \uff0c \u5e76 \u5c06 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u4fe1\u606f \u5b58\u50a8 \u5230 \u5b57\u5178 vehicle _ positions \u4e2d \u3002   for   t   in   range ( 1000 ) :   world . tick ( )   count   =   0   for   vehicle   in   vehicle _ list \uff1a   location   =   vehicle . get _ location ( )   x   =   location . x   y   =   location . y   z   =   location . z   if   x   < =   xmax   and   x   > =   xmin   and   y   < =   ymax   and   y   > =   ymin :   count   + =   1   vehicle _ positions [ vehicle . id ]   =   ( x ,   y ,   z )   \u5bf9\u5e94 \u7684 \u65f6\u95f4 \u6233 \u548c \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u6570\u636e \u5206\u522b \u5b58\u5165 timestamps \u3001 traffic _ flow \uff0c   \u800c traffic _ data \u5305\u62ec \u8fd9 \u4e24\u79cd \u6570\u636e \u3002   traffic _ data . append ( ( t ,   count ) )   timestamps . append ( t )   traffic _ flow . append ( count )   traffic _ data \u5199\u5165 csv \u6587\u4ef6   filename   =   \" traffic _ data . csv \"   with   open ( filename ,   \" w \" ,   newline = ' ' ,   encoding = ' utf - 8 ' )   as   file :   writer   =   csv . writer ( file )   writer . writerow ( [ \" head \" ,   \" value \" ] )   #   \u5199\u5165 \u8868\u5934   for   data   in   traffic _ data :   writer . writerow ( [ data [ 0 ] ,   data [ 1 ] ] )   #   \u5199\u5165 \u6570\u636e   data   =   load _ data ( ' traffic _ data . csv ' ,   200 ) # \u8bfb\u53d6 \u6570\u636e \u8bfb\u53d6\u6570\u636e   \u4ece \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u6587\u4ef6 \u4e2d \u52a0\u8f7d   \u6570\u636e   \u5e76 \u8fdb\u884c   \u5904\u7406 \u9884\u5904\u7406   \u3002 \u9996\u5148 \u5c06 \u6570\u636e \u8bfb\u53d6 \u4e3a DataFrame \u5bf9\u8c61 \uff0c \u5e76 \u7ed8\u5236 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u7684 \u6298\u7ebf \u7ebf\u56fe \u6298\u7ebf\u56fe \u3002 \u901a\u8fc7 \u6307\u5b9a \u7684 \u65f6\u95f4 \u6b65 \u5927\u5c0f \u5bf9 \u6570\u636e \u8fdb\u884c \u5207\u7247 \uff0c \u5f62\u6210 \u8bad\u7ec3 \u6837\u672c \u8bad\u7ec3\u6837\u672c \u5e76 \u8fd4\u56de \u3002   def   load _ data ( filename ,   time _ step ) :   df   =   pd . read _ csv ( filename )   data   =   df . value   plt . title ( ' original   data ' )   plt . plot ( data )   plt . show ( )   result   =   [ ]   for   index   in   range ( len ( data )   -   time _ step ) :   result . append ( data [ index : index   +   time _ step   +   1 ] )   return   np . array ( result )   \u4f7f\u7528 MinMaxScaler \u5bf9 \u6570\u636e \u8fdb\u884c   * \u5f52\u4e00\u5316   \u5904\u7406 \uff0c \u7136\u540e \u6309\u7167 7 \uff1a 3 \u7684 \u6bd4\u4f8b \u5c06 \u6570\u636e \u96c6 \u5212\u5206 \u4e3a \u8bad\u7ec3 \u96c6 \u548c \u6d4b\u8bd5 \u96c6 \u3002   scaler   =   MinMaxScaler ( feature _ range = ( 0 ,   1 ) )   dataset   =   scaler . fit _ transform ( data )   train _ count   =   int ( 0.7   *   len ( dataset ) )   x _ train _ set ,   x _ test _ set   =   dataset [ : train _ count ,   : - 1 ] ,   dataset [ train _ count : ,   : - 1 ]   y _ train _ set ,   y _ test _ set   =   dataset [ : train _ count ,   - 1 ] ,   dataset [ train _ count : ,   - 1 ]   \u5bf9 \u8bad\u7ec3 \u96c6 \u548c \u6d4b\u8bd5 \u96c6 \u7684 \u8f93\u5165 \u548c \u8f93\u51fa \u6570\u636e \u8fdb\u884c \u7ef4\u5ea6 \u8c03\u6574 \uff0c \u5176\u4e2d \u8f93\u5165 \u6570\u636e x _ train _ set \u3001 x _ test _ set   \u4e3a \u4e09\u7ef4 \uff0c \u5982 ( \u6837\u672c \u6570\u91cf ,   \u65f6\u95f4 \u6b65\u6570 ,   \u7279\u5f81 \u6570\u91cf \uff09 \uff0c \u8f93\u51fa \u6570\u636e y _ train _ set \u3001 y _ test _ set \u4e3a \u4e8c\u7ef4 \uff0c \u5982 ( \u6837\u672c \u6570\u91cf ,   1 ) \u3002 \u4ee5 \u6ee1\u8db3 LSTM \u6a21\u578b \u7684 \u8f93\u5165 \u8981\u6c42 \u3002   x _ train _ set   =   x _ train _ set . reshape ( x _ train _ set . shape [ 0 ] ,   1 ,   x _ train _ set . shape [ 1 ] )   x _ test _ set   =   x _ test _ set . reshape ( x _ test _ set . shape [ 0 ] ,   1 ,   x _ test _ set . shape [ 1 ] )   y _ train _ set   =   y _ train _ set . reshape ( y _ train _ set . shape [ 0 ] ,   1 )   y _ test _ set   =   y _ test _ set . reshape ( y _ test _ set . shape [ 0 ] ,   1 )   \u5b9a\u4e49 \u5e76 \u521b\u5efa \u4e86 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e3a [ 200 , 500 , 500 , 1 ] LSTM \u6a21\u578b \uff0c \u5176\u4e2d 200 \uff0c 500 \uff0c 500 \uff0c 1 \u5206\u522b \u8868\u793a \u6a21\u578b \u7684 \u4e09\u4e2a \u9690 \u5c42\u5c42 \u7684 \u795e\u7ecf \u795e\u7ecf\u5143 \u6570\u91cf \uff0c 1 \u4e3a \u8f93\u51fa \u5c42 \u7684 \u795e\u7ecf \u795e\u7ecf\u5143 \u6570\u91cf \u3002   layer   =   [ 200 ,   500 ,   500 ,   1 ]   model   =   build _ lstm _ model ( layer )   \u6784\u5efa LST \u6a21\u578b   \u3002 \u8be5 \u51fd\u6570 \u521b\u5efa Sequential \u6a21\u578b \u5bf9\u8c61 \uff0c \u7528\u4e8e \u6309 \u987a\u5e8f \u5806\u53e0 \u795e\u7ecf \u7f51\u7edc \u7f51\u7edc\u5c42 \u3002 \u6dfb\u52a0 LSTM \u5c42 \u3001 Dropout \u5c42 \u548c Dense \u5168 \u8fde\u63a5 \u5c42 \uff0c \u4ee5\u53ca \u8bbe\u7f6e \u635f\u5931 \u51fd\u6570 \u548c \u4f18\u5316 \u5668 \uff0c \u63d0\u4f9b \u4e00\u4e2a \u7b80\u6d01 \u7684 \u65b9\u5f0f \u6765 \u521b\u5efa \u548c \u7f16\u8bd1 LSTM \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u6a21\u578b \uff0c \u4ee5\u4fbf \u8fdb\u884c \u540e\u7eed \u7684 \u8bad\u7ec3 \u548c \u9884\u6d4b \u64cd\u4f5c \u3002   def   build _ lstm _ model ( layer ) :   model   =   Sequential ( )   model . add ( LSTM (   input _ shape = ( 1 ,   layer [ 0 ] ) ,   units = layer [ 1 ] ,   return _ sequences = True ) )   model . add ( Dropout ( 0.2 ) )   model . add ( LSTM (   units = layer [ 2 ] ,   return _ sequences = False ) )   model . add ( Dropout ( 0.2 ) )   model . add ( Dense ( units = layer [ 3 ] ,   activation = ' linear ' ) )   model . compile ( loss = ' mse ' ,   optimizer = ' adam ' )   return   model   \u8bad\u7ec3 \u6a21\u578b   \u3002 \u5c06 \u51c6\u5907 \u597d \u7684 \u8bad\u7ec3 \u96c6 \u6570\u636e x _ train _ set \u548c \u5bf9\u5e94 \u7684 \u76ee\u6807 \u6807\u503c \u76ee\u6807\u503c y _ train _ set \uff0c \u5bf9 \u6784\u5efa \u597d \u7684 \u6a21\u578b \u8fdb\u884c \u8bad\u7ec3 \u3002 \u5176\u4e2d \uff0c batch _ size \u4e3a \u6bcf\u6b21 \u8fed\u4ee3 \u4f7f\u7528 \u7684 \u6837\u672c \u6570\u91cf \uff0c epochs \u4e3a \u8bad\u7ec3 \u7684 \u8fed\u4ee3 \u6b21\u6570   \uff0c validation _ split :   \u9a8c\u8bc1 \u96c6 \u7684 \u6bd4\u4f8b \u3002   model . fit ( x _ train _ set ,   y _ train _ set ,   batch _ size = 100 ,   epochs = 25 ,   validation _ split = 0.2 )   \u9884\u6d4b \u672a\u6765 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf   \u3002 \u4f7f\u7528 \u8bad\u7ec3 \u597d \u7684 \u6a21\u578b \u5bf9 \u6d4b\u8bd5 \u96c6 \u6570\u636e x _ test _ set \u8fdb\u884c \u9884\u6d4b \uff0c \u5f97\u5230 \u9884\u6d4b \u7ed3\u679c y _ predicted \u3002   y _ predicted   =   model . predict ( x _ test _ set )   \u7ed8\u5236 \u66f2\u7ebf   \uff0c \u9996\u5148 \u8fdb\u884c \u4e86 \u6570\u636e \u7684 \u586b\u5145 \u548c \u9006 \u6807\u51c6 \u6807\u51c6\u5316 \u5904\u7406 \uff0c \u5c06 \u5176 \u8f6c\u6362 \u56de \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u7684 \u8303\u56f4 \uff0c \u7136\u540e \u8c03\u7528 plot _ curve \u51fd\u6570 \u8fdb\u884c \u66f2\u7ebf \u7ed8\u5236 \uff0c \u4ee5\u4fbf \u53ef\u89c6 \u53ef\u89c6\u5316 \u5bf9\u6bd4 \u6a21\u578b \u7684 \u9884\u6d4b \u7ed3\u679c \u548c \u771f\u5b9e \u7684 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \uff0c \u4ee5\u4fbf \u8fdb\u884c \u7ed3\u679c \u8bc4\u4f30 \u548c \u5206\u6790 \u3002   temp   =   np . zeros ( ( len ( y _ test _ set ) ,   200 ) )   origin _ temp   =   np . hstack ( ( temp ,   y _ test _ set ) )   predict _ temp   =   np . hstack ( ( temp ,   y _ predicted ) )   origin _ test   =   scaler . inverse _ transform ( origin _ temp )   predict _ test   =   scaler . inverse _ transform ( predict _ temp )   predict _ test   =   np . round ( predict _ test ) . astype ( int )   plot _ curve ( origin _ test [ : ,   - 1 ] ,   predict _ test [ : ,   - 1 ] )   \u5b9a\u4e49 plot _ curve \u51fd\u6570 \u7528\u4e8e \u7ed8\u5236 \u771f\u5b9e \u6570\u636e \u548c \u9884\u6d4b \u6570\u636e \u7684 \u66f2\u7ebf \u7ebf\u56fe \u66f2\u7ebf\u56fe \u3002 \u4e0b\u56fe \u57fa\u4e8e 200 \u79d2 \u4e4b\u524d \u7684 \u5386\u53f2 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u6570\u636e \uff0c \u5bf9 \u672a\u6765 \u65f6\u95f4 \u5e8f\u5217 \u7684 \u6d41\u91cf \u9884\u6d4b \u3002   def   plot _ curve ( true _ data ,   predicted _ data ) :   fig ,   ax   =   plt . subplots ( )   ax . plot ( true _ data ,   label = ' True   data ' )   ax . plot ( predicted _ data ,   label = ' Predicted   data ' )   ax . legend ( )   #   \u8bbe\u7f6e y \u8f74 \u7684 \u683c\u5f0f \u683c\u5f0f\u5316 \u4e3a \u6574\u6570   ax . yaxis . set _ major _ formatter ( ticker . ScalarFormatter ( useOffset = False ,   useMathText = True ) )   ax . yaxis . set _ major _ locator ( ticker . MaxNLocator ( integer = True ) )   plt . show ( )   \u4e0b\u56fe \u57fa\u4e8e 200 \u79d2 \u7684 \u5386\u53f2 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u6570\u636e \uff0c \u5bf9 \u672a\u6765 \u65f6\u95f4 \u5e8f\u5217 \u7684 \u6d41\u91cf \u9884\u6d4b \u3002","title":"\u4ea4\u901a\u6d41\u91cf \u9884\u6d4b"},{"location":"tuto_G_unreal/","text":"\u63a7\u5236 \u63a7\u5236\u53f0 \u547d\u4ee4   \u542f\u52a8 \u4eff\u771f \u540e \uff0c \u8f93\u5165   ~   \u952e \u8c03\u7528 \u63a7\u5236 \u63a7\u5236\u53f0 \u547d\u4ee4 \u3002   stat   rhi   :   Rendering   Hardware   Interface \uff0c \u663e\u793a RHI \u5185\u5b58 \u548c \u6027\u80fd \u7edf\u8ba1 \u8ba1\u6570 \u6570\u636e \u7edf\u8ba1\u6570\u636e \u3002   HighResShot   3840x2160   \u2014 \u2014   \u6307\u5b9a \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u622a\u56fe \uff08 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \uff09 \uff0c \u56fe\u7247 \u5b58\u50a8 \u4f4d\u7f6e \uff1a   \\ Saved \\ Screenshots \\   \u3002   \u6e32\u67d3 \u7ba1\u7ebf   \u52a8\u753b \u6a21\u62df   \u5149\u7ebf \u4f20\u64ad   \u51e0\u4f55 \u8868\u793a   \u5149\u6805 \u5316   \u7ed8\u5236 \u8c03\u7528 \uff08 draw   call \uff09 \uff1a \u5728 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u56fe\u5f62 \u5f62\u5b66 \u56fe\u5f62\u5b66 \u4e2d \uff0c \u6307\u5411 \u56fe\u5f62 \u5904\u7406 \u7406\u5668 \u5904\u7406\u5668 \u53d1\u9001 \u6307\u4ee4 \u4ee5 \u7ed8\u5236 \u56fe\u5f62 \u7684 \u8fc7\u7a0b \u3002   \u5149\u6805 \u5316 \uff1a \u627e\u51fa \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u6240 \u8986\u76d6 \u5230 \u7684 \u50cf\u7d20 \uff1b   Git   \u7248\u672c \u7ba1\u7406   \u6e90\u7801 \u63a7\u5236 - > \u8fde\u63a5 \u5230 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7ba1\u7406 - > Git \uff1b   Git \u8def\u5f84 \u9009\u62e9 Git \u5b89\u88c5 \u540e bin \u6587\u4ef6 \u4e2d \u7684 \u542f\u52a8 \u7a0b\u5e8f \uff1b \u9009\u62e9   \u63a5\u6536 \u8bbe\u7f6e   \u865a\u5e7b \u5f15\u64ce \u6587\u6863","title":"tuto   G   unreal"},{"location":"tuto_G_unreal/#_1","text":"\u542f\u52a8 \u4eff\u771f \u540e \uff0c \u8f93\u5165   ~   \u952e \u8c03\u7528 \u63a7\u5236 \u63a7\u5236\u53f0 \u547d\u4ee4 \u3002   stat   rhi   :   Rendering   Hardware   Interface \uff0c \u663e\u793a RHI \u5185\u5b58 \u548c \u6027\u80fd \u7edf\u8ba1 \u8ba1\u6570 \u6570\u636e \u7edf\u8ba1\u6570\u636e \u3002   HighResShot   3840x2160   \u2014 \u2014   \u6307\u5b9a \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u622a\u56fe \uff08 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \uff09 \uff0c \u56fe\u7247 \u5b58\u50a8 \u4f4d\u7f6e \uff1a   \\ Saved \\ Screenshots \\   \u3002","title":"\u63a7\u5236\u53f0 \u547d\u4ee4"},{"location":"tuto_G_unreal/#_2","text":"\u52a8\u753b \u6a21\u62df   \u5149\u7ebf \u4f20\u64ad   \u51e0\u4f55 \u8868\u793a   \u5149\u6805 \u5316   \u7ed8\u5236 \u8c03\u7528 \uff08 draw   call \uff09 \uff1a \u5728 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u56fe\u5f62 \u5f62\u5b66 \u56fe\u5f62\u5b66 \u4e2d \uff0c \u6307\u5411 \u56fe\u5f62 \u5904\u7406 \u7406\u5668 \u5904\u7406\u5668 \u53d1\u9001 \u6307\u4ee4 \u4ee5 \u7ed8\u5236 \u56fe\u5f62 \u7684 \u8fc7\u7a0b \u3002   \u5149\u6805 \u5316 \uff1a \u627e\u51fa \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u6240 \u8986\u76d6 \u5230 \u7684 \u50cf\u7d20 \uff1b","title":"\u6e32\u67d3 \u7ba1\u7ebf"},{"location":"tuto_G_unreal/#git","text":"\u6e90\u7801 \u63a7\u5236 - > \u8fde\u63a5 \u5230 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7ba1\u7406 - > Git \uff1b   Git \u8def\u5f84 \u9009\u62e9 Git \u5b89\u88c5 \u540e bin \u6587\u4ef6 \u4e2d \u7684 \u542f\u52a8 \u7a0b\u5e8f \uff1b \u9009\u62e9   \u63a5\u6536 \u8bbe\u7f6e","title":"Git   \u7248\u672c \u7ba1\u7406"},{"location":"tuto_G_unreal/#_3","text":"","title":"\u865a\u5e7b \u5f15\u64ce \u6587\u6863"},{"location":"tuto_M_add_map_alternative/","text":"\u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5   \u672c \u6307\u5357 \u4ecb\u7ecd \u4e86 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla   \u7684 \u66ff\u4ee3 \u65b9\u6cd5 \u3002 \u8fd9\u4e9b \u65b9\u6cd5 \u6d89\u53ca \u6bd4   \u5305   \u548c   \u4ee3\u7801 \u6e90\u4ee3\u7801   \u5bfc\u5165 \u6307\u5357 \u4e2d \u63cf\u8ff0 \u7684 \u8fc7\u7a0b \u66f4 \u591a \u7684 \u624b\u52a8 \u6b65\u9aa4 \u3002 \u9996\u5148 \u6211\u4eec \u5c06 \u4ecb\u7ecd   RoadRuner   \u63d2\u4ef6 \uff0c \u7136\u540e \u4ecb\u7ecd \u624b\u52a8 \u5bfc\u5165 \u65b9\u6cd5 \u3002   RoadRunner   \u63d2\u4ef6 \u5bfc\u5165   \u63d2\u4ef6 \u5b89\u88c5   \u5bfc\u5165 \u5730\u56fe   \u624b\u52a8 \u5bfc\u5165   \u4e0b \u4e00\u6b65   RoadRunner   \u63d2\u4ef6 \u5bfc\u5165   MathWorks   \u7684   RoadRunner   \u8f6f\u4ef6 \u63d0\u4f9b \u4e86 \u865a\u5e7b \u5f15\u64ce \u63d2\u4ef6 \uff0c \u4ee5 \u5e2e\u52a9 \u7b80\u5316 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla   \u7684 \u8fc7\u7a0b \u3002   \u63d2\u4ef6 \u5b89\u88c5   1 .   \u63d2\u4ef6 \u53ef \u4ece   MathWorks   \u7f51\u7ad9   \u4e0b\u8f7d \u3002 MathWorks   \u8fd8\u6709 \u4e00\u4e2a   \u5b8c\u6574 \u7684 \u6559\u7a0b   \uff0c \u4e0e \u6b64 \u7c7b\u4f3c \uff0c \u4ecb\u7ecd \u5982\u4f55 \u4f7f\u7528 \u63d2\u4ef6 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla \u3002   2 .   \u89e3\u538b \u4e0b\u8f7d \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u5185\u5bb9 \u5e76 \u5c06   RoadRunnerImporter   \u548c   RoadRunnerMaterials   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u79fb\u52a8 \u5230   < carla > / Unreal / CarlaUE4 / Plugins /   \u3002   3 .   \u6309\u7167 \u4ee5\u4e0b \u8bf4\u660e \u91cd\u5efa \u63d2\u4ef6 \uff1a   \u5728   Windows   \u4e0a \u3002   \u53f3\u952e \u5355\u51fb   < carla > / Unreal / CarlaUE4   \u4e2d \u7684   . uproject   \u6587\u4ef6 \uff0c \u5e76 \u9009\u62e9   Generate   Visual   Studio   project   files   \u3002   \u5728   Carla   \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u8fd0\u884c \u547d\u4ee4 \uff1a   make   launch   \u5728   Linux   \u4e0a \u3002   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   UE4 _ ROOT / GenerateProjectFiles . sh   - project = \" carla / Unreal / CarlaUE4 / CarlaUE4 . uproject \"   - game   - engine   4 .   \u5728 \u865a\u5e7b \u5f15\u64ce \u7a97\u53e3 \u4e2d \uff0c \u786e\u4fdd \u9009\u4e2d \u4e24\u4e2a \u63d2\u4ef6 \u7684 \u590d\u9009 \u9009\u6846 \u590d\u9009\u6846   Edit   >   Plugins   \u9009\u4e2d \u3002   \u5bfc\u5165 \u5730\u56fe   1 .   \u4f7f\u7528   Import   \u6309\u94ae \u5c06   < mapName > . fbx   \u6587\u4ef6 \u5bfc\u5165 \u5bfc\u5165\u5230   / Content / Carla / Maps   \u4e0b\u9762 \u7684 \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   2 .   \u5c06   Scene   >   Hierarchy   Type   \u8bbe\u7f6e \u4e3a   Create   One   Blueprint   Asset   \uff08 \u9ed8\u8ba4 \u9009\u62e9 \uff09 \u3002   3 .   \u5c06   Static   Meshes   >   Normal   Import   Method   \u8bbe\u7f6e \u4e3a   Import   Normals   \u3002   4 .   \u70b9\u51fb   Import   \u3002   5 .   \u4fdd\u5b58 \u5f53\u524d \u5173\u5361   File   - >   Save   Current   As ...   - >   < mapname >   \u3002   \u65b0 \u5730\u56fe \u73b0\u5728 \u5e94\u8be5 \u51fa\u73b0 \u5728 \u865a\u5e7b \u5f15\u64ce   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \u5176\u4ed6 \u5730\u56fe \u7684 \u65c1\u8fb9 \u3002   \u7b14\u8bb0   \u8bed\u4e49 \u5206\u5272 \u7684 \u6807\u7b7e \u5c06 \u6839\u636e \u8d44\u4ea7 \u540d\u79f0 \u5206\u914d \u3002 \u8be5 \u8d44\u6e90 \u5c06 \u88ab \u79fb\u52a8 \u5230   Content / Carla / PackageName / Static   \u4e2d \u7684 \u76f8\u5e94 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u8981 \u66f4\u6539 \u8fd9\u4e9b \uff0c \u8bf7 \u5728 \u5bfc\u5165 \u540e \u624b\u52a8 \u79fb\u52a8 \u5b83\u4eec \u3002   \u624b\u52a8 \u5bfc\u5165   \u8fd9\u79cd \u5bfc\u5165 \u5730\u56fe \u7684 \u65b9\u6cd5 \u53ef\u4ee5 \u4e0e \u901a\u7528   . fbx   \u548c   . xodr   \u6587\u4ef6 \u4e00\u8d77 \u4f7f\u7528 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528   RoadRunner \uff0c \u5219 \u5e94 \u4f7f\u7528   Firebox   ( . fbx )   \u3001   OpenDRIVE   ( . xodr )   \u6216   Unreal   ( . fbx   +   . xml )   \u5bfc\u51fa \u65b9\u6cd5 \u3002 \u4e0d\u8981 \u4f7f\u7528 \u8be5   Carla   Exporter   \u9009\u9879 \uff0c \u56e0\u4e3a \u60a8 \u5c06 \u9047\u5230   . fbx   \u6587\u4ef6 \u7684 \u517c\u5bb9 \u5bb9\u6027 \u95ee\u9898 \u517c\u5bb9\u6027 \u517c\u5bb9\u6027\u95ee\u9898 \u3002   \u8981 \u5c06 \u5730\u56fe \u624b\u52a8 \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce \uff1a   1 .   \u5728 \u7cfb\u7edf \u7684 \u6587\u4ef6 \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668\u4e2d \uff0c \u5c06   . xodr   \u6587\u4ef6 \u590d\u5236 \u590d\u5236\u5230   < carla - root > / Unreal / CarlaUE4 / Content / Carla / Maps / OpenDrive   \u3002   2 .   \u901a\u8fc7 \u5728   carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e2d \u8fd0\u884c   make   launch   \u6765 \u6253\u5f00 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u5230   Content / Carla / Maps / BaseMap   \u5e76 \u590d\u5236   BaseMap   \u3002 \u8fd9 \u5c06 \u63d0\u4f9b \u5e26\u6709 \u9ed8\u8ba4 \u5929\u7a7a \u548c \u7167\u660e \u5bf9\u8c61 \u7684 \u7a7a\u767d \u5730\u56fe \u3002   3 .   \u5728 \u76ee\u5f55   Content / Carla / Maps   \u4e2d \u521b\u5efa \u4e00\u4e2a \u4ee5 \u60a8 \u7684 \u5730\u56fe \u5730\u56fe\u5305 \u540d\u79f0 \u547d\u540d \u7684 \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5e76 \u4ee5 \u4e0e \u60a8 \u7684   . fbx   \u548c   . xodr   \u6587\u4ef6 \u76f8\u540c \u7684 \u540d\u79f0 \u4fdd\u5b58 \u590d\u5236 \u7684 \u5730\u56fe \u3002   4 .   \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u56de   Content / Carla / Maps   \u3002 \u53f3\u952e \u5355\u51fb \u7070\u8272 \u533a\u57df \u5e76 \u5728 \u6807\u9898   Import   Asset   \u4e0b \u9009\u62e9   Import   to   / Game / Carla / Maps ...   \u3002   5 .   \u5728 \u5f39\u51fa \u7684 \u914d\u7f6e \u7a97\u53e3 \u4e2d \uff0c \u786e\u4fdd \uff1a   \u8fd9\u4e9b \u9009\u9879 \u672a \u9009\u4e2d \uff1a   \u81ea\u52a8 \u751f\u6210 \u78b0\u649e ( Auto   Generate   Collision )   \u7ec4\u5408 \u7f51\u683c ( Combine   Meshes )   Force   Front   xAxis   \u5728 \u4ee5\u4e0b \u4e0b \u62c9 \u5217\u8868 \u4e2d \uff0c \u9009\u62e9 \u76f8\u5e94 \u7684 \u9009\u9879 \uff1a   \u6cd5\u7ebf \u5bfc\u5165 \u65b9\u6cd5   -   Import   Normals   \u6750\u8d28 \u5bfc\u5165 \u65b9\u6cd5   -   Create   New   Materials   \u68c0\u67e5 \u8fd9\u4e9b \u9009\u9879 \uff1a   Convert   Scene   Unit   Import   Textures   6 .   \u5355\u51fb   Import   \u3002   7 .   \u7f51\u683c \u5c06 \u51fa\u73b0 \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \u3002 \u9009\u62e9 \u7f51\u683c \u5e76 \u5c06 \u5b83\u4eec \u62d6 \u5230 \u573a\u666f \u4e2d \u3002   8 .   \u5c06 \u7f51\u683c \u7f6e\u4e8e   0 , 0 , 0   \u4e2d\u5fc3 \u3002   9 .   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u9009\u62e9 \u6240\u6709 \u9700\u8981 \u6709 \u78b0\u649e \u4f53 \u7684 \u7f51\u683c \u4f53 \u3002 \u8fd9 \u662f \u6307 \u4e0e \u884c\u4eba \u6216 \u8f66\u8f86 \u4ea4\u4e92 \u7684 \u4efb\u4f55 \u7f51\u683c \u3002 \u78b0\u649e \u4f53 \u9632\u6b62 \u4ed6\u4eec \u6389\u5165 \u6df1\u6e0a \u3002 \u53f3\u952e \u5355\u51fb \u9009\u5b9a \u7684 \u7f51\u683c \u5e76 \u9009\u62e9   Asset   Actions   >   Bulk   Edit   via   Property   Matrix ...   \u3002   10 .   \u5728 \u641c\u7d22 \u6846\u4e2d \u641c\u7d22   \u78b0\u649e ( collision )   \u3002   11 .   \u5c06   Collision   Complexity   \u4ece   Project   Default   \u6539\u4e3a   Use   Complex   Collision   As   Simple   \u5e76 \u5173\u95ed \u7a97\u53e3 \u3002   12 .   \u6309   Alt   +   c   \u786e\u8ba4 \u78b0\u649e \u8bbe\u7f6e \u5df2 \u6b63\u786e \u5e94\u7528 \u3002 \u60a8 \u4f1a \u5728 \u7f51\u683c \u4e0a \u770b\u5230 \u9ed1\u8272 \u7684 \u7f51 \u3002   13 .   \u8981 \u4e3a \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u521b\u5efa \u771f\u5b9e \u6570\u636e \uff0c \u8bf7 \u5c06 \u9759\u6001 \u7f51\u683c \u7269\u4f53 \u79fb\u52a8 \u5230   Carla / Static / < segment >   \u9075\u5faa \u4ee5\u4e0b \u7ed3\u6784 \u7684 \u76f8\u5e94 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff1a   Content   \u2514 \u2500 \u2500   Carla   \u251c \u2500 \u2500   Blueprints   \u251c \u2500 \u2500   Config   \u251c \u2500 \u2500   Exported   Maps   \u251c \u2500 \u2500   HDMaps   \u251c \u2500 \u2500   Maps   \u2514 \u2500 \u2500   Static   \u251c \u2500 \u2500   Terrain   \u2502   \u2514 \u2500 \u2500   mapname   \u2502   \u2514 \u2500 \u2500   Static   Meshes   \u2502   \u251c \u2500 \u2500   Road   \u2502   \u2514 \u2500 \u2500   mapname   \u2502   \u2514 \u2500 \u2500   Static   Meshes   \u2502   \u251c \u2500 \u2500   RoadLines   |   \u2514 \u2500 \u2500   mapname   |   \u2514 \u2500 \u2500   Static   Meshes   \u2514 \u2500 \u2500   Sidewalks   \u2514 \u2500 \u2500   mapname   \u2514 \u2500 \u2500   Static   Meshes   14 .   \u5728   \u201c \u6a21\u5f0f ( Modes ) \u201d   \u9762\u677f \u4e2d \uff0c \u641c\u7d22   Open   Drive   Actor   \u5e76 \u5c06 \u5176 \u62d6 \u5230 \u573a\u666f \u4e2d \u3002   15 .   \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \uff0c \u9009\u4e2d   Add   Spawners   \u5e76 \u5355\u51fb   Generate   Routes   \u65c1\u8fb9 \u7684 \u6846 \u3002 \u8fd9 \u5c06 \u5728   < carla - root > / Unreal / CarlaUE4 / Content / Carla / Maps / OpenDrive   \u76ee\u5f55 \u4e2d \u627e\u5230 \u5177\u6709 \u76f8\u540c \u5730\u56fe \u540d\u79f0 \u7684   . xodr   \u6587\u4ef6 \uff0c \u5e76 \u4f7f\u7528 \u5b83 \u6765 \u751f\u6210 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217   RoutePlanner   \u548c   VehicleSpawnPoint   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u4e0b \u4e00\u6b65   \u60a8 \u73b0\u5728 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u6253\u5f00 \u5730\u56fe \u5e76 \u8fd0\u884c \u4eff\u771f \u3002 \u4ece \u8fd9\u91cc \uff0c \u60a8 \u5c06 \u80fd\u591f \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u5e76 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u6570\u636e \u3002 \u6211\u4eec \u5efa\u8bae \u5728 \u6240\u6709 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5b8c\u6210 \u540e \u751f\u6210 \u884c\u4eba \u5bfc\u822a \uff0c \u8fd9\u6837 \u5c31 \u4e0d\u4f1a \u6709 \u969c\u788d \u969c\u788d\u7269 \u963b\u6321 \u884c\u4eba \u8def\u5f84 \u3002   Carla   \u63d0\u4f9b \u4e86 \u591a\u79cd \u5de5\u5177 \u548c \u6307\u5357 \u6765 \u5e2e\u52a9 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u5173\u5361 \u3002   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5efa\u8bae \u4f7f\u7528   Carla   \u5305   \u548c   Carla   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   \u6307\u5357 \u4e2d \u8be6\u7ec6 \u4ecb\u7ecd \u7684 \u81ea\u52a8 \u81ea\u52a8\u5316 \u6d41\u7a0b \u6765 \u5bfc\u5165 \u5730\u56fe \uff0c \u4f46\u662f \u5982\u679c \u9700\u8981 \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u672c\u8282 \u4e2d \u5217\u51fa \u7684 \u65b9\u6cd5 \u3002 \u5982\u679c \u60a8 \u5728 \u4f7f\u7528 \u5176\u4ed6 \u65b9\u6cd5 \u65f6 \u9047\u5230 \u4efb\u4f55 \u95ee\u9898 \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e16 \u3002","title":"\u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5"},{"location":"tuto_M_add_map_alternative/#_1","text":"\u672c \u6307\u5357 \u4ecb\u7ecd \u4e86 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla   \u7684 \u66ff\u4ee3 \u65b9\u6cd5 \u3002 \u8fd9\u4e9b \u65b9\u6cd5 \u6d89\u53ca \u6bd4   \u5305   \u548c   \u4ee3\u7801 \u6e90\u4ee3\u7801   \u5bfc\u5165 \u6307\u5357 \u4e2d \u63cf\u8ff0 \u7684 \u8fc7\u7a0b \u66f4 \u591a \u7684 \u624b\u52a8 \u6b65\u9aa4 \u3002 \u9996\u5148 \u6211\u4eec \u5c06 \u4ecb\u7ecd   RoadRuner   \u63d2\u4ef6 \uff0c \u7136\u540e \u4ecb\u7ecd \u624b\u52a8 \u5bfc\u5165 \u65b9\u6cd5 \u3002   RoadRunner   \u63d2\u4ef6 \u5bfc\u5165   \u63d2\u4ef6 \u5b89\u88c5   \u5bfc\u5165 \u5730\u56fe   \u624b\u52a8 \u5bfc\u5165   \u4e0b \u4e00\u6b65","title":"\u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5"},{"location":"tuto_M_add_map_alternative/#roadrunner","text":"MathWorks   \u7684   RoadRunner   \u8f6f\u4ef6 \u63d0\u4f9b \u4e86 \u865a\u5e7b \u5f15\u64ce \u63d2\u4ef6 \uff0c \u4ee5 \u5e2e\u52a9 \u7b80\u5316 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla   \u7684 \u8fc7\u7a0b \u3002","title":"RoadRunner   \u63d2\u4ef6 \u5bfc\u5165  "},{"location":"tuto_M_add_map_alternative/#_2","text":"1 .   \u63d2\u4ef6 \u53ef \u4ece   MathWorks   \u7f51\u7ad9   \u4e0b\u8f7d \u3002 MathWorks   \u8fd8\u6709 \u4e00\u4e2a   \u5b8c\u6574 \u7684 \u6559\u7a0b   \uff0c \u4e0e \u6b64 \u7c7b\u4f3c \uff0c \u4ecb\u7ecd \u5982\u4f55 \u4f7f\u7528 \u63d2\u4ef6 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla \u3002   2 .   \u89e3\u538b \u4e0b\u8f7d \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u5185\u5bb9 \u5e76 \u5c06   RoadRunnerImporter   \u548c   RoadRunnerMaterials   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u79fb\u52a8 \u5230   < carla > / Unreal / CarlaUE4 / Plugins /   \u3002   3 .   \u6309\u7167 \u4ee5\u4e0b \u8bf4\u660e \u91cd\u5efa \u63d2\u4ef6 \uff1a   \u5728   Windows   \u4e0a \u3002   \u53f3\u952e \u5355\u51fb   < carla > / Unreal / CarlaUE4   \u4e2d \u7684   . uproject   \u6587\u4ef6 \uff0c \u5e76 \u9009\u62e9   Generate   Visual   Studio   project   files   \u3002   \u5728   Carla   \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u8fd0\u884c \u547d\u4ee4 \uff1a   make   launch   \u5728   Linux   \u4e0a \u3002   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   UE4 _ ROOT / GenerateProjectFiles . sh   - project = \" carla / Unreal / CarlaUE4 / CarlaUE4 . uproject \"   - game   - engine   4 .   \u5728 \u865a\u5e7b \u5f15\u64ce \u7a97\u53e3 \u4e2d \uff0c \u786e\u4fdd \u9009\u4e2d \u4e24\u4e2a \u63d2\u4ef6 \u7684 \u590d\u9009 \u9009\u6846 \u590d\u9009\u6846   Edit   >   Plugins   \u9009\u4e2d \u3002","title":"\u63d2\u4ef6 \u5b89\u88c5  "},{"location":"tuto_M_add_map_alternative/#_3","text":"1 .   \u4f7f\u7528   Import   \u6309\u94ae \u5c06   < mapName > . fbx   \u6587\u4ef6 \u5bfc\u5165 \u5bfc\u5165\u5230   / Content / Carla / Maps   \u4e0b\u9762 \u7684 \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   2 .   \u5c06   Scene   >   Hierarchy   Type   \u8bbe\u7f6e \u4e3a   Create   One   Blueprint   Asset   \uff08 \u9ed8\u8ba4 \u9009\u62e9 \uff09 \u3002   3 .   \u5c06   Static   Meshes   >   Normal   Import   Method   \u8bbe\u7f6e \u4e3a   Import   Normals   \u3002   4 .   \u70b9\u51fb   Import   \u3002   5 .   \u4fdd\u5b58 \u5f53\u524d \u5173\u5361   File   - >   Save   Current   As ...   - >   < mapname >   \u3002   \u65b0 \u5730\u56fe \u73b0\u5728 \u5e94\u8be5 \u51fa\u73b0 \u5728 \u865a\u5e7b \u5f15\u64ce   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \u5176\u4ed6 \u5730\u56fe \u7684 \u65c1\u8fb9 \u3002   \u7b14\u8bb0   \u8bed\u4e49 \u5206\u5272 \u7684 \u6807\u7b7e \u5c06 \u6839\u636e \u8d44\u4ea7 \u540d\u79f0 \u5206\u914d \u3002 \u8be5 \u8d44\u6e90 \u5c06 \u88ab \u79fb\u52a8 \u5230   Content / Carla / PackageName / Static   \u4e2d \u7684 \u76f8\u5e94 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u8981 \u66f4\u6539 \u8fd9\u4e9b \uff0c \u8bf7 \u5728 \u5bfc\u5165 \u540e \u624b\u52a8 \u79fb\u52a8 \u5b83\u4eec \u3002","title":"\u5bfc\u5165 \u5730\u56fe  "},{"location":"tuto_M_add_map_alternative/#_4","text":"\u8fd9\u79cd \u5bfc\u5165 \u5730\u56fe \u7684 \u65b9\u6cd5 \u53ef\u4ee5 \u4e0e \u901a\u7528   . fbx   \u548c   . xodr   \u6587\u4ef6 \u4e00\u8d77 \u4f7f\u7528 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528   RoadRunner \uff0c \u5219 \u5e94 \u4f7f\u7528   Firebox   ( . fbx )   \u3001   OpenDRIVE   ( . xodr )   \u6216   Unreal   ( . fbx   +   . xml )   \u5bfc\u51fa \u65b9\u6cd5 \u3002 \u4e0d\u8981 \u4f7f\u7528 \u8be5   Carla   Exporter   \u9009\u9879 \uff0c \u56e0\u4e3a \u60a8 \u5c06 \u9047\u5230   . fbx   \u6587\u4ef6 \u7684 \u517c\u5bb9 \u5bb9\u6027 \u95ee\u9898 \u517c\u5bb9\u6027 \u517c\u5bb9\u6027\u95ee\u9898 \u3002   \u8981 \u5c06 \u5730\u56fe \u624b\u52a8 \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce \uff1a   1 .   \u5728 \u7cfb\u7edf \u7684 \u6587\u4ef6 \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668\u4e2d \uff0c \u5c06   . xodr   \u6587\u4ef6 \u590d\u5236 \u590d\u5236\u5230   < carla - root > / Unreal / CarlaUE4 / Content / Carla / Maps / OpenDrive   \u3002   2 .   \u901a\u8fc7 \u5728   carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e2d \u8fd0\u884c   make   launch   \u6765 \u6253\u5f00 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u5230   Content / Carla / Maps / BaseMap   \u5e76 \u590d\u5236   BaseMap   \u3002 \u8fd9 \u5c06 \u63d0\u4f9b \u5e26\u6709 \u9ed8\u8ba4 \u5929\u7a7a \u548c \u7167\u660e \u5bf9\u8c61 \u7684 \u7a7a\u767d \u5730\u56fe \u3002   3 .   \u5728 \u76ee\u5f55   Content / Carla / Maps   \u4e2d \u521b\u5efa \u4e00\u4e2a \u4ee5 \u60a8 \u7684 \u5730\u56fe \u5730\u56fe\u5305 \u540d\u79f0 \u547d\u540d \u7684 \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5e76 \u4ee5 \u4e0e \u60a8 \u7684   . fbx   \u548c   . xodr   \u6587\u4ef6 \u76f8\u540c \u7684 \u540d\u79f0 \u4fdd\u5b58 \u590d\u5236 \u7684 \u5730\u56fe \u3002   4 .   \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u56de   Content / Carla / Maps   \u3002 \u53f3\u952e \u5355\u51fb \u7070\u8272 \u533a\u57df \u5e76 \u5728 \u6807\u9898   Import   Asset   \u4e0b \u9009\u62e9   Import   to   / Game / Carla / Maps ...   \u3002   5 .   \u5728 \u5f39\u51fa \u7684 \u914d\u7f6e \u7a97\u53e3 \u4e2d \uff0c \u786e\u4fdd \uff1a   \u8fd9\u4e9b \u9009\u9879 \u672a \u9009\u4e2d \uff1a   \u81ea\u52a8 \u751f\u6210 \u78b0\u649e ( Auto   Generate   Collision )   \u7ec4\u5408 \u7f51\u683c ( Combine   Meshes )   Force   Front   xAxis   \u5728 \u4ee5\u4e0b \u4e0b \u62c9 \u5217\u8868 \u4e2d \uff0c \u9009\u62e9 \u76f8\u5e94 \u7684 \u9009\u9879 \uff1a   \u6cd5\u7ebf \u5bfc\u5165 \u65b9\u6cd5   -   Import   Normals   \u6750\u8d28 \u5bfc\u5165 \u65b9\u6cd5   -   Create   New   Materials   \u68c0\u67e5 \u8fd9\u4e9b \u9009\u9879 \uff1a   Convert   Scene   Unit   Import   Textures   6 .   \u5355\u51fb   Import   \u3002   7 .   \u7f51\u683c \u5c06 \u51fa\u73b0 \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \u3002 \u9009\u62e9 \u7f51\u683c \u5e76 \u5c06 \u5b83\u4eec \u62d6 \u5230 \u573a\u666f \u4e2d \u3002   8 .   \u5c06 \u7f51\u683c \u7f6e\u4e8e   0 , 0 , 0   \u4e2d\u5fc3 \u3002   9 .   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u9009\u62e9 \u6240\u6709 \u9700\u8981 \u6709 \u78b0\u649e \u4f53 \u7684 \u7f51\u683c \u4f53 \u3002 \u8fd9 \u662f \u6307 \u4e0e \u884c\u4eba \u6216 \u8f66\u8f86 \u4ea4\u4e92 \u7684 \u4efb\u4f55 \u7f51\u683c \u3002 \u78b0\u649e \u4f53 \u9632\u6b62 \u4ed6\u4eec \u6389\u5165 \u6df1\u6e0a \u3002 \u53f3\u952e \u5355\u51fb \u9009\u5b9a \u7684 \u7f51\u683c \u5e76 \u9009\u62e9   Asset   Actions   >   Bulk   Edit   via   Property   Matrix ...   \u3002   10 .   \u5728 \u641c\u7d22 \u6846\u4e2d \u641c\u7d22   \u78b0\u649e ( collision )   \u3002   11 .   \u5c06   Collision   Complexity   \u4ece   Project   Default   \u6539\u4e3a   Use   Complex   Collision   As   Simple   \u5e76 \u5173\u95ed \u7a97\u53e3 \u3002   12 .   \u6309   Alt   +   c   \u786e\u8ba4 \u78b0\u649e \u8bbe\u7f6e \u5df2 \u6b63\u786e \u5e94\u7528 \u3002 \u60a8 \u4f1a \u5728 \u7f51\u683c \u4e0a \u770b\u5230 \u9ed1\u8272 \u7684 \u7f51 \u3002   13 .   \u8981 \u4e3a \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u521b\u5efa \u771f\u5b9e \u6570\u636e \uff0c \u8bf7 \u5c06 \u9759\u6001 \u7f51\u683c \u7269\u4f53 \u79fb\u52a8 \u5230   Carla / Static / < segment >   \u9075\u5faa \u4ee5\u4e0b \u7ed3\u6784 \u7684 \u76f8\u5e94 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff1a   Content   \u2514 \u2500 \u2500   Carla   \u251c \u2500 \u2500   Blueprints   \u251c \u2500 \u2500   Config   \u251c \u2500 \u2500   Exported   Maps   \u251c \u2500 \u2500   HDMaps   \u251c \u2500 \u2500   Maps   \u2514 \u2500 \u2500   Static   \u251c \u2500 \u2500   Terrain   \u2502   \u2514 \u2500 \u2500   mapname   \u2502   \u2514 \u2500 \u2500   Static   Meshes   \u2502   \u251c \u2500 \u2500   Road   \u2502   \u2514 \u2500 \u2500   mapname   \u2502   \u2514 \u2500 \u2500   Static   Meshes   \u2502   \u251c \u2500 \u2500   RoadLines   |   \u2514 \u2500 \u2500   mapname   |   \u2514 \u2500 \u2500   Static   Meshes   \u2514 \u2500 \u2500   Sidewalks   \u2514 \u2500 \u2500   mapname   \u2514 \u2500 \u2500   Static   Meshes   14 .   \u5728   \u201c \u6a21\u5f0f ( Modes ) \u201d   \u9762\u677f \u4e2d \uff0c \u641c\u7d22   Open   Drive   Actor   \u5e76 \u5c06 \u5176 \u62d6 \u5230 \u573a\u666f \u4e2d \u3002   15 .   \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \uff0c \u9009\u4e2d   Add   Spawners   \u5e76 \u5355\u51fb   Generate   Routes   \u65c1\u8fb9 \u7684 \u6846 \u3002 \u8fd9 \u5c06 \u5728   < carla - root > / Unreal / CarlaUE4 / Content / Carla / Maps / OpenDrive   \u76ee\u5f55 \u4e2d \u627e\u5230 \u5177\u6709 \u76f8\u540c \u5730\u56fe \u540d\u79f0 \u7684   . xodr   \u6587\u4ef6 \uff0c \u5e76 \u4f7f\u7528 \u5b83 \u6765 \u751f\u6210 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217   RoutePlanner   \u548c   VehicleSpawnPoint   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002","title":"\u624b\u52a8 \u5bfc\u5165  "},{"location":"tuto_M_add_map_alternative/#_5","text":"\u60a8 \u73b0\u5728 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u6253\u5f00 \u5730\u56fe \u5e76 \u8fd0\u884c \u4eff\u771f \u3002 \u4ece \u8fd9\u91cc \uff0c \u60a8 \u5c06 \u80fd\u591f \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u5e76 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u6570\u636e \u3002 \u6211\u4eec \u5efa\u8bae \u5728 \u6240\u6709 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5b8c\u6210 \u540e \u751f\u6210 \u884c\u4eba \u5bfc\u822a \uff0c \u8fd9\u6837 \u5c31 \u4e0d\u4f1a \u6709 \u969c\u788d \u969c\u788d\u7269 \u963b\u6321 \u884c\u4eba \u8def\u5f84 \u3002   Carla   \u63d0\u4f9b \u4e86 \u591a\u79cd \u5de5\u5177 \u548c \u6307\u5357 \u6765 \u5e2e\u52a9 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u5173\u5361 \u3002   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5efa\u8bae \u4f7f\u7528   Carla   \u5305   \u548c   Carla   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   \u6307\u5357 \u4e2d \u8be6\u7ec6 \u4ecb\u7ecd \u7684 \u81ea\u52a8 \u81ea\u52a8\u5316 \u6d41\u7a0b \u6765 \u5bfc\u5165 \u5730\u56fe \uff0c \u4f46\u662f \u5982\u679c \u9700\u8981 \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u672c\u8282 \u4e2d \u5217\u51fa \u7684 \u65b9\u6cd5 \u3002 \u5982\u679c \u60a8 \u5728 \u4f7f\u7528 \u5176\u4ed6 \u65b9\u6cd5 \u65f6 \u9047\u5230 \u4efb\u4f55 \u95ee\u9898 \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e16 \u3002","title":"\u4e0b \u4e00\u6b65  "},{"location":"tuto_M_add_map_package/","text":"\u5728   Carla   \u5305\u4e2d \u5bfc\u5165 \u5730\u56fe   \u672c \u8282 \u4ecb\u7ecd \u5c06 \u5730\u56fe \u5f15\u5165   Carla   \u5305 \uff08 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \uff09 \u7248\u672c   \u7684 \u8fc7\u7a0b \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u7248\u672c \u6765 \u5bfc\u5165 \u5730\u56fe \uff0c \u8bf7 \u9075\u5faa   \u6b64\u5904   \u7684 \u6307\u5357 \u3002   \u6b64 \u8fc7\u7a0b \u4ec5 \u9002\u7528 \u4e8e   Linux   \u7cfb\u7edf \u3002 \u5bfc\u5165 \u8fc7\u7a0b \u6d89\u53ca \u8fd0\u884c \u865a\u5e7b \u5f15\u64ce \u7684   Docker   \u6620\u50cf \u6765 \u5bfc\u5165 \u76f8\u5173 \u6587\u4ef6 \uff0c \u7136\u540e \u5c06 \u5b83\u4eec \u5bfc\u51fa \u4e3a \u72ec\u7acb \u5305 \uff0c \u7136\u540e \u53ef\u4ee5 \u5c06 \u5176 \u914d\u7f6e \u4e3a \u5728   Carla   \u4e2d \u4f7f\u7528 \u3002 \u6784\u5efa   Docker   \u955c\u50cf \u5927\u7ea6 \u9700\u8981   4   \u5c0f\u65f6 \u548c   600 - 700   GB   \u7684 \u65f6\u95f4 \u3002 \u4ec5 \u5728 \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u6784\u5efa \u6620\u50cf \u65f6\u624d \u9700\u8981 \u8fd9\u6837 \u505a \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   Carla   \u5305\u4e2d \u7684 \u5730\u56fe \u5bfc\u5165   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u60a8 \u9700\u8981 \u6ee1\u8db3 \u4ee5\u4e0b \u7cfb\u7edf \u8981\u6c42 \uff1a   Ubuntu   16.04 +   \u4e2d \u7684   64   \u4f4d \u7248\u672c   Docker   \u81f3\u5c11   8GB   RAM   \u7528\u4e8e \u6784\u5efa \u5bb9\u5668 \u6620\u50cf \u7684 \u81f3\u5c11   700   GB   \u53ef\u7528 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4   Git   \u7248\u672c \u63a7\u5236 \u7248\u672c\u63a7\u5236   \u786e\u4fdd \u786e\u4fdd\u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff08 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \uff09 \u7248\u672c \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u7248\u672c \u5bfc\u5165 \u5730\u56fe \uff0c \u8bf7 \u9075\u5faa   \u6b64\u5904   \u7684 \u6307\u5357 \u3002   \u60a8 \u5e94\u8be5 \u81f3\u5c11 \u4f7f\u7528 \u5730\u56fe \u7f16\u8f91 \u7f16\u8f91\u5668 \uff08 \u4f8b\u5982   RoadRunner \uff09 \u5df2   \u751f\u6210   \u7684 \u4e24\u4e2a \u6587\u4ef6   < mapName > . xodr   \u548c   < mapName > . fbx   \u3002   \u8fd9\u4e9b \u6587\u4ef6 \u5e94 \u5177\u6709 \u76f8\u540c \u7684   < mapName >   \u503c \uff0c \u4ee5\u4fbf \u88ab \u8bc6\u522b \u4e3a \u540c\u4e00 \u5730\u56fe \u3002   Carla   \u5305\u4e2d \u7684 \u5730\u56fe \u5bfc\u5165   1 .   Carla   \u63d0\u4f9b \u4e86 \u5728   Docker   \u6620\u50cf \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u4ee5\u53ca \u4f7f\u7528 \u8be5 \u6620\u50cf \u7f16\u8bd1   Carla   \u7684 \u6240\u6709 \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f \u3002 \u8fd9\u4e9b \u5de5\u5177 \u53ef\u4ee5 \u5728   GitHub   \u4e0a \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u4e2d \u627e\u5230 \u3002 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u514b\u9686 \u5b58\u50a8 \u5e93 \uff1a   git   clone   https : / / github . com / carla - simulator / carla   2 .   \u6309\u7167   \u8fd9\u4e9b \u8bf4\u660e   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u7684   Docker   \u6620\u50cf \u3002   3 .   \u521b\u5efa   input _ folder   \u3002 \u8fd9 \u662f \u60a8 \u653e\u7f6e \u8981 \u5bfc\u5165 \u7684 \u6587\u4ef6 \u7684 \u4f4d\u7f6e \u3002   Docker   \u4f1a \u81ea\u52a8 \u521b\u5efa \u4e00\u4e2a   . json   \u6587\u4ef6 \u6765 \u63cf\u8ff0 \u5305 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784 \u3002 \u66f4\u6539   input _ folder   \u7684 \u6743\u9650 \u624d\u80fd \u6210\u529f \u521b\u5efa \uff1a   # Go   to   the   parent   folder ,   where   the   input   folder   is   contained   chmod   777   input _ folder   \u7b14\u8bb0   \u5982\u679c \u5305\u662f   \u624b\u52a8 \u51c6\u5907 \u7684   \uff0c \u5e76\u4e14 \u5df2 \u5305\u542b   . json   \u6587\u4ef6 \uff0c \u5219 \u65e0\u9700 \u6267\u884c \u6b64 \u64cd\u4f5c \u3002   4 .   \u521b\u5efa   output _ folder   \u3002 \u8fd9\u662f   Docker   \u955c\u50cf \u5728 \u70d8\u7119 \u5730\u56fe \u540e \u5199\u5165 \u8f93\u51fa \u6587\u4ef6 \u7684 \u5730\u65b9 \u3002   5 .   \u5bfc\u822a \u81f3   ~ / carla / Util / Docker   \u3002 \u8fd9\u662f \u5bfc\u5165 \u811a\u672c \u6240\u5728 \u7684 \u4f4d\u7f6e \u3002 \u8be5 \u811a\u672c \u9700\u8981   input _ folder   \u548c   output _ folder   \u7684 \u8def\u5f84 \u4ee5\u53ca \u8981 \u5bfc\u5165 \u5305 \u7684 \u540d\u79f0 \u3002 \u5982\u679c \u63d0\u4f9b \u4e86   . json   \u6587\u4ef6 \uff0c \u5219 \u8be5 \u6587\u4ef6 \u7684 \u540d\u79f0 \u662f \u5305 \u540d\u79f0 \uff0c \u5982\u679c \u672a \u63d0\u4f9b   . json   \uff0c \u5219 \u540d\u79f0 \u5fc5\u987b \u4e3a   map _ package   \uff1a   python3   docker _ tools . py   -- input   ~ / path _ to _ input _ folder   -- output   ~ / path _ to _ output _ folder   -- packages   map _ package   \u7b14\u8bb0   \u5982\u679c \u672a \u63d0\u4f9b \u53c2\u6570   -- packages   map _ package   \uff0c Docker   \u955c\u50cf \u5c06 \u5236\u4f5c   Carla   \u5305 \u3002   6 .   \u5305\u5c06 \u5728   output _ folder   \u4e2d \u751f \u6210\u4e3a   < map _ package > . tar . gz   .   \u3002 \u8fd9\u662f \u72ec\u7acb \u5305 \uff0c \u73b0\u5728 \u53ef\u4ee5 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u4e2d \u3002 \u5c06 \u5305 \u79fb\u52a8 \u5230   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \uff08 \u60a8 \u5c06 \u5728 \u5176\u4e2d \u4f7f\u7528 \u5730\u56fe \u7684 \u5305 / \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c \uff09 \u4e2d \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u7136\u540e \u4ece \u76ee\u5f55 \u6839\u76ee\u5f55 \u8fd0\u884c \u4ee5\u4e0b \u811a\u672c \u5c06 \u5176 \u5bfc\u5165 \uff1a   . / ImportAssets . sh   7 .   \u8981 \u4f7f\u7528 \u65b0 \u5730\u56fe \u8fd0\u884c \u4eff\u771f \uff0c \u8bf7 \u8fd0\u884c   Carla \uff0c \u7136\u540e \u4f7f\u7528   config . py   \u6587\u4ef6 \u66f4\u6539 \u5730\u56fe \uff1a   cd   PythonAPI / util   python3   config . py   -- map   < mapName >   \u60a8 \u7684 \u5730\u56fe \u73b0\u5728 \u53ef\u4ee5 \u5728   Carla   \u8fd0\u884c \u4eff\u771f \u4e86 \u3002 \u5982\u679c \u4f60 \u5bf9 \u8fd9\u4e2a \u8fc7\u7a0b \u6709 \u4efb\u4f55 \u95ee\u9898 \uff0c \u4f60 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e0a \u63d0\u95ee \uff0c \u3002 \u4e5f \u53ef\u4ee5 \u5c1d\u8bd5 \u5728 \u4f60 \u7684 \u65b0 \u5730\u56fe \u4e0a \u8fd0\u884c \u6211\u4eec \u7684 \u4e00\u4e9b   \u793a\u4f8b \u811a\u672c   \u6765 \u6d4b\u8bd5 \u5b83 \u3002","title":"\u5728   Carla   \u5305\u4e2d \u5bfc\u5165 \u5730\u56fe"},{"location":"tuto_M_add_map_package/#carla","text":"\u672c \u8282 \u4ecb\u7ecd \u5c06 \u5730\u56fe \u5f15\u5165   Carla   \u5305 \uff08 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \uff09 \u7248\u672c   \u7684 \u8fc7\u7a0b \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u7248\u672c \u6765 \u5bfc\u5165 \u5730\u56fe \uff0c \u8bf7 \u9075\u5faa   \u6b64\u5904   \u7684 \u6307\u5357 \u3002   \u6b64 \u8fc7\u7a0b \u4ec5 \u9002\u7528 \u4e8e   Linux   \u7cfb\u7edf \u3002 \u5bfc\u5165 \u8fc7\u7a0b \u6d89\u53ca \u8fd0\u884c \u865a\u5e7b \u5f15\u64ce \u7684   Docker   \u6620\u50cf \u6765 \u5bfc\u5165 \u76f8\u5173 \u6587\u4ef6 \uff0c \u7136\u540e \u5c06 \u5b83\u4eec \u5bfc\u51fa \u4e3a \u72ec\u7acb \u5305 \uff0c \u7136\u540e \u53ef\u4ee5 \u5c06 \u5176 \u914d\u7f6e \u4e3a \u5728   Carla   \u4e2d \u4f7f\u7528 \u3002 \u6784\u5efa   Docker   \u955c\u50cf \u5927\u7ea6 \u9700\u8981   4   \u5c0f\u65f6 \u548c   600 - 700   GB   \u7684 \u65f6\u95f4 \u3002 \u4ec5 \u5728 \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u6784\u5efa \u6620\u50cf \u65f6\u624d \u9700\u8981 \u8fd9\u6837 \u505a \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   Carla   \u5305\u4e2d \u7684 \u5730\u56fe \u5bfc\u5165","title":"\u5728   Carla   \u5305\u4e2d \u5bfc\u5165 \u5730\u56fe"},{"location":"tuto_M_add_map_package/#_1","text":"\u60a8 \u9700\u8981 \u6ee1\u8db3 \u4ee5\u4e0b \u7cfb\u7edf \u8981\u6c42 \uff1a   Ubuntu   16.04 +   \u4e2d \u7684   64   \u4f4d \u7248\u672c   Docker   \u81f3\u5c11   8GB   RAM   \u7528\u4e8e \u6784\u5efa \u5bb9\u5668 \u6620\u50cf \u7684 \u81f3\u5c11   700   GB   \u53ef\u7528 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4   Git   \u7248\u672c \u63a7\u5236 \u7248\u672c\u63a7\u5236   \u786e\u4fdd \u786e\u4fdd\u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff08 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \uff09 \u7248\u672c \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u7248\u672c \u5bfc\u5165 \u5730\u56fe \uff0c \u8bf7 \u9075\u5faa   \u6b64\u5904   \u7684 \u6307\u5357 \u3002   \u60a8 \u5e94\u8be5 \u81f3\u5c11 \u4f7f\u7528 \u5730\u56fe \u7f16\u8f91 \u7f16\u8f91\u5668 \uff08 \u4f8b\u5982   RoadRunner \uff09 \u5df2   \u751f\u6210   \u7684 \u4e24\u4e2a \u6587\u4ef6   < mapName > . xodr   \u548c   < mapName > . fbx   \u3002   \u8fd9\u4e9b \u6587\u4ef6 \u5e94 \u5177\u6709 \u76f8\u540c \u7684   < mapName >   \u503c \uff0c \u4ee5\u4fbf \u88ab \u8bc6\u522b \u4e3a \u540c\u4e00 \u5730\u56fe \u3002","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"tuto_M_add_map_package/#carla_1","text":"1 .   Carla   \u63d0\u4f9b \u4e86 \u5728   Docker   \u6620\u50cf \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u4ee5\u53ca \u4f7f\u7528 \u8be5 \u6620\u50cf \u7f16\u8bd1   Carla   \u7684 \u6240\u6709 \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f \u3002 \u8fd9\u4e9b \u5de5\u5177 \u53ef\u4ee5 \u5728   GitHub   \u4e0a \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u4e2d \u627e\u5230 \u3002 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u514b\u9686 \u5b58\u50a8 \u5e93 \uff1a   git   clone   https : / / github . com / carla - simulator / carla   2 .   \u6309\u7167   \u8fd9\u4e9b \u8bf4\u660e   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u7684   Docker   \u6620\u50cf \u3002   3 .   \u521b\u5efa   input _ folder   \u3002 \u8fd9 \u662f \u60a8 \u653e\u7f6e \u8981 \u5bfc\u5165 \u7684 \u6587\u4ef6 \u7684 \u4f4d\u7f6e \u3002   Docker   \u4f1a \u81ea\u52a8 \u521b\u5efa \u4e00\u4e2a   . json   \u6587\u4ef6 \u6765 \u63cf\u8ff0 \u5305 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784 \u3002 \u66f4\u6539   input _ folder   \u7684 \u6743\u9650 \u624d\u80fd \u6210\u529f \u521b\u5efa \uff1a   # Go   to   the   parent   folder ,   where   the   input   folder   is   contained   chmod   777   input _ folder   \u7b14\u8bb0   \u5982\u679c \u5305\u662f   \u624b\u52a8 \u51c6\u5907 \u7684   \uff0c \u5e76\u4e14 \u5df2 \u5305\u542b   . json   \u6587\u4ef6 \uff0c \u5219 \u65e0\u9700 \u6267\u884c \u6b64 \u64cd\u4f5c \u3002   4 .   \u521b\u5efa   output _ folder   \u3002 \u8fd9\u662f   Docker   \u955c\u50cf \u5728 \u70d8\u7119 \u5730\u56fe \u540e \u5199\u5165 \u8f93\u51fa \u6587\u4ef6 \u7684 \u5730\u65b9 \u3002   5 .   \u5bfc\u822a \u81f3   ~ / carla / Util / Docker   \u3002 \u8fd9\u662f \u5bfc\u5165 \u811a\u672c \u6240\u5728 \u7684 \u4f4d\u7f6e \u3002 \u8be5 \u811a\u672c \u9700\u8981   input _ folder   \u548c   output _ folder   \u7684 \u8def\u5f84 \u4ee5\u53ca \u8981 \u5bfc\u5165 \u5305 \u7684 \u540d\u79f0 \u3002 \u5982\u679c \u63d0\u4f9b \u4e86   . json   \u6587\u4ef6 \uff0c \u5219 \u8be5 \u6587\u4ef6 \u7684 \u540d\u79f0 \u662f \u5305 \u540d\u79f0 \uff0c \u5982\u679c \u672a \u63d0\u4f9b   . json   \uff0c \u5219 \u540d\u79f0 \u5fc5\u987b \u4e3a   map _ package   \uff1a   python3   docker _ tools . py   -- input   ~ / path _ to _ input _ folder   -- output   ~ / path _ to _ output _ folder   -- packages   map _ package   \u7b14\u8bb0   \u5982\u679c \u672a \u63d0\u4f9b \u53c2\u6570   -- packages   map _ package   \uff0c Docker   \u955c\u50cf \u5c06 \u5236\u4f5c   Carla   \u5305 \u3002   6 .   \u5305\u5c06 \u5728   output _ folder   \u4e2d \u751f \u6210\u4e3a   < map _ package > . tar . gz   .   \u3002 \u8fd9\u662f \u72ec\u7acb \u5305 \uff0c \u73b0\u5728 \u53ef\u4ee5 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u4e2d \u3002 \u5c06 \u5305 \u79fb\u52a8 \u5230   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \uff08 \u60a8 \u5c06 \u5728 \u5176\u4e2d \u4f7f\u7528 \u5730\u56fe \u7684 \u5305 / \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c \uff09 \u4e2d \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u7136\u540e \u4ece \u76ee\u5f55 \u6839\u76ee\u5f55 \u8fd0\u884c \u4ee5\u4e0b \u811a\u672c \u5c06 \u5176 \u5bfc\u5165 \uff1a   . / ImportAssets . sh   7 .   \u8981 \u4f7f\u7528 \u65b0 \u5730\u56fe \u8fd0\u884c \u4eff\u771f \uff0c \u8bf7 \u8fd0\u884c   Carla \uff0c \u7136\u540e \u4f7f\u7528   config . py   \u6587\u4ef6 \u66f4\u6539 \u5730\u56fe \uff1a   cd   PythonAPI / util   python3   config . py   -- map   < mapName >   \u60a8 \u7684 \u5730\u56fe \u73b0\u5728 \u53ef\u4ee5 \u5728   Carla   \u8fd0\u884c \u4eff\u771f \u4e86 \u3002 \u5982\u679c \u4f60 \u5bf9 \u8fd9\u4e2a \u8fc7\u7a0b \u6709 \u4efb\u4f55 \u95ee\u9898 \uff0c \u4f60 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e0a \u63d0\u95ee \uff0c \u3002 \u4e5f \u53ef\u4ee5 \u5c1d\u8bd5 \u5728 \u4f60 \u7684 \u65b0 \u5730\u56fe \u4e0a \u8fd0\u884c \u6211\u4eec \u7684 \u4e00\u4e9b   \u793a\u4f8b \u811a\u672c   \u6765 \u6d4b\u8bd5 \u5b83 \u3002","title":"Carla   \u5305\u4e2d \u7684 \u5730\u56fe \u5bfc\u5165  "},{"location":"tuto_M_add_map_source/","text":"\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u5165 \u5730\u56fe   \u672c \u8282 \u63cf\u8ff0 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u5165 \u5730\u56fe \u7684 \u8fc7\u7a0b \u3002 \u5982\u679c \u60a8 \u4f7f\u7528   Carla   \u7684 \u5305 \uff08 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \uff09 \u7248\u672c \u6765 \u5bfc\u5165 \u5730\u56fe \uff0c \u8bf7 \u6309\u7167   \u6b64\u5904   \u7684 \u6307\u5357 \u8fdb\u884c \u64cd\u4f5c \u3002   \u5bfc\u5165 \u8fc7\u7a0b \u6d89\u53ca \u901a\u8fc7 \u5c06 \u76f8\u5173 \u5730\u56fe \u6587\u4ef6 \u7f16\u8bd1 \u5230 \u5305\u4e2d\u6765 \u5bfc\u5165 \u5b83\u4eec \u3002 \u7136\u540e \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u6253\u5f00 \u8be5\u5305 \u5e76 \u8fdb\u884c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \uff0c \u7136\u540e \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u6587\u4ef6 \u5e76 \u6700\u7ec8 \u5c06 \u5176 \u6dfb\u52a0 \u5230 \u5305\u4e2d \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5730\u56fe \u5bfc\u5165   \u4e0b \u4e00\u6b65   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u786e\u4fdd \u786e\u4fdd\u60a8 \u4f7f\u7528 \u7684 \u662f\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u7248\u672c \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u7684 \u6253\u5305 \uff08 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \uff09 \u7248\u672c \uff0c \u8bf7 \u6309\u7167   \u6b64\u5904   \u7684 \u6559\u7a0b \u8fdb\u884c \u64cd\u4f5c \u3002   \u60a8 \u5e94\u8be5 \u81f3\u5c11 \u6709 \u4e24\u4e2a \u6587\u4ef6 \uff0c   < mapName > . xodr   \u548c   < mapName > . fbx   \uff0c \u662f \u7531 \u5730\u56fe \u7f16\u8f91 \u7f16\u8f91\u5668 \uff08 \u4f8b\u5982   RoadRunner \uff09 \u751f\u6210 \u7684 \u3002   \u8fd9\u4e9b \u6587\u4ef6 \u5e94 \u5177\u6709 \u76f8\u540c \u7684 \u503c   < mapName >   \uff0c \u4ee5\u4fbf \u88ab \u8bc6\u522b \u4e3a \u76f8\u540c \u7684 \u5730\u56fe \u3002   \u60a8 \u53ef\u4ee5 \u5c06 \u591a\u4e2a \u5730\u56fe \u63d0\u53d6 \u5230 \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u5305\u4e2d \u3002 \u6bcf\u5f20 \u5730\u56fe \u90fd \u5e94\u8be5 \u6709 \u4e00\u4e2a \u552f\u4e00 \u7684 \u540d\u79f0 \u3002   \u5730\u56fe \u5bfc\u5165   1 .   \u5c06 \u9700\u8981 \u5bfc\u5165 \u7684 \u5730\u56fe \u6587\u4ef6 \u653e\u5165   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e0b \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   2 .   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u63d0\u53d6 \u6587\u4ef6 \uff1a   make   import   \u8bf7 \u6ce8\u610f \uff0c \u53ef\u4ee5 \u8bbe\u7f6e \u4e24\u4e2a \u53ef \u9009 \u53c2\u6570 \u6807\u5fd7   :   -- package = < package _ name >   \u6307\u5b9a \u5305 \u7684 \u540d\u79f0 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u6b64\u9879 \u8bbe\u7f6e \u4e3a   map _ package   \u3002 \u4e24\u4e2a \u5305 \u4e0d\u80fd \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \uff0c \u56e0\u6b64 \u4f7f\u7528 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u5c06 \u5bfc\u81f4 \u540e\u7eed \u6444\u53d6 \u65f6 \u51fa\u9519 \u3002   \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u66f4\u6539 \u5305 \u7684 \u540d\u79f0   \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- package = < package _ name > \"   -- no - carla - materials   \u6307\u5b9a \u60a8 \u4e0d\u60f3 \u4f7f\u7528 \u9ed8\u8ba4 \u7684   Carla   \u6750\u8d28 \uff08 \u9053\u8def \u7eb9\u7406 \u7b49 \uff09 \u3002 \u60a8 \u5c06 \u6539\u7528   RoadRunner   \u6750\u6599 \u3002   \u4ec5 \u5f53 \u60a8 \u4e0d \u63d0\u4f9b   \u81ea\u5df1 \u7684   . json   \u6587\u4ef6   \u65f6\u624d \u9700\u8981 \u6b64 \u6807\u5fd7 \u3002   . json   \u6587\u4ef6 \u4e2d \u7684 \u4efb\u4f55 \u503c \u90fd \u5c06 \u8986\u76d6 \u6b64 \u6807\u5fd7 \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- no - carla - materials \"   \u5c06 \u4f7f\u7528 \u5730\u56fe \u5730\u56fe\u5305 \u7684 \u540d\u79f0 \u521b\u5efa \u4e00\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   Unreal / CarlaUE4 / Content   \u3002 \u5b83 \u5c06 \u5305\u542b \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3001 \u8d85\u901f \u6321 \u3001 \u9759\u6001 \u8d44\u4ea7 \u4fe1\u606f \u548c \u5bfc\u822a \u4fe1\u606f \u3002   \u4e0b \u4e00\u6b65   \u60a8 \u73b0\u5728 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u6253\u5f00 \u5730\u56fe \u5e76 \u8fd0\u884c \u4eff\u771f \u3002 \u4ece \u8fd9\u91cc \uff0c \u60a8 \u5c06 \u80fd\u591f \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u5e76 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u6570\u636e \u3002 \u6211\u4eec \u5efa\u8bae \u5728 \u6240\u6709 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5b8c\u6210 \u540e \u751f\u6210 \u884c\u4eba \u5bfc\u822a \uff0c \u8fd9\u6837 \u5c31 \u4e0d\u4f1a \u6709 \u969c\u788d \u969c\u788d\u7269 \u963b\u6321 \u884c\u4eba \u8def\u5f84 \u3002   Carla   \u63d0\u4f9b \u4e86 \u591a\u79cd \u5de5\u5177 \u548c \u6307\u5357 \u6765 \u5e2e\u52a9 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u5173\u5361 \u3002   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002","title":"\u4ece \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u5165 \u5730\u56fe"},{"location":"tuto_M_add_map_source/#carla","text":"\u672c \u8282 \u63cf\u8ff0 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u5165 \u5730\u56fe \u7684 \u8fc7\u7a0b \u3002 \u5982\u679c \u60a8 \u4f7f\u7528   Carla   \u7684 \u5305 \uff08 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \uff09 \u7248\u672c \u6765 \u5bfc\u5165 \u5730\u56fe \uff0c \u8bf7 \u6309\u7167   \u6b64\u5904   \u7684 \u6307\u5357 \u8fdb\u884c \u64cd\u4f5c \u3002   \u5bfc\u5165 \u8fc7\u7a0b \u6d89\u53ca \u901a\u8fc7 \u5c06 \u76f8\u5173 \u5730\u56fe \u6587\u4ef6 \u7f16\u8bd1 \u5230 \u5305\u4e2d\u6765 \u5bfc\u5165 \u5b83\u4eec \u3002 \u7136\u540e \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u6253\u5f00 \u8be5\u5305 \u5e76 \u8fdb\u884c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \uff0c \u7136\u540e \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u6587\u4ef6 \u5e76 \u6700\u7ec8 \u5c06 \u5176 \u6dfb\u52a0 \u5230 \u5305\u4e2d \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5730\u56fe \u5bfc\u5165   \u4e0b \u4e00\u6b65","title":"\u4ece \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u5165 \u5730\u56fe"},{"location":"tuto_M_add_map_source/#_1","text":"\u786e\u4fdd \u786e\u4fdd\u60a8 \u4f7f\u7528 \u7684 \u662f\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u7248\u672c \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u7684 \u6253\u5305 \uff08 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \uff09 \u7248\u672c \uff0c \u8bf7 \u6309\u7167   \u6b64\u5904   \u7684 \u6559\u7a0b \u8fdb\u884c \u64cd\u4f5c \u3002   \u60a8 \u5e94\u8be5 \u81f3\u5c11 \u6709 \u4e24\u4e2a \u6587\u4ef6 \uff0c   < mapName > . xodr   \u548c   < mapName > . fbx   \uff0c \u662f \u7531 \u5730\u56fe \u7f16\u8f91 \u7f16\u8f91\u5668 \uff08 \u4f8b\u5982   RoadRunner \uff09 \u751f\u6210 \u7684 \u3002   \u8fd9\u4e9b \u6587\u4ef6 \u5e94 \u5177\u6709 \u76f8\u540c \u7684 \u503c   < mapName >   \uff0c \u4ee5\u4fbf \u88ab \u8bc6\u522b \u4e3a \u76f8\u540c \u7684 \u5730\u56fe \u3002   \u60a8 \u53ef\u4ee5 \u5c06 \u591a\u4e2a \u5730\u56fe \u63d0\u53d6 \u5230 \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u5305\u4e2d \u3002 \u6bcf\u5f20 \u5730\u56fe \u90fd \u5e94\u8be5 \u6709 \u4e00\u4e2a \u552f\u4e00 \u7684 \u540d\u79f0 \u3002","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"tuto_M_add_map_source/#_2","text":"1 .   \u5c06 \u9700\u8981 \u5bfc\u5165 \u7684 \u5730\u56fe \u6587\u4ef6 \u653e\u5165   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e0b \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   2 .   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u63d0\u53d6 \u6587\u4ef6 \uff1a   make   import   \u8bf7 \u6ce8\u610f \uff0c \u53ef\u4ee5 \u8bbe\u7f6e \u4e24\u4e2a \u53ef \u9009 \u53c2\u6570 \u6807\u5fd7   :   -- package = < package _ name >   \u6307\u5b9a \u5305 \u7684 \u540d\u79f0 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u6b64\u9879 \u8bbe\u7f6e \u4e3a   map _ package   \u3002 \u4e24\u4e2a \u5305 \u4e0d\u80fd \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \uff0c \u56e0\u6b64 \u4f7f\u7528 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u5c06 \u5bfc\u81f4 \u540e\u7eed \u6444\u53d6 \u65f6 \u51fa\u9519 \u3002   \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u66f4\u6539 \u5305 \u7684 \u540d\u79f0   \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- package = < package _ name > \"   -- no - carla - materials   \u6307\u5b9a \u60a8 \u4e0d\u60f3 \u4f7f\u7528 \u9ed8\u8ba4 \u7684   Carla   \u6750\u8d28 \uff08 \u9053\u8def \u7eb9\u7406 \u7b49 \uff09 \u3002 \u60a8 \u5c06 \u6539\u7528   RoadRunner   \u6750\u6599 \u3002   \u4ec5 \u5f53 \u60a8 \u4e0d \u63d0\u4f9b   \u81ea\u5df1 \u7684   . json   \u6587\u4ef6   \u65f6\u624d \u9700\u8981 \u6b64 \u6807\u5fd7 \u3002   . json   \u6587\u4ef6 \u4e2d \u7684 \u4efb\u4f55 \u503c \u90fd \u5c06 \u8986\u76d6 \u6b64 \u6807\u5fd7 \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- no - carla - materials \"   \u5c06 \u4f7f\u7528 \u5730\u56fe \u5730\u56fe\u5305 \u7684 \u540d\u79f0 \u521b\u5efa \u4e00\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   Unreal / CarlaUE4 / Content   \u3002 \u5b83 \u5c06 \u5305\u542b \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3001 \u8d85\u901f \u6321 \u3001 \u9759\u6001 \u8d44\u4ea7 \u4fe1\u606f \u548c \u5bfc\u822a \u4fe1\u606f \u3002","title":"\u5730\u56fe \u5bfc\u5165  "},{"location":"tuto_M_add_map_source/#_3","text":"\u60a8 \u73b0\u5728 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u6253\u5f00 \u5730\u56fe \u5e76 \u8fd0\u884c \u4eff\u771f \u3002 \u4ece \u8fd9\u91cc \uff0c \u60a8 \u5c06 \u80fd\u591f \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u5e76 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u6570\u636e \u3002 \u6211\u4eec \u5efa\u8bae \u5728 \u6240\u6709 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5b8c\u6210 \u540e \u751f\u6210 \u884c\u4eba \u5bfc\u822a \uff0c \u8fd9\u6837 \u5c31 \u4e0d\u4f1a \u6709 \u969c\u788d \u969c\u788d\u7269 \u963b\u6321 \u884c\u4eba \u8def\u5f84 \u3002   Carla   \u63d0\u4f9b \u4e86 \u591a\u79cd \u5de5\u5177 \u548c \u6307\u5357 \u6765 \u5e2e\u52a9 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u5173\u5361 \u3002   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002","title":"\u4e0b \u4e00\u6b65  "},{"location":"tuto_M_custom_add_tl/","text":"\u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7   \u672c \u6307\u5357 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u6dfb\u52a0 \u5230 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u3001 \u914d\u7f6e \u6bcf\u4e2a \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u7684 \u5f71\u54cd \u533a\u57df \uff0c \u4ee5\u53ca \u5982\u4f55 \u5728 \u8def\u53e3 \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u914d\u7f6e \u4e3a \u4e00\u7ec4 \u3002 \u6b64 \u9009\u9879 \u4ec5 \u9002\u7528 \u4e8e \u6709\u6743 \u8bbf\u95ee \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u7528\u6237 \u3002   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7   \u4e0b \u4e00\u6b65   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f   \u8981 \u5c06 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u6dfb\u52a0 \u5230 \u65b0 \u5730\u56fe \uff1a   1 .   \u4ece   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \uff0c \u5bfc\u822a \u81f3   Content / Carla / Static / TrafficLight / StreetLights _ 01   \u3002 \u60a8 \u4f1a \u53d1\u73b0 \u51e0\u79cd \u4e0d\u540c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u84dd\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002   2 .   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u62d6 \u5230 \u573a\u666f \u4e2d \u5e76 \u5c06 \u5176 \u653e\u7f6e \u5728 \u6240 \u9700 \u4f4d\u7f6e \u3002 \u6309 \u952e\u76d8 \u4e0a \u7684 \u7a7a\u683c \u7a7a\u683c\u952e \u53ef \u5728 \u5b9a\u4f4d \u3001 \u65cb\u8f6c \u548c \u7f29\u653e \u5de5\u5177 \u4e4b\u95f4 \u5207\u6362 \u3002   3 .   \u901a\u8fc7 \u5728   Details   \u9762\u677f \u4e2d \u9009\u62e9   BoxTrigger   \u7ec4\u4ef6 \u5e76 \u8c03\u6574   Transform   \u90e8\u5206 \u4e2d \u7684 \u503c \uff0c \u8c03\u6574 \u6bcf\u4e2a \u4ea4\u901a \u4ea4\u901a\u706f \u7684   trigger   volume   \u3002 \u8fd9 \u5c06 \u786e\u5b9a \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5f71\u54cd \u533a\u57df \u3002   4 .   \u5bf9\u4e8e \u8fde\u63a5 \u63a5\u70b9 \u8fde\u63a5\u70b9 \uff0c \u5c06   BP _ TrafficLightGroup   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u62d6\u5165 \u5173\u5361 \u4e2d \u3002 \u901a\u8fc7 \u5c06 \u4ea4\u6c47 \u4ea4\u6c47\u5904 \u7684 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u6dfb\u52a0 \u5230 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u201d \u9762\u677f \u4e2d \u7684 \u201c \u4ea4\u901a \u4ea4\u901a\u706f \u201d \u6570\u7ec4 \uff0c \u5c06 \u5b83\u4eec \u5206\u914d \u7ed9 \u4ea4\u901a \u4ea4\u901a\u706f \u7ec4 \u3002   5 .   \u4ea4\u901a \u4ea4\u901a\u706f \u8ba1\u65f6 \u53ea\u80fd \u901a\u8fc7   Python   API   \u8fdb\u884c \u914d\u7f6e \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u6b64\u5904   \u7684 \u6587\u6863 \u4ee5 \u83b7\u53d6 \u66f4 \u591a \u4fe1\u606f \u3002   \u4f8b\u5982 \uff1a \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3001 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u548c \u8f6c\u5f2f \u505c\u8f66 \u3002   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u6807\u5fd7   \u8981 \u5c06 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u6dfb\u52a0 \u5230 \u65b0 \u5730\u56fe \uff1a   1 .   \u4ece   Content   Browser   \uff0c \u5bfc\u822a \u81f3   Content / Carla / Static / TrafficSign   \u3002 \u60a8 \u4f1a \u53d1\u73b0 \u51e0\u79cd \u4e0d\u540c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u84dd\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002   2 .   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u62d6 \u5230 \u573a\u666f \u4e2d \u5e76 \u5c06 \u5176 \u653e\u7f6e \u5728 \u6240 \u9700 \u4f4d\u7f6e \u3002 \u6309 \u952e\u76d8 \u4e0a \u7684 \u7a7a\u683c \u7a7a\u683c\u952e \u53ef \u5728 \u5b9a\u4f4d \u3001 \u65cb\u8f6c \u548c \u7f29\u653e \u5de5\u5177 \u4e4b\u95f4 \u5207\u6362 \u3002   3 .   \u901a\u8fc7 \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u201d \u9762\u677f \u4e2d \u9009\u62e9   BoxTrigger   \u7ec4\u4ef6 \u5e76 \u8c03\u6574   Transform   \u90e8\u5206 \u4e2d \u7684 \u503c \uff0c \u8c03\u6574   trigger   volume   \u6bcf\u4e2a \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u7684 \u3002 \u8fd9 \u5c06 \u786e\u5b9a \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5f71\u54cd \u533a\u57df \u3002 \u5e76\u975e \u6240\u6709 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u90fd \u6709 \u89e6\u53d1 \u97f3\u91cf \u3002 \u6b64\u7c7b \u6807\u5fd7 \u5305\u62ec \u8ba9 \u884c \u6807\u5fd7 \u3001 \u505c\u8f66 \u6807\u5fd7 \u548c \u9650\u901f \u6807\u5fd7 \u3002   \u4e0b \u4e00\u6b65   \u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u5173\u5361 \u3002   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u751f\u6210   \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u4ea4\u901a\u706f \u548c \u6807\u5fd7"},{"location":"tuto_M_custom_add_tl/#_1","text":"\u672c \u6307\u5357 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u6dfb\u52a0 \u5230 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u3001 \u914d\u7f6e \u6bcf\u4e2a \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u7684 \u5f71\u54cd \u533a\u57df \uff0c \u4ee5\u53ca \u5982\u4f55 \u5728 \u8def\u53e3 \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u914d\u7f6e \u4e3a \u4e00\u7ec4 \u3002 \u6b64 \u9009\u9879 \u4ec5 \u9002\u7528 \u4e8e \u6709\u6743 \u8bbf\u95ee \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u7528\u6237 \u3002   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7   \u4e0b \u4e00\u6b65","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u4ea4\u901a\u706f \u548c \u6807\u5fd7"},{"location":"tuto_M_custom_add_tl/#_2","text":"\u8981 \u5c06 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u6dfb\u52a0 \u5230 \u65b0 \u5730\u56fe \uff1a   1 .   \u4ece   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \uff0c \u5bfc\u822a \u81f3   Content / Carla / Static / TrafficLight / StreetLights _ 01   \u3002 \u60a8 \u4f1a \u53d1\u73b0 \u51e0\u79cd \u4e0d\u540c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u84dd\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002   2 .   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u62d6 \u5230 \u573a\u666f \u4e2d \u5e76 \u5c06 \u5176 \u653e\u7f6e \u5728 \u6240 \u9700 \u4f4d\u7f6e \u3002 \u6309 \u952e\u76d8 \u4e0a \u7684 \u7a7a\u683c \u7a7a\u683c\u952e \u53ef \u5728 \u5b9a\u4f4d \u3001 \u65cb\u8f6c \u548c \u7f29\u653e \u5de5\u5177 \u4e4b\u95f4 \u5207\u6362 \u3002   3 .   \u901a\u8fc7 \u5728   Details   \u9762\u677f \u4e2d \u9009\u62e9   BoxTrigger   \u7ec4\u4ef6 \u5e76 \u8c03\u6574   Transform   \u90e8\u5206 \u4e2d \u7684 \u503c \uff0c \u8c03\u6574 \u6bcf\u4e2a \u4ea4\u901a \u4ea4\u901a\u706f \u7684   trigger   volume   \u3002 \u8fd9 \u5c06 \u786e\u5b9a \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5f71\u54cd \u533a\u57df \u3002   4 .   \u5bf9\u4e8e \u8fde\u63a5 \u63a5\u70b9 \u8fde\u63a5\u70b9 \uff0c \u5c06   BP _ TrafficLightGroup   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u62d6\u5165 \u5173\u5361 \u4e2d \u3002 \u901a\u8fc7 \u5c06 \u4ea4\u6c47 \u4ea4\u6c47\u5904 \u7684 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u6dfb\u52a0 \u5230 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u201d \u9762\u677f \u4e2d \u7684 \u201c \u4ea4\u901a \u4ea4\u901a\u706f \u201d \u6570\u7ec4 \uff0c \u5c06 \u5b83\u4eec \u5206\u914d \u7ed9 \u4ea4\u901a \u4ea4\u901a\u706f \u7ec4 \u3002   5 .   \u4ea4\u901a \u4ea4\u901a\u706f \u8ba1\u65f6 \u53ea\u80fd \u901a\u8fc7   Python   API   \u8fdb\u884c \u914d\u7f6e \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u6b64\u5904   \u7684 \u6587\u6863 \u4ee5 \u83b7\u53d6 \u66f4 \u591a \u4fe1\u606f \u3002   \u4f8b\u5982 \uff1a \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3001 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u548c \u8f6c\u5f2f \u505c\u8f66 \u3002","title":"\u7ea2\u7eff\u706f  "},{"location":"tuto_M_custom_add_tl/#_3","text":"\u8981 \u5c06 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u6dfb\u52a0 \u5230 \u65b0 \u5730\u56fe \uff1a   1 .   \u4ece   Content   Browser   \uff0c \u5bfc\u822a \u81f3   Content / Carla / Static / TrafficSign   \u3002 \u60a8 \u4f1a \u53d1\u73b0 \u51e0\u79cd \u4e0d\u540c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u84dd\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002   2 .   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u62d6 \u5230 \u573a\u666f \u4e2d \u5e76 \u5c06 \u5176 \u653e\u7f6e \u5728 \u6240 \u9700 \u4f4d\u7f6e \u3002 \u6309 \u952e\u76d8 \u4e0a \u7684 \u7a7a\u683c \u7a7a\u683c\u952e \u53ef \u5728 \u5b9a\u4f4d \u3001 \u65cb\u8f6c \u548c \u7f29\u653e \u5de5\u5177 \u4e4b\u95f4 \u5207\u6362 \u3002   3 .   \u901a\u8fc7 \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u201d \u9762\u677f \u4e2d \u9009\u62e9   BoxTrigger   \u7ec4\u4ef6 \u5e76 \u8c03\u6574   Transform   \u90e8\u5206 \u4e2d \u7684 \u503c \uff0c \u8c03\u6574   trigger   volume   \u6bcf\u4e2a \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u7684 \u3002 \u8fd9 \u5c06 \u786e\u5b9a \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5f71\u54cd \u533a\u57df \u3002 \u5e76\u975e \u6240\u6709 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u90fd \u6709 \u89e6\u53d1 \u97f3\u91cf \u3002 \u6b64\u7c7b \u6807\u5fd7 \u5305\u62ec \u8ba9 \u884c \u6807\u5fd7 \u3001 \u505c\u8f66 \u6807\u5fd7 \u548c \u9650\u901f \u6807\u5fd7 \u3002","title":"\u7ea2\u7eff\u706f \u6807\u5fd7  "},{"location":"tuto_M_custom_add_tl/#_4","text":"\u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u5173\u5361 \u3002   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u751f\u6210   \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002","title":"\u4e0b \u4e00\u6b65  "},{"location":"tuto_M_custom_buildings/","text":"\u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51   \u5efa\u7b51 \u7ed3\u6784   \u7ed3\u6784 \u4fee\u6539   \u4e0b \u4e00\u6b65   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177 \u5141\u8bb8 \u60a8 \u521b\u5efa \u7531 \u4e0d\u540c \u697c\u5c42 \u7ec4\u6210 \u7684 \u77e9\u5f62 \u5efa\u7b51 \u3002 \u6bcf\u4e2a \u7ea7\u522b \u90fd \u662f \u4f7f\u7528 \u53ef \u914d\u7f6e \u7684 \u7f51\u683c \u9635\u5217 \u6216 \u5355\u4e2a \u84dd\u56fe \u6784\u5efa \u7684 \u3002 \u5982\u679c \u4f7f\u7528 \u7f51\u683c \u9635\u5217 \uff0c \u5219 \u6bcf\u4e2a \u7f51\u683c \u5c06 \u6cbf \u5173\u5361 \u968f\u673a \u91cd\u590d \u4ee5 \u63d0\u4f9b \u591a\u6837 \u591a\u6837\u6027 \u3002 \u7f51\u683c \u4f53 \u521b\u5efa \u4e00\u6b21 \uff0c \u6bcf\u4e2a \u91cd\u590d \u90fd \u5c06 \u662f \u8be5 \u7f51\u683c \u4f53 \u7684 \u4e00\u4e2a \u5b9e\u4f8b \u3002 \u8fd9 \u53ef\u4ee5 \u63d0\u9ad8 \u5730\u56fe \u7684 \u6027\u80fd \u3002   \u5efa\u7b51 \u7ed3\u6784   \u8981 \u5f00\u59cb \u5efa\u9020 \u60a8 \u7684 \u5efa\u7b51 \uff1a   \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Content / Carla / Blueprints / LevelDesign   \u3002   \u5c06   BP _ Procedural _ Building   \u62d6\u5165 \u573a\u666f \u4e2d \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u60a8 \u5c06 \u770b\u5230 \u53ef \u7528\u4e8e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u6240\u6709 \u9009\u9879 \u3002 \u6bcf\u6b21 \u5728 \u6b64\u5904 \u8fdb\u884c \u66f4\u6539 \u65f6 \uff0c \u968f\u7740 \u5173\u952e \u7f51\u683c \u4f53 \u7684 \u66f4\u65b0 \uff0c \u5efa\u7b51 \u5efa\u7b51\u7269 \u5c06 \u4ece \u573a\u666f \u89c6\u56fe \u4e2d \u6d88\u5931 \u3002 \u5355\u51fb   Create   Building   \u4ee5 \u67e5\u770b \u65b0 \u7ed3\u679c \uff0c \u6216 \u542f\u7528 \u81ea\u52a8 \u521b\u5efa \u4ee5 \u907f\u514d \u91cd\u590d \u6b64 \u6b65\u9aa4 \u3002   \u5173\u952e \u7f51\u683c \u662f \u5efa\u7b51 \u5efa\u7b51\u7269 \u7ed3\u6784 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u5b83\u4eec \u5206\u4e3a \u56db\u7c7b \uff1a   Base :   \u5e95\u5c42 \u3002   Body :   \u4e2d\u5c42 \u3002   Top :   \u6700\u9ad8 \u9ad8\u5c42 \u6700\u9ad8\u5c42 \u3002   Roof :   \u8986\u76d6 \u9876\u5c42 \u7684 \u5c4b\u9876 \u3002   \u5bf9\u4e8e \u6bcf\u4e2a \u6a21\u578b \uff0c \u9664\u4e86 \u5c4b\u9876   Roof   \u4e4b\u5916 \uff0c \u90fd \u6709 \u4e00\u4e2a \u7f51\u683c \u4f53 \u586b\u5145 \u5730\u677f \u7684 \u4e2d\u5fc3 \uff0c \u8fd8\u6709 \u4e00\u4e2a   Corner   \u7f51\u683c \u4f53\u5c06 \u653e\u7f6e \u5728 \u5730\u677f \u7684 \u4e24\u4fa7 \u3002 \u4e0b\u56fe \u4ee3\u8868 \u4e86 \u5168\u5c40 \u7ed3\u6784 \u3002   \u5efa\u7b51 \u7ed3\u6784 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570   Base   parameters   \u8bbe\u7f6e \u5c3a\u5bf8 \u3002   \u697c\u5c42 \u6570 \uff1a   \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u697c\u5c42 \u6570 \u3002 \u8eab\u4f53 \u7f51\u683c   Body   \u7684 \u91cd\u590d \u3002   \u957f\u5ea6   X   \u548c   \u957f\u5ea6   Y \uff1a   \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u957f\u5ea6 \u548c \u5bbd\u5ea6 \u3002 \u5efa\u7b51 \u5efa\u7b51\u7269 \u6bcf \u4e00\u4fa7 \u7684 \u4e2d\u592e \u7f51\u683c \u91cd\u590d \u3002   BP _ Procedural _ Building   \u793a\u4f8b \u3002   \u7ed3\u6784 \u4fee\u6539   \u8fd8\u6709 \u4e00\u4e9b \u989d\u5916 \u7684 \u9009\u9879 \u53ef\u4ee5 \u4fee\u6539 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u603b\u4f53 \u7ed3\u6784 \u3002   Disable   corners :   \u5982\u679c \u9009\u62e9 \uff0c \u5c06 \u4e0d \u4f7f\u7528 \u89d2 \u7f51\u683c \u3002   Use   full   blocks :   \u5982\u679c \u9009\u62e9 \u6b64 \u9009\u9879 \uff0c \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u7ed3\u6784 \u6bcf\u5c42 \u5c06 \u4ec5 \u4f7f\u7528 \u4e00\u4e2a \u7f51\u683c \u3002 \u6bcf \u5c42\u697c \u4e0d\u4f1a \u51fa\u73b0 \u4efb\u4f55 \u89d2\u843d \u6216 \u91cd\u590d \u3002   Doors :   \u51fa\u73b0 \u5728 \u5e95\u5c42 \u3001 \u4f4d\u4e8e \u4e2d\u592e \u7f51\u683c \u7269\u4f53 \u6b63\u524d \u524d\u65b9 \u6b63\u524d\u65b9 \u7684 \u7f51\u683c \u7269\u4f53 \u3002 \u95e8 \u7684 \u6570\u91cf \u53ca\u5176 \u4f4d\u7f6e \u53ef\u4ee5 \u8bbe\u7f6e \u3002   0   \u662f \u521d\u59cb \u4f4d\u7f6e \u3001   1   \u662f \u4e0b \u4e00\u4e2a \u5e95\u5c42 \u91cd\u590d \u7b49 \u3002   Walls :   \u66ff\u4ee3 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e00\u4fa7 \u6216\u591a\u4fa7 \u7684 \u7f51\u683c \u3002 \u4f8b\u5982 \uff0c \u5e73\u9762 \u7f51\u683c \u53ef \u7528\u4e8e \u7ed8\u5236 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u4e00\u4fa7 \u3002   \u5de6\u8fb9 \u662f \u4e00\u5ea7 \u6ca1\u6709 \u89d2 \u3001 \u53ea\u6709 \u4e00\u6247 \u6247\u95e8 \u4e00\u6247\u95e8 \u7684 \u5efa\u7b51 \u3002   \u53f3\u4fa7 \u662f \u4e00\u5ea7 \u5efa\u7b51 \u5efa\u7b51\u7269 \uff0c \u5176 \u4e00\u4fa7 \u5e94\u7528 \u4e86 \u5899\u58c1 \u3002 \u5899\u58c1 \u662f \u6ca1\u6709 \u9632\u706b \u901a\u9053 \u7684 \u7eb9\u7406 \u3002   \u4e0b \u4e00\u6b65   \u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u84dd\u56fe \u3002   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u7a0b\u5e8f\u5316 \u5efa\u7b51"},{"location":"tuto_M_custom_buildings/#_1","text":"\u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51   \u5efa\u7b51 \u7ed3\u6784   \u7ed3\u6784 \u4fee\u6539   \u4e0b \u4e00\u6b65","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u7a0b\u5e8f\u5316 \u5efa\u7b51"},{"location":"tuto_M_custom_buildings/#_2","text":"\u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177 \u5141\u8bb8 \u60a8 \u521b\u5efa \u7531 \u4e0d\u540c \u697c\u5c42 \u7ec4\u6210 \u7684 \u77e9\u5f62 \u5efa\u7b51 \u3002 \u6bcf\u4e2a \u7ea7\u522b \u90fd \u662f \u4f7f\u7528 \u53ef \u914d\u7f6e \u7684 \u7f51\u683c \u9635\u5217 \u6216 \u5355\u4e2a \u84dd\u56fe \u6784\u5efa \u7684 \u3002 \u5982\u679c \u4f7f\u7528 \u7f51\u683c \u9635\u5217 \uff0c \u5219 \u6bcf\u4e2a \u7f51\u683c \u5c06 \u6cbf \u5173\u5361 \u968f\u673a \u91cd\u590d \u4ee5 \u63d0\u4f9b \u591a\u6837 \u591a\u6837\u6027 \u3002 \u7f51\u683c \u4f53 \u521b\u5efa \u4e00\u6b21 \uff0c \u6bcf\u4e2a \u91cd\u590d \u90fd \u5c06 \u662f \u8be5 \u7f51\u683c \u4f53 \u7684 \u4e00\u4e2a \u5b9e\u4f8b \u3002 \u8fd9 \u53ef\u4ee5 \u63d0\u9ad8 \u5730\u56fe \u7684 \u6027\u80fd \u3002","title":"\u7a0b\u5e8f\u5316 \u5efa\u7b51  "},{"location":"tuto_M_custom_buildings/#_3","text":"\u8981 \u5f00\u59cb \u5efa\u9020 \u60a8 \u7684 \u5efa\u7b51 \uff1a   \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Content / Carla / Blueprints / LevelDesign   \u3002   \u5c06   BP _ Procedural _ Building   \u62d6\u5165 \u573a\u666f \u4e2d \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u60a8 \u5c06 \u770b\u5230 \u53ef \u7528\u4e8e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u6240\u6709 \u9009\u9879 \u3002 \u6bcf\u6b21 \u5728 \u6b64\u5904 \u8fdb\u884c \u66f4\u6539 \u65f6 \uff0c \u968f\u7740 \u5173\u952e \u7f51\u683c \u4f53 \u7684 \u66f4\u65b0 \uff0c \u5efa\u7b51 \u5efa\u7b51\u7269 \u5c06 \u4ece \u573a\u666f \u89c6\u56fe \u4e2d \u6d88\u5931 \u3002 \u5355\u51fb   Create   Building   \u4ee5 \u67e5\u770b \u65b0 \u7ed3\u679c \uff0c \u6216 \u542f\u7528 \u81ea\u52a8 \u521b\u5efa \u4ee5 \u907f\u514d \u91cd\u590d \u6b64 \u6b65\u9aa4 \u3002   \u5173\u952e \u7f51\u683c \u662f \u5efa\u7b51 \u5efa\u7b51\u7269 \u7ed3\u6784 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u5b83\u4eec \u5206\u4e3a \u56db\u7c7b \uff1a   Base :   \u5e95\u5c42 \u3002   Body :   \u4e2d\u5c42 \u3002   Top :   \u6700\u9ad8 \u9ad8\u5c42 \u6700\u9ad8\u5c42 \u3002   Roof :   \u8986\u76d6 \u9876\u5c42 \u7684 \u5c4b\u9876 \u3002   \u5bf9\u4e8e \u6bcf\u4e2a \u6a21\u578b \uff0c \u9664\u4e86 \u5c4b\u9876   Roof   \u4e4b\u5916 \uff0c \u90fd \u6709 \u4e00\u4e2a \u7f51\u683c \u4f53 \u586b\u5145 \u5730\u677f \u7684 \u4e2d\u5fc3 \uff0c \u8fd8\u6709 \u4e00\u4e2a   Corner   \u7f51\u683c \u4f53\u5c06 \u653e\u7f6e \u5728 \u5730\u677f \u7684 \u4e24\u4fa7 \u3002 \u4e0b\u56fe \u4ee3\u8868 \u4e86 \u5168\u5c40 \u7ed3\u6784 \u3002   \u5efa\u7b51 \u7ed3\u6784 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570   Base   parameters   \u8bbe\u7f6e \u5c3a\u5bf8 \u3002   \u697c\u5c42 \u6570 \uff1a   \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u697c\u5c42 \u6570 \u3002 \u8eab\u4f53 \u7f51\u683c   Body   \u7684 \u91cd\u590d \u3002   \u957f\u5ea6   X   \u548c   \u957f\u5ea6   Y \uff1a   \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u957f\u5ea6 \u548c \u5bbd\u5ea6 \u3002 \u5efa\u7b51 \u5efa\u7b51\u7269 \u6bcf \u4e00\u4fa7 \u7684 \u4e2d\u592e \u7f51\u683c \u91cd\u590d \u3002   BP _ Procedural _ Building   \u793a\u4f8b \u3002","title":"\u5efa\u7b51 \u7ed3\u6784  "},{"location":"tuto_M_custom_buildings/#_4","text":"\u8fd8\u6709 \u4e00\u4e9b \u989d\u5916 \u7684 \u9009\u9879 \u53ef\u4ee5 \u4fee\u6539 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u603b\u4f53 \u7ed3\u6784 \u3002   Disable   corners :   \u5982\u679c \u9009\u62e9 \uff0c \u5c06 \u4e0d \u4f7f\u7528 \u89d2 \u7f51\u683c \u3002   Use   full   blocks :   \u5982\u679c \u9009\u62e9 \u6b64 \u9009\u9879 \uff0c \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u7ed3\u6784 \u6bcf\u5c42 \u5c06 \u4ec5 \u4f7f\u7528 \u4e00\u4e2a \u7f51\u683c \u3002 \u6bcf \u5c42\u697c \u4e0d\u4f1a \u51fa\u73b0 \u4efb\u4f55 \u89d2\u843d \u6216 \u91cd\u590d \u3002   Doors :   \u51fa\u73b0 \u5728 \u5e95\u5c42 \u3001 \u4f4d\u4e8e \u4e2d\u592e \u7f51\u683c \u7269\u4f53 \u6b63\u524d \u524d\u65b9 \u6b63\u524d\u65b9 \u7684 \u7f51\u683c \u7269\u4f53 \u3002 \u95e8 \u7684 \u6570\u91cf \u53ca\u5176 \u4f4d\u7f6e \u53ef\u4ee5 \u8bbe\u7f6e \u3002   0   \u662f \u521d\u59cb \u4f4d\u7f6e \u3001   1   \u662f \u4e0b \u4e00\u4e2a \u5e95\u5c42 \u91cd\u590d \u7b49 \u3002   Walls :   \u66ff\u4ee3 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e00\u4fa7 \u6216\u591a\u4fa7 \u7684 \u7f51\u683c \u3002 \u4f8b\u5982 \uff0c \u5e73\u9762 \u7f51\u683c \u53ef \u7528\u4e8e \u7ed8\u5236 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u4e00\u4fa7 \u3002   \u5de6\u8fb9 \u662f \u4e00\u5ea7 \u6ca1\u6709 \u89d2 \u3001 \u53ea\u6709 \u4e00\u6247 \u6247\u95e8 \u4e00\u6247\u95e8 \u7684 \u5efa\u7b51 \u3002   \u53f3\u4fa7 \u662f \u4e00\u5ea7 \u5efa\u7b51 \u5efa\u7b51\u7269 \uff0c \u5176 \u4e00\u4fa7 \u5e94\u7528 \u4e86 \u5899\u58c1 \u3002 \u5899\u58c1 \u662f \u6ca1\u6709 \u9632\u706b \u901a\u9053 \u7684 \u7eb9\u7406 \u3002","title":"\u7ed3\u6784 \u4fee\u6539  "},{"location":"tuto_M_custom_buildings/#_5","text":"\u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u84dd\u56fe \u3002   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u4e0b \u4e00\u6b65  "},{"location":"tuto_M_custom_layers/","text":"\u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5206\u5c42 \u5730\u56fe   \u5229\u7528 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u4e2d \u7684 \u7ea7\u522b \u53ef\u4ee5 \u8ba9 \u591a \u4eba \u540c\u65f6 \u5728 \u4e00\u5f20 \u5730\u56fe \u4e0a \u5de5\u4f5c \u3002 \u5b83 \u8fd8 \u5141\u8bb8 \u60a8 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u4f7f\u7528   Python   API   \u5728 \u5730\u56fe \u4e0a \u52a0\u8f7d \u548c \u5378\u8f7d \u56fe\u5c42 \uff0c \u5c31 \u50cf   \u5206\u5c42 \u7684   Carla   \u5730\u56fe   \u4e00\u6837 \u3002   \u672c \u6307\u5357 \u5c06 \u89e3\u91ca \u5982\u4f55 \u6dfb\u52a0 \u65b0 \u5173\u5361 \u3001 \u5982\u4f55 \u5411 \u5173\u5361 \u6dfb\u52a0 \u8d44\u6e90 \u4ee5\u53ca \u5982\u4f55 \u5c06 \u5173\u5361 \u914d\u7f6e \u4e3a \u59cb\u7ec8 \u52a0\u8f7d \u6216 \u4e0d 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\u5173\u5361 \u4fdd\u5b58 \u5728   Content / Carla / Maps / Sublevels / < map _ name > /   \u3002   \u8981 \u5c06 \u5173\u5361 \u4e0e   Carla   Python   API   \u96c6\u6210 \uff0c \u8bf7 \u4f7f\u7528 \u547d\u540d \u7ea6\u5b9a   < map _ name > _ < layer _ name >   \uff0c \u6bd4\u5982 ,   TutorialMap _ Buildings   \u3002 \u6709\u5173 \u53ef\u7528 \u5173\u5361 \u7684 \u5217\u8868 \uff0c \u8bf7 \u67e5\u770b   \u6b64\u5904   \u3002   \u5c06 \u8d44\u4ea7 \u6dfb\u52a0 \u5230 \u5173\u5361   1 .   \u9009\u62e9 \u60a8 \u8981 \u5c06 \u8d44\u4ea7 \u6dfb\u52a0 \u5230 \u7684 \u5173\u5361   \u3002   \u5728 \u201c \u5173\u5361 \u201d \u9762\u677f \u4e2d \uff0c \u53cc\u51fb \u8981 \u6dfb\u52a0 \u8d44\u6e90 \u7684 \u201c \u5173\u5361 \u201d \u3002 \u901a\u8fc7 \u5207\u6362 \u9501 \u56fe\u6807 \u786e\u4fdd \u5173\u5361 \u5df2 \u89e3\u9501 \u3002   2 .   \u9009\u62e9 \u8981 \u6dfb\u52a0 \u7684 \u8d44\u4ea7 \u3002   \u9009\u62e9 \u60a8 \u60f3\u8981 \u6dfb\u52a0 \u5230 \u5173\u5361 \u7684 \u6240\u6709 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\u6709 \u4e00\u4e2a \u94c5\u7b14 \u56fe\u6807 \u3002 \u5355\u51fb \u6b64 \u6309\u94ae \u4fdd\u5b58 \u66f4\u6539 \u3002","title":"\u5c06 \u8d44\u4ea7 \u6dfb\u52a0 \u5230 \u5173\u5361  "},{"location":"tuto_M_custom_layers/#_4","text":"\u5173\u5361 \u53ef\u4ee5 \u914d\u7f6e \u4e3a \u80fd\u591f \u5207\u6362 \u6216 \u59cb\u7ec8 \u52a0\u8f7d \u3002 \u8981 \u914d\u7f6e \u4efb\u4e00 \u9009\u9879 \u7684 \u7ea7\u522b \uff1a   \u53f3\u952e \u5355\u51fb \u201c \u5173\u5361 \u201d \u9762\u677f \u4e2d \u7684 \u5173\u5361 \uff0c \u7136\u540e \u8f6c \u5230 \u201c \u4fee\u6539 \u6d41\u9001 \u65b9\u6cd5 \u201d \u3002   \u9009\u62e9 \u6240 \u9700 \u7684 \u8bbe\u7f6e \uff1a   \u56fa\u5b9a \u52a0\u8f7d   \uff1a   \u65e0\u6cd5   \u901a\u8fc7   Python   API   \u5207\u6362 \u5173\u5361 \u3002   \u84dd\u56fe   :   \u53ef\u4ee5   \u901a\u8fc7   Python   API   \u5207\u6362 \u5173\u5361 \u3002 \u5173\u5361 \u540d\u79f0 \u65c1\u8fb9 \u4f1a \u51fa\u73b0 \u4e00\u4e2a \u84dd\u70b9 \u3002   \u65e0\u8bba \u8bbe\u7f6e \u5982\u4f55 \uff0c \u60a8 \u4ecd\u7136 \u53ef\u4ee5 \u901a\u8fc7 \u6309 \u773c\u775b \u56fe\u6807 \u6765 \u5207\u6362 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684 \u84dd\u56fe \u3002","title":"\u914d\u7f6e \u5173\u5361 \u52a0\u8f7d \u9009\u9879  "},{"location":"tuto_M_custom_layers/#_5","text":"\u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   A \u4f7f\u7528 \u7a0b\u5e8f \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u8fde\u7eed \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u4e0b \u4e00\u6b65  "},{"location":"tuto_M_custom_map_overview/","text":"\u6dfb\u52a0 \u65b0 \u5730\u56fe   Carla   \u7684 \u7528\u6237 \u53ef\u4ee5 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u5e76 \u4f7f\u7528 \u5b83\u4eec \u6765 \u8fd0\u884c \u4eff\u771f \u3002 \u5728   Carla   \u4e2d \u5bfc\u5165 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u7684 \u65b9\u6cd5 \u6709 \u591a\u79cd \u3002 \u8981 \u4f7f\u7528 \u7684 \u65b9\u6cd5 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u7684 \u6253\u5305 \u7248\u672c \u8fd8\u662f \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684 \u7248\u672c \u3002 \u672c \u8282 \u6982\u8ff0 \u4e86 \u542f\u52a8 \u8be5 \u6d41\u7a0b \u6240 \u9700 \u7684 \u5185\u5bb9 \u3001 \u53ef \u7528\u4e8e \u5bfc\u5165 \u7684 \u4e0d\u540c \u9009\u9879 \u4ee5\u53ca \u53ef\u7528 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u548c \u884c\u4eba \u5bfc\u822a \u5de5\u5177 \u3002   \u6982\u8ff0   \u751f\u6210   \u5bfc\u5165   \u5b9a\u5236   \u751f\u6210 \u884c\u4eba \u5bfc\u822a   \u6982\u8ff0   \u5728   Carla   \u4e2d \u4f7f\u7528 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u6d89\u53ca \u56db\u4e2a \u4e3b\u8981 \u8fc7\u7a0b \uff1a   \u751f\u6210   \u5bfc\u5165   \u5b9a\u5236   \u884c\u4eba \u5bfc\u822a   \u8bf7 \u7ee7\u7eed \u9605\u8bfb \uff0c \u4e86\u89e3 \u6709\u5173 \u6bcf\u4e2a \u6d41\u7a0b \u7684 \u5176\u4ed6 \u4e00\u822c \u4fe1\u606f \u3002   \u751f\u6210   Carla   \u9700\u8981   . fbx   \u683c\u5f0f \u7684 \u5730\u56fe \u51e0\u4f55 \u4fe1\u606f \u548c   . xodr   \u683c\u5f0f \u7684   OpenDRIVE   \u4fe1\u606f \u3002 \u76ee\u524d \u63a8\u8350 \u7684 \u751f\u6210 \u8fd9\u4e9b \u6587\u4ef6 \u7684 \u8f6f\u4ef6 \u662f   RoadRunner \u3002   \u672c \u6307\u5357   \u8bf4\u660e \u5982\u4f55 \u4f7f\u7528   RoadRunner   \u751f\u6210 \u5730\u56fe \u4fe1\u606f \u5730\u56fe\u4fe1\u606f \u3002   \u5bfc\u5165   \u6709 \u591a\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla \u3002   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u7248\u672c   \uff0c \u60a8 \u5c06 \u4f7f\u7528   Docker   \u5bfc\u5165 \u5730\u56fe \u3002 \u6b64 \u9009\u9879 \u4ec5 \u5728   Linux   \u4e2d \u53ef\u7528 \uff0c \u5e76\u4e14 \u60a8 \u5c06 \u65e0\u6cd5 \u4f7f\u7528 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   \u7248\u672c \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u4e09\u79cd \u65b9\u6cd5 \u5bfc\u5165 \u5730\u56fe \uff1a   \u4f7f\u7528 \u81ea\u52a8   make   import   \u6d41\u7a0b \uff08 \u63a8\u8350 \uff09 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u4f7f\u7528   RoadRunner   \u63d2\u4ef6 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u624b\u52a8 \u5c06 \u5730\u56fe \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce \u4e2d \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u4ee5\u4e0b \u89c6\u9891 \u4ecb\u7ecd \u4e86 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla   \u7684 \u4e00\u4e9b \u53ef\u7528 \u65b9\u6cd5 \uff1a   \u5b9a\u5236   \u9664\u4e86 \u6570\u767e \u767e\u4e2a \u6570\u767e\u4e2a \u51c6\u5907 \u6dfb\u52a0 \u5230 \u666f\u89c2 \u4e2d \u7684 \u9759\u6001 \u7f51\u683c \u7269\u4f53 \u5916 \uff0c Carla   \u8fd8 \u63d0\u4f9b \u4e86 \u591a\u79cd \u5de5\u5177 \u548c \u6307\u5357 \u6765 \u5e2e\u52a9 \u60a8 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a   \u6dfb\u52a0 \u5b50 \u5173\u5361 \uff1a   \u5b50 \u5173\u5361 \u5c06 \u5141\u8bb8 \u591a\u4eba \u540c\u65f6 \u5728 \u540c \u4e00\u5f20 \u5730\u56fe \u4e0a \u5de5\u4f5c \u3002 \u5b83\u4eec \u8fd8 \u5141\u8bb8 \u60a8 \u4f7f\u7528   Python   API   \u5207\u6362 \u5730\u56fe \u7684 \u56fe\u5c42 \uff0c \u5c31 \u50cf   Carla   \u5206\u5c42 \u5730\u56fe \u4e00\u6837 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u8bbe\u7f6e \u9ed8\u8ba4 \u5929\u6c14 \uff1a   \u5c1d\u8bd5 \u4e0d\u540c \u7684 \u5929\u6c14 \u9884\u8bbe \uff0c \u627e\u5230 \u6b63\u786e \u7684 \u7ec4\u5408 \u540e \uff0c \u4e3a \u60a8 \u7684 \u5730\u56fe \u8bbe\u7f6e \u9ed8\u8ba4 \u5929\u6c14 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u586b\u5145 \u666f\u89c2 \uff1a   \u4f7f\u7528 \u84dd\u56fe \u901a\u8fc7 \u91cd\u590d \u7f51\u683c \uff08 \u4f8b\u5982 \u8def\u706f \u3001 \u7535\u7ebf \u548c \u5899\u58c1 \uff09 \u586b\u5145 \u666f\u89c2 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u7ed8\u5236 \u9053\u8def \uff1a   \u4f7f\u7528 \u6df7\u5408 \u4e0d\u540c \u7eb9\u7406 \u7684 \u4e3b \u6750\u8d28 \u7ed8\u5236 \u9053\u8def \u3002 \u6dfb\u52a0 \u8d34\u82b1 \u548c \u7f51\u683c \uff0c \u4f8b\u5982 \u843d\u53f6 \u3001 \u88c2\u7f1d \u6216 \u6c99\u4e95 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u6dfb\u52a0 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5efa\u7b51\u7269 \uff1a   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u84dd\u56fe \u6dfb\u52a0 \u5177\u6709 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5c3a\u5bf8 \u3001 \u697c\u5c42 \u6570\u91cf \u548c \u53ef\u53d8 \u7f51\u683c \u7ec4\u5408 \u7684 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u6dfb\u52a0 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \uff1a   \u6dfb\u52a0 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u5e76 \u914d\u7f6e \u5176 \u5f71\u54cd \u533a\u57df \u3002 \u8def\u53e3 \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7ec4 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u751f\u6210 \u884c\u4eba \u5bfc\u822a   \u4e3a\u4e86 \u751f\u6210 \u884c\u4eba \u5e76 \u5728 \u5730\u56fe \u4e0a \u5bfc\u822a \uff0c \u60a8 \u9700\u8981 \u4f7f\u7528   Carla   \u63d0\u4f9b \u7684 \u5de5\u5177 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f \u3002 \u884c\u4eba \u5bfc\u822a \u5e94 \u5728 \u5b8c\u6210 \u5730\u56fe \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u540e \u751f\u6210 \uff0c \u4ee5\u4fbf \u4e0d\u4f1a \u5728 \u5bfc\u822a \u8def\u5f84 \u4e0a\u65b9 \u521b\u5efa \u969c\u788d \u969c\u788d\u7269 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u5982\u679c \u60a8 \u5bf9 \u4e0a\u8ff0 \u8fc7\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728   \u8bba\u575b   \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"tuto   M   custom   map   overview"},{"location":"tuto_M_custom_map_overview/#_1","text":"Carla   \u7684 \u7528\u6237 \u53ef\u4ee5 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u5e76 \u4f7f\u7528 \u5b83\u4eec \u6765 \u8fd0\u884c \u4eff\u771f \u3002 \u5728   Carla   \u4e2d \u5bfc\u5165 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u7684 \u65b9\u6cd5 \u6709 \u591a\u79cd \u3002 \u8981 \u4f7f\u7528 \u7684 \u65b9\u6cd5 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u7684 \u6253\u5305 \u7248\u672c \u8fd8\u662f \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684 \u7248\u672c \u3002 \u672c \u8282 \u6982\u8ff0 \u4e86 \u542f\u52a8 \u8be5 \u6d41\u7a0b \u6240 \u9700 \u7684 \u5185\u5bb9 \u3001 \u53ef \u7528\u4e8e \u5bfc\u5165 \u7684 \u4e0d\u540c \u9009\u9879 \u4ee5\u53ca \u53ef\u7528 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u548c \u884c\u4eba \u5bfc\u822a \u5de5\u5177 \u3002   \u6982\u8ff0   \u751f\u6210   \u5bfc\u5165   \u5b9a\u5236   \u751f\u6210 \u884c\u4eba \u5bfc\u822a","title":"\u6dfb\u52a0 \u65b0 \u5730\u56fe"},{"location":"tuto_M_custom_map_overview/#_2","text":"\u5728   Carla   \u4e2d \u4f7f\u7528 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u6d89\u53ca \u56db\u4e2a \u4e3b\u8981 \u8fc7\u7a0b \uff1a   \u751f\u6210   \u5bfc\u5165   \u5b9a\u5236   \u884c\u4eba \u5bfc\u822a   \u8bf7 \u7ee7\u7eed \u9605\u8bfb \uff0c \u4e86\u89e3 \u6709\u5173 \u6bcf\u4e2a \u6d41\u7a0b \u7684 \u5176\u4ed6 \u4e00\u822c \u4fe1\u606f \u3002","title":"\u6982\u8ff0  "},{"location":"tuto_M_custom_map_overview/#_3","text":"Carla   \u9700\u8981   . fbx   \u683c\u5f0f \u7684 \u5730\u56fe \u51e0\u4f55 \u4fe1\u606f \u548c   . xodr   \u683c\u5f0f \u7684   OpenDRIVE   \u4fe1\u606f \u3002 \u76ee\u524d \u63a8\u8350 \u7684 \u751f\u6210 \u8fd9\u4e9b \u6587\u4ef6 \u7684 \u8f6f\u4ef6 \u662f   RoadRunner \u3002   \u672c \u6307\u5357   \u8bf4\u660e \u5982\u4f55 \u4f7f\u7528   RoadRunner   \u751f\u6210 \u5730\u56fe \u4fe1\u606f \u5730\u56fe\u4fe1\u606f \u3002","title":"\u751f\u6210  "},{"location":"tuto_M_custom_map_overview/#_4","text":"\u6709 \u591a\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla \u3002   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u7248\u672c   \uff0c \u60a8 \u5c06 \u4f7f\u7528   Docker   \u5bfc\u5165 \u5730\u56fe \u3002 \u6b64 \u9009\u9879 \u4ec5 \u5728   Linux   \u4e2d \u53ef\u7528 \uff0c \u5e76\u4e14 \u60a8 \u5c06 \u65e0\u6cd5 \u4f7f\u7528 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   \u7248\u672c \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u4e09\u79cd \u65b9\u6cd5 \u5bfc\u5165 \u5730\u56fe \uff1a   \u4f7f\u7528 \u81ea\u52a8   make   import   \u6d41\u7a0b \uff08 \u63a8\u8350 \uff09 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u4f7f\u7528   RoadRunner   \u63d2\u4ef6 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u624b\u52a8 \u5c06 \u5730\u56fe \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce \u4e2d \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u4ee5\u4e0b \u89c6\u9891 \u4ecb\u7ecd \u4e86 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla   \u7684 \u4e00\u4e9b \u53ef\u7528 \u65b9\u6cd5 \uff1a","title":"\u5bfc\u5165  "},{"location":"tuto_M_custom_map_overview/#_5","text":"\u9664\u4e86 \u6570\u767e \u767e\u4e2a \u6570\u767e\u4e2a \u51c6\u5907 \u6dfb\u52a0 \u5230 \u666f\u89c2 \u4e2d \u7684 \u9759\u6001 \u7f51\u683c \u7269\u4f53 \u5916 \uff0c Carla   \u8fd8 \u63d0\u4f9b \u4e86 \u591a\u79cd \u5de5\u5177 \u548c \u6307\u5357 \u6765 \u5e2e\u52a9 \u60a8 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a   \u6dfb\u52a0 \u5b50 \u5173\u5361 \uff1a   \u5b50 \u5173\u5361 \u5c06 \u5141\u8bb8 \u591a\u4eba \u540c\u65f6 \u5728 \u540c \u4e00\u5f20 \u5730\u56fe \u4e0a \u5de5\u4f5c \u3002 \u5b83\u4eec \u8fd8 \u5141\u8bb8 \u60a8 \u4f7f\u7528   Python   API   \u5207\u6362 \u5730\u56fe \u7684 \u56fe\u5c42 \uff0c \u5c31 \u50cf   Carla   \u5206\u5c42 \u5730\u56fe \u4e00\u6837 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u8bbe\u7f6e \u9ed8\u8ba4 \u5929\u6c14 \uff1a   \u5c1d\u8bd5 \u4e0d\u540c \u7684 \u5929\u6c14 \u9884\u8bbe \uff0c \u627e\u5230 \u6b63\u786e \u7684 \u7ec4\u5408 \u540e \uff0c \u4e3a \u60a8 \u7684 \u5730\u56fe \u8bbe\u7f6e \u9ed8\u8ba4 \u5929\u6c14 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u586b\u5145 \u666f\u89c2 \uff1a   \u4f7f\u7528 \u84dd\u56fe \u901a\u8fc7 \u91cd\u590d \u7f51\u683c \uff08 \u4f8b\u5982 \u8def\u706f \u3001 \u7535\u7ebf \u548c \u5899\u58c1 \uff09 \u586b\u5145 \u666f\u89c2 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u7ed8\u5236 \u9053\u8def \uff1a   \u4f7f\u7528 \u6df7\u5408 \u4e0d\u540c \u7eb9\u7406 \u7684 \u4e3b \u6750\u8d28 \u7ed8\u5236 \u9053\u8def \u3002 \u6dfb\u52a0 \u8d34\u82b1 \u548c \u7f51\u683c \uff0c \u4f8b\u5982 \u843d\u53f6 \u3001 \u88c2\u7f1d \u6216 \u6c99\u4e95 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u6dfb\u52a0 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5efa\u7b51\u7269 \uff1a   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u84dd\u56fe \u6dfb\u52a0 \u5177\u6709 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5c3a\u5bf8 \u3001 \u697c\u5c42 \u6570\u91cf \u548c \u53ef\u53d8 \u7f51\u683c \u7ec4\u5408 \u7684 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u6dfb\u52a0 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \uff1a   \u6dfb\u52a0 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u5e76 \u914d\u7f6e \u5176 \u5f71\u54cd \u533a\u57df \u3002 \u8def\u53e3 \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7ec4 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002","title":"\u5b9a\u5236  "},{"location":"tuto_M_custom_map_overview/#_6","text":"\u4e3a\u4e86 \u751f\u6210 \u884c\u4eba \u5e76 \u5728 \u5730\u56fe \u4e0a \u5bfc\u822a \uff0c \u60a8 \u9700\u8981 \u4f7f\u7528   Carla   \u63d0\u4f9b \u7684 \u5de5\u5177 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f \u3002 \u884c\u4eba \u5bfc\u822a \u5e94 \u5728 \u5b8c\u6210 \u5730\u56fe \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u540e \u751f\u6210 \uff0c \u4ee5\u4fbf \u4e0d\u4f1a \u5728 \u5bfc\u822a \u8def\u5f84 \u4e0a\u65b9 \u521b\u5efa \u969c\u788d \u969c\u788d\u7269 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 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\u3001 \u638c\u63e1 \u6750\u8d28 \u548c \u6e32\u67d3 \u76ee\u6807   \u51c6\u5907 \u4e3b \u6750\u8d28   \u63cf\u7ed8 \u9053\u8def   \u66f4\u65b0 \u8f66\u9053 \u7ebf \u7684 \u5916\u89c2   \u4e0b \u4e00\u6b65   \u4ec0\u4e48 \u662f \u9053\u8def \u753b\u5bb6 \uff1f   \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u662f \u4e00\u4e2a \u4f7f\u7528   OpenDRIVE   \u4fe1\u606f \u5feb\u901f \u7ed8\u5236 \u9053\u8def \u7684 \u84dd\u56fe \u3002 \u5b83 \u91c7\u7528 \u4e3b \u6750\u8d28 \u5e76 \u5c06 \u5176 \u5e94\u7528 \u5230 \u9053\u8def \u7684 \u6e32\u67d3 \u76ee\u6807 \u4ee5 \u7528\u4f5c \u753b\u5e03 \u3002 \u4e3b \u6750\u8d28 \u7531 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u6750\u8d28 \u7ec4\u6210 \uff0c \u8fd9\u4e9b \u6750\u8d28 \u53ef\u4ee5 \u4f7f\u7528 \u753b\u7b14 \u6df7\u5408 \u5e76 \u7528\u4f5c \u8499\u7248 \u3002 \u65e0\u9700 \u5e94\u7528 \u5149\u5ea6 \u6d4b\u5b9a \u6280\u672f \uff0c \u4e5f \u65e0\u9700 \u8003\u8651 \u51e0\u4f55 \u51e0\u4f55\u4f53 \u7684   UV \u3002   \u5728 \u4f60 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\u5e76 \u9009\u62e9   Duplicate   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ RenderTarget   \u3002   3 .   \u521b\u5efa \u4e3b \u6750\u8d28 \u5b9e\u4f8b \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Game / Carla / Static / GenericMaterials / RoadPainterMaterials   \u3002   \u53f3\u952e \u5355\u51fb   M _ RoadMaster   \u5e76 \u9009\u62e9   Create   Material   Instance   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ RoadMaster   \u3002   4 .   \u91cd\u65b0 \u6821\u51c6   Map   Size   ( Cm )   \uff0c \u4f7f \u5176 \u7b49\u4e8e \u5730\u56fe \u7684 \u5b9e\u9645 \u5c3a\u5bf8 \u3002   \u9009\u62e9   RoadPainter   \u573a\u666f \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8f6c \u5230   Details   \u9762\u677f \u5e76 \u6309   Z - Size   \u6309\u94ae \u3002 \u60a8 \u5c06 \u770b\u5230   Map   Size   ( Cm )   \u4e2d \u7684 \u503c \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002   5 .   \u540c\u6b65   RoadPainter   \u548c   Tutorial _ RoadMaster   \u4e4b\u95f4 \u7684 \u5730\u56fe \u5c3a\u5bf8 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u6253\u5f00   Tutorial _ RoadMaster   \u3002   \u590d\u5236 \u4e0a \u4e00\u6b65 \u4e2d   Map   Size   ( Cm )   \u7684 \u503c \uff0c \u5e76 \u5c06 \u5176 \u7c98\u8d34 \u5230   Tutorial _ RoadMaster   \u7a97\u53e3 \u4e2d \u7684   Global   Scalar   Parameter   Values   - >   Map   units   ( CM )   \u3002   \u70b9\u51fb \u4fdd\u5b58 \u3002   6 .   \u521b\u5efa \u9053\u8def \u753b\u5bb6 \u548c \u4e3b \u6750\u8d28 \u4e4b\u95f4 \u7684 \u901a\u4fe1 \u94fe\u63a5 \u3002   Tutorial _ RenderTarget   \u5c06 \u662f \u9053\u8def \u753b\u5bb6 \u548c   Tutorial _ RoadMaster   \u4e4b\u95f4 \u7684 \u901a\u4fe1 \u7ebd\u5e26 \u3002   \u5728   Tutorial _ RoadMaster   \u7a97\u53e3 \u4e2d \uff0c \u5c06   Tutorial _ RenderTarget   \u5e94\u7528 \u4e8e   Global   Texture   Parameter   Values   - >   Texture   Mask   \u3002   \u4fdd\u5b58 \u5e76 \u5173\u95ed \u3002   \u5728 \u4e3b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \uff0c \u9009\u62e9 \u9053\u8def \u753b\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8f6c \u5230   Details   \u9762\u677f \u5e76 \u5c06   Tutorial _ RenderTarget   \u5e94\u7528 \u5230   Paint   - >   Render   Target   \u3002   \u51c6\u5907 \u4e3b \u6750\u8d28   \u60a8 \u521b\u5efa \u7684   Tutorial _ RoadMaster   \u6750\u8d28 \uff0c \u5305\u542b \u57fa\u7840 \u6750\u8d28 \u3001 \u989d\u5916 \u6750\u8d28 \u4fe1\u606f \u4ee5\u53ca \u5c06 \u901a\u8fc7 \u60a8 \u7684   Tutorial _ RenderTarget   \u3002 \u60a8 \u53ef\u4ee5 \u914d\u7f6e \u4e00\u79cd \u57fa\u7840 \u6750\u6599 \u548c \u6700 \u591a \u4e09\u79cd \u9644\u52a0 \u6750\u6599 \u3002   \u8981 \u914d\u7f6e \u6750\u6599 \uff0c \u8bf7 \u53cc\u51fb   Tutorial _ RoadMaster   \u6587\u4ef6 \u3002 \u5728 \u51fa\u73b0 \u7684 \u7a97\u53e3 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u6839\u636e \u9700\u8981 \u4e3a \u6bcf\u79cd \u6750\u6599 \u9009\u62e9 \u548c \u8c03\u6574 \u4ee5\u4e0b \u503c \uff1a   \u4eae\u5ea6 ( Brightness )   \u8272\u8c03 ( Hue )   \u9971\u548c \u9971\u548c\u5ea6 ( Saturation )   AO   Intensity   \u6cd5\u7ebf \u8d34\u56fe \u5f3a\u5ea6 ( NormalMap   Intensity )   \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u5bf9\u6bd4 ( Roughness   Contrast )   \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u5f3a\u5ea6 ( Roughness   Intensity )   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u9009\u62e9 \u4ee5\u4e0b \u503c \u5e76 \u5728 \u641c\u7d22 \u6846\u4e2d \u641c\u7d22 \u7eb9\u7406 \u6765 \u66f4\u6539 \u6bcf\u79cd \u6750\u8d28 \u7684 \u7eb9\u7406 \uff1a   Diffuse   Normal   ORMH   \u63a2\u7d22   Game / Carla / Static / GenericMaterials / Asphalt / Textures   \u4e2d \u53ef\u7528 \u7684 \u4e00\u4e9b   Carla   \u7eb9\u7406 \u3002   \u63cf\u7ed8 \u9053\u8def   1 .   \u5728 \u9053\u8def \u753b\u5bb6 \u548c \u9053\u8def \u4e4b\u95f4 \u521b\u5efa \u94fe\u63a5 \u3002   \u5728 \u4e3b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \uff0c \u5728   World   Outliner   \u641c\u7d22 \u6846\u4e2d \u8fdb\u884c   Road _ Road   \u641c\u7d22 \u3002   \u6309   Ctrl   +   A   \u9009\u62e9 \u6240\u6709 \u9053\u8def \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Materials   \u90e8\u5206 \u5e76 \u5e94\u7528   Tutorial _ RoadMaster   \u5230   Element   0   \u3001   Element   1   \u3001   Element   2   \u548c   Element   3   \u3002   2 .   \u9009\u62e9 \u8981 \u5b9a\u5236 \u7684 \u6750\u8d28 \u3002   \u6211\u4eec \u6dfb\u52a0 \u7684   Tutorial _ RoadMaster   \u5355\u72ec \u5e94\u7528 \u4e8e \u9053\u8def \uff0c \u5e76 \u4f7f\u7528 \u753b\u7b14 \u5de5\u5177 \u914d\u7f6e \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u3002 \u8981 \u5e94\u7528 \u548c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6750\u8d28 \uff1a   \u9009\u62e9 \u9053\u8def \u6cb9\u753b \u753b\u5bb6 \u6cb9\u753b\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u5728   Mask   Color   \u4e0b\u62c9 \u83dc\u5355 \u4e0b\u62c9\u83dc\u5355 \u4e2d \u9009\u62e9 \u8981 \u4f7f\u7528 \u7684 \u6750\u8d28 \u3002   3 .   \u8bbe\u7f6e \u753b\u7b14 \u548c \u6a21\u677f \u53c2\u6570 \u3002   \u5728   GenericMaterials / RoadStencil / Alphas   \u4e2d\u6709 \u591a\u79cd \u6a21\u677f \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002 \u6a21\u677f \u7528\u4e8e \u6839\u636e \u60a8 \u7684 \u9700\u8981 \u7ed8\u5236 \u9053\u8def \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u503c \u8fdb\u884c \u8c03\u6574 \uff1a   Stencil   size   \u2014   \u753b\u7b14 \u7684 \u5c3a\u5bf8 \u3002   Brush   strength   \u2014   \u8f6e\u5ed3 \u7684 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u3002   Spacebeween   Brushes   \u2014   \u7b14\u5212 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   Max   Jitter   \u2014   \u7b14\u5212 \u4e4b\u95f4 \u753b\u7b14 \u7684 \u5927\u5c0f \u53d8\u5316 \u3002   Stencil   \u2014   \u8981 \u4f7f\u7528 \u7684 \u753b\u7b14 \u3002   Rotation   \u2014   \u5e94\u7528 \u4e8e \u7b14\u753b \u7684 \u65cb\u8f6c \u3002   Brush   panel .   Different   types   of   brushes .   4 .   \u5c06 \u6bcf\u79cd \u6750\u6599 \u6d82\u62b9 \u5230 \u9053\u8def \u7684 \u6240 \u9700 \u90e8\u5206 \u3002   \u901a\u8fc7   Details   \u9762\u677f \u7684   Default   \u90e8\u5206 \u4e2d \u7684 \u6309\u94ae \u9009\u62e9 \u5e94\u7528 \u6240 \u9009 \u6750\u8d28 \u7684 \u4f4d\u7f6e \uff1a   Paint   all   roads   \u2014   \u7c89\u5237 \u6240\u6709 \u9053\u8def \u3002   Paint   by   actor   \u2014   \u7ed8\u753b \u7279\u5b9a \u7684 \u3001 \u9009\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Paint   over   circle   \u2014   \u4f7f\u7528 \u5706\u5f62 \u56fe\u6848 \u8fdb\u884c \u7ed8\u5236 \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63d0\u4f9b \u53d8\u5316 \u3002   Paint   over   square   \u2014   \u4f7f\u7528 \u6b63\u65b9 \u65b9\u5f62 \u6b63\u65b9\u5f62 \u56fe\u6848 \u8fdb\u884c \u7ed8\u5236 \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63d0\u4f9b \u53d8\u5316 \u3002   \u6b64 \u90e8\u5206 \u8fd8 \u5305\u542b \u7528\u4e8e \u5220\u9664 \u5df2 \u5e94\u7528 \u66f4\u6539 \u7684 \u9009\u9879 \u3002   Clear   all   \u2014   \u64e6\u9664 \u6240\u6709 \u7ed8\u5236 \u7684 \u6750\u8d28 \u3002   Clear   materials   \u2014   \u5220\u9664 \u5f53\u524d \u6d3b\u52a8 \u7684 \u6750\u6599 \u3002   Clear   material   by   actor   \u2014   \u5220\u9664 \u6700 \u63a5\u8fd1 \u6240 \u9009 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6750\u8d28 \u3002   Different   painting   and   erasing   options .   5 .   \u6dfb\u52a0 \u8d34\u82b1 \u548c \u7f51\u683c \u3002   \u60a8 \u53ef\u4ee5 \u5728   Content / Carla / Static / Decals   \u548c   Content / Carla / Static   \u4e2d \u63a2\u7d22 \u53ef\u7528 \u7684 \u8d34\u82b1 \u548c \u7f51\u683c \u3002 \u901a\u8fc7 \u6269\u5c55 \u5e76 \u6dfb\u52a0 \u5230   Decals   Spawn   \u548c   Meshes   Spawn   \u6570\u7ec4 \uff0c \u5c06 \u5b83\u4eec \u6dfb\u52a0 \u5230 \u9053\u8def \u7ed8\u5236 \u5668\u4e2d \u3002 \u5bf9\u4e8e \u4e00\u9879 \u6bcf\u4e00\u9879 \uff0c \u60a8 \u90fd \u53ef\u4ee5 \u914d\u7f6e \u4ee5\u4e0b \u53c2\u6570 \uff1a   Number   of   Decals / Meshes   -   \u8981 \u7ed8\u5236 \u7684 \u6bcf\u4e2a \u8d34\u82b1 \u6216 \u7f51\u683c \u7684 \u6570\u91cf \u3002   Decal / Mesh   Scale   \u2014   \u6bcf\u4e2a \u8f74 \u7684 \u8d34\u82b1 / \u7f51\u683c \u6bd4\u4f8b \u3002   Fixed   Decal / Mesh   Offset   \u2014   \u6bcf\u4e2a \u8f74 \u4e0e \u8f66\u9053 \u4e2d\u5fc3 \u7684 \u504f\u5dee \u3002   Random   Offset   \u2014   \u6bcf\u4e2a \u8f74 \u4e0e \u8f66\u9053 \u4e2d\u5fc3 \u7684 \u6700\u5927 \u504f\u5dee \u3002   Decal / Mesh   Random   Yaw   \u2014   \u6700\u5927 \u968f\u673a \u504f\u822a \u65cb\u8f6c \u3002   Decal / Mesh   Min   Scale   \u2014   \u5e94\u7528 \u4e8e \u8d34\u82b1 / \u7f51\u683c \u7684 \u6700\u5c0f \u968f\u673a \u6bd4\u4f8b \u3002   Decal / Mesh   Max   Scale   \u2014   \u5e94\u7528 \u4e8e \u8d34\u82b1 / \u7f51\u683c \u7684 \u6700\u5927 \u968f\u673a \u6bd4\u4f8b \u3002   \u8d34\u82b1 \u548c \u7f51\u683c \u9762\u677f \u3002   \u914d\u7f6e \u597d \u7f51\u683c \u548c \u8d34\u82b1 \u540e \uff0c \u901a\u8fc7 \u6309   Spawn   decals   \u548c \u751f\u6210 \u5b83\u4eec   Spawn   meshes   \u3002   \u7b14\u8bb0   \u786e\u4fdd \u7f51\u683c \u548c \u8d34\u82b1 \u6ca1\u6709 \u542f\u7528 \u78b0\u649e \uff0c \u4ee5\u514d \u5e72\u6270 \u9053\u8def \u4e0a \u7684 \u6c7d\u8f66 \u5e76 \u5c06 \u4efb\u4f55 \u8fb9\u754c \u6846 \u964d\u4f4e \u5230 \u9053\u8def \u6c34\u5e73 \u3002   7 .   \u5c1d\u8bd5 \u83b7\u5f97 \u60a8 \u60f3\u8981 \u7684 \u5916\u89c2 \u3002   \u5c1d\u8bd5 \u4e0d\u540c \u7684 \u6750\u8d28 \u3001 \u7eb9\u7406 \u3001 \u8bbe\u7f6e \u3001 \u8d34\u82b1 \u548c \u7f51\u683c \u4ee5 \u83b7\u5f97 \u60a8 \u60f3\u8981 \u7684 \u5916\u89c2 \u3002 \u4e0b\u9762 \u662f \u4e00\u4e9b \u793a\u4f8b \u56fe\u50cf \uff0c \u663e\u793a \u4e86 \u5728 \u7ed8\u5236 \u6bcf\u79cd \u6750\u8d28 \u7684 \u8fc7\u7a0b \u4e2d \u9053\u8def \u5916\u89c2 \u5982\u4f55 \u53d8\u5316 \u3002   \u57fa\u7840 \u9053\u8def \u6750\u6599 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   1   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   2   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   3   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u8d34\u82b1 \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u7f51\u683c \u540e \u7684 \u793a\u4f8b \u3002   \u66f4\u65b0 \u8f66\u9053 \u7ebf \u7684 \u5916\u89c2   \u7ed8\u5236 \u9053\u8def \u540e \uff0c \u60a8 \u53ef\u4ee5 \u6309\u7167 \u4ee5\u4e0b \u6b65\u9aa4 \u66f4\u65b0 \u9053\u8def \u6807\u8bb0 \u7684 \u5916\u89c2 \uff1a   1 .   \u590d\u5236 \u4e3b \u6750\u6599 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \uff0c \u5bfc\u822a \u81f3   Game / Carla / Static / GenericMaterials / RoadPainterMaterials   \u3002   \u53f3\u952e \u5355\u51fb   Tutorial _ RoadMaster   \u5e76 \u9009\u62e9   Create   Material   Instance   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ LaneMarkings   \u3002   2 .   \u914d\u7f6e \u8f66\u9053 \u7ebf \u6750\u8d28 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \uff0c \u53cc\u51fb   Tutorial _ LaneMarkings   \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Global   Static   Switch   Parameter   Values   \u90e8\u5206 \uff0c \u7136\u540e \u9009\u4e2d   LaneMark   \u5de6\u4fa7 \u548c \u53f3\u4fa7 \u7684 \u6846 \u3002   \u8f6c \u5230   Texture   \u90e8\u5206 \u5e76 \u9009\u4e2d   LaneColor   \u548c   Uv   Size   \u590d\u9009 \u9009\u6846 \u590d\u9009\u6846 \u3002   \u5728   LaneColor   \u4e2d \u9009\u62e9 \u60a8 \u559c\u6b22 \u7684 \u8f66\u9053 \u6807\u8bb0 \u989c\u8272 \u3002   \u4fdd\u5b58   \u5e76 \u5173\u95ed \u3002   3 .   \u9009\u62e9 \u8f66\u9053 \u7ebf \u7f51\u683c \u3002   \u5c06 \u6750\u6599 \u62d6\u5230 \u60a8 \u60f3\u8981 \u7740\u8272 \u7684 \u8f66\u9053 \u7ebf\u4e0a \u3002 \u5982\u679c \u9700\u8981 \uff0c \u5bf9 \u4e0d\u540c \u989c\u8272 \u7684 \u8f66\u9053 \u7ebf \u91cd\u590d \u6574\u4e2a \u8fc7\u7a0b \u3002   \u4e0b \u4e00\u6b65   \u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u5173\u5361 \u3002   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u9053\u8def \u753b\u5bb6"},{"location":"tuto_M_custom_road_painter/#_1","text":"\u672c \u6307\u5357 \u89e3\u91ca \u4e86 \u4ec0\u4e48 \u662f \u9053\u8def \u7ed8\u5236 \u5de5\u5177 \uff0c \u5982\u4f55 \u4f7f\u7528 \u5b83 \u901a\u8fc7 \u7ec4\u5408 \u4e0d\u540c \u7684 \u7eb9\u7406 \u6765\u81ea \u5b9a\u4e49 \u9053\u8def \u7684 \u5916\u89c2 \uff0c \u5982\u4f55 \u6dfb\u52a0 \u8d34\u82b1 \u548c \u7f51\u683c \u4ee5\u53ca \u5982\u4f55 \u6839\u636e \u9053\u8def \u7eb9\u7406 \u66f4\u65b0 \u8f66\u9053 \u6807\u8bb0 \u7684 \u5916\u89c2 \u3002   \u4ec0\u4e48 \u662f \u9053\u8def \u753b\u5bb6 \uff1f   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5efa\u7acb \u9053\u8def \u753b\u5bb6 \u3001 \u638c\u63e1 \u6750\u8d28 \u548c \u6e32\u67d3 \u76ee\u6807   \u51c6\u5907 \u4e3b \u6750\u8d28   \u63cf\u7ed8 \u9053\u8def   \u66f4\u65b0 \u8f66\u9053 \u7ebf \u7684 \u5916\u89c2   \u4e0b \u4e00\u6b65","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u9053\u8def \u753b\u5bb6"},{"location":"tuto_M_custom_road_painter/#_2","text":"\u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u662f \u4e00\u4e2a \u4f7f\u7528   OpenDRIVE   \u4fe1\u606f \u5feb\u901f \u7ed8\u5236 \u9053\u8def \u7684 \u84dd\u56fe \u3002 \u5b83 \u91c7\u7528 \u4e3b \u6750\u8d28 \u5e76 \u5c06 \u5176 \u5e94\u7528 \u5230 \u9053\u8def \u7684 \u6e32\u67d3 \u76ee\u6807 \u4ee5 \u7528\u4f5c \u753b\u5e03 \u3002 \u4e3b \u6750\u8d28 \u7531 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u6750\u8d28 \u7ec4\u6210 \uff0c \u8fd9\u4e9b \u6750\u8d28 \u53ef\u4ee5 \u4f7f\u7528 \u753b\u7b14 \u6df7\u5408 \u5e76 \u7528\u4f5c \u8499\u7248 \u3002 \u65e0\u9700 \u5e94\u7528 \u5149\u5ea6 \u6d4b\u5b9a \u6280\u672f \uff0c \u4e5f \u65e0\u9700 \u8003\u8651 \u51e0\u4f55 \u51e0\u4f55\u4f53 \u7684   UV \u3002","title":"\u4ec0\u4e48 \u662f \u9053\u8def \u753b\u5bb6 \uff1f  "},{"location":"tuto_M_custom_road_painter/#_3","text":"\u9053\u8def \u6cb9\u6f06 \u6f06\u5de5 \u6cb9\u6f06\u5de5 \u4f7f\u7528   OpenDRIVE   \u4fe1\u606f \u6765 \u6cb9\u6f06 \u9053\u8def \u3002 \u786e\u4fdd \u786e\u4fdd\u60a8 \u7684   . xodr   \u6587\u4ef6 \u4e0e \u5730\u56fe \u540c\u540d \uff0c \u8fd9\u6837 \u624d\u80fd \u6b63\u5e38 \u5de5\u4f5c \u3002","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"tuto_M_custom_road_painter/#_4","text":"1 .   \u521b\u5efa   RoadPainter   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Content / Carla / Blueprints / LevelDesign   \u3002   \u5c06   RoadPainter   \u62d6\u5165 \u573a\u666f \u4e2d \u3002   2 .   \u521b\u5efa \u6e32\u67d3 \u76ee\u6807 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Content / Carla / Blueprints / LevelDesign / RoadPainterAssets   \u3002   \u53f3\u952e \u5355\u51fb   RenderTarget   \u6587\u4ef6 \u5e76 \u9009\u62e9   Duplicate   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ RenderTarget   \u3002   3 .   \u521b\u5efa \u4e3b \u6750\u8d28 \u5b9e\u4f8b \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Game / Carla / Static / GenericMaterials / RoadPainterMaterials   \u3002   \u53f3\u952e \u5355\u51fb   M _ RoadMaster   \u5e76 \u9009\u62e9   Create   Material   Instance   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ RoadMaster   \u3002   4 .   \u91cd\u65b0 \u6821\u51c6   Map   Size   ( Cm )   \uff0c \u4f7f \u5176 \u7b49\u4e8e \u5730\u56fe \u7684 \u5b9e\u9645 \u5c3a\u5bf8 \u3002   \u9009\u62e9   RoadPainter   \u573a\u666f \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8f6c \u5230   Details   \u9762\u677f \u5e76 \u6309   Z - Size   \u6309\u94ae \u3002 \u60a8 \u5c06 \u770b\u5230   Map   Size   ( Cm )   \u4e2d \u7684 \u503c \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002   5 .   \u540c\u6b65   RoadPainter   \u548c   Tutorial _ RoadMaster   \u4e4b\u95f4 \u7684 \u5730\u56fe \u5c3a\u5bf8 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u6253\u5f00   Tutorial _ RoadMaster   \u3002   \u590d\u5236 \u4e0a \u4e00\u6b65 \u4e2d   Map   Size   ( Cm )   \u7684 \u503c \uff0c \u5e76 \u5c06 \u5176 \u7c98\u8d34 \u5230   Tutorial _ RoadMaster   \u7a97\u53e3 \u4e2d \u7684   Global   Scalar   Parameter   Values   - >   Map   units   ( CM )   \u3002   \u70b9\u51fb \u4fdd\u5b58 \u3002   6 .   \u521b\u5efa \u9053\u8def \u753b\u5bb6 \u548c \u4e3b \u6750\u8d28 \u4e4b\u95f4 \u7684 \u901a\u4fe1 \u94fe\u63a5 \u3002   Tutorial _ RenderTarget   \u5c06 \u662f \u9053\u8def \u753b\u5bb6 \u548c   Tutorial _ RoadMaster   \u4e4b\u95f4 \u7684 \u901a\u4fe1 \u7ebd\u5e26 \u3002   \u5728   Tutorial _ RoadMaster   \u7a97\u53e3 \u4e2d \uff0c \u5c06   Tutorial _ RenderTarget   \u5e94\u7528 \u4e8e   Global   Texture   Parameter   Values   - >   Texture   Mask   \u3002   \u4fdd\u5b58 \u5e76 \u5173\u95ed \u3002   \u5728 \u4e3b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \uff0c \u9009\u62e9 \u9053\u8def \u753b\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8f6c \u5230   Details   \u9762\u677f \u5e76 \u5c06   Tutorial _ RenderTarget   \u5e94\u7528 \u5230   Paint   - >   Render   Target   \u3002","title":"\u5efa\u7acb \u9053\u8def \u753b\u5bb6 \u3001 \u638c\u63e1 \u6750\u8d28 \u548c \u6e32\u67d3 \u76ee\u6807  "},{"location":"tuto_M_custom_road_painter/#_5","text":"\u60a8 \u521b\u5efa \u7684   Tutorial _ RoadMaster   \u6750\u8d28 \uff0c \u5305\u542b \u57fa\u7840 \u6750\u8d28 \u3001 \u989d\u5916 \u6750\u8d28 \u4fe1\u606f \u4ee5\u53ca \u5c06 \u901a\u8fc7 \u60a8 \u7684   Tutorial _ RenderTarget   \u3002 \u60a8 \u53ef\u4ee5 \u914d\u7f6e \u4e00\u79cd \u57fa\u7840 \u6750\u6599 \u548c \u6700 \u591a \u4e09\u79cd \u9644\u52a0 \u6750\u6599 \u3002   \u8981 \u914d\u7f6e \u6750\u6599 \uff0c \u8bf7 \u53cc\u51fb   Tutorial _ RoadMaster   \u6587\u4ef6 \u3002 \u5728 \u51fa\u73b0 \u7684 \u7a97\u53e3 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u6839\u636e \u9700\u8981 \u4e3a \u6bcf\u79cd \u6750\u6599 \u9009\u62e9 \u548c \u8c03\u6574 \u4ee5\u4e0b \u503c \uff1a   \u4eae\u5ea6 ( Brightness )   \u8272\u8c03 ( Hue )   \u9971\u548c \u9971\u548c\u5ea6 ( Saturation )   AO   Intensity   \u6cd5\u7ebf \u8d34\u56fe \u5f3a\u5ea6 ( NormalMap   Intensity )   \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u5bf9\u6bd4 ( Roughness   Contrast )   \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u5f3a\u5ea6 ( Roughness   Intensity )   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u9009\u62e9 \u4ee5\u4e0b \u503c \u5e76 \u5728 \u641c\u7d22 \u6846\u4e2d \u641c\u7d22 \u7eb9\u7406 \u6765 \u66f4\u6539 \u6bcf\u79cd \u6750\u8d28 \u7684 \u7eb9\u7406 \uff1a   Diffuse   Normal   ORMH   \u63a2\u7d22   Game / Carla / Static / GenericMaterials / Asphalt / Textures   \u4e2d \u53ef\u7528 \u7684 \u4e00\u4e9b   Carla   \u7eb9\u7406 \u3002","title":"\u51c6\u5907 \u4e3b \u6750\u8d28  "},{"location":"tuto_M_custom_road_painter/#_6","text":"1 .   \u5728 \u9053\u8def \u753b\u5bb6 \u548c \u9053\u8def \u4e4b\u95f4 \u521b\u5efa \u94fe\u63a5 \u3002   \u5728 \u4e3b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \uff0c \u5728   World   Outliner   \u641c\u7d22 \u6846\u4e2d \u8fdb\u884c   Road _ Road   \u641c\u7d22 \u3002   \u6309   Ctrl   +   A   \u9009\u62e9 \u6240\u6709 \u9053\u8def \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Materials   \u90e8\u5206 \u5e76 \u5e94\u7528   Tutorial _ RoadMaster   \u5230   Element   0   \u3001   Element   1   \u3001   Element   2   \u548c   Element   3   \u3002   2 .   \u9009\u62e9 \u8981 \u5b9a\u5236 \u7684 \u6750\u8d28 \u3002   \u6211\u4eec \u6dfb\u52a0 \u7684   Tutorial _ RoadMaster   \u5355\u72ec \u5e94\u7528 \u4e8e \u9053\u8def \uff0c \u5e76 \u4f7f\u7528 \u753b\u7b14 \u5de5\u5177 \u914d\u7f6e \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u3002 \u8981 \u5e94\u7528 \u548c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6750\u8d28 \uff1a   \u9009\u62e9 \u9053\u8def \u6cb9\u753b \u753b\u5bb6 \u6cb9\u753b\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u5728   Mask   Color   \u4e0b\u62c9 \u83dc\u5355 \u4e0b\u62c9\u83dc\u5355 \u4e2d \u9009\u62e9 \u8981 \u4f7f\u7528 \u7684 \u6750\u8d28 \u3002   3 .   \u8bbe\u7f6e \u753b\u7b14 \u548c \u6a21\u677f \u53c2\u6570 \u3002   \u5728   GenericMaterials / RoadStencil / Alphas   \u4e2d\u6709 \u591a\u79cd \u6a21\u677f \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002 \u6a21\u677f \u7528\u4e8e \u6839\u636e \u60a8 \u7684 \u9700\u8981 \u7ed8\u5236 \u9053\u8def \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u503c \u8fdb\u884c \u8c03\u6574 \uff1a   Stencil   size   \u2014   \u753b\u7b14 \u7684 \u5c3a\u5bf8 \u3002   Brush   strength   \u2014   \u8f6e\u5ed3 \u7684 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u3002   Spacebeween   Brushes   \u2014   \u7b14\u5212 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   Max   Jitter   \u2014   \u7b14\u5212 \u4e4b\u95f4 \u753b\u7b14 \u7684 \u5927\u5c0f \u53d8\u5316 \u3002   Stencil   \u2014   \u8981 \u4f7f\u7528 \u7684 \u753b\u7b14 \u3002   Rotation   \u2014   \u5e94\u7528 \u4e8e \u7b14\u753b \u7684 \u65cb\u8f6c \u3002   Brush   panel .   Different   types   of   brushes .   4 .   \u5c06 \u6bcf\u79cd \u6750\u6599 \u6d82\u62b9 \u5230 \u9053\u8def \u7684 \u6240 \u9700 \u90e8\u5206 \u3002   \u901a\u8fc7   Details   \u9762\u677f \u7684   Default   \u90e8\u5206 \u4e2d \u7684 \u6309\u94ae \u9009\u62e9 \u5e94\u7528 \u6240 \u9009 \u6750\u8d28 \u7684 \u4f4d\u7f6e \uff1a   Paint   all   roads   \u2014   \u7c89\u5237 \u6240\u6709 \u9053\u8def \u3002   Paint   by   actor   \u2014   \u7ed8\u753b \u7279\u5b9a \u7684 \u3001 \u9009\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Paint   over   circle   \u2014   \u4f7f\u7528 \u5706\u5f62 \u56fe\u6848 \u8fdb\u884c \u7ed8\u5236 \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63d0\u4f9b \u53d8\u5316 \u3002   Paint   over   square   \u2014   \u4f7f\u7528 \u6b63\u65b9 \u65b9\u5f62 \u6b63\u65b9\u5f62 \u56fe\u6848 \u8fdb\u884c \u7ed8\u5236 \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63d0\u4f9b \u53d8\u5316 \u3002   \u6b64 \u90e8\u5206 \u8fd8 \u5305\u542b \u7528\u4e8e \u5220\u9664 \u5df2 \u5e94\u7528 \u66f4\u6539 \u7684 \u9009\u9879 \u3002   Clear   all   \u2014   \u64e6\u9664 \u6240\u6709 \u7ed8\u5236 \u7684 \u6750\u8d28 \u3002   Clear   materials   \u2014   \u5220\u9664 \u5f53\u524d \u6d3b\u52a8 \u7684 \u6750\u6599 \u3002   Clear   material   by   actor   \u2014   \u5220\u9664 \u6700 \u63a5\u8fd1 \u6240 \u9009 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6750\u8d28 \u3002   Different   painting   and   erasing   options .   5 .   \u6dfb\u52a0 \u8d34\u82b1 \u548c \u7f51\u683c \u3002   \u60a8 \u53ef\u4ee5 \u5728   Content / Carla / Static / Decals   \u548c   Content / Carla / Static   \u4e2d \u63a2\u7d22 \u53ef\u7528 \u7684 \u8d34\u82b1 \u548c \u7f51\u683c \u3002 \u901a\u8fc7 \u6269\u5c55 \u5e76 \u6dfb\u52a0 \u5230   Decals   Spawn   \u548c   Meshes   Spawn   \u6570\u7ec4 \uff0c \u5c06 \u5b83\u4eec \u6dfb\u52a0 \u5230 \u9053\u8def \u7ed8\u5236 \u5668\u4e2d \u3002 \u5bf9\u4e8e \u4e00\u9879 \u6bcf\u4e00\u9879 \uff0c \u60a8 \u90fd \u53ef\u4ee5 \u914d\u7f6e \u4ee5\u4e0b \u53c2\u6570 \uff1a   Number   of   Decals / Meshes   -   \u8981 \u7ed8\u5236 \u7684 \u6bcf\u4e2a \u8d34\u82b1 \u6216 \u7f51\u683c \u7684 \u6570\u91cf \u3002   Decal / Mesh   Scale   \u2014   \u6bcf\u4e2a \u8f74 \u7684 \u8d34\u82b1 / \u7f51\u683c \u6bd4\u4f8b \u3002   Fixed   Decal / Mesh   Offset   \u2014   \u6bcf\u4e2a \u8f74 \u4e0e \u8f66\u9053 \u4e2d\u5fc3 \u7684 \u504f\u5dee \u3002   Random   Offset   \u2014   \u6bcf\u4e2a \u8f74 \u4e0e \u8f66\u9053 \u4e2d\u5fc3 \u7684 \u6700\u5927 \u504f\u5dee \u3002   Decal / Mesh   Random   Yaw   \u2014   \u6700\u5927 \u968f\u673a \u504f\u822a \u65cb\u8f6c \u3002   Decal / Mesh   Min   Scale   \u2014   \u5e94\u7528 \u4e8e \u8d34\u82b1 / \u7f51\u683c \u7684 \u6700\u5c0f \u968f\u673a \u6bd4\u4f8b \u3002   Decal / Mesh   Max   Scale   \u2014   \u5e94\u7528 \u4e8e \u8d34\u82b1 / \u7f51\u683c \u7684 \u6700\u5927 \u968f\u673a \u6bd4\u4f8b \u3002   \u8d34\u82b1 \u548c \u7f51\u683c \u9762\u677f \u3002   \u914d\u7f6e \u597d \u7f51\u683c \u548c \u8d34\u82b1 \u540e \uff0c \u901a\u8fc7 \u6309   Spawn   decals   \u548c \u751f\u6210 \u5b83\u4eec   Spawn   meshes   \u3002   \u7b14\u8bb0   \u786e\u4fdd \u7f51\u683c \u548c \u8d34\u82b1 \u6ca1\u6709 \u542f\u7528 \u78b0\u649e \uff0c \u4ee5\u514d \u5e72\u6270 \u9053\u8def \u4e0a \u7684 \u6c7d\u8f66 \u5e76 \u5c06 \u4efb\u4f55 \u8fb9\u754c \u6846 \u964d\u4f4e \u5230 \u9053\u8def \u6c34\u5e73 \u3002   7 .   \u5c1d\u8bd5 \u83b7\u5f97 \u60a8 \u60f3\u8981 \u7684 \u5916\u89c2 \u3002   \u5c1d\u8bd5 \u4e0d\u540c \u7684 \u6750\u8d28 \u3001 \u7eb9\u7406 \u3001 \u8bbe\u7f6e \u3001 \u8d34\u82b1 \u548c \u7f51\u683c \u4ee5 \u83b7\u5f97 \u60a8 \u60f3\u8981 \u7684 \u5916\u89c2 \u3002 \u4e0b\u9762 \u662f \u4e00\u4e9b \u793a\u4f8b \u56fe\u50cf \uff0c \u663e\u793a \u4e86 \u5728 \u7ed8\u5236 \u6bcf\u79cd \u6750\u8d28 \u7684 \u8fc7\u7a0b \u4e2d \u9053\u8def \u5916\u89c2 \u5982\u4f55 \u53d8\u5316 \u3002   \u57fa\u7840 \u9053\u8def \u6750\u6599 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   1   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   2   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   3   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u8d34\u82b1 \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u7f51\u683c \u540e \u7684 \u793a\u4f8b \u3002","title":"\u63cf\u7ed8 \u9053\u8def  "},{"location":"tuto_M_custom_road_painter/#_7","text":"\u7ed8\u5236 \u9053\u8def \u540e \uff0c \u60a8 \u53ef\u4ee5 \u6309\u7167 \u4ee5\u4e0b \u6b65\u9aa4 \u66f4\u65b0 \u9053\u8def \u6807\u8bb0 \u7684 \u5916\u89c2 \uff1a   1 .   \u590d\u5236 \u4e3b \u6750\u6599 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \uff0c \u5bfc\u822a \u81f3   Game / Carla / Static / GenericMaterials / RoadPainterMaterials   \u3002   \u53f3\u952e \u5355\u51fb   Tutorial _ RoadMaster   \u5e76 \u9009\u62e9   Create   Material   Instance   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ LaneMarkings   \u3002   2 .   \u914d\u7f6e \u8f66\u9053 \u7ebf \u6750\u8d28 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \uff0c \u53cc\u51fb   Tutorial _ LaneMarkings   \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Global   Static   Switch   Parameter   Values   \u90e8\u5206 \uff0c \u7136\u540e \u9009\u4e2d   LaneMark   \u5de6\u4fa7 \u548c \u53f3\u4fa7 \u7684 \u6846 \u3002   \u8f6c \u5230   Texture   \u90e8\u5206 \u5e76 \u9009\u4e2d   LaneColor   \u548c   Uv   Size   \u590d\u9009 \u9009\u6846 \u590d\u9009\u6846 \u3002   \u5728   LaneColor   \u4e2d \u9009\u62e9 \u60a8 \u559c\u6b22 \u7684 \u8f66\u9053 \u6807\u8bb0 \u989c\u8272 \u3002   \u4fdd\u5b58   \u5e76 \u5173\u95ed \u3002   3 .   \u9009\u62e9 \u8f66\u9053 \u7ebf \u7f51\u683c \u3002   \u5c06 \u6750\u6599 \u62d6\u5230 \u60a8 \u60f3\u8981 \u7740\u8272 \u7684 \u8f66\u9053 \u7ebf\u4e0a \u3002 \u5982\u679c \u9700\u8981 \uff0c \u5bf9 \u4e0d\u540c \u989c\u8272 \u7684 \u8f66\u9053 \u7ebf \u91cd\u590d \u6574\u4e2a \u8fc7\u7a0b \u3002","title":"\u66f4\u65b0 \u8f66\u9053 \u7ebf \u7684 \u5916\u89c2  "},{"location":"tuto_M_custom_road_painter/#_8","text":"\u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u5173\u5361 \u3002   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u4e0b \u4e00\u6b65  "},{"location":"tuto_M_custom_weather_landscape/","text":"\u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5929\u6c14 \u548c \u666f\u89c2   Carla   \u63d0\u4f9b \u4e86 \u591a\u4e2a \u84dd\u56fe \uff0c \u53ef \u5e2e\u52a9 \u60a8 \u8f7b\u677e \u521b\u5efa \u5730\u56fe \u7684 \u9ed8\u8ba4 \u5929\u6c14 \u8bbe\u7f6e \uff0c \u5e76 \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \uff08 \u4f8b\u5982 \u8def\u706f \u3001 \u7535\u7ebf \u7b49 \uff09 \u586b\u5145 \u666f\u89c2 \u3002   \u672c \u6307\u5357 \u5c06 \u89e3\u91ca \u6bcf\u4e2a \u84dd\u56fe \u7684 \u4f4d\u7f6e \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528 \u548c \u914d\u7f6e \u5b83\u4eec \u3002   \u5929\u6c14 \u5b9a\u5236   BP _ Sky   BP _ Weather   \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c   BP _ RepSpline   BP _ Spline   BP _ Wall   BP _ SplinePoweLine   \u4e0b \u4e00\u6b65   \u91cd\u8981   \u672c \u6559\u7a0b \u4ec5 \u9002\u7528 \u4e8e \u4f7f\u7528 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u5e76 \u6709\u6743 \u8bbf\u95ee \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u7528\u6237 \u3002   \u5929\u6c14 \u5b9a\u5236   \u672c \u8282 \u4ecb\u7ecd \u5982\u4f55 \u5728 \u8bbe\u7f6e \u5730\u56fe \u7684 \u9ed8\u8ba4 \u5929\u6c14 \u4e4b\u524d \u5c1d\u8bd5 \u4e0d\u540c \u7684 \u5929\u6c14 \u53c2\u6570 \uff0c \u4ee5\u53ca \u5728 \u5bf9 \u8bbe\u7f6e \u611f\u5230 \u6ee1\u610f \u540e \u5982\u4f55 \u4e3a \u5730\u56fe \u914d\u7f6e \u9ed8\u8ba4 \u5929\u6c14 \u53c2\u6570 \u3002   BP _ Sky   \u84dd\u56fe   BP _ Sky   \u5bf9\u4e8e \u4e3a \u5730\u56fe \u5e26\u6765 \u5149\u7ebf \u548c \u5929\u6c14 \u662f \u5fc5\u8981 \u7684 \u3002 \u5728 \u51b3\u5b9a \u9ed8\u8ba4 \u5929\u6c14 \u53c2\u6570 \u4e4b\u524d \uff0c \u5b83 \u8fd8 \u53ef\u4ee5 \u7528\u4e8e \u6d4b\u8bd5 \u4e0d\u540c \u7684 \u5929\u6c14 \u914d\u7f6e \u3002   BP _ Sky   \u84dd\u56fe \u53ef\u80fd \u5df2\u7ecf \u52a0\u8f7d \u5230 \u60a8 \u7684 \u5730\u56fe \u4e2d \u3002 \u5982\u679c \u6ca1\u6709 \uff0c \u60a8 \u53ef\u4ee5 \u901a\u8fc7   Content / Carla / Blueprints / Weather   \u5c06 \u5176 \u62d6 \u5230 \u573a\u666f \u4e2d\u6765 \u6dfb\u52a0 \u5b83 \u3002   \u8981 \u5c1d\u8bd5 \u4e0d\u540c \u7684 \u5929\u6c14 \u53c2\u6570 \uff0c \u8bf7 \u8f6c\u5230   BP _ Sky   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   Details   \u9762\u677f \uff0c \u7136\u540e \u4f7f\u7528   Parameters   \u90e8\u5206 \u4e2d \u7684 \u503c \u3002   \u91cd\u8981   \u5982\u679c \u573a\u666f \u4e2d \u52a0\u8f7d \u4e86 \u591a\u4e2a   BP _ Sky   \u84dd\u56fe \uff0c \u5929\u6c14 \u5c06\u4f1a \u91cd\u590d \uff0c \u4ece\u800c \u4ea7\u751f \u4e0d\u826f \u7ed3\u679c \uff0c \u4f8b\u5982 \uff0c \u6709 \u4e24\u4e2a \u592a\u9633 \u3002   BP _ Weather   \u5730\u56fe \u7684 \u9ed8\u8ba4 \u5929\u6c14 \u5728   BP _ Weather   \u84dd\u56fe \u4e2d \u5b9a\u4e49 \u3002 \u6b64 \u84dd\u56fe \u5141\u8bb8 \u60a8 \u8bbe\u7f6e \u4e0e \u901a\u8fc7   Python   API   \u63d0\u4f9b \u7684 \u53c2\u6570 \u76f8\u540c \u7684 \u53c2\u6570 \u3002   \u6b64\u5904   \u63cf\u8ff0 \u4e86 \u8fd9\u4e9b \u53c2\u6570 \u3002   \u8981 \u8bbe\u7f6e \u5730\u56fe \u7684 \u9ed8\u8ba4 \u5929\u6c14 \uff1a   1 .   \u6253\u5f00   BP _ Weather   \u84dd\u56fe \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Content / Carla / Blueprints / Weather   \u5e76 \u53cc\u51fb   BP _ Weather   \u3002   2 .   \u6dfb\u52a0 \u60a8 \u7684 \u57ce\u9547 \u3002   \u5728   BP _ Weather   \u7a97\u53e3 \u7684   Details   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Weather   \u90e8\u5206 \u5e76 \u5c06 \u60a8 \u7684 \u57ce\u9547 \u6dfb\u52a0 \u5230   Default   Weathers   \u6570\u7ec4 \u4e2d \u3002   3 .   \u914d\u7f6e \u9ed8\u8ba4 \u5929\u6c14 \u53c2\u6570 \u3002   \u5bf9\u4e8e \u6bcf\u4e2a \u5929\u6c14 \u53c2\u6570 \uff0c \u8bbe\u7f6e \u60a8 \u60f3\u8981 \u7684 \u503c \u3002 \u5b8c\u6210 \u540e \uff0c \u6309   Compile   \uff0c \u7136\u540e \u6309   Save   \u5e76 \u5173\u95ed \u3002   \u5305\u542b \u6bcf\u4e2a   Carla   \u5730\u56fe \u7684 \u9ed8\u8ba4 \u5929\u6c14 \u53c2\u6570 \u7684 \u6570\u7ec4 \u3002 Town01   \u6253\u5f00 \u3002   \u6dfb\u52a0 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c   \u6709 \u56db\u79cd \u84dd\u56fe \u53ef \u7528\u4e8e \u6dfb\u52a0 \u6cbf \u4e00\u4e2a \u65b9\u5411 \u5bf9\u9f50 \u7684 \u9053\u5177 \uff0c \u4f8b\u5982 \u5899\u58c1 \u3001 \u7535\u7ebf \u3001 \u8def\u706f \u3002 \u8fd9\u4e9b \u84dd\u56fe \u4f7f\u7528 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u6cbf \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u5206\u5e03 \u7684 \u7f51\u683c \u3002 \u6bcf \u4e00\u4e2a \u90fd \u4ee5 \u76f8\u540c \u7684 \u65b9\u5f0f \u521d\u59cb \u521d\u59cb\u5316 \uff1a   1 .   \u521d\u59cb \u521d\u59cb\u5316 \u5e8f\u5217 \u3002   \u5c06 \u84dd\u56fe \u62d6 \u5230 \u573a\u666f \u4e2d \u3002 \u60a8 \u5c06 \u770b\u5230 \u4e00\u4e2a \u5143\u7d20 \u4f4d\u4e8e \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u7684 \u8d77\u70b9 \uff0c \u5e76 \u6709 \u4e24\u4e2a \u8282\u70b9 \u6807\u8bb0 \u5f00\u59cb \u548c \u7ed3\u675f \u3002   2 .   \u5b9a\u4e49 \u8def\u5f84 \u3002   \u9009\u62e9 \u5143\u7d20 \u7684 \u65b9\u5411 \u7bad\u5934 \u65b9\u5411\u7bad\u5934 \uff0c \u7136\u540e \u6309   Alt   \u952e \uff0c \u540c\u65f6 \u5c06 \u5143\u7d20 \u5411 \u60a8 \u60f3\u8981 \u79fb\u52a8 \u7684 \u65b9\u5411 \u62d6\u52a8 \u3002 \u8fd9 \u5c06 \u521b\u5efa \u4e00\u4e2a \u53ef \u7528\u4e8e \u5b9a\u4e49 \u66f2\u7ebf \u7684 \u65b0\u5143 \u5143\u7d20 \u65b0\u5143\u7d20 \u3002 \u62d6\u52a8 \u65f6 \uff0c \u66f2\u7ebf \u7684 \u6bcf\u4e2a \u8282\u70b9 \u4e0a \u6216 \u6bcf\u6b21   Alt   \u62d6\u52a8 \u65f6 \u6309 \u4e0b \u65f6 \u90fd \u4f1a \u51fa\u73b0 \u4e00\u4e2a \u65b0 \u7f51\u683c \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u84dd\u56fe \u3002   3 .   \u5b9a\u5236 \u56fe\u6848 \u3002   \u4ee5\u4e0b \u90e8\u5206 \u5c06 \u63cf\u8ff0 \u6bcf\u4e2a \u84dd\u56fe \u53ef\u7528 \u7684 \u4e0d\u540c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u53c2\u6570 \u3002   BP _ RepSpline   \u84dd\u56fe   BP _ RepSpline   \u53ef \u5728   Carla / Blueprints / LevelDesign   \u4e2d \u627e\u5230 \u3002 \u5b83 \u7528\u4e8e \u6cbf\u7740 \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u5b9a\u4e49 \u7684 \u8def\u5f84 \u6dfb\u52a0   \u5355\u4e2a   \u5143\u7d20 \u3002   \u5e8f\u5217 \u5e8f\u5217\u5316 \u662f \u901a\u8fc7 \u4ee5\u4e0b \u503c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \uff1a   Distance   between   \u2014   \u8bbe\u7f6e \u5143\u7d20 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   Offset   rotation   \u2014   \u4e3a \u4e0d\u540c \u8f74 \u8bbe\u7f6e \u56fa\u5b9a \u65cb\u8f6c \u3002   Random   rotation   \u2014   \u8bbe\u7f6e \u4e0d\u540c \u8f74 \u7684 \u968f\u673a \u65cb\u8f6c \u8303\u56f4 \u3002   Offset   translation   \u2014   \u8bbe\u7f6e \u6cbf \u4e0d\u540c \u8f74 \u7684 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u968f\u673a \u4f4d\u7f6e \u3002   Max   Number   of   Meshes   \u2014   \u8bbe\u7f6e \u5c06 \u653e\u7f6e \u5728 \u66f2\u7ebf \u8282\u70b9 \u4e4b\u95f4 \u7684 \u5143\u7d20 \u7684 \u6700\u5927 \u6570\u91cf \u3002   World   aligned   ZY   \u2014   \u5982\u679c \u9009\u62e9 \u6b64 \u9009\u9879 \uff0c \u5143\u7d20 \u5c06 \u76f8\u5bf9 \u4e8e \u4e16\u754c \u8f74 \u5782\u76f4 \u5bf9\u9f50 \u3002   EndPoint   \u2014   \u5982\u679c \u9009\u62e9 \u6b64 \u9009\u9879 \uff0c \u5c06 \u5728 \u66f2\u7ebf \u7684 \u7ec8\u70b9 \u8282\u70b9 \u6dfb\u52a0 \u4e00\u4e2a \u5143\u7d20 \u3002   Collision   enabled   \u2014   \u8bbe\u7f6e \u4e3a \u7f51\u683c \u542f\u7528 \u7684 \u78b0\u649e \u7c7b\u578b \u3002   BP _ RepSpline   \u793a\u4f8b \u3002   BP _ Spline   \u84dd\u56fe   BP _ Spline   \u53ef \u5728   Carla / Blueprints / LevelDesign   \u4e2d \u627e\u5230 \u3002 \u5b83 \u6dfb\u52a0 \u4e25\u683c \u9075\u5faa \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u5b9a\u4e49 \u7684 \u8def\u5f84 \u7684 \u8fde\u63a5 \u5143\u7d20 \u3002 \u7f51\u683c \u5c06 \u626d\u66f2 \u4ee5 \u9002\u5e94 \u521b\u5efa \u7684 \u8def\u5f84 \u3002   \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u503c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u84dd\u56fe \uff1a   Gap   distance   \u2014   \u5728 \u5143\u7d20 \u4e4b\u95f4 \u6dfb\u52a0 \u95f4\u9694 \u3002   BP _ Spline   example .   BP _ Wall   \u84dd\u56fe   BP _ Wall   \u53ef \u5728   Carla / Blueprints / LevelDesign   \u4e2d \u627e\u5230 \u3002 \u5b83 \u6cbf\u7740 \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u5b9a\u4e49 \u7684 \u8def\u5f84 \u6dfb\u52a0 \u8fde\u63a5 \u7684 \u5143\u7d20 \u3002 \u7f51\u683c \u4e0d\u4f1a \u626d\u66f2 \u4ee5 \u9002\u5e94 \u66f2\u7ebf \uff0c \u4f46\u4f1a \u8003\u8651 \u8282\u70b9 \u3002   Distance   between   \u2014   \u8bbe\u7f6e \u5143\u7d20 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   Vertically   aligned   \u2014   \u5982\u679c \u9009\u62e9 \u6b64 \u9009\u9879 \uff0c \u5143\u7d20 \u5c06 \u76f8\u5bf9 \u4e8e \u4e16\u754c \u8f74 \u5782\u76f4 \u5bf9\u9f50 \u3002   Scale   offset   \u2014   \u7f29\u653e \u7f51\u683c \u7684 \u957f\u5ea6 \u4ee5 \u5b8c\u5584 \u5143\u7d20 \u4e4b\u95f4 \u7684 \u8fde\u63a5 \u3002   BP _ Wall   \u5b9e\u4f8b \u3002   BP _ SplinePoweLine   BP _ SplinePoweLine   \u84dd\u56fe \u53ef \u5728   Carla / Static / Pole / PoweLine   \u4e2d \u627e\u5230 \u3002 \u5b83 \u6cbf\u7740 \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u5b9a\u4e49 \u7684 \u8def\u5f84 \u6dfb\u52a0   \u7535\u7ebf \u7535\u7ebf\u6746 ( electricity   poles )   \uff0c \u5e76 \u5c06 \u5b83\u4eec   \u4e0e \u7535\u7ebf \u8fde\u63a5 \u63a5\u8d77 \u8d77\u6765 \u8fde\u63a5\u8d77\u6765   \u3002   \u4e3a\u4e86 \u63d0\u4f9b \u591a\u6837 \u591a\u6837\u6027 \uff0c \u60a8 \u53ef\u4ee5 \u4e3a \u84dd\u56fe \u63d0\u4f9b \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7535\u529b \u7535\u529b\u7ebf \u7f51\u683c \u6765 \u586b\u5145 \u8def\u5f84 \u3002 \u53bb \u505a \u8fd9\u4e2a \uff1a   \u5728   Content   Browser   \u4e2d \u53cc\u51fb   BP _ SplinePoweLine   \u84dd\u56fe \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Default   \u90e8\u5206 \u3002   \u5c55\u5f00   Array   Meshes   \u5e76 \u6839\u636e \u60a8 \u7684 \u9700\u8981 \u6dfb\u52a0 \u6216 \u66f4\u6539 \u5b83 \u3002   \u70b9\u51fb   Compile   \uff0c \u7136\u540e \u4fdd\u5b58 \u5e76 \u5173\u95ed \u7a97\u53e3 \u3002   BP _ SplinePowerLine   example .   \u8981 \u6539\u53d8 \u7535\u6e90 \u7535\u6e90\u7ebf \u7684 \u7ebf \u5f20\u529b \uff1a   \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u573a\u666f \u4e2d \u9009\u62e9 \u84dd\u56fe \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u7136\u540e \u8f6c \u5230   Details   \u9762\u677f \u3002   \u8f6c \u5230   Default   \u90e8\u5206 \u3002   \u8c03\u6574 \u5f20\u529b   Tension   \u4e2d \u7684 \u503c \u3002   0   \u8868\u793a \u7ebf\u6761 \u5c06 \u662f \u76f4 \u7684 \u3002   \u589e\u52a0 \u7535\u7ebf \u6570\u91cf \uff1a   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u53cc\u51fb \u5176\u4e2d \u4e00\u4e2a \u6746 \u7f51\u683c \u3002   \u8f6c \u5230   Socket   Manager   \u9762\u677f \u3002   \u914d\u7f6e \u73b0\u6709 \u5957 \u63a5\u5b57 \u6216 \u901a\u8fc7 \u5355\u51fb   Create   Socket   \u6dfb\u52a0 \u65b0\u5957 \u63a5\u5b57 \u3002 \u63d2\u5ea7 \u662f \u4ee3\u8868 \u7535\u6e90 \u7535\u6e90\u7ebf \u8fde\u63a5 \u63a5\u70b9 \u8fde\u63a5\u70b9 \u7684 \u7a7a \u7f51\u683c \u3002 \u5728 \u4e24\u6781 \u4e4b\u95f4 \u4ece \u63d2\u5ea7 \u5230 \u63d2\u5ea7 \u521b\u5efa \u7535\u7ebf \u3002   BP _ SplinePowerLine   \u5957 \u63a5\u5b57 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u91cd\u8981   \u5404\u6781 \u4e4b\u95f4 \u7684 \u63d2\u5ea7 \u6570\u91cf \u53ca \u540d\u79f0 \u5e94 \u4e00\u81f4 \u3002 \u5426\u5219 \uff0c \u53ef\u80fd \u4f1a \u51fa\u73b0 \u53ef\u89c6 \u53ef\u89c6\u5316 \u95ee\u9898 \u3002   \u4e0b \u4e00\u6b65   \u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u5173\u5361 \u3002   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5929\u6c14 \u548c \u666f\u89c2"},{"location":"tuto_M_custom_weather_landscape/#_1","text":"Carla   \u63d0\u4f9b \u4e86 \u591a\u4e2a \u84dd\u56fe \uff0c \u53ef \u5e2e\u52a9 \u60a8 \u8f7b\u677e \u521b\u5efa \u5730\u56fe \u7684 \u9ed8\u8ba4 \u5929\u6c14 \u8bbe\u7f6e \uff0c \u5e76 \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \uff08 \u4f8b\u5982 \u8def\u706f \u3001 \u7535\u7ebf \u7b49 \uff09 \u586b\u5145 \u666f\u89c2 \u3002   \u672c \u6307\u5357 \u5c06 \u89e3\u91ca \u6bcf\u4e2a \u84dd\u56fe \u7684 \u4f4d\u7f6e \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528 \u548c \u914d\u7f6e \u5b83\u4eec \u3002   \u5929\u6c14 \u5b9a\u5236   BP _ Sky   BP _ Weather   \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c   BP _ RepSpline   BP _ Spline   BP _ Wall   BP _ SplinePoweLine   \u4e0b \u4e00\u6b65   \u91cd\u8981   \u672c \u6559\u7a0b \u4ec5 \u9002\u7528 \u4e8e \u4f7f\u7528 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u5e76 \u6709\u6743 \u8bbf\u95ee \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u7528\u6237 \u3002","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5929\u6c14 \u548c \u666f\u89c2"},{"location":"tuto_M_custom_weather_landscape/#_2","text":"\u672c \u8282 \u4ecb\u7ecd \u5982\u4f55 \u5728 \u8bbe\u7f6e \u5730\u56fe \u7684 \u9ed8\u8ba4 \u5929\u6c14 \u4e4b\u524d \u5c1d\u8bd5 \u4e0d\u540c \u7684 \u5929\u6c14 \u53c2\u6570 \uff0c \u4ee5\u53ca \u5728 \u5bf9 \u8bbe\u7f6e \u611f\u5230 \u6ee1\u610f \u540e \u5982\u4f55 \u4e3a \u5730\u56fe \u914d\u7f6e \u9ed8\u8ba4 \u5929\u6c14 \u53c2\u6570 \u3002","title":"\u5929\u6c14 \u5b9a\u5236  "},{"location":"tuto_M_custom_weather_landscape/#bp_sky","text":"\u84dd\u56fe   BP _ Sky   \u5bf9\u4e8e \u4e3a \u5730\u56fe \u5e26\u6765 \u5149\u7ebf \u548c \u5929\u6c14 \u662f \u5fc5\u8981 \u7684 \u3002 \u5728 \u51b3\u5b9a \u9ed8\u8ba4 \u5929\u6c14 \u53c2\u6570 \u4e4b\u524d \uff0c \u5b83 \u8fd8 \u53ef\u4ee5 \u7528\u4e8e \u6d4b\u8bd5 \u4e0d\u540c \u7684 \u5929\u6c14 \u914d\u7f6e \u3002   BP _ Sky   \u84dd\u56fe \u53ef\u80fd \u5df2\u7ecf \u52a0\u8f7d \u5230 \u60a8 \u7684 \u5730\u56fe \u4e2d \u3002 \u5982\u679c \u6ca1\u6709 \uff0c \u60a8 \u53ef\u4ee5 \u901a\u8fc7   Content / Carla / Blueprints / Weather   \u5c06 \u5176 \u62d6 \u5230 \u573a\u666f \u4e2d\u6765 \u6dfb\u52a0 \u5b83 \u3002   \u8981 \u5c1d\u8bd5 \u4e0d\u540c \u7684 \u5929\u6c14 \u53c2\u6570 \uff0c \u8bf7 \u8f6c\u5230   BP _ Sky   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   Details   \u9762\u677f \uff0c \u7136\u540e \u4f7f\u7528   Parameters   \u90e8\u5206 \u4e2d \u7684 \u503c \u3002   \u91cd\u8981   \u5982\u679c \u573a\u666f \u4e2d \u52a0\u8f7d \u4e86 \u591a\u4e2a   BP _ Sky   \u84dd\u56fe \uff0c \u5929\u6c14 \u5c06\u4f1a \u91cd\u590d \uff0c \u4ece\u800c \u4ea7\u751f \u4e0d\u826f \u7ed3\u679c \uff0c \u4f8b\u5982 \uff0c \u6709 \u4e24\u4e2a \u592a\u9633 \u3002","title":"BP _ Sky  "},{"location":"tuto_M_custom_weather_landscape/#bp_weather","text":"\u5730\u56fe \u7684 \u9ed8\u8ba4 \u5929\u6c14 \u5728   BP _ Weather   \u84dd\u56fe \u4e2d \u5b9a\u4e49 \u3002 \u6b64 \u84dd\u56fe \u5141\u8bb8 \u60a8 \u8bbe\u7f6e \u4e0e \u901a\u8fc7   Python   API   \u63d0\u4f9b \u7684 \u53c2\u6570 \u76f8\u540c \u7684 \u53c2\u6570 \u3002   \u6b64\u5904   \u63cf\u8ff0 \u4e86 \u8fd9\u4e9b \u53c2\u6570 \u3002   \u8981 \u8bbe\u7f6e \u5730\u56fe \u7684 \u9ed8\u8ba4 \u5929\u6c14 \uff1a   1 .   \u6253\u5f00   BP _ Weather   \u84dd\u56fe \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Content / Carla / Blueprints / Weather   \u5e76 \u53cc\u51fb   BP _ Weather   \u3002   2 .   \u6dfb\u52a0 \u60a8 \u7684 \u57ce\u9547 \u3002   \u5728   BP _ Weather   \u7a97\u53e3 \u7684   Details   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Weather   \u90e8\u5206 \u5e76 \u5c06 \u60a8 \u7684 \u57ce\u9547 \u6dfb\u52a0 \u5230   Default   Weathers   \u6570\u7ec4 \u4e2d \u3002   3 .   \u914d\u7f6e \u9ed8\u8ba4 \u5929\u6c14 \u53c2\u6570 \u3002   \u5bf9\u4e8e \u6bcf\u4e2a \u5929\u6c14 \u53c2\u6570 \uff0c \u8bbe\u7f6e \u60a8 \u60f3\u8981 \u7684 \u503c \u3002 \u5b8c\u6210 \u540e \uff0c \u6309   Compile   \uff0c \u7136\u540e \u6309   Save   \u5e76 \u5173\u95ed \u3002   \u5305\u542b \u6bcf\u4e2a   Carla   \u5730\u56fe \u7684 \u9ed8\u8ba4 \u5929\u6c14 \u53c2\u6570 \u7684 \u6570\u7ec4 \u3002 Town01   \u6253\u5f00 \u3002","title":"BP _ Weather  "},{"location":"tuto_M_custom_weather_landscape/#_3","text":"\u6709 \u56db\u79cd \u84dd\u56fe \u53ef \u7528\u4e8e \u6dfb\u52a0 \u6cbf \u4e00\u4e2a \u65b9\u5411 \u5bf9\u9f50 \u7684 \u9053\u5177 \uff0c \u4f8b\u5982 \u5899\u58c1 \u3001 \u7535\u7ebf \u3001 \u8def\u706f \u3002 \u8fd9\u4e9b \u84dd\u56fe \u4f7f\u7528 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u6cbf \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u5206\u5e03 \u7684 \u7f51\u683c \u3002 \u6bcf \u4e00\u4e2a \u90fd \u4ee5 \u76f8\u540c \u7684 \u65b9\u5f0f \u521d\u59cb \u521d\u59cb\u5316 \uff1a   1 .   \u521d\u59cb \u521d\u59cb\u5316 \u5e8f\u5217 \u3002   \u5c06 \u84dd\u56fe \u62d6 \u5230 \u573a\u666f \u4e2d \u3002 \u60a8 \u5c06 \u770b\u5230 \u4e00\u4e2a \u5143\u7d20 \u4f4d\u4e8e \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u7684 \u8d77\u70b9 \uff0c \u5e76 \u6709 \u4e24\u4e2a \u8282\u70b9 \u6807\u8bb0 \u5f00\u59cb \u548c \u7ed3\u675f \u3002   2 .   \u5b9a\u4e49 \u8def\u5f84 \u3002   \u9009\u62e9 \u5143\u7d20 \u7684 \u65b9\u5411 \u7bad\u5934 \u65b9\u5411\u7bad\u5934 \uff0c \u7136\u540e \u6309   Alt   \u952e \uff0c \u540c\u65f6 \u5c06 \u5143\u7d20 \u5411 \u60a8 \u60f3\u8981 \u79fb\u52a8 \u7684 \u65b9\u5411 \u62d6\u52a8 \u3002 \u8fd9 \u5c06 \u521b\u5efa \u4e00\u4e2a \u53ef \u7528\u4e8e \u5b9a\u4e49 \u66f2\u7ebf \u7684 \u65b0\u5143 \u5143\u7d20 \u65b0\u5143\u7d20 \u3002 \u62d6\u52a8 \u65f6 \uff0c \u66f2\u7ebf \u7684 \u6bcf\u4e2a \u8282\u70b9 \u4e0a \u6216 \u6bcf\u6b21   Alt   \u62d6\u52a8 \u65f6 \u6309 \u4e0b \u65f6 \u90fd \u4f1a \u51fa\u73b0 \u4e00\u4e2a \u65b0 \u7f51\u683c \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u84dd\u56fe \u3002   3 .   \u5b9a\u5236 \u56fe\u6848 \u3002   \u4ee5\u4e0b \u90e8\u5206 \u5c06 \u63cf\u8ff0 \u6bcf\u4e2a \u84dd\u56fe \u53ef\u7528 \u7684 \u4e0d\u540c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u53c2\u6570 \u3002","title":"\u6dfb\u52a0 \u5e8f\u5217\u5316 \u7f51\u683c  "},{"location":"tuto_M_custom_weather_landscape/#bp_repspline","text":"\u84dd\u56fe   BP _ RepSpline   \u53ef \u5728   Carla / Blueprints / LevelDesign   \u4e2d \u627e\u5230 \u3002 \u5b83 \u7528\u4e8e \u6cbf\u7740 \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u5b9a\u4e49 \u7684 \u8def\u5f84 \u6dfb\u52a0   \u5355\u4e2a   \u5143\u7d20 \u3002   \u5e8f\u5217 \u5e8f\u5217\u5316 \u662f \u901a\u8fc7 \u4ee5\u4e0b \u503c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \uff1a   Distance   between   \u2014   \u8bbe\u7f6e \u5143\u7d20 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   Offset   rotation   \u2014   \u4e3a \u4e0d\u540c \u8f74 \u8bbe\u7f6e \u56fa\u5b9a \u65cb\u8f6c \u3002   Random   rotation   \u2014   \u8bbe\u7f6e \u4e0d\u540c \u8f74 \u7684 \u968f\u673a \u65cb\u8f6c \u8303\u56f4 \u3002   Offset   translation   \u2014   \u8bbe\u7f6e \u6cbf \u4e0d\u540c \u8f74 \u7684 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u968f\u673a \u4f4d\u7f6e \u3002   Max   Number   of   Meshes   \u2014   \u8bbe\u7f6e \u5c06 \u653e\u7f6e \u5728 \u66f2\u7ebf \u8282\u70b9 \u4e4b\u95f4 \u7684 \u5143\u7d20 \u7684 \u6700\u5927 \u6570\u91cf \u3002   World   aligned   ZY   \u2014   \u5982\u679c \u9009\u62e9 \u6b64 \u9009\u9879 \uff0c \u5143\u7d20 \u5c06 \u76f8\u5bf9 \u4e8e \u4e16\u754c \u8f74 \u5782\u76f4 \u5bf9\u9f50 \u3002   EndPoint   \u2014   \u5982\u679c \u9009\u62e9 \u6b64 \u9009\u9879 \uff0c \u5c06 \u5728 \u66f2\u7ebf \u7684 \u7ec8\u70b9 \u8282\u70b9 \u6dfb\u52a0 \u4e00\u4e2a \u5143\u7d20 \u3002   Collision   enabled   \u2014   \u8bbe\u7f6e \u4e3a \u7f51\u683c \u542f\u7528 \u7684 \u78b0\u649e \u7c7b\u578b \u3002   BP _ RepSpline   \u793a\u4f8b \u3002","title":"BP _ RepSpline  "},{"location":"tuto_M_custom_weather_landscape/#bp_spline","text":"\u84dd\u56fe   BP _ Spline   \u53ef \u5728   Carla / Blueprints / LevelDesign   \u4e2d \u627e\u5230 \u3002 \u5b83 \u6dfb\u52a0 \u4e25\u683c \u9075\u5faa \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u5b9a\u4e49 \u7684 \u8def\u5f84 \u7684 \u8fde\u63a5 \u5143\u7d20 \u3002 \u7f51\u683c \u5c06 \u626d\u66f2 \u4ee5 \u9002\u5e94 \u521b\u5efa \u7684 \u8def\u5f84 \u3002   \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u503c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u84dd\u56fe \uff1a   Gap   distance   \u2014   \u5728 \u5143\u7d20 \u4e4b\u95f4 \u6dfb\u52a0 \u95f4\u9694 \u3002   BP _ Spline   example .","title":"BP _ Spline  "},{"location":"tuto_M_custom_weather_landscape/#bp_wall","text":"\u84dd\u56fe   BP _ Wall   \u53ef \u5728   Carla / Blueprints / LevelDesign   \u4e2d \u627e\u5230 \u3002 \u5b83 \u6cbf\u7740 \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u5b9a\u4e49 \u7684 \u8def\u5f84 \u6dfb\u52a0 \u8fde\u63a5 \u7684 \u5143\u7d20 \u3002 \u7f51\u683c \u4e0d\u4f1a \u626d\u66f2 \u4ee5 \u9002\u5e94 \u66f2\u7ebf \uff0c \u4f46\u4f1a \u8003\u8651 \u8282\u70b9 \u3002   Distance   between   \u2014   \u8bbe\u7f6e \u5143\u7d20 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   Vertically   aligned   \u2014   \u5982\u679c \u9009\u62e9 \u6b64 \u9009\u9879 \uff0c \u5143\u7d20 \u5c06 \u76f8\u5bf9 \u4e8e \u4e16\u754c \u8f74 \u5782\u76f4 \u5bf9\u9f50 \u3002   Scale   offset   \u2014   \u7f29\u653e \u7f51\u683c \u7684 \u957f\u5ea6 \u4ee5 \u5b8c\u5584 \u5143\u7d20 \u4e4b\u95f4 \u7684 \u8fde\u63a5 \u3002   BP _ Wall   \u5b9e\u4f8b \u3002","title":"BP _ Wall  "},{"location":"tuto_M_custom_weather_landscape/#bp_splinepoweline","text":"BP _ SplinePoweLine   \u84dd\u56fe \u53ef \u5728   Carla / Static / Pole / PoweLine   \u4e2d \u627e\u5230 \u3002 \u5b83 \u6cbf\u7740 \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u5b9a\u4e49 \u7684 \u8def\u5f84 \u6dfb\u52a0   \u7535\u7ebf \u7535\u7ebf\u6746 ( electricity   poles )   \uff0c \u5e76 \u5c06 \u5b83\u4eec   \u4e0e \u7535\u7ebf \u8fde\u63a5 \u63a5\u8d77 \u8d77\u6765 \u8fde\u63a5\u8d77\u6765   \u3002   \u4e3a\u4e86 \u63d0\u4f9b \u591a\u6837 \u591a\u6837\u6027 \uff0c \u60a8 \u53ef\u4ee5 \u4e3a \u84dd\u56fe \u63d0\u4f9b \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7535\u529b \u7535\u529b\u7ebf \u7f51\u683c \u6765 \u586b\u5145 \u8def\u5f84 \u3002 \u53bb \u505a \u8fd9\u4e2a \uff1a   \u5728   Content   Browser   \u4e2d \u53cc\u51fb   BP _ SplinePoweLine   \u84dd\u56fe \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Default   \u90e8\u5206 \u3002   \u5c55\u5f00   Array   Meshes   \u5e76 \u6839\u636e \u60a8 \u7684 \u9700\u8981 \u6dfb\u52a0 \u6216 \u66f4\u6539 \u5b83 \u3002   \u70b9\u51fb   Compile   \uff0c \u7136\u540e \u4fdd\u5b58 \u5e76 \u5173\u95ed \u7a97\u53e3 \u3002   BP _ SplinePowerLine   example .   \u8981 \u6539\u53d8 \u7535\u6e90 \u7535\u6e90\u7ebf \u7684 \u7ebf \u5f20\u529b \uff1a   \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u573a\u666f \u4e2d \u9009\u62e9 \u84dd\u56fe \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u7136\u540e \u8f6c \u5230   Details   \u9762\u677f \u3002   \u8f6c \u5230   Default   \u90e8\u5206 \u3002   \u8c03\u6574 \u5f20\u529b   Tension   \u4e2d \u7684 \u503c \u3002   0   \u8868\u793a \u7ebf\u6761 \u5c06 \u662f \u76f4 \u7684 \u3002   \u589e\u52a0 \u7535\u7ebf \u6570\u91cf \uff1a   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u53cc\u51fb \u5176\u4e2d \u4e00\u4e2a \u6746 \u7f51\u683c \u3002   \u8f6c \u5230   Socket   Manager   \u9762\u677f \u3002   \u914d\u7f6e \u73b0\u6709 \u5957 \u63a5\u5b57 \u6216 \u901a\u8fc7 \u5355\u51fb   Create   Socket   \u6dfb\u52a0 \u65b0\u5957 \u63a5\u5b57 \u3002 \u63d2\u5ea7 \u662f \u4ee3\u8868 \u7535\u6e90 \u7535\u6e90\u7ebf \u8fde\u63a5 \u63a5\u70b9 \u8fde\u63a5\u70b9 \u7684 \u7a7a \u7f51\u683c \u3002 \u5728 \u4e24\u6781 \u4e4b\u95f4 \u4ece \u63d2\u5ea7 \u5230 \u63d2\u5ea7 \u521b\u5efa \u7535\u7ebf \u3002   BP _ SplinePowerLine   \u5957 \u63a5\u5b57 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u91cd\u8981   \u5404\u6781 \u4e4b\u95f4 \u7684 \u63d2\u5ea7 \u6570\u91cf \u53ca \u540d\u79f0 \u5e94 \u4e00\u81f4 \u3002 \u5426\u5219 \uff0c \u53ef\u80fd \u4f1a \u51fa\u73b0 \u53ef\u89c6 \u53ef\u89c6\u5316 \u95ee\u9898 \u3002","title":"BP _ SplinePoweLine  "},{"location":"tuto_M_custom_weather_landscape/#_4","text":"\u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u5173\u5361 \u3002   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u4e0b \u4e00\u6b65    "},{"location":"tuto_M_generate_map/","text":"\u5728   RoadRunner   \u4e2d \u751f\u6210 \u5730\u56fe   RoadRunner   \u662f \u63a8\u8350 \u7684 \u8f6f\u4ef6 \uff0c \u7528\u4e8e \u521b\u5efa \u8981 \u5bfc\u5165   Carla   \u7684 \u5730\u56fe \u3002 \u672c \u6307\u5357 \u6982\u8ff0 \u4e86   RoadRunner   \u662f \u4ec0\u4e48 \u3001 \u6784\u5efa \u5730\u56fe \u65f6 \u9700\u8981 \u8003\u8651 \u7684 \u4e8b\u9879 \u4ee5\u53ca \u5982\u4f55 \u5bfc\u51fa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u4ee5 \u51c6\u5907 \u5bfc\u5165   Carla \u3002   RoadRunner   \u7b80\u4ecb   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5728   RoadRunner   \u4e2d \u6784\u5efa \u5730\u56fe   \u5728   RoadRunner   \u4e2d \u5bfc\u51fa \u5730\u56fe   \u4e0b \u4e00\u6b65   RoadRunner   \u7b80\u4ecb   RoadRunner   \u662f \u4e00\u6b3e \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u53ef \u8ba9 \u60a8 \u8bbe\u8ba1 \u7528\u4e8e \u4eff\u771f \u548c \u6d4b\u8bd5 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u7684   3D   \u573a\u666f \u3002 \u5b83 \u53ef \u7528\u4e8e \u521b\u5efa \u9053\u8def \u5e03\u5c40 \u4ee5\u53ca \u968f\u9644 \u7684   OpenDRIVE   \u548c \u51e0\u4f55 \u4fe1\u606f \u3002   \u5728   \u6b64\u5904   \u80fd \u4e86\u89e3 \u5230 \u66f4 \u591a   RoadRunner   \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   RoadRunner   \u662f   MATLAB   Campus - Wide   License   \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u56e0\u6b64 \u8bb8\u591a \u5927\u5b66 \u90fd \u53ef\u4ee5 \u63d0\u4f9b \u65e0 \u9650\u5236 \u7684 \u5b66\u672f \u8bbf\u95ee \u3002   \u68c0\u67e5   \u60a8 \u7684 \u5927\u5b66 \u662f\u5426 \u6709\u6743 \u8bbf\u95ee \u3002 \u5982\u679c \u60a8 \u5bf9 \u8f85\u52a9 \u529f\u80fd \u6709 \u4efb\u4f55 \u7591\u95ee \u6216 \u56f0\u96be \uff0c \u8bf7 \u8054\u7cfb   automated - driving @ mathworks . com   \u3002   \u8fd8\u6709   \u8bd5\u7528 \u8bd5\u7528\u7248   \u53ef\u7528 \u3002   \u53c2\u52a0   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u6bcf\u4e2a \u4eba \u90fd \u53ef\u4ee5 \u83b7\u5f97   RoadRunner   \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u3002 \u70b9\u51fb   \u6b64\u5904   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u60a8 \u9700\u8981 \u5b89\u88c5   RoadRunner \u3002 \u60a8 \u53ef\u4ee5 \u6309\u7167   Mathworks   \u7f51\u7ad9 \u4e0a \u7684   \u5b89\u88c5 \u6307\u5357   \u8fdb\u884c \u64cd\u4f5c \u3002   \u5728   RoadRunner   \u4e2d \u6784\u5efa \u5730\u56fe   \u5173\u4e8e \u5982\u4f55 \u5728 RoadRunner \u4e2d \u6784\u5efa \u5730\u56fe \u7684 \u7ec6\u8282 \u8d85\u51fa \u4e86 \u672c \u6307\u5357 \u7684 \u8303\u56f4 \uff0c \u4f46\u662f \uff0c   RoadRuner \u6587\u6863   \u4e2d \u63d0\u4f9b \u4e86 \u89c6\u9891 \u6559\u7a0b \u89c6\u9891\u6559\u7a0b \u3002   \u8bf7 \u8bb0\u4f4f \uff0c \u5305\u542b \u5927\u91cf \u9053\u5177 \u7684 \u5730\u56fe \u4f1a\u663e \u7740 \u51cf\u6162 \u5bfc\u5165 \u8fc7\u7a0b \u3002   \u8fd9 \u56e0\u4e3a \u662f\u56e0\u4e3a \u865a\u5e7b \u5f15\u64ce \u9700\u8981 \u5c06 \u6bcf\u4e2a \u7f51\u683c \u7269\u4f53 \u8f6c\u6362 \u4e3a \u865a\u5e7b \u8d44\u6e90 \u3002 \u5982\u679c \u60a8 \u8ba1\u5212 \u5c06 \u5730\u56fe \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u7684 \u6e90 \u6784\u5efa \u7248\u672c \u4e2d \uff0c \u6211\u4eec \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u60a8 \u4ec5 \u5728   RoadRunner   \u4e2d \u521b\u5efa \u9053\u8def \u5e03\u5c40 \uff0c \u5e76 \u5728 \u5c06 \u5730\u56fe \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce \u4e4b\u524d \u4fdd\u7559 \u4efb\u4f55 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8bbe\u7f6e \u3002   Carla   \u63d0\u4f9b \u4e86 \u591a\u79cd \u5de5\u5177 \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u4f7f\u7528 \u8fd9\u4e9b \u5de5\u5177 \u6765 \u7b80\u5316 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8fc7\u7a0b \u3002   \u5728   RoadRunner   \u4e2d \u5bfc\u51fa \u5730\u56fe   \u4ee5\u4e0b \u662f\u4ece   RoadRunner   \u5bfc\u51fa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u7684 \u57fa\u672c \u6307\u5357 \u3002 \u60a8 \u53ef\u4ee5 \u5728   MathWorks   \u6587\u6863   \u4e2d \u627e\u5230 \u6709\u5173 \u5982\u4f55 \u5bfc\u51fa \u5230   Carla   \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u5728   RoadRunner   \u4e2d \u5236\u4f5c \u5730\u56fe \u540e \uff0c \u60a8 \u5c31 \u53ef\u4ee5 \u5c06 \u5176 \u5bfc\u51fa \u3002 \u8bf7 \u6ce8\u610f \uff0c   \u9053\u8def \u5e03\u5c40 \u5bfc\u51fa \u540e \u65e0\u6cd5 \u4fee\u6539 \u3002   \u5bfc\u51fa \u524d \uff0c \u8bf7 \u786e\u4fdd \uff1a   \u5730\u56fe \u4ee5   ( 0 , 0 )   \u4e3a \u4e2d\u5fc3 \uff0c \u4ee5 \u786e\u4fdd \u5730\u56fe \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6b63\u786e \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u5730\u56fe \u5b9a\u4e49 \u662f \u6b63\u786e \u7684 \u3002   \u5730\u56fe \u9a8c\u8bc1 \u662f \u6b63\u786e \u7684 \uff0c \u5bc6\u5207 \u5173\u6ce8 \u8fde\u63a5 \u548c \u51e0\u4f55 \u5f62\u72b6 \u3002   \u5730\u56fe \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u540e \uff0c \u5355\u51fb   OpenDRIVE   Preview   Tool   \u6309\u94ae \u5373\u53ef \u53ef\u89c6 \u53ef\u89c6\u5316   OpenDRIVE   \u9053\u8def \u7f51\u7edc \u5e76 \u5bf9 \u6240\u6709 \u5185\u5bb9 \u8fdb\u884c \u6700\u540e \u4e00\u6b21 \u68c0\u67e5 \u3002   \u7b14\u8bb0   OpenDrive   Preview   Tool   \u53ef\u4ee5 \u66f4 \u8f7b\u677e \u5730 \u6d4b\u8bd5 \u5730\u56fe \u7684 \u5b8c\u6574 \u5b8c\u6574\u6027 \u3002 \u5982\u679c \u8fde\u63a5 \u6709 \u4efb\u4f55 \u9519\u8bef \uff0c \u5355\u51fb \u8bf7\u5355\u51fb   Maneuver   Tool   \u548c   Rebuild   Maneuver   Roads   \u3002   \u5f53 \u60a8 \u51c6\u5907 \u597d \u5bfc\u51fa \u65f6 \uff1a   1 .   \u4f7f\u7528   Carla   \u9009\u9879 \u5bfc\u51fa \u573a\u666f \uff1a   \u5728 \u4e3b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \uff0c \u9009\u62e9   File   - >   Export   - >   CARLA   ( . fbx ,   . xodr ,   . rrdata . xml )   2 .   \u5728 \u5f39\u51fa \u7684 \u7a97\u53e3 \u4e2d \uff1a   C \u68c0\u67e5 \u4ee5\u4e0b \u9009\u9879 \uff1a   Split   by   Segmentation   :   \u901a\u8fc7 \u8bed\u4e49 \u5206\u5272 \u6765 \u5212\u5206 \u7f51\u683c \u3002   Power   of   Two   Texture   Dimensions   :   \u63d0\u9ad8 \u6027\u80fd \u3002   Embed   Textures   :   \u786e\u4fdd \u7eb9\u7406 \u5d4c\u5165 \u5230 \u7f51\u683c \u4e2d \u3002   Export   to   Tiles   :   \u9009\u62e9 \u56fe\u5757 \u7684 \u5927\u5c0f \u6216\u4ec5 \u4fdd\u7559 \u4e00\u5757 \u4e0d \u9009\u4e2d \u3002   Leave   unchecked :   \u5bfc\u51fa \u5355\u4e2a \u56fe\u5757   :   \u751f\u6210 \u4e00\u4e2a \u5305\u542b \u6240\u6709 \u5730 \u56fe\u7247 \u6bb5 \u7684   . fbx   \u6587\u4ef6 \u3002   3 .   \u9009\u62e9 \u8981 \u5c06 \u6587\u4ef6 \u5bfc\u51fa \u5230 \u7684 \u76ee\u5f55 \uff0c \u7136\u540e \u5355\u51fb   Export   \u3002 \u8fd9 \u5c06 \u751f\u6210   < mapName > . fbx   \u548c   < mapName > . xodr   \u6587\u4ef6 \u7b49 \u3002   \u7b14\u8bb0   \u786e\u4fdd   . xodr   \u548c   . fbx   \u6587\u4ef6 \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \u3002   \u4e0b \u4e00\u6b65   \u60a8 \u73b0\u5728 \u5df2 \u51c6\u5907 \u597d \u5c06 \u5730\u56fe \u5bfc\u5165   Carla \u3002 \u4e0b \u4e00\u6b65 \u5c06 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4f7f\u7528 \u7684   Carla   \u5b89\u88c5 \u7c7b\u578b \uff1a   \u5bf9\u4e8e \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u7528\u6237   \uff0c \u8bf7 \u6309\u7167   \u6b64\u5904   \u7684 \u6307\u5357 \u8fdb\u884c \u64cd\u4f5c \u3002   \u5bf9\u4e8e   Carla   \u6253\u5305 \uff08 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \uff09 \u7248\u672c \u7684 \u7528\u6237   \uff0c \u8bf7 \u6309\u7167   \u6b64\u5904   \u7684 \u6307\u5357 \u8fdb\u884c \u64cd\u4f5c \u3002   \u5982\u679c \u60a8 \u5bf9\u6b64 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u5728   RoadRunner   \u4e2d \u751f\u6210 \u5730\u56fe"},{"location":"tuto_M_generate_map/#roadrunner","text":"RoadRunner   \u662f \u63a8\u8350 \u7684 \u8f6f\u4ef6 \uff0c \u7528\u4e8e \u521b\u5efa \u8981 \u5bfc\u5165   Carla   \u7684 \u5730\u56fe \u3002 \u672c \u6307\u5357 \u6982\u8ff0 \u4e86   RoadRunner   \u662f \u4ec0\u4e48 \u3001 \u6784\u5efa \u5730\u56fe \u65f6 \u9700\u8981 \u8003\u8651 \u7684 \u4e8b\u9879 \u4ee5\u53ca \u5982\u4f55 \u5bfc\u51fa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u4ee5 \u51c6\u5907 \u5bfc\u5165   Carla \u3002   RoadRunner   \u7b80\u4ecb   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5728   RoadRunner   \u4e2d \u6784\u5efa \u5730\u56fe   \u5728   RoadRunner   \u4e2d \u5bfc\u51fa \u5730\u56fe   \u4e0b \u4e00\u6b65","title":"\u5728   RoadRunner   \u4e2d \u751f\u6210 \u5730\u56fe"},{"location":"tuto_M_generate_map/#roadrunner_1","text":"RoadRunner   \u662f \u4e00\u6b3e \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u53ef \u8ba9 \u60a8 \u8bbe\u8ba1 \u7528\u4e8e \u4eff\u771f \u548c \u6d4b\u8bd5 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u7684   3D   \u573a\u666f \u3002 \u5b83 \u53ef \u7528\u4e8e \u521b\u5efa \u9053\u8def \u5e03\u5c40 \u4ee5\u53ca \u968f\u9644 \u7684   OpenDRIVE   \u548c \u51e0\u4f55 \u4fe1\u606f \u3002   \u5728   \u6b64\u5904   \u80fd \u4e86\u89e3 \u5230 \u66f4 \u591a   RoadRunner   \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   RoadRunner   \u662f   MATLAB   Campus - Wide   License   \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u56e0\u6b64 \u8bb8\u591a \u5927\u5b66 \u90fd \u53ef\u4ee5 \u63d0\u4f9b \u65e0 \u9650\u5236 \u7684 \u5b66\u672f \u8bbf\u95ee \u3002   \u68c0\u67e5   \u60a8 \u7684 \u5927\u5b66 \u662f\u5426 \u6709\u6743 \u8bbf\u95ee \u3002 \u5982\u679c \u60a8 \u5bf9 \u8f85\u52a9 \u529f\u80fd \u6709 \u4efb\u4f55 \u7591\u95ee \u6216 \u56f0\u96be \uff0c \u8bf7 \u8054\u7cfb   automated - driving @ mathworks . com   \u3002   \u8fd8\u6709   \u8bd5\u7528 \u8bd5\u7528\u7248   \u53ef\u7528 \u3002   \u53c2\u52a0   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u6bcf\u4e2a \u4eba \u90fd \u53ef\u4ee5 \u83b7\u5f97   RoadRunner   \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u3002 \u70b9\u51fb   \u6b64\u5904   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002","title":"RoadRunner   \u7b80\u4ecb  "},{"location":"tuto_M_generate_map/#_1","text":"\u60a8 \u9700\u8981 \u5b89\u88c5   RoadRunner \u3002 \u60a8 \u53ef\u4ee5 \u6309\u7167   Mathworks   \u7f51\u7ad9 \u4e0a \u7684   \u5b89\u88c5 \u6307\u5357   \u8fdb\u884c \u64cd\u4f5c \u3002","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"tuto_M_generate_map/#roadrunner_2","text":"\u5173\u4e8e \u5982\u4f55 \u5728 RoadRunner \u4e2d \u6784\u5efa \u5730\u56fe \u7684 \u7ec6\u8282 \u8d85\u51fa \u4e86 \u672c \u6307\u5357 \u7684 \u8303\u56f4 \uff0c \u4f46\u662f \uff0c   RoadRuner \u6587\u6863   \u4e2d \u63d0\u4f9b \u4e86 \u89c6\u9891 \u6559\u7a0b \u89c6\u9891\u6559\u7a0b \u3002   \u8bf7 \u8bb0\u4f4f \uff0c \u5305\u542b \u5927\u91cf \u9053\u5177 \u7684 \u5730\u56fe \u4f1a\u663e \u7740 \u51cf\u6162 \u5bfc\u5165 \u8fc7\u7a0b \u3002   \u8fd9 \u56e0\u4e3a \u662f\u56e0\u4e3a \u865a\u5e7b \u5f15\u64ce \u9700\u8981 \u5c06 \u6bcf\u4e2a \u7f51\u683c \u7269\u4f53 \u8f6c\u6362 \u4e3a \u865a\u5e7b \u8d44\u6e90 \u3002 \u5982\u679c \u60a8 \u8ba1\u5212 \u5c06 \u5730\u56fe \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u7684 \u6e90 \u6784\u5efa \u7248\u672c \u4e2d \uff0c \u6211\u4eec \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u60a8 \u4ec5 \u5728   RoadRunner   \u4e2d \u521b\u5efa \u9053\u8def \u5e03\u5c40 \uff0c \u5e76 \u5728 \u5c06 \u5730\u56fe \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce \u4e4b\u524d \u4fdd\u7559 \u4efb\u4f55 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8bbe\u7f6e \u3002   Carla   \u63d0\u4f9b \u4e86 \u591a\u79cd \u5de5\u5177 \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u4f7f\u7528 \u8fd9\u4e9b \u5de5\u5177 \u6765 \u7b80\u5316 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8fc7\u7a0b \u3002","title":"\u5728   RoadRunner   \u4e2d \u6784\u5efa \u5730\u56fe  "},{"location":"tuto_M_generate_map/#roadrunner_3","text":"\u4ee5\u4e0b \u662f\u4ece   RoadRunner   \u5bfc\u51fa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u7684 \u57fa\u672c \u6307\u5357 \u3002 \u60a8 \u53ef\u4ee5 \u5728   MathWorks   \u6587\u6863   \u4e2d \u627e\u5230 \u6709\u5173 \u5982\u4f55 \u5bfc\u51fa \u5230   Carla   \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u5728   RoadRunner   \u4e2d \u5236\u4f5c \u5730\u56fe \u540e \uff0c \u60a8 \u5c31 \u53ef\u4ee5 \u5c06 \u5176 \u5bfc\u51fa \u3002 \u8bf7 \u6ce8\u610f \uff0c   \u9053\u8def \u5e03\u5c40 \u5bfc\u51fa \u540e \u65e0\u6cd5 \u4fee\u6539 \u3002   \u5bfc\u51fa \u524d \uff0c \u8bf7 \u786e\u4fdd \uff1a   \u5730\u56fe \u4ee5   ( 0 , 0 )   \u4e3a \u4e2d\u5fc3 \uff0c \u4ee5 \u786e\u4fdd \u5730\u56fe \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6b63\u786e \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u5730\u56fe \u5b9a\u4e49 \u662f \u6b63\u786e \u7684 \u3002   \u5730\u56fe \u9a8c\u8bc1 \u662f \u6b63\u786e \u7684 \uff0c \u5bc6\u5207 \u5173\u6ce8 \u8fde\u63a5 \u548c \u51e0\u4f55 \u5f62\u72b6 \u3002   \u5730\u56fe \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u540e \uff0c \u5355\u51fb   OpenDRIVE   Preview   Tool   \u6309\u94ae \u5373\u53ef \u53ef\u89c6 \u53ef\u89c6\u5316   OpenDRIVE   \u9053\u8def \u7f51\u7edc \u5e76 \u5bf9 \u6240\u6709 \u5185\u5bb9 \u8fdb\u884c \u6700\u540e \u4e00\u6b21 \u68c0\u67e5 \u3002   \u7b14\u8bb0   OpenDrive   Preview   Tool   \u53ef\u4ee5 \u66f4 \u8f7b\u677e \u5730 \u6d4b\u8bd5 \u5730\u56fe \u7684 \u5b8c\u6574 \u5b8c\u6574\u6027 \u3002 \u5982\u679c \u8fde\u63a5 \u6709 \u4efb\u4f55 \u9519\u8bef \uff0c \u5355\u51fb \u8bf7\u5355\u51fb   Maneuver   Tool   \u548c   Rebuild   Maneuver   Roads   \u3002   \u5f53 \u60a8 \u51c6\u5907 \u597d \u5bfc\u51fa \u65f6 \uff1a   1 .   \u4f7f\u7528   Carla   \u9009\u9879 \u5bfc\u51fa \u573a\u666f \uff1a   \u5728 \u4e3b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \uff0c \u9009\u62e9   File   - >   Export   - >   CARLA   ( . fbx ,   . xodr ,   . rrdata . xml )   2 .   \u5728 \u5f39\u51fa \u7684 \u7a97\u53e3 \u4e2d \uff1a   C \u68c0\u67e5 \u4ee5\u4e0b \u9009\u9879 \uff1a   Split   by   Segmentation   :   \u901a\u8fc7 \u8bed\u4e49 \u5206\u5272 \u6765 \u5212\u5206 \u7f51\u683c \u3002   Power   of   Two   Texture   Dimensions   :   \u63d0\u9ad8 \u6027\u80fd \u3002   Embed   Textures   :   \u786e\u4fdd \u7eb9\u7406 \u5d4c\u5165 \u5230 \u7f51\u683c \u4e2d \u3002   Export   to   Tiles   :   \u9009\u62e9 \u56fe\u5757 \u7684 \u5927\u5c0f \u6216\u4ec5 \u4fdd\u7559 \u4e00\u5757 \u4e0d \u9009\u4e2d \u3002   Leave   unchecked :   \u5bfc\u51fa \u5355\u4e2a \u56fe\u5757   :   \u751f\u6210 \u4e00\u4e2a \u5305\u542b \u6240\u6709 \u5730 \u56fe\u7247 \u6bb5 \u7684   . fbx   \u6587\u4ef6 \u3002   3 .   \u9009\u62e9 \u8981 \u5c06 \u6587\u4ef6 \u5bfc\u51fa \u5230 \u7684 \u76ee\u5f55 \uff0c \u7136\u540e \u5355\u51fb   Export   \u3002 \u8fd9 \u5c06 \u751f\u6210   < mapName > . fbx   \u548c   < mapName > . xodr   \u6587\u4ef6 \u7b49 \u3002   \u7b14\u8bb0   \u786e\u4fdd   . xodr   \u548c   . fbx   \u6587\u4ef6 \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \u3002","title":"\u5728   RoadRunner   \u4e2d \u5bfc\u51fa \u5730\u56fe  "},{"location":"tuto_M_generate_map/#_2","text":"\u60a8 \u73b0\u5728 \u5df2 \u51c6\u5907 \u597d \u5c06 \u5730\u56fe \u5bfc\u5165   Carla \u3002 \u4e0b \u4e00\u6b65 \u5c06 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4f7f\u7528 \u7684   Carla   \u5b89\u88c5 \u7c7b\u578b \uff1a   \u5bf9\u4e8e \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u7528\u6237   \uff0c \u8bf7 \u6309\u7167   \u6b64\u5904   \u7684 \u6307\u5357 \u8fdb\u884c \u64cd\u4f5c \u3002   \u5bf9\u4e8e   Carla   \u6253\u5305 \uff08 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \uff09 \u7248\u672c \u7684 \u7528\u6237   \uff0c \u8bf7 \u6309\u7167   \u6b64\u5904   \u7684 \u6307\u5357 \u8fdb\u884c \u64cd\u4f5c \u3002   \u5982\u679c \u60a8 \u5bf9\u6b64 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u4e0b \u4e00\u6b65  "},{"location":"tuto_M_generate_pedestrian_navigation/","text":"\u751f\u6210 \u884c\u4eba \u5bfc\u822a   \u4e3a\u4e86 \u5141\u8bb8 \u884c\u4eba \u5bfc\u822a \u5730\u56fe \uff0c \u60a8 \u9700\u8981 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u6587\u4ef6 \u3002 \u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u8981 \u4f7f\u7528 \u7684 \u7f51\u683c \u4ee5\u53ca \u5982\u4f55 \u751f\u6210 \u6587\u4ef6 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u884c\u4eba \u5bfc\u822a \u7f51\u683c   \u53ef\u9009 \u7684 \u884c\u4eba \u5bfc\u822a \u9009\u9879   \u751f\u6210 \u884c\u4eba \u5bfc\u822a   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5730\u56fe \u5b9a\u5236 \uff08 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u7ed8\u5236 \u9053\u8def \u3001 \u6dfb\u52a0 \u666f\u89c2 \u7279\u5f81 \u7b49 \uff09 \u5e94 \u5728 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4e4b\u524d \u5b8c\u6210 \uff0c \u4ee5 \u907f\u514d \u4e24\u8005 \u4e4b\u95f4 \u4e24\u8005\u4e4b\u95f4 \u53d1\u751f \u5e72\u6270 \u6216 \u78b0\u649e \uff0c \u5bfc\u81f4 \u9700\u8981 \u518d\u6b21 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u3002   \u884c\u4eba \u5bfc\u822a \u7f51\u683c   \u884c\u4eba \u53ea\u80fd \u5bfc\u822a \u7279\u5b9a \u7684 \u7f51\u683c \u3002 \u60a8 \u9700\u8981 \u6839\u636e \u4e0b\u8868\u4e2d \u7684 \u672f\u8bed \u547d\u540d \u8981 \u5305\u542b \u5728 \u884c\u4eba \u5bfc\u822a \u4e2d \u7684 \u7f51\u683c \uff1a   \u7c7b\u578b   \u5305\u542b \u7684 \u540d\u79f0   \u63cf\u8ff0   \u5730\u9762   Road _ Sidewalk   \u6216   Roads _ Sidewalk   \u884c\u4eba \u53ef\u4ee5 \u81ea\u7531 \u5730 \u5728 \u8fd9\u4e9b \u7f51\u683c \u4e0a \u884c\u8d70 \u3002   \u4eba\u884c \u4eba\u884c\u6a2a\u9053   Road _ Crosswalk   \u6216   Roads _ Crosswalk   \u5982\u679c \u627e \u4e0d\u5230 \u5730\u9762 \uff0c \u884c\u4eba \u5c06 \u5728 \u8fd9\u4e9b \u7f51\u683c \u4e0a \u884c\u8d70 \u4f5c\u4e3a \u7b2c\u4e8c \u4e8c\u79cd \u7b2c\u4e8c\u79cd \u9009\u62e9 \u3002   \u8349\u5730   Road _ Grass   \u6216   Roads _ Grass   \u884c\u4eba \u4e0d\u4f1a \u5728 \u6b64 \u7f51\u683c \u4e0a \u884c\u8d70 \uff0c \u9664\u975e \u60a8 \u6307\u5b9a \u4e00\u5b9a \u6bd4\u4f8b \u7684 \u884c\u4eba \u8fd9\u6837 \u505a \u3002   \u9a6c\u8def   Road _ Road   \u6216   Roads _ Road   Road _ Curb   \u6216   Roads _ Curb   Road _ Gutter   \u6216   Roads _ Gutter   Road _ Marking   \u6216   Roads _ Marking   \u884c\u4eba \u53ea\u80fd \u901a\u8fc7 \u8fd9\u4e9b \u7f51\u683c \u8fc7 \u9a6c\u8def \u3002   \u53ef\u9009 \u7684 \u884c\u4eba \u5bfc\u822a \u9009\u9879   \u4ee5\u4e0b \u6b65\u9aa4 \u5bf9\u4e8e \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4e0d\u662f \u5fc5\u9700 \u7684 \uff0c \u4f46 \u5141\u8bb8 \u60a8 \u5728 \u4e00\u5b9a \u7a0b\u5ea6 \u4e0a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u884c\u4eba \u6d3b\u52a8 \u3002   \u751f\u6210 \u65b0 \u7684 \u4eba\u884c \u4eba\u884c\u6a2a\u9053   \u3002   \u5982\u679c \u5df2 \u5728   . xodr   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \u4eba\u884c \u4eba\u884c\u6a2a\u9053 \uff0c \u8bf7 \u907f\u514d \u6267\u884c \u6b64 \u64cd\u4f5c \uff0c \u56e0\u4e3a \u8fd9\u4f1a \u5bfc\u81f4 \u91cd\u590d \uff1a   \u521b\u5efa \u4e00\u4e2a \u5e73\u9762 \u7f51\u683c \uff08 plane   mesh \uff0c \u5982\u679c \u4e0d\u5230 \u770b\u4e0d\u5230 \uff0c \u9700\u8981 \u5728 \u201c \u89c6\u56fe \u9009\u9879 \u201d \u4e2d \u9009\u4e2d \u201c \u663e\u793a \u5f15\u64ce \u5185\u5bb9 \u201d \uff09 \uff0c \u7a0d\u5fae \u5ef6\u4f38 \u5230 \u8981 \u8fde\u63a5 \u7684 \u4e24\u6761 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u4e0a \u3002   \u5c06 \u7f51\u683c \u653e\u7f6e \u5728 \u5730\u9762 \u4e0a \u5e76 \u7981\u7528 \u5176 \u7269\u7406 \u548c \u6e32\u67d3 \u3002   \u5c06 \u7f51\u683c \u540d\u79f0 \u66f4 \u6539\u4e3a   Road _ Crosswalk   \u6216   Roads _ Crosswalk   \u3002   \u751f\u6210 \u884c\u4eba \u5bfc\u822a   1 .   \u8981 \u9632\u6b62 \u5730\u56fe \u592a\u5927 \u592a\u5927\u800c \u65e0\u6cd5 \u5bfc\u51fa \uff0c \u8bf7 \u9009\u62e9   BP _ Sky   \u5bf9\u8c61   \u5e76 \u6dfb\u52a0 \u4e00\u4e2a   NoExport   \u6807\u7b7e \u3002 \u5982\u679c \u60a8 \u6709 \u4efb\u4f55 \u5176\u4ed6 \u4e0d \u53c2\u4e0e \u884c\u4eba \u5bfc\u822a \u7684 \u7279\u522b \u5927 \u7684 \u7f51\u683c \uff0c \u4e5f \u8bf7 \u5411 \u5b83\u4eec \u6dfb\u52a0   NoExport   \u6807\u8bb0 \u3002   2 .   \u4ed4\u7ec6 \u68c0\u67e5 \u4ed4\u7ec6\u68c0\u67e5 \u60a8 \u7684 \u7f51\u683c \u540d\u79f0 \u3002 \u7f51\u683c \u540d\u79f0 \u5e94 \u4ee5 \u4e0b\u9762 \u5217\u51fa \u7684 \u4efb\u4f55 \u9002\u5f53 \u683c\u5f0f \u5f00\u5934 \uff0c \u4ee5\u4fbf \u88ab \u8bc6\u522b \u4e3a \u884c\u4eba \u53ef\u4ee5 \u884c\u8d70 \u7684 \u533a\u57df \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u884c\u4eba \u5c06 \u80fd\u591f \u5728 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u4eba\u884c \u4eba\u884c\u6a2a\u9053 \u548c \u8349\u5730 \u4e0a \u884c\u8d70 \uff08 \u5bf9 \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \u5f71\u54cd \u8f83 \u5c0f \uff09 \uff1a   \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053   =   Road _ Sidewalk   \u6216   Roads _ Sidewalk   \u4eba\u884c \u4eba\u884c\u6a2a\u9053   =   Road _ Crosswalk   \u6216   Roads _ Crosswalk   \u8349\u5730   =   Road _ Grass   \u6216   Roads _ Grass   3 .   \u6309   ctrl   +   A   \u9009\u62e9 \u6240\u6709 \u5185\u5bb9 \uff08 \u62a5\u9519 \u5219 \u53ea \u9009\u62e9 \u548c \u884c\u4eba \u76f8\u5173 \u7684 \u7f51\u683c \uff09 \u5e76 \u901a\u8fc7 \u9009\u62e9   File   - >   Carla   Exporter   \u5bfc\u51fa \u5730\u56fe \u3002 \u5c06 \u5728   Unreal / CarlaUE4 / Saved   \u4e2d \u521b\u5efa   < mapName > . obj   \u6587\u4ef6 \u3002   4 .   \u5c06   < mapName > . obj   \u548c   < mapName > . xodr   \u79fb\u52a8 \u5230   Util / DockerUtils / dist   \u3002   5 .   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u751f\u6210 \u5bfc\u822a \u6587\u4ef6 \uff1a   Windows   build . bat   < mapName >   #   < mapName >   \u6ca1\u6709 \u6269\u5c55 \u6269\u5c55\u540d   Linux   . / build . sh   < mapName >   #   < mapName >   \u6ca1\u6709 \u6269\u5c55 \u6269\u5c55\u540d   6 .   \u5c06 \u521b\u5efa \u4e00\u4e2a   < mapName > . bin   \u6587\u4ef6 \u3002 \u6b64 \u6587\u4ef6 \u5305\u542b \u5730\u56fe \u4e0a \u7684 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f \u3002 \u5c06 \u6b64 \u6587\u4ef6 \u79fb\u52a8 \u5230 \u5305\u542b \u5730\u56fe \u7684 \u5305 \u7684   Nav   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   7 .   \u901a\u8fc7 \u542f\u52a8 \u4eff\u771f \u5e76 \u8fd0\u884c   PythonAPI / examples   \u4e2d \u7684 \u793a\u4f8b \u811a\u672c   generate _ traffic . py   \u6765 \u6d4b\u8bd5 \u884c\u4eba \u5bfc\u822a \u3002   \u7b14\u8bb0   \u5982\u679c \u66f4\u65b0 \u5730\u56fe \u540e \u9700\u8981 \u91cd\u5efa \u884c\u4eba \u5bfc\u822a   \uff0c \u8bf7 \u786e\u4fdd \u5220\u9664   Carla   \u7f13\u5b58 \u3002 \u8fd9 \u901a\u5e38 \u53ef\u4ee5 \u5728   Ubuntu   \u7684 \u76ee\u5f55 \u4e3b\u76ee\u5f55 \uff08 \u5373   cd   ~   \uff09 \u4e2d \u627e\u5230 \uff0c \u6216\u8005 \u5728 Windows \u7684 \u7528\u6237 \u76ee\u5f55 \uff08 \u5206\u914d \u7ed9 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   USERPROFILE   \u7684 \u76ee\u5f55 \uff09 \u4e2d \uff0c \u5220\u9664 \u540d\u4e3a   carlaCache   \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u53ca\u5176 \u6240\u6709 \u5185\u5bb9 \uff0c \u5b83 \u53ef\u80fd \u5f88\u5927 \u3002   \u5982\u679c \u5173\u4e8e \u6d41\u7a0b \u6709 \u4efb\u4f55 \u95ee\u9898 \uff0c \u60a8 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u751f\u6210 \u884c\u4eba \u5bfc\u822a"},{"location":"tuto_M_generate_pedestrian_navigation/#_1","text":"\u4e3a\u4e86 \u5141\u8bb8 \u884c\u4eba \u5bfc\u822a \u5730\u56fe \uff0c \u60a8 \u9700\u8981 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u6587\u4ef6 \u3002 \u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u8981 \u4f7f\u7528 \u7684 \u7f51\u683c \u4ee5\u53ca \u5982\u4f55 \u751f\u6210 \u6587\u4ef6 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u884c\u4eba \u5bfc\u822a \u7f51\u683c   \u53ef\u9009 \u7684 \u884c\u4eba \u5bfc\u822a \u9009\u9879   \u751f\u6210 \u884c\u4eba \u5bfc\u822a","title":"\u751f\u6210 \u884c\u4eba \u5bfc\u822a"},{"location":"tuto_M_generate_pedestrian_navigation/#_2","text":"\u5730\u56fe \u5b9a\u5236 \uff08 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u7ed8\u5236 \u9053\u8def \u3001 \u6dfb\u52a0 \u666f\u89c2 \u7279\u5f81 \u7b49 \uff09 \u5e94 \u5728 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4e4b\u524d \u5b8c\u6210 \uff0c \u4ee5 \u907f\u514d \u4e24\u8005 \u4e4b\u95f4 \u4e24\u8005\u4e4b\u95f4 \u53d1\u751f \u5e72\u6270 \u6216 \u78b0\u649e \uff0c \u5bfc\u81f4 \u9700\u8981 \u518d\u6b21 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u3002","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d"},{"location":"tuto_M_generate_pedestrian_navigation/#_3","text":"\u884c\u4eba \u53ea\u80fd \u5bfc\u822a \u7279\u5b9a \u7684 \u7f51\u683c \u3002 \u60a8 \u9700\u8981 \u6839\u636e \u4e0b\u8868\u4e2d \u7684 \u672f\u8bed \u547d\u540d \u8981 \u5305\u542b \u5728 \u884c\u4eba \u5bfc\u822a \u4e2d \u7684 \u7f51\u683c \uff1a   \u7c7b\u578b   \u5305\u542b \u7684 \u540d\u79f0   \u63cf\u8ff0   \u5730\u9762   Road _ Sidewalk   \u6216   Roads _ Sidewalk   \u884c\u4eba \u53ef\u4ee5 \u81ea\u7531 \u5730 \u5728 \u8fd9\u4e9b \u7f51\u683c \u4e0a \u884c\u8d70 \u3002   \u4eba\u884c \u4eba\u884c\u6a2a\u9053   Road _ Crosswalk   \u6216   Roads _ Crosswalk   \u5982\u679c \u627e \u4e0d\u5230 \u5730\u9762 \uff0c \u884c\u4eba \u5c06 \u5728 \u8fd9\u4e9b \u7f51\u683c \u4e0a \u884c\u8d70 \u4f5c\u4e3a \u7b2c\u4e8c \u4e8c\u79cd \u7b2c\u4e8c\u79cd \u9009\u62e9 \u3002   \u8349\u5730   Road _ Grass   \u6216   Roads _ Grass   \u884c\u4eba \u4e0d\u4f1a \u5728 \u6b64 \u7f51\u683c \u4e0a \u884c\u8d70 \uff0c \u9664\u975e \u60a8 \u6307\u5b9a \u4e00\u5b9a \u6bd4\u4f8b \u7684 \u884c\u4eba \u8fd9\u6837 \u505a \u3002   \u9a6c\u8def   Road _ Road   \u6216   Roads _ Road   Road _ Curb   \u6216   Roads _ Curb   Road _ Gutter   \u6216   Roads _ Gutter   Road _ Marking   \u6216   Roads _ Marking   \u884c\u4eba \u53ea\u80fd \u901a\u8fc7 \u8fd9\u4e9b \u7f51\u683c \u8fc7 \u9a6c\u8def \u3002","title":"\u884c\u4eba \u5bfc\u822a \u7f51\u683c"},{"location":"tuto_M_generate_pedestrian_navigation/#_4","text":"\u4ee5\u4e0b \u6b65\u9aa4 \u5bf9\u4e8e \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4e0d\u662f \u5fc5\u9700 \u7684 \uff0c \u4f46 \u5141\u8bb8 \u60a8 \u5728 \u4e00\u5b9a \u7a0b\u5ea6 \u4e0a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u884c\u4eba \u6d3b\u52a8 \u3002   \u751f\u6210 \u65b0 \u7684 \u4eba\u884c \u4eba\u884c\u6a2a\u9053   \u3002   \u5982\u679c \u5df2 \u5728   . xodr   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \u4eba\u884c \u4eba\u884c\u6a2a\u9053 \uff0c \u8bf7 \u907f\u514d \u6267\u884c \u6b64 \u64cd\u4f5c \uff0c \u56e0\u4e3a \u8fd9\u4f1a \u5bfc\u81f4 \u91cd\u590d \uff1a   \u521b\u5efa \u4e00\u4e2a \u5e73\u9762 \u7f51\u683c \uff08 plane   mesh \uff0c \u5982\u679c \u4e0d\u5230 \u770b\u4e0d\u5230 \uff0c \u9700\u8981 \u5728 \u201c \u89c6\u56fe \u9009\u9879 \u201d \u4e2d \u9009\u4e2d \u201c \u663e\u793a \u5f15\u64ce \u5185\u5bb9 \u201d \uff09 \uff0c \u7a0d\u5fae \u5ef6\u4f38 \u5230 \u8981 \u8fde\u63a5 \u7684 \u4e24\u6761 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u4e0a \u3002   \u5c06 \u7f51\u683c \u653e\u7f6e \u5728 \u5730\u9762 \u4e0a \u5e76 \u7981\u7528 \u5176 \u7269\u7406 \u548c \u6e32\u67d3 \u3002   \u5c06 \u7f51\u683c \u540d\u79f0 \u66f4 \u6539\u4e3a   Road _ Crosswalk   \u6216   Roads _ Crosswalk   \u3002","title":"\u53ef\u9009 \u7684 \u884c\u4eba \u5bfc\u822a \u9009\u9879"},{"location":"tuto_M_generate_pedestrian_navigation/#_5","text":"1 .   \u8981 \u9632\u6b62 \u5730\u56fe \u592a\u5927 \u592a\u5927\u800c \u65e0\u6cd5 \u5bfc\u51fa \uff0c \u8bf7 \u9009\u62e9   BP _ Sky   \u5bf9\u8c61   \u5e76 \u6dfb\u52a0 \u4e00\u4e2a   NoExport   \u6807\u7b7e \u3002 \u5982\u679c \u60a8 \u6709 \u4efb\u4f55 \u5176\u4ed6 \u4e0d \u53c2\u4e0e \u884c\u4eba \u5bfc\u822a \u7684 \u7279\u522b \u5927 \u7684 \u7f51\u683c \uff0c \u4e5f \u8bf7 \u5411 \u5b83\u4eec \u6dfb\u52a0   NoExport   \u6807\u8bb0 \u3002   2 .   \u4ed4\u7ec6 \u68c0\u67e5 \u4ed4\u7ec6\u68c0\u67e5 \u60a8 \u7684 \u7f51\u683c \u540d\u79f0 \u3002 \u7f51\u683c \u540d\u79f0 \u5e94 \u4ee5 \u4e0b\u9762 \u5217\u51fa \u7684 \u4efb\u4f55 \u9002\u5f53 \u683c\u5f0f \u5f00\u5934 \uff0c \u4ee5\u4fbf \u88ab \u8bc6\u522b \u4e3a \u884c\u4eba \u53ef\u4ee5 \u884c\u8d70 \u7684 \u533a\u57df \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u884c\u4eba \u5c06 \u80fd\u591f \u5728 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u4eba\u884c \u4eba\u884c\u6a2a\u9053 \u548c \u8349\u5730 \u4e0a \u884c\u8d70 \uff08 \u5bf9 \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \u5f71\u54cd \u8f83 \u5c0f \uff09 \uff1a   \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053   =   Road _ Sidewalk   \u6216   Roads _ Sidewalk   \u4eba\u884c \u4eba\u884c\u6a2a\u9053   =   Road _ Crosswalk   \u6216   Roads _ Crosswalk   \u8349\u5730   =   Road _ Grass   \u6216   Roads _ Grass   3 .   \u6309   ctrl   +   A   \u9009\u62e9 \u6240\u6709 \u5185\u5bb9 \uff08 \u62a5\u9519 \u5219 \u53ea \u9009\u62e9 \u548c \u884c\u4eba \u76f8\u5173 \u7684 \u7f51\u683c \uff09 \u5e76 \u901a\u8fc7 \u9009\u62e9   File   - >   Carla   Exporter   \u5bfc\u51fa \u5730\u56fe \u3002 \u5c06 \u5728   Unreal / CarlaUE4 / Saved   \u4e2d \u521b\u5efa   < mapName > . obj   \u6587\u4ef6 \u3002   4 .   \u5c06   < mapName > . obj   \u548c   < mapName > . xodr   \u79fb\u52a8 \u5230   Util / DockerUtils / dist   \u3002   5 .   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u751f\u6210 \u5bfc\u822a \u6587\u4ef6 \uff1a   Windows   build . bat   < mapName >   #   < mapName >   \u6ca1\u6709 \u6269\u5c55 \u6269\u5c55\u540d   Linux   . / build . sh   < mapName >   #   < mapName >   \u6ca1\u6709 \u6269\u5c55 \u6269\u5c55\u540d   6 .   \u5c06 \u521b\u5efa \u4e00\u4e2a   < mapName > . bin   \u6587\u4ef6 \u3002 \u6b64 \u6587\u4ef6 \u5305\u542b \u5730\u56fe \u4e0a \u7684 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f \u3002 \u5c06 \u6b64 \u6587\u4ef6 \u79fb\u52a8 \u5230 \u5305\u542b \u5730\u56fe \u7684 \u5305 \u7684   Nav   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   7 .   \u901a\u8fc7 \u542f\u52a8 \u4eff\u771f \u5e76 \u8fd0\u884c   PythonAPI / examples   \u4e2d \u7684 \u793a\u4f8b \u811a\u672c   generate _ traffic . py   \u6765 \u6d4b\u8bd5 \u884c\u4eba \u5bfc\u822a \u3002   \u7b14\u8bb0   \u5982\u679c \u66f4\u65b0 \u5730\u56fe \u540e \u9700\u8981 \u91cd\u5efa \u884c\u4eba \u5bfc\u822a   \uff0c \u8bf7 \u786e\u4fdd \u5220\u9664   Carla   \u7f13\u5b58 \u3002 \u8fd9 \u901a\u5e38 \u53ef\u4ee5 \u5728   Ubuntu   \u7684 \u76ee\u5f55 \u4e3b\u76ee\u5f55 \uff08 \u5373   cd   ~   \uff09 \u4e2d \u627e\u5230 \uff0c \u6216\u8005 \u5728 Windows \u7684 \u7528\u6237 \u76ee\u5f55 \uff08 \u5206\u914d \u7ed9 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   USERPROFILE   \u7684 \u76ee\u5f55 \uff09 \u4e2d \uff0c \u5220\u9664 \u540d\u4e3a   carlaCache   \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u53ca\u5176 \u6240\u6709 \u5185\u5bb9 \uff0c \u5b83 \u53ef\u80fd \u5f88\u5927 \u3002   \u5982\u679c \u5173\u4e8e \u6d41\u7a0b \u6709 \u4efb\u4f55 \u95ee\u9898 \uff0c \u60a8 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u751f\u6210 \u884c\u4eba \u5bfc\u822a"},{"location":"tuto_M_manual_map_package/","text":"\u624b\u52a8 \u5305 \u51c6\u5907   \u5730\u56fe \u5730\u56fe\u5305 \u9075\u5faa \u7279\u5b9a \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784 \uff0c \u5e76\u4e14 \u5fc5\u987b \u5305\u542b \u63cf\u8ff0 \u8be5 \u7ed3\u6784 \u7684   . json   \u6587\u4ef6 \u3002 \u6211\u4eec \u7684 \u81ea\u52a8 \u5730\u56fe \u5bfc\u5165 \u6d41\u7a0b \u4f1a \u81ea\u52a8 \u521b\u5efa \u6b64   . json   \u6587\u4ef6 \uff0c \u4f46 \u60a8 \u4e5f \u53ef\u4ee5 \u9009\u62e9 \u81ea\u884c \u51c6\u5907 \u3002 \u5305\u542b \u60a8 \u81ea\u5df1 \u7684   . json   \u6587\u4ef6 \u5c06 \u8986\u76d6 \u4f20\u9012 \u7ed9   make   import   \u547d\u4ee4 \u7684 \u4efb\u4f55 \u53c2\u6570 \u3002   \u6807\u51c6 \u5730\u56fe   \u4e3a \u6807\u51c6 \u5730\u56fe \u521b\u5efa \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784   \u4e3a \u6807\u51c6 \u5730\u56fe \u521b\u5efa   JSON   \u63cf\u8ff0   \u5927 \u5730\u56fe   \u4e3a \u5927 \u5730\u56fe \u521b\u5efa \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784   \u4e3a \u5927 \u5730\u56fe \u521b\u5efa   JSON   \u63cf\u8ff0   \u6807\u51c6 \u5730\u56fe   \u4e3a \u6807\u51c6 \u5730\u56fe \u521b\u5efa \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784   \u5728   carla / Import   \u91cc\u9762 \u521b\u5efa \u4e00\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u540d\u79f0 \u5e76 \u4e0d \u91cd\u8981 \u3002   \u4e3a \u6bcf\u4e2a \u8981 \u5bfc\u5165 \u7684 \u5730\u56fe   \u521b\u5efa \u4e0d\u540c \u7684 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u3002   \u5c06 \u6bcf\u4e2a \u5730\u56fe \u7684 \u6587\u4ef6 \u79fb\u52a8 \u5230 \u76f8\u5e94 \u7684 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5c06 \u5305\u542b \u4e00\u7ec4 \u7279\u5b9a \u7684 \u5143\u7d20 \uff1a   . fbx   \u6587\u4ef6 \u4e2d \u5730\u56fe \u7684 \u7f51\u683c \u3002   . xodr   \u6587\u4ef6 \u4e2d \u7684   OpenDRIVE   \u5b9a\u4e49 \u3002   \uff08 \u53ef \u9009 \uff09 \u8d44\u4ea7 \u6240 \u9700 \u7684 \u7eb9\u7406 \u3002   \u4f8b\u5982 \uff0c \u4e00\u4e2a \u5305\u542b \u4e24\u4e2a \u5730\u56fe \u7684 \u5305 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e94 \u5177\u6709 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u7ed3\u6784 \u7684 \u7ed3\u6784 \u3002   Import   \u2502   \u2514 \u2500 \u2500   Package01   \u251c \u2500 \u2500   Package01 . json   \u251c \u2500 \u2500   Map01   \u2502   \u251c \u2500 \u2500   Asphalt1 _ Diff . jpg   \u2502   \u251c \u2500 \u2500   Asphalt1 _ Norm . jpg   \u2502   \u251c \u2500 \u2500   Asphalt1 _ Spec . jpg   \u2502   \u251c \u2500 \u2500   Grass1 _ Diff . jpg   \u2502   \u251c \u2500 \u2500   Grass1 _ Norm . jpg   \u2502   \u251c \u2500 \u2500   Grass1 _ Spec . jpg   \u2502   \u251c \u2500 \u2500   LaneMarking1 _ Diff . jpg   \u2502   \u251c \u2500 \u2500   LaneMarking1 _ Norm . jpg   \u2502   \u251c \u2500 \u2500   LaneMarking1 _ Spec . jpg   \u2502   \u251c \u2500 \u2500   Map01 . fbx   \u2502   \u2514 \u2500 \u2500   Map01 . xodr   \u2514 \u2500 \u2500   Map02   \u2514 \u2500 \u2500   Map02 . fbx   \u4e3a \u6807\u51c6 \u5730\u56fe \u521b\u5efa   JSON   \u63cf\u8ff0   \u5728 \u5305 \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u521b\u5efa \u4e00\u4e2a   . json   \u6587\u4ef6 \u3002 \u5728 \u5305 \u4e4b\u540e \u547d\u540d \u6587\u4ef6 \u3002   \u8bf7 \u6ce8\u610f \uff0c \u8fd9 \u5c06 \u662f \u53d1\u884c \u53d1\u884c\u7248 \u540d\u79f0 \u3002 \u6587\u4ef6 \u7684 \u5185\u5bb9 \u5c06 \u63cf\u8ff0   \u5730\u56fe   \u548c   \u9053\u5177   \u7684   JSON   \u6570\u7ec4 \uff0c \u4ee5\u53ca \u6bcf\u4e2a \u5730\u56fe \u548c \u9053\u5177 \u7684 \u57fa\u672c \u4fe1\u606f \u3002   \u5730\u56fe   \u9700\u8981 \u4ee5\u4e0b \u53c2\u6570 \uff1a   \u5730\u56fe \u7684   name   \u3002 \u8fd9 \u5fc5\u987b \u548c   . fbx   \u548c   . xodr   \u6587\u4ef6 \u76f8\u540c \u3002   . fbx   \u6587\u4ef6 \u7684   source   \u8def\u5f84 \u3002   use _ carla _ materials   .   \u5982\u679c \u4e3a   True   \uff0c \u5730\u56fe \u5c06 \u4f7f\u7528   Carla   \u6750\u8d28 \u3002 \u5426\u5219 \uff0c \u5b83 \u5c06 \u4f7f\u7528   RoadRunner   \u6750\u8d28 \u3002   xodr   . xodr   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   Props   \u4e0d \u5c5e\u4e8e \u672c \u6559\u6750 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u8be5\u5b57 \u6bb5 \u5c06 \u7559\u7a7a \u3002 \u8fd8\u6709 \u53e6 \u4e00\u4e2a \u5173\u4e8e \u5982\u4f55   \u6dfb\u52a0 \u65b0 \u9053\u5177   \u7684 \u6559\u7a0b \u3002   \u751f\u6210 \u7684   . json   \u6587\u4ef6 \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   {   \" maps \" :   [   {   \" name \" :   \" Map01 \" ,   \" source \" :   \" . / Map01 / Map01 . fbx \" ,   \" use _ carla _ materials \" :   true ,   \" xodr \" :   \" . / Map01 / Map01 . xodr \"   } ,   {   \" name \" :   \" Map02 \" ,   \" source \" :   \" . / Map02 / Map02 . fbx \" ,   \" use _ carla _ materials \" :   false ,   \" xodr \" :   \" . / Map02 / Map02 . xodr \"   }   ] ,   \" props \" :   [   ]   }   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u624b\u52a8 \u5305 \u51c6\u5907"},{"location":"tuto_M_manual_map_package/#_1","text":"\u5730\u56fe \u5730\u56fe\u5305 \u9075\u5faa \u7279\u5b9a \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784 \uff0c \u5e76\u4e14 \u5fc5\u987b \u5305\u542b \u63cf\u8ff0 \u8be5 \u7ed3\u6784 \u7684   . json   \u6587\u4ef6 \u3002 \u6211\u4eec \u7684 \u81ea\u52a8 \u5730\u56fe \u5bfc\u5165 \u6d41\u7a0b \u4f1a \u81ea\u52a8 \u521b\u5efa \u6b64   . json   \u6587\u4ef6 \uff0c \u4f46 \u60a8 \u4e5f \u53ef\u4ee5 \u9009\u62e9 \u81ea\u884c \u51c6\u5907 \u3002 \u5305\u542b \u60a8 \u81ea\u5df1 \u7684   . json   \u6587\u4ef6 \u5c06 \u8986\u76d6 \u4f20\u9012 \u7ed9   make   import   \u547d\u4ee4 \u7684 \u4efb\u4f55 \u53c2\u6570 \u3002   \u6807\u51c6 \u5730\u56fe   \u4e3a \u6807\u51c6 \u5730\u56fe \u521b\u5efa \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784   \u4e3a \u6807\u51c6 \u5730\u56fe \u521b\u5efa   JSON   \u63cf\u8ff0   \u5927 \u5730\u56fe   \u4e3a \u5927 \u5730\u56fe \u521b\u5efa \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784   \u4e3a \u5927 \u5730\u56fe \u521b\u5efa   JSON   \u63cf\u8ff0","title":"\u624b\u52a8 \u5305 \u51c6\u5907"},{"location":"tuto_M_manual_map_package/#_2","text":"","title":"\u6807\u51c6 \u5730\u56fe  "},{"location":"tuto_M_manual_map_package/#_3","text":"\u5728   carla / Import   \u91cc\u9762 \u521b\u5efa \u4e00\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u540d\u79f0 \u5e76 \u4e0d \u91cd\u8981 \u3002   \u4e3a \u6bcf\u4e2a \u8981 \u5bfc\u5165 \u7684 \u5730\u56fe   \u521b\u5efa \u4e0d\u540c \u7684 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u3002   \u5c06 \u6bcf\u4e2a \u5730\u56fe \u7684 \u6587\u4ef6 \u79fb\u52a8 \u5230 \u76f8\u5e94 \u7684 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5c06 \u5305\u542b \u4e00\u7ec4 \u7279\u5b9a \u7684 \u5143\u7d20 \uff1a   . fbx   \u6587\u4ef6 \u4e2d \u5730\u56fe \u7684 \u7f51\u683c \u3002   . xodr   \u6587\u4ef6 \u4e2d \u7684   OpenDRIVE   \u5b9a\u4e49 \u3002   \uff08 \u53ef \u9009 \uff09 \u8d44\u4ea7 \u6240 \u9700 \u7684 \u7eb9\u7406 \u3002   \u4f8b\u5982 \uff0c \u4e00\u4e2a \u5305\u542b \u4e24\u4e2a \u5730\u56fe \u7684 \u5305 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e94 \u5177\u6709 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u7ed3\u6784 \u7684 \u7ed3\u6784 \u3002   Import   \u2502   \u2514 \u2500 \u2500   Package01   \u251c \u2500 \u2500   Package01 . json   \u251c \u2500 \u2500   Map01   \u2502   \u251c \u2500 \u2500   Asphalt1 _ Diff . jpg   \u2502   \u251c \u2500 \u2500   Asphalt1 _ Norm . jpg   \u2502   \u251c \u2500 \u2500   Asphalt1 _ Spec . jpg   \u2502   \u251c \u2500 \u2500   Grass1 _ Diff . jpg   \u2502   \u251c \u2500 \u2500   Grass1 _ Norm . jpg   \u2502   \u251c \u2500 \u2500   Grass1 _ Spec . jpg   \u2502   \u251c \u2500 \u2500   LaneMarking1 _ Diff . jpg   \u2502   \u251c \u2500 \u2500   LaneMarking1 _ Norm . jpg   \u2502   \u251c \u2500 \u2500   LaneMarking1 _ Spec . jpg   \u2502   \u251c \u2500 \u2500   Map01 . fbx   \u2502   \u2514 \u2500 \u2500   Map01 . xodr   \u2514 \u2500 \u2500   Map02   \u2514 \u2500 \u2500   Map02 . fbx","title":"\u4e3a \u6807\u51c6 \u5730\u56fe \u521b\u5efa \u6587\u4ef6\u5939 \u7ed3\u6784  "},{"location":"tuto_M_manual_map_package/#json","text":"\u5728 \u5305 \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u521b\u5efa \u4e00\u4e2a   . json   \u6587\u4ef6 \u3002 \u5728 \u5305 \u4e4b\u540e \u547d\u540d \u6587\u4ef6 \u3002   \u8bf7 \u6ce8\u610f \uff0c \u8fd9 \u5c06 \u662f \u53d1\u884c \u53d1\u884c\u7248 \u540d\u79f0 \u3002 \u6587\u4ef6 \u7684 \u5185\u5bb9 \u5c06 \u63cf\u8ff0   \u5730\u56fe   \u548c   \u9053\u5177   \u7684   JSON   \u6570\u7ec4 \uff0c \u4ee5\u53ca \u6bcf\u4e2a \u5730\u56fe \u548c \u9053\u5177 \u7684 \u57fa\u672c \u4fe1\u606f \u3002   \u5730\u56fe   \u9700\u8981 \u4ee5\u4e0b \u53c2\u6570 \uff1a   \u5730\u56fe \u7684   name   \u3002 \u8fd9 \u5fc5\u987b \u548c   . fbx   \u548c   . xodr   \u6587\u4ef6 \u76f8\u540c \u3002   . fbx   \u6587\u4ef6 \u7684   source   \u8def\u5f84 \u3002   use _ carla _ materials   .   \u5982\u679c \u4e3a   True   \uff0c \u5730\u56fe \u5c06 \u4f7f\u7528   Carla   \u6750\u8d28 \u3002 \u5426\u5219 \uff0c \u5b83 \u5c06 \u4f7f\u7528   RoadRunner   \u6750\u8d28 \u3002   xodr   . xodr   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   Props   \u4e0d \u5c5e\u4e8e \u672c \u6559\u6750 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u8be5\u5b57 \u6bb5 \u5c06 \u7559\u7a7a \u3002 \u8fd8\u6709 \u53e6 \u4e00\u4e2a \u5173\u4e8e \u5982\u4f55   \u6dfb\u52a0 \u65b0 \u9053\u5177   \u7684 \u6559\u7a0b \u3002   \u751f\u6210 \u7684   . json   \u6587\u4ef6 \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   {   \" maps \" :   [   {   \" name \" :   \" Map01 \" ,   \" source \" :   \" . / Map01 / Map01 . fbx \" ,   \" use _ carla _ materials \" :   true ,   \" xodr \" :   \" . / Map01 / Map01 . xodr \"   } ,   {   \" name \" :   \" Map02 \" ,   \" source \" :   \" . / Map02 / Map02 . fbx \" ,   \" use _ carla _ materials \" :   false ,   \" xodr \" :   \" . / Map02 / Map02 . xodr \"   }   ] ,   \" props \" :   [   ]   }   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u4e3a \u6807\u51c6 \u5730\u56fe \u521b\u5efa   JSON   \u63cf\u8ff0  "},{"location":"tuto_content_authoring_maps/","text":"\u5185\u5bb9 \u521b\u4f5c   -   \u5730\u56fe   Carla   \u63d0\u4f9b \u4e86 \u5927\u91cf \u7684 \u8d44\u6e90 \uff0c \u53ef \u7528\u4e8e \u521b\u5efa \u5f00\u7bb1 \u5373\u7528 \u7684 \u9a7e\u9a76 \u4eff\u771f \u3002 \u7136\u800c \uff0c Carla   \u7684 \u771f\u6b63 \u529b\u91cf \u5728\u4e8e \u5176 \u5168\u9762 \u7684 \u6269\u5c55 \u5c55\u6027 \u6269\u5c55\u6027 \u53ef\u6269\u5c55\u6027 \uff0c \u5141\u8bb8 \u7528\u6237 \u521b\u5efa \u5b8c\u5168 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u73af\u5883 \uff0c \u5176\u4e2d \u5305\u542b \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u957f\u51f3 \u3001 \u5783\u573e \u5783\u573e\u6876 \u3001 \u96d5\u50cf \u3001 \u8def\u706f \u548c \u516c\u4ea4 \u8f66\u7ad9 \u516c\u4ea4\u8f66 \u516c\u4ea4\u8f66\u7ad9 \u7b49 \u5b9a\u5236 \u8d44\u4ea7 \u3002 \u4e4b\u524d \u7a33\u5b9a \u7684   \u5730\u56fe \u5b9a\u5236 \u65b9\u6cd5   \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u4ecb\u7ecd \u521b\u5efa \u4e0e   Carla   \u4e00\u8d77 \u4f7f\u7528 \u7684 \u7b80\u5355 \u5730\u56fe \u7684 \u8fc7\u7a0b \u3002 \u6211\u4eec \u5c06 \u4f7f\u7528 \u4e24\u4e2a \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u6765 \u521b\u5efa \u5730\u56fe \u7684 \u5404\u4e2a \u90e8\u5206 \u3002 \u6211\u4eec \u5c06 \u4f7f\u7528   RoadRunner   \u521b\u5efa \u9053\u8def \u7f51\u7edc \uff0c \u7136\u540e \u901a\u8fc7   \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668   \u5c06 \u8d44\u6e90 \u6dfb\u52a0 \u5230 \u5730\u56fe \u4e2d \u3002   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u5927 \u5730\u56fe   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177   \u4f7f\u7528   RoadRunner   \u521b\u5efa \u8def\u7f51   \u5c06 \u8def\u7f51 \u5bfc\u5165   Carla   \u5bfc\u5165 \u8d44\u4ea7 \u5e76 \u5c06 \u5b83\u4eec \u6dfb\u52a0 \u5230 \u5730\u56fe   \u4ea4\u901a \u4ea4\u901a\u706f   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7   \u6750\u8d28   \u9053\u8def \u753b\u5bb6   \u4ec0\u4e48 \u662f \u9053\u8def \u753b\u5bb6 \uff1f   \u9053\u8def \u753b\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3001 \u4e3b \u6750\u8d28 \u548c \u6e32\u67d3 \u5bf9\u8c61   \u51c6\u5907 \u4e3b \u6750\u6599   \u63cf\u7ed8 \u9053\u8def   \u66f4\u65b0 \u8f66\u9053 \u7ebf \u5916\u89c2   \u6811\u6728 \u548c \u690d\u88ab   \u6811\u53f6 \u5de5\u5177   \u4e0b \u4e00\u6b65   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u8981 \u9075\u5faa \u672c \u6307\u5357 \uff0c \u60a8 \u9700\u8981 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \uff0c \u4ee5\u4fbf \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \u8bf7 \u9075\u5faa \u76f8\u5173 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u7684   \u6784\u5efa \u8bf4\u660e   \u3002 \u60a8 \u8fd8 \u9700\u8981   RoadRunner   \u7684 \u8bb8\u53ef \u526f\u672c \u3002 \u60a8 \u53ef\u80fd \u8fd8 \u9700\u8981   Maya \u3001 3DS   Max   \u6216   Blender   \u7b49 \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u6765 \u4e3a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u521b\u5efa \u4e09\u7ef4 \u8d44\u4ea7 \u3002 \u60a8 \u5e94\u8be5 \u786e\u4fdd \u5df2 \u5b8c\u6210 \u6784\u5efa   Carla   \u7684 \u6240\u6709 \u6b65\u9aa4 \u5e76 \u786e\u4fdd \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u6b63\u5728 \u8fd0\u884c \uff0c \u8fd9 \u53ef\u80fd \u9700\u8981 \u4e00\u4e9b \u65f6\u95f4 \u6765 \u6784\u5efa \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u3002 \u5982\u679c \u60a8 \u60f3 \u4e3a \u5730\u56fe \u521b\u5efa \u4e09\u7ef4 \u8d44\u4ea7 \uff0c \u5219 \u5e94 \u4f7f\u7528 \u9002\u5f53 \u7684 \u4e09\u7ef4 \u8bbe\u8ba1 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff0c \u4f8b\u5982   Blender \u3001 Maya \u3001 3DsMax   \u6216   Modo \u3002   \u5927 \u5730\u56fe   \u4ee5\u4e0b \u6587\u672c \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u521b\u5efa \u548c \u88c5\u9970 \u6807\u51c6 \u5730\u56fe \u7684 \u8fc7\u7a0b \u3002 \u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u5177\u6709 \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd \u3002 \u5927 \u5730\u56fe \u7684 \u6bd4\u4f8b \u6bd4 \u6807\u51c6 \u5730\u56fe \u66f4\u5927 \uff0c \u6700\u5927 \u53ef \u8fbe   100   km   2   \u3002 \u7531\u4e8e \u786c\u4ef6 \u9650\u5236 \uff0c \u5927 \u5730\u56fe \u7684 \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u6807\u51c6 \u5730\u56fe \u7565\u6709 \u4e0d\u540c \u7565\u6709\u4e0d\u540c \uff0c \u5373\u4f7f \u5728 \u9ad8\u7aef \u663e\u5361 \u4e2d \u4e5f \u662f \u5982\u6b64 \u3002 \u5927 \u5730\u56fe \u88ab \u5206\u5272 \u6210 \u56fe\u5757 \uff0c \u5e76\u4e14 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d\u4ec5 \u52a0\u8f7d \u7acb\u5373 \u9700\u8981 \u7684 \u56fe\u5757 \uff08 \u5373 \u6700 \u63a5\u8fd1 \u81ea\u6211 \u8f66\u8f86 \u7684 \u56fe\u5757 \uff09 \u3002 \u5176\u4ed6 \u56fe\u5757 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \uff0c \u76f4\u5230 \u9700\u8981 \u6570\u636e \u4e3a\u6b62 \u3002 \u8fd9 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u5b9e\u73b0   Carla   \u4eff\u771f \u7684 \u6700\u9ad8 \u6027\u80fd \u3002 \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u7684 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u7ec6\u8282 \u4e0e \u6784\u5efa \u5927 \u5730\u56fe \u65f6 \u7c7b\u4f3c \uff0c \u4f46 \u8fd8\u6709 \u4e00\u4e9b \u989d\u5916 \u7684 \u6b65\u9aa4 \u3002 \u8bf7 \u6309\u7167   \u672c \u6307\u5357   \u4e3a   Carla   \u6784\u5efa \u5927 \u5730\u56fe \u3002   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177   Carla   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5730\u56fe \u751f\u6210 \u5de5\u5177 \uff0c \u5b83 \u4ece   OpenStreetMap   \u83b7\u53d6 \u9053\u8def \u7f51\u7edc \u6570\u636e \uff0c \u5e76\u7528 \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u690d\u88ab \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5730 \u88c5\u9970 \u5730\u56fe \u3002 \u8bf7 \u5728   \u6b64\u5904   \u9605\u8bfb \u6709\u5173 \u5982\u4f55 \u4f7f\u7528 \u8be5 \u5de5\u5177 \u7684 \u4fe1\u606f \u3002   \u4f7f\u7528   RoadRunner   \u521b\u5efa \u8def\u7f51   \u6253\u5f00   RoadRunner   \u5e76 \u521b\u5efa \u4e00\u4e2a \u65b0 \u573a\u666f \u3002 \u9009\u62e9 \u9053\u8def \u89c4\u5212 \u5de5\u5177 ( Road   Plan   Tool ) \u5e76 \u5728 \u5de5\u4f5c \u533a\u4e2d   \u53f3\u952e   \u5355\u51fb \u4ee5 \u653e\u7f6e \u9053\u8def \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u63a7\u5236 \u63a7\u5236\u70b9 \u548c \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u63a7\u5236 \u63a7\u5236\u70b9 \u3002 \u5355\u51fb \u5e76 \u62d6\u52a8 \u9053\u8def \u5c3d\u5934 \u7684 \u7ea2\u70b9 \u4ee5 \u79fb\u52a8 \u548c \u5ef6\u957f \u9053\u8def \u3002   \u51fa\u4e8e \u672c \u6559\u7a0b \u7684 \u76ee\u7684 \uff0c \u6211\u4eec \u4f7f\u7528 \u4e2d\u95f4 \u6709 \u4e00\u4e2a \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u7684 \u7b80\u5355 \u692d\u5706 \u5706\u5f62 \u692d\u5706\u5f62 \u9053\u8def \u3002 \u8981 \u6784\u5efa \u66f4 \u9ad8\u7ea7 \u7684 \u7f51\u7edc \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Roadrunner   \u6587\u6863   \u3002   \u5728   RoadRunner   \u4e2d \u5236\u4f5c \u5730\u56fe \u540e \uff0c \u60a8 \u5c31 \u53ef\u4ee5 \u5c06 \u5176 \u5bfc\u51fa \u3002 \u8bf7 \u6ce8\u610f \uff0c   \u9053\u8def \u5e03\u5c40 \u5bfc\u51fa \u540e \u65e0\u6cd5 \u4fee\u6539   \u3002 \u5bfc\u51fa \u4e4b\u524d \uff0c \u8bf7 \u786e\u4fdd \uff1a   \u5730\u56fe \u4ee5   ( 0 , 0 )   \u4e3a \u4e2d\u5fc3 \uff0c \u4ee5 \u786e\u4fdd \u5730\u56fe \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6b63\u786e \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u5730\u56fe \u5b9a\u4e49 \u662f \u6b63\u786e \u7684 \u3002   \u5730\u56fe \u9a8c\u8bc1 \u662f \u6b63\u786e \u7684 \uff0c \u5bc6\u5207 \u5173\u6ce8 \u8fde\u63a5 \u548c \u51e0\u4f55 \u5f62\u72b6 \u3002   \u5730\u56fe \u51c6\u5907 \u597d\u540e \uff0c \u5355\u51fb   OpenDRIVE   Preview   Tool   \u6309\u94ae \u5373\u53ef \u53ef\u89c6 \u53ef\u89c6\u5316   OpenDRIVE   \u9053\u8def \u7f51\u7edc \u5e76 \u5bf9 \u6240\u6709 \u5185\u5bb9 \u8fdb\u884c \u6700\u540e \u4e00\u6b21 \u68c0\u67e5 \u3002   \u7b14\u8bb0   OpenDrive   Preview   Tool   \u53ef\u4ee5 \u66f4 \u8f7b\u677e \u5730 \u6d4b\u8bd5 \u5730\u56fe \u7684 \u5b8c\u6574 \u5b8c\u6574\u6027 \u3002 \u5982\u679c \u8fde\u63a5 \u6709 \u4efb\u4f55 \u9519\u8bef \uff0c \u5355\u51fb \u8bf7\u5355\u51fb   Maneuver   Tool   \u548c   Rebuild   Maneuver   Roads   \u3002   \u521b\u5efa \u6240 \u9700 \u7684 \u9053\u8def \u7f51\u7edc \u540e \uff0c \u5728   RoadRunner   \u83dc\u5355 \u83dc\u5355\u680f \u4e2d \u9009\u62e9   File   >   Export   >   Carla   Filmbox   ( . fbx ,   . xodr ,   . rrdata . xml )   \u5e76 \u5bfc\u51fa \u5230 \u9002\u5f53 \u7684 \u4f4d\u7f6e \u3002   RoadRunner   \u662f \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u7684 \u6700\u4f73 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u3002 \u8fd8\u6709 \u4e00\u4e9b \u66ff\u4ee3 \u65b9\u6848 \uff0c \u4f8b\u5982   OpenStreetMap   \uff0c \u4e13\u6ce8 \u4e8e \u4ece \u771f\u5b9e \u7684 \u9053\u8def \u5730\u56fe \u751f\u6210 \u5730\u56fe \u3002   TrueVision   \u8bbe\u8ba1 \u5668   RoadRunner   \u662f \u4e00\u6b3e \u9700\u8981   MATLAB   \u7684 \u4e13\u6709 \u8f6f\u4ef6 \u3002 \u5927\u5b66 \u7b49 \u4e00\u4e9b \u673a\u6784 \u53ef\u80fd \u4e0e   MathWorks   \u8fbe\u6210 \u4e86 \u534f\u8bae \uff0c \u4ee5\u4fbf \u67d0\u4e9b \u7528\u6237 \u53ef\u4ee5 \u83b7\u5f97   RoadRunner   \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u3002 \u5982\u679c \u60a8 \u6ca1\u6709 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u9884\u7b97 \uff0c RoadRunner   \u7684 \u4e00\u4e2a \u65b9\u4fbf \u7684 \u5f00\u6e90 \u66ff\u4ee3 \u65b9\u6848 \u662f   TrueVision   Designer   \u3002 \u6b64 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u5177\u6709 \u8bb8\u591a \u4e0e   RoadRunner   \u76f8\u540c \u7684 \u529f\u80fd \uff0c \u5982\u679c \u60a8 \u65e0\u6cd5 \u83b7\u5f97   RoadRunner   \u7684 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \uff0c \u8be5 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4f1a \u975e\u5e38 \u6709\u7528 \u3002   \u5c06 \u8def\u7f51 \u5bfc\u5165   Carla   Carla   \u9700\u8981 \u7684 \u91cd\u8981 \u5bfc\u51fa \u6587\u4ef6 \u662f   . xodr   \u6587\u4ef6 \u548c   . fbx   \u6587\u4ef6 \u3002 \u5c06 \u8fd9\u4e9b \u6587\u4ef6 \u590d\u5236 \u6216 \u79fb\u52a8 \u5230 \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u5b58\u50a8 \u5e93 \u76ee\u5f55 \u6839\u76ee\u5f55 \u5185 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u73b0\u5728 \u5728   Carla   \u76ee\u5f55 \u6e90\u76ee\u5f55 \u7684 \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e2d \u6253\u5f00 \u4e00\u4e2a \u7ec8\u7aef \u5e76 \u8fd0\u884c   make   import   .   \u8fd9\u4f1a \u5c06 \u9053\u8def \u7f51\u7edc \u5bfc\u5165   Carla \u3002   \u60a8 \u73b0\u5728 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u770b\u5230 \u65b0 \u5730\u56fe \u3002 \u5728   Carla   \u76ee\u5f55 \u6e90\u76ee\u5f55 \u7684 \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e0b \u8fd0\u884c   make   launch   \u4ee5 \u542f\u52a8 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \u60a8 \u73b0\u5728 \u5c06 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u770b\u5230 \u4e00\u4e2a \u540d\u4e3a   map _ package   \u7684 \u65b0 \u76ee\u5f55 \u3002 \u5728 \u6b64 \u76ee\u5f55   Content   >   map _ package   >   Maps   >   tutorial   \u4e2d \uff0c \u60a8 \u73b0\u5728 \u5c06 \u627e\u5230 \u60a8 \u7684 \u65b0 \u5730\u56fe \u3002   \u7b14\u8bb0   \u53ef\u4ee5 \u53c2\u8003   \u94fe\u63a5   \u901a\u8fc7 \u9f20\u6807 \u53f3\u952e \u7684 \u65b9\u5f0f \u76f4\u63a5 \u5bfc\u5165 \u3002   \u60a8 \u73b0\u5728 \u5df2\u7ecf \u521b\u5efa \u4e86 \u9053\u8def \u7f51\u7edc \uff0c \u8fd9\u662f \u5730\u56fe \u7684 \u57fa\u7840 \u3002   \u5bfc\u5165 \u8d44\u4ea7 \u5e76 \u5c06 \u5b83\u4eec \u6dfb\u52a0 \u5230 \u5730\u56fe   \u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u6709 \u4e86 \u9053\u8def \u7f51\u7edc \u4f5c\u4e3a \u5730\u56fe \u7684 \u57fa\u7840 \uff0c \u6211\u4eec \u73b0\u5728 \u60f3\u8981 \u4e3a \u5730\u56fe \u521b\u5efa \u4e00\u4e9b \u5185\u5bb9 \uff0c \u4f8b\u5982 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002 \u8fd9\u4e9b \u8d44\u6e90 \u53ef\u4ee5 \u4f7f\u7528 \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff08 \u4f8b\u5982   Autodesk   Maya \u3001 3DS   Max \u3001 Blender   \u6216 \u5177\u6709 \u9002\u5f53 \u5bfc\u51fa \u9009\u9879 \u7684 \u4efb\u4f55 \u5176\u4ed6 \u4e09\u7ef4 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff09 \u521b\u5efa \u3002 \u91cd\u8981 \u7684 \u662f \uff0c \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u81f3\u5c11 \u80fd\u591f \u5bfc\u51fa   . fbx   \u3002   \u5728   Carla   \u4e2d \u521b\u5efa \u8d44\u4ea7 \u9700\u8981 \u51e0\u4e2a \u5143\u7d20 \uff1a   \u7f51\u683c   -   \u4e00\u7ec4   3D   \u5750\u6807 \u9876\u70b9 \u548c \u5173\u8054 \u7684 \u8fde\u63a5 \u8fb9 \u3002   UV   \u8d34\u56fe   -   \u5c06 \u4e09\u7ef4 \u9876\u70b9 \u548c \u8fb9 \u6620\u5c04 \u5230 \u4e8c\u7ef4 \u7eb9\u7406 \u7a7a\u95f4 \uff0c \u4ee5 \u5c06 \u7eb9\u7406 \u4e0e \u4e09\u7ef4 \u4f4d\u7f6e \u8fdb\u884c \u5339\u914d \u3002   \u7eb9\u7406   -   \u5b9a\u4e49 \u4e09\u7ef4 \u5bf9\u8c61 \u8868\u9762 \u4e0a \u663e\u793a \u7684 \u989c\u8272 \u548c \u56fe\u6848 \u7684 \u4e8c\u7ef4 \u56fe\u50cf \u3002   \u6cd5\u7ebf \u8d34\u56fe   -   \u5b9a\u4e49 \u76ee\u6807 \u8868\u9762 \u6cd5\u7ebf \u65b9\u5411 \u7684 \u4e8c\u7ef4 \u56fe\u50cf \uff0c \u4ee5\u5411 \u76ee\u6807 \u8868\u9762 \u6dfb\u52a0 \u4e09\u7ef4 \u53d8\u5316 \u3002   ORM   \u8d34\u56fe   -   \u5b9a\u4e49 \u91d1\u5c5e \u5ea6 ( Metallicity ) \u3001 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 ( Roughness ) \u548c \u73af\u5883 \u73af\u5883\u5149 \u906e\u6321 ( Occlusion ) \u533a\u57df \u7684 \u8d34\u56fe   ORM   \u8d34\u56fe \u5229\u7528 \u6807\u51c6   RGBA   \u7f16\u7801 \u56fe\u50cf \u7684 \u901a\u9053 \u5bf9 \u91d1\u5c5e \u533a\u57df \u3001 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u548c \u73af\u5883 \u906e\u6321 \u7684 \u8d34\u56fe \u8fdb\u884c \u7f16\u7801 \u3002 \u5f53 \u6211\u4eec \u5728 \u8fd9\u91cc \u5b9a\u4e49 \u8d34\u56fe \u65f6 \uff0c \u7ea2\u8272 \u901a\u9053 \u5b9a\u4e49 \u91d1\u5c5e \u8d34\u56fe \uff0c \u7eff\u8272 \u901a\u9053 \u7eff\u8272\u901a\u9053 \u5b9a\u4e49 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \uff0c \u84dd\u8272 \u901a\u9053 \u5b9a\u4e49 \u73af\u5883 \u73af\u5883\u5149 \u906e\u6321 \u3002 \u8fd9\u4e9b \u8d34\u56fe \uff08 \u4ee5\u53ca \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u8d34\u56fe \u548c \u6cd5\u7ebf \u8d34\u56fe \uff09 \u53ef\u4ee5 \u4f7f\u7528   Adobe   Substance   3D   painter   \u7b49 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u521b\u5efa \u3002   \u4f7f\u7528 \u865a\u5e7b \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5728 \u67d0\u4e2a \u9002\u5f53 \u7684 \u4f4d\u7f6e \u521b\u5efa \u4e00\u4e2a \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u5728 \u6b64 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u53f3\u952e \u5355\u51fb \u5e76   Import   to   PATH / TO / FOLDER   \u5728 \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u83dc\u5355 \u9876\u90e8 \u9644\u8fd1 \u8fdb\u884c \u9009\u62e9 \uff0c \u4e5f \u53ef\u4ee5 \u5c06 \u6587\u4ef6 \u76f4\u63a5 \u62d6 \u653e\u5230 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u3002   \u6211\u4eec \u5c06 \u5bfc\u5165 \u4e00\u4e2a \u5305\u542b \u4ece   Blender   \u5bfc\u51fa \u7684 \u57fa\u7840 \u7f51\u683c \u548c   UV   \u8d34\u56fe \u7684   FBX   \u6587\u4ef6 \u3002   \u5728 \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u83dc\u5355 \u4e2d \uff0c \u5bf9\u4e8e   Normal   Import   Method   \u786e\u4fdd \u201c \u7f51\u683c \u201d \u90e8\u5206 \u9009\u62e9 \u4e86 \u201c \u5bfc\u5165 \u6cd5\u7ebf (   Import   Normals   ) \uff0c \u5e76\u4e14 \u5728 \u201c \u6750\u8d28 (   Material   ) \u201d \u90e8\u5206 \u4e2d \u9009\u62e9 \u4e86   Do   Not   Create   Material   \u3002 \u5728 \u201c \u6750\u8d28 \u201d \u90e8\u5206 \u4e2d \u53d6\u6d88 \u9009\u62e9 \uff0c \u56e0\u4e3a \u6211\u4eec \u5c06 \u624b\u52a8 \u5bfc\u5165 \u5b83\u4eec \u3002 \u5982\u679c \u60a8 \u60f3 \u4f7f\u7528   FBX   \u6587\u4ef6 \u4e2d \u5df2 \u5d4c\u5165 \u7684 \u67d0\u4e9b \u7eb9\u7406 \uff0c \u8fd9\u4e9b \u9009\u62e9 \u5c06\u4f1a \u6709\u6240 \u4e0d\u540c \u6709\u6240\u4e0d\u540c \u3002   \u9009\u62e9   Import   All   \u3002 \u5bfc\u5165 \u5b8c\u6210 \u540e \uff0c \u53cc\u51fb \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u663e\u793a \u7684 \u5bfc\u5165 \u8d44\u6e90 \u8fdb\u884c \u7f16\u8f91 \u3002   \u6211\u4eec \u73b0\u5728 \u5e94\u8be5 \u5bfc\u5165 \u7eb9\u7406 \u3001 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u989c\u8272 \u7684 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u7eb9\u7406 \u3001 \u6cd5\u7ebf \u8d34\u56fe \u548c   ORM   \u8d34\u56fe \u3002   \u901a\u8fc7 \u53cc\u51fb \u6253\u5f00   ORM   \u8d34\u56fe \u5e76 \u53d6\u6d88 \u9009\u62e9   sRGB   \u9009\u9879 \uff0c \u4ee5 \u786e\u4fdd \u6b63\u786e \u5e94\u7528 \u7eb9\u7406 \u3002   \u53f3\u952e \u5355\u51fb \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5e76 \u4ece \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   Material   \u3002 \u5c06 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u521b\u5efa \u65b0 \u6750\u6599 \u3002 \u53cc\u51fb \u8fdb\u884c \u7f16\u8f91 \u3002 \u6309\u4f4f   Shift   \u952e \u9009\u62e9 \u5bfc\u5165 \u7684 \u7eb9\u7406 \u5e76 \u5c06 \u5176 \u62d6 \u5230 \u6750\u8d28 \u7f16\u8f91 \u7a97\u53e3 \u4e2d \uff0c \u73b0\u5728 \u60a8 \u5c06 \u5728 \u6750\u8d28 \u8282\u70b9 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u83b7\u5f97   3   \u4e2a \u65b0 \u8282\u70b9 \u3002   \u73b0\u5728 \u6839\u636e \u4ee5\u4e0b \u89c4\u5219 \u8fde\u63a5 \u8282\u70b9 \uff1a   Diffuse   RGB   -- >   Base   Color   Normal   RGB   -- >   Normal   ORM   R   -- >   Ambient   occlusion   ORM   G   -- >   Roughness   ORM   B   -- >   Metallic   \u60a8 \u7684 \u6750\u8d28 \u8282\u70b9 \u56fe \u73b0\u5728 \u5e94\u8be5 \u4e0e \u6b64 \u7c7b\u4f3c \uff1a   \u4fdd\u5b58 \u6750\u8d28 \uff0c \u7136\u540e \u518d\u6b21 \u6253\u5f00 \u8d44\u6e90 \u5e76 \u5c06 \u6750\u8d28 \u62d6\u5165 \u6750\u8d28 \u69fd \u4e2d \u3002 \u60a8 \u7684 \u8d44\u6e90 \u73b0\u5728 \u5e94\u8be5 \u5df2 \u5b8c\u5168 \u7eb9\u7406 \u5316 \u3002   \u73b0\u5728 \u4fdd\u5b58 \u8d44\u4ea7 \uff0c \u5373\u53ef \u5728 \u5730\u56fe \u4e2d \u4f7f\u7528 \u3002 \u60a8 \u73b0\u5728 \u53ef\u4ee5 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u62d6\u52a8 \u8d44\u6e90 \u5e76 \u5c06 \u5176 \u653e\u5165 \u5730\u56fe \u4e2d \uff1a   \u73b0\u5728 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u5de5\u4f5c \u533a \u5de6\u4e0a \u4e0a\u89d2 \u5de6\u4e0a\u89d2 \u7684 \u201c \u4fdd\u5b58 \u5f53\u524d \u201d \u9009\u9879 \u4fdd\u5b58 \u5730\u56fe \uff0c \u5373\u53ef \u4f7f\u7528 \u3002 \u5f00\u59cb \u4eff\u771f \u3002   \u5730\u56fe \u4f5c\u8005 \u6307\u5357 \u7ed3\u675f \u5230\u6b64\u7ed3\u675f \u3002 \u73b0\u5728 \u60a8 \u77e5\u9053 \u5982\u4f55 \u521b\u5efa \u9053\u8def \u7f51\u7edc \u5e76 \u5bfc\u5165 \u4e09\u7ef4 \u8d44\u4ea7 \u4ee5 \u5728   Carla   \u4e2d \u4f7f\u7528 \u3002 \u60a8 \u73b0\u5728 \u53ef\u4ee5 \u9605\u8bfb \u5982\u4f55   \u6253\u5305 \u5730\u56fe \u4ee5 \u5728   Carla   \u72ec\u7acb \u7248\u672c \u4e2d \u4f7f\u7528   \u3002   \u4ea4\u901a \u4ea4\u901a\u706f   \u8981 \u5c06 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u6dfb\u52a0 \u5230 \u65b0 \u5730\u56fe \uff1a   1 .   \u4ece   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   ,   \u5bfc\u822a \u81f3   Content   >   Carla   >   Static   >   TrafficLight   >   StreetLights _ 01   \u3002 \u60a8 \u4f1a \u53d1\u73b0 \u51e0\u79cd \u4e0d\u540c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u84dd\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002   2 .   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u62d6 \u5230 \u573a\u666f \u4e2d \u5e76 \u5c06 \u5176 \u653e\u7f6e \u5728 \u6240 \u9700 \u4f4d\u7f6e \u3002 \u6309 \u952e\u76d8 \u4e0a \u7684 \u7a7a\u683c \u7a7a\u683c\u952e \u53ef \u5728 \u5b9a\u4f4d \u3001 \u65cb\u8f6c \u548c \u7f29\u653e \u5de5\u5177 \u4e4b\u95f4 \u5207\u6362 \u3002   3 .   \u901a\u8fc7 \u9009\u62e9 \u201c \u8be6\u7ec6 (   Details   ) \u201d   \u9762\u677f \u4e2d \u7684   BoxTrigger   \u7ec4\u4ef6 \u5e76 \u8c03\u6574   Transform   \u90e8\u5206 \u7684 \u503c \uff0c \u4e3a \u6bcf\u4e2a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u8c03\u6574   trigger   volume   \u3002 \u8fd9 \u5c06 \u786e\u5b9a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u5f71\u54cd \u8303\u56f4 \u3002   4 .   \u5bf9\u4e8e \u8def\u53e3 \uff0c \u5c06   BP _ TrafficLightGroup   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u62d6\u5165 \u5173\u5361 \u4e2d \u3002 \u901a\u8fc7 \u5c06 \u8def\u53e3 \u8def\u53e3\u5904 \u7684 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u6dfb\u52a0 \u5230 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \u7684 \u201c \u4ea4\u901a \u4ea4\u901a\u706f (   Traffic   Lights   ) \u201d \u6570\u7ec4 \uff0c \u5c06 \u5b83\u4eec \u5206\u914d \u7ed9 \u4ea4\u901a \u4ea4\u901a\u706f \u7ec4 \u3002   5 .   \u4ea4\u901a \u4ea4\u901a\u706f \u8ba1\u65f6 \u53ea\u80fd \u901a\u8fc7 Python   API   \u8fdb\u884c \u914d\u7f6e \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u6b64\u5904   \u7684 \u6587\u6863 \u4ee5 \u83b7\u53d6 \u66f4 \u591a \u4fe1\u606f \u3002   \u4f8b\u5982 \uff1a \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3001 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u548c \u8f6c\u5f2f \u505c\u8f66 \u3002   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7   \u8981 \u5c06 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u6dfb\u52a0 \u5230 \u65b0 \u5730\u56fe \uff1a   1 .   \u4ece   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \uff0c \u5bfc\u822a \u81f3   Content   >   Carla   >   Static   >   TrafficSign   \u3002 \u60a8 \u4f1a \u53d1\u73b0 \u51e0\u79cd \u4e0d\u540c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u84dd\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002   2 .   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u62d6 \u5230 \u573a\u666f \u4e2d \u5e76 \u5c06 \u5176 \u653e\u7f6e \u5728 \u6240 \u9700 \u4f4d\u7f6e \u3002 \u6309 \u952e\u76d8 \u4e0a \u7684 \u7a7a\u683c \u7a7a\u683c\u952e \u53ef \u5728 \u5b9a\u4f4d \u3001 \u65cb\u8f6c \u548c \u7f29\u653e \u5de5\u5177 \u4e4b\u95f4 \u5207\u6362 \u3002   3 .   \u901a\u8fc7 \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \u9009\u62e9   BoxTrigger   \u7ec4\u4ef6 \u5e76 \u8c03\u6574 \u201c \u53d8\u6362 (   Transform   ) \u201d \u90e8\u5206 \u4e2d \u7684 \u503c \uff0c \u8c03\u6574 \u6bcf\u4e2a \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u7684   trigger   volume   \u3002 \u8fd9 \u5c06 \u786e\u5b9a \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5f71\u54cd \u533a\u57df \u3002 \u5e76\u975e \u6240\u6709 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u90fd \u6709 \u89e6\u53d1 \u97f3\u91cf \u3002 \u6b64\u7c7b \u6807\u5fd7 \u5305\u62ec \u8ba9 \u884c \u6807\u5fd7 \u3001 \u505c\u8f66 \u6807\u5fd7 \u548c \u9650\u901f \u6807\u5fd7 \u3002   \u6750\u8d28   Carla   \u5185\u5bb9 \u5e93 \u62e5\u6709 \u5927\u91cf \u6709\u7528 \u7684 \u6750\u6599 \uff0c \u53ef \u968f\u65f6 \u7528\u4e8e \u66f4\u6539 \u5730\u56fe \u7684 \u5916\u89c2 \u3002 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u5bfc\u822a \u81f3   Carla   >   Static   >   GenericMaterials   \u3002 \u5728 \u8fd9\u91cc \u60a8 \u4f1a \u53d1\u73b0 \u8bb8\u591a \u53ef \u7528\u4e8e \u6539\u53d8 \u5730\u56fe \u5916\u89c2 \u7684 \u6750\u6599 \u3002   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u62d6 \u653e\u5230 \u5730\u56fe \u5143\u7d20 \u4e0a\u6765 \u5feb\u901f \u6d4b\u8bd5 \u6750\u8d28 \uff1a   \u9053\u8def \u753b\u5bb6   \u9053\u8def \u753b\u5bb6 \u662f \u4e00\u79cd \u53ef \u7528\u4e8e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u5916\u89c2 \u7684 \u5de5\u5177 \uff0c \u901a\u8fc7 \u9644\u52a0 \u7eb9\u7406 \u3001 \u8d34\u82b1 \u548c \u7f51\u683c \u6dfb\u52a0 \u989d\u5916 \u7684 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \u3002   \u4ec0\u4e48 \u662f \u9053\u8def \u753b\u5bb6 \uff1f   \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u662f \u4e00\u4e2a \u4f7f\u7528   OpenDRIVE   \u4fe1\u606f \u5feb\u901f \u7ed8\u5236 \u9053\u8def \u7684 \u84dd\u56fe \u3002 \u5b83 \u91c7\u7528 \u4e3b \u6750\u8d28 \u5e76 \u5c06 \u5176 \u5e94\u7528 \u5230 \u9053\u8def \u7684 \u6e32\u67d3 \u76ee\u6807 \u4ee5 \u7528\u4f5c \u753b\u5e03 \u3002 \u4e3b \u6750\u8d28 \u7531 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u6750\u8d28 \u7ec4\u6210 \uff0c \u8fd9\u4e9b \u6750\u8d28 \u53ef\u4ee5 \u4f7f\u7528 \u753b\u7b14 \u6df7\u5408 \u5e76 \u7528\u4f5c \u8499\u7248 \u3002 \u65e0\u9700 \u5e94\u7528 \u5149\u5ea6 \u6d4b\u5b9a \u6280\u672f \uff0c \u4e5f \u65e0\u9700 \u8003\u8651 \u51e0\u4f55 \u51e0\u4f55\u4f53 \u7684   UV \u3002   \u9053\u8def \u753b\u5bb6 \u4f7f\u7528   OpenDRIVE   \u4fe1\u606f \u6765 \u6cb9\u6f06 \u9053\u8def \u3002 \u786e\u4fdd \u786e\u4fdd\u60a8 \u7684   . xodr   \u6587\u4ef6 \u4e0e \u5730\u56fe \u540c\u540d \uff0c \u8fd9\u6837 \u624d\u80fd \u6b63\u5e38 \u5de5\u4f5c \u3002   \u5efa\u7acb \u9053\u8def \u753b\u5bb6 \u3001 \u638c\u63e1 \u6750\u8d28 \u548c \u6e32\u67d3 \u5bf9\u8c61   1 .   \u521b\u5efa   RoadPainter   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Content   >   Carla   >   Blueprints   >   LevelDesign   \u3002   \u5c06   RoadPainter   \u62d6\u5165 \u573a\u666f \u4e2d \u3002   2 .   \u521b\u5efa \u6e32\u67d3 \u76ee\u6807 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \uff0c \u5bfc\u822a \u81f3   Content   >   Carla   >   Blueprints   >   LevelDesign   >   RoadPainterAssets   .   \u53f3\u952e \u5355\u51fb   RenderTarget   \u6587\u4ef6 \u5e76 \u9009\u62e9   Duplicate   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ RenderTarget   \u3002   3 .   \u521b\u5efa \u4e3b \u6750\u8d28 \u5b9e\u4f8b \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Game   >   Carla   >   Static   >   GenericMaterials   >   RoadPainterMaterials   .   \u53f3\u952e \u5355\u51fb   M _ RoadMaster   \u5e76 \u9009\u62e9   Create   Material   Instance   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ RoadMaster   \u3002   4 .   \u91cd\u65b0 \u6821\u51c6 \u201c \u5730\u56fe \u5c3a\u5bf8 \u201d (   Map   Size   ( Cm )   )   \uff0c \u4f7f \u5176 \u7b49\u4e8e \u5730\u56fe \u7684 \u5b9e\u9645 \u5c3a\u5bf8 \u3002   \u9009\u62e9   RoadPainter   \u573a\u666f \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8f6c \u5230 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d   \u9762\u677f \u5e76 \u6309   Z - Size   \u6309\u94ae \u3002   \u60a8 \u5c06 \u770b\u5230 \u201d \u5730\u56fe \u5c3a\u5bf8   ( Cm ) (   Map   Size   ( Cm )   ) \u201c \u4e2d \u7684 \u503c \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002   5 .   \u540c\u6b65   RoadPainter   \u548c   Tutorial _ RoadMaster   \u4e4b\u95f4 \u7684 \u5730\u56fe \u5c3a\u5bf8 \u3002   \u5728   _ \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 _ \u4e2d \uff0c \u6253\u5f00   Tutorial _ RoadMaster   \u3002   \u590d\u5236 \u4e0a \u4e00\u6b65 \u4e2d   Map   Size   ( Cm )   \u7684 \u503c \uff0c \u5e76 \u5c06 \u5176 \u7c98\u8d34 \u5230   Tutorial _ RoadMaster   \u7a97\u53e3 \u4e2d \u7684   Global   Scalar   Parameter   Values   - >   Map   units   ( CM )   \u3002   \u70b9\u51fb \u4fdd\u5b58 \u3002   6 .   \u521b\u5efa \u9053\u8def \u753b\u5bb6 \u548c \u4e3b \u6750\u8d28 \u4e4b\u95f4 \u7684 \u901a\u4fe1 \u94fe\u63a5 \u3002   Tutorial _ RenderTarget   \u5c06 \u662f \u9053\u8def \u753b\u5bb6 \u548c   Tutorial _ RoadMaster   \u4e4b\u95f4 \u7684 \u901a\u4fe1 \u7ebd\u5e26 \u3002   \u5728   Tutorial _ RoadMaster   \u7a97\u53e3 \u4e2d \uff0c \u5c06   Tutorial _ RenderTarget   \u5e94\u7528 \u4e8e   Global   Texture   Parameter   Values   - >   Texture   Mask   \u3002   \u4fdd\u5b58 \u5e76 \u5173\u95ed \u3002   \u5728 \u4e3b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \uff0c \u9009\u62e9 \u9053\u8def \u753b\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8f6c \u5230 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u5e76 \u5c06   Tutorial _ RenderTarget   \u5e94\u7528 _ Paint   - >   Render   Target _   \u3002   \u51c6\u5907 \u4e3b \u6750\u8d28   \u60a8 \u521b\u5efa \u7684   Tutorial _ RoadMaster   \u6750\u8d28 \u5305\u542b \u57fa\u7840 \u6750\u8d28 \u3001 \u989d\u5916 \u6750\u8d28 \u4fe1\u606f \u4ee5\u53ca \u5c06 \u901a\u8fc7 \u60a8 \u7684   Tutorial _ RenderTarget   \u3002 \u60a8 \u53ef\u4ee5 \u914d\u7f6e \u4e00\u79cd \u57fa\u7840 \u6750\u8d28 \u548c \u6700 \u591a \u4e09\u79cd \u9644\u52a0 \u6750\u8d28 \u3002   \u8981 \u914d\u7f6e \u6750\u6599 \uff0c \u8bf7 \u53cc\u51fb \u8be5   Tutorial _ RoadMaster   \u6587\u4ef6 \u3002 \u5728 \u51fa\u73b0 \u7684 \u7a97\u53e3 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u6839\u636e \u9700\u8981 \u4e3a \u6bcf\u79cd \u6750\u6599 \u9009\u62e9 \u548c \u8c03\u6574 \u4ee5\u4e0b \u503c \uff1a   \u4eae\u5ea6 ( Brightness )   \u8272\u8c03 ( Hue )   \u9971\u548c \u9971\u548c\u5ea6 ( Saturation )   AO   \u5f3a\u5ea6 ( Intensity )   \u6cd5\u7ebf \u8d34\u56fe \u5f3a\u5ea6 ( NormalMap   Intensity )   \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u5bf9\u6bd4 ( Roughness   Contrast )   \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u5f3a\u5ea6 ( Roughness   Intensity )   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u9009\u62e9 \u4ee5\u4e0b \u503c \u5e76 \u5728 \u641c\u7d22 \u6846\u4e2d \u641c\u7d22 \u7eb9\u7406 \u6765 \u66f4\u6539 \u6bcf\u79cd \u6750\u8d28 \u7684 \u7eb9\u7406 \uff1a   Diffuse   Normal   ORMH   \u63a2\u7d22   Game   >   Carla   >   Static   >   GenericMaterials   >   Asphalt   >   Textures   \u4e2d \u53ef\u7528 \u7684 \u4e00\u4e9b   Carla   \u7eb9\u7406 \u3002   \u63cf\u7ed8 \u9053\u8def   1 .   \u5728 \u9053\u8def \u753b\u5bb6 \u548c \u9053\u8def \u4e4b\u95f4 \u521b\u5efa \u94fe\u63a5 \u3002   \u5728 \u4e3b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \uff0c \u5728   World   Outliner   \u641c\u7d22 \u6846\u4e2d \u8fdb\u884c   Road _ Road   \u7684 \u641c\u7d22 \u3002   \u6309   Ctrl   +   A   \u9009\u62e9 \u6240\u6709 \u9053\u8def \u3002   \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Materials   \u90e8\u5206 \u5e76 \u7ed9   Element   0   \u3001   Element   1   \u3001   Element   2   \u548c   Element   3   \u5e94\u7528   Tutorial _ RoadMaster   \u3002   2 .   \u9009\u62e9 \u8981 \u5b9a\u5236 \u7684 \u6750\u8d28 \u3002   \u6211\u4eec \u6dfb\u52a0 \u7684 \u6bcf\u79cd \u6750\u8d28   Tutorial _ RoadMaster   \u90fd \u5355\u72ec \u5e94\u7528 \u4e8e \u9053\u8def \uff0c \u5e76 \u4f7f\u7528 \u753b\u7b14 \u5de5\u5177 \u914d\u7f6e \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u3002 \u8981 \u5e94\u7528 \u548c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6750\u8d28 \uff1a   \u9009\u62e9 \u9053\u8def \u753b\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d   \u9762\u677f \u4e2d \uff0c \u5728   Mask   Color   \u4e0b\u62c9 \u83dc\u5355 \u4e0b\u62c9\u83dc\u5355 \u4e2d \u9009\u62e9 \u8981 \u4f7f\u7528 \u7684 \u6750\u8d28 \u3002   3 .   \u8bbe\u7f6e \u753b\u7b14 \u548c \u6a21\u677f \u53c2\u6570 \u3002   GenericMaterials / RoadStencil / Alphas   \u4e2d\u6709 \u591a\u79cd \u6a21\u677f \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002 \u6a21\u677f \u7528\u4e8e \u6839\u636e \u60a8 \u7684 \u9700\u8981 \u7ed8\u5236 \u9053\u8def \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u503c \u8fdb\u884c \u8c03\u6574 \uff1a   Stencil   size   \u2014   \u753b\u7b14 \u7684 \u5c3a\u5bf8 \u3002   Brush   strength   \u2014   \u8f6e\u5ed3 \u7684 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u3002   Spacebeween   Brushes   \u2014   \u7b14\u5212 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   Max   Jitter   \u2014   \u7b14\u5212 \u4e4b\u95f4 \u753b\u7b14 \u7684 \u5927\u5c0f \u53d8\u5316 \u3002   Stencil   \u2014   \u8981 \u4f7f\u7528 \u7684 \u753b\u7b14 \u3002   Rotation   \u2014   \u5e94\u7528 \u4e8e \u7b14\u753b \u7684 \u65cb\u8f6c \u3002   \u5237\u5b50 \u9762\u677f \u3002   \u4e0d\u540c \u7c7b\u578b \u7684 \u5237\u5b50 \u3002   4 .   \u5c06 \u6bcf\u79cd \u6750\u8d28 \u6d82\u62b9 \u5230 \u9053\u8def \u7684 \u6240 \u9700 \u90e8\u5206 \u3002   \u901a\u8fc7 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u7684 \u201c \u9ed8\u8ba4 (   Default   ) \u201d \u90e8\u5206 \u4e2d \u7684 \u6309\u94ae \u9009\u62e9 \u5e94\u7528 \u6240 \u9009 \u6750\u8d28 \u7684 \u4f4d\u7f6e \uff1a   Paint   all   roads   \u2014   \u7c89\u5237 \u6240\u6709 \u9053\u8def \u3002   Paint   by   actor   \u2014   \u7ed8\u753b \u7279\u5b9a \u7684 \u3001 \u9009\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Paint   over   circle   \u2014   \u4f7f\u7528 \u5706\u5f62 \u56fe\u6848 \u8fdb\u884c \u7ed8\u5236 \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63d0\u4f9b \u53d8\u5316 \u3002   Paint   over   square   \u2014   \u4f7f\u7528 \u6b63\u65b9 \u65b9\u5f62 \u6b63\u65b9\u5f62 \u56fe\u6848 \u8fdb\u884c \u7ed8\u5236 \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63d0\u4f9b \u53d8\u5316 \u3002   \u6b64 \u90e8\u5206 \u8fd8 \u5305\u542b \u7528\u4e8e \u5220\u9664 \u5df2 \u5e94\u7528 \u66f4\u6539 \u7684 \u9009\u9879 \u3002   Clear   all   \u2014   \u64e6\u9664 \u6240\u6709 \u7ed8\u5236 \u7684 \u6750\u8d28 \u3002   Clear   materials   \u2014   \u5220\u9664 \u5f53\u524d \u6d3b\u52a8 \u7684 \u6750\u8d28 \u3002   Clear   material   by   actor   \u2014   \u5220\u9664 \u6700 \u63a5\u8fd1 \u6240 \u9009 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6750\u8d28 \u3002   Different   painting   and   erasing   options .   5 . \u6dfb\u52a0 \u8d34\u82b1 \u548c \u7f51\u683c \u3002   \u60a8 \u53ef\u4ee5 \u5728   Content   >   Carla   Static   >   Decals   \u548c   Content   >   Carla   >   Static   \u4e2d \u63a2\u7d22 \u53ef\u7528 \u7684 \u8d34\u82b1 \u548c \u7f51\u683c \u3002 \u901a\u8fc7 \u6269\u5c55 \u5e76 \u6dfb\u52a0 \u5230   Decals   Spawn   \u548c   Meshes   Spawn   \u6570\u7ec4 \uff0c \u5c06 \u5b83\u4eec \u6dfb\u52a0 \u5230 \u9053\u8def \u7ed8\u5236 \u5668\u4e2d \u3002 \u5bf9\u4e8e \u4e00\u9879 \u6bcf\u4e00\u9879 \uff0c \u60a8 \u90fd \u53ef\u4ee5 \u914d\u7f6e \u4ee5\u4e0b \u53c2\u6570 \uff1a   Number   of   Decals / Meshes   -   \u8981 \u7ed8\u5236 \u7684 \u6bcf\u4e2a \u8d34\u82b1 \u6216 \u7f51\u683c \u7684 \u6570\u91cf \u3002   Decal / Mesh   Scale   \u2014   \u6bcf\u4e2a \u8f74 \u7684 \u8d34\u82b1 / \u7f51\u683c \u6bd4\u4f8b \u3002   Fixed   Decal / Mesh   Offset   \u2014   \u6bcf\u4e2a \u8f74 \u4e0e \u8f66\u9053 \u4e2d\u5fc3 \u7684 \u504f\u5dee \u3002   Random   Offset   \u2014   \u6bcf\u4e2a \u8f74 \u4e0e \u8f66\u9053 \u4e2d\u5fc3 \u7684 \u6700\u5927 \u504f\u5dee \u3002   Decal / Mesh   Random   Yaw   \u2014   \u6700\u5927 \u968f\u673a \u504f\u822a \u65cb\u8f6c \u3002   Decal / Mesh   Min   Scale   \u2014   \u5e94\u7528 \u4e8e \u8d34\u82b1 / \u7f51\u683c \u7684 \u6700\u5c0f \u968f\u673a \u6bd4\u4f8b \u3002   Decal / Mesh   Max   Scale   \u2014   \u5e94\u7528 \u4e8e \u8d34\u82b1 / \u7f51\u683c \u7684 \u6700\u5927 \u968f\u673a \u6bd4\u4f8b \u3002   \u8d34\u82b1 \u548c \u7f51\u683c \u9762\u677f \u3002   \u914d\u7f6e \u597d \u7f51\u683c \u548c \u8d34\u82b1 \u540e \uff0c \u901a\u8fc7 \u6309   Spawn   decals   \u548c\u751f   Spawn   meshes   \u3002   \u7b14\u8bb0   \u786e\u4fdd \u7f51\u683c \u548c \u8d34\u82b1 \u6ca1\u6709 \u542f\u7528 \u78b0\u649e \uff0c \u4ee5\u514d \u5e72\u6270 \u9053\u8def \u4e0a \u7684 \u6c7d\u8f66 \u5e76 \u5c06 \u4efb\u4f55 \u8fb9\u754c \u6846 \u964d\u4f4e \u5230 \u9053\u8def \u6c34\u5e73 \u3002   7 .   \u5c1d\u8bd5 \u83b7\u5f97 \u60a8 \u60f3\u8981 \u7684 \u5916\u89c2 \u3002   \u5c1d\u8bd5 \u4e0d\u540c \u7684 \u6750\u8d28 \u3001 \u7eb9\u7406 \u3001 \u8bbe\u7f6e \u3001 \u8d34\u82b1 \u548c \u7f51\u683c \u4ee5 \u83b7\u5f97 \u60a8 \u60f3\u8981 \u7684 \u5916\u89c2 \u3002 \u4e0b\u9762 \u662f \u4e00\u4e9b \u793a\u4f8b \u56fe\u50cf \uff0c \u663e\u793a \u4e86 \u5728 \u7ed8\u5236 \u6bcf\u79cd \u6750\u8d28 \u7684 \u8fc7\u7a0b \u4e2d \u9053\u8def \u5916\u89c2 \u5982\u4f55 \u53d8\u5316 \u3002   \u57fa\u7840 \u9053\u8def \u6750\u6599 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   1   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   2   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   3   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u8d34\u82b1 \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u7f51\u683c \u540e \u7684 \u793a\u4f8b \u3002   \u66f4\u65b0 \u8f66\u9053 \u7ebf \u5916\u89c2   \u7ed8\u5236 \u9053\u8def \u540e \uff0c \u60a8 \u53ef\u4ee5 \u6309\u7167 \u4ee5\u4e0b \u6b65\u9aa4 \u66f4\u65b0 \u8f66\u9053 \u7ebf \u7684 \u5916\u89c2 \uff1a   1 .   \u590d\u5236 \u4e3b \u6750\u6599 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Game   >   Carla   >   Static   >   GenericMaterials   >   RoadPainterMaterials   \u3002   \u53f3\u952e \u5355\u51fb   Tutorial _ RoadMaster   \u5e76 \u9009\u62e9   Create   Material   Instance   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ LaneMarkings   \u3002   2 .   \u914d\u7f6e \u8f66\u9053 \u7ebf \u6750\u8d28 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u53cc\u51fb   Tutorial _ LaneMarkings   \u3002   \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Global   Static   Switch   Parameter   Values   \u5206 \uff0c \u7136\u540e \u9009\u4e2d   LaneMark   \u5de6\u4fa7 \u548c \u53f3\u4fa7 \u7684 \u6846 \u3002   \u8f6c \u5230   Texture   \u90e8\u5206 \u5e76 \u9009\u4e2d   LaneColor   \u548c   Uv   Size   \u590d\u9009 \u9009\u6846 \u590d\u9009\u6846 \u3002   \u5728   LaneColor   \u4e2d \u9009\u62e9 \u60a8 \u559c\u6b22 \u7684 \u8f66\u9053 \u6807\u8bb0 \u989c\u8272 \u3002   Save   \u5e76 \u5173\u95ed \u3002   3 .   \u9009\u62e9 \u8f66\u9053 \u7ebf \u7f51\u683c \u3002   \u5c06 \u6750\u6599 \u62d6\u5230 \u60a8 \u60f3\u8981 \u7740\u8272 \u7684 \u8f66\u9053 \u7ebf\u4e0a \u3002 \u5982\u679c \u9700\u8981 \uff0c \u5bf9 \u4e0d\u540c \u989c\u8272 \u7684 \u8f66\u9053 \u7ebf \u91cd\u590d \u6574\u4e2a \u8fc7\u7a0b \u3002   \u6811\u6728 \u548c \u690d\u88ab   Carla   \u5185\u5bb9 \u5e93 \u62e5\u6709 \u4e00\u5957 \u5168\u9762 \u7684 \u690d\u88ab \u84dd\u56fe \uff0c \u4f9b \u60a8 \u4e3a \u5730\u56fe \u7684 \u8d8a\u91ce \u533a\u57df \uff08 \u5982 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u516c\u56ed \u3001 \u5c71\u5761 \u3001 \u7530\u91ce \u548c \u68ee\u6797 \uff09 \u589e\u6dfb \u66f4 \u591a \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \u3002   \u5bfc\u822a \u5230   Carla   \u5185\u5bb9 \u5e93\u4e2d \u7684 \u690d\u88ab \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff1a   Carla   >   Static   >   Visitation   \u3002 \u60a8 \u4f1a \u627e\u5230 \u591a\u79cd \u6811\u6728 \u3001 \u704c\u6728 \u6728\u4e1b \u704c\u6728\u4e1b \u7684 \u84dd\u56fe \u3002 \u60a8 \u53ef\u4ee5 \u5c06 \u8fd9\u4e9b \u5143\u7d20 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u62d6 \u5230 \u5730\u56fe \u4e2d \u3002   \u6811\u53f6 \u5de5\u5177   \u5bf9\u4e8e \u6811\u6728 \u548c \u690d\u88ab \u6765\u8bf4 \uff0c \u4e00\u4e2a \u6709\u7528 \u7684 \u5de5\u5177 \u662f   \u865a\u5e7b \u5f15\u64ce \u6811\u53f6 \u5de5\u5177   \u3002 \u901a\u8fc7 \u4ece \u5de5\u5177 \u5de5\u5177\u680f \u7684   mode   \u4e0b \u62c9 \u5217\u8868 \u4e2d \u9009\u62e9 \u6765 \u6fc0\u6d3b \u8be5 \u5de5\u5177 \u3002   \u5c06 \u6240 \u9700 \u7684 \u6811\u53f6 \u9879\u76ee \u62d6 \u5230 \u6807\u6709   +   Drop   Foliage   Here   \u7684 \u6846\u4e2d \u3002 \u5728 \u5bc6\u5ea6 \u5b57\u6bb5 \u4e2d \u8bbe\u7f6e \u9002\u5f53 \u7684 \u5bc6\u5ea6 \uff0c \u7136\u540e \u4f7f\u7528 \u6811\u53f6 \u9879\u76ee \u7ed8\u5236 \u5230 \u5730\u56fe \u4e0a \u3002   \u4e0b \u4e00\u6b65   \u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u65bd \u5b50 \u5173\u5361 \u3002 .   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u5185\u5bb9 \u521b\u4f5c   -   \u5730\u56fe"},{"location":"tuto_content_authoring_maps/#-","text":"Carla   \u63d0\u4f9b \u4e86 \u5927\u91cf \u7684 \u8d44\u6e90 \uff0c \u53ef \u7528\u4e8e \u521b\u5efa \u5f00\u7bb1 \u5373\u7528 \u7684 \u9a7e\u9a76 \u4eff\u771f \u3002 \u7136\u800c \uff0c Carla   \u7684 \u771f\u6b63 \u529b\u91cf \u5728\u4e8e \u5176 \u5168\u9762 \u7684 \u6269\u5c55 \u5c55\u6027 \u6269\u5c55\u6027 \u53ef\u6269\u5c55\u6027 \uff0c \u5141\u8bb8 \u7528\u6237 \u521b\u5efa \u5b8c\u5168 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u73af\u5883 \uff0c \u5176\u4e2d \u5305\u542b \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u957f\u51f3 \u3001 \u5783\u573e \u5783\u573e\u6876 \u3001 \u96d5\u50cf \u3001 \u8def\u706f \u548c \u516c\u4ea4 \u8f66\u7ad9 \u516c\u4ea4\u8f66 \u516c\u4ea4\u8f66\u7ad9 \u7b49 \u5b9a\u5236 \u8d44\u4ea7 \u3002 \u4e4b\u524d \u7a33\u5b9a \u7684   \u5730\u56fe \u5b9a\u5236 \u65b9\u6cd5   \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u4ecb\u7ecd \u521b\u5efa \u4e0e   Carla   \u4e00\u8d77 \u4f7f\u7528 \u7684 \u7b80\u5355 \u5730\u56fe \u7684 \u8fc7\u7a0b \u3002 \u6211\u4eec \u5c06 \u4f7f\u7528 \u4e24\u4e2a \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u6765 \u521b\u5efa \u5730\u56fe \u7684 \u5404\u4e2a \u90e8\u5206 \u3002 \u6211\u4eec \u5c06 \u4f7f\u7528   RoadRunner   \u521b\u5efa \u9053\u8def \u7f51\u7edc \uff0c \u7136\u540e \u901a\u8fc7   \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668   \u5c06 \u8d44\u6e90 \u6dfb\u52a0 \u5230 \u5730\u56fe \u4e2d \u3002   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u5927 \u5730\u56fe   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177   \u4f7f\u7528   RoadRunner   \u521b\u5efa \u8def\u7f51   \u5c06 \u8def\u7f51 \u5bfc\u5165   Carla   \u5bfc\u5165 \u8d44\u4ea7 \u5e76 \u5c06 \u5b83\u4eec \u6dfb\u52a0 \u5230 \u5730\u56fe   \u4ea4\u901a \u4ea4\u901a\u706f   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7   \u6750\u8d28   \u9053\u8def \u753b\u5bb6   \u4ec0\u4e48 \u662f \u9053\u8def \u753b\u5bb6 \uff1f   \u9053\u8def \u753b\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3001 \u4e3b \u6750\u8d28 \u548c \u6e32\u67d3 \u5bf9\u8c61   \u51c6\u5907 \u4e3b \u6750\u6599   \u63cf\u7ed8 \u9053\u8def   \u66f4\u65b0 \u8f66\u9053 \u7ebf \u5916\u89c2   \u6811\u6728 \u548c \u690d\u88ab   \u6811\u53f6 \u5de5\u5177   \u4e0b \u4e00\u6b65","title":"\u5185\u5bb9 \u521b\u4f5c   -   \u5730\u56fe"},{"location":"tuto_content_authoring_maps/#_1","text":"\u8981 \u9075\u5faa \u672c \u6307\u5357 \uff0c \u60a8 \u9700\u8981 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \uff0c \u4ee5\u4fbf \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \u8bf7 \u9075\u5faa \u76f8\u5173 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u7684   \u6784\u5efa \u8bf4\u660e   \u3002 \u60a8 \u8fd8 \u9700\u8981   RoadRunner   \u7684 \u8bb8\u53ef \u526f\u672c \u3002 \u60a8 \u53ef\u80fd \u8fd8 \u9700\u8981   Maya \u3001 3DS   Max   \u6216   Blender   \u7b49 \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u6765 \u4e3a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u521b\u5efa \u4e09\u7ef4 \u8d44\u4ea7 \u3002 \u60a8 \u5e94\u8be5 \u786e\u4fdd \u5df2 \u5b8c\u6210 \u6784\u5efa   Carla   \u7684 \u6240\u6709 \u6b65\u9aa4 \u5e76 \u786e\u4fdd \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u6b63\u5728 \u8fd0\u884c \uff0c \u8fd9 \u53ef\u80fd \u9700\u8981 \u4e00\u4e9b \u65f6\u95f4 \u6765 \u6784\u5efa \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u3002 \u5982\u679c \u60a8 \u60f3 \u4e3a \u5730\u56fe \u521b\u5efa \u4e09\u7ef4 \u8d44\u4ea7 \uff0c \u5219 \u5e94 \u4f7f\u7528 \u9002\u5f53 \u7684 \u4e09\u7ef4 \u8bbe\u8ba1 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff0c \u4f8b\u5982   Blender \u3001 Maya \u3001 3DsMax   \u6216   Modo \u3002","title":"\u5148\u51b3\u6761\u4ef6  "},{"location":"tuto_content_authoring_maps/#_2","text":"\u4ee5\u4e0b \u6587\u672c \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u521b\u5efa \u548c \u88c5\u9970 \u6807\u51c6 \u5730\u56fe \u7684 \u8fc7\u7a0b \u3002 \u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u5177\u6709 \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd \u3002 \u5927 \u5730\u56fe \u7684 \u6bd4\u4f8b \u6bd4 \u6807\u51c6 \u5730\u56fe \u66f4\u5927 \uff0c \u6700\u5927 \u53ef \u8fbe   100   km   2   \u3002 \u7531\u4e8e \u786c\u4ef6 \u9650\u5236 \uff0c \u5927 \u5730\u56fe \u7684 \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u6807\u51c6 \u5730\u56fe \u7565\u6709 \u4e0d\u540c \u7565\u6709\u4e0d\u540c \uff0c \u5373\u4f7f \u5728 \u9ad8\u7aef \u663e\u5361 \u4e2d \u4e5f \u662f \u5982\u6b64 \u3002 \u5927 \u5730\u56fe \u88ab \u5206\u5272 \u6210 \u56fe\u5757 \uff0c \u5e76\u4e14 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d\u4ec5 \u52a0\u8f7d \u7acb\u5373 \u9700\u8981 \u7684 \u56fe\u5757 \uff08 \u5373 \u6700 \u63a5\u8fd1 \u81ea\u6211 \u8f66\u8f86 \u7684 \u56fe\u5757 \uff09 \u3002 \u5176\u4ed6 \u56fe\u5757 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \uff0c \u76f4\u5230 \u9700\u8981 \u6570\u636e \u4e3a\u6b62 \u3002 \u8fd9 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u5b9e\u73b0   Carla   \u4eff\u771f \u7684 \u6700\u9ad8 \u6027\u80fd \u3002 \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u7684 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u7ec6\u8282 \u4e0e \u6784\u5efa \u5927 \u5730\u56fe \u65f6 \u7c7b\u4f3c \uff0c \u4f46 \u8fd8\u6709 \u4e00\u4e9b \u989d\u5916 \u7684 \u6b65\u9aa4 \u3002 \u8bf7 \u6309\u7167   \u672c \u6307\u5357   \u4e3a   Carla   \u6784\u5efa \u5927 \u5730\u56fe \u3002","title":"\u5927 \u5730\u56fe  "},{"location":"tuto_content_authoring_maps/#_3","text":"Carla   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5730\u56fe \u751f\u6210 \u5de5\u5177 \uff0c \u5b83 \u4ece   OpenStreetMap   \u83b7\u53d6 \u9053\u8def \u7f51\u7edc \u6570\u636e \uff0c \u5e76\u7528 \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u690d\u88ab \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5730 \u88c5\u9970 \u5730\u56fe \u3002 \u8bf7 \u5728   \u6b64\u5904   \u9605\u8bfb \u6709\u5173 \u5982\u4f55 \u4f7f\u7528 \u8be5 \u5de5\u5177 \u7684 \u4fe1\u606f \u3002","title":"\u6570\u5b57 \u5b6a\u751f \u5de5\u5177  "},{"location":"tuto_content_authoring_maps/#roadrunner","text":"\u6253\u5f00   RoadRunner   \u5e76 \u521b\u5efa \u4e00\u4e2a \u65b0 \u573a\u666f \u3002 \u9009\u62e9 \u9053\u8def \u89c4\u5212 \u5de5\u5177 ( Road   Plan   Tool ) \u5e76 \u5728 \u5de5\u4f5c \u533a\u4e2d   \u53f3\u952e   \u5355\u51fb \u4ee5 \u653e\u7f6e \u9053\u8def \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u63a7\u5236 \u63a7\u5236\u70b9 \u548c \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u63a7\u5236 \u63a7\u5236\u70b9 \u3002 \u5355\u51fb \u5e76 \u62d6\u52a8 \u9053\u8def \u5c3d\u5934 \u7684 \u7ea2\u70b9 \u4ee5 \u79fb\u52a8 \u548c \u5ef6\u957f \u9053\u8def \u3002   \u51fa\u4e8e \u672c \u6559\u7a0b \u7684 \u76ee\u7684 \uff0c \u6211\u4eec \u4f7f\u7528 \u4e2d\u95f4 \u6709 \u4e00\u4e2a \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u7684 \u7b80\u5355 \u692d\u5706 \u5706\u5f62 \u692d\u5706\u5f62 \u9053\u8def \u3002 \u8981 \u6784\u5efa \u66f4 \u9ad8\u7ea7 \u7684 \u7f51\u7edc \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Roadrunner   \u6587\u6863   \u3002   \u5728   RoadRunner   \u4e2d \u5236\u4f5c \u5730\u56fe \u540e \uff0c \u60a8 \u5c31 \u53ef\u4ee5 \u5c06 \u5176 \u5bfc\u51fa \u3002 \u8bf7 \u6ce8\u610f \uff0c   \u9053\u8def \u5e03\u5c40 \u5bfc\u51fa \u540e \u65e0\u6cd5 \u4fee\u6539   \u3002 \u5bfc\u51fa \u4e4b\u524d \uff0c \u8bf7 \u786e\u4fdd \uff1a   \u5730\u56fe \u4ee5   ( 0 , 0 )   \u4e3a \u4e2d\u5fc3 \uff0c \u4ee5 \u786e\u4fdd \u5730\u56fe \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6b63\u786e \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u5730\u56fe \u5b9a\u4e49 \u662f \u6b63\u786e \u7684 \u3002   \u5730\u56fe \u9a8c\u8bc1 \u662f \u6b63\u786e \u7684 \uff0c \u5bc6\u5207 \u5173\u6ce8 \u8fde\u63a5 \u548c \u51e0\u4f55 \u5f62\u72b6 \u3002   \u5730\u56fe \u51c6\u5907 \u597d\u540e \uff0c \u5355\u51fb   OpenDRIVE   Preview   Tool   \u6309\u94ae \u5373\u53ef \u53ef\u89c6 \u53ef\u89c6\u5316   OpenDRIVE   \u9053\u8def \u7f51\u7edc \u5e76 \u5bf9 \u6240\u6709 \u5185\u5bb9 \u8fdb\u884c \u6700\u540e \u4e00\u6b21 \u68c0\u67e5 \u3002   \u7b14\u8bb0   OpenDrive   Preview   Tool   \u53ef\u4ee5 \u66f4 \u8f7b\u677e \u5730 \u6d4b\u8bd5 \u5730\u56fe \u7684 \u5b8c\u6574 \u5b8c\u6574\u6027 \u3002 \u5982\u679c \u8fde\u63a5 \u6709 \u4efb\u4f55 \u9519\u8bef \uff0c \u5355\u51fb \u8bf7\u5355\u51fb   Maneuver   Tool   \u548c   Rebuild   Maneuver   Roads   \u3002   \u521b\u5efa \u6240 \u9700 \u7684 \u9053\u8def \u7f51\u7edc \u540e \uff0c \u5728   RoadRunner   \u83dc\u5355 \u83dc\u5355\u680f \u4e2d \u9009\u62e9   File   >   Export   >   Carla   Filmbox   ( . fbx ,   . xodr ,   . rrdata . xml )   \u5e76 \u5bfc\u51fa \u5230 \u9002\u5f53 \u7684 \u4f4d\u7f6e \u3002   RoadRunner   \u662f \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u7684 \u6700\u4f73 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u3002 \u8fd8\u6709 \u4e00\u4e9b \u66ff\u4ee3 \u65b9\u6848 \uff0c \u4f8b\u5982   OpenStreetMap   \uff0c \u4e13\u6ce8 \u4e8e \u4ece \u771f\u5b9e \u7684 \u9053\u8def \u5730\u56fe \u751f\u6210 \u5730\u56fe \u3002","title":"\u4f7f\u7528   RoadRunner   \u521b\u5efa \u8def\u7f51  "},{"location":"tuto_content_authoring_maps/#truevision","text":"RoadRunner   \u662f \u4e00\u6b3e \u9700\u8981   MATLAB   \u7684 \u4e13\u6709 \u8f6f\u4ef6 \u3002 \u5927\u5b66 \u7b49 \u4e00\u4e9b \u673a\u6784 \u53ef\u80fd \u4e0e   MathWorks   \u8fbe\u6210 \u4e86 \u534f\u8bae \uff0c \u4ee5\u4fbf \u67d0\u4e9b \u7528\u6237 \u53ef\u4ee5 \u83b7\u5f97   RoadRunner   \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u3002 \u5982\u679c \u60a8 \u6ca1\u6709 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u9884\u7b97 \uff0c RoadRunner   \u7684 \u4e00\u4e2a \u65b9\u4fbf \u7684 \u5f00\u6e90 \u66ff\u4ee3 \u65b9\u6848 \u662f   TrueVision   Designer   \u3002 \u6b64 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u5177\u6709 \u8bb8\u591a \u4e0e   RoadRunner   \u76f8\u540c \u7684 \u529f\u80fd \uff0c \u5982\u679c \u60a8 \u65e0\u6cd5 \u83b7\u5f97   RoadRunner   \u7684 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \uff0c \u8be5 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4f1a \u975e\u5e38 \u6709\u7528 \u3002","title":"TrueVision   \u8bbe\u8ba1 \u5668  "},{"location":"tuto_content_authoring_maps/#carla","text":"Carla   \u9700\u8981 \u7684 \u91cd\u8981 \u5bfc\u51fa \u6587\u4ef6 \u662f   . xodr   \u6587\u4ef6 \u548c   . fbx   \u6587\u4ef6 \u3002 \u5c06 \u8fd9\u4e9b \u6587\u4ef6 \u590d\u5236 \u6216 \u79fb\u52a8 \u5230 \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u5b58\u50a8 \u5e93 \u76ee\u5f55 \u6839\u76ee\u5f55 \u5185 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u73b0\u5728 \u5728   Carla   \u76ee\u5f55 \u6e90\u76ee\u5f55 \u7684 \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e2d \u6253\u5f00 \u4e00\u4e2a \u7ec8\u7aef \u5e76 \u8fd0\u884c   make   import   .   \u8fd9\u4f1a \u5c06 \u9053\u8def \u7f51\u7edc \u5bfc\u5165   Carla \u3002   \u60a8 \u73b0\u5728 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u770b\u5230 \u65b0 \u5730\u56fe \u3002 \u5728   Carla   \u76ee\u5f55 \u6e90\u76ee\u5f55 \u7684 \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e0b \u8fd0\u884c   make   launch   \u4ee5 \u542f\u52a8 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \u60a8 \u73b0\u5728 \u5c06 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u770b\u5230 \u4e00\u4e2a \u540d\u4e3a   map _ package   \u7684 \u65b0 \u76ee\u5f55 \u3002 \u5728 \u6b64 \u76ee\u5f55   Content   >   map _ package   >   Maps   >   tutorial   \u4e2d \uff0c \u60a8 \u73b0\u5728 \u5c06 \u627e\u5230 \u60a8 \u7684 \u65b0 \u5730\u56fe \u3002   \u7b14\u8bb0   \u53ef\u4ee5 \u53c2\u8003   \u94fe\u63a5   \u901a\u8fc7 \u9f20\u6807 \u53f3\u952e \u7684 \u65b9\u5f0f \u76f4\u63a5 \u5bfc\u5165 \u3002   \u60a8 \u73b0\u5728 \u5df2\u7ecf \u521b\u5efa \u4e86 \u9053\u8def \u7f51\u7edc \uff0c \u8fd9\u662f \u5730\u56fe \u7684 \u57fa\u7840 \u3002","title":"\u5c06 \u8def\u7f51 \u5bfc\u5165   Carla  "},{"location":"tuto_content_authoring_maps/#_4","text":"\u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u6709 \u4e86 \u9053\u8def \u7f51\u7edc \u4f5c\u4e3a \u5730\u56fe \u7684 \u57fa\u7840 \uff0c \u6211\u4eec \u73b0\u5728 \u60f3\u8981 \u4e3a \u5730\u56fe \u521b\u5efa \u4e00\u4e9b \u5185\u5bb9 \uff0c \u4f8b\u5982 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002 \u8fd9\u4e9b \u8d44\u6e90 \u53ef\u4ee5 \u4f7f\u7528 \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff08 \u4f8b\u5982   Autodesk   Maya \u3001 3DS   Max \u3001 Blender   \u6216 \u5177\u6709 \u9002\u5f53 \u5bfc\u51fa \u9009\u9879 \u7684 \u4efb\u4f55 \u5176\u4ed6 \u4e09\u7ef4 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff09 \u521b\u5efa \u3002 \u91cd\u8981 \u7684 \u662f \uff0c \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u81f3\u5c11 \u80fd\u591f \u5bfc\u51fa   . fbx   \u3002   \u5728   Carla   \u4e2d \u521b\u5efa \u8d44\u4ea7 \u9700\u8981 \u51e0\u4e2a \u5143\u7d20 \uff1a   \u7f51\u683c   -   \u4e00\u7ec4   3D   \u5750\u6807 \u9876\u70b9 \u548c \u5173\u8054 \u7684 \u8fde\u63a5 \u8fb9 \u3002   UV   \u8d34\u56fe   -   \u5c06 \u4e09\u7ef4 \u9876\u70b9 \u548c \u8fb9 \u6620\u5c04 \u5230 \u4e8c\u7ef4 \u7eb9\u7406 \u7a7a\u95f4 \uff0c \u4ee5 \u5c06 \u7eb9\u7406 \u4e0e \u4e09\u7ef4 \u4f4d\u7f6e \u8fdb\u884c \u5339\u914d \u3002   \u7eb9\u7406   -   \u5b9a\u4e49 \u4e09\u7ef4 \u5bf9\u8c61 \u8868\u9762 \u4e0a \u663e\u793a \u7684 \u989c\u8272 \u548c \u56fe\u6848 \u7684 \u4e8c\u7ef4 \u56fe\u50cf \u3002   \u6cd5\u7ebf \u8d34\u56fe   -   \u5b9a\u4e49 \u76ee\u6807 \u8868\u9762 \u6cd5\u7ebf \u65b9\u5411 \u7684 \u4e8c\u7ef4 \u56fe\u50cf \uff0c \u4ee5\u5411 \u76ee\u6807 \u8868\u9762 \u6dfb\u52a0 \u4e09\u7ef4 \u53d8\u5316 \u3002   ORM   \u8d34\u56fe   -   \u5b9a\u4e49 \u91d1\u5c5e \u5ea6 ( Metallicity ) \u3001 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 ( Roughness ) \u548c \u73af\u5883 \u73af\u5883\u5149 \u906e\u6321 ( Occlusion ) \u533a\u57df \u7684 \u8d34\u56fe   ORM   \u8d34\u56fe \u5229\u7528 \u6807\u51c6   RGBA   \u7f16\u7801 \u56fe\u50cf \u7684 \u901a\u9053 \u5bf9 \u91d1\u5c5e \u533a\u57df \u3001 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u548c \u73af\u5883 \u906e\u6321 \u7684 \u8d34\u56fe \u8fdb\u884c \u7f16\u7801 \u3002 \u5f53 \u6211\u4eec \u5728 \u8fd9\u91cc \u5b9a\u4e49 \u8d34\u56fe \u65f6 \uff0c \u7ea2\u8272 \u901a\u9053 \u5b9a\u4e49 \u91d1\u5c5e \u8d34\u56fe \uff0c \u7eff\u8272 \u901a\u9053 \u7eff\u8272\u901a\u9053 \u5b9a\u4e49 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \uff0c \u84dd\u8272 \u901a\u9053 \u5b9a\u4e49 \u73af\u5883 \u73af\u5883\u5149 \u906e\u6321 \u3002 \u8fd9\u4e9b \u8d34\u56fe \uff08 \u4ee5\u53ca \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u8d34\u56fe \u548c \u6cd5\u7ebf \u8d34\u56fe \uff09 \u53ef\u4ee5 \u4f7f\u7528   Adobe   Substance   3D   painter   \u7b49 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u521b\u5efa \u3002   \u4f7f\u7528 \u865a\u5e7b \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5728 \u67d0\u4e2a \u9002\u5f53 \u7684 \u4f4d\u7f6e \u521b\u5efa \u4e00\u4e2a \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u5728 \u6b64 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u53f3\u952e \u5355\u51fb \u5e76   Import   to   PATH / TO / FOLDER   \u5728 \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u83dc\u5355 \u9876\u90e8 \u9644\u8fd1 \u8fdb\u884c \u9009\u62e9 \uff0c \u4e5f \u53ef\u4ee5 \u5c06 \u6587\u4ef6 \u76f4\u63a5 \u62d6 \u653e\u5230 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u3002   \u6211\u4eec \u5c06 \u5bfc\u5165 \u4e00\u4e2a \u5305\u542b \u4ece   Blender   \u5bfc\u51fa \u7684 \u57fa\u7840 \u7f51\u683c \u548c   UV   \u8d34\u56fe \u7684   FBX   \u6587\u4ef6 \u3002   \u5728 \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u83dc\u5355 \u4e2d \uff0c \u5bf9\u4e8e   Normal   Import   Method   \u786e\u4fdd \u201c \u7f51\u683c \u201d \u90e8\u5206 \u9009\u62e9 \u4e86 \u201c \u5bfc\u5165 \u6cd5\u7ebf (   Import   Normals   ) \uff0c \u5e76\u4e14 \u5728 \u201c \u6750\u8d28 (   Material   ) \u201d \u90e8\u5206 \u4e2d \u9009\u62e9 \u4e86   Do   Not   Create   Material   \u3002 \u5728 \u201c \u6750\u8d28 \u201d \u90e8\u5206 \u4e2d \u53d6\u6d88 \u9009\u62e9 \uff0c \u56e0\u4e3a \u6211\u4eec \u5c06 \u624b\u52a8 \u5bfc\u5165 \u5b83\u4eec \u3002 \u5982\u679c \u60a8 \u60f3 \u4f7f\u7528   FBX   \u6587\u4ef6 \u4e2d \u5df2 \u5d4c\u5165 \u7684 \u67d0\u4e9b \u7eb9\u7406 \uff0c \u8fd9\u4e9b \u9009\u62e9 \u5c06\u4f1a \u6709\u6240 \u4e0d\u540c \u6709\u6240\u4e0d\u540c \u3002   \u9009\u62e9   Import   All   \u3002 \u5bfc\u5165 \u5b8c\u6210 \u540e \uff0c \u53cc\u51fb \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u663e\u793a \u7684 \u5bfc\u5165 \u8d44\u6e90 \u8fdb\u884c \u7f16\u8f91 \u3002   \u6211\u4eec \u73b0\u5728 \u5e94\u8be5 \u5bfc\u5165 \u7eb9\u7406 \u3001 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u989c\u8272 \u7684 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u7eb9\u7406 \u3001 \u6cd5\u7ebf \u8d34\u56fe \u548c   ORM   \u8d34\u56fe \u3002   \u901a\u8fc7 \u53cc\u51fb \u6253\u5f00   ORM   \u8d34\u56fe \u5e76 \u53d6\u6d88 \u9009\u62e9   sRGB   \u9009\u9879 \uff0c \u4ee5 \u786e\u4fdd \u6b63\u786e \u5e94\u7528 \u7eb9\u7406 \u3002   \u53f3\u952e \u5355\u51fb \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5e76 \u4ece \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   Material   \u3002 \u5c06 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u521b\u5efa \u65b0 \u6750\u6599 \u3002 \u53cc\u51fb \u8fdb\u884c \u7f16\u8f91 \u3002 \u6309\u4f4f   Shift   \u952e \u9009\u62e9 \u5bfc\u5165 \u7684 \u7eb9\u7406 \u5e76 \u5c06 \u5176 \u62d6 \u5230 \u6750\u8d28 \u7f16\u8f91 \u7a97\u53e3 \u4e2d \uff0c \u73b0\u5728 \u60a8 \u5c06 \u5728 \u6750\u8d28 \u8282\u70b9 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u83b7\u5f97   3   \u4e2a \u65b0 \u8282\u70b9 \u3002   \u73b0\u5728 \u6839\u636e \u4ee5\u4e0b \u89c4\u5219 \u8fde\u63a5 \u8282\u70b9 \uff1a   Diffuse   RGB   -- >   Base   Color   Normal   RGB   -- >   Normal   ORM   R   -- >   Ambient   occlusion   ORM   G   -- >   Roughness   ORM   B   -- >   Metallic   \u60a8 \u7684 \u6750\u8d28 \u8282\u70b9 \u56fe \u73b0\u5728 \u5e94\u8be5 \u4e0e \u6b64 \u7c7b\u4f3c \uff1a   \u4fdd\u5b58 \u6750\u8d28 \uff0c \u7136\u540e \u518d\u6b21 \u6253\u5f00 \u8d44\u6e90 \u5e76 \u5c06 \u6750\u8d28 \u62d6\u5165 \u6750\u8d28 \u69fd \u4e2d \u3002 \u60a8 \u7684 \u8d44\u6e90 \u73b0\u5728 \u5e94\u8be5 \u5df2 \u5b8c\u5168 \u7eb9\u7406 \u5316 \u3002   \u73b0\u5728 \u4fdd\u5b58 \u8d44\u4ea7 \uff0c \u5373\u53ef \u5728 \u5730\u56fe \u4e2d \u4f7f\u7528 \u3002 \u60a8 \u73b0\u5728 \u53ef\u4ee5 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u62d6\u52a8 \u8d44\u6e90 \u5e76 \u5c06 \u5176 \u653e\u5165 \u5730\u56fe \u4e2d \uff1a   \u73b0\u5728 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u5de5\u4f5c \u533a \u5de6\u4e0a \u4e0a\u89d2 \u5de6\u4e0a\u89d2 \u7684 \u201c \u4fdd\u5b58 \u5f53\u524d \u201d \u9009\u9879 \u4fdd\u5b58 \u5730\u56fe \uff0c \u5373\u53ef \u4f7f\u7528 \u3002 \u5f00\u59cb \u4eff\u771f \u3002   \u5730\u56fe \u4f5c\u8005 \u6307\u5357 \u7ed3\u675f \u5230\u6b64\u7ed3\u675f \u3002 \u73b0\u5728 \u60a8 \u77e5\u9053 \u5982\u4f55 \u521b\u5efa \u9053\u8def \u7f51\u7edc \u5e76 \u5bfc\u5165 \u4e09\u7ef4 \u8d44\u4ea7 \u4ee5 \u5728   Carla   \u4e2d \u4f7f\u7528 \u3002 \u60a8 \u73b0\u5728 \u53ef\u4ee5 \u9605\u8bfb \u5982\u4f55   \u6253\u5305 \u5730\u56fe \u4ee5 \u5728   Carla   \u72ec\u7acb \u7248\u672c \u4e2d \u4f7f\u7528   \u3002","title":"\u5bfc\u5165 \u8d44\u4ea7 \u5e76 \u5c06 \u5b83\u4eec \u6dfb\u52a0 \u5230 \u5730\u56fe  "},{"location":"tuto_content_authoring_maps/#_5","text":"\u8981 \u5c06 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u6dfb\u52a0 \u5230 \u65b0 \u5730\u56fe \uff1a   1 .   \u4ece   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   ,   \u5bfc\u822a \u81f3   Content   >   Carla   >   Static   >   TrafficLight   >   StreetLights _ 01   \u3002 \u60a8 \u4f1a \u53d1\u73b0 \u51e0\u79cd \u4e0d\u540c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u84dd\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002   2 .   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u62d6 \u5230 \u573a\u666f \u4e2d \u5e76 \u5c06 \u5176 \u653e\u7f6e \u5728 \u6240 \u9700 \u4f4d\u7f6e \u3002 \u6309 \u952e\u76d8 \u4e0a \u7684 \u7a7a\u683c \u7a7a\u683c\u952e \u53ef \u5728 \u5b9a\u4f4d \u3001 \u65cb\u8f6c \u548c \u7f29\u653e \u5de5\u5177 \u4e4b\u95f4 \u5207\u6362 \u3002   3 .   \u901a\u8fc7 \u9009\u62e9 \u201c \u8be6\u7ec6 (   Details   ) \u201d   \u9762\u677f \u4e2d \u7684   BoxTrigger   \u7ec4\u4ef6 \u5e76 \u8c03\u6574   Transform   \u90e8\u5206 \u7684 \u503c \uff0c \u4e3a \u6bcf\u4e2a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u8c03\u6574   trigger   volume   \u3002 \u8fd9 \u5c06 \u786e\u5b9a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u5f71\u54cd \u8303\u56f4 \u3002   4 .   \u5bf9\u4e8e \u8def\u53e3 \uff0c \u5c06   BP _ TrafficLightGroup   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u62d6\u5165 \u5173\u5361 \u4e2d \u3002 \u901a\u8fc7 \u5c06 \u8def\u53e3 \u8def\u53e3\u5904 \u7684 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u6dfb\u52a0 \u5230 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \u7684 \u201c \u4ea4\u901a \u4ea4\u901a\u706f (   Traffic   Lights   ) \u201d \u6570\u7ec4 \uff0c \u5c06 \u5b83\u4eec \u5206\u914d \u7ed9 \u4ea4\u901a \u4ea4\u901a\u706f \u7ec4 \u3002   5 .   \u4ea4\u901a \u4ea4\u901a\u706f \u8ba1\u65f6 \u53ea\u80fd \u901a\u8fc7 Python   API   \u8fdb\u884c \u914d\u7f6e \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u6b64\u5904   \u7684 \u6587\u6863 \u4ee5 \u83b7\u53d6 \u66f4 \u591a \u4fe1\u606f \u3002   \u4f8b\u5982 \uff1a \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3001 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u548c \u8f6c\u5f2f \u505c\u8f66 \u3002","title":"\u4ea4\u901a\u706f  "},{"location":"tuto_content_authoring_maps/#_6","text":"\u8981 \u5c06 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u6dfb\u52a0 \u5230 \u65b0 \u5730\u56fe \uff1a   1 .   \u4ece   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \uff0c \u5bfc\u822a \u81f3   Content   >   Carla   >   Static   >   TrafficSign   \u3002 \u60a8 \u4f1a \u53d1\u73b0 \u51e0\u79cd \u4e0d\u540c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u84dd\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002   2 .   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u62d6 \u5230 \u573a\u666f \u4e2d \u5e76 \u5c06 \u5176 \u653e\u7f6e \u5728 \u6240 \u9700 \u4f4d\u7f6e \u3002 \u6309 \u952e\u76d8 \u4e0a \u7684 \u7a7a\u683c \u7a7a\u683c\u952e \u53ef \u5728 \u5b9a\u4f4d \u3001 \u65cb\u8f6c \u548c \u7f29\u653e \u5de5\u5177 \u4e4b\u95f4 \u5207\u6362 \u3002   3 .   \u901a\u8fc7 \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \u9009\u62e9   BoxTrigger   \u7ec4\u4ef6 \u5e76 \u8c03\u6574 \u201c \u53d8\u6362 (   Transform   ) \u201d \u90e8\u5206 \u4e2d \u7684 \u503c \uff0c \u8c03\u6574 \u6bcf\u4e2a \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u7684   trigger   volume   \u3002 \u8fd9 \u5c06 \u786e\u5b9a \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5f71\u54cd \u533a\u57df \u3002 \u5e76\u975e \u6240\u6709 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u90fd \u6709 \u89e6\u53d1 \u97f3\u91cf \u3002 \u6b64\u7c7b \u6807\u5fd7 \u5305\u62ec \u8ba9 \u884c \u6807\u5fd7 \u3001 \u505c\u8f66 \u6807\u5fd7 \u548c \u9650\u901f \u6807\u5fd7 \u3002","title":"\u4ea4\u901a\u6807\u5fd7  "},{"location":"tuto_content_authoring_maps/#_7","text":"Carla   \u5185\u5bb9 \u5e93 \u62e5\u6709 \u5927\u91cf \u6709\u7528 \u7684 \u6750\u6599 \uff0c \u53ef \u968f\u65f6 \u7528\u4e8e \u66f4\u6539 \u5730\u56fe \u7684 \u5916\u89c2 \u3002 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u5bfc\u822a \u81f3   Carla   >   Static   >   GenericMaterials   \u3002 \u5728 \u8fd9\u91cc \u60a8 \u4f1a \u53d1\u73b0 \u8bb8\u591a \u53ef \u7528\u4e8e \u6539\u53d8 \u5730\u56fe \u5916\u89c2 \u7684 \u6750\u6599 \u3002   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u62d6 \u653e\u5230 \u5730\u56fe \u5143\u7d20 \u4e0a\u6765 \u5feb\u901f \u6d4b\u8bd5 \u6750\u8d28 \uff1a","title":"\u6750\u8d28  "},{"location":"tuto_content_authoring_maps/#_8","text":"\u9053\u8def \u753b\u5bb6 \u662f \u4e00\u79cd \u53ef \u7528\u4e8e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u5916\u89c2 \u7684 \u5de5\u5177 \uff0c \u901a\u8fc7 \u9644\u52a0 \u7eb9\u7406 \u3001 \u8d34\u82b1 \u548c \u7f51\u683c \u6dfb\u52a0 \u989d\u5916 \u7684 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \u3002","title":"\u9053\u8def \u753b\u5bb6  "},{"location":"tuto_content_authoring_maps/#_9","text":"\u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u662f \u4e00\u4e2a \u4f7f\u7528   OpenDRIVE   \u4fe1\u606f \u5feb\u901f \u7ed8\u5236 \u9053\u8def \u7684 \u84dd\u56fe \u3002 \u5b83 \u91c7\u7528 \u4e3b \u6750\u8d28 \u5e76 \u5c06 \u5176 \u5e94\u7528 \u5230 \u9053\u8def \u7684 \u6e32\u67d3 \u76ee\u6807 \u4ee5 \u7528\u4f5c \u753b\u5e03 \u3002 \u4e3b \u6750\u8d28 \u7531 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u6750\u8d28 \u7ec4\u6210 \uff0c \u8fd9\u4e9b \u6750\u8d28 \u53ef\u4ee5 \u4f7f\u7528 \u753b\u7b14 \u6df7\u5408 \u5e76 \u7528\u4f5c \u8499\u7248 \u3002 \u65e0\u9700 \u5e94\u7528 \u5149\u5ea6 \u6d4b\u5b9a \u6280\u672f \uff0c \u4e5f \u65e0\u9700 \u8003\u8651 \u51e0\u4f55 \u51e0\u4f55\u4f53 \u7684   UV \u3002   \u9053\u8def \u753b\u5bb6 \u4f7f\u7528   OpenDRIVE   \u4fe1\u606f \u6765 \u6cb9\u6f06 \u9053\u8def \u3002 \u786e\u4fdd \u786e\u4fdd\u60a8 \u7684   . xodr   \u6587\u4ef6 \u4e0e \u5730\u56fe \u540c\u540d \uff0c \u8fd9\u6837 \u624d\u80fd \u6b63\u5e38 \u5de5\u4f5c \u3002","title":"\u4ec0\u4e48 \u662f \u9053\u8def \u753b\u5bb6 \uff1f  "},{"location":"tuto_content_authoring_maps/#_10","text":"1 .   \u521b\u5efa   RoadPainter   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Content   >   Carla   >   Blueprints   >   LevelDesign   \u3002   \u5c06   RoadPainter   \u62d6\u5165 \u573a\u666f \u4e2d \u3002   2 .   \u521b\u5efa \u6e32\u67d3 \u76ee\u6807 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \uff0c \u5bfc\u822a \u81f3   Content   >   Carla   >   Blueprints   >   LevelDesign   >   RoadPainterAssets   .   \u53f3\u952e \u5355\u51fb   RenderTarget   \u6587\u4ef6 \u5e76 \u9009\u62e9   Duplicate   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ RenderTarget   \u3002   3 .   \u521b\u5efa \u4e3b \u6750\u8d28 \u5b9e\u4f8b \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Game   >   Carla   >   Static   >   GenericMaterials   >   RoadPainterMaterials   .   \u53f3\u952e \u5355\u51fb   M _ RoadMaster   \u5e76 \u9009\u62e9   Create   Material   Instance   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ RoadMaster   \u3002   4 .   \u91cd\u65b0 \u6821\u51c6 \u201c \u5730\u56fe \u5c3a\u5bf8 \u201d (   Map   Size   ( Cm )   )   \uff0c \u4f7f \u5176 \u7b49\u4e8e \u5730\u56fe \u7684 \u5b9e\u9645 \u5c3a\u5bf8 \u3002   \u9009\u62e9   RoadPainter   \u573a\u666f \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8f6c \u5230 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d   \u9762\u677f \u5e76 \u6309   Z - Size   \u6309\u94ae \u3002   \u60a8 \u5c06 \u770b\u5230 \u201d \u5730\u56fe \u5c3a\u5bf8   ( Cm ) (   Map   Size   ( Cm )   ) \u201c \u4e2d \u7684 \u503c \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002   5 .   \u540c\u6b65   RoadPainter   \u548c   Tutorial _ RoadMaster   \u4e4b\u95f4 \u7684 \u5730\u56fe \u5c3a\u5bf8 \u3002   \u5728   _ \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 _ \u4e2d \uff0c \u6253\u5f00   Tutorial _ RoadMaster   \u3002   \u590d\u5236 \u4e0a \u4e00\u6b65 \u4e2d   Map   Size   ( Cm )   \u7684 \u503c \uff0c \u5e76 \u5c06 \u5176 \u7c98\u8d34 \u5230   Tutorial _ RoadMaster   \u7a97\u53e3 \u4e2d \u7684   Global   Scalar   Parameter   Values   - >   Map   units   ( CM )   \u3002   \u70b9\u51fb \u4fdd\u5b58 \u3002   6 .   \u521b\u5efa \u9053\u8def \u753b\u5bb6 \u548c \u4e3b \u6750\u8d28 \u4e4b\u95f4 \u7684 \u901a\u4fe1 \u94fe\u63a5 \u3002   Tutorial _ RenderTarget   \u5c06 \u662f \u9053\u8def \u753b\u5bb6 \u548c   Tutorial _ RoadMaster   \u4e4b\u95f4 \u7684 \u901a\u4fe1 \u7ebd\u5e26 \u3002   \u5728   Tutorial _ RoadMaster   \u7a97\u53e3 \u4e2d \uff0c \u5c06   Tutorial _ RenderTarget   \u5e94\u7528 \u4e8e   Global   Texture   Parameter   Values   - >   Texture   Mask   \u3002   \u4fdd\u5b58 \u5e76 \u5173\u95ed \u3002   \u5728 \u4e3b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \uff0c \u9009\u62e9 \u9053\u8def \u753b\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8f6c \u5230 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u5e76 \u5c06   Tutorial _ RenderTarget   \u5e94\u7528 _ Paint   - >   Render   Target _   \u3002","title":"\u5efa\u7acb \u9053\u8def \u753b\u5bb6 \u3001 \u638c\u63e1 \u6750\u8d28 \u548c \u6e32\u67d3 \u5bf9\u8c61  "},{"location":"tuto_content_authoring_maps/#_11","text":"\u60a8 \u521b\u5efa \u7684   Tutorial _ RoadMaster   \u6750\u8d28 \u5305\u542b \u57fa\u7840 \u6750\u8d28 \u3001 \u989d\u5916 \u6750\u8d28 \u4fe1\u606f \u4ee5\u53ca \u5c06 \u901a\u8fc7 \u60a8 \u7684   Tutorial _ RenderTarget   \u3002 \u60a8 \u53ef\u4ee5 \u914d\u7f6e \u4e00\u79cd \u57fa\u7840 \u6750\u8d28 \u548c \u6700 \u591a \u4e09\u79cd \u9644\u52a0 \u6750\u8d28 \u3002   \u8981 \u914d\u7f6e \u6750\u6599 \uff0c \u8bf7 \u53cc\u51fb \u8be5   Tutorial _ RoadMaster   \u6587\u4ef6 \u3002 \u5728 \u51fa\u73b0 \u7684 \u7a97\u53e3 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u6839\u636e \u9700\u8981 \u4e3a \u6bcf\u79cd \u6750\u6599 \u9009\u62e9 \u548c \u8c03\u6574 \u4ee5\u4e0b \u503c \uff1a   \u4eae\u5ea6 ( Brightness )   \u8272\u8c03 ( Hue )   \u9971\u548c \u9971\u548c\u5ea6 ( Saturation )   AO   \u5f3a\u5ea6 ( Intensity )   \u6cd5\u7ebf \u8d34\u56fe \u5f3a\u5ea6 ( NormalMap   Intensity )   \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u5bf9\u6bd4 ( Roughness   Contrast )   \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u5f3a\u5ea6 ( Roughness   Intensity )   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u9009\u62e9 \u4ee5\u4e0b \u503c \u5e76 \u5728 \u641c\u7d22 \u6846\u4e2d \u641c\u7d22 \u7eb9\u7406 \u6765 \u66f4\u6539 \u6bcf\u79cd \u6750\u8d28 \u7684 \u7eb9\u7406 \uff1a   Diffuse   Normal   ORMH   \u63a2\u7d22   Game   >   Carla   >   Static   >   GenericMaterials   >   Asphalt   >   Textures   \u4e2d \u53ef\u7528 \u7684 \u4e00\u4e9b   Carla   \u7eb9\u7406 \u3002","title":"\u51c6\u5907 \u4e3b \u6750\u8d28  "},{"location":"tuto_content_authoring_maps/#_12","text":"1 .   \u5728 \u9053\u8def \u753b\u5bb6 \u548c \u9053\u8def \u4e4b\u95f4 \u521b\u5efa \u94fe\u63a5 \u3002   \u5728 \u4e3b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \uff0c \u5728   World   Outliner   \u641c\u7d22 \u6846\u4e2d \u8fdb\u884c   Road _ Road   \u7684 \u641c\u7d22 \u3002   \u6309   Ctrl   +   A   \u9009\u62e9 \u6240\u6709 \u9053\u8def \u3002   \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Materials   \u90e8\u5206 \u5e76 \u7ed9   Element   0   \u3001   Element   1   \u3001   Element   2   \u548c   Element   3   \u5e94\u7528   Tutorial _ RoadMaster   \u3002   2 .   \u9009\u62e9 \u8981 \u5b9a\u5236 \u7684 \u6750\u8d28 \u3002   \u6211\u4eec \u6dfb\u52a0 \u7684 \u6bcf\u79cd \u6750\u8d28   Tutorial _ RoadMaster   \u90fd \u5355\u72ec \u5e94\u7528 \u4e8e \u9053\u8def \uff0c \u5e76 \u4f7f\u7528 \u753b\u7b14 \u5de5\u5177 \u914d\u7f6e \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u3002 \u8981 \u5e94\u7528 \u548c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6750\u8d28 \uff1a   \u9009\u62e9 \u9053\u8def \u753b\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d   \u9762\u677f \u4e2d \uff0c \u5728   Mask   Color   \u4e0b\u62c9 \u83dc\u5355 \u4e0b\u62c9\u83dc\u5355 \u4e2d \u9009\u62e9 \u8981 \u4f7f\u7528 \u7684 \u6750\u8d28 \u3002   3 .   \u8bbe\u7f6e \u753b\u7b14 \u548c \u6a21\u677f \u53c2\u6570 \u3002   GenericMaterials / RoadStencil / Alphas   \u4e2d\u6709 \u591a\u79cd \u6a21\u677f \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002 \u6a21\u677f \u7528\u4e8e \u6839\u636e \u60a8 \u7684 \u9700\u8981 \u7ed8\u5236 \u9053\u8def \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u503c \u8fdb\u884c \u8c03\u6574 \uff1a   Stencil   size   \u2014   \u753b\u7b14 \u7684 \u5c3a\u5bf8 \u3002   Brush   strength   \u2014   \u8f6e\u5ed3 \u7684 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u3002   Spacebeween   Brushes   \u2014   \u7b14\u5212 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   Max   Jitter   \u2014   \u7b14\u5212 \u4e4b\u95f4 \u753b\u7b14 \u7684 \u5927\u5c0f \u53d8\u5316 \u3002   Stencil   \u2014   \u8981 \u4f7f\u7528 \u7684 \u753b\u7b14 \u3002   Rotation   \u2014   \u5e94\u7528 \u4e8e \u7b14\u753b \u7684 \u65cb\u8f6c \u3002   \u5237\u5b50 \u9762\u677f \u3002   \u4e0d\u540c \u7c7b\u578b \u7684 \u5237\u5b50 \u3002   4 .   \u5c06 \u6bcf\u79cd \u6750\u8d28 \u6d82\u62b9 \u5230 \u9053\u8def \u7684 \u6240 \u9700 \u90e8\u5206 \u3002   \u901a\u8fc7 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u7684 \u201c \u9ed8\u8ba4 (   Default   ) \u201d \u90e8\u5206 \u4e2d \u7684 \u6309\u94ae \u9009\u62e9 \u5e94\u7528 \u6240 \u9009 \u6750\u8d28 \u7684 \u4f4d\u7f6e \uff1a   Paint   all   roads   \u2014   \u7c89\u5237 \u6240\u6709 \u9053\u8def \u3002   Paint   by   actor   \u2014   \u7ed8\u753b \u7279\u5b9a \u7684 \u3001 \u9009\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Paint   over   circle   \u2014   \u4f7f\u7528 \u5706\u5f62 \u56fe\u6848 \u8fdb\u884c \u7ed8\u5236 \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63d0\u4f9b \u53d8\u5316 \u3002   Paint   over   square   \u2014   \u4f7f\u7528 \u6b63\u65b9 \u65b9\u5f62 \u6b63\u65b9\u5f62 \u56fe\u6848 \u8fdb\u884c \u7ed8\u5236 \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63d0\u4f9b \u53d8\u5316 \u3002   \u6b64 \u90e8\u5206 \u8fd8 \u5305\u542b \u7528\u4e8e \u5220\u9664 \u5df2 \u5e94\u7528 \u66f4\u6539 \u7684 \u9009\u9879 \u3002   Clear   all   \u2014   \u64e6\u9664 \u6240\u6709 \u7ed8\u5236 \u7684 \u6750\u8d28 \u3002   Clear   materials   \u2014   \u5220\u9664 \u5f53\u524d \u6d3b\u52a8 \u7684 \u6750\u8d28 \u3002   Clear   material   by   actor   \u2014   \u5220\u9664 \u6700 \u63a5\u8fd1 \u6240 \u9009 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6750\u8d28 \u3002   Different   painting   and   erasing   options .   5 . \u6dfb\u52a0 \u8d34\u82b1 \u548c \u7f51\u683c \u3002   \u60a8 \u53ef\u4ee5 \u5728   Content   >   Carla   Static   >   Decals   \u548c   Content   >   Carla   >   Static   \u4e2d \u63a2\u7d22 \u53ef\u7528 \u7684 \u8d34\u82b1 \u548c \u7f51\u683c \u3002 \u901a\u8fc7 \u6269\u5c55 \u5e76 \u6dfb\u52a0 \u5230   Decals   Spawn   \u548c   Meshes   Spawn   \u6570\u7ec4 \uff0c \u5c06 \u5b83\u4eec \u6dfb\u52a0 \u5230 \u9053\u8def \u7ed8\u5236 \u5668\u4e2d \u3002 \u5bf9\u4e8e \u4e00\u9879 \u6bcf\u4e00\u9879 \uff0c \u60a8 \u90fd \u53ef\u4ee5 \u914d\u7f6e \u4ee5\u4e0b \u53c2\u6570 \uff1a   Number   of   Decals / Meshes   -   \u8981 \u7ed8\u5236 \u7684 \u6bcf\u4e2a \u8d34\u82b1 \u6216 \u7f51\u683c \u7684 \u6570\u91cf \u3002   Decal / Mesh   Scale   \u2014   \u6bcf\u4e2a \u8f74 \u7684 \u8d34\u82b1 / \u7f51\u683c \u6bd4\u4f8b \u3002   Fixed   Decal / Mesh   Offset   \u2014   \u6bcf\u4e2a \u8f74 \u4e0e \u8f66\u9053 \u4e2d\u5fc3 \u7684 \u504f\u5dee \u3002   Random   Offset   \u2014   \u6bcf\u4e2a \u8f74 \u4e0e \u8f66\u9053 \u4e2d\u5fc3 \u7684 \u6700\u5927 \u504f\u5dee \u3002   Decal / Mesh   Random   Yaw   \u2014   \u6700\u5927 \u968f\u673a \u504f\u822a \u65cb\u8f6c \u3002   Decal / Mesh   Min   Scale   \u2014   \u5e94\u7528 \u4e8e \u8d34\u82b1 / \u7f51\u683c \u7684 \u6700\u5c0f \u968f\u673a \u6bd4\u4f8b \u3002   Decal / Mesh   Max   Scale   \u2014   \u5e94\u7528 \u4e8e \u8d34\u82b1 / \u7f51\u683c \u7684 \u6700\u5927 \u968f\u673a \u6bd4\u4f8b \u3002   \u8d34\u82b1 \u548c \u7f51\u683c \u9762\u677f \u3002   \u914d\u7f6e \u597d \u7f51\u683c \u548c \u8d34\u82b1 \u540e \uff0c \u901a\u8fc7 \u6309   Spawn   decals   \u548c\u751f   Spawn   meshes   \u3002   \u7b14\u8bb0   \u786e\u4fdd \u7f51\u683c \u548c \u8d34\u82b1 \u6ca1\u6709 \u542f\u7528 \u78b0\u649e \uff0c \u4ee5\u514d \u5e72\u6270 \u9053\u8def \u4e0a \u7684 \u6c7d\u8f66 \u5e76 \u5c06 \u4efb\u4f55 \u8fb9\u754c \u6846 \u964d\u4f4e \u5230 \u9053\u8def \u6c34\u5e73 \u3002   7 .   \u5c1d\u8bd5 \u83b7\u5f97 \u60a8 \u60f3\u8981 \u7684 \u5916\u89c2 \u3002   \u5c1d\u8bd5 \u4e0d\u540c \u7684 \u6750\u8d28 \u3001 \u7eb9\u7406 \u3001 \u8bbe\u7f6e \u3001 \u8d34\u82b1 \u548c \u7f51\u683c \u4ee5 \u83b7\u5f97 \u60a8 \u60f3\u8981 \u7684 \u5916\u89c2 \u3002 \u4e0b\u9762 \u662f \u4e00\u4e9b \u793a\u4f8b \u56fe\u50cf \uff0c \u663e\u793a \u4e86 \u5728 \u7ed8\u5236 \u6bcf\u79cd \u6750\u8d28 \u7684 \u8fc7\u7a0b \u4e2d \u9053\u8def \u5916\u89c2 \u5982\u4f55 \u53d8\u5316 \u3002   \u57fa\u7840 \u9053\u8def \u6750\u6599 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   1   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   2   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   3   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u8d34\u82b1 \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u7f51\u683c \u540e \u7684 \u793a\u4f8b \u3002","title":"\u63cf\u7ed8 \u9053\u8def  "},{"location":"tuto_content_authoring_maps/#_13","text":"\u7ed8\u5236 \u9053\u8def \u540e \uff0c \u60a8 \u53ef\u4ee5 \u6309\u7167 \u4ee5\u4e0b \u6b65\u9aa4 \u66f4\u65b0 \u8f66\u9053 \u7ebf \u7684 \u5916\u89c2 \uff1a   1 .   \u590d\u5236 \u4e3b \u6750\u6599 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Game   >   Carla   >   Static   >   GenericMaterials   >   RoadPainterMaterials   \u3002   \u53f3\u952e \u5355\u51fb   Tutorial _ RoadMaster   \u5e76 \u9009\u62e9   Create   Material   Instance   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ LaneMarkings   \u3002   2 .   \u914d\u7f6e \u8f66\u9053 \u7ebf \u6750\u8d28 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u53cc\u51fb   Tutorial _ LaneMarkings   \u3002   \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Global   Static   Switch   Parameter   Values   \u5206 \uff0c \u7136\u540e \u9009\u4e2d   LaneMark   \u5de6\u4fa7 \u548c \u53f3\u4fa7 \u7684 \u6846 \u3002   \u8f6c \u5230   Texture   \u90e8\u5206 \u5e76 \u9009\u4e2d   LaneColor   \u548c   Uv   Size   \u590d\u9009 \u9009\u6846 \u590d\u9009\u6846 \u3002   \u5728   LaneColor   \u4e2d \u9009\u62e9 \u60a8 \u559c\u6b22 \u7684 \u8f66\u9053 \u6807\u8bb0 \u989c\u8272 \u3002   Save   \u5e76 \u5173\u95ed \u3002   3 .   \u9009\u62e9 \u8f66\u9053 \u7ebf \u7f51\u683c \u3002   \u5c06 \u6750\u6599 \u62d6\u5230 \u60a8 \u60f3\u8981 \u7740\u8272 \u7684 \u8f66\u9053 \u7ebf\u4e0a \u3002 \u5982\u679c \u9700\u8981 \uff0c \u5bf9 \u4e0d\u540c \u989c\u8272 \u7684 \u8f66\u9053 \u7ebf \u91cd\u590d \u6574\u4e2a \u8fc7\u7a0b \u3002","title":"\u66f4\u65b0 \u8f66\u9053 \u7ebf \u5916\u89c2  "},{"location":"tuto_content_authoring_maps/#_14","text":"Carla   \u5185\u5bb9 \u5e93 \u62e5\u6709 \u4e00\u5957 \u5168\u9762 \u7684 \u690d\u88ab \u84dd\u56fe \uff0c \u4f9b \u60a8 \u4e3a \u5730\u56fe \u7684 \u8d8a\u91ce \u533a\u57df \uff08 \u5982 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u516c\u56ed \u3001 \u5c71\u5761 \u3001 \u7530\u91ce \u548c \u68ee\u6797 \uff09 \u589e\u6dfb \u66f4 \u591a \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \u3002   \u5bfc\u822a \u5230   Carla   \u5185\u5bb9 \u5e93\u4e2d \u7684 \u690d\u88ab \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff1a   Carla   >   Static   >   Visitation   \u3002 \u60a8 \u4f1a \u627e\u5230 \u591a\u79cd \u6811\u6728 \u3001 \u704c\u6728 \u6728\u4e1b \u704c\u6728\u4e1b \u7684 \u84dd\u56fe \u3002 \u60a8 \u53ef\u4ee5 \u5c06 \u8fd9\u4e9b \u5143\u7d20 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u62d6 \u5230 \u5730\u56fe \u4e2d \u3002","title":"\u6811\u6728 \u548c \u690d\u88ab  "},{"location":"tuto_content_authoring_maps/#_15","text":"\u5bf9\u4e8e \u6811\u6728 \u548c \u690d\u88ab \u6765\u8bf4 \uff0c \u4e00\u4e2a \u6709\u7528 \u7684 \u5de5\u5177 \u662f   \u865a\u5e7b \u5f15\u64ce \u6811\u53f6 \u5de5\u5177   \u3002 \u901a\u8fc7 \u4ece \u5de5\u5177 \u5de5\u5177\u680f \u7684   mode   \u4e0b \u62c9 \u5217\u8868 \u4e2d \u9009\u62e9 \u6765 \u6fc0\u6d3b \u8be5 \u5de5\u5177 \u3002   \u5c06 \u6240 \u9700 \u7684 \u6811\u53f6 \u9879\u76ee \u62d6 \u5230 \u6807\u6709   +   Drop   Foliage   Here   \u7684 \u6846\u4e2d \u3002 \u5728 \u5bc6\u5ea6 \u5b57\u6bb5 \u4e2d \u8bbe\u7f6e \u9002\u5f53 \u7684 \u5bc6\u5ea6 \uff0c \u7136\u540e \u4f7f\u7528 \u6811\u53f6 \u9879\u76ee \u7ed8\u5236 \u5230 \u5730\u56fe \u4e0a \u3002","title":"\u6811\u53f6 \u5de5\u5177  "},{"location":"tuto_content_authoring_maps/#_16","text":"\u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u65bd \u5b50 \u5173\u5361 \u3002 .   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u4e0b \u4e00\u6b65  "},{"location":"tuto_content_authoring_pedestrians/","text":"\u5185\u5bb9 \u521b\u4f5c   -   \u884c\u4eba   Carla   \u5728   WalkerFactory   \u84dd\u56fe \u4e2d \u63d0\u4f9b \u4e86 \u4e00\u5957 \u5168\u9762 \u5f00\u7bb1 \u5373\u7528 \u7684 \u884c\u4eba \u3002 \u7528\u6237 \u53ef\u4ee5 \u901a\u8fc7 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u884c\u4eba \u8fdb\u884c \u6269\u5c55 \u3002 \u4e3a 3D \u52a8\u753b \u5efa\u6a21 \u4eba\u4f53 \u89e3\u5256 \u89e3\u5256\u5b66 \u975e\u5e38 \u590d\u6742 \u975e\u5e38\u590d\u6742 \uff0c \u8d85\u51fa \u4e86 \u672c \u6587\u6863 \u7684 \u8303\u56f4 \u3002 \u56e0\u6b64 \uff0c \u6211\u4eec \u5411 \u7528\u6237 \u63a8\u8350 \u66ff\u4ee3 \u8d44\u6e90 \uff0c \u4ee5 \u5b66\u4e60 \u5982\u4f55 \u5728 3D \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \u5bf9 \u4eba \u8fdb\u884c \u5efa\u6a21 \u3002 \u672c \u6307\u5357 \u4ecb\u7ecd \u5982\u4f55 \u5bfc\u5165 \u548c \u914d\u7f6e \u4e00\u4e2a \u5b8c\u6574 \u7684 \u4e09\u7ef4 \u4eba\u4f53 \u6a21\u578b \u4eba\u4f53\u6a21\u578b \uff0c \u4ee5\u4fbf \u5728   Carla   \u4f7f\u7528 \u884c\u4eba \u3002   \u5efa\u6a21   \u547d\u540d \u7ea6\u5b9a   \u52a8\u753b \u7ed1\u5b9a   \u5bfc\u5165   Armature   Parenting   \u5206\u914d   Blender   \u63d2\u4ef6   Export   \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce   \u7269\u7406 \u8d44\u4ea7   \u52a8\u753b   \u84dd\u56fe   \u6750\u8d28   \u5e94\u7528 \u6750\u8d28   \u989c\u8272   \u900f\u660e \u6d82\u5c42   \u6a59\u76ae \u7eb9\u8def   \u9cde\u7247   \u7070\u5c18   \u73bb\u7483   \u73bb\u7483 \u7f51\u683c   \u73bb\u7483 \u6750\u8d28   \u5355\u5c42 \u73bb\u7483   Wheels   \u8f66\u8f6e \u84dd\u56fe   \u78b0\u649e \u7f51\u683c   \u8f6e\u80ce \u914d\u7f6e   \u8f66\u8f6e \u5c3a\u5bf8   \u5149\u7167   UV   \u8d34\u56fe   \u5bfc\u5165   \u5efa\u6a21   \u884c\u4eba \u662f \u7ed1\u5b9a \u5230 \u5173\u8282 \u548c \u9aa8\u9abc \u7684 \u9aa8\u9abc \u5c42\u6b21 \u7684 \u51e0\u4f55 \u51e0\u4f55\u4f53 \u7684 \u7ec4\u5408 \u3002 \u5b83\u4eec \u5e94\u8be5 \u4f5c\u4e3a   \u9aa8\u67b6 \u7f51\u683c   \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce \u4e2d \u3002 \u7f51\u683c \u5c06 \u7ed1\u5b9a \u5230 \u9aa8\u67b6 \u5b9a\u4e49 \u3002 \u6709\u5173 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\u7684 \u51e0\u4f55 \u5f62\u72b6 \u5e76 \u5c06 \u5176 \u7ed1\u5b9a \u5230 \u9aa8\u67b6 \u540e \uff0c \u60a8 \u5e94\u8be5 \u5c06 \u5176 \u4ece   3D   \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d\u4ee5   FBX   \u683c\u5f0f \u5bfc\u51fa \u3002 \u5b8c\u6210 \u5bfc\u51fa \u540e \uff0c \u5728   Carla   \u5185\u5bb9 \u5e93\u4e2d \u627e\u5230 \u5408\u9002 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4f4d\u7f6e \uff0c \u7136\u540e \u5c06   FBX   \u62d6 \u653e\u5230 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u3002 \u60a8 \u53ef\u80fd \u5e0c\u671b \u5c06 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u884c\u4eba \u653e\u7f6e \u5728 \u73b0\u6709 \u884c\u4eba   Content   >   Carla   >   Static   >   Pedestrians   \u65c1\u8fb9 \u3002   \u5728 \u5bfc\u5165 \u9009\u9879 \u5f39 \u51fa \u5bf9\u8bdd \u5bf9\u8bdd\u6846 \u4e2d \uff0c \u786e\u4fdd \u9009\u62e9 \u4e86   Skeletal   Mesh   \u548c   Import   Mesh   \uff0c \u5e76\u4e14   Import   Content   Type   \u8bbe\u7f6e \u4e3a   Geometry   and   Skinning   Weights   \u3002 \u5728   Skeleton   \u90e8\u5206 \uff0c \u9009\u62e9   Carla   \u7684 \u9884 \u751f\u6210 \u9aa8\u67b6 \u5b9a\u4e49   Skel _ GEN3   \u3002 \u7136\u540e \u6309   Import   All   \u3002   Skel _ GEN3   \u5b9a\u4e49 \u5df2 \u6307\u5b9a \u884c\u4eba \u52a8\u753b \u3002   \u901a\u8fc7   Python   API   \u8ba9 \u4f60 \u7684 \u65b0 \u884c\u4eba \u53ef\u4ee5 \u8bbf\u95ee   \u6210\u529f \u5c06 \u884c\u4eba \u5bfc\u5165   Carla   \u7684 \u5185\u5bb9 \u5e93\u540e \uff0c \u60a8 \u73b0\u5728 \u5fc5\u987b \u901a\u8fc7   API   \u4f7f \u884c\u4eba \u53ef\u7528 \u3002   \u5bfc\u822a \u5230 \u73b0\u6709 \u884c\u4eba \u84dd\u56fe \u7684 \u4f4d\u7f6e   Content   >   Carla   >   Blueprints   >   Walkers   \u3002 \u590d\u5236   GEN3   \u84dd\u56fe \uff0c \u4f8b\u5982   BP _ Walker _ AB001 _ G3   \u5e76\u91cd \u547d\u540d \u3002   \u53cc\u51fb \u590d\u5236 \u7684 \u84dd\u56fe \u4ee5 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u6253\u5f00 \u5b83 \u3002 \u60a8 \u9700\u8981 \u5c06 \u84dd\u56fe \u7684   Mesh   \u7ec4\u4ef6 \u66f4 \u6539\u4e3a \u65b0 \u7684 \u884c\u4eba \u6a21\u578b \u3002 \u5c06 \u521a\u521a \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5bfc\u5165 \u7684 \u9aa8\u67b6 \u7f51\u683c \u62d6 \u653e\u5230   Skeletal   Mesh   \u63d2\u69fd \u4e2d \u3002   \u5176\u4ed6   UE5 + iphone + MetaHuman \u6570\u5b57 \u4eba \u6d41\u7a0b   \u52a8\u4f5c \u6355\u6349 \u548c \u9762\u90e8 \u6355\u6349 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8c03\u7814","title":"Tuto   content   authoring   pedestrians"},{"location":"tuto_content_authoring_pedestrians/#-","text":"Carla   \u5728   WalkerFactory   \u84dd\u56fe \u4e2d \u63d0\u4f9b \u4e86 \u4e00\u5957 \u5168\u9762 \u5f00\u7bb1 \u5373\u7528 \u7684 \u884c\u4eba \u3002 \u7528\u6237 \u53ef\u4ee5 \u901a\u8fc7 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u884c\u4eba \u8fdb\u884c \u6269\u5c55 \u3002 \u4e3a 3D \u52a8\u753b \u5efa\u6a21 \u4eba\u4f53 \u89e3\u5256 \u89e3\u5256\u5b66 \u975e\u5e38 \u590d\u6742 \u975e\u5e38\u590d\u6742 \uff0c \u8d85\u51fa \u4e86 \u672c \u6587\u6863 \u7684 \u8303\u56f4 \u3002 \u56e0\u6b64 \uff0c \u6211\u4eec \u5411 \u7528\u6237 \u63a8\u8350 \u66ff\u4ee3 \u8d44\u6e90 \uff0c \u4ee5 \u5b66\u4e60 \u5982\u4f55 \u5728 3D \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \u5bf9 \u4eba \u8fdb\u884c \u5efa\u6a21 \u3002 \u672c \u6307\u5357 \u4ecb\u7ecd \u5982\u4f55 \u5bfc\u5165 \u548c \u914d\u7f6e \u4e00\u4e2a \u5b8c\u6574 \u7684 \u4e09\u7ef4 \u4eba\u4f53 \u6a21\u578b \u4eba\u4f53\u6a21\u578b \uff0c \u4ee5\u4fbf \u5728   Carla   \u4f7f\u7528 \u884c\u4eba \u3002   \u5efa\u6a21   \u547d\u540d \u7ea6\u5b9a   \u52a8\u753b \u7ed1\u5b9a   \u5bfc\u5165   Armature   Parenting   \u5206\u914d   Blender   \u63d2\u4ef6   Export   \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce   \u7269\u7406 \u8d44\u4ea7   \u52a8\u753b   \u84dd\u56fe   \u6750\u8d28   \u5e94\u7528 \u6750\u8d28   \u989c\u8272   \u900f\u660e \u6d82\u5c42   \u6a59\u76ae \u7eb9\u8def   \u9cde\u7247   \u7070\u5c18   \u73bb\u7483   \u73bb\u7483 \u7f51\u683c   \u73bb\u7483 \u6750\u8d28   \u5355\u5c42 \u73bb\u7483   Wheels   \u8f66\u8f6e \u84dd\u56fe   \u78b0\u649e \u7f51\u683c   \u8f6e\u80ce \u914d\u7f6e   \u8f66\u8f6e \u5c3a\u5bf8   \u5149\u7167   UV   \u8d34\u56fe   \u5bfc\u5165","title":"\u5185\u5bb9 \u521b\u4f5c   -   \u884c\u4eba"},{"location":"tuto_content_authoring_pedestrians/#_1","text":"\u884c\u4eba \u662f \u7ed1\u5b9a \u5230 \u5173\u8282 \u548c \u9aa8\u9abc \u7684 \u9aa8\u9abc \u5c42\u6b21 \u7684 \u51e0\u4f55 \u51e0\u4f55\u4f53 \u7684 \u7ec4\u5408 \u3002 \u5b83\u4eec \u5e94\u8be5 \u4f5c\u4e3a   \u9aa8\u67b6 \u7f51\u683c   \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce \u4e2d \u3002 \u7f51\u683c \u5c06 \u7ed1\u5b9a \u5230 \u9aa8\u67b6 \u5b9a\u4e49 \u3002 \u6709\u5173 \u9aa8\u9abc \u5b9a\u4e49 \u7684 \u4fe1\u606f \u53ef\u4ee5 \u5c01\u88c5 \u5728 \u4ece 3D \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u5bfc\u51fa \u7684 FBX \u6587\u4ef6 \u4e2d \u3002   \u51e0\u4f55   \u884c\u4eba \u5e94\u8be5 \u6709 30000 \u5230 50000 \u4e2a\u9762 \u3002 \u8fd9 \u5e94\u8be5 \u5305\u62ec \u6240\u6709 \u7684 \u89e3\u5256 \u548c \u8863\u670d \u3002 \u7406\u60f3 \u60c5\u51b5 \u4e0b \uff0c \u6a21\u578b \u5e94\u8be5 \u5177\u6709 \u4eba\u4f53 \u5c3a\u5bf8 \uff0c \u5982\u679c \u9700\u8981 \uff0c \u53ef\u4ee5 \u5728 \u5bfc\u5165 \u540e \u91cd\u65b0 \u7f29\u653e \u3002   \u6ce8\u610f   \u8bf7 \u4ed4\u7ec6 \u6ce8\u610f 3D \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u7684 \u5355\u4f4d \u3002 \u4e00\u4e9b \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4ee5\u7c73 \u4e3a \u5355\u4f4d \u5de5\u4f5c \uff0c \u800c \u53e6 \u4e00\u4e9b \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4ee5 \u5398\u7c73 \u6216 \u4efb\u610f \u5355\u4f4d \u5de5\u4f5c \u3002   \u9aa8\u9abc \u5c42\u6b21   \u9aa8\u9abc \u5c42\u6b21 \u5e94 \u9075\u5faa   Carla   \u7684   GEN3   \u9aa8\u9abc \u5c42\u6b21 \uff0c   \u4e0b\u8f7d \u6a21\u677f   \u4ee5 \u4e0e \u60a8 \u81ea\u5df1 \u7684 \u6a21\u578b \u4e00\u8d77 \u4f7f\u7528 \u3002 \u60a8 \u53ef\u4ee5 \u5220\u9664 \u4eba\u4f53 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u5e76 \u5c06 \u5176 \u66ff\u6362 \u4e3a \u60a8 \u81ea\u5df1 \u7684 \u3002 \u8fd9 \u5c06 \u4e0e \u865a\u5e7b \u5f15\u64ce \u4e2d   Carla   \u7684 \u9884 \u751f\u6210 \u9aa8\u9abc \u5b9a\u4e49 \u5339\u914d \u76f8\u5339\u914d \u3002   \u8499\u76ae \u548c \u6743\u91cd \u7ed8\u5236   \u51c6\u5907   3D   \u6a21\u578b \u4ee5\u4f7f \u5176 \u6b63\u786e \u79fb\u52a8 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u662f \u786e\u4fdd \u6a21\u578b \u7684 \u5404\u4e2a \u9876\u70b9 \u4ee5 \u6b63\u786e \u7684 \u65b9\u5f0f \u53d7\u5230 \u9aa8\u67b6 \u4e2d \u6bcf\u6839 \u9aa8\u9abc \u7684 \u5f71\u54cd \u3002 \u4f8b\u5982 \uff0c \u63a7\u5236 \u4e09\u7ef4 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u624b\u8155 \u7684 \u9aa8\u9abc \u5e94\u8be5 \u63a7\u5236 \u624b \u548c \u624b\u8155 \u7684 \u9876\u70b9 \u3002 \u5b83 \u5e94\u8be5 \u5bf9 \u524d\u81c2 \u7a0d\u8fdc \u7684 \u9876\u70b9 \u4ea7\u751f \u8f7b\u5fae \u5f71\u54cd \uff0c \u4f46 \u4e0d \u5e94\u8be5 \u5f71\u54cd \u8098\u90e8 \u9644\u8fd1 \u7684 \u4efb\u4f55 \u9876\u70b9 \u3002 \u56e0\u6b64 \uff0c \u60a8 \u5e94\u8be5 \u4f7f\u7528   3D   \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u7684 \u6743\u91cd \u7ed8\u5236 \u5de5\u5177 \u6765 \u5fae\u8c03 \u6bcf\u6839 \u9aa8\u9abc \u5bf9 \u7f51\u683c \u7684 \u5f71\u54cd \u3002 \u8fd9\u662f \u4e00\u4e2a \u590d\u6742 \u7684 \u8fc7\u7a0b \uff0c \u6211\u4eec \u5efa\u8bae \u7528\u6237 \u53c2\u8003 \u5176\u4ed6 \u8d44\u6e90 \u4ee5 \u4e86\u89e3 \u6709\u5173 \u4eba\u7c7b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8499\u76ae \u548c \u6743\u91cd \u7ed8\u5236 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u5efa\u6a21"},{"location":"tuto_content_authoring_pedestrians/#carla","text":"\u5b8c\u6210 \u7f51\u683c \u7684 \u51e0\u4f55 \u5f62\u72b6 \u5e76 \u5c06 \u5176 \u7ed1\u5b9a \u5230 \u9aa8\u67b6 \u540e \uff0c \u60a8 \u5e94\u8be5 \u5c06 \u5176 \u4ece   3D   \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d\u4ee5   FBX   \u683c\u5f0f \u5bfc\u51fa \u3002 \u5b8c\u6210 \u5bfc\u51fa \u540e \uff0c \u5728   Carla   \u5185\u5bb9 \u5e93\u4e2d \u627e\u5230 \u5408\u9002 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4f4d\u7f6e \uff0c \u7136\u540e \u5c06   FBX   \u62d6 \u653e\u5230 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u3002 \u60a8 \u53ef\u80fd \u5e0c\u671b \u5c06 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u884c\u4eba \u653e\u7f6e \u5728 \u73b0\u6709 \u884c\u4eba   Content   >   Carla   >   Static   >   Pedestrians   \u65c1\u8fb9 \u3002   \u5728 \u5bfc\u5165 \u9009\u9879 \u5f39 \u51fa \u5bf9\u8bdd \u5bf9\u8bdd\u6846 \u4e2d \uff0c \u786e\u4fdd \u9009\u62e9 \u4e86   Skeletal   Mesh   \u548c   Import   Mesh   \uff0c \u5e76\u4e14   Import   Content   Type   \u8bbe\u7f6e \u4e3a   Geometry   and   Skinning   Weights   \u3002 \u5728   Skeleton   \u90e8\u5206 \uff0c \u9009\u62e9   Carla   \u7684 \u9884 \u751f\u6210 \u9aa8\u67b6 \u5b9a\u4e49   Skel _ GEN3   \u3002 \u7136\u540e \u6309   Import   All   \u3002   Skel _ GEN3   \u5b9a\u4e49 \u5df2 \u6307\u5b9a \u884c\u4eba \u52a8\u753b \u3002","title":"\u5c06 \u884c\u4eba \u5bfc\u5165   Carla"},{"location":"tuto_content_authoring_pedestrians/#python-api","text":"\u6210\u529f \u5c06 \u884c\u4eba \u5bfc\u5165   Carla   \u7684 \u5185\u5bb9 \u5e93\u540e \uff0c \u60a8 \u73b0\u5728 \u5fc5\u987b \u901a\u8fc7   API   \u4f7f \u884c\u4eba \u53ef\u7528 \u3002   \u5bfc\u822a \u5230 \u73b0\u6709 \u884c\u4eba \u84dd\u56fe \u7684 \u4f4d\u7f6e   Content   >   Carla   >   Blueprints   >   Walkers   \u3002 \u590d\u5236   GEN3   \u84dd\u56fe \uff0c \u4f8b\u5982   BP _ Walker _ AB001 _ G3   \u5e76\u91cd \u547d\u540d \u3002   \u53cc\u51fb \u590d\u5236 \u7684 \u84dd\u56fe \u4ee5 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u6253\u5f00 \u5b83 \u3002 \u60a8 \u9700\u8981 \u5c06 \u84dd\u56fe \u7684   Mesh   \u7ec4\u4ef6 \u66f4 \u6539\u4e3a \u65b0 \u7684 \u884c\u4eba \u6a21\u578b \u3002 \u5c06 \u521a\u521a \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5bfc\u5165 \u7684 \u9aa8\u67b6 \u7f51\u683c \u62d6 \u653e\u5230   Skeletal   Mesh   \u63d2\u69fd \u4e2d \u3002","title":"\u901a\u8fc7   Python   API   \u8ba9 \u4f60 \u7684 \u65b0 \u884c\u4eba \u53ef\u4ee5 \u8bbf\u95ee"},{"location":"tuto_content_authoring_pedestrians/#_2","text":"UE5 + iphone + MetaHuman \u6570\u5b57 \u4eba \u6d41\u7a0b   \u52a8\u4f5c \u6355\u6349 \u548c \u9762\u90e8 \u6355\u6349 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8c03\u7814","title":"\u5176\u4ed6"},{"location":"tuto_content_authoring_vehicles/","text":"\u5185\u5bb9 \u521b\u4f5c   -   \u8f66\u8f86   Carla   \u5728 \u84dd \u56fe\u5e93 \u4e2d \u63d0\u4f9b \u4e86 \u4e00\u5957 \u5f00\u7bb1 \u5373\u7528 \u7684 \u5168\u9762 \u8f66\u8f86 \u3002 Carla   \u5141\u8bb8 \u7528\u6237 \u4f7f\u7528 \u5b9a\u5236 \u8f66\u8f86 \u5bf9\u6b64 \u8fdb\u884c \u6269\u5c55 \uff0c \u4ee5 \u5b9e\u73b0 \u6700\u5927 \u7684 \u6269\u5c55 \u5c55\u6027 \u6269\u5c55\u6027 \u53ef\u6269\u5c55\u6027 \u3002   \u8be6\u7ec6 \u8f66\u8f86 \u7684 \u4e09\u7ef4 \u5efa\u6a21 \u975e\u5e38 \u590d\u6742 \u975e\u5e38\u590d\u6742 \uff0c \u9700\u8981 \u5f88 \u9ad8 \u7684 \u6280\u80fd \u3002 \u56e0\u6b64 \uff0c \u6211\u4eec \u5efa\u8bae \u8bfb\u8005 \u53c2\u8003 \u6709\u5173 \u4e09\u7ef4 \u5efa\u6a21 \u7684 \u5176\u4ed6 \u6587\u6863 \u6765\u6e90 \uff0c \u56e0\u4e3a \u8fd9 \u8d85\u51fa \u4e86 \u672c \u6307\u5357 \u7684 \u8303\u56f4 \u3002 \u7136\u800c \uff0c \u514d\u8d39 \u548c \u4e13\u6709 \u7684 \u5728\u7ebf \u5b58\u50a8 \u5e93\u4e2d \u6709 \u5927\u91cf \u7684 \u8f66\u8f86 \u6a21\u578b \u6765\u6e90 \u3002 \u56e0\u6b64 \uff0c \u7528\u6237 \u6709 \u591a\u79cd \u9009\u62e9 \u6765 \u521b\u5efa \u7528\u4e8e   Carla   \u7684 \u5b9a\u5236 \u8f66\u8f86 \u3002   \u4e3a   Carla   \u51c6\u5907 \u5b9a\u5236 \u8f66\u8f86 \u7684 \u5173\u952e \u56e0\u7d20 \u5173\u952e\u56e0\u7d20 \u5728\u4e8e \u88c5\u914d \u8f66\u8f86 \u9aa8\u67b6 \uff0c \u7136\u540e \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce \u4e2d \u3002 \u88c5\u914d \u548c \u5bfc\u5165 \u540e \uff0c \u9700\u8981 \u4e3a \u6c7d\u8f66 \u548c \u8f66\u8f6e \u8bbe\u7f6e \u84dd\u56fe \u3002 \u7136\u540e \u5e94\u7528 \u6750\u6599 \u5e76 \u6dfb\u52a0 \u8f66\u8f86 \u7684 \u73bb\u7483 \u90e8\u4ef6 \u3002 \u6211\u4eec \u5c06 \u5728 \u4ee5\u4e0b \u6307\u5357 \u4e2d \u4ecb\u7ecd \u8fd9\u4e9b \u6b65\u9aa4 \u3002   \u5efa\u6a21   \u547d\u540d \u7ea6\u5b9a   \u4f7f\u7528 \u7535\u67a2 \u88c5\u914d \u8f66\u8f86   \u5bfc\u5165   \u6dfb\u52a0 \u7535\u67a2   \u8bbe\u7f6e \u7236\u7ea7   \u5c06 \u6c7d\u8f66 \u96f6\u4ef6 \u6c7d\u8f66\u96f6\u4ef6 \u5206\u914d \u7ed9 \u9aa8\u9abc   Blender   \u7684 \u865a\u5e7b \u5f15\u64ce   4   \u8f66\u8f86 \u88c5\u914d \u63d2\u4ef6   \u5bfc\u51fa   \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce   \u8bbe\u7f6e \u7269\u7406 \u8d44\u4ea7   \u521b\u5efa \u52a8\u753b   \u521b\u5efa \u84dd\u56fe   \u6750\u8d28   \u7ed9 \u8f66\u8f86 \u5e94\u7528 \u6750\u8d28   \u989c\u8272   \u900f\u660e \u6d82\u5c42   \u7c92\u72b6 \u8868\u9762   \u8584\u7247   \u7070\u5c18   \u73bb\u7483   \u73bb\u7483 \u7f51\u683c   \u73bb\u7483 \u6750\u8d28   \u5355\u5c42 \u73bb\u7483   \u8f66\u8f6e   \u8f66\u8f6e \u84dd\u56fe   \u78b0\u649e \u7f51\u683c   \u8f6e\u80ce \u914d\u7f6e   \u8f66\u8f6e \u5c3a\u5bf8   \u60ac\u67b6 \u7279\u6027   \u706f   UV   \u8d34\u56fe   \u5bfc\u5165   \u5efa\u6a21   \u8f66\u8f86 \u5e94\u6709   5   \u4e07\u5230   10   \u4e07\u4e2a \u9762\u7247 \u3002 \u4f5c\u4e3a \u6700\u4f73 \u5b9e\u8df5 \uff0c \u6211\u4eec \u5efa\u8bae \u5728 \u5bfc\u51fa \u4e4b\u524d \u6a21\u578b \u5bf9\u6a21\u578b \u8fdb\u884c \u4e09\u89d2 \u6d4b\u91cf \u4e09\u89d2\u6d4b\u91cf \u3002 Carla   \u8f66\u8f86 \u662f \u53c2\u8003 \u5b9e\u9645 \u6c7d\u8f66 \u7684 \u5c3a\u5bf8 \u548c \u6bd4\u4f8b \u8fdb\u884c \u5efa\u6a21 \u7684 \u3002 \u8bf7 \u786e\u4fdd \u786e\u4fdd\u60a8 \u7279\u522b \u6ce8\u610f \u4e09\u7ef4 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u7684 \u5355\u4f4d \u3002 \u6709\u4e9b \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \uff0c \u6709\u4e9b \u5219 \u4ee5 \u7c73 \u4e3a \u5355\u4f4d \u3002   \u547d\u540d \u7ea6\u5b9a   \u4e3a\u4e86 \u65b9\u4fbf \u548c \u4e00\u81f4 \uff0c \u6211\u4eec \u5efa\u8bae \u5efa\u8bae\u60a8 \u5c06 \u8f66\u8f86 \u5206\u4e3a \u4ee5\u4e0b \u90e8\u5206 \u5e76 \u76f8\u5e94 \u547d\u540d \u3002 \u73bb\u7483 \u548c \u706f \u7684 \u5177\u4f53 \u7ec6\u8282 \u5c06 \u5728 \u540e\u9762 \u7684 \u90e8\u5206 \u4e2d \u4ecb\u7ecd \uff1a   \u8f66\u8eab ( Bodywork )   :   \u8f66\u8f86 \u7684 \u91d1\u5c5e \u90e8\u5206 \u3002 \u8be5 \u6750\u8d28 \u5df2 \u66f4 \u6539\u4e3a \u865a\u5e7b \u5f15\u64ce \u6750\u8d28 \u3002 \u53ef\u4ee5 \u6dfb\u52a0 \u5fbd\u6807 \u548c \u7ec6\u8282 \uff0c \u4f46 \u4e3a\u4e86 \u53ef\u89c1 \uff0c \u5fc5\u987b \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684   Alpha   \u901a\u9053 \u5c06 \u5b83\u4eec \u7ed8\u5236 \u4e3a \u4e0d\u540c \u7684 \u989c\u8272 \u3002   Glass _ Ext   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u53ef\u4ee5 \u4ece \u8f66\u8f86 \u5916\u90e8 \u770b\u5230 \u5185\u90e8 \u3002   Glass _ Int   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u8f66\u8f86 \u5185\u90e8 \u5230 \u5916\u90e8 \u7684 \u53ef\u89c1 \u6027 \u3002   Lights   :   \u5934\u706f \u3001 \u6307\u793a \u6307\u793a\u706f \u7b49   LightGlass _ Ext   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u5916\u90e8 \u5230 \u5185\u90e8 \u7684 \u706f\u5149 \u53ef\u89c1 \u6027 \u3002   LightGlass _ Int   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u5185\u90e8 \u5230 \u5916\u90e8 \u770b\u5230 \u5149 \u3002   LicensePlate   :   29x12   \u5398\u7c73 \u7684 \u77e9\u5f62 \u5e73\u9762 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u63d0\u4f9b \u7684   Carla   \u4ee5 \u83b7\u5f97 \u6700\u4f73 \u83b7\u5f97\u6700\u4f73 \u7ed3\u679c \uff0c \u8bf7 \u5728   \u6b64\u5904   \u4e0b\u8f7d   . fbx   \u3002 \u7eb9\u7406 \u5c06 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u81ea\u52a8 \u5206\u914d \u3002   \u5185\u9970 ( Interior )   :   \u4efb\u4f55 \u5176\u4ed6 \u4e0d \u9002\u5408 \u4e0a\u8ff0 \u90e8\u5206 \u7684 \u7ec6\u8282 \u90fd \u53ef\u4ee5 \u8fdb\u5165   \u5185\u9970   \u3002   \u6750\u8d28 ( Material ) \u5e94 \u4f7f\u7528 \u683c\u5f0f   M _ CarPart _ CarName   \u547d\u540d \uff0c \u4f8b\u5982 ,   M _ Bodywork _ Mustang   \u3002 \u7eb9\u7406 \u7684 \u5927\u5c0f \u5e94\u4e3a   2048x2048 \u3002   \u4f7f\u7528 \u7535\u67a2 \u88c5\u914d \u8f66\u8f86   \u4e3a\u4e86 \u5728 \u4eff\u771f \u4e2d \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u66f4 \u771f\u5b9e \uff0c \u6c7d\u8f66 \u9700\u8981 \u6709 \u65cb\u8f6c \u8f6e\u5b50 \uff0c \u524d \u4e00\u5bf9 \u8f6e\u5b50 \u53ef\u4ee5 \u968f\u7740 \u8f6c\u5411 \u8f93\u5165 \u800c \u8f6c\u52a8 \u3002 \u56e0\u6b64 \uff0c \u8981 \u4e3a   Carla   \u51c6\u5907 \u8f66\u8f86 \uff0c \u9700\u8981 \u5728 \u6c7d\u8f66 \u4e0a \u5b89\u88c5 \u7535\u67a2 \u4ee5 \u8bc6\u522b \u8f66\u8f6e \u5e76 \u5141\u8bb8 \u5176 \u79fb\u52a8 \u3002   \u5bfc\u5165   \u5728 \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \u5bfc\u5165 \u6216 \u5efa\u6a21 \u8f66\u8f86 \u6a21\u578b \u7f51\u683c \u3002 \u5728 \u672c \u6307\u5357 \u4e2d \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528   Blender   3D \u3002 \u786e\u4fdd \u8f6e\u5b50 \u4e0e \u4e3b\u4f53 \u5206\u79bb \u3002 \u6bcf\u4e2a \u8f6e\u5b50 \u5fc5\u987b \u53ef\u4ee5 \u4f5c\u4e3a \u4e00\u4e2a \u4e0d\u540c \u7684 \u5bf9\u8c61 \u8fdb\u884c \u8bbf\u95ee \u3002   \u786e\u4fdd \u8f66\u8f86 \u9762\u5411 \u6b63   X   \u65b9\u5411 \u975e\u5e38 \u91cd\u8981 \uff0c \u56e0\u6b64 \u5f15\u64ce \u5f15\u64ce\u76d6 \u548c \u6321\u98ce \u73bb\u7483 \u6321\u98ce\u73bb\u7483 \u5e94 \u9762\u5411 \u6b63   X   \u65b9\u5411 \u3002 \u6c7d\u8f66 \u7684 \u65b9\u5411 \u8fd8 \u5e94 \u4f7f \u5730\u677f \u5230 \u8f66\u9876 \u65b9\u5411 \u5904\u4e8e \u6b63   Z   \u65b9\u5411 \u3002 \u8f66\u8f6e \u5e94\u8be5 \u6b63\u597d \u64e6 \u8fc7   XY   \u5e73\u9762 \uff0c \u5e76\u4e14 \u539f\u70b9 \u5e94\u8be5 \u4f4d\u4e8e \u60a8 \u671f\u671b \u8f66\u8f86 \u8d28\u5fc3 \u4f4d\u4e8e   XY   \u5e73\u9762 \uff08 \u4f46 \u4e0d\u662f   Z   \u5e73\u9762 \uff09 \u7684 \u4f4d\u7f6e \u3002   \u6dfb\u52a0 \u7535\u67a2   \u73b0\u5728 \u5728 \u8f66\u8f86 \u7684 \u4e2d\u5fc3 \u6dfb\u52a0 \u4e00\u4e2a \u9aa8\u67b6 \uff0c \u786e\u4fdd \u7269\u4f53 \u6b63\u786e \u5c45\u4e2d \uff0c \u9aa8\u67b6 \u9aa8\u9abc \u7684 \u6839\u90e8 \u5e94 \u8bbe\u7f6e \u5728 \u539f\u70b9 \u3002 \u5207\u6362 \u5230 \u7f16\u8f91 \u6a21\u5f0f \u5e76 \u5c06 \u9aa8\u67b6 \u7ed5   x   \u8f74 \u65cb\u8f6c   90   \u5ea6 \u3002   \u73b0\u5728 \u9009\u62e9 \u9aa8\u67b6 \u5e76 \u6dfb\u52a0   4   \u4e2a \u9aa8\u9abc \u3002 \u8fd9\u4e9b \u9aa8\u9abc \u4e2d \u7684 \u6bcf \u4e00\u4e2a \u90fd \u9700\u8981 \u5b9a\u4f4d \uff0c \u4f7f\u5f97 \u9aa8\u9abc \u7684 \u6839\u90e8 \u4e0e \u6bcf\u4e2a \u8f6e\u5b50 \u7684 \u4e2d\u5fc3 \u91cd\u5408 \u3002 \u8fd9 \u53ef\u4ee5 \u901a\u8fc7 \u5728 \u7f16\u8f91 \u6a21\u5f0f \u4e0b \u5c06 \u4e09\u7ef4 \u5149\u6807 \u5b9a\u4f4d \u5728 \u6bcf\u4e2a \u6eda\u8f6e \u7684 \u4e2d\u5fc3 \u6765 \u5b9e\u73b0 \u3002 \u5728 \u5bf9\u8c61 \u6a21\u5f0f \u4e0b \u9009\u62e9 \u5176\u4e2d \u4e00\u4e2a \u8f6e\u5b50 \uff0c \u9009\u62e9 \u4e00\u4e2a \u9876\u70b9 \uff0c \u6309   A   \u9009\u62e9 \u6240\u6709 \u9876\u70b9 \uff0c \u7136\u540e   Shift + S   \u9009\u62e9   Cursor   to   selected   \u3002 \u8fd9\u4f1a \u5c06 \u5149\u6807 \u5b9a\u4f4d \u5728 \u6eda\u8f6e \u7684 \u4e2d\u5fc3 \u3002 \u7136\u540e \uff0c \u5728 \u5bf9\u8c61 \u6a21\u5f0f \u4e0b \uff0c \u9009\u62e9 \u9aa8\u67b6 \uff0c \u5207\u6362 \u5230 \u7f16\u8f91 \u6a21\u5f0f \uff0c \u9009\u62e9 \u9aa8\u9abc \u5e76 \u9009\u62e9   Selection   to   cursor   \u3002 \u60a8 \u7684 \u9aa8\u9abc \u73b0\u5728 \u5c06 \u4e0e \u8f6e\u5b50 \u91cd\u5408 \u3002 \u65cb\u8f6c \u6bcf\u4e2a \u9aa8\u9abc \uff0c \u4f7f \u5176 \u4e0e \u9aa8\u67b6 \u5e95\u90e8 \u5bf9\u9f50 \u3002   \u5bf9\u4e8e \u6bcf\u4e2a \u8f6e\u5b50 \uff0c \u5efa\u8bae \u6839\u636e \u9700\u8981 \u8026\u5408 \u7684 \u8f6e\u5b50 \u6765 \u547d\u540d \u9aa8\u9abc \uff0c \u8fd9 \u5c06 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u7a0d\u540e \u5728 \u9700\u8981 \u4e3a \u6bcf\u4e2a \u9aa8\u9abc \u5206\u914d \u9876\u70b9 \u7ec4\u65f6 \u8fdb\u884c \u8bc6\u522b \u3002   \u8bbe\u7f6e \u7236\u7ea7   \u73b0\u5728 \u5728 \u9879\u76ee \u5927\u7eb2 \u4e2d \u4f7f\u7528   shift   \u6216   control   \u9009\u62e9 \u8eab\u4f53 \u7684 \u6240\u6709 \u90e8\u5206 \u548c \u6240\u6709 4 \u4e2a \u8f6e\u5b50 \uff0c \u7136\u540e \u63a7\u5236 \u9009\u62e9 \u60a8 \u521b\u5efa \u7684 \u9aa8\u67b6 \uff08 \u8fd9\u4e2a \u987a\u5e8f \u5f88 \u91cd\u8981 \uff0c \u5982\u679c \u60a8 \u4ee5 \u76f8\u53cd \u7684 \u987a\u5e8f \u9009\u62e9 \u5b83\u4eec \u5c06 \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \uff09 \u3002 \u6309   Ctrl + p   \u5e76 \u9009\u62e9   With   empty   groups   \u5c06 \u7f51\u683c \u7ed1\u5b9a \u5230 \u9aa8\u67b6 \u3002   \u73b0\u5728 \u60a8 \u5df2 \u5c06 \u7f51\u683c \u4f53 \u8bbe\u7f6e \u4e3a \u9aa8\u67b6 \u7684 \u7236\u7ea7 \uff0c \u73b0\u5728 \u9700\u8981 \u5c06 \u6bcf\u4e2a \u8f6e\u5b50 \u5206\u914d \u7ed9 \u5176 \u5404\u81ea \u7684 \u9aa8\u9abc \u3002 \u5728 \u5927\u7eb2 \u89c6\u56fe \u6216 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u9009\u62e9 \u4e00\u4e2a \u8f6e\u5b50 \u3002 \u5207\u6362 \u5230 \u7f16\u8f91 \u6a21\u5f0f \uff0c \u7136\u540e \u9009\u62e9 \u8f6e\u5b50 \u7684 \u6240\u6709 \u9876\u70b9 \uff08 \u5feb\u6377 \u5feb\u6377\u952e   -   a \uff09 \u3002   \u5c06 \u6c7d\u8f66 \u96f6\u4ef6 \u6c7d\u8f66\u96f6\u4ef6 \u5206\u914d \u7ed9 \u9aa8\u9abc   \u9009\u62e9 \u5c5e\u6027 \u7684 \u7f51\u683c \u9009\u9879 \u9009\u9879\u5361 \uff08 \u7eff\u8272 \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \uff09 \u3002 \u5728 \u7f51\u683c \u5c5e\u6027 \u9762\u677f \u7684 \u9876\u70b9 \u7ec4 \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u60a8 \u73b0\u5728 \u5e94\u8be5 \u770b\u5230 \u9aa8\u67b6 \u7684 \u9aa8\u9abc \u3002 \u9009\u62e9 \u4e0e \u60a8 \u6b63\u5728 \u7f16\u8f91 \u7684 \u8f6e\u5b50 \u5bf9\u5e94 \u7684 \u9aa8\u9abc \uff0c \u7136\u540e \u9009\u62e9   Assign   \u3002 \u5b89\u88c5 \u597d \u8f66\u8f6e \u540e \uff0c \u5c06 \u8f66\u8f86 \u7684 \u6240\u6709 \u5176\u4ed6 \u90e8\u4ef6 \u5b89\u88c5 \u5230 \u57fa\u9aa8 \u4e0a \u3002   \u5c06 \u6240\u6709 \u7f51\u683c \u90e8\u4ef6 \u5206\u914d \u7ed9 \u9aa8\u67b6 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u9009\u62e9 \u9aa8\u67b6 \u5e76 \u79fb\u52a8 \u5230 \u59ff\u52bf \u6a21\u5f0f \u5e76 \u79fb\u52a8 \u76f8\u5173 \u9aa8\u9abc \u6765 \u6d4b\u8bd5 \u5b83 \u662f\u5426 \u6709\u6548 \u3002 \u8f66\u8f86 \u57fa\u9aa8\u5e94 \u79fb\u52a8 \u6574\u4e2a \u8f66\u8f86 \uff0c \u800c\u8f6e \u9aa8\u5e94 \u5206\u522b \u79fb\u52a8 \u5e76 \u65cb\u8f6c \u5404\u81ea \u7684 \u8f66\u8f6e \u3002   Ctrl + Z   \u786e\u4fdd \u64a4\u6d88 \u60a8 \u53ef\u80fd \u505a\u51fa \u7684 \u4efb\u4f55 \u59ff\u52bf \u3002   Blender   \u7684 \u865a\u5e7b \u5f15\u64ce   4   \u8f66\u8f86 \u88c5\u914d \u63d2\u4ef6   Blender   \u6709 \u4e00\u4e2a \u975e\u5e38 \u6709\u7528 \u7684 \u63d2\u4ef6 \uff0c \u7528\u4e8e \u88c5\u914d \u8f66\u8f86 \u4ee5 \u5bfc\u5165   Carla \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u7b80\u5316 \u4e0a\u8ff0 \u6b65\u9aa4 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u63d2\u4ef6 \u7f51\u9875   \u4ee5 \u83b7\u53d6 \u8bf4\u660e \u3002   \u5bfc\u51fa   \u73b0\u5728 \uff0c \u6211\u4eec \u5c06 \u88c5\u914d \u6a21\u578b \u5bfc\u51fa \u4e3a   FBX   \u683c\u5f0f \uff0c \u4ee5\u4fbf \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce \u4e2d \u3002 \u4ece \u201c \u6587\u4ef6 \u201d \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   Export   >   FBX   ( . fbx )   \u3002 \u5728   Include   \u9762\u677f \u7684   Object   Types   \u90e8\u5206 \u4e2d \uff0c \u6309\u4f4f   Shift   \u952e \u9009\u62e9   Armature   \u548c   Mesh   \u9009\u9879 \u3002   \u5728   Transform   \u9762\u677f \u4e2d \u3002 \u66f4\u6539   Forward   \u4e3a   X   Forward   \uff0c \u5e76 \u66f4\u6539   Up   \u4e3a   Z   Up   .   \u8fd9 \u5bf9\u4e8e \u786e\u4fdd \u8f66\u8f86 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6b63\u786e \u5b9a\u5411 \u975e\u5e38 \u91cd\u8981 \u3002   \u5728   Armature   \u90e8\u5206 \u4e2d \u53d6\u6d88   Add   Leaf   Bones   \u9009\u4e2d \u5e76 \u53d6\u6d88   Bake   Animation   \u9009\u4e2d \u3002   \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce   \u4ece   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \uff08 \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla   \u7684 \u76ee\u5f55 \uff09 \u4e2d \u4f7f\u7528   make   launch   \u547d\u4ee4 \u542f\u52a8 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \u6253\u5f00 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \uff0c \u8bbe\u7f6e \u9002\u5f53 \u7684 \u76ee\u5f55 \uff0c \u7136\u540e \u53f3\u952e \u5355\u51fb \u5e76 \u9009\u62e9   Import   to   ....   \u3002 \u9009\u62e9 \u60a8 \u4e4b\u524d \u4ece   Blender \uff08 \u6216 \u5176\u4ed6 \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff09 \u5bfc\u51fa \u7684   FBX   \u6587\u4ef6 \u3002 \u4f7f\u7528 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u5bfc\u5165 \u3002   \u8bbe\u7f6e \u7269\u7406 \u8d44\u4ea7   \u73b0\u5728 \uff0c \u60a8 \u7684 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u76ee\u5f55 \u4e2d\u5c06 \u5305\u542b   3   \u4e2a \u5185\u5bb9 \uff1a \u7f51\u683c \u3001 \u9aa8\u67b6 \u548c \u7269\u7406 \u8d44\u6e90 \u3002 \u53cc\u51fb \u7269\u7406 \u8d44\u6e90 \u8fdb\u884c \u8c03\u6574 \u3002   \u9996\u5148 \uff0c \u9009\u62e9 \u8f66\u4f53 \uff0c \u5728 \u53f3\u4fa7   Details   \u83dc\u5355 \u4e2d \uff0c \u5c06   Physics   \u90e8\u5206 \u4e2d \u7684   Linear   Damping   \u66f4 \u6539\u4e3a   0.0 \uff0c \u68c0\u67e5   Collision   \u90e8\u5206 \u7684   Simulation   Generates   Hit   Events   \uff0c \u5728   Body   Creation   \u90e8\u5206 \u5c06   Primitive   Type   \u4ece   Capsule   \u6539\u4e3a   Box   \u3002 \u7136\u540e \u6309   Regenerate   bodies   \u3002 \u80f6\u56ca \u73b0\u5728 \u5c06 \u53d8\u6210 \u4e00\u4e2a \u77e9\u5f62 \u76d2\u5b50 \u3002 \u7136\u540e \u9009\u62e9 \u8f6e\u5b50 \u3002   \u73b0\u5728 \u9009\u62e9 \u6240\u6709 \u8f6e\u5b50 \uff08 \u5728   Skeleton   Tree   \u5de6\u4fa7 \u90e8\u5206 \uff09 \u3002   \u5c06   Linear   Damping   \u6539\u4e3a   0.0 \uff0c \u5c06   Physics   Type   \u8bbe\u7f6e \u4e3a   Kinematic   \uff0c \u5c06   Collision   Response   \u8bbe\u7f6e \u4e3a   Disabled   \uff0c \u5e76 \u9009\u62e9   Primitive   Type   \u4f5c\u4e3a   Sphere   \u3002 \u518d \u6309   Re - generate   Bodies   \u4e00\u6b21 \u3002   \u521b\u5efa \u52a8\u753b   \u5728 \u60a8 \u62e5\u6709 \u65b0 \u8f66\u8f86 \u8d44\u4ea7 \u7684 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u76ee\u5f55 \u4e2d \uff0c \u53f3\u952e \u5355\u51fb \u5e76 \u9009\u62e9   Animation   >   Animation   Blueprint   \u3002 \u5728 \u6253\u5f00 \u7684 \u5f39\u51fa \u7a97\u53e3 \u4e2d \uff0c \u5728   Parent   Class   \u90e8\u5206 \u4e2d \u641c\u7d22   VehicleAnimInstance   \uff0c \u7136\u540e \u641c\u7d22   Target   Skeleton   \u4e0e \u60a8 \u7684 \u65b0\u8f66 \u76f8\u5bf9 \u5e94 \u7684 \u9aa8\u67b6 \uff0c \u60a8 \u5e94\u8be5 \u80fd\u591f \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u770b\u5230 \u8be5 \u540d\u79f0 \u3002 \u9009\u62e9 \u4e24\u9879 \u8fd9\u4e24\u9879 \u540e \u6309 \u786e\u5b9a \u3002 \u8fd9 \u5c06 \u4e3a \u60a8 \u7684 \u8f66\u8f86 \u521b\u5efa \u4e00\u4e2a \u65b0 \u7684 \u52a8\u753b \u84dd\u56fe \u3002   \u4e3a\u4e86 \u7b80\u5316 \u4e8b\u60c5 \uff0c \u6211\u4eec \u53ef\u4ee5 \u4ece \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u590d\u5236 \u52a8\u753b \u3002 \u5728 \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u6253\u5f00   Content   >   Carla   >   Static   >   Vehicles   >   4Wheeled   \u5e76 \u9009\u62e9 \u4efb\u610f \u8f66\u8f86 \u3002 \u6253\u5f00 \u6240 \u9009 \u8f66\u8f86 \u7684 \u52a8\u753b \u84dd\u56fe \uff0c \u7136\u540e \u5c06 \u9664 \u6b64 \u8282\u70b9 \u4e4b\u5916 \u7684 \u6240\u6709 \u8282\u70b9 \u590d\u5236   Output   pose   \u5230 \u65b0 \u7684 \u52a8\u753b \u84dd\u56fe \u4e2d \u3002 \u901a\u8fc7 \u62d6\u52a8 \u6700\u7ec8 \u8282\u70b9 \u4e0e \u8f93\u51fa \u8282\u70b9 \u4e4b\u95f4 \u7684 \u65b0 \u8fde\u63a5 \u6765 \u8fde\u63a5 \u8282\u70b9 \u3002 \u6309 \u7f16\u8bd1 \uff0c \u52a8\u753b \u84dd\u56fe \u73b0\u5df2 \u8bbe\u7f6e \u3002   \u521b\u5efa \u84dd\u56fe   \u4f7f\u7528 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5bfc\u822a \u5230   Content   >   Carla   >   Blueprints   >   Vehicles   >   LincolnMKZ2017   \u6216 \u7c7b\u4f3c \u7684 \u8f66\u8f86 \u3002 \u5728 \u8fd9\u91cc \u60a8 \u5c06 \u627e\u5230 \u4e00\u7ec4 \u4e3a   4   \u4e2a \u8f6e\u5b50 \u8bbe\u7f6e \u7684 \u84dd\u56fe \u3002 \u5c06 \u5b83\u4eec \u590d\u5236 \u590d\u5236\u5230 \u5305\u542b \u60a8 \u81ea\u5df1 \u7684 \u8f66\u8f86 \u7684 \u76ee\u5f55 \u4e2d \u5e76\u91cd \u547d\u540d \u5b83\u4eec \u4ee5 \u786e\u4fdd \u786e\u4fdd\u60a8 \u4ee5\u540e \u53ef\u4ee5 \u533a\u5206 \u5b83\u4eec \u3002 \u5982\u679c \u60a8 \u613f\u610f \uff0c \u60a8 \u53ef\u4ee5 \u8bbe\u7f6e \u81ea\u5df1 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f6e\u5b50 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u540e\u9762 \u7684   \u8f6e\u5b50 \u90e8\u5206   \u3002   \u53f3\u952e \u5355\u51fb \u65b0 \u8f66\u8f86 \u8d44\u4ea7 \u6240\u5728 \u7684 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u76ee\u5f55 \u5e76 \u9009\u62e9   Blueprint   Class   \u3002 \u5728   All   Classes   \u83dc\u5355 \u4e2d \u641c\u7d22   BaseVehiclePawn   \u5e76 \u9009\u62e9 \u6b64\u7c7b \u3002 \u4e3a \u84dd\u56fe \u547d\u540d \u5e76 \u6253\u5f00 \u5b83 \u3002 \u5728 \u5de6\u4fa7   Components   \u9009\u9879 \u9009\u9879\u5361 \u4e2d \u8fdb\u884c   Mesh   \u9009\u62e9 \uff0c \u7136\u540e \u5c06 \u8f66\u8f86 \u7f51\u683c \u62d6\u52a8 \u5230 \u53f3\u4fa7 \u7684 \u201c \u7f51\u683c \u201d \u90e8\u5206 \u4e2d \u3002   \u5728   Anim   Class   \u641c\u7d22 \u4e0e \u60a8 \u5728 \u4e0a \u4e00\u6b65 \u4e2d \u8bbe\u7f6e \u7684 \u65b0\u8f66 \u76f8\u5bf9 \u5e94 \u7684 \u52a8\u753b \u3002   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u5728 \u84dd\u56fe \u7c7b \u7684   Components   \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   Vehicle   Movement   \uff0c \u7136\u540e \u5728 \u53f3\u4fa7   Details   \u83dc\u5355 \u4e2d \u5bfc\u822a \u5230 \u8be5   Vehicle   Setup   \u90e8\u5206 \u3002 \u73b0\u5728 \uff0c \u5bf9\u4e8e \u6bcf\u4e2a \u8f66\u8f6e \uff0c \u627e\u5230 \u60a8 \u4e4b\u524d \u4e3a   Wheel   Class   \u5c5e\u6027 \u590d\u5236 \u5e76\u91cd \u547d\u540d \u7684 \u76f8\u5173 \u8f66\u8f6e \u84dd\u56fe \u3002 \u5bf9 \u6bcf\u4e2a \u8f6e\u5b50 \u6267\u884c \u76f8\u540c \u7684 \u64cd\u4f5c \u3002 \u7f16\u8bd1 \u5e76 \u4fdd\u5b58 \u3002   \u73b0\u5728 \u5bfc\u822a \u5230   Content   >   Carla   >   Blueprints   >   Vehicles   >   VehicleFactory   \u5e76 \u53cc\u51fb \u5b83 \u4ee5 \u6253\u5f00 \u8f66\u8f86 \u5de5\u5382 \u3002   \u9009\u62e9   Vehicles   \u8282\u70b9 \u5e76 \u5c55\u5f00 \u53f3\u4fa7   Default   value   \u90e8\u5206 \u4e2d \u7684   Vehicles   \u9879 \u3002   \u6309 \u52a0\u53f7 \u56fe\u6807 \u6dfb\u52a0 \u60a8 \u7684 \u65b0\u8f66 \u3002 \u5411\u4e0b \u6eda\u52a8 \u5230 \u6700\u540e \u4e00\u4e2a \u6761\u76ee \u5e76 \u5c06 \u5176 \u5c55\u5f00 \uff0c \u5b83 \u5e94\u8be5 \u662f \u7a7a \u7684 \u3002 \u547d\u540d \u60a8 \u7684 \u8f66\u8f86 \u7684 \u54c1\u724c \u548c \u578b\u53f7 \uff0c \u7136\u540e \u5728 \u7c7b \u90e8\u5206 \u4e0b \u627e\u5230 \u60a8 \u5728 \u4e0a \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u4e2d \u521b\u5efa \u7684 \u84dd\u56fe \u7c7b \u3002 \u5c06 \u8f6e\u5b50 \u6570\u91cf \u4fdd\u7559 \u4e3a   4 \uff0c \u5e76 \u5c06 \u4e16\u4ee3 \u8bbe\u7f6e \u4e3a   2 \u3002 \u7f16\u8bd1 \u5e76 \u4fdd\u5b58 \u3002 \u4e3a\u4e86 \u5b89\u5168 \u8d77 \u89c1 \uff0c \u8fdb\u884c \u5168\u5c40 \u4fdd\u5b58 \uff0c \u60a8 \u73b0\u5728 ...... \u51c6\u5907 \u5728 \u4eff\u771f \u4e2d \u8fd0\u884c \u60a8 \u7684 \u8f66\u8f86 \u3002   \u6309 \u865a\u5e7b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u7684 \u201c \u8fd0\u884c \u201d \u6765 \u8fdb\u884c \u4eff\u771f \u3002 \u8fd0\u884c \u540e \uff0c \u6253\u5f00 \u7ec8\u7aef \u5e76 \u4f7f\u7528 \u8fc7\u6ee4 \u6ee4\u5668 \u8fc7\u6ee4\u5668 \u9009\u9879 \u8fd0\u884c \u811a\u672c   manual _ control . py   \u6765 \u6307\u5b9a \u60a8 \u7684 \u65b0 \u8f66\u8f86 \u578b\u53f7 \uff1a   python   manual _ control . py   -- filter   my _ vehicle _ make   \u4e8b\u5b9e \u4e8b\u5b9e\u4e0a \uff0c \u8f66\u8f86 \u76ee\u524d \u6ca1\u6709 \u5e94\u7528 \u7eb9\u7406 \u6216 \u989c\u8272 \u3002 \u4e0b \u4e00\u6b65 \u662f \u5e94\u7528 \u6750\u6599 \uff0c \u4f7f \u60a8 \u7684 \u8f66\u8f86 \u5177\u6709 \u50cf \u771f\u6b63 \u7684 \u516c\u8def \u8f66\u8f86 \u4e00\u6837 \u7684 \u5916\u89c2 \u3002   \u6750\u8d28   \u5c06 \u8f66\u8f86 \u4f5c\u4e3a \u57fa\u672c \u8d44\u4ea7 \u5bfc\u5165 \u5e76 \u5e03\u7f6e \u597d \u7f51\u683c \u548c \u84dd\u56fe \u540e \uff0c \u60a8 \u73b0\u5728 \u9700\u8981 \u5411 \u8f66\u8f86 \u6dfb\u52a0 \u6750\u8d28 \uff0c \u4ee5 \u4fc3\u8fdb \u865a\u5e7b \u5f15\u64ce \u4e2d \u7684 \u7167\u7247 \u7ea7 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \u6e32\u67d3 \uff0c \u4ece\u800c \u5b9e\u73b0 \u673a\u5668 \u5b66\u4e60 \u8bad\u7ec3 \u6570\u636e \u7684 \u6700\u5927 \u4fdd\u771f \u771f\u5ea6 \u4fdd\u771f\u5ea6 \u3002   \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u62e5\u6709 \u5168\u9762 \u7684 \u6750\u8d28 \u5de5\u4f5c \u6d41\u7a0b \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u521b\u5efa \u9ad8\u5ea6 \u903c\u771f \u7684 \u6750\u8d28 \u3002 \u7136\u800c \uff0c \u8fd9 \u786e\u5b9e \u663e \u7740 \u589e\u52a0 \u4e86 \u8be5 \u8fc7\u7a0b \u7684 \u590d\u6742 \u590d\u6742\u6027 \u3002 \u56e0\u6b64 \uff0c Carla   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5927\u578b \u6750\u6599 \u539f\u578b \u5e93\u4f9b \u60a8 \u4f7f\u7528 \uff0c \u800c \u65e0\u9700 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u3002   \u7ed9 \u8f66\u8f86 \u5e94\u7528 \u6750\u8d28   Carla   \u63d0\u4f9b \u4e86 \u4e00\u79cd \u7528\u4e8e \u590d\u5236 \u8f66\u8f86 \u5149\u6cfd \u8868\u9762 \u7684 \u539f\u578b \u6750\u6599 \uff0c \u53ef\u4ee5 \u4eff\u771f \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7c7b\u578b \u7684 \u8f66\u8f86 \u55b7\u6f06 \u5de5\u4f5c \u548c \u529f\u80fd \u3002 \u6253\u5f00 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5e76 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u627e\u5230   Content   >   Carla   >   Static   >   GenericMaterials   >   00 _ MastersOpt   \u3002 \u57fa\u672c \u6750\u6599 \u79f0\u4e3a   M _ CarPaint _ Master   \u3002 \u53f3\u952e \u5355\u51fb \u8be5 \u6750\u6599 \u5e76 \u4ece \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u6750\u8d28 \u4e2d \u9009\u62e9   Create   Material   Instance   \u3002 \u4e3a \u5176 \u547d\u540d \u5e76 \u5c06 \u5176 \u79fb\u52a8 \u5230 \u5b58\u50a8 \u65b0 \u8f66\u8f86 \u5185\u5bb9 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \uff0c \u5c06 \u89c2\u5bdf \u5219 \u4f1a \u79fb\u52a8 \u5230 \u9760\u8fd1 \u5730\u677f \u7684 \u4e00\u70b9 \uff0c \u7136\u540e \u5c06 \u8f66\u8f86 \u7684 \u9aa8\u67b6 \u7f51\u683c \u7269\u4f53 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u62d6 \u5230 \u573a\u666f \u4e2d \uff0c \u8f66\u8f86 \u7684 \u8f66\u8eab \u73b0\u5728 \u5c06 \u51fa\u73b0 \u5728 \u90a3\u91cc \u3002   \u73b0\u5728 \uff0c \u5728 \u53f3\u4fa7 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u9762\u677f \u4e2d \uff0c \u5c06 \u65b0 \u6750\u8d28 \u5b9e\u4f8b \u62d6\u52a8 \u5230   Materials   \u90e8\u5206 \u7684   Element   0   \u4f4d\u7f6e \u3002 \u60a8 \u5c06 \u770b\u5230 \u8f66\u8eab \u5448\u73b0 \u73b0\u51fa \u5448\u73b0\u51fa \u4e00\u79cd \u65b0 \u7684 \u7070\u8272 \u3001 \u6709 \u5149\u6cfd \u7684 \u6750\u6599 \u7279\u6027 \u3002   \u53cc\u51fb \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u7684 \u6750\u8d28 \uff0c \u6211\u4eec \u5c31 \u53ef\u4ee5 \u5f00\u59cb \u7f16\u8f91 \u53c2\u6570 \u4e86 \u3002 \u8fd9\u91cc \u6709 \u8bb8\u591a \u53c2\u6570 \u53ef\u4ee5 \u6539\u53d8 \u5404\u79cd \u5c5e\u6027 \uff0c \u8fd9\u4e9b \u5c5e\u6027 \u5bf9\u4e8e \u4eff\u771f \u73b0\u5b9e \u4e16\u754c \u7684 \u6c7d\u8f66 \u55b7\u6f06 \u5de5\u4f5c \u975e\u5e38 \u91cd\u8981 \u3002 \u6700 \u91cd\u8981 \u7684 \u53c2\u6570 \u5982\u4e0b \uff1a   \u989c\u8272 ( Color )   \u989c\u8272 \u8bbe\u7f6e \u51b3\u5b9a \u6c7d\u8f66 \u7684 \u6574\u4f53 \u989c\u8272 \u3002 \u57fa\u8272 \u53ea\u662f \u6c7d\u8f66 \u7684 \u4e3b\u8981 \u989c\u8272 \uff0c \u5b83 \u5c06 \u63a7\u5236 \u6574\u4f53 \u989c\u8272 \uff1a   \u900f\u660e \u6d82\u5c42 ( Clear   coat )   \u900f\u660e \u6d82\u5c42 \u8bbe\u7f6e \u51b3\u5b9a \u9970\u9762 \u7684 \u5916\u89c2 \u53ca\u5176 \u5bf9\u5149 \u7684 \u53cd\u5e94 \u3002 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u4f7f\u7528 \u7eb9\u7406 \u5c06 \u7f3a\u9677 \u5e94\u7528 \u5230 \u8f66\u8f86 \u8868\u9762 \uff0c \u4ee5 \u66f4 \u9ad8 \u7684 \u503c \u6563\u5c04 \u66f4 \u591a \u7684 \u5149 \uff0c \u4ee5 \u521b\u5efa \u54d1\u5149 \u5916\u89c2 \u3002 \u5efa\u8bae \u8fdb\u884c \u5fae\u5999 \u7684 \u8c03\u6574 \u548c \u8f83 \u4f4e \u7684 \u503c \u4ee5 \u83b7\u5f97 \u903c\u771f \u7684 \u5916\u89c2 \u3002 \u4e00\u822c \u6765\u8bf4 \u4e00\u822c\u6765\u8bf4 \uff0c \u6c7d\u8f66 \u55b7\u6f06 \u4f5c\u4e1a \u662f \u5149\u6ed1 \u4e14 \u53cd\u5149 \u7684 \uff0c \u4f46\u662f \uff0c \u8fd9\u79cd \u6548\u679c \u53ef\u80fd \u66f4 \u5e7f\u6cdb \u5730 \u7528\u4e8e \u5bf9 \u5b9a\u5236 \u55b7\u6f06 \u4f5c\u4e1a \u7684 \u4e13\u4e1a \u54d1\u5149 \u9970\u9762 \u8fdb\u884c \u5efa\u6a21 \u3002   \u63a7\u5236 \u6c7d\u8f66 \u201c \u5149\u6cfd \u5149\u6cfd\u5ea6 \u7684 \u4e00\u4e2a \u91cd\u8981 \u53c2\u6570 \u662f   Clear   Coat   Intensity   \u3002 \u63a5\u8fd1   1   \u7684 \u9ad8\u503c \u5c06 \u4f7f \u6d82\u5c42 \u95ea\u4eae \u4e14 \u6709 \u5149\u6cfd \u3002   \u7c92\u72b6 \u8868\u9762 ( Orange   peel )   \u771f\u5b9e \u6c7d\u8f66 \u7684 \u9970\u9762 \uff08 \u7279\u522b \u662f \u9762\u5411 \u4e00\u822c \u5e02\u573a \u7684 \u6279\u91cf \u751f\u4ea7 \u6279\u91cf\u751f\u4ea7 \u7684 \u6c7d\u8f66 \uff09 \u5f80\u5f80 \u5b58\u5728 \u7f3a\u9677 \uff0c \u8868\u73b0 \u4e3a \u6cb9\u6f06 \u4e0a \u7684 \u8f7b\u5fae \u6ce2\u7eb9 \u3002 \u7c92\u72b6 \u8868\u9762 \u4eff\u771f \u4e86 \u8fd9 \u4e00\u70b9 \uff0c \u4f7f \u6c7d\u8f66 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u66f4 \u771f\u5b9e \u3002   \u8584\u7247 ( Flakes )   \u6709\u4e9b \u6c7d\u8f66 \u7684 \u6cb9\u6f06 \u5de5\u4f5c \u4e2d \u5305\u542b \u5176\u4ed6 \u6750\u6599 \u7684 \u8584\u7247 \uff0c \u4f8b\u5982 \u91d1\u5c5e \u6216 \u9676\u74f7 \uff0c \u4ee5 \u8d4b\u4e88 \u6c7d\u8f66   metallic   \u6216   pearlescant   \u5916\u89c2 \uff0c \u589e\u52a0 \u989d\u5916 \u7684 \u95ea\u5149 \u548c \u53cd\u5c04 \uff0c \u4ee5\u6709 \u5438\u5f15 \u5f15\u529b \u5438\u5f15\u529b \u7684 \u65b9\u5f0f \u4e0e \u5149\u7ebf \u53cd\u5e94 \u3002 \u8584\u7247 \u53c2\u6570 \u5141\u8bb8   Carla   \u4eff\u771f \u8fd9 \u4e00\u70b9 \u3002 \u4e3a\u4e86 \u4eff\u771f \u91d1\u5c5e \u9970\u9762 \uff0c \u5b83\u4f1a \u662f   \u7070\u5c18 ( Dust )   \u6c7d\u8f66 \u8f66 \u8eab\u4e0a \u7ecf\u5e38 \u4f1a \u79ef\u805a \u6cb9\u8102 \u548c \u7070\u5c18 \uff0c \u8fd9\u4f1a \u589e\u52a0 \u8f66\u6f06 \u7684 \u8d28\u611f \uff0c \u5f71\u54cd \u5176 \u53cd\u5c04 \u5149\u7ebf \u7684 \u65b9\u5f0f \u3002 \u7070\u5c18 \u53c2\u6570 \u5141\u8bb8 \u60a8 \u5728 \u6d82\u5c42 \u4e0a \u6dfb\u52a0 \u7834\u574f \u5757 \uff0c \u4ee5 \u4eff\u771f \u7c98\u9644 \u5728 \u6cb9\u6f06 \u4e0a \u7684 \u5f02\u7269 \u3002   \u73bb\u7483   \u5728   Carla   \u4e2d \u521b\u5efa \u903c\u771f \u7684 \u73bb\u7483 \u9700\u8981 \u4e00\u4e9b \u6280\u5de7 \u6765 \u6355\u6349 \u673a\u52a8 \u52a8\u8f66 \u8f66\u8f86 \u673a\u52a8\u8f66 \u673a\u52a8\u8f66\u8f86 \u4e2d \u4f7f\u7528 \u7684 \u73bb\u7483 \u7684 \u771f\u5b9e \u6298\u5c04 \u548c \u53cd\u5c04 \u884c\u4e3a \u3002 Carla   \u8f66\u5e93 \u8f66\u8f86 \u6709   4   \u5c42 \u73bb\u7483 \u7f51\u683c \uff0c \u91c7\u7528   2   \u79cd \u4e0d\u540c \u7684 \u6750\u6599 \u3002 \u5404\u5c42 \u4e4b\u95f4 \u95f4\u9694 \u6beb\u7c73 \u51e0\u6beb\u7c73 \uff0c \u5185\u90e8 \u548c \u5916\u90e8 \u73bb\u7483 \u5c42 \u91c7\u7528 \u4e0d\u540c \u7684 \u6750\u6599 \uff0c \u4ee5 \u786e\u4fdd \u73bb\u7483 \u4ece \u8f66\u8f86 \u5185\u90e8 \u548c \u5916\u90e8 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u90fd \u5f88 \u903c\u771f \u3002   \u4ece \u8f66\u8f86 \u5916\u90e8 \u770b \u6709   2   \u5c42 \u73bb\u7483 \uff0c \u4ece \u8f66\u8f86 \u5185\u90e8 \u770b \u6709   2   \u5c42 \u73bb\u7483 \u3002 \u73bb\u7483 \u6240\u4ee5 \u4e4b\u6240\u4ee5 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u50cf \u73bb\u7483 \uff0c \u56e0\u4e3a \u662f\u56e0\u4e3a \u6765\u81ea \u73bb\u7483 \u4e24\u4e2a \u8868\u9762 \u7684 \u53cd\u5c04 \u4f7f\u5f97 \u53cd\u5c04 \u975e\u5e38 \u5fae\u5999 \u5730 \u52a0\u500d \u3002   \u73bb\u7483 \u7f51\u683c   \u5728 \u8fd9\u91cc \uff0c \u6211\u4eec \u770b\u5230 \u8fde\u63a5 \u5230 \u6797\u80af \u4e3b\u4f53 \u8f66\u8eab \uff08 \u4e0d\u662f \u8f66\u95e8 \u6216 \u5176\u4ed6 \u6d3b\u52a8 \u90e8\u4ef6 \uff09 \u7684 \u73bb\u7483 \u90e8\u4ef6 \u3002   \u5982\u679c \u6211\u4eec \u5c06 \u7ec4\u6210 \u7684 \u7f51\u683c \u90e8\u5206 \u5206\u5f00 \uff0c \u6211\u4eec \u53ef\u4ee5 \u770b\u5230 \u73bb\u7483 \u8f6e\u5ed3 \u88ab \u5206\u4e3a   4   \u4e2a \u4e0d\u540c \u7684 \u5c42 \u3002   \u8fd9   4   \u4e2a\u5c42 \u5206\u4e3a   2   \u7ec4 \uff1a \u5916\u90e8 \u5c42 \uff08 \u6cd5\u7ebf \u9762\u5411 \u8f66\u8f86 \u5916\u90e8 \uff09 \u548c \u5185\u90e8 \u5c42 \uff08 \u7f51\u683c \u683c\u6cd5 \u7f51\u683c\u6cd5 \u7ebf \u9762\u5411 \u8f66\u8f86 \u5185\u90e8 \uff09 \u3002 \u4e0b\u56fe \u6f14\u793a \u4e86   \u521b\u5efa \u7f51\u683c \u56fe\u5c42 \u540e \uff0c \u5c06 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u7684 \u5b83\u4eec \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5b58\u50a8 \u8f66\u8f86 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u6309\u4f4f   Shift   \u952e \u9009\u62e9   4   \u4e2a \u73bb\u7483 \u5c42 \u5e76 \u5c06 \u5b83\u4eec \u62d6 \u5230 \u5730\u56fe \u4e2d \u4ee5\u4fbf \u60a8 \u53ef\u4ee5 \u770b\u5230 \u5b83\u4eec \u3002   \u73bb\u7483 \u6750\u8d28   \u53cc\u51fb \u73bb\u7483 \u7684 \u5916\u5c42 \uff0c \u7136\u540e \u5728 \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u7a97\u53e3 \u4e2d \u5bfc\u822a \u5230   Content   >   Carla   >   Static   >   Vehicles   >   GeneralMaterials   \u5e76 \u627e\u5230 \u8be5   Glass   \u6750\u8d28 \u3002 \u5c06 \u73bb\u7483 \u6750\u8d28 \u62d6\u81f3 \u7f51\u683c \u7269\u4f53 \u7684 \u6750\u8d28 \u69fd \u4e2d \u3002 \u5bf9 \u73bb\u7483 \u7684 \u6bcf \u4e00\u5c42 \u91cd\u590d \u6b64 \u8fc7\u7a0b \u3002   \u73bb\u7483 \u73b0\u5728 \u5c06 \u662f \u900f\u660e \u7684 \uff0c \u4f46 \u5177\u6709 \u53cd\u5c04 \u9644\u8fd1 \u7269\u4f53 \u548c \u5149\u6e90 \u7684 \u53cd\u5c04 \u53cd\u5c04\u7387 \u3002 \u60a8 \u8fd8 \u5e94\u8be5 \u68c0\u67e5 \u5185\u90e8 \u73bb\u7483 \uff0c \u786e\u4fdd \u90a3\u91cc \u6709 \u9002\u5f53 \u7684 \u73bb\u7483 \u6548\u679c \u3002   \u5355\u5c42 \u73bb\u7483   \u4e3a\u4e86 \u66f4\u5feb \u5730 \u751f\u4ea7 \u8f66\u8f86 \u73bb\u7483 \u90e8\u4ef6 \uff0c \u552f\u4e00 \u7684 \u5173\u952e \u90e8\u4ef6 \u5173\u952e\u90e8\u4ef6 \u662f \u6700 \u5916\u5c42 \u7684 \u73bb\u7483 \u5c42 \u3002 \u60a8 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d\u5c06 \u73bb\u7483 \u6750\u8d28 \u5e94\u7528 \u4e8e \u6b64 \uff0c \u5e76 \u83b7\u5f97 \u53ef\u80fd \u9002\u5408 \u60a8 \u9700\u6c42 \u7684 \u7ed3\u679c \uff0c \u4f46\u662f \uff0c \u4ece\u8f66 \u5185 \u67e5\u770b \u7684 \u89c6\u56fe \uff08 \u5373 \uff0c \u5982\u679c \u60a8 \u5728 \u4eea\u8868 \u4eea\u8868\u677f \u4e0a \u6216 \u65b9\u5411 \u65b9\u5411\u76d8 \u540e\u9762 \u5b9e\u4f8b \u5316 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \uff09 \u4f3c\u4e4e \u5177\u6709 \u65e0 \u73bb\u7483 \uff08 \u65e0 \u6298\u5c04 \u6216 \u53cd\u5c04 \uff09 \u3002 \u6211\u4eec \u5efa\u8bae \u91c7\u7528 \u4e0a\u8ff0 \u5de5\u827a \u6765 \u751f\u4ea7 \u6700 \u771f\u5b9e \u7684 \u73bb\u7483 \u3002   \u73b0\u5728 \u60a8 \u5df2\u7ecf \u521b\u5efa \u4e86 \u84dd\u56fe \uff0c \u6dfb\u52a0 \u4e86 \u7f51\u683c \uff0c \u5b8c\u6210 \u4e86 \u88c5\u914d \uff0c \u521b\u5efa \u4e86 \u6cb9\u6f06 \u9970\u9762 \u548c \u73bb\u7483 \u7684 \u6750\u6599 \uff0c \u60a8 \u5e94\u8be5 \u62e5\u6709 \u4e00\u8f86 \u5916\u89c2 \u975e\u5e38 \u903c\u771f \u7684 \u8f66\u8f86 \u3002   \u8f66\u8f6e   \u5982\u679c \u60a8 \u5728   \u521b\u5efa \u84dd\u56fe \u65f6   \u590d\u5236 \u4e86 \u8f66\u8f6e \uff0c \u5e76\u4e14 \u60a8 \u7684 \u8f66\u8f86 \u4e0e   Carla   \u5e93\u4e2d \u5df2\u6709 \u7684 \u8f66\u8f86 \u975e\u5e38 \u76f8\u4f3c \uff0c \u90a3\u4e48 \u8fd9 \u53ef\u80fd \u9002\u5408 \u60a8 \u7684 \u76ee\u7684 \u3002 \u4f46\u662f \uff0c \u5982\u679c \u60a8 \u7684 \u8f66\u8f86 \u5177\u6709 \u975e\u6807 \u6807\u51c6 \u975e\u6807\u51c6 \u8f66\u8f6e \u5c3a\u5bf8 \u6216 \u6293 \u5730\u529b \u7279\u6027 \uff0c \u5219 \u5e94 \u6309\u7167 \u672c \u8282 \u8bbe\u7f6e \u8f66\u8f6e \u84dd\u56fe \uff0c \u4ee5 \u6700\u597d \u5730 \u5339\u914d \u8f66\u8f86 \u8f66\u8f6e \u7684 \u7269\u7406 \u7279\u6027 \u3002   \u5bf9\u4e8e   Carla   \u8f66\u8f86 \u7684 \u8f66\u8f6e \uff0c \u6211\u4eec \u9700\u8981 \u4e3a \u6bcf\u4e2a \u8f66\u8f6e \u5efa\u7acb \u4e00\u4e2a \u84dd\u56fe \u7c7b\u6765 \u5904\u7406 \u529b\u5b66 \u548c \u78b0\u649e \u5c5e\u6027 \u3002 \u60a8 \u5c06 \u8bbe\u7f6e   4   \u4e2a \u84dd\u56fe \u7c7b \uff0c \u6211\u4eec \u5efa\u8bae \u4f7f\u7528 \u4ee5\u4e0b \u524d\u7f00 \u6216 \u540e\u7f00 \u6765 \u8bc6\u522b \u8f6e\u5b50 \uff1a   RRW   -   R   ear   R   ight   W   heel   RLW   -   R   ear   L   eft   W   heel   FRW   -   F   ront   R   ight   W   heel   FLW   -   F   ront   L   eft   W   heel   \u8f66\u8f6e \u84dd\u56fe   \u5728 \u60a8 \u62e5\u6709 \u65b0\u8f66 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u53f3\u952e \u5355\u51fb \u5e76 \u9009\u62e9 \u521b\u5efa \u4e00\u4e2a \u65b0 \u7684 \u84dd\u56fe \u7c7b \u3002 \u641c\u7d22   \u53cc\u51fb \u84dd\u56fe \u8fdb\u884c \u8c03\u6574 \uff1a   \u78b0\u649e \u7f51\u683c   \u9996\u5148 \uff0c \u7528\u4e8e \u78b0\u649e \u7f51\u683c \u7684 \u9ed8\u8ba4 \u5706\u67f1 \u67f1\u4f53 \u5706\u67f1\u4f53 \u5177\u6709 \u9ad8 \u591a\u8fb9 \u591a\u8fb9\u5f62 \u6570\u91cf \uff0c \u56e0\u6b64 \u6211\u4eec \u5e94\u8be5 \u5c06 \u5176 \u66ff\u6362 \u4e3a \u4f4e \u591a\u8fb9 \u591a\u8fb9\u5f62 \u7248\u672c \u3002 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u627e\u5230   Content   >   Carla   >   Blueprints   >   Vehicles   \u5185 \u7684   CollisionWheel   \u7f51\u683c \u3002 \u84dd\u56fe \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u9762\u677f \u4e2d \u7684 \u63d2\u69fd \u4e0a \u3002 \u8fd9 \u5c06 \u63d0\u9ad8 \u6027\u80fd \uff0c \u800c \u4e0d\u4f1a \u5bfc\u81f4 \u7269\u7406 \u4eff\u771f \u51fa\u73b0 \u4efb\u4f55 \u660e\u663e \u7684 \u7f3a\u9677 \u3002   \u8f6e\u80ce \u914d\u7f6e   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u6211\u4eec \u8bbe\u7f6e \u8f6e\u80ce \u914d\u7f6e \u3002 \u5728   Content   >   Carla   >   Blueprints   >   Vehicles   \u5185 \u627e\u5230   CommonTireConfig   \u914d\u7f6e \u5e76 \u5c06 \u5176 \u62d6 \u5230   Tire   Config   \u84dd\u56fe \u7684 \u90e8\u5206 \u4e0a \u3002 \u5982\u679c \u53cc\u51fb \u84dd\u56fe \u4e2d \u7684 \u8f6e\u80ce \u914d\u7f6e \uff0c \u53ef\u4ee5 \u8c03\u6574 \u6469\u64e6 \u6bd4\u4f8b \uff0c \u53ef\u4ee5 \u4fee\u6539 \u8f66\u8f86 \u7684 \u9053\u8def \u64cd\u63a7 \u884c\u4e3a \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u8bbe\u7f6e \u4e3a   3.5 \uff0c \u8be5\u503c \u9002\u5408 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u8f66\u8f86 \u4f7f\u7528 \u60c5\u51b5 \u3002 \u4f46\u662f \uff0c \u5982\u679c \u60a8 \u5e0c\u671b \u5bf9 \u5e26\u6709 \u5149\u5934 \u8f6e\u80ce \u7684 \u8d5b\u8f66 \u8fdb\u884c \u5efa\u6a21 \uff0c \u5219 \u8fd9 \u5c06 \u662f \u9700\u8981 \u8c03\u6574 \u7684 \u9002\u5f53 \u53c2\u6570 \u3002   \u8f66\u8f6e \u5c3a\u5bf8   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u5728 \u4e09\u7ef4 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \u6d4b\u91cf \u8f66\u8f6e \u7684 \u76f4\u5f84 \u3002 \u5728   Blender   \u4e2d \uff0c \u53ef\u4ee5 \u5728 \u5bf9\u8c61 \u6a21\u5f0f \u4e0b \u6309   n   \u6253\u5f00 \u7684 \u5c5e\u6027 \u9762\u677f \u4e2d \u67e5\u770b \u5c3a\u5bf8 \u3002   \u73b0\u5728 \u5c06 \u8fd9\u4e9b \u6570\u5b57 \u63d2\u5165 \u5230   Wheel   \u84dd\u56fe \u7684 \u90e8\u5206 \u4e2d \u3002 \u8bf7 \u6ce8\u610f \u534a\u5f84 \u4e3a \u76f4\u5f84 \u7684 \u4e00\u534a \uff0c \u5e76\u4e14 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \u3002 \u5bf9\u4e8e \u8f66\u8f6e \u8d28\u91cf \uff0c \u6211\u4eec \u5efa\u8bae \u5728 \u4e92\u8054 \u8054\u7f51 \u4e92\u8054\u7f51 \u4e0a \u67e5\u627e \u89c4\u683c \uff0c \u627e\u5230 \u6b63\u786e \u7684 \u8f6e\u80ce \u578b\u53f7 \u6216 \u7c7b\u4f3c \u7684 \u8f6e\u80ce \u578b\u53f7 \u6765 \u4f30\u8ba1 \u6b63\u786e \u7684 \u8d28\u91cf \uff08 \u4ee5 \u5343\u514b \u4e3a \u5355\u4f4d \uff09 \u3002   Affected   by   handbrake   \u5e94 \u68c0\u67e5 \u4e24\u4e2a \u540e\u8f6e \u3002   Steer   angle   \u5bf9\u4e8e \u4e24\u4e2a \u524d\u8f6e \u5e94 \u8bbe\u7f6e \u4e3a \u6700\u5927 \u9884\u671f \u8f6c\u5411 \u89d2 \uff0c \u5bf9\u4e8e \u4e24\u4e2a \u540e\u8f6e \u5e94 \u8bbe\u7f6e \u4e3a \u96f6 \u3002   \u60ac\u67b6 \u7279\u6027   \u8fd9\u91cc \u7684 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5408\u7406 \u7684 \u8d77\u70b9 \u3002 \u67e5\u770b   \u672c \u6307\u5357   \u4ee5 \u8bbe\u7f6e \u9002\u5408 \u60a8 \u8f66\u8f86 \u7c7b\u578b \u7684 \u60ac\u67b6 \u7279\u6027 \u3002   \u706f   \u5b8c\u6210   Carla   \u771f\u5b9e \u8f66\u8f86 \u7684 \u6700\u540e \u4e00\u4e2a \u5143\u7d20 \u662f \u706f \u3001 \u524d\u706f \u3001 \u5239\u8f66 \u8f66\u706f \u5239\u8f66\u706f \u3001 \u95ea\u5149 \u5149\u706f \u95ea\u5149\u706f \u7b49 \u3002 \u5728 \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \uff0c \u60a8 \u5e94\u8be5 \u5bf9 \u4e00\u4e9b \u7c7b\u4f3c \u4e8e \u60a8 \u8981 \u590d\u5236 \u7684 \u8f66\u8f86 \u706f \u7684 \u5f62\u72b6 \u8fdb\u884c \u5efa\u6a21 \u3002 \u5bf9\u4e8e \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u8f66\u5934 \u5934\u706f \u8f66\u5934\u706f \u6765\u8bf4 \uff0c \u8fd9 \u5c06 \u662f \u6241\u5e73 \u5706\u76d8 \u6216 \u6241\u5e73 \u957f\u65b9 \u957f\u65b9\u4f53 \u7ed3\u6784 \u3002 \u6709\u4e9b \u8f66\u8f86 \u53ef\u80fd \u8fd8 \u914d\u6709   LED   \u706f\u6761 \u3002   UV   \u8d34\u56fe   \u4e0d\u540c \u7c7b\u578b \u7684 \u706f \uff08 \u524d\u706f \u3001 \u95ea\u5149 \u5149\u706f \u95ea\u5149\u706f \u3001 \u5239\u8f66 \u8f66\u706f \u5239\u8f66\u706f \u7b49 \uff09 \u4f7f\u7528 \u7eb9\u7406 \u6765 \u533a\u5206 \u3002 \u60a8 \u9700\u8981 \u5728   \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \u521b\u5efa   UV   \u8d34\u56fe \uff0c \u5e76 \u5b9a\u4f4d \u706f\u5149 \u4ee5 \u4e0e \u7eb9\u7406 \u7684 \u76f8\u5173 \u533a\u57df \u5339\u914d \u76f8\u5339\u914d \u3002   \u5bfc\u5165   \u5c06 \u706f\u5149 \u7f51\u683c \u5bfc\u5165 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668   -   \u5bfc\u5165 \u706f\u5149 \u7f51\u683c \u540e \uff1a   \u5c06 \u7f51\u683c \u7269\u4f53 \u62d6\u52a8 \u5230   Components   \u9762\u677f \u4e2d \u7684   Mesh   ( VehicleMesh )   ( Inherited )   \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u3002   \u9009\u62e9 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u7684 \u989d\u5916 \u7f51\u683c \u5e76 \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \u641c\u7d22   Collision   \u3002   \u5c06 \u78b0\u649e \u9884\u8bbe (   Collision   Presets   ) \u8bbe\u7f6e \u4e3a   NoCollision   \u3002   \u9009\u62e9 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u7684 \u4efb\u4f55 \u706f\u5149 \u7f51\u683c \u3002 \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \u641c\u7d22   Tag   \u5e76 \u6dfb\u52a0   emissive   \u6807\u7b7e \u3002","title":"\u5185\u5bb9 \u521b\u4f5c   -   \u8f66\u8f86"},{"location":"tuto_content_authoring_vehicles/#-","text":"Carla   \u5728 \u84dd \u56fe\u5e93 \u4e2d \u63d0\u4f9b \u4e86 \u4e00\u5957 \u5f00\u7bb1 \u5373\u7528 \u7684 \u5168\u9762 \u8f66\u8f86 \u3002 Carla   \u5141\u8bb8 \u7528\u6237 \u4f7f\u7528 \u5b9a\u5236 \u8f66\u8f86 \u5bf9\u6b64 \u8fdb\u884c \u6269\u5c55 \uff0c \u4ee5 \u5b9e\u73b0 \u6700\u5927 \u7684 \u6269\u5c55 \u5c55\u6027 \u6269\u5c55\u6027 \u53ef\u6269\u5c55\u6027 \u3002   \u8be6\u7ec6 \u8f66\u8f86 \u7684 \u4e09\u7ef4 \u5efa\u6a21 \u975e\u5e38 \u590d\u6742 \u975e\u5e38\u590d\u6742 \uff0c \u9700\u8981 \u5f88 \u9ad8 \u7684 \u6280\u80fd \u3002 \u56e0\u6b64 \uff0c \u6211\u4eec \u5efa\u8bae \u8bfb\u8005 \u53c2\u8003 \u6709\u5173 \u4e09\u7ef4 \u5efa\u6a21 \u7684 \u5176\u4ed6 \u6587\u6863 \u6765\u6e90 \uff0c \u56e0\u4e3a \u8fd9 \u8d85\u51fa \u4e86 \u672c \u6307\u5357 \u7684 \u8303\u56f4 \u3002 \u7136\u800c \uff0c \u514d\u8d39 \u548c \u4e13\u6709 \u7684 \u5728\u7ebf \u5b58\u50a8 \u5e93\u4e2d \u6709 \u5927\u91cf \u7684 \u8f66\u8f86 \u6a21\u578b \u6765\u6e90 \u3002 \u56e0\u6b64 \uff0c \u7528\u6237 \u6709 \u591a\u79cd \u9009\u62e9 \u6765 \u521b\u5efa \u7528\u4e8e   Carla   \u7684 \u5b9a\u5236 \u8f66\u8f86 \u3002   \u4e3a   Carla   \u51c6\u5907 \u5b9a\u5236 \u8f66\u8f86 \u7684 \u5173\u952e \u56e0\u7d20 \u5173\u952e\u56e0\u7d20 \u5728\u4e8e \u88c5\u914d \u8f66\u8f86 \u9aa8\u67b6 \uff0c \u7136\u540e \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce \u4e2d \u3002 \u88c5\u914d \u548c \u5bfc\u5165 \u540e \uff0c \u9700\u8981 \u4e3a \u6c7d\u8f66 \u548c \u8f66\u8f6e \u8bbe\u7f6e \u84dd\u56fe \u3002 \u7136\u540e \u5e94\u7528 \u6750\u6599 \u5e76 \u6dfb\u52a0 \u8f66\u8f86 \u7684 \u73bb\u7483 \u90e8\u4ef6 \u3002 \u6211\u4eec \u5c06 \u5728 \u4ee5\u4e0b \u6307\u5357 \u4e2d \u4ecb\u7ecd \u8fd9\u4e9b \u6b65\u9aa4 \u3002   \u5efa\u6a21   \u547d\u540d \u7ea6\u5b9a   \u4f7f\u7528 \u7535\u67a2 \u88c5\u914d \u8f66\u8f86   \u5bfc\u5165   \u6dfb\u52a0 \u7535\u67a2   \u8bbe\u7f6e \u7236\u7ea7   \u5c06 \u6c7d\u8f66 \u96f6\u4ef6 \u6c7d\u8f66\u96f6\u4ef6 \u5206\u914d \u7ed9 \u9aa8\u9abc   Blender   \u7684 \u865a\u5e7b \u5f15\u64ce   4   \u8f66\u8f86 \u88c5\u914d \u63d2\u4ef6   \u5bfc\u51fa   \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce   \u8bbe\u7f6e \u7269\u7406 \u8d44\u4ea7   \u521b\u5efa \u52a8\u753b   \u521b\u5efa \u84dd\u56fe   \u6750\u8d28   \u7ed9 \u8f66\u8f86 \u5e94\u7528 \u6750\u8d28   \u989c\u8272   \u900f\u660e \u6d82\u5c42   \u7c92\u72b6 \u8868\u9762   \u8584\u7247   \u7070\u5c18   \u73bb\u7483   \u73bb\u7483 \u7f51\u683c   \u73bb\u7483 \u6750\u8d28   \u5355\u5c42 \u73bb\u7483   \u8f66\u8f6e   \u8f66\u8f6e \u84dd\u56fe   \u78b0\u649e \u7f51\u683c   \u8f6e\u80ce \u914d\u7f6e   \u8f66\u8f6e \u5c3a\u5bf8   \u60ac\u67b6 \u7279\u6027   \u706f   UV   \u8d34\u56fe   \u5bfc\u5165","title":"\u5185\u5bb9 \u521b\u4f5c   -   \u8f66\u8f86"},{"location":"tuto_content_authoring_vehicles/#_1","text":"\u8f66\u8f86 \u5e94\u6709   5   \u4e07\u5230   10   \u4e07\u4e2a \u9762\u7247 \u3002 \u4f5c\u4e3a \u6700\u4f73 \u5b9e\u8df5 \uff0c \u6211\u4eec \u5efa\u8bae \u5728 \u5bfc\u51fa \u4e4b\u524d \u6a21\u578b \u5bf9\u6a21\u578b \u8fdb\u884c \u4e09\u89d2 \u6d4b\u91cf \u4e09\u89d2\u6d4b\u91cf \u3002 Carla   \u8f66\u8f86 \u662f \u53c2\u8003 \u5b9e\u9645 \u6c7d\u8f66 \u7684 \u5c3a\u5bf8 \u548c \u6bd4\u4f8b \u8fdb\u884c \u5efa\u6a21 \u7684 \u3002 \u8bf7 \u786e\u4fdd \u786e\u4fdd\u60a8 \u7279\u522b \u6ce8\u610f \u4e09\u7ef4 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u7684 \u5355\u4f4d \u3002 \u6709\u4e9b \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \uff0c \u6709\u4e9b \u5219 \u4ee5 \u7c73 \u4e3a \u5355\u4f4d \u3002","title":"\u5efa\u6a21  "},{"location":"tuto_content_authoring_vehicles/#_2","text":"\u4e3a\u4e86 \u65b9\u4fbf \u548c \u4e00\u81f4 \uff0c \u6211\u4eec \u5efa\u8bae \u5efa\u8bae\u60a8 \u5c06 \u8f66\u8f86 \u5206\u4e3a \u4ee5\u4e0b \u90e8\u5206 \u5e76 \u76f8\u5e94 \u547d\u540d \u3002 \u73bb\u7483 \u548c \u706f \u7684 \u5177\u4f53 \u7ec6\u8282 \u5c06 \u5728 \u540e\u9762 \u7684 \u90e8\u5206 \u4e2d \u4ecb\u7ecd \uff1a   \u8f66\u8eab ( Bodywork )   :   \u8f66\u8f86 \u7684 \u91d1\u5c5e \u90e8\u5206 \u3002 \u8be5 \u6750\u8d28 \u5df2 \u66f4 \u6539\u4e3a \u865a\u5e7b \u5f15\u64ce \u6750\u8d28 \u3002 \u53ef\u4ee5 \u6dfb\u52a0 \u5fbd\u6807 \u548c \u7ec6\u8282 \uff0c \u4f46 \u4e3a\u4e86 \u53ef\u89c1 \uff0c \u5fc5\u987b \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684   Alpha   \u901a\u9053 \u5c06 \u5b83\u4eec \u7ed8\u5236 \u4e3a \u4e0d\u540c \u7684 \u989c\u8272 \u3002   Glass _ Ext   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u53ef\u4ee5 \u4ece \u8f66\u8f86 \u5916\u90e8 \u770b\u5230 \u5185\u90e8 \u3002   Glass _ Int   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u8f66\u8f86 \u5185\u90e8 \u5230 \u5916\u90e8 \u7684 \u53ef\u89c1 \u6027 \u3002   Lights   :   \u5934\u706f \u3001 \u6307\u793a \u6307\u793a\u706f \u7b49   LightGlass _ Ext   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u5916\u90e8 \u5230 \u5185\u90e8 \u7684 \u706f\u5149 \u53ef\u89c1 \u6027 \u3002   LightGlass _ Int   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u5185\u90e8 \u5230 \u5916\u90e8 \u770b\u5230 \u5149 \u3002   LicensePlate   :   29x12   \u5398\u7c73 \u7684 \u77e9\u5f62 \u5e73\u9762 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u63d0\u4f9b \u7684   Carla   \u4ee5 \u83b7\u5f97 \u6700\u4f73 \u83b7\u5f97\u6700\u4f73 \u7ed3\u679c \uff0c \u8bf7 \u5728   \u6b64\u5904   \u4e0b\u8f7d   . fbx   \u3002 \u7eb9\u7406 \u5c06 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u81ea\u52a8 \u5206\u914d \u3002   \u5185\u9970 ( Interior )   :   \u4efb\u4f55 \u5176\u4ed6 \u4e0d \u9002\u5408 \u4e0a\u8ff0 \u90e8\u5206 \u7684 \u7ec6\u8282 \u90fd \u53ef\u4ee5 \u8fdb\u5165   \u5185\u9970   \u3002   \u6750\u8d28 ( Material ) \u5e94 \u4f7f\u7528 \u683c\u5f0f   M _ CarPart _ CarName   \u547d\u540d \uff0c \u4f8b\u5982 ,   M _ Bodywork _ Mustang   \u3002 \u7eb9\u7406 \u7684 \u5927\u5c0f \u5e94\u4e3a   2048x2048 \u3002","title":"\u547d\u540d \u7ea6\u5b9a  "},{"location":"tuto_content_authoring_vehicles/#_3","text":"\u4e3a\u4e86 \u5728 \u4eff\u771f \u4e2d \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u66f4 \u771f\u5b9e \uff0c \u6c7d\u8f66 \u9700\u8981 \u6709 \u65cb\u8f6c \u8f6e\u5b50 \uff0c \u524d \u4e00\u5bf9 \u8f6e\u5b50 \u53ef\u4ee5 \u968f\u7740 \u8f6c\u5411 \u8f93\u5165 \u800c \u8f6c\u52a8 \u3002 \u56e0\u6b64 \uff0c \u8981 \u4e3a   Carla   \u51c6\u5907 \u8f66\u8f86 \uff0c \u9700\u8981 \u5728 \u6c7d\u8f66 \u4e0a \u5b89\u88c5 \u7535\u67a2 \u4ee5 \u8bc6\u522b \u8f66\u8f6e \u5e76 \u5141\u8bb8 \u5176 \u79fb\u52a8 \u3002","title":"\u4f7f\u7528 \u7535\u67a2 \u88c5\u914d \u8f66\u8f86  "},{"location":"tuto_content_authoring_vehicles/#_4","text":"\u5728 \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \u5bfc\u5165 \u6216 \u5efa\u6a21 \u8f66\u8f86 \u6a21\u578b \u7f51\u683c \u3002 \u5728 \u672c \u6307\u5357 \u4e2d \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528   Blender   3D \u3002 \u786e\u4fdd \u8f6e\u5b50 \u4e0e \u4e3b\u4f53 \u5206\u79bb \u3002 \u6bcf\u4e2a \u8f6e\u5b50 \u5fc5\u987b \u53ef\u4ee5 \u4f5c\u4e3a \u4e00\u4e2a \u4e0d\u540c \u7684 \u5bf9\u8c61 \u8fdb\u884c \u8bbf\u95ee \u3002   \u786e\u4fdd \u8f66\u8f86 \u9762\u5411 \u6b63   X   \u65b9\u5411 \u975e\u5e38 \u91cd\u8981 \uff0c \u56e0\u6b64 \u5f15\u64ce \u5f15\u64ce\u76d6 \u548c \u6321\u98ce \u73bb\u7483 \u6321\u98ce\u73bb\u7483 \u5e94 \u9762\u5411 \u6b63   X   \u65b9\u5411 \u3002 \u6c7d\u8f66 \u7684 \u65b9\u5411 \u8fd8 \u5e94 \u4f7f \u5730\u677f \u5230 \u8f66\u9876 \u65b9\u5411 \u5904\u4e8e \u6b63   Z   \u65b9\u5411 \u3002 \u8f66\u8f6e \u5e94\u8be5 \u6b63\u597d \u64e6 \u8fc7   XY   \u5e73\u9762 \uff0c \u5e76\u4e14 \u539f\u70b9 \u5e94\u8be5 \u4f4d\u4e8e \u60a8 \u671f\u671b \u8f66\u8f86 \u8d28\u5fc3 \u4f4d\u4e8e   XY   \u5e73\u9762 \uff08 \u4f46 \u4e0d\u662f   Z   \u5e73\u9762 \uff09 \u7684 \u4f4d\u7f6e \u3002","title":"\u5bfc\u5165    "},{"location":"tuto_content_authoring_vehicles/#_5","text":"\u73b0\u5728 \u5728 \u8f66\u8f86 \u7684 \u4e2d\u5fc3 \u6dfb\u52a0 \u4e00\u4e2a \u9aa8\u67b6 \uff0c \u786e\u4fdd \u7269\u4f53 \u6b63\u786e \u5c45\u4e2d \uff0c \u9aa8\u67b6 \u9aa8\u9abc \u7684 \u6839\u90e8 \u5e94 \u8bbe\u7f6e \u5728 \u539f\u70b9 \u3002 \u5207\u6362 \u5230 \u7f16\u8f91 \u6a21\u5f0f \u5e76 \u5c06 \u9aa8\u67b6 \u7ed5   x   \u8f74 \u65cb\u8f6c   90   \u5ea6 \u3002   \u73b0\u5728 \u9009\u62e9 \u9aa8\u67b6 \u5e76 \u6dfb\u52a0   4   \u4e2a \u9aa8\u9abc \u3002 \u8fd9\u4e9b \u9aa8\u9abc \u4e2d \u7684 \u6bcf \u4e00\u4e2a \u90fd \u9700\u8981 \u5b9a\u4f4d \uff0c \u4f7f\u5f97 \u9aa8\u9abc \u7684 \u6839\u90e8 \u4e0e \u6bcf\u4e2a \u8f6e\u5b50 \u7684 \u4e2d\u5fc3 \u91cd\u5408 \u3002 \u8fd9 \u53ef\u4ee5 \u901a\u8fc7 \u5728 \u7f16\u8f91 \u6a21\u5f0f \u4e0b \u5c06 \u4e09\u7ef4 \u5149\u6807 \u5b9a\u4f4d \u5728 \u6bcf\u4e2a \u6eda\u8f6e \u7684 \u4e2d\u5fc3 \u6765 \u5b9e\u73b0 \u3002 \u5728 \u5bf9\u8c61 \u6a21\u5f0f \u4e0b \u9009\u62e9 \u5176\u4e2d \u4e00\u4e2a \u8f6e\u5b50 \uff0c \u9009\u62e9 \u4e00\u4e2a \u9876\u70b9 \uff0c \u6309   A   \u9009\u62e9 \u6240\u6709 \u9876\u70b9 \uff0c \u7136\u540e   Shift + S   \u9009\u62e9   Cursor   to   selected   \u3002 \u8fd9\u4f1a \u5c06 \u5149\u6807 \u5b9a\u4f4d \u5728 \u6eda\u8f6e \u7684 \u4e2d\u5fc3 \u3002 \u7136\u540e \uff0c \u5728 \u5bf9\u8c61 \u6a21\u5f0f \u4e0b \uff0c \u9009\u62e9 \u9aa8\u67b6 \uff0c \u5207\u6362 \u5230 \u7f16\u8f91 \u6a21\u5f0f \uff0c \u9009\u62e9 \u9aa8\u9abc \u5e76 \u9009\u62e9   Selection   to   cursor   \u3002 \u60a8 \u7684 \u9aa8\u9abc \u73b0\u5728 \u5c06 \u4e0e \u8f6e\u5b50 \u91cd\u5408 \u3002 \u65cb\u8f6c \u6bcf\u4e2a \u9aa8\u9abc \uff0c \u4f7f \u5176 \u4e0e \u9aa8\u67b6 \u5e95\u90e8 \u5bf9\u9f50 \u3002   \u5bf9\u4e8e \u6bcf\u4e2a \u8f6e\u5b50 \uff0c \u5efa\u8bae \u6839\u636e \u9700\u8981 \u8026\u5408 \u7684 \u8f6e\u5b50 \u6765 \u547d\u540d \u9aa8\u9abc \uff0c \u8fd9 \u5c06 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u7a0d\u540e \u5728 \u9700\u8981 \u4e3a \u6bcf\u4e2a \u9aa8\u9abc \u5206\u914d \u9876\u70b9 \u7ec4\u65f6 \u8fdb\u884c \u8bc6\u522b \u3002","title":"\u6dfb\u52a0 \u7535\u67a2  "},{"location":"tuto_content_authoring_vehicles/#_6","text":"\u73b0\u5728 \u5728 \u9879\u76ee \u5927\u7eb2 \u4e2d \u4f7f\u7528   shift   \u6216   control   \u9009\u62e9 \u8eab\u4f53 \u7684 \u6240\u6709 \u90e8\u5206 \u548c \u6240\u6709 4 \u4e2a \u8f6e\u5b50 \uff0c \u7136\u540e \u63a7\u5236 \u9009\u62e9 \u60a8 \u521b\u5efa \u7684 \u9aa8\u67b6 \uff08 \u8fd9\u4e2a \u987a\u5e8f \u5f88 \u91cd\u8981 \uff0c \u5982\u679c \u60a8 \u4ee5 \u76f8\u53cd \u7684 \u987a\u5e8f \u9009\u62e9 \u5b83\u4eec \u5c06 \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \uff09 \u3002 \u6309   Ctrl + p   \u5e76 \u9009\u62e9   With   empty   groups   \u5c06 \u7f51\u683c \u7ed1\u5b9a \u5230 \u9aa8\u67b6 \u3002   \u73b0\u5728 \u60a8 \u5df2 \u5c06 \u7f51\u683c \u4f53 \u8bbe\u7f6e \u4e3a \u9aa8\u67b6 \u7684 \u7236\u7ea7 \uff0c \u73b0\u5728 \u9700\u8981 \u5c06 \u6bcf\u4e2a \u8f6e\u5b50 \u5206\u914d \u7ed9 \u5176 \u5404\u81ea \u7684 \u9aa8\u9abc \u3002 \u5728 \u5927\u7eb2 \u89c6\u56fe \u6216 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u9009\u62e9 \u4e00\u4e2a \u8f6e\u5b50 \u3002 \u5207\u6362 \u5230 \u7f16\u8f91 \u6a21\u5f0f \uff0c \u7136\u540e \u9009\u62e9 \u8f6e\u5b50 \u7684 \u6240\u6709 \u9876\u70b9 \uff08 \u5feb\u6377 \u5feb\u6377\u952e   -   a \uff09 \u3002","title":"\u8bbe\u7f6e \u7236\u7ea7    "},{"location":"tuto_content_authoring_vehicles/#_7","text":"\u9009\u62e9 \u5c5e\u6027 \u7684 \u7f51\u683c \u9009\u9879 \u9009\u9879\u5361 \uff08 \u7eff\u8272 \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \uff09 \u3002 \u5728 \u7f51\u683c \u5c5e\u6027 \u9762\u677f \u7684 \u9876\u70b9 \u7ec4 \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u60a8 \u73b0\u5728 \u5e94\u8be5 \u770b\u5230 \u9aa8\u67b6 \u7684 \u9aa8\u9abc \u3002 \u9009\u62e9 \u4e0e \u60a8 \u6b63\u5728 \u7f16\u8f91 \u7684 \u8f6e\u5b50 \u5bf9\u5e94 \u7684 \u9aa8\u9abc \uff0c \u7136\u540e \u9009\u62e9   Assign   \u3002 \u5b89\u88c5 \u597d \u8f66\u8f6e \u540e \uff0c \u5c06 \u8f66\u8f86 \u7684 \u6240\u6709 \u5176\u4ed6 \u90e8\u4ef6 \u5b89\u88c5 \u5230 \u57fa\u9aa8 \u4e0a \u3002   \u5c06 \u6240\u6709 \u7f51\u683c \u90e8\u4ef6 \u5206\u914d \u7ed9 \u9aa8\u67b6 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u9009\u62e9 \u9aa8\u67b6 \u5e76 \u79fb\u52a8 \u5230 \u59ff\u52bf \u6a21\u5f0f \u5e76 \u79fb\u52a8 \u76f8\u5173 \u9aa8\u9abc \u6765 \u6d4b\u8bd5 \u5b83 \u662f\u5426 \u6709\u6548 \u3002 \u8f66\u8f86 \u57fa\u9aa8\u5e94 \u79fb\u52a8 \u6574\u4e2a \u8f66\u8f86 \uff0c \u800c\u8f6e \u9aa8\u5e94 \u5206\u522b \u79fb\u52a8 \u5e76 \u65cb\u8f6c \u5404\u81ea \u7684 \u8f66\u8f6e \u3002   Ctrl + Z   \u786e\u4fdd \u64a4\u6d88 \u60a8 \u53ef\u80fd \u505a\u51fa \u7684 \u4efb\u4f55 \u59ff\u52bf \u3002","title":"\u5c06 \u6c7d\u8f66\u96f6\u4ef6 \u5206\u914d \u7ed9 \u9aa8\u9abc  "},{"location":"tuto_content_authoring_vehicles/#blender-4","text":"Blender   \u6709 \u4e00\u4e2a \u975e\u5e38 \u6709\u7528 \u7684 \u63d2\u4ef6 \uff0c \u7528\u4e8e \u88c5\u914d \u8f66\u8f86 \u4ee5 \u5bfc\u5165   Carla \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u7b80\u5316 \u4e0a\u8ff0 \u6b65\u9aa4 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u63d2\u4ef6 \u7f51\u9875   \u4ee5 \u83b7\u53d6 \u8bf4\u660e \u3002","title":"Blender   \u7684 \u865a\u5e7b \u5f15\u64ce   4   \u8f66\u8f86 \u88c5\u914d \u63d2\u4ef6  "},{"location":"tuto_content_authoring_vehicles/#_8","text":"\u73b0\u5728 \uff0c \u6211\u4eec \u5c06 \u88c5\u914d \u6a21\u578b \u5bfc\u51fa \u4e3a   FBX   \u683c\u5f0f \uff0c \u4ee5\u4fbf \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce \u4e2d \u3002 \u4ece \u201c \u6587\u4ef6 \u201d \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   Export   >   FBX   ( . fbx )   \u3002 \u5728   Include   \u9762\u677f \u7684   Object   Types   \u90e8\u5206 \u4e2d \uff0c \u6309\u4f4f   Shift   \u952e \u9009\u62e9   Armature   \u548c   Mesh   \u9009\u9879 \u3002   \u5728   Transform   \u9762\u677f \u4e2d \u3002 \u66f4\u6539   Forward   \u4e3a   X   Forward   \uff0c \u5e76 \u66f4\u6539   Up   \u4e3a   Z   Up   .   \u8fd9 \u5bf9\u4e8e \u786e\u4fdd \u8f66\u8f86 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6b63\u786e \u5b9a\u5411 \u975e\u5e38 \u91cd\u8981 \u3002   \u5728   Armature   \u90e8\u5206 \u4e2d \u53d6\u6d88   Add   Leaf   Bones   \u9009\u4e2d \u5e76 \u53d6\u6d88   Bake   Animation   \u9009\u4e2d \u3002","title":"\u5bfc\u51fa  "},{"location":"tuto_content_authoring_vehicles/#_9","text":"\u4ece   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \uff08 \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla   \u7684 \u76ee\u5f55 \uff09 \u4e2d \u4f7f\u7528   make   launch   \u547d\u4ee4 \u542f\u52a8 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \u6253\u5f00 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \uff0c \u8bbe\u7f6e \u9002\u5f53 \u7684 \u76ee\u5f55 \uff0c \u7136\u540e \u53f3\u952e \u5355\u51fb \u5e76 \u9009\u62e9   Import   to   ....   \u3002 \u9009\u62e9 \u60a8 \u4e4b\u524d \u4ece   Blender \uff08 \u6216 \u5176\u4ed6 \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff09 \u5bfc\u51fa \u7684   FBX   \u6587\u4ef6 \u3002 \u4f7f\u7528 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u5bfc\u5165 \u3002","title":"\u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce  "},{"location":"tuto_content_authoring_vehicles/#_10","text":"\u73b0\u5728 \uff0c \u60a8 \u7684 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u76ee\u5f55 \u4e2d\u5c06 \u5305\u542b   3   \u4e2a \u5185\u5bb9 \uff1a \u7f51\u683c \u3001 \u9aa8\u67b6 \u548c \u7269\u7406 \u8d44\u6e90 \u3002 \u53cc\u51fb \u7269\u7406 \u8d44\u6e90 \u8fdb\u884c \u8c03\u6574 \u3002   \u9996\u5148 \uff0c \u9009\u62e9 \u8f66\u4f53 \uff0c \u5728 \u53f3\u4fa7   Details   \u83dc\u5355 \u4e2d \uff0c \u5c06   Physics   \u90e8\u5206 \u4e2d \u7684   Linear   Damping   \u66f4 \u6539\u4e3a   0.0 \uff0c \u68c0\u67e5   Collision   \u90e8\u5206 \u7684   Simulation   Generates   Hit   Events   \uff0c \u5728   Body   Creation   \u90e8\u5206 \u5c06   Primitive   Type   \u4ece   Capsule   \u6539\u4e3a   Box   \u3002 \u7136\u540e \u6309   Regenerate   bodies   \u3002 \u80f6\u56ca \u73b0\u5728 \u5c06 \u53d8\u6210 \u4e00\u4e2a \u77e9\u5f62 \u76d2\u5b50 \u3002 \u7136\u540e \u9009\u62e9 \u8f6e\u5b50 \u3002   \u73b0\u5728 \u9009\u62e9 \u6240\u6709 \u8f6e\u5b50 \uff08 \u5728   Skeleton   Tree   \u5de6\u4fa7 \u90e8\u5206 \uff09 \u3002   \u5c06   Linear   Damping   \u6539\u4e3a   0.0 \uff0c \u5c06   Physics   Type   \u8bbe\u7f6e \u4e3a   Kinematic   \uff0c \u5c06   Collision   Response   \u8bbe\u7f6e \u4e3a   Disabled   \uff0c \u5e76 \u9009\u62e9   Primitive   Type   \u4f5c\u4e3a   Sphere   \u3002 \u518d \u6309   Re - generate   Bodies   \u4e00\u6b21 \u3002","title":"\u8bbe\u7f6e \u7269\u7406 \u8d44\u4ea7  "},{"location":"tuto_content_authoring_vehicles/#_11","text":"\u5728 \u60a8 \u62e5\u6709 \u65b0 \u8f66\u8f86 \u8d44\u4ea7 \u7684 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u76ee\u5f55 \u4e2d \uff0c \u53f3\u952e \u5355\u51fb \u5e76 \u9009\u62e9   Animation   >   Animation   Blueprint   \u3002 \u5728 \u6253\u5f00 \u7684 \u5f39\u51fa \u7a97\u53e3 \u4e2d \uff0c \u5728   Parent   Class   \u90e8\u5206 \u4e2d \u641c\u7d22   VehicleAnimInstance   \uff0c \u7136\u540e \u641c\u7d22   Target   Skeleton   \u4e0e \u60a8 \u7684 \u65b0\u8f66 \u76f8\u5bf9 \u5e94 \u7684 \u9aa8\u67b6 \uff0c \u60a8 \u5e94\u8be5 \u80fd\u591f \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u770b\u5230 \u8be5 \u540d\u79f0 \u3002 \u9009\u62e9 \u4e24\u9879 \u8fd9\u4e24\u9879 \u540e \u6309 \u786e\u5b9a \u3002 \u8fd9 \u5c06 \u4e3a \u60a8 \u7684 \u8f66\u8f86 \u521b\u5efa \u4e00\u4e2a \u65b0 \u7684 \u52a8\u753b \u84dd\u56fe \u3002   \u4e3a\u4e86 \u7b80\u5316 \u4e8b\u60c5 \uff0c \u6211\u4eec \u53ef\u4ee5 \u4ece \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u590d\u5236 \u52a8\u753b \u3002 \u5728 \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u6253\u5f00   Content   >   Carla   >   Static   >   Vehicles   >   4Wheeled   \u5e76 \u9009\u62e9 \u4efb\u610f \u8f66\u8f86 \u3002 \u6253\u5f00 \u6240 \u9009 \u8f66\u8f86 \u7684 \u52a8\u753b \u84dd\u56fe \uff0c \u7136\u540e \u5c06 \u9664 \u6b64 \u8282\u70b9 \u4e4b\u5916 \u7684 \u6240\u6709 \u8282\u70b9 \u590d\u5236   Output   pose   \u5230 \u65b0 \u7684 \u52a8\u753b \u84dd\u56fe \u4e2d \u3002 \u901a\u8fc7 \u62d6\u52a8 \u6700\u7ec8 \u8282\u70b9 \u4e0e \u8f93\u51fa \u8282\u70b9 \u4e4b\u95f4 \u7684 \u65b0 \u8fde\u63a5 \u6765 \u8fde\u63a5 \u8282\u70b9 \u3002 \u6309 \u7f16\u8bd1 \uff0c \u52a8\u753b \u84dd\u56fe \u73b0\u5df2 \u8bbe\u7f6e \u3002","title":"\u521b\u5efa \u52a8\u753b  "},{"location":"tuto_content_authoring_vehicles/#_12","text":"\u4f7f\u7528 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5bfc\u822a \u5230   Content   >   Carla   >   Blueprints   >   Vehicles   >   LincolnMKZ2017   \u6216 \u7c7b\u4f3c \u7684 \u8f66\u8f86 \u3002 \u5728 \u8fd9\u91cc \u60a8 \u5c06 \u627e\u5230 \u4e00\u7ec4 \u4e3a   4   \u4e2a \u8f6e\u5b50 \u8bbe\u7f6e \u7684 \u84dd\u56fe \u3002 \u5c06 \u5b83\u4eec \u590d\u5236 \u590d\u5236\u5230 \u5305\u542b \u60a8 \u81ea\u5df1 \u7684 \u8f66\u8f86 \u7684 \u76ee\u5f55 \u4e2d \u5e76\u91cd \u547d\u540d \u5b83\u4eec \u4ee5 \u786e\u4fdd \u786e\u4fdd\u60a8 \u4ee5\u540e \u53ef\u4ee5 \u533a\u5206 \u5b83\u4eec \u3002 \u5982\u679c \u60a8 \u613f\u610f \uff0c \u60a8 \u53ef\u4ee5 \u8bbe\u7f6e \u81ea\u5df1 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f6e\u5b50 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u540e\u9762 \u7684   \u8f6e\u5b50 \u90e8\u5206   \u3002   \u53f3\u952e \u5355\u51fb \u65b0 \u8f66\u8f86 \u8d44\u4ea7 \u6240\u5728 \u7684 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u76ee\u5f55 \u5e76 \u9009\u62e9   Blueprint   Class   \u3002 \u5728   All   Classes   \u83dc\u5355 \u4e2d \u641c\u7d22   BaseVehiclePawn   \u5e76 \u9009\u62e9 \u6b64\u7c7b \u3002 \u4e3a \u84dd\u56fe \u547d\u540d \u5e76 \u6253\u5f00 \u5b83 \u3002 \u5728 \u5de6\u4fa7   Components   \u9009\u9879 \u9009\u9879\u5361 \u4e2d \u8fdb\u884c   Mesh   \u9009\u62e9 \uff0c \u7136\u540e \u5c06 \u8f66\u8f86 \u7f51\u683c \u62d6\u52a8 \u5230 \u53f3\u4fa7 \u7684 \u201c \u7f51\u683c \u201d \u90e8\u5206 \u4e2d \u3002   \u5728   Anim   Class   \u641c\u7d22 \u4e0e \u60a8 \u5728 \u4e0a \u4e00\u6b65 \u4e2d \u8bbe\u7f6e \u7684 \u65b0\u8f66 \u76f8\u5bf9 \u5e94 \u7684 \u52a8\u753b \u3002   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u5728 \u84dd\u56fe \u7c7b \u7684   Components   \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   Vehicle   Movement   \uff0c \u7136\u540e \u5728 \u53f3\u4fa7   Details   \u83dc\u5355 \u4e2d \u5bfc\u822a \u5230 \u8be5   Vehicle   Setup   \u90e8\u5206 \u3002 \u73b0\u5728 \uff0c \u5bf9\u4e8e \u6bcf\u4e2a \u8f66\u8f6e \uff0c \u627e\u5230 \u60a8 \u4e4b\u524d \u4e3a   Wheel   Class   \u5c5e\u6027 \u590d\u5236 \u5e76\u91cd \u547d\u540d \u7684 \u76f8\u5173 \u8f66\u8f6e \u84dd\u56fe \u3002 \u5bf9 \u6bcf\u4e2a \u8f6e\u5b50 \u6267\u884c \u76f8\u540c \u7684 \u64cd\u4f5c \u3002 \u7f16\u8bd1 \u5e76 \u4fdd\u5b58 \u3002   \u73b0\u5728 \u5bfc\u822a \u5230   Content   >   Carla   >   Blueprints   >   Vehicles   >   VehicleFactory   \u5e76 \u53cc\u51fb \u5b83 \u4ee5 \u6253\u5f00 \u8f66\u8f86 \u5de5\u5382 \u3002   \u9009\u62e9   Vehicles   \u8282\u70b9 \u5e76 \u5c55\u5f00 \u53f3\u4fa7   Default   value   \u90e8\u5206 \u4e2d \u7684   Vehicles   \u9879 \u3002   \u6309 \u52a0\u53f7 \u56fe\u6807 \u6dfb\u52a0 \u60a8 \u7684 \u65b0\u8f66 \u3002 \u5411\u4e0b \u6eda\u52a8 \u5230 \u6700\u540e \u4e00\u4e2a \u6761\u76ee \u5e76 \u5c06 \u5176 \u5c55\u5f00 \uff0c \u5b83 \u5e94\u8be5 \u662f \u7a7a \u7684 \u3002 \u547d\u540d \u60a8 \u7684 \u8f66\u8f86 \u7684 \u54c1\u724c \u548c \u578b\u53f7 \uff0c \u7136\u540e \u5728 \u7c7b \u90e8\u5206 \u4e0b \u627e\u5230 \u60a8 \u5728 \u4e0a \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u4e2d \u521b\u5efa \u7684 \u84dd\u56fe \u7c7b \u3002 \u5c06 \u8f6e\u5b50 \u6570\u91cf \u4fdd\u7559 \u4e3a   4 \uff0c \u5e76 \u5c06 \u4e16\u4ee3 \u8bbe\u7f6e \u4e3a   2 \u3002 \u7f16\u8bd1 \u5e76 \u4fdd\u5b58 \u3002 \u4e3a\u4e86 \u5b89\u5168 \u8d77 \u89c1 \uff0c \u8fdb\u884c \u5168\u5c40 \u4fdd\u5b58 \uff0c \u60a8 \u73b0\u5728 ...... \u51c6\u5907 \u5728 \u4eff\u771f \u4e2d \u8fd0\u884c \u60a8 \u7684 \u8f66\u8f86 \u3002   \u6309 \u865a\u5e7b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u7684 \u201c \u8fd0\u884c \u201d \u6765 \u8fdb\u884c \u4eff\u771f \u3002 \u8fd0\u884c \u540e \uff0c \u6253\u5f00 \u7ec8\u7aef \u5e76 \u4f7f\u7528 \u8fc7\u6ee4 \u6ee4\u5668 \u8fc7\u6ee4\u5668 \u9009\u9879 \u8fd0\u884c \u811a\u672c   manual _ control . py   \u6765 \u6307\u5b9a \u60a8 \u7684 \u65b0 \u8f66\u8f86 \u578b\u53f7 \uff1a   python   manual _ control . py   -- filter   my _ vehicle _ make   \u4e8b\u5b9e \u4e8b\u5b9e\u4e0a \uff0c \u8f66\u8f86 \u76ee\u524d \u6ca1\u6709 \u5e94\u7528 \u7eb9\u7406 \u6216 \u989c\u8272 \u3002 \u4e0b \u4e00\u6b65 \u662f \u5e94\u7528 \u6750\u6599 \uff0c \u4f7f \u60a8 \u7684 \u8f66\u8f86 \u5177\u6709 \u50cf \u771f\u6b63 \u7684 \u516c\u8def \u8f66\u8f86 \u4e00\u6837 \u7684 \u5916\u89c2 \u3002","title":"\u521b\u5efa \u84dd\u56fe  "},{"location":"tuto_content_authoring_vehicles/#_13","text":"\u5c06 \u8f66\u8f86 \u4f5c\u4e3a \u57fa\u672c \u8d44\u4ea7 \u5bfc\u5165 \u5e76 \u5e03\u7f6e \u597d \u7f51\u683c \u548c \u84dd\u56fe \u540e \uff0c \u60a8 \u73b0\u5728 \u9700\u8981 \u5411 \u8f66\u8f86 \u6dfb\u52a0 \u6750\u8d28 \uff0c \u4ee5 \u4fc3\u8fdb \u865a\u5e7b \u5f15\u64ce \u4e2d \u7684 \u7167\u7247 \u7ea7 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \u6e32\u67d3 \uff0c \u4ece\u800c \u5b9e\u73b0 \u673a\u5668 \u5b66\u4e60 \u8bad\u7ec3 \u6570\u636e \u7684 \u6700\u5927 \u4fdd\u771f \u771f\u5ea6 \u4fdd\u771f\u5ea6 \u3002   \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u62e5\u6709 \u5168\u9762 \u7684 \u6750\u8d28 \u5de5\u4f5c \u6d41\u7a0b \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u521b\u5efa \u9ad8\u5ea6 \u903c\u771f \u7684 \u6750\u8d28 \u3002 \u7136\u800c \uff0c \u8fd9 \u786e\u5b9e \u663e \u7740 \u589e\u52a0 \u4e86 \u8be5 \u8fc7\u7a0b \u7684 \u590d\u6742 \u590d\u6742\u6027 \u3002 \u56e0\u6b64 \uff0c Carla   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5927\u578b \u6750\u6599 \u539f\u578b \u5e93\u4f9b \u60a8 \u4f7f\u7528 \uff0c \u800c \u65e0\u9700 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u3002","title":"\u6750\u8d28  "},{"location":"tuto_content_authoring_vehicles/#_14","text":"Carla   \u63d0\u4f9b \u4e86 \u4e00\u79cd \u7528\u4e8e \u590d\u5236 \u8f66\u8f86 \u5149\u6cfd \u8868\u9762 \u7684 \u539f\u578b \u6750\u6599 \uff0c \u53ef\u4ee5 \u4eff\u771f \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7c7b\u578b \u7684 \u8f66\u8f86 \u55b7\u6f06 \u5de5\u4f5c \u548c \u529f\u80fd \u3002 \u6253\u5f00 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5e76 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u627e\u5230   Content   >   Carla   >   Static   >   GenericMaterials   >   00 _ MastersOpt   \u3002 \u57fa\u672c \u6750\u6599 \u79f0\u4e3a   M _ CarPaint _ Master   \u3002 \u53f3\u952e \u5355\u51fb \u8be5 \u6750\u6599 \u5e76 \u4ece \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u6750\u8d28 \u4e2d \u9009\u62e9   Create   Material   Instance   \u3002 \u4e3a \u5176 \u547d\u540d \u5e76 \u5c06 \u5176 \u79fb\u52a8 \u5230 \u5b58\u50a8 \u65b0 \u8f66\u8f86 \u5185\u5bb9 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \uff0c \u5c06 \u89c2\u5bdf \u5219 \u4f1a \u79fb\u52a8 \u5230 \u9760\u8fd1 \u5730\u677f \u7684 \u4e00\u70b9 \uff0c \u7136\u540e \u5c06 \u8f66\u8f86 \u7684 \u9aa8\u67b6 \u7f51\u683c \u7269\u4f53 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u62d6 \u5230 \u573a\u666f \u4e2d \uff0c \u8f66\u8f86 \u7684 \u8f66\u8eab \u73b0\u5728 \u5c06 \u51fa\u73b0 \u5728 \u90a3\u91cc \u3002   \u73b0\u5728 \uff0c \u5728 \u53f3\u4fa7 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u9762\u677f \u4e2d \uff0c \u5c06 \u65b0 \u6750\u8d28 \u5b9e\u4f8b \u62d6\u52a8 \u5230   Materials   \u90e8\u5206 \u7684   Element   0   \u4f4d\u7f6e \u3002 \u60a8 \u5c06 \u770b\u5230 \u8f66\u8eab \u5448\u73b0 \u73b0\u51fa \u5448\u73b0\u51fa \u4e00\u79cd \u65b0 \u7684 \u7070\u8272 \u3001 \u6709 \u5149\u6cfd \u7684 \u6750\u6599 \u7279\u6027 \u3002   \u53cc\u51fb \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u7684 \u6750\u8d28 \uff0c \u6211\u4eec \u5c31 \u53ef\u4ee5 \u5f00\u59cb \u7f16\u8f91 \u53c2\u6570 \u4e86 \u3002 \u8fd9\u91cc \u6709 \u8bb8\u591a \u53c2\u6570 \u53ef\u4ee5 \u6539\u53d8 \u5404\u79cd \u5c5e\u6027 \uff0c \u8fd9\u4e9b \u5c5e\u6027 \u5bf9\u4e8e \u4eff\u771f \u73b0\u5b9e \u4e16\u754c \u7684 \u6c7d\u8f66 \u55b7\u6f06 \u5de5\u4f5c \u975e\u5e38 \u91cd\u8981 \u3002 \u6700 \u91cd\u8981 \u7684 \u53c2\u6570 \u5982\u4e0b \uff1a","title":"\u7ed9 \u8f66\u8f86 \u5e94\u7528 \u6750\u8d28  "},{"location":"tuto_content_authoring_vehicles/#color","text":"\u989c\u8272 \u8bbe\u7f6e \u51b3\u5b9a \u6c7d\u8f66 \u7684 \u6574\u4f53 \u989c\u8272 \u3002 \u57fa\u8272 \u53ea\u662f \u6c7d\u8f66 \u7684 \u4e3b\u8981 \u989c\u8272 \uff0c \u5b83 \u5c06 \u63a7\u5236 \u6574\u4f53 \u989c\u8272 \uff1a","title":"\u989c\u8272 ( Color )  "},{"location":"tuto_content_authoring_vehicles/#clear-coat","text":"\u900f\u660e \u6d82\u5c42 \u8bbe\u7f6e \u51b3\u5b9a \u9970\u9762 \u7684 \u5916\u89c2 \u53ca\u5176 \u5bf9\u5149 \u7684 \u53cd\u5e94 \u3002 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u4f7f\u7528 \u7eb9\u7406 \u5c06 \u7f3a\u9677 \u5e94\u7528 \u5230 \u8f66\u8f86 \u8868\u9762 \uff0c \u4ee5 \u66f4 \u9ad8 \u7684 \u503c \u6563\u5c04 \u66f4 \u591a \u7684 \u5149 \uff0c \u4ee5 \u521b\u5efa \u54d1\u5149 \u5916\u89c2 \u3002 \u5efa\u8bae \u8fdb\u884c \u5fae\u5999 \u7684 \u8c03\u6574 \u548c \u8f83 \u4f4e \u7684 \u503c \u4ee5 \u83b7\u5f97 \u903c\u771f \u7684 \u5916\u89c2 \u3002 \u4e00\u822c \u6765\u8bf4 \u4e00\u822c\u6765\u8bf4 \uff0c \u6c7d\u8f66 \u55b7\u6f06 \u4f5c\u4e1a \u662f \u5149\u6ed1 \u4e14 \u53cd\u5149 \u7684 \uff0c \u4f46\u662f \uff0c \u8fd9\u79cd \u6548\u679c \u53ef\u80fd \u66f4 \u5e7f\u6cdb \u5730 \u7528\u4e8e \u5bf9 \u5b9a\u5236 \u55b7\u6f06 \u4f5c\u4e1a \u7684 \u4e13\u4e1a \u54d1\u5149 \u9970\u9762 \u8fdb\u884c \u5efa\u6a21 \u3002   \u63a7\u5236 \u6c7d\u8f66 \u201c \u5149\u6cfd \u5149\u6cfd\u5ea6 \u7684 \u4e00\u4e2a \u91cd\u8981 \u53c2\u6570 \u662f   Clear   Coat   Intensity   \u3002 \u63a5\u8fd1   1   \u7684 \u9ad8\u503c \u5c06 \u4f7f \u6d82\u5c42 \u95ea\u4eae \u4e14 \u6709 \u5149\u6cfd \u3002","title":"\u900f\u660e \u6d82\u5c42 ( Clear   coat )    "},{"location":"tuto_content_authoring_vehicles/#orange-peel","text":"\u771f\u5b9e \u6c7d\u8f66 \u7684 \u9970\u9762 \uff08 \u7279\u522b \u662f \u9762\u5411 \u4e00\u822c \u5e02\u573a \u7684 \u6279\u91cf \u751f\u4ea7 \u6279\u91cf\u751f\u4ea7 \u7684 \u6c7d\u8f66 \uff09 \u5f80\u5f80 \u5b58\u5728 \u7f3a\u9677 \uff0c \u8868\u73b0 \u4e3a \u6cb9\u6f06 \u4e0a \u7684 \u8f7b\u5fae \u6ce2\u7eb9 \u3002 \u7c92\u72b6 \u8868\u9762 \u4eff\u771f \u4e86 \u8fd9 \u4e00\u70b9 \uff0c \u4f7f \u6c7d\u8f66 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u66f4 \u771f\u5b9e \u3002","title":"\u7c92\u72b6 \u8868\u9762 ( Orange   peel )    "},{"location":"tuto_content_authoring_vehicles/#flakes","text":"\u6709\u4e9b \u6c7d\u8f66 \u7684 \u6cb9\u6f06 \u5de5\u4f5c \u4e2d \u5305\u542b \u5176\u4ed6 \u6750\u6599 \u7684 \u8584\u7247 \uff0c \u4f8b\u5982 \u91d1\u5c5e \u6216 \u9676\u74f7 \uff0c \u4ee5 \u8d4b\u4e88 \u6c7d\u8f66   metallic   \u6216   pearlescant   \u5916\u89c2 \uff0c \u589e\u52a0 \u989d\u5916 \u7684 \u95ea\u5149 \u548c \u53cd\u5c04 \uff0c \u4ee5\u6709 \u5438\u5f15 \u5f15\u529b \u5438\u5f15\u529b \u7684 \u65b9\u5f0f \u4e0e \u5149\u7ebf \u53cd\u5e94 \u3002 \u8584\u7247 \u53c2\u6570 \u5141\u8bb8   Carla   \u4eff\u771f \u8fd9 \u4e00\u70b9 \u3002 \u4e3a\u4e86 \u4eff\u771f \u91d1\u5c5e \u9970\u9762 \uff0c \u5b83\u4f1a \u662f","title":"\u8584\u7247 ( Flakes )  "},{"location":"tuto_content_authoring_vehicles/#dust","text":"\u6c7d\u8f66 \u8f66 \u8eab\u4e0a \u7ecf\u5e38 \u4f1a \u79ef\u805a \u6cb9\u8102 \u548c \u7070\u5c18 \uff0c \u8fd9\u4f1a \u589e\u52a0 \u8f66\u6f06 \u7684 \u8d28\u611f \uff0c \u5f71\u54cd \u5176 \u53cd\u5c04 \u5149\u7ebf \u7684 \u65b9\u5f0f \u3002 \u7070\u5c18 \u53c2\u6570 \u5141\u8bb8 \u60a8 \u5728 \u6d82\u5c42 \u4e0a \u6dfb\u52a0 \u7834\u574f \u5757 \uff0c \u4ee5 \u4eff\u771f \u7c98\u9644 \u5728 \u6cb9\u6f06 \u4e0a \u7684 \u5f02\u7269 \u3002","title":"\u7070\u5c18 ( Dust )  "},{"location":"tuto_content_authoring_vehicles/#_15","text":"\u5728   Carla   \u4e2d \u521b\u5efa \u903c\u771f \u7684 \u73bb\u7483 \u9700\u8981 \u4e00\u4e9b \u6280\u5de7 \u6765 \u6355\u6349 \u673a\u52a8 \u52a8\u8f66 \u8f66\u8f86 \u673a\u52a8\u8f66 \u673a\u52a8\u8f66\u8f86 \u4e2d \u4f7f\u7528 \u7684 \u73bb\u7483 \u7684 \u771f\u5b9e \u6298\u5c04 \u548c \u53cd\u5c04 \u884c\u4e3a \u3002 Carla   \u8f66\u5e93 \u8f66\u8f86 \u6709   4   \u5c42 \u73bb\u7483 \u7f51\u683c \uff0c \u91c7\u7528   2   \u79cd \u4e0d\u540c \u7684 \u6750\u6599 \u3002 \u5404\u5c42 \u4e4b\u95f4 \u95f4\u9694 \u6beb\u7c73 \u51e0\u6beb\u7c73 \uff0c \u5185\u90e8 \u548c \u5916\u90e8 \u73bb\u7483 \u5c42 \u91c7\u7528 \u4e0d\u540c \u7684 \u6750\u6599 \uff0c \u4ee5 \u786e\u4fdd \u73bb\u7483 \u4ece \u8f66\u8f86 \u5185\u90e8 \u548c \u5916\u90e8 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u90fd \u5f88 \u903c\u771f \u3002   \u4ece \u8f66\u8f86 \u5916\u90e8 \u770b \u6709   2   \u5c42 \u73bb\u7483 \uff0c \u4ece \u8f66\u8f86 \u5185\u90e8 \u770b \u6709   2   \u5c42 \u73bb\u7483 \u3002 \u73bb\u7483 \u6240\u4ee5 \u4e4b\u6240\u4ee5 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u50cf \u73bb\u7483 \uff0c \u56e0\u4e3a \u662f\u56e0\u4e3a \u6765\u81ea \u73bb\u7483 \u4e24\u4e2a \u8868\u9762 \u7684 \u53cd\u5c04 \u4f7f\u5f97 \u53cd\u5c04 \u975e\u5e38 \u5fae\u5999 \u5730 \u52a0\u500d \u3002","title":"\u73bb\u7483  "},{"location":"tuto_content_authoring_vehicles/#_16","text":"\u5728 \u8fd9\u91cc \uff0c \u6211\u4eec \u770b\u5230 \u8fde\u63a5 \u5230 \u6797\u80af \u4e3b\u4f53 \u8f66\u8eab \uff08 \u4e0d\u662f \u8f66\u95e8 \u6216 \u5176\u4ed6 \u6d3b\u52a8 \u90e8\u4ef6 \uff09 \u7684 \u73bb\u7483 \u90e8\u4ef6 \u3002   \u5982\u679c \u6211\u4eec \u5c06 \u7ec4\u6210 \u7684 \u7f51\u683c \u90e8\u5206 \u5206\u5f00 \uff0c \u6211\u4eec \u53ef\u4ee5 \u770b\u5230 \u73bb\u7483 \u8f6e\u5ed3 \u88ab \u5206\u4e3a   4   \u4e2a \u4e0d\u540c \u7684 \u5c42 \u3002   \u8fd9   4   \u4e2a\u5c42 \u5206\u4e3a   2   \u7ec4 \uff1a \u5916\u90e8 \u5c42 \uff08 \u6cd5\u7ebf \u9762\u5411 \u8f66\u8f86 \u5916\u90e8 \uff09 \u548c \u5185\u90e8 \u5c42 \uff08 \u7f51\u683c \u683c\u6cd5 \u7f51\u683c\u6cd5 \u7ebf \u9762\u5411 \u8f66\u8f86 \u5185\u90e8 \uff09 \u3002 \u4e0b\u56fe \u6f14\u793a \u4e86   \u521b\u5efa \u7f51\u683c \u56fe\u5c42 \u540e \uff0c \u5c06 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u7684 \u5b83\u4eec \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5b58\u50a8 \u8f66\u8f86 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u6309\u4f4f   Shift   \u952e \u9009\u62e9   4   \u4e2a \u73bb\u7483 \u5c42 \u5e76 \u5c06 \u5b83\u4eec \u62d6 \u5230 \u5730\u56fe \u4e2d \u4ee5\u4fbf \u60a8 \u53ef\u4ee5 \u770b\u5230 \u5b83\u4eec \u3002","title":"\u73bb\u7483 \u7f51\u683c  "},{"location":"tuto_content_authoring_vehicles/#_17","text":"\u53cc\u51fb \u73bb\u7483 \u7684 \u5916\u5c42 \uff0c \u7136\u540e \u5728 \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u7a97\u53e3 \u4e2d \u5bfc\u822a \u5230   Content   >   Carla   >   Static   >   Vehicles   >   GeneralMaterials   \u5e76 \u627e\u5230 \u8be5   Glass   \u6750\u8d28 \u3002 \u5c06 \u73bb\u7483 \u6750\u8d28 \u62d6\u81f3 \u7f51\u683c \u7269\u4f53 \u7684 \u6750\u8d28 \u69fd \u4e2d \u3002 \u5bf9 \u73bb\u7483 \u7684 \u6bcf \u4e00\u5c42 \u91cd\u590d \u6b64 \u8fc7\u7a0b \u3002   \u73bb\u7483 \u73b0\u5728 \u5c06 \u662f \u900f\u660e \u7684 \uff0c \u4f46 \u5177\u6709 \u53cd\u5c04 \u9644\u8fd1 \u7269\u4f53 \u548c \u5149\u6e90 \u7684 \u53cd\u5c04 \u53cd\u5c04\u7387 \u3002 \u60a8 \u8fd8 \u5e94\u8be5 \u68c0\u67e5 \u5185\u90e8 \u73bb\u7483 \uff0c \u786e\u4fdd \u90a3\u91cc \u6709 \u9002\u5f53 \u7684 \u73bb\u7483 \u6548\u679c \u3002","title":"\u73bb\u7483 \u6750\u8d28  "},{"location":"tuto_content_authoring_vehicles/#_18","text":"\u4e3a\u4e86 \u66f4\u5feb \u5730 \u751f\u4ea7 \u8f66\u8f86 \u73bb\u7483 \u90e8\u4ef6 \uff0c \u552f\u4e00 \u7684 \u5173\u952e \u90e8\u4ef6 \u5173\u952e\u90e8\u4ef6 \u662f \u6700 \u5916\u5c42 \u7684 \u73bb\u7483 \u5c42 \u3002 \u60a8 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d\u5c06 \u73bb\u7483 \u6750\u8d28 \u5e94\u7528 \u4e8e \u6b64 \uff0c \u5e76 \u83b7\u5f97 \u53ef\u80fd \u9002\u5408 \u60a8 \u9700\u6c42 \u7684 \u7ed3\u679c \uff0c \u4f46\u662f \uff0c \u4ece\u8f66 \u5185 \u67e5\u770b \u7684 \u89c6\u56fe \uff08 \u5373 \uff0c \u5982\u679c \u60a8 \u5728 \u4eea\u8868 \u4eea\u8868\u677f \u4e0a \u6216 \u65b9\u5411 \u65b9\u5411\u76d8 \u540e\u9762 \u5b9e\u4f8b \u5316 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \uff09 \u4f3c\u4e4e \u5177\u6709 \u65e0 \u73bb\u7483 \uff08 \u65e0 \u6298\u5c04 \u6216 \u53cd\u5c04 \uff09 \u3002 \u6211\u4eec \u5efa\u8bae \u91c7\u7528 \u4e0a\u8ff0 \u5de5\u827a \u6765 \u751f\u4ea7 \u6700 \u771f\u5b9e \u7684 \u73bb\u7483 \u3002   \u73b0\u5728 \u60a8 \u5df2\u7ecf \u521b\u5efa \u4e86 \u84dd\u56fe \uff0c \u6dfb\u52a0 \u4e86 \u7f51\u683c \uff0c \u5b8c\u6210 \u4e86 \u88c5\u914d \uff0c \u521b\u5efa \u4e86 \u6cb9\u6f06 \u9970\u9762 \u548c \u73bb\u7483 \u7684 \u6750\u6599 \uff0c \u60a8 \u5e94\u8be5 \u62e5\u6709 \u4e00\u8f86 \u5916\u89c2 \u975e\u5e38 \u903c\u771f \u7684 \u8f66\u8f86 \u3002","title":"\u5355\u5c42 \u73bb\u7483  "},{"location":"tuto_content_authoring_vehicles/#_19","text":"\u5982\u679c \u60a8 \u5728   \u521b\u5efa \u84dd\u56fe \u65f6   \u590d\u5236 \u4e86 \u8f66\u8f6e \uff0c \u5e76\u4e14 \u60a8 \u7684 \u8f66\u8f86 \u4e0e   Carla   \u5e93\u4e2d \u5df2\u6709 \u7684 \u8f66\u8f86 \u975e\u5e38 \u76f8\u4f3c \uff0c \u90a3\u4e48 \u8fd9 \u53ef\u80fd \u9002\u5408 \u60a8 \u7684 \u76ee\u7684 \u3002 \u4f46\u662f \uff0c \u5982\u679c \u60a8 \u7684 \u8f66\u8f86 \u5177\u6709 \u975e\u6807 \u6807\u51c6 \u975e\u6807\u51c6 \u8f66\u8f6e \u5c3a\u5bf8 \u6216 \u6293 \u5730\u529b \u7279\u6027 \uff0c \u5219 \u5e94 \u6309\u7167 \u672c \u8282 \u8bbe\u7f6e \u8f66\u8f6e \u84dd\u56fe \uff0c \u4ee5 \u6700\u597d \u5730 \u5339\u914d \u8f66\u8f86 \u8f66\u8f6e \u7684 \u7269\u7406 \u7279\u6027 \u3002   \u5bf9\u4e8e   Carla   \u8f66\u8f86 \u7684 \u8f66\u8f6e \uff0c \u6211\u4eec \u9700\u8981 \u4e3a \u6bcf\u4e2a \u8f66\u8f6e \u5efa\u7acb \u4e00\u4e2a \u84dd\u56fe \u7c7b\u6765 \u5904\u7406 \u529b\u5b66 \u548c \u78b0\u649e \u5c5e\u6027 \u3002 \u60a8 \u5c06 \u8bbe\u7f6e   4   \u4e2a \u84dd\u56fe \u7c7b \uff0c \u6211\u4eec \u5efa\u8bae \u4f7f\u7528 \u4ee5\u4e0b \u524d\u7f00 \u6216 \u540e\u7f00 \u6765 \u8bc6\u522b \u8f6e\u5b50 \uff1a   RRW   -   R   ear   R   ight   W   heel   RLW   -   R   ear   L   eft   W   heel   FRW   -   F   ront   R   ight   W   heel   FLW   -   F   ront   L   eft   W   heel","title":"\u8f66\u8f6e  "},{"location":"tuto_content_authoring_vehicles/#_20","text":"\u5728 \u60a8 \u62e5\u6709 \u65b0\u8f66 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u53f3\u952e \u5355\u51fb \u5e76 \u9009\u62e9 \u521b\u5efa \u4e00\u4e2a \u65b0 \u7684 \u84dd\u56fe \u7c7b \u3002 \u641c\u7d22   \u53cc\u51fb \u84dd\u56fe \u8fdb\u884c \u8c03\u6574 \uff1a","title":"\u8f66\u8f6e \u84dd\u56fe  "},{"location":"tuto_content_authoring_vehicles/#_21","text":"\u9996\u5148 \uff0c \u7528\u4e8e \u78b0\u649e \u7f51\u683c \u7684 \u9ed8\u8ba4 \u5706\u67f1 \u67f1\u4f53 \u5706\u67f1\u4f53 \u5177\u6709 \u9ad8 \u591a\u8fb9 \u591a\u8fb9\u5f62 \u6570\u91cf \uff0c \u56e0\u6b64 \u6211\u4eec \u5e94\u8be5 \u5c06 \u5176 \u66ff\u6362 \u4e3a \u4f4e \u591a\u8fb9 \u591a\u8fb9\u5f62 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\u7684 \u5c5e\u6027 \u9762\u677f \u4e2d \u67e5\u770b \u5c3a\u5bf8 \u3002   \u73b0\u5728 \u5c06 \u8fd9\u4e9b \u6570\u5b57 \u63d2\u5165 \u5230   Wheel   \u84dd\u56fe \u7684 \u90e8\u5206 \u4e2d \u3002 \u8bf7 \u6ce8\u610f \u534a\u5f84 \u4e3a \u76f4\u5f84 \u7684 \u4e00\u534a \uff0c \u5e76\u4e14 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \u3002 \u5bf9\u4e8e \u8f66\u8f6e \u8d28\u91cf \uff0c \u6211\u4eec \u5efa\u8bae \u5728 \u4e92\u8054 \u8054\u7f51 \u4e92\u8054\u7f51 \u4e0a \u67e5\u627e \u89c4\u683c \uff0c \u627e\u5230 \u6b63\u786e \u7684 \u8f6e\u80ce \u578b\u53f7 \u6216 \u7c7b\u4f3c \u7684 \u8f6e\u80ce \u578b\u53f7 \u6765 \u4f30\u8ba1 \u6b63\u786e \u7684 \u8d28\u91cf \uff08 \u4ee5 \u5343\u514b \u4e3a \u5355\u4f4d \uff09 \u3002   Affected   by   handbrake   \u5e94 \u68c0\u67e5 \u4e24\u4e2a \u540e\u8f6e \u3002   Steer   angle   \u5bf9\u4e8e \u4e24\u4e2a \u524d\u8f6e \u5e94 \u8bbe\u7f6e \u4e3a \u6700\u5927 \u9884\u671f \u8f6c\u5411 \u89d2 \uff0c \u5bf9\u4e8e \u4e24\u4e2a \u540e\u8f6e \u5e94 \u8bbe\u7f6e \u4e3a \u96f6 \u3002","title":"\u8f66\u8f6e \u5c3a\u5bf8  "},{"location":"tuto_content_authoring_vehicles/#_24","text":"\u8fd9\u91cc \u7684 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5408\u7406 \u7684 \u8d77\u70b9 \u3002 \u67e5\u770b   \u672c \u6307\u5357   \u4ee5 \u8bbe\u7f6e \u9002\u5408 \u60a8 \u8f66\u8f86 \u7c7b\u578b \u7684 \u60ac\u67b6 \u7279\u6027 \u3002","title":"\u60ac\u67b6 \u7279\u6027  "},{"location":"tuto_content_authoring_vehicles/#_25","text":"\u5b8c\u6210   Carla   \u771f\u5b9e \u8f66\u8f86 \u7684 \u6700\u540e \u4e00\u4e2a \u5143\u7d20 \u662f \u706f \u3001 \u524d\u706f \u3001 \u5239\u8f66 \u8f66\u706f \u5239\u8f66\u706f \u3001 \u95ea\u5149 \u5149\u706f \u95ea\u5149\u706f \u7b49 \u3002 \u5728 \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \uff0c \u60a8 \u5e94\u8be5 \u5bf9 \u4e00\u4e9b \u7c7b\u4f3c \u4e8e \u60a8 \u8981 \u590d\u5236 \u7684 \u8f66\u8f86 \u706f \u7684 \u5f62\u72b6 \u8fdb\u884c \u5efa\u6a21 \u3002 \u5bf9\u4e8e \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u8f66\u5934 \u5934\u706f \u8f66\u5934\u706f \u6765\u8bf4 \uff0c \u8fd9 \u5c06 \u662f \u6241\u5e73 \u5706\u76d8 \u6216 \u6241\u5e73 \u957f\u65b9 \u957f\u65b9\u4f53 \u7ed3\u6784 \u3002 \u6709\u4e9b \u8f66\u8f86 \u53ef\u80fd \u8fd8 \u914d\u6709   LED   \u706f\u6761 \u3002","title":"\u706f  "},{"location":"tuto_content_authoring_vehicles/#uv","text":"\u4e0d\u540c \u7c7b\u578b \u7684 \u706f \uff08 \u524d\u706f \u3001 \u95ea\u5149 \u5149\u706f \u95ea\u5149\u706f \u3001 \u5239\u8f66 \u8f66\u706f \u5239\u8f66\u706f \u7b49 \uff09 \u4f7f\u7528 \u7eb9\u7406 \u6765 \u533a\u5206 \u3002 \u60a8 \u9700\u8981 \u5728   \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \u521b\u5efa   UV   \u8d34\u56fe \uff0c \u5e76 \u5b9a\u4f4d \u706f\u5149 \u4ee5 \u4e0e \u7eb9\u7406 \u7684 \u76f8\u5173 \u533a\u57df \u5339\u914d \u76f8\u5339\u914d \u3002","title":"UV   \u8d34\u56fe  "},{"location":"tuto_content_authoring_vehicles/#_26","text":"\u5c06 \u706f\u5149 \u7f51\u683c \u5bfc\u5165 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668   -   \u5bfc\u5165 \u706f\u5149 \u7f51\u683c \u540e \uff1a   \u5c06 \u7f51\u683c \u7269\u4f53 \u62d6\u52a8 \u5230   Components   \u9762\u677f \u4e2d \u7684   Mesh   ( VehicleMesh )   ( Inherited )   \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u3002   \u9009\u62e9 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u7684 \u989d\u5916 \u7f51\u683c \u5e76 \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \u641c\u7d22   Collision   \u3002   \u5c06 \u78b0\u649e \u9884\u8bbe (   Collision   Presets   ) \u8bbe\u7f6e \u4e3a   NoCollision   \u3002   \u9009\u62e9 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u7684 \u4efb\u4f55 \u706f\u5149 \u7f51\u683c \u3002 \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \u641c\u7d22   Tag   \u5e76 \u6dfb\u52a0   emissive   \u6807\u7b7e \u3002","title":"\u5bfc\u5165  "},{"location":"tuto_content_authoring_vehicles_materials/","text":"\u5185\u5bb9 \u521b\u4f5c   -   \u8f66\u8f86 \u6750\u6599   \u5c06 \u8f66\u8f86 \u4f5c\u4e3a \u57fa\u672c \u8d44\u4ea7 \u5bfc\u5165 \u5e76 \u5e03\u7f6e \u597d \u7f51\u683c \u548c \u84dd\u56fe \u540e \uff0c \u60a8 \u73b0\u5728 \u9700\u8981 \u5411 \u8f66\u8f86 \u6dfb\u52a0 \u6750\u8d28 \uff0c \u4ee5 \u4fc3\u8fdb \u865a\u5e7b \u5f15\u64ce \u4e2d \u7684 \u7167\u7247 \u7ea7 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \u6e32\u67d3 \uff0c \u4ece\u800c \u5b9e\u73b0 \u673a\u5668 \u5b66\u4e60 \u8bad\u7ec3 \u6570\u636e \u7684 \u6700\u5927 \u4fdd\u771f \u771f\u5ea6 \u4fdd\u771f\u5ea6 \u3002   \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u62e5\u6709 \u5168\u9762 \u7684 \u6750\u8d28 \u5de5\u4f5c \u6d41\u7a0b \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u521b\u5efa \u9ad8\u5ea6 \u903c\u771f \u7684 \u6750\u8d28 \u3002 \u7136\u800c \uff0c \u8fd9 \u786e\u5b9e \u663e \u7740 \u589e\u52a0 \u4e86 \u8be5 \u8fc7\u7a0b \u7684 \u590d\u6742 \u590d\u6742\u6027 \u3002 \u56e0\u6b64 \uff0c Carla   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5927\u578b \u6750\u6599 \u539f\u578b \u5e93\u4f9b \u60a8 \u4f7f\u7528 \uff0c \u800c \u65e0\u9700 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u3002   \u5c06 \u6750\u6599 \u5e94\u7528 \u5230 \u60a8 \u7684 \u8f66\u8f86 \u4e0a   Carla   \u63d0\u4f9b \u4e86 \u4e00\u79cd \u7528\u4e8e \u590d\u5236 \u8f66\u8f86 \u5149\u6cfd \u8868\u9762 \u7684 \u539f\u578b \u6750\u6599 \uff0c \u53ef\u4ee5 \u4eff\u771f \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7c7b\u578b \u7684 \u8f66\u8f86 \u55b7\u6f06 \u5de5\u4f5c \u548c \u529f\u80fd \u3002 \u6253\u5f00 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5e76 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u627e\u5230   Content   >   Carla   >   Static   >   GenericMaterials   >   00 _ MastersOpt   \u3002 \u57fa\u672c \u6750\u8d28 \u79f0\u4e3a   M _ CarPaint _ Master   \u3002 \u53f3\u952e \u5355\u51fb \u8be5 \u6750\u8d28 \u5e76 \u4ece \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u6750\u8d28 \u4e2d \u9009\u62e9   Create   Material   Instance   \u3002 \u4e3a \u5176 \u547d\u540d \u5e76 \u5c06 \u5176 \u79fb\u52a8 \u5230 \u5b58\u50a8 \u65b0 \u8f66\u8f86 \u5185\u5bb9 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \uff0c \u5c06 \u89c2\u5bdf \u5219 \u4f1a \u79fb\u52a8 \u5230 \u9760\u8fd1 \u5730\u677f \u7684 \u4e00\u70b9 \uff0c \u7136\u540e \u5c06 \u8f66\u8f86 \u7684 \u9aa8\u67b6 \u7f51\u683c \u7269\u4f53 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u62d6 \u5230 \u573a\u666f \u4e2d \uff0c \u8f66\u8f86 \u7684 \u8f66\u8eab \u73b0\u5728 \u5c06 \u51fa\u73b0 \u5728 \u90a3\u91cc \u3002   \u73b0\u5728 \uff0c \u5728 \u53f3\u4fa7 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u9762\u677f \u4e2d \uff0c \u5c06 \u65b0 \u6750\u8d28 \u5b9e\u4f8b \u62d6\u52a8 \u5230   Materials   \u90e8\u5206 \u7684   Element   0   \u4f4d\u7f6e \u3002 \u60a8 \u5c06 \u770b\u5230 \u8f66\u8eab \u5448\u73b0 \u73b0\u51fa \u5448\u73b0\u51fa \u4e00\u79cd \u65b0 \u7684 \u7070\u8272 \u3001 \u6709 \u5149\u6cfd \u7684 \u6750\u6599 \u7279\u6027 \u3002   \u53cc\u51fb \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u7684 \u6750\u8d28 \uff0c \u6211\u4eec \u5c31 \u53ef\u4ee5 \u5f00\u59cb \u7f16\u8f91 \u53c2\u6570 \u4e86 \u3002 \u8fd9\u91cc \u6709 \u8bb8\u591a \u53c2\u6570 \u53ef\u4ee5 \u6539\u53d8 \u5404\u79cd \u5c5e\u6027 \uff0c \u8fd9\u4e9b \u5c5e\u6027 \u5bf9\u4e8e \u4eff\u771f \u73b0\u5b9e \u4e16\u754c \u7684 \u6c7d\u8f66 \u55b7\u6f06 \u5de5\u4f5c \u975e\u5e38 \u91cd\u8981 \u3002 \u6700 \u91cd\u8981 \u7684 \u53c2\u6570 \u5982\u4e0b \u3002   \u989c\u8272 ( Color )   -   \u989c\u8272 \u8bbe\u7f6e \u63a7\u5236 \u6c7d\u8f66 \u7684 \u6574\u4f53 \u989c\u8272 \u3002 \u57fa\u8272 \u53ea\u662f \u6c7d\u8f66 \u7684 \u4e3b\u8981 \u989c\u8272 \uff0c \u5b83 \u5c06 \u63a7\u5236 \u6574\u4f53 \u989c\u8272 \uff1a   \u900f\u660e \u6d82\u5c42 ( Clear   coat )   -   \u900f\u660e \u6d82\u5c42 \u8bbe\u7f6e \u63a7\u5236 \u9970\u9762 \u7684 \u5916\u89c2 \u53ca\u5176 \u5bf9\u5149 \u7684 \u53cd\u5e94 \u3002 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u4f7f\u7528 \u7eb9\u7406 \u5c06 \u7f3a\u9677 \u5e94\u7528 \u5230 \u8f66\u8f86 \u8868\u9762 \uff0c \u4ee5 \u66f4 \u9ad8 \u7684 \u503c \u6563\u5c04 \u66f4 \u591a \u7684 \u5149 \uff0c \u4ee5 \u521b\u5efa \u54d1\u5149 \u5916\u89c2 \u3002 \u5efa\u8bae \u8fdb\u884c \u5fae\u5999 \u7684 \u8c03\u6574 \u548c \u8f83 \u4f4e \u7684 \u503c \u4ee5 \u83b7\u5f97 \u903c\u771f \u7684 \u5916\u89c2 \u3002 \u4e00\u822c \u6765\u8bf4 \u4e00\u822c\u6765\u8bf4 \uff0c \u6c7d\u8f66 \u55b7\u6f06 \u4f5c\u4e1a \u662f \u5149\u6ed1 \u4e14 \u53cd\u5149 \u7684 \uff0c \u4f46\u662f \uff0c \u8fd9\u79cd \u6548\u679c \u53ef\u80fd \u66f4 \u5e7f\u6cdb \u5730 \u7528\u4e8e \u5bf9 \u5b9a\u5236 \u55b7\u6f06 \u4f5c\u4e1a \u7684 \u4e13\u4e1a \u54d1\u5149 \u9970\u9762 \u8fdb\u884c \u5efa\u6a21 \u3002   \u63a7\u5236 \u6c7d\u8f66 \u201c \u5149\u6cfd \u5149\u6cfd\u5ea6 \u201d \u7684 \u4e00\u4e2a \u91cd\u8981 \u53c2\u6570 \u662f \u900f\u660e \u6d82\u5c42 \u5f3a\u5ea6 (   Clear   Coat   Intensity   ) \u3002 \u63a5\u8fd1   1   \u7684 \u9ad8\u503c \u5c06 \u4f7f \u6d82\u5c42 \u95ea\u4eae \u4e14 \u6709 \u5149\u6cfd \u3002   \u7c92\u72b6 \u8868\u9762 ( Orange   peel )   -   \u771f\u5b9e \u6c7d\u8f66 \u7684 \u9970\u9762 \uff08 \u7279\u522b \u662f \u9762\u5411 \u4e00\u822c \u5e02\u573a \u7684 \u6279\u91cf \u751f\u4ea7 \u6279\u91cf\u751f\u4ea7 \u7684 \u6c7d\u8f66 \uff09 \u5f80\u5f80 \u5b58\u5728 \u7f3a\u9677 \uff0c \u8868\u73b0 \u4e3a \u6cb9\u6f06 \u4e2d \u7684 \u8f7b\u5fae \u6ce2\u7eb9 \u3002 \u6a59\u76ae \u6548\u679c \u4eff\u771f \u4e86 \u8fd9 \u4e00\u70b9 \uff0c \u4f7f \u6c7d\u8f66 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u66f4 \u771f\u5b9e \u3002   \u8584\u7247 ( Flakes )   -   \u6709\u4e9b \u6c7d\u8f66 \u7684 \u6cb9\u6f06 \u5de5\u4f5c \u4e2d \u5305\u542b \u5176\u4ed6 \u6750\u6599 \u7684 \u8584\u7247 \uff0c \u4f8b\u5982 \u91d1\u5c5e \u6216 \u9676\u74f7 \uff0c \u4ee5 \u4f7f \u6c7d\u8f66 \u5177\u6709   metallic   \u6216   pearlescant   \u5916\u89c2 \uff0c \u589e\u52a0 \u989d\u5916 \u7684 \u95ea\u5149 \u548c \u53cd\u5c04 \uff0c \u4ee5\u6709 \u5438\u5f15 \u5f15\u529b \u5438\u5f15\u529b \u7684 \u65b9\u5f0f \u4e0e \u53cd\u5e94 \u5149\u53cd\u5e94 \u3002 \u8584\u7247 \u53c2\u6570 \u5141\u8bb8   Carla   \u4eff\u771f \u8fd9 \u4e00\u70b9 \u3002 \u4e3a\u4e86 \u4eff\u771f \u91d1\u5c5e \u9970\u9762 \uff0c \u5b83\u4f1a \u662f   \u7070\u5c18 ( Dust )   -   \u6c7d\u8f66 \u7684 \u8f66 \u8eab\u4e0a \u7ecf\u5e38 \u4f1a \u79ef\u805a \u6cb9\u8102 \u548c \u7070\u5c18 \uff0c \u4ece\u800c \u589e\u52a0 \u6cb9\u6f06 \u7684 \u8d28\u611f \uff0c \u5f71\u54cd \u5176 \u53cd\u5c04 \u5149\u7ebf \u7684 \u65b9\u5f0f \u3002 \u7070\u5c18 \u53c2\u6570 \u5141\u8bb8 \u60a8 \u5728 \u6d82\u5c42 \u4e0a \u6dfb\u52a0 \u7834\u574f \u5757 \uff0c \u4ee5 \u4eff\u771f \u7c98\u9644 \u5728 \u6cb9\u6f06 \u4e0a \u7684 \u5f02\u7269 \u3002","title":"Tuto   content   authoring   vehicles   materials"},{"location":"tuto_content_authoring_vehicles_materials/#-","text":"\u5c06 \u8f66\u8f86 \u4f5c\u4e3a \u57fa\u672c \u8d44\u4ea7 \u5bfc\u5165 \u5e76 \u5e03\u7f6e \u597d \u7f51\u683c \u548c \u84dd\u56fe \u540e \uff0c \u60a8 \u73b0\u5728 \u9700\u8981 \u5411 \u8f66\u8f86 \u6dfb\u52a0 \u6750\u8d28 \uff0c \u4ee5 \u4fc3\u8fdb \u865a\u5e7b \u5f15\u64ce \u4e2d \u7684 \u7167\u7247 \u7ea7 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \u6e32\u67d3 \uff0c \u4ece\u800c \u5b9e\u73b0 \u673a\u5668 \u5b66\u4e60 \u8bad\u7ec3 \u6570\u636e \u7684 \u6700\u5927 \u4fdd\u771f \u771f\u5ea6 \u4fdd\u771f\u5ea6 \u3002   \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u62e5\u6709 \u5168\u9762 \u7684 \u6750\u8d28 \u5de5\u4f5c \u6d41\u7a0b \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u521b\u5efa \u9ad8\u5ea6 \u903c\u771f \u7684 \u6750\u8d28 \u3002 \u7136\u800c \uff0c \u8fd9 \u786e\u5b9e \u663e \u7740 \u589e\u52a0 \u4e86 \u8be5 \u8fc7\u7a0b \u7684 \u590d\u6742 \u590d\u6742\u6027 \u3002 \u56e0\u6b64 \uff0c Carla   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5927\u578b \u6750\u6599 \u539f\u578b \u5e93\u4f9b \u60a8 \u4f7f\u7528 \uff0c \u800c \u65e0\u9700 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u3002","title":"\u5185\u5bb9 \u521b\u4f5c   -   \u8f66\u8f86 \u6750\u6599"},{"location":"tuto_content_authoring_vehicles_materials/#_1","text":"Carla   \u63d0\u4f9b \u4e86 \u4e00\u79cd \u7528\u4e8e \u590d\u5236 \u8f66\u8f86 \u5149\u6cfd \u8868\u9762 \u7684 \u539f\u578b \u6750\u6599 \uff0c \u53ef\u4ee5 \u4eff\u771f \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7c7b\u578b \u7684 \u8f66\u8f86 \u55b7\u6f06 \u5de5\u4f5c \u548c \u529f\u80fd \u3002 \u6253\u5f00 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5e76 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u627e\u5230   Content   >   Carla   >   Static   >   GenericMaterials   >   00 _ MastersOpt   \u3002 \u57fa\u672c \u6750\u8d28 \u79f0\u4e3a   M _ CarPaint _ Master   \u3002 \u53f3\u952e \u5355\u51fb \u8be5 \u6750\u8d28 \u5e76 \u4ece \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u6750\u8d28 \u4e2d \u9009\u62e9   Create   Material   Instance   \u3002 \u4e3a \u5176 \u547d\u540d \u5e76 \u5c06 \u5176 \u79fb\u52a8 \u5230 \u5b58\u50a8 \u65b0 \u8f66\u8f86 \u5185\u5bb9 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \uff0c \u5c06 \u89c2\u5bdf \u5219 \u4f1a \u79fb\u52a8 \u5230 \u9760\u8fd1 \u5730\u677f \u7684 \u4e00\u70b9 \uff0c \u7136\u540e \u5c06 \u8f66\u8f86 \u7684 \u9aa8\u67b6 \u7f51\u683c \u7269\u4f53 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u62d6 \u5230 \u573a\u666f \u4e2d \uff0c \u8f66\u8f86 \u7684 \u8f66\u8eab \u73b0\u5728 \u5c06 \u51fa\u73b0 \u5728 \u90a3\u91cc \u3002   \u73b0\u5728 \uff0c \u5728 \u53f3\u4fa7 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u9762\u677f \u4e2d \uff0c \u5c06 \u65b0 \u6750\u8d28 \u5b9e\u4f8b \u62d6\u52a8 \u5230   Materials   \u90e8\u5206 \u7684   Element   0   \u4f4d\u7f6e \u3002 \u60a8 \u5c06 \u770b\u5230 \u8f66\u8eab \u5448\u73b0 \u73b0\u51fa \u5448\u73b0\u51fa \u4e00\u79cd \u65b0 \u7684 \u7070\u8272 \u3001 \u6709 \u5149\u6cfd \u7684 \u6750\u6599 \u7279\u6027 \u3002   \u53cc\u51fb \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u7684 \u6750\u8d28 \uff0c \u6211\u4eec \u5c31 \u53ef\u4ee5 \u5f00\u59cb \u7f16\u8f91 \u53c2\u6570 \u4e86 \u3002 \u8fd9\u91cc \u6709 \u8bb8\u591a \u53c2\u6570 \u53ef\u4ee5 \u6539\u53d8 \u5404\u79cd \u5c5e\u6027 \uff0c \u8fd9\u4e9b \u5c5e\u6027 \u5bf9\u4e8e \u4eff\u771f \u73b0\u5b9e \u4e16\u754c \u7684 \u6c7d\u8f66 \u55b7\u6f06 \u5de5\u4f5c \u975e\u5e38 \u91cd\u8981 \u3002 \u6700 \u91cd\u8981 \u7684 \u53c2\u6570 \u5982\u4e0b \u3002   \u989c\u8272 ( Color )   -   \u989c\u8272 \u8bbe\u7f6e \u63a7\u5236 \u6c7d\u8f66 \u7684 \u6574\u4f53 \u989c\u8272 \u3002 \u57fa\u8272 \u53ea\u662f \u6c7d\u8f66 \u7684 \u4e3b\u8981 \u989c\u8272 \uff0c \u5b83 \u5c06 \u63a7\u5236 \u6574\u4f53 \u989c\u8272 \uff1a   \u900f\u660e \u6d82\u5c42 ( Clear   coat )   -   \u900f\u660e \u6d82\u5c42 \u8bbe\u7f6e \u63a7\u5236 \u9970\u9762 \u7684 \u5916\u89c2 \u53ca\u5176 \u5bf9\u5149 \u7684 \u53cd\u5e94 \u3002 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u4f7f\u7528 \u7eb9\u7406 \u5c06 \u7f3a\u9677 \u5e94\u7528 \u5230 \u8f66\u8f86 \u8868\u9762 \uff0c \u4ee5 \u66f4 \u9ad8 \u7684 \u503c \u6563\u5c04 \u66f4 \u591a \u7684 \u5149 \uff0c \u4ee5 \u521b\u5efa \u54d1\u5149 \u5916\u89c2 \u3002 \u5efa\u8bae \u8fdb\u884c \u5fae\u5999 \u7684 \u8c03\u6574 \u548c \u8f83 \u4f4e \u7684 \u503c \u4ee5 \u83b7\u5f97 \u903c\u771f \u7684 \u5916\u89c2 \u3002 \u4e00\u822c \u6765\u8bf4 \u4e00\u822c\u6765\u8bf4 \uff0c \u6c7d\u8f66 \u55b7\u6f06 \u4f5c\u4e1a \u662f \u5149\u6ed1 \u4e14 \u53cd\u5149 \u7684 \uff0c \u4f46\u662f \uff0c \u8fd9\u79cd \u6548\u679c \u53ef\u80fd \u66f4 \u5e7f\u6cdb \u5730 \u7528\u4e8e \u5bf9 \u5b9a\u5236 \u55b7\u6f06 \u4f5c\u4e1a \u7684 \u4e13\u4e1a \u54d1\u5149 \u9970\u9762 \u8fdb\u884c \u5efa\u6a21 \u3002   \u63a7\u5236 \u6c7d\u8f66 \u201c \u5149\u6cfd \u5149\u6cfd\u5ea6 \u201d \u7684 \u4e00\u4e2a \u91cd\u8981 \u53c2\u6570 \u662f \u900f\u660e \u6d82\u5c42 \u5f3a\u5ea6 (   Clear   Coat   Intensity   ) \u3002 \u63a5\u8fd1   1   \u7684 \u9ad8\u503c \u5c06 \u4f7f \u6d82\u5c42 \u95ea\u4eae \u4e14 \u6709 \u5149\u6cfd \u3002   \u7c92\u72b6 \u8868\u9762 ( Orange   peel )   -   \u771f\u5b9e \u6c7d\u8f66 \u7684 \u9970\u9762 \uff08 \u7279\u522b \u662f \u9762\u5411 \u4e00\u822c \u5e02\u573a \u7684 \u6279\u91cf \u751f\u4ea7 \u6279\u91cf\u751f\u4ea7 \u7684 \u6c7d\u8f66 \uff09 \u5f80\u5f80 \u5b58\u5728 \u7f3a\u9677 \uff0c \u8868\u73b0 \u4e3a \u6cb9\u6f06 \u4e2d \u7684 \u8f7b\u5fae \u6ce2\u7eb9 \u3002 \u6a59\u76ae \u6548\u679c \u4eff\u771f \u4e86 \u8fd9 \u4e00\u70b9 \uff0c \u4f7f \u6c7d\u8f66 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u66f4 \u771f\u5b9e \u3002   \u8584\u7247 ( Flakes )   -   \u6709\u4e9b \u6c7d\u8f66 \u7684 \u6cb9\u6f06 \u5de5\u4f5c \u4e2d \u5305\u542b \u5176\u4ed6 \u6750\u6599 \u7684 \u8584\u7247 \uff0c \u4f8b\u5982 \u91d1\u5c5e \u6216 \u9676\u74f7 \uff0c \u4ee5 \u4f7f \u6c7d\u8f66 \u5177\u6709   metallic   \u6216   pearlescant   \u5916\u89c2 \uff0c \u589e\u52a0 \u989d\u5916 \u7684 \u95ea\u5149 \u548c \u53cd\u5c04 \uff0c \u4ee5\u6709 \u5438\u5f15 \u5f15\u529b \u5438\u5f15\u529b \u7684 \u65b9\u5f0f \u4e0e \u53cd\u5e94 \u5149\u53cd\u5e94 \u3002 \u8584\u7247 \u53c2\u6570 \u5141\u8bb8   Carla   \u4eff\u771f \u8fd9 \u4e00\u70b9 \u3002 \u4e3a\u4e86 \u4eff\u771f \u91d1\u5c5e \u9970\u9762 \uff0c \u5b83\u4f1a \u662f   \u7070\u5c18 ( Dust )   -   \u6c7d\u8f66 \u7684 \u8f66 \u8eab\u4e0a \u7ecf\u5e38 \u4f1a \u79ef\u805a \u6cb9\u8102 \u548c \u7070\u5c18 \uff0c \u4ece\u800c \u589e\u52a0 \u6cb9\u6f06 \u7684 \u8d28\u611f \uff0c \u5f71\u54cd \u5176 \u53cd\u5c04 \u5149\u7ebf \u7684 \u65b9\u5f0f \u3002 \u7070\u5c18 \u53c2\u6570 \u5141\u8bb8 \u60a8 \u5728 \u6d82\u5c42 \u4e0a \u6dfb\u52a0 \u7834\u574f \u5757 \uff0c \u4ee5 \u4eff\u771f \u7c98\u9644 \u5728 \u6cb9\u6f06 \u4e0a \u7684 \u5f02\u7269 \u3002","title":"\u5c06 \u6750\u6599 \u5e94\u7528 \u5230 \u60a8 \u7684 \u8f66\u8f86 \u4e0a"},{"location":"tuto_first_steps/","text":"\u5b66\u4e60   Carla   \u7684 \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u662f \u4e00\u4e2a \u7efc\u5408 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c \u7528\u4e8e \u4e3a \u81ea\u52a8 \u9a7e\u9a76   ( Autonomous   Driving ,   AD )   \u548c \u5176\u4ed6 \u673a\u5668 \u673a\u5668\u4eba \u5e94\u7528 \u751f\u6210 \u5408\u6210 \u8bad\u7ec3 \u6570\u636e \u3002 Carla   \u4eff\u771f \u9ad8\u5ea6 \u771f\u5b9e \u7684 \u73af\u5883 \uff0c \u4eff\u771f \u73b0\u5b9e \u4e16\u754c \u4e2d \u7684 \u57ce\u9547 \u3001 \u57ce\u5e02 \u548c \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u4ee5\u53ca \u5360\u636e \u8fd9\u4e9b \u9a7e\u9a76 \u7a7a\u95f4 \u7684 \u8f66\u8f86 \u548c \u5176\u4ed6 \u7269\u4f53 \u3002   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fd8 \u53ef \u7528\u4f5c \u8bc4\u4f30 \u548c \u6d4b\u8bd5 \u73af\u5883 \u6d4b\u8bd5\u73af\u5883 \u3002 \u60a8 \u53ef\u4ee5 \u90e8\u7f72 \u5728 \u4eff\u771f \u4e2d \u8bad\u7ec3 \u8fc7 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u6765 \u6d4b\u8bd5 \u548c \u8bc4\u4f30 \u5176 \u6027\u80fd \u548c \u5b89\u5168 \u5b89\u5168\u6027 \uff0c \u6240\u6709 \u8fd9\u4e9b \u90fd \u5728 \u4eff\u771f \u73af\u5883 \u7684 \u5b89\u5168 \u8303\u56f4 \u5185 \uff0c \u4e0d\u4f1a \u5bf9 \u786c\u4ef6 \u6216 \u5176\u4ed6 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u9020\u6210 \u98ce\u9669 \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u4ecb\u7ecd   Carla   \u4e2d \u7684 \u6807\u51c6 \u5de5\u4f5c \u6d41\u7a0b \uff0c \u4ece \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u8fde\u63a5 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5230 \u6dfb\u52a0 \u8f66\u8f86 \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u751f\u6210 \u7528\u4e8e \u673a\u5668 \u5b66\u4e60 \u7684 \u8bad\u7ec3 \u6570\u636e \u3002 \u672c \u6559\u7a0b \u65e8\u5728 \u91cd\u70b9 \u4ecb\u7ecd \u7ec6\u8282 \uff0c \u5e76 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u9ad8\u6548 \u5730 \u4ecb\u7ecd \u4f7f\u7528   Carla   \u751f\u6210 \u673a\u5668 \u5b66\u4e60 \u8bad\u7ec3 \u6570\u636e \u7684 \u5173\u952e \u6b65\u9aa4 \u5173\u952e\u6b65\u9aa4 \u3002 \u6709\u5173 \u5de5\u4f5c \u6d41\u7a0b \u6bcf\u4e2a \u90e8\u5206 \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u4f8b\u5982 \u84dd \u56fe\u5e93 \u4e2d \u53ef\u7528 \u7684 \u591a\u79cd \u8f66\u8f86 \u6216 \u53ef\u7528 \u7684 \u66ff\u4ee3 \u7c7b\u578b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u8bf7 \u67e5\u9605 \u6587\u672c \u4e2d \u7684 \u94fe\u63a5 \u6216 \u6d4f\u89c8 \u5de6\u4fa7 \u83dc\u5355 \u3002   \u542f\u52a8   Carla   \u5e76 \u8fdb\u884c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5   \u52a0\u8f7d \u5730\u56fe   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u5bfc\u822a   \u6dfb\u52a0 \u975e \u73a9\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u6dfb\u52a0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4eff\u771f \u8f66\u8f86   \u5c06 \u8f66\u8f86 \u5206\u914d \u4e3a \u81ea\u6211 \u8f66\u8f86   \u9009\u62e9 \u4f60 \u7684 \u5730\u56fe   \u9009\u62e9 \u4f60 \u7684 \u8f66\u8f86   \u542f\u52a8   Carla   \u5e76 \u8fdb\u884c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5   \u53ef\u4ee5 \u4f7f\u7528   Windows   \u4e2d \u7684 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u6216   Linux   \u4e2d \u7684   shell   \u811a\u672c \u901a\u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u542f\u52a8   Carla \u3002 \u6309\u7167   Linux   \u548c   Windows   \u7684 \u5b89\u88c5 \u8bf4\u660e \u8fdb\u884c \u64cd\u4f5c \uff0c \u7136\u540e \u4ece \u547d\u4ee4 \u547d\u4ee4\u884c   \u542f\u52a8   Carla   \uff1a   cd   / carla / root   . / CarlaUE4 . sh   \u8981 \u901a\u8fc7   Python   API   \u64cd\u4f5c   Carla \uff0c \u6211\u4eec \u9700\u8981 \u901a\u8fc7 \u5f00\u653e \u7aef\u53e3 \u5c06 Python   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u901a\u8fc7   \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u4e16\u754c \u5bf9\u8c61   \u63a7\u5236 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6253\u5f00 \u4e00\u4e2a   Python   \u7b14\u8bb0 \u7b14\u8bb0\u672c \u6216 \u521b\u5efa \u4e00\u4e2a \u65b0 \u811a\u672c \uff0c \u7136\u540e \u5c06 \u4ee5\u4e0b \u4ee3\u7801 \u6dfb\u52a0 \u5230 \u811a\u672c \u7684 \u5f00\u5934 \u6216   main   \u51fd\u6570 \u4e2d \uff1a   import   carla   import   random   #   \u94fe\u63a5 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e76 \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5bf9\u8c61 \u7528\u4e8e \u7ef4\u62a4 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u8fde\u63a5 \uff0c \u5e76 \u5177\u6709 \u8bb8\u591a \u7528\u4e8e \u5e94\u7528 \u547d\u4ee4 \u4ee5\u53ca \u52a0\u8f7d \u6216 \u5bfc\u51fa \u6570\u636e \u7684 \u529f\u80fd \u3002 \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u52a0\u8f7d \u66ff\u4ee3 \u5730\u56fe \u6216 \u91cd\u65b0 \u52a0\u8f7d \u5f53\u524d \u5730\u56fe \uff08 \u91cd\u7f6e \u4e3a \u521d\u59cb \u72b6\u6001 \u521d\u59cb\u72b6\u6001 \uff09 \u3002   \u7aef\u53e3 \u53ef\u4ee5 \u9009\u62e9 \u4efb\u4f55 \u53ef\u7528 \u7684 \u7aef\u53e3 \uff0c \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e3a   2000 \uff0c \u60a8 \u4e5f \u53ef\u4ee5 \u4f7f\u7528 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u7684   IP   \u5730\u5740 \u9009\u62e9 \u4e0e   localhost   \u4e0d\u540c \u7684 \u4e3b\u673a \u3002 \u8fd9\u6837 \uff0c Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53ef\u4ee5 \u5728 \u8054\u7f51 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u8fd0\u884c \uff0c \u800c   python   \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u4ece \u4e2a\u4eba \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u8fd0\u884c \u3002 \u8fd9 \u5bf9\u4e8e \u533a\u5206 \u7528\u4e8e \u8fd0\u884c   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684   GPU   \u548c \u7528\u4e8e \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u8bad\u7ec3 \u7684   GPU   \u7279\u522b \u6709\u7528 \uff0c \u8fd9 \u4e24\u8005 \u5bf9 \u56fe\u5f62 \u786c\u4ef6 \u7684 \u8981\u6c42 \u90fd \u5f88 \u9ad8 \u3002   \u7b14\u8bb0   \u4ee5\u4e0b \u5047\u8bbe   Carla   \u5728 \u9ed8\u8ba4 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \u8fd0\u884c \u3002 \u5982\u679c \u60a8 \u4f7f\u7528   \u540c\u6b65   \u6a21\u5f0f \uff0c \u4ee5\u4e0b \u90e8\u5206 \u4e2d \u7684 \u67d0\u4e9b \u4ee3\u7801 \u53ef\u80fd \u65e0\u6cd5 \u6309 \u9884\u671f \u5de5\u4f5c \u3002   \u52a0\u8f7d \u5730\u56fe   \u5728   Carla   API   \u4e2d \uff0c   \u4e16\u754c   \u5bf9\u8c61 \u63d0\u4f9b \u5bf9 \u4eff\u771f \u7684 \u6240\u6709 \u5143\u7d20 \u7684 \u8bbf\u95ee \uff0c \u5305\u62ec \u5730\u56fe \u3001 \u5730\u56fe \u5185 \u7684 \u5bf9\u8c61 \uff0c \u4f8b\u5982 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u3001 \u8f66\u8f86 \u548c \u884c\u4eba \u3002 Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u5e38 \u52a0\u8f7d \u9ed8\u8ba4 \u5730\u56fe \uff08 \u901a\u5e38 \u4e3a   Town10 \uff09 \u3002 \u5982\u679c \u60a8 \u60f3 \u4f7f\u7528 \u5907\u7528 \u5730\u56fe \u542f\u52a8   Carla \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b   config . py   \u811a\u672c \uff1a   . / config . py   -- map   Town05   \u6211\u4eec \u8fd8 \u53ef\u4ee5 \u4f7f\u7528   world   \u5bf9\u8c61 \u4ece \u5ba2\u6237 \u5ba2\u6237\u7aef \u52a0\u8f7d \u5730\u56fe \uff1a   client . load _ world ( ' Town05 ' )   \u8bf7 \u5728   \u6b64\u5904   \u67e5\u627e \u6709\u5173   Carla   \u5730\u56fe \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u5bfc\u822a   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u662f \u4eff\u771f \u7684 \u89c6\u56fe \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5f53 \u60a8 \u5728 \u8fde\u63a5 \u5c4f\u5e55 \u7684 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u8fd0\u884c   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u65f6 \uff0c \u89c2\u4f17 \u4f1a \u5728 \u7a97\u53e3 \u65b0\u7a97\u53e3 \u4e2d \u6253\u5f00 \uff0c \u9664\u975e \u60a8 \u6307\u5b9a   - RenderOffScreen   \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879 \u3002   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 \u60a8 \u7684 \u4eff\u771f \u3002 \u4f7f\u7528 \u89c2\u5bdf \u89c2\u5bdf\u8005 \uff0c \u60a8 \u53ef\u4ee5 \u719f\u6089 \u5df2 \u52a0\u8f7d \u7684 \u5730\u56fe \uff0c \u5e76 \u67e5\u770b \u6240 \u505a \u7684 \u4efb\u4f55 \u66f4\u6539 \u7684 \u7ed3\u679c \uff0c \u4f8b\u5982 \u6dfb\u52a0 \u8f66\u8f86 \u3001 \u66f4\u6539 \u5929\u6c14 \u3001 \u6253\u5f00 / \u5173\u95ed \u5730\u56fe \u7684 \u5404\u4e2a \u56fe\u5c42 \u4ee5\u53ca \u7528\u4e8e \u8c03\u8bd5 \u76ee\u7684 \u3002   \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u9f20\u6807 \u63a7\u5236 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u89c6\u56fe \u7684 \u4fef\u4ef0 \u548c \u504f\u822a \uff0c \u5e76 \u4f7f\u7528   QWE - ASD   \u952e \u79fb\u52a8 \u89c2\u4f17 \uff0c \u8ba9 \u89c2\u4f17 \u98de \u5230 \u4e16\u754c \u5404\u5730 \u4e16\u754c\u5404\u5730 \uff1a   Q   -   \u5411\u4e0a \u79fb\u52a8 \uff08 \u671d\u5411 \u7a97\u53e3 \u7684 \u9876\u90e8 \u8fb9\u7f18 \uff09   E   -   \u5411\u4e0b \u79fb\u52a8 \uff08 \u671d\u5411 \u7a97\u53e3 \u7684 \u4e0b \u8fb9\u7f18 \uff09   W   -   \u5411\u524d \u79fb\u52a8   S   -   \u5411 \u540e \u79fb\u52a8   A   -   \u5411 \u5de6 \u79fb\u52a8   D   -   \u5411 \u53f3 \u79fb\u52a8   \u5de6\u952e \u5355\u51fb \u5e76 \u5728 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u7a97\u53e3 \u4e2d \u4e0a\u4e0b \u62d6\u52a8 \u9f20\u6807 \u6765 \u63a7\u5236 \u4fef\u4ef0 \uff0c \u5de6\u53f3 \u62d6\u52a8 \u9f20\u6807 \u6765 \u63a7\u5236 \u504f\u822a \u3002   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u53ca\u5176 \u5c5e\u6027 \u53ef\u4ee5 \u901a\u8fc7   Python   API   \u8bbf\u95ee \u548c \u64cd\u4f5c \uff1a   #   \u83b7\u53d6 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u5bf9\u8c61   spectator   =   world . get _ spectator ( )   #   \u901a\u8fc7 \u53d8\u6362 \u83b7\u5f97 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c   transform   =   spectator . get _ transform ( )   location   =   transform . location   rotation   =   transform . rotation   #   \u7528\u7a7a \u53d8\u6362 \u8bbe\u7f6e \u89c2\u5bdf \u89c2\u5bdf\u8005   spectator . set _ transform ( carla . Transform ( ) )   #   \u8fd9 \u5c06 \u8bbe\u7f6e \u89c2\u4f17 \u5728 \u5730\u56fe \u7684 \u539f\u70b9 \uff0c 0 \u5ea6 \u4fef\u4ef0 \uff0c \u504f\u822a \u548c \u6eda\u52a8 - \u4e00\u4e2a \u5f88 \u597d \u7684 \u65b9\u5f0f \u6765 \u5b9a\u4f4d \u81ea\u5df1 \u5728 \u5730\u56fe \u4e0a   \u6dfb\u52a0 \u975e \u73a9\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u52a0\u8f7d \u4e86 \u5730\u56fe \u5e76\u4e14 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5df2 \u542f\u52a8 \u5e76 \u8fd0\u884c \uff0c \u6211\u4eec \u73b0\u5728 \u9700\u8981 \u7528 \u4e00\u4e9b \u8f66\u8f86 \u586b\u5145 \u6211\u4eec \u7684 \u4eff\u771f \uff0c \u4ee5 \u4eff\u771f \u5177\u6709 \u4ea4\u901a \u548c \u5176\u4ed6 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u6216\u975e \u73a9\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u771f\u5b9e \u73af\u5883 \u3002   \u8981 \u751f\u6210 \u8f66\u8f86 \uff0c \u9996\u5148 \uff0c \u6211\u4eec \u9700\u8981 \u4ece \u84dd \u56fe\u5e93 \u4e2d \u9009\u62e9 \u6211\u4eec \u60f3\u8981 \u7684 \u8f66\u8f86 \u3002   #   \u83b7\u53d6 \u84dd \u56fe\u5e93 \u548c \u8f66\u8f86 \u84dd\u56fe \u8fc7\u6ee4 \u6ee4\u5668 \u8fc7\u6ee4\u5668   vehicle _ blueprints   =   world . get _ blueprint _ library ( ) . filter ( ' * vehicle * ' )   \u73b0\u5728 \u6211\u4eec \u6709 \u4e86 \u84dd\u56fe \uff0c \u6211\u4eec \u9700\u8981 \u5728 \u5730\u56fe \u4e0a \u627e\u5230 \u4e00\u4e9b \u5408\u9002 \u7684 \u5730\u70b9 \u6765 \u751f\u6210 \u6211\u4eec \u7684 \u8f66\u8f86 \u3002 \u4e3a\u6b64 \uff0c \u6bcf\u4e2a   Carla   \u5730\u56fe \u90fd \u63d0\u4f9b \u4e86 \u9884\u5b9a \u4e49 \u7684 \u751f\u6210 \u70b9 \uff0c \u5747\u5300 \u5206\u5e03 \u5747\u5300\u5206\u5e03 \u5728 \u6574\u4e2a \u5730\u56fe \u7684 \u9053\u8def \u4e0a \u3002   #   \u83b7\u5f97 \u5730\u56fe \u7684 \u751f\u6210 \u70b9   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   #   \u5728 \u6bcf\u4e2a \u751f\u6210 \u70b9 \u968f\u673a \u751f\u6210 50 \u8f86\u8f66 \uff0c \u6211\u4eec \u4ece \u84dd \u56fe\u5e93 \u4e2d \u968f\u673a \u9009\u62e9 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66   for   i   in   range ( 0 , 50 ) :   world . try _ spawn _ actor ( random . choice ( vehicle _ blueprints ) ,   random . choice ( spawn _ points ) )   \u73b0\u5728 \u6211\u4eec \u8fd8 \u5e94\u8be5 \u6dfb\u52a0 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u4f5c\u4e3a \u4eff\u771f \u7684 \u4e2d\u5fc3 \u4e2d\u5fc3\u70b9 \u3002 \u4e3a\u4e86 \u8bad\u7ec3 \u81ea\u4e3b \u4ee3\u7406 \uff0c \u6211\u4eec \u9700\u8981 \u4eff\u771f \u81ea\u4e3b \u4ee3\u7406 \u5c06 \u63a7\u5236 \u7684 \u8f66\u8f86 \u3002 \u7528   Carla   \u7684 \u8bf4\u6cd5 \uff0c \u6211\u4eec \u7ecf\u5e38 \u5c06 \u8fd9\u79cd \u8f66\u8f86 \u79f0\u4e3a \u201c \u81ea\u6211 \u8f66\u8f86 \u201d \u3002   ego _ vehicle   =   world . spawn _ actor ( random . choice ( vehicle _ blueprints ) ,   random . choice ( spawn _ points ) )   \u9664\u4e86 \u8f66\u8f86 \u4e4b\u5916 \uff0c Carla   \u8fd8 \u63d0\u4f9b \u884c\u4eba \u6dfb\u52a0 \u5230 \u4eff\u771f \u4e2d \uff0c \u4ee5 \u4eff\u771f \u771f\u5b9e \u7684 \u9a7e\u9a76 \u573a\u666f \u3002 \u5728   Carla   \u672f\u8bed \u4e2d \uff0c \u8f66\u8f86 \u548c \u884c\u4eba \u88ab \u79f0\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8bf7 \u5728   \u6b64\u5904   \u4e86\u89e3 \u6709\u5173 \u5b83\u4eec \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u6dfb\u52a0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u73b0\u4ee3 \u81ea\u52a8 \u9a7e\u9a76 \u6c7d\u8f66 \u901a\u8fc7 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u9644\u52a0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6765 \u7406\u89e3 \u548c \u89e3\u91ca \u5176 \u73af\u5883 \u3002 \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5305\u62ec \u5149\u5b66 \u6444\u50cf \u6444\u50cf\u673a \u3001 \u5149\u6d41 \u6444\u50cf \u6444\u50cf\u673a \u3001 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u96f7\u8fbe \u548c \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \u7b49 \u3002 Carla   \u5185\u7f6e \u4e86 \u591a\u79cd \u79cd\u7c7b \u7c7b\u578b \u591a\u79cd\u7c7b\u578b \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6a21\u578b \uff0c \u7528\u4e8e \u521b\u5efa \u673a\u5668 \u5b66\u4e60 \u7684 \u8bad\u7ec3 \u6570\u636e \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u4ee5 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u4e0a \uff0c \u4e5f \u53ef\u4ee5 \u8fde\u63a5 \u5230 \u56fa\u5b9a \u5b9a\u70b9 \u56fa\u5b9a\u70b9 \u6765 \u5efa\u6a21 \uff0c \u4f8b\u5982 \u95ed\u8def \u7535\u89c6 \u95ed\u8def\u7535\u89c6 \u6444\u50cf \u6444\u50cf\u673a \u3002   \u5728 \u8fd9\u91cc \uff0c \u6211\u4eec \u5c06 \u5728 \u81ea\u6211 \u8f66\u8f86 \u4e0a \u5b89\u88c5 \u4e00\u4e2a \u6807\u51c6 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6765 \u8bb0\u5f55 \u4e00\u4e9b \u89c6\u9891 \u6570\u636e \uff1a   #   \u521b\u5efa \u4e00\u4e2a \u53d8\u6362 \uff0c \u5c06 \u6444\u50cf \u6444\u50cf\u673a \u653e\u7f6e \u5728 \u8f66\u8f86 \u7684 \u9876\u90e8   camera _ init _ trans   =   carla . Transform ( carla . Location ( z = 1.5 ) )   #   \u901a\u8fc7 \u5b9a\u4e49 \u5176 \u5c5e\u6027 \u7684 \u84dd\u56fe \u6765 \u521b\u5efa \u76f8\u673a   camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   #   \u751f\u6210 \u76f8\u673a \u5e76 \u5c06 \u5176 \u8fde\u63a5 \u5230 \u6211\u4eec \u7684 \u81ea\u6211 \u8f66\u8f86 \u4e0a   camera   =   world . spawn _ actor ( camera _ bp ,   camera _ init _ trans ,   attach _ to = ego _ vehicle )   \u4e00\u65e6 \u6211\u4eec \u751f\u6210 \u4e86 \u76f8\u673a \uff0c \u6211\u4eec \u9700\u8981 \u901a\u8fc7   listen ( )   \u65b9\u6cd5 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u5f55\u5236 \u3002 Listen   \u65b9\u6cd5 \u5c06 \u5b9a\u4e49 \u5982\u4f55 \u5904\u7406 \u6570\u636e \u7684 \u56de\u8c03 \u4f5c\u4e3a \u53c2\u6570 \u3002 \u60a8 \u53ef\u4ee5 \u5c06 \u5176 \u6d41\u5f0f \u4f20\u8f93 \u5230 \u53e6 \u4e00\u4e2a \u7a0b\u5e8f \u6216 \u5c06 \u5176 \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002   \u6211\u4eec \u5c06 \u4f7f\u7528   lambda   \u51fd\u6570 \u4f5c\u4e3a \u56de\u8c03 \u5c06 \u6570\u636e \u4fdd\u5b58 \u5230 \u78c1\u76d8 \uff1a   #   \u7528   PyGame   \u56de\u8c03 \u542f\u52a8 \u76f8\u673a   camera . listen ( lambda   image :   image . save _ to _ disk ( ' out / % 06d . png '   %   image . frame ) )   \u8fd9\u4f1a \u5c06 \u6570\u636e \u4f5c\u4e3a \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u6839\u636e \u4eff\u771f \u5e27 \u7f16\u53f7 \u547d\u540d \u7684   PNG   \u56fe\u50cf \u6587\u4ef6 \u56fe\u50cf\u6587\u4ef6 \u4fdd\u5b58 \u5230   out /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u6709 \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7c7b\u578b \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002 \u5728   \u8fd9\u91cc   \u60a8 \u53ef\u4ee5 \u66f4 \u6df1\u5165 \u5730 \u7814\u7a76 \u53ef\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9635\u5217 \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528 \u5b83\u4eec \u3002   \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4eff\u771f \u8f66\u8f86   \u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u5c06 \u4ea4\u901a \u548c \u81ea\u6211 \u8f66\u8f86 \u6dfb\u52a0 \u5230 \u4eff\u771f \u4e2d \u5e76 \u5f00\u59cb \u8bb0\u5f55 \u6444\u50cf \u6444\u50cf\u673a \u6570\u636e \uff0c \u73b0\u5728 \u6211\u4eec \u9700\u8981 \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u8fd0\u52a8 \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u662f   Carla   \u7684 \u4e00\u4e2a \u7ec4\u4ef6 \uff0c \u5b83 \u63a7\u5236 \u8f66\u8f86 \u5728 \u4eff\u771f \u5185 \u7684 \u5730\u56fe \u9053\u8def \u4e0a \u81ea\u52a8 \u79fb\u52a8 \uff0c \u9075\u5faa \u9053\u8def \u60ef\u4f8b \u5e76 \u8868\u73b0 \u5f97 \u50cf \u771f\u6b63 \u7684 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u3002   \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528   world . get _ actors ( )   \u65b9\u6cd5 \u627e\u5230 \u4eff\u771f \u4e2d \u7684 \u6240\u6709 \u8f66\u8f86 \uff0c \u5bf9 \u6240\u6709 \u8f66\u8f86 \u8fdb\u884c \u8fc7\u6ee4 \u3002 \u7136\u540e \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u8be5   set _ autopilot ( )   \u65b9\u6cd5 \u5c06 \u8f66\u8f86 \u7684 \u63a7\u5236 \u63a7\u5236\u6743 \u79fb\u4ea4 \u7ed9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   for   vehicle   in   world . get _ actors ( ) . filter ( ' * vehicle * ' ) :   vehicle . set _ autopilot ( True )   \u73b0\u5728 \u60a8 \u7684 \u4eff\u771f \u6b63\u5728 \u8fd0\u884c \uff0c \u6709 \u8bb8\u591a \u8f66\u8f86 \u5728 \u5730\u56fe \u4e0a \u884c\u9a76 \uff0c \u5e76\u4e14 \u6444\u50cf \u6444\u50cf\u673a \u8bb0\u5f55 \u5176\u4e2d \u4e00\u8f86 \u8f66\u8f86 \u7684 \u6570\u636e \u3002 \u7136\u540e \uff0c \u8be5 \u6570\u636e \u53ef \u7528\u4e8e \u63d0\u4f9b \u673a\u5668 \u5b66\u4e60 \u7b97\u6cd5 \u6765 \u8bad\u7ec3 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u5177 \u6709 \u8bb8\u591a \u7528\u4e8e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d41\u91cf \u884c\u4e3a \u7684 \u529f\u80fd \uff0c \u8bf7 \u5728   \u6b64\u5904   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u8fd9\u662f \u4eff\u771f \u7684 \u6700 \u57fa\u672c \u53ef\u80fd \u8bbe\u7f6e \uff0c \u73b0\u5728 \u60a8 \u53ef\u4ee5 \u66f4 \u6df1\u5165 \u5730 \u4e86\u89e3 \u6709\u5173 \u53ef \u7528\u4e8e \u751f\u6210 \u6570\u636e \u7684 \u8bb8\u591a \u989d\u5916 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6587\u6863 \uff0c \u4ee5\u53ca   Carla   \u7684 \u8bb8\u591a \u5176\u4ed6 \u529f\u80fd \uff0c \u8fd9\u4e9b \u529f\u80fd \u53ef\u4ee5 \u4f7f \u60a8 \u7684 \u4eff\u771f \u66f4\u52a0 \u8be6\u7ec6 \u548c \u66f4 \u591a \u5b9e\u9645 \u7684 \u3002   \u5c06 \u8f66\u8f86 \u5206\u914d \u4e3a \u81ea\u6211 \u8f66\u8f86   \u81ea\u6211 \u8f66\u8f86   \u662f \u4f7f\u7528   Carla   \u65f6 \u9700\u8981 \u7262\u8bb0 \u7684 \u4e00\u4e2a \u91cd\u8981 \u6982\u5ff5 \u3002 \u81ea\u6211 \u8f66\u8f86 \u662f \u6307 \u5c06 \u6210\u4e3a \u4eff\u771f \u7126\u70b9 \u7684 \u8f66\u8f86 \u3002 \u5728 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570   CARLA   \u7528\u4f8b \u4e2d \uff0c \u5b83 \u53ef\u80fd \u662f \u60a8 \u5c06 \u8fde\u63a5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8f66\u8f86 \u548c / \u6216 \u60a8 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u673a\u5668 \u5b66\u4e60 \u5806\u6808 \u5c06 \u63a7\u5236 \u7684 \u8f66\u8f86 \u3002 \u5b83 \u5f88 \u91cd\u8981 \uff0c \u56e0\u4e3a \u5b83 \u662f \u4e00\u4e9b \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63d0\u9ad8 \u4eff\u771f \u6548\u7387 \u7684 \u4eff\u771f \u64cd\u4f5c \u7684 \u57fa\u7840 \uff0c \u4f8b\u5982 \uff1a   \u52a0\u8f7d \u5927\u578b \u5730\u56fe \u7684 \u5730\u56fe \u56fe\u5757   :   \u5927\u578b \u5730\u56fe \uff08 \u5982   Town   12 \uff09 \u7531 \u56fe\u5757 \u7ec4\u6210 \uff0c \u4ec5 \u5728 \u9700\u8981 \u63d0\u9ad8   Carla   \u6027\u80fd \u65f6\u624d \u52a0\u8f7d \u3002 \u81ea\u6211 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u51b3\u5b9a \u4e86 \u4f7f\u7528 \u54ea\u4e9b \u56fe\u5757 \u3002 \u53ea\u6709 \u9760\u8fd1 \u6700\u9760\u8fd1 \u81ea\u6211 \u8f66\u8f86 \u7684 \u56fe\u5757 \u624d \u4f1a \u88ab \u52a0\u8f7d \u3002   \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f   :   \u5982\u679c \u60a8 \u7684 \u4eff\u771f \u5305\u542b \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u5927\u91cf \u8f66\u8f86 \uff0c \u5219 \u8ba1\u7b97 \u6240\u6709 \u8fd9\u4e9b \u8f66\u8f86 \u7684 \u7269\u7406 \u7269\u7406\u91cf \u5728 \u8ba1\u7b97 \u4e0a \u975e\u5e38 \u6602\u8d35 \u3002   \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f   \u4f7f \u7269\u7406 \u8ba1\u7b97 \u4ec5\u9650 \u9650\u4e8e \u4ec5\u9650\u4e8e \u81ea\u6211 \u8f66\u8f86 \u9644\u8fd1 \u7684 \u8f66\u8f86 \uff0c \u4ece\u800c \u8282\u7701 \u8ba1\u7b97 \u8d44\u6e90 \u8ba1\u7b97\u8d44\u6e90 \u3002   \u8981 \u5b9a\u4e49 \u81ea\u6211 \u8f66\u8f86 \uff0c \u60a8 \u5e94\u8be5 \u5728 \u751f\u6210 \u81ea\u6211 \u8f66\u8f86 \u65f6 \u8bbe\u7f6e   role _ name   \u8f66\u8f86   carla . Actor   \u5bf9\u8c61   \u84dd\u56fe   \u7684 \u5c5e\u6027 \uff1a   ego _ bp   =   world . get _ blueprint _ library ( ) . find ( ' vehicle . lincoln . mkz _ 2020 ' )   ego _ bp . set _ attribute ( ' role _ name ' ,   ' hero ' )   ego _ vehicle   =   world . spawn _ actor ( ego _ bp ,   random . choice ( spawn _ points ) )   \u9009\u62e9 \u4f60 \u7684 \u5730\u56fe   Carla   \u9644\u5e26 \u4e86 \u51e0\u5f20 \u9884\u5236 \u5730\u56fe \uff0c \u4e13\u6ce8 \u4e8e \u63d0\u4f9b \u591a\u79cd \u529f\u80fd \u3002 \u8fd9\u4e9b \u5730\u56fe \u5448\u73b0 \u4e86 \u57ce\u5e02 \u3001 \u4e61\u6751 \u548c \u4f4f\u5b85 \u7b49 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u73af\u5883 \u3002 \u8fd8\u6709 \u4e0d\u540c \u7684 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u548c \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7684 \u9053\u8def \u5e03\u5c40 \uff0c \u4ece \u65e0 \u6807\u8bb0 \u7684 \u4e61\u6751 \u9053\u8def \u5230 \u591a \u8f66\u9053 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3002 \u6d4f\u89c8   \u76ee\u5f55   \u6216 \u4e0b\u8868\u4e2d \u7684 \u5730\u56fe \u6307\u5357 \u3002   \u57ce\u9547   \u6982\u62ec   \u57ce\u9547 01   \u4e00\u4e2a \u7b80\u5355 \u7684 \u5c0f\u9547 \uff0c \u6709 \u4e00\u6761 \u6cb3\u6d41 \u548c \u51e0\u5ea7 \u6865\u6881 \u3002   \u57ce\u9547 02   \u4e00\u4e2a \u7b80\u5355 \u7684 \u5c0f\u9547 \uff0c \u4f4f\u5b85 \u548c \u5546\u4e1a \u5efa\u7b51 \u6df7\u5408 \u5728 \u4e00\u8d77 \u3002   \u57ce\u9547 03   \u66f4\u5927 \u7684 \u57ce\u5e02 \u5e02\u5730 \u5730\u56fe \u57ce\u5e02\u5730\u56fe \uff0c \u5e26\u6709 \u73af\u5c9b \u548c \u5927\u578b \u8def\u53e3 \u3002   \u57ce\u9547 04   \u4e00\u5ea7 \u9576\u5d4c \u5728 \u7fa4\u5c71 \u4e4b\u4e2d \u7684 \u5c0f\u9547 \uff0c \u6709 \u4e00\u6761 \u7279\u6b8a \u7684 \u201c 8 \u5b57\u5f62 \u201d   \u65e0\u9650   \u516c\u8def \u3002   \u57ce\u9547 05   \u65b9\u5f62 \u7f51\u683c \u57ce\u9547 \uff0c \u6709 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u548c \u4e00\u5ea7 \u6865\u6881 \u3002 \u6bcf\u4e2a \u65b9\u5411 \u6709 \u591a\u4e2a \u8f66\u9053 \u3002 \u5bf9\u4e8e \u6267\u884c \u53d8\u9053 \u5f88 \u6709\u7528 \u3002   \u57ce\u9547 06   \u957f \u7684 \u591a \u8f66\u9053 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \uff0c \u6709 \u8bb8\u591a \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u5165\u53e3 \u548c \u51fa\u53e3 \u3002 \u5b83 \u8fd8\u6709 \u4e00\u4e2a   \u5bc6\u6b47\u6839 \u5de6\u7ffc   \u3002   \u57ce\u9547 07   \u4e61\u6751 \u73af\u5883 \uff0c \u9053\u8def \u72ed\u7a84 \uff0c \u6709 \u7389\u7c73 \u3001 \u8c37\u4ed3 \uff0c \u51e0\u4e4e \u6ca1\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u3002   \u57ce\u9547 08   \u7528\u4e8e   \u6392\u884c \u6392\u884c\u699c   \u6311\u6218 \u7684 \u79d8\u5bc6 \u201c \u4e0d\u89c1 \u770b\u4e0d\u89c1 \u201d \u5c0f\u9547   \u57ce\u9547 09   \u7528\u4e8e   \u6392\u884c \u6392\u884c\u699c   \u6311\u6218 \u7684 \u79d8\u5bc6 \u201c \u4e0d\u89c1 \u770b\u4e0d\u89c1 \u201d \u5c0f\u9547   \u57ce\u9547 10   \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u7684 \u57ce\u5e02 \u73af\u5883 \uff0c \u62e5\u6709 \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u697c \u548c \u6d77\u6ee8 \u957f\u5eca \u3002   \u57ce\u9547 11   \u672a \u88c5\u9970 \u7684 \u5927 \u5730\u56fe \u3002   \u57ce\u9547 12   \u4e00\u5f20 \u5305\u542b \u8bb8\u591a \u4e0d\u540c \u533a\u57df \u7684 \u5927 \u5730\u56fe \uff0c \u5305\u62ec \u9ad8\u5c42 \u5efa\u7b51 \u9ad8\u5c42\u5efa\u7b51 \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u73af\u5883 \u3002   \u57ce\u9547 13   \u4e00\u5f20 \u4e0e   12   \u53f7 \u9547 \u89c4\u6a21 \u76f8\u4f3c \u7684 \u5927 \u5730\u56fe \uff0c \u4f46 \u5177\u6709 \u9c9c\u660e \u7684 \u7279\u8272 \u3002   \u57ce\u9547 15   \u57fa\u4e8e \u5df4\u585e \u585e\u7f57 \u7f57\u90a3 \u5df4\u585e\u7f57\u90a3 \u81ea\u6cbb \u5927\u5b66 \u9053\u8def \u5e03\u5c40 \u7684 \u5730\u56fe \u3002   HUTB   \u57fa\u4e8e \u6e56\u5357 \u5de5\u5546 \u5546\u5927 \u5927\u5b66 \u5de5\u5546\u5927\u5b66 \u9053\u8def \u5e03\u5c40 \u7684 \u5730\u56fe \u3002   \u60a8 \u53ef\u4ee5 \u6d4f\u89c8   Carla   \u5b89\u88c5 \u4e2d \u7684 \u53ef\u7528 \u5730\u56fe \uff1a   client . get _ available _ maps ( )   \u8fd9 \u5c06 \u5305\u62ec \u60a8 \u81ea\u5df1 \u6784\u5efa \u6216 \u5bfc\u5165 \u7684 \u5730\u56fe \u3002   \u5f53 \u60a8 \u9009\u62e9 \u5730\u56fe \u65f6 \uff0c \u8bf7 \u50cf \u8fd9\u6837 \u52a0\u8f7d \u5b83 \uff1a   client . load _ world ( ' Town03 _ Opt ' )   \u9009\u62e9 \u4f60 \u7684 \u8f66\u8f86   Carla   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u8f66\u8f86 \u5e93 \uff0c \u53ef\u4ee5 \u8ba9 \u60a8 \u7684 \u4eff\u771f \u5145\u6ee1 \u4ea4\u901a \u3002 \u6d4f\u89c8   Carla   \u8f66\u8f86 \u76ee\u5f55   \u4e2d \u7684 \u8f66\u8f86 \u578b\u53f7 \u3002   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u8fc7\u6ee4 \u84dd \u56fe\u5e93 \u6765 \u67e5\u770b \u6240\u6709 \u53ef\u7528 \u7684 \u8f66\u8f86 \u84dd\u56fe \u3002   for   bp   in   world . get _ blueprint _ library ( ) . filter ( ' vehicle ' ) :   print ( bp . id )","title":"\u5b66\u4e60   Carla   \u7684 \u7b2c\u4e00\u6b65"},{"location":"tuto_first_steps/#carla","text":"Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u662f \u4e00\u4e2a \u7efc\u5408 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c \u7528\u4e8e \u4e3a \u81ea\u52a8 \u9a7e\u9a76   ( Autonomous   Driving ,   AD )   \u548c \u5176\u4ed6 \u673a\u5668 \u673a\u5668\u4eba \u5e94\u7528 \u751f\u6210 \u5408\u6210 \u8bad\u7ec3 \u6570\u636e \u3002 Carla   \u4eff\u771f \u9ad8\u5ea6 \u771f\u5b9e \u7684 \u73af\u5883 \uff0c \u4eff\u771f \u73b0\u5b9e \u4e16\u754c \u4e2d \u7684 \u57ce\u9547 \u3001 \u57ce\u5e02 \u548c \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u4ee5\u53ca \u5360\u636e \u8fd9\u4e9b \u9a7e\u9a76 \u7a7a\u95f4 \u7684 \u8f66\u8f86 \u548c \u5176\u4ed6 \u7269\u4f53 \u3002   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fd8 \u53ef \u7528\u4f5c \u8bc4\u4f30 \u548c \u6d4b\u8bd5 \u73af\u5883 \u6d4b\u8bd5\u73af\u5883 \u3002 \u60a8 \u53ef\u4ee5 \u90e8\u7f72 \u5728 \u4eff\u771f \u4e2d \u8bad\u7ec3 \u8fc7 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u6765 \u6d4b\u8bd5 \u548c \u8bc4\u4f30 \u5176 \u6027\u80fd \u548c \u5b89\u5168 \u5b89\u5168\u6027 \uff0c \u6240\u6709 \u8fd9\u4e9b \u90fd \u5728 \u4eff\u771f \u73af\u5883 \u7684 \u5b89\u5168 \u8303\u56f4 \u5185 \uff0c \u4e0d\u4f1a \u5bf9 \u786c\u4ef6 \u6216 \u5176\u4ed6 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u9020\u6210 \u98ce\u9669 \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u4ecb\u7ecd   Carla   \u4e2d \u7684 \u6807\u51c6 \u5de5\u4f5c \u6d41\u7a0b \uff0c \u4ece \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u8fde\u63a5 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5230 \u6dfb\u52a0 \u8f66\u8f86 \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u751f\u6210 \u7528\u4e8e \u673a\u5668 \u5b66\u4e60 \u7684 \u8bad\u7ec3 \u6570\u636e \u3002 \u672c \u6559\u7a0b \u65e8\u5728 \u91cd\u70b9 \u4ecb\u7ecd \u7ec6\u8282 \uff0c \u5e76 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u9ad8\u6548 \u5730 \u4ecb\u7ecd \u4f7f\u7528   Carla   \u751f\u6210 \u673a\u5668 \u5b66\u4e60 \u8bad\u7ec3 \u6570\u636e \u7684 \u5173\u952e \u6b65\u9aa4 \u5173\u952e\u6b65\u9aa4 \u3002 \u6709\u5173 \u5de5\u4f5c \u6d41\u7a0b \u6bcf\u4e2a \u90e8\u5206 \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u4f8b\u5982 \u84dd \u56fe\u5e93 \u4e2d \u53ef\u7528 \u7684 \u591a\u79cd \u8f66\u8f86 \u6216 \u53ef\u7528 \u7684 \u66ff\u4ee3 \u7c7b\u578b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u8bf7 \u67e5\u9605 \u6587\u672c \u4e2d \u7684 \u94fe\u63a5 \u6216 \u6d4f\u89c8 \u5de6\u4fa7 \u83dc\u5355 \u3002   \u542f\u52a8   Carla   \u5e76 \u8fdb\u884c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5   \u52a0\u8f7d \u5730\u56fe   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u5bfc\u822a   \u6dfb\u52a0 \u975e \u73a9\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u6dfb\u52a0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4eff\u771f \u8f66\u8f86   \u5c06 \u8f66\u8f86 \u5206\u914d \u4e3a \u81ea\u6211 \u8f66\u8f86   \u9009\u62e9 \u4f60 \u7684 \u5730\u56fe   \u9009\u62e9 \u4f60 \u7684 \u8f66\u8f86","title":"\u5b66\u4e60   Carla   \u7684 \u7b2c\u4e00\u6b65"},{"location":"tuto_first_steps/#carla_1","text":"\u53ef\u4ee5 \u4f7f\u7528   Windows   \u4e2d \u7684 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u6216   Linux   \u4e2d \u7684   shell   \u811a\u672c \u901a\u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u542f\u52a8   Carla \u3002 \u6309\u7167   Linux   \u548c   Windows   \u7684 \u5b89\u88c5 \u8bf4\u660e \u8fdb\u884c \u64cd\u4f5c \uff0c \u7136\u540e \u4ece \u547d\u4ee4 \u547d\u4ee4\u884c   \u542f\u52a8   Carla   \uff1a   cd   / carla / root   . / CarlaUE4 . sh   \u8981 \u901a\u8fc7   Python   API   \u64cd\u4f5c   Carla \uff0c \u6211\u4eec \u9700\u8981 \u901a\u8fc7 \u5f00\u653e \u7aef\u53e3 \u5c06 Python   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u901a\u8fc7   \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u4e16\u754c \u5bf9\u8c61   \u63a7\u5236 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6253\u5f00 \u4e00\u4e2a   Python   \u7b14\u8bb0 \u7b14\u8bb0\u672c \u6216 \u521b\u5efa \u4e00\u4e2a \u65b0 \u811a\u672c \uff0c \u7136\u540e \u5c06 \u4ee5\u4e0b \u4ee3\u7801 \u6dfb\u52a0 \u5230 \u811a\u672c \u7684 \u5f00\u5934 \u6216   main   \u51fd\u6570 \u4e2d \uff1a   import   carla   import   random   #   \u94fe\u63a5 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e76 \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5bf9\u8c61 \u7528\u4e8e \u7ef4\u62a4 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u8fde\u63a5 \uff0c \u5e76 \u5177\u6709 \u8bb8\u591a \u7528\u4e8e \u5e94\u7528 \u547d\u4ee4 \u4ee5\u53ca \u52a0\u8f7d \u6216 \u5bfc\u51fa \u6570\u636e \u7684 \u529f\u80fd \u3002 \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u52a0\u8f7d \u66ff\u4ee3 \u5730\u56fe \u6216 \u91cd\u65b0 \u52a0\u8f7d \u5f53\u524d \u5730\u56fe \uff08 \u91cd\u7f6e \u4e3a \u521d\u59cb \u72b6\u6001 \u521d\u59cb\u72b6\u6001 \uff09 \u3002   \u7aef\u53e3 \u53ef\u4ee5 \u9009\u62e9 \u4efb\u4f55 \u53ef\u7528 \u7684 \u7aef\u53e3 \uff0c \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e3a   2000 \uff0c \u60a8 \u4e5f \u53ef\u4ee5 \u4f7f\u7528 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u7684   IP   \u5730\u5740 \u9009\u62e9 \u4e0e   localhost   \u4e0d\u540c \u7684 \u4e3b\u673a \u3002 \u8fd9\u6837 \uff0c Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53ef\u4ee5 \u5728 \u8054\u7f51 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u8fd0\u884c \uff0c \u800c   python   \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u4ece \u4e2a\u4eba \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u8fd0\u884c \u3002 \u8fd9 \u5bf9\u4e8e \u533a\u5206 \u7528\u4e8e \u8fd0\u884c   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684   GPU   \u548c \u7528\u4e8e \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u8bad\u7ec3 \u7684   GPU   \u7279\u522b \u6709\u7528 \uff0c \u8fd9 \u4e24\u8005 \u5bf9 \u56fe\u5f62 \u786c\u4ef6 \u7684 \u8981\u6c42 \u90fd \u5f88 \u9ad8 \u3002   \u7b14\u8bb0   \u4ee5\u4e0b \u5047\u8bbe   Carla   \u5728 \u9ed8\u8ba4 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \u8fd0\u884c \u3002 \u5982\u679c \u60a8 \u4f7f\u7528   \u540c\u6b65   \u6a21\u5f0f \uff0c \u4ee5\u4e0b \u90e8\u5206 \u4e2d \u7684 \u67d0\u4e9b \u4ee3\u7801 \u53ef\u80fd \u65e0\u6cd5 \u6309 \u9884\u671f \u5de5\u4f5c \u3002","title":"\u542f\u52a8   Carla   \u5e76 \u8fdb\u884c \u5ba2\u6237\u7aef \u8fde\u63a5  "},{"location":"tuto_first_steps/#_1","text":"\u5728   Carla   API   \u4e2d \uff0c   \u4e16\u754c   \u5bf9\u8c61 \u63d0\u4f9b \u5bf9 \u4eff\u771f \u7684 \u6240\u6709 \u5143\u7d20 \u7684 \u8bbf\u95ee \uff0c \u5305\u62ec \u5730\u56fe \u3001 \u5730\u56fe \u5185 \u7684 \u5bf9\u8c61 \uff0c \u4f8b\u5982 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u3001 \u8f66\u8f86 \u548c \u884c\u4eba \u3002 Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u5e38 \u52a0\u8f7d \u9ed8\u8ba4 \u5730\u56fe \uff08 \u901a\u5e38 \u4e3a   Town10 \uff09 \u3002 \u5982\u679c \u60a8 \u60f3 \u4f7f\u7528 \u5907\u7528 \u5730\u56fe \u542f\u52a8   Carla \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b   config . py   \u811a\u672c \uff1a   . / config . py   -- map   Town05   \u6211\u4eec \u8fd8 \u53ef\u4ee5 \u4f7f\u7528   world   \u5bf9\u8c61 \u4ece \u5ba2\u6237 \u5ba2\u6237\u7aef \u52a0\u8f7d \u5730\u56fe \uff1a   client . load _ world ( ' Town05 ' )   \u8bf7 \u5728   \u6b64\u5904   \u67e5\u627e \u6709\u5173   Carla   \u5730\u56fe \u7684 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u52a0\u8f7d \u5730\u56fe    "},{"location":"tuto_first_steps/#_2","text":"\u89c2\u5bdf \u89c2\u5bdf\u8005 \u662f \u4eff\u771f \u7684 \u89c6\u56fe \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5f53 \u60a8 \u5728 \u8fde\u63a5 \u5c4f\u5e55 \u7684 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u8fd0\u884c   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u65f6 \uff0c \u89c2\u4f17 \u4f1a \u5728 \u7a97\u53e3 \u65b0\u7a97\u53e3 \u4e2d \u6253\u5f00 \uff0c \u9664\u975e \u60a8 \u6307\u5b9a   - RenderOffScreen   \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879 \u3002   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 \u60a8 \u7684 \u4eff\u771f \u3002 \u4f7f\u7528 \u89c2\u5bdf \u89c2\u5bdf\u8005 \uff0c \u60a8 \u53ef\u4ee5 \u719f\u6089 \u5df2 \u52a0\u8f7d \u7684 \u5730\u56fe \uff0c \u5e76 \u67e5\u770b \u6240 \u505a \u7684 \u4efb\u4f55 \u66f4\u6539 \u7684 \u7ed3\u679c \uff0c \u4f8b\u5982 \u6dfb\u52a0 \u8f66\u8f86 \u3001 \u66f4\u6539 \u5929\u6c14 \u3001 \u6253\u5f00 / \u5173\u95ed \u5730\u56fe \u7684 \u5404\u4e2a \u56fe\u5c42 \u4ee5\u53ca \u7528\u4e8e \u8c03\u8bd5 \u76ee\u7684 \u3002   \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u9f20\u6807 \u63a7\u5236 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u89c6\u56fe \u7684 \u4fef\u4ef0 \u548c \u504f\u822a \uff0c \u5e76 \u4f7f\u7528   QWE - ASD   \u952e \u79fb\u52a8 \u89c2\u4f17 \uff0c \u8ba9 \u89c2\u4f17 \u98de \u5230 \u4e16\u754c \u5404\u5730 \u4e16\u754c\u5404\u5730 \uff1a   Q   -   \u5411\u4e0a \u79fb\u52a8 \uff08 \u671d\u5411 \u7a97\u53e3 \u7684 \u9876\u90e8 \u8fb9\u7f18 \uff09   E   -   \u5411\u4e0b \u79fb\u52a8 \uff08 \u671d\u5411 \u7a97\u53e3 \u7684 \u4e0b \u8fb9\u7f18 \uff09   W   -   \u5411\u524d \u79fb\u52a8   S   -   \u5411 \u540e \u79fb\u52a8   A   -   \u5411 \u5de6 \u79fb\u52a8   D   -   \u5411 \u53f3 \u79fb\u52a8   \u5de6\u952e \u5355\u51fb \u5e76 \u5728 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u7a97\u53e3 \u4e2d \u4e0a\u4e0b \u62d6\u52a8 \u9f20\u6807 \u6765 \u63a7\u5236 \u4fef\u4ef0 \uff0c \u5de6\u53f3 \u62d6\u52a8 \u9f20\u6807 \u6765 \u63a7\u5236 \u504f\u822a \u3002   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u53ca\u5176 \u5c5e\u6027 \u53ef\u4ee5 \u901a\u8fc7   Python   API   \u8bbf\u95ee \u548c \u64cd\u4f5c \uff1a   #   \u83b7\u53d6 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u5bf9\u8c61   spectator   =   world . get _ spectator ( )   #   \u901a\u8fc7 \u53d8\u6362 \u83b7\u5f97 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c   transform   =   spectator . get _ transform ( )   location   =   transform . location   rotation   =   transform . rotation   #   \u7528\u7a7a \u53d8\u6362 \u8bbe\u7f6e \u89c2\u5bdf \u89c2\u5bdf\u8005   spectator . set _ transform ( carla . Transform ( ) )   #   \u8fd9 \u5c06 \u8bbe\u7f6e \u89c2\u4f17 \u5728 \u5730\u56fe \u7684 \u539f\u70b9 \uff0c 0 \u5ea6 \u4fef\u4ef0 \uff0c \u504f\u822a \u548c \u6eda\u52a8 - \u4e00\u4e2a \u5f88 \u597d \u7684 \u65b9\u5f0f \u6765 \u5b9a\u4f4d \u81ea\u5df1 \u5728 \u5730\u56fe \u4e0a","title":"\u89c2\u5bdf\u8005 \u5bfc\u822a  "},{"location":"tuto_first_steps/#_3","text":"\u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u52a0\u8f7d \u4e86 \u5730\u56fe \u5e76\u4e14 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5df2 \u542f\u52a8 \u5e76 \u8fd0\u884c \uff0c \u6211\u4eec \u73b0\u5728 \u9700\u8981 \u7528 \u4e00\u4e9b \u8f66\u8f86 \u586b\u5145 \u6211\u4eec \u7684 \u4eff\u771f \uff0c \u4ee5 \u4eff\u771f \u5177\u6709 \u4ea4\u901a \u548c \u5176\u4ed6 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u6216\u975e \u73a9\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u771f\u5b9e \u73af\u5883 \u3002   \u8981 \u751f\u6210 \u8f66\u8f86 \uff0c \u9996\u5148 \uff0c \u6211\u4eec \u9700\u8981 \u4ece \u84dd \u56fe\u5e93 \u4e2d \u9009\u62e9 \u6211\u4eec \u60f3\u8981 \u7684 \u8f66\u8f86 \u3002   #   \u83b7\u53d6 \u84dd \u56fe\u5e93 \u548c \u8f66\u8f86 \u84dd\u56fe \u8fc7\u6ee4 \u6ee4\u5668 \u8fc7\u6ee4\u5668   vehicle _ blueprints   =   world . get _ blueprint _ library ( ) . filter ( ' * vehicle * ' )   \u73b0\u5728 \u6211\u4eec \u6709 \u4e86 \u84dd\u56fe \uff0c \u6211\u4eec \u9700\u8981 \u5728 \u5730\u56fe \u4e0a \u627e\u5230 \u4e00\u4e9b \u5408\u9002 \u7684 \u5730\u70b9 \u6765 \u751f\u6210 \u6211\u4eec \u7684 \u8f66\u8f86 \u3002 \u4e3a\u6b64 \uff0c \u6bcf\u4e2a   Carla   \u5730\u56fe \u90fd \u63d0\u4f9b \u4e86 \u9884\u5b9a \u4e49 \u7684 \u751f\u6210 \u70b9 \uff0c \u5747\u5300 \u5206\u5e03 \u5747\u5300\u5206\u5e03 \u5728 \u6574\u4e2a \u5730\u56fe \u7684 \u9053\u8def \u4e0a \u3002   #   \u83b7\u5f97 \u5730\u56fe \u7684 \u751f\u6210 \u70b9   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   #   \u5728 \u6bcf\u4e2a \u751f\u6210 \u70b9 \u968f\u673a \u751f\u6210 50 \u8f86\u8f66 \uff0c \u6211\u4eec \u4ece \u84dd \u56fe\u5e93 \u4e2d \u968f\u673a \u9009\u62e9 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66   for   i   in   range ( 0 , 50 ) :   world . try _ spawn _ actor ( random . choice ( vehicle _ blueprints ) ,   random . choice ( spawn _ points ) )   \u73b0\u5728 \u6211\u4eec \u8fd8 \u5e94\u8be5 \u6dfb\u52a0 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u4f5c\u4e3a \u4eff\u771f \u7684 \u4e2d\u5fc3 \u4e2d\u5fc3\u70b9 \u3002 \u4e3a\u4e86 \u8bad\u7ec3 \u81ea\u4e3b \u4ee3\u7406 \uff0c \u6211\u4eec \u9700\u8981 \u4eff\u771f \u81ea\u4e3b \u4ee3\u7406 \u5c06 \u63a7\u5236 \u7684 \u8f66\u8f86 \u3002 \u7528   Carla   \u7684 \u8bf4\u6cd5 \uff0c \u6211\u4eec \u7ecf\u5e38 \u5c06 \u8fd9\u79cd \u8f66\u8f86 \u79f0\u4e3a \u201c \u81ea\u6211 \u8f66\u8f86 \u201d \u3002   ego _ vehicle   =   world . spawn _ actor ( random . choice ( vehicle _ blueprints ) ,   random . choice ( spawn _ points ) )   \u9664\u4e86 \u8f66\u8f86 \u4e4b\u5916 \uff0c Carla   \u8fd8 \u63d0\u4f9b \u884c\u4eba \u6dfb\u52a0 \u5230 \u4eff\u771f \u4e2d \uff0c \u4ee5 \u4eff\u771f \u771f\u5b9e \u7684 \u9a7e\u9a76 \u573a\u666f \u3002 \u5728   Carla   \u672f\u8bed \u4e2d \uff0c \u8f66\u8f86 \u548c \u884c\u4eba \u88ab \u79f0\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8bf7 \u5728   \u6b64\u5904   \u4e86\u89e3 \u6709\u5173 \u5b83\u4eec \u7684 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u6dfb\u52a0 \u975e \u73a9\u5bb6 \u53c2\u4e0e\u8005  "},{"location":"tuto_first_steps/#_4","text":"\u73b0\u4ee3 \u81ea\u52a8 \u9a7e\u9a76 \u6c7d\u8f66 \u901a\u8fc7 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u9644\u52a0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6765 \u7406\u89e3 \u548c \u89e3\u91ca \u5176 \u73af\u5883 \u3002 \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5305\u62ec \u5149\u5b66 \u6444\u50cf \u6444\u50cf\u673a \u3001 \u5149\u6d41 \u6444\u50cf \u6444\u50cf\u673a \u3001 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u96f7\u8fbe \u548c \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \u7b49 \u3002 Carla   \u5185\u7f6e \u4e86 \u591a\u79cd \u79cd\u7c7b \u7c7b\u578b \u591a\u79cd\u7c7b\u578b \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6a21\u578b \uff0c \u7528\u4e8e \u521b\u5efa \u673a\u5668 \u5b66\u4e60 \u7684 \u8bad\u7ec3 \u6570\u636e \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u4ee5 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u4e0a \uff0c \u4e5f \u53ef\u4ee5 \u8fde\u63a5 \u5230 \u56fa\u5b9a \u5b9a\u70b9 \u56fa\u5b9a\u70b9 \u6765 \u5efa\u6a21 \uff0c \u4f8b\u5982 \u95ed\u8def \u7535\u89c6 \u95ed\u8def\u7535\u89c6 \u6444\u50cf \u6444\u50cf\u673a \u3002   \u5728 \u8fd9\u91cc \uff0c \u6211\u4eec \u5c06 \u5728 \u81ea\u6211 \u8f66\u8f86 \u4e0a \u5b89\u88c5 \u4e00\u4e2a \u6807\u51c6 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6765 \u8bb0\u5f55 \u4e00\u4e9b \u89c6\u9891 \u6570\u636e \uff1a   #   \u521b\u5efa \u4e00\u4e2a \u53d8\u6362 \uff0c \u5c06 \u6444\u50cf \u6444\u50cf\u673a \u653e\u7f6e \u5728 \u8f66\u8f86 \u7684 \u9876\u90e8   camera _ init _ trans   =   carla . Transform ( carla . Location ( z = 1.5 ) )   #   \u901a\u8fc7 \u5b9a\u4e49 \u5176 \u5c5e\u6027 \u7684 \u84dd\u56fe \u6765 \u521b\u5efa \u76f8\u673a   camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   #   \u751f\u6210 \u76f8\u673a \u5e76 \u5c06 \u5176 \u8fde\u63a5 \u5230 \u6211\u4eec \u7684 \u81ea\u6211 \u8f66\u8f86 \u4e0a   camera   =   world . spawn _ actor ( camera _ bp ,   camera _ init _ trans ,   attach _ to = ego _ vehicle )   \u4e00\u65e6 \u6211\u4eec \u751f\u6210 \u4e86 \u76f8\u673a \uff0c \u6211\u4eec \u9700\u8981 \u901a\u8fc7   listen ( )   \u65b9\u6cd5 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u5f55\u5236 \u3002 Listen   \u65b9\u6cd5 \u5c06 \u5b9a\u4e49 \u5982\u4f55 \u5904\u7406 \u6570\u636e \u7684 \u56de\u8c03 \u4f5c\u4e3a \u53c2\u6570 \u3002 \u60a8 \u53ef\u4ee5 \u5c06 \u5176 \u6d41\u5f0f \u4f20\u8f93 \u5230 \u53e6 \u4e00\u4e2a \u7a0b\u5e8f \u6216 \u5c06 \u5176 \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002   \u6211\u4eec \u5c06 \u4f7f\u7528   lambda   \u51fd\u6570 \u4f5c\u4e3a \u56de\u8c03 \u5c06 \u6570\u636e \u4fdd\u5b58 \u5230 \u78c1\u76d8 \uff1a   #   \u7528   PyGame   \u56de\u8c03 \u542f\u52a8 \u76f8\u673a   camera . listen ( lambda   image :   image . save _ to _ disk ( ' out / % 06d . png '   %   image . frame ) )   \u8fd9\u4f1a \u5c06 \u6570\u636e \u4f5c\u4e3a \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u6839\u636e \u4eff\u771f \u5e27 \u7f16\u53f7 \u547d\u540d \u7684   PNG   \u56fe\u50cf \u6587\u4ef6 \u56fe\u50cf\u6587\u4ef6 \u4fdd\u5b58 \u5230   out /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u6709 \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7c7b\u578b \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002 \u5728   \u8fd9\u91cc   \u60a8 \u53ef\u4ee5 \u66f4 \u6df1\u5165 \u5730 \u7814\u7a76 \u53ef\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9635\u5217 \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528 \u5b83\u4eec \u3002","title":"\u6dfb\u52a0 \u4f20\u611f\u5668  "},{"location":"tuto_first_steps/#_5","text":"\u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u5c06 \u4ea4\u901a \u548c \u81ea\u6211 \u8f66\u8f86 \u6dfb\u52a0 \u5230 \u4eff\u771f \u4e2d \u5e76 \u5f00\u59cb \u8bb0\u5f55 \u6444\u50cf \u6444\u50cf\u673a \u6570\u636e \uff0c \u73b0\u5728 \u6211\u4eec \u9700\u8981 \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u8fd0\u52a8 \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u662f   Carla   \u7684 \u4e00\u4e2a \u7ec4\u4ef6 \uff0c \u5b83 \u63a7\u5236 \u8f66\u8f86 \u5728 \u4eff\u771f \u5185 \u7684 \u5730\u56fe \u9053\u8def \u4e0a \u81ea\u52a8 \u79fb\u52a8 \uff0c \u9075\u5faa \u9053\u8def \u60ef\u4f8b \u5e76 \u8868\u73b0 \u5f97 \u50cf \u771f\u6b63 \u7684 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u3002   \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528   world . get _ actors ( )   \u65b9\u6cd5 \u627e\u5230 \u4eff\u771f \u4e2d \u7684 \u6240\u6709 \u8f66\u8f86 \uff0c \u5bf9 \u6240\u6709 \u8f66\u8f86 \u8fdb\u884c \u8fc7\u6ee4 \u3002 \u7136\u540e \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u8be5   set _ autopilot ( )   \u65b9\u6cd5 \u5c06 \u8f66\u8f86 \u7684 \u63a7\u5236 \u63a7\u5236\u6743 \u79fb\u4ea4 \u7ed9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   for   vehicle   in   world . get _ actors ( ) . filter ( ' * vehicle * ' ) :   vehicle . set _ autopilot ( True )   \u73b0\u5728 \u60a8 \u7684 \u4eff\u771f \u6b63\u5728 \u8fd0\u884c \uff0c \u6709 \u8bb8\u591a \u8f66\u8f86 \u5728 \u5730\u56fe \u4e0a \u884c\u9a76 \uff0c \u5e76\u4e14 \u6444\u50cf \u6444\u50cf\u673a \u8bb0\u5f55 \u5176\u4e2d \u4e00\u8f86 \u8f66\u8f86 \u7684 \u6570\u636e \u3002 \u7136\u540e \uff0c \u8be5 \u6570\u636e \u53ef \u7528\u4e8e \u63d0\u4f9b \u673a\u5668 \u5b66\u4e60 \u7b97\u6cd5 \u6765 \u8bad\u7ec3 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u5177 \u6709 \u8bb8\u591a \u7528\u4e8e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d41\u91cf \u884c\u4e3a \u7684 \u529f\u80fd \uff0c \u8bf7 \u5728   \u6b64\u5904   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u8fd9\u662f \u4eff\u771f \u7684 \u6700 \u57fa\u672c \u53ef\u80fd \u8bbe\u7f6e \uff0c \u73b0\u5728 \u60a8 \u53ef\u4ee5 \u66f4 \u6df1\u5165 \u5730 \u4e86\u89e3 \u6709\u5173 \u53ef \u7528\u4e8e \u751f\u6210 \u6570\u636e \u7684 \u8bb8\u591a \u989d\u5916 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6587\u6863 \uff0c \u4ee5\u53ca   Carla   \u7684 \u8bb8\u591a \u5176\u4ed6 \u529f\u80fd \uff0c \u8fd9\u4e9b \u529f\u80fd \u53ef\u4ee5 \u4f7f \u60a8 \u7684 \u4eff\u771f \u66f4\u52a0 \u8be6\u7ec6 \u548c \u66f4 \u591a \u5b9e\u9645 \u7684 \u3002","title":"\u4f7f\u7528 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4eff\u771f \u8f66\u8f86  "},{"location":"tuto_first_steps/#_6","text":"\u81ea\u6211 \u8f66\u8f86   \u662f \u4f7f\u7528   Carla   \u65f6 \u9700\u8981 \u7262\u8bb0 \u7684 \u4e00\u4e2a \u91cd\u8981 \u6982\u5ff5 \u3002 \u81ea\u6211 \u8f66\u8f86 \u662f \u6307 \u5c06 \u6210\u4e3a \u4eff\u771f \u7126\u70b9 \u7684 \u8f66\u8f86 \u3002 \u5728 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570   CARLA   \u7528\u4f8b \u4e2d \uff0c \u5b83 \u53ef\u80fd \u662f \u60a8 \u5c06 \u8fde\u63a5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8f66\u8f86 \u548c / \u6216 \u60a8 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u673a\u5668 \u5b66\u4e60 \u5806\u6808 \u5c06 \u63a7\u5236 \u7684 \u8f66\u8f86 \u3002 \u5b83 \u5f88 \u91cd\u8981 \uff0c \u56e0\u4e3a \u5b83 \u662f \u4e00\u4e9b \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63d0\u9ad8 \u4eff\u771f \u6548\u7387 \u7684 \u4eff\u771f \u64cd\u4f5c \u7684 \u57fa\u7840 \uff0c \u4f8b\u5982 \uff1a   \u52a0\u8f7d \u5927\u578b \u5730\u56fe \u7684 \u5730\u56fe \u56fe\u5757   :   \u5927\u578b \u5730\u56fe \uff08 \u5982   Town   12 \uff09 \u7531 \u56fe\u5757 \u7ec4\u6210 \uff0c \u4ec5 \u5728 \u9700\u8981 \u63d0\u9ad8   Carla   \u6027\u80fd \u65f6\u624d \u52a0\u8f7d \u3002 \u81ea\u6211 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u51b3\u5b9a \u4e86 \u4f7f\u7528 \u54ea\u4e9b \u56fe\u5757 \u3002 \u53ea\u6709 \u9760\u8fd1 \u6700\u9760\u8fd1 \u81ea\u6211 \u8f66\u8f86 \u7684 \u56fe\u5757 \u624d \u4f1a \u88ab \u52a0\u8f7d \u3002   \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f   :   \u5982\u679c \u60a8 \u7684 \u4eff\u771f \u5305\u542b \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u5927\u91cf \u8f66\u8f86 \uff0c \u5219 \u8ba1\u7b97 \u6240\u6709 \u8fd9\u4e9b \u8f66\u8f86 \u7684 \u7269\u7406 \u7269\u7406\u91cf \u5728 \u8ba1\u7b97 \u4e0a \u975e\u5e38 \u6602\u8d35 \u3002   \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f   \u4f7f \u7269\u7406 \u8ba1\u7b97 \u4ec5\u9650 \u9650\u4e8e \u4ec5\u9650\u4e8e \u81ea\u6211 \u8f66\u8f86 \u9644\u8fd1 \u7684 \u8f66\u8f86 \uff0c \u4ece\u800c \u8282\u7701 \u8ba1\u7b97 \u8d44\u6e90 \u8ba1\u7b97\u8d44\u6e90 \u3002   \u8981 \u5b9a\u4e49 \u81ea\u6211 \u8f66\u8f86 \uff0c \u60a8 \u5e94\u8be5 \u5728 \u751f\u6210 \u81ea\u6211 \u8f66\u8f86 \u65f6 \u8bbe\u7f6e   role _ name   \u8f66\u8f86   carla . Actor   \u5bf9\u8c61   \u84dd\u56fe   \u7684 \u5c5e\u6027 \uff1a   ego _ bp   =   world . get _ blueprint _ library ( ) . find ( ' vehicle . lincoln . mkz _ 2020 ' )   ego _ bp . set _ attribute ( ' role _ name ' ,   ' hero ' )   ego _ vehicle   =   world . spawn _ actor ( ego _ bp ,   random . choice ( spawn _ points ) )","title":"\u5c06 \u8f66\u8f86 \u5206\u914d \u4e3a \u81ea\u6211 \u8f66\u8f86  "},{"location":"tuto_first_steps/#_7","text":"Carla   \u9644\u5e26 \u4e86 \u51e0\u5f20 \u9884\u5236 \u5730\u56fe \uff0c \u4e13\u6ce8 \u4e8e \u63d0\u4f9b \u591a\u79cd \u529f\u80fd \u3002 \u8fd9\u4e9b \u5730\u56fe \u5448\u73b0 \u4e86 \u57ce\u5e02 \u3001 \u4e61\u6751 \u548c \u4f4f\u5b85 \u7b49 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u73af\u5883 \u3002 \u8fd8\u6709 \u4e0d\u540c \u7684 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u548c \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7684 \u9053\u8def \u5e03\u5c40 \uff0c \u4ece \u65e0 \u6807\u8bb0 \u7684 \u4e61\u6751 \u9053\u8def \u5230 \u591a \u8f66\u9053 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3002 \u6d4f\u89c8   \u76ee\u5f55   \u6216 \u4e0b\u8868\u4e2d \u7684 \u5730\u56fe \u6307\u5357 \u3002   \u57ce\u9547   \u6982\u62ec   \u57ce\u9547 01   \u4e00\u4e2a \u7b80\u5355 \u7684 \u5c0f\u9547 \uff0c \u6709 \u4e00\u6761 \u6cb3\u6d41 \u548c \u51e0\u5ea7 \u6865\u6881 \u3002   \u57ce\u9547 02   \u4e00\u4e2a \u7b80\u5355 \u7684 \u5c0f\u9547 \uff0c \u4f4f\u5b85 \u548c \u5546\u4e1a \u5efa\u7b51 \u6df7\u5408 \u5728 \u4e00\u8d77 \u3002   \u57ce\u9547 03   \u66f4\u5927 \u7684 \u57ce\u5e02 \u5e02\u5730 \u5730\u56fe \u57ce\u5e02\u5730\u56fe \uff0c \u5e26\u6709 \u73af\u5c9b \u548c \u5927\u578b \u8def\u53e3 \u3002   \u57ce\u9547 04   \u4e00\u5ea7 \u9576\u5d4c \u5728 \u7fa4\u5c71 \u4e4b\u4e2d \u7684 \u5c0f\u9547 \uff0c \u6709 \u4e00\u6761 \u7279\u6b8a \u7684 \u201c 8 \u5b57\u5f62 \u201d   \u65e0\u9650   \u516c\u8def \u3002   \u57ce\u9547 05   \u65b9\u5f62 \u7f51\u683c \u57ce\u9547 \uff0c \u6709 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u548c \u4e00\u5ea7 \u6865\u6881 \u3002 \u6bcf\u4e2a \u65b9\u5411 \u6709 \u591a\u4e2a \u8f66\u9053 \u3002 \u5bf9\u4e8e \u6267\u884c \u53d8\u9053 \u5f88 \u6709\u7528 \u3002   \u57ce\u9547 06   \u957f \u7684 \u591a \u8f66\u9053 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \uff0c \u6709 \u8bb8\u591a \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u5165\u53e3 \u548c \u51fa\u53e3 \u3002 \u5b83 \u8fd8\u6709 \u4e00\u4e2a   \u5bc6\u6b47\u6839 \u5de6\u7ffc   \u3002   \u57ce\u9547 07   \u4e61\u6751 \u73af\u5883 \uff0c \u9053\u8def \u72ed\u7a84 \uff0c \u6709 \u7389\u7c73 \u3001 \u8c37\u4ed3 \uff0c \u51e0\u4e4e \u6ca1\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u3002   \u57ce\u9547 08   \u7528\u4e8e   \u6392\u884c \u6392\u884c\u699c   \u6311\u6218 \u7684 \u79d8\u5bc6 \u201c \u4e0d\u89c1 \u770b\u4e0d\u89c1 \u201d \u5c0f\u9547   \u57ce\u9547 09   \u7528\u4e8e   \u6392\u884c \u6392\u884c\u699c   \u6311\u6218 \u7684 \u79d8\u5bc6 \u201c \u4e0d\u89c1 \u770b\u4e0d\u89c1 \u201d \u5c0f\u9547   \u57ce\u9547 10   \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u7684 \u57ce\u5e02 \u73af\u5883 \uff0c \u62e5\u6709 \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u697c \u548c \u6d77\u6ee8 \u957f\u5eca \u3002   \u57ce\u9547 11   \u672a \u88c5\u9970 \u7684 \u5927 \u5730\u56fe \u3002   \u57ce\u9547 12   \u4e00\u5f20 \u5305\u542b \u8bb8\u591a \u4e0d\u540c \u533a\u57df \u7684 \u5927 \u5730\u56fe \uff0c \u5305\u62ec \u9ad8\u5c42 \u5efa\u7b51 \u9ad8\u5c42\u5efa\u7b51 \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u73af\u5883 \u3002   \u57ce\u9547 13   \u4e00\u5f20 \u4e0e   12   \u53f7 \u9547 \u89c4\u6a21 \u76f8\u4f3c \u7684 \u5927 \u5730\u56fe \uff0c \u4f46 \u5177\u6709 \u9c9c\u660e \u7684 \u7279\u8272 \u3002   \u57ce\u9547 15   \u57fa\u4e8e \u5df4\u585e \u585e\u7f57 \u7f57\u90a3 \u5df4\u585e\u7f57\u90a3 \u81ea\u6cbb \u5927\u5b66 \u9053\u8def \u5e03\u5c40 \u7684 \u5730\u56fe \u3002   HUTB   \u57fa\u4e8e \u6e56\u5357 \u5de5\u5546 \u5546\u5927 \u5927\u5b66 \u5de5\u5546\u5927\u5b66 \u9053\u8def \u5e03\u5c40 \u7684 \u5730\u56fe \u3002   \u60a8 \u53ef\u4ee5 \u6d4f\u89c8   Carla   \u5b89\u88c5 \u4e2d \u7684 \u53ef\u7528 \u5730\u56fe \uff1a   client . get _ available _ maps ( )   \u8fd9 \u5c06 \u5305\u62ec \u60a8 \u81ea\u5df1 \u6784\u5efa \u6216 \u5bfc\u5165 \u7684 \u5730\u56fe \u3002   \u5f53 \u60a8 \u9009\u62e9 \u5730\u56fe \u65f6 \uff0c \u8bf7 \u50cf \u8fd9\u6837 \u52a0\u8f7d \u5b83 \uff1a   client . load _ world ( ' Town03 _ Opt ' )","title":"\u9009\u62e9 \u4f60 \u7684 \u5730\u56fe  "},{"location":"tuto_first_steps/#_8","text":"Carla   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u8f66\u8f86 \u5e93 \uff0c \u53ef\u4ee5 \u8ba9 \u60a8 \u7684 \u4eff\u771f \u5145\u6ee1 \u4ea4\u901a \u3002 \u6d4f\u89c8   Carla   \u8f66\u8f86 \u76ee\u5f55   \u4e2d \u7684 \u8f66\u8f86 \u578b\u53f7 \u3002   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u8fc7\u6ee4 \u84dd \u56fe\u5e93 \u6765 \u67e5\u770b \u6240\u6709 \u53ef\u7528 \u7684 \u8f66\u8f86 \u84dd\u56fe \u3002   for   bp   in   world . get _ blueprint _ library ( ) . filter ( ' vehicle ' ) :   print ( bp . id )","title":"\u9009\u62e9 \u4f60 \u7684 \u8f66\u8f86  "},{"location":"tutorials/","text":"\u6559\u7a0b   \u5728 \u8fd9\u91cc \u60a8 \u5c06 \u627e\u5230 \u5927\u91cf \u6559\u7a0b \uff0c \u5e2e\u52a9 \u60a8 \u4e86\u89e3 \u5982\u4f55 \u4f7f\u7528   Carla   \u7684 \u4f17\u591a \u529f\u80fd \u3002   \u4e00\u822c   \u4ea4\u901a \u4eff\u771f \u7cfb\u7edf   \u672c \u7cfb\u7edf \u57fa\u4e8e \u5f00\u6e90 \u865a\u5e7b \u5f15\u64ce \u6846\u67b6 \uff0c \u6784\u5efa \u5168 \u9053\u8def \u573a\u666f \u4eff\u771f \u548c \u667a\u80fd \u4ea4\u901a \u7cfb\u7edf \u4ea4\u901a\u7cfb\u7edf \u4eff\u771f \u7cfb\u7edf \uff0c \u6ee1\u8db3 \u6211\u56fd \u7279\u5b9a \u4ea4\u901a \u8def\u51b5 \u591a\u6837 \u591a\u6837\u5316 \u9700\u6c42 \uff0c \u4e3a \u667a\u6167 \u4ea4\u901a \u7b97\u6cd5 \u7684 \u6559\u5b66 \u4e0e \u5e94\u7528 \u63d0\u4f9b \u7684 \u6570\u636e \u5e95\u5ea7 \u3002   \u4ea4\u901a \u6570\u636e \u5bfc\u5165 \u548c \u7f16\u8f91 \u652f\u6301 \u4ece \u516c\u5f00 \u9053\u8def \u5730\u56fe \u5bfc\u5165 \u6216 \u521b\u5efa \u751f\u6210 \u9053\u8def \u7f51\u7edc   \uff0c \u652f\u6301 \u6dfb\u52a0 \u8f66\u8f86 \u5230 \u9053\u8def \u7f51\u7edc \u5e76 \u5b9a\u4e49 \u5176 \u8f68\u8ff9 \u4ee5 \u5408\u6210 \u9a7e\u9a76 \u573a\u666f \uff0c   \u652f\u6301 \u5b9a\u4e49 \u8f66\u9053 \u6570\u91cf \u548c \u8f66\u9053 \u957f \u5bbd\u5ea6 \uff0c \u652f\u6301 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u7f16\u8f91   \u3002   \u8f66\u8f86 \u8fd0\u52a8 \u652f\u6301 \u5b9a\u4e49 \u8f66\u8f86 \u8fd0\u52a8 \u8d77\u70b9 \u548c \u76ee\u6807 \u4f4d\u7f6e   \uff0c   \u4e3a \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u6307\u5b9a \u968f\u673a \u901f\u5ea6 \u503c   \uff0c   \u751f\u6210 \u8f66\u8f86 \u8f68\u8ff9   \u3002 \u652f\u6301 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u7684 \u901f\u5ea6 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\u5efa\u6a21 \u548c \u53ef\u89c6 \u53ef\u89c6\u5316 \u5c55\u793a \uff0c \u4ee5\u53ca \u8bbe\u8ba1 \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u6f14\u793a \u754c\u9762 \uff0c \u5448\u73b0 \u4eff\u771f \u7ed3\u679c \u548c \u5b9e\u9a8c \u6548\u679c \u3002","title":"\u8bfe\u7a0b \u4e00 \uff1a \u4ea4\u901a \u4eff\u771f \u4e0e \u573a\u666f \u5efa\u6a21"},{"location":"tutorials/#_6","text":"\u4ea4\u901a \u573a\u666f \u611f\u77e5 \u4e0e \u5206\u6790 \u5b66\u751f \u5b66\u4e60 \u5982\u4f55 \u5229\u7528 \u7cfb\u7edf \u8fdb\u884c   \u76ee\u6807 \u68c0\u6d4b   \u3001   \u8ddf\u8e2a   \u548c   \u518d \u8bc6\u522b   \uff0c \u8fdb\u884c \u4ea4\u901a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5206\u6790 \u548c \u7edf\u8ba1 \uff0c \u5bf9 \u4ea4\u901a \u8fdb\u884c \u6001\u52bf \u611f\u77e5 \uff0c \u4e3a \u540e\u9762 \u7684 \u7b97\u6cd5 \u5b9e\u73b0 \u63d0\u4f9b \u57fa\u7840 \u3002   \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u9884\u6d4b \u6a21\u578b   \u5efa\u7acb \u5b66\u751f \u5b66\u4e60 \u5982\u4f55 \u4f7f\u7528 \u7cfb\u7edf \u63d0\u4f9b \u7684 \u4ea4\u901a \u6570\u636e \uff0c \u5efa\u7acb \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u9884\u6d4b \u6a21\u578b \uff0c \u4ee5 \u9884\u6d4b \u672a\u6765 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u60c5\u51b5 \uff0c \u5e76 \u8bc4\u4f30 \u6a21\u578b \u7684 \u51c6\u786e \u51c6\u786e\u6027 \u548c \u6548\u679c \u3002   \u4ea4\u901a \u7f51\u7edc \u4ea4\u901a\u7f51 \u4ea4\u901a\u7f51\u7edc \u4f18\u5316 \u7b56\u7565 \u8bbe\u8ba1 \u5b66\u751f \u5b66\u4e60 \u5982\u4f55 \u4f7f\u7528 \u7cfb\u7edf \u63d0\u4f9b \u7684 \u4ea4\u901a \u7f51\u7edc \u4ea4\u901a\u7f51 \u4ea4\u901a\u7f51\u7edc \u6570\u636e \uff0c \u8bbe\u8ba1 \u4ea4\u901a \u7f51\u7edc \u4ea4\u901a\u7f51 \u4ea4\u901a\u7f51\u7edc \u4f18\u5316 \u7b56\u7565 \uff0c \u901a\u8fc7 \u8c03\u6574   \u8def\u7ebf \u89c4\u5212   \u3001   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u914d\u65f6   \u7b49 \u53c2\u6570 \uff0c \u63d0\u5347 \u6574\u4f53 \u4ea4\u901a \u6548\u7387 \u3002   \u667a\u80fd \u4fe1\u53f7 \u63a7\u5236   \u7b97\u6cd5 \u5b9e\u73b0 \u5b66\u751f \u5b66\u4e60 \u5982\u4f55 \u4f7f\u7528 \u7cfb\u7edf \u63d0\u4f9b \u7684 \u4fe1\u53f7 \u63a7\u5236 \u529f\u80fd \uff0c \u5b9e\u73b0 \u667a\u80fd \u4fe1\u53f7 \u63a7\u5236 \u7b97\u6cd5 \u63a7\u5236\u7b97\u6cd5 \uff0c \u4f18\u5316 \u4ea4\u901a \u901a\u4fe1 \u4fe1\u53f7 \u4ea4\u901a\u4fe1\u53f7 \u7684 \u914d\u65f6 \u65b9\u6848 \uff0c \u63d0\u9ad8 \u4ea4\u901a \u6d41\u7545 \u5ea6 \u548c \u51cf\u5c11 \u62e5\u5835 \u3002   \u4ea4\u901a \u6570\u636e \u53ef\u89c6 \u53ef\u89c6\u5316   \u4e0e \u5206\u6790 \u5b66\u751f \u5b66\u4e60 \u5982\u4f55 \u4f7f\u7528 \u7cfb\u7edf \u63d0\u4f9b \u7684 \u6570\u636e \u53ef\u89c6 \u53ef\u89c6\u5316 \u5de5\u5177 \uff0c \u5bf9 \u4ea4\u901a \u6570\u636e \u8fdb\u884c \u53ef\u89c6 \u53ef\u89c6\u5316 \u5206\u6790 \uff0c \u63a2\u7d22 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3001 \u62e5\u5835 \u72b6\u51b5 \u7b49 \u8d8b\u52bf \u548c \u89c4\u5f8b \u3002   \u4ea4\u901a \u573a\u666f \u4f18\u5316 \u4e0e \u4eff\u771f \u5b9e\u9a8c \u5b66\u751f \u5b66\u4e60 \u5982\u4f55 \u6839\u636e \u5b9e\u9645 \u4ea4\u901a \u95ee\u9898 \uff0c \u8fdb\u884c \u573a\u666f \u4f18\u5316 \u548c \u4eff\u771f \u5b9e\u9a8c \uff0c \u8bc4\u4f30 \u4f18\u5316 \u7b56\u7565 \u7684 \u6548\u679c \uff0c \u63d0\u51fa \u6539\u8fdb \u65b9\u6848 \u5e76 \u8fdb\u884c \u9a8c\u8bc1 \u3002","title":"\u8bfe\u7a0b \u4e8c \uff1a \u667a\u80fd \u4ea4\u901a \u7b97\u6cd5 \u4e0e \u4f18\u5316"},{"location":"tutorials/#carla","text":"\u68c0\u7d22 \u4eff\u771f \u6570\u636e   \u2014   \u4f7f\u7528 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6b63\u786e \u6536\u96c6 \u6570\u636e \u7684 \u5206\u6b65 \u6307\u5357 \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u2014   \u5982\u4f55 \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u6765 \u5f15\u5bfc \u57ce\u9547 \u5468\u56f4 \u7684 \u4ea4\u901a \u3002   \u7eb9\u7406 \u6d41   \u2014   \u5b9e\u65f6 \u4fee\u6539 \u5730\u56fe \u5bf9\u8c61 \u7684 \u7eb9\u7406 \u4ee5 \u6dfb\u52a0 \u53d8\u5316 \u3002   \u5b9e\u4f8b \u5206\u5272 \u76f8\u673a   \u2014   \u4f7f\u7528 \u5b9e\u4f8b \u5206\u5272 \u76f8\u673a \u6765 \u533a\u5206 \u540c \u4e00\u7c7b \u7684 \u5bf9\u8c61 \u3002   \u8fb9\u754c \u6846   \u2014   \u5c06   Carla   \u5bf9\u8c61 \u7684 \u8fb9\u754c \u6846 \u6295\u5f71 \u5230 \u76f8\u673a \u4e2d \u3002   \u884c\u4eba \u5bfc\u822a   \u2014   \u5c06 \u884c\u4eba \u9aa8\u9abc \u6295\u5f71 \u5230 \u76f8\u673a \u5e73\u9762 \u4e2d \u3002   \u63a7\u5236 \u884c\u4eba \u9aa8\u9abc   \u2014   \u4f7f\u7528 \u9aa8\u9abc \u4e3a \u884c\u4eba \u5236\u4f5c \u52a8\u753b \u3002","title":"Carla   \u7279\u70b9"},{"location":"tutorials/#_7","text":"\u5728   Docker   \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u2014   \u5728   Docker   \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla \u3002   CarSim   \u96c6\u6210   \u2014   \u6709\u5173 \u5982\u4f55 \u4f7f\u7528   CarSim   \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u5f15\u64ce \u8fd0\u884c \u4eff\u771f \u7684 \u6559\u7a0b \u3002   RLlib   \u96c6\u6210   \u2014   \u4e86\u89e3 \u5982\u4f55 \u4f7f\u7528   RLlib   \u5e93 \u8fd0\u884c \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c \u3002   Chrono   \u96c6\u6210   \u2014   \u4f7f\u7528   Chrono   \u96c6\u6210 \u6765 \u4eff\u771f \u7269\u7406 \u3002   PyGame   \u63a7\u5236   \u2014   \u4f7f\u7528   PyGame   \u663e\u793a \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8f93\u51fa \u3002","title":"\u6784\u5efa \u4e0e \u96c6\u6210"},{"location":"tutorials/#_8","text":"\u4f7f\u7528   OpenStreetMap   \u751f\u6210 \u5730\u56fe   \u2014   \u4f7f\u7528   OpenStreetMap   \u751f\u6210 \u7528\u4e8e \u4eff\u771f \u7684 \u5730\u56fe \u3002   \u6dfb\u52a0 \u65b0 \u8f66\u8f86   \u2014   \u51c6\u5907 \u8981 \u5728   Carla   \u4e2d \u4f7f\u7528 \u7684 \u8f66\u8f86 \u3002   \u6dfb\u52a0 \u65b0 \u9053\u5177   \u2014   \u5c06 \u5176\u4ed6 \u9053\u5177 \u5bfc\u5165   Carla \u3002   \u521b\u5efa \u72ec\u7acb \u5305   \u2014   \u751f\u6210 \u5e76 \u5904\u7406 \u8d44\u4ea7 \u7684 \u72ec\u7acb \u5305 \u3002   \u6750\u6599 \u5b9a\u5236   \u2014   \u7f16\u8f91 \u8f66\u8f86 \u548c \u5efa\u7b51 \u6750\u6599 \u5efa\u7b51\u6750\u6599 \u3002","title":"\u8d44\u4ea7 \u548c \u5730\u56fe"},{"location":"tutorials/#_9","text":"\u5982\u4f55 \u5347\u7ea7 \u5185\u5bb9   \u2014   \u5411   Carla   \u6dfb\u52a0 \u65b0 \u5185\u5bb9 \u3002   \u521b\u5efa \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u2014   \u5f00\u53d1 \u4e00\u79cd \u7528\u4e8e   Carla   \u7684 \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u521b\u5efa \u8bed\u4e49 \u6807\u7b7e   \u2014   \u5b9a\u4e49 \u7528\u4e8e \u8bed\u4e49 \u5206\u5272 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6807\u7b7e \u3002   \u5b9a\u5236 \u8f66\u8f86 \u60ac\u67b6   \u2014   \u4fee\u6539 \u8f66\u8f86 \u7684 \u60ac\u67b6 \u7cfb\u7edf \u3002   \u751f\u6210 \u8be6\u7ec6 \u7684 \u78b0\u649e \u4f53   \u2014   \u4e3a \u8f66\u8f86 \u521b\u5efa \u8be6\u7ec6 \u7684 \u78b0\u649e \u4f53 \u3002   \u53d1\u5e03 \u7248\u672c   \u2014   \u5982\u4f55 \u53d1\u5e03   Carla \u3002","title":"\u5f00\u53d1\u8005"},{"location":"tutorials/#_10","text":"\u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6   \u2014   \u4e86\u89e3   Carla   \u7684 \u57fa\u672c \u6982\u5ff5 \u57fa\u672c\u6982\u5ff5 \u5e76 \u5f00\u59cb \u60a8 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u811a\u672c \u3002   \u4ee3\u7801   \u6df1\u5165 \u4e86\u89e3   Carla   \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u2014   \u6df1\u5165 \u4e86\u89e3   Carla   \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ca\u5176 \u4f7f\u7528 \u65b9\u6cd5 \u3002   \u4ee3\u7801","title":"\u89c6\u9891\u6559\u7a0b"},{"location":"ue_commandlet/","text":"Commandlet   \u4ec0\u4e48 \u662f   Commandlet   UE   \u7684   Commandlet   \u662f \u4e00\u79cd \u53ef\u4ee5 \u7528 \u547d\u4ee4 \u547d\u4ee4\u884c \u7684 \u65b9\u5f0f \u53bb \u9a71\u52a8 \u5f15\u64ce \u7684 \u673a\u5236 \uff0c \u5982 \u4f20\u7edf \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u7a0b\u5e8f \uff1a   int   main ( int   argc , char *   agrv [ ] ) {   for   ( int   i   =   0 ;   i   <   argc ;   i ++ ) {   cout   < <   argv [ i ]   < <   endl ;   }   }   \u5219 \u53ef\u4ee5 \u901a\u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u7684 \u5f62\u5f0f \u8c03\u7528 \uff0c \u5e76 \u4f20\u9012 \u53c2\u6570 \uff1a   . / arg _ printer   - test1   - test2   Commandlet   \u4e5f \u662f \u63d0\u4f9b \u7684 \u8fd9\u6837 \u7684 \u8c03\u7528 \u5f62\u5f0f \u3002 \u4e0d\u8fc7 \uff0c \u9700\u8981 \u8c03\u7528 \u7684 \u7a0b\u5e8f \u662f \u5f15\u64ce \uff0c \u5e76\u4e14 \u8981 \u4f20\u9012   uproject   \u6587\u4ef6 \u8def\u5f84 \u3001 \u5176\u4ed6 \u7684 \u53c2\u6570 \u7b49 \u3002   \u4ee5   Cook   \u7684   Commandlet   \u4e3a\u4f8b \uff1a   UE4Editor - cmd . exe   D : \\ Client \\ FGame . uproject   - run = cook   \u901a\u8fc7 \u8fd9\u6837 \u7684 \u5f62\u5f0f \u542f\u52a8 \u547d\u4ee4 \u547d\u4ee4\u884c \u5f15\u64ce \uff0c \u4e0d\u4f1a \u542f\u52a8 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u800c\u662f \u6267\u884c \u6240 \u5b9a\u4e49 \u7684 \u884c\u4e3a \u3002   \u521b\u5efa   Commandlet   \u4e3a \u9879\u76ee \u6216 \u63d2\u4ef6 \u521b\u5efa   Commandlet \uff0c \u901a\u5e38 \u4f1a \u5728 \u6a21\u5757 \u7c7b\u578b \u4e3a   Editor   \u7684   Module   \u4e2d \u6dfb\u52a0 \uff0c \u56e0\u4e3a \u6267\u884c   Commandlet   \u7684 \u903b\u8f91 \uff0c \u5f88\u5c11 \u4f1a \u6d89\u53ca \u5230 \u8fd0\u884c \u65f6 \uff0c \u90fd \u662f \u5728 \u5f15\u64ce \u73af\u5883 \u4e0b \u6267\u884c \u7684 \u3002   \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684   Commandlet \uff0c \u9700\u8981 \u521b\u5efa \u4e00\u4e2a \u7ee7\u627f \u81ea   UCommandlet   \u7684   UObject   \u7c7b \uff1a   UGenerateTileCommandlet : : UGenerateTileCommandlet ( )   int32   UGenerateTileCommandlet : : Main ( const   FString   & Params )   \u5176\u4e2d \u7684   Main   \u51fd\u6570 \uff0c \u5c31\u662f \u5f53 \u901a\u8fc7   - run =   \u547d\u4ee4 \u542f\u52a8 \u8be5   Commandlet   \u65f6 \uff0c \u4f1a \u6267\u884c \u5230 \u7684 \u903b\u8f91 \uff0c \u5c31 \u50cf \u524d\u9762 \u7eaf   C++   \u7684   main   \u51fd\u6570 \u4e00\u6837 \u3002   \u4e0d\u8fc7 \uff0c \u9700\u8981 \u6ce8\u610f \u7684 \u662f \uff0c \u56e0\u4e3a   Commandlet   \u5176\u5b9e \u662f \u5b8c\u6574 \u7684 \u5f15\u64ce \u73af\u5883 \uff0c \u6240\u4ee5 \u6267\u884c \u65f6\u4f1a \u62c9\u8d77 \u5df2 \u6ce8\u518c \u6a21\u5757 \u7684 \u542f\u52a8 \uff0c \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e \u6709 \u5f88\u591a \u7684 \u524d\u7f6e \u903b\u8f91 \u9700\u8981 \u6267\u884c \uff0c \u7b49 \u6267\u884c \u5230   Main   \u51fd\u6570 \u65f6 \uff0c \u5c31\u662f \u5b8c\u6574 \u7684 \u5f15\u64ce \u72b6\u6001 \u4e86 \u3002   \u53ef\u4ee5 \u5728 \u8fd9\u4e2a \u51fd\u6570 \u4e4b\u5185 \u505a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u64cd\u4f5c \uff0c \u6b64\u65f6 \u5b83 \u5177\u6709 \u5b8c\u6574 \u7684 \u5f15\u64ce \u73af\u5883 \uff0c \u53ef\u4ee5 \u6839\u636e \u81ea\u5df1 \u7684 \u9700\u8981 \u8fdb\u884c \u6570\u636e \u5bfc\u51fa \u6216 \u8d44\u6e90 \u5904\u7406 \u3002   \u8fd0\u884c   Commandlet   \u524d\u9762 \u5df2\u7ecf \u63d0\u5230 \u4e86 \uff0c \u8fd0\u884c \u4e00\u4e2a   Commandlet   \u9700\u8981 \u7528 \u4ee5\u4e0b \u7684 \u547d\u4ee4 \u5f62\u5f0f \uff1a   UE4Editor - cmd . exe   PROJECT _ NAME . uproject   - run = CMDLET _ NAME   \u542f\u52a8 \u9879\u76ee \u4e2d \u7684   Commandlet   \u65f6 \uff0c \u5fc5\u987b \u8981 \u6307\u5b9a \u9879\u76ee \u8def\u5f84 \uff0c \u56e0\u4e3a \u8981 \u53bb \u52a0\u8f7d \u5de5\u7a0b \u53ca \u63d2\u4ef6 \u4e2d \u7684 \u6a21\u5757 \u3002   \u53c2\u6570   - run =   \uff0c \u6307\u5b9a \u7684 \u662f \u8981 \u6267\u884c \u7684   Commandlet   \u7684 \u540d\u5b57 \uff0c \u8fd9\u4e2a \u540d\u5b57 \u548c \u524d\u9762 \u521b\u5efa \u7684 \u7ee7\u627f \u81ea   UCommandlet   \u7c7b \u540d\u5b57 \u76f4\u63a5 \u76f8\u5173 \uff1a \u5982   UResScannerCommandlet   \u5b83 \u7684   Commandlet   \u7684 \u540d\u5b57 \u5c31 \u4e3a   ResScanner   \uff0c \u89c4\u5219 \u5c31\u662f \u53bb\u6389 \u5934\u90e8 \u7684   U   \u4ee5\u53ca \u5c3e\u90e8 \u7684   Commandlet   \u3002   \u5f15\u64ce \u5185 \u63a5\u6536 \u5230   - run =   \u7684 \u53c2\u6570 \uff0c \u4f1a \u53bb \u67e5\u627e   UClass \uff0c \u5e76\u4f1a \u81ea\u52a8 \u62fc\u63a5   Commandlet   \u540e\u7f00 \uff1a   / /   Token   --   XXXXCommandlet   CommandletClass   =   FindObject < UClass > ( ANY _ PACKAGE , * Token , false ) ;   \u62ff\u5230   UClass   \u4e4b\u540e \uff0c \u521b\u5efa \u4e00\u4e2a \u5b9e\u4f8b \uff0c \u7136\u540e \u8c03\u7528 \u5b83 \u7684   Main   \u51fd\u6570 \uff1a   Unreal \\ CarlaUE4 \\ Plugins \\ CarlaTools \\ Source \\ CarlaTools \\ Private \\ Commandlet \\ GenerateTileCommandlet . cpp   OpenDriveMap   =   NewObject < UOpenDriveToMap > ( this ,   OpenDriveClass ) ;   OpenDriveMap - > FilePath   =   ParamsMap [ \" FilePath \" ] ;   OpenDriveMap - > BaseLevelName   =   ParamsMap [ \" BaseLevelName \" ] ;   OpenDriveMap - > OriginGeoCoordinates   =   FVector2D ( FCString : : Atof ( * ParamsMap [ \" GeoCoordsX \" ] ) , FCString : : Atof ( * ParamsMap [ \" GeoCoordsY \" ] ) ) ;   OpenDriveMap - > CurrentTilesInXY   =   FIntVector ( FCString : : Atof ( * ParamsMap [ \" CTileX \" ] ) , FCString : : Atof ( * ParamsMap [ \" CTileY \" ] ) ,   0 ) ;   / /   Parse   Params   OpenDriveMap - > GenerateTile ( ) ;   \u6ce8\u610f   \u662f \u542f\u52a8 \u4e86 \u6240\u6709 \u6a21\u5757 \u4e4b\u540e \u624d \u4f1a \u8fdb\u5165 \u5230   Commandlet   \u7684   Main   \u4e2d \uff0c \u610f\u5473 \u610f\u5473\u7740 \u6a21\u5757 \u7684   StartupModule   \u5728   Main   \u4e4b\u524d \u3002   \u5f15\u64ce \u6267\u884c   Commandlet   Main   \u51fd\u6570 \u7684 \u8c03\u7528 \u6808 \uff1a   \u68c0\u6d4b   Commandlet   \u6839\u636e \u4e0a\u9762 \u7684 \u5185\u5bb9 \uff0c \u9700\u8981 \u8bb0\u4f4f \u4ee5\u4e0b \u4e24\u4e2a \u5173\u952e \u5173\u952e\u70b9 \uff1a   Commandlet   \u4f4d\u4e8e   Editor   \u6a21\u5757 \u5185   Commandlet   \u8fdb\u5165 \u5230   Main   \u4e4b\u540e \u5c31\u662f \u5b8c\u6574 \u7684 \u5f15\u64ce \u73af\u5883   \u56e0\u4e3a   Commandlet   \u662f \u4f4d\u4e8e   Editor   \u6a21\u5757 \u5185 \u7684 \uff0c \u6709 \u53ef\u80fd \u4f1a \u8c03\u7528 \u5230 \u6a21\u5757 \u5185 \u7684 \u5176\u4ed6 \u51fd\u6570 \uff0c \u4e3a\u4e86 \u533a\u5206   Editor   \u542f\u52a8 \u8fd8\u662f   Commandlet   \u542f\u52a8 \uff0c \u53ef\u4ee5 \u7528 \u4ee5\u4e0b \u51fd\u6570 \u8fdb\u884c \u68c0\u6d4b \uff1a   if ( : : IsRunningCommandlet ( ) )   {   / /   do   something   }   \u4f20\u9012 \u8fdb\u6765 \u7684 \u662f \u4e0d \u5305\u542b \u5f15\u64ce \u8def\u5f84 \u548c \u9879\u76ee \u8def\u5f84 \u7684 \u53c2\u6570 \u3002   \u5982 \uff0c \u8fd0\u884c \u547d\u4ee4 \uff1a   UE4Editor - cmd . exe   G : \\ Client \\ FGame . uproject   - skipcompile   - run = HotChunker   - TargetPlatform = IOS   \u5219 \u63a5\u6536 \u5230 \u7684 \u53c2\u6570 \u4e3a \uff1a   - skipcompile   - run = HotChunker   - TargetPlatform = IOS   \u53ef\u4ee5 \u901a\u8fc7 \u89e3\u6790 \u8be5 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \uff0c \u5728   Commandlet   \u6267\u884c \u7279\u6b8a \u884c\u4e3a \u3002 \u4ee5   HotPatcher   \u4e3a\u4f8b \uff0c \u53ef\u4ee5 \u901a\u8fc7   - config =   \u6307\u5b9a \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \uff0c \u5728   Commandlet   \u4e2d \u5c31 \u4f1a \u8bfb\u53d6 \u5e76 \u6839\u636e \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u6267\u884c \u3002   \u9a71\u52a8   Tick   Commandlet   \u9ed8\u8ba4 \u662f \u4e00\u4e2a \u72ec\u7acb \u8fc7\u7a0b \u884c\u4e3a \uff0c \u4e0d\u4f1a \u9a71\u52a8 \u5f15\u64ce   Tick \uff0c \u5c31 \u50cf \u4e00\u4e2a \u666e\u901a \u7684 \u51fd\u6570 \uff0c \u6240\u6709 \u4ee3\u7801 \u6267\u884c \u4ee3\u7801\u6267\u884c \u5b8c\u6bd5 \u4e4b\u540e \uff0c \u79bb\u5f00 \u5f53\u524d \u7684 \u4f5c\u7528 \u4f5c\u7528\u57df \uff0c \u5c31 \u8bf7\u6c42 \u9000\u51fa \u5f15\u64ce \u4e86 \u3002   \u4ecb\u5165 \u5230 \u67d0\u4e2a   Cmdlet   \u6d41\u7a0b   \u4ee5   Cook   \u4e3a\u4f8b \uff0c \u5b83 \u662f \u62c9 \u8d77\u6765 \u4e86 \u4e00\u4e2a   CookCommandlet   \u53bb \u6267\u884c \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5f15\u64ce \u5e76 \u6ca1\u6709 \u7ed9 \u6211\u4eec \u7559 \u53e3\u5b50 \uff0c \u53bb \u4ecb\u5165 \u5230   Cook   \u7684 \u5404\u4e2a \u9636\u6bb5 \uff0c \u5982\u679c \u60f3\u8981 \u5728 \u6253\u5305 \u7684 \u8fc7\u7a0b \u4e2d\u53bb \u505a \u4e00\u4e9b \u64cd\u4f5c \uff0c \u5c31 \u9700\u8981 \u81ea\u5df1 \u64cd\u7eb5   UAT   \u628a \u6784\u5efa \u8fc7\u7a0b \u62c6\u5f00 \uff0c \u81ea\u5df1 \u7ef4\u62a4 \u5404\u4e2a \u6d41\u7a0b \u3002   \u4f46 \u8fd9\u4e48 \u505a \u7684 \u4ee3\u4ef7 \u6bd4\u8f83 \u9ad8 \uff0c \u8003\u8651 \u4ee5\u4e0b \u8fd9\u4e9b \u9700\u6c42 \uff1a   \u5728   Cook   \u5b8c\u6bd5 \u4e4b\u540e \u53bb \u8bad\u7ec3   Shader   \u7684 \u5b57\u5178 \uff0c \u5e76 \u628a \u7528 \u5b57\u5178 \u538b\u7f29 \u7684   ShaderLibrary   \u66ff\u6362 \u539f\u59cb \u7684 \u3002   \u5728 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8981 \u5b9e\u73b0 \u5b83 \uff0c \u5c31 \u9700\u8981 \u628a \u6253\u5305 \u8fc7\u7a0b \u5728   Cook   \u4e4b\u540e \u505c\u6389 \uff0c \u5904\u7406 \u5b8c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d41\u7a0b \u4e4b\u540e \uff0c \u518d \u8fdb\u5165 \u7684   UnrealPak   \u9636\u6bb5 \uff0c \u63a5\u7740 \u6267\u884c \u3002   \u6574\u4e2a \u8fc7\u7a0b \u90fd \u6bd4\u8f83 \u7684 \u7e41\u7410 \uff0c \u5982\u679c \u6211\u4eec \u60f3\u8981 \u5728   Cook   \u4e4b\u540e \u81ea\u52a8 \u6267\u884c \uff0c \u8fd8 \u53ef\u4ee5 \u7528 \u53e6 \u4e00\u79cd \u65b9\u5f0f \uff0c \u4ecb\u5165 \u5230   Commandlet   \u7684 \u6267\u884c \u8fdb\u7a0b \u4e2d \u3002   \u6839\u636e \u524d\u6587 \u7684 \u4ecb\u7ecd \u6211\u4eec \u77e5\u9053 \uff0c Commandlet   \u5728 \u6267\u884c \u4e2d \uff0c \u4e5f \u662f \u4f1a \u6267\u884c \u6a21\u5757 \u7684   StartupModule   \u53ca   ShutdownModule   \u7684 \uff0c \u800c \u6211\u4eec \u60f3\u8981 \u4ecb\u5165 \u5230   Cmdlet   \u4e2d \u6267\u884c \uff0c \u5c31\u662f \u8981 \u5229\u7528 \u8fd9\u4e2a \u7279\u6027 \u3002   \u540c\u6837 \u4ee5   Cook   \u4e4b\u540e \uff0c \u8ba9 \u5f15\u64ce \u62c9 \u8d77 \u6211\u4eec \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5904\u7406 \u6d41\u7a0b \u4e3a\u4f8b \uff0c \u53ef\u4ee5 \u62c6\u89e3 \u8fd9\u4e2a \u9700\u6c42 \uff1a   \u786e\u5b9a \u662f\u5426 \u8fd0\u884c \u5728   CookCommandlet   \u4e2d   \u5728   Cook   \u6267\u884c \u5b8c\u6bd5 \u540e \uff0c \u5f15\u64ce \u9000\u51fa \u4e4b\u524d \u7684 \u65f6\u673a \u6267\u884c   \u5173\u4e8e \u7b2c\u4e00 \u4e00\u70b9 \u7b2c\u4e00\u70b9 \uff0c \u6211\u4eec \u53ef\u4ee5 \u89e3\u6790 \u542f\u52a8 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \uff0c \u5e76 \u68c0\u67e5   - run =   \u7684   Token   \u4e0d\u662f \u662f\u4e0d\u662f   Cook   \uff0c \u5c31 \u80fd \u786e\u5b9a \u662f\u5426 \u662f\u5426\u662f \u5728   CookCommandlet   \u4e2d \uff1a","title":"Ue   commandlet"},{"location":"ue_commandlet/#commandlet","text":"","title":"Commandlet"},{"location":"ue_commandlet/#commandlet_1","text":"UE   \u7684   Commandlet   \u662f \u4e00\u79cd \u53ef\u4ee5 \u7528 \u547d\u4ee4 \u547d\u4ee4\u884c \u7684 \u65b9\u5f0f \u53bb \u9a71\u52a8 \u5f15\u64ce \u7684 \u673a\u5236 \uff0c \u5982 \u4f20\u7edf \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u7a0b\u5e8f \uff1a   int   main ( int   argc , char *   agrv [ ] ) {   for   ( int   i   =   0 ;   i   <   argc ;   i ++ ) {   cout   < <   argv [ i ]   < <   endl ;   }   }   \u5219 \u53ef\u4ee5 \u901a\u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u7684 \u5f62\u5f0f \u8c03\u7528 \uff0c \u5e76 \u4f20\u9012 \u53c2\u6570 \uff1a   . / arg _ printer   - test1   - test2   Commandlet   \u4e5f \u662f \u63d0\u4f9b \u7684 \u8fd9\u6837 \u7684 \u8c03\u7528 \u5f62\u5f0f \u3002 \u4e0d\u8fc7 \uff0c \u9700\u8981 \u8c03\u7528 \u7684 \u7a0b\u5e8f \u662f \u5f15\u64ce \uff0c \u5e76\u4e14 \u8981 \u4f20\u9012   uproject   \u6587\u4ef6 \u8def\u5f84 \u3001 \u5176\u4ed6 \u7684 \u53c2\u6570 \u7b49 \u3002   \u4ee5   Cook   \u7684   Commandlet   \u4e3a\u4f8b \uff1a   UE4Editor - cmd . exe   D : \\ Client \\ FGame . uproject   - run = cook   \u901a\u8fc7 \u8fd9\u6837 \u7684 \u5f62\u5f0f \u542f\u52a8 \u547d\u4ee4 \u547d\u4ee4\u884c \u5f15\u64ce \uff0c \u4e0d\u4f1a \u542f\u52a8 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u800c\u662f \u6267\u884c \u6240 \u5b9a\u4e49 \u7684 \u884c\u4e3a \u3002","title":"\u4ec0\u4e48 \u662f   Commandlet"},{"location":"ue_commandlet/#commandlet_2","text":"\u4e3a \u9879\u76ee \u6216 \u63d2\u4ef6 \u521b\u5efa   Commandlet \uff0c \u901a\u5e38 \u4f1a \u5728 \u6a21\u5757 \u7c7b\u578b \u4e3a   Editor   \u7684   Module   \u4e2d \u6dfb\u52a0 \uff0c \u56e0\u4e3a \u6267\u884c   Commandlet   \u7684 \u903b\u8f91 \uff0c \u5f88\u5c11 \u4f1a \u6d89\u53ca \u5230 \u8fd0\u884c \u65f6 \uff0c \u90fd \u662f \u5728 \u5f15\u64ce \u73af\u5883 \u4e0b \u6267\u884c \u7684 \u3002   \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684   Commandlet \uff0c \u9700\u8981 \u521b\u5efa \u4e00\u4e2a \u7ee7\u627f \u81ea   UCommandlet   \u7684   UObject   \u7c7b \uff1a   UGenerateTileCommandlet : : UGenerateTileCommandlet ( )   int32   UGenerateTileCommandlet : : Main ( const   FString   & Params )   \u5176\u4e2d \u7684   Main   \u51fd\u6570 \uff0c \u5c31\u662f \u5f53 \u901a\u8fc7   - run =   \u547d\u4ee4 \u542f\u52a8 \u8be5   Commandlet   \u65f6 \uff0c \u4f1a \u6267\u884c \u5230 \u7684 \u903b\u8f91 \uff0c \u5c31 \u50cf \u524d\u9762 \u7eaf   C++   \u7684   main   \u51fd\u6570 \u4e00\u6837 \u3002   \u4e0d\u8fc7 \uff0c \u9700\u8981 \u6ce8\u610f \u7684 \u662f \uff0c \u56e0\u4e3a   Commandlet   \u5176\u5b9e \u662f \u5b8c\u6574 \u7684 \u5f15\u64ce \u73af\u5883 \uff0c \u6240\u4ee5 \u6267\u884c \u65f6\u4f1a \u62c9\u8d77 \u5df2 \u6ce8\u518c \u6a21\u5757 \u7684 \u542f\u52a8 \uff0c \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e \u6709 \u5f88\u591a \u7684 \u524d\u7f6e \u903b\u8f91 \u9700\u8981 \u6267\u884c \uff0c \u7b49 \u6267\u884c \u5230   Main   \u51fd\u6570 \u65f6 \uff0c \u5c31\u662f \u5b8c\u6574 \u7684 \u5f15\u64ce \u72b6\u6001 \u4e86 \u3002   \u53ef\u4ee5 \u5728 \u8fd9\u4e2a \u51fd\u6570 \u4e4b\u5185 \u505a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u64cd\u4f5c \uff0c \u6b64\u65f6 \u5b83 \u5177\u6709 \u5b8c\u6574 \u7684 \u5f15\u64ce \u73af\u5883 \uff0c \u53ef\u4ee5 \u6839\u636e \u81ea\u5df1 \u7684 \u9700\u8981 \u8fdb\u884c \u6570\u636e \u5bfc\u51fa \u6216 \u8d44\u6e90 \u5904\u7406 \u3002","title":"\u521b\u5efa   Commandlet"},{"location":"ue_commandlet/#commandlet_3","text":"\u524d\u9762 \u5df2\u7ecf \u63d0\u5230 \u4e86 \uff0c \u8fd0\u884c \u4e00\u4e2a   Commandlet   \u9700\u8981 \u7528 \u4ee5\u4e0b \u7684 \u547d\u4ee4 \u5f62\u5f0f \uff1a   UE4Editor - cmd . exe   PROJECT _ NAME . uproject   - run = CMDLET _ NAME   \u542f\u52a8 \u9879\u76ee \u4e2d \u7684   Commandlet   \u65f6 \uff0c \u5fc5\u987b \u8981 \u6307\u5b9a \u9879\u76ee \u8def\u5f84 \uff0c \u56e0\u4e3a \u8981 \u53bb \u52a0\u8f7d \u5de5\u7a0b \u53ca \u63d2\u4ef6 \u4e2d \u7684 \u6a21\u5757 \u3002   \u53c2\u6570   - run =   \uff0c \u6307\u5b9a \u7684 \u662f \u8981 \u6267\u884c \u7684   Commandlet   \u7684 \u540d\u5b57 \uff0c \u8fd9\u4e2a \u540d\u5b57 \u548c \u524d\u9762 \u521b\u5efa \u7684 \u7ee7\u627f \u81ea   UCommandlet   \u7c7b \u540d\u5b57 \u76f4\u63a5 \u76f8\u5173 \uff1a \u5982   UResScannerCommandlet   \u5b83 \u7684   Commandlet   \u7684 \u540d\u5b57 \u5c31 \u4e3a   ResScanner   \uff0c \u89c4\u5219 \u5c31\u662f \u53bb\u6389 \u5934\u90e8 \u7684   U   \u4ee5\u53ca \u5c3e\u90e8 \u7684   Commandlet   \u3002   \u5f15\u64ce \u5185 \u63a5\u6536 \u5230   - run =   \u7684 \u53c2\u6570 \uff0c \u4f1a \u53bb \u67e5\u627e   UClass \uff0c \u5e76\u4f1a \u81ea\u52a8 \u62fc\u63a5   Commandlet   \u540e\u7f00 \uff1a   / /   Token   --   XXXXCommandlet   CommandletClass   =   FindObject < UClass > ( ANY _ PACKAGE , * Token , false ) ;   \u62ff\u5230   UClass   \u4e4b\u540e \uff0c \u521b\u5efa \u4e00\u4e2a \u5b9e\u4f8b \uff0c \u7136\u540e \u8c03\u7528 \u5b83 \u7684   Main   \u51fd\u6570 \uff1a   Unreal \\ CarlaUE4 \\ Plugins \\ CarlaTools \\ Source \\ CarlaTools \\ Private \\ Commandlet \\ GenerateTileCommandlet . cpp   OpenDriveMap   =   NewObject < UOpenDriveToMap > ( this ,   OpenDriveClass ) ;   OpenDriveMap - > FilePath   =   ParamsMap [ \" FilePath \" ] ;   OpenDriveMap - > BaseLevelName   =   ParamsMap [ \" BaseLevelName \" ] ;   OpenDriveMap - > OriginGeoCoordinates   =   FVector2D ( FCString : : Atof ( * ParamsMap [ \" GeoCoordsX \" ] ) , FCString : : Atof ( * ParamsMap [ \" GeoCoordsY \" ] ) ) ;   OpenDriveMap - > CurrentTilesInXY   =   FIntVector ( FCString : : Atof ( * ParamsMap [ \" CTileX \" ] ) , FCString : : Atof ( * ParamsMap [ \" CTileY \" ] ) ,   0 ) ;   / /   Parse   Params   OpenDriveMap - > GenerateTile ( ) ;   \u6ce8\u610f   \u662f \u542f\u52a8 \u4e86 \u6240\u6709 \u6a21\u5757 \u4e4b\u540e \u624d \u4f1a \u8fdb\u5165 \u5230   Commandlet   \u7684   Main   \u4e2d \uff0c \u610f\u5473 \u610f\u5473\u7740 \u6a21\u5757 \u7684   StartupModule   \u5728   Main   \u4e4b\u524d \u3002   \u5f15\u64ce \u6267\u884c   Commandlet   Main   \u51fd\u6570 \u7684 \u8c03\u7528 \u6808 \uff1a","title":"\u8fd0\u884c   Commandlet"},{"location":"ue_commandlet/#commandlet_4","text":"\u6839\u636e \u4e0a\u9762 \u7684 \u5185\u5bb9 \uff0c \u9700\u8981 \u8bb0\u4f4f \u4ee5\u4e0b \u4e24\u4e2a \u5173\u952e \u5173\u952e\u70b9 \uff1a   Commandlet   \u4f4d\u4e8e   Editor   \u6a21\u5757 \u5185   Commandlet   \u8fdb\u5165 \u5230   Main   \u4e4b\u540e \u5c31\u662f \u5b8c\u6574 \u7684 \u5f15\u64ce \u73af\u5883   \u56e0\u4e3a   Commandlet   \u662f \u4f4d\u4e8e   Editor   \u6a21\u5757 \u5185 \u7684 \uff0c \u6709 \u53ef\u80fd \u4f1a \u8c03\u7528 \u5230 \u6a21\u5757 \u5185 \u7684 \u5176\u4ed6 \u51fd\u6570 \uff0c \u4e3a\u4e86 \u533a\u5206   Editor   \u542f\u52a8 \u8fd8\u662f   Commandlet   \u542f\u52a8 \uff0c \u53ef\u4ee5 \u7528 \u4ee5\u4e0b \u51fd\u6570 \u8fdb\u884c \u68c0\u6d4b \uff1a   if ( : : IsRunningCommandlet ( ) )   {   / /   do   something   }   \u4f20\u9012 \u8fdb\u6765 \u7684 \u662f \u4e0d \u5305\u542b \u5f15\u64ce \u8def\u5f84 \u548c \u9879\u76ee \u8def\u5f84 \u7684 \u53c2\u6570 \u3002   \u5982 \uff0c \u8fd0\u884c \u547d\u4ee4 \uff1a   UE4Editor - cmd . exe   G : \\ Client \\ FGame . uproject   - skipcompile   - run = HotChunker   - TargetPlatform = IOS   \u5219 \u63a5\u6536 \u5230 \u7684 \u53c2\u6570 \u4e3a \uff1a   - skipcompile   - run = HotChunker   - TargetPlatform = IOS   \u53ef\u4ee5 \u901a\u8fc7 \u89e3\u6790 \u8be5 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \uff0c \u5728   Commandlet   \u6267\u884c \u7279\u6b8a \u884c\u4e3a \u3002 \u4ee5   HotPatcher   \u4e3a\u4f8b \uff0c \u53ef\u4ee5 \u901a\u8fc7   - config =   \u6307\u5b9a \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \uff0c \u5728   Commandlet   \u4e2d \u5c31 \u4f1a \u8bfb\u53d6 \u5e76 \u6839\u636e \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u6267\u884c \u3002","title":"\u68c0\u6d4b   Commandlet"},{"location":"ue_commandlet/#tick","text":"Commandlet   \u9ed8\u8ba4 \u662f \u4e00\u4e2a \u72ec\u7acb \u8fc7\u7a0b \u884c\u4e3a \uff0c \u4e0d\u4f1a \u9a71\u52a8 \u5f15\u64ce   Tick \uff0c \u5c31 \u50cf \u4e00\u4e2a \u666e\u901a \u7684 \u51fd\u6570 \uff0c \u6240\u6709 \u4ee3\u7801 \u6267\u884c \u4ee3\u7801\u6267\u884c \u5b8c\u6bd5 \u4e4b\u540e \uff0c \u79bb\u5f00 \u5f53\u524d \u7684 \u4f5c\u7528 \u4f5c\u7528\u57df \uff0c \u5c31 \u8bf7\u6c42 \u9000\u51fa \u5f15\u64ce \u4e86 \u3002","title":"\u9a71\u52a8   Tick"},{"location":"ue_commandlet/#cmdlet","text":"\u4ee5   Cook   \u4e3a\u4f8b \uff0c \u5b83 \u662f \u62c9 \u8d77\u6765 \u4e86 \u4e00\u4e2a   CookCommandlet   \u53bb \u6267\u884c \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5f15\u64ce \u5e76 \u6ca1\u6709 \u7ed9 \u6211\u4eec \u7559 \u53e3\u5b50 \uff0c \u53bb \u4ecb\u5165 \u5230   Cook   \u7684 \u5404\u4e2a \u9636\u6bb5 \uff0c \u5982\u679c \u60f3\u8981 \u5728 \u6253\u5305 \u7684 \u8fc7\u7a0b \u4e2d\u53bb \u505a \u4e00\u4e9b \u64cd\u4f5c \uff0c \u5c31 \u9700\u8981 \u81ea\u5df1 \u64cd\u7eb5   UAT   \u628a \u6784\u5efa \u8fc7\u7a0b \u62c6\u5f00 \uff0c \u81ea\u5df1 \u7ef4\u62a4 \u5404\u4e2a \u6d41\u7a0b \u3002   \u4f46 \u8fd9\u4e48 \u505a \u7684 \u4ee3\u4ef7 \u6bd4\u8f83 \u9ad8 \uff0c \u8003\u8651 \u4ee5\u4e0b \u8fd9\u4e9b \u9700\u6c42 \uff1a   \u5728   Cook   \u5b8c\u6bd5 \u4e4b\u540e \u53bb \u8bad\u7ec3   Shader   \u7684 \u5b57\u5178 \uff0c \u5e76 \u628a \u7528 \u5b57\u5178 \u538b\u7f29 \u7684   ShaderLibrary   \u66ff\u6362 \u539f\u59cb \u7684 \u3002   \u5728 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8981 \u5b9e\u73b0 \u5b83 \uff0c \u5c31 \u9700\u8981 \u628a \u6253\u5305 \u8fc7\u7a0b \u5728   Cook   \u4e4b\u540e \u505c\u6389 \uff0c \u5904\u7406 \u5b8c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d41\u7a0b \u4e4b\u540e \uff0c \u518d \u8fdb\u5165 \u7684   UnrealPak   \u9636\u6bb5 \uff0c \u63a5\u7740 \u6267\u884c \u3002   \u6574\u4e2a \u8fc7\u7a0b \u90fd \u6bd4\u8f83 \u7684 \u7e41\u7410 \uff0c \u5982\u679c \u6211\u4eec \u60f3\u8981 \u5728   Cook   \u4e4b\u540e \u81ea\u52a8 \u6267\u884c \uff0c \u8fd8 \u53ef\u4ee5 \u7528 \u53e6 \u4e00\u79cd \u65b9\u5f0f \uff0c \u4ecb\u5165 \u5230   Commandlet   \u7684 \u6267\u884c \u8fdb\u7a0b \u4e2d \u3002   \u6839\u636e \u524d\u6587 \u7684 \u4ecb\u7ecd \u6211\u4eec \u77e5\u9053 \uff0c Commandlet   \u5728 \u6267\u884c \u4e2d \uff0c \u4e5f \u662f \u4f1a \u6267\u884c \u6a21\u5757 \u7684   StartupModule   \u53ca   ShutdownModule   \u7684 \uff0c \u800c \u6211\u4eec \u60f3\u8981 \u4ecb\u5165 \u5230   Cmdlet   \u4e2d \u6267\u884c \uff0c \u5c31\u662f \u8981 \u5229\u7528 \u8fd9\u4e2a \u7279\u6027 \u3002   \u540c\u6837 \u4ee5   Cook   \u4e4b\u540e \uff0c \u8ba9 \u5f15\u64ce \u62c9 \u8d77 \u6211\u4eec \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5904\u7406 \u6d41\u7a0b \u4e3a\u4f8b \uff0c \u53ef\u4ee5 \u62c6\u89e3 \u8fd9\u4e2a \u9700\u6c42 \uff1a   \u786e\u5b9a \u662f\u5426 \u8fd0\u884c \u5728   CookCommandlet   \u4e2d   \u5728   Cook   \u6267\u884c \u5b8c\u6bd5 \u540e \uff0c \u5f15\u64ce \u9000\u51fa \u4e4b\u524d \u7684 \u65f6\u673a \u6267\u884c   \u5173\u4e8e \u7b2c\u4e00 \u4e00\u70b9 \u7b2c\u4e00\u70b9 \uff0c \u6211\u4eec \u53ef\u4ee5 \u89e3\u6790 \u542f\u52a8 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \uff0c \u5e76 \u68c0\u67e5   - run =   \u7684   Token   \u4e0d\u662f \u662f\u4e0d\u662f   Cook   \uff0c \u5c31 \u80fd \u786e\u5b9a \u662f\u5426 \u662f\u5426\u662f \u5728   CookCommandlet   \u4e2d \uff1a","title":"\u4ecb\u5165 \u5230 \u67d0\u4e2a   Cmdlet   \u6d41\u7a0b"},{"location":"ue_pipeline/","text":"\u865a\u5e7b \u5f15\u64ce \u7ba1\u7ebf   \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 \u9700\u8981 \u4fee\u6539 \u7ba1\u7ebf   \u53ea\u6709 \u4fee\u6539 \u4e86 \u7ba1\u7ebf \u624d \u53ef\u4ee5 \u8ba9   SDF \uff0c SShairShadow \uff0c VirtualShadowMap \uff0c SelfShadowMap \u5b8c\u7f8e \u878d\u5408 \uff0c \u548c \u5f15\u64ce \u7684 \u539f\u88c5 \u903b\u8f91 \u5b8c\u7f8e \u5951\u5408 \u3002   \u4e3b\u8981 \u8fd8\u662f \u6027\u80fd \u95ee\u9898 \uff0c \u6bd4\u5982 \u6bd4\u5982\u8bf4 \u5e38\u89c1 \u7684 \u5904\u7406 \u540e\u5904\u7406 \u5361\u901a \u6e32\u67d3 \u4e3a\u4e86 \u5904\u7406 \u540e\u5904\u7406 \u9636\u6bb5 \u62ff\u5230 \u66f4 \u591a \u53c2\u6570 \uff0c \u5411   Gbuffer   \u91cc \u4f20\u503c \uff0c Shading   Mode   \u5c31 \u5f97 \u7528   Default   Lit \uff0c \u5728 \u5904\u7406 \u540e\u5904\u7406 \u9636\u6bb5 \u53c8 \u5f97 \u628a   PBR   \u5149\u7167 \u8ba1\u7b97 \u7ed3\u679c \u8ba1\u7b97\u7ed3\u679c \u7528\u5361 \u6e32 \u6548\u679c \u518d \u8986\u76d6 \u6389 \uff0c \u4e00\u5806 \u65e0 \u610f\u4e49 \u7684 \u6027\u80fd \u5f00\u9500 \uff0c \u53ea\u80fd \u8bf4 \u505c\u7559 \u5728 demo \u9636\u6bb5 \uff0c \u6216\u8005 \u5f53 \u6750\u8d28 \u7ec3\u4e60 \u3002","title":"Ue   pipeline"},{"location":"ue_pipeline/#_1","text":"","title":"\u865a\u5e7b \u5f15\u64ce \u7ba1\u7ebf"},{"location":"ue_pipeline/#_2","text":"\u53ea\u6709 \u4fee\u6539 \u4e86 \u7ba1\u7ebf \u624d \u53ef\u4ee5 \u8ba9   SDF \uff0c SShairShadow \uff0c VirtualShadowMap \uff0c SelfShadowMap \u5b8c\u7f8e \u878d\u5408 \uff0c \u548c \u5f15\u64ce \u7684 \u539f\u88c5 \u903b\u8f91 \u5b8c\u7f8e \u5951\u5408 \u3002   \u4e3b\u8981 \u8fd8\u662f \u6027\u80fd \u95ee\u9898 \uff0c \u6bd4\u5982 \u6bd4\u5982\u8bf4 \u5e38\u89c1 \u7684 \u5904\u7406 \u540e\u5904\u7406 \u5361\u901a \u6e32\u67d3 \u4e3a\u4e86 \u5904\u7406 \u540e\u5904\u7406 \u9636\u6bb5 \u62ff\u5230 \u66f4 \u591a \u53c2\u6570 \uff0c \u5411   Gbuffer   \u91cc \u4f20\u503c \uff0c Shading   Mode   \u5c31 \u5f97 \u7528   Default   Lit \uff0c \u5728 \u5904\u7406 \u540e\u5904\u7406 \u9636\u6bb5 \u53c8 \u5f97 \u628a   PBR   \u5149\u7167 \u8ba1\u7b97 \u7ed3\u679c \u8ba1\u7b97\u7ed3\u679c \u7528\u5361 \u6e32 \u6548\u679c \u518d \u8986\u76d6 \u6389 \uff0c \u4e00\u5806 \u65e0 \u610f\u4e49 \u7684 \u6027\u80fd \u5f00\u9500 \uff0c \u53ea\u80fd \u8bf4 \u505c\u7559 \u5728 demo \u9636\u6bb5 \uff0c \u6216\u8005 \u5f53 \u6750\u8d28 \u7ec3\u4e60 \u3002","title":"\u4e3a\u4ec0\u4e48 \u9700\u8981 \u4fee\u6539 \u7ba1\u7ebf"},{"location":"OpenRadioss/FEniCS%20%E5%AE%89%E8%A3%85%E4%B8%8E%E4%BD%BF%E7%94%A8/","text":"FEniCS   \u5b89\u88c5 \u4e0e \u4f7f\u7528   \u5b89\u88c5 \u8fdb\u5236 \u4e8c\u8fdb\u5236   add - apt - repository   ppa : fenics - packages / fenics   apt   update   apt   install   fenicsx   \u5b89\u88c5 \u53ef\u89c6 \u53ef\u89c6\u5316   apt   install   libgl1 - mesa - glx   xvfb   \u5b89\u88c5 conda   \u4e0b\u8f7d   Anaconda   wget   https : / / mirrors . bfsu . edu . cn / anaconda / archive / Anaconda3 - 2022.10 - Linux - x86 _ 64 . sh   -- no - check - certificate   \u5b89\u88c5   bash   Anaconda3xxxxxxx . sh   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   source   ~ / . bashrc   \u5347\u7ea7 \uff08 \u53ef \u9009 \uff09   conda   update   - n   base   - c   defaults   conda   \u521b\u5efa \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883   conda   creat   - n   fenicsx - env   conda   activate   fenicsx - env   conda   install   - c   conda - forge   fenics - dolfinx   mpich   pyvista   \u4f7f\u7528 \u8be5 \u73af\u5883 \u8fd0\u884c \u4ee3\u7801 \uff0c \u6bd4\u5982   \u5b98\u7f51 \u4f8b\u5b50   \u6216   test . ipynb","title":"FEniCS   \u5b89\u88c5 \u4e0e \u4f7f\u7528"},{"location":"OpenRadioss/FEniCS%20%E5%AE%89%E8%A3%85%E4%B8%8E%E4%BD%BF%E7%94%A8/#fenics","text":"","title":"FEniCS   \u5b89\u88c5 \u4e0e \u4f7f\u7528"},{"location":"OpenRadioss/FEniCS%20%E5%AE%89%E8%A3%85%E4%B8%8E%E4%BD%BF%E7%94%A8/#_1","text":"add - apt - repository   ppa : fenics - packages / fenics   apt   update   apt   install   fenicsx","title":"\u5b89\u88c5 \u4e8c\u8fdb\u5236"},{"location":"OpenRadioss/FEniCS%20%E5%AE%89%E8%A3%85%E4%B8%8E%E4%BD%BF%E7%94%A8/#_2","text":"apt   install   libgl1 - mesa - glx   xvfb","title":"\u5b89\u88c5 \u53ef\u89c6\u5316"},{"location":"OpenRadioss/FEniCS%20%E5%AE%89%E8%A3%85%E4%B8%8E%E4%BD%BF%E7%94%A8/#conda","text":"\u4e0b\u8f7d   Anaconda   wget   https : / / mirrors . bfsu . edu . cn / anaconda / archive / Anaconda3 - 2022.10 - Linux - x86 _ 64 . sh   -- no - check - certificate   \u5b89\u88c5   bash   Anaconda3xxxxxxx . sh   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   source   ~ / . bashrc   \u5347\u7ea7 \uff08 \u53ef \u9009 \uff09   conda   update   - n   base   - c   defaults   conda   \u521b\u5efa \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883   conda   creat   - n   fenicsx - env   conda   activate   fenicsx - env   conda   install   - c   conda - forge   fenics - dolfinx   mpich   pyvista   \u4f7f\u7528 \u8be5 \u73af\u5883 \u8fd0\u884c \u4ee3\u7801 \uff0c \u6bd4\u5982   \u5b98\u7f51 \u4f8b\u5b50   \u6216   test . ipynb","title":"\u5b89\u88c5 conda"},{"location":"OpenRadioss/FEniCSBuildFromSource/","text":"\u73af\u5883   C++   compiler   ( supporting   the   C++ 20   standard )   apt   install   build - essential   Boost ,   with   the   following   compiled   Boost   components   apt   install   libboost - all - dev   CMake   [ build   dependency ]   / /   \u5b89\u88c5 \u7279\u5b9a \u7248\u672c   sudo   wget   https : / / cmake . org / files / v3.27 / cmake - 3.27 . 0 . tar . gz   sudo   tar   - zxvf   cmake - 3.27 . 0 . tar . gz   cd   cmake - 3.27 . 0   sudo   . / configure   sudo   make   sudo   make   install   / /   \u67e5\u770b \u7248\u672c   cmake   -- version   pkg - config   apt   install   pkgconf   Basix   / /   \u5efa\u8bae \u4f7f\u7528   conda   \u521b\u5efa \u65b0 \u73af\u5883 \u4e4b\u540e \u5b89\u88c5   / /   \u4e0d \u4f7f\u7528 pip   install   fenics - basix \u56e0\u4e3a \u662f\u56e0\u4e3a \u4ece \u6e90\u7801 \u7f16\u8bd1 \u9700\u8981 \u4f7f\u7528 0.7 \u7248\u672c \uff0c \u800c \u4e0a\u8ff0 \u547d\u4ee4 \u662f 0.6 \u7248\u672c   pip   install   git + https : / / github . com / FEniCS / basix . git   pugixml   apt   install   pugixml - doc   UFCx   [ ufcx . h ,   provided   by   FFCx ]   pip   \u5b89\u88c5   pip   install   fenics - ffcx   \u6b64\u65f6 \u5b89\u88c5 \u7684 \u662f 0.6 \u7248\u672c \u3002 \u4ece \u6e90\u7801 \u7f16\u8bd1 \u9700\u8981 0.7 \u7248\u672c   \u4ece \u6e90\u7801 \u5b89\u88c5   git   clone   https : / / github . com / FEniCS / ffcx . git   pip   install   .   \u6b64\u65f6 \u7f16\u8bd1 \u5931\u8d25 = \u2026 =   MPI   sudo   apt - get   install   openmpi - bin   openmpi - doc   libopenmpi - dev   HDF5   ( with   MPI   support   enabled )   apt   install   libhdf5 - mpi - dev   PETSc   git   clone   - b   release   https : / / gitlab . com / petsc / petsc . git   petsc   . / configure   / /   . / configure   \u540e \u4f1a \u63d0\u793a \u5982\u4f55 make   make   PETSC _ DIR = \u5b89\u88c5 \u4f4d\u7f6e   PETSC _ ARCH = arch - linux - c - debug   all   / /   \u4e4b\u540e \u6309 \u63d0\u793a check   make   PETSC _ DIR = \u5b89\u88c5 \u4f4d\u7f6e   PETSC _ ARCH = arch - linux - c - debug   check   / /   \u5b89\u88c5 \u5916\u90e8 \u5305 mumps \u3001   apt   install   bison   . / configure   -- download - mumps   -- download - scalapack   -- download - parmetis   -- download - metis   -- download - ptscotch   / /   . / configure \u5b8c \u63d0\u793a make   make   PETSC _ DIR = \u5b89\u88c5 \u4f4d\u7f6e   PETSC _ ARCH = arch - linux - c - debug   all   At   least   one   of   ParMETIS ,   KaHIP   or   PT - SCOTCH   apt   install   libparmetis - dev","title":"FEniCSBuildFromSource"},{"location":"OpenRadioss/FEniCSBuildFromSource/#_1","text":"C++   compiler   ( supporting   the   C++ 20   standard )   apt   install   build - essential   Boost ,   with   the   following   compiled   Boost   components   apt   install   libboost - all - dev   CMake   [ build   dependency ]   / /   \u5b89\u88c5 \u7279\u5b9a \u7248\u672c   sudo   wget   https : / / cmake . org / files / v3.27 / cmake - 3.27 . 0 . tar . gz   sudo   tar   - zxvf   cmake - 3.27 . 0 . tar . gz   cd   cmake - 3.27 . 0   sudo   . / configure   sudo   make   sudo   make   install   / /   \u67e5\u770b \u7248\u672c   cmake   -- version   pkg - config   apt   install   pkgconf   Basix   / /   \u5efa\u8bae \u4f7f\u7528   conda   \u521b\u5efa \u65b0 \u73af\u5883 \u4e4b\u540e \u5b89\u88c5   / /   \u4e0d \u4f7f\u7528 pip   install   fenics - basix \u56e0\u4e3a \u662f\u56e0\u4e3a \u4ece \u6e90\u7801 \u7f16\u8bd1 \u9700\u8981 \u4f7f\u7528 0.7 \u7248\u672c \uff0c \u800c \u4e0a\u8ff0 \u547d\u4ee4 \u662f 0.6 \u7248\u672c   pip   install   git + https : / / github . com / FEniCS / basix . git   pugixml   apt   install   pugixml - doc   UFCx   [ ufcx . h ,   provided   by   FFCx ]   pip   \u5b89\u88c5   pip   install   fenics - ffcx   \u6b64\u65f6 \u5b89\u88c5 \u7684 \u662f 0.6 \u7248\u672c \u3002 \u4ece \u6e90\u7801 \u7f16\u8bd1 \u9700\u8981 0.7 \u7248\u672c   \u4ece \u6e90\u7801 \u5b89\u88c5   git   clone   https : / / github . com / FEniCS / ffcx . git   pip   install   .   \u6b64\u65f6 \u7f16\u8bd1 \u5931\u8d25 = \u2026 =   MPI   sudo   apt - get   install   openmpi - bin   openmpi - doc   libopenmpi - dev   HDF5   ( with   MPI   support   enabled )   apt   install   libhdf5 - mpi - dev   PETSc   git   clone   - b   release   https : / / gitlab . com / petsc / petsc . git   petsc   . / configure   / /   . / configure   \u540e \u4f1a \u63d0\u793a \u5982\u4f55 make   make   PETSC _ DIR = \u5b89\u88c5 \u4f4d\u7f6e   PETSC _ ARCH = arch - linux - c - debug   all   / /   \u4e4b\u540e \u6309 \u63d0\u793a check   make   PETSC _ DIR = \u5b89\u88c5 \u4f4d\u7f6e   PETSC _ ARCH = arch - linux - c - debug   check   / /   \u5b89\u88c5 \u5916\u90e8 \u5305 mumps \u3001   apt   install   bison   . / configure   -- download - mumps   -- download - scalapack   -- download - parmetis   -- download - metis   -- download - ptscotch   / /   . / configure \u5b8c \u63d0\u793a make   make   PETSC _ DIR = \u5b89\u88c5 \u4f4d\u7f6e   PETSC _ ARCH = arch - linux - c - debug   all   At   least   one   of   ParMETIS ,   KaHIP   or   PT - SCOTCH   apt   install   libparmetis - dev","title":"\u73af\u5883"},{"location":"OpenRadioss/demo_models/","text":"\u793a\u4f8b \u6a21\u578b   Yaris   \u4ee5   40   \u516c\u91cc / \u5c0f\u65f6 \u7684 \u901f\u5ea6 \u649e\u51fb \u6746\u5b50   \u8f66\u8f86 \u649e\u5899 \u4eff\u771f   \uff0c \u5305\u62ec   \u798f\u7279 \u91d1\u725b \u91d1\u725b\u5ea7   1000   \u4e07 \u5143\u7d20   HPC   \u57fa\u51c6 \u6d4b\u8bd5   \u3001   \u514b\u83b1 \u83b1\u65af \u514b\u83b1\u65af \u514b\u83b1\u65af\u52d2   Neon   100   \u4e07 \u5143\u7d20   HPC   \u57fa\u51c6 \u6d4b\u8bd5   \u3002   \u4fdd\u9669 \u4fdd\u9669\u6760 \u6a2a\u6881   LS - DYNA \u00ae   \u683c\u5f0f \u7684 \u51ef\u7f8e\u745e \u51b2\u51fb \u6a21\u578b   LS - DYNA \u00ae   \u683c\u5f0f \u7684   Yaris   \u51b2\u51fb \u6a21\u578b","title":"Demo   models"},{"location":"OpenRadioss/demo_models/#_1","text":"Yaris   \u4ee5   40   \u516c\u91cc / \u5c0f\u65f6 \u7684 \u901f\u5ea6 \u649e\u51fb \u6746\u5b50   \u8f66\u8f86 \u649e\u5899 \u4eff\u771f   \uff0c \u5305\u62ec   \u798f\u7279 \u91d1\u725b \u91d1\u725b\u5ea7   1000   \u4e07 \u5143\u7d20   HPC   \u57fa\u51c6 \u6d4b\u8bd5   \u3001   \u514b\u83b1 \u83b1\u65af \u514b\u83b1\u65af \u514b\u83b1\u65af\u52d2   Neon   100   \u4e07 \u5143\u7d20   HPC   \u57fa\u51c6 \u6d4b\u8bd5   \u3002   \u4fdd\u9669 \u4fdd\u9669\u6760 \u6a2a\u6881   LS - DYNA \u00ae   \u683c\u5f0f \u7684 \u51ef\u7f8e\u745e \u51b2\u51fb \u6a21\u578b   LS - DYNA \u00ae   \u683c\u5f0f \u7684   Yaris   \u51b2\u51fb \u6a21\u578b","title":"\u793a\u4f8b \u6a21\u578b"},{"location":"OpenRadioss/use_OpenRadioss_linux/","text":"Linux   \u4e0b   OpenRadioss   \u7684 \u7f16\u8bd1   \u73af\u5883   Ubuntu   20.0 . 4   or   higher   apt - get   update   apt - get   upgrade   apt - get   install   build - essential   apt - get   install   gfortran   apt - get   install   cmake   apt - get   install   perl   apt - get   install   python3   apt - get   install   python - is - python3   apt - get   install   git - lfs   apt - get   install   openmpi - bin   openmpi - doc   libopenmpi - dev   apt - get   install   paraview   \u63a8\u8350 \u7248\u672c \u4e3a gcc - 11 ,   g ++- 11 ,   gfortran - 11 \u3002 paraview   \u7528\u4e8e \u540e\u671f \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u7f16\u8bd1 \u6307\u4ee4   \u83b7\u53d6 \u6e90\u7801   LFS :   git   lfs   install   \u8fd0\u884c ( \u8fd9\u91cc \u9700\u8981 \u5148 \u7ed1\u5b9a SSH   key )   git   clone   git @ github . com : OpenRadioss / OpenRadioss . git   .   OpenRadioss   Starter   \u8fdb\u5165   OpenRadioss / starter   \u76ee\u5f55   cd   OpenRadioss / starter   \u8fd0\u884c   build _ script . sh   . / build _ script . sh   - arch = linux64 _ gf   . / build _ script . sh   \u53c2\u6570 :   [ ] $   . / build _ script . sh   build _ script   ------------   Use   with   arguments   :   - arch = [ build   architecture ]   - arch = linux64 _ gf   ( SMP   executable   /   Gfortran   compiler )   - prec = [ dp | sp ]   :   set   precision   -   dp   ( default )   | sp   - static - link   :   Fortran ,   C   &   C++   runtime   are   linked   in   binary   - debug = [ 0 | 1 ]   :   debug   version   0   no   debug   flags   ( default ) ,   1   usual   debug   flag   - addflag = \" list   of   additionnal   flags \"   :   add   compiler   flags   to   usual   set   Execution   control   - nt = [ threads ]   :   number   of   threads   for   build   - verbose   :   Verbose   build   - clean   :   clean   build   directory   OpenRadioss   Engine   \u8fdb\u5165   OpenRadioss / engine   \u76ee\u5f55   \u8fd0\u884c   build _ script . sh   . / build _ script . sh   - arch = linux64 _ gf   - mpi = ompi   . / build _ script . sh   \u53c2\u6570 :   [ ] $   . / build _ script . sh   build _ script   ------------   Use   with   arguments   :   - arch = [ build   architecture ]   - arch = linux64 _ gf   ( SMP   executable   /   Gfortran   compiler )   - arch = linux64 _ gf   - mpi = ompi   ( OpenMPI   executable   /   Gfortran   compiler )   MPI   libraries   - mpi = [ mpi ]   not   set   :   SMP   ( default )   - mpi = ompi   :   OpenMPI   Controling   MPI   Libraries   -   if   need   choose   one   of   the   3   Option   Set   If   no   options   set ,   recommended   OpenMPI   directories   are   uses   ( default )   1 .   - mpi - os   :   link   with   default   MPI   version   installed   on   system   libraries   are   in   default   installation   2 .   - mpi - root = [ directory ]   :   set   rootname   to   link   with   specific   MPI   installation   3 .   - mpi - include = [ directory ]   :   set   include   directory   where   to   find   mpif . h   and   mpi . h   - mpi - libdir = [ directory ]   :   set   library   directory   where   to   find   mpi   libraries   Other   control   - prec = [ dp | sp ]   :   set   precision   -   dp   ( default )   | sp   - static - link   :   Fortran ,   C   &   C++   runtime   are   linked   in   binary   - debug = [ 0 | 1 ]   :   debug   version   0   no   debug   flags   ( default ) ,   1   usual   debug   flag   - addflag = \" list   of   additionnal   flags \"   :   add   compiler   flags   to   usual   set   Build   control   - nt = [ threads ]   :   number   of   threads   for   build   - verbose   :   Verbose   build   - clean   :   clean   build   directory   MUMPS   linear   solver :   available   only   for   dp ,   with   mpi \"   - mumps _ root = [ path _ to _ mumps ]   :   path _ to _ mumps / lib / libdmumps . a   must   exist   - scalapack _ root = [ path   to   scalapack ]   :   path _ to _ scalapack / libscalapack . a   must   exist   - lapack _ root = [ path   to   lapack ]   :   path _ to _ lapack / liblapack . a   must   exist   \u81ea\u52a8 \u81ea\u52a8\u5316 \u811a\u672c \uff08 \u5f85\u5b9a \uff09   cd   starter   . / build _ script . sh   - arch = linux64 _ gf   cd   .. / engine   . / build _ script . sh   - arch = linux64 _ gf   - mpi = ompi   OpenRadioss   \u7684 \u4f7f\u7528   \u524d \u5904\u7406   gmsh   \u4f7f\u7528   Gmsh   \u7684 \u7ba1\u5b50 \u63a5\u89e6 \u6559\u7a0b   \u4f7f\u7528   Gmsh   \u7684 \u62c9\u4f38 \u6d4b\u8bd5 \u793a\u4f8b \u6559\u7a0b   Hypermesh   lsprepost   ( * )   \u8ba1\u7b97   \u5904\u7406 \u540e\u5904\u7406   ParaView   vtk \u8f6c fbx   \uff0c \u7136\u540e \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u4e2d \u3002   \u4f7f\u7528   LSDYNA   \u683c\u5f0f \u8f93\u5165   \u6d4b\u8bd5 \u5b9e\u4f8b   \u6d4b\u8bd5 \u4f8b\u5b50 \u662f   \u62c9\u4f38 \u4eff\u771f   \u3002   bash   \u811a\u672c   myjobname = $ ( echo   \" $ 1 \"   )   echo   $ myjobname   \" running   in   OpenRadioss \"   export   OMP _ STACKSIZE = 400m   export   OMP _ NUM _ THREADS = 8   . / starter _ linux64 _ gf   - i   \" .. / source / \" $ myjobname \" . k \"   - np   $ 2   - outfile = \" .. / output \"   #. / starter _ linux64 _ gf   - i   $ myjobname \" . k \"   - np   $ 2   - nt   4   #   \u8fd9\u91cc \u662f \u627e\u5230 source \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u7684 \uff0c LS - DYNA   \u683c\u5f0f \u6587\u4ef6 \u683c\u5f0f\u6587\u4ef6 \uff08 . k \uff09 \u5e76 \u5c06 \u5176 \u4f20\u9012 \u7ed9 starter   \u8fdb\u884c \u8ba1\u7b97 \u3002   mpiexec   - n   $ 2   -- map - by   socket : PE = $ OMP _ NUM _ THREADS   -- bind - to   core   . / engine _ linux64 _ gf _ ompi   - i   \" .. / bin / \" $ myjobname \" _ 0001 . rad \"   - outfile = \" .. / output \"   # mpiexec   - n   $ 2   . engine _ linux64 _ gf _ ompi   - i   $ myjobname \" _ 0001 . rad \"   - nt   1   #   \u5728 \u5904\u7406 . k \u6587\u4ef6 \u65f6 \uff0c starter   \u4f1a \u5728 \u5176 \u76ee\u5f55 \u4e0b \u751f\u6210 \" _ 0001 . rad \" \u6587\u4ef6 \uff0c \u9700\u8981 \u5c06 \u5176 \u4f20\u9012 \u7ed9   engine   BASEDIR = $ ( dirname   \" $ 0 \" )   for   file   in   .. / output / * ;   do   if   [   - n   \" $ { file :   - 3 } \"   ]   &&   [   \" $ { file :   - 3 } \"   - eq   \" $ { file :   - 3 } \"   ]   2 > / dev / null   &&   [ [   \" $ { file :   - 4 : 1 } \"   = =   \" A \"   ] ] ;   then   . / anim _ to _ vtk _ linux64 _ gf   $ file   >   \" $ file . vtk \"   echo   \" $ file   is   converted \"   #   anim   \u6587\u4ef6 \u8f6c\u5316 \u4e3a   vtk   \u6587\u4ef6   elif   [ [   \" $ { file :   - 3 } \"   = =   \" T01 \"   ] ]   ; then   . / th _ to _ csv _ linux64 _ gf   $ file   CSV = \" $ file . csv \"   #   T01   \u6587\u4ef6 \u8f6c\u5316 \u4e3a   csv   \u6587\u4ef6   fi   done   cd   .. / output /   # paraview   $ myjobname \" A .. vtk \"   $ CSV   paraview   $ myjobname \" A .. vtk \"   $ CSV   exit   \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u8f93\u5165   bash   process _ k . sh   zug _ test3 _ RS   1   \u5373\u53ef \u3002 \u5176\u4e2d   process _ k . sh   \u662f \u811a\u672c \u540d\u5b57 \uff0c   zug _ test3 _ RS   \u662f \u6a21\u578b \u540d\u5b57 \uff0c   1   \u662f \u5e76\u884c \u8fdb\u7a0b \u6570 \u3002   \u8fd0\u884c \u7ed3\u679c   \u603b\u7ed3   \u5728 \u4f7f\u7528 Openadioss   \u5904\u7406 LS - DYNA   \u683c\u5f0f \u7684 \u6587\u4ef6 \u65f6 \uff0c \u9700\u8981   . k   \u6587\u4ef6 \u3002 \u8fd9\u4e2a \u6587\u4ef6 \u5176\u5b9e \u662f \u53ef\u4ee5 \u76f4\u63a5 \u653e\u5728 LS - DYNA   \u4e0a \u8fdb\u884c \u8ba1\u7b97 \u7684 \u3002 \u8fd9\u91cc \u63d0\u4f9b \u4e86 \u4e00\u79cd \u5176\u4ed6 \u7684 \u8ba1\u7b97 \u65b9\u5f0f \u2014 \u2014 \u4f7f\u7528 OpenRadioss \u3002   To   Do   \u9700\u8981 \u9a8c\u8bc1 \u8ba1\u7b97 \u7684 \u6b63\u786e \u6b63\u786e\u6027 \uff1a \u4e5f \u5c31\u662f \u4f7f\u7528 LS - DYNA \u8ba1\u7b97 \u540c\u6837 \u7684 \u4f8b\u5b50 \uff0c \u89c2\u5bdf \u8ba1\u7b97 \u7ed3\u679c \u8ba1\u7b97\u7ed3\u679c \u662f\u5426 \u6709 \u51fa\u5165 \u3002   LS - DYNA   \u662f \u5546\u4e1a \u8f6f\u4ef6 \u5546\u4e1a\u8f6f\u4ef6 \uff0c \u80fd \u627e\u5230 \u7684 \u8f6f\u4ef6 \u4e0d \u652f\u6301   Ubuntu   \u7cfb\u7edf \u3002   \u53ef\u4ee5 \u5728 windows   \u4e0b \u4eff\u771f \uff0c \u5c06 \u7ed3\u679c \u548c \u8fdb\u884c \u5bf9\u6bd4 \u3002   \u5982\u4f55 \u8861\u91cf \u8bef\u5dee   \u8fd9 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u6709 \u5f88\u591a \u9700\u8981 \u8003\u8651 \u7684 \uff0c \u6bd4\u5982 \u6bc1\u4f24 \u9762\u79ef \u3001 \u6bc1\u4f24 \u6df1\u5ea6 \u3002   \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0a \u8fd0\u884c   OpenRadioss   \u6ca1\u6709 \u6743\u9650 \u3002 \u3002 \u3002   =   =   OpenRadioss   \u4e8c\u6b21 \u5f00\u53d1 \u4e8c\u6b21\u5f00\u53d1   READ _ MATERIAL _ MODELS . F   \u8fd9 \u6bb5 \u4ee3\u7801 \u5b9a\u4e49 \u4e86 \u4e00\u4e2a   Fortran   \u7684 \u7a0b\u5e8f \u5b50\u7a0b\u5e8f   READ _ MATERIAL _ MODELS \uff0c \u5176 \u4e3b\u8981 \u529f\u80fd \u662f \u7ba1\u7406 \u4e0e \u6750\u6599 \u6a21\u578b \u76f8\u5173 \u7684 \u8bfb\u53d6 \u8bfb\u53d6\u5668 \uff0c \u5305\u62ec \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   \u6750\u6599 \u672c\u6784 \u5b9a\u5f8b \uff08 Constitutive   Laws \uff09 \uff1a / MAT   \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \uff08 Equations   of   State \uff09 \uff1a / EOS   \u5931\u6548 \u6a21\u578b \uff08 Failure   models \uff09 \uff1a / FAIL   \u7c98\u6027 \u6a21\u578b \uff08 Viscosity \uff09 \uff1a / VISC   \u70ed \u53c2\u6570 \uff08 Thermal   parameters \uff09 \uff1a / HEAT   \u8be5 \u7a0b\u5e8f \u5b50\u7a0b\u5e8f \u7684 \u8f93\u5165 \u5305\u62ec \uff1a   MAT _ ELEM \uff1a \u6750\u6599 \u5143\u7d20 \u7684 \u53c2\u6570   MLAW _ TAG \uff1a \u6750\u6599 \u672c\u6784 \u5b9a\u5f8b \u7684 \u6807\u7b7e   FAIL _ TAG \uff1a \u5931\u6548 \u6a21\u578b \u7684 \u6807\u7b7e   VISC _ TAG \uff1a \u7c98\u6027 \u6a21\u578b \u7684 \u6807\u7b7e   EOS _ TAG \uff1a \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \u7684 \u6807\u7b7e   BUFMAT \uff1a \u6750\u6599 \u6570\u636e \u7684 \u7f13\u5b58 \u533a   BUFLEN \uff1a \u7f13\u5b58 \u533a \u7684 \u957f\u5ea6   IPM \uff1a \u6750\u6599 \u53c2\u6570 \u7684 \u6574\u578b \u6570\u7ec4   PM \uff1a \u6750\u6599 \u53c2\u6570 \u7684 \u5b9e\u578b \u6570\u7ec4   UNITAB \uff1a \u5355\u4f4d \u5236\u8868   MULTI _ FVM \uff1a \u591a\u91cd \u6709\u9650 \u4f53\u79ef \u6cd5 \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784   MAXEOS \uff1a \u6700\u5927 \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \u6570   FAILWAVE \uff1a \u5931\u6548 \u6ce2 \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784   NLOC _ DMG \uff1a \u975e \u5c40\u90e8 \u635f\u4f24 \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784   LSUBMODEL \uff1a \u5b50 \u6a21\u578b \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784   TABLE \uff1a \u8868 \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784   NPC \uff1a \u6570\u7ec4   NPC   \u8be5 \u7a0b\u5e8f \u5b50\u7a0b\u5e8f \u7684 \u8f93\u51fa \u5305\u62ec \uff1a   MAT _ ELEM \uff1a \u6750\u6599 \u5143\u7d20 \u7684 \u53c2\u6570   MLAW _ TAG \uff1a \u6750\u6599 \u672c\u6784 \u5b9a\u5f8b \u7684 \u6807\u7b7e   FAIL _ TAG \uff1a \u5931\u6548 \u6a21\u578b \u7684 \u6807\u7b7e   VISC _ TAG \uff1a \u7c98\u6027 \u6a21\u578b \u7684 \u6807\u7b7e   EOS _ TAG \uff1a \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \u7684 \u6807\u7b7e   \u8be5 \u7a0b\u5e8f \u5b50\u7a0b\u5e8f \u8fd8 \u8c03\u7528 \u4e86 \u5176\u4ed6 \u4e00\u4e9b \u7a0b\u5e8f \u5b50\u7a0b\u5e8f \uff0c \u4f8b\u5982   HM _ READ _ MAT \u3001 HM _ READ _ EOS \u3001 HM _ READ _ FAIL \u3001 HM _ READ _ VISC \u3001 HM _ READ _ LEAK \u3001 READ _ ALE _ MAT \u3001 READ _ EULER _ MAT \u3001 FILL _ BUFFER _ 51 _ 0 \u3001 HM _ READ _ THERM \u3001 HM _ READ _ THERM _ STRESS   \u548c   HM _ READ _ NONLOCAL   \u7b49 \uff0c \u7528\u4e8e \u8bfb\u53d6 \u4e0d\u540c \u7c7b\u578b \u7684 \u6750\u6599 \u6a21\u578b \u6570\u636e \u3002   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u8003\u8651 \u5206\u6790   HM _ READ _ MAT   \u7a0b\u5e8f \uff0c \u5206\u6790 \u8f6f\u4ef6 \u662f \u5982\u4f55 \u4f5c \u7684 \u3002   HM _ READ _ MAT . F   \u8fd9\u662f \u7528\u4e8e \u8bfb\u53d6 \u6709\u9650 \u6709\u9650\u5143 \u5206\u6790 \u8f6f\u4ef6 \u4e2d \u7684 \u6750\u6599 \u6a21\u578b \u5b9a\u4e49 \u7684 \u4ee3\u7801 \u3002   \u5b83 \u5b9a\u4e49 \u4e86 \u9605\u8bfb \u6750\u6599 \u6a21\u578b \u6240 \u9700 \u7684 \u5404\u79cd \u6a21\u5757 \u3001 \u53c2\u6570 \u548c \u516c\u5171 \u5757 \u3002 \u5176\u4e2d \u5305\u62ec \u6750\u6599 \u5b9a\u5f8b \u6807\u7b7e \u3001 \u6750\u6599 \u53c2\u6570 \u3001 \u5355\u4f4d \u7b49 \u3002   \u4e3b \u4f8b\u7a0b \u662f HM _ READ _ MAT \u3002 \u5b83 \u5faa\u73af \u904d\u5386 \u6a21\u578b \u4e2d \u5b9a\u4e49 \u7684 \u6bcf\u79cd \u6750\u6599   ( HM _ NUMMAT ) \u3002   \u5bf9\u4e8e \u6bcf\u79cd \u6750\u6599 \uff0c \u5b83 \u6839\u636e \u6750\u6599 \u5b9a\u5f8b \u5173\u952e \u5173\u952e\u5b57 \uff08 MAT00 \u3001 MAT01   \u7b49 \uff09 \u8c03\u7528 \u7279\u5b9a \u7684 \u8bfb\u53d6 \u4f8b\u7a0b \u3002 \u8fd9\u4e9b \u8bfb\u53d6 \u4f8b\u7a0b \u4f4d\u4e8e   mat   \u5b50\u76ee \u76ee\u5f55 \u5b50\u76ee\u5f55 \u4e2d \u7684 \u5355\u72ec \u6587\u4ef6 \u4e2d \u3002   \u8bfb\u53d6 \u4f8b\u7a0b \u89e3\u6790 \u8f93\u5165 \u3001 \u586b\u5145 \u6750\u6599 \u53c2\u6570 \u6570\u7ec4 \u3001 \u8bbe\u7f6e \u6750\u6599 \u6240 \u9700 \u6570\u636e \u7684 \u6807\u5fd7 \uff0c \u5e76 \u5b58\u50a8 \u6750\u6599   ID \u3001 \u5b9a\u5f8b \u7c7b\u578b \u3001 \u5e94\u53d8 \u7387 \u8bbe\u7f6e \u7b49 \u5185\u5bb9 \u3002   \u8bfb\u53d6 \u6750\u6599 \u540e \uff0c \u5b83\u4f1a \u8fdb\u884c \u4e00\u4e9b \u5904\u7406 \u540e\u5904\u7406 \uff0c \u4f8b\u5982 \u8ba1\u7b97 \u6d3e\u751f \u503c \uff08 \u526a\u5207 \u6a21\u91cf \u526a\u5207\u6a21\u91cf \uff09 \u3001 \u68c0\u67e5 \u91cd\u590d   ID   \u4ee5\u53ca \u8ba1\u7b97 \u8f93\u51fa \u6240 \u9700 \u6570\u91cf \u7684 \u5e73\u65b9 \u65b9\u6839 \u5e73\u65b9\u6839 \u3002   \u6bcf\u79cd \u6750\u6599 \u7684 \u5c5e\u6027 \u5b58\u50a8 \u5728   MAT _ PARAM   \u6570\u7ec4 \u548c \u5404\u79cd \u5176\u4ed6 \u516c\u5171 \u5757 \u4e2d \u3002   \u603b\u4e4b \uff0c \u5b83 \u5faa\u73af \u904d\u5386 \u6750\u6599 \uff0c \u8c03\u7528 \u7279\u5b9a \u4e8e \u5b9a\u5f8b \u7684 \u8bfb\u53d6 \u8bfb\u53d6\u5668 \uff0c \u5e76 \u5c06 \u6240\u6709 \u6750\u6599 \u6570\u636e \u6536\u96c6 \u5230 \u53c2\u6570 \u6570\u7ec4 \u548c \u901a\u7528 \u5757 \u4e2d \uff0c \u4ee5\u4fbf \u7a0d\u540e \u5728   FEA   \u5206\u6790 \u4e2d \u4f7f\u7528 \u3002 \u5173\u952e \u90e8\u5206 \u662f \u6a21\u5757 \u6a21\u5757\u5316 \u6cd5\u5219 \u8bfb\u53d6 \u8bfb\u53d6\u5668 \u548c \u7528\u4e8e \u4fdd\u5b58 \u6750\u6599 \u9053\u5177 \u7684 \u4e2d\u592e   MAT _ PARAM   \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u3002   \u56e0\u6b64 \uff0c \u60f3\u8981 \u5b9a\u4e49 \u5168\u65b0 \u7684 \u6750\u6599 \uff0c \u6240\u8981 \u505a \u7684 \u4e8b\u60c5 \u662f \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 MATxxx \u6587\u4ef6 \u3002   Radioss   \u4e2d \u6750\u6599 \u672c\u6784   \u540c\u6027 \u5404\u5411\u540c\u6027 \u5f39\u6027   Description   Model   Name   Keyword / MAT   Law #   \u7a7a \u6750\u6599   Void   / VOID   0   \u7ebf \u5f39\u6027   Elastic   ( Hooke )   / ELAST   1   \u8d85 \u5f39\u6027   Tabulated   Hyperelastic   n / a   69   \u8d85 \u5f39\u6027   Ogden   Formulation   n / a   82   ####   \u5404\u9879 \u540c\u6027 \u5851\u6027 \u5f39\u5851\u6027   LAW   2   /   36   ####   \u5176\u4ed6   ####   \u7206\u70b8   Description   Model   Name   Keyword / MAT   Law #   -----------   -----------   ---   ---   Detonation   driven   Jones   Wilkins   Lee   / JEL   5   Hydrodynamics   Lee - Tarver   / LEE - TARVER   41   Multi - materials   Soild ,   liquid , gas   and   explosives   / MULTIMAT   51   ####   \u5931\u6548 \u6a21\u578b \u2014 \u2014 / FAIL   / Tuler - Butcher   \u9ad8\u901f \u78b0\u649e \u5931\u6548   ###   \u4f8b\u5b50 \u2014 \u2014 / MAT / LAW1 \u6216 / MAT / ELAST :   \u5f39\u6027 \u6750\u6599   *   LAW1   \u4f7f\u7528 \u80e1\u514b \u5b9a\u5f8b \u80e1\u514b\u5b9a\u5f8b \u5bf9 \u540c\u6027 \u5404\u5411\u540c\u6027 \uff0c \u7ebf \u5f39\u6027 \u6750\u6599 \u8fdb\u884c \u5efa\u6a21   *   \u53ef \u7528\u4e8e \u6746 \uff0c \u6881 \uff0c \u58f3 \u4ee5\u53ca \u5b9e\u4f53 solids   *   \u9002\u7528 \u4e8e \u8fde\u63a5 \u521a\u4f53   *   \u4e0d \u9002\u7528 \u5f62\u53d8 \u5927 \u7684 \u6784\u4ef6   \u5851\u6027 \u5f39\u5851\u6027 \u5e94\u529b \u2014 \u2014 \u5e94\u53d8 \u66f2\u7ebf   \u771f\u5b9e \u5e94\u529b \u5f62\u53d8   *   \u771f\u5b9e \u5e94\u529b \uff1a \u8003\u8651 \u5f53\u524d \u6216 \u771f\u5b9e \u622a\u9762 \u6a2a\u622a\u9762 \u79ef $ A _ { true } $ \u7684 \u5e94\u529b   $ $ \\ sigma _ { true } = \\ frac { P _ x } { A _ { true } } $ $   *   \u5728 \u5851\u6027 \u53d8\u5f62 \u5851\u6027\u53d8\u5f62 \u8303\u56f4 \u5185 \uff0c \u5851\u6027 \u53d8\u5f62 \u5851\u6027\u53d8\u5f62 \u622a\u9762 \u6a2a\u622a\u9762 \u79ef \u6c38\u4e45 \u51cf\u5c0f   *   \u7ee7\u7eed \u4f7f\u7528 \u5de5\u7a0b \u5e94\u529b \u4e0d\u518d \u51c6\u786e   ####   MAT1   \u5b9a\u4e49 \u65b9\u5f0f   \u8fd9\u4e2a \u5173\u952e \u5173\u952e\u8bcd \u7528 \u80e1\u514b \u5b9a\u5f8b \u80e1\u514b\u5b9a\u5f8b \u5b9a\u4e49 \u4e86 \u4e00\u79cd \u540c\u6027 \u5404\u5411\u540c\u6027 \u7684 \u7ebf \u5f39\u6027 \u6750\u6599 \u3002 \u8fd9\u4e2a \u5b9a\u5f8b \u8868\u793a \u5e94\u529b \u548c \u5e94\u53d8 \u4e4b\u95f4 \u7684 \u7ebf\u6027 \u5173\u7cfb \u6027\u5173\u7cfb \u7ebf\u6027\u5173\u7cfb \u3002 \u5b83 \u53ef \u7528\u4e8e \u6841\u67b6 \uff0c \u6881 ( \u4ec5 3 \u578b ) \uff0c \u58f3 \u548c \u5b9e\u4f53 \u5143\u4ef6 \u3002   \u683c\u5f0f   \u5b9a\u4e49   \u4f8b\u5b50   \u539f\u7406 \uff1a   \u8be5 \u6750\u6599 \u9002\u7528 \u4e8e \u7eaf\u7cb9 \u7684 \u5f39\u6027 \u6750\u6599 \u3002 \u6750\u6599 \u7684 \u6027\u80fd \u53ea \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4e24\u4e2a \u56e0\u7d20 \uff1a   \u6a21\u91cf \u6768\u6c0f\u6a21 \u6768\u6c0f\u6a21\u91cf :   $ E $   \u6cca\u677e\u6bd4 :   $ \\ nu $   \u526a\u5207 \u6a21\u91cf \u526a\u5207\u6a21\u91cf :   ( \u53ef \u8ba1\u7b97 )   $ $ G = \\ frac { E } { 2 ( 1 + \\ nu ) } $ $   \u5e94\u529b \u5e94\u53d8 \u5173\u7cfb   $ $ \\ begin { bmatrix }   \\ epsilon _ { 11 } \\   \\ epsilon _ { 22 } \\   \\ epsilon _ { 33 } \\   \\ gamma _ { 23 } \\   \\ gamma _ { 31 } \\   \\ gamma _ { 12 }   \\ end { bmatrix } = \\ frac { 1 } { E }   \\ begin { bmatrix }   1 &- \\ nu &- \\ nu & 0 & 0 & 0 \\   - \\ nu & 1 &- \\ nu & 0 & 0 & 0 \\   - \\ nu &- \\ nu & 1 & 0 & 0 & 0 \\   0 & 0 & 0 & 2 ( 1 + \\ nu ) & 0 & 0 \\   0 & 0 & 0 & 0 & 2 ( 1 + \\ nu ) & 0 \\   0 & 0 & 0 & 0 & 0 & 2 ( 1 + \\ nu )   \\ end { bmatrix }   \\ begin { bmatrix }   \\ sigma _ { 11 } \\   \\ sigma _ { 22 } \\   \\ sigma _ { 33 } \\   \\ sigma _ { 23 } \\   \\ sigma _ { 31 } \\   \\ sigma _ { 12 }   \\ end { bmatrix } $ $   \u5bc6\u5ea6 \u503c \u901a\u5e38 \u7528\u4e8e \u663e\u5f0f \u4eff\u771f \uff0c \u4e5f \u53ef\u4ee5 \u7528\u4e8e \u9759\u6001 \u9690\u5f0f \u4eff\u771f \uff0c \u4ee5\u4fbf \u5728 \u62df \u9759\u6001 \u5206\u6790 \u4e2d \u8fbe\u5230 \u66f4\u597d \u7684 \u6536\u655b \u6536\u655b\u6027 \u3002   \u5f53 \u901a\u8fc7 \u58f3\u4f53 \u539a\u5ea6 \u7684 \u79ef\u5206 \u70b9 \u4e2a\u6570 \u4e0d\u540c \u540c\u4e8e \u4e0d\u540c\u4e8e NP = 1 ( \u819c ) \u65f6 \uff0c \u5bf9 LAW1 \u548c \u58f3 \u5355\u5143 ( / PROP / TYPE1   ( shell ) ) \u91c7\u7528 \u5168\u5c40 \u79ef\u5206 \u5206\u6cd5 \u79ef\u5206\u6cd5 \u3002   \u5931\u6548 \u6a21\u578b \u5728 \u5168\u5c40 \u96c6\u6210 \u7684 \u60c5\u51b5 \u4e0b \u4e0d\u53ef \u7528 \u3002 \u5728 \u8fd9\u4e9b \u60c5\u51b5 \u4e0b \uff0c \u5177\u6709 \u5f88 \u9ad8 \u5c48\u670d \u5e94\u529b \u5c48\u670d\u5e94\u529b \u7684 LAW2 \u548c LAW27 \u53ef\u4ee5 \u4f5c\u4e3a LAW1 \u7684 \u66ff\u4ee3 \u66ff\u4ee3\u54c1 \u3002   ####   MAT1   \u4ee3\u7801 \u89e3\u8bfb   \u603b\u4f53 \u6846\u67b6 \u662f   \u83b7\u53d6 \u8f93\u5165   CALL   HM _ OPTION _ IS _ ENCRYPTED ( IS _ ENCRYPTED )   CALL   HM _ GET _ FLOATV ( ' MAT _ RHO ' ,   RHO0   , IS _ AVAILABLE , LSUBMODEL , UNITAB )   CALL   HM _ GET _ FLOATV ( ' Refer _ Rho ' , RHOR   , IS _ AVAILABLE , LSUBMODEL , UNITAB )   CALL   HM _ GET _ FLOATV ( ' MAT _ E ' ,   YOUNG   , IS _ AVAILABLE , LSUBMODEL , UNITAB )   CALL   HM _ GET _ FLOATV ( ' MAT _ NU ' ,   ANU   , IS _ AVAILABLE , LSUBMODEL , UNITAB )   \u8ba1\u7b97 \u53c2\u6570   IF ( RHOR   = =   ZERO   )   RHOR = RHO0   C   IF   ( YOUNG < = ZERO )   THEN   CALL   ANCMSG ( MSGID = 683 ,   .   MSGTYPE = MSGERROR ,   .   ANMODE = ANINFO ,   .   I1 = ID ,   .   C1 = TITR ,   .   C2 = ' YOUNG ' ' S   MODULUS ' )   ENDIF   IF ( ANU = = HALF ) ANU = ZEP499   C   G = YOUNG / ( TWO   ( ONE + ANU ) )   C0 = ZERO   C1 = YOUNG / ( THREE   ( ONE - TWO   ANU ) )   E0 = ZERO   E1MN2 = YOUNG / ( ONE - ANU   2 )   EN1N2 = ANU   E1MN2   SDSP   = SQRT ( YOUNG / MAX ( RHOR , EM20 ) )   ISRATE   =   0   *   \u4fdd\u5b58 \u53c2\u6570   PM ( 1 )   = RHOR   PM ( 20 ) = YOUNG   PM ( 21 ) = ANU   PM ( 22 ) = G   PM ( 23 ) = E0   PM ( 24 ) = E1MN2   PM ( 25 ) = EN1N2   PM ( 26 ) = FIVE _ OVER _ 6   PM ( 27 ) = SDSP   PM ( 31 ) = C0   PM ( 32 ) = C1   PM ( 89 )   = RHO0   \u5f02\u5e38 \u5904\u7406   c -----------------   CALL   INIT _ MAT _ KEYWORD ( MATPARAM , \" TOTAL \" )   IF   ( ANU   >   0.49 )   THEN   CALL   INIT _ MAT _ KEYWORD ( MATPARAM , \" INCOMPRESSIBLE \" )   ELSE   CALL   INIT _ MAT _ KEYWORD ( MATPARAM , \" COMPRESSIBLE \" )   END   IF   CALL   INIT _ MAT _ KEYWORD ( MATPARAM , \" HOOK \" )   c -----------------   WRITE ( IOUT , 1001 )   TRIM ( TITR ) , ID , 01   WRITE ( IOUT , 1000 )   IF ( IS _ ENCRYPTED ) THEN   WRITE ( IOUT , ' ( 5X , A , / / ) ' ) ' CONFIDENTIAL   DATA '   ELSE   WRITE ( IOUT , 1100 ) RHO0   WRITE ( IOUT , 1300 ) YOUNG , ANU , G   ENDIF   C   IPM ( 252 ) =   2   PM ( 105 )   =   TWO * G / ( C1 + FOUR _ OVER _ 3 * G )   C -----------   \u63a7\u5236 \u8f93\u51fa   C -----------   RETURN   1000   FORMAT (   &   5X , '   ELASTIC   MATERIAL   ( / MAT / LAW01 ) ' , / ,   &   5X , '   ----------------------------- ' )   1001   FORMAT (   &   5X , A , / ,   &   5X , ' MATERIAL   NUMBER   .   .   .   .   .   .   .   .   .   .   .   . = ' , I10 / ,   &   5X , ' MATERIAL   LAW .   .   .   .   .   .   .   .   .   .   .   .   .   . = ' , I10 / )   1100   FORMAT (   &   5X , ' INITIAL   DENSITY   .   .   .   .   .   .   .   .   .   .   .   . = ' , 1PG20.13 / )   1300   FORMAT (   &   5X , ' YOUNG ' ' S   MODULUS   .   .   .   .   .   .   .   .   .   .   .   . = ' , E12.4 / ,   &   5X , ' POISSON ' ' S   RATIO   .   .   .   .   .   .   .   .   .   .   .   . = ' , E12.4 / ,   &   5X , ' SHEAR   MODULUS   .   .   .   .   .   .   .   .   .   .   .   .   . = ' , E12.4 / / )   \u5728 \u6570\u636e \u91cc \u6700 \u91cd\u8981 \u7684 \u662f   PM   \u4ee5\u53ca   IPM   \uff0c \u5206\u522b \u5b58\u50a8 \u4e86 \u6750\u6599 \u53c2\u6570 \u548c \u6750\u6599   ID \u3002 \u4f46\u662f \u6682\u65f6 \u6ca1\u6709 \u76f8\u5173 \u6587\u6863 \u8bf4\u660e \u5176 \u5177\u4f53 \u4f53\u5185 \u5185\u5bb9 \u5177\u4f53\u5185\u5bb9 \u3002 \u63d0\u53d6   mat   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u6240\u6709   PM   \u53d8\u91cf \u7684 \u4fe1\u606f \u6c47\u603b \u5982\u4e0b :   PM ( 1 )   =   RHO0   PM ( 1 )   =   RHOR   PM ( 1 )   =   RHOR   PM ( 01 )   =   RHOR   PM ( 1 )   =   RHOR   PM ( 01 )   =   RHO0   PM ( 01 ) = RHOR   PM ( 1 )   =   RHO0   !   RHOR   PM ( 1 )   =   RHO0   PM ( 1 ) = RHOR   PM ( 1 )   = RHOR   PM ( 1 )   =   RHO0   PM ( 2 )   =   GS   PM ( 8 )   = ISRATE   PM ( 9 )   =   TWO * PI   * FCUT   PM ( 9 )   = FCUT * TWO * PI   PM ( 9 )   =   FCUT * TWO * PI   PM ( 9 )   =   ASRATE   PM ( 12 )   =   SQRT ( MAX ( ZERO ,   G0 ) )   ! done   by   default   in   lecmuser . F   for   law34   PM ( 17 )   =   MU   PM ( 17 )   =   AMU   PM ( 20 ) =   MAX ( E11 , E22 ) / DETC   PM ( 20 )   =   MW   PM ( 20 )   =   STIFF   !   Stiffness   contact   PM ( 20 ) =   CMAX   /   TWO   PM ( 20 )   =   YMC   PM ( 20 ) = NMAT + EM01   PM ( 20 ) =   YOUNG   PM ( 20 )   =   NBMAT   +   EM01   PM ( 20 ) =   MAX ( E11 , E22 , E33 )   PM ( 20 ) = YOUNG   PM ( 20 ) = E   PM ( 20 )   =   MAX ( E11 , E22 ) / DETC   PM ( 20 )   =   YOUNG   PM ( 21 )   =   ANUC   PM ( 21 )   =   ZERO   !   NU   PM ( 21 ) = NU   PM ( 21 ) =   ANU   PM ( 21 ) = ANU   PM ( 21 ) =   NU   PM ( 21 )   =   SQRT ( N12 * N21 )   PM ( 21 )   =   NUG   PM ( 21 )   =   NU   PM ( 21 )   =   CPA   PM ( 21 ) =   THIRD * ( N12 + N31 + N23 )   PM ( 22 )   =   G0   PM ( 22 )   =   YMC / ( TWO * ( ONE + ANUC ) )   PM ( 22 )   =   GS   ! !   TWO * G   PM ( 22 ) = G   PM ( 22 ) =   G   PM ( 22 )   =   STIFF * HALF   !   GMAX   PM ( 22 )   =   CPB   PM ( 22 )   =   G   PM ( 22 ) =   THIRD * ( G12 + G23 + G31 )   PM ( 22 )   =   GS   PM ( 22 )   =   MAX ( G12 , G23 , G31 )   PM ( 23 )   =   YOUNG   PM ( 23 ) =   E0   PM ( 23 )   =   CPC   PM ( 23 )   =   EM01 * STIFFAVG   !   Hourglass   stiffness   for   QEPH   PM ( 23 )   =   E0   PM ( 23 )   =   ZERO   !   E0   PM ( 23 )   =   E0   PM ( 23 ) = E0   PM ( 24 ) =   PM ( 20 )   PM ( 24 )   =   NU   *   YOUNG   /   ( ONE - NU * NU )   PM ( 24 )   =   YOUNG / ( ONE   -   NU * * 2 )   PM ( 24 ) =   CMAX / ( ONE   -   NU * * 2 )   /   TWO   PM ( 24 )   =   PM ( 25 )   +   TWO * PM ( 22 )   PM ( 24 )   =   E1MN2   PM ( 24 )   =   STIFF   !   Stiffness   for   time   step   computation   PM ( 24 ) = D2   PM ( 24 )   =   YOUNG / ( ONE   -   NUG * * 2 )   PM ( 24 ) = E1MN2   PM ( 24 ) = VIS   PM ( 24 )   =   PM ( 20 )   PM ( 24 )   =   CPD   PM ( 25 )   =   GAM   PM ( 25 ) = D3   PM ( 25 ) = NR   PM ( 25 ) = EN1N2   PM ( 25 )   =   CPE   PM ( 25 )   =   YMC * ANUC / ( ONE + ANUC ) / ( ONE - TWO * ANUC )   PM ( 25 ) =   1 .   PM ( 25 )   =   EN1N2   PM ( 25 )   =   PM ( 21 ) * PM ( 24 )   PM ( 26 ) = FIVE   PM ( 26 )   =   FIVE _ OVER _ 6   PM ( 26 )   =   CPF   PM ( 26 ) = PM ( 26 ) * ONE _ OVER _ 6   PM ( 26 ) = NT   PM ( 26 ) = THET   PM ( 26 ) = FIVE _ OVER _ 6   PM ( 26 ) =   CB   PM ( 26 )   =   MAX ( ZERO , DSUP1 )   PM ( 27 )   =   SQRT ( A11 / RHO0 )   !   sound   speed   estimation   PM ( 27 )   =   SQRT ( YOUNG / RHO0 )   !   Sound   speed   PM ( 27 ) = D   PM ( 27 )   =   SSP   PM ( 27 )   =   SDSP   PM ( 27 ) = SDSP   PM ( 27 ) =   CN   PM ( 27 )   =   SQRT ( A1 / RHO0 )   !   sound   speed   estimation   PM ( 27 ) =   SSP   PM ( 27 )   =   VCRT2   PM ( 27 )   =   SQRT ( E / MAX ( RHOR , EM20 ) )   PM ( 27 ) = APY   PM ( 27 )   =   SQRT ( ( BULK   +   FOUR _ OVER _ 3 * G ) / RHO0 )   !   sound   speed   estimation   PM ( 27 )   =   MAXVAL ( SSP ( 1 : 4 ) )   PM ( 27 ) = IDF   PM ( 27 )   =   R _ IGC1   PM ( 27 ) =   SQRT ( E / RHO0 )   !   Sound   speed   for   beam   elements   PM ( 27 )   =   VMAX   PM ( 27 )   =   D   PM ( 28 )   =   MAX ( ONEP0001 , FMAX )   PM ( 28 )   =   ONE / YOUNG   PM ( 28 )   =   GAMRP   PM ( 28 )   =   ONE - HT / YMC   PM ( 28 ) = VB   PM ( 28 )   =   MAX ( ONEP0001 , ( SIGMX / CA ) * * 2 )   PM ( 28 ) = ONE / YOUNG   PM ( 28 ) = NR   PM ( 29 ) = - ANU * PM ( 28 )   PM ( 29 )   =   - NU * PM ( 28 )   PM ( 29 )   =   GAM1   PM ( 29 )   =   ROK   PM ( 29 ) = NT   PM ( 29 ) = TM0   PM ( 30 ) = ONE / G   PM ( 30 ) = IDF   PM ( 30 )   =   ONE / G   PM ( 30 ) = E00   PM ( 30 )   =   RO0   PM ( 31 ) = ZERO   PM ( 31 )   =   - PSH   +   C0 + C1 * MU +   C3 * MU * * 3 + ( C4 + C5 * MU ) * E0   PM ( 31 )   =   ZERO   !   C0   PM ( 31 ) =   C0   PM ( 31 ) =   ZERO   PM ( 31 )   =   - PSH   +   C0 + C1 * MU + C2 * MU * * 2 + C3 * MU * * 3 + ( C4 + C5 * MU ) * E0   PM ( 31 ) = C0   PM ( 31 )   =   P0 + PSHIFT   PM ( 31 ) = P0   PM ( 31 )   =   C0 - PSH   PM ( 31 )   =   P0   PM ( 31 ) =   C0 - PSH   PM ( 32 )   =   C1   PM ( 32 ) =   RBULK   PM ( 32 ) =   RHOR * C * * 2   PM ( 32 ) = C1   PM ( 32 )   =   RBULK   PM ( 32 )   =   BULK   PM ( 32 ) = BULK   PM ( 32 ) =   C1   PM ( 32 )   =   GS   PM ( 32 )   =   C1   PM ( 33 ) = ZERO   PM ( 33 ) =   C2   PM ( 33 )   =   E11   PM ( 33 ) =   SIGT1   PM ( 33 ) = E11   PM ( 33 ) = C   PM ( 33 ) = C2   PM ( 33 )   =   A   PM ( 33 )   =   FC   PM ( 33 )   =   RE0 / RHO0   PM ( 34 ) = E22   PM ( 34 )   =   E22   PM ( 34 ) =   SIGT2   PM ( 34 ) = ZERO   PM ( 34 )   =   B   PM ( 34 )   =   - HALF * SSP2 / CARL * * 2   PM ( 34 ) = C3   PM ( 34 ) = S   PM ( 34 ) =   C3   PM ( 34 )   =   RT   PM ( 35 ) = PCC   PM ( 35 )   =   RC   PM ( 35 ) = N12   PM ( 35 )   =   N12   PM ( 35 ) = C4   PM ( 35 ) = BUNL   PM ( 35 ) =   C4   PM ( 35 ) = XKL   PM ( 35 )   =   R1   PM ( 35 ) =   SIGT3   PM ( 35 ) = ZERO   PM ( 36 ) = XMUMX   PM ( 36 ) = ZERO   PM ( 36 )   =   N21   PM ( 36 ) =   C5   PM ( 36 ) = N21   PM ( 36 ) = GAM0   PM ( 36 ) = C5   PM ( 36 )   =   RT * ( TWO * RC - RT )   PM ( 36 )   =   R2   PM ( 36 ) = XLAMB   PM ( 36 ) =   EFIB   PM ( 37 ) = - INFINITY   PM ( 37 )   =   G12   PM ( 37 ) =   EPSFT   PM ( 37 )   =   - PSH   PM ( 37 ) =   PMIN   PM ( 37 ) = PMIN   PM ( 37 )   =   ( RC - RT ) * * 2   PM ( 37 )   =   EF   PM ( 37 ) = G12   PM ( 37 )   =   PMIN   PM ( 37 ) = ATOM   PM ( 38 )   =   UPARAM ( 42 )   ! VDET   PM ( 38 ) = G23   PM ( 38 )   =   AA   PM ( 38 )   =   CA   PM ( 38 ) =   EPSFC   PM ( 38 ) = CA   PM ( 38 )   =   D   PM ( 38 ) = A0   PM ( 38 ) =   CA   PM ( 38 )   =   D   PM ( 38 )   =   G23   PM ( 38 ) =   EFIB   PM ( 38 ) = VDET   PM ( 38 )   =   SIG0   PM ( 39 ) = CB   PM ( 39 ) =   ALPHA   PM ( 39 )   =   CB   PM ( 39 ) = G31   PM ( 39 ) = A1   PM ( 39 ) =   CB   PM ( 39 )   =   BC   PM ( 39 )   =   G31   PM ( 39 ) = CE   PM ( 39 )   =   PCJ   PM ( 40 ) = A2   PM ( 40 )   =   BT   PM ( 40 )   =   ONE / TSCAL   PM ( 40 )   =   CN   PM ( 40 )   =   PM ( 1 ) * D * * 2 / PCJ   PM ( 40 )   =   IFLAG   PM ( 40 ) = CN   PM ( 40 ) =   CN   PM ( 40 ) =   D11   PM ( 41 )   =   EPSM   PM ( 41 ) =   D12   PM ( 41 )   =   IBFRAC   PM ( 41 )   =   TIMESCAL   PM ( 41 ) =   EPSM   PM ( 41 ) = AMX   PM ( 41 )   =   AC   PM ( 41 )   =   EP20   !   EPSM   PM ( 41 )   =   WPLAMX   PM ( 41 ) = EPSM   PM ( 41 ) = WPLAMX   PM ( 42 )   =   QOPT   PM ( 42 ) = IOFF   PM ( 42 ) = SIGM   PM ( 42 ) =   D13   PM ( 42 )   =   IOFF   PM ( 42 )   =   TSCAL   PM ( 42 ) = FAC _ Y   PM ( 42 )   =   SIGM   PM ( 42 )   =   FT * FC / YMC   PM ( 42 ) =   SIGM   PM ( 43 ) = CC   PM ( 43 ) = CM   PM ( 43 )   =   HBP   PM ( 43 )   =   C0   PM ( 43 ) =   CC   PM ( 43 ) =   D22   PM ( 43 )   =   CB1   PM ( 43 )   =   CC   PM ( 43 ) = PEXT   PM ( 43 )   =   ESCAL   PM ( 44 ) = EPS0   PM ( 44 )   =   DE   PM ( 44 ) = PSTAR   PM ( 44 )   =   EPS0   PM ( 44 ) =   D23   PM ( 44 )   =   CB2   PM ( 44 ) = DE   PM ( 44 )   =   KSCAL   PM ( 44 )   =   BULK   PM ( 44 )   =   RCOMP   PM ( 44 )   =   ALI   PM ( 44 ) =   EPS0   PM ( 45 )   =   W   PM ( 45 )   =   ALF   PM ( 45 )   =   CH   PM ( 45 ) = BUNL   PM ( 45 ) =   CM   PM ( 45 ) =   D33   PM ( 45 ) = EPSL   PM ( 45 ) = CM   PM ( 45 ) = A11   PM ( 46 )   =   TMELT   PM ( 46 ) = CB   PM ( 46 ) = SSL   PM ( 46 ) = XMUMX   PM ( 46 ) =   G12   PM ( 46 ) = A22   PM ( 46 ) = TMELT   PM ( 46 ) =   TMELT   PM ( 46 )   =   CB   PM ( 46 )   =   VKY   PM ( 46 ) = HL   PM ( 47 ) = TMAX   PM ( 47 ) = A * AK   PM ( 47 ) = CN   PM ( 47 ) = ZERO   !   MUMIN   PM ( 47 )   =   CN   PM ( 47 )   =   EPSMAX   PM ( 47 ) =   TMAX   PM ( 47 ) = YLDL   PM ( 47 ) = A1122   PM ( 47 ) =   G23   PM ( 48 ) = E   PM ( 48 ) = A   PM ( 48 ) =   G31   PM ( 48 ) = A12   PM ( 48 ) = IFORM   PM ( 48 ) = NR   PM ( 48 ) = CS   PM ( 48 ) = EL   PM ( 48 )   =   HV0   PM ( 49 ) = A   PM ( 49 )   =   EXPO   PM ( 49 ) = FMAX   PM ( 49 ) = GAM0M   PM ( 49 )   =   ICC   PM ( 49 ) = ICC   PM ( 49 ) =   SSP   PM ( 49 )   =   FMAX   PM ( 49 ) = C0   PM ( 49 ) = NT   PM ( 50 ) = AM   PM ( 50 ) = B   PM ( 50 ) = ZERO   PM ( 50 )   =   YMS   PM ( 50 ) = IDF   PM ( 50 ) = CC   PM ( 50 )   =   ITYP   PM ( 50 ) = ONE   PM ( 51 ) = SIG   PM ( 51 ) = MT   PM ( 51 ) = EPS0   PM ( 51 )   =   Y0S   PM ( 51 )   =   INOD   !   USR2SYS   APRES   FSDCOD ,   IF ( IFORM8 = = 2 )   INOD = USR2SYS ( INOD , ITABM1 , MESS )   PM ( 51 ) = GAME   PM ( 51 ) = C3   PM ( 51 ) = YP1   PM ( 52 ) = GP   PM ( 52 ) = ONEP414 * PM ( 17 ) * PM ( 1 ) * SSP   PM ( 52 ) = ICC   PM ( 52 ) = C4   PM ( 52 ) = TM   PM ( 52 ) = XKMAX   PM ( 52 )   =   ONEP414 * MU * PM ( 1 ) * SDSP   PM ( 52 ) = ONEP414 * AMU * PM ( 1 ) * SDSP   PM ( 52 )   =   ETS   PM ( 53 ) = ICC   PM ( 53 ) = F1   PM ( 53 ) = ONE / CP   PM ( 53 ) = DSP   PM ( 53 )   =   ARM1   PM ( 53 )   =   AREAMIN1   PM ( 53 ) = ZERO   PM ( 54 ) = E0H   PM ( 54 ) = F2   PM ( 54 )   =   ARM2   PM ( 54 )   =   ZERO   PM ( 54 ) = F1   PM ( 54 )   =   ONE   /   ( AREAMIN2 - AREAMIN1 )   PM ( 54 ) = TI   PM ( 55 ) = FISOKIN   PM ( 55 ) = RP3   PM ( 55 ) = F3   PM ( 55 ) = F2   PM ( 55 )   =   ARM3   PM ( 56 ) = F4   PM ( 56 )   =   ONE   !   PM ( 56 )   =   POROSITY   PM ( 56 ) = VJ   PM ( 56 ) = F11   PM ( 57 ) = F5   PM ( 57 ) = C1   PM ( 57 )   =   ICAP + EM01   PM ( 57 ) = F22   PM ( 58 ) = C2   PM ( 58 ) = F33   PM ( 58 ) = F6   PM ( 58 )   =   ONE - HVFAC   PM ( 59 ) = F11   PM ( 59 )   =   ZERO   !   PM ( 59 ) = F12   PM ( 59 ) = F1   PM ( 59 ) = C3   PM ( 59 ) = ALPHA   PM ( 60 ) = F22   PM ( 60 ) =   BETA   PM ( 60 ) = EPST1   PM ( 60 ) = D1   PM ( 60 )   =   EPST1   PM ( 60 ) = F2   PM ( 61 ) =   TMAX   PM ( 61 ) = ALPHAP   PM ( 61 )   =   EPST2   PM ( 61 ) = EPST2   PM ( 61 ) = F33   PM ( 61 ) = F4   PM ( 62 ) = F5   PM ( 62 ) = F44   PM ( 62 ) = EPSM1   PM ( 62 )   =   EPSM1   PM ( 63 ) = F11   PM ( 63 ) = EPSM2   PM ( 63 ) = F55   PM ( 63 )   =   EPSM2   PM ( 64 )   =   DMAX1   PM ( 64 ) = F22   PM ( 64 ) = DMAX   PM ( 64 ) = F66   PM ( 65 ) = SHRDAM   PM ( 65 )   =   DMAX2   PM ( 65 ) = F12   PM ( 65 ) = F44   PM ( 66 )   =   EPSF1   PM ( 66 ) =   F23   PM ( 66 ) = SHRMAX   PM ( 66 ) = F55   PM ( 67 ) =   F13   PM ( 67 ) = SHRDMAX   PM ( 67 ) = F12   PM ( 67 )   =   EPSF2   PM ( 68 ) = WPLAREF   PM ( 68 ) = F23   PM ( 69 ) = SPH   PM ( 69 )   =   SPH   PM ( 69 )   =   RCP   PM ( 69 ) = C11   PM ( 70 ) = ZERO   PM ( 71 )   =   JTHE + EM01   PM ( 72 )   =   ZERO   PM ( 72 ) = ZERO   PM ( 73 ) = C22   PM ( 73 ) = C11   PM ( 74 ) = C33   PM ( 74 ) = C22   PM ( 75 )   =   AS   PM ( 75 ) = C12   PM ( 75 ) = C33   PM ( 76 ) = C23   PM ( 76 )   =   BS   PM ( 76 ) = C12   PM ( 77 ) = C13   PM ( 77 ) = C23   PM ( 77 )   =   CF   PM ( 78 )   =   T0   PM ( 78 ) = C13   PM ( 78 ) = DELTA   PM ( 79 )   =   T0   PM ( 79 )   =   T0   PM ( 79 ) = T0   PM ( 79 ) = DELTA   PM ( 79 ) = THREE100   PM ( 80 )   =   TMELT   PM ( 80 ) = INFINITY   PM ( 80 )   =   INFINITY   PM ( 80 ) = TMELT   PM ( 80 ) =   TMELT   PM ( 80 )   =   EP30   PM ( 81 )   =   CTM   PM ( 81 ) = CTM   PM ( 81 ) =   SIGT1   PM ( 82 ) =   SIGT2   PM ( 82 ) = CT1   PM ( 83 ) = CT2   PM ( 83 ) =   SIGT3   PM ( 84 ) = CT3   PM ( 84 ) =   EPSFT   PM ( 85 )   =   SK   PM ( 85 ) =   EPSFC   PM ( 85 ) = SK   PM ( 86 ) = SE   PM ( 86 )   =   SE   PM ( 87 )   =   RK0 / RHO0   PM ( 87 ) = RK0 / RHO0   PM ( 88 ) =   ZERO   PM ( 88 )   =   PSH   PM ( 88 ) = PSH   PM ( 88 ) =   PSH   PM ( 89 ) = RHO0   PM ( 89 )   =   RHO0   PM ( 89 )   =   RHO0   PM ( 89 )   = RHO0   PM ( 89 )   =   RHO0   PM ( 89 ) =   RHO0   PM ( 91 )   =   RHO10   PM ( 91 ) = MAXVAL ( RHO0 _ ( 1 : 4 ) )   PM ( 95 ) = RPR   PM ( 95 )   =   RPR   PM ( 97 )   =   RHOC   PM ( 98 )   =   ALP0   PM ( 98 ) = EPSF1   PM ( 98 ) = WPLAREF   PM ( 99 )   =   DC + ONE   PM ( 99 ) = EPSF2   PM ( 100 )   =   BULK   PM ( 100 )   =   RBULK   PM ( 100 )   =   RBULK   ! PARMAT ( 1 )   PM ( 100 ) =   E   PM ( 100 ) =   C1   PM ( 100 )   =   PARMAT ( 1 )   PM ( 100 ) =   PARMAT ( 1 )   PM ( 100 ) =   BULK   PM ( 104 )   =   P0 + PSHIFT   PM ( 104 ) = C0   -   PSH   PM ( 104 ) = C0   PM ( 104 ) = P0   PM ( 104 )   =   C0 - PSH   PM ( 105 )   =   GS / ( BULK   +   TWO _ THIRD * GS )   PM ( 105 )   =   GS / ( RBULK   +   TWO _ THIRD * G )   PM ( 105 )   =   DMIN / DMAX / DMAX   PM ( 105 )   =   ( ONE   - TWO * ANU ) / ( ONE   -   ANU )   PM ( 105 )   =   (   ONE   - TWO * ANU ) / ( ONE   -   ANU )   PM ( 105 )   = DMIN / C1 * * 2   PM ( 105 ) =   TWO * PM ( 22 ) / ( BULK + FOUR _ OVER _ 3 * PM ( 22 ) )   !   = ( 1 - 2 * Nuc ) / ( 1 - Nuc )   PM ( 105 )   =   TWO * G / ( C1 + FOUR _ OVER _ 3 * G )   !   = ( 1 - 2 * Nu ) / ( 1 - Nu )   PM ( 105 )   =   ( ONE   - TWO * ANU ) / ( ONE   -   ANU )   PM ( 105 )   =   TWO * G0 / ( BULK + FOUR _ OVER _ 3 * G0 )   !   = ( 1 - 2 * Nu ) / ( 1 - Nu )   PM ( 105 )   =   ( ONE   - TWO * ANU ) / ( ONE   -   ANU )   !   TWO * G / ( BULK   +   FOUR _ OVER _ 3 * G )   PM ( 105 )   =   TWO * G / ( C1 + FOUR _ OVER _ 3 * G )   PM ( 105 )   =   TWO * GS / ( RBULK   +   FOUR _ OVER _ 3 * GS )   PM ( 105 )   = MIN ( D11 * D22 - D12 * * 2 , D22 * D33 - D23 * * 2 , D11 * D33 - D13 * * 2 ) / C1 * * 2   PM ( 141 ) = SIGYT1   PM ( 141 ) =   SIGYT1   PM ( 142 ) = CBT1   PM ( 142 ) =   SIGYT2   PM ( 143 ) =   SIGYC1   PM ( 143 ) = CNT1   PM ( 144 ) =   SIGYC2   PM ( 144 ) = SIGMXT1   PM ( 145 ) =   SIGYT12   PM ( 145 ) = CCT1   PM ( 146 ) =   SIGYC12   PM ( 146 ) = SIGYT2   PM ( 147 )   =   IFLAG   PM ( 147 ) = CBT2   PM ( 148 )   =   S1   PM ( 148 ) = CNT2   PM ( 149 ) = SIGMXT2   PM ( 149 )   =   S2   PM ( 150 )   =   C11   PM ( 150 ) = CCT2   PM ( 151 ) = SIGYC1   PM ( 151 )   =   C22   PM ( 152 ) = CBC1   PM ( 152 )   = S12   PM ( 153 ) = CNC1   PM ( 154 ) = SIGMXC1   PM ( 155 ) = CCC1   PM ( 156 ) = SIGYC2   PM ( 157 ) = CBC2   PM ( 158 ) = CNC2   PM ( 159 ) = SIGMXC2   PM ( 160 ) = CCC2   PM ( 160 )   =   EADD   PM ( 161 ) = SIGYT12   PM ( 161 )   =   TBEGIN   PM ( 162 ) = CBT12   PM ( 162 )   =   TEND   PM ( 163 )   =   REACTION _ RATE   PM ( 163 ) = CNT12   PM ( 164 ) = SIGMXT12   PM ( 164 )   =   A _ MIL   PM ( 165 ) = CCT12   PM ( 165 )   =   M _ MIL   PM ( 166 ) = EPS1T1   PM ( 166 )   =   N _ MIL   PM ( 167 ) = EPS2T1   PM ( 167 )   =   REACTION _ RATE2   PM ( 168 ) = SIGRST1   PM ( 168 )   =   ALPHA _ UNIT   PM ( 169 ) = WPLAMXT1   PM ( 170 ) = EPS1T2   PM ( 171 ) = EPS2T2   PM ( 172 ) = SIGRST2   PM ( 173 ) = WPLAMXT2   PM ( 174 ) = EPS1C1   PM ( 175 ) = EPS2C1   PM ( 176 ) = SIGRSC1   PM ( 177 ) = WPLAMXC1   PM ( 178 ) = EPS1C2   PM ( 179 ) = EPS2C2   PM ( 180 ) = SIGRSC2   PM ( 181 ) = WPLAMXC2   PM ( 182 ) = EPS1T12   PM ( 183 ) = EPS2T12   PM ( 184 ) = SIGRST12   PM ( 185 ) = WPLAMXT12   PM ( 186 )   =   E33   PM ( 187 )   =   IYEILD   PM ( 188 )   =   RATIO   PM ( 189 )   =   IMODWP   PM ( 191 )   =   XK   PM ( 192 )   =   XK   PM ( 192 )   =   RHOA   PM ( 193 )   =   FRAC   PM ( 193 )   =   XK   PM ( 194 )   =   AA   PM ( 195 )   =   BB   PM ( 196 )   =   TAUX   PM ( 197 )   =   KK   PM ( 198 )   =   ICLOS   PM ( 199 )   =   RHOEXT   PM ( 200 )   =   EINT _ EXT   PM ( 201 )   =   INCGAS","title":"use   OpenRadioss   linux"},{"location":"OpenRadioss/use_OpenRadioss_linux/#linux-openradioss","text":"","title":"Linux   \u4e0b   OpenRadioss   \u7684 \u7f16\u8bd1"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_1","text":"Ubuntu   20.0 . 4   or   higher   apt - get   update   apt - get   upgrade   apt - get   install   build - essential   apt - get   install   gfortran   apt - get   install   cmake   apt - get   install   perl   apt - get   install   python3   apt - get   install   python - is - python3   apt - get   install   git - lfs   apt - get   install   openmpi - bin   openmpi - doc   libopenmpi - dev   apt - get   install   paraview   \u63a8\u8350 \u7248\u672c \u4e3a gcc - 11 ,   g ++- 11 ,   gfortran - 11 \u3002 paraview   \u7528\u4e8e \u540e\u671f \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002","title":"\u73af\u5883"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_2","text":"","title":"\u7f16\u8bd1 \u6307\u4ee4"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_3","text":"LFS :   git   lfs   install   \u8fd0\u884c ( \u8fd9\u91cc \u9700\u8981 \u5148 \u7ed1\u5b9a SSH   key )   git   clone   git @ github . com : OpenRadioss / OpenRadioss . git   .","title":"\u83b7\u53d6 \u6e90\u7801"},{"location":"OpenRadioss/use_OpenRadioss_linux/#openradioss-starter","text":"\u8fdb\u5165   OpenRadioss / starter   \u76ee\u5f55   cd   OpenRadioss / starter   \u8fd0\u884c   build _ script . sh   . / build _ script . sh   - arch = linux64 _ gf   . / build _ script . sh   \u53c2\u6570 :   [ ] $   . / build _ script . sh   build _ script   ------------   Use   with   arguments   :   - arch = [ build   architecture ]   - arch = linux64 _ gf   ( SMP   executable   /   Gfortran   compiler )   - prec = [ dp | sp ]   :   set   precision   -   dp   ( default )   | sp   - static - link   :   Fortran ,   C   &   C++   runtime   are   linked   in   binary   - debug = [ 0 | 1 ]   :   debug   version   0   no   debug   flags   ( default ) ,   1   usual   debug   flag   - addflag = \" list   of   additionnal   flags \"   :   add   compiler   flags   to   usual   set   Execution   control   - nt = [ threads ]   :   number   of   threads   for   build   - verbose   :   Verbose   build   - clean   :   clean   build   directory","title":"OpenRadioss   Starter"},{"location":"OpenRadioss/use_OpenRadioss_linux/#openradioss-engine","text":"\u8fdb\u5165   OpenRadioss / engine   \u76ee\u5f55   \u8fd0\u884c   build _ script . sh   . / build _ script . sh   - arch = linux64 _ gf   - mpi = ompi   . / build _ script . sh   \u53c2\u6570 :   [ ] $   . / build _ script . sh   build _ script   ------------   Use   with   arguments   :   - arch = [ build   architecture ]   - arch = linux64 _ gf   ( SMP   executable   /   Gfortran   compiler )   - arch = linux64 _ gf   - mpi = ompi   ( OpenMPI   executable   /   Gfortran   compiler )   MPI   libraries   - mpi = [ mpi ]   not   set   :   SMP   ( default )   - mpi = ompi   :   OpenMPI   Controling   MPI   Libraries   -   if   need   choose   one   of   the   3   Option   Set   If   no   options   set ,   recommended   OpenMPI   directories   are   uses   ( default )   1 .   - mpi - os   :   link   with   default   MPI   version   installed   on   system   libraries   are   in   default   installation   2 .   - mpi - root = [ directory ]   :   set   rootname   to   link   with   specific   MPI   installation   3 .   - mpi - include = [ directory ]   :   set   include   directory   where   to   find   mpif . h   and   mpi . h   - mpi - libdir = [ directory ]   :   set   library   directory   where   to   find   mpi   libraries   Other   control   - prec = [ dp | sp ]   :   set   precision   -   dp   ( default )   | sp   - static - link   :   Fortran ,   C   &   C++   runtime   are   linked   in   binary   - debug = [ 0 | 1 ]   :   debug   version   0   no   debug   flags   ( default ) ,   1   usual   debug   flag   - addflag = \" list   of   additionnal   flags \"   :   add   compiler   flags   to   usual   set   Build   control   - nt = [ threads ]   :   number   of   threads   for   build   - verbose   :   Verbose   build   - clean   :   clean   build   directory   MUMPS   linear   solver :   available   only   for   dp ,   with   mpi \"   - mumps _ root = [ path _ to _ mumps ]   :   path _ to _ mumps / lib / libdmumps . a   must   exist   - scalapack _ root = [ path   to   scalapack ]   :   path _ to _ scalapack / libscalapack . a   must   exist   - lapack _ root = [ path   to   lapack ]   :   path _ to _ lapack / liblapack . a   must   exist","title":"OpenRadioss   Engine"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_4","text":"cd   starter   . / build _ script . sh   - arch = linux64 _ gf   cd   .. / engine   . / build _ script . sh   - arch = linux64 _ gf   - mpi = ompi","title":"\u81ea\u52a8\u5316 \u811a\u672c \uff08 \u5f85\u5b9a \uff09"},{"location":"OpenRadioss/use_OpenRadioss_linux/#openradioss","text":"","title":"OpenRadioss   \u7684 \u4f7f\u7528"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_5","text":"gmsh   \u4f7f\u7528   Gmsh   \u7684 \u7ba1\u5b50 \u63a5\u89e6 \u6559\u7a0b   \u4f7f\u7528   Gmsh   \u7684 \u62c9\u4f38 \u6d4b\u8bd5 \u793a\u4f8b \u6559\u7a0b   Hypermesh   lsprepost   ( * )","title":"\u524d \u5904\u7406"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_6","text":"","title":"\u8ba1\u7b97"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_7","text":"ParaView   vtk \u8f6c fbx   \uff0c \u7136\u540e \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u4e2d \u3002","title":"\u540e\u5904\u7406"},{"location":"OpenRadioss/use_OpenRadioss_linux/#lsdyna","text":"","title":"\u4f7f\u7528   LSDYNA   \u683c\u5f0f \u8f93\u5165"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_8","text":"\u6d4b\u8bd5 \u4f8b\u5b50 \u662f   \u62c9\u4f38 \u4eff\u771f   \u3002","title":"\u6d4b\u8bd5 \u5b9e\u4f8b"},{"location":"OpenRadioss/use_OpenRadioss_linux/#bash","text":"myjobname = $ ( echo   \" $ 1 \"   )   echo   $ myjobname   \" running   in   OpenRadioss \"   export   OMP _ STACKSIZE = 400m   export   OMP _ NUM _ THREADS = 8   . / starter _ linux64 _ gf   - i   \" .. / source / \" $ myjobname \" . k \"   - np   $ 2   - outfile = \" .. / output \"   #. / starter _ linux64 _ gf   - i   $ myjobname \" . k \"   - np   $ 2   - nt   4   #   \u8fd9\u91cc \u662f \u627e\u5230 source \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u7684 \uff0c LS - DYNA   \u683c\u5f0f \u6587\u4ef6 \u683c\u5f0f\u6587\u4ef6 \uff08 . k \uff09 \u5e76 \u5c06 \u5176 \u4f20\u9012 \u7ed9 starter   \u8fdb\u884c \u8ba1\u7b97 \u3002   mpiexec   - n   $ 2   -- map - by   socket : PE = $ OMP _ NUM _ THREADS   -- bind - to   core   . / engine _ linux64 _ gf _ ompi   - i   \" .. / bin / \" $ myjobname \" _ 0001 . rad \"   - outfile = \" .. / output \"   # mpiexec   - n   $ 2   . engine _ linux64 _ gf _ ompi   - i   $ myjobname \" _ 0001 . rad \"   - nt   1   #   \u5728 \u5904\u7406 . k \u6587\u4ef6 \u65f6 \uff0c starter   \u4f1a \u5728 \u5176 \u76ee\u5f55 \u4e0b \u751f\u6210 \" _ 0001 . rad \" \u6587\u4ef6 \uff0c \u9700\u8981 \u5c06 \u5176 \u4f20\u9012 \u7ed9   engine   BASEDIR = $ ( dirname   \" $ 0 \" )   for   file   in   .. / output / * ;   do   if   [   - n   \" $ { file :   - 3 } \"   ]   &&   [   \" $ { file :   - 3 } \"   - eq   \" $ { file :   - 3 } \"   ]   2 > / dev / null   &&   [ [   \" $ { file :   - 4 : 1 } \"   = =   \" A \"   ] ] ;   then   . / anim _ to _ vtk _ linux64 _ gf   $ file   >   \" $ file . vtk \"   echo   \" $ file   is   converted \"   #   anim   \u6587\u4ef6 \u8f6c\u5316 \u4e3a   vtk   \u6587\u4ef6   elif   [ [   \" $ { file :   - 3 } \"   = =   \" T01 \"   ] ]   ; then   . / th _ to _ csv _ linux64 _ gf   $ file   CSV = \" $ file . csv \"   #   T01   \u6587\u4ef6 \u8f6c\u5316 \u4e3a   csv   \u6587\u4ef6   fi   done   cd   .. / output /   # paraview   $ myjobname \" A .. vtk \"   $ CSV   paraview   $ myjobname \" A .. vtk \"   $ CSV   exit   \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u8f93\u5165   bash   process _ k . sh   zug _ test3 _ RS   1   \u5373\u53ef \u3002 \u5176\u4e2d   process _ k . sh   \u662f \u811a\u672c \u540d\u5b57 \uff0c   zug _ test3 _ RS   \u662f \u6a21\u578b \u540d\u5b57 \uff0c   1   \u662f \u5e76\u884c \u8fdb\u7a0b \u6570 \u3002","title":"bash   \u811a\u672c"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_9","text":"","title":"\u8fd0\u884c \u7ed3\u679c"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_10","text":"\u5728 \u4f7f\u7528 Openadioss   \u5904\u7406 LS - DYNA   \u683c\u5f0f \u7684 \u6587\u4ef6 \u65f6 \uff0c \u9700\u8981   . k   \u6587\u4ef6 \u3002 \u8fd9\u4e2a \u6587\u4ef6 \u5176\u5b9e \u662f \u53ef\u4ee5 \u76f4\u63a5 \u653e\u5728 LS - DYNA   \u4e0a \u8fdb\u884c \u8ba1\u7b97 \u7684 \u3002 \u8fd9\u91cc \u63d0\u4f9b \u4e86 \u4e00\u79cd \u5176\u4ed6 \u7684 \u8ba1\u7b97 \u65b9\u5f0f \u2014 \u2014 \u4f7f\u7528 OpenRadioss \u3002","title":"\u603b\u7ed3"},{"location":"OpenRadioss/use_OpenRadioss_linux/#to-do","text":"\u9700\u8981 \u9a8c\u8bc1 \u8ba1\u7b97 \u7684 \u6b63\u786e \u6b63\u786e\u6027 \uff1a \u4e5f \u5c31\u662f \u4f7f\u7528 LS - DYNA \u8ba1\u7b97 \u540c\u6837 \u7684 \u4f8b\u5b50 \uff0c \u89c2\u5bdf \u8ba1\u7b97 \u7ed3\u679c \u8ba1\u7b97\u7ed3\u679c \u662f\u5426 \u6709 \u51fa\u5165 \u3002   LS - DYNA   \u662f \u5546\u4e1a \u8f6f\u4ef6 \u5546\u4e1a\u8f6f\u4ef6 \uff0c \u80fd \u627e\u5230 \u7684 \u8f6f\u4ef6 \u4e0d \u652f\u6301   Ubuntu   \u7cfb\u7edf \u3002   \u53ef\u4ee5 \u5728 windows   \u4e0b \u4eff\u771f \uff0c \u5c06 \u7ed3\u679c \u548c \u8fdb\u884c \u5bf9\u6bd4 \u3002   \u5982\u4f55 \u8861\u91cf \u8bef\u5dee   \u8fd9 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u6709 \u5f88\u591a \u9700\u8981 \u8003\u8651 \u7684 \uff0c \u6bd4\u5982 \u6bc1\u4f24 \u9762\u79ef \u3001 \u6bc1\u4f24 \u6df1\u5ea6 \u3002","title":"To   Do"},{"location":"OpenRadioss/use_OpenRadioss_linux/#openradioss_1","text":"\u6ca1\u6709 \u6743\u9650 \u3002 \u3002 \u3002   =   =","title":"\u5728 \u670d\u52a1\u5668 \u4e0a \u8fd0\u884c   OpenRadioss"},{"location":"OpenRadioss/use_OpenRadioss_linux/#openradioss_2","text":"","title":"OpenRadioss   \u4e8c\u6b21\u5f00\u53d1"},{"location":"OpenRadioss/use_OpenRadioss_linux/#read_material_modelsf","text":"\u8fd9 \u6bb5 \u4ee3\u7801 \u5b9a\u4e49 \u4e86 \u4e00\u4e2a   Fortran   \u7684 \u7a0b\u5e8f \u5b50\u7a0b\u5e8f   READ _ MATERIAL _ MODELS \uff0c \u5176 \u4e3b\u8981 \u529f\u80fd \u662f \u7ba1\u7406 \u4e0e \u6750\u6599 \u6a21\u578b \u76f8\u5173 \u7684 \u8bfb\u53d6 \u8bfb\u53d6\u5668 \uff0c \u5305\u62ec \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   \u6750\u6599 \u672c\u6784 \u5b9a\u5f8b \uff08 Constitutive   Laws \uff09 \uff1a / MAT   \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \uff08 Equations   of   State \uff09 \uff1a / EOS   \u5931\u6548 \u6a21\u578b \uff08 Failure   models \uff09 \uff1a / FAIL   \u7c98\u6027 \u6a21\u578b \uff08 Viscosity \uff09 \uff1a / VISC   \u70ed \u53c2\u6570 \uff08 Thermal   parameters \uff09 \uff1a / HEAT   \u8be5 \u7a0b\u5e8f \u5b50\u7a0b\u5e8f \u7684 \u8f93\u5165 \u5305\u62ec \uff1a   MAT _ ELEM \uff1a \u6750\u6599 \u5143\u7d20 \u7684 \u53c2\u6570   MLAW _ TAG \uff1a \u6750\u6599 \u672c\u6784 \u5b9a\u5f8b \u7684 \u6807\u7b7e   FAIL _ TAG \uff1a \u5931\u6548 \u6a21\u578b \u7684 \u6807\u7b7e   VISC _ TAG \uff1a \u7c98\u6027 \u6a21\u578b \u7684 \u6807\u7b7e   EOS _ TAG \uff1a \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \u7684 \u6807\u7b7e   BUFMAT \uff1a \u6750\u6599 \u6570\u636e \u7684 \u7f13\u5b58 \u533a   BUFLEN \uff1a \u7f13\u5b58 \u533a \u7684 \u957f\u5ea6   IPM \uff1a \u6750\u6599 \u53c2\u6570 \u7684 \u6574\u578b \u6570\u7ec4   PM \uff1a \u6750\u6599 \u53c2\u6570 \u7684 \u5b9e\u578b \u6570\u7ec4   UNITAB \uff1a \u5355\u4f4d \u5236\u8868   MULTI _ FVM \uff1a \u591a\u91cd \u6709\u9650 \u4f53\u79ef \u6cd5 \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784   MAXEOS \uff1a \u6700\u5927 \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \u6570   FAILWAVE \uff1a \u5931\u6548 \u6ce2 \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784   NLOC _ DMG \uff1a \u975e \u5c40\u90e8 \u635f\u4f24 \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784   LSUBMODEL \uff1a \u5b50 \u6a21\u578b \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784   TABLE \uff1a \u8868 \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784   NPC \uff1a \u6570\u7ec4   NPC   \u8be5 \u7a0b\u5e8f \u5b50\u7a0b\u5e8f \u7684 \u8f93\u51fa \u5305\u62ec \uff1a   MAT _ ELEM \uff1a \u6750\u6599 \u5143\u7d20 \u7684 \u53c2\u6570   MLAW _ TAG \uff1a \u6750\u6599 \u672c\u6784 \u5b9a\u5f8b \u7684 \u6807\u7b7e   FAIL _ TAG \uff1a \u5931\u6548 \u6a21\u578b \u7684 \u6807\u7b7e   VISC _ TAG \uff1a \u7c98\u6027 \u6a21\u578b \u7684 \u6807\u7b7e   EOS _ TAG \uff1a \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \u7684 \u6807\u7b7e   \u8be5 \u7a0b\u5e8f \u5b50\u7a0b\u5e8f \u8fd8 \u8c03\u7528 \u4e86 \u5176\u4ed6 \u4e00\u4e9b \u7a0b\u5e8f \u5b50\u7a0b\u5e8f \uff0c \u4f8b\u5982   HM _ READ _ MAT \u3001 HM _ READ _ EOS \u3001 HM _ READ _ FAIL \u3001 HM _ READ _ VISC \u3001 HM _ READ _ LEAK \u3001 READ _ ALE _ MAT \u3001 READ _ EULER _ MAT \u3001 FILL _ BUFFER _ 51 _ 0 \u3001 HM _ READ _ THERM \u3001 HM _ READ _ THERM _ STRESS   \u548c   HM _ READ _ NONLOCAL   \u7b49 \uff0c \u7528\u4e8e \u8bfb\u53d6 \u4e0d\u540c \u7c7b\u578b \u7684 \u6750\u6599 \u6a21\u578b \u6570\u636e \u3002   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u8003\u8651 \u5206\u6790   HM _ READ _ MAT   \u7a0b\u5e8f \uff0c \u5206\u6790 \u8f6f\u4ef6 \u662f \u5982\u4f55 \u4f5c \u7684 \u3002","title":"READ _ MATERIAL _ MODELS . F"},{"location":"OpenRadioss/use_OpenRadioss_linux/#hm_read_matf","text":"\u8fd9\u662f \u7528\u4e8e \u8bfb\u53d6 \u6709\u9650 \u6709\u9650\u5143 \u5206\u6790 \u8f6f\u4ef6 \u4e2d \u7684 \u6750\u6599 \u6a21\u578b \u5b9a\u4e49 \u7684 \u4ee3\u7801 \u3002   \u5b83 \u5b9a\u4e49 \u4e86 \u9605\u8bfb \u6750\u6599 \u6a21\u578b \u6240 \u9700 \u7684 \u5404\u79cd \u6a21\u5757 \u3001 \u53c2\u6570 \u548c \u516c\u5171 \u5757 \u3002 \u5176\u4e2d \u5305\u62ec \u6750\u6599 \u5b9a\u5f8b \u6807\u7b7e \u3001 \u6750\u6599 \u53c2\u6570 \u3001 \u5355\u4f4d \u7b49 \u3002   \u4e3b \u4f8b\u7a0b \u662f HM _ READ _ MAT \u3002 \u5b83 \u5faa\u73af \u904d\u5386 \u6a21\u578b \u4e2d \u5b9a\u4e49 \u7684 \u6bcf\u79cd \u6750\u6599   ( HM _ NUMMAT ) \u3002   \u5bf9\u4e8e \u6bcf\u79cd \u6750\u6599 \uff0c \u5b83 \u6839\u636e \u6750\u6599 \u5b9a\u5f8b \u5173\u952e \u5173\u952e\u5b57 \uff08 MAT00 \u3001 MAT01   \u7b49 \uff09 \u8c03\u7528 \u7279\u5b9a \u7684 \u8bfb\u53d6 \u4f8b\u7a0b \u3002 \u8fd9\u4e9b \u8bfb\u53d6 \u4f8b\u7a0b \u4f4d\u4e8e   mat   \u5b50\u76ee \u76ee\u5f55 \u5b50\u76ee\u5f55 \u4e2d \u7684 \u5355\u72ec \u6587\u4ef6 \u4e2d \u3002   \u8bfb\u53d6 \u4f8b\u7a0b \u89e3\u6790 \u8f93\u5165 \u3001 \u586b\u5145 \u6750\u6599 \u53c2\u6570 \u6570\u7ec4 \u3001 \u8bbe\u7f6e \u6750\u6599 \u6240 \u9700 \u6570\u636e \u7684 \u6807\u5fd7 \uff0c \u5e76 \u5b58\u50a8 \u6750\u6599   ID \u3001 \u5b9a\u5f8b \u7c7b\u578b \u3001 \u5e94\u53d8 \u7387 \u8bbe\u7f6e \u7b49 \u5185\u5bb9 \u3002   \u8bfb\u53d6 \u6750\u6599 \u540e \uff0c \u5b83\u4f1a \u8fdb\u884c \u4e00\u4e9b \u5904\u7406 \u540e\u5904\u7406 \uff0c \u4f8b\u5982 \u8ba1\u7b97 \u6d3e\u751f \u503c \uff08 \u526a\u5207 \u6a21\u91cf \u526a\u5207\u6a21\u91cf \uff09 \u3001 \u68c0\u67e5 \u91cd\u590d   ID   \u4ee5\u53ca \u8ba1\u7b97 \u8f93\u51fa \u6240 \u9700 \u6570\u91cf \u7684 \u5e73\u65b9 \u65b9\u6839 \u5e73\u65b9\u6839 \u3002   \u6bcf\u79cd \u6750\u6599 \u7684 \u5c5e\u6027 \u5b58\u50a8 \u5728   MAT _ PARAM   \u6570\u7ec4 \u548c \u5404\u79cd \u5176\u4ed6 \u516c\u5171 \u5757 \u4e2d \u3002   \u603b\u4e4b \uff0c \u5b83 \u5faa\u73af \u904d\u5386 \u6750\u6599 \uff0c \u8c03\u7528 \u7279\u5b9a \u4e8e \u5b9a\u5f8b \u7684 \u8bfb\u53d6 \u8bfb\u53d6\u5668 \uff0c \u5e76 \u5c06 \u6240\u6709 \u6750\u6599 \u6570\u636e \u6536\u96c6 \u5230 \u53c2\u6570 \u6570\u7ec4 \u548c \u901a\u7528 \u5757 \u4e2d \uff0c \u4ee5\u4fbf \u7a0d\u540e \u5728   FEA   \u5206\u6790 \u4e2d \u4f7f\u7528 \u3002 \u5173\u952e \u90e8\u5206 \u662f \u6a21\u5757 \u6a21\u5757\u5316 \u6cd5\u5219 \u8bfb\u53d6 \u8bfb\u53d6\u5668 \u548c \u7528\u4e8e \u4fdd\u5b58 \u6750\u6599 \u9053\u5177 \u7684 \u4e2d\u592e   MAT _ PARAM   \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u3002   \u56e0\u6b64 \uff0c \u60f3\u8981 \u5b9a\u4e49 \u5168\u65b0 \u7684 \u6750\u6599 \uff0c \u6240\u8981 \u505a \u7684 \u4e8b\u60c5 \u662f \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 MATxxx \u6587\u4ef6 \u3002","title":"HM _ READ _ MAT . F"},{"location":"OpenRadioss/use_OpenRadioss_linux/#radioss","text":"","title":"Radioss   \u4e2d \u6750\u6599 \u672c\u6784"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_11","text":"Description   Model   Name   Keyword / MAT   Law #   \u7a7a \u6750\u6599   Void   / VOID   0   \u7ebf \u5f39\u6027   Elastic   ( Hooke )   / ELAST   1   \u8d85 \u5f39\u6027   Tabulated   Hyperelastic   n / a   69   \u8d85 \u5f39\u6027   Ogden   Formulation   n / a   82   ####   \u5404\u9879 \u540c\u6027 \u5851\u6027 \u5f39\u5851\u6027   LAW   2   /   36   ####   \u5176\u4ed6   ####   \u7206\u70b8   Description   Model   Name   Keyword / MAT   Law #   -----------   -----------   ---   ---   Detonation   driven   Jones   Wilkins   Lee   / JEL   5   Hydrodynamics   Lee - Tarver   / LEE - TARVER   41   Multi - materials   Soild ,   liquid , gas   and   explosives   / MULTIMAT   51   ####   \u5931\u6548 \u6a21\u578b \u2014 \u2014 / FAIL   / Tuler - Butcher   \u9ad8\u901f \u78b0\u649e \u5931\u6548   ###   \u4f8b\u5b50 \u2014 \u2014 / MAT / LAW1 \u6216 / MAT / ELAST :   \u5f39\u6027 \u6750\u6599   *   LAW1   \u4f7f\u7528 \u80e1\u514b \u5b9a\u5f8b \u80e1\u514b\u5b9a\u5f8b \u5bf9 \u540c\u6027 \u5404\u5411\u540c\u6027 \uff0c \u7ebf \u5f39\u6027 \u6750\u6599 \u8fdb\u884c \u5efa\u6a21   *   \u53ef \u7528\u4e8e \u6746 \uff0c \u6881 \uff0c \u58f3 \u4ee5\u53ca \u5b9e\u4f53 solids   *   \u9002\u7528 \u4e8e \u8fde\u63a5 \u521a\u4f53   *   \u4e0d \u9002\u7528 \u5f62\u53d8 \u5927 \u7684 \u6784\u4ef6   \u5851\u6027 \u5f39\u5851\u6027 \u5e94\u529b \u2014 \u2014 \u5e94\u53d8 \u66f2\u7ebf   \u771f\u5b9e \u5e94\u529b \u5f62\u53d8   *   \u771f\u5b9e \u5e94\u529b \uff1a \u8003\u8651 \u5f53\u524d \u6216 \u771f\u5b9e \u622a\u9762 \u6a2a\u622a\u9762 \u79ef $ A _ { true } $ \u7684 \u5e94\u529b   $ $ \\ sigma _ { true } = \\ frac { P _ x } { A _ { true } } $ $   *   \u5728 \u5851\u6027 \u53d8\u5f62 \u5851\u6027\u53d8\u5f62 \u8303\u56f4 \u5185 \uff0c \u5851\u6027 \u53d8\u5f62 \u5851\u6027\u53d8\u5f62 \u622a\u9762 \u6a2a\u622a\u9762 \u79ef \u6c38\u4e45 \u51cf\u5c0f   *   \u7ee7\u7eed \u4f7f\u7528 \u5de5\u7a0b \u5e94\u529b \u4e0d\u518d \u51c6\u786e   ####   MAT1   \u5b9a\u4e49 \u65b9\u5f0f   \u8fd9\u4e2a \u5173\u952e \u5173\u952e\u8bcd \u7528 \u80e1\u514b \u5b9a\u5f8b \u80e1\u514b\u5b9a\u5f8b \u5b9a\u4e49 \u4e86 \u4e00\u79cd \u540c\u6027 \u5404\u5411\u540c\u6027 \u7684 \u7ebf \u5f39\u6027 \u6750\u6599 \u3002 \u8fd9\u4e2a \u5b9a\u5f8b \u8868\u793a \u5e94\u529b \u548c \u5e94\u53d8 \u4e4b\u95f4 \u7684 \u7ebf\u6027 \u5173\u7cfb \u6027\u5173\u7cfb \u7ebf\u6027\u5173\u7cfb \u3002 \u5b83 \u53ef \u7528\u4e8e \u6841\u67b6 \uff0c \u6881 ( \u4ec5 3 \u578b ) \uff0c \u58f3 \u548c \u5b9e\u4f53 \u5143\u4ef6 \u3002   \u683c\u5f0f   \u5b9a\u4e49   \u4f8b\u5b50   \u539f\u7406 \uff1a   \u8be5 \u6750\u6599 \u9002\u7528 \u4e8e \u7eaf\u7cb9 \u7684 \u5f39\u6027 \u6750\u6599 \u3002 \u6750\u6599 \u7684 \u6027\u80fd \u53ea \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4e24\u4e2a \u56e0\u7d20 \uff1a   \u6a21\u91cf \u6768\u6c0f\u6a21 \u6768\u6c0f\u6a21\u91cf :   $ E $   \u6cca\u677e\u6bd4 :   $ \\ nu $   \u526a\u5207 \u6a21\u91cf \u526a\u5207\u6a21\u91cf :   ( \u53ef \u8ba1\u7b97 )   $ $ G = \\ frac { E } { 2 ( 1 + \\ nu ) } $ $   \u5e94\u529b \u5e94\u53d8 \u5173\u7cfb   $ $ \\ begin { bmatrix }   \\ epsilon _ { 11 } \\   \\ epsilon _ { 22 } \\   \\ epsilon _ { 33 } \\   \\ gamma _ { 23 } \\   \\ gamma _ { 31 } \\   \\ gamma _ { 12 }   \\ end { bmatrix } = \\ frac { 1 } { E }   \\ begin { bmatrix }   1 &- \\ nu &- \\ nu & 0 & 0 & 0 \\   - \\ nu & 1 &- \\ nu & 0 & 0 & 0 \\   - \\ nu &- \\ nu & 1 & 0 & 0 & 0 \\   0 & 0 & 0 & 2 ( 1 + \\ nu ) & 0 & 0 \\   0 & 0 & 0 & 0 & 2 ( 1 + \\ nu ) & 0 \\   0 & 0 & 0 & 0 & 0 & 2 ( 1 + \\ nu )   \\ end { bmatrix }   \\ begin { bmatrix }   \\ sigma _ { 11 } \\   \\ sigma _ { 22 } \\   \\ sigma _ { 33 } \\   \\ sigma _ { 23 } \\   \\ sigma _ { 31 } \\   \\ sigma _ { 12 }   \\ end { bmatrix } $ $   \u5bc6\u5ea6 \u503c \u901a\u5e38 \u7528\u4e8e \u663e\u5f0f \u4eff\u771f \uff0c \u4e5f \u53ef\u4ee5 \u7528\u4e8e \u9759\u6001 \u9690\u5f0f \u4eff\u771f \uff0c \u4ee5\u4fbf \u5728 \u62df \u9759\u6001 \u5206\u6790 \u4e2d \u8fbe\u5230 \u66f4\u597d \u7684 \u6536\u655b \u6536\u655b\u6027 \u3002   \u5f53 \u901a\u8fc7 \u58f3\u4f53 \u539a\u5ea6 \u7684 \u79ef\u5206 \u70b9 \u4e2a\u6570 \u4e0d\u540c \u540c\u4e8e \u4e0d\u540c\u4e8e NP = 1 ( \u819c ) \u65f6 \uff0c \u5bf9 LAW1 \u548c \u58f3 \u5355\u5143 ( / PROP / TYPE1   ( shell ) ) \u91c7\u7528 \u5168\u5c40 \u79ef\u5206 \u5206\u6cd5 \u79ef\u5206\u6cd5 \u3002   \u5931\u6548 \u6a21\u578b \u5728 \u5168\u5c40 \u96c6\u6210 \u7684 \u60c5\u51b5 \u4e0b \u4e0d\u53ef \u7528 \u3002 \u5728 \u8fd9\u4e9b \u60c5\u51b5 \u4e0b \uff0c \u5177\u6709 \u5f88 \u9ad8 \u5c48\u670d \u5e94\u529b \u5c48\u670d\u5e94\u529b \u7684 LAW2 \u548c LAW27 \u53ef\u4ee5 \u4f5c\u4e3a LAW1 \u7684 \u66ff\u4ee3 \u66ff\u4ee3\u54c1 \u3002   ####   MAT1   \u4ee3\u7801 \u89e3\u8bfb   \u603b\u4f53 \u6846\u67b6 \u662f   \u83b7\u53d6 \u8f93\u5165   CALL   HM _ OPTION _ IS _ ENCRYPTED ( IS _ ENCRYPTED )   CALL   HM _ GET _ FLOATV ( ' MAT _ RHO ' ,   RHO0   , IS _ AVAILABLE , LSUBMODEL , UNITAB )   CALL   HM _ GET _ FLOATV ( ' Refer _ Rho ' , RHOR   , IS _ AVAILABLE , LSUBMODEL , UNITAB )   CALL   HM _ GET _ FLOATV ( ' MAT _ E ' ,   YOUNG   , IS _ AVAILABLE , LSUBMODEL , UNITAB )   CALL   HM _ GET _ FLOATV ( ' MAT _ NU ' ,   ANU   , IS _ AVAILABLE , LSUBMODEL , UNITAB )   \u8ba1\u7b97 \u53c2\u6570   IF ( RHOR   = =   ZERO   )   RHOR = RHO0   C   IF   ( YOUNG < = ZERO )   THEN   CALL   ANCMSG ( MSGID = 683 ,   .   MSGTYPE = MSGERROR ,   .   ANMODE = ANINFO ,   .   I1 = ID ,   .   C1 = TITR ,   .   C2 = ' YOUNG ' ' S   MODULUS ' )   ENDIF   IF ( ANU = = HALF ) ANU = ZEP499   C   G = YOUNG / ( TWO   ( ONE + ANU ) )   C0 = ZERO   C1 = YOUNG / ( THREE   ( ONE - TWO   ANU ) )   E0 = ZERO   E1MN2 = YOUNG / ( ONE - ANU   2 )   EN1N2 = ANU   E1MN2   SDSP   = SQRT ( YOUNG / MAX ( RHOR , EM20 ) )   ISRATE   =   0   *   \u4fdd\u5b58 \u53c2\u6570   PM ( 1 )   = RHOR   PM ( 20 ) = YOUNG   PM ( 21 ) = ANU   PM ( 22 ) = G   PM ( 23 ) = E0   PM ( 24 ) = E1MN2   PM ( 25 ) = EN1N2   PM ( 26 ) = FIVE _ OVER _ 6   PM ( 27 ) = SDSP   PM ( 31 ) = C0   PM ( 32 ) = C1   PM ( 89 )   = RHO0   \u5f02\u5e38 \u5904\u7406   c -----------------   CALL   INIT _ MAT _ KEYWORD ( MATPARAM , \" TOTAL \" )   IF   ( ANU   >   0.49 )   THEN   CALL   INIT _ MAT _ KEYWORD ( MATPARAM , \" INCOMPRESSIBLE \" )   ELSE   CALL   INIT _ MAT _ KEYWORD ( MATPARAM , \" COMPRESSIBLE \" )   END   IF   CALL   INIT _ MAT _ KEYWORD ( MATPARAM , \" HOOK \" )   c -----------------   WRITE ( IOUT , 1001 )   TRIM ( TITR ) , ID , 01   WRITE ( IOUT , 1000 )   IF ( IS _ ENCRYPTED ) THEN   WRITE ( IOUT , ' ( 5X , A , / / ) ' ) ' CONFIDENTIAL   DATA '   ELSE   WRITE ( IOUT , 1100 ) RHO0   WRITE ( IOUT , 1300 ) YOUNG , ANU , G   ENDIF   C   IPM ( 252 ) =   2   PM ( 105 )   =   TWO * G / ( C1 + FOUR _ OVER _ 3 * G )   C -----------   \u63a7\u5236 \u8f93\u51fa   C -----------   RETURN   1000   FORMAT (   &   5X , '   ELASTIC   MATERIAL   ( / MAT / LAW01 ) ' , / ,   &   5X , '   ----------------------------- ' )   1001   FORMAT (   &   5X , A , / ,   &   5X , ' MATERIAL   NUMBER   .   .   .   .   .   .   .   .   .   .   .   . = ' , I10 / ,   &   5X , ' MATERIAL   LAW .   .   .   .   .   .   .   .   .   .   .   .   .   . = ' , I10 / )   1100   FORMAT (   &   5X , ' INITIAL   DENSITY   .   .   .   .   .   .   .   .   .   .   .   . = ' , 1PG20.13 / )   1300   FORMAT (   &   5X , ' YOUNG ' ' S   MODULUS   .   .   .   .   .   .   .   .   .   .   .   . = ' , E12.4 / ,   &   5X , ' POISSON ' ' S   RATIO   .   .   .   .   .   .   .   .   .   .   .   . = ' , E12.4 / ,   &   5X , ' SHEAR   MODULUS   .   .   .   .   .   .   .   .   .   .   .   .   . = ' , E12.4 / / )   \u5728 \u6570\u636e \u91cc \u6700 \u91cd\u8981 \u7684 \u662f   PM   \u4ee5\u53ca   IPM   \uff0c \u5206\u522b \u5b58\u50a8 \u4e86 \u6750\u6599 \u53c2\u6570 \u548c \u6750\u6599   ID \u3002 \u4f46\u662f \u6682\u65f6 \u6ca1\u6709 \u76f8\u5173 \u6587\u6863 \u8bf4\u660e \u5176 \u5177\u4f53 \u4f53\u5185 \u5185\u5bb9 \u5177\u4f53\u5185\u5bb9 \u3002 \u63d0\u53d6   mat   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u6240\u6709   PM   \u53d8\u91cf \u7684 \u4fe1\u606f \u6c47\u603b \u5982\u4e0b :   PM ( 1 )   =   RHO0   PM ( 1 )   =   RHOR   PM ( 1 )   =   RHOR   PM ( 01 )   =   RHOR   PM ( 1 )   =   RHOR   PM ( 01 )   =   RHO0   PM ( 01 ) = RHOR   PM ( 1 )   =   RHO0   !   RHOR   PM ( 1 )   =   RHO0   PM ( 1 ) = RHOR   PM ( 1 )   = RHOR   PM ( 1 )   =   RHO0   PM ( 2 )   =   GS   PM ( 8 )   = ISRATE   PM ( 9 )   =   TWO * PI   * FCUT   PM ( 9 )   = FCUT * TWO * PI   PM ( 9 )   =   FCUT * TWO * PI   PM ( 9 )   =   ASRATE   PM ( 12 )   =   SQRT ( MAX ( ZERO ,   G0 ) )   ! done   by   default   in   lecmuser . F   for   law34   PM ( 17 )   =   MU   PM ( 17 )   =   AMU   PM ( 20 ) =   MAX ( E11 , E22 ) / DETC   PM ( 20 )   =   MW   PM ( 20 )   =   STIFF   !   Stiffness   contact   PM ( 20 ) =   CMAX   /   TWO   PM ( 20 )   =   YMC   PM ( 20 ) = NMAT + EM01   PM ( 20 ) =   YOUNG   PM ( 20 )   =   NBMAT   +   EM01   PM ( 20 ) =   MAX ( E11 , E22 , E33 )   PM ( 20 ) = YOUNG   PM ( 20 ) = E   PM ( 20 )   =   MAX ( E11 , E22 ) / DETC   PM ( 20 )   =   YOUNG   PM ( 21 )   =   ANUC   PM ( 21 )   =   ZERO   !   NU   PM ( 21 ) = NU   PM ( 21 ) =   ANU   PM ( 21 ) = ANU   PM ( 21 ) =   NU   PM ( 21 )   =   SQRT ( N12 * N21 )   PM ( 21 )   =   NUG   PM ( 21 )   =   NU   PM ( 21 )   =   CPA   PM ( 21 ) =   THIRD * ( N12 + N31 + N23 )   PM ( 22 )   =   G0   PM ( 22 )   =   YMC / ( TWO * ( ONE + ANUC ) )   PM ( 22 )   =   GS   ! !   TWO * G   PM ( 22 ) = G   PM ( 22 ) =   G   PM ( 22 )   =   STIFF * HALF   !   GMAX   PM ( 22 )   =   CPB   PM ( 22 )   =   G   PM ( 22 ) =   THIRD * ( G12 + G23 + G31 )   PM ( 22 )   =   GS   PM ( 22 )   =   MAX ( G12 , G23 , G31 )   PM ( 23 )   =   YOUNG   PM ( 23 ) =   E0   PM ( 23 )   =   CPC   PM ( 23 )   =   EM01 * STIFFAVG   !   Hourglass   stiffness   for   QEPH   PM ( 23 )   =   E0   PM ( 23 )   =   ZERO   !   E0   PM ( 23 )   =   E0   PM ( 23 ) = E0   PM ( 24 ) =   PM ( 20 )   PM ( 24 )   =   NU   *   YOUNG   /   ( ONE - NU * NU )   PM ( 24 )   =   YOUNG / ( ONE   -   NU * * 2 )   PM ( 24 ) =   CMAX / ( ONE   -   NU * * 2 )   /   TWO   PM ( 24 )   =   PM ( 25 )   +   TWO * PM ( 22 )   PM ( 24 )   =   E1MN2   PM ( 24 )   =   STIFF   !   Stiffness   for   time   step   computation   PM ( 24 ) = D2   PM ( 24 )   =   YOUNG / ( ONE   -   NUG * * 2 )   PM ( 24 ) = E1MN2   PM ( 24 ) = VIS   PM ( 24 )   =   PM ( 20 )   PM ( 24 )   =   CPD   PM ( 25 )   =   GAM   PM ( 25 ) = D3   PM ( 25 ) = NR   PM ( 25 ) = EN1N2   PM ( 25 )   =   CPE   PM ( 25 )   =   YMC * ANUC / ( ONE + ANUC ) / ( ONE - TWO * ANUC )   PM ( 25 ) =   1 .   PM ( 25 )   =   EN1N2   PM ( 25 )   =   PM ( 21 ) * PM ( 24 )   PM ( 26 ) = FIVE   PM ( 26 )   =   FIVE _ OVER _ 6   PM ( 26 )   =   CPF   PM ( 26 ) = PM ( 26 ) * ONE _ OVER _ 6   PM ( 26 ) = NT   PM ( 26 ) = THET   PM ( 26 ) = FIVE _ OVER _ 6   PM ( 26 ) =   CB   PM ( 26 )   =   MAX ( ZERO , DSUP1 )   PM ( 27 )   =   SQRT ( A11 / RHO0 )   !   sound   speed   estimation   PM ( 27 )   =   SQRT ( YOUNG / RHO0 )   !   Sound   speed   PM ( 27 ) = D   PM ( 27 )   =   SSP   PM ( 27 )   =   SDSP   PM ( 27 ) = SDSP   PM ( 27 ) =   CN   PM ( 27 )   =   SQRT ( A1 / RHO0 )   !   sound   speed   estimation   PM ( 27 ) =   SSP   PM ( 27 )   =   VCRT2   PM ( 27 )   =   SQRT ( E / MAX ( RHOR , EM20 ) )   PM ( 27 ) = APY   PM ( 27 )   =   SQRT ( ( BULK   +   FOUR _ OVER _ 3 * G ) / RHO0 )   !   sound   speed   estimation   PM ( 27 )   =   MAXVAL ( SSP ( 1 : 4 ) )   PM ( 27 ) = IDF   PM ( 27 )   =   R _ IGC1   PM ( 27 ) =   SQRT ( E / RHO0 )   !   Sound   speed   for   beam   elements   PM ( 27 )   =   VMAX   PM ( 27 )   =   D   PM ( 28 )   =   MAX ( ONEP0001 , FMAX )   PM ( 28 )   =   ONE / YOUNG   PM ( 28 )   =   GAMRP   PM ( 28 )   =   ONE - HT / YMC   PM ( 28 ) = VB   PM ( 28 )   =   MAX ( ONEP0001 , ( SIGMX / CA ) * * 2 )   PM ( 28 ) = ONE / YOUNG   PM ( 28 ) = NR   PM ( 29 ) = - ANU * PM ( 28 )   PM ( 29 )   =   - NU * PM ( 28 )   PM ( 29 )   =   GAM1   PM ( 29 )   =   ROK   PM ( 29 ) = NT   PM ( 29 ) = TM0   PM ( 30 ) = ONE / G   PM ( 30 ) = IDF   PM ( 30 )   =   ONE / G   PM ( 30 ) = E00   PM ( 30 )   =   RO0   PM ( 31 ) = ZERO   PM ( 31 )   =   - PSH   +   C0 + C1 * MU +   C3 * MU * * 3 + ( C4 + C5 * MU ) * E0   PM ( 31 )   =   ZERO   !   C0   PM ( 31 ) =   C0   PM ( 31 ) =   ZERO   PM ( 31 )   =   - PSH   +   C0 + C1 * MU + C2 * MU * * 2 + C3 * MU * * 3 + ( C4 + C5 * MU ) * E0   PM ( 31 ) = C0   PM ( 31 )   =   P0 + PSHIFT   PM ( 31 ) = P0   PM ( 31 )   =   C0 - PSH   PM ( 31 )   =   P0   PM ( 31 ) =   C0 - PSH   PM ( 32 )   =   C1   PM ( 32 ) =   RBULK   PM ( 32 ) =   RHOR * C * * 2   PM ( 32 ) = C1   PM ( 32 )   =   RBULK   PM ( 32 )   =   BULK   PM ( 32 ) = BULK   PM ( 32 ) =   C1   PM ( 32 )   =   GS   PM ( 32 )   =   C1   PM ( 33 ) = ZERO   PM ( 33 ) =   C2   PM ( 33 )   =   E11   PM ( 33 ) =   SIGT1   PM ( 33 ) = E11   PM ( 33 ) = C   PM ( 33 ) = C2   PM ( 33 )   =   A   PM ( 33 )   =   FC   PM ( 33 )   =   RE0 / RHO0   PM ( 34 ) = E22   PM ( 34 )   =   E22   PM ( 34 ) =   SIGT2   PM ( 34 ) = ZERO   PM ( 34 )   =   B   PM ( 34 )   =   - HALF * SSP2 / CARL * * 2   PM ( 34 ) = C3   PM ( 34 ) = S   PM ( 34 ) =   C3   PM ( 34 )   =   RT   PM ( 35 ) = PCC   PM ( 35 )   =   RC   PM ( 35 ) = N12   PM ( 35 )   =   N12   PM ( 35 ) = C4   PM ( 35 ) = BUNL   PM ( 35 ) =   C4   PM ( 35 ) = XKL   PM ( 35 )   =   R1   PM ( 35 ) =   SIGT3   PM ( 35 ) = ZERO   PM ( 36 ) = XMUMX   PM ( 36 ) = ZERO   PM ( 36 )   =   N21   PM ( 36 ) =   C5   PM ( 36 ) = N21   PM ( 36 ) = GAM0   PM ( 36 ) = C5   PM ( 36 )   =   RT * ( TWO * RC - RT )   PM ( 36 )   =   R2   PM ( 36 ) = XLAMB   PM ( 36 ) =   EFIB   PM ( 37 ) = - INFINITY   PM ( 37 )   =   G12   PM ( 37 ) =   EPSFT   PM ( 37 )   =   - PSH   PM ( 37 ) =   PMIN   PM ( 37 ) = PMIN   PM ( 37 )   =   ( RC - RT ) * * 2   PM ( 37 )   =   EF   PM ( 37 ) = G12   PM ( 37 )   =   PMIN   PM ( 37 ) = ATOM   PM ( 38 )   =   UPARAM ( 42 )   ! VDET   PM ( 38 ) = G23   PM ( 38 )   =   AA   PM ( 38 )   =   CA   PM ( 38 ) =   EPSFC   PM ( 38 ) = CA   PM ( 38 )   =   D   PM ( 38 ) = A0   PM ( 38 ) =   CA   PM ( 38 )   =   D   PM ( 38 )   =   G23   PM ( 38 ) =   EFIB   PM ( 38 ) = VDET   PM ( 38 )   =   SIG0   PM ( 39 ) = CB   PM ( 39 ) =   ALPHA   PM ( 39 )   =   CB   PM ( 39 ) = G31   PM ( 39 ) = A1   PM ( 39 ) =   CB   PM ( 39 )   =   BC   PM ( 39 )   =   G31   PM ( 39 ) = CE   PM ( 39 )   =   PCJ   PM ( 40 ) = A2   PM ( 40 )   =   BT   PM ( 40 )   =   ONE / TSCAL   PM ( 40 )   =   CN   PM ( 40 )   =   PM ( 1 ) * D * * 2 / PCJ   PM ( 40 )   =   IFLAG   PM ( 40 ) = CN   PM ( 40 ) =   CN   PM ( 40 ) =   D11   PM ( 41 )   =   EPSM   PM ( 41 ) =   D12   PM ( 41 )   =   IBFRAC   PM ( 41 )   =   TIMESCAL   PM ( 41 ) =   EPSM   PM ( 41 ) = AMX   PM ( 41 )   =   AC   PM ( 41 )   =   EP20   !   EPSM   PM ( 41 )   =   WPLAMX   PM ( 41 ) = EPSM   PM ( 41 ) = WPLAMX   PM ( 42 )   =   QOPT   PM ( 42 ) = IOFF   PM ( 42 ) = SIGM   PM ( 42 ) =   D13   PM ( 42 )   =   IOFF   PM ( 42 )   =   TSCAL   PM ( 42 ) = FAC _ Y   PM ( 42 )   =   SIGM   PM ( 42 )   =   FT * FC / YMC   PM ( 42 ) =   SIGM   PM ( 43 ) = CC   PM ( 43 ) = CM   PM ( 43 )   =   HBP   PM ( 43 )   =   C0   PM ( 43 ) =   CC   PM ( 43 ) =   D22   PM ( 43 )   =   CB1   PM ( 43 )   =   CC   PM ( 43 ) = PEXT   PM ( 43 )   =   ESCAL   PM ( 44 ) = EPS0   PM ( 44 )   =   DE   PM ( 44 ) = PSTAR   PM ( 44 )   =   EPS0   PM ( 44 ) =   D23   PM ( 44 )   =   CB2   PM ( 44 ) = DE   PM ( 44 )   =   KSCAL   PM ( 44 )   =   BULK   PM ( 44 )   =   RCOMP   PM ( 44 )   =   ALI   PM ( 44 ) =   EPS0   PM ( 45 )   =   W   PM ( 45 )   =   ALF   PM ( 45 )   =   CH   PM ( 45 ) = BUNL   PM ( 45 ) =   CM   PM ( 45 ) =   D33   PM ( 45 ) = EPSL   PM ( 45 ) = CM   PM ( 45 ) = A11   PM ( 46 )   =   TMELT   PM ( 46 ) = CB   PM ( 46 ) = SSL   PM ( 46 ) = XMUMX   PM ( 46 ) =   G12   PM ( 46 ) = A22   PM ( 46 ) = TMELT   PM ( 46 ) =   TMELT   PM ( 46 )   =   CB   PM ( 46 )   =   VKY   PM ( 46 ) = HL   PM ( 47 ) = TMAX   PM ( 47 ) = A * AK   PM ( 47 ) = CN   PM ( 47 ) = ZERO   !   MUMIN   PM ( 47 )   =   CN   PM ( 47 )   =   EPSMAX   PM ( 47 ) =   TMAX   PM ( 47 ) = YLDL   PM ( 47 ) = A1122   PM ( 47 ) =   G23   PM ( 48 ) = E   PM ( 48 ) = A   PM ( 48 ) =   G31   PM ( 48 ) = A12   PM ( 48 ) = IFORM   PM ( 48 ) = NR   PM ( 48 ) = CS   PM ( 48 ) = EL   PM ( 48 )   =   HV0   PM ( 49 ) = A   PM ( 49 )   =   EXPO   PM ( 49 ) = FMAX   PM ( 49 ) = GAM0M   PM ( 49 )   =   ICC   PM ( 49 ) = ICC   PM ( 49 ) =   SSP   PM ( 49 )   =   FMAX   PM ( 49 ) = C0   PM ( 49 ) = NT   PM ( 50 ) = AM   PM ( 50 ) = B   PM ( 50 ) = ZERO   PM ( 50 )   =   YMS   PM ( 50 ) = IDF   PM ( 50 ) = CC   PM ( 50 )   =   ITYP   PM ( 50 ) = ONE   PM ( 51 ) = SIG   PM ( 51 ) = MT   PM ( 51 ) = EPS0   PM ( 51 )   =   Y0S   PM ( 51 )   =   INOD   !   USR2SYS   APRES   FSDCOD ,   IF ( IFORM8 = = 2 )   INOD = USR2SYS ( INOD , ITABM1 , MESS )   PM ( 51 ) = GAME   PM ( 51 ) = C3   PM ( 51 ) = YP1   PM ( 52 ) = GP   PM ( 52 ) = ONEP414 * PM ( 17 ) * PM ( 1 ) * SSP   PM ( 52 ) = ICC   PM ( 52 ) = C4   PM ( 52 ) = TM   PM ( 52 ) = XKMAX   PM ( 52 )   =   ONEP414 * MU * PM ( 1 ) * SDSP   PM ( 52 ) = ONEP414 * AMU * PM ( 1 ) * SDSP   PM ( 52 )   =   ETS   PM ( 53 ) = ICC   PM ( 53 ) = F1   PM ( 53 ) = ONE / CP   PM ( 53 ) = DSP   PM ( 53 )   =   ARM1   PM ( 53 )   =   AREAMIN1   PM ( 53 ) = ZERO   PM ( 54 ) = E0H   PM ( 54 ) = F2   PM ( 54 )   =   ARM2   PM ( 54 )   =   ZERO   PM ( 54 ) = F1   PM ( 54 )   =   ONE   /   ( AREAMIN2 - AREAMIN1 )   PM ( 54 ) = TI   PM ( 55 ) = FISOKIN   PM ( 55 ) = RP3   PM ( 55 ) = F3   PM ( 55 ) = F2   PM ( 55 )   =   ARM3   PM ( 56 ) = F4   PM ( 56 )   =   ONE   !   PM ( 56 )   =   POROSITY   PM ( 56 ) = VJ   PM ( 56 ) = F11   PM ( 57 ) = F5   PM ( 57 ) = C1   PM ( 57 )   =   ICAP + EM01   PM ( 57 ) = F22   PM ( 58 ) = C2   PM ( 58 ) = F33   PM ( 58 ) = F6   PM ( 58 )   =   ONE - HVFAC   PM ( 59 ) = F11   PM ( 59 )   =   ZERO   !   PM ( 59 ) = F12   PM ( 59 ) = F1   PM ( 59 ) = C3   PM ( 59 ) = ALPHA   PM ( 60 ) = F22   PM ( 60 ) =   BETA   PM ( 60 ) = EPST1   PM ( 60 ) = D1   PM ( 60 )   =   EPST1   PM ( 60 ) = F2   PM ( 61 ) =   TMAX   PM ( 61 ) = ALPHAP   PM ( 61 )   =   EPST2   PM ( 61 ) = EPST2   PM ( 61 ) = F33   PM ( 61 ) = F4   PM ( 62 ) = F5   PM ( 62 ) = F44   PM ( 62 ) = EPSM1   PM ( 62 )   =   EPSM1   PM ( 63 ) = F11   PM ( 63 ) = EPSM2   PM ( 63 ) = F55   PM ( 63 )   =   EPSM2   PM ( 64 )   =   DMAX1   PM ( 64 ) = F22   PM ( 64 ) = DMAX   PM ( 64 ) = F66   PM ( 65 ) = SHRDAM   PM ( 65 )   =   DMAX2   PM ( 65 ) = F12   PM ( 65 ) = F44   PM ( 66 )   =   EPSF1   PM ( 66 ) =   F23   PM ( 66 ) = SHRMAX   PM ( 66 ) = F55   PM ( 67 ) =   F13   PM ( 67 ) = SHRDMAX   PM ( 67 ) = F12   PM ( 67 )   =   EPSF2   PM ( 68 ) = WPLAREF   PM ( 68 ) = F23   PM ( 69 ) = SPH   PM ( 69 )   =   SPH   PM ( 69 )   =   RCP   PM ( 69 ) = C11   PM ( 70 ) = ZERO   PM ( 71 )   =   JTHE + EM01   PM ( 72 )   =   ZERO   PM ( 72 ) = ZERO   PM ( 73 ) = C22   PM ( 73 ) = C11   PM ( 74 ) = C33   PM ( 74 ) = C22   PM ( 75 )   =   AS   PM ( 75 ) = C12   PM ( 75 ) = C33   PM ( 76 ) = C23   PM ( 76 )   =   BS   PM ( 76 ) = C12   PM ( 77 ) = C13   PM ( 77 ) = C23   PM ( 77 )   =   CF   PM ( 78 )   =   T0   PM ( 78 ) = C13   PM ( 78 ) = DELTA   PM ( 79 )   =   T0   PM ( 79 )   =   T0   PM ( 79 ) = T0   PM ( 79 ) = DELTA   PM ( 79 ) = THREE100   PM ( 80 )   =   TMELT   PM ( 80 ) = INFINITY   PM ( 80 )   =   INFINITY   PM ( 80 ) = TMELT   PM ( 80 ) =   TMELT   PM ( 80 )   =   EP30   PM ( 81 )   =   CTM   PM ( 81 ) = CTM   PM ( 81 ) =   SIGT1   PM ( 82 ) =   SIGT2   PM ( 82 ) = CT1   PM ( 83 ) = CT2   PM ( 83 ) =   SIGT3   PM ( 84 ) = CT3   PM ( 84 ) =   EPSFT   PM ( 85 )   =   SK   PM ( 85 ) =   EPSFC   PM ( 85 ) = SK   PM ( 86 ) = SE   PM ( 86 )   =   SE   PM ( 87 )   =   RK0 / RHO0   PM ( 87 ) = RK0 / RHO0   PM ( 88 ) =   ZERO   PM ( 88 )   =   PSH   PM ( 88 ) = PSH   PM ( 88 ) =   PSH   PM ( 89 ) = RHO0   PM ( 89 )   =   RHO0   PM ( 89 )   =   RHO0   PM ( 89 )   = RHO0   PM ( 89 )   =   RHO0   PM ( 89 ) =   RHO0   PM ( 91 )   =   RHO10   PM ( 91 ) = MAXVAL ( RHO0 _ ( 1 : 4 ) )   PM ( 95 ) = RPR   PM ( 95 )   =   RPR   PM ( 97 )   =   RHOC   PM ( 98 )   =   ALP0   PM ( 98 ) = EPSF1   PM ( 98 ) = WPLAREF   PM ( 99 )   =   DC + ONE   PM ( 99 ) = EPSF2   PM ( 100 )   =   BULK   PM ( 100 )   =   RBULK   PM ( 100 )   =   RBULK   ! PARMAT ( 1 )   PM ( 100 ) =   E   PM ( 100 ) =   C1   PM ( 100 )   =   PARMAT ( 1 )   PM ( 100 ) =   PARMAT ( 1 )   PM ( 100 ) =   BULK   PM ( 104 )   =   P0 + PSHIFT   PM ( 104 ) = C0   -   PSH   PM ( 104 ) = C0   PM ( 104 ) = P0   PM ( 104 )   =   C0 - PSH   PM ( 105 )   =   GS / ( BULK   +   TWO _ THIRD * GS )   PM ( 105 )   =   GS / ( RBULK   +   TWO _ THIRD * G )   PM ( 105 )   =   DMIN / DMAX / DMAX   PM ( 105 )   =   ( ONE   - TWO * ANU ) / ( ONE   -   ANU )   PM ( 105 )   =   (   ONE   - TWO * ANU ) / ( ONE   -   ANU )   PM ( 105 )   = DMIN / C1 * * 2   PM ( 105 ) =   TWO * PM ( 22 ) / ( BULK + FOUR _ OVER _ 3 * PM ( 22 ) )   !   = ( 1 - 2 * Nuc ) / ( 1 - Nuc )   PM ( 105 )   =   TWO * G / ( C1 + FOUR _ OVER _ 3 * G )   !   = ( 1 - 2 * Nu ) / ( 1 - Nu )   PM ( 105 )   =   ( ONE   - TWO * ANU ) / ( ONE   -   ANU )   PM ( 105 )   =   TWO * G0 / ( BULK + FOUR _ OVER _ 3 * G0 )   !   = ( 1 - 2 * Nu ) / ( 1 - Nu )   PM ( 105 )   =   ( ONE   - TWO * ANU ) / ( ONE   -   ANU )   !   TWO * G / ( BULK   +   FOUR _ OVER _ 3 * G )   PM ( 105 )   =   TWO * G / ( C1 + FOUR _ OVER _ 3 * G )   PM ( 105 )   =   TWO * GS / ( RBULK   +   FOUR _ OVER _ 3 * GS )   PM ( 105 )   = MIN ( D11 * D22 - D12 * * 2 , D22 * D33 - D23 * * 2 , D11 * D33 - D13 * * 2 ) / C1 * * 2   PM ( 141 ) = SIGYT1   PM ( 141 ) =   SIGYT1   PM ( 142 ) = CBT1   PM ( 142 ) =   SIGYT2   PM ( 143 ) =   SIGYC1   PM ( 143 ) = CNT1   PM ( 144 ) =   SIGYC2   PM ( 144 ) = SIGMXT1   PM ( 145 ) =   SIGYT12   PM ( 145 ) = CCT1   PM ( 146 ) =   SIGYC12   PM ( 146 ) = SIGYT2   PM ( 147 )   =   IFLAG   PM ( 147 ) = CBT2   PM ( 148 )   =   S1   PM ( 148 ) = CNT2   PM ( 149 ) = SIGMXT2   PM ( 149 )   =   S2   PM ( 150 )   =   C11   PM ( 150 ) = CCT2   PM ( 151 ) = SIGYC1   PM ( 151 )   =   C22   PM ( 152 ) = CBC1   PM ( 152 )   = S12   PM ( 153 ) = CNC1   PM ( 154 ) = SIGMXC1   PM ( 155 ) = CCC1   PM ( 156 ) = SIGYC2   PM ( 157 ) = CBC2   PM ( 158 ) = CNC2   PM ( 159 ) = SIGMXC2   PM ( 160 ) = CCC2   PM ( 160 )   =   EADD   PM ( 161 ) = SIGYT12   PM ( 161 )   =   TBEGIN   PM ( 162 ) = CBT12   PM ( 162 )   =   TEND   PM ( 163 )   =   REACTION _ RATE   PM ( 163 ) = CNT12   PM ( 164 ) = SIGMXT12   PM ( 164 )   =   A _ MIL   PM ( 165 ) = CCT12   PM ( 165 )   =   M _ MIL   PM ( 166 ) = EPS1T1   PM ( 166 )   =   N _ MIL   PM ( 167 ) = EPS2T1   PM ( 167 )   =   REACTION _ RATE2   PM ( 168 ) = SIGRST1   PM ( 168 )   =   ALPHA _ UNIT   PM ( 169 ) = WPLAMXT1   PM ( 170 ) = EPS1T2   PM ( 171 ) = EPS2T2   PM ( 172 ) = SIGRST2   PM ( 173 ) = WPLAMXT2   PM ( 174 ) = EPS1C1   PM ( 175 ) = EPS2C1   PM ( 176 ) = SIGRSC1   PM ( 177 ) = WPLAMXC1   PM ( 178 ) = EPS1C2   PM ( 179 ) = EPS2C2   PM ( 180 ) = SIGRSC2   PM ( 181 ) = WPLAMXC2   PM ( 182 ) = EPS1T12   PM ( 183 ) = EPS2T12   PM ( 184 ) = SIGRST12   PM ( 185 ) = WPLAMXT12   PM ( 186 )   =   E33   PM ( 187 )   =   IYEILD   PM ( 188 )   =   RATIO   PM ( 189 )   =   IMODWP   PM ( 191 )   =   XK   PM ( 192 )   =   XK   PM ( 192 )   =   RHOA   PM ( 193 )   =   FRAC   PM ( 193 )   =   XK   PM ( 194 )   =   AA   PM ( 195 )   =   BB   PM ( 196 )   =   TAUX   PM ( 197 )   =   KK   PM ( 198 )   =   ICLOS   PM ( 199 )   =   RHOEXT   PM ( 200 )   =   EINT _ EXT   PM ( 201 )   =   INCGAS","title":"\u5404\u5411\u540c\u6027 \u5f39\u6027"},{"location":"OpenRadioss/use_OpenRadioss_windows/","text":"Windows   \u4e0b   OpenRadioss   \u7684 \u4f7f\u7528   \u6d4b\u8bd5 \u5b9e\u4f8b   \u6d4b\u8bd5 \u4f8b\u5b50 \u662f   \u8f66\u8f86 \u649e\u5899 \u4eff\u771f   \u7684   \u6a21\u578b \u6587\u4ef6   \u3002   \u5904\u7406 \u6b65\u9aa4   \u6a21\u578b \u521d\u59cb \u521d\u59cb\u5316   starter _ win64 _ sp . exe   - i   NEON1M11 _ 0000 . rad   - nt   8   \u5f15\u64ce \u6c42\u89e3   engine _ win64 _ sp . exe   - i   NEON1M11 _ 0001 . rad   - nt   8   \u8f93\u51fa \u6587\u4ef6 \uff1a NEON1M11A00 { 1 - 17 } \u3002   \u5c06 \u8f93\u51fa \u8f6c\u5316 \u4e3a \u53ef\u89c6 \u53ef\u89c6\u5316 \u6a21\u578b \u6587\u4ef6   anim _ to _ vtk _ win64 . exe   NEON1M11A017   >   view . vtk   \u4f7f\u7528   paraview   \u53ef\u89c6 \u53ef\u89c6\u5316 \u6a21\u578b \u6587\u4ef6   paraview   view . vtk   \u5e76 \u70b9\u51fb \u5de6\u4e0b \u4e0b\u89d2 \u5de6\u4e0b\u89d2   Properties   \u4e2d \u7684   Apply   \u3002   \u8fd0\u884c \u7ed3\u679c","title":"use   OpenRadioss   windows"},{"location":"OpenRadioss/use_OpenRadioss_windows/#windows-openradioss","text":"","title":"Windows   \u4e0b   OpenRadioss   \u7684 \u4f7f\u7528"},{"location":"OpenRadioss/use_OpenRadioss_windows/#_1","text":"\u6d4b\u8bd5 \u4f8b\u5b50 \u662f   \u8f66\u8f86 \u649e\u5899 \u4eff\u771f   \u7684   \u6a21\u578b \u6587\u4ef6   \u3002","title":"\u6d4b\u8bd5 \u5b9e\u4f8b"},{"location":"OpenRadioss/use_OpenRadioss_windows/#_2","text":"\u6a21\u578b \u521d\u59cb \u521d\u59cb\u5316   starter _ win64 _ sp . exe   - i   NEON1M11 _ 0000 . rad   - nt   8   \u5f15\u64ce \u6c42\u89e3   engine _ win64 _ sp . exe   - i   NEON1M11 _ 0001 . rad   - nt   8   \u8f93\u51fa \u6587\u4ef6 \uff1a NEON1M11A00 { 1 - 17 } \u3002   \u5c06 \u8f93\u51fa \u8f6c\u5316 \u4e3a \u53ef\u89c6 \u53ef\u89c6\u5316 \u6a21\u578b \u6587\u4ef6   anim _ to _ vtk _ win64 . exe   NEON1M11A017   >   view . vtk   \u4f7f\u7528   paraview   \u53ef\u89c6 \u53ef\u89c6\u5316 \u6a21\u578b \u6587\u4ef6   paraview   view . vtk   \u5e76 \u70b9\u51fb \u5de6\u4e0b \u4e0b\u89d2 \u5de6\u4e0b\u89d2   Properties   \u4e2d \u7684   Apply   \u3002","title":"\u5904\u7406 \u6b65\u9aa4"},{"location":"OpenRadioss/use_OpenRadioss_windows/#_3","text":"","title":"\u8fd0\u884c \u7ed3\u679c"},{"location":"algorithms/control/","text":"\u63a7\u5236   \u63a7\u5236 \u6a21\u5757 \u7b80\u4ecb   \u63a7\u5236 \u6a21\u5757 \u8d1f\u8d23 \u751f\u6210 \u63a7\u5236 \u547d\u4ee4 \u6765 \u9a7e\u9a76 \u8f66\u8f86 \u5e76 \u4fdd\u6301 \u5176\u6240 \u9700 \u7684 \u8f68\u8ff9   [ 1 ]   \u3002 \u5728 \u672c \u6587\u6863 \u4e2d \uff0c \u6211\u4eec \u6982\u8ff0 \u4e86 \u5f53\u524d \u7684 \u65b9\u6cd5 \uff0c \u4ece \u7b80\u5355 \u7684   PID   \u63a7\u5236 \u63a7\u5236\u5668   \u5230 \u66f4 \u5148\u8fdb \u7684   \u6a21\u578b \u9884\u6d4b \u63a7\u5236   ( Model   Predictive   Control ,   MPC )   \u3002   \u7528\u4e8e \u8def\u5f84 \u70b9 \u8ddf\u8e2a \u7684   PID   \u63a7\u5236 \u63a7\u5236\u5668   \u6982\u8ff0 \uff1a   PID \u63a7\u5236 \u63a7\u5236\u5668 \u662f \u6211\u4eec \u81ea\u52a8 \u9a7e\u9a76 \u6d41\u7a0b \u4e2d \u7684 \u57fa\u672c \u63a7\u5236 \u7b97\u6cd5 \u63a7\u5236\u7b97\u6cd5 \u4e4b\u4e00 \u3002 \u5b83 \u8fde\u7eed \u8ba1\u7b97 \u201c \u8bef\u5dee \u201d \u503c \u4f5c\u4e3a \u6240 \u9700 \u8bbe\u5b9a \u70b9 \uff08 \u5728 \u672c\u4f8b \u4e2d\u4e3a \u8def\u5f84 \u70b9 \uff09 \u4e0e \u5f53\u524d \u8f66\u8f86 \u4f4d\u7f6e \u4e4b\u95f4 \u7684 \u5dee\u5f02 \u3002   \u7ec4\u4ef6 \uff1a   \u987e\u540d \u987e\u540d\u601d\u4e49 \uff0c PID   \u63a7\u5236 \u63a7\u5236\u5668 \u5305\u62ec \u4e09\u4e2a \u7ec4\u4ef6 \uff1a   \u6bd4\u4f8b \uff08 Proportional ,   P \uff09   \uff1a \u63d0\u4f9b \u63a7\u5236 \u8f93\u51fa \u4ee5 \u6821\u6b63 \u5f53\u524d \u4f4d\u7f6e \u8bef\u5dee \u3002   \u79ef\u5206   ( Integral ,   I )   \uff1a \u7ea0\u6b63 \u8fc7\u53bb \u7d2f\u79ef \u7684 \u9519\u8bef \u3002   \u5fae\u5206 \uff08 Derivative , D )   \uff1a \u6839\u636e \u5f53\u524d \u7684 \u53d8\u5316 \u53d8\u5316\u7387 \u6765 \u9884\u6d4b \u548c \u5bf9\u6297 \u672a\u6765 \u7684 \u8bef\u5dee \u8d8b\u52bf \u3002   \u5e94\u7528 \uff1a   \u6211\u4eec \u4f7f\u7528   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u4e3b\u8981 \u7528\u4e8e \u8def\u70b9 \u8ddf\u8e2a \u3001 \u4fdd\u6301 \u8f66\u9053 \u4f4d\u7f6e \u5e76 \u786e\u4fdd \u8f66\u8f86 \u9075\u5faa \u9884\u5b9a \u8def\u5f84 \u4e14 \u504f\u5dee \u6700\u5c0f \u3002   \u7528\u4e8e \u8f68\u8ff9 \u8ddf\u8e2a \u7684 \u6a21\u578b \u9884\u6d4b \u63a7\u5236   \u6982\u8ff0 \uff1a   \u6a21\u578b \u9884\u6d4b \u63a7\u5236   ( MPC )   [ 2 ]   \u662f \u4e00\u79cd \u5148\u8fdb \u7684 \u63a7\u5236 \u6280\u672f \u63a7\u5236\u6280\u672f \uff0c \u5b83 \u4f7f\u7528 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u6a21\u578b \u6765 \u9884\u6d4b \u5176 \u5728 \u5b9a\u4e49 \u8303\u56f4 \u5185 \u7684 \u672a\u6765 \u72b6\u6001 \u3002 \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65 \uff0c MPC   \u7b97\u6cd5 \u90fd \u4f1a \u8003\u8651 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3001 \u7ea6\u675f \u548c \u6240 \u9700 \u8f68\u8ff9 \uff0c \u89e3\u51b3 \u4f18\u5316 \u95ee\u9898 \u4ee5 \u627e\u5230 \u6700\u4f73 \u63a7\u5236 \u8f93\u5165 \u3002   \u4e3b\u8981 \u7279\u5f81 \uff1a   MPC   \u63a7\u5236 \u63a7\u5236\u5668 \u6d89\u53ca \u4e09\u4e2a \u5173\u952e \u529f\u80fd \u6765 \u51b3\u5b9a \u6267\u884c \u54ea\u4e9b \u64cd\u4f5c \u6765 \u63a7\u5236 \u8f66\u8f86 \u7684 \u8fd0\u52a8 \uff1a   \u9884\u6d4b \u6a21\u578b   \uff1a \u6839\u636e \u8f66\u8f86 \u7684 \u5f53\u524d \u72b6\u6001 \u548c \u6f5c\u5728 \u7684 \u63a7\u5236 \u8f93\u5165 \u6765 \u9884\u6d4b \u8f66\u8f86 \u7684 \u672a\u6765 \u72b6\u6001 \u3002   \u4f18\u5316   \uff1a \u4e0d\u65ad \u89e3\u51b3 \u4f18\u5316 \u95ee\u9898 \uff0c \u4ee5 \u786e\u5b9a \u9884\u6d4b \u8303\u56f4 \u5185 \u7684 \u6700\u4f73 \u63a7\u5236 \u64cd\u4f5c \u3002   \u6eda\u52a8 \u4f18\u5316 \u673a\u5236   \uff1a \u4ec5 \u5b9e\u65bd \u4f18\u5316 \u5e8f\u5217 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u63a7\u5236 \u52a8\u4f5c \uff0c \u5e76 \u5728 \u4e0b \u4e00\u4e2a \u65f6\u95f4 \u6b65 \u91cd\u65b0 \u8bc4\u4f30 \uff0c \u4ee5 \u9002\u5e94 \u4e0d\u65ad \u53d8\u5316 \u7684 \u6761\u4ef6 \u3002   \u5e94\u7528 \uff1a   MPC   \u63a7\u5236 \u63a7\u5236\u5668 \u5728 \u9700\u8981 \u7cbe\u786e \u8f68\u8ff9 \u8ddf\u8e2a \u7684 \u573a\u666f \u4e2d\u5c06 \u53d1\u6325 \u91cd\u8981 \u4f5c\u7528 \uff0c \u7279\u522b \u662f \u5728 \u5177\u6709 \u52a8\u6001 \u969c\u788d \u969c\u788d\u7269 \u3001 \u6025\u8f6c \u8f6c\u5f2f \u6025\u8f6c\u5f2f \u548c \u53d8\u5316 \u7684 \u8def\u51b5 \u7684 \u590d\u6742 \u9a7e\u9a76 \u73af\u5883 \u4e2d \u3002 \u901a\u8fc7 \u9884\u6d4b \u672a\u6765 \u72b6\u6001 \u548c \u7ea6\u675f \uff0c \u4e0e \u4f20\u7edf \u63a7\u5236 \u63a7\u5236\u5668 \u76f8\u6bd4 \uff0c MPC   \u63d0\u4f9b \u4e86 \u589e\u5f3a \u7684 \u8def\u5f84 \u8ddf\u8e2a \u7cbe\u5ea6 \u548c \u9c81\u68d2\u6027 \u3002   \u5b9e\u65bd \u8def\u7ebf \u7ebf\u56fe \u8def\u7ebf\u56fe \uff1a   \u7ef4\u62a4 \u548c \u5fae\u8c03 \u73b0\u6709 \u7684   PID   \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u4ee5 \u786e\u4fdd \u57fa\u672c \u7684 \u8def\u5f84 \u70b9 \u8ddf\u8e2a \u529f\u80fd \u3002   \u5f00\u53d1 \u4ee3\u8868 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u7684 \u6570\u5b66 \u6a21\u578b \u6570\u5b66\u6a21\u578b \u3002   \u96c6\u6210 \u4e0e \u6211\u4eec \u7684   MPC   \u7cfb\u7edf \u67b6\u6784 \u517c\u5bb9 \u7684 \u4f18\u5316 \u6c42\u89e3 \u5668 \u3002   \u8bbe\u8ba1 \u548c \u5b9e\u73b0   MPC   \u6846\u67b6 \uff0c \u786e\u4fdd \u5176 \u8003\u8651 \u8f66\u8f86 \u7ea6\u675f \u3002   \u5728 \u5404\u79cd \u573a\u666f \u7684 \u4eff\u771f \u4e2d \u6d4b\u8bd5   MPC \uff0c \u5e76 \u7ec6\u5316 \u6a21\u578b \u548c \u63a7\u5236 \u63a7\u5236\u5668 \u53c2\u6570 \u3002 \u5728 \u5404\u79cd \u573a\u666f \u7684 \u4eff\u771f \u4e2d \u6d4b\u8bd5   MPC \uff0c \u5e76 \u7ec6\u5316 \u6a21\u578b \u548c \u63a7\u5236 \u63a7\u5236\u5668 \u53c2\u6570 \u3002   \u5728 \u5b9e\u9645 \u6d4b\u8bd5 \u4e2d \u9010\u6b65 \u90e8\u7f72 \u548c \u8bc4\u4f30   MPC \uff0c \u4ece \u4f4e \u590d\u6742 \u590d\u6742\u6027 \u73af\u5883 \u5f00\u59cb \uff0c \u9010\u6b65 \u5347\u7ea7 \u5230 \u66f4\u5177 \u6311\u6218 \u6311\u6218\u6027 \u7684 \u573a\u666f \u3002   \u53c2\u8003 \u6587\u732e \u53c2\u8003\u6587\u732e   Paden ,   Brian ,   et   al .   \" A   survey   of   motion   planning   and   control   techniques   for   self - driving   urban   vehicles . \"   IEEE   Transactions   on   intelligent   vehicles   1.1   ( 2016 ) :   33 - 55 .   Rajamani ,   Rajesh .   \" Vehicle   dynamics   and   control . \"   Springer   Science   &   Business   Media ,   2011 .","title":"\u63a7\u5236"},{"location":"algorithms/control/#_1","text":"","title":"\u63a7\u5236"},{"location":"algorithms/control/#_2","text":"\u63a7\u5236 \u6a21\u5757 \u8d1f\u8d23 \u751f\u6210 \u63a7\u5236 \u547d\u4ee4 \u6765 \u9a7e\u9a76 \u8f66\u8f86 \u5e76 \u4fdd\u6301 \u5176\u6240 \u9700 \u7684 \u8f68\u8ff9   [ 1 ]   \u3002 \u5728 \u672c \u6587\u6863 \u4e2d \uff0c \u6211\u4eec \u6982\u8ff0 \u4e86 \u5f53\u524d \u7684 \u65b9\u6cd5 \uff0c \u4ece \u7b80\u5355 \u7684   PID   \u63a7\u5236 \u63a7\u5236\u5668   \u5230 \u66f4 \u5148\u8fdb \u7684   \u6a21\u578b \u9884\u6d4b \u63a7\u5236   ( Model   Predictive   Control ,   MPC )   \u3002","title":"\u63a7\u5236 \u6a21\u5757 \u7b80\u4ecb"},{"location":"algorithms/control/#pid","text":"","title":"\u7528\u4e8e \u8def\u5f84 \u70b9 \u8ddf\u8e2a \u7684   PID   \u63a7\u5236\u5668"},{"location":"algorithms/control/#_3","text":"PID \u63a7\u5236 \u63a7\u5236\u5668 \u662f \u6211\u4eec \u81ea\u52a8 \u9a7e\u9a76 \u6d41\u7a0b \u4e2d \u7684 \u57fa\u672c \u63a7\u5236 \u7b97\u6cd5 \u63a7\u5236\u7b97\u6cd5 \u4e4b\u4e00 \u3002 \u5b83 \u8fde\u7eed \u8ba1\u7b97 \u201c \u8bef\u5dee \u201d \u503c \u4f5c\u4e3a \u6240 \u9700 \u8bbe\u5b9a \u70b9 \uff08 \u5728 \u672c\u4f8b \u4e2d\u4e3a \u8def\u5f84 \u70b9 \uff09 \u4e0e \u5f53\u524d \u8f66\u8f86 \u4f4d\u7f6e \u4e4b\u95f4 \u7684 \u5dee\u5f02 \u3002","title":"\u6982\u8ff0 \uff1a"},{"location":"algorithms/control/#_4","text":"\u987e\u540d \u987e\u540d\u601d\u4e49 \uff0c PID   \u63a7\u5236 \u63a7\u5236\u5668 \u5305\u62ec \u4e09\u4e2a \u7ec4\u4ef6 \uff1a   \u6bd4\u4f8b \uff08 Proportional ,   P \uff09   \uff1a \u63d0\u4f9b \u63a7\u5236 \u8f93\u51fa \u4ee5 \u6821\u6b63 \u5f53\u524d \u4f4d\u7f6e \u8bef\u5dee \u3002   \u79ef\u5206   ( Integral ,   I )   \uff1a \u7ea0\u6b63 \u8fc7\u53bb \u7d2f\u79ef \u7684 \u9519\u8bef \u3002   \u5fae\u5206 \uff08 Derivative , D )   \uff1a \u6839\u636e \u5f53\u524d \u7684 \u53d8\u5316 \u53d8\u5316\u7387 \u6765 \u9884\u6d4b \u548c \u5bf9\u6297 \u672a\u6765 \u7684 \u8bef\u5dee \u8d8b\u52bf \u3002","title":"\u7ec4\u4ef6 \uff1a"},{"location":"algorithms/control/#_5","text":"\u6211\u4eec \u4f7f\u7528   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u4e3b\u8981 \u7528\u4e8e \u8def\u70b9 \u8ddf\u8e2a \u3001 \u4fdd\u6301 \u8f66\u9053 \u4f4d\u7f6e \u5e76 \u786e\u4fdd \u8f66\u8f86 \u9075\u5faa \u9884\u5b9a \u8def\u5f84 \u4e14 \u504f\u5dee \u6700\u5c0f \u3002","title":"\u5e94\u7528 \uff1a"},{"location":"algorithms/control/#_6","text":"","title":"\u7528\u4e8e \u8f68\u8ff9 \u8ddf\u8e2a \u7684 \u6a21\u578b \u9884\u6d4b \u63a7\u5236"},{"location":"algorithms/control/#_7","text":"\u6a21\u578b \u9884\u6d4b \u63a7\u5236   ( MPC )   [ 2 ]   \u662f \u4e00\u79cd \u5148\u8fdb \u7684 \u63a7\u5236 \u6280\u672f \u63a7\u5236\u6280\u672f \uff0c \u5b83 \u4f7f\u7528 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u6a21\u578b \u6765 \u9884\u6d4b \u5176 \u5728 \u5b9a\u4e49 \u8303\u56f4 \u5185 \u7684 \u672a\u6765 \u72b6\u6001 \u3002 \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65 \uff0c MPC   \u7b97\u6cd5 \u90fd \u4f1a \u8003\u8651 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3001 \u7ea6\u675f \u548c \u6240 \u9700 \u8f68\u8ff9 \uff0c \u89e3\u51b3 \u4f18\u5316 \u95ee\u9898 \u4ee5 \u627e\u5230 \u6700\u4f73 \u63a7\u5236 \u8f93\u5165 \u3002","title":"\u6982\u8ff0 \uff1a"},{"location":"algorithms/control/#_8","text":"MPC   \u63a7\u5236 \u63a7\u5236\u5668 \u6d89\u53ca \u4e09\u4e2a \u5173\u952e \u529f\u80fd \u6765 \u51b3\u5b9a \u6267\u884c \u54ea\u4e9b \u64cd\u4f5c \u6765 \u63a7\u5236 \u8f66\u8f86 \u7684 \u8fd0\u52a8 \uff1a   \u9884\u6d4b \u6a21\u578b   \uff1a \u6839\u636e \u8f66\u8f86 \u7684 \u5f53\u524d \u72b6\u6001 \u548c \u6f5c\u5728 \u7684 \u63a7\u5236 \u8f93\u5165 \u6765 \u9884\u6d4b \u8f66\u8f86 \u7684 \u672a\u6765 \u72b6\u6001 \u3002   \u4f18\u5316   \uff1a \u4e0d\u65ad \u89e3\u51b3 \u4f18\u5316 \u95ee\u9898 \uff0c \u4ee5 \u786e\u5b9a \u9884\u6d4b \u8303\u56f4 \u5185 \u7684 \u6700\u4f73 \u63a7\u5236 \u64cd\u4f5c \u3002   \u6eda\u52a8 \u4f18\u5316 \u673a\u5236   \uff1a \u4ec5 \u5b9e\u65bd \u4f18\u5316 \u5e8f\u5217 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u63a7\u5236 \u52a8\u4f5c \uff0c \u5e76 \u5728 \u4e0b \u4e00\u4e2a \u65f6\u95f4 \u6b65 \u91cd\u65b0 \u8bc4\u4f30 \uff0c \u4ee5 \u9002\u5e94 \u4e0d\u65ad \u53d8\u5316 \u7684 \u6761\u4ef6 \u3002","title":"\u4e3b\u8981 \u7279\u5f81 \uff1a"},{"location":"algorithms/control/#_9","text":"MPC   \u63a7\u5236 \u63a7\u5236\u5668 \u5728 \u9700\u8981 \u7cbe\u786e \u8f68\u8ff9 \u8ddf\u8e2a \u7684 \u573a\u666f \u4e2d\u5c06 \u53d1\u6325 \u91cd\u8981 \u4f5c\u7528 \uff0c \u7279\u522b \u662f \u5728 \u5177\u6709 \u52a8\u6001 \u969c\u788d \u969c\u788d\u7269 \u3001 \u6025\u8f6c \u8f6c\u5f2f \u6025\u8f6c\u5f2f \u548c \u53d8\u5316 \u7684 \u8def\u51b5 \u7684 \u590d\u6742 \u9a7e\u9a76 \u73af\u5883 \u4e2d \u3002 \u901a\u8fc7 \u9884\u6d4b \u672a\u6765 \u72b6\u6001 \u548c \u7ea6\u675f \uff0c \u4e0e \u4f20\u7edf \u63a7\u5236 \u63a7\u5236\u5668 \u76f8\u6bd4 \uff0c MPC   \u63d0\u4f9b \u4e86 \u589e\u5f3a \u7684 \u8def\u5f84 \u8ddf\u8e2a \u7cbe\u5ea6 \u548c \u9c81\u68d2\u6027 \u3002","title":"\u5e94\u7528 \uff1a"},{"location":"algorithms/control/#_10","text":"\u7ef4\u62a4 \u548c \u5fae\u8c03 \u73b0\u6709 \u7684   PID   \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u4ee5 \u786e\u4fdd \u57fa\u672c \u7684 \u8def\u5f84 \u70b9 \u8ddf\u8e2a \u529f\u80fd \u3002   \u5f00\u53d1 \u4ee3\u8868 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u7684 \u6570\u5b66 \u6a21\u578b \u6570\u5b66\u6a21\u578b \u3002   \u96c6\u6210 \u4e0e \u6211\u4eec \u7684   MPC   \u7cfb\u7edf \u67b6\u6784 \u517c\u5bb9 \u7684 \u4f18\u5316 \u6c42\u89e3 \u5668 \u3002   \u8bbe\u8ba1 \u548c \u5b9e\u73b0   MPC   \u6846\u67b6 \uff0c \u786e\u4fdd \u5176 \u8003\u8651 \u8f66\u8f86 \u7ea6\u675f \u3002   \u5728 \u5404\u79cd \u573a\u666f \u7684 \u4eff\u771f \u4e2d \u6d4b\u8bd5   MPC \uff0c \u5e76 \u7ec6\u5316 \u6a21\u578b \u548c \u63a7\u5236 \u63a7\u5236\u5668 \u53c2\u6570 \u3002 \u5728 \u5404\u79cd \u573a\u666f \u7684 \u4eff\u771f \u4e2d \u6d4b\u8bd5   MPC \uff0c \u5e76 \u7ec6\u5316 \u6a21\u578b \u548c \u63a7\u5236 \u63a7\u5236\u5668 \u53c2\u6570 \u3002   \u5728 \u5b9e\u9645 \u6d4b\u8bd5 \u4e2d \u9010\u6b65 \u90e8\u7f72 \u548c \u8bc4\u4f30   MPC \uff0c \u4ece \u4f4e \u590d\u6742 \u590d\u6742\u6027 \u73af\u5883 \u5f00\u59cb \uff0c \u9010\u6b65 \u5347\u7ea7 \u5230 \u66f4\u5177 \u6311\u6218 \u6311\u6218\u6027 \u7684 \u573a\u666f \u3002","title":"\u5b9e\u65bd \u8def\u7ebf\u56fe \uff1a"},{"location":"algorithms/control/#_11","text":"Paden ,   Brian ,   et   al .   \" A   survey   of   motion   planning   and   control   techniques   for   self - driving   urban   vehicles . \"   IEEE   Transactions   on   intelligent   vehicles   1.1   ( 2016 ) :   33 - 55 .   Rajamani ,   Rajesh .   \" Vehicle   dynamics   and   control . \"   Springer   Science   &   Business   Media ,   2011 .","title":"\u53c2\u8003\u6587\u732e"},{"location":"algorithms/localization/","text":"\u5b9a\u4f4d   \u5b9a\u4f4d \u6a21\u5757 \u4ecb\u7ecd   ISS   \u5b9a\u4f4d \u6a21\u5757 \u786e\u4fdd \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u4e0d\u4ec5 \u4e86\u89e3 \u5176 \u5728 \u5e7f\u9614 \u7684 \u9053\u8def \u548c \u73af\u5883 \u4e2d \u7684 \u4f4d\u7f6e \uff0c \u800c\u4e14 \u5177\u6709 \u4f26\u6bd4 \u65e0\u4e0e\u4f26\u6bd4 \u7684 \u51c6\u786e \u51c6\u786e\u6027 \u3002 \u5728 \u672c \u6587\u6863 \u4e2d \uff0c \u6211\u4eec \u6982\u8ff0 \u4e86 \u5f53\u524d \u7684 \u6d41\u7a0b \uff0c \u4ece \u5355\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5230 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u878d\u5408 \u7b97\u6cd5 \u3002   \u5355\u72ec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e3a\u4e86 \u5b9e\u73b0 \u7cbe\u786e \u786e\u5b9a \u5b9a\u4f4d \u7cbe\u786e\u5b9a\u4f4d \uff0c \u91c7\u7528 \u4e86 \u4f7f\u7528 \u5404\u79cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u7b97\u6cd5 \u7684 \u591a\u65b9 \u65b9\u9762 \u591a\u65b9\u9762 \u65b9\u6cd5 \uff1a   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe   \uff1a   \u8fed\u4ee3 \u6700\u8fd1 \u70b9 ( Iterative   Closest   Point ,   ICP )   [ 1 ]   \uff1a \u8be5 \u7b97\u6cd5 \u5bf9\u9f50 \u4e24\u4e2a \u70b9\u4e91\u4ee5 \u786e\u5b9a \u5bf9\u9f50 \u5b83\u4eec \u7684 \u6700\u4f73 \u62df\u5408 \u53d8\u6362 \u3002   \u5206\u5e03 \u6b63\u6001\u5206\u5e03 \u53d8\u6362 ( Normal   Distributions   Transform ,   NDT )   [ 2 ]   :   \u8fd9\u79cd \u5148\u8fdb \u7684 \u65b9\u6cd5 \u4f7f\u7528 \u5206\u5e03 \u6b63\u6001\u5206\u5e03 \u8868\u793a \u70b9\u4e91 \u6570\u636e \uff0c \u63d0\u4f9b \u4e86 \u4e00\u79cd \u5f3a\u5927 \u800c \u6709\u6548 \u7684 \u914d\u51c6 \u65b9\u6cd5 \u3002   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 ( Inertial   Measurement   Unit ,   IMU )   :   \u822a\u4f4d \u63a8\u7b97   \uff1a \u901a\u8fc7 \u5229\u7528 \u8fd0\u52a8 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \uff0c \u822a\u4f4d \u63a8\u7b97 \u53ef\u4ee5 \u8fde\u7eed \u4f30\u8ba1 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u3002 \u7136\u800c \uff0c \u968f\u7740 \u65f6\u95f4 \u7684 \u63a8\u79fb \uff0c \u5176 \u51c6\u786e \u51c6\u786e\u6027 \u4f1a \u964d\u4f4e \uff0c \u9700\u8981 \u8865\u5145 \u6570\u636e \u8fdb\u884c \u6821\u6b63 \u3002   \u5168\u7403 \u5b9a\u4f4d \u7cfb\u7edf \u5168\u7403\u5b9a\u4f4d\u7cfb\u7edf ( Global   Positioning   System ,   GPS )   :   \u867d\u7136   GPS   \u4e3a \u5b9a\u4f4d \u63d0\u4f9b \u4e86 \u5168\u7403 \u53c2\u8003 \uff0c \u4f46 \u5176 \u7cbe\u5ea6 \u53ef\u80fd \u4e0d\u8db3 \u8db3\u4ee5 \u4e0d\u8db3\u4ee5 \u6ee1\u8db3 \u81ea\u52a8 \u9a7e\u9a76 \u7684 \u4e25\u683c \u516c\u5dee \u8981\u6c42 \u3002 \u56e0\u6b64 \uff0c GPS   \u6570\u636e \u901a\u5e38 \u4e0e \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u878d\u5408 \u4ee5 \u63d0\u9ad8 \u51c6\u786e \u51c6\u786e\u6027 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u878d\u5408   \u5b8c\u7f8e \u5b9a\u4f4d \u7684 \u5173\u952e \u4e0d\u4ec5 \u5728\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4e2a\u4f53 \u80fd\u529b \uff0c \u8fd8 \u5728\u4e8e \u5b83\u4eec \u7684 \u534f\u4f5c \u80fd\u529b \uff1a   \u57fa\u4e8e \u6ee4\u6ce2 \u6ee4\u6ce2\u5668 \u7684 \u65b9\u6cd5   :   \u9012\u5f52 \u7b97\u6cd5 \uff0c \u4f8b\u5982   \u5361\u5c14 \u6ee4\u6ce2 \u5361\u5c14\u66fc \u5361\u5c14\u66fc\u6ee4\u6ce2 \u5668   \u548c   \u7c92\u5b50 \u6ee4\u6ce2 \u6ee4\u6ce2\u5668   [ 3 ]   \uff0c \u5bf9\u4e8e \u5b9e\u65f6 \u72b6\u6001 \u4f30\u8ba1 \u548c \u9884\u6d4b \u662f \u4e0d\u53ef \u5fc5\u4e0d\u53ef\u5c11 \u7684 \u3002   \u57fa\u4e8e \u4f18\u5316 \u7684 \u65b9\u6cd5   :   GraphSLAM   [ 4 ]   \u7b49 \u6574\u4f53 \u65b9\u6cd5 \u53ef\u4ee5 \u8c03\u6574 \u548c \u7ec6\u5316 \u6574\u4e2a \u8f68\u8ff9 \u6216 \u5730\u56fe \uff0c \u786e\u4fdd \u5904\u7406 \u540e\u5904\u7406 \u573a\u666f \u4e2d \u7684 \u6700\u9ad8 \u51c6\u786e \u51c6\u786e\u6027 \u3002   \u5b9e\u65bd \u8def\u7ebf \u7ebf\u56fe \u8def\u7ebf\u56fe   \u7ef4\u62a4 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff08 \u8fed\u4ee3 \u6700\u8fd1 \u70b9 \u3001 \u6b63\u592a \u5206\u5e03 \u53d8\u6362 \uff09 \u3001 \u60ef\u6027 \u6d4b\u91cf \u5355\u4f4d \uff08 \u822a\u4f4d \u63a8\u6d4b \uff09 \u3001 \u5168\u7403 \u5b9a\u4f4d \u7cfb\u7edf \u5168\u7403\u5b9a\u4f4d\u7cfb\u7edf \u548c \u57fa\u4e8e \u6ee4\u6ce2 \u6ee4\u6ce2\u5668 \u7684 \u878d\u5408 \u3002   \u7814\u7a76 \u57fa\u4e8e \u4f18\u5316 \u7684 \u878d\u5408 \uff1a GraphSLAM \u3001 \u7ed1\u5b9a \u8c03\u6574 \u3001 \u4f4d\u59ff\u56fe \u4f18\u5316 \u3002   \u6536\u96c6 \u548c \u5904\u7406 \u4f18\u5316 \u65b9\u6cd5 \u7684 \u6570\u636e \u96c6 \u3002   \u5c06 \u57fa\u4e8e \u4f18\u5316 \u7684 \u878d\u5408 \u96c6\u6210 \u5230 \u5f53\u524d \u7684 \u7ba1\u9053 \u4e2d \u3002   \u53c2\u8003 \u6587\u732e \u53c2\u8003\u6587\u732e   Besl   P   J ,   McKay   N   D .   Method   for   registration   of   3 - D   shapes .   In   Sensor   fusion   IV :   control   paradigms   and   data   structures   .   Spie ,   1992 ,   1611 :   586 - 606 .   Biber   P ,   Stra \u00df er   W .   The   normal   distributions   transform :   A   new   approach   to   laser   scan   matching .   In   Proceedings   2003   IEEE / RSJ   International   Conference   on   Intelligent   Robots   and   Systems   ( IROS   2003 )   .   IEEE ,   2003 ,   3 :   2743 - 2748 .   Thrun   S .   Probabilistic   robotics .   In   Communications   of   the   ACM   ,   2002 ,   45 ( 3 ) :   52 - 57 .   Shan   T ,   Englot   B ,   Meyers   D ,   et   al .   Lio - sam :   Tightly - coupled   LiDAR   inertial   odometry   via   smoothing   and   mapping .   In   2020   IEEE / RSJ   international   conference   on   intelligent   robots   and   systems   ( IROS )   .   IEEE ,   2020 :   5135 - 5142 .","title":"\u5b9a\u4f4d"},{"location":"algorithms/localization/#_1","text":"","title":"\u5b9a\u4f4d"},{"location":"algorithms/localization/#_2","text":"ISS   \u5b9a\u4f4d \u6a21\u5757 \u786e\u4fdd \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u4e0d\u4ec5 \u4e86\u89e3 \u5176 \u5728 \u5e7f\u9614 \u7684 \u9053\u8def \u548c \u73af\u5883 \u4e2d \u7684 \u4f4d\u7f6e \uff0c \u800c\u4e14 \u5177\u6709 \u4f26\u6bd4 \u65e0\u4e0e\u4f26\u6bd4 \u7684 \u51c6\u786e \u51c6\u786e\u6027 \u3002 \u5728 \u672c \u6587\u6863 \u4e2d \uff0c \u6211\u4eec \u6982\u8ff0 \u4e86 \u5f53\u524d \u7684 \u6d41\u7a0b \uff0c \u4ece \u5355\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5230 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u878d\u5408 \u7b97\u6cd5 \u3002","title":"\u5b9a\u4f4d \u6a21\u5757 \u4ecb\u7ecd"},{"location":"algorithms/localization/#_3","text":"\u4e3a\u4e86 \u5b9e\u73b0 \u7cbe\u786e \u786e\u5b9a \u5b9a\u4f4d \u7cbe\u786e\u5b9a\u4f4d \uff0c \u91c7\u7528 \u4e86 \u4f7f\u7528 \u5404\u79cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u7b97\u6cd5 \u7684 \u591a\u65b9 \u65b9\u9762 \u591a\u65b9\u9762 \u65b9\u6cd5 \uff1a   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe   \uff1a   \u8fed\u4ee3 \u6700\u8fd1 \u70b9 ( Iterative   Closest   Point ,   ICP )   [ 1 ]   \uff1a \u8be5 \u7b97\u6cd5 \u5bf9\u9f50 \u4e24\u4e2a \u70b9\u4e91\u4ee5 \u786e\u5b9a \u5bf9\u9f50 \u5b83\u4eec \u7684 \u6700\u4f73 \u62df\u5408 \u53d8\u6362 \u3002   \u5206\u5e03 \u6b63\u6001\u5206\u5e03 \u53d8\u6362 ( Normal   Distributions   Transform ,   NDT )   [ 2 ]   :   \u8fd9\u79cd \u5148\u8fdb \u7684 \u65b9\u6cd5 \u4f7f\u7528 \u5206\u5e03 \u6b63\u6001\u5206\u5e03 \u8868\u793a \u70b9\u4e91 \u6570\u636e \uff0c \u63d0\u4f9b \u4e86 \u4e00\u79cd \u5f3a\u5927 \u800c \u6709\u6548 \u7684 \u914d\u51c6 \u65b9\u6cd5 \u3002   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 ( Inertial   Measurement   Unit ,   IMU )   :   \u822a\u4f4d \u63a8\u7b97   \uff1a \u901a\u8fc7 \u5229\u7528 \u8fd0\u52a8 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \uff0c \u822a\u4f4d \u63a8\u7b97 \u53ef\u4ee5 \u8fde\u7eed \u4f30\u8ba1 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u3002 \u7136\u800c \uff0c \u968f\u7740 \u65f6\u95f4 \u7684 \u63a8\u79fb \uff0c \u5176 \u51c6\u786e \u51c6\u786e\u6027 \u4f1a \u964d\u4f4e \uff0c \u9700\u8981 \u8865\u5145 \u6570\u636e \u8fdb\u884c \u6821\u6b63 \u3002   \u5168\u7403 \u5b9a\u4f4d \u7cfb\u7edf \u5168\u7403\u5b9a\u4f4d\u7cfb\u7edf ( Global   Positioning   System ,   GPS )   :   \u867d\u7136   GPS   \u4e3a \u5b9a\u4f4d \u63d0\u4f9b \u4e86 \u5168\u7403 \u53c2\u8003 \uff0c \u4f46 \u5176 \u7cbe\u5ea6 \u53ef\u80fd \u4e0d\u8db3 \u8db3\u4ee5 \u4e0d\u8db3\u4ee5 \u6ee1\u8db3 \u81ea\u52a8 \u9a7e\u9a76 \u7684 \u4e25\u683c \u516c\u5dee \u8981\u6c42 \u3002 \u56e0\u6b64 \uff0c GPS   \u6570\u636e \u901a\u5e38 \u4e0e \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u878d\u5408 \u4ee5 \u63d0\u9ad8 \u51c6\u786e \u51c6\u786e\u6027 \u3002","title":"\u5355\u72ec \u7684 \u4f20\u611f\u5668"},{"location":"algorithms/localization/#_4","text":"\u5b8c\u7f8e \u5b9a\u4f4d \u7684 \u5173\u952e \u4e0d\u4ec5 \u5728\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4e2a\u4f53 \u80fd\u529b \uff0c \u8fd8 \u5728\u4e8e \u5b83\u4eec \u7684 \u534f\u4f5c \u80fd\u529b \uff1a   \u57fa\u4e8e \u6ee4\u6ce2 \u6ee4\u6ce2\u5668 \u7684 \u65b9\u6cd5   :   \u9012\u5f52 \u7b97\u6cd5 \uff0c \u4f8b\u5982   \u5361\u5c14 \u6ee4\u6ce2 \u5361\u5c14\u66fc \u5361\u5c14\u66fc\u6ee4\u6ce2 \u5668   \u548c   \u7c92\u5b50 \u6ee4\u6ce2 \u6ee4\u6ce2\u5668   [ 3 ]   \uff0c \u5bf9\u4e8e \u5b9e\u65f6 \u72b6\u6001 \u4f30\u8ba1 \u548c \u9884\u6d4b \u662f \u4e0d\u53ef \u5fc5\u4e0d\u53ef\u5c11 \u7684 \u3002   \u57fa\u4e8e \u4f18\u5316 \u7684 \u65b9\u6cd5   :   GraphSLAM   [ 4 ]   \u7b49 \u6574\u4f53 \u65b9\u6cd5 \u53ef\u4ee5 \u8c03\u6574 \u548c \u7ec6\u5316 \u6574\u4e2a \u8f68\u8ff9 \u6216 \u5730\u56fe \uff0c \u786e\u4fdd \u5904\u7406 \u540e\u5904\u7406 \u573a\u666f \u4e2d \u7684 \u6700\u9ad8 \u51c6\u786e \u51c6\u786e\u6027 \u3002","title":"\u4f20\u611f\u5668 \u878d\u5408"},{"location":"algorithms/localization/#_5","text":"\u7ef4\u62a4 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff08 \u8fed\u4ee3 \u6700\u8fd1 \u70b9 \u3001 \u6b63\u592a \u5206\u5e03 \u53d8\u6362 \uff09 \u3001 \u60ef\u6027 \u6d4b\u91cf \u5355\u4f4d \uff08 \u822a\u4f4d \u63a8\u6d4b \uff09 \u3001 \u5168\u7403 \u5b9a\u4f4d \u7cfb\u7edf \u5168\u7403\u5b9a\u4f4d\u7cfb\u7edf \u548c \u57fa\u4e8e \u6ee4\u6ce2 \u6ee4\u6ce2\u5668 \u7684 \u878d\u5408 \u3002   \u7814\u7a76 \u57fa\u4e8e \u4f18\u5316 \u7684 \u878d\u5408 \uff1a GraphSLAM \u3001 \u7ed1\u5b9a \u8c03\u6574 \u3001 \u4f4d\u59ff\u56fe \u4f18\u5316 \u3002   \u6536\u96c6 \u548c \u5904\u7406 \u4f18\u5316 \u65b9\u6cd5 \u7684 \u6570\u636e \u96c6 \u3002   \u5c06 \u57fa\u4e8e \u4f18\u5316 \u7684 \u878d\u5408 \u96c6\u6210 \u5230 \u5f53\u524d \u7684 \u7ba1\u9053 \u4e2d \u3002","title":"\u5b9e\u65bd \u8def\u7ebf\u56fe"},{"location":"algorithms/localization/#_6","text":"Besl   P   J ,   McKay   N   D .   Method   for   registration   of   3 - D   shapes .   In   Sensor   fusion   IV :   control   paradigms   and   data   structures   .   Spie ,   1992 ,   1611 :   586 - 606 .   Biber   P ,   Stra \u00df er   W .   The   normal   distributions   transform :   A   new   approach   to   laser   scan   matching .   In   Proceedings   2003   IEEE / RSJ   International   Conference   on   Intelligent   Robots   and   Systems   ( IROS   2003 )   .   IEEE ,   2003 ,   3 :   2743 - 2748 .   Thrun   S .   Probabilistic   robotics .   In   Communications   of   the   ACM   ,   2002 ,   45 ( 3 ) :   52 - 57 .   Shan   T ,   Englot   B ,   Meyers   D ,   et   al .   Lio - sam :   Tightly - coupled   LiDAR   inertial   odometry   via   smoothing   and   mapping .   In   2020   IEEE / RSJ   international   conference   on   intelligent   robots   and   systems   ( IROS )   .   IEEE ,   2020 :   5135 - 5142 .","title":"\u53c2\u8003\u6587\u732e"},{"location":"algorithms/perception/","text":"\u611f\u77e5   \u611f\u77e5 \u6a21\u5757 \u7b80\u4ecb   ISS \u611f\u77e5 \u6a21\u5757 \u4e3a \u591a\u79cd \u611f\u77e5 \u4efb\u52a1 \u63d0\u4f9b \u652f\u6301 \uff0c \u4f8b\u5982 3D \u969c\u788d \u969c\u788d\u7269 \u611f\u77e5 \u3001 2D \u7269\u4f53 \u8bc6\u522b \u3001 2D \u8bed\u4e49 \u5206\u5272 \u548c \u57fa\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u9e1f\u77b0 \u9e1f\u77b0\u56fe \uff08 Bird ' s   Eye   View ,   BEV \uff09 \u5730\u56fe \u751f\u6210 \u3002 \u6211\u4eec \u7684 \u56e2\u961f \u4e13\u6ce8 \u4e8e \u5f00\u53d1 \u548c \u5b8c\u5584 \u8fd9\u4e9b \u5173\u952e \u7684 \u611f\u77e5 \u4efb\u52a1 \u3002 \u8fd9\u4e9b \u4efb\u52a1 \u662f \u4f7f \u6211\u4eec \u7684 \u8f66\u8f86 \u80fd\u591f \u5b89\u5168 \u3001 \u7cbe\u786e \u5730 \u5728 \u590d\u6742 \u73af\u5883 \u4e2d \u884c\u9a76 \u7684 \u57fa\u7840 \u3002   \u4efb\u52a1   ISS   \u611f\u77e5 \u6a21\u5757 \u652f\u6301 \u7684 \u4e0d\u540c \u4efb\u52a1 \u4f7f \u6211\u4eec \u7684 \u8f66\u8f86 \u80fd\u591f \u4e86\u89e3 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u53ca\u5176 \u5143\u7d20 \u7684 \u7279\u5b9a \u5c5e\u6027 \u3002   3D   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b   \uff1a \u6211\u4eec \u7684 \u7cfb\u7edf \u91c7\u7528 \u5148\u8fdb \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6280\u672f \u6765 \u5b9e\u65f6 \u68c0\u6d4b \u548c \u5206\u6790 \u4e09\u7ef4 \u969c\u788d \u969c\u788d\u7269 \u3002 \u5373\u4f7f \u5728 \u52a8\u6001 \u548c \u5177\u6709 \u6311\u6218 \u6311\u6218\u6027 \u7684 \u573a\u666f \u4e2d \uff0c \u8fd9\u79cd \u529f\u80fd \u4e5f \u4f7f \u6211\u4eec \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u80fd\u591f \u505a\u51fa \u660e\u667a \u7684 \u51b3\u7b56 \u5e76 \u786e\u4fdd \u4fdd\u5b89 \u5b89\u5168 \u786e\u4fdd\u5b89\u5168 \u5bfc\u822a \u3002   2D   \u7269\u4f53 \u68c0\u6d4b   \uff1a \u8bc6\u522b \u548c \u8bc6\u522b \u8f66\u8f86 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u4e2d \u7684 \u7269\u4f53 \u5bf9\u4e8e \u5b89\u5168 \u5bfc\u822a \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002 \u6211\u4eec \u7684 \u6846\u67b6 \u5229\u7528 \u5c16\u7aef \u7b97\u6cd5 \u6765 \u8bc6\u522b \u548c \u5206\u7c7b \u5404\u79cd \u5bf9\u8c61 \uff0c \u4f8b\u5982 \u884c\u4eba \u3001 \u8f66\u8f86 \u548c \u6807\u724c \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u589e\u5f3a \u6001\u52bf \u611f\u77e5 \u3002   3D   \u969c\u788d \u969c\u788d\u7269 \u611f\u77e5 \u548c   2D   \u7269\u4f53 \u68c0\u6d4b   2D   \u8bed\u4e49 \u5206\u5272   \uff1a \u8bed\u4e49 \u5206\u5272 \u662f \u8be6\u7ec6 \u4e86\u89e3 \u73af\u5883 \u7684 \u4e00\u9879 \u91cd\u8981 \u4efb\u52a1 \u3002 \u6211\u4eec \u5229\u7528 \u6700 \u5148\u8fdb \u7684 \u6280\u672f \u5c06 \u573a\u666f \u5212\u5206 \u4e3a \u6709 \u610f\u4e49 \u7684 \u90e8\u5206 \uff0c \u4f7f \u6211\u4eec \u7684 \u8f66\u8f86 \u80fd\u591f \u7406\u89e3 \u9053\u8def \u5e03\u5c40 \u5e76 \u66f4\u597d \u5730 \u54cd\u5e94 \u590d\u6742 \u7684 \u57ce\u5e02 \u666f\u89c2 \u3002   \u57fa\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684   BEV   \u5730\u56fe \u751f\u6210   \uff1a \u6211\u4eec \u7684 \u7cfb\u7edf \u4f7f\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u751f\u6210 \u9e1f\u77b0 \u9e1f\u77b0\u56fe   ( BEV )   \u5730\u56fe \uff0c \u63d0\u4f9b \u8f66\u8f86 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u7684 \u6574\u4f53 \u89c6\u56fe \u3002 \u8be5 \u5730\u56fe \u662f \u8def\u5f84 \u89c4\u5212 \u548c \u51b3\u7b56 \u7684 \u5b9d\u8d35 \u5de5\u5177 \uff0c \u53ef \u589e\u5f3a \u8f66\u8f86 \u9ad8\u6548 \u3001 \u5b89\u5168 \u5bfc\u822a \u7684 \u80fd\u529b \u3002   \u76ee\u524d \uff0c \u6211\u4eec \u6b63\u5728 \u52aa\u529b \u5f00\u53d1 \u8fd9\u4e9b \u6a21\u5757 \uff0c \u6211\u4eec \u5f88 \u9ad8\u5174 \u5730 \u544a\u8bc9 \u5927\u5bb6 \uff0c \u6211\u4eec \u5df2\u7ecf \u4e3a \u524d \u4e09\u4e2a \u4efb\u52a1 \u5f00\u53d1 \u4e86 \u521d\u59cb \u6a21\u578b \u521d\u59cb\u6a21\u578b \u3002 \u7136\u800c \uff0c \u503c\u5f97 \u6ce8\u610f \u503c\u5f97\u6ce8\u610f \u7684 \u662f \uff0c \u8fd9\u4e9b \u6a21\u578b \u4ecd \u5728 \u4e0d\u65ad \u5b8c\u5584 \u4e0d\u65ad\u5b8c\u5584 \uff0c \u4ee5 \u63d0\u9ad8 \u5176 \u6027\u80fd \u548c \u53ef\u9760 \u53ef\u9760\u6027 \u3002   \u6211\u4eec \u8fd8 \u63d0\u4f9b \u4e86 \u6709\u5173   ISS   \u751f\u6210 \u7684 \u7269\u4f53 \u68c0\u6d4b \u7684   \u6570\u636e \u96c6   \u3002 \u4ecd \u5728 \u66f4\u65b0 \u3002   git \u4ed3\u5e93   \u76ee\u6807 \u68c0\u6d4b   \u5728   Carla   \u4e2d \u4f7f\u7528   YOLOv3   \u68c0\u6d4b \u76ee\u6807 \u3002   \u5b89\u88c5   pip   install   - r   requirements . txt   \u5982\u679c \u9700\u8981   GPU   \u8ba1\u7b97 ,   \u5b89\u88c5   nvidia - cuda - toolkit \u3002   \u521b\u5efa   conda   \u73af\u5883 \uff1a   conda   create   - n   yolo   python = 3.7   conda   activate   yolo   \u6ce8\u610f \uff1a \u8fd0\u884c \u811a\u672c \u7684 \u65f6\u5019 \u4f1a \u63d0\u793a \u5b89\u88c5 \u5b89\u88c5\u5305 \uff01 \u9664 Carla   Client   API \u4e3a 0.9 . 12 \u4e0e Carla \u5bf9\u5e94 \uff0c \u5176\u4ed6 \u5b89\u88c5 \u6700\u65b0 \u7684 \u3002   weights \u6587\u4ef6 \u94fe\u63a5 \uff1a https : / / pan . baidu . com / s / 184hR _ PQZttYeAz9QE4XOQg   \u63d0\u53d6 \u7801 \uff1a hyus   \u5c06 weight \u6587\u4ef6 \u653e\u5728 weights \u76ee\u5f55 \u4e0b \u3002   \u8fd0\u884c   1 . \u8fde\u63a5 Carla \u670d\u52a1 \u670d\u52a1\u7aef   . / CarlaUE4 . sh   2 . \u8fd0\u884c \u811a\u672c \u751f\u6210 \u8f66\u8f86 \u548c \u884c\u4eba   python3   spawn _ npc . py   - n   80   \u6ce8\u610f :   spawn _ npc . py   \u5728   PythonAPI / examples   \uff0c \u8be5 \u6d4b\u8bd5 \u662f \u5728 Carla - 0.9 . 12 \uff0c \u6700\u65b0 \u65b0\u7248 \u6700\u65b0\u7248 Carla \u6ca1\u6709 spawn _ npc . py , \u4f46\u662f \u4f1a \u51fa\u73b0 \u884c\u4eba \u5012 \u7740 \u8d70 \u7684 \u95ee\u9898 \uff0c \u4e0d\u59a8 \u4f7f\u7528 generate _ trrafic . py \u3002   3 . \u884c   python3   object _ detection . py   \u7528 gpu \u6267\u884c   pip   install   yolo34py - gpu   python3   object _ detection _ gpu . py","title":"\u611f\u77e5"},{"location":"algorithms/perception/#_1","text":"","title":"\u611f\u77e5"},{"location":"algorithms/perception/#_2","text":"ISS \u611f\u77e5 \u6a21\u5757 \u4e3a \u591a\u79cd \u611f\u77e5 \u4efb\u52a1 \u63d0\u4f9b \u652f\u6301 \uff0c \u4f8b\u5982 3D \u969c\u788d \u969c\u788d\u7269 \u611f\u77e5 \u3001 2D \u7269\u4f53 \u8bc6\u522b \u3001 2D \u8bed\u4e49 \u5206\u5272 \u548c \u57fa\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u9e1f\u77b0 \u9e1f\u77b0\u56fe \uff08 Bird ' s   Eye   View ,   BEV \uff09 \u5730\u56fe \u751f\u6210 \u3002 \u6211\u4eec \u7684 \u56e2\u961f \u4e13\u6ce8 \u4e8e \u5f00\u53d1 \u548c \u5b8c\u5584 \u8fd9\u4e9b \u5173\u952e \u7684 \u611f\u77e5 \u4efb\u52a1 \u3002 \u8fd9\u4e9b \u4efb\u52a1 \u662f \u4f7f \u6211\u4eec \u7684 \u8f66\u8f86 \u80fd\u591f \u5b89\u5168 \u3001 \u7cbe\u786e \u5730 \u5728 \u590d\u6742 \u73af\u5883 \u4e2d \u884c\u9a76 \u7684 \u57fa\u7840 \u3002","title":"\u611f\u77e5 \u6a21\u5757 \u7b80\u4ecb"},{"location":"algorithms/perception/#_3","text":"ISS   \u611f\u77e5 \u6a21\u5757 \u652f\u6301 \u7684 \u4e0d\u540c \u4efb\u52a1 \u4f7f \u6211\u4eec \u7684 \u8f66\u8f86 \u80fd\u591f \u4e86\u89e3 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u53ca\u5176 \u5143\u7d20 \u7684 \u7279\u5b9a \u5c5e\u6027 \u3002   3D   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b   \uff1a \u6211\u4eec \u7684 \u7cfb\u7edf \u91c7\u7528 \u5148\u8fdb \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6280\u672f \u6765 \u5b9e\u65f6 \u68c0\u6d4b \u548c \u5206\u6790 \u4e09\u7ef4 \u969c\u788d \u969c\u788d\u7269 \u3002 \u5373\u4f7f \u5728 \u52a8\u6001 \u548c \u5177\u6709 \u6311\u6218 \u6311\u6218\u6027 \u7684 \u573a\u666f \u4e2d \uff0c \u8fd9\u79cd \u529f\u80fd \u4e5f \u4f7f \u6211\u4eec \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u80fd\u591f \u505a\u51fa \u660e\u667a \u7684 \u51b3\u7b56 \u5e76 \u786e\u4fdd \u4fdd\u5b89 \u5b89\u5168 \u786e\u4fdd\u5b89\u5168 \u5bfc\u822a \u3002   2D   \u7269\u4f53 \u68c0\u6d4b   \uff1a \u8bc6\u522b \u548c \u8bc6\u522b \u8f66\u8f86 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u4e2d \u7684 \u7269\u4f53 \u5bf9\u4e8e \u5b89\u5168 \u5bfc\u822a \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002 \u6211\u4eec \u7684 \u6846\u67b6 \u5229\u7528 \u5c16\u7aef \u7b97\u6cd5 \u6765 \u8bc6\u522b \u548c \u5206\u7c7b \u5404\u79cd \u5bf9\u8c61 \uff0c \u4f8b\u5982 \u884c\u4eba \u3001 \u8f66\u8f86 \u548c \u6807\u724c \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u589e\u5f3a \u6001\u52bf \u611f\u77e5 \u3002   3D   \u969c\u788d \u969c\u788d\u7269 \u611f\u77e5 \u548c   2D   \u7269\u4f53 \u68c0\u6d4b   2D   \u8bed\u4e49 \u5206\u5272   \uff1a \u8bed\u4e49 \u5206\u5272 \u662f \u8be6\u7ec6 \u4e86\u89e3 \u73af\u5883 \u7684 \u4e00\u9879 \u91cd\u8981 \u4efb\u52a1 \u3002 \u6211\u4eec \u5229\u7528 \u6700 \u5148\u8fdb \u7684 \u6280\u672f \u5c06 \u573a\u666f \u5212\u5206 \u4e3a \u6709 \u610f\u4e49 \u7684 \u90e8\u5206 \uff0c \u4f7f \u6211\u4eec \u7684 \u8f66\u8f86 \u80fd\u591f \u7406\u89e3 \u9053\u8def \u5e03\u5c40 \u5e76 \u66f4\u597d \u5730 \u54cd\u5e94 \u590d\u6742 \u7684 \u57ce\u5e02 \u666f\u89c2 \u3002   \u57fa\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684   BEV   \u5730\u56fe \u751f\u6210   \uff1a \u6211\u4eec \u7684 \u7cfb\u7edf \u4f7f\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u751f\u6210 \u9e1f\u77b0 \u9e1f\u77b0\u56fe   ( BEV )   \u5730\u56fe \uff0c \u63d0\u4f9b \u8f66\u8f86 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u7684 \u6574\u4f53 \u89c6\u56fe \u3002 \u8be5 \u5730\u56fe \u662f \u8def\u5f84 \u89c4\u5212 \u548c \u51b3\u7b56 \u7684 \u5b9d\u8d35 \u5de5\u5177 \uff0c \u53ef \u589e\u5f3a \u8f66\u8f86 \u9ad8\u6548 \u3001 \u5b89\u5168 \u5bfc\u822a \u7684 \u80fd\u529b \u3002   \u76ee\u524d \uff0c \u6211\u4eec \u6b63\u5728 \u52aa\u529b \u5f00\u53d1 \u8fd9\u4e9b \u6a21\u5757 \uff0c \u6211\u4eec \u5f88 \u9ad8\u5174 \u5730 \u544a\u8bc9 \u5927\u5bb6 \uff0c \u6211\u4eec \u5df2\u7ecf \u4e3a \u524d \u4e09\u4e2a \u4efb\u52a1 \u5f00\u53d1 \u4e86 \u521d\u59cb \u6a21\u578b \u521d\u59cb\u6a21\u578b \u3002 \u7136\u800c \uff0c \u503c\u5f97 \u6ce8\u610f \u503c\u5f97\u6ce8\u610f \u7684 \u662f \uff0c \u8fd9\u4e9b \u6a21\u578b \u4ecd \u5728 \u4e0d\u65ad \u5b8c\u5584 \u4e0d\u65ad\u5b8c\u5584 \uff0c \u4ee5 \u63d0\u9ad8 \u5176 \u6027\u80fd \u548c \u53ef\u9760 \u53ef\u9760\u6027 \u3002   \u6211\u4eec \u8fd8 \u63d0\u4f9b \u4e86 \u6709\u5173   ISS   \u751f\u6210 \u7684 \u7269\u4f53 \u68c0\u6d4b \u7684   \u6570\u636e \u96c6   \u3002 \u4ecd \u5728 \u66f4\u65b0 \u3002   git \u4ed3\u5e93","title":"\u4efb\u52a1"},{"location":"algorithms/perception/#_4","text":"\u5728   Carla   \u4e2d \u4f7f\u7528   YOLOv3   \u68c0\u6d4b \u76ee\u6807 \u3002","title":"\u76ee\u6807 \u68c0\u6d4b"},{"location":"algorithms/perception/#_5","text":"pip   install   - r   requirements . txt   \u5982\u679c \u9700\u8981   GPU   \u8ba1\u7b97 ,   \u5b89\u88c5   nvidia - cuda - toolkit \u3002   \u521b\u5efa   conda   \u73af\u5883 \uff1a   conda   create   - n   yolo   python = 3.7   conda   activate   yolo   \u6ce8\u610f \uff1a \u8fd0\u884c \u811a\u672c \u7684 \u65f6\u5019 \u4f1a \u63d0\u793a \u5b89\u88c5 \u5b89\u88c5\u5305 \uff01 \u9664 Carla   Client   API \u4e3a 0.9 . 12 \u4e0e Carla \u5bf9\u5e94 \uff0c \u5176\u4ed6 \u5b89\u88c5 \u6700\u65b0 \u7684 \u3002   weights \u6587\u4ef6 \u94fe\u63a5 \uff1a https : / / pan . baidu . com / s / 184hR _ PQZttYeAz9QE4XOQg   \u63d0\u53d6 \u7801 \uff1a hyus   \u5c06 weight \u6587\u4ef6 \u653e\u5728 weights \u76ee\u5f55 \u4e0b \u3002","title":"\u5b89\u88c5"},{"location":"algorithms/perception/#_6","text":"1 . \u8fde\u63a5 Carla \u670d\u52a1 \u670d\u52a1\u7aef   . / CarlaUE4 . sh   2 . \u8fd0\u884c \u811a\u672c \u751f\u6210 \u8f66\u8f86 \u548c \u884c\u4eba   python3   spawn _ npc . py   - n   80   \u6ce8\u610f :   spawn _ npc . py   \u5728   PythonAPI / examples   \uff0c \u8be5 \u6d4b\u8bd5 \u662f \u5728 Carla - 0.9 . 12 \uff0c \u6700\u65b0 \u65b0\u7248 \u6700\u65b0\u7248 Carla \u6ca1\u6709 spawn _ npc . py , \u4f46\u662f \u4f1a \u51fa\u73b0 \u884c\u4eba \u5012 \u7740 \u8d70 \u7684 \u95ee\u9898 \uff0c \u4e0d\u59a8 \u4f7f\u7528 generate _ trrafic . py \u3002   3 . \u884c   python3   object _ detection . py   \u7528 gpu \u6267\u884c   pip   install   yolo34py - gpu   python3   object _ detection _ gpu . py","title":"\u8fd0\u884c"},{"location":"algorithms/planning/","text":"\u89c4\u5212   \u89c4\u5212 \u6a21\u5757 \u7b80\u4ecb   \u81ea\u52a8 \u9a7e\u9a76 \u7ba1\u9053 \u5305\u542b \u4ece \u611f\u77e5 \u5230 \u63a7\u5236 \u7684 \u591a\u4e2a \u7ec4\u4ef6 \u3002 \u8be5 \u7ba1\u9053 \u7684 \u6838\u5fc3 \u662f \u201c \u89c4\u5212 \u6a21\u5757 \u201d \uff0c \u8d1f\u8d23 \u5236\u5b9a \u6709\u5173 \u8f66\u8f86 \u8fd0\u52a8 \u7684 \u6218\u7565 \u548c \u6218\u672f \u51b3\u7b56 \u3002 \u8be5 \u6a21\u5757 \u5206\u4e3a \u4e09\u4e2a \u5173\u952e \u9636\u6bb5 \uff1a \u8def\u7ebf \u89c4\u5212 \u3001 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\u89c4\u6a21 \u5927\u89c4\u6a21 \u7684 \u6700\u4f73 \u8def\u7ebf   [ 1 ]   \u3002 \u5982\u9700 \u66f4 \u5168\u9762 \u7684 \u8c03\u67e5 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Bast   \u7b49 \u4eba \u7684 \u8bba\u6587   [ 2 ]   \u3002   \u8f93\u5165   \u8def\u7ebf \u89c4\u5212 \u9636\u6bb5 \u5c06 \u6709\u5173 \u4e16\u754c \u7684 \u9ad8\u7ea7 \u4fe1\u606f \u4f5c\u4e3a \u8f93\u5165 \uff0c \u4f8b\u5982 \uff1a   \u8d77\u70b9 \u548c \u7ec8\u70b9 \u7684 \u5750\u6807 \uff1b   \u9053\u8def \u7f51\u7edc \u7684 \u62d3\u6251 \u7ed3\u6784 \uff1b   \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \uff1b   \u53ef\u80fd \u7684 \u6c38\u4e45 \u6c38\u4e45\u6027 \u969c\u788d \u3002   \u8f93\u51fa   \u8def\u7ebf \u89c4\u5212 \u9636\u6bb5 \u751f\u6210 \u4e00\u6761 \u8def\u5f84 \u6216 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u8fde\u63a5 \u8d77\u70b9 \u548c \u76ee\u7684 \u76ee\u7684\u5730 \u7684 \u8def\u5f84 \u70b9 \u4f5c\u4e3a \u8f93\u51fa \uff0c \u540c\u65f6 \u907f\u5f00 \u4efb\u4f55 \u6c38\u4e45 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\u8f66\u8f86 \u5728 \u6307\u5b9a \u65f6\u95f4 \u8303\u56f4 \u5185 \u7684 \u72b6\u6001 \u3002   \u6311\u6218   \u4e3a\u4e86 \u4ea7\u751f \u8fd9\u6837 \u4e00\u4e2a \u4f18\u5316 \u7684 \u8f68\u8ff9 \uff0c \u8fd0\u52a8 \u89c4\u5212 \u9762\u4e34 \u7740 \u591a\u91cd \u6311\u6218 \uff0c \u4f8b\u5982   \u5236\u5b9a \u907f\u514d \u78b0\u649e \u4e14 \u7cbe\u7b80 \u7684 \u8f68\u8ff9 \uff1b   \u7ba1\u7406 \u6765\u81ea \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u566a\u58f0 \u548c \u4e0d \u786e\u5b9a \u6570\u636e \uff1b   \u5b9e\u65f6 \u8f68\u8ff9 \u6620\u5c04 \u3002   \u53c2\u8003 \u6587\u732e \u53c2\u8003\u6587\u732e   Paden ,   Brian ,   et   al .   \" A   survey   of   motion   planning   and   control   techniques   for   self - driving   urban   vehicles . \"   IEEE   Transactions   on   intelligent   vehicles   1.1   ( 2016 ) :   33 - 55 .   Bast ,   Hannah ,   et   al .   \" Route   planning   in   transportation   networks . \"   Algorithm   engineering :   Selected   results   and   surveys   ( 2016 ) :   19 - 80 .   Ding ,   Wenchao ,   et   al .   \" Epsilon :   An   efficient   planning   system   for   automated   vehicles   in   highly   interactive   environments . \"   IEEE   Transactions   on   Robotics   38.2   ( 2021 ) :   1118 - 1138 .","title":"Planning"},{"location":"algorithms/planning/#_1","text":"","title":"\u89c4\u5212"},{"location":"algorithms/planning/#_2","text":"\u81ea\u52a8 \u9a7e\u9a76 \u7ba1\u9053 \u5305\u542b \u4ece \u611f\u77e5 \u5230 \u63a7\u5236 \u7684 \u591a\u4e2a \u7ec4\u4ef6 \u3002 \u8be5 \u7ba1\u9053 \u7684 \u6838\u5fc3 \u662f \u201c \u89c4\u5212 \u6a21\u5757 \u201d \uff0c \u8d1f\u8d23 \u5236\u5b9a \u6709\u5173 \u8f66\u8f86 \u8fd0\u52a8 \u7684 \u6218\u7565 \u548c \u6218\u672f \u51b3\u7b56 \u3002 \u8be5 \u6a21\u5757 \u5206\u4e3a \u4e09\u4e2a \u5173\u952e \u9636\u6bb5 \uff1a \u8def\u7ebf \u89c4\u5212 \u3001 \u884c\u4e3a \u89c4\u5212 \u548c \u8fd0\u52a8 \u89c4\u5212 \uff0c \u4ee5 \u4e0d\u540c \u7684 \u7c92\u5ea6 \u548c \u7cbe\u5ea6 \u6c34\u5e73 \u89c4\u5212 \u8f66\u8f86 \u7684 \u8fd0\u52a8 \u3002 \u5728 \u8fd9 \u6587\u7ae0 \u7bc7\u6587\u7ae0 \u4e2d \uff0c \u6211\u4eec \u5c06 \u6df1\u5165 \u63a2\u8ba8 \u6df1\u5165\u63a2\u8ba8 \u6bcf\u4e2a \u9636\u6bb5 \u3002   \u89c4\u5212 \u548c \u63a7\u5236 \u6d41\u7a0b","title":"\u89c4\u5212 \u6a21\u5757 \u7b80\u4ecb"},{"location":"algorithms/planning/#_3","text":"","title":"\u8def\u7ebf \u89c4\u5212  "},{"location":"algorithms/planning/#_4","text":"\u8def\u7ebf \u89c4\u5212 \u9636\u6bb5 \u7684 \u4efb\u52a1 \u662f \u627e\u5230 \u4ece \u5f53\u524d \u4f4d\u7f6e \u5230 \u6240 \u9700 \u76ee\u7684 \u76ee\u7684\u5730 \u7684 \u6700 \u6709\u6548 \u8def\u7ebf \uff0c \u5c31 \u50cf \u4f20\u7edf   GPS   \u5bfc\u822a \u7cfb\u7edf \u5bfc\u822a\u7cfb\u7edf \u7684 \u64cd\u4f5c \u65b9\u5f0f \u4e00\u6837 \u3002 \u73b0\u4ee3 \u8def\u7ebf \u89c4\u5212 \u7b97\u6cd5 \u80fd\u591f \u5728 \u4e00\u6b21 \u4e00\u6b21\u6027 \u5904\u7406 \u9884\u5904\u7406 \u6b65\u9aa4 \u540e \u5b9e\u65f6 \u8fd4\u56de \u5927\u89c4 \u89c4\u6a21 \u5927\u89c4\u6a21 \u7684 \u6700\u4f73 \u8def\u7ebf   [ 1 ]   \u3002 \u5982\u9700 \u66f4 \u5168\u9762 \u7684 \u8c03\u67e5 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Bast   \u7b49 \u4eba \u7684 \u8bba\u6587   [ 2 ]   \u3002","title":"\u76ee\u6807"},{"location":"algorithms/planning/#_5","text":"\u8def\u7ebf \u89c4\u5212 \u9636\u6bb5 \u5c06 \u6709\u5173 \u4e16\u754c \u7684 \u9ad8\u7ea7 \u4fe1\u606f \u4f5c\u4e3a \u8f93\u5165 \uff0c \u4f8b\u5982 \uff1a   \u8d77\u70b9 \u548c \u7ec8\u70b9 \u7684 \u5750\u6807 \uff1b   \u9053\u8def \u7f51\u7edc \u7684 \u62d3\u6251 \u7ed3\u6784 \uff1b   \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \uff1b   \u53ef\u80fd \u7684 \u6c38\u4e45 \u6c38\u4e45\u6027 \u969c\u788d \u3002","title":"\u8f93\u5165"},{"location":"algorithms/planning/#_6","text":"\u8def\u7ebf \u89c4\u5212 \u9636\u6bb5 \u751f\u6210 \u4e00\u6761 \u8def\u5f84 \u6216 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u8fde\u63a5 \u8d77\u70b9 \u548c \u76ee\u7684 \u76ee\u7684\u5730 \u7684 \u8def\u5f84 \u70b9 \u4f5c\u4e3a \u8f93\u51fa \uff0c \u540c\u65f6 \u907f\u5f00 \u4efb\u4f55 \u6c38\u4e45 \u6c38\u4e45\u6027 \u969c\u788d \u3002","title":"\u8f93\u51fa"},{"location":"algorithms/planning/#_7","text":"\u9053\u8def \u89c4\u5212 \u6a21\u5757 \u5728 \u8ba1\u7b97 \u6700 \u6709\u6548 \u7684 \u8def\u7ebf \u65f6 \u5fc5\u987b \u8003\u8651 \u8bb8\u591a \u6311\u6218 \uff0c \u4f8b\u5982   \u9002\u5e94 \u4e0d\u65ad \u53d8\u5316 \u7684 \u9053\u8def \u72b6\u51b5 \uff1b   \u7eb3\u5165 \u5b9e\u65f6 \u4ea4\u901a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff1b   \u786e\u4fdd \u6240 \u9009 \u8def\u7ebf \u65e2 \u5b89\u5168 \u53c8 \u9ad8\u6548 \u3002","title":"\u6311\u6218"},{"location":"algorithms/planning/#_8","text":"","title":"\u884c\u4e3a \u89c4\u5212"},{"location":"algorithms/planning/#_9","text":"\u884c\u4e3a \u89c4\u5212 \u9636\u6bb5 \u7684 \u4e3b\u8981 \u4efb\u52a1 \u662f \u89c4\u5b9a \u8f66\u8f86 \u7684 \u603b\u4f53 \u884c\u4e3a \uff0c \u4ece \u8f66\u9053 \u53d8\u6362 \u3001 \u8d85\u8f66 \u3001 \u8ba9\u8def \u5230 \u8f6c\u5f2f \u7684 \u51b3\u7b56 \u3002 \u5982\u4eca \uff0c \u884c\u4e3a \u89c4\u5212 \u6a21\u5757 \u901a\u5e38 \u5305\u542b \u81ea\u6211 \u8f66\u8f86 \u4e0e \u9053\u8def \u4e0a \u5176\u4ed6 \u4ee3\u7406 \uff08 \u4f8b\u5982 \u5176\u4ed6 \u8f66\u8f86 \uff09 \u4e4b\u95f4 \u7684 \u4ea4\u4e92   [ 3 ]   \u3002","title":"\u76ee\u6807"},{"location":"algorithms/planning/#_10","text":"\u4e3a\u4e86 \u5b9e\u73b0 \u5176 \u76ee\u6807 \uff0c \u884c\u4e3a \u89c4\u5212 \u9636\u6bb5 \u4f7f\u7528 \u6765\u81ea \u591a\u4e2a \u6765\u6e90 \u7684 \u4fe1\u606f \uff0c \u4f8b\u5982   \u6839\u636e \u8def\u7ebf \u89c4\u5212 \u5f97\u5230 \u7684 \u6307\u5b9a \u8def\u7ebf \uff1b   \u6709\u5173 \u90bb\u8fd1 \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u6570\u636e \uff08 \u6765\u81ea \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u96f7\u8fbe \u3001 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u7b49 \uff09 \uff1b   \u4ea4\u901a \u4ea4\u901a\u706f \u4fe1\u606f \uff1b   \u5176\u4ed6 \u76f8\u5173 \u73af\u5883 \u6570\u636e \u3002","title":"\u8f93\u5165"},{"location":"algorithms/planning/#_11","text":"\u884c\u4e3a \u89c4\u5212 \u7684 \u8f93\u51fa \u5305\u62ec \u5b8f\u89c2 \u6307\u4ee4 \uff0c \u4f8b\u5982 \u201c \u79fb\u81f3 \u5de6 \u8f66\u9053 \u201d \u3001 \u201c \u8ddf\u8e2a \u524d\u65b9 \u8f66\u8f86 \u201d \u6216 \u201c \u51c6\u5907 \u53f3\u8f6c \u201d \u4ee5\u53ca \u53cd\u6620 \u8fd9\u4e9b \u6307\u4ee4 \u7684 \u7c97\u7565 \u8f68\u8ff9 \u3002","title":"\u8f93\u51fa"},{"location":"algorithms/planning/#_12","text":"\u5728 \u505a\u51fa \u51b3\u7b56 \u65f6 \uff0c \u884c\u4e3a \u89c4\u5212 \u9636\u6bb5 \u9700\u8981 \u89e3\u51b3 \u591a\u4e2a \u95ee\u9898 \uff0c \u4f8b\u5982   \u9884\u6d4b \u5468\u56f4 \u53f8\u673a \u548c \u884c\u4eba \u7684 \u610f\u56fe \u548c \u5373\u5c06 \u91c7\u53d6 \u7684 \u884c\u52a8 \uff1b   \u5728 \u590d\u6742 \u7684 \u573a\u666f \u4e2d \u91c7\u7528 \u5b89\u5168 \u7684 \u51b3\u7b56 \u5236\u5b9a \u51b3\u7b56\u5236\u5b9a \uff1b   \u5904\u7406 \u4e0d \u5e38\u89c1 \u7684 \u8fb9\u7f18 \u60c5\u51b5 \u3002","title":"\u6311\u6218"},{"location":"algorithms/planning/#_13","text":"","title":"\u8fd0\u52a8 \u89c4\u5212"},{"location":"algorithms/planning/#_14","text":"\u89c4\u5212 \u6a21\u5757 \u5de5\u4f5c \u6d41\u7a0b \u7684 \u6700\u540e \u4e00\u4e2a \u9636\u6bb5 \u662f \u8fd0\u52a8 \u89c4\u5212 \uff0c \u5176 \u76ee\u7684 \u662f \u7ed8\u5236 \u4e00\u6761 \u5bf9 \u8f66\u8f86 \u6765\u8bf4 \u65e2 \u5b89\u5168 \u53c8 \u4e00\u81f4 \u7684 \u8f68\u8ff9 \uff0c \u53cd\u6620 \u884c\u4e3a \u76ee\u6807 \u5e76 \u4fdd\u6301 \u5728 \u8f66\u8f86 \u7684 \u52a8\u6001 \u548c \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u7ea6\u675f \u8303\u56f4 \u5185   [ 1 ]   \u3002","title":"\u76ee\u6807"},{"location":"algorithms/planning/#_15","text":"\u4e3a\u4e86 \u4f7f \u8f66\u8f86 \u4ea7\u751f \u5e73\u6ed1 \u7684 \u8f68\u8ff9 \uff0c \u8fd0\u52a8 \u89c4\u5212 \u9700\u8981 \u591a\u79cd \u79cd\u7c7b \u7c7b\u578b \u591a\u79cd\u7c7b\u578b \u7684 \u6570\u636e \uff0c \u4f8b\u5982   \u884c\u4e3a \u89c4\u5212 \u6240 \u786e\u7acb \u7684 \u9884\u671f \u884c\u4e3a \uff1b   \u5f53\u524d \u8f66\u8f86 \u72b6\u6001 \uff08 \u5982 \u4f4d\u7f6e \u3001 \u901f\u5ea6 \u3001 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff09 \uff1b   \u9053\u8def \u5730\u56fe \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff1b   \u6709\u5173 \u52a8\u6001 \u969c\u788d \u969c\u788d\u7269 \u7684 \u6570\u636e \u3002","title":"\u8f93\u5165"},{"location":"algorithms/planning/#_16","text":"\u8fd0\u52a8 \u89c4\u5212 \u9636\u6bb5 \u7684 \u7ed3\u679c \u662f \u4f18\u5316 \u7684 \u8f68\u8ff9 \uff0c \u8be6\u7ec6 \u8bf4\u660e \u4e86 \u8f66\u8f86 \u5728 \u6307\u5b9a \u65f6\u95f4 \u8303\u56f4 \u5185 \u7684 \u72b6\u6001 \u3002","title":"\u8f93\u51fa"},{"location":"algorithms/planning/#_17","text":"\u4e3a\u4e86 \u4ea7\u751f \u8fd9\u6837 \u4e00\u4e2a \u4f18\u5316 \u7684 \u8f68\u8ff9 \uff0c \u8fd0\u52a8 \u89c4\u5212 \u9762\u4e34 \u7740 \u591a\u91cd \u6311\u6218 \uff0c \u4f8b\u5982   \u5236\u5b9a \u907f\u514d \u78b0\u649e \u4e14 \u7cbe\u7b80 \u7684 \u8f68\u8ff9 \uff1b   \u7ba1\u7406 \u6765\u81ea \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u566a\u58f0 \u548c \u4e0d \u786e\u5b9a \u6570\u636e \uff1b   \u5b9e\u65f6 \u8f68\u8ff9 \u6620\u5c04 \u3002","title":"\u6311\u6218"},{"location":"algorithms/planning/#_18","text":"Paden ,   Brian ,   et   al .   \" A   survey   of   motion   planning   and   control   techniques   for   self - driving   urban   vehicles . \"   IEEE   Transactions   on   intelligent   vehicles   1.1   ( 2016 ) :   33 - 55 .   Bast ,   Hannah ,   et   al .   \" Route   planning   in   transportation   networks . \"   Algorithm   engineering :   Selected   results   and   surveys   ( 2016 ) :   19 - 80 .   Ding ,   Wenchao ,   et   al .   \" Epsilon :   An   efficient   planning   system   for   automated   vehicles   in   highly   interactive   environments . \"   IEEE   Transactions   on   Robotics   38.2   ( 2021 ) :   1118 - 1138 .","title":"\u53c2\u8003\u6587\u732e"},{"location":"algorithms/prediction/","text":"\u9884\u6d4b   \u9884\u6d4b \u6a21\u5757 \u4ecb\u7ecd   \u9884\u6d4b \u5728 \u81ea\u52a8 \u9a7e\u9a76 \u4e2d \u53d1\u6325 \u7740 \u5173\u952e \u4f5c\u7528 \u5173\u952e\u4f5c\u7528 \uff0c \u53ef\u4ee5 \u786e\u5b9a \u9053\u8def \u4ee3\u7406 \u53ef\u80fd \u91c7\u53d6 \u7684 \u884c\u52a8 \u4ee5 \u786e\u4fdd \u4fdd\u5b89 \u5b89\u5168 \u786e\u4fdd\u5b89\u5168 \u5bfc\u822a \u3002 \u5728 \u672c \u6587\u6863 \u4e2d \uff0c \u6211\u4eec \u6982\u8ff0 \u4e86 \u5f53\u524d \u7684 \u65b9\u6cd5 \uff0c \u4ece \u7b80\u5355 \u7684   \u6052\u901f \u8fd0\u52a8   \u9884\u6d4b \u6d4b\u5668 \u9884\u6d4b\u5668 \u5230 \u66f4 \u5148\u8fdb \u7684 \u8fd0\u52a8 \u53d8\u6362 \u53d8\u6362\u5668   Motion   Transformer   \u3002   \u6052\u901f \u8fd0\u52a8 \u9884\u6d4b \u6d4b\u5668 \u9884\u6d4b\u5668   \u6982\u8ff0   \u7b49\u901f \u6a21\u578b \u662f \u6700 \u57fa\u672c \u4f46 \u6709\u6548 \u7684 \u9884\u6d4b \u65b9\u6cd5   [ 1 ]   \uff0c \u5047\u8bbe \u5b9e\u4f53 \u4ee5 \u6052\u5b9a \u901f\u5ea6 \u7ee7\u7eed \u5176 \u5f53\u524d \u8f68\u8ff9 \u3002 \u5728 \u8fd9\u91cc \uff0c \u6211\u4eec \u901a\u8fc7   Runge - Kutta   4   ( RK4 )   \u79ef\u5206 \u5bf9 \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u6a21\u578b \u8fdb\u884c \u6b63\u5411 \u4eff\u771f \uff0c \u5047\u8bbe \u6ca1\u6709 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u548c \u8f6c\u5411 \u89d2 \u3002   \u9002\u7528 \u9002\u7528\u6027 \u548c \u5c40\u9650 \u9650\u6027 \u5c40\u9650\u6027   \u9002\u7528 \u9002\u7528\u6027   \uff1a \u975e\u5e38 \u9002\u5408 \u975e\u5e38\u9002\u5408 \u8fd0\u52a8 \u76f8\u5bf9 \u7ebf\u6027 \u7684 \u9ad8\u901f \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3002   \u5c40\u9650 \u9650\u6027 \u5c40\u9650\u6027   :   \uff1a \u5728 \u57ce\u5e02 \u6216 \u62e5\u6324 \u7684 \u5730\u533a \uff0c \u8be5 \u6a21\u578b \u53ef\u80fd \u65e0\u6cd5 \u6355\u83b7 \u4ee3\u7406 \u7684 \u4e0d \u7a33\u5b9a \u8fd0\u52a8 \u3002   \u6570\u5b66 \u6a21\u578b \u6570\u5b66\u6a21\u578b   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u8fd0\u52a8 \u6a21\u578b   \u63a7\u5236 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u8fd0\u52a8 \u6a21\u578b \u7684 \u4e3b\u8981 \u65b9\u7a0b \u662f \uff1a   \u4f4d\u7f6e \u66f4\u65b0   :   \u8f66\u8f86 \u540e\u8f6e \u7684 \u7a7a\u95f4 \u5750\u6807 \u968f \u65f6\u95f4 \u66f4\u65b0   ( t )   \u5230 \u65f6\u95f4   ( t   +   1 )   \u4f5c\u4e3a   $ $   x ( t + 1 )   =   x ( t )   +   v ( t )   \\ cos ( \\ theta ( t ) )   \\ Delta   t   $ $   $ $   y ( t + 1 )   =   y ( t )   +   v ( t )   \\ sin ( \\ theta ( t ) )   \\ Delta   t   $ $   \u822a\u5411 \u66f4\u65b0   \uff1a \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u822a\u5411 \u66f4 \u6539\u4e3a   \u8fd9\u91cc   ( ( x ,   y ) )   \u4ee3\u8868 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \uff1b   ( \\ theta )   \u662f \u8f66\u8f86 \u7684 \u822a\u5411 \uff1b   ( v )   \u8868\u793a \u8f66\u8f86 \u7684 \u901f\u5ea6 \uff1b   (   \\ delta   )   \u662f \u524d\u8f6e \u7684 \u8f6c\u5411 \u89d2 \uff1b   (   l _ { wb }   )   \u4e3a \u8f74\u8ddd \uff0c \u5373 \u524d\u540e \u8f74 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \uff1b   (   \\ Delta   t   )   \u662f \u65f6\u95f4 \u6b65\u957f \u3002   \u7136\u540e \u5e94\u7528 RK4 \u65b9\u6cd5 \u8fdb\u884c \u524d\u5411 \u4eff\u771f \uff0c \u4ee5 \u63d0\u9ad8 \u77ed\u671f \u671f\u5185 \u77ed\u671f\u5185 \u7684 \u9884\u6d4b \u7cbe\u5ea6 \u3002   \u793a\u4f8b \u7528\u4f8b   \u516c\u8def \u548c \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3002   \u969c\u788d \u969c\u788d\u7269 \u6700\u5c11 \u7684 \u5f00\u653e \u533a\u57df \u3002   \u5728   ISS   \u4e2d \uff0c \u91c7\u7528 \u7b49\u901f \u6a21\u578b \u6765 \u9884\u6d4b \u7ed3\u6784 \u7ed3\u6784\u5316 \u9053\u8def \u73af\u5883 \u4e2d \u7684 \u8fd0\u52a8 \u3002   Motion   Transformer   \u6982\u8ff0   Motion   Transformer   [ 2 ]   \u662f \u4e00\u79cd \u6700 \u5148\u8fdb \u7684 \u6a21\u578b \uff0c \u5b83 \u8003\u8651 \u5386\u53f2 \u6570\u636e \u5386\u53f2\u6570\u636e \u6765 \u9884\u6d4b \u672a\u6765 \u7684 \u8f68\u8ff9 \u3002 \u8be5 \u6846\u67b6 \u5c06 \u8fd0\u52a8 \u9884\u6d4b \u5efa\u6a21 \u4e3a \u5168\u5c40 \u610f\u56fe \u5b9a\u4f4d \u548c \u5c40\u90e8 \u8fd0\u52a8 \u7ec6\u5316 \u7684 \u8054\u5408 \u4f18\u5316 \u3002 \u9664\u4e86 \u8003\u8651 \u9053\u8def \u7ed3\u6784 \u7684 \u5168\u5c40 \u4fe1\u606f \u4e4b\u5916 \uff0c \u8be5 \u65b9\u6cd5 \u8fd8 \u901a\u8fc7 \u9002\u5e94 \u53ef \u5b66\u4e60 \u7684 \u8fd0\u52a8 \u67e5\u8be2 \u6765 \u5408\u5e76 \u4e0d\u540c \u7684 \u8fd0\u52a8 \u6a21\u5f0f \u3002 Motion   Transformer \u7684 \u6574\u4f53 \u7ed3\u6784 \u5982\u4e0b \u56fe \u6240\u793a \u3002   motion   transformer   \u7684 \u7ed3\u6784   [ 2 ]   \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 \u9009\u62e9   Motion   Transformer ?   \u8f83 \u7b80\u5355 \u7684 \u6a21\u578b \u7f3a\u4e4f \u590d\u6742 \u73af\u5883 \u6240 \u9700 \u7684 \u7ec6\u5fae \u5fae\u5dee \u5dee\u522b \u7ec6\u5fae\u5dee\u522b \u3002 \u8fd0\u52a8 \u53d8\u6362 \u53d8\u6362\u5668 \u8003\u8651 \u4e86 \u5386\u53f2 \u8f68\u8ff9 \uff0c \u4f7f \u5176 \u5728 \u590d\u6742 \u7684 \u573a\u666f \u4e2d \u5177\u6709 \u4f18\u52bf \u3002   \u67b6\u6784 \u548c \u7ec4\u4ef6   \u6ce8\u610f \u6ce8\u610f\u529b \u673a\u5236   \uff1a \u6743\u8861 \u4e0d\u540c \u5386\u53f2 \u6570\u636e \u5386\u53f2\u6570\u636e \u70b9 \u7684 \u91cd\u8981 \u91cd\u8981\u6027 \u3002   \u7f16\u7801 \u7801\u5668 \u7f16\u7801\u5668 - \u89e3\u7801 \u7801\u5668 \u89e3\u7801\u5668 \u7ed3\u6784   \uff1a \u7f16\u7801 \u7801\u5668 \u7f16\u7801\u5668 \u5904\u7406 \u8f93\u5165 \u5e8f\u5217 \uff0c \u800c \u89e3\u7801 \u7801\u5668 \u89e3\u7801\u5668 \u4ea7\u751f \u9884\u6d4b \u8f68\u8ff9 \u3002   \u8f93\u5165 / \u8f93\u51fa \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f   \u8f93\u5165   \uff1a \u5386\u53f2 \u8f68\u8ff9 \u6570\u636e \u3002   \u8f93\u51fa   \uff1a \u7528 \u7f6e\u4fe1 \u4fe1\u533a \u533a\u95f4 \u7f6e\u4fe1\u533a\u95f4 \u9884\u6d4b \u672a\u6765 \u8f68\u8ff9 \u3002   \u5b9e\u65bd \u8def\u7ebf \u7ebf\u56fe \u8def\u7ebf\u56fe   \u7ef4\u62a4 \u73b0\u6709 \u7684 \u7b49\u901f \u8fd0\u52a8 \u7b49\u901f\u8fd0\u52a8 \u9884\u6d4b \u6d4b\u5668 \u9884\u6d4b\u5668 \u4ee5 \u786e\u4fdd \u57fa\u672c \u529f\u80fd \u57fa\u672c\u529f \u57fa\u672c\u529f\u80fd \u3002   \u4e86\u89e3 \u5e76 \u8bbe\u7f6e   Motion   Transformer   \u7684 \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u3002   \u6536\u96c6 \u548c \u5904\u7406 \u6570\u636e \u96c6 \u5e76 \u8fdb\u884c \u8bad\u7ec3 \u548c \u4eff\u771f \u6d4b\u8bd5 \u3002   \u96c6\u6210 \u5230 \u5f53\u524d \u7684 \u7ba1\u9053 \u4e2d \u5e76 \u786e\u4fdd \u6301\u7eed \u7684 \u6a21\u578b \u4f18\u5316 \u3002   \u53c2\u8003 \u6587\u732e \u53c2\u8003\u6587\u732e   Sch \u00f6 ller   C ,   Aravantinos   V ,   Lay   F ,   et   al .   \" What   the   constant   velocity   model   can   teach   us   about   pedestrian   motion   prediction . \"   In   IEEE   Robotics   and   Automation   Letters ,   2020 ,   5 ( 2 ) :   1696 - 1703 .   Shi   S ,   Jiang   L ,   Dai   D ,   et   al .   \" Motion   transformer   with   global   intention   localization   and   local   movement   refinement . \"   In   Advances   in   Neural   Information   Processing   Systems ,   2022 ,   35 :   6531 - 6543 .","title":"Prediction"},{"location":"algorithms/prediction/#_1","text":"","title":"\u9884\u6d4b"},{"location":"algorithms/prediction/#_2","text":"\u9884\u6d4b \u5728 \u81ea\u52a8 \u9a7e\u9a76 \u4e2d \u53d1\u6325 \u7740 \u5173\u952e \u4f5c\u7528 \u5173\u952e\u4f5c\u7528 \uff0c \u53ef\u4ee5 \u786e\u5b9a \u9053\u8def \u4ee3\u7406 \u53ef\u80fd \u91c7\u53d6 \u7684 \u884c\u52a8 \u4ee5 \u786e\u4fdd \u4fdd\u5b89 \u5b89\u5168 \u786e\u4fdd\u5b89\u5168 \u5bfc\u822a \u3002 \u5728 \u672c \u6587\u6863 \u4e2d \uff0c \u6211\u4eec \u6982\u8ff0 \u4e86 \u5f53\u524d \u7684 \u65b9\u6cd5 \uff0c \u4ece \u7b80\u5355 \u7684   \u6052\u901f \u8fd0\u52a8   \u9884\u6d4b \u6d4b\u5668 \u9884\u6d4b\u5668 \u5230 \u66f4 \u5148\u8fdb \u7684 \u8fd0\u52a8 \u53d8\u6362 \u53d8\u6362\u5668   Motion   Transformer   \u3002","title":"\u9884\u6d4b \u6a21\u5757 \u4ecb\u7ecd"},{"location":"algorithms/prediction/#_3","text":"","title":"\u6052\u901f \u8fd0\u52a8 \u9884\u6d4b\u5668"},{"location":"algorithms/prediction/#_4","text":"\u7b49\u901f \u6a21\u578b \u662f \u6700 \u57fa\u672c \u4f46 \u6709\u6548 \u7684 \u9884\u6d4b \u65b9\u6cd5   [ 1 ]   \uff0c \u5047\u8bbe \u5b9e\u4f53 \u4ee5 \u6052\u5b9a \u901f\u5ea6 \u7ee7\u7eed \u5176 \u5f53\u524d \u8f68\u8ff9 \u3002 \u5728 \u8fd9\u91cc \uff0c \u6211\u4eec \u901a\u8fc7   Runge - Kutta   4   ( RK4 )   \u79ef\u5206 \u5bf9 \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u6a21\u578b \u8fdb\u884c \u6b63\u5411 \u4eff\u771f \uff0c \u5047\u8bbe \u6ca1\u6709 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u548c \u8f6c\u5411 \u89d2 \u3002","title":"\u6982\u8ff0"},{"location":"algorithms/prediction/#_5","text":"\u9002\u7528 \u9002\u7528\u6027   \uff1a \u975e\u5e38 \u9002\u5408 \u975e\u5e38\u9002\u5408 \u8fd0\u52a8 \u76f8\u5bf9 \u7ebf\u6027 \u7684 \u9ad8\u901f \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3002   \u5c40\u9650 \u9650\u6027 \u5c40\u9650\u6027   :   \uff1a \u5728 \u57ce\u5e02 \u6216 \u62e5\u6324 \u7684 \u5730\u533a \uff0c \u8be5 \u6a21\u578b \u53ef\u80fd \u65e0\u6cd5 \u6355\u83b7 \u4ee3\u7406 \u7684 \u4e0d \u7a33\u5b9a \u8fd0\u52a8 \u3002","title":"\u9002\u7528\u6027 \u548c \u5c40\u9650\u6027"},{"location":"algorithms/prediction/#_6","text":"\u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u8fd0\u52a8 \u6a21\u578b   \u63a7\u5236 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u8fd0\u52a8 \u6a21\u578b \u7684 \u4e3b\u8981 \u65b9\u7a0b \u662f \uff1a   \u4f4d\u7f6e \u66f4\u65b0   :   \u8f66\u8f86 \u540e\u8f6e \u7684 \u7a7a\u95f4 \u5750\u6807 \u968f \u65f6\u95f4 \u66f4\u65b0   ( t )   \u5230 \u65f6\u95f4   ( t   +   1 )   \u4f5c\u4e3a   $ $   x ( t + 1 )   =   x ( t )   +   v ( t )   \\ cos ( \\ theta ( t ) )   \\ Delta   t   $ $   $ $   y ( t + 1 )   =   y ( t )   +   v ( t )   \\ sin ( \\ theta ( t ) )   \\ Delta   t   $ $   \u822a\u5411 \u66f4\u65b0   \uff1a \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u822a\u5411 \u66f4 \u6539\u4e3a   \u8fd9\u91cc   ( ( x ,   y ) )   \u4ee3\u8868 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \uff1b   ( \\ theta )   \u662f \u8f66\u8f86 \u7684 \u822a\u5411 \uff1b   ( v )   \u8868\u793a \u8f66\u8f86 \u7684 \u901f\u5ea6 \uff1b   (   \\ delta   )   \u662f \u524d\u8f6e \u7684 \u8f6c\u5411 \u89d2 \uff1b   (   l _ { wb }   )   \u4e3a \u8f74\u8ddd \uff0c \u5373 \u524d\u540e \u8f74 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \uff1b   (   \\ Delta   t   )   \u662f \u65f6\u95f4 \u6b65\u957f \u3002   \u7136\u540e \u5e94\u7528 RK4 \u65b9\u6cd5 \u8fdb\u884c \u524d\u5411 \u4eff\u771f \uff0c \u4ee5 \u63d0\u9ad8 \u77ed\u671f \u671f\u5185 \u77ed\u671f\u5185 \u7684 \u9884\u6d4b \u7cbe\u5ea6 \u3002","title":"\u6570\u5b66\u6a21\u578b"},{"location":"algorithms/prediction/#_7","text":"\u516c\u8def \u548c \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3002   \u969c\u788d \u969c\u788d\u7269 \u6700\u5c11 \u7684 \u5f00\u653e \u533a\u57df \u3002   \u5728   ISS   \u4e2d \uff0c \u91c7\u7528 \u7b49\u901f \u6a21\u578b \u6765 \u9884\u6d4b \u7ed3\u6784 \u7ed3\u6784\u5316 \u9053\u8def \u73af\u5883 \u4e2d \u7684 \u8fd0\u52a8 \u3002","title":"\u793a\u4f8b \u7528\u4f8b"},{"location":"algorithms/prediction/#motion-transformer","text":"","title":"Motion   Transformer"},{"location":"algorithms/prediction/#_8","text":"Motion   Transformer   [ 2 ]   \u662f \u4e00\u79cd \u6700 \u5148\u8fdb \u7684 \u6a21\u578b \uff0c \u5b83 \u8003\u8651 \u5386\u53f2 \u6570\u636e \u5386\u53f2\u6570\u636e \u6765 \u9884\u6d4b \u672a\u6765 \u7684 \u8f68\u8ff9 \u3002 \u8be5 \u6846\u67b6 \u5c06 \u8fd0\u52a8 \u9884\u6d4b \u5efa\u6a21 \u4e3a \u5168\u5c40 \u610f\u56fe \u5b9a\u4f4d \u548c \u5c40\u90e8 \u8fd0\u52a8 \u7ec6\u5316 \u7684 \u8054\u5408 \u4f18\u5316 \u3002 \u9664\u4e86 \u8003\u8651 \u9053\u8def \u7ed3\u6784 \u7684 \u5168\u5c40 \u4fe1\u606f \u4e4b\u5916 \uff0c \u8be5 \u65b9\u6cd5 \u8fd8 \u901a\u8fc7 \u9002\u5e94 \u53ef \u5b66\u4e60 \u7684 \u8fd0\u52a8 \u67e5\u8be2 \u6765 \u5408\u5e76 \u4e0d\u540c \u7684 \u8fd0\u52a8 \u6a21\u5f0f \u3002 Motion   Transformer \u7684 \u6574\u4f53 \u7ed3\u6784 \u5982\u4e0b \u56fe \u6240\u793a \u3002   motion   transformer   \u7684 \u7ed3\u6784   [ 2 ]","title":"\u6982\u8ff0"},{"location":"algorithms/prediction/#motion-transformer_1","text":"\u8f83 \u7b80\u5355 \u7684 \u6a21\u578b \u7f3a\u4e4f \u590d\u6742 \u73af\u5883 \u6240 \u9700 \u7684 \u7ec6\u5fae \u5fae\u5dee \u5dee\u522b \u7ec6\u5fae\u5dee\u522b \u3002 \u8fd0\u52a8 \u53d8\u6362 \u53d8\u6362\u5668 \u8003\u8651 \u4e86 \u5386\u53f2 \u8f68\u8ff9 \uff0c \u4f7f \u5176 \u5728 \u590d\u6742 \u7684 \u573a\u666f \u4e2d \u5177\u6709 \u4f18\u52bf \u3002","title":"\u4e3a\u4ec0\u4e48 \u9009\u62e9   Motion   Transformer ?"},{"location":"algorithms/prediction/#_9","text":"\u6ce8\u610f \u6ce8\u610f\u529b \u673a\u5236   \uff1a \u6743\u8861 \u4e0d\u540c \u5386\u53f2 \u6570\u636e \u5386\u53f2\u6570\u636e \u70b9 \u7684 \u91cd\u8981 \u91cd\u8981\u6027 \u3002   \u7f16\u7801 \u7801\u5668 \u7f16\u7801\u5668 - \u89e3\u7801 \u7801\u5668 \u89e3\u7801\u5668 \u7ed3\u6784   \uff1a \u7f16\u7801 \u7801\u5668 \u7f16\u7801\u5668 \u5904\u7406 \u8f93\u5165 \u5e8f\u5217 \uff0c \u800c \u89e3\u7801 \u7801\u5668 \u89e3\u7801\u5668 \u4ea7\u751f \u9884\u6d4b \u8f68\u8ff9 \u3002","title":"\u67b6\u6784 \u548c \u7ec4\u4ef6"},{"location":"algorithms/prediction/#_10","text":"\u8f93\u5165   \uff1a \u5386\u53f2 \u8f68\u8ff9 \u6570\u636e \u3002   \u8f93\u51fa   \uff1a \u7528 \u7f6e\u4fe1 \u4fe1\u533a \u533a\u95f4 \u7f6e\u4fe1\u533a\u95f4 \u9884\u6d4b \u672a\u6765 \u8f68\u8ff9 \u3002","title":"\u8f93\u5165 / \u8f93\u51fa \u8be6\u7ec6\u4fe1\u606f"},{"location":"algorithms/prediction/#_11","text":"\u7ef4\u62a4 \u73b0\u6709 \u7684 \u7b49\u901f \u8fd0\u52a8 \u7b49\u901f\u8fd0\u52a8 \u9884\u6d4b \u6d4b\u5668 \u9884\u6d4b\u5668 \u4ee5 \u786e\u4fdd \u57fa\u672c \u529f\u80fd \u57fa\u672c\u529f \u57fa\u672c\u529f\u80fd \u3002   \u4e86\u89e3 \u5e76 \u8bbe\u7f6e   Motion   Transformer   \u7684 \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u3002   \u6536\u96c6 \u548c \u5904\u7406 \u6570\u636e \u96c6 \u5e76 \u8fdb\u884c \u8bad\u7ec3 \u548c \u4eff\u771f \u6d4b\u8bd5 \u3002   \u96c6\u6210 \u5230 \u5f53\u524d \u7684 \u7ba1\u9053 \u4e2d \u5e76 \u786e\u4fdd \u6301\u7eed \u7684 \u6a21\u578b \u4f18\u5316 \u3002","title":"\u5b9e\u65bd \u8def\u7ebf\u56fe"},{"location":"algorithms/prediction/#_12","text":"Sch \u00f6 ller   C ,   Aravantinos   V ,   Lay   F ,   et   al .   \" What   the   constant   velocity   model   can   teach   us   about   pedestrian   motion   prediction . \"   In   IEEE   Robotics   and   Automation   Letters ,   2020 ,   5 ( 2 ) :   1696 - 1703 .   Shi   S ,   Jiang   L ,   Dai   D ,   et   al .   \" Motion   transformer   with   global   intention   localization   and   local   movement   refinement . \"   In   Advances   in   Neural   Information   Processing   Systems ,   2022 ,   35 :   6531 - 6543 .","title":"\u53c2\u8003\u6587\u732e"},{"location":"algorithms/Control_/","text":"Control   Introduction   to   the   Control   Module   The   Control   module   is   responsible   for   generating   control   commands   to   steer   the   vehicle   and   maintain   its   desired   trajectory .   [ 1 ]   In   this   documentation ,   we   outline   our   current   methodologies ,   from   the   simple   PID   controller   to   the   more   advanced   Model   Predictive   Control   ( MPC )   .   PID   Controller   for   Waypoint   Tracking   Overview :   The   PID   controller   is   one   of   the   fundamental   control   algorithms   in   our   autonomous   driving   pipeline .   It   continuously   calculates   an   \" error \"   value   as   the   difference   between   a   desired   setpoint   ( in   this   case ,   waypoints )   and   the   current   vehicle   position .   Components :   The   PID   controller   include   three   components ,   as   its   name   suggests :   -   Proportional   ( P )   :   provides   a   control   output   to   correct   the   current   position   error .   -   Integral   ( I )   :   Corrects   the   accumulation   of   past   errors .   -   Derivative   ( D )   :   predicts   and   counters   the   future   error   trend   based   on   its   current   rate   of   change .   Application :   We   use   the   PID   controller   primarily   for   waypoint   tracking ,   maintaining   lane   position ,   and   ensuring   the   vehicle   follows   a   predefined   path   with   minimal   deviation .   Model   Predictive   Control   ( MPC )   for   Trajectory   Tracking   Overview :   Model   Predictive   Control   ( MPC )   [ 2 ]   is   an   advanced   control   technique   that   uses   a   model   of   the   vehicle ' s   dynamics   to   predict   its   future   states   over   a   defined   horizon .   At   each   time   step ,   the   MPC   algorithm   solves   an   optimization   problem   to   find   the   optimal   control   inputs ,   considering   vehicle   dynamics ,   constraints ,   and   the   desired   trajectory .   Key   Features :   The   MPC   controller   involves   three   key   features   to   decide   what   actions   to   perform   to   control   the   vehicle ' s   movement :   -   Prediction   Model   :   predicts   future   states   of   the   vehicle   based   on   its   current   state   and   potential   control   inputs .   -   Optimization   :   continuously   solves   an   optimization   problem   to   determine   the   best   control   actions   over   the   prediction   horizon .   -   Receding   Horizon   Strategy   :   implements   only   the   first   control   action   of   the   optimized   sequence   and   re - evaluates   at   the   next   time   step ,   adapting   to   changing   conditions .   Application :   The   MPC   controller   will   be   instrumental   in   scenarios   where   precise   trajectory   tracking   is   essential ,   especially   in   complex   driving   environments   with   dynamic   obstacles ,   tight   curves ,   and   varying   road   conditions .   By   anticipating   future   states   and   constraints ,   MPC   offers   enhanced   path   following   accuracy   and   robustness   compared   to   traditional   controllers .   Implementation   Roadmap :   Maintain   and   fine - tune   the   existing   PID   controller   to   ensure   basic   waypoint   tracking   functionality .   Develop   a   mathematical   model   representing   the   vehicle ' s   dynamics .   Integrate   optimization   solvers   compatible   with   our   system   architecture   for   MPC .   Design   and   implement   the   MPC   framework ,   ensuring   it   considers   vehicle   constraints .   Test   the   MPC   in   simulation   for   various   scenarios   and   refine   the   model   and   controller   parameters .   Gradually   deploy   and   evaluate   the   MPC   in   real - world   tests ,   starting   with   low - complexity   environments   and   escalating   to   more   challenging   scenarios .   References   Paden ,   Brian ,   et   al .   \" A   survey   of   motion   planning   and   control   techniques   for   self - driving   urban   vehicles . \"   IEEE   Transactions   on   intelligent   vehicles   1.1   ( 2016 ) :   33 - 55 .   Rajamani ,   Rajesh .   \" Vehicle   dynamics   and   control . \"   Springer   Science   &   Business   Media ,   2011 .","title":"Control"},{"location":"algorithms/Control_/#control","text":"","title":"Control"},{"location":"algorithms/Control_/#introduction-to-the-control-module","text":"The   Control   module   is   responsible   for   generating   control   commands   to   steer   the   vehicle   and   maintain   its   desired   trajectory .   [ 1 ]   In   this   documentation ,   we   outline   our   current   methodologies ,   from   the   simple   PID   controller   to   the   more   advanced   Model   Predictive   Control   ( MPC )   .","title":"Introduction   to   the   Control   Module"},{"location":"algorithms/Control_/#pid-controller-for-waypoint-tracking","text":"","title":"PID   Controller   for   Waypoint   Tracking"},{"location":"algorithms/Control_/#overview","text":"The   PID   controller   is   one   of   the   fundamental   control   algorithms   in   our   autonomous   driving   pipeline .   It   continuously   calculates   an   \" error \"   value   as   the   difference   between   a   desired   setpoint   ( in   this   case ,   waypoints )   and   the   current   vehicle   position .","title":"Overview :"},{"location":"algorithms/Control_/#components","text":"The   PID   controller   include   three   components ,   as   its   name   suggests :   -   Proportional   ( P )   :   provides   a   control   output   to   correct   the   current   position   error .   -   Integral   ( I )   :   Corrects   the   accumulation   of   past   errors .   -   Derivative   ( D )   :   predicts   and   counters   the   future   error   trend   based   on   its   current   rate   of   change .","title":"Components :"},{"location":"algorithms/Control_/#application","text":"We   use   the   PID   controller   primarily   for   waypoint   tracking ,   maintaining   lane   position ,   and   ensuring   the   vehicle   follows   a   predefined   path   with   minimal   deviation .","title":"Application :"},{"location":"algorithms/Control_/#model-predictive-control-mpc-for-trajectory-tracking","text":"","title":"Model   Predictive   Control   ( MPC )   for   Trajectory   Tracking"},{"location":"algorithms/Control_/#overview_1","text":"Model   Predictive   Control   ( MPC )   [ 2 ]   is   an   advanced   control   technique   that   uses   a   model   of   the   vehicle ' s   dynamics   to   predict   its   future   states   over   a   defined   horizon .   At   each   time   step ,   the   MPC   algorithm   solves   an   optimization   problem   to   find   the   optimal   control   inputs ,   considering   vehicle   dynamics ,   constraints ,   and   the   desired   trajectory .","title":"Overview :"},{"location":"algorithms/Control_/#key-features","text":"The   MPC   controller   involves   three   key   features   to   decide   what   actions   to   perform   to   control   the   vehicle ' s   movement :   -   Prediction   Model   :   predicts   future   states   of   the   vehicle   based   on   its   current   state   and   potential   control   inputs .   -   Optimization   :   continuously   solves   an   optimization   problem   to   determine   the   best   control   actions   over   the   prediction   horizon .   -   Receding   Horizon   Strategy   :   implements   only   the   first   control   action   of   the   optimized   sequence   and   re - evaluates   at   the   next   time   step ,   adapting   to   changing   conditions .","title":"Key   Features :"},{"location":"algorithms/Control_/#application_1","text":"The   MPC   controller   will   be   instrumental   in   scenarios   where   precise   trajectory   tracking   is   essential ,   especially   in   complex   driving   environments   with   dynamic   obstacles ,   tight   curves ,   and   varying   road   conditions .   By   anticipating   future   states   and   constraints ,   MPC   offers   enhanced   path   following   accuracy   and   robustness   compared   to   traditional   controllers .","title":"Application :"},{"location":"algorithms/Control_/#implementation-roadmap","text":"Maintain   and   fine - tune   the   existing   PID   controller   to   ensure   basic   waypoint   tracking   functionality .   Develop   a   mathematical   model   representing   the   vehicle ' s   dynamics .   Integrate   optimization   solvers   compatible   with   our   system   architecture   for   MPC .   Design   and   implement   the   MPC   framework ,   ensuring   it   considers   vehicle   constraints .   Test   the   MPC   in   simulation   for   various   scenarios   and   refine   the   model   and   controller   parameters .   Gradually   deploy   and   evaluate   the   MPC   in   real - world   tests ,   starting   with   low - complexity   environments   and   escalating   to   more   challenging   scenarios .","title":"Implementation   Roadmap :"},{"location":"algorithms/Control_/#references","text":"Paden ,   Brian ,   et   al .   \" A   survey   of   motion   planning   and   control   techniques   for   self - driving   urban   vehicles . \"   IEEE   Transactions   on   intelligent   vehicles   1.1   ( 2016 ) :   33 - 55 .   Rajamani ,   Rajesh .   \" Vehicle   dynamics   and   control . \"   Springer   Science   &   Business   Media ,   2011 .","title":"References"},{"location":"algorithms/Control_/pid/","text":"To - DO !","title":"PID   Controller"},{"location":"algorithms/DRL/_index/","text":"Deep   Reinforcement   Learning   Deep   Reinforcement   Learning   ( DRL )   is   an   area   of   machine   learning   that   focuses   on   training   agents   to   make   sequences   of   decisions   by   interacting   with   an   environment .   The   agent   seeks   to   learn   the   best   strategy ,   or   policy ,   to   achieve   the   maximum   cumulative   reward   over   time .   DRL   has   shown   impressive   results   in   various   domains ,   from   game   playing   to   robotic   control .   { :   . center - image   width = \" 70% \" }   Reinforcement   Learning   Pipeline   { :   . text - center }   Our   Plan   1 .   Problem   Formulation   Define   the   specific   navigation   tasks   we   want   the   robot   to   accomplish   such   as   waypoint   following ,   obstacle   avoidance ,   etc .   We   will   then   set   up   the   reward   structure   to   encourage   these   desired   behaviors .   2 .   Simulator   Setup   We   will   be   using   an   appropriate   simulator   for   Ackermann   robots ,   possibly   Gazebo ,   Webots ,   or   even   a   custom   simulator .   The   goal   is   to   model   the   robot ' s   dynamics   and   sensory   inputs   as   accurately   as   possible .   3 .   Baseline   DRL   Algorithm   Selection   Our   starting   point   will   be   popular   reinforcement   learning   algorithms   like   Proximal   Policy   Optimization   ( PPO ) ,   Deep   Q - Network   ( DQN ) ,   or   Twin   Delayed   Deep   Deterministic   Policy   Gradient   ( TD3 ) .   We   are   going   to   use   Stable   Baselines3   for   our   DRL   algorithms .   Stable   Baselines3   is   a   set   of   improved   implementations   of   reinforcement   learning   algorithms   in   PyTorch .   4 .   Training   in   Simulation   Starting   with   a   basic   environment   ( few   obstacles ,   clear   paths ) ,   we   will   progress   to   more   intricate   scenarios .   We   will   monitor   the   agent ' s   training   progress   and   tune   hyperparameters   for   optimal   performance .   A   few   simulators   we   are   considering   are   listed   below :   Simulator   Strengths   Weaknesses   Gazebo   ( ROS )   -   Easy   sim - to - real   experiments .   -   Integrates   well   with   the   ROS   ecosystem .   -   Slow   simulation   speeds .   -   Requires   proficiency   in   ROS .   Isaac   Sim   ( NVIDIA )   -   GPU   acceleration   for   fast   training .   -   High - quality   graphics .   -   Steeper   learning   curve .   -   May   require   advanced   hardware .   Carla   -   Complex   sensor   data .   -   Real   vehicle   physics .   -   Slow   simulations .   -   High   computational   resource   needs .   SMARTS   ( Huawei )   -   Great   visualization .   -   Broad   action   space   for   RL   in   driving .   -   Might   be   challenging   for   newcomers .   -   Specific   environment   understanding   required .   5 .   Transfer   Learning   and   Domain   Adaptation   Given   the   known   challenges   of   the   sim - to - real   gap ,   we   will   implement   techniques   like   domain   randomization   in   the   simulator   and   consider   fine - tuning   on   the   real   robot .   6 .   Safety   Precautions   Safety   is   paramount .   When   transitioning   to   a   real   robot ,   we ' ll   ensure   protocols   are   in   place   to   protect   both   the   robot   and   its   surroundings .   7 .   Evaluation   We   will   set   up   evaluation   metrics   to   gauge   the   performance   of   our   agent   in   real - world   settings ,   comparing   different   algorithms   to   identify   the   most   suitable   one .   8 .   Iterate   and   Improve   Using   feedback   from   real - world   testing ,   we ' ll   refine   our   simulation ,   reward   designs ,   and   DRL   algorithms   to   continually   enhance   performance .","title":"Reinforcement   Learning"},{"location":"algorithms/DRL/_index/#deep-reinforcement-learning","text":"Deep   Reinforcement   Learning   ( DRL )   is   an   area   of   machine   learning   that   focuses   on   training   agents   to   make   sequences   of   decisions   by   interacting   with   an   environment .   The   agent   seeks   to   learn   the   best   strategy ,   or   policy ,   to   achieve   the   maximum   cumulative   reward   over   time .   DRL   has   shown   impressive   results   in   various   domains ,   from   game   playing   to   robotic   control .   { :   . center - image   width = \" 70% \" }   Reinforcement   Learning   Pipeline   { :   . text - center }","title":"Deep   Reinforcement   Learning"},{"location":"algorithms/DRL/_index/#our-plan","text":"","title":"Our   Plan"},{"location":"algorithms/DRL/_index/#1-problem-formulation","text":"Define   the   specific   navigation   tasks   we   want   the   robot   to   accomplish   such   as   waypoint   following ,   obstacle   avoidance ,   etc .   We   will   then   set   up   the   reward   structure   to   encourage   these   desired   behaviors .","title":"1 .   Problem   Formulation"},{"location":"algorithms/DRL/_index/#2-simulator-setup","text":"We   will   be   using   an   appropriate   simulator   for   Ackermann   robots ,   possibly   Gazebo ,   Webots ,   or   even   a   custom   simulator .   The   goal   is   to   model   the   robot ' s   dynamics   and   sensory   inputs   as   accurately   as   possible .","title":"2 .   Simulator   Setup"},{"location":"algorithms/DRL/_index/#3-baseline-drl-algorithm-selection","text":"Our   starting   point   will   be   popular   reinforcement   learning   algorithms   like   Proximal   Policy   Optimization   ( PPO ) ,   Deep   Q - Network   ( DQN ) ,   or   Twin   Delayed   Deep   Deterministic   Policy   Gradient   ( TD3 ) .   We   are   going   to   use   Stable   Baselines3   for   our   DRL   algorithms .   Stable   Baselines3   is   a   set   of   improved   implementations   of   reinforcement   learning   algorithms   in   PyTorch .","title":"3 .   Baseline   DRL   Algorithm   Selection"},{"location":"algorithms/DRL/_index/#4-training-in-simulation","text":"Starting   with   a   basic   environment   ( few   obstacles ,   clear   paths ) ,   we   will   progress   to   more   intricate   scenarios .   We   will   monitor   the   agent ' s   training   progress   and   tune   hyperparameters   for   optimal   performance .   A   few   simulators   we   are   considering   are   listed   below :   Simulator   Strengths   Weaknesses   Gazebo   ( ROS )   -   Easy   sim - to - real   experiments .   -   Integrates   well   with   the   ROS   ecosystem .   -   Slow   simulation   speeds .   -   Requires   proficiency   in   ROS .   Isaac   Sim   ( NVIDIA )   -   GPU   acceleration   for   fast   training .   -   High - quality   graphics .   -   Steeper   learning   curve .   -   May   require   advanced   hardware .   Carla   -   Complex   sensor   data .   -   Real   vehicle   physics .   -   Slow   simulations .   -   High   computational   resource   needs .   SMARTS   ( Huawei )   -   Great   visualization .   -   Broad   action   space   for   RL   in   driving .   -   Might   be   challenging   for   newcomers .   -   Specific   environment   understanding   required .","title":"4 .   Training   in   Simulation"},{"location":"algorithms/DRL/_index/#5-transfer-learning-and-domain-adaptation","text":"Given   the   known   challenges   of   the   sim - to - real   gap ,   we   will   implement   techniques   like   domain   randomization   in   the   simulator   and   consider   fine - tuning   on   the   real   robot .","title":"5 .   Transfer   Learning   and   Domain   Adaptation"},{"location":"algorithms/DRL/_index/#6-safety-precautions","text":"Safety   is   paramount .   When   transitioning   to   a   real   robot ,   we ' ll   ensure   protocols   are   in   place   to   protect   both   the   robot   and   its   surroundings .","title":"6 .   Safety   Precautions"},{"location":"algorithms/DRL/_index/#7-evaluation","text":"We   will   set   up   evaluation   metrics   to   gauge   the   performance   of   our   agent   in   real - world   settings ,   comparing   different   algorithms   to   identify   the   most   suitable   one .","title":"7 .   Evaluation"},{"location":"algorithms/DRL/_index/#8-iterate-and-improve","text":"Using   feedback   from   real - world   testing ,   we ' ll   refine   our   simulation ,   reward   designs ,   and   DRL   algorithms   to   continually   enhance   performance .","title":"8 .   Iterate   and   Improve"},{"location":"algorithms/Mapping/","text":"To - DO ! !","title":"Mapping"},{"location":"algorithms/Planning_/","text":"Planning   Introduction   to   the   Planning   Module   The   autonomous   driving   pipeline   encompasses   a   multitude   of   components ,   from   perception   to   control .   Central   to   this   pipeline   is   the   \" Planning   module \" ,   responsible   for   making   strategic   and   tactical   decisions   about   the   vehicle ' s   movement .   This   module   breaks   down   into   three   key   stages :   Route   Planning ,   Behavior   Planning ,   and   Motion   Planning ,   planning   the   movement   of   the   vehicle   at   different   levels   of   granularity   and   accuracy .   In   this   post ,   we   will   explore   each   stage   in - depth .   { :   . center - image   width = \" 100% \" }   Pipeline   of   planning   and   control   { :   . text - center }   Route   Planning   Objective   The   task   of   route   planning   stage   is   to   find   the   most   effective   course   from   the   current   location   to   the   desired   destination ,   much   like   how   conventional   GPS   navigation   systems   operate .   Modern   route   planning   algorithms   are   able   to   return   an   optimal   route   on   large   scale   in   real   time ,   after   a   one - time   pre - processing   step   [ 1 ]   .   For   a   more   comprehensive   survey ,   refer   to   the   paper   by   Bast   et   al   [ 2 ]   .   Inputs   The   route   planning   stage   takes   as   input   high - level   information   about   the   world ,   such   as :   -   the   coordinates   of   the   start   point   and   of   the   end   point ;   -   the   topology   of   the   road   network ;   -   the   traffic   conditions ;   and   -   possible   permanent   obstacles .   Outputs   The   route   planning   stage   generates   as   output   a   path   or   a   series   of   waypoints   bridging   the   start   and   destination ,   while   sidestepping   any   permanent   obstacles .   Challenges   There   are   many   challenges   the   road   planning   module   has   to   take   into   consideration   when   computing   the   most   effective   course ,   such   as   -   adapting   to   changing   road   situations ;   -   incorporating   real - time   traffic   details ;   and   -   ensuring   the   chosen   route   is   both   safe   and   efficient .   Behavior   Planning   Objective   The   main   task   of   the   behavior   planning   stage   is   to   dictate   the   vehicle ' s   overarching   behavior ,   from   decisions   about   lane   switches ,   overtaking ,   yielding ,   to   making   turns .   Nowadays ,   the   behavior   planning   modules   often   incorporate   the   interaction   between   the   ego   vehicle   and   other   agents   on   the   road ,   such   as   other   vehicles   [ 3 ]   .   Inputs   To   achieve   its   goal ,   the   behavior   planning   stage   uses   information   from   multiple   sources ,   such   as   -   the   designated   route   obtained   from   the   route   planning ;   -   data   about   neighboring   vehicles   and   pedestrians   ( sourced   from   LiDAR ,   radar ,   cameras ,   etc . ) ;   -   traffic   light   information ;   and   -   other   pertinent   environmental   data .   Outputs   The   output   of   the   behavior   planning   consists   of   macro - level   directives   like   \" shift   to   the   left   lane \" ,   \" trail   the   vehicle   in   front \" ,   or   \" get   ready   to   turn   right \"   as   well   as   coarse   trajectories   that   reflect   these   directives .   Challenges   In   making   its   decisions ,   the   behavior   planning   stage   needs   to   address   multiple   issues ,   such   as   -   anticipating   the   intentions   and   forthcoming   actions   of   surrounding   drivers   and   pedestrians ;   -   adopting   a   safe   decision   formulation   in   intricate   scenarios ;   and   -   navigating   uncommon   edge   cases .   Motion   Planning   Objective   The   last   stage   of   the   planning   module   workflow   is   motion   planning ,   whose   aim   is   to   chart   a   trajectory   that   is   both   safe   and   consistent   for   the   vehicle ,   reflecting   the   behavior   objectives   and   staying   within   the   vehicle ' s   dynamic   and   kinematic   constraints   [ 1 ]   .   Inputs   To   produce   a   smooth   trajectory   for   the   vehicle ,   the   motion   planning   needs   multiple   types   of   data ,   like   -   the   intended   behavior   established   by   the   behavior   planning ;   -   the   present   vehicle   state   ( such   as   position ,   speed ,   and   acceleration ) ;   -   the   road   map   details ;   and   -   data   about   dynamic   obstructions .   Outputs   The   outcome   of   the   motion   planning   stage   is   an   optimized   trajectory ,   detailing   the   vehicle ' s   state   over   a   specified   time   frame .   Challenges   To   produce   such   an   optimized   trajectory ,   the   motion   planning   faces   multiple   challenges ,   such   as   -   crafting   trajectories   that   avoid   collisions   and   are   streamlined ;   -   managing   noisy   and   uncertain   data   from   sensors ;   and   -   real - time   trajectory   mapping .   References   Paden ,   Brian ,   et   al .   \" A   survey   of   motion   planning   and   control   techniques   for   self - driving   urban   vehicles . \"   IEEE   Transactions   on   intelligent   vehicles   1.1   ( 2016 ) :   33 - 55 .   Bast ,   Hannah ,   et   al .   \" Route   planning   in   transportation   networks . \"   Algorithm   engineering :   Selected   results   and   surveys   ( 2016 ) :   19 - 80 .   Ding ,   Wenchao ,   et   al .   \" Epsilon :   An   efficient   planning   system   for   automated   vehicles   in   highly   interactive   environments . \"   IEEE   Transactions   on   Robotics   38.2   ( 2021 ) :   1118 - 1138 .","title":"Planning"},{"location":"algorithms/Planning_/#planning","text":"","title":"Planning"},{"location":"algorithms/Planning_/#introduction-to-the-planning-module","text":"The   autonomous   driving   pipeline   encompasses   a   multitude   of   components ,   from   perception   to   control .   Central   to   this   pipeline   is   the   \" Planning   module \" ,   responsible   for   making   strategic   and   tactical   decisions   about   the   vehicle ' s   movement .   This   module   breaks   down   into   three   key   stages :   Route   Planning ,   Behavior   Planning ,   and   Motion   Planning ,   planning   the   movement   of   the   vehicle   at   different   levels   of   granularity   and   accuracy .   In   this   post ,   we   will   explore   each   stage   in - depth .   { :   . center - image   width = \" 100% \" }   Pipeline   of   planning   and   control   { :   . text - center }","title":"Introduction   to   the   Planning   Module"},{"location":"algorithms/Planning_/#route-planning","text":"","title":"Route   Planning"},{"location":"algorithms/Planning_/#objective","text":"The   task   of   route   planning   stage   is   to   find   the   most   effective   course   from   the   current   location   to   the   desired   destination ,   much   like   how   conventional   GPS   navigation   systems   operate .   Modern   route   planning   algorithms   are   able   to   return   an   optimal   route   on   large   scale   in   real   time ,   after   a   one - time   pre - processing   step   [ 1 ]   .   For   a   more   comprehensive   survey ,   refer   to   the   paper   by   Bast   et   al   [ 2 ]   .","title":"Objective"},{"location":"algorithms/Planning_/#inputs","text":"The   route   planning   stage   takes   as   input   high - level   information   about   the   world ,   such   as :   -   the   coordinates   of   the   start   point   and   of   the   end   point ;   -   the   topology   of   the   road   network ;   -   the   traffic   conditions ;   and   -   possible   permanent   obstacles .","title":"Inputs"},{"location":"algorithms/Planning_/#outputs","text":"The   route   planning   stage   generates   as   output   a   path   or   a   series   of   waypoints   bridging   the   start   and   destination ,   while   sidestepping   any   permanent   obstacles .","title":"Outputs"},{"location":"algorithms/Planning_/#challenges","text":"There   are   many   challenges   the   road   planning   module   has   to   take   into   consideration   when   computing   the   most   effective   course ,   such   as   -   adapting   to   changing   road   situations ;   -   incorporating   real - time   traffic   details ;   and   -   ensuring   the   chosen   route   is   both   safe   and   efficient .","title":"Challenges"},{"location":"algorithms/Planning_/#behavior-planning","text":"","title":"Behavior   Planning"},{"location":"algorithms/Planning_/#objective_1","text":"The   main   task   of   the   behavior   planning   stage   is   to   dictate   the   vehicle ' s   overarching   behavior ,   from   decisions   about   lane   switches ,   overtaking ,   yielding ,   to   making   turns .   Nowadays ,   the   behavior   planning   modules   often   incorporate   the   interaction   between   the   ego   vehicle   and   other   agents   on   the   road ,   such   as   other   vehicles   [ 3 ]   .","title":"Objective"},{"location":"algorithms/Planning_/#inputs_1","text":"To   achieve   its   goal ,   the   behavior   planning   stage   uses   information   from   multiple   sources ,   such   as   -   the   designated   route   obtained   from   the   route   planning ;   -   data   about   neighboring   vehicles   and   pedestrians   ( sourced   from   LiDAR ,   radar ,   cameras ,   etc . ) ;   -   traffic   light   information ;   and   -   other   pertinent   environmental   data .","title":"Inputs"},{"location":"algorithms/Planning_/#outputs_1","text":"The   output   of   the   behavior   planning   consists   of   macro - level   directives   like   \" shift   to   the   left   lane \" ,   \" trail   the   vehicle   in   front \" ,   or   \" get   ready   to   turn   right \"   as   well   as   coarse   trajectories   that   reflect   these   directives .","title":"Outputs"},{"location":"algorithms/Planning_/#challenges_1","text":"In   making   its   decisions ,   the   behavior   planning   stage   needs   to   address   multiple   issues ,   such   as   -   anticipating   the   intentions   and   forthcoming   actions   of   surrounding   drivers   and   pedestrians ;   -   adopting   a   safe   decision   formulation   in   intricate   scenarios ;   and   -   navigating   uncommon   edge   cases .","title":"Challenges"},{"location":"algorithms/Planning_/#motion-planning","text":"","title":"Motion   Planning"},{"location":"algorithms/Planning_/#objective_2","text":"The   last   stage   of   the   planning   module   workflow   is   motion   planning ,   whose   aim   is   to   chart   a   trajectory   that   is   both   safe   and   consistent   for   the   vehicle ,   reflecting   the   behavior   objectives   and   staying   within   the   vehicle ' s   dynamic   and   kinematic   constraints   [ 1 ]   .","title":"Objective"},{"location":"algorithms/Planning_/#inputs_2","text":"To   produce   a   smooth   trajectory   for   the   vehicle ,   the   motion   planning   needs   multiple   types   of   data ,   like   -   the   intended   behavior   established   by   the   behavior   planning ;   -   the   present   vehicle   state   ( such   as   position ,   speed ,   and   acceleration ) ;   -   the   road   map   details ;   and   -   data   about   dynamic   obstructions .","title":"Inputs"},{"location":"algorithms/Planning_/#outputs_2","text":"The   outcome   of   the   motion   planning   stage   is   an   optimized   trajectory ,   detailing   the   vehicle ' s   state   over   a   specified   time   frame .","title":"Outputs"},{"location":"algorithms/Planning_/#challenges_2","text":"To   produce   such   an   optimized   trajectory ,   the   motion   planning   faces   multiple   challenges ,   such   as   -   crafting   trajectories   that   avoid   collisions   and   are   streamlined ;   -   managing   noisy   and   uncertain   data   from   sensors ;   and   -   real - time   trajectory   mapping .","title":"Challenges"},{"location":"algorithms/Planning_/#references","text":"Paden ,   Brian ,   et   al .   \" A   survey   of   motion   planning   and   control   techniques   for   self - driving   urban   vehicles . \"   IEEE   Transactions   on   intelligent   vehicles   1.1   ( 2016 ) :   33 - 55 .   Bast ,   Hannah ,   et   al .   \" Route   planning   in   transportation   networks . \"   Algorithm   engineering :   Selected   results   and   surveys   ( 2016 ) :   19 - 80 .   Ding ,   Wenchao ,   et   al .   \" Epsilon :   An   efficient   planning   system   for   automated   vehicles   in   highly   interactive   environments . \"   IEEE   Transactions   on   Robotics   38.2   ( 2021 ) :   1118 - 1138 .","title":"References"},{"location":"algorithms/Planning_/frenet_lattice/","text":"frenet _ lattice   The   frenet _ lattice   planner   is   a   lattice   local   planner   that   implements   the   trajectory   generation   algorithm   proposed   in   the   paper   Optimal   Trajectory   Generation   for   Dynamic   Street   Scenarios   in   a   Fren \u00e9 t   Frame   .   In   the   frenet _ lattice   planner ,   you   can   just   use   LatticePlanner . run _ step   to   get   trajectory   with   inputs ,   such   as   current   Cartesian   state ,   etc .   Inputs   The   inputs   of   frenet _ lattice   planner   can   come   from   the   Carla   simulator   or   from   physical   environments ;   they   include   several   types   of   data ,   such   as   a   map   providing   the   road   network   related   information   to   the   frenet _ lattice   planner   such   as   the   lane   width   of   the   different   roads ,   traffic   light   positions ,   standard   speed   limits ,   etc .   The   most   common   types   of   maps   are :   lanelet ,   OpenDRIVE ,   etc . ;   the   path   generated   by   the   global   route   planner   ,   providing   a   reference   course   leading   to   the   desired   destination ;   some   obstacle   information   about   obstacles   on   the   current   road ,   such   as   their   position ,   yaw ,   bounding   box ,   etc . ;   the   decision   generated   by   behavior   planner   on   how   to   control   the   vehicle ,   such   as   the   velocity   to   keep ,   Following ,   Merging ,   Stopping ,   etc .   Outputs   The   output   of   frenet _ lattice   is   a   trajectory   which   contains   position   and   speed   of   the   vehicle .   Such   a   trajectory   must   be   dynamically   feasible   for   the   vehicle ,   comfortable   for   the   passenger ,   and   avoid   collisions   with   obstacles   detected   by   the   on - board   sensors .   In   practice ,   the   output   consists   of   the   trajectory   to   follow ,   including   information   about   speed ,   position ,   and   its   cost .   FrenetPath   (   class   )   Store   the   trajectories ( paths )   which   are   generated   by   frenet _ lattice   planner .   This   class   not   only   contain   Frenet   coordinate   [ s ,   s _ d ,   s _ dd ,   s _ ddd ,   d ,   d _ dd ,   d _ ddd ]   and   Cartesian   coordinate   [ x ,   y ,   yaw ,   ds ,   c ]   ,   but   also   cost   of   trajectory .   Instance   Variables   t   (   list ( float   -   seconds   )   )   Time   of   each   Frenet   point   in   Frenet   path .   s   (   list ( float   -   meters   )   )   Frenet   longitudinal   movement .   Also   represents   the   arc   length ,   indicates   the   distance   a   vehicle   has   traveled   along   the   road   centerline .   The   value   of   s   can   be   used   to   denote   the   vehicle ' s   position .   d   (   list ( float   -   meters   )   )   Frenet   lateral   offset .   Indicates   the   lateral   distance   of   the   vehicle   relative   to   the   road   centerline .   The   value   of   d   can   be   used   to   represent   the   vehicle ' s   lateral   position .   A   positive   value   indicates   the   vehicle   is   on   the   right   side   of   the   road ,   while   a   negative   value   indicates   the   left   side .   s _ d   (   list ( float   -   m / s   )   )   Frenet   longitudinal   velocity .   Indicates   the   speed   of   the   vehicle   in   the   direction   along   the   road   centerline .   d _ d   (   list ( float   -   m / s   )   )   Frenet   longitudinal   velocity . Represents   the   derivative   of   lateral   offset   d   with   respect   to   time .   It   denotes   the   rate   of   change   of   lateral   offset ,   indicating   how   rapidly   the   vehicle   is   changing   its   lateral   position .   s _ dd   (   list ( float   -   m / s   2   )   )   Frenet   longitudinal   acceleration .   Represents   the   rate   of   change   of   longitudinal   velocity .   It   quantifies   how   quickly   the   vehicle   is   speeding   up   or   slowing   down   along   the   road .   d _ dd   (   list ( float   -   m / s   2   )   )   Frenet   lateral   acceleration . Represents   the   rate   of   change   of   lateral   velocity .   It   quantifies   how   quickly   the   lateral   speed   of   the   vehicle   changes   over   time .   s _ ddd   (   list ( float   -   m / s   3   )   )   Frenet   longitudinal   jerk .   Represents   the   rate   of   change   of   longitudinal   acceleration .   It   is   related   to   driving   comfort .   d _ ddd   (   list ( float   -   m / s   3   )   )   Frenet   lateral   jerk . Represents   the   rate   of   change   of   lateral   acceleration .   It   is   related   to   driving   comfort .   x   (   list ( float   -   seconds   )   )   Cartesian   horizontal   coordinate   x - axis .   It   measures   the   horizontal   distance   of   an   object   relative   to   a   coordinate   origin   point .   y   (   list ( float   -   meters   )   )   Cartesian   vertical   coordinate   y - axis .   It   measures   the   vertical   distance   of   an   object   relative   to   a   coordinate   origin   point .   yaw   (   list ( float   -   radians   )   )   Cartesian   yaw   angle .   It   is   the   orientation   angle   of   the   object .   ds   (   list ( float   -   meters   )   )   Cartesian   arc   length .   It   is   the   distance   between   two   trajectories '   points .   c   (   list ( float   -   1 / radian   )   )   Cartesian   curvature .   It   describes   the   degree   of   curvature   of   trajectories .   cv   (   float   )   Frenet   longitudinal   s ( velocity )   Cost   of   this   trajectory .   Initial   with   zero .   cd   (   float   )   Frenet   lateral   d   Cost   of   this   trajectory .   Initial   with   zero .   cf   (   float   )   Final   Cost   of   this   trajectory .   It   is   the   sum   of   longitudinal   and   lateral   Cost .   Initial   with   zero .   LatticePlanner   (   class   )   LatticePlanner   is   a   local   planner   which   generate   the   best   trajectory ,   so   called   FrenetPath   with   inputs ,   including   map ,   global   waypoints ,   etc .   Instance   Variables   route _ graph   (   DataType = Unkown   )   A   graph   that   represents   the   road   network   based   on   a   lanelet   map   and   traffic   rules .   In   FrenetPlanner ,   it ' s   used   to   get   left / right   lane   for   lateral   planning .   waypoints _ xy   (   list ( list ( float , float ) )   )   The   list   of   xy   coordinate   which   is   the   outputs   of   global   planner   which   is   so   called   global   waypoints .   For   instance ,   [ [ x   0   ,   y   0   ] ,   [ x   1   ,   y   1   ] ,   ... ]   .   state _ cartesian   (   list   )   Current   cartesian   state ,   defined   as   [ x ,   y ,   yaw ,   v ,   a ]   ,   where   x   y   is   xy   coordinates ,   yaw   refers   to   rotation   around   the   vertical   axis ,   v   is   velocity ,   a   is   acceleration .   state _ cartesian   is   measured   in   [ meters ,   meters ,   radians ,   m / s ,   m / s   2   ]   .   state _ frenet   (   list   )   Current   frenet   state ,   defined   as   [ s ,   s _ d ,   s _ dd ,   d ,   d _ d ,   d _ dd ]   .   Where ,   s   s _ d   and   s _ dd   represents   Frenet   longitudinal   coordinate   velocity   and   acceleration ,   d ,   d _ d   and   d _ dd   represents   lateral   coordinate   velocity   and   acceleration .   state _ frenet   is   measured   in   [ meters ,   m / s ,   m / s   2   ,   meters ,   m / s ,   m / s   2   ]   .   best _ path   (   FrenetPath   )   The   best   trajectory ( path )   of   FrenetPlanner   based   on   current   state _ frenet .   road _ detector   (   Sensor   )   Detect   road .   Return   road   line   position .   obstacle _ detector   (   Sensor   )   Detect   obstacle .   Return   True   when   obstacle   is   nearby   the   trajectory .   Methods   _ generate _ target _ course   (   self   )   Generates   smooth   reference   line   based   on   global   waypoints   by   using   cubic   spline   .   Return :   rx   ,   ry   ,   ryaw   ,   rk   ,   csp   _ calc _ frenet _ paths   (   self   )   Generates   all   frenet   paths   which   just   contain   Frenet   coordinate   and   cost   but   not   Cartesian   coordinate   by   sampling   time   Ti   ,   lateral   d   lat _ qp   and   longitudinal   s   lon _ qp   .   Return :   frenet _ paths   (   list ( FrenetPath )   )   _ calc _ frenet _ paths   (   self   ,   fplist   )   Gets   Cartesian   coordinate   of   frenet _ paths .   Parameters :   fplist   (   list ( FrenetPath )   )   -   frenet   paths   which   just   contain   Frenet   coordinate   and   cost   but   not   Cartesian   coordinate .   Return :   filtered _ fplist   (   list ( FrenetPath )   )   -   which   contain   Cartesian   coordinate ,   Frenet   coordinate   and   cost .   _ check _ paths   (   self   ,   fplist   )   Gets   comfortable ,   kinematically   feasible   trajectories .   Parameters :   fplist   (   list ( FrenetPath )   )   -   frenet   paths   which   contain   Cartesian   coordinate ,   Frenet   coordinate   and   cost .   Return :   fplist   (   list ( FrenetPath )   )   -   which   is   comfortable   and   kinematically   feasible .   frenet _ optimal _ planning   (   self   )   Gets   best   trajectory .   First   generates   all   trajectories   which   is   not   containing   Cartesian   coordinate   by   using   methods   LatticePlanner ._ generate _ target _ course   .   Then   gets   Cartesian   coordinate   trajectories   by   using   method   LatticePlanner ._ calc _ frenet _ paths   and   filters   not   kinematically   feasible   trajectories   by   using   LatticePlanner ._ check _ paths   .   Finally ,   gets   best   trajectory   by   minimizing   the   cost .   Return :   best _ path   (   FrenetPath   )   -   Trajectory   with   minimum   cost .   run _ step   (   self   ,   state _ cartesian   )   Main   method   of   LatticePlanner   which   calls   method   frenet _ optimal _ planning   to   get   a   best   trajectory .   Parameters :   state _ cartesian   (   [ x ,   y ,   yaw ,   ds ,   c ]   )   -   Currenet   Cartesian   coordinate   of   ego   vehicle .   Return :   Trajectory ( waypoints ,   speeds )   ( _ Trajectory   )   -   which   is   the   list   of   waypoint   [ x , y ]   _   and   speed .","title":"Frenet   Optimal   Trajectory"},{"location":"algorithms/Planning_/frenet_lattice/#frenet_lattice","text":"The   frenet _ lattice   planner   is   a   lattice   local   planner   that   implements   the   trajectory   generation   algorithm   proposed   in   the   paper   Optimal   Trajectory   Generation   for   Dynamic   Street   Scenarios   in   a   Fren \u00e9 t   Frame   .   In   the   frenet _ lattice   planner ,   you   can   just   use   LatticePlanner . run _ step   to   get   trajectory   with   inputs ,   such   as   current   Cartesian   state ,   etc .","title":"frenet _ lattice"},{"location":"algorithms/Planning_/frenet_lattice/#inputs","text":"The   inputs   of   frenet _ lattice   planner   can   come   from   the   Carla   simulator   or   from   physical   environments ;   they   include   several   types   of   data ,   such   as   a   map   providing   the   road   network   related   information   to   the   frenet _ lattice   planner   such   as   the   lane   width   of   the   different   roads ,   traffic   light   positions ,   standard   speed   limits ,   etc .   The   most   common   types   of   maps   are :   lanelet ,   OpenDRIVE ,   etc . ;   the   path   generated   by   the   global   route   planner   ,   providing   a   reference   course   leading   to   the   desired   destination ;   some   obstacle   information   about   obstacles   on   the   current   road ,   such   as   their   position ,   yaw ,   bounding   box ,   etc . ;   the   decision   generated   by   behavior   planner   on   how   to   control   the   vehicle ,   such   as   the   velocity   to   keep ,   Following ,   Merging ,   Stopping ,   etc .","title":"Inputs"},{"location":"algorithms/Planning_/frenet_lattice/#outputs","text":"The   output   of   frenet _ lattice   is   a   trajectory   which   contains   position   and   speed   of   the   vehicle .   Such   a   trajectory   must   be   dynamically   feasible   for   the   vehicle ,   comfortable   for   the   passenger ,   and   avoid   collisions   with   obstacles   detected   by   the   on - board   sensors .   In   practice ,   the   output   consists   of   the   trajectory   to   follow ,   including   information   about   speed ,   position ,   and   its   cost .","title":"Outputs"},{"location":"algorithms/Planning_/frenet_lattice/#frenetpath-class","text":"Store   the   trajectories ( paths )   which   are   generated   by   frenet _ lattice   planner .   This   class   not   only   contain   Frenet   coordinate   [ s ,   s _ d ,   s _ dd ,   s _ ddd ,   d ,   d _ dd ,   d _ ddd ]   and   Cartesian   coordinate   [ x ,   y ,   yaw ,   ds ,   c ]   ,   but   also   cost   of   trajectory .","title":"FrenetPath     ( class )"},{"location":"algorithms/Planning_/frenet_lattice/#instance-variables","text":"t   (   list ( float   -   seconds   )   )   Time   of   each   Frenet   point   in   Frenet   path .   s   (   list ( float   -   meters   )   )   Frenet   longitudinal   movement .   Also   represents   the   arc   length ,   indicates   the   distance   a   vehicle   has   traveled   along   the   road   centerline .   The   value   of   s   can   be   used   to   denote   the   vehicle ' s   position .   d   (   list ( float   -   meters   )   )   Frenet   lateral   offset .   Indicates   the   lateral   distance   of   the   vehicle   relative   to   the   road   centerline .   The   value   of   d   can   be   used   to   represent   the   vehicle ' s   lateral   position .   A   positive   value   indicates   the   vehicle   is   on   the   right   side   of   the   road ,   while   a   negative   value   indicates   the   left   side .   s _ d   (   list ( float   -   m / s   )   )   Frenet   longitudinal   velocity .   Indicates   the   speed   of   the   vehicle   in   the   direction   along   the   road   centerline .   d _ d   (   list ( float   -   m / s   )   )   Frenet   longitudinal   velocity . Represents   the   derivative   of   lateral   offset   d   with   respect   to   time .   It   denotes   the   rate   of   change   of   lateral   offset ,   indicating   how   rapidly   the   vehicle   is   changing   its   lateral   position .   s _ dd   (   list ( float   -   m / s   2   )   )   Frenet   longitudinal   acceleration .   Represents   the   rate   of   change   of   longitudinal   velocity .   It   quantifies   how   quickly   the   vehicle   is   speeding   up   or   slowing   down   along   the   road .   d _ dd   (   list ( float   -   m / s   2   )   )   Frenet   lateral   acceleration . Represents   the   rate   of   change   of   lateral   velocity .   It   quantifies   how   quickly   the   lateral   speed   of   the   vehicle   changes   over   time .   s _ ddd   (   list ( float   -   m / s   3   )   )   Frenet   longitudinal   jerk .   Represents   the   rate   of   change   of   longitudinal   acceleration .   It   is   related   to   driving   comfort .   d _ ddd   (   list ( float   -   m / s   3   )   )   Frenet   lateral   jerk . Represents   the   rate   of   change   of   lateral   acceleration .   It   is   related   to   driving   comfort .   x   (   list ( float   -   seconds   )   )   Cartesian   horizontal   coordinate   x - axis .   It   measures   the   horizontal   distance   of   an   object   relative   to   a   coordinate   origin   point .   y   (   list ( float   -   meters   )   )   Cartesian   vertical   coordinate   y - axis .   It   measures   the   vertical   distance   of   an   object   relative   to   a   coordinate   origin   point .   yaw   (   list ( float   -   radians   )   )   Cartesian   yaw   angle .   It   is   the   orientation   angle   of   the   object .   ds   (   list ( float   -   meters   )   )   Cartesian   arc   length .   It   is   the   distance   between   two   trajectories '   points .   c   (   list ( float   -   1 / radian   )   )   Cartesian   curvature .   It   describes   the   degree   of   curvature   of   trajectories .   cv   (   float   )   Frenet   longitudinal   s ( velocity )   Cost   of   this   trajectory .   Initial   with   zero .   cd   (   float   )   Frenet   lateral   d   Cost   of   this   trajectory .   Initial   with   zero .   cf   (   float   )   Final   Cost   of   this   trajectory .   It   is   the   sum   of   longitudinal   and   lateral   Cost .   Initial   with   zero .","title":"Instance   Variables"},{"location":"algorithms/Planning_/frenet_lattice/#latticeplanner-class","text":"LatticePlanner   is   a   local   planner   which   generate   the   best   trajectory ,   so   called   FrenetPath   with   inputs ,   including   map ,   global   waypoints ,   etc .","title":"LatticePlanner     ( class )"},{"location":"algorithms/Planning_/frenet_lattice/#instance-variables_1","text":"route _ graph   (   DataType = Unkown   )   A   graph   that   represents   the   road   network   based   on   a   lanelet   map   and   traffic   rules .   In   FrenetPlanner ,   it ' s   used   to   get   left / right   lane   for   lateral   planning .   waypoints _ xy   (   list ( list ( float , float ) )   )   The   list   of   xy   coordinate   which   is   the   outputs   of   global   planner   which   is   so   called   global   waypoints .   For   instance ,   [ [ x   0   ,   y   0   ] ,   [ x   1   ,   y   1   ] ,   ... ]   .   state _ cartesian   (   list   )   Current   cartesian   state ,   defined   as   [ x ,   y ,   yaw ,   v ,   a ]   ,   where   x   y   is   xy   coordinates ,   yaw   refers   to   rotation   around   the   vertical   axis ,   v   is   velocity ,   a   is   acceleration .   state _ cartesian   is   measured   in   [ meters ,   meters ,   radians ,   m / s ,   m / s   2   ]   .   state _ frenet   (   list   )   Current   frenet   state ,   defined   as   [ s ,   s _ d ,   s _ dd ,   d ,   d _ d ,   d _ dd ]   .   Where ,   s   s _ d   and   s _ dd   represents   Frenet   longitudinal   coordinate   velocity   and   acceleration ,   d ,   d _ d   and   d _ dd   represents   lateral   coordinate   velocity   and   acceleration .   state _ frenet   is   measured   in   [ meters ,   m / s ,   m / s   2   ,   meters ,   m / s ,   m / s   2   ]   .   best _ path   (   FrenetPath   )   The   best   trajectory ( path )   of   FrenetPlanner   based   on   current   state _ frenet .   road _ detector   (   Sensor   )   Detect   road .   Return   road   line   position .   obstacle _ detector   (   Sensor   )   Detect   obstacle .   Return   True   when   obstacle   is   nearby   the   trajectory .","title":"Instance   Variables"},{"location":"algorithms/Planning_/frenet_lattice/#methods","text":"_ generate _ target _ course   (   self   )   Generates   smooth   reference   line   based   on   global   waypoints   by   using   cubic   spline   .   Return :   rx   ,   ry   ,   ryaw   ,   rk   ,   csp   _ calc _ frenet _ paths   (   self   )   Generates   all   frenet   paths   which   just   contain   Frenet   coordinate   and   cost   but   not   Cartesian   coordinate   by   sampling   time   Ti   ,   lateral   d   lat _ qp   and   longitudinal   s   lon _ qp   .   Return :   frenet _ paths   (   list ( FrenetPath )   )   _ calc _ frenet _ paths   (   self   ,   fplist   )   Gets   Cartesian   coordinate   of   frenet _ paths .   Parameters :   fplist   (   list ( FrenetPath )   )   -   frenet   paths   which   just   contain   Frenet   coordinate   and   cost   but   not   Cartesian   coordinate .   Return :   filtered _ fplist   (   list ( FrenetPath )   )   -   which   contain   Cartesian   coordinate ,   Frenet   coordinate   and   cost .   _ check _ paths   (   self   ,   fplist   )   Gets   comfortable ,   kinematically   feasible   trajectories .   Parameters :   fplist   (   list ( FrenetPath )   )   -   frenet   paths   which   contain   Cartesian   coordinate ,   Frenet   coordinate   and   cost .   Return :   fplist   (   list ( FrenetPath )   )   -   which   is   comfortable   and   kinematically   feasible .   frenet _ optimal _ planning   (   self   )   Gets   best   trajectory .   First   generates   all   trajectories   which   is   not   containing   Cartesian   coordinate   by   using   methods   LatticePlanner ._ generate _ target _ course   .   Then   gets   Cartesian   coordinate   trajectories   by   using   method   LatticePlanner ._ calc _ frenet _ paths   and   filters   not   kinematically   feasible   trajectories   by   using   LatticePlanner ._ check _ paths   .   Finally ,   gets   best   trajectory   by   minimizing   the   cost .   Return :   best _ path   (   FrenetPath   )   -   Trajectory   with   minimum   cost .   run _ step   (   self   ,   state _ cartesian   )   Main   method   of   LatticePlanner   which   calls   method   frenet _ optimal _ planning   to   get   a   best   trajectory .   Parameters :   state _ cartesian   (   [ x ,   y ,   yaw ,   ds ,   c ]   )   -   Currenet   Cartesian   coordinate   of   ego   vehicle .   Return :   Trajectory ( waypoints ,   speeds )   ( _ Trajectory   )   -   which   is   the   list   of   waypoint   [ x , y ]   _   and   speed .","title":"Methods"},{"location":"algorithms/Planning_/lanelet_planner/","text":"Lanelet2Planner   A   global   trajectory   planner   based   on   Lanelet2   HD - Map .   The   implementation   relies   on   the   Lanelet2   Python   API   .   Currently ,   the   global   planner   will   find   the   closest   lanelets   for   both   the   start   point   and   the   end   point .   Then ,   it   will   use   the   Lanelet2   routing   module   to   generate   a   submap   containing   all   possible   lanelets   from   the   start   lanelet   to   the   end   lanelet .   A   trajectory   will   then   be   generated   using   the   modified   flood - fill   algorithm   so   that   it   will   connect   the   start   point   to   the   end   point :   Start   point   - >   Start   lanelet   - >   End   lanelet   - >   End   point .   { :   . note   }   The   ISS   global   planner   module   currently   uses   the   Lanelet2   HDMap   format .   Since   the   Lanelet2   Python   API   only   supports   Linux   systems ,   this   module   may   not   work   properly   in   other   platforms .   We   will   separate   the   mapping   and   the   planning   module   apart   in   a   future   release   and   support   more   HDMap   formats   ( e . g .   OpenDrive ) .   Instance   Variables   lanelet _ map   (   lanelet2 . core . LaneletMap   )   The   lanelet2   HDMap   for   current   location .   traffic _ rules   (   lanelet2 . traffic _ rule   )   The   lanelet2   definition   of   traffic   rules   of   current   map .   collision _ detector   (   utils . vehicleutils . CollisionChecker   )   The   collision   checker   of   solid   road   line .   reverse _ y   (   boolean   )   When   True   the   y - coordinate   will   be   reversed .   ( Left - hand   to   Right - hand   coordinates ,   vice   versa )","title":"Lanelet2   Global   Planner"},{"location":"algorithms/Planning_/lanelet_planner/#lanelet2planner","text":"A   global   trajectory   planner   based   on   Lanelet2   HD - Map .   The   implementation   relies   on   the   Lanelet2   Python   API   .   Currently ,   the   global   planner   will   find   the   closest   lanelets   for   both   the   start   point   and   the   end   point .   Then ,   it   will   use   the   Lanelet2   routing   module   to   generate   a   submap   containing   all   possible   lanelets   from   the   start   lanelet   to   the   end   lanelet .   A   trajectory   will   then   be   generated   using   the   modified   flood - fill   algorithm   so   that   it   will   connect   the   start   point   to   the   end   point :   Start   point   - >   Start   lanelet   - >   End   lanelet   - >   End   point .   { :   . note   }   The   ISS   global   planner   module   currently   uses   the   Lanelet2   HDMap   format .   Since   the   Lanelet2   Python   API   only   supports   Linux   systems ,   this   module   may   not   work   properly   in   other   platforms .   We   will   separate   the   mapping   and   the   planning   module   apart   in   a   future   release   and   support   more   HDMap   formats   ( e . g .   OpenDrive ) .","title":"Lanelet2Planner"},{"location":"algorithms/Planning_/lanelet_planner/#instance-variables","text":"lanelet _ map   (   lanelet2 . core . LaneletMap   )   The   lanelet2   HDMap   for   current   location .   traffic _ rules   (   lanelet2 . traffic _ rule   )   The   lanelet2   definition   of   traffic   rules   of   current   map .   collision _ detector   (   utils . vehicleutils . CollisionChecker   )   The   collision   checker   of   solid   road   line .   reverse _ y   (   boolean   )   When   True   the   y - coordinate   will   be   reversed .   ( Left - hand   to   Right - hand   coordinates ,   vice   versa )","title":"Instance   Variables"},{"location":"algorithms/Sensors/_BeamNG/","text":"Sensors   for   interaction   between   ISS   and   BeamNG .   BeamNG   Sensors   { :   . d - inline - block   }   ( WIP )   { :   . label   . label - blue }   BeamNG   sensor   is   currently   WIP .","title":"BeamNG   Sensors"},{"location":"algorithms/Sensors/_BeamNG/#beamng-sensors","text":"{ :   . d - inline - block   }   ( WIP )   { :   . label   . label - blue }   BeamNG   sensor   is   currently   WIP .","title":"BeamNG   Sensors"},{"location":"algorithms/Sensors/_CARLA/","text":"Sensors   in   CARLA   Sensors   in   CARLA   compound   a   specific   family   of   actors   that   are   quite   diverse   and   unique   from   the   other   CARLA   actors ;   they   model   different   sensing   capabilities   that   can   be   used   in   self - driving   systems .   Sensors   are   represented   by   CARLA   actors   that   are   normally   spawned   as   attachment / sons   of   a   vehicle .   Sensors   are   thoroughly   designed   to   retrieve   different   types   of   data   that   they   are   listening   to .   Most   sensors   can   be   divided   in   two   groups :   those   receiving   data   on   every   tick   ( cameras ,   point   clouds   and   some   other   specific   sensors )   and   those   who   only   receive   under   certain   circumstances   ( trigger   detectors ) .   CARLA   provides   a   specific   set   of   sensors   and   their   blueprint   can   be   found   in   carla . BlueprintLibrary   .   Instance   Variables   is _ listening   (   boolean   )   When   True   the   sensor   will   be   waiting   for   data .   Methods   listen   (   self   ,   callback   )   snippet   \u2192   The   function   the   sensor   will   be   calling   to   every   time   a   new   measurement   is   received .   This   function   needs   for   an   argument   containing   an   object   type   carla . SensorData   to   work   with .   Parameters :   callback   (   function   )   -   The   called   function   with   one   argument   containing   the   sensor   data .   stop   (   self   )   Commands   the   sensor   to   stop   listening   for   data .   CarlaCamera   The   \" RGB \"   camera   acts   as   a   regular   camera   capturing   images   from   the   scene .   A   CARLA   camera   can   be   tuned   with   respect   to   multiple   parameters ,   such   as   sensor _ tick   and   enable _ postprocess _ effects   .   The   numeric   sensor _ tick   parameter   controls   how   fast   we   want   the   sensor   to   capture   the   scene :   for   example ,   a   value   of   1.5   means   that   we   want   the   sensor   to   capture   an   image   each   second   and   a   half .   The   value   0.0   is   used   as   default   and   it   instructs   the   camera   to   capture   images   as   fast   as   possible .   The   enable _ postprocess _ effects   parameters   allows   the   user   to   increase   the   realism   of   the   captured   images ,   by   applying   the   corresponding   set   of   post - process   effects :   Vignette :   darkens   the   border   of   the   screen .   Grain   jitter :   adds   some   noise   to   the   render .   Bloom :   intense   lights   burn   the   area   around   them .   Auto   exposure :   modifies   the   image   gamma   to   simulate   the   eye   adaptation   to   darker   or   brighter   areas .   Lens   flares :   simulates   the   reflection   of   bright   objects   on   the   lens .   Depth   of   field :   blurs   objects   near   or   very   far   away   from   the   camera .   CarlaLiDAR   This   sensor   simulates   a   rotating   LiDAR   implemented   using   ray - casting .   The   points   are   computed   by   adding   a   laser   beam   for   each   channel   distributed   in   the   vertical   FOV .   The   rotation   is   simulated   by   computing   the   horizontal   angle   corresponding   to   how   much   the   LiDAR   rotated   between   two   consecutive   frames   taken   with   frequency   FPS   ,   that   is ,   the   LiDAR   rotation   angle   in   1 / FPS   seconds .   The   point   cloud   is   calculated   by   doing   a   ray - cast   for   each   laser   beam   in   every   step .   points _ per _ channel _ each _ step   =   points _ per _ second   /   ( FPS   *   channels )   A   LIDAR   measurement   contains   a   package   with   all   the   points   generated   during   an   interval   of   length   1 / FPS   .   During   this   interval   the   physics   of   the   world   are   not   updated   so   all   points   in   the   measurement   reflect   the   same   \" static   picture \"   of   the   scene .   This   output   contains   a   cloud   of   simulation   points   and   thus ,   it   can   be   iterated   to   retrieve   a   list   of   their   carla . Location   :   for   location   in   lidar _ measurement :   print ( location )   The   information   of   the   LiDAR   measurement   is   encoded   by   means   of   4D   points .   The   first   three   dimensions   represent   the   space   points   in   the   usual   XYZ   spatial   coordinates ;   the   last   one   stands   for   the   intensity   loss   during   the   travel .   This   intensity   is   computed   by   the   following   formula .   a   \u2014   Attenuation   coefficient .   This   may   depend   on   the   sensor ' s   wavelength ,   and   the   conditions   of   the   atmosphere .   It   can   be   modified   with   the   LiDAR   attribute   atmosphere _ attenuation _ rate   .   d   \u2014   Distance   from   the   hit   point   to   the   sensor .   For   a   better   realism ,   points   in   the   cloud   can   be   dropped   off .   This   is   an   easy   way   to   simulate   loss   due   to   external   perturbations .   This   can   done   combining   two   different   parameters .   General   drop - off   \u2014   Proportion   of   points   that   are   dropped   off   randomly .   This   is   done   before   the   tracing ,   meaning   the   points   being   dropped   are   not   calculated ,   thus   improving   the   performance .   If   dropoff _ general _ rate   =   0.5   ,   half   of   the   points   will   be   dropped .   Intensity - based   drop - off   \u2014   For   each   point   detected ,   and   extra   drop - off   is   performed   with   a   probability   based   in   the   computed   intensity .   This   probability   is   determined   by   two   parameters :   dropoff _ zero _ intensity   and   dropoff _ intensity _ limit   ,   where   is   the   probability   of   points   with   zero   intensity   to   be   dropped   while   dropoff _ intensity _ limit   is   a   threshold   intensity   above   which   no   points   will   be   dropped .   The   probability   of   a   point   within   the   range   to   be   dropped   is   a   linear   proportion   based   on   these   two   parameters .   Additionally ,   the   noise _ stddev   attribute   makes   for   a   noise   model   to   simulate   unexpected   deviations   that   appear   in   real - life   sensors .   For   positive   values ,   each   point   is   randomly   perturbed   along   the   vector   of   the   laser   beam .   The   result   is   a   LiDAR   sensor   with   perfect   angular   positioning ,   but   noisy   distance   measurement .   The   rotation   of   the   LiDAR   can   be   tuned   to   cover   a   specific   angle   on   every   simulation   step   ( using   a   fixed   time - step   ) .   For   example ,   to   rotate   once   per   step   ( full   circle   output ,   as   in   the   picture   below ) ,   the   rotation   frequency   and   the   simulated   FPS   should   be   the   same ;   this   can   be   obtained   by   1 .   Setting   the   sensor ' s   rotation _ frequency   attribute   sensors _ bp [ ' lidar ' ] [ 0 ] . set _ attribute ( ' rotation _ frequency ' , ' 10 ' )   .   2 .   Running   the   simulation   using   the   option   -- fps = N   ,   e . g . ,   python3   config . py   -- fps = 10   .   CarlaGNSS   Blueprint :   sensor . other . gnss   Output :   carla . GNSSMeasurement   per   step   ( unless   sensor _ tick   says   otherwise ) .   This   sensors   models   a   GPS   receiver   and   it   provides   the   current   GNSS   position   of   the   vehicle   the   sensor   is   attached   to .   The   current   coordinates   are   calculated   by   adding   the   metric   position   to   an   initial   geo   reference   location   defined   within   the   OpenDRIVE   map   definition .   GNSS   attributes   Blueprint   attribute   Type   Default   Description   noise _ alt _ bias   float   0.0   Mean   parameter   in   the   noise   model   for   altitude .   noise _ alt _ stddev   float   0.0   Standard   deviation   parameter   in   the   noise   model   for   altitude .   noise _ lat _ bias   float   0.0   Mean   parameter   in   the   noise   model   for   latitude .   noise _ lat _ stddev   float   0.0   Standard   deviation   parameter   in   the   noise   model   for   latitude .   noise _ lon _ bias   float   0.0   Mean   parameter   in   the   noise   model   for   longitude .   noise _ lon _ stddev   float   0.0   Standard   deviation   parameter   in   the   noise   model   for   longitude .   noise _ seed   int   0   Initializer   for   a   pseudorandom   number   generator .   sensor _ tick   float   0.0   Simulation   seconds   between   sensor   captures   ( ticks ) .   Output   attributes   Sensor   data   attribute   Type   Description   frame   int   Frame   number   when   the   measurement   took   place .   timestamp   double   Simulation   time   of   the   measurement   in   seconds   since   the   beginning   of   the   episode .   transform   carla . Transform   Location   and   rotation   in   world   coordinates   of   the   sensor   at   the   time   of   the   measurement .   latitude   double   Latitude   of   the   actor .   longitude   double   Longitude   of   the   actor .   altitude   double   Altitude   of   the   actor .","title":"CARLA   Sensors"},{"location":"algorithms/Sensors/_CARLA/#sensors-in-carla","text":"Sensors   in   CARLA   compound   a   specific   family   of   actors   that   are   quite   diverse   and   unique   from   the   other   CARLA   actors ;   they   model   different   sensing   capabilities   that   can   be   used   in   self - driving   systems .   Sensors   are   represented   by   CARLA   actors   that   are   normally   spawned   as   attachment / sons   of   a   vehicle .   Sensors   are   thoroughly   designed   to   retrieve   different   types   of   data   that   they   are   listening   to .   Most   sensors   can   be   divided   in   two   groups :   those   receiving   data   on   every   tick   ( cameras ,   point   clouds   and   some   other   specific   sensors )   and   those   who   only   receive   under   certain   circumstances   ( trigger   detectors ) .   CARLA   provides   a   specific   set   of   sensors   and   their   blueprint   can   be   found   in   carla . BlueprintLibrary   .","title":"Sensors   in   CARLA"},{"location":"algorithms/Sensors/_CARLA/#instance-variables","text":"is _ listening   (   boolean   )   When   True   the   sensor   will   be   waiting   for   data .","title":"Instance   Variables"},{"location":"algorithms/Sensors/_CARLA/#methods","text":"listen   (   self   ,   callback   )   snippet   \u2192   The   function   the   sensor   will   be   calling   to   every   time   a   new   measurement   is   received .   This   function   needs   for   an   argument   containing   an   object   type   carla . SensorData   to   work   with .   Parameters :   callback   (   function   )   -   The   called   function   with   one   argument   containing   the   sensor   data .   stop   (   self   )   Commands   the   sensor   to   stop   listening   for   data .","title":"Methods"},{"location":"algorithms/Sensors/_CARLA/#carlacamera","text":"The   \" RGB \"   camera   acts   as   a   regular   camera   capturing   images   from   the   scene .   A   CARLA   camera   can   be   tuned   with   respect   to   multiple   parameters ,   such   as   sensor _ tick   and   enable _ postprocess _ effects   .   The   numeric   sensor _ tick   parameter   controls   how   fast   we   want   the   sensor   to   capture   the   scene :   for   example ,   a   value   of   1.5   means   that   we   want   the   sensor   to   capture   an   image   each   second   and   a   half .   The   value   0.0   is   used   as   default   and   it   instructs   the   camera   to   capture   images   as   fast   as   possible .   The   enable _ postprocess _ effects   parameters   allows   the   user   to   increase   the   realism   of   the   captured   images ,   by   applying   the   corresponding   set   of   post - process   effects :   Vignette :   darkens   the   border   of   the   screen .   Grain   jitter :   adds   some   noise   to   the   render .   Bloom :   intense   lights   burn   the   area   around   them .   Auto   exposure :   modifies   the   image   gamma   to   simulate   the   eye   adaptation   to   darker   or   brighter   areas .   Lens   flares :   simulates   the   reflection   of   bright   objects   on   the   lens .   Depth   of   field :   blurs   objects   near   or   very   far   away   from   the   camera .","title":"CarlaCamera"},{"location":"algorithms/Sensors/_CARLA/#carlalidar","text":"This   sensor   simulates   a   rotating   LiDAR   implemented   using   ray - casting .   The   points   are   computed   by   adding   a   laser   beam   for   each   channel   distributed   in   the   vertical   FOV .   The   rotation   is   simulated   by   computing   the   horizontal   angle   corresponding   to   how   much   the   LiDAR   rotated   between   two   consecutive   frames   taken   with   frequency   FPS   ,   that   is ,   the   LiDAR   rotation   angle   in   1 / FPS   seconds .   The   point   cloud   is   calculated   by   doing   a   ray - cast   for   each   laser   beam   in   every   step .   points _ per _ channel _ each _ step   =   points _ per _ second   /   ( FPS   *   channels )   A   LIDAR   measurement   contains   a   package   with   all   the   points   generated   during   an   interval   of   length   1 / FPS   .   During   this   interval   the   physics   of   the   world   are   not   updated   so   all   points   in   the   measurement   reflect   the   same   \" static   picture \"   of   the   scene .   This   output   contains   a   cloud   of   simulation   points   and   thus ,   it   can   be   iterated   to   retrieve   a   list   of   their   carla . Location   :   for   location   in   lidar _ measurement :   print ( location )   The   information   of   the   LiDAR   measurement   is   encoded   by   means   of   4D   points .   The   first   three   dimensions   represent   the   space   points   in   the   usual   XYZ   spatial   coordinates ;   the   last   one   stands   for   the   intensity   loss   during   the   travel .   This   intensity   is   computed   by   the   following   formula .   a   \u2014   Attenuation   coefficient .   This   may   depend   on   the   sensor ' s   wavelength ,   and   the   conditions   of   the   atmosphere .   It   can   be   modified   with   the   LiDAR   attribute   atmosphere _ attenuation _ rate   .   d   \u2014   Distance   from   the   hit   point   to   the   sensor .   For   a   better   realism ,   points   in   the   cloud   can   be   dropped   off .   This   is   an   easy   way   to   simulate   loss   due   to   external   perturbations .   This   can   done   combining   two   different   parameters .   General   drop - off   \u2014   Proportion   of   points   that   are   dropped   off   randomly .   This   is   done   before   the   tracing ,   meaning   the   points   being   dropped   are   not   calculated ,   thus   improving   the   performance .   If   dropoff _ general _ rate   =   0.5   ,   half   of   the   points   will   be   dropped .   Intensity - based   drop - off   \u2014   For   each   point   detected ,   and   extra   drop - off   is   performed   with   a   probability   based   in   the   computed   intensity .   This   probability   is   determined   by   two   parameters :   dropoff _ zero _ intensity   and   dropoff _ intensity _ limit   ,   where   is   the   probability   of   points   with   zero   intensity   to   be   dropped   while   dropoff _ intensity _ limit   is   a   threshold   intensity   above   which   no   points   will   be   dropped .   The   probability   of   a   point   within   the   range   to   be   dropped   is   a   linear   proportion   based   on   these   two   parameters .   Additionally ,   the   noise _ stddev   attribute   makes   for   a   noise   model   to   simulate   unexpected   deviations   that   appear   in   real - life   sensors .   For   positive   values ,   each   point   is   randomly   perturbed   along   the   vector   of   the   laser   beam .   The   result   is   a   LiDAR   sensor   with   perfect   angular   positioning ,   but   noisy   distance   measurement .   The   rotation   of   the   LiDAR   can   be   tuned   to   cover   a   specific   angle   on   every   simulation   step   ( using   a   fixed   time - step   ) .   For   example ,   to   rotate   once   per   step   ( full   circle   output ,   as   in   the   picture   below ) ,   the   rotation   frequency   and   the   simulated   FPS   should   be   the   same ;   this   can   be   obtained   by   1 .   Setting   the   sensor ' s   rotation _ frequency   attribute   sensors _ bp [ ' lidar ' ] [ 0 ] . set _ attribute ( ' rotation _ frequency ' , ' 10 ' )   .   2 .   Running   the   simulation   using   the   option   -- fps = N   ,   e . g . ,   python3   config . py   -- fps = 10   .","title":"CarlaLiDAR"},{"location":"algorithms/Sensors/_CARLA/#carlagnss","text":"Blueprint :   sensor . other . gnss   Output :   carla . GNSSMeasurement   per   step   ( unless   sensor _ tick   says   otherwise ) .   This   sensors   models   a   GPS   receiver   and   it   provides   the   current   GNSS   position   of   the   vehicle   the   sensor   is   attached   to .   The   current   coordinates   are   calculated   by   adding   the   metric   position   to   an   initial   geo   reference   location   defined   within   the   OpenDRIVE   map   definition .","title":"CarlaGNSS"},{"location":"algorithms/Sensors/_CARLA/#gnss-attributes","text":"Blueprint   attribute   Type   Default   Description   noise _ alt _ bias   float   0.0   Mean   parameter   in   the   noise   model   for   altitude .   noise _ alt _ stddev   float   0.0   Standard   deviation   parameter   in   the   noise   model   for   altitude .   noise _ lat _ bias   float   0.0   Mean   parameter   in   the   noise   model   for   latitude .   noise _ lat _ stddev   float   0.0   Standard   deviation   parameter   in   the   noise   model   for   latitude .   noise _ lon _ bias   float   0.0   Mean   parameter   in   the   noise   model   for   longitude .   noise _ lon _ stddev   float   0.0   Standard   deviation   parameter   in   the   noise   model   for   longitude .   noise _ seed   int   0   Initializer   for   a   pseudorandom   number   generator .   sensor _ tick   float   0.0   Simulation   seconds   between   sensor   captures   ( ticks ) .","title":"GNSS   attributes"},{"location":"algorithms/Sensors/_CARLA/#output-attributes","text":"Sensor   data   attribute   Type   Description   frame   int   Frame   number   when   the   measurement   took   place .   timestamp   double   Simulation   time   of   the   measurement   in   seconds   since   the   beginning   of   the   episode .   transform   carla . Transform   Location   and   rotation   in   world   coordinates   of   the   sensor   at   the   time   of   the   measurement .   latitude   double   Latitude   of   the   actor .   longitude   double   Longitude   of   the   actor .   altitude   double   Altitude   of   the   actor .","title":"Output   attributes"},{"location":"algorithms/Sensors/_index/","text":"Sensors   in   Self - driving   Systems   Sensor   classes   based   on   the   data   source ,   such   as   simulators   like   CARLA   and   BeamNG   and   real   vehicles ,   play   a   pivotal   role   in   the   development   and   testing   of   autonomous   driving   systems .   These   sensors   serve   as   the   eyes   and   ears   of   self - driving   vehicles ,   providing   crucial   data   for   navigation ,   perception ,   and   decision - making   algorithms .   In   this   context ,   sensor   simulation   becomes   a   critical   component   of   the   development   process ,   allowing   engineers   to   assess   the   system ' s   performance   in   a   controlled   environment   before   deploying   it   in   the   real   world .   Simulators   like   CARLA   and   BeamNG   are   powerful   tools   for   sensor   simulation ,   offering   a   range   of   sensor   classes   that   mimic   the   behavior   of   real - world   sensors .   These   simulators   generate   synthetic   data ,   replicating   the   sensory   input   that   an   autonomous   vehicle   would   receive   while   driving .   The   sensors   commonly   simulated   in   these   environments   include :   LiDAR   ( Light   Detection   and   Ranging )   :   Simulated   LiDAR   sensors   emit   laser   beams   and   measure   their   reflection   from   surrounding   objects ,   providing   detailed   3D   point   clouds .   These   simulators   replicate   the   physics   of   LiDAR ,   including   beam   divergence   and   range   accuracy ,   allowing   developers   to   evaluate   their   algorithms '   performance   in   various   scenarios .   { :   . center - image   width = \" 480 \" }   Radar   :   Radar   sensors   use   radio   waves   to   detect   objects   and   their   relative   speed .   Simulated   radar   sensors   emulate   the   radar   signal ' s   propagation   and   reflection ,   including   effects   like   interference   and   attenuation ,   to   generate   realistic   sensor   data .   { :   . center - image   width = \" 480 \" }   Camera   :   Simulated   cameras   replicate   the   behavior   of   vision   sensors ,   including   factors   such   as   lens   distortion ,   exposure ,   and   image   noise .   These   simulations   enable   the   testing   of   computer   vision   algorithms   for   tasks   like   object   detection ,   lane   tracking ,   and   traffic   sign   recognition .   { :   . center - image   width = \" 480 \" }   GPS   and   IMU   ( Inertial   Measurement   Unit )   :   Simulated   GPS   and   IMU   sensors   provide   vehicle   localization   and   orientation   data .   These   sensors   simulate   satellite   signals   and   vehicle   movements ,   allowing   developers   to   assess   GPS - based   localization   and   sensor   fusion   algorithms .   Ultrasonic   Sensors   :   Simulated   ultrasonic   sensors   model   the   way   ultrasonic   waves   bounce   off   objects   to   measure   distances .   They   are   crucial   for   detecting   nearby   obstacles   during   parking   and   low - speed   maneuvers .   Wheel   Odometry   :   Simulated   wheel   odometry   sensors   estimate   the   vehicle ' s   motion   based   on   wheel   rotations .   These   sensors   aid   in   dead   reckoning   and   can   be   used   for   localization   when   GPS   signals   are   weak   or   unavailable .   Data   generated   by   these   simulated   sensors   is   typically   provided   in   formats   that   mimic   real - world   sensor   outputs ,   such   as   point   clouds   for   LiDAR ,   radar   sweeps   for   radar ,   and   image   frames   for   cameras .   Developers   can   configure   the   sensor   properties   and   environmental   conditions   within   the   simulators   to   create   diverse   testing   scenarios ,   including   different   weather   conditions ,   traffic   patterns ,   and   road   types .   In   summary ,   sensor   simulation   in   autonomous   driving   development ,   whether   its   data   is   produced   by   simulators   like   CARLA   and   BeamNG   or   collected   by   using   real   vehicles ,   is   indispensable   for   verifying   and   fine - tuning   perception   and   control   algorithms .   It   allows   developers   to   evaluate   the   robustness   and   reliability   of   these   systems   under   various   conditions ,   ultimately   contributing   to   the   safe   deployment   of   autonomous   vehicles   on   our   roads .","title":"Sensors"},{"location":"algorithms/Sensors/_index/#sensors-in-self-driving-systems","text":"Sensor   classes   based   on   the   data   source ,   such   as   simulators   like   CARLA   and   BeamNG   and   real   vehicles ,   play   a   pivotal   role   in   the   development   and   testing   of   autonomous   driving   systems .   These   sensors   serve   as   the   eyes   and   ears   of   self - driving   vehicles ,   providing   crucial   data   for   navigation ,   perception ,   and   decision - making   algorithms .   In   this   context ,   sensor   simulation   becomes   a   critical   component   of   the   development   process ,   allowing   engineers   to   assess   the   system ' s   performance   in   a   controlled   environment   before   deploying   it   in   the   real   world .   Simulators   like   CARLA   and   BeamNG   are   powerful   tools   for   sensor   simulation ,   offering   a   range   of   sensor   classes   that   mimic   the   behavior   of   real - world   sensors .   These   simulators   generate   synthetic   data ,   replicating   the   sensory   input   that   an   autonomous   vehicle   would   receive   while   driving .   The   sensors   commonly   simulated   in   these   environments   include :   LiDAR   ( Light   Detection   and   Ranging )   :   Simulated   LiDAR   sensors   emit   laser   beams   and   measure   their   reflection   from   surrounding   objects ,   providing   detailed   3D   point   clouds .   These   simulators   replicate   the   physics   of   LiDAR ,   including   beam   divergence   and   range   accuracy ,   allowing   developers   to   evaluate   their   algorithms '   performance   in   various   scenarios .   { :   . center - image   width = \" 480 \" }   Radar   :   Radar   sensors   use   radio   waves   to   detect   objects   and   their   relative   speed .   Simulated   radar   sensors   emulate   the   radar   signal ' s   propagation   and   reflection ,   including   effects   like   interference   and   attenuation ,   to   generate   realistic   sensor   data .   { :   . center - image   width = \" 480 \" }   Camera   :   Simulated   cameras   replicate   the   behavior   of   vision   sensors ,   including   factors   such   as   lens   distortion ,   exposure ,   and   image   noise .   These   simulations   enable   the   testing   of   computer   vision   algorithms   for   tasks   like   object   detection ,   lane   tracking ,   and   traffic   sign   recognition .   { :   . center - image   width = \" 480 \" }   GPS   and   IMU   ( Inertial   Measurement   Unit )   :   Simulated   GPS   and   IMU   sensors   provide   vehicle   localization   and   orientation   data .   These   sensors   simulate   satellite   signals   and   vehicle   movements ,   allowing   developers   to   assess   GPS - based   localization   and   sensor   fusion   algorithms .   Ultrasonic   Sensors   :   Simulated   ultrasonic   sensors   model   the   way   ultrasonic   waves   bounce   off   objects   to   measure   distances .   They   are   crucial   for   detecting   nearby   obstacles   during   parking   and   low - speed   maneuvers .   Wheel   Odometry   :   Simulated   wheel   odometry   sensors   estimate   the   vehicle ' s   motion   based   on   wheel   rotations .   These   sensors   aid   in   dead   reckoning   and   can   be   used   for   localization   when   GPS   signals   are   weak   or   unavailable .   Data   generated   by   these   simulated   sensors   is   typically   provided   in   formats   that   mimic   real - world   sensor   outputs ,   such   as   point   clouds   for   LiDAR ,   radar   sweeps   for   radar ,   and   image   frames   for   cameras .   Developers   can   configure   the   sensor   properties   and   environmental   conditions   within   the   simulators   to   create   diverse   testing   scenarios ,   including   different   weather   conditions ,   traffic   patterns ,   and   road   types .   In   summary ,   sensor   simulation   in   autonomous   driving   development ,   whether   its   data   is   produced   by   simulators   like   CARLA   and   BeamNG   or   collected   by   using   real   vehicles ,   is   indispensable   for   verifying   and   fine - tuning   perception   and   control   algorithms .   It   allows   developers   to   evaluate   the   robustness   and   reliability   of   these   systems   under   various   conditions ,   ultimately   contributing   to   the   safe   deployment   of   autonomous   vehicles   on   our   roads .","title":"Sensors   in   Self - driving   Systems"},{"location":"algorithms/perception_/","text":"Perception   { :   . d - inline - block   }   Introduction   to   the   Perception   Module   The   ISS   perception   module   provides   support   to   multiple   perception   tasks ,   such   as   3D   obstacle   perception ,   2D   object   recognition ,   2D   semantic   segmentation ,   and   sensor - based   Bird ' s   Eye   View   ( BEV )   map   generation .   Our   team   is   focused   on   developing   and   refining   these   critical   perception   tasks .   These   tasks   serve   as   the   foundation   for   enabling   our   vehicles   to   navigate   complex   environments   with   safety   and   precision .   Tasks   The   different   tasks   supported   by   the   ISS   perception   module   allow   our   vehicles   to   learn   specific   properties   of   the   surrounding   environment   and   its   elements .   3D   Obstacle   Detection   :   Our   system   employs   advanced   sensor   technologies   to   detect   and   analyze   three - dimensional   obstacles   in   real - time .   This   capability   allows   our   autonomous   vehicles   to   make   informed   decisions   and   ensure   safe   navigation ,   even   in   dynamic   and   challenging   scenarios .   2D   Object   Detection   :   Recognizing   and   identifying   objects   in   the   vehicle ' s   surroundings   is   crucial   for   safe   navigation .   Our   framework   utilizes   cutting - edge   algorithms   to   identify   and   classify   various   objects ,   such   as   pedestrians ,   vehicles ,   and   signage ,   contributing   to   enhanced   situational   awareness .   { :   . center - image   }   3D   Obstacle   Perception   and   2D   Object   Detection   { :   . text - center }   2D   Semantic   Segmentation   :   Semantic   segmentation   is   an   essential   task   for   understanding   the   environment   in   detail .   We   leverage   state - of - the - art   techniques   to   partition   the   scene   into   meaningful   segments ,   enabling   our   vehicles   to   comprehend   the   road   layout   and   better   respond   to   complex   urban   landscapes .   { :   . center - image   }   Sensor - Based   BEV   Map   Generation   :   Our   system   generates   a   Bird ' s   Eye   View   ( BEV )   map   using   sensor   data ,   providing   a   holistic   view   of   the   vehicle ' s   surroundings .   This   map   serves   as   a   valuable   tool   for   path   planning   and   decision - making ,   enhancing   the   vehicle ' s   ability   to   navigate   efficiently   and   safely .   At   present ,   we   are   diligently   working   on   these   modules ,   and   we   are   pleased   to   share   that   we   have   developed   initial   models   for   the   first   three   tasks .   However ,   it ' s   important   to   note   that   these   models   are   still   undergoing   refinement   to   enhance   their   performance   and   reliability .   We   also   provide   a   dataset   about   the   object   detection   generated   by   ISS .   Still   updating .","title":"Perception"},{"location":"algorithms/perception_/#perception","text":"{ :   . d - inline - block   }","title":"Perception"},{"location":"algorithms/perception_/#introduction-to-the-perception-module","text":"The   ISS   perception   module   provides   support   to   multiple   perception   tasks ,   such   as   3D   obstacle   perception ,   2D   object   recognition ,   2D   semantic   segmentation ,   and   sensor - based   Bird ' s   Eye   View   ( BEV )   map   generation .   Our   team   is   focused   on   developing   and   refining   these   critical   perception   tasks .   These   tasks   serve   as   the   foundation   for   enabling   our   vehicles   to   navigate   complex   environments   with   safety   and   precision .","title":"Introduction   to   the   Perception   Module"},{"location":"algorithms/perception_/#tasks","text":"The   different   tasks   supported   by   the   ISS   perception   module   allow   our   vehicles   to   learn   specific   properties   of   the   surrounding   environment   and   its   elements .   3D   Obstacle   Detection   :   Our   system   employs   advanced   sensor   technologies   to   detect   and   analyze   three - dimensional   obstacles   in   real - time .   This   capability   allows   our   autonomous   vehicles   to   make   informed   decisions   and   ensure   safe   navigation ,   even   in   dynamic   and   challenging   scenarios .   2D   Object   Detection   :   Recognizing   and   identifying   objects   in   the   vehicle ' s   surroundings   is   crucial   for   safe   navigation .   Our   framework   utilizes   cutting - edge   algorithms   to   identify   and   classify   various   objects ,   such   as   pedestrians ,   vehicles ,   and   signage ,   contributing   to   enhanced   situational   awareness .   { :   . center - image   }   3D   Obstacle   Perception   and   2D   Object   Detection   { :   . text - center }   2D   Semantic   Segmentation   :   Semantic   segmentation   is   an   essential   task   for   understanding   the   environment   in   detail .   We   leverage   state - of - the - art   techniques   to   partition   the   scene   into   meaningful   segments ,   enabling   our   vehicles   to   comprehend   the   road   layout   and   better   respond   to   complex   urban   landscapes .   { :   . center - image   }   Sensor - Based   BEV   Map   Generation   :   Our   system   generates   a   Bird ' s   Eye   View   ( BEV )   map   using   sensor   data ,   providing   a   holistic   view   of   the   vehicle ' s   surroundings .   This   map   serves   as   a   valuable   tool   for   path   planning   and   decision - making ,   enhancing   the   vehicle ' s   ability   to   navigate   efficiently   and   safely .   At   present ,   we   are   diligently   working   on   these   modules ,   and   we   are   pleased   to   share   that   we   have   developed   initial   models   for   the   first   three   tasks .   However ,   it ' s   important   to   note   that   these   models   are   still   undergoing   refinement   to   enhance   their   performance   and   reliability .   We   also   provide   a   dataset   about   the   object   detection   generated   by   ISS .   Still   updating .","title":"Tasks"},{"location":"chrono/manual_vehicle/","text":"Chrono : : Vehicle   \u53c2\u8003 \u624b\u518c \u53c2\u8003\u624b\u518c   \u5b89\u88c5 \u5e76 \u6784\u5efa   Chrono : : Vehicle   \u8f66\u8f86 \u5efa\u6a21 \u4e0e \u4eff\u771f \u6982\u8ff0   \u53c2\u8003 \u6846\u67b6   \u6a21\u62df \u5faa\u73af   \u8f66\u8f86 \u5e95\u76d8   \u8f6e\u5f0f \u8f66\u8f86   \u60ac\u6302 \u6a21\u578b   \u8f6c\u5411 \u673a\u6784 \u6a21\u578b   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b   \u8f6e\u80ce \u6a21\u578b   \u6d4b\u8bd5 \u53f0\u67b6   \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b   \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b   \u9a71\u52a8 \u7cfb\u7edf \u5b50\u7cfb\u7edf   \u53ef\u89c6 \u53ef\u89c6\u5316   \u8f66\u8f86 \u6a21\u578b   \u5176\u4ed6 \u6587\u6863 \u9875\u9762   Chrono   Core   \u7528\u6237 \u624b\u518c \u7528\u6237\u624b\u518c   PyChrono   Chrono : : Vehicle   \u6559\u7a0b","title":"Chrono : : Vehicle   \u53c2\u8003\u624b\u518c"},{"location":"chrono/manual_vehicle/#chronovehicle","text":"\u5b89\u88c5 \u5e76 \u6784\u5efa   Chrono : : Vehicle   \u8f66\u8f86 \u5efa\u6a21 \u4e0e \u4eff\u771f \u6982\u8ff0   \u53c2\u8003 \u6846\u67b6   \u6a21\u62df \u5faa\u73af   \u8f66\u8f86 \u5e95\u76d8   \u8f6e\u5f0f \u8f66\u8f86   \u60ac\u6302 \u6a21\u578b   \u8f6c\u5411 \u673a\u6784 \u6a21\u578b   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b   \u8f6e\u80ce \u6a21\u578b   \u6d4b\u8bd5 \u53f0\u67b6   \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b   \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b   \u9a71\u52a8 \u7cfb\u7edf \u5b50\u7cfb\u7edf   \u53ef\u89c6 \u53ef\u89c6\u5316   \u8f66\u8f86 \u6a21\u578b","title":"Chrono : : Vehicle   \u53c2\u8003\u624b\u518c"},{"location":"chrono/manual_vehicle/#_1","text":"Chrono   Core   \u7528\u6237 \u624b\u518c \u7528\u6237\u624b\u518c   PyChrono   Chrono : : Vehicle   \u6559\u7a0b","title":"\u5176\u4ed6 \u6587\u6863 \u9875\u9762"},{"location":"chrono/module_vehicle_installation/","text":"\u5b89\u88c5   VEHICLE   \u6a21\u5757   \u8fd9\u662f \u4e00\u4e2a \u53ef \u9009 \u6a21\u5757 \uff0c \u53ef \u5728   Chrono   \u5185 \u5b9e\u73b0 \u57fa\u4e8e \u6a21\u677f \u7684 \u5730\u9762 \u8f66\u8f86 \u5efa\u6a21 \u548c \u6a21\u62df \u3002   \u9605\u8bfb   \u6a21\u5757 \u4ecb\u7ecd   \uff0c \u4e86\u89e3   Chrono   \u9879\u76ee \u6a21\u5757 \u6a21\u5757\u5316 \u7684 \u6280\u672f \u80cc\u666f \u3002   \u7279\u70b9   VEHICLE   \u6a21\u5757 \u5141\u8bb8 \u7528\u6237 \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u5efa\u6a21 \u548c \u6a21\u62df \u3002   \u6709\u5173 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8bf7 \u9605\u8bfb \u53c2\u8003 \u624b\u518c \u53c2\u8003\u624b\u518c \u7684   Chrono : : Vehicle   \u90e8\u5206 \u3002   \u4f9d\u8d56 \u9879   \u6b64 \u6a21\u5757 \u6ca1\u6709 \u5176\u4ed6 \u4f9d\u8d56 \u9879   \u4f7f\u7528   CRGTerrain   \u529f\u80fd \u9700\u8981   OpenCRG   \u5e93 \uff08 \u5b9a\u4e49 \u4e86 \u4e00\u79cd \u7528\u4e8e \u63cf\u8ff0 \u8def\u9762 \u7684 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u3002 \u5b83 \u6700\u521d \u662f \u4e3a\u4e86 \u5b58\u50a8 \u8def\u9762 \u626b\u63cf \u7684 \u7cbe\u5ea6 \u9ad8\u7cbe\u5ea6 \u9ad8\u7a0b \u6570\u636e \u800c \u5f00\u53d1 \u7684 \u3002 \u8fd9\u4e9b \u6570\u636e \u4e3b\u8981 \u7528\u4e8e \u8f6e\u80ce \u3001 \u632f\u52a8 \u6216 \u9a7e\u9a76 \u6a21\u62df \u3002 \u7cbe\u786e \u7684 \u9ad8\u7a0b \u6570\u636e \u53ef\u4ee5 \u5bf9 \u8f66\u8f86 \u90e8\u4ef6 \u6216 \u6574\u4e2a \u8f66\u8f86 \u8fdb\u884c \u903c\u771f \u7684 \u8010\u4e45 \u8010\u4e45\u6027 \u6a21\u62df \u3002 \uff09 \u3002   \u5bf9\u4e8e \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \uff0c \u5efa\u8bae \u542f\u7528 \u5e76 \u5b89\u88c5   Chrono : : VSG   \u6a21\u5757 \u548c / \u6216   Chrono : : Irrlicht   \u6a21\u5757 \u3002   \u6784\u5efa \u548c \u5b89\u88c5 \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   Chrono : : Vehicle   \u5305\u542b \u4f7f\u7528   OpenCRG   \u89c4\u8303 \u6307\u5b9a \u5730\u5f62 \u7684 \u9009\u9879 \u3002 \u652f\u6301 \u53ef\u9009 \u6b64\u53ef\u9009 \u529f\u80fd \u9700\u8981   OpenCRG   \u5e93   \u3002   \u6784\u5efa \u548c \u5b89\u88c5   OpenCRG   \u5e93 \u7684 \u6700 \u7b80\u5355 \u65b9\u6cd5 \u662f \u4f7f\u7528   Chrono   \u53d1\u884c \u53d1\u884c\u7248 \u63d0\u4f9b \u7684 \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f \u811a\u672c \u3002 \u8fd9\u4e9b \u811a\u672c \uff08   buildOpenCRG . bat   \u5206\u522b   buildOpenCRG . sh   \u7528\u4e8e   Windows   \u548c   Linux \uff09 \u4f4d\u4e8e   Chrono   \u5b58\u50a8 \u5e93   contrib / build - scripts / opencrg   \u76ee\u5f55 \u4e2d \u3002   \u590d\u5236 \u9002\u5f53 \u7684 \u811a\u672c \u5e76 \u653e\u7f6e \u5728 \u4efb\u610f \u4e34\u65f6 \u76ee\u5f55 \u4e2d \u3002   \u6309\u7167 \u811a\u672c \u9876\u90e8 \u6ce8\u91ca \u4e2d \u7684 \u8bf4\u660e \u7f16\u8f91 \u811a\u672c \u3002   \u4ece \u811a\u672c \u526f\u672c \u7684 \u4f4d\u7f6e \u8fd0\u884c \u811a\u672c \uff08   . \\ buildOpenCRG . bat   \u6216   sh   buildOpenCRG . sh   \uff0c \u89c6 \u60c5\u51b5 \u800c\u5b9a \uff09 \u3002 \u8fd9 \u5c06 \u521b\u5efa \u4e00\u4e2a \u4e34\u65f6 \u76ee\u5f55 \uff0c \u6240\u6709 \u6e90 \u5b58\u50a8 \u5e93 \u90fd \u5c06 \u88ab \u514b\u9686 \u5230 \u8be5 \u76ee\u5f55 \uff0c \u4ee5\u53ca \u4e00\u7ec4 \u76ee\u5f55 \uff0c \u5404\u4e2a   URDF   \u4f9d\u8d56 \u9879 \u5c06 \u5728 \u5176\u4e2d \u6784\u5efa \u3002   \u5b89\u88c5 \u76ee\u5f55 \u5c06 \u5305\u542b \u914d\u7f6e   Chrono : : Vehicle   \u4e0e   OpenCRG   \u652f\u6301 \u6240 \u9700 \u7684 \u5fc5\u8981 \u6587\u4ef6 \u5934\u6587\u4ef6 \u548c \u5e93 \u6587\u4ef6 \u3002   \u642d\u5efa \u8bf4\u660e   \u91cd\u590d   \u5b8c\u6574 \u5b89\u88c5   \u7684 \u8bf4\u660e \uff0c \u4f46\u662f \u5f53 \u60a8 \u770b\u5230   CMake   \u7a97\u53e3 \u65f6 \uff0c \u5fc5\u987b \u6dfb\u52a0 \u4ee5\u4e0b \u6b65\u9aa4 \uff1a   \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   ENABLE _ MODULE _ VEHICLE   \u201c \u5f00 \u201d \uff0c \u7136\u540e \u6309 \u201c \u914d\u7f6e \u201d \uff08 \u5237\u65b0 \u53d8\u91cf \u5217\u8868 \uff09   \u518d\u6b21 \u6309 \u201c \u914d\u7f6e \u201d \uff0c \u7136\u540e \u6309 \u201c \u751f\u6210 \u201d \uff0c \u5e76 \u6309\u7167 \u5b89\u88c5 \u8bf4\u660e \u8fdb\u884c \u64cd\u4f5c \u3002   \u5982\u679c \u542f\u7528   OpenCRG   \u652f\u6301   (   ENABLE _ OPENCRG   ) \uff0c \u7cfb\u7edf \u5c06 \u63d0\u793a \u60a8 \u63d0\u4f9b   OpenCRG   \u672c\u5730 \u5b89\u88c5 \u7684 \u4f4d\u7f6e \uff0c \u5305\u62ec \u6807\u5934 \u3001 \u5e93 \u7684 \u4f4d\u7f6e \u4ee5\u53ca \uff08 \u4ec5\u9650   Windows \uff09 OpenCRG   DLL   \u7684 \u4f4d\u7f6e \u3002   \u5982\u4f55 \u4f7f\u7528 \u5b83   \u67e5\u9605   \u53c2\u8003 \u624b\u518c \u53c2\u8003\u624b\u518c   \u3002   \u67e5\u770b \u6b64 \u6a21\u5757 \u7684   API   \u90e8\u5206   \u4ee5 \u83b7\u53d6 \u6709\u5173 \u7c7b \u548c \u51fd\u6570 \u7684 \u6587\u6863 \u3002   \u67e5\u770b   \u6f14\u793a   \u7684   C++ \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6765 \u4e86\u89e3 \u5982\u4f55 \u4f7f\u7528 \u8be5 \u6a21\u5757 \u7684 \u529f\u80fd \u3002","title":"\u5b89\u88c5   VEHICLE   \u6a21\u5757"},{"location":"chrono/module_vehicle_installation/#vehicle","text":"\u8fd9\u662f \u4e00\u4e2a \u53ef \u9009 \u6a21\u5757 \uff0c \u53ef \u5728   Chrono   \u5185 \u5b9e\u73b0 \u57fa\u4e8e \u6a21\u677f \u7684 \u5730\u9762 \u8f66\u8f86 \u5efa\u6a21 \u548c \u6a21\u62df \u3002   \u9605\u8bfb   \u6a21\u5757 \u4ecb\u7ecd   \uff0c \u4e86\u89e3   Chrono   \u9879\u76ee \u6a21\u5757 \u6a21\u5757\u5316 \u7684 \u6280\u672f \u80cc\u666f \u3002","title":"\u5b89\u88c5   VEHICLE   \u6a21\u5757"},{"location":"chrono/module_vehicle_installation/#_1","text":"VEHICLE   \u6a21\u5757 \u5141\u8bb8 \u7528\u6237 \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u5efa\u6a21 \u548c \u6a21\u62df \u3002   \u6709\u5173 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8bf7 \u9605\u8bfb \u53c2\u8003 \u624b\u518c \u53c2\u8003\u624b\u518c \u7684   Chrono : : Vehicle   \u90e8\u5206 \u3002","title":"\u7279\u70b9"},{"location":"chrono/module_vehicle_installation/#_2","text":"\u6b64 \u6a21\u5757 \u6ca1\u6709 \u5176\u4ed6 \u4f9d\u8d56 \u9879   \u4f7f\u7528   CRGTerrain   \u529f\u80fd \u9700\u8981   OpenCRG   \u5e93 \uff08 \u5b9a\u4e49 \u4e86 \u4e00\u79cd \u7528\u4e8e \u63cf\u8ff0 \u8def\u9762 \u7684 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u3002 \u5b83 \u6700\u521d \u662f \u4e3a\u4e86 \u5b58\u50a8 \u8def\u9762 \u626b\u63cf \u7684 \u7cbe\u5ea6 \u9ad8\u7cbe\u5ea6 \u9ad8\u7a0b \u6570\u636e \u800c \u5f00\u53d1 \u7684 \u3002 \u8fd9\u4e9b \u6570\u636e \u4e3b\u8981 \u7528\u4e8e \u8f6e\u80ce \u3001 \u632f\u52a8 \u6216 \u9a7e\u9a76 \u6a21\u62df \u3002 \u7cbe\u786e \u7684 \u9ad8\u7a0b \u6570\u636e \u53ef\u4ee5 \u5bf9 \u8f66\u8f86 \u90e8\u4ef6 \u6216 \u6574\u4e2a \u8f66\u8f86 \u8fdb\u884c \u903c\u771f \u7684 \u8010\u4e45 \u8010\u4e45\u6027 \u6a21\u62df \u3002 \uff09 \u3002   \u5bf9\u4e8e \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \uff0c \u5efa\u8bae \u542f\u7528 \u5e76 \u5b89\u88c5   Chrono : : VSG   \u6a21\u5757 \u548c / \u6216   Chrono : : Irrlicht   \u6a21\u5757 \u3002","title":"\u4f9d\u8d56 \u9879"},{"location":"chrono/module_vehicle_installation/#_3","text":"Chrono : : Vehicle   \u5305\u542b \u4f7f\u7528   OpenCRG   \u89c4\u8303 \u6307\u5b9a \u5730\u5f62 \u7684 \u9009\u9879 \u3002 \u652f\u6301 \u53ef\u9009 \u6b64\u53ef\u9009 \u529f\u80fd \u9700\u8981   OpenCRG   \u5e93   \u3002   \u6784\u5efa \u548c \u5b89\u88c5   OpenCRG   \u5e93 \u7684 \u6700 \u7b80\u5355 \u65b9\u6cd5 \u662f \u4f7f\u7528   Chrono   \u53d1\u884c \u53d1\u884c\u7248 \u63d0\u4f9b \u7684 \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f \u811a\u672c \u3002 \u8fd9\u4e9b \u811a\u672c \uff08   buildOpenCRG . bat   \u5206\u522b   buildOpenCRG . sh   \u7528\u4e8e   Windows   \u548c   Linux \uff09 \u4f4d\u4e8e   Chrono   \u5b58\u50a8 \u5e93   contrib / build - scripts / opencrg   \u76ee\u5f55 \u4e2d \u3002   \u590d\u5236 \u9002\u5f53 \u7684 \u811a\u672c \u5e76 \u653e\u7f6e \u5728 \u4efb\u610f \u4e34\u65f6 \u76ee\u5f55 \u4e2d \u3002   \u6309\u7167 \u811a\u672c \u9876\u90e8 \u6ce8\u91ca \u4e2d \u7684 \u8bf4\u660e \u7f16\u8f91 \u811a\u672c \u3002   \u4ece \u811a\u672c \u526f\u672c \u7684 \u4f4d\u7f6e \u8fd0\u884c \u811a\u672c \uff08   . \\ buildOpenCRG . bat   \u6216   sh   buildOpenCRG . sh   \uff0c \u89c6 \u60c5\u51b5 \u800c\u5b9a \uff09 \u3002 \u8fd9 \u5c06 \u521b\u5efa \u4e00\u4e2a \u4e34\u65f6 \u76ee\u5f55 \uff0c \u6240\u6709 \u6e90 \u5b58\u50a8 \u5e93 \u90fd \u5c06 \u88ab \u514b\u9686 \u5230 \u8be5 \u76ee\u5f55 \uff0c \u4ee5\u53ca \u4e00\u7ec4 \u76ee\u5f55 \uff0c \u5404\u4e2a   URDF   \u4f9d\u8d56 \u9879 \u5c06 \u5728 \u5176\u4e2d \u6784\u5efa \u3002   \u5b89\u88c5 \u76ee\u5f55 \u5c06 \u5305\u542b \u914d\u7f6e   Chrono : : Vehicle   \u4e0e   OpenCRG   \u652f\u6301 \u6240 \u9700 \u7684 \u5fc5\u8981 \u6587\u4ef6 \u5934\u6587\u4ef6 \u548c \u5e93 \u6587\u4ef6 \u3002","title":"\u6784\u5efa \u548c \u5b89\u88c5 \u5148\u51b3\u6761\u4ef6"},{"location":"chrono/module_vehicle_installation/#_4","text":"\u91cd\u590d   \u5b8c\u6574 \u5b89\u88c5   \u7684 \u8bf4\u660e \uff0c \u4f46\u662f \u5f53 \u60a8 \u770b\u5230   CMake   \u7a97\u53e3 \u65f6 \uff0c \u5fc5\u987b \u6dfb\u52a0 \u4ee5\u4e0b \u6b65\u9aa4 \uff1a   \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   ENABLE _ MODULE _ VEHICLE   \u201c \u5f00 \u201d \uff0c \u7136\u540e \u6309 \u201c \u914d\u7f6e \u201d \uff08 \u5237\u65b0 \u53d8\u91cf \u5217\u8868 \uff09   \u518d\u6b21 \u6309 \u201c \u914d\u7f6e \u201d \uff0c \u7136\u540e \u6309 \u201c \u751f\u6210 \u201d \uff0c \u5e76 \u6309\u7167 \u5b89\u88c5 \u8bf4\u660e \u8fdb\u884c \u64cd\u4f5c \u3002   \u5982\u679c \u542f\u7528   OpenCRG   \u652f\u6301   (   ENABLE _ OPENCRG   ) \uff0c \u7cfb\u7edf \u5c06 \u63d0\u793a \u60a8 \u63d0\u4f9b   OpenCRG   \u672c\u5730 \u5b89\u88c5 \u7684 \u4f4d\u7f6e \uff0c \u5305\u62ec \u6807\u5934 \u3001 \u5e93 \u7684 \u4f4d\u7f6e \u4ee5\u53ca \uff08 \u4ec5\u9650   Windows \uff09 OpenCRG   DLL   \u7684 \u4f4d\u7f6e \u3002","title":"\u642d\u5efa \u8bf4\u660e"},{"location":"chrono/module_vehicle_installation/#_5","text":"\u67e5\u9605   \u53c2\u8003 \u624b\u518c \u53c2\u8003\u624b\u518c   \u3002   \u67e5\u770b \u6b64 \u6a21\u5757 \u7684   API   \u90e8\u5206   \u4ee5 \u83b7\u53d6 \u6709\u5173 \u7c7b \u548c \u51fd\u6570 \u7684 \u6587\u6863 \u3002   \u67e5\u770b   \u6f14\u793a   \u7684   C++ \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6765 \u4e86\u89e3 \u5982\u4f55 \u4f7f\u7528 \u8be5 \u6a21\u5757 \u7684 \u529f\u80fd \u3002","title":"\u5982\u4f55 \u4f7f\u7528 \u5b83"},{"location":"chrono/vehicle_chassis/","text":"\u8f66\u8f86 \u5e95\u76d8   \u4efb\u4f55 \u8f66\u8f86 \u7cfb\u7edf \u90fd \u5fc5\u987b \u5305\u542b \u5e95\u76d8 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u3002 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u3001 \u65b9\u5411 \u3001 \u901f\u5ea6 \u548c \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5747 \u5b9a\u4e49 \u4e3a \u5e95\u76d8 \u53c2\u8003 \u53c2\u8003\u7cfb \u3002 \u6240\u6709 \u5176\u4ed6 \u8f66\u8f86 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u5747 \u76f8\u5bf9 \u4e8e \u8f66\u8f86 \u5e95\u76d8 \u8fdb\u884c \u521d\u59cb \u521d\u59cb\u5316 \u3002   \u76ee\u524d \u4ec5 \u63d0\u4f9b \u4e00\u4e2a \u5e95\u76d8 \u6a21\u677f \uff1a   ChRigidChassis   \uff0c \u7531 \u5355\u4e2a \u521a\u4f53 \u7ec4\u6210 \u3002   \u4e3a\u4e86 \u5bf9 \u5177\u6709 \u4e0d\u540c \u62d3\u6251 \u7ed3\u6784 \uff08 \u4f8b\u5982 \u94f0\u63a5 \u94f0\u63a5\u5f0f \u5e95\u76d8 \uff09 \u3001 \u5177\u6709 \u626d\u8f6c \u67d4\u987a \u6027 \u7684 \u5e95\u76d8 \u4ee5\u53ca \u62d6\u8f66 \u7cfb\u7edf \u8fdb\u884c \u5efa\u6a21 \uff0c Chrono : : Vehicle   \u8fd8 \u5305\u62ec \u6240\u8c13 \u7684 \u201c \u540e \u5e95\u76d8 \u201d \uff08 \u57fa\u7c7b   ChChassisRear   \uff0c \u521a\u4f53 \u6a21\u677f   ChRigidChassisRear   \uff09 \uff0c \u5b83 \u53ef\u4ee5 \u4f7f\u7528 \u4e13\u95e8 \u7684 \u201c \u5e95\u76d8 \u8fde\u63a5 \u63a5\u5668 \u8fde\u63a5\u5668 \u201d \u8fde\u63a5 \u5230 \u524d \u5e95\u76d8 \u3002   \u6709 \u4ee5\u4e0b \u4e09\u79cd \u7c7b\u578b \u7684 \u5e95\u76d8 \u8fde\u63a5 \u63a5\u5668 \u8fde\u63a5\u5668 \u6a21\u677f \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \uff1a   ChChassisConnectorArticulated   \u5141\u8bb8 \u5c06 \u524d\u540e \u5e95\u76d8 \u4e0e \u9a71\u52a8 \u65cb\u8f6c \u8f6c\u5173 \u5173\u8282 \u65cb\u8f6c\u5173\u8282 \u8fde\u63a5 \u63a5\u8d77 \u8d77\u6765 \u8fde\u63a5\u8d77\u6765 \uff0c \u8be5 \u65cb\u8f6c \u8f6c\u5173 \u5173\u8282 \u65cb\u8f6c\u5173\u8282 \u7531 \u8f6c\u5411 \u9a71\u52a8 \u9a71\u52a8\u5668 \u8f93\u5165 \u63a7\u5236   ChChassisConnectorTorsion   \u5141\u8bb8 \u4f7f\u7528 \u5177\u6709 \u6307\u5b9a \u626d\u8f6c \u521a\u5ea6 \u7684 \u7eb5\u5411 \u65cb\u8f6c \u8f6c\u5173 \u5173\u8282 \u65cb\u8f6c\u5173\u8282 \u8fde\u63a5 \u524d\u540e \u5e95\u76d8   ChChassisConnectorHitch   \u6a21\u62df \u62d6\u8f66 \u6302\u94a9 \u8fde\u63a5 \uff08 \u4f7f\u7528 \u7403\u5f62 \u63a5\u5934 \uff09","title":"\u8f66\u8f86 \u5e95\u76d8"},{"location":"chrono/vehicle_chassis/#_1","text":"\u4efb\u4f55 \u8f66\u8f86 \u7cfb\u7edf \u90fd \u5fc5\u987b \u5305\u542b \u5e95\u76d8 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u3002 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u3001 \u65b9\u5411 \u3001 \u901f\u5ea6 \u548c \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5747 \u5b9a\u4e49 \u4e3a \u5e95\u76d8 \u53c2\u8003 \u53c2\u8003\u7cfb \u3002 \u6240\u6709 \u5176\u4ed6 \u8f66\u8f86 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u5747 \u76f8\u5bf9 \u4e8e \u8f66\u8f86 \u5e95\u76d8 \u8fdb\u884c \u521d\u59cb \u521d\u59cb\u5316 \u3002   \u76ee\u524d \u4ec5 \u63d0\u4f9b \u4e00\u4e2a \u5e95\u76d8 \u6a21\u677f \uff1a   ChRigidChassis   \uff0c \u7531 \u5355\u4e2a \u521a\u4f53 \u7ec4\u6210 \u3002   \u4e3a\u4e86 \u5bf9 \u5177\u6709 \u4e0d\u540c \u62d3\u6251 \u7ed3\u6784 \uff08 \u4f8b\u5982 \u94f0\u63a5 \u94f0\u63a5\u5f0f \u5e95\u76d8 \uff09 \u3001 \u5177\u6709 \u626d\u8f6c \u67d4\u987a \u6027 \u7684 \u5e95\u76d8 \u4ee5\u53ca \u62d6\u8f66 \u7cfb\u7edf \u8fdb\u884c \u5efa\u6a21 \uff0c Chrono : : Vehicle   \u8fd8 \u5305\u62ec \u6240\u8c13 \u7684 \u201c \u540e \u5e95\u76d8 \u201d \uff08 \u57fa\u7c7b   ChChassisRear   \uff0c \u521a\u4f53 \u6a21\u677f   ChRigidChassisRear   \uff09 \uff0c \u5b83 \u53ef\u4ee5 \u4f7f\u7528 \u4e13\u95e8 \u7684 \u201c \u5e95\u76d8 \u8fde\u63a5 \u63a5\u5668 \u8fde\u63a5\u5668 \u201d \u8fde\u63a5 \u5230 \u524d \u5e95\u76d8 \u3002   \u6709 \u4ee5\u4e0b \u4e09\u79cd \u7c7b\u578b \u7684 \u5e95\u76d8 \u8fde\u63a5 \u63a5\u5668 \u8fde\u63a5\u5668 \u6a21\u677f \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \uff1a   ChChassisConnectorArticulated   \u5141\u8bb8 \u5c06 \u524d\u540e \u5e95\u76d8 \u4e0e \u9a71\u52a8 \u65cb\u8f6c \u8f6c\u5173 \u5173\u8282 \u65cb\u8f6c\u5173\u8282 \u8fde\u63a5 \u63a5\u8d77 \u8d77\u6765 \u8fde\u63a5\u8d77\u6765 \uff0c \u8be5 \u65cb\u8f6c \u8f6c\u5173 \u5173\u8282 \u65cb\u8f6c\u5173\u8282 \u7531 \u8f6c\u5411 \u9a71\u52a8 \u9a71\u52a8\u5668 \u8f93\u5165 \u63a7\u5236   ChChassisConnectorTorsion   \u5141\u8bb8 \u4f7f\u7528 \u5177\u6709 \u6307\u5b9a \u626d\u8f6c \u521a\u5ea6 \u7684 \u7eb5\u5411 \u65cb\u8f6c \u8f6c\u5173 \u5173\u8282 \u65cb\u8f6c\u5173\u8282 \u8fde\u63a5 \u524d\u540e \u5e95\u76d8   ChChassisConnectorHitch   \u6a21\u62df \u62d6\u8f66 \u6302\u94a9 \u8fde\u63a5 \uff08 \u4f7f\u7528 \u7403\u5f62 \u63a5\u5934 \uff09","title":"\u8f66\u8f86 \u5e95\u76d8"},{"location":"chrono/vehicle_driver/","text":"\u9a71\u52a8 \u7cfb\u7edf \u5b50\u7cfb\u7edf   \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f   \u57fa\u4e8e \u6570\u636e \uff08 \u5f00\u73af \uff09 \u7684 \u9a71\u52a8 \u9a71\u52a8\u5668   \u95ed\u73af \u9a71\u52a8 \u6a21\u578b   \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f93\u5165 \uff08 \u8f6c\u5411 \u3001 \u6cb9\u95e8 \u548c \u5239\u8f66 \uff09 \u7531 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u63d0\u4f9b \uff0c Chrono : : Vehicle   \u4e2d \u63d0\u4f9b \u9009\u9879 \uff0c \u5305\u62ec \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u3001 \u6570\u636e \u9a71\u52a8 \u548c \u95ed\u73af \u5f0f \uff08 \u4f8b\u5982 \u57fa\u4e8e   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u8def\u5f84 \u8ddf\u8e2a \uff09 \u3002   \u9a71\u52a8 \u7cfb\u7edf \u7684 \u57fa\u7c7b   ChDriver   \u5bf9 \u9a71\u52a8 \u7cfb\u7edf \u6a21\u677f \u63d0\u51fa \u4e86 \u6700\u4f4e \u8981\u6c42 \uff0c \u7279\u522b \u662f \u8fd4\u56de \u6cb9\u95e8 \u8f93\u5165 \u7684 \u80fd\u529b \uff08 \u5728 [   0   ,   1   ] \u8303\u56f4 \uff09 \u3001 \u8f6c\u5411 \u8f93\u5165 \uff08 \u6807\u51c6 \u6807\u51c6\u5316 [   \u2212   1   ,   +   1   ] \u8303\u56f4 \uff0c \u8d1f\u503c \u8868\u793a \u5de6\u8f6c \u5411\u5de6\u8f6c \u5411 \uff09 \uff0c \u4ee5\u53ca \u5236\u52a8 \u8f93\u5165 \uff08 \u5728 [   0   ,   1   ] \u8303\u56f4 \uff09 \u3002 \u6b64\u5916 \uff0c \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u53ef\u4ee5 \u901a\u8fc7 \u5176   Synchronize   \u65b9\u6cd5 \u4ece \u4efb\u4f55 \u5176\u4ed6 \u7cfb\u7edf \u63a5\u6536 \u4fe1\u606f \uff08 \u4f8b\u5982 \uff0c \u8f66\u8f86 \u72b6\u6001 \uff09 \uff0c \u5e76\u4e14 \u53ef\u80fd \u5177\u6709 \u5185\u90e8 \u52a8\u6001 \uff08 \u5728 \u5176   Advance   \u65b9\u6cd5 \u4e2d \u5b9e\u73b0 \uff09 \u3002 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u7684 \u7279\u5b9a \u6a21\u677f \u53ef\u4ee5 \u6269\u5c55 \u751f\u6210 \u7684 \u8f66\u8f86 \u8f93\u5165 \u96c6 \uff0c \u4f8b\u5982 \u5305\u62ec \u5f53\u524d \u9009\u62e9 \u7684 \u624b\u52a8 \u53d8\u901f \u53d8\u901f\u5668 \u6863\u4f4d \u3001 \u542f\u7528 / \u7981\u7528 \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7684 \u4ea4\u53c9 \u9a71\u52a8 \u80fd\u529b \u7b49 \u3002   Chrono : : Vehicle   \u5305\u542b \u591a\u4e2a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u6a21\u677f \u3002 \u5bf9\u4e8e \u4ee5\u8f6f \u5b9e\u65f6 \u65b9\u5f0f \u8fd0\u884c \u7684 \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u6a21\u62df \uff0c \u5b83 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u6a21\u677f \uff0c \u8be5 \u7cfb\u7edf \u6839\u636e \u7528\u6237 \u63a7\u5236 \uff08 \u952e\u76d8 \u548c \u9f20\u6807 \u6216 \u6e38\u620f \u63a7\u5236 \u63a7\u5236\u5668 \uff09 \u4ea7\u751f \u8f66\u8f86 \u8f93\u5165 \u3002   \u5bf9\u4e8e \u5b9e\u9a8c \u6a21\u62df \u8bbe\u8ba1 \uff0c \u5b83 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u57fa\u4e8e \u901a\u8fc7 \u6587\u672c \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u63d0\u4f9b \u7684 \u8f93\u5165 \u7684 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u6a21\u677f \uff0c \u5176\u4e2d \u8f66\u8f86 \u8f93\u5165 \u901a\u8fc7 \u7ebf\u6027 \u63d2\u503c \u7ebf\u6027\u63d2\u503c \u83b7\u5f97 \u3002 \u6b64\u7c7b \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u4e5f \u53ef\u4ee5 \u901a\u8fc7 \u4ea4\u4e92 \u8fd0\u884c \u671f\u95f4 \u6536\u96c6 \u7684 \u6570\u636e \u81ea\u52a8 \u751f\u6210 \u3002   \u6700\u540e \uff0c Chrono : : Vehicle   \u5305\u542b \u51e0\u4e2a \u95ed\u73af \u9a71\u52a8 \u7cfb\u7edf \u6a21\u578b \uff0c \u57fa\u4e8e \u5bf9   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5e95\u5c42 \u652f\u6301 \u3002 \u8fd9\u4e9b \u6a21\u578b \u5305\u62ec \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \uff08 \u53ef \u540c\u65f6 \u8c03\u8282 \u6cb9\u95e8 \u548c \u5236\u52a8 \u8f93\u5165 \u4ee5 \u4fdd\u6301 \u6052\u5b9a \u7684 \u8f66\u901f \uff09 \u548c \u8def\u5f84 \u8ddf\u968f \u63a7\u5236 \u63a7\u5236\u5668 \u3002 \u540e\u8005 \u53ef \u8c03\u6574 \u8f6c\u5411 \u8f93\u5165 \uff0c \u4f7f \u8f66\u8f86 \u9075\u5faa \u7528\u6237 \u5b9a\u4e49 \u7684 \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u8def\u5f84 \u3002   \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f   \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f   ChInteractiveDriverIRR   \uff08 \u7528\u4e8e \u57fa\u4e8e   Irrlicht   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7cfb\u7edf \uff09 \u548c   ChInteractiveDriverVSG   \uff08 \u7528\u4e8e \u57fa\u4e8e   VSG   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7cfb\u7edf \uff09 \u53ef\u4ee5 \u901a\u8fc7 \u7528\u6237 \u8f93\u5165 \u63a7\u5236 \uff08 \u8f6c\u5411 / \u52a0\u901f / \u5236\u52a8 \uff09 \u6a21\u62df \u8f66\u8f86 \u3002 \u8fd9\u4e9b \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u4f9d\u8d56 \u8d56\u4e8e \u4f9d\u8d56\u4e8e \u5404\u81ea \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7cfb\u7edf \u7684 \u952e\u76d8 \u548c \u63a7\u5236 \u63a7\u5236\u5668 \u4e8b\u4ef6 \u5904\u7406 \u7a0b\u5e8f \u5904\u7406\u7a0b\u5e8f \u3002   \u8be5 \u9a71\u52a8 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u6a21\u578b \u7684 \u5176\u4ed6 \u7279\u6027 \u5305\u62ec \uff1a   \u5b9e\u9a8c \u5b9e\u9a8c\u6027 \u63a7\u5236 \u63a7\u5236\u5668 \u652f\u6301   \u80fd\u591f \u9501\u5b9a / \u89e3\u9501 \u9a71\u52a8 \u9a71\u52a8\u5668 \u8f93\u5165 \u4e3a \u5176 \u5f53\u524d \u503c \uff08 \u901a\u8fc7 \u952e \u63a7\u5236   J   \uff09   \u8bb0\u5f55 \u548c \u56de\u653e \u7528\u6237 \u8f93\u5165 \u7684 \u80fd\u529b \uff08 \u4f7f\u7528 \u5d4c\u5165 \u5d4c\u5165\u5f0f \u57fa\u4e8e \u6570\u636e \u7684 \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \uff1b \u4e0b\u6587 \u89c1\u4e0b\u6587 \uff09   \u952e\u76d8 \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f   \u952e   A   \u589e\u52a0 \u5de6\u8f6c \u65b9\u5411 \u65b9\u5411\u76d8 \u89d2\u5ea6   \u952e   D   \u589e\u52a0 \u53f3\u8f6c \u65b9\u5411 \u65b9\u5411\u76d8 \u89d2\u5ea6   \u952e   W   \u52a0\u901f   \u952e   S   \u51cf\u901f   \u6cb9\u95e8 \u548c \u5239\u8f66 \u63a7\u5236 \u662f \u8026\u5408 \u7684 \uff0c \u5373 \u52a0\u901f \u65f6 \u9996\u5148 \u5c06 \u5239\u8f66 \u964d\u81f3 \u96f6 \uff0c \u7136\u540e \u518d \u589e\u52a0 \u6cb9\u95e8 \u8f93\u5165 \uff08 \u51cf\u901f \u51cf\u901f\u65f6 \u53cd\u4e4b \u4ea6\u7136 \u53cd\u4e4b\u4ea6\u7136 \uff09 \u3002   \u63a7\u5236 \u9a71\u52a8 \u63a7\u5236\u5668 \u63a7\u5236\u5668\u9a71\u52a8 \u7a0b\u5e8f   \u73b0\u4ee3 \u6a21\u62df \u6a21\u62df\u5668 \u901a\u5e38 \u6709 \u591a\u4e2a \uff08 USB \uff09 \u8bbe\u5907 \u7528\u4e8e \u63a7\u5236 \u6c7d\u8f66 \u4e2d \u7684 \u6240\u6709 \u4e0d\u540c \u63a7\u5236 \u5143\u4ef6 \u63a7\u5236\u5143\u4ef6 \u3002 \u5b83\u4eec \u914d\u6709 \u8e0f\u677f \u3001 \u65b9\u5411 \u65b9\u5411\u76d8 \u3001 H   \u578b \u6362\u6321 \u5668 \u3001 \u987a\u5e8f \u6362\u6321 \u5668 \u3001 \u624b\u5239 \u548c \u6309\u94ae \u76d2 \uff08 \u5e26\u6709 \u5927\u91cf \u6309\u94ae \u6765 \u66f4\u6539 \u8f66\u8f7d \u7cfb\u7edf \uff09 \u7684 \u8bbe\u5907 \u3002 Chrono   \u652f\u6301 \u8fd9 \u4e00\u70b9 \uff0c \u56e0\u4e3a \u5b83 \u80fd\u591f \u5c06 \u63a7\u5236 \u63a7\u5236\u5668 \u8f74 \u548c \u6309\u94ae \u5206\u914d \u7ed9 \u8fde\u63a5 \u7684 \u591a\u4e2a \u8bbe\u5907 \u3002 \u8f74 \u4e5f \u53ef\u4ee5 \u6821\u51c6 \uff0c \u8bbe\u7f6e \u8be5 \u8f74 \u7684 \u6700\u5c0f \u548c \u6700\u5927 \uff08 \u539f\u59cb \uff09 \u503c \u4ee5\u53ca \u9884\u671f \uff08 \u7f29\u653e \uff09 \u8f93\u51fa \u503c \u3002   \u6620\u5c04 \u548c \u6821\u51c6 \u662f \u4f7f\u7528 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u7684 \u201c controller . json \u201d \u6587\u4ef6 \u5b8c\u6210 \u7684 \uff0c   data / vehicles   \u8be5 \u6587\u4ef6 \u5141\u8bb8 \u60a8 \u5c06 \u63a7\u4ef6 \u5206\u914d \u7ed9 \u8fd9\u4e9b \u201c \u63a7\u5236 \u63a7\u5236\u5668 \u201d \u7684 \u8f74 \u548c \u6309\u94ae \u3002 \u6211\u4eec \u63d0\u4f9b \u4e86 \u51e0\u4e2a \u6b64\u7c7b \u6587\u4ef6 \u7684 \u793a\u4f8b \uff0c \u4f46 \u901a\u5e38 \u60a8 \u9700\u8981 \u6839\u636e \u81ea\u5df1 \u7684 \u8bbe\u7f6e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6b64 \u6587\u4ef6 \uff1a   controller _ XboxOneForWindows . json   \u662f \u4e00\u79cd \u76f8\u5f53 \u6807\u51c6 \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u8bbe\u7f6e \uff0c \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u7528\u6237 \u5e94\u8be5 \u5f88 \u5bb9\u6613 \u9002\u5e94 \uff0c \u5b83 \u6620\u5c04 \u6240\u6709 \u8f74 \u5e76 \u5305\u62ec \u987a\u5e8f \u53d8\u901f \u53d8\u901f\u5668 \u8bbe\u7f6e \u4ee5\u53ca \u5728 \u81ea\u52a8 \u548c \u624b\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u4e4b\u95f4 \u5207\u6362 \u7684 \u65b9\u5f0f \u3002   controller _ WheelPedalsAndShifters . json   \u662f \u4e00\u4e2a \u66f4 \u590d\u6742 \u7684 \u591a \u63a7\u5236 \u63a7\u5236\u5668 \u8bbe\u7f6e \u7684 \u793a\u4f8b \uff0c \u5177\u6709 \u65b9\u5411 \u65b9\u5411\u76d8 \u3001 \u4e09\u4e2a \u8e0f\u677f \u4ee5\u53ca \u987a\u5e8f \u548c   H   \u578b \u6362\u6863 \u5668 \u8bbe\u7f6e \u3002 \u5982\u679c \u60a8 \u60f3 \u4f7f\u7528 \u6b64 \u793a\u4f8b \uff0c \u53ef\u80fd \u9700\u8981 \u8fdb\u884c \u5927\u91cf \u4fee\u6539 \uff0c \u4f46 \u5b83 \u5c55\u793a \u4e86 \u5982\u4f55 \u4f7f\u7528 \u4e0d\u540c \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u3002   \u793a\u4f8b \u63a7\u5236 \u63a7\u5236\u5668 \u6587\u4ef6   {   \" steering \" :   {   \" name \" :   \" Steering   Wheel \" ,   \" axis \" :   0 ,   \" min \" :   - 32768 ,   \" max \" :   32767 ,   \" scaled _ min \" :   1 ,   \" scaled _ max \" :   - 1   } ,   \" throttle \" :   {   \" name \" :   \" Pedal   Box \" ,   \" axis \" :   2 ,   \" min \" :   - 1 ,   \" max \" :   - 32767 ,   \" scaled _ min \" :   0 ,   \" scaled _ max \" :   1   } ,   \" brake \" :   {   \" name \" :   \" Pedal   Box \" ,   \" axis \" :   2 ,   \" min \" :   0 ,   \" max \" :   32767 ,   \" scaled _ min \" :   0 ,   \" scaled _ max \" :   1   } ,   \" clutch \" :   {   \" name \" :   \" Pedal   Box \" ,   \" axis \" :   4 ,   \" min \" :   0 ,   \" max \" :   32767 ,   \" scaled _ min \" :   0 ,   \" scaled _ max \" :   1   } ,   \" gearReverse \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   0   } ,   \" gear1 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   1   } ,   \" gear2 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   2   } ,   \" gear3 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   3   } ,   \" gear4 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   4   } ,   \" gear5 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   5   } ,   \" gear6 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   6   } ,   \" gear7 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   7   } ,   \" gear8 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   8   } ,   \" gear9 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   9   } ,   \" shiftUp \" :   {   \" name \" :   \" Steering   Wheel \" ,   \" button \" :   4   } ,   \" shiftDown \" :   {   \" name \" :   \" Steering   Wheel \" ,   \" button \" :   5   } ,   \" toggleManualGearbox \" :   {   \" name \" :   \" Button   Box \" ,   \" button \" :   2   }   }   \u5728 \u6587\u4ef6 \u7684 \u9876\u5c42 \uff0c \u6211\u4eec \u6709 \u4e00\u7ec4 \u63a7\u5236 \u63a7\u5236\u5668 \u51fd\u6570 \uff08 \uff0c \uff0c \uff0c   steering   ...   \uff09 \uff0c \u5bf9\u4e8e \u6bcf\u4e2a \u51fd\u6570 \uff0c \u6211\u4eec \u53ef\u4ee5 \u6307\u5b9a \u4e00\u4e2a \u8f74 \u6216 \u6309\u94ae \u5b9a\u4e49 \u4ee5\u53ca \u6240\u6709 \u6620\u5c04 \u7ec6\u8282 \uff1a   throttleshiftUp   \u8f74 \uff1a   steering   \uff0c   throttle   \uff0c   brake   \uff0c   clutch   \u5177\u6709 \u4ee5\u4e0b \u5c5e\u6027 \uff1a   name   \u662f \u7cfb\u7edf \u4e0a \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u540d\u79f0 \uff1b   axis   \u662f \u60a8 \u60f3\u8981 \u6620\u5c04 \u5230 \u7684 \u8f74 \u7684 \u7f16\u53f7 \uff1b   min   \u548c   max   \u662f \u8be5 \u8f74 \u7684 \u539f\u59cb \u6700\u5c0f \u6700\u5c0f\u503c \u548c \u6700\u5927 \u5927\u503c \u6700\u5927\u503c \uff1b   scaled _ min   \u548c   scaled _ max   \u662f \u8be5 \u8f74 \u7684 \u8f93\u51fa \u6700\u5c0f \u6700\u5c0f\u503c \u548c \u6700\u5927 \u5927\u503c \u6700\u5927\u503c \uff1b   \u6309\u94ae \uff1a   shiftUp   \uff0c   shiftDown   \uff0c   gearReverse   \uff0c   gear1   \uff0c   gear2   ...   \uff0c   gear9   \u5177\u6709   toggleManualGearbox   \u4ee5\u4e0b \u5c5e\u6027 \uff1a   name \u662f \u7cfb\u7edf \u4e0a \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u540d\u79f0 \uff1b   button \u662f \u60a8 \u60f3\u8981 \u6620\u5c04 \u7684 \u6309\u94ae \u7684 \u7f16\u53f7 \uff1b   \u5173\u4e8e \u63a7\u5236 \u53d8\u901f \u53d8\u901f\u7bb1 \u7684 \u4e00\u53e5 \u8bdd \uff1a   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f \u624b\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \uff0c \u5219 \u652f\u6301 \u987a\u5e8f \u6362\u6863 \u5668 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u53e6 \u4e00\u4e2a \u6309\u94ae \u5728 \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u548c \u624b\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u4e4b\u95f4 \u5207\u6362 \u3002   \u8fd8\u6709   H - shifter   \u652f\u6301 \u3002 \u4ee3\u7801 \u6700 \u591a \u652f\u6301   9   \u4e2a \u524d\u8fdb \u6863 \uff0c \u5e76 \u652f\u6301 \u6362\u6863 \uff08 \u53ea\u8981 \u60a8 \u5b8c\u5168 \u8e29\u4e0b \u79bb\u5408 \u79bb\u5408\u5668 \uff09 \u3002   \u8fd8\u6709 \u4e00\u4e2a \u8c03\u8bd5 \u6a21\u5f0f \u8c03\u8bd5\u6a21\u5f0f \uff0c \u6bcf\u79d2 \u4e24\u6b21 \u6253\u5370 \u6240\u6709 \u8fde\u63a5 \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u8f74 \u548c \u6309\u94ae \u7684 \u6240\u6709 \u503c \u3002 \u8fd9 \u5728 \u5b9a\u4e49 \u6587\u4ef6 \u65f6 \u975e\u5e38 \u6709\u7528 \uff0c \u5426\u5219 \u53ef\u80fd \u5e94\u8be5 \u7981\u7528 \u3002   \u5f53\u524d \u5b9e\u65bd \u7684 \u5c40\u9650 \u9650\u6027 \u5c40\u9650\u6027   \u6240\u6709 \u63a7\u5236 \u63a7\u5236\u5668 \u5904\u7406 \u90fd \u4e0e   IrrLicht   \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u60a8 \u9700\u8981 \u4f7f\u7528 \u5b83 \u6765 \u5b9e\u73b0 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002 \u8fd9 \u4e5f \u610f\u5473 \u610f\u5473\u7740 \u6211\u4eec \u7ee7\u627f \u4e86   IrrLicht   \u5904\u7406 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u6240\u6709 \u9650\u5236 \u3002 \u8fd9 \u4e3b\u8981 \u53cd\u6620 \u5728 \u6bcf\u4e2a \u63a7\u5236 \u63a7\u5236\u5668 \u652f\u6301 \u7684 \u6309\u94ae \u6570\u91cf \u4e0a \uff0c \u4f46 \u4e5f \u53ef\u80fd \u5b58\u5728 \u5176\u4ed6 \u9650\u5236 \u3002   \u57fa\u4e8e \u6570\u636e \uff08 \u5f00\u73af \uff09 \u7684 \u9a71\u52a8 \u9a71\u52a8\u5668   \u4e00\u4e9b \u91cd\u8981 \u7684 \u8f66\u8f86 \u6d4b\u8bd5 \u64cd\u4f5c \u57fa\u4e8e \u65f6\u95f4 \u76f8\u5173 \u7684 \u8f6c\u5411 / \u6cb9\u95e8 / \u5236\u52a8 \u4fe1\u53f7 \u3002 \u4e0d \u8003\u8651 \u4efb\u4f55 \u7c7b\u578b \u7684 \u53cd\u9988 \u3002 \u6b64 \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u6a21\u578b \u5728   ChDataDriver   \u4e2d \u5b9e\u73b0 \u3002   \u5e26\u6709 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f93\u5165 \u7684   ASCII   \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u5305\u542b \u56db\u5217 \uff0c \u5206\u522b \u4e3a \u65f6\u95f4 \uff08 s \uff09 \u3001 \u8f6c\u5411 \u8f93\u5165 \uff08 \u65e0\u91cf \u7eb2\u91cf \uff0c \u5355\u4f4d \u4e3a [   \u2212   1   ,   1   ] \uff0c   \u548c \u2212   1 \u8868\u793a \u5411 \u5de6 \u5b8c\u5168 \u8f6c\u5411 \uff09 \u3001 \u6cb9\u95e8 \u8f93\u5165 \uff08 \u65e0\u91cf \u7eb2\u91cf [   0   ,   1   ] \uff0c   \u548c 1 \u8868\u793a \u5168 \u6cb9\u95e8 \uff09 \u548c \u5236\u52a8 \uff08 \u65e0\u91cf \u7eb2\u91cf \u4ecb\u4e8e [   0   ,   1   ] \uff0c   \u548c 1 \u8868\u793a \u6700\u5927 \u5236 \u52a8\u529b \uff09 \u3002   \u4e0b\u9762 \u5217\u51fa \u4e86 \u793a\u4f8b \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6   0.0   0.0   0.0   0.0   0.0   0.5   0.0   0.5   0.0   0.0   3.0   0.0   0.5   0.0   0.0   5.0   0.5   0.4   0.0   0.0   9.0   0.0   0.0   1.0   0.0   \u5728 \u4efb\u4f55 \u7ed9\u5b9a \u65f6\u95f4 \uff0c \u5f53\u524d \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f93\u5165 \uff08 \u8f6c\u5411 \u3001 \u6cb9\u95e8 \u548c \u5236\u52a8 \uff09 \u90fd \u662f \u901a\u8fc7 \u5bf9 \u63d0\u4f9b \u7684 \u6570\u636e \u8fdb\u884c \u5206\u6bb5 \u7ebf\u6027 \u63d2\u503c \u7ebf\u6027\u63d2\u503c \u83b7\u5f97 \u7684 \u3002 \u9664\u4e86 \u6700\u540e \u4e00\u6b21 \u8f93\u5165 \u4e4b\u5916 \uff0c \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f93\u5165 \u5c06 \u4fdd\u6301 \u4e3a \u5176 \u6700\u540e \u4e00\u4e2a \u503c \u3002   \u95ed\u73af \u9a71\u52a8 \u6a21\u578b   \u95ed\u73af \u9a71\u52a8 \u9a71\u52a8\u5668 \u6a21\u578b \u9700\u8981 \u63a7\u5236 \u7b56\u7565 \u63a7\u5236\u7b56\u7565 \u5e76 \u8003\u8651 \u53cd\u9988 \u3002 \u53cd\u9988 \u53ef\u80fd \u5bfc\u81f4 \u4e0d \u7a33\u5b9a \u7684 \u884c\u4e3a \uff0c \u56e0\u6b64 \u5fc5\u987b \u660e\u667a \u660e\u667a\u5730 \u9009\u62e9 \u63a7\u5236 \u63a7\u5236\u5668 \u53c2\u6570 \u3002 \u793a\u4f8b \u53c2\u6570 \u5df2 \u5728 \u5e7f\u6cdb \u7684 \u7528\u9014 \u4e2d \u53d1\u6325 \u4f5c\u7528 \u53d1\u6325\u4f5c\u7528 \u3002 \u7528\u6237 \u5e94\u4ece \u7ed9\u5b9a \u7684 \u793a\u4f8b \u53c2\u6570 \u96c6 \u4e4b\u4e00 \u5f00\u59cb \uff0c \u5e76 \u4ec5 \u5728 \u5fc5\u8981 \u65f6 \u8fdb\u884c \u4fee\u6539 \u3002   \u8def\u5f84 \u8ddf\u968f \u63a7\u5236 \u63a7\u5236\u5668   \u4e3a\u4e86 \u4f7f \u8f66\u8f86 \u9075\u5faa \u7ed9\u5b9a \u7684 \u8def\u5f84 \uff0c \u5fc5\u987b \u6d4b\u91cf \u6a2a\u5411 \u8def\u5f84 \u504f\u5dee \u5e76 \u751f\u6210 \u4f7f \u504f\u5dee \u6700\u5c0f \u6700\u5c0f\u5316 \u7684 \u65b9\u5411 \u65b9\u5411\u76d8 \u89d2\u5ea6 \u3002 \u89e3\u51b3 \u6b64 \u95ee\u9898 \u7684 \u4e00\u4e2a \u5468\u77e5 \u4f17\u6240\u5468\u77e5 \u7684 \u65b9\u6cd5 \u662f   PID   \u63a7\u5236 \u63a7\u5236\u5668 \uff08 P = \u6bd4\u4f8b \u3001 I = \u79ef\u5206 \u3001 D = \u5fae\u5206 \uff09 \u3002 \u91c7\u7528 \u7eaf   P   \u53d8\u91cf \uff0c \u53ea \u9700 \u8bbe\u7f6e   P   \u589e\u76ca \u3002 \u8fd9 \u5728 \u8bb8\u591a \u60c5\u51b5 \u4e0b \u90fd \u6709\u6548 \uff0c \u4f46\u7eaf   P   \u63a7\u5236 \u63a7\u5236\u5668 \u6c38\u8fdc \u65e0\u6cd5 \u5c06 \u6a2a\u5411 \u504f\u5dee \u964d\u81f3 \u96f6 \u3002 \u6b8b\u4f59 \u504f\u5dee \u968f   P   \u589e\u76ca \u7684 \u589e\u52a0 \u800c \u51cf\u5c0f \u3002 \u5982\u679c   P   \u589e\u76ca \u592a \u5927 \uff0c \u8f66\u8f86 \u5c06 \u5f00\u59cb \u56f4\u7ed5 \u6240 \u9700 \u7684 \u8f66\u8f86 \u8def\u5f84 \u632f\u8361 \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u5c06   I   \u589e\u76ca \u8bbe\u7f6e \u4e3a   P   \u589e\u76ca \u7684   5%   \u5230   10%   \u5de6\u53f3 \u7684 \u503c\u6765 \u6d88\u9664 \u6b8b\u4f59 \u8def\u5f84 \u504f\u5dee \u3002 \u901a\u8fc7 \u8bbe\u7f6e   D   \u589e\u76ca \uff0c \u5982\u679c \u53d1\u751f \u8def\u5f84 \u632f\u8361 \uff0c \u53ef\u4ee5 \u65bd\u52a0 \u963b\u5c3c \u3002 \u5982\u679c \u4f7f\u7528   I   \u589e\u76ca \uff0c \u6a21\u62df \u64cd\u4f5c \u4e0d \u5e94 \u8d85\u8fc7 \u7ea6   2   \u5206\u949f \u3002 \u5982\u679c \u9700\u8981 \u66f4 \u591a \u65f6\u95f4 \uff0c \u5219 \u5e94 \u6bcf   2   \u5206\u949f \u91cd\u7f6e \u4e00\u6b21 \u63a7\u5236 \u63a7\u5236\u5668 \u72b6\u6001 \u4ee5 \u907f\u514d \u4e0d \u7a33\u5b9a \u3002   \u4e0b\u56fe \uff08 \u7ef4\u57fa \u767e\u79d1 \u7ef4\u57fa\u767e \u7ef4\u57fa\u767e\u79d1 \uff09 \u5c55\u793a \u4e86   Chrono   \u5982\u4f55 \u5b9e\u73b0   PID   \u63a7\u5236 \u63a7\u5236\u5668 \uff1a   r ( t )   =   \u6240 \u9700 \u8def\u5f84 \u4fe1\u53f7   e ( t )   =   \u6a2a\u5411 \u8def\u5f84 \u504f\u5dee   y ( t )   =   \u5b9e\u9645 \u8def\u5f84 \u4fe1\u53f7   u ( t )   =   \u8f6c\u5411 \u4fe1\u53f7   \u6b64 \u56fe\u8868 \uff08 \u7ef4\u57fa \u767e\u79d1 \u7ef4\u57fa\u767e \u7ef4\u57fa\u767e\u79d1 \uff09 \u663e\u793a \u4e86 \u589e\u76ca \u56e0\u7d20 \u7684 \u5f71\u54cd \uff1a   \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u4e0d\u4ec5 \u4f1a \u5bf9 \u504f\u5dee \u53d8\u5316 \u505a\u51fa \u53cd\u5e94 \uff0c \u8fd8 \u80fd \u8fdb\u884c \u9884\u6d4b \u3002 \u5728   Chrono   \u4e2d \uff0c \u8fd9\u79cd \u80fd\u529b \u662f \u901a\u8fc7 \u5728 \u8f66\u8eab \u524d\u65b9 \u8bbe\u7f6e \u4e00\u4e2a \u53c2\u8003 \u8003\u70b9 \u53c2\u8003\u70b9 \u6765 \u6d4b\u91cf \u504f\u5dee \u6765 \u6a21\u62df \u7684 \u3002 \u53c2\u8003 \u8003\u70b9 \u53c2\u8003\u70b9 \u4e0e \u8f66\u8f86 \u53c2\u8003 \u7cfb\u7edf \u7684 \u8ddd\u79bb \u79f0\u4e3a \u524d\u89c6 \u8ddd\u79bb \uff0c \u662f \u91cd\u8981 \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u8f93\u5165 \u53c2\u6570 \u3002   \u671f\u671b \u8def\u5f84 \u4ee5 \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u6307\u5b9a \uff08 \u53c2\u89c1   ChBezierCurve   \uff09 \u3002 \u8bef\u5dee \u5b9a\u4e49 \u4e3a \u201c \u54e8\u5175 \u70b9 \u201d \uff08 \u4f4d\u4e8e \u8f66\u8f86 \u524d\u8fdb \u65b9\u5411 \u524d\u8fdb\u65b9\u5411 \u524d\u89c6 \u8ddd\u79bb \u8ddd\u79bb\u5904 \u7684 \u70b9 \uff09 \u4e0e \u201c \u76ee\u6807 \u70b9 \u201d \uff08 \u54e8\u5175 \u70b9 \u5728 \u671f\u671b \u8def\u5f84 \u4e0a \u7684 \u6295\u5f71 \uff09 \u4e4b\u95f4 \u7684 \u504f\u5dee \u3002   \u6052\u901f \u63a7\u5236 \u63a7\u5236\u5668   \u4e3a\u4e86 \u4fdd\u6301 \u7ed9\u5b9a \u7684 \u8f66\u901f \uff0c \u53ef\u4ee5 \u4f7f\u7528   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u3002 \u4e0e \u8def\u5f84 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u4e0d\u540c \u4e4b\u5904 \u4e0d\u540c\u4e4b\u5904 \u5728\u4e8e \uff0c \u5b83 \u4f7f\u7528 \u901f\u5ea6 \u504f\u5dee \u800c \u4e0d\u662f \u6a2a\u5411 \u8def\u5f84 \u504f\u5dee \u3002   r ( t )   =   \u6240 \u9700 \u901f\u5ea6 \u4fe1\u53f7   e ( t )   =   \u901f\u5ea6 \u504f\u5dee   y ( t )   =   \u5b9e\u9645 \u901f\u5ea6 \u4fe1\u53f7   u ( t )   =   \u6cb9\u95e8 / \u5239\u8f66 \u4fe1\u53f7   ChPathFollowerDriver   \u7c7b \u5b9e\u73b0 \u4e86   PID   \u6a2a\u5411 \u63a7\u5236 \u63a7\u5236\u5668 \u4e0e   PID   \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u7ed3\u5408 \u3002 \u5b83 \u5728 \u53cc \u8f66\u9053 \u53d8\u6362 \u7b49 \u6781\u7aef \u64cd\u4f5c \u4e2d \u6548\u679c \u5f88 \u597d \u3002   \u6807\u51c6 \u9053\u8def \u9a7e\u9a76 \u64cd\u4f5c \u7684 \u4e00\u4e2a \u6709\u8da3 \u66ff\u4ee3 \u65b9\u6848 \u662f   ChPathFollowerDriverSR   \u3002 \u5b83 \u6709 \u4e00\u4e2a   PID   \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u4f46 \u91c7\u7528 \u8003\u8651 \u4eba \u548c \u8f66\u8f86 \u7279\u6027 \u7684 \u6a2a\u5411 \u63a7\u5236 \u7b56\u7565 \u63a7\u5236\u7b56\u7565 \u3002 \u9884\u6d4b \u4f7f\u7528 \u524d\u77bb \u65f6\u95f4 \u800c \u4e0d\u662f \u524d\u77bb \u8ddd\u79bb \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u6709\u6548 \u524d\u77bb \u8ddd\u79bb \u968f \u901f\u5ea6 \u800c \u53d8\u5316 \u3002   \u6700\u4f73 \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668   \u6052\u901f \u63a7\u5236 \u63a7\u5236\u5668 \u9002\u7528 \u4e8e \u8bb8\u591a \u6807\u51c6 \u9a7e\u9a76 \u64cd\u4f5c \u3002 \u5bf9\u4e8e \u5728 \u957f \u800c \u5f2f\u66f2 \u7684 \u9053\u8def \u4e0a \u884c\u9a76 \uff0c \u8f66\u8f86 \u5728 \u6574\u4e2a \u8fc7\u7a0b \u4e2d \u884c\u9a76 \u7684 \u901f\u5ea6 \u4ee4\u4eba \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u3002 \u9488\u5bf9 \u8fd9\u79cd \u60c5\u51b5 \uff0c \u5df2\u7ecf \u5f00\u53d1 \u4e86   ChHumanDriver   \u7c7b \u3002 \u6a2a\u5411 \u63a7\u5236 \u63a7\u5236\u5668 \u548c \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \u90fd \u4f7f\u7528 \u4eba\u7c7b \u884c\u4e3a \u3001 \u8f66\u8f86 \u5c5e\u6027 \u548c \u9884\u671f \u4ee5\u53ca \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u89c6\u91ce \u3002 \u6a2a\u5411 \u63a7\u5236 \u63a7\u5236\u5668 \u4e0e   ChPathFollowerDriverSR   \u4e2d \u5b9e\u73b0 \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u76f8\u540c \u3002","title":"\u9a71\u52a8 \u5b50\u7cfb\u7edf"},{"location":"chrono/vehicle_driver/#_1","text":"\u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f   \u57fa\u4e8e \u6570\u636e \uff08 \u5f00\u73af \uff09 \u7684 \u9a71\u52a8 \u9a71\u52a8\u5668   \u95ed\u73af \u9a71\u52a8 \u6a21\u578b   \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f93\u5165 \uff08 \u8f6c\u5411 \u3001 \u6cb9\u95e8 \u548c \u5239\u8f66 \uff09 \u7531 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u63d0\u4f9b \uff0c Chrono : : Vehicle   \u4e2d \u63d0\u4f9b \u9009\u9879 \uff0c \u5305\u62ec \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u3001 \u6570\u636e \u9a71\u52a8 \u548c \u95ed\u73af \u5f0f \uff08 \u4f8b\u5982 \u57fa\u4e8e   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u8def\u5f84 \u8ddf\u8e2a \uff09 \u3002   \u9a71\u52a8 \u7cfb\u7edf \u7684 \u57fa\u7c7b   ChDriver   \u5bf9 \u9a71\u52a8 \u7cfb\u7edf \u6a21\u677f \u63d0\u51fa \u4e86 \u6700\u4f4e \u8981\u6c42 \uff0c \u7279\u522b \u662f \u8fd4\u56de \u6cb9\u95e8 \u8f93\u5165 \u7684 \u80fd\u529b \uff08 \u5728 [   0   ,   1   ] \u8303\u56f4 \uff09 \u3001 \u8f6c\u5411 \u8f93\u5165 \uff08 \u6807\u51c6 \u6807\u51c6\u5316 [   \u2212   1   ,   +   1   ] \u8303\u56f4 \uff0c \u8d1f\u503c \u8868\u793a \u5de6\u8f6c \u5411\u5de6\u8f6c \u5411 \uff09 \uff0c \u4ee5\u53ca \u5236\u52a8 \u8f93\u5165 \uff08 \u5728 [   0   ,   1   ] \u8303\u56f4 \uff09 \u3002 \u6b64\u5916 \uff0c \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u53ef\u4ee5 \u901a\u8fc7 \u5176   Synchronize   \u65b9\u6cd5 \u4ece \u4efb\u4f55 \u5176\u4ed6 \u7cfb\u7edf \u63a5\u6536 \u4fe1\u606f \uff08 \u4f8b\u5982 \uff0c \u8f66\u8f86 \u72b6\u6001 \uff09 \uff0c \u5e76\u4e14 \u53ef\u80fd \u5177\u6709 \u5185\u90e8 \u52a8\u6001 \uff08 \u5728 \u5176   Advance   \u65b9\u6cd5 \u4e2d \u5b9e\u73b0 \uff09 \u3002 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u7684 \u7279\u5b9a \u6a21\u677f \u53ef\u4ee5 \u6269\u5c55 \u751f\u6210 \u7684 \u8f66\u8f86 \u8f93\u5165 \u96c6 \uff0c \u4f8b\u5982 \u5305\u62ec \u5f53\u524d \u9009\u62e9 \u7684 \u624b\u52a8 \u53d8\u901f \u53d8\u901f\u5668 \u6863\u4f4d \u3001 \u542f\u7528 / \u7981\u7528 \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7684 \u4ea4\u53c9 \u9a71\u52a8 \u80fd\u529b \u7b49 \u3002   Chrono : : Vehicle   \u5305\u542b \u591a\u4e2a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u6a21\u677f \u3002 \u5bf9\u4e8e \u4ee5\u8f6f \u5b9e\u65f6 \u65b9\u5f0f \u8fd0\u884c \u7684 \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u6a21\u62df \uff0c \u5b83 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u6a21\u677f \uff0c \u8be5 \u7cfb\u7edf \u6839\u636e \u7528\u6237 \u63a7\u5236 \uff08 \u952e\u76d8 \u548c \u9f20\u6807 \u6216 \u6e38\u620f \u63a7\u5236 \u63a7\u5236\u5668 \uff09 \u4ea7\u751f \u8f66\u8f86 \u8f93\u5165 \u3002   \u5bf9\u4e8e \u5b9e\u9a8c \u6a21\u62df \u8bbe\u8ba1 \uff0c \u5b83 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u57fa\u4e8e \u901a\u8fc7 \u6587\u672c \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u63d0\u4f9b \u7684 \u8f93\u5165 \u7684 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u6a21\u677f \uff0c \u5176\u4e2d \u8f66\u8f86 \u8f93\u5165 \u901a\u8fc7 \u7ebf\u6027 \u63d2\u503c \u7ebf\u6027\u63d2\u503c \u83b7\u5f97 \u3002 \u6b64\u7c7b \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u4e5f \u53ef\u4ee5 \u901a\u8fc7 \u4ea4\u4e92 \u8fd0\u884c \u671f\u95f4 \u6536\u96c6 \u7684 \u6570\u636e \u81ea\u52a8 \u751f\u6210 \u3002   \u6700\u540e \uff0c Chrono : : Vehicle   \u5305\u542b \u51e0\u4e2a \u95ed\u73af \u9a71\u52a8 \u7cfb\u7edf \u6a21\u578b \uff0c \u57fa\u4e8e \u5bf9   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5e95\u5c42 \u652f\u6301 \u3002 \u8fd9\u4e9b \u6a21\u578b \u5305\u62ec \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \uff08 \u53ef \u540c\u65f6 \u8c03\u8282 \u6cb9\u95e8 \u548c \u5236\u52a8 \u8f93\u5165 \u4ee5 \u4fdd\u6301 \u6052\u5b9a \u7684 \u8f66\u901f \uff09 \u548c \u8def\u5f84 \u8ddf\u968f \u63a7\u5236 \u63a7\u5236\u5668 \u3002 \u540e\u8005 \u53ef \u8c03\u6574 \u8f6c\u5411 \u8f93\u5165 \uff0c \u4f7f \u8f66\u8f86 \u9075\u5faa \u7528\u6237 \u5b9a\u4e49 \u7684 \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u8def\u5f84 \u3002","title":"\u9a71\u52a8 \u5b50\u7cfb\u7edf"},{"location":"chrono/vehicle_driver/#_2","text":"\u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f   ChInteractiveDriverIRR   \uff08 \u7528\u4e8e \u57fa\u4e8e   Irrlicht   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7cfb\u7edf \uff09 \u548c   ChInteractiveDriverVSG   \uff08 \u7528\u4e8e \u57fa\u4e8e   VSG   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7cfb\u7edf \uff09 \u53ef\u4ee5 \u901a\u8fc7 \u7528\u6237 \u8f93\u5165 \u63a7\u5236 \uff08 \u8f6c\u5411 / \u52a0\u901f / \u5236\u52a8 \uff09 \u6a21\u62df \u8f66\u8f86 \u3002 \u8fd9\u4e9b \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u4f9d\u8d56 \u8d56\u4e8e \u4f9d\u8d56\u4e8e \u5404\u81ea \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7cfb\u7edf \u7684 \u952e\u76d8 \u548c \u63a7\u5236 \u63a7\u5236\u5668 \u4e8b\u4ef6 \u5904\u7406 \u7a0b\u5e8f \u5904\u7406\u7a0b\u5e8f \u3002   \u8be5 \u9a71\u52a8 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u6a21\u578b \u7684 \u5176\u4ed6 \u7279\u6027 \u5305\u62ec \uff1a   \u5b9e\u9a8c \u5b9e\u9a8c\u6027 \u63a7\u5236 \u63a7\u5236\u5668 \u652f\u6301   \u80fd\u591f \u9501\u5b9a / \u89e3\u9501 \u9a71\u52a8 \u9a71\u52a8\u5668 \u8f93\u5165 \u4e3a \u5176 \u5f53\u524d \u503c \uff08 \u901a\u8fc7 \u952e \u63a7\u5236   J   \uff09   \u8bb0\u5f55 \u548c \u56de\u653e \u7528\u6237 \u8f93\u5165 \u7684 \u80fd\u529b \uff08 \u4f7f\u7528 \u5d4c\u5165 \u5d4c\u5165\u5f0f \u57fa\u4e8e \u6570\u636e \u7684 \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \uff1b \u4e0b\u6587 \u89c1\u4e0b\u6587 \uff09","title":"\u4ea4\u4e92\u5f0f \u9a71\u52a8\u7a0b\u5e8f"},{"location":"chrono/vehicle_driver/#_3","text":"\u952e   A   \u589e\u52a0 \u5de6\u8f6c \u65b9\u5411 \u65b9\u5411\u76d8 \u89d2\u5ea6   \u952e   D   \u589e\u52a0 \u53f3\u8f6c \u65b9\u5411 \u65b9\u5411\u76d8 \u89d2\u5ea6   \u952e   W   \u52a0\u901f   \u952e   S   \u51cf\u901f   \u6cb9\u95e8 \u548c \u5239\u8f66 \u63a7\u5236 \u662f \u8026\u5408 \u7684 \uff0c \u5373 \u52a0\u901f \u65f6 \u9996\u5148 \u5c06 \u5239\u8f66 \u964d\u81f3 \u96f6 \uff0c \u7136\u540e \u518d \u589e\u52a0 \u6cb9\u95e8 \u8f93\u5165 \uff08 \u51cf\u901f \u51cf\u901f\u65f6 \u53cd\u4e4b \u4ea6\u7136 \u53cd\u4e4b\u4ea6\u7136 \uff09 \u3002","title":"\u952e\u76d8 \u9a71\u52a8\u7a0b\u5e8f"},{"location":"chrono/vehicle_driver/#_4","text":"\u73b0\u4ee3 \u6a21\u62df \u6a21\u62df\u5668 \u901a\u5e38 \u6709 \u591a\u4e2a \uff08 USB \uff09 \u8bbe\u5907 \u7528\u4e8e \u63a7\u5236 \u6c7d\u8f66 \u4e2d \u7684 \u6240\u6709 \u4e0d\u540c \u63a7\u5236 \u5143\u4ef6 \u63a7\u5236\u5143\u4ef6 \u3002 \u5b83\u4eec \u914d\u6709 \u8e0f\u677f \u3001 \u65b9\u5411 \u65b9\u5411\u76d8 \u3001 H   \u578b \u6362\u6321 \u5668 \u3001 \u987a\u5e8f \u6362\u6321 \u5668 \u3001 \u624b\u5239 \u548c \u6309\u94ae \u76d2 \uff08 \u5e26\u6709 \u5927\u91cf \u6309\u94ae \u6765 \u66f4\u6539 \u8f66\u8f7d \u7cfb\u7edf \uff09 \u7684 \u8bbe\u5907 \u3002 Chrono   \u652f\u6301 \u8fd9 \u4e00\u70b9 \uff0c \u56e0\u4e3a \u5b83 \u80fd\u591f \u5c06 \u63a7\u5236 \u63a7\u5236\u5668 \u8f74 \u548c \u6309\u94ae \u5206\u914d \u7ed9 \u8fde\u63a5 \u7684 \u591a\u4e2a \u8bbe\u5907 \u3002 \u8f74 \u4e5f \u53ef\u4ee5 \u6821\u51c6 \uff0c \u8bbe\u7f6e \u8be5 \u8f74 \u7684 \u6700\u5c0f \u548c \u6700\u5927 \uff08 \u539f\u59cb \uff09 \u503c \u4ee5\u53ca \u9884\u671f \uff08 \u7f29\u653e \uff09 \u8f93\u51fa \u503c \u3002   \u6620\u5c04 \u548c \u6821\u51c6 \u662f \u4f7f\u7528 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u7684 \u201c controller . json \u201d \u6587\u4ef6 \u5b8c\u6210 \u7684 \uff0c   data / vehicles   \u8be5 \u6587\u4ef6 \u5141\u8bb8 \u60a8 \u5c06 \u63a7\u4ef6 \u5206\u914d \u7ed9 \u8fd9\u4e9b \u201c \u63a7\u5236 \u63a7\u5236\u5668 \u201d \u7684 \u8f74 \u548c \u6309\u94ae \u3002 \u6211\u4eec \u63d0\u4f9b \u4e86 \u51e0\u4e2a \u6b64\u7c7b \u6587\u4ef6 \u7684 \u793a\u4f8b \uff0c \u4f46 \u901a\u5e38 \u60a8 \u9700\u8981 \u6839\u636e \u81ea\u5df1 \u7684 \u8bbe\u7f6e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6b64 \u6587\u4ef6 \uff1a   controller _ XboxOneForWindows . json   \u662f \u4e00\u79cd \u76f8\u5f53 \u6807\u51c6 \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u8bbe\u7f6e \uff0c \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u7528\u6237 \u5e94\u8be5 \u5f88 \u5bb9\u6613 \u9002\u5e94 \uff0c \u5b83 \u6620\u5c04 \u6240\u6709 \u8f74 \u5e76 \u5305\u62ec \u987a\u5e8f \u53d8\u901f \u53d8\u901f\u5668 \u8bbe\u7f6e \u4ee5\u53ca \u5728 \u81ea\u52a8 \u548c \u624b\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u4e4b\u95f4 \u5207\u6362 \u7684 \u65b9\u5f0f \u3002   controller _ WheelPedalsAndShifters . json   \u662f \u4e00\u4e2a \u66f4 \u590d\u6742 \u7684 \u591a \u63a7\u5236 \u63a7\u5236\u5668 \u8bbe\u7f6e \u7684 \u793a\u4f8b \uff0c \u5177\u6709 \u65b9\u5411 \u65b9\u5411\u76d8 \u3001 \u4e09\u4e2a \u8e0f\u677f \u4ee5\u53ca \u987a\u5e8f \u548c   H   \u578b \u6362\u6863 \u5668 \u8bbe\u7f6e \u3002 \u5982\u679c \u60a8 \u60f3 \u4f7f\u7528 \u6b64 \u793a\u4f8b \uff0c \u53ef\u80fd \u9700\u8981 \u8fdb\u884c \u5927\u91cf \u4fee\u6539 \uff0c \u4f46 \u5b83 \u5c55\u793a \u4e86 \u5982\u4f55 \u4f7f\u7528 \u4e0d\u540c \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u3002","title":"\u63a7\u5236\u5668\u9a71\u52a8 \u7a0b\u5e8f"},{"location":"chrono/vehicle_driver/#_5","text":"{   \" steering \" :   {   \" name \" :   \" Steering   Wheel \" ,   \" axis \" :   0 ,   \" min \" :   - 32768 ,   \" max \" :   32767 ,   \" scaled _ min \" :   1 ,   \" scaled _ max \" :   - 1   } ,   \" throttle \" :   {   \" name \" :   \" Pedal   Box \" ,   \" axis \" :   2 ,   \" min \" :   - 1 ,   \" max \" :   - 32767 ,   \" scaled _ min \" :   0 ,   \" scaled _ max \" :   1   } ,   \" brake \" :   {   \" name \" :   \" Pedal   Box \" ,   \" axis \" :   2 ,   \" min \" :   0 ,   \" max \" :   32767 ,   \" scaled _ min \" :   0 ,   \" scaled _ max \" :   1   } ,   \" clutch \" :   {   \" name \" :   \" Pedal   Box \" ,   \" axis \" :   4 ,   \" min \" :   0 ,   \" max \" :   32767 ,   \" scaled _ min \" :   0 ,   \" scaled _ max \" :   1   } ,   \" gearReverse \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   0   } ,   \" gear1 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   1   } ,   \" gear2 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   2   } ,   \" gear3 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   3   } ,   \" gear4 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   4   } ,   \" gear5 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   5   } ,   \" gear6 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   6   } ,   \" gear7 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   7   } ,   \" gear8 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   8   } ,   \" gear9 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   9   } ,   \" shiftUp \" :   {   \" name \" :   \" Steering   Wheel \" ,   \" button \" :   4   } ,   \" shiftDown \" :   {   \" name \" :   \" Steering   Wheel \" ,   \" button \" :   5   } ,   \" toggleManualGearbox \" :   {   \" name \" :   \" Button   Box \" ,   \" button \" :   2   }   }   \u5728 \u6587\u4ef6 \u7684 \u9876\u5c42 \uff0c \u6211\u4eec \u6709 \u4e00\u7ec4 \u63a7\u5236 \u63a7\u5236\u5668 \u51fd\u6570 \uff08 \uff0c \uff0c \uff0c   steering   ...   \uff09 \uff0c \u5bf9\u4e8e \u6bcf\u4e2a \u51fd\u6570 \uff0c \u6211\u4eec \u53ef\u4ee5 \u6307\u5b9a \u4e00\u4e2a \u8f74 \u6216 \u6309\u94ae \u5b9a\u4e49 \u4ee5\u53ca \u6240\u6709 \u6620\u5c04 \u7ec6\u8282 \uff1a   throttleshiftUp   \u8f74 \uff1a   steering   \uff0c   throttle   \uff0c   brake   \uff0c   clutch   \u5177\u6709 \u4ee5\u4e0b \u5c5e\u6027 \uff1a   name   \u662f \u7cfb\u7edf \u4e0a \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u540d\u79f0 \uff1b   axis   \u662f \u60a8 \u60f3\u8981 \u6620\u5c04 \u5230 \u7684 \u8f74 \u7684 \u7f16\u53f7 \uff1b   min   \u548c   max   \u662f \u8be5 \u8f74 \u7684 \u539f\u59cb \u6700\u5c0f \u6700\u5c0f\u503c \u548c \u6700\u5927 \u5927\u503c \u6700\u5927\u503c \uff1b   scaled _ min   \u548c   scaled _ max   \u662f \u8be5 \u8f74 \u7684 \u8f93\u51fa \u6700\u5c0f \u6700\u5c0f\u503c \u548c \u6700\u5927 \u5927\u503c \u6700\u5927\u503c \uff1b   \u6309\u94ae \uff1a   shiftUp   \uff0c   shiftDown   \uff0c   gearReverse   \uff0c   gear1   \uff0c   gear2   ...   \uff0c   gear9   \u5177\u6709   toggleManualGearbox   \u4ee5\u4e0b \u5c5e\u6027 \uff1a   name \u662f \u7cfb\u7edf \u4e0a \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u540d\u79f0 \uff1b   button \u662f \u60a8 \u60f3\u8981 \u6620\u5c04 \u7684 \u6309\u94ae \u7684 \u7f16\u53f7 \uff1b   \u5173\u4e8e \u63a7\u5236 \u53d8\u901f \u53d8\u901f\u7bb1 \u7684 \u4e00\u53e5 \u8bdd \uff1a   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f \u624b\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \uff0c \u5219 \u652f\u6301 \u987a\u5e8f \u6362\u6863 \u5668 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u53e6 \u4e00\u4e2a \u6309\u94ae \u5728 \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u548c \u624b\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u4e4b\u95f4 \u5207\u6362 \u3002   \u8fd8\u6709   H - shifter   \u652f\u6301 \u3002 \u4ee3\u7801 \u6700 \u591a \u652f\u6301   9   \u4e2a \u524d\u8fdb \u6863 \uff0c \u5e76 \u652f\u6301 \u6362\u6863 \uff08 \u53ea\u8981 \u60a8 \u5b8c\u5168 \u8e29\u4e0b \u79bb\u5408 \u79bb\u5408\u5668 \uff09 \u3002   \u8fd8\u6709 \u4e00\u4e2a \u8c03\u8bd5 \u6a21\u5f0f \u8c03\u8bd5\u6a21\u5f0f \uff0c \u6bcf\u79d2 \u4e24\u6b21 \u6253\u5370 \u6240\u6709 \u8fde\u63a5 \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u8f74 \u548c \u6309\u94ae \u7684 \u6240\u6709 \u503c \u3002 \u8fd9 \u5728 \u5b9a\u4e49 \u6587\u4ef6 \u65f6 \u975e\u5e38 \u6709\u7528 \uff0c \u5426\u5219 \u53ef\u80fd \u5e94\u8be5 \u7981\u7528 \u3002","title":"\u793a\u4f8b \u63a7\u5236\u5668 \u6587\u4ef6"},{"location":"chrono/vehicle_driver/#_6","text":"\u6240\u6709 \u63a7\u5236 \u63a7\u5236\u5668 \u5904\u7406 \u90fd \u4e0e   IrrLicht   \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u60a8 \u9700\u8981 \u4f7f\u7528 \u5b83 \u6765 \u5b9e\u73b0 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002 \u8fd9 \u4e5f \u610f\u5473 \u610f\u5473\u7740 \u6211\u4eec \u7ee7\u627f \u4e86   IrrLicht   \u5904\u7406 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u6240\u6709 \u9650\u5236 \u3002 \u8fd9 \u4e3b\u8981 \u53cd\u6620 \u5728 \u6bcf\u4e2a \u63a7\u5236 \u63a7\u5236\u5668 \u652f\u6301 \u7684 \u6309\u94ae \u6570\u91cf \u4e0a \uff0c \u4f46 \u4e5f \u53ef\u80fd \u5b58\u5728 \u5176\u4ed6 \u9650\u5236 \u3002","title":"\u5f53\u524d \u5b9e\u65bd \u7684 \u5c40\u9650\u6027"},{"location":"chrono/vehicle_driver/#_7","text":"\u4e00\u4e9b \u91cd\u8981 \u7684 \u8f66\u8f86 \u6d4b\u8bd5 \u64cd\u4f5c \u57fa\u4e8e \u65f6\u95f4 \u76f8\u5173 \u7684 \u8f6c\u5411 / \u6cb9\u95e8 / \u5236\u52a8 \u4fe1\u53f7 \u3002 \u4e0d \u8003\u8651 \u4efb\u4f55 \u7c7b\u578b \u7684 \u53cd\u9988 \u3002 \u6b64 \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u6a21\u578b \u5728   ChDataDriver   \u4e2d \u5b9e\u73b0 \u3002   \u5e26\u6709 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f93\u5165 \u7684   ASCII   \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u5305\u542b \u56db\u5217 \uff0c \u5206\u522b \u4e3a \u65f6\u95f4 \uff08 s \uff09 \u3001 \u8f6c\u5411 \u8f93\u5165 \uff08 \u65e0\u91cf \u7eb2\u91cf \uff0c \u5355\u4f4d \u4e3a [   \u2212   1   ,   1   ] \uff0c   \u548c \u2212   1 \u8868\u793a \u5411 \u5de6 \u5b8c\u5168 \u8f6c\u5411 \uff09 \u3001 \u6cb9\u95e8 \u8f93\u5165 \uff08 \u65e0\u91cf \u7eb2\u91cf [   0   ,   1   ] \uff0c   \u548c 1 \u8868\u793a \u5168 \u6cb9\u95e8 \uff09 \u548c \u5236\u52a8 \uff08 \u65e0\u91cf \u7eb2\u91cf \u4ecb\u4e8e [   0   ,   1   ] \uff0c   \u548c 1 \u8868\u793a \u6700\u5927 \u5236 \u52a8\u529b \uff09 \u3002   \u4e0b\u9762 \u5217\u51fa \u4e86 \u793a\u4f8b \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6   0.0   0.0   0.0   0.0   0.0   0.5   0.0   0.5   0.0   0.0   3.0   0.0   0.5   0.0   0.0   5.0   0.5   0.4   0.0   0.0   9.0   0.0   0.0   1.0   0.0   \u5728 \u4efb\u4f55 \u7ed9\u5b9a \u65f6\u95f4 \uff0c \u5f53\u524d \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f93\u5165 \uff08 \u8f6c\u5411 \u3001 \u6cb9\u95e8 \u548c \u5236\u52a8 \uff09 \u90fd \u662f \u901a\u8fc7 \u5bf9 \u63d0\u4f9b \u7684 \u6570\u636e \u8fdb\u884c \u5206\u6bb5 \u7ebf\u6027 \u63d2\u503c \u7ebf\u6027\u63d2\u503c \u83b7\u5f97 \u7684 \u3002 \u9664\u4e86 \u6700\u540e \u4e00\u6b21 \u8f93\u5165 \u4e4b\u5916 \uff0c \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f93\u5165 \u5c06 \u4fdd\u6301 \u4e3a \u5176 \u6700\u540e \u4e00\u4e2a \u503c \u3002","title":"\u57fa\u4e8e \u6570\u636e \uff08 \u5f00\u73af \uff09 \u7684 \u9a71\u52a8\u5668"},{"location":"chrono/vehicle_driver/#_8","text":"\u95ed\u73af \u9a71\u52a8 \u9a71\u52a8\u5668 \u6a21\u578b \u9700\u8981 \u63a7\u5236 \u7b56\u7565 \u63a7\u5236\u7b56\u7565 \u5e76 \u8003\u8651 \u53cd\u9988 \u3002 \u53cd\u9988 \u53ef\u80fd \u5bfc\u81f4 \u4e0d \u7a33\u5b9a \u7684 \u884c\u4e3a \uff0c \u56e0\u6b64 \u5fc5\u987b \u660e\u667a \u660e\u667a\u5730 \u9009\u62e9 \u63a7\u5236 \u63a7\u5236\u5668 \u53c2\u6570 \u3002 \u793a\u4f8b \u53c2\u6570 \u5df2 \u5728 \u5e7f\u6cdb \u7684 \u7528\u9014 \u4e2d \u53d1\u6325 \u4f5c\u7528 \u53d1\u6325\u4f5c\u7528 \u3002 \u7528\u6237 \u5e94\u4ece \u7ed9\u5b9a \u7684 \u793a\u4f8b \u53c2\u6570 \u96c6 \u4e4b\u4e00 \u5f00\u59cb \uff0c \u5e76 \u4ec5 \u5728 \u5fc5\u8981 \u65f6 \u8fdb\u884c \u4fee\u6539 \u3002","title":"\u95ed\u73af \u9a71\u52a8 \u6a21\u578b"},{"location":"chrono/vehicle_driver/#_9","text":"\u4e3a\u4e86 \u4f7f \u8f66\u8f86 \u9075\u5faa \u7ed9\u5b9a \u7684 \u8def\u5f84 \uff0c \u5fc5\u987b \u6d4b\u91cf \u6a2a\u5411 \u8def\u5f84 \u504f\u5dee \u5e76 \u751f\u6210 \u4f7f \u504f\u5dee \u6700\u5c0f \u6700\u5c0f\u5316 \u7684 \u65b9\u5411 \u65b9\u5411\u76d8 \u89d2\u5ea6 \u3002 \u89e3\u51b3 \u6b64 \u95ee\u9898 \u7684 \u4e00\u4e2a \u5468\u77e5 \u4f17\u6240\u5468\u77e5 \u7684 \u65b9\u6cd5 \u662f   PID   \u63a7\u5236 \u63a7\u5236\u5668 \uff08 P = \u6bd4\u4f8b \u3001 I = \u79ef\u5206 \u3001 D = \u5fae\u5206 \uff09 \u3002 \u91c7\u7528 \u7eaf   P   \u53d8\u91cf \uff0c \u53ea \u9700 \u8bbe\u7f6e   P   \u589e\u76ca \u3002 \u8fd9 \u5728 \u8bb8\u591a \u60c5\u51b5 \u4e0b \u90fd \u6709\u6548 \uff0c \u4f46\u7eaf   P   \u63a7\u5236 \u63a7\u5236\u5668 \u6c38\u8fdc \u65e0\u6cd5 \u5c06 \u6a2a\u5411 \u504f\u5dee \u964d\u81f3 \u96f6 \u3002 \u6b8b\u4f59 \u504f\u5dee \u968f   P   \u589e\u76ca \u7684 \u589e\u52a0 \u800c \u51cf\u5c0f \u3002 \u5982\u679c   P   \u589e\u76ca \u592a \u5927 \uff0c \u8f66\u8f86 \u5c06 \u5f00\u59cb \u56f4\u7ed5 \u6240 \u9700 \u7684 \u8f66\u8f86 \u8def\u5f84 \u632f\u8361 \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u5c06   I   \u589e\u76ca \u8bbe\u7f6e \u4e3a   P   \u589e\u76ca \u7684   5%   \u5230   10%   \u5de6\u53f3 \u7684 \u503c\u6765 \u6d88\u9664 \u6b8b\u4f59 \u8def\u5f84 \u504f\u5dee \u3002 \u901a\u8fc7 \u8bbe\u7f6e   D   \u589e\u76ca \uff0c \u5982\u679c \u53d1\u751f \u8def\u5f84 \u632f\u8361 \uff0c \u53ef\u4ee5 \u65bd\u52a0 \u963b\u5c3c \u3002 \u5982\u679c \u4f7f\u7528   I   \u589e\u76ca \uff0c \u6a21\u62df \u64cd\u4f5c \u4e0d \u5e94 \u8d85\u8fc7 \u7ea6   2   \u5206\u949f \u3002 \u5982\u679c \u9700\u8981 \u66f4 \u591a \u65f6\u95f4 \uff0c \u5219 \u5e94 \u6bcf   2   \u5206\u949f \u91cd\u7f6e \u4e00\u6b21 \u63a7\u5236 \u63a7\u5236\u5668 \u72b6\u6001 \u4ee5 \u907f\u514d \u4e0d \u7a33\u5b9a \u3002   \u4e0b\u56fe \uff08 \u7ef4\u57fa \u767e\u79d1 \u7ef4\u57fa\u767e \u7ef4\u57fa\u767e\u79d1 \uff09 \u5c55\u793a \u4e86   Chrono   \u5982\u4f55 \u5b9e\u73b0   PID   \u63a7\u5236 \u63a7\u5236\u5668 \uff1a   r ( t )   =   \u6240 \u9700 \u8def\u5f84 \u4fe1\u53f7   e ( t )   =   \u6a2a\u5411 \u8def\u5f84 \u504f\u5dee   y ( t )   =   \u5b9e\u9645 \u8def\u5f84 \u4fe1\u53f7   u ( t )   =   \u8f6c\u5411 \u4fe1\u53f7   \u6b64 \u56fe\u8868 \uff08 \u7ef4\u57fa \u767e\u79d1 \u7ef4\u57fa\u767e \u7ef4\u57fa\u767e\u79d1 \uff09 \u663e\u793a \u4e86 \u589e\u76ca \u56e0\u7d20 \u7684 \u5f71\u54cd \uff1a   \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u4e0d\u4ec5 \u4f1a \u5bf9 \u504f\u5dee \u53d8\u5316 \u505a\u51fa \u53cd\u5e94 \uff0c \u8fd8 \u80fd \u8fdb\u884c \u9884\u6d4b \u3002 \u5728   Chrono   \u4e2d \uff0c \u8fd9\u79cd \u80fd\u529b \u662f \u901a\u8fc7 \u5728 \u8f66\u8eab \u524d\u65b9 \u8bbe\u7f6e \u4e00\u4e2a \u53c2\u8003 \u8003\u70b9 \u53c2\u8003\u70b9 \u6765 \u6d4b\u91cf \u504f\u5dee \u6765 \u6a21\u62df \u7684 \u3002 \u53c2\u8003 \u8003\u70b9 \u53c2\u8003\u70b9 \u4e0e \u8f66\u8f86 \u53c2\u8003 \u7cfb\u7edf \u7684 \u8ddd\u79bb \u79f0\u4e3a \u524d\u89c6 \u8ddd\u79bb \uff0c \u662f \u91cd\u8981 \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u8f93\u5165 \u53c2\u6570 \u3002   \u671f\u671b \u8def\u5f84 \u4ee5 \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u6307\u5b9a \uff08 \u53c2\u89c1   ChBezierCurve   \uff09 \u3002 \u8bef\u5dee \u5b9a\u4e49 \u4e3a \u201c \u54e8\u5175 \u70b9 \u201d \uff08 \u4f4d\u4e8e \u8f66\u8f86 \u524d\u8fdb \u65b9\u5411 \u524d\u8fdb\u65b9\u5411 \u524d\u89c6 \u8ddd\u79bb \u8ddd\u79bb\u5904 \u7684 \u70b9 \uff09 \u4e0e \u201c \u76ee\u6807 \u70b9 \u201d \uff08 \u54e8\u5175 \u70b9 \u5728 \u671f\u671b \u8def\u5f84 \u4e0a \u7684 \u6295\u5f71 \uff09 \u4e4b\u95f4 \u7684 \u504f\u5dee \u3002","title":"\u8def\u5f84 \u8ddf\u968f \u63a7\u5236\u5668"},{"location":"chrono/vehicle_driver/#_10","text":"\u4e3a\u4e86 \u4fdd\u6301 \u7ed9\u5b9a \u7684 \u8f66\u901f \uff0c \u53ef\u4ee5 \u4f7f\u7528   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u3002 \u4e0e \u8def\u5f84 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u4e0d\u540c \u4e4b\u5904 \u4e0d\u540c\u4e4b\u5904 \u5728\u4e8e \uff0c \u5b83 \u4f7f\u7528 \u901f\u5ea6 \u504f\u5dee \u800c \u4e0d\u662f \u6a2a\u5411 \u8def\u5f84 \u504f\u5dee \u3002   r ( t )   =   \u6240 \u9700 \u901f\u5ea6 \u4fe1\u53f7   e ( t )   =   \u901f\u5ea6 \u504f\u5dee   y ( t )   =   \u5b9e\u9645 \u901f\u5ea6 \u4fe1\u53f7   u ( t )   =   \u6cb9\u95e8 / \u5239\u8f66 \u4fe1\u53f7   ChPathFollowerDriver   \u7c7b \u5b9e\u73b0 \u4e86   PID   \u6a2a\u5411 \u63a7\u5236 \u63a7\u5236\u5668 \u4e0e   PID   \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u7ed3\u5408 \u3002 \u5b83 \u5728 \u53cc \u8f66\u9053 \u53d8\u6362 \u7b49 \u6781\u7aef \u64cd\u4f5c \u4e2d \u6548\u679c \u5f88 \u597d \u3002   \u6807\u51c6 \u9053\u8def \u9a7e\u9a76 \u64cd\u4f5c \u7684 \u4e00\u4e2a \u6709\u8da3 \u66ff\u4ee3 \u65b9\u6848 \u662f   ChPathFollowerDriverSR   \u3002 \u5b83 \u6709 \u4e00\u4e2a   PID   \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u4f46 \u91c7\u7528 \u8003\u8651 \u4eba \u548c \u8f66\u8f86 \u7279\u6027 \u7684 \u6a2a\u5411 \u63a7\u5236 \u7b56\u7565 \u63a7\u5236\u7b56\u7565 \u3002 \u9884\u6d4b \u4f7f\u7528 \u524d\u77bb \u65f6\u95f4 \u800c \u4e0d\u662f \u524d\u77bb \u8ddd\u79bb \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u6709\u6548 \u524d\u77bb \u8ddd\u79bb \u968f \u901f\u5ea6 \u800c \u53d8\u5316 \u3002","title":"\u6052\u901f \u63a7\u5236\u5668"},{"location":"chrono/vehicle_driver/#_11","text":"\u6052\u901f \u63a7\u5236 \u63a7\u5236\u5668 \u9002\u7528 \u4e8e \u8bb8\u591a \u6807\u51c6 \u9a7e\u9a76 \u64cd\u4f5c \u3002 \u5bf9\u4e8e \u5728 \u957f \u800c \u5f2f\u66f2 \u7684 \u9053\u8def \u4e0a \u884c\u9a76 \uff0c \u8f66\u8f86 \u5728 \u6574\u4e2a \u8fc7\u7a0b \u4e2d \u884c\u9a76 \u7684 \u901f\u5ea6 \u4ee4\u4eba \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u3002 \u9488\u5bf9 \u8fd9\u79cd \u60c5\u51b5 \uff0c \u5df2\u7ecf \u5f00\u53d1 \u4e86   ChHumanDriver   \u7c7b \u3002 \u6a2a\u5411 \u63a7\u5236 \u63a7\u5236\u5668 \u548c \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \u90fd \u4f7f\u7528 \u4eba\u7c7b \u884c\u4e3a \u3001 \u8f66\u8f86 \u5c5e\u6027 \u548c \u9884\u671f \u4ee5\u53ca \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u89c6\u91ce \u3002 \u6a2a\u5411 \u63a7\u5236 \u63a7\u5236\u5668 \u4e0e   ChPathFollowerDriverSR   \u4e2d \u5b9e\u73b0 \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u76f8\u540c \u3002","title":"\u6700\u4f73 \u901f\u5ea6 \u63a7\u5236\u5668"},{"location":"chrono/vehicle_models/","text":"\u8f66\u8f86 \u6a21\u578b   \u8f6e\u5f0f \u8f66\u8f86 \u6a21\u578b   \u608d\u9a6c   HMMWV   \u4ee3\u8868 \u9ad8 \u673a\u52a8 \u673a\u52a8\u6027 \u591a\u7528 \u7528\u9014 \u591a\u7528\u9014 \u8f6e\u5f0f \u8f66\u8f86 \u7cfb\u5217 \u3002 Chrono   \u793a\u4f8b \u5c55\u793a \u4e86   M966   \u90e8\u961f \u8fd0\u8f93 \u8fd0\u8f93\u8f66 \u3002 \u4e0e \u771f\u5b9e \u8f66\u8f86 \u4e00\u6837 \uff0c \u5b83 \u5728 \u4e24\u4e2a \u8f66\u8f74 \u4e0a \u90fd \u91c7\u7528 \u53cc\u53c9\u81c2 \u60ac\u67b6 \uff0c \u6240\u6709 \u8f66\u8f6e \u90fd \u53ef\u4ee5 \u9a71\u52a8 \u3002 \u5b83 \u6709 \u4e00\u4e2a \u5e26 \u53d8\u77e9\u5668 \u7684 \u4e09\u6863 \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u548c \u4e00\u4e2a \u903c\u771f \u7684 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7cfb\u7edf \u5b50\u7cfb\u7edf \u3002 \u5b83 \u91c7\u7528 \u8f6c\u5411 \u81c2 \u8f6c\u5411 \u3002 \u8be5 \u6a21\u578b \u53ef\u4ee5 \u4f7f\u7528   Chrono   \u63d0\u4f9b \u7684 \u6240\u6709 \u7c7b\u578b \u7684 \u8f6e\u80ce \u3002   \u8054\u90a6 \u5f00\u53d1 \u5f00\u53d1\u7f72   FED   ALPHA   \u662f \u4e00\u6b3e \u7531 \u5de5\u7a0b \u516c\u53f8 \u91cc\u5361 \u5361\u591a \u91cc\u5361\u591a \u4e0e \u7f8e\u56fd \u519b\u65b9 \u5408\u4f5c \u5f00\u53d1 \u5408\u4f5c\u5f00\u53d1 \u7684 \u6982\u5ff5 \u6982\u5ff5\u8f66 \u3002   Chrono : : Vehicle   FEDA   \u662f \u4e00\u6b3e   4WD   \u8f66\u578b \uff0c \u914d\u5907 \u53cc\u53c9\u81c2 \u524d\u540e \u60ac\u67b6 \u3001 \u9632\u503e\u6746 \u548c \u8f6c\u5411 \u81c2 \u8f6c\u5411 \u673a\u6784 \u3002 \u76ee\u524d \u4ec5 \u5b9e\u65bd   Pacejka   2002   \u548c \u521a\u6027 \u8f6e\u80ce \u8f66\u578b \u3002   \u8f7f\u8f66   \u8f7f\u8f66 \u793a\u4f8b \u5c55\u793a \u4e86 \u4e00\u6b3e \u666e\u901a \u7684 \u7528\u8f66 \u4e58\u7528\u8f66 \u3002 \u5b83 \u5728 \u524d\u8f74 \u4e0a \u91c7\u7528 \u53cc\u53c9\u81c2 \u60ac\u67b6 \uff0c \u5728 \u540e\u8f74 \u4e0a \u91c7\u7528 \u591a \u8fde\u6746 \u60ac\u67b6 \u3002 \u8f6c\u5411 \u7cfb\u7edf \u4e3a \u9f7f\u6761 \u9f7f\u8f6e \u5f0f \u3002   \u57ce\u5e02 \u5df4\u58eb   \u987e\u540d \u987e\u540d\u601d\u4e49 \uff0c Citybus   \u662f \u4e00\u6b3e \u5178\u578b \u7684 \u5df4\u58eb \uff0c \u5728 \u4e16\u754c \u6bcf\u4e2a \u57ce\u5e02 \u90fd \u80fd \u627e\u5230 \u3002 \u4e0e \u6240\u6709 \u91cd\u578b \u8f66\u8f86 \u4e00\u6837 \uff0c \u5b83 \u4f7f\u7528 \u677f\u7c27 \u5b9e\u5fc3 \u8f74 \u3002 Chrono   \u677f\u7c27 \u8f74 \u57fa\u4e8e \u529f\u80fd \u65b9\u6cd5 \u3002 \u56e0\u6b64 \u4e0d\u5230 \u770b\u4e0d\u5230 \u677f\u7c27 \u3002 \u524d\u8f6e \u7531 \u65cb\u8f6c \u81c2 \u8f6c\u5411 \uff0c \u8fd9\u79cd \u7ec4\u5408 \u4e5f \u79f0\u4e3a \u524d\u675f \u8f6c\u5411 \u3002 \u8be5 \u6a21\u578b \u8fd8 \u5c55\u793a \u4e86 \u53cc\u8f6e \u7684 \u4f7f\u7528 \u3002   \u8c03\u9891 \u7535\u89c6   \u4e2d\u578b \u6218\u672f \u8f66\u8f86 \u7cfb\u5217   ( FMTV )   \u662f \u5965\u4ec0 \u79d1\u4ec0 \u516c\u53f8 \u76ee\u524d \u751f\u4ea7 \u7684 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5361\u8f66 \u3002   Chrono   \u8f66\u8f86 \u6a21\u578b \u6a21\u578b\u5e93 \u4e3a \u8fd9\u4e9b \u8f66\u8f86 \u7684 \u4e24\u79cd \u53d8\u4f53 \u63d0\u4f9b \u4e86 \u6a21\u578b \uff1a   LMTV \uff08 \u8f7b\u578b \u4e2d\u578b \u6218\u672f \u8f66\u8f86 \uff09 \uff0c \u4e00\u8f86   2.5   \u5428\u91cd \u7684   4x4   \u5361\u8f66   MTV \uff08 \u4e2d\u578b \u6218\u672f \u8f66\u8f86 \uff09 \uff0c \u4e00\u8f86   5   \u5428 \u3001 6x4   \u5361\u8f66   \u4e24\u79cd \u8f66\u578b \u5747 \u91c7\u7528 \u677f\u7c27 \u540e\u8f74 \u548c \u5e26 \u8dbe \u6746 \u8f6c\u5411 \u7684 \u677f\u7c27 \u524d\u8f74 \uff0c \u5e76 \u5305\u62ec \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u548c \u8d27\u7269 \u4e4b\u95f4 \u7684 \u626d\u8f6c \u67d4\u987a \u6027 \u6a21\u578b \u3002 MTV   \u8f66\u578b \u91c7\u7528 \u5e73\u8861 \u6881\u540e \u8f6c\u5411 \u8f6c\u5411\u67b6 \u3002   \u7537\u4eba   MAN \uff08 \u5965\u683c \u683c\u65af \u5965\u683c\u65af\u5821 \u7ebd\u4f26\u5821 \u673a\u68b0 \u5236\u9020 \u5236\u9020\u5382 \uff09 Kat   1   \u5361\u8f66 \u7cfb\u5217 \u4e13 \u4e3a \u6218\u672f \u8d8a\u91ce \u4f7f\u7528 \u800c \u8bbe\u8ba1 \u3002 \u6240\u6709 \u7cfb\u5217 \u6210\u5458 \u5747 \u91c7\u7528 \u7531 \u8fde\u6746 \u5f15\u5bfc \u7684 \u87ba\u65cb \u5f39\u7c27 \u87ba\u65cb\u5f39\u7c27 \u5b9e\u5fc3 \u8f74 \u7cfb\u7edf \u3002 \u8fd9\u79cd \u8bbe\u8ba1 \u5141\u8bb8 \u975e\u5e38 \u9ad8 \u7684 \u8f66\u8f6e \u884c\u7a0b \u3002 \u8f66\u8f86 \u6846\u67b6 \u4e3a \u7bb1\u5f62 \uff0c \u56e0\u6b64 \u6a21\u578b \u53ef\u4ee5 \u4f7f\u7528 \u521a\u6027 \u5e95\u76d8 \u65b9\u6cd5 \uff0c \u56e0\u4e3a \u5728 \u771f\u5b9e \u8f66\u8f86 \u4e2d \u51e0\u4e4e \u6ca1\u6709 \u8f66\u67b6 \u626d\u8f6c \u3002 \u6240\u6709 \u8f6c\u5411 \u8f74 \u90fd \u914d\u6709 \u6447\u81c2 / \u65cb\u8f6c \u81c2 \u673a\u6784 \u3002 \u6240\u6709 \u8f66\u8f6e \u5747 \u7531 \u9a71\u52a8 \u3002   \u5b83 \u6700\u521d \u662f \u4e3a \u5fb7\u56fd \u56fd\u8054 \u8054\u90a6 \u5fb7\u56fd\u8054\u90a6 \u56fd\u9632 \u9632\u519b \u56fd\u9632\u519b \u8bbe\u8ba1 \u7684 \uff0c \u4eca\u5929 \u5728\u4e16 \u4e16\u754c \u5728\u4e16\u754c\u4e0a \u7684 \u8bb8\u591a \u519b\u961f \u4e2d \u90fd \u53ef\u4ee5 \u627e\u5230 \u5b83 \uff0c \u4f8b\u5982 \u5728 \u7f8e\u56fd \u9646\u519b \u56fd\u9646\u519b \u7f8e\u56fd\u9646\u519b \u4e2d \u4f5c\u4e3a   M1001   \u52a8\u673a \u539f\u52a8\u673a \u6216   M1002   \u56de\u6536 \u8f66 \u3002   5t \uff08 \u8f7d\u91cd \u91cd\u91cf \u8f7d\u91cd\u91cf \uff09 \u5361\u8f66 \u662f \u8be5 \u5bb6\u65cf \u4e2d \u6700\u5c0f \u7684 \u6210\u5458 \u3002   7t   \u5361\u8f66 \u662f \u914d\u7f6e \u6700 \u591a\u6837 \u591a\u6837\u5316 \u7684 \u5361\u8f66 \uff0c \u53ef \u7528\u4e8e \u8fd0\u8f7d \u7279\u6b8a \u8bbe\u5907 \u6216 \u4f5c\u4e3a \u81ea\u5378 \u5378\u8f66 \u81ea\u5378\u8f66 \u3002 \u5728   Chrono   \u4e2d \uff0c \u5b83 \u53ea\u6709 \u4e00\u4e2a \u8f7d\u8d27 \u5e8a \u3002   10t \u5361\u8f66 \u662f 70 \u5e74\u4ee3 \u672b \u6295\u5165 \u4f7f\u7528 \u6295\u5165\u4f7f\u7528 \u7684 \u6700\u65e9 \u7684 \u8f66\u578b \u3002 \u5b83\u4eec \u5927\u591a \u7528\u4f5c \u8fd0\u8f93 \u5361\u8f66 \uff0c \u4e00\u4e9b \u8fd8 \u914d\u5907 \u4e86 \u88c5\u8f7d \u8d77\u91cd \u91cd\u673a \u8d77\u91cd\u673a \u3002   \u514b\u5170 \u4e4c\u514b\u5170 \u963f\u65af   UAZ   \u4ee3\u8868 \u4e4c\u91cc \u8bfa\u592b \u4e4c\u91cc\u626c\u8bfa\u592b \u65af\u57fa \u6c7d\u8f66 \u5236\u9020 \u5236\u9020\u5382 \u3002 UAZ   452   \u578b \u5ba2\u8f66 / \u53a2\u5f0f \u8d27\u8f66 / \u5361\u8f66 \u81ea   1965   \u5e74 \u4ee5\u6765 \u5728 \u7f57\u65af \u4fc4\u7f57\u65af \u4e00\u76f4 \u5f88 \u6b22\u8fce \u53d7\u6b22\u8fce \u3002 \u5b83 \u91c7\u7528 \u5168\u8f6e \u9a71\u52a8 \uff0c \u914d\u6709 \u4e24\u4e2a \u677f\u7c27 \u8f66\u8f74 \u3002 \u524d\u8f74 \u914d\u6709 \u524d\u675f \u8f6c\u5411 \u673a\u6784 \u3002   UAZ   469   \u5409\u666e \u5409\u666e\u8f66 \u81ea   1965   \u5e74 \u4ee5\u6765 \u4e00\u76f4 \u670d\u5f79 \u4e8e \u82cf\u8054 \u519b\u961f \u3002 \u5b83 \u4e0e   UAZ   452   \u5171\u4eab \u8bb8\u591a \u90e8\u4ef6 \uff08 \u8f66\u8f74 \u3001 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \uff09 \u3002 \u8f6c\u5411 \u7cfb\u7edf \u4e5f \u662f \u524d\u675f / \u65cb\u8f6c \u81c2\u5f0f \uff0c \u4f46 \u914d\u7f6e \u7565\u6709 \u4e0d\u540c \u7565\u6709\u4e0d\u540c \u3002   \u9cc4\u9c7c   Tha   Gator   \u662f \u4e00\u6b3e \u914d\u5907 \u81ea\u52a8 \u9a7e\u9a76 \u529f\u80fd \u7684   John   Deere   \u7535\u52a8 \u591a\u7528 \u7528\u9014 \u591a\u7528\u9014 \u8f66 \u3002 Gator   \u8f66\u578b \u524d\u90e8 \u91c7\u7528 \u5355\u53c9\u81c2 \u60ac\u67b6 \uff0c \u540e\u90e8 \u91c7\u7528 \u521a\u6027 \u8f74 \u3002 \u5b83 \u91c7\u7528 \u9f7f\u6761 \u9f7f\u8f6e \u8f6c\u5411 \u673a\u6784 \uff0c \u4ec5 \u5728 \u540e\u8f6e \u4e0a \u5236\u52a8 \u3002 \u7535\u52a8 \u52a8\u673a \u7535\u52a8\u673a \u901a\u8fc7 \u5dee\u901f \u5dee\u901f\u5668 \u8fde\u63a5 \u5230 \u540e\u8f6e \u3002   \u514b\u62c9 \u5179   \u8be5\u8f66 \u578b \u57fa\u4e8e \u514b\u5170 \u4e4c\u514b\u5170   Kraz   64431 \uff0c \u662f \u4e00\u6b3e \u534a\u6302 \u5361\u8f66 \u3002 \u7275\u5f15 \u7275\u5f15\u8f66 \u91c7\u7528 \u524d\u53c9 \u677f\u7c27 \u5f0f \u60ac\u67b6 \uff0c \u901a\u8fc7 \u65cb\u8f6c \u81c2 \u673a\u6784 \u8f6c\u5411 \uff0c \u540e \u60ac\u67b6 \u4e3a \u4e24\u4e2a \u677f\u7c27 \u5f0f \u3002 \u7275\u5f15 \u7275\u5f15\u8f66 \u4e3a   6x4   \u914d\u7f6e \uff0c \u4e24\u4e2a \u540e\u8f74 \u9a71\u52a8 \u3002 \u62d6\u8f66 \u901a\u8fc7 \u6302\u94a9 \u4e0e \u7275\u5f15 \u7275\u5f15\u8f66 \u76f8\u8fde \uff0c \u6709 \u4e09\u4e2a \u8f74 \uff0c \u5747 \u4e3a \u677f\u7c27 \u5f0f \u3002   \u9065\u63a7 \u9065\u63a7\u8f66   \u8fd9\u662f \u4e00\u4e2a \u5c0f\u578b \u9065\u63a7 \u56db\u8f6e \u9a71\u52a8 \u56db\u8f6e\u9a71\u52a8 \u8f66 \u7684 \u6a21\u578b \u3002   \u901a\u7528 \u8f6e\u5f0f \u8f66\u8f86   \u901a\u7528 \u8f6e\u5f0f \u8f66\u8f86 \u6a21\u578b \u662f \u7528\u4e8e \u6d4b\u8bd5 \u5404\u79cd \u6a21\u677f \u548c \u8bbe\u7f6e \u7684 \u6c99\u7bb1 \u3002 \u5b83 \u4e0d \u4ee3\u8868 \u4efb\u4f55 \u7279\u5b9a \u8f66\u8f86 \uff0c \u5e76\u4e14 \u4e3a\u6b64 \u6a21\u578b \u63d0\u4f9b \u7684 \u6240\u6709 \u5177\u4f53 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u4e0d \u4e00\u5b9a \u5f7c\u6b64 \u4e00\u81f4 \u3002","title":"\u8f66\u8f86 \u6a21\u578b"},{"location":"chrono/vehicle_models/#_1","text":"","title":"\u8f66\u8f86 \u6a21\u578b"},{"location":"chrono/vehicle_models/#_2","text":"","title":"\u8f6e\u5f0f \u8f66\u8f86 \u6a21\u578b"},{"location":"chrono/vehicle_models/#_3","text":"HMMWV   \u4ee3\u8868 \u9ad8 \u673a\u52a8 \u673a\u52a8\u6027 \u591a\u7528 \u7528\u9014 \u591a\u7528\u9014 \u8f6e\u5f0f \u8f66\u8f86 \u7cfb\u5217 \u3002 Chrono   \u793a\u4f8b \u5c55\u793a \u4e86   M966   \u90e8\u961f \u8fd0\u8f93 \u8fd0\u8f93\u8f66 \u3002 \u4e0e \u771f\u5b9e \u8f66\u8f86 \u4e00\u6837 \uff0c \u5b83 \u5728 \u4e24\u4e2a \u8f66\u8f74 \u4e0a \u90fd \u91c7\u7528 \u53cc\u53c9\u81c2 \u60ac\u67b6 \uff0c \u6240\u6709 \u8f66\u8f6e \u90fd \u53ef\u4ee5 \u9a71\u52a8 \u3002 \u5b83 \u6709 \u4e00\u4e2a \u5e26 \u53d8\u77e9\u5668 \u7684 \u4e09\u6863 \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u548c \u4e00\u4e2a \u903c\u771f \u7684 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7cfb\u7edf \u5b50\u7cfb\u7edf \u3002 \u5b83 \u91c7\u7528 \u8f6c\u5411 \u81c2 \u8f6c\u5411 \u3002 \u8be5 \u6a21\u578b \u53ef\u4ee5 \u4f7f\u7528   Chrono   \u63d0\u4f9b \u7684 \u6240\u6709 \u7c7b\u578b \u7684 \u8f6e\u80ce \u3002","title":"\u608d\u9a6c"},{"location":"chrono/vehicle_models/#_4","text":"FED   ALPHA   \u662f \u4e00\u6b3e \u7531 \u5de5\u7a0b \u516c\u53f8 \u91cc\u5361 \u5361\u591a \u91cc\u5361\u591a \u4e0e \u7f8e\u56fd \u519b\u65b9 \u5408\u4f5c \u5f00\u53d1 \u5408\u4f5c\u5f00\u53d1 \u7684 \u6982\u5ff5 \u6982\u5ff5\u8f66 \u3002   Chrono : : Vehicle   FEDA   \u662f \u4e00\u6b3e   4WD   \u8f66\u578b \uff0c \u914d\u5907 \u53cc\u53c9\u81c2 \u524d\u540e \u60ac\u67b6 \u3001 \u9632\u503e\u6746 \u548c \u8f6c\u5411 \u81c2 \u8f6c\u5411 \u673a\u6784 \u3002 \u76ee\u524d \u4ec5 \u5b9e\u65bd   Pacejka   2002   \u548c \u521a\u6027 \u8f6e\u80ce \u8f66\u578b \u3002","title":"\u8054\u90a6 \u5f00\u53d1\u7f72"},{"location":"chrono/vehicle_models/#_5","text":"\u8f7f\u8f66 \u793a\u4f8b \u5c55\u793a \u4e86 \u4e00\u6b3e \u666e\u901a \u7684 \u7528\u8f66 \u4e58\u7528\u8f66 \u3002 \u5b83 \u5728 \u524d\u8f74 \u4e0a \u91c7\u7528 \u53cc\u53c9\u81c2 \u60ac\u67b6 \uff0c \u5728 \u540e\u8f74 \u4e0a \u91c7\u7528 \u591a \u8fde\u6746 \u60ac\u67b6 \u3002 \u8f6c\u5411 \u7cfb\u7edf \u4e3a \u9f7f\u6761 \u9f7f\u8f6e \u5f0f \u3002","title":"\u8f7f\u8f66"},{"location":"chrono/vehicle_models/#_6","text":"\u987e\u540d \u987e\u540d\u601d\u4e49 \uff0c Citybus   \u662f \u4e00\u6b3e \u5178\u578b \u7684 \u5df4\u58eb \uff0c \u5728 \u4e16\u754c \u6bcf\u4e2a \u57ce\u5e02 \u90fd \u80fd \u627e\u5230 \u3002 \u4e0e \u6240\u6709 \u91cd\u578b \u8f66\u8f86 \u4e00\u6837 \uff0c \u5b83 \u4f7f\u7528 \u677f\u7c27 \u5b9e\u5fc3 \u8f74 \u3002 Chrono   \u677f\u7c27 \u8f74 \u57fa\u4e8e \u529f\u80fd \u65b9\u6cd5 \u3002 \u56e0\u6b64 \u4e0d\u5230 \u770b\u4e0d\u5230 \u677f\u7c27 \u3002 \u524d\u8f6e \u7531 \u65cb\u8f6c \u81c2 \u8f6c\u5411 \uff0c \u8fd9\u79cd \u7ec4\u5408 \u4e5f \u79f0\u4e3a \u524d\u675f \u8f6c\u5411 \u3002 \u8be5 \u6a21\u578b \u8fd8 \u5c55\u793a \u4e86 \u53cc\u8f6e \u7684 \u4f7f\u7528 \u3002","title":"\u57ce\u5e02 \u5df4\u58eb"},{"location":"chrono/vehicle_models/#_7","text":"\u4e2d\u578b \u6218\u672f \u8f66\u8f86 \u7cfb\u5217   ( FMTV )   \u662f \u5965\u4ec0 \u79d1\u4ec0 \u516c\u53f8 \u76ee\u524d \u751f\u4ea7 \u7684 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5361\u8f66 \u3002   Chrono   \u8f66\u8f86 \u6a21\u578b \u6a21\u578b\u5e93 \u4e3a \u8fd9\u4e9b \u8f66\u8f86 \u7684 \u4e24\u79cd \u53d8\u4f53 \u63d0\u4f9b \u4e86 \u6a21\u578b \uff1a   LMTV \uff08 \u8f7b\u578b \u4e2d\u578b \u6218\u672f \u8f66\u8f86 \uff09 \uff0c \u4e00\u8f86   2.5   \u5428\u91cd \u7684   4x4   \u5361\u8f66   MTV \uff08 \u4e2d\u578b \u6218\u672f \u8f66\u8f86 \uff09 \uff0c \u4e00\u8f86   5   \u5428 \u3001 6x4   \u5361\u8f66   \u4e24\u79cd \u8f66\u578b \u5747 \u91c7\u7528 \u677f\u7c27 \u540e\u8f74 \u548c \u5e26 \u8dbe \u6746 \u8f6c\u5411 \u7684 \u677f\u7c27 \u524d\u8f74 \uff0c \u5e76 \u5305\u62ec \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u548c \u8d27\u7269 \u4e4b\u95f4 \u7684 \u626d\u8f6c \u67d4\u987a \u6027 \u6a21\u578b \u3002 MTV   \u8f66\u578b \u91c7\u7528 \u5e73\u8861 \u6881\u540e \u8f6c\u5411 \u8f6c\u5411\u67b6 \u3002","title":"\u8c03\u9891 \u7535\u89c6"},{"location":"chrono/vehicle_models/#_8","text":"MAN \uff08 \u5965\u683c \u683c\u65af \u5965\u683c\u65af\u5821 \u7ebd\u4f26\u5821 \u673a\u68b0 \u5236\u9020 \u5236\u9020\u5382 \uff09 Kat   1   \u5361\u8f66 \u7cfb\u5217 \u4e13 \u4e3a \u6218\u672f \u8d8a\u91ce \u4f7f\u7528 \u800c \u8bbe\u8ba1 \u3002 \u6240\u6709 \u7cfb\u5217 \u6210\u5458 \u5747 \u91c7\u7528 \u7531 \u8fde\u6746 \u5f15\u5bfc \u7684 \u87ba\u65cb \u5f39\u7c27 \u87ba\u65cb\u5f39\u7c27 \u5b9e\u5fc3 \u8f74 \u7cfb\u7edf \u3002 \u8fd9\u79cd \u8bbe\u8ba1 \u5141\u8bb8 \u975e\u5e38 \u9ad8 \u7684 \u8f66\u8f6e \u884c\u7a0b \u3002 \u8f66\u8f86 \u6846\u67b6 \u4e3a \u7bb1\u5f62 \uff0c \u56e0\u6b64 \u6a21\u578b \u53ef\u4ee5 \u4f7f\u7528 \u521a\u6027 \u5e95\u76d8 \u65b9\u6cd5 \uff0c \u56e0\u4e3a \u5728 \u771f\u5b9e \u8f66\u8f86 \u4e2d \u51e0\u4e4e \u6ca1\u6709 \u8f66\u67b6 \u626d\u8f6c \u3002 \u6240\u6709 \u8f6c\u5411 \u8f74 \u90fd \u914d\u6709 \u6447\u81c2 / \u65cb\u8f6c \u81c2 \u673a\u6784 \u3002 \u6240\u6709 \u8f66\u8f6e \u5747 \u7531 \u9a71\u52a8 \u3002   \u5b83 \u6700\u521d \u662f \u4e3a \u5fb7\u56fd \u56fd\u8054 \u8054\u90a6 \u5fb7\u56fd\u8054\u90a6 \u56fd\u9632 \u9632\u519b \u56fd\u9632\u519b \u8bbe\u8ba1 \u7684 \uff0c \u4eca\u5929 \u5728\u4e16 \u4e16\u754c \u5728\u4e16\u754c\u4e0a \u7684 \u8bb8\u591a \u519b\u961f \u4e2d \u90fd \u53ef\u4ee5 \u627e\u5230 \u5b83 \uff0c \u4f8b\u5982 \u5728 \u7f8e\u56fd \u9646\u519b \u56fd\u9646\u519b \u7f8e\u56fd\u9646\u519b \u4e2d \u4f5c\u4e3a   M1001   \u52a8\u673a \u539f\u52a8\u673a \u6216   M1002   \u56de\u6536 \u8f66 \u3002   5t \uff08 \u8f7d\u91cd \u91cd\u91cf \u8f7d\u91cd\u91cf \uff09 \u5361\u8f66 \u662f \u8be5 \u5bb6\u65cf \u4e2d \u6700\u5c0f \u7684 \u6210\u5458 \u3002   7t   \u5361\u8f66 \u662f \u914d\u7f6e \u6700 \u591a\u6837 \u591a\u6837\u5316 \u7684 \u5361\u8f66 \uff0c \u53ef \u7528\u4e8e \u8fd0\u8f7d \u7279\u6b8a \u8bbe\u5907 \u6216 \u4f5c\u4e3a \u81ea\u5378 \u5378\u8f66 \u81ea\u5378\u8f66 \u3002 \u5728   Chrono   \u4e2d \uff0c \u5b83 \u53ea\u6709 \u4e00\u4e2a \u8f7d\u8d27 \u5e8a \u3002   10t \u5361\u8f66 \u662f 70 \u5e74\u4ee3 \u672b \u6295\u5165 \u4f7f\u7528 \u6295\u5165\u4f7f\u7528 \u7684 \u6700\u65e9 \u7684 \u8f66\u578b \u3002 \u5b83\u4eec \u5927\u591a \u7528\u4f5c \u8fd0\u8f93 \u5361\u8f66 \uff0c \u4e00\u4e9b \u8fd8 \u914d\u5907 \u4e86 \u88c5\u8f7d \u8d77\u91cd \u91cd\u673a \u8d77\u91cd\u673a \u3002","title":"\u7537\u4eba"},{"location":"chrono/vehicle_models/#_9","text":"UAZ   \u4ee3\u8868 \u4e4c\u91cc \u8bfa\u592b \u4e4c\u91cc\u626c\u8bfa\u592b \u65af\u57fa \u6c7d\u8f66 \u5236\u9020 \u5236\u9020\u5382 \u3002 UAZ   452   \u578b \u5ba2\u8f66 / \u53a2\u5f0f \u8d27\u8f66 / \u5361\u8f66 \u81ea   1965   \u5e74 \u4ee5\u6765 \u5728 \u7f57\u65af \u4fc4\u7f57\u65af \u4e00\u76f4 \u5f88 \u6b22\u8fce \u53d7\u6b22\u8fce \u3002 \u5b83 \u91c7\u7528 \u5168\u8f6e \u9a71\u52a8 \uff0c \u914d\u6709 \u4e24\u4e2a \u677f\u7c27 \u8f66\u8f74 \u3002 \u524d\u8f74 \u914d\u6709 \u524d\u675f \u8f6c\u5411 \u673a\u6784 \u3002   UAZ   469   \u5409\u666e \u5409\u666e\u8f66 \u81ea   1965   \u5e74 \u4ee5\u6765 \u4e00\u76f4 \u670d\u5f79 \u4e8e \u82cf\u8054 \u519b\u961f \u3002 \u5b83 \u4e0e   UAZ   452   \u5171\u4eab \u8bb8\u591a \u90e8\u4ef6 \uff08 \u8f66\u8f74 \u3001 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \uff09 \u3002 \u8f6c\u5411 \u7cfb\u7edf \u4e5f \u662f \u524d\u675f / \u65cb\u8f6c \u81c2\u5f0f \uff0c \u4f46 \u914d\u7f6e \u7565\u6709 \u4e0d\u540c \u7565\u6709\u4e0d\u540c \u3002","title":"\u4e4c\u514b\u5170 \u963f\u65af"},{"location":"chrono/vehicle_models/#_10","text":"Tha   Gator   \u662f \u4e00\u6b3e \u914d\u5907 \u81ea\u52a8 \u9a7e\u9a76 \u529f\u80fd \u7684   John   Deere   \u7535\u52a8 \u591a\u7528 \u7528\u9014 \u591a\u7528\u9014 \u8f66 \u3002 Gator   \u8f66\u578b \u524d\u90e8 \u91c7\u7528 \u5355\u53c9\u81c2 \u60ac\u67b6 \uff0c \u540e\u90e8 \u91c7\u7528 \u521a\u6027 \u8f74 \u3002 \u5b83 \u91c7\u7528 \u9f7f\u6761 \u9f7f\u8f6e \u8f6c\u5411 \u673a\u6784 \uff0c \u4ec5 \u5728 \u540e\u8f6e \u4e0a \u5236\u52a8 \u3002 \u7535\u52a8 \u52a8\u673a \u7535\u52a8\u673a \u901a\u8fc7 \u5dee\u901f \u5dee\u901f\u5668 \u8fde\u63a5 \u5230 \u540e\u8f6e \u3002","title":"\u9cc4\u9c7c"},{"location":"chrono/vehicle_models/#_11","text":"\u8be5\u8f66 \u578b \u57fa\u4e8e \u514b\u5170 \u4e4c\u514b\u5170   Kraz   64431 \uff0c \u662f \u4e00\u6b3e \u534a\u6302 \u5361\u8f66 \u3002 \u7275\u5f15 \u7275\u5f15\u8f66 \u91c7\u7528 \u524d\u53c9 \u677f\u7c27 \u5f0f \u60ac\u67b6 \uff0c \u901a\u8fc7 \u65cb\u8f6c \u81c2 \u673a\u6784 \u8f6c\u5411 \uff0c \u540e \u60ac\u67b6 \u4e3a \u4e24\u4e2a \u677f\u7c27 \u5f0f \u3002 \u7275\u5f15 \u7275\u5f15\u8f66 \u4e3a   6x4   \u914d\u7f6e \uff0c \u4e24\u4e2a \u540e\u8f74 \u9a71\u52a8 \u3002 \u62d6\u8f66 \u901a\u8fc7 \u6302\u94a9 \u4e0e \u7275\u5f15 \u7275\u5f15\u8f66 \u76f8\u8fde \uff0c \u6709 \u4e09\u4e2a \u8f74 \uff0c \u5747 \u4e3a \u677f\u7c27 \u5f0f \u3002","title":"\u514b\u62c9 \u5179"},{"location":"chrono/vehicle_models/#_12","text":"\u8fd9\u662f \u4e00\u4e2a \u5c0f\u578b \u9065\u63a7 \u56db\u8f6e \u9a71\u52a8 \u56db\u8f6e\u9a71\u52a8 \u8f66 \u7684 \u6a21\u578b \u3002","title":"\u9065\u63a7\u8f66"},{"location":"chrono/vehicle_models/#_13","text":"\u901a\u7528 \u8f6e\u5f0f \u8f66\u8f86 \u6a21\u578b \u662f \u7528\u4e8e \u6d4b\u8bd5 \u5404\u79cd \u6a21\u677f \u548c \u8bbe\u7f6e \u7684 \u6c99\u7bb1 \u3002 \u5b83 \u4e0d \u4ee3\u8868 \u4efb\u4f55 \u7279\u5b9a \u8f66\u8f86 \uff0c \u5e76\u4e14 \u4e3a\u6b64 \u6a21\u578b \u63d0\u4f9b \u7684 \u6240\u6709 \u5177\u4f53 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u4e0d \u4e00\u5b9a \u5f7c\u6b64 \u4e00\u81f4 \u3002","title":"\u901a\u7528 \u8f6e\u5f0f \u8f66\u8f86"},{"location":"chrono/vehicle_overview/","text":"\u8f66\u8f86 \u5efa\u6a21 \u4e0e \u4eff\u771f \u6982\u8ff0   Chrono : : Vehicle   \u6a21\u5757 \u63d0\u4f9b \u4e86 \u9002\u7528 \u4e8e \u8f6e\u5f0f \u548c \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u5404\u79cd \u62d3\u6251 \u7ed3\u6784 \u7684 \u6a21\u677f \u96c6\u5408 \uff0c \u652f\u6301 \u5bf9 \u521a\u6027 \u3001 \u67d4\u6027 \u548c \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u5730\u5f62 \u8fdb\u884c \u5efa\u6a21 \uff0c \u652f\u6301 \u95ed\u73af \u548c \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u9a71\u52a8 \u6a21\u578b \uff0c \u4ee5\u53ca \u6a21\u62df \u7ed3\u679c \u7684 \u8fd0\u884c \u65f6 \u548c \u79bb\u7ebf \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u8f66\u8f86 \u7cfb\u7edf \u7684 \u5efa\u6a21 \u91c7\u7528 \u6a21\u5757 \u6a21\u5757\u5316 \u65b9\u5f0f \uff0c \u8f66\u8f86 \u5b9a\u4e49 \u4e3a \u5404\u79cd \u7cfb\u7edf \u5b50\u7cfb\u7edf \uff08 \u60ac\u67b6 \u3001 \u8f6c\u5411 \u3001 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u7b49 \uff09 \u5b9e\u4f8b \u7684 \u96c6\u5408 \u3002 \u91c7\u7528 \u57fa\u4e8e \u6a21\u677f \u7684 \u8bbe\u8ba1 \u53ef \u5b9e\u73b0 \u5efa\u6a21 \u7684 \u7075\u6d3b \u6d3b\u6027 \u7075\u6d3b\u6027 \u3002 \u5728   Chrono : : Vehicle   \u4e2d \uff0c \u6a21\u677f \u662f \u53c2\u6570 \u5316 \u6a21\u578b \uff0c \u7528\u4e8e \u5b9a\u4e49 \u8f66\u8f86 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u7279\u5b9a \u5b9e\u73b0 \u3002 \u56e0\u6b64 \uff0c \u6a21\u677f \u5b9a\u4e49 \u57fa\u672c \u5efa\u6a21 \u5143\u7d20 \uff08 \u8f66\u8eab \u3001 \u5173\u8282 \u3001 \u529b \u5143\u7d20 \uff09 \uff0c \u5f3a\u52a0 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u62d3\u6251 \uff0c \u89c4\u5b9a \u8bbe\u8ba1 \u53c2\u6570 \uff0c \u5e76 \u5b9e\u73b0 \u7279\u5b9a \u4e8e \u7279\u5b9a \u6a21\u677f \uff08 \u4f8b\u5982 \u53cc\u53c9\u81c2 \uff09 \u7684 \u7279\u5b9a \u7c7b\u578b \u7cfb\u7edf \u5b50\u7cfb\u7edf \uff08 \u4f8b\u5982 \u60ac\u67b6 \uff09 \u7684 \u901a\u7528 \u529f\u80fd \u3002 \u6700\u540e \uff0c \u901a\u8fc7 \u4e3a \u5177\u4f53 \u8f66\u8f86 \uff08 \u4f8b\u5982   HMMWV   \u60ac\u67b6 \u524d\u60ac\u67b6 \uff09 \u6307\u5b9a \u6a21\u677f \u53c2\u6570 \uff08 \u786c\u70b9 \u3001 \u5173\u8282 \u65b9\u5411 \u3001 \u60ef\u6027 \u5c5e\u6027 \u3001 \u63a5\u89e6 \u6750\u6599 \u5c5e\u6027 \u7b49 \uff09 \u6765 \u83b7\u5f97 \u6b64\u7c7b \u6a21\u677f \u7684 \u5b9e\u4f8b \u3002   Chrono : : Vehicle   \u4e2d \u7684 \u6838\u5fc3 \u6a21\u677f \u662f \u8f66\u8f86 \u5b50 \u90e8\u4ef6 \u7684 \u53c2\u6570 \u5316 \u6a21\u578b \u3002 \u4f46\u662f \uff0c \u5b8c\u6574 \u7684 \u8f66\u8f86 \u79fb\u52a8 \u6a21\u62df \u8fd8 \u9700\u8981 \u8f66\u8f86 \u672c\u8eab \u4e4b\u5916 \u7684 \u8f85\u52a9 \u7cfb\u7edf \uff0c \u4f8b\u5982 \u63d0\u4f9b \u8f93\u5165 \u63a7\u5236 \uff08 \u4f8b\u5982 \u8f6c\u5411 \u3001 \u6cb9\u95e8 \u3001 \u5236\u52a8 \uff09 \u7684 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u3001 \u5c01\u88c5 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u548c \u53d8\u901f \u53d8\u901f\u7bb1 \u5e76 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u7684 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u4ee5\u53ca \u5730\u5f62 \u7cfb\u7edf \u3002   \u5bf9\u4e8e \u8f6e\u5f0f \u8f66\u8f86 \u7cfb\u7edf \uff0c \u63d0\u4f9b \u4e86 \u4ee5\u4e0b \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u6a21\u677f \uff1a   \u60ac\u67b6 \uff08 \u53cc\u53c9\u81c2 \u3001 \u5229\u7528 \u8ddd\u79bb \u7ea6\u675f \u7f29\u77ed \u7684 \u53cc\u53c9\u81c2 \u3001 \u591a \u8fde\u6746 \u3001 \u5b9e\u5fc3 \u8f74 \u3001 \u9ea6\u5f17\u900a\u5f0f \u652f\u67f1 \u3001 \u534a \u62d6\u66f3 \u81c2 \u2026 \u2026 \uff09   \u8f6c\u5411 \uff08 \u8f6c\u5411 \u81c2 \u3001 \u9f7f\u6761 \u9f7f\u8f6e \uff09   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \uff08 2WD   \u548c   4WD   \u8f74 \u91c7\u7528 \u4e13\u95e8 \u7684   Chrono   \u5efa\u6a21 \u5143\u7d20 \uff0c \u7b80\u5316 \u7684 \u8fd0\u52a8 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \uff09   \u8f66\u8f6e \uff08 \u7b80\u5355 \u5730\u8bf4 \uff0c \u662f \u9644\u52a0 \u5728 \u60ac\u67b6 \u4e3b\u8f74 \u4e0a \u7684 \u989d\u5916 \u8d28\u91cf \u548c \u60ef\u6027 \u7684 \u8f7d\u4f53 \uff09   \u5236\u52a8 \u5236\u52a8\u5668 \uff08 \u7b80\u5355 \u6a21\u578b \uff0c \u4f7f\u7528 \u7531 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u5236\u52a8 \u8f93\u5165 \u8c03\u8282 \u7684 \u6052\u5b9a \u626d\u77e9 \uff09   Chrono : : Vehicle   \u63d0\u4f9b \u5404\u79cd \u8f6e\u80ce \u6a21\u578b \u548c \u76f8\u5173 \u6a21\u677f \uff0c \u4ece \u521a\u6027 \u8f6e\u80ce \u5230 \u534a \u7ecf\u9a8c \u6a21\u578b \uff08 \u5982   Pacejka   \u548c   Fiala \uff09 \uff0c \u518d \u5230 \u7528 \u6709\u9650 \u6709\u9650\u5143 \u5efa\u6a21 \u7684 \u5b8c\u5168 \u53ef \u53d8\u5f62 \u8f6e\u80ce \uff08 \u4f7f\u7528 \u7edd\u5bf9 \u8282\u70b9 \u5750\u6807 \u516c\u5f0f \u6216 \u5171 \u65cb\u8f6c \u516c\u5f0f \uff09 \u3002   \u5c65\u5e26 \u677f \uff08 \u5355\u9500\u5f0f \u548c \u53cc\u9500\u5f0f \uff09 \uff1a \u5355\u9500\u5f0f \u5c31\u662f \u4e24\u4e2a \u5c65\u5e26 \u5757 \u76f8\u4e92 \u7ed3\u5408 \u4e4b\u540e \u4ee5 \u4e00\u6839 \u957f \u94a2\u9489 \u8fde\u7ed3 \uff0c \u4e24\u7aef \u56fa\u5b9a \u597d \uff1b \u53cc\u9500\u5f0f \u5c31\u662f \u4e24\u4e2a \u5c65\u5e26 \u5757 \u76f4\u63a5 \u5728 \u4e24\u7aef \u56fa\u5b9a \u63a5\u5408 \u3002   \u76f8\u5173 \u94fe\u8f6e \u6a21\u677f \uff08 \u5e26\u6709 \u76f8\u5e94 \u7684 \u9f7f\u8f6e \u8f6e\u5ed3 \uff09   \u60ac\u67b6 \uff08 \u5e26 \u7ebf\u6027 \u6216 \u65cb\u8f6c \u963b\u5c3c \u963b\u5c3c\u5668 \u7684 \u626d\u8f6c \u5f39\u7c27 \uff0c \u6db2\u538b \uff09   \u60f0\u8f6e \uff08 \u5e26 \u5f20\u7d27 \u673a\u6784 \uff09   \u6eda\u7b52   \u4f5c\u4e3a \u4e2d\u95f4 \u4e2d\u95f4\u4ef6 \u5e93 \uff0c   Chrono : : Vehicle   \u8981\u6c42 \u7528\u6237 \u63d0\u4f9b   C++   \u7c7b\u6765 \u5177\u4f53 \u5b9e\u4f8b \u5316 \u7279\u5b9a \u6a21\u677f \u3002 \u53ef\u9009 \u7684   Chrono   \u5e93\u4e3a \u4e00\u4e9b \u5730\u9762 \u8f66\u8f86 \uff08 \u5305\u62ec \u8f6e\u5f0f \u548c \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \uff09 \u63d0\u4f9b \u4e86 \u5b8c\u6574 \u7684 \u6b64\u7c7b \u5177\u4f53   C++   \u7c7b\u96c6 \uff0c \u53ef \u4f5c\u4e3a \u5176\u4ed6 \u7279\u5b9a \u8f66\u8f86 \u6a21\u578b \u7684 \u793a\u4f8b \u3002 \u867d\u7136 \u6b64\u7c7b \u7c7b \u901a\u5e38 \u975e\u5e38 \u8f7b\u91cf \uff0c \u4f46 \u8fd9 \u9700\u8981 \u4e00\u5b9a \u7684 \u7f16\u7a0b \u7ecf\u9a8c \u3002 \u4e3a\u4e86 \u89e3\u51b3 \u8fd9\u4e2a \u95ee\u9898 \uff0c \u6211\u4eec \u63d0\u4f9b \u4e86 \u4e00\u79cd \u66ff\u4ee3 \u673a\u5236 \u6765 \u5b9a\u4e49 \u8f66\u8f86 \u7cfb\u7edf \u548c \u7cfb\u7edf \u5b50\u7cfb\u7edf \u6a21\u677f \u7684 \u5177\u4f53 \u5b9e\u4f8b \uff0c \u8be5 \u673a\u5236 \u57fa\u4e8e   JSON   \u683c\u5f0f \u7684 \u8f93\u5165 \u89c4\u8303 \u6587\u4ef6 \u3002   \u6839\u636e \u7ed9\u5b9a \u7c7b\u578b \uff08 \u8f6e\u5f0f \u6216 \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \uff09 \u7684 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u6a21\u677f \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u6307\u5b9a \u5177\u4f53 \u6a21\u677f \u53c2\u6570 \u7684 \u76f8\u5e94   JSON   \u6587\u4ef6 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u6765 \u5b8c\u6574 \u5b9a\u4e49 \u8f66\u8f86 \uff0c \u5426\u5219 \u5c06 \u63a8\u8fdf \u5230\u5b50 \u7ec4\u4ef6 \u7684 \u4e00\u6b65 \u8fdb\u4e00\u6b65   JSON   \u89c4\u8303 \u6587\u4ef6 \u3002 \u4ee5\u4e0b \u662f \u8f6e\u5f0f \u8f66\u8f86 \u7684 \u9876\u7ea7   JSON   \u89c4\u8303 \u6587\u4ef6 \u7684 \u793a\u4f8b \u3002 \u8fde\u540c \u5b83 \u5f15\u7528 \u7684 \u6240\u6709 \u5176\u4ed6 \u8f93\u5165 \u6587\u4ef6 \uff0c \u6b64   JSON   \u6587\u4ef6 \u5b8c\u6574 \u63cf\u8ff0 \u4e86 \u5177\u6709 \u4e24\u4e2a \u8f74 \u7684 \u5177\u4f53 \u8f6e\u5f0f \u8f66\u8f86 \uff0c \u524d\u540e \u5747 \u4f7f\u7528 \u53cc\u53c9\u81c2 \u60ac\u67b6 \uff0c \u524d\u8f74 \u4e0a \u5b89\u88c5 \u6709 \u8f6c\u5411 \u81c2 \u8f6c\u5411 \u673a\u6784 \uff0c \u540e\u8f6e \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u3002   {   \" Name \" :   \" Test   vehicle   -   Double   Wishbone \" ,   \" Type \" :   \" Vehicle \" ,   \" Template \" :   \" WheeledVehicle \" ,   \" Chassis \" :   {   \" Input   File \" :   \" generic / chassis / Chassis . json \"   } ,   \" Axles \" :   [   {   \" Suspension   Input   File \" :   \" generic / suspension / DoubleWishbone . json \" ,   \" Suspension   Location \" :   [ 1.25 ,   0 ,   - 0.21 ] ,   \" Steering   Index \" :   0 ,   \" Left   Wheel   Input   File \" :   \" generic / wheel / WheelSimple . json \" ,   \" Right   Wheel   Input   File \" :   \" generic / wheel / WheelSimple . json \" ,   \" Left   Brake   Input   File \" :   \" generic / brake / BrakeSimple . json \" ,   \" Right   Brake   Input   File \" :   \" generic / brake / BrakeSimple . json \"   } ,   {   \" Suspension   Input   File \" :   \" generic / suspension / DoubleWishbone . json \" ,   \" Suspension   Location \" :   [ - 1.25 ,   0 ,   - 0.21 ] ,   \" Left   Wheel   Input   File \" :   \" generic / wheel / WheelSimple . json \" ,   \" Right   Wheel   Input   File \" :   \" generic / wheel / WheelSimple . json \" ,   \" Left   Brake   Input   File \" :   \" generic / brake / BrakeSimple . json \" ,   \" Right   Brake   Input   File \" :   \" generic / brake / BrakeSimple . json \"   }   ] ,   \" Steering   Subsystems \" :   [   {   \" Input   File \" :   \" generic / steering / PitmanArm . json \" ,   \" Location \" :   [ 1.1 ,   0 ,   - 0.4 ] ,   \" Orientation \" :   [ 0.98699637 ,   0 ,   0.16074256 ,   0 ]   }   ] ,   \" Driveline \" :   {   \" Input   File \" :   \" generic / driveline / Driveline2WD . json \" ,   \" Suspension   Indexes \" :   [ 1 ]   }   }   \u53c2\u8003 \u6846\u67b6   \u6bcf\u4e2a \u8f66\u8f86 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u90fd \u662f \u6839\u636e \u5176 \u81ea\u5df1 \u7684 \u53c2\u8003 \u53c2\u8003\u7cfb \u5b9a\u4e49 \u7684 \uff1b \u6362\u53e5 \u6362\u53e5\u8bdd \u6362\u53e5\u8bdd\u8bf4 \uff0c \u8f66\u8f86 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u6a21\u677f \u4e2d \u7684 \u6240\u6709 \u53d7\u529b \u70b9 \u4f4d\u7f6e \u90fd \u5fc5\u987b \u6839\u636e \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u53c2\u8003 \u53c2\u8003\u7cfb \u63d0\u4f9b \u3002 \u7136\u540e \uff0c \u8f66\u8f86 \u7cfb\u7edf \uff08 \u65e0\u8bba \u65e0\u8bba\u662f \u8f6e\u5f0f \u8fd8\u662f \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \uff09 \u88ab \u6784\u5efa \u4e3a \u5176 \u7ec4\u6210 \u90e8\u4ef6 \u7684 \u5177\u4f53 \u6a21\u677f \u5b9e\u4f8b \u96c6\u5408 \uff0c \u65b9\u6cd5 \u662f \u6307\u5b9a \u5b83\u4eec \u76f8\u5bf9 \u4e8e \u8f66\u8f86 \u53c2\u8003 \u53c2\u8003\u7cfb \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \uff0c \u5e76 \u6839\u636e \u9700\u8981 \u63d0\u4f9b \u8fde\u63a5 \u4fe1\u606f \uff08 \u4f8b\u5982 \uff0c \u5c06 \u7279\u5b9a \u7684 \u8f6c\u5411 \u673a\u6784 \u8fde\u63a5 \u5230 \u8f6e\u5f0f \u8f66\u8f86 \u7684 \u7279\u5b9a \u8f66\u8f74 / \u60ac\u67b6 \uff09 \u3002   \u5bf9\u4e8e \u5efa\u6a21 \uff0c   Chrono : : Vehicle   \u4ec5 \u4f7f\u7528   ISO   \u8f66\u8f86 \u8f74 \u7ea6\u5b9a \uff0c \u5373 \u53f3\u4fa7 \u6846\u67b6 \uff0c X   \u5411\u524d \uff0c Z   \u5411\u4e0a \uff0c Y   \u6307\u5411 \u8f66\u8f86 \u5de6\u4fa7 \uff08 \u53c2\u89c1   ISO   8855 : 2011 \uff09 \u3002 \u4e0b\u56fe \u8bf4\u660e \u4e86 \u8f66\u8f86 \u53c2\u8003 \u53c2\u8003\u7cfb   $ O _ 1 $ \uff08 \u6309\u7167 \u60ef\u4f8b \u4e0e \u5e95\u76d8 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u53c2\u8003 \u53c2\u8003\u7cfb \u5bf9\u9f50 \uff09 \uff0c \u4ee5\u53ca \u7cfb\u7edf \u5b50\u7cfb\u7edf \u53c2\u8003 \u53c2\u8003\u7cfb \uff08 $ O _ 2 ^ ' $   \u548c   $ O _ 2 ^ { ' ' } $   \u8868\u793a \u524d\u540e \u60ac\u67b6 \uff0c $ O _ 3 $   \u8868\u793a \u8f6c\u5411 \u673a\u6784 \uff09 \uff0c \u9002\u7528 \u4e8e \u53cc\u8f74 \u8f6e\u5f0f \u8f66\u8f86 \u3002   \u6a21\u62df \u4e16\u754c \u6846\u67b6   \u867d\u7136   Chrono : : Vehicle   \u6a21\u62df \u7684 \u9ed8\u8ba4 \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \u4e5f \u662f   ISO \uff08 Z   \u5411\u4e0a \uff09 \u5750\u6807 \u5750\u6807\u7cfb \uff0c \u4f46 \u652f\u6301 \u6a21\u62df \u5728 \u4e0d\u540c \u53c2\u8003 \u5750\u6807 \u5750\u6807\u7cfb \uff08 \u4f8b\u5982   Y   \u5411\u4e0a \u5750\u6807 \u5750\u6807\u7cfb \uff09 \u4e2d \u6307\u5b9a \u7684 \u573a\u666f \u4e2d \u7684 \u8f66\u8f86 \u3002 \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \u901a\u8fc7 \u65cb\u8f6c \u77e9\u9635 \uff08 \u5c06   ISO   \u5750\u6807 \u5750\u6807\u7cfb \u4e0e \u6240 \u9700 \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \u5bf9\u9f50 \u6240 \u9700 \u7684 \u65cb\u8f6c \uff09 \u552f\u4e00 \u5b9a\u4e49 \u3002 \u8981 \u4ece \u9ed8\u8ba4   ISO   \u7ea6\u5b9a \u66f4\u6539 \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \u5b9a\u4e49 \uff0c \u5fc5\u987b \u5728 \u4efb\u4f55   Chrono : : Vehicle   \u5e93 \u8c03\u7528 \u4e4b\u524d \u8bbe\u7f6e \u6240 \u9700 \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \uff1a   ` ` ` shell   script   ChWorldFrame : : Set ( world _ rotation ) ;   \u63d0\u4f9b \u4e86 \u4e00\u79cd \u5feb\u6377 \u65b9\u5f0f \u5feb\u6377\u65b9\u5f0f \u6765 \u6307\u5b9a   Y   \u5411\u4e0a \uff08 X   \u5411\u524d \uff0c Z   \u5411 \u53f3 \uff09 \u7684 \u4e16\u754c \u6846\u67b6 \uff1a   ` ` ` shell   script   ChWorldFrame : : SetYUP ( ) ;   ChWorldFrame   \u7c7b \u63d0\u4f9b \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f \u6765 \u67e5\u8be2 \u4e16\u754c \u6cd5\u7ebf \u3001 \u524d\u5411 \u3001 \u7ed9\u5b9a   3D   \u70b9 \u7684 \u9ad8\u5ea6 \uff08 \u6cbf \u4e16\u754c \u5782\u76f4 \u65b9\u5411 \u7684 \u5206\u91cf \uff09 \uff0c \u5c06\u70b9 \u6295\u5f71 \u5230 \u4e16\u754c \u7684 \u6c34\u5e73 \u9762\u4e0a \uff0c \u4ee5\u53ca \u8868\u8fbe \u5f80\u8fd4 \u4e8e \u57fa\u672c   ISO   \u6846\u67b6 \u7684   3D   \u77e2\u91cf \u3002   \u53c2\u9605 \u8bf7\u53c2\u9605   demo _ VEH _ HMMWV9 _ YUPY   \u5411\u4e0a \u4e16\u754c \u6846\u67b6 \u4e2d \u7684   Chrono : : Vehicle   \u6a21\u62df \u7684 \u793a\u4f8b \u3002   \u6a21\u62df \u5faa\u73af   Chrono : : Vehicle   \u6a21\u62df \u5faa\u73af \u91c7\u7528 \u529b - \u4f4d\u79fb \u8054\u5408 \u6a21\u62df \u65b9\u6848 \u7684 \u5f62\u5f0f \uff0c \u4e0b\u9762 \u4e24\u5f20 \u56fe \u5206\u522b \u8bf4\u660e \u4e86 \u8f6e\u5f0f \u8f66\u8f86 \u548c \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7684 \u4ea4\u6362 \u6570\u636e \u3002   \u6b64 \u6a21\u62df \u6d41\u7a0b \u901a\u8fc7   Chrono : : Vehicle   API   \u5f3a\u5236 \u6267\u884c \u5f3a\u5236\u6267\u884c \uff0c \u8be5   API   \u8981\u6c42 \u6240\u6709 \u7cfb\u7edf \u90fd \u63d0\u4f9b \u4e00\u79cd \u5b9e\u73b0 \u6570\u636e \u4ea4\u6362 \u6570\u636e\u4ea4\u6362 \u7684   Synchronize   \u65b9\u6cd5 \u548c \u4e00\u79cd \u5b9e\u73b0 \u7cfb\u7edf \u52a8\u6001 \u7684   Advance   \u65b9\u6cd5 \uff08 \u5373 \uff0c \u5c06 \u7cfb\u7edf \u72b6\u6001 \u63a8\u8fdb \u5230 \u4e0b \u4e00\u4e2a \u6570\u636e \u4ea4\u6362 \u6570\u636e\u4ea4\u6362 \u65f6\u95f4 \u70b9 \uff09 \u3002 \u4f46 \u8bf7 \u6ce8\u610f \uff0c \u4f7f\u7528   Chrono : : Vehicle   \u4e2d \u63d0\u4f9b \u7684 \u8f85\u52a9 \u7cfb\u7edf \u7684 \u8f66\u8f86 \u79fb\u52a8 \u6a21\u62df \u5b9e\u9645 \u5b9e\u9645\u4e0a \u5c06 \u662f \u4e00\u4e2a \u6574\u4f53 \u7684 \u3001 \u4e00\u6b21 \u4e00\u6b21\u6027 \u8026\u5408 \u7684 \u6a21\u62df \u3002","title":"\u8f66\u8f86 \u5efa\u6a21 \u4e0e \u4eff\u771f \u6982\u8ff0"},{"location":"chrono/vehicle_overview/#_1","text":"Chrono : : Vehicle   \u6a21\u5757 \u63d0\u4f9b \u4e86 \u9002\u7528 \u4e8e \u8f6e\u5f0f \u548c \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u5404\u79cd \u62d3\u6251 \u7ed3\u6784 \u7684 \u6a21\u677f \u96c6\u5408 \uff0c \u652f\u6301 \u5bf9 \u521a\u6027 \u3001 \u67d4\u6027 \u548c \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u5730\u5f62 \u8fdb\u884c \u5efa\u6a21 \uff0c \u652f\u6301 \u95ed\u73af \u548c \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u9a71\u52a8 \u6a21\u578b \uff0c \u4ee5\u53ca \u6a21\u62df \u7ed3\u679c \u7684 \u8fd0\u884c \u65f6 \u548c \u79bb\u7ebf \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u8f66\u8f86 \u7cfb\u7edf \u7684 \u5efa\u6a21 \u91c7\u7528 \u6a21\u5757 \u6a21\u5757\u5316 \u65b9\u5f0f \uff0c \u8f66\u8f86 \u5b9a\u4e49 \u4e3a \u5404\u79cd \u7cfb\u7edf \u5b50\u7cfb\u7edf \uff08 \u60ac\u67b6 \u3001 \u8f6c\u5411 \u3001 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u7b49 \uff09 \u5b9e\u4f8b \u7684 \u96c6\u5408 \u3002 \u91c7\u7528 \u57fa\u4e8e \u6a21\u677f \u7684 \u8bbe\u8ba1 \u53ef \u5b9e\u73b0 \u5efa\u6a21 \u7684 \u7075\u6d3b \u6d3b\u6027 \u7075\u6d3b\u6027 \u3002 \u5728   Chrono : : Vehicle   \u4e2d \uff0c \u6a21\u677f \u662f \u53c2\u6570 \u5316 \u6a21\u578b \uff0c \u7528\u4e8e \u5b9a\u4e49 \u8f66\u8f86 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u7279\u5b9a \u5b9e\u73b0 \u3002 \u56e0\u6b64 \uff0c \u6a21\u677f \u5b9a\u4e49 \u57fa\u672c \u5efa\u6a21 \u5143\u7d20 \uff08 \u8f66\u8eab \u3001 \u5173\u8282 \u3001 \u529b \u5143\u7d20 \uff09 \uff0c \u5f3a\u52a0 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u62d3\u6251 \uff0c \u89c4\u5b9a \u8bbe\u8ba1 \u53c2\u6570 \uff0c \u5e76 \u5b9e\u73b0 \u7279\u5b9a \u4e8e \u7279\u5b9a \u6a21\u677f \uff08 \u4f8b\u5982 \u53cc\u53c9\u81c2 \uff09 \u7684 \u7279\u5b9a \u7c7b\u578b \u7cfb\u7edf \u5b50\u7cfb\u7edf \uff08 \u4f8b\u5982 \u60ac\u67b6 \uff09 \u7684 \u901a\u7528 \u529f\u80fd \u3002 \u6700\u540e \uff0c \u901a\u8fc7 \u4e3a \u5177\u4f53 \u8f66\u8f86 \uff08 \u4f8b\u5982   HMMWV   \u60ac\u67b6 \u524d\u60ac\u67b6 \uff09 \u6307\u5b9a \u6a21\u677f \u53c2\u6570 \uff08 \u786c\u70b9 \u3001 \u5173\u8282 \u65b9\u5411 \u3001 \u60ef\u6027 \u5c5e\u6027 \u3001 \u63a5\u89e6 \u6750\u6599 \u5c5e\u6027 \u7b49 \uff09 \u6765 \u83b7\u5f97 \u6b64\u7c7b \u6a21\u677f \u7684 \u5b9e\u4f8b \u3002   Chrono : : Vehicle   \u4e2d \u7684 \u6838\u5fc3 \u6a21\u677f \u662f \u8f66\u8f86 \u5b50 \u90e8\u4ef6 \u7684 \u53c2\u6570 \u5316 \u6a21\u578b \u3002 \u4f46\u662f \uff0c \u5b8c\u6574 \u7684 \u8f66\u8f86 \u79fb\u52a8 \u6a21\u62df \u8fd8 \u9700\u8981 \u8f66\u8f86 \u672c\u8eab \u4e4b\u5916 \u7684 \u8f85\u52a9 \u7cfb\u7edf \uff0c \u4f8b\u5982 \u63d0\u4f9b \u8f93\u5165 \u63a7\u5236 \uff08 \u4f8b\u5982 \u8f6c\u5411 \u3001 \u6cb9\u95e8 \u3001 \u5236\u52a8 \uff09 \u7684 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u3001 \u5c01\u88c5 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u548c \u53d8\u901f \u53d8\u901f\u7bb1 \u5e76 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u7684 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u4ee5\u53ca \u5730\u5f62 \u7cfb\u7edf \u3002   \u5bf9\u4e8e \u8f6e\u5f0f \u8f66\u8f86 \u7cfb\u7edf \uff0c \u63d0\u4f9b \u4e86 \u4ee5\u4e0b \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u6a21\u677f \uff1a   \u60ac\u67b6 \uff08 \u53cc\u53c9\u81c2 \u3001 \u5229\u7528 \u8ddd\u79bb \u7ea6\u675f \u7f29\u77ed \u7684 \u53cc\u53c9\u81c2 \u3001 \u591a \u8fde\u6746 \u3001 \u5b9e\u5fc3 \u8f74 \u3001 \u9ea6\u5f17\u900a\u5f0f \u652f\u67f1 \u3001 \u534a \u62d6\u66f3 \u81c2 \u2026 \u2026 \uff09   \u8f6c\u5411 \uff08 \u8f6c\u5411 \u81c2 \u3001 \u9f7f\u6761 \u9f7f\u8f6e \uff09   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \uff08 2WD   \u548c   4WD   \u8f74 \u91c7\u7528 \u4e13\u95e8 \u7684   Chrono   \u5efa\u6a21 \u5143\u7d20 \uff0c \u7b80\u5316 \u7684 \u8fd0\u52a8 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \uff09   \u8f66\u8f6e \uff08 \u7b80\u5355 \u5730\u8bf4 \uff0c \u662f \u9644\u52a0 \u5728 \u60ac\u67b6 \u4e3b\u8f74 \u4e0a \u7684 \u989d\u5916 \u8d28\u91cf \u548c \u60ef\u6027 \u7684 \u8f7d\u4f53 \uff09   \u5236\u52a8 \u5236\u52a8\u5668 \uff08 \u7b80\u5355 \u6a21\u578b \uff0c \u4f7f\u7528 \u7531 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u5236\u52a8 \u8f93\u5165 \u8c03\u8282 \u7684 \u6052\u5b9a \u626d\u77e9 \uff09   Chrono : : Vehicle   \u63d0\u4f9b \u5404\u79cd \u8f6e\u80ce \u6a21\u578b \u548c \u76f8\u5173 \u6a21\u677f \uff0c \u4ece \u521a\u6027 \u8f6e\u80ce \u5230 \u534a \u7ecf\u9a8c \u6a21\u578b \uff08 \u5982   Pacejka   \u548c   Fiala \uff09 \uff0c \u518d \u5230 \u7528 \u6709\u9650 \u6709\u9650\u5143 \u5efa\u6a21 \u7684 \u5b8c\u5168 \u53ef \u53d8\u5f62 \u8f6e\u80ce \uff08 \u4f7f\u7528 \u7edd\u5bf9 \u8282\u70b9 \u5750\u6807 \u516c\u5f0f \u6216 \u5171 \u65cb\u8f6c \u516c\u5f0f \uff09 \u3002   \u5c65\u5e26 \u677f \uff08 \u5355\u9500\u5f0f \u548c \u53cc\u9500\u5f0f \uff09 \uff1a \u5355\u9500\u5f0f \u5c31\u662f \u4e24\u4e2a \u5c65\u5e26 \u5757 \u76f8\u4e92 \u7ed3\u5408 \u4e4b\u540e \u4ee5 \u4e00\u6839 \u957f \u94a2\u9489 \u8fde\u7ed3 \uff0c \u4e24\u7aef \u56fa\u5b9a \u597d \uff1b \u53cc\u9500\u5f0f \u5c31\u662f \u4e24\u4e2a \u5c65\u5e26 \u5757 \u76f4\u63a5 \u5728 \u4e24\u7aef \u56fa\u5b9a \u63a5\u5408 \u3002   \u76f8\u5173 \u94fe\u8f6e \u6a21\u677f \uff08 \u5e26\u6709 \u76f8\u5e94 \u7684 \u9f7f\u8f6e \u8f6e\u5ed3 \uff09   \u60ac\u67b6 \uff08 \u5e26 \u7ebf\u6027 \u6216 \u65cb\u8f6c \u963b\u5c3c \u963b\u5c3c\u5668 \u7684 \u626d\u8f6c \u5f39\u7c27 \uff0c \u6db2\u538b \uff09   \u60f0\u8f6e \uff08 \u5e26 \u5f20\u7d27 \u673a\u6784 \uff09   \u6eda\u7b52   \u4f5c\u4e3a \u4e2d\u95f4 \u4e2d\u95f4\u4ef6 \u5e93 \uff0c   Chrono : : Vehicle   \u8981\u6c42 \u7528\u6237 \u63d0\u4f9b   C++   \u7c7b\u6765 \u5177\u4f53 \u5b9e\u4f8b \u5316 \u7279\u5b9a \u6a21\u677f \u3002 \u53ef\u9009 \u7684   Chrono   \u5e93\u4e3a \u4e00\u4e9b \u5730\u9762 \u8f66\u8f86 \uff08 \u5305\u62ec \u8f6e\u5f0f \u548c \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \uff09 \u63d0\u4f9b \u4e86 \u5b8c\u6574 \u7684 \u6b64\u7c7b \u5177\u4f53   C++   \u7c7b\u96c6 \uff0c \u53ef \u4f5c\u4e3a \u5176\u4ed6 \u7279\u5b9a \u8f66\u8f86 \u6a21\u578b \u7684 \u793a\u4f8b \u3002 \u867d\u7136 \u6b64\u7c7b \u7c7b \u901a\u5e38 \u975e\u5e38 \u8f7b\u91cf \uff0c \u4f46 \u8fd9 \u9700\u8981 \u4e00\u5b9a \u7684 \u7f16\u7a0b \u7ecf\u9a8c \u3002 \u4e3a\u4e86 \u89e3\u51b3 \u8fd9\u4e2a \u95ee\u9898 \uff0c \u6211\u4eec \u63d0\u4f9b \u4e86 \u4e00\u79cd \u66ff\u4ee3 \u673a\u5236 \u6765 \u5b9a\u4e49 \u8f66\u8f86 \u7cfb\u7edf \u548c \u7cfb\u7edf \u5b50\u7cfb\u7edf \u6a21\u677f \u7684 \u5177\u4f53 \u5b9e\u4f8b \uff0c \u8be5 \u673a\u5236 \u57fa\u4e8e   JSON   \u683c\u5f0f \u7684 \u8f93\u5165 \u89c4\u8303 \u6587\u4ef6 \u3002   \u6839\u636e \u7ed9\u5b9a \u7c7b\u578b \uff08 \u8f6e\u5f0f \u6216 \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \uff09 \u7684 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u6a21\u677f \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u6307\u5b9a \u5177\u4f53 \u6a21\u677f \u53c2\u6570 \u7684 \u76f8\u5e94   JSON   \u6587\u4ef6 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u6765 \u5b8c\u6574 \u5b9a\u4e49 \u8f66\u8f86 \uff0c \u5426\u5219 \u5c06 \u63a8\u8fdf \u5230\u5b50 \u7ec4\u4ef6 \u7684 \u4e00\u6b65 \u8fdb\u4e00\u6b65   JSON   \u89c4\u8303 \u6587\u4ef6 \u3002 \u4ee5\u4e0b \u662f \u8f6e\u5f0f \u8f66\u8f86 \u7684 \u9876\u7ea7   JSON   \u89c4\u8303 \u6587\u4ef6 \u7684 \u793a\u4f8b \u3002 \u8fde\u540c \u5b83 \u5f15\u7528 \u7684 \u6240\u6709 \u5176\u4ed6 \u8f93\u5165 \u6587\u4ef6 \uff0c \u6b64   JSON   \u6587\u4ef6 \u5b8c\u6574 \u63cf\u8ff0 \u4e86 \u5177\u6709 \u4e24\u4e2a \u8f74 \u7684 \u5177\u4f53 \u8f6e\u5f0f \u8f66\u8f86 \uff0c \u524d\u540e \u5747 \u4f7f\u7528 \u53cc\u53c9\u81c2 \u60ac\u67b6 \uff0c \u524d\u8f74 \u4e0a \u5b89\u88c5 \u6709 \u8f6c\u5411 \u81c2 \u8f6c\u5411 \u673a\u6784 \uff0c \u540e\u8f6e \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u3002   {   \" Name \" :   \" Test   vehicle   -   Double   Wishbone \" ,   \" Type \" :   \" Vehicle \" ,   \" Template \" :   \" WheeledVehicle \" ,   \" Chassis \" :   {   \" Input   File \" :   \" generic / chassis / Chassis . json \"   } ,   \" Axles \" :   [   {   \" Suspension   Input   File \" :   \" generic / suspension / DoubleWishbone . json \" ,   \" Suspension   Location \" :   [ 1.25 ,   0 ,   - 0.21 ] ,   \" Steering   Index \" :   0 ,   \" Left   Wheel   Input   File \" :   \" generic / wheel / WheelSimple . json \" ,   \" Right   Wheel   Input   File \" :   \" generic / wheel / WheelSimple . json \" ,   \" Left   Brake   Input   File \" :   \" generic / brake / BrakeSimple . json \" ,   \" Right   Brake   Input   File \" :   \" generic / brake / BrakeSimple . json \"   } ,   {   \" Suspension   Input   File \" :   \" generic / suspension / DoubleWishbone . json \" ,   \" Suspension   Location \" :   [ - 1.25 ,   0 ,   - 0.21 ] ,   \" Left   Wheel   Input   File \" :   \" generic / wheel / WheelSimple . json \" ,   \" Right   Wheel   Input   File \" :   \" generic / wheel / WheelSimple . json \" ,   \" Left   Brake   Input   File \" :   \" generic / brake / BrakeSimple . json \" ,   \" Right   Brake   Input   File \" :   \" generic / brake / BrakeSimple . json \"   }   ] ,   \" Steering   Subsystems \" :   [   {   \" Input   File \" :   \" generic / steering / PitmanArm . json \" ,   \" Location \" :   [ 1.1 ,   0 ,   - 0.4 ] ,   \" Orientation \" :   [ 0.98699637 ,   0 ,   0.16074256 ,   0 ]   }   ] ,   \" Driveline \" :   {   \" Input   File \" :   \" generic / driveline / Driveline2WD . json \" ,   \" Suspension   Indexes \" :   [ 1 ]   }   }","title":"\u8f66\u8f86 \u5efa\u6a21 \u4e0e \u4eff\u771f \u6982\u8ff0"},{"location":"chrono/vehicle_overview/#_2","text":"\u6bcf\u4e2a \u8f66\u8f86 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u90fd \u662f \u6839\u636e \u5176 \u81ea\u5df1 \u7684 \u53c2\u8003 \u53c2\u8003\u7cfb \u5b9a\u4e49 \u7684 \uff1b \u6362\u53e5 \u6362\u53e5\u8bdd \u6362\u53e5\u8bdd\u8bf4 \uff0c \u8f66\u8f86 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u6a21\u677f \u4e2d \u7684 \u6240\u6709 \u53d7\u529b \u70b9 \u4f4d\u7f6e \u90fd \u5fc5\u987b \u6839\u636e \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u53c2\u8003 \u53c2\u8003\u7cfb \u63d0\u4f9b \u3002 \u7136\u540e \uff0c \u8f66\u8f86 \u7cfb\u7edf \uff08 \u65e0\u8bba \u65e0\u8bba\u662f \u8f6e\u5f0f \u8fd8\u662f \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \uff09 \u88ab \u6784\u5efa \u4e3a \u5176 \u7ec4\u6210 \u90e8\u4ef6 \u7684 \u5177\u4f53 \u6a21\u677f \u5b9e\u4f8b \u96c6\u5408 \uff0c \u65b9\u6cd5 \u662f \u6307\u5b9a \u5b83\u4eec \u76f8\u5bf9 \u4e8e \u8f66\u8f86 \u53c2\u8003 \u53c2\u8003\u7cfb \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \uff0c \u5e76 \u6839\u636e \u9700\u8981 \u63d0\u4f9b \u8fde\u63a5 \u4fe1\u606f \uff08 \u4f8b\u5982 \uff0c \u5c06 \u7279\u5b9a \u7684 \u8f6c\u5411 \u673a\u6784 \u8fde\u63a5 \u5230 \u8f6e\u5f0f \u8f66\u8f86 \u7684 \u7279\u5b9a \u8f66\u8f74 / \u60ac\u67b6 \uff09 \u3002   \u5bf9\u4e8e \u5efa\u6a21 \uff0c   Chrono : : Vehicle   \u4ec5 \u4f7f\u7528   ISO   \u8f66\u8f86 \u8f74 \u7ea6\u5b9a \uff0c \u5373 \u53f3\u4fa7 \u6846\u67b6 \uff0c X   \u5411\u524d \uff0c Z   \u5411\u4e0a \uff0c Y   \u6307\u5411 \u8f66\u8f86 \u5de6\u4fa7 \uff08 \u53c2\u89c1   ISO   8855 : 2011 \uff09 \u3002 \u4e0b\u56fe \u8bf4\u660e \u4e86 \u8f66\u8f86 \u53c2\u8003 \u53c2\u8003\u7cfb   $ O _ 1 $ \uff08 \u6309\u7167 \u60ef\u4f8b \u4e0e \u5e95\u76d8 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u53c2\u8003 \u53c2\u8003\u7cfb \u5bf9\u9f50 \uff09 \uff0c \u4ee5\u53ca \u7cfb\u7edf \u5b50\u7cfb\u7edf \u53c2\u8003 \u53c2\u8003\u7cfb \uff08 $ O _ 2 ^ ' $   \u548c   $ O _ 2 ^ { ' ' } $   \u8868\u793a \u524d\u540e \u60ac\u67b6 \uff0c $ O _ 3 $   \u8868\u793a \u8f6c\u5411 \u673a\u6784 \uff09 \uff0c \u9002\u7528 \u4e8e \u53cc\u8f74 \u8f6e\u5f0f \u8f66\u8f86 \u3002","title":"\u53c2\u8003 \u6846\u67b6  "},{"location":"chrono/vehicle_overview/#_3","text":"\u867d\u7136   Chrono : : Vehicle   \u6a21\u62df \u7684 \u9ed8\u8ba4 \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \u4e5f \u662f   ISO \uff08 Z   \u5411\u4e0a \uff09 \u5750\u6807 \u5750\u6807\u7cfb \uff0c \u4f46 \u652f\u6301 \u6a21\u62df \u5728 \u4e0d\u540c \u53c2\u8003 \u5750\u6807 \u5750\u6807\u7cfb \uff08 \u4f8b\u5982   Y   \u5411\u4e0a \u5750\u6807 \u5750\u6807\u7cfb \uff09 \u4e2d \u6307\u5b9a \u7684 \u573a\u666f \u4e2d \u7684 \u8f66\u8f86 \u3002 \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \u901a\u8fc7 \u65cb\u8f6c \u77e9\u9635 \uff08 \u5c06   ISO   \u5750\u6807 \u5750\u6807\u7cfb \u4e0e \u6240 \u9700 \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \u5bf9\u9f50 \u6240 \u9700 \u7684 \u65cb\u8f6c \uff09 \u552f\u4e00 \u5b9a\u4e49 \u3002 \u8981 \u4ece \u9ed8\u8ba4   ISO   \u7ea6\u5b9a \u66f4\u6539 \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \u5b9a\u4e49 \uff0c \u5fc5\u987b \u5728 \u4efb\u4f55   Chrono : : Vehicle   \u5e93 \u8c03\u7528 \u4e4b\u524d \u8bbe\u7f6e \u6240 \u9700 \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \uff1a   ` ` ` shell   script   ChWorldFrame : : Set ( world _ rotation ) ;   \u63d0\u4f9b \u4e86 \u4e00\u79cd \u5feb\u6377 \u65b9\u5f0f \u5feb\u6377\u65b9\u5f0f \u6765 \u6307\u5b9a   Y   \u5411\u4e0a \uff08 X   \u5411\u524d \uff0c Z   \u5411 \u53f3 \uff09 \u7684 \u4e16\u754c \u6846\u67b6 \uff1a   ` ` ` shell   script   ChWorldFrame : : SetYUP ( ) ;   ChWorldFrame   \u7c7b \u63d0\u4f9b \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f \u6765 \u67e5\u8be2 \u4e16\u754c \u6cd5\u7ebf \u3001 \u524d\u5411 \u3001 \u7ed9\u5b9a   3D   \u70b9 \u7684 \u9ad8\u5ea6 \uff08 \u6cbf \u4e16\u754c \u5782\u76f4 \u65b9\u5411 \u7684 \u5206\u91cf \uff09 \uff0c \u5c06\u70b9 \u6295\u5f71 \u5230 \u4e16\u754c \u7684 \u6c34\u5e73 \u9762\u4e0a \uff0c \u4ee5\u53ca \u8868\u8fbe \u5f80\u8fd4 \u4e8e \u57fa\u672c   ISO   \u6846\u67b6 \u7684   3D   \u77e2\u91cf \u3002   \u53c2\u9605 \u8bf7\u53c2\u9605   demo _ VEH _ HMMWV9 _ YUPY   \u5411\u4e0a \u4e16\u754c \u6846\u67b6 \u4e2d \u7684   Chrono : : Vehicle   \u6a21\u62df \u7684 \u793a\u4f8b \u3002","title":"\u6a21\u62df \u4e16\u754c \u6846\u67b6"},{"location":"chrono/vehicle_overview/#_4","text":"Chrono : : Vehicle   \u6a21\u62df \u5faa\u73af \u91c7\u7528 \u529b - \u4f4d\u79fb \u8054\u5408 \u6a21\u62df \u65b9\u6848 \u7684 \u5f62\u5f0f \uff0c \u4e0b\u9762 \u4e24\u5f20 \u56fe \u5206\u522b \u8bf4\u660e \u4e86 \u8f6e\u5f0f \u8f66\u8f86 \u548c \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7684 \u4ea4\u6362 \u6570\u636e \u3002   \u6b64 \u6a21\u62df \u6d41\u7a0b \u901a\u8fc7   Chrono : : Vehicle   API   \u5f3a\u5236 \u6267\u884c \u5f3a\u5236\u6267\u884c \uff0c \u8be5   API   \u8981\u6c42 \u6240\u6709 \u7cfb\u7edf \u90fd \u63d0\u4f9b \u4e00\u79cd \u5b9e\u73b0 \u6570\u636e \u4ea4\u6362 \u6570\u636e\u4ea4\u6362 \u7684   Synchronize   \u65b9\u6cd5 \u548c \u4e00\u79cd \u5b9e\u73b0 \u7cfb\u7edf \u52a8\u6001 \u7684   Advance   \u65b9\u6cd5 \uff08 \u5373 \uff0c \u5c06 \u7cfb\u7edf \u72b6\u6001 \u63a8\u8fdb \u5230 \u4e0b \u4e00\u4e2a \u6570\u636e \u4ea4\u6362 \u6570\u636e\u4ea4\u6362 \u65f6\u95f4 \u70b9 \uff09 \u3002 \u4f46 \u8bf7 \u6ce8\u610f \uff0c \u4f7f\u7528   Chrono : : Vehicle   \u4e2d \u63d0\u4f9b \u7684 \u8f85\u52a9 \u7cfb\u7edf \u7684 \u8f66\u8f86 \u79fb\u52a8 \u6a21\u62df \u5b9e\u9645 \u5b9e\u9645\u4e0a \u5c06 \u662f \u4e00\u4e2a \u6574\u4f53 \u7684 \u3001 \u4e00\u6b21 \u4e00\u6b21\u6027 \u8026\u5408 \u7684 \u6a21\u62df \u3002","title":"\u6a21\u62df \u5faa\u73af  "},{"location":"chrono/vehicle_powertrain/","text":"\u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b   \u57fa\u4e8e \u8f74 \u7684 \u52a8\u529b \u603b\u6210 \u6a21\u578b   \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u56fe \u6a21\u578b   \u7b80\u5355 \u7684 \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b   \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u8fde\u63a5 \u5230 \u9a71\u52a8 \u7cfb\u7edf \uff08 \u63a5\u6536 \u6cb9\u95e8 \u8f93\u5165 \uff09 \u548c \u8f66\u8f86 \u7cfb\u7edf \u7684 \u4f20\u52a8 \u7cfb \u7cfb\u7edf \u5b50\u7cfb\u7edf \uff08 \u63a5\u6536 \u9a71\u52a8 \u8f74 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5e76 \u53d1\u9001 \u9a71\u52a8 \u8f74 \u626d\u77e9 \uff09 \u3002   Chrono : : Vehicle   \u65e8\u5728 \u5141\u8bb8 \u94fe\u63a5 \u5230 \u7b2c\u4e09 \u4e09\u65b9 \u7b2c\u4e09\u65b9 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b \u3002 \u4e0e \u6b64\u7c7b \u5916\u90e8 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b \u63a5\u53e3 \u9700\u8981 \u4e24\u4e2a \u7cbe\u7b80 \u63a5\u53e3 \u63a5\u53e3\u7c7b \uff0c \u5b83\u4eec \u6d3e\u751f \u81ea   ChEngine   \u548c   ChTransmission   \u3002   Chrono : : Vehicle   \u4e3a \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u63d0\u4f9b \u4e86 \u51e0\u4e2a \u6a21\u677f \uff0c \u5982\u4e0b \u6240\u8ff0 \u3002   \u57fa\u4e8e \u8f74 \u7684 \u52a8\u529b \u603b\u6210 \u6a21\u578b   \u8be5 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b \u57fa\u4e8e \u5404\u79cd   Chrono   1 - D   \u8f74 \u5143\u4ef6   (   ChShaft   )   \u548c \u4e13\u7528 \u8f74 \u8fde\u63a5 \u5143\u4ef6 \u3002 \u8fd9\u4e9b \u5143\u4ef6 \u7528\u4e8e \u5efa\u6a21 \uff1a   \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a   (   ChShaftsThermalEngine   ) \uff0c \u901a\u8fc7 \u901f\u5ea6 \u626d\u77e9 \u66f2\u7ebf \u6307\u5b9a   \u626d\u77e9 \u8f6c\u6362 \u8f6c\u6362\u5668   (   ChShaftsTorqueConverter   ) \uff0c \u901a\u8fc7 \u66f2\u7ebf \u6307\u5b9a \u5bb9\u91cf \u7cfb\u6570 \u4f5c\u4e3a \u901f\u5ea6 \u6bd4 \u7684 \u51fd\u6570 \uff0c \u4ee5\u53ca \u626d\u77e9 \u6bd4 \u4f5c\u4e3a \u901f\u5ea6 \u6bd4 \u7684 \u51fd\u6570   \u53d8\u901f \u53d8\u901f\u7bb1 \uff08 \u624b\u52a8 \u6216 \u81ea\u52a8 \uff0c \u5177\u6709 \u4efb\u610f \u6570\u91cf \u7684 \u524d\u8fdb \u6863 \u548c \u5012 \u6863 \uff09   \u7535\u673a \u6a21\u5757 \u901a\u8fc7 \u7279\u6b8a \u7684   Chrono   \u7ea6\u675f \uff08   ChShaftBodyRotation   \uff09 \u8fde\u63a5 \u5230 \u5e95\u76d8 \uff0c \u4ece\u800c \u5141\u8bb8 \u6a21\u62df \u7535\u673a \u626d\u77e9 \u5bf9 \u5e95\u76d8 \u7684 \u5f71\u54cd \u3002   \u53c2\u9605 \u8bf7\u53c2\u9605   ChEngineShafts   \u3001   ChAutomaticTransmissionShafts   \u548c   ChManualTransmissionShafts   \u3002   \u4e0b\u56fe \u663e\u793a \u4e86 \u57fa\u4e8e \u8f74 \u7684 \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b \u4e0e \u57fa\u4e8e \u8f74 \u7684 \u8f6e\u5f0f \u8f66\u8f86 \u6a21\u578b \u7684 \u8fde\u63a5 \u3002   \u4e0b\u9762 \u63d0\u4f9b \u4e86 \u57fa\u4e8e \u8f74 \u7684 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \uff0c \u8bf4\u660e \u4e86 \u5404\u79cd \u6a21\u677f \u53c2\u6570 \uff1a   {   \" Name \" :   \" HMMWV   Shafts   Engine \" ,   \" Type \" :   \" Engine \" ,   \" Template \" :   \" EngineShafts \" ,   \" Motor   Block   Inertia \" :   10.5 ,   / /   connection   to   chassis   \" Motorshaft   Inertia \" :   1.1 ,   / /   connection   to   transmission   \" Torque   Map \" :   [   [   - 100 ,   300   ] ,   [   800 ,   382   ] ,   [   900 ,   490   ] ,   [   1000 ,   579   ] ,   [   1100 ,   650   ] ,   [   1200 ,   706   ] ,   [   1300 ,   746   ] ,   [   1400 ,   774   ] ,   [   1500 ,   789   ] ,   [   1600 ,   793   ] ,   [   1700 ,   788   ] ,   [   1800 ,   774   ] ,   [   1900 ,   754   ] ,   [   2000 ,   728   ] ,   [   2100 ,   697   ] ,   [   2200 ,   664   ] ,   [   2300 ,   628   ] ,   [   2400 ,   593   ] ,   [   2500 ,   558   ] ,   [   2700 ,   - 400   ]   ] ,   \" Losses   Map \" :   [   [   - 50 ,   30   ] ,   [   0 ,   0   ] ,   [   50 ,   - 30   ] ,   [   1000 ,   - 50   ] ,   [   2000 ,   - 70   ] ,   [   3000 ,   - 90   ]   ]   }   {   \" Name \" :   \" HMMWV   Shafts   Automatic   Transmission \" ,   \" Type \" :   \" Transmission \" ,   \" Template \" :   \" AutomaticTransmissionShafts \" ,   \" Transmission   Block   Inertia \" :   10.5 ,   / /   connection   to   chassis   \" Input   Shaft   Inertia \" :   0.3 ,   \" Motorshaft   Inertia \" :   0.5 ,   / /   connection   to   engine   \" Driveshaft   Inertia \" :   0.5 ,   / /   connection   to   driveline   \" Torque   Converter \" :   {   \" Capacity   Factor   Map \" :   [   [   0.00 ,   15.00   ] ,   [   0.25 ,   15.00   ] ,   [   0.50 ,   15.00   ] ,   [   0.75 ,   16.00   ] ,   [   0.90 ,   18.00   ] ,   [   1.00 ,   35.00   ]   ] ,   \" Torque   Ratio   Map \" :   [   [   0.00 ,   2.00   ] ,   [   0.25 ,   1.80   ] ,   [   0.50 ,   1.50   ] ,   [   0.75 ,   1.15   ] ,   [   1.00 ,   1.00   ]   ]   } ,   \" Gear   Box \" :   {   \" Forward   Gear   Ratios \" :   [   0.2 ,   0.4 ,   0.8   ] ,   \" Reverse   Gear   Ratio \" :   - 0.1 ,   \" Upshift   RPM \" :   2500 ,   \" Downshift   RPM \" :   1200 ,   \" Shift   Latency \" :   1.0   }   }   \u4e0a\u8ff0   JSON   \u6587\u4ef6 \u4e2d \u7f16\u7801 \u7684 \u66f2\u7ebf \u5982\u4e0b \u6240\u793a \u3002   \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u56fe \u6a21\u578b   \u8fd9\u662f \u4e00\u4e2a \u7b80\u5355 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b \u7684 \u6a21\u677f \uff0c \u57fa\u4e8e \u901f\u5ea6 \u626d\u77e9 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u56fe \u3002 \u8be5 \u6a21\u578b \u6ca1\u6709 \u626d\u77e9 \u8f6c\u6362 \u8f6c\u6362\u5668 \uff0c \u53ef\u4ee5 \u6709 \u624b\u52a8 \u6216 \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u5668 \u3002 \u5b83 \u63a5\u53d7 \u4e00\u4e2a \u5012 \u6863 \u548c \u4efb\u610f \u6570\u91cf \u7684 \u524d\u8fdb \u6863 \u3002 \u5728 \u81ea\u52a8 \u6a21\u5f0f \u4e0b \uff0c \u6362\u6863 \u662f \u6839\u636e \u6307\u5b9a \u7684 \u7406\u60f3 \u6362\u6863 \u70b9 \u8fdb\u884c \u7684 \u3002   \u53c2\u89c1   ChEngineSimpleMap   \u548c   ChAutomaticTransmissionSimpleMap   \u3002   \u4e0b\u9762 \u63d0\u4f9b \u4e86 \u5e26\u6709 \u5730\u56fe \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \uff0c \u8bf4\u660e \u4e86 \u5404\u79cd \u6a21\u677f \u53c2\u6570 \u3002   {   \" Name \" :   \" UAZBUS   Simple   Map   Engine \" ,   \" Type \" :   \" Engine \" ,   \" Template \" :   \" EngineSimpleMap \" ,   \" Maximal   Engine   Speed   RPM \" :   4000 ,   \" Map   Full   Throttle \" :   [   [   - 10.0 ,   104.66   ] ,   [   7.365 e + 02 ,   1.744 e + 02   ] ,   [   9.876 e + 02 ,   1.827 e + 02   ] ,   [   1.238 e + 03 ,   1.898 e + 02   ] ,   [   1.500 e + 03 ,   1.957 e + 02   ] ,   [   1.724 e + 03 ,   2.005 e + 02   ] ,   [   1.980 e + 03 ,   2.052 e + 02   ] ,   [   2.188 e + 03 ,   2.076 e + 02   ] ,   [   2.348 e + 03 ,   2.081 e + 02   ] ,   [   2.492 e + 03 ,   2.062 e + 02   ] ,   [   2.737 e + 03 ,   2.062 e + 02   ] ,   [   2.992 e + 03 ,   2.062 e + 02   ] ,   [   3.189 e + 03 ,   2.064 e + 02   ] ,   [   3.487 e + 03 ,   2.031 e + 02   ] ,   [   3.684 e + 03 ,   1.995 e + 02   ] ,   [   3.908 e + 03 ,   1.945 e + 02   ] ,   [   4100.0 ,   - 100.0   ] ,   [   4200.0 ,   - 200.0   ]   ] ,   \" Map   Zero   Throttle \" :   [   [   - 10.0 ,   0.0   ] ,   [   7.365 e + 02 ,   - 10.0   ] ,   [   9.880 e + 02 ,   - 10.0   ] ,   [   1.500 e + 03 ,   - 15.0   ] ,   [   1.980 e + 03 ,   - 15.0   ] ,   [   2.348 e + 03 ,   - 15.0   ] ,   [   2.737 e + 03 ,   - 20.0   ] ,   [   3.189 e + 03 ,   - 20.0   ] ,   [   3.685 e + 03 ,   - 30.0   ] ,   [   3.908 e + 03 ,   - 100.0   ]   ]   }   {   \" Name \" :   \" UAZBUS   Simple   Map   Transmission \" ,   \" Type \" :   \" Transmission \" ,   \" Template \" :   \" AutomaticTransmissionSimpleMap \" ,   \" Gear   Box \" :   {   \" Reverse   Gear   Ratio \" :   - 0.191 ,   \" Forward   Gear   Ratios \" :   [ 0.125 ,   0.242 ,   0.379 ,   0.633 ,   1.0 ] ,   \" Shift   Points   Map   RPM \" :   [   [   1000 ,   3000   ] ,   [   1200 ,   3700   ] ,   [   1200 ,   3700   ] ,   [   1200 ,   3700   ] ,   [   1200 ,   4000   ]   ]   }   }   \u4e0a\u8ff0   JSON   \u6587\u4ef6 \u4e2d \u7f16\u7801 \u7684 \u66f2\u7ebf \u5982\u4e0b \u6240\u793a \u3002   \u7b80\u5355 \u7684 \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b   \u8be5 \u6a21\u578b \u91c7\u7528 \u7b80\u5355 \u7684 \u901f\u5ea6 - \u626d\u77e9 \u4f9d\u8d56 \u4f9d\u8d56\u6027 \uff0c \u6ca1\u6709 \u626d\u77e9 \u8f6c\u6362 \u8f6c\u6362\u5668 \u548c \u53d8\u901f \u53d8\u901f\u7bb1 \u3002   \u53c2\u89c1   ChEngineSimple   \u548c   EngineSimple   \u3002   \u4e0b\u9762 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5177\u6709   CVT   \u7c7b \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \uff0c \u8bf4\u660e \u4e86 \u5404\u79cd \u6a21\u677f \u53c2\u6570 \u3002   {   \" Name \" :   \" HMMWV   Simple   Engine \" ,   \" Type \" :   \" Engine \" ,   \" Template \" :   \" EngineSimple \" ,   \" Maximum   Engine   Torque \" :   330 ,   \" Maximum   Engine   Power \" :   110000 ,   \" Maximum   Engine   Speed \" :   10000   }","title":"\u52a8\u529b\u7cfb\u7edf \u6a21\u578b"},{"location":"chrono/vehicle_powertrain/#_1","text":"\u57fa\u4e8e \u8f74 \u7684 \u52a8\u529b \u603b\u6210 \u6a21\u578b   \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u56fe \u6a21\u578b   \u7b80\u5355 \u7684 \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b   \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u8fde\u63a5 \u5230 \u9a71\u52a8 \u7cfb\u7edf \uff08 \u63a5\u6536 \u6cb9\u95e8 \u8f93\u5165 \uff09 \u548c \u8f66\u8f86 \u7cfb\u7edf \u7684 \u4f20\u52a8 \u7cfb \u7cfb\u7edf \u5b50\u7cfb\u7edf \uff08 \u63a5\u6536 \u9a71\u52a8 \u8f74 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5e76 \u53d1\u9001 \u9a71\u52a8 \u8f74 \u626d\u77e9 \uff09 \u3002   Chrono : : Vehicle   \u65e8\u5728 \u5141\u8bb8 \u94fe\u63a5 \u5230 \u7b2c\u4e09 \u4e09\u65b9 \u7b2c\u4e09\u65b9 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b \u3002 \u4e0e \u6b64\u7c7b \u5916\u90e8 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b \u63a5\u53e3 \u9700\u8981 \u4e24\u4e2a \u7cbe\u7b80 \u63a5\u53e3 \u63a5\u53e3\u7c7b \uff0c \u5b83\u4eec \u6d3e\u751f \u81ea   ChEngine   \u548c   ChTransmission   \u3002   Chrono : : Vehicle   \u4e3a \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u63d0\u4f9b \u4e86 \u51e0\u4e2a \u6a21\u677f \uff0c \u5982\u4e0b \u6240\u8ff0 \u3002","title":"\u52a8\u529b\u7cfb\u7edf \u6a21\u578b"},{"location":"chrono/vehicle_powertrain/#_2","text":"\u8be5 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b \u57fa\u4e8e \u5404\u79cd   Chrono   1 - D   \u8f74 \u5143\u4ef6   (   ChShaft   )   \u548c \u4e13\u7528 \u8f74 \u8fde\u63a5 \u5143\u4ef6 \u3002 \u8fd9\u4e9b \u5143\u4ef6 \u7528\u4e8e \u5efa\u6a21 \uff1a   \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a   (   ChShaftsThermalEngine   ) \uff0c \u901a\u8fc7 \u901f\u5ea6 \u626d\u77e9 \u66f2\u7ebf \u6307\u5b9a   \u626d\u77e9 \u8f6c\u6362 \u8f6c\u6362\u5668   (   ChShaftsTorqueConverter   ) \uff0c \u901a\u8fc7 \u66f2\u7ebf \u6307\u5b9a \u5bb9\u91cf \u7cfb\u6570 \u4f5c\u4e3a \u901f\u5ea6 \u6bd4 \u7684 \u51fd\u6570 \uff0c \u4ee5\u53ca \u626d\u77e9 \u6bd4 \u4f5c\u4e3a \u901f\u5ea6 \u6bd4 \u7684 \u51fd\u6570   \u53d8\u901f \u53d8\u901f\u7bb1 \uff08 \u624b\u52a8 \u6216 \u81ea\u52a8 \uff0c \u5177\u6709 \u4efb\u610f \u6570\u91cf \u7684 \u524d\u8fdb \u6863 \u548c \u5012 \u6863 \uff09   \u7535\u673a \u6a21\u5757 \u901a\u8fc7 \u7279\u6b8a \u7684   Chrono   \u7ea6\u675f \uff08   ChShaftBodyRotation   \uff09 \u8fde\u63a5 \u5230 \u5e95\u76d8 \uff0c \u4ece\u800c \u5141\u8bb8 \u6a21\u62df \u7535\u673a \u626d\u77e9 \u5bf9 \u5e95\u76d8 \u7684 \u5f71\u54cd \u3002   \u53c2\u9605 \u8bf7\u53c2\u9605   ChEngineShafts   \u3001   ChAutomaticTransmissionShafts   \u548c   ChManualTransmissionShafts   \u3002   \u4e0b\u56fe \u663e\u793a \u4e86 \u57fa\u4e8e \u8f74 \u7684 \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b \u4e0e \u57fa\u4e8e \u8f74 \u7684 \u8f6e\u5f0f \u8f66\u8f86 \u6a21\u578b \u7684 \u8fde\u63a5 \u3002   \u4e0b\u9762 \u63d0\u4f9b \u4e86 \u57fa\u4e8e \u8f74 \u7684 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \uff0c \u8bf4\u660e \u4e86 \u5404\u79cd \u6a21\u677f \u53c2\u6570 \uff1a   {   \" Name \" :   \" HMMWV   Shafts   Engine \" ,   \" Type \" :   \" Engine \" ,   \" Template \" :   \" EngineShafts \" ,   \" Motor   Block   Inertia \" :   10.5 ,   / /   connection   to   chassis   \" Motorshaft   Inertia \" :   1.1 ,   / /   connection   to   transmission   \" Torque   Map \" :   [   [   - 100 ,   300   ] ,   [   800 ,   382   ] ,   [   900 ,   490   ] ,   [   1000 ,   579   ] ,   [   1100 ,   650   ] ,   [   1200 ,   706   ] ,   [   1300 ,   746   ] ,   [   1400 ,   774   ] ,   [   1500 ,   789   ] ,   [   1600 ,   793   ] ,   [   1700 ,   788   ] ,   [   1800 ,   774   ] ,   [   1900 ,   754   ] ,   [   2000 ,   728   ] ,   [   2100 ,   697   ] ,   [   2200 ,   664   ] ,   [   2300 ,   628   ] ,   [   2400 ,   593   ] ,   [   2500 ,   558   ] ,   [   2700 ,   - 400   ]   ] ,   \" Losses   Map \" :   [   [   - 50 ,   30   ] ,   [   0 ,   0   ] ,   [   50 ,   - 30   ] ,   [   1000 ,   - 50   ] ,   [   2000 ,   - 70   ] ,   [   3000 ,   - 90   ]   ]   }   {   \" Name \" :   \" HMMWV   Shafts   Automatic   Transmission \" ,   \" Type \" :   \" Transmission \" ,   \" Template \" :   \" AutomaticTransmissionShafts \" ,   \" Transmission   Block   Inertia \" :   10.5 ,   / /   connection   to   chassis   \" Input   Shaft   Inertia \" :   0.3 ,   \" Motorshaft   Inertia \" :   0.5 ,   / /   connection   to   engine   \" Driveshaft   Inertia \" :   0.5 ,   / /   connection   to   driveline   \" Torque   Converter \" :   {   \" Capacity   Factor   Map \" :   [   [   0.00 ,   15.00   ] ,   [   0.25 ,   15.00   ] ,   [   0.50 ,   15.00   ] ,   [   0.75 ,   16.00   ] ,   [   0.90 ,   18.00   ] ,   [   1.00 ,   35.00   ]   ] ,   \" Torque   Ratio   Map \" :   [   [   0.00 ,   2.00   ] ,   [   0.25 ,   1.80   ] ,   [   0.50 ,   1.50   ] ,   [   0.75 ,   1.15   ] ,   [   1.00 ,   1.00   ]   ]   } ,   \" Gear   Box \" :   {   \" Forward   Gear   Ratios \" :   [   0.2 ,   0.4 ,   0.8   ] ,   \" Reverse   Gear   Ratio \" :   - 0.1 ,   \" Upshift   RPM \" :   2500 ,   \" Downshift   RPM \" :   1200 ,   \" Shift   Latency \" :   1.0   }   }   \u4e0a\u8ff0   JSON   \u6587\u4ef6 \u4e2d \u7f16\u7801 \u7684 \u66f2\u7ebf \u5982\u4e0b \u6240\u793a \u3002","title":"\u57fa\u4e8e \u8f74 \u7684 \u52a8\u529b \u603b\u6210 \u6a21\u578b"},{"location":"chrono/vehicle_powertrain/#_3","text":"\u8fd9\u662f \u4e00\u4e2a \u7b80\u5355 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b \u7684 \u6a21\u677f \uff0c \u57fa\u4e8e \u901f\u5ea6 \u626d\u77e9 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u56fe \u3002 \u8be5 \u6a21\u578b \u6ca1\u6709 \u626d\u77e9 \u8f6c\u6362 \u8f6c\u6362\u5668 \uff0c \u53ef\u4ee5 \u6709 \u624b\u52a8 \u6216 \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u5668 \u3002 \u5b83 \u63a5\u53d7 \u4e00\u4e2a \u5012 \u6863 \u548c \u4efb\u610f \u6570\u91cf \u7684 \u524d\u8fdb \u6863 \u3002 \u5728 \u81ea\u52a8 \u6a21\u5f0f \u4e0b \uff0c \u6362\u6863 \u662f \u6839\u636e \u6307\u5b9a \u7684 \u7406\u60f3 \u6362\u6863 \u70b9 \u8fdb\u884c \u7684 \u3002   \u53c2\u89c1   ChEngineSimpleMap   \u548c   ChAutomaticTransmissionSimpleMap   \u3002   \u4e0b\u9762 \u63d0\u4f9b \u4e86 \u5e26\u6709 \u5730\u56fe \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \uff0c \u8bf4\u660e \u4e86 \u5404\u79cd \u6a21\u677f \u53c2\u6570 \u3002   {   \" Name \" :   \" UAZBUS   Simple   Map   Engine \" ,   \" Type \" :   \" Engine \" ,   \" Template \" :   \" EngineSimpleMap \" ,   \" Maximal   Engine   Speed   RPM \" :   4000 ,   \" Map   Full   Throttle \" :   [   [   - 10.0 ,   104.66   ] ,   [   7.365 e + 02 ,   1.744 e + 02   ] ,   [   9.876 e + 02 ,   1.827 e + 02   ] ,   [   1.238 e + 03 ,   1.898 e + 02   ] ,   [   1.500 e + 03 ,   1.957 e + 02   ] ,   [   1.724 e + 03 ,   2.005 e + 02   ] ,   [   1.980 e + 03 ,   2.052 e + 02   ] ,   [   2.188 e + 03 ,   2.076 e + 02   ] ,   [   2.348 e + 03 ,   2.081 e + 02   ] ,   [   2.492 e + 03 ,   2.062 e + 02   ] ,   [   2.737 e + 03 ,   2.062 e + 02   ] ,   [   2.992 e + 03 ,   2.062 e + 02   ] ,   [   3.189 e + 03 ,   2.064 e + 02   ] ,   [   3.487 e + 03 ,   2.031 e + 02   ] ,   [   3.684 e + 03 ,   1.995 e + 02   ] ,   [   3.908 e + 03 ,   1.945 e + 02   ] ,   [   4100.0 ,   - 100.0   ] ,   [   4200.0 ,   - 200.0   ]   ] ,   \" Map   Zero   Throttle \" :   [   [   - 10.0 ,   0.0   ] ,   [   7.365 e + 02 ,   - 10.0   ] ,   [   9.880 e + 02 ,   - 10.0   ] ,   [   1.500 e + 03 ,   - 15.0   ] ,   [   1.980 e + 03 ,   - 15.0   ] ,   [   2.348 e + 03 ,   - 15.0   ] ,   [   2.737 e + 03 ,   - 20.0   ] ,   [   3.189 e + 03 ,   - 20.0   ] ,   [   3.685 e + 03 ,   - 30.0   ] ,   [   3.908 e + 03 ,   - 100.0   ]   ]   }   {   \" Name \" :   \" UAZBUS   Simple   Map   Transmission \" ,   \" Type \" :   \" Transmission \" ,   \" Template \" :   \" AutomaticTransmissionSimpleMap \" ,   \" Gear   Box \" :   {   \" Reverse   Gear   Ratio \" :   - 0.191 ,   \" Forward   Gear   Ratios \" :   [ 0.125 ,   0.242 ,   0.379 ,   0.633 ,   1.0 ] ,   \" Shift   Points   Map   RPM \" :   [   [   1000 ,   3000   ] ,   [   1200 ,   3700   ] ,   [   1200 ,   3700   ] ,   [   1200 ,   3700   ] ,   [   1200 ,   4000   ]   ]   }   }   \u4e0a\u8ff0   JSON   \u6587\u4ef6 \u4e2d \u7f16\u7801 \u7684 \u66f2\u7ebf \u5982\u4e0b \u6240\u793a \u3002","title":"\u53d1\u52a8\u673a \u56fe \u6a21\u578b"},{"location":"chrono/vehicle_powertrain/#_4","text":"\u8be5 \u6a21\u578b \u91c7\u7528 \u7b80\u5355 \u7684 \u901f\u5ea6 - \u626d\u77e9 \u4f9d\u8d56 \u4f9d\u8d56\u6027 \uff0c \u6ca1\u6709 \u626d\u77e9 \u8f6c\u6362 \u8f6c\u6362\u5668 \u548c \u53d8\u901f \u53d8\u901f\u7bb1 \u3002   \u53c2\u89c1   ChEngineSimple   \u548c   EngineSimple   \u3002   \u4e0b\u9762 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5177\u6709   CVT   \u7c7b \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \uff0c \u8bf4\u660e \u4e86 \u5404\u79cd \u6a21\u677f \u53c2\u6570 \u3002   {   \" Name \" :   \" HMMWV   Simple   Engine \" ,   \" Type \" :   \" Engine \" ,   \" Template \" :   \" EngineSimple \" ,   \" Maximum   Engine   Torque \" :   330 ,   \" Maximum   Engine   Power \" :   110000 ,   \" Maximum   Engine   Speed \" :   10000   }","title":"\u7b80\u5355 \u7684 \u52a8\u529b \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b"},{"location":"chrono/vehicle_terrain/","text":"\u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b   \u5e73\u5766 \u5730\u5f62   \u575a\u786c \u5730\u5f62   \u53ef \u53d8\u5f62   SCM \uff08 \u571f\u58e4 \u63a5\u89e6 \u6a21\u578b \uff09   \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u5730\u5f62   \u53ef \u53d8\u5f62   FEA \uff08 ANCF   \u5b9e\u4f53 \u5143\u7d20 \uff09   Chrono : : Vehicle   \u4e2d \u7684 \u5730\u5f62 \u5bf9\u8c61 \u5fc5\u987b \u63d0\u4f9b \u4ee5\u4e0b \u65b9\u6cd5 \uff1a   \u8fd4\u56de \u6307\u5b9a \u4f4d\u7f6e \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u7684 \u70b9 \u7684 \u5730\u5f62 \u9ad8\u5ea6   \u8fd4\u56de \u6307\u5b9a \u4f4d\u7f6e \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u7684 \u70b9 \u7684 \u5730\u5f62 \u6cd5\u7ebf   \u8fd4\u56de \u6307\u5b9a \u4f4d\u7f6e \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u70b9 \u7684 \u5730\u5f62 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \uff0c \u5176\u4e2d \u5047\u5b9a \u7ed9\u5b9a \u4f4d\u7f6e \u5728 \u5f53\u524d \u4e16\u754c \u6846\u67b6 \u4e2d \u8868\u8fbe \u3002   \u53c2\u89c1 \u57fa\u7c7b   ChTerrain   \u7684 \u5b9a\u4e49 \u3002   \u4f46 \u8bf7 \u6ce8\u610f \uff0c \u8fd9\u4e9b \u91cf \u4ec5 \u4e0e \u6240\u8c13 \u7684   \u534a \u7ecf\u9a8c \u8f6e\u80ce \u6a21\u578b   \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u6709\u5173 \u3002 \u56e0\u6b64 \uff0c \u5b83\u4eec \u4e0d\u9002 \u7528\u4e8e \u53ef \u53d8\u5f62 \u5730\u5f62 \uff08 SCM \u3001 \u9897\u7c92 \u6216 \u57fa\u4e8e   FEA \uff09 \u7684 \u60c5\u51b5 \uff0c \u56e0\u4e3a \u53ef \u53d8\u5f62 \u5730\u5f62 \u53ea\u80fd \u4e0e   \u521a\u6027   \u6216   FEA   \u8f6e\u80ce \u6a21\u578b \u4ee5\u53ca \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u914d\u5408 \u4f7f\u7528 \uff08 \u56e0\u4e3a \u5b83\u4eec \u4f9d\u8d56 \u8d56\u4e8e \u4f9d\u8d56\u4e8e \u5e95\u5c42 \u7684   Chrono   \u78b0\u649e \u548c \u63a5\u89e6 \u7cfb\u7edf \uff09 \u3002   \u6b64\u5916 \uff0c \u67d0\u4e9b \u8f6e\u80ce \u6a21\u578b \u53ef\u80fd \u4f1a \u4f7f\u7528 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \u503c\u6765 \u4fee\u6539 \u8f6e\u80ce \u7279\u6027 \uff0c \u4f46 \u4e0d\u4f1a \u5bf9 \u5730\u5f62 \u4e0e \u5176\u4ed6 \u7269\u4f53 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u4ea7\u751f \u5f71\u54cd \uff08 \u5305\u62ec \u672a \u660e\u786e \u4f7f\u7528 \u5b83 \u7684 \u8f6e\u80ce \u6a21\u578b \uff09 \u3002   ChTerrain   \u57fa\u7c7b \u8fd8 \u5b9a\u4e49 \u4e86 \u4e00\u4e2a \u51fd\u5b50 \u5bf9\u8c61   ChTerrain : : FrictionFunctor   \uff0c \u5b83 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u7528\u4e8e \u6307\u5b9a \u4f4d\u7f6e \u76f8\u5173 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \u7684 \u63a5\u53e3 \u3002 \u7528\u6237 \u5fc5\u987b \u5b9e\u73b0 \u4ece\u6b64 \u57fa\u7c7b \u6d3e\u751f \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7c7b \uff0c \u5e76 \u5b9e\u73b0 \u865a\u62df \u65b9\u6cd5   operator ( )   \u4ee5 \u8fd4\u56de \u7ed9\u5b9a \u4f4d\u7f6e \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u70b9 \u7684 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \uff08 x   ,   y ,   z \uff09 \u4f4d\u7f6e \uff08 \u5047\u5b9a \u5728 \u5f53\u524d \u4e16\u754c \u6846\u67b6 \u4e2d \u8868\u8fbe \uff09 \u3002   \u5e73\u5766 \u5730\u5f62   FlatTerrain   \u662f \u4e00\u4e2a \u6c34\u5e73 \u5e73\u9762 \u6c34\u5e73\u9762 \u6a21\u578b \uff0c \u5177\u6709 \u65e0\u9650 \u5ef6\u4f38 \uff0c \u4f4d\u4e8e \u7528\u6237 \u6307\u5b9a \u7684 \u9ad8\u5ea6 \u3002   FlatTerrain   : : GetCoefficientFriction   \u65b9\u6cd5 \u8fd4\u56de \u6784\u9020 \u65f6 \u6307\u5b9a \u7684 \u6052\u5b9a \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \uff0c \u6216\u8005 \uff0c \u5982\u679c   FrictionFunctor   \u5df2 \u6ce8\u518c \u5bf9\u8c61 \uff0c \u5219 \u8fd4\u56de \u5176 \u8fd4\u56de \u8fd4\u56de\u503c \u3002   \u7531\u4e8e \u5e73\u5766 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u4e0d \u5e26\u6709 \u4efb\u4f55 \u78b0\u649e \u548c \u63a5\u89e6 \u4fe1\u606f \uff0c \u56e0\u6b64 \u5b83 \u53ea\u80fd \u4e0e   \u534a \u7ecf\u9a8c \u8f6e\u80ce \u6a21\u578b   \u4e00\u8d77 \u4f7f\u7528 \u3002   \u575a\u786c \u5730\u5f62   RigidTerrain   \u662f \u5177\u6709 \u4efb\u610f \u51e0\u4f55 \u5f62\u72b6 \u7684 \u521a\u6027 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u3002 \u521a\u6027 \u5730\u5f62 \u88ab \u6307\u5b9a \u4e3a \u4e00\u7ec4 \u9762\u7247 \uff0c \u6bcf\u4e2a \u9762\u7247 \u53ef\u4ee5 \u662f \u4ee5\u4e0b \u4e4b\u4e00 \uff1a   \u4e00\u4e2a \u77e9\u5f62 \u77e9\u5f62\u6846 \uff0c \u53ef\u80fd \u5df2 \u65cb\u8f6c \uff1b \u201c \u9a71\u52a8 \u201d \u8868\u9762 \u662f \u6846 \u7684 \u9876\u9762 \uff08 \u5728 \u4e16\u754c \u7684 \u5782\u76f4 \u65b9\u5411 \u4e0a \uff09   \u4ece \u7528\u6237 \u6307\u5b9a \u7684   Wavefront   OBJ   \u6587\u4ef6 \u4e2d \u8bfb\u53d6 \u7684 \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c   \u901a\u8fc7 \u7a0b\u5e8f \u4ece \u7528\u6237 \u6307\u5b9a \u7684 \u7070\u5ea6   BMP   \u56fe\u50cf \u751f\u6210 \u7684 \u4e09\u89d2 \u7f51\u683c   \u521a\u6027 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u53ef \u4e0e \u4efb\u4f55   Chrono : : Vehicle   \u8f6e\u80ce \u6a21\u578b \u4ee5\u53ca \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u4e00\u8d77 \u4f7f\u7528 \u3002   \u76d2\u72b6 \u9762\u7247 \u7531 \u9876\u9762 \uff08 \u9a71\u52a8 \u9762 \uff09 \u4e2d\u5fc3 \u3001 \u9876\u9762 \u6cd5\u7ebf \u548c \u9762\u7247 \u5c3a\u5bf8 \uff08 \u957f\u5ea6 \u3001 \u5bbd\u5ea6 \u548c \u53ef\u9009 \u539a\u5ea6 \uff09 \u6307\u5b9a \u3002 \u76d2\u72b6 \u9762\u7247 \u4e5f \u53ef\u4ee5 \u7531 \u591a\u4e2a \u76f8\u90bb \u7684 \u56fe\u5757 \u521b\u5efa \uff0c \u6bcf\u4e2a \u56fe\u5757 \u90fd \u662f   Chrono   \u76d2\u72b6 \u63a5\u89e6 \u5f62\u72b6 \uff1b \u5bf9\u4e8e \u6c34\u5e73 \u8303\u56f4 \u8f83\u5927 \u7684 \u76d2 \u72b6 \u9762\u7247 \uff0c \u5efa\u8bae \u8fd9\u6837 \u505a \uff0c \u56e0\u4e3a \u8be5 \u5c3a\u5bf8 \u7684 \u5355\u4e2a \u78b0\u649e \u5f62\u72b6 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u7b97\u6cd5 \u51fa\u73b0 \u9519\u8bef \u3002   \u4e0b\u56fe \u663e\u793a \u4e86 \u7f51\u683c \u521a\u6027 \u5730\u5f62 \u8d34\u7247 \u7684 \u793a\u4f8b \u3002 \u5047\u8bbe \u7f51\u683c \u76f8\u5bf9 \u4e8e   ISO   \u53c2\u8003 \u6846\u67b6 \u63d0\u4f9b \uff0c \u5e76\u4e14 \u6ca1\u6709 \u201c \u60ac\u5782 \u201d \uff08 \u6362\u53e5 \u6362\u53e5\u8bdd \u6362\u53e5\u8bdd\u8bf4 \uff0c \u5782\u76f4 \u5c04\u7ebf \u6700\u591a \u4e0e \u7f51\u683c \u76f8\u4ea4 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \uff09 \u3002 \u7528\u6237 \u8fd8 \u53ef\u4ee5 \u9009\u62e9 \u5c06 \u5730\u5f62 \u7f51\u683c \u7684 \u201c \u539a\u5ea6 \u201d \u6307\u5b9a \u4e3a \u626b\u63cf \u7403\u4f53 \u7684 \u534a\u5f84 \u3002 \u4e3a\u6b64 \u534a\u5f84 \u6307\u5b9a \u4e00\u4e2a \u5c0f \u7684 \u6b63\u503c \u53ef\u4ee5 \u663e\u8457 \u63d0\u9ad8 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u7b97\u6cd5 \u7684 \u7a33\u5065 \u7a33\u5065\u6027 \u3002   \u9ad8\u5ea6 \u56fe \u8865\u4e01 \u901a\u8fc7 \u7070\u5ea6   BMP   \u56fe\u50cf \uff08 \u5982\u4e0b \u6240\u793a \uff09 \u3001 \u8865\u4e01 \u7684 \u6c34\u5e73 \u8303\u56f4 \uff08 \u957f\u5ea6 \u548c \u5bbd\u5ea6 \uff09 \u548c \u9ad8\u5ea6 \u8303\u56f4 \uff08 \u6700\u5c0f \u548c \u6700\u5927 \u9ad8\u5ea6 \uff09 \u6307\u5b9a \u3002 \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c \u662f \u901a\u8fc7 \u7f16\u7a0b \u751f\u6210 \u7684 \uff0c \u65b9\u6cd5 \u662f \u4e3a \u8f93\u5165   BMP   \u56fe\u50cf \u4e2d \u7684 \u6bcf\u4e2a \u50cf\u7d20 \u521b\u5efa \u4e00\u4e2a \u7f51\u683c \u9876\u70b9 \uff0c \u5728 \u6c34\u5e73 \u9762\u4e0a \u62c9\u4f38 \u7f51\u683c \u4ee5 \u5339\u914d \u7ed9\u5b9a \u7684 \u8303\u56f4 \uff0c \u5e76 \u5728 \u5782\u76f4 \u65b9\u5411 \u4e0a \u62c9\u4f38 \u7f51\u683c \uff0c \u4f7f\u5f97 \u6700\u5c0f \u9ad8\u5ea6 \u5bf9\u5e94 \u4e8e \u5b8c\u7f8e \u7684 \u9ed1\u8272 \u50cf\u7d20 \u989c\u8272 \uff0c \u6700\u5927 \u9ad8\u5ea6 \u5bf9\u5e94 \u4e8e \u5b8c\u7f8e \u7684 \u767d\u8272 \u50cf\u7d20 \u3002   \u9ad8\u5ea6 \u548c \u6cd5\u7ebf \u8ba1\u7b97   \u3002   RigidTerrain : : GetHeight   \u548c   RigidTerrain : : GetNormal   \u7684 \u5b9e\u73b0 \u4f9d\u8d56 \u8d56\u4e8e \u4f9d\u8d56\u4e8e \u76f8\u5bf9 \u6602\u8d35 \u7684 \u5149\u7ebf \u6295\u5c04 \u64cd\u4f5c \uff1a \u5728 \u6240\u6709 \u7ec4\u6210 \u9762\u7247 \u4e0a \u4ece \u4e0a\u65b9 \u6295\u5c04 \u5782\u76f4 \u5149\u7ebf \uff0c \u5e76 \u62a5\u544a \u76f8\u4ea4 \u70b9 \u7684 \u9ad8\u5ea6 \u548c \u6cd5\u7ebf \u3002 \u5bf9\u4e8e \u76d2\u5b50 \u9762\u7247 \uff0c \u5149\u7ebf \u6295\u5c04 \u4f7f\u7528 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5206\u6790 \u5b9e\u73b0 \uff0c \u8be5 \u5b9e\u73b0 \u4f1a \u627e\u5230 \u5149\u7ebf \u4e0e \u76d2\u5b50 \u57df \u9876\u9762 \u7684 \u4ea4\u70b9 \uff1b \u5bf9\u4e8e \u57fa\u4e8e \u7f51\u683c \u7684 \u9762\u7247 \uff0c \u5149\u7ebf \u6295\u5c04 \u5c06 \u63a8\u8fdf \u5230 \u5e95\u5c42 \u78b0\u649e \u7cfb\u7edf \u3002 \u5982\u679c \u6ca1\u6709 \u76f8\u4ea4 \u7684 \u9762\u7247 \uff0c \u8fd9\u4e9b \u51fd\u6570 \u5c06 \u8fd4\u56de 0 \u548c \u4e16\u754c \u7684 \u5782\u76f4 \u65b9\u5411 \u3002   \u4f4d\u7f6e \u76f8\u5173 \u7684 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570   \u3002 \u521a\u6027 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u652f\u6301 \u5bf9\u8c61 \u7684 \u5b9a\u4e49   FrictionFunctor   \u3002 \u5982\u679c \u6ca1\u6709 \u63d0\u4f9b \u8fd9\u6837 \u7684 \u51fd\u5b50 \uff0c   RigidTerrain : : GetCoefficientFriction   \u5c06 \u4f7f\u7528 \u5c04\u7ebf \u6295\u5c04 \u65b9\u6cd5 \u6765 \u8bc6\u522b \u6b63\u786e \u7684 \u8865\u4e01 \uff0c \u5e76 \u8fd4\u56de \u8be5 \u8865\u4e01 \u7684 \uff08 \u6052\u5b9a \uff09 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \u3002 \u5982\u679c \u63d0\u4f9b \u4e86 \u51fd\u5b50 \uff0c RigidTerrain : : GetCoefficientFriction   \u53ea\u4f1a \u8fd4\u56de \u5176\u503c \u3002 \u4f46\u662f \uff0c \u5904\u7406 \u4e0e \u5730\u5f62 \u7684 \u63a5\u89e6 \uff08 \u4f8b\u5982 \uff0c \u4f7f\u7528 \u521a\u6027 \u8f6e\u80ce \u6216 \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u65f6 \uff09 \u76f8\u5bf9 \u6602\u8d35 \uff1a \u6bcf\u6b21 \u8c03\u7528 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u7b97\u6cd5 \u65f6 \uff08 \u5373 \u6bcf\u4e2a \u6a21\u62df \u6b65\u9aa4 \u4e00\u6b21 \uff09 \uff0c \u90fd \u4f1a \u904d\u5386   Chrono   \u7cfb\u7edf \u4e2d \u6240\u6709 \u63a5\u89e6 \u7684 \u5217\u8868 \u4ee5 \u62e6\u622a \u6240\u6709 \u6d89\u53ca \u521a\u6027 \u5730\u5f62 \u8865\u4e01 \u78b0\u649e \u6a21\u578b \u7684 \u63a5\u89e6 \uff1b \u5bf9\u4e8e \u8fd9\u4e9b \u63a5\u89e6 \uff0c \u590d\u5408 \u6750\u6599 \u590d\u5408\u6750\u6599 \u5c5e\u6027 \u4f1a \u88ab \u4fee\u6539 \u4ee5 \u8003\u8651 \u63a5\u89e6 \u89e6\u70b9 \u63a5\u89e6\u70b9 \u5904 \u7684 \u5730\u5f62 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \u3002   \u521a\u6027 \u5730\u5f62 \u53ef\u4ee5 \u901a\u8fc7 \u7f16\u7a0b \u6784\u5efa \uff0c \u4e00\u6b21 \u5b9a\u4e49 \u4e00\u4e2a \u8865\u4e01 \uff0c \u6216\u8005 \u5728   JSON   \u6587\u4ef6 \u4e2d \u6307\u5b9a \uff0c \u5982\u4e0b \u6240\u793a \uff1a   {   \" Name \" :   \" Rigid   plane \" ,   \" Type \" :   \" Terrain \" ,   \" Template \" :   \" RigidTerrain \" ,   \" Patches \" :   [   / /   Patch   1 :   box   {   \" Location \" :   [   - 15 ,   0 ,   0   ] ,   \" Orientation \" :   [   1 ,   0 ,   0 ,   0   ] ,   \" Geometry \" :   {   \" Dimensions \" :   [   60 ,   20 ,   2   ]   } ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.01 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e7 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2e5 ,   \" Normal   Damping \" :   40.0 ,   \" Tangential   Stiffness \" :   2e5 ,   \" Tangential   Damping \" :   20.0   }   } ,   \" Visualization \" :   {   \" Color \" :   [   1.0 ,   0.5 ,   0.5   ] ,   \" Texture   File \" :   \" terrain / textures / tile4 . jpg \" ,   \" Texture   Scaling \" :   [   60 ,   20   ]   }   } ,   / /   Patch   2 :   box   {   \" Location \" :   [   20 ,   0 ,   0.1   ] ,   \" Orientation \" :   [   1 ,   0 ,   0 ,   0   ] ,   \" Geometry \" :   {   \" Dimensions \" :   [   20 ,   30 ,   2   ]   } ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.01 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e7 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2e5 ,   \" Normal   Damping \" :   40.0 ,   \" Tangential   Stiffness \" :   2e5 ,   \" Tangential   Damping \" :   20.0   }   } ,   \" Visualization \" :   {   \" Color \" :   [   1.0 ,   0.5 ,   0.5   ]   }   } ,   / /   Patch   3 :   height - map   {   \" Location \" :   [   0 ,   42 ,   0   ] ,   \" Orientation \" :   [   1 ,   0 ,   0 ,   0   ] ,   \" Geometry \" :   {   \" Height   Map   Filename \" :   \" terrain / height _ maps / bump64 . bmp \" ,   \" Size \" :   [   64 ,   64   ] ,   \" Height   Range \" :   [   0 ,   3   ]   } ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.01 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e7 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2e5 ,   \" Normal   Damping \" :   40.0 ,   \" Tangential   Stiffness \" :   2e5 ,   \" Tangential   Damping \" :   20.0   }   } ,   \" Visualization \" :   {   \" Color \" :   [   1.0 ,   1.0 ,   1.0   ] ,   \" Texture   File \" :   \" terrain / textures / grass . jpg \" ,   \" Texture   Scaling \" :   [   64 ,   64   ]   }   } ,   / /   Patch   4 :   Mesh   {   \" Location \" :   [   0 ,   - 42 ,   0   ] ,   \" Orientation \" :   [   1 ,   0 ,   0 ,   0   ] ,   \" Geometry \" :   {   \" Mesh   Filename \" :   \" terrain / meshes / bump . obj \"   } ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.01 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e7 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2e5 ,   \" Normal   Damping \" :   40.0 ,   \" Tangential   Stiffness \" :   2e5 ,   \" Tangential   Damping \" :   20.0   }   } ,   \" Visualization \" :   {   \" Color \" :   [   0.5 ,   0.5 ,   0.8   ] ,   \" Texture   File \" :   \" terrain / textures / dirt . jpg \" ,   \" Texture   Scaling \" :   [   200 ,   200   ]   }   }   ]   }   CRG   \u5730\u5f62   CRGTerrain   \u662f \u6839\u636e OpenCRG \u9053\u8def \u89c4\u8303 \u6784\u5efa \u7684 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u3002 \u8981 \u4f7f\u7528 \u6b64 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \uff0c \u7528\u6237 \u5fc5\u987b \u5b89\u88c5   OpenCRG   SDK   \u5e76 \u5728   CMake   \u914d\u7f6e \u671f\u95f4 \u542f\u7528 \u5176 \u4f7f\u7528 \uff08 \u53c2\u9605 \u8bf7\u53c2\u9605   Chrono : : Vehicle   \u5b89\u88c5 \u8bf4\u660e   \uff09 \u3002   CRG   \u5730\u5f62 \u4ece \u89c4\u8303 \u6587\u4ef6 \uff08 \u4f8b\u5982 \u4e0b\u9762 \u5217\u51fa \u7684 \u6587\u4ef6 \uff09 \u521b\u5efa \u9053\u8def \u8f6e\u5ed3 \uff08 \u5177\u6709 \u76f8\u5173 \u5bbd\u5ea6 \u7684   3D   \u8def\u5f84 \uff09 \uff0c \u5e76 \u5b9e\u73b0 \u51fd\u6570   CRGTerrain : : GetHeight   \u548c   CRGTerrain : : GetNormal   \u4ee5 \u4f7f\u7528 \u6b64 \u89c4\u8303 \u3002 \u8bf7 \u6ce8\u610f \uff0c crg \u89c4\u8303 \u6587\u4ef6 \u53ef\u4ee5 \u662f   ASCII   \u6216 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u3002   *   Emacs   major   mode   to   be   selected   automagically :   - * - CASCaDE - * -   *   $ Id :   handmade _ curved _ minimalist . crg   21   2009 - 06 - 23   15 : 03 : 13Z   jorauh   $   $ CT   CRG   file   example   for   road   surface   description   ( width :   3m ,   length :   22m )   with   curved   reference   line   and   grid   of   ( 0.25 m ... 1.0 m )   x   1.0 m .   A   minimalist   file   can   have   an   empty   $ CT ,   a   minimalist   $ ROAD _ CRG   block ,   and   no   comments   marked   by   asterisk   \" * \"   in   column   1   or   marked   by   \" ! \"   in   other   columns .   So   this   file   is   completely   equivalent   to   its   commented   version   in   handmade _ curved . crg   .   Copyright   2005 - 2009   OpenCRG   -   Daimler   AG   -   Jochen   Rauh   Licensed   under   the   Apache   License ,   Version   2.0   ( the   \" License \" ) ;   you   may   not   use   this   file   except   in   compliance   with   the   License .   You   may   obtain   a   copy   of   the   License   at   http : / / www . apache . org / licenses / LICENSE - 2.0   Unless   required   by   applicable   law   or   agreed   to   in   writing ,   software   distributed   under   the   License   is   distributed   on   an   \" AS   IS \"   BASIS ,   WITHOUT   WARRANTIES   OR   CONDITIONS   OF   ANY   KIND ,   either   express   or   implied .   See   the   License   for   the   specific   language   governing   permissions   and   limitations   under   the   License .   More   Information   on   OpenCRG   open   file   formats   and   tools   can   be   found   at   http : / / www . opencrg . org   $   $ ROAD _ CRG   REFERENCE _ LINE _ INCREMENT   =   1.0   $   $ KD _ Definition   # : LRFI   D : reference   line   phi , rad   D : long   section   at   v   =   - 1.500 , m   D : long   section   at   v   =   - 1.250 , m   D : long   section   at   v   =   - 1.000 , m   D : long   section   at   v   =   0.000 , m   D : long   section   at   v   =   1.000 , m   D : long   section   at   v   =   1.250 , m   D : long   section   at   v   =   1.500 , m   $   * * unused * *   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000   0.0000000   0.0110000   0.0000000   0.0000000   0.0111111   0.0111111   0.0111111   0.0000000   0.0000000   0.0220000   0.0000000   0.0111111   0.0111111   0.0111111   0.0111111   0.0111111   0.0000000   0.0330000   0.0000000   0.0000000   0.0111111   0.0111111   0.0111111   0.0000000   0.0000000   0.0440000   0.0111111   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000   0.0111111   0.0550000   0.0111111   0.0111111   0.0000000   0.0000000   0.0000000   0.0111111   0.0222222   0.0660000   0.0111111   0.0111111   0.0111111   0.0000000   0.0111111   0.0222222   0.0333333   0.0770000   0.0111111   0.0111111   0.0000000   0.0000000   0.0000000   0.0111111   0.0222222   0.0880000   0.0111111   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000   0.0111111   0.0990000   0.0000000   0.0000000   0.0111111   0.0222222   0.0111111   0.0000000   0.0000000   0.1100000   0.0000000   0.0111111   0.0222222   0.0222222   0.0222222   0.0111111   0.0000000   0.1100000   0.0000000   0.0000000   0.0111111   0.0222222   0.0111111   0.0000000   0.0000000   0.0990000   0.0111111   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000 - 0.0111111   0.0880000   0.0111111   0.0111111   0.0000000   0.0000000   0.0000000 - 0.0111111 - 0.0222222   0.0770000   0.0111111   0.0111111   0.0111111   0.0000000 - 0.0111111 - 0.0222222 - 0.0333333   0.0660000   0.0111111   0.0111111   0.0000000   0.0000000   0.0000000 - 0.0111111 - 0.0222222   0.0550000   0.0111111   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000 - 0.0111111   0.0440000   0.0000000   0.0000000   0.0111111   0.0222222   0.0111111   0.0000000   0.0000000   0.0330000   0.0000000   0.0111111   0.0222222   0.0333333   0.0222222   0.0111111   0.0000000   0.0220000   0.0000000   0.0000000   0.0111111   0.0222222   0.0111111   0.0000000   0.0000000   0.0110000   0.0000000   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   CRG   \u5730\u5f62 \u53ef\u4ee5 \u89c6\u4e3a \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c \uff08 \u4ee3\u8868 \u9053\u8def \u201c \u5e26 \u201d \uff09 \u6216 \u4e00\u7ec4   3D   \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \uff08 \u4ee3\u8868 \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \u548c \u9053\u8def \u4e24\u4fa7 \uff09 \u3002 CRGTerrain   \u7684 \u5176\u4ed6 \u529f\u80fd \u5305\u62ec \uff1a   \u80fd\u591f \u5bfc\u51fa \u9053\u8def \u7f51\u683c \uff08 \u4f5c\u4e3a \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c \uff09   \u80fd\u591f \u5bfc\u51fa \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \uff08 \u4f5c\u4e3a \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \uff09   \u9053\u8def \u957f\u5ea6 \u548c \u5bbd\u5ea6 \u7684 \u62a5\u544a \u65b9\u6cd5   \u4e0b\u56fe \u5c55\u793a \u4e86 \u4f7f\u7528 \u4e09\u89d2 \u7f51\u683c \u6216 \u9053\u8def \u8fb9\u754c \u66f2\u7ebf \u7684   CRG   \u9053\u8def \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u7531\u4e8e CRG \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u76ee\u524d \u4e0d \u643a\u5e26 \u4efb\u4f55 \u78b0\u649e \u548c \u63a5\u89e6 \u4fe1\u606f \uff0c \u56e0\u6b64 \u5b83 \u53ea\u80fd \u4e0e \u534a \u7ecf\u9a8c \u8f6e\u80ce \u6a21\u578b \u4e00\u8d77 \u4f7f\u7528 \u3002   \u53ef \u53d8\u5f62   SCM \uff08 \u571f\u58e4 \u63a5\u89e6 \u6a21\u578b \uff09   \u5728   SCMTerrain   \u4e2d \uff0c \u5730\u5f62 \u7531 \u9690\u5f0f \u89c4\u5219 \u5361\u5c14 \u7b1b\u5361\u5c14 \u7f51\u683c \u8868\u793a \uff0c \u5176 \u53d8\u5f62 \u901a\u8fc7 \u5176 \u8282\u70b9 \u7684 \u5782\u76f4 \u504f\u8f6c \u5b9e\u73b0 \u3002 \u8be5 \u571f\u58e4 \u6a21\u578b \u501f\u9274 \u4e86   Chrono   \u4e2d \u7684 \u901a\u7528 \u78b0\u649e \u5f15\u64ce \uff0c \u5176 \u8f7b\u91cf \u91cf\u7ea7 \u8f7b\u91cf\u7ea7 \u516c\u5f0f \u5141\u8bb8 \u8fd1\u4e4e \u5b9e\u65f6 \u5730 \u8ba1\u7b97 \u8f66\u8f86 \u4e0e \u5730\u5f62 \u7684 \u63a5\u89e6 \u89e6\u529b \u63a5\u89e6\u529b \u3002 \u4e3a\u4e86 \u89e3\u51b3 \u5185\u5b58 \u548c \u8ba1\u7b97 \u6548\u7387 \u95ee\u9898 \uff0c \u4ece\u672a \u660e\u786e \u521b\u5efa \u7f51\u683c \u3002 \u76f8\u53cd \uff0c \u53ea \u5728 \u54c8 \u5e0c\u56fe \u4e2d \u7ef4\u62a4 \u5df2 \u53d8\u5f62 \u7684 \u8282\u70b9 \u3002 \u6b64\u5916 \uff0c \u78b0\u649e \u7cfb\u7edf \u4e2d \u7684 \u5149\u7ebf \u6295\u5c04 \uff08 SCM   \u8ba1\u7b97 \u4e2d \u6700 \u6602\u8d35 \u7684 \u64cd\u4f5c \uff09 \u662f \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b \u7684 \u3002 \u4e3a\u4e86 \u9ad8\u6548 \u5730 \u53ef\u89c6 \u53ef\u89c6\u5316 \u53d8\u5f62 \u7684 \u5730\u5f62 \uff0c Chrono   SCM   \u7cfb\u7edf \u5b50\u7cfb\u7edf \u63d0\u4f9b \u4e86 \u9010\u6b65 \u66f4\u65b0 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7f51\u683c \u7684 \u65b9\u6cd5 \uff0c \u5e76\u4e14 \u5728 \u4f7f\u7528 \u5916\u90e8 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7cfb\u7edf \u65f6 \u62a5\u544a \u4e0a \u4e00\u4e2a \u65f6\u95f4 \u6b65\u5185 \u53d8\u5f62 \u7684 \u8282\u70b9 \u5b50\u96c6 \u3002   \u4e0b\u56fe \u6240\u793a \uff0c \u8f6e\u80ce \u5728 \u53ef \u53d8\u5f62 \u571f\u58e4 \u4e2d \u7559\u4e0b \u8f66\u8f99 \uff0c \u8bf4\u660e \u4e86   SCM   \u7684   Chrono   \u7248\u672c \u7684 \u7f51\u683c \u7ed3\u6784 \u3002   SCM   \u57fa\u4e8e \u534a \u7ecf\u9a8c \u6a21\u578b \uff0c \u53c2\u6570 \u5f88\u5c11 \uff0c \u56e0\u6b64 \u5f88 \u5bb9\u6613 \u6839\u636e \u5b9e\u9a8c \u7ed3\u679c \u8fdb\u884c \u6821\u51c6 \u3002 \u5b83 \u53ef\u4ee5 \u88ab \u89c6\u4e3a   Bekker - Wong   \u6a21\u578b \u7684 \u63a8\u5e7f \uff0c \u9002\u7528 \u4e8e \u4efb\u610f \u4e09\u7ef4 \u5f62\u72b6 \u7684 \u8f66\u8f6e \uff08 \u6216 \u5c65\u5e26 \u677f \uff09 \u3002 \u5bf9\u4e8e \u5728 \u53ef \u53d8\u5f62 \u571f\u58e4 \u4e0a \u79fb\u52a8 \u7684 \u8f66\u8f6e \uff0c Bekker   \u516c\u5f0f \u63d0\u4f9b \u4e86 \u538b\u529b \u4e0e \u571f\u58e4 \u5782\u76f4 \u53d8\u5f62 \u4e4b\u95f4 \u7684 \u5173\u7cfb \uff1a   \u8fd9\u91cc \u03c3 \u662f \u63a5\u89e6 \u63a5\u89e6\u9762 \u538b\u529b \uff0c y   \u662f \u8f66\u8f6e \u4e0b\u6c89 \uff0c $ k _ c $ \u662f \u8868\u793a \u571f\u58e4 \u7c98\u7ed3 \u6548\u5e94 \u7684 \u7ecf\u9a8c \u7cfb\u6570 \uff0c k \u03c6 \u662f \u8868\u793a \u571f\u58e4 \u521a\u5ea6 \u7684 \u7ecf\u9a8c \u7cfb\u6570 \uff0c n \u662f \u8868\u8fbe \u786c\u5316 \u6548\u5e94 \u7684 \u6307\u6570 \uff0c \u5b83 \u968f\u7740 \u571f\u58e4 \u7684 \u538b\u5b9e \u800c \u7ebf\u6027 \u975e\u7ebf\u6027 \u5730 \u589e\u52a0 \u3002 \u6700\u540e \uff0c b \u662f \u77e9\u5f62 \u63a5\u89e6 \u8db3\u8ff9 \u8f83 \u77ed\u8fb9 \u7684 \u957f\u5ea6 \uff08 \u56e0\u4e3a \u539f\u59cb   Bekker   \u7406\u8bba \u5047\u8bbe \u5706\u67f1 \u67f1\u5f62 \u5706\u67f1\u5f62 \u8f6e\u80ce \u5728 \u5e73\u5766 \u5730\u5f62 \u4e0a \u6eda\u52a8 \uff09 \u3002   \u5bf9\u4e8e \u901a\u7528 \u63a5\u89e6 \u8db3\u8ff9 \uff0c \u957f\u5ea6 b \u4e0d\u80fd \u50cf \u539f\u59cb   Bekker   \u6a21\u578b \u90a3\u6837 \u89e3\u91ca \uff1b \u76f8\u53cd \uff0c \u6211\u4eec \u901a\u8fc7 \u9996\u5148 \u83b7\u53d6 \u6240\u6709 \u8fde\u63a5 \u7684 \u63a5\u89e6 \u63a5\u89e6\u9762 \uff08 \u4f7f\u7528 \u6cdb\u6d2a \u7b97\u6cd5 \uff09 \u5e76 \u4f7f\u7528 \u8fd1\u4f3c \u8fd1\u4f3c\u503c \u6765 \u4f30\u8ba1 \u8fd9\u4e2a \u957f\u5ea6   b   =   2A   /   L   \u8fd9\u91cc A \u662f \u63a5\u89e6 \u9762\u79ef \u7684 \u9762\u79ef \uff0c L   \u662f \u5b83 \u7684 \u5468\u957f \u3002   Chrono   SCM   \u5b9e\u73b0 \u7684 \u5176\u4ed6 \u4e00\u4e9b \u529f\u80fd \u5305\u62ec \uff1a   \u521d\u59cb \u672a \u53d8\u5f62 \u7f51\u683c \u53ef\u4ee5 \u521b\u5efa \u4e3a   \u5e38\u89c4 \u5e73\u94fa \u7f51\u683c \uff08 \u586b\u5145 \u5e73\u9762 \u77e9\u5f62 \uff09   \u4ece \u9ad8\u5ea6 \u56fe \uff08 \u4ee5 \u7070\u5ea6   BMP   \u56fe\u50cf \u63d0\u4f9b \uff09   \u4ee5 \u7f16\u7a0b \u65b9\u5f0f   \u652f\u6301 \u4efb\u610f \u65b9\u5411 \u7684 \u5730\u5f62 \u53c2\u8003 \u5e73\u9762 \uff1b \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5730\u5f62 \u88ab \u5b9a\u4e49 \u4e3a \uff08 x   ,   y \uff09 \u5e73\u9762 \u662f ISO \u6846\u67b6   \u652f\u6301 \u79fb\u52a8 \u9762\u7247 \u65b9\u6cd5 \uff0c \u5176\u4e2d \u5149\u7ebf \u6295\u5c04 \uff08 \u6210\u672c \u6700\u9ad8 \u7684 \u64cd\u4f5c \uff09 \u88ab \u9650\u5236 \u5728 \u6307\u5b9a \u7684 \u8303\u56f4 \u5185 \u2014 \u2014 \u76f8\u5bf9 \u4e8e \u8f66\u8f86 \u79fb\u52a8 \u7684 \u77e9\u5f62 \u9762\u7247 \u6216 \u8fb9\u754c \u6846 \u7684 \u6295\u5f71   \u652f\u6301 \u6307\u5b9a \u4e0e \u4f4d\u7f6e \u76f8\u5173 \u7684 \u571f\u58e4 \u53c2\u6570 \uff1b \u8fd9 \u53ef\u4ee5 \u901a\u8fc7 \u63d0\u4f9b \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u56de\u8c03 \u7c7b\u6765 \u5b9e\u73b0 \uff0c \u8be5 \u56de\u8c03 \u7c7b \u5b9e\u73b0 \u4e00\u79cd \u8fd4\u56de \u7ed9\u5b9a \u4f4d\u7f6e \u7684 \u6240\u6709 \u571f\u58e4 \u53c2\u6570 \u7684 \u65b9\u6cd5 \uff08 x   ,   y \uff09 \u5730\u5f62 \u53c2\u8003 \u5e73\u9762 \u4e2d \u6307\u5b9a \u7684 \u70b9 \u3002 \u53c2\u89c1 SCMTerrain : : SoilParametersCallback   \u7531\u4e8e \u4e0e \u8fd9\u79cd \u5730\u5f62 \u7c7b\u578b \u7684 \u4ea4\u4e92 \u662f \u901a\u8fc7 \u5e95\u5c42 \u7684   Chrono   \u63a5\u89e6 \u7cfb\u7edf \u5b8c\u6210 \u7684 \uff0c \u56e0\u6b64 \u5b83 \u53ef\u4ee5 \u4e0e \u521a\u6027 \u6216 FE A\u8f6e \u80ce \u6a21\u578b \u4ee5\u53ca \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7ed3\u5408 \u4f7f\u7528 \u3002   \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u5730\u5f62   GranularTerrain   \u5b9e\u73b0 \u4e86 \u77e9\u5f62 \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u6750\u6599 \u5757 \uff0c \u5e76 \u5229\u7528 \u4e86   Chrono   \u5bf9 \u6240\u8c13 \u7684 \u79bb\u6563 \u5143\u6cd5   ( DEM )   \u6a21\u62df \u7684 \u5e7f\u6cdb \u652f\u6301 \u5e7f\u6cdb\u652f\u6301 \u3002 \u76ee\u524d \uff0c \u6b64 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u4ec5\u9650 \u9650\u4e8e \u4ec5\u9650\u4e8e \u5355 \u5206\u6563 \u7403\u5f62 \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u6750\u6599 \u3002   \u7531\u4e8e \u6a21\u62df \u5927\u89c4 \u89c4\u6a21 \u5927\u89c4\u6a21 \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u9700\u8981 \u5927\u91cf \u8ba1\u7b97 \uff0c Chrono : : Vehicle   \u4e2d \u7684   GranularTerrain   \u5bf9\u8c61 \u652f\u6301 \u201c \u79fb\u52a8 \u5757 \u201d \u65b9\u6cd5 \uff0c \u5176\u4e2d \u6a21\u62df \u53ef\u4ee5 \u9650\u5236 \u5728 \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u6750\u6599 \u7bb1\u4e2d \uff0c \u8be5 \u6750\u6599 \u7bb1\u4f1a \u6839\u636e \u6307\u5b9a \u7269\u4f53 \uff08 \u901a\u5e38 \u662f \u8f66\u8f86 \u5e95\u76d8 \uff09 \u7684 \u4f4d\u7f6e \u4e0d\u65ad \u91cd\u65b0 \u5b9a\u4f4d \u3002 \u76ee\u524d \uff0c \u79fb\u52a8 \u5757 \u53ea\u80fd \u5728 X \uff08 \u524d\u8fdb \uff09 \u65b9\u5411 \u3002   \u4e0b\u9762 \u662f \u4f7f\u7528 \u79fb\u52a8 \u9762\u7247 \u7279\u5f81 \u5728   GranularTerrain   \u4e0a \u8fdb\u884c \u8f66\u8f86 \u52a0\u901f \u6d4b\u8bd5 \u7684 \u793a\u4f8b \u3002 \u6b64 \u6a21\u62df \u4f7f\u7528 \u8d85\u8fc7   700 , 000   \u4e2a \u7c92\u5b50 \u548c   Chrono : : Multicore   \u6a21\u5757 \u8fdb\u884c \u591a\u6838 \u5e76\u884c \u6a21\u62df \u3002   GranularTerrain   \u7684 \u5176\u4ed6 \u529f\u80fd \u5305\u62ec \uff1a   \u5206\u5c42 \u751f\u6210 \u521d\u59cb \u7c92\u5b50 \u4f4d\u7f6e \uff0c \u7c92\u5b50 \u4f4d\u7f6e \u5728 \u6c34\u5e73 \u9762\u4e0a \u5747\u5300 \u5206\u5e03 \u5747\u5300\u5206\u5e03 \uff0c \u4e14 \u4fdd\u8bc1 \u4e0d \u5c0f\u4e8e \u7c92\u5b50 \u534a\u5f84 \u7684 \u4e24\u500d   \u5305\u542b \u56fa\u5b9a \u5728 \u8fb9\u754c \u7bb1\u4e0a \u7684 \u9897\u7c92 \uff08 \u4ee5 \u6291\u5236 \u6574\u4e2a \u9897\u7c92 \u6750\u6599 \u5e8a \u7684 \u6ed1\u52a8 \uff09 \uff1b \u7531\u4e8e \u76ee\u524d \u7684 \u9650\u5236 \uff0c \u6b64 \u529f\u80fd \u4e0d\u5e94 \u4e0e \u79fb\u52a8 \u8865\u4e01 \u9009\u9879 \u7ed3\u5408 \u4f7f\u7528   \u7bb1 \u8fb9\u754c \u7684 \u5206\u6790 \u5b9a\u4e49 \u548c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u673a\u5236   \u62a5\u544a \u5730\u5f62 \u9ad8\u5ea6 \uff08 \u5b9a\u4e49 \u4e3a \u6700\u5927 \u662f \u6240\u6709 \u7c92\u5b50 \u4f4d\u7f6e \u7684 \u503c \uff09   \u7531\u4e8e \u4e0e \u8fd9\u79cd \u5730\u5f62 \u7c7b\u578b \u7684 \u4ea4\u4e92 \u662f \u901a\u8fc7 \u5e95\u5c42 \u7684   Chrono   \u63a5\u89e6 \u7cfb\u7edf \u5b8c\u6210 \u7684 \uff0c \u56e0\u6b64 \u5b83 \u53ef\u4ee5 \u4e0e \u521a\u6027 \u6216 FE A\u8f6e \u80ce \u6a21\u578b \u4ee5\u53ca \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7ed3\u5408 \u4f7f\u7528 \u3002   \u53ef \u53d8\u5f62   FEA \uff08 ANCF   \u5b9e\u4f53 \u5143\u7d20 \uff09   FEATerrain   \u57fa\u4e8e   ChElementHexaANCF _ 3813 _ 9   \u7c7b\u578b \u7684 \u4e13\u7528   FEA   \u7816\u5757 \u5143\u7d20 \u63d0\u4f9b \u53ef \u53d8\u5f62 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u3002   \u8be5 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u5141\u8bb8 \uff1a   \u5c06 \u76d2\u5b50 \u57df \u79bb\u6563 \u5316\u4e3a \u7528\u6237 \u6307\u5b9a \u7684 \u5143\u7d20 \u6570\u91cf   \u6307\u5b9a \u6750\u6599 \u7279\u6027 \uff08 \u5bc6\u5ea6 \u3001 \u5f39\u6027 \u6a21\u91cf \u5f39\u6027\u6a21\u91cf \u3001 \u6cca\u677e\u6bd4 \u3001 \u5c48\u670d \u5e94\u529b \u5c48\u670d\u5e94\u529b \u3001 \u786c\u5316 \u659c\u7387 \u3001 \u81a8\u80c0 \u89d2 \u548c \u6469\u64e6 \u6469\u64e6\u89d2 \uff09   \u6dfb\u52a0   Chrono   FEA   \u7f51\u683c \u53ef\u89c6 \u53ef\u89c6\u5316 \u8d44\u4ea7   \u7531\u4e8e \u4e0e \u8fd9\u79cd \u5730\u5f62 \u7c7b\u578b \u7684 \u4ea4\u4e92 \u662f \u901a\u8fc7 \u5e95\u5c42 \u7684   Chrono   \u63a5\u89e6 \u7cfb\u7edf \u5b8c\u6210 \u7684 \uff0c \u56e0\u6b64 \u5b83 \u53ef\u4ee5 \u4e0e   \u521a\u6027   \u6216   FEA   \u8f6e\u80ce \u6a21\u578b \u4ee5\u53ca \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7ed3\u5408 \u4f7f\u7528 \u3002","title":"\u5730\u5f62\u6a21\u578b"},{"location":"chrono/vehicle_terrain/#_1","text":"\u5e73\u5766 \u5730\u5f62   \u575a\u786c \u5730\u5f62   \u53ef \u53d8\u5f62   SCM \uff08 \u571f\u58e4 \u63a5\u89e6 \u6a21\u578b \uff09   \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u5730\u5f62   \u53ef \u53d8\u5f62   FEA \uff08 ANCF   \u5b9e\u4f53 \u5143\u7d20 \uff09   Chrono : : Vehicle   \u4e2d \u7684 \u5730\u5f62 \u5bf9\u8c61 \u5fc5\u987b \u63d0\u4f9b \u4ee5\u4e0b \u65b9\u6cd5 \uff1a   \u8fd4\u56de \u6307\u5b9a \u4f4d\u7f6e \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u7684 \u70b9 \u7684 \u5730\u5f62 \u9ad8\u5ea6   \u8fd4\u56de \u6307\u5b9a \u4f4d\u7f6e \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u7684 \u70b9 \u7684 \u5730\u5f62 \u6cd5\u7ebf   \u8fd4\u56de \u6307\u5b9a \u4f4d\u7f6e \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u70b9 \u7684 \u5730\u5f62 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \uff0c \u5176\u4e2d \u5047\u5b9a \u7ed9\u5b9a \u4f4d\u7f6e \u5728 \u5f53\u524d \u4e16\u754c \u6846\u67b6 \u4e2d \u8868\u8fbe \u3002   \u53c2\u89c1 \u57fa\u7c7b   ChTerrain   \u7684 \u5b9a\u4e49 \u3002   \u4f46 \u8bf7 \u6ce8\u610f \uff0c \u8fd9\u4e9b \u91cf \u4ec5 \u4e0e \u6240\u8c13 \u7684   \u534a \u7ecf\u9a8c \u8f6e\u80ce \u6a21\u578b   \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u6709\u5173 \u3002 \u56e0\u6b64 \uff0c \u5b83\u4eec \u4e0d\u9002 \u7528\u4e8e \u53ef \u53d8\u5f62 \u5730\u5f62 \uff08 SCM \u3001 \u9897\u7c92 \u6216 \u57fa\u4e8e   FEA \uff09 \u7684 \u60c5\u51b5 \uff0c \u56e0\u4e3a \u53ef \u53d8\u5f62 \u5730\u5f62 \u53ea\u80fd \u4e0e   \u521a\u6027   \u6216   FEA   \u8f6e\u80ce \u6a21\u578b \u4ee5\u53ca \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u914d\u5408 \u4f7f\u7528 \uff08 \u56e0\u4e3a \u5b83\u4eec \u4f9d\u8d56 \u8d56\u4e8e \u4f9d\u8d56\u4e8e \u5e95\u5c42 \u7684   Chrono   \u78b0\u649e \u548c \u63a5\u89e6 \u7cfb\u7edf \uff09 \u3002   \u6b64\u5916 \uff0c \u67d0\u4e9b \u8f6e\u80ce \u6a21\u578b \u53ef\u80fd \u4f1a \u4f7f\u7528 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \u503c\u6765 \u4fee\u6539 \u8f6e\u80ce \u7279\u6027 \uff0c \u4f46 \u4e0d\u4f1a \u5bf9 \u5730\u5f62 \u4e0e \u5176\u4ed6 \u7269\u4f53 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u4ea7\u751f \u5f71\u54cd \uff08 \u5305\u62ec \u672a \u660e\u786e \u4f7f\u7528 \u5b83 \u7684 \u8f6e\u80ce \u6a21\u578b \uff09 \u3002   ChTerrain   \u57fa\u7c7b \u8fd8 \u5b9a\u4e49 \u4e86 \u4e00\u4e2a \u51fd\u5b50 \u5bf9\u8c61   ChTerrain : : FrictionFunctor   \uff0c \u5b83 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u7528\u4e8e \u6307\u5b9a \u4f4d\u7f6e \u76f8\u5173 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \u7684 \u63a5\u53e3 \u3002 \u7528\u6237 \u5fc5\u987b \u5b9e\u73b0 \u4ece\u6b64 \u57fa\u7c7b \u6d3e\u751f \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7c7b \uff0c \u5e76 \u5b9e\u73b0 \u865a\u62df \u65b9\u6cd5   operator ( )   \u4ee5 \u8fd4\u56de \u7ed9\u5b9a \u4f4d\u7f6e \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u70b9 \u7684 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \uff08 x   ,   y ,   z \uff09 \u4f4d\u7f6e \uff08 \u5047\u5b9a \u5728 \u5f53\u524d \u4e16\u754c \u6846\u67b6 \u4e2d \u8868\u8fbe \uff09 \u3002","title":"\u5730\u5f62\u6a21\u578b"},{"location":"chrono/vehicle_terrain/#_2","text":"FlatTerrain   \u662f \u4e00\u4e2a \u6c34\u5e73 \u5e73\u9762 \u6c34\u5e73\u9762 \u6a21\u578b \uff0c \u5177\u6709 \u65e0\u9650 \u5ef6\u4f38 \uff0c \u4f4d\u4e8e \u7528\u6237 \u6307\u5b9a \u7684 \u9ad8\u5ea6 \u3002   FlatTerrain   : : GetCoefficientFriction   \u65b9\u6cd5 \u8fd4\u56de \u6784\u9020 \u65f6 \u6307\u5b9a \u7684 \u6052\u5b9a \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \uff0c \u6216\u8005 \uff0c \u5982\u679c   FrictionFunctor   \u5df2 \u6ce8\u518c \u5bf9\u8c61 \uff0c \u5219 \u8fd4\u56de \u5176 \u8fd4\u56de \u8fd4\u56de\u503c \u3002   \u7531\u4e8e \u5e73\u5766 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u4e0d \u5e26\u6709 \u4efb\u4f55 \u78b0\u649e \u548c \u63a5\u89e6 \u4fe1\u606f \uff0c \u56e0\u6b64 \u5b83 \u53ea\u80fd \u4e0e   \u534a \u7ecf\u9a8c \u8f6e\u80ce \u6a21\u578b   \u4e00\u8d77 \u4f7f\u7528 \u3002","title":"\u5e73\u5766 \u5730\u5f62"},{"location":"chrono/vehicle_terrain/#_3","text":"RigidTerrain   \u662f \u5177\u6709 \u4efb\u610f \u51e0\u4f55 \u5f62\u72b6 \u7684 \u521a\u6027 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u3002 \u521a\u6027 \u5730\u5f62 \u88ab \u6307\u5b9a \u4e3a \u4e00\u7ec4 \u9762\u7247 \uff0c \u6bcf\u4e2a \u9762\u7247 \u53ef\u4ee5 \u662f \u4ee5\u4e0b \u4e4b\u4e00 \uff1a   \u4e00\u4e2a \u77e9\u5f62 \u77e9\u5f62\u6846 \uff0c \u53ef\u80fd \u5df2 \u65cb\u8f6c \uff1b \u201c \u9a71\u52a8 \u201d \u8868\u9762 \u662f \u6846 \u7684 \u9876\u9762 \uff08 \u5728 \u4e16\u754c \u7684 \u5782\u76f4 \u65b9\u5411 \u4e0a \uff09   \u4ece \u7528\u6237 \u6307\u5b9a \u7684   Wavefront   OBJ   \u6587\u4ef6 \u4e2d \u8bfb\u53d6 \u7684 \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c   \u901a\u8fc7 \u7a0b\u5e8f \u4ece \u7528\u6237 \u6307\u5b9a \u7684 \u7070\u5ea6   BMP   \u56fe\u50cf \u751f\u6210 \u7684 \u4e09\u89d2 \u7f51\u683c   \u521a\u6027 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u53ef \u4e0e \u4efb\u4f55   Chrono : : Vehicle   \u8f6e\u80ce \u6a21\u578b \u4ee5\u53ca \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u4e00\u8d77 \u4f7f\u7528 \u3002   \u76d2\u72b6 \u9762\u7247 \u7531 \u9876\u9762 \uff08 \u9a71\u52a8 \u9762 \uff09 \u4e2d\u5fc3 \u3001 \u9876\u9762 \u6cd5\u7ebf \u548c \u9762\u7247 \u5c3a\u5bf8 \uff08 \u957f\u5ea6 \u3001 \u5bbd\u5ea6 \u548c \u53ef\u9009 \u539a\u5ea6 \uff09 \u6307\u5b9a \u3002 \u76d2\u72b6 \u9762\u7247 \u4e5f \u53ef\u4ee5 \u7531 \u591a\u4e2a \u76f8\u90bb \u7684 \u56fe\u5757 \u521b\u5efa \uff0c \u6bcf\u4e2a \u56fe\u5757 \u90fd \u662f   Chrono   \u76d2\u72b6 \u63a5\u89e6 \u5f62\u72b6 \uff1b \u5bf9\u4e8e \u6c34\u5e73 \u8303\u56f4 \u8f83\u5927 \u7684 \u76d2 \u72b6 \u9762\u7247 \uff0c \u5efa\u8bae \u8fd9\u6837 \u505a \uff0c \u56e0\u4e3a \u8be5 \u5c3a\u5bf8 \u7684 \u5355\u4e2a \u78b0\u649e \u5f62\u72b6 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u7b97\u6cd5 \u51fa\u73b0 \u9519\u8bef \u3002   \u4e0b\u56fe \u663e\u793a \u4e86 \u7f51\u683c \u521a\u6027 \u5730\u5f62 \u8d34\u7247 \u7684 \u793a\u4f8b \u3002 \u5047\u8bbe \u7f51\u683c \u76f8\u5bf9 \u4e8e   ISO   \u53c2\u8003 \u6846\u67b6 \u63d0\u4f9b \uff0c \u5e76\u4e14 \u6ca1\u6709 \u201c \u60ac\u5782 \u201d \uff08 \u6362\u53e5 \u6362\u53e5\u8bdd \u6362\u53e5\u8bdd\u8bf4 \uff0c \u5782\u76f4 \u5c04\u7ebf \u6700\u591a \u4e0e \u7f51\u683c \u76f8\u4ea4 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \uff09 \u3002 \u7528\u6237 \u8fd8 \u53ef\u4ee5 \u9009\u62e9 \u5c06 \u5730\u5f62 \u7f51\u683c \u7684 \u201c \u539a\u5ea6 \u201d \u6307\u5b9a \u4e3a \u626b\u63cf \u7403\u4f53 \u7684 \u534a\u5f84 \u3002 \u4e3a\u6b64 \u534a\u5f84 \u6307\u5b9a \u4e00\u4e2a \u5c0f \u7684 \u6b63\u503c \u53ef\u4ee5 \u663e\u8457 \u63d0\u9ad8 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u7b97\u6cd5 \u7684 \u7a33\u5065 \u7a33\u5065\u6027 \u3002   \u9ad8\u5ea6 \u56fe \u8865\u4e01 \u901a\u8fc7 \u7070\u5ea6   BMP   \u56fe\u50cf \uff08 \u5982\u4e0b \u6240\u793a \uff09 \u3001 \u8865\u4e01 \u7684 \u6c34\u5e73 \u8303\u56f4 \uff08 \u957f\u5ea6 \u548c \u5bbd\u5ea6 \uff09 \u548c \u9ad8\u5ea6 \u8303\u56f4 \uff08 \u6700\u5c0f \u548c \u6700\u5927 \u9ad8\u5ea6 \uff09 \u6307\u5b9a \u3002 \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c \u662f \u901a\u8fc7 \u7f16\u7a0b \u751f\u6210 \u7684 \uff0c \u65b9\u6cd5 \u662f \u4e3a \u8f93\u5165   BMP   \u56fe\u50cf \u4e2d \u7684 \u6bcf\u4e2a \u50cf\u7d20 \u521b\u5efa \u4e00\u4e2a \u7f51\u683c \u9876\u70b9 \uff0c \u5728 \u6c34\u5e73 \u9762\u4e0a \u62c9\u4f38 \u7f51\u683c \u4ee5 \u5339\u914d \u7ed9\u5b9a \u7684 \u8303\u56f4 \uff0c \u5e76 \u5728 \u5782\u76f4 \u65b9\u5411 \u4e0a \u62c9\u4f38 \u7f51\u683c \uff0c \u4f7f\u5f97 \u6700\u5c0f \u9ad8\u5ea6 \u5bf9\u5e94 \u4e8e \u5b8c\u7f8e \u7684 \u9ed1\u8272 \u50cf\u7d20 \u989c\u8272 \uff0c \u6700\u5927 \u9ad8\u5ea6 \u5bf9\u5e94 \u4e8e \u5b8c\u7f8e \u7684 \u767d\u8272 \u50cf\u7d20 \u3002   \u9ad8\u5ea6 \u548c \u6cd5\u7ebf \u8ba1\u7b97   \u3002   RigidTerrain : : GetHeight   \u548c   RigidTerrain : : GetNormal   \u7684 \u5b9e\u73b0 \u4f9d\u8d56 \u8d56\u4e8e \u4f9d\u8d56\u4e8e \u76f8\u5bf9 \u6602\u8d35 \u7684 \u5149\u7ebf \u6295\u5c04 \u64cd\u4f5c \uff1a \u5728 \u6240\u6709 \u7ec4\u6210 \u9762\u7247 \u4e0a \u4ece \u4e0a\u65b9 \u6295\u5c04 \u5782\u76f4 \u5149\u7ebf \uff0c \u5e76 \u62a5\u544a \u76f8\u4ea4 \u70b9 \u7684 \u9ad8\u5ea6 \u548c \u6cd5\u7ebf \u3002 \u5bf9\u4e8e \u76d2\u5b50 \u9762\u7247 \uff0c \u5149\u7ebf \u6295\u5c04 \u4f7f\u7528 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5206\u6790 \u5b9e\u73b0 \uff0c \u8be5 \u5b9e\u73b0 \u4f1a \u627e\u5230 \u5149\u7ebf \u4e0e \u76d2\u5b50 \u57df \u9876\u9762 \u7684 \u4ea4\u70b9 \uff1b \u5bf9\u4e8e \u57fa\u4e8e \u7f51\u683c \u7684 \u9762\u7247 \uff0c \u5149\u7ebf \u6295\u5c04 \u5c06 \u63a8\u8fdf \u5230 \u5e95\u5c42 \u78b0\u649e \u7cfb\u7edf \u3002 \u5982\u679c \u6ca1\u6709 \u76f8\u4ea4 \u7684 \u9762\u7247 \uff0c \u8fd9\u4e9b \u51fd\u6570 \u5c06 \u8fd4\u56de 0 \u548c \u4e16\u754c \u7684 \u5782\u76f4 \u65b9\u5411 \u3002   \u4f4d\u7f6e \u76f8\u5173 \u7684 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570   \u3002 \u521a\u6027 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u652f\u6301 \u5bf9\u8c61 \u7684 \u5b9a\u4e49   FrictionFunctor   \u3002 \u5982\u679c \u6ca1\u6709 \u63d0\u4f9b \u8fd9\u6837 \u7684 \u51fd\u5b50 \uff0c   RigidTerrain : : GetCoefficientFriction   \u5c06 \u4f7f\u7528 \u5c04\u7ebf \u6295\u5c04 \u65b9\u6cd5 \u6765 \u8bc6\u522b \u6b63\u786e \u7684 \u8865\u4e01 \uff0c \u5e76 \u8fd4\u56de \u8be5 \u8865\u4e01 \u7684 \uff08 \u6052\u5b9a \uff09 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \u3002 \u5982\u679c \u63d0\u4f9b \u4e86 \u51fd\u5b50 \uff0c RigidTerrain : : GetCoefficientFriction   \u53ea\u4f1a \u8fd4\u56de \u5176\u503c \u3002 \u4f46\u662f \uff0c \u5904\u7406 \u4e0e \u5730\u5f62 \u7684 \u63a5\u89e6 \uff08 \u4f8b\u5982 \uff0c \u4f7f\u7528 \u521a\u6027 \u8f6e\u80ce \u6216 \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u65f6 \uff09 \u76f8\u5bf9 \u6602\u8d35 \uff1a \u6bcf\u6b21 \u8c03\u7528 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u7b97\u6cd5 \u65f6 \uff08 \u5373 \u6bcf\u4e2a \u6a21\u62df \u6b65\u9aa4 \u4e00\u6b21 \uff09 \uff0c \u90fd \u4f1a \u904d\u5386   Chrono   \u7cfb\u7edf \u4e2d \u6240\u6709 \u63a5\u89e6 \u7684 \u5217\u8868 \u4ee5 \u62e6\u622a \u6240\u6709 \u6d89\u53ca \u521a\u6027 \u5730\u5f62 \u8865\u4e01 \u78b0\u649e \u6a21\u578b \u7684 \u63a5\u89e6 \uff1b \u5bf9\u4e8e \u8fd9\u4e9b \u63a5\u89e6 \uff0c \u590d\u5408 \u6750\u6599 \u590d\u5408\u6750\u6599 \u5c5e\u6027 \u4f1a \u88ab \u4fee\u6539 \u4ee5 \u8003\u8651 \u63a5\u89e6 \u89e6\u70b9 \u63a5\u89e6\u70b9 \u5904 \u7684 \u5730\u5f62 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \u3002   \u521a\u6027 \u5730\u5f62 \u53ef\u4ee5 \u901a\u8fc7 \u7f16\u7a0b \u6784\u5efa \uff0c \u4e00\u6b21 \u5b9a\u4e49 \u4e00\u4e2a \u8865\u4e01 \uff0c \u6216\u8005 \u5728   JSON   \u6587\u4ef6 \u4e2d \u6307\u5b9a \uff0c \u5982\u4e0b \u6240\u793a \uff1a   {   \" Name \" :   \" Rigid   plane \" ,   \" Type \" :   \" Terrain \" ,   \" Template \" :   \" RigidTerrain \" ,   \" Patches \" :   [   / /   Patch   1 :   box   {   \" Location \" :   [   - 15 ,   0 ,   0   ] ,   \" Orientation \" :   [   1 ,   0 ,   0 ,   0   ] ,   \" Geometry \" :   {   \" Dimensions \" :   [   60 ,   20 ,   2   ]   } ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.01 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e7 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2e5 ,   \" Normal   Damping \" :   40.0 ,   \" Tangential   Stiffness \" :   2e5 ,   \" Tangential   Damping \" :   20.0   }   } ,   \" Visualization \" :   {   \" Color \" :   [   1.0 ,   0.5 ,   0.5   ] ,   \" Texture   File \" :   \" terrain / textures / tile4 . jpg \" ,   \" Texture   Scaling \" :   [   60 ,   20   ]   }   } ,   / /   Patch   2 :   box   {   \" Location \" :   [   20 ,   0 ,   0.1   ] ,   \" Orientation \" :   [   1 ,   0 ,   0 ,   0   ] ,   \" Geometry \" :   {   \" Dimensions \" :   [   20 ,   30 ,   2   ]   } ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.01 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e7 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2e5 ,   \" Normal   Damping \" :   40.0 ,   \" Tangential   Stiffness \" :   2e5 ,   \" Tangential   Damping \" :   20.0   }   } ,   \" Visualization \" :   {   \" Color \" :   [   1.0 ,   0.5 ,   0.5   ]   }   } ,   / /   Patch   3 :   height - map   {   \" Location \" :   [   0 ,   42 ,   0   ] ,   \" Orientation \" :   [   1 ,   0 ,   0 ,   0   ] ,   \" Geometry \" :   {   \" Height   Map   Filename \" :   \" terrain / height _ maps / bump64 . bmp \" ,   \" Size \" :   [   64 ,   64   ] ,   \" Height   Range \" :   [   0 ,   3   ]   } ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.01 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e7 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2e5 ,   \" Normal   Damping \" :   40.0 ,   \" Tangential   Stiffness \" :   2e5 ,   \" Tangential   Damping \" :   20.0   }   } ,   \" Visualization \" :   {   \" Color \" :   [   1.0 ,   1.0 ,   1.0   ] ,   \" Texture   File \" :   \" terrain / textures / grass . jpg \" ,   \" Texture   Scaling \" :   [   64 ,   64   ]   }   } ,   / /   Patch   4 :   Mesh   {   \" Location \" :   [   0 ,   - 42 ,   0   ] ,   \" Orientation \" :   [   1 ,   0 ,   0 ,   0   ] ,   \" Geometry \" :   {   \" Mesh   Filename \" :   \" terrain / meshes / bump . obj \"   } ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.01 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e7 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2e5 ,   \" Normal   Damping \" :   40.0 ,   \" Tangential   Stiffness \" :   2e5 ,   \" Tangential   Damping \" :   20.0   }   } ,   \" Visualization \" :   {   \" Color \" :   [   0.5 ,   0.5 ,   0.8   ] ,   \" Texture   File \" :   \" terrain / textures / dirt . jpg \" ,   \" Texture   Scaling \" :   [   200 ,   200   ]   }   }   ]   }","title":"\u575a\u786c \u5730\u5f62"},{"location":"chrono/vehicle_terrain/#crg","text":"CRGTerrain   \u662f \u6839\u636e OpenCRG \u9053\u8def \u89c4\u8303 \u6784\u5efa \u7684 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u3002 \u8981 \u4f7f\u7528 \u6b64 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \uff0c \u7528\u6237 \u5fc5\u987b \u5b89\u88c5   OpenCRG   SDK   \u5e76 \u5728   CMake   \u914d\u7f6e \u671f\u95f4 \u542f\u7528 \u5176 \u4f7f\u7528 \uff08 \u53c2\u9605 \u8bf7\u53c2\u9605   Chrono : : Vehicle   \u5b89\u88c5 \u8bf4\u660e   \uff09 \u3002   CRG   \u5730\u5f62 \u4ece \u89c4\u8303 \u6587\u4ef6 \uff08 \u4f8b\u5982 \u4e0b\u9762 \u5217\u51fa \u7684 \u6587\u4ef6 \uff09 \u521b\u5efa \u9053\u8def \u8f6e\u5ed3 \uff08 \u5177\u6709 \u76f8\u5173 \u5bbd\u5ea6 \u7684   3D   \u8def\u5f84 \uff09 \uff0c \u5e76 \u5b9e\u73b0 \u51fd\u6570   CRGTerrain : : GetHeight   \u548c   CRGTerrain : : GetNormal   \u4ee5 \u4f7f\u7528 \u6b64 \u89c4\u8303 \u3002 \u8bf7 \u6ce8\u610f \uff0c crg \u89c4\u8303 \u6587\u4ef6 \u53ef\u4ee5 \u662f   ASCII   \u6216 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u3002   *   Emacs   major   mode   to   be   selected   automagically :   - * - CASCaDE - * -   *   $ Id :   handmade _ curved _ minimalist . crg   21   2009 - 06 - 23   15 : 03 : 13Z   jorauh   $   $ CT   CRG   file   example   for   road   surface   description   ( width :   3m ,   length :   22m )   with   curved   reference   line   and   grid   of   ( 0.25 m ... 1.0 m )   x   1.0 m .   A   minimalist   file   can   have   an   empty   $ CT ,   a   minimalist   $ ROAD _ CRG   block ,   and   no   comments   marked   by   asterisk   \" * \"   in   column   1   or   marked   by   \" ! \"   in   other   columns .   So   this   file   is   completely   equivalent   to   its   commented   version   in   handmade _ curved . crg   .   Copyright   2005 - 2009   OpenCRG   -   Daimler   AG   -   Jochen   Rauh   Licensed   under   the   Apache   License ,   Version   2.0   ( the   \" License \" ) ;   you   may   not   use   this   file   except   in   compliance   with   the   License .   You   may   obtain   a   copy   of   the   License   at   http : / / www . apache . org / licenses / LICENSE - 2.0   Unless   required   by   applicable   law   or   agreed   to   in   writing ,   software   distributed   under   the   License   is   distributed   on   an   \" AS   IS \"   BASIS ,   WITHOUT   WARRANTIES   OR   CONDITIONS   OF   ANY   KIND ,   either   express   or   implied .   See   the   License   for   the   specific   language   governing   permissions   and   limitations   under   the   License .   More   Information   on   OpenCRG   open   file   formats   and   tools   can   be   found   at   http : / / www . opencrg . org   $   $ ROAD _ CRG   REFERENCE _ LINE _ INCREMENT   =   1.0   $   $ KD _ Definition   # : LRFI   D : reference   line   phi , rad   D : long   section   at   v   =   - 1.500 , m   D : long   section   at   v   =   - 1.250 , m   D : long   section   at   v   =   - 1.000 , m   D : long   section   at   v   =   0.000 , m   D : long   section   at   v   =   1.000 , m   D : long   section   at   v   =   1.250 , m   D : long   section   at   v   =   1.500 , m   $   * * unused * *   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000   0.0000000   0.0110000   0.0000000   0.0000000   0.0111111   0.0111111   0.0111111   0.0000000   0.0000000   0.0220000   0.0000000   0.0111111   0.0111111   0.0111111   0.0111111   0.0111111   0.0000000   0.0330000   0.0000000   0.0000000   0.0111111   0.0111111   0.0111111   0.0000000   0.0000000   0.0440000   0.0111111   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000   0.0111111   0.0550000   0.0111111   0.0111111   0.0000000   0.0000000   0.0000000   0.0111111   0.0222222   0.0660000   0.0111111   0.0111111   0.0111111   0.0000000   0.0111111   0.0222222   0.0333333   0.0770000   0.0111111   0.0111111   0.0000000   0.0000000   0.0000000   0.0111111   0.0222222   0.0880000   0.0111111   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000   0.0111111   0.0990000   0.0000000   0.0000000   0.0111111   0.0222222   0.0111111   0.0000000   0.0000000   0.1100000   0.0000000   0.0111111   0.0222222   0.0222222   0.0222222   0.0111111   0.0000000   0.1100000   0.0000000   0.0000000   0.0111111   0.0222222   0.0111111   0.0000000   0.0000000   0.0990000   0.0111111   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000 - 0.0111111   0.0880000   0.0111111   0.0111111   0.0000000   0.0000000   0.0000000 - 0.0111111 - 0.0222222   0.0770000   0.0111111   0.0111111   0.0111111   0.0000000 - 0.0111111 - 0.0222222 - 0.0333333   0.0660000   0.0111111   0.0111111   0.0000000   0.0000000   0.0000000 - 0.0111111 - 0.0222222   0.0550000   0.0111111   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000 - 0.0111111   0.0440000   0.0000000   0.0000000   0.0111111   0.0222222   0.0111111   0.0000000   0.0000000   0.0330000   0.0000000   0.0111111   0.0222222   0.0333333   0.0222222   0.0111111   0.0000000   0.0220000   0.0000000   0.0000000   0.0111111   0.0222222   0.0111111   0.0000000   0.0000000   0.0110000   0.0000000   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   CRG   \u5730\u5f62 \u53ef\u4ee5 \u89c6\u4e3a \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c \uff08 \u4ee3\u8868 \u9053\u8def \u201c \u5e26 \u201d \uff09 \u6216 \u4e00\u7ec4   3D   \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \uff08 \u4ee3\u8868 \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \u548c \u9053\u8def \u4e24\u4fa7 \uff09 \u3002 CRGTerrain   \u7684 \u5176\u4ed6 \u529f\u80fd \u5305\u62ec \uff1a   \u80fd\u591f \u5bfc\u51fa \u9053\u8def \u7f51\u683c \uff08 \u4f5c\u4e3a \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c \uff09   \u80fd\u591f \u5bfc\u51fa \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \uff08 \u4f5c\u4e3a \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \uff09   \u9053\u8def \u957f\u5ea6 \u548c \u5bbd\u5ea6 \u7684 \u62a5\u544a \u65b9\u6cd5   \u4e0b\u56fe \u5c55\u793a \u4e86 \u4f7f\u7528 \u4e09\u89d2 \u7f51\u683c \u6216 \u9053\u8def \u8fb9\u754c \u66f2\u7ebf \u7684   CRG   \u9053\u8def \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u7531\u4e8e CRG \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u76ee\u524d \u4e0d \u643a\u5e26 \u4efb\u4f55 \u78b0\u649e \u548c \u63a5\u89e6 \u4fe1\u606f \uff0c \u56e0\u6b64 \u5b83 \u53ea\u80fd \u4e0e \u534a \u7ecf\u9a8c \u8f6e\u80ce \u6a21\u578b \u4e00\u8d77 \u4f7f\u7528 \u3002","title":"CRG   \u5730\u5f62"},{"location":"chrono/vehicle_terrain/#scm","text":"\u5728   SCMTerrain   \u4e2d \uff0c \u5730\u5f62 \u7531 \u9690\u5f0f \u89c4\u5219 \u5361\u5c14 \u7b1b\u5361\u5c14 \u7f51\u683c \u8868\u793a \uff0c \u5176 \u53d8\u5f62 \u901a\u8fc7 \u5176 \u8282\u70b9 \u7684 \u5782\u76f4 \u504f\u8f6c \u5b9e\u73b0 \u3002 \u8be5 \u571f\u58e4 \u6a21\u578b \u501f\u9274 \u4e86   Chrono   \u4e2d \u7684 \u901a\u7528 \u78b0\u649e \u5f15\u64ce \uff0c \u5176 \u8f7b\u91cf \u91cf\u7ea7 \u8f7b\u91cf\u7ea7 \u516c\u5f0f \u5141\u8bb8 \u8fd1\u4e4e \u5b9e\u65f6 \u5730 \u8ba1\u7b97 \u8f66\u8f86 \u4e0e \u5730\u5f62 \u7684 \u63a5\u89e6 \u89e6\u529b \u63a5\u89e6\u529b \u3002 \u4e3a\u4e86 \u89e3\u51b3 \u5185\u5b58 \u548c \u8ba1\u7b97 \u6548\u7387 \u95ee\u9898 \uff0c \u4ece\u672a \u660e\u786e \u521b\u5efa \u7f51\u683c \u3002 \u76f8\u53cd \uff0c \u53ea \u5728 \u54c8 \u5e0c\u56fe \u4e2d \u7ef4\u62a4 \u5df2 \u53d8\u5f62 \u7684 \u8282\u70b9 \u3002 \u6b64\u5916 \uff0c \u78b0\u649e \u7cfb\u7edf \u4e2d \u7684 \u5149\u7ebf \u6295\u5c04 \uff08 SCM   \u8ba1\u7b97 \u4e2d \u6700 \u6602\u8d35 \u7684 \u64cd\u4f5c \uff09 \u662f \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b \u7684 \u3002 \u4e3a\u4e86 \u9ad8\u6548 \u5730 \u53ef\u89c6 \u53ef\u89c6\u5316 \u53d8\u5f62 \u7684 \u5730\u5f62 \uff0c Chrono   SCM   \u7cfb\u7edf \u5b50\u7cfb\u7edf \u63d0\u4f9b \u4e86 \u9010\u6b65 \u66f4\u65b0 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7f51\u683c \u7684 \u65b9\u6cd5 \uff0c \u5e76\u4e14 \u5728 \u4f7f\u7528 \u5916\u90e8 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7cfb\u7edf \u65f6 \u62a5\u544a \u4e0a \u4e00\u4e2a \u65f6\u95f4 \u6b65\u5185 \u53d8\u5f62 \u7684 \u8282\u70b9 \u5b50\u96c6 \u3002   \u4e0b\u56fe \u6240\u793a \uff0c \u8f6e\u80ce \u5728 \u53ef \u53d8\u5f62 \u571f\u58e4 \u4e2d \u7559\u4e0b \u8f66\u8f99 \uff0c \u8bf4\u660e \u4e86   SCM   \u7684   Chrono   \u7248\u672c \u7684 \u7f51\u683c \u7ed3\u6784 \u3002   SCM   \u57fa\u4e8e \u534a \u7ecf\u9a8c \u6a21\u578b \uff0c \u53c2\u6570 \u5f88\u5c11 \uff0c \u56e0\u6b64 \u5f88 \u5bb9\u6613 \u6839\u636e \u5b9e\u9a8c \u7ed3\u679c \u8fdb\u884c \u6821\u51c6 \u3002 \u5b83 \u53ef\u4ee5 \u88ab \u89c6\u4e3a   Bekker - Wong   \u6a21\u578b \u7684 \u63a8\u5e7f \uff0c \u9002\u7528 \u4e8e \u4efb\u610f \u4e09\u7ef4 \u5f62\u72b6 \u7684 \u8f66\u8f6e \uff08 \u6216 \u5c65\u5e26 \u677f \uff09 \u3002 \u5bf9\u4e8e \u5728 \u53ef \u53d8\u5f62 \u571f\u58e4 \u4e0a \u79fb\u52a8 \u7684 \u8f66\u8f6e \uff0c Bekker   \u516c\u5f0f \u63d0\u4f9b \u4e86 \u538b\u529b \u4e0e \u571f\u58e4 \u5782\u76f4 \u53d8\u5f62 \u4e4b\u95f4 \u7684 \u5173\u7cfb \uff1a   \u8fd9\u91cc \u03c3 \u662f \u63a5\u89e6 \u63a5\u89e6\u9762 \u538b\u529b \uff0c y   \u662f \u8f66\u8f6e \u4e0b\u6c89 \uff0c $ k _ c $ \u662f \u8868\u793a \u571f\u58e4 \u7c98\u7ed3 \u6548\u5e94 \u7684 \u7ecf\u9a8c \u7cfb\u6570 \uff0c k \u03c6 \u662f \u8868\u793a \u571f\u58e4 \u521a\u5ea6 \u7684 \u7ecf\u9a8c \u7cfb\u6570 \uff0c n \u662f \u8868\u8fbe \u786c\u5316 \u6548\u5e94 \u7684 \u6307\u6570 \uff0c \u5b83 \u968f\u7740 \u571f\u58e4 \u7684 \u538b\u5b9e \u800c \u7ebf\u6027 \u975e\u7ebf\u6027 \u5730 \u589e\u52a0 \u3002 \u6700\u540e \uff0c b \u662f \u77e9\u5f62 \u63a5\u89e6 \u8db3\u8ff9 \u8f83 \u77ed\u8fb9 \u7684 \u957f\u5ea6 \uff08 \u56e0\u4e3a \u539f\u59cb   Bekker   \u7406\u8bba \u5047\u8bbe \u5706\u67f1 \u67f1\u5f62 \u5706\u67f1\u5f62 \u8f6e\u80ce \u5728 \u5e73\u5766 \u5730\u5f62 \u4e0a \u6eda\u52a8 \uff09 \u3002   \u5bf9\u4e8e \u901a\u7528 \u63a5\u89e6 \u8db3\u8ff9 \uff0c \u957f\u5ea6 b \u4e0d\u80fd \u50cf \u539f\u59cb   Bekker   \u6a21\u578b \u90a3\u6837 \u89e3\u91ca \uff1b \u76f8\u53cd \uff0c \u6211\u4eec \u901a\u8fc7 \u9996\u5148 \u83b7\u53d6 \u6240\u6709 \u8fde\u63a5 \u7684 \u63a5\u89e6 \u63a5\u89e6\u9762 \uff08 \u4f7f\u7528 \u6cdb\u6d2a \u7b97\u6cd5 \uff09 \u5e76 \u4f7f\u7528 \u8fd1\u4f3c \u8fd1\u4f3c\u503c \u6765 \u4f30\u8ba1 \u8fd9\u4e2a \u957f\u5ea6   b   =   2A   /   L   \u8fd9\u91cc A \u662f \u63a5\u89e6 \u9762\u79ef \u7684 \u9762\u79ef \uff0c L   \u662f \u5b83 \u7684 \u5468\u957f \u3002   Chrono   SCM   \u5b9e\u73b0 \u7684 \u5176\u4ed6 \u4e00\u4e9b \u529f\u80fd \u5305\u62ec \uff1a   \u521d\u59cb \u672a \u53d8\u5f62 \u7f51\u683c \u53ef\u4ee5 \u521b\u5efa \u4e3a   \u5e38\u89c4 \u5e73\u94fa \u7f51\u683c \uff08 \u586b\u5145 \u5e73\u9762 \u77e9\u5f62 \uff09   \u4ece \u9ad8\u5ea6 \u56fe \uff08 \u4ee5 \u7070\u5ea6   BMP   \u56fe\u50cf \u63d0\u4f9b \uff09   \u4ee5 \u7f16\u7a0b \u65b9\u5f0f   \u652f\u6301 \u4efb\u610f \u65b9\u5411 \u7684 \u5730\u5f62 \u53c2\u8003 \u5e73\u9762 \uff1b \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5730\u5f62 \u88ab \u5b9a\u4e49 \u4e3a \uff08 x   ,   y \uff09 \u5e73\u9762 \u662f ISO \u6846\u67b6   \u652f\u6301 \u79fb\u52a8 \u9762\u7247 \u65b9\u6cd5 \uff0c \u5176\u4e2d \u5149\u7ebf \u6295\u5c04 \uff08 \u6210\u672c \u6700\u9ad8 \u7684 \u64cd\u4f5c \uff09 \u88ab \u9650\u5236 \u5728 \u6307\u5b9a \u7684 \u8303\u56f4 \u5185 \u2014 \u2014 \u76f8\u5bf9 \u4e8e \u8f66\u8f86 \u79fb\u52a8 \u7684 \u77e9\u5f62 \u9762\u7247 \u6216 \u8fb9\u754c \u6846 \u7684 \u6295\u5f71   \u652f\u6301 \u6307\u5b9a \u4e0e \u4f4d\u7f6e \u76f8\u5173 \u7684 \u571f\u58e4 \u53c2\u6570 \uff1b \u8fd9 \u53ef\u4ee5 \u901a\u8fc7 \u63d0\u4f9b \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u56de\u8c03 \u7c7b\u6765 \u5b9e\u73b0 \uff0c \u8be5 \u56de\u8c03 \u7c7b \u5b9e\u73b0 \u4e00\u79cd \u8fd4\u56de \u7ed9\u5b9a \u4f4d\u7f6e \u7684 \u6240\u6709 \u571f\u58e4 \u53c2\u6570 \u7684 \u65b9\u6cd5 \uff08 x   ,   y \uff09 \u5730\u5f62 \u53c2\u8003 \u5e73\u9762 \u4e2d \u6307\u5b9a \u7684 \u70b9 \u3002 \u53c2\u89c1 SCMTerrain : : SoilParametersCallback   \u7531\u4e8e \u4e0e \u8fd9\u79cd \u5730\u5f62 \u7c7b\u578b \u7684 \u4ea4\u4e92 \u662f \u901a\u8fc7 \u5e95\u5c42 \u7684   Chrono   \u63a5\u89e6 \u7cfb\u7edf \u5b8c\u6210 \u7684 \uff0c \u56e0\u6b64 \u5b83 \u53ef\u4ee5 \u4e0e \u521a\u6027 \u6216 FE A\u8f6e \u80ce \u6a21\u578b \u4ee5\u53ca \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7ed3\u5408 \u4f7f\u7528 \u3002","title":"\u53ef \u53d8\u5f62   SCM \uff08 \u571f\u58e4 \u63a5\u89e6 \u6a21\u578b \uff09"},{"location":"chrono/vehicle_terrain/#_4","text":"GranularTerrain   \u5b9e\u73b0 \u4e86 \u77e9\u5f62 \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u6750\u6599 \u5757 \uff0c \u5e76 \u5229\u7528 \u4e86   Chrono   \u5bf9 \u6240\u8c13 \u7684 \u79bb\u6563 \u5143\u6cd5   ( DEM )   \u6a21\u62df \u7684 \u5e7f\u6cdb \u652f\u6301 \u5e7f\u6cdb\u652f\u6301 \u3002 \u76ee\u524d \uff0c \u6b64 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u4ec5\u9650 \u9650\u4e8e \u4ec5\u9650\u4e8e \u5355 \u5206\u6563 \u7403\u5f62 \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u6750\u6599 \u3002   \u7531\u4e8e \u6a21\u62df \u5927\u89c4 \u89c4\u6a21 \u5927\u89c4\u6a21 \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u9700\u8981 \u5927\u91cf \u8ba1\u7b97 \uff0c Chrono : : Vehicle   \u4e2d \u7684   GranularTerrain   \u5bf9\u8c61 \u652f\u6301 \u201c \u79fb\u52a8 \u5757 \u201d \u65b9\u6cd5 \uff0c \u5176\u4e2d \u6a21\u62df \u53ef\u4ee5 \u9650\u5236 \u5728 \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u6750\u6599 \u7bb1\u4e2d \uff0c \u8be5 \u6750\u6599 \u7bb1\u4f1a \u6839\u636e \u6307\u5b9a \u7269\u4f53 \uff08 \u901a\u5e38 \u662f \u8f66\u8f86 \u5e95\u76d8 \uff09 \u7684 \u4f4d\u7f6e \u4e0d\u65ad \u91cd\u65b0 \u5b9a\u4f4d \u3002 \u76ee\u524d \uff0c \u79fb\u52a8 \u5757 \u53ea\u80fd \u5728 X \uff08 \u524d\u8fdb \uff09 \u65b9\u5411 \u3002   \u4e0b\u9762 \u662f \u4f7f\u7528 \u79fb\u52a8 \u9762\u7247 \u7279\u5f81 \u5728   GranularTerrain   \u4e0a \u8fdb\u884c \u8f66\u8f86 \u52a0\u901f \u6d4b\u8bd5 \u7684 \u793a\u4f8b \u3002 \u6b64 \u6a21\u62df \u4f7f\u7528 \u8d85\u8fc7   700 , 000   \u4e2a \u7c92\u5b50 \u548c   Chrono : : Multicore   \u6a21\u5757 \u8fdb\u884c \u591a\u6838 \u5e76\u884c \u6a21\u62df \u3002   GranularTerrain   \u7684 \u5176\u4ed6 \u529f\u80fd \u5305\u62ec \uff1a   \u5206\u5c42 \u751f\u6210 \u521d\u59cb \u7c92\u5b50 \u4f4d\u7f6e \uff0c \u7c92\u5b50 \u4f4d\u7f6e \u5728 \u6c34\u5e73 \u9762\u4e0a \u5747\u5300 \u5206\u5e03 \u5747\u5300\u5206\u5e03 \uff0c \u4e14 \u4fdd\u8bc1 \u4e0d \u5c0f\u4e8e \u7c92\u5b50 \u534a\u5f84 \u7684 \u4e24\u500d   \u5305\u542b \u56fa\u5b9a \u5728 \u8fb9\u754c \u7bb1\u4e0a \u7684 \u9897\u7c92 \uff08 \u4ee5 \u6291\u5236 \u6574\u4e2a \u9897\u7c92 \u6750\u6599 \u5e8a \u7684 \u6ed1\u52a8 \uff09 \uff1b \u7531\u4e8e \u76ee\u524d \u7684 \u9650\u5236 \uff0c \u6b64 \u529f\u80fd \u4e0d\u5e94 \u4e0e \u79fb\u52a8 \u8865\u4e01 \u9009\u9879 \u7ed3\u5408 \u4f7f\u7528   \u7bb1 \u8fb9\u754c \u7684 \u5206\u6790 \u5b9a\u4e49 \u548c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u673a\u5236   \u62a5\u544a \u5730\u5f62 \u9ad8\u5ea6 \uff08 \u5b9a\u4e49 \u4e3a \u6700\u5927 \u662f \u6240\u6709 \u7c92\u5b50 \u4f4d\u7f6e \u7684 \u503c \uff09   \u7531\u4e8e \u4e0e \u8fd9\u79cd \u5730\u5f62 \u7c7b\u578b \u7684 \u4ea4\u4e92 \u662f \u901a\u8fc7 \u5e95\u5c42 \u7684   Chrono   \u63a5\u89e6 \u7cfb\u7edf \u5b8c\u6210 \u7684 \uff0c \u56e0\u6b64 \u5b83 \u53ef\u4ee5 \u4e0e \u521a\u6027 \u6216 FE A\u8f6e \u80ce \u6a21\u578b \u4ee5\u53ca \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7ed3\u5408 \u4f7f\u7528 \u3002","title":"\u9897\u7c92\u72b6 \u5730\u5f62"},{"location":"chrono/vehicle_terrain/#feaancf","text":"FEATerrain   \u57fa\u4e8e   ChElementHexaANCF _ 3813 _ 9   \u7c7b\u578b \u7684 \u4e13\u7528   FEA   \u7816\u5757 \u5143\u7d20 \u63d0\u4f9b \u53ef \u53d8\u5f62 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u3002   \u8be5 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u5141\u8bb8 \uff1a   \u5c06 \u76d2\u5b50 \u57df \u79bb\u6563 \u5316\u4e3a \u7528\u6237 \u6307\u5b9a \u7684 \u5143\u7d20 \u6570\u91cf   \u6307\u5b9a \u6750\u6599 \u7279\u6027 \uff08 \u5bc6\u5ea6 \u3001 \u5f39\u6027 \u6a21\u91cf \u5f39\u6027\u6a21\u91cf \u3001 \u6cca\u677e\u6bd4 \u3001 \u5c48\u670d \u5e94\u529b \u5c48\u670d\u5e94\u529b \u3001 \u786c\u5316 \u659c\u7387 \u3001 \u81a8\u80c0 \u89d2 \u548c \u6469\u64e6 \u6469\u64e6\u89d2 \uff09   \u6dfb\u52a0   Chrono   FEA   \u7f51\u683c \u53ef\u89c6 \u53ef\u89c6\u5316 \u8d44\u4ea7   \u7531\u4e8e \u4e0e \u8fd9\u79cd \u5730\u5f62 \u7c7b\u578b \u7684 \u4ea4\u4e92 \u662f \u901a\u8fc7 \u5e95\u5c42 \u7684   Chrono   \u63a5\u89e6 \u7cfb\u7edf \u5b8c\u6210 \u7684 \uff0c \u56e0\u6b64 \u5b83 \u53ef\u4ee5 \u4e0e   \u521a\u6027   \u6216   FEA   \u8f6e\u80ce \u6a21\u578b \u4ee5\u53ca \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7ed3\u5408 \u4f7f\u7528 \u3002","title":"\u53ef \u53d8\u5f62   FEA \uff08 ANCF   \u5b9e\u4f53 \u5143\u7d20 \uff09"},{"location":"chrono/vehicle_visualization/","text":"\u53ef\u89c6 \u53ef\u89c6\u5316   \u57fa\u4e8e   Irrlicht   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316   \u57fa\u4e8e   OpenGL   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316   \u4f7f\u7528   POV - Ray   \u8fdb\u884c \u79bb\u7ebf \u6e32\u67d3   \u57fa\u4e8e   Irrlicht   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316   \u57fa\u4e8e \u8f66\u8f86   Irrlicht   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \u5206\u522b \u4f7f\u7528 \u9488\u5bf9 \u8f6e\u5f0f \u8f66\u8f86 \u548c \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7684 \u5b9a\u5236   Irrlicht   \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f   ChWheeledVehicleIrrApp   \u548c   ChTrackedVehicleIrrApp   \u3002   \u8fd9\u4e9b \u662f \u57fa\u672c   ChIrrApp   \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u7684 \u6269\u5c55 \uff0c \u5141\u8bb8 \uff1a   \u4f7f\u7528 \u4ee5 \u8f66\u8f86 \u4e3a \u4e2d\u5fc3 \u7684 \u6444\u50cf \u6444\u50cf\u673a \u4f4d\u7f6e \uff08 \u89c6\u70b9 \uff09   \u663e\u793a \u5176\u4ed6 \uff08 \u8f66\u8f86 \u7279\u5b9a \u7684 \uff09 \u7edf\u8ba1 \u8ba1\u6570 \u6570\u636e \u7edf\u8ba1\u6570\u636e \uff0c \u4f8b\u5982 \u8f66\u901f \u3001 \u5f53\u524d \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f93\u5165 \u3001 \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u626d\u77e9 \u3001 \u8f66\u8f6e \u548c \u94fe\u8f6e \u626d\u77e9 \u7b49 \u3002   \u4ee5\u4e0b \u56fe\u50cf \u662f \u6765\u81ea   Chrono : : Vehicle   \u6a21\u62df \u7684 \u5feb\u7167 \u3002   \u57fa\u4e8e   OpenGL   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316   Chrono : : Vehicle   \u6a21\u62df \u8fd8 \u53ef\u4ee5 \u4f7f\u7528   Chrono : : OpenGL   \u6a21\u5757 \u5728 \u8fd0\u884c \u65f6 \u8fdb\u884c \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002 \u8fd9 \u63d0\u4f9b \u4e86 \u66f4 \u5feb\u6377 \u3001 \u8ba1\u7b97 \u6548\u7387 \u66f4 \u9ad8 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \uff0c \u5c24\u5176 \u662f \u5bf9\u4e8e \u5927\u89c4 \u89c4\u6a21 \u5927\u89c4\u6a21 \u6a21\u62df \uff08 \u4f8b\u5982 \u6d89\u53ca \u8f66\u8f86 \u4e0e \u9897\u7c92 \u5730\u5f62 \u4ea4\u4e92 \u7684 \u6a21\u62df \uff09 \u3002   \u4ee5\u4e0b \u56fe\u50cf \u662f \u6765\u81ea   Chrono : : Vehicle   \u6a21\u62df \u7684 \u5feb\u7167 \u3002   \u4f7f\u7528   POV - Ray   \u8fdb\u884c \u79bb\u7ebf \u6e32\u67d3   \u79bb\u7ebf \u6e32\u67d3 \u9700\u8981 \u4ee5\u4e0b \u6b65\u9aa4 \uff1a   \u6536\u96c6 \u8981 \u6e32\u67d3 \u7684 \u6bcf \u4e00\u5e27 \u7684 \u7cfb\u7edf \u6570\u636e   \u53ef\u9009 \u53ef\u9009\u5730 \uff0c \u4ee5 \u7279\u5b9a \u4e8e \u6240 \u9700 \u6e32\u67d3 \u5f15\u64ce \u7684 \u683c\u5f0f \u51c6\u5907 \u7f51\u683c \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6   \u540e\u671f \u5904\u7406 \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u4ee5 \u6e32\u67d3 \u6bcf \u4e00\u5e27 \u7684 \u573a\u666f   \u53ef\u9009 \u53ef\u9009\u5730 \uff0c \u5c06 \u591a \u5e27 \u56fe\u50cf \u7ec4\u5408 \u5408\u6210 \u7ec4\u5408\u6210 \u52a8\u753b   Chrono : : Vehicle   \u4e3a \u8be5 \u5de5\u4f5c \u6d41 \u6a21\u578b \u548c   POV - Ray   \u5149\u7ebf \u8ffd\u8e2a \u7a0b\u5e8f \u63d0\u4f9b \u6709\u9650 \u7684 \u652f\u6301 \u3002   \u51c6\u5907 \u8f93\u51fa \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6   \u5728 \u6bcf\u4e2a \u9700\u8981 \u540e\u671f \u5904\u7406 \u7684 \u6a21\u62df \u5e27 \u4e0a \uff0c \u8c03\u7528 \u51fd\u6570 \u8c03\u7528\u51fd\u6570   WriteVisualizationAssets   \u3002   \u6b64 \u51fd\u6570 \u5c06 \u8f93\u51fa \u4e00\u4e2a \u5305\u542b \u7528\u6237 \u63d0\u4f9b \u7684 \u540d\u79f0 \u7684 \u9017\u53f7 \u5206\u9694 \u503c \uff08 CSV \uff09 \u6587\u4ef6 \u3002   \u8f93\u51fa \u6587\u4ef6 \u5305\u542b \u6709\u5173   Chrono   \u7cfb\u7edf \u4e2d \u6240\u6709 \u7269\u4f53 \u7684 \u4fe1\u606f \uff08 \u4f4d\u7f6e \u548c \u65b9\u5411 \uff09 \u3001 \u6240\u6709 \u76f8\u5173 \u53ef\u89c6 \u53ef\u89c6\u5316 \u8d44\u4ea7 \uff08 \u4f4d\u7f6e \u3001 \u65b9\u5411 \u3001 \u7c7b\u578b \u548c \u8d44\u4ea7 \u7279\u5b9a \u53c2\u6570 \uff09 \u4ee5\u53ca \u9009\u5b9a \u7684 \u5173\u8282 \u7c7b\u578b \u3002 \u8bf7 \u6ce8\u610f \uff0c \u7f51\u683c \u53ef\u89c6 \u53ef\u89c6\u5316 \u8d44\u4ea7 \u901a\u8fc7 \u5176 \u5404\u81ea \u7684 \u7f51\u683c \u540d\u79f0 \u8fdb\u884c \u8bc6\u522b \u3002   \u51c6\u5907 \u7f51\u683c \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6   \u8981 \u4f7f\u7528   POV - Ray   \u8fdb\u884c \u6e32\u67d3 \uff0c \u5fc5\u987b \u5c06 \u4e0e \u7f51\u683c \u53ef\u89c6 \u53ef\u89c6\u5316 \u8d44\u4ea7 \u76f8\u5bf9 \u5e94 \u7684   Wavefront   OBJ   \u6587\u4ef6 \u8f6c\u6362 \u4e3a   POV - Ray   \u8f93\u5165 \u6587\u4ef6 \u4e2d \u7684 \u5b8f \u3002 \u8fd9 \u53ef\u4ee5 \u901a\u8fc7 \u4ee5\u4e0b \u65b9\u5f0f \u5b8c\u6210   \u4f7f\u7528 \u51fd\u6570   WriteMeshPovray   \u4f7f\u7528   PoseRay   \u7b49 \u4e13\u7528 \u7528\u5de5 \u5de5\u5177 \u4e13\u7528\u5de5\u5177   \u5982\u679c \u4f7f\u7528 \u4e0b\u9762 \u63cf\u8ff0 \u7684 \u6e32\u67d3 \u811a\u672c \uff0c \u8fd9\u4e9b \u7f51\u683c \u5b8f   POV - Ray   \u8f93\u5165 \u6587\u4ef6 \u7684 \u540d\u79f0 \u5e94 \u4e0e \u76f8\u5e94 \u7684 \u7f51\u683c \u540d\u79f0 \u76f8\u540c \u3002 \u6b64\u5916 \uff0c \u8fd9\u6837 \u7684 \u7f51\u683c   POV - Ray   \u8f93\u5165 \u6587\u4ef6 \u5fc5\u987b \u5b9a\u4e49 \u5355\u4e2a \u5b8f \uff08 \u540d\u79f0 \u4e0e \u7f51\u683c \u540d\u79f0 \u76f8\u540c \uff09 \uff1b \u56e0\u6b64 \uff0c \u9700\u8981 \u624b\u52a8 \u7f16\u8f91   PoseRay   \u751f\u6210 \u7684 \u6587\u4ef6 \uff08 \u4f8b\u5982 \uff0c \u53c2\u89c1   Chrono   \u53d1\u884c \u53d1\u884c\u7248 \u63d0\u4f9b \u7684 \u793a\u4f8b   data / vehicle / hmmwv / POV - Ray / hmmwv _ chassis . inp   \uff09 \u3002   * *   \u4f7f\u7528   POV - Ray   \u5bf9 \u6587\u4ef6 \u8fdb\u884c \u540e\u671f \u5904\u7406 * *   Chrono   \u53d1\u884c \u53d1\u884c\u7248 \u5305\u542b \uff08 \u5728 \u76ee\u5f55 \u4e2d   src / demos / vehicle /   \uff09 \u4e00\u4e2a \u793a\u4f8b   POV - Ray   \u811a\u672c \uff08   renderZ . pov   \uff09 \uff0c \u53ef \u7528\u4e8e \uff08 \u6279\u91cf \uff09 \u5904\u7406   WriteVisualizationAssets   \u751f\u6210 \u7684 \u683c\u5f0f \u7684 \u8f93\u51fa \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u3002 \u6b64 \u811a\u672c \u5047\u5b9a \u6240\u6709 \u6570\u636e \u5747 \u5728 \u53f3\u624b \u6846\u67b6 \u4e2d \u63d0\u4f9b \uff0c Z   \u5411\u4e0a \uff08 ISO   \u53c2\u8003 \u6846\u67b6 \uff09 \uff0c \u5e76 \u6267\u884c \u6240\u6709 \u5fc5\u8981 \u7684 \u8f6c\u6362 \u4e3a   POV - Ray   \u7684   Y   \u5411\u4e0a \u5de6\u624b \u6846\u67b6 \u3002   \u8be5 \u811a\u672c \u63d0\u4f9b \u4ee5\u4e0b \u7528\u6237 \u63a7\u4ef6 \uff1a   \u6e32\u67d3 \u5355\u5e27 \u6216 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5e27 \uff08 \u5904\u7406 \u6279\u5904\u7406 \uff09   \u6253\u5f00 / \u5173\u95ed \u8eab\u4f53 \u53c2\u8003 \u6846\u67b6 \u7684 \u6e32\u67d3   \u6253\u5f00 / \u5173\u95ed \u5168\u5c40 \u53c2\u8003 \u6846\u67b6 \u7684 \u6e32\u67d3   \u6253\u5f00 / \u5173\u95ed \u8d44\u4ea7 \u6e32\u67d3   \u6253\u5f00 / \u5173\u95ed \u56fa\u5b9a \u5728 \u5730\u9762 \u4e0a \u7684 \u8d44\u4ea7 \u7684 \u6e32\u67d3   \u6253\u5f00 / \u5173\u95ed \u652f\u6301 \u5173\u8282 \u7684 \u6e32\u67d3   \u6253\u5f00 / \u5173\u95ed \u5f39\u7c27 \u548c \u51cf\u9707 \u51cf\u9707\u5668 \u7684 \u6e32\u67d3   \u6307\u5b9a \u8868\u793a \u5173\u8282 \u7684 \u51e0\u4f55 \u5f62\u72b6 \u7684 \u5c3a\u5bf8   \u76f8\u673a \u4f4d\u7f6e \u548c \u89c2\u5bdf \u89c2\u5bdf\u70b9   \u542f\u7528 / \u7981\u7528 \u9634\u5f71   \u53ef \u9009 \u6e32\u67d3 \u73af\u5883 \uff08 \u5730\u9762 \u548c \u5929\u7a7a \uff09   \u8bf7 \u6ce8\u610f \uff0c \u8be5   renderZ . pov   \u811a\u672c \u4ec5 \u4f5c\u4e3a \u8d77\u70b9 \u63d0\u4f9b \u3002 \u53ef\u4ee5 \u4f7f\u7528   POV - Ray   \u751f\u6210 \u66f4 \u590d\u6742 \u3001 \u66f4 \u903c\u771f \u7684 \u56fe\u50cf \uff0c \u4f7f\u7528 \u66f4 \u590d\u6742 \u7684 \u6750\u6599 \u548c \u73af\u5883 \u3002   \u6700\u540e \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u7c7b\u4f3c \u7684 \u5de5\u4f5c \u6d41\u7a0b \u6765 \u6e32\u67d3 \u9664   POV - Ray   \u4e4b\u5916 \u7684 \u5176\u4ed6 \u5f15\u64ce \u3002 \u4f8b\u5982 \uff0c \u4e0b\u9762 \u7684 \u56fe\u50cf \u662f \u4f7f\u7528   WriteVisualizationAssets   \u751f\u6210 \u7684 \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u4f46 \u4f7f\u7528   Mitsuba   \u5f15\u64ce \u751f\u6210 \u7684 \u3002","title":"Vehicle   visualization"},{"location":"chrono/vehicle_visualization/#_1","text":"\u57fa\u4e8e   Irrlicht   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316   \u57fa\u4e8e   OpenGL   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316   \u4f7f\u7528   POV - Ray   \u8fdb\u884c \u79bb\u7ebf \u6e32\u67d3","title":"\u53ef\u89c6\u5316"},{"location":"chrono/vehicle_visualization/#irrlicht","text":"\u57fa\u4e8e \u8f66\u8f86   Irrlicht   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \u5206\u522b \u4f7f\u7528 \u9488\u5bf9 \u8f6e\u5f0f \u8f66\u8f86 \u548c \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7684 \u5b9a\u5236   Irrlicht   \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f   ChWheeledVehicleIrrApp   \u548c   ChTrackedVehicleIrrApp   \u3002   \u8fd9\u4e9b \u662f \u57fa\u672c   ChIrrApp   \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u7684 \u6269\u5c55 \uff0c \u5141\u8bb8 \uff1a   \u4f7f\u7528 \u4ee5 \u8f66\u8f86 \u4e3a \u4e2d\u5fc3 \u7684 \u6444\u50cf \u6444\u50cf\u673a \u4f4d\u7f6e \uff08 \u89c6\u70b9 \uff09   \u663e\u793a \u5176\u4ed6 \uff08 \u8f66\u8f86 \u7279\u5b9a \u7684 \uff09 \u7edf\u8ba1 \u8ba1\u6570 \u6570\u636e \u7edf\u8ba1\u6570\u636e \uff0c \u4f8b\u5982 \u8f66\u901f \u3001 \u5f53\u524d \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f93\u5165 \u3001 \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u626d\u77e9 \u3001 \u8f66\u8f6e \u548c \u94fe\u8f6e \u626d\u77e9 \u7b49 \u3002   \u4ee5\u4e0b \u56fe\u50cf \u662f \u6765\u81ea   Chrono : : Vehicle   \u6a21\u62df \u7684 \u5feb\u7167 \u3002","title":"\u57fa\u4e8e   Irrlicht   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6\u5316"},{"location":"chrono/vehicle_visualization/#opengl","text":"Chrono : : Vehicle   \u6a21\u62df \u8fd8 \u53ef\u4ee5 \u4f7f\u7528   Chrono : : OpenGL   \u6a21\u5757 \u5728 \u8fd0\u884c \u65f6 \u8fdb\u884c \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002 \u8fd9 \u63d0\u4f9b \u4e86 \u66f4 \u5feb\u6377 \u3001 \u8ba1\u7b97 \u6548\u7387 \u66f4 \u9ad8 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \uff0c \u5c24\u5176 \u662f \u5bf9\u4e8e \u5927\u89c4 \u89c4\u6a21 \u5927\u89c4\u6a21 \u6a21\u62df \uff08 \u4f8b\u5982 \u6d89\u53ca \u8f66\u8f86 \u4e0e \u9897\u7c92 \u5730\u5f62 \u4ea4\u4e92 \u7684 \u6a21\u62df \uff09 \u3002   \u4ee5\u4e0b \u56fe\u50cf \u662f \u6765\u81ea   Chrono : : Vehicle   \u6a21\u62df \u7684 \u5feb\u7167 \u3002","title":"\u57fa\u4e8e   OpenGL   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6\u5316"},{"location":"chrono/vehicle_visualization/#pov-ray","text":"\u79bb\u7ebf \u6e32\u67d3 \u9700\u8981 \u4ee5\u4e0b \u6b65\u9aa4 \uff1a   \u6536\u96c6 \u8981 \u6e32\u67d3 \u7684 \u6bcf \u4e00\u5e27 \u7684 \u7cfb\u7edf \u6570\u636e   \u53ef\u9009 \u53ef\u9009\u5730 \uff0c \u4ee5 \u7279\u5b9a \u4e8e \u6240 \u9700 \u6e32\u67d3 \u5f15\u64ce \u7684 \u683c\u5f0f \u51c6\u5907 \u7f51\u683c \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6   \u540e\u671f \u5904\u7406 \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u4ee5 \u6e32\u67d3 \u6bcf \u4e00\u5e27 \u7684 \u573a\u666f   \u53ef\u9009 \u53ef\u9009\u5730 \uff0c \u5c06 \u591a \u5e27 \u56fe\u50cf \u7ec4\u5408 \u5408\u6210 \u7ec4\u5408\u6210 \u52a8\u753b   Chrono : : Vehicle   \u4e3a \u8be5 \u5de5\u4f5c \u6d41 \u6a21\u578b \u548c   POV - Ray   \u5149\u7ebf \u8ffd\u8e2a \u7a0b\u5e8f \u63d0\u4f9b \u6709\u9650 \u7684 \u652f\u6301 \u3002   \u51c6\u5907 \u8f93\u51fa \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6   \u5728 \u6bcf\u4e2a \u9700\u8981 \u540e\u671f \u5904\u7406 \u7684 \u6a21\u62df \u5e27 \u4e0a \uff0c \u8c03\u7528 \u51fd\u6570 \u8c03\u7528\u51fd\u6570   WriteVisualizationAssets   \u3002   \u6b64 \u51fd\u6570 \u5c06 \u8f93\u51fa \u4e00\u4e2a \u5305\u542b \u7528\u6237 \u63d0\u4f9b \u7684 \u540d\u79f0 \u7684 \u9017\u53f7 \u5206\u9694 \u503c \uff08 CSV \uff09 \u6587\u4ef6 \u3002   \u8f93\u51fa \u6587\u4ef6 \u5305\u542b \u6709\u5173   Chrono   \u7cfb\u7edf \u4e2d \u6240\u6709 \u7269\u4f53 \u7684 \u4fe1\u606f \uff08 \u4f4d\u7f6e \u548c \u65b9\u5411 \uff09 \u3001 \u6240\u6709 \u76f8\u5173 \u53ef\u89c6 \u53ef\u89c6\u5316 \u8d44\u4ea7 \uff08 \u4f4d\u7f6e \u3001 \u65b9\u5411 \u3001 \u7c7b\u578b \u548c \u8d44\u4ea7 \u7279\u5b9a \u53c2\u6570 \uff09 \u4ee5\u53ca \u9009\u5b9a \u7684 \u5173\u8282 \u7c7b\u578b \u3002 \u8bf7 \u6ce8\u610f \uff0c \u7f51\u683c \u53ef\u89c6 \u53ef\u89c6\u5316 \u8d44\u4ea7 \u901a\u8fc7 \u5176 \u5404\u81ea \u7684 \u7f51\u683c \u540d\u79f0 \u8fdb\u884c \u8bc6\u522b \u3002   \u51c6\u5907 \u7f51\u683c \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6   \u8981 \u4f7f\u7528   POV - Ray   \u8fdb\u884c \u6e32\u67d3 \uff0c \u5fc5\u987b \u5c06 \u4e0e \u7f51\u683c \u53ef\u89c6 \u53ef\u89c6\u5316 \u8d44\u4ea7 \u76f8\u5bf9 \u5e94 \u7684   Wavefront   OBJ   \u6587\u4ef6 \u8f6c\u6362 \u4e3a   POV - Ray   \u8f93\u5165 \u6587\u4ef6 \u4e2d \u7684 \u5b8f \u3002 \u8fd9 \u53ef\u4ee5 \u901a\u8fc7 \u4ee5\u4e0b \u65b9\u5f0f \u5b8c\u6210   \u4f7f\u7528 \u51fd\u6570   WriteMeshPovray   \u4f7f\u7528   PoseRay   \u7b49 \u4e13\u7528 \u7528\u5de5 \u5de5\u5177 \u4e13\u7528\u5de5\u5177   \u5982\u679c \u4f7f\u7528 \u4e0b\u9762 \u63cf\u8ff0 \u7684 \u6e32\u67d3 \u811a\u672c \uff0c \u8fd9\u4e9b \u7f51\u683c \u5b8f   POV - Ray   \u8f93\u5165 \u6587\u4ef6 \u7684 \u540d\u79f0 \u5e94 \u4e0e \u76f8\u5e94 \u7684 \u7f51\u683c \u540d\u79f0 \u76f8\u540c \u3002 \u6b64\u5916 \uff0c \u8fd9\u6837 \u7684 \u7f51\u683c   POV - Ray   \u8f93\u5165 \u6587\u4ef6 \u5fc5\u987b \u5b9a\u4e49 \u5355\u4e2a \u5b8f \uff08 \u540d\u79f0 \u4e0e \u7f51\u683c \u540d\u79f0 \u76f8\u540c \uff09 \uff1b \u56e0\u6b64 \uff0c \u9700\u8981 \u624b\u52a8 \u7f16\u8f91   PoseRay   \u751f\u6210 \u7684 \u6587\u4ef6 \uff08 \u4f8b\u5982 \uff0c \u53c2\u89c1   Chrono   \u53d1\u884c \u53d1\u884c\u7248 \u63d0\u4f9b \u7684 \u793a\u4f8b   data / vehicle / hmmwv / POV - Ray / hmmwv _ chassis . inp   \uff09 \u3002   * *   \u4f7f\u7528   POV - Ray   \u5bf9 \u6587\u4ef6 \u8fdb\u884c \u540e\u671f \u5904\u7406 * *   Chrono   \u53d1\u884c \u53d1\u884c\u7248 \u5305\u542b \uff08 \u5728 \u76ee\u5f55 \u4e2d   src / demos / vehicle /   \uff09 \u4e00\u4e2a \u793a\u4f8b   POV - Ray   \u811a\u672c \uff08   renderZ . pov   \uff09 \uff0c \u53ef \u7528\u4e8e \uff08 \u6279\u91cf \uff09 \u5904\u7406   WriteVisualizationAssets   \u751f\u6210 \u7684 \u683c\u5f0f \u7684 \u8f93\u51fa \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u3002 \u6b64 \u811a\u672c \u5047\u5b9a \u6240\u6709 \u6570\u636e \u5747 \u5728 \u53f3\u624b \u6846\u67b6 \u4e2d \u63d0\u4f9b \uff0c Z   \u5411\u4e0a \uff08 ISO   \u53c2\u8003 \u6846\u67b6 \uff09 \uff0c \u5e76 \u6267\u884c \u6240\u6709 \u5fc5\u8981 \u7684 \u8f6c\u6362 \u4e3a   POV - Ray   \u7684   Y   \u5411\u4e0a \u5de6\u624b \u6846\u67b6 \u3002   \u8be5 \u811a\u672c \u63d0\u4f9b \u4ee5\u4e0b \u7528\u6237 \u63a7\u4ef6 \uff1a   \u6e32\u67d3 \u5355\u5e27 \u6216 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5e27 \uff08 \u5904\u7406 \u6279\u5904\u7406 \uff09   \u6253\u5f00 / \u5173\u95ed \u8eab\u4f53 \u53c2\u8003 \u6846\u67b6 \u7684 \u6e32\u67d3   \u6253\u5f00 / \u5173\u95ed \u5168\u5c40 \u53c2\u8003 \u6846\u67b6 \u7684 \u6e32\u67d3   \u6253\u5f00 / \u5173\u95ed \u8d44\u4ea7 \u6e32\u67d3   \u6253\u5f00 / \u5173\u95ed \u56fa\u5b9a \u5728 \u5730\u9762 \u4e0a \u7684 \u8d44\u4ea7 \u7684 \u6e32\u67d3   \u6253\u5f00 / \u5173\u95ed \u652f\u6301 \u5173\u8282 \u7684 \u6e32\u67d3   \u6253\u5f00 / \u5173\u95ed \u5f39\u7c27 \u548c \u51cf\u9707 \u51cf\u9707\u5668 \u7684 \u6e32\u67d3   \u6307\u5b9a \u8868\u793a \u5173\u8282 \u7684 \u51e0\u4f55 \u5f62\u72b6 \u7684 \u5c3a\u5bf8   \u76f8\u673a \u4f4d\u7f6e \u548c \u89c2\u5bdf \u89c2\u5bdf\u70b9   \u542f\u7528 / \u7981\u7528 \u9634\u5f71   \u53ef \u9009 \u6e32\u67d3 \u73af\u5883 \uff08 \u5730\u9762 \u548c \u5929\u7a7a \uff09   \u8bf7 \u6ce8\u610f \uff0c \u8be5   renderZ . pov   \u811a\u672c \u4ec5 \u4f5c\u4e3a \u8d77\u70b9 \u63d0\u4f9b \u3002 \u53ef\u4ee5 \u4f7f\u7528   POV - Ray   \u751f\u6210 \u66f4 \u590d\u6742 \u3001 \u66f4 \u903c\u771f \u7684 \u56fe\u50cf \uff0c \u4f7f\u7528 \u66f4 \u590d\u6742 \u7684 \u6750\u6599 \u548c \u73af\u5883 \u3002   \u6700\u540e \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u7c7b\u4f3c \u7684 \u5de5\u4f5c \u6d41\u7a0b \u6765 \u6e32\u67d3 \u9664   POV - Ray   \u4e4b\u5916 \u7684 \u5176\u4ed6 \u5f15\u64ce \u3002 \u4f8b\u5982 \uff0c \u4e0b\u9762 \u7684 \u56fe\u50cf \u662f \u4f7f\u7528   WriteVisualizationAssets   \u751f\u6210 \u7684 \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u4f46 \u4f7f\u7528   Mitsuba   \u5f15\u64ce \u751f\u6210 \u7684 \u3002","title":"\u4f7f\u7528   POV - Ray   \u8fdb\u884c \u79bb\u7ebf \u6e32\u67d3"},{"location":"chrono/wheeled_driveline/","text":"\u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b   \u56db \u8f6e\u8f74 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   \u57fa\u4e8e \u53cc\u8f6e \u8f74 \u7684 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   \u56db\u8f6e \u8fd0\u52a8 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   X   \u8f6e \u8fd0\u52a8 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   \u56db \u8f6e\u8f74 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   \u8be5 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u677f \u4f7f\u7528 \u5404\u79cd   Chrono   1 - D   \u8f74 \u5143\u7d20   (   ChShaft   )   \u548c \u4e13\u7528 \u8f74 \u8fde\u63a5 \u5143\u7d20 \u5efa\u6a21 \u3002 \u8fd9\u4e9b \u5143\u7d20 \u7528\u4e8e \u5efa\u6a21 \u5dee\u901f \u5dee\u901f\u5668   (   ChShaftsPlanetary   ) \u3001 \u9525\u5f62 \u9f7f\u8f6e   (   ChShaftsGearboxAngled   )   \u548c \u5dee\u901f \u9501 \u79bb\u5408 \u79bb\u5408\u5668   (   ChShaftsClutch   ) \u3002   \u53c2\u89c1   ChShaftsDriveline4WD   \u548c   ShaftsDriveline4WD   \u3002   \u4e0b\u56fe \u663e\u793a \u4e86 \u57fa\u4e8e \u8f74 \u7684   4WD   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u4e0e \u57fa\u4e8e \u8f74 \u7684 \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b \u7684 \u8fde\u63a5 \u3002   \u4ee5\u4e0b \u793a\u4f8b   JSON   \u89c4\u8303 \u6587\u4ef6 \u8bf4\u660e \u4e86 \u57fa\u4e8e   4WD   \u8f74 \u7684 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u53ef\u7528 \u7684 \u5404\u79cd \u6a21\u677f \u53c2\u6570 \uff1a   {   \" Name \" :   \" HMMWV   AWD   Driveline \" ,   \" Type \" :   \" Driveline \" ,   \" Template \" :   \" ShaftsDriveline4WD \" ,   \" Shaft   Direction \" :   {   \" Motor   Block \" :   [ 1 ,   0 ,   0 ] ,   \" Axle \" :   [ 0 ,   1 ,   0 ]   } ,   \" Shaft   Inertia \" :   {   \" Driveshaft \" :   0.5 ,   \" Front   Driveshaft \" :   0.5 ,   \" Rear   Driveshaft \" :   0.5 ,   \" Central   Differential   Box \" :   0.6 ,   \" Front   Differential   Box \" :   0.6 ,   \" Rear   Differential   Box \" :   0.6   } ,   \" Gear   Ratio \" :   {   \" Front   Conical   Gear \" :   0.2 ,   \" Rear   Conical   Gear \" :   0.2   } ,   \" Axle   Differential   Locking   Limit \" :   100 ,   \" Central   Differential   Locking   Limit \" :   100   }   \u57fa\u4e8e \u53cc\u8f6e \u8f74 \u7684 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   \u8be5 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u677f \u7c7b\u4f3c \u4e8e \u57fa\u4e8e   4WD   \u8f74 \u7684 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b \uff0c \u4f46 \u53ea\u80fd \u9a71\u52a8 \u4e0e \u5355\u4e2a \u8f66\u8f74 \u76f8\u5173 \u7684 \u8f66\u8f6e \u3002 \u8be5 \u8f66\u8f74 \u662f \u4efb\u610f \u7684 \uff0c \u56e0\u6b64 \u8be5 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b \u53ef \u7528\u4e8e \u6a21\u62df \u524d\u8f6e \u9a71\u52a8 \u524d\u8f6e\u9a71\u52a8 \u548c \u540e\u8f6e \u9a71\u52a8 \u8f66\u8f86 \u3002   \u53c2\u89c1   ChShaftsDriveline2WD   \u548c   ShaftsDriveline2WD   \u3002   \u5177\u6709   2WD   \u8f74 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u662f \uff1a   {   \" Name \" :   \" HMMWV   RWD   Driveline \" ,   \" Type \" :   \" Driveline \" ,   \" Template \" :   \" ShaftsDriveline2WD \" ,   \" Shaft   Direction \" :   {   \" Motor   Block \" :   [ 1 ,   0 ,   0 ] ,   \" Axle \" :   [ 0 ,   1 ,   0 ]   } ,   \" Shaft   Inertia \" :   {   \" Driveshaft \" :   0.5 ,   \" Differential   Box \" :   0.6   } ,   \" Gear   Ratio \" :   {   \" Conical   Gear \" :   0.2   } ,   \" Axle   Differential   Locking   Limit \" :   100   }   \u56db\u8f6e \u8fd0\u52a8 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   \u6b64 \u6a21\u677f \u53ef \u7528\u4e8e \u4e3a   4WD   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u5efa\u6a21 \u3002 \u5b83 \u4f7f\u7528 \u6052\u5b9a \u7684 \u524d / \u540e \u626d\u77e9 \u5206\u914d \uff08 0   \u5230   1   \u4e4b\u95f4 \u7684 \u503c \uff09 \u548c   Torsen   \u9650\u6ed1 \u5dee\u901f \u5dee\u901f\u5668 \u7684 \u7b80\u5355 \u6a21\u578b \u3002   \u53c2\u89c1   ChSimpleDriveline   \u548c   SimpleDriveline   \u3002   \u5177\u6709   2WD   \u8f74 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u662f \uff1a   {   \" Name \" :   \" HMMWV   4WD   Driveline \" ,   \" Type \" :   \" Driveline \" ,   \" Template \" :   \" SimpleDriveline \" ,   \" Front   Torque   Fraction \" :   0.5 ,   \" Front   Differential   Max   Bias \" :   2.0 ,   \" Rear   Differential   Max   Bias \" :   2.0   }   X   \u8f6e \u8fd0\u52a8 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   \u6b64 \u7b80\u5355 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u677f \u53ef \u7528\u4e8e \u6a21\u62df   XWD   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \uff0c \u53ef \u9a71\u52a8 \u4e00\u4e2a \u6216 \u591a\u4e2a \u8f66\u8f74 \u3002 \u5b83 \u4f7f\u7528 \u6839\u636e \u9a71\u52a8 \u8f74 \u6570\u91cf \u786e\u5b9a \u7684 \u6052\u5b9a \u626d\u77e9 \u5206\u914d \u548c   Torsen   \u9650\u6ed1 \u5dee\u901f \u5dee\u901f\u5668 \u7684 \u7b80\u5355 \u6a21\u578b \u3002   \u53c2\u89c1   ChSimpleDrivelineXWD   \u548c   SimpleDrivelineXWD   \u3002   \u5177\u6709   2WD   \u8f74 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u662f \uff1a   {   \" Name \" :   \" MAN   5t ,   7t ,   10t   XWD   Driveline \" ,   \" Type \" :   \" Driveline \" ,   \" Template \" :   \" SimpleDrivelineXWD \" ,   \" Differential   Max   Bias \" :   2.0   }","title":"\u4f20\u52a8\u7cfb\u7edf \u6a21\u578b"},{"location":"chrono/wheeled_driveline/#_1","text":"\u56db \u8f6e\u8f74 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   \u57fa\u4e8e \u53cc\u8f6e \u8f74 \u7684 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   \u56db\u8f6e \u8fd0\u52a8 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   X   \u8f6e \u8fd0\u52a8 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf","title":"\u4f20\u52a8\u7cfb\u7edf \u6a21\u578b"},{"location":"chrono/wheeled_driveline/#_2","text":"\u8be5 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u677f \u4f7f\u7528 \u5404\u79cd   Chrono   1 - D   \u8f74 \u5143\u7d20   (   ChShaft   )   \u548c \u4e13\u7528 \u8f74 \u8fde\u63a5 \u5143\u7d20 \u5efa\u6a21 \u3002 \u8fd9\u4e9b \u5143\u7d20 \u7528\u4e8e \u5efa\u6a21 \u5dee\u901f \u5dee\u901f\u5668   (   ChShaftsPlanetary   ) \u3001 \u9525\u5f62 \u9f7f\u8f6e   (   ChShaftsGearboxAngled   )   \u548c \u5dee\u901f \u9501 \u79bb\u5408 \u79bb\u5408\u5668   (   ChShaftsClutch   ) \u3002   \u53c2\u89c1   ChShaftsDriveline4WD   \u548c   ShaftsDriveline4WD   \u3002   \u4e0b\u56fe \u663e\u793a \u4e86 \u57fa\u4e8e \u8f74 \u7684   4WD   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u4e0e \u57fa\u4e8e \u8f74 \u7684 \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b \u7684 \u8fde\u63a5 \u3002   \u4ee5\u4e0b \u793a\u4f8b   JSON   \u89c4\u8303 \u6587\u4ef6 \u8bf4\u660e \u4e86 \u57fa\u4e8e   4WD   \u8f74 \u7684 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u53ef\u7528 \u7684 \u5404\u79cd \u6a21\u677f \u53c2\u6570 \uff1a   {   \" Name \" :   \" HMMWV   AWD   Driveline \" ,   \" Type \" :   \" Driveline \" ,   \" Template \" :   \" ShaftsDriveline4WD \" ,   \" Shaft   Direction \" :   {   \" Motor   Block \" :   [ 1 ,   0 ,   0 ] ,   \" Axle \" :   [ 0 ,   1 ,   0 ]   } ,   \" Shaft   Inertia \" :   {   \" Driveshaft \" :   0.5 ,   \" Front   Driveshaft \" :   0.5 ,   \" Rear   Driveshaft \" :   0.5 ,   \" Central   Differential   Box \" :   0.6 ,   \" Front   Differential   Box \" :   0.6 ,   \" Rear   Differential   Box \" :   0.6   } ,   \" Gear   Ratio \" :   {   \" Front   Conical   Gear \" :   0.2 ,   \" Rear   Conical   Gear \" :   0.2   } ,   \" Axle   Differential   Locking   Limit \" :   100 ,   \" Central   Differential   Locking   Limit \" :   100   }","title":"\u56db \u8f6e\u8f74 \u4f20\u52a8\u7cfb\u7edf"},{"location":"chrono/wheeled_driveline/#_3","text":"\u8be5 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u677f \u7c7b\u4f3c \u4e8e \u57fa\u4e8e   4WD   \u8f74 \u7684 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b \uff0c \u4f46 \u53ea\u80fd \u9a71\u52a8 \u4e0e \u5355\u4e2a \u8f66\u8f74 \u76f8\u5173 \u7684 \u8f66\u8f6e \u3002 \u8be5 \u8f66\u8f74 \u662f \u4efb\u610f \u7684 \uff0c \u56e0\u6b64 \u8be5 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b \u53ef \u7528\u4e8e \u6a21\u62df \u524d\u8f6e \u9a71\u52a8 \u524d\u8f6e\u9a71\u52a8 \u548c \u540e\u8f6e \u9a71\u52a8 \u8f66\u8f86 \u3002   \u53c2\u89c1   ChShaftsDriveline2WD   \u548c   ShaftsDriveline2WD   \u3002   \u5177\u6709   2WD   \u8f74 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u662f \uff1a   {   \" Name \" :   \" HMMWV   RWD   Driveline \" ,   \" Type \" :   \" Driveline \" ,   \" Template \" :   \" ShaftsDriveline2WD \" ,   \" Shaft   Direction \" :   {   \" Motor   Block \" :   [ 1 ,   0 ,   0 ] ,   \" Axle \" :   [ 0 ,   1 ,   0 ]   } ,   \" Shaft   Inertia \" :   {   \" Driveshaft \" :   0.5 ,   \" Differential   Box \" :   0.6   } ,   \" Gear   Ratio \" :   {   \" Conical   Gear \" :   0.2   } ,   \" Axle   Differential   Locking   Limit \" :   100   }","title":"\u57fa\u4e8e \u53cc\u8f6e \u8f74 \u7684 \u4f20\u52a8\u7cfb\u7edf"},{"location":"chrono/wheeled_driveline/#_4","text":"\u6b64 \u6a21\u677f \u53ef \u7528\u4e8e \u4e3a   4WD   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u5efa\u6a21 \u3002 \u5b83 \u4f7f\u7528 \u6052\u5b9a \u7684 \u524d / \u540e \u626d\u77e9 \u5206\u914d \uff08 0   \u5230   1   \u4e4b\u95f4 \u7684 \u503c \uff09 \u548c   Torsen   \u9650\u6ed1 \u5dee\u901f \u5dee\u901f\u5668 \u7684 \u7b80\u5355 \u6a21\u578b \u3002   \u53c2\u89c1   ChSimpleDriveline   \u548c   SimpleDriveline   \u3002   \u5177\u6709   2WD   \u8f74 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u662f \uff1a   {   \" Name \" :   \" HMMWV   4WD   Driveline \" ,   \" Type \" :   \" Driveline \" ,   \" Template \" :   \" SimpleDriveline \" ,   \" Front   Torque   Fraction \" :   0.5 ,   \" Front   Differential   Max   Bias \" :   2.0 ,   \" Rear   Differential   Max   Bias \" :   2.0   }","title":"\u56db\u8f6e \u8fd0\u52a8 \u4f20\u52a8\u7cfb\u7edf"},{"location":"chrono/wheeled_driveline/#x","text":"\u6b64 \u7b80\u5355 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u677f \u53ef \u7528\u4e8e \u6a21\u62df   XWD   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \uff0c \u53ef \u9a71\u52a8 \u4e00\u4e2a \u6216 \u591a\u4e2a \u8f66\u8f74 \u3002 \u5b83 \u4f7f\u7528 \u6839\u636e \u9a71\u52a8 \u8f74 \u6570\u91cf \u786e\u5b9a \u7684 \u6052\u5b9a \u626d\u77e9 \u5206\u914d \u548c   Torsen   \u9650\u6ed1 \u5dee\u901f \u5dee\u901f\u5668 \u7684 \u7b80\u5355 \u6a21\u578b \u3002   \u53c2\u89c1   ChSimpleDrivelineXWD   \u548c   SimpleDrivelineXWD   \u3002   \u5177\u6709   2WD   \u8f74 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u662f \uff1a   {   \" Name \" :   \" MAN   5t ,   7t ,   10t   XWD   Driveline \" ,   \" Type \" :   \" Driveline \" ,   \" Template \" :   \" SimpleDrivelineXWD \" ,   \" Differential   Max   Bias \" :   2.0   }","title":"X   \u8f6e \u8fd0\u52a8 \u4f20\u52a8\u7cfb\u7edf"},{"location":"chrono/wheeled_rig/","text":"\u6d4b\u8bd5 \u53f0\u67b6   \u60ac\u67b6 \u8bd5\u9a8c \u8bd5\u9a8c\u53f0   \u8f6e\u80ce \u8bd5\u9a8c \u8bd5\u9a8c\u53f0   \u60ac\u67b6 \u8bd5\u9a8c \u8bd5\u9a8c\u53f0   ChSuspensionTestRig   \u662f \u4e00\u79cd \u7528\u4e8e \u6d4b\u8bd5 \u6574\u4e2a \u8f66\u8f86 \u60ac\u67b6 \u7ec4\u4ef6 \u7684 \u88c5\u7f6e \u3002 \u53ef\u4ee5 \u6307\u5b9a \u8981 \u6d4b\u8bd5 \u7684 \u60ac\u67b6 \uff1a   \u901a\u8fc7 \u72ec\u7acb \u7684   JSON   \u6587\u4ef6 \uff08 \u53ef\u80fd \u5305\u542b \u6216 \u4e0d \u5305\u542b \u8f6c\u5411 \u7cfb\u7edf \u5b50\u7cfb\u7edf \uff09   \u4f5c\u4e3a \u8f66\u8f86   JSON   \u89c4\u8303 \u6587\u4ef6 \u4e2d \u7684 \u6307\u5b9a \u8f74   \u4f5c\u4e3a \u73b0\u6709 \u8f66\u8f86 \u7684 \u6307\u5b9a \u8f66\u8f74 \uff08 \u5fc5\u987b \u5df2 \u521d\u59cb \u521d\u59cb\u5316 \uff09   \u60ac\u67b6 \u8bd5\u9a8c \u8bd5\u9a8c\u53f0 \u6709 \u4e24\u79cd \u578b\u53f7 \uff1a   ChSuspensionTestRigPlatform   \u4f7f\u7528 \u4e24\u4e2a \u72ec\u7acb \u7684 \u521a\u6027 \u5e73\u53f0 \uff0c \u901a\u8fc7 \u4e0e \u8f6e\u80ce \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u6765 \u9a71\u52a8 \u60ac\u67b6 \u673a\u6784 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   demo _ VEH _ SuspensionTestRigPlatform \u3002   ChSuspensionTestRigPushrod   \u5c06 \u76f4\u63a5 \u9a71\u52a8 \u52a8\u529b \u9a71\u52a8\u529b \u65bd\u52a0 \u5230 \u8f66\u8f6e \u4e3b\u8f74 \u4e0a \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   demo _ VEH _ SuspensionTestRigPushrod \u3002   \u4e0b\u56fe \u663e\u793a \u4e86   ChSuspensionTestRigPlatform   \u6a21\u62df \uff08 \u4f7f\u7528 \u524d \u53cc\u53c9\u81c2 \u60ac\u67b6 \u548c   TMeasy   \u8f6e\u80ce \uff09 \u7684 \u5feb\u7167 \u548c \u793a\u4f8b \u8f93\u51fa \u56fe \u3002   \u4e0b\u56fe \u662f \u4f7f\u7528 \u524d \u53cc\u53c9\u81c2 \u60ac\u67b6 \u7684   ChSuspensionTestRigPushrod   \u6a21\u62df \u7684 \u5feb\u7167 \u3002   \u8f6e\u80ce \u8bd5\u9a8c \u8bd5\u9a8c\u53f0   ChTireTestRig   \u662f \u4e00\u79cd \u7528\u4e8e \u6d4b\u8bd5 \u5355\u4e2a \u8f6e\u80ce \u4e0e   \u521a\u6027   \u3001   SCM   \u53ef \u53d8\u5f62   \u6216   \u7c92\u72b6 \u5730\u5f62   \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u7684 \u88c5\u7f6e \u3002 \u6240\u6709 \u53ef\u7528 \u7684   Chrono : : Vehicle   \u8f6e\u80ce \u6a21\u578b   \u90fd \u53ef\u4ee5 \u4e0e \u6b64 \u6d4b\u8bd5 \u88c5\u7f6e \u4e00\u8d77 \u4f7f\u7528 \uff0c \u4f46 \u53ea\u80fd \u4e0e \u4e00\u81f4 \u7684 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u7ed3\u5408 \u4f7f\u7528 \u3002   \u8f6e\u80ce \u8bd5\u9a8c \u8bd5\u9a8c\u53f0 \u5141\u8bb8 \u7eb5\u5411 \u901f\u5ea6 \u3001 \u8f66\u8f6e \u901f\u5ea6 \u89d2\u901f\u5ea6 \u548c \u8f66\u8f6e \u6ed1\u79fb \u89d2\u968f \u65f6\u95f4 \u53d8\u5316 \uff0c \u652f\u6301 \u7eb5\u5411 \u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u7684 \u81ea\u52a8 \u9009\u62e9 \uff0c \u4ee5 \u5f3a\u5236 \u6267\u884c \u5f3a\u5236\u6267\u884c \u6307\u5b9a \u7684 \u7eb5\u5411 \u6ed1\u79fb \u503c \uff0c \u5e76 \u5141\u8bb8 \u6307\u5b9a \u5916 \u503e\u89d2 \uff08 \u5728 \u6a21\u62df \u671f\u95f4 \u4fdd\u6301 \u4e0d\u53d8 \uff09 \u3002   \u53c2\u89c1   demo _ VEH _ TireTestRig   \u548c   demo _ VEH _ TireTestRig _ Multicore \u3002   \u4e0b\u9762 \u7684 \u56fe\u7247 \u662f \u5355 \u8f6e\u80ce \u6d4b\u8bd5 \u7684 \u5feb\u7167 \uff0c \u5206\u522b \u5728 \u521a\u6027 \u5730\u5f62 \u4e0a \u4f7f\u7528   Pac02   \u8f6e\u80ce \u548c \u5728   SCM   \u53ef \u53d8\u5f62 \u5730\u5f62 \u4e0a \u4f7f\u7528 \u521a\u6027 \u8f6e\u80ce \u3002","title":"\u6d4b\u8bd5 \u53f0\u67b6"},{"location":"chrono/wheeled_rig/#_1","text":"\u60ac\u67b6 \u8bd5\u9a8c \u8bd5\u9a8c\u53f0   \u8f6e\u80ce \u8bd5\u9a8c \u8bd5\u9a8c\u53f0","title":"\u6d4b\u8bd5 \u53f0\u67b6"},{"location":"chrono/wheeled_rig/#_2","text":"ChSuspensionTestRig   \u662f \u4e00\u79cd \u7528\u4e8e \u6d4b\u8bd5 \u6574\u4e2a \u8f66\u8f86 \u60ac\u67b6 \u7ec4\u4ef6 \u7684 \u88c5\u7f6e \u3002 \u53ef\u4ee5 \u6307\u5b9a \u8981 \u6d4b\u8bd5 \u7684 \u60ac\u67b6 \uff1a   \u901a\u8fc7 \u72ec\u7acb \u7684   JSON   \u6587\u4ef6 \uff08 \u53ef\u80fd \u5305\u542b \u6216 \u4e0d \u5305\u542b \u8f6c\u5411 \u7cfb\u7edf \u5b50\u7cfb\u7edf \uff09   \u4f5c\u4e3a \u8f66\u8f86   JSON   \u89c4\u8303 \u6587\u4ef6 \u4e2d \u7684 \u6307\u5b9a \u8f74   \u4f5c\u4e3a \u73b0\u6709 \u8f66\u8f86 \u7684 \u6307\u5b9a \u8f66\u8f74 \uff08 \u5fc5\u987b \u5df2 \u521d\u59cb \u521d\u59cb\u5316 \uff09   \u60ac\u67b6 \u8bd5\u9a8c \u8bd5\u9a8c\u53f0 \u6709 \u4e24\u79cd \u578b\u53f7 \uff1a   ChSuspensionTestRigPlatform   \u4f7f\u7528 \u4e24\u4e2a \u72ec\u7acb \u7684 \u521a\u6027 \u5e73\u53f0 \uff0c \u901a\u8fc7 \u4e0e \u8f6e\u80ce \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u6765 \u9a71\u52a8 \u60ac\u67b6 \u673a\u6784 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   demo _ VEH _ SuspensionTestRigPlatform \u3002   ChSuspensionTestRigPushrod   \u5c06 \u76f4\u63a5 \u9a71\u52a8 \u52a8\u529b \u9a71\u52a8\u529b \u65bd\u52a0 \u5230 \u8f66\u8f6e \u4e3b\u8f74 \u4e0a \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   demo _ VEH _ SuspensionTestRigPushrod \u3002   \u4e0b\u56fe \u663e\u793a \u4e86   ChSuspensionTestRigPlatform   \u6a21\u62df \uff08 \u4f7f\u7528 \u524d \u53cc\u53c9\u81c2 \u60ac\u67b6 \u548c   TMeasy   \u8f6e\u80ce \uff09 \u7684 \u5feb\u7167 \u548c \u793a\u4f8b \u8f93\u51fa \u56fe \u3002   \u4e0b\u56fe \u662f \u4f7f\u7528 \u524d \u53cc\u53c9\u81c2 \u60ac\u67b6 \u7684   ChSuspensionTestRigPushrod   \u6a21\u62df \u7684 \u5feb\u7167 \u3002","title":"\u60ac\u67b6 \u8bd5\u9a8c\u53f0"},{"location":"chrono/wheeled_rig/#_3","text":"ChTireTestRig   \u662f \u4e00\u79cd \u7528\u4e8e \u6d4b\u8bd5 \u5355\u4e2a \u8f6e\u80ce \u4e0e   \u521a\u6027   \u3001   SCM   \u53ef \u53d8\u5f62   \u6216   \u7c92\u72b6 \u5730\u5f62   \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u7684 \u88c5\u7f6e \u3002 \u6240\u6709 \u53ef\u7528 \u7684   Chrono : : Vehicle   \u8f6e\u80ce \u6a21\u578b   \u90fd \u53ef\u4ee5 \u4e0e \u6b64 \u6d4b\u8bd5 \u88c5\u7f6e \u4e00\u8d77 \u4f7f\u7528 \uff0c \u4f46 \u53ea\u80fd \u4e0e \u4e00\u81f4 \u7684 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u7ed3\u5408 \u4f7f\u7528 \u3002   \u8f6e\u80ce \u8bd5\u9a8c \u8bd5\u9a8c\u53f0 \u5141\u8bb8 \u7eb5\u5411 \u901f\u5ea6 \u3001 \u8f66\u8f6e \u901f\u5ea6 \u89d2\u901f\u5ea6 \u548c \u8f66\u8f6e \u6ed1\u79fb \u89d2\u968f \u65f6\u95f4 \u53d8\u5316 \uff0c \u652f\u6301 \u7eb5\u5411 \u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u7684 \u81ea\u52a8 \u9009\u62e9 \uff0c \u4ee5 \u5f3a\u5236 \u6267\u884c \u5f3a\u5236\u6267\u884c \u6307\u5b9a \u7684 \u7eb5\u5411 \u6ed1\u79fb \u503c \uff0c \u5e76 \u5141\u8bb8 \u6307\u5b9a \u5916 \u503e\u89d2 \uff08 \u5728 \u6a21\u62df \u671f\u95f4 \u4fdd\u6301 \u4e0d\u53d8 \uff09 \u3002   \u53c2\u89c1   demo _ VEH _ TireTestRig   \u548c   demo _ VEH _ TireTestRig _ Multicore \u3002   \u4e0b\u9762 \u7684 \u56fe\u7247 \u662f \u5355 \u8f6e\u80ce \u6d4b\u8bd5 \u7684 \u5feb\u7167 \uff0c \u5206\u522b \u5728 \u521a\u6027 \u5730\u5f62 \u4e0a \u4f7f\u7528   Pac02   \u8f6e\u80ce \u548c \u5728   SCM   \u53ef \u53d8\u5f62 \u5730\u5f62 \u4e0a \u4f7f\u7528 \u521a\u6027 \u8f6e\u80ce \u3002","title":"\u8f6e\u80ce \u8bd5\u9a8c\u53f0"},{"location":"chrono/wheeled_steering/","text":"\u8f6c\u5411 \u673a\u6784 \u6a21\u578b   \u8f6c\u5411 \u81c2   \u9f7f\u6761 \u9f7f\u8f6e   \u65cb\u81c2   \u57fa\u7c7b   ChSteering   \u89c4\u5b9a \u4efb\u4f55 \u6d3e\u751f \u7684 \u8f6c\u5411 \u673a\u6784 \u7c7b \uff08 \u8f6c\u5411 \u673a\u6784 \u6a21\u677f \uff09 \u90fd \u5e94 \u63d0\u4f9b \u4e00\u4e2a \u8f6c\u5411 \u8fde\u6746 \u4f53 \uff0c \u53ef \u8f6c\u5411 \u60ac\u67b6 \u53ef\u4ee5 \u4e0e\u5176 \u8fde\u63a5 \uff08 \u901a\u5e38 \u901a\u8fc7 \u60ac\u67b6 \u7684 \u8f6c\u5411 \u8fde\u6746 \uff09 \u3002   \u6d3e\u751f \u8f6c\u5411 \u673a\u6784 \u7c7b\u578b \u5b9a\u4e49 \u7c7b\u578b\u5b9a\u4e49 \u7279\u5b9a \u7c7b\u578b \u7684 \u8f6c\u5411 \u673a\u6784 \u7684 \u4e3b\u4f53 \u3001 \u5173\u8282 \u3001 \u529b \u5143\u7d20 \u548c \u62d3\u6251 \u3002 \u6240\u6709 \u4f4d\u7f6e \u5747 \u5047\u5b9a \u76f8\u5bf9 \u4e8e \u673a\u6784 \u53c2\u8003 \u53c2\u8003\u7cfb \u63d0\u4f9b \uff08 \u6d3e\u751f \u8f6c\u5411 \u673a\u6784 \u7c7b\u578b \u53ef\u4ee5 \u81ea\u7531 \u9009\u62e9 \u81ea\u7531\u9009\u62e9 \u6b64 \u6846\u67b6 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \uff09 \u3002   \u901a\u8fc7 \u6307\u5b9a \u673a\u6784 \u7ec4\u4ef6 \u53c2\u8003 \u53c2\u8003\u7cfb \u76f8\u5bf9 \u4e8e \u5e95\u76d8 \u53c2\u8003 \u53c2\u8003\u7cfb \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \uff08 \u53c2\u89c1   ISO   \u53c2\u8003 \u53c2\u8003\u7cfb   \u7684 \u5b9a\u4e49 \uff09 \uff0c \u5c06 \u8f6c\u5411 \u673a\u6784 \u7ec4\u4ef6 \u5b89\u88c5 \u5230 \u8f66\u8f86 \u5e95\u76d8 \u4e0a \u3002   \u8f6e\u5f0f \u8f66\u8f86 \u53ef\u80fd \u6709 \u591a\u4e2a \u8f6c\u5411 \u673a\u6784 \uff0c \u6bcf\u4e2a \u8f6c\u5411 \u673a\u6784 \u4e0e \u4e0d\u540c \u7684 \u8f6c\u5411 \u8f66\u8f74 \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u540c\u6837 \uff0c \u5355\u4e2a \u8f6c\u5411 \u673a\u6784 \u53ef\u4ee5 \u8fde\u63a5 \u5230 \u591a\u4e2a \u8f6c\u5411 \u8f66\u8f74 \u3002   \u8f6c\u5411 \u81c2   \u8be5 \u8f6c\u5411 \u673a\u6784 \u4e3a \u56db \u8fde\u6746 \u673a\u6784 \u8fde\u6746\u673a\u6784 \uff0c \u8f6c\u5411 \u8fde\u6746 \u4f53 \u901a\u8fc7 \u8f6c\u5411 \u81c2 \u548c \u60f0\u81c2 \u4e0e \u5e95\u76d8 \u76f8\u8fde \u3002 \u8f6c\u5411 \u81c2\u4f53 \u901a\u8fc7 \u4e07\u5411 \u4e07\u5411\u8282 \u4e0e \u8f6c\u5411 \u8fde\u6746 \u76f8\u8fde \uff0c \u901a\u8fc7 \u65cb\u8f6c \u8f6c\u5173 \u5173\u8282 \u65cb\u8f6c\u5173\u8282 \u4e0e \u5e95\u76d8 \u76f8\u8fde \u3002 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f6c\u5411 \u8f93\u5165 \u7528\u4e8e \u63a7\u5236 \u65cb\u8f6c \u8f6c\u5173 \u5173\u8282 \u65cb\u8f6c\u5173\u8282 \u7684 \u89d2\u5ea6 \u3002 \u5728   Chrono : : Vehicle   \u8f6c\u5411 \u81c2 \u6a21\u677f \u4e2d \uff0c \u60f0\u81c2 \u91c7\u7528 \u590d\u5408 \u65cb\u8f6c \u7403 \u5173\u8282 \u5efa\u6a21 \u3002   \u53c2\u89c1   ChPitmanArm   \u548c   PitmanArm   \u3002   \u672c \u8f6c\u5411 \u673a\u6784 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u627f \u529b\u70b9 \u5982\u4e0b \uff1a   \u5177\u6709   PitmanArm   \u8f6c\u5411 \u673a\u6784 \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u5982\u4e0b \uff1a   {   \" Name \" :   \" HMMWV   Pitman   Arm   Steering \" ,   \" Type \" :   \" Steering \" ,   \" Template \" :   \" PitmanArm \" ,   \" Vehicle - Frame   Inertia \" :   false ,   \" Steering   Link \" :   {   \" Mass \" :   3.681 ,   \" COM \" :   [ 0.129 ,   0 ,   0 ] ,   \" Moments   of   Inertia \" :   [ 0.252 ,   0.00233 ,   0.254 ] ,   \" Products   of   Inertia \" :   [ 0 ,   0 ,   0 ] ,   \" Radius \" :   0.03   } ,   \" Pitman   Arm \" :   {   \" Mass \" :   1.605 ,   \" COM \" :   [ 0.064 ,   0.249 ,   0 ] ,   \" Moments   of   Inertia \" :   [ 0.00638 ,   0.00756 ,   0.00150 ] ,   \" Products   of   Inertia \" :   [ 0 ,   0 ,   0 ] ,   \" Radius \" :   0.02   } ,   \" Revolute   Joint \" :   {   \" Location \" :   [ 0 ,   0.249 ,   0 ] ,   \" Direction \" :   [ 0 ,   0 ,   1 ] ,   \" Maximum   Angle   ( deg ) \" :   30   } ,   \" Universal   Joint \" :   {   \" Location \" :   [   0.129 ,   0.249 ,   0 ] ,   \" Direction   Arm \" :   [ 0 ,   0 ,   1 ] ,   \" Direction   Link \" :   [ 1 ,   0 ,   0 ]   } ,   \" Revolute - Spherical   Joint \" :   {   \" Location   Chassis \" :   [ 0 ,   - 0.325 ,   0 ] ,   \" Location   Link \" :   [ 0.129 ,   - 0.325 ,   0 ] ,   \" Direction \" :   [ 0 ,   0 ,   1 ]   } ,   \" Tierod   Locations \" :   {   \" Pitman   Side \" :   [ 0.195 ,   0.448 ,   0.035 ] ,   \" Idler   Side \" :   [ 0.195 ,   - 0.448 ,   0.035 ]   }   }   \u9f7f\u6761 \u9f7f\u8f6e   Chrono : : Vehicle   \u9f7f\u6761 \u9f7f\u8f6e \u8f6c\u5411 \u6a21\u677f \u662f \u9f7f\u6761 \u9f7f\u8f6e \u8f6c\u5411 \u673a\u6784 \u7684 \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u6a21\u578b \u3002 \u8f6c\u5411 \u8fde\u6746 \u4f53 \u901a\u8fc7 \u68f1\u67f1 \u5173\u8282 \u8fde\u63a5 \u5230 \u5e95\u76d8 \u3002 \u9f7f\u6761 \u4f4d\u79fb \u8ba1\u7b97 \u5982\u4e0b \uff1a   d =   r   \uff08 \u03b1 \u6700\u5927 \u9650\u5ea6 s   )   \u5176\u4e2d r \u662f \u5c0f\u9f7f \u9f7f\u8f6e \u5c0f\u9f7f\u8f6e \u534a\u5f84 \uff0c \u03b1 \u6700\u5927 \u9650\u5ea6   \u662f \u6700\u5927 \u5c0f\u9f7f \u9f7f\u8f6e \u5c0f\u9f7f\u8f6e \u89d2 \uff0c \u5e76\u4e14 s   \u2208   [   \u2212   1   ,   1   ] \u662f \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u8f6c\u5411 \u8f93\u5165 \u3002 \u8be5 \u4f4d\u79fb \u7528\u4e8e \u63a7\u5236 \u8f6c\u5411 \u8fde\u6746 \u7684 \u5e73\u79fb \u3002   \u53c2\u89c1   ChRackPinion   \u548c   RackPinion   \u3002   \u672c \u8f6c\u5411 \u673a\u6784 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u53d7\u529b \u70b9 \u5982\u4e0b \uff1a   \u5177\u6709   RackPinion   \u8f6c\u5411 \u673a\u6784 \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u5982\u4e0b \uff1a   {   \" Name \" :   \" HMMWV   Rack - Pinion   Steering \" ,   \" Type \" :   \" Steering \" ,   \" Template \" :   \" RackPinion \" ,   \" Steering   Link \" :   {   \" Mass \" :   9.072 ,   \" COM \" :   0 ,   \" Inertia \" :   [ 1 ,   1 ,   1 ] ,   \" Radius \" :   0.03 ,   \" Length \" :   0.896   } ,   \" Pinion \" :   {   \" Radius \" :   0.1 ,   \" Maximum   Angle   ( deg ) \" :   50   }   }   \u65cb\u81c2   \u65cb\u8f6c \u81c2 \u8f6c\u5411 \u662f \u4e00\u79cd \u7ed5\u8f74 \u65cb\u8f6c \u7684 \u7b80\u5355 \u6760\u6746 \u81c2 \u3002 \u5b83 \u4e0e \u5b9e\u5fc3 \u6447\u81c2 \u8f74 \u548c \u5b9e\u5fc3 \u524d\u675f \u8f74 \u914d\u5408 \u4f7f\u7528 \u3002 \u5b83 \u901a\u5e38 \u7528\u4f5c \u5361\u8f66 \u3001 \u519c\u7528 \u62d6\u62c9 \u62d6\u62c9\u673a \u548c \u8054\u5408 \u6536\u5272 \u5272\u673a \u6536\u5272\u673a \u7684 \u8f6c\u5411 \u7cfb\u7edf \u3002   \u53c2\u89c1   ChRotaryArm   \u548c   RotaryArm   \u3002   \u672c \u8f6c\u5411 \u673a\u6784 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u53d7\u529b \u70b9 \u5982\u4e0b \uff1a   \u5177\u6709   RotaryArm   \u8f6c\u5411 \u673a\u6784 \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u5982\u4e0b \uff1a   {   \" Name \" :   \" UAZBUS   Rotary - Arm   Steering \" ,   \" Type \" :   \" Steering \" ,   \" Template \" :   \" RotaryArm \" ,   \" Pitman   Arm \" :   {   \" Mass \" :   5.0 ,   \" Inertia \" :   [ 0.00638 ,   0.00756 ,   0.00150 ] ,   \" Inertia   Products \" :   [ 0 ,   0 ,   0 ] ,   \" Radius \" :   0.03 ,   \" Axis   of   Rotation \" :   [ 0 ,   1 ,   0 ] ,   / /   arm - chassis   revolute   joint   \" Point   of   Rotation \" :   [ 0.6 ,   0.5325 ,   0.4 ] ,   / /   location   of   chassis   connection   \" Point   to   Draglink \" :   [ 0.6 ,   0.5325 ,   0.2 ] ,   / /   location   of   draglink   connection   \" Maximum   Angle   ( deg ) \" :   12.5   }   }","title":"\u8f6c\u5411 \u673a\u6784 \u6a21\u578b"},{"location":"chrono/wheeled_steering/#_1","text":"\u8f6c\u5411 \u81c2   \u9f7f\u6761 \u9f7f\u8f6e   \u65cb\u81c2   \u57fa\u7c7b   ChSteering   \u89c4\u5b9a \u4efb\u4f55 \u6d3e\u751f \u7684 \u8f6c\u5411 \u673a\u6784 \u7c7b \uff08 \u8f6c\u5411 \u673a\u6784 \u6a21\u677f \uff09 \u90fd \u5e94 \u63d0\u4f9b \u4e00\u4e2a \u8f6c\u5411 \u8fde\u6746 \u4f53 \uff0c \u53ef \u8f6c\u5411 \u60ac\u67b6 \u53ef\u4ee5 \u4e0e\u5176 \u8fde\u63a5 \uff08 \u901a\u5e38 \u901a\u8fc7 \u60ac\u67b6 \u7684 \u8f6c\u5411 \u8fde\u6746 \uff09 \u3002   \u6d3e\u751f \u8f6c\u5411 \u673a\u6784 \u7c7b\u578b \u5b9a\u4e49 \u7c7b\u578b\u5b9a\u4e49 \u7279\u5b9a \u7c7b\u578b \u7684 \u8f6c\u5411 \u673a\u6784 \u7684 \u4e3b\u4f53 \u3001 \u5173\u8282 \u3001 \u529b \u5143\u7d20 \u548c \u62d3\u6251 \u3002 \u6240\u6709 \u4f4d\u7f6e \u5747 \u5047\u5b9a \u76f8\u5bf9 \u4e8e \u673a\u6784 \u53c2\u8003 \u53c2\u8003\u7cfb \u63d0\u4f9b \uff08 \u6d3e\u751f \u8f6c\u5411 \u673a\u6784 \u7c7b\u578b \u53ef\u4ee5 \u81ea\u7531 \u9009\u62e9 \u81ea\u7531\u9009\u62e9 \u6b64 \u6846\u67b6 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \uff09 \u3002   \u901a\u8fc7 \u6307\u5b9a \u673a\u6784 \u7ec4\u4ef6 \u53c2\u8003 \u53c2\u8003\u7cfb \u76f8\u5bf9 \u4e8e \u5e95\u76d8 \u53c2\u8003 \u53c2\u8003\u7cfb \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \uff08 \u53c2\u89c1   ISO   \u53c2\u8003 \u53c2\u8003\u7cfb   \u7684 \u5b9a\u4e49 \uff09 \uff0c \u5c06 \u8f6c\u5411 \u673a\u6784 \u7ec4\u4ef6 \u5b89\u88c5 \u5230 \u8f66\u8f86 \u5e95\u76d8 \u4e0a \u3002   \u8f6e\u5f0f \u8f66\u8f86 \u53ef\u80fd \u6709 \u591a\u4e2a \u8f6c\u5411 \u673a\u6784 \uff0c \u6bcf\u4e2a \u8f6c\u5411 \u673a\u6784 \u4e0e \u4e0d\u540c \u7684 \u8f6c\u5411 \u8f66\u8f74 \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u540c\u6837 \uff0c \u5355\u4e2a \u8f6c\u5411 \u673a\u6784 \u53ef\u4ee5 \u8fde\u63a5 \u5230 \u591a\u4e2a \u8f6c\u5411 \u8f66\u8f74 \u3002","title":"\u8f6c\u5411 \u673a\u6784 \u6a21\u578b"},{"location":"chrono/wheeled_steering/#_2","text":"\u8be5 \u8f6c\u5411 \u673a\u6784 \u4e3a \u56db \u8fde\u6746 \u673a\u6784 \u8fde\u6746\u673a\u6784 \uff0c \u8f6c\u5411 \u8fde\u6746 \u4f53 \u901a\u8fc7 \u8f6c\u5411 \u81c2 \u548c \u60f0\u81c2 \u4e0e \u5e95\u76d8 \u76f8\u8fde \u3002 \u8f6c\u5411 \u81c2\u4f53 \u901a\u8fc7 \u4e07\u5411 \u4e07\u5411\u8282 \u4e0e \u8f6c\u5411 \u8fde\u6746 \u76f8\u8fde \uff0c \u901a\u8fc7 \u65cb\u8f6c \u8f6c\u5173 \u5173\u8282 \u65cb\u8f6c\u5173\u8282 \u4e0e \u5e95\u76d8 \u76f8\u8fde \u3002 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f6c\u5411 \u8f93\u5165 \u7528\u4e8e \u63a7\u5236 \u65cb\u8f6c \u8f6c\u5173 \u5173\u8282 \u65cb\u8f6c\u5173\u8282 \u7684 \u89d2\u5ea6 \u3002 \u5728   Chrono : : Vehicle   \u8f6c\u5411 \u81c2 \u6a21\u677f \u4e2d \uff0c \u60f0\u81c2 \u91c7\u7528 \u590d\u5408 \u65cb\u8f6c \u7403 \u5173\u8282 \u5efa\u6a21 \u3002   \u53c2\u89c1   ChPitmanArm   \u548c   PitmanArm   \u3002   \u672c \u8f6c\u5411 \u673a\u6784 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u627f \u529b\u70b9 \u5982\u4e0b \uff1a   \u5177\u6709   PitmanArm   \u8f6c\u5411 \u673a\u6784 \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u5982\u4e0b \uff1a   {   \" Name \" :   \" HMMWV   Pitman   Arm   Steering \" ,   \" Type \" :   \" Steering \" ,   \" Template \" :   \" PitmanArm \" ,   \" Vehicle - Frame   Inertia \" :   false ,   \" Steering   Link \" :   {   \" Mass \" :   3.681 ,   \" COM \" :   [ 0.129 ,   0 ,   0 ] ,   \" Moments   of   Inertia \" :   [ 0.252 ,   0.00233 ,   0.254 ] ,   \" Products   of   Inertia \" :   [ 0 ,   0 ,   0 ] ,   \" Radius \" :   0.03   } ,   \" Pitman   Arm \" :   {   \" Mass \" :   1.605 ,   \" COM \" :   [ 0.064 ,   0.249 ,   0 ] ,   \" Moments   of   Inertia \" :   [ 0.00638 ,   0.00756 ,   0.00150 ] ,   \" Products   of   Inertia \" :   [ 0 ,   0 ,   0 ] ,   \" Radius \" :   0.02   } ,   \" Revolute   Joint \" :   {   \" Location \" :   [ 0 ,   0.249 ,   0 ] ,   \" Direction \" :   [ 0 ,   0 ,   1 ] ,   \" Maximum   Angle   ( deg ) \" :   30   } ,   \" Universal   Joint \" :   {   \" Location \" :   [   0.129 ,   0.249 ,   0 ] ,   \" Direction   Arm \" :   [ 0 ,   0 ,   1 ] ,   \" Direction   Link \" :   [ 1 ,   0 ,   0 ]   } ,   \" Revolute - Spherical   Joint \" :   {   \" Location   Chassis \" :   [ 0 ,   - 0.325 ,   0 ] ,   \" Location   Link \" :   [ 0.129 ,   - 0.325 ,   0 ] ,   \" Direction \" :   [ 0 ,   0 ,   1 ]   } ,   \" Tierod   Locations \" :   {   \" Pitman   Side \" :   [ 0.195 ,   0.448 ,   0.035 ] ,   \" Idler   Side \" :   [ 0.195 ,   - 0.448 ,   0.035 ]   }   }","title":"\u8f6c\u5411 \u81c2  "},{"location":"chrono/wheeled_steering/#_3","text":"Chrono : : Vehicle   \u9f7f\u6761 \u9f7f\u8f6e \u8f6c\u5411 \u6a21\u677f \u662f \u9f7f\u6761 \u9f7f\u8f6e \u8f6c\u5411 \u673a\u6784 \u7684 \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u6a21\u578b \u3002 \u8f6c\u5411 \u8fde\u6746 \u4f53 \u901a\u8fc7 \u68f1\u67f1 \u5173\u8282 \u8fde\u63a5 \u5230 \u5e95\u76d8 \u3002 \u9f7f\u6761 \u4f4d\u79fb \u8ba1\u7b97 \u5982\u4e0b \uff1a   d =   r   \uff08 \u03b1 \u6700\u5927 \u9650\u5ea6 s   )   \u5176\u4e2d r \u662f \u5c0f\u9f7f \u9f7f\u8f6e \u5c0f\u9f7f\u8f6e \u534a\u5f84 \uff0c \u03b1 \u6700\u5927 \u9650\u5ea6   \u662f \u6700\u5927 \u5c0f\u9f7f \u9f7f\u8f6e \u5c0f\u9f7f\u8f6e \u89d2 \uff0c \u5e76\u4e14 s   \u2208   [   \u2212   1   ,   1   ] \u662f \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u8f6c\u5411 \u8f93\u5165 \u3002 \u8be5 \u4f4d\u79fb \u7528\u4e8e \u63a7\u5236 \u8f6c\u5411 \u8fde\u6746 \u7684 \u5e73\u79fb \u3002   \u53c2\u89c1   ChRackPinion   \u548c   RackPinion   \u3002   \u672c \u8f6c\u5411 \u673a\u6784 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u53d7\u529b \u70b9 \u5982\u4e0b \uff1a   \u5177\u6709   RackPinion   \u8f6c\u5411 \u673a\u6784 \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u5982\u4e0b \uff1a   {   \" Name \" :   \" HMMWV   Rack - Pinion   Steering \" ,   \" Type \" :   \" Steering \" ,   \" Template \" :   \" RackPinion \" ,   \" Steering   Link \" :   {   \" Mass \" :   9.072 ,   \" COM \" :   0 ,   \" Inertia \" :   [ 1 ,   1 ,   1 ] ,   \" Radius \" :   0.03 ,   \" Length \" :   0.896   } ,   \" Pinion \" :   {   \" Radius \" :   0.1 ,   \" Maximum   Angle   ( deg ) \" :   50   }   }","title":"\u9f7f\u6761 \u9f7f\u8f6e  "},{"location":"chrono/wheeled_steering/#_4","text":"\u65cb\u8f6c \u81c2 \u8f6c\u5411 \u662f \u4e00\u79cd \u7ed5\u8f74 \u65cb\u8f6c \u7684 \u7b80\u5355 \u6760\u6746 \u81c2 \u3002 \u5b83 \u4e0e \u5b9e\u5fc3 \u6447\u81c2 \u8f74 \u548c \u5b9e\u5fc3 \u524d\u675f \u8f74 \u914d\u5408 \u4f7f\u7528 \u3002 \u5b83 \u901a\u5e38 \u7528\u4f5c \u5361\u8f66 \u3001 \u519c\u7528 \u62d6\u62c9 \u62d6\u62c9\u673a \u548c \u8054\u5408 \u6536\u5272 \u5272\u673a \u6536\u5272\u673a \u7684 \u8f6c\u5411 \u7cfb\u7edf \u3002   \u53c2\u89c1   ChRotaryArm   \u548c   RotaryArm   \u3002   \u672c \u8f6c\u5411 \u673a\u6784 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u53d7\u529b \u70b9 \u5982\u4e0b \uff1a   \u5177\u6709   RotaryArm   \u8f6c\u5411 \u673a\u6784 \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u5982\u4e0b \uff1a   {   \" Name \" :   \" UAZBUS   Rotary - Arm   Steering \" ,   \" Type \" :   \" Steering \" ,   \" Template \" :   \" RotaryArm \" ,   \" Pitman   Arm \" :   {   \" Mass \" :   5.0 ,   \" Inertia \" :   [ 0.00638 ,   0.00756 ,   0.00150 ] ,   \" Inertia   Products \" :   [ 0 ,   0 ,   0 ] ,   \" Radius \" :   0.03 ,   \" Axis   of   Rotation \" :   [ 0 ,   1 ,   0 ] ,   / /   arm - chassis   revolute   joint   \" Point   of   Rotation \" :   [ 0.6 ,   0.5325 ,   0.4 ] ,   / /   location   of   chassis   connection   \" Point   to   Draglink \" :   [ 0.6 ,   0.5325 ,   0.2 ] ,   / /   location   of   draglink   connection   \" Maximum   Angle   ( deg ) \" :   12.5   }   }","title":"\u65cb\u81c2  "},{"location":"chrono/wheeled_suspension/","text":"\u60ac\u6302 \u6a21\u578b   \u60ac \u67b6\u5b50 \u7cfb\u7edf \u662f \u8f6e\u5f0f \u8f66\u8f86 \u7684 \u4e00\u4e2a \u8f74 \u7684 \u6a21\u578b \u3002 \u57fa\u7c7b   ChSuspension   \u89c4\u5b9a \uff0c \u4efb\u4f55 \u6d3e\u751f \u7684 \u60ac\u67b6 \u7c7b \uff08 \u60ac\u67b6 \u6a21\u677f \uff09 \u90fd \u63d0\u4f9b \u4e24\u4e2a \u8f66\u8f6e \u4e3b\u8f74 \uff08 \u5de6\u548c\u53f3 \uff09 \uff0c \u6bcf\u4e2a \u8f66\u8f6e \u4e3b\u8f74 \u901a\u8fc7 \u65cb\u8f6c \u63a5\u5934 \u8fde\u63a5 \u5230 \u8be5 \u7c7b\u578b \u60ac\u67b6 \u7684 \u67d0\u4e2a \u90e8\u5206 \uff0c \u4ee5\u53ca \u4e24\u4e2a \u4e3b\u8f74 \u8f74 \uff08   ChShaft   \u7c7b\u578b \u7684 \u5143\u7d20 \uff09 \uff0c \u5982\u679c \u8be5 \u8f74 \u88ab \u9a71\u52a8 \uff0c \u5219 \u53ef \u8fde\u63a5 \u5230 \u8f66\u8f86 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u3002   \u6d3e\u751f \u60ac\u67b6 \u7c7b\u578b \u5b9a\u4e49 \u7c7b\u578b\u5b9a\u4e49 \u4e86 \u7279\u5b9a \u7c7b\u578b \u60ac\u67b6 \u7684 \u4e3b\u4f53 \u3001 \u5173\u8282 \u3001 \u529b \u5143\u7d20 \u548c \u62d3\u6251 \u7ed3\u6784 \u3002 \u6240\u6709 \u4f4d\u7f6e \u5747 \u5047\u5b9a \u76f8\u5bf9 \u4e8e \u60ac\u67b6 \u53c2\u8003 \u53c2\u8003\u7cfb \u63d0\u4f9b \uff08 \u6d3e\u751f \u60ac\u67b6 \u7c7b\u578b \u53ef\u4ee5 \u81ea\u7531 \u9009\u62e9 \u81ea\u7531\u9009\u62e9 \u6b64 \u53c2\u8003 \u53c2\u8003\u7cfb \u7684 \u4f4d\u7f6e \uff0c \u4f46 \u4e0d\u80fd \u9009\u62e9 \u5176 \u65b9\u5411 \uff0c \u5047\u5b9a \u65b9\u5411 \u4e0e \u5e95\u76d8   ISO   \u53c2\u8003 \u53c2\u8003\u7cfb \u5e73\u884c \uff09 \u3002   \u901a\u8fc7 \u6307\u5b9a \u60ac\u67b6 \u7ec4\u4ef6 \u53c2\u8003 \u53c2\u8003\u7cfb \u76f8\u5bf9 \u4e8e \u5e95\u76d8 \u53c2\u8003 \u53c2\u8003\u7cfb \u7684 \u4f4d\u7f6e \uff08 \u53c2\u89c1   ISO   \u53c2\u8003 \u53c2\u8003\u7cfb   \u7684 \u5b9a\u4e49 \uff09 \uff0c \u5c06 \u60ac\u67b6 \u7ec4\u4ef6 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u5e95\u76d8 \u4e0a \u3002   \u53cc\u53c9\u81c2   \u72ec\u7acb \u64cd\u7eb5 \u53ef\u64cd\u7eb5 \u60ac\u67b6 \uff0c \u4f7f\u7528 \u4e24\u4e2a \u53c9\u81c2 \u63a7\u5236 \u81c2 \uff08 \u4e5f \u79f0\u4e3a   A   \u81c2 \uff09 \u8fde\u63a5 \u8f6c\u5411 \u8f6c\u5411\u8282 \u548c \u5e95\u76d8 \u3002 \u7528\u4f5c HMMWV \u8f66\u8f86 \u6a21\u578b \u7684 \u60ac\u67b6 \u524d\u60ac\u67b6 \u548c \u540e \u60ac\u67b6 \u3002   \u53c2\u89c1   ChDoubleWishbone   \u548c   DoubleWishbone   \u3002 \uff08 wishbone   \u53c9 \u9aa8 \uff0c \u5982\u613f \u9aa8 \uff08 \u5403 \u5bb6\u79bd \u7b49 \u65f6 \u4e24\u4eba \u5c06 \u9888 \u4e0e \u80f8 \u4e4b\u95f4 \u7684   V   \u5f62\u9aa8 \u62c9\u5f00 \uff0c \u5f97 \u5927\u5757 \u9aa8\u8005 \u53ef \u8bb8\u613f \uff09 \uff09 \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u53cc\u53c9\u81c2 \uff08 \u7b80\u5316 \uff09   \u8fd9\u79cd \u7b80\u5316 \u7684 \u53cc\u53c9\u81c2 \u60ac\u67b6 \u6a21\u677f \u4f7f\u7528 \u4e24\u4e2a \u8ddd\u79bb \u7ea6\u675f \u6765 \u6a21\u62df \u4e0b \u63a7\u5236 \u81c2 \u548c \u4e0a \u63a7\u5236 \u81c2 \u3002 \u5f53 \u63a7\u5236 \u81c2 \u7684 \u8d28\u91cf \u548c \u60ef\u6027 \u76f8\u5bf9 \u4e8e \u7cfb\u7edf \u4e2d \u7684 \u5176\u4ed6 \u7269\u4f53 \u8f83 \u5c0f \uff0c \u56e0\u6b64 \u53ef\u4ee5 \u5ffd\u7565 \u4e0d\u8ba1 \u5ffd\u7565\u4e0d\u8ba1 \u65f6 \uff0c \u8fd9\u79cd \u60ac\u67b6 \u7c7b\u578b \u662f \u5408\u9002 \u7684 \u3002   \u53c2\u89c1   ChDoubleWishboneReduced   \u548c   DoubleWishboneReduced   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u9ea6\u5f17\u900a \u652f\u67f1   \u53ef \u8f6c\u5411 \u72ec\u7acb \u60ac\u67b6 \u7cfb\u7edf \uff0c \u9002\u7528 \u4e8e \u524d\u8f6e \u9a71\u52a8 \u524d\u8f6e\u9a71\u52a8 \u3001 \u6a2a\u5411 \u5b89\u88c5 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a / \u53d8\u901f \u53d8\u901f\u7bb1 \u7684 \u4e2d\u5c0f \u5c0f\u578b \u4e2d\u5c0f\u578b \u7528\u8f66 \u4e58\u7528\u8f66 \u3002   \u53c2\u89c1   ChMacPhersonStrut   \u548c   MacPhersonStrut   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u591a \u8fde\u6746   \u8be5 \u60ac\u67b6 \u7cfb\u7edf \u7c7b\u4f3c \u4e8e \u53cc\u53c9\u81c2 \u8f74 \uff0c \u62d6\u66f3 \u81c2 \u53ef\u4ee5 \u627f\u53d7 \u8f83\u5927 \u7684 \u7eb5\u5411 \u529b \u3002   \u53c2\u89c1   ChMultiLink   \u548c   MultiLink   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u534a \u62d6\u66f3 \u81c2   \u5c0f\u578b \u7528\u8f66 \u4e58\u7528\u8f66 \u91c7\u7528 \u7b80\u5355 \u7684 \u72ec\u7acb \u8f74 \u7cfb\u7edf \u4f5c\u4e3a \u540e \u60ac\u67b6 \u3002   \u53c2\u89c1   ChSemiTrailingArm   \u548c   SemiTrailingArm   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u5b9e\u5fc3 \u8f74   \u7531 \u56db\u4e2a \u8fde\u6746 \u5f15\u5bfc \u7684 \u5b9e\u5fc3 \u8f74 \u7cfb\u7edf \u3002 \u5b83 \u901a\u5e38 \u4f7f\u7528 \u87ba\u65cb \u5f39\u7c27 \u87ba\u65cb\u5f39\u7c27 \u6216 \u7a7a\u6c14 \u5f39\u7c27 \uff0c \u5e38\u89c1 \u89c1\u4e8e \u5e38\u89c1\u4e8e \u8f83 \u65e7 \u7684 \u7528\u8f66 \u4e58\u7528\u8f66 \u3002   \u53c2\u89c1   ChSolidAxle   \u548c   SolidAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u5b9e\u5fc3 \u4e09 \u8fde\u6746 \u8f74   \u7528\u4f5c   MAN   5t   \u3001   MAN   7t   \u548c   MAN   10t   \u5361\u8f66 \u578b\u53f7 \u7684 \u540e \u60ac\u67b6 \u3002 \u8fd9\u79cd \u60ac\u67b6 \u5141\u8bb8 \u975e\u5e38 \u9ad8 \u7684 \u8f66\u8f6e \u884c\u7a0b \uff0c \u8fd9\u662f \u677f\u7c27 \u65e0\u6cd5 \u5b9e\u73b0 \u7684 \u3002 \u5b83 \u4e5f \u7528\u4e8e \u5e26\u6709 \u7a7a\u6c14 \u5f39\u7c27 \u7684 \u516c\u8def \u5361\u8f66 \u3002 \u7a7a\u6c14 \u5f39\u7c27 \u548c \u87ba\u65cb \u5f39\u7c27 \u87ba\u65cb\u5f39\u7c27 \u9700\u8981 \u7531 \u8fde\u6746 \u5f15\u5bfc \u7684 \u60ac\u67b6 \u3002   \u53c2\u89c1   ChSolidThreeLinkAxle   \u548c   SolidThreeLinkAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u5e26 \u6447\u81c2 \u7684 \u5b9e\u5fc3 \u4e09 \u8fde\u6746 \u8f74   \u7528\u4f5c   MAN   5t   \u3001   MAN   7t   \u548c   MAN   10t   \u5361\u8f66 \u578b\u53f7 \u7684 \u60ac\u67b6 \u524d\u60ac\u67b6 \u3002   \u53c2\u89c1   ChSolidBellcrankThreeLinkAxle   \u548c   SolidBellcrankThreeLinkAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u677f\u7c27 \u5b9e\u5fc3 \u8f74   \u7528\u4f5c   UAZ   \u8f66\u578b \u7684 \u540e \u60ac\u67b6 \u3002 \u677f\u7c27 \u8f74 \u5177\u6709 \u590d\u6742 \u7684 \u5bfc\u5411 \u884c\u4e3a \u3002 \u8fd9\u662f \u4e00\u79cd \u6a21\u62df \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c \u5176\u4e2d \u677f\u7c27 \u7684 \u5bfc\u5411 \u6548\u679c \u901a\u8fc7 \u8f74\u7ba1 \u4e2d\u5fc3 \u7684 \u7279\u6b8a \u63a5\u5934 \u6a21\u62df \u3002 \u60ac\u67b6 \u6548\u679c \u7531 \u87ba\u65cb \u5f39\u7c27 \u87ba\u65cb\u5f39\u7c27 \u6a21\u62df \u3002 \u6eda\u52a8 \u884c\u4e3a \u63a5\u8fd1 \u771f\u5b9e \u7684 \u677f\u7c27 \u8f74 \u3002   \u53c2\u89c1   ChLeafspringAxle   \u548c   LeafspringAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u5e26\u8dbe\u6746 \u7684 \u677f\u7c27 \u5b9e\u5fc3 \u8f74   \u7528\u4f5c   UAZ   \u8f66\u578b \u7684 \u60ac\u67b6 \u524d\u60ac\u67b6 \u3002   \u53c2\u89c1   ChToeBarLeafspringAxle   \u548c   ToeBarLeafspringAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   SAE   \u677f\u7c27 \u5b9e\u5fc3 \u8f74   SAE   \u5f39\u7c27 \u8bbe\u8ba1 \u624b\u518c \u4ecb\u7ecd \u4e86 \u4e00\u79cd \u5728 \u8d1f\u8f7d \u6761\u4ef6 \u4e0b \u5177\u6709 \u771f\u5b9e \u53d8\u5f62 \u884c\u4e3a \u7684 \u677f\u7c27 \u5efa\u6a21 \u65b9\u6cd5 \u3002 \u677f\u7c27 \u7684 \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u53ef\u4ee5 \u7528   5   \u4e2a\u70b9 \u6765 \u5b9a\u4e49 \u3002 \u8fd9\u4e9b \u70b9 \u53ef \u7528\u4e8e \u5b9a\u4e49 \u7531   6   \u4e2a \u521a\u4f53 \uff08 \u524d \u677f\u7c27 \u3001 \u524d \u5939\u94b3 \u3001 \u540e \u5939\u94b3 \u3001 \u540e \u677f\u7c27 \u548c \u5378 \u6263 \uff09 \u7ec4\u6210 \u7684 \u677f\u7c27 \u3002 \u8fd9\u4e9b \u521a\u4f53 \u901a\u8fc7 \u5173\u8282 \u8fde\u63a5 \u3002 \u524d \u677f\u7c27 \u548c \u540e \u677f\u7c27 \u4ee5\u53ca \u524d \u5939\u94b3 \u548c \u540e \u5939\u94b3 \u7684 \u65cb\u8f6c \u5f39\u7c27 \u5177\u6709 \u65cb\u8f6c \u521a\u5ea6 \uff0c \u7528\u6237 \u53ef\u4ee5 \u8bbe\u7f6e \u8be5 \u521a\u5ea6 \u4ee5 \u5b9a\u4e49 \u6b63\u786e \u7684 \u884c\u4e3a \u3002 \u8be5 \u60ac\u67b6 \u7528\u4f5c   UAZ   \u8f66\u8f86   SAE   \u578b \u6a21\u578b \u7684 \u540e \u60ac\u67b6 \u3002 \u8be5 \u677f\u7c27 \u6a21\u578b \u53ef\u4ee5 \u6b63\u786e \u6a21\u62df \u7531\u4e8e \u8f66\u8f6e \u884c\u9a76 \u800c \u5f15\u8d77 \u7684 \u8f74\u4f53 \u8fd0\u52a8 \u4ee5\u53ca \u7531\u4e8e \u7eb5\u5411 \u529b\u800c \u5f15\u8d77 \u7684 \u675f\u7f1a \u6548\u5e94 \u3002   \u53c2\u89c1   ChSAELeafspringAxle   \u548c   SAELeafspringAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u5e26\u8dbe\u6746 \u7684   SAE   \u677f\u7c27 \u5b9e\u5fc3 \u8f74   \u7528\u4f5c   UAZ   SAE   \u578b \u8f66\u578b \u7684 \u60ac\u67b6 \u524d\u60ac\u67b6 \u3002 \u677f\u7c27 \u5b9a\u4e49 \u4e0e   SAE   \u677f\u7c27 \u8f74 \u76f8\u540c \u3002   \u53c2\u89c1   ChSAEToeBarLeafspringAxle   \u548c   SAEToeBarLeafspringAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u4e09 \u8fde\u6746 \u72ec\u7acb \u540e \u60ac\u67b6   \u4e09 \u8fde\u6746 \u72ec\u7acb \u540e \u60ac\u67b6   ( IRS ) \uff0c \u5982   Polaris   RZR   \u8f66\u8f86 \u4e0a \u6240\u89c1 \u3002   \u53c2\u89c1   ChThreeLinkIRS   \u548c   ThreeLinkIRS   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u521a\u6027 \u60ac\u6302   \u7b80\u5355 \u7ec4\u88c5 \uff0c \u4e3b\u8f74 \u76f4\u63a5 \u8fde\u63a5 \u5230\u8f74\u7ba1 \u4e0a \uff0c \u8f74\u7ba1 \u56fa\u5b9a \u5728 \u5e95\u76d8 \u4e0a \u3002 \u8fd9\u662f \u519c\u7528 \u62d6\u62c9 \u62d6\u62c9\u673a \u548c \u8054\u5408 \u6536\u5272 \u5272\u673a \u6536\u5272\u673a \u7684 \u5178\u578b \u88c5\u914d \u3002   \u53c2\u89c1   ChRigidSuspension   \u548c   RigidSuspension   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u521a\u6027 \u9500\u8f74   \u7b80\u5355 \u7ec4\u4ef6 \uff0c \u4e3b\u8f74 \u76f4\u63a5 \u8fde\u63a5 \u5230\u8f74\u7ba1 \u4e0a \uff0c \u53ef\u4ee5 \u56f4\u7ed5 \u67a2\u8f74 \u70b9 \u6446\u52a8 \uff0c \u62b5\u9760 \u5e95\u76d8 \u3002 \u5982\u679c \u9700\u8981 \u975e \u60ac\u6302 \u8f74 \u7cfb\u7edf \uff0c \u4f46 \u53c8 \u5fc5\u987b \u5728 \u8d77\u4f0f \u7684 \u5730\u5f62 \u4e0a \u884c\u9a76 \u4ee5 \u907f\u514d \u8f66\u8f6e \u62ac\u8d77 \uff0c \u5219 \u53ef\u4ee5 \u4f7f\u7528 \u6b64 \u7ec4\u4ef6 \u3002   \u53c2\u89c1   ChRigidPinnedAxle   \u548c   RigidPinnedAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u901a\u7528 \u8f6e\u5f0f \u8f66\u8f86 \u60ac\u67b6 \u6a21\u677f   \u6b64 \u6a21\u677f \u5141\u8bb8 \u6307\u5b9a \u5177\u6709 \u4efb\u610f \u62d3\u6251 \u7684 \u7528\u6237 \u5b9a\u4e49 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60ac \u67b6\u5b50 \u7cfb\u7edf \u3002 \u901a\u8fc7 \u6dfb\u52a0 \u4e3b\u4f53 \u3001 \u5173\u8282 \u3001 \u8ddd\u79bb \u7ea6\u675f \u548c   TSDA   \u6765 \u6784\u5efa \u5177\u4f53 \u7684 \u60ac\u67b6 \u3002 \u6bcf\u4e2a \u5efa\u6a21 \u7ec4\u4ef6 \u90fd \u53ef\u4ee5 \u6807\u8bb0 \u4e3a \u201c \u955c\u50cf \u201d \u3002 \u7528\u6237 \u8d1f\u8d23 \u5b9a\u4e49 \u6240\u6709 \u975e \u955c\u50cf \u7ec4\u4ef6 \u548c \u5de6\u4fa7 \u955c\u50cf \u7ec4\u4ef6 \uff08 \u76f8\u5e94 \u7684 \u53f3\u4fa7 \u7ec4\u4ef6 \u4f1a \u81ea\u52a8 \u751f\u6210 \uff09 \u3002   \u53c2\u89c1   ChGenericWheeledSuspension   \u548c   GenericWheeledSuspension   \u3002","title":"\u60ac\u6302 \u6a21\u578b"},{"location":"chrono/wheeled_suspension/#_1","text":"\u60ac \u67b6\u5b50 \u7cfb\u7edf \u662f \u8f6e\u5f0f \u8f66\u8f86 \u7684 \u4e00\u4e2a \u8f74 \u7684 \u6a21\u578b \u3002 \u57fa\u7c7b   ChSuspension   \u89c4\u5b9a \uff0c \u4efb\u4f55 \u6d3e\u751f \u7684 \u60ac\u67b6 \u7c7b \uff08 \u60ac\u67b6 \u6a21\u677f \uff09 \u90fd \u63d0\u4f9b \u4e24\u4e2a \u8f66\u8f6e \u4e3b\u8f74 \uff08 \u5de6\u548c\u53f3 \uff09 \uff0c \u6bcf\u4e2a \u8f66\u8f6e \u4e3b\u8f74 \u901a\u8fc7 \u65cb\u8f6c \u63a5\u5934 \u8fde\u63a5 \u5230 \u8be5 \u7c7b\u578b \u60ac\u67b6 \u7684 \u67d0\u4e2a \u90e8\u5206 \uff0c \u4ee5\u53ca \u4e24\u4e2a \u4e3b\u8f74 \u8f74 \uff08   ChShaft   \u7c7b\u578b \u7684 \u5143\u7d20 \uff09 \uff0c \u5982\u679c \u8be5 \u8f74 \u88ab \u9a71\u52a8 \uff0c \u5219 \u53ef \u8fde\u63a5 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\u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u53cc\u53c9\u81c2"},{"location":"chrono/wheeled_suspension/#_3","text":"\u8fd9\u79cd \u7b80\u5316 \u7684 \u53cc\u53c9\u81c2 \u60ac\u67b6 \u6a21\u677f \u4f7f\u7528 \u4e24\u4e2a \u8ddd\u79bb \u7ea6\u675f \u6765 \u6a21\u62df \u4e0b \u63a7\u5236 \u81c2 \u548c \u4e0a \u63a7\u5236 \u81c2 \u3002 \u5f53 \u63a7\u5236 \u81c2 \u7684 \u8d28\u91cf \u548c \u60ef\u6027 \u76f8\u5bf9 \u4e8e \u7cfb\u7edf \u4e2d \u7684 \u5176\u4ed6 \u7269\u4f53 \u8f83 \u5c0f \uff0c \u56e0\u6b64 \u53ef\u4ee5 \u5ffd\u7565 \u4e0d\u8ba1 \u5ffd\u7565\u4e0d\u8ba1 \u65f6 \uff0c \u8fd9\u79cd \u60ac\u67b6 \u7c7b\u578b \u662f \u5408\u9002 \u7684 \u3002   \u53c2\u89c1   ChDoubleWishboneReduced   \u548c   DoubleWishboneReduced   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u53cc\u53c9\u81c2 \uff08 \u7b80\u5316 \uff09"},{"location":"chrono/wheeled_suspension/#_4","text":"\u53ef \u8f6c\u5411 \u72ec\u7acb \u60ac\u67b6 \u7cfb\u7edf \uff0c \u9002\u7528 \u4e8e \u524d\u8f6e \u9a71\u52a8 \u524d\u8f6e\u9a71\u52a8 \u3001 \u6a2a\u5411 \u5b89\u88c5 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a / \u53d8\u901f \u53d8\u901f\u7bb1 \u7684 \u4e2d\u5c0f \u5c0f\u578b \u4e2d\u5c0f\u578b \u7528\u8f66 \u4e58\u7528\u8f66 \u3002   \u53c2\u89c1   ChMacPhersonStrut   \u548c   MacPhersonStrut   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u9ea6\u5f17\u900a \u652f\u67f1"},{"location":"chrono/wheeled_suspension/#_5","text":"\u8be5 \u60ac\u67b6 \u7cfb\u7edf \u7c7b\u4f3c \u4e8e \u53cc\u53c9\u81c2 \u8f74 \uff0c \u62d6\u66f3 \u81c2 \u53ef\u4ee5 \u627f\u53d7 \u8f83\u5927 \u7684 \u7eb5\u5411 \u529b \u3002   \u53c2\u89c1   ChMultiLink   \u548c   MultiLink   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u591a \u8fde\u6746"},{"location":"chrono/wheeled_suspension/#_6","text":"\u5c0f\u578b \u7528\u8f66 \u4e58\u7528\u8f66 \u91c7\u7528 \u7b80\u5355 \u7684 \u72ec\u7acb \u8f74 \u7cfb\u7edf \u4f5c\u4e3a \u540e \u60ac\u67b6 \u3002   \u53c2\u89c1   ChSemiTrailingArm   \u548c   SemiTrailingArm   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u534a \u62d6\u66f3 \u81c2"},{"location":"chrono/wheeled_suspension/#_7","text":"\u7531 \u56db\u4e2a 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\u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u5e26 \u6447\u81c2 \u7684 \u5b9e\u5fc3 \u4e09 \u8fde\u6746 \u8f74"},{"location":"chrono/wheeled_suspension/#_10","text":"\u7528\u4f5c   UAZ   \u8f66\u578b \u7684 \u540e \u60ac\u67b6 \u3002 \u677f\u7c27 \u8f74 \u5177\u6709 \u590d\u6742 \u7684 \u5bfc\u5411 \u884c\u4e3a \u3002 \u8fd9\u662f \u4e00\u79cd \u6a21\u62df \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c \u5176\u4e2d \u677f\u7c27 \u7684 \u5bfc\u5411 \u6548\u679c \u901a\u8fc7 \u8f74\u7ba1 \u4e2d\u5fc3 \u7684 \u7279\u6b8a \u63a5\u5934 \u6a21\u62df \u3002 \u60ac\u67b6 \u6548\u679c \u7531 \u87ba\u65cb \u5f39\u7c27 \u87ba\u65cb\u5f39\u7c27 \u6a21\u62df \u3002 \u6eda\u52a8 \u884c\u4e3a \u63a5\u8fd1 \u771f\u5b9e \u7684 \u677f\u7c27 \u8f74 \u3002   \u53c2\u89c1   ChLeafspringAxle   \u548c   LeafspringAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u677f\u7c27 \u5b9e\u5fc3 \u8f74"},{"location":"chrono/wheeled_suspension/#_11","text":"\u7528\u4f5c   UAZ   \u8f66\u578b \u7684 \u60ac\u67b6 \u524d\u60ac\u67b6 \u3002   \u53c2\u89c1   ChToeBarLeafspringAxle   \u548c   ToeBarLeafspringAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u5e26\u8dbe\u6746 \u7684 \u677f\u7c27 \u5b9e\u5fc3 \u8f74"},{"location":"chrono/wheeled_suspension/#sae","text":"SAE   \u5f39\u7c27 \u8bbe\u8ba1 \u624b\u518c \u4ecb\u7ecd \u4e86 \u4e00\u79cd \u5728 \u8d1f\u8f7d \u6761\u4ef6 \u4e0b \u5177\u6709 \u771f\u5b9e \u53d8\u5f62 \u884c\u4e3a \u7684 \u677f\u7c27 \u5efa\u6a21 \u65b9\u6cd5 \u3002 \u677f\u7c27 \u7684 \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u53ef\u4ee5 \u7528   5   \u4e2a\u70b9 \u6765 \u5b9a\u4e49 \u3002 \u8fd9\u4e9b \u70b9 \u53ef \u7528\u4e8e \u5b9a\u4e49 \u7531   6   \u4e2a \u521a\u4f53 \uff08 \u524d \u677f\u7c27 \u3001 \u524d \u5939\u94b3 \u3001 \u540e \u5939\u94b3 \u3001 \u540e \u677f\u7c27 \u548c \u5378 \u6263 \uff09 \u7ec4\u6210 \u7684 \u677f\u7c27 \u3002 \u8fd9\u4e9b \u521a\u4f53 \u901a\u8fc7 \u5173\u8282 \u8fde\u63a5 \u3002 \u524d \u677f\u7c27 \u548c \u540e \u677f\u7c27 \u4ee5\u53ca \u524d \u5939\u94b3 \u548c \u540e \u5939\u94b3 \u7684 \u65cb\u8f6c \u5f39\u7c27 \u5177\u6709 \u65cb\u8f6c \u521a\u5ea6 \uff0c \u7528\u6237 \u53ef\u4ee5 \u8bbe\u7f6e \u8be5 \u521a\u5ea6 \u4ee5 \u5b9a\u4e49 \u6b63\u786e \u7684 \u884c\u4e3a \u3002 \u8be5 \u60ac\u67b6 \u7528\u4f5c   UAZ   \u8f66\u8f86   SAE   \u578b \u6a21\u578b \u7684 \u540e \u60ac\u67b6 \u3002 \u8be5 \u677f\u7c27 \u6a21\u578b \u53ef\u4ee5 \u6b63\u786e \u6a21\u62df \u7531\u4e8e \u8f66\u8f6e \u884c\u9a76 \u800c \u5f15\u8d77 \u7684 \u8f74\u4f53 \u8fd0\u52a8 \u4ee5\u53ca \u7531\u4e8e \u7eb5\u5411 \u529b\u800c \u5f15\u8d77 \u7684 \u675f\u7f1a \u6548\u5e94 \u3002   \u53c2\u89c1   ChSAELeafspringAxle   \u548c   SAELeafspringAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"SAE   \u677f\u7c27 \u5b9e\u5fc3 \u8f74"},{"location":"chrono/wheeled_suspension/#sae_1","text":"\u7528\u4f5c   UAZ   SAE   \u578b \u8f66\u578b \u7684 \u60ac\u67b6 \u524d\u60ac\u67b6 \u3002 \u677f\u7c27 \u5b9a\u4e49 \u4e0e   SAE   \u677f\u7c27 \u8f74 \u76f8\u540c \u3002   \u53c2\u89c1   ChSAEToeBarLeafspringAxle   \u548c   SAEToeBarLeafspringAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u5e26\u8dbe\u6746 \u7684   SAE   \u677f\u7c27 \u5b9e\u5fc3 \u8f74"},{"location":"chrono/wheeled_suspension/#_12","text":"\u4e09 \u8fde\u6746 \u72ec\u7acb \u540e \u60ac\u67b6   ( IRS ) \uff0c \u5982   Polaris   RZR   \u8f66\u8f86 \u4e0a \u6240\u89c1 \u3002   \u53c2\u89c1   ChThreeLinkIRS   \u548c   ThreeLinkIRS   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u4e09 \u8fde\u6746 \u72ec\u7acb \u540e \u60ac\u67b6"},{"location":"chrono/wheeled_suspension/#_13","text":"\u7b80\u5355 \u7ec4\u88c5 \uff0c \u4e3b\u8f74 \u76f4\u63a5 \u8fde\u63a5 \u5230\u8f74\u7ba1 \u4e0a \uff0c \u8f74\u7ba1 \u56fa\u5b9a \u5728 \u5e95\u76d8 \u4e0a \u3002 \u8fd9\u662f \u519c\u7528 \u62d6\u62c9 \u62d6\u62c9\u673a \u548c \u8054\u5408 \u6536\u5272 \u5272\u673a \u6536\u5272\u673a \u7684 \u5178\u578b \u88c5\u914d \u3002   \u53c2\u89c1   ChRigidSuspension   \u548c   RigidSuspension   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u521a\u6027 \u60ac\u6302"},{"location":"chrono/wheeled_suspension/#_14","text":"\u7b80\u5355 \u7ec4\u4ef6 \uff0c \u4e3b\u8f74 \u76f4\u63a5 \u8fde\u63a5 \u5230\u8f74\u7ba1 \u4e0a \uff0c \u53ef\u4ee5 \u56f4\u7ed5 \u67a2\u8f74 \u70b9 \u6446\u52a8 \uff0c \u62b5\u9760 \u5e95\u76d8 \u3002 \u5982\u679c \u9700\u8981 \u975e \u60ac\u6302 \u8f74 \u7cfb\u7edf \uff0c \u4f46 \u53c8 \u5fc5\u987b \u5728 \u8d77\u4f0f \u7684 \u5730\u5f62 \u4e0a \u884c\u9a76 \u4ee5 \u907f\u514d \u8f66\u8f6e \u62ac\u8d77 \uff0c \u5219 \u53ef\u4ee5 \u4f7f\u7528 \u6b64 \u7ec4\u4ef6 \u3002   \u53c2\u89c1   ChRigidPinnedAxle   \u548c   RigidPinnedAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u521a\u6027 \u9500\u8f74"},{"location":"chrono/wheeled_suspension/#_15","text":"\u6b64 \u6a21\u677f \u5141\u8bb8 \u6307\u5b9a \u5177\u6709 \u4efb\u610f \u62d3\u6251 \u7684 \u7528\u6237 \u5b9a\u4e49 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60ac \u67b6\u5b50 \u7cfb\u7edf \u3002 \u901a\u8fc7 \u6dfb\u52a0 \u4e3b\u4f53 \u3001 \u5173\u8282 \u3001 \u8ddd\u79bb \u7ea6\u675f \u548c   TSDA   \u6765 \u6784\u5efa \u5177\u4f53 \u7684 \u60ac\u67b6 \u3002 \u6bcf\u4e2a \u5efa\u6a21 \u7ec4\u4ef6 \u90fd \u53ef\u4ee5 \u6807\u8bb0 \u4e3a \u201c \u955c\u50cf \u201d \u3002 \u7528\u6237 \u8d1f\u8d23 \u5b9a\u4e49 \u6240\u6709 \u975e \u955c\u50cf \u7ec4\u4ef6 \u548c \u5de6\u4fa7 \u955c\u50cf \u7ec4\u4ef6 \uff08 \u76f8\u5e94 \u7684 \u53f3\u4fa7 \u7ec4\u4ef6 \u4f1a \u81ea\u52a8 \u751f\u6210 \uff09 \u3002   \u53c2\u89c1   ChGenericWheeledSuspension   \u548c   GenericWheeledSuspension   \u3002","title":"\u901a\u7528 \u8f6e\u5f0f \u8f66\u8f86 \u60ac\u67b6 \u6a21\u677f"},{"location":"chrono/wheeled_tire/","text":"\u8f6e\u80ce \u6a21\u578b   Chrono : : Vehicle   \u76ee\u524d \u652f\u6301 \u4e09\u79cd \u4e0d\u540c \u7c7b\u522b \u7684 \u8f6e\u80ce \u6a21\u578b \uff1a \u521a\u6027 \u3001 \u64cd\u63a7 \u548c \u6709\u9650 \u6709\u9650\u5143 \u3002   \u521a\u6027 \u8f6e\u80ce \u6a21\u578b   \u5904\u7406 \uff08 \u534a \u7ecf\u9a8c \uff09 \u8f6e\u80ce \u6a21\u578b   \u521a\u6027 \u8f6e\u80ce \u662f \u63d0\u4f9b \u7684 \u4e09\u79cd \u8f6e\u80ce \u7c7b\u522b \u4e2d \u6700 \u7b80\u5355 \u7684 \u4e00\u79cd \u3002 \u8fd9\u4e9b \u6a21\u578b \u7684 \u5047\u8bbe \u662f \u8f6e\u80ce \u5b8c\u5168 \u521a\u6027 \uff0c \u5e76\u4e14 \u5b83 \u901a\u8fc7 \u4e0e   Chrono   \u4e2d \u5176\u4ed6 \u521a\u4f53 \u76f8\u540c \u7684 \u5e95\u5c42 \u6469\u64e6 \u548c \u63a5\u89e6 \u7b97\u6cd5 \u4e0e \u5730\u9762 \u548c \u4efb\u4f55 \u5176\u4ed6 \u521a\u6027 \u7269\u4f53 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u3002 \u8fd9\u4e9b \u8f6e\u80ce \u7684 \u63a5\u89e6 \u51e0\u4f55 \u5f62\u72b6 \u53ef\u4ee5 \u50cf \u5706\u67f1 \u67f1\u4f53 \u5706\u67f1\u4f53 \u4e00\u6837 \u7b80\u5355 \uff0c \u4e5f \u53ef\u4ee5 \u50cf   3D   \u4e09\u89d2 \u7f51\u683c \u4e00\u6837 \u590d\u6742 \u3002 \u8fd9\u4e9b \u6a21\u578b \u4e0d\u4ec5 \u53ef \u7528\u4e8e \u8c03\u8bd5 \u6574\u4f53 \u8f66\u8f86 \u6a21\u578b \uff0c \u800c\u4e14 \u8fd8 \u53ef \u7528\u4e8e \u8fd0\u884c \u65f6 \u5f88 \u91cd\u8981 \u3001 \u5730\u5f62 \u6bd4 \u8f6e\u80ce \u8f6f\u5f97 \u591a\u4e14 \u4e0d \u9700\u8981 \u9ad8\u5ea6 \u8be6\u7ec6 \u7684 \u8f6e\u80ce \u6a21\u578b \u7684 \u60c5\u51b5 \u3002 \u4e8b\u5b9e \u4e8b\u5b9e\u4e0a \uff0c \u534a \u7ecf\u9a8c \u8f6e\u80ce \u6a21\u578b \u4e0d \u9002\u5408 \u8d8a\u91ce \u8d8a\u91ce\u8f66 \u6a21\u62df \uff0c \u5373 \u4f7f\u7528 \u53ef \u53d8\u5f62 \u5730\u5f62 \uff08 SCM \u3001 \u7c92\u72b6 \u6216 \u57fa\u4e8e   FEA \uff1b \u53c2\u9605 \u8bf7\u53c2\u9605 \u53ef\u7528 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u7684 \u63cf\u8ff0 \uff09 \u3002 \u5bf9\u4e8e \u6b64\u7c7b \u573a\u666f \uff0c \u521a\u6027 \u6216 \u57fa\u4e8e   FEA   \u7684 \u8f6e\u80ce \u6a21\u578b \u662f \u76ee\u524d \u5728   Chrono : : Vehicle   \u4e2d \u5b9e\u73b0 \u7684 \u4ec5 \u6709 \u7684 \u4e24\u4e2a \u53ef\u7528 \u9009\u9879 \u3002   \u53c2\u89c1   ChRigidTire   \u548c   RigidTire   \u3002   \u4ee5\u4e0b \u662f \u901a\u8fc7   Wavefront   OBJ   \u6587\u4ef6 \u63d0\u4f9b \u7f51\u683c \u51e0\u4f55 \u5f62\u72b6 \u7684 \u521a\u6027 \u8f6e\u80ce \u7684 \u793a\u4f8b \uff1a   {   \" Name \" :   \" HMMWV   Rigid   Mesh   Tire \" ,   \" Type \" :   \" Tire \" ,   \" Template \" :   \" RigidTire \" ,   \" Radius \" :   0.4699 ,   \" Width \" :   0.254 ,   \" Mass \" :   37.6 ,   \" Inertia \" :   [ 3.84 ,   6.69 ,   3.84 ] ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.1 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e7 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2e5 ,   \" Normal   Damping \" :   40.0 ,   \" Tangential   Stiffness \" :   2e5 ,   \" Tangential   Damping \" :   20.0   }   } ,   \" Contact   Mesh \" :   {   \" Mesh   Filename \" :   \" hmmwv / hmmwv _ tire _ fine . obj \" ,   \" Sweep   Sphere   Radius \" :   0.005   } ,   \" Visualization \" :   {   \" Mesh   Filename   Left \" :   \" hmmwv / hmmwv _ tire _ fine . obj \" ,   \" Mesh   Filename   Right \" :   \" hmmwv / hmmwv _ tire _ fine . obj \"   }   }   \u5904\u7406 \uff08 \u534a \u7ecf\u9a8c \uff09 \u8f6e\u80ce \u6a21\u578b   \u63d0\u4f9b \u7684 \u7b2c\u4e8c \u4e8c\u7c7b \u7b2c\u4e8c\u7c7b \u8f6e\u80ce \u6a21\u578b \u662f \u5e38\u7528 \u4e8e \u8f66\u8f86 \u64cd\u63a7 \u7684 \u534a \u7ecf\u9a8c \u6a21\u578b \u3002   Chrono : : Vehicle   \u76ee\u524d \u5df2 \u5b9e\u73b0   Pacejka \uff08 89   \u548c   2002 \uff09 \u3001 TMeasy   \u548c   Fiala   \u8f6e\u80ce \u6a21\u578b \u3002 \u64cd\u63a7 \u8f6e\u80ce \u6a21\u578b \u4e13 \u4e3a \u5e73\u5766 \u8def\u9762 \u800c \u8bbe\u8ba1 \uff0c \u901a\u5e38 \u4f7f\u7528 \u5355 \u63a5\u89e6 \u70b9\u63a5\u89e6 \u6216 \u56db\u70b9 \u63a5\u89e6 \uff08 TMeasy \uff09 \u3002 \u5bf9\u4e8e \u5728 \u8d77\u4f0f \u8def\u9762 \u4e0a \u8fdb\u884c \u884c\u9a76 \u6d4b\u8bd5 \u6216 \u8d8a\u969c \uff0c \u5df2 \u5b9e\u73b0 \u4e86 \u4e00\u79cd \u79f0\u4e3a \u201c \u5305\u7edc \u201d \u7684 \u7279\u6b8a \u63a5\u89e6 \u7b97\u6cd5 \u3002 \u5b83 \u57fa\u4e8e   Sui   \u548c   Hershey   \u7684 \u8bba\u6587 \uff0c \u53ef \u7528\u4e8e   Chrono   \u4e2d \u5305\u542b \u7684 \u6240\u6709 \u64cd\u63a7 \u8f6e\u80ce \u6a21\u578b \u3002 \u4f7f\u7528 \u6280\u672f \u6f14\u793a \u5668 \u8fdb\u884c \u7684 \u9a8c\u8bc1 \u6d4b\u8bd5 \u4e0e \u6d4b\u91cf \u7684 \u771f\u5b9e \u8f66\u8f86 \u6d4b\u8bd5 \u6570\u636e \u6d4b\u8bd5\u6570\u636e \u76f8\u6bd4 \uff0c \u7ed3\u679c \u826f\u597d \uff0c \u800c\u4e14 \u6570\u503c \u5de5\u4f5c \u5de5\u4f5c\u91cf \u8f83 \u5c11 \u3002 \u5982\u679c \u9700\u8981 \u66f4 \u9ad8 \u7684 \u7cbe\u5ea6 \uff0c \u7528\u6237 \u5e94\u8be5 \u8003\u8651 \u8003\u8651 \u57fa\u4e8e   FEA   \u7684 \u8f6e\u80ce \u6a21\u578b \u8fdb\u884c \u975e \u64cd\u63a7 \u6d4b\u8bd5 \u3002   \u6709\u4e9b \u7528\u6237 \u53ef\u80fd \u5e0c\u671b \u6839\u636e \u8f6e\u80ce \u6d4b\u8bd5 \u6570\u636e \u6d4b\u8bd5\u6570\u636e \u6784\u5efa \u81ea\u5df1 \u7684 \u64cd\u63a7 \u8f6e\u80ce \u53c2\u6570 \u96c6 \u3002 \u52a1\u5fc5 \u719f\u6089 \u6bcf\u4e2a \u8f6e\u80ce \u6a21\u578b \u4e2d \u7684 \u4e0d\u540c \u6ed1\u79fb \u5b9a\u4e49 \u548c \u4e0d\u540c \u5750\u6807 \u5750\u6807\u7cfb \uff01   Pacejka   89 \uff08 Pac89 \uff09 \u8f6e\u80ce \u6a21\u578b   \u53c2\u89c1   ChPac89Tire   \u548c   Pac89Tire   \u3002   Pacejka   2002 \uff08 Pac02 \uff09 \u8f6e\u80ce \u6a21\u578b   \u8be5 \u6a21\u578b \u662f   Pacejka   \u65e9\u671f   Magic   Formula   \u8f6e\u80ce \u6a21\u578b \u7684 \u6269\u5c55 \uff0c \u589e\u52a0 \u4e86 \u65b9\u7a0b \u548c \u7cfb\u6570 \u3002 \u7531\u4e8e \u5728 \u7a33\u6001 \u6ed1\u79fb \u6761\u4ef6 \u4e0b \u4e0d\u4f1a \u53d1\u751f \u5927\u91cf \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u64cd\u4f5c \uff0c \u56e0\u6b64 \u5305\u62ec \u63a5\u89e6 \u63a5\u89e6\u9762 \u6ed1\u79fb \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \uff0c \u4ee5\u4fbf \u5728 \u77ac\u6001 \u6761\u4ef6 \u4e0b \u63d0\u4f9b \u66f4 \u51c6\u786e \u7684 \u7ed3\u679c \u3002 \u7531\u4e8e \u7f3a\u4e4f \u53c2\u8003 \u6570\u636e \u96c6 \uff0c \u5145\u6c14 \u538b\u529b \u4f9d\u8d56 \u9879\u548c\u5927\u5916 \u503e\u89d2 \u9879 \u5b9e\u9645 \u5b9e\u9645\u4e0a \u5e76\u672a \u5b9e\u73b0 \u3002   \u6b64   Chrono   \u8f6e\u80ce \u6a21\u578b \u8fd8 \u53ef\u4ee5 \u4f7f\u7528 \u4e0e   Adams / Car   \u517c\u5bb9 \u7684   TIR   \u6587\u4ef6 \u6765 \u6307\u5b9a \u3002   \u53c2\u89c1   ChPac02Tire   \u548c   Pac02Tire   \u3002   TMeasy \u8f6e\u80ce \u6a21\u578b \uff08 \u57fa\u7840 \u7248 \uff09   TMeasy \uff08 \u8f6e\u80ce \u6a21\u578b \u7b80\u6613 \u7b80\u6613\u7248 \uff09 \u7531   Georg   Rill   \u6559\u6388 \u5f00\u53d1 \uff0c \u53ef \u4f5c\u4e3a \u5546\u4e1a \u4ee3\u7801 \u4f7f\u7528 \uff08 \u6709\u5173 \u66f4 \u591a \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 http : / / www . tmeasy . de / \uff09 \u3002 \u8be5 \u6a21\u578b \u7684 \u76ee\u7684 \u662f \u5141\u8bb8 \u8f7b\u677e \u53c2\u6570 \u5316 \u3002 \u5176 \u590d\u6742 \u590d\u6742\u6027 \u5927\u81f4 \u4e0e \u57fa\u4e8e   Magic   Formula   \u7684 \u6a21\u578b \u76f8\u5f53 \u3002 \u6b64\u5916 \uff0c \u57fa\u4e8e \u5361\u8f66 \u548c \u7528\u8f66 \u4e58\u7528\u8f66 \u7684 \u5df2\u77e5 \u53c2\u6570 \u96c6 \uff0c \u53ef\u4ee5 \u4ece \u5c11\u91cf \u8f93\u5165 \u6570\u636e \u4e2d \u4f30\u8ba1 \u5b8c\u6574 \u7684 \u53c2\u6570 \u96c6 \u3002 TMeasy   \u8003\u8651 \u7ebf\u6027 \u975e\u7ebf\u6027 \u6548\u5e94 \u5e76 \u5305\u62ec \u63a5\u89e6 \u63a5\u89e6\u9762 \u6ed1\u79fb \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \u3002 \u4e0e \u6700\u65b0 \u7684 \u5546\u4e1a   TMeasy   \u7248\u672c \u76f8\u6bd4 \uff0c Chrono   \u4e2d \u4f7f\u7528 \u7684 \u5b9e\u73b0 \u7f3a\u5c11 \u4e00\u4e9b \u529f\u80fd \u3002 \u4f8b\u5982 \uff0c \u6ca1\u6709 \u76ae\u5e26 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \uff0c \u4e5f \u65e0\u6cd5 \u8ba1\u7b97 \u52a8\u6001 \u505c\u8f66 \u626d\u77e9 \u3002 Chrono   TMeasy   \u8f6e\u80ce \u5b9e\u73b0 \u5305\u542b \u5df2 \u5728   Road   Vehicle   Dynamics   -   Fundamentals   and   Modeling   with   MATLAB   \u4e00\u4e66\u4e2d \u53d1\u8868 \u7684 \u7b97\u6cd5 \uff0c Georg   Rill   \u548c   Abel   Arrieta   Castro \uff0c CRC   Press \uff0c 2020   \u5e74 \u3002   \u53c2\u89c1   ChTMeasyTire   \u548c   TMeasyTire   \u3002   \u4e0b\u9762 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5177\u6709   TMeasy   \u8f6e\u80ce \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \uff1a   {   \" Name \" :   \" HMMWV   TMeasy   Tire \" ,   \" Type \" :   \" Tire \" ,   \" Template \" :   \" TMeasyTire \" ,   / /   ------------------------------------------------   / /   Tire   design   ( REQUIRED )   \" Design \" :   {   \" Unloaded   Radius   [ m ] \" :   0.4699 ,   \" Mass   [ kg ] \" :   37.6 ,   \" Inertia   [ kg . m2 ] \" :   [   3.84 ,   6.69 ,   3.84   ] ,   \" Width   [ m ] \" :   0.3175 ,   \" Rim   Radius   [ m ] \" :   0.2095   } ,   \" Coefficient   of   Friction \" :   0.8 ,   \" Rolling   Resistance   Coefficient \" :   0.015 ,   / /   ------------------------------------------------   / /   Vehicle   type .   / /   Required   only   if   tire   specified   with   \" load   index \"   or   \" bearing   capacity \" .   / /   Must   be   one   of   \" Truck \"   or   \" Passenger \"   \" Vehicle   Type \" :   \" Truck \" ,   / /   ------------------------------------------------   / /   Load   index   specification .   / /   Takes   priority   over   \" bearing   capacity \"   ( used   only   if   a   full   parameterization   not   provided )   \" Load   Index \" :   108 ,   / /   ------------------------------------------------   / /   Bearing   capacity   specification .   / /   Lowest   priority   ( used   only   if   no   other   specification   provided )   \" Maximum   Bearing   Capacity   [ N ] \" :   17167.5 ,   / /   ------------------------------------------------   / /   Visualization   mesh   ( OPTIONAL )   \" Visualization \" :   {   \" Mesh   Filename   Left \" :   \" hmmwv / hmmwv _ tire _ left . obj \" ,   \" Mesh   Filename   Right \" :   \" hmmwv / hmmwv _ tire _ right . obj \"   }   }   Fiala   \u8f6e\u80ce \u578b\u53f7   Chrono : : Vehicle   \u4e2d \u5b9e\u73b0 \u7684   Fiala   \u8f6e\u80ce \u6a21\u578b \u4e3b\u8981 \u57fa\u4e8e   MSC   ADAMS / \u8f6e\u80ce \u5e2e\u52a9 \u6587\u6863 \u4e2d \u4ecb\u7ecd \u7684 \u77ac\u6001   Fiala   \u8f6e\u80ce \u6a21\u578b \uff0c \u8be5 \u6a21\u578b \u4f7f\u7528 \u8f6e\u80ce \u6ed1\u79fb \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \u6765 \u6539\u5584 \u6a21\u578b \u5728 \u4f4e\u901f \u81f3 \u96f6 \u524d\u8fdb \u901f\u5ea6 \u4e0b \u7684 \u884c\u4e3a \u3002 Fiala   \u8f6e\u80ce \u6a21\u578b \u57fa\u4e8e \u5237\u5b50 \u6a21\u578b \u5047\u8bbe \uff0c \u53ea \u9700\u8981 \u5c11\u91cf \u7cfb\u6570 \u3002 \u8be5 \u8f6e\u80ce \u6a21\u578b \u5047\u8bbe \u8f6e\u80ce \u76f8\u5bf9 \u4e8e \u9053\u8def \u7684 \u5916 \u503e\u89d2 \u4e3a \u96f6 \uff0c \u5e76\u4e14 \u6ca1\u6709 \u4efb\u4f55 \u4ea7\u751f \u503e\u8986 \u529b\u77e9 \u7684 \u63aa\u65bd \u3002 \u4f46\u662f \uff0c \u5b83 \u5728 \u529b \u548c \u529b\u77e9 \u8ba1\u7b97 \u4e2d \u7ed3\u5408 \u4e86 \u8f6e\u80ce \u7684 \u6a2a\u5411 \u548c \u7eb5\u5411 \u6ed1\u79fb \u72b6\u6001 \uff0c \u4ece\u800c \u63d0\u4f9b \u4e86 \u66f4 \u771f\u5b9e \u7684 \u7ec4\u5408 \u6ed1\u79fb \u63cf\u8ff0 \u3002 Fiala   \u8f6e\u80ce \u6a21\u578b \u4e0d \u5e94\u7528 \u4e8e \u4e25\u8083 \u7684 \u8f66\u8f86 \u64cd\u7eb5 \u6a21\u62df \uff0c \u56e0\u4e3a \u5b83 \u6ca1\u6709 \u8003\u8651 \u5f71\u54cd \u7ed3\u679c \u7684 \u91cd\u8981 \u5f71\u54cd \u3002   \u53c2\u89c1   ChFialaTire   \u548c   FialaTire   \u3002   \u4e0b\u9762 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5177\u6709   TMeasy   \u8f6e\u80ce \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \uff1a   {   \" Name \" :   \" HMMWV   Fiala   Tire \" ,   \" Type \" :   \" Tire \" ,   \" Template \" :   \" FialaTire \" ,   \" Mass \" :   37.6 ,   \" Inertia \" :   [   3.84 ,   6.69 ,   3.84   ] ,   \" Coefficient   of   Friction \" :   0.8 ,   \" Fiala   Parameters \" :   {   \" Unloaded   Radius \" :   0.47 ,   \" Width \" :   0.318 ,   \" Vertical   Damping \" :   7500 ,   \" Vertical   Stiffness \" :   326332 ,   / /   linear   stiffness   ( if   no   curve   table   present )   \" Vertical   Curve   Data \" :   / /   nonlinear   stifness   ( has   precedence   over   linear   model )   [   [   0.000 ,   0   ] ,   [   0.005 ,   585   ] ,   [   0.010 ,   1286   ] ,   [   0.015 ,   2352   ] ,   [   0.020 ,   3477   ] ,   [   0.025 ,   4798   ] ,   [   0.030 ,   6190   ] ,   [   0.035 ,   7540   ] ,   [   0.040 ,   9027   ] ,   [   0.045 ,   10570   ] ,   [   0.050 ,   12139   ] ,   [   0.055 ,   13654   ] ,   [   0.060 ,   15368   ] ,   [   0.065 ,   16904   ] ,   [   0.070 ,   18469   ] ,   [   0.075 ,   20089   ] ,   [   0.080 ,   21699   ]   ] ,   \" Rolling   Resistance \" :   0.015 ,   \" CSLIP \" :   193929.0 ,   \" CALPHA \" :   50000.0 ,   \" UMIN \" :   0.5568 ,   \" UMAX \" :   0.9835 ,   \" X   Relaxation   Length \" :   2.0 ,   \" Y   Relaxation   Length \" :   2.0   } ,   \" Visualization \" :   {   \" Mesh   Filename   Left \" :   \" hmmwv / hmmwv _ tire _ left . obj \" ,   \" Mesh   Filename   Right \" :   \" hmmwv / hmmwv _ tire _ right . obj \" ,   \" Width \" :   0.318   }   }   \u4e0a\u8ff0   JSON   \u6587\u4ef6 \u4e2d \u5d4c\u5165 \u7684 \u5782\u76f4 \u8d1f\u8f7d \u66f2\u7ebf \u5982\u4e0b \u6240\u793a \uff1a   \u8f6e\u80ce \u64cd\u4f5c \u6a21\u578b \u9a8c\u8bc1   \u4e0b\u9762 \u6211\u4eec \u5c55\u793a \u4e86 \u9488\u5bf9 \u5bc6\u6b47\u6839 \u5bc6\u6b47\u6839\u5dde \u57fa\u5a01\u7eb3 \u7814\u7a76 \u4e2d\u5fc3   ( KRC )   \u4e3a   FED - alpha   \u8f66\u8f86 \u63d0\u4f9b \u7684 \u5b9e\u9a8c \u6570\u636e \u5bf9   3   \u4e2a   Chrono : : Vehicle   \u64cd\u63a7 \u8f6e\u80ce \u6a21\u578b \u8fdb\u884c \u7684 \u9a8c\u8bc1 \u7814\u7a76 \u3002   \u5728 \u8fd9\u4e2a \u79f0\u4e3a   ( SSC )   \u7684 \u6d4b\u8bd5 \u4e2d   Steady   State   Cornering   \uff0c \u8f66\u8f86 \u4ee5 \u6240\u8c13 \u7684 \u201c \u963f\u514b \u963f\u514b\u66fc \u901f\u5ea6 \u201d \u5f00\u59cb \u6cbf \u5706\u5708 \u884c\u9a76 \u3002 \u8be5\u503c \u7ea6 \u4e3a   3   m / s \uff0c \u56e0\u6b64 \u6ed1\u79fb \u503c \u975e\u5e38 \u5c0f \uff0c \u8f66\u8f86 \u5728 \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u4e0a \u8ddf\u968f \u5706\u5708 \u884c\u9a76 \u3002 \u771f\u6b63 \u7684 \u6d4b\u8bd5 \u7ee7\u7eed \u9010\u6b65 \u589e\u52a0 \u8f66\u901f \u5e76 \u4fdd\u6301 \u6052\u5b9a \u3002 \u8fd9\u4e9b \u8fde\u7eed \u7684 \u901f\u5ea6 \u589e\u52a0 \u6b65\u9aa4 \u91cd\u590d \u8fdb\u884c \uff0c \u76f4\u5230 \u8fbe\u5230 \u6700\u5927 \u53ef\u80fd \u7684 \u6a2a\u5411 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff0c \u6216 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u529f\u7387 \u8017\u5c3d \u3002 KRC   \u6d4b\u8bd5 \u5728 \u5de6\u8f6c \u548c \u53f3\u8f6c \u4e2d \u8fdb\u884c \uff0c \u4ee5 \u7a81\u51fa \u8f66\u8f86 \u7684 \u4efb\u4f55 \u4e0d\u5bf9 \u5bf9\u79f0 \u5bf9\u79f0\u6027 \u4e0d\u5bf9\u79f0\u6027 \uff08 \u5982\u679c \u5b58\u5728 \uff09 \u3002   SSC   \u6d4b\u8bd5 \u7684 \u76ee\u7684 \u662f \u63a8\u65ad \u8f66\u8f86 \u5bf9\u4e8e \u666e\u901a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6765\u8bf4 \u662f\u5426 \u5b89\u5168 \u3002 \u8f66\u8f86 \u5e94\u8be5 \u8f6c\u5411 \u4e0d\u8db3 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u5fc5\u987b \u63d0\u4f9b \u8d8a\u6765 \u8d8a\u6765\u8d8a \u591a \u7684 \u65b9\u5411 \u65b9\u5411\u76d8 \u8f6c\u52a8 \u89d2\u5ea6 \uff0c \u540c\u65f6 \u589e\u52a0 \u6a2a\u5411 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff0c \u4ee5 \u4fdd\u6301 \u8f66\u8f86 \u5728 \u5706\u5708 \u4e0a \u5e76 \u4fdd\u6301 \u8f66\u8f86 \u7a33\u5b9a \u5b9a\u6027 \u7a33\u5b9a\u6027 \u3002 \u201c \u8f6c\u5411 \u8fc7\u5ea6 \u201d \u7684 \u8f66\u8f86 \u5f80\u5f80 \u4f1a \u8f6c\u5411 \u5706\u5708 \u539f\u70b9 \u5e76 \u53d8\u5f97 \u4e0d \u7a33\u5b9a \uff0c \u56e0\u4e3a \u540e\u8f6e \u6ca1\u6709 \u8db3\u591f \u7684 \u6a2a\u5411 \u6ed1\u79fb \u50a8\u5907 \u3002 \u666e\u901a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u5728 \u516c\u5171 \u4ea4\u901a \u516c\u5171\u4ea4\u901a \u4e2d \u4f7f\u7528 \u7684 \u6807\u51c6 \u8f66\u8f86 \u5e94 \u907f\u514d \u8fd9\u79cd \u8f6c\u5411 \u8fc7\u5ea6 \u884c\u4e3a \uff0c \u5c3d\u7ba1 \u4e13\u4e1a \u62c9\u529b \u62c9\u529b\u8d5b \u8f66\u624b \u66f4 \u559c\u6b22 \u8f6c\u5411 \u8fc7\u5ea6 \u7684 \u8f66\u8f86 \u3002   \u5bf9\u4e8e   FED - alpha \uff0c SSC   \u6d4b\u8bd5 \u88ab \u5b9a\u4e49   \u4e3a \u7a33\u6001 \u51c6\u7a33\u6001 \u8fd0\u884c \uff0c \u5176\u4e2d \u901f\u5ea6 \u8fde\u7eed \u4f46 \u975e\u5e38 \u7f13\u6162 \u5730 \u53d8\u5316 \uff0c \u56e0\u6b64 \u6ca1\u6709 \u660e\u663e \u7684 \u52a8\u6001 \u6548\u5e94 \u3002 \u56e0\u6b64 \uff0c \u6a21\u62df \u7ed3\u679c \u663e\u793a \u7ed3\u679c\u663e\u793a \u4e3a \u8fde\u7eed \u7ebf \u3002 \u6570\u636e \u7684 \u7b26\u53f7 \u9009\u62e9 \u65b9\u5f0f \u662f \u53f3\u4fa7 \u663e\u793a \u53f3\u8f6c \uff0c \u5de6\u4fa7 \u663e\u793a \u5de6\u8f6c \u3002 \u5b9e\u9a8c   KRC   \u6570\u636e \u7528\u70b9 \u8868\u793a \u3002 \u4e0b\u56fe \u663e\u793a \u4e86   Chrono   Pac02 \u3001 TMsimple   \u548c   TMeasy   \u8f6e\u80ce \u6a21\u578b \u7684   SSC   \u6a21\u62df \u7ed3\u679c \u53e0\u52a0 \u5728   KRC   \u5b9e\u9a8c \u6570\u636e \u4e0a \u3002   \u57fa\u4e8e   FEA   \u7684 \u8f6e\u80ce \u6a21\u578b   \u6700\u540e \uff0c \u63d0\u4f9b \u7684 \u7b2c\u4e09 \u4e09\u7c7b \u7b2c\u4e09\u7c7b \u8f6e\u80ce \u6a21\u578b \u662f \u8f6e\u80ce \u7684 \u5b8c\u6574 \u6709\u9650 \u6709\u9650\u5143 \u8868\u793a \u3002 \u867d\u7136 \u8fd9\u4e9b \u6a21\u578b \u7531\u4e8e \u5176 \u8be6\u7ec6 \u7684 \u8f6e\u80ce \u7269\u7406 \u6a21\u578b \u800c \u6709 \u53ef\u80fd \u6210\u4e3a \u6700 \u51c6\u786e \u7684 \u6a21\u578b \uff0c \u4f46 \u5b83\u4eec \u4e5f \u662f   Chrono : : Vehicle   \u4e2d \u5f53\u524d \u53ef\u7528 \u7684 \u8f6e\u80ce \u6a21\u578b \u4e2d \u8ba1\u7b97 \u6210\u672c \u8ba1\u7b97\u6210\u672c \u6700\u9ad8 \u7684 \u6a21\u578b \u3002 \u4e0e \u521a\u6027 \u6216 \u534a \u7ecf\u9a8c \u8f6e\u80ce \u6a21\u578b \u4e0d\u540c \uff0c \u57fa\u4e8e \u6709\u9650 \u6709\u9650\u5143 \u7684 \u8f6e\u80ce \u6a21\u578b \u80fd\u591f \u540c\u65f6 \u8003\u8651 \u8f6e\u80ce \u548c \u5730\u9762 \u7684 \u7075\u6d3b \u6d3b\u6027 \u7075\u6d3b\u6027 \uff0c \u8fd9\u662f \u8bb8\u591a \u7c7b\u578b \u7684 \u8d8a\u91ce \u673a\u52a8 \u673a\u52a8\u6027 \u548c \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u7814\u7a76 \u7684 \u91cd\u8981 \u7279\u5f81 \u3002 \u8fd9\u4e9b \u6709\u9650 \u6709\u9650\u5143 \u8f6e\u80ce \u6a21\u578b \u5229\u7528 \u4e86   Chrono   \u4e2d \u7684 \u7ebf\u6027 \u975e\u7ebf\u6027 \u6709\u9650 \u6709\u9650\u5143 \u529f\u80fd \u3002   ANCF \u58f3 \u53ef \u53d8\u5f62 \u8f6e\u80ce   \u53c2\u89c1   ChANCFTire   \u548c   ANCFTire   \u3002   \u4ee5\u4e0b   JSON   \u6587\u4ef6 \u5305\u542b   ANCFTire   \u7684 \u89c4\u8303 \uff1a   {   \" Name \" :   \" HMMWV   ANCF   4 - Node   Tire \" ,   \" Type \" :   \" Tire \" ,   \" Template \" :   \" ANCFTire \" ,   \" Tire   Radius \" :   0.4673 ,   \" Rim   Radius \" :   0.2683 ,   \" Rim   Width \" :   0.254 ,   \" 8 - Node   Elements \" :   false ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.1 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e6 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2.0 e6 ,   \" Normal   Damping \" :   1.3 e1 ,   \" Tangential   Stiffness \" :   1.0 e6 ,   \" Tangential   Damping \" :   0   }   } ,   \" Materials \" :   [   {   \" Type \" :   \" Orthotropic \" ,   \" Density \" :   0.1000000 E + 04 ,   \" E \" :   [ 0.7560000 E + 10   ,   0.4740000 E + 08   ,   0.4740000 E + 08 ] ,   \" nu \" :   [ 0.4500000 E + 00   ,   0.4500000 E + 00   ,   0.4500000 E + 00 ] ,   \" G \" :   [ 0.1634483 E + 08   ,   0.1634483 E + 08   ,   0.1634483 E + 08 ]   } ,   {   \" Type \" :   \" Orthotropic \" ,   \" Density \" :   0.2639000 E + 04 ,   \" E \" :   [ 0.1800000 E + 12   ,   0.4740000 E + 08   ,   0.4740000 E + 08 ] ,   \" nu \" :   [ 0.4500000 E + 00   ,   0.4500000 E + 00   ,   0.4500000 E + 00 ] ,   \" G \" :   [ 0.1634483 E + 08   ,   0.1634483 E + 08   ,   0.1634483 E + 08 ]   } ,   {   \" Type \" :   \" Orthotropic \" ,   \" Density \" :   0.1100000 E + 04 ,   \" E \" :   [ 0.4740000 E + 08   ,   0.4740000 E + 08   ,   0.4740000 E + 08 ] ,   \" nu \" :   [ 0.4500000 E + 00   ,   0.4500000 E + 00   ,   0.4500000 E + 00 ] ,   \" G \" :   [ 0.1634483 E + 08   ,   0.1634483 E + 08   ,   0.1634483 E + 08 ]   }   ] ,   \" Structural   Damping   Coefficient \" :   0.005 ,   \" Default   Pressure \" :   200.0 e3 ,   \" Bead   Section \" :   {   \" Layer   Thickness \" :   [   0.5 e - 03   ,   0.5 e - 02   ,   0.5 e - 03   ] ,   \" Ply   Angle \" :   [   90   ,   0   ,   90 ] ,   \" Material   ID \" :   [   0   ,   2   ,   0 ] ,   \" Number   Elements \" :   2   } ,   \" Sidewall   Section \" :   {   \" Layer   Thickness \" :   [   0.5 e - 03   ,   0.1 e - 03   ,   0.5 e - 03   ] ,   \" Ply   Angle \" :   [   90   ,   0   ,   90   ] ,   \" Material   ID \" :   [   0   ,   2   ,   0   ] ,   \" Number   Elements \" :   4   } ,   \" Tread   Section \" :   {   \" Layer   Thickness \" :   [   0.1 e - 02   ,   0.3 e - 03   ,   0.3 e - 03   ,   0.5 e - 03   ] ,   \" Ply   Angle \" :   [   0   ,   - 20   ,   20   ,   90   ] ,   \" Material   ID \" :   [   2   ,   1   ,   1   ,   0   ] ,   \" Number   Elements \" :   6   } ,   \" Number   Elements   Circumference \" :   90 ,   \" Profile \" :   [   [   0.000000 E + 00   ,   0.000000 E + 00   ,   - 1.150000 E - 01   ] ,   [   1.428571 E - 02   ,   1.166670 E - 02   ,   - 1.164180 E - 01   ] ,   [   2.857143 E - 02   ,   2.333330 E - 02   ,   - 1.192300 E - 01   ] ,   [   4.285714 E - 02   ,   3.500000 E - 02   ,   - 1.230200 E - 01   ] ,   [   5.714286 E - 02   ,   4.666670 E - 02   ,   - 1.273710 E - 01   ] ,   [   7.142857 E - 02   ,   5.833330 E - 02   ,   - 1.318700 E - 01   ] ,   [   8.571429 E - 02   ,   7.000000 E - 02   ,   - 1.361330 E - 01   ] ,   [   1.000000 E - 01   ,   8.166670 E - 02   ,   - 1.399910 E - 01   ] ,   [   1.142857 E - 01   ,   9.333330 E - 02   ,   - 1.433510 E - 01   ] ,   [   1.285714 E - 01   ,   1.050000 E - 01   ,   - 1.461240 E - 01   ] ,   [   1.428571 E - 01   ,   1.166670 E - 01   ,   - 1.482160 E - 01   ] ,   [   1.571429 E - 01   ,   1.283330 E - 01   ,   - 1.495390 E - 01   ] ,   [   1.714286 E - 01   ,   1.400000 E - 01   ,   - 1.500000 E - 01   ] ,   [   1.857143 E - 01   ,   1.475000 E - 01   ,   - 1.486380 E - 01   ] ,   [   2.000000 E - 01   ,   1.550000 E - 01   ,   - 1.457860 E - 01   ] ,   [   2.142857 E - 01   ,   1.625000 E - 01   ,   - 1.419760 E - 01   ] ,   [   2.285714 E - 01   ,   1.700000 E - 01   ,   - 1.360000 E - 01   ] ,   [   2.428571 E - 01   ,   1.768970 E - 01   ,   - 1.288420 E - 01   ] ,   [   2.571429 E - 01   ,   1.831090 E - 01   ,   - 1.216840 E - 01   ] ,   [   2.714286 E - 01   ,   1.883940 E - 01   ,   - 1.145260 E - 01   ] ,   [   2.857143 E - 01   ,   1.925100 E - 01   ,   - 1.073680 E - 01   ] ,   [   3.000000 E - 01   ,   1.953230 E - 01   ,   - 1.002110 E - 01   ] ,   [   3.142857 E - 01   ,   1.970380 E - 01   ,   - 9.305260 E - 02   ] ,   [   3.285714 E - 01   ,   1.979260 E - 01   ,   - 8.589470 E - 02   ] ,   [   3.428571 E - 01   ,   1.982580 E - 01   ,   - 7.873680 E - 02   ] ,   [   3.571429 E - 01   ,   1.983020 E - 01   ,   - 7.157890 E - 02   ] ,   [   3.714286 E - 01   ,   1.983090 E - 01   ,   - 6.442110 E - 02   ] ,   [   3.857143 E - 01   ,   1.983540 E - 01   ,   - 5.726320 E - 02   ] ,   [   4.000000 E - 01   ,   1.984290 E - 01   ,   - 5.010530 E - 02   ] ,   [   4.142857 E - 01   ,   1.985240 E - 01   ,   - 4.294740 E - 02   ] ,   [   4.285714 E - 01   ,   1.986300 E - 01   ,   - 3.578950 E - 02   ] ,   [   4.428571 E - 01   ,   1.987380 E - 01   ,   - 2.863160 E - 02   ] ,   [   4.571429 E - 01   ,   1.988390 E - 01   ,   - 2.147370 E - 02   ] ,   [   4.714286 E - 01   ,   1.989220 E - 01   ,   - 1.431580 E - 02   ] ,   [   4.857143 E - 01   ,   1.989790 E - 01   ,   - 7.157890 E - 03   ] ,   [   5.000000 E - 01   ,   1.990000 E - 01   ,   0.000000 E + 00   ] ,   [   5.142857 E - 01   ,   1.989790 E - 01   ,   7.157890 E - 03   ] ,   [   5.285714 E - 01   ,   1.989220 E - 01   ,   1.431580 E - 02   ] ,   [   5.428571 E - 01   ,   1.988390 E - 01   ,   2.147370 E - 02   ] ,   [   5.571429 E - 01   ,   1.987380 E - 01   ,   2.863160 E - 02   ] ,   [   5.714286 E - 01   ,   1.986300 E - 01   ,   3.578950 E - 02   ] ,   [   5.857143 E - 01   ,   1.985240 E - 01   ,   4.294740 E - 02   ] ,   [   6.000000 E - 01   ,   1.984290 E - 01   ,   5.010530 E - 02   ] ,   [   6.142857 E - 01   ,   1.983540 E - 01   ,   5.726320 E - 02   ] ,   [   6.285714 E - 01   ,   1.983090 E - 01   ,   6.442110 E - 02   ] ,   [   6.428571 E - 01   ,   1.983020 E - 01   ,   7.157890 E - 02   ] ,   [   6.571429 E - 01   ,   1.982580 E - 01   ,   7.873680 E - 02   ] ,   [   6.714286 E - 01   ,   1.979260 E - 01   ,   8.589470 E - 02   ] ,   [   6.857143 E - 01   ,   1.970380 E - 01   ,   9.305260 E - 02   ] ,   [   7.000000 E - 01   ,   1.953230 E - 01   ,   1.002110 E - 01   ] ,   [   7.142857 E - 01   ,   1.925100 E - 01   ,   1.073680 E - 01   ] ,   [   7.285714 E - 01   ,   1.883940 E - 01   ,   1.145260 E - 01   ] ,   [   7.428571 E - 01   ,   1.831090 E - 01   ,   1.216840 E - 01   ] ,   [   7.571429 E - 01   ,   1.768970 E - 01   ,   1.288420 E - 01   ] ,   [   7.714286 E - 01   ,   1.700000 E - 01   ,   1.360000 E - 01   ] ,   [   7.857143 E - 01   ,   1.625000 E - 01   ,   1.419760 E - 01   ] ,   [   8.000000 E - 01   ,   1.550000 E - 01   ,   1.457860 E - 01   ] ,   [   8.142857 E - 01   ,   1.475000 E - 01   ,   1.486380 E - 01   ] ,   [   8.285714 E - 01   ,   1.400000 E - 01   ,   1.500000 E - 01   ] ,   [   8.428571 E - 01   ,   1.283330 E - 01   ,   1.495390 E - 01   ] ,   [   8.571429 E - 01   ,   1.166670 E - 01   ,   1.482160 E - 01   ] ,   [   8.714286 E - 01   ,   1.050000 E - 01   ,   1.461240 E - 01   ] ,   [   8.857143 E - 01   ,   9.333330 E - 02   ,   1.433510 E - 01   ] ,   [   9.000000 E - 01   ,   8.166670 E - 02   ,   1.399910 E - 01   ] ,   [   9.142857 E - 01   ,   7.000000 E - 02   ,   1.361330 E - 01   ] ,   [   9.285714 E - 01   ,   5.833330 E - 02   ,   1.318700 E - 01   ] ,   [   9.428571 E - 01   ,   4.666670 E - 02   ,   1.273710 E - 01   ] ,   [   9.571429 E - 01   ,   3.500000 E - 02   ,   1.230200 E - 01   ] ,   [   9.714286 E - 01   ,   2.333330 E - 02   ,   1.192300 E - 01   ] ,   [   9.857143 E - 01   ,   1.166670 E - 02   ,   1.164180 E - 01   ] ,   [   1.000000 E + 00   ,   0.000000 E + 00   ,   1.150000 E - 01   ]   ]   }   Reissner \u58f3 \u5f62\u53d8 \u8f6e\u80ce   \u53c2\u89c1   ChReissnerTire   \u548c   ReissnerTire   \u3002","title":"\u8f6e\u80ce \u6a21\u578b"},{"location":"chrono/wheeled_tire/#_1","text":"Chrono : : Vehicle   \u76ee\u524d \u652f\u6301 \u4e09\u79cd \u4e0d\u540c \u7c7b\u522b \u7684 \u8f6e\u80ce \u6a21\u578b \uff1a \u521a\u6027 \u3001 \u64cd\u63a7 \u548c \u6709\u9650 \u6709\u9650\u5143 \u3002   \u521a\u6027 \u8f6e\u80ce \u6a21\u578b   \u5904\u7406 \uff08 \u534a \u7ecf\u9a8c \uff09 \u8f6e\u80ce \u6a21\u578b   \u521a\u6027 \u8f6e\u80ce \u662f \u63d0\u4f9b \u7684 \u4e09\u79cd \u8f6e\u80ce \u7c7b\u522b \u4e2d \u6700 \u7b80\u5355 \u7684 \u4e00\u79cd \u3002 \u8fd9\u4e9b \u6a21\u578b \u7684 \u5047\u8bbe \u662f \u8f6e\u80ce \u5b8c\u5168 \u521a\u6027 \uff0c \u5e76\u4e14 \u5b83 \u901a\u8fc7 \u4e0e   Chrono   \u4e2d \u5176\u4ed6 \u521a\u4f53 \u76f8\u540c \u7684 \u5e95\u5c42 \u6469\u64e6 \u548c \u63a5\u89e6 \u7b97\u6cd5 \u4e0e \u5730\u9762 \u548c \u4efb\u4f55 \u5176\u4ed6 \u521a\u6027 \u7269\u4f53 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u3002 \u8fd9\u4e9b \u8f6e\u80ce \u7684 \u63a5\u89e6 \u51e0\u4f55 \u5f62\u72b6 \u53ef\u4ee5 \u50cf \u5706\u67f1 \u67f1\u4f53 \u5706\u67f1\u4f53 \u4e00\u6837 \u7b80\u5355 \uff0c \u4e5f \u53ef\u4ee5 \u50cf   3D   \u4e09\u89d2 \u7f51\u683c \u4e00\u6837 \u590d\u6742 \u3002 \u8fd9\u4e9b \u6a21\u578b \u4e0d\u4ec5 \u53ef \u7528\u4e8e \u8c03\u8bd5 \u6574\u4f53 \u8f66\u8f86 \u6a21\u578b \uff0c \u800c\u4e14 \u8fd8 \u53ef \u7528\u4e8e \u8fd0\u884c \u65f6 \u5f88 \u91cd\u8981 \u3001 \u5730\u5f62 \u6bd4 \u8f6e\u80ce \u8f6f\u5f97 \u591a\u4e14 \u4e0d \u9700\u8981 \u9ad8\u5ea6 \u8be6\u7ec6 \u7684 \u8f6e\u80ce \u6a21\u578b \u7684 \u60c5\u51b5 \u3002 \u4e8b\u5b9e \u4e8b\u5b9e\u4e0a \uff0c \u534a \u7ecf\u9a8c \u8f6e\u80ce \u6a21\u578b \u4e0d \u9002\u5408 \u8d8a\u91ce \u8d8a\u91ce\u8f66 \u6a21\u62df \uff0c \u5373 \u4f7f\u7528 \u53ef \u53d8\u5f62 \u5730\u5f62 \uff08 SCM \u3001 \u7c92\u72b6 \u6216 \u57fa\u4e8e   FEA \uff1b \u53c2\u9605 \u8bf7\u53c2\u9605 \u53ef\u7528 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u7684 \u63cf\u8ff0 \uff09 \u3002 \u5bf9\u4e8e \u6b64\u7c7b \u573a\u666f \uff0c \u521a\u6027 \u6216 \u57fa\u4e8e   FEA   \u7684 \u8f6e\u80ce \u6a21\u578b \u662f \u76ee\u524d \u5728   Chrono : : Vehicle   \u4e2d \u5b9e\u73b0 \u7684 \u4ec5 \u6709 \u7684 \u4e24\u4e2a \u53ef\u7528 \u9009\u9879 \u3002   \u53c2\u89c1   ChRigidTire   \u548c   RigidTire   \u3002   \u4ee5\u4e0b \u662f \u901a\u8fc7   Wavefront   OBJ   \u6587\u4ef6 \u63d0\u4f9b \u7f51\u683c \u51e0\u4f55 \u5f62\u72b6 \u7684 \u521a\u6027 \u8f6e\u80ce \u7684 \u793a\u4f8b \uff1a   {   \" Name \" :   \" HMMWV   Rigid   Mesh   Tire \" ,   \" Type \" :   \" Tire \" ,   \" Template \" :   \" RigidTire \" ,   \" Radius \" :   0.4699 ,   \" Width \" :   0.254 ,   \" Mass \" :   37.6 ,   \" Inertia \" :   [ 3.84 ,   6.69 ,   3.84 ] ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.1 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e7 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2e5 ,   \" Normal   Damping \" :   40.0 ,   \" Tangential   Stiffness \" :   2e5 ,   \" Tangential   Damping \" :   20.0   }   } ,   \" Contact   Mesh \" :   {   \" Mesh   Filename \" :   \" hmmwv / hmmwv _ tire _ fine . obj \" ,   \" Sweep   Sphere   Radius \" :   0.005   } ,   \" Visualization \" :   {   \" Mesh   Filename   Left \" :   \" hmmwv / hmmwv _ tire _ fine . obj \" ,   \" Mesh   Filename   Right \" :   \" hmmwv / hmmwv _ tire _ fine . obj \"   }   }","title":"\u8f6e\u80ce \u6a21\u578b"},{"location":"chrono/wheeled_tire/#_2","text":"\u63d0\u4f9b \u7684 \u7b2c\u4e8c \u4e8c\u7c7b \u7b2c\u4e8c\u7c7b \u8f6e\u80ce \u6a21\u578b \u662f \u5e38\u7528 \u4e8e \u8f66\u8f86 \u64cd\u63a7 \u7684 \u534a \u7ecf\u9a8c \u6a21\u578b \u3002   Chrono : : Vehicle   \u76ee\u524d \u5df2 \u5b9e\u73b0   Pacejka \uff08 89   \u548c   2002 \uff09 \u3001 TMeasy   \u548c   Fiala   \u8f6e\u80ce \u6a21\u578b \u3002 \u64cd\u63a7 \u8f6e\u80ce \u6a21\u578b \u4e13 \u4e3a \u5e73\u5766 \u8def\u9762 \u800c \u8bbe\u8ba1 \uff0c \u901a\u5e38 \u4f7f\u7528 \u5355 \u63a5\u89e6 \u70b9\u63a5\u89e6 \u6216 \u56db\u70b9 \u63a5\u89e6 \uff08 TMeasy \uff09 \u3002 \u5bf9\u4e8e \u5728 \u8d77\u4f0f \u8def\u9762 \u4e0a \u8fdb\u884c \u884c\u9a76 \u6d4b\u8bd5 \u6216 \u8d8a\u969c \uff0c \u5df2 \u5b9e\u73b0 \u4e86 \u4e00\u79cd \u79f0\u4e3a \u201c \u5305\u7edc \u201d \u7684 \u7279\u6b8a \u63a5\u89e6 \u7b97\u6cd5 \u3002 \u5b83 \u57fa\u4e8e   Sui   \u548c   Hershey   \u7684 \u8bba\u6587 \uff0c \u53ef \u7528\u4e8e   Chrono   \u4e2d \u5305\u542b \u7684 \u6240\u6709 \u64cd\u63a7 \u8f6e\u80ce \u6a21\u578b \u3002 \u4f7f\u7528 \u6280\u672f \u6f14\u793a \u5668 \u8fdb\u884c \u7684 \u9a8c\u8bc1 \u6d4b\u8bd5 \u4e0e \u6d4b\u91cf \u7684 \u771f\u5b9e \u8f66\u8f86 \u6d4b\u8bd5 \u6570\u636e \u6d4b\u8bd5\u6570\u636e \u76f8\u6bd4 \uff0c \u7ed3\u679c \u826f\u597d \uff0c \u800c\u4e14 \u6570\u503c \u5de5\u4f5c \u5de5\u4f5c\u91cf \u8f83 \u5c11 \u3002 \u5982\u679c \u9700\u8981 \u66f4 \u9ad8 \u7684 \u7cbe\u5ea6 \uff0c \u7528\u6237 \u5e94\u8be5 \u8003\u8651 \u8003\u8651 \u57fa\u4e8e   FEA   \u7684 \u8f6e\u80ce \u6a21\u578b \u8fdb\u884c \u975e \u64cd\u63a7 \u6d4b\u8bd5 \u3002   \u6709\u4e9b \u7528\u6237 \u53ef\u80fd \u5e0c\u671b \u6839\u636e \u8f6e\u80ce \u6d4b\u8bd5 \u6570\u636e \u6d4b\u8bd5\u6570\u636e \u6784\u5efa \u81ea\u5df1 \u7684 \u64cd\u63a7 \u8f6e\u80ce \u53c2\u6570 \u96c6 \u3002 \u52a1\u5fc5 \u719f\u6089 \u6bcf\u4e2a \u8f6e\u80ce \u6a21\u578b \u4e2d \u7684 \u4e0d\u540c \u6ed1\u79fb \u5b9a\u4e49 \u548c \u4e0d\u540c \u5750\u6807 \u5750\u6807\u7cfb \uff01","title":"\u5904\u7406 \uff08 \u534a \u7ecf\u9a8c \uff09 \u8f6e\u80ce \u6a21\u578b"},{"location":"chrono/wheeled_tire/#pacejka-89pac89","text":"\u53c2\u89c1   ChPac89Tire   \u548c   Pac89Tire   \u3002","title":"Pacejka   89 \uff08 Pac89 \uff09 \u8f6e\u80ce \u6a21\u578b"},{"location":"chrono/wheeled_tire/#pacejka-2002pac02","text":"\u8be5 \u6a21\u578b \u662f   Pacejka   \u65e9\u671f   Magic   Formula   \u8f6e\u80ce \u6a21\u578b \u7684 \u6269\u5c55 \uff0c \u589e\u52a0 \u4e86 \u65b9\u7a0b \u548c \u7cfb\u6570 \u3002 \u7531\u4e8e \u5728 \u7a33\u6001 \u6ed1\u79fb \u6761\u4ef6 \u4e0b \u4e0d\u4f1a \u53d1\u751f \u5927\u91cf \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u64cd\u4f5c \uff0c \u56e0\u6b64 \u5305\u62ec \u63a5\u89e6 \u63a5\u89e6\u9762 \u6ed1\u79fb \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \uff0c \u4ee5\u4fbf \u5728 \u77ac\u6001 \u6761\u4ef6 \u4e0b \u63d0\u4f9b \u66f4 \u51c6\u786e \u7684 \u7ed3\u679c \u3002 \u7531\u4e8e \u7f3a\u4e4f \u53c2\u8003 \u6570\u636e \u96c6 \uff0c \u5145\u6c14 \u538b\u529b \u4f9d\u8d56 \u9879\u548c\u5927\u5916 \u503e\u89d2 \u9879 \u5b9e\u9645 \u5b9e\u9645\u4e0a \u5e76\u672a \u5b9e\u73b0 \u3002   \u6b64   Chrono   \u8f6e\u80ce \u6a21\u578b \u8fd8 \u53ef\u4ee5 \u4f7f\u7528 \u4e0e   Adams / Car   \u517c\u5bb9 \u7684   TIR   \u6587\u4ef6 \u6765 \u6307\u5b9a \u3002   \u53c2\u89c1   ChPac02Tire   \u548c   Pac02Tire   \u3002","title":"Pacejka   2002 \uff08 Pac02 \uff09 \u8f6e\u80ce \u6a21\u578b"},{"location":"chrono/wheeled_tire/#tmeasy","text":"TMeasy \uff08 \u8f6e\u80ce \u6a21\u578b \u7b80\u6613 \u7b80\u6613\u7248 \uff09 \u7531   Georg   Rill   \u6559\u6388 \u5f00\u53d1 \uff0c \u53ef \u4f5c\u4e3a \u5546\u4e1a \u4ee3\u7801 \u4f7f\u7528 \uff08 \u6709\u5173 \u66f4 \u591a \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 http : / / www . tmeasy . de / \uff09 \u3002 \u8be5 \u6a21\u578b \u7684 \u76ee\u7684 \u662f \u5141\u8bb8 \u8f7b\u677e \u53c2\u6570 \u5316 \u3002 \u5176 \u590d\u6742 \u590d\u6742\u6027 \u5927\u81f4 \u4e0e \u57fa\u4e8e   Magic   Formula   \u7684 \u6a21\u578b \u76f8\u5f53 \u3002 \u6b64\u5916 \uff0c \u57fa\u4e8e \u5361\u8f66 \u548c \u7528\u8f66 \u4e58\u7528\u8f66 \u7684 \u5df2\u77e5 \u53c2\u6570 \u96c6 \uff0c \u53ef\u4ee5 \u4ece \u5c11\u91cf \u8f93\u5165 \u6570\u636e \u4e2d \u4f30\u8ba1 \u5b8c\u6574 \u7684 \u53c2\u6570 \u96c6 \u3002 TMeasy   \u8003\u8651 \u7ebf\u6027 \u975e\u7ebf\u6027 \u6548\u5e94 \u5e76 \u5305\u62ec \u63a5\u89e6 \u63a5\u89e6\u9762 \u6ed1\u79fb \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \u3002 \u4e0e \u6700\u65b0 \u7684 \u5546\u4e1a   TMeasy   \u7248\u672c \u76f8\u6bd4 \uff0c Chrono   \u4e2d \u4f7f\u7528 \u7684 \u5b9e\u73b0 \u7f3a\u5c11 \u4e00\u4e9b \u529f\u80fd \u3002 \u4f8b\u5982 \uff0c \u6ca1\u6709 \u76ae\u5e26 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \uff0c \u4e5f \u65e0\u6cd5 \u8ba1\u7b97 \u52a8\u6001 \u505c\u8f66 \u626d\u77e9 \u3002 Chrono   TMeasy   \u8f6e\u80ce \u5b9e\u73b0 \u5305\u542b \u5df2 \u5728   Road   Vehicle   Dynamics   -   Fundamentals   and   Modeling   with   MATLAB   \u4e00\u4e66\u4e2d \u53d1\u8868 \u7684 \u7b97\u6cd5 \uff0c Georg   Rill   \u548c   Abel   Arrieta   Castro \uff0c CRC   Press \uff0c 2020   \u5e74 \u3002   \u53c2\u89c1   ChTMeasyTire   \u548c   TMeasyTire   \u3002   \u4e0b\u9762 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5177\u6709   TMeasy   \u8f6e\u80ce \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \uff1a   {   \" Name \" :   \" HMMWV   TMeasy   Tire \" ,   \" Type \" :   \" Tire \" ,   \" Template \" :   \" TMeasyTire \" ,   / /   ------------------------------------------------   / /   Tire   design   ( REQUIRED )   \" Design \" :   {   \" Unloaded   Radius   [ m ] \" :   0.4699 ,   \" Mass   [ kg ] \" :   37.6 ,   \" Inertia   [ kg . m2 ] \" :   [   3.84 ,   6.69 ,   3.84   ] ,   \" Width   [ m ] \" :   0.3175 ,   \" Rim   Radius   [ m ] \" :   0.2095   } ,   \" Coefficient   of   Friction \" :   0.8 ,   \" Rolling   Resistance   Coefficient \" :   0.015 ,   / /   ------------------------------------------------   / /   Vehicle   type .   / /   Required   only   if   tire   specified   with   \" load   index \"   or   \" bearing   capacity \" .   / /   Must   be   one   of   \" Truck \"   or   \" Passenger \"   \" Vehicle   Type \" :   \" Truck \" ,   / /   ------------------------------------------------   / /   Load   index   specification .   / /   Takes   priority   over   \" bearing   capacity \"   ( used   only   if   a   full   parameterization   not   provided )   \" Load   Index \" :   108 ,   / /   ------------------------------------------------   / /   Bearing   capacity   specification .   / /   Lowest   priority   ( used   only   if   no   other   specification   provided )   \" Maximum   Bearing   Capacity   [ N ] \" :   17167.5 ,   / /   ------------------------------------------------   / /   Visualization   mesh   ( OPTIONAL )   \" Visualization \" :   {   \" Mesh   Filename   Left \" :   \" hmmwv / hmmwv _ tire _ left . obj \" ,   \" Mesh   Filename   Right \" :   \" hmmwv / hmmwv _ tire _ right . obj \"   }   }","title":"TMeasy \u8f6e\u80ce \u6a21\u578b \uff08 \u57fa\u7840 \u7248 \uff09"},{"location":"chrono/wheeled_tire/#fiala","text":"Chrono : : Vehicle   \u4e2d \u5b9e\u73b0 \u7684   Fiala   \u8f6e\u80ce \u6a21\u578b \u4e3b\u8981 \u57fa\u4e8e   MSC   ADAMS / \u8f6e\u80ce \u5e2e\u52a9 \u6587\u6863 \u4e2d \u4ecb\u7ecd \u7684 \u77ac\u6001   Fiala   \u8f6e\u80ce \u6a21\u578b \uff0c \u8be5 \u6a21\u578b \u4f7f\u7528 \u8f6e\u80ce \u6ed1\u79fb \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \u6765 \u6539\u5584 \u6a21\u578b \u5728 \u4f4e\u901f \u81f3 \u96f6 \u524d\u8fdb \u901f\u5ea6 \u4e0b \u7684 \u884c\u4e3a \u3002 Fiala   \u8f6e\u80ce \u6a21\u578b \u57fa\u4e8e \u5237\u5b50 \u6a21\u578b \u5047\u8bbe \uff0c \u53ea \u9700\u8981 \u5c11\u91cf \u7cfb\u6570 \u3002 \u8be5 \u8f6e\u80ce \u6a21\u578b \u5047\u8bbe \u8f6e\u80ce \u76f8\u5bf9 \u4e8e \u9053\u8def \u7684 \u5916 \u503e\u89d2 \u4e3a \u96f6 \uff0c \u5e76\u4e14 \u6ca1\u6709 \u4efb\u4f55 \u4ea7\u751f \u503e\u8986 \u529b\u77e9 \u7684 \u63aa\u65bd \u3002 \u4f46\u662f \uff0c \u5b83 \u5728 \u529b \u548c \u529b\u77e9 \u8ba1\u7b97 \u4e2d \u7ed3\u5408 \u4e86 \u8f6e\u80ce \u7684 \u6a2a\u5411 \u548c \u7eb5\u5411 \u6ed1\u79fb \u72b6\u6001 \uff0c \u4ece\u800c \u63d0\u4f9b \u4e86 \u66f4 \u771f\u5b9e \u7684 \u7ec4\u5408 \u6ed1\u79fb \u63cf\u8ff0 \u3002 Fiala   \u8f6e\u80ce \u6a21\u578b \u4e0d \u5e94\u7528 \u4e8e \u4e25\u8083 \u7684 \u8f66\u8f86 \u64cd\u7eb5 \u6a21\u62df \uff0c \u56e0\u4e3a \u5b83 \u6ca1\u6709 \u8003\u8651 \u5f71\u54cd \u7ed3\u679c \u7684 \u91cd\u8981 \u5f71\u54cd \u3002   \u53c2\u89c1   ChFialaTire   \u548c   FialaTire   \u3002   \u4e0b\u9762 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5177\u6709   TMeasy   \u8f6e\u80ce \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \uff1a   {   \" Name \" :   \" HMMWV   Fiala   Tire \" ,   \" Type \" :   \" Tire \" ,   \" Template \" :   \" FialaTire \" ,   \" Mass \" :   37.6 ,   \" Inertia \" :   [   3.84 ,   6.69 ,   3.84   ] ,   \" Coefficient   of   Friction \" :   0.8 ,   \" Fiala   Parameters \" :   {   \" Unloaded   Radius \" :   0.47 ,   \" Width \" :   0.318 ,   \" Vertical   Damping \" :   7500 ,   \" Vertical   Stiffness \" :   326332 ,   / /   linear   stiffness   ( if   no   curve   table   present )   \" Vertical   Curve   Data \" :   / /   nonlinear   stifness   ( has   precedence   over   linear   model )   [   [   0.000 ,   0   ] ,   [   0.005 ,   585   ] ,   [   0.010 ,   1286   ] ,   [   0.015 ,   2352   ] ,   [   0.020 ,   3477   ] ,   [   0.025 ,   4798   ] ,   [   0.030 ,   6190   ] ,   [   0.035 ,   7540   ] ,   [   0.040 ,   9027   ] ,   [   0.045 ,   10570   ] ,   [   0.050 ,   12139   ] ,   [   0.055 ,   13654   ] ,   [   0.060 ,   15368   ] ,   [   0.065 ,   16904   ] ,   [   0.070 ,   18469   ] ,   [   0.075 ,   20089   ] ,   [   0.080 ,   21699   ]   ] ,   \" Rolling   Resistance \" :   0.015 ,   \" CSLIP \" :   193929.0 ,   \" CALPHA \" :   50000.0 ,   \" UMIN \" :   0.5568 ,   \" UMAX \" :   0.9835 ,   \" X   Relaxation   Length \" :   2.0 ,   \" Y   Relaxation   Length \" :   2.0   } ,   \" Visualization \" :   {   \" Mesh   Filename   Left \" :   \" hmmwv / hmmwv _ tire _ left . obj \" ,   \" Mesh   Filename   Right \" :   \" hmmwv / hmmwv _ tire _ right . obj \" ,   \" Width \" :   0.318   }   }   \u4e0a\u8ff0   JSON   \u6587\u4ef6 \u4e2d \u5d4c\u5165 \u7684 \u5782\u76f4 \u8d1f\u8f7d \u66f2\u7ebf \u5982\u4e0b \u6240\u793a \uff1a","title":"Fiala   \u8f6e\u80ce \u578b\u53f7"},{"location":"chrono/wheeled_tire/#_3","text":"\u4e0b\u9762 \u6211\u4eec \u5c55\u793a \u4e86 \u9488\u5bf9 \u5bc6\u6b47\u6839 \u5bc6\u6b47\u6839\u5dde \u57fa\u5a01\u7eb3 \u7814\u7a76 \u4e2d\u5fc3   ( KRC )   \u4e3a   FED - alpha   \u8f66\u8f86 \u63d0\u4f9b \u7684 \u5b9e\u9a8c \u6570\u636e \u5bf9   3   \u4e2a   Chrono : : Vehicle   \u64cd\u63a7 \u8f6e\u80ce \u6a21\u578b \u8fdb\u884c \u7684 \u9a8c\u8bc1 \u7814\u7a76 \u3002   \u5728 \u8fd9\u4e2a \u79f0\u4e3a   ( SSC )   \u7684 \u6d4b\u8bd5 \u4e2d   Steady   State   Cornering   \uff0c \u8f66\u8f86 \u4ee5 \u6240\u8c13 \u7684 \u201c \u963f\u514b \u963f\u514b\u66fc \u901f\u5ea6 \u201d \u5f00\u59cb \u6cbf \u5706\u5708 \u884c\u9a76 \u3002 \u8be5\u503c \u7ea6 \u4e3a   3   m / s \uff0c \u56e0\u6b64 \u6ed1\u79fb \u503c \u975e\u5e38 \u5c0f \uff0c \u8f66\u8f86 \u5728 \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u4e0a \u8ddf\u968f \u5706\u5708 \u884c\u9a76 \u3002 \u771f\u6b63 \u7684 \u6d4b\u8bd5 \u7ee7\u7eed \u9010\u6b65 \u589e\u52a0 \u8f66\u901f \u5e76 \u4fdd\u6301 \u6052\u5b9a \u3002 \u8fd9\u4e9b \u8fde\u7eed \u7684 \u901f\u5ea6 \u589e\u52a0 \u6b65\u9aa4 \u91cd\u590d \u8fdb\u884c \uff0c \u76f4\u5230 \u8fbe\u5230 \u6700\u5927 \u53ef\u80fd \u7684 \u6a2a\u5411 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff0c \u6216 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u529f\u7387 \u8017\u5c3d \u3002 KRC   \u6d4b\u8bd5 \u5728 \u5de6\u8f6c \u548c \u53f3\u8f6c \u4e2d \u8fdb\u884c \uff0c \u4ee5 \u7a81\u51fa \u8f66\u8f86 \u7684 \u4efb\u4f55 \u4e0d\u5bf9 \u5bf9\u79f0 \u5bf9\u79f0\u6027 \u4e0d\u5bf9\u79f0\u6027 \uff08 \u5982\u679c \u5b58\u5728 \uff09 \u3002   SSC   \u6d4b\u8bd5 \u7684 \u76ee\u7684 \u662f \u63a8\u65ad \u8f66\u8f86 \u5bf9\u4e8e \u666e\u901a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6765\u8bf4 \u662f\u5426 \u5b89\u5168 \u3002 \u8f66\u8f86 \u5e94\u8be5 \u8f6c\u5411 \u4e0d\u8db3 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u5fc5\u987b \u63d0\u4f9b \u8d8a\u6765 \u8d8a\u6765\u8d8a \u591a \u7684 \u65b9\u5411 \u65b9\u5411\u76d8 \u8f6c\u52a8 \u89d2\u5ea6 \uff0c \u540c\u65f6 \u589e\u52a0 \u6a2a\u5411 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff0c \u4ee5 \u4fdd\u6301 \u8f66\u8f86 \u5728 \u5706\u5708 \u4e0a \u5e76 \u4fdd\u6301 \u8f66\u8f86 \u7a33\u5b9a \u5b9a\u6027 \u7a33\u5b9a\u6027 \u3002 \u201c \u8f6c\u5411 \u8fc7\u5ea6 \u201d \u7684 \u8f66\u8f86 \u5f80\u5f80 \u4f1a \u8f6c\u5411 \u5706\u5708 \u539f\u70b9 \u5e76 \u53d8\u5f97 \u4e0d \u7a33\u5b9a \uff0c \u56e0\u4e3a \u540e\u8f6e \u6ca1\u6709 \u8db3\u591f \u7684 \u6a2a\u5411 \u6ed1\u79fb \u50a8\u5907 \u3002 \u666e\u901a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u5728 \u516c\u5171 \u4ea4\u901a \u516c\u5171\u4ea4\u901a \u4e2d \u4f7f\u7528 \u7684 \u6807\u51c6 \u8f66\u8f86 \u5e94 \u907f\u514d \u8fd9\u79cd \u8f6c\u5411 \u8fc7\u5ea6 \u884c\u4e3a \uff0c \u5c3d\u7ba1 \u4e13\u4e1a \u62c9\u529b \u62c9\u529b\u8d5b \u8f66\u624b \u66f4 \u559c\u6b22 \u8f6c\u5411 \u8fc7\u5ea6 \u7684 \u8f66\u8f86 \u3002   \u5bf9\u4e8e   FED - alpha \uff0c SSC   \u6d4b\u8bd5 \u88ab \u5b9a\u4e49   \u4e3a \u7a33\u6001 \u51c6\u7a33\u6001 \u8fd0\u884c \uff0c \u5176\u4e2d \u901f\u5ea6 \u8fde\u7eed \u4f46 \u975e\u5e38 \u7f13\u6162 \u5730 \u53d8\u5316 \uff0c \u56e0\u6b64 \u6ca1\u6709 \u660e\u663e \u7684 \u52a8\u6001 \u6548\u5e94 \u3002 \u56e0\u6b64 \uff0c \u6a21\u62df \u7ed3\u679c \u663e\u793a \u7ed3\u679c\u663e\u793a \u4e3a \u8fde\u7eed \u7ebf \u3002 \u6570\u636e \u7684 \u7b26\u53f7 \u9009\u62e9 \u65b9\u5f0f \u662f \u53f3\u4fa7 \u663e\u793a \u53f3\u8f6c \uff0c \u5de6\u4fa7 \u663e\u793a \u5de6\u8f6c \u3002 \u5b9e\u9a8c   KRC   \u6570\u636e \u7528\u70b9 \u8868\u793a \u3002 \u4e0b\u56fe \u663e\u793a \u4e86   Chrono   Pac02 \u3001 TMsimple   \u548c   TMeasy   \u8f6e\u80ce \u6a21\u578b \u7684   SSC   \u6a21\u62df \u7ed3\u679c \u53e0\u52a0 \u5728   KRC   \u5b9e\u9a8c \u6570\u636e \u4e0a \u3002","title":"\u8f6e\u80ce \u64cd\u4f5c \u6a21\u578b \u9a8c\u8bc1"},{"location":"chrono/wheeled_tire/#fea","text":"\u6700\u540e \uff0c \u63d0\u4f9b \u7684 \u7b2c\u4e09 \u4e09\u7c7b \u7b2c\u4e09\u7c7b \u8f6e\u80ce \u6a21\u578b \u662f \u8f6e\u80ce \u7684 \u5b8c\u6574 \u6709\u9650 \u6709\u9650\u5143 \u8868\u793a \u3002 \u867d\u7136 \u8fd9\u4e9b \u6a21\u578b \u7531\u4e8e \u5176 \u8be6\u7ec6 \u7684 \u8f6e\u80ce \u7269\u7406 \u6a21\u578b \u800c \u6709 \u53ef\u80fd \u6210\u4e3a \u6700 \u51c6\u786e \u7684 \u6a21\u578b \uff0c \u4f46 \u5b83\u4eec \u4e5f \u662f   Chrono : : Vehicle   \u4e2d \u5f53\u524d \u53ef\u7528 \u7684 \u8f6e\u80ce \u6a21\u578b \u4e2d \u8ba1\u7b97 \u6210\u672c \u8ba1\u7b97\u6210\u672c \u6700\u9ad8 \u7684 \u6a21\u578b \u3002 \u4e0e \u521a\u6027 \u6216 \u534a \u7ecf\u9a8c \u8f6e\u80ce \u6a21\u578b \u4e0d\u540c \uff0c \u57fa\u4e8e \u6709\u9650 \u6709\u9650\u5143 \u7684 \u8f6e\u80ce \u6a21\u578b \u80fd\u591f \u540c\u65f6 \u8003\u8651 \u8f6e\u80ce \u548c \u5730\u9762 \u7684 \u7075\u6d3b \u6d3b\u6027 \u7075\u6d3b\u6027 \uff0c \u8fd9\u662f \u8bb8\u591a \u7c7b\u578b \u7684 \u8d8a\u91ce \u673a\u52a8 \u673a\u52a8\u6027 \u548c \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u7814\u7a76 \u7684 \u91cd\u8981 \u7279\u5f81 \u3002 \u8fd9\u4e9b \u6709\u9650 \u6709\u9650\u5143 \u8f6e\u80ce \u6a21\u578b \u5229\u7528 \u4e86   Chrono   \u4e2d \u7684 \u7ebf\u6027 \u975e\u7ebf\u6027 \u6709\u9650 \u6709\u9650\u5143 \u529f\u80fd \u3002","title":"\u57fa\u4e8e   FEA   \u7684 \u8f6e\u80ce \u6a21\u578b"},{"location":"chrono/wheeled_tire/#ancf","text":"\u53c2\u89c1   ChANCFTire   \u548c   ANCFTire   \u3002   \u4ee5\u4e0b   JSON   \u6587\u4ef6 \u5305\u542b   ANCFTire   \u7684 \u89c4\u8303 \uff1a   {   \" Name \" :   \" HMMWV   ANCF   4 - Node   Tire \" ,   \" Type \" :   \" Tire \" ,   \" Template \" :   \" ANCFTire \" ,   \" Tire   Radius \" :   0.4673 ,   \" Rim   Radius \" :   0.2683 ,   \" Rim   Width \" :   0.254 ,   \" 8 - Node   Elements \" :   false ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.1 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e6 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2.0 e6 ,   \" Normal   Damping \" :   1.3 e1 ,   \" Tangential   Stiffness \" :   1.0 e6 ,   \" Tangential   Damping \" :   0   }   } ,   \" Materials \" :   [   {   \" Type \" :   \" Orthotropic \" ,   \" Density \" :   0.1000000 E + 04 ,   \" E \" :   [ 0.7560000 E + 10   ,   0.4740000 E + 08   ,   0.4740000 E + 08 ] ,   \" nu \" :   [ 0.4500000 E + 00   ,   0.4500000 E + 00   ,   0.4500000 E + 00 ] ,   \" G \" :   [ 0.1634483 E + 08   ,   0.1634483 E + 08   ,   0.1634483 E + 08 ]   } ,   {   \" Type \" :   \" Orthotropic \" ,   \" Density \" :   0.2639000 E + 04 ,   \" E \" :   [ 0.1800000 E + 12   ,   0.4740000 E + 08   ,   0.4740000 E + 08 ] ,   \" nu \" :   [ 0.4500000 E + 00   ,   0.4500000 E + 00   ,   0.4500000 E + 00 ] ,   \" G \" :   [ 0.1634483 E + 08   ,   0.1634483 E + 08   ,   0.1634483 E + 08 ]   } ,   {   \" Type \" :   \" Orthotropic \" ,   \" Density \" :   0.1100000 E + 04 ,   \" E \" :   [ 0.4740000 E + 08   ,   0.4740000 E + 08   ,   0.4740000 E + 08 ] ,   \" nu \" :   [ 0.4500000 E + 00   ,   0.4500000 E + 00   ,   0.4500000 E + 00 ] ,   \" G \" :   [ 0.1634483 E + 08   ,   0.1634483 E + 08   ,   0.1634483 E + 08 ]   }   ] ,   \" Structural   Damping   Coefficient \" :   0.005 ,   \" Default   Pressure \" :   200.0 e3 ,   \" Bead   Section \" :   {   \" Layer   Thickness \" :   [   0.5 e - 03   ,   0.5 e - 02   ,   0.5 e - 03   ] ,   \" Ply   Angle \" :   [   90   ,   0   ,   90 ] ,   \" Material   ID \" :   [   0   ,   2   ,   0 ] ,   \" Number   Elements \" :   2   } ,   \" Sidewall   Section \" :   {   \" Layer   Thickness \" :   [   0.5 e - 03   ,   0.1 e - 03   ,   0.5 e - 03   ] ,   \" Ply   Angle \" :   [   90   ,   0   ,   90   ] ,   \" Material   ID \" :   [   0   ,   2   ,   0   ] ,   \" Number   Elements \" :   4   } ,   \" Tread   Section \" :   {   \" Layer   Thickness \" :   [   0.1 e - 02   ,   0.3 e - 03   ,   0.3 e - 03   ,   0.5 e - 03   ] ,   \" Ply   Angle \" :   [   0   ,   - 20   ,   20   ,   90   ] ,   \" Material   ID \" :   [   2   ,   1   ,   1   ,   0   ] ,   \" Number   Elements \" :   6   } ,   \" Number   Elements   Circumference \" :   90 ,   \" Profile \" :   [   [   0.000000 E + 00   ,   0.000000 E + 00   ,   - 1.150000 E - 01   ] ,   [   1.428571 E - 02   ,   1.166670 E - 02   ,   - 1.164180 E - 01   ] ,   [   2.857143 E - 02   ,   2.333330 E - 02   ,   - 1.192300 E - 01   ] ,   [   4.285714 E - 02   ,   3.500000 E - 02   ,   - 1.230200 E - 01   ] ,   [   5.714286 E - 02   ,   4.666670 E - 02   ,   - 1.273710 E - 01   ] ,   [   7.142857 E - 02   ,   5.833330 E - 02   ,   - 1.318700 E - 01   ] ,   [   8.571429 E - 02   ,   7.000000 E - 02   ,   - 1.361330 E - 01   ] ,   [   1.000000 E - 01   ,   8.166670 E - 02   ,   - 1.399910 E - 01   ] ,   [   1.142857 E - 01   ,   9.333330 E - 02   ,   - 1.433510 E - 01   ] ,   [   1.285714 E - 01   ,   1.050000 E - 01   ,   - 1.461240 E - 01   ] ,   [   1.428571 E - 01   ,   1.166670 E - 01   ,   - 1.482160 E - 01   ] ,   [   1.571429 E - 01   ,   1.283330 E - 01   ,   - 1.495390 E - 01   ] ,   [   1.714286 E - 01   ,   1.400000 E - 01   ,   - 1.500000 E - 01   ] ,   [   1.857143 E - 01   ,   1.475000 E - 01   ,   - 1.486380 E - 01   ] ,   [   2.000000 E - 01   ,   1.550000 E - 01   ,   - 1.457860 E - 01   ] ,   [   2.142857 E - 01   ,   1.625000 E - 01   ,   - 1.419760 E - 01   ] ,   [   2.285714 E - 01   ,   1.700000 E - 01   ,   - 1.360000 E - 01   ] ,   [   2.428571 E - 01   ,   1.768970 E - 01   ,   - 1.288420 E - 01   ] ,   [   2.571429 E - 01   ,   1.831090 E - 01   ,   - 1.216840 E - 01   ] ,   [   2.714286 E - 01   ,   1.883940 E - 01   ,   - 1.145260 E - 01   ] ,   [   2.857143 E - 01   ,   1.925100 E - 01   ,   - 1.073680 E - 01   ] ,   [   3.000000 E - 01   ,   1.953230 E - 01   ,   - 1.002110 E - 01   ] ,   [   3.142857 E - 01   ,   1.970380 E - 01   ,   - 9.305260 E - 02   ] ,   [   3.285714 E - 01   ,   1.979260 E - 01   ,   - 8.589470 E - 02   ] ,   [   3.428571 E - 01   ,   1.982580 E - 01   ,   - 7.873680 E - 02   ] ,   [   3.571429 E - 01   ,   1.983020 E - 01   ,   - 7.157890 E - 02   ] ,   [   3.714286 E - 01   ,   1.983090 E - 01   ,   - 6.442110 E - 02   ] ,   [   3.857143 E - 01   ,   1.983540 E - 01   ,   - 5.726320 E - 02   ] ,   [   4.000000 E - 01   ,   1.984290 E - 01   ,   - 5.010530 E - 02   ] ,   [   4.142857 E - 01   ,   1.985240 E - 01   ,   - 4.294740 E - 02   ] ,   [   4.285714 E - 01   ,   1.986300 E - 01   ,   - 3.578950 E - 02   ] ,   [   4.428571 E - 01   ,   1.987380 E - 01   ,   - 2.863160 E - 02   ] ,   [   4.571429 E - 01   ,   1.988390 E - 01   ,   - 2.147370 E - 02   ] ,   [   4.714286 E - 01   ,   1.989220 E - 01   ,   - 1.431580 E - 02   ] ,   [   4.857143 E - 01   ,   1.989790 E - 01   ,   - 7.157890 E - 03   ] ,   [   5.000000 E - 01   ,   1.990000 E - 01   ,   0.000000 E + 00   ] ,   [   5.142857 E - 01   ,   1.989790 E - 01   ,   7.157890 E - 03   ] ,   [   5.285714 E - 01   ,   1.989220 E - 01   ,   1.431580 E - 02   ] ,   [   5.428571 E - 01   ,   1.988390 E - 01   ,   2.147370 E - 02   ] ,   [   5.571429 E - 01   ,   1.987380 E - 01   ,   2.863160 E - 02   ] ,   [   5.714286 E - 01   ,   1.986300 E - 01   ,   3.578950 E - 02   ] ,   [   5.857143 E - 01   ,   1.985240 E - 01   ,   4.294740 E - 02   ] ,   [   6.000000 E - 01   ,   1.984290 E - 01   ,   5.010530 E - 02   ] ,   [   6.142857 E - 01   ,   1.983540 E - 01   ,   5.726320 E - 02   ] ,   [   6.285714 E - 01   ,   1.983090 E - 01   ,   6.442110 E - 02   ] ,   [   6.428571 E - 01   ,   1.983020 E - 01   ,   7.157890 E - 02   ] ,   [   6.571429 E - 01   ,   1.982580 E - 01   ,   7.873680 E - 02   ] ,   [   6.714286 E - 01   ,   1.979260 E - 01   ,   8.589470 E - 02   ] ,   [   6.857143 E - 01   ,   1.970380 E - 01   ,   9.305260 E - 02   ] ,   [   7.000000 E - 01   ,   1.953230 E - 01   ,   1.002110 E - 01   ] ,   [   7.142857 E - 01   ,   1.925100 E - 01   ,   1.073680 E - 01   ] ,   [   7.285714 E - 01   ,   1.883940 E - 01   ,   1.145260 E - 01   ] ,   [   7.428571 E - 01   ,   1.831090 E - 01   ,   1.216840 E - 01   ] ,   [   7.571429 E - 01   ,   1.768970 E - 01   ,   1.288420 E - 01   ] ,   [   7.714286 E - 01   ,   1.700000 E - 01   ,   1.360000 E - 01   ] ,   [   7.857143 E - 01   ,   1.625000 E - 01   ,   1.419760 E - 01   ] ,   [   8.000000 E - 01   ,   1.550000 E - 01   ,   1.457860 E - 01   ] ,   [   8.142857 E - 01   ,   1.475000 E - 01   ,   1.486380 E - 01   ] ,   [   8.285714 E - 01   ,   1.400000 E - 01   ,   1.500000 E - 01   ] ,   [   8.428571 E - 01   ,   1.283330 E - 01   ,   1.495390 E - 01   ] ,   [   8.571429 E - 01   ,   1.166670 E - 01   ,   1.482160 E - 01   ] ,   [   8.714286 E - 01   ,   1.050000 E - 01   ,   1.461240 E - 01   ] ,   [   8.857143 E - 01   ,   9.333330 E - 02   ,   1.433510 E - 01   ] ,   [   9.000000 E - 01   ,   8.166670 E - 02   ,   1.399910 E - 01   ] ,   [   9.142857 E - 01   ,   7.000000 E - 02   ,   1.361330 E - 01   ] ,   [   9.285714 E - 01   ,   5.833330 E - 02   ,   1.318700 E - 01   ] ,   [   9.428571 E - 01   ,   4.666670 E - 02   ,   1.273710 E - 01   ] ,   [   9.571429 E - 01   ,   3.500000 E - 02   ,   1.230200 E - 01   ] ,   [   9.714286 E - 01   ,   2.333330 E - 02   ,   1.192300 E - 01   ] ,   [   9.857143 E - 01   ,   1.166670 E - 02   ,   1.164180 E - 01   ] ,   [   1.000000 E + 00   ,   0.000000 E + 00   ,   1.150000 E - 01   ]   ]   }","title":"ANCF \u58f3 \u53ef \u53d8\u5f62 \u8f6e\u80ce"},{"location":"chrono/wheeled_tire/#reissner","text":"\u53c2\u89c1   ChReissnerTire   \u548c   ReissnerTire   \u3002","title":"Reissner \u58f3 \u5f62\u53d8 \u8f6e\u80ce"},{"location":"chrono/wheeled_vehicle/","text":"\u8f6e\u5f0f \u8f66\u8f86   Chrono : : Vehicle   \u4e2d \u7684 \u8f6e\u5f0f \u8f66\u8f86 \u662f \u62bd\u8c61 \u901a\u7528 \u8f66\u8f86 \u7cfb\u7edf   (   ChVehicle   )   \u7684 \u4e00\u79cd \u7279\u6b8a \u7279\u6b8a\u5316 \uff0c \u88ab \u5b9a\u4e49 \u4e3a \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u96c6\u5408 \uff08 \u5982\u4e0b \u6240\u793a \uff09 \u3002   \u8f6e\u5f0f \u8f66\u8f86 \u5305\u542b \u5e95\u76d8 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u3001 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u7cfb\u7edf \u5b50\u7cfb\u7edf \u548c \u4efb\u610f \u6570\u91cf \u7684 \u8f66\u8f74 \uff0c \u6309\u7167 \u60ef\u4f8b \uff0c \u8f66\u8f74 \u4ece \u8f66\u8f86 \u524d\u90e8 \u5f00\u59cb \u7f16\u53f7 \u3002 \u591a \u8f6c\u5411 \u8f66\u8f86 \u901a\u8fc7 \u5141\u8bb8 \u4efb\u610f \u6570\u91cf \u7684 \u8f6c\u5411 \u673a\u6784 \uff08 \u8fde\u63a5 \u5230 \u4e0d\u540c \u7684 \u8f66\u8f74 \uff09 \u6216 \u5141\u8bb8 \u591a\u4e2a \u53ef \u8f6c\u5411 \u8f66\u8f74 \u8fde\u63a5 \u5230 \u540c\u4e00 \u8f6c\u5411 \u673a\u6784 \u6765 \u652f\u6301 \u3002 \u6bcf\u4e2a \u8f66\u8f74 \u6bcf\u4fa7 \u53ef\u4ee5 \u5bb9\u7eb3 \u4e00\u4e2a \u6216 \u4e24\u4e2a \u8f6e\u80ce \u3002   \u53c2\u89c1   ChWheeledVehicle   \u3002   \u4ee5\u4e0b \u7ae0\u8282 \u63cf\u8ff0 \u4e86 \u5404\u79cd \u7cfb\u7edf \u5b50\u7cfb\u7edf \u6a21\u677f \uff1a   \u60ac\u6302 \u6a21\u578b   \u8f6c\u5411 \u673a\u6784 \u6a21\u578b   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b   \u8f6e\u80ce \u578b\u53f7","title":"\u8f6e\u5f0f \u8f66\u8f86"},{"location":"chrono/wheeled_vehicle/#_1","text":"Chrono : : Vehicle   \u4e2d \u7684 \u8f6e\u5f0f \u8f66\u8f86 \u662f \u62bd\u8c61 \u901a\u7528 \u8f66\u8f86 \u7cfb\u7edf   (   ChVehicle   )   \u7684 \u4e00\u79cd \u7279\u6b8a \u7279\u6b8a\u5316 \uff0c \u88ab \u5b9a\u4e49 \u4e3a \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u96c6\u5408 \uff08 \u5982\u4e0b \u6240\u793a \uff09 \u3002   \u8f6e\u5f0f \u8f66\u8f86 \u5305\u542b \u5e95\u76d8 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u3001 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u7cfb\u7edf \u5b50\u7cfb\u7edf \u548c \u4efb\u610f \u6570\u91cf \u7684 \u8f66\u8f74 \uff0c \u6309\u7167 \u60ef\u4f8b \uff0c \u8f66\u8f74 \u4ece \u8f66\u8f86 \u524d\u90e8 \u5f00\u59cb \u7f16\u53f7 \u3002 \u591a \u8f6c\u5411 \u8f66\u8f86 \u901a\u8fc7 \u5141\u8bb8 \u4efb\u610f \u6570\u91cf \u7684 \u8f6c\u5411 \u673a\u6784 \uff08 \u8fde\u63a5 \u5230 \u4e0d\u540c \u7684 \u8f66\u8f74 \uff09 \u6216 \u5141\u8bb8 \u591a\u4e2a \u53ef \u8f6c\u5411 \u8f66\u8f74 \u8fde\u63a5 \u5230 \u540c\u4e00 \u8f6c\u5411 \u673a\u6784 \u6765 \u652f\u6301 \u3002 \u6bcf\u4e2a \u8f66\u8f74 \u6bcf\u4fa7 \u53ef\u4ee5 \u5bb9\u7eb3 \u4e00\u4e2a \u6216 \u4e24\u4e2a \u8f6e\u80ce \u3002   \u53c2\u89c1   ChWheeledVehicle   \u3002   \u4ee5\u4e0b \u7ae0\u8282 \u63cf\u8ff0 \u4e86 \u5404\u79cd \u7cfb\u7edf \u5b50\u7cfb\u7edf \u6a21\u677f \uff1a   \u60ac\u6302 \u6a21\u578b   \u8f6c\u5411 \u673a\u6784 \u6a21\u578b   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b   \u8f6e\u80ce \u578b\u53f7","title":"\u8f6e\u5f0f \u8f66\u8f86"},{"location":"course/auto_signal_control/","text":"\u81ea\u52a8 \u4fe1\u53f7 \u63a7\u5236   \u8fd9\u662f \u4e00\u4e2a \u57fa\u4e8e Flask \u7684 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff0c \u7528\u4e8e \u63a7\u5236   Carla \u4eff\u771f \u73af\u5883   \u4e2d \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u3002 \u8be5 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u901a\u8fc7 \u68c0\u6d4b \u8def\u53e3 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u52a8\u6001 \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u65f6\u957f \uff0c \u4ee5 \u4f18\u5316 \u4ea4\u901a \u901a\u884c \u6548\u7387 \u3002   \u4e3b\u8981 \u529f\u80fd   \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f   \u4e3b\u8981 \u529f\u80fd \u5305\u62ec \uff1a   1 .   \u83b7\u53d6 \u6307\u5b9a \u8def\u53e3 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3002   2 .   \u6839\u636e \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u52a8\u6001 \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff08 \u7eff\u706f \uff09 \u7684 \u65f6\u957f \u3002   3 .   \u8fd4\u56de \u6307\u5b9a \u8def\u53e3 \u5f53\u524d \u5168\u90e8 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u72b6\u6001 \u548c \u65f6\u957f \u4fe1\u606f \u3002   \u4f20\u5165 \u53c2\u6570   \u65e0\u9700 \u4f20\u5165 \u53c2\u6570 \uff0c \u8be5 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u81ea\u52a8 \u52a8\u68c0 \u68c0\u6d4b \u81ea\u52a8\u68c0\u6d4b \u6307\u5b9a \u8def\u53e3 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u5e76 \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u65f6\u957f \u3002   \u6838\u5fc3 \u5b9e\u73b0 \u6b65\u9aa4   1 . \u521d\u59cb \u521d\u59cb\u5316 \u548c \u8fde\u63a5 Carla \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \uff1a \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61 \u5e76 \u8bbe\u7f6e \u4eff\u771f \u53c2\u6570 \u3002   client   =   carla . Client ( ' localhost ' ,   2000 )   client . set _ timeout ( 10.0 )   world   =   client . get _ world ( )   2 . \u83b7\u53d6 \u8def\u53e3 \u4fe1\u606f   \uff1a \u901a\u8fc7 \u4e2d\u5fc3 \u4f4d\u7f6e \u83b7\u53d6 \u6307\u5b9a \u8def\u53e3 \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u4fe1\u606f \u3002   \u4e3a\u4e86 \u4fdd\u8bc1 \u6bcf\u6b21 \u8bf7\u6c42 \u4e0d\u4f1a \u5f80\u8be5 \u8def\u53e3 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u96c6\u5408 \u4e2d\u65b0 \u4e2d\u65b0\u52a0 \u91cd\u590d \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff0c \u5148 \u7528 \u96c6\u5408 \u5b58\u50a8 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u552f\u4e00 ID   traffics _ in _ junction   =   set ( )   def   get _ traffic _ lights _ in _ junction ( world ,   junction ) :   \" \" \" \u83b7\u53d6 \u8def\u53e3 \u7684 \u6240\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \" \" \"   traffic _ lights   =   world . get _ actors ( ) . filter ( ' traffic . traffic _ light ' )   for   traffic _ light   in   traffic _ lights :   if   get _ distance ( traffic _ light . get _ location ( ) ,   center _ location [ 0 ] )   < =   50 :   id   =   traffic _ light . get _ opendrive _ id ( )   traffics _ in _ junction . add ( id )   def   get _ light ( all _ traffic _ lights ) :   \" \" \" \u6839\u636e \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f ID \u5217\u8868 \u83b7\u53d6 \u5bf9\u5e94 \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5bf9\u8c61 \" \" \"   drive _ list   =   list ( traffics _ in _ junction )   traffic _ lights   =   [ ]   for   traffic _ light   in   all _ traffic _ lights :   if   traffic _ light . get _ opendrive _ id ( )   in   drive _ list :   traffic _ lights . append ( traffic _ light )   return   traffic _ lights   3 . \u8ba1\u7b97 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf   \uff1a \u68c0\u6d4b \u6307\u5b9a \u8303\u56f4 \u5185 \u7684 \u8f66\u8f86 \u6570\u91cf \u3002   def   get _ vehicles _ in _ intersection ( world ,   intersection _ location ,   intersection _ radius ) :   \" \" \" \u83b7\u53d6 \u8def\u53e3 \u8303\u56f4 \u5185 \u7684 \u8f66\u8f86 \u6570\u91cf \" \" \"   vehicles   =   world . get _ actors ( ) . filter ( ' vehicle . * ' )   vehicles _ in _ intersection   =   [ ]   for   vehicle   in   vehicles :   distance   =   get _ distance ( vehicle . get _ location ( ) ,   intersection _ location )   if   distance   < =   intersection _ radius :   vehicles _ in _ intersection . append ( vehicle )   return   len ( vehicles _ in _ intersection )   4 . \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6 \u957f   \uff1a \u6839\u636e \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u52a8\u6001 \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u65f6\u957f \u3002   if   junction _ flow   >   15 :   for   traffic _ light   in   get _ light ( all _ traffic _ lights ) :   traffic _ light . set _ green _ time ( GREEN _ TIME   +   15 )   last _ green _ time   =   GREEN _ TIME   +   15   elif   junction _ flow   >   10 :   for   traffic _ light   in   get _ light ( all _ traffic _ lights ) :   traffic _ light . set _ green _ time ( GREEN _ TIME   +   10 )   last _ green _ time   =   GREEN _ TIME   +   10   elif   junction _ flow   >   5 :   for   traffic _ light   in   get _ light ( all _ traffic _ lights ) :   traffic _ light . set _ green _ time ( GREEN _ TIME   +   5 )   last _ green _ time   =   GREEN _ TIME   +   5   else :   for   traffic _ light   in   get _ light ( all _ traffic _ lights ) :   traffic _ light . set _ green _ time ( GREEN _ TIME )   last _ green _ time   =   GREEN _ TIME   5 . \u8fd4\u56de \u7ed3\u679c   \uff1a \u8fd4\u56de \u5f53\u524d \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u72b6\u6001 \u548c \u8c03\u6574 \u540e \u7684 \u65f6\u957f \u4fe1\u606f \u3002   response _ data   =   {   \" traffic _ lights \" :   [   { \" id \" :   traffic _ ids } ,   { \" init _ green _ time \" :   traffic _ init _ green _ time } ,   { \" last _ green _ time \" :   last _ green _ time }   ]   }   \u4f7f\u7528 \u6b65\u9aa4   \u83b7\u53d6 \u8def\u53e3 \u4ea4\u901a \u4ea4\u901a\u706f \u4fe1\u606f \uff0c \u53ef\u4ee5 \u53d1\u9001 \u4e00\u4e2a GET \u8bf7\u6c42 \u5230   / set _ traffic _ light   \u8def\u7531 , \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4f1a \u81ea\u52a8 \u6839\u636e \u8def\u53e3 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u65f6\u957f \u5e76 \u8fd4\u56de \u7ed3\u679c \u3002   \u6253\u5f00 Carla \u4eff\u771f \u73af\u5883   \u5148 \u8fd0\u884c   generate _ traffic . py   \u6765 \u751f\u6210 \u4ea4\u901a   \u8fd0\u884c \u811a\u672c auto _ signal _ control . py \u6765 \u5f00\u542f \u670d\u52a1 \u670d\u52a1\u7aef   \u53d1\u9001 http \u8bf7\u6c42 :   http : / / 127.0 . 0.1 : 5000 / set _ traffic _ light   \u901a\u8fc7 \u8fd9\u4e9b \u6b65\u9aa4 \u548c \u8bf4\u660e \uff0c \u7528\u6237 \u53ef\u4ee5 \u4f7f\u7528 \u8be5 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u52a8\u6001 \u8c03\u6574 Carla \u4eff\u771f \u73af\u5883 \u4e2d \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6 \u957f \uff0c \u4ee5 \u4f18\u5316 \u4ea4\u901a \u901a\u884c \u6548\u7387 \u3002","title":"\u81ea\u52a8 \u4fe1\u53f7 \u63a7\u5236"},{"location":"course/auto_signal_control/#_1","text":"\u8fd9\u662f \u4e00\u4e2a \u57fa\u4e8e Flask \u7684 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff0c \u7528\u4e8e \u63a7\u5236   Carla \u4eff\u771f \u73af\u5883   \u4e2d \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u3002 \u8be5 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u901a\u8fc7 \u68c0\u6d4b \u8def\u53e3 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u52a8\u6001 \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u65f6\u957f \uff0c \u4ee5 \u4f18\u5316 \u4ea4\u901a \u901a\u884c \u6548\u7387 \u3002","title":"\u81ea\u52a8 \u4fe1\u53f7 \u63a7\u5236"},{"location":"course/auto_signal_control/#_2","text":"\u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f   \u4e3b\u8981 \u529f\u80fd \u5305\u62ec \uff1a   1 .   \u83b7\u53d6 \u6307\u5b9a \u8def\u53e3 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3002   2 .   \u6839\u636e \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u52a8\u6001 \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff08 \u7eff\u706f \uff09 \u7684 \u65f6\u957f \u3002   3 .   \u8fd4\u56de \u6307\u5b9a \u8def\u53e3 \u5f53\u524d \u5168\u90e8 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u72b6\u6001 \u548c \u65f6\u957f \u4fe1\u606f \u3002","title":"\u4e3b\u8981 \u529f\u80fd"},{"location":"course/auto_signal_control/#_3","text":"\u65e0\u9700 \u4f20\u5165 \u53c2\u6570 \uff0c \u8be5 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u81ea\u52a8 \u52a8\u68c0 \u68c0\u6d4b \u81ea\u52a8\u68c0\u6d4b \u6307\u5b9a \u8def\u53e3 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u5e76 \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u65f6\u957f \u3002","title":"\u4f20\u5165 \u53c2\u6570"},{"location":"course/auto_signal_control/#_4","text":"1 . \u521d\u59cb \u521d\u59cb\u5316 \u548c \u8fde\u63a5 Carla \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \uff1a \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61 \u5e76 \u8bbe\u7f6e \u4eff\u771f \u53c2\u6570 \u3002   client   =   carla . Client ( ' localhost ' ,   2000 )   client . set _ timeout ( 10.0 )   world   =   client . get _ world ( )   2 . \u83b7\u53d6 \u8def\u53e3 \u4fe1\u606f   \uff1a \u901a\u8fc7 \u4e2d\u5fc3 \u4f4d\u7f6e \u83b7\u53d6 \u6307\u5b9a \u8def\u53e3 \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u4fe1\u606f \u3002   \u4e3a\u4e86 \u4fdd\u8bc1 \u6bcf\u6b21 \u8bf7\u6c42 \u4e0d\u4f1a \u5f80\u8be5 \u8def\u53e3 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u96c6\u5408 \u4e2d\u65b0 \u4e2d\u65b0\u52a0 \u91cd\u590d \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff0c \u5148 \u7528 \u96c6\u5408 \u5b58\u50a8 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u552f\u4e00 ID   traffics _ in _ junction   =   set ( )   def   get _ traffic _ lights _ in _ junction ( world ,   junction ) :   \" \" \" \u83b7\u53d6 \u8def\u53e3 \u7684 \u6240\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \" \" \"   traffic _ lights   =   world . get _ actors ( ) . filter ( ' traffic . traffic _ light ' )   for   traffic _ light   in   traffic _ lights :   if   get _ distance ( traffic _ light . get _ location ( ) ,   center _ location [ 0 ] )   < =   50 :   id   =   traffic _ light . get _ opendrive _ id ( )   traffics _ in _ junction . add ( id )   def   get _ light ( all _ traffic _ lights ) :   \" \" \" \u6839\u636e \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f ID \u5217\u8868 \u83b7\u53d6 \u5bf9\u5e94 \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5bf9\u8c61 \" \" \"   drive _ list   =   list ( traffics _ in _ junction )   traffic _ lights   =   [ ]   for   traffic _ light   in   all _ traffic _ lights :   if   traffic _ light . get _ opendrive _ id ( )   in   drive _ list :   traffic _ lights . append ( traffic _ light )   return   traffic _ lights   3 . \u8ba1\u7b97 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf   \uff1a \u68c0\u6d4b \u6307\u5b9a \u8303\u56f4 \u5185 \u7684 \u8f66\u8f86 \u6570\u91cf \u3002   def   get _ vehicles _ in _ intersection ( world ,   intersection _ location ,   intersection _ radius ) :   \" \" \" \u83b7\u53d6 \u8def\u53e3 \u8303\u56f4 \u5185 \u7684 \u8f66\u8f86 \u6570\u91cf \" \" \"   vehicles   =   world . get _ actors ( ) . filter ( ' vehicle . * ' )   vehicles _ in _ intersection   =   [ ]   for   vehicle   in   vehicles :   distance   =   get _ distance ( vehicle . get _ location ( ) ,   intersection _ location )   if   distance   < =   intersection _ radius :   vehicles _ in _ intersection . append ( vehicle )   return   len ( vehicles _ in _ intersection )   4 . \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6 \u957f   \uff1a \u6839\u636e \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u52a8\u6001 \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u65f6\u957f \u3002   if   junction _ flow   >   15 :   for   traffic _ light   in   get _ light ( all _ traffic _ lights ) :   traffic _ light . set _ green _ time ( GREEN _ TIME   +   15 )   last _ green _ time   =   GREEN _ TIME   +   15   elif   junction _ flow   >   10 :   for   traffic _ light   in   get _ light ( all _ traffic _ lights ) :   traffic _ light . set _ green _ time ( GREEN _ TIME   +   10 )   last _ green _ time   =   GREEN _ TIME   +   10   elif   junction _ flow   >   5 :   for   traffic _ light   in   get _ light ( all _ traffic _ lights ) :   traffic _ light . set _ green _ time ( GREEN _ TIME   +   5 )   last _ green _ time   =   GREEN _ TIME   +   5   else :   for   traffic _ light   in   get _ light ( all _ traffic _ lights ) :   traffic _ light . set _ green _ time ( GREEN _ TIME )   last _ green _ time   =   GREEN _ TIME   5 . \u8fd4\u56de \u7ed3\u679c   \uff1a \u8fd4\u56de \u5f53\u524d \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u72b6\u6001 \u548c \u8c03\u6574 \u540e \u7684 \u65f6\u957f \u4fe1\u606f \u3002   response _ data   =   {   \" traffic _ lights \" :   [   { \" id \" :   traffic _ ids } ,   { \" init _ green _ time \" :   traffic _ init _ green _ time } ,   { \" last _ green _ time \" :   last _ green _ time }   ]   }","title":"\u6838\u5fc3 \u5b9e\u73b0 \u6b65\u9aa4"},{"location":"course/auto_signal_control/#_5","text":"\u83b7\u53d6 \u8def\u53e3 \u4ea4\u901a \u4ea4\u901a\u706f \u4fe1\u606f \uff0c \u53ef\u4ee5 \u53d1\u9001 \u4e00\u4e2a GET \u8bf7\u6c42 \u5230   / set _ traffic _ light   \u8def\u7531 , \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4f1a \u81ea\u52a8 \u6839\u636e \u8def\u53e3 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u65f6\u957f \u5e76 \u8fd4\u56de \u7ed3\u679c \u3002   \u6253\u5f00 Carla \u4eff\u771f \u73af\u5883   \u5148 \u8fd0\u884c   generate _ traffic . py   \u6765 \u751f\u6210 \u4ea4\u901a   \u8fd0\u884c \u811a\u672c auto _ signal _ control . py \u6765 \u5f00\u542f \u670d\u52a1 \u670d\u52a1\u7aef   \u53d1\u9001 http \u8bf7\u6c42 :   http : / / 127.0 . 0.1 : 5000 / set _ traffic _ light   \u901a\u8fc7 \u8fd9\u4e9b \u6b65\u9aa4 \u548c \u8bf4\u660e \uff0c \u7528\u6237 \u53ef\u4ee5 \u4f7f\u7528 \u8be5 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u52a8\u6001 \u8c03\u6574 Carla \u4eff\u771f \u73af\u5883 \u4e2d \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6 \u957f \uff0c \u4ee5 \u4f18\u5316 \u4ea4\u901a \u901a\u884c \u6548\u7387 \u3002","title":"\u4f7f\u7528 \u6b65\u9aa4"},{"location":"course/congestion_sim/","text":"\u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u6a21\u62df   generate _ traffic . py   \u662f \u4e00\u4e2a \u7528\u4e8e \u6a21\u62df \u4ea4\u901a \u7684 \u811a\u672c \u3002 \u901a\u8fc7 \u591a\u6b21 \u8fd0\u884c \u8be5 \u811a\u672c \uff0c \u53ef\u4ee5 \u6a21\u62df \u548c \u5206\u6790 \u4e0d\u540c \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u4e0b \u7684 \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u60c5\u51b5 \uff0c \u5e76 \u8fdb\u884c \u6570\u636e \u7edf\u8ba1 \u548c \u4f18\u5316 \u8bc4\u4f30 \u3002   \u529f\u80fd \u4ecb\u7ecd   \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u6a21\u62df   \uff1a \u901a\u8fc7 \u591a\u6b21 \u8fd0\u884c \u811a\u672c \u751f\u6210 \u5927\u91cf \u8f66\u8f86 \uff0c \u6a21\u62df \u4e0d\u540c \u573a\u666f \u4e0b \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u53d8\u5316 \u3002   \u7edf\u8ba1 \u8ba1\u5206 \u5206\u6790 \u7edf\u8ba1\u5206\u6790   \uff1a \u5bf9 \u591a\u6b21 \u6a21\u62df \u8fc7\u7a0b \u4e2d \u7684 \u62e5\u5835 \u60c5\u51b5 \u8fdb\u884c \u6570\u636e \u91c7\u96c6 \u548c \u7edf\u8ba1 \u8ba1\u5206 \u5206\u6790 \u7edf\u8ba1\u5206\u6790 \u3002   \u6548\u679c \u8bc4\u4f30   \uff1a \u8bc4\u4f30 \u4e0d\u540c \u4ea4\u901a \u4f18\u5316 \u63aa\u65bd \u5bf9 \u7f13\u89e3 \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u7684 \u5f71\u54cd \u3002   generate _ traffic . py   \u4f7f\u7528 \u8bf4\u660e \u6587\u6863   \u6982\u8ff0   generate _ traffic . py   \u662f \u4e00\u4e2a \u7528\u4e8e \u6a21\u62df \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u7684 \u811a\u672c \u3002 \u901a\u8fc7 \u591a\u6b21 \u8fd0\u884c \u8be5 \u811a\u672c \uff0c \u53ef\u4ee5 \u6a21\u62df \u548c \u5206\u6790 \u4e0d\u540c \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u4e0b \u7684 \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u60c5\u51b5 \uff0c \u5e76 \u8fdb\u884c \u6570\u636e \u7edf\u8ba1 \u548c \u4f18\u5316 \u8bc4\u4f30 \u3002   \u529f\u80fd \u4ecb\u7ecd   \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u6a21\u62df   \uff1a \u901a\u8fc7 \u591a\u6b21 \u8fd0\u884c \u811a\u672c \u751f\u6210 \u5927\u91cf \u8f66\u8f86 \uff0c \u6a21\u62df \u4e0d\u540c \u573a\u666f \u4e0b \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u53d8\u5316 \u3002   \u7edf\u8ba1 \u8ba1\u5206 \u5206\u6790 \u7edf\u8ba1\u5206\u6790   \uff1a \u5bf9 \u591a\u6b21 \u6a21\u62df \u8fc7\u7a0b \u4e2d \u7684 \u62e5\u5835 \u60c5\u51b5 \u8fdb\u884c \u6570\u636e \u91c7\u96c6 \u548c \u7edf\u8ba1 \u8ba1\u5206 \u5206\u6790 \u7edf\u8ba1\u5206\u6790 \u3002   \u6548\u679c \u8bc4\u4f30   \uff1a \u8bc4\u4f30 \u4e0d\u540c \u4ea4\u901a \u4f18\u5316 \u63aa\u65bd \u5bf9 \u7f13\u89e3 \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u7684 \u5f71\u54cd \u3002   \u4f7f\u7528 \u65b9\u6cd5   \u4f9d\u8d56 \u73af\u5883   \u5728 \u8fd0\u884c   generate _ traffic . py   \u4e4b\u524d \uff0c \u8bf7 \u786e\u4fdd \u5b89\u88c5 \u4e86 \u4ee5\u4e0b \u4f9d\u8d56 \u5305 \uff1a   CARLA   \u4eff\u771f \u73af\u5883 \u7684 \u642d\u5efa \u3002   Carla , Numpy \u7b49 \u4f9d\u8d56 \u5305 \u7684 \u5b89\u88c5 \u3002   \u811a\u672c \u8fd0\u884c   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u8fd0\u884c \u811a\u672c \uff1a   python   generate _ traffic . py   \u591a\u6b21 \u8fd0\u884c \u6a21\u62df \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835   \u4e3a\u4e86 \u6a21\u62df \u4e0d\u540c \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u4e0b \u7684 \u62e5\u5835 \u60c5\u51b5 \uff0c \u53ef\u4ee5 \u591a\u6b21 \u8fd0\u884c   generate _ traffic . py   \u811a\u672c \u3002   \u4f7f\u7528   traffic _ indicators . py   \u811a\u672c \u5bf9 \u8def\u53e3 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3001 \u8def\u53e3 \u8f66\u5747 \u5ef6\u8bef \u3001 \u8def\u53e3 \u9971\u548c \u3001 \u6392\u961f \u957f\u5ea6 \u56db\u79cd \u8def\u53e3 \u771f\u5b9e \u771f\u5b9e\u6027 \u8bc4\u4ef7 \u6307\u6807 \u5206\u6790 \u3002","title":"\u4ea4\u901a\u62e5\u5835 \u6a21\u62df"},{"location":"course/congestion_sim/#_1","text":"generate _ traffic . py   \u662f \u4e00\u4e2a \u7528\u4e8e \u6a21\u62df \u4ea4\u901a \u7684 \u811a\u672c \u3002 \u901a\u8fc7 \u591a\u6b21 \u8fd0\u884c \u8be5 \u811a\u672c \uff0c \u53ef\u4ee5 \u6a21\u62df \u548c \u5206\u6790 \u4e0d\u540c \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u4e0b \u7684 \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u60c5\u51b5 \uff0c \u5e76 \u8fdb\u884c \u6570\u636e \u7edf\u8ba1 \u548c \u4f18\u5316 \u8bc4\u4f30 \u3002","title":"\u4ea4\u901a\u62e5\u5835 \u6a21\u62df"},{"location":"course/congestion_sim/#_2","text":"\u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u6a21\u62df   \uff1a \u901a\u8fc7 \u591a\u6b21 \u8fd0\u884c \u811a\u672c \u751f\u6210 \u5927\u91cf \u8f66\u8f86 \uff0c \u6a21\u62df \u4e0d\u540c \u573a\u666f \u4e0b \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u53d8\u5316 \u3002   \u7edf\u8ba1 \u8ba1\u5206 \u5206\u6790 \u7edf\u8ba1\u5206\u6790   \uff1a \u5bf9 \u591a\u6b21 \u6a21\u62df \u8fc7\u7a0b \u4e2d \u7684 \u62e5\u5835 \u60c5\u51b5 \u8fdb\u884c \u6570\u636e \u91c7\u96c6 \u548c \u7edf\u8ba1 \u8ba1\u5206 \u5206\u6790 \u7edf\u8ba1\u5206\u6790 \u3002   \u6548\u679c \u8bc4\u4f30   \uff1a \u8bc4\u4f30 \u4e0d\u540c \u4ea4\u901a \u4f18\u5316 \u63aa\u65bd \u5bf9 \u7f13\u89e3 \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u7684 \u5f71\u54cd \u3002","title":"\u529f\u80fd \u4ecb\u7ecd"},{"location":"course/congestion_sim/#generate_trafficpy","text":"","title":"generate _ traffic . py   \u4f7f\u7528 \u8bf4\u660e \u6587\u6863"},{"location":"course/congestion_sim/#_3","text":"generate _ traffic . py   \u662f \u4e00\u4e2a \u7528\u4e8e \u6a21\u62df \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u7684 \u811a\u672c \u3002 \u901a\u8fc7 \u591a\u6b21 \u8fd0\u884c \u8be5 \u811a\u672c \uff0c \u53ef\u4ee5 \u6a21\u62df \u548c \u5206\u6790 \u4e0d\u540c \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u4e0b \u7684 \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u60c5\u51b5 \uff0c \u5e76 \u8fdb\u884c \u6570\u636e \u7edf\u8ba1 \u548c \u4f18\u5316 \u8bc4\u4f30 \u3002","title":"\u6982\u8ff0"},{"location":"course/congestion_sim/#_4","text":"\u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u6a21\u62df   \uff1a \u901a\u8fc7 \u591a\u6b21 \u8fd0\u884c \u811a\u672c \u751f\u6210 \u5927\u91cf \u8f66\u8f86 \uff0c \u6a21\u62df \u4e0d\u540c \u573a\u666f \u4e0b \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u53d8\u5316 \u3002   \u7edf\u8ba1 \u8ba1\u5206 \u5206\u6790 \u7edf\u8ba1\u5206\u6790   \uff1a \u5bf9 \u591a\u6b21 \u6a21\u62df \u8fc7\u7a0b \u4e2d \u7684 \u62e5\u5835 \u60c5\u51b5 \u8fdb\u884c \u6570\u636e \u91c7\u96c6 \u548c \u7edf\u8ba1 \u8ba1\u5206 \u5206\u6790 \u7edf\u8ba1\u5206\u6790 \u3002   \u6548\u679c \u8bc4\u4f30   \uff1a \u8bc4\u4f30 \u4e0d\u540c \u4ea4\u901a \u4f18\u5316 \u63aa\u65bd \u5bf9 \u7f13\u89e3 \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u7684 \u5f71\u54cd \u3002","title":"\u529f\u80fd \u4ecb\u7ecd"},{"location":"course/congestion_sim/#_5","text":"","title":"\u4f7f\u7528 \u65b9\u6cd5"},{"location":"course/congestion_sim/#_6","text":"\u5728 \u8fd0\u884c   generate _ traffic . py   \u4e4b\u524d \uff0c \u8bf7 \u786e\u4fdd \u5b89\u88c5 \u4e86 \u4ee5\u4e0b \u4f9d\u8d56 \u5305 \uff1a   CARLA   \u4eff\u771f \u73af\u5883 \u7684 \u642d\u5efa \u3002   Carla , Numpy \u7b49 \u4f9d\u8d56 \u5305 \u7684 \u5b89\u88c5 \u3002","title":"\u4f9d\u8d56 \u73af\u5883"},{"location":"course/congestion_sim/#_7","text":"\u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u8fd0\u884c \u811a\u672c \uff1a   python   generate _ traffic . py","title":"\u811a\u672c \u8fd0\u884c"},{"location":"course/congestion_sim/#_8","text":"\u4e3a\u4e86 \u6a21\u62df \u4e0d\u540c \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u4e0b \u7684 \u62e5\u5835 \u60c5\u51b5 \uff0c \u53ef\u4ee5 \u591a\u6b21 \u8fd0\u884c   generate _ traffic . py   \u811a\u672c \u3002   \u4f7f\u7528   traffic _ indicators . py   \u811a\u672c \u5bf9 \u8def\u53e3 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3001 \u8def\u53e3 \u8f66\u5747 \u5ef6\u8bef \u3001 \u8def\u53e3 \u9971\u548c \u3001 \u6392\u961f \u957f\u5ea6 \u56db\u79cd \u8def\u53e3 \u771f\u5b9e \u771f\u5b9e\u6027 \u8bc4\u4ef7 \u6307\u6807 \u5206\u6790 \u3002","title":"\u591a\u6b21 \u8fd0\u884c \u6a21\u62df \u4ea4\u901a\u62e5\u5835"},{"location":"course/locate_moving/","text":"\u8f66\u8f86 \u6309 \u5730\u56fe \u9009\u70b9 \u8fdb\u884c \u79fb\u52a8   \u200b   \u6b64 \u793a\u4f8b \u652f\u6301 \u5728   pygame   \u7a97\u53e3 \u5bf9 \u663e\u793a \u533a\u57df \u8fdb\u884c \u8f66\u8f86 \u751f\u6210 \u5e76 \u8fdb\u884c \u79fb\u52a8 \u3002   \u73af\u5883 \u4f9d\u8d56   python   3.7 . 9   carla   0.9 . 15   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \u8fd0\u884c   locate _ moving . py   CarlaSimulator   \u7c7b   \u200b   \u8be5\u7c7b \u4e3b\u8981 \u5b8c\u6210 \u8bbe\u7f6e \u76f8\u673a \u3001 \u5904\u7406 \u76f8\u673a \u56fe\u50cf \u3001 \u5c06 Pygame \u5750\u6807 \u8f6c\u6362 \u4e3a CARLA \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u3002   \u51fd\u6570 \u521d\u59cb \u521d\u59cb\u5316 __ init __   \u200b   \u521d\u59cb \u521d\u59cb\u5316 \u51fd\u6570 \uff0c \u8bbe\u7f6e \u6a21\u62df \u6a21\u62df\u5668 \u7a97\u53e3 \u7684 \u5bbd\u5ea6 \u548c \u9ad8\u5ea6 \uff0c \u8fde\u63a5 CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5e76 \u83b7\u53d6 \u4e16\u754c \u548c \u84dd \u56fe\u5e93 \u3002   def   __ init __ ( self ,   width ,   height ) :   self . width   =   width   self . height   =   height   self . client   =   carla . Client ( ' localhost ' ,   2000 )   self . client . set _ timeout ( 10.0 )   self . world   =   self . client . get _ world ( )   self . blueprint _ library   =   self . world . get _ blueprint _ library ( )   self . vehicle _ bp   =   self . blueprint _ library . filter ( ' vehicle . * ' ) [ 0 ]   self . camera   =   None   self . vehicles   =   [ ]   self . fov   =   VIEW _ FOV   setup _ camera \u51fd\u6570   \u200b   \u8bbe\u7f6e \u76f8\u673a \uff0c \u5b9a\u4e49 \u76f8\u673a \u7684 \u84dd\u56fe \u3001 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u3001 \u89c6\u573a \u89d2 \uff08 FOV \uff09 \uff0c \u5e76 \u5c06 \u76f8\u673a \u751f\u6210 \u5728 \u6307\u5b9a \u7684 \u4f4d\u7f6e \u548c \u89d2\u5ea6 \u3002   def   setup _ camera ( self ) :   camera _ bp   =   self . blueprint _ library . find ( ' sensor . camera . rgb ' )   camera _ bp . set _ attribute ( ' image _ size _ x ' ,   str ( self . width ) )   camera _ bp . set _ attribute ( ' image _ size _ y ' ,   str ( self . height ) )   camera _ bp . set _ attribute ( ' fov ' ,   str ( self . fov ) )   camera _ transform   =   carla . Transform ( carla . Location ( x = 0 ,   y = 0 ,   z = 50 ) ,   carla . Rotation ( yaw = 270 ,   pitch = - 90 ) )   self . camera   =   self . world . spawn _ actor ( camera _ bp ,   camera _ transform )   process _ image \u51fd\u6570   \u200b   \u5904\u7406 \u76f8\u673a \u6355\u83b7 \u7684 \u56fe\u50cf \uff0c \u5c06 \u5176 \u8f6c\u6362 \u4e3a Pygame \u53ef \u663e\u793a \u7684 \u683c\u5f0f \u3002   def   process _ image ( self ,   image ) :   array   =   np . frombuffer ( image . raw _ data ,   dtype = np . uint8 )   array   =   array . reshape ( ( self . height ,   self . width ,   4 ) )   array   =   array [ : ,   : ,   : 3 ]   #   Remove   alpha   channel   array   =   array [ : ,   : ,   : : - 1 ]   #   Convert   BGR   to   RGB   surface   =   pygame . surfarray . make _ surface ( array . swapaxes ( 0 ,   1 ) )   return   surface   convert _ pygame _ to _ world \u51fd\u6570   \u200b   \u5c06 Pygame \u7a97\u53e3 \u4e2d \u7684 \u5750\u6807 \u8f6c\u6362 \u4e3a CARLA \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u3002 \u4e3b\u8981 \u901a\u8fc7 \u76f8\u673a \u7684 \u89c6\u89d2 \u548c Pygame \u7a97\u53e3 \u7684 \u5927\u5c0f \u8fdb\u884c \u8ba1\u7b97 \u3002   def   convert _ pygame _ to _ world ( self ,   x ,   y ) :   cam _ transform   =   self . camera . get _ transform ( )   cam _ loc   =   cam _ transform . location   aspect _ ratio   =   self . width   /   self . height   camera _ fov _ rad   =   np . radians ( self . fov )   camera _ fov _ y   =   2   *   np . arctan ( np . tan ( camera _ fov _ rad   /   2 )   /   aspect _ ratio )   world _ units _ per _ pixel _ x   =   ( 2   *   cam _ loc . z   *   np . tan ( camera _ fov _ rad   /   2 ) )   /   self . width   world _ units _ per _ pixel _ y   =   ( 2   *   cam _ loc . z   *   np . tan ( camera _ fov _ y   /   2 ) )   /   self . height   relative _ x   =   ( x   -   self . width   /   2 )   *   world _ units _ per _ pixel _ x   relative _ y   =   ( y   -   self . height   /   2 )   *   world _ units _ per _ pixel _ y   world _ x   =   cam _ loc . x   +   relative _ x   world _ y   =   cam _ loc . y   -   relative _ y   return   world _ x ,   world _ y   run \u51fd\u6570   \u200b   \u8fd0\u884c \u6a21\u62df \u6a21\u62df\u5668 \uff0c \u521d\u59cb \u521d\u59cb\u5316 Pygame \u7a97\u53e3 \uff0c \u8bbe\u7f6e \u76f8\u673a \u76d1\u542c \u76d1\u542c\u5668 \uff0c \u5e76 \u5904\u7406 Pygame \u4e8b\u4ef6 \uff0c \u5982 \u70b9\u51fb \u4e8b\u4ef6 \u751f\u6210 \u8f66\u8f86 \u3002   def   run ( self ) :   pygame . init ( )   display   =   pygame . display . set _ mode ( ( self . width ,   self . height ) ,   pygame . HWSURFACE   |   pygame . DOUBLEBUF )   clock   =   pygame . time . Clock ( )   self . setup _ camera ( )   self . camera . listen ( lambda   image :   display . blit ( self . process _ image ( image ) ,   ( 0 ,   0 ) ) )   running   =   True   while   running :   for   event   in   pygame . event . get ( ) :   if   event . type   = =   pygame . QUIT :   running   =   False   elif   event . type   = =   pygame . MOUSEBUTTONDOWN :   x ,   y   =   event . pos   world _ x ,   world _ y   =   self . convert _ pygame _ to _ world ( x ,   y )   spawn _ point   =   carla . Transform ( carla . Location ( x = world _ x ,   y = - world _ y ,   z = 1 ) ,   carla . Rotation ( ) )   vehicle   =   self . world . spawn _ actor ( self . vehicle _ bp ,   spawn _ point )   vehicle . set _ autopilot ( )   self . vehicles . append ( vehicle )   pygame . display . flip ( )   clock . tick ( 30 )   for   vehicle   in   self . vehicles :   vehicle . destroy ( )   self . camera . destroy ( )   pygame . quit ( )","title":"\u8f66\u8f86 \u6309 \u5730\u56fe \u9009\u70b9 \u8fdb\u884c \u79fb\u52a8"},{"location":"course/locate_moving/#_1","text":"\u200b   \u6b64 \u793a\u4f8b \u652f\u6301 \u5728   pygame   \u7a97\u53e3 \u5bf9 \u663e\u793a \u533a\u57df \u8fdb\u884c \u8f66\u8f86 \u751f\u6210 \u5e76 \u8fdb\u884c \u79fb\u52a8 \u3002","title":"\u8f66\u8f86 \u6309 \u5730\u56fe \u9009\u70b9 \u8fdb\u884c \u79fb\u52a8"},{"location":"course/locate_moving/#_2","text":"python   3.7 . 9   carla   0.9 . 15   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \u8fd0\u884c   locate _ moving . py","title":"\u73af\u5883 \u4f9d\u8d56"},{"location":"course/locate_moving/#carlasimulator","text":"\u200b   \u8be5\u7c7b \u4e3b\u8981 \u5b8c\u6210 \u8bbe\u7f6e \u76f8\u673a \u3001 \u5904\u7406 \u76f8\u673a \u56fe\u50cf \u3001 \u5c06 Pygame \u5750\u6807 \u8f6c\u6362 \u4e3a CARLA \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u3002","title":"CarlaSimulator   \u7c7b"},{"location":"course/locate_moving/#__init__","text":"\u200b   \u521d\u59cb \u521d\u59cb\u5316 \u51fd\u6570 \uff0c \u8bbe\u7f6e \u6a21\u62df \u6a21\u62df\u5668 \u7a97\u53e3 \u7684 \u5bbd\u5ea6 \u548c \u9ad8\u5ea6 \uff0c \u8fde\u63a5 CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5e76 \u83b7\u53d6 \u4e16\u754c \u548c \u84dd \u56fe\u5e93 \u3002   def   __ init __ ( self ,   width ,   height ) :   self . width   =   width   self . height   =   height   self . client   =   carla . Client ( ' localhost ' ,   2000 )   self . client . set _ timeout ( 10.0 )   self . world   =   self . client . get _ world ( )   self . blueprint _ library   =   self . world . get _ blueprint _ library ( )   self . vehicle _ bp   =   self . blueprint _ library . filter ( ' vehicle . * ' ) [ 0 ]   self . camera   =   None   self . vehicles   =   [ ]   self . fov   =   VIEW _ FOV","title":"\u51fd\u6570 \u521d\u59cb\u5316 __ init __"},{"location":"course/locate_moving/#setup_camera","text":"\u200b   \u8bbe\u7f6e \u76f8\u673a \uff0c \u5b9a\u4e49 \u76f8\u673a \u7684 \u84dd\u56fe \u3001 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u3001 \u89c6\u573a \u89d2 \uff08 FOV \uff09 \uff0c \u5e76 \u5c06 \u76f8\u673a \u751f\u6210 \u5728 \u6307\u5b9a \u7684 \u4f4d\u7f6e \u548c \u89d2\u5ea6 \u3002   def   setup _ camera ( self ) :   camera _ bp   =   self . blueprint _ library . find ( ' sensor . camera . rgb ' )   camera _ bp . set _ attribute ( ' image _ size _ x ' ,   str ( self . width ) )   camera _ bp . set _ attribute ( ' image _ size _ y ' ,   str ( self . height ) )   camera _ bp . set _ attribute ( ' fov ' ,   str ( self . fov ) )   camera _ transform   =   carla . Transform ( carla . Location ( x = 0 ,   y = 0 ,   z = 50 ) ,   carla . Rotation ( yaw = 270 ,   pitch = - 90 ) )   self . camera   =   self . world . spawn _ actor ( camera _ bp ,   camera _ transform )","title":"setup _ camera \u51fd\u6570"},{"location":"course/locate_moving/#process_image","text":"\u200b   \u5904\u7406 \u76f8\u673a \u6355\u83b7 \u7684 \u56fe\u50cf \uff0c \u5c06 \u5176 \u8f6c\u6362 \u4e3a Pygame \u53ef \u663e\u793a \u7684 \u683c\u5f0f \u3002   def   process _ image ( self ,   image ) :   array   =   np . frombuffer ( image . raw _ data ,   dtype = np . uint8 )   array   =   array . reshape ( ( self . height ,   self . width ,   4 ) )   array   =   array [ : ,   : ,   : 3 ]   #   Remove   alpha   channel   array   =   array [ : ,   : ,   : : - 1 ]   #   Convert   BGR   to   RGB   surface   =   pygame . surfarray . make _ surface ( array . swapaxes ( 0 ,   1 ) )   return   surface","title":"process _ image \u51fd\u6570"},{"location":"course/locate_moving/#convert_pygame_to_world","text":"\u200b   \u5c06 Pygame \u7a97\u53e3 \u4e2d \u7684 \u5750\u6807 \u8f6c\u6362 \u4e3a CARLA \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u3002 \u4e3b\u8981 \u901a\u8fc7 \u76f8\u673a \u7684 \u89c6\u89d2 \u548c Pygame \u7a97\u53e3 \u7684 \u5927\u5c0f \u8fdb\u884c \u8ba1\u7b97 \u3002   def   convert _ pygame _ to _ world ( self ,   x ,   y ) :   cam _ transform   =   self . camera . get _ transform ( )   cam _ loc   =   cam _ transform . location   aspect _ ratio   =   self . width   /   self . height   camera _ fov _ rad   =   np . radians ( self . fov )   camera _ fov _ y   =   2   *   np . arctan ( np . tan ( camera _ fov _ rad   /   2 )   /   aspect _ ratio )   world _ units _ per _ pixel _ x   =   ( 2   *   cam _ loc . z   *   np . tan ( camera _ fov _ rad   /   2 ) )   /   self . width   world _ units _ per _ pixel _ y   =   ( 2   *   cam _ loc . z   *   np . tan ( camera _ fov _ y   /   2 ) )   /   self . height   relative _ x   =   ( x   -   self . width   /   2 )   *   world _ units _ per _ pixel _ x   relative _ y   =   ( y   -   self . height   /   2 )   *   world _ units _ per _ pixel _ y   world _ x   =   cam _ loc . x   +   relative _ x   world _ y   =   cam _ loc . y   -   relative _ y   return   world _ x ,   world _ y","title":"convert _ pygame _ to _ world \u51fd\u6570"},{"location":"course/locate_moving/#run","text":"\u200b   \u8fd0\u884c \u6a21\u62df \u6a21\u62df\u5668 \uff0c \u521d\u59cb \u521d\u59cb\u5316 Pygame \u7a97\u53e3 \uff0c \u8bbe\u7f6e \u76f8\u673a \u76d1\u542c \u76d1\u542c\u5668 \uff0c \u5e76 \u5904\u7406 Pygame \u4e8b\u4ef6 \uff0c \u5982 \u70b9\u51fb \u4e8b\u4ef6 \u751f\u6210 \u8f66\u8f86 \u3002   def   run ( self ) :   pygame . init ( )   display   =   pygame . display . set _ mode ( ( self . width ,   self . height ) ,   pygame . HWSURFACE   |   pygame . DOUBLEBUF )   clock   =   pygame . time . Clock ( )   self . setup _ camera ( )   self . camera . listen ( lambda   image :   display . blit ( self . process _ image ( image ) ,   ( 0 ,   0 ) ) )   running   =   True   while   running :   for   event   in   pygame . event . get ( ) :   if   event . type   = =   pygame . QUIT :   running   =   False   elif   event . type   = =   pygame . MOUSEBUTTONDOWN :   x ,   y   =   event . pos   world _ x ,   world _ y   =   self . convert _ pygame _ to _ world ( x ,   y )   spawn _ point   =   carla . Transform ( carla . Location ( x = world _ x ,   y = - world _ y ,   z = 1 ) ,   carla . Rotation ( ) )   vehicle   =   self . world . spawn _ actor ( self . vehicle _ bp ,   spawn _ point )   vehicle . set _ autopilot ( )   self . vehicles . append ( vehicle )   pygame . display . flip ( )   clock . tick ( 30 )   for   vehicle   in   self . vehicles :   vehicle . destroy ( )   self . camera . destroy ( )   pygame . quit ( )","title":"run \u51fd\u6570"},{"location":"course/microscopic_Intersection_demo/","text":"\u8def\u53e3 \u5fae\u89c2 3D   \u52a8\u753b \u6f14\u793a \u8fd0\u52a8 \u573a\u666f spectator . py   \u4ecb\u7ecd   \u6b64 \u811a\u672c \u8fde\u63a5 \u5230 CARLA \u4eff\u771f \u73af\u5883 \uff0c \u5e76 \u5b9a\u671f \u5207\u6362 \u6e56 \u5de5\u5546 \u9644\u8fd1 \u7684 \u56db\u4e2a \u9884\u8bbe \u8def\u53e3 \u89c6\u89d2 \u3002 \u901a\u8fc7 \u4e0d\u65ad \u6539\u53d8 \u89c2\u4f17 \uff08 Spectator \uff09 \u7684 \u89c6\u89d2 \uff0c \u7528\u6237 \u53ef\u4ee5 \u89c2\u5bdf \u5230 \u4e0d\u540c \u8def\u53e3 \u7684 \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u3002   \u73af\u5883 \u8981\u6c42   Python   3.6   \u53ca \u4ee5\u4e0a \u7248\u672c   CARLA   \u4eff\u771f \u73af\u5883   \u5b89\u88c5 \u5fc5\u8981 \u7684 Python \u5e93 \uff1a   spectator . py   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \uff0c \u5e76 \u8fd0\u884c   generate _ traffic . py   \u5b89\u88c5 \u5fc5\u8981 \u7684 python \u5e93   pip   install   carla   \u8fd0\u884c   \u6b64 \u793a\u4f8b \u652f\u6301 \u8bbe\u7f6e   spectator   \u89c6\u89d2 \u6765 \u89c2\u5bdf \u4ea4\u901a \u8def\u53e3 \u8fd0\u52a8 \u60c5\u5f62 \u3002   \u4ee5\u4e0b \u793a\u4f8b \u901a\u8fc7 \u9884\u5b9a \u4e49   spectator   \u5bf9\u8c61 \u89c6\u89d2 \u7684 \u4f4d\u7f6e   Location   \u548c \u65cb\u8f6c \u89d2\u5ea6   pitch   \u6765 \u8fdb\u884c \u89c6\u89d2 \u7684 \u66f4\u6362   client   =   carla . Client ( ' localhost ' ,   2000 )   client . set _ timeout ( 10 )   world   =   client . get _ world ( )   spectator _ transform   =   [   carla . Transform ( carla . Location ( x = - 323 ,   y = - 15.7 ,   z = 108 ) ,   carla . Rotation ( pitch = - 90 ) ) ,   carla . Transform ( carla . Location ( x = - 359.6 ,   y = 391.3 ,   z = 94 ) ,   carla . Rotation ( pitch = - 90 ) ) ,   carla . Transform ( carla . Location ( x = 426.2 ,   y = - 33.4 ,   z = 91.6 ) ,   carla . Rotation ( pitch = - 90 ) ) ,   carla . Transform ( carla . Location ( x = 375.1 ,   y = - 558.4 ,   z = 91.6 ) ,   carla . Rotation ( pitch = - 90 ) )   ]   spectator   =   world . get _ spectator ( )   spectator . set _ transform ( spectator _ transform [ 0 ] )   \u5b9a\u671f \u5207\u6362 \u89c6\u89d2   \u811a\u672c \u5c06 \u8fde\u63a5 \u5230 CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5e76 \u6bcf 5 \u79d2 \u5207\u6362 \u4e00\u6b21 \u9884\u8bbe \u7684 \u89c2\u4f17 \u89c6\u89d2 \u3002   start _ time   =   time . time ( )   state   =   0   while   True :   elapsed _ time   =   time . time ( )   -   start _ time   if   elapsed _ time   > =   5 :   spectator . set _ transform ( spectator _ transform [ state ] )   state   + =   1   if   state   >   3 :   state   =   0   start _ time   =   time . time ( )   \u8fd0\u884c \u7ed3\u679c \uff1a","title":"\u8def\u53e3 \u5fae\u89c2 3D   \u52a8\u753b \u6f14\u793a \u8fd0\u52a8 \u573a\u666f spectator . py"},{"location":"course/microscopic_Intersection_demo/#3d-spectatorpy","text":"","title":"\u8def\u53e3 \u5fae\u89c2 3D   \u52a8\u753b \u6f14\u793a \u8fd0\u52a8 \u573a\u666f spectator . py"},{"location":"course/microscopic_Intersection_demo/#_1","text":"\u6b64 \u811a\u672c \u8fde\u63a5 \u5230 CARLA \u4eff\u771f \u73af\u5883 \uff0c \u5e76 \u5b9a\u671f \u5207\u6362 \u6e56 \u5de5\u5546 \u9644\u8fd1 \u7684 \u56db\u4e2a \u9884\u8bbe \u8def\u53e3 \u89c6\u89d2 \u3002 \u901a\u8fc7 \u4e0d\u65ad \u6539\u53d8 \u89c2\u4f17 \uff08 Spectator \uff09 \u7684 \u89c6\u89d2 \uff0c \u7528\u6237 \u53ef\u4ee5 \u89c2\u5bdf \u5230 \u4e0d\u540c \u8def\u53e3 \u7684 \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u3002","title":"\u4ecb\u7ecd"},{"location":"course/microscopic_Intersection_demo/#_2","text":"Python   3.6   \u53ca \u4ee5\u4e0a \u7248\u672c   CARLA   \u4eff\u771f \u73af\u5883   \u5b89\u88c5 \u5fc5\u8981 \u7684 Python \u5e93 \uff1a   spectator . py   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \uff0c \u5e76 \u8fd0\u884c   generate _ traffic . py   \u5b89\u88c5 \u5fc5\u8981 \u7684 python \u5e93   pip   install   carla","title":"\u73af\u5883 \u8981\u6c42"},{"location":"course/microscopic_Intersection_demo/#_3","text":"\u6b64 \u793a\u4f8b \u652f\u6301 \u8bbe\u7f6e   spectator   \u89c6\u89d2 \u6765 \u89c2\u5bdf \u4ea4\u901a \u8def\u53e3 \u8fd0\u52a8 \u60c5\u5f62 \u3002   \u4ee5\u4e0b \u793a\u4f8b \u901a\u8fc7 \u9884\u5b9a \u4e49   spectator   \u5bf9\u8c61 \u89c6\u89d2 \u7684 \u4f4d\u7f6e   Location   \u548c \u65cb\u8f6c \u89d2\u5ea6   pitch   \u6765 \u8fdb\u884c \u89c6\u89d2 \u7684 \u66f4\u6362   client   =   carla . Client ( ' localhost ' ,   2000 )   client . set _ timeout ( 10 )   world   =   client . get _ world ( )   spectator _ transform   =   [   carla . Transform ( carla . Location ( x = - 323 ,   y = - 15.7 ,   z = 108 ) ,   carla . Rotation ( pitch = - 90 ) ) ,   carla . Transform ( carla . Location ( x = - 359.6 ,   y = 391.3 ,   z = 94 ) ,   carla . Rotation ( pitch = - 90 ) ) ,   carla . Transform ( carla . Location ( x = 426.2 ,   y = - 33.4 ,   z = 91.6 ) ,   carla . Rotation ( pitch = - 90 ) ) ,   carla . Transform ( carla . Location ( x = 375.1 ,   y = - 558.4 ,   z = 91.6 ) ,   carla . Rotation ( pitch = - 90 ) )   ]   spectator   =   world . get _ spectator ( )   spectator . set _ transform ( spectator _ transform [ 0 ] )","title":"\u8fd0\u884c"},{"location":"course/microscopic_Intersection_demo/#_4","text":"\u811a\u672c \u5c06 \u8fde\u63a5 \u5230 CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5e76 \u6bcf 5 \u79d2 \u5207\u6362 \u4e00\u6b21 \u9884\u8bbe \u7684 \u89c2\u4f17 \u89c6\u89d2 \u3002   start _ time   =   time . time ( )   state   =   0   while   True :   elapsed _ time   =   time . time ( )   -   start _ time   if   elapsed _ time   > =   5 :   spectator . set _ transform ( spectator _ transform [ state ] )   state   + =   1   if   state   >   3 :   state   =   0   start _ time   =   time . time ( )","title":"\u5b9a\u671f \u5207\u6362 \u89c6\u89d2"},{"location":"course/microscopic_Intersection_demo/#_5","text":"","title":"\u8fd0\u884c \u7ed3\u679c \uff1a"},{"location":"course/motion_planning/","text":"\u8def\u7ebf \u89c4\u5212   \u200b   \u6b64 \u793a\u4f8b \u5728   Carla   \u4eff\u771f \u73af\u5883 \u4e2d \uff0c \u4f7f\u7528   RRT   \u8def\u5f84 \u89c4\u5212 \u548c   PID   \u63a7\u5236 \u8fdb\u884c \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u7684 \u8def\u5f84 \u8ddf\u8e2a \uff0c   RRT   \u7b97\u6cd5 \u80fd\u591f \u5728 \u590d\u6742 \u7684 \u73af\u5883 \u4e2d \u5feb\u901f \u627e\u5230 \u4ece \u8d77\u70b9 \u5230 \u7ec8\u70b9 \u7684 \u8def\u5f84 \uff0c \u540c\u65f6 \u907f\u5f00 \u969c\u788d \u969c\u788d\u7269 \uff1b   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u6839\u636e \u8def\u5f84 \u7684 \u66f2\u7387 \u548c \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u8c03\u6574 \u6cb9\u95e8 \u3001 \u5239\u8f66 \u548c \u65b9\u5411 \u65b9\u5411\u76d8 \uff0c \u786e\u4fdd \u8f66\u8f86 \u80fd\u591f \u6309\u7167 \u89c4\u5212 \u7684 \u8def\u5f84 \u884c\u9a76 \u3002   \u73af\u5883 \u8981\u6c42   Python   3.7   CARLA   \u4eff\u771f \u73af\u5883   \u5b89\u88c5 \u5fc5\u8981 \u7684 Python \u5e93   main _ v4 _ VO   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \u5bfc\u5165 CARLA \u6a21\u5757   \u200b   \u5bfc\u5165 CARLA \u6a21\u5757 \uff0c \u5e76 \u6dfb\u52a0 \u5fc5\u8981 \u7684 \u8def\u5f84 \u3002   try :   sys . path . append ( glob . glob ( ' .. / carla / dist / carla - * % d .% d -% s . egg '   %   (   sys . version _ info . major ,   sys . version _ info . minor ,   ' win - amd64 '   if   os . name   = =   ' nt '   else   ' linux - x86 _ 64 ' ) ) [ 0 ] )   import   carla   except   IndexError :   pass   RednerObject   \u7c7b   \u8be5\u7c7b \u4e3b\u8981 \u7528\u4e8e \u62a5\u9519 \u548c \u4f20\u9012   pygame   \u5bf9\u8c61   class   RenderObject ( object ) :   def   __ init __ ( self ,   width ,   height ) :   init _ image   =   np . random . randint ( 0 ,   255 ,   ( height ,   width ,   3 ) ,   dtype = ' uint8 ' )   self . surface   =   pygame . surfarray . make _ surface ( init _ image . swapaxes ( 0 ,   1 ) )   pygame _ callback   \u51fd\u6570   \u200b   \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u56de\u8c03 \u51fd\u6570 \uff0c \u5c06 \u76f8\u673a \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u8f6c\u6362 \u4e3a 2D   RGB \u56fe\u50cf \uff0c \u5e76 \u5e94\u7528 \u4e8e   Pygame   \u3002   def   pygame _ callback ( data ,   obj ) :   img   =   np . reshape ( np . copy ( data . raw _ data ) ,   ( data . height ,   data . width ,   4 ) )   img   =   img [ : ,   : ,   : 3 ]   img   =   img [ : ,   : ,   : : - 1 ]   obj . surface   =   pygame . surfarray . make _ surface ( img . swapaxes ( 0 ,   1 ) )   CARLA _ world   \u7c7b   \u8be5\u7c7b \u7528\u4e8e \u8fde\u63a5   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u8bbe\u7f6e \u540c\u6b65 \u6a21\u5f0f \uff0c \u5e76 \u7ba1\u7406 \u8f66\u8f86 \u548c \u76f8\u673a \u3002   class   CARLA _ world :   def   __ init __ ( self ) :   self . client   =   carla . Client ( ' localhost ' ,   2000 )   self . client . set _ timeout ( 120.0 )   self . carla _ world   =   self . client . get _ world ( )   self . map   =   self . carla _ world . get _ map ( )   print ( \" WORLD   READY \" )   settings   =   self . carla _ world . get _ settings ( )   settings . synchronous _ mode   =   True   settings . fixed _ delta _ seconds   =   0.02   self . carla _ world . apply _ settings ( settings )   self . spectator   =   self . carla _ world . get _ spectator ( )   self . vehicles   =   [ ]   self . ego _ vehicle   =   None   \u7a0b\u5e8f \u4e3b\u7a0b\u5e8f   \u521d\u59cb \u521d\u59cb\u5316   Carla   \u4e16\u754c \u5bf9\u8c61   \u521b\u5efa   Carla   \u4e16\u754c \u5b9e\u4f8b \uff0c \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u751f\u6210 \u70b9 \uff0c \u751f\u6210 \u81ea\u8f66 \u548c \u969c\u788d \u8f66\u8f86 \u3002   CARLA _ world   =   CARLA _ world ( )   spawn _ points   =   CARLA _ world . map . get _ spawn _ points ( )   target _ speed   =   3.0   v _ obs   =   3.0   spawn _ point1   =   carla . Transform ( carla . Location ( x = 428 ,   y = - 51.9 ,   z = 0.3 ) ,   carla . Rotation ( yaw = 89 ) )   blueprint _ library   =   CARLA _ world . carla _ world . get _ blueprint _ library ( )   bp1   =   blueprint _ library . filter ( \" model3 \" ) [ 0 ]   vehicle1   =   CARLA _ world . carla _ world . spawn _ actor ( bp1 ,   spawn _ point1 )   CARLA _ world . vehicles . append ( vehicle1 )   spawn _ point3   =   carla . Transform ( carla . Location ( x = 404 ,   y = - 14 ,   z = 0.3 ) ,   carla . Rotation ( yaw = 0 ) )   bp3   =   blueprint _ library . filter ( \" model3 \" ) [ 0 ]   CARLA _ world . ego _ vehicle   =   CARLA _ world . carla _ world . spawn _ actor ( bp3 ,   spawn _ point3 )   \u521d\u59cb \u521d\u59cb\u5316 \u76f8\u673a   \u200b   \u5c06 \u76f8\u673a \u9644\u52a0 \u5230 \u81ea \u8f66\u4e0a \uff0c \u5e76 \u8bbe\u7f6e \u56de\u8c03 \u51fd\u6570 \u5904\u7406 \u76f8\u673a \u56fe\u50cf \u3002   camera _ init _ trans   =   carla . Transform ( carla . Location ( x = - 10 ,   y = - 4 ,   z = 3 ) ,   carla . Rotation ( pitch = - 20 ) )   camera _ bp   =   CARLA _ world . carla _ world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   camera _ bp . set _ attribute ( ' image _ size _ x ' ,   str ( VIEW _ WIDTH ) )   camera _ bp . set _ attribute ( ' image _ size _ y ' ,   str ( VIEW _ HEIGHT ) )   camera _ bp . set _ attribute ( ' fov ' ,   str ( VIEW _ FOV ) )   camera   =   CARLA _ world . carla _ world . spawn _ actor ( camera _ bp ,   camera _ init _ trans ,   attach _ to = CARLA _ world . ego _ vehicle )   renderObject   =   RenderObject ( VIEW _ WIDTH ,   VIEW _ HEIGHT )   camera . listen ( lambda   image :   pygame _ callback ( image ,   renderObject ) )   \u521d\u59cb \u521d\u59cb\u5316   Pygame   \u200b   \u521d\u59cb \u521d\u59cb\u5316 Pygame \u7a97\u53e3 \uff0c \u5e76 \u8bbe\u7f6e \u76f8\u5e94 \u6807\u9898 \u3002   pygame . init ( )   gameDisplay   =   pygame . display . set _ mode ( ( VIEW _ WIDTH ,   VIEW _ HEIGHT ) ,   pygame . HWSURFACE   |   pygame . DOUBLEBUF )   pygame . display . set _ caption ( \" Camera   View \" )   \u8f68\u8ff9 \u89c4\u5212 \u548c \u63a7\u5236   \u200b   \u4f7f\u7528 RRT \u7b97\u6cd5 \u8fdb\u884c \u8f68\u8ff9 \u89c4\u5212 \uff0c \u5e76 \u901a\u8fc7 PID \u63a7\u5236 \u63a7\u5236\u5668 \u8fdb\u884c \u8f66\u8f86 \u8def\u5f84 \u8ddf\u8e2a \u3002   goal   =   CARLA _ world . map . get _ waypoint ( carla . Location ( x = 444 ,   y = - 14 ) ,   project _ to _ road = True )   CARLA _ world . carla _ world . tick ( )   trans   =   CARLA _ world . vehicles [ 0 ] . get _ transform ( )   v _ obs   =   7.8   obstacles   =   [ trans ,   v _ obs ]   RRT _ planner   =   RRT _ VO ( CARLA _ world ,   goal ,   obstacles )   RRT _ planner . RRT _ star ( n _ pts = 1000 )   path   =   RRT _ planner . path   path _ x   =   [ ]   path _ y   =   [ ]   trans   =   CARLA _ world . ego _ vehicle . get _ transform ( )   thetai   =   trans . rotation . yaw   *   math . pi   /   180   final _ theta   =   thetai   for   i   in   range ( len ( path )   -   1 ) :   if   i   = =   len ( path )   -   2 :   thetaf   =   final _ theta   else :   x1 ,   y1   =   path [ i   +   1 ] . x ,   path [ i   +   1 ] . y   x2 ,   y2   =   path [ i   +   2 ] . x ,   path [ i   +   2 ] . y   thetaf   =   math . atan2 ( ( y2   -   y1 ) ,   ( x2   -   x1 ) )   primitive   =   motion _ primitive ( thetai ,   thetaf ,   path [ i ] . x ,   path [ i   +   1 ] . x ,   path [ i ] . y ,   path [ i   +   1 ] . y )   primitive . cubic _ T _ Matrix ( )   primitive . trajectory ( )   pos _ x ,   pos _ y   =   primitive . get _ path ( 0.05 )   path _ x   + =   pos _ x   path _ y   + =   pos _ y   thetai   =   thetaf   \u5faa\u73af \u79fb\u52a8   \u200b   \u5728   Pygame   \u7a97\u53e3 \u4e2d \u663e\u793a \u76f8\u673a \u89c6\u89d2 \uff0c \u5e76 \u6839\u636e RRT \u89c4\u5212 \u7684 \u8def\u5f84 \u63a7\u5236 \u8f66\u8f86 \u79fb\u52a8 \u3002   controller   =   VehiclePIDController ( CARLA _ world . ego _ vehicle ,   [ 1.0 ,   0.05 ,   0.1 ] ,   [ 0.5 ,   0.05 ,   0.1 ] )   controller _ obs   =   VehiclePIDController ( CARLA _ world . vehicles [ 0 ] ,   [ 1.0 ,   0.05 ,   0.1 ] ,   [ 0.5 ,   0.05 ,   0.1 ] )   actual _ x   =   [ ]   actual _ y   =   [ ]   ti   =   time . time ( )   for   i   in   range ( len ( path _ x )   -   1 ) :   trans   =   CARLA _ world . ego _ vehicle . get _ transform ( )   loc _ x ,   loc _ y   =   trans . location . x ,   trans . location . y   w _ x ,   w _ y   =   path _ x [ i ] ,   path _ y [ i ]   w _ x2 ,   w _ y2   =   path _ x [ i   +   1 ] ,   path _ y [ i   +   1 ]   phi   =   math . atan2 ( ( w _ y2   -   w _ y ) ,   ( w _ x2   -   w _ x ) )   physics   =   CARLA _ world . ego _ vehicle . get _ physics _ control ( )   wheels   =   physics . wheels   wheel _ F _ x   =   ( wheels [ 0 ] . position . x   +   wheels [ 1 ] . position . x )   /   200   wheel _ F _ y   =   ( wheels [ 0 ] . position . y   +   wheels [ 1 ] . position . y )   /   200   while   ( ( wheel _ F _ x   -   w _ x2 )   * *   2   +   ( wheel _ F _ y   -   w _ y2 )   * *   2 )   * *   0.5   > =   0.5 :   control   =   controller . run _ step ( RRT _ planner . v   *   3.6   /   3 )   control _ obs   =   controller _ obs . run _ step ( v _ obs   *   3.6   /   3 )   p1   =   np . array ( [ w _ x ,   w _ y ] )   p2   =   np . array ( [ w _ x2 ,   w _ y2 ] )   p3   =   np . array ( [ wheel _ F _ x ,   wheel _ F _ y ] )   trans   =   CARLA _ world . ego _ vehicle . get _ transform ( )   yaw   =   trans . rotation . yaw   phi   =   math . atan2 ( ( w _ y2   -   w _ y ) ,   ( w _ x2   -   w _ x ) )   -   yaw   *   ( math . pi   /   180 )   d   =   np . cross ( p2   -   p1 ,   p3   -   p1 )   /   np . linalg . norm ( p2   -   p1 )   kp   =   3   ks   =   0.2   Vel   =   CARLA _ world . ego _ vehicle . get _ velocity ( )   v   =   math . sqrt ( Vel . x   * *   2   +   Vel . y   * *   2 )   control . steer   =   ( - math . atan2 ( kp   *   d ,   \u200b   \u8f68\u8ff9 \u5982\u4e0b \uff1a \u56fe\u4e2d \u84dd\u8272 \u7684 \u66f2\u7ebf \u8868\u793a \u8f66\u8f86 \u4ece \u8d77\u70b9 \u5230 \u7ec8\u70b9 \u7684 \u884c\u9a76 \u8def\u5f84 \u3002 \u4ece\u56fe \u4e2d \u53ef\u4ee5 \u770b\u51fa \uff0c \u8f66\u8f86 \u5148\u662f \u6cbf\u7740 x \u8f74\u5411 \u53f3 \u884c\u9a76 \uff0c \u7136\u540e \u68c0\u6d4b \u5230 \u969c\u788d \u969c\u788d\u7269 \u540e \u5f00\u59cb \u5411 \u5de6\u4e0b \u4e0b\u65b9 \u5de6\u4e0b\u65b9 \u8f6c\u5f2f \uff0c \u6700\u540e \u5230\u8fbe \u7ec8\u70b9 \u3002","title":"\u8def\u7ebf \u89c4\u5212"},{"location":"course/motion_planning/#_1","text":"\u200b   \u6b64 \u793a\u4f8b \u5728   Carla   \u4eff\u771f \u73af\u5883 \u4e2d \uff0c \u4f7f\u7528   RRT   \u8def\u5f84 \u89c4\u5212 \u548c   PID   \u63a7\u5236 \u8fdb\u884c \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u7684 \u8def\u5f84 \u8ddf\u8e2a \uff0c   RRT   \u7b97\u6cd5 \u80fd\u591f \u5728 \u590d\u6742 \u7684 \u73af\u5883 \u4e2d \u5feb\u901f \u627e\u5230 \u4ece \u8d77\u70b9 \u5230 \u7ec8\u70b9 \u7684 \u8def\u5f84 \uff0c \u540c\u65f6 \u907f\u5f00 \u969c\u788d \u969c\u788d\u7269 \uff1b   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u6839\u636e \u8def\u5f84 \u7684 \u66f2\u7387 \u548c \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u8c03\u6574 \u6cb9\u95e8 \u3001 \u5239\u8f66 \u548c \u65b9\u5411 \u65b9\u5411\u76d8 \uff0c \u786e\u4fdd \u8f66\u8f86 \u80fd\u591f \u6309\u7167 \u89c4\u5212 \u7684 \u8def\u5f84 \u884c\u9a76 \u3002","title":"\u8def\u7ebf \u89c4\u5212"},{"location":"course/motion_planning/#_2","text":"Python   3.7   CARLA   \u4eff\u771f \u73af\u5883   \u5b89\u88c5 \u5fc5\u8981 \u7684 Python \u5e93   main _ v4 _ VO   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )","title":"\u73af\u5883 \u8981\u6c42"},{"location":"course/motion_planning/#carla","text":"\u200b   \u5bfc\u5165 CARLA \u6a21\u5757 \uff0c \u5e76 \u6dfb\u52a0 \u5fc5\u8981 \u7684 \u8def\u5f84 \u3002   try :   sys . path . append ( glob . glob ( ' .. / carla / dist / carla - * % d .% d -% s . egg '   %   (   sys . version _ info . major ,   sys . version _ info . minor ,   ' win - amd64 '   if   os . name   = =   ' nt '   else   ' linux - x86 _ 64 ' ) ) [ 0 ] )   import   carla   except   IndexError :   pass","title":"\u5bfc\u5165 CARLA \u6a21\u5757"},{"location":"course/motion_planning/#rednerobject","text":"\u8be5\u7c7b \u4e3b\u8981 \u7528\u4e8e \u62a5\u9519 \u548c \u4f20\u9012   pygame   \u5bf9\u8c61   class   RenderObject ( object ) :   def   __ init __ ( self ,   width ,   height ) :   init _ image   =   np . random . randint ( 0 ,   255 ,   ( height ,   width ,   3 ) ,   dtype = ' uint8 ' )   self . surface   =   pygame . surfarray . make _ surface ( init _ image . swapaxes ( 0 ,   1 ) )","title":"RednerObject     \u7c7b"},{"location":"course/motion_planning/#pygame_callback","text":"\u200b   \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u56de\u8c03 \u51fd\u6570 \uff0c \u5c06 \u76f8\u673a \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u8f6c\u6362 \u4e3a 2D   RGB \u56fe\u50cf \uff0c \u5e76 \u5e94\u7528 \u4e8e   Pygame   \u3002   def   pygame _ callback ( data ,   obj ) :   img   =   np . reshape ( np . copy ( data . raw _ data ) ,   ( data . height ,   data . width ,   4 ) )   img   =   img [ : ,   : ,   : 3 ]   img   =   img [ : ,   : ,   : : - 1 ]   obj . surface   =   pygame . surfarray . make _ surface ( img . swapaxes ( 0 ,   1 ) )","title":"pygame _ callback   \u51fd\u6570"},{"location":"course/motion_planning/#carla_world","text":"\u8be5\u7c7b \u7528\u4e8e \u8fde\u63a5   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u8bbe\u7f6e \u540c\u6b65 \u6a21\u5f0f \uff0c \u5e76 \u7ba1\u7406 \u8f66\u8f86 \u548c \u76f8\u673a \u3002   class   CARLA _ world :   def   __ init __ ( self ) :   self . client   =   carla . Client ( ' localhost ' ,   2000 )   self . client . set _ timeout ( 120.0 )   self . carla _ world   =   self . client . get _ world ( )   self . map   =   self . carla _ world . get _ map ( )   print ( \" WORLD   READY \" )   settings   =   self . carla _ world . get _ settings ( )   settings . synchronous _ mode   =   True   settings . fixed _ delta _ seconds   =   0.02   self . carla _ world . apply _ settings ( settings )   self . spectator   =   self . carla _ world . get _ spectator ( )   self . vehicles   =   [ ]   self . ego _ vehicle   =   None","title":"CARLA _ world   \u7c7b"},{"location":"course/motion_planning/#_3","text":"","title":"\u4e3b\u7a0b\u5e8f"},{"location":"course/motion_planning/#carla_1","text":"\u521b\u5efa   Carla   \u4e16\u754c \u5b9e\u4f8b \uff0c \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u751f\u6210 \u70b9 \uff0c \u751f\u6210 \u81ea\u8f66 \u548c \u969c\u788d \u8f66\u8f86 \u3002   CARLA _ world   =   CARLA _ world ( )   spawn _ points   =   CARLA _ world . map . get _ spawn _ points ( )   target _ speed   =   3.0   v _ obs   =   3.0   spawn _ point1   =   carla . Transform ( carla . Location ( x = 428 ,   y = - 51.9 ,   z = 0.3 ) ,   carla . Rotation ( yaw = 89 ) )   blueprint _ library   =   CARLA _ world . carla _ world . get _ blueprint _ library ( )   bp1   =   blueprint _ library . filter ( \" model3 \" ) [ 0 ]   vehicle1   =   CARLA _ world . carla _ world . spawn _ actor ( bp1 ,   spawn _ point1 )   CARLA _ world . vehicles . append ( vehicle1 )   spawn _ point3   =   carla . Transform ( carla . Location ( x = 404 ,   y = - 14 ,   z = 0.3 ) ,   carla . Rotation ( yaw = 0 ) )   bp3   =   blueprint _ library . filter ( \" model3 \" ) [ 0 ]   CARLA _ world . ego _ vehicle   =   CARLA _ world . carla _ world . spawn _ actor ( bp3 ,   spawn _ point3 )","title":"\u521d\u59cb\u5316   Carla   \u4e16\u754c \u5bf9\u8c61"},{"location":"course/motion_planning/#_4","text":"\u200b   \u5c06 \u76f8\u673a \u9644\u52a0 \u5230 \u81ea \u8f66\u4e0a \uff0c \u5e76 \u8bbe\u7f6e \u56de\u8c03 \u51fd\u6570 \u5904\u7406 \u76f8\u673a \u56fe\u50cf \u3002   camera _ init _ trans   =   carla . Transform ( carla . Location ( x = - 10 ,   y = - 4 ,   z = 3 ) ,   carla . Rotation ( pitch = - 20 ) )   camera _ bp   =   CARLA _ world . carla _ world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   camera _ bp . set _ attribute ( ' image _ size _ x ' ,   str ( VIEW _ WIDTH ) )   camera _ bp . set _ attribute ( ' image _ size _ y ' ,   str ( VIEW _ HEIGHT ) )   camera _ bp . set _ attribute ( ' fov ' ,   str ( VIEW _ FOV ) )   camera   =   CARLA _ world . carla _ world . spawn _ actor ( camera _ bp ,   camera _ init _ trans ,   attach _ to = CARLA _ world . ego _ vehicle )   renderObject   =   RenderObject ( VIEW _ WIDTH ,   VIEW _ HEIGHT )   camera . listen ( lambda   image :   pygame _ callback ( image ,   renderObject ) )","title":"\u521d\u59cb\u5316 \u76f8\u673a"},{"location":"course/motion_planning/#pygame","text":"\u200b   \u521d\u59cb \u521d\u59cb\u5316 Pygame \u7a97\u53e3 \uff0c \u5e76 \u8bbe\u7f6e \u76f8\u5e94 \u6807\u9898 \u3002   pygame . init ( )   gameDisplay   =   pygame . display . set _ mode ( ( VIEW _ WIDTH ,   VIEW _ HEIGHT ) ,   pygame . HWSURFACE   |   pygame . DOUBLEBUF )   pygame . display . set _ caption ( \" Camera   View \" )","title":"\u521d\u59cb\u5316   Pygame"},{"location":"course/motion_planning/#_5","text":"\u200b   \u4f7f\u7528 RRT \u7b97\u6cd5 \u8fdb\u884c \u8f68\u8ff9 \u89c4\u5212 \uff0c \u5e76 \u901a\u8fc7 PID \u63a7\u5236 \u63a7\u5236\u5668 \u8fdb\u884c \u8f66\u8f86 \u8def\u5f84 \u8ddf\u8e2a \u3002   goal   =   CARLA _ world . map . get _ waypoint ( carla . Location ( x = 444 ,   y = - 14 ) ,   project _ to _ road = True )   CARLA _ world . carla _ world . tick ( )   trans   =   CARLA _ world . vehicles [ 0 ] . get _ transform ( )   v _ obs   =   7.8   obstacles   =   [ trans ,   v _ obs ]   RRT _ planner   =   RRT _ VO ( CARLA _ world ,   goal ,   obstacles )   RRT _ planner . RRT _ star ( n _ pts = 1000 )   path   =   RRT _ planner . path   path _ x   =   [ ]   path _ y   =   [ ]   trans   =   CARLA _ world . ego _ vehicle . get _ transform ( )   thetai   =   trans . rotation . yaw   *   math . pi   /   180   final _ theta   =   thetai   for   i   in   range ( len ( path )   -   1 ) :   if   i   = =   len ( path )   -   2 :   thetaf   =   final _ theta   else :   x1 ,   y1   =   path [ i   +   1 ] . x ,   path [ i   +   1 ] . y   x2 ,   y2   =   path [ i   +   2 ] . x ,   path [ i   +   2 ] . y   thetaf   =   math . atan2 ( ( y2   -   y1 ) ,   ( x2   -   x1 ) )   primitive   =   motion _ primitive ( thetai ,   thetaf ,   path [ i ] . x ,   path [ i   +   1 ] . x ,   path [ i ] . y ,   path [ i   +   1 ] . y )   primitive . cubic _ T _ Matrix ( )   primitive . trajectory ( )   pos _ x ,   pos _ y   =   primitive . get _ path ( 0.05 )   path _ x   + =   pos _ x   path _ y   + =   pos _ y   thetai   =   thetaf","title":"\u8f68\u8ff9 \u89c4\u5212 \u548c \u63a7\u5236"},{"location":"course/motion_planning/#_6","text":"\u200b   \u5728   Pygame   \u7a97\u53e3 \u4e2d \u663e\u793a \u76f8\u673a \u89c6\u89d2 \uff0c \u5e76 \u6839\u636e RRT \u89c4\u5212 \u7684 \u8def\u5f84 \u63a7\u5236 \u8f66\u8f86 \u79fb\u52a8 \u3002   controller   =   VehiclePIDController ( CARLA _ world . ego _ vehicle ,   [ 1.0 ,   0.05 ,   0.1 ] ,   [ 0.5 ,   0.05 ,   0.1 ] )   controller _ obs   =   VehiclePIDController ( CARLA _ world . vehicles [ 0 ] ,   [ 1.0 ,   0.05 ,   0.1 ] ,   [ 0.5 ,   0.05 ,   0.1 ] )   actual _ x   =   [ ]   actual _ y   =   [ ]   ti   =   time . time ( )   for   i   in   range ( len ( path _ x )   -   1 ) :   trans   =   CARLA _ world . ego _ vehicle . get _ transform ( )   loc _ x ,   loc _ y   =   trans . location . x ,   trans . location . y   w _ x ,   w _ y   =   path _ x [ i ] ,   path _ y [ i ]   w _ x2 ,   w _ y2   =   path _ x [ i   +   1 ] ,   path _ y [ i   +   1 ]   phi   =   math . atan2 ( ( w _ y2   -   w _ y ) ,   ( w _ x2   -   w _ x ) )   physics   =   CARLA _ world . ego _ vehicle . get _ physics _ control ( )   wheels   =   physics . wheels   wheel _ F _ x   =   ( wheels [ 0 ] . position . x   +   wheels [ 1 ] . position . x )   /   200   wheel _ F _ y   =   ( wheels [ 0 ] . position . y   +   wheels [ 1 ] . position . y )   /   200   while   ( ( wheel _ F _ x   -   w _ x2 )   * *   2   +   ( wheel _ F _ y   -   w _ y2 )   * *   2 )   * *   0.5   > =   0.5 :   control   =   controller . run _ step ( RRT _ planner . v   *   3.6   /   3 )   control _ obs   =   controller _ obs . run _ step ( v _ obs   *   3.6   /   3 )   p1   =   np . array ( [ w _ x ,   w _ y ] )   p2   =   np . array ( [ w _ x2 ,   w _ y2 ] )   p3   =   np . array ( [ wheel _ F _ x ,   wheel _ F _ y ] )   trans   =   CARLA _ world . ego _ vehicle . get _ transform ( )   yaw   =   trans . rotation . yaw   phi   =   math . atan2 ( ( w _ y2   -   w _ y ) ,   ( w _ x2   -   w _ x ) )   -   yaw   *   ( math . pi   /   180 )   d   =   np . cross ( p2   -   p1 ,   p3   -   p1 )   /   np . linalg . norm ( p2   -   p1 )   kp   =   3   ks   =   0.2   Vel   =   CARLA _ world . ego _ vehicle . get _ velocity ( )   v   =   math . sqrt ( Vel . x   * *   2   +   Vel . y   * *   2 )   control . steer   =   ( - math . atan2 ( kp   *   d ,   \u200b   \u8f68\u8ff9 \u5982\u4e0b \uff1a \u56fe\u4e2d \u84dd\u8272 \u7684 \u66f2\u7ebf \u8868\u793a \u8f66\u8f86 \u4ece \u8d77\u70b9 \u5230 \u7ec8\u70b9 \u7684 \u884c\u9a76 \u8def\u5f84 \u3002 \u4ece\u56fe \u4e2d \u53ef\u4ee5 \u770b\u51fa \uff0c \u8f66\u8f86 \u5148\u662f \u6cbf\u7740 x \u8f74\u5411 \u53f3 \u884c\u9a76 \uff0c \u7136\u540e \u68c0\u6d4b \u5230 \u969c\u788d \u969c\u788d\u7269 \u540e \u5f00\u59cb \u5411 \u5de6\u4e0b \u4e0b\u65b9 \u5de6\u4e0b\u65b9 \u8f6c\u5f2f \uff0c \u6700\u540e \u5230\u8fbe \u7ec8\u70b9 \u3002","title":"\u5faa\u73af \u79fb\u52a8"},{"location":"course/multi-view_camera/","text":"\u914d\u7f6e \u591a \u89c6\u89d2 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 camera . py   \u4ecb\u7ecd   \u6b64 \u811a\u672c \u8fde\u63a5 \u5230 CARLA \u4eff\u771f \u73af\u5883 \uff0c \u5728 \u8f66\u8f86 \u7684 \u5de6\u53f3 \u4e24\u4fa7 \u8bbe\u7f6e \u76f8\u673a \uff0c \u5e76 \u4f7f\u7528 Pygame \u663e\u793a \u76f8\u673a \u6355\u83b7 \u7684 \u5b9e\u65f6 \u56fe\u50cf \u3002 \u7cfb\u7edf \u91c7\u7528 \u591a \u8fdb\u7a0b \u67b6\u6784 \uff0c \u786e\u4fdd \u5de6\u53f3 \u76f8\u673a \u56fe\u50cf \u5206\u522b \u5728 \u4e0d\u540c \u7a97\u53e3 \u4e2d \u5b9e\u65f6 \u663e\u793a \u3002   \u73af\u5883 \u8981\u6c42   Python   3.6   \u53ca \u4ee5\u4e0a \u7248\u672c   CARLA   \u4eff\u771f \u73af\u5883   \u5b89\u88c5 \u5fc5\u8981 \u7684 Python \u5e93 \uff1a   camera . py   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   pip   install   carla   pygame   numpy   opencv - python   \u811a\u672c \u7ed3\u6784   \u521d\u59cb \u521d\u59cb\u5316   def   __ init __ ( self ) :   self . client   =   None   self . world   =   None   self . camera _ left   =   None   self . camera _ right   =   None   self . car   =   None   self . image _ left   =   None   self . image _ right   =   None   self . capture   =   True   \u521d\u59cb \u521d\u59cb\u5316 CARLA \u5ba2\u6237 \u5ba2\u6237\u7aef \u3001 \u4e16\u754c \u3001 \u8f66\u8f86 \u548c \u76f8\u673a \u53d8\u91cf \u3002   \u76f8\u673a \u8bbe\u7f6e   def   setup _ camera ( self ) :   # \u8bbe\u7f6e \u76f8\u673a \u7684 \u53d8\u6362 \u6362\u4f4d \u4f4d\u7f6e \u53d8\u6362\u4f4d\u7f6e \u5e76 \u9644\u52a0 \u5230 \u8f66\u8f86 \u4e0a   # \u5de6 \u76f8\u673a   left _ camera _ transform   =   carla . Transform ( carla . Location ( x = - 1.6 ,   y = - 1.5 ,   z = 1.7 ) )   self . camera _ left   =   self . world . spawn _ actor ( self . camera _ bp ( ) ,   left _ camera _ transform ,   attach _ to = self . car )   # \u53f3 \u76f8\u673a   right _ camera _ transform   =   carla . Transform ( carla . Location ( x = - 1.6 ,   y = 1.5 ,   z = 1.7 ) )   self . camera _ right   =   self . world . spawn _ actor ( self . camera _ bp ( ) ,   right _ camera _ transform ,   attach _ to = self . car )   # \u76d1\u542c \u5de6\u53f3 \u76f8\u673a \u56fe\u50cf   weak _ self   =   weakref . ref ( self )   self . camera _ left . listen ( lambda   image :   weak _ self ( ) . set _ image ( weak _ self ,   ' left ' ,   image ) )   self . camera _ right . listen ( lambda   image :   weak _ self ( ) . set _ image ( weak _ self ,   ' right ' ,   image ) )   \u5728 \u8f66\u8f86 \u7684 \u5de6\u53f3 \u4e24\u4fa7 \u751f\u6210 \u76f8\u673a \uff0c \u5e76 \u8bbe\u7f6e \u76d1\u542c \u76d1\u542c\u5668 \u6355\u83b7 \u76f8\u673a \u56fe\u50cf \u3002   \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406   @ staticmethod   def   set _ image ( weak _ self ,   side ,   img ) :   self   =   weak _ self ( )   if   side   = =   ' left ' :   self . image _ left   =   img   elif   side   = =   ' right ' :   self . image _ right   =   img   def   get _ image _ array ( self ,   side ) :   if   side   = =   ' left '   and   self . image _ left   is   not   None :   array   =   np . frombuffer ( self . image _ left . raw _ data ,   dtype = np . dtype ( \" uint8 \" ) )   array   =   array . reshape ( ( VIEW _ HEIGHT ,   VIEW _ WIDTH ,   4 ) )   array   =   array [ : ,   : ,   : 3 ]   #   Drop   alpha   channel   array   =   array [ : ,   : ,   : : - 1 ]   #   Convert   from   BGRA   to   RGB   return   array   elif   side   = =   ' right '   and   self . image _ right   is   not   None :   array   =   np . frombuffer ( self . image _ right . raw _ data ,   dtype = np . dtype ( \" uint8 \" ) )   array   =   array . reshape ( ( VIEW _ HEIGHT ,   VIEW _ WIDTH ,   4 ) )   array   =   array [ : ,   : ,   : 3 ]   #   Drop   alpha   channel   array   =   array [ : ,   : ,   : : - 1 ]   #   Convert   from   BGRA   to   RGB   return   array   else :   return   None   \u5c06 \u76f8\u673a \u6355\u83b7 \u7684 \u56fe\u50cf \u4ece BGRA \u683c\u5f0f \u8f6c\u6362 \u4e3a RGB \u683c\u5f0f \uff0c \u5e76 \u53bb\u9664 Alpha \u901a\u9053 \u3002   \u6e32\u67d3 \u51fd\u6570   def   render ( queue ,   side ,   x ,   y ) :   pygame . init ( )   os . environ [ ' SDL _ VIDEO _ WINDOW _ POS ' ]   =   f \" { x } , { y } \"   display   =   pygame . display . set _ mode ( ( VIEW _ WIDTH ,   VIEW _ HEIGHT ) ,   pygame . HWSURFACE   |   pygame . DOUBLEBUF )   pygame . display . set _ caption ( f ' { side . capitalize ( ) }   Camera ' )   clock   =   pygame . time . Clock ( )   try :   while   True :   array   =   queue . get ( )   if   array   is   None :   break   surface   =   pygame . surfarray . make _ surface ( array . swapaxes ( 0 ,   1 ) )   display . blit ( surface ,   ( 0 ,   0 ) )   pygame . display . flip ( )   for   event   in   pygame . event . get ( ) :   if   event . type   = =   pygame . QUIT :   return   clock . tick _ busy _ loop ( 30 )   finally :   pygame . quit ( )   \u4f7f\u7528 Pygame \u663e\u793a \u5de6\u53f3 \u76f8\u673a \u6355\u83b7 \u7684 \u56fe\u50cf \u3002   \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b   \u4e3a\u4e86 \u5728 CARLA \u4eff\u771f \u73af\u5883 \u4e2d \u521b\u5efa \u4e24\u4e2a \u7a97\u53e3 \u6765 \u663e\u793a \u8f66\u8f86 \u7684 \u5de6\u53f3 \u89c6\u89d2 \uff0c \u6211\u4eec \u9700\u8981 \u5229\u7528 Pygame \u548c \u591a \u8fdb\u7a0b \u6765 \u5b9e\u73b0 \u3002   left _ process   =   multiprocessing . Process ( target = render ,   args = ( left _ queue ,   ' left ' ,   0 ,   100 ) )   right _ process   =   multiprocessing . Process ( target = render ,   args = ( right _ queue ,   ' right ' ,   VIEW _ WIDTH   +   10 ,   100 ) )","title":"\u914d\u7f6e \u591a \u89c6\u89d2 \u6444\u50cf\u5934 camera . py"},{"location":"course/multi-view_camera/#camerapy","text":"","title":"\u914d\u7f6e \u591a \u89c6\u89d2 \u6444\u50cf\u5934 camera . py"},{"location":"course/multi-view_camera/#_1","text":"\u6b64 \u811a\u672c \u8fde\u63a5 \u5230 CARLA \u4eff\u771f \u73af\u5883 \uff0c \u5728 \u8f66\u8f86 \u7684 \u5de6\u53f3 \u4e24\u4fa7 \u8bbe\u7f6e \u76f8\u673a \uff0c \u5e76 \u4f7f\u7528 Pygame \u663e\u793a \u76f8\u673a \u6355\u83b7 \u7684 \u5b9e\u65f6 \u56fe\u50cf \u3002 \u7cfb\u7edf \u91c7\u7528 \u591a \u8fdb\u7a0b \u67b6\u6784 \uff0c \u786e\u4fdd \u5de6\u53f3 \u76f8\u673a \u56fe\u50cf \u5206\u522b \u5728 \u4e0d\u540c \u7a97\u53e3 \u4e2d \u5b9e\u65f6 \u663e\u793a \u3002","title":"\u4ecb\u7ecd"},{"location":"course/multi-view_camera/#_2","text":"Python   3.6   \u53ca \u4ee5\u4e0a \u7248\u672c   CARLA   \u4eff\u771f \u73af\u5883   \u5b89\u88c5 \u5fc5\u8981 \u7684 Python \u5e93 \uff1a   camera . py   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   pip   install   carla   pygame   numpy   opencv - python","title":"\u73af\u5883 \u8981\u6c42"},{"location":"course/multi-view_camera/#_3","text":"","title":"\u811a\u672c \u7ed3\u6784"},{"location":"course/multi-view_camera/#_4","text":"def   __ init __ ( self ) :   self . client   =   None   self . world   =   None   self . camera _ left   =   None   self . camera _ right   =   None   self . car   =   None   self . image _ left   =   None   self . image _ right   =   None   self . capture   =   True   \u521d\u59cb \u521d\u59cb\u5316 CARLA \u5ba2\u6237 \u5ba2\u6237\u7aef \u3001 \u4e16\u754c \u3001 \u8f66\u8f86 \u548c \u76f8\u673a \u53d8\u91cf \u3002","title":"\u521d\u59cb\u5316"},{"location":"course/multi-view_camera/#_5","text":"def   setup _ camera ( self ) :   # \u8bbe\u7f6e \u76f8\u673a \u7684 \u53d8\u6362 \u6362\u4f4d \u4f4d\u7f6e \u53d8\u6362\u4f4d\u7f6e \u5e76 \u9644\u52a0 \u5230 \u8f66\u8f86 \u4e0a   # \u5de6 \u76f8\u673a   left _ camera _ transform   =   carla . Transform ( carla . Location ( x = - 1.6 ,   y = - 1.5 ,   z = 1.7 ) )   self . camera _ left   =   self . world . spawn _ actor ( self . camera _ bp ( ) ,   left _ camera _ transform ,   attach _ to = self . car )   # \u53f3 \u76f8\u673a   right _ camera _ transform   =   carla . Transform ( carla . Location ( x = - 1.6 ,   y = 1.5 ,   z = 1.7 ) )   self . camera _ right   =   self . world . spawn _ actor ( self . camera _ bp ( ) ,   right _ camera _ transform ,   attach _ to = self . car )   # \u76d1\u542c \u5de6\u53f3 \u76f8\u673a \u56fe\u50cf   weak _ self   =   weakref . ref ( self )   self . camera _ left . listen ( lambda   image :   weak _ self ( ) . set _ image ( weak _ self ,   ' left ' ,   image ) )   self . camera _ right . listen ( lambda   image :   weak _ self ( ) . set _ image ( weak _ self ,   ' right ' ,   image ) )   \u5728 \u8f66\u8f86 \u7684 \u5de6\u53f3 \u4e24\u4fa7 \u751f\u6210 \u76f8\u673a \uff0c \u5e76 \u8bbe\u7f6e \u76d1\u542c \u76d1\u542c\u5668 \u6355\u83b7 \u76f8\u673a \u56fe\u50cf \u3002","title":"\u76f8\u673a \u8bbe\u7f6e"},{"location":"course/multi-view_camera/#_6","text":"@ staticmethod   def   set _ image ( weak _ self ,   side ,   img ) :   self   =   weak _ self ( )   if   side   = =   ' left ' :   self . image _ left   =   img   elif   side   = =   ' right ' :   self . image _ right   =   img   def   get _ image _ array ( self ,   side ) :   if   side   = =   ' left '   and   self . image _ left   is   not   None :   array   =   np . frombuffer ( self . image _ left . raw _ data ,   dtype = np . dtype ( \" uint8 \" ) )   array   =   array . reshape ( ( VIEW _ HEIGHT ,   VIEW _ WIDTH ,   4 ) )   array   =   array [ : ,   : ,   : 3 ]   #   Drop   alpha   channel   array   =   array [ : ,   : ,   : : - 1 ]   #   Convert   from   BGRA   to   RGB   return   array   elif   side   = =   ' right '   and   self . image _ right   is   not   None :   array   =   np . frombuffer ( self . image _ right . raw _ data ,   dtype = np . dtype ( \" uint8 \" ) )   array   =   array . reshape ( ( VIEW _ HEIGHT ,   VIEW _ WIDTH ,   4 ) )   array   =   array [ : ,   : ,   : 3 ]   #   Drop   alpha   channel   array   =   array [ : ,   : ,   : : - 1 ]   #   Convert   from   BGRA   to   RGB   return   array   else :   return   None   \u5c06 \u76f8\u673a \u6355\u83b7 \u7684 \u56fe\u50cf \u4ece BGRA \u683c\u5f0f \u8f6c\u6362 \u4e3a RGB \u683c\u5f0f \uff0c \u5e76 \u53bb\u9664 Alpha \u901a\u9053 \u3002","title":"\u56fe\u50cf\u5904\u7406"},{"location":"course/multi-view_camera/#_7","text":"def   render ( queue ,   side ,   x ,   y ) :   pygame . init ( )   os . environ [ ' SDL _ VIDEO _ WINDOW _ POS ' ]   =   f \" { x } , { y } \"   display   =   pygame . display . set _ mode ( ( VIEW _ WIDTH ,   VIEW _ HEIGHT ) ,   pygame . HWSURFACE   |   pygame . DOUBLEBUF )   pygame . display . set _ caption ( f ' { side . capitalize ( ) }   Camera ' )   clock   =   pygame . time . Clock ( )   try :   while   True :   array   =   queue . get ( )   if   array   is   None :   break   surface   =   pygame . surfarray . make _ surface ( array . swapaxes ( 0 ,   1 ) )   display . blit ( surface ,   ( 0 ,   0 ) )   pygame . display . flip ( )   for   event   in   pygame . event . get ( ) :   if   event . type   = =   pygame . QUIT :   return   clock . tick _ busy _ loop ( 30 )   finally :   pygame . quit ( )   \u4f7f\u7528 Pygame \u663e\u793a \u5de6\u53f3 \u76f8\u673a \u6355\u83b7 \u7684 \u56fe\u50cf \u3002","title":"\u6e32\u67d3 \u51fd\u6570"},{"location":"course/multi-view_camera/#_8","text":"\u4e3a\u4e86 \u5728 CARLA \u4eff\u771f \u73af\u5883 \u4e2d \u521b\u5efa \u4e24\u4e2a \u7a97\u53e3 \u6765 \u663e\u793a \u8f66\u8f86 \u7684 \u5de6\u53f3 \u89c6\u89d2 \uff0c \u6211\u4eec \u9700\u8981 \u5229\u7528 Pygame \u548c \u591a \u8fdb\u7a0b \u6765 \u5b9e\u73b0 \u3002   left _ process   =   multiprocessing . Process ( target = render ,   args = ( left _ queue ,   ' left ' ,   0 ,   100 ) )   right _ process   =   multiprocessing . Process ( target = render ,   args = ( right _ queue ,   ' right ' ,   VIEW _ WIDTH   +   10 ,   100 ) )","title":"\u591a\u7ebf\u7a0b"},{"location":"course/navigation/","text":"\u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u8fd0\u884c \u8f68\u8ff9   \u200b   \u8f66\u8f86 \u8fd0\u52a8 \u652f\u6301 \u5b9a\u4e49 \u8f66\u8f86 \u8fd0\u52a8 \u8d77\u70b9 \u548c \u76ee\u6807 \u4f4d\u7f6e \uff0c \u4e3a \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u6307\u5b9a \u968f\u673a \u901f\u5ea6 \u503c \uff0c \u4f7f \u5176 \u6cbf \u8f68\u8ff9 \u79fb\u52a8 \u65f6 \u4e0d\u4f1a \u53d1\u751f \u78b0\u649e \u6216 \u6a21\u62df \u78b0\u649e \uff0c \u770b\u5230 \u8f66\u8f86 \u6cbf \u6307\u5b9a \u8f68\u8ff9 \u884c\u9a76 \u4ee5 \u5230\u8fbe \u5176 \u76ee\u6807 \u4f4d\u7f6e \u3002   \u200b   \u672c \u793a\u4f8b \u8bbe\u8ba1 \u4e86 \u4e00\u4e2a   automatic _ control _ revised . py   \u811a\u672c \u8fdb\u884c \u5b9e\u73b0   \u6ce8\u610f   \u9700\u8981 \u5c06   agents   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4f4d\u7f6e \u6dfb\u52a0 \u5230 \u4ee3\u7801 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u4e2d \uff0c \u6216\u8005 \u590d\u5236 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4f7f \u5176 \u4e0e \u672c \u793a\u4f8b \u811a\u672c \u540c\u7ea7 \u3002   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4e00\u4e9b \u751f\u6210 \u4f4d\u7f6e \u7684 \u8d77\u59cb \u70b9 \u5750\u6807   diming   =   {   \" \u5317\u95e8 \" :   { \" x \" :   224.2 ,   \" y \" :   1.7 ,   \" z \" :   1 } ,   \" \u897f\u95e8 \" :   { \" x \" :   - 146 ,   \" y \" :   - 161 ,   \" z \" :   10 } ,   \" \u695a \u67ab\u6865 \" :   { \" x \" :   1.8 ,   \" y \" :   - 15.9 ,   \" z \" :   30 } ,   \" \u695a\u67ab\u8f69 \" :   { \" x \" :   14.8 ,   \" y \" :   64.7 ,   \" z \" :   20 } ,   \" \u65e5 \u65b0\u697c \" :   { \" x \" :   58 ,   \" y \" :   - 75 ,   \" z \" :   30 } ,   \" \u4f53\u80b2 \u4f53\u80b2\u9986 \" :   { \" x \" :   160 ,   \" y \" :   - 265 ,   \" z \" :   40 } ,   \" \u6e58\u6c5f \u697c \" :   { \" x \" :   - 2.4 ,   \" y \" :   - 100 ,   \" z \" :   30 } ,   \" \u79d1\u6280 \u697c \" :   { \" x \" :   - 97.4 ,   \" y \" :   - 217 ,   \" z \" :   15 } ,   }   \u5b9a\u4e49 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570   argparser   =   argparse . ArgumentParser (   description = __ doc __ )   argparser . add _ argument (   ' -- s ' ,   default = \" \u5317\u95e8 \" ,   type = str )   argparser . add _ argument (   ' -- e ' ,   default = \" \u897f\u95e8 \" ,   type = str )   argparser . add _ argument (   ' -- speed ' ,   default = 5 ,   type = int )   \u83b7\u53d6 \u4eff\u771f \u65f6\u95f4 \u5bf9\u8c61 \u53ca \u8bbe\u7f6e   client   =   carla . Client ( ' localhost ' ,   2000 )   client . set _ timeout ( 10 )   world   =   client . get _ world ( )   origin _ settings   =   world . get _ settings ( )   #   \u8bbe\u7f6e   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   \u4ece \u8f66\u8f86 \u84dd\u56fe \u4e2d \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u5bf9\u8c61 \uff0c \u5e76 \u83b7\u53d6 \u8f66\u8f86 \u8d77\u70b9 \u5750\u6807   #   \u751f\u6210 \u8f66\u8f86 \u548c \u4ee3\u7406   blueprint _ library   =   world . get _ blueprint _ library ( )   #   \u5c06 diming \u5b57\u5178 \u4e2d \u7684 \u6bcf\u4e2a \u952e\u503c \u5bf9 \u8f6c\u6362 \u4e3a \u4e00\u4e2a carla . Location \u5bf9\u8c61   #   \u83b7\u53d6 \u751f\u6210 \u70b9   locations   =   { key :   carla . Location ( * * value )   for   key ,   value   in   diming . items ( ) }   spawn _ location   =   carla . Location ( locations [ args . s ] )   spawn _ rotation   =   carla . Rotation ( yaw = 180 )   spawn _ point   =   carla . Transform ( spawn _ location ,   spawn _ rotation )   # \u8f66\u8f86 \u8d77\u70b9   #   \u751f\u6210 \u8f66\u8f86   ego _ vehicle _ bp   =   blueprint _ library . find ( ' vehicle . audi . tt ' )   ego _ vehicle _ bp . set _ attribute ( ' color ' ,   ' 100 ,   250 ,   250 ' )   vehicle   =   world . spawn _ actor ( ego _ vehicle _ bp ,   spawn _ point )   # \u63a8\u8fdb \u4eff\u771f \u73af\u5883 \u65f6\u95f4   world . tick ( )   \u751f\u6210 \u7ec8\u70b9 \uff0c \u7ed9 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u751f\u6210 \u4e00\u4e2a \u8f66\u8f86 \u8fd0\u884c \u8f68\u8ff9 \uff0c \u5b9a\u4e49 \u521d\u59cb \u901f\u5ea6   #   \u8bbe\u7f6e \u521d\u59cb \u901f\u5ea6   vehicle . set _ target _ velocity ( carla . Vector3D ( args . speed ,   0 ,   0 ) )   #   \u521b\u5efa \u4ee3\u7406   agent   =   BehaviorAgent ( vehicle ,   behavior = ' normal ' )   destination   =   carla . Location ( locations [ args . e ] )   start   =   vehicle . get _ location ( )   #   \u751f\u6210 \u8f68\u8ff9   agent . set _ destination ( destination )   \u7ed9 \u76ee\u6807 \u8f66\u8f86 \u8bbe\u7f6e \u591a\u4e2a \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u8fd9\u4e9b \u76f8\u673a \u53ef\u4ee5 \u63d0\u4f9b \u4e0d\u540c \u7684 \u89c6\u89d2 , \u7528\u4e8e \u89c2\u5bdf \u548c \u8bb0\u5f55 \u8f66\u8f86 \u5728 \u4eff\u771f \u73af\u5883 \u4e2d \u7684 \u884c\u4e3a \u3002   #   \u67e5\u627e \u76f8\u673a \u84dd\u56fe   camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   #   \u8bbe\u7f6e Camera \u7684 \u9644\u52a0 \u7c7b\u578b Camera \u8ddf\u968f \u8f66\u8f86   Atment _ SpringArmGhost   =   carla . AttachmentType . SpringArmGhost   Atment _ Rigid   =   carla . AttachmentType . Rigid   #   \u8bbe\u7f6e \u76f8\u5bf9 \u8f66\u8f86 \u7684 \u5b89\u88c5 \u4f4d\u7f6e \uff0c \u914d\u7f6e \u4e0a\u5e1d \u89c6\u56fe ( Camera \u65e0\u6cd5 \u5b9e\u73b0 \u4e0a\u5e1d \u89c6\u56fe \uff0c \u753b\u9762 \u4f1a \u6296\u52a8 )   Vehicle _ transform _ list   =   [   ( carla . Location ( z = 35 ) ,   carla . Rotation ( pitch = - 90 ) )   ]   #   \u8bbe\u7f6e camera \u7684 \u5b89\u88c5 \u4f4d\u7f6e \uff0c \u914d\u7f6e \u540e \u5f80\u524d \u89c6\u56fe \u4ee5\u53ca \u524d\u540e \u5de6\u53f3 \u524d\u540e\u5de6\u53f3 \u89c6\u56fe   Camera _ transform _ list   =   [   ( carla . Transform ( carla . Location ( x = - 8 ,   y = 0 ,   z = 5 ) ,   carla . Rotation ( pitch = 15 ,   yaw = 0 ,   roll = 0 ) ) ,   Atment _ SpringArmGhost )   ]   #   \u62fc\u63a5 \u4e24\u4e2a transform _ list   spectator _ transform _ list   =   Vehicle _ transform _ list   +   Camera _ transform _ list   #   \u4e0a\u5e1d \u89c6\u56fe \u5750\u6807 \u5750\u6807\u7cfb \u4ee5\u53ca \u6240\u6709 camera \u5bf9\u8c61 \u586b\u5165 spectator _ obj _ list \uff1b   for   spectator _ transform _ index   in   spectator _ transform _ list :   #   spectator _ transform _ list \u7b2c 0 \u4e2a \u5143\u7d20 \u4e3a \u4e0a\u5e1d \u89c6\u56fe \u5750\u6807 \u5750\u6807\u7cfb   if   spectator _ transform _ list . index ( spectator _ transform _ index )   = =   0 :   spectator _ obj _ list . append ( spectator _ transform _ index )   #   spectator _ transform _ list \u5176\u4f59 \u5143\u7d20 \u4e3a Camera \u5b89\u88c5 \u53c2\u6570 \uff0c \u4e0b\u9762 \u751f\u6210 Camera \u5bf9\u8c61   else :   camera   =   world . spawn _ actor ( camera _ bp ,   spectator _ transform _ index [ 0 ] ,   attach _ to = vehicle ,   attachment _ type = spectator _ transform _ index [ 1 ] )   spectator _ obj _ list . append ( camera )   \u66f4\u65b0 \u4ee3\u7406 \u3001 \u5207\u6362 \u89c6\u89d2 \u3001 \u5904\u7406 \u4ee3\u7406 \u5c40\u90e8 \u89c4\u5212 \u5668\u4e2d \u7684 \u8def\u5f84 \u70b9 \u3002   #   \u8bbe\u7f6e Vehicle _ transform _ list [ 0 ] \u4e3a \u521d\u59cb \u89c6\u56fe ( \u4e0a\u5e1d \u89c6\u56fe ) \uff1b   spectator _ obj   =   Vehicle _ transform _ list [ 0 ]   c   =   1   while   True :   agent ._ update _ information ( )   world . tick ( )   if   len ( agent ._ local _ planner ._ waypoints _ queue )   <   1 :   time . sleep ( 2 )   print ( ' = = = = = = = =   Success = = = = = = = = = = = = = ' )   break   #   top   view   spectator   =   world . get _ spectator ( )   transform   =   vehicle . get _ transform ( )   if   c :   #   \u4e0a \u4e00\u4e2a spectator \u7684 \u7d22\u5f15 \u53f7 \uff1b   last _ spectator _ obj _ index   =   spectator _ obj _ list . index ( spectator _ obj )   #   \u8ba1\u7b97 \u4e0b \u4e00\u4e2a spectator \u7684 \u7d22\u5f15 \uff0c \u5982\u679c \u5217\u8868 \u7d22\u5f15 \u8d85\u9650 \u5219 \u91cd\u65b0 \u62ff \u7b2c 0 \u4e2a spectator \uff1b   spectator _ obj _ index   =   last _ spectator _ obj _ index   +   1   if   len (   spectator _ obj _ list )   -   last _ spectator _ obj _ index   -   1   >   0   else   0   spectator _ obj   =   spectator _ obj _ list [ spectator _ obj _ index ]   time . sleep ( 0.2 )   #   \u66f4\u65b0 \u89c6\u56fe   if   spectator _ obj _ list . index ( spectator _ obj )   = =   0 :   #   \u8bbe\u7f6e \u4e0a\u5e1d \u89c6\u56fe   Vehicle _ transform   =   carla . Transform ( vehicle . get _ transform ( ) . location   +   spectator _ obj _ list [ 0 ] [ 0 ] ,   spectator _ obj _ list [ 0 ] [ 1 ] )   world . get _ spectator ( ) . set _ transform ( Vehicle _ transform )   else :   #   \u8bbe\u7f6e \u5176\u4ed6 Camera \u89c6\u56fe   world . get _ spectator ( ) . set _ transform ( spectator _ obj . get _ transform ( ) )   c   =   0   #   speed _ limit   =   vehicle . get _ speed _ limit ( )   #   agent . get _ local _ planner ( ) . set _ speed ( 50 )   control   =   agent . run _ step ( debug = True )   vehicle . apply _ control ( control )   \u8f68\u8ff9 \u751f\u6210","title":"\u81ea\u5b9a\u4e49 \u8f66\u8f86 \u8fd0\u884c \u8f68\u8ff9"},{"location":"course/navigation/#_1","text":"\u200b   \u8f66\u8f86 \u8fd0\u52a8 \u652f\u6301 \u5b9a\u4e49 \u8f66\u8f86 \u8fd0\u52a8 \u8d77\u70b9 \u548c \u76ee\u6807 \u4f4d\u7f6e \uff0c \u4e3a \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u6307\u5b9a \u968f\u673a \u901f\u5ea6 \u503c \uff0c \u4f7f \u5176 \u6cbf \u8f68\u8ff9 \u79fb\u52a8 \u65f6 \u4e0d\u4f1a \u53d1\u751f \u78b0\u649e \u6216 \u6a21\u62df \u78b0\u649e \uff0c \u770b\u5230 \u8f66\u8f86 \u6cbf \u6307\u5b9a \u8f68\u8ff9 \u884c\u9a76 \u4ee5 \u5230\u8fbe \u5176 \u76ee\u6807 \u4f4d\u7f6e \u3002   \u200b   \u672c \u793a\u4f8b \u8bbe\u8ba1 \u4e86 \u4e00\u4e2a   automatic _ control _ revised . py   \u811a\u672c \u8fdb\u884c \u5b9e\u73b0   \u6ce8\u610f   \u9700\u8981 \u5c06   agents   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4f4d\u7f6e \u6dfb\u52a0 \u5230 \u4ee3\u7801 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u4e2d \uff0c \u6216\u8005 \u590d\u5236 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4f7f \u5176 \u4e0e \u672c \u793a\u4f8b \u811a\u672c \u540c\u7ea7 \u3002   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4e00\u4e9b \u751f\u6210 \u4f4d\u7f6e \u7684 \u8d77\u59cb \u70b9 \u5750\u6807   diming   =   {   \" \u5317\u95e8 \" :   { \" x \" :   224.2 ,   \" y \" :   1.7 ,   \" z \" :   1 } ,   \" \u897f\u95e8 \" :   { \" x \" :   - 146 ,   \" y \" :   - 161 ,   \" z \" :   10 } ,   \" \u695a \u67ab\u6865 \" :   { \" x \" :   1.8 ,   \" y \" :   - 15.9 ,   \" z \" :   30 } ,   \" \u695a\u67ab\u8f69 \" :   { \" x \" :   14.8 ,   \" y \" :   64.7 ,   \" z \" :   20 } ,   \" \u65e5 \u65b0\u697c \" :   { \" x \" :   58 ,   \" y \" :   - 75 ,   \" z \" :   30 } ,   \" \u4f53\u80b2 \u4f53\u80b2\u9986 \" :   { \" x \" :   160 ,   \" y \" :   - 265 ,   \" z \" :   40 } ,   \" \u6e58\u6c5f \u697c \" :   { \" x \" :   - 2.4 ,   \" y \" :   - 100 ,   \" z \" :   30 } ,   \" \u79d1\u6280 \u697c \" :   { \" x \" :   - 97.4 ,   \" y \" :   - 217 ,   \" z \" :   15 } ,   }   \u5b9a\u4e49 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570   argparser   =   argparse . ArgumentParser (   description = __ doc __ )   argparser . add _ argument (   ' -- s ' ,   default = \" \u5317\u95e8 \" ,   type = str )   argparser . add _ argument (   ' -- e ' ,   default = \" \u897f\u95e8 \" ,   type = str )   argparser . add _ argument (   ' -- speed ' ,   default = 5 ,   type = int )   \u83b7\u53d6 \u4eff\u771f \u65f6\u95f4 \u5bf9\u8c61 \u53ca \u8bbe\u7f6e   client   =   carla . Client ( ' localhost ' ,   2000 )   client . set _ timeout ( 10 )   world   =   client . get _ world ( )   origin _ settings   =   world . get _ settings ( )   #   \u8bbe\u7f6e   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   \u4ece \u8f66\u8f86 \u84dd\u56fe \u4e2d \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u5bf9\u8c61 \uff0c \u5e76 \u83b7\u53d6 \u8f66\u8f86 \u8d77\u70b9 \u5750\u6807   #   \u751f\u6210 \u8f66\u8f86 \u548c \u4ee3\u7406   blueprint _ library   =   world . get _ blueprint _ library ( )   #   \u5c06 diming \u5b57\u5178 \u4e2d \u7684 \u6bcf\u4e2a \u952e\u503c \u5bf9 \u8f6c\u6362 \u4e3a \u4e00\u4e2a carla . Location \u5bf9\u8c61   #   \u83b7\u53d6 \u751f\u6210 \u70b9   locations   =   { key :   carla . Location ( * * value )   for   key ,   value   in   diming . items ( ) }   spawn _ location   =   carla . Location ( locations [ args . s ] )   spawn _ rotation   =   carla . Rotation ( yaw = 180 )   spawn _ point   =   carla . Transform ( spawn _ location ,   spawn _ rotation )   # \u8f66\u8f86 \u8d77\u70b9   #   \u751f\u6210 \u8f66\u8f86   ego _ vehicle _ bp   =   blueprint _ library . find ( ' vehicle . audi . tt ' )   ego _ vehicle _ bp . set _ attribute ( ' color ' ,   ' 100 ,   250 ,   250 ' )   vehicle   =   world . spawn _ actor ( ego _ vehicle _ bp ,   spawn _ point )   # \u63a8\u8fdb \u4eff\u771f \u73af\u5883 \u65f6\u95f4   world . tick ( )   \u751f\u6210 \u7ec8\u70b9 \uff0c \u7ed9 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u751f\u6210 \u4e00\u4e2a \u8f66\u8f86 \u8fd0\u884c \u8f68\u8ff9 \uff0c \u5b9a\u4e49 \u521d\u59cb \u901f\u5ea6   #   \u8bbe\u7f6e \u521d\u59cb \u901f\u5ea6   vehicle . set _ target _ velocity ( carla . Vector3D ( args . speed ,   0 ,   0 ) )   #   \u521b\u5efa \u4ee3\u7406   agent   =   BehaviorAgent ( vehicle ,   behavior = ' normal ' )   destination   =   carla . Location ( locations [ args . e ] )   start   =   vehicle . get _ location ( )   #   \u751f\u6210 \u8f68\u8ff9   agent . set _ destination ( destination )   \u7ed9 \u76ee\u6807 \u8f66\u8f86 \u8bbe\u7f6e \u591a\u4e2a \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u8fd9\u4e9b \u76f8\u673a \u53ef\u4ee5 \u63d0\u4f9b \u4e0d\u540c \u7684 \u89c6\u89d2 , \u7528\u4e8e \u89c2\u5bdf \u548c \u8bb0\u5f55 \u8f66\u8f86 \u5728 \u4eff\u771f \u73af\u5883 \u4e2d \u7684 \u884c\u4e3a \u3002   #   \u67e5\u627e \u76f8\u673a \u84dd\u56fe   camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   #   \u8bbe\u7f6e Camera \u7684 \u9644\u52a0 \u7c7b\u578b Camera \u8ddf\u968f \u8f66\u8f86   Atment _ SpringArmGhost   =   carla . AttachmentType . SpringArmGhost   Atment _ Rigid   =   carla . AttachmentType . Rigid   #   \u8bbe\u7f6e \u76f8\u5bf9 \u8f66\u8f86 \u7684 \u5b89\u88c5 \u4f4d\u7f6e \uff0c \u914d\u7f6e \u4e0a\u5e1d \u89c6\u56fe ( Camera \u65e0\u6cd5 \u5b9e\u73b0 \u4e0a\u5e1d \u89c6\u56fe \uff0c \u753b\u9762 \u4f1a \u6296\u52a8 )   Vehicle _ transform _ list   =   [   ( carla . Location ( z = 35 ) ,   carla . Rotation ( pitch = - 90 ) )   ]   #   \u8bbe\u7f6e camera \u7684 \u5b89\u88c5 \u4f4d\u7f6e \uff0c \u914d\u7f6e \u540e \u5f80\u524d \u89c6\u56fe \u4ee5\u53ca \u524d\u540e \u5de6\u53f3 \u524d\u540e\u5de6\u53f3 \u89c6\u56fe   Camera _ transform _ list   =   [   ( carla . Transform ( carla . Location ( x = - 8 ,   y = 0 ,   z = 5 ) ,   carla . Rotation ( pitch = 15 ,   yaw = 0 ,   roll = 0 ) ) ,   Atment _ SpringArmGhost )   ]   #   \u62fc\u63a5 \u4e24\u4e2a transform _ list   spectator _ transform _ list   =   Vehicle _ transform _ list   +   Camera _ transform _ list   #   \u4e0a\u5e1d \u89c6\u56fe \u5750\u6807 \u5750\u6807\u7cfb \u4ee5\u53ca \u6240\u6709 camera \u5bf9\u8c61 \u586b\u5165 spectator _ obj _ list \uff1b   for   spectator _ transform _ index   in   spectator _ transform _ list :   #   spectator _ transform _ list \u7b2c 0 \u4e2a \u5143\u7d20 \u4e3a \u4e0a\u5e1d \u89c6\u56fe \u5750\u6807 \u5750\u6807\u7cfb   if   spectator _ transform _ list . index ( spectator _ transform _ index )   = =   0 :   spectator _ obj _ list . append ( spectator _ transform _ index )   #   spectator _ transform _ list \u5176\u4f59 \u5143\u7d20 \u4e3a Camera \u5b89\u88c5 \u53c2\u6570 \uff0c \u4e0b\u9762 \u751f\u6210 Camera \u5bf9\u8c61   else :   camera   =   world . spawn _ actor ( camera _ bp ,   spectator _ transform _ index [ 0 ] ,   attach _ to = vehicle ,   attachment _ type = spectator _ transform _ index [ 1 ] )   spectator _ obj _ list . append ( camera )   \u66f4\u65b0 \u4ee3\u7406 \u3001 \u5207\u6362 \u89c6\u89d2 \u3001 \u5904\u7406 \u4ee3\u7406 \u5c40\u90e8 \u89c4\u5212 \u5668\u4e2d \u7684 \u8def\u5f84 \u70b9 \u3002   #   \u8bbe\u7f6e Vehicle _ transform _ list [ 0 ] \u4e3a \u521d\u59cb \u89c6\u56fe ( \u4e0a\u5e1d \u89c6\u56fe ) \uff1b   spectator _ obj   =   Vehicle _ transform _ list [ 0 ]   c   =   1   while   True :   agent ._ update _ information ( )   world . tick ( )   if   len ( agent ._ local _ planner ._ waypoints _ queue )   <   1 :   time . sleep ( 2 )   print ( ' = = = = = = = =   Success = = = = = = = = = = = = = ' )   break   #   top   view   spectator   =   world . get _ spectator ( )   transform   =   vehicle . get _ transform ( )   if   c :   #   \u4e0a \u4e00\u4e2a spectator \u7684 \u7d22\u5f15 \u53f7 \uff1b   last _ spectator _ obj _ index   =   spectator _ obj _ list . index ( spectator _ obj )   #   \u8ba1\u7b97 \u4e0b \u4e00\u4e2a spectator \u7684 \u7d22\u5f15 \uff0c \u5982\u679c \u5217\u8868 \u7d22\u5f15 \u8d85\u9650 \u5219 \u91cd\u65b0 \u62ff \u7b2c 0 \u4e2a spectator \uff1b   spectator _ obj _ index   =   last _ spectator _ obj _ index   +   1   if   len (   spectator _ obj _ list )   -   last _ spectator _ obj _ index   -   1   >   0   else   0   spectator _ obj   =   spectator _ obj _ list [ spectator _ obj _ index ]   time . sleep ( 0.2 )   #   \u66f4\u65b0 \u89c6\u56fe   if   spectator _ obj _ list . index ( spectator _ obj )   = =   0 :   #   \u8bbe\u7f6e \u4e0a\u5e1d \u89c6\u56fe   Vehicle _ transform   =   carla . Transform ( vehicle . get _ transform ( ) . location   +   spectator _ obj _ list [ 0 ] [ 0 ] ,   spectator _ obj _ list [ 0 ] [ 1 ] )   world . get _ spectator ( ) . set _ transform ( Vehicle _ transform )   else :   #   \u8bbe\u7f6e \u5176\u4ed6 Camera \u89c6\u56fe   world . get _ spectator ( ) . set _ transform ( spectator _ obj . get _ transform ( ) )   c   =   0   #   speed _ limit   =   vehicle . get _ speed _ limit ( )   #   agent . get _ local _ planner ( ) . set _ speed ( 50 )   control   =   agent . run _ step ( debug = True )   vehicle . apply _ control ( control )","title":"\u81ea\u5b9a\u4e49 \u8f66\u8f86 \u8fd0\u884c \u8f68\u8ff9"},{"location":"course/navigation/#_2","text":"","title":"\u8f68\u8ff9 \u751f\u6210"},{"location":"course/object_detection/","text":"\u57fa\u4e8e Carla \u4eff\u771f \u73af\u5883 \u7684 \u76ee\u6807 \u68c0\u6d4b   object _ dection . py   \u811a\u672c \u4e3b\u8981 \u662f \u5728   Carla   \u4e2d \u4f7f\u7528   YOLOv3   \u68c0\u6d4b \u8f66\u8f86 \u3002   \u76f8\u5173 \u94fe\u63a5   \u200b   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \uff0c \u5e76 \u8fd0\u884c   generate _ traffic . py   \u200b   \u5bfc\u5165 \u5fc5\u8981 \u7684 \u5e93\u53ca \u53d8\u91cf   import   random   import   weakref   import   cv2   import   pygame   import   numpy   as   np   from   imutils . video   import   FPS   import   carla   VIEW _ WIDTH   =   1920   / /   2   VIEW _ HEIGHT   =   1080   / /   2   VIEW _ FOV   =   90   \u200b   \u52a0\u8f7d \u6a21\u578b \u548c \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6   model   =   cv2 . dnn . readNet ( \" weights / yolov3 . weights \" ,   \" cfg / yolov3 . cfg \" )   classes   =   [ line . strip ( )   for   line   in   open ( \" cfg / coco . names \" ,   \" r \" ) . readlines ( ) ]   layers _ names   =   model . getLayerNames ( )   output _ layers   =   [ layers _ names [ i [ 0 ]   -   1 ]   for   i   in   model . getUnconnectedOutLayers ( ) ]   colors   =   np . random . uniform ( 0 ,   255 ,   size = ( len ( classes ) ,   3 ) )   \u200b   \u5b9a\u4e49 \u7ed8\u5236 \u6807\u7b7e \u7684 \u51fd\u6570   def   draw _ labels ( boxes ,   confs ,   colors ,   class _ ids ,   classes ,   img ) :   indexes   =   cv2 . dnn . NMSBoxes ( boxes ,   confs ,   0.5 ,   0.4 )   font   =   cv2 . FONT _ HERSHEY _ PLAIN   for   i   in   range ( len ( boxes ) ) :   if   i   in   indexes :   x ,   y ,   w ,   h   =   boxes [ i ]   label   =   str ( classes [ class _ ids [ i ] ] )   color   =   colors [ i ]   cv2 . rectangle ( img ,   ( x ,   y ) ,   ( x   +   w ,   y   +   h ) ,   color ,   2 )   cv2 . putText ( img ,   label ,   ( x ,   y   -   5 ) ,   font ,   1 ,   color ,   1 )   return   img   \u200b   \u5b9a\u4e49 \u83b7\u53d6 \u6846 \u7ef4\u5ea6 \u7684 \u51fd\u6570   def   get _ box _ dimensions ( outputs ,   height ,   width ) :   boxes   =   [ ]   confs   =   [ ]   class _ ids   =   [ ]   for   output   in   outputs :   for   detect   in   output :   scores   =   detect [ 5 : ]   class _ id   =   np . argmax ( scores )   conf   =   scores [ class _ id ]   if   conf   >   0.5 :   center _ x   =   int ( detect [ 0 ]   *   width )   center _ y   =   int ( detect [ 1 ]   *   height )   w   =   int ( detect [ 2 ]   *   width )   h   =   int ( detect [ 3 ]   *   height )   x   =   int ( center _ x   -   w   /   2 )   y   =   int ( center _ y   -   h   /   2 )   boxes . append ( [ x ,   y ,   w ,   h ] )   confs . append ( float ( conf ) )   class _ ids . append ( class _ id )   return   boxes ,   confs ,   class _ ids   \u200b   \u5b9a\u4e49   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u7c7b   class   CarlaClient ( ) :   def   __ init __ ( self ) :   # \u521d\u59cb \u521d\u59cb\u5316 \u5b9e\u4f8b \u53d8\u91cf   self . client   =   None   self . world   =   None   self . camera   =   None   self . car   =   None   self . image   =   None   self . capture   =   True   self . display   =   None   def   set _ synchronous _ mode ( self ,   synchronous _ mode ) :   # \u8bbe\u7f6e Carla \u4e16\u754c \u7684 \u540c\u6b65 \u6a21\u5f0f   settings   =   self . world . get _ settings ( )   settings . synchronous _ mode   =   synchronous _ mode   self . world . apply _ settings ( settings )   def   setup _ car ( self ) :   # \u4ece \u84dd \u56fe\u5e93 \u4e2d \u9009\u4e2d \u4e00\u4e2a \u6c7d\u8f66 \u5bf9\u8c61   blueprint _ library   =   self . world . get _ blueprint _ library ( )   car _ bp   =   blueprint _ library . filter ( ' vehicle . * ' ) [ 0 ]   spawn _ point   =   random . choice ( self . world . get _ map ( ) . get _ spawn _ points ( ) )   self . car   =   self . world . spawn _ actor ( car _ bp ,   spawn _ point )   def   setup _ camera ( self ) :   # \u83b7\u53d6 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u5bf9\u8c61 \uff0c \u5e76 \u5c06 \u5176 \u9644\u52a0 \u5230 \u6c7d\u8f66 \u4e0a   camera _ bp   =   self . world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   camera _ transform   =   carla . Transform ( carla . Location ( x = 1.5 ,   z = 2.4 ) )   camera _ bp . set _ attribute ( ' image _ size _ x ' ,   f ' { VIEW _ WIDTH } ' )   camera _ bp . set _ attribute ( ' image _ size _ y ' ,   f ' { VIEW _ HEIGHT } ' )   camera _ bp . set _ attribute ( ' fov ' ,   f ' { VIEW _ FOV } ' )   self . camera   =   self . world . spawn _ actor ( camera _ bp ,   camera _ transform ,   attach _ to = self . car )   weak _ self   =   weakref . ref ( self )   self . camera . listen ( lambda   image :   weak _ self ( ) . set _ image ( weak _ self ,   image ) )   @ staticmethod   def   set _ image ( weak _ self ,   img ) :   # \u6355\u83b7 \u56fe\u50cf   self   =   weak _ self ( )   if   self . capture :   self . image   =   img   self . capture   =   False   def   render ( self ,   display ) :   # \u6e32\u67d3 \u6355\u83b7 \u7684 \u56fe\u50cf \uff0c \u5e76 \u5728 \u56fe\u50cf \u4e0a \u7ed8\u5236 \u7269\u4f53 \u68c0\u6d4b \u6807\u7b7e   if   self . image   is   not   None :   array   =   np . frombuffer ( self . image . raw _ data ,   dtype = np . dtype ( \" uint8 \" ) )   array   =   np . reshape ( array ,   ( self . image . height ,   self . image . width ,   4 ) )   array   =   array [ : ,   : ,   : 3 ]   #   draw   labels   img   =   cv2 . resize ( array ,   None ,   fx = 1 ,   fy = 1 )   height ,   width ,   channels   =   img . shape   blob   =   cv2 . dnn . blobFromImage ( img ,   scalefactor = 0.00392 ,   size = ( 320 ,   320 ) ,   mean = ( 0 ,   0 ,   0 ) ,   swapRB = True ,   crop = False )   model . setInput ( blob )   outputs   =   model . forward ( output _ layers )   boxes ,   confs ,   class _ ids   =   get _ box _ dimensions ( outputs ,   height ,   width )   array   =   draw _ labels ( boxes ,   confs ,   colors ,   class _ ids ,   classes ,   img )   array   =   array [ : ,   : ,   : : - 1 ]   surface   =   pygame . surfarray . make _ surface ( array . swapaxes ( 0 ,   1 ) )   display . blit ( surface ,   ( 0 ,   0 ) )   \u200b   main   \u51fd\u6570 \u4e2d \u4e3b\u8981 \u662f \u5728 Carla \u6a21\u62df \u6a21\u62df\u5668 \u4e2d \u8fd0\u884c \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u5e76 \u901a\u8fc7 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u6355\u83b7 \u56fe\u50cf \u540e \u91c7\u7528 YOLOv3 \u6a21\u578b \u8fdb\u884c \u8f66\u8f86 \u7269\u4f53 \u7684 \u68c0\u6d4b \uff0c \u6700\u540e \u4f7f\u7528 Pygame \u663e\u793a \u5904\u7406 \u540e \u7684 \u56fe\u50cf \u3002   if   __ name __   = =   ' __ main __ ' :   cc   =   CarlaClient ( )   try :   pygame . init ( )   clock   =   pygame . time . Clock ( )   cc . client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   cc . client . set _ timeout ( 5.0 )   cc . world   =   cc . client . get _ world ( )   cc . setup _ car ( )   cc . setup _ camera ( )   cc . display   =   pygame . display . set _ mode ( ( VIEW _ WIDTH ,   VIEW _ HEIGHT ) ,   pygame . HWSURFACE   |   pygame . DOUBLEBUF )   pygame _ clock   =   pygame . time . Clock ( )   cc . car . set _ autopilot ( True )   while   True :   fps   =   FPS ( ) . start ( )   cc . world . tick ( )   cc . capture   =   True   pygame _ clock . tick _ busy _ loop ( 30 )   cc . render ( cc . display )   pygame . display . flip ( )   pygame . event . pump ( )   cv2 . waitKey ( 1 )   fps . stop ( )   print ( \" [ INFO ]   elapsed   time :   { : . 2f } \" . format ( fps . elapsed ( ) ) )   except   Exception   as   e :   print ( e )   finally :   cc . set _ synchronous _ mode ( False )   cc . camera . destroy ( )   cc . car . destroy ( )   pygame . quit ( )   cv2 . destroyAllWindows ( )","title":"\u57fa\u4e8e Carla \u4eff\u771f \u73af\u5883 \u7684 \u76ee\u6807 \u68c0\u6d4b"},{"location":"course/object_detection/#carla","text":"object _ dection . py   \u811a\u672c \u4e3b\u8981 \u662f \u5728   Carla   \u4e2d \u4f7f\u7528   YOLOv3   \u68c0\u6d4b \u8f66\u8f86 \u3002   \u76f8\u5173 \u94fe\u63a5   \u200b   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \uff0c \u5e76 \u8fd0\u884c   generate _ traffic . py   \u200b   \u5bfc\u5165 \u5fc5\u8981 \u7684 \u5e93\u53ca \u53d8\u91cf   import   random   import   weakref   import   cv2   import   pygame   import   numpy   as   np   from   imutils . video   import   FPS   import   carla   VIEW _ WIDTH   =   1920   / /   2   VIEW _ HEIGHT   =   1080   / /   2   VIEW _ FOV   =   90   \u200b   \u52a0\u8f7d \u6a21\u578b \u548c \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6   model   =   cv2 . dnn . readNet ( \" weights / yolov3 . weights \" ,   \" cfg / yolov3 . cfg \" )   classes   =   [ line . strip ( )   for   line   in   open ( \" cfg / coco . names \" ,   \" r \" ) . readlines ( ) ]   layers _ names   =   model . getLayerNames ( )   output _ layers   =   [ layers _ names [ i [ 0 ]   -   1 ]   for   i   in   model . getUnconnectedOutLayers ( ) ]   colors   =   np . random . uniform ( 0 ,   255 ,   size = ( len ( classes ) ,   3 ) )   \u200b   \u5b9a\u4e49 \u7ed8\u5236 \u6807\u7b7e \u7684 \u51fd\u6570   def   draw _ labels ( boxes ,   confs ,   colors ,   class _ ids ,   classes ,   img ) :   indexes   =   cv2 . dnn . NMSBoxes ( boxes ,   confs ,   0.5 ,   0.4 )   font   =   cv2 . FONT _ HERSHEY _ PLAIN   for   i   in   range ( len ( boxes ) ) :   if   i   in   indexes :   x ,   y ,   w ,   h   =   boxes [ i ]   label   =   str ( classes [ class _ ids [ i ] ] )   color   =   colors [ i ]   cv2 . rectangle ( img ,   ( x ,   y ) ,   ( x   +   w ,   y   +   h ) ,   color ,   2 )   cv2 . putText ( img ,   label ,   ( x ,   y   -   5 ) ,   font ,   1 ,   color ,   1 )   return   img   \u200b   \u5b9a\u4e49 \u83b7\u53d6 \u6846 \u7ef4\u5ea6 \u7684 \u51fd\u6570   def   get _ box _ dimensions ( outputs ,   height ,   width ) :   boxes   =   [ ]   confs   =   [ ]   class _ ids   =   [ ]   for   output   in   outputs :   for   detect   in   output :   scores   =   detect [ 5 : ]   class _ id   =   np . argmax ( scores )   conf   =   scores [ class _ id ]   if   conf   >   0.5 :   center _ x   =   int ( detect [ 0 ]   *   width )   center _ y   =   int ( detect [ 1 ]   *   height )   w   =   int ( detect [ 2 ]   *   width )   h   =   int ( detect [ 3 ]   *   height )   x   =   int ( center _ x   -   w   /   2 )   y   =   int ( center _ y   -   h   /   2 )   boxes . append ( [ x ,   y ,   w ,   h ] )   confs . append ( float ( conf ) )   class _ ids . append ( class _ id )   return   boxes ,   confs ,   class _ ids   \u200b   \u5b9a\u4e49   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u7c7b   class   CarlaClient ( ) :   def   __ init __ ( self ) :   # \u521d\u59cb \u521d\u59cb\u5316 \u5b9e\u4f8b \u53d8\u91cf   self . client   =   None   self . world   =   None   self . camera   =   None   self . car   =   None   self . image   =   None   self . capture   =   True   self . display   =   None   def   set _ synchronous _ mode ( self ,   synchronous _ mode ) :   # \u8bbe\u7f6e Carla \u4e16\u754c \u7684 \u540c\u6b65 \u6a21\u5f0f   settings   =   self . world . get _ settings ( )   settings . synchronous _ mode   =   synchronous _ mode   self . world . apply _ settings ( settings )   def   setup _ car ( self ) :   # \u4ece \u84dd \u56fe\u5e93 \u4e2d \u9009\u4e2d \u4e00\u4e2a \u6c7d\u8f66 \u5bf9\u8c61   blueprint _ library   =   self . world . get _ blueprint _ library ( )   car _ bp   =   blueprint _ library . filter ( ' vehicle . * ' ) [ 0 ]   spawn _ point   =   random . choice ( self . world . get _ map ( ) . get _ spawn _ points ( ) )   self . car   =   self . world . spawn _ actor ( car _ bp ,   spawn _ point )   def   setup _ camera ( self ) :   # \u83b7\u53d6 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u5bf9\u8c61 \uff0c \u5e76 \u5c06 \u5176 \u9644\u52a0 \u5230 \u6c7d\u8f66 \u4e0a   camera _ bp   =   self . world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   camera _ transform   =   carla . Transform ( carla . Location ( x = 1.5 ,   z = 2.4 ) )   camera _ bp . set _ attribute ( ' image _ size _ x ' ,   f ' { VIEW _ WIDTH } ' )   camera _ bp . set _ attribute ( ' image _ size _ y ' ,   f ' { VIEW _ HEIGHT } ' )   camera _ bp . set _ attribute ( ' fov ' ,   f ' { VIEW _ FOV } ' )   self . camera   =   self . world . spawn _ actor ( camera _ bp ,   camera _ transform ,   attach _ to = self . car )   weak _ self   =   weakref . ref ( self )   self . camera . listen ( lambda   image :   weak _ self ( ) . set _ image ( weak _ self ,   image ) )   @ staticmethod   def   set _ image ( weak _ self ,   img ) :   # \u6355\u83b7 \u56fe\u50cf   self   =   weak _ self ( )   if   self . capture :   self . image   =   img   self . capture   =   False   def   render ( self ,   display ) :   # \u6e32\u67d3 \u6355\u83b7 \u7684 \u56fe\u50cf \uff0c \u5e76 \u5728 \u56fe\u50cf \u4e0a \u7ed8\u5236 \u7269\u4f53 \u68c0\u6d4b \u6807\u7b7e   if   self . image   is   not   None :   array   =   np . frombuffer ( self . image . raw _ data ,   dtype = np . dtype ( \" uint8 \" ) )   array   =   np . reshape ( array ,   ( self . image . height ,   self . image . width ,   4 ) )   array   =   array [ : ,   : ,   : 3 ]   #   draw   labels   img   =   cv2 . resize ( array ,   None ,   fx = 1 ,   fy = 1 )   height ,   width ,   channels   =   img . shape   blob   =   cv2 . dnn . blobFromImage ( img ,   scalefactor = 0.00392 ,   size = ( 320 ,   320 ) ,   mean = ( 0 ,   0 ,   0 ) ,   swapRB = True ,   crop = False )   model . setInput ( blob )   outputs   =   model . forward ( output _ layers )   boxes ,   confs ,   class _ ids   =   get _ box _ dimensions ( outputs ,   height ,   width )   array   =   draw _ labels ( boxes ,   confs ,   colors ,   class _ ids ,   classes ,   img )   array   =   array [ : ,   : ,   : : - 1 ]   surface   =   pygame . surfarray . make _ surface ( array . swapaxes ( 0 ,   1 ) )   display . blit ( surface ,   ( 0 ,   0 ) )   \u200b   main   \u51fd\u6570 \u4e2d \u4e3b\u8981 \u662f \u5728 Carla \u6a21\u62df \u6a21\u62df\u5668 \u4e2d \u8fd0\u884c \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u5e76 \u901a\u8fc7 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u6355\u83b7 \u56fe\u50cf \u540e \u91c7\u7528 YOLOv3 \u6a21\u578b \u8fdb\u884c \u8f66\u8f86 \u7269\u4f53 \u7684 \u68c0\u6d4b \uff0c \u6700\u540e \u4f7f\u7528 Pygame \u663e\u793a \u5904\u7406 \u540e \u7684 \u56fe\u50cf \u3002   if   __ name __   = =   ' __ main __ ' :   cc   =   CarlaClient ( )   try :   pygame . init ( )   clock   =   pygame . time . Clock ( )   cc . client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   cc . client . set _ timeout ( 5.0 )   cc . world   =   cc . client . get _ world ( )   cc . setup _ car ( )   cc . setup _ camera ( )   cc . display   =   pygame . display . set _ mode ( ( VIEW _ WIDTH ,   VIEW _ HEIGHT ) ,   pygame . HWSURFACE   |   pygame . DOUBLEBUF )   pygame _ clock   =   pygame . time . Clock ( )   cc . car . set _ autopilot ( True )   while   True :   fps   =   FPS ( ) . start ( )   cc . world . tick ( )   cc . capture   =   True   pygame _ clock . tick _ busy _ loop ( 30 )   cc . render ( cc . display )   pygame . display . flip ( )   pygame . event . pump ( )   cv2 . waitKey ( 1 )   fps . stop ( )   print ( \" [ INFO ]   elapsed   time :   { : . 2f } \" . format ( fps . elapsed ( ) ) )   except   Exception   as   e :   print ( e )   finally :   cc . set _ synchronous _ mode ( False )   cc . camera . destroy ( )   cc . car . destroy ( )   pygame . quit ( )   cv2 . destroyAllWindows ( )","title":"\u57fa\u4e8e Carla \u4eff\u771f \u73af\u5883 \u7684 \u76ee\u6807 \u68c0\u6d4b"},{"location":"course/recognize/","text":"\u884c\u4eba \u518d \u8bc6\u522b   \u8be5   \u811a\u672c   \u7684 \u76ee\u6807 \u662f \u901a\u8fc7 \u4f7f\u7528 \u9884 \u8bad\u7ec3 \u7684 ResNet - 50 \u6a21\u578b \uff0c \u6bd4\u8f83 \u4e24\u5f20 \u56fe\u7247 \u7684 \u7279\u5f81 \u76f8\u4f3c \u76f8\u4f3c\u6027 \u3002 \u4e3b\u8981 \u6b65\u9aa4 \u5305\u62ec \u6570\u636e \u5904\u7406 \u9884\u5904\u7406 \u3001 \u7279\u5f81 \u63d0\u53d6 \u7279\u5f81\u63d0\u53d6 \u548c \u8ba1\u7b97 \u76f8\u4f3c \u76f8\u4f3c\u6027 \u5ea6\u91cf \u3002 \u672c \u6587\u6863 \u5c06 \u8be6\u7ec6 \u8bf4\u660e \u6bcf\u4e2a \u6b65\u9aa4 \u7684 \u5b9e\u73b0 \u3002   \u73af\u5883 \u914d\u7f6e   \u4f9d\u8d56 \u5e93   torch   :   PyTorch \u5e93 \uff0c \u7528\u4e8e \u6df1\u5ea6 \u5b66\u4e60 \u548c \u5f20\u91cf \u8ba1\u7b97 \u3002   torchvision   :   PyTorch \u7684 \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406 \u5de5\u5177 \u5de5\u5177\u5305 \uff0c \u63d0\u4f9b \u4e86 \u5e38\u7528 \u7684 \u6570\u636e \u589e\u5f3a \u65b9\u6cd5 \u3002   PIL   (   Pillow   ) :   Python   Imaging   Library \uff0c \u7528\u4e8e \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406 \u3002   torchreid   :   \u7528\u4e8e \u884c\u4eba \u91cd \u8bc6\u522b \u7684 \u5de5\u5177 \u5de5\u5177\u5305 \u3002   \u53ef\u4ee5 \u901a\u8fc7 \u4ee5\u4e0b \u547d\u4ee4 \u5b89\u88c5 \u6240 \u9700\u5e93 \uff08 \u5b89\u88c5 \u65f6\u95f4 \u5b89\u88c5\u65f6\u95f4 \u8f83\u957f \uff09 \uff1a   pip   install   torch   torchvision   torchaudio   -- index - url   https : / / download . pytorch . org / whl / cu118   \u4ee3\u7801 \u7ed3\u6784   1 . \u6570\u636e \u5904\u7406 \u9884\u5904\u7406   \u9996\u5148 \u5b9a\u4e49 \u4e00\u4e2a \u51fd\u6570   preprocess _ image   \u6765 \u5904\u7406 \u9884\u5904\u7406 \u56fe\u50cf \uff1a   def   preprocess _ image ( image _ path ) :   transform   =   transforms . Compose ( [   transforms . Resize ( ( 256 ,   128 ) ) ,   transforms . ToTensor ( ) ,   transforms . Normalize ( mean = [ 0.485 ,   0.456 ,   0.406 ] ,   std = [ 0.229 ,   0.224 ,   0.225 ] )   ] )   image   =   Image . open ( image _ path ) . convert ( ' RGB ' )   image   =   transform ( image )   image   =   image . unsqueeze ( 0 )   #   \u589e\u52a0 \u6279\u6b21 \u7ef4\u5ea6   return   image   2 . \u6570\u636e \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668   \u521b\u5efa \u4e00\u4e2a \u6570\u636e \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \uff0c \u7528\u4e8e \u52a0\u8f7d   Market1501 \u6570\u636e \u96c6   \uff1a   datamanager   =   torchreid . data . ImageDataManager (   root = \" reid - data \" ,   sources = \" market1501 \" ,   targets = \" market1501 \" ,   height = 256 ,   width = 128 ,   batch _ size _ train = 32 ,   batch _ size _ test = 100 ,   transforms = [ \" random _ flip \" ,   \" random _ crop \" ]   )   3 . \u6a21\u578b \u6784\u5efa \u4e0e \u52a0\u8f7d   \u6784\u5efa \u5e76 \u52a0\u8f7d \u9884 \u8bad\u7ec3 \u7684 ResNet - 50 \u6a21\u578b \uff1a   model   =   torchreid . models . build _ model (   name = \" resnet50 \" ,   num _ classes = datamanager . num _ train _ pids ,   loss = \" softmax \" ,   pretrained = True   #   \u52a0\u8f7d   ImageNet   \u9884 \u8bad\u7ec3 \u6743\u91cd   )   #   \u5c06 \u6a21\u578b \u79fb\u52a8 \u5230 GPU   model   =   model . cuda ( )   model . eval ( )   4 . \u7279\u5f81 \u63d0\u53d6 \u7279\u5f81\u63d0\u53d6 \u4e0e \u76f8\u4f3c \u76f8\u4f3c\u6027 \u8ba1\u7b97   \u5b9a\u4e49 \u51fd\u6570   infer   \u548c   cosine _ similarity   \u6765 \u63d0\u53d6 \u7279\u5f81 \u548c \u8ba1\u7b97 \u4f59\u5f26 \u76f8\u4f3c \u76f8\u4f3c\u6027 \uff1a   def   infer ( model ,   image _ tensor ) :   with   torch . no _ grad ( ) :   image _ tensor   =   image _ tensor . cuda ( )   features   =   model ( image _ tensor )   return   features   def   cosine _ similarity ( tensor1 ,   tensor2 ) :   cos   =   torch . nn . CosineSimilarity ( dim = 1 ,   eps = 1e - 6 )   return   cos ( tensor1 ,   tensor2 ) . item ( )   \u8fd0\u884c \u6b65\u9aa4   \u786e\u4fdd \u5b89\u88c5 \u6240\u6709 \u4f9d\u8d56 \u5e93 \u3002   \u4e0b\u8f7d \u5e76 \u51c6\u5907 \u597d Market1501 \u6570\u636e \u96c6 \u3002   \u8fd0\u884c \u4e0a\u8ff0 Python \u4ee3\u7801 \uff0c \u786e\u4fdd \u56fe\u50cf \u8def\u5f84 \u6b63\u786e \u3002   \u6ce8\u610f \u4e8b\u9879 \u6ce8\u610f\u4e8b\u9879   \u786e\u4fdd \u4f60 \u7684 \u663e\u5361 \u4e0e \u5f53\u524d \u5b89\u88c5 \u7684 PyTorch \u7248\u672c \u517c\u5bb9 \u3002   \u6d4b\u8bd5 \u6570\u636e \u6d4b\u8bd5\u6570\u636e \u96c6 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u76ee\u5f55 \u6b63\u786e \uff0c \u5e76\u4e14 \u548c \u811a\u672c \u5728 \u540c \u4e00\u7ea7 \u3002 \u5982\u4e0b \u6240\u793a \uff1a   reid - data /   \u251c \u2500 \u2500   market1501 /   \u251c \u2500 \u2500   bounding _ box _ train /   \u251c \u2500 \u2500   bounding _ box _ test /   \u251c \u2500 \u2500   query /   \u2514 \u2500 \u2500   ...   \u7ed3\u679c \u5206\u6790   \u4ee3\u7801 \u8fd0\u884c \u4ee3\u7801\u8fd0\u884c \u540e \u4f1a \u8f93\u51fa \u4e24\u5f20 \u56fe\u50cf \u7684 \u4f59\u5f26 \u76f8\u4f3c \u76f8\u4f3c\u6027 \u3002 \u76f8\u4f3c \u76f8\u4f3c\u6027 \u503c \u63a5\u8fd1 1 \u8868\u793a \u4e24\u5f20 \u56fe\u50cf \u7279\u5f81 \u76f8\u4f3c \u5ea6\u9ad8 \uff0c \u63a5\u8fd1 0 \u8868\u793a \u7279\u5f81 \u76f8\u4f3c \u5ea6\u4f4e \u3002","title":"\u884c\u4eba \u518d \u8bc6\u522b"},{"location":"course/recognize/#_1","text":"\u8be5   \u811a\u672c   \u7684 \u76ee\u6807 \u662f \u901a\u8fc7 \u4f7f\u7528 \u9884 \u8bad\u7ec3 \u7684 ResNet - 50 \u6a21\u578b \uff0c \u6bd4\u8f83 \u4e24\u5f20 \u56fe\u7247 \u7684 \u7279\u5f81 \u76f8\u4f3c \u76f8\u4f3c\u6027 \u3002 \u4e3b\u8981 \u6b65\u9aa4 \u5305\u62ec \u6570\u636e \u5904\u7406 \u9884\u5904\u7406 \u3001 \u7279\u5f81 \u63d0\u53d6 \u7279\u5f81\u63d0\u53d6 \u548c \u8ba1\u7b97 \u76f8\u4f3c \u76f8\u4f3c\u6027 \u5ea6\u91cf \u3002 \u672c \u6587\u6863 \u5c06 \u8be6\u7ec6 \u8bf4\u660e \u6bcf\u4e2a \u6b65\u9aa4 \u7684 \u5b9e\u73b0 \u3002","title":"\u884c\u4eba \u518d \u8bc6\u522b"},{"location":"course/recognize/#_2","text":"","title":"\u73af\u5883 \u914d\u7f6e"},{"location":"course/recognize/#_3","text":"torch   :   PyTorch \u5e93 \uff0c \u7528\u4e8e \u6df1\u5ea6 \u5b66\u4e60 \u548c \u5f20\u91cf \u8ba1\u7b97 \u3002   torchvision   :   PyTorch \u7684 \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406 \u5de5\u5177 \u5de5\u5177\u5305 \uff0c \u63d0\u4f9b \u4e86 \u5e38\u7528 \u7684 \u6570\u636e \u589e\u5f3a \u65b9\u6cd5 \u3002   PIL   (   Pillow   ) :   Python   Imaging   Library \uff0c \u7528\u4e8e \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406 \u3002   torchreid   :   \u7528\u4e8e \u884c\u4eba \u91cd \u8bc6\u522b \u7684 \u5de5\u5177 \u5de5\u5177\u5305 \u3002   \u53ef\u4ee5 \u901a\u8fc7 \u4ee5\u4e0b \u547d\u4ee4 \u5b89\u88c5 \u6240 \u9700\u5e93 \uff08 \u5b89\u88c5 \u65f6\u95f4 \u5b89\u88c5\u65f6\u95f4 \u8f83\u957f \uff09 \uff1a   pip   install   torch   torchvision   torchaudio   -- index - url   https : / / download . pytorch . org / whl / cu118","title":"\u4f9d\u8d56 \u5e93"},{"location":"course/recognize/#_4","text":"","title":"\u4ee3\u7801 \u7ed3\u6784"},{"location":"course/recognize/#1","text":"\u9996\u5148 \u5b9a\u4e49 \u4e00\u4e2a \u51fd\u6570   preprocess _ image   \u6765 \u5904\u7406 \u9884\u5904\u7406 \u56fe\u50cf \uff1a   def   preprocess _ image ( image _ path ) :   transform   =   transforms . Compose ( [   transforms . Resize ( ( 256 ,   128 ) ) ,   transforms . ToTensor ( ) ,   transforms . Normalize ( mean = [ 0.485 ,   0.456 ,   0.406 ] ,   std = [ 0.229 ,   0.224 ,   0.225 ] )   ] )   image   =   Image . open ( image _ path ) . convert ( ' RGB ' )   image   =   transform ( image )   image   =   image . unsqueeze ( 0 )   #   \u589e\u52a0 \u6279\u6b21 \u7ef4\u5ea6   return   image","title":"1 . \u6570\u636e \u9884\u5904\u7406"},{"location":"course/recognize/#2","text":"\u521b\u5efa \u4e00\u4e2a \u6570\u636e \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \uff0c \u7528\u4e8e \u52a0\u8f7d   Market1501 \u6570\u636e \u96c6   \uff1a   datamanager   =   torchreid . data . ImageDataManager (   root = \" reid - data \" ,   sources = \" market1501 \" ,   targets = \" market1501 \" ,   height = 256 ,   width = 128 ,   batch _ size _ train = 32 ,   batch _ size _ test = 100 ,   transforms = [ \" random _ flip \" ,   \" random _ crop \" ]   )","title":"2 . \u6570\u636e \u7ba1\u7406\u5668"},{"location":"course/recognize/#3","text":"\u6784\u5efa \u5e76 \u52a0\u8f7d \u9884 \u8bad\u7ec3 \u7684 ResNet - 50 \u6a21\u578b \uff1a   model   =   torchreid . models . build _ model (   name = \" resnet50 \" ,   num _ classes = datamanager . num _ train _ pids ,   loss = \" softmax \" ,   pretrained = True   #   \u52a0\u8f7d   ImageNet   \u9884 \u8bad\u7ec3 \u6743\u91cd   )   #   \u5c06 \u6a21\u578b \u79fb\u52a8 \u5230 GPU   model   =   model . cuda ( )   model . eval ( )","title":"3 . \u6a21\u578b \u6784\u5efa \u4e0e \u52a0\u8f7d"},{"location":"course/recognize/#4","text":"\u5b9a\u4e49 \u51fd\u6570   infer   \u548c   cosine _ similarity   \u6765 \u63d0\u53d6 \u7279\u5f81 \u548c \u8ba1\u7b97 \u4f59\u5f26 \u76f8\u4f3c \u76f8\u4f3c\u6027 \uff1a   def   infer ( model ,   image _ tensor ) :   with   torch . no _ grad ( ) :   image _ tensor   =   image _ tensor . cuda ( )   features   =   model ( image _ tensor )   return   features   def   cosine _ similarity ( tensor1 ,   tensor2 ) :   cos   =   torch . nn . CosineSimilarity ( dim = 1 ,   eps = 1e - 6 )   return   cos ( tensor1 ,   tensor2 ) . item ( )","title":"4 . \u7279\u5f81\u63d0\u53d6 \u4e0e \u76f8\u4f3c\u6027 \u8ba1\u7b97"},{"location":"course/recognize/#_5","text":"\u786e\u4fdd \u5b89\u88c5 \u6240\u6709 \u4f9d\u8d56 \u5e93 \u3002   \u4e0b\u8f7d \u5e76 \u51c6\u5907 \u597d Market1501 \u6570\u636e \u96c6 \u3002   \u8fd0\u884c \u4e0a\u8ff0 Python \u4ee3\u7801 \uff0c \u786e\u4fdd \u56fe\u50cf \u8def\u5f84 \u6b63\u786e \u3002","title":"\u8fd0\u884c \u6b65\u9aa4"},{"location":"course/recognize/#_6","text":"\u786e\u4fdd \u4f60 \u7684 \u663e\u5361 \u4e0e \u5f53\u524d \u5b89\u88c5 \u7684 PyTorch \u7248\u672c \u517c\u5bb9 \u3002   \u6d4b\u8bd5 \u6570\u636e \u6d4b\u8bd5\u6570\u636e \u96c6 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u76ee\u5f55 \u6b63\u786e \uff0c \u5e76\u4e14 \u548c \u811a\u672c \u5728 \u540c \u4e00\u7ea7 \u3002 \u5982\u4e0b \u6240\u793a \uff1a   reid - data /   \u251c \u2500 \u2500   market1501 /   \u251c \u2500 \u2500   bounding _ box _ train /   \u251c \u2500 \u2500   bounding _ box _ test /   \u251c \u2500 \u2500   query /   \u2514 \u2500 \u2500   ...","title":"\u6ce8\u610f\u4e8b\u9879"},{"location":"course/recognize/#_7","text":"\u4ee3\u7801 \u8fd0\u884c \u4ee3\u7801\u8fd0\u884c \u540e \u4f1a \u8f93\u51fa \u4e24\u5f20 \u56fe\u50cf \u7684 \u4f59\u5f26 \u76f8\u4f3c \u76f8\u4f3c\u6027 \u3002 \u76f8\u4f3c \u76f8\u4f3c\u6027 \u503c \u63a5\u8fd1 1 \u8868\u793a \u4e24\u5f20 \u56fe\u50cf \u7279\u5f81 \u76f8\u4f3c \u5ea6\u9ad8 \uff0c \u63a5\u8fd1 0 \u8868\u793a \u7279\u5f81 \u76f8\u4f3c \u5ea6\u4f4e \u3002","title":"\u7ed3\u679c \u5206\u6790"},{"location":"course/regional_macro/","text":"\u533a\u57df \u5b8f\u89c2   \u200b   \u6b64 \u793a\u4f8b \u652f\u6301 \u8054\u5408 \u865a\u62df \u5f15\u64ce \u4eff\u771f \u6a21\u62df \u5b9e\u9a8c \u6a21\u62df\u5b9e\u9a8c \uff0c \u5f97\u5230   3D   \u5b8f\u89c2 \u533a\u57df \u573a\u666f \u6f14\u793a \u3002   \u73af\u5883 \u4f9d\u8d56   roadrunner   carla \u7f16\u8f91 \u7f16\u8f91\u5668   \u914d\u7f6e \u6559\u7a0b   \u573a\u666f \u8bbe\u8ba1   \u200b   \u9488\u5bf9 \u5927 \u533a\u57df \u7684 \u573a\u666f \u8bbe\u8ba1 \uff0c \u652f\u6301 \u4ece   openstreet   \u5b98\u7f51 \u5bfc\u51fa \u8def\u7f51 \u6587\u4ef6 \u4f5c\u4e3a \u6a21\u7248 \uff0c \u7136\u540e \u5bfc\u5165 \u5bfc\u5165\u5230   roadrunner   \u4e2d \u8fdb\u884c \u9053\u8def \u4fee\u6539 \u3002   \u200b   \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce   \u200b   \u672c \u793a\u4f8b \u4f7f\u7528 \u7684 \u4e3a   carla   \u63d2\u4ef6 \u4f5c\u4e3a \u6e32\u67d3 \u5f15\u64ce \uff0c \u8fdb\u884c \u5efa\u7b51 \u3001 \u6811 \u3001 \u5c71 \u7b49 \u7684 \u8bbe\u8ba1 \u3002   \u200b   \u200b   \u5bfc\u51fa \u6267\u884c \u884c\u7a0b \u7a0b\u5e8f \u53ef\u6267\u884c\u7a0b\u5e8f \u8fdb\u884c \u4eff\u771f \u6a21\u62df \u5b9e\u9a8c \u6a21\u62df\u5b9e\u9a8c   \u200b   \u8fd0\u884c \u4e0b\u8ff0 exe \u7a0b\u5e8f \u4f5c\u4e3a \u670d\u52a1 \u670d\u52a1\u7aef \uff0c \u91c7\u7528 python \u811a\u672c \u4e0e\u5176 \u901a\u4fe1 \u3002   \u5b8f\u89c2 \u5730\u56fe   \u200b   \u5c06 \u5730\u56fe \u8c03\u6574 \u5230 \u5168\u5c40 \u4fef\u89c6 \u4f4d\u7f6e \u3002","title":"\u533a\u57df \u5b8f\u89c2"},{"location":"course/regional_macro/#_1","text":"\u200b   \u6b64 \u793a\u4f8b \u652f\u6301 \u8054\u5408 \u865a\u62df \u5f15\u64ce \u4eff\u771f \u6a21\u62df \u5b9e\u9a8c \u6a21\u62df\u5b9e\u9a8c \uff0c \u5f97\u5230   3D   \u5b8f\u89c2 \u533a\u57df \u573a\u666f \u6f14\u793a \u3002","title":"\u533a\u57df \u5b8f\u89c2"},{"location":"course/regional_macro/#_2","text":"roadrunner   carla \u7f16\u8f91 \u7f16\u8f91\u5668   \u914d\u7f6e \u6559\u7a0b","title":"\u73af\u5883 \u4f9d\u8d56"},{"location":"course/regional_macro/#_3","text":"\u200b   \u9488\u5bf9 \u5927 \u533a\u57df \u7684 \u573a\u666f \u8bbe\u8ba1 \uff0c \u652f\u6301 \u4ece   openstreet   \u5b98\u7f51 \u5bfc\u51fa \u8def\u7f51 \u6587\u4ef6 \u4f5c\u4e3a \u6a21\u7248 \uff0c \u7136\u540e \u5bfc\u5165 \u5bfc\u5165\u5230   roadrunner   \u4e2d \u8fdb\u884c \u9053\u8def \u4fee\u6539 \u3002   \u200b","title":"\u573a\u666f \u8bbe\u8ba1"},{"location":"course/regional_macro/#_4","text":"\u200b   \u672c \u793a\u4f8b \u4f7f\u7528 \u7684 \u4e3a   carla   \u63d2\u4ef6 \u4f5c\u4e3a \u6e32\u67d3 \u5f15\u64ce \uff0c \u8fdb\u884c \u5efa\u7b51 \u3001 \u6811 \u3001 \u5c71 \u7b49 \u7684 \u8bbe\u8ba1 \u3002   \u200b   \u200b","title":"\u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce"},{"location":"course/regional_macro/#_5","text":"\u200b   \u8fd0\u884c \u4e0b\u8ff0 exe \u7a0b\u5e8f \u4f5c\u4e3a \u670d\u52a1 \u670d\u52a1\u7aef \uff0c \u91c7\u7528 python \u811a\u672c \u4e0e\u5176 \u901a\u4fe1 \u3002","title":"\u5bfc\u51fa \u53ef\u6267\u884c\u7a0b\u5e8f \u8fdb\u884c \u4eff\u771f \u6a21\u62df\u5b9e\u9a8c"},{"location":"course/regional_macro/#_6","text":"\u200b   \u5c06 \u5730\u56fe \u8c03\u6574 \u5230 \u5168\u5c40 \u4fef\u89c6 \u4f4d\u7f6e \u3002","title":"\u5b8f\u89c2 \u5730\u56fe"},{"location":"course/roadnet_evaluation/","text":"\u8def\u7f51 \u8bc4\u4ef7   \u4ecb\u7ecd   \u8be5 \u4ee3\u7801   \u7528\u4e8e \u8bc4\u4f30   Carla   \u4eff\u771f \u73af\u5883 \u4e2d \u7684 \u8def\u7f51 \u8d28\u91cf \u3002 \u8bc4\u4f30 \u7684 \u6307\u6807 \u5305\u62ec \u8def\u7f51 \u8986\u76d6 \u8986\u76d6\u7387 \u3001 \u8def\u53e3 \u6570\u91cf \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u91cf \u548c \u9053\u8def \u5e73\u5747 \u5bbd\u5ea6 \u3002 \u8bc4\u4f30 \u7ed3\u679c \u53ef\u4ee5 \u5e2e\u52a9 \u4e86\u89e3 \u4eff\u771f \u73af\u5883 \u4e2d \u7684 \u9053\u8def \u7f51\u7edc \u7ed3\u6784 \u7f51\u7edc\u7ed3\u6784 \u548c \u914d\u7f6e \u3002   \u73af\u5883 \u914d\u7f6e   \u8981 \u8fd0\u884c \u8be5 \u4ee3\u7801 \uff0c \u9700\u8981 \u4ee5\u4e0b \u8f6f\u4ef6 \u548c \u5e93 \uff1a   CARLA \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   Python   3 . x   carla   Python   API   geopandas   \u5e93   shapely   \u5e93   scikit - learn   \u5e93   \u5b89\u88c5 \u6240 \u9700\u5e93 \u7684 \u547d\u4ee4 \uff1a   pip   install   carla = = 0.9 . 15   pip   install   geopandas   shapely   scikit - learn   \u529f\u80fd \u7ed3\u6784   \u8be5 \u529f\u80fd \u5305\u542b \u4ee5\u4e0b \u4e3b\u8981 \u90e8\u5206 \uff1a   \u8ba1\u7b97 \u8def\u7f51 \u8986\u76d6 \u8986\u76d6\u7387   \u8ba1\u7b97 \u8def\u53e3 \u6570\u91cf   \u8ba1\u7b97 \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u91cf   \u8ba1\u7b97 \u9053\u8def \u5e73\u5747 \u5bbd\u5ea6   \u4eff\u771f \u6d41\u91cf \u548c \u771f\u5b9e \u6d41\u91cf \u76f8\u4f3c \u76f8\u4f3c\u6027 \u8bc4\u4f30   \u8ba1\u7b97 \u8def\u7f51 \u8986\u76d6 \u8986\u76d6\u7387   \u5c06 \u9053\u8def \u51e0\u4f55 \u4fe1\u606f \u8f6c\u6362 \u4e3a GeoPandas \u6570\u636e \u6846 \uff0c \u5e76 \u8ba1\u7b97 \u9053\u8def \u8986\u76d6 \u7684 \u603b\u957f \u957f\u5ea6 \u603b\u957f\u5ea6 \u548c \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u533a\u57df \u7684 \u9762\u79ef \u603b\u9762\u79ef \uff0c \u6700\u540e \u8ba1\u7b97 \u8986\u76d6 \u8986\u76d6\u7387 \u3002   def   road _ coverage ( world ) :   road _ geometries   =   get _ road _ geometries ( world )   road _ lines   =   [ LineString ( road _ geometries ) ]   road _ gdf   =   gpd . GeoDataFrame ( geometry = road _ lines )   area _ of _ interest   =   Polygon ( [ ( - 500 ,   - 500 ) ,   ( - 500 ,   500 ) ,   ( 500 ,   500 ) ,   ( 500 ,   - 500 ) ] )   area _ gdf   =   gpd . GeoDataFrame ( geometry = [ area _ of _ interest ] )   total _ road _ length   =   road _ gdf . length . sum ( )   total _ area   =   area _ gdf . area . sum ( )   coverage _ ratio   =   total _ road _ length   /   total _ area   return   coverage _ ratio   \u8ba1\u7b97 \u8def\u53e3 \u6570\u91cf   \u901a\u8fc7 \u904d\u5386 \u6240\u6709 \u8def\u70b9 \uff0c \u627e\u5230 \u4f4d\u4e8e \u8def\u53e3 \u7684 \u8def\u70b9 \u5e76 \u83b7\u53d6 \u552f\u4e00 \u7684 \u8def\u53e3 ID \u3002   def   intersection _ num ( world ) :   carla _ map   =   world . get _ map ( )   waypoints   =   carla _ map . generate _ waypoints ( distance = 2.0 )   junction _ ids   =   set ( )   for   waypoint   in   waypoints :   if   waypoint . is _ junction :   junction   =   waypoint . get _ junction ( )   junction _ ids . add ( junction . id )   return   len ( junction _ ids )   \u8ba1\u7b97 \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u91cf   \u5b83 \u901a\u8fc7 \u83b7\u53d6 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u6f14\u5458 \u5bf9\u8c61 \u5e76 \u8ba1\u6570 \u6765 \u5b9e\u73b0 \u3002   def   traffic _ num ( world ) :   traffic _ lights   =   world . get _ actors ( ) . filter ( ' traffic . traffic _ light ' )   return   len ( traffic _ lights )   \u8ba1\u7b97 \u9053\u8def \u5e73\u5747 \u5bbd\u5ea6   \u5b83 \u904d\u5386 \u6240\u6709 \u8def\u70b9 \uff0c \u7d2f\u8ba1 \u8f66\u9053 \u5bbd\u5ea6 \u5e76 \u8ba1\u7b97 \u5e73\u5747 \u5747\u503c \u5e73\u5747\u503c \u3002   def   road _ width ( world ) :   carla _ map   =   world . get _ map ( )   waypoints   =   carla _ map . generate _ waypoints ( 2.0 )   total _ width   =   0.0   lane _ count   =   0   for   waypoint   in   waypoints :   total _ width   + =   waypoint . lane _ width   lane _ count   + =   1   if   lane _ count   >   0 :   average _ width   =   total _ width   /   lane _ count   return   average _ width   else :   return   0   \u4eff\u771f \u6d41\u91cf \u548c \u771f\u5b9e \u6d41\u91cf \u76f8\u4f3c \u76f8\u4f3c\u6027 \u8bc4\u4f30   \u7ed9\u5b9a 10 \u6b21 \u771f\u5b9e \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \u6570\u636e \uff0c \u4e0e \u4eff\u771f \u83b7\u53d6 \u5f97 10 \u6b21 \u4eff\u771f \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \u6570\u636e \u6bd4\u8f83 \u5176 \u76f8\u4f3c \u76f8\u4f3c\u6027 \u3002   \u83b7\u53d6 \u4eff\u771f \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf   #   \u67d0\u4e2a \u65f6\u523b \u4e8c\u73af \u897f\u4e8c\u73af \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u7684 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf   def   get _ vehicles _ in _ intersection ( world ,   intersection _ location ,   intersection _ radius ) :   vehicles   =   world . get _ actors ( ) . filter ( ' vehicle . * ' )   vehicles _ in _ intersection   =   [ ]   for   vehicle   in   vehicles :   distance   =   get _ distance ( vehicle . get _ location ( ) ,   intersection _ location )   if   distance   < =   intersection _ radius :   vehicles _ in _ intersection . append ( vehicle )   return   len ( vehicles _ in _ intersection )   \u8ba1\u7b97 \u76f8\u4f3c \u76f8\u4f3c\u6027   def   anal _ similarity ( real _ flow ,   sim _ flow ) :   simulated _ traffic   =   np . array ( sim _ flow )   real _ traffic   =   np . array ( real _ flow )   #   \u6570\u636e \u6807\u51c6 \u6807\u51c6\u5316   simulated _ traffic   =   ( simulated _ traffic   -   simulated _ traffic . mean ( ) )   /   simulated _ traffic . std ( )   real _ traffic   =   ( real _ traffic   -   real _ traffic . mean ( ) )   /   real _ traffic . std ( )   #   \u8ba1\u7b97 \u4f59\u5f26 \u76f8\u4f3c \u76f8\u4f3c\u6027   simulated _ traffic   =   simulated _ traffic . reshape ( 1 ,   - 1 )   real _ traffic   =   real _ traffic . reshape ( 1 ,   - 1 )   cosine _ sim   =   cosine _ similarity ( simulated _ traffic ,   real _ traffic )   return   cosine _ sim","title":"\u8def\u7f51 \u8bc4\u4ef7"},{"location":"course/roadnet_evaluation/#_1","text":"","title":"\u8def\u7f51 \u8bc4\u4ef7"},{"location":"course/roadnet_evaluation/#_2","text":"\u8be5 \u4ee3\u7801   \u7528\u4e8e \u8bc4\u4f30   Carla   \u4eff\u771f \u73af\u5883 \u4e2d \u7684 \u8def\u7f51 \u8d28\u91cf \u3002 \u8bc4\u4f30 \u7684 \u6307\u6807 \u5305\u62ec \u8def\u7f51 \u8986\u76d6 \u8986\u76d6\u7387 \u3001 \u8def\u53e3 \u6570\u91cf \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u91cf \u548c \u9053\u8def \u5e73\u5747 \u5bbd\u5ea6 \u3002 \u8bc4\u4f30 \u7ed3\u679c \u53ef\u4ee5 \u5e2e\u52a9 \u4e86\u89e3 \u4eff\u771f \u73af\u5883 \u4e2d \u7684 \u9053\u8def \u7f51\u7edc \u7ed3\u6784 \u7f51\u7edc\u7ed3\u6784 \u548c \u914d\u7f6e \u3002","title":"\u4ecb\u7ecd"},{"location":"course/roadnet_evaluation/#_3","text":"\u8981 \u8fd0\u884c \u8be5 \u4ee3\u7801 \uff0c \u9700\u8981 \u4ee5\u4e0b \u8f6f\u4ef6 \u548c \u5e93 \uff1a   CARLA \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   Python   3 . x   carla   Python   API   geopandas   \u5e93   shapely   \u5e93   scikit - learn   \u5e93   \u5b89\u88c5 \u6240 \u9700\u5e93 \u7684 \u547d\u4ee4 \uff1a   pip   install   carla = = 0.9 . 15   pip   install   geopandas   shapely   scikit - learn","title":"\u73af\u5883 \u914d\u7f6e"},{"location":"course/roadnet_evaluation/#_4","text":"\u8be5 \u529f\u80fd \u5305\u542b \u4ee5\u4e0b \u4e3b\u8981 \u90e8\u5206 \uff1a   \u8ba1\u7b97 \u8def\u7f51 \u8986\u76d6 \u8986\u76d6\u7387   \u8ba1\u7b97 \u8def\u53e3 \u6570\u91cf   \u8ba1\u7b97 \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u91cf   \u8ba1\u7b97 \u9053\u8def \u5e73\u5747 \u5bbd\u5ea6   \u4eff\u771f \u6d41\u91cf \u548c \u771f\u5b9e \u6d41\u91cf \u76f8\u4f3c \u76f8\u4f3c\u6027 \u8bc4\u4f30","title":"\u529f\u80fd \u7ed3\u6784"},{"location":"course/roadnet_evaluation/#_5","text":"\u5c06 \u9053\u8def \u51e0\u4f55 \u4fe1\u606f \u8f6c\u6362 \u4e3a GeoPandas \u6570\u636e \u6846 \uff0c \u5e76 \u8ba1\u7b97 \u9053\u8def \u8986\u76d6 \u7684 \u603b\u957f \u957f\u5ea6 \u603b\u957f\u5ea6 \u548c \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u533a\u57df \u7684 \u9762\u79ef \u603b\u9762\u79ef \uff0c \u6700\u540e \u8ba1\u7b97 \u8986\u76d6 \u8986\u76d6\u7387 \u3002   def   road _ coverage ( world ) :   road _ geometries   =   get _ road _ geometries ( world )   road _ lines   =   [ LineString ( road _ geometries ) ]   road _ gdf   =   gpd . GeoDataFrame ( geometry = road _ lines )   area _ of _ interest   =   Polygon ( [ ( - 500 ,   - 500 ) ,   ( - 500 ,   500 ) ,   ( 500 ,   500 ) ,   ( 500 ,   - 500 ) ] )   area _ gdf   =   gpd . GeoDataFrame ( geometry = [ area _ of _ interest ] )   total _ road _ length   =   road _ gdf . length . sum ( )   total _ area   =   area _ gdf . area . sum ( )   coverage _ ratio   =   total _ road _ length   /   total _ area   return   coverage _ ratio","title":"\u8ba1\u7b97 \u8def\u7f51 \u8986\u76d6\u7387"},{"location":"course/roadnet_evaluation/#_6","text":"\u901a\u8fc7 \u904d\u5386 \u6240\u6709 \u8def\u70b9 \uff0c \u627e\u5230 \u4f4d\u4e8e \u8def\u53e3 \u7684 \u8def\u70b9 \u5e76 \u83b7\u53d6 \u552f\u4e00 \u7684 \u8def\u53e3 ID \u3002   def   intersection _ num ( world ) :   carla _ map   =   world . get _ map ( )   waypoints   =   carla _ map . generate _ waypoints ( distance = 2.0 )   junction _ ids   =   set ( )   for   waypoint   in   waypoints :   if   waypoint . is _ junction :   junction   =   waypoint . get _ junction ( )   junction _ ids . add ( junction . id )   return   len ( junction _ ids )","title":"\u8ba1\u7b97 \u8def\u53e3 \u6570\u91cf"},{"location":"course/roadnet_evaluation/#_7","text":"\u5b83 \u901a\u8fc7 \u83b7\u53d6 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u6f14\u5458 \u5bf9\u8c61 \u5e76 \u8ba1\u6570 \u6765 \u5b9e\u73b0 \u3002   def   traffic _ num ( world ) :   traffic _ lights   =   world . get _ actors ( ) . filter ( ' traffic . traffic _ light ' )   return   len ( traffic _ lights )","title":"\u8ba1\u7b97 \u4ea4\u901a\u706f \u6570\u91cf"},{"location":"course/roadnet_evaluation/#_8","text":"\u5b83 \u904d\u5386 \u6240\u6709 \u8def\u70b9 \uff0c \u7d2f\u8ba1 \u8f66\u9053 \u5bbd\u5ea6 \u5e76 \u8ba1\u7b97 \u5e73\u5747 \u5747\u503c \u5e73\u5747\u503c \u3002   def   road _ width ( world ) :   carla _ map   =   world . get _ map ( )   waypoints   =   carla _ map . generate _ waypoints ( 2.0 )   total _ width   =   0.0   lane _ count   =   0   for   waypoint   in   waypoints :   total _ width   + =   waypoint . lane _ width   lane _ count   + =   1   if   lane _ count   >   0 :   average _ width   =   total _ width   /   lane _ count   return   average _ width   else :   return   0","title":"\u8ba1\u7b97 \u9053\u8def \u5e73\u5747 \u5bbd\u5ea6"},{"location":"course/roadnet_evaluation/#_9","text":"\u7ed9\u5b9a 10 \u6b21 \u771f\u5b9e \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \u6570\u636e \uff0c \u4e0e \u4eff\u771f \u83b7\u53d6 \u5f97 10 \u6b21 \u4eff\u771f \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \u6570\u636e \u6bd4\u8f83 \u5176 \u76f8\u4f3c \u76f8\u4f3c\u6027 \u3002","title":"\u4eff\u771f \u6d41\u91cf \u548c \u771f\u5b9e \u6d41\u91cf \u76f8\u4f3c\u6027 \u8bc4\u4f30"},{"location":"course/roadnet_evaluation/#_10","text":"#   \u67d0\u4e2a \u65f6\u523b \u4e8c\u73af \u897f\u4e8c\u73af \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u7684 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf   def   get _ vehicles _ in _ intersection ( world ,   intersection _ location ,   intersection _ radius ) :   vehicles   =   world . get _ actors ( ) . filter ( ' vehicle . * ' )   vehicles _ in _ intersection   =   [ ]   for   vehicle   in   vehicles :   distance   =   get _ distance ( vehicle . get _ location ( ) ,   intersection _ location )   if   distance   < =   intersection _ radius :   vehicles _ in _ intersection . append ( vehicle )   return   len ( vehicles _ in _ intersection )","title":"\u83b7\u53d6 \u4eff\u771f \u8f66\u6d41\u91cf"},{"location":"course/roadnet_evaluation/#_11","text":"def   anal _ similarity ( real _ flow ,   sim _ flow ) :   simulated _ traffic   =   np . array ( sim _ flow )   real _ traffic   =   np . array ( real _ flow )   #   \u6570\u636e \u6807\u51c6 \u6807\u51c6\u5316   simulated _ traffic   =   ( simulated _ traffic   -   simulated _ traffic . mean ( ) )   /   simulated _ traffic . std ( )   real _ traffic   =   ( real _ traffic   -   real _ traffic . mean ( ) )   /   real _ traffic . std ( )   #   \u8ba1\u7b97 \u4f59\u5f26 \u76f8\u4f3c \u76f8\u4f3c\u6027   simulated _ traffic   =   simulated _ traffic . reshape ( 1 ,   - 1 )   real _ traffic   =   real _ traffic . reshape ( 1 ,   - 1 )   cosine _ sim   =   cosine _ similarity ( simulated _ traffic ,   real _ traffic )   return   cosine _ sim","title":"\u8ba1\u7b97 \u76f8\u4f3c\u6027"},{"location":"course/scenario/","text":"RoadRunner \u8fdb\u884c \u9053\u8def \u573a\u666f \u5efa\u6a21   \u200b   RoadRunner   \u662f \u4e00\u6b3e \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u53ef\u4ee5 \u8bbe\u8ba1 \u7528\u4e8e \u6a21\u62df \u548c \u6d4b\u8bd5 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u7684   3D   \u573a\u666f \uff0c \u4ee5\u53ca \u521b\u5efa \u8981 \u5bfc\u5165   Carla   \u7684 \u5927 \u5730\u56fe \u3002   RoadRunner \u7b80\u4ecb   \u200b   RoadRunner \u662f \u4e00\u4e2a \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u53ef\u4ee5 \u8ba9 \u60a8 \u8bbe\u8ba1 3D \u573a\u666f \u6765 \u4eff\u771f \u548c \u6d4b\u8bd5 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u3002 \u5b83 \u53ef\u4ee5 \u7528\u6765 \u521b\u5efa \u9053\u8def \u5e03\u5c40 \u548c \u4f34\u968f \u7684 opdrive \u548c \u51e0\u4f55 \u4fe1\u606f \u3002   \u200b   RoadRunner \u662f MATLAB \u6821\u56ed \u8bb8\u53ef \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u56e0\u6b64 \u8bb8\u591a \u5927\u5b66 \u53ef\u4ee5 \u63d0\u4f9b \u65e0 \u9650\u5236 \u7684 \u5b66\u672f \u8bbf\u95ee \u3002 \u68c0\u67e5 \u4e00\u4e0b \u68c0\u67e5\u4e00\u4e0b \u4f60 \u7684 \u5927\u5b66 \u662f\u5426 \u6709 \u8bbf\u95ee \u6743\u9650 \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u5173\u4e8e \u53ef \u8bbf\u95ee \u6027 \u7684 \u95ee\u9898 \u6216 \u9ebb\u70e6 \uff0c \u8bf7 \u8054\u7cfb   automated - driving @ mathworks . com   \u3002   \u200b   \u53c2\u52a0   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u6bcf\u4e2a \u4eba \u90fd \u53ef\u4ee5 \u83b7\u5f97 RoadRunner \u7684 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u3002   \u200b   RoadRunner   R2022b   \u5b89\u88c5 \u5b89\u88c5\u5305   \uff0c \u5982\u4e0b \u56fe \u6240\u793a \uff0c \u89e3\u538b \u540e \u76f4\u63a5 \u8fd0\u884c \u91cc\u9762 \u7684 exe \u7a0b\u5e8f \u3002   RoadRunner \u57fa\u672c \u4f7f\u7528   RoadRunner \u754c\u9762 \u5206\u4e3a Scene   Editing \u548c Scenario   Editing \uff0c \u4e0b\u56fe \u6240\u793a \u4e3a roadrunner \u8f6f\u4ef6 \u7684 Scene   Editing ( \u9759\u6001 \u8def\u7f51 \u7f16\u8f91 ) \u57fa\u672c \u529f\u80fd \u57fa\u672c\u529f \u57fa\u672c\u529f\u80fd \u754c\u9762 \uff1a   \u7ea2\u8272 \u662f \u5efa\u7acb \u9053\u8def \u548c \u8c03\u6574 \u9053\u8def ( \u5206\u6bb5 \uff0c \u7ffb\u8f6c \uff0c \u5761\u5ea6 \u7b49 \uff09   \u9ec4\u8272 \u53f3\u4e0a \u662f \u8f66\u9053 \u5c5e\u6027 \u8c03\u6574 ( \u5bbd\u5ea6 \uff0c \u8f66\u9053 \u5206\u79bb / \u589e\u52a0 \u7b49 )   \u9ec4\u8272 \u5de6\u4e0b \u662f \u8f66\u9053 \u6807\u5fd7 \u7f16\u8f91   \u7d2b\u8272 \u662f \u4ea4\u901a \u901a\u4fe1 \u4fe1\u53f7 \u4ea4\u901a\u4fe1\u53f7 \u548c \u4ea4\u53c9 \u8def\u6bb5 \u7684 \u8bbe\u7f6e   \u7c89\u8272 \u662f \u5404\u79cd \u573a\u666f \u5bfc\u5165 \u548c \u5efa\u7acb \u5de5\u5177   RoadRunner \u57fa\u672c \u4f7f\u7528 \u6559\u7a0b \u94fe\u63a5   \uff1a   \u5feb\u901f \u5165\u95e8   MathWorks   \u5b8c\u6574 \u6559\u7a0b   \u4f7f\u7528 \u516c\u5f00 \u9053\u8def \u5730\u56fe \u751f\u6210 \u9053\u8def \u7f51\u7edc   \u200b   OpenStreetMap   \u662f \u4e00\u4e2a \u5f00\u653e \u3001 \u53ef \u7f16\u8f91 \u7684 \u5730\u56fe \u9879\u76ee \uff0c \u7531 \u5168\u7403 \u5fd7\u613f \u613f\u8005 \u5fd7\u613f\u8005 \u8d21\u732e \u6570\u636e \uff0c \u5176 \u6570\u636e \u5305\u62ec \u9053\u8def \u3001 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u5730\u7406 \u7279\u5f81 \u3001 \u4ea4\u901a \u8bbe\u65bd \u4ea4\u901a\u8bbe\u65bd \u7b49 \u5730\u7406 \u4fe1\u606f \u5730\u7406\u4fe1\u606f \u3002 \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u53ef\u4ee5 \u641c\u7d22 \u76f8\u5e94 \u7684 \u9053\u8def \u4fe1\u606f \uff0c \u9009\u62e9 \u5bfc\u51fa   osm   \u8def\u7f51 \u6587\u4ef6 \u3002   \u8fd8 \u53ef\u4ee5 \u8fdb\u884c \u5bf9 \u8be5 \u7f51\u7ad9 \u7684 \u7f16\u8f91 \u4fee\u6539   \uff1a   OpenStreetMap \u5730\u56fe \u7f16\u8f91 \u5730\u56fe\u7f16\u8f91   \u5c06 osm \u8def\u7f51 \u6587\u4ef6 \u5bfc\u5165 RoadRunner   \u5728   Scene   Editing   \u7684 \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u9009\u62e9   SD   Map   Viewer   Tool   \u5de5\u5177 \uff0c \u70b9\u51fb   Open   OpenStreetMap   File   \u9009\u62e9   osm   \u8def\u7f51 \u6587\u4ef6 \u4f4d\u7f6e \uff0c \u6700\u540e \u70b9\u51fb   Build   Road   \u5b8c\u6210 \u8def\u7f51 \u7684 \u751f\u6210 \u3002   \u5728 RoadRunner \u8fdb\u884c \u8f66\u8f86 \u6a21\u62df \u4eff\u771f   \u200b   Scenario   Editing   \u4e3a \u52a8\u6001 \u8def\u7f51 \u7f16\u8f91 \uff0c \u53ef\u4ee5 \u6dfb\u52a0 / \u5220\u9664 \u8f66\u8f86 \uff0c \u8fdb\u884c \u8f66\u8f86 \u901f\u5ea6 \u8bbe\u7f6e \u3001 \u8f68\u8ff9 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u89c4\u5212 \u7b49 \uff0c   \u5e76 \u652f\u6301 \u7f16\u8f91 \u7f16\u8f91\u5668 \u5185 \u64ad\u653e \uff0c \u7528\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 \u573a\u666f \u5e76 \u8fde\u63a5 \u5230 \u5176\u4ed6 \u573a\u666f   \u7528\u4e8e \u534f\u540c \u4eff\u771f \u7684 \u6a21\u62df \u6a21\u62df\u5668 \u3002 \u53f3\u4e0a \u4e0a\u89d2 \u53f3\u4e0a\u89d2 \u7684 \u4e0b\u62c9 \u4e0b\u62c9\u680f \u53ef \u8fdb\u884c \u52a8 / \u9759 \u7f16\u8f91 \u5207\u6362 \u3002   \u57fa\u4e8e Carla \u4e0e RoadRunner \u7684 \u8054\u5408 \u4eff\u771f   \u53c2\u8003 \u94fe\u63a5 \uff1a   \u8054\u5408 \u4eff\u771f   RoadRunner \u5bfc\u51fa \u5927 \u5730\u56fe \u6559\u7a0b","title":"RoadRunner \u8fdb\u884c \u9053\u8def \u573a\u666f \u5efa\u6a21"},{"location":"course/scenario/#roadrunner","text":"\u200b   RoadRunner   \u662f \u4e00\u6b3e \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u53ef\u4ee5 \u8bbe\u8ba1 \u7528\u4e8e \u6a21\u62df \u548c \u6d4b\u8bd5 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u7684   3D   \u573a\u666f \uff0c \u4ee5\u53ca \u521b\u5efa \u8981 \u5bfc\u5165   Carla   \u7684 \u5927 \u5730\u56fe \u3002","title":"RoadRunner \u8fdb\u884c \u9053\u8def \u573a\u666f \u5efa\u6a21"},{"location":"course/scenario/#roadrunner_1","text":"\u200b   RoadRunner \u662f \u4e00\u4e2a \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u53ef\u4ee5 \u8ba9 \u60a8 \u8bbe\u8ba1 3D \u573a\u666f \u6765 \u4eff\u771f \u548c \u6d4b\u8bd5 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u3002 \u5b83 \u53ef\u4ee5 \u7528\u6765 \u521b\u5efa \u9053\u8def \u5e03\u5c40 \u548c \u4f34\u968f \u7684 opdrive \u548c \u51e0\u4f55 \u4fe1\u606f \u3002   \u200b   RoadRunner \u662f MATLAB \u6821\u56ed \u8bb8\u53ef \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u56e0\u6b64 \u8bb8\u591a \u5927\u5b66 \u53ef\u4ee5 \u63d0\u4f9b \u65e0 \u9650\u5236 \u7684 \u5b66\u672f \u8bbf\u95ee \u3002 \u68c0\u67e5 \u4e00\u4e0b \u68c0\u67e5\u4e00\u4e0b \u4f60 \u7684 \u5927\u5b66 \u662f\u5426 \u6709 \u8bbf\u95ee \u6743\u9650 \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u5173\u4e8e \u53ef \u8bbf\u95ee \u6027 \u7684 \u95ee\u9898 \u6216 \u9ebb\u70e6 \uff0c \u8bf7 \u8054\u7cfb   automated - driving @ mathworks . com   \u3002   \u200b   \u53c2\u52a0   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u6bcf\u4e2a \u4eba \u90fd \u53ef\u4ee5 \u83b7\u5f97 RoadRunner \u7684 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u3002   \u200b   RoadRunner   R2022b   \u5b89\u88c5 \u5b89\u88c5\u5305   \uff0c \u5982\u4e0b \u56fe \u6240\u793a \uff0c \u89e3\u538b \u540e \u76f4\u63a5 \u8fd0\u884c \u91cc\u9762 \u7684 exe \u7a0b\u5e8f \u3002","title":"RoadRunner \u7b80\u4ecb"},{"location":"course/scenario/#roadrunner_2","text":"RoadRunner \u754c\u9762 \u5206\u4e3a Scene   Editing \u548c Scenario   Editing \uff0c \u4e0b\u56fe \u6240\u793a \u4e3a roadrunner \u8f6f\u4ef6 \u7684 Scene   Editing ( \u9759\u6001 \u8def\u7f51 \u7f16\u8f91 ) \u57fa\u672c \u529f\u80fd \u57fa\u672c\u529f \u57fa\u672c\u529f\u80fd \u754c\u9762 \uff1a   \u7ea2\u8272 \u662f \u5efa\u7acb \u9053\u8def \u548c \u8c03\u6574 \u9053\u8def ( \u5206\u6bb5 \uff0c \u7ffb\u8f6c \uff0c \u5761\u5ea6 \u7b49 \uff09   \u9ec4\u8272 \u53f3\u4e0a \u662f \u8f66\u9053 \u5c5e\u6027 \u8c03\u6574 ( \u5bbd\u5ea6 \uff0c \u8f66\u9053 \u5206\u79bb / \u589e\u52a0 \u7b49 )   \u9ec4\u8272 \u5de6\u4e0b \u662f \u8f66\u9053 \u6807\u5fd7 \u7f16\u8f91   \u7d2b\u8272 \u662f \u4ea4\u901a \u901a\u4fe1 \u4fe1\u53f7 \u4ea4\u901a\u4fe1\u53f7 \u548c \u4ea4\u53c9 \u8def\u6bb5 \u7684 \u8bbe\u7f6e   \u7c89\u8272 \u662f \u5404\u79cd \u573a\u666f \u5bfc\u5165 \u548c \u5efa\u7acb \u5de5\u5177   RoadRunner \u57fa\u672c \u4f7f\u7528 \u6559\u7a0b \u94fe\u63a5   \uff1a   \u5feb\u901f \u5165\u95e8   MathWorks   \u5b8c\u6574 \u6559\u7a0b","title":"RoadRunner \u57fa\u672c \u4f7f\u7528"},{"location":"course/scenario/#_1","text":"\u200b   OpenStreetMap   \u662f \u4e00\u4e2a \u5f00\u653e \u3001 \u53ef \u7f16\u8f91 \u7684 \u5730\u56fe \u9879\u76ee \uff0c \u7531 \u5168\u7403 \u5fd7\u613f \u613f\u8005 \u5fd7\u613f\u8005 \u8d21\u732e \u6570\u636e \uff0c \u5176 \u6570\u636e \u5305\u62ec \u9053\u8def \u3001 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u5730\u7406 \u7279\u5f81 \u3001 \u4ea4\u901a \u8bbe\u65bd \u4ea4\u901a\u8bbe\u65bd \u7b49 \u5730\u7406 \u4fe1\u606f \u5730\u7406\u4fe1\u606f \u3002 \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u53ef\u4ee5 \u641c\u7d22 \u76f8\u5e94 \u7684 \u9053\u8def \u4fe1\u606f \uff0c \u9009\u62e9 \u5bfc\u51fa   osm   \u8def\u7f51 \u6587\u4ef6 \u3002   \u8fd8 \u53ef\u4ee5 \u8fdb\u884c \u5bf9 \u8be5 \u7f51\u7ad9 \u7684 \u7f16\u8f91 \u4fee\u6539   \uff1a   OpenStreetMap \u5730\u56fe \u7f16\u8f91 \u5730\u56fe\u7f16\u8f91","title":"\u4f7f\u7528 \u516c\u5f00 \u9053\u8def \u5730\u56fe \u751f\u6210 \u9053\u8def \u7f51\u7edc"},{"location":"course/scenario/#osmroadrunner","text":"\u5728   Scene   Editing   \u7684 \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u9009\u62e9   SD   Map   Viewer   Tool   \u5de5\u5177 \uff0c \u70b9\u51fb   Open   OpenStreetMap   File   \u9009\u62e9   osm   \u8def\u7f51 \u6587\u4ef6 \u4f4d\u7f6e \uff0c \u6700\u540e \u70b9\u51fb   Build   Road   \u5b8c\u6210 \u8def\u7f51 \u7684 \u751f\u6210 \u3002","title":"\u5c06 osm \u8def\u7f51 \u6587\u4ef6 \u5bfc\u5165 RoadRunner"},{"location":"course/scenario/#roadrunner_3","text":"\u200b   Scenario   Editing   \u4e3a \u52a8\u6001 \u8def\u7f51 \u7f16\u8f91 \uff0c \u53ef\u4ee5 \u6dfb\u52a0 / \u5220\u9664 \u8f66\u8f86 \uff0c \u8fdb\u884c \u8f66\u8f86 \u901f\u5ea6 \u8bbe\u7f6e \u3001 \u8f68\u8ff9 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u89c4\u5212 \u7b49 \uff0c   \u5e76 \u652f\u6301 \u7f16\u8f91 \u7f16\u8f91\u5668 \u5185 \u64ad\u653e \uff0c \u7528\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 \u573a\u666f \u5e76 \u8fde\u63a5 \u5230 \u5176\u4ed6 \u573a\u666f   \u7528\u4e8e \u534f\u540c \u4eff\u771f \u7684 \u6a21\u62df \u6a21\u62df\u5668 \u3002 \u53f3\u4e0a \u4e0a\u89d2 \u53f3\u4e0a\u89d2 \u7684 \u4e0b\u62c9 \u4e0b\u62c9\u680f \u53ef \u8fdb\u884c \u52a8 / \u9759 \u7f16\u8f91 \u5207\u6362 \u3002","title":"\u5728 RoadRunner \u8fdb\u884c \u8f66\u8f86 \u6a21\u62df \u4eff\u771f"},{"location":"course/scenario/#carlaroadrunner","text":"\u53c2\u8003 \u94fe\u63a5 \uff1a   \u8054\u5408 \u4eff\u771f   RoadRunner \u5bfc\u51fa \u5927 \u5730\u56fe \u6559\u7a0b","title":"\u57fa\u4e8e Carla \u4e0e RoadRunner \u7684 \u8054\u5408 \u4eff\u771f"},{"location":"course/signal_control/","text":"\u624b\u52a8 \u4fe1\u53f7 \u63a7\u5236   \u8fd9\u662f \u4e00\u4e2a \u7528\u4e8e \u63a7\u5236 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 Flask \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff0c \u901a\u8fc7   Carla \u4eff\u771f \u73af\u5883   \u5b9e\u73b0 \u3002 \u7528\u6237 \u53ef\u4ee5 \u901a\u8fc7 \u6307\u5b9a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 OpenDRIVE   ID \u3001 \u989c\u8272 ID \u4ee5\u53ca \u8bbe\u7f6e \u65f6\u957f \u6765 \u63a7\u5236 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u72b6\u6001 \u3002 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u989c\u8272 \u8bbe\u7f6e \u5305\u62ec \u7eff\u706f \u3001 \u9ec4\u706f \u548c \u7ea2\u706f \uff0c \u5206\u522b \u5bf9\u5e94 \u989c\u8272 ID   [ 1 ,   2 ,   3 ] \u3002 \u989c\u8272 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \u3002   \u53c2\u6570 \u8bf4\u660e   \u811a\u672c   \u63a5\u6536 \u4ee5\u4e0b \u53c2\u6570 \uff1a   1 .   -- traffic _ id   (   - I   ) :   \u76ee\u6807 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 OpenDrive   ID \u3002   2 .   -- color _ id   (   - C   ) :   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u989c\u8272 ID \uff0c \u5bf9\u5e94 \u7eff\u706f \u3001 \u9ec4\u706f \u548c \u7ea2\u706f \uff0c \u5206\u522b \u4e3a 1 \u3001 2 \u548c 3 \u3002   3 .   -- color _ time   (   - T   ) :   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u989c\u8272 \u7684 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \uff0c \u5355\u4f4d \u4e3a \u79d2 \u3002   \u53c2\u6570 \u683c\u5f0f   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u989c\u8272 \u8bbe\u7f6e \u53c2\u6570 \u7684 \u683c\u5f0f \u4e3a \u3010 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f OpenDrive   ID \uff0c \u989c\u8272 ID \uff0c \u8bbe\u7f6e \u65f6 \u957f \u3011 \u3002   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u989c\u8272 ID \u8bf4\u660e \uff1a   \u7eff\u706f \uff1a   1   \u9ec4\u706f \uff1a   2   \u7ea2\u706f \uff1a   3   \u4f7f\u7528 \u6b65\u9aa4   \u8981 \u8bbe\u7f6e \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff0c \u53ef\u4ee5 \u53d1\u9001 \u4e00\u4e2a GET \u8bf7\u6c42 \u5230   / set _ traffic _ light   \uff1a   \u6253\u5f00 Carla \u4eff\u771f \u73af\u5883   \u8fd0\u884c \u811a\u672c signal _ control . py \u6765 \u5f00\u542f \u670d\u52a1 \u670d\u52a1\u7aef   \u53d1\u9001 http \u8bf7\u6c42 :   http : / / 127.0 . 0.1 : 5000 / set _ traffic _ light ? traffic _ id = - 5 & color _ id = 3 & color _ time = 30   \u4ee5\u4e0a \u8bf7\u6c42 \u8868\u793a \u8bbe\u7f6e OpenDrive   ID \u4e3a   - 5   \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u7ea2\u706f \u7684 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u4e3a   30   \u79d2 \u3002   \u811a\u672c \u5de5\u4f5c \u6d41\u7a0b   \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u7684 \u4e3b\u8981 \u529f\u80fd \u662f \u6839\u636e \u7528\u6237 \u63d0\u4f9b \u7684 \u53c2\u6570 \u8bbe\u7f6e \u53c2\u6570\u8bbe\u7f6e \u6307\u5b9a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u989c\u8272 \u548c \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u3002 \u5177\u4f53 \u5b9e\u73b0 \u6b65\u9aa4 \u5982\u4e0b \uff1a   1 . \u63a5\u6536 \u7528\u6237 \u8bf7\u6c42 \uff0c \u5e76 \u89e3\u6790 \u4f20\u5165 \u7684 \u53c2\u6570 \u3002   2 . \u8fde\u63a5 \u5230 Carla \u4eff\u771f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5e76 \u83b7\u53d6 \u5f53\u524d \u4e16\u754c \u5bf9\u8c61 \u3002   client   =   carla . Client ( ' localhost ' ,   2000 )   client . set _ timeout ( 10.0 )   #   \u8bbe\u7f6e \u8d85\u65f6   world   =   client . get _ world ( )   #   \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   3 . \u67e5\u627e \u6307\u5b9a \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5bf9\u8c61 , \u8f93\u51fa \u4fee\u6539 \u524d \u7684 \u706f\u5149 \u65f6\u95f4 \u3002   for   traffic _ light   in   traffic _ lights :   if   float ( traffic _ light . get _ opendrive _ id ( ) )   = =   traffic _ id :   if   color _ id   = =   1 :   init _ time   =   traffic _ light . get _ green _ time ( )   elif   color _ id   = =   2 :   init _ time   =   traffic _ light . get _ yellow _ time ( )   elif   color _ id   = =   3 :   init _ time   =   traffic _ light . get _ red _ time ( )   4 . \u8df3\u8f6c \u89c6\u89d2 \u5230 \u8be5 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5408\u9002 \u7684 \u4f4d\u7f6e \u3002   lights _ setting   =   [   [ - 6 ,   carla . Transform ( carla . Location ( x = - 220 ,   y = - 9 ,   z = 5 ) ,   carla . Rotation ( yaw = 180 ) ) ] ,   [ - 5 ,   carla . Transform ( carla . Location ( x = - 260 ,   y = 35 ,   z = 5 ) ,   carla . Rotation ( yaw = - 90 ) ) ]   ]   spectator   =   world . get _ spectator ( )   for   setting   in   lights _ setting :   if   setting [ 0 ]   = =   traffic _ id :   spectator . set _ transform ( setting [ 1 ] )   break   5 . \u6839\u636e \u989c\u8272 ID \u8bbe\u7f6e \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u3002   for   traffic _ light   in   traffic _ lights :   if   float ( traffic _ light . get _ opendrive _ id ( ) )   = =   traffic _ id :   if   color _ id   = =   1 :   traffic _ light . set _ green _ time ( float ( color _ time ) )   color _ name   =   \" \u7eff\u8272 \"   elif   color _ id   = =   2 :   traffic _ light . set _ yellow _ time ( float ( color _ time ) )   color _ name   =   \" \u9ec4\u8272 \"   elif   color _ id   = =   3 :   traffic _ light . set _ red _ time ( float ( color _ time ) )   color _ name   =   \" \u7ea2\u8272 \"   6 . \u8fd4\u56de \u8bbe\u7f6e \u7ed3\u679c \u7684 JSON \u54cd\u5e94 \u3002   response _ data   =   {   \" id \" :   traffic _ id ,   \" color \" :   color _ name ,   \" init _ time \" :   init _ time ,   \" last _ time \" :   color _ time   }   \u6ce8\u610f \u4e8b\u9879 \u6ce8\u610f\u4e8b\u9879   \u5728 \u6267\u884c \u811a\u672c \u524d \uff0c \u8bf7 \u786e\u4fdd CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5df2 \u542f\u52a8 \u3002   \u53d1\u9001 \u8bf7\u6c42 \u65f6 \uff0c \u9700\u8981 \u4f20\u5165 \u5bf9\u5e94 \u7684 \u53c2\u6570 \u6570\u503c \u53c2\u6570\u503c \u3002   settings . no _ rendering _ mode   =   False   \u4e0d\u80fd \u91cd\u590d \u8bbe\u7f6e \uff0c \u5426\u5219 \u5373\u4f7f \u4fee\u6539 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6\u957f \u4e5f \u4e0d\u4f1a \u6709 \u6548\u679c \u3002   \u8fd0\u884c \u7ed3\u679c","title":"\u624b\u52a8 \u4fe1\u53f7 \u63a7\u5236"},{"location":"course/signal_control/#_1","text":"\u8fd9\u662f \u4e00\u4e2a \u7528\u4e8e \u63a7\u5236 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 Flask \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff0c \u901a\u8fc7   Carla \u4eff\u771f \u73af\u5883   \u5b9e\u73b0 \u3002 \u7528\u6237 \u53ef\u4ee5 \u901a\u8fc7 \u6307\u5b9a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 OpenDRIVE   ID \u3001 \u989c\u8272 ID \u4ee5\u53ca \u8bbe\u7f6e \u65f6\u957f \u6765 \u63a7\u5236 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u72b6\u6001 \u3002 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u989c\u8272 \u8bbe\u7f6e \u5305\u62ec \u7eff\u706f \u3001 \u9ec4\u706f \u548c \u7ea2\u706f \uff0c \u5206\u522b \u5bf9\u5e94 \u989c\u8272 ID   [ 1 ,   2 ,   3 ] \u3002 \u989c\u8272 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \u3002","title":"\u624b\u52a8 \u4fe1\u53f7 \u63a7\u5236"},{"location":"course/signal_control/#_2","text":"\u811a\u672c   \u63a5\u6536 \u4ee5\u4e0b \u53c2\u6570 \uff1a   1 .   -- traffic _ id   (   - I   ) :   \u76ee\u6807 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 OpenDrive   ID \u3002   2 .   -- color _ id   (   - C   ) :   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u989c\u8272 ID \uff0c \u5bf9\u5e94 \u7eff\u706f \u3001 \u9ec4\u706f \u548c \u7ea2\u706f \uff0c \u5206\u522b \u4e3a 1 \u3001 2 \u548c 3 \u3002   3 .   -- color _ time   (   - T   ) :   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u989c\u8272 \u7684 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \uff0c \u5355\u4f4d \u4e3a \u79d2 \u3002","title":"\u53c2\u6570 \u8bf4\u660e"},{"location":"course/signal_control/#_3","text":"\u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u989c\u8272 \u8bbe\u7f6e \u53c2\u6570 \u7684 \u683c\u5f0f \u4e3a \u3010 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f OpenDrive   ID \uff0c \u989c\u8272 ID \uff0c \u8bbe\u7f6e \u65f6 \u957f \u3011 \u3002   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u989c\u8272 ID \u8bf4\u660e \uff1a   \u7eff\u706f \uff1a   1   \u9ec4\u706f \uff1a   2   \u7ea2\u706f \uff1a   3","title":"\u53c2\u6570 \u683c\u5f0f"},{"location":"course/signal_control/#_4","text":"\u8981 \u8bbe\u7f6e \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff0c \u53ef\u4ee5 \u53d1\u9001 \u4e00\u4e2a GET \u8bf7\u6c42 \u5230   / set _ traffic _ light   \uff1a   \u6253\u5f00 Carla \u4eff\u771f \u73af\u5883   \u8fd0\u884c \u811a\u672c signal _ control . py \u6765 \u5f00\u542f \u670d\u52a1 \u670d\u52a1\u7aef   \u53d1\u9001 http \u8bf7\u6c42 :   http : / / 127.0 . 0.1 : 5000 / set _ traffic _ light ? traffic _ id = - 5 & color _ id = 3 & color _ time = 30   \u4ee5\u4e0a \u8bf7\u6c42 \u8868\u793a \u8bbe\u7f6e OpenDrive   ID \u4e3a   - 5   \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u7ea2\u706f \u7684 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u4e3a   30   \u79d2 \u3002","title":"\u4f7f\u7528 \u6b65\u9aa4"},{"location":"course/signal_control/#_5","text":"\u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u7684 \u4e3b\u8981 \u529f\u80fd \u662f \u6839\u636e \u7528\u6237 \u63d0\u4f9b \u7684 \u53c2\u6570 \u8bbe\u7f6e \u53c2\u6570\u8bbe\u7f6e \u6307\u5b9a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u989c\u8272 \u548c \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u3002 \u5177\u4f53 \u5b9e\u73b0 \u6b65\u9aa4 \u5982\u4e0b \uff1a   1 . \u63a5\u6536 \u7528\u6237 \u8bf7\u6c42 \uff0c \u5e76 \u89e3\u6790 \u4f20\u5165 \u7684 \u53c2\u6570 \u3002   2 . \u8fde\u63a5 \u5230 Carla \u4eff\u771f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5e76 \u83b7\u53d6 \u5f53\u524d \u4e16\u754c \u5bf9\u8c61 \u3002   client   =   carla . Client ( ' localhost ' ,   2000 )   client . set _ timeout ( 10.0 )   #   \u8bbe\u7f6e \u8d85\u65f6   world   =   client . get _ world ( )   #   \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   3 . \u67e5\u627e \u6307\u5b9a \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5bf9\u8c61 , \u8f93\u51fa \u4fee\u6539 \u524d \u7684 \u706f\u5149 \u65f6\u95f4 \u3002   for   traffic _ light   in   traffic _ lights :   if   float ( traffic _ light . get _ opendrive _ id ( ) )   = =   traffic _ id :   if   color _ id   = =   1 :   init _ time   =   traffic _ light . get _ green _ time ( )   elif   color _ id   = =   2 :   init _ time   =   traffic _ light . get _ yellow _ time ( )   elif   color _ id   = =   3 :   init _ time   =   traffic _ light . get _ red _ time ( )   4 . \u8df3\u8f6c \u89c6\u89d2 \u5230 \u8be5 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5408\u9002 \u7684 \u4f4d\u7f6e \u3002   lights _ setting   =   [   [ - 6 ,   carla . Transform ( carla . Location ( x = - 220 ,   y = - 9 ,   z = 5 ) ,   carla . Rotation ( yaw = 180 ) ) ] ,   [ - 5 ,   carla . Transform ( carla . Location ( x = - 260 ,   y = 35 ,   z = 5 ) ,   carla . Rotation ( yaw = - 90 ) ) ]   ]   spectator   =   world . get _ spectator ( )   for   setting   in   lights _ setting :   if   setting [ 0 ]   = =   traffic _ id :   spectator . set _ transform ( setting [ 1 ] )   break   5 . \u6839\u636e \u989c\u8272 ID \u8bbe\u7f6e \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u3002   for   traffic _ light   in   traffic _ lights :   if   float ( traffic _ light . get _ opendrive _ id ( ) )   = =   traffic _ id :   if   color _ id   = =   1 :   traffic _ light . set _ green _ time ( float ( color _ time ) )   color _ name   =   \" \u7eff\u8272 \"   elif   color _ id   = =   2 :   traffic _ light . set _ yellow _ time ( float ( color _ time ) )   color _ name   =   \" \u9ec4\u8272 \"   elif   color _ id   = =   3 :   traffic _ light . set _ red _ time ( float ( color _ time ) )   color _ name   =   \" \u7ea2\u8272 \"   6 . \u8fd4\u56de \u8bbe\u7f6e \u7ed3\u679c \u7684 JSON \u54cd\u5e94 \u3002   response _ data   =   {   \" id \" :   traffic _ id ,   \" color \" :   color _ name ,   \" init _ time \" :   init _ time ,   \" last _ time \" :   color _ time   }","title":"\u811a\u672c \u5de5\u4f5c \u6d41\u7a0b"},{"location":"course/signal_control/#_6","text":"\u5728 \u6267\u884c \u811a\u672c \u524d \uff0c \u8bf7 \u786e\u4fdd CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5df2 \u542f\u52a8 \u3002   \u53d1\u9001 \u8bf7\u6c42 \u65f6 \uff0c \u9700\u8981 \u4f20\u5165 \u5bf9\u5e94 \u7684 \u53c2\u6570 \u6570\u503c \u53c2\u6570\u503c \u3002   settings . no _ rendering _ mode   =   False   \u4e0d\u80fd \u91cd\u590d \u8bbe\u7f6e \uff0c \u5426\u5219 \u5373\u4f7f \u4fee\u6539 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6\u957f \u4e5f \u4e0d\u4f1a \u6709 \u6548\u679c \u3002","title":"\u6ce8\u610f\u4e8b\u9879"},{"location":"course/signal_control/#_7","text":"","title":"\u8fd0\u884c \u7ed3\u679c"},{"location":"course/traffic_indicators/","text":"\u8def\u53e3 \u8bc4\u4ef7 \u6307\u6807 \u5206\u6790 \u8ba1\u7b97 ( HutbCarlaCity )   \u200b   \u4e3a \u652f\u6301   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \u4fdd\u6b63 \u9ad8\u4fdd\u6b63 \u7684 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u4e09\u7ef4 \u5efa\u6a21 \uff0c \u8bbe\u8ba1   traffic _ indicators . py   \u811a\u672c \u5bf9 \u8def\u53e3 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3001 \u8def\u53e3 \u8f66\u5747 \u5ef6\u8bef \u3001 \u8def\u53e3 \u9971\u548c \u3001 \u6392\u961f \u957f\u5ea6 \u56db\u79cd \u8def\u53e3 \u771f\u5b9e \u771f\u5b9e\u6027 \u8bc4\u4ef7 \u6307\u6807 \u5206\u6790 \u3002   \u9996\u5148 \u9700\u8981 \u5bf9 \u573a\u666f \u4e2d \u6dfb\u52a0 \u8f66\u8f86 \uff0c \u8fd0\u884c   generate _ traffic . py   \u811a\u672c \uff0c \u751f\u6210 \u8db3\u591f \u7684 \u8f66\u8f86 \u3002   \u5b9a\u4e49 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u5e76 \u83b7\u53d6 \u4eff\u771f \u4e16\u754c \u5bf9\u8c61   argparser   =   argparse . ArgumentParser (   description = __ doc __ )   argparser . add _ argument (   ' -- host ' ,   metavar = ' H ' ,   default = ' 127.0 . 0.1 ' ,   # \u9ed8\u8ba4 ip   help = ' IP   of   the   host   server   ( default :   127.0 . 0.1 ) ' )   argparser . add _ argument (   ' - p ' ,   ' -- port ' ,   metavar = ' P ' ,   # \u7aef\u53e3 \u53e3\u53f7 \u7aef\u53e3\u53f7   default = 2000 ,   type = int ,   help = ' TCP   port   to   listen   to   ( default :   2000 ) ' )   args   =   argparser . parse _ args ( )   client   =   carla . Client ( args . host ,   args . port )   client . set _ timeout ( 10.0 )   #   \u8bbe\u7f6e \u8d85\u65f6   world   =   client . get _ world ( )   #   \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   \u5c06 \u8def\u53e3 \u5b9a\u4e49 \u4e3a \u4e00\u4e2a \u77e9\u5f62 \u533a\u57df \uff0c \u5728 Carla \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5f97\u5230 \u76f8\u5e94 \u5750\u6807   #   \u8def\u53e3 \u5750\u6807 ,   junctions   =   [   [ - 194 ,   - 372 ,   79 ,   - 34 ] ,   # \u6850\u6893 \u5761\u8def - \u4e8c\u73af \u897f\u4e8c\u73af \u8def\u53e3   [ 449 ,   381 ,   48 ,   - 87 ]   # \u6850\u6893 \u5761\u8def - \u671b\u5cb3 \u8def\u53e3   ]   #   \u7528\u4e8e \u8ddf\u8e2a \u5df2\u7ecf \u8ba1\u7b97 \u7684 \u8f66\u8f86 id \u4ee5\u53ca \u8fdb\u5165 \u7684 \u65f6\u95f4   counted _ vehicles   =   [   { } ,   { }   ]   \u8ba1\u7b97 \u5bf9\u5e94 \u8def\u53e3 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3001 \u8f66\u5747 \u5ef6\u8bef \u3001 \u9971\u548c \u9971\u548c\u5ea6 \u3001 \u6392\u961f \u957f\u5ea6   \u5b9a\u4e49 \u4fe9\u4e2a \u5168\u5c40 \u53d8\u91cf \u5168\u5c40\u53d8\u91cf   SATURATION   =   32   #   \u8def\u53e3 \u6700\u5927 \u5bb9\u91cf   DWELL _ TIME   =   50   #   50 \u79d2 \u540e \u8ba4\u4e3a \u8f66\u8f86 \u5df2 \u79bb\u5f00 \u8def\u53e3   \u8def\u53e3 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u51fd\u6570 get _ traffic _ flow ( )   def   get _ traffic _ flow ( world ,   junction ,   traffic _ flows ,   i ,   counted _ vehicles ) :   #   \u83b7\u53d6 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684 \u8f66\u8f86 \u5217\u8868   vehicle _ list   =   world . get _ actors ( ) . filter ( ' vehicle . * ' )   #   counted _ vehicles   =   { }   \u662f \u4e00\u4e2a \u5b57\u5178   current _ time   =   world . get _ snapshot ( ) . timestamp . elapsed _ seconds   #   \u904d\u5386 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684 \u8f66\u8f86   for   vehicle   in   vehicle _ list :   vehicle _ id   =   vehicle . id   #   \u8868\u793a \u8f66\u8f86 \u8fd8 \u6ca1 \u7ecf\u8fc7 \u8def\u53e3   if   vehicle _ id   not   in   counted _ vehicles :   #   \u83b7\u53d6 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u4fe1\u606f   location   =   vehicle . get _ location ( )   x   =   location . x   y   =   location . y   #   \u8f66\u8f86 \u7ecf\u8fc7 \u8def\u53e3   if   x   < =   junction [ 0 ]   and   x   > =   junction [ 1 ]   and   y   < =   junction [ 2 ]   and   y   > =   junction [ 3 ] :   #   \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u52a0 1   traffic _ flows [ i ]   =   traffic _ flows [ i ]   +   1   counted _ vehicles [ vehicle _ id ]   =   current _ time   #   \u79fb\u9664 \u79bb\u5f00 \u8def\u53e3 \u65f6\u95f4 \u8d85\u8fc7 dwell _ time \u7684 \u8f66\u8f86   vehicles _ to _ remove   =   [ vid   for   vid ,   enter _ time   in   counted _ vehicles . items ( )   if   current _ time   -   enter _ time   >   DWELL _ TIME ]   for   vehicle _ id   in   vehicles _ to _ remove :   del   counted _ vehicles [ vehicle _ id ]   \u8def\u53e3 \u9971\u548c \u9971\u548c\u5ea6 \u51fd\u6570 saturation ( )   \u91c7\u7528   \u8def\u53e3 \u5b9e\u9645 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf / \u8def\u53e3 \u9053\u8def \u6700\u5927 \u6240 \u627f\u8f7d \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf   \u8ba1\u7b97   \u8def\u53e3 \u9971\u548c \u9971\u548c\u5ea6   # \u8ba1\u7b97 \u8def\u53e3 \u9971\u548c \u9971\u548c\u5ea6   def   saturation ( world , junctions , counted _ vehicles ) :   saturation _ degrees   =   [ 0 ,   0 ]   ave _ saturation   =   [ 0 ,   0 ]   #   \u6d41\u91cf   traffic _ flows   =   [ 0 ,   0 ]   #   \u7528\u4e8e \u8ddf\u8e2a \u5df2\u7ecf \u8ba1\u7b97 \u7684 \u8f66\u8f86 id \u4ee5\u53ca \u8fdb\u5165 \u7684 \u65f6\u95f4   queue _ length   =   [ 0 ,   0 ]   time _ tamp   =   0   while   True :   time _ tamp   + =   1   #   i \u8868\u793a \u7b2c i \u4e2a \u8def\u53e3   for   i   in   range ( len ( junctions ) ) :   get _ traffic _ flow ( world ,   junctions [ i ] ,   traffic _ flows ,   i ,   counted _ vehicles [ i ] )   saturation _ degrees [ i ]   =   traffic _ flows [ i ]   /   SATURATION   +   saturation _ degrees [ i ]   if   time _ tamp   = =   10000 :   for   i   in   range ( len ( junctions ) ) :   ave _ saturation [ i ]   =   saturation _ degrees [ i ]   /   10000   queue _ length [ i ]   =   ( traffic _ flows [ i ]   *   3 )   /   4   break   return   ave _ saturation   \u6392\u961f \u957f\u5ea6 \u51fd\u6570 queue _ lengths ( )   \u91c7\u7528   \u8def\u53e3 \u5b9e\u9645 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf * \u5e73\u5747 \u8f66\u8f86 \u957f\u5ea6   \u8ba1\u7b97   \u6392\u961f \u957f\u5ea6   # \u8ba1\u7b97 \u6392\u961f \u957f\u5ea6   def   queue _ lengths ( world , junctions , counted _ vehicles ) :   #   \u6d41\u91cf   traffic _ flows   =   [ 0 ,   0 ]   #   \u7528\u4e8e \u8ddf\u8e2a \u5df2\u7ecf \u8ba1\u7b97 \u7684 \u8f66\u8f86 id \u4ee5\u53ca \u8fdb\u5165 \u7684 \u65f6\u95f4   queue _ length   =   [ 0 ,   0 ]   time _ tamp   =   0   while   True :   time _ tamp   + =   1   #   i \u8868\u793a \u7b2c i \u4e2a \u8def\u53e3   for   i   in   range ( len ( junctions ) ) :   get _ traffic _ flow ( world ,   junctions [ i ] ,   traffic _ flows ,   i ,   counted _ vehicles [ i ] )   #   print ( saturation _ degrees )   #   1000 \u4e2a \u65f6\u95f4 \u6b65 \u62df\u4f5c 1 \u5929   #   print ( time _ tamp )   if   time _ tamp   = =   10000 :   for   i   in   range ( len ( junctions ) ) :   queue _ length [ i ]   =   ( traffic _ flows [ i ]   *   3 )   /   4   break   return   queue _ length   \u8f66\u5747 \u5ef6\u8bef \u51fd\u6570 ave _ delay ( )   \u91c7\u7528 \u4ee5\u4e0b \u8ba1\u7b97 \u516c\u5f0f \u8ba1\u7b97\u516c\u5f0f \u8fdb\u884c \u8ba1\u7b97 \uff1a   \u200b   \u5176\u4e2d   D   \u4e3a \u8def\u53e3 \u8f66\u5747 \u5ef6\u8bef \u53c2\u6570 \uff0c   C   \u4e3a \u8def\u53e3 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u914d\u65f6 \u603b \u65f6\u95f4 \uff0c   y   \u4e3a \u8def\u53e3 \u9971\u548c \u9971\u548c\u5ea6 \uff0c   T   \u4e3a \u5f53\u524d \u5206\u6790 \u65f6\u6bb5 \u7684 \u65f6\u957f \u3002   # \u5f97\u5230 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u914d\u65f6 \u4fe1\u606f   def   get _ traffic _ light ( world ,   light _ id ) :   traffic _ lights   =   world . get _ actors ( ) . filter ( ' traffic . traffic _ light ' )   total _ time   =   0   green _ time   =   0   for   traffic _ light   in   traffic _ lights :   if   traffic _ light . id   = =   light _ id :   red _ time   =   traffic _ light . get _ red _ time ( )   green _ time   =   traffic _ light . get _ green _ time ( )   yellow _ time   =   traffic _ light . get _ yellow _ time ( )   total _ time   =   red _ time   +   green _ time   +   yellow _ time   return   total _ time ,   green _ time   # \u8ba1\u7b97 \u5e73\u5747 \u8def\u53e3 \u8f66\u5747 \u5ef6\u8bef   def   ave _ delay ( world ,   light _ id ,   ave _ saturation ,   junctions ) :   vehicle _ ave _ delays   =   [ ]   total _ time ,   green _ time   =   get _ traffic _ light ( world ,   light _ id )   for   i   in   range ( len ( junctions ) ) :   vehicle _ ave _ delay   =   0.5   *   total _ time   *   ( 1 - green _ time   /   total _ time ) * * 2   /   ( 1   -   ave _ saturation [ i ] )   +   min ( 1 ,   ave _ saturation [ i ] )   *   2   vehicle _ ave _ delays . append ( vehicle _ ave _ delay )   return   vehicle _ ave _ delays","title":"\u8def\u53e3 \u8bc4\u4ef7 \u6307\u6807 \u5206\u6790 \u8ba1\u7b97 ( HutbCarlaCity )"},{"location":"course/traffic_indicators/#hutbcarlacity","text":"\u200b   \u4e3a \u652f\u6301   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \u4fdd\u6b63 \u9ad8\u4fdd\u6b63 \u7684 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u4e09\u7ef4 \u5efa\u6a21 \uff0c \u8bbe\u8ba1   traffic _ indicators . py   \u811a\u672c \u5bf9 \u8def\u53e3 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3001 \u8def\u53e3 \u8f66\u5747 \u5ef6\u8bef \u3001 \u8def\u53e3 \u9971\u548c \u3001 \u6392\u961f \u957f\u5ea6 \u56db\u79cd \u8def\u53e3 \u771f\u5b9e \u771f\u5b9e\u6027 \u8bc4\u4ef7 \u6307\u6807 \u5206\u6790 \u3002   \u9996\u5148 \u9700\u8981 \u5bf9 \u573a\u666f \u4e2d \u6dfb\u52a0 \u8f66\u8f86 \uff0c \u8fd0\u884c   generate _ traffic . py   \u811a\u672c \uff0c \u751f\u6210 \u8db3\u591f \u7684 \u8f66\u8f86 \u3002","title":"\u8def\u53e3 \u8bc4\u4ef7 \u6307\u6807 \u5206\u6790 \u8ba1\u7b97 ( HutbCarlaCity )"},{"location":"course/traffic_indicators/#_1","text":"argparser   =   argparse . ArgumentParser (   description = __ doc __ )   argparser . add _ argument (   ' -- host ' ,   metavar = ' H ' ,   default = ' 127.0 . 0.1 ' ,   # \u9ed8\u8ba4 ip   help = ' IP   of   the   host   server   ( default :   127.0 . 0.1 ) ' )   argparser . add _ argument (   ' - p ' ,   ' -- port ' ,   metavar = ' P ' ,   # \u7aef\u53e3 \u53e3\u53f7 \u7aef\u53e3\u53f7   default = 2000 ,   type = int ,   help = ' TCP   port   to   listen   to   ( default :   2000 ) ' )   args   =   argparser . parse _ args ( )   client   =   carla . Client ( args . host ,   args . port )   client . set _ timeout ( 10.0 )   #   \u8bbe\u7f6e \u8d85\u65f6   world   =   client . get _ world ( )   #   \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   \u5c06 \u8def\u53e3 \u5b9a\u4e49 \u4e3a \u4e00\u4e2a \u77e9\u5f62 \u533a\u57df \uff0c \u5728 Carla \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5f97\u5230 \u76f8\u5e94 \u5750\u6807   #   \u8def\u53e3 \u5750\u6807 ,   junctions   =   [   [ - 194 ,   - 372 ,   79 ,   - 34 ] ,   # \u6850\u6893 \u5761\u8def - \u4e8c\u73af \u897f\u4e8c\u73af \u8def\u53e3   [ 449 ,   381 ,   48 ,   - 87 ]   # \u6850\u6893 \u5761\u8def - \u671b\u5cb3 \u8def\u53e3   ]   #   \u7528\u4e8e \u8ddf\u8e2a \u5df2\u7ecf \u8ba1\u7b97 \u7684 \u8f66\u8f86 id \u4ee5\u53ca \u8fdb\u5165 \u7684 \u65f6\u95f4   counted _ vehicles   =   [   { } ,   { }   ]","title":"\u5b9a\u4e49 \u547d\u4ee4\u884c \u53c2\u6570 \u5e76 \u83b7\u53d6 \u4eff\u771f \u4e16\u754c \u5bf9\u8c61"},{"location":"course/traffic_indicators/#_2","text":"\u5b9a\u4e49 \u4fe9\u4e2a \u5168\u5c40 \u53d8\u91cf \u5168\u5c40\u53d8\u91cf   SATURATION   =   32   #   \u8def\u53e3 \u6700\u5927 \u5bb9\u91cf   DWELL _ TIME   =   50   #   50 \u79d2 \u540e \u8ba4\u4e3a \u8f66\u8f86 \u5df2 \u79bb\u5f00 \u8def\u53e3","title":"\u8ba1\u7b97 \u5bf9\u5e94 \u8def\u53e3 \u4ea4\u901a\u6d41\u91cf \u3001 \u8f66\u5747 \u5ef6\u8bef \u3001 \u9971\u548c\u5ea6 \u3001 \u6392\u961f \u957f\u5ea6"},{"location":"course/traffic_indicators/#get_traffic_flow","text":"def   get _ traffic _ flow ( world ,   junction ,   traffic _ flows ,   i ,   counted _ vehicles ) :   #   \u83b7\u53d6 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684 \u8f66\u8f86 \u5217\u8868   vehicle _ list   =   world . get _ actors ( ) . filter ( ' vehicle . * ' )   #   counted _ vehicles   =   { }   \u662f \u4e00\u4e2a \u5b57\u5178   current _ time   =   world . get _ snapshot ( ) . timestamp . elapsed _ seconds   #   \u904d\u5386 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684 \u8f66\u8f86   for   vehicle   in   vehicle _ list :   vehicle _ id   =   vehicle . id   #   \u8868\u793a \u8f66\u8f86 \u8fd8 \u6ca1 \u7ecf\u8fc7 \u8def\u53e3   if   vehicle _ id   not   in   counted _ vehicles :   #   \u83b7\u53d6 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u4fe1\u606f   location   =   vehicle . get _ location ( )   x   =   location . x   y   =   location . y   #   \u8f66\u8f86 \u7ecf\u8fc7 \u8def\u53e3   if   x   < =   junction [ 0 ]   and   x   > =   junction [ 1 ]   and   y   < =   junction [ 2 ]   and   y   > =   junction [ 3 ] :   #   \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u52a0 1   traffic _ flows [ i ]   =   traffic _ flows [ i ]   +   1   counted _ vehicles [ vehicle _ id ]   =   current _ time   #   \u79fb\u9664 \u79bb\u5f00 \u8def\u53e3 \u65f6\u95f4 \u8d85\u8fc7 dwell _ time \u7684 \u8f66\u8f86   vehicles _ to _ remove   =   [ vid   for   vid ,   enter _ time   in   counted _ vehicles . items ( )   if   current _ time   -   enter _ time   >   DWELL _ TIME ]   for   vehicle _ id   in   vehicles _ to _ remove :   del   counted _ vehicles [ vehicle _ id ]","title":"\u8def\u53e3 \u4ea4\u901a\u6d41\u91cf \u51fd\u6570 get _ traffic _ flow ( )"},{"location":"course/traffic_indicators/#saturation","text":"\u91c7\u7528   \u8def\u53e3 \u5b9e\u9645 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf / \u8def\u53e3 \u9053\u8def \u6700\u5927 \u6240 \u627f\u8f7d \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf   \u8ba1\u7b97   \u8def\u53e3 \u9971\u548c \u9971\u548c\u5ea6   # \u8ba1\u7b97 \u8def\u53e3 \u9971\u548c \u9971\u548c\u5ea6   def   saturation ( world , junctions , counted _ vehicles ) :   saturation _ degrees   =   [ 0 ,   0 ]   ave _ saturation   =   [ 0 ,   0 ]   #   \u6d41\u91cf   traffic _ flows   =   [ 0 ,   0 ]   #   \u7528\u4e8e \u8ddf\u8e2a \u5df2\u7ecf \u8ba1\u7b97 \u7684 \u8f66\u8f86 id \u4ee5\u53ca \u8fdb\u5165 \u7684 \u65f6\u95f4   queue _ length   =   [ 0 ,   0 ]   time _ tamp   =   0   while   True :   time _ tamp   + =   1   #   i \u8868\u793a \u7b2c i \u4e2a \u8def\u53e3   for   i   in   range ( len ( junctions ) ) :   get _ traffic _ flow ( world ,   junctions [ i ] ,   traffic _ flows ,   i ,   counted _ vehicles [ i ] )   saturation _ degrees [ i ]   =   traffic _ flows [ i ]   /   SATURATION   +   saturation _ degrees [ i ]   if   time _ tamp   = =   10000 :   for   i   in   range ( len ( junctions ) ) :   ave _ saturation [ i ]   =   saturation _ degrees [ i ]   /   10000   queue _ length [ i ]   =   ( traffic _ flows [ i ]   *   3 )   /   4   break   return   ave _ saturation","title":"\u8def\u53e3 \u9971\u548c\u5ea6 \u51fd\u6570 saturation ( )"},{"location":"course/traffic_indicators/#queue_lengths","text":"\u91c7\u7528   \u8def\u53e3 \u5b9e\u9645 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf * \u5e73\u5747 \u8f66\u8f86 \u957f\u5ea6   \u8ba1\u7b97   \u6392\u961f \u957f\u5ea6   # \u8ba1\u7b97 \u6392\u961f \u957f\u5ea6   def   queue _ lengths ( world , junctions , counted _ vehicles ) :   #   \u6d41\u91cf   traffic _ flows   =   [ 0 ,   0 ]   #   \u7528\u4e8e \u8ddf\u8e2a \u5df2\u7ecf \u8ba1\u7b97 \u7684 \u8f66\u8f86 id \u4ee5\u53ca \u8fdb\u5165 \u7684 \u65f6\u95f4   queue _ length   =   [ 0 ,   0 ]   time _ tamp   =   0   while   True :   time _ tamp   + =   1   #   i \u8868\u793a \u7b2c i \u4e2a \u8def\u53e3   for   i   in   range ( len ( junctions ) ) :   get _ traffic _ flow ( world ,   junctions [ i ] ,   traffic _ flows ,   i ,   counted _ vehicles [ i ] )   #   print ( saturation _ degrees )   #   1000 \u4e2a \u65f6\u95f4 \u6b65 \u62df\u4f5c 1 \u5929   #   print ( time _ tamp )   if   time _ tamp   = =   10000 :   for   i   in   range ( len ( junctions ) ) :   queue _ length [ i ]   =   ( traffic _ flows [ i ]   *   3 )   /   4   break   return   queue _ length","title":"\u6392\u961f \u957f\u5ea6 \u51fd\u6570 queue _ lengths ( )"},{"location":"course/traffic_indicators/#ave_delay","text":"\u91c7\u7528 \u4ee5\u4e0b \u8ba1\u7b97 \u516c\u5f0f \u8ba1\u7b97\u516c\u5f0f \u8fdb\u884c \u8ba1\u7b97 \uff1a   \u200b   \u5176\u4e2d   D   \u4e3a \u8def\u53e3 \u8f66\u5747 \u5ef6\u8bef \u53c2\u6570 \uff0c   C   \u4e3a \u8def\u53e3 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u914d\u65f6 \u603b \u65f6\u95f4 \uff0c   y   \u4e3a \u8def\u53e3 \u9971\u548c \u9971\u548c\u5ea6 \uff0c   T   \u4e3a \u5f53\u524d \u5206\u6790 \u65f6\u6bb5 \u7684 \u65f6\u957f \u3002   # \u5f97\u5230 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u914d\u65f6 \u4fe1\u606f   def   get _ traffic _ light ( world ,   light _ id ) :   traffic _ lights   =   world . get _ actors ( ) . filter ( ' traffic . traffic _ light ' )   total _ time   =   0   green _ time   =   0   for   traffic _ light   in   traffic _ lights :   if   traffic _ light . id   = =   light _ id :   red _ time   =   traffic _ light . get _ red _ time ( )   green _ time   =   traffic _ light . get _ green _ time ( )   yellow _ time   =   traffic _ light . get _ yellow _ time ( )   total _ time   =   red _ time   +   green _ time   +   yellow _ time   return   total _ time ,   green _ time   # \u8ba1\u7b97 \u5e73\u5747 \u8def\u53e3 \u8f66\u5747 \u5ef6\u8bef   def   ave _ delay ( world ,   light _ id ,   ave _ saturation ,   junctions ) :   vehicle _ ave _ delays   =   [ ]   total _ time ,   green _ time   =   get _ traffic _ light ( world ,   light _ id )   for   i   in   range ( len ( junctions ) ) :   vehicle _ ave _ delay   =   0.5   *   total _ time   *   ( 1 - green _ time   /   total _ time ) * * 2   /   ( 1   -   ave _ saturation [ i ] )   +   min ( 1 ,   ave _ saturation [ i ] )   *   2   vehicle _ ave _ delays . append ( vehicle _ ave _ delay )   return   vehicle _ ave _ delays","title":"\u8f66\u5747 \u5ef6\u8bef \u51fd\u6570 ave _ delay ( )"},{"location":"course/trajectory_tracking/","text":"\u8f68\u8ff9 \u8ddf\u8e2a   Drive . py   \u200b   \u672c \u793a\u4f8b \u4f7f\u7528   Carla   \u6a21\u62df \u6a21\u62df\u5668 \u6765 \u6267\u884c \u8f68\u8ff9 \u8ddf\u8e2a \u4efb\u52a1 \uff0c   Drive . py   \u4e3b\u8981 \u529f\u80fd \u5305\u62ec \u8fde\u63a5 CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3001 \u8bbe\u7f6e \u6a21\u62df \u73af\u5883 \u3001 \u751f\u6210 \u8f66\u8f86 \u3001 \u8bfb\u53d6 \u548c \u5904\u7406 \u8def\u5f84 \u70b9 \u6570\u636e \u3001 \u63a7\u5236 \u8f66\u8f86 \u8fd0\u52a8 \u3001 \u8bb0\u5f55 \u548c \u4fdd\u5b58 \u4eff\u771f \u7ed3\u679c \u4e0b\u9762 \u5bf9\u4e8e \u4e3b\u8981 \u51fd\u6570 \u8fdb\u884c \u4ecb\u7ecd \u3002   \u57fa\u4e8e   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \uff0c \u9996\u5148 \u9700\u8981 \u8fd0\u884c   generate _ traffic . py   \u3002   \u5b9a\u4e49 CARLA \u8bbe\u7f6e   \u521b\u5efa   Carla   \u7684 \u4e16\u754c \u8bbe\u7f6e \u5bf9\u8c61 \uff0c \u5e76 \u6839\u636e \u914d\u7f6e \u8bbe\u7f6e \u5929\u6c14 \u6761\u4ef6   # \u5b9a\u4e49 \u4e86 \u4e00\u4e9b \u5168\u5c40 \u53d8\u91cf \u5168\u5c40\u53d8\u91cf \u7528\u4e8e \u63a7\u5236 \u6a21\u62df \u53c2\u6570 \uff0c \u5982 \u8fed\u4ee3 \u6b21\u6570 \u3001 \u7b49\u5f85 \u65f6\u95f4 \u7b49\u5f85\u65f6\u95f4 \u3001 \u603b \u8fd0\u884c \u65f6\u95f4 \u3001 \u5929\u6c14 \u6761\u4ef6 \u7b49 \u3002   ITER _ FOR _ SIM _ TIMESTEP   =   10   WAIT _ TIME _ BEFORE _ START   =   5.00   TOTAL _ RUN _ TIME   =   200.00   TOTAL _ FRAME _ BUFFER   =   300   NUM _ PEDESTRIANS   =   0   NUM _ VEHICLES   =   2   SEED _ PEDESTRIANS   =   0   SEED _ VEHICLES   =   0   WEATHERID   =   {   \" DEFAULT \" :   0 ,   \" CLEARNOON \" :   1 ,   \" CLOUDYNOON \" :   2 ,   ...   }   SIMWEATHER   =   WEATHERID [ \" CLEARNOON \" ]   def   make _ carla _ settings ( ) :   settings   =   carla . WorldSettings (   synchronous _ mode = True ,   no _ rendering _ mode = False ,   fixed _ delta _ seconds = 0.02   )   weather   =   carla . WeatherParameters . ClearNoon   if   SIMWEATHER   = =   WEATHERID [ \" CLEARNOON \" ] :   weather   =   carla . WeatherParameters . ClearNoon   elif   SIMWEATHER   = =   WEATHERID [ \" CLOUDYNOON \" ] :   weather   =   carla . WeatherParameters . CloudyNoon   #   Add   other   weather   conditions   as   needed   return   settings ,   weather   \u8ba1\u65f6 \u8ba1\u65f6\u5668   Timer   \u4e3a \u4e00\u4e2a \u8ba1\u65f6 \u8ba1\u65f6\u5668 \u7c7b \uff0c \u7528\u4e8e \u6d4b\u91cf \u65f6\u95f4 \u95f4\u9694 \u548c \u8ba1\u7b97 \u6bcf\u79d2 \u7684 tick \u6570 \u3002   class   Timer ( object ) :   def   __ init __ ( self ,   period ) :   self . step   =   0   self ._ lap _ step   =   0   self ._ lap _ time   =   time . time ( )   self ._ period _ for _ lap   =   period   def   tick ( self ) :   self . step   + =   1   def   has _ exceeded _ lap _ period ( self ) :   return   self . elapsed _ seconds _ since _ lap ( )   > =   self ._ period _ for _ lap   def   lap ( self ) :   self ._ lap _ step   =   self . step   self ._ lap _ time   =   time . time ( )   def   ticks _ per _ second ( self ) :   return   float ( self . step   -   self ._ lap _ step )   /   self . elapsed _ seconds _ since _ lap ( )   def   elapsed _ seconds _ since _ lap ( self ) :   return   time . time ( )   -   self ._ lap _ time   \u83b7\u53d6 \u8f66\u8f86 \u4fe1\u606f   \u83b7\u53d6 \u8f66\u8f86 \u7684 \u5f53\u524d \u4f4d\u7f6e \u548c \u504f\u822a \u89d2   def   get _ current _ pose ( vehicle ) :   transform   =   vehicle . get _ transform ( )   x   =   transform . location . x   y   =   transform . location . y   yaw   =   math . radians ( transform . rotation . yaw )   return   ( x ,   y ,   yaw )   \u53d1\u9001 \u63a7\u5236 \u547d\u4ee4 \u7ed9 \u8f66\u8f86 \uff0c \u63a7\u5236 \u6cb9\u95e8 \u3001 \u5239\u8f66 \u3001 \u65b9\u5411 \u65b9\u5411\u76d8 \u7b49   def   send _ control _ command ( vehicle ,   throttle ,   steer ,   brake ,   hand _ brake = False ,   reverse = False ) :   control   =   carla . VehicleControl ( )   steer   =   np . fmax ( np . fmin ( steer ,   1.0 ) ,   - 1.0 )   throttle   =   np . fmax ( np . fmin ( throttle ,   1.0 ) ,   0 )   brake   =   np . fmax ( np . fmin ( brake ,   1.0 ) ,   0 )   control . steer   =   steer   control . throttle   =   throttle   control . brake   =   brake   control . hand _ brake   =   hand _ brake   control . reverse   =   reverse   vehicle . apply _ control ( control )   \u5c06 \u8f66\u8f86 \u7684 \u8f68\u8ff9 \u6570\u636e \u5199\u5165 CSV \u6587\u4ef6   def   write _ trajectory _ file ( x _ list ,   y _ list ,   v _ list ,   t _ list ,   vehicle _ id ) :   create _ controller _ output _ dir ( CONTROLLER _ OUTPUT _ FOLDER )   file _ name   =   os . path . join ( CONTROLLER _ OUTPUT _ FOLDER ,   f ' Trajectory _ { vehicle _ id } . csv ' )   with   open ( file _ name ,   ' w ' )   as   trajectory _ file :   for   i   in   range ( len ( x _ list ) ) :   trajectory _ file . write ( ' % 0.3 f ,   % 0.3 f ,   % 0.3 f ,   % 0.3 f \\ n '   %   ( t _ list [ i ] ,   x _ list [ i ] ,   y _ list [ i ] ,   v _ list [ i ] ) )   \u6267\u884c \u8f68\u8ff9 \u8ddf\u8e2a \u4efb\u52a1   \u6267\u884c \u8f68\u8ff9 \u8ddf\u8e2a \u4efb\u52a1 \uff0c \u5305\u62ec \u8fde\u63a5 CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3001 \u8bbe\u7f6e \u6a21\u62df \u73af\u5883 \u3001 \u751f\u6210 \u8f66\u8f86 \u7b49   def   exec _ waypoint _ nav _ demo ( args ) :   client   =   carla . Client ( args . host ,   args . port )   client . set _ timeout ( 10.0 )   world   =   client . get _ world ( )   settings ,   weather   =   make _ carla _ settings ( )   world . apply _ settings ( settings )   world . set _ weather ( weather )   blueprint _ library   =   world . get _ blueprint _ library ( )   vehicle _ bp   =   blueprint _ library . filter ( ' vehicle . audi . tt ' ) [ 0 ]   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   vehicles   =   [ ]   vehicle _ 1   =   world . try _ spawn _ actor ( vehicle _ bp ,   spawn _ points [ 216 ] )   vehicle _ 2   =   world . try _ spawn _ actor ( vehicle _ bp ,   spawn _ points [ 11 ] )   vehicles . append ( vehicle _ 1 )   vehicles . append ( vehicle _ 2 )   \u8fd0\u884c \u7ed3\u679c","title":"\u8f68\u8ff9 \u8ddf\u8e2a     Drive . py"},{"location":"course/trajectory_tracking/#drivepy","text":"\u200b   \u672c \u793a\u4f8b \u4f7f\u7528   Carla   \u6a21\u62df \u6a21\u62df\u5668 \u6765 \u6267\u884c \u8f68\u8ff9 \u8ddf\u8e2a \u4efb\u52a1 \uff0c   Drive . py   \u4e3b\u8981 \u529f\u80fd \u5305\u62ec \u8fde\u63a5 CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3001 \u8bbe\u7f6e \u6a21\u62df \u73af\u5883 \u3001 \u751f\u6210 \u8f66\u8f86 \u3001 \u8bfb\u53d6 \u548c \u5904\u7406 \u8def\u5f84 \u70b9 \u6570\u636e \u3001 \u63a7\u5236 \u8f66\u8f86 \u8fd0\u52a8 \u3001 \u8bb0\u5f55 \u548c \u4fdd\u5b58 \u4eff\u771f \u7ed3\u679c \u4e0b\u9762 \u5bf9\u4e8e \u4e3b\u8981 \u51fd\u6570 \u8fdb\u884c \u4ecb\u7ecd \u3002   \u57fa\u4e8e   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \uff0c \u9996\u5148 \u9700\u8981 \u8fd0\u884c   generate _ traffic . py   \u3002","title":"\u8f68\u8ff9 \u8ddf\u8e2a     Drive . py"},{"location":"course/trajectory_tracking/#carla","text":"\u521b\u5efa   Carla   \u7684 \u4e16\u754c \u8bbe\u7f6e \u5bf9\u8c61 \uff0c \u5e76 \u6839\u636e \u914d\u7f6e \u8bbe\u7f6e \u5929\u6c14 \u6761\u4ef6   # \u5b9a\u4e49 \u4e86 \u4e00\u4e9b \u5168\u5c40 \u53d8\u91cf \u5168\u5c40\u53d8\u91cf \u7528\u4e8e \u63a7\u5236 \u6a21\u62df \u53c2\u6570 \uff0c \u5982 \u8fed\u4ee3 \u6b21\u6570 \u3001 \u7b49\u5f85 \u65f6\u95f4 \u7b49\u5f85\u65f6\u95f4 \u3001 \u603b \u8fd0\u884c \u65f6\u95f4 \u3001 \u5929\u6c14 \u6761\u4ef6 \u7b49 \u3002   ITER _ FOR _ SIM _ TIMESTEP   =   10   WAIT _ TIME _ BEFORE _ START   =   5.00   TOTAL _ RUN _ TIME   =   200.00   TOTAL _ FRAME _ BUFFER   =   300   NUM _ PEDESTRIANS   =   0   NUM _ VEHICLES   =   2   SEED _ PEDESTRIANS   =   0   SEED _ VEHICLES   =   0   WEATHERID   =   {   \" DEFAULT \" :   0 ,   \" CLEARNOON \" :   1 ,   \" CLOUDYNOON \" :   2 ,   ...   }   SIMWEATHER   =   WEATHERID [ \" CLEARNOON \" ]   def   make _ carla _ settings ( ) :   settings   =   carla . WorldSettings (   synchronous _ mode = True ,   no _ rendering _ mode = False ,   fixed _ delta _ seconds = 0.02   )   weather   =   carla . WeatherParameters . ClearNoon   if   SIMWEATHER   = =   WEATHERID [ \" CLEARNOON \" ] :   weather   =   carla . WeatherParameters . ClearNoon   elif   SIMWEATHER   = =   WEATHERID [ \" CLOUDYNOON \" ] :   weather   =   carla . WeatherParameters . CloudyNoon   #   Add   other   weather   conditions   as   needed   return   settings ,   weather","title":"\u5b9a\u4e49 CARLA \u8bbe\u7f6e"},{"location":"course/trajectory_tracking/#_1","text":"Timer   \u4e3a \u4e00\u4e2a \u8ba1\u65f6 \u8ba1\u65f6\u5668 \u7c7b \uff0c \u7528\u4e8e \u6d4b\u91cf \u65f6\u95f4 \u95f4\u9694 \u548c \u8ba1\u7b97 \u6bcf\u79d2 \u7684 tick \u6570 \u3002   class   Timer ( object ) :   def   __ init __ ( self ,   period ) :   self . step   =   0   self ._ lap _ step   =   0   self ._ lap _ time   =   time . time ( )   self ._ period _ for _ lap   =   period   def   tick ( self ) :   self . step   + =   1   def   has _ exceeded _ lap _ period ( self ) :   return   self . elapsed _ seconds _ since _ lap ( )   > =   self ._ period _ for _ lap   def   lap ( self ) :   self ._ lap _ step   =   self . step   self ._ lap _ time   =   time . time ( )   def   ticks _ per _ second ( self ) :   return   float ( self . step   -   self ._ lap _ step )   /   self . elapsed _ seconds _ since _ lap ( )   def   elapsed _ seconds _ since _ lap ( self ) :   return   time . time ( )   -   self ._ lap _ time","title":"\u8ba1\u65f6\u5668"},{"location":"course/trajectory_tracking/#_2","text":"\u83b7\u53d6 \u8f66\u8f86 \u7684 \u5f53\u524d \u4f4d\u7f6e \u548c \u504f\u822a \u89d2   def   get _ current _ pose ( vehicle ) :   transform   =   vehicle . get _ transform ( )   x   =   transform . location . x   y   =   transform . location . y   yaw   =   math . radians ( transform . rotation . yaw )   return   ( x ,   y ,   yaw )   \u53d1\u9001 \u63a7\u5236 \u547d\u4ee4 \u7ed9 \u8f66\u8f86 \uff0c \u63a7\u5236 \u6cb9\u95e8 \u3001 \u5239\u8f66 \u3001 \u65b9\u5411 \u65b9\u5411\u76d8 \u7b49   def   send _ control _ command ( vehicle ,   throttle ,   steer ,   brake ,   hand _ brake = False ,   reverse = False ) :   control   =   carla . VehicleControl ( )   steer   =   np . fmax ( np . fmin ( steer ,   1.0 ) ,   - 1.0 )   throttle   =   np . fmax ( np . fmin ( throttle ,   1.0 ) ,   0 )   brake   =   np . fmax ( np . fmin ( brake ,   1.0 ) ,   0 )   control . steer   =   steer   control . throttle   =   throttle   control . brake   =   brake   control . hand _ brake   =   hand _ brake   control . reverse   =   reverse   vehicle . apply _ control ( control )   \u5c06 \u8f66\u8f86 \u7684 \u8f68\u8ff9 \u6570\u636e \u5199\u5165 CSV \u6587\u4ef6   def   write _ trajectory _ file ( x _ list ,   y _ list ,   v _ list ,   t _ list ,   vehicle _ id ) :   create _ controller _ output _ dir ( CONTROLLER _ OUTPUT _ FOLDER )   file _ name   =   os . path . join ( CONTROLLER _ OUTPUT _ FOLDER ,   f ' Trajectory _ { vehicle _ id } . csv ' )   with   open ( file _ name ,   ' w ' )   as   trajectory _ file :   for   i   in   range ( len ( x _ list ) ) :   trajectory _ file . write ( ' % 0.3 f ,   % 0.3 f ,   % 0.3 f ,   % 0.3 f \\ n '   %   ( t _ list [ i ] ,   x _ list [ i ] ,   y _ list [ i ] ,   v _ list [ i ] ) )","title":"\u83b7\u53d6 \u8f66\u8f86 \u4fe1\u606f"},{"location":"course/trajectory_tracking/#_3","text":"\u6267\u884c \u8f68\u8ff9 \u8ddf\u8e2a \u4efb\u52a1 \uff0c \u5305\u62ec \u8fde\u63a5 CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3001 \u8bbe\u7f6e \u6a21\u62df \u73af\u5883 \u3001 \u751f\u6210 \u8f66\u8f86 \u7b49   def   exec _ waypoint _ nav _ demo ( args ) :   client   =   carla . Client ( args . host ,   args . port )   client . set _ timeout ( 10.0 )   world   =   client . get _ world ( )   settings ,   weather   =   make _ carla _ settings ( )   world . apply _ settings ( settings )   world . set _ weather ( weather )   blueprint _ library   =   world . get _ blueprint _ library ( )   vehicle _ bp   =   blueprint _ library . filter ( ' vehicle . audi . tt ' ) [ 0 ]   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   vehicles   =   [ ]   vehicle _ 1   =   world . try _ spawn _ actor ( vehicle _ bp ,   spawn _ points [ 216 ] )   vehicle _ 2   =   world . try _ spawn _ actor ( vehicle _ bp ,   spawn _ points [ 11 ] )   vehicles . append ( vehicle _ 1 )   vehicles . append ( vehicle _ 2 )","title":"\u6267\u884c \u8f68\u8ff9 \u8ddf\u8e2a \u4efb\u52a1"},{"location":"course/trajectory_tracking/#_4","text":"","title":"\u8fd0\u884c \u7ed3\u679c"},{"location":"course/visualization/","text":"\u4ea4\u901a \u6570\u636e \u53ef\u89c6 \u53ef\u89c6\u5316 \u5206\u6790   \u7b80\u4ecb   \u4ea4\u901a \u6570\u636e \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u5206\u6790 \u662f \u901a\u8fc7 \u4f7f\u7528 \u56fe\u8868 \u548c \u56fe\u5f62 \u6765 \u7406\u89e3 \u548c \u89e3\u91ca \u4ea4\u901a \u6570\u636e \uff0c \u4ece\u800c \u63d0\u4f9b \u5bf9 \u4ea4\u901a \u6a21\u5f0f \u548c \u884c\u4e3a \u7684 \u6d1e\u5bdf \uff0c \u4ea4\u901a \u7cfb\u7edf \u4ea4\u901a\u7cfb\u7edf \u6570\u636e \u6765\u6e90 \u5982\u4e0b \uff1a   \u4ea4\u901a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e   GPS \u6570\u636e   \u53ef\u89c6 \u53ef\u89c6\u5316 \u754c\u9762   \u672c \u7cfb\u7edf \u57fa\u4e8e   carla \u4eff\u771f \u5e73\u53f0   \u5b9e\u65f6 \u6536\u96c6 \u8f66\u8f86 \u4eff\u771f \u884c\u9a76 \u6570\u636e \u8fdb\u884c \u76f8\u5173 \u4ea4\u901a \u6570\u636e \u6307\u6807 \u7684 \u8ba1\u7b97 \u4e0e \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u8def\u53e3 \u9971\u548c \u9971\u548c\u5ea6 \u6392\u884c   \u8def\u53e3 \u9971\u548c \u9971\u548c\u5ea6 \u662f \u6307 \u4e00\u65f6 \u65f6\u95f4 \u4e00\u65f6\u95f4 \u67d0\u4e00\u65f6\u95f4 \u6bb5 \u5185 \uff0c \u4ea4\u901a \u8def\u53e3 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u4e0e\u5176 \u6700\u5927 \u901a\u884c \u80fd\u529b \u4e4b \u6bd4 \u3002 \u5b83 \u53cd\u6620 \u4e86 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u5bf9 \u8def\u53e3 \u627f\u8f7d \u80fd\u529b \u627f\u8f7d\u80fd\u529b \u7684 \u5360\u7528 \u7a0b\u5ea6 \u3002 \u672c \u7cfb\u7edf \u7ed9\u51fa \u4e86 \u573a\u666f \u4e2d \u9053\u8def \u7684 \u9971\u548c \u9971\u548c\u5ea6 \u6392\u884c \u53ef\u89c6 \u53ef\u89c6\u5316 \u5982\u4e0b \uff1a   \u8def\u53e3 \u8bc4\u4ef7 \u6307\u6807   \u672c \u7cfb\u7edf \u4ece \u8f66\u8f86 \u901f\u5ea6 \u3001 \u9053\u8def \u8bc4\u4ef7 \u3001 \u8def\u53e3 \u505c\u8f66 \u901f\u5ea6 \u3001 \u6392\u961f \u957f\u5ea6 \u3001 \u8f66\u5747 \u5ef6\u8bef \u53ca \u4e00\u5468 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u60c5\u51b5 \u6765 \u7efc\u5408 \u505a\u51fa \u5bf9 \u9053\u8def \u62e5\u5835 \u60c5\u51b5 \u8fdb\u884c \u8bc4\u4ef7 \uff0c \u5e76 \u5bf9 \u672a\u6765 24 \u5c0f\u65f6 \u62e5\u5835 \u8d8b\u52bf \u505a\u51fa \u9884\u6d4b   \u4eff\u771f \u6d41\u91cf \u548c \u771f\u5b9e \u6d41\u91cf \u5bf9\u6bd4   \u672c \u7cfb\u7edf \u5c06 \u4eff\u771f \u6d41\u91cf \u4e0e \u5b9e\u9645 \u771f\u5b9e \u6d41\u91cf \u8fdb\u884c \u5bf9\u6bd4 \uff0c \u4ee5 \u63a2\u7d22 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3001 \u62e5\u5835 \u72b6\u51b5 \u7b49 \u771f\u5b9e \u8d8b\u52bf \u4e0e \u89c4\u5f8b \uff0c \u5e76 \u8fdb\u884c \u540e\u7eed \u7684 \u573a\u666f \u4f18\u5316 \u53ca \u6539\u8fdb \u7b56\u7565 \u7684 \u9a8c\u8bc1 \u5b9e\u9a8c \u3002","title":"\u4ea4\u901a \u6570\u636e \u53ef\u89c6\u5316 \u5206\u6790"},{"location":"course/visualization/#_1","text":"","title":"\u4ea4\u901a \u6570\u636e \u53ef\u89c6\u5316 \u5206\u6790"},{"location":"course/visualization/#_2","text":"\u4ea4\u901a \u6570\u636e \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u5206\u6790 \u662f \u901a\u8fc7 \u4f7f\u7528 \u56fe\u8868 \u548c \u56fe\u5f62 \u6765 \u7406\u89e3 \u548c \u89e3\u91ca \u4ea4\u901a \u6570\u636e \uff0c \u4ece\u800c \u63d0\u4f9b \u5bf9 \u4ea4\u901a \u6a21\u5f0f \u548c \u884c\u4e3a \u7684 \u6d1e\u5bdf \uff0c \u4ea4\u901a \u7cfb\u7edf \u4ea4\u901a\u7cfb\u7edf \u6570\u636e \u6765\u6e90 \u5982\u4e0b \uff1a   \u4ea4\u901a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e   GPS \u6570\u636e","title":"\u7b80\u4ecb"},{"location":"course/visualization/#_3","text":"\u672c \u7cfb\u7edf \u57fa\u4e8e   carla \u4eff\u771f \u5e73\u53f0   \u5b9e\u65f6 \u6536\u96c6 \u8f66\u8f86 \u4eff\u771f \u884c\u9a76 \u6570\u636e \u8fdb\u884c \u76f8\u5173 \u4ea4\u901a \u6570\u636e \u6307\u6807 \u7684 \u8ba1\u7b97 \u4e0e \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002","title":"\u53ef\u89c6\u5316 \u754c\u9762"},{"location":"course/visualization/#_4","text":"\u8def\u53e3 \u9971\u548c \u9971\u548c\u5ea6 \u662f \u6307 \u4e00\u65f6 \u65f6\u95f4 \u4e00\u65f6\u95f4 \u67d0\u4e00\u65f6\u95f4 \u6bb5 \u5185 \uff0c \u4ea4\u901a \u8def\u53e3 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u4e0e\u5176 \u6700\u5927 \u901a\u884c \u80fd\u529b \u4e4b \u6bd4 \u3002 \u5b83 \u53cd\u6620 \u4e86 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u5bf9 \u8def\u53e3 \u627f\u8f7d \u80fd\u529b \u627f\u8f7d\u80fd\u529b \u7684 \u5360\u7528 \u7a0b\u5ea6 \u3002 \u672c \u7cfb\u7edf \u7ed9\u51fa \u4e86 \u573a\u666f \u4e2d \u9053\u8def \u7684 \u9971\u548c \u9971\u548c\u5ea6 \u6392\u884c \u53ef\u89c6 \u53ef\u89c6\u5316 \u5982\u4e0b \uff1a","title":"\u8def\u53e3 \u9971\u548c\u5ea6 \u6392\u884c"},{"location":"course/visualization/#_5","text":"\u672c \u7cfb\u7edf \u4ece \u8f66\u8f86 \u901f\u5ea6 \u3001 \u9053\u8def \u8bc4\u4ef7 \u3001 \u8def\u53e3 \u505c\u8f66 \u901f\u5ea6 \u3001 \u6392\u961f \u957f\u5ea6 \u3001 \u8f66\u5747 \u5ef6\u8bef \u53ca \u4e00\u5468 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u60c5\u51b5 \u6765 \u7efc\u5408 \u505a\u51fa \u5bf9 \u9053\u8def \u62e5\u5835 \u60c5\u51b5 \u8fdb\u884c \u8bc4\u4ef7 \uff0c \u5e76 \u5bf9 \u672a\u6765 24 \u5c0f\u65f6 \u62e5\u5835 \u8d8b\u52bf \u505a\u51fa \u9884\u6d4b","title":"\u8def\u53e3 \u8bc4\u4ef7 \u6307\u6807"},{"location":"course/visualization/#_6","text":"\u672c \u7cfb\u7edf \u5c06 \u4eff\u771f \u6d41\u91cf \u4e0e \u5b9e\u9645 \u771f\u5b9e \u6d41\u91cf \u8fdb\u884c \u5bf9\u6bd4 \uff0c \u4ee5 \u63a2\u7d22 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3001 \u62e5\u5835 \u72b6\u51b5 \u7b49 \u771f\u5b9e \u8d8b\u52bf \u4e0e \u89c4\u5f8b \uff0c \u5e76 \u8fdb\u884c \u540e\u7eed \u7684 \u573a\u666f \u4f18\u5316 \u53ca \u6539\u8fdb \u7b56\u7565 \u7684 \u9a8c\u8bc1 \u5b9e\u9a8c \u3002","title":"\u4eff\u771f \u6d41\u91cf \u548c \u771f\u5b9e \u6d41\u91cf \u5bf9\u6bd4"},{"location":"demo/boost_python/","text":"VS2019 \u8c03\u7528 boost . Python   \u751f\u6210 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6   \u65b0\u5efa   Cmake   \u5de5\u7a0b \uff1b   \u8f93\u5165 \u4ee5\u4e0b \u4ee3\u7801 \uff1a   # include   < boost / python . hpp >   # include   < boost / python / module . hpp >   # include   < boost / python / def . hpp >   # include   < boost / python / to _ python _ converter . hpp >   # include   < iostream >   using   namespace   std ;   void   dummyFunc ( )   {   cout   < <   \" call   OK ! \"   < <   endl ;   }   int   main ( )   {   dummyFunc ( ) ;   return   0 ;   }   \u5728   CMakeLists . txt   \u4e2d \u6dfb\u52a0 \u5934 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55 \u548c \u5e93 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55   #   \u6dfb\u52a0 \u5934 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55   include _ directories ( \" D : / work / workspace / carla / Build / boost - 1.80 . 0 - install / include \" )   include _ directories ( \" C : / Users / Administrator / AppData / Local / Programs / Python / Python37 / include \" )   #   \u6dfb\u52a0 \u5e93 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55   link _ directories ( \" C : / Users / Administrator / AppData / Local / Programs / Python / Python37 / libs \" )   #   \u8fd8\u662f \u7f3a\u5c11   libboost _ python37 - vc142 - mt - gd - x64 - 1 _ 80 . lib   link _ directories ( \" D : / work / workspace / carla / Build / boost - 1.80 . 0 - install / lib _ no _ prefix \" )   \u5230 boost \u5b89\u88c5 \u76ee\u5f55 \u4e0b \uff0c \u8fdb\u5165   lib \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \uff0c \u627e\u5230 \u524d\u7f00 \u662f   libboost _ python37 - vc142 - mt - x64 - 1 _ 80 . lib   \u6587\u4ef6 \uff08 \u524d\u7f00 \u6709 lib \uff09 \uff0c \u5c06 \u5176 \u524d\u7f00 \u7684 lib \u5220\u9664 \u5373\u53ef \uff08 \u5373 \u547d\u540d \u91cd\u547d\u540d \u4e3a   boost _ python37 - vc142 - mt - x64 - 1 _ 80 . lib   \uff09 \u3002   \u751f\u6210 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c \u4f1a \u751f\u6210 exe \u6587\u4ef6 \uff0c \u5982\u679c \u4e0d \u53ef\u4ee5 \u5728 vs \u4e2d \u76f4\u63a5 \u6267\u884c \uff0c \u5c06 \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u7684   \u5f53\u524d \u6587\u6863   \u6539\u4e3a   * . exe   \u3002   \u751f\u6210 Python \u8c03\u7528 \u7684 \u5e93   \u65b0\u5efa   hello _ exe . cpp   \uff0c \u6ce8\u610f \u6587\u4ef6 \u6587\u4ef6\u540d \u5fc5\u987b \u4e3a \u6a21\u5757 \u540d \uff1a   / /   \u53c2\u8003 \uff1a https : / / developer . aliyun . com / article / 1260043   / /   \u5f53 \u5f15\u5165   # include   < boost / python / xxx >   \u65f6 \uff0c Boost   \u4f1a \u9ed8\u8ba4 \u94fe\u63a5   boost _ python   \u52a8\u6001 \u94fe\u63a5 \u94fe\u63a5\u5e93 \u52a8\u6001\u94fe\u63a5\u5e93 \uff0c   / /   \u5982\u679c \u6211\u4eec \u60f3\u8981 \u94fe\u63a5 \u9759\u6001 \u94fe\u63a5 \u94fe\u63a5\u5e93 \uff0c \u5c31 \u9700\u8981 \u5728   include   \u4e4b\u524d \u52a0\u4e0a   # define   BOOST _ PYTHON _ STATIC _ LIB   / /   \u6307\u5b9a \u94fe\u63a5   boost _ python   \u7684 \u9759\u6001 \u5e93 \uff0c \u800c \u4e0d\u662f \u9ed8\u8ba4 \u7684 \u52a8\u6001 \u5e93 \u3002   # define   BOOST _ PYTHON _ STATIC _ LIB   # include   < boost / python . hpp >   # include   < boost / python / module . hpp >   # include   < boost / python / def . hpp >   # include   < boost / python / to _ python _ converter . hpp >   # include   < iostream >   using   namespace   std ;   char   const *   greet ( )   {   return   \" hello ,   world \" ;   }   BOOST _ PYTHON _ MODULE ( hello _ ext )   {   using   namespace   boost : : python ;   def ( \" greet \" ,   greet ) ;   }   \u65b0\u5efa   CMakeLists . txt   \uff1a   cmake _ minimum _ required   ( VERSION   3.8 )   #   \u6dfb\u52a0 \u5934 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55   include _ directories ( \" D : / work / workspace / carla / Build / boost - 1.80 . 0 - install / include \" )   include _ directories ( \" C : / Users / Administrator / AppData / Local / Programs / Python / Python37 / include \" )   #   \u6dfb\u52a0 \u5e93 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55   link _ directories ( \" C : / Users / Administrator / AppData / Local / Programs / Python / Python37 / libs \" )   #   \u8fd8\u662f \u7f3a\u5c11   libboost _ python37 - vc142 - mt - gd - x64 - 1 _ 80 . lib   link _ directories ( \" D : / work / workspace / carla / Build / boost - 1.80 . 0 - install / lib _ no _ prefix \" )   #   \u5c06 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6dfb\u52a0 \u5230 \u6b64 \u9879\u76ee \u7684 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u3002   #   add _ executable   ( boost _ demo   \" boost _ demo . cpp \"   \" boost _ demo . h \" )   #   #   \u751f\u6210 \u52a8\u6001 \u5e93 ( \u5171\u4eab \u5e93 ) \u5171\u4eab \u5e93\u5219 \u53ea\u6709 \u4e00\u4e2a \u526f\u672c   add _ library ( hello _ ext   SHARED   hello _ ext . cpp )   # ( boost _ demo   \u662f \u5e93 \u7684 \u540d\u5b57 ) \uff0c \u8fd9 \u6761 \u547d\u4ee4 \u544a\u8bc9 cmake \uff0c \u6211\u4eec \u60f3 \u628a   boost _ demo . cpp \u7f16\u8bd1 \u8bd1\u6210 \u7f16\u8bd1\u6210 \u4e00\u4e2a \u53eb\u4f5c \u201c boost _ demo \u201d \u7684 \u5e93 \u3002   set _ target _ properties ( hello _ ext   PROPERTIES   SUFFIX   \" . pyd \" )   \u6784\u5efa \u540e \u4f1a \u751f\u6210   hello _ ext . pyd   \u3002   \u5728 \u751f\u6210 \u7684   . pyd   \u76ee\u5f55 \u4e0b \u65b0\u5efa   hello . py   import   hello _ ext   print ( hello _ ext . greet ( ) )   \u4ece Python \u4e2d \u8c03\u8bd5 * . cpp   \u5728 \u539f\u59cb . py \u811a\u672c \u4e2d \u6dfb\u52a0 \u6253\u5370 \u8fdb\u7a0b \u53f7 \u7684 \u4ee3\u7801 \uff0c \u5e76 \u4f7f \u8c03\u8bd5 \u505c\u6b62 \u4e8e cpp \u51fd\u6570 \u8c03\u7528 \u51fd\u6570\u8c03\u7528 \u4e4b\u524d \u3002   import   os   #   \u83b7\u53d6 \u5f53\u524d \u8fdb\u7a0b ID \uff08 \u4fbf\u4e8e \u8c03\u8bd5 \uff09   process _ id   =   os . getpid ( )   print ( \" Current   process   id   is :   \" ,   process _ id )   import   hello _ ext   print ( hello _ ext . greet ( ) )   \u5728 visual   studio   \u4e2d \u6dfb\u52a0 \u65ad\u70b9 \uff0c \u5e76 \u9644\u7740 \u5230 \u7b2c 1 \u6b65 \u7684 \u8fdb\u7a0b \u4e2d \u3002   \u5728   * . py   \u4e2d \u7ee7\u7eed \u6267\u884c \u7ee7\u7eed\u6267\u884c \uff0c \u4f1a \u5728 vs \u4e2d \u6682\u505c \u3002   whl \u5b89\u88c5 \u5b89\u88c5\u5305 \u7684 \u8c03\u5f0f   \u53c2\u8003   \u94fe\u63a5   \uff0c \u8f6c \u81f3 \u76ee\u5f55   carla \\ PythonAPI \\ carla   \uff0c \u8fd0\u884c   pip   install   - e   .   \uff0c \u5728   Python37 \\ Lib \\ site - packages \\ easy - install . pth   \u6587\u4ef6 \u4e2d \u751f\u6210 \u6307\u5411 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7684 \u8def\u5f84 \u3002   - e   \u6216   -- editable   \uff1a \u8fd9\u4e2a \u9009\u9879 \u8868\u793a \u4ee5 \u201c \u53ef \u7f16\u8f91 \u201d \u6a21\u5f0f \u5b89\u88c5 \u5b89\u88c5\u5305 \u3002 \u5728 \u8fd9\u79cd \u6a21\u5f0f \u4e0b \uff0c \u5305 \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u53ef\u4ee5 \u5728 \u672c\u5730 \u8fdb\u884c \u4fee\u6539 \uff0c \u5e76\u4e14 \u8fd9\u4e9b \u4fee\u6539 \u4f1a \u7acb\u5373 \u53cd\u6620 \u5230 \u7cfb\u7edf \u4e2d\u8be5 \u5305 \u7684 \u884c\u4e3a \u4e0a \uff0c \u65e0\u9700 \u91cd\u65b0 \u65b0\u5b89 \u5b89\u88c5 \u91cd\u65b0\u5b89\u88c5 \u3002 \u8fd9 \u5bf9\u4e8e \u5f00\u53d1 \u548c \u8c03\u8bd5 \u975e\u5e38 \u6709\u7528 \u3002   \u5728 \u5f53\u524d \u76ee\u5f55 \u5f53\u524d\u76ee\u5f55 \u4e0b \u5b89\u88c5 \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff0c \u5e76 \u521b\u5efa \u4e00\u4e2a \u8f6f \u8fde\u63a5 \u5f15\u7528 \u8be5\u5305 \uff08 \u800c \u4e0d\u662f \u5c06 \u5305 \u590d\u5236 \u590d\u5236\u5230   site - packages   \u76ee\u5f55 \u4e0b \uff09 \u3002 \u8fd9\u4e2a \u8f6f \u8fde\u63a5 \u662f \u4e00\u4e2a \u6307\u5411 \u5305 \u4ee3\u7801 \u7684 \u7b26\u53f7 \u94fe\u63a5 \uff0c \u5b83 \u53ef\u4ee5 \u4f7f\u5305 \u7684 \u4fee\u6539 \u76f4\u63a5 \u53cd\u6620 \u5230 \u5f53\u524d \u76ee\u5f55 \u5f53\u524d\u76ee\u5f55 \u4e0b \u7684 \u9879\u76ee \u4e2d \uff0c \u4ece\u800c \u65b9\u4fbf \u5f00\u53d1 \u548c \u8c03\u8bd5 \u3002   \u89e3\u91ca   setup . py   \u53c2\u6570   \u8bf4\u660e   ext _ modules   \u7528\u4e8e \u6784\u5efa   C++   \u6269\u5c55 \u6269\u5c55 \u5305 \uff0c \u5176\u662f   Extension   \u5b9e\u4f8b \u7684 \u5217\u8868 \uff0c \u6bcf \u4e00\u4e2a   Extension   \u5b9e\u4f8b \u63cf\u8ff0 \u4e86 \u4e00\u4e2a \u72ec\u7acb \u7684 \u6269\u5c55 \u6a21\u5757 \uff0c \u6269\u5c55 \u6a21\u5757 \u53ef\u4ee5 \u8bbe\u7f6e \u6269\u5c55 \u5305\u540d \u3001 \u6587\u4ef6 \u6e90\u6587\u4ef6   source   \u3001 \u6587\u4ef6 \u5934\u6587\u4ef6   include _ dirs   \u3001 \u94fe\u63a5 \u94fe\u63a5\u5e93 \u53ca\u5176 \u8def\u5f84   library _ dirs   \u3001 \u7f16\u8bd1 \u53c2\u6570   extra _ compile _ args   \u3001 \u94fe\u63a5 \u53c2\u6570   extra _ compile _ args   \u3001 \u4f9d\u8d56   depends   \u7b49 \u3002   package _ dir = { ' ' :   ' source ' }   \u201c root   package \u201d   \u4e2d \u7684 \u6a21\u5757 \u90fd \u5728   source   \u76ee\u5f55 \u4e2d   packages = [ ' carla ' ]   \u9700\u8981 \u5904\u7406 \u7684 \u5305 \u76ee\u5f55 \uff08 \u5305\u542b \u4e86 \u4e00\u4e9b . cpp \u6587\u4ef6 \uff09   GLI   \u5168\u5c40 \u89e3\u91ca \u91ca\u5668 \u89e3\u91ca\u5668 \u9501   \uff08 GLI , Global   Interpreter   Lock \uff09 \uff1a \u5728 \u8c03\u7528 \u5916\u90e8 \u4ee3\u7801 \uff08 \u5982 C \u3001 C++ \u6269\u5c55 \u51fd\u6570 \uff09 \u7684 \u65f6\u5019 \uff0c GIL \u5c06\u4f1a \u88ab \u9501\u5b9a \uff0c \u76f4\u5230 \u8fd9\u4e2a \u51fd\u6570 \u7ed3\u675f \u4e3a\u6b62 \uff08 \u7531\u4e8e \u671f\u95f4 \u6ca1\u6709 python \u7684 \u5b57\u8282 \u7801 \u8fd0\u884c \uff0c \u6240\u4ee5 \u4e0d\u4f1a \u505a \u7ebf\u7a0b \u5207\u6362 \uff09 \u3002","title":"Boost   python"},{"location":"demo/boost_python/#vs2019boostpython","text":"","title":"VS2019 \u8c03\u7528 boost . Python"},{"location":"demo/boost_python/#_1","text":"\u65b0\u5efa   Cmake   \u5de5\u7a0b \uff1b   \u8f93\u5165 \u4ee5\u4e0b \u4ee3\u7801 \uff1a   # include   < boost / python . hpp >   # include   < boost / python / module . hpp >   # include   < boost / python / def . hpp >   # include   < boost / python / to _ python _ converter . hpp >   # include   < iostream >   using   namespace   std ;   void   dummyFunc ( )   {   cout   < <   \" call   OK ! \"   < <   endl ;   }   int   main ( )   {   dummyFunc ( ) ;   return   0 ;   }   \u5728   CMakeLists . txt   \u4e2d \u6dfb\u52a0 \u5934 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55 \u548c \u5e93 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55   #   \u6dfb\u52a0 \u5934 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55   include _ directories ( \" D : / work / workspace / carla / Build / boost - 1.80 . 0 - install / include \" )   include _ directories ( \" C : / Users / Administrator / AppData / Local / Programs / Python / Python37 / include \" )   #   \u6dfb\u52a0 \u5e93 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55   link _ directories ( \" C : / Users / Administrator / AppData / Local / Programs / Python / Python37 / libs \" )   #   \u8fd8\u662f \u7f3a\u5c11   libboost _ python37 - vc142 - mt - gd - x64 - 1 _ 80 . lib   link _ directories ( \" D : / work / workspace / carla / Build / boost - 1.80 . 0 - install / lib _ no _ prefix \" )   \u5230 boost \u5b89\u88c5 \u76ee\u5f55 \u4e0b \uff0c \u8fdb\u5165   lib \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \uff0c \u627e\u5230 \u524d\u7f00 \u662f   libboost _ python37 - vc142 - mt - x64 - 1 _ 80 . lib   \u6587\u4ef6 \uff08 \u524d\u7f00 \u6709 lib \uff09 \uff0c \u5c06 \u5176 \u524d\u7f00 \u7684 lib \u5220\u9664 \u5373\u53ef \uff08 \u5373 \u547d\u540d \u91cd\u547d\u540d \u4e3a   boost _ python37 - vc142 - mt - x64 - 1 _ 80 . lib   \uff09 \u3002   \u751f\u6210 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c \u4f1a \u751f\u6210 exe \u6587\u4ef6 \uff0c \u5982\u679c \u4e0d \u53ef\u4ee5 \u5728 vs \u4e2d \u76f4\u63a5 \u6267\u884c \uff0c \u5c06 \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u7684   \u5f53\u524d \u6587\u6863   \u6539\u4e3a   * . exe   \u3002","title":"\u751f\u6210 \u53ef\u6267\u884c\u6587\u4ef6"},{"location":"demo/boost_python/#python","text":"\u65b0\u5efa   hello _ exe . cpp   \uff0c \u6ce8\u610f \u6587\u4ef6 \u6587\u4ef6\u540d \u5fc5\u987b \u4e3a \u6a21\u5757 \u540d \uff1a   / /   \u53c2\u8003 \uff1a https : / / developer . aliyun . com / article / 1260043   / /   \u5f53 \u5f15\u5165   # include   < boost / python / xxx >   \u65f6 \uff0c Boost   \u4f1a \u9ed8\u8ba4 \u94fe\u63a5   boost _ python   \u52a8\u6001 \u94fe\u63a5 \u94fe\u63a5\u5e93 \u52a8\u6001\u94fe\u63a5\u5e93 \uff0c   / /   \u5982\u679c \u6211\u4eec \u60f3\u8981 \u94fe\u63a5 \u9759\u6001 \u94fe\u63a5 \u94fe\u63a5\u5e93 \uff0c \u5c31 \u9700\u8981 \u5728   include   \u4e4b\u524d \u52a0\u4e0a   # define   BOOST _ PYTHON _ STATIC _ LIB   / /   \u6307\u5b9a \u94fe\u63a5   boost _ python   \u7684 \u9759\u6001 \u5e93 \uff0c \u800c \u4e0d\u662f \u9ed8\u8ba4 \u7684 \u52a8\u6001 \u5e93 \u3002   # define   BOOST _ PYTHON _ STATIC _ LIB   # include   < boost / python . hpp >   # include   < boost / python / module . hpp >   # include   < boost / python / def . hpp >   # include   < boost / python / to _ python _ converter . hpp >   # include   < iostream >   using   namespace   std ;   char   const *   greet ( )   {   return   \" hello ,   world \" ;   }   BOOST _ PYTHON _ MODULE ( hello _ ext )   {   using   namespace   boost : : python ;   def ( \" greet \" ,   greet ) ;   }   \u65b0\u5efa   CMakeLists . txt   \uff1a   cmake _ minimum _ required   ( VERSION   3.8 )   #   \u6dfb\u52a0 \u5934 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55   include _ directories ( \" D : / work / workspace / carla / Build / boost - 1.80 . 0 - install / include \" )   include _ directories ( \" C : / Users / Administrator / AppData / Local / Programs / Python / Python37 / include \" )   #   \u6dfb\u52a0 \u5e93 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55   link _ directories ( \" C : / Users / Administrator / AppData / Local / Programs / Python / Python37 / libs \" )   #   \u8fd8\u662f \u7f3a\u5c11   libboost _ python37 - vc142 - mt - gd - x64 - 1 _ 80 . lib   link _ directories ( \" D : / work / workspace / carla / Build / boost - 1.80 . 0 - install / lib _ no _ prefix \" )   #   \u5c06 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6dfb\u52a0 \u5230 \u6b64 \u9879\u76ee \u7684 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u3002   #   add _ executable   ( boost _ demo   \" boost _ demo . cpp \"   \" boost _ demo . h \" )   #   #   \u751f\u6210 \u52a8\u6001 \u5e93 ( \u5171\u4eab \u5e93 ) \u5171\u4eab \u5e93\u5219 \u53ea\u6709 \u4e00\u4e2a \u526f\u672c   add _ library ( hello _ ext   SHARED   hello _ ext . cpp )   # ( boost _ demo   \u662f \u5e93 \u7684 \u540d\u5b57 ) \uff0c \u8fd9 \u6761 \u547d\u4ee4 \u544a\u8bc9 cmake \uff0c \u6211\u4eec \u60f3 \u628a   boost _ demo . cpp \u7f16\u8bd1 \u8bd1\u6210 \u7f16\u8bd1\u6210 \u4e00\u4e2a \u53eb\u4f5c \u201c boost _ demo \u201d \u7684 \u5e93 \u3002   set _ target _ properties ( hello _ ext   PROPERTIES   SUFFIX   \" . pyd \" )   \u6784\u5efa \u540e \u4f1a \u751f\u6210   hello _ ext . pyd   \u3002   \u5728 \u751f\u6210 \u7684   . pyd   \u76ee\u5f55 \u4e0b \u65b0\u5efa   hello . py   import   hello _ ext   print ( hello _ ext . greet ( ) )","title":"\u751f\u6210 Python \u8c03\u7528 \u7684 \u5e93"},{"location":"demo/boost_python/#pythoncpp","text":"\u5728 \u539f\u59cb . py \u811a\u672c \u4e2d \u6dfb\u52a0 \u6253\u5370 \u8fdb\u7a0b \u53f7 \u7684 \u4ee3\u7801 \uff0c \u5e76 \u4f7f \u8c03\u8bd5 \u505c\u6b62 \u4e8e cpp \u51fd\u6570 \u8c03\u7528 \u51fd\u6570\u8c03\u7528 \u4e4b\u524d \u3002   import   os   #   \u83b7\u53d6 \u5f53\u524d \u8fdb\u7a0b ID \uff08 \u4fbf\u4e8e \u8c03\u8bd5 \uff09   process _ id   =   os . getpid ( )   print ( \" Current   process   id   is :   \" ,   process _ id )   import   hello _ ext   print ( hello _ ext . greet ( ) )   \u5728 visual   studio   \u4e2d \u6dfb\u52a0 \u65ad\u70b9 \uff0c \u5e76 \u9644\u7740 \u5230 \u7b2c 1 \u6b65 \u7684 \u8fdb\u7a0b \u4e2d \u3002   \u5728   * . py   \u4e2d \u7ee7\u7eed \u6267\u884c \u7ee7\u7eed\u6267\u884c \uff0c \u4f1a \u5728 vs \u4e2d \u6682\u505c \u3002","title":"\u4ece Python \u4e2d \u8c03\u8bd5 * . cpp"},{"location":"demo/boost_python/#whl","text":"\u53c2\u8003   \u94fe\u63a5   \uff0c \u8f6c \u81f3 \u76ee\u5f55   carla \\ PythonAPI \\ carla   \uff0c \u8fd0\u884c   pip   install   - e   .   \uff0c \u5728   Python37 \\ Lib \\ site - packages \\ easy - install . pth   \u6587\u4ef6 \u4e2d \u751f\u6210 \u6307\u5411 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7684 \u8def\u5f84 \u3002   - e   \u6216   -- editable   \uff1a \u8fd9\u4e2a \u9009\u9879 \u8868\u793a \u4ee5 \u201c \u53ef \u7f16\u8f91 \u201d \u6a21\u5f0f \u5b89\u88c5 \u5b89\u88c5\u5305 \u3002 \u5728 \u8fd9\u79cd \u6a21\u5f0f \u4e0b \uff0c \u5305 \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u53ef\u4ee5 \u5728 \u672c\u5730 \u8fdb\u884c \u4fee\u6539 \uff0c \u5e76\u4e14 \u8fd9\u4e9b \u4fee\u6539 \u4f1a \u7acb\u5373 \u53cd\u6620 \u5230 \u7cfb\u7edf \u4e2d\u8be5 \u5305 \u7684 \u884c\u4e3a \u4e0a \uff0c \u65e0\u9700 \u91cd\u65b0 \u65b0\u5b89 \u5b89\u88c5 \u91cd\u65b0\u5b89\u88c5 \u3002 \u8fd9 \u5bf9\u4e8e \u5f00\u53d1 \u548c \u8c03\u8bd5 \u975e\u5e38 \u6709\u7528 \u3002   \u5728 \u5f53\u524d \u76ee\u5f55 \u5f53\u524d\u76ee\u5f55 \u4e0b \u5b89\u88c5 \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff0c \u5e76 \u521b\u5efa \u4e00\u4e2a \u8f6f \u8fde\u63a5 \u5f15\u7528 \u8be5\u5305 \uff08 \u800c \u4e0d\u662f \u5c06 \u5305 \u590d\u5236 \u590d\u5236\u5230   site - packages   \u76ee\u5f55 \u4e0b \uff09 \u3002 \u8fd9\u4e2a \u8f6f \u8fde\u63a5 \u662f \u4e00\u4e2a \u6307\u5411 \u5305 \u4ee3\u7801 \u7684 \u7b26\u53f7 \u94fe\u63a5 \uff0c \u5b83 \u53ef\u4ee5 \u4f7f\u5305 \u7684 \u4fee\u6539 \u76f4\u63a5 \u53cd\u6620 \u5230 \u5f53\u524d \u76ee\u5f55 \u5f53\u524d\u76ee\u5f55 \u4e0b \u7684 \u9879\u76ee \u4e2d \uff0c \u4ece\u800c \u65b9\u4fbf \u5f00\u53d1 \u548c \u8c03\u8bd5 \u3002","title":"whl \u5b89\u88c5\u5305 \u7684 \u8c03\u5f0f"},{"location":"demo/boost_python/#_2","text":"","title":"\u89e3\u91ca"},{"location":"demo/boost_python/#setuppy","text":"\u53c2\u6570   \u8bf4\u660e   ext _ modules   \u7528\u4e8e \u6784\u5efa   C++   \u6269\u5c55 \u6269\u5c55 \u5305 \uff0c \u5176\u662f   Extension   \u5b9e\u4f8b \u7684 \u5217\u8868 \uff0c \u6bcf \u4e00\u4e2a   Extension   \u5b9e\u4f8b \u63cf\u8ff0 \u4e86 \u4e00\u4e2a \u72ec\u7acb \u7684 \u6269\u5c55 \u6a21\u5757 \uff0c \u6269\u5c55 \u6a21\u5757 \u53ef\u4ee5 \u8bbe\u7f6e \u6269\u5c55 \u5305\u540d \u3001 \u6587\u4ef6 \u6e90\u6587\u4ef6   source   \u3001 \u6587\u4ef6 \u5934\u6587\u4ef6   include _ dirs   \u3001 \u94fe\u63a5 \u94fe\u63a5\u5e93 \u53ca\u5176 \u8def\u5f84   library _ dirs   \u3001 \u7f16\u8bd1 \u53c2\u6570   extra _ compile _ args   \u3001 \u94fe\u63a5 \u53c2\u6570   extra _ compile _ args   \u3001 \u4f9d\u8d56   depends   \u7b49 \u3002   package _ dir = { ' ' :   ' source ' }   \u201c root   package \u201d   \u4e2d \u7684 \u6a21\u5757 \u90fd \u5728   source   \u76ee\u5f55 \u4e2d   packages = [ ' carla ' ]   \u9700\u8981 \u5904\u7406 \u7684 \u5305 \u76ee\u5f55 \uff08 \u5305\u542b \u4e86 \u4e00\u4e9b . cpp \u6587\u4ef6 \uff09","title":"setup . py"},{"location":"demo/boost_python/#gli","text":"\u5168\u5c40 \u89e3\u91ca \u91ca\u5668 \u89e3\u91ca\u5668 \u9501   \uff08 GLI , Global   Interpreter   Lock \uff09 \uff1a \u5728 \u8c03\u7528 \u5916\u90e8 \u4ee3\u7801 \uff08 \u5982 C \u3001 C++ \u6269\u5c55 \u51fd\u6570 \uff09 \u7684 \u65f6\u5019 \uff0c GIL \u5c06\u4f1a \u88ab \u9501\u5b9a \uff0c \u76f4\u5230 \u8fd9\u4e2a \u51fd\u6570 \u7ed3\u675f \u4e3a\u6b62 \uff08 \u7531\u4e8e \u671f\u95f4 \u6ca1\u6709 python \u7684 \u5b57\u8282 \u7801 \u8fd0\u884c \uff0c \u6240\u4ee5 \u4e0d\u4f1a \u505a \u7ebf\u7a0b \u5207\u6362 \uff09 \u3002","title":"GLI"},{"location":"faq/co-simulation/","text":"\u8054\u5408 \u4eff\u771f \u3001 Python   API \u3001 \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41   \u8054\u5408 \u4eff\u771f & DIY   1 \u3001 CARLA \u548c Sumo \u80fd\u5426 \u8054\u5408 \u4eff\u771f \uff1f   \u7b54 \uff1a \u53ef\u4ee5 \uff0c \u53c2\u8003   \u5b98\u65b9 \u6587\u6863   \u3002   \u6839\u636e \u5b9e\u8df5 \u7ecf\u9a8c \u5b9e\u8df5\u7ecf\u9a8c \uff1a Sumo \u8ba1\u7b97 \u592a\u6162 \uff0c \u5927 \u6982\u7387 \u4f1a \u5bfc\u81f4 CARLA \u5e27 \u7387 \u4e0d\u53ca \u9884\u671f \u3002   2 \u3001 CARLA \u548c \u5176\u4ed6 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8054\u5408 \u4eff\u771f \uff1f   \u7b54 \uff1a \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8054\u5408 \u4eff\u771f \u7684 \u6574\u4f53 \u6d41\u7a0b \uff1a   CARLA \u8f93\u51fa \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u64cd\u63a7 \uff08 \u5239\u8f66 \u3001 \u6cb9\u95e8 \u3001 \u79bb\u5408 \u3001 \u6863\u4f4d \u3001 \u8f6c\u5411 \uff09 \u5230 \u52a8\u529b 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\u4ec0\u4e48 \u4e3a\u4ec0\u4e48 print   carla \u7684 python \u53d8\u91cf \u65f6 \uff0c \u603b\u662f \u6253\u5370 \u4e00\u4e2a \u6307\u9488 \u5730\u5740 \u7684 \u539f\u56e0 \u3002   \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41   1 \u3001 \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \u4e0d \u53d7 \u63a7\u5236 \u7684 \u649e \uff1f   \u7b54 \uff1a \u5927 \u6982\u7387 \u662f Traffic   Manager \u7684 \u540c\u6b65 \u548c \u5f02\u6b65 \u8bbe\u7f6e \u7684 \u95ee\u9898 \uff0c \u5f53\u7136 \u4e5f \u6709 \u6027\u80fd \u95ee\u9898 \u3002 \u8be6\u60c5 \u8be6\u60c5\u8bf7 \u770b   \u5b98\u65b9 \u6587\u6863   \u3002   2 \u3001 Ackermann   Control   \u548c   Physics   Control \u6709 \u4ec0\u4e48 \u533a\u522b \uff1f   \u7b54 \uff1a Ackermann   Control \u91cc\u9762 \u6709 \u4e24\u4e2a PID \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u5206\u522b \u662f \u901f\u5ea6 PID \u63a7\u5236 \u63a7\u5236\u5668 \u548c \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 PID \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u53ef\u4ee5 \u5206\u522b \u8bbe\u7f6e PID \u7684 kp \uff0c ki \uff0c kd \u53c2\u6570 \u3002 Physics   Control \u662f \u6839\u636e \u5239\u8f66 \u3001 \u6cb9\u95e8 \u3001 \u8f6c\u5411 \u6765 \u76f4\u63a5 \u63a7\u5236 \u8f66\u8f86 \u3002   3 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u5982\u4f55 \u63a7\u5236 \uff1f   \u7b54 \uff1a PythonAPI \u4e2d\u6709 \u63a7\u5236 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u63a5\u53e3 \uff1a   python   carla . 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Carla \u8f93\u51fa \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u64cd\u63a7 \uff08 \u5239\u8f66 \u3001 \u6cb9\u95e8 \u3001 \u79bb\u5408 \u3001 \u6863\u4f4d \u3001 \u8f6c\u5411 \uff09 \u5230 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u6a21\u578b \uff1b   2 . \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u6a21\u578b \u89e3\u7b97 \u8f66\u8f86 \u7684 \u4f4d\u59ff \u4fe1\u606f \uff08 Position \u3001 Rotation \uff09 \u5e76\u4e14 \u8f93\u51fa \u5230 Carla \uff1b   3 . Carla \u6839\u636e \u63a5\u6536 \u5230 \u7684 \u4f4d\u59ff \u4fe1\u606f \u8fdb\u884c \u66f4\u65b0 \u3002   \u53ea\u8981 \u80fd \u505a\u5230 \u4e0a\u8ff0 \u4e8b\u9879 \uff0c \u5c31 \u53ef\u4ee5 \u8fdb\u884c \u8054\u5408 \u4eff\u771f \u3002 \u5982\u679c \u8054\u5408 \u4eff\u771f \u7684 \u6548\u679c \u4e0d\u597d \uff0c \u53ef\u80fd \u56e0\u4e3a \u662f\u56e0\u4e3a \u6ca1\u6709 \u5bf9\u9f50 \u4eff\u771f \u65f6\u6b65 \u3002 Carla \u548c Simulink \u901a\u5e38 \u4e0d \u5728 \u4e00\u4e2a \u65f6\u6b65 \u548c \u9891\u7387 \u4e0b \u8fd0\u884c \uff0c \u56e0\u6b64 \u9700\u8981 \u5bf9\u9f50 \u65f6\u6b65 \u3002   6 \u3001 Carla \u7684 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u80fd \u4e0d\u80fd \u8c03\u8bd5 \uff1f   \u7b54 \uff1a \u53ef\u4ee5 \u3002 Carla \u63d0\u4f9b \u4e86 \u4e00\u4e2a python \u63a5\u53e3 \uff0c \u53ef\u4ee5 \u5728 HUD \u4e0a\u753b \u51fa \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u53c2\u6570 \u4fe1\u606f \u53c2\u6570\u4fe1\u606f \uff1a   carla . Vehicle . show _ debug _ telemetry ( )   7 \u3001 Carla \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u6709 ABS \u3001 \u540e\u8f6e \u8f6c\u5411 \u7b49 \u529f\u80fd \u5417 \uff1f   \u7b54 \uff1a \u90fd \u6ca1\u6709 \u3002 \u76ee\u524d \u5df2\u77e5 \u7684 \u6709 \uff1a Anti - Roll \uff0c \u9632\u4fa7 \u503e \u529f\u80fd \u3002 \u5982\u679c \u9700\u8981 ABS \u3001 \u540e\u8f6e \u8f6c\u5411 \u7b49 \u529f\u80fd \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u548c \u5e26\u6709 \u8fd9\u4e9b \u529f\u80fd \u7684 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8054\u5408 \u4eff\u771f \u6765 \u5b9e\u73b0 \u3002   8 \u3001 Carla \u80fd \u4e0d\u80fd \u6839\u636e \u5929\u6c14 \u3001 \u8def\u9762 \u6539\u53d8 \u6469\u64e6 \u6469\u64e6\u529b \u7cfb\u6570 \uff1f   \u7b54 \uff1a \u53ef\u4ee5 \u3002 \u6709 \u4e24\u79cd \u65b9\u5f0f \uff1a 1 .   \u8bbe\u7f6e \u7269\u7406 \u6750\u8d28 \uff1b 2 .   \u4f7f\u7528 FrictionTrigger \uff08 \u533a\u57df \u5185 \u6539\u53d8 \u8f6e\u80ce \u7684   tire   friction   \u53c2\u6570 \uff09 \u3002   9 \u3001 \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 Carla \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u603b\u662f \u632f\u8361 \uff1f   \u7b54 \uff1a \u56e0\u4e3a \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8f93\u51fa \u7684 \u662f \u901f\u5ea6 \uff0c \u6ca1\u6709 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002 Carla \u91cc \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u662f \u901a\u8fc7 \u524d\u540e \u4e24\u5e27 \u7684 \u901f\u5ea6 \u5dee \u9664\u4ee5 \u6b65\u957f \u3002 \u4eff\u771f \u9891\u7387 \u8d8a\u9ad8 \uff0c \u6b65\u957f \u8d8a\u5c0f \uff0c \u8d8a\u4f1a \u653e\u5927 \u632f\u8361 \u3002 Carla \u5df2\u7ecf \u5b9e\u73b0 \u4e86 \u9488\u5bf9 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u7684 PID \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u901a\u8fc7 \u5e73\u5747 \u52a0\u6743 \u7684 \u65b9\u5f0f \u5e73\u6ed1 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002 \u6b64\u5916 \uff0c \u4e5f \u53ef\u4ee5 \u901a\u8fc7 \u5404\u79cd \u6ee4\u6ce2 \u624b\u6bb5 \u89e3\u51b3 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u632f\u8361 \u95ee\u9898 \u3002   10 \u3001 \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 \u6ca1 \u7ed9 \u65b9\u5411 \uff0c \u8f66 \u5374 \u5f00 \u6b6a \u4e86 \uff1f   \u7b54 \uff1a \u56e0\u4e3a \u4f1a \u6709 \u4fa7\u5411 \u6ed1\u79fb \u3002 \u53ef\u80fd \u662f \u8f6e\u80ce \u4fa7\u5411 \u521a\u5ea6 \u592a \u5927 \u3001 \u8def\u9762 \u4e0d \u5e73\u6574 \uff0c \u6216\u8005 \u8def \u672c\u8eab \u662f \u503e\u659c \u7684 \u3002","title":"Dynamics"},{"location":"faq/dynamics/#_1","text":"1 \u3001 Carla \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u5230\u5e95 \u53ef\u4e0d \u4e0d\u53ef \u53ef\u4ee5 \u53ef\u4e0d\u53ef\u4ee5 \u7528 \uff1f   \u7b54 \uff1a \u9700\u8981 \u533a\u5206 \u573a\u666f \uff0c \u5982\u679c \u505a \u89c4\u63a7 \u6d4b\u8bd5 \uff0c \u53ef\u80fd \u9700\u8981 \u66f4\u52a0 \u590d\u6742 \u548c \u7cbe\u786e \u7684 \u5546\u4e1a \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8f6f\u4ef6 \uff0c \u4f8b\u5982 Carsim \u3001 CarMaker \u3002 \u5982\u679c \u662f \u5408\u6210 \u6570\u636e \u3001 \u5f3a\u5316 \u5b66\u4e60 \u7b49 \u4f7f\u7528 \u573a\u666f \uff0c \u7528 Carla \u9ed8\u8ba4 \u7684 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 PhysX \u5373\u53ef \u3002   2 \u3001 Carla \u7684 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u662f \u4ec0\u4e48 \uff1f   PhysX3.4   \u5f00\u6e90 \u9879\u76ee   \u5730\u5740   \u3002 \u7531\u4e8e UE5 \u5f03\u7528 \u4e86 PhysX \uff0c \u6240\u4ee5 Carla \u5347\u7ea7 UE5 \u4e4b\u540e \uff0c \u4f1a\u7528 Chaos \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3002   3 \u3001 Carla \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u6709 \u7535\u8f66 \u6a21\u578b \u5417 \uff1f   \u7b54 \uff1a PhysX3.4 \u548c PhysX5 \u90fd \u6ca1\u6709 \u7535\u8f66 \u6a21\u578b \uff0c \u4e8c\u8005 \u90fd \u662f \u57fa\u4e8e \u5f15\u64ce + \u79bb\u5408 \u79bb\u5408\u5668 \u3002 Carla \u91cc \u7684 Tesla   Model   3 \u901a\u8fc7 \u4e00\u4e2a \u5355\u72ec \u7684 \u6863\u4f4d \u6a21\u62df \u7535\u8f66 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \uff0c \u4f46 \u4e5f \u6709 \u7a7a\u6863 \uff08 \u65e0\u6cd5 \u53bb\u6389 \uff09 \u3002   4 \u3001 Carla \u600e\u4e48 \u548c \u5176\u4ed6 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8054\u5408 \u4eff\u771f \uff1f   \u7b54 \uff1a Carla \u5b98\u65b9 \u5df2\u7ecf \u5b9e\u73b0 \u4e86   CarSim   \u548c   Chrono   \u7684 \u8054\u5408 \u4eff\u771f \uff0c \u524d\u8005 \u6536\u8d39 \u800c \u540e\u8005 \u5f00\u6e90 \u3002   5 \u3001 Carla \u80fd \u4e0d\u80fd \u548c Simulink \u642d \u7684 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8054\u5408 \u4eff\u771f \uff1f   \u7b54 \uff1a \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8054\u5408 \u4eff\u771f \u7684 \u6574\u4f53 \u6d41\u7a0b \uff1a   1 . Carla \u8f93\u51fa \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u64cd\u63a7 \uff08 \u5239\u8f66 \u3001 \u6cb9\u95e8 \u3001 \u79bb\u5408 \u3001 \u6863\u4f4d \u3001 \u8f6c\u5411 \uff09 \u5230 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u6a21\u578b \uff1b   2 . \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u6a21\u578b \u89e3\u7b97 \u8f66\u8f86 \u7684 \u4f4d\u59ff \u4fe1\u606f \uff08 Position \u3001 Rotation \uff09 \u5e76\u4e14 \u8f93\u51fa \u5230 Carla \uff1b   3 . Carla \u6839\u636e \u63a5\u6536 \u5230 \u7684 \u4f4d\u59ff \u4fe1\u606f \u8fdb\u884c \u66f4\u65b0 \u3002   \u53ea\u8981 \u80fd \u505a\u5230 \u4e0a\u8ff0 \u4e8b\u9879 \uff0c \u5c31 \u53ef\u4ee5 \u8fdb\u884c \u8054\u5408 \u4eff\u771f \u3002 \u5982\u679c \u8054\u5408 \u4eff\u771f \u7684 \u6548\u679c \u4e0d\u597d \uff0c \u53ef\u80fd \u56e0\u4e3a \u662f\u56e0\u4e3a \u6ca1\u6709 \u5bf9\u9f50 \u4eff\u771f \u65f6\u6b65 \u3002 Carla \u548c Simulink \u901a\u5e38 \u4e0d \u5728 \u4e00\u4e2a \u65f6\u6b65 \u548c \u9891\u7387 \u4e0b \u8fd0\u884c \uff0c \u56e0\u6b64 \u9700\u8981 \u5bf9\u9f50 \u65f6\u6b65 \u3002   6 \u3001 Carla \u7684 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u80fd \u4e0d\u80fd \u8c03\u8bd5 \uff1f   \u7b54 \uff1a \u53ef\u4ee5 \u3002 Carla \u63d0\u4f9b \u4e86 \u4e00\u4e2a python \u63a5\u53e3 \uff0c \u53ef\u4ee5 \u5728 HUD \u4e0a\u753b \u51fa \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u53c2\u6570 \u4fe1\u606f \u53c2\u6570\u4fe1\u606f \uff1a   carla . Vehicle . show _ debug _ telemetry ( )   7 \u3001 Carla \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u6709 ABS \u3001 \u540e\u8f6e \u8f6c\u5411 \u7b49 \u529f\u80fd \u5417 \uff1f   \u7b54 \uff1a \u90fd \u6ca1\u6709 \u3002 \u76ee\u524d \u5df2\u77e5 \u7684 \u6709 \uff1a Anti - Roll \uff0c \u9632\u4fa7 \u503e \u529f\u80fd \u3002 \u5982\u679c \u9700\u8981 ABS \u3001 \u540e\u8f6e \u8f6c\u5411 \u7b49 \u529f\u80fd \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u548c \u5e26\u6709 \u8fd9\u4e9b \u529f\u80fd \u7684 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8054\u5408 \u4eff\u771f \u6765 \u5b9e\u73b0 \u3002   8 \u3001 Carla \u80fd \u4e0d\u80fd \u6839\u636e \u5929\u6c14 \u3001 \u8def\u9762 \u6539\u53d8 \u6469\u64e6 \u6469\u64e6\u529b \u7cfb\u6570 \uff1f   \u7b54 \uff1a \u53ef\u4ee5 \u3002 \u6709 \u4e24\u79cd \u65b9\u5f0f \uff1a 1 .   \u8bbe\u7f6e \u7269\u7406 \u6750\u8d28 \uff1b 2 .   \u4f7f\u7528 FrictionTrigger \uff08 \u533a\u57df \u5185 \u6539\u53d8 \u8f6e\u80ce \u7684   tire   friction   \u53c2\u6570 \uff09 \u3002   9 \u3001 \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 Carla \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u603b\u662f \u632f\u8361 \uff1f   \u7b54 \uff1a \u56e0\u4e3a \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8f93\u51fa \u7684 \u662f \u901f\u5ea6 \uff0c \u6ca1\u6709 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002 Carla \u91cc \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u662f \u901a\u8fc7 \u524d\u540e \u4e24\u5e27 \u7684 \u901f\u5ea6 \u5dee \u9664\u4ee5 \u6b65\u957f \u3002 \u4eff\u771f \u9891\u7387 \u8d8a\u9ad8 \uff0c \u6b65\u957f \u8d8a\u5c0f \uff0c \u8d8a\u4f1a \u653e\u5927 \u632f\u8361 \u3002 Carla \u5df2\u7ecf \u5b9e\u73b0 \u4e86 \u9488\u5bf9 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u7684 PID \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u901a\u8fc7 \u5e73\u5747 \u52a0\u6743 \u7684 \u65b9\u5f0f \u5e73\u6ed1 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002 \u6b64\u5916 \uff0c \u4e5f \u53ef\u4ee5 \u901a\u8fc7 \u5404\u79cd \u6ee4\u6ce2 \u624b\u6bb5 \u89e3\u51b3 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u632f\u8361 \u95ee\u9898 \u3002   10 \u3001 \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 \u6ca1 \u7ed9 \u65b9\u5411 \uff0c \u8f66 \u5374 \u5f00 \u6b6a \u4e86 \uff1f   \u7b54 \uff1a \u56e0\u4e3a \u4f1a \u6709 \u4fa7\u5411 \u6ed1\u79fb \u3002 \u53ef\u80fd \u662f \u8f6e\u80ce \u4fa7\u5411 \u521a\u5ea6 \u592a \u5927 \u3001 \u8def\u9762 \u4e0d \u5e73\u6574 \uff0c \u6216\u8005 \u8def \u672c\u8eab \u662f \u503e\u659c \u7684 \u3002","title":"\u52a8\u529b\u5b66"},{"location":"faq/radar/","text":"\u96f7\u8fbe   Radar / \u96f7\u8fbe   1 \u3001 CARLA \u81ea\u5e26 \u96f7\u8fbe \u53d7 \u5929\u6c14 \u5f71\u54cd \u5417 \uff1f   \u7b54 \uff1a \u7b54 \uff1a \u4e0d \u53d7 \u5f71\u54cd \uff0c Lidar \u540c\u7406 \u3002 \u7269\u7406 \u8fc7\u7a0b \u4eff\u771f \u4e0d\u662f CARLA \u5728\u610f \u7684 \u4e1c\u897f \u3002 \u6709 \u80fd\u529b \u7684 \u540c\u5b66 \u53ef\u4ee5 \u81ea\u5df1 \u5f00\u53d1 \u3002   2 \u3001 CARLA \u6709 \u7406\u60f3 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5417 \uff1f   \u7b54 \uff1a \u6ca1\u6709 \uff0c \u6709 \u80fd\u529b \u7684 \u540c\u5b66 \u53ef\u4ee5 \u81ea\u5df1 \u5f00\u53d1 \u3002 \u5e95\u5c42 \u539f\u7406 \u4e0e Radar \u7c7b\u4f3c \u3002   3 \u3001 CARLA \u6709 4D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u5417 \uff1f   \u7b54 \uff1a \u6ca1\u6709 \uff0c \u6709 \u80fd\u529b \u7684 \u540c\u5b66 \u53ef\u4ee5 \u81ea\u5df1 \u5f00\u53d1 \u3002 \u7406\u60f3 \u6a21\u578b \u53ef\u4ee5 \u53c2\u8003 Lidar \u3002 \u8fd9\u4e9b \u5e95\u5c42 \u90fd \u662f \u57fa\u4e8e RayCast \u505a \u7684 \u3002 \u5f53\u7136 \u4e5f \u770b\u5230 \u8fc7 \u4e00\u4e2a \u901a\u8fc7 \u56fe\u50cf \u53bb \u751f\u6210 4D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u8f93\u51fa \u7684 \u65b9\u6cd5 \uff0c \u5fd8 \u4e86 \u54ea\u7bc7 \u8bba\u6587 \u4e86 \u3002   4D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u662f \u4f20\u7edf \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u7684 \u5347\u7ea7 \u5347\u7ea7\u7248 \uff0c 4D \u6307 \u7684 \u662f \u901f\u5ea6 \u3001 \u8ddd\u79bb \u3001 \u6c34\u5e73 \u89d2\u5ea6 \u3001 \u5782\u76f4 \u9ad8\u5ea6 \u56db\u4e2a \u7ef4\u5ea6 \u3002 \u76f8\u6bd4 \u4f20\u7edf 3D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \uff0c 4D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u589e\u52a0 \u4e86 \u201c \u9ad8\u5ea6 \u201d \u7684 \u63a2\u6d4b \uff0c \u5c06 \u7b2c\u56db \u56db\u4e2a \u7b2c\u56db\u4e2a \u7ef4\u5ea6 \u6574\u5408 \u5230 \u4f20\u7edf \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u4e2d \uff0c \u8fd9 \u4f7f\u5f97 4D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u83b7\u53d6 \u53d6\u4fe1 \u4fe1\u606f \u83b7\u53d6\u4fe1\u606f \u7684 \u7ef4\u5ea6 \u66f4\u52a0 \u4e30\u5bcc \uff0c \u53ef\u4ee5 \u6d4b\u91cf   \u4fef\u4ef0 \u89d2\u5ea6 \uff0c \u4e14 \u89d2\u5ea6 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u53ef\u4ee5 \u8fbe\u5230 1 \u5ea6 \u5de6\u53f3 \u3002 \u800c\u4e14 \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u63a2\u6d4b \u96f7\u8fbe\u63a2\u6d4b \u8ddd\u79bb \u66f4\u957f \uff0c \u6700\u8fdc \u63a2\u6d4b \u8ddd\u79bb \u53ef\u8fbe 350 \u591a\u7c73 \u3002   Lidar / \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe   1 \u3001 Lidar \u6709 \u8fd0\u52a8 \u7578\u53d8 \u5417 \uff1f   \u7b54 \uff1a \u6709 \u4e00\u70b9 \u70b9\u70b9 \u4e00\u70b9\u70b9 \u3002 \u56e0\u4e3a \u5f15\u64ce \u662f \u79bb\u6563 \u65f6\u95f4 \uff0c \u4f46 \u79bb\u6563 \u7684 \u7c92\u5ea6 \u6ca1\u6709 \u8fbe\u5230 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6bcf \u4e00\u5217 \uff08 128 \u7ebf\u626b \u4e00\u6b21 \u6216 \u4e24\u6b21 \uff09 \u7684 \u65f6\u95f4 \uff0c \u4f46 CARLA   Lidar \u7684 \u5b9e\u73b0 \u903b\u8f91 \u662f \u6839\u636e delta   time \uff08 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u662f fixed _ delta _ time \uff09 \u53c2\u6570 \u3002 \u6240\u4ee5 CARLA   Lidar \u8ba1\u7b97 \u4e00\u6b21 \uff0c \u4e0d \u61c2 \u53c2\u6570 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u5927 \u6982\u7387 \u4e5f \u4e0d\u662f \u5b8c\u6574 \u7684 \u4e00\u5e27 \uff08 \u8f93\u51fa \u53ea\u6709 \u534a\u4e2a \u5708 \u7684 \u60c5\u51b5 \uff09 \uff0c \u4ece \u8fd9\u4e2a \u89d2\u5ea6 \u89d2\u5ea6\u770b \uff0c \u51e0\u5e27 \u62fc\u6210 \u5b8c\u6574 \u7684 \u4e00\u5e27 \uff0c \u51e0\u5e27 \u662f \u5728 \u4e0d\u540c \u4eff\u771f \u65f6\u95f4 \u4e0b \u751f\u6210 \u7684 \uff0c \u6709 \u7c92\u5ea6 \u7c97\u7c92\u5ea6 \u7684 \u8fd0\u52a8 \u7578\u53d8 \u3002 \u7406\u8bba \u4e0a \uff0c \u53ea\u8981 \u7c92\u5ea6 \u591f \u5c0f \uff08 1ms \uff09 \uff0c \u62fc\u51fa \u51fa\u6765 \u62fc\u51fa\u6765 \u7684 \u70b9\u4e91 \u5c31\u662f \u6709 \u8fd0\u52a8 \u7578\u53d8 \u7684 \u3002 \u5f53\u7136 \uff0c \u8fd0\u884c \u7684 \u4e5f \u4f1a \u5f88\u6162 \u3002   2 \u3001 \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 \u6211 \u7684 Lidar \u8f93\u51fa \u4e0d\u662f \u5b8c\u6574 \u7684 \u70b9\u4e91 \uff1f   \u7b54 \uff1a \u5efa\u8bae \u4e86\u89e3 \u4e09\u4e2a \u53c2\u6570 \u6982\u5ff5 \uff1a world   tick   ( fixed _ delta _ time ) ,   sensor   tick ,   rotation   frequence \u3002 \u5728 CARLA \u9ed8\u8ba4 \u7684 \u5b9e\u73b0 \u903b\u8f91 \u4e0b \uff0c \u4e00\u4e2a \u4eff\u771f \u79d2 \u7684 \u70b9\u4e91 \u603b\u6570 \u5e94\u8be5 \u5728   [   rotation   frequence   *   points _ per _ second   *   80%   ]   \u5de6\u53f3 \uff0c \u6839\u636e \u626b\u63cf \u7684 \u573a\u5730 \u662f\u5426 \u5f00\u9614 \u51b3\u5b9a \u8fd4\u56de \u7684 \u70b9\u4e91\u6570 \u3002 \u56e0\u4e3a \u6253 \u51fa\u53bb \u7684 \u6fc0\u5149 \u6ca1 \u51fb\u4e2d \u7269\u4f53 \u5c31 \u4e0d\u4f1a \u6709\u70b9 \u4e91 \uff0c \u6240\u4ee5 \u70b9\u4e91\u6570 \u4e00\u5b9a \u662f \u7565 \u5c11 \u7684 \u3002   3 \u3001 Lidar \u53d7 \u5929\u6c14 \u5f71\u54cd \u5417 \uff1f   \u7b54 \uff1a \u4e0d \u53d7 \u5929\u6c14 \u5f71\u54cd \u3002 \u4e5f \u4e0d\u53d7 \u7c92\u5b50 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7c92\u5b50\u7cfb\u7edf \u5f71\u54cd \uff08 \u4e0d\u7ba1 \u4f60 \u662f \u8001 \u7684 \u7c92\u5b50 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7c92\u5b50\u7cfb\u7edf \u8fd8\u662f Niagara \u7c92\u5b50 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7c92\u5b50\u7cfb\u7edf \uff09 \u3002   4 \u3001 \u600e\u4e48 \u6a21\u62df Mems \u7b49 \u975e \u673a\u68b0 \u673a\u68b0\u5f0f Lidar \uff1f   \u7b54 \uff1a \u6709 \u80fd\u529b \u7684 \u53ef\u4ee5 \u81ea\u5df1 \u8bbe\u8ba1 RayCast \u53d1\u5c04 \u65b9\u5f0f \u3002   \u6709 \u4e00\u7bc7 \u8bba\u6587 \u5b9e\u73b0 \u8fc7 \u3001   Github \u9879\u76ee \u5730\u5740   \u3002   5 \u3001 \u600e\u4e48 \u5b9e\u73b0 Lidar \u7684 \u591a\u6b21 \u53cd\u5c04 \uff1f   \u7b54 \uff1a \u4e0a \u4e00\u4e2a \u95ee\u9898 \u7684 \u8bba\u6587 \u4e5f \u5b9e\u73b0 \u8fc7 \u3002 \u4f46 \u539f\u7406 \u662f \uff1a \u8ba1\u7b97 \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u53d1\u5c04 \u7684 \u5f3a\u5ea6 \uff0c \u5982\u679c \u5927\u4e8e 50% \uff0c \u5c31 \u5728 \u51fb\u4e2d \u70b9\u5ef6 \u5165\u5c04 \u65b9\u5411 \u4e0e \u51fb\u4e2d \u70b9 \u6cd5\u7ebf \u7684 \u89d2\u5ea6 \u518d\u53d1 \u3002 \u7b2c\u4e8c \u4e8c\u6b21 \u7b2c\u4e8c\u6b21 \u53d1\u5c04 \u51fb\u4e2d \u7684 \u70b9 \u4e3a \u70b9\u4e91 \u7684 \u5750\u6807 \u3002   \u4e2a\u4eba \u7406\u89e3 \uff1a \u5047 \u3002   \u4e2a\u4eba \u611a\u89c1 \uff1a Lidar \u662f \u901a\u8fc7 \u76d8\u7801 \u89d2 \u548c TTF \u51b3\u5b9a \u70b9\u4e91 \u4f4d\u7f6e \u7684 \uff0c \u76d8\u7801 \u89d2 \u51b3\u5b9a \u70b9\u4e91 \u65b9\u5411 \uff0c TTF \uff08 time   to   fly \uff0c \u98de\u884c \u65f6\u95f4 \uff09 \u51b3\u5b9a \u8ddd\u79bb \u3002 \u770b \u4e86 \u77e5\u4e4e \u96ea\u5cad \u98de\u82b1 \u5728   \u300a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe lidar \u76ee\u524d \u7684 \u6280\u672f \u96be\u70b9 \u5728 \u54ea \uff0c \u5173\u952e \u6280\u672f \u5173\u952e\u6280\u672f \u90fd \u6709 \u54ea\u4e9b \uff1f \u300b   \u4e0b \u7684 \u56de\u7b54   \uff0c \u6211 \u5927\u6982 \u77e5\u9053 \u9b3c\u5f71 \u548c \u81a8\u80c0 \u7684 \u539f\u56e0 \u3002 \u6240\u4ee5 \u591a\u6b21 \u53cd\u5c04 \u80fd \u751f\u6210 \u70b9\u4e91 \u6700 \u91cd\u8981 \u7684 \u4e00\u70b9 \u662f \uff1a \u591a\u6b21 \u8def\u5f84 \u53cd\u5c04 \u540e \uff0c \u6700\u7ec8 \u80fd \u88ab \u63a5\u6536 \u63a5\u6536\u5668 \u611f\u77e5 \u3002 \u5e76\u4e14 \u70b9\u4e91 \u7684 \u65b9\u5411 \u53ea \u53d7\u76d8 \u7801\u89d2 \u51b3\u5b9a \uff0c \u4e0d\u662f \u4e24\u6b21 \u53cd\u5c04 \u51fb\u4e2d \u7684 \u70b9 \u5c31\u662f \u6700\u7ec8 \u7684 \u70b9\u4e91 \u7684 \u4f4d\u7f6e \uff01 \uff08 \u5f53\u7136 \uff0c \u7406\u89e3 \u4e86 \u539f\u7406 \uff0c \u4e5f \u5c31 \u6709 \u53ef\u80fd \u53bb \u5b9e\u73b0 \u4e86 \uff0c \u6027\u80fd \u6d88\u8017 \u4f30\u8ba1 \u4e0d\u5c0f \uff09   6 \u3001 \u600e\u4e48 \u5b9e\u73b0 \u4e0d\u540c \u7269\u4f53 \u4e0d\u540c \u53cd\u5c04 \u53cd\u5c04\u7387 \uff1f   \u7b54 \uff1a \u4e2a\u4eba \u4e86\u89e3 \u4e24\u79cd \u65b9\u6848 \uff1a   1 \uff09 \u3001 \u4e00\u79cd \u57fa\u4e8e CARLA \u7684 Tag \u7cfb\u7edf \uff0c \u4e5f \u5c31\u662f Semantic \u8bed\u4e49 \u5206\u5272 \u7684 \u57fa\u7840 \u3002 \u4e0d\u540c \u7684 \u7269\u4f53 \u5728 \u8bed\u4e49 \u5206\u5272 \u91cc \u6709 \u4e0d\u540c \u7684 \u989c\u8272 \uff0c \u672c\u8d28 \u662f \u88ab CARLA \u5206\u7c7b \u4e86 \uff0c \u7136\u540e \u53ef\u4ee5 \u6839\u636e \u8fd9\u4e2a Tag \u7ed9 \u7269\u4f53 \u5bf9\u5e94 \u7684 \u53cd\u5c04 \u53cd\u5c04\u7387 \u3002   \u65b9\u6848 \u7f3a\u70b9 \uff1a \u7c92\u5ea6 \u5f88\u7c97 \uff0c \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u7684 \u73bb\u7483 \u548c \u8f66\u724c \u662f \u5b8c\u5168 \u4e0d\u540c \u7684 \u53cd\u5c04 \u60c5\u51b5 \u3002 \uff08 \u4e0a\u8ff0 \u8bba\u6587 \u7528 \u7684 \u5c31\u662f \u8fd9\u79cd \u65b9\u6cd5 \uff09   2 \uff09 \u57fa\u4e8e \u7269\u7406 \u6750\u8d28 \u3002 RayCast \u7684 \u63a5\u53e3 LineTrace \u548c \u8fd4\u56de \u7ed3\u679c FHitResult \u53ef\u4ee5 \u770b \u4e00\u4e0b \uff0c \u91cc\u9762 \u53ef\u4ee5 \u62ff\u5230 \u7269\u7406 \u6750\u8d28 \u7684 \u4fe1\u606f \u3002 \u518d \u6839\u636e \u8fd9\u4e2a \u6807\u8bb0 \u7ed9 \u5bf9\u5e94 \u6750\u8d28 \u4e0d\u540c \u7684 \u53cd\u5c04 \u53cd\u5c04\u7387 \u3002   \u65b9\u6848 \u7f3a\u70b9 \uff1a \u7269\u7406 \u6750\u8d28 UE \u9ed8\u8ba4 \u53ea \u5141\u8bb8 \u8bbe\u7f6e 63 \u4e2a \uff0c \u800c\u4e14 \u5f97 \u770b \u5b9e\u9645 \u6750\u8d28 \u7684 \u7c92\u5ea6 \uff0c CARLA \u4e2d\u6709 \u5f88\u591a \u697c \uff0c \u4e00\u680b \u697c \u53ea\u6709 \u4e00\u4e2a \u6750\u8d28 \uff0c \u6240\u4ee5 \u4e5f \u53ea\u80fd \u8bbe\u7f6e \u4e00\u4e2a \u5bf9\u5e94 \u7684 \u7269\u7406 \u6750\u8d28 \u3002 \u800c\u4e14 \u8bbe\u7f6e \u7269\u7406 \u6750\u8d28 \u4f1a \u5f71\u54cd \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8868\u73b0 \uff0c \u6bd5\u7adf \u8fd9\u4e2a \u672c\u6765 \u5c31\u662f \u7ed9 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u7528 \u7684 \u3002   \u53c2\u8003 issue \uff1a https : / / github . com / carla - simulator / carla / issues / 6171   7 \u3001 CARLA \u7684 Lidar \u652f\u6301 \u591a \u56de\u6ce2 \u5417 \uff1f   \u7b54 \uff1a \u4e0d \u652f\u6301 \u3002 \u4e86\u89e3 \u591a \u56de\u6ce2 \u539f\u7406 \u7684 \u53ef\u4ee5 \u624b\u52a8 \u5b9e\u73b0 \uff0c \u5f53\u7136 \u4f30\u8ba1 \u4f1a \u4f34\u968f \u7740 \u6027\u80fd \u6d88\u8017 \u589e\u957f \u3002   UltraSonic / \u8d85\u58f0 \u58f0\u6ce2 \u8d85\u58f0\u6ce2   1 \u3001 CARLA \u6ca1\u6709 \u6709\u6ca1\u6709 \u8d85\u58f0 \u58f0\u6ce2 \u8d85\u58f0\u6ce2 \u96f7\u8fbe \uff1f   \u7b54 \uff1a \u6ca1\u6709 \u3002 \u57fa\u672c \u57fa\u672c\u4e0a \u8fd9 \u7c7b \u4e3b\u52a8 \u53d1\u5c04 \u63a2\u6d4b \u6027 \u96f7\u8fbe \uff0c \u5e95\u5c42 \u90fd \u662f RayCast \u3002","title":"Radar"},{"location":"faq/radar/#_1","text":"","title":"\u96f7\u8fbe"},{"location":"faq/radar/#radar","text":"1 \u3001 CARLA \u81ea\u5e26 \u96f7\u8fbe \u53d7 \u5929\u6c14 \u5f71\u54cd \u5417 \uff1f   \u7b54 \uff1a \u7b54 \uff1a \u4e0d \u53d7 \u5f71\u54cd \uff0c Lidar \u540c\u7406 \u3002 \u7269\u7406 \u8fc7\u7a0b \u4eff\u771f \u4e0d\u662f CARLA \u5728\u610f \u7684 \u4e1c\u897f \u3002 \u6709 \u80fd\u529b \u7684 \u540c\u5b66 \u53ef\u4ee5 \u81ea\u5df1 \u5f00\u53d1 \u3002   2 \u3001 CARLA \u6709 \u7406\u60f3 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5417 \uff1f   \u7b54 \uff1a \u6ca1\u6709 \uff0c \u6709 \u80fd\u529b \u7684 \u540c\u5b66 \u53ef\u4ee5 \u81ea\u5df1 \u5f00\u53d1 \u3002 \u5e95\u5c42 \u539f\u7406 \u4e0e Radar \u7c7b\u4f3c \u3002   3 \u3001 CARLA \u6709 4D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u5417 \uff1f   \u7b54 \uff1a \u6ca1\u6709 \uff0c \u6709 \u80fd\u529b \u7684 \u540c\u5b66 \u53ef\u4ee5 \u81ea\u5df1 \u5f00\u53d1 \u3002 \u7406\u60f3 \u6a21\u578b \u53ef\u4ee5 \u53c2\u8003 Lidar \u3002 \u8fd9\u4e9b \u5e95\u5c42 \u90fd \u662f \u57fa\u4e8e RayCast \u505a \u7684 \u3002 \u5f53\u7136 \u4e5f \u770b\u5230 \u8fc7 \u4e00\u4e2a \u901a\u8fc7 \u56fe\u50cf \u53bb \u751f\u6210 4D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u8f93\u51fa \u7684 \u65b9\u6cd5 \uff0c \u5fd8 \u4e86 \u54ea\u7bc7 \u8bba\u6587 \u4e86 \u3002   4D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u662f \u4f20\u7edf \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u7684 \u5347\u7ea7 \u5347\u7ea7\u7248 \uff0c 4D \u6307 \u7684 \u662f \u901f\u5ea6 \u3001 \u8ddd\u79bb \u3001 \u6c34\u5e73 \u89d2\u5ea6 \u3001 \u5782\u76f4 \u9ad8\u5ea6 \u56db\u4e2a \u7ef4\u5ea6 \u3002 \u76f8\u6bd4 \u4f20\u7edf 3D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \uff0c 4D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u589e\u52a0 \u4e86 \u201c \u9ad8\u5ea6 \u201d \u7684 \u63a2\u6d4b \uff0c \u5c06 \u7b2c\u56db \u56db\u4e2a \u7b2c\u56db\u4e2a \u7ef4\u5ea6 \u6574\u5408 \u5230 \u4f20\u7edf \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u4e2d \uff0c \u8fd9 \u4f7f\u5f97 4D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u83b7\u53d6 \u53d6\u4fe1 \u4fe1\u606f \u83b7\u53d6\u4fe1\u606f \u7684 \u7ef4\u5ea6 \u66f4\u52a0 \u4e30\u5bcc \uff0c \u53ef\u4ee5 \u6d4b\u91cf   \u4fef\u4ef0 \u89d2\u5ea6 \uff0c \u4e14 \u89d2\u5ea6 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u53ef\u4ee5 \u8fbe\u5230 1 \u5ea6 \u5de6\u53f3 \u3002 \u800c\u4e14 \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u63a2\u6d4b \u96f7\u8fbe\u63a2\u6d4b \u8ddd\u79bb \u66f4\u957f \uff0c \u6700\u8fdc \u63a2\u6d4b \u8ddd\u79bb \u53ef\u8fbe 350 \u591a\u7c73 \u3002","title":"Radar / \u96f7\u8fbe"},{"location":"faq/radar/#lidar","text":"1 \u3001 Lidar \u6709 \u8fd0\u52a8 \u7578\u53d8 \u5417 \uff1f   \u7b54 \uff1a \u6709 \u4e00\u70b9 \u70b9\u70b9 \u4e00\u70b9\u70b9 \u3002 \u56e0\u4e3a \u5f15\u64ce \u662f \u79bb\u6563 \u65f6\u95f4 \uff0c \u4f46 \u79bb\u6563 \u7684 \u7c92\u5ea6 \u6ca1\u6709 \u8fbe\u5230 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6bcf \u4e00\u5217 \uff08 128 \u7ebf\u626b \u4e00\u6b21 \u6216 \u4e24\u6b21 \uff09 \u7684 \u65f6\u95f4 \uff0c \u4f46 CARLA   Lidar \u7684 \u5b9e\u73b0 \u903b\u8f91 \u662f \u6839\u636e delta   time \uff08 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u662f fixed _ delta _ time \uff09 \u53c2\u6570 \u3002 \u6240\u4ee5 CARLA   Lidar \u8ba1\u7b97 \u4e00\u6b21 \uff0c \u4e0d \u61c2 \u53c2\u6570 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u5927 \u6982\u7387 \u4e5f \u4e0d\u662f \u5b8c\u6574 \u7684 \u4e00\u5e27 \uff08 \u8f93\u51fa \u53ea\u6709 \u534a\u4e2a \u5708 \u7684 \u60c5\u51b5 \uff09 \uff0c \u4ece \u8fd9\u4e2a \u89d2\u5ea6 \u89d2\u5ea6\u770b \uff0c \u51e0\u5e27 \u62fc\u6210 \u5b8c\u6574 \u7684 \u4e00\u5e27 \uff0c \u51e0\u5e27 \u662f \u5728 \u4e0d\u540c \u4eff\u771f \u65f6\u95f4 \u4e0b \u751f\u6210 \u7684 \uff0c \u6709 \u7c92\u5ea6 \u7c97\u7c92\u5ea6 \u7684 \u8fd0\u52a8 \u7578\u53d8 \u3002 \u7406\u8bba \u4e0a \uff0c \u53ea\u8981 \u7c92\u5ea6 \u591f \u5c0f \uff08 1ms \uff09 \uff0c \u62fc\u51fa \u51fa\u6765 \u62fc\u51fa\u6765 \u7684 \u70b9\u4e91 \u5c31\u662f \u6709 \u8fd0\u52a8 \u7578\u53d8 \u7684 \u3002 \u5f53\u7136 \uff0c \u8fd0\u884c \u7684 \u4e5f \u4f1a \u5f88\u6162 \u3002   2 \u3001 \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 \u6211 \u7684 Lidar \u8f93\u51fa \u4e0d\u662f \u5b8c\u6574 \u7684 \u70b9\u4e91 \uff1f   \u7b54 \uff1a \u5efa\u8bae \u4e86\u89e3 \u4e09\u4e2a \u53c2\u6570 \u6982\u5ff5 \uff1a world   tick   ( fixed _ delta _ time ) ,   sensor   tick ,   rotation   frequence \u3002 \u5728 CARLA \u9ed8\u8ba4 \u7684 \u5b9e\u73b0 \u903b\u8f91 \u4e0b \uff0c \u4e00\u4e2a \u4eff\u771f \u79d2 \u7684 \u70b9\u4e91 \u603b\u6570 \u5e94\u8be5 \u5728   [   rotation   frequence   *   points _ per _ second   *   80%   ]   \u5de6\u53f3 \uff0c \u6839\u636e \u626b\u63cf \u7684 \u573a\u5730 \u662f\u5426 \u5f00\u9614 \u51b3\u5b9a \u8fd4\u56de \u7684 \u70b9\u4e91\u6570 \u3002 \u56e0\u4e3a \u6253 \u51fa\u53bb \u7684 \u6fc0\u5149 \u6ca1 \u51fb\u4e2d \u7269\u4f53 \u5c31 \u4e0d\u4f1a \u6709\u70b9 \u4e91 \uff0c \u6240\u4ee5 \u70b9\u4e91\u6570 \u4e00\u5b9a \u662f \u7565 \u5c11 \u7684 \u3002   3 \u3001 Lidar \u53d7 \u5929\u6c14 \u5f71\u54cd \u5417 \uff1f   \u7b54 \uff1a \u4e0d \u53d7 \u5929\u6c14 \u5f71\u54cd \u3002 \u4e5f \u4e0d\u53d7 \u7c92\u5b50 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7c92\u5b50\u7cfb\u7edf \u5f71\u54cd \uff08 \u4e0d\u7ba1 \u4f60 \u662f \u8001 \u7684 \u7c92\u5b50 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7c92\u5b50\u7cfb\u7edf \u8fd8\u662f Niagara \u7c92\u5b50 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7c92\u5b50\u7cfb\u7edf \uff09 \u3002   4 \u3001 \u600e\u4e48 \u6a21\u62df Mems \u7b49 \u975e \u673a\u68b0 \u673a\u68b0\u5f0f Lidar \uff1f   \u7b54 \uff1a \u6709 \u80fd\u529b \u7684 \u53ef\u4ee5 \u81ea\u5df1 \u8bbe\u8ba1 RayCast \u53d1\u5c04 \u65b9\u5f0f \u3002   \u6709 \u4e00\u7bc7 \u8bba\u6587 \u5b9e\u73b0 \u8fc7 \u3001   Github \u9879\u76ee \u5730\u5740   \u3002   5 \u3001 \u600e\u4e48 \u5b9e\u73b0 Lidar \u7684 \u591a\u6b21 \u53cd\u5c04 \uff1f   \u7b54 \uff1a \u4e0a \u4e00\u4e2a \u95ee\u9898 \u7684 \u8bba\u6587 \u4e5f \u5b9e\u73b0 \u8fc7 \u3002 \u4f46 \u539f\u7406 \u662f \uff1a \u8ba1\u7b97 \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u53d1\u5c04 \u7684 \u5f3a\u5ea6 \uff0c \u5982\u679c \u5927\u4e8e 50% \uff0c \u5c31 \u5728 \u51fb\u4e2d \u70b9\u5ef6 \u5165\u5c04 \u65b9\u5411 \u4e0e \u51fb\u4e2d \u70b9 \u6cd5\u7ebf \u7684 \u89d2\u5ea6 \u518d\u53d1 \u3002 \u7b2c\u4e8c \u4e8c\u6b21 \u7b2c\u4e8c\u6b21 \u53d1\u5c04 \u51fb\u4e2d \u7684 \u70b9 \u4e3a \u70b9\u4e91 \u7684 \u5750\u6807 \u3002   \u4e2a\u4eba \u7406\u89e3 \uff1a \u5047 \u3002   \u4e2a\u4eba \u611a\u89c1 \uff1a Lidar \u662f \u901a\u8fc7 \u76d8\u7801 \u89d2 \u548c TTF \u51b3\u5b9a \u70b9\u4e91 \u4f4d\u7f6e \u7684 \uff0c \u76d8\u7801 \u89d2 \u51b3\u5b9a \u70b9\u4e91 \u65b9\u5411 \uff0c TTF \uff08 time   to   fly \uff0c \u98de\u884c \u65f6\u95f4 \uff09 \u51b3\u5b9a \u8ddd\u79bb \u3002 \u770b \u4e86 \u77e5\u4e4e \u96ea\u5cad \u98de\u82b1 \u5728   \u300a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe lidar \u76ee\u524d \u7684 \u6280\u672f \u96be\u70b9 \u5728 \u54ea \uff0c \u5173\u952e \u6280\u672f \u5173\u952e\u6280\u672f \u90fd \u6709 \u54ea\u4e9b \uff1f \u300b   \u4e0b \u7684 \u56de\u7b54   \uff0c \u6211 \u5927\u6982 \u77e5\u9053 \u9b3c\u5f71 \u548c \u81a8\u80c0 \u7684 \u539f\u56e0 \u3002 \u6240\u4ee5 \u591a\u6b21 \u53cd\u5c04 \u80fd \u751f\u6210 \u70b9\u4e91 \u6700 \u91cd\u8981 \u7684 \u4e00\u70b9 \u662f \uff1a \u591a\u6b21 \u8def\u5f84 \u53cd\u5c04 \u540e \uff0c \u6700\u7ec8 \u80fd \u88ab \u63a5\u6536 \u63a5\u6536\u5668 \u611f\u77e5 \u3002 \u5e76\u4e14 \u70b9\u4e91 \u7684 \u65b9\u5411 \u53ea \u53d7\u76d8 \u7801\u89d2 \u51b3\u5b9a \uff0c \u4e0d\u662f \u4e24\u6b21 \u53cd\u5c04 \u51fb\u4e2d \u7684 \u70b9 \u5c31\u662f \u6700\u7ec8 \u7684 \u70b9\u4e91 \u7684 \u4f4d\u7f6e \uff01 \uff08 \u5f53\u7136 \uff0c \u7406\u89e3 \u4e86 \u539f\u7406 \uff0c \u4e5f \u5c31 \u6709 \u53ef\u80fd \u53bb \u5b9e\u73b0 \u4e86 \uff0c \u6027\u80fd \u6d88\u8017 \u4f30\u8ba1 \u4e0d\u5c0f \uff09   6 \u3001 \u600e\u4e48 \u5b9e\u73b0 \u4e0d\u540c \u7269\u4f53 \u4e0d\u540c \u53cd\u5c04 \u53cd\u5c04\u7387 \uff1f   \u7b54 \uff1a \u4e2a\u4eba \u4e86\u89e3 \u4e24\u79cd \u65b9\u6848 \uff1a   1 \uff09 \u3001 \u4e00\u79cd \u57fa\u4e8e CARLA \u7684 Tag \u7cfb\u7edf \uff0c \u4e5f \u5c31\u662f Semantic \u8bed\u4e49 \u5206\u5272 \u7684 \u57fa\u7840 \u3002 \u4e0d\u540c \u7684 \u7269\u4f53 \u5728 \u8bed\u4e49 \u5206\u5272 \u91cc \u6709 \u4e0d\u540c \u7684 \u989c\u8272 \uff0c \u672c\u8d28 \u662f \u88ab CARLA \u5206\u7c7b \u4e86 \uff0c \u7136\u540e \u53ef\u4ee5 \u6839\u636e \u8fd9\u4e2a Tag \u7ed9 \u7269\u4f53 \u5bf9\u5e94 \u7684 \u53cd\u5c04 \u53cd\u5c04\u7387 \u3002   \u65b9\u6848 \u7f3a\u70b9 \uff1a \u7c92\u5ea6 \u5f88\u7c97 \uff0c \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u7684 \u73bb\u7483 \u548c \u8f66\u724c \u662f \u5b8c\u5168 \u4e0d\u540c \u7684 \u53cd\u5c04 \u60c5\u51b5 \u3002 \uff08 \u4e0a\u8ff0 \u8bba\u6587 \u7528 \u7684 \u5c31\u662f \u8fd9\u79cd \u65b9\u6cd5 \uff09   2 \uff09 \u57fa\u4e8e \u7269\u7406 \u6750\u8d28 \u3002 RayCast \u7684 \u63a5\u53e3 LineTrace \u548c \u8fd4\u56de \u7ed3\u679c FHitResult \u53ef\u4ee5 \u770b \u4e00\u4e0b \uff0c \u91cc\u9762 \u53ef\u4ee5 \u62ff\u5230 \u7269\u7406 \u6750\u8d28 \u7684 \u4fe1\u606f \u3002 \u518d \u6839\u636e \u8fd9\u4e2a \u6807\u8bb0 \u7ed9 \u5bf9\u5e94 \u6750\u8d28 \u4e0d\u540c \u7684 \u53cd\u5c04 \u53cd\u5c04\u7387 \u3002   \u65b9\u6848 \u7f3a\u70b9 \uff1a \u7269\u7406 \u6750\u8d28 UE \u9ed8\u8ba4 \u53ea \u5141\u8bb8 \u8bbe\u7f6e 63 \u4e2a \uff0c \u800c\u4e14 \u5f97 \u770b \u5b9e\u9645 \u6750\u8d28 \u7684 \u7c92\u5ea6 \uff0c CARLA \u4e2d\u6709 \u5f88\u591a \u697c \uff0c \u4e00\u680b \u697c \u53ea\u6709 \u4e00\u4e2a \u6750\u8d28 \uff0c \u6240\u4ee5 \u4e5f \u53ea\u80fd \u8bbe\u7f6e \u4e00\u4e2a \u5bf9\u5e94 \u7684 \u7269\u7406 \u6750\u8d28 \u3002 \u800c\u4e14 \u8bbe\u7f6e \u7269\u7406 \u6750\u8d28 \u4f1a \u5f71\u54cd \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8868\u73b0 \uff0c \u6bd5\u7adf \u8fd9\u4e2a \u672c\u6765 \u5c31\u662f \u7ed9 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u7528 \u7684 \u3002   \u53c2\u8003 issue \uff1a https : / / github . com / carla - simulator / carla / issues / 6171   7 \u3001 CARLA \u7684 Lidar \u652f\u6301 \u591a \u56de\u6ce2 \u5417 \uff1f   \u7b54 \uff1a \u4e0d \u652f\u6301 \u3002 \u4e86\u89e3 \u591a \u56de\u6ce2 \u539f\u7406 \u7684 \u53ef\u4ee5 \u624b\u52a8 \u5b9e\u73b0 \uff0c \u5f53\u7136 \u4f30\u8ba1 \u4f1a \u4f34\u968f \u7740 \u6027\u80fd \u6d88\u8017 \u589e\u957f \u3002","title":"Lidar / \u6fc0\u5149\u96f7\u8fbe"},{"location":"faq/radar/#ultrasonic","text":"1 \u3001 CARLA \u6ca1\u6709 \u6709\u6ca1\u6709 \u8d85\u58f0 \u58f0\u6ce2 \u8d85\u58f0\u6ce2 \u96f7\u8fbe \uff1f   \u7b54 \uff1a \u6ca1\u6709 \u3002 \u57fa\u672c \u57fa\u672c\u4e0a \u8fd9 \u7c7b \u4e3b\u52a8 \u53d1\u5c04 \u63a2\u6d4b \u6027 \u96f7\u8fbe \uff0c \u5e95\u5c42 \u90fd \u662f RayCast \u3002","title":"UltraSonic / \u8d85\u58f0\u6ce2"},{"location":"faq/sensor/","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u672c\u6587 \u4e3b\u8981 \u662f \u7b80\u8ff0 \u4e86 \u5728 \u4f7f\u7528 Carla \u8fc7\u7a0b \u4e2d \u9047\u5230 \u7684 \u5173\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4e00\u4e9b \u5e38\u89c1 \u95ee\u9898 \u5e38\u89c1\u95ee\u9898 \u3002   1 \u3001 Carla \u6ca1\u6709 \u6709\u6ca1\u6709 \u9c7c\u773c \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \uff1f   \u7b54 \uff1a \u6709 \uff0c \u5728   Carla \u7684 PullRequest \u4e2d   \u4f20 \u4e86 \u9c7c\u773c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u5e76\u4e14 \u5728 issues \u548c pullrequets \u4e2d \u5df2\u7ecf \u5f62\u6210 \u4e86 \u6bd4\u8f83 \u5b8c\u6574 \u7684 \u4ee3\u7801 bug \u4fee\u590d \u7f16\u8bd1 \u8fc7\u7a0b \uff0c \u4e3b\u8981 \u662f \u9002\u914d UE4.26 \u7684 \u4ee3\u7801 \u3002   2 \u3001 Carla \u6ca1\u6709 \u6709\u6ca1\u6709 \u9c7c\u773c \u7684 \u8bed\u4e49 \u5206\u5272 \u6216 \u5b9e\u4f8b \u5206\u5272 \u4f20\u5668 \uff1f   \u7b54 \uff1a \u53ef\u4ee5 \u5b9e\u73b0 \uff0c \u867d\u7136 \u6ca1 \u6ce8\u610f issues \u91cc \u6ca1\u6709 \u6709\u6ca1\u6709 \u5b9e\u73b0 \u65b9\u5f0f \u3002 \u4f46 \u4e86\u89e3 \u666e\u901a RGB \u548c \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u77e5\u9053 \uff0c \u8fd9\u4e2a \u5176\u5b9e \u662f \u5904\u7406 \u540e\u5904\u7406 \u6750\u8d28 \u7684 \u529f\u52b3 \u3002   3 \u3001 \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 \u4e00\u4e2a Carla \u591a\u4e2a \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u663e\u5361 \u8fd8\u662f \u5229\u7528 \u7528\u7387 \u5229\u7528\u7387 \u5f88 \u4f4e \uff1f   \u7b54 \uff1a \u5c0f\u7f16 \u5206\u6790 \u8fd9\u4e2a \u662f \u591a\u4e2a SceneCapture \u5176\u5b9e \u662f \u8f6e\u6d41 \u8fdb\u5165 \u6e32\u67d3 \u961f\u5217 \u7684 \u3002 \u5728 \u5e95\u5c42 RHI \uff08 \u6e32\u67d3 \u786c\u4ef6 \u63a5\u53e3 \uff09 \u7ebf\u7a0b \u5e76 \u4e0d\u80fd \u5e76\u884c \u6267\u884c \u5e76\u884c\u6267\u884c \u6e32\u67d3 \u4efb\u52a1 \u3002 \u8fd9\u4e2a \u95ee\u9898 \u5e94\u8be5 \u9650\u5236 \u5728 UE \u4fa7 \u3002   4 \u3001 Carla \u4ec0\u4e48 \u65f6\u5019 \u8fc1\u79fb UE5 \uff1f   \u7b54 \uff1a \u73b0\u5728 Carla   Github \u4e2d \u5df2\u6709 UE5 . x \u7684 \u7248\u672c \u3002 \u5c0f\u7f16 \u8ba4\u4e3a UE5 \u7684 \u6e32\u67d3 \u6548\u679c \u5e76 \u4e0d\u80fd \u89e3\u51b3 \u6e32\u67d3 \u4e0d \u771f\u7684 \u95ee\u9898 \uff0c \u4e5f \u4e0d\u80fd \u89e3\u51b3 \u6e32\u67d3 \u6027\u80fd \u7684 \u95ee\u9898 \u3002 \u5f53\u7136 \uff0c \u201c \u6709 \u66f4\u597d \u7684 \u7528 \u66f4\u597d \u7684 \u201d \u7684 \u51fa\u53d1 \u53d1\u70b9 \u51fa\u53d1\u70b9 \u6ca1 \u5565 \u95ee\u9898 \u3002 \u4f46 \u9ad8 \u6e32\u67d3 \u753b\u8d28 \u4f34\u968f \u7740 \u9ad8\u6027 \u6027\u80fd \u9ad8\u6027\u80fd \u6d88\u8017 \u7684 \u5b9a\u5f8b \u662f \u4e0d\u4f1a \u53d8 \u7684 \u3002   5 \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 Listen \u7684 \u65f6\u5019 \uff0c \u603b\u662f \u5361\u6b7b \uff0c \u5185\u5b58 \u7206\u70b8   \u7b54 \uff1a Carla \u7684 \u6570\u636e \u6570\u636e\u6d41 \u57fa\u4e8e TCP \uff0c \u4e00\u822c \u662f \u5728 listen ( ) \u8c03\u7528 \u7684 Callback \u51fd\u6570 \u8fd0\u884c \u65f6\u95f4 \u8f83\u957f \u3002 Carla \u670d\u52a1 \u670d\u52a1\u7aef \u5728 \u75af\u72c2 \u4ece Buffer   Pool \u7533\u8bf7 \u65b0 \u7684 \u5185\u5b58 \uff0c \u5728 \u7f51\u7edc \u7aef \u5835\u585e \u3002 \u8fd9\u4e2a \u95ee\u9898 \u901a\u5e38 \u5728 \u5355\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ea7\u751f \u7684 \u6570\u636e \u6570\u636e\u91cf \u5f88\u5927 \uff0c \u800c\u4e14 \u8fd8 \u9ad8\u9891 \u4ea7\u51fa \u7684 \u60c5\u51b5 \u4e0b \u51fa\u73b0 \uff0c \u5982\u679c \u662f \u5f02\u6b65 \u6a21\u5f0f \uff0c \u90a3 \u51fa\u73b0 \u9891\u7387 \u66f4\u9ad8 \u3002   \u89e3\u51b3 \u529e\u6cd5 \u89e3\u51b3\u529e\u6cd5 \uff1a \u4f18\u5316 Python \u811a\u672c \uff0c \u5199\u4e2a \u5f02\u6b65 \u5904\u7406 \u3002   6 \u3001 Carla   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u51fa\u73b0 \u7729\u5149   \u7b54 \uff1a \u4e00\u822c \u8fd9\u79cd \u60c5\u51b5 \u4f1a\u5148 \u51fa\u73b0 \u663e\u5b58 \u4e0d\u591f \u7528 \u7684 Warning \uff0c \u7136\u540e \u5c31 \u7206\u70b8 \u4e86 \u3002 \u901a\u5e38 \u4f7f\u7528 \u5927 \u663e\u5b58 \u53ef\u4ee5 \u51cf\u5c11 \u8fd9\u4e2a \u95ee\u9898 \u51fa\u73b0 \u7684 \u6982\u7387 \u3002   7 \u3001 Carla \u81ea\u5e26 \u7684 \u7578\u53d8 \u6a21\u578b \u600e\u4e48 \u7528 \uff1f   \u7b54 \uff1a \u53c2\u8003   SynthEyes '   lens - distortion \u7578\u53d8 \u7b97\u6cd5   \u548c   SynthEyes '   lens - distortion \u7578\u53d8 \u7b97\u6cd5 \u539f\u7406   \u3002 \u5f53\u7136 \u53ef\u4ee5 \u53bb \u770b \u5b9e\u73b0 \u5b83 \u7684 \u5904\u7406 \u540e\u5904\u7406 \u6750\u8d28 \u84dd\u56fe PhysicLensDistortion \u3002   8 \u3001 Carla \u80fd \u4e0d\u80fd \u5b9e\u73b0 \u5176\u4ed6 \u7578\u53d8 \u6a21\u578b \uff1f   \u7b54 \uff1a \u4f1a \u641e \u5904\u7406 \u540e\u5904\u7406 \u6750\u8d28 \u84dd\u56fe \uff0c \u5c31 \u53ef\u4ee5 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4efb\u4f55 \u7578\u53d8 \u6a21\u578b \u3002   9 \u3001 \u5b9e\u4f8b \u5206\u5272 \u548c \u8bed\u4e49 \u5206\u5272 \u533a\u522b \u5728 \u54ea \uff1f   \u7b54 \uff1a \u4e0e \u8bed\u4e49 \u5206\u5272 \u53ea \u5173\u6ce8 \u50cf\u7d20 \u7ea7\u522b \u7684 \u8bed\u4e49 \u6807\u7b7e \u4e0d\u540c \uff0c \u5b9e\u4f8b \u5206\u5272 \u8fd8 \u8981\u6c42 \u5bf9 \u540c\u7c7b \u4f46 \u4e0d\u662f \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u7269\u4f53 \u5b9e\u4f8b \u8fdb\u884c \u533a\u5206 \u548c \u5206\u5272 \u3002 \u5b9e\u4f8b \u5206\u5272 \u8f93\u51fa \u7684 RGB \u56fe\u50cf \uff1a R \u901a\u9053 \u662f \u8bed\u4e49 \u5206\u5272 \u7684 \u7ed3\u679c \uff0c GB \u901a\u9053 \u7ec4\u6210 \u5b9e\u4f8b \u5206\u5272 ID \uff0c \u5b9e\u4f8b \u5206\u5272 ID \u662f \u865a\u5e7b \u5f15\u64ce \u4e0b \u7684 UniqueID \uff0c \u5e76\u975e Carla \u5c42 \u7684 Actor   ID \u3002 \u7528 \u4e24\u4e2a \u901a\u9053 \u662f \u51fa\u4e8e \u4f4d\u6570 \u5927\u5c0f \u8003\u8651 \u3002   \u8bed\u610f \u5206\u5272 \u8f93\u51fa \u7684 RGB \u56fe\u50cf \uff1a \u57fa\u4e8e Tagger \u8bbe\u7f6e \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6df1\u5ea6 \u51b3\u5b9a \u6750\u8d28 \u7684 \u81ea \u53d1\u5149 \u989c\u8272 \u3002   \u8bed\u610f \u5206\u5272 \u6750\u8d28 \uff1a   \u76f8\u5173 Issue   \u3002   \u5b9e\u4f8b \u5206\u5272 \u989c\u8272 \u8bbe\u7f6e \u76f8\u5173 \u4ee3\u7801 \uff1a   ` ` ` cpp   FLinearColor   ATagger : : GetActorLabelColor ( const   AActor   & Actor ,   const   crp : : CityObjectLabel   & Label )   {   uint32   id   =   Actor . GetUniqueID ( ) ;   / /   TODO :   Warn   if   id   >   0xffff .   / /   Encode   label   and   id   like   semantic   segmentation   does   / /   TODO :   Steal   bits   from   R   channel   and   maybe   A   channel ?   FLinearColor   Color ( 0.0 f ,   0.0 f ,   0.0 f ,   1.0 f ) ;   Color . R   =   CastEnum ( Label )   /   255.0 f ;   Color . G   =   ( ( id   &   0x00ff )   > >   0 )   /   255.0 f ;   Color . B   =   ( ( id   &   0xff00 )   > >   8 )   /   255.0 f ;   return   Color ;   }   ` ` `","title":"Sensor"},{"location":"faq/sensor/#_1","text":"\u672c\u6587 \u4e3b\u8981 \u662f \u7b80\u8ff0 \u4e86 \u5728 \u4f7f\u7528 Carla \u8fc7\u7a0b \u4e2d \u9047\u5230 \u7684 \u5173\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4e00\u4e9b \u5e38\u89c1 \u95ee\u9898 \u5e38\u89c1\u95ee\u9898 \u3002   1 \u3001 Carla \u6ca1\u6709 \u6709\u6ca1\u6709 \u9c7c\u773c \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \uff1f   \u7b54 \uff1a \u6709 \uff0c \u5728   Carla \u7684 PullRequest \u4e2d   \u4f20 \u4e86 \u9c7c\u773c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u5e76\u4e14 \u5728 issues \u548c pullrequets \u4e2d \u5df2\u7ecf \u5f62\u6210 \u4e86 \u6bd4\u8f83 \u5b8c\u6574 \u7684 \u4ee3\u7801 bug \u4fee\u590d \u7f16\u8bd1 \u8fc7\u7a0b \uff0c \u4e3b\u8981 \u662f \u9002\u914d UE4.26 \u7684 \u4ee3\u7801 \u3002   2 \u3001 Carla \u6ca1\u6709 \u6709\u6ca1\u6709 \u9c7c\u773c \u7684 \u8bed\u4e49 \u5206\u5272 \u6216 \u5b9e\u4f8b \u5206\u5272 \u4f20\u5668 \uff1f   \u7b54 \uff1a \u53ef\u4ee5 \u5b9e\u73b0 \uff0c \u867d\u7136 \u6ca1 \u6ce8\u610f issues \u91cc \u6ca1\u6709 \u6709\u6ca1\u6709 \u5b9e\u73b0 \u65b9\u5f0f \u3002 \u4f46 \u4e86\u89e3 \u666e\u901a RGB \u548c \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u77e5\u9053 \uff0c \u8fd9\u4e2a \u5176\u5b9e \u662f \u5904\u7406 \u540e\u5904\u7406 \u6750\u8d28 \u7684 \u529f\u52b3 \u3002   3 \u3001 \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 \u4e00\u4e2a Carla \u591a\u4e2a \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u663e\u5361 \u8fd8\u662f \u5229\u7528 \u7528\u7387 \u5229\u7528\u7387 \u5f88 \u4f4e \uff1f   \u7b54 \uff1a \u5c0f\u7f16 \u5206\u6790 \u8fd9\u4e2a \u662f \u591a\u4e2a SceneCapture \u5176\u5b9e \u662f \u8f6e\u6d41 \u8fdb\u5165 \u6e32\u67d3 \u961f\u5217 \u7684 \u3002 \u5728 \u5e95\u5c42 RHI \uff08 \u6e32\u67d3 \u786c\u4ef6 \u63a5\u53e3 \uff09 \u7ebf\u7a0b \u5e76 \u4e0d\u80fd \u5e76\u884c \u6267\u884c \u5e76\u884c\u6267\u884c \u6e32\u67d3 \u4efb\u52a1 \u3002 \u8fd9\u4e2a \u95ee\u9898 \u5e94\u8be5 \u9650\u5236 \u5728 UE \u4fa7 \u3002   4 \u3001 Carla \u4ec0\u4e48 \u65f6\u5019 \u8fc1\u79fb UE5 \uff1f   \u7b54 \uff1a \u73b0\u5728 Carla   Github \u4e2d \u5df2\u6709 UE5 . x \u7684 \u7248\u672c \u3002 \u5c0f\u7f16 \u8ba4\u4e3a UE5 \u7684 \u6e32\u67d3 \u6548\u679c \u5e76 \u4e0d\u80fd \u89e3\u51b3 \u6e32\u67d3 \u4e0d \u771f\u7684 \u95ee\u9898 \uff0c \u4e5f \u4e0d\u80fd \u89e3\u51b3 \u6e32\u67d3 \u6027\u80fd \u7684 \u95ee\u9898 \u3002 \u5f53\u7136 \uff0c \u201c \u6709 \u66f4\u597d \u7684 \u7528 \u66f4\u597d \u7684 \u201d \u7684 \u51fa\u53d1 \u53d1\u70b9 \u51fa\u53d1\u70b9 \u6ca1 \u5565 \u95ee\u9898 \u3002 \u4f46 \u9ad8 \u6e32\u67d3 \u753b\u8d28 \u4f34\u968f \u7740 \u9ad8\u6027 \u6027\u80fd \u9ad8\u6027\u80fd \u6d88\u8017 \u7684 \u5b9a\u5f8b \u662f \u4e0d\u4f1a \u53d8 \u7684 \u3002   5 \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 Listen \u7684 \u65f6\u5019 \uff0c \u603b\u662f \u5361\u6b7b \uff0c \u5185\u5b58 \u7206\u70b8   \u7b54 \uff1a Carla \u7684 \u6570\u636e \u6570\u636e\u6d41 \u57fa\u4e8e TCP \uff0c \u4e00\u822c \u662f \u5728 listen ( ) \u8c03\u7528 \u7684 Callback \u51fd\u6570 \u8fd0\u884c \u65f6\u95f4 \u8f83\u957f \u3002 Carla \u670d\u52a1 \u670d\u52a1\u7aef \u5728 \u75af\u72c2 \u4ece Buffer   Pool \u7533\u8bf7 \u65b0 \u7684 \u5185\u5b58 \uff0c \u5728 \u7f51\u7edc \u7aef \u5835\u585e \u3002 \u8fd9\u4e2a \u95ee\u9898 \u901a\u5e38 \u5728 \u5355\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ea7\u751f \u7684 \u6570\u636e \u6570\u636e\u91cf \u5f88\u5927 \uff0c \u800c\u4e14 \u8fd8 \u9ad8\u9891 \u4ea7\u51fa \u7684 \u60c5\u51b5 \u4e0b \u51fa\u73b0 \uff0c \u5982\u679c \u662f \u5f02\u6b65 \u6a21\u5f0f \uff0c \u90a3 \u51fa\u73b0 \u9891\u7387 \u66f4\u9ad8 \u3002   \u89e3\u51b3 \u529e\u6cd5 \u89e3\u51b3\u529e\u6cd5 \uff1a \u4f18\u5316 Python \u811a\u672c \uff0c \u5199\u4e2a \u5f02\u6b65 \u5904\u7406 \u3002   6 \u3001 Carla   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u51fa\u73b0 \u7729\u5149   \u7b54 \uff1a \u4e00\u822c \u8fd9\u79cd \u60c5\u51b5 \u4f1a\u5148 \u51fa\u73b0 \u663e\u5b58 \u4e0d\u591f \u7528 \u7684 Warning \uff0c \u7136\u540e \u5c31 \u7206\u70b8 \u4e86 \u3002 \u901a\u5e38 \u4f7f\u7528 \u5927 \u663e\u5b58 \u53ef\u4ee5 \u51cf\u5c11 \u8fd9\u4e2a \u95ee\u9898 \u51fa\u73b0 \u7684 \u6982\u7387 \u3002   7 \u3001 Carla \u81ea\u5e26 \u7684 \u7578\u53d8 \u6a21\u578b \u600e\u4e48 \u7528 \uff1f   \u7b54 \uff1a \u53c2\u8003   SynthEyes '   lens - distortion \u7578\u53d8 \u7b97\u6cd5   \u548c   SynthEyes '   lens - distortion \u7578\u53d8 \u7b97\u6cd5 \u539f\u7406   \u3002 \u5f53\u7136 \u53ef\u4ee5 \u53bb \u770b \u5b9e\u73b0 \u5b83 \u7684 \u5904\u7406 \u540e\u5904\u7406 \u6750\u8d28 \u84dd\u56fe PhysicLensDistortion \u3002   8 \u3001 Carla \u80fd \u4e0d\u80fd \u5b9e\u73b0 \u5176\u4ed6 \u7578\u53d8 \u6a21\u578b \uff1f   \u7b54 \uff1a \u4f1a \u641e \u5904\u7406 \u540e\u5904\u7406 \u6750\u8d28 \u84dd\u56fe \uff0c \u5c31 \u53ef\u4ee5 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4efb\u4f55 \u7578\u53d8 \u6a21\u578b \u3002   9 \u3001 \u5b9e\u4f8b \u5206\u5272 \u548c \u8bed\u4e49 \u5206\u5272 \u533a\u522b \u5728 \u54ea \uff1f   \u7b54 \uff1a \u4e0e \u8bed\u4e49 \u5206\u5272 \u53ea \u5173\u6ce8 \u50cf\u7d20 \u7ea7\u522b \u7684 \u8bed\u4e49 \u6807\u7b7e \u4e0d\u540c \uff0c \u5b9e\u4f8b \u5206\u5272 \u8fd8 \u8981\u6c42 \u5bf9 \u540c\u7c7b \u4f46 \u4e0d\u662f \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u7269\u4f53 \u5b9e\u4f8b \u8fdb\u884c \u533a\u5206 \u548c \u5206\u5272 \u3002 \u5b9e\u4f8b \u5206\u5272 \u8f93\u51fa \u7684 RGB \u56fe\u50cf \uff1a R \u901a\u9053 \u662f \u8bed\u4e49 \u5206\u5272 \u7684 \u7ed3\u679c \uff0c GB \u901a\u9053 \u7ec4\u6210 \u5b9e\u4f8b \u5206\u5272 ID \uff0c \u5b9e\u4f8b \u5206\u5272 ID \u662f \u865a\u5e7b \u5f15\u64ce \u4e0b \u7684 UniqueID \uff0c \u5e76\u975e Carla \u5c42 \u7684 Actor   ID \u3002 \u7528 \u4e24\u4e2a \u901a\u9053 \u662f \u51fa\u4e8e \u4f4d\u6570 \u5927\u5c0f \u8003\u8651 \u3002   \u8bed\u610f \u5206\u5272 \u8f93\u51fa \u7684 RGB \u56fe\u50cf \uff1a \u57fa\u4e8e Tagger \u8bbe\u7f6e \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6df1\u5ea6 \u51b3\u5b9a \u6750\u8d28 \u7684 \u81ea \u53d1\u5149 \u989c\u8272 \u3002   \u8bed\u610f \u5206\u5272 \u6750\u8d28 \uff1a   \u76f8\u5173 Issue   \u3002   \u5b9e\u4f8b \u5206\u5272 \u989c\u8272 \u8bbe\u7f6e \u76f8\u5173 \u4ee3\u7801 \uff1a   ` ` ` cpp   FLinearColor   ATagger : : GetActorLabelColor ( const   AActor   & Actor ,   const   crp : : CityObjectLabel   & Label )   {   uint32   id   =   Actor . GetUniqueID ( ) ;   / /   TODO :   Warn   if   id   >   0xffff .   / /   Encode   label   and   id   like   semantic   segmentation   does   / /   TODO :   Steal   bits   from   R   channel   and   maybe   A   channel ?   FLinearColor   Color ( 0.0 f ,   0.0 f ,   0.0 f ,   1.0 f ) ;   Color . R   =   CastEnum ( Label )   /   255.0 f ;   Color . G   =   ( ( id   &   0x00ff )   > >   0 )   /   255.0 f ;   Color . B   =   ( ( id   &   0xff00 )   > >   8 )   /   255.0 f ;   return   Color ;   }   ` ` `","title":"\u4f20\u611f\u5668"},{"location":"scenario_runner/FAQ/","text":"\u7ecf\u5e38 \u95ee \u7684 \u95ee\u9898   \u5728 \u4ee3\u7406 \u5bfc\u822a \u4e2d \u6536\u5230 \u9519\u8bef   \" TypeError :   ' instancemethod '   object   has   no   attribute   '   getitem   ' \"   \u6b64 \u95ee\u9898 \u5f88 \u53ef\u80fd \u662f \u7531   Python   Networkx   \u5305 \u7684 \u8fc7\u65f6 \u7248\u672c \u5f15\u8d77 \u7684 \u3002 \u8bf7 \u5220\u9664 \u5f53\u524d \u5b89\u88c5 \uff08 \u4f8b\u5982   sudo   apt - get   remove   python - networkx \uff09 \u5e76 \u4f7f\u7528 \u201c pip   install   -- user   networkx = = 2.2 \u201d \u8fdb\u884c \u5b89\u88c5 \u3002   \u6ca1\u6709 \u53ef\u89c1 \u7684 \u573a\u666f \uff0c \u6211 \u6536\u5230 \u6d88\u606f   \" No   more   scenarios   ....   Exiting \"   \u5982\u679c \u60a8 \u6536\u5230 \u4ee5\u4e0b \u8f93\u51fa   Preparing   scenario :   FollowLeadingVehicle _ 1   ScenarioManager :   Running   scenario   FollowVehicle   Resetting   ego - vehicle !   Failure !   Resetting   ego - vehicle !   ERROR :   failed   to   destroy   actor   527   :   unable   to   destroy   actor :   not   found   No   more   scenarios   ....   Exiting   \u5982\u679c \u60a8 \u6ca1\u6709 \u770b\u5230 \u4efb\u4f55 \u4e8b\u60c5 \u53d1\u751f \uff0c \u5f88 \u53ef\u80fd \u56e0\u4e3a \u662f\u56e0\u4e3a \u60a8 \u6ca1\u6709 \u542f\u52a8 \u63a7\u5236 \u81ea\u6211 \u8f66\u8f86 \u7684 \u7a0b\u5e8f \u3002 \u8fd0\u884c \u4f8b\u5982 manual _ control . py \uff0c \u60a8 \u73b0\u5728 \u5e94\u8be5 \u770b\u5230 \u53d1\u751f \u4e86 \u4e00\u4e9b \u4e8b\u60c5 \u3002   \u4f7f\u7528   -- debug   \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u65f6 \uff0c Scenario   Runner   \u9000\u51fa \u5e76 \u51fa\u73b0 \u9519\u8bef   \u5982\u679c \u60a8 \u6536\u5230 \u4ee5\u4e0b \u8f93\u51fa   UnicodeEncodeError :   ' ascii '   codec   can ' t   encode   character   ' \\ u2713 '   in   position   58 :   ordinal   not   in   range ( 128 )   \u8bf7 \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   PYTHONIOENCODING = utf - 8","title":"\u7ecf\u5e38 \u95ee \u7684 \u95ee\u9898"},{"location":"scenario_runner/FAQ/#_1","text":"","title":"\u7ecf\u5e38 \u95ee \u7684 \u95ee\u9898"},{"location":"scenario_runner/FAQ/#typeerror-instancemethod-object-has-no-attribute-getitem","text":"\u6b64 \u95ee\u9898 \u5f88 \u53ef\u80fd \u662f \u7531   Python   Networkx   \u5305 \u7684 \u8fc7\u65f6 \u7248\u672c \u5f15\u8d77 \u7684 \u3002 \u8bf7 \u5220\u9664 \u5f53\u524d \u5b89\u88c5 \uff08 \u4f8b\u5982   sudo   apt - get   remove   python - networkx \uff09 \u5e76 \u4f7f\u7528 \u201c pip   install   -- user   networkx = = 2.2 \u201d \u8fdb\u884c \u5b89\u88c5 \u3002","title":"\u5728 \u4ee3\u7406 \u5bfc\u822a \u4e2d \u6536\u5230 \u9519\u8bef   \" TypeError :   ' instancemethod '   object   has   no   attribute   ' getitem ' \""},{"location":"scenario_runner/FAQ/#no-more-scenarios-exiting","text":"\u5982\u679c \u60a8 \u6536\u5230 \u4ee5\u4e0b \u8f93\u51fa   Preparing   scenario :   FollowLeadingVehicle _ 1   ScenarioManager :   Running   scenario   FollowVehicle   Resetting   ego - vehicle !   Failure !   Resetting   ego - vehicle !   ERROR :   failed   to   destroy   actor   527   :   unable   to   destroy   actor :   not   found   No   more   scenarios   ....   Exiting   \u5982\u679c \u60a8 \u6ca1\u6709 \u770b\u5230 \u4efb\u4f55 \u4e8b\u60c5 \u53d1\u751f \uff0c \u5f88 \u53ef\u80fd \u56e0\u4e3a \u662f\u56e0\u4e3a \u60a8 \u6ca1\u6709 \u542f\u52a8 \u63a7\u5236 \u81ea\u6211 \u8f66\u8f86 \u7684 \u7a0b\u5e8f \u3002 \u8fd0\u884c \u4f8b\u5982 manual _ control . py \uff0c \u60a8 \u73b0\u5728 \u5e94\u8be5 \u770b\u5230 \u53d1\u751f \u4e86 \u4e00\u4e9b \u4e8b\u60c5 \u3002","title":"\u6ca1\u6709 \u53ef\u89c1 \u7684 \u573a\u666f \uff0c \u6211 \u6536\u5230 \u6d88\u606f   \" No   more   scenarios   ....   Exiting \""},{"location":"scenario_runner/FAQ/#-debug-scenario-runner","text":"\u5982\u679c \u60a8 \u6536\u5230 \u4ee5\u4e0b \u8f93\u51fa   UnicodeEncodeError :   ' ascii '   codec   can ' t   encode   character   ' \\ u2713 '   in   position   58 :   ordinal   not   in   range ( 128 )   \u8bf7 \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   PYTHONIOENCODING = utf - 8","title":"\u4f7f\u7528   -- debug   \u547d\u4ee4\u884c \u53c2\u6570 \u65f6 \uff0c Scenario   Runner   \u9000\u51fa \u5e76 \u51fa\u73b0 \u9519\u8bef"},{"location":"scenario_runner/README_OpenSCENARIO_2.0/","text":"osc2 - runner   \u6211\u4eec \u4f7f\u7528 OpenScenario   2.0 \u4f5c\u4e3a \u573a\u666f \u63cf\u8ff0 \u8ff0\u8bed \u8bed\u8a00 \u63cf\u8ff0\u8bed\u8a00 \u89c4\u8303 \uff0c \u8bbe\u8ba1 \u5e76 \u5b9e\u73b0 \u4e86 \u76f8\u5e94 \u7684 \u7f16\u8bd1 \u7cfb\u7edf \u7f16\u8bd1\u7cfb\u7edf \uff0c \u53ef\u4ee5 \u81ea\u52a8 \u5c06 \u7528 OpenScenario   2.0 \u63cf\u8ff0 \u7684 \u6d4b\u8bd5 \u573a\u666f \u8f6c\u6362 \u4e3a \u57fa\u4e8e scenario   runner \u7684 \u6d4b\u8bd5 \u573a\u666f \uff0c \u4ece\u800c \u4f7f\u7528 carla \u8fdb\u884c \u81ea\u52a8 \u9a7e\u9a76 \u6d4b\u8bd5 \u3002   Installation   1 .   \u5b89\u88c5 JDK   sudo   apt   install   openjdk - 17 - jdk   \u786e\u8ba4 \u5b89\u88c5 \uff1a   $   java   - version   \u8f93\u51fa \uff1a   openjdk   version   \" 17.0 . 5 \"   2022 - 10 - 18   OpenJDK   Runtime   Environment   ( build   17.0 . 5 + 8 - Ubuntu - 2ubuntu120.04 )   OpenJDK   64 - Bit   Server   VM   ( build   17.0 . 5 + 8 - Ubuntu - 2ubuntu120.04 ,   mixed   mode ,   sharing )   3 \u3001 \u5b89\u88c5   Antlr   4.10 . 1   sudo   apt   install   curl   curl   - O   https : / / www . antlr . org / download / antlr - 4.10 . 1 - complete . jar   \u5c06 . jar \u6587\u4ef6 \u653e\u5165 local / lib \u4e2d   $   sudo   cp   antlr - 4.10 . 1 - complete . jar   / usr / local / lib /   \u4ee5\u4e0b \u4e09\u4e2a \u6b65\u9aa4 \u7528\u4e8e \u914d\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u5e76 \u521b\u5efa \u522b\u540d \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u8f7b\u677e \u5730 \u4ece \u547d\u4ee4 \u547d\u4ee4\u884c \u4f7f\u7528 antlr4 \u3002   $   sudo   gedit   ~ / . bashrc   \u5728 \u672b\u5c3e \u6dfb\u52a0 \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   export   CLASSPATH = \" . : / usr / local / lib / antlr - 4.10 . 1 - complete . jar : $ CLASSPATH \"   alias   antlr4 = ' java   - jar   / usr / local / lib / antlr - 4.10 . 1 - complete . jar '   alias   grun = ' java   org . antlr . v4 . gui . TestRig '   \u8fdb\u800c \uff1a   source   ~ / . bashrc   \u5728 \u7ec8\u7aef \u8f93\u5165 antlr4 \u8fdb\u884c \u9a8c\u8bc1 \uff1a   $   antlr4   ANTLR   Parser   Generator   Version   4.10 . 1   - o   ___   specify   output   directory   where   all   output   is   generated   - lib   ___   specify   location   of   grammars ,   tokens   files   - atn   generate   rule   augmented   transition   network   diagrams   - encoding   ___   specify   grammar   file   encoding ;   e . g . ,   euc - jp   - message - format   ___   specify   output   style   for   messages   in   antlr ,   gnu ,   vs2005   - long - messages   show   exception   details   when   available   for   errors   and   warnings   - listener   generate   parse   tree   listener   ( default )   - no - listener   don ' t   generate   parse   tree   listener   - visitor   generate   parse   tree   visitor   - no - visitor   don ' t   generate   parse   tree   visitor   ( default )   - package   ___   specify   a   package / namespace   for   the   generated   code   - depend   generate   file   dependencies   - D < option > = value   set / override   a   grammar - level   option   - Werror   treat   warnings   as   errors   - XdbgST   launch   StringTemplate   visualizer   on   generated   code   - XdbgSTWait   wait   for   STViz   to   close   before   continuing   - Xforce - atn   use   the   ATN   simulator   for   all   predictions   - Xlog   dump   lots   of   logging   info   to   antlr - timestamp . log   - Xexact - output - dir   all   output   goes   into   - o   dir   regardless   of   paths / package   4 \u3001 \u5b89\u88c5 antlr4 \u8fd0\u884c \u65f6   pip   install   antlr4 - python3 - runtime = = 4.10   5 \u3001 \u5b89\u88c5 python \u4f9d\u8d56   pip   install   - r   requirements . txt   6 \u3001 \u5b89\u88c5   graphviz   sudo   apt - get   install   graphviz   7 \u3001 \u914d\u7f6e   carla   ( 1 )   \u4e0b\u8f7d   carla \u7248\u672c   ( 2 )   \u5c06 carla \u5b89\u88c5 \u5b89\u88c5\u5305 \u89e3\u538b \u5230 \u67d0\u4e2a \u76ee\u5f55 \u3002   \u5728 Ubuntu \u7cfb\u7edf \u4e0a \uff0c Carla \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u914d\u7f6e \u5982\u4e0b \uff1a   export   CARLA _ ROOT = / home / dut - aiid / CARLA _ 0.9 . 13   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla / dist / carla - 0.9 . 13 - py3.7 - linux - x86 _ 64 . egg : $ { CARLA _ ROOT } / PythonAPI / carla / agents : $ { CARLA _ ROOT } / PythonAPI / carla / agents / navigation : $ { CARLA _ ROOT } / PythonAPI / carla : $ { CARLA _ ROOT } / PythonAPI / examples : $ { CARLA _ ROOT } / PythonAPI   \u5feb\u901f \u5f00\u59cb   1 \u3001 \u8fd0\u884c   carla   cd   / home / xxx / CARLA _ 0.9 . 13   . / CarlaUE4 . sh   2 \u3001 \u542f\u52a8   manual _ control   python   manual _ control . py   - a   -- rolename = ego _ vehicle   3 \u3001 \u8fd0\u884c OpenSCENARIO   2.0 \u573a\u666f   python   scenario _ runner . py   -- sync   -- openscenario2   srunner / examples / cut _ in _ and _ slow _ right . osc   -- reloadWorld","title":"osc2 - runner"},{"location":"scenario_runner/README_OpenSCENARIO_2.0/#osc2-runner","text":"\u6211\u4eec \u4f7f\u7528 OpenScenario   2.0 \u4f5c\u4e3a \u573a\u666f \u63cf\u8ff0 \u8ff0\u8bed \u8bed\u8a00 \u63cf\u8ff0\u8bed\u8a00 \u89c4\u8303 \uff0c \u8bbe\u8ba1 \u5e76 \u5b9e\u73b0 \u4e86 \u76f8\u5e94 \u7684 \u7f16\u8bd1 \u7cfb\u7edf \u7f16\u8bd1\u7cfb\u7edf \uff0c \u53ef\u4ee5 \u81ea\u52a8 \u5c06 \u7528 OpenScenario   2.0 \u63cf\u8ff0 \u7684 \u6d4b\u8bd5 \u573a\u666f \u8f6c\u6362 \u4e3a \u57fa\u4e8e scenario   runner \u7684 \u6d4b\u8bd5 \u573a\u666f \uff0c \u4ece\u800c \u4f7f\u7528 carla \u8fdb\u884c \u81ea\u52a8 \u9a7e\u9a76 \u6d4b\u8bd5 \u3002","title":"osc2 - runner"},{"location":"scenario_runner/README_OpenSCENARIO_2.0/#installation","text":"1 .   \u5b89\u88c5 JDK   sudo   apt   install   openjdk - 17 - jdk   \u786e\u8ba4 \u5b89\u88c5 \uff1a   $   java   - version   \u8f93\u51fa \uff1a   openjdk   version   \" 17.0 . 5 \"   2022 - 10 - 18   OpenJDK   Runtime   Environment   ( build   17.0 . 5 + 8 - Ubuntu - 2ubuntu120.04 )   OpenJDK   64 - Bit   Server   VM   ( build   17.0 . 5 + 8 - Ubuntu - 2ubuntu120.04 ,   mixed   mode ,   sharing )   3 \u3001 \u5b89\u88c5   Antlr   4.10 . 1   sudo   apt   install   curl   curl   - O   https : / / www . antlr . org / download / antlr - 4.10 . 1 - complete . jar   \u5c06 . jar \u6587\u4ef6 \u653e\u5165 local / lib \u4e2d   $   sudo   cp   antlr - 4.10 . 1 - complete . jar   / usr / local / lib /   \u4ee5\u4e0b \u4e09\u4e2a \u6b65\u9aa4 \u7528\u4e8e \u914d\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u5e76 \u521b\u5efa \u522b\u540d \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u8f7b\u677e \u5730 \u4ece \u547d\u4ee4 \u547d\u4ee4\u884c \u4f7f\u7528 antlr4 \u3002   $   sudo   gedit   ~ / . bashrc   \u5728 \u672b\u5c3e \u6dfb\u52a0 \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   export   CLASSPATH = \" . : / usr / local / lib / antlr - 4.10 . 1 - complete . jar : $ CLASSPATH \"   alias   antlr4 = ' java   - jar   / usr / local / lib / antlr - 4.10 . 1 - complete . jar '   alias   grun = ' java   org . antlr . v4 . gui . TestRig '   \u8fdb\u800c \uff1a   source   ~ / . bashrc   \u5728 \u7ec8\u7aef \u8f93\u5165 antlr4 \u8fdb\u884c \u9a8c\u8bc1 \uff1a   $   antlr4   ANTLR   Parser   Generator   Version   4.10 . 1   - o   ___   specify   output   directory   where   all   output   is   generated   - lib   ___   specify   location   of   grammars ,   tokens   files   - atn   generate   rule   augmented   transition   network   diagrams   - encoding   ___   specify   grammar   file   encoding ;   e . g . ,   euc - jp   - message - format   ___   specify   output   style   for   messages   in   antlr ,   gnu ,   vs2005   - long - messages   show   exception   details   when   available   for   errors   and   warnings   - listener   generate   parse   tree   listener   ( default )   - no - listener   don ' t   generate   parse   tree   listener   - visitor   generate   parse   tree   visitor   - no - visitor   don ' t   generate   parse   tree   visitor   ( default )   - package   ___   specify   a   package / namespace   for   the   generated   code   - depend   generate   file   dependencies   - D < option > = value   set / override   a   grammar - level   option   - Werror   treat   warnings   as   errors   - XdbgST   launch   StringTemplate   visualizer   on   generated   code   - XdbgSTWait   wait   for   STViz   to   close   before   continuing   - Xforce - atn   use   the   ATN   simulator   for   all   predictions   - Xlog   dump   lots   of   logging   info   to   antlr - timestamp . log   - Xexact - output - dir   all   output   goes   into   - o   dir   regardless   of   paths / package   4 \u3001 \u5b89\u88c5 antlr4 \u8fd0\u884c \u65f6   pip   install   antlr4 - python3 - runtime = = 4.10   5 \u3001 \u5b89\u88c5 python \u4f9d\u8d56   pip   install   - r   requirements . txt   6 \u3001 \u5b89\u88c5   graphviz   sudo   apt - get   install   graphviz   7 \u3001 \u914d\u7f6e   carla   ( 1 )   \u4e0b\u8f7d   carla \u7248\u672c   ( 2 )   \u5c06 carla \u5b89\u88c5 \u5b89\u88c5\u5305 \u89e3\u538b \u5230 \u67d0\u4e2a \u76ee\u5f55 \u3002   \u5728 Ubuntu \u7cfb\u7edf \u4e0a \uff0c Carla \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u914d\u7f6e \u5982\u4e0b \uff1a   export   CARLA _ ROOT = / home / dut - aiid / CARLA _ 0.9 . 13   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla / dist / carla - 0.9 . 13 - py3.7 - linux - x86 _ 64 . egg : $ { CARLA _ ROOT } / PythonAPI / carla / agents : $ { CARLA _ ROOT } / PythonAPI / carla / agents / navigation : $ { CARLA _ ROOT } / PythonAPI / carla : $ { CARLA _ ROOT } / PythonAPI / examples : $ { CARLA _ ROOT } / PythonAPI","title":"Installation"},{"location":"scenario_runner/README_OpenSCENARIO_2.0/#_1","text":"1 \u3001 \u8fd0\u884c   carla   cd   / home / xxx / CARLA _ 0.9 . 13   . / CarlaUE4 . sh   2 \u3001 \u542f\u52a8   manual _ control   python   manual _ control . py   - a   -- rolename = ego _ vehicle   3 \u3001 \u8fd0\u884c OpenSCENARIO   2.0 \u573a\u666f   python   scenario _ runner . py   -- sync   -- openscenario2   srunner / examples / cut _ in _ and _ slow _ right . osc   -- reloadWorld","title":"\u5feb\u901f \u5f00\u59cb"},{"location":"scenario_runner/agent_evaluation/","text":"\u8bbe\u7f6e \u60a8 \u7684 \u4ee3\u7406 \u4ee5 \u8fdb\u884c \u8bc4\u4f30   \u91cd\u8981 \u63d0\u793a \uff1a \u6b64 \u4fe1\u606f \u5df2 \u8fc7\u65f6 \uff0c \u6311\u6218 \u6587\u4ef6 \u5df2 \u88ab \u5220\u9664 \u3002 \u8be5 \u529f\u80fd \u73b0\u5df2 \u79fb\u81f3   \u6392\u884c \u6392\u884c\u699c   \u3002 \u4f46\u662f \uff0c \u5b83 \u4ecd\u7136 \u53ef\u4ee5 \u4e0e   scene _ runner . py   \u7684 \u8def\u7531 \u53c2\u6570 \u4e00\u8d77 \u4f7f\u7528 \uff0c \u800c \u4e0d\u662f \u4e0e challenge _ evaluator . py \u4e00\u8d77 \u4f7f\u7528   \u8981 \u8ba9 \u6311\u6218 \u8bc4\u4f30 \u7cfb\u7edf \u8bc4\u4f30 \u60a8 \u7684 \u4ee3\u7406 \uff0c \u60a8 \u5fc5\u987b \u5b9a\u4e49 \u7ee7\u627f   AutonomousAgent   \u57fa\u7c7b \u7684   Agent   \u7c7b \u3002 \u6b64\u5916 \uff0c \u60a8 \u9700\u8981 \u6309\u7167 \u6311\u6218 \u8bc4\u4f30 \u8bc4\u4f30\u5668 \u6559\u7a0b \u4e2d \u7684 \u8bf4\u660e \u8bbe\u7f6e \u73af\u5883 \u3002   \u5728 \u60a8 \u7684 \u4ee3\u7406 \u7c7b\u4e0a \uff0c \u9700\u8981 \u5b9a\u4e49 \u4e09\u4e2a \u4e3b\u8981 \u51fd\u6570 \u6765 \u8986\u76d6 \u5b83\u4eec \uff0c \u4ee5\u4fbf \u8bbe\u7f6e \u4ee3\u7406 \u8fd0\u884c \u3002 \u6b64\u5916 \uff0c \u60a8 \u8fd8 \u5e94\u8be5 \u8003\u8651 \u6700\u521d \u8bbe\u7f6e \u4e3a \u53d8\u91cf \u7684 \u76ee\u6807 \u8def\u5f84 \u3002   \" setup \"   \u51fd\u6570 :   \u60a8 \u5e94\u8be5 \u5728 \u8be5 \u529f\u80fd \u4e2d\u4e3a \u4ee3\u7406 \u8fdb\u884c \u6240\u6709 \u5fc5\u8981 \u7684 \u8bbe\u7f6e \u3002   \u8be5 \u51fd\u6570 \u63a5\u6536 \u8981 \u7531 \u7528\u6237 \u89e3\u6790 \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u7684 \u8def\u5f84 \u4f5c\u4e3a \u53c2\u6570 \u3002   \u6267\u884c \u201c challenge _ evaluator . py \u201d \u65f6 \uff0c \u60a8 \u5e94\u8be5 \u5c06 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u8def\u5f84 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u3002 \u4f8b\u5982 \uff1a   python   srunner / challenge / challenge _ evaluator _ routes . py   -- agent = < path _ to _ my _ agent >   -- config = myconfigfilename . format   \" sensors \"   \u51fd\u6570 :   \u60a8 \u53ef\u4ee5 \u5728 \u6b64 \u529f\u80fd \u4e2d \u8bbe\u7f6e \u4ee3\u7406 \u6240 \u9700 \u7684 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u4f8b\u5982 \uff0c \u5728 \u865a\u62df \u4ee3\u7406 \u793a\u4f8b \u7c7b\u4e0a \u5b9a\u4e49 \u4e86 \u4ee5\u4e0b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   def   sensors ( self ) :   sensors   =   [ { ' type ' :   ' sensor . camera . rgb ' ,   ' x ' : 0.7 ,   ' y ' : 0.0 ,   ' z ' : 1.60 ,   ' roll ' : 0.0 ,   ' pitch ' : 0.0 ,   ' yaw ' : 0.0 ,   ' width ' : 800 ,   ' height ' :   600 ,   ' fov ' : 100 ,   ' id ' :   ' Center ' } ,   { ' type ' :   ' sensor . camera . rgb ' ,   ' x ' : 0.7 ,   ' y ' : - 0.4 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   - 45.0 ,   ' width ' :   800 ,   ' height ' :   600 ,   ' fov ' :   100 ,   ' id ' :   ' Left ' } ,   { ' type ' :   ' sensor . camera . rgb ' ,   ' x ' : 0.7 ,   ' y ' : 0.4 ,   ' z ' : 1.60 ,   ' roll ' : 0.0 ,   ' pitch ' : 0.0 ,   ' yaw ' : 45.0 ,   ' width ' : 800 ,   ' height ' : 600 ,   ' fov ' : 100 ,   ' id ' :   ' Right ' } ,   { ' type ' :   ' sensor . lidar . ray _ cast ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   - 45.0 ,   ' id ' :   ' LIDAR ' } ,   { ' type ' :   ' sensor . other . gnss ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 ,   ' id ' :   ' GPS ' } ,   { ' type ' :   ' sensor . speedometer ' , ' reading _ frequency ' :   25 ,   ' id ' :   ' speed ' }   ]   return   sensors   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u662f \u4e00\u672c \u5b57\u5178 \uff0c \u60a8 \u5e94\u8be5 \u5728 \u5176\u4e2d \u6307\u5b9a \uff1a   type :   \u57fa\u672c \u57fa\u672c\u4e0a \u662f \u8981 \u6dfb\u52a0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4f8b\u5982 \uff1a \u201c sensor . camera . rgb \u201d \u8868\u793a   RGB   \u76f8\u673a \uff0c \u201c sensor . lidar . ray _ cast \u201d \u8868\u793a \u5149\u7ebf \u6295\u5c04 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002   id :   \u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u63d0\u4f9b \u7684 \u6807\u7b7e \uff0c \u4ee5\u4fbf \u7a0d\u540e \u8bbf\u95ee \u3002   \u5176\u4ed6 \u53c2\u6570 \uff1a \u8fd9\u4e9b \u53c2\u6570 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4f8b\u5982 \u4f4d\u7f6e \u201c x \u201d \u548c \u201c y \u201d \uff0c \u6216 \u76f8\u673a \u7684 \u89c6\u91ce \u201c fov \u201d   \" run _ step \"   \u51fd\u6570 :   \u4ece \u6311\u6218 \u8bc4\u4f30 \u5f00\u59cb \uff0c \u4eff\u771f \u7684 \u6bcf\u4e2a \u6b65\u9aa4 \u90fd \u4f1a \u8c03\u7528 \u6b64 \u51fd\u6570 \uff0c \u5e76 \u63a5\u6536 \u4e00\u4e9b \u8f93\u5165 \u6570\u636e \u4f5c\u4e3a \u53c2\u6570 \u3002   \u8be5 \u8f93\u5165 \u6570\u636e \u662f \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u5305\u542b \u201c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u201d \u51fd\u6570 \u4e2d \u6307\u5b9a \u7684 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u6b64 \u51fd\u6570 \u5e94 \u8fd4\u56de \u8981   \u5e94\u7528 \u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684   \u8f66\u8f86 \u63a7\u5236   \u3002   \u521d\u59cb \u8def\u7ebf :   \u5728 \u6267\u884c \u5f00\u59cb \u65f6 \uff0c \u82f1\u96c4 \u4ee3\u7406 \u5e94\u8be5 \u884c\u9a76 \u7684 \u6574\u4e2a \u8def\u7ebf \u662f \u5728 \u201c self . global _ plan \u201d \u53d8\u91cf \u4e0a \u8bbe\u7f6e \u7684 \uff1a   [ ( { ' z ' :   0.0 ,   ' lat ' :   48.99822669411668 ,   ' lon ' :   8.002271601998707 } ,   < RoadOption . LANEFOLLOW :   4 > ) ,   ( { ' z ' :   0.0 ,   ' lat ' :   48.99822669411668 ,   ' lon ' :   8.002709765148996 } ,   < RoadOption . LANEFOLLOW :   4 > ) ,   ...   ( { ' z ' :   0.0 ,   ' lat ' :   48.99822679980298 ,   ' lon ' :   8.002735250105061 } ,   < RoadOption . LANEFOLLOW :   4 > ) ] `   \u5b83 \u8868\u793a \u4e3a \u5143\u7ec4 \u5217\u8868 \uff0c \u5305\u542b \u4ee5 \u7eac\u5ea6 \u548c \u7ecf\u5ea6 \u8868\u793a \u7684 \u8def\u7ebf \u8def\u5f84 \u70b9 \u4ee5\u53ca \u5efa\u8bae \u7684 \u5f53\u524d \u9053\u8def \u9009\u9879 \u3002 \u5bf9\u4e8e \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \uff0c \u9009\u9879 \u53ef\u4ee5 \u662f \u76f4\u884c \u3001 \u5de6\u8f6c \u6216 \u53f3\u8f6c \u3002 \u5bf9\u4e8e \u8def\u7ebf \u7684 \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \uff0c \u5efa\u8bae \u9009\u62e9 \u8f66\u9053 \u8ddf\u968f \u3002","title":"Agent   evaluation"},{"location":"scenario_runner/agent_evaluation/#_1","text":"","title":"\u8bbe\u7f6e \u60a8 \u7684 \u4ee3\u7406 \u4ee5 \u8fdb\u884c \u8bc4\u4f30"},{"location":"scenario_runner/agent_evaluation/#scene_runnerpy-challenge_evaluatorpy","text":"\u8981 \u8ba9 \u6311\u6218 \u8bc4\u4f30 \u7cfb\u7edf \u8bc4\u4f30 \u60a8 \u7684 \u4ee3\u7406 \uff0c \u60a8 \u5fc5\u987b \u5b9a\u4e49 \u7ee7\u627f   AutonomousAgent   \u57fa\u7c7b \u7684   Agent   \u7c7b \u3002 \u6b64\u5916 \uff0c \u60a8 \u9700\u8981 \u6309\u7167 \u6311\u6218 \u8bc4\u4f30 \u8bc4\u4f30\u5668 \u6559\u7a0b \u4e2d \u7684 \u8bf4\u660e \u8bbe\u7f6e \u73af\u5883 \u3002   \u5728 \u60a8 \u7684 \u4ee3\u7406 \u7c7b\u4e0a \uff0c \u9700\u8981 \u5b9a\u4e49 \u4e09\u4e2a \u4e3b\u8981 \u51fd\u6570 \u6765 \u8986\u76d6 \u5b83\u4eec \uff0c \u4ee5\u4fbf \u8bbe\u7f6e \u4ee3\u7406 \u8fd0\u884c \u3002 \u6b64\u5916 \uff0c \u60a8 \u8fd8 \u5e94\u8be5 \u8003\u8651 \u6700\u521d \u8bbe\u7f6e \u4e3a \u53d8\u91cf \u7684 \u76ee\u6807 \u8def\u5f84 \u3002","title":"\u91cd\u8981 \u63d0\u793a \uff1a \u6b64 \u4fe1\u606f \u5df2 \u8fc7\u65f6 \uff0c \u6311\u6218 \u6587\u4ef6 \u5df2 \u88ab \u5220\u9664 \u3002 \u8be5 \u529f\u80fd \u73b0\u5df2 \u79fb\u81f3   \u6392\u884c\u699c   \u3002 \u4f46\u662f \uff0c \u5b83 \u4ecd\u7136 \u53ef\u4ee5 \u4e0e   scene _ runner . py   \u7684 \u8def\u7531 \u53c2\u6570 \u4e00\u8d77 \u4f7f\u7528 \uff0c \u800c \u4e0d\u662f \u4e0e challenge _ evaluator . py \u4e00\u8d77 \u4f7f\u7528"},{"location":"scenario_runner/agent_evaluation/#setup","text":"\u60a8 \u5e94\u8be5 \u5728 \u8be5 \u529f\u80fd \u4e2d\u4e3a \u4ee3\u7406 \u8fdb\u884c \u6240\u6709 \u5fc5\u8981 \u7684 \u8bbe\u7f6e \u3002   \u8be5 \u51fd\u6570 \u63a5\u6536 \u8981 \u7531 \u7528\u6237 \u89e3\u6790 \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u7684 \u8def\u5f84 \u4f5c\u4e3a \u53c2\u6570 \u3002   \u6267\u884c \u201c challenge _ evaluator . py \u201d \u65f6 \uff0c \u60a8 \u5e94\u8be5 \u5c06 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u8def\u5f84 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u3002 \u4f8b\u5982 \uff1a   python   srunner / challenge / challenge _ evaluator _ routes . py   -- agent = < path _ to _ my _ agent >   -- config = myconfigfilename . format","title":"\" setup \"   \u51fd\u6570 :"},{"location":"scenario_runner/agent_evaluation/#sensors","text":"\u60a8 \u53ef\u4ee5 \u5728 \u6b64 \u529f\u80fd \u4e2d \u8bbe\u7f6e \u4ee3\u7406 \u6240 \u9700 \u7684 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u4f8b\u5982 \uff0c \u5728 \u865a\u62df \u4ee3\u7406 \u793a\u4f8b \u7c7b\u4e0a \u5b9a\u4e49 \u4e86 \u4ee5\u4e0b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   def   sensors ( self ) :   sensors   =   [ { ' type ' :   ' sensor . camera . rgb ' ,   ' x ' : 0.7 ,   ' y ' : 0.0 ,   ' z ' : 1.60 ,   ' roll ' : 0.0 ,   ' pitch ' : 0.0 ,   ' yaw ' : 0.0 ,   ' width ' : 800 ,   ' height ' :   600 ,   ' fov ' : 100 ,   ' id ' :   ' Center ' } ,   { ' type ' :   ' sensor . camera . rgb ' ,   ' x ' : 0.7 ,   ' y ' : - 0.4 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   - 45.0 ,   ' width ' :   800 ,   ' height ' :   600 ,   ' fov ' :   100 ,   ' id ' :   ' Left ' } ,   { ' type ' :   ' sensor . camera . rgb ' ,   ' x ' : 0.7 ,   ' y ' : 0.4 ,   ' z ' : 1.60 ,   ' roll ' : 0.0 ,   ' pitch ' : 0.0 ,   ' yaw ' : 45.0 ,   ' width ' : 800 ,   ' height ' : 600 ,   ' fov ' : 100 ,   ' id ' :   ' Right ' } ,   { ' type ' :   ' sensor . lidar . ray _ cast ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   - 45.0 ,   ' id ' :   ' LIDAR ' } ,   { ' type ' :   ' sensor . other . gnss ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 ,   ' id ' :   ' GPS ' } ,   { ' type ' :   ' sensor . speedometer ' , ' reading _ frequency ' :   25 ,   ' id ' :   ' speed ' }   ]   return   sensors   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u662f \u4e00\u672c \u5b57\u5178 \uff0c \u60a8 \u5e94\u8be5 \u5728 \u5176\u4e2d \u6307\u5b9a \uff1a   type :   \u57fa\u672c \u57fa\u672c\u4e0a \u662f \u8981 \u6dfb\u52a0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4f8b\u5982 \uff1a \u201c sensor . camera . rgb \u201d \u8868\u793a   RGB   \u76f8\u673a \uff0c \u201c sensor . lidar . ray _ cast \u201d \u8868\u793a \u5149\u7ebf \u6295\u5c04 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002   id :   \u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u63d0\u4f9b \u7684 \u6807\u7b7e \uff0c \u4ee5\u4fbf \u7a0d\u540e \u8bbf\u95ee \u3002   \u5176\u4ed6 \u53c2\u6570 \uff1a \u8fd9\u4e9b \u53c2\u6570 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4f8b\u5982 \u4f4d\u7f6e \u201c x \u201d \u548c \u201c y \u201d \uff0c \u6216 \u76f8\u673a \u7684 \u89c6\u91ce \u201c fov \u201d","title":"\" sensors \"   \u51fd\u6570 :"},{"location":"scenario_runner/agent_evaluation/#run_step","text":"\u4ece \u6311\u6218 \u8bc4\u4f30 \u5f00\u59cb \uff0c \u4eff\u771f \u7684 \u6bcf\u4e2a \u6b65\u9aa4 \u90fd \u4f1a \u8c03\u7528 \u6b64 \u51fd\u6570 \uff0c \u5e76 \u63a5\u6536 \u4e00\u4e9b \u8f93\u5165 \u6570\u636e \u4f5c\u4e3a \u53c2\u6570 \u3002   \u8be5 \u8f93\u5165 \u6570\u636e \u662f \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u5305\u542b \u201c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u201d \u51fd\u6570 \u4e2d \u6307\u5b9a \u7684 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u6b64 \u51fd\u6570 \u5e94 \u8fd4\u56de \u8981   \u5e94\u7528 \u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684   \u8f66\u8f86 \u63a7\u5236   \u3002","title":"\" run _ step \"   \u51fd\u6570 :"},{"location":"scenario_runner/agent_evaluation/#_2","text":"\u5728 \u6267\u884c \u5f00\u59cb \u65f6 \uff0c \u82f1\u96c4 \u4ee3\u7406 \u5e94\u8be5 \u884c\u9a76 \u7684 \u6574\u4e2a \u8def\u7ebf \u662f \u5728 \u201c self . global _ plan \u201d \u53d8\u91cf \u4e0a \u8bbe\u7f6e \u7684 \uff1a   [ ( { ' z ' :   0.0 ,   ' lat ' :   48.99822669411668 ,   ' lon ' :   8.002271601998707 } ,   < RoadOption . LANEFOLLOW :   4 > ) ,   ( { ' z ' :   0.0 ,   ' lat ' :   48.99822669411668 ,   ' lon ' :   8.002709765148996 } ,   < RoadOption . LANEFOLLOW :   4 > ) ,   ...   ( { ' z ' :   0.0 ,   ' lat ' :   48.99822679980298 ,   ' lon ' :   8.002735250105061 } ,   < RoadOption . LANEFOLLOW :   4 > ) ] `   \u5b83 \u8868\u793a \u4e3a \u5143\u7ec4 \u5217\u8868 \uff0c \u5305\u542b \u4ee5 \u7eac\u5ea6 \u548c \u7ecf\u5ea6 \u8868\u793a \u7684 \u8def\u7ebf \u8def\u5f84 \u70b9 \u4ee5\u53ca \u5efa\u8bae \u7684 \u5f53\u524d \u9053\u8def \u9009\u9879 \u3002 \u5bf9\u4e8e \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \uff0c \u9009\u9879 \u53ef\u4ee5 \u662f \u76f4\u884c \u3001 \u5de6\u8f6c \u6216 \u53f3\u8f6c \u3002 \u5bf9\u4e8e \u8def\u7ebf \u7684 \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \uff0c \u5efa\u8bae \u9009\u62e9 \u8f66\u9053 \u8ddf\u968f \u3002","title":"\u521d\u59cb \u8def\u7ebf :"},{"location":"scenario_runner/creating_new_scenario/","text":"\u521b\u5efa \u65b0 \u573a\u666f \u6559\u7a0b   \u672c \u6559\u7a0b \u4ecb\u7ecd \u5982\u4f55 \u4f7f\u7528   ScenarioRunner   \u548c   ScenarioManager   \u5957\u4ef6 \u521b\u5efa \u548c \u8fd0\u884c \u65b0 \u573a\u666f \u3002   \u6211\u4eec \u5c06 \u65b0 \u573a\u666f \u79f0\u4e3a   NewScenario   \u3002 \u8981 \u521b\u5efa \u5b83 \uff0c \u53ea \u9700\u8981 \u51e0\u4e2a \u6b65\u9aa4 \u3002   \u521b\u5efa \u4e00\u4e2a \u7a7a \u7684   Python   \u7c7b   \u8f6c \u5230   Scenarios   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u4f7f\u7528 \u65b0   Python   \u6587\u4ef6 \u4e2d \u7684   NewScenario   \u540d\u79f0 \u521b\u5efa \u4e00\u4e2a \u65b0 \u7684   Python   \u7c7b   new _ scenario . py   \u3002 \u7c7b \u5e94\u8be5 \u4ece   BasicScenario   \u7c7b \u6d3e\u751f \u3002 \u7ed3\u679c \uff0c \u8be5\u7c7b \u5e94 \u5982\u4e0b \u6240\u793a \uff1a   class   NewScenario ( BasicScenario ) :   \" \" \"   Some   documentation   on   NewScenario   : param   world   is   the   CARLA   world   : param   ego _ vehicles   is   a   list   of   ego   vehicles   for   this   scenario   : param   config   is   the   scenario   configuration   ( ScenarioConfiguration )   : param   randomize   can   be   used   to   select   parameters   randomly   ( optional ,   default = False )   : param   debug _ mode   can   be   used   to   provide   more   comprehensive   console   output   ( optional ,   default = False )   : param   criteria _ enable   can   be   used   to   disable / enable   scenario   evaluation   based   on   test   criteria   ( optional ,   default = True )   : param   timeout   is   the   overall   scenario   timeout   ( optional ,   default = 60   seconds )   \" \" \"   #   some   ego   vehicle   parameters   #   some   parameters   for   the   other   vehicles   def   __ init __ ( self ,   world ,   ego _ vehicles ,   config ,   randomize = False ,   debug _ mode = False ,   criteria _ enable = True ,   timeout = 60 ) :   \" \" \"   Initialize   all   parameters   required   for   NewScenario   \" \" \"   #   Call   constructor   of   BasicScenario   super ( NewScenario ,   self ) .__ init __ (   \" NewScenario \" ,   ego _ vehicles ,   config ,   world ,   debug _ mode ,   criteria _ enable = criteria _ enable )   def   _ create _ behavior ( self ) :   \" \" \"   Setup   the   behavior   for   NewScenario   \" \" \"   def   _ create _ test _ criteria ( self ) :   \" \" \"   Setup   the   evaluation   criteria   for   NewScenario   \" \" \"   \u586b\u5145 Python \u7c7b   \u5728   NewScenario   \u7c7b\u4e2d \uff0c \u60a8 \u5fc5\u987b \u5b9a\u4e49 \u4ee3\u7801 \u793a\u4f8b \u4e2d \u63d0\u5230 \u7684 \u4ee5\u4e0b \u65b9\u6cd5 \u3002   \u521d\u59cb \u521d\u59cb\u5316 \u65b9\u6cd5   \u521d\u59cb \u521d\u59cb\u5316 \u65b9\u6cd5 \u65e8\u5728 \u8bbe\u7f6e \u573a\u666f \u548c \u6240\u6709 \u8f66\u8f86 \u6240 \u9700 \u7684 \u6240\u6709 \u53c2\u6570 \u3002 \u8fd9 \u5305\u62ec \u9009\u62e9 \u6b63\u786e \u7684 \u8f66\u8f86 \u3001 \u5728 \u6b63\u786e \u7684 \u4f4d\u7f6e \u751f\u6210 \u5b83\u4eec \u7b49 \u3002 \u4e3a\u4e86 \u7b80\u5316 \u8fd9 \u4e00\u70b9 \uff0c \u60a8 \u53ef\u80fd \u9700\u8981 \u4f7f\u7528   basic _ scenario . py   \u4e2d \u5b9a\u4e49 \u7684   setup _ vehicle ( )   \u65b9\u6cd5 \u3002   CreateBehavior   \u65b9\u6cd5   \u6b64 \u65b9\u6cd5 \u5e94 \u8bbe\u7f6e \u5305\u542b \u573a\u666f \u671f\u95f4 \u6240\u6709 \u975e \u81ea\u6211 \u8f66\u8f86 \u884c\u4e3a \u7684 \u884c\u4e3a \u6811 \u3002 \u884c\u4e3a \u6811 \u5e94\u8be5 \u4f7f\u7528   atomic _ scenario _ behavior . py   \u548c   atomic _ scenario _ behavior . py   \u4e2d \u5b9a\u4e49 \u7684 \u539f\u5b50 \u884c\u4e3a \u3002   CreateTestCriteria   \u65b9\u6cd5   \u6b64 \u65b9\u6cd5 \u5e94 \u8bbe\u7f6e \u4e00\u4e2a \u5305\u542b \u573a\u666f \u7684 \u6240\u6709 \u8bc4\u4f30 \u6807\u51c6 \u7684 \u5217\u8868 \u3002 \u8be5 \u6807\u51c6 \u5e94 \u57fa\u4e8e   atomic _ scenario _ criteria . py   \u4e2d \u5b9a\u4e49 \u7684 \u539f\u5b50 \u6807\u51c6 \u3002   \u6ce8\u610f :   \u4ece\u6b64 \u5217\u8868   py _ tree   \u4e2d\u5c06 \u81ea\u52a8 \u521b\u5efa \u5e76\u884c \uff01   \u6dfb\u52a0 \u573a\u666f \u914d\u7f6e   \u6700\u540e \uff0c \u573a\u666f \u914d\u7f6e \u5e94 \u6dfb\u52a0 \u5230 \u8be5   examples /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u5982\u679c \u6269\u5c55 \u5df2\u7ecf \u5b58\u5728 \u7684 \u573a\u666f \u6a21\u5757 \uff0c \u5219 \u53ea \u9700 \u6269\u5c55 \u76f8\u5e94 \u7684   XML \uff0c \u5426\u5219 \u6dfb\u52a0 \u65b0 \u7684   XML   \u6587\u4ef6 \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u4efb\u4f55 \u73b0\u6709 \u7684   XML   \u6587\u4ef6 \u4f5c\u4e3a \u84dd\u56fe \u3002   \u5982\u679c \u60a8 \u60f3 \u4e3a \u4e00\u4e2a \u573a\u666f \u6dfb\u52a0 \u591a\u4e2a \u81ea\u6211 \u8f66\u8f86 \uff0c \u8bf7 \u786e\u4fdd \u5b83\u4eec \u4f7f\u7528 \u4e0d\u540c \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0 \uff0c \u4f8b\u5982   < scenario   name = \" MultiEgoTown03 \"   type = \" FreeRide \"   town = \" Town03 \" >   < ego _ vehicle   x = \" 207 \"   y = \" 59 \"   z = \" 0 \"   yaw = \" 180 \"   model = \" vehicle . lincoln . mkz _ 2017 \"   rolename = \" hero \" / >   < ego _ vehicle   x = \" 237 \"   y = \" - 95.0754252474 \"   z = \" 0 \"   yaw = \" 90 \"   model = \" vehicle . tesla . model3 \"   rolename = \" hero2 \" / >   < / scenario >","title":"\u521b\u5efa \u65b0 \u573a\u666f \u6559\u7a0b"},{"location":"scenario_runner/creating_new_scenario/#_1","text":"\u672c \u6559\u7a0b \u4ecb\u7ecd \u5982\u4f55 \u4f7f\u7528   ScenarioRunner   \u548c   ScenarioManager   \u5957\u4ef6 \u521b\u5efa \u548c \u8fd0\u884c \u65b0 \u573a\u666f \u3002   \u6211\u4eec \u5c06 \u65b0 \u573a\u666f \u79f0\u4e3a   NewScenario   \u3002 \u8981 \u521b\u5efa \u5b83 \uff0c \u53ea \u9700\u8981 \u51e0\u4e2a \u6b65\u9aa4 \u3002","title":"\u521b\u5efa \u65b0 \u573a\u666f \u6559\u7a0b"},{"location":"scenario_runner/creating_new_scenario/#python","text":"\u8f6c \u5230   Scenarios   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u4f7f\u7528 \u65b0   Python   \u6587\u4ef6 \u4e2d \u7684   NewScenario   \u540d\u79f0 \u521b\u5efa \u4e00\u4e2a \u65b0 \u7684   Python   \u7c7b   new _ scenario . py   \u3002 \u7c7b \u5e94\u8be5 \u4ece   BasicScenario   \u7c7b \u6d3e\u751f \u3002 \u7ed3\u679c \uff0c \u8be5\u7c7b \u5e94 \u5982\u4e0b \u6240\u793a \uff1a   class   NewScenario ( BasicScenario ) :   \" \" \"   Some   documentation   on   NewScenario   : param   world   is   the   CARLA   world   : param   ego _ vehicles   is   a   list   of   ego   vehicles   for   this   scenario   : param   config   is   the   scenario   configuration   ( ScenarioConfiguration )   : param   randomize   can   be   used   to   select   parameters   randomly   ( optional ,   default = False )   : param   debug _ mode   can   be   used   to   provide   more   comprehensive   console   output   ( optional ,   default = False )   : param   criteria _ enable   can   be   used   to   disable / enable   scenario   evaluation   based   on   test   criteria   ( optional ,   default = True )   : param   timeout   is   the   overall   scenario   timeout   ( optional ,   default = 60   seconds )   \" \" \"   #   some   ego   vehicle   parameters   #   some   parameters   for   the   other   vehicles   def   __ init __ ( self ,   world ,   ego _ vehicles ,   config ,   randomize = False ,   debug _ mode = False ,   criteria _ enable = True ,   timeout = 60 ) :   \" \" \"   Initialize   all   parameters   required   for   NewScenario   \" \" \"   #   Call   constructor   of   BasicScenario   super ( NewScenario ,   self ) .__ init __ (   \" NewScenario \" ,   ego _ vehicles ,   config ,   world ,   debug _ mode ,   criteria _ enable = criteria _ enable )   def   _ create _ behavior ( self ) :   \" \" \"   Setup   the   behavior   for   NewScenario   \" \" \"   def   _ create _ test _ criteria ( self ) :   \" \" \"   Setup   the   evaluation   criteria   for   NewScenario   \" \" \"","title":"\u521b\u5efa \u4e00\u4e2a \u7a7a \u7684   Python   \u7c7b"},{"location":"scenario_runner/creating_new_scenario/#python_1","text":"\u5728   NewScenario   \u7c7b\u4e2d \uff0c \u60a8 \u5fc5\u987b \u5b9a\u4e49 \u4ee3\u7801 \u793a\u4f8b \u4e2d \u63d0\u5230 \u7684 \u4ee5\u4e0b \u65b9\u6cd5 \u3002","title":"\u586b\u5145 Python \u7c7b"},{"location":"scenario_runner/creating_new_scenario/#_2","text":"\u521d\u59cb \u521d\u59cb\u5316 \u65b9\u6cd5 \u65e8\u5728 \u8bbe\u7f6e \u573a\u666f \u548c \u6240\u6709 \u8f66\u8f86 \u6240 \u9700 \u7684 \u6240\u6709 \u53c2\u6570 \u3002 \u8fd9 \u5305\u62ec \u9009\u62e9 \u6b63\u786e \u7684 \u8f66\u8f86 \u3001 \u5728 \u6b63\u786e \u7684 \u4f4d\u7f6e \u751f\u6210 \u5b83\u4eec \u7b49 \u3002 \u4e3a\u4e86 \u7b80\u5316 \u8fd9 \u4e00\u70b9 \uff0c \u60a8 \u53ef\u80fd \u9700\u8981 \u4f7f\u7528   basic _ scenario . py   \u4e2d \u5b9a\u4e49 \u7684   setup _ vehicle ( )   \u65b9\u6cd5 \u3002","title":"\u521d\u59cb\u5316 \u65b9\u6cd5"},{"location":"scenario_runner/creating_new_scenario/#createbehavior","text":"\u6b64 \u65b9\u6cd5 \u5e94 \u8bbe\u7f6e \u5305\u542b \u573a\u666f \u671f\u95f4 \u6240\u6709 \u975e \u81ea\u6211 \u8f66\u8f86 \u884c\u4e3a \u7684 \u884c\u4e3a \u6811 \u3002 \u884c\u4e3a \u6811 \u5e94\u8be5 \u4f7f\u7528   atomic _ scenario _ behavior . py   \u548c   atomic _ scenario _ behavior . py   \u4e2d \u5b9a\u4e49 \u7684 \u539f\u5b50 \u884c\u4e3a \u3002","title":"CreateBehavior   \u65b9\u6cd5"},{"location":"scenario_runner/creating_new_scenario/#createtestcriteria","text":"\u6b64 \u65b9\u6cd5 \u5e94 \u8bbe\u7f6e \u4e00\u4e2a \u5305\u542b \u573a\u666f \u7684 \u6240\u6709 \u8bc4\u4f30 \u6807\u51c6 \u7684 \u5217\u8868 \u3002 \u8be5 \u6807\u51c6 \u5e94 \u57fa\u4e8e   atomic _ scenario _ criteria . py   \u4e2d \u5b9a\u4e49 \u7684 \u539f\u5b50 \u6807\u51c6 \u3002   \u6ce8\u610f :   \u4ece\u6b64 \u5217\u8868   py _ tree   \u4e2d\u5c06 \u81ea\u52a8 \u521b\u5efa \u5e76\u884c \uff01","title":"CreateTestCriteria   \u65b9\u6cd5"},{"location":"scenario_runner/creating_new_scenario/#_3","text":"\u6700\u540e \uff0c \u573a\u666f \u914d\u7f6e \u5e94 \u6dfb\u52a0 \u5230 \u8be5   examples /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u5982\u679c \u6269\u5c55 \u5df2\u7ecf \u5b58\u5728 \u7684 \u573a\u666f \u6a21\u5757 \uff0c \u5219 \u53ea \u9700 \u6269\u5c55 \u76f8\u5e94 \u7684   XML \uff0c \u5426\u5219 \u6dfb\u52a0 \u65b0 \u7684   XML   \u6587\u4ef6 \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u4efb\u4f55 \u73b0\u6709 \u7684   XML   \u6587\u4ef6 \u4f5c\u4e3a \u84dd\u56fe \u3002   \u5982\u679c \u60a8 \u60f3 \u4e3a \u4e00\u4e2a \u573a\u666f \u6dfb\u52a0 \u591a\u4e2a \u81ea\u6211 \u8f66\u8f86 \uff0c \u8bf7 \u786e\u4fdd \u5b83\u4eec \u4f7f\u7528 \u4e0d\u540c \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0 \uff0c \u4f8b\u5982   < scenario   name = \" MultiEgoTown03 \"   type = \" FreeRide \"   town = \" Town03 \" >   < ego _ vehicle   x = \" 207 \"   y = \" 59 \"   z = \" 0 \"   yaw = \" 180 \"   model = \" vehicle . lincoln . mkz _ 2017 \"   rolename = \" hero \" / >   < ego _ vehicle   x = \" 237 \"   y = \" - 95.0754252474 \"   z = \" 0 \"   yaw = \" 90 \"   model = \" vehicle . tesla . model3 \"   rolename = \" hero2 \" / >   < / scenario >","title":"\u6dfb\u52a0 \u573a\u666f \u914d\u7f6e"},{"location":"scenario_runner/getting_scenariorunner/","text":"\u83b7\u53d6   ScenarioRunner   \u672c \u6559\u7a0b \u4ecb\u7ecd \u5982\u4f55 \u4e0b\u8f7d   ScenarioRunner   \u5e76 \u8fd0\u884c \u4e00\u4e2a \u7b80\u5355 \u7684 \u793a\u4f8b \u6765 \u6d4b\u8bd5 \u5b83 \u3002 ScenarioRunner   \u9700\u8981   Carla   \u624d\u80fd \u8fd0\u884c \uff0c \u5e76\u4e14 \u5fc5\u987b \u4e0e \u6b63\u5728 \u4f7f\u7528 \u7684   Carla   \u7248\u672c \u5339\u914d \u3002 \u5982\u679c \u4f7f\u7528 \u7684   Carla   \u662f\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684 \uff0c \u8bf7 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u4e0b\u8f7d   ScenarioRunner \u3002 \u5982\u679c \u4f7f\u7528 \u7684   Carla   \u662f \u5305 \uff0c \u8bf7 \u4e0b\u8f7d \u5bf9\u5e94 \u7248\u672c \u7684 ScenarioRunner \u3002   \u5b89\u88c5 \u603b\u7ed3   A .   \u4e0b\u8f7d   ScenarioRunner   \u53d1\u5e03 \u7248   \u66f4\u65b0 \u53d1\u5e03 \u7248   B .   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u4e0b\u8f7d   ScenarioRunner   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u66f4\u65b0 \u6784\u5efa   \u8fd0\u884c \u6d4b\u8bd5   \u5b89\u88c5 \u603b\u7ed3   \u663e\u793a \u5feb\u901f \u542f\u52a8 \u5b89\u88c5 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u6458\u8981   #   \u51b3\u5b9a \u662f\u5426 \u4f7f\u7528 \u5305 \u6216\u8005 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   #   \u9009\u9879   A )   \u4f7f\u7528   ScenarioRunner   \u5305   #   1 .   \u5b89\u88c5   CARLA   \u5305 :   https : / / carla . readthedocs . io / en / latest / start _ quickstart /   #   2 .   \u4e0b\u8f7d \u5339\u914d \u7684   ScenarioRunner   \u5305 :   https : / / github . com / carla - simulator / scenario _ runner / releases   #   3 .   \u62bd\u53d6 \u5185\u5bb9 ntent   wherever   needed .   #   Update   the   release :   #   1 .   Delete   previous   CARLA   and   ScenarioRunner   versions .   #   2 .   Download   the   latest   CARLA   release .   #   3 .   Download   the   matching   ScenarioRunner   release .   #   Option   B )   Download   ScenarioRunner   from   source   #   1 .   Build   CARLA   from   source :   https : / / carla . readthedocs . io / en / latest / build _ linux /   #   2 .   Clone   the   ScenarioRunner   repository :   git   clone   https : / / github . com / carla - simulator / scenario _ runner . git   #   3 .   Install   requirements   according   to   the   Python   version   to   be   used :   #   For   Python   2 . x :   sudo   apt   remove   python - networkx   # if   installed ,   remove   old   version   of   networkx   pip2   install   -- user   - r   requirements . txt   #   For   Python   3 . x :   sudo   apt   remove   python3 - networkx   # if   installed ,   remove   old   version   of   networkx   pip3   install   -- user   - r   requirements . txt   #   To   update   ScenarioRunner   from   source :   #   1 .   Update   CARLA :   https : / / carla . readthedocs . io / en / latest / build _ update /   #   2 .   Go   to   the   ScenarioRunner   repository ,   master   branch   cd   ~ / scenario _ runner   git   branch   master   #   3 .   Pull   the   latest   changes   from   the   repository   git   pull   A .   \u4e0b\u8f7d   ScenarioRunner   \u53d1\u5e03 \u7248   ScenarioRunner   \u7684 \u7248\u672c \u662f \u5305\u542b \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff1a   *   \u4e0e \u7279\u5b9a   CARLA   \u7248\u672c \u76f8\u5173 \u7684   ScenarioRunner   \u7248\u672c \u3002   *   \u7528   Python   \u7f16\u5199 \u7684 \u4e00\u4e9b \u793a\u4f8b \u573a\u666f \u3002   \u8fd0\u884c   ScenarioRunner   \u7248\u672c \u7684 \u8fc7\u7a0b \u975e\u5e38 \u7b80\u5355 \u975e\u5e38\u7b80\u5355 \u3002   1 .   \u4e0b\u8f7d   CARLA   \u53d1\u5e03 \u7248 \u3002   \u8bf7 \u6309\u7167   CARLA   \u5feb\u901f \u5165\u95e8   \u4e2d \u7684 \u6d41\u7a0b \u8fdb\u884c \u64cd\u4f5c \u3002   2 .   \u4e0b\u8f7d \u5339\u914d \u7684   ScenarioRunner   \u7248\u672c \u3002   \u6b64\u5904   \u5217\u51fa \u4e86 \u6240\u6709 \u7248\u672c \u3002   \u91cd\u8981   \u4e24\u4e2a \u7248\u672c \u5fc5\u987b \u5339\u914d \u3002 \u5982\u679c   CARLA   \u7248\u672c \u662f   0.9 . 9   \uff0c \u5219 \u8fd8 \u53ef\u4ee5 \u4f7f\u7528   ScenarioRunner   0.9 . 9   \u3002   \u4ee5\u4e0b   \u662f   CARLA   \u548c   ScenarioRunner   \u4e4b\u95f4 \u7684 \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u7684 \u7b80\u8981 \u5217\u8868 \u3002   3 .   \u63d0\u53d6 \u5185\u5bb9 \u3002   \u76ee\u5f55 \u5e76 \u4e0d \u91cd\u8981 \u3002   \u66f4\u65b0 \u53d1\u5e03 \u7248   \u6253\u5305 \u7248\u672c \u4e0d \u9700\u8981 \u66f4\u65b0 \u3002 \u5185\u5bb9 \u662f \u6346\u7ed1 \u7684 \uff0c \u56e0\u6b64 \u4e0e   CARLA   \u7684 \u7279\u5b9a \u7248\u672c \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u6bcf\u6b21 \u6709 \u65b0 \u7684   CARLA   \u7248\u672c \u65f6 \uff0c ScenarioRunner   \u90fd \u4f1a \u6709 \u4e00\u4e2a \u5339\u914d \u7684 \u7248\u672c \u3002 \u6b64\u5904 \u5217\u51fa \u4e86 \u6240\u6709 \u7248\u672c \uff1a   CARLA   \u53d1\u5e03 \u7248   Scenario   Runner   \u53d1\u5e03 \u7248   \u8981 \u8fd0\u884c \u6700\u65b0 \u7248\u672c \u6216 \u4efb\u4f55 \u5176\u4ed6 \u7248\u672c \uff0c \u8bf7 \u5220\u9664 \u4ee5\u524d \u7684 \u7248\u672c \u5e76 \u5b89\u88c5 \u6240 \u9700 \u7684 \u7248\u672c \u3002   B .   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u4e0b\u8f7d   ScenarioRunner   ScenarioRunner   \u6e90 \u5b58\u50a8 \u5e93 \u5305\u542b \u4e0e \u6700\u65b0 \u5f00\u53d1 \u7248\u672c   CARLA   \u4e00\u8d77 \u8fd0\u884c \u7684 \u6700\u5177 \u5b9e\u9a8c \u5b9e\u9a8c\u6027 \u7684 \u529f\u80fd \u3002 \u5b83 \u4e0d \u9700\u8981 \u6784\u5efa \uff0c \u56e0\u4e3a \u5b83 \u53ea \u5305\u542b   ScenarioRunner   \u6a21\u5757 \u7684   Python   \u4ee3\u7801 \u3002   1 .   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   CARLA \u3002   \u6309\u7167 \u6587\u6863 \u5728   Linux   \u6216   Windows   \u4e0a \u8fdb\u884c \u6784\u5efa \u3002   \u91cd\u8981   ScenarioRunner   \u9700\u8981   CARLA   \u624d\u80fd \u8fd0\u884c \uff0c \u56e0\u6b64 \u6587\u6863 \u4e2d \u89c4\u5b9a \u7684   CARLA   \u6700\u4f4e \u8981\u6c42 \u4e5f \u662f \u8fd0\u884c   ScenarioRunner   \u6240 \u5fc5\u9700 \u7684 \u3002   2 .   \u514b\u9686   ScenarioRunner   \u5b58\u50a8 \u5e93 \u3002   git   clone   https : / / github . com / carla - simulator / scenario _ runner . git   3 .   \u6839\u636e \u8981 \u4f7f\u7528 \u7684 Python \u7248\u672c \u5b89\u88c5 \u9700\u6c42 \u3002   \u9996\u5148 \u8fdb\u5165   ScenarioRunner   \u76ee\u5f55 \u4e3b\u76ee\u5f55   cd   ~ / scenario _ runner /   \u5bf9\u4e8e   Python   2 . x .   sudo   apt   remove   python - networkx   # if   installed ,   remove   old   version   of   networkx   pip2   install   -- user   - r   requirements . txt   \u5bf9\u4e8e   Python   3 . x   sudo   apt   remove   python3 - networkx   # if   installed ,   remove   old   version   of   networkx   pip3   install   -- user   - r   requirements . txt   \u8b66\u544a   \u4e0d   \u652f\u6301 \u9ad8\u4e8e   v0.8   \u7684   py - tree   \u3002   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u66f4\u65b0 \u6784\u5efa   1 .   \u66f4\u65b0   CARLA   \u6784\u5efa   \u6309\u7167   \u6587\u6863   \u66f4\u65b0   CARLA \u3002   2 .   \u8f6c\u5230 ScenarioRunner   \u76ee\u5f55 \u4e3b\u76ee\u5f55 \u3002   \u786e\u4fdd \u4f4d\u4e8e \u672c \u5730\u4e3b \u5206\u652f \u4e2d \u3002   cd   ~ / scenario _ runner   git   branch   master   3 .   \u4ece \u5b58\u50a8 \u5e93\u4e2d \u63d0\u53d6 \u6700\u65b0 \u66f4\u6539 \u3002   git   pull   4 .   \u6dfb\u52a0 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u548c Python \u8def\u5f84   \u8fd9\u4e9b \u662f \u7cfb\u7edf \u627e\u5230 CARLA \u6240 \u5fc5\u9700 \u7684 \uff0c \u5e76 \u5c06 PythonAPI \u6dfb\u52a0 \u5230 Python \u8def\u5f84 \u4e2d \u3002   \u5bf9\u4e8e   Linux   #   $ { CARLA _ ROOT }   is   the   CARLA   installation   directory   #   $ { SCENARIO _ RUNNER }   is   the   ScenarioRunner   installation   directory   #   < VERSION >   is   the   correct   string   for   the   Python   version   being   used   #   In   a   build   from   source ,   the   . egg   files   may   be   in :   $ { CARLA _ ROOT } / PythonAPI / dist /   instead   of   $ { CARLA _ ROOT } / PythonAPI   export   CARLA _ ROOT = / path / to / your / carla / installation   export   SCENARIO _ RUNNER _ ROOT = / path / to / your / scenario / runner / installation   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla / dist / carla - < VERSION > . egg   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla   \u6ce8\u610f   \u6839\u636e \u6ce8\u91ca \uff0c \u4f7f\u7528 \u6b63\u786e \u7684 \u8def\u5f84 \u66f4\u6539 \u547d\u4ee4 \u547d\u4ee4\u884c \u3002   \u5bf9\u4e8e   Windows   #   % CARLA _ ROOT%   is   the   CARLA   installation   directory   #   % SCENARIO _ RUNNER%   is   the   ScenarioRunner   installation   directory   #   < VERSION >   is   the   correct   string   for   the   Python   version   being   used   #   In   a   build   from   source ,   the   . egg   files   may   be   in :   $ { CARLA _ ROOT } / PythonAPI / dist /   instead   of   $ { CARLA _ ROOT } / PythonAPI   set   CARLA _ ROOT = \\ path \\ to \\ your \\ carla \\ installation   set   SCENARIO _ RUNNER _ ROOT = \\ path \\ to \\ your \\ scenario \\ runner \\ installation   set   PYTHONPATH = % PYTHONPATH% ; % CARLA _ ROOT% \\ PythonAPI \\ carla \\ dist \\ carla - < VERSION > . egg   set   PYTHONPATH = % PYTHONPATH% ; % CARLA _ ROOT% \\ PythonAPI \\ carla   \u6ce8\u610f   \u6839\u636e \u6ce8\u91ca \uff0c \u4f7f\u7528 \u6b63\u786e \u7684 \u8def\u5f84 \u66f4\u6539 \u547d\u4ee4 \u547d\u4ee4\u884c \u3002   \u5982\u9700 \u6c38\u4e45 \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c \u8bf7 \u524d\u5f80   \u7f16\u8f91 \u8be5 \u8d26\u6237 \u7684 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   \u3002 \u901a\u8fc7 \u5728   Windows   \u7684 \u641c\u7d22 \u9762\u677f \u4e0a \u8f93\u5165   env   \u53ef\u4ee5 \u5feb\u901f \u8bbf\u95ee \u5feb\u901f\u8bbf\u95ee \u5b83 \u3002   \u5982\u679c \u9700\u8981 \u8fd0\u884c \u57fa\u4e8e   OpenSCENARIO   2.0   \u683c\u5f0f \u7684 \u573a\u666f \uff0c \u8bf7 \u5148 \u5b89\u88c5 graphviz \u548c antlr \uff1a   sudo   apt - get   install   - y   openjdk - 17 - jdk   graphviz   curl   - O   https : / / www . antlr . org / download / antlr - 4.10 . 1 - complete . jar   sudo   cp   antlr - 4.10 . 1 - complete . jar   / usr / local / lib /   sudo   gedit   ~ / . bashrc   \u5c06 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u6dfb\u52a0 \u5230 ~ / . bashrc \u4e2d \uff1a   export   CLASSPATH = \" . : / usr / local / lib / antlr - 4.10 . 1 - complete . jar : $ CLASSPATH \"   alias   antlr4 = ' java   - jar   / usr / local / lib / antlr - 4.10 . 1 - complete . jar '   alias   grun = ' java   org . antlr . v4 . gui . TestRig '   \u5e76 \u4f7f \u66f4\u6539 \u751f\u6548 \uff1a   source   ~ / . bashrc   \u8fd0\u884c \u6d4b\u8bd5   \u8fd0\u884c \u4ee5\u4e0b \u8f66\u8f86 \u793a\u4f8b \u3002 \u9996\u5148 \uff0c \u60a8 \u9700\u8981 \u4ece   CARLA   \u83b7\u53d6 \u6700\u65b0 \u7684 \u4e3b \u5206\u652f \u3002 \u7136\u540e \u60a8 \u5fc5\u987b \u5c06   CARLA   Python   API   \u5305\u542b \u5230   Python   \u8def\u5f84   \u4e2d \uff1a   \u91cd\u8981   \u5982\u679c \u4f7f\u7528 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \uff0c \u8bf7 \u786e\u4fdd \u4e0a\u4f20 \u5b83\u4eec \u3002 \u4e0b\u8f7d   master   \u5206\u652f \u4e2d \u7684 \u6700\u65b0 \u5185\u5bb9 \u3002   1 .   \u8fd0\u884c   CARLA   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   A )   \u5728 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u4e2d   \uff0c \u8f6c \u5230   CARLA   \u76ee\u5f55 \u5e76 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   cd   ~ / carla   #   Change   the   path   accordingly   make   launch   #   Press   Play   in   the   UE   Editor   B )   \u5728   CARLA   \u5305\u4e2d   \u76f4\u63a5 \u8fd0\u884c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   . / CarlaUE4 . sh   2 .   \u542f\u52a8 \u793a\u4f8b \u573a\u666f \u3002   \u6253\u5f00 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \uff0c \u8fdb\u5165 ScenarioRunner \u4e0b\u8f7d \u7684 \u76ee\u5f55 \u3002 \u4e3a\u4e86 \u8fdb\u884c \u672c\u6b21 \u6d4b\u8bd5 \uff0c \u5c06 \u4f7f\u7528 \u4ee5\u4e0b \u5f15\u5bfc \u8f66\u8f86 \u573a\u666f \uff08   scenario _ runner . py   \u548c   manual _ control . py   \u8981 \u4f7f\u7528 \u5bf9\u5e94 \u7684 \u53d1\u5e03 \u7248\u672c \uff0c \u5f00\u53d1 \u7248 \u4e0d \u4e00\u5b9a \u6210\u679c \uff09 \u3002   #   Inside   the   ScenarioRunner   root   directory   python   scenario _ runner . py   -- scenario   FollowLeadingVehicle _ 1   -- reloadWorld   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u67e5\u770b \u5f53\u524d \u573a\u666f \u6709 \u54ea\u4e9b \uff1a   python   scenario _ runner . py   -- list   \u6ce8\u610f   \u5982\u679c \u4f7f\u7528   Python   3 . x   \u7248\u672c \uff0c \u8bf7 \u8fd0\u884c \u5e26\u6709   python3   .   3 .   \u901a\u8fc7 \u624b\u52a8 \u63a7\u5236 \u6d4b\u8bd5 \u573a\u666f \u3002   \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \u5e76 \u8fd0\u884c   manual _ control . py   \u3002 \u5e94\u8be5 \u4f1a\u5f39 \u51fa \u4e00\u4e2a \u7a97\u53e3 \u65b0\u7a97\u53e3 \uff0c \u8857\u9053 \u4e2d\u592e \u6709 \u4e00\u8f86 \u81ea\u6211 \u8f66\u8f86 \u3002 \u5411\u524d \u79fb\u52a8 \uff0c \u9886\u5934 \u8f66\u8f86 \u5c31 \u4f1a \u51fa\u73b0 \u3002   #   Inside   the   ScenarioRunner   root   directory   python   manual _ control . py   \u8fd9\u4e9b \u573a\u666f \u6709 \u5927\u7ea6 \u4e00\u5206 \u5206\u949f \u4e00\u5206\u949f \u7684 \u8d85\u65f6 \u65f6\u95f4 \uff0c \u4ee5\u4fbf \u542f\u52a8 \u4ee3\u7406 \u3002 \u5982\u679c \u51fa\u73b0 \u8d85\u65f6 \uff0c \u5219 \u5e94 \u518d\u6b21 \u542f\u52a8 \u8ddf\u968f \u9886\u5148 \u8f66\u8f86 \u793a\u4f8b \u3002   \u8b66\u544a   \u8fd0\u884c   manual _ control . py   ScenarioRunner   \u5305 / \u5b58\u50a8 \u5e93\u4e2d \u627e\u5230 \u7684 \u5185\u5bb9 \uff0c   \u800c \u4e0d\u662f   CARLA   \u3002   4 .   \u63a2\u7d22 \u5176\u4ed6 \u9009\u62e9 \u3002   \u4f7f\u7528   \u6807\u5fd7 \u8fd0\u884c \u573a\u666f \u8fd0\u884c \u5668   -- help   \u6765 \u63a2\u7d22 \u5176\u4ed6 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u548c \u4e00\u4e9b \u57fa\u672c \u63cf\u8ff0 \u3002 \u4f8b\u5982 \uff0c \u4e3a\u4e86 \u907f\u514d \u81ea\u52a8 \uff08 \u91cd\u65b0 \uff09 \u52a0\u8f7d   CARLA   \u4e16\u754c \uff0c \u8bf7 \u8df3 \u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879   -- reloadWorld   \u3002   python   scenario _ runner . py   -- help   ScenarioRunner   \u7684 \u5b89\u88c5 \u8fc7\u7a0b \u81f3\u6b64 \u7ed3\u675f \u3002 \u5982\u679c \u53d1\u751f \u4efb\u4f55 \u610f\u5916 \u9519\u8bef \u6216 \u95ee\u9898 \uff0c   CARLA   \u8bba\u575b   \u5411 \u6240\u6709 \u6709\u4eba \u6240\u6709\u4eba \u5f00\u653e \u3002 \u6709 \u4e00\u4e2a ScenarioRunner \u7c7b\u522b \u7528\u4e8e \u53d1\u5e03 \u6709\u5173 \u6b64 \u6a21\u5757 \u7684 \u95ee\u9898 \u548c \u7591\u95ee \u3002","title":"Getting   scenariorunner"},{"location":"scenario_runner/getting_scenariorunner/#scenariorunner","text":"\u672c \u6559\u7a0b \u4ecb\u7ecd \u5982\u4f55 \u4e0b\u8f7d   ScenarioRunner   \u5e76 \u8fd0\u884c \u4e00\u4e2a \u7b80\u5355 \u7684 \u793a\u4f8b \u6765 \u6d4b\u8bd5 \u5b83 \u3002 ScenarioRunner   \u9700\u8981   Carla   \u624d\u80fd \u8fd0\u884c \uff0c \u5e76\u4e14 \u5fc5\u987b \u4e0e \u6b63\u5728 \u4f7f\u7528 \u7684   Carla   \u7248\u672c \u5339\u914d \u3002 \u5982\u679c \u4f7f\u7528 \u7684   Carla   \u662f\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684 \uff0c \u8bf7 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u4e0b\u8f7d   ScenarioRunner \u3002 \u5982\u679c \u4f7f\u7528 \u7684   Carla   \u662f \u5305 \uff0c \u8bf7 \u4e0b\u8f7d \u5bf9\u5e94 \u7248\u672c \u7684 ScenarioRunner \u3002   \u5b89\u88c5 \u603b\u7ed3   A .   \u4e0b\u8f7d   ScenarioRunner   \u53d1\u5e03 \u7248   \u66f4\u65b0 \u53d1\u5e03 \u7248   B .   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u4e0b\u8f7d   ScenarioRunner   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u66f4\u65b0 \u6784\u5efa   \u8fd0\u884c \u6d4b\u8bd5","title":"\u83b7\u53d6   ScenarioRunner"},{"location":"scenario_runner/getting_scenariorunner/#_1","text":"\u663e\u793a \u5feb\u901f \u542f\u52a8 \u5b89\u88c5 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u6458\u8981   #   \u51b3\u5b9a \u662f\u5426 \u4f7f\u7528 \u5305 \u6216\u8005 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   #   \u9009\u9879   A )   \u4f7f\u7528   ScenarioRunner   \u5305   #   1 .   \u5b89\u88c5   CARLA   \u5305 :   https : / / carla . readthedocs . io / en / latest / start _ quickstart /   #   2 .   \u4e0b\u8f7d \u5339\u914d \u7684   ScenarioRunner   \u5305 :   https : / / github . com / carla - simulator / scenario _ runner / releases   #   3 .   \u62bd\u53d6 \u5185\u5bb9 ntent   wherever   needed .   #   Update   the   release :   #   1 .   Delete   previous   CARLA   and   ScenarioRunner   versions .   #   2 .   Download   the   latest   CARLA   release .   #   3 .   Download   the   matching   ScenarioRunner   release .   #   Option   B )   Download   ScenarioRunner   from   source   #   1 .   Build   CARLA   from   source :   https : / / carla . readthedocs . io / en / latest / build _ linux /   #   2 .   Clone   the   ScenarioRunner   repository :   git   clone   https : / / github . com / carla - simulator / scenario _ runner . git   #   3 .   Install   requirements   according   to   the   Python   version   to   be   used :   #   For   Python   2 . x :   sudo   apt   remove   python - networkx   # if   installed ,   remove   old   version   of   networkx   pip2   install   -- user   - r   requirements . txt   #   For   Python   3 . x :   sudo   apt   remove   python3 - networkx   # if   installed ,   remove   old   version   of   networkx   pip3   install   -- user   - r   requirements . txt   #   To   update   ScenarioRunner   from   source :   #   1 .   Update   CARLA :   https : / / carla . readthedocs . io / en / latest / build _ update /   #   2 .   Go   to   the   ScenarioRunner   repository ,   master   branch   cd   ~ / scenario _ runner   git   branch   master   #   3 .   Pull   the   latest   changes   from   the   repository   git   pull","title":"\u5b89\u88c5 \u603b\u7ed3"},{"location":"scenario_runner/getting_scenariorunner/#a-scenariorunner","text":"ScenarioRunner   \u7684 \u7248\u672c \u662f \u5305\u542b \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff1a   *   \u4e0e \u7279\u5b9a   CARLA   \u7248\u672c \u76f8\u5173 \u7684   ScenarioRunner   \u7248\u672c \u3002   *   \u7528   Python   \u7f16\u5199 \u7684 \u4e00\u4e9b \u793a\u4f8b \u573a\u666f \u3002   \u8fd0\u884c   ScenarioRunner   \u7248\u672c \u7684 \u8fc7\u7a0b \u975e\u5e38 \u7b80\u5355 \u975e\u5e38\u7b80\u5355 \u3002   1 .   \u4e0b\u8f7d   CARLA   \u53d1\u5e03 \u7248 \u3002   \u8bf7 \u6309\u7167   CARLA   \u5feb\u901f \u5165\u95e8   \u4e2d \u7684 \u6d41\u7a0b \u8fdb\u884c \u64cd\u4f5c \u3002   2 .   \u4e0b\u8f7d \u5339\u914d \u7684   ScenarioRunner   \u7248\u672c \u3002   \u6b64\u5904   \u5217\u51fa \u4e86 \u6240\u6709 \u7248\u672c \u3002   \u91cd\u8981   \u4e24\u4e2a \u7248\u672c \u5fc5\u987b \u5339\u914d \u3002 \u5982\u679c   CARLA   \u7248\u672c \u662f   0.9 . 9   \uff0c \u5219 \u8fd8 \u53ef\u4ee5 \u4f7f\u7528   ScenarioRunner   0.9 . 9   \u3002   \u4ee5\u4e0b   \u662f   CARLA   \u548c   ScenarioRunner   \u4e4b\u95f4 \u7684 \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u7684 \u7b80\u8981 \u5217\u8868 \u3002   3 .   \u63d0\u53d6 \u5185\u5bb9 \u3002   \u76ee\u5f55 \u5e76 \u4e0d \u91cd\u8981 \u3002","title":"A .   \u4e0b\u8f7d   ScenarioRunner   \u53d1\u5e03 \u7248"},{"location":"scenario_runner/getting_scenariorunner/#_2","text":"\u6253\u5305 \u7248\u672c \u4e0d \u9700\u8981 \u66f4\u65b0 \u3002 \u5185\u5bb9 \u662f \u6346\u7ed1 \u7684 \uff0c \u56e0\u6b64 \u4e0e   CARLA   \u7684 \u7279\u5b9a \u7248\u672c \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u6bcf\u6b21 \u6709 \u65b0 \u7684   CARLA   \u7248\u672c \u65f6 \uff0c ScenarioRunner   \u90fd \u4f1a \u6709 \u4e00\u4e2a \u5339\u914d \u7684 \u7248\u672c \u3002 \u6b64\u5904 \u5217\u51fa \u4e86 \u6240\u6709 \u7248\u672c \uff1a   CARLA   \u53d1\u5e03 \u7248   Scenario   Runner   \u53d1\u5e03 \u7248   \u8981 \u8fd0\u884c \u6700\u65b0 \u7248\u672c \u6216 \u4efb\u4f55 \u5176\u4ed6 \u7248\u672c \uff0c \u8bf7 \u5220\u9664 \u4ee5\u524d \u7684 \u7248\u672c \u5e76 \u5b89\u88c5 \u6240 \u9700 \u7684 \u7248\u672c \u3002","title":"\u66f4\u65b0 \u53d1\u5e03 \u7248"},{"location":"scenario_runner/getting_scenariorunner/#b-scenariorunner","text":"ScenarioRunner   \u6e90 \u5b58\u50a8 \u5e93 \u5305\u542b \u4e0e \u6700\u65b0 \u5f00\u53d1 \u7248\u672c   CARLA   \u4e00\u8d77 \u8fd0\u884c \u7684 \u6700\u5177 \u5b9e\u9a8c \u5b9e\u9a8c\u6027 \u7684 \u529f\u80fd \u3002 \u5b83 \u4e0d \u9700\u8981 \u6784\u5efa \uff0c \u56e0\u4e3a \u5b83 \u53ea \u5305\u542b   ScenarioRunner   \u6a21\u5757 \u7684   Python   \u4ee3\u7801 \u3002   1 .   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   CARLA \u3002   \u6309\u7167 \u6587\u6863 \u5728   Linux   \u6216   Windows   \u4e0a \u8fdb\u884c \u6784\u5efa \u3002   \u91cd\u8981   ScenarioRunner   \u9700\u8981   CARLA   \u624d\u80fd \u8fd0\u884c \uff0c \u56e0\u6b64 \u6587\u6863 \u4e2d \u89c4\u5b9a \u7684   CARLA   \u6700\u4f4e \u8981\u6c42 \u4e5f \u662f \u8fd0\u884c   ScenarioRunner   \u6240 \u5fc5\u9700 \u7684 \u3002   2 .   \u514b\u9686   ScenarioRunner   \u5b58\u50a8 \u5e93 \u3002   git   clone   https : / / github . com / carla - simulator / scenario _ runner . git   3 .   \u6839\u636e \u8981 \u4f7f\u7528 \u7684 Python \u7248\u672c \u5b89\u88c5 \u9700\u6c42 \u3002   \u9996\u5148 \u8fdb\u5165   ScenarioRunner   \u76ee\u5f55 \u4e3b\u76ee\u5f55   cd   ~ / scenario _ runner /   \u5bf9\u4e8e   Python   2 . x .   sudo   apt   remove   python - networkx   # if   installed ,   remove   old   version   of   networkx   pip2   install   -- user   - r   requirements . txt   \u5bf9\u4e8e   Python   3 . x   sudo   apt   remove   python3 - networkx   # if   installed ,   remove   old   version   of   networkx   pip3   install   -- user   - r   requirements . txt   \u8b66\u544a   \u4e0d   \u652f\u6301 \u9ad8\u4e8e   v0.8   \u7684   py - tree   \u3002","title":"B .   \u4ece \u6e90\u4ee3\u7801 \u4e0b\u8f7d   ScenarioRunner"},{"location":"scenario_runner/getting_scenariorunner/#_3","text":"1 .   \u66f4\u65b0   CARLA   \u6784\u5efa   \u6309\u7167   \u6587\u6863   \u66f4\u65b0   CARLA \u3002   2 .   \u8f6c\u5230 ScenarioRunner   \u76ee\u5f55 \u4e3b\u76ee\u5f55 \u3002   \u786e\u4fdd \u4f4d\u4e8e \u672c \u5730\u4e3b \u5206\u652f \u4e2d \u3002   cd   ~ / scenario _ runner   git   branch   master   3 .   \u4ece \u5b58\u50a8 \u5e93\u4e2d \u63d0\u53d6 \u6700\u65b0 \u66f4\u6539 \u3002   git   pull   4 .   \u6dfb\u52a0 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u548c Python \u8def\u5f84   \u8fd9\u4e9b \u662f \u7cfb\u7edf \u627e\u5230 CARLA \u6240 \u5fc5\u9700 \u7684 \uff0c \u5e76 \u5c06 PythonAPI \u6dfb\u52a0 \u5230 Python \u8def\u5f84 \u4e2d \u3002   \u5bf9\u4e8e   Linux   #   $ { CARLA _ ROOT }   is   the   CARLA   installation   directory   #   $ { SCENARIO _ RUNNER }   is   the   ScenarioRunner   installation   directory   #   < VERSION >   is   the   correct   string   for   the   Python   version   being   used   #   In   a   build   from   source ,   the   . egg   files   may   be   in :   $ { CARLA _ ROOT } / PythonAPI / dist /   instead   of   $ { CARLA _ ROOT } / PythonAPI   export   CARLA _ ROOT = / path / to / your / carla / installation   export   SCENARIO _ RUNNER _ ROOT = / path / to / your / scenario / runner / installation   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla / dist / carla - < VERSION > . egg   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla   \u6ce8\u610f   \u6839\u636e \u6ce8\u91ca \uff0c \u4f7f\u7528 \u6b63\u786e \u7684 \u8def\u5f84 \u66f4\u6539 \u547d\u4ee4 \u547d\u4ee4\u884c \u3002   \u5bf9\u4e8e   Windows   #   % CARLA _ ROOT%   is   the   CARLA   installation   directory   #   % SCENARIO _ RUNNER%   is   the   ScenarioRunner   installation   directory   #   < VERSION >   is   the   correct   string   for   the   Python   version   being   used   #   In   a   build   from   source ,   the   . egg   files   may   be   in :   $ { CARLA _ ROOT } / PythonAPI / dist /   instead   of   $ { CARLA _ ROOT } / PythonAPI   set   CARLA _ ROOT = \\ path \\ to \\ your \\ carla \\ installation   set   SCENARIO _ RUNNER _ ROOT = \\ path \\ to \\ your \\ scenario \\ runner \\ installation   set   PYTHONPATH = % PYTHONPATH% ; % CARLA _ ROOT% \\ PythonAPI \\ carla \\ dist \\ carla - < VERSION > . egg   set   PYTHONPATH = % PYTHONPATH% ; % CARLA _ ROOT% \\ PythonAPI \\ carla   \u6ce8\u610f   \u6839\u636e \u6ce8\u91ca \uff0c \u4f7f\u7528 \u6b63\u786e \u7684 \u8def\u5f84 \u66f4\u6539 \u547d\u4ee4 \u547d\u4ee4\u884c \u3002   \u5982\u9700 \u6c38\u4e45 \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c \u8bf7 \u524d\u5f80   \u7f16\u8f91 \u8be5 \u8d26\u6237 \u7684 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   \u3002 \u901a\u8fc7 \u5728   Windows   \u7684 \u641c\u7d22 \u9762\u677f \u4e0a \u8f93\u5165   env   \u53ef\u4ee5 \u5feb\u901f \u8bbf\u95ee \u5feb\u901f\u8bbf\u95ee \u5b83 \u3002   \u5982\u679c \u9700\u8981 \u8fd0\u884c \u57fa\u4e8e   OpenSCENARIO   2.0   \u683c\u5f0f \u7684 \u573a\u666f \uff0c \u8bf7 \u5148 \u5b89\u88c5 graphviz \u548c antlr \uff1a   sudo   apt - get   install   - y   openjdk - 17 - jdk   graphviz   curl   - O   https : / / www . antlr . org / download / antlr - 4.10 . 1 - complete . jar   sudo   cp   antlr - 4.10 . 1 - complete . jar   / usr / local / lib /   sudo   gedit   ~ / . bashrc   \u5c06 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u6dfb\u52a0 \u5230 ~ / . bashrc \u4e2d \uff1a   export   CLASSPATH = \" . : / usr / local / lib / antlr - 4.10 . 1 - complete . jar : $ CLASSPATH \"   alias   antlr4 = ' java   - jar   / usr / local / lib / antlr - 4.10 . 1 - complete . jar '   alias   grun = ' java   org . antlr . v4 . gui . TestRig '   \u5e76 \u4f7f \u66f4\u6539 \u751f\u6548 \uff1a   source   ~ / . bashrc","title":"\u4ece \u6e90\u4ee3\u7801 \u66f4\u65b0 \u6784\u5efa"},{"location":"scenario_runner/getting_scenariorunner/#_4","text":"\u8fd0\u884c \u4ee5\u4e0b \u8f66\u8f86 \u793a\u4f8b \u3002 \u9996\u5148 \uff0c \u60a8 \u9700\u8981 \u4ece   CARLA   \u83b7\u53d6 \u6700\u65b0 \u7684 \u4e3b \u5206\u652f \u3002 \u7136\u540e \u60a8 \u5fc5\u987b \u5c06   CARLA   Python   API   \u5305\u542b \u5230   Python   \u8def\u5f84   \u4e2d \uff1a   \u91cd\u8981   \u5982\u679c \u4f7f\u7528 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \uff0c \u8bf7 \u786e\u4fdd \u4e0a\u4f20 \u5b83\u4eec \u3002 \u4e0b\u8f7d   master   \u5206\u652f \u4e2d \u7684 \u6700\u65b0 \u5185\u5bb9 \u3002   1 .   \u8fd0\u884c   CARLA   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   A )   \u5728 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u4e2d   \uff0c \u8f6c \u5230   CARLA   \u76ee\u5f55 \u5e76 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   cd   ~ / carla   #   Change   the   path   accordingly   make   launch   #   Press   Play   in   the   UE   Editor   B )   \u5728   CARLA   \u5305\u4e2d   \u76f4\u63a5 \u8fd0\u884c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   . / CarlaUE4 . sh   2 .   \u542f\u52a8 \u793a\u4f8b \u573a\u666f \u3002   \u6253\u5f00 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \uff0c \u8fdb\u5165 ScenarioRunner \u4e0b\u8f7d \u7684 \u76ee\u5f55 \u3002 \u4e3a\u4e86 \u8fdb\u884c \u672c\u6b21 \u6d4b\u8bd5 \uff0c \u5c06 \u4f7f\u7528 \u4ee5\u4e0b \u5f15\u5bfc \u8f66\u8f86 \u573a\u666f \uff08   scenario _ runner . py   \u548c   manual _ control . py   \u8981 \u4f7f\u7528 \u5bf9\u5e94 \u7684 \u53d1\u5e03 \u7248\u672c \uff0c \u5f00\u53d1 \u7248 \u4e0d \u4e00\u5b9a \u6210\u679c \uff09 \u3002   #   Inside   the   ScenarioRunner   root   directory   python   scenario _ runner . py   -- scenario   FollowLeadingVehicle _ 1   -- reloadWorld   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u67e5\u770b \u5f53\u524d \u573a\u666f \u6709 \u54ea\u4e9b \uff1a   python   scenario _ runner . py   -- list   \u6ce8\u610f   \u5982\u679c \u4f7f\u7528   Python   3 . x   \u7248\u672c \uff0c \u8bf7 \u8fd0\u884c \u5e26\u6709   python3   .   3 .   \u901a\u8fc7 \u624b\u52a8 \u63a7\u5236 \u6d4b\u8bd5 \u573a\u666f \u3002   \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \u5e76 \u8fd0\u884c   manual _ control . py   \u3002 \u5e94\u8be5 \u4f1a\u5f39 \u51fa \u4e00\u4e2a \u7a97\u53e3 \u65b0\u7a97\u53e3 \uff0c \u8857\u9053 \u4e2d\u592e \u6709 \u4e00\u8f86 \u81ea\u6211 \u8f66\u8f86 \u3002 \u5411\u524d \u79fb\u52a8 \uff0c \u9886\u5934 \u8f66\u8f86 \u5c31 \u4f1a \u51fa\u73b0 \u3002   #   Inside   the   ScenarioRunner   root   directory   python   manual _ control . py   \u8fd9\u4e9b \u573a\u666f \u6709 \u5927\u7ea6 \u4e00\u5206 \u5206\u949f \u4e00\u5206\u949f \u7684 \u8d85\u65f6 \u65f6\u95f4 \uff0c \u4ee5\u4fbf \u542f\u52a8 \u4ee3\u7406 \u3002 \u5982\u679c \u51fa\u73b0 \u8d85\u65f6 \uff0c \u5219 \u5e94 \u518d\u6b21 \u542f\u52a8 \u8ddf\u968f \u9886\u5148 \u8f66\u8f86 \u793a\u4f8b \u3002   \u8b66\u544a   \u8fd0\u884c   manual _ control . py   ScenarioRunner   \u5305 / \u5b58\u50a8 \u5e93\u4e2d \u627e\u5230 \u7684 \u5185\u5bb9 \uff0c   \u800c \u4e0d\u662f   CARLA   \u3002   4 .   \u63a2\u7d22 \u5176\u4ed6 \u9009\u62e9 \u3002   \u4f7f\u7528   \u6807\u5fd7 \u8fd0\u884c \u573a\u666f \u8fd0\u884c \u5668   -- help   \u6765 \u63a2\u7d22 \u5176\u4ed6 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u548c \u4e00\u4e9b \u57fa\u672c \u63cf\u8ff0 \u3002 \u4f8b\u5982 \uff0c \u4e3a\u4e86 \u907f\u514d \u81ea\u52a8 \uff08 \u91cd\u65b0 \uff09 \u52a0\u8f7d   CARLA   \u4e16\u754c \uff0c \u8bf7 \u8df3 \u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879   -- reloadWorld   \u3002   python   scenario _ runner . py   -- help   ScenarioRunner   \u7684 \u5b89\u88c5 \u8fc7\u7a0b \u81f3\u6b64 \u7ed3\u675f \u3002 \u5982\u679c \u53d1\u751f \u4efb\u4f55 \u610f\u5916 \u9519\u8bef \u6216 \u95ee\u9898 \uff0c   CARLA   \u8bba\u575b   \u5411 \u6240\u6709 \u6709\u4eba \u6240\u6709\u4eba \u5f00\u653e \u3002 \u6709 \u4e00\u4e2a ScenarioRunner \u7c7b\u522b \u7528\u4e8e \u53d1\u5e03 \u6709\u5173 \u6b64 \u6a21\u5757 \u7684 \u95ee\u9898 \u548c \u7591\u95ee \u3002","title":"\u8fd0\u884c \u6d4b\u8bd5"},{"location":"scenario_runner/getting_started/","text":"\u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65   \u91cd\u8981   \u672c \u6559\u7a0b \u53c2\u8003 \u4e86   Carla   \u7684 \u6700\u65b0 \u7248\u672c \uff08 \u81f3\u5c11   0.9 . 5 \uff09   \u6b22\u8fce \u6765\u5230   Carla   \u7684   ScenarioRunner \uff01 \u672c \u6559\u7a0b \u63d0\u4f9b \u4e86 \u5f00\u59cb \u4f7f\u7528   Carla   \u7684   ScenarioRunner   \u57fa\u672c \u6b65\u9aa4 \u3002   \u4ece \u6211\u4eec \u7684   GitHub   \u9875\u9762 \u4e0b\u8f7d \u6700\u65b0 \u7248\u672c \uff0c \u5e76 \u5c06 \u5305 \u7684 \u6240\u6709 \u5185\u5bb9 \u63d0\u53d6 \u5230 \u60a8 \u9009\u62e9 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u53d1\u5e03 \u5305 \u5305\u542b \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9   Carla   \u7684   ScenarioRunner   \u7528   Python   \u7f16\u5199 \u7684 \u4e00\u4e9b \u793a\u4f8b \u573a\u666f \u3002   \u5b89\u88c5 \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u5f53\u524d \u7248\u672c \u8bbe\u8ba1 \u7528\u4e8e   Ubuntu   18.04 \u3001 Python   3.6 \u3002 \u6839\u636e \u60a8 \u7684   Python   \u7248\u672c \uff0c \u6267\u884c \uff1a   # Python   2 . x   sudo   apt   remove   python - networkx   # if   installed ,   remove   old   version   of   networkx   pip2   install   -- user   - r   requirements . txt   # Python   3 . x   sudo   apt   remove   python3 - networkx   # if   installed ,   remove   old   version   of   networkx   pip3   install   -- user   - r   requirements . txt   \u6ce8\u610f :   \u4e0d   \u652f\u6301 \u9ad8\u4e8e   v0.8   \u7684   py - tree   \u3002   \u8fd0\u884c \u4ee5\u4e0b \u8f66\u8f86 \u793a\u4f8b   \u9996\u5148 \uff0c \u60a8 \u9700\u8981 \u4ece   Carla   \u83b7\u53d6 \u6700\u65b0 \u7684 \u4e3b \u5206\u652f \u3002 \u7136\u540e \u60a8 \u5fc5\u987b \u5c06   Carla   Python   API   \u5305\u542b \u5230   Python   \u8def\u5f84 \u4e2d \uff1a   export   CARLA _ ROOT = / path / to / your / carla / installation   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla / dist / carla - < VERSION > . egg : $ { CARLA _ ROOT } / PythonAPI / carla / agents : $ { CARLA _ ROOT } / PythonAPI / carla   \u7b14\u8bb0 :   $ { CARLA _ ROOT }   \u9700\u8981 \u4f7f\u7528 \u60a8 \u7684   Carla   \u5b89\u88c5 \u8def\u5f84 \u66ff\u6362 \uff0c   \u865a\u5e7b \u4f7f\u7528 \u6b63\u786e \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u66ff\u6362 \u3002   \u5982\u679c \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7f16\u8bd1   Carla \uff0c egg   \u6587\u4ef6 \u53ef\u80fd \u4f4d\u4e8e \uff1a   $ { CARLA _ ROOT } / PythonAPI / dist /   \u800c \u4e0d\u662f   $ { CARLA _ ROOT } / PythonAPI \u3002   \u73b0\u5728 \uff0c \u60a8 \u53ef\u4ee5 \u4ece   $ { CARLA _ ROOT }   \u542f\u52a8   CARLA   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   . / CarlaUE4 . sh   \u5728 \u989d\u5916 \u7684 \u7ec8\u7aef \u4e2d \u542f\u52a8 \u793a\u4f8b \u573a\u666f \uff08 \u8ddf\u968f \u9886\u5148 \u7684 \u8f66\u8f86 \uff09 \uff1a   python   scenario _ runner . py   -- scenario   FollowLeadingVehicle _ 1   -- reloadWorld   \u5982\u679c \u60a8 \u9700\u8981 \u5e2e\u52a9 \u6216 \u60f3\u8981 \u63a2\u7d22 \u5176\u4ed6 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \uff0c \u8bf7 \u6309 \u5982\u4e0b \u65b9\u5f0f \u542f\u52a8 \u573a\u666f \u8fd0\u884c \u7a0b\u5e8f \uff1a   python   scenario _ runner . py   -- help   \u8981 \u63a7\u5236 \u573a\u666f \u4e2d \u7684 \u81ea\u6211 \u8f66\u8f86 \uff0c \u8bf7 \u6253\u5f00 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u5e76 \u8fd0\u884c \uff1a   python   manual _ control . py   \u6ce8\u610f :   \u5982\u679c \u60a8 \u4e0d \u5e0c\u671b \u81ea\u52a8 \uff08 \u91cd\u65b0 \uff09 \u52a0\u8f7d   Carla   \u4e16\u754c \uff0c \u60a8 \u53ef\u4ee5 \u8df3\u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879   -- reloadWorld   \u8fd0\u884c \u4e00\u4e2a \u573a\u666f \u7c7b \u7684 \u6240\u6709 \u573a\u666f   \u4e0e \u524d\u9762 \u7684 \u793a\u4f8b \u7c7b\u4f3c \uff0c \u8fd8 \u53ef\u4ee5 \u6267\u884c \u5c5e\u4e8e \u540c \u4e00\u7c7b \uff08 \u4f8b\u5982 \u201c FollowLeadingVehicle \u201d \u7c7b \uff09 \u7684 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u573a\u666f \u3002   \u552f\u4e00 \u7684 \u533a\u522b \u662f \uff0c \u60a8 \u6309 \u5982\u4e0b \u65b9\u5f0f \u542f\u52a8   scene _ runner \uff1a   python   scenario _ runner . py   -- scenario   group : FollowLeadingVehicle   \u8fd0\u884c \u5176\u4ed6 \u573a\u666f   \u652f\u6301 \u7684 \u573a\u666f \u5217\u8868 \u4e2d \u63d0\u4f9b \u4e86   \u652f\u6301 \u7684 \u573a\u666f \u5217\u8868   \u3002 \u8bf7 \u6ce8\u610f \uff0c \u4e0d\u540c \u7684   Carla   \u57ce\u9547 \u53ef\u80fd \u4f1a \u53d1\u751f \u4e0d\u540c \u7684 \u573a\u666f \u3002 \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u65f6 \u5fc5\u987b \u9075\u5b88 \u8fd9 \u4e00\u70b9 \u3002   \u4f7f\u7528   OpenSCENARIO   \u683c\u5f0f \u8fd0\u884c \u573a\u666f   \u8981 \u8fd0\u884c \u57fa\u4e8e   OpenSCENARIO   \u683c\u5f0f \u7684 \u573a\u666f \uff0c \u8bf7 \u8fd0\u884c   ScenarioRunner \uff0c \u5982\u4e0b \u6240\u793a \uff1a   python   scenario _ runner . py   -- openscenario   < path / to / xosc - file >   \u8bf7 \u6ce8\u610f \uff0c OpenSCENARIO   \u652f\u6301 \u548c   OpenSCENARIO   \u683c\u5f0f \u672c\u8eab \u4ecd \u5728 \u8fdb\u884c \u4e2d \u3002 \u60a8 \u53ef\u4ee5 \u5728   OpenSCENARIO   \u652f\u6301   \u4e2d \u627e\u5230 \u66f4 \u591a \u4fe1\u606f \u3002   \u4f7f\u7528   OpenSCENARIO   2.0   \u683c\u5f0f \u8fd0\u884c \u573a\u666f   \u8981 \u8fd0\u884c \u57fa\u4e8e   OpenSCENARIO   2.0   \u683c\u5f0f \u7684 \u573a\u666f \uff0c \u8bf7 \u8fd0\u884c   ScenarioRunner \uff0c \u5982\u4e0b \u6240\u793a \uff1a   python   scenario _ runner . py   -- openscenario2   < path / to / osc - file >   \u8981 \u63a7\u5236 \u573a\u666f \u4e2d \u7684 \u81ea\u6211 \u8f66\u8f86 \u6216 \u89c2\u5bdf \u5b83 \uff0c \u8bf7 \u6253\u5f00 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u5e76 \u8fd0\u884c \uff1a   python   manual _ control . py   - a   -- rolename = ego _ vehicle   \u6709\u5173 \u5982\u4f55 \u8fd0\u884c OpenSCENARIO   2.0 \u573a\u666f \u7684 \u66f4 \u591a \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   README _ OpenSCENARIO _ 2.0   \u3002   \u4f7f\u7528 \u5177\u6709   Global   ParameterDeclaration   \u8986\u76d6 \u7684   OpenSCENARIO   \u683c\u5f0f \u8fd0\u884c \u573a\u666f   python   scenario _ runner . py   -- openscenario   < path / to / xosc - file >   -- openscenarioparams   ' param1 :   value1 ,   param2 :   value2 '   \u8fd0\u884c \u57fa\u4e8e \u8def\u7ebf \u7684 \u573a\u666f \uff08 \u7c7b\u4f3c \u4e8e   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b \uff09   \u8981 \u8fd0\u884c \u57fa\u4e8e \u8def\u7ebf \u7684 \u573a\u666f \uff0c \u8bf7 \u6309 \u5982\u4e0b \u65b9\u5f0f \u8fd0\u884c   ScenarioRunner \uff1a   python   scenario _ runner . py   -- route   < path / to / route - file >   < path / to / scenario _ sample _ file >   [ route   id ]   -- agent   < path / to / agent _ file >   \u5b9e\u4f8b :   python   scenario _ runner . py   -- route   D : / work / workspace / carla _ doc / src / scenario _ runner / srunner / data / routes _ town10 . xml   -- agent   srunner / autoagents / npc _ agent . py   \u5982\u679c \u672a \u63d0\u4f9b \u8def\u7531   ID \uff0c \u5219 \u5c06 \u6267\u884c \u7ed9\u5b9a \u6587\u4ef6 \u4e2d \u7684 \u6240\u6709 \u8def\u7ebf \u3002   \u901a\u8fc7 \u8fd9\u6837 \u505a \uff0c ScenarioRunner   \u4f1a \u5c06 \u573a\u666f \u4e0e \u8def\u7ebf \u5339\u914d \u76f8\u5339\u914d \uff0c \u5e76\u4e14 \u5f53 \u81ea\u6211 \u8f66\u8f86 \u5728 \u9644\u8fd1 \u65f6 \u5b83\u4eec \u4f1a \u6fc0\u6d3b \u3002 \u7136\u800c \uff0c \u8def\u7ebf \u9700\u8981 \u4e00\u4e2a \u81ea\u4e3b \u4ee3\u7406 \u6765 \u63a7\u5236 \u81ea\u6211 \u8f66\u8f86 \u3002   srunner / autoagents /   \u4e2d \u63d0\u4f9b \u4e86 \u51e0\u4e2a \u793a\u4f8b \u3002 \u6709\u5173 \u4ee3\u7406 \u7684 \u66f4 \u591a \u4fe1\u606f \uff0c \u8bf7 \u67e5\u770b   \u4ee3\u7406 \u6587\u6863   \u3002","title":"\u7b2c\u4e00\u6b65"},{"location":"scenario_runner/getting_started/#_1","text":"\u91cd\u8981   \u672c \u6559\u7a0b \u53c2\u8003 \u4e86   Carla   \u7684 \u6700\u65b0 \u7248\u672c \uff08 \u81f3\u5c11   0.9 . 5 \uff09   \u6b22\u8fce \u6765\u5230   Carla   \u7684   ScenarioRunner \uff01 \u672c \u6559\u7a0b \u63d0\u4f9b \u4e86 \u5f00\u59cb \u4f7f\u7528   Carla   \u7684   ScenarioRunner   \u57fa\u672c \u6b65\u9aa4 \u3002   \u4ece \u6211\u4eec \u7684   GitHub   \u9875\u9762 \u4e0b\u8f7d \u6700\u65b0 \u7248\u672c \uff0c \u5e76 \u5c06 \u5305 \u7684 \u6240\u6709 \u5185\u5bb9 \u63d0\u53d6 \u5230 \u60a8 \u9009\u62e9 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u53d1\u5e03 \u5305 \u5305\u542b \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9   Carla   \u7684   ScenarioRunner   \u7528   Python   \u7f16\u5199 \u7684 \u4e00\u4e9b \u793a\u4f8b \u573a\u666f \u3002","title":"\u7b2c\u4e00\u6b65"},{"location":"scenario_runner/getting_started/#_2","text":"\u5f53\u524d \u7248\u672c \u8bbe\u8ba1 \u7528\u4e8e   Ubuntu   18.04 \u3001 Python   3.6 \u3002 \u6839\u636e \u60a8 \u7684   Python   \u7248\u672c \uff0c \u6267\u884c \uff1a   # Python   2 . x   sudo   apt   remove   python - networkx   # if   installed ,   remove   old   version   of   networkx   pip2   install   -- user   - r   requirements . txt   # Python   3 . x   sudo   apt   remove   python3 - networkx   # if   installed ,   remove   old   version   of   networkx   pip3   install   -- user   - r   requirements . txt   \u6ce8\u610f :   \u4e0d   \u652f\u6301 \u9ad8\u4e8e   v0.8   \u7684   py - tree   \u3002","title":"\u5b89\u88c5 \u5148\u51b3\u6761\u4ef6"},{"location":"scenario_runner/getting_started/#_3","text":"\u9996\u5148 \uff0c \u60a8 \u9700\u8981 \u4ece   Carla   \u83b7\u53d6 \u6700\u65b0 \u7684 \u4e3b \u5206\u652f \u3002 \u7136\u540e \u60a8 \u5fc5\u987b \u5c06   Carla   Python   API   \u5305\u542b \u5230   Python   \u8def\u5f84 \u4e2d \uff1a   export   CARLA _ ROOT = / path / to / your / carla / installation   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla / dist / carla - < VERSION > . egg : $ { CARLA _ ROOT } / PythonAPI / carla / agents : $ { CARLA _ ROOT } / PythonAPI / carla   \u7b14\u8bb0 :   $ { CARLA _ ROOT }   \u9700\u8981 \u4f7f\u7528 \u60a8 \u7684   Carla   \u5b89\u88c5 \u8def\u5f84 \u66ff\u6362 \uff0c   \u865a\u5e7b \u4f7f\u7528 \u6b63\u786e \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u66ff\u6362 \u3002   \u5982\u679c \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7f16\u8bd1   Carla \uff0c egg   \u6587\u4ef6 \u53ef\u80fd \u4f4d\u4e8e \uff1a   $ { CARLA _ ROOT } / PythonAPI / dist /   \u800c \u4e0d\u662f   $ { CARLA _ ROOT } / PythonAPI \u3002   \u73b0\u5728 \uff0c \u60a8 \u53ef\u4ee5 \u4ece   $ { CARLA _ ROOT }   \u542f\u52a8   CARLA   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   . / CarlaUE4 . sh   \u5728 \u989d\u5916 \u7684 \u7ec8\u7aef \u4e2d \u542f\u52a8 \u793a\u4f8b \u573a\u666f \uff08 \u8ddf\u968f \u9886\u5148 \u7684 \u8f66\u8f86 \uff09 \uff1a   python   scenario _ runner . py   -- scenario   FollowLeadingVehicle _ 1   -- reloadWorld   \u5982\u679c \u60a8 \u9700\u8981 \u5e2e\u52a9 \u6216 \u60f3\u8981 \u63a2\u7d22 \u5176\u4ed6 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \uff0c \u8bf7 \u6309 \u5982\u4e0b \u65b9\u5f0f \u542f\u52a8 \u573a\u666f \u8fd0\u884c \u7a0b\u5e8f \uff1a   python   scenario _ runner . py   -- help   \u8981 \u63a7\u5236 \u573a\u666f \u4e2d \u7684 \u81ea\u6211 \u8f66\u8f86 \uff0c \u8bf7 \u6253\u5f00 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u5e76 \u8fd0\u884c \uff1a   python   manual _ control . py   \u6ce8\u610f :   \u5982\u679c \u60a8 \u4e0d \u5e0c\u671b \u81ea\u52a8 \uff08 \u91cd\u65b0 \uff09 \u52a0\u8f7d   Carla   \u4e16\u754c \uff0c \u60a8 \u53ef\u4ee5 \u8df3\u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879   -- reloadWorld","title":"\u8fd0\u884c \u4ee5\u4e0b \u8f66\u8f86 \u793a\u4f8b"},{"location":"scenario_runner/getting_started/#_4","text":"\u4e0e \u524d\u9762 \u7684 \u793a\u4f8b \u7c7b\u4f3c \uff0c \u8fd8 \u53ef\u4ee5 \u6267\u884c \u5c5e\u4e8e \u540c \u4e00\u7c7b \uff08 \u4f8b\u5982 \u201c FollowLeadingVehicle \u201d \u7c7b \uff09 \u7684 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u573a\u666f \u3002   \u552f\u4e00 \u7684 \u533a\u522b \u662f \uff0c \u60a8 \u6309 \u5982\u4e0b \u65b9\u5f0f \u542f\u52a8   scene _ runner \uff1a   python   scenario _ runner . py   -- scenario   group : FollowLeadingVehicle","title":"\u8fd0\u884c \u4e00\u4e2a \u573a\u666f \u7c7b \u7684 \u6240\u6709 \u573a\u666f"},{"location":"scenario_runner/getting_started/#_5","text":"\u652f\u6301 \u7684 \u573a\u666f \u5217\u8868 \u4e2d \u63d0\u4f9b \u4e86   \u652f\u6301 \u7684 \u573a\u666f \u5217\u8868   \u3002 \u8bf7 \u6ce8\u610f \uff0c \u4e0d\u540c \u7684   Carla   \u57ce\u9547 \u53ef\u80fd \u4f1a \u53d1\u751f \u4e0d\u540c \u7684 \u573a\u666f \u3002 \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u65f6 \u5fc5\u987b \u9075\u5b88 \u8fd9 \u4e00\u70b9 \u3002","title":"\u8fd0\u884c \u5176\u4ed6 \u573a\u666f"},{"location":"scenario_runner/getting_started/#openscenario","text":"\u8981 \u8fd0\u884c \u57fa\u4e8e   OpenSCENARIO   \u683c\u5f0f \u7684 \u573a\u666f \uff0c \u8bf7 \u8fd0\u884c   ScenarioRunner \uff0c \u5982\u4e0b \u6240\u793a \uff1a   python   scenario _ runner . py   -- openscenario   < path / to / xosc - file >   \u8bf7 \u6ce8\u610f \uff0c OpenSCENARIO   \u652f\u6301 \u548c   OpenSCENARIO   \u683c\u5f0f \u672c\u8eab \u4ecd \u5728 \u8fdb\u884c \u4e2d \u3002 \u60a8 \u53ef\u4ee5 \u5728   OpenSCENARIO   \u652f\u6301   \u4e2d \u627e\u5230 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u4f7f\u7528   OpenSCENARIO   \u683c\u5f0f \u8fd0\u884c \u573a\u666f"},{"location":"scenario_runner/getting_started/#openscenario-20","text":"\u8981 \u8fd0\u884c \u57fa\u4e8e   OpenSCENARIO   2.0   \u683c\u5f0f \u7684 \u573a\u666f \uff0c \u8bf7 \u8fd0\u884c   ScenarioRunner \uff0c \u5982\u4e0b \u6240\u793a \uff1a   python   scenario _ runner . py   -- openscenario2   < path / to / osc - file >   \u8981 \u63a7\u5236 \u573a\u666f \u4e2d \u7684 \u81ea\u6211 \u8f66\u8f86 \u6216 \u89c2\u5bdf \u5b83 \uff0c \u8bf7 \u6253\u5f00 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u5e76 \u8fd0\u884c \uff1a   python   manual _ control . py   - a   -- rolename = ego _ vehicle   \u6709\u5173 \u5982\u4f55 \u8fd0\u884c OpenSCENARIO   2.0 \u573a\u666f \u7684 \u66f4 \u591a \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   README _ OpenSCENARIO _ 2.0   \u3002   \u4f7f\u7528 \u5177\u6709   Global   ParameterDeclaration   \u8986\u76d6 \u7684   OpenSCENARIO   \u683c\u5f0f \u8fd0\u884c \u573a\u666f   python   scenario _ runner . py   -- openscenario   < path / to / xosc - file >   -- openscenarioparams   ' param1 :   value1 ,   param2 :   value2 '","title":"\u4f7f\u7528   OpenSCENARIO   2.0   \u683c\u5f0f \u8fd0\u884c \u573a\u666f"},{"location":"scenario_runner/getting_started/#carla","text":"\u8981 \u8fd0\u884c \u57fa\u4e8e \u8def\u7ebf \u7684 \u573a\u666f \uff0c \u8bf7 \u6309 \u5982\u4e0b \u65b9\u5f0f \u8fd0\u884c   ScenarioRunner \uff1a   python   scenario _ runner . py   -- route   < path / to / route - file >   < path / to / scenario _ sample _ file >   [ route   id ]   -- agent   < path / to / agent _ file >   \u5b9e\u4f8b :   python   scenario _ runner . py   -- route   D : / work / workspace / carla _ doc / src / scenario _ runner / srunner / data / routes _ town10 . xml   -- agent   srunner / autoagents / npc _ agent . py   \u5982\u679c \u672a \u63d0\u4f9b \u8def\u7531   ID \uff0c \u5219 \u5c06 \u6267\u884c \u7ed9\u5b9a \u6587\u4ef6 \u4e2d \u7684 \u6240\u6709 \u8def\u7ebf \u3002   \u901a\u8fc7 \u8fd9\u6837 \u505a \uff0c ScenarioRunner   \u4f1a \u5c06 \u573a\u666f \u4e0e \u8def\u7ebf \u5339\u914d \u76f8\u5339\u914d \uff0c \u5e76\u4e14 \u5f53 \u81ea\u6211 \u8f66\u8f86 \u5728 \u9644\u8fd1 \u65f6 \u5b83\u4eec \u4f1a \u6fc0\u6d3b \u3002 \u7136\u800c \uff0c \u8def\u7ebf \u9700\u8981 \u4e00\u4e2a \u81ea\u4e3b \u4ee3\u7406 \u6765 \u63a7\u5236 \u81ea\u6211 \u8f66\u8f86 \u3002   srunner / autoagents /   \u4e2d \u63d0\u4f9b \u4e86 \u51e0\u4e2a \u793a\u4f8b \u3002 \u6709\u5173 \u4ee3\u7406 \u7684 \u66f4 \u591a \u4fe1\u606f \uff0c \u8bf7 \u67e5\u770b   \u4ee3\u7406 \u6587\u6863   \u3002","title":"\u8fd0\u884c \u57fa\u4e8e \u8def\u7ebf \u7684 \u573a\u666f \uff08 \u7c7b\u4f3c \u4e8e   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218\u8d5b \uff09"},{"location":"scenario_runner/list_of_scenarios/","text":"\u652f\u6301 \u573a\u666f \u5217\u8868   \u6b22\u8fce \u6765\u5230   CARLA   \u7684   ScenarioRunner \uff01 \u672c \u6587\u6863 \u63d0\u4f9b \u4e86 \u5f53\u524d \u652f\u6301 \u7684 \u6240\u6709 \u573a\u666f \u7684 \u5217\u8868 \uff0c \u4ee5\u53ca \u6bcf\u4e2a \u573a\u666f \u7684 \u7b80\u77ed \u63cf\u8ff0 \u3002   FollowLeadingVehicle   \u8be5 \u573a\u666f \u5b9e\u73b0 \u4e86 \u4e00\u79cd \u5e38\u89c1 \u7684 \u9a7e\u9a76 \u884c\u4e3a \uff0c \u5176\u4e2d \u7528\u6237 \u63a7\u5236 \u7684 \u81ea\u6211 \u8f66\u8f86 \u8ddf\u968f \u5728   Town01   \u7684 \u7ed9\u5b9a \u9053\u8def \u4e0a \u884c\u9a76 \u7684 \u9886\u5148 \u8f66\u8f86 \u3002 \u5728 \u67d0\u4e2a \u65f6\u523b \uff0c \u9886\u5148 \u7684 \u6c7d\u8f66 \u51cf\u901f \u5e76 \u6700\u7ec8 \u505c \u4e86 \u4e0b\u6765 \u3002 \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u505a\u51fa \u76f8\u5e94 \u53cd\u5e94 \u4ee5 \u907f\u514d \u78b0\u649e \u3002 \u8be5 \u573a\u666f \u4f1a\u56e0 \u8d85\u65f6 \u800c \u7ed3\u675f \uff0c \u6216\u8005 \u5982\u679c \u81ea\u6211 \u8f66\u8f86 \u505c \u5728 \u8ddd\u79bb \u9886\u5148 \u8f66\u8f86 \u8db3\u591f \u8fd1 \u7684 \u4f4d\u7f6e \u3002   FollowLeadingVehicleWithObstacle   \u6b64 \u573a\u666f \u4e0e \u201c FollowLeadingVehicle \u201d \u975e\u5e38 \u76f8\u4f3c \u3002 \u552f\u4e00 \u7684 \u533a\u522b \u662f \uff0c \u9886\u5148 \u8f66\u8f86 \u524d\u9762 \u6709 \u4e00\u4e2a \uff08 \u9690\u85cf \u7684 \uff09 \u969c\u788d \u969c\u788d\u7269 \u6321\u4f4f \u4e86 \u9053\u8def \u3002   VehicleTurningRight   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u81ea\u6211 \u8f66\u8f86 \u4ece \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u53f3\u8f6c \uff0c \u5176\u4e2d \u9a91 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4eba \u7a81\u7136 \u9a76\u5165 \u81ea\u6211 \u8f66\u8f86 \u7684 \u9053\u8def \uff0c \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u76f8\u5e94 \u5730 \u505c\u4e0b \u4e0b\u6765 \u505c\u4e0b\u6765 \u3002 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u540e \uff0c \u9a91\u8f66 \u9a91\u8f66\u4eba \u6e05\u7406 \u9053\u8def \uff0c \u4ee5\u4fbf \u672c\u8f66 \u53ef\u4ee5 \u7ee7\u7eed \u884c\u9a76 \u3002   VehicleTurningLeft   \u6b64 \u573a\u666f \u7c7b\u4f3c \u4e8e \u201c VehicleTurningRight \u201d \u3002 \u4e0d\u540c \u4e4b\u5904 \u4e0d\u540c\u4e4b\u5904 \u5728\u4e8e \uff0c \u81ea\u6211 \u8f66\u8f86 \u4ece \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u5de6\u8f6c \u3002   OppositeVehicleRunningRedLight   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u6d4b\u8bd5 \u4e86 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u7684 \u975e\u6cd5 \u884c\u4e3a \u975e\u6cd5\u884c\u4e3a \u3002 \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u5728 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u7b49\u5f85 \uff0c \u4f46 \u8fdd\u89c4 \u7ea2\u706f \u95ef\u7ea2\u706f \u3002 \u63a5\u8fd1 \u7684 \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u6b63\u786e \u5904\u7406 \u6b63\u786e\u5904\u7406 \u8fd9\u79cd \u60c5\u51b5 \uff0c \u5373 \u5c3d\u7ba1 \u6709 \u7eff\u8272 \u4ea4\u901a \u4ea4\u901a\u706f \uff0c \u4f46 \u5b83 \u5fc5\u987b \u505c\u4e0b \u4e0b\u6765 \u505c\u4e0b\u6765 \u7b49\u5f85 \uff0c \u76f4\u5230 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u518d\u6b21 \u7545\u901a \u65e0\u963b \u7545\u901a\u65e0\u963b \u3002 \u4e4b\u540e \uff0c \u5b83 \u5e94\u8be5 \u7ee7\u7eed \u884c\u9a76 \u3002   StationaryObjectCrossing   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u9a91 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4eba \u9759\u6b62 \u5728 \u8def \u4e2d\u95f4 \u7b49\u5f85 \uff0c \u6321\u4f4f \u4e86 \u672c\u8f66 \u7684 \u9053\u8def \u3002 \u56e0\u6b64 \uff0c \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u505c \u5728 \u9a91\u8f66 \u9a91\u8f66\u4eba \u7684 \u524d\u9762 \u3002   DynamicObjectCrossing   \u8fd9 \u4e0e \u201c StationaryObjectCrossing \u201d \u7c7b\u4f3c \uff0c \u4f46 \u4e0d\u540c \u4e4b\u5904 \u4e0d\u540c\u4e4b\u5904 \u5728\u4e8e \u9a91 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4eba \u662f \u52a8\u6001 \u7684 \u3002 \u5b83 \u7a81\u7136 \u649e \u5230 \u4e86 \u81ea\u6211 \u8f66\u8f86 \u7684 \u8def\u7ebf \uff0c \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u76f8\u5e94 \u5730 \u505c\u4e0b \u4e0b\u6765 \u505c\u4e0b\u6765 \u3002 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u540e \uff0c \u9a91\u8f66 \u9a91\u8f66\u4eba \u5c06 \u6e05\u7406 \u9053\u8def \uff0c \u4ee5\u4fbf \u81ea\u6211 \u8f66\u8f86 \u53ef\u4ee5 \u7ee7\u7eed \u884c\u9a76 \u3002   NoSignalJunctionCrossing   \u6b64 \u573a\u666f \u6d4b\u8bd5 \u4e24\u8f86 \u8f66\u8f86 \u5728 \u6ca1\u6709 \u4fe1\u53f7 \u7684 \u8def\u53e3 \u4ea4\u53c9 \u7684 \u60c5\u51b5 \u4e0b \u8fdb\u884c \u534f\u5546 \u3002 \u81ea\u6211 \u8f66\u8f86 \u6b63\u5728 \u7a7f\u8fc7 \u6ca1\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u8def\u53e3 \u5e76 \u9047\u5230 \u53e6 \u4e00\u8f86 \u7a7f\u8fc7 \u8def\u53e3 \u7684 \u8f66\u8f86 \u3002 \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u907f\u514d \u78b0\u649e \u5e76 \u7a7f\u8fc7 \u8def\u53e3 \u624d\u80fd \u6210\u529f \u3002   ControlLoss   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u6d4b\u8bd5 \u7531\u4e8e \u8def\u51b5 \u6076\u52a3 \u7b49 \u539f\u56e0 \u5bfc\u81f4 \u8f66\u8f86 \u5931\u63a7 \uff0c \u5e76 \u68c0\u67e5 \u8f66\u8f86 \u662f\u5426 \u91cd\u65b0 \u83b7\u5f97 \u63a7\u5236 \u5e76 \u7ea0\u6b63 \u5176 \u8def\u7ebf \u3002   ManeuverOppositeDirection   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u8f66\u8f86 \u5728 \u767d\u5929 \u3001 \u5929\u6c14 \u6674\u6717 \u5929\u6c14\u6674\u6717 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u5728 \u519c\u6751 \u5730\u533a \u7684 \u975e \u8def\u53e3 \u8d85\u8d8a \u53e6 \u4e00\u8f86 \u8f66\u8f86 \uff0c \u5e76 \u4fb5\u5165 \u53e6 \u4e00\u8f86 \u5411 \u76f8\u53cd \u65b9\u5411 \u884c\u9a76 \u7684 \u8f66\u8f86 \u3002   OtherLeadingVehicle   \u8be5 \u573a\u666f \u5b9e\u73b0 \u4e86 \u4e00\u79cd \u5e38\u89c1 \u7684 \u9a7e\u9a76 \u884c\u4e3a \uff0c \u5176\u4e2d \u7528\u6237 \u63a7\u5236 \u7684 \u81ea\u6211 \u8f66\u8f86 \u8ddf\u968f \u5728 \u7ed9\u5b9a \u9053\u8def \u4e0a \u884c\u9a76 \u7684 \u9886\u5148 \u8f66\u8f86 \u3002 \u5728 \u67d0\u4e2a \u65f6\u523b \uff0c \u9886\u5148 \u7684 \u6c7d\u8f66 \u5fc5\u987b \u51cf\u901f \u3002 \u672c\u8f66 \u5fc5\u987b \u505a\u51fa \u76f8\u5e94 \u53cd\u5e94 \uff0c \u6539\u53d8 \u8f66\u9053 \u4ee5 \u907f\u514d \u78b0\u649e \uff0c \u5e76 \u8ddf\u968f \u53e6 \u4e00 \u8f66\u9053 \u7684 \u9886\u5148 \u8f66\u8f86 \u3002 \u8be5 \u573a\u666f \u4f1a\u56e0 \u8d85\u65f6 \u6216 \u81ea\u6211 \u8f66\u8f86 \u884c\u9a76 \u4e00\u5b9a \u8ddd\u79bb \u800c \u7ed3\u675f \u3002   SignalizedJunctionRightTurn   \u5728 \u8fd9\u4e2a \u573a\u666f \u4e2d \uff0c \u6d4b\u8bd5 \u4e86 \u82f1\u96c4 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u4fe1\u53f7 \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u6ca1\u6709 \u78b0\u649e \u7684 \u60c5\u51b5 \u4e0b \u7684 \u53f3\u8f6c \u3002 \u82f1\u96c4 \u8f66\u8f86 \u5728 \u5e02\u533a \u7684 \u4fe1\u53f7 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u53f3\u8f6c \uff0c \u5e76 \u4e0e \u53e6 \u4e00\u8f86 \u6700\u521d \u4ece \u6a2a\u5411 \u76f4\u884c \u7684 \u8f66\u8f86 \u540c \u5411 \u8f6c\u5f2f \u3002   SignalizedJunctionLeftTurn   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u82f1\u96c4 \u8f66\u8f86 \u5728 \u5e02\u533a \u7684 \u4fe1\u53f7 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u5de6\u8f6c \uff0c \u5e76 \u6a2a\u7a7f \u4e86 \u53e6 \u4e00\u8f86 \u4ece \u76f8\u53cd \u65b9\u5411 \u76f4\u9a76 \u800c \u6765 \u7684 \u8f66\u8f86 \u7684 \u8def\u5f84 \u3002","title":"\u652f\u6301 \u573a\u666f \u5217\u8868"},{"location":"scenario_runner/list_of_scenarios/#_1","text":"\u6b22\u8fce \u6765\u5230   CARLA   \u7684   ScenarioRunner \uff01 \u672c \u6587\u6863 \u63d0\u4f9b \u4e86 \u5f53\u524d \u652f\u6301 \u7684 \u6240\u6709 \u573a\u666f \u7684 \u5217\u8868 \uff0c \u4ee5\u53ca \u6bcf\u4e2a \u573a\u666f \u7684 \u7b80\u77ed \u63cf\u8ff0 \u3002","title":"\u652f\u6301 \u573a\u666f \u5217\u8868"},{"location":"scenario_runner/list_of_scenarios/#followleadingvehicle","text":"\u8be5 \u573a\u666f \u5b9e\u73b0 \u4e86 \u4e00\u79cd \u5e38\u89c1 \u7684 \u9a7e\u9a76 \u884c\u4e3a \uff0c \u5176\u4e2d \u7528\u6237 \u63a7\u5236 \u7684 \u81ea\u6211 \u8f66\u8f86 \u8ddf\u968f \u5728   Town01   \u7684 \u7ed9\u5b9a \u9053\u8def \u4e0a \u884c\u9a76 \u7684 \u9886\u5148 \u8f66\u8f86 \u3002 \u5728 \u67d0\u4e2a \u65f6\u523b \uff0c \u9886\u5148 \u7684 \u6c7d\u8f66 \u51cf\u901f \u5e76 \u6700\u7ec8 \u505c \u4e86 \u4e0b\u6765 \u3002 \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u505a\u51fa \u76f8\u5e94 \u53cd\u5e94 \u4ee5 \u907f\u514d \u78b0\u649e \u3002 \u8be5 \u573a\u666f \u4f1a\u56e0 \u8d85\u65f6 \u800c \u7ed3\u675f \uff0c \u6216\u8005 \u5982\u679c \u81ea\u6211 \u8f66\u8f86 \u505c \u5728 \u8ddd\u79bb \u9886\u5148 \u8f66\u8f86 \u8db3\u591f \u8fd1 \u7684 \u4f4d\u7f6e \u3002","title":"FollowLeadingVehicle"},{"location":"scenario_runner/list_of_scenarios/#followleadingvehiclewithobstacle","text":"\u6b64 \u573a\u666f \u4e0e \u201c FollowLeadingVehicle \u201d \u975e\u5e38 \u76f8\u4f3c \u3002 \u552f\u4e00 \u7684 \u533a\u522b \u662f \uff0c \u9886\u5148 \u8f66\u8f86 \u524d\u9762 \u6709 \u4e00\u4e2a \uff08 \u9690\u85cf \u7684 \uff09 \u969c\u788d \u969c\u788d\u7269 \u6321\u4f4f \u4e86 \u9053\u8def \u3002","title":"FollowLeadingVehicleWithObstacle"},{"location":"scenario_runner/list_of_scenarios/#vehicleturningright","text":"\u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u81ea\u6211 \u8f66\u8f86 \u4ece \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u53f3\u8f6c \uff0c \u5176\u4e2d \u9a91 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4eba \u7a81\u7136 \u9a76\u5165 \u81ea\u6211 \u8f66\u8f86 \u7684 \u9053\u8def \uff0c \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u76f8\u5e94 \u5730 \u505c\u4e0b \u4e0b\u6765 \u505c\u4e0b\u6765 \u3002 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u540e \uff0c \u9a91\u8f66 \u9a91\u8f66\u4eba \u6e05\u7406 \u9053\u8def \uff0c \u4ee5\u4fbf \u672c\u8f66 \u53ef\u4ee5 \u7ee7\u7eed \u884c\u9a76 \u3002","title":"VehicleTurningRight"},{"location":"scenario_runner/list_of_scenarios/#vehicleturningleft","text":"\u6b64 \u573a\u666f \u7c7b\u4f3c \u4e8e \u201c VehicleTurningRight \u201d \u3002 \u4e0d\u540c \u4e4b\u5904 \u4e0d\u540c\u4e4b\u5904 \u5728\u4e8e \uff0c \u81ea\u6211 \u8f66\u8f86 \u4ece \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u5de6\u8f6c \u3002","title":"VehicleTurningLeft"},{"location":"scenario_runner/list_of_scenarios/#oppositevehiclerunningredlight","text":"\u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u6d4b\u8bd5 \u4e86 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u7684 \u975e\u6cd5 \u884c\u4e3a \u975e\u6cd5\u884c\u4e3a \u3002 \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u5728 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u7b49\u5f85 \uff0c \u4f46 \u8fdd\u89c4 \u7ea2\u706f \u95ef\u7ea2\u706f \u3002 \u63a5\u8fd1 \u7684 \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u6b63\u786e \u5904\u7406 \u6b63\u786e\u5904\u7406 \u8fd9\u79cd \u60c5\u51b5 \uff0c \u5373 \u5c3d\u7ba1 \u6709 \u7eff\u8272 \u4ea4\u901a \u4ea4\u901a\u706f \uff0c \u4f46 \u5b83 \u5fc5\u987b \u505c\u4e0b \u4e0b\u6765 \u505c\u4e0b\u6765 \u7b49\u5f85 \uff0c \u76f4\u5230 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u518d\u6b21 \u7545\u901a \u65e0\u963b \u7545\u901a\u65e0\u963b \u3002 \u4e4b\u540e \uff0c \u5b83 \u5e94\u8be5 \u7ee7\u7eed \u884c\u9a76 \u3002","title":"OppositeVehicleRunningRedLight"},{"location":"scenario_runner/list_of_scenarios/#stationaryobjectcrossing","text":"\u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u9a91 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4eba \u9759\u6b62 \u5728 \u8def \u4e2d\u95f4 \u7b49\u5f85 \uff0c \u6321\u4f4f \u4e86 \u672c\u8f66 \u7684 \u9053\u8def \u3002 \u56e0\u6b64 \uff0c \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u505c \u5728 \u9a91\u8f66 \u9a91\u8f66\u4eba \u7684 \u524d\u9762 \u3002","title":"StationaryObjectCrossing"},{"location":"scenario_runner/list_of_scenarios/#dynamicobjectcrossing","text":"\u8fd9 \u4e0e \u201c StationaryObjectCrossing \u201d \u7c7b\u4f3c \uff0c \u4f46 \u4e0d\u540c \u4e4b\u5904 \u4e0d\u540c\u4e4b\u5904 \u5728\u4e8e \u9a91 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4eba \u662f \u52a8\u6001 \u7684 \u3002 \u5b83 \u7a81\u7136 \u649e \u5230 \u4e86 \u81ea\u6211 \u8f66\u8f86 \u7684 \u8def\u7ebf \uff0c \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u76f8\u5e94 \u5730 \u505c\u4e0b \u4e0b\u6765 \u505c\u4e0b\u6765 \u3002 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u540e \uff0c \u9a91\u8f66 \u9a91\u8f66\u4eba \u5c06 \u6e05\u7406 \u9053\u8def \uff0c \u4ee5\u4fbf \u81ea\u6211 \u8f66\u8f86 \u53ef\u4ee5 \u7ee7\u7eed \u884c\u9a76 \u3002","title":"DynamicObjectCrossing"},{"location":"scenario_runner/list_of_scenarios/#nosignaljunctioncrossing","text":"\u6b64 \u573a\u666f \u6d4b\u8bd5 \u4e24\u8f86 \u8f66\u8f86 \u5728 \u6ca1\u6709 \u4fe1\u53f7 \u7684 \u8def\u53e3 \u4ea4\u53c9 \u7684 \u60c5\u51b5 \u4e0b \u8fdb\u884c \u534f\u5546 \u3002 \u81ea\u6211 \u8f66\u8f86 \u6b63\u5728 \u7a7f\u8fc7 \u6ca1\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u8def\u53e3 \u5e76 \u9047\u5230 \u53e6 \u4e00\u8f86 \u7a7f\u8fc7 \u8def\u53e3 \u7684 \u8f66\u8f86 \u3002 \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u907f\u514d \u78b0\u649e \u5e76 \u7a7f\u8fc7 \u8def\u53e3 \u624d\u80fd \u6210\u529f \u3002","title":"NoSignalJunctionCrossing"},{"location":"scenario_runner/list_of_scenarios/#controlloss","text":"\u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u6d4b\u8bd5 \u7531\u4e8e \u8def\u51b5 \u6076\u52a3 \u7b49 \u539f\u56e0 \u5bfc\u81f4 \u8f66\u8f86 \u5931\u63a7 \uff0c \u5e76 \u68c0\u67e5 \u8f66\u8f86 \u662f\u5426 \u91cd\u65b0 \u83b7\u5f97 \u63a7\u5236 \u5e76 \u7ea0\u6b63 \u5176 \u8def\u7ebf \u3002","title":"ControlLoss"},{"location":"scenario_runner/list_of_scenarios/#maneuveroppositedirection","text":"\u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u8f66\u8f86 \u5728 \u767d\u5929 \u3001 \u5929\u6c14 \u6674\u6717 \u5929\u6c14\u6674\u6717 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u5728 \u519c\u6751 \u5730\u533a \u7684 \u975e \u8def\u53e3 \u8d85\u8d8a \u53e6 \u4e00\u8f86 \u8f66\u8f86 \uff0c \u5e76 \u4fb5\u5165 \u53e6 \u4e00\u8f86 \u5411 \u76f8\u53cd \u65b9\u5411 \u884c\u9a76 \u7684 \u8f66\u8f86 \u3002","title":"ManeuverOppositeDirection"},{"location":"scenario_runner/list_of_scenarios/#otherleadingvehicle","text":"\u8be5 \u573a\u666f \u5b9e\u73b0 \u4e86 \u4e00\u79cd \u5e38\u89c1 \u7684 \u9a7e\u9a76 \u884c\u4e3a \uff0c \u5176\u4e2d \u7528\u6237 \u63a7\u5236 \u7684 \u81ea\u6211 \u8f66\u8f86 \u8ddf\u968f \u5728 \u7ed9\u5b9a \u9053\u8def \u4e0a \u884c\u9a76 \u7684 \u9886\u5148 \u8f66\u8f86 \u3002 \u5728 \u67d0\u4e2a \u65f6\u523b \uff0c \u9886\u5148 \u7684 \u6c7d\u8f66 \u5fc5\u987b \u51cf\u901f \u3002 \u672c\u8f66 \u5fc5\u987b \u505a\u51fa \u76f8\u5e94 \u53cd\u5e94 \uff0c \u6539\u53d8 \u8f66\u9053 \u4ee5 \u907f\u514d \u78b0\u649e \uff0c \u5e76 \u8ddf\u968f \u53e6 \u4e00 \u8f66\u9053 \u7684 \u9886\u5148 \u8f66\u8f86 \u3002 \u8be5 \u573a\u666f \u4f1a\u56e0 \u8d85\u65f6 \u6216 \u81ea\u6211 \u8f66\u8f86 \u884c\u9a76 \u4e00\u5b9a \u8ddd\u79bb \u800c \u7ed3\u675f \u3002","title":"OtherLeadingVehicle"},{"location":"scenario_runner/list_of_scenarios/#signalizedjunctionrightturn","text":"\u5728 \u8fd9\u4e2a \u573a\u666f \u4e2d \uff0c \u6d4b\u8bd5 \u4e86 \u82f1\u96c4 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u4fe1\u53f7 \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u6ca1\u6709 \u78b0\u649e \u7684 \u60c5\u51b5 \u4e0b \u7684 \u53f3\u8f6c \u3002 \u82f1\u96c4 \u8f66\u8f86 \u5728 \u5e02\u533a \u7684 \u4fe1\u53f7 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u53f3\u8f6c \uff0c \u5e76 \u4e0e \u53e6 \u4e00\u8f86 \u6700\u521d \u4ece \u6a2a\u5411 \u76f4\u884c \u7684 \u8f66\u8f86 \u540c \u5411 \u8f6c\u5f2f \u3002","title":"SignalizedJunctionRightTurn"},{"location":"scenario_runner/list_of_scenarios/#signalizedjunctionleftturn","text":"\u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u82f1\u96c4 \u8f66\u8f86 \u5728 \u5e02\u533a \u7684 \u4fe1\u53f7 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u5de6\u8f6c \uff0c \u5e76 \u6a2a\u7a7f \u4e86 \u53e6 \u4e00\u8f86 \u4ece \u76f8\u53cd \u65b9\u5411 \u76f4\u9a76 \u800c \u6765 \u7684 \u8f66\u8f86 \u7684 \u8def\u5f84 \u3002","title":"SignalizedJunctionLeftTurn"},{"location":"scenario_runner/metrics_module/","text":"\u6307\u6807 \u6a21\u5757   \u6307\u6807 \u6a21\u5757 \u4f9d\u9760   CARLA   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u6765 \u65b9\u4fbf \u8ba1\u7b97 \u548c \u76d1\u63a7 \u4efb\u4f55 \u7c7b\u578b \u7684 \u53c2\u6570 \u3002 \u573a\u666f \u5b8c\u6210 \u540e \uff0c \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5b58\u50a8 \u4eff\u771f \u4fe1\u606f \u3002 \u7136\u540e \uff0c \u7528\u6237 \u53ef\u4ee5 \u5b9a\u4e49 \u81ea\u5df1 \u7684 \u6307\u6807 \uff0c \u5e76 \u68c0\u67e5 \u76f8\u5e94 \u7684 \u7ed3\u679c \uff0c \u800c \u65e0\u9700 \u4e00\u6b21 \u53c8 \u4e00\u6b21 \u5730 \u8fdb\u884c \u4eff\u771f \u3002   \u672c \u8282 \u4ecb\u7ecd \u4e86 \u6784\u6210 \u8be5 \u6a21\u5757 \u7684 \u4e0d\u540c \u5143\u7d20 \u7684 \u8bf4\u660e \u3001 \u5982\u4f55 \u521b\u5efa \u65b0 \u6307\u6807 \u7684 \u5206\u6b65 \u6559\u7a0b \u4ee5\u53ca \u67e5\u8be2 \u8bb0\u5f55 \u548c \u5b9a\u4e49 \u6307\u6807 \u7684 \u51fd\u6570 \u7684 \u53c2\u8003 \u3002   \u6a21\u5757 \u7ed3\u6784   \u5982\u4f55 \u4f7f\u7528 \u6307\u6807 \u6a21\u5757   1 .   \u8bb0\u5f55 \u4e00\u4e2a \u573a\u666f   2 .   \u5b9a\u4e49 \u6307\u6807   3 .   \u8fd0\u884c \u6307\u6807 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668   \u8bb0\u5f55 \u67e5\u8be2 \u53c2\u8003   \u901a\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6570\u636e   \u901a\u7528 \u4eff\u771f \u6570\u636e   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u901f\u5ea6 \u89d2\u901f\u5ea6   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63a7\u5236   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53d8\u6362   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u901f\u5ea6   \u573a\u666f \u706f   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f   \u8f66\u706f   \u6a21\u5757 \u7ed3\u6784   \u4e0e \u4e3b   ScenarioRunner   \u6a21\u5757 \u7c7b\u4f3c \uff0c Metrics   \u6a21\u5757 \u4f7f\u7528 \u4e3b \u811a\u672c   \u8fd0\u884c \uff0c   metrics _ manager . py   \u5176\u4f59 \u4fe1\u606f \u5305\u542b \u5728 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784 \u5185 \u3002 \u8fd9\u91cc \u7b80\u5355 \u4ecb\u7ecd \u4e00\u4e0b \u4e3b\u8981 \u811a\u672c \u3002   metrics _ manager . py   \u2014   \u6a21\u5757 \u7684 \u4e3b \u811a\u672c \u3002 \u8fd0\u884c \u6b64 \u547d\u4ee4 \u4ee5 \u663e\u793a \u4e00\u7ec4 \u6307\u6807 \u7684 \u7ed3\u679c \u3002 \u8be5 \u811a\u672c \u5177\u6709 \u5e38\u7528 \u7684   host   \u548c   port   \u53c2\u6570 \uff0c \u4ee5\u53ca \u66f4 \u591a \u7528\u4e8e \u8bbe\u7f6e \u8981 \u4f7f\u7528 \u7684 \u6307\u6807 \u548c \u8bb0\u5f55 \u7684 \u5185\u5bb9 \u3002   host   ( string )   \u2013   CARLA   \u4eff\u771f \u8fd0\u884c \u65f6 \u7684   IP   \u5730\u5740 \u3002 \u9ed8\u8ba4 \u4e3a   ( 127.0 . 0.1 )   \u3002   port   ( int )   \u2013   CARLA   \u4eff\u771f \u8fd0\u884c \u7684   TCP   \u7aef\u53e3 \u3002 \u9ed8\u8ba4 \u4e3a   2000   \u548c   2001   \u3002   metrics   \u2014   \u8981 \u4f7f\u7528 \u7684 \u6307\u6807 \u7684 \u8def\u5f84 \u3002   log   \u2014   \u5305\u542b \u8bb0\u5f55 \u7684   . log   \u6587\u4ef6 \u7684 \u8def\u5f84 \uff08 \u76f8\u5bf9 \u4e8e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   SCENARIO _ RUNNER _ ROOT   \uff09 \u3002   criteria   ( \u53ef \u9009 )   \u2014   \u5177\u6709 \u573a\u666f \u6761\u4ef6 \u7684   JSON   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   \u5851\u9020 \u6a21\u5757 \u7684 \u5176\u4f59 \u5143\u7d20 \u53ef\u4ee5 \u5728 \u8be5   srunner / metrics   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u627e\u5230 \u3002 \u8fd9\u4e9b \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5df2 \u5206\u4e3a \u4e09\u4e2a \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   srunner / metrics / data   \u2014   \u5b58\u50a8 \u6709\u5173 \u573a\u666f \u7684 \u4fe1\u606f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u6709 \u516d\u4e2a \u6587\u4ef6 \uff0c \u5b83\u4eec \u662f \u793a\u4f8b \u6307\u6807 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   srunner / metrics / examples   \u2014   \u5305\u542b \u4e00\u4e9b \u793a\u4f8b \u6307\u6807 \uff0c \u4ee5\u53ca \u5305\u542b \u7528\u4e8e \u521b\u5efa \u65b0 \u6307\u6807 \u7684 \u57fa\u7c7b   BaseMetric   \u7684 \u6307\u6807 \u3002   basic _ metric . py   \u2013   \u5305\u542b \u57fa\u7c7b   BaseMetric   \u3002 \u6240\u6709 \u7684 \u6307\u6807 \u90fd \u662f\u4ece \u5b83 \u7ee7\u627f \u7684 \u3002   criteria _ filter . py   \u2013   \u8fd4\u56de \u5305\u542b \u6807\u51c6 \u6700 \u91cd\u8981 \u5c5e\u6027 \u7684   JSON \u3002   distance _ between _ vehicles . py   \u2013   \u8fd4\u56de \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u5c55\u793a \u5982\u4f55 \u67e5\u8be2 \u8bb0\u5f55 \u3002   distance _ to _ lane _ center . py   \u2013   \u8ba1\u7b97 \u8f66\u8f86 \u4f4d\u7f6e \u4e0e \u8f66\u9053 \u4e2d\u5fc3 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u5c55\u793a \u5982\u4f55 \u8bbf\u95ee \u5730\u56fe   API   \u4fe1\u606f \u3002   srunner / metrics / tools   \u2014   \u5305\u542b \u4e24\u4e2a \u5141\u8bb8 \u67e5\u8be2 \u8bb0\u5f55 \u7684 \u5173\u952e \u811a\u672c \u3002   metrics _ parser . py   \u2013   \u5c06 \u8bb0\u5f55 \u63d0\u4f9b \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u8f6c\u6362 \u4e3a \u5b57\u5178 \u3002   metrics _ log . py   \u2013   \u63d0\u4f9b \u591a\u79cd \u529f\u80fd \u6765 \u67e5\u8be2 \u4f7f\u7528   metrics _ parser . py   \u521b\u5efa \u7684 \u5b57\u5178 \u3002 \u8fd9\u4e9b \u51fd\u6570 \u662f \u8bbf\u95ee \u573a\u666f \u4fe1\u606f \u7684 \u6700 \u7b80\u5355 \u65b9\u6cd5 \u3002 \u5b83\u4eec \u5217\u5728 \u672c\u9875 \u6700\u540e \u4e00\u6bb5 \u7684   \u53c2\u8003 \u6587\u732e \u53c2\u8003\u6587\u732e   \u4e2d \u3002   \u5982\u4f55 \u4f7f\u7528 \u6307\u6807 \u6a21\u5757   1 .   \u8bb0\u5f55 \u4e00\u4e2a \u573a\u666f   \u6307\u6807 \u6a21\u5757 \u9700\u8981 \u8bb0\u5f55 \u4eff\u771f \u624d\u80fd \u5de5\u4f5c \u3002 \u5426\u5219 \uff0c \u5b83 \u6ca1\u6709 \u6570\u636e \u6765 \u8fdb\u884c \u6307\u6807 \u8ba1\u7b97 \u3002   \u4f7f\u7528   record   \u53c2\u6570 \u3002 \u6dfb\u52a0 \u5e94\u8be5 \u4fdd\u5b58 \u4fe1\u606f \u4fdd\u5b58\u4fe1\u606f \u7684 \u8def\u5f84 \u3002 \u8be5 \u8def\u5f84 \u5fc5\u987b \u76f8\u5bf9 \u4e8e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   SCENARIO _ RUNNER _ ROOT   \u3002   python   scenario _ runner . py   -- scenario   < scenario _ name >   -- record   < path / to / save / the / recorder / file >   \u901a\u8fc7 \u8bb0\u5f55 \u573a\u666f \uff0c \u5c06 \u5728 \u6240 \u9700 \u8def\u5f84 \u4e2d \u521b\u5efa \u4e24\u4e2a \u6587\u4ef6 \u3002 \u8fd9\u4e9b   log   \u6587\u4ef6   criteria   \u7a0d\u540e \u5c06 \u7528\u4f5c   metrics _ manager . py   \u7684 \u53c2\u6570 \u3002   1 .   CARLA   \u8bb0\u5f55   (   . log   )   \u2014   \u5305\u542b \u6bcf\u5e27 \u7684 \u4eff\u771f \u6570\u636e \u3002 \u8981 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \uff0c \u8bf7 \u9605\u8bfb   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u6863   \u3002   2 .   \u6307\u6807 \u6587\u4ef6   ( . json )   \u2014   \u573a\u666f \u6807\u51c6 \u89e3\u6790 \u4e3a \u5b57\u5178 \uff0c \u5e76 \u5b58\u50a8 \u5728   JSON   \u6587\u4ef6 \u4e2d \u3002 \u5b57\u5178 \u7684 \u952e \u662f \u6761\u4ef6 \u7684 \u540d\u79f0 \u3002 \u8fd9\u4e9b \u503c \u662f \u6bcf\u4e2a \u6761\u4ef6 \u7684 \u5c5e\u6027 \u3002   \u6ce8\u610f   \u4ec5 \u89e3\u6790   JSON   \u53ef \u5e8f\u5217 \u5e8f\u5217\u5316 \u5c5e\u6027 \uff0c \u5176\u4f59 \u5c5e\u6027 \u5c06 \u88ab \u5ffd\u7565 \u3002   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8fd9 \u4e24\u4e2a \u6587\u4ef6 \u5747 \u4ee5 \u8fd0\u884c \u7684 \u573a\u666f \u547d\u540d \u3002 \u5982\u679c \u573a\u666f \u88ab \u547d\u540d \u4e3a   example . py   \uff0c \u6587\u4ef6 \u5c06 \u4e3a   example . log   \u548c   example . json   \u3002   2 .   \u5b9a\u4e49 \u6307\u6807   \u73b0\u5728 \u662f \u521b\u5efa \u5c06 \u7528\u4e8e \u573a\u666f \u7684 \u6240 \u9700 \u6307\u6807 \u7684 \u65f6\u5019 \u4e86 \u3002 \u53ef\u80fd \u53ef\u80fd\u6027 \u662f \u65e0\u9650 \u7684 \uff0c \u4f46 \u4e3a\u4e86 \u672c \u6559\u7a0b \u7684 \u76ee\u7684 \uff0c \u5c06 \u4f7f\u7528   srunner / metrics / examples / distance _ between _ vehicles . py   \u4e2d \u63cf\u8ff0 \u7684 \u6307\u6807 \u4f5c\u4e3a \u793a\u4f8b \u3002 \u8ba9 \u6211\u4eec \u6df1\u5165 \u7814\u7a76 \u6df1\u5165\u7814\u7a76 \u4e00\u4e0b \u4ee3\u7801 \u672c\u8eab \u3002   class   DistanceBetweenVehicles ( BasicMetric ) :   \" \" \"   \u6307\u6807 \u7c7b   DistanceBetweenVehicles   \" \" \"   def   _ create _ metric ( self ,   town _ map ,   log ,   criteria ) :   \" \" \"   \u5ea6\u91cf \u7684 \u5b9e\u73b0 \u3002 \u8fd9\u662f \u4e00\u4e2a \u793a\u4f8b \uff0c \u5c55\u793a \u4e86 \u5982\u4f55 \u4f7f\u7528 \u901a\u8fc7 \u65e5\u5fd7 \u8bbf\u95ee \u7684 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002   \" \" \"   #   \u83b7\u53d6 \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \u7684 ID   ego _ id   =   log . get _ ego _ vehicle _ id ( )   adv _ id   =   log . get _ actor _ ids _ with _ role _ name ( \" scenario \" ) [ 0 ]   #   Could   have   also   used   its   type _ id   dist _ list   =   [ ]   frames _ list   =   [ ]   #   \u83b7\u5f97 \u5e27 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u6d3b\u7740   start _ ego ,   end _ ego   =   log . get _ actor _ alive _ frames ( ego _ id )   start _ adv ,   end _ adv   =   log . get _ actor _ alive _ frames ( adv _ id )   start   =   max ( start _ ego ,   start _ adv )   end   =   min ( end _ ego ,   end _ adv )   #   \u83b7\u5f97 \u4e24\u8005 \u4e4b\u95f4 \u4e24\u8005\u4e4b\u95f4 \u7684 \u8ddd\u79bb   for   i   in   range ( start ,   end ) :   #   \u83b7\u5f97 \u53d8\u6362   ego _ location   =   log . get _ actor _ transform ( ego _ id ,   i ) . location   adv _ location   =   log . get _ actor _ transform ( adv _ id ,   i ) . location   #   \u8fc7\u6ee4 \u4e00\u4e9b \u70b9\u4ee5 \u83b7\u5f97 \u66f4\u597d \u7684 \u56fe\u5f62   if   adv _ location . z   <   - 10 :   continue   dist _ v   =   ego _ location   -   adv _ location   dist   =   math . sqrt ( dist _ v . x   *   dist _ v . x   +   dist _ v . y   *   dist _ v . y   +   dist _ v . z   *   dist _ v . z )   dist _ list . append ( dist )   frames _ list . append ( i )   #   \u4f7f\u7528   matplotlib   \u5c55\u793a \u7ed3\u679c   plt . plot ( frames _ list ,   dist _ list )   plt . ylabel ( ' Distance   [ m ] ' )   plt . xlabel ( ' Frame   number ' )   plt . title ( ' Distance   between   the   ego   vehicle   and   the   adversary   over   time ' )   plt . show ( )   2.1 .   \u5ea6\u91cf \u7684 \u540d\u79f0   .   \u9996\u5148 \uff0c \u6b63\u5982 \u524d\u9762 \u63d0\u5230 \u7684 \uff0c \u6240\u6709 \u6307\u6807 \u90fd \u662f \u8be5   BasicMetric   \u7c7b \u7684 \u5b50\u7ea7 \u3002   class   DistanceBetweenVehicles ( BasicMetric ) :   2.2 .   \u4e3b \u65b9\u6cd5 \u7684 \u540d\u79f0   .   \u6307\u6807 \u53ea \u9700\u8981 \u4e00\u79cd \u65b9\u6cd5 \u5373\u53ef \u8fd0\u884c \uff0c   _ create _ metric ( )   \u65b9\u6cd5 \u5177\u6709 \u4e09\u4e2a \u53c2\u6570 \u3002   town _ map   \u2014   \u573a\u666f \u53d1\u751f \u7684   carla . Map ( )   \u5b9e\u4f8b \u3002   log   \u2014   MetricsLog   \u7c7b \u7684 \u5b9e\u4f8b \uff0c \u5177\u6709 \u8bbf\u95ee \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5b57\u5178 \u6240 \u9700 \u7684 \u6240\u6709 \u51fd\u6570 \u3002   criteria   \u2014   \u5e26\u6709 \u6807\u51c6 \u5b57\u5178 \u7684   JSOn \u3002 \u8bb0\u5f55 \u573a\u666f \u65f6 \u63d0\u4f9b \u7684 \u6587\u4ef6 \uff0c \u7a0d\u540e \u63d0\u4f9b \u7ed9   metrics _ manager . py   \u3002   def   _ create _ metric ( self ,   town _ map ,   log ,   criteria ) :   2.3 .   \u5b9e\u73b0 \u6307\u6807   \u3002   \u4ee3\u7801 \u5c06 \u6839\u636e \u6307\u6807 \u672c\u8eab \u800c \u6709\u6240 \u4e0d\u540c \u6709\u6240\u4e0d\u540c \u3002   \u793a\u4f8b \u6307\u6807   DistanceBetweenVehicles   \u8ba1\u7b97 \u672c\u8f66 \u4e0e\u5176 \u8ddf\u968f \u7684 \u6c7d\u8f66 \uff08 \u5bf9\u624b \uff09 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002 \u4e3a\u6b64 \uff0c \u9700\u8981   id   \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \u7684 \u914d\u5408 \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u4f7f\u7528   get _ ego _ vehicle _ id ( )   \u548c   get _ actor _ ids _ with _ role _ name ( \" scenario \" ) [ 0 ]   \u51fd\u6570 \u4ece \u65e5\u5fd7 \u4e2d \u68c0\u7d22 \u3002   #   \u83b7\u53d6 \u4e24\u4e2a \u8f66\u8f86 \u7684   ID   ego _ id   =   log . get _ ego _ vehicle _ id ( )   adv _ id   =   log . get _ actor _ ids _ with _ role _ name ( \" scenario \" ) [ 0 ]   #   Could   have   also   used   its   type _ id   \u5b83\u4eec   id   \u7528   get _ actor _ alive _ frames ( actor _ id )   \u68c0\u7d22 \u8f66\u8f86 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u7684 \u5e27 \u3002   #   \u83b7\u53d6 \u6d3b\u8dc3 \u7684 \u4e24\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5e27   start _ ego ,   end _ ego   =   log . get _ actor _ alive _ frames ( ego _ id )   start _ adv ,   end _ adv   =   log . get _ actor _ alive _ frames ( adv _ id )   start   =   max ( start _ ego ,   start _ adv )   end   =   min ( end _ ego ,   end _ adv )   \u73b0\u5728 \u4e00\u5207 \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \uff0c \u53ef\u4ee5 \u5faa\u73af \u8fd9\u4e9b \u5e27 \uff0c \u83b7\u53d6 \u5b83\u4eec \u7684 \u53d8\u6362 \u5e76 \u8ba1\u7b97 \u8ddd\u79bb \u3002 \u4f7f\u7528   get _ actor _ transform ( actor _ id ,   frame )   \u83b7\u5f97 \u53d8\u6362 \uff0c   dist _ list   =   [ ]   frames _ list   =   [ ]   ...   #   \u83b7\u5f97 \u4e24\u8005 \u4e4b\u95f4 \u4e24\u8005\u4e4b\u95f4 \u7684 \u8ddd\u79bb   for   i   in   range ( start ,   end ) :   #   \u83b7\u53d6 \u53d8\u6362   ego _ location   =   log . get _ actor _ transform ( ego _ id ,   i ) . location   adv _ location   =   log . get _ actor _ transform ( adv _ id ,   i ) . location   #   \u4e3a\u4e86 \u83b7\u5f97 \u66f4\u597d \u7684 \u56fe\u7247 \u8fc7\u6ee4 \u4e00\u4e9b \u70b9   if   adv _ location . z   <   - 10 :   continue   dist _ v   =   ego _ location   -   adv _ location   dist   =   math . sqrt ( dist _ v . x   *   dist _ v . x   +   dist _ v . y   *   dist _ v . y   +   dist _ v . z   *   dist _ v . z )   dist _ list . append ( dist )   \u6ce8\u610f   \u5bf9\u624b \u7684 \u5782\u76f4 \u60c5\u51b5 \u4ec5 \u8003\u8651 \u5bf9\u624b \u6b63\u5e38 \u884c\u9a76 \u65f6 \u7684 \u60c5\u51b5 \u3002   \u6700\u540e \uff0c \u4f7f\u7528   matplotlib   \u5b9a\u4e49 \u8fd0\u884c   metrics _ manager . py   \u65f6 \u6307\u6807 \u7684 \u8f93\u51fa \u3002   #   \u4f7f\u7528   matplotlib   \u5c55\u793a \u7ed3\u679c   plt . plot ( frames _ list ,   dist _ list )   plt . ylabel ( ' Distance   [ m ] ' )   plt . xlabel ( ' Frame   number ' )   plt . title ( ' Distance   between   the   ego   vehicle   and   the   adversary   over   time ' )   plt . show ( )   3 .   \u8fd0\u884c \u6307\u6807 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668   \u6700\u540e \uff0c \u662f \u65f6\u5019 \u4f7f\u7528 \u4ece \u573a\u666f \u4e2d \u68c0\u7d22 \u7684 \u4fe1\u606f \u4ee5\u53ca \u5df2 \u5b9a\u4e49 \u7684 \u6307\u6807 \u6765 \u8fd4\u56de \u4e00\u4e9b \u6307\u6807 \u4fe1\u606f \u3002 \u8ba9 \u6211\u4eec \u4f7f\u7528 \u8fc4\u4eca \u4e3a\u6b62 \u8fc4\u4eca\u4e3a\u6b62 \u4f7f\u7528 \u7684 \u793a\u4f8b \u6307\u6807 \u4ee5\u53ca \u4ee5 \u5176 \u547d\u540d \u7684 \u793a\u4f8b \u65e5\u5fd7 \u6765 \u8fd0\u884c \u8be5 \u6a21\u5757 \u3002   python   metrics _ manager . py   -- metric   srunner / metrics / examples / distance _ between _ vehicles . py   -- log   srunner / metrics / data / DistanceBetweenVehicles . log   \u8b66\u544a   \u4eff\u771f \u5fc5\u987b \u6b63\u5728 \u8fd0\u884c \u3002 \u5426\u5219 \uff0c \u6a21\u5757 \u5c06 \u65e0\u6cd5 \u8bbf\u95ee \u65e0\u6cd5\u8bbf\u95ee \u5730\u56fe API \u3002   \u8fd9 \u5c06 \u521b\u5efa \u4e00\u4e2a \u7a97\u53e3 \u65b0\u7a97\u53e3 \uff0c \u5176\u4e2d \u7ed8\u5236 \u4e86 \u7ed3\u679c \u3002 \u5728 \u8f93\u51fa \u7a97\u53e3 \u5173\u95ed \u4e4b\u524d \uff0c \u811a\u672c \u4e0d\u4f1a \u5b8c\u6210 \u3002   \u8bb0\u5f55 \u67e5\u8be2 \u53c2\u8003   \u5b9a\u4e49 \u6307\u6807 \u65f6 \uff0c \u6709\u5173 \u573a\u666f \u7684 \u6240\u6709 \u4fe1\u606f \u90fd \u901a\u8fc7 \u7c7b   MetricsLog   \uff08   _ create _ metric ( )   \u51fd\u6570 \u4e2d \u7684   log   \u53c2\u6570 \uff09 \u8bbf\u95ee \u3002 \u8be5\u7c7b \u4f4d\u4e8e   srunner / metrics / tools / metrics _ log . py   \uff0c \u8be5 \u5f15\u7528 \u662f \u5176\u4e2d \u5305\u542b \u7684 \u51fd\u6570 \u7684 \u540e\u7eed \u90e8\u5206 \u3002   \u901a\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6570\u636e   get _ ego _ vehicle _ id   (   self   )   \u8fd4\u56de \u81ea\u6211 \u8f66\u8f86 \u7684   id   \u3002   Return   \u2014   int   get _ actor _ ids _ with _ role _ name   (   self   ,   role _ name   )   \u8fd4\u56de \u4e0e \u7ed9\u5b9a   role _ name   \u5339\u914d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u5217\u8868 \u3002   Return   \u2014   list   Parameters   role _ name   (   str   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   role _ name   \u3002   get _ actor _ ids _ with _ type _ id   (   self   ,   type _ id   )   \u6839\u636e   fnmatch   \u6807\u51c6 \uff0c \u8fd4\u56de \u4e0e \u7ed9\u5b9a \u5339\u914d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u5217\u8868 \u3002   Return   \u2014   list   Parameters   type _ id   (   str   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005   type _ id   \u3002   get _ actor _ attributes   (   self   ,   actor _ id   )   \u8fd4\u56de \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240\u6709 \u5c5e\u6027 \u7684 \u5b57\u5178 \u3002   Return   \u2014   dict   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   get _ actor _ bounding _ box   (   self   ,   actor _ id   )   \u8fd4\u56de \u6307\u5b9a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8fb9\u754c \u6846 \u3002   Return   \u2014   carla . BoundingBox   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   get _ traffic _ light _ trigger _ volume   (   self   ,   traffic _ light _ id   )   \u8fd4\u56de \u6307\u5b9a \u4ea4\u901a \u4ea4\u901a\u706f \u7684   trigger   volume \u3002   Return   \u2014   carla . BoundingBox   Parameters   traffic _ light _ id   (   int   )   \u2014   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684   id   \u3002   get _ actor _ alive _ frames   (   self   ,   actor _ id   )   \u8fd4\u56de \u4e00\u4e2a \u5143\u7ec4 \uff0c \u5176\u4e2d \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u8dc3 \u7684 \u7b2c\u4e00 \u5e27 \u548c \u6700\u540e \u4e00\u5e27 \u3002 \u8bf7 \u6ce8\u610f \uff0c \u5e27 \u4ece   1   \u5f00\u59cb \uff0c \u800c \u4e0d\u662f \u4ece   0   \u5f00\u59cb \u3002   Return   \u2014   tuple   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   \u901a\u7528 \u4eff\u771f \u6570\u636e   get _ collisions   (   self   ,   actor _ id   )   \u8fd4\u56de \u5177\u6709 \u4e24\u4e2a \u952e \u7684 \u5b57\u5178 \u5217\u8868 \u3002   frame   \u662f \u78b0\u649e \u7684 \u5e27 \u7f16\u53f7 \uff0c   \u662f   other _ id   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u8be5 \u5e27 \u53d1\u751f \u78b0\u649e \u7684   id   \u5217\u8868 \u3002   Return   \u2014   list   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   get _ total _ frame _ count   (   self   )   \u8fd4\u56de \u4e00\u4e2a   int   \u503c \uff0c \u5176\u4e2d \u5305\u542b \u4eff\u771f \u6301\u7eed \u7684 \u5e27 \u603b\u6570 \u3002   Return   \u2014   int   get _ elapsed _ time   (   self   ,   frame   )   \u8fd4\u56de \u4e00\u4e2a \u5305\u542b \u7279\u5b9a \u5e27 \u7684 \u5df2\u7528 \u65f6\u95f4 \u7684 \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \u3002   Return   \u2014   float   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ delta _ time   (   self   ,   frame   )   \u8fd4\u56de \u5177\u6709 \u7279\u5b9a \u5e27 \u7684 \u589e\u91cf \u65f6\u95f4 \u7684 \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \u3002 R   Return   \u2014   float   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ platform _ time   (   self   ,   frame   )   \u8fd4\u56de \u5177\u6709 \u7279\u5b9a \u5e27 \u7684 \u5e73\u53f0 \u65f6\u95f4 \u7684 \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \u3002   Return   \u2014   float   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   get _ actor _ acceleration   (   self   ,   actor _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u4e0d \u5b58\u5728 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ca1\u6709 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u6216\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u8be5 \u5e27 \u4e2d \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   Return   \u2014   carla . Vector3D   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ all _ actor _ accelerations   (   self   ,   actor _ id   ,   first _ frame   = None   ,   last _ frame   = None   )   \u8fd4\u56de \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5e27 \u95f4\u9694 \u5185 \u7684 \u6240\u6709 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u7684 \u5217\u8868 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5e27 \u95f4\u9694 \u5305\u542b \u6240\u6709 \u8bb0\u5f55 \u3002   Return   \u2014   list ( carla . Vector3D )   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   first _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u521d\u59cb \u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u5f00\u59cb \u3002   last _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u6700\u540e \u4e00\u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u7ed3\u675f \u3002   get _ actor _ accelerations _ at _ frame   (   self   ,   frame   ,   actor _ list   = None   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u952e \u662f \u5e27 \u7f16\u53f7 \uff0c \u503c \u662f \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   carla . Vector3D \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4f1a \u8003\u8651 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f46 \u5982\u679c \u4f20\u9012 \u4e86   actor _ list   \uff0c \u5219 \u4ec5 \u68c0\u67e5 \u5217\u8868 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Return   \u2014   list ( carla . Vector3D )   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   actor _ list   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u7684 \u5217\u8868 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u901f\u5ea6 \u89d2\u901f\u5ea6   get _ actor _ angular _ velocity   (   self   ,   actor _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u4e0d \u5b58\u5728 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ca1\u6709 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u6216\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u8be5 \u5e27 \u4e2d \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   Return   \u2014   carla . Vector3D   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u7684 \u6570\u76ee \u3002   get _ all _ actor _ angular _ velocities   (   self   ,   actor _ id   ,   first _ frame   = None   ,   last _ frame   = None   )   \u8fd4\u56de \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5e27 \u95f4\u9694 \u5185 \u7684 \u6240\u6709 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u7684 \u5217\u8868 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5e27 \u95f4\u9694 \u5305\u542b \u6240\u6709 \u8bb0\u5f55 \u3002   Return   \u2014   list ( carla . Vector3D )   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   first _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u521d\u59cb \u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u5f00\u59cb \u3002   last _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u6700\u540e \u4e00\u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u7ed3\u675f \u3002   get _ actor _ angular _ velocities _ at _ frame   (   self   ,   frame   ,   actor _ list   = None   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u952e \u662f \u5e27 \u7f16\u53f7 \uff0c \u503c \u662f \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   carla . Vector3D   \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4f1a \u8003\u8651 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f46 \u5982\u679c \u4f20\u9012   actor _ list   \uff0c \u5219 \u4ec5 \u68c0\u67e5 \u5217\u8868 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Return   \u2014   list (   carla . Vector3D   )   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   actor _ list   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ids   \u5217\u8868 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63a7\u5236   get _ vehicle _ control   (   self   ,   vehicle _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u8f66\u8f86 \u7684 \u63a7\u5236 \u3002 \u8be5   manual _ gear _ shift   \u5c5e\u6027 \u5c06 \u59cb\u7ec8 \u4e3a   False \u3002   Return   \u2014   carla . VehicleControl   Parameters   vehicle _ id   (   int   )   \u2014   \u8f66\u8f86 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ vehicle _ physics _ control   (   self   ,   vehicle _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u8f66\u8f86 \u7684 \u7269\u7406 \u63a7\u5236 \u3002   Return   \u2014   carla . VehiclePhysicsControl   Parameters   vehicle _ id   (   int   )   \u2014   \u8f66\u8f86 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ walker _ speed   (   self   ,   walker _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u884c\u4eba \u7684 \u901f\u5ea6 \u3002   Return   \u2014   carla . Vector3D   Parameters   walker _ id   (   int   )   \u2014   \u884c\u4eba \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53d8\u6362   get _ actor _ transform   (   self   ,   actor _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u53d8\u6362 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u4e0d \u5b58\u5728 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ca1\u6709 \u53d8\u6362 \u6216\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u8be5 \u5e27 \u4e2d \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   Return   \u2014   carla . Transform   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ all _ actor _ transforms   (   self   ,   actor _ id   ,   first _ frame   = None   ,   last _ frame   = None   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5e27 \u95f4\u9694 \u5185 \u7684 \u6240\u6709 \u53d8\u6362 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5e27 \u95f4\u9694 \u5305\u542b \u6240\u6709 \u8bb0\u5f55 \u3002   Return   \u2014   list (   carla . Transform   )   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   first _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u521d\u59cb \u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u5f00\u59cb \u3002   last _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u6700\u540e \u4e00\u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u7ed3\u675f \u3002   get _ actor _ transforms _ at _ frame   (   self   ,   frame   ,   actor _ list   = None   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u952e \u662f \u5e27 \u7f16\u53f7 \uff0c \u503c \u662f \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   carla . Transform   \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4f1a \u8003\u8651 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f46 \u5982\u679c   actor _ list   \u901a\u8fc7 \uff0c \u5219 \u4ec5 \u68c0\u67e5 \u5217\u8868 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Return   \u2014   list (   carla . Transform   )   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   actor _ list   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u5217\u8868 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u901f\u5ea6   get _ actor _ velocity   (   self   ,   actor _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u4e0d \u5b58\u5728 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ca1\u6709 \u901f\u5ea6 \u6216\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u8be5 \u5e27 \u4e2d \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   Return   \u2014   carla . Vector3D   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ all _ actor _ velocities   (   self   ,   actor _ id   ,   first _ frame   = None   ,   last _ frame   = None   )   \u8fd4\u56de \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5e27 \u95f4\u9694 \u5185 \u7684 \u6240\u6709 \u901f\u5ea6 \u7684 \u5217\u8868 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5e27 \u95f4\u9694 \u5305\u542b \u6240\u6709 \u8bb0\u5f55 \u3002   Return   \u2014   list (   carla . Vector3D   )   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   first _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u521d\u59cb \u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u5f00\u59cb \u3002   last _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u6700\u540e \u4e00\u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u7ed3\u675f \u3002   get _ actor _ velocities _ at _ frame   (   self   ,   frame   ,   actor _ list   = None   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u952e \u662f \u5e27 \u7f16\u53f7 \uff0c \u503c \u662f \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   carla . Vector3D \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4f1a \u8003\u8651 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f46 \u5982\u679c \u4f20\u9012 \u4e86   actor _ list   \uff0c \u5219 \u4ec5 \u68c0\u67e5 \u5217\u8868 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Return   \u2014   list (   carla . Vector3D   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   actor _ list   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u5217\u8868 \u3002   \u573a\u666f \u706f   get _ scene _ light _ state   (   self   ,   light   ,   vehicle _ id   ,   frame   )   Returns   the   state   of   a   scene   light   for   a   given   frame .   The   light   state   group   will   always   be   carla . LightGroup . None   .   Return   \u2014   carla . LightState   Parameters   light _ id   (   int   )   \u2014   \u573a\u666f \u706f \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f   get _ traffic _ light _ state   (   self   ,   traffic _ light _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u72b6\u6001 \u3002   Return   \u2014   carla . TrafficLightState   .   Parameters   traffic _ light _ id   (   int   )   \u2014   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   is _ traffic _ light _ frozen   (   self   ,   traffic _ light _ id   ,   frame   )   \u8fd4\u56de \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u662f\u5426 \u51bb\u7ed3 \u5728 \u7ed9\u5b9a \u5e27 \u3002   Return   \u2014   bool   Parameters   traffic _ light _ id   (   int   )   \u2014   \u4ea4\u901a \u4ea4\u901a\u706f \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ traffic _ light _ elapsed _ time   (   self   ,   traffic _ light _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u7ecf\u8fc7 \u65f6\u95f4 \u3002   Return   \u2014   float   Parameters   traffic _ light _ id   (   int   )   \u2014   \u4ea4\u901a \u4ea4\u901a\u706f \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ traffic _ light _ state _ time   (   self   ,   traffic _ light _ id   ,   state   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u4ea4\u901a \u4ea4\u901a\u706f \u7279\u5b9a \u72b6\u6001 \u7684 \u6700\u957f \u65f6\u95f4 \u3002   Return   \u2014   float   Parameters   traffic _ light _ id   (   int   )   \u2014   id   of   the   traffic   light .   state   (   carla . TrafficLightState   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   \u8f66\u706f   get _ vehicle _ lights   (   self   ,   vehicle _ id   ,   frame   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u7ed9\u5b9a \u5e27 \u5904 \u7279\u5b9a \u8f66\u8f86 \u7684 \u6d3b\u52a8 \u706f \u3002   Return   \u2014   list (   carla . VehicleLightState   )   Parameters   vehicle _ id   (   int   )   \u2014   \u8f66\u8f86 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   is _ vehicle _ light _ active   (   self   ,   light   ,   vehicle _ id   ,   frame   )   \u68c0\u67e5 \u7ed9\u5b9a \u8f66\u8f86 \u706f \u5728 \u7279\u5b9a \u5e27 \u662f\u5426 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u3002   Return   \u2014   bool   Parameters   light   (   carla . VehicleLightState   )   \u2014   \u4e0e \u8f66\u8f86 \u8fdb\u884c \u6bd4\u8f83 \u7684 \u706f\u5149 \u72b6\u6001 \u3002   vehicle _ id   (   int   )   \u2014   \u8f66\u8f86 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002","title":"\u6307\u6807 \u6a21\u5757"},{"location":"scenario_runner/metrics_module/#_1","text":"\u6307\u6807 \u6a21\u5757 \u4f9d\u9760   CARLA   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u6765 \u65b9\u4fbf \u8ba1\u7b97 \u548c \u76d1\u63a7 \u4efb\u4f55 \u7c7b\u578b \u7684 \u53c2\u6570 \u3002 \u573a\u666f \u5b8c\u6210 \u540e \uff0c \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5b58\u50a8 \u4eff\u771f \u4fe1\u606f \u3002 \u7136\u540e \uff0c \u7528\u6237 \u53ef\u4ee5 \u5b9a\u4e49 \u81ea\u5df1 \u7684 \u6307\u6807 \uff0c \u5e76 \u68c0\u67e5 \u76f8\u5e94 \u7684 \u7ed3\u679c \uff0c \u800c \u65e0\u9700 \u4e00\u6b21 \u53c8 \u4e00\u6b21 \u5730 \u8fdb\u884c \u4eff\u771f \u3002   \u672c \u8282 \u4ecb\u7ecd \u4e86 \u6784\u6210 \u8be5 \u6a21\u5757 \u7684 \u4e0d\u540c \u5143\u7d20 \u7684 \u8bf4\u660e \u3001 \u5982\u4f55 \u521b\u5efa \u65b0 \u6307\u6807 \u7684 \u5206\u6b65 \u6559\u7a0b \u4ee5\u53ca \u67e5\u8be2 \u8bb0\u5f55 \u548c \u5b9a\u4e49 \u6307\u6807 \u7684 \u51fd\u6570 \u7684 \u53c2\u8003 \u3002   \u6a21\u5757 \u7ed3\u6784   \u5982\u4f55 \u4f7f\u7528 \u6307\u6807 \u6a21\u5757   1 .   \u8bb0\u5f55 \u4e00\u4e2a \u573a\u666f   2 .   \u5b9a\u4e49 \u6307\u6807   3 .   \u8fd0\u884c \u6307\u6807 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668   \u8bb0\u5f55 \u67e5\u8be2 \u53c2\u8003   \u901a\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6570\u636e   \u901a\u7528 \u4eff\u771f \u6570\u636e   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u901f\u5ea6 \u89d2\u901f\u5ea6   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63a7\u5236   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53d8\u6362   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u901f\u5ea6   \u573a\u666f \u706f   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f   \u8f66\u706f","title":"\u6307\u6807 \u6a21\u5757"},{"location":"scenario_runner/metrics_module/#_2","text":"\u4e0e \u4e3b   ScenarioRunner   \u6a21\u5757 \u7c7b\u4f3c \uff0c Metrics   \u6a21\u5757 \u4f7f\u7528 \u4e3b \u811a\u672c   \u8fd0\u884c \uff0c   metrics _ manager . py   \u5176\u4f59 \u4fe1\u606f \u5305\u542b \u5728 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784 \u5185 \u3002 \u8fd9\u91cc \u7b80\u5355 \u4ecb\u7ecd \u4e00\u4e0b \u4e3b\u8981 \u811a\u672c \u3002   metrics _ manager . py   \u2014   \u6a21\u5757 \u7684 \u4e3b \u811a\u672c \u3002 \u8fd0\u884c \u6b64 \u547d\u4ee4 \u4ee5 \u663e\u793a \u4e00\u7ec4 \u6307\u6807 \u7684 \u7ed3\u679c \u3002 \u8be5 \u811a\u672c \u5177\u6709 \u5e38\u7528 \u7684   host   \u548c   port   \u53c2\u6570 \uff0c \u4ee5\u53ca \u66f4 \u591a \u7528\u4e8e \u8bbe\u7f6e \u8981 \u4f7f\u7528 \u7684 \u6307\u6807 \u548c \u8bb0\u5f55 \u7684 \u5185\u5bb9 \u3002   host   ( string )   \u2013   CARLA   \u4eff\u771f \u8fd0\u884c \u65f6 \u7684   IP   \u5730\u5740 \u3002 \u9ed8\u8ba4 \u4e3a   ( 127.0 . 0.1 )   \u3002   port   ( int )   \u2013   CARLA   \u4eff\u771f \u8fd0\u884c \u7684   TCP   \u7aef\u53e3 \u3002 \u9ed8\u8ba4 \u4e3a   2000   \u548c   2001   \u3002   metrics   \u2014   \u8981 \u4f7f\u7528 \u7684 \u6307\u6807 \u7684 \u8def\u5f84 \u3002   log   \u2014   \u5305\u542b \u8bb0\u5f55 \u7684   . log   \u6587\u4ef6 \u7684 \u8def\u5f84 \uff08 \u76f8\u5bf9 \u4e8e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   SCENARIO _ RUNNER _ ROOT   \uff09 \u3002   criteria   ( \u53ef \u9009 )   \u2014   \u5177\u6709 \u573a\u666f \u6761\u4ef6 \u7684   JSON   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   \u5851\u9020 \u6a21\u5757 \u7684 \u5176\u4f59 \u5143\u7d20 \u53ef\u4ee5 \u5728 \u8be5   srunner / metrics   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u627e\u5230 \u3002 \u8fd9\u4e9b \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5df2 \u5206\u4e3a \u4e09\u4e2a \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   srunner / metrics / data   \u2014   \u5b58\u50a8 \u6709\u5173 \u573a\u666f \u7684 \u4fe1\u606f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u6709 \u516d\u4e2a \u6587\u4ef6 \uff0c \u5b83\u4eec \u662f \u793a\u4f8b \u6307\u6807 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   srunner / metrics / examples   \u2014   \u5305\u542b \u4e00\u4e9b \u793a\u4f8b \u6307\u6807 \uff0c \u4ee5\u53ca \u5305\u542b \u7528\u4e8e \u521b\u5efa \u65b0 \u6307\u6807 \u7684 \u57fa\u7c7b   BaseMetric   \u7684 \u6307\u6807 \u3002   basic _ metric . py   \u2013   \u5305\u542b \u57fa\u7c7b   BaseMetric   \u3002 \u6240\u6709 \u7684 \u6307\u6807 \u90fd \u662f\u4ece \u5b83 \u7ee7\u627f \u7684 \u3002   criteria _ filter . py   \u2013   \u8fd4\u56de \u5305\u542b \u6807\u51c6 \u6700 \u91cd\u8981 \u5c5e\u6027 \u7684   JSON \u3002   distance _ between _ vehicles . py   \u2013   \u8fd4\u56de \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u5c55\u793a \u5982\u4f55 \u67e5\u8be2 \u8bb0\u5f55 \u3002   distance _ to _ lane _ center . py   \u2013   \u8ba1\u7b97 \u8f66\u8f86 \u4f4d\u7f6e \u4e0e \u8f66\u9053 \u4e2d\u5fc3 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u5c55\u793a \u5982\u4f55 \u8bbf\u95ee \u5730\u56fe   API   \u4fe1\u606f \u3002   srunner / metrics / tools   \u2014   \u5305\u542b \u4e24\u4e2a \u5141\u8bb8 \u67e5\u8be2 \u8bb0\u5f55 \u7684 \u5173\u952e \u811a\u672c \u3002   metrics _ parser . py   \u2013   \u5c06 \u8bb0\u5f55 \u63d0\u4f9b \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u8f6c\u6362 \u4e3a \u5b57\u5178 \u3002   metrics _ log . py   \u2013   \u63d0\u4f9b \u591a\u79cd \u529f\u80fd \u6765 \u67e5\u8be2 \u4f7f\u7528   metrics _ parser . py   \u521b\u5efa \u7684 \u5b57\u5178 \u3002 \u8fd9\u4e9b \u51fd\u6570 \u662f \u8bbf\u95ee \u573a\u666f \u4fe1\u606f \u7684 \u6700 \u7b80\u5355 \u65b9\u6cd5 \u3002 \u5b83\u4eec \u5217\u5728 \u672c\u9875 \u6700\u540e \u4e00\u6bb5 \u7684   \u53c2\u8003 \u6587\u732e \u53c2\u8003\u6587\u732e   \u4e2d \u3002","title":"\u6a21\u5757 \u7ed3\u6784"},{"location":"scenario_runner/metrics_module/#_3","text":"","title":"\u5982\u4f55 \u4f7f\u7528 \u6307\u6807 \u6a21\u5757"},{"location":"scenario_runner/metrics_module/#1","text":"\u6307\u6807 \u6a21\u5757 \u9700\u8981 \u8bb0\u5f55 \u4eff\u771f \u624d\u80fd \u5de5\u4f5c \u3002 \u5426\u5219 \uff0c \u5b83 \u6ca1\u6709 \u6570\u636e \u6765 \u8fdb\u884c \u6307\u6807 \u8ba1\u7b97 \u3002   \u4f7f\u7528   record   \u53c2\u6570 \u3002 \u6dfb\u52a0 \u5e94\u8be5 \u4fdd\u5b58 \u4fe1\u606f \u4fdd\u5b58\u4fe1\u606f \u7684 \u8def\u5f84 \u3002 \u8be5 \u8def\u5f84 \u5fc5\u987b \u76f8\u5bf9 \u4e8e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   SCENARIO _ RUNNER _ ROOT   \u3002   python   scenario _ runner . py   -- scenario   < scenario _ name >   -- record   < path / to / save / the / recorder / file >   \u901a\u8fc7 \u8bb0\u5f55 \u573a\u666f \uff0c \u5c06 \u5728 \u6240 \u9700 \u8def\u5f84 \u4e2d \u521b\u5efa \u4e24\u4e2a \u6587\u4ef6 \u3002 \u8fd9\u4e9b   log   \u6587\u4ef6   criteria   \u7a0d\u540e \u5c06 \u7528\u4f5c   metrics _ manager . py   \u7684 \u53c2\u6570 \u3002   1 .   CARLA   \u8bb0\u5f55   (   . log   )   \u2014   \u5305\u542b \u6bcf\u5e27 \u7684 \u4eff\u771f \u6570\u636e \u3002 \u8981 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \uff0c \u8bf7 \u9605\u8bfb   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u6863   \u3002   2 .   \u6307\u6807 \u6587\u4ef6   ( . json )   \u2014   \u573a\u666f \u6807\u51c6 \u89e3\u6790 \u4e3a \u5b57\u5178 \uff0c \u5e76 \u5b58\u50a8 \u5728   JSON   \u6587\u4ef6 \u4e2d \u3002 \u5b57\u5178 \u7684 \u952e \u662f \u6761\u4ef6 \u7684 \u540d\u79f0 \u3002 \u8fd9\u4e9b \u503c \u662f \u6bcf\u4e2a \u6761\u4ef6 \u7684 \u5c5e\u6027 \u3002   \u6ce8\u610f   \u4ec5 \u89e3\u6790   JSON   \u53ef \u5e8f\u5217 \u5e8f\u5217\u5316 \u5c5e\u6027 \uff0c \u5176\u4f59 \u5c5e\u6027 \u5c06 \u88ab \u5ffd\u7565 \u3002   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8fd9 \u4e24\u4e2a \u6587\u4ef6 \u5747 \u4ee5 \u8fd0\u884c \u7684 \u573a\u666f \u547d\u540d \u3002 \u5982\u679c \u573a\u666f \u88ab \u547d\u540d \u4e3a   example . py   \uff0c \u6587\u4ef6 \u5c06 \u4e3a   example . log   \u548c   example . json   \u3002","title":"1 .   \u8bb0\u5f55 \u4e00\u4e2a \u573a\u666f"},{"location":"scenario_runner/metrics_module/#2","text":"\u73b0\u5728 \u662f \u521b\u5efa \u5c06 \u7528\u4e8e \u573a\u666f \u7684 \u6240 \u9700 \u6307\u6807 \u7684 \u65f6\u5019 \u4e86 \u3002 \u53ef\u80fd \u53ef\u80fd\u6027 \u662f \u65e0\u9650 \u7684 \uff0c \u4f46 \u4e3a\u4e86 \u672c \u6559\u7a0b \u7684 \u76ee\u7684 \uff0c \u5c06 \u4f7f\u7528   srunner / metrics / examples / distance _ between _ vehicles . py   \u4e2d \u63cf\u8ff0 \u7684 \u6307\u6807 \u4f5c\u4e3a \u793a\u4f8b \u3002 \u8ba9 \u6211\u4eec \u6df1\u5165 \u7814\u7a76 \u6df1\u5165\u7814\u7a76 \u4e00\u4e0b \u4ee3\u7801 \u672c\u8eab \u3002   class   DistanceBetweenVehicles ( BasicMetric ) :   \" \" \"   \u6307\u6807 \u7c7b   DistanceBetweenVehicles   \" \" \"   def   _ create _ metric ( self ,   town _ map ,   log ,   criteria ) :   \" \" \"   \u5ea6\u91cf \u7684 \u5b9e\u73b0 \u3002 \u8fd9\u662f \u4e00\u4e2a \u793a\u4f8b \uff0c \u5c55\u793a \u4e86 \u5982\u4f55 \u4f7f\u7528 \u901a\u8fc7 \u65e5\u5fd7 \u8bbf\u95ee \u7684 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002   \" \" \"   #   \u83b7\u53d6 \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \u7684 ID   ego _ id   =   log . get _ ego _ vehicle _ id ( )   adv _ id   =   log . get _ actor _ ids _ with _ role _ name ( \" scenario \" ) [ 0 ]   #   Could   have   also   used   its   type _ id   dist _ list   =   [ ]   frames _ list   =   [ ]   #   \u83b7\u5f97 \u5e27 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u6d3b\u7740   start _ ego ,   end _ ego   =   log . get _ actor _ alive _ frames ( ego _ id )   start _ adv ,   end _ adv   =   log . get _ actor _ alive _ frames ( adv _ id )   start   =   max ( start _ ego ,   start _ adv )   end   =   min ( end _ ego ,   end _ adv )   #   \u83b7\u5f97 \u4e24\u8005 \u4e4b\u95f4 \u4e24\u8005\u4e4b\u95f4 \u7684 \u8ddd\u79bb   for   i   in   range ( start ,   end ) :   #   \u83b7\u5f97 \u53d8\u6362   ego _ location   =   log . get _ actor _ transform ( ego _ id ,   i ) . location   adv _ location   =   log . get _ actor _ transform ( adv _ id ,   i ) . location   #   \u8fc7\u6ee4 \u4e00\u4e9b \u70b9\u4ee5 \u83b7\u5f97 \u66f4\u597d \u7684 \u56fe\u5f62   if   adv _ location . z   <   - 10 :   continue   dist _ v   =   ego _ location   -   adv _ location   dist   =   math . sqrt ( dist _ v . x   *   dist _ v . x   +   dist _ v . y   *   dist _ v . y   +   dist _ v . z   *   dist _ v . z )   dist _ list . append ( dist )   frames _ list . append ( i )   #   \u4f7f\u7528   matplotlib   \u5c55\u793a \u7ed3\u679c   plt . plot ( frames _ list ,   dist _ list )   plt . ylabel ( ' Distance   [ m ] ' )   plt . xlabel ( ' Frame   number ' )   plt . title ( ' Distance   between   the   ego   vehicle   and   the   adversary   over   time ' )   plt . show ( )   2.1 .   \u5ea6\u91cf \u7684 \u540d\u79f0   .   \u9996\u5148 \uff0c \u6b63\u5982 \u524d\u9762 \u63d0\u5230 \u7684 \uff0c \u6240\u6709 \u6307\u6807 \u90fd \u662f \u8be5   BasicMetric   \u7c7b \u7684 \u5b50\u7ea7 \u3002   class   DistanceBetweenVehicles ( BasicMetric ) :   2.2 .   \u4e3b \u65b9\u6cd5 \u7684 \u540d\u79f0   .   \u6307\u6807 \u53ea \u9700\u8981 \u4e00\u79cd \u65b9\u6cd5 \u5373\u53ef \u8fd0\u884c \uff0c   _ create _ metric ( )   \u65b9\u6cd5 \u5177\u6709 \u4e09\u4e2a \u53c2\u6570 \u3002   town _ map   \u2014   \u573a\u666f \u53d1\u751f \u7684   carla . Map ( )   \u5b9e\u4f8b \u3002   log   \u2014   MetricsLog   \u7c7b \u7684 \u5b9e\u4f8b \uff0c \u5177\u6709 \u8bbf\u95ee \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5b57\u5178 \u6240 \u9700 \u7684 \u6240\u6709 \u51fd\u6570 \u3002   criteria   \u2014   \u5e26\u6709 \u6807\u51c6 \u5b57\u5178 \u7684   JSOn \u3002 \u8bb0\u5f55 \u573a\u666f \u65f6 \u63d0\u4f9b \u7684 \u6587\u4ef6 \uff0c \u7a0d\u540e \u63d0\u4f9b \u7ed9   metrics _ manager . py   \u3002   def   _ create _ metric ( self ,   town _ map ,   log ,   criteria ) :   2.3 .   \u5b9e\u73b0 \u6307\u6807   \u3002   \u4ee3\u7801 \u5c06 \u6839\u636e \u6307\u6807 \u672c\u8eab \u800c \u6709\u6240 \u4e0d\u540c \u6709\u6240\u4e0d\u540c \u3002   \u793a\u4f8b \u6307\u6807   DistanceBetweenVehicles   \u8ba1\u7b97 \u672c\u8f66 \u4e0e\u5176 \u8ddf\u968f \u7684 \u6c7d\u8f66 \uff08 \u5bf9\u624b \uff09 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002 \u4e3a\u6b64 \uff0c \u9700\u8981   id   \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \u7684 \u914d\u5408 \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u4f7f\u7528   get _ ego _ vehicle _ id ( )   \u548c   get _ actor _ ids _ with _ role _ name ( \" scenario \" ) [ 0 ]   \u51fd\u6570 \u4ece \u65e5\u5fd7 \u4e2d \u68c0\u7d22 \u3002   #   \u83b7\u53d6 \u4e24\u4e2a \u8f66\u8f86 \u7684   ID   ego _ id   =   log . get _ ego _ vehicle _ id ( )   adv _ id   =   log . get _ actor _ ids _ with _ role _ name ( \" scenario \" ) [ 0 ]   #   Could   have   also   used   its   type _ id   \u5b83\u4eec   id   \u7528   get _ actor _ alive _ frames ( actor _ id )   \u68c0\u7d22 \u8f66\u8f86 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u7684 \u5e27 \u3002   #   \u83b7\u53d6 \u6d3b\u8dc3 \u7684 \u4e24\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5e27   start _ ego ,   end _ ego   =   log . get _ actor _ alive _ frames ( ego _ id )   start _ adv ,   end _ adv   =   log . get _ actor _ alive _ frames ( adv _ id )   start   =   max ( start _ ego ,   start _ adv )   end   =   min ( end _ ego ,   end _ adv )   \u73b0\u5728 \u4e00\u5207 \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \uff0c \u53ef\u4ee5 \u5faa\u73af \u8fd9\u4e9b \u5e27 \uff0c \u83b7\u53d6 \u5b83\u4eec \u7684 \u53d8\u6362 \u5e76 \u8ba1\u7b97 \u8ddd\u79bb \u3002 \u4f7f\u7528   get _ actor _ transform ( actor _ id ,   frame )   \u83b7\u5f97 \u53d8\u6362 \uff0c   dist _ list   =   [ ]   frames _ list   =   [ ]   ...   #   \u83b7\u5f97 \u4e24\u8005 \u4e4b\u95f4 \u4e24\u8005\u4e4b\u95f4 \u7684 \u8ddd\u79bb   for   i   in   range ( start ,   end ) :   #   \u83b7\u53d6 \u53d8\u6362   ego _ location   =   log . get _ actor _ transform ( ego _ id ,   i ) . location   adv _ location   =   log . get _ actor _ transform ( adv _ id ,   i ) . location   #   \u4e3a\u4e86 \u83b7\u5f97 \u66f4\u597d \u7684 \u56fe\u7247 \u8fc7\u6ee4 \u4e00\u4e9b \u70b9   if   adv _ location . z   <   - 10 :   continue   dist _ v   =   ego _ location   -   adv _ location   dist   =   math . sqrt ( dist _ v . x   *   dist _ v . x   +   dist _ v . y   *   dist _ v . y   +   dist _ v . z   *   dist _ v . z )   dist _ list . append ( dist )   \u6ce8\u610f   \u5bf9\u624b \u7684 \u5782\u76f4 \u60c5\u51b5 \u4ec5 \u8003\u8651 \u5bf9\u624b \u6b63\u5e38 \u884c\u9a76 \u65f6 \u7684 \u60c5\u51b5 \u3002   \u6700\u540e \uff0c \u4f7f\u7528   matplotlib   \u5b9a\u4e49 \u8fd0\u884c   metrics _ manager . py   \u65f6 \u6307\u6807 \u7684 \u8f93\u51fa \u3002   #   \u4f7f\u7528   matplotlib   \u5c55\u793a \u7ed3\u679c   plt . plot ( frames _ list ,   dist _ list )   plt . ylabel ( ' Distance   [ m ] ' )   plt . xlabel ( ' Frame   number ' )   plt . title ( ' Distance   between   the   ego   vehicle   and   the   adversary   over   time ' )   plt . show ( )","title":"2 .   \u5b9a\u4e49 \u6307\u6807"},{"location":"scenario_runner/metrics_module/#3","text":"\u6700\u540e \uff0c \u662f \u65f6\u5019 \u4f7f\u7528 \u4ece \u573a\u666f \u4e2d \u68c0\u7d22 \u7684 \u4fe1\u606f \u4ee5\u53ca \u5df2 \u5b9a\u4e49 \u7684 \u6307\u6807 \u6765 \u8fd4\u56de \u4e00\u4e9b \u6307\u6807 \u4fe1\u606f \u3002 \u8ba9 \u6211\u4eec \u4f7f\u7528 \u8fc4\u4eca \u4e3a\u6b62 \u8fc4\u4eca\u4e3a\u6b62 \u4f7f\u7528 \u7684 \u793a\u4f8b \u6307\u6807 \u4ee5\u53ca \u4ee5 \u5176 \u547d\u540d \u7684 \u793a\u4f8b \u65e5\u5fd7 \u6765 \u8fd0\u884c \u8be5 \u6a21\u5757 \u3002   python   metrics _ manager . py   -- metric   srunner / metrics / examples / distance _ between _ vehicles . py   -- log   srunner / metrics / data / DistanceBetweenVehicles . log   \u8b66\u544a   \u4eff\u771f \u5fc5\u987b \u6b63\u5728 \u8fd0\u884c \u3002 \u5426\u5219 \uff0c \u6a21\u5757 \u5c06 \u65e0\u6cd5 \u8bbf\u95ee \u65e0\u6cd5\u8bbf\u95ee \u5730\u56fe API \u3002   \u8fd9 \u5c06 \u521b\u5efa \u4e00\u4e2a \u7a97\u53e3 \u65b0\u7a97\u53e3 \uff0c \u5176\u4e2d \u7ed8\u5236 \u4e86 \u7ed3\u679c \u3002 \u5728 \u8f93\u51fa \u7a97\u53e3 \u5173\u95ed \u4e4b\u524d \uff0c \u811a\u672c \u4e0d\u4f1a \u5b8c\u6210 \u3002","title":"3 .   \u8fd0\u884c \u6307\u6807 \u7ba1\u7406\u5668"},{"location":"scenario_runner/metrics_module/#_4","text":"\u5b9a\u4e49 \u6307\u6807 \u65f6 \uff0c \u6709\u5173 \u573a\u666f \u7684 \u6240\u6709 \u4fe1\u606f \u90fd \u901a\u8fc7 \u7c7b   MetricsLog   \uff08   _ create _ metric ( )   \u51fd\u6570 \u4e2d \u7684   log   \u53c2\u6570 \uff09 \u8bbf\u95ee \u3002 \u8be5\u7c7b \u4f4d\u4e8e   srunner / metrics / tools / metrics _ log . py   \uff0c \u8be5 \u5f15\u7528 \u662f \u5176\u4e2d \u5305\u542b \u7684 \u51fd\u6570 \u7684 \u540e\u7eed \u90e8\u5206 \u3002","title":"\u8bb0\u5f55 \u67e5\u8be2 \u53c2\u8003"},{"location":"scenario_runner/metrics_module/#_5","text":"get _ ego _ vehicle _ id   (   self   )   \u8fd4\u56de \u81ea\u6211 \u8f66\u8f86 \u7684   id   \u3002   Return   \u2014   int   get _ actor _ ids _ with _ role _ name   (   self   ,   role _ name   )   \u8fd4\u56de \u4e0e \u7ed9\u5b9a   role _ name   \u5339\u914d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u5217\u8868 \u3002   Return   \u2014   list   Parameters   role _ name   (   str   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   role _ name   \u3002   get _ actor _ ids _ with _ type _ id   (   self   ,   type _ id   )   \u6839\u636e   fnmatch   \u6807\u51c6 \uff0c \u8fd4\u56de \u4e0e \u7ed9\u5b9a \u5339\u914d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u5217\u8868 \u3002   Return   \u2014   list   Parameters   type _ id   (   str   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005   type _ id   \u3002   get _ actor _ attributes   (   self   ,   actor _ id   )   \u8fd4\u56de \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240\u6709 \u5c5e\u6027 \u7684 \u5b57\u5178 \u3002   Return   \u2014   dict   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   get _ actor _ bounding _ box   (   self   ,   actor _ id   )   \u8fd4\u56de \u6307\u5b9a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8fb9\u754c \u6846 \u3002   Return   \u2014   carla . BoundingBox   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   get _ traffic _ light _ trigger _ volume   (   self   ,   traffic _ light _ id   )   \u8fd4\u56de \u6307\u5b9a \u4ea4\u901a \u4ea4\u901a\u706f \u7684   trigger   volume \u3002   Return   \u2014   carla . BoundingBox   Parameters   traffic _ light _ id   (   int   )   \u2014   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684   id   \u3002   get _ actor _ alive _ frames   (   self   ,   actor _ id   )   \u8fd4\u56de \u4e00\u4e2a \u5143\u7ec4 \uff0c \u5176\u4e2d \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u8dc3 \u7684 \u7b2c\u4e00 \u5e27 \u548c \u6700\u540e \u4e00\u5e27 \u3002 \u8bf7 \u6ce8\u610f \uff0c \u5e27 \u4ece   1   \u5f00\u59cb \uff0c \u800c \u4e0d\u662f \u4ece   0   \u5f00\u59cb \u3002   Return   \u2014   tuple   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002","title":"\u901a\u7528 \u53c2\u4e0e\u8005 \u6570\u636e"},{"location":"scenario_runner/metrics_module/#_6","text":"get _ collisions   (   self   ,   actor _ id   )   \u8fd4\u56de \u5177\u6709 \u4e24\u4e2a \u952e \u7684 \u5b57\u5178 \u5217\u8868 \u3002   frame   \u662f \u78b0\u649e \u7684 \u5e27 \u7f16\u53f7 \uff0c   \u662f   other _ id   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u8be5 \u5e27 \u53d1\u751f \u78b0\u649e \u7684   id   \u5217\u8868 \u3002   Return   \u2014   list   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   get _ total _ frame _ count   (   self   )   \u8fd4\u56de \u4e00\u4e2a   int   \u503c \uff0c \u5176\u4e2d \u5305\u542b \u4eff\u771f \u6301\u7eed \u7684 \u5e27 \u603b\u6570 \u3002   Return   \u2014   int   get _ elapsed _ time   (   self   ,   frame   )   \u8fd4\u56de \u4e00\u4e2a \u5305\u542b \u7279\u5b9a \u5e27 \u7684 \u5df2\u7528 \u65f6\u95f4 \u7684 \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \u3002   Return   \u2014   float   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ delta _ time   (   self   ,   frame   )   \u8fd4\u56de \u5177\u6709 \u7279\u5b9a \u5e27 \u7684 \u589e\u91cf \u65f6\u95f4 \u7684 \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \u3002 R   Return   \u2014   float   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ platform _ time   (   self   ,   frame   )   \u8fd4\u56de \u5177\u6709 \u7279\u5b9a \u5e27 \u7684 \u5e73\u53f0 \u65f6\u95f4 \u7684 \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \u3002   Return   \u2014   float   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002","title":"\u901a\u7528 \u4eff\u771f \u6570\u636e"},{"location":"scenario_runner/metrics_module/#_7","text":"get _ actor _ acceleration   (   self   ,   actor _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u4e0d \u5b58\u5728 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ca1\u6709 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u6216\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u8be5 \u5e27 \u4e2d \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   Return   \u2014   carla . Vector3D   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ all _ actor _ accelerations   (   self   ,   actor _ id   ,   first _ frame   = None   ,   last _ frame   = None   )   \u8fd4\u56de \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5e27 \u95f4\u9694 \u5185 \u7684 \u6240\u6709 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u7684 \u5217\u8868 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5e27 \u95f4\u9694 \u5305\u542b \u6240\u6709 \u8bb0\u5f55 \u3002   Return   \u2014   list ( carla . Vector3D )   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   first _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u521d\u59cb \u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u5f00\u59cb \u3002   last _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u6700\u540e \u4e00\u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u7ed3\u675f \u3002   get _ actor _ accelerations _ at _ frame   (   self   ,   frame   ,   actor _ list   = None   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u952e \u662f \u5e27 \u7f16\u53f7 \uff0c \u503c \u662f \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   carla . Vector3D \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4f1a \u8003\u8651 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f46 \u5982\u679c \u4f20\u9012 \u4e86   actor _ list   \uff0c \u5219 \u4ec5 \u68c0\u67e5 \u5217\u8868 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Return   \u2014   list ( carla . Vector3D )   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   actor _ list   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u7684 \u5217\u8868 \u3002","title":"\u53c2\u4e0e\u8005 \u52a0\u901f\u5ea6"},{"location":"scenario_runner/metrics_module/#_8","text":"get _ actor _ angular _ velocity   (   self   ,   actor _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u4e0d \u5b58\u5728 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ca1\u6709 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u6216\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u8be5 \u5e27 \u4e2d \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   Return   \u2014   carla . Vector3D   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u7684 \u6570\u76ee \u3002   get _ all _ actor _ angular _ velocities   (   self   ,   actor _ id   ,   first _ frame   = None   ,   last _ frame   = None   )   \u8fd4\u56de \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5e27 \u95f4\u9694 \u5185 \u7684 \u6240\u6709 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u7684 \u5217\u8868 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5e27 \u95f4\u9694 \u5305\u542b \u6240\u6709 \u8bb0\u5f55 \u3002   Return   \u2014   list ( carla . Vector3D )   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   first _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u521d\u59cb \u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u5f00\u59cb \u3002   last _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u6700\u540e \u4e00\u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u7ed3\u675f \u3002   get _ actor _ angular _ velocities _ at _ frame   (   self   ,   frame   ,   actor _ list   = None   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u952e \u662f \u5e27 \u7f16\u53f7 \uff0c \u503c \u662f \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   carla . Vector3D   \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4f1a \u8003\u8651 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f46 \u5982\u679c \u4f20\u9012   actor _ list   \uff0c \u5219 \u4ec5 \u68c0\u67e5 \u5217\u8868 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Return   \u2014   list (   carla . Vector3D   )   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   actor _ list   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ids   \u5217\u8868 \u3002","title":"\u53c2\u4e0e\u8005 \u89d2\u901f\u5ea6"},{"location":"scenario_runner/metrics_module/#_9","text":"get _ vehicle _ control   (   self   ,   vehicle _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u8f66\u8f86 \u7684 \u63a7\u5236 \u3002 \u8be5   manual _ gear _ shift   \u5c5e\u6027 \u5c06 \u59cb\u7ec8 \u4e3a   False \u3002   Return   \u2014   carla . VehicleControl   Parameters   vehicle _ id   (   int   )   \u2014   \u8f66\u8f86 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ vehicle _ physics _ control   (   self   ,   vehicle _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u8f66\u8f86 \u7684 \u7269\u7406 \u63a7\u5236 \u3002   Return   \u2014   carla . VehiclePhysicsControl   Parameters   vehicle _ id   (   int   )   \u2014   \u8f66\u8f86 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ walker _ speed   (   self   ,   walker _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u884c\u4eba \u7684 \u901f\u5ea6 \u3002   Return   \u2014   carla . Vector3D   Parameters   walker _ id   (   int   )   \u2014   \u884c\u4eba \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002","title":"\u53c2\u4e0e\u8005 \u63a7\u5236"},{"location":"scenario_runner/metrics_module/#_10","text":"get _ actor _ transform   (   self   ,   actor _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u53d8\u6362 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u4e0d \u5b58\u5728 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ca1\u6709 \u53d8\u6362 \u6216\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u8be5 \u5e27 \u4e2d \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   Return   \u2014   carla . Transform   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ all _ actor _ transforms   (   self   ,   actor _ id   ,   first _ frame   = None   ,   last _ frame   = None   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5e27 \u95f4\u9694 \u5185 \u7684 \u6240\u6709 \u53d8\u6362 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5e27 \u95f4\u9694 \u5305\u542b \u6240\u6709 \u8bb0\u5f55 \u3002   Return   \u2014   list (   carla . Transform   )   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   first _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u521d\u59cb \u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u5f00\u59cb \u3002   last _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u6700\u540e \u4e00\u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u7ed3\u675f \u3002   get _ actor _ transforms _ at _ frame   (   self   ,   frame   ,   actor _ list   = None   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u952e \u662f \u5e27 \u7f16\u53f7 \uff0c \u503c \u662f \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   carla . Transform   \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4f1a \u8003\u8651 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f46 \u5982\u679c   actor _ list   \u901a\u8fc7 \uff0c \u5219 \u4ec5 \u68c0\u67e5 \u5217\u8868 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Return   \u2014   list (   carla . Transform   )   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   actor _ list   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u5217\u8868 \u3002","title":"\u53c2\u4e0e\u8005 \u53d8\u6362"},{"location":"scenario_runner/metrics_module/#_11","text":"get _ actor _ velocity   (   self   ,   actor _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u4e0d \u5b58\u5728 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ca1\u6709 \u901f\u5ea6 \u6216\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u8be5 \u5e27 \u4e2d \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   Return   \u2014   carla . Vector3D   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ all _ actor _ velocities   (   self   ,   actor _ id   ,   first _ frame   = None   ,   last _ frame   = None   )   \u8fd4\u56de \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5e27 \u95f4\u9694 \u5185 \u7684 \u6240\u6709 \u901f\u5ea6 \u7684 \u5217\u8868 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5e27 \u95f4\u9694 \u5305\u542b \u6240\u6709 \u8bb0\u5f55 \u3002   Return   \u2014   list (   carla . Vector3D   )   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   first _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u521d\u59cb \u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u5f00\u59cb \u3002   last _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u6700\u540e \u4e00\u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u7ed3\u675f \u3002   get _ actor _ velocities _ at _ frame   (   self   ,   frame   ,   actor _ list   = None   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u952e \u662f \u5e27 \u7f16\u53f7 \uff0c \u503c \u662f \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   carla . Vector3D \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4f1a \u8003\u8651 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f46 \u5982\u679c \u4f20\u9012 \u4e86   actor _ list   \uff0c \u5219 \u4ec5 \u68c0\u67e5 \u5217\u8868 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Return   \u2014   list (   carla . Vector3D   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   actor _ list   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u5217\u8868 \u3002","title":"\u53c2\u4e0e\u8005 \u901f\u5ea6"},{"location":"scenario_runner/metrics_module/#_12","text":"get _ scene _ light _ state   (   self   ,   light   ,   vehicle _ id   ,   frame   )   Returns   the   state   of   a   scene   light   for   a   given   frame .   The   light   state   group   will   always   be   carla . LightGroup . None   .   Return   \u2014   carla . LightState   Parameters   light _ id   (   int   )   \u2014   \u573a\u666f \u706f \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002","title":"\u573a\u666f \u706f"},{"location":"scenario_runner/metrics_module/#_13","text":"get _ traffic _ light _ state   (   self   ,   traffic _ light _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u72b6\u6001 \u3002   Return   \u2014   carla . TrafficLightState   .   Parameters   traffic _ light _ id   (   int   )   \u2014   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   is _ traffic _ light _ frozen   (   self   ,   traffic _ light _ id   ,   frame   )   \u8fd4\u56de \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u662f\u5426 \u51bb\u7ed3 \u5728 \u7ed9\u5b9a \u5e27 \u3002   Return   \u2014   bool   Parameters   traffic _ light _ id   (   int   )   \u2014   \u4ea4\u901a \u4ea4\u901a\u706f \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ traffic _ light _ elapsed _ time   (   self   ,   traffic _ light _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u7ecf\u8fc7 \u65f6\u95f4 \u3002   Return   \u2014   float   Parameters   traffic _ light _ id   (   int   )   \u2014   \u4ea4\u901a \u4ea4\u901a\u706f \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ traffic _ light _ state _ time   (   self   ,   traffic _ light _ id   ,   state   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u4ea4\u901a \u4ea4\u901a\u706f \u7279\u5b9a \u72b6\u6001 \u7684 \u6700\u957f \u65f6\u95f4 \u3002   Return   \u2014   float   Parameters   traffic _ light _ id   (   int   )   \u2014   id   of   the   traffic   light .   state   (   carla . TrafficLightState   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002","title":"\u7ea2\u7eff\u706f"},{"location":"scenario_runner/metrics_module/#_14","text":"get _ vehicle _ lights   (   self   ,   vehicle _ id   ,   frame   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u7ed9\u5b9a \u5e27 \u5904 \u7279\u5b9a \u8f66\u8f86 \u7684 \u6d3b\u52a8 \u706f \u3002   Return   \u2014   list (   carla . VehicleLightState   )   Parameters   vehicle _ id   (   int   )   \u2014   \u8f66\u8f86 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   is _ vehicle _ light _ active   (   self   ,   light   ,   vehicle _ id   ,   frame   )   \u68c0\u67e5 \u7ed9\u5b9a \u8f66\u8f86 \u706f \u5728 \u7279\u5b9a \u5e27 \u662f\u5426 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u3002   Return   \u2014   bool   Parameters   light   (   carla . VehicleLightState   )   \u2014   \u4e0e \u8f66\u8f86 \u8fdb\u884c \u6bd4\u8f83 \u7684 \u706f\u5149 \u72b6\u6001 \u3002   vehicle _ id   (   int   )   \u2014   \u8f66\u8f86 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002","title":"\u8f66\u706f"},{"location":"scenario_runner/openscenario_support/","text":"OpenSCENARIO   \u652f\u6301   scenario _ runner   \u63d0\u4f9b \u5bf9   OpenSCENARIO   \u6807\u51c6 \u7684 \u652f\u6301 \u3002 \u5f53\u524d \u7684 \u5b9e\u73b0 \u6db5\u76d6 \u4e86 \u5bf9 \u673a\u52a8 \u52a8\u4f5c \u3001 \u6761\u4ef6 \u3001 \u6545\u4e8b \u548c \u6545\u4e8b \u677f \u7684 \u521d\u6b65 \u652f\u6301 \u3002 \u5982\u679c \u60a8 \u60f3 \u4f7f\u7528 \u573a\u666f \u7684 \u8bc4\u4f30 \u6807\u51c6 \u6765 \u8bc4\u4f30 \u901a\u8fc7 / \u5931\u8d25 \u7ed3\u679c \uff0c \u53ef\u4ee5 \u5c06 \u8fd9\u4e9b \u6807\u51c6 \u5b9e\u73b0 \u4e3a   StopTriggers \uff08 \u4e0b\u6587 \u89c1\u4e0b\u6587 \uff09 \u3002 \u7136\u800c \uff0c \u5e76\u975e \u8fd9\u4e9b \u5143\u7d20 \u7684 \u6240\u6709 \u529f\u80fd \u5747 \u53ef\u7528 \u3002 \u5982\u679c \u6709 \u7591\u95ee \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   srunner / tools / openscenario _ parser . py   \u4e2d \u7684 \u6a21\u5757 \u6587\u6863 \u3002   \u6b64\u5904   \u63d0\u4f9b \u4e86 \u57fa\u4e8e   OpenSCENARIO   \u7684 \u53d7 \u652f\u6301 \u573a\u666f \u7684 \u793a\u4f8b \u3002   \u6b64\u5916 \uff0c \u5efa\u8bae \u67e5\u770b   \u6b64\u5904   \u548c   \u6b64\u5904   and   here   \u63d0\u4f9b \u7684 \u5b98\u65b9 \u6587\u6863 \u3002   \u5c06   OpenSCENARIO   0.9 . x   \u8fc1\u79fb \u5230   1.0   \u5c06 \u65e7 \u7684   OpenSCENARIO   \u793a\u4f8b \u8f6c\u6362 \u4e3a \u5b98\u65b9 \u6807\u51c6   1.0   \u7684 \u6700 \u7b80\u5355 \u65b9\u6cd5 \u662f \u4f7f\u7528   xsltproc   \u548c \u4f4d\u4e8e   openscenario   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u7684 \u8fc1\u79fb \u65b9\u6848 \u3002 \u4f8b\u5b50 \uff1a   xsltproc   - o   newScenario . xosc   migration0 _ 9 _ 1to1 _ 0 . xslt   oldScenario . xosc   \u652f\u6301 \u7a0b\u5ea6   \u4e0b\u9762 \u5217\u51fa \u4e86   OpenSCENARIO   \u5c5e\u6027 \u53ca\u5176 \u5f53\u524d \u652f\u6301 \u72b6\u6001 \u3002   \u5e38\u89c4 \u7684   OpenSCENARIO   \u8bbe\u7f6e   \u8fd9 \u6db5\u76d6 \u4e86   OpenSCENARIO   Storyboard   \u5916\u90e8 \u5b9a\u4e49 \u7684 \u6240\u6709 \u90e8\u5206   \u5c5e\u6027   \u652f\u6301   \u7b14\u8bb0   FileHeader   \u2705   \u5728 \u63cf\u8ff0 \u7684 \u5f00\u5934 \u4f7f\u7528 \u201c CARLA : \u201d \u5373\u53ef \u4f7f\u7528   CARLA   \u5750\u6807 \u5750\u6807\u7cfb \u3002   CatalogLocations   ControllerCatalog   \u2705   \u867d\u7136 \u652f\u6301 \u76ee\u5f55 \uff0c \u4f46 \u53c2\u8003 / \u4f7f\u7528 \u53ef\u80fd \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   CatalogLocations   EnvironmentCatalog   \u2705   CatalogLocations   ManeuverCatalog   \u2705   CatalogLocations   MiscObjectCatalog   \u2705   CatalogLocations   PedestrianCatalog   \u2705   CatalogLocations   RouteCatalog   \u2705   \u867d\u7136 \u652f\u6301 \u76ee\u5f55 \uff0c \u4f46 \u53c2\u8003 / \u4f7f\u7528 \u53ef\u80fd \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   CatalogLocations   TrajectoryCatalog   \u2705   \u867d\u7136 \u652f\u6301 \u76ee\u5f55 \uff0c \u4f46 \u53c2\u8003 / \u4f7f\u7528 \u53ef\u80fd \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   CatalogLocations   VehicleCatalog   \u2705   ParameterDeclarations   \u2705   RoadNetwork   LogicFile   \u2705   \u53ef\u4ee5 \u76f4\u63a5 \u4f7f\u7528 CARLA \u7ea7\u522b \uff08 \u4f8b\u5982 LogicFile = Town01 \uff09 \u3002 \u8fd8 \u53ef\u4ee5 \u63d0\u4f9b \u4efb\u4f55   OpenDRIVE   \u8def\u5f84 \u3002   RoadNetwork   SceneGraphFile   \u274c   \u6240 \u63d0\u4f9b \u7684 \u4fe1\u606f \u672a \u88ab \u4f7f\u7528 \u3002   RoadNetwork   TafficSignals   \u274c   \u6240 \u63d0\u4f9b \u7684 \u4fe1\u606f \u672a \u88ab \u4f7f\u7528 \u3002   Entities   EntitySelection   \u274c   \u6240 \u63d0\u4f9b \u7684 \u4fe1\u606f \u672a \u88ab \u4f7f\u7528 \u3002   Entities   ScenarioObject   CatalogReference   \u2705   \u6240 \u63d0\u4f9b \u7684 \u4fe1\u606f \u672a \u88ab \u4f7f\u7528 \u3002   Entities   ScenarioObject   MiscObject   \u2705   \u8be5 \u540d\u79f0 \u5e94 \u4e0e   CARLA   \u8f66\u8f86 \u578b\u53f7 \u5339\u914d \uff0c \u5426\u5219 \u5c06 \u4f7f\u7528 \u57fa\u4e8e vehicleCategory   \u7684 \u9ed8\u8ba4 \u8f66\u8f86 \u3002   BoundingBox   \u6761\u76ee \u5c06 \u88ab \u5ffd\u7565 \u3002   Entities   ScenarioObject   ObjectController   \u274c   \u6240 \u63d0\u4f9b \u7684 \u4fe1\u606f \u672a \u88ab \u4f7f\u7528 \u3002   Entities   ScenarioObject   Pedestrian   \u2705   \u8be5 \u540d\u79f0 \u5e94 \u4e0e   CARLA   \u8f66\u8f86 \u578b\u53f7 \u5339\u914d \uff0c \u5426\u5219 \u5c06 \u4f7f\u7528 \u57fa\u4e8e vehicleCategory   \u7684 \u9ed8\u8ba4 \u8f66\u8f86 \u3002   BoundingBox   \u6761\u76ee \u5c06 \u88ab \u5ffd\u7565 \u3002   Entities   ScenarioObject   Vehicle   \u2705   \u8be5 \u540d\u79f0 \u5e94 \u4e0e   CARLA   \u8f66\u8f86 \u578b\u53f7 \u5339\u914d \uff0c \u5426\u5219 \u5c06 \u4f7f\u7528 \u57fa\u4e8e vehicleCategory   \u7684 \u9ed8\u8ba4 \u8f66\u8f86 \u3002 \u989c\u8272 \u53ef\u4ee5 \u901a\u8fc7 \u5c5e\u6027 \u8bbe\u7f6e \uff08 ' \u5c5e\u6027 \u540d\u79f0 = \u201c \u989c\u8272 \u201d \u503c = \u201c 0 , 0 , 255 \u201d ' \uff09 \u3002   Axles \u3001 Performance \u3001 BoundingBox   \u6761\u76ee \u5c06 \u88ab \u5ffd\u7565 \u3002   OpenSCENARIO   \u6545\u4e8b \u677f   OpenSCENARIO   \u64cd\u4f5c   OpenSCENARIO   \u64cd\u4f5c \u53ef \u7528\u4e8e \u4e24\u4e2a \u4e0d\u540c \u7684 \u76ee\u7684 \u3002 \u9996\u5148 \uff0c \u52a8\u4f5c \u53ef \u7528\u4e8e \u5b9a\u4e49 \u67d0\u4e9b \u4e8b\u7269 \uff08 \u4f8b\u5982 \u4ea4\u901a \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff09 \u7684 \u521d\u59cb \u884c\u4e3a \u3002 \u56e0\u6b64 \uff0c Actions   \u53ef\u4ee5 \u5728   OpenSCENARIO   Init   \u4e2d \u4f7f\u7528 \u3002 \u6b64\u5916 \uff0c OpenSCENARIO   \u6545\u4e8b \u4e2d \u4e5f \u4f7f\u7528 \u4e86 \u52a8\u4f5c \u3002 \u4e0b\u9762 \u5217\u51fa \u4e86 \u8fd9 \u4e24\u4e2a \u5e94\u7528 \u9886\u57df \u5e94\u7528\u9886\u57df \u7684 \u652f\u6301 \u72b6\u6001 \u3002 \u5982\u679c \u64cd\u4f5c \u5305\u542b \u672a \u5217\u51fa \u7684 \u5b50 \u6a21\u5757 \uff0c \u5219 \u652f\u6301 \u72b6\u6001 \u9002\u7528 \u4e8e \u6240\u6709 \u5b50 \u6a21\u5757 \u3002   GlobalAction   GlobalAction   \u521d\u59cb \u521d\u59cb\u5316 \u652f\u6301   Story   support   \u7b14\u8bb0   EntityAction   \u2705   \u2705   EnvironmentAction   \u2705   \u274c   ParameterAction   \u2705   \u2705   InfrastructureAction   TrafficSignalAction   TrafficAction   \u274c   \u274c   InfrastructureAction   TrafficSignalAction   TrafficSignalControllerAction   \u274c   \u2705   InfrastructureAction   TrafficSignalAction   TrafficSignalStateAction   \u274c   \u2705   \u7531\u4e8e   CARLA   \u57ce\u9547 \u4e2d \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u6ca1\u6709 \u552f\u4e00   ID \uff0c \u56e0\u6b64 \u5fc5\u987b \u901a\u8fc7 \u63d0\u4f9b \u5176 \u4f4d\u7f6e \u6765 \u8bbe\u7f6e \u5b83\u4eec \uff08 \u793a\u4f8b \uff1a TrafficSignalStateAction   name = \" pos = x , y \"   state = \" green \" \uff09 \u3002 \u8be5   ID   \u4e5f \u53ef \u7528\u4e8e \u975e   CARLA   \u57ce\u9547 \uff08 \u793a\u4f8b \uff1a TrafficSignalStateAction   name = \" id = n \"   state = \" green \" \uff09   \u7528\u6237 \u5b9a\u4e49 \u7684 \u52a8\u4f5c   \u7528\u6237 \u5b9a\u4e49 \u7684 \u52a8\u4f5c   \u521d\u59cb \u521d\u59cb\u5316 \u652f\u6301   Story   support   \u7b14\u8bb0   CustomCommandAction   \u274c   \u2705   \u6b64 \u64cd\u4f5c \u5f53\u524d \u7528\u4e8e \u89e6\u53d1 \u9644\u52a0 \u811a\u672c \u7684 \u6267\u884c \u3002 \u793a\u4f8b \uff1a type = \" python   / path / to / script   args \" \u3002   PrivateAction   PrivateAction   \u521d\u59cb \u521d\u59cb\u5316 \u652f\u6301   Story   support   \u7b14\u8bb0   ActivateControllerAction   \u274c   \u2705   \u53ef \u7528\u4e8e \u6fc0\u6d3b / \u505c\u7528   CARLA   \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u3002   ControllerAction   \u2705   \u2705   \u652f\u6301 AssignControllerAction \uff0c \u4f46 \u5fc5\u987b \u4e3a \u63a7\u5236 \u63a7\u5236\u5668 \u5b9e\u73b0 \u63d0\u4f9b Python   \u6a21\u5757 \uff0c \u5e76\u4e14 \u5728 OverrideControllerValueAction   \u4e2d \u6240\u6709 \u503c \u90fd \u9700\u8981 \u4e3a   False   \u3002   LateralAction   LaneChangeAction   \u274c   \u2705   \u76ee\u524d \u6240\u6709 \u8f66\u9053 \u53d8\u5316 \u90fd \u6709 \u4e00\u4e2a \u7ebf\u6027 \u7684 dynamicShape \uff0c dynamicDimension \u88ab \u5b9a\u4e49 \u4e3a \u8ddd\u79bb \u5e76\u4e14 \u76f8\u5bf9 \u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u672c\u8eab \uff08 RelativeTargetLane \uff09 \u3002   LateralAction   LaneOffsetAction   \u274c   \u2705   \u76ee\u524d \uff0c \u6240\u6709 \u7c7b\u578b \u7684 \u52a8\u6001 \u5f62\u72b6 \u90fd \u88ab \u5ffd\u7565 \u5e76 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u63a7\u5236 \u63a7\u5236\u5668 \u3002 \u5982\u679c \u504f\u79fb \u504f\u79fb\u91cf \u8db3\u591f \u9ad8\u4ee5 \u4f7f \u8f66\u8f86 \u9000\u51fa \u8f66\u9053 \uff0c \u5219 \u6b64 \u64cd\u4f5c \u53ef\u80fd \u65e0\u6cd5 \u6309 \u9884\u671f \u5de5\u4f5c \u3002   LateralAction   LateralDistanceAction   \u2705   \u2705   LongitudinalAction   LongitudinalDistanceAction   \u274c   \u2705   \u4e0d \u652f\u6301   timeGap   \u5c5e\u6027   LongitudinalAction   SpeedAction   \u2705   \u2705   SynchronizeAction   \u274c   \u274c   TeleportAction   \u2705   \u2705   VisibilityAction   \u274c   \u274c   RoutingAction   AcquirePositionAction   \u274c   \u2705   RoutingAction   AssignRouteAction   \u274c   \u2705   \u652f\u6301 \u8def\u7ebf \u9009\u9879 \uff08 \u6700\u77ed / \u6700\u5feb / \u7b49 \uff09 \u3002 \u6700\u77ed \u8def\u5f84 \u8868\u793a   A   \u548c   B   \u4e4b\u95f4 \u7684 \u76f4\u63a5 \u8def\u5f84 \uff0c \u5176\u4ed6 \u6240\u6709 \u8def\u5f84 \u5c06 \u4f7f\u7528   A   \u548c   B   \u4e4b\u95f4 \u7684 \u8def\u7f51 \u4e2d \u7684 \u6700 \u77ed \u8def\u5f84 \u3002   RoutingAction   FollowTrajectoryAction   \u274c   \u2705   \u76ee\u524d \u4ec5 \u652f\u6301 \u6ca1\u6709 \u65f6\u95f4 \u7ea6\u675f \u7684 \u6298\u7ebf \uff0c \u8f68\u8ff9 \u8ddf\u968f \u6a21\u5f0f \u7531 \u63a7\u5236 \u63a7\u5236\u5668 \u51b3\u5b9a \u3002   OpenSCENARIO   \u6761\u4ef6   OpenSCENARIO   \u4e2d \u7684 \u6761\u4ef6 \u53ef\u4ee5 \u5b9a\u4e49 \u4e3a   ByEntityCondition   \u6216   ByValueCondition \u3002 \u4e24\u8005 \u5747 \u53ef \u7528\u4e8e   StartTrigger   \u548c   StopTrigger   \u6761\u4ef6 \u3002 \u4ee5\u4e0b \u4e24\u4e2a \u8868\u5217 \u5217\u51fa \u8868\u5217\u51fa \u4e86 \u6bcf\u4e2a \u8868 \u7684 \u652f\u6301 \u72b6\u6001 \u3002   ByEntityCondition   EntityCondition   \u652f\u6301   \u7b14\u8bb0   AccelerationCondition   \u2705   CollisionCondition   \u2705   DistanceCondition   \u2705   * freespace *   \u5c5e\u6027 \u4ecd\u7136 \u4e0d \u53d7 \u652f\u6301   EndOfRoadCondition   \u2705   OffroadCondition   \u2705   ReachPositionCondition   \u2705   RelativeDistanceCondition   \u2705   RelativeSpeedCondition   \u2705   SpeedCondition   \u2705   StandStillCondition   \u2705   TimeHeadwayCondition   \u2705   TimeToCollisionCondition   \u2705   TraveledDistanceCondition   \u2705   ByValueCondition   ValueCondition   \u652f\u6301   \u7b14\u8bb0   ParameterCondition   \u2705   \u652f\u6301 \u7ea7\u522b \u53d6\u51b3 \u53d6\u51b3\u4e8e \u53c2\u6570 \u3002 \u5982\u679c \u53ef\u80fd \u7684\u8bdd \uff0c \u5efa\u8bae \u4f7f\u7528 \u5176\u4ed6 \u6761\u4ef6 \u3002 \u53e6 \u8bf7 \u8003\u8651 \u4e0b\u9762 \u7684 \u6ce8\u91ca \u3002   SimulationTimeCondition   \u2705   StoryboardElementStateCondition   \u2705   \u76ee\u524d \u652f\u6301   startTransition \u3001 stopTransition \u3001 endTransition   \u548c completeState \u3002   TimeOfDayCondition   \u2705   TrafficSignalCondition   \u2705   \u7531\u4e8e   CARLA   \u57ce\u9547 \u4e2d \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u6ca1\u6709 \u552f\u4e00   ID \uff0c \u56e0\u6b64 \u5fc5\u987b \u901a\u8fc7 \u63d0\u4f9b \u5176 \u4f4d\u7f6e \u6765 \u8bbe\u7f6e \u5b83\u4eec \uff08 \u793a\u4f8b \uff1a TrafficSignalCondition   name = \" pos = x , y \"   state = \" green \" \uff09 \u3002 \u8be5   ID   \u4e5f \u53ef \u7528\u4e8e \u975e   CARLA   \u57ce\u9547 \uff08 \u793a\u4f8b \uff1a TrafficSignalCondition   name = \" id = n \"   state = \" green \" \uff09   TrafficSignalControllerCondition   \u2705   UserDefinedValueCondition   \u274c   \u6ce8\u610f   \u5728   OpenSCENARIO   1.0   \u6807\u51c6 \u4e2d \uff0c \u6ca1\u6709 \u5b9a\u4e49 \u6d4b\u8bd5 / \u8bc4\u4f30 \u6807\u51c6 \u7684 \u5b9a\u4e49 \u3002 \u4e3a\u6b64 \uff0c \u60a8 \u53ef\u4ee5 \u5c06   StopTrigger   \u6761\u4ef6 \u4e0e   CARLA   \u91cd\u590d \u4f7f\u7528 \u91cd\u590d\u4f7f\u7528 \u3002 \u901a\u8fc7 \u63d0\u4f9b \u6761\u4ef6 \u7684 \u6761\u4ef6 \u540d\u79f0 \uff0c \u901a\u8fc7   ParameterConditions   \u652f\u6301 \u8bc4\u4f30 \u6761\u4ef6 \u7684 \u4ee5\u4e0b   StopTrigger   \u6761\u4ef6 \uff1a   criteria _ RunningStopTest   criteria _ RunningRedLightTest   criteria _ WrongLaneTest   criteria _ OnSideWalkTest   criteria _ KeepLaneTest   criteria _ CollisionTest   criteria _ DrivenDistanceTest   OpenSCENARIO   Positions   \u5728   OpenSCENARIO   \u4e2d \u5b9a\u4e49 \u4f4d\u7f6e \u7684 \u65b9\u6cd5 \u6709 \u591a\u79cd \u3002 \u4e0b\u9762 \u6211\u4eec \u5217\u51fa \u4e86 \u6bcf\u79cd \u5b9a\u4e49 \u683c\u5f0f \u7684 \u5f53\u524d \u652f\u6301 \u72b6\u6001 \u3002   \u4f4d\u7f6e   \u652f\u6301   \u7b14\u8bb0   LanePosition   \u2705   RelativeLanePosition   \u2705   RelativeObjectPosition   \u2705   RelativeRoadPosition   \u2705   RelativeWorldPosition   \u2705   RoadPosition   \u2705   RoutePosition   \u274c   WorldPosition   \u2705","title":"Openscenario   support"},{"location":"scenario_runner/openscenario_support/#openscenario","text":"scenario _ runner   \u63d0\u4f9b \u5bf9   OpenSCENARIO   \u6807\u51c6 \u7684 \u652f\u6301 \u3002 \u5f53\u524d \u7684 \u5b9e\u73b0 \u6db5\u76d6 \u4e86 \u5bf9 \u673a\u52a8 \u52a8\u4f5c \u3001 \u6761\u4ef6 \u3001 \u6545\u4e8b \u548c \u6545\u4e8b \u677f \u7684 \u521d\u6b65 \u652f\u6301 \u3002 \u5982\u679c \u60a8 \u60f3 \u4f7f\u7528 \u573a\u666f \u7684 \u8bc4\u4f30 \u6807\u51c6 \u6765 \u8bc4\u4f30 \u901a\u8fc7 / \u5931\u8d25 \u7ed3\u679c \uff0c \u53ef\u4ee5 \u5c06 \u8fd9\u4e9b \u6807\u51c6 \u5b9e\u73b0 \u4e3a   StopTriggers \uff08 \u4e0b\u6587 \u89c1\u4e0b\u6587 \uff09 \u3002 \u7136\u800c \uff0c \u5e76\u975e \u8fd9\u4e9b \u5143\u7d20 \u7684 \u6240\u6709 \u529f\u80fd \u5747 \u53ef\u7528 \u3002 \u5982\u679c \u6709 \u7591\u95ee \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   srunner / tools / openscenario _ parser . py   \u4e2d \u7684 \u6a21\u5757 \u6587\u6863 \u3002   \u6b64\u5904   \u63d0\u4f9b \u4e86 \u57fa\u4e8e   OpenSCENARIO   \u7684 \u53d7 \u652f\u6301 \u573a\u666f \u7684 \u793a\u4f8b \u3002   \u6b64\u5916 \uff0c \u5efa\u8bae \u67e5\u770b   \u6b64\u5904   \u548c   \u6b64\u5904   and   here   \u63d0\u4f9b \u7684 \u5b98\u65b9 \u6587\u6863 \u3002","title":"OpenSCENARIO   \u652f\u6301"},{"location":"scenario_runner/openscenario_support/#openscenario-09x-10","text":"\u5c06 \u65e7 \u7684   OpenSCENARIO   \u793a\u4f8b \u8f6c\u6362 \u4e3a \u5b98\u65b9 \u6807\u51c6   1.0   \u7684 \u6700 \u7b80\u5355 \u65b9\u6cd5 \u662f \u4f7f\u7528   xsltproc   \u548c \u4f4d\u4e8e   openscenario   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u7684 \u8fc1\u79fb \u65b9\u6848 \u3002 \u4f8b\u5b50 \uff1a   xsltproc   - o   newScenario . xosc   migration0 _ 9 _ 1to1 _ 0 . xslt   oldScenario . xosc","title":"\u5c06   OpenSCENARIO   0.9 . x   \u8fc1\u79fb \u5230   1.0"},{"location":"scenario_runner/openscenario_support/#_1","text":"\u4e0b\u9762 \u5217\u51fa \u4e86   OpenSCENARIO   \u5c5e\u6027 \u53ca\u5176 \u5f53\u524d \u652f\u6301 \u72b6\u6001 \u3002","title":"\u652f\u6301 \u7a0b\u5ea6"},{"location":"scenario_runner/openscenario_support/#openscenario_1","text":"\u8fd9 \u6db5\u76d6 \u4e86   OpenSCENARIO   Storyboard   \u5916\u90e8 \u5b9a\u4e49 \u7684 \u6240\u6709 \u90e8\u5206   \u5c5e\u6027   \u652f\u6301   \u7b14\u8bb0   FileHeader   \u2705   \u5728 \u63cf\u8ff0 \u7684 \u5f00\u5934 \u4f7f\u7528 \u201c CARLA : \u201d \u5373\u53ef \u4f7f\u7528   CARLA   \u5750\u6807 \u5750\u6807\u7cfb \u3002   CatalogLocations   ControllerCatalog   \u2705   \u867d\u7136 \u652f\u6301 \u76ee\u5f55 \uff0c \u4f46 \u53c2\u8003 / \u4f7f\u7528 \u53ef\u80fd \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   CatalogLocations   EnvironmentCatalog   \u2705   CatalogLocations   ManeuverCatalog   \u2705   CatalogLocations   MiscObjectCatalog   \u2705   CatalogLocations   PedestrianCatalog   \u2705   CatalogLocations   RouteCatalog   \u2705   \u867d\u7136 \u652f\u6301 \u76ee\u5f55 \uff0c \u4f46 \u53c2\u8003 / \u4f7f\u7528 \u53ef\u80fd \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   CatalogLocations   TrajectoryCatalog   \u2705   \u867d\u7136 \u652f\u6301 \u76ee\u5f55 \uff0c \u4f46 \u53c2\u8003 / \u4f7f\u7528 \u53ef\u80fd \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   CatalogLocations   VehicleCatalog   \u2705   ParameterDeclarations   \u2705   RoadNetwork   LogicFile   \u2705   \u53ef\u4ee5 \u76f4\u63a5 \u4f7f\u7528 CARLA \u7ea7\u522b \uff08 \u4f8b\u5982 LogicFile = Town01 \uff09 \u3002 \u8fd8 \u53ef\u4ee5 \u63d0\u4f9b \u4efb\u4f55   OpenDRIVE   \u8def\u5f84 \u3002   RoadNetwork   SceneGraphFile   \u274c   \u6240 \u63d0\u4f9b \u7684 \u4fe1\u606f \u672a \u88ab \u4f7f\u7528 \u3002   RoadNetwork   TafficSignals   \u274c   \u6240 \u63d0\u4f9b \u7684 \u4fe1\u606f \u672a \u88ab \u4f7f\u7528 \u3002   Entities   EntitySelection   \u274c   \u6240 \u63d0\u4f9b \u7684 \u4fe1\u606f \u672a \u88ab \u4f7f\u7528 \u3002   Entities   ScenarioObject   CatalogReference   \u2705   \u6240 \u63d0\u4f9b \u7684 \u4fe1\u606f \u672a \u88ab \u4f7f\u7528 \u3002   Entities   ScenarioObject   MiscObject   \u2705   \u8be5 \u540d\u79f0 \u5e94 \u4e0e   CARLA   \u8f66\u8f86 \u578b\u53f7 \u5339\u914d \uff0c \u5426\u5219 \u5c06 \u4f7f\u7528 \u57fa\u4e8e vehicleCategory   \u7684 \u9ed8\u8ba4 \u8f66\u8f86 \u3002   BoundingBox   \u6761\u76ee \u5c06 \u88ab \u5ffd\u7565 \u3002   Entities   ScenarioObject   ObjectController   \u274c   \u6240 \u63d0\u4f9b \u7684 \u4fe1\u606f \u672a \u88ab \u4f7f\u7528 \u3002   Entities   ScenarioObject   Pedestrian   \u2705   \u8be5 \u540d\u79f0 \u5e94 \u4e0e   CARLA   \u8f66\u8f86 \u578b\u53f7 \u5339\u914d \uff0c \u5426\u5219 \u5c06 \u4f7f\u7528 \u57fa\u4e8e vehicleCategory   \u7684 \u9ed8\u8ba4 \u8f66\u8f86 \u3002   BoundingBox   \u6761\u76ee \u5c06 \u88ab \u5ffd\u7565 \u3002   Entities   ScenarioObject   Vehicle   \u2705   \u8be5 \u540d\u79f0 \u5e94 \u4e0e   CARLA   \u8f66\u8f86 \u578b\u53f7 \u5339\u914d \uff0c \u5426\u5219 \u5c06 \u4f7f\u7528 \u57fa\u4e8e vehicleCategory   \u7684 \u9ed8\u8ba4 \u8f66\u8f86 \u3002 \u989c\u8272 \u53ef\u4ee5 \u901a\u8fc7 \u5c5e\u6027 \u8bbe\u7f6e \uff08 ' \u5c5e\u6027 \u540d\u79f0 = \u201c \u989c\u8272 \u201d \u503c = \u201c 0 , 0 , 255 \u201d ' \uff09 \u3002   Axles \u3001 Performance \u3001 BoundingBox   \u6761\u76ee \u5c06 \u88ab \u5ffd\u7565 \u3002","title":"\u5e38\u89c4 \u7684   OpenSCENARIO   \u8bbe\u7f6e"},{"location":"scenario_runner/openscenario_support/#openscenario_2","text":"","title":"OpenSCENARIO   \u6545\u4e8b \u677f"},{"location":"scenario_runner/openscenario_support/#openscenario_3","text":"OpenSCENARIO   \u64cd\u4f5c \u53ef \u7528\u4e8e \u4e24\u4e2a \u4e0d\u540c \u7684 \u76ee\u7684 \u3002 \u9996\u5148 \uff0c \u52a8\u4f5c \u53ef \u7528\u4e8e \u5b9a\u4e49 \u67d0\u4e9b \u4e8b\u7269 \uff08 \u4f8b\u5982 \u4ea4\u901a \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff09 \u7684 \u521d\u59cb \u884c\u4e3a \u3002 \u56e0\u6b64 \uff0c Actions   \u53ef\u4ee5 \u5728   OpenSCENARIO   Init   \u4e2d \u4f7f\u7528 \u3002 \u6b64\u5916 \uff0c OpenSCENARIO   \u6545\u4e8b \u4e2d \u4e5f \u4f7f\u7528 \u4e86 \u52a8\u4f5c \u3002 \u4e0b\u9762 \u5217\u51fa \u4e86 \u8fd9 \u4e24\u4e2a \u5e94\u7528 \u9886\u57df \u5e94\u7528\u9886\u57df \u7684 \u652f\u6301 \u72b6\u6001 \u3002 \u5982\u679c \u64cd\u4f5c \u5305\u542b \u672a \u5217\u51fa \u7684 \u5b50 \u6a21\u5757 \uff0c \u5219 \u652f\u6301 \u72b6\u6001 \u9002\u7528 \u4e8e \u6240\u6709 \u5b50 \u6a21\u5757 \u3002","title":"OpenSCENARIO   \u64cd\u4f5c"},{"location":"scenario_runner/openscenario_support/#globalaction","text":"GlobalAction   \u521d\u59cb \u521d\u59cb\u5316 \u652f\u6301   Story   support   \u7b14\u8bb0   EntityAction   \u2705   \u2705   EnvironmentAction   \u2705   \u274c   ParameterAction   \u2705   \u2705   InfrastructureAction   TrafficSignalAction   TrafficAction   \u274c   \u274c   InfrastructureAction   TrafficSignalAction   TrafficSignalControllerAction   \u274c   \u2705   InfrastructureAction   TrafficSignalAction   TrafficSignalStateAction   \u274c   \u2705   \u7531\u4e8e   CARLA   \u57ce\u9547 \u4e2d \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u6ca1\u6709 \u552f\u4e00   ID \uff0c \u56e0\u6b64 \u5fc5\u987b \u901a\u8fc7 \u63d0\u4f9b \u5176 \u4f4d\u7f6e \u6765 \u8bbe\u7f6e \u5b83\u4eec \uff08 \u793a\u4f8b \uff1a TrafficSignalStateAction   name = \" pos = x , y \"   state = \" green \" \uff09 \u3002 \u8be5   ID   \u4e5f \u53ef \u7528\u4e8e \u975e   CARLA   \u57ce\u9547 \uff08 \u793a\u4f8b \uff1a TrafficSignalStateAction   name = \" id = n \"   state = \" green \" \uff09","title":"GlobalAction"},{"location":"scenario_runner/openscenario_support/#_2","text":"\u7528\u6237 \u5b9a\u4e49 \u7684 \u52a8\u4f5c   \u521d\u59cb \u521d\u59cb\u5316 \u652f\u6301   Story   support   \u7b14\u8bb0   CustomCommandAction   \u274c   \u2705   \u6b64 \u64cd\u4f5c \u5f53\u524d \u7528\u4e8e \u89e6\u53d1 \u9644\u52a0 \u811a\u672c \u7684 \u6267\u884c \u3002 \u793a\u4f8b \uff1a type = \" python   / path / to / script   args \" \u3002","title":"\u7528\u6237 \u5b9a\u4e49 \u7684 \u52a8\u4f5c"},{"location":"scenario_runner/openscenario_support/#privateaction","text":"PrivateAction   \u521d\u59cb \u521d\u59cb\u5316 \u652f\u6301   Story   support   \u7b14\u8bb0   ActivateControllerAction   \u274c   \u2705   \u53ef \u7528\u4e8e \u6fc0\u6d3b / \u505c\u7528   CARLA   \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u3002   ControllerAction   \u2705   \u2705   \u652f\u6301 AssignControllerAction \uff0c \u4f46 \u5fc5\u987b \u4e3a \u63a7\u5236 \u63a7\u5236\u5668 \u5b9e\u73b0 \u63d0\u4f9b Python   \u6a21\u5757 \uff0c \u5e76\u4e14 \u5728 OverrideControllerValueAction   \u4e2d \u6240\u6709 \u503c \u90fd \u9700\u8981 \u4e3a   False   \u3002   LateralAction   LaneChangeAction   \u274c   \u2705   \u76ee\u524d \u6240\u6709 \u8f66\u9053 \u53d8\u5316 \u90fd \u6709 \u4e00\u4e2a \u7ebf\u6027 \u7684 dynamicShape \uff0c dynamicDimension \u88ab \u5b9a\u4e49 \u4e3a \u8ddd\u79bb \u5e76\u4e14 \u76f8\u5bf9 \u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u672c\u8eab \uff08 RelativeTargetLane \uff09 \u3002   LateralAction   LaneOffsetAction   \u274c   \u2705   \u76ee\u524d \uff0c \u6240\u6709 \u7c7b\u578b \u7684 \u52a8\u6001 \u5f62\u72b6 \u90fd \u88ab \u5ffd\u7565 \u5e76 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u63a7\u5236 \u63a7\u5236\u5668 \u3002 \u5982\u679c \u504f\u79fb \u504f\u79fb\u91cf \u8db3\u591f \u9ad8\u4ee5 \u4f7f \u8f66\u8f86 \u9000\u51fa \u8f66\u9053 \uff0c \u5219 \u6b64 \u64cd\u4f5c \u53ef\u80fd \u65e0\u6cd5 \u6309 \u9884\u671f \u5de5\u4f5c \u3002   LateralAction   LateralDistanceAction   \u2705   \u2705   LongitudinalAction   LongitudinalDistanceAction   \u274c   \u2705   \u4e0d \u652f\u6301   timeGap   \u5c5e\u6027   LongitudinalAction   SpeedAction   \u2705   \u2705   SynchronizeAction   \u274c   \u274c   TeleportAction   \u2705   \u2705   VisibilityAction   \u274c   \u274c   RoutingAction   AcquirePositionAction   \u274c   \u2705   RoutingAction   AssignRouteAction   \u274c   \u2705   \u652f\u6301 \u8def\u7ebf \u9009\u9879 \uff08 \u6700\u77ed / \u6700\u5feb / \u7b49 \uff09 \u3002 \u6700\u77ed \u8def\u5f84 \u8868\u793a   A   \u548c   B   \u4e4b\u95f4 \u7684 \u76f4\u63a5 \u8def\u5f84 \uff0c \u5176\u4ed6 \u6240\u6709 \u8def\u5f84 \u5c06 \u4f7f\u7528   A   \u548c   B   \u4e4b\u95f4 \u7684 \u8def\u7f51 \u4e2d \u7684 \u6700 \u77ed \u8def\u5f84 \u3002   RoutingAction   FollowTrajectoryAction   \u274c   \u2705   \u76ee\u524d \u4ec5 \u652f\u6301 \u6ca1\u6709 \u65f6\u95f4 \u7ea6\u675f \u7684 \u6298\u7ebf \uff0c \u8f68\u8ff9 \u8ddf\u968f \u6a21\u5f0f \u7531 \u63a7\u5236 \u63a7\u5236\u5668 \u51b3\u5b9a \u3002","title":"PrivateAction"},{"location":"scenario_runner/openscenario_support/#openscenario_4","text":"OpenSCENARIO   \u4e2d \u7684 \u6761\u4ef6 \u53ef\u4ee5 \u5b9a\u4e49 \u4e3a   ByEntityCondition   \u6216   ByValueCondition \u3002 \u4e24\u8005 \u5747 \u53ef \u7528\u4e8e   StartTrigger   \u548c   StopTrigger   \u6761\u4ef6 \u3002 \u4ee5\u4e0b \u4e24\u4e2a \u8868\u5217 \u5217\u51fa \u8868\u5217\u51fa \u4e86 \u6bcf\u4e2a \u8868 \u7684 \u652f\u6301 \u72b6\u6001 \u3002","title":"OpenSCENARIO   \u6761\u4ef6"},{"location":"scenario_runner/openscenario_support/#byentitycondition","text":"EntityCondition   \u652f\u6301   \u7b14\u8bb0   AccelerationCondition   \u2705   CollisionCondition   \u2705   DistanceCondition   \u2705   * freespace *   \u5c5e\u6027 \u4ecd\u7136 \u4e0d \u53d7 \u652f\u6301   EndOfRoadCondition   \u2705   OffroadCondition   \u2705   ReachPositionCondition   \u2705   RelativeDistanceCondition   \u2705   RelativeSpeedCondition   \u2705   SpeedCondition   \u2705   StandStillCondition   \u2705   TimeHeadwayCondition   \u2705   TimeToCollisionCondition   \u2705   TraveledDistanceCondition   \u2705","title":"ByEntityCondition"},{"location":"scenario_runner/openscenario_support/#byvaluecondition","text":"ValueCondition   \u652f\u6301   \u7b14\u8bb0   ParameterCondition   \u2705   \u652f\u6301 \u7ea7\u522b \u53d6\u51b3 \u53d6\u51b3\u4e8e \u53c2\u6570 \u3002 \u5982\u679c \u53ef\u80fd \u7684\u8bdd \uff0c \u5efa\u8bae \u4f7f\u7528 \u5176\u4ed6 \u6761\u4ef6 \u3002 \u53e6 \u8bf7 \u8003\u8651 \u4e0b\u9762 \u7684 \u6ce8\u91ca \u3002   SimulationTimeCondition   \u2705   StoryboardElementStateCondition   \u2705   \u76ee\u524d \u652f\u6301   startTransition \u3001 stopTransition \u3001 endTransition   \u548c completeState \u3002   TimeOfDayCondition   \u2705   TrafficSignalCondition   \u2705   \u7531\u4e8e   CARLA   \u57ce\u9547 \u4e2d \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u6ca1\u6709 \u552f\u4e00   ID \uff0c \u56e0\u6b64 \u5fc5\u987b \u901a\u8fc7 \u63d0\u4f9b \u5176 \u4f4d\u7f6e \u6765 \u8bbe\u7f6e \u5b83\u4eec \uff08 \u793a\u4f8b \uff1a TrafficSignalCondition   name = \" pos = x , y \"   state = \" green \" \uff09 \u3002 \u8be5   ID   \u4e5f \u53ef \u7528\u4e8e \u975e   CARLA   \u57ce\u9547 \uff08 \u793a\u4f8b \uff1a TrafficSignalCondition   name = \" id = n \"   state = \" green \" \uff09   TrafficSignalControllerCondition   \u2705   UserDefinedValueCondition   \u274c   \u6ce8\u610f   \u5728   OpenSCENARIO   1.0   \u6807\u51c6 \u4e2d \uff0c \u6ca1\u6709 \u5b9a\u4e49 \u6d4b\u8bd5 / \u8bc4\u4f30 \u6807\u51c6 \u7684 \u5b9a\u4e49 \u3002 \u4e3a\u6b64 \uff0c \u60a8 \u53ef\u4ee5 \u5c06   StopTrigger   \u6761\u4ef6 \u4e0e   CARLA   \u91cd\u590d \u4f7f\u7528 \u91cd\u590d\u4f7f\u7528 \u3002 \u901a\u8fc7 \u63d0\u4f9b \u6761\u4ef6 \u7684 \u6761\u4ef6 \u540d\u79f0 \uff0c \u901a\u8fc7   ParameterConditions   \u652f\u6301 \u8bc4\u4f30 \u6761\u4ef6 \u7684 \u4ee5\u4e0b   StopTrigger   \u6761\u4ef6 \uff1a   criteria _ RunningStopTest   criteria _ RunningRedLightTest   criteria _ WrongLaneTest   criteria _ OnSideWalkTest   criteria _ KeepLaneTest   criteria _ CollisionTest   criteria _ DrivenDistanceTest","title":"ByValueCondition"},{"location":"scenario_runner/openscenario_support/#openscenario-positions","text":"\u5728   OpenSCENARIO   \u4e2d \u5b9a\u4e49 \u4f4d\u7f6e \u7684 \u65b9\u6cd5 \u6709 \u591a\u79cd \u3002 \u4e0b\u9762 \u6211\u4eec \u5217\u51fa \u4e86 \u6bcf\u79cd \u5b9a\u4e49 \u683c\u5f0f \u7684 \u5f53\u524d \u652f\u6301 \u72b6\u6001 \u3002   \u4f4d\u7f6e   \u652f\u6301   \u7b14\u8bb0   LanePosition   \u2705   RelativeLanePosition   \u2705   RelativeObjectPosition   \u2705   RelativeRoadPosition   \u2705   RelativeWorldPosition   \u2705   RoadPosition   \u2705   RoutePosition   \u274c   WorldPosition   \u2705","title":"OpenSCENARIO   Positions"},{"location":"scenario_runner/ros_agent/","text":"\u57fa\u4e8e ROS \u7684 \u6311\u6218 \u4ee3\u7406   \u4e0e   ROS   \u7684   CARLA   \u63a5\u53e3 \u901a\u5e38 \u901a\u8fc7   CARLA   ROS   Bridge   \u5b8c\u6210 \u3002 \u5728 \u6311\u6218 \u6a21\u5f0f \u4e0b \uff0c \u6b64 \u6865\u63a5 \u529f\u80fd \u7531   RosAgent   \u63d0\u4f9b \u3002 \u5b83 \u5bf9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f7f\u7528 \u76f8\u540c \u7684 \u4e3b\u9898 \u548c \u6d88\u606f \u7c7b\u578b \uff0c \u4f46 \u4e0d \u53d1\u5e03   tf   \u8f6c\u6362 \u3002   \u8981\u6c42   roscore   \u9884\u8ba1 \u5c06 \u5728   docker   \u5bb9\u5668 \u4e2d \u8fd0\u884c \u3002 \u8bf7 \u8c03\u6574 \u60a8 \u7684 \u5165\u53e3 \u70b9 \u3002   \u8bbe\u7f6e   \u8981 \u5728 \u6311\u6218 \u6a21\u5f0f \u4e0b \u542f\u7528 \u5806\u6808 \uff0c \u9700\u8981 \u6267\u884c \u4ee5\u4e0b \u6b65\u9aa4 \uff1a   \u5b9a\u4e49 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e   \u5b9a\u4e49 \u542f\u52a8   \u5b9a\u4e49 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e   \u6d3e\u751f \u81ea RosAgent \u5e76 \u5b9e\u73b0 sensors ( ) \u65b9\u6cd5 \u3002   from   srunner . autoagents . ros _ agent   import   RosAgent   class   MyRosAgent ( RosAgent ) :   def   sensors ( self ) :   return   [   < sensor - definition >   ]   \u4f5c\u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5b9a\u4e49 \u7684 \u793a\u4f8b \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   HumanAgent . py   \u3002   \u5b9a\u4e49 \u542f\u52a8   \u5806\u6808 \u7684 \u542f\u52a8 \u662f \u5728   shell   \u811a\u672c   $ TEAM _ CODE _ ROOT / start . sh   \u5185 \u5b8c\u6210 \u7684 \u3002 \u56e0\u6b64   TEAM _ CODE _ ROOT   \u5fc5\u987b \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u3002   RosAgent   \u8d1f\u8d23 \u6267\u884c \u548c \u76d1\u63a7 \u3002 \u53ea\u8981 \u5806\u6808 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \uff0c \u811a\u672c \u5c31 \u5e94 \u4fdd\u6301 \u8fd0\u884c \u3002   start . sh   \u7684 \u793a\u4f8b   # ! / bin / bash   - e   roslaunch   $ TEAM _ CODE _ ROOT / challenge . launch   \u6d4b\u8bd5   \u4e00\u822c \u6765\u8bf4 \u4e00\u822c\u6765\u8bf4 \uff0c \u6311\u6218 \u6267\u884c \u662f \u65e0\u5934 \u7684 \u3002 \u4e3a\u4e86 \u8fdb\u884c \u8bca\u65ad \uff0c \u60a8 \u4ecd\u7136 \u53ef\u4ee5 \u4f7f\u7528   rviz   \u6216   rqt   \u7b49   ros   \u5de5\u5177 \u3002 \u6b64\u5916 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 carla _ ros _ bridge   \u4e2d \u7684   carla _ manual _ control   \u8fdb\u884c \u53ef\u89c6 \u53ef\u89c6\u5316 \uff08 \u5e76 \u63a7\u5236 \u8f66\u8f86 \uff09 \u3002","title":"\u57fa\u4e8e ROS \u7684 \u6311\u6218 \u4ee3\u7406"},{"location":"scenario_runner/ros_agent/#ros","text":"\u4e0e   ROS   \u7684   CARLA   \u63a5\u53e3 \u901a\u5e38 \u901a\u8fc7   CARLA   ROS   Bridge   \u5b8c\u6210 \u3002 \u5728 \u6311\u6218 \u6a21\u5f0f \u4e0b \uff0c \u6b64 \u6865\u63a5 \u529f\u80fd \u7531   RosAgent   \u63d0\u4f9b \u3002 \u5b83 \u5bf9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f7f\u7528 \u76f8\u540c \u7684 \u4e3b\u9898 \u548c \u6d88\u606f \u7c7b\u578b \uff0c \u4f46 \u4e0d \u53d1\u5e03   tf   \u8f6c\u6362 \u3002","title":"\u57fa\u4e8e ROS \u7684 \u6311\u6218 \u4ee3\u7406"},{"location":"scenario_runner/ros_agent/#_1","text":"roscore   \u9884\u8ba1 \u5c06 \u5728   docker   \u5bb9\u5668 \u4e2d \u8fd0\u884c \u3002 \u8bf7 \u8c03\u6574 \u60a8 \u7684 \u5165\u53e3 \u70b9 \u3002","title":"\u8981\u6c42"},{"location":"scenario_runner/ros_agent/#_2","text":"\u8981 \u5728 \u6311\u6218 \u6a21\u5f0f \u4e0b \u542f\u7528 \u5806\u6808 \uff0c \u9700\u8981 \u6267\u884c \u4ee5\u4e0b \u6b65\u9aa4 \uff1a   \u5b9a\u4e49 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e   \u5b9a\u4e49 \u542f\u52a8","title":"\u8bbe\u7f6e"},{"location":"scenario_runner/ros_agent/#_3","text":"\u6d3e\u751f \u81ea RosAgent \u5e76 \u5b9e\u73b0 sensors ( ) \u65b9\u6cd5 \u3002   from   srunner . autoagents . ros _ agent   import   RosAgent   class   MyRosAgent ( RosAgent ) :   def   sensors ( self ) :   return   [   < sensor - definition >   ]   \u4f5c\u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5b9a\u4e49 \u7684 \u793a\u4f8b \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   HumanAgent . py   \u3002","title":"\u5b9a\u4e49 \u4f20\u611f\u5668 \u8bbe\u7f6e"},{"location":"scenario_runner/ros_agent/#_4","text":"\u5806\u6808 \u7684 \u542f\u52a8 \u662f \u5728   shell   \u811a\u672c   $ TEAM _ CODE _ ROOT / start . sh   \u5185 \u5b8c\u6210 \u7684 \u3002 \u56e0\u6b64   TEAM _ CODE _ ROOT   \u5fc5\u987b \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u3002   RosAgent   \u8d1f\u8d23 \u6267\u884c \u548c \u76d1\u63a7 \u3002 \u53ea\u8981 \u5806\u6808 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \uff0c \u811a\u672c \u5c31 \u5e94 \u4fdd\u6301 \u8fd0\u884c \u3002   start . sh   \u7684 \u793a\u4f8b   # ! / bin / bash   - e   roslaunch   $ TEAM _ CODE _ ROOT / challenge . launch","title":"\u5b9a\u4e49 \u542f\u52a8"},{"location":"scenario_runner/ros_agent/#_5","text":"\u4e00\u822c \u6765\u8bf4 \u4e00\u822c\u6765\u8bf4 \uff0c \u6311\u6218 \u6267\u884c \u662f \u65e0\u5934 \u7684 \u3002 \u4e3a\u4e86 \u8fdb\u884c \u8bca\u65ad \uff0c \u60a8 \u4ecd\u7136 \u53ef\u4ee5 \u4f7f\u7528   rviz   \u6216   rqt   \u7b49   ros   \u5de5\u5177 \u3002 \u6b64\u5916 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 carla _ ros _ bridge   \u4e2d \u7684   carla _ manual _ control   \u8fdb\u884c \u53ef\u89c6 \u53ef\u89c6\u5316 \uff08 \u5e76 \u63a7\u5236 \u8f66\u8f86 \uff09 \u3002","title":"\u6d4b\u8bd5"},{"location":"software/pipeline/","text":"\u5f00\u53d1 \u7684 \u7ba1\u7ebf   \u8fdb\u884c \u573a\u666f \u4eff\u771f \u7684 \u5f00\u53d1 \u6d41\u7a0b \u3002   \u865a\u5e7b \u5f15\u64ce \u7684 OpenDRIVE   \u63d2\u4ef6","title":"\u5f00\u53d1 \u7684 \u7ba1\u7ebf"},{"location":"software/pipeline/#_1","text":"\u8fdb\u884c \u573a\u666f \u4eff\u771f \u7684 \u5f00\u53d1 \u6d41\u7a0b \u3002","title":"\u5f00\u53d1 \u7684 \u7ba1\u7ebf"},{"location":"software/pipeline/#opendrive","text":"","title":"\u865a\u5e7b \u5f15\u64ce \u7684 OpenDRIVE   \u63d2\u4ef6"},{"location":"tmp/%E5%9C%A8windows%E7%8E%AF%E5%A2%83%E4%B8%8Bcarla%E4%B8%8E%E7%BD%97%E6%8A%80G29%E6%96%B9%E5%90%91%E7%9B%98%E8%81%94%E8%B0%83%E6%96%B9%E6%B3%95/","text":"\u5728 windows \u73af\u5883 \u4e0b carla \u4e0e \u7f57\u6280 G29 \u65b9\u5411 \u65b9\u5411\u76d8 \u53cd\u9988 \u529b\u53cd\u9988 \u8054\u8c03 \u65b9\u6cd5   \u76ee\u524d \u7f51\u4e0a carla \u548c G29 \u7684 \u8054\u8c03 \u90fd \u662f \u5728 ubuntu \u73af\u5883 \u4e0b \u4f7f\u7528 jstest - gtk \u3001 ROS \u8fdb\u884c \u65b9\u5411 \u65b9\u5411\u76d8 \u63a7\u5236 \uff0c \u8be6\u60c5 \u53ef\u4ee5 \u53c2\u8003 \u535a\u6587   https : / / blog . csdn . net / qq _ 44237695 / article / details / 129103700   \u4f46 \u5728 windows \u73af\u5883 \u4e0b \u8054\u8c03 \u65b9\u6cd5 \u6ca1\u6709 \u641c\u7d22 \u5230 \uff0c \u81ea\u5df1 \u8d70 \u4e86 \u4e0d\u5c11 \u5f2f\u8def \uff0c \u5206\u4eab \u4e00\u4e0b \u3002   \u539f\u5148 \u7684 \u60f3\u6cd5 \u662f \u5728 windows \u73af\u5883 \u4e0b \u5b89\u88c5 ros2 \uff0c \u81ea\u5df1 \u901a\u8fc7 \u7f57\u6280 \u7684 sdk \u6765 \u66ff\u6362 jstest - gtk \uff0c \u91cd\u5199 ros2 \u8282\u70b9 \u6765 \u5b9e\u73b0 \u3002 \u7f57\u6280 g29sdk \u53ef \u53c2\u8003   https : / / blog . csdn . net / qq _ 41250354 / article / details / 104652071   \u4f46 \u7531\u4e8e C++ \u7684 g29   sdk \u5f3a\u5236 \u8981\u6c42 \u754c\u9762 \uff0c carla \u5728 \u63a7\u5236 \u65b9\u5411 \u65b9\u5411\u76d8 \u65f6 \u4e5f \u8981\u6c42 \u6307\u5b9a pygame \u754c\u9762 \uff0c \u6240\u4ee5 \u8fd9\u4e2a \u65b9\u6848 \u5835\u6b7b \u4e86 \u5f88 \u4e45 \u3002 \u65e0\u7edd \u7edd\u4eba \u4e4b\u8def \u5929\u65e0\u7edd\u4eba\u4e4b\u8def \uff0c \u5728 github \u4e0a \u627e\u5230 \u4e00\u4e2a \u5927\u795e \u5199 \u7684 G29python \u4ee3\u7801 \uff0c \u8fd9\u4e2a \u4ee3\u7801 \u7528 \u7684 C#   dll \u4fee\u6539 \uff0c \u521d\u59cb \u521d\u59cb\u5316 \u8fc7\u7a0b \u4e0d \u9700\u8981 \u754c\u9762 \u3002 \u540c\u65f6 \u7531\u4e8e \u662f python \u5199 \u7684 \uff0c \u53ef\u4ee5 \u7ed5\u5f00 ros2 \u8fd9\u4e2a \u8fc7\u7a0b \uff0c \u51cf\u5c11 \u975e\u5e38 \u591a \u7684 \u5b66\u4e60 \u91cf \u3002   github \u9875\u9762 \uff1a https : / / github . com / cengizozel / LogiDrivePy   \u5177\u4f53 \u8054\u8c03 \u8fc7\u7a0b \uff1a   \u73af\u5883 \uff1a   python3.7   carla0.9 . 14   \u7f57\u6280 G - hub \u9a71\u52a8   G29 \u65b9\u5411 \u65b9\u5411\u76d8   \u9996\u5148 \u53bb \u7f57\u6280 \u5b98\u7f51 \u5b89\u88c5 \u65b9\u5411 \u65b9\u5411\u76d8 \u542f\u52a8 \uff0c \u5b89\u88c5 \u597d\u540e \u9a71\u52a8 \u754c\u9762 \u663e\u793a \u754c\u9762\u663e\u793a G29 \u65b9\u5411 \u65b9\u5411\u76d8 \uff0c \u540c\u65f6 \u65b9\u5411 \u65b9\u5411\u76d8 \u8f6c\u52a8 \u81ea\u68c0 \u3002   python \u73af\u5883 \u4e2d \u5b89\u88c5 CARLA \u4e0e logidrivepy   pip   install   carla   pip   install   logidrivepy   \u8fd9\u91cc \u8981 \u521b\u5efa \u4e00\u4e2a ini \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3002   wheel _ config . ini   [ G29   Racing   Wheel ]   steering _ wheel   =   0   throttle   =   2   brake   =   3   reverse   =   5   handbrake   =   4   \u5176\u4e2d \u6570\u5b57 \u53ef\u80fd \u9700\u8981 \u81ea\u5df1 \u8bd5 \u8fd9\u91cc steering _ wheel \u8868\u793a \u65b9\u5411 \u65b9\u5411\u76d8 \u65b9\u5411 \u3001 throttle \u6cb9\u95e8 \u548c brake \u5239\u8f66 \u5df2\u7ecf \u662f \u6b63\u786e \u7684 \u8bbe\u7f6e \u4e86 \u3002 \u8981 \u4fdd\u8bc1 \u8fd9\u4e2a \u8bbe\u7f6e \u548c . py \u6587\u4ef6 \u5728 \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u76ee\u5f55 \u4e0b \u5426\u5219 \u4f1a \u62a5\u9519 \u3002   \u4e0b\u8f7d carla - API \u540e \uff0c \u8fd0\u884c carla \u5ba2\u6237 \u5ba2\u6237\u7aef   \u968f\u540e \u8fd0\u884c PythonAPI / examples / manual _ control _ steeringwheel . py \u6587\u4ef6   \u6b64\u65f6 \u5373\u53ef \u5f00\u542f \u8f66\u8f86 \u3002   carla - g29 \u81ea\u52a8 \u9a7e\u9a76 \u53cd\u9988 \u529b\u53cd\u9988   \u53e6\u542f \u4e00\u4e2a \u6587\u4ef6 \uff0c \u590d\u5236 \u4ee5\u4e0b \u4ee3\u7801   import   sys   import   carla   sys . path . append ( ' .. / logidrivepy ' )   from   logidrivepy   import   LogitechController   import   time   class   SimpleController :   def   __ init __ ( self ,   k ) :   #   k   \u662f \u6bd4\u4f8b \u589e\u76ca \uff0c \u7528\u4e8e \u8c03\u6574 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u54cd\u5e94 \u901f\u5ea6 \u54cd\u5e94\u901f\u5ea6   self . k   =   k   def   control ( self ,   aim ,   now ) :   #   \u8ba1\u7b97 \u4f4d\u7f6e \u5dee\u503c   error   =   now   -   aim   #   \u8ba1\u7b97 \u8f93\u51fa \u529b   force   =   self . k   *   error   return   force   class   ForceFeedback :   def   __ init __ ( self ) :   self . position   =   None   self . torque   =   None   class   Node ( ) :   def   __ init __ ( self ,   client ) :   self . client   =   client   self . world   =   client . get _ world ( )   self . actor   =   self . get _ hero ( )   def   get _ hero ( self ) :   for   actor   in   self . world . get _ actors ( ) :   if   actor . attributes . get ( \" role _ name \" )   in   [ \" hero \" ,   \" ego _ vehicle \" ] :   return   actor   def   timer _ cb ( self ) :   out _ msg   =   ForceFeedback ( )   steering _ angle   =   self . actor . get _ control ( ) . steer   out _ msg . position   =   steering _ angle   out _ msg . torque   =   0.8   def   get _ position ( self ) :   steering _ angle   =   self . actor . get _ control ( ) . steer   position   =   steering _ angle   return   position   def   main ( args = None ) :   controller   =   LogitechController ( )   controller . steering _ initialize ( )   print ( \" \\ n --- Logitech   Spin   Test --- \" )   client   =   carla . Client ( \" 127.0 . 0.1 \" ,   2000 )   client . set _ timeout ( 2.0 )   carla _ car   =   Node ( client )   #   \u521b\u5efa \u4e00\u4e2a PID \u63a7\u5236 \u63a7\u5236\u5668   sc   =   SimpleController ( k = 1 )   #   \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u4e2d \uff0c \u66f4\u65b0 \u63a7\u5236 \u63a7\u5236\u5668 \u5e76 \u4f7f\u7528 \u65b0 \u7684 \u529b   while   True :   aim   =   carla _ car . get _ position ( )   *   150   now   =   ( controller . LogiGetStateENGINES ( 0 ) . contents . lX )   /   327.50   if   ( abs ( aim ) < 1 ) :   controller . LogiPlaySoftstopForce ( 0 , 0 )   controller . logi _ update ( )   time . sleep ( 0.1 )   controller . LogiStopSoftstopForce ( 0 )   controller . logi _ update ( )   print ( \" Target :   { } ,   Current   State :   { } \" . format ( aim ,   now ) )   else :   force   =   sc . control ( now ,   aim )   controller . LogiPlayConstantForce ( 0 ,   - int ( force ) * 2 )   controller . logi _ update ( )   print ( \" Force :   { } ,   Target :   { } ,   Current   State :   { } \" . format ( force ,   aim ,   now ) )   time . sleep ( 0.1 )   controller . steering _ shutdown ( )   if   __ name __   = =   \" __ main __ \" :   main ( )   \u5728 pygame \u754c\u9762 \u952e\u76d8 P \u5f00\u542f \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u6b64\u65f6 \u65b9\u5411 \u65b9\u5411\u76d8 \u4f1a \u968f\u7740 \u8f66\u8f86 \u81ea\u884c \u8f6c\u52a8 \u3002   \u8fd9\u4e2a \u4ee3\u7801 \u662f \u6d4b\u8bd5 \u7528 \u7684 \u6548\u679c \u4e0d\u592a\u597d \uff0c \u6709 \u66f4\u597d \u6548\u679c \u9700\u6c42 \u5f97\u6362 \u66f4\u597d \u7684 \u63a7\u5236 \u4ee3\u7801 \u63a7\u5236\u4ee3\u7801 \u4e86 \u3002","title":"\u5728 windows \u73af\u5883 \u4e0b carla \u4e0e \u7f57\u6280 G29 \u65b9\u5411\u76d8 \u529b\u53cd\u9988 \u8054\u8c03 \u65b9\u6cd5"},{"location":"tmp/%E5%9C%A8windows%E7%8E%AF%E5%A2%83%E4%B8%8Bcarla%E4%B8%8E%E7%BD%97%E6%8A%80G29%E6%96%B9%E5%90%91%E7%9B%98%E8%81%94%E8%B0%83%E6%96%B9%E6%B3%95/#windowscarlag29","text":"\u76ee\u524d \u7f51\u4e0a carla \u548c G29 \u7684 \u8054\u8c03 \u90fd \u662f \u5728 ubuntu \u73af\u5883 \u4e0b \u4f7f\u7528 jstest - gtk \u3001 ROS \u8fdb\u884c \u65b9\u5411 \u65b9\u5411\u76d8 \u63a7\u5236 \uff0c \u8be6\u60c5 \u53ef\u4ee5 \u53c2\u8003 \u535a\u6587   https : / / blog . csdn . net / qq _ 44237695 / article / details / 129103700   \u4f46 \u5728 windows \u73af\u5883 \u4e0b \u8054\u8c03 \u65b9\u6cd5 \u6ca1\u6709 \u641c\u7d22 \u5230 \uff0c \u81ea\u5df1 \u8d70 \u4e86 \u4e0d\u5c11 \u5f2f\u8def \uff0c \u5206\u4eab \u4e00\u4e0b \u3002   \u539f\u5148 \u7684 \u60f3\u6cd5 \u662f \u5728 windows \u73af\u5883 \u4e0b \u5b89\u88c5 ros2 \uff0c \u81ea\u5df1 \u901a\u8fc7 \u7f57\u6280 \u7684 sdk \u6765 \u66ff\u6362 jstest - gtk \uff0c \u91cd\u5199 ros2 \u8282\u70b9 \u6765 \u5b9e\u73b0 \u3002 \u7f57\u6280 g29sdk \u53ef \u53c2\u8003   https : / / blog . csdn . net / qq _ 41250354 / article / details / 104652071   \u4f46 \u7531\u4e8e C++ \u7684 g29   sdk \u5f3a\u5236 \u8981\u6c42 \u754c\u9762 \uff0c carla \u5728 \u63a7\u5236 \u65b9\u5411 \u65b9\u5411\u76d8 \u65f6 \u4e5f \u8981\u6c42 \u6307\u5b9a pygame \u754c\u9762 \uff0c \u6240\u4ee5 \u8fd9\u4e2a \u65b9\u6848 \u5835\u6b7b \u4e86 \u5f88 \u4e45 \u3002 \u65e0\u7edd \u7edd\u4eba \u4e4b\u8def \u5929\u65e0\u7edd\u4eba\u4e4b\u8def \uff0c \u5728 github \u4e0a \u627e\u5230 \u4e00\u4e2a \u5927\u795e \u5199 \u7684 G29python \u4ee3\u7801 \uff0c \u8fd9\u4e2a \u4ee3\u7801 \u7528 \u7684 C#   dll \u4fee\u6539 \uff0c \u521d\u59cb \u521d\u59cb\u5316 \u8fc7\u7a0b \u4e0d \u9700\u8981 \u754c\u9762 \u3002 \u540c\u65f6 \u7531\u4e8e \u662f python \u5199 \u7684 \uff0c \u53ef\u4ee5 \u7ed5\u5f00 ros2 \u8fd9\u4e2a \u8fc7\u7a0b \uff0c \u51cf\u5c11 \u975e\u5e38 \u591a \u7684 \u5b66\u4e60 \u91cf \u3002   github \u9875\u9762 \uff1a https : / / github . com / cengizozel / LogiDrivePy   \u5177\u4f53 \u8054\u8c03 \u8fc7\u7a0b \uff1a   \u73af\u5883 \uff1a   python3.7   carla0.9 . 14   \u7f57\u6280 G - hub \u9a71\u52a8   G29 \u65b9\u5411 \u65b9\u5411\u76d8   \u9996\u5148 \u53bb \u7f57\u6280 \u5b98\u7f51 \u5b89\u88c5 \u65b9\u5411 \u65b9\u5411\u76d8 \u542f\u52a8 \uff0c \u5b89\u88c5 \u597d\u540e \u9a71\u52a8 \u754c\u9762 \u663e\u793a \u754c\u9762\u663e\u793a G29 \u65b9\u5411 \u65b9\u5411\u76d8 \uff0c \u540c\u65f6 \u65b9\u5411 \u65b9\u5411\u76d8 \u8f6c\u52a8 \u81ea\u68c0 \u3002   python \u73af\u5883 \u4e2d \u5b89\u88c5 CARLA \u4e0e logidrivepy   pip   install   carla   pip   install   logidrivepy   \u8fd9\u91cc \u8981 \u521b\u5efa \u4e00\u4e2a ini \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3002   wheel _ config . ini   [ G29   Racing   Wheel ]   steering _ wheel   =   0   throttle   =   2   brake   =   3   reverse   =   5   handbrake   =   4   \u5176\u4e2d \u6570\u5b57 \u53ef\u80fd \u9700\u8981 \u81ea\u5df1 \u8bd5 \u8fd9\u91cc steering _ wheel \u8868\u793a \u65b9\u5411 \u65b9\u5411\u76d8 \u65b9\u5411 \u3001 throttle \u6cb9\u95e8 \u548c brake \u5239\u8f66 \u5df2\u7ecf \u662f \u6b63\u786e \u7684 \u8bbe\u7f6e \u4e86 \u3002 \u8981 \u4fdd\u8bc1 \u8fd9\u4e2a \u8bbe\u7f6e \u548c . py \u6587\u4ef6 \u5728 \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u76ee\u5f55 \u4e0b \u5426\u5219 \u4f1a \u62a5\u9519 \u3002   \u4e0b\u8f7d carla - API \u540e \uff0c \u8fd0\u884c carla \u5ba2\u6237 \u5ba2\u6237\u7aef   \u968f\u540e \u8fd0\u884c PythonAPI / examples / manual _ control _ steeringwheel . py \u6587\u4ef6   \u6b64\u65f6 \u5373\u53ef \u5f00\u542f \u8f66\u8f86 \u3002","title":"\u5728 windows \u73af\u5883 \u4e0b carla \u4e0e \u7f57\u6280 G29 \u65b9\u5411\u76d8 \u529b\u53cd\u9988 \u8054\u8c03 \u65b9\u6cd5"},{"location":"tmp/%E5%9C%A8windows%E7%8E%AF%E5%A2%83%E4%B8%8Bcarla%E4%B8%8E%E7%BD%97%E6%8A%80G29%E6%96%B9%E5%90%91%E7%9B%98%E8%81%94%E8%B0%83%E6%96%B9%E6%B3%95/#carla-g29","text":"\u53e6\u542f \u4e00\u4e2a \u6587\u4ef6 \uff0c \u590d\u5236 \u4ee5\u4e0b \u4ee3\u7801   import   sys   import   carla   sys . path . append ( ' .. / logidrivepy ' )   from   logidrivepy   import   LogitechController   import   time   class   SimpleController :   def   __ init __ ( self ,   k ) :   #   k   \u662f \u6bd4\u4f8b \u589e\u76ca \uff0c \u7528\u4e8e \u8c03\u6574 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u54cd\u5e94 \u901f\u5ea6 \u54cd\u5e94\u901f\u5ea6   self . k   =   k   def   control ( self ,   aim ,   now ) :   #   \u8ba1\u7b97 \u4f4d\u7f6e \u5dee\u503c   error   =   now   -   aim   #   \u8ba1\u7b97 \u8f93\u51fa \u529b   force   =   self . k   *   error   return   force   class   ForceFeedback :   def   __ init __ ( self ) :   self . position   =   None   self . torque   =   None   class   Node ( ) :   def   __ init __ ( self ,   client ) :   self . client   =   client   self . world   =   client . get _ world ( )   self . actor   =   self . get _ hero ( )   def   get _ hero ( self ) :   for   actor   in   self . world . get _ actors ( ) :   if   actor . attributes . get ( \" role _ name \" )   in   [ \" hero \" ,   \" ego _ vehicle \" ] :   return   actor   def   timer _ cb ( self ) :   out _ msg   =   ForceFeedback ( )   steering _ angle   =   self . actor . get _ control ( ) . steer   out _ msg . position   =   steering _ angle   out _ msg . torque   =   0.8   def   get _ position ( self ) :   steering _ angle   =   self . actor . get _ control ( ) . steer   position   =   steering _ angle   return   position   def   main ( args = None ) :   controller   =   LogitechController ( )   controller . steering _ initialize ( )   print ( \" \\ n --- Logitech   Spin   Test --- \" )   client   =   carla . Client ( \" 127.0 . 0.1 \" ,   2000 )   client . set _ timeout ( 2.0 )   carla _ car   =   Node ( client )   #   \u521b\u5efa \u4e00\u4e2a PID \u63a7\u5236 \u63a7\u5236\u5668   sc   =   SimpleController ( k = 1 )   #   \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u4e2d \uff0c \u66f4\u65b0 \u63a7\u5236 \u63a7\u5236\u5668 \u5e76 \u4f7f\u7528 \u65b0 \u7684 \u529b   while   True :   aim   =   carla _ car . get _ position ( )   *   150   now   =   ( controller . LogiGetStateENGINES ( 0 ) . contents . lX )   /   327.50   if   ( abs ( aim ) < 1 ) :   controller . LogiPlaySoftstopForce ( 0 , 0 )   controller . logi _ update ( )   time . sleep ( 0.1 )   controller . LogiStopSoftstopForce ( 0 )   controller . logi _ update ( )   print ( \" Target :   { } ,   Current   State :   { } \" . format ( aim ,   now ) )   else :   force   =   sc . control ( now ,   aim )   controller . LogiPlayConstantForce ( 0 ,   - int ( force ) * 2 )   controller . logi _ update ( )   print ( \" Force :   { } ,   Target :   { } ,   Current   State :   { } \" . format ( force ,   aim ,   now ) )   time . sleep ( 0.1 )   controller . steering _ shutdown ( )   if   __ name __   = =   \" __ main __ \" :   main ( )   \u5728 pygame \u754c\u9762 \u952e\u76d8 P \u5f00\u542f \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u6b64\u65f6 \u65b9\u5411 \u65b9\u5411\u76d8 \u4f1a \u968f\u7740 \u8f66\u8f86 \u81ea\u884c \u8f6c\u52a8 \u3002   \u8fd9\u4e2a \u4ee3\u7801 \u662f \u6d4b\u8bd5 \u7528 \u7684 \u6548\u679c \u4e0d\u592a\u597d \uff0c \u6709 \u66f4\u597d \u6548\u679c \u9700\u6c42 \u5f97\u6362 \u66f4\u597d \u7684 \u63a7\u5236 \u4ee3\u7801 \u63a7\u5236\u4ee3\u7801 \u4e86 \u3002","title":"carla - g29 \u81ea\u52a8 \u9a7e\u9a76 \u529b\u53cd\u9988"},{"location":"walker/cloning_DCB/","text":"\u5173\u4e8e \u6570\u636e \u83b7\u53d6 \u670d\u52a1 \u5408\u540c \u5fc5\u8981 \u5fc5\u8981\u6027 \u7684 \u4fe1\u606f   \u4ecb\u7ecd   2021 \u5e74 \uff0c \u57fa\u4e8e \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8ba4\u77e5 \u884c\u4e3a \u514b\u9686 \uff08 \u514b\u9686 DCB \uff09 \u7684 \u751f\u6001 \u4ea4\u901a \u548c \u6570\u5b57 \u4ea4\u901a \u9879\u76ee \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u9879\u76ee \u63d0\u4f9b \u8d44\u91d1 \u3002 \u5728 \u8fd9\u4e2a \u9879\u76ee \u4e2d \uff0c \u6211\u4eec \u6df1\u5165 \u7814\u7a76 \u6df1\u5165\u7814\u7a76 \u4e86 \u7aef \u5230 \u7aef\u7684 \u6a21\u5f0f \uff0c \u5c06 \u4eba\u7c7b \u884c\u4e3a \u6a21\u5f0f \u4f5c\u4e3a \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u8be5\u9879 \u76ee\u7684 \u4e00\u4e2a \u91cd\u8981 \u65b9\u9762 \u662f \u91cd\u65b0 \u6536\u96c6 \u4eba\u529b \u8d44\u672c \u4eba\u529b\u8d44\u672c \uff0c \u4ee5 \u5b9e\u73b0 \u5bf9 \u4eba\u529b \u8d44\u672c \u4eba\u529b\u8d44\u672c \u7684 \u6700\u5927 \u63a7\u5236 \u3002 \u4e00\u4e2a \u9ad8\u7ea7 \u63a7\u5236 \u63a7\u5236\u5668 \u8d1f\u8d23 \u63a7\u5236 Carla \u6a21\u62df \u6a21\u62df\u5668 \u4e0a \u7684 \u6570\u636e \u8bb0\u5f55 \u548c \u5b9e\u9a8c \u7684 \u7535\u8def \u548c \u901f\u5ea6 \u3002   CARLA \u5141\u8bb8 \u5b9a\u4e49 \u8f68\u9053 \u4ea4\u901a \u8f68\u9053\u4ea4\u901a \uff08 \u4ea4\u901a \u3001 \u5929\u6c14 \u3001 \u6c14\u8c61 \u7b49 \uff09 \u7684 \u5404\u79cd \u60c5\u51b5 \uff0c \u5e76 \u83b7\u5f97 \u5bfc\u4f53 \u3001 \u8f66\u8f86 \u901f\u5ea6 \u3001 \u7535\u538b \u7b49 \u8fdc\u666f \u8bbe\u8ba1 \u7684 \u6570\u636e \u3002 \u4e0e \u5bfc\u4f53 \u76f8\u5173 \u7684 \u6570\u636e \u53ef\u4ee5 \u611f\u77e5 \u7269\u7406 \uff0c \u5728 \u8bb0\u5f55 \u6570\u636e \u7684 \u65f6\u95f4 \u65f6\u95f4\u6bb5 \u5185 \u6a21\u62df \u8f68\u9053 \u4ea4\u901a \u8f68\u9053\u4ea4\u901a \u3002   \u4e8b\u5b9e \u4e8b\u5b9e\u4e0a \uff0c \u8fd9\u4e9b \u884c\u4e3a \u5728 \u865a\u62df \u9884\u6d4b \u548c \u63a7\u5236 \u53d8\u91cf \u63a7\u5236\u53d8 \u63a7\u5236\u53d8\u91cf \u7684 \u4f7f\u7528 \u573a\u666f \u4e2d\u8d77 \u7740 \u91cd\u8981 \u4f5c\u7528 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\u6b63\u5982 \u6211\u4eec \u5df2\u7ecf \u63d0\u5230 \u7684 \uff0c \u5728 \u8fd9\u4e2a \u9879\u76ee \u4e2d \uff0c \u9a7e\u9a76 \u4ec5\u9650 \u9650\u4e8e \u4ec5\u9650\u4e8e   CARLA   \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u6a21\u62df \u9a7e\u9a76 \u6570\u636e \u5fc5\u987b \u7531 \u5916\u90e8 \u5b9e\u4f53 \u63d0\u4f9b \uff0c \u5982   Cloning - DCB   \u9879\u76ee \u6280\u672f \u62a5\u544a   WP1   \u4efb\u52a1   3   \u4e2d \u6240 \u6307\u5b9a \u3002   \u63d0\u4f9b \u670d\u52a1 \u7684 \u5916\u90e8 \u5b9e\u4f53 \u7684 \u4e3b\u8981 \u4efb\u52a1 \u5305\u62ec \uff1a   \u6839\u636e   CVC   \u5efa\u7acb \u7684 \u53c2\u6570 \u8fdb\u884c \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u7684 \u9009\u62e9   \u6839\u636e CVC \u5236\u5b9a \u7684 \u89c4\u8303 \u63d0\u4f9b \u6240 \u9700 \u7684 \u6570\u636e \uff08 \u56fe\u50cf \u3001 \u6ce8\u610f \u6ce8\u610f\u529b \u5730\u56fe \u3001 \u8f66\u8f86 \u91cc\u7a0b \u3001 \u7535\u56fe \u8111\u7535\u56fe \u7b49 \uff09 \u3002   \u63d0\u4f9b \u6570\u636e \u63d0\u4f9b\u6570\u636e \u6536\u96c6 \u6240 \u9700 \u7684 \u57fa\u7840 \u8bbe\u65bd \u57fa\u7840\u8bbe\u65bd \u548c \u4eba\u5458 \u3002   \u8d1f\u8d23 \u9075\u5b88   LOPD   \u5173\u4e8e \u5019\u9009 \u9009\u4eba \u5019\u9009\u4eba \u6570\u636e \u7684 \u89c4\u5b9a \uff0c \u53ca\u65f6 \u901a\u77e5 \u4ed6\u4eec \u5e76 \u5f81\u5f97 \u4ed6\u4eec \u7684 \u540c\u610f \u3002   \u9274\u4e8e \u673a\u5668 \u5b66\u4e60 \u9879\u76ee \u4e2d \u6570\u636e \u7684 \u5173\u952e \u6027\u8d28 \uff0c \u8d1f\u8d23 \u63d0\u4f9b \u6b64 \u670d\u52a1 \u7684 \u5b9e\u4f53 \u4e0d\u80fd \u8f7b\u6613 \u9009\u62e9 \uff0c \u5e76\u4e14 \u5fc5\u987b \u6ee1\u8db3 \u67d0\u4e9b \u8981\u6c42 \u3002 \u8fd9\u4e9b \u8981\u6c42 \u7684 \u80cc\u666f \u3001 \u5b9a\u4e49 \u548c \u7406\u7531 \u662f \u672c \u6587\u4ef6 \u7684 \u76ee\u7684 \u3002   \u5148\u524d \u7684 \u8003\u8651 \u56e0\u7d20   CVC \u662f \u4e16\u754c \u77e5\u540d \u7684 \u7814\u7a76 \u4e2d\u5fc3 \uff0c \u62e5\u6709 \u8d85\u8fc7 27 \u5e74 \u7684 \u7ecf\u9a8c \uff0c 20 \u591a\u5e74 \u6765 \u662f \u552f\u4e00 \u7684 \u56fd\u5bb6 \u56fd\u5bb6\u7ea7 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u7814\u7a76 \u4e2d\u5fc3 \u3002 \u4ed6 \u7684 \u7814\u7a76 \u5de5\u4f5c \u53ca\u5176 \u5353\u8d8a \u8868\u73b0 \u5728 \u4ed6 \u7684 \u51fa\u7248 \u51fa\u7248\u7269 \u4e2d \u663e\u800c \u6613\u89c1 \u663e\u800c\u6613\u89c1 \u3002 \u6839\u636e   CSIC   2023   \u5e74 \u7684 \u6392\u540d \uff0c \u5176 \u7814\u7a76 \u4eba\u5458 \u5e73\u5747 \u6bcf\u5e74 \u6709 100 \u540d \uff0c \u5176\u4e2d \u6709 4 \u540d \u7814\u7a76 \u4eba\u5458 \u8dfb\u8eab \u56fd\u5185 \u548c \u6d77\u5916 \u897f\u73ed\u7259 \u897f\u73ed\u7259\u4eba 2 , 000 \u540d \u6700 \u6709 \u5f71\u54cd \u5f71\u54cd\u529b \u7684 \u7814\u7a76 \u4eba\u5458 \u4e4b \u5217 \uff0c \u8be5 \u6392\u540d \u57fa\u4e8e \u8c37\u6b4c \u7684 H \u7d22\u5f15 \u5b66\u8005 \u5e76 \u8003\u8651 \u5230 \u6240\u6709 \u79d1\u5b66 \u5b66\u79d1 \u3002   \u4e3a\u4e86 \u786e\u4fdd \u8fd9\u79cd \u5353\u8d8a \u5353\u8d8a\u6027 \uff0c CVC   \u8981\u6c42 \u4e0e\u5176 \u5efa\u7acb \u5408\u540c \u5173\u7cfb \u7684 \u5b9e\u4f53 \u5bf9 \u7814\u7a76 \u548c \u4f20\u64ad \u5de5\u4f5c \u505a\u51fa \u540c\u7b49 \u7a0b\u5ea6 \u7684 \u627f\u8bfa \u3002 \u8981\u6c42 \u6b64 \u627f\u8bfa \u7684 \u65b9\u5f0f \u662f \u9075\u5b88 \u4e0b \u4e00\u8282 \u4e2d \u8be6\u8ff0 \u7684 \u8981\u6c42 \u3002   \u8981\u6c42   \u9884\u8ba1 \u5728 \u6570\u636e \u6536\u96c6 \u670d\u52a1 \u7684 \u6267\u884c \u8fc7\u7a0b \u4e2d \uff0c CVC   \u548c \u63d0\u4f9b \u5b9e\u4f53 \u4e4b\u95f4 \u5c06 \u8fdb\u884c \u6709\u529b \u5f3a\u6709\u529b \u7684 \u4ea4\u4e92 \uff0c \u4ee5 \u5f00\u53d1 \u548c \u9a8c\u8bc1 \u89c4\u8303 \u548c \u9a7e\u9a76 \u573a\u666f \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u4f9b\u5e94 \u4f9b\u5e94\u5546 \u5b9e\u4f53 \u5fc5\u987b \u6ee1\u8db3 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u8981\u6c42 \uff0c \u5206\u4e3a \uff1a   \u6280\u672f \u8981\u6c42   \u529f\u80fd \u8981\u6c42   \u5236\u5b9a \u6280\u672f \u8981\u6c42 \u662f \u4e3a\u4e86 \u4fdd\u8bc1 \u670d\u52a1 \u63d0\u4f9b \u5b9e\u4f53 \u62e5\u6709 \u5fc5\u8981 \u7684 \u8d44\u6e90 \uff0c \u5305\u62ec \u6750\u6599 \u548c \u5408\u683c \u7684 \u4eba\u5458 \u3002 \u5b83\u4eec \u7684 \u5efa\u7acb \u4e5f \u662f \u4e3a\u4e86 \u201c \u517c\u5bb9 \u201d CVC   \u548c \u63d0\u4f9b \u63d0\u4f9b\u5546 \u5b9e\u4f53 \u7684 \u5de5\u4f5c \u73af\u5883 \u3002   \u5efa\u7acb \u529f\u80fd \u8981\u6c42 \u662f \u4e3a\u4e86 \u4fc3\u8fdb   CVC   \u548c \u63d0\u4f9b \u5b9e\u4f53 \u4e4b\u95f4 \u7684 \u534f\u4f5c \u548c \u4ea4\u4e92 \uff0c \u8003\u8651 \u4e24\u8005 \u4e4b\u95f4 \u4e24\u8005\u4e4b\u95f4 \u7684 \u4ea4\u4e92 \u4ee5\u53ca \u5de5\u4f5c \u7406\u5ff5 \u7684 \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u3002   \u8bc4\u4f30 \u6807\u51c6 \u7528\u4e8e \u5728 \u7b26\u5408 \u8981\u6c42 \u7b26\u5408\u8981\u6c42 \u7684 \u5b9e\u4f53 \u4e2d \u5efa\u7acb \u6392\u540d \uff0c \u4ee5 \u9009\u62e9 \u5019\u9009 \u9009\u4eba \u5019\u9009\u4eba \u3002   \u6280\u672f \u8981\u6c42   \u62e5\u6709 \u4e00\u4e2a \u7269\u7406 \u6a21\u62df \u6c7d\u8f66 \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u7684 \u201c \u9a7e\u9a76 \u9a7e\u9a76\u8231 \u201d \u3002 \u5728 \u8fd9\u4e2a \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u4e2d \uff0c \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u5fc5\u987b \u80fd\u591f \u5728 \u6a21\u62df \u7684   3D   \u52a8\u6001 \u73af\u5883 \u4e2d \u9a7e\u9a76 \u3002 \u4e58\u5ba2 \u8231 \u5fc5\u987b \u5b89\u88c5 \u5728 \u79fb\u52a8 \u5e73\u53f0 \u4e0a \uff0c \u4e0e \u663e\u793a \u663e\u793a\u5668 \u540c\u6b65 \uff0c \u6a21\u62df \u771f\u5b9e \u8f66\u8f86 \u7684 \u8fd0\u52a8 \u4f53\u9a8c \uff08 \u52a0\u901f \u3001 \u5236\u52a8 \u3001 \u8f6c\u5f2f \u3001 \u4e8b\u6545 \u548c \u5730\u5f62 \u89c4\u5219 \u4e0d\u89c4\u5219 \uff09 \uff0c \u4ee5 \u54cd\u5e94 \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6267\u884c \u7684 \u64cd\u4f5c \u3002   \u4f7f\u7528 \u7684 \u4eff\u771f \u8f6f\u4ef6 \u5fc5\u987b \u662f   CARLA \uff0c \u7248\u672c   0.9 . 14   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002   \u6a21\u62df \u6a21\u62df\u5668 \u5fc5\u987b \u7269\u7406 \u663e\u793a \u81f3\u5c11 120 \u00ba \u7684 \u6c34\u5e73 \u89c6\u91ce \uff08 HFOV \uff09 \uff0c \u5206\u5e03 \u5728 \u591a\u4e2a \u5c4f\u5e55 \u4e0a \uff0c \u6a21\u62df \u771f\u5b9e \u8f66\u8f86 \u7684 \u9a7e\u9a76 \u4f53\u9a8c \u3002   \u6a21\u62df \u6a21\u62df\u5668 \u8fd8 \u5fc5\u987b \u663e\u793a \u4e24\u4e2a \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e \u5916\u90e8 \u540e\u89c6 \u540e\u89c6\u955c \u7684 \u89c6\u56fe \uff08 \u5728 \u65c5\u6e38 \u6e38\u4e1a \u65c5\u6e38\u4e1a \u4e2d\u662f \u5f3a\u5236 \u5f3a\u5236\u6027 \u7684 \uff09 \u3002   \u4e0e \u6a21\u62df \u6a21\u62df\u5668 \u7684 \u9a7e\u9a76 \u4f1a\u8bae \u5fc5\u987b \u7528   Carla   \u7684 \u201c \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u201d \u5f55\u5236 \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u79bb\u7ebf \u64ad\u653e \uff0c \u4ee5 \u63d0\u53d6 \u7531\u4e8e \u8ba1\u7b97 \u65f6\u95f4 \u95ee\u9898 \u800c \u65e0\u6cd5 \u5728 \u73b0\u573a \u83b7\u5f97 \u7684 \u4fe1\u606f \u3002   \u62e5\u6709 \u91c7\u6837 \u9891\u7387 \u81f3\u5c11 \u4e3a   50Hz   \u7684 \u773c\u52a8 \u8ffd\u8e2a \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c \u4e3a \u6bcf\u4e2a \u6837\u672c \u63d0\u4f9b \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u89c6\u89d2 \u7684 \u56fe\u50cf \u4ee5\u53ca \u76f8\u5bf9 \u4e8e \u8be5 \u56fe\u50cf \u7684 \u5750\u6807 \uff0c \u6307\u793a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6240 \u6ce8\u89c6 \u7684 \u56fe\u50cf \u533a\u57df \u3002 \u77b3\u5b54 \u6269\u5f20 \u7684 \u6d4b\u91cf \u3002   \u529f\u80fd \u8981\u6c42   CARLA   \u4e2d\u8981 \u8003\u8651 \u7684 \u573a\u666f \u5c06 \u7531   CVC   \u63d0\u4f9b \u6216\u7ecf \u5176 \u6279\u51c6 \u3002   \u8981 \u8003\u8651 \u7684 \u4eba\u7c7b \u53f8\u673a \u7684 \u6982\u51b5 \u5c06 \u4e0e CVC \u8fbe\u6210 \u4e00\u81f4 \u3002   \u5bf9\u4e8e CVC \uff0c \u670d\u52a1 \u4e0d\u4f1a \u201c \u95ed\u95e8 \u201d \u63d0\u4f9b \uff0c CVC \u5de5\u4f5c \u4f5c\u4eba \u4eba\u5458 \u5de5\u4f5c\u4eba\u5458 \u53ef\u80fd \u4f1a \u5728 \u63d0\u4f9b \u670d\u52a1 \u671f\u95f4 \u5728\u573a \uff08 \u5982\u679c CVC \u8ba4\u4e3a \u6709 \u5fc5\u8981 \uff09 \u3002   \u5c06 \u6309\u7167 \u5546\u5b9a \u7684 \u65f6\u95f4 \u95f4\u9694 \u53ec\u5f00 \u4f1a\u8bae \uff0c \u5bf9 \u670d\u52a1 \u7684 \u63d0\u4f9b \u60c5\u51b5 \u8fdb\u884c \u76d1\u7763 \u3002 \u8fd8 \u5177\u6709 \u4e2d\u95f4 \u6570\u636e \u636e\u4f20 \u4f20\u8f93 \u6570\u636e\u4f20\u8f93 \u3002   \u8bc4\u4ef7 \u6807\u51c6 \uff08 \u6ee1\u5206 100 \u5206 \uff09   \u53ea\u6709 \u7b26\u5408 \u4e0a\u8ff0 \u8981\u6c42 \u7684 \u5b9e\u4f53 \u624d\u80fd \u7533\u8bf7 \u672c\u6b21 \u7535\u8bdd \u4f1a\u8bae \u7535\u8bdd\u4f1a \u7535\u8bdd\u4f1a\u8bae \u3002 \u5982\u679c \u6709 \u591a\u4e2a \u5019\u9009 \u9009\u4eba \u5019\u9009\u4eba \uff0c \u5c06 \u8bc4\u4f30 \u4ee5\u4e0b \u51e0\u70b9 \u4ee5\u4e0b\u51e0\u70b9 \u4ee5 \u9009\u51fa \u83b7\u80dc \u80dc\u8005 \u83b7\u80dc\u8005 \uff1a   \u6839\u636e \u591a\u5e74 \u7684 \u7b26\u5408 \u6280\u672f \u8981\u6c42 \u7684 \u9879\u76ee \u7ecf\u9a8c \uff08 \u57fa\u4e8e \u6a21\u62df \u7684 \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6570\u636e \u91c7\u96c6 \uff0c \u4e0d \u8003\u8651 \u6a21\u62df \u6a21\u62df\u5668 \uff0c \u4e0e \u8f66\u8f86 \u53c2\u6570 \u548c \u6a21\u62df \u73af\u5883 \u53ca\u65f6 \u540c\u6b65 \uff09 \uff0c \u6700\u591a \u53ef \u5206\u914d   10   \u4e2a\u70b9 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u516c\u5f0f \uff1a   $ $   P1   =   \\ frac { AP } { maximo ( APMax ,   KAP ) }   \\ times   10   $ $   APMax :   \u8003\u8651 \u6240\u6709 \u5019\u9009 \u5b9e\u4f53 \u7684 \u6700\u5927 \u5e74\u6570 \u3002   AP :   \u5019\u9009 \u5b9e\u4f53 \u63a5\u53d7 \u8bc4\u4f30 \u7684 \u5e74\u6570 \u3002   KAP = 10 \uff1a   \u671f\u671b \u7684 \u6700\u4f4e \u7ecf\u9a8c \u5e74\u6570 \u3002   \u6839\u636e \u591a\u5e74 \u4f7f\u7528   CARLA   \u6a21\u62df \u6a21\u62df\u5668 \u83b7\u53d6 \u4e0e \u4eba\u7c7b \u9a7e\u9a76 \u76f8\u5173 \u6570\u636e \u7684 \u7ecf\u9a8c \uff0c \u6700\u591a \u53ef \u5206\u914d   50   \u4e2a\u70b9 \u3002 \u5c31\u662f \u5c31\u662f\u8bf4 \u4e5f\u5c31\u662f\u8bf4 \uff0c \u4f7f\u7528 \u4e0e   CARLA   \u8fde\u63a5 \u5e76 \u7531 \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u64cd\u4f5c \u7684 \u201c \u9a7e\u9a76 \u9a7e\u9a76\u8231 \u201d \uff0c \u5e76 \u63d0\u4f9b \u6a21\u62df \u771f\u5b9e \u73af\u5883 \u4e2d \u79fb\u52a8 \u7684 \u771f\u5b9e \u8f66\u8f86 \u7684 \u7269\u7406 \u53cd\u9988 \uff1a   $ $   P2   =   \\ frac { AC } { maximo ( ACMax ,   KAC ) }   \\ times   50   $ $   ACMax :   \u8003\u8651 \u6240\u6709 \u5019\u9009 \u5b9e\u4f53 \u7684 \u6700\u5927 \u5e74\u6570 \u3002   AC \uff1a \u5019\u9009 \u5b9e\u4f53 \u63a5\u53d7 \u8bc4\u4f30 \u7684 \u5e74\u6570 \u3002   KAC = 4 :   \u671f\u671b \u7684 \u6700\u4f4e \u7ecf\u9a8c \u5e74\u6570 \u3002   \u6700 \u591a   25   \u4e2a \u53ef \u5206\u914d \u70b9 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u6570\u636e \u6536\u96c6 \u4e2d \u4f30\u8ba1 \u5305\u542b \u7684 \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6570\u91cf \uff08 \u7ed9\u5b9a \u9884\u7b97 \uff09 \uff0c \u5047\u8bbe \u6bcf\u4e2a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u82b1\u8d39 \u5c0f\u65f6 \u534a\u5c0f\u65f6 \u7684 \u6a21\u62df \u6a21\u62df\u5668 \u65f6\u95f4 \uff08 \u5373 \uff0c \u4e0d \u8ba1\u7b97 \u4e0e \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u4e92\u52a8 \u6240 \u9700 \u7684 \u51c6\u5907 \u5de5\u4f5c \uff09 \u6a21\u62df \u6a21\u62df\u5668 \uff09 \uff1a   $ $   P3   =   \\ frac { CH } { maximo ( CHMax ,   KCH ) }   \\ times   25   $ $   CHMax :   \u8003\u8651 \u6240\u6709 \u5b9e\u4f53 \u7684 \u6700\u5927 \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u6570\u91cf \u3002 \u5019\u9009 \u9009\u4eba \u5019\u9009\u4eba \u3002   CH :   \u63a5\u53d7 \u8bc4\u4f30 \u7684 \u5019\u9009 \u5b9e\u4f53 \u7684 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6570\u91cf \u3002   KCH = 15 : \u6700\u5c11 \u53f8\u673a \u4eba\u6570 \u3002   \u6839\u636e \u60a8 \u5728 \u8fc7\u53bb   5   \u5e74 \u4e2d \u53c2\u4e0e \u7684   Horizo   \u6846\u67b6 \u5185 \u7684 \u6b27\u6d32 \u9879\u76ee \u6570\u91cf \uff0c \u6700\u591a \u53ef \u5206\u914d   5   \u5206 \uff0c \u5177\u4f53 \u516c\u5f0f \u5982\u4e0b \uff1a   $ $   P4   =   \\ frac { PH } { maximo ( 1 ,   PHMax ) }   \\ times   5   $ $   PHMax :   \u8003\u8651 \u5230 \u6240\u6709 \u5019\u9009 \u5b9e\u4f53 \uff0c \u5176 \u53c2\u4e0e \u7684   Horizo   2020   \u548c   Horizo   Europe   \u9879\u76ee \u7684 \u6700\u5927 \u6570\u91cf \u3002   PH :   \u63a5\u53d7 \u8bc4\u4f30 \u7684 \u5019\u9009 \u5b9e\u4f53 \u53c2\u4e0e \u7684   Horizo   2020   \u548c   Horizo   Europe   \u9879\u76ee \u7684 \u6570\u91cf \u3002   \u6839\u636e \u6240 \u63d0\u4f9b \u7684 \u7ecf\u6d4e \u62a5\u4ef7 \uff0c \u6839\u636e \u4ee5\u4e0b \u516c\u5f0f \uff0c \u6700\u591a \u53ef \u5206\u914d   5   \u5206 \uff1a   $ $   P5   =   \\ frac { maximo ( 1 ,   PFmax - OF ) } { maximo ( OFmax ,   OFmin ) }   \\ times   5   $ $   OFmax :   \u8003\u8651 \u5230 \u6240\u6709 \u5019\u9009 \u5b9e\u4f53 \u7684 \u6700\u9ad8 \u7ecf\u6d4e \u62a5\u4ef7 \u3002   OFmin :   \u8003\u8651 \u5230 \u6240\u6709 \u5019\u9009 \u5b9e\u4f53 \u7684 \u6700\u4f4e \u7ecf\u6d4e \u62a5\u4ef7 \u3002   OF :   \u53d7 \u8bc4\u4f30 \u5019\u9009 \u5b9e\u4f53 \u7684 \u7ecf\u6d4e \u62a5\u4ef7 \u3002   \u8003\u8651 \u5230 \u6240 \u63d0\u4ea4 \u5b9e\u4f53 \u7684 \u79d1\u5b66 \u6280\u672f \u79d1\u5b66\u6280\u672f \u51fa\u7248 \u51fa\u7248\u7269 \u4e0e \u514b\u9686 - DCB   \u9879\u76ee \u7684 \u76f8\u5173 \u76f8\u5173\u6027 \u548c \u5173\u7cfb \uff0c \u5c06 \u8003\u8651 \u7ed9\u4e88   0   \u81f3   5   \u5206 \u7684 \u5206\u6570 \u3002 \u6211\u4eec \u5c06 \u8fd9\u4e2a \u5206\u6570 \u79f0\u4e3a   P6 \u3002   \u5b9e\u4f53 \u5fc5\u987b \u83b7\u5f97 \u6700\u4f4e \u5206\u6570   70   \u5206\u624d \u6709 \u8d44\u683c \u83b7\u5f97 \u5408\u540c \uff0c \u5373 \uff1a P1   +   P2   +   P3   +   P4   +   P5   +   P6   \u2265   70 \u3002 \u5728 \u6b64 \u8fc7\u7a0b \u4e2d \uff0c \u6bcf\u4e2a \u5019\u9009 \u5b9e\u4f53 \u6709 \u8d23\u4efb \u4ee5 \u5b8c\u6574 \u7684 \u65b9\u5f0f \u5448\u73b0 \u4f46 \u65b9\u5f0f \u7b80\u6d01 \u4e14 \u9a8c\u8bc1 \u53ef\u9a8c\u8bc1 \uff0c CVC \u8ba1\u7b97 \u90e8\u5206 \u5206\u6570 \u6240 \u9700 \u7684 \u4fe1\u606f \u3002 \u672a \u63d0\u4ea4 \u7684 \u4fe1\u606f \u5c06 \u4e0d\u4e88 \u8003\u8651 \u4e0d\u4e88\u8003\u8651 \u3002   \u5408\u540c \u9884\u7b97   \u5408\u540c \u9884\u7b97 \u4e3a   45 , 000   \u6b27\u5143 \uff08 \u4e0d \u542b \u589e\u503c \u589e\u503c\u7a0e \uff09 \uff0c \u8003\u8651 \u53ef\u80fd \u8fdb\u884c \u6700 \u591a   + 10%   \u7684 \u4fee\u6539 \u3002 \u5408\u540c \u5fc5\u987b \u5728 \u6388\u4e88 \u540e \u6700 \u591a   5   \u4e2a \u6708 \u5185 \u6267\u884c \u3002   \u62a5\u540d \u622a\u6b62 \u65e5\u671f   \u81ea \u8981\u7ea6 \u5728   CVC   \u7f51\u7ad9 \u4e0a \u53d1\u5e03 \u4e4b\u65e5 \u4e4b\u65e5\u8d77 \uff0c \u8be5 \u8981\u7ea6 \u5c06 \u6301\u7eed   10   \u4e2a \u65e5\u5386 \u65e5 \u3002 \u5019\u9009 \u9009\u4eba \u5019\u9009\u4eba \u5c06 \u4f7f\u7528   SERV20230016   \u4f5c\u4e3a \u63cf\u8ff0 \u5c06 \u5176 \u5f55\u53d6 \u901a\u77e5 \u901a\u77e5\u4e66 \u53d1\u9001 \u9001\u81f3 \u53d1\u9001\u81f3   \u94fe\u63a5   \u3002","title":"cloning   DCB"},{"location":"walker/cloning_DCB/#_1","text":"","title":"\u5173\u4e8e \u6570\u636e \u83b7\u53d6 \u670d\u52a1 \u5408\u540c \u5fc5\u8981\u6027 \u7684 \u4fe1\u606f"},{"location":"walker/cloning_DCB/#_2","text":"2021 \u5e74 \uff0c \u57fa\u4e8e \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8ba4\u77e5 \u884c\u4e3a \u514b\u9686 \uff08 \u514b\u9686 DCB \uff09 \u7684 \u751f\u6001 \u4ea4\u901a \u548c \u6570\u5b57 \u4ea4\u901a \u9879\u76ee \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u9879\u76ee \u63d0\u4f9b \u8d44\u91d1 \u3002 \u5728 \u8fd9\u4e2a \u9879\u76ee \u4e2d \uff0c \u6211\u4eec \u6df1\u5165 \u7814\u7a76 \u6df1\u5165\u7814\u7a76 \u4e86 \u7aef \u5230 \u7aef\u7684 \u6a21\u5f0f \uff0c \u5c06 \u4eba\u7c7b \u884c\u4e3a \u6a21\u5f0f \u4f5c\u4e3a \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u8be5\u9879 \u76ee\u7684 \u4e00\u4e2a \u91cd\u8981 \u65b9\u9762 \u662f \u91cd\u65b0 \u6536\u96c6 \u4eba\u529b \u8d44\u672c \u4eba\u529b\u8d44\u672c \uff0c \u4ee5 \u5b9e\u73b0 \u5bf9 \u4eba\u529b \u8d44\u672c \u4eba\u529b\u8d44\u672c \u7684 \u6700\u5927 \u63a7\u5236 \u3002 \u4e00\u4e2a \u9ad8\u7ea7 \u63a7\u5236 \u63a7\u5236\u5668 \u8d1f\u8d23 \u63a7\u5236 Carla \u6a21\u62df \u6a21\u62df\u5668 \u4e0a \u7684 \u6570\u636e \u8bb0\u5f55 \u548c \u5b9e\u9a8c \u7684 \u7535\u8def \u548c \u901f\u5ea6 \u3002   CARLA \u5141\u8bb8 \u5b9a\u4e49 \u8f68\u9053 \u4ea4\u901a \u8f68\u9053\u4ea4\u901a \uff08 \u4ea4\u901a \u3001 \u5929\u6c14 \u3001 \u6c14\u8c61 \u7b49 \uff09 \u7684 \u5404\u79cd \u60c5\u51b5 \uff0c \u5e76 \u83b7\u5f97 \u5bfc\u4f53 \u3001 \u8f66\u8f86 \u901f\u5ea6 \u3001 \u7535\u538b \u7b49 \u8fdc\u666f \u8bbe\u8ba1 \u7684 \u6570\u636e \u3002 \u4e0e \u5bfc\u4f53 \u76f8\u5173 \u7684 \u6570\u636e \u53ef\u4ee5 \u611f\u77e5 \u7269\u7406 \uff0c \u5728 \u8bb0\u5f55 \u6570\u636e \u7684 \u65f6\u95f4 \u65f6\u95f4\u6bb5 \u5185 \u6a21\u62df \u8f68\u9053 \u4ea4\u901a \u8f68\u9053\u4ea4\u901a \u3002   \u4e8b\u5b9e \u4e8b\u5b9e\u4e0a \uff0c \u8fd9\u4e9b \u884c\u4e3a \u5728 \u865a\u62df \u9884\u6d4b \u548c \u63a7\u5236 \u53d8\u91cf \u63a7\u5236\u53d8 \u63a7\u5236\u53d8\u91cf \u7684 \u4f7f\u7528 \u573a\u666f \u4e2d\u8d77 \u7740 \u91cd\u8981 \u4f5c\u7528 \u3002 \u559c\u6b22 \u5728 \u9a7e\u9a76 \u9a7e\u9a76\u8231 \u5185 \u8fdb\u884c \u611f\u5b98 \u63a5\u89e6 \u7684 \u4eba \uff0c \u559c\u6b22 \u6a21\u62df \u8fd0\u52a8 \uff08 \u5982 \u52a0\u901f \u3001 \u957f\u9888 \u957f\u9888\u9e7f \u7b49 \uff09 \u7684 \u52a8\u4f5c \u5e08 \u3002   \u6a21\u62df \u8fc7\u7a0b \u4e2d\u8981 \u6536\u96c6 \u7684 \u4e3b\u8981 \u6570\u636e \u5c06 \u662f \u4e0e \u865a\u62df \u8f66\u8f86 \u72b6\u6001 \uff08 \u91cc\u7a0b \u6d4b\u91cf \uff09 \u548c \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6709\u5173 \u7684 \u6570\u636e \uff1a \u4ece \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u89d2\u5ea6 \u6a21\u62df \u7684 \u56fe\u50cf \u3001 \u7535\u56fe \u8111\u7535\u56fe \uff08 EEG \uff09 \u548c \u89c6\u89c9 \u6ce8\u610f \u6ce8\u610f\u529b \u56fe \u7b49 \u3002   \u6ce8\u610f \u6ce8\u610f\u529b \u56fe\u662f \u4e0e \u7279\u5b9a \u9a7e\u9a76 \u65f6\u523b \u7684 \u6a21\u62df \u56fe\u50cf \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u7684 \u201c \u70ed \u201d \u56fe \uff0c \u5c06 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u96c6\u4e2d \u6ce8\u610f \u6ce8\u610f\u529b \u4ee5 \u8bc4\u4f30 \u60c5\u51b5 \u5e76 \u968f\u540e \u6267\u884c \u64cd\u4f5c \u7684 \u533a\u57df \u6307\u793a \u4e3a \u201c \u70ed\u533a \u201d \u3002   \u8be5\u9879 \u76ee\u7684 \u7814\u7a76 \u76ee\u6807 \u4e4b\u4e00 \u662f \u5c06 \u4eba\u7c7b \u6ce8\u610f \u6ce8\u610f\u529b \u56fe \u4e0e \u4ece \u7ecf\u8fc7 \u8bad\u7ec3 \u7ecf\u8fc7\u8bad\u7ec3 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u578b \u83b7\u5f97 \u7684 \u6ce8\u610f \u6ce8\u610f\u529b \u56fe \u8fdb\u884c \u6bd4\u8f83 \u3002 \u9996\u5148 \uff0c \u4e86\u89e3 \u5b83\u4eec \u662f\u5426 \u76f8\u4f3c \uff0c \u56e0\u6b64 \u6211\u4eec \u53ef\u4ee5 \u66f4\u52a0 \u4fe1\u4efb \u4eba\u5de5 \u6a21\u578b \u3002 \u5176\u6b21 \uff0c \u4e86\u89e3 \u4ece \u4eba\u7c7b \u9a7e\u9a76 \u4e2d \u83b7\u5f97 \u7684 \u6ce8\u610f \u6ce8\u610f\u529b \u56fe \u662f\u5426 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u6539\u8fdb \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u578b \u7684 \u8bad\u7ec3 \u3002 \u6b63\u5982 \u6211\u4eec \u5df2\u7ecf \u63d0\u5230 \u7684 \uff0c \u5728 \u8fd9\u4e2a \u9879\u76ee \u4e2d \uff0c \u9a7e\u9a76 \u4ec5\u9650 \u9650\u4e8e \u4ec5\u9650\u4e8e   CARLA   \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u6a21\u62df \u9a7e\u9a76 \u6570\u636e \u5fc5\u987b \u7531 \u5916\u90e8 \u5b9e\u4f53 \u63d0\u4f9b \uff0c \u5982   Cloning - DCB   \u9879\u76ee \u6280\u672f \u62a5\u544a   WP1   \u4efb\u52a1   3   \u4e2d \u6240 \u6307\u5b9a \u3002   \u63d0\u4f9b \u670d\u52a1 \u7684 \u5916\u90e8 \u5b9e\u4f53 \u7684 \u4e3b\u8981 \u4efb\u52a1 \u5305\u62ec \uff1a   \u6839\u636e   CVC   \u5efa\u7acb \u7684 \u53c2\u6570 \u8fdb\u884c \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u7684 \u9009\u62e9   \u6839\u636e CVC \u5236\u5b9a \u7684 \u89c4\u8303 \u63d0\u4f9b \u6240 \u9700 \u7684 \u6570\u636e \uff08 \u56fe\u50cf \u3001 \u6ce8\u610f \u6ce8\u610f\u529b \u5730\u56fe \u3001 \u8f66\u8f86 \u91cc\u7a0b \u3001 \u7535\u56fe \u8111\u7535\u56fe \u7b49 \uff09 \u3002   \u63d0\u4f9b \u6570\u636e \u63d0\u4f9b\u6570\u636e \u6536\u96c6 \u6240 \u9700 \u7684 \u57fa\u7840 \u8bbe\u65bd \u57fa\u7840\u8bbe\u65bd \u548c \u4eba\u5458 \u3002   \u8d1f\u8d23 \u9075\u5b88   LOPD   \u5173\u4e8e \u5019\u9009 \u9009\u4eba \u5019\u9009\u4eba \u6570\u636e \u7684 \u89c4\u5b9a \uff0c \u53ca\u65f6 \u901a\u77e5 \u4ed6\u4eec \u5e76 \u5f81\u5f97 \u4ed6\u4eec \u7684 \u540c\u610f \u3002   \u9274\u4e8e \u673a\u5668 \u5b66\u4e60 \u9879\u76ee \u4e2d \u6570\u636e \u7684 \u5173\u952e \u6027\u8d28 \uff0c \u8d1f\u8d23 \u63d0\u4f9b \u6b64 \u670d\u52a1 \u7684 \u5b9e\u4f53 \u4e0d\u80fd \u8f7b\u6613 \u9009\u62e9 \uff0c \u5e76\u4e14 \u5fc5\u987b \u6ee1\u8db3 \u67d0\u4e9b \u8981\u6c42 \u3002 \u8fd9\u4e9b \u8981\u6c42 \u7684 \u80cc\u666f \u3001 \u5b9a\u4e49 \u548c \u7406\u7531 \u662f \u672c \u6587\u4ef6 \u7684 \u76ee\u7684 \u3002","title":"\u4ecb\u7ecd"},{"location":"walker/cloning_DCB/#_3","text":"CVC \u662f \u4e16\u754c \u77e5\u540d \u7684 \u7814\u7a76 \u4e2d\u5fc3 \uff0c \u62e5\u6709 \u8d85\u8fc7 27 \u5e74 \u7684 \u7ecf\u9a8c \uff0c 20 \u591a\u5e74 \u6765 \u662f \u552f\u4e00 \u7684 \u56fd\u5bb6 \u56fd\u5bb6\u7ea7 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u7814\u7a76 \u4e2d\u5fc3 \u3002 \u4ed6 \u7684 \u7814\u7a76 \u5de5\u4f5c \u53ca\u5176 \u5353\u8d8a \u8868\u73b0 \u5728 \u4ed6 \u7684 \u51fa\u7248 \u51fa\u7248\u7269 \u4e2d \u663e\u800c \u6613\u89c1 \u663e\u800c\u6613\u89c1 \u3002 \u6839\u636e   CSIC   2023   \u5e74 \u7684 \u6392\u540d \uff0c \u5176 \u7814\u7a76 \u4eba\u5458 \u5e73\u5747 \u6bcf\u5e74 \u6709 100 \u540d \uff0c \u5176\u4e2d \u6709 4 \u540d \u7814\u7a76 \u4eba\u5458 \u8dfb\u8eab \u56fd\u5185 \u548c \u6d77\u5916 \u897f\u73ed\u7259 \u897f\u73ed\u7259\u4eba 2 , 000 \u540d \u6700 \u6709 \u5f71\u54cd \u5f71\u54cd\u529b \u7684 \u7814\u7a76 \u4eba\u5458 \u4e4b \u5217 \uff0c \u8be5 \u6392\u540d \u57fa\u4e8e \u8c37\u6b4c \u7684 H \u7d22\u5f15 \u5b66\u8005 \u5e76 \u8003\u8651 \u5230 \u6240\u6709 \u79d1\u5b66 \u5b66\u79d1 \u3002   \u4e3a\u4e86 \u786e\u4fdd \u8fd9\u79cd \u5353\u8d8a \u5353\u8d8a\u6027 \uff0c CVC   \u8981\u6c42 \u4e0e\u5176 \u5efa\u7acb \u5408\u540c \u5173\u7cfb \u7684 \u5b9e\u4f53 \u5bf9 \u7814\u7a76 \u548c \u4f20\u64ad \u5de5\u4f5c \u505a\u51fa \u540c\u7b49 \u7a0b\u5ea6 \u7684 \u627f\u8bfa \u3002 \u8981\u6c42 \u6b64 \u627f\u8bfa \u7684 \u65b9\u5f0f \u662f \u9075\u5b88 \u4e0b \u4e00\u8282 \u4e2d \u8be6\u8ff0 \u7684 \u8981\u6c42 \u3002","title":"\u5148\u524d \u7684 \u8003\u8651 \u56e0\u7d20"},{"location":"walker/cloning_DCB/#_4","text":"\u9884\u8ba1 \u5728 \u6570\u636e \u6536\u96c6 \u670d\u52a1 \u7684 \u6267\u884c \u8fc7\u7a0b \u4e2d \uff0c CVC   \u548c \u63d0\u4f9b \u5b9e\u4f53 \u4e4b\u95f4 \u5c06 \u8fdb\u884c \u6709\u529b \u5f3a\u6709\u529b \u7684 \u4ea4\u4e92 \uff0c \u4ee5 \u5f00\u53d1 \u548c \u9a8c\u8bc1 \u89c4\u8303 \u548c \u9a7e\u9a76 \u573a\u666f \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u4f9b\u5e94 \u4f9b\u5e94\u5546 \u5b9e\u4f53 \u5fc5\u987b \u6ee1\u8db3 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u8981\u6c42 \uff0c \u5206\u4e3a \uff1a   \u6280\u672f \u8981\u6c42   \u529f\u80fd \u8981\u6c42   \u5236\u5b9a \u6280\u672f \u8981\u6c42 \u662f \u4e3a\u4e86 \u4fdd\u8bc1 \u670d\u52a1 \u63d0\u4f9b \u5b9e\u4f53 \u62e5\u6709 \u5fc5\u8981 \u7684 \u8d44\u6e90 \uff0c \u5305\u62ec \u6750\u6599 \u548c \u5408\u683c \u7684 \u4eba\u5458 \u3002 \u5b83\u4eec \u7684 \u5efa\u7acb \u4e5f \u662f \u4e3a\u4e86 \u201c \u517c\u5bb9 \u201d CVC   \u548c \u63d0\u4f9b \u63d0\u4f9b\u5546 \u5b9e\u4f53 \u7684 \u5de5\u4f5c \u73af\u5883 \u3002   \u5efa\u7acb \u529f\u80fd \u8981\u6c42 \u662f \u4e3a\u4e86 \u4fc3\u8fdb   CVC   \u548c \u63d0\u4f9b \u5b9e\u4f53 \u4e4b\u95f4 \u7684 \u534f\u4f5c \u548c \u4ea4\u4e92 \uff0c \u8003\u8651 \u4e24\u8005 \u4e4b\u95f4 \u4e24\u8005\u4e4b\u95f4 \u7684 \u4ea4\u4e92 \u4ee5\u53ca \u5de5\u4f5c \u7406\u5ff5 \u7684 \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u3002   \u8bc4\u4f30 \u6807\u51c6 \u7528\u4e8e \u5728 \u7b26\u5408 \u8981\u6c42 \u7b26\u5408\u8981\u6c42 \u7684 \u5b9e\u4f53 \u4e2d \u5efa\u7acb \u6392\u540d \uff0c \u4ee5 \u9009\u62e9 \u5019\u9009 \u9009\u4eba \u5019\u9009\u4eba \u3002","title":"\u8981\u6c42"},{"location":"walker/cloning_DCB/#_5","text":"\u62e5\u6709 \u4e00\u4e2a \u7269\u7406 \u6a21\u62df \u6c7d\u8f66 \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u7684 \u201c \u9a7e\u9a76 \u9a7e\u9a76\u8231 \u201d \u3002 \u5728 \u8fd9\u4e2a \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u4e2d \uff0c \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u5fc5\u987b \u80fd\u591f \u5728 \u6a21\u62df \u7684   3D   \u52a8\u6001 \u73af\u5883 \u4e2d \u9a7e\u9a76 \u3002 \u4e58\u5ba2 \u8231 \u5fc5\u987b \u5b89\u88c5 \u5728 \u79fb\u52a8 \u5e73\u53f0 \u4e0a \uff0c \u4e0e \u663e\u793a \u663e\u793a\u5668 \u540c\u6b65 \uff0c \u6a21\u62df \u771f\u5b9e \u8f66\u8f86 \u7684 \u8fd0\u52a8 \u4f53\u9a8c \uff08 \u52a0\u901f \u3001 \u5236\u52a8 \u3001 \u8f6c\u5f2f \u3001 \u4e8b\u6545 \u548c \u5730\u5f62 \u89c4\u5219 \u4e0d\u89c4\u5219 \uff09 \uff0c \u4ee5 \u54cd\u5e94 \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6267\u884c \u7684 \u64cd\u4f5c \u3002   \u4f7f\u7528 \u7684 \u4eff\u771f \u8f6f\u4ef6 \u5fc5\u987b \u662f   CARLA \uff0c \u7248\u672c   0.9 . 14   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002   \u6a21\u62df \u6a21\u62df\u5668 \u5fc5\u987b \u7269\u7406 \u663e\u793a \u81f3\u5c11 120 \u00ba \u7684 \u6c34\u5e73 \u89c6\u91ce \uff08 HFOV \uff09 \uff0c \u5206\u5e03 \u5728 \u591a\u4e2a \u5c4f\u5e55 \u4e0a \uff0c \u6a21\u62df \u771f\u5b9e \u8f66\u8f86 \u7684 \u9a7e\u9a76 \u4f53\u9a8c \u3002   \u6a21\u62df \u6a21\u62df\u5668 \u8fd8 \u5fc5\u987b \u663e\u793a \u4e24\u4e2a \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e \u5916\u90e8 \u540e\u89c6 \u540e\u89c6\u955c \u7684 \u89c6\u56fe \uff08 \u5728 \u65c5\u6e38 \u6e38\u4e1a \u65c5\u6e38\u4e1a \u4e2d\u662f \u5f3a\u5236 \u5f3a\u5236\u6027 \u7684 \uff09 \u3002   \u4e0e \u6a21\u62df \u6a21\u62df\u5668 \u7684 \u9a7e\u9a76 \u4f1a\u8bae \u5fc5\u987b \u7528   Carla   \u7684 \u201c \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u201d \u5f55\u5236 \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u79bb\u7ebf \u64ad\u653e \uff0c \u4ee5 \u63d0\u53d6 \u7531\u4e8e \u8ba1\u7b97 \u65f6\u95f4 \u95ee\u9898 \u800c \u65e0\u6cd5 \u5728 \u73b0\u573a \u83b7\u5f97 \u7684 \u4fe1\u606f \u3002   \u62e5\u6709 \u91c7\u6837 \u9891\u7387 \u81f3\u5c11 \u4e3a   50Hz   \u7684 \u773c\u52a8 \u8ffd\u8e2a \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c \u4e3a \u6bcf\u4e2a \u6837\u672c \u63d0\u4f9b \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u89c6\u89d2 \u7684 \u56fe\u50cf \u4ee5\u53ca \u76f8\u5bf9 \u4e8e \u8be5 \u56fe\u50cf \u7684 \u5750\u6807 \uff0c \u6307\u793a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6240 \u6ce8\u89c6 \u7684 \u56fe\u50cf \u533a\u57df \u3002 \u77b3\u5b54 \u6269\u5f20 \u7684 \u6d4b\u91cf \u3002","title":"\u6280\u672f \u8981\u6c42"},{"location":"walker/cloning_DCB/#_6","text":"CARLA   \u4e2d\u8981 \u8003\u8651 \u7684 \u573a\u666f \u5c06 \u7531   CVC   \u63d0\u4f9b \u6216\u7ecf \u5176 \u6279\u51c6 \u3002   \u8981 \u8003\u8651 \u7684 \u4eba\u7c7b \u53f8\u673a \u7684 \u6982\u51b5 \u5c06 \u4e0e CVC \u8fbe\u6210 \u4e00\u81f4 \u3002   \u5bf9\u4e8e CVC \uff0c \u670d\u52a1 \u4e0d\u4f1a \u201c \u95ed\u95e8 \u201d \u63d0\u4f9b \uff0c CVC \u5de5\u4f5c \u4f5c\u4eba \u4eba\u5458 \u5de5\u4f5c\u4eba\u5458 \u53ef\u80fd \u4f1a \u5728 \u63d0\u4f9b \u670d\u52a1 \u671f\u95f4 \u5728\u573a \uff08 \u5982\u679c CVC \u8ba4\u4e3a \u6709 \u5fc5\u8981 \uff09 \u3002   \u5c06 \u6309\u7167 \u5546\u5b9a \u7684 \u65f6\u95f4 \u95f4\u9694 \u53ec\u5f00 \u4f1a\u8bae \uff0c \u5bf9 \u670d\u52a1 \u7684 \u63d0\u4f9b \u60c5\u51b5 \u8fdb\u884c \u76d1\u7763 \u3002 \u8fd8 \u5177\u6709 \u4e2d\u95f4 \u6570\u636e \u636e\u4f20 \u4f20\u8f93 \u6570\u636e\u4f20\u8f93 \u3002","title":"\u529f\u80fd \u8981\u6c42"},{"location":"walker/cloning_DCB/#100","text":"\u53ea\u6709 \u7b26\u5408 \u4e0a\u8ff0 \u8981\u6c42 \u7684 \u5b9e\u4f53 \u624d\u80fd \u7533\u8bf7 \u672c\u6b21 \u7535\u8bdd \u4f1a\u8bae \u7535\u8bdd\u4f1a \u7535\u8bdd\u4f1a\u8bae \u3002 \u5982\u679c \u6709 \u591a\u4e2a \u5019\u9009 \u9009\u4eba \u5019\u9009\u4eba \uff0c \u5c06 \u8bc4\u4f30 \u4ee5\u4e0b \u51e0\u70b9 \u4ee5\u4e0b\u51e0\u70b9 \u4ee5 \u9009\u51fa \u83b7\u80dc \u80dc\u8005 \u83b7\u80dc\u8005 \uff1a   \u6839\u636e \u591a\u5e74 \u7684 \u7b26\u5408 \u6280\u672f \u8981\u6c42 \u7684 \u9879\u76ee \u7ecf\u9a8c \uff08 \u57fa\u4e8e \u6a21\u62df \u7684 \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6570\u636e \u91c7\u96c6 \uff0c \u4e0d \u8003\u8651 \u6a21\u62df \u6a21\u62df\u5668 \uff0c \u4e0e \u8f66\u8f86 \u53c2\u6570 \u548c \u6a21\u62df \u73af\u5883 \u53ca\u65f6 \u540c\u6b65 \uff09 \uff0c \u6700\u591a \u53ef \u5206\u914d   10   \u4e2a\u70b9 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u516c\u5f0f \uff1a   $ $   P1   =   \\ frac { AP } { maximo ( APMax ,   KAP ) }   \\ times   10   $ $   APMax :   \u8003\u8651 \u6240\u6709 \u5019\u9009 \u5b9e\u4f53 \u7684 \u6700\u5927 \u5e74\u6570 \u3002   AP :   \u5019\u9009 \u5b9e\u4f53 \u63a5\u53d7 \u8bc4\u4f30 \u7684 \u5e74\u6570 \u3002   KAP = 10 \uff1a   \u671f\u671b \u7684 \u6700\u4f4e \u7ecf\u9a8c \u5e74\u6570 \u3002   \u6839\u636e \u591a\u5e74 \u4f7f\u7528   CARLA   \u6a21\u62df \u6a21\u62df\u5668 \u83b7\u53d6 \u4e0e \u4eba\u7c7b \u9a7e\u9a76 \u76f8\u5173 \u6570\u636e \u7684 \u7ecf\u9a8c \uff0c \u6700\u591a \u53ef \u5206\u914d   50   \u4e2a\u70b9 \u3002 \u5c31\u662f \u5c31\u662f\u8bf4 \u4e5f\u5c31\u662f\u8bf4 \uff0c \u4f7f\u7528 \u4e0e   CARLA   \u8fde\u63a5 \u5e76 \u7531 \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u64cd\u4f5c \u7684 \u201c \u9a7e\u9a76 \u9a7e\u9a76\u8231 \u201d \uff0c \u5e76 \u63d0\u4f9b \u6a21\u62df \u771f\u5b9e \u73af\u5883 \u4e2d \u79fb\u52a8 \u7684 \u771f\u5b9e \u8f66\u8f86 \u7684 \u7269\u7406 \u53cd\u9988 \uff1a   $ $   P2   =   \\ frac { AC } { maximo ( ACMax ,   KAC ) }   \\ times   50   $ $   ACMax :   \u8003\u8651 \u6240\u6709 \u5019\u9009 \u5b9e\u4f53 \u7684 \u6700\u5927 \u5e74\u6570 \u3002   AC \uff1a \u5019\u9009 \u5b9e\u4f53 \u63a5\u53d7 \u8bc4\u4f30 \u7684 \u5e74\u6570 \u3002   KAC = 4 :   \u671f\u671b \u7684 \u6700\u4f4e \u7ecf\u9a8c \u5e74\u6570 \u3002   \u6700 \u591a   25   \u4e2a \u53ef \u5206\u914d \u70b9 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u6570\u636e \u6536\u96c6 \u4e2d \u4f30\u8ba1 \u5305\u542b \u7684 \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6570\u91cf \uff08 \u7ed9\u5b9a \u9884\u7b97 \uff09 \uff0c \u5047\u8bbe \u6bcf\u4e2a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u82b1\u8d39 \u5c0f\u65f6 \u534a\u5c0f\u65f6 \u7684 \u6a21\u62df \u6a21\u62df\u5668 \u65f6\u95f4 \uff08 \u5373 \uff0c \u4e0d \u8ba1\u7b97 \u4e0e \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u4e92\u52a8 \u6240 \u9700 \u7684 \u51c6\u5907 \u5de5\u4f5c \uff09 \u6a21\u62df \u6a21\u62df\u5668 \uff09 \uff1a   $ $   P3   =   \\ frac { CH } { maximo ( CHMax ,   KCH ) }   \\ times   25   $ $   CHMax :   \u8003\u8651 \u6240\u6709 \u5b9e\u4f53 \u7684 \u6700\u5927 \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u6570\u91cf \u3002 \u5019\u9009 \u9009\u4eba \u5019\u9009\u4eba \u3002   CH :   \u63a5\u53d7 \u8bc4\u4f30 \u7684 \u5019\u9009 \u5b9e\u4f53 \u7684 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6570\u91cf \u3002   KCH = 15 : \u6700\u5c11 \u53f8\u673a \u4eba\u6570 \u3002   \u6839\u636e \u60a8 \u5728 \u8fc7\u53bb   5   \u5e74 \u4e2d \u53c2\u4e0e \u7684   Horizo   \u6846\u67b6 \u5185 \u7684 \u6b27\u6d32 \u9879\u76ee \u6570\u91cf \uff0c \u6700\u591a \u53ef \u5206\u914d   5   \u5206 \uff0c \u5177\u4f53 \u516c\u5f0f \u5982\u4e0b \uff1a   $ $   P4   =   \\ frac { PH } { maximo ( 1 ,   PHMax ) }   \\ times   5   $ $   PHMax :   \u8003\u8651 \u5230 \u6240\u6709 \u5019\u9009 \u5b9e\u4f53 \uff0c \u5176 \u53c2\u4e0e \u7684   Horizo   2020   \u548c   Horizo   Europe   \u9879\u76ee \u7684 \u6700\u5927 \u6570\u91cf \u3002   PH :   \u63a5\u53d7 \u8bc4\u4f30 \u7684 \u5019\u9009 \u5b9e\u4f53 \u53c2\u4e0e \u7684   Horizo   2020   \u548c   Horizo   Europe   \u9879\u76ee \u7684 \u6570\u91cf \u3002   \u6839\u636e \u6240 \u63d0\u4f9b \u7684 \u7ecf\u6d4e \u62a5\u4ef7 \uff0c \u6839\u636e \u4ee5\u4e0b \u516c\u5f0f \uff0c \u6700\u591a \u53ef \u5206\u914d   5   \u5206 \uff1a   $ $   P5   =   \\ frac { maximo ( 1 ,   PFmax - OF ) } { maximo ( OFmax ,   OFmin ) }   \\ times   5   $ $   OFmax :   \u8003\u8651 \u5230 \u6240\u6709 \u5019\u9009 \u5b9e\u4f53 \u7684 \u6700\u9ad8 \u7ecf\u6d4e \u62a5\u4ef7 \u3002   OFmin :   \u8003\u8651 \u5230 \u6240\u6709 \u5019\u9009 \u5b9e\u4f53 \u7684 \u6700\u4f4e \u7ecf\u6d4e \u62a5\u4ef7 \u3002   OF :   \u53d7 \u8bc4\u4f30 \u5019\u9009 \u5b9e\u4f53 \u7684 \u7ecf\u6d4e \u62a5\u4ef7 \u3002   \u8003\u8651 \u5230 \u6240 \u63d0\u4ea4 \u5b9e\u4f53 \u7684 \u79d1\u5b66 \u6280\u672f \u79d1\u5b66\u6280\u672f \u51fa\u7248 \u51fa\u7248\u7269 \u4e0e \u514b\u9686 - DCB   \u9879\u76ee \u7684 \u76f8\u5173 \u76f8\u5173\u6027 \u548c \u5173\u7cfb \uff0c \u5c06 \u8003\u8651 \u7ed9\u4e88   0   \u81f3   5   \u5206 \u7684 \u5206\u6570 \u3002 \u6211\u4eec \u5c06 \u8fd9\u4e2a \u5206\u6570 \u79f0\u4e3a   P6 \u3002   \u5b9e\u4f53 \u5fc5\u987b \u83b7\u5f97 \u6700\u4f4e \u5206\u6570   70   \u5206\u624d \u6709 \u8d44\u683c \u83b7\u5f97 \u5408\u540c \uff0c \u5373 \uff1a P1   +   P2   +   P3   +   P4   +   P5   +   P6   \u2265   70 \u3002 \u5728 \u6b64 \u8fc7\u7a0b \u4e2d \uff0c \u6bcf\u4e2a \u5019\u9009 \u5b9e\u4f53 \u6709 \u8d23\u4efb \u4ee5 \u5b8c\u6574 \u7684 \u65b9\u5f0f \u5448\u73b0 \u4f46 \u65b9\u5f0f \u7b80\u6d01 \u4e14 \u9a8c\u8bc1 \u53ef\u9a8c\u8bc1 \uff0c CVC \u8ba1\u7b97 \u90e8\u5206 \u5206\u6570 \u6240 \u9700 \u7684 \u4fe1\u606f \u3002 \u672a \u63d0\u4ea4 \u7684 \u4fe1\u606f \u5c06 \u4e0d\u4e88 \u8003\u8651 \u4e0d\u4e88\u8003\u8651 \u3002","title":"\u8bc4\u4ef7 \u6807\u51c6 \uff08 \u6ee1\u5206 100 \u5206 \uff09"},{"location":"walker/cloning_DCB/#_7","text":"\u5408\u540c \u9884\u7b97 \u4e3a   45 , 000   \u6b27\u5143 \uff08 \u4e0d \u542b \u589e\u503c \u589e\u503c\u7a0e \uff09 \uff0c \u8003\u8651 \u53ef\u80fd \u8fdb\u884c \u6700 \u591a   + 10%   \u7684 \u4fee\u6539 \u3002 \u5408\u540c \u5fc5\u987b \u5728 \u6388\u4e88 \u540e \u6700 \u591a   5   \u4e2a \u6708 \u5185 \u6267\u884c \u3002","title":"\u5408\u540c \u9884\u7b97"},{"location":"walker/cloning_DCB/#_8","text":"\u81ea \u8981\u7ea6 \u5728   CVC   \u7f51\u7ad9 \u4e0a \u53d1\u5e03 \u4e4b\u65e5 \u4e4b\u65e5\u8d77 \uff0c \u8be5 \u8981\u7ea6 \u5c06 \u6301\u7eed   10   \u4e2a \u65e5\u5386 \u65e5 \u3002 \u5019\u9009 \u9009\u4eba \u5019\u9009\u4eba \u5c06 \u4f7f\u7528   SERV20230016   \u4f5c\u4e3a \u63cf\u8ff0 \u5c06 \u5176 \u5f55\u53d6 \u901a\u77e5 \u901a\u77e5\u4e66 \u53d1\u9001 \u9001\u81f3 \u53d1\u9001\u81f3   \u94fe\u63a5   \u3002","title":"\u62a5\u540d \u622a\u6b62 \u65e5\u671f"}]}
\ No newline at end of file
+{"config":{"indexing":"full","lang":["ja"],"min_search_length":2,"prebuild_index":false,"separator":"[\\s\\-\\.]+"},"docs":[{"location":"","text":"Carla   \u6587\u6863   \u6b22\u8fce \u4f7f\u7528   Carla   \u6587\u6863 \u3002 \u6b64 \u4e3b\u9875 \u5305\u542b \u4e00\u4e2a \u7d22\u5f15 \uff0c \u5176\u4e2d \u7b80\u8981 \u8bf4\u660e \u4e86 \u6587\u6863 \u4e2d \u7684 \u4e0d\u540c \u90e8\u5206 \u3002 \u8fd0\u884c   \u5165\u95e8 \u793a\u4f8b   \u540e \u53ef\u4ee5 \u6309 \u81ea\u5df1 \u559c\u6b22 \u7684 \u987a\u5e8f \u968f\u610f \u9605\u8bfb \u3002   \u5165\u95e8 \u793a\u4f8b   \u4e0b\u8f7d   \u94fe\u63a5   \u4e2d \u7684   software / carla _ 0.9 . 15   \u4e2d \u7684 \u6240\u6709 \u6587\u4ef6 \u5e76 \u89e3\u538b \uff1b   \u8fd0\u884c   WindowsNoEditor   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u7684   CarlaUE4 . exe   \u542f\u52a8 \u573a\u666f \uff0c \u8fdb\u5165 \u573a\u666f \u540e \u6309   W   \u3001   S   \u3001   A   \u3001   D   \u79fb\u52a8 \u573a\u666f \u89c6\u89d2 \uff1b   \u4f7f\u7528   Python37 / python . exe   \u8fd0\u884c \u811a\u672c   generate _ traffic . py   \u548c   python   manual _ control . py   \u5728 \u573a\u666f \u4e2d \u751f\u6210 \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \u5e76 \u624b\u52a8 \u63a7\u5236 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u3002   \u6ce8\u610f   \u5982\u679c \u5bf9 \u6587\u6863 \u4e2d \u7684 \u4efb\u4f55 \u95ee\u9898 \u53ef\u4ee5 \u5728   \u672c \u6587\u6863 \u7684 \u6e90\u7801 \u4ed3\u5e93   \u4e2d \u7684   Issues   \u9875\u9762 \u8fdb\u884c \u63d0\u95ee \u6216\u8005 \u63d0\u4ea4   Pull   Request   \u76f4\u63a5 \u4fee\u6539 \u6587\u6863 \u3002   \u7b80\u4ecb   \u4ecb\u7ecd   \u2014   \u5bf9   Carla   \u7684 \u671f\u671b   \u5feb\u901f \u542f\u52a8 \u5305 \u5b89\u88c5   \u2014   \u83b7\u53d6   Carla   \u7248\u672c   \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65   \u2014   \u5f00\u59cb \u8fdb\u884c   Carla   \u64cd\u4f5c \uff0c \u4ecb\u7ecd \u6700 \u91cd\u8981 \u7684 \u6982\u5ff5   \u6559\u7a0b   \u2014   Carla   \u8be6\u7ec6 \u6559\u7a0b   \u793a\u4f8b   \u2014   Carla   \u7ecf\u5178 \u793a\u4f8b   \u4e3b\u9898   \u57fa\u7840   \u2014   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fdb\u884c \u64cd\u4f5c \u548c \u901a\u4fe1 \u6240 \u9700 \u7684 \u57fa\u672c \u6982\u5ff5 \u57fa\u672c\u6982\u5ff5   \u7b2c\u4e00 \u3001   \u4e16\u754c \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   \u2014   \u7ba1\u7406 \u548c \u8bbf\u95ee \u4eff\u771f   \u7b2c\u4e8c \u3001   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe   \u2014   \u4e86\u89e3 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ee5\u53ca \u5982\u4f55 \u5904\u7406 \u5b83\u4eec   \u7b2c\u4e09 \u3001 \u5730\u56fe \u548c \u5bfc\u822a   \u2014   \u53d1\u73b0 \u4e0d\u540c \u7684 \u5730\u56fe \u4ee5\u53ca \u8f66\u8f86 \u5982\u4f55 \u79fb\u52a8   \u7b2c\u56db \u3001   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u6570\u636e   \u2014   \u4f7f\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u7d22 \u4eff\u771f \u6570\u636e   \u5f00\u53d1   \u2014   \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u529f\u80fd \u6216 \u5185\u5bb9   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8d44\u4ea7   \u2014   Carla   \u4e2d \u8d44\u4ea7 \u7684 \u7684 \u5f00\u53d1   \u5185\u5bb9 \u521b\u4f5c   -   \u5730\u56fe   \u2014   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u7684 \u521b\u4f5c   \u5185\u5bb9 \u521b\u4f5c   -   \u8f66\u8f86   \u2014   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u7684 \u521b\u4f5c   \u4ea4\u901a   \u4ea4\u901a \u4eff\u771f \u6982\u8ff0   \u2014   \u53ef \u7528\u4e8e \u4f7f\u7528 \u4ea4\u901a \u586b\u5145 \u573a\u666f \u7684 \u4e0d\u540c \u9009\u9879 \u7684 \u6982\u8ff0   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u2014   \u901a\u8fc7 \u5c06 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u6765 \u4eff\u771f \u57ce\u5e02 \u4ea4\u901a \u57ce\u5e02\u4ea4\u901a   \u548c   SUMO   \u534f\u540c \u4eff\u771f   \u2014   \u5728   Carla   \u548c   SUMO   \u4e4b\u95f4 \u8fd0\u884c \u534f\u540c \u4eff\u771f   Scenic   \u2014   \u9075\u5faa \u4f7f\u7528   Scenic   \u5e93 \u5b9a\u4e49 \u4e0d\u540c \u573a\u666f \u7684 \u793a\u4f8b   \u884c\u4eba   \u884c\u4eba \u5bfc\u822a   \u2014   \u4f7f\u7528 \u9aa8\u9abc \u4e3a \u884c\u4eba \u8bbe\u7f6e \u52a8\u753b   \u63a7\u5236 \u884c\u4eba \u9aa8\u67b6   \u2014   \u4f7f\u7528 \u9aa8\u9abc \u4e3a \u884c\u4eba \u8bbe\u7f6e \u52a8\u753b   \u884c\u4eba \u89c6\u89c9   \u2014   \u4f7f\u7528 \u76f8\u673a \u8fdb\u884c \u4eba\u773c \u7684 \u4eff\u771f   \u751f\u6210 \u884c\u4eba \u5bfc\u822a   \u2014   \u83b7\u53d6 \u884c\u4eba \u56db\u5904 \u8d70\u52a8 \u6240 \u9700 \u7684 \u4fe1\u606f   \u884c\u4eba \u5efa\u6a21   \u2014   \u5728 \u4e09\u7ef4 \u5efa\u6a21 \u8f6f\u4ef6 \u4e2d \u5bf9 \u4eba \u8fdb\u884c \u5efa\u6a21   \u9ad8\u7ea7 \u6982\u5ff5   OpenDRIVE   \u72ec\u7acb \u6a21\u5f0f   \u2014   \u4f7f\u7528 \u4efb\u4f55   OpenDRIVE   \u6587\u4ef6 \u4f5c\u4e3a   Carla   \u5730\u56fe   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u2014   \u5728 \u4eff\u771f \u4e2d \u5f55\u5236 \u4e8b\u4ef6 \u5e76 \u518d\u6b21 \u64ad\u653e   \u6e32\u67d3 \u9009\u9879   \u2014   \u4ece \u8d28\u91cf \u8bbe\u7f6e \u5230 \u4e0d \u6e32\u67d3 \u6216 \u79bb\u5c4f \u6a21\u5f0f   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u2014   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93\u4e2d \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5b9e\u73b0   \u540c\u6b65 \u548c \u65f6\u95f4 \u6b65\u957f   \u2014   \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u548c \u4eff\u771f \u65f6\u95f4   Carla   \u4ee3\u7406   \u2014   \u4ee3\u7406 \u811a\u672c \u5141\u8bb8 \u5355\u4e2a \u8f66\u8f86 \u5728 \u5730\u56fe \u4e0a \u6f2b\u6e38 \u6216 \u5f00\u8f66 \u5230 \u8bbe\u5b9a \u7684 \u76ee\u7684 \u76ee\u7684\u5730   Carla   \u8bbe\u7f6e   \u2014   Carla   \u53c2\u6570 \u914d\u7f6e \u8bbe\u7f6e   Carla   \u6a21\u62df \u6a21\u62df\u5668 \u952e\u76d8 \u8f93\u5165 \u952e\u76d8\u8f93\u5165   \u2014   \u5728 \u6a21\u62df \u6a21\u62df\u5668 \u7a97\u53e3 \u4e2d \u73a9\u6e38 \u6e38\u620f \u73a9\u6e38\u620f \u65f6 \u4f7f\u7528 \u7684 \u6309\u952e \u7ed1\u5b9a   \u65e0 \u663e\u793a \u663e\u793a\u5c4f \u8fd0\u884c   Carla   \u5e76 \u9009\u62e9   GPU   \u2014   \u4f7f\u7528 \u672a \u63d2 \u5728 \u5c4f\u5e55 \u4e0a \u7684 GPU \u6765 \u6e32\u67d3   Carla   \u7684 \u684c\u9762   \u94fe\u63a5   Epic   \u7684 \u6c7d\u8f66 \u6750\u8d28   \u2014   \u4e0b\u8f7d \u6750\u8d28 \u5e76 \u5c06 \u5176 \u94fe\u63a5 \u5230 \u6211\u4eec \u7684 \u8f66\u8f86 \uff0c \u4ee5 \u83b7\u5f97 \u66f4 \u903c\u771f \u7684 \u8f66\u6f06 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   Carla   \u4e2d \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u7684 \u6982\u8ff0   \u2014   \u6dfb\u52a0 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6807\u51c6 \u5c3a\u5bf8 \u5730\u56fe \u6240 \u6d89\u53ca \u7684 \u8fc7\u7a0b \u548c \u9009\u9879 \u7684 \u6982\u8ff0   \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5730\u56fe   \u2014   \u5982\u4f55 \u5728   RoadRunner   \u4e2d \u751f\u6210 \u6d77\u5173 \u3001 \u6807\u51c6 \u5c3a\u5bf8 \u7684 \u5730\u56fe   \u5728   Carla   \u5305 \u5bfc\u5165 \u5730\u56fe   \u5982\u4f55 \u5728   Carla   \u5305\u4e2d \u5bfc\u5165 \u5730\u56fe   \u5728   Carla   \u6e90 \u6784\u5efa \u4e2d \u5bfc\u5165 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728   Carla   \u4e2d \u5bfc\u5165 \u4ece\u6e90 \u6784\u5efa \u7684 \u5730\u56fe   \u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5   \u2014   \u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5   \u624b\u52a8 \u51c6\u5907 \u5730\u56fe \u5730\u56fe\u5305   \u2014   \u5982\u4f55 \u51c6\u5907 \u5730\u56fe \u4ee5\u4f9b \u624b\u52a8 \u5bfc\u5165   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5206\u5c42 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u4e2d \u521b\u5efa \u5b50 \u56fe\u5c42   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u548c \u6807\u5fd7   \u2014   \u5982\u4f55 \u5c06 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u548c \u6807\u5fd7 \u6dfb\u52a0 \u5230 \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u9053\u8def \u753b\u5bb6   \u2014   \u5982\u4f55 \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u6539\u53d8 \u9053\u8def \u7684 \u5916\u89c2   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5929\u6c14 \u548c \u666f\u89c2   \u2014   \u4e3a \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u521b\u5efa \u5929\u6c14 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u5e76 \u586b\u5145 \u666f\u89c2   \u4f7f\u7528   OpenStreetMap   \u751f\u6210 \u5730\u56fe   \u2014   \u4f7f\u7528   OpenStreetMap   \u751f\u6210 \u7528\u4e8e \u4eff\u771f \u7684 \u5730\u56fe   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u7a0b\u5e8f \u5efa\u7b51   \u2014   \u7528 \u5efa\u7b51 \u5efa\u7b51\u7269 \u586b\u5145 \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177   \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u751f\u6210 \u865a\u62df \u4e09\u7ef4 \u5efa\u7b51 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u7b80\u5355 \u7684 \u754c\u9762 \u5bf9 \u5176 \u5c3a\u5bf8 \u548c \u88c5\u9970 \u98ce\u683c \u8fdb\u884c \u8c03\u5236 \uff0c \u4ee5 \u521b\u5efa \u8fd1\u4e4e \u65e0\u9650 \u7684 \u53d8\u5316   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177   \u2014   \u901a\u8fc7   OpenStreetMap   \u81ea\u52a8 \u751f\u6210   Carla   \u4e2d \u7684 \u9053\u8def \u548c \u5efa\u7b51   \u5927 \u5730\u56fe \u6982\u8ff0   \u2014   Carla   \u4e2d \u5927 \u5730\u56fe \u5de5\u4f5c \u539f\u7406 \u7684 \u8bf4\u660e   \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5927 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5927 \u5730\u56fe   \u5bfc\u5165 / \u6253\u5305 \u5927 \u5730\u56fe   \u2014   \u5982\u4f55 \u5bfc\u5165 \u5927 \u5730\u56fe   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5f00\u53d1   \u6dfb\u52a0 \u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668   \u2014   \u5b9a\u4e49 \u8f66\u8f6e \u7684 \u52a8\u6001 \u6846 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668   \u63a7\u5236 \u8f66\u8f86 \u7269\u7406 \u6a21\u578b   \u2014   \u8bbe\u7f6e \u8f66\u8f86 \u7269\u7406 \u7684 \u8fd0\u884c \u65f6 \u7684 \u53d8\u5316   \u68c0\u7d22 \u4eff\u771f \u6570\u636e   \u2014   \u4f7f\u7528 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6b63\u786e \u6536\u96c6 \u6570\u636e \u7684 \u5206\u6b65 \u6307\u5357   \u5728   Docker   \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u2014   \u5728   Docker   \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u6dfb\u52a0 \u65b0 \u8f66\u8f86   \u2014   \u51c6\u5907 \u8981 \u5728   Carla   \u4e2d \u4f7f\u7528 \u7684 \u8f66\u8f86   \u6dfb\u52a0 \u65b0 \u9053\u5177   \u2014   \u5c06 \u5176\u4ed6 \u9053\u5177 \u5bfc\u5165   Carla   \u521b\u5efa \u72ec\u7acb \u5305   \u2014   \u4e3a \u8d44\u4ea7 \u751f\u6210 \u548c \u5904\u7406 \u72ec\u7acb \u5305   \u6750\u6599 \u5b9a\u5236   \u2014   \u7f16\u8f91 \u8f66\u8f86 \u548c \u5efa\u7b51 \u6750\u6599 \u5efa\u7b51\u6750\u6599   \u5982\u4f55 \u5347\u7ea7 \u5185\u5bb9   \u2014   \u5411   Carla   \u6dfb\u52a0 \u65b0 \u5185\u5bb9   \u521b\u5efa \u4e00\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u2014   \u5f00\u53d1 \u4e00\u4e2a \u7528\u4e8e   Carla   \u7684 \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u521b\u5efa \u8bed\u4e49 \u6807\u7b7e   \u2014   \u4e3a \u8bed\u4e49 \u5206\u5272 \u5b9a\u4e49 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6807\u7b7e   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u60ac\u67b6   \u2014   \u4fee\u6539 \u8f66\u8f86 \u7684 \u60ac\u67b6 \u7cfb\u7edf   \u751f\u6210 \u8be6\u7ec6 \u78b0\u649e   \u2014   \u4e3a \u8f66\u8f86 \u521b\u5efa \u8be6\u7ec6 \u7684 \u5bf9\u649e   \u53d1\u5e03 \u7248\u672c   \u2014   \u5982\u4f55 \u53d1\u5e03   Carla   \u8c03\u8bd5 \u7a0b\u5e8f \u8c03\u8bd5\u7a0b\u5e8f   \u2014   \u8fdb\u884c \u7a0b\u5e8f \u7684 \u8c03\u8bd5   \u57fa\u51c6 \u6d4b\u8bd5   \u9a7e\u9a76 \u57fa\u51c6   \u2014   \u7528\u4e8e \u8bc4\u4f30 \u9a7e\u9a76 \u63a7\u5236 \u63a7\u5236\u5668 \uff08 \u4ee3\u7406 \uff09 \u5e76 \u83b7\u53d6 \u6709\u5173 \u5176 \u6027\u80fd \u7684 \u6307\u6807   \u57fa\u51c6 \u6027\u80fd   \u2014   \u5206\u6790   Carla   \u5728 \u81ea\u5df1 \u7684 \u73af\u5883 \u4e2d \u7684 \u6027\u80fd   \u9a7e\u9a76 \u57fa\u51c6 \u7ed3\u6784   \u2014   \u9a7e\u9a76 \u57fa\u51c6 \u6a21\u5757 \u7684 \u603b\u4f53 \u7ed3\u6784   \u6d4b\u8bd5 \u4ee3\u7406   \u2014   \u5bf9 \u4f60 \u7684 \u4ee3\u7406 \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5   \u8ba1\u7b97 \u7684 \u57fa\u51c6 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807   \u2014   \u7528\u4e8e \u6839\u636e \u4ee3\u7406 \u5728 \u57fa\u51c6 \u6d4b\u8bd5 \u671f\u95f4 \u6267\u884c \u7684 \u64cd\u4f5c \u8ba1\u7b97 \u7ed3\u679c \u8ba1\u7b97\u7ed3\u679c \u6458\u8981   \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf   ISS   \u667a\u80fd \u9a7e\u9a76 \u7cfb\u7edf   \u2014   \u5305\u542b \u7528\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u76f8\u5173 \u4efb\u52a1 \u7684 \u4f20\u7edf \u548c \u6df1\u5ea6 \u5b66\u4e60 \u7b97\u6cd5   \u4ea4\u901a \u573a\u666f   \u2014   \u57fa\u4e8e   Carla   \u4ea4\u901a \u573a\u666f \u5b9a\u4e49 \u548c \u6267\u884c \u5f15\u64ce   Web   \u53ef\u89c6 \u53ef\u89c6\u5316 \u5668   \u2014   \u4fa6\u542c \u4eff\u771f \u5e76 \u5728 \u7f51\u7edc \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u663e\u793a \u573a\u666f \u548c \u4e00\u4e9b \u4eff\u771f \u6570\u636e \u7684 \u63d2\u4ef6   ROS   \u2014   \u673a\u5668 \u673a\u5668\u4eba \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u7684 \u7b80\u8981 \u6982\u8ff0 \u548c \u5b8c\u6574 \u6587\u6863 \u7684 \u94fe\u63a5   \u6709\u9650 \u6709\u9650\u5143 \u53d8\u5f62 \u6750\u6599 \u865a\u5e7b \u63d2\u4ef6   \u2014   \u7528   \u6709\u9650 \u5143\u6cd5 \u6709\u9650\u5143 \u6709\u9650\u5143\u6cd5 \u7528\u4e8e \u53d8\u5f62 \u6750\u6599 \u7269\u7406 \u7684 \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b   CPU   \u5e93   CarSim   \u96c6\u6210   \u2014   \u5173\u4e8e \u5982\u4f55 \u4f7f\u7528   CarSim   \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u5f15\u64ce \u8fd0\u884c \u4eff\u771f \u7684 \u6559\u7a0b   RLlib   \u96c6\u6210   \u2014   \u4e86\u89e3 \u5982\u4f55 \u4f7f\u7528   RLlib   \u5e93 \u8fd0\u884c \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c   Chrono   \u96c6\u6210   \u2014   \u4f7f\u7528   Chrono   \u79ef\u5206 \u6765 \u4eff\u771f \u7269\u7406   OpenRadios   \u6709\u9650 \u6709\u9650\u5143 \u4eff\u771f   \u2014   \u9488\u5bf9 \u52a8\u6001 \u8d1f\u8f7d \u4e0b \u7684 \u9ad8\u5ea6 \u7ebf\u6027 \u975e\u7ebf\u6027 \u95ee\u9898 \u8bc4\u4f30 \u548c \u4f18\u5316 \u4ea7\u54c1 \u6027\u80fd   PTV - Vissim   \u8054\u5408 \u4eff\u771f   \u2014   \u5728   Carla   \u548c   PTV - Vissim   \u4e4b\u95f4 \u8fd0\u884c \u534f\u540c \u4eff\u771f   Ansys   \u5b9e\u65f6 \u96f7\u8fbe \u6a21\u578b   \u2014   \u6709\u5173   Ansys   RTR   \u7f51\u7edc \u7814\u8ba8 \u7814\u8ba8\u4f1a \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f   Matlab   \u63a5\u53e3   \u4f7f\u7528   Python   \u548c   ROS   \u5728   Matlab   \u4e2d \u8c03\u7528   Python   \u7f57\u6280   G29   \u65b9\u5411 \u65b9\u5411\u76d8   \u2014   \u4f7f\u7528 \u7f57\u6280 \u65b9\u5411 \u65b9\u5411\u76d8 \u8fdb\u884c \u8f66\u8f86 \u63a7\u5236 \u548c \u4eff\u771f \u5bf9 \u65b9\u5411 \u65b9\u5411\u76d8 \u7684 \u53cd\u5411 \u63a7\u5236   OpenSCENARIO   \u64ad\u653e \u64ad\u653e\u5668   \u2014   \u57fa\u672c \u7684   OpenSCENARIO   \u64ad\u653e \u64ad\u653e\u5668   \u5730\u7406 \u7a7a\u95f4 \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf   \u2014   \u5c06   3D   \u5730\u7406 \u7a7a\u95f4 \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf \u5f15\u5165 \u865a\u5e7b \u5f15\u64ce   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7f16\u8bd1   \u6784\u5efa   Carla   \u2014   \u8fdb\u884c   Carla   \u7f16\u8bd1   Linux   \u4e0a \u7f16\u8bd1   \u2014   \u5728   Linux   \u4e0a \u8fdb\u884c \u7f16\u8bd1   Windows   \u4e0a \u7f16\u8bd1   \u2014   \u5728   Windows   \u4e0a \u8fdb\u884c \u6784\u5efa   Carla   \u66f4\u65b0   \u2014   \u4e86\u89e3 \u6700\u65b0 \u5185\u5bb9   \u6784\u5efa \u7cfb\u7edf   \u2014   \u4e86\u89e3 \u6784\u5efa \u53ca\u5176 \u5236\u4f5c \u65b9\u5f0f   Docker   \u4e2d \u7684   Carla   \u2014   \u4f7f\u7528 \u5bb9\u5668 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8fd0\u884c   Carla   \u5e38\u89c1 \u95ee\u9898 \u5e38\u89c1\u95ee\u9898   \u2014   \u4e00\u4e9b \u6700 \u5e38\u89c1 \u7684 \u5b89\u88c5 \u95ee\u9898   \u8d21\u732e   \u8d21\u732e \u6307\u5357   \u2014   \u4e3a   Carla   \u505a\u51fa \u8d21\u732e \u7684 \u4e0d\u540c \u65b9\u5f0f   \u884c\u4e3a \u4e3a\u51c6 \u51c6\u5219 \u884c\u4e3a\u51c6\u5219   \u2014   \u8d21\u732e \u8d21\u732e\u8005 \u7684 \u6807\u51c6 \u6743\u5229 \u548c \u4e49\u52a1   \u7f16\u7801 \u6807\u51c6 \u7f16\u7801\u6807\u51c6   \u2014   \u7f16\u5199 \u6b63\u786e \u4ee3\u7801 \u7684 \u6307\u5357   \u6587\u6863 \u6807\u51c6   \u2014   \u7f16\u5199 \u9002\u5f53 \u6587\u6863 \u7684 \u6307\u5357   \u5176\u4ed6   RoadRunner   \u2014   \u7528\u4e8e \u6784\u5efa \u9759\u6001 \u573a\u666f   RoadRunner   Scenario   \u2014   \u7528\u4e8e \u6784\u5efa \u52a8\u6001 \u4ea4\u901a \u573a\u666f   Carla   \u4e2d\u6587 \u7ad9   \u2014   \u4e2d\u6587 \u4ea4\u6d41 \u793e\u533a   \u865a\u5e7b \u5f15\u64ce   \u2014   \u865a\u5e7b \u5f15\u64ce \u76f8\u5173 \u6559\u7a0b   Blender   \u624b\u518c   \u2014   \u4e09\u7ef4 \u5efa\u6a21 \u8f6f\u4ef6   \u6587\u4ef6 \u8bf4\u660e   \u2014   \u8bf4\u660e \u4ee3\u7801 \u6e90\u4ee3\u7801 \u4e2d \u5404\u4e2a \u6587\u4ef6 \u7684 \u4f5c\u7528   \u5f85 \u505a \u5217\u8868   \u2014   \u5f85 \u5b8c\u6210 \u7684 \u529f\u80fd   \u53c2\u8003   Python   API   \u53c2\u8003   \u2014   Python   API   \u4e2d \u7684 \u7c7b \u548c \u65b9\u6cd5   C++   \u53c2\u8003   \u2014   Carla   C++   \u4e2d \u7684 \u7c7b \u548c \u65b9\u6cd5   \u8d44\u6e90 \u76ee\u5f55   \u2014   Carla   \u4e2d \u8d44\u6e90 \u7684 \u76ee\u5f55 \u5217\u8868   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u2014   \u5173\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ca\u5176 \u68c0\u7d22 \u6570\u636e \u7684 \u4e00\u5207   \u84dd \u56fe\u5e93   \u2014   \u63d0\u4f9b \u7528\u4e8e \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u84dd\u56fe   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u2014   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u7684 \u8be6\u7ec6 \u8bf4\u660e   \u6269\u5c55 \u6587\u6863   \u2014   \u5176\u4ed6","title":"\u9996\u9875"},{"location":"#carla","text":"\u6b22\u8fce \u4f7f\u7528   Carla   \u6587\u6863 \u3002 \u6b64 \u4e3b\u9875 \u5305\u542b \u4e00\u4e2a \u7d22\u5f15 \uff0c \u5176\u4e2d \u7b80\u8981 \u8bf4\u660e \u4e86 \u6587\u6863 \u4e2d \u7684 \u4e0d\u540c \u90e8\u5206 \u3002 \u8fd0\u884c   \u5165\u95e8 \u793a\u4f8b   \u540e \u53ef\u4ee5 \u6309 \u81ea\u5df1 \u559c\u6b22 \u7684 \u987a\u5e8f \u968f\u610f \u9605\u8bfb \u3002","title":"Carla   \u6587\u6863"},{"location":"#_1","text":"\u4e0b\u8f7d   \u94fe\u63a5   \u4e2d \u7684   software / carla _ 0.9 . 15   \u4e2d \u7684 \u6240\u6709 \u6587\u4ef6 \u5e76 \u89e3\u538b \uff1b   \u8fd0\u884c   WindowsNoEditor   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u7684   CarlaUE4 . exe   \u542f\u52a8 \u573a\u666f \uff0c \u8fdb\u5165 \u573a\u666f \u540e \u6309   W   \u3001   S   \u3001   A   \u3001   D   \u79fb\u52a8 \u573a\u666f \u89c6\u89d2 \uff1b   \u4f7f\u7528   Python37 / python . exe   \u8fd0\u884c \u811a\u672c   generate _ traffic . py   \u548c   python   manual _ control . py   \u5728 \u573a\u666f \u4e2d \u751f\u6210 \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \u5e76 \u624b\u52a8 \u63a7\u5236 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u3002   \u6ce8\u610f   \u5982\u679c \u5bf9 \u6587\u6863 \u4e2d \u7684 \u4efb\u4f55 \u95ee\u9898 \u53ef\u4ee5 \u5728   \u672c \u6587\u6863 \u7684 \u6e90\u7801 \u4ed3\u5e93   \u4e2d \u7684   Issues   \u9875\u9762 \u8fdb\u884c \u63d0\u95ee \u6216\u8005 \u63d0\u4ea4   Pull   Request   \u76f4\u63a5 \u4fee\u6539 \u6587\u6863 \u3002","title":"\u5165\u95e8 \u793a\u4f8b"},{"location":"#_2","text":"\u4ecb\u7ecd   \u2014   \u5bf9   Carla   \u7684 \u671f\u671b   \u5feb\u901f \u542f\u52a8 \u5305 \u5b89\u88c5   \u2014   \u83b7\u53d6   Carla   \u7248\u672c   \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65   \u2014   \u5f00\u59cb \u8fdb\u884c   Carla   \u64cd\u4f5c \uff0c \u4ecb\u7ecd \u6700 \u91cd\u8981 \u7684 \u6982\u5ff5   \u6559\u7a0b   \u2014   Carla   \u8be6\u7ec6 \u6559\u7a0b   \u793a\u4f8b   \u2014   Carla   \u7ecf\u5178 \u793a\u4f8b","title":"\u7b80\u4ecb  "},{"location":"#_3","text":"\u57fa\u7840   \u2014   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fdb\u884c \u64cd\u4f5c \u548c \u901a\u4fe1 \u6240 \u9700 \u7684 \u57fa\u672c \u6982\u5ff5 \u57fa\u672c\u6982\u5ff5   \u7b2c\u4e00 \u3001   \u4e16\u754c \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   \u2014   \u7ba1\u7406 \u548c \u8bbf\u95ee \u4eff\u771f   \u7b2c\u4e8c \u3001   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe   \u2014   \u4e86\u89e3 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ee5\u53ca \u5982\u4f55 \u5904\u7406 \u5b83\u4eec   \u7b2c\u4e09 \u3001 \u5730\u56fe \u548c \u5bfc\u822a   \u2014   \u53d1\u73b0 \u4e0d\u540c \u7684 \u5730\u56fe \u4ee5\u53ca \u8f66\u8f86 \u5982\u4f55 \u79fb\u52a8   \u7b2c\u56db \u3001   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u6570\u636e   \u2014   \u4f7f\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u7d22 \u4eff\u771f \u6570\u636e   \u5f00\u53d1   \u2014   \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u529f\u80fd \u6216 \u5185\u5bb9   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8d44\u4ea7   \u2014   Carla   \u4e2d \u8d44\u4ea7 \u7684 \u7684 \u5f00\u53d1   \u5185\u5bb9 \u521b\u4f5c   -   \u5730\u56fe   \u2014   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u7684 \u521b\u4f5c   \u5185\u5bb9 \u521b\u4f5c   -   \u8f66\u8f86   \u2014   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u7684 \u521b\u4f5c","title":"\u4e3b\u9898"},{"location":"#_4","text":"\u4ea4\u901a \u4eff\u771f \u6982\u8ff0   \u2014   \u53ef \u7528\u4e8e \u4f7f\u7528 \u4ea4\u901a \u586b\u5145 \u573a\u666f \u7684 \u4e0d\u540c \u9009\u9879 \u7684 \u6982\u8ff0   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u2014   \u901a\u8fc7 \u5c06 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u6765 \u4eff\u771f \u57ce\u5e02 \u4ea4\u901a \u57ce\u5e02\u4ea4\u901a   \u548c   SUMO   \u534f\u540c \u4eff\u771f   \u2014   \u5728   Carla   \u548c   SUMO   \u4e4b\u95f4 \u8fd0\u884c \u534f\u540c \u4eff\u771f   Scenic   \u2014   \u9075\u5faa \u4f7f\u7528   Scenic   \u5e93 \u5b9a\u4e49 \u4e0d\u540c \u573a\u666f \u7684 \u793a\u4f8b","title":"\u4ea4\u901a"},{"location":"#_5","text":"\u884c\u4eba \u5bfc\u822a   \u2014   \u4f7f\u7528 \u9aa8\u9abc \u4e3a \u884c\u4eba \u8bbe\u7f6e \u52a8\u753b   \u63a7\u5236 \u884c\u4eba \u9aa8\u67b6   \u2014   \u4f7f\u7528 \u9aa8\u9abc \u4e3a \u884c\u4eba \u8bbe\u7f6e \u52a8\u753b   \u884c\u4eba \u89c6\u89c9   \u2014   \u4f7f\u7528 \u76f8\u673a \u8fdb\u884c \u4eba\u773c \u7684 \u4eff\u771f   \u751f\u6210 \u884c\u4eba \u5bfc\u822a   \u2014   \u83b7\u53d6 \u884c\u4eba \u56db\u5904 \u8d70\u52a8 \u6240 \u9700 \u7684 \u4fe1\u606f   \u884c\u4eba \u5efa\u6a21   \u2014   \u5728 \u4e09\u7ef4 \u5efa\u6a21 \u8f6f\u4ef6 \u4e2d \u5bf9 \u4eba \u8fdb\u884c \u5efa\u6a21","title":"\u884c\u4eba"},{"location":"#_6","text":"OpenDRIVE   \u72ec\u7acb \u6a21\u5f0f   \u2014   \u4f7f\u7528 \u4efb\u4f55   OpenDRIVE   \u6587\u4ef6 \u4f5c\u4e3a   Carla   \u5730\u56fe   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u2014   \u5728 \u4eff\u771f \u4e2d \u5f55\u5236 \u4e8b\u4ef6 \u5e76 \u518d\u6b21 \u64ad\u653e   \u6e32\u67d3 \u9009\u9879   \u2014   \u4ece \u8d28\u91cf \u8bbe\u7f6e \u5230 \u4e0d \u6e32\u67d3 \u6216 \u79bb\u5c4f \u6a21\u5f0f   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u2014   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93\u4e2d \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5b9e\u73b0   \u540c\u6b65 \u548c \u65f6\u95f4 \u6b65\u957f   \u2014   \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u548c \u4eff\u771f \u65f6\u95f4   Carla   \u4ee3\u7406   \u2014   \u4ee3\u7406 \u811a\u672c \u5141\u8bb8 \u5355\u4e2a \u8f66\u8f86 \u5728 \u5730\u56fe \u4e0a \u6f2b\u6e38 \u6216 \u5f00\u8f66 \u5230 \u8bbe\u5b9a \u7684 \u76ee\u7684 \u76ee\u7684\u5730   Carla   \u8bbe\u7f6e   \u2014   Carla   \u53c2\u6570 \u914d\u7f6e \u8bbe\u7f6e   Carla   \u6a21\u62df \u6a21\u62df\u5668 \u952e\u76d8 \u8f93\u5165 \u952e\u76d8\u8f93\u5165   \u2014   \u5728 \u6a21\u62df \u6a21\u62df\u5668 \u7a97\u53e3 \u4e2d \u73a9\u6e38 \u6e38\u620f \u73a9\u6e38\u620f \u65f6 \u4f7f\u7528 \u7684 \u6309\u952e \u7ed1\u5b9a   \u65e0 \u663e\u793a \u663e\u793a\u5c4f \u8fd0\u884c   Carla   \u5e76 \u9009\u62e9   GPU   \u2014   \u4f7f\u7528 \u672a \u63d2 \u5728 \u5c4f\u5e55 \u4e0a \u7684 GPU \u6765 \u6e32\u67d3   Carla   \u7684 \u684c\u9762   \u94fe\u63a5   Epic   \u7684 \u6c7d\u8f66 \u6750\u8d28   \u2014   \u4e0b\u8f7d \u6750\u8d28 \u5e76 \u5c06 \u5176 \u94fe\u63a5 \u5230 \u6211\u4eec \u7684 \u8f66\u8f86 \uff0c \u4ee5 \u83b7\u5f97 \u66f4 \u903c\u771f \u7684 \u8f66\u6f06 \u3002","title":"\u9ad8\u7ea7 \u6982\u5ff5"},{"location":"#_7","text":"Carla   \u4e2d \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u7684 \u6982\u8ff0   \u2014   \u6dfb\u52a0 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6807\u51c6 \u5c3a\u5bf8 \u5730\u56fe \u6240 \u6d89\u53ca \u7684 \u8fc7\u7a0b \u548c \u9009\u9879 \u7684 \u6982\u8ff0   \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5730\u56fe   \u2014   \u5982\u4f55 \u5728   RoadRunner   \u4e2d \u751f\u6210 \u6d77\u5173 \u3001 \u6807\u51c6 \u5c3a\u5bf8 \u7684 \u5730\u56fe   \u5728   Carla   \u5305 \u5bfc\u5165 \u5730\u56fe   \u5982\u4f55 \u5728   Carla   \u5305\u4e2d \u5bfc\u5165 \u5730\u56fe   \u5728   Carla   \u6e90 \u6784\u5efa \u4e2d \u5bfc\u5165 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728   Carla   \u4e2d \u5bfc\u5165 \u4ece\u6e90 \u6784\u5efa \u7684 \u5730\u56fe   \u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5   \u2014   \u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5   \u624b\u52a8 \u51c6\u5907 \u5730\u56fe \u5730\u56fe\u5305   \u2014   \u5982\u4f55 \u51c6\u5907 \u5730\u56fe \u4ee5\u4f9b \u624b\u52a8 \u5bfc\u5165   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5206\u5c42 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u4e2d \u521b\u5efa \u5b50 \u56fe\u5c42   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u548c \u6807\u5fd7   \u2014   \u5982\u4f55 \u5c06 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u548c \u6807\u5fd7 \u6dfb\u52a0 \u5230 \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u9053\u8def \u753b\u5bb6   \u2014   \u5982\u4f55 \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u6539\u53d8 \u9053\u8def \u7684 \u5916\u89c2   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5929\u6c14 \u548c \u666f\u89c2   \u2014   \u4e3a \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u521b\u5efa \u5929\u6c14 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u5e76 \u586b\u5145 \u666f\u89c2   \u4f7f\u7528   OpenStreetMap   \u751f\u6210 \u5730\u56fe   \u2014   \u4f7f\u7528   OpenStreetMap   \u751f\u6210 \u7528\u4e8e \u4eff\u771f \u7684 \u5730\u56fe   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u7a0b\u5e8f \u5efa\u7b51   \u2014   \u7528 \u5efa\u7b51 \u5efa\u7b51\u7269 \u586b\u5145 \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177   \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u751f\u6210 \u865a\u62df \u4e09\u7ef4 \u5efa\u7b51 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u7b80\u5355 \u7684 \u754c\u9762 \u5bf9 \u5176 \u5c3a\u5bf8 \u548c \u88c5\u9970 \u98ce\u683c \u8fdb\u884c \u8c03\u5236 \uff0c \u4ee5 \u521b\u5efa \u8fd1\u4e4e \u65e0\u9650 \u7684 \u53d8\u5316   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177   \u2014   \u901a\u8fc7   OpenStreetMap   \u81ea\u52a8 \u751f\u6210   Carla   \u4e2d \u7684 \u9053\u8def \u548c \u5efa\u7b51   \u5927 \u5730\u56fe \u6982\u8ff0   \u2014   Carla   \u4e2d \u5927 \u5730\u56fe \u5de5\u4f5c \u539f\u7406 \u7684 \u8bf4\u660e   \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5927 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5927 \u5730\u56fe   \u5bfc\u5165 / \u6253\u5305 \u5927 \u5730\u56fe   \u2014   \u5982\u4f55 \u5bfc\u5165 \u5927 \u5730\u56fe","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe"},{"location":"#_8","text":"\u6dfb\u52a0 \u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668   \u2014   \u5b9a\u4e49 \u8f66\u8f6e \u7684 \u52a8\u6001 \u6846 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668   \u63a7\u5236 \u8f66\u8f86 \u7269\u7406 \u6a21\u578b   \u2014   \u8bbe\u7f6e \u8f66\u8f86 \u7269\u7406 \u7684 \u8fd0\u884c \u65f6 \u7684 \u53d8\u5316   \u68c0\u7d22 \u4eff\u771f \u6570\u636e   \u2014   \u4f7f\u7528 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6b63\u786e \u6536\u96c6 \u6570\u636e \u7684 \u5206\u6b65 \u6307\u5357   \u5728   Docker   \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u2014   \u5728   Docker   \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u6dfb\u52a0 \u65b0 \u8f66\u8f86   \u2014   \u51c6\u5907 \u8981 \u5728   Carla   \u4e2d \u4f7f\u7528 \u7684 \u8f66\u8f86   \u6dfb\u52a0 \u65b0 \u9053\u5177   \u2014   \u5c06 \u5176\u4ed6 \u9053\u5177 \u5bfc\u5165   Carla   \u521b\u5efa \u72ec\u7acb \u5305   \u2014   \u4e3a \u8d44\u4ea7 \u751f\u6210 \u548c \u5904\u7406 \u72ec\u7acb \u5305   \u6750\u6599 \u5b9a\u5236   \u2014   \u7f16\u8f91 \u8f66\u8f86 \u548c \u5efa\u7b51 \u6750\u6599 \u5efa\u7b51\u6750\u6599   \u5982\u4f55 \u5347\u7ea7 \u5185\u5bb9   \u2014   \u5411   Carla   \u6dfb\u52a0 \u65b0 \u5185\u5bb9   \u521b\u5efa \u4e00\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u2014   \u5f00\u53d1 \u4e00\u4e2a \u7528\u4e8e   Carla   \u7684 \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u521b\u5efa \u8bed\u4e49 \u6807\u7b7e   \u2014   \u4e3a \u8bed\u4e49 \u5206\u5272 \u5b9a\u4e49 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6807\u7b7e   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u60ac\u67b6   \u2014   \u4fee\u6539 \u8f66\u8f86 \u7684 \u60ac\u67b6 \u7cfb\u7edf   \u751f\u6210 \u8be6\u7ec6 \u78b0\u649e   \u2014   \u4e3a \u8f66\u8f86 \u521b\u5efa \u8be6\u7ec6 \u7684 \u5bf9\u649e   \u53d1\u5e03 \u7248\u672c   \u2014   \u5982\u4f55 \u53d1\u5e03   Carla   \u8c03\u8bd5 \u7a0b\u5e8f \u8c03\u8bd5\u7a0b\u5e8f   \u2014   \u8fdb\u884c \u7a0b\u5e8f \u7684 \u8c03\u8bd5","title":"\u81ea\u5b9a\u4e49 \u5f00\u53d1"},{"location":"#_9","text":"\u9a7e\u9a76 \u57fa\u51c6   \u2014   \u7528\u4e8e \u8bc4\u4f30 \u9a7e\u9a76 \u63a7\u5236 \u63a7\u5236\u5668 \uff08 \u4ee3\u7406 \uff09 \u5e76 \u83b7\u53d6 \u6709\u5173 \u5176 \u6027\u80fd \u7684 \u6307\u6807   \u57fa\u51c6 \u6027\u80fd   \u2014   \u5206\u6790   Carla   \u5728 \u81ea\u5df1 \u7684 \u73af\u5883 \u4e2d \u7684 \u6027\u80fd   \u9a7e\u9a76 \u57fa\u51c6 \u7ed3\u6784   \u2014   \u9a7e\u9a76 \u57fa\u51c6 \u6a21\u5757 \u7684 \u603b\u4f53 \u7ed3\u6784   \u6d4b\u8bd5 \u4ee3\u7406   \u2014   \u5bf9 \u4f60 \u7684 \u4ee3\u7406 \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5   \u8ba1\u7b97 \u7684 \u57fa\u51c6 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807   \u2014   \u7528\u4e8e \u6839\u636e \u4ee3\u7406 \u5728 \u57fa\u51c6 \u6d4b\u8bd5 \u671f\u95f4 \u6267\u884c \u7684 \u64cd\u4f5c \u8ba1\u7b97 \u7ed3\u679c \u8ba1\u7b97\u7ed3\u679c \u6458\u8981","title":"\u57fa\u51c6 \u6d4b\u8bd5"},{"location":"#_10","text":"ISS   \u667a\u80fd \u9a7e\u9a76 \u7cfb\u7edf   \u2014   \u5305\u542b \u7528\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u76f8\u5173 \u4efb\u52a1 \u7684 \u4f20\u7edf \u548c \u6df1\u5ea6 \u5b66\u4e60 \u7b97\u6cd5   \u4ea4\u901a \u573a\u666f   \u2014   \u57fa\u4e8e   Carla   \u4ea4\u901a \u573a\u666f \u5b9a\u4e49 \u548c \u6267\u884c \u5f15\u64ce   Web   \u53ef\u89c6 \u53ef\u89c6\u5316 \u5668   \u2014   \u4fa6\u542c \u4eff\u771f \u5e76 \u5728 \u7f51\u7edc \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u663e\u793a \u573a\u666f \u548c \u4e00\u4e9b \u4eff\u771f \u6570\u636e \u7684 \u63d2\u4ef6   ROS   \u2014   \u673a\u5668 \u673a\u5668\u4eba \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u7684 \u7b80\u8981 \u6982\u8ff0 \u548c \u5b8c\u6574 \u6587\u6863 \u7684 \u94fe\u63a5   \u6709\u9650 \u6709\u9650\u5143 \u53d8\u5f62 \u6750\u6599 \u865a\u5e7b \u63d2\u4ef6   \u2014   \u7528   \u6709\u9650 \u5143\u6cd5 \u6709\u9650\u5143 \u6709\u9650\u5143\u6cd5 \u7528\u4e8e \u53d8\u5f62 \u6750\u6599 \u7269\u7406 \u7684 \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b   CPU   \u5e93   CarSim   \u96c6\u6210   \u2014   \u5173\u4e8e \u5982\u4f55 \u4f7f\u7528   CarSim   \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u5f15\u64ce \u8fd0\u884c \u4eff\u771f \u7684 \u6559\u7a0b   RLlib   \u96c6\u6210   \u2014   \u4e86\u89e3 \u5982\u4f55 \u4f7f\u7528   RLlib   \u5e93 \u8fd0\u884c \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c   Chrono   \u96c6\u6210   \u2014   \u4f7f\u7528   Chrono   \u79ef\u5206 \u6765 \u4eff\u771f \u7269\u7406   OpenRadios   \u6709\u9650 \u6709\u9650\u5143 \u4eff\u771f   \u2014   \u9488\u5bf9 \u52a8\u6001 \u8d1f\u8f7d \u4e0b \u7684 \u9ad8\u5ea6 \u7ebf\u6027 \u975e\u7ebf\u6027 \u95ee\u9898 \u8bc4\u4f30 \u548c \u4f18\u5316 \u4ea7\u54c1 \u6027\u80fd   PTV - Vissim   \u8054\u5408 \u4eff\u771f   \u2014   \u5728   Carla   \u548c   PTV - Vissim   \u4e4b\u95f4 \u8fd0\u884c \u534f\u540c \u4eff\u771f   Ansys   \u5b9e\u65f6 \u96f7\u8fbe \u6a21\u578b   \u2014   \u6709\u5173   Ansys   RTR   \u7f51\u7edc \u7814\u8ba8 \u7814\u8ba8\u4f1a \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f   Matlab   \u63a5\u53e3   \u4f7f\u7528   Python   \u548c   ROS   \u5728   Matlab   \u4e2d \u8c03\u7528   Python   \u7f57\u6280   G29   \u65b9\u5411 \u65b9\u5411\u76d8   \u2014   \u4f7f\u7528 \u7f57\u6280 \u65b9\u5411 \u65b9\u5411\u76d8 \u8fdb\u884c \u8f66\u8f86 \u63a7\u5236 \u548c \u4eff\u771f \u5bf9 \u65b9\u5411 \u65b9\u5411\u76d8 \u7684 \u53cd\u5411 \u63a7\u5236   OpenSCENARIO   \u64ad\u653e \u64ad\u653e\u5668   \u2014   \u57fa\u672c \u7684   OpenSCENARIO   \u64ad\u653e \u64ad\u653e\u5668   \u5730\u7406 \u7a7a\u95f4 \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf   \u2014   \u5c06   3D   \u5730\u7406 \u7a7a\u95f4 \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf \u5f15\u5165 \u865a\u5e7b \u5f15\u64ce","title":"\u751f\u6001\u7cfb\u7edf"},{"location":"#_11","text":"\u6784\u5efa   Carla   \u2014   \u8fdb\u884c   Carla   \u7f16\u8bd1   Linux   \u4e0a \u7f16\u8bd1   \u2014   \u5728   Linux   \u4e0a \u8fdb\u884c \u7f16\u8bd1   Windows   \u4e0a \u7f16\u8bd1   \u2014   \u5728   Windows   \u4e0a \u8fdb\u884c \u6784\u5efa   Carla   \u66f4\u65b0   \u2014   \u4e86\u89e3 \u6700\u65b0 \u5185\u5bb9   \u6784\u5efa \u7cfb\u7edf   \u2014   \u4e86\u89e3 \u6784\u5efa \u53ca\u5176 \u5236\u4f5c \u65b9\u5f0f   Docker   \u4e2d \u7684   Carla   \u2014   \u4f7f\u7528 \u5bb9\u5668 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8fd0\u884c   Carla   \u5e38\u89c1 \u95ee\u9898 \u5e38\u89c1\u95ee\u9898   \u2014   \u4e00\u4e9b \u6700 \u5e38\u89c1 \u7684 \u5b89\u88c5 \u95ee\u9898","title":"\u6e90\u4ee3\u7801 \u7f16\u8bd1"},{"location":"#_12","text":"\u8d21\u732e \u6307\u5357   \u2014   \u4e3a   Carla   \u505a\u51fa \u8d21\u732e \u7684 \u4e0d\u540c \u65b9\u5f0f   \u884c\u4e3a \u4e3a\u51c6 \u51c6\u5219 \u884c\u4e3a\u51c6\u5219   \u2014   \u8d21\u732e \u8d21\u732e\u8005 \u7684 \u6807\u51c6 \u6743\u5229 \u548c \u4e49\u52a1   \u7f16\u7801 \u6807\u51c6 \u7f16\u7801\u6807\u51c6   \u2014   \u7f16\u5199 \u6b63\u786e \u4ee3\u7801 \u7684 \u6307\u5357   \u6587\u6863 \u6807\u51c6   \u2014   \u7f16\u5199 \u9002\u5f53 \u6587\u6863 \u7684 \u6307\u5357","title":"\u8d21\u732e"},{"location":"#_13","text":"RoadRunner   \u2014   \u7528\u4e8e \u6784\u5efa \u9759\u6001 \u573a\u666f   RoadRunner   Scenario   \u2014   \u7528\u4e8e \u6784\u5efa \u52a8\u6001 \u4ea4\u901a \u573a\u666f   Carla   \u4e2d\u6587 \u7ad9   \u2014   \u4e2d\u6587 \u4ea4\u6d41 \u793e\u533a   \u865a\u5e7b \u5f15\u64ce   \u2014   \u865a\u5e7b \u5f15\u64ce \u76f8\u5173 \u6559\u7a0b   Blender   \u624b\u518c   \u2014   \u4e09\u7ef4 \u5efa\u6a21 \u8f6f\u4ef6   \u6587\u4ef6 \u8bf4\u660e   \u2014   \u8bf4\u660e \u4ee3\u7801 \u6e90\u4ee3\u7801 \u4e2d \u5404\u4e2a \u6587\u4ef6 \u7684 \u4f5c\u7528   \u5f85 \u505a \u5217\u8868   \u2014   \u5f85 \u5b8c\u6210 \u7684 \u529f\u80fd","title":"\u5176\u4ed6"},{"location":"#_14","text":"Python   API   \u53c2\u8003   \u2014   Python   API   \u4e2d \u7684 \u7c7b \u548c \u65b9\u6cd5   C++   \u53c2\u8003   \u2014   Carla   C++   \u4e2d \u7684 \u7c7b \u548c \u65b9\u6cd5   \u8d44\u6e90 \u76ee\u5f55   \u2014   Carla   \u4e2d \u8d44\u6e90 \u7684 \u76ee\u5f55 \u5217\u8868   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u2014   \u5173\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ca\u5176 \u68c0\u7d22 \u6570\u636e \u7684 \u4e00\u5207   \u84dd \u56fe\u5e93   \u2014   \u63d0\u4f9b \u7528\u4e8e \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u84dd\u56fe   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u2014   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u7684 \u8be6\u7ec6 \u8bf4\u660e   \u6269\u5c55 \u6587\u6863   \u2014   \u5176\u4ed6","title":"\u53c2\u8003"},{"location":"CarlaUE4/","text":"CarlaUE4   \u76ee\u5f55 \u4f9d\u8d56 \u4f9d\u8d56\u56fe \uff1a","title":"CarlaUE4"},{"location":"CarlaUE4/#carlaue4","text":"\u76ee\u5f55 \u4f9d\u8d56 \u4f9d\u8d56\u56fe \uff1a","title":"CarlaUE4"},{"location":"adv_agents/","text":"Carla   \u4ee3\u7406   Carla   \u4ee3\u7406 \u811a\u672c \u5141\u8bb8 \u8f66\u8f86 \u6cbf\u7740 \u968f\u673a \u7684 \u3001 \u65e0\u9650 \u7684 \u8def\u7ebf \u884c\u9a76 \uff0c \u6216\u8005 \u91c7\u7528 \u6700\u77ed \u7684 \u8def\u7ebf \u5230\u8fbe \u7ed9\u5b9a \u7684 \u76ee\u7684 \u76ee\u7684\u5730 \u3002 \u4ee3\u7406 \u9075\u5b88 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5e76 \u5bf9 \u9053\u8def \u4e0a \u7684 \u5176\u4ed6 \u969c\u788d \u969c\u788d\u7269 \u505a\u51fa \u53cd\u5e94 \u3002 \u63d0\u4f9b \u4e09\u79cd \u4ee3\u7406 \u7c7b\u578b \u3002 \u53ef\u4ee5 \u4fee\u6539 \u76ee\u6807 \u901f\u5ea6 \u3001 \u5236\u52a8 \u8ddd\u79bb \u3001 \u5c3e\u968f \u884c\u4e3a \u7b49 \u53c2\u6570 \u3002 \u53ef\u4ee5 \u6839\u636e \u7528\u6237 \u7684 \u9700\u8981 \u4fee\u6539 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7c7b \u6216 \u5c06 \u5176 \u7528\u4f5c \u57fa\u7c7b \u6765 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4ee3\u7406 \u3002   \u4ee3\u7406 \u811a\u672c \u6982\u8ff0   \u89c4\u5212 \u4e0e \u63a7\u5236   \u4ee3\u7406 \u884c\u4e3a   \u5b9e\u73b0 \u4e00\u4e2a \u4ee3\u7406   \u884c\u4e3a \u7c7b\u578b   \u521b\u5efa \u81ea\u5df1 \u7684 \u884c\u4e3a \u7c7b\u578b   \u521b\u5efa \u4ee3\u7406   \u4ee3\u7406 \u811a\u672c \u6982\u8ff0   Carla   \u4ee3\u7406 \u4e2d \u6d89\u53ca \u7684 \u4e3b\u8981 \u811a\u672c \u4f4d\u4e8e   PythonAPI / carla / agents / navigation   \u4e2d \u3002 \u5b83\u4eec \u5206\u4e3a \u4e24\u7c7b \uff1b   \u89c4\u5212 \u548c \u63a7\u5236   \u548c   \u4ee3\u7406 \u884c\u4e3a   \u3002   \u89c4\u5212 \u4e0e \u63a7\u5236   controller . py   :   \u5c06 \u7eb5\u5411 \u548c \u6a2a\u5411   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7ec4\u5408 \u5408\u6210 \u7ec4\u5408\u6210 \u4e00\u4e2a \u7c7b \uff0c   VehiclePIDController   \uff0c \u7528\u4e8e \u4ece   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u4f4e\u7ea7 \u63a7\u5236 \u3002   global _ route _ planner . py   :   \u4ece   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u83b7\u53d6 \u8be6\u7ec6 \u7684 \u62d3\u6251 \u7ed3\u6784 \u4ee5 \u6784\u5efa \u4e16\u754c \u5730\u56fe \u4e16\u754c\u5730\u56fe \u7684 \u56fe\u5f62 \u8868\u793a \uff0c \u4e3a   Local   Planner   \u63d0\u4f9b \u8def\u5f84 \u70b9 \u548c \u9053\u8def \u9009\u9879 \u4fe1\u606f \u3002   local _ planner . py   :   \u6839\u636e \u6765\u81ea   VehiclePIDController   \u7684 \u63a7\u5236 \u8f93\u5165 \u8ddf\u8e2a \u8def\u5f84 \u70b9 \u3002 \u8def\u5f84 \u70b9 \u53ef\u4ee5 \u7531   Global   Route   Planner   \u63d0\u4f9b \uff0c \u4e5f \u53ef\u4ee5 \u52a8\u6001 \u8ba1\u7b97 \uff0c \u5728 \u8def\u53e3 \u9009\u62e9 \u968f\u673a \u8def\u5f84 \uff0c \u7c7b\u4f3c \u4e8e   Traffic   Manager   \u3002   \u4ee3\u7406 \u884c\u4e3a   basic _ agent . py   :   \u5305\u542b \u4e00\u4e2a \u4ee3\u7406 \u57fa\u7c7b \uff0c \u5b83 \u5b9e\u73b0 \u4e86 \u4e00\u4e2a   Basic   Agent   \uff0c \u5b83 \u5728 \u5730\u56fe \u4e0a \u6f2b\u6e38 \u6216 \u4ee5 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u77ed \u7684 \u8ddd\u79bb \u5230\u8fbe \u76ee\u6807 \u76ee\u7684 \u76ee\u7684\u5730 \uff0c \u907f\u5f00 \u5176\u4ed6 \u8f66\u8f86 \uff0c \u54cd\u5e94 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u4f46 \u5ffd\u7565 \u505c\u8f66 \u6807\u5fd7 \u3002   behavior _ agent . py   :   \u5305\u542b \u4e00\u4e2a \u5b9e\u73b0 \u66f4 \u590d\u6742 \u7684   Behavior   Agent   \u7684 \u7c7b \uff0c \u5b83 \u53ef\u4ee5 \u5728 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u77ed \u7684 \u8ddd\u79bb \u5185 \u5230\u8fbe \u76ee\u6807 \u76ee\u7684 \u76ee\u7684\u5730 \uff0c \u8ddf\u968f \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3001 \u6807\u5fd7 \u548c \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \uff0c \u540c\u65f6 \u5c3e\u968f \u5176\u4ed6 \u8f66\u8f86 \u3002 \u6709 \u4e09\u79cd \u9884\u5b9a \u4e49 \u7684 \u7c7b\u578b \u51b3\u5b9a \u4e86 \u4ee3\u7406 \u7684 \u884c\u4e3a \u65b9\u5f0f \u3002   behavior _ types . py   :   \u5305\u542b \u5f71\u54cd   Behavior   Agent   \u7684 \u884c\u4e3a \u7c7b\u578b \u7684 \u53c2\u6570 \uff1b \u8c28\u614e \u3001 \u6b63\u5e38 \u548c \u91ce\u86ee \u3002   \u5b9e\u73b0 \u4e00\u4e2a \u4ee3\u7406   \u672c\u8282 \u5c06 \u89e3\u91ca \u5982\u4f55 \u5728 \u60a8 \u81ea\u5df1 \u7684 \u811a\u672c \u4e2d \u4f7f\u7528 \u793a\u4f8b   Carla   \u4ee3\u7406 \u7c7b \u3002 \u5728 \u672c\u8282 \u7684 \u6700\u540e \uff0c \u60a8 \u5c06 \u4e86\u89e3 \u5982\u4f55 \u8fd0\u884c \u4e00\u4e2a \u793a\u4f8b \u811a\u672c \u6765 \u663e\u793a \u4e0d\u540c \u4ee3\u7406 \u7684 \u8fd0\u884c \u60c5\u51b5 \u3002   1 .   \u5bfc\u5165 \u8981 \u4f7f\u7528 \u7684 \u4ee3\u7406 \u7c7b \uff1a   #   \u5bfc\u5165 \u57fa\u672c \u4ee3\u7406   from   agent . navigation . basic _ agent   import   BasicAgent   #   \u5bfc\u5165 \u884c\u4e3a \u4ee3\u7406   from   agent . navigation . behavior _ agent   import   BehaviorAgent   2   .   \u4efb\u4f55 \u8f66\u8f86 \u90fd \u53ef\u4ee5 \u53d8\u6210 \u4ee3\u7406 \u3002   \u751f\u6210 \u8f66\u8f86   \u5e76 \u5c06 \u5176 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9 \u4ee3\u7406 \u7c7b\u4ee5 \u5b9e\u4f8b \u5316\u5b83 \uff1a   #   \u542f\u52a8 \u4e00\u4e2a \u57fa\u672c \u4ee3\u7406   agent   =   BasicAgent ( vehicle )   #   \u542f\u52a8 \u5177\u6709 \u653b\u51fb \u653b\u51fb\u6027 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u7684 \u884c\u4e3a \u4ee3\u7406   agent   =   BehaviorAgent ( vehicle ,   behavior = ' aggressive ' )   \u5728   behavior   types   \u90e8\u5206 \u4e2d \u9605\u8bfb \u6709\u5173 \u884c\u4e3a \u7c7b\u578b \u4ee5\u53ca \u5982\u4f55 \u914d\u7f6e \u60a8 \u81ea\u5df1 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   3 .   \u60a8 \u53ef\u4ee5 \u8bbe\u7f6e \u4ee3\u7406 \u524d\u5f80 \u7684 \u76ee\u7684 \u76ee\u7684\u5730 \u3002 \u5982\u679c \u60a8 \u4e0d \u4e3a \u4ee3\u7406 \u8bbe\u7f6e \u76ee\u7684 \u76ee\u7684\u5730 \uff0c \u5b83 \u5c06 \u5728 \u5730\u56fe \u4e0a \u65e0\u4f11 \u4f11\u6b62 \u65e0\u4f11\u6b62 \u5730 \u6f2b\u6e38 \u3002 \u8981 \u8bbe\u7f6e \u76ee\u7684 \u76ee\u7684\u5730 \uff0c \u8bf7 \u4e3a \u4ee3\u7406 \u63d0\u4f9b   \u4f4d\u7f6e   \uff1a   destination   =   random . choice ( spawn _ points ) . location   agent . set _ destination ( destination )   5 .   \u5728 \u5bfc\u822a \u6b65\u9aa4 \u671f\u95f4 \u5e94\u7528 \u8f66\u8f86 \u63a7\u5236 \u548c \u884c\u4e3a \u3002 \u5728 \u6bcf\u4e2a \u6b65\u9aa4 \u4e2d \uff0c   Basic   Agent   \u5c06 \u5e94\u7528 \u8f66\u8f86 \u63a7\u5236 \u5e76 \u901a\u8fc7 \u6267\u884c \u7d27\u6025 \u505c\u6b62 \u6765 \u5bf9 \u4efb\u4f55 \u8f66\u8f86 \u6216 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u505a\u51fa \u53cd\u5e94 \u3002   Behavior   Agent   \u5c06 \u6839\u636e \u60a8 \u5e94\u7528 \u7684 \u884c\u4e3a \u7c7b\u578b \u5bf9 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u505a\u51fa \u53cd\u5e94 \u3001 \u907f\u5f00 \u884c\u4eba \u3001 \u8ddf\u968f \u6c7d\u8f66 \u5e76 \u5728 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u5bfc\u822a \uff1a   while   True \uff1a   vehicle . apply _ control ( agent . run _ step ( ) )   6 .   \u60a8 \u53ef\u4ee5 \u68c0\u67e5 \u4ee3\u7406 \u662f\u5426 \u5df2 \u5b8c\u6210 \u5176 \u8f68\u8ff9 \u5e76 \u5728 \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \u65f6 \u6267\u884c \u64cd\u4f5c \u3002 \u4e00\u65e6 \u60a8 \u7684 \u8f66\u8f86 \u5230\u8fbe \u76ee\u7684 \u76ee\u7684\u5730 \uff0c \u4ee5\u4e0b \u4ee3\u7801 \u4ee3\u7801\u6bb5 \u5c06 \u7ed3\u675f \u4eff\u771f \uff1a   while   True \uff1a   if   agent . done \uff08 \uff09 \uff1a   print ( \" The   taerget   has   been   reached ,   stopping   the   simulation \" )   break   vehicle . apply _ control ( agent . run _ step ( ) )   7 .   \u4e0d\u662f \u5728 \u4ee3\u7406 \u5230\u8fbe \u5176 \u76ee\u6807 \u76ee\u7684 \u76ee\u7684\u5730 \u65f6 \u5b8c\u6210 \u4eff\u771f \uff0c \u800c\u662f \u53ef\u4ee5 \u751f\u6210 \u4e00\u6761 \u65b0 \u7684 \u968f\u673a \u8def\u7ebf \u4f9b \u4ee3\u7406 \u9075\u5faa \uff1a   while   True \uff1a   if   agent . done ( ) :   agent . set _ destination ( random . choice ( spawn _ points ) . location )   print ( \" The   target   has   been   reached ,   searching   for   another   target \" )   vehicle . apply _ control ( agent . run _ step ( ) )   Basic   Agent   \u63d0\u4f9b \u4e86 \u4e00\u4e9b \u65b9\u6cd5 \u6765 \u64cd\u7eb5 \u4ee3\u7406 \u884c\u4e3a \u6216 \u9075\u5faa \u7684 \u7a0b\u5e8f \u8def\u7ebf \uff1a   set _ target _ speed ( speed )   :   \u4ee5 \u516c\u91cc / \u5c0f\u65f6 \u4e3a \u5355\u4f4d \u8bbe\u7f6e \u76ee\u6807 \u901f\u5ea6   follow _ speed _ limits ( value = True )   :   \u8bbe\u7f6e \u4ee3\u7406 \u9075\u5faa \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u3002   set _ destination ( end _ location ,   start _ location = None )   :   \u4ee3\u7406 \u5c06 \u901a\u8fc7 \u53ef\u80fd \u7684 \u6700 \u77ed\u8def \u8def\u7ebf \u77ed\u8def\u7ebf \u4ece \u7279\u5b9a \u7684 \u8d77\u59cb \u4f4d\u7f6e \u5230 \u7ed3\u675f \u4f4d\u7f6e \u3002 \u5982\u679c \u6ca1\u6709 \u63d0\u4f9b \u8d77\u59cb \u4f4d\u7f6e \uff0c \u5b83 \u5c06 \u4f7f\u7528 \u5f53\u524d \u4ee3\u7406 \u4f4d\u7f6e \u3002   set _ global _ plan ( plan ,   stop _ waypoint _ creation = True ,   clean _ queue = True )   :   \u4e3a \u4ee3\u7406 \u6dfb\u52a0 \u4e00\u4e2a \u5177\u4f53 \u7684 \u8ba1\u5212 \u3002 \u8ba1\u5212 \u53c2\u6570 \u5e94 \u5305\u542b \u4e00\u4e2a   [ carla . Waypoint ,   RoadOption ]   \u5217\u8868 \uff0c \u8fd9 \u5c06 \u662f \u4ee3\u7406 \u9700\u8981 \u91c7\u53d6 \u7684 \u8def\u5f84 \u3002   stop _ waypoint _ creation   \u5c06 \u9632\u6b62 \u5728 \u8def\u5f84 \u8fd0\u884c \u540e \u81ea\u52a8 \u521b\u5efa \u8def\u5f84 \u70b9 \u3002   clean _ queue   \u5c06 \u91cd\u7f6e \u4ee3\u7406 \u7684 \u5f53\u524d \u8ba1\u5212 \u3002   trace _ route ( start _ waypoint ,   end _ waypoint )   :   \u4ece   Global   Route   Planner   \u83b7\u53d6 \u4e24\u4e2a \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u6700 \u77ed\u8ddd \u8ddd\u79bb \u77ed\u8ddd\u79bb \uff0c \u5e76 \u5c06 \u8def\u5f84 \u4f5c\u4e3a   [ carla . Waypoint ,   RoadOption ]   \u5217\u8868 \u8fd4\u56de \uff0c \u4f9b \u4ee3\u7406 \u9075\u5faa \u3002   ignore _ traffic _ lights ( active = True )   :   \u8bbe\u7f6e \u4ee3\u7406 \u5ffd\u7565 \u6216 \u670d\u4ece \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002   ignore _ stop _ signs ( active = True )   :   \u8bbe\u7f6e \u4ee3\u7406 \u5ffd\u7565 \u6216 \u670d\u4ece \u505c\u8f66 \u6807\u5fd7 \u3002   ignore _ vehicles ( active = True )   :   \u8bbe\u7f6e \u4ee3\u7406 \u5ffd\u7565 \u6216 \u5bf9 \u5176\u4ed6 \u8f66\u8f86 \u4f5c\u51fa \u53cd\u5e94 \u4f5c\u51fa\u53cd\u5e94 \u3002   \u5728   PythonAPI / examples   \u4e2d \u627e\u5230 \u7684   automatic _ control . py   \u811a\u672c \u662f \u57fa\u672c \u548c \u884c\u4e3a \u4ee3\u7406 \u7684 \u4e00\u4e2a \u793a\u4f8b \u3002 \u8981 \u5c1d\u8bd5 \u8be5 \u811a\u672c \uff0c \u8bf7 \u5bfc\u822a \u5230 \u793a\u4f8b \u76ee\u5f55 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   \u4f7f\u7528 \u57fa\u672c \u4ee3\u7406 \u8fd0\u884c   python3   automatic _ control . py   -- agent = Basic   #   \u4f7f\u7528 \u884c\u4e3a \u4ee3\u7406 \u8fd0\u884c   python3   automatic _ control . py   -- agent = Behavior   -- behavior = aggressive   \u884c\u4e3a \u7c7b\u578b   \u884c\u4e3a \u4ee3\u7406 \u7684 \u884c\u4e3a \u7c7b\u578b \u5728   behavior _ types . py   \u4e2d \u5b9a\u4e49 \u3002 \u4e09\u4e2a \u9884 \u914d\u7f6e \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u662f   ' cautious '   \u3001   ' normal '   \u548c   ' aggressive '   \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u8bbe\u7f6e \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3001 \u4fee\u6539 \u5b83\u4eec \u6216 \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3002 \u53ef\u4ee5 \u8c03\u6574 \u4ee5\u4e0b \u53d8\u91cf \uff1a   max _ speed   \uff1a \u60a8 \u7684 \u8f66\u8f86 \u80fd\u591f \u8fbe\u5230 \u7684 \u6700\u9ad8 \u901f\u5ea6 \uff08 \u4ee5 \u516c\u91cc / \u5c0f\u65f6 \u4e3a \u5355\u4f4d \uff09 \u3002   speed _ lim _ dist   \uff1a \u4ee5   \u5343\u7c73 / \u5c0f\u65f6   \u4e3a \u5355\u4f4d \u7684 \u503c \uff0c \u7528\u4e8e \u5b9a\u4e49 \u8f66\u8f86 \u7684 \u76ee\u6807 \u901f\u5ea6 \u4e0e \u5f53\u524d \u9650\u901f \u7684 \u8ddd\u79bb \uff08 \u4f8b\u5982 \uff0c \u5982\u679c \u9650\u901f \u4e3a   30   \u5343\u7c73 / \u5c0f\u65f6   \u4e14   speed _ lim _ dist   \u4e3a   10 \u5343\u7c73 / \u5c0f\u65f6 \uff0c \u5219 \u76ee\u6807 \u901f\u5ea6 \u5c06 \u662f 20 \u5343\u7c73 / \u5c0f\u65f6 \uff09 \u3002   speed _ decrease   \uff1a \u5f53 \u63a5\u8fd1 \u524d\u65b9 \u8f83\u6162 \u7684 \u8f66\u8f86 \u65f6 \uff0c \u60a8 \u7684 \u8f66\u8f86 \u5c06 \u4ee5 \u591a \u5feb \u7684 \u516c\u91cc / \u5c0f\u65f6 \u51cf\u901f \u3002   safety _ time   \uff1a \u78b0\u649e \u65f6\u95f4 \uff1b \u5982\u679c \u60a8 \u7684 \u8f66\u8f86 \u7a81\u7136 \u5239\u8f66 \uff0c \u5b83 \u4e0e \u524d\u9762 \u7684 \u8f66\u8f86 \u76f8\u649e \u6240 \u9700 \u7684 \u65f6\u95f4 \u7684 \u8fd1\u4f3c \u8fd1\u4f3c\u503c \u3002   min _ proximity _ threshold   \uff1a \u5728 \u60a8 \u7684 \u8f66\u8f86 \u6267\u884c \u907f\u8ba9 \u6216 \u5c3e\u968f \u7b49 \u64cd\u4f5c \u4e4b\u524d \uff0c \u4e0e \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u6216 \u884c\u4eba \u7684 \u6700\u5c0f \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   braking _ distance   \uff1a \u60a8 \u7684 \u8f66\u8f86 \u5c06 \u6267\u884c \u7d27\u6025 \u505c\u8f66 \u7d27\u6025\u505c\u8f66 \u65f6 \u4e0e \u884c\u4eba \u6216 \u8f66\u8f86 \u7684 \u8ddd\u79bb \u3002   tailgate _ counter   \uff1a \u7528\u4e8e \u907f\u514d \u5728 \u6700\u540e \u4e00\u4e2a \u540e \u6321\u677f \u540e\u8fc7 \u5feb \u5c3e\u968f \u7684 \u8ba1\u6570 \u8ba1\u6570\u5668 \u3002   \u521b\u5efa \u81ea\u5df1 \u7684 \u884c\u4e3a \u7c7b\u578b   \u8981 \u521b\u5efa \u81ea\u5df1 \u7684 \u884c\u4e3a \u7c7b\u578b \uff1a   1 .   \u5728   behavior _ types . py   \u4e2d\u4e3a \u60a8 \u7684 \u884c\u4e3a \u7c7b\u578b \u521b\u5efa \u7c7b \uff1a   class   ProfileName ( object ) \uff1a   #   \u5b8c\u6574 \u7684 \u503c \u5b9a\u4e49   2 .   \u5728   behavior _ agent . py   \u811a\u672c \u4e2d \u5b9a\u4e49 \u548c \u5b9e\u4f8b \u5316 \u4f60 \u7684 \u884c\u4e3a \u7c7b\u578b \uff1a   #   \u4ee3\u7406 \u884c\u4e3a \u53c2\u6570   if   behavior   = =   ' cautious ' :   self ._ behavior   =   Cautious ( )   elif   behavior   = =   ' normal ' :   self ._ behavior   =   Normal ( )   elif   behavior   = =   ' aggressive ' :   self ._ behavior   =   Aggressive ( )   elif   behavior   = =   ' < type _ name > ' :   self ._ behavior   =   < TypeName > ( )   \u521b\u5efa \u4ee3\u7406   Carla   \u4ee3\u7406 \u53ea\u662f \u7528\u6237 \u53ef\u4ee5 \u8fd0\u884c \u7684 \u4ee3\u7406 \u7c7b\u578b \u7684 \u793a\u4f8b \u3002 \u7528\u6237 \u53ef\u4ee5 \u5728   Basic   Agent   \u7684 \u57fa\u7840 \u4e0a \u521b\u5efa \u81ea\u5df1 \u7684 \u4ee3\u7406 \u3002 \u53ef\u80fd \u53ef\u80fd\u6027 \u662f \u65e0\u7a77 \u65e0\u7a77\u7684 \u3002 \u6bcf\u4e2a \u4ee3\u7406 \u53ea \u9700\u8981 \u4e24\u4e2a \u5143\u7d20 \uff0c   \u521d\u59cb \u521d\u59cb\u5316   __ init __   \u548c   \u8fd0\u884c \u6b65   run _ step   \u3002   \u5728 \u4e0b\u9762 \u67e5\u627e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4ee3\u7406 \u7684 \u6700\u5c0f \u5e03\u5c40 \u793a\u4f8b \uff1a   import   carla   from   agents . navigation . basic _ agent   import   BasicAgent   class   CustomAgent ( BasicAgent ) :   def   __ init __ ( self ,   vehicle ,   target _ speed = 20 ,   debug = False ) :   \" \" \"   : param   vehicle :   \u5e94\u7528 \u5230 \u672c\u5730 \u89c4\u5212 \u5668 \u903b\u8f91 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   : param   target _ speed :   \u8f66\u8f86 \u79fb\u52a8 \u7684 \u901f\u5ea6 \uff08 Km / h \uff09   \" \" \"   super ( ) .__ init __ ( target _ speed ,   \u8c03\u8bd5 )   def   run _ step ( self ,   debug = False ) :   \" \" \"   \u6267\u884c \u4e00\u6b65 \u5bfc\u822a   : return :   carla . VehicleControl   \" \" \"   #   \u5728 \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u4e2d \u91c7\u53d6 \u7684 \u884c\u52a8   control   =   carla . VehicleControl ( )   return   control   \u67e5\u770b   basic _ agent . py   \u548c   behavior _ agent . py   \u811a\u672c \u4ee5 \u63a2\u7d22 \u5b83\u4eec \u7684 \u7ed3\u6784 \u548c \u529f\u80fd \uff0c \u4ee5 \u83b7\u53d6 \u6709\u5173 \u5982\u4f55 \u521b\u5efa \u81ea\u5df1 \u7684 \u66f4 \u591a \u60f3\u6cd5 \u3002   \u60a8 \u53ef\u4ee5 \u63a2\u7d22 \u63d0\u4f9b \u7684 \u4ee3\u7406 \u811a\u672c \u3001 \u6269\u5c55 \u5b83\u4eec \u6216 \u5c06 \u5b83\u4eec \u7528\u4f5c \u521b\u5efa \u81ea\u5df1 \u7684 \u57fa\u51c6 \u3002 \u5982\u679c \u60a8 \u5bf9 \u4ee3\u7406 \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728   \u8bba\u575b   \u53d1\u5e16 \u3002","title":"Carla   \u4ee3\u7406"},{"location":"adv_agents/#carla","text":"Carla   \u4ee3\u7406 \u811a\u672c \u5141\u8bb8 \u8f66\u8f86 \u6cbf\u7740 \u968f\u673a \u7684 \u3001 \u65e0\u9650 \u7684 \u8def\u7ebf \u884c\u9a76 \uff0c \u6216\u8005 \u91c7\u7528 \u6700\u77ed \u7684 \u8def\u7ebf \u5230\u8fbe \u7ed9\u5b9a \u7684 \u76ee\u7684 \u76ee\u7684\u5730 \u3002 \u4ee3\u7406 \u9075\u5b88 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5e76 \u5bf9 \u9053\u8def \u4e0a \u7684 \u5176\u4ed6 \u969c\u788d \u969c\u788d\u7269 \u505a\u51fa \u53cd\u5e94 \u3002 \u63d0\u4f9b \u4e09\u79cd \u4ee3\u7406 \u7c7b\u578b \u3002 \u53ef\u4ee5 \u4fee\u6539 \u76ee\u6807 \u901f\u5ea6 \u3001 \u5236\u52a8 \u8ddd\u79bb \u3001 \u5c3e\u968f \u884c\u4e3a \u7b49 \u53c2\u6570 \u3002 \u53ef\u4ee5 \u6839\u636e \u7528\u6237 \u7684 \u9700\u8981 \u4fee\u6539 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7c7b \u6216 \u5c06 \u5176 \u7528\u4f5c \u57fa\u7c7b \u6765 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4ee3\u7406 \u3002   \u4ee3\u7406 \u811a\u672c \u6982\u8ff0   \u89c4\u5212 \u4e0e \u63a7\u5236   \u4ee3\u7406 \u884c\u4e3a   \u5b9e\u73b0 \u4e00\u4e2a \u4ee3\u7406   \u884c\u4e3a \u7c7b\u578b   \u521b\u5efa \u81ea\u5df1 \u7684 \u884c\u4e3a \u7c7b\u578b   \u521b\u5efa \u4ee3\u7406","title":"Carla   \u4ee3\u7406"},{"location":"adv_agents/#_1","text":"Carla   \u4ee3\u7406 \u4e2d \u6d89\u53ca \u7684 \u4e3b\u8981 \u811a\u672c \u4f4d\u4e8e   PythonAPI / carla / agents / navigation   \u4e2d \u3002 \u5b83\u4eec \u5206\u4e3a \u4e24\u7c7b \uff1b   \u89c4\u5212 \u548c \u63a7\u5236   \u548c   \u4ee3\u7406 \u884c\u4e3a   \u3002","title":"\u4ee3\u7406 \u811a\u672c \u6982\u8ff0  "},{"location":"adv_agents/#_2","text":"controller . py   :   \u5c06 \u7eb5\u5411 \u548c \u6a2a\u5411   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7ec4\u5408 \u5408\u6210 \u7ec4\u5408\u6210 \u4e00\u4e2a \u7c7b \uff0c   VehiclePIDController   \uff0c \u7528\u4e8e \u4ece   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u4f4e\u7ea7 \u63a7\u5236 \u3002   global _ route _ planner . py   :   \u4ece   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u83b7\u53d6 \u8be6\u7ec6 \u7684 \u62d3\u6251 \u7ed3\u6784 \u4ee5 \u6784\u5efa \u4e16\u754c \u5730\u56fe \u4e16\u754c\u5730\u56fe \u7684 \u56fe\u5f62 \u8868\u793a \uff0c \u4e3a   Local   Planner   \u63d0\u4f9b \u8def\u5f84 \u70b9 \u548c \u9053\u8def \u9009\u9879 \u4fe1\u606f \u3002   local _ planner . py   :   \u6839\u636e \u6765\u81ea   VehiclePIDController   \u7684 \u63a7\u5236 \u8f93\u5165 \u8ddf\u8e2a \u8def\u5f84 \u70b9 \u3002 \u8def\u5f84 \u70b9 \u53ef\u4ee5 \u7531   Global   Route   Planner   \u63d0\u4f9b \uff0c \u4e5f \u53ef\u4ee5 \u52a8\u6001 \u8ba1\u7b97 \uff0c \u5728 \u8def\u53e3 \u9009\u62e9 \u968f\u673a \u8def\u5f84 \uff0c \u7c7b\u4f3c \u4e8e   Traffic   Manager   \u3002","title":"\u89c4\u5212 \u4e0e \u63a7\u5236  "},{"location":"adv_agents/#_3","text":"basic _ agent . py   :   \u5305\u542b \u4e00\u4e2a \u4ee3\u7406 \u57fa\u7c7b \uff0c \u5b83 \u5b9e\u73b0 \u4e86 \u4e00\u4e2a   Basic   Agent   \uff0c \u5b83 \u5728 \u5730\u56fe \u4e0a \u6f2b\u6e38 \u6216 \u4ee5 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u77ed \u7684 \u8ddd\u79bb \u5230\u8fbe \u76ee\u6807 \u76ee\u7684 \u76ee\u7684\u5730 \uff0c \u907f\u5f00 \u5176\u4ed6 \u8f66\u8f86 \uff0c \u54cd\u5e94 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u4f46 \u5ffd\u7565 \u505c\u8f66 \u6807\u5fd7 \u3002   behavior _ agent . py   :   \u5305\u542b \u4e00\u4e2a \u5b9e\u73b0 \u66f4 \u590d\u6742 \u7684   Behavior   Agent   \u7684 \u7c7b \uff0c \u5b83 \u53ef\u4ee5 \u5728 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u77ed \u7684 \u8ddd\u79bb \u5185 \u5230\u8fbe \u76ee\u6807 \u76ee\u7684 \u76ee\u7684\u5730 \uff0c \u8ddf\u968f \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3001 \u6807\u5fd7 \u548c \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \uff0c \u540c\u65f6 \u5c3e\u968f \u5176\u4ed6 \u8f66\u8f86 \u3002 \u6709 \u4e09\u79cd \u9884\u5b9a \u4e49 \u7684 \u7c7b\u578b \u51b3\u5b9a \u4e86 \u4ee3\u7406 \u7684 \u884c\u4e3a \u65b9\u5f0f \u3002   behavior _ types . py   :   \u5305\u542b \u5f71\u54cd   Behavior   Agent   \u7684 \u884c\u4e3a \u7c7b\u578b \u7684 \u53c2\u6570 \uff1b \u8c28\u614e \u3001 \u6b63\u5e38 \u548c \u91ce\u86ee \u3002","title":"\u4ee3\u7406 \u884c\u4e3a  "},{"location":"adv_agents/#_4","text":"\u672c\u8282 \u5c06 \u89e3\u91ca \u5982\u4f55 \u5728 \u60a8 \u81ea\u5df1 \u7684 \u811a\u672c \u4e2d \u4f7f\u7528 \u793a\u4f8b   Carla   \u4ee3\u7406 \u7c7b \u3002 \u5728 \u672c\u8282 \u7684 \u6700\u540e \uff0c \u60a8 \u5c06 \u4e86\u89e3 \u5982\u4f55 \u8fd0\u884c \u4e00\u4e2a \u793a\u4f8b \u811a\u672c \u6765 \u663e\u793a \u4e0d\u540c \u4ee3\u7406 \u7684 \u8fd0\u884c \u60c5\u51b5 \u3002   1 .   \u5bfc\u5165 \u8981 \u4f7f\u7528 \u7684 \u4ee3\u7406 \u7c7b \uff1a   #   \u5bfc\u5165 \u57fa\u672c \u4ee3\u7406   from   agent . navigation . basic _ agent   import   BasicAgent   #   \u5bfc\u5165 \u884c\u4e3a \u4ee3\u7406   from   agent . navigation . behavior _ agent   import   BehaviorAgent   2   .   \u4efb\u4f55 \u8f66\u8f86 \u90fd \u53ef\u4ee5 \u53d8\u6210 \u4ee3\u7406 \u3002   \u751f\u6210 \u8f66\u8f86   \u5e76 \u5c06 \u5176 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9 \u4ee3\u7406 \u7c7b\u4ee5 \u5b9e\u4f8b \u5316\u5b83 \uff1a   #   \u542f\u52a8 \u4e00\u4e2a \u57fa\u672c \u4ee3\u7406   agent   =   BasicAgent ( vehicle )   #   \u542f\u52a8 \u5177\u6709 \u653b\u51fb \u653b\u51fb\u6027 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u7684 \u884c\u4e3a \u4ee3\u7406   agent   =   BehaviorAgent ( vehicle ,   behavior = ' aggressive ' )   \u5728   behavior   types   \u90e8\u5206 \u4e2d \u9605\u8bfb \u6709\u5173 \u884c\u4e3a \u7c7b\u578b \u4ee5\u53ca \u5982\u4f55 \u914d\u7f6e \u60a8 \u81ea\u5df1 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   3 .   \u60a8 \u53ef\u4ee5 \u8bbe\u7f6e \u4ee3\u7406 \u524d\u5f80 \u7684 \u76ee\u7684 \u76ee\u7684\u5730 \u3002 \u5982\u679c \u60a8 \u4e0d \u4e3a \u4ee3\u7406 \u8bbe\u7f6e \u76ee\u7684 \u76ee\u7684\u5730 \uff0c \u5b83 \u5c06 \u5728 \u5730\u56fe \u4e0a \u65e0\u4f11 \u4f11\u6b62 \u65e0\u4f11\u6b62 \u5730 \u6f2b\u6e38 \u3002 \u8981 \u8bbe\u7f6e \u76ee\u7684 \u76ee\u7684\u5730 \uff0c \u8bf7 \u4e3a \u4ee3\u7406 \u63d0\u4f9b   \u4f4d\u7f6e   \uff1a   destination   =   random . choice ( spawn _ points ) . location   agent . set _ destination ( destination )   5 .   \u5728 \u5bfc\u822a \u6b65\u9aa4 \u671f\u95f4 \u5e94\u7528 \u8f66\u8f86 \u63a7\u5236 \u548c \u884c\u4e3a \u3002 \u5728 \u6bcf\u4e2a \u6b65\u9aa4 \u4e2d \uff0c   Basic   Agent   \u5c06 \u5e94\u7528 \u8f66\u8f86 \u63a7\u5236 \u5e76 \u901a\u8fc7 \u6267\u884c \u7d27\u6025 \u505c\u6b62 \u6765 \u5bf9 \u4efb\u4f55 \u8f66\u8f86 \u6216 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u505a\u51fa \u53cd\u5e94 \u3002   Behavior   Agent   \u5c06 \u6839\u636e \u60a8 \u5e94\u7528 \u7684 \u884c\u4e3a \u7c7b\u578b \u5bf9 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u505a\u51fa \u53cd\u5e94 \u3001 \u907f\u5f00 \u884c\u4eba \u3001 \u8ddf\u968f \u6c7d\u8f66 \u5e76 \u5728 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u5bfc\u822a \uff1a   while   True \uff1a   vehicle . apply _ control ( agent . run _ step ( ) )   6 .   \u60a8 \u53ef\u4ee5 \u68c0\u67e5 \u4ee3\u7406 \u662f\u5426 \u5df2 \u5b8c\u6210 \u5176 \u8f68\u8ff9 \u5e76 \u5728 \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \u65f6 \u6267\u884c \u64cd\u4f5c \u3002 \u4e00\u65e6 \u60a8 \u7684 \u8f66\u8f86 \u5230\u8fbe \u76ee\u7684 \u76ee\u7684\u5730 \uff0c \u4ee5\u4e0b \u4ee3\u7801 \u4ee3\u7801\u6bb5 \u5c06 \u7ed3\u675f \u4eff\u771f \uff1a   while   True \uff1a   if   agent . done \uff08 \uff09 \uff1a   print ( \" The   taerget   has   been   reached ,   stopping   the   simulation \" )   break   vehicle . apply _ control ( agent . run _ step ( ) )   7 .   \u4e0d\u662f \u5728 \u4ee3\u7406 \u5230\u8fbe \u5176 \u76ee\u6807 \u76ee\u7684 \u76ee\u7684\u5730 \u65f6 \u5b8c\u6210 \u4eff\u771f \uff0c \u800c\u662f \u53ef\u4ee5 \u751f\u6210 \u4e00\u6761 \u65b0 \u7684 \u968f\u673a \u8def\u7ebf \u4f9b \u4ee3\u7406 \u9075\u5faa \uff1a   while   True \uff1a   if   agent . done ( ) :   agent . set _ destination ( random . choice ( spawn _ points ) . location )   print ( \" The   target   has   been   reached ,   searching   for   another   target \" )   vehicle . apply _ control ( agent . run _ step ( ) )   Basic   Agent   \u63d0\u4f9b \u4e86 \u4e00\u4e9b \u65b9\u6cd5 \u6765 \u64cd\u7eb5 \u4ee3\u7406 \u884c\u4e3a \u6216 \u9075\u5faa \u7684 \u7a0b\u5e8f \u8def\u7ebf \uff1a   set _ target _ speed ( speed )   :   \u4ee5 \u516c\u91cc / \u5c0f\u65f6 \u4e3a \u5355\u4f4d \u8bbe\u7f6e \u76ee\u6807 \u901f\u5ea6   follow _ speed _ limits ( value = True )   :   \u8bbe\u7f6e \u4ee3\u7406 \u9075\u5faa \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u3002   set _ destination ( end _ location ,   start _ location = None )   :   \u4ee3\u7406 \u5c06 \u901a\u8fc7 \u53ef\u80fd \u7684 \u6700 \u77ed\u8def \u8def\u7ebf \u77ed\u8def\u7ebf \u4ece \u7279\u5b9a \u7684 \u8d77\u59cb \u4f4d\u7f6e \u5230 \u7ed3\u675f \u4f4d\u7f6e \u3002 \u5982\u679c \u6ca1\u6709 \u63d0\u4f9b \u8d77\u59cb \u4f4d\u7f6e \uff0c \u5b83 \u5c06 \u4f7f\u7528 \u5f53\u524d \u4ee3\u7406 \u4f4d\u7f6e \u3002   set _ global _ plan ( plan ,   stop _ waypoint _ creation = True ,   clean _ queue = True )   :   \u4e3a \u4ee3\u7406 \u6dfb\u52a0 \u4e00\u4e2a \u5177\u4f53 \u7684 \u8ba1\u5212 \u3002 \u8ba1\u5212 \u53c2\u6570 \u5e94 \u5305\u542b \u4e00\u4e2a   [ carla . Waypoint ,   RoadOption ]   \u5217\u8868 \uff0c \u8fd9 \u5c06 \u662f \u4ee3\u7406 \u9700\u8981 \u91c7\u53d6 \u7684 \u8def\u5f84 \u3002   stop _ waypoint _ creation   \u5c06 \u9632\u6b62 \u5728 \u8def\u5f84 \u8fd0\u884c \u540e \u81ea\u52a8 \u521b\u5efa \u8def\u5f84 \u70b9 \u3002   clean _ queue   \u5c06 \u91cd\u7f6e \u4ee3\u7406 \u7684 \u5f53\u524d \u8ba1\u5212 \u3002   trace _ route ( start _ waypoint ,   end _ waypoint )   :   \u4ece   Global   Route   Planner   \u83b7\u53d6 \u4e24\u4e2a \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u6700 \u77ed\u8ddd \u8ddd\u79bb \u77ed\u8ddd\u79bb \uff0c \u5e76 \u5c06 \u8def\u5f84 \u4f5c\u4e3a   [ carla . Waypoint ,   RoadOption ]   \u5217\u8868 \u8fd4\u56de \uff0c \u4f9b \u4ee3\u7406 \u9075\u5faa \u3002   ignore _ traffic _ lights ( active = True )   :   \u8bbe\u7f6e \u4ee3\u7406 \u5ffd\u7565 \u6216 \u670d\u4ece \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002   ignore _ stop _ signs ( active = True )   :   \u8bbe\u7f6e \u4ee3\u7406 \u5ffd\u7565 \u6216 \u670d\u4ece \u505c\u8f66 \u6807\u5fd7 \u3002   ignore _ vehicles ( active = True )   :   \u8bbe\u7f6e \u4ee3\u7406 \u5ffd\u7565 \u6216 \u5bf9 \u5176\u4ed6 \u8f66\u8f86 \u4f5c\u51fa \u53cd\u5e94 \u4f5c\u51fa\u53cd\u5e94 \u3002   \u5728   PythonAPI / examples   \u4e2d \u627e\u5230 \u7684   automatic _ control . py   \u811a\u672c \u662f \u57fa\u672c \u548c \u884c\u4e3a \u4ee3\u7406 \u7684 \u4e00\u4e2a \u793a\u4f8b \u3002 \u8981 \u5c1d\u8bd5 \u8be5 \u811a\u672c \uff0c \u8bf7 \u5bfc\u822a \u5230 \u793a\u4f8b \u76ee\u5f55 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   \u4f7f\u7528 \u57fa\u672c \u4ee3\u7406 \u8fd0\u884c   python3   automatic _ control . py   -- agent = Basic   #   \u4f7f\u7528 \u884c\u4e3a \u4ee3\u7406 \u8fd0\u884c   python3   automatic _ control . py   -- agent = Behavior   -- behavior = aggressive","title":"\u5b9e\u73b0 \u4e00\u4e2a \u4ee3\u7406  "},{"location":"adv_agents/#_5","text":"\u884c\u4e3a \u4ee3\u7406 \u7684 \u884c\u4e3a \u7c7b\u578b \u5728   behavior _ types . py   \u4e2d \u5b9a\u4e49 \u3002 \u4e09\u4e2a \u9884 \u914d\u7f6e \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u662f   ' cautious '   \u3001   ' normal '   \u548c   ' aggressive '   \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u8bbe\u7f6e \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3001 \u4fee\u6539 \u5b83\u4eec \u6216 \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3002 \u53ef\u4ee5 \u8c03\u6574 \u4ee5\u4e0b \u53d8\u91cf \uff1a   max _ speed   \uff1a \u60a8 \u7684 \u8f66\u8f86 \u80fd\u591f \u8fbe\u5230 \u7684 \u6700\u9ad8 \u901f\u5ea6 \uff08 \u4ee5 \u516c\u91cc / \u5c0f\u65f6 \u4e3a \u5355\u4f4d \uff09 \u3002   speed _ lim _ dist   \uff1a \u4ee5   \u5343\u7c73 / \u5c0f\u65f6   \u4e3a \u5355\u4f4d \u7684 \u503c \uff0c \u7528\u4e8e \u5b9a\u4e49 \u8f66\u8f86 \u7684 \u76ee\u6807 \u901f\u5ea6 \u4e0e \u5f53\u524d \u9650\u901f \u7684 \u8ddd\u79bb \uff08 \u4f8b\u5982 \uff0c \u5982\u679c \u9650\u901f \u4e3a   30   \u5343\u7c73 / \u5c0f\u65f6   \u4e14   speed _ lim _ dist   \u4e3a   10 \u5343\u7c73 / \u5c0f\u65f6 \uff0c \u5219 \u76ee\u6807 \u901f\u5ea6 \u5c06 \u662f 20 \u5343\u7c73 / \u5c0f\u65f6 \uff09 \u3002   speed _ decrease   \uff1a \u5f53 \u63a5\u8fd1 \u524d\u65b9 \u8f83\u6162 \u7684 \u8f66\u8f86 \u65f6 \uff0c \u60a8 \u7684 \u8f66\u8f86 \u5c06 \u4ee5 \u591a \u5feb \u7684 \u516c\u91cc / \u5c0f\u65f6 \u51cf\u901f \u3002   safety _ time   \uff1a \u78b0\u649e \u65f6\u95f4 \uff1b \u5982\u679c \u60a8 \u7684 \u8f66\u8f86 \u7a81\u7136 \u5239\u8f66 \uff0c \u5b83 \u4e0e \u524d\u9762 \u7684 \u8f66\u8f86 \u76f8\u649e \u6240 \u9700 \u7684 \u65f6\u95f4 \u7684 \u8fd1\u4f3c \u8fd1\u4f3c\u503c \u3002   min _ proximity _ threshold   \uff1a \u5728 \u60a8 \u7684 \u8f66\u8f86 \u6267\u884c \u907f\u8ba9 \u6216 \u5c3e\u968f \u7b49 \u64cd\u4f5c \u4e4b\u524d \uff0c \u4e0e \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u6216 \u884c\u4eba \u7684 \u6700\u5c0f \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   braking _ distance   \uff1a \u60a8 \u7684 \u8f66\u8f86 \u5c06 \u6267\u884c \u7d27\u6025 \u505c\u8f66 \u7d27\u6025\u505c\u8f66 \u65f6 \u4e0e \u884c\u4eba \u6216 \u8f66\u8f86 \u7684 \u8ddd\u79bb \u3002   tailgate _ counter   \uff1a \u7528\u4e8e \u907f\u514d \u5728 \u6700\u540e \u4e00\u4e2a \u540e \u6321\u677f \u540e\u8fc7 \u5feb \u5c3e\u968f \u7684 \u8ba1\u6570 \u8ba1\u6570\u5668 \u3002","title":"\u884c\u4e3a \u7c7b\u578b  "},{"location":"adv_agents/#_6","text":"\u8981 \u521b\u5efa \u81ea\u5df1 \u7684 \u884c\u4e3a \u7c7b\u578b \uff1a   1 .   \u5728   behavior _ types . py   \u4e2d\u4e3a \u60a8 \u7684 \u884c\u4e3a \u7c7b\u578b \u521b\u5efa \u7c7b \uff1a   class   ProfileName ( object ) \uff1a   #   \u5b8c\u6574 \u7684 \u503c \u5b9a\u4e49   2 .   \u5728   behavior _ agent . py   \u811a\u672c \u4e2d \u5b9a\u4e49 \u548c \u5b9e\u4f8b \u5316 \u4f60 \u7684 \u884c\u4e3a \u7c7b\u578b \uff1a   #   \u4ee3\u7406 \u884c\u4e3a \u53c2\u6570   if   behavior   = =   ' cautious ' :   self ._ behavior   =   Cautious ( )   elif   behavior   = =   ' normal ' :   self ._ behavior   =   Normal ( )   elif   behavior   = =   ' aggressive ' :   self ._ behavior   =   Aggressive ( )   elif   behavior   = =   ' < type _ name > ' :   self ._ behavior   =   < TypeName > ( )","title":"\u521b\u5efa \u81ea\u5df1 \u7684 \u884c\u4e3a \u7c7b\u578b  "},{"location":"adv_agents/#_7","text":"Carla   \u4ee3\u7406 \u53ea\u662f \u7528\u6237 \u53ef\u4ee5 \u8fd0\u884c \u7684 \u4ee3\u7406 \u7c7b\u578b \u7684 \u793a\u4f8b \u3002 \u7528\u6237 \u53ef\u4ee5 \u5728   Basic   Agent   \u7684 \u57fa\u7840 \u4e0a \u521b\u5efa \u81ea\u5df1 \u7684 \u4ee3\u7406 \u3002 \u53ef\u80fd \u53ef\u80fd\u6027 \u662f \u65e0\u7a77 \u65e0\u7a77\u7684 \u3002 \u6bcf\u4e2a \u4ee3\u7406 \u53ea \u9700\u8981 \u4e24\u4e2a \u5143\u7d20 \uff0c   \u521d\u59cb \u521d\u59cb\u5316   __ init __   \u548c   \u8fd0\u884c \u6b65   run _ step   \u3002   \u5728 \u4e0b\u9762 \u67e5\u627e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4ee3\u7406 \u7684 \u6700\u5c0f \u5e03\u5c40 \u793a\u4f8b \uff1a   import   carla   from   agents . navigation . basic _ agent   import   BasicAgent   class   CustomAgent ( BasicAgent ) :   def   __ init __ ( self ,   vehicle ,   target _ speed = 20 ,   debug = False ) :   \" \" \"   : param   vehicle :   \u5e94\u7528 \u5230 \u672c\u5730 \u89c4\u5212 \u5668 \u903b\u8f91 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   : param   target _ speed :   \u8f66\u8f86 \u79fb\u52a8 \u7684 \u901f\u5ea6 \uff08 Km / h \uff09   \" \" \"   super ( ) .__ init __ ( target _ speed ,   \u8c03\u8bd5 )   def   run _ step ( self ,   debug = False ) :   \" \" \"   \u6267\u884c \u4e00\u6b65 \u5bfc\u822a   : return :   carla . VehicleControl   \" \" \"   #   \u5728 \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u4e2d \u91c7\u53d6 \u7684 \u884c\u52a8   control   =   carla . VehicleControl ( )   return   control   \u67e5\u770b   basic _ agent . py   \u548c   behavior _ agent . py   \u811a\u672c \u4ee5 \u63a2\u7d22 \u5b83\u4eec \u7684 \u7ed3\u6784 \u548c \u529f\u80fd \uff0c \u4ee5 \u83b7\u53d6 \u6709\u5173 \u5982\u4f55 \u521b\u5efa \u81ea\u5df1 \u7684 \u66f4 \u591a \u60f3\u6cd5 \u3002   \u60a8 \u53ef\u4ee5 \u63a2\u7d22 \u63d0\u4f9b \u7684 \u4ee3\u7406 \u811a\u672c \u3001 \u6269\u5c55 \u5b83\u4eec \u6216 \u5c06 \u5b83\u4eec \u7528\u4f5c \u521b\u5efa \u81ea\u5df1 \u7684 \u57fa\u51c6 \u3002 \u5982\u679c \u60a8 \u5bf9 \u4ee3\u7406 \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728   \u8bba\u575b   \u53d1\u5e16 \u3002","title":"\u521b\u5efa \u4ee3\u7406  "},{"location":"adv_benchmarking/","text":"\u57fa\u51c6 \u6027\u80fd   \u6211\u4eec \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u57fa\u51c6 \u6d4b\u8bd5 \u811a\u672c \uff0c \u4f7f \u7528\u6237 \u80fd\u591f \u8f7b\u677e \u5730 \u5206\u6790   Carla   \u5728 \u81ea\u5df1 \u7684 \u73af\u5883 \u4e2d \u7684 \u6027\u80fd \u3002 \u8be5 \u811a\u672c \u53ef\u4ee5 \u914d\u7f6e \u4e3a \u8fd0\u884c \u591a\u79cd \u7ed3\u5408 \u4e0d\u540c \u5730\u56fe \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u5929\u6c14 \u6761\u4ef6 \u7684 \u573a\u666f \u3002 \u5b83 \u62a5\u544a \u8bf7\u6c42 \u573a\u666f \u4e0b   FPS   \u7684 \u5e73\u5747 \u5747\u503c \u5e73\u5747\u503c \u548c \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u3002   \u5728 \u672c\u8282 \u4e2d \uff0c \u6211\u4eec \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u7684 \u8981\u6c42 \u3001 \u5728 \u54ea\u91cc \u53ef\u4ee5 \u627e\u5230 \u811a\u672c \u3001 \u53ef \u7528\u4e8e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8fd0\u884c \u573a\u666f \u7684 \u6807\u5fd7 \u4ee5\u53ca \u6709\u5173 \u5982\u4f55 \u8fd0\u884c \u547d\u4ee4 \u7684 \u793a\u4f8b \u3002   \u6211\u4eec \u8fd8 \u5305\u542b \u4e86 \u5355\u72ec \u57fa\u51c6 \u6d4b\u8bd5 \u7684 \u7ed3\u679c \uff0c \u8be5 \u57fa\u51c6 \u6d4b\u8bd5 \u5728 \u4f7f\u7528 \u4e0d\u540c \u8f66\u8f86 \u6570\u91cf \u7ec4\u5408 \u3001 \u542f\u7528 \u7269\u7406 \u548c / \u6216 \u542f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u65f6 \u6d4b\u91cf   Carla   \u5728 \u7279\u5b9a \u73af\u5883 \u4e2d \u7684 \u6027\u80fd \u3002 \u7ed3\u679c \u4e0e \u4f7f\u7528 \u7684   Carla   \u7248\u672c \u548c \u6267\u884c \u6d4b\u8bd5 \u7684 \u73af\u5883 \u4e00\u8d77 \u663e\u793a \u3002   \u57fa\u51c6 \u6d4b\u8bd5 \u811a\u672c   \u5f00\u59cb \u4e4b\u524d   \u6982\u8981   \u6807\u5fd7   \u5982\u4f55 \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5   Carla   \u6027\u80fd \u62a5\u544a   \u57fa\u51c6 \u6d4b\u8bd5 \u811a\u672c   \u57fa\u51c6 \u811a\u672c \u53ef\u4ee5 \u5728   PythonAPI / util   \u4e2d \u627e\u5230 \u3002 \u5b83 \u6709 \u51e0\u4e2a \u6807\u5fd7 \u53ef \u7528\u4e8e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8981 \u6d4b\u8bd5 \u7684 \u573a\u666f \uff0c \u4e0b\u9762 \u7684 \u6982\u8981 \u4e2d\u6709 \u8be6\u7ec6 \u8bf4\u660e \u3002   \u5f00\u59cb \u4e4b\u524d   \u57fa\u51c6 \u6d4b\u8bd5 \u811a\u672c \u9700\u8981 \u5b89\u88c5 \u4e00\u4e9b \u4f9d\u8d56 \u9879 \u624d\u80fd \u8fd0\u884c \u5b83 \uff1a   python   - m   pip   install   - U   py - cpuinfo = = 5.0 . 0   python   - m   pip   install   psutil   python   - m   pip   install   python - tr   python   - m   pip   install   gpuinfo   python   - m   pip   install   GPUtil   \u6982\u8981   python3   performance _ benchmark . py   [ -- host   HOST ]   [ -- port   PORT ]   [ -- file   FILE ]   [ -- tm ]   [ -- fixed _ dt   FIXED _ DT ]   [ -- render _ mode ]   [ -- no _ render _ mode ]   [ -- show _ scenarios ]   )   [ -- sensors   SENSORS   [ SENSORS   ... ] ]   [ -- maps   MAPS   [ MAPS   ... ] ]   [ -- weather   WEATHER   [ WEATHER   ... ] ]   \u6807\u5fd7   -- host   :   IP _ ADDRESS   \u9ed8\u8ba4   \uff1a \u672c\u5730 \u4e3b\u673a \u3002   \u914d\u7f6e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u4e3b\u673a \u3002   -- port   :   \u7aef\u53e3   \u9ed8\u8ba4   \uff1a 2000   \u914d\u7f6e \u8981 \u76d1\u542c \u7684   TCP   \u7aef\u53e3 \u3002   -- file   :   \u6587\u4ef6 \u6587\u4ef6\u540d . md   \u9ed8\u8ba4   :   benchmark . md   \u4ee5 \u964d\u4ef7 \u8868 \u683c\u5f0f \u5c06 \u7ed3\u679c \u5199\u5165 \u6587\u4ef6 \u3002   -- tm   \u5207\u6362 \u5230 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u57fa\u51c6   -- ticks   \u9ed8\u8ba4   \uff1a 100   \u8bbe\u7f6e \u7528\u4e8e \u6bcf\u4e2a \u573a\u666f \u7684 \u523b\u5ea6 \u6570 \u3002   -- \u540c\u6b65   \u9ed8\u8ba4 \u6a21\u5f0f .   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002   -- async   \u5728 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002   -- fixed _ dt   \u9ed8\u8ba4   \uff1a 0.05   \u5982\u679c \u60a8 \u60f3 \u8bbe\u7f6e \u589e\u91cf \u65f6\u95f4 \u6b65\u957f \uff0c \u8bf7 \u4e0e \u540c\u6b65 \u6a21\u5f0f \u4e00\u8d77 \u4f7f\u7528 \u3002   -- render _ mode   \u5728 \u6e32\u67d3 \u6a21\u5f0f \u4e0b \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002   -- no _ render _ mode   \u9ed8\u8ba4 \u6a21\u5f0f .   \u5728 \u975e \u6e32\u67d3 \u6a21\u5f0f \u4e0b \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002   -- show _ scenarios   \u4ec5 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \u8fd0\u884c \u811a\u672c \u65f6 \uff0c \u60a8 \u5c06 \u770b\u5230 \u6240\u6709 \u53ef\u7528 \u573a\u666f \u53c2\u6570 \u7684 \u5217\u8868 \u3002   \u5f53 \u4e0e \u5176\u4ed6 \u6807\u5fd7 \u7ed3\u5408 \u4f7f\u7528 \u65f6 \uff0c \u60a8 \u5c06 \u770b\u5230 \u5c06 \u5728 \u672a \u5b9e\u9645 \u6267\u884c \u7684 \u60c5\u51b5 \u4e0b \u8fd0\u884c \u7684 \u573a\u666f \u7684 \u9884\u89c8 \u3002   -- sensors   \uff1a \u6574\u6570   \u9ed8\u8ba4   \uff1a \u5168\u90e8   \u57fa\u51c6 \u6d4b\u8bd5 \u4e2d \u4f7f\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u5728   LIDAR   \u548c   RGB   \u76f8\u673a \u4e4b\u95f4 \u8fdb\u884c \u9009\u62e9 \uff1a   0   :   cam - 300x200   1   :   cam - 800x600   2   :   cam - 1900x1080   3   :   cam - 300x200   cam - 300x200 \uff08 \u4e24\u4e2a \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \uff09   4   \uff1a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff1a 100k   5   \uff1a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff1a 500k   6   \uff1a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff1a 1M   -- maps   \uff1a \u57ce\u5e02 \u540d\u79f0   \u9ed8\u8ba4   \uff1a \u6240\u6709 \u5730\u56fe   \u6240\u6709   [ Carla   \u5730\u56fe ] [ carla _ maps ] \uff0c \u5305\u62ec \u5206\u5c42 \u548c\u5b50 \u5206\u5c42 \uff0c \u90fd \u53ef\u7528 \u3002   carla _ maps   -- \u5929\u6c14   \uff1a \u6574\u6570   Default   \uff1a \u6240\u6709 \u5929\u6c14 \u6761\u4ef6   \u6539\u53d8 \u5929\u6c14 \u72b6\u51b5 \u5929\u6c14\u72b6\u51b5 \uff1a   0   :   ClearNoon   1   :   CloudyNoon   2   :   SoftRainSunset   \u5982\u4f55 \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5   1 . \u542f\u52a8   Carla \uff1a   #   Linux \uff1a   . / CarlaUE4 . sh   #   Windows \uff1a   CarlaUE4 . exe   \uff03   Source \uff1a   make   launch   \u5728 \u5355\u72ec \u7684 \u7ec8\u7aef \u4e2d \u5bfc\u822a \u5230   PythonAPI / util   \u4ee5 \u627e\u5230   performance _ benchmark . py   \u811a\u672c \uff1a   \u663e\u793a \u6240\u6709 \u53ef\u80fd \u7684 \u573a\u666f \u800c \u4e0d \u8fd0\u884c \u5b83\u4eec \uff1a   python3   performance _ benchmark . py   -- show _ scenarios   \u663e\u793a \u5728 \u5e94\u7528 \u914d\u7f6e \u800c \u4e0d \u5b9e\u9645 \u6267\u884c \u914d\u7f6e \u65f6 \u5c06 \u8fd0\u884c \u54ea\u4e9b \u573a\u666f \uff1a   python3   performance _ benchmark . py   -- sensors   2   5   -- maps   Town03   Town05   -- weather   0   1   -- show _ scenarios `   \u6267\u884c \u8fd9\u4e9b \u573a\u666f \u7684 \u6027\u80fd \u57fa\u51c6 \u6d4b\u8bd5 \uff1a   python3   performance _ benchmark . py   -- sensors   2   5   -- maps   Town03   Town05   -- weather   0   1   \u6267\u884c \u5f02\u6b65 \u6a21\u5f0f \u548c \u6e32\u67d3 \u6a21\u5f0f \u7684 \u57fa\u51c6 \u6d4b\u8bd5 \uff1a   python3   performance _ benchmark . py   -- async   -- render _ mode   Carla   \u6027\u80fd \u62a5\u544a   \u4e0b\u8868 \u8be6\u7ec6 \u8bf4\u660e \u4e86 \u5728 \u968f\u7740 \u8f66\u8f86 \u6570\u91cf \u589e\u52a0 \u4ee5\u53ca \u542f\u7528 \u548c / \u6216 \u7981\u7528 \u7269\u7406 \u548c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u4e0d\u540c \u7ec4\u5408 \u8fd0\u884c   Carla   \u65f6 \u5bf9 \u5e73\u5747   FPS   \u7684 \u6027\u80fd \u5f71\u54cd \u3002   Carla   \u7248\u672c \uff1a 29 / 01 / 21   \u5f00\u53d1 \u5206\u652f \uff08 \u63d0\u4ea4   198fa38c9b1317c114ac15dff130766253c02832 \uff09   \u73af\u5883 \u89c4\u683c \uff1a Intel ( R )   Xeon ( R )   CPU   E5 - 1620   v3   @   3.50 GHz   /   32   GB   /   NVIDIA   GeForce   GTX   1080   Ti   \u8f66\u8f86 \u6570\u91cf   Phy :   Off   TM :   Off   Phy :   On   TM :   Off   Phy :   Off   TM :   On   Phy :   On   TM :   On   0   1220   1102   702   729   1   805   579   564   422   10   473   223   119   98   50   179   64   37   26   100   92   34   22   15   150   62   21   17   10   200   47   15   14   7   250   37   11   12   6   \u7b97\u6cd5 \u6027\u80fd \u6d4b\u8bd5   \u7b97\u6cd5 \u6027\u80fd \u6392\u884c \u6392\u884c\u699c   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6027\u80fd \u57fa\u51c6 \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u4e0d\u8981 \u72b9\u8c6b \uff0c \u5728 \u8bba\u575b \u4e2d \u53d1\u5e16 \u3002   Carla   \u8bba\u575b","title":"\u57fa\u51c6 \u6027\u80fd"},{"location":"adv_benchmarking/#_1","text":"\u6211\u4eec \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u57fa\u51c6 \u6d4b\u8bd5 \u811a\u672c \uff0c \u4f7f \u7528\u6237 \u80fd\u591f \u8f7b\u677e \u5730 \u5206\u6790   Carla   \u5728 \u81ea\u5df1 \u7684 \u73af\u5883 \u4e2d \u7684 \u6027\u80fd \u3002 \u8be5 \u811a\u672c \u53ef\u4ee5 \u914d\u7f6e \u4e3a \u8fd0\u884c \u591a\u79cd \u7ed3\u5408 \u4e0d\u540c \u5730\u56fe \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u5929\u6c14 \u6761\u4ef6 \u7684 \u573a\u666f \u3002 \u5b83 \u62a5\u544a \u8bf7\u6c42 \u573a\u666f \u4e0b   FPS   \u7684 \u5e73\u5747 \u5747\u503c \u5e73\u5747\u503c \u548c \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u3002   \u5728 \u672c\u8282 \u4e2d \uff0c \u6211\u4eec \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u7684 \u8981\u6c42 \u3001 \u5728 \u54ea\u91cc \u53ef\u4ee5 \u627e\u5230 \u811a\u672c \u3001 \u53ef \u7528\u4e8e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8fd0\u884c \u573a\u666f \u7684 \u6807\u5fd7 \u4ee5\u53ca \u6709\u5173 \u5982\u4f55 \u8fd0\u884c \u547d\u4ee4 \u7684 \u793a\u4f8b \u3002   \u6211\u4eec \u8fd8 \u5305\u542b \u4e86 \u5355\u72ec \u57fa\u51c6 \u6d4b\u8bd5 \u7684 \u7ed3\u679c \uff0c \u8be5 \u57fa\u51c6 \u6d4b\u8bd5 \u5728 \u4f7f\u7528 \u4e0d\u540c \u8f66\u8f86 \u6570\u91cf \u7ec4\u5408 \u3001 \u542f\u7528 \u7269\u7406 \u548c / \u6216 \u542f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u65f6 \u6d4b\u91cf   Carla   \u5728 \u7279\u5b9a \u73af\u5883 \u4e2d \u7684 \u6027\u80fd \u3002 \u7ed3\u679c \u4e0e \u4f7f\u7528 \u7684   Carla   \u7248\u672c \u548c \u6267\u884c \u6d4b\u8bd5 \u7684 \u73af\u5883 \u4e00\u8d77 \u663e\u793a \u3002   \u57fa\u51c6 \u6d4b\u8bd5 \u811a\u672c   \u5f00\u59cb \u4e4b\u524d   \u6982\u8981   \u6807\u5fd7   \u5982\u4f55 \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5   Carla   \u6027\u80fd \u62a5\u544a","title":"\u57fa\u51c6 \u6027\u80fd"},{"location":"adv_benchmarking/#_2","text":"\u57fa\u51c6 \u811a\u672c \u53ef\u4ee5 \u5728   PythonAPI / util   \u4e2d \u627e\u5230 \u3002 \u5b83 \u6709 \u51e0\u4e2a \u6807\u5fd7 \u53ef \u7528\u4e8e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8981 \u6d4b\u8bd5 \u7684 \u573a\u666f \uff0c \u4e0b\u9762 \u7684 \u6982\u8981 \u4e2d\u6709 \u8be6\u7ec6 \u8bf4\u660e \u3002","title":"\u57fa\u51c6 \u6d4b\u8bd5 \u811a\u672c  "},{"location":"adv_benchmarking/#_3","text":"\u57fa\u51c6 \u6d4b\u8bd5 \u811a\u672c \u9700\u8981 \u5b89\u88c5 \u4e00\u4e9b \u4f9d\u8d56 \u9879 \u624d\u80fd \u8fd0\u884c \u5b83 \uff1a   python   - m   pip   install   - U   py - cpuinfo = = 5.0 . 0   python   - m   pip   install   psutil   python   - m   pip   install   python - tr   python   - m   pip   install   gpuinfo   python   - m   pip   install   GPUtil","title":"\u5f00\u59cb \u4e4b\u524d  "},{"location":"adv_benchmarking/#_4","text":"python3   performance _ benchmark . py   [ -- host   HOST ]   [ -- port   PORT ]   [ -- file   FILE ]   [ -- tm ]   [ -- fixed _ dt   FIXED _ DT ]   [ -- render _ mode ]   [ -- no _ render _ mode ]   [ -- show _ scenarios ]   )   [ -- sensors   SENSORS   [ SENSORS   ... ] ]   [ -- maps   MAPS   [ MAPS   ... ] ]   [ -- weather   WEATHER   [ WEATHER   ... ] ]","title":"\u6982\u8981  "},{"location":"adv_benchmarking/#_5","text":"","title":"\u6807\u5fd7  "},{"location":"adv_benchmarking/#-host-ip_address","text":"\u9ed8\u8ba4   \uff1a \u672c\u5730 \u4e3b\u673a \u3002   \u914d\u7f6e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u4e3b\u673a \u3002","title":"-- host :   IP _ ADDRESS"},{"location":"adv_benchmarking/#-port","text":"\u9ed8\u8ba4   \uff1a 2000   \u914d\u7f6e \u8981 \u76d1\u542c \u7684   TCP   \u7aef\u53e3 \u3002","title":"-- port :   \u7aef\u53e3"},{"location":"adv_benchmarking/#-file-md","text":"\u9ed8\u8ba4   :   benchmark . md   \u4ee5 \u964d\u4ef7 \u8868 \u683c\u5f0f \u5c06 \u7ed3\u679c \u5199\u5165 \u6587\u4ef6 \u3002","title":"-- file :   \u6587\u4ef6\u540d . md"},{"location":"adv_benchmarking/#-tm","text":"\u5207\u6362 \u5230 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u57fa\u51c6","title":"-- tm"},{"location":"adv_benchmarking/#-ticks","text":"\u9ed8\u8ba4   \uff1a 100   \u8bbe\u7f6e \u7528\u4e8e \u6bcf\u4e2a \u573a\u666f \u7684 \u523b\u5ea6 \u6570 \u3002","title":"-- ticks"},{"location":"adv_benchmarking/#-","text":"\u9ed8\u8ba4 \u6a21\u5f0f .   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002","title":"-- \u540c\u6b65"},{"location":"adv_benchmarking/#-async","text":"\u5728 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002","title":"-- async"},{"location":"adv_benchmarking/#-fixed_dt","text":"\u9ed8\u8ba4   \uff1a 0.05   \u5982\u679c \u60a8 \u60f3 \u8bbe\u7f6e \u589e\u91cf \u65f6\u95f4 \u6b65\u957f \uff0c \u8bf7 \u4e0e \u540c\u6b65 \u6a21\u5f0f \u4e00\u8d77 \u4f7f\u7528 \u3002","title":"-- fixed _ dt"},{"location":"adv_benchmarking/#-render_mode","text":"\u5728 \u6e32\u67d3 \u6a21\u5f0f \u4e0b \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002","title":"-- render _ mode"},{"location":"adv_benchmarking/#-no_render_mode","text":"\u9ed8\u8ba4 \u6a21\u5f0f .   \u5728 \u975e \u6e32\u67d3 \u6a21\u5f0f \u4e0b \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002","title":"-- no _ render _ mode"},{"location":"adv_benchmarking/#-show_scenarios","text":"\u4ec5 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \u8fd0\u884c \u811a\u672c \u65f6 \uff0c \u60a8 \u5c06 \u770b\u5230 \u6240\u6709 \u53ef\u7528 \u573a\u666f \u53c2\u6570 \u7684 \u5217\u8868 \u3002   \u5f53 \u4e0e \u5176\u4ed6 \u6807\u5fd7 \u7ed3\u5408 \u4f7f\u7528 \u65f6 \uff0c \u60a8 \u5c06 \u770b\u5230 \u5c06 \u5728 \u672a \u5b9e\u9645 \u6267\u884c \u7684 \u60c5\u51b5 \u4e0b \u8fd0\u884c \u7684 \u573a\u666f \u7684 \u9884\u89c8 \u3002","title":"-- show _ scenarios"},{"location":"adv_benchmarking/#-sensors","text":"\u9ed8\u8ba4   \uff1a \u5168\u90e8   \u57fa\u51c6 \u6d4b\u8bd5 \u4e2d \u4f7f\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u5728   LIDAR   \u548c   RGB   \u76f8\u673a \u4e4b\u95f4 \u8fdb\u884c \u9009\u62e9 \uff1a   0   :   cam - 300x200   1   :   cam - 800x600   2   :   cam - 1900x1080   3   :   cam - 300x200   cam - 300x200 \uff08 \u4e24\u4e2a \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \uff09   4   \uff1a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff1a 100k   5   \uff1a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff1a 500k   6   \uff1a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff1a 1M","title":"-- sensors \uff1a \u6574\u6570"},{"location":"adv_benchmarking/#-maps","text":"\u9ed8\u8ba4   \uff1a \u6240\u6709 \u5730\u56fe   \u6240\u6709   [ Carla   \u5730\u56fe ] [ carla _ maps ] \uff0c \u5305\u62ec \u5206\u5c42 \u548c\u5b50 \u5206\u5c42 \uff0c \u90fd \u53ef\u7528 \u3002   carla _ maps","title":"-- maps \uff1a \u57ce\u5e02 \u540d\u79f0"},{"location":"adv_benchmarking/#-_1","text":"Default   \uff1a \u6240\u6709 \u5929\u6c14 \u6761\u4ef6   \u6539\u53d8 \u5929\u6c14 \u72b6\u51b5 \u5929\u6c14\u72b6\u51b5 \uff1a   0   :   ClearNoon   1   :   CloudyNoon   2   :   SoftRainSunset","title":"-- \u5929\u6c14 \uff1a \u6574\u6570"},{"location":"adv_benchmarking/#_6","text":"1 . \u542f\u52a8   Carla \uff1a   #   Linux \uff1a   . / CarlaUE4 . sh   #   Windows \uff1a   CarlaUE4 . exe   \uff03   Source \uff1a   make   launch   \u5728 \u5355\u72ec \u7684 \u7ec8\u7aef \u4e2d \u5bfc\u822a \u5230   PythonAPI / util   \u4ee5 \u627e\u5230   performance _ benchmark . py   \u811a\u672c \uff1a   \u663e\u793a \u6240\u6709 \u53ef\u80fd \u7684 \u573a\u666f \u800c \u4e0d \u8fd0\u884c \u5b83\u4eec \uff1a   python3   performance _ benchmark . py   -- show _ scenarios   \u663e\u793a \u5728 \u5e94\u7528 \u914d\u7f6e \u800c \u4e0d \u5b9e\u9645 \u6267\u884c \u914d\u7f6e \u65f6 \u5c06 \u8fd0\u884c \u54ea\u4e9b \u573a\u666f \uff1a   python3   performance _ benchmark . py   -- sensors   2   5   -- maps   Town03   Town05   -- weather   0   1   -- show _ scenarios `   \u6267\u884c \u8fd9\u4e9b \u573a\u666f \u7684 \u6027\u80fd \u57fa\u51c6 \u6d4b\u8bd5 \uff1a   python3   performance _ benchmark . py   -- sensors   2   5   -- maps   Town03   Town05   -- weather   0   1   \u6267\u884c \u5f02\u6b65 \u6a21\u5f0f \u548c \u6e32\u67d3 \u6a21\u5f0f \u7684 \u57fa\u51c6 \u6d4b\u8bd5 \uff1a   python3   performance _ benchmark . py   -- async   -- render _ mode","title":"\u5982\u4f55 \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5  "},{"location":"adv_benchmarking/#carla","text":"\u4e0b\u8868 \u8be6\u7ec6 \u8bf4\u660e \u4e86 \u5728 \u968f\u7740 \u8f66\u8f86 \u6570\u91cf \u589e\u52a0 \u4ee5\u53ca \u542f\u7528 \u548c / \u6216 \u7981\u7528 \u7269\u7406 \u548c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u4e0d\u540c \u7ec4\u5408 \u8fd0\u884c   Carla   \u65f6 \u5bf9 \u5e73\u5747   FPS   \u7684 \u6027\u80fd \u5f71\u54cd \u3002   Carla   \u7248\u672c \uff1a 29 / 01 / 21   \u5f00\u53d1 \u5206\u652f \uff08 \u63d0\u4ea4   198fa38c9b1317c114ac15dff130766253c02832 \uff09   \u73af\u5883 \u89c4\u683c \uff1a Intel ( R )   Xeon ( R )   CPU   E5 - 1620   v3   @   3.50 GHz   /   32   GB   /   NVIDIA   GeForce   GTX   1080   Ti   \u8f66\u8f86 \u6570\u91cf   Phy :   Off   TM :   Off   Phy :   On   TM :   Off   Phy :   Off   TM :   On   Phy :   On   TM :   On   0   1220   1102   702   729   1   805   579   564   422   10   473   223   119   98   50   179   64   37   26   100   92   34   22   15   150   62   21   17   10   200   47   15   14   7   250   37   11   12   6","title":"Carla   \u6027\u80fd \u62a5\u544a  "},{"location":"adv_benchmarking/#_7","text":"\u7b97\u6cd5 \u6027\u80fd \u6392\u884c \u6392\u884c\u699c   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6027\u80fd \u57fa\u51c6 \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u4e0d\u8981 \u72b9\u8c6b \uff0c \u5728 \u8bba\u575b \u4e2d \u53d1\u5e16 \u3002   Carla   \u8bba\u575b","title":"\u7b97\u6cd5 \u6027\u80fd \u6d4b\u8bd5  "},{"location":"adv_cesium/","text":"\u503e\u659c \u6a21\u578b \u5bfc\u5165 Carla   1 . \u4e0b\u8f7d \u5e76 \u89e3\u538b   Cesium   for   Unreal   \u63d2\u4ef6   \u5230 CarlaUE \u5f15\u64ce \u7684 plugins \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \uff1a   2 . \u5c06 \u63d2\u4ef6 \u7684 BuildId \u4fee\u6539 \u4e0e CarlaUE \u5f15\u64ce \u7684 BuildId \u4e00\u81f4 \u3002   \u5f15\u64ce \u7684 BuildId \u5728 \u5982\u4e0b \u8def\u5f84 \uff1a   \u9700 \u4fee\u6539 \u7684 BuildId   3 . \u672c\u5730 \u6d4b\u8bd5 \u8fd8 \u9700\u8981 \u4fee\u6539 \u5176\u4ed6 \u51e0\u4e2a \u5185\u7f6e \u63d2\u4ef6 \u7684 BuildId \u4e5f \u8981 \u4e0e \u5f15\u64ce \u7684 \u4e00\u81f4 \u3002 \u6709 \u5982\u4e0b \u51e0\u4e2a \u5730\u65b9 \uff1a   carla _ unreal \\ unreal \\ Engine \\ Plugins \\ Experimental \\ Landmass \\ Binaries \\ Win64   carla _ unreal \\ unreal \\ Engine \\ Plugins \\ Experimental \\ Water \\ Binaries \\ Win64   carla _ unreal \\ unreal \\ Engine \\ Plugins \\ Editor \\ BlueprintMaterialTextureNodes \\ Binaries \\ Win64   4 . \u5728 CarlaUE \u4e2d \u6dfb\u52a0 \u63d2\u4ef6   \u6dfb\u52a0 \u5b8c\u6210 \u540e \u91cd\u542f \u5f15\u64ce \u3002   5 . \u6dfb\u52a0 \u63d2\u4ef6 \u5bf9\u8c61 \u5230 \u573a\u666f \u4e2d , \u914d\u7f6e \u53c2\u6570 \u548c \u6a21\u578b \u8def\u5f84 \uff1a   esiumGeoreference   \u8bbe\u7f6e \u4e3a \uff1a   28.235238 ,   112.877178 ,   0   Source   \u8bbe\u7f6e \u4e3a   File : / / / D : / ssd / model / tileset . json   \u3002   \u6ce8\u610f   \u4ece   \u94fe\u63a5   \u4e2d \u7684   map   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u4e0b\u8f7d   \u4e2d \u7535 \u8f6f\u4ef6 \u8f6f\u4ef6\u56ed _ cesium _ model . zip   \u5e76 \u89e3\u538b \u3002 \u8fd9\u91cc \u6d4b\u8bd5 \u7528 \u7684 \u662f \u672c\u5730 \u8def\u5f84 \uff0c \u4e5f \u53ef\u4ee5 \u7528 \u9759\u6001 \u8d44\u6e90 \u670d\u52a1 \u3002   6 . \u5c06 Trees . umap \u4e2d \u653e\u5230 \u672c\u5730 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \uff0c \u83dc\u5355 \u4e2d \u70b9\u51fb   \u7a97\u53e3 - > \u5173\u5361   \uff0c \u4ece   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d\u5c06   Trees . umap   \u62d6\u8fdb \u5bfc\u5f39 \u51fa \u754c\u9762 \uff0c \u7136\u540e \u53f3\u952e   Trees   \u5173\u5361 \uff0c \u9009\u62e9   \u4fee\u6539 \u6d41\u9001 \u65b9\u6cd5 - > \u56fa\u5b9a \u52a0\u8f7d   \u3002   7 . \u5728   \u4e16\u754c \u5927\u7eb2 \u89c6\u56fe   \u4e2d \u9009\u4e2d   Cesium3DTileset   \uff0c \u5c06   Cesium   \u4e2d \u7684   Mobility   \u4fee\u6539 \u4e3a   \u53ef \u79fb\u52a8   \u3002   8 . \u6dfb\u52a0 \u5149\u6e90   DirectionalLight   \u3001   ExponentialHeightFog   \u3001   SkyAtmosphere   \u3001   SkyLight   \u3002   9 . \u6a21\u578b \u5728 CarlaUE \u4e2d \u7684 \u573a\u666f \u6548\u679c   \u503e\u659c \u6444\u5f71   \u7531 \u503e\u659c \u6444\u5f71 osgb \u8f6c\u6362 \u6362\u6210 \u8f6c\u6362\u6210 3Dtiles \u683c\u5f0f \uff08 cesium \u53ef \u76f4\u63a5 \u4f7f\u7528 \uff09 \u3002   \u53c2\u8003   Cesium   for   Unreal \u5feb\u901f \u5165\u95e8   Cesium   for   Unreal   \u52a0\u8f7d \u672c\u5730 \u503e\u659c \u6444\u5f71","title":"\u503e\u659c \u6a21\u578b \u5bfc\u5165 Carla"},{"location":"adv_cesium/#carla","text":"1 . \u4e0b\u8f7d \u5e76 \u89e3\u538b   Cesium   for   Unreal   \u63d2\u4ef6   \u5230 CarlaUE \u5f15\u64ce \u7684 plugins \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \uff1a   2 . \u5c06 \u63d2\u4ef6 \u7684 BuildId \u4fee\u6539 \u4e0e CarlaUE \u5f15\u64ce \u7684 BuildId \u4e00\u81f4 \u3002   \u5f15\u64ce \u7684 BuildId \u5728 \u5982\u4e0b \u8def\u5f84 \uff1a   \u9700 \u4fee\u6539 \u7684 BuildId   3 . \u672c\u5730 \u6d4b\u8bd5 \u8fd8 \u9700\u8981 \u4fee\u6539 \u5176\u4ed6 \u51e0\u4e2a \u5185\u7f6e \u63d2\u4ef6 \u7684 BuildId \u4e5f \u8981 \u4e0e \u5f15\u64ce \u7684 \u4e00\u81f4 \u3002 \u6709 \u5982\u4e0b \u51e0\u4e2a \u5730\u65b9 \uff1a   carla _ unreal \\ unreal \\ Engine \\ Plugins \\ Experimental \\ Landmass \\ Binaries \\ Win64   carla _ unreal \\ unreal \\ Engine \\ Plugins \\ Experimental \\ Water \\ Binaries \\ Win64   carla _ unreal \\ unreal \\ Engine \\ Plugins \\ Editor \\ BlueprintMaterialTextureNodes \\ Binaries \\ Win64   4 . \u5728 CarlaUE \u4e2d \u6dfb\u52a0 \u63d2\u4ef6   \u6dfb\u52a0 \u5b8c\u6210 \u540e \u91cd\u542f \u5f15\u64ce \u3002   5 . \u6dfb\u52a0 \u63d2\u4ef6 \u5bf9\u8c61 \u5230 \u573a\u666f \u4e2d , \u914d\u7f6e \u53c2\u6570 \u548c \u6a21\u578b \u8def\u5f84 \uff1a   esiumGeoreference   \u8bbe\u7f6e \u4e3a \uff1a   28.235238 ,   112.877178 ,   0   Source   \u8bbe\u7f6e \u4e3a   File : / / / D : / ssd / model / tileset . json   \u3002   \u6ce8\u610f   \u4ece   \u94fe\u63a5   \u4e2d \u7684   map   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u4e0b\u8f7d   \u4e2d \u7535 \u8f6f\u4ef6 \u8f6f\u4ef6\u56ed _ cesium _ model . zip   \u5e76 \u89e3\u538b \u3002 \u8fd9\u91cc \u6d4b\u8bd5 \u7528 \u7684 \u662f \u672c\u5730 \u8def\u5f84 \uff0c \u4e5f \u53ef\u4ee5 \u7528 \u9759\u6001 \u8d44\u6e90 \u670d\u52a1 \u3002   6 . \u5c06 Trees . umap \u4e2d \u653e\u5230 \u672c\u5730 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \uff0c \u83dc\u5355 \u4e2d \u70b9\u51fb   \u7a97\u53e3 - > \u5173\u5361   \uff0c \u4ece   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d\u5c06   Trees . umap   \u62d6\u8fdb \u5bfc\u5f39 \u51fa \u754c\u9762 \uff0c \u7136\u540e \u53f3\u952e   Trees   \u5173\u5361 \uff0c \u9009\u62e9   \u4fee\u6539 \u6d41\u9001 \u65b9\u6cd5 - > \u56fa\u5b9a \u52a0\u8f7d   \u3002   7 . \u5728   \u4e16\u754c \u5927\u7eb2 \u89c6\u56fe   \u4e2d \u9009\u4e2d   Cesium3DTileset   \uff0c \u5c06   Cesium   \u4e2d \u7684   Mobility   \u4fee\u6539 \u4e3a   \u53ef \u79fb\u52a8   \u3002   8 . \u6dfb\u52a0 \u5149\u6e90   DirectionalLight   \u3001   ExponentialHeightFog   \u3001   SkyAtmosphere   \u3001   SkyLight   \u3002   9 . \u6a21\u578b \u5728 CarlaUE \u4e2d \u7684 \u573a\u666f \u6548\u679c","title":"\u503e\u659c \u6a21\u578b \u5bfc\u5165 Carla"},{"location":"adv_cesium/#_1","text":"\u7531 \u503e\u659c \u6444\u5f71 osgb \u8f6c\u6362 \u6362\u6210 \u8f6c\u6362\u6210 3Dtiles \u683c\u5f0f \uff08 cesium \u53ef \u76f4\u63a5 \u4f7f\u7528 \uff09 \u3002","title":"\u503e\u659c \u6444\u5f71"},{"location":"adv_cesium/#_2","text":"Cesium   for   Unreal \u5feb\u901f \u5165\u95e8   Cesium   for   Unreal   \u52a0\u8f7d \u672c\u5730 \u503e\u659c \u6444\u5f71","title":"\u53c2\u8003"},{"location":"adv_cpp_client/","text":"C++   \u5ba2\u6237 \u5ba2\u6237\u7aef \u793a\u4f8b   \u8981 \u6784\u5efa C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u793a\u4f8b \uff0c \u60a8 \u9700\u8981 \u5b89\u88c5   make   \u3002 \u5728 \u6784\u5efa C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e4b\u524d \uff0c \u60a8 \u9700\u8981 \u6784\u5efa   Carla \uff0c \u5e76 \u6309\u7167 \u60a8 \u5e73\u53f0 \u7684 \u76f8\u5173   \u6784\u5efa \u8bf4\u660e   \u8fdb\u884c \u64cd\u4f5c \u3002   \u5bfc\u822a \u5230   Carla   \u5b58\u50a8 \u5e93\u4e2d \u7684   Examples / CppClient   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u6253\u5f00 \u4e00\u4e2a \u7ec8\u7aef \u3002 \u60a8 \u5c06 \u5728 \u6b64 \u76ee\u5f55 \u4e2d \u627e\u5230 \u4e00\u4e2a   Makefile \u3002 \u8981 \u5728 Linux \u4e2d \u6784\u5efa \u5e76 \u8fd0\u884c \u5b83 \uff0c \u8bf7 \u5728 \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u4e0b \u6267\u884c   make   run   \u3002 \u5728 Windows \u4e2d \uff0c \u5728 \u540c\u4e00 \u76ee\u5f55 \u4e2d \u521b\u5efa \u4e00\u4e2a \u540d\u4e3a   CMakeLists . txt   \u7684 \u6587\u4ef6 \uff0c \u5e76 \u6dfb\u52a0   \u6b64 \u6587\u4ef6   \u4e2d \u7684 \u5185\u5bb9 \uff0c \u7136\u540e \u8fd0\u884c   cmake   \u3002   \u8fd9\u4e2a C++ \u793a\u4f8b \u5c06 \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u751f\u6210 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \uff0c \u5e76 \u5728 \u9500\u6bc1 \u548c \u7ec8\u6b62 \u8f66\u8f86 \u4e4b\u524d \u5bf9 \u5176 \u5e94\u7528 \u547d\u4ee4 \u3002   \u5305\u62ec \u76f8\u5173 \u7684 \u6587\u4ef6 \u5934\u6587\u4ef6   \u5bf9\u4e8e \u8fd9\u4e2a \u4f8b\u5b50 \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528 \u51e0\u4e2a \u4e0d\u540c \u7684   Carla   \u7c7b \uff0c \u56e0\u6b64 \u6211\u4eec \u9700\u8981 \u5305\u542b   Carla   \u5e93\u4e2d \u7684 \u76f8\u5173 \u6587\u4ef6 \u5934\u6587\u4ef6 \uff0c \u5e76 \u5305\u542b \u6211\u4eec \u5c06 \u4f7f\u7528 \u7684 \u4efb\u4f55 \u6807\u51c6 \u5e93 \uff1a   # include   < iostream >   # include   < random >   # include   < sstream >   # include   < stdexcept >   # include   < string >   # include   < thread >   # include   < tuple >   # include   < carla / client / ActorBlueprint . h >   # include   < carla / client / BlueprintLibrary . h >   # include   < carla / client / Client . h >   # include   < carla / client / Map . h >   # include   < carla / client / Sensor . h >   # include   < carla / client / TimeoutException . h >   # include   < carla / client / World . h >   # include   < carla / geom / Transform . h >   # include   < carla / image / ImageIO . h >   # include   < carla / image / ImageView . h >   # include   < carla / sensor / data / Image . h >   \u5c06   C++   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u5305\u62ec   carla / client / Client . h   \uff0c \u7136\u540e \u8fde\u63a5 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1a   ...   # include   < carla / client / Client . h >   ...   int   main ( int   argc ,   const   char   * argv [ ] )   {   std : : string   host ;   uint16 _ t   port ;   std : : tie ( host ,   port )   =   ParseArguments ( argc ,   argv ) ;   ...   / /   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0a   auto   client   =   cc : : Client ( host ,   port ) ;   client . SetTimeout ( 40s ) ;   \u52a0\u8f7d \u5730\u56fe   \u73b0\u5728 \u8ba9 \u6211\u4eec \u52a0\u8f7d \u4e00\u4e2a \u968f\u673a \u9009\u62e9 \u7684 \u5730\u56fe \uff1a   / /   \u521d\u59cb \u521d\u59cb\u5316 \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u751f\u6210 \u6210\u5668 \u751f\u6210\u5668   std : : mt19937 _ 64   rng ( ( std : : random _ device ( ) ) ( ) ) ;   ...   auto   town _ name   =   RandomChoice ( client . GetAvailableMaps ( ) ,   rng ) ;   std : : cout   < <   \" Loading   world :   \"   < <   town _ name   < <   std : : endl ;   auto   world   =   client . LoadWorld ( town _ name ) ;   \u968f\u673a \u9009\u62e9 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u6211\u4eec \u5c06 \u83b7\u53d6 \u84dd \u56fe\u5e93 \uff0c \u8fc7\u6ee4 \u8f66\u8f86 \u5e76 \u9009\u62e9 \u4e00\u4e2a \u968f\u673a \u7684 \u8f66\u8f86 \u84dd\u56fe \uff1a   auto   blueprint _ library   =   world . GetBlueprintLibrary ( ) ;   auto   vehicles   =   blueprint _ library - > Filter ( \" vehicle \" ) ;   auto   blueprint   =   RandomChoice ( * vehicles ,   rng ) ;   \u73b0\u5728 \u6211\u4eec \u9700\u8981 \u627e\u5230 \u4e00\u4e2a \u4f4d\u7f6e \uff0c \u4ece \u5730\u56fe \u4e0a \u7684 \u751f\u6210 \u70b9 \u751f\u6210 \u8f66\u8f86 \u3002 \u6211\u4eec \u5c06 \u83b7\u5f97 \u4e00\u4e2a \u6307\u5411 \u5730\u56fe \u5bf9\u8c61 \u7684 \u6307\u9488 \u5f15\u7528 \uff0c \u7136\u540e \u9009\u62e9 \u4e00\u4e2a \u968f\u673a \u751f\u6210 \u70b9 \uff08 \u786e\u4fdd \u786e\u4fdd\u60a8 \u5df2 \u521d\u59cb \u521d\u59cb\u5316 \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u751f\u6210 \u6210\u5668 \u751f\u6210\u5668 \uff09 \uff1a   auto   map   =   world . GetMap ( ) ;   auto   transform   =   RandomChoice ( map - > GetRecommendedSpawnPoints ( ) ,   rng ) ;   \u73b0\u5728 \u6211\u4eec \u6709 \u4e86 \u84dd\u56fe \u548c \u751f\u6210 \u4f4d\u7f6e \uff0c \u6211\u4eec \u73b0\u5728 \u53ef\u4ee5 \u4f7f\u7528   world . SpawnActor ( ... )   \u65b9\u6cd5 \u751f\u6210 \u8f66\u8f86 \u3002   auto   actor   =   world . SpawnActor ( blueprint ,   transform ) ;   std : : cout   < <   \" Spawned   \"   < <   actor - > GetDisplayId ( )   < <   ' \\ n ' ;   / /   \u68c0\u7d22 \u6307\u5411 \u8f66\u8f86 \u5bf9\u8c61 \u7684 \u6307\u9488   auto   vehicle   =   boost : : static _ pointer _ cast < cc : : Vehicle > ( actor ) ;   \u5e94\u7528 \u63a7\u5236   \u73b0\u5728 \uff0c \u8ba9 \u6211\u4eec \u4f7f\u7528   ApplyControl ( ... )   \u65b9\u6cd5 \u5bf9 \u8f66\u8f86 \u5e94\u7528 \u4e00\u4e9b \u63a7\u5236 \u6765 \u79fb\u52a8 \u5b83 \uff1a   cc : : Vehicle : : Control   control ;   control . throttle   =   1.0 f ;   vehicle - > ApplyControl ( control ) ;   \u73b0\u5728 \uff0c \u6211\u4eec \u5c06 \u91cd\u65b0 \u5b9a\u4f4d \u89c2\u5bdf \u89c2\u5bdf\u8005 \uff0c \u4ee5\u4fbf \u5728 \u5730\u56fe \u4e0a \u770b\u5230 \u6211\u4eec \u65b0 \u751f\u6210 \u7684 \u8f66\u8f86 \uff1a   auto   spectator   =   world . GetSpectator ( ) ;   / /   \u8c03\u6574 \u53d8\u6362 \u6765\u770b   transform . location   + =   32.0 f   *   transform . GetForwardVector ( ) ;   transform . location . z   + =   2.0 f ;   transform . rotation . yaw   + =   180.0 f ;   transform . rotation . pitch   =   - 15.0 f ;   / /   \u73b0\u5728 \u8bbe\u7f6e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u53d8\u6362   spectator - > SetTransform ( transform ) ;   \u6211\u4eec \u8fd8 \u5c06 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5173\u95ed \u4e4b\u524d \uff0c \u8ba9 \u8be5 \u8fc7\u7a0b \u4f11\u7720 10 \u79d2 \uff0c \u4ee5 \u89c2\u5bdf \u6a21\u62df \u8fc7\u7a0b \uff1a   std : : this _ thread : : sleep _ for ( 10s ) ;   \u5982\u679c \u60a8 \u5e0c\u671b \u5728 \u6267\u884c \u5176\u4ed6 \u547d\u4ee4 \u65f6 \u4fdd\u6301 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6253\u5f00 \uff0c \u8bf7 \u521b\u5efa \u4e00\u4e2a \u6e38\u620f \u5faa\u73af \u3002 \u73b0\u5728 \uff0c \u60a8 \u5df2\u7ecf \u52a0\u8f7d \u4e86 \u4e00\u5f20 \u5730\u56fe \u5e76 \u751f\u6210 \u4e86 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u3002 \u4e3a\u4e86 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u63a2\u7d22 C++ API \uff0c   \u6784\u5efa Doxygen \u6587\u6863   \u5e76 \u5728 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u6253\u5f00 \u5b83 \u3002   \u8981 \u5728   Carla   \u5b58\u50a8 \u5e93 \u4e4b\u5916 \u7684 \u53e6 \u4e00\u4e2a \u4f4d\u7f6e \u6784\u5efa C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u8bf7 \u7f16\u8f91 Makefile \u7684 \u524d 5 \u884c \uff0c \u4ee5 \u5f15\u7528   / build   \u76ee\u5f55 \u548c   Carla   \u6784\u5efa \u4f4d\u7f6e \u7684 \u6b63\u786e \u4f4d\u7f6e \uff1a   CARLADIR = $ ( CURDIR ) / .. / ..   BUILDDIR = $ ( CURDIR ) / build   BINDIR = $ ( CURDIR ) / bin   INSTALLDIR = $ ( CURDIR ) / libcarla - install   TOOLCHAIN = $ ( CURDIR ) / ToolChain . cmake","title":"C++   \u5ba2\u6237\u7aef \u793a\u4f8b"},{"location":"adv_cpp_client/#c","text":"\u8981 \u6784\u5efa C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u793a\u4f8b \uff0c \u60a8 \u9700\u8981 \u5b89\u88c5   make   \u3002 \u5728 \u6784\u5efa C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e4b\u524d \uff0c \u60a8 \u9700\u8981 \u6784\u5efa   Carla \uff0c \u5e76 \u6309\u7167 \u60a8 \u5e73\u53f0 \u7684 \u76f8\u5173   \u6784\u5efa \u8bf4\u660e   \u8fdb\u884c \u64cd\u4f5c \u3002   \u5bfc\u822a \u5230   Carla   \u5b58\u50a8 \u5e93\u4e2d \u7684   Examples / CppClient   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u6253\u5f00 \u4e00\u4e2a \u7ec8\u7aef \u3002 \u60a8 \u5c06 \u5728 \u6b64 \u76ee\u5f55 \u4e2d \u627e\u5230 \u4e00\u4e2a   Makefile \u3002 \u8981 \u5728 Linux \u4e2d \u6784\u5efa \u5e76 \u8fd0\u884c \u5b83 \uff0c \u8bf7 \u5728 \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u4e0b \u6267\u884c   make   run   \u3002 \u5728 Windows \u4e2d \uff0c \u5728 \u540c\u4e00 \u76ee\u5f55 \u4e2d \u521b\u5efa \u4e00\u4e2a \u540d\u4e3a   CMakeLists . txt   \u7684 \u6587\u4ef6 \uff0c \u5e76 \u6dfb\u52a0   \u6b64 \u6587\u4ef6   \u4e2d \u7684 \u5185\u5bb9 \uff0c \u7136\u540e \u8fd0\u884c   cmake   \u3002   \u8fd9\u4e2a C++ \u793a\u4f8b \u5c06 \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u751f\u6210 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \uff0c \u5e76 \u5728 \u9500\u6bc1 \u548c \u7ec8\u6b62 \u8f66\u8f86 \u4e4b\u524d \u5bf9 \u5176 \u5e94\u7528 \u547d\u4ee4 \u3002","title":"C++   \u5ba2\u6237\u7aef \u793a\u4f8b"},{"location":"adv_cpp_client/#_1","text":"\u5bf9\u4e8e \u8fd9\u4e2a \u4f8b\u5b50 \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528 \u51e0\u4e2a \u4e0d\u540c \u7684   Carla   \u7c7b \uff0c \u56e0\u6b64 \u6211\u4eec \u9700\u8981 \u5305\u542b   Carla   \u5e93\u4e2d \u7684 \u76f8\u5173 \u6587\u4ef6 \u5934\u6587\u4ef6 \uff0c \u5e76 \u5305\u542b \u6211\u4eec \u5c06 \u4f7f\u7528 \u7684 \u4efb\u4f55 \u6807\u51c6 \u5e93 \uff1a   # include   < iostream >   # include   < random >   # include   < sstream >   # include   < stdexcept >   # include   < string >   # include   < thread >   # include   < tuple >   # include   < carla / client / ActorBlueprint . h >   # include   < carla / client / BlueprintLibrary . h >   # include   < carla / client / Client . h >   # include   < carla / client / Map . h >   # include   < carla / client / Sensor . h >   # include   < carla / client / TimeoutException . h >   # include   < carla / client / World . h >   # include   < carla / geom / Transform . h >   # include   < carla / image / ImageIO . h >   # include   < carla / image / ImageView . h >   # include   < carla / sensor / data / Image . h >","title":"\u5305\u62ec \u76f8\u5173 \u7684 \u5934\u6587\u4ef6"},{"location":"adv_cpp_client/#c_1","text":"\u5305\u62ec   carla / client / Client . h   \uff0c \u7136\u540e \u8fde\u63a5 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1a   ...   # include   < carla / client / Client . h >   ...   int   main ( int   argc ,   const   char   * argv [ ] )   {   std : : string   host ;   uint16 _ t   port ;   std : : tie ( host ,   port )   =   ParseArguments ( argc ,   argv ) ;   ...   / /   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0a   auto   client   =   cc : : Client ( host ,   port ) ;   client . SetTimeout ( 40s ) ;","title":"\u5c06   C++   \u5ba2\u6237\u7aef \u8fde\u63a5 \u5230 \u670d\u52a1\u5668"},{"location":"adv_cpp_client/#_2","text":"\u73b0\u5728 \u8ba9 \u6211\u4eec \u52a0\u8f7d \u4e00\u4e2a \u968f\u673a \u9009\u62e9 \u7684 \u5730\u56fe \uff1a   / /   \u521d\u59cb \u521d\u59cb\u5316 \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u751f\u6210 \u6210\u5668 \u751f\u6210\u5668   std : : mt19937 _ 64   rng ( ( std : : random _ device ( ) ) ( ) ) ;   ...   auto   town _ name   =   RandomChoice ( client . GetAvailableMaps ( ) ,   rng ) ;   std : : cout   < <   \" Loading   world :   \"   < <   town _ name   < <   std : : endl ;   auto   world   =   client . LoadWorld ( town _ name ) ;","title":"\u52a0\u8f7d \u5730\u56fe"},{"location":"adv_cpp_client/#_3","text":"\u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u6211\u4eec \u5c06 \u83b7\u53d6 \u84dd \u56fe\u5e93 \uff0c \u8fc7\u6ee4 \u8f66\u8f86 \u5e76 \u9009\u62e9 \u4e00\u4e2a \u968f\u673a \u7684 \u8f66\u8f86 \u84dd\u56fe \uff1a   auto   blueprint _ library   =   world . GetBlueprintLibrary ( ) ;   auto   vehicles   =   blueprint _ library - > Filter ( \" vehicle \" ) ;   auto   blueprint   =   RandomChoice ( * vehicles ,   rng ) ;   \u73b0\u5728 \u6211\u4eec \u9700\u8981 \u627e\u5230 \u4e00\u4e2a \u4f4d\u7f6e \uff0c \u4ece \u5730\u56fe \u4e0a \u7684 \u751f\u6210 \u70b9 \u751f\u6210 \u8f66\u8f86 \u3002 \u6211\u4eec \u5c06 \u83b7\u5f97 \u4e00\u4e2a \u6307\u5411 \u5730\u56fe \u5bf9\u8c61 \u7684 \u6307\u9488 \u5f15\u7528 \uff0c \u7136\u540e \u9009\u62e9 \u4e00\u4e2a \u968f\u673a \u751f\u6210 \u70b9 \uff08 \u786e\u4fdd \u786e\u4fdd\u60a8 \u5df2 \u521d\u59cb \u521d\u59cb\u5316 \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u751f\u6210 \u6210\u5668 \u751f\u6210\u5668 \uff09 \uff1a   auto   map   =   world . GetMap ( ) ;   auto   transform   =   RandomChoice ( map - > GetRecommendedSpawnPoints ( ) ,   rng ) ;   \u73b0\u5728 \u6211\u4eec \u6709 \u4e86 \u84dd\u56fe \u548c \u751f\u6210 \u4f4d\u7f6e \uff0c \u6211\u4eec \u73b0\u5728 \u53ef\u4ee5 \u4f7f\u7528   world . SpawnActor ( ... )   \u65b9\u6cd5 \u751f\u6210 \u8f66\u8f86 \u3002   auto   actor   =   world . SpawnActor ( blueprint ,   transform ) ;   std : : cout   < <   \" Spawned   \"   < <   actor - > GetDisplayId ( )   < <   ' \\ n ' ;   / /   \u68c0\u7d22 \u6307\u5411 \u8f66\u8f86 \u5bf9\u8c61 \u7684 \u6307\u9488   auto   vehicle   =   boost : : static _ pointer _ cast < cc : : Vehicle > ( actor ) ;","title":"\u968f\u673a \u9009\u62e9 \u4e00\u8f86\u8f66"},{"location":"adv_cpp_client/#_4","text":"\u73b0\u5728 \uff0c \u8ba9 \u6211\u4eec \u4f7f\u7528   ApplyControl ( ... )   \u65b9\u6cd5 \u5bf9 \u8f66\u8f86 \u5e94\u7528 \u4e00\u4e9b \u63a7\u5236 \u6765 \u79fb\u52a8 \u5b83 \uff1a   cc : : Vehicle : : Control   control ;   control . throttle   =   1.0 f ;   vehicle - > ApplyControl ( control ) ;   \u73b0\u5728 \uff0c \u6211\u4eec \u5c06 \u91cd\u65b0 \u5b9a\u4f4d \u89c2\u5bdf \u89c2\u5bdf\u8005 \uff0c \u4ee5\u4fbf \u5728 \u5730\u56fe \u4e0a \u770b\u5230 \u6211\u4eec \u65b0 \u751f\u6210 \u7684 \u8f66\u8f86 \uff1a   auto   spectator   =   world . GetSpectator ( ) ;   / /   \u8c03\u6574 \u53d8\u6362 \u6765\u770b   transform . location   + =   32.0 f   *   transform . GetForwardVector ( ) ;   transform . location . z   + =   2.0 f ;   transform . rotation . yaw   + =   180.0 f ;   transform . rotation . pitch   =   - 15.0 f ;   / /   \u73b0\u5728 \u8bbe\u7f6e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u53d8\u6362   spectator - > SetTransform ( transform ) ;   \u6211\u4eec \u8fd8 \u5c06 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5173\u95ed \u4e4b\u524d \uff0c \u8ba9 \u8be5 \u8fc7\u7a0b \u4f11\u7720 10 \u79d2 \uff0c \u4ee5 \u89c2\u5bdf \u6a21\u62df \u8fc7\u7a0b \uff1a   std : : this _ thread : : sleep _ for ( 10s ) ;   \u5982\u679c \u60a8 \u5e0c\u671b \u5728 \u6267\u884c \u5176\u4ed6 \u547d\u4ee4 \u65f6 \u4fdd\u6301 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6253\u5f00 \uff0c \u8bf7 \u521b\u5efa \u4e00\u4e2a \u6e38\u620f \u5faa\u73af \u3002 \u73b0\u5728 \uff0c \u60a8 \u5df2\u7ecf \u52a0\u8f7d \u4e86 \u4e00\u5f20 \u5730\u56fe \u5e76 \u751f\u6210 \u4e86 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u3002 \u4e3a\u4e86 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u63a2\u7d22 C++ API \uff0c   \u6784\u5efa Doxygen \u6587\u6863   \u5e76 \u5728 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u6253\u5f00 \u5b83 \u3002   \u8981 \u5728   Carla   \u5b58\u50a8 \u5e93 \u4e4b\u5916 \u7684 \u53e6 \u4e00\u4e2a \u4f4d\u7f6e \u6784\u5efa C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u8bf7 \u7f16\u8f91 Makefile \u7684 \u524d 5 \u884c \uff0c \u4ee5 \u5f15\u7528   / build   \u76ee\u5f55 \u548c   Carla   \u6784\u5efa \u4f4d\u7f6e \u7684 \u6b63\u786e \u4f4d\u7f6e \uff1a   CARLADIR = $ ( CURDIR ) / .. / ..   BUILDDIR = $ ( CURDIR ) / build   BINDIR = $ ( CURDIR ) / bin   INSTALLDIR = $ ( CURDIR ) / libcarla - install   TOOLCHAIN = $ ( CURDIR ) / ToolChain . cmake","title":"\u5e94\u7528 \u63a7\u5236"},{"location":"adv_digital_twin/","text":"\u7b14\u8bb0   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177   \u76ee\u524d \u662f \u4e00\u9879   \u5b9e\u9a8c \u529f\u80fd \u6027\u529f\u80fd   \uff0c \u9636\u6bb5 \u73b0\u9636\u6bb5 \u5c1a\u672a \u8003\u8651 \u6295\u5165 \u751f\u4ea7 \u3002 \u5730\u56fe \u7684 \u67d0\u4e9b \u90e8\u5206 \u53ef\u80fd \u672a \u88c5\u9970 \u6216 \u65e0 \u7eb9\u7406 \u3002 \u56e0\u6b64 \u5b83 \u53ea\u80fd \u7528\u4e8e \u5b9e\u9a8c \u7814\u7a76 \u9879\u76ee \u3002   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177   \u6784\u5efa   OSM   \u6e32\u67d3 \u6e32\u67d3\u5668   \u4e0b\u8f7d \u5e76 \u51c6\u5907   OSM   \u5730\u56fe \u6570\u636e   OpenStreetMap   \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u73af\u5883 \u751f\u6210   \u9053\u8def \u88c5\u9970   \u5efa\u7b51 \u5efa\u7b51\u7269   \u751f\u6210 \u5730\u56fe   \u4fdd\u5b58 \u5730\u56fe   \u540e\u7eed \u6b65\u9aa4   \u5206\u6790   \u95ee\u9898   \u672c\u5730 \u672c\u5730\u5316 UE \u7f16\u8f91 \u7f16\u8f91\u5668   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177   \u80fd\u591f \u57fa\u4e8e \u6e90\u81ea   OpenStreetMap   ( OSM )   \u670d\u52a1 \u7684 \u9053\u8def \u7f51\u7edc \uff0c \u4ee5 \u7a0b\u5e8f \u65b9\u5f0f \u751f\u6210 \u72ec\u7279 \u7684 \u4e09\u7ef4 \u73af\u5883 \u3002 \u901a\u8fc7   Carla   \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684 \u6570\u5b57 \u5b6a\u751f \u5de5\u5177 \u754c\u9762 \uff0c \u7528\u6237 \u53ef\u4ee5 \u4ece   OSM   \u9009\u62e9 \u5730\u56fe \u533a\u57df \u5e76 \u4e0b\u8f7d \u9053\u8def \u7f51\u7edc \u4f5c\u4e3a \u65b0   Carla   \u5730\u56fe \u7684 \u57fa\u7840 \u3002 \u7136\u540e \uff0c \u8be5 \u5de5\u5177 \u7528 \u7a0b\u5e8f \u751f\u6210 \u7684 \u4e09\u7ef4 \u5efa\u7b51 \u5efa\u7b51\u7269 \u586b\u5145 \u9053\u8def \u4e4b\u95f4 \u7684 \u7a7a\u95f4 \uff0c \u8fd9\u4e9b \u5efa\u7b51 \u5efa\u7b51\u7269 \u4f1a \u6839\u636e \u9053\u8def \u5e03\u5c40 \u8fdb\u884c \u8c03\u6574 \uff0c \u4ece\u800c \u521b\u5efa \u5177\u6709 \u9ad8 \u53ef\u53d8 \u53d8\u6027 \u53ef\u53d8\u6027 \u7684 \u771f\u5b9e \u4e09\u7ef4 \u9053\u8def \u73af\u5883 \u3002   \u6784\u5efa   OSM   \u6e32\u67d3 \u6e32\u67d3\u5668   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Linux \uff0c \u5219 \u53ef\u4ee5 \u9009\u62e9 \u4f7f\u7528   Carla   \u754c\u9762 \u4e2d \u7684   OSM   \u6e32\u67d3 \u6e32\u67d3\u5668 \u6765 \u5bfc\u822a \u5df2 \u4e0b\u8f7d \u7684 \u5927\u578b   OSM   \u5730\u56fe \u533a\u57df \u3002 \u60a8 \u9996\u5148 \u9700\u8981 \u6784\u5efa   OSM   \u6e32\u67d3 \u6e32\u67d3\u5668 \u3002   \u5728   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e2d \u8fd0\u884c   make   osmrenderer   \u3002   \u60a8 \u53ef\u80fd \u9700\u8981 \u5c06   CMake   \u7248\u672c \u5347\u7ea7 \u7248\u672c\u5347\u7ea7 \u5230   v3.2   \u6216 \u66f4 \u9ad8 \u7248\u672c \u624d\u80fd \u6b63\u5e38 \u5de5\u4f5c \u3002 \u8fd9 \u5c06 \u5728 \u60a8 \u7684 \u6784\u5efa \u76ee\u5f55 \u4e2d \u521b\u5efa \u4e24\u4e2a \u540d\u4e3a   libosmcout - source   \u548c   libosmcout - build   \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u5728 \u7ee7\u7eed \u6784\u5efa   Carla   \u4e4b\u524d \uff0c \u60a8 \u9700\u8981 \u50cf \u8fd9\u6837   \u5728 \u76ee\u5f55 \u4e2d   $ CARLA _ ROOT / Build / libosmcout - source / maps   \u7f16\u8f91 \u6587\u4ef6   Build . sh   \uff0c \u4ee5 \u786e\u4fdd \u627e\u5230 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \uff1a   if   [ [   - x   .. / Import / src / Import   ] ] ;   then   importExe = .. / Import / src / Import   elif   [ [   - x   .. / debug / Import / Import   ] ] ;   then   importExe = .. / debug / Import / Import   elif   [ [   - x   .. / build / Import / Import   ] ] ;   then   importExe = .. / build / Import / Import   ###################   Add   this   line   ####################   elif   [   - x   .. / .. / libosmscout - build / Import / Import   ] ;   then   importExe = .. / .. / libosmscout - build / Import / Import   #######################################################   else   echo   \" Cannot   find   Import   executable ! \"   exit   1   fi   \u7136\u540e \u7ee7\u7eed \u6309 \u6b63\u5e38 \u65b9\u5f0f \u6784\u5efa   Carla \u3002 Windows   \u7528\u6237 \u65e0\u6cd5 \u9009\u62e9 \u4f7f\u7528   OSM   \u6e32\u67d3 \u6e32\u67d3\u5668 \uff0c \u5fc5\u987b \u76f4\u63a5 \u4f7f\u7528   URL \u3002   \u4e0b\u8f7d \u5e76 \u51c6\u5907   OSM   \u5730\u56fe \u6570\u636e   \u5728 \u7f51\u7edc \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u8f6c \u5230   OpenStreetMap   \u7f51\u7ad9   \u5e76 \u9009\u62e9 \u60a8 \u8981 \u4f7f\u7528 \u7684 \u5730\u56fe \u533a\u57df \u3002 \u5b9a\u4e49 \u60a8 \u7684 \u533a\u57df \uff0c \u7136\u540e \u5c06 \u6570\u636e \u5bfc\u51fa \u4e3a   . osm   \u6587\u4ef6 \uff0c \u6216\u8005 \u60a8 \u53ef\u4ee5 \u4f7f\u7528   URL \uff0c \u5982\u4e0b \u6240\u8ff0 \u3002 \u6216\u8005 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u57fa\u4e8e   OpenStreetMap   \u670d\u52a1 \u7684 \u5176\u4ed6 \u5de5\u5177 \uff08 \u4f8b\u5982   GeoFabrik   \uff0c \u5b83 \u5141\u8bb8 \u4ece   OSM   \u6570\u636e \u4e2d \u63d0\u53d6 \u7279\u5b9a \u7684 \u5730\u56fe \u533a\u57df \uff08 \u4f8b\u5982 \u5dde \u6216 \u9886\u5730 \uff09 \u3002   \u6709 \u4e24\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u4f7f\u7528   OSM   \u6570\u636e \u3002 \u4f7f\u7528   URL   \u6216 \u4e0b\u8f7d   OSM   \u6587\u4ef6 \uff1a   \u4f7f\u7528   URL   \u5728   OpenStreetMap   \u7f51\u7ad9   \u4e2d \uff0c \u5bfc\u822a \u5230 \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u7684 \u533a\u57df \uff0c \u7136\u540e \u6309   Export   \uff0c \u60a8 \u53ef\u80fd \u8fd8 \u60f3 \u4f7f\u7528   Manually   select   a   different   area   \u9009\u9879 \u3002 \u7136\u540e \uff0c \u53f3\u952e \u5355\u51fb   Overpass   API   \u5e76 \u4ece \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   Copy   link   \u3002   \u60a8 \u5fc5\u987b \u786e\u4fdd \u6587\u4ef6 \u4e0d \u5927\u4e8e   1   GB \u3002 \u83b7\u53d6 \u6b64 \u94fe\u63a5 \u5e76 \u5c06 \u5176 \u7c98\u8d34 \u5230 \u754c\u9762 \u7684   URL   \u5b57\u6bb5 \u4e2d \u3002   \u4e0b\u8f7d   OSM   \u6587\u4ef6 \u5e76 \u5728 \u754c\u9762 \u4e2d \u5bfc\u822a   \u6b64 \u9009\u9879 \u4ec5 \u9002\u7528 \u4e8e   Linux   \u7528\u6237 \u3002 \u60a8 \u53ef\u4ee5 \u4e0b\u8f7d \u66f4\u5927 \u533a\u57df \u7684 \u5730\u56fe \uff0c \u4f8b\u5982 \u6574\u4e2a \u5dde \u6216 \u9886\u5730 \uff0c \u7136\u540e \u4f7f\u7528   Carla   \u4e2d \u7684   OSM   \u754c\u9762 \uff0c \u4f7f\u7528 \u7bad\u5934 \u548c \u7f29\u653e \u6309\u94ae \u5bfc\u822a \u5730\u56fe \u3002 \u5c06 \u6240 \u9700 \u7684   OSM   \u6570\u636e \u533a\u57df \u4e0b\u8f7d \u4e3a   . osm   \u6587\u4ef6 \u3002   \u7136\u540e \u5c06 \u6b64 \u6587\u4ef6 \u653e\u5165   { CARLA _ ROOT } / Build / libosmcout - source / maps /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u6253\u5f00 \u6b64 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u7684 \u7ec8\u7aef \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cd   { CARLA _ ROOT } / Build / libosmcout - source / maps /   . / build . sh   < path _ to _ osm _ file >   \u7b14\u8bb0   \u5982\u679c   OpenStreetMap   \u4e2d \u7684 \u5730\u56fe \u6709 \u9519\u8bef \u6216 \u4e0d \u7cbe\u786e \uff0c \u53ef\u4ee5 \u901a\u8fc7   \u7f16\u8f91 \u5730\u56fe   \u8fdb\u884c \u6539\u8fdb \u3002   OpenStreetMap   \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u5982\u679c \u5de6\u4e0b \u4e0b\u89d2 \u5de6\u4e0b\u89d2 \u7684 \u201c \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u201d \u672a \u770b\u5230 \u201c Carla \u5185\u5bb9 \u201d \uff0c \u5230 \u4e2d\u95f4 \u4e0b\u9762 \u7684 \u201c \u89c6\u56fe \u9009\u9879 \u201d \u4e2d \u9009\u4e2d \u201c \u663e\u793a \u63d2\u4ef6 \u5185\u5bb9 \u201d   \u8981 \u6253\u5f00   OSM   \u6d4f\u89c8 \u6d4f\u89c8\u5668 \uff0c \u8bf7 \u6253\u5f00 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5e76 \u5bfc\u822a \u81f3   CarlaToolsContent / OnroadMapGenerator   \u3002 \u53f3\u952e \u5355\u51fb   UW _ OnRoadMainWidget   \u5e76 \u4ece \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   \u8fd0\u884c \u7f16\u8f91 \u5de5\u5177 \u7a7a\u95f4 \uff08 Launch   Editor   Utility   Widget \uff09   \u3002 \u8fd9 \u5c06 \u6253\u5f00 \u8be5 \u5de5\u5177 \u7684 \u754c\u9762 \u3002   \u8be5 \u754c\u9762 \u5141\u8bb8 \u6d4f\u89c8 \u5df2 \u4ece   OSM   \u6570\u636e \u636e\u5e93 \u6570\u636e\u5e93 \u4e0b\u8f7d \u5e76 \u70d8\u7119 \u7684   OSM   \u5730\u56fe \u533a\u57df \u3002 \u9996\u5148 \uff0c \u60a8 \u5e94\u8be5 \u5728 \u754c\u9762 \u7684   Select   OSM   Database   \u5b57\u6bb5 \u4e2d \u8f93\u5165 \u4e0a \u4e00\u6b65 \u4e2d \u5b58\u50a8 \u5904\u7406 \u540e \u7684   OSM   \u6570\u636e \u7684 \u76ee\u5f55 \u4f4d\u7f6e \u3002 \u5982\u679c \u60a8 \u76f4\u63a5 \u4f7f\u7528   URL \uff0c \u8bf7 \u5c06 \u5176 \u7c98\u8d34 \u5230   OSM   URL   \u5b57\u6bb5 \u4e2d \uff0c \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \u60a8 \u5c06 \u65e0\u6cd5 \u4f7f\u7528 \u5bfc\u822a \u5668 \u3002   \u4f7f\u7528 \u65b9\u5411 \u7bad\u5934 \u65b9\u5411\u7bad\u5934 \u548c \u7f29\u653e \u56fe\u6807 \u5bfc\u822a \u5730\u56fe \u5e76 \u627e\u5230 \u8981 \u8f6c\u6362 \u4e3a   Carla   \u5730\u56fe \u7684 \u9053\u8def \u8def\u7f51 \u9053\u8def\u7f51 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u60a8 \u5728 \u9884\u89c8 \u4e2d \u770b\u5230 \u7684 \u65b9\u5f62 \u533a\u57df \u5c06 \u662f \u5730\u56fe \u7684 \u8303\u56f4 \u3002 \u5728 \u5b57 \u6bb5 \u4e2d \u8f93\u5165 \u9002\u5f53 \u7684 \u540d\u79f0   File   Name   \u7136\u540e \u6309   Generate   \u5f00\u59cb \u7a0b\u5e8f \u751f\u6210 \u8fc7\u7a0b \u3002 \u5730\u56fe \u751f\u6210 \u8fc7\u7a0b \u53ef\u80fd \u9700\u8981 \u51e0\u5206 \u5206\u949f \u51e0\u5206\u949f \uff0c \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f \u5927 \u533a\u57df \uff0c \u5219 \u53ef\u80fd \u9700\u8981 \u66f4\u957f \u7684 \u65f6\u95f4 \u3002   \u5148 \u542f\u52a8 Carla \u670d\u52a1 \uff0c \u7136\u540e \u8fd0\u884c \u4ee5\u4e0b \u811a\u672c \u4ece   . osm   \u6587\u4ef6 \u4e2d \u52a0\u8f7d \u573a\u666f \uff1a   python   src / util / config . py   - x   * . xodr   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u573a\u666f \u751f\u6210   \u9053\u8def \u88c5\u9970   \u8be5 \u5de5\u5177 \u4ece   OSM   \u6570\u636e \u4e2d \u63d0\u53d6 \u9053\u8def \u7f51\u7edc \u4f5c\u4e3a \u5730\u56fe \u7684 \u57fa\u7840 \u3002 \u8def\u9762 \u88c5\u9970 \u6709 \u903c\u771f \u7684 \u8868\u9762 \u89c4\u5219 \u4e0d\u89c4\u5219 \u6027 \u3001 \u9053\u8def \u7eb9\u7406 \u548c \u8f66\u9053 \u7ebf \u3001 \u88c2\u75d5 \u548c \u8f6e\u80ce \u5370\u8ff9 \u3002   \u5efa\u7b51 \u5efa\u7b51\u7269   \u9053\u8def \u4e4b\u95f4 \u7684 \u7a7a\u767d \u533a\u57df \u586b\u5145 \u6709 \u5efa\u7b51 \u5efa\u7b51\u7269 \u6216 \u5f00\u653e \u533a\u57df \uff0c \u5b83\u4eec \u4f1a \u8c03\u6574 \u5176 \u5f62\u72b6 \u548c \u5c3a\u5bf8 \u4ee5 \u586b\u5145 \u9053\u8def \u4e4b\u95f4 \u7684 \u7a7a\u95f4 \u3002   \u7a0b\u5e8f \u751f\u6210 \u5de5\u5177 \u4ece   OSM   \u6570\u636e \u4e2d \u63d0\u53d6 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5360\u5730 \u5730\u9762 \u9762\u79ef \u5360\u5730\u9762\u79ef \u548c \u9ad8\u5ea6 \u4fe1\u606f \uff0c \u4ee5 \u751f\u6210 \u5177\u6709 \u76f8\u4f3c \u5c3a\u5bf8 \u7684 \u865a\u62df \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002 \u8be6\u7ec6 \u7684 \u8986\u5c42 \u7528\u4e8e \u4eff\u771f \u7a97\u6237 \u3001 \u95e8 \u548c \u9633\u53f0 \u3002 \u6839\u636e \u5efa\u7b51 \u9762\u79ef \u5efa\u7b51\u9762\u79ef \u7684 \u4e0d\u540c \uff0c \u91c7\u7528 \u4e0d\u540c \u7684 \u88c5\u4fee \u98ce\u683c \uff0c \u6700\u9ad8 \u7684 \u5efa\u7b51 \u4e3a \u529e\u516c \u98ce\u683c \uff0c \u8f83 \u5c0f \u7684 \u5efa\u7b51 \u6839\u636e \u5efa\u7b51 \u5360\u5730 \u5730\u9762 \u9762\u79ef \u5360\u5730\u9762\u79ef \u91c7\u7528 \u5546\u4e1a \u6216 \u4f4f\u5b85 \u98ce\u683c \u3002   \u5728 \u4e0b \u4e00\u6b65 \u4e2d \u8fd8 \u5c06 \u690d\u88ab \u6dfb\u52a0 \u5230 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u4e2d\u4ee5 \u83b7\u53d6 \u66f4 \u591a \u7ec6\u8282 \u3002   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177 \u6784\u5efa \u98ce\u683c   \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u98ce\u683c \u591a\u79cd \u591a\u6837 \u591a\u79cd\u591a\u6837 \uff0c \u968f\u673a \u5206\u5e03 \u5728 \u6574\u4e2a \u57ce\u5e02 \uff0c \u4e00\u4e2a \u533a\u57df \u7684 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u662f \u6839\u636e \u4ece   OSM   \u6570\u636e \u4e2d \u63d0\u53d6 \u7684 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u7279\u5f81 \u5c3a\u5bf8 \u6765 \u9009\u62e9 \u7684 \u3002   \u751f\u6210 \u5730\u56fe   \u5bf9\u4e8e   2x2   km   2   \u533a\u57df \uff0c \u751f\u6210 \u6b65\u9aa4 \u5927\u7ea6 \u9700\u8981   10   \u5206\u949f \uff0c \u8f83\u5927 \u7684 \u533a\u57df \u5c06 \u9700\u8981 \u66f4\u957f \u7684 \u65f6\u95f4 \u3002 \u751f\u6210 \u8fc7\u7a0b \u5b8c\u6210 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u68c0\u67e5 \u4e09\u7ef4 \u5730\u56fe \u3002   \u4fdd\u5b58 \u5730\u56fe   \u5982\u679c \u60a8 \u5bf9 \u751f\u6210 \u7684 \u5730\u56fe \u611f\u5230 \u6ee1\u610f \uff0c \u5219 \u53ef\u4ee5 \u6309   Save   Map   \u6309\u94ae \u4fdd\u5b58 \u5730\u56fe \u3002   \u6b64 \u6b65\u9aa4 \u5c06 \u82b1\u8d39 \u5927\u91cf \u65f6\u95f4   \uff0c \u53ef\u80fd \u9700\u8981 \u4e00\u4e2a \u4e00\u4e2a\u591a \u5c0f\u65f6 \uff0c \u4e5f \u53ef\u80fd \u9700\u8981 \u51e0\u4e2a \u5c0f\u65f6 \u3002 \u5b8c\u6210 \u6b64 \u6b65\u9aa4 \u540e \uff0c \u60a8 \u5e94\u8be5 \u51c6\u5907 \u8ba9 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u8fd0\u884c \u51e0\u4e2a \u5c0f\u65f6 \u3002 \u5b8c\u6210 \u6b64 \u6b65\u9aa4 \u540e \uff0c \u5c06 \u53ef\u4ee5 \u901a\u8fc7 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u6216 \u901a\u8fc7   Carla   API   \u4f7f\u7528 \u8be5 \u5730\u56fe \uff0c \u5c31 \u50cf \u4efb\u4f55 \u5176\u4ed6 \u5730\u56fe \u4e00\u6837 \u3002   \u540e\u7eed \u6b65\u9aa4   \u6dfb\u52a0 \u5149\u6e90 \uff08 \u5929\u5149 \uff09 \u3001   \u8def\u7ebf \u89c4\u5212 \u5668   \u3001 \u6784\u5efa \u573a\u666f \u3002   \u5206\u6790   UOpenDriveToMap : : GenerateTile ( )   \u751f\u6210 \u6bcf \u4e00\u4e2a \u74e6\u7247 \uff0c \u8c03\u7528   GenerateAll ( )   \u51fd\u6570 \uff0c \u8fdb\u884c   \u9053\u8def \u7f51\u683c \u3001 \u8f66\u9053 \u7ebf \u3001 \u751f\u6210 \u70b9 \u3001 \u5730\u5f62 \u3001 \u6570\u76ee \u4f4d\u7f6e \u3001 \u751f\u6210 \u5b8c\u6210 \u7b49 \u6b65\u9aa4 \u3002   \u95ee\u9898   carla \\ Unreal \\ CarlaUE4 \\ Plugins \\ CarlaTools \\ Source \\ CarlaTools \\ Private \\ OpenDriveToMap . cpp   \u6539\u4e3a \u751f\u6210 \u4e00\u4e2a \u74e6\u7247 \u5730\u56fe \u7684 \u51fd\u6570 \uff0c \u751f\u6210 \u540e \u7684 \u540d\u5b57 \u4e3a   { NAME } _ Tile _ 0 _ 0   \u3002   / /   ExecuteTileCommandlet ( ) ;   GenerateTile ( ) ;   \u539f\u56e0 \uff1a   \u751f\u6210 \u74e6\u7247 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u7a0b\u5e8f \u4f4d\u4e8e   Unreal \\ CarlaUE4 \\ Plugins \\ CarlaTools \\ Source \\ CarlaTools \\ Private \\ Commandlet \\ GenerateTileCommandlet . cpp   \u3002   \u79fb\u9664   void   UOpenDriveToMap : : GenerateTile ( )   \u51fd\u6570 \u4e2d \u7684   / /   RemoveFromRoot ( ) ;   \u8bed\u53e5 \uff0c \u8be5 \u8bed\u53e5 \u6e05\u7406 FilePath \u53d8\u91cf \u5bfc\u81f4 \u4e0b \u4e00\u6b21 \u74e6\u7247 \u751f\u6210 \u65f6 FilePath \u53d8\u91cf \u4e71\u7801 \u7684 \u95ee\u9898 \uff0c \u53ef\u4ee5 \u89e3\u51b3 \u5927 \u5730\u56fe \u53ea \u751f\u6210 \u4e00\u4e2a \u74e6\u7247 \u7684 \u95ee\u9898 \u3002   \u53c2\u8003 \uff1a UE   \u4e2d \u7684   Commandlet   \u89e3\u8bfb \u3002","title":"Adv   digital   twin"},{"location":"adv_digital_twin/#_1","text":"\u6784\u5efa   OSM   \u6e32\u67d3 \u6e32\u67d3\u5668   \u4e0b\u8f7d \u5e76 \u51c6\u5907   OSM   \u5730\u56fe \u6570\u636e   OpenStreetMap   \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u73af\u5883 \u751f\u6210   \u9053\u8def \u88c5\u9970   \u5efa\u7b51 \u5efa\u7b51\u7269   \u751f\u6210 \u5730\u56fe   \u4fdd\u5b58 \u5730\u56fe   \u540e\u7eed \u6b65\u9aa4   \u5206\u6790   \u95ee\u9898   \u672c\u5730 \u672c\u5730\u5316 UE \u7f16\u8f91 \u7f16\u8f91\u5668   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177   \u80fd\u591f \u57fa\u4e8e \u6e90\u81ea   OpenStreetMap   ( OSM )   \u670d\u52a1 \u7684 \u9053\u8def \u7f51\u7edc \uff0c \u4ee5 \u7a0b\u5e8f \u65b9\u5f0f \u751f\u6210 \u72ec\u7279 \u7684 \u4e09\u7ef4 \u73af\u5883 \u3002 \u901a\u8fc7   Carla   \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684 \u6570\u5b57 \u5b6a\u751f \u5de5\u5177 \u754c\u9762 \uff0c \u7528\u6237 \u53ef\u4ee5 \u4ece   OSM   \u9009\u62e9 \u5730\u56fe \u533a\u57df \u5e76 \u4e0b\u8f7d \u9053\u8def \u7f51\u7edc \u4f5c\u4e3a \u65b0   Carla   \u5730\u56fe \u7684 \u57fa\u7840 \u3002 \u7136\u540e \uff0c \u8be5 \u5de5\u5177 \u7528 \u7a0b\u5e8f \u751f\u6210 \u7684 \u4e09\u7ef4 \u5efa\u7b51 \u5efa\u7b51\u7269 \u586b\u5145 \u9053\u8def \u4e4b\u95f4 \u7684 \u7a7a\u95f4 \uff0c \u8fd9\u4e9b \u5efa\u7b51 \u5efa\u7b51\u7269 \u4f1a \u6839\u636e \u9053\u8def \u5e03\u5c40 \u8fdb\u884c \u8c03\u6574 \uff0c \u4ece\u800c \u521b\u5efa \u5177\u6709 \u9ad8 \u53ef\u53d8 \u53d8\u6027 \u53ef\u53d8\u6027 \u7684 \u771f\u5b9e \u4e09\u7ef4 \u9053\u8def \u73af\u5883 \u3002","title":"\u6570\u5b57 \u5b6a\u751f \u5de5\u5177"},{"location":"adv_digital_twin/#osm","text":"\u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Linux \uff0c \u5219 \u53ef\u4ee5 \u9009\u62e9 \u4f7f\u7528   Carla   \u754c\u9762 \u4e2d \u7684   OSM   \u6e32\u67d3 \u6e32\u67d3\u5668 \u6765 \u5bfc\u822a \u5df2 \u4e0b\u8f7d \u7684 \u5927\u578b   OSM   \u5730\u56fe \u533a\u57df \u3002 \u60a8 \u9996\u5148 \u9700\u8981 \u6784\u5efa   OSM   \u6e32\u67d3 \u6e32\u67d3\u5668 \u3002   \u5728   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e2d \u8fd0\u884c   make   osmrenderer   \u3002   \u60a8 \u53ef\u80fd \u9700\u8981 \u5c06   CMake   \u7248\u672c \u5347\u7ea7 \u7248\u672c\u5347\u7ea7 \u5230   v3.2   \u6216 \u66f4 \u9ad8 \u7248\u672c \u624d\u80fd \u6b63\u5e38 \u5de5\u4f5c \u3002 \u8fd9 \u5c06 \u5728 \u60a8 \u7684 \u6784\u5efa \u76ee\u5f55 \u4e2d \u521b\u5efa \u4e24\u4e2a \u540d\u4e3a   libosmcout - source   \u548c   libosmcout - build   \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u5728 \u7ee7\u7eed \u6784\u5efa   Carla   \u4e4b\u524d \uff0c \u60a8 \u9700\u8981 \u50cf \u8fd9\u6837   \u5728 \u76ee\u5f55 \u4e2d   $ CARLA _ ROOT / Build / libosmcout - source / maps   \u7f16\u8f91 \u6587\u4ef6   Build . sh   \uff0c \u4ee5 \u786e\u4fdd \u627e\u5230 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \uff1a   if   [ [   - x   .. / Import / src / Import   ] ] ;   then   importExe = .. / Import / src / Import   elif   [ [   - x   .. / debug / Import / Import   ] ] ;   then   importExe = .. / debug / Import / Import   elif   [ [   - x   .. / build / Import / Import   ] ] ;   then   importExe = .. / build / Import / Import   ###################   Add   this   line   ####################   elif   [   - x   .. / .. / libosmscout - build / Import / Import   ] ;   then   importExe = .. / .. / libosmscout - build / Import / Import   #######################################################   else   echo   \" Cannot   find   Import   executable ! \"   exit   1   fi   \u7136\u540e \u7ee7\u7eed \u6309 \u6b63\u5e38 \u65b9\u5f0f \u6784\u5efa   Carla \u3002 Windows   \u7528\u6237 \u65e0\u6cd5 \u9009\u62e9 \u4f7f\u7528   OSM   \u6e32\u67d3 \u6e32\u67d3\u5668 \uff0c \u5fc5\u987b \u76f4\u63a5 \u4f7f\u7528   URL \u3002","title":"\u6784\u5efa   OSM   \u6e32\u67d3\u5668  "},{"location":"adv_digital_twin/#osm_1","text":"\u5728 \u7f51\u7edc \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u8f6c \u5230   OpenStreetMap   \u7f51\u7ad9   \u5e76 \u9009\u62e9 \u60a8 \u8981 \u4f7f\u7528 \u7684 \u5730\u56fe \u533a\u57df \u3002 \u5b9a\u4e49 \u60a8 \u7684 \u533a\u57df \uff0c \u7136\u540e \u5c06 \u6570\u636e \u5bfc\u51fa \u4e3a   . osm   \u6587\u4ef6 \uff0c \u6216\u8005 \u60a8 \u53ef\u4ee5 \u4f7f\u7528   URL \uff0c \u5982\u4e0b \u6240\u8ff0 \u3002 \u6216\u8005 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u57fa\u4e8e   OpenStreetMap   \u670d\u52a1 \u7684 \u5176\u4ed6 \u5de5\u5177 \uff08 \u4f8b\u5982   GeoFabrik   \uff0c \u5b83 \u5141\u8bb8 \u4ece   OSM   \u6570\u636e \u4e2d \u63d0\u53d6 \u7279\u5b9a \u7684 \u5730\u56fe \u533a\u57df \uff08 \u4f8b\u5982 \u5dde \u6216 \u9886\u5730 \uff09 \u3002   \u6709 \u4e24\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u4f7f\u7528   OSM   \u6570\u636e \u3002 \u4f7f\u7528   URL   \u6216 \u4e0b\u8f7d   OSM   \u6587\u4ef6 \uff1a","title":"\u4e0b\u8f7d \u5e76 \u51c6\u5907   OSM   \u5730\u56fe \u6570\u636e  "},{"location":"adv_digital_twin/#url","text":"\u5728   OpenStreetMap   \u7f51\u7ad9   \u4e2d \uff0c \u5bfc\u822a \u5230 \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u7684 \u533a\u57df \uff0c \u7136\u540e \u6309   Export   \uff0c \u60a8 \u53ef\u80fd \u8fd8 \u60f3 \u4f7f\u7528   Manually   select   a   different   area   \u9009\u9879 \u3002 \u7136\u540e \uff0c \u53f3\u952e \u5355\u51fb   Overpass   API   \u5e76 \u4ece \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   Copy   link   \u3002   \u60a8 \u5fc5\u987b \u786e\u4fdd \u6587\u4ef6 \u4e0d \u5927\u4e8e   1   GB \u3002 \u83b7\u53d6 \u6b64 \u94fe\u63a5 \u5e76 \u5c06 \u5176 \u7c98\u8d34 \u5230 \u754c\u9762 \u7684   URL   \u5b57\u6bb5 \u4e2d \u3002","title":"\u4f7f\u7528   URL"},{"location":"adv_digital_twin/#osm_2","text":"\u6b64 \u9009\u9879 \u4ec5 \u9002\u7528 \u4e8e   Linux   \u7528\u6237 \u3002 \u60a8 \u53ef\u4ee5 \u4e0b\u8f7d \u66f4\u5927 \u533a\u57df \u7684 \u5730\u56fe \uff0c \u4f8b\u5982 \u6574\u4e2a \u5dde \u6216 \u9886\u5730 \uff0c \u7136\u540e \u4f7f\u7528   Carla   \u4e2d \u7684   OSM   \u754c\u9762 \uff0c \u4f7f\u7528 \u7bad\u5934 \u548c \u7f29\u653e \u6309\u94ae \u5bfc\u822a \u5730\u56fe \u3002 \u5c06 \u6240 \u9700 \u7684   OSM   \u6570\u636e \u533a\u57df \u4e0b\u8f7d \u4e3a   . osm   \u6587\u4ef6 \u3002   \u7136\u540e \u5c06 \u6b64 \u6587\u4ef6 \u653e\u5165   { CARLA _ ROOT } / Build / libosmcout - source / maps /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u6253\u5f00 \u6b64 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u7684 \u7ec8\u7aef \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cd   { CARLA _ ROOT } / Build / libosmcout - source / maps /   . / build . sh   < path _ to _ osm _ file >   \u7b14\u8bb0   \u5982\u679c   OpenStreetMap   \u4e2d \u7684 \u5730\u56fe \u6709 \u9519\u8bef \u6216 \u4e0d \u7cbe\u786e \uff0c \u53ef\u4ee5 \u901a\u8fc7   \u7f16\u8f91 \u5730\u56fe   \u8fdb\u884c \u6539\u8fdb \u3002","title":"\u4e0b\u8f7d   OSM   \u6587\u4ef6 \u5e76 \u5728 \u754c\u9762 \u4e2d \u5bfc\u822a"},{"location":"adv_digital_twin/#openstreetmap","text":"\u5982\u679c \u5de6\u4e0b \u4e0b\u89d2 \u5de6\u4e0b\u89d2 \u7684 \u201c \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u201d \u672a \u770b\u5230 \u201c Carla \u5185\u5bb9 \u201d \uff0c \u5230 \u4e2d\u95f4 \u4e0b\u9762 \u7684 \u201c \u89c6\u56fe \u9009\u9879 \u201d \u4e2d \u9009\u4e2d \u201c \u663e\u793a \u63d2\u4ef6 \u5185\u5bb9 \u201d   \u8981 \u6253\u5f00   OSM   \u6d4f\u89c8 \u6d4f\u89c8\u5668 \uff0c \u8bf7 \u6253\u5f00 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5e76 \u5bfc\u822a \u81f3   CarlaToolsContent / OnroadMapGenerator   \u3002 \u53f3\u952e \u5355\u51fb   UW _ OnRoadMainWidget   \u5e76 \u4ece \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   \u8fd0\u884c \u7f16\u8f91 \u5de5\u5177 \u7a7a\u95f4 \uff08 Launch   Editor   Utility   Widget \uff09   \u3002 \u8fd9 \u5c06 \u6253\u5f00 \u8be5 \u5de5\u5177 \u7684 \u754c\u9762 \u3002   \u8be5 \u754c\u9762 \u5141\u8bb8 \u6d4f\u89c8 \u5df2 \u4ece   OSM   \u6570\u636e \u636e\u5e93 \u6570\u636e\u5e93 \u4e0b\u8f7d \u5e76 \u70d8\u7119 \u7684   OSM   \u5730\u56fe \u533a\u57df \u3002 \u9996\u5148 \uff0c \u60a8 \u5e94\u8be5 \u5728 \u754c\u9762 \u7684   Select   OSM   Database   \u5b57\u6bb5 \u4e2d \u8f93\u5165 \u4e0a \u4e00\u6b65 \u4e2d \u5b58\u50a8 \u5904\u7406 \u540e \u7684   OSM   \u6570\u636e \u7684 \u76ee\u5f55 \u4f4d\u7f6e \u3002 \u5982\u679c \u60a8 \u76f4\u63a5 \u4f7f\u7528   URL \uff0c \u8bf7 \u5c06 \u5176 \u7c98\u8d34 \u5230   OSM   URL   \u5b57\u6bb5 \u4e2d \uff0c \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \u60a8 \u5c06 \u65e0\u6cd5 \u4f7f\u7528 \u5bfc\u822a \u5668 \u3002   \u4f7f\u7528 \u65b9\u5411 \u7bad\u5934 \u65b9\u5411\u7bad\u5934 \u548c \u7f29\u653e \u56fe\u6807 \u5bfc\u822a \u5730\u56fe \u5e76 \u627e\u5230 \u8981 \u8f6c\u6362 \u4e3a   Carla   \u5730\u56fe \u7684 \u9053\u8def \u8def\u7f51 \u9053\u8def\u7f51 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u60a8 \u5728 \u9884\u89c8 \u4e2d \u770b\u5230 \u7684 \u65b9\u5f62 \u533a\u57df \u5c06 \u662f \u5730\u56fe \u7684 \u8303\u56f4 \u3002 \u5728 \u5b57 \u6bb5 \u4e2d \u8f93\u5165 \u9002\u5f53 \u7684 \u540d\u79f0   File   Name   \u7136\u540e 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\u4e0d\u89c4\u5219 \u6027 \u3001 \u9053\u8def \u7eb9\u7406 \u548c \u8f66\u9053 \u7ebf \u3001 \u88c2\u75d5 \u548c \u8f6e\u80ce \u5370\u8ff9 \u3002","title":"\u9053\u8def \u88c5\u9970  "},{"location":"adv_digital_twin/#_4","text":"\u9053\u8def \u4e4b\u95f4 \u7684 \u7a7a\u767d \u533a\u57df \u586b\u5145 \u6709 \u5efa\u7b51 \u5efa\u7b51\u7269 \u6216 \u5f00\u653e \u533a\u57df \uff0c \u5b83\u4eec \u4f1a \u8c03\u6574 \u5176 \u5f62\u72b6 \u548c \u5c3a\u5bf8 \u4ee5 \u586b\u5145 \u9053\u8def \u4e4b\u95f4 \u7684 \u7a7a\u95f4 \u3002   \u7a0b\u5e8f \u751f\u6210 \u5de5\u5177 \u4ece   OSM   \u6570\u636e \u4e2d \u63d0\u53d6 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5360\u5730 \u5730\u9762 \u9762\u79ef \u5360\u5730\u9762\u79ef \u548c \u9ad8\u5ea6 \u4fe1\u606f \uff0c \u4ee5 \u751f\u6210 \u5177\u6709 \u76f8\u4f3c \u5c3a\u5bf8 \u7684 \u865a\u62df \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002 \u8be6\u7ec6 \u7684 \u8986\u5c42 \u7528\u4e8e \u4eff\u771f \u7a97\u6237 \u3001 \u95e8 \u548c \u9633\u53f0 \u3002 \u6839\u636e \u5efa\u7b51 \u9762\u79ef \u5efa\u7b51\u9762\u79ef \u7684 \u4e0d\u540c \uff0c \u91c7\u7528 \u4e0d\u540c \u7684 \u88c5\u4fee \u98ce\u683c \uff0c \u6700\u9ad8 \u7684 \u5efa\u7b51 \u4e3a \u529e\u516c \u98ce\u683c \uff0c \u8f83 \u5c0f \u7684 \u5efa\u7b51 \u6839\u636e \u5efa\u7b51 \u5360\u5730 \u5730\u9762 \u9762\u79ef \u5360\u5730\u9762\u79ef \u91c7\u7528 \u5546\u4e1a \u6216 \u4f4f\u5b85 \u98ce\u683c \u3002   \u5728 \u4e0b \u4e00\u6b65 \u4e2d \u8fd8 \u5c06 \u690d\u88ab \u6dfb\u52a0 \u5230 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u4e2d\u4ee5 \u83b7\u53d6 \u66f4 \u591a \u7ec6\u8282 \u3002   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177 \u6784\u5efa \u98ce\u683c   \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u98ce\u683c \u591a\u79cd \u591a\u6837 \u591a\u79cd\u591a\u6837 \uff0c \u968f\u673a \u5206\u5e03 \u5728 \u6574\u4e2a \u57ce\u5e02 \uff0c \u4e00\u4e2a \u533a\u57df \u7684 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u662f \u6839\u636e \u4ece   OSM   \u6570\u636e \u4e2d \u63d0\u53d6 \u7684 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u7279\u5f81 \u5c3a\u5bf8 \u6765 \u9009\u62e9 \u7684 \u3002","title":"\u5efa\u7b51\u7269  "},{"location":"adv_digital_twin/#_5","text":"\u5bf9\u4e8e   2x2   km   2   \u533a\u57df \uff0c \u751f\u6210 \u6b65\u9aa4 \u5927\u7ea6 \u9700\u8981   10   \u5206\u949f \uff0c \u8f83\u5927 \u7684 \u533a\u57df \u5c06 \u9700\u8981 \u66f4\u957f \u7684 \u65f6\u95f4 \u3002 \u751f\u6210 \u8fc7\u7a0b \u5b8c\u6210 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u68c0\u67e5 \u4e09\u7ef4 \u5730\u56fe \u3002","title":"\u751f\u6210 \u5730\u56fe  "},{"location":"adv_digital_twin/#_6","text":"\u5982\u679c \u60a8 \u5bf9 \u751f\u6210 \u7684 \u5730\u56fe \u611f\u5230 \u6ee1\u610f \uff0c \u5219 \u53ef\u4ee5 \u6309   Save   Map   \u6309\u94ae \u4fdd\u5b58 \u5730\u56fe \u3002   \u6b64 \u6b65\u9aa4 \u5c06 \u82b1\u8d39 \u5927\u91cf \u65f6\u95f4   \uff0c \u53ef\u80fd \u9700\u8981 \u4e00\u4e2a \u4e00\u4e2a\u591a \u5c0f\u65f6 \uff0c \u4e5f \u53ef\u80fd \u9700\u8981 \u51e0\u4e2a \u5c0f\u65f6 \u3002 \u5b8c\u6210 \u6b64 \u6b65\u9aa4 \u540e \uff0c \u60a8 \u5e94\u8be5 \u51c6\u5907 \u8ba9 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u8fd0\u884c \u51e0\u4e2a \u5c0f\u65f6 \u3002 \u5b8c\u6210 \u6b64 \u6b65\u9aa4 \u540e \uff0c \u5c06 \u53ef\u4ee5 \u901a\u8fc7 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u6216 \u901a\u8fc7   Carla   API   \u4f7f\u7528 \u8be5 \u5730\u56fe \uff0c \u5c31 \u50cf \u4efb\u4f55 \u5176\u4ed6 \u5730\u56fe \u4e00\u6837 \u3002","title":"\u4fdd\u5b58 \u5730\u56fe  "},{"location":"adv_digital_twin/#_7","text":"\u6dfb\u52a0 \u5149\u6e90 \uff08 \u5929\u5149 \uff09 \u3001   \u8def\u7ebf \u89c4\u5212 \u5668   \u3001 \u6784\u5efa \u573a\u666f \u3002","title":"\u540e\u7eed \u6b65\u9aa4  "},{"location":"adv_digital_twin/#_8","text":"UOpenDriveToMap : : GenerateTile ( )   \u751f\u6210 \u6bcf \u4e00\u4e2a \u74e6\u7247 \uff0c \u8c03\u7528   GenerateAll ( )   \u51fd\u6570 \uff0c \u8fdb\u884c   \u9053\u8def \u7f51\u683c \u3001 \u8f66\u9053 \u7ebf \u3001 \u751f\u6210 \u70b9 \u3001 \u5730\u5f62 \u3001 \u6570\u76ee \u4f4d\u7f6e \u3001 \u751f\u6210 \u5b8c\u6210 \u7b49 \u6b65\u9aa4 \u3002","title":"\u5206\u6790  "},{"location":"adv_digital_twin/#_9","text":"carla \\ Unreal \\ CarlaUE4 \\ Plugins \\ CarlaTools \\ Source \\ CarlaTools \\ Private \\ OpenDriveToMap . cpp   \u6539\u4e3a \u751f\u6210 \u4e00\u4e2a \u74e6\u7247 \u5730\u56fe \u7684 \u51fd\u6570 \uff0c \u751f\u6210 \u540e \u7684 \u540d\u5b57 \u4e3a   { NAME } _ Tile _ 0 _ 0   \u3002   / /   ExecuteTileCommandlet ( ) ;   GenerateTile ( ) ;   \u539f\u56e0 \uff1a   \u751f\u6210 \u74e6\u7247 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u7a0b\u5e8f \u4f4d\u4e8e   Unreal \\ CarlaUE4 \\ Plugins \\ CarlaTools \\ Source \\ CarlaTools \\ Private \\ Commandlet \\ GenerateTileCommandlet . cpp   \u3002   \u79fb\u9664   void   UOpenDriveToMap : : GenerateTile ( )   \u51fd\u6570 \u4e2d \u7684   / /   RemoveFromRoot ( ) ;   \u8bed\u53e5 \uff0c \u8be5 \u8bed\u53e5 \u6e05\u7406 FilePath \u53d8\u91cf \u5bfc\u81f4 \u4e0b \u4e00\u6b21 \u74e6\u7247 \u751f\u6210 \u65f6 FilePath \u53d8\u91cf \u4e71\u7801 \u7684 \u95ee\u9898 \uff0c \u53ef\u4ee5 \u89e3\u51b3 \u5927 \u5730\u56fe \u53ea \u751f\u6210 \u4e00\u4e2a \u74e6\u7247 \u7684 \u95ee\u9898 \u3002   \u53c2\u8003 \uff1a UE   \u4e2d \u7684   Commandlet   \u89e3\u8bfb \u3002","title":"\u95ee\u9898  "},{"location":"adv_edit_openstreetmap/","text":"OpenStreetMap \u5730\u56fe \u7f16\u8f91 \u5730\u56fe\u7f16\u8f91   \u8fdb\u5165 \u7f16\u8f91 \u9875\u9762   \u8fdb\u5165   OpenStreetMap \u9996\u9875   \uff08 \u9700\u8981 \u79d1\u5b66 \u4e0a\u7f51 \uff09 \uff0c \u70b9\u51fb   \u7f16\u8f91   \u6309\u94ae \uff0c \u4ee5 \u8fdb\u5165 \u5730\u56fe \u7f16\u8f91 \u5730\u56fe\u7f16\u8f91 \u9875\u9762 \uff08 \u5982\u679c \u6ca1\u6709 \u6ce8\u518c \uff0c \u8bf7 \u6ce8\u518c \u8d26\u53f7 \u518d \u64cd\u4f5c \uff09 \u3002   \u5730\u56fe \u7f16\u8f91 \u5730\u56fe\u7f16\u8f91   \u9009\u4e2d \u5bf9 \u9700\u8981 \u4fee\u6539 \u7684 \u5730\u56fe \u5143\u7d20 \u8fdb\u884c \u7f16\u8f91 \u3002   \u5bf9\u7167 \u536b\u661f \u5730\u56fe \uff08 \u6bd4\u5982 \u767e\u5ea6 \u5730\u56fe \u7684 \u536b\u661f \u5730\u56fe \uff09 \u8fdb\u884c \u7ed8\u5236 \uff1a   \u901a\u8fc7 \u5b9e\u666f \u5730\u56fe \u6570\u51fa \u697c \u7684 \u5c42\u6570 \uff1a   \u63d0\u4ea4 \u4fee\u6539   \u70b9\u51fb \u9875\u9762 \u4fdd\u5b58 \u6309\u94ae \u6216\u8005 \u6309   Ctrl + S   \u8fdb\u884c \u4fee\u6539 \u7684 \u4fdd\u5b58 \u548c \u63d0\u4ea4 \u3002   \u624b\u673a APP \u8fdb\u884c \u5730\u56fe \u7f16\u8f91 \u5730\u56fe\u7f16\u8f91   \u4e3a\u4e86 \u5728 \u79fb\u52a8 \u73af\u5883 \u4e0b \u8fdb\u884c \u65b9\u4fbf \u7684 \u5730\u56fe \u7f16\u8f91 \u5730\u56fe\u7f16\u8f91 \uff0c \u4e0b\u8f7d \u624b\u673a \u8f6f\u4ef6 \u673a\u8f6f\u4ef6 \u624b\u673a\u8f6f\u4ef6   StreetComplete   \u3002","title":"OpenStreetMap 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\uff1a","title":"\u5730\u56fe\u7f16\u8f91"},{"location":"adv_edit_openstreetmap/#_3","text":"\u70b9\u51fb \u9875\u9762 \u4fdd\u5b58 \u6309\u94ae \u6216\u8005 \u6309   Ctrl + S   \u8fdb\u884c \u4fee\u6539 \u7684 \u4fdd\u5b58 \u548c \u63d0\u4ea4 \u3002","title":"\u63d0\u4ea4 \u4fee\u6539"},{"location":"adv_edit_openstreetmap/#app","text":"\u4e3a\u4e86 \u5728 \u79fb\u52a8 \u73af\u5883 \u4e0b \u8fdb\u884c \u65b9\u4fbf \u7684 \u5730\u56fe \u7f16\u8f91 \u5730\u56fe\u7f16\u8f91 \uff0c \u4e0b\u8f7d \u624b\u673a \u8f6f\u4ef6 \u673a\u8f6f\u4ef6 \u624b\u673a\u8f6f\u4ef6   StreetComplete   \u3002","title":"\u624b\u673a APP \u8fdb\u884c \u5730\u56fe\u7f16\u8f91"},{"location":"adv_localization/","text":"UE \u7f16\u8f91 \u7f16\u8f91\u5668 \u672c\u5730 \u672c\u5730\u5316   \u524d\u8a00   \u5728 \u672c\u6587 \u4e2d \uff0c \u6211\u4eec \u5c06 \u63a2\u8ba8 \u5982\u4f55 \u4f7f\u7528 UE4 \u7684 \u672c\u5730 \u672c\u5730\u5316 \u5de5\u5177 \u6765 \u4f18\u5316 \u4f60 \u7684 \u6e38\u620f \u9879\u76ee \uff0c 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\u5982\u56fe\u6240\u793a \uff1a   \u9009\u62e9 \u6536\u96c6 \u65b9\u5f0f \uff1a   \u4ece \u6587\u672c \u6536\u96c6 \uff1a \u6587\u672c \u672c\u6587 \u6587\u4ef6 \u6587\u672c\u6587\u4ef6 \uff0c \u6bd4\u5982 \u6211\u4eec \u7684 \u4ee3\u7801 \uff1b   \u4ece\u5305 \u6536\u96c6 \uff1a \u5bf9 \u84dd\u56fe \u7b49 uassest \u8d44\u6e90 \u7684 \u672c\u5730 \u672c\u5730\u5316 \uff1b   \u4ece\u5143 \u6570\u636e \u6536\u96c6 \uff1a \u5bf9\u5143 \u6570\u636e Metadata \u7684 \u672c\u5730 \u672c\u5730\u5316 \uff0c \u5305\u62ec \u7ffb\u8bd1 \u53d8\u91cf \u53d8\u91cf\u540d \uff0c \u5206\u7c7b \uff0c \u5de5\u5177 \u63d0\u793a \u3002   \u5176\u4e2d \uff0c \u5bf9\u4e8e \u5143 \u6570\u636e \u7684 \u6536\u96c6 \uff0c \u5fc5\u987b \u5305\u542b \u81f3\u5c11 \u4e00\u4e2a \u8def\u5f84 \u901a\u914d\u7b26 \u548c \u4e00\u4e2a \u952e \u89c4\u683c \u3002 \u8def\u5f84 \u548c \u4e0a\u9762 \u4e00\u6837 \u6dfb\u52a0 Source \u6587\u4ef6 \u5c31 \u597d \uff0c \u952e \u89c4\u683c \u53ef\u4ee5 \u7167\u6284 \u5f15\u64ce \u76ee\u6807 \u4e2d \u7684 \u793a\u4f8b \uff0c \u4ee5 Property   Name \u4e3a\u4f8b \uff1a   \u5143 \u6570\u636e \u952e   \u586b   DisplayName   \u6587\u672c \u547d\u540d \u7a7a\u95f4   \u586b   UObjectDisplayNames   \u6587\u672c \u952e \u56fe\u6848   \u586b   { FieldPath }","title":"1 . \u5de5\u5177 \u8bf4\u660e"},{"location":"adv_localization/#2","text":"\u4e0a\u8ff0 \u914d\u7f6e \u5b8c \u4ee5\u540e \uff0c \u4e3b\u8981 \u64cd\u4f5c \u90fd \u5728   \u8bed\u7cfb   \u4e2d \u3002   \u5982\u4e0a \u4e0a\u56fe \u5982\u4e0a\u56fe \u6240\u793a \uff0c \u5148 \u6dfb\u52a0 \u4f60 \u9700\u8981 \u7ffb\u8bd1 \u7684 \u8bed\u8a00 \u5730\u533a \u548c \u4f60 \u672c\u5730 \u6587\u672c \u9ed8\u8ba4 \u7684 \u8bed\u8a00 \u5730\u533a \u3002   \u7136\u540e \u70b9\u51fb \u6536\u96c6 \u6587\u672c \uff0c \u6536\u96c6 \u672c\u5730 \u9700\u8981 \u7ffb\u8bd1 \u7684 \u6587\u672c \uff0c \u6210\u529f \u540e","title":"2 . \u7ffb\u8bd1 \u6587\u672c \u6d41\u7a0b"},{"location":"adv_localization/#_2","text":"\u8fd9\u91cc \u6709 \u4e24\u79cd \u65b9\u5f0f \uff0c \u4e00\u79cd \u662f \u76f4\u63a5 \u5728 UE \u5de5\u5177 \u4e2d \u7ffb\u8bd1 \uff0c \u4e00\u79cd \u662f \u5bfc\u51fa \u4f7f\u7528 \u7b2c\u4e09 \u4e09\u65b9 \u7b2c\u4e09\u65b9 \u5de5\u5177 \u7ffb\u8bd1 \u3002   UE \u5de5\u5177 \u7ffb\u8bd1   \uff1a \u70b9\u51fb \u6bcf\u4e2a \u6587\u5316 \u8bed\u8a00 \u540e\u9762   \u5728 \u7ffb\u8bd1 \u4e2d \u5199\u5165 \u7ffb\u8bd1 \u540e \u7684 \u6587\u672c \u5373\u53ef \uff0c \u7136\u540e \u70b9\u51fb \u4fdd\u5b58 \u3002   \u81ea\u884c \u5bfc\u51fa \u7ffb\u8bd1   \u5982\u4e0b \u56fe \u6240\u793a \uff1a   \u4e0a\u8ff0 \u7b2c\u4e00 \u4e00\u79cd \u7b2c\u4e00\u79cd \u5bfc\u51fa \u65b9\u5f0f \u662f \u5bfc\u51fa \u5168\u90e8 \u8bed\u7cfb \uff0c \u7b2c\u4e8c \u4e8c\u79cd \u7b2c\u4e8c\u79cd \u662f \u5bfc\u51fa \u6307\u5b9a \u8bed\u7cfb \u7684 \u6587\u672c \uff0c \u9009\u62e9 \u8def\u5f84 \u5bfc\u51fa \u540e \u4f1a \u751f\u6210 . po \u683c\u5f0f \u6587\u4ef6 \u683c\u5f0f\u6587\u4ef6 \uff0c \u662f \u5305\u542b \u8981 \u7ffb\u8bd1 \u7684 \u6bcf\u79cd \u6587\u5316 \u6587\u672c \u4ee5\u53ca \u5f53\u524d \u7ffb\u8bd1 \u7684 \u6587\u4ef6 \uff0c \u662f \u4e00\u79cd \u901a\u7528 \u683c\u5f0f \uff0c \u53ef \u76f4\u63a5 \u624b\u52a8 \u7f16\u8f91 \u3002   \u4f46\u662f \u4e0d \u5efa\u8bae \u8fd9\u4e48 \u505a \uff0c \u8fd9\u91cc \u6211\u4eec \u4f7f\u7528   Poedit   \u7ffb\u8bd1 \u5de5\u5177 \u53bb \u8fdb\u884c \u7f16\u8f91 \uff0c \u91cc\u9762 \u529f\u80fd \u9f50\u5168 \u529f\u80fd\u9f50\u5168 \uff0c \u5305\u62ec \u81ea\u52a8 \u7ffb\u8bd1 \uff0c \u7ffb\u8bd1 \u63d0\u793a \uff0c \u591a\u4eba \u534f\u540c \u7b49 \u3002   \u7f16\u8f91 \u5b8c \u4fdd\u5b58 \u540e \uff0c \u76f4\u63a5 \u5bfc\u5165 \u5373\u53ef \uff0c \u6309\u7167 \u5bfc\u51fa \u7684 \u65b9\u5f0f \uff0c \u518d \u5bfc\u5165 \u3002   \u7edf\u8ba1 \u7ffb\u8bd1 \u6587\u672c \uff0c \u7f16\u8bd1 \u7ffb\u8bd1 \u6587\u672c \u3002   \u6700\u540e \uff0c \u9700\u8981 \u91cd\u65b0 \u6253\u5f00 Carla \u3002","title":"\u5f00\u59cb \u7ffb\u8bd1 \u6587\u672c"},{"location":"adv_multigpu/","text":"Carla   \u591a   GPU   \u529f\u80fd   Carla   \u4e2d \u7684 \u591a   GPU   \u610f\u5473 \u610f\u5473\u7740 \u7528\u6237 \u53ef\u4ee5 \u542f\u52a8 \u591a\u4e2a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff08 \u79f0\u4e3a \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff09 \uff0c \u8fd9\u4e9b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528 \u7cfb\u7edf \u4e2d \u7684 \u4e13\u7528   GPU   \u4e3a\u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff08 \u79f0 \u4e3a\u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff09 \u6267\u884c \u6e32\u67d3 \u5de5\u4f5c \u3002 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u7528\u6237 \u521b\u5efa \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5206\u53d1 \u5230 \u4e0d\u540c \u7684 \u53ef\u7528 \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   \u6211\u4eec \u9700\u8981 \u542f\u52a8   \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \uff08 \u901a\u5e38 \u5e26\u6709 \u4e00\u4e2a   - nullrhi   \u6807\u5fd7 \u4ee5 \u907f\u514d \u4f7f\u7528   GPU \uff09 \u3002 \u8be5 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u5904\u7406 \u6240\u6709 \u7269\u7406 \u6570\u636e \u5e76 \u5c06 \u573a\u666f \u6570\u636e \u540c\u6b65 \u5230 \u5176\u4ed6   \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u3002 \u7136\u540e \uff0c \u6211\u4eec \u53ef\u4ee5 \u6839\u636e \u9700\u8981 \u542f\u52a8 \u4efb\u4f55 \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff08 \u901a\u5e38 \u662f \u7cfb\u7edf \u4e2d \u7684 \u6bcf\u4e2a \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5bf9\u5e94 \u4e00\u4e2a \u4e13\u7528   GPU \uff09 \uff0c \u4f7f\u7528 \u6211\u4eec \u5c06 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u63cf\u8ff0 \u7684 \u53c2\u6570 \u3002 \u6b64\u540e \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u8fde\u63a5 \uff08 \u59cb\u7ec8 \u8fde\u63a5 \u5230 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff09 \u5e76 \u7167\u5e38 \u8fdb\u884c \u7167\u5e38\u8fdb\u884c \u3002 \u6574\u4e2a \u7cfb\u7edf \u7cfb\u7edf\u5bf9 \u7528\u6237 \u6765\u8bf4 \u662f \u900f\u660e \u7684 \uff0c \u7528\u6237 \u4e0d \u9700\u8981 \u77e5\u9053 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u6765\u81ea \u54ea\u4e2a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u4ed6 \u53ea \u9700 \u76f4\u63a5   \u4ece \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e   \u3002   \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u6b65\u9aa4 \u662f :   \u9996\u5148 \uff0c \u542f\u52a8 \u6ca1\u6709 \u4efb\u4f55 \u6e32\u67d3 \u529f\u80fd \u7684 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u7684 \u53c2\u6570 \u6709 \uff1a   - nullrhi   :   \u7981\u7528 \u4efb\u4f55 \u6e32\u67d3 \u529f\u80fd \uff08 \u65e0\u9700   GPU \uff09   - carla - primary - port   :   \u7528\u4e8e \u4fa6\u542c \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   TCP   \u7aef\u53e3 \uff08 \u9ed8\u8ba4   2002 \uff09   \u4f8b\u5982   . / CarlaUE4 . sh   - nullrhi   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528 \u7aef\u53e3   2002   \u6765 \u4fa6\u542c \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u5982\u679c \u60a8 \u9700\u8981 \u4fa6\u542c \u53e6 \u4e00\u4e2a \u7aef\u53e3 \uff0c \u5219 \u53ef\u4ee5 \u4f7f\u7528 \u6807\u5fd7 \u66f4\u6539 \u5b83   . / CarlaUE4 . sh   - nullrhi   - carla - primary - port = 3002   \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u7136\u540e \u6211\u4eec \u9700\u8981 \u542f\u52a8 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u591a \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u4f46 \u7406\u60f3 \u7684 \u60c5\u51b5 \u662f \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c   GPU   \u7684 \u6570\u91cf \u4e00\u6837 \u591a \u7684 \u3002 \u901a\u8fc7 \u53c2\u6570 \uff0c \u6211\u4eec \u9700\u8981 \u6307\u5b9a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f7f\u7528 \u7684   GPU   \u4ee5\u53ca \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6b63\u5728 \u4fa6\u542c \u7684 \u4e3b\u673a / \u7aef\u53e3 \uff0c \u5e76 \u5e26\u6709 \u4ee5\u4e0b \u6807\u5fd7 \uff1a   - carla - rpc - port   \uff1a \u63a5\u53d7 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u7684   TCP   \u7aef\u53e3 \uff08 \u5bf9\u4e8e \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6765\u8bf4 \u4e0d \u9700\u8981 \uff0c \u4f46 \u7aef\u53e3 \u9700\u8981 \u7a7a\u95f2 \uff09   - carla - primary - host   :   \u8981 \u8fde\u63a5 \u7684 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP   - carla - primary - port   :   \u8981 \u8fde\u63a5 \u7684 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   TCP   \u7aef\u53e3   - ini : [ / Script / Engine . RendererSettings ] : r . GraphicsAdapter   :   \u544a\u8bc9 \u8be5 \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f7f\u7528 \u54ea\u4e2a   GPU   \u8bbe\u5907   \u4f8b\u5982 \uff0c \u5982\u679c \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0e \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5728 \u540c\u4e00 \u53f0 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u6267\u884c \u5e76 \u4f7f\u7528 \u9ed8\u8ba4 \u7aef\u53e3 \uff0c \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \uff1a   . / CarlaUE4 . sh   - carla - rpc - port = 3000   - carla - primary - host = 127.0 . 0.1   - ini : [ / Script / Engine . RendererSettings ] : r . GraphicsAdapter = 0   \u8fd9\u91cc \uff0c \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528 \u7aef\u53e3   3000   \u4f5c\u4e3a   RPC   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u4ee5 \u907f\u514d \u4e0e \u5176\u4ed6 \u7aef\u53e3 \u51b2\u7a81 \uff08 \u4f46 \u6c38\u8fdc \u4e0d\u4f1a \u4f7f\u7528 \u5b83 \uff09 \uff0c \u5e76 \u5c06 \u4ee5 \u9ed8\u8ba4 \u7aef\u53e3 \uff08 2002 \uff09 \u8fde\u63a5 \u5230 \u4f4d\u4e8e   IP   127.0 . 0.1 \uff08 localhost \uff09 \u7684 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff09 \uff0c \u5e76\u4e14 \u8be5 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528   GPU   \u8bbe\u5907   0 \u3002   \u5982\u679c \u6211\u4eec \u60f3 \u4f7f\u7528 \u53e6 \u4e00\u4e2a   GPU   \u5728 \u540c\u4e00 \u53f0 \u673a\u5668 \u4e0a \u542f\u52a8 \u53e6 \u4e00\u4e2a \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \uff1a   . / CarlaUE4 . sh   - carla - rpc - port = 4000   - carla - primary - host = 127.0 . 0.1   - carla - primary - port = 2002   - ini : [ / Script / Engine . RendererSettings ] : r . GraphicsAdapter = 1   \u8be5 \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528 \u7aef\u53e3   4000   \u4f5c\u4e3a   RPC   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u4ee5 \u907f\u514d \u4e0e \u5176\u4ed6 \u7aef\u53e3 \u51b2\u7a81 \uff0c \u5e76 \u5c06 \u901a\u8fc7 \u7aef\u53e3   2002   \u8fde\u63a5 \u5230 \u4f4d\u4e8e   IP   127.0 . 0.1   \u7684 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5e76\u4e14 \u8be5 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528   GPU   \u8bbe\u5907   1 \u3002   \u540c\u6b65 \u6a21\u5f0f   \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u4ece \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fde\u63a5 \u5230 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \uff0c \u7cfb\u7edf \u81ea\u52a8 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \uff0c \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   1 / 20   \u589e\u91cf \u79d2 \u3002","title":"Carla   \u591a   GPU   \u529f\u80fd"},{"location":"adv_multigpu/#carla-gpu","text":"Carla   \u4e2d \u7684 \u591a   GPU   \u610f\u5473 \u610f\u5473\u7740 \u7528\u6237 \u53ef\u4ee5 \u542f\u52a8 \u591a\u4e2a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff08 \u79f0\u4e3a \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff09 \uff0c \u8fd9\u4e9b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528 \u7cfb\u7edf \u4e2d \u7684 \u4e13\u7528   GPU   \u4e3a\u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff08 \u79f0 \u4e3a\u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff09 \u6267\u884c \u6e32\u67d3 \u5de5\u4f5c \u3002 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u7528\u6237 \u521b\u5efa \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5206\u53d1 \u5230 \u4e0d\u540c \u7684 \u53ef\u7528 \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   \u6211\u4eec \u9700\u8981 \u542f\u52a8   \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \uff08 \u901a\u5e38 \u5e26\u6709 \u4e00\u4e2a   - nullrhi   \u6807\u5fd7 \u4ee5 \u907f\u514d \u4f7f\u7528   GPU \uff09 \u3002 \u8be5 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u5904\u7406 \u6240\u6709 \u7269\u7406 \u6570\u636e \u5e76 \u5c06 \u573a\u666f \u6570\u636e \u540c\u6b65 \u5230 \u5176\u4ed6   \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u3002 \u7136\u540e \uff0c \u6211\u4eec \u53ef\u4ee5 \u6839\u636e \u9700\u8981 \u542f\u52a8 \u4efb\u4f55 \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff08 \u901a\u5e38 \u662f \u7cfb\u7edf \u4e2d \u7684 \u6bcf\u4e2a \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5bf9\u5e94 \u4e00\u4e2a \u4e13\u7528   GPU \uff09 \uff0c \u4f7f\u7528 \u6211\u4eec \u5c06 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u63cf\u8ff0 \u7684 \u53c2\u6570 \u3002 \u6b64\u540e \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u8fde\u63a5 \uff08 \u59cb\u7ec8 \u8fde\u63a5 \u5230 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff09 \u5e76 \u7167\u5e38 \u8fdb\u884c \u7167\u5e38\u8fdb\u884c \u3002 \u6574\u4e2a \u7cfb\u7edf \u7cfb\u7edf\u5bf9 \u7528\u6237 \u6765\u8bf4 \u662f \u900f\u660e \u7684 \uff0c \u7528\u6237 \u4e0d \u9700\u8981 \u77e5\u9053 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u6765\u81ea \u54ea\u4e2a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u4ed6 \u53ea \u9700 \u76f4\u63a5   \u4ece \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e   \u3002","title":"Carla   \u591a   GPU   \u529f\u80fd"},{"location":"adv_multigpu/#_1","text":"\u6b65\u9aa4 \u662f :   \u9996\u5148 \uff0c \u542f\u52a8 \u6ca1\u6709 \u4efb\u4f55 \u6e32\u67d3 \u529f\u80fd \u7684 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u7684 \u53c2\u6570 \u6709 \uff1a   - nullrhi   :   \u7981\u7528 \u4efb\u4f55 \u6e32\u67d3 \u529f\u80fd \uff08 \u65e0\u9700   GPU \uff09   - carla - primary - port   :   \u7528\u4e8e \u4fa6\u542c \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   TCP   \u7aef\u53e3 \uff08 \u9ed8\u8ba4   2002 \uff09   \u4f8b\u5982   . / CarlaUE4 . sh   - nullrhi   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528 \u7aef\u53e3   2002   \u6765 \u4fa6\u542c \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u5982\u679c \u60a8 \u9700\u8981 \u4fa6\u542c \u53e6 \u4e00\u4e2a \u7aef\u53e3 \uff0c \u5219 \u53ef\u4ee5 \u4f7f\u7528 \u6807\u5fd7 \u66f4\u6539 \u5b83   . / CarlaUE4 . sh   - nullrhi   - carla - primary - port = 3002","title":"\u4e3b \u670d\u52a1\u5668"},{"location":"adv_multigpu/#_2","text":"\u7136\u540e \u6211\u4eec \u9700\u8981 \u542f\u52a8 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u591a \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u4f46 \u7406\u60f3 \u7684 \u60c5\u51b5 \u662f \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c   GPU   \u7684 \u6570\u91cf \u4e00\u6837 \u591a \u7684 \u3002 \u901a\u8fc7 \u53c2\u6570 \uff0c \u6211\u4eec \u9700\u8981 \u6307\u5b9a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f7f\u7528 \u7684   GPU   \u4ee5\u53ca \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6b63\u5728 \u4fa6\u542c \u7684 \u4e3b\u673a / \u7aef\u53e3 \uff0c \u5e76 \u5e26\u6709 \u4ee5\u4e0b \u6807\u5fd7 \uff1a   - carla - rpc - port   \uff1a \u63a5\u53d7 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u7684   TCP   \u7aef\u53e3 \uff08 \u5bf9\u4e8e \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6765\u8bf4 \u4e0d \u9700\u8981 \uff0c \u4f46 \u7aef\u53e3 \u9700\u8981 \u7a7a\u95f2 \uff09   - carla - primary - host   :   \u8981 \u8fde\u63a5 \u7684 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP   - carla - primary - port   :   \u8981 \u8fde\u63a5 \u7684 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   TCP   \u7aef\u53e3   - ini : [ / Script / Engine . RendererSettings ] : r . GraphicsAdapter   :   \u544a\u8bc9 \u8be5 \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f7f\u7528 \u54ea\u4e2a   GPU   \u8bbe\u5907   \u4f8b\u5982 \uff0c \u5982\u679c \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0e \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5728 \u540c\u4e00 \u53f0 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u6267\u884c \u5e76 \u4f7f\u7528 \u9ed8\u8ba4 \u7aef\u53e3 \uff0c \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \uff1a   . / CarlaUE4 . sh   - carla - rpc - port = 3000   - carla - primary - host = 127.0 . 0.1   - ini : [ / Script / Engine . RendererSettings ] : r . GraphicsAdapter = 0   \u8fd9\u91cc \uff0c \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528 \u7aef\u53e3   3000   \u4f5c\u4e3a   RPC   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u4ee5 \u907f\u514d \u4e0e \u5176\u4ed6 \u7aef\u53e3 \u51b2\u7a81 \uff08 \u4f46 \u6c38\u8fdc \u4e0d\u4f1a \u4f7f\u7528 \u5b83 \uff09 \uff0c \u5e76 \u5c06 \u4ee5 \u9ed8\u8ba4 \u7aef\u53e3 \uff08 2002 \uff09 \u8fde\u63a5 \u5230 \u4f4d\u4e8e   IP   127.0 . 0.1 \uff08 localhost \uff09 \u7684 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff09 \uff0c \u5e76\u4e14 \u8be5 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528   GPU   \u8bbe\u5907   0 \u3002   \u5982\u679c \u6211\u4eec \u60f3 \u4f7f\u7528 \u53e6 \u4e00\u4e2a   GPU   \u5728 \u540c\u4e00 \u53f0 \u673a\u5668 \u4e0a \u542f\u52a8 \u53e6 \u4e00\u4e2a \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \uff1a   . / CarlaUE4 . sh   - carla - rpc - port = 4000   - carla - primary - host = 127.0 . 0.1   - carla - primary - port = 2002   - ini : [ / Script / Engine . RendererSettings ] : r . GraphicsAdapter = 1   \u8be5 \u8f85\u52a9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528 \u7aef\u53e3   4000   \u4f5c\u4e3a   RPC   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u4ee5 \u907f\u514d \u4e0e \u5176\u4ed6 \u7aef\u53e3 \u51b2\u7a81 \uff0c \u5e76 \u5c06 \u901a\u8fc7 \u7aef\u53e3   2002   \u8fde\u63a5 \u5230 \u4f4d\u4e8e   IP   127.0 . 0.1   \u7684 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5e76\u4e14 \u8be5 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u4f7f\u7528   GPU   \u8bbe\u5907   1 \u3002","title":"\u8f85\u52a9 \u670d\u52a1\u5668"},{"location":"adv_multigpu/#_3","text":"\u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u4ece \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fde\u63a5 \u5230 \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \uff0c \u7cfb\u7edf \u81ea\u52a8 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \uff0c \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   1 / 20   \u589e\u91cf \u79d2 \u3002","title":"\u540c\u6b65 \u6a21\u5f0f"},{"location":"adv_opendrive/","text":"OpenDRIVE \u72ec\u7acb \u6a21\u5f0f   \u6b64 \u529f\u80fd \u5141\u8bb8 \u7528\u6237 \u5c06 \u4efb\u4f55   OpenDRIVE   \u6587\u4ef6 \u4f5c\u4e3a   Carla   \u5730\u56fe \u5f00\u7bb1 \u5373\u7528 \u3002 \u4e3a\u6b64 \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5c06 \u81ea\u52a8 \u751f\u6210 \u9053\u8def \u7f51\u683c \u4f9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5bfc\u822a \u3002   \u6982\u8ff0   \u8fd0\u884c \u72ec\u7acb \u5730\u56fe   \u7f51\u683c \u751f\u6210   \u6982\u8ff0   \u6b64 \u6a21\u5f0f \u4ec5 \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u8fd0\u884c \u5b8c\u6574 \u4eff\u771f \uff0c \u65e0\u9700 \u4efb\u4f55 \u989d\u5916 \u7684 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u6216 \u8d44\u4ea7 \u3002 \u4e3a\u6b64 \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u91c7\u7528   OpenDRIVE   \u6587\u4ef6 \u5e76 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5730 \u521b\u5efa \u65f6\u95f4 \u4e09\u7ef4 \u7f51\u683c \u6765 \u8fd0\u884c \u4eff\u771f \u3002   \u751f\u6210 \u7684 \u7f51\u683c \u4ee5 \u7b80\u7ea6 \u7684 \u65b9\u5f0f \u63cf\u8ff0 \u4e86 \u9053\u8def \u5b9a\u4e49 \u3002 \u6240\u6709 \u5143\u7d20 \u90fd \u5c06 \u4e0e   OpenDRIVE   \u6587\u4ef6 \u5bf9\u5e94 \uff0c \u4f46 \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u53ea\u6709   void \u3002 \u4e3a \u9632\u6b62 \u8f66\u8f86 \u6389 \u51fa \u8def\u9762 \uff0c \u91c7\u53d6 \u4e86 \u4e24\u9879 \u63aa\u65bd \u3002   \u5728 \u8f66\u8f86 \u6d41\u52a8 \u6700 \u590d\u6742 \u7684 \u8def\u53e3 \uff0c \u8f66\u9053 \u7a0d\u5bbd \u4e00\u4e9b \u3002   \u5728 \u9053\u8def \u7684 \u8fb9\u754c \u5904 \u521b\u5efa \u4e86 \u53ef\u89c1 \u7684 \u5899\u58c1 \uff0c \u4f5c\u4e3a \u6700\u540e \u7684 \u5b89\u5168 \u63aa\u65bd \u5b89\u5168\u63aa\u65bd \u3002   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3001 \u505c\u8f66 \u6807\u5fd7 \u548c \u8ba9 \u884c \u6807\u5fd7 \u5c06 \u5373\u65f6 \u751f\u6210 \u3002 \u884c\u4eba \u5c06 \u5728 \u5730\u56fe \u4e0a \u663e\u793a \u7684 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u548c \u4eba\u884c \u4eba\u884c\u6a2a\u9053 \u4e0a \u5bfc\u822a \u3002 \u6240\u6709 \u8fd9\u4e9b \u5143\u7d20 \uff0c \u4ee5\u53ca \u9053\u8def \u4e0a \u7684 \u6bcf \u4e00\u4e2a \u7ec6\u8282 \uff0c \u90fd \u57fa\u4e8e   OpenDRIVE   \u6587\u4ef6 \u3002 \u7531\u4e8e \u72ec\u7acb \u6a21\u5f0f \u76f4\u63a5 \u4f7f\u7528   . xodr   \uff0c \u56e0\u6b64 \u5176\u4e2d \u7684 \u4efb\u4f55 \u95ee\u9898 \u90fd \u4f1a \u5f71\u54cd \u5230 \u4eff\u771f \u3002 \u8fd9 \u53ef\u80fd \u662f \u4e00\u4e2a \u95ee\u9898 \uff0c \u5c24\u5176 \u662f \u5728 \u8bb8\u591a \u8f66\u9053 \u6df7\u5408 \u7684 \u8def\u53e3 \u3002   \u91cd\u8981 \u7684   \u4ed4\u7ec6 \u68c0\u67e5 \u4ed4\u7ec6\u68c0\u67e5   OpenDRIVE   \u6587\u4ef6 \u5c24\u4e3a \u4e3a\u91cd \u91cd\u8981 \u5c24\u4e3a\u91cd\u8981 \u3002 \u8fd0\u884c \u4eff\u771f \u65f6 \uff0c \u5176\u4e2d \u7684 \u4efb\u4f55 \u95ee\u9898 \u90fd \u4f1a \u4f20\u64ad \u3002   \u8fd0\u884c \u72ec\u7acb \u5730\u56fe   \u6253\u5f00   OpenDRIVE   \u6587\u4ef6 \u53ea \u9700 \u901a\u8fc7   API   \u8c03\u7528   client . generate _ opendrive _ world ( )   \u3002 \u8fd9 \u5c06 \u751f\u6210 \u65b0 \u5730\u56fe \uff0c \u5e76 \u963b\u6b62 \u4eff\u771f \uff0c \u76f4\u5230 \u5b83 \u51c6\u5907 \u597d \u3002 \u8be5 \u65b9\u6cd5 \u9700\u8981 \u4e24\u4e2a \u53c2\u6570 \u3002   opendrive   \u662f \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7684   OpenDRIVE   \u6587\u4ef6 \u7684 \u5185\u5bb9 \u3002   parameters   \u662f \u4e00\u4e2a   carla . OpendriveGenerationParameters   \u5305\u542b \u7f51\u683c \u751f\u6210 \u7684 \u8bbe\u7f6e \u3002   \u8fd9\u4e2a \u53c2\u6570 \u662f \u53ef\u9009 \u7684   \u3002   vertex _ distance   \uff08 \u9ed8\u8ba4   2.0   \u7c73 \uff09   -   \u7f51\u683c \u9876\u70b9 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002 \u8ddd\u79bb \u8d8a\u5927 \uff0c \u7f51\u683c \u8d8a \u4e0d \u51c6\u786e \u3002 \u4f46\u662f \uff0c \u5982\u679c \u8ddd\u79bb \u592a\u5c0f \uff0c \u751f\u6210 \u7684 \u7f51\u683c \u5c06 \u592a\u91cd \u800c \u65e0\u6cd5 \u4f7f\u7528 \u3002   max _ road _ length   \uff08 \u9ed8\u8ba4   50.0   \u7c73 \uff09   -   \u7f51\u683c \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u7684 \u6700\u5927 \u957f\u5ea6 \u3002 \u7f51\u683c \u88ab \u5206\u6210 \u51e0 \u90e8\u5206 \u4ee5 \u51cf\u5c11 \u6e32\u67d3 \u5f00\u9500 \u3002 \u5982\u679c \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u4e0d \u53ef\u89c1 \uff0c UE   \u5c06 \u4e0d\u4f1a \u6e32\u67d3 \u5b83 \u3002 \u90e8\u5206 \u8d8a\u5c0f \uff0c \u5b83\u4eec \u88ab \u4e22\u5f03 \u7684 \u53ef\u80fd \u53ef\u80fd\u6027 \u5c31 \u8d8a \u5927 \u3002 \u4f46\u662f \uff0c \u5982\u679c \u90e8\u5206 \u592a\u5c0f \uff0c UE   \u9700\u8981 \u7ba1\u7406 \u7684 \u5bf9\u8c61 \u592a \u591a \uff0c \u6027\u80fd \u4e5f \u4f1a \u53d7\u5230 \u5f71\u54cd \u3002   wall _ height   \uff08 \u9ed8\u8ba4 \u4e3a   1.0   \u7c73 \uff09   -   \u5728 \u9053\u8def \u8fb9\u754c \u4e0a \u521b\u5efa \u7684 \u9644\u52a0 \u5899 \u7684 \u9ad8\u5ea6 \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u9632\u6b62 \u8f66\u8f86 \u5760\u5165 \u865a\u7a7a \u3002   additional _ width   \uff08 \u9ed8\u8ba4 \u4e3a   0.6   \u7c73 \uff0c \u6bcf \u8fb9   0.3 \uff09   \u2014   \u5e94\u7528 \u4e8e \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u7684 \u5c0f \u5bbd\u5ea6 \u589e\u91cf \u3002 \u8fd9\u662f \u9632\u6b62 \u8f66\u8f86 \u5760\u843d \u7684 \u5b89\u5168 \u63aa\u65bd \u5b89\u5168\u63aa\u65bd \u3002   smooth _ junctions   ( default   True )   \u2014   \u5982\u679c   True   \uff0c OpenDRIVE   \u7684 \u4e00\u4e9b \u4fe1\u606f \u5c06 \u88ab \u91cd\u65b0 \u89e3\u91ca \u4ee5 \u5e73\u6ed1 \u8fde\u63a5 \u8fde\u63a5\u5904 \u7684 \u6700\u7ec8 \u7f51\u683c \u3002 \u8fd9\u6837 \u505a \u662f \u4e3a\u4e86 \u9632\u6b62 \u5728 \u4e0d\u540c \u8f66\u9053 \u76f8\u9047 \u65f6 \u53ef\u80fd \u53d1\u751f \u7684 \u4e00\u4e9b \u4e0d \u51c6\u786e \u3002 \u5982\u679c \u8bbe\u7f6e \u4e3a   False   \uff0c \u7f51\u683c \u5c06 \u5b8c\u5168 \u6309\u7167   OpenDRIVE   \u4e2d \u7684 \u63cf\u8ff0 \u751f\u6210 \u3002   enable _ mesh _ visibility   ( default   True )   \u2014   \u5982\u679c   False   \uff0c \u7f51\u683c \u5c06 \u4e0d\u4f1a \u88ab \u6e32\u67d3 \uff0c \u8fd9 \u53ef\u4ee5 \u4e3a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8282\u7701 \u5927\u91cf \u6e32\u67d3 \u5de5\u4f5c \u3002   \u4e3a\u4e86 \u8f7b\u677e \u6d4b\u8bd5 \u6b64 \u529f\u80fd \uff0c   PythonAPI / util /   \u4e2d \u7684   config . py   \u811a\u672c \u6709 \u4e00\u4e2a \u65b0 \u53c2\u6570 \uff0c   - x   \u6216   -- xodr - path   \u3002 \u53c2\u6570 \u6b64\u53c2\u6570 \u9700\u8981 \u4e00\u4e2a \u5e26\u6709   . xodr   \u6587\u4ef6 \u8def\u5f84 \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u4f8b\u5982   path / example . xodr   \u3002 \u5982\u679c \u4f7f\u7528 \u6b64 \u811a\u672c \u751f\u6210 \u7f51\u683c \uff0c \u5219 \u4f7f\u7528 \u7684 \u53c2\u6570 \u5c06 \u59cb\u7ec8 \u4e3a \u9ed8\u8ba4 \u53c2\u6570 \u3002   \u6b64 \u529f\u80fd \u53ef\u4ee5 \u4f7f\u7528   Carla   \u63d0\u4f9b \u7684 \u65b0   TownBig   \u8fdb\u884c \u6d4b\u8bd5 \u3002   python3   config . py   - x   opendrive / TownBig . xodr   \u91cd\u8981 \u7684   client . generate _ opendrive _ world ( )   \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u7684 \u5185\u5bb9 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32   \u3002 \u76f8\u53cd \uff0c   config . py   \u811a\u672c \u9700\u8981   . xodr   \u6587\u4ef6 \u7684 \u8def\u5f84   \u3002   \u7b14\u8bb0   \u5982\u679c \u9047\u5230   opendrive   \u65e0\u6cd5 \u6b63\u786e \u89e3\u6790   \u9519\u8bef \uff0c \u8bf7 \u786e\u4fdd \u5bf9   CarlaUE4 / Content / Carla / Maps / OpenDrive /   \u76ee\u5f55 \u6709 \u5199 \u6743\u9650 \u3002 \u8fd9\u662f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6b63\u786e \u89e3\u6790   xodr   \u6587\u4ef6 \u6240 \u5fc5\u9700 \u7684 \u3002   \u7f51\u683c \u751f\u6210   \u7f51\u683c \u7684 \u751f\u6210 \u662f \u8be5 \u6a21\u5f0f \u7684 \u5173\u952e \u8981\u7d20 \u3002 \u53ea\u6709 \u5f53 \u751f\u6210 \u7684 \u7f51\u683c \u662f \u5e73\u6ed1 \u7684 \u5e76\u4e14 \u5b8c\u5168 \u7b26\u5408 \u5b8c\u5168\u7b26\u5408 \u5176 \u5b9a\u4e49 \u65f6 \uff0c \u8be5 \u529f\u80fd \u624d\u80fd \u6210\u529f \u3002 \u51fa\u4e8e \u8fd9\u4e2a \u539f\u56e0 \uff0c \u8fd9 \u4e00\u6b65 \u6b63\u5728 \u4e0d\u65ad \u6539\u8fdb \u4e0d\u65ad\u6539\u8fdb \u3002 \u5728 \u6700\u540e \u7684 \u8fed\u4ee3 \u4e2d \uff0c \u8fde\u63a5 \u63a5\u70b9 \u8fde\u63a5\u70b9 \u5df2\u7ecf \u8fc7 \u629b\u5149 \u4ee5 \u907f\u514d \u4e0d \u51c6\u786e   \u53d1\u751f \uff0c \u5c24\u5176 \u662f \u5728 \u4e0d \u5e73\u5766 \u7684 \u8f66\u9053 \u8fde\u63a5 \u8fde\u63a5\u5904 \u3002   \u5728 \u751f\u6210 \u4ea4\u6c47 \u4ea4\u6c47\u70b9 \u7f51\u683c \u65f6 \uff0c \u8f83 \u9ad8 \u7684 \u8f66\u9053 \u5f80\u5f80 \u4f1a \u963b\u6321 \u4e0b\u65b9 \u7684 \u8f66\u9053 \u3002   smooth _ junctions   \u53c2\u6570 \u53ef \u9632\u6b62 \u6b64\u7c7b \u95ee\u9898 \u3002   \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u4e0d\u662f \u5c06 \u6574\u4e2a \u5730\u56fe \u521b\u5efa \u4e3a \u4e00\u4e2a \u72ec\u7279 \u7684 \u7f51\u683c \uff0c \u800c\u662f \u521b\u5efa \u4e0d\u540c \u7684 \u90e8\u5206 \u3002 \u901a\u8fc7 \u5212\u5206 \u7f51\u683c \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u53ef\u4ee5 \u907f\u514d \u6e32\u67d3 \u4e0d \u53ef\u89c1 \u7684 \u90e8\u5206 \uff0c \u5e76 \u8282\u7701 \u6210\u672c \u8282\u7701\u6210\u672c \u3002 \u5de5\u4f5c \u66f4 \u5c0f \u8fd8 \u5141\u8bb8 \u751f\u6210 \u5de8\u5927 \u7684 \u5730\u56fe \u5e76 \u5305\u542b \u53ef\u80fd \u51fa\u73b0 \u5728 \u7f51\u683c \u7684 \u4e00\u5c0f \u5c0f\u90e8 \u90e8\u5206 \u4e00\u5c0f\u90e8\u5206 \u4e0a \u7684 \u95ee\u9898 \u3002   \u5173\u4e8e \u7f51\u683c \u751f\u6210 \u7684 \u5f53\u524d \u72b6\u6001 \uff0c \u5e94 \u8003\u8651 \u4e00\u4e9b \u56e0\u7d20 \u3002   \u7ed3 \u5e73\u6ed1   \u3002 \u9ed8\u8ba4 \u5e73\u6ed1 \u53ef \u9632\u6b62 \u4e0a\u8ff0 \u503e\u659c \u8fde\u63a5 \u8fde\u63a5\u5904 \u7684 \u95ee\u9898 \u3002 \u4f46\u662f \uff0c \u5b83\u4f1a \u5728 \u6b64 \u8fc7\u7a0b \u4e2d \u4fee\u6539 \u539f\u59cb \u7f51\u683c \u3002 \u5982\u679c \u613f\u610f \uff0c \u5c06   smooth _ junctions   \u8bbe\u7f6e \u4e3a   False   \u4ee5 \u7981\u7528 \u5e73\u6ed1 \u3002   \u6a2a\u5411 \u5761\u5ea6   \u3002 \u6b64 \u529f\u80fd \u5f53\u524d \u672a \u96c6\u6210 \u5728   Carla   \u4e2d \u3002   \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u9ad8\u5ea6   \u3002 \u76ee\u524d \uff0c \u6240\u6709 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u7684 \u786c \u7f16\u7801 \u90fd \u662f \u76f8\u540c \u7684 \u3002 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u5fc5\u987b \u9ad8\u4e8e \u9053\u8def \u6807\u9ad8 \u624d\u80fd \u68c0\u6d4b \u5230 \u78b0\u649e \uff0c \u4f46   RoadRunner   \u4e0d\u4f1a \u5c06 \u6b64\u503c \u5bfc\u51fa \u5230   OpenDRIVE   \u6587\u4ef6 \u3002 \u9ad8\u5ea6 \u662f \u786c \u7f16\u7801 \u7684 \uff0c \u4ee5 \u4fdd\u8bc1 \u78b0\u649e \u3002   \u8fd9 \u6db5\u76d6 \u4e86 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \u5173\u4e8e   OpenDRIVE   \u72ec\u7acb \u6a21\u5f0f \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u6293\u4f4f \u673a\u4f1a \u6293\u4f4f\u673a\u4f1a \u5e76 \u4f7f\u7528 \u4efb\u4f55   OpenDRIVE   \u5730\u56fe \u5728   Carla   \u4e2d \u8fdb\u884c \u6d4b\u8bd5 \u3002   \u8bba\u575b \u4e2d \u7684 \u7591\u95ee \u548c \u5efa\u8bae \u3002   Carla   \u8bba\u575b","title":"OpenDRIVE \u72ec\u7acb \u6a21\u5f0f"},{"location":"adv_opendrive/#opendrive","text":"\u6b64 \u529f\u80fd \u5141\u8bb8 \u7528\u6237 \u5c06 \u4efb\u4f55   OpenDRIVE   \u6587\u4ef6 \u4f5c\u4e3a   Carla   \u5730\u56fe \u5f00\u7bb1 \u5373\u7528 \u3002 \u4e3a\u6b64 \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5c06 \u81ea\u52a8 \u751f\u6210 \u9053\u8def \u7f51\u683c \u4f9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5bfc\u822a \u3002   \u6982\u8ff0   \u8fd0\u884c \u72ec\u7acb \u5730\u56fe   \u7f51\u683c \u751f\u6210","title":"OpenDRIVE \u72ec\u7acb \u6a21\u5f0f"},{"location":"adv_opendrive/#_1","text":"\u6b64 \u6a21\u5f0f \u4ec5 \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u8fd0\u884c \u5b8c\u6574 \u4eff\u771f \uff0c \u65e0\u9700 \u4efb\u4f55 \u989d\u5916 \u7684 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u6216 \u8d44\u4ea7 \u3002 \u4e3a\u6b64 \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u91c7\u7528   OpenDRIVE   \u6587\u4ef6 \u5e76 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5730 \u521b\u5efa \u65f6\u95f4 \u4e09\u7ef4 \u7f51\u683c \u6765 \u8fd0\u884c \u4eff\u771f \u3002   \u751f\u6210 \u7684 \u7f51\u683c \u4ee5 \u7b80\u7ea6 \u7684 \u65b9\u5f0f \u63cf\u8ff0 \u4e86 \u9053\u8def \u5b9a\u4e49 \u3002 \u6240\u6709 \u5143\u7d20 \u90fd \u5c06 \u4e0e   OpenDRIVE   \u6587\u4ef6 \u5bf9\u5e94 \uff0c \u4f46 \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u53ea\u6709   void \u3002 \u4e3a \u9632\u6b62 \u8f66\u8f86 \u6389 \u51fa \u8def\u9762 \uff0c \u91c7\u53d6 \u4e86 \u4e24\u9879 \u63aa\u65bd \u3002   \u5728 \u8f66\u8f86 \u6d41\u52a8 \u6700 \u590d\u6742 \u7684 \u8def\u53e3 \uff0c \u8f66\u9053 \u7a0d\u5bbd \u4e00\u4e9b \u3002   \u5728 \u9053\u8def \u7684 \u8fb9\u754c \u5904 \u521b\u5efa \u4e86 \u53ef\u89c1 \u7684 \u5899\u58c1 \uff0c \u4f5c\u4e3a \u6700\u540e \u7684 \u5b89\u5168 \u63aa\u65bd \u5b89\u5168\u63aa\u65bd \u3002   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3001 \u505c\u8f66 \u6807\u5fd7 \u548c \u8ba9 \u884c \u6807\u5fd7 \u5c06 \u5373\u65f6 \u751f\u6210 \u3002 \u884c\u4eba \u5c06 \u5728 \u5730\u56fe \u4e0a \u663e\u793a \u7684 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u548c \u4eba\u884c \u4eba\u884c\u6a2a\u9053 \u4e0a \u5bfc\u822a \u3002 \u6240\u6709 \u8fd9\u4e9b \u5143\u7d20 \uff0c \u4ee5\u53ca \u9053\u8def \u4e0a \u7684 \u6bcf \u4e00\u4e2a \u7ec6\u8282 \uff0c \u90fd \u57fa\u4e8e   OpenDRIVE   \u6587\u4ef6 \u3002 \u7531\u4e8e \u72ec\u7acb \u6a21\u5f0f \u76f4\u63a5 \u4f7f\u7528   . xodr   \uff0c \u56e0\u6b64 \u5176\u4e2d \u7684 \u4efb\u4f55 \u95ee\u9898 \u90fd \u4f1a \u5f71\u54cd \u5230 \u4eff\u771f \u3002 \u8fd9 \u53ef\u80fd \u662f \u4e00\u4e2a \u95ee\u9898 \uff0c \u5c24\u5176 \u662f \u5728 \u8bb8\u591a \u8f66\u9053 \u6df7\u5408 \u7684 \u8def\u53e3 \u3002   \u91cd\u8981 \u7684   \u4ed4\u7ec6 \u68c0\u67e5 \u4ed4\u7ec6\u68c0\u67e5   OpenDRIVE   \u6587\u4ef6 \u5c24\u4e3a \u4e3a\u91cd \u91cd\u8981 \u5c24\u4e3a\u91cd\u8981 \u3002 \u8fd0\u884c \u4eff\u771f \u65f6 \uff0c \u5176\u4e2d \u7684 \u4efb\u4f55 \u95ee\u9898 \u90fd \u4f1a \u4f20\u64ad \u3002","title":"\u6982\u8ff0  "},{"location":"adv_opendrive/#_2","text":"\u6253\u5f00   OpenDRIVE   \u6587\u4ef6 \u53ea \u9700 \u901a\u8fc7   API   \u8c03\u7528   client . generate _ opendrive _ world ( )   \u3002 \u8fd9 \u5c06 \u751f\u6210 \u65b0 \u5730\u56fe \uff0c \u5e76 \u963b\u6b62 \u4eff\u771f \uff0c \u76f4\u5230 \u5b83 \u51c6\u5907 \u597d \u3002 \u8be5 \u65b9\u6cd5 \u9700\u8981 \u4e24\u4e2a \u53c2\u6570 \u3002   opendrive   \u662f \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7684   OpenDRIVE   \u6587\u4ef6 \u7684 \u5185\u5bb9 \u3002   parameters   \u662f \u4e00\u4e2a   carla . OpendriveGenerationParameters   \u5305\u542b \u7f51\u683c \u751f\u6210 \u7684 \u8bbe\u7f6e \u3002   \u8fd9\u4e2a \u53c2\u6570 \u662f \u53ef\u9009 \u7684   \u3002   vertex _ distance   \uff08 \u9ed8\u8ba4   2.0   \u7c73 \uff09   -   \u7f51\u683c \u9876\u70b9 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002 \u8ddd\u79bb \u8d8a\u5927 \uff0c \u7f51\u683c \u8d8a \u4e0d \u51c6\u786e \u3002 \u4f46\u662f \uff0c \u5982\u679c \u8ddd\u79bb \u592a\u5c0f \uff0c \u751f\u6210 \u7684 \u7f51\u683c \u5c06 \u592a\u91cd \u800c \u65e0\u6cd5 \u4f7f\u7528 \u3002   max _ road _ length   \uff08 \u9ed8\u8ba4   50.0   \u7c73 \uff09   -   \u7f51\u683c \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u7684 \u6700\u5927 \u957f\u5ea6 \u3002 \u7f51\u683c \u88ab \u5206\u6210 \u51e0 \u90e8\u5206 \u4ee5 \u51cf\u5c11 \u6e32\u67d3 \u5f00\u9500 \u3002 \u5982\u679c \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u4e0d \u53ef\u89c1 \uff0c UE   \u5c06 \u4e0d\u4f1a \u6e32\u67d3 \u5b83 \u3002 \u90e8\u5206 \u8d8a\u5c0f \uff0c \u5b83\u4eec \u88ab \u4e22\u5f03 \u7684 \u53ef\u80fd \u53ef\u80fd\u6027 \u5c31 \u8d8a \u5927 \u3002 \u4f46\u662f \uff0c \u5982\u679c \u90e8\u5206 \u592a\u5c0f \uff0c UE   \u9700\u8981 \u7ba1\u7406 \u7684 \u5bf9\u8c61 \u592a \u591a \uff0c \u6027\u80fd \u4e5f \u4f1a \u53d7\u5230 \u5f71\u54cd \u3002   wall _ height   \uff08 \u9ed8\u8ba4 \u4e3a   1.0   \u7c73 \uff09   -   \u5728 \u9053\u8def \u8fb9\u754c \u4e0a \u521b\u5efa \u7684 \u9644\u52a0 \u5899 \u7684 \u9ad8\u5ea6 \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u9632\u6b62 \u8f66\u8f86 \u5760\u5165 \u865a\u7a7a \u3002   additional _ width   \uff08 \u9ed8\u8ba4 \u4e3a   0.6   \u7c73 \uff0c \u6bcf \u8fb9   0.3 \uff09   \u2014   \u5e94\u7528 \u4e8e \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u7684 \u5c0f \u5bbd\u5ea6 \u589e\u91cf \u3002 \u8fd9\u662f \u9632\u6b62 \u8f66\u8f86 \u5760\u843d \u7684 \u5b89\u5168 \u63aa\u65bd \u5b89\u5168\u63aa\u65bd \u3002   smooth _ junctions   ( default   True )   \u2014   \u5982\u679c   True   \uff0c OpenDRIVE   \u7684 \u4e00\u4e9b \u4fe1\u606f \u5c06 \u88ab \u91cd\u65b0 \u89e3\u91ca \u4ee5 \u5e73\u6ed1 \u8fde\u63a5 \u8fde\u63a5\u5904 \u7684 \u6700\u7ec8 \u7f51\u683c \u3002 \u8fd9\u6837 \u505a \u662f \u4e3a\u4e86 \u9632\u6b62 \u5728 \u4e0d\u540c \u8f66\u9053 \u76f8\u9047 \u65f6 \u53ef\u80fd \u53d1\u751f \u7684 \u4e00\u4e9b \u4e0d \u51c6\u786e \u3002 \u5982\u679c \u8bbe\u7f6e \u4e3a   False   \uff0c \u7f51\u683c \u5c06 \u5b8c\u5168 \u6309\u7167   OpenDRIVE   \u4e2d \u7684 \u63cf\u8ff0 \u751f\u6210 \u3002   enable _ mesh _ visibility   ( default   True )   \u2014   \u5982\u679c   False   \uff0c \u7f51\u683c \u5c06 \u4e0d\u4f1a \u88ab \u6e32\u67d3 \uff0c \u8fd9 \u53ef\u4ee5 \u4e3a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8282\u7701 \u5927\u91cf \u6e32\u67d3 \u5de5\u4f5c \u3002   \u4e3a\u4e86 \u8f7b\u677e \u6d4b\u8bd5 \u6b64 \u529f\u80fd \uff0c   PythonAPI / util /   \u4e2d \u7684   config . py   \u811a\u672c \u6709 \u4e00\u4e2a \u65b0 \u53c2\u6570 \uff0c   - x   \u6216   -- xodr - path   \u3002 \u53c2\u6570 \u6b64\u53c2\u6570 \u9700\u8981 \u4e00\u4e2a \u5e26\u6709   . xodr   \u6587\u4ef6 \u8def\u5f84 \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u4f8b\u5982   path / example . xodr   \u3002 \u5982\u679c \u4f7f\u7528 \u6b64 \u811a\u672c \u751f\u6210 \u7f51\u683c \uff0c \u5219 \u4f7f\u7528 \u7684 \u53c2\u6570 \u5c06 \u59cb\u7ec8 \u4e3a \u9ed8\u8ba4 \u53c2\u6570 \u3002   \u6b64 \u529f\u80fd \u53ef\u4ee5 \u4f7f\u7528   Carla   \u63d0\u4f9b \u7684 \u65b0   TownBig   \u8fdb\u884c \u6d4b\u8bd5 \u3002   python3   config . py   - x   opendrive / TownBig . xodr   \u91cd\u8981 \u7684   client . generate _ opendrive _ world ( )   \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u7684 \u5185\u5bb9 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32   \u3002 \u76f8\u53cd \uff0c   config . py   \u811a\u672c \u9700\u8981   . xodr   \u6587\u4ef6 \u7684 \u8def\u5f84   \u3002   \u7b14\u8bb0   \u5982\u679c \u9047\u5230   opendrive   \u65e0\u6cd5 \u6b63\u786e \u89e3\u6790   \u9519\u8bef \uff0c \u8bf7 \u786e\u4fdd \u5bf9   CarlaUE4 / Content / Carla / Maps / OpenDrive /   \u76ee\u5f55 \u6709 \u5199 \u6743\u9650 \u3002 \u8fd9\u662f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6b63\u786e \u89e3\u6790   xodr   \u6587\u4ef6 \u6240 \u5fc5\u9700 \u7684 \u3002","title":"\u8fd0\u884c \u72ec\u7acb \u5730\u56fe  "},{"location":"adv_opendrive/#_3","text":"\u7f51\u683c \u7684 \u751f\u6210 \u662f \u8be5 \u6a21\u5f0f \u7684 \u5173\u952e \u8981\u7d20 \u3002 \u53ea\u6709 \u5f53 \u751f\u6210 \u7684 \u7f51\u683c \u662f \u5e73\u6ed1 \u7684 \u5e76\u4e14 \u5b8c\u5168 \u7b26\u5408 \u5b8c\u5168\u7b26\u5408 \u5176 \u5b9a\u4e49 \u65f6 \uff0c \u8be5 \u529f\u80fd \u624d\u80fd \u6210\u529f \u3002 \u51fa\u4e8e \u8fd9\u4e2a \u539f\u56e0 \uff0c \u8fd9 \u4e00\u6b65 \u6b63\u5728 \u4e0d\u65ad \u6539\u8fdb \u4e0d\u65ad\u6539\u8fdb \u3002 \u5728 \u6700\u540e \u7684 \u8fed\u4ee3 \u4e2d \uff0c \u8fde\u63a5 \u63a5\u70b9 \u8fde\u63a5\u70b9 \u5df2\u7ecf \u8fc7 \u629b\u5149 \u4ee5 \u907f\u514d \u4e0d \u51c6\u786e   \u53d1\u751f \uff0c \u5c24\u5176 \u662f \u5728 \u4e0d \u5e73\u5766 \u7684 \u8f66\u9053 \u8fde\u63a5 \u8fde\u63a5\u5904 \u3002   \u5728 \u751f\u6210 \u4ea4\u6c47 \u4ea4\u6c47\u70b9 \u7f51\u683c \u65f6 \uff0c \u8f83 \u9ad8 \u7684 \u8f66\u9053 \u5f80\u5f80 \u4f1a \u963b\u6321 \u4e0b\u65b9 \u7684 \u8f66\u9053 \u3002   smooth _ junctions   \u53c2\u6570 \u53ef \u9632\u6b62 \u6b64\u7c7b \u95ee\u9898 \u3002   \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u4e0d\u662f \u5c06 \u6574\u4e2a \u5730\u56fe \u521b\u5efa \u4e3a \u4e00\u4e2a \u72ec\u7279 \u7684 \u7f51\u683c \uff0c \u800c\u662f \u521b\u5efa \u4e0d\u540c \u7684 \u90e8\u5206 \u3002 \u901a\u8fc7 \u5212\u5206 \u7f51\u683c \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u53ef\u4ee5 \u907f\u514d \u6e32\u67d3 \u4e0d \u53ef\u89c1 \u7684 \u90e8\u5206 \uff0c \u5e76 \u8282\u7701 \u6210\u672c \u8282\u7701\u6210\u672c \u3002 \u5de5\u4f5c \u66f4 \u5c0f \u8fd8 \u5141\u8bb8 \u751f\u6210 \u5de8\u5927 \u7684 \u5730\u56fe \u5e76 \u5305\u542b \u53ef\u80fd \u51fa\u73b0 \u5728 \u7f51\u683c \u7684 \u4e00\u5c0f \u5c0f\u90e8 \u90e8\u5206 \u4e00\u5c0f\u90e8\u5206 \u4e0a \u7684 \u95ee\u9898 \u3002   \u5173\u4e8e \u7f51\u683c \u751f\u6210 \u7684 \u5f53\u524d \u72b6\u6001 \uff0c \u5e94 \u8003\u8651 \u4e00\u4e9b \u56e0\u7d20 \u3002   \u7ed3 \u5e73\u6ed1   \u3002 \u9ed8\u8ba4 \u5e73\u6ed1 \u53ef \u9632\u6b62 \u4e0a\u8ff0 \u503e\u659c \u8fde\u63a5 \u8fde\u63a5\u5904 \u7684 \u95ee\u9898 \u3002 \u4f46\u662f \uff0c \u5b83\u4f1a \u5728 \u6b64 \u8fc7\u7a0b \u4e2d \u4fee\u6539 \u539f\u59cb \u7f51\u683c \u3002 \u5982\u679c \u613f\u610f \uff0c \u5c06   smooth _ junctions   \u8bbe\u7f6e \u4e3a   False   \u4ee5 \u7981\u7528 \u5e73\u6ed1 \u3002   \u6a2a\u5411 \u5761\u5ea6   \u3002 \u6b64 \u529f\u80fd \u5f53\u524d \u672a \u96c6\u6210 \u5728   Carla   \u4e2d \u3002   \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u9ad8\u5ea6   \u3002 \u76ee\u524d \uff0c \u6240\u6709 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u7684 \u786c \u7f16\u7801 \u90fd \u662f \u76f8\u540c \u7684 \u3002 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u5fc5\u987b \u9ad8\u4e8e \u9053\u8def \u6807\u9ad8 \u624d\u80fd \u68c0\u6d4b \u5230 \u78b0\u649e \uff0c \u4f46   RoadRunner   \u4e0d\u4f1a \u5c06 \u6b64\u503c \u5bfc\u51fa \u5230   OpenDRIVE   \u6587\u4ef6 \u3002 \u9ad8\u5ea6 \u662f \u786c \u7f16\u7801 \u7684 \uff0c \u4ee5 \u4fdd\u8bc1 \u78b0\u649e \u3002   \u8fd9 \u6db5\u76d6 \u4e86 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \u5173\u4e8e   OpenDRIVE   \u72ec\u7acb \u6a21\u5f0f \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u6293\u4f4f \u673a\u4f1a \u6293\u4f4f\u673a\u4f1a \u5e76 \u4f7f\u7528 \u4efb\u4f55   OpenDRIVE   \u5730\u56fe \u5728   Carla   \u4e2d \u8fdb\u884c \u6d4b\u8bd5 \u3002   \u8bba\u575b \u4e2d \u7684 \u7591\u95ee \u548c \u5efa\u8bae \u3002   Carla   \u8bba\u575b","title":"\u7f51\u683c \u751f\u6210  "},{"location":"adv_procedural_building_tool/","text":"\u7b14\u8bb0   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177   \u76ee\u524d \u662f \u4e00\u4e2a   \u5b9e\u9a8c \u529f\u80fd \u6027\u529f\u80fd   \uff0c \u9636\u6bb5 \u73b0\u9636\u6bb5 \u5c1a\u672a \u8003\u8651   \u6295\u5165 \u751f\u4ea7   \u3002 \u56e0\u6b64 \u5b83 \u53ea\u80fd \u7528\u4e8e \u5b9e\u9a8c \u7814\u7a76 \u9879\u76ee \u3002   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177   \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u751f\u6210 \u865a\u62df \u4e09\u7ef4 \u5efa\u7b51 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u7b80\u5355 \u7684 \u754c\u9762 \u5bf9 \u5176 \u5c3a\u5bf8 \u548c \u88c5\u9970 \u98ce\u683c \u8fdb\u884c \u8c03\u5236 \uff0c \u4ee5 \u521b\u5efa \u8fd1\u4e4e \u65e0\u9650 \u7684 \u53d8\u5316 \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u754c\u9762 \u9009\u62e9 \u697c\u5c42 \u7684 \u5360\u5730 \u5730\u9762 \u9762\u79ef \u5360\u5730\u9762\u79ef \u5c3a\u5bf8 \u548c \u9ad8\u5ea6 \u3002 \u7136\u540e \u7528\u6237 \u53ef\u4ee5 \u4e3a \u5efa\u7b51 \u5927\u5802 \u3001 \u4e3b\u4f53 \u4ee5\u53ca \u9876\u5c42 \u6216 \u9601\u697c \u9009\u62e9 \u591a\u79cd \u98ce\u683c \u3002 \u53ef\u4ee5 \u4ece   Carla   \u8d44\u6e90 \u8d44\u6e90\u5e93 \u4e2d\u4e3a \u89d2\u7a97 \u548c \u9633\u53f0 \u7b49 \u529f\u80fd \u9009\u62e9 \u5404\u79cd \u9762\u677f \u5143\u7d20 \u6837\u5f0f \u3002   \u6253\u5f00 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177   \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570   \u7f51\u683c \u53c2\u6570   \u7f51\u683c \u5143\u7d20   \u5957 \u63a5\u5b57   \u5916\u5899 \u6750\u6599   \u70d8\u7119   \u6253\u5f00 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177   \u9996\u5148 \uff0c \u60a8 \u9700\u8981 \u5411 \u573a\u666f \u6dfb\u52a0 \u7a0b\u5e8f \u6dfb\u52a0\u7a0b\u5e8f \u5efa\u7b51 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5bfc\u822a \u5230   Content > Carla > Blueprints > LevelDesign   \u5e76 \u62d6\u52a8 \u84dd\u56fe   BP _ ProceduralBuilding   \u5230 \u5730\u56fe \u4e2d \u3002 \u5c06 \u8d44\u4ea7 \u79fb\u52a8 \u5230 \u60a8 \u5e0c\u671b \u53ef\u89c6 \u53ef\u89c6\u5316 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u4f4d\u7f6e \u3002 \u9009\u62e9 \u4e00\u4e2a \u6709 \u7a7a\u95f4 \u7684 \u5730\u65b9 \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u6e05\u695a \u5730 \u770b\u5230 \u7ed3\u679c \u3002 \u7136\u540e \uff0c \u8981 \u6253\u5f00 \u8be5 \u5de5\u5177 \uff0c \u8bf7 \u53f3\u952e \u5355\u51fb   WD _ ProceduralBuilding \uff08 \u7f16\u8f91 \u7f16\u8f91\u5668 \u5de5\u5177 \u63a7\u4ef6 \uff09   \u5e76 \u4ece \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   \u8fd0\u884c \u7f16\u8f91 \u7f16\u8f91\u5668 \u5de5\u5177 \u63a7\u4ef6   ( Run   editor   utility   widget ) \u6765 \u542f\u52a8 \u7a0b\u5e8f \u6784\u5efa \u5de5\u5177 \u3002 \u8fd9 \u5c06 \u6253\u5f00 \u8be5 \u5de5\u5177 \u7684 \u754c\u9762 \u3002   \u6ce8\u610f   \u60a8 \u5fc5\u987b \u5728 \u6253\u5f00 \u5de5\u5177 \u4e4b\u524d \u5b8c\u6210 \u6b64 \u6b65\u9aa4 \uff0c \u5730\u56fe \u4e2d \u5fc5\u987b \u5b58\u5728   BP _ ProceduralBuilding   \u84dd\u56fe \u7684 \u5b9e\u4f8b \uff0c \u5de5\u5177 \u624d\u80fd \u8fd0\u884c \u3002 \u60a8 \u8fd8 \u5fc5\u987b \u786e\u4fdd \u5728 \u7ee7\u7eed \u4e4b\u524d \u5728 \u4e16\u754c \u5927\u7eb2 \u89c6\u56fe \uff08   World   outliner   \uff09 \u4e2d \u9009\u62e9   BP _ ProceduralBuilding   \u5b9e\u4f53 \u3002   \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570   \u5728 \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570 \u90e8\u5206 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u9009\u62e9 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u57fa\u672c \u5c5e\u6027 \uff0c \u4f8b\u5982 \u5360\u5730 \u5730\u9762 \u9762\u79ef \u5360\u5730\u9762\u79ef \u548c \u697c\u5c42 \u9ad8\u5ea6 \u3002   \u7b14\u8bb0   \u5728 \u7f51\u683c \u53c2\u6570 \u90e8\u5206 \uff08   mesh   parameters   \uff09 \u9009\u62e9 \u7f51\u683c \u7247\u6bb5 \u4e4b\u524d \uff0c \u8c03\u6574 \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570 \u65f6 \uff0c \u60a8 \u4e0d\u4f1a \u5728 \u865a\u5e7b \u5f15\u64ce \u89c6 \u53e3\u4e2d \u770b\u5230 \u4efb\u4f55 \u53d8\u5316 \u3002   \u53ef\u7528 \u53c2\u6570 \u5982\u4e0b \uff1a   Seed   :   \u8bbe\u7f6e \u7a0b\u5e8f \u751f\u6210 \u7684 \u968f\u673a \u79cd\u5b50 \uff0c \u8fd9 \u53ef\u4ee5 \u4f7f \u5efa\u7b51 \u5efa\u7b51\u7269 \u5177\u6709 \u76f8\u540c \u8bbe\u7f6e \u7684 \u53d8\u5316 \u3002   Num   floors   :   \u8bbe\u7f6e \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u5c42\u6570 \u6216 \u697c\u5c42 \u6570 \uff0c \u5e76 \u4ece\u6b64 \u5b9a\u4e49 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u9ad8\u5ea6 \u3002   Length   X / Y   :   \u5b9a\u4e49 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5728   X   \u548c   Y   \u7ef4\u5ea6 \u4e0a \u7684 \u5360\u5730 \u5730\u9762 \u9762\u79ef \u5360\u5730\u9762\u79ef \u5927\u5c0f \u3002 \u8fd9\u4e9b \u662f \u65e0 \u5355\u4f4d \u7684 \uff0c \u6570\u5b57 \u8868\u793a \u91cd\u590d \u590d\u90e8 \u90e8\u5206 \u91cd\u590d\u90e8\u5206 \u7684 \u6570\u91cf \uff0c \u6bcf\u4e2a \u90e8\u5206 \u662f \u4e00\u5217 \u7a97\u53e3 \u3002   Create   automatically   :   \u5982\u679c \u9009\u62e9 \u6b64 \u9009\u9879 \uff0c \u5efa\u7b51 \u5efa\u7b51\u7269 \u5c06 \u5728 \u89c6 \u53e3\u4e2d \u81ea\u52a8 \u66f4\u65b0 \u81ea\u52a8\u66f4\u65b0 \uff0c \u4ee5\u4fbf \u60a8 \u53ef\u4ee5 \u770b\u5230 \u8c03\u6574 \u7684 \u6548\u679c \u3002   Corners   :   \u5141\u8bb8 \u5c06 \u89d2\u4ef6 \u6dfb\u52a0 \u5230 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u5728   Mesh   parameters   \u90e8\u5206 \u4e2d \u9009\u62e9 \u8fd9\u4e9b \u4ef6 \u3002   Walls   :   \u5c06 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5de6 / \u53f3 / \u524d / \u540e \u7684 \u4e2d\u95f4 \u90e8\u5206 \u66ff\u6362 \u4e3a \u53ef \u4f7f\u7528 \u7f51\u683c \u53c2\u6570 \uff08   Mesh   parameters   \uff09 \u83dc\u5355 \u9009\u62e9 \u7684 \u66ff\u4ee3 \u90e8\u5206 \u3002   Doors   :   \u5141\u8bb8 \u5728 \u5927\u5385 \u66fe \u653e\u7f6e \u95e8 \u7684 \u9635\u5217 \u3002 \u95e8 \u653e\u7f6e \u5728 \u9009\u5b9a \u7684 \u7d22\u5f15 \u4f4d\u7f6e \u3002   \u7f51\u683c \u53c2\u6570   \u5728 \u754c\u9762 \u7684 \u201c \u7f51\u683c \u53c2\u6570 ( Mesh   Parameters ) \u201d \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u6211\u4eec \u9009\u62e9 \u5c06 \u7528\u4e8e \u8986\u76d6 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5916\u90e8 \u7684 \u7f51\u683c \u4ef6 \u3002 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e0d\u540c \u90e8\u5206 \u7684 \u7f51\u7247 \u5206\u4e3a   5   \u7c7b \uff1a   Lobby   :   \u7528\u4e8e \u88c5\u9970 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5927\u5802 \u7684 \u7f51\u7247 \u3002   Midsection   :   \u7528\u4e8e \u88c5\u9970 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e2d\u6bb5 \u3001 \u5927\u5802 \u548c \u9876\u5c42 \u4e4b\u95f4 \u7684 \u6bcf \u4e00\u5c42 \u7684 \u7f51\u72b6 \u90e8\u4ef6 \u3002   Penthouse   :   \u7528\u4e8e \u88c5\u9970 \u9876\u5c42 \u516c\u5bd3 \u5c42 \u7684 \u7f51\u683c \u4ef6 \u3002   Doors   :   \u4e3a \u5927\u5385 \u6dfb\u52a0 \u95e8 \u7684 \u7f51\u72b6 \u90e8\u4ef6   Walls   :   \u7528\u4e8e \u88c5\u9970 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5899\u58c1 \u7684 \u7f51\u7247   \u5728 \u6bcf\u4e2a \u7c7b\u522b \u4e2d \uff0c \u60a8 \u90fd \u4f1a \u53d1\u73b0 \u8bb8\u591a \u7f51\u7247 \u9009\u9879 \u3002 \u5355\u51fb \u4e00\u4e2a \u6216 \u591a\u4e2a \u4f7f \u5176 \u53d8\u4e3a \u7ea2\u8272 \uff0c \u8fd9\u4e9b \u5c06 \u88ab \u6dfb\u52a0 \u5230 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u76f8\u5e94 \u90e8\u5206 \u3002 \u5982\u679c \u60a8 \u9009\u62e9 \u591a\u4e2a \u9009\u9879 \uff0c \u8be5 \u5de5\u5177 \u5c06 \u5728 \u9009\u9879 \u4e4b\u95f4 \u968f\u673a \u4ea4\u66ff \u3002 \u5f53 \u60a8 \u4e3a \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u6bcf\u4e2a \u90e8\u5206 \u9009\u62e9 \u7f51\u683c \u7247\u6bb5 \u65f6 \uff0c \u5982\u679c \u60a8 \u5728 \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570 \u90e8\u5206 \u4e2d \u9009\u62e9 \u4e86 \u81ea\u52a8 \u521b\u5efa \uff08   Create   automatically   \uff09 \uff0c \u60a8 \u5c06 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u89c6 \u53e3\u4e2d \u770b\u5230 \u5efa\u7b51 \u5efa\u7b51\u7269 \u6b63\u5728 \u6210\u5f62 \u3002   \u7f51\u683c \u5143\u7d20   \u5728 \u6b64 \u90e8\u5206 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u9009\u62e9 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u66f4 \u8be6\u7ec6 \u5143\u7d20 \uff0c \u4f8b\u5982 \u7a97\u6237 \u3001 \u67f1\u5b50 \u3001 \u82b1\u76c6 \u3001 \u7a7a\u8c03 \u88c5\u7f6e \u548c \u5929\u7ebf \u3002 \u6bcf\u79cd \u7c7b\u578b \u7684 \u88c5\u9970 \u90fd \u6709 \u7565\u5fae \u4e0d\u540c \u7684 \u5c5e\u6027 \u3002   \u5efa\u7b51 \u5efa\u7b51\u7269 \u7ec6\u8282 \u7684 \u88c5\u9970 \u6709 \u591a\u79cd \u79cd\u7c7b \u7c7b\u578b \u591a\u79cd\u7c7b\u578b \uff1a   \u5782\u76f4 / \u6c34\u5e73 \u7a97\u6237 \u7f51\u683c   :   \u8fd9\u4e9b \u7f51\u683c \u7247 \u5b9a\u4e49 \u4e86 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e2d \u7a97\u6846 \u7684 \u6837\u5f0f \u3002 \u5782\u76f4 \u7a97\u6237 \u7f51\u683c \u5c06 \u5360\u636e \u6bd4\u5176 \u5bbd\u5ea6 \u9ad8 \u7684 \u7a97\u6237 \u7a7a\u95f4 \uff0c \u800c \u6c34\u5e73 \u7a97\u6237 \u7f51\u683c \u5c06 \u5360\u636e \u6bd4\u5176 \u9ad8\u5ea6 \u66f4 \u5bbd \u7684 \u7a97\u6237 \u7a7a\u95f4 \u3002 \u5982\u679c \u60a8 \u9009\u62e9 \u591a\u4e2a \u9009\u9879 \uff0c \u5b83\u4eec \u5c06 \u4ea4\u66ff \u51fa\u73b0 \u3002   \u67f1 \u7f51\u683c   :   \u8fd9\u4e9b \u4eff\u771f \u8de8\u8d8a \u5efa\u7b51 \u5efa\u7b51\u7269 \u9ad8\u5ea6 \u7684 \u7816 \u780c \u67f1 \u7ec6\u8282   \u9876\u90e8 / \u5e95\u90e8 \u7a97\u6237 \u7ec6\u8282   :   \u8fd9\u4e9b \u7f51\u683c \u7528 \u95e8\u6963 \u548c \u906e\u9633 \u906e\u9633\u677f \u88c5\u9970 \u7a97\u6237 \u7684 \u9876\u90e8 \uff0c \u7528 \u7a97\u53f0 \u548c \u690d\u7269 \u7bb1 \u88c5\u9970 \u7a97\u6237 \u7684 \u5e95\u90e8 \u3002   Window   columns   :   \u5206\u9694 \u7a97\u6237 \u7684 \u7816 \u780c \u67f1   Curtain   meshes   :   \u5b89\u88c5 \u5728 \u7a97\u6237 \u5185 \u7684 \u7a97\u5e18 \u548c \u767e\u53f6 \u53f6\u7a97 \u767e\u53f6\u7a97   Pot   meshes   :   \u5728 \u6307\u5b9a \u63d2\u5ea7 \u70b9 \u6dfb\u52a0 \u5230 \u7a97\u53f0 \u548c \u690d\u7269 \u7bb1 \u7684 \u82b1\u76c6   Air   conditioner   meshes   :   \u5728 \u6307\u5b9a \u63d2\u5ea7 \u70b9\u5904 \u6dfb\u52a0 \u5230 \u7a97\u6237 \u7684 \u7a7a\u8c03 \u88c5\u7f6e   Pipe   meshes   :   \u5782\u76f4 \u5411\u4e0b \u5ef6\u4f38 \u5230 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u7ba1\u9053 \uff0c \u4eff\u771f \u5c4b\u9876 \u7684 \u6392\u6c34 \u6c34\u7ba1 \u6392\u6c34\u7ba1   Wire   meshes   :   \u6cbf\u7740 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5782\u76f4 \u5ef6\u4f38 \u7684 \u7535\u7ebf \uff0c \u4eff\u771f \u7535\u89c6 \u5929\u7ebf \u5ef6\u4f38 \u548c \u95ea\u7535 \u63a5\u5730 \u5730\u7ebf \u63a5\u5730\u7ebf   Antenna   meshes   :   \u4ece \u7a97\u6237 \u4f38\u51fa \u7684 \u7535\u89c6 \u5929\u7ebf   \u53c2\u6570 \u7684 \u5de5\u4f5c \u539f\u7406 \u5982\u4e0b \uff1a   \u5e38\u7528 \u53c2\u6570   :   Percentage   :   \u63a7\u5236 \u5c06 \u653e\u7f6e \u5728 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e0a \u7684 \u4ef6\u6570 \uff0c 100%   \u8868\u793a \u6240\u6709 \u53ef\u7528 \u7a7a\u95f4 \u5c06 \u88ab \u5360\u7528   Offset   :   \u8be5 \u4f5c\u54c1 \u76f8\u5bf9 \u4e8e \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e3b\u4f53 \u7684 \u7a7a\u95f4 \u504f\u79fb   Blinds   and   curtains   :   Min / Max   size   :   \u9009\u62e9 \u767e\u53f6 \u53f6\u7a97 \u767e\u53f6\u7a97 \u6216 \u7a97\u5e18 \u7684 \u6700\u5c0f / \u6700\u5927 \u957f\u5ea6 \uff0c \u503c \u4e4b\u95f4 \u968f\u673a \u53d8\u5316 \u3002 1.0 \u4e3a \u5168\u95ed \uff0c 0.0 \u4e3a \u5168\u5f00 \u3002   Pipes   and   wires   :   Index   :   \u5b9a\u4e49 \u5c06 \u653e\u7f6e \u7ba1\u9053 \u7684 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u9762   Offset   side / front   :   \u4ece \u5efa\u7b51 \u5efa\u7b51\u7269 \u6b63\u9762 \u7684 \u4e2d\u5fc3 \u5411 \u4f5c\u54c1 \u6dfb\u52a0 \u7a7a\u95f4 \u504f\u79fb   \u7b14\u8bb0   \u5728 \u67d0\u4e9b \u60c5\u51b5 \u4e0b \uff0c \u60a8 \u53ef\u80fd \u4f1a \u53d1\u73b0 \uff0c \u5f53 \u60a8 \u9009\u62e9 \u7ec6\u8282 \u7f51\u683c \u90e8\u4ef6 \uff08 \u4f8b\u5982 \u82b1\u76c6 \u3001 \u5929\u7ebf \u548c \u7a7a\u8c03 \u88c5\u7f6e \uff09 \u65f6 \uff0c \u60a8 \u4e0d\u5230 \u770b\u4e0d\u5230 \u5efa\u7b51 \u5efa\u7b51\u7269 \u6709 \u4efb\u4f55 \u53d8\u5316 \u3002 \u8fd9 \u5f88 \u53ef\u80fd \u56e0\u4e3a \u662f\u56e0\u4e3a \u60a8 \u6b63\u5728 \u4f7f\u7528 \u7684 \u90e8\u4ef6 \u6ca1\u6709 \u6dfb\u52a0 \u60a8 \u9009\u62e9 \u7684 \u90e8\u4ef6 \u6240 \u9700 \u7684 \u9002\u5f53 \u5957 \u63a5\u5b57 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605 \u63d2\u69fd \u90e8\u5206 \uff08   sockets   section   \uff09 \u4e86\u89e3 \u5982\u4f55 \u4f7f\u7528 \u63d2\u69fd \u3002   \u5957 \u63a5\u5b57   \u63d2\u69fd \u662f \u951a\u70b9 \uff0c \u7528\u4e8e \u5b9a\u4e49 \u5c06 \u7ec6\u8282 \u7f51\u683c \u7269\u4f53 \u653e\u7f6e \u5728 \u53e6 \u4e00\u4e2a \u7f51\u683c \u7269\u4f53 \u4e0a \u7684 \u4f4d\u7f6e \u3002 \u8981 \u5c06 \u5957 \u63a5\u5b57 \u6dfb\u52a0 \u5230 \u7a0b\u5e8f \u5efa\u7b51 \u4e2d \u7684 \u7f51\u683c \u7269\u4f53 \uff0c \u8bf7 \u5728 \u9009\u62e9 \u7a0b\u5e8f \u5efa\u7b51 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u8f6c \u5230 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u9762\u677f \uff08   details   panel   \uff09 \uff0c \u901a\u5e38 \u4f4d\u4e8e \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u754c\u9762 \u7684 \u53f3\u4fa7 \u3002 \u5728 \u90a3\u91cc \uff0c \u60a8 \u5c06 \u627e\u5230 \u201c \u7f51\u683c \uff08   Meshes   \uff09 \u201d \u548c \u201c \u7ec6\u8282 \u7f51\u683c \uff08   Detail   meshes   \uff09 \u201d \u9762\u677f \u3002 \u6253\u5f00 \u76f8\u5173 \u90e8\u5206 \uff0c \u5728 \u60a8 \u8981 \u653e\u7f6e \u63d2\u5ea7 \u7684 \u4f4d\u7f6e \u6253\u5f00 \u7f51\u7247 \u3002   \u627e\u5230 \u8981 \u5728 \u5176 \u4e0a \u653e\u7f6e \u5957 \u63a5\u5b57 \u7684 \u7f51\u683c \uff0c \u7136\u540e \u53cc\u51fb \u8be5 \u56fe\u6807 \u4ee5 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d\u5c06 \u5176 \u6253\u5f00 \u3002 \u5355\u51fb \u201c \u521b\u5efa \u5957 \u63a5\u5b57 (   create   socket   ) \u201d \u4ee5 \u6dfb\u52a0 \u5957 \u63a5\u5b57 \u5e76 \u4f7f\u7528 \u4ee5\u4e0b \u7ea6\u5b9a \u547d\u540d \uff1a   \u7a7a\u8c03 \u673a\u7ec4 \uff08 Air   conditioning   unit \uff09 \uff1a   aa _ *   \u5929\u7ebf \uff08 Antennas \uff09 \uff1a   ant _ *   \u82b1\u76c6 \uff08 Plant   pots \uff09 \uff1a   pot _ *   \u5c06 \u661f\u53f7 \u66ff\u6362 \u4e3a \u7d22\u5f15 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u6709 \u591a\u5c11 \u4e2a\u5957 \u63a5\u5b57 \uff0c \u5373   aa _ 0 ,   aa _ 2 ,   aa _ 3 ...   \u5f53 \u60a8 \u5355\u51fb \u201c \u521b\u5efa \u5957 \u63a5\u5b57 (   Create   socket   ) \u201d \u65f6 \uff0c \u5957 \u63a5\u5b57 \u5c06 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u4f7f\u7528 \u4e09\u7ef4 \u53e5\u67c4 \u8fdb\u884c \u5b9e\u4f8b \u5316 \u3002 \u5c06 \u63d2\u69fd \u62d6\u52a8 \u5230 \u7f51\u683c \u4e0a \u7684 \u6240 \u9700 \u4f4d\u7f6e \uff0c \u8fd9 \u662f \u60a8 \u7684 \u7ec6\u8282 \u90e8\u4ef6 \u5c06 \u663e\u793a \u8fde\u63a5 \u5230 \u5355\u5143 \u7684 \u4f4d\u7f6e \u3002   \u5916\u5899 \u6750\u6599   \u5728 \u5916\u89c2 \u6750\u6599 \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u6d4f\u89c8 \u548c \u9884\u89c8 \u8981 \u88c5\u9970 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5899\u58c1 \u7684 \u6750\u6599 \u3002   \u70d8\u7119   \u5728 \u70f9\u996a \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u5c06 \u9009\u62e9 \u7684 \u6240\u6709 \u7f51\u683c \u7269\u4f53 \u548c \u6750\u8d28 \u7ec4\u5408 \u5230 \u5177\u6709 \u5173\u8054 \u6750\u8d28 \u548c \u7eb9\u7406 \u7684 \u5355\u4e2a \u9759\u6001 \u7f51\u683c \u7269\u4f53 \u4e2d \u3002 \u8fd8 \u5c06 \u4e3a   LOD   \u521b\u5efa \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684   LOD   \u7eb9\u7406 \u3002 \u5728 \u754c\u9762 \u4e2d \u6307\u5b9a \u5c06 \u4fdd\u5b58 \u65b0 \u5efa\u7b51 \u8d44\u6e90 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u540d\u79f0 \u3002   \u4e00\u65e6 \u60a8 \u5b8c\u6210 \u4e86 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u5236\u4f5c \uff0c \u60a8 \u5c31 \u53ef\u4ee5 \u50cf \u4efb\u4f55 \u5176\u4ed6   Carla   \u8d44\u4ea7 \u4e00\u6837 \u5c06 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u5b9e\u4f8b \u653e\u7f6e \u5728 \u5730\u56fe \u4e2d \u3002","title":"Adv   procedural   building   tool"},{"location":"adv_procedural_building_tool/#_1","text":"\u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177   \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u751f\u6210 \u865a\u62df \u4e09\u7ef4 \u5efa\u7b51 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u7b80\u5355 \u7684 \u754c\u9762 \u5bf9 \u5176 \u5c3a\u5bf8 \u548c \u88c5\u9970 \u98ce\u683c \u8fdb\u884c \u8c03\u5236 \uff0c \u4ee5 \u521b\u5efa \u8fd1\u4e4e \u65e0\u9650 \u7684 \u53d8\u5316 \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u754c\u9762 \u9009\u62e9 \u697c\u5c42 \u7684 \u5360\u5730 \u5730\u9762 \u9762\u79ef \u5360\u5730\u9762\u79ef \u5c3a\u5bf8 \u548c \u9ad8\u5ea6 \u3002 \u7136\u540e \u7528\u6237 \u53ef\u4ee5 \u4e3a \u5efa\u7b51 \u5927\u5802 \u3001 \u4e3b\u4f53 \u4ee5\u53ca \u9876\u5c42 \u6216 \u9601\u697c \u9009\u62e9 \u591a\u79cd \u98ce\u683c \u3002 \u53ef\u4ee5 \u4ece   Carla   \u8d44\u6e90 \u8d44\u6e90\u5e93 \u4e2d\u4e3a \u89d2\u7a97 \u548c \u9633\u53f0 \u7b49 \u529f\u80fd \u9009\u62e9 \u5404\u79cd \u9762\u677f \u5143\u7d20 \u6837\u5f0f \u3002   \u6253\u5f00 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177   \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570   \u7f51\u683c \u53c2\u6570   \u7f51\u683c \u5143\u7d20   \u5957 \u63a5\u5b57   \u5916\u5899 \u6750\u6599   \u70d8\u7119","title":"\u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177"},{"location":"adv_procedural_building_tool/#_2","text":"\u9996\u5148 \uff0c \u60a8 \u9700\u8981 \u5411 \u573a\u666f \u6dfb\u52a0 \u7a0b\u5e8f \u6dfb\u52a0\u7a0b\u5e8f \u5efa\u7b51 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5bfc\u822a \u5230   Content > Carla > Blueprints > LevelDesign   \u5e76 \u62d6\u52a8 \u84dd\u56fe   BP _ ProceduralBuilding   \u5230 \u5730\u56fe \u4e2d \u3002 \u5c06 \u8d44\u4ea7 \u79fb\u52a8 \u5230 \u60a8 \u5e0c\u671b \u53ef\u89c6 \u53ef\u89c6\u5316 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u4f4d\u7f6e \u3002 \u9009\u62e9 \u4e00\u4e2a \u6709 \u7a7a\u95f4 \u7684 \u5730\u65b9 \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u6e05\u695a \u5730 \u770b\u5230 \u7ed3\u679c \u3002 \u7136\u540e \uff0c \u8981 \u6253\u5f00 \u8be5 \u5de5\u5177 \uff0c \u8bf7 \u53f3\u952e \u5355\u51fb   WD _ ProceduralBuilding \uff08 \u7f16\u8f91 \u7f16\u8f91\u5668 \u5de5\u5177 \u63a7\u4ef6 \uff09   \u5e76 \u4ece \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   \u8fd0\u884c \u7f16\u8f91 \u7f16\u8f91\u5668 \u5de5\u5177 \u63a7\u4ef6   ( Run   editor   utility   widget ) \u6765 \u542f\u52a8 \u7a0b\u5e8f \u6784\u5efa \u5de5\u5177 \u3002 \u8fd9 \u5c06 \u6253\u5f00 \u8be5 \u5de5\u5177 \u7684 \u754c\u9762 \u3002   \u6ce8\u610f   \u60a8 \u5fc5\u987b \u5728 \u6253\u5f00 \u5de5\u5177 \u4e4b\u524d \u5b8c\u6210 \u6b64 \u6b65\u9aa4 \uff0c \u5730\u56fe \u4e2d \u5fc5\u987b \u5b58\u5728   BP _ ProceduralBuilding   \u84dd\u56fe \u7684 \u5b9e\u4f8b \uff0c \u5de5\u5177 \u624d\u80fd \u8fd0\u884c \u3002 \u60a8 \u8fd8 \u5fc5\u987b \u786e\u4fdd \u5728 \u7ee7\u7eed \u4e4b\u524d \u5728 \u4e16\u754c \u5927\u7eb2 \u89c6\u56fe \uff08   World   outliner   \uff09 \u4e2d \u9009\u62e9   BP _ ProceduralBuilding   \u5b9e\u4f53 \u3002","title":"\u6253\u5f00 \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177  "},{"location":"adv_procedural_building_tool/#_3","text":"\u5728 \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570 \u90e8\u5206 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u9009\u62e9 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u57fa\u672c \u5c5e\u6027 \uff0c \u4f8b\u5982 \u5360\u5730 \u5730\u9762 \u9762\u79ef \u5360\u5730\u9762\u79ef \u548c \u697c\u5c42 \u9ad8\u5ea6 \u3002   \u7b14\u8bb0   \u5728 \u7f51\u683c \u53c2\u6570 \u90e8\u5206 \uff08   mesh   parameters   \uff09 \u9009\u62e9 \u7f51\u683c \u7247\u6bb5 \u4e4b\u524d \uff0c \u8c03\u6574 \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570 \u65f6 \uff0c \u60a8 \u4e0d\u4f1a \u5728 \u865a\u5e7b \u5f15\u64ce \u89c6 \u53e3\u4e2d \u770b\u5230 \u4efb\u4f55 \u53d8\u5316 \u3002   \u53ef\u7528 \u53c2\u6570 \u5982\u4e0b \uff1a   Seed   :   \u8bbe\u7f6e \u7a0b\u5e8f \u751f\u6210 \u7684 \u968f\u673a \u79cd\u5b50 \uff0c \u8fd9 \u53ef\u4ee5 \u4f7f \u5efa\u7b51 \u5efa\u7b51\u7269 \u5177\u6709 \u76f8\u540c \u8bbe\u7f6e \u7684 \u53d8\u5316 \u3002   Num   floors   :   \u8bbe\u7f6e \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u5c42\u6570 \u6216 \u697c\u5c42 \u6570 \uff0c \u5e76 \u4ece\u6b64 \u5b9a\u4e49 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u9ad8\u5ea6 \u3002   Length   X / Y   :   \u5b9a\u4e49 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5728   X   \u548c   Y   \u7ef4\u5ea6 \u4e0a \u7684 \u5360\u5730 \u5730\u9762 \u9762\u79ef \u5360\u5730\u9762\u79ef \u5927\u5c0f \u3002 \u8fd9\u4e9b \u662f \u65e0 \u5355\u4f4d \u7684 \uff0c \u6570\u5b57 \u8868\u793a \u91cd\u590d \u590d\u90e8 \u90e8\u5206 \u91cd\u590d\u90e8\u5206 \u7684 \u6570\u91cf \uff0c \u6bcf\u4e2a \u90e8\u5206 \u662f \u4e00\u5217 \u7a97\u53e3 \u3002   Create   automatically   :   \u5982\u679c \u9009\u62e9 \u6b64 \u9009\u9879 \uff0c \u5efa\u7b51 \u5efa\u7b51\u7269 \u5c06 \u5728 \u89c6 \u53e3\u4e2d \u81ea\u52a8 \u66f4\u65b0 \u81ea\u52a8\u66f4\u65b0 \uff0c \u4ee5\u4fbf \u60a8 \u53ef\u4ee5 \u770b\u5230 \u8c03\u6574 \u7684 \u6548\u679c \u3002   Corners   :   \u5141\u8bb8 \u5c06 \u89d2\u4ef6 \u6dfb\u52a0 \u5230 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u5728   Mesh   parameters   \u90e8\u5206 \u4e2d \u9009\u62e9 \u8fd9\u4e9b \u4ef6 \u3002   Walls   :   \u5c06 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5de6 / \u53f3 / \u524d / \u540e \u7684 \u4e2d\u95f4 \u90e8\u5206 \u66ff\u6362 \u4e3a \u53ef \u4f7f\u7528 \u7f51\u683c \u53c2\u6570 \uff08   Mesh   parameters   \uff09 \u83dc\u5355 \u9009\u62e9 \u7684 \u66ff\u4ee3 \u90e8\u5206 \u3002   Doors   :   \u5141\u8bb8 \u5728 \u5927\u5385 \u66fe \u653e\u7f6e \u95e8 \u7684 \u9635\u5217 \u3002 \u95e8 \u653e\u7f6e \u5728 \u9009\u5b9a \u7684 \u7d22\u5f15 \u4f4d\u7f6e \u3002","title":"\u57fa\u672c\u53c2\u6570  "},{"location":"adv_procedural_building_tool/#_4","text":"\u5728 \u754c\u9762 \u7684 \u201c \u7f51\u683c \u53c2\u6570 ( Mesh   Parameters ) \u201d \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u6211\u4eec \u9009\u62e9 \u5c06 \u7528\u4e8e \u8986\u76d6 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5916\u90e8 \u7684 \u7f51\u683c \u4ef6 \u3002 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e0d\u540c \u90e8\u5206 \u7684 \u7f51\u7247 \u5206\u4e3a   5   \u7c7b \uff1a   Lobby   :   \u7528\u4e8e \u88c5\u9970 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5927\u5802 \u7684 \u7f51\u7247 \u3002   Midsection   :   \u7528\u4e8e \u88c5\u9970 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e2d\u6bb5 \u3001 \u5927\u5802 \u548c \u9876\u5c42 \u4e4b\u95f4 \u7684 \u6bcf \u4e00\u5c42 \u7684 \u7f51\u72b6 \u90e8\u4ef6 \u3002   Penthouse   :   \u7528\u4e8e \u88c5\u9970 \u9876\u5c42 \u516c\u5bd3 \u5c42 \u7684 \u7f51\u683c \u4ef6 \u3002   Doors   :   \u4e3a \u5927\u5385 \u6dfb\u52a0 \u95e8 \u7684 \u7f51\u72b6 \u90e8\u4ef6   Walls   :   \u7528\u4e8e \u88c5\u9970 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5899\u58c1 \u7684 \u7f51\u7247   \u5728 \u6bcf\u4e2a \u7c7b\u522b \u4e2d \uff0c \u60a8 \u90fd \u4f1a \u53d1\u73b0 \u8bb8\u591a \u7f51\u7247 \u9009\u9879 \u3002 \u5355\u51fb \u4e00\u4e2a \u6216 \u591a\u4e2a \u4f7f \u5176 \u53d8\u4e3a \u7ea2\u8272 \uff0c \u8fd9\u4e9b \u5c06 \u88ab \u6dfb\u52a0 \u5230 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u76f8\u5e94 \u90e8\u5206 \u3002 \u5982\u679c \u60a8 \u9009\u62e9 \u591a\u4e2a \u9009\u9879 \uff0c \u8be5 \u5de5\u5177 \u5c06 \u5728 \u9009\u9879 \u4e4b\u95f4 \u968f\u673a \u4ea4\u66ff \u3002 \u5f53 \u60a8 \u4e3a \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u6bcf\u4e2a \u90e8\u5206 \u9009\u62e9 \u7f51\u683c \u7247\u6bb5 \u65f6 \uff0c \u5982\u679c \u60a8 \u5728 \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570 \u90e8\u5206 \u4e2d \u9009\u62e9 \u4e86 \u81ea\u52a8 \u521b\u5efa \uff08   Create   automatically   \uff09 \uff0c \u60a8 \u5c06 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u89c6 \u53e3\u4e2d \u770b\u5230 \u5efa\u7b51 \u5efa\u7b51\u7269 \u6b63\u5728 \u6210\u5f62 \u3002","title":"\u7f51\u683c \u53c2\u6570  "},{"location":"adv_procedural_building_tool/#_5","text":"\u5728 \u6b64 \u90e8\u5206 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u9009\u62e9 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u66f4 \u8be6\u7ec6 \u5143\u7d20 \uff0c \u4f8b\u5982 \u7a97\u6237 \u3001 \u67f1\u5b50 \u3001 \u82b1\u76c6 \u3001 \u7a7a\u8c03 \u88c5\u7f6e \u548c \u5929\u7ebf \u3002 \u6bcf\u79cd \u7c7b\u578b \u7684 \u88c5\u9970 \u90fd \u6709 \u7565\u5fae \u4e0d\u540c \u7684 \u5c5e\u6027 \u3002   \u5efa\u7b51 \u5efa\u7b51\u7269 \u7ec6\u8282 \u7684 \u88c5\u9970 \u6709 \u591a\u79cd \u79cd\u7c7b \u7c7b\u578b \u591a\u79cd\u7c7b\u578b \uff1a   \u5782\u76f4 / \u6c34\u5e73 \u7a97\u6237 \u7f51\u683c   :   \u8fd9\u4e9b \u7f51\u683c \u7247 \u5b9a\u4e49 \u4e86 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e2d \u7a97\u6846 \u7684 \u6837\u5f0f \u3002 \u5782\u76f4 \u7a97\u6237 \u7f51\u683c \u5c06 \u5360\u636e \u6bd4\u5176 \u5bbd\u5ea6 \u9ad8 \u7684 \u7a97\u6237 \u7a7a\u95f4 \uff0c \u800c \u6c34\u5e73 \u7a97\u6237 \u7f51\u683c \u5c06 \u5360\u636e \u6bd4\u5176 \u9ad8\u5ea6 \u66f4 \u5bbd \u7684 \u7a97\u6237 \u7a7a\u95f4 \u3002 \u5982\u679c \u60a8 \u9009\u62e9 \u591a\u4e2a \u9009\u9879 \uff0c \u5b83\u4eec \u5c06 \u4ea4\u66ff \u51fa\u73b0 \u3002   \u67f1 \u7f51\u683c   :   \u8fd9\u4e9b \u4eff\u771f \u8de8\u8d8a \u5efa\u7b51 \u5efa\u7b51\u7269 \u9ad8\u5ea6 \u7684 \u7816 \u780c \u67f1 \u7ec6\u8282   \u9876\u90e8 / \u5e95\u90e8 \u7a97\u6237 \u7ec6\u8282   :   \u8fd9\u4e9b \u7f51\u683c \u7528 \u95e8\u6963 \u548c \u906e\u9633 \u906e\u9633\u677f \u88c5\u9970 \u7a97\u6237 \u7684 \u9876\u90e8 \uff0c \u7528 \u7a97\u53f0 \u548c \u690d\u7269 \u7bb1 \u88c5\u9970 \u7a97\u6237 \u7684 \u5e95\u90e8 \u3002   Window   columns   :   \u5206\u9694 \u7a97\u6237 \u7684 \u7816 \u780c \u67f1   Curtain   meshes   :   \u5b89\u88c5 \u5728 \u7a97\u6237 \u5185 \u7684 \u7a97\u5e18 \u548c \u767e\u53f6 \u53f6\u7a97 \u767e\u53f6\u7a97   Pot   meshes   :   \u5728 \u6307\u5b9a \u63d2\u5ea7 \u70b9 \u6dfb\u52a0 \u5230 \u7a97\u53f0 \u548c \u690d\u7269 \u7bb1 \u7684 \u82b1\u76c6   Air   conditioner   meshes   :   \u5728 \u6307\u5b9a \u63d2\u5ea7 \u70b9\u5904 \u6dfb\u52a0 \u5230 \u7a97\u6237 \u7684 \u7a7a\u8c03 \u88c5\u7f6e   Pipe   meshes   :   \u5782\u76f4 \u5411\u4e0b \u5ef6\u4f38 \u5230 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u7ba1\u9053 \uff0c \u4eff\u771f \u5c4b\u9876 \u7684 \u6392\u6c34 \u6c34\u7ba1 \u6392\u6c34\u7ba1   Wire   meshes   :   \u6cbf\u7740 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5782\u76f4 \u5ef6\u4f38 \u7684 \u7535\u7ebf \uff0c \u4eff\u771f \u7535\u89c6 \u5929\u7ebf \u5ef6\u4f38 \u548c \u95ea\u7535 \u63a5\u5730 \u5730\u7ebf \u63a5\u5730\u7ebf   Antenna   meshes   :   \u4ece \u7a97\u6237 \u4f38\u51fa \u7684 \u7535\u89c6 \u5929\u7ebf   \u53c2\u6570 \u7684 \u5de5\u4f5c \u539f\u7406 \u5982\u4e0b \uff1a   \u5e38\u7528 \u53c2\u6570   :   Percentage   :   \u63a7\u5236 \u5c06 \u653e\u7f6e \u5728 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e0a \u7684 \u4ef6\u6570 \uff0c 100%   \u8868\u793a \u6240\u6709 \u53ef\u7528 \u7a7a\u95f4 \u5c06 \u88ab \u5360\u7528   Offset   :   \u8be5 \u4f5c\u54c1 \u76f8\u5bf9 \u4e8e \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e3b\u4f53 \u7684 \u7a7a\u95f4 \u504f\u79fb   Blinds   and   curtains   :   Min / Max   size   :   \u9009\u62e9 \u767e\u53f6 \u53f6\u7a97 \u767e\u53f6\u7a97 \u6216 \u7a97\u5e18 \u7684 \u6700\u5c0f / \u6700\u5927 \u957f\u5ea6 \uff0c \u503c \u4e4b\u95f4 \u968f\u673a \u53d8\u5316 \u3002 1.0 \u4e3a \u5168\u95ed \uff0c 0.0 \u4e3a \u5168\u5f00 \u3002   Pipes   and   wires   :   Index   :   \u5b9a\u4e49 \u5c06 \u653e\u7f6e \u7ba1\u9053 \u7684 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u9762   Offset   side / front   :   \u4ece \u5efa\u7b51 \u5efa\u7b51\u7269 \u6b63\u9762 \u7684 \u4e2d\u5fc3 \u5411 \u4f5c\u54c1 \u6dfb\u52a0 \u7a7a\u95f4 \u504f\u79fb   \u7b14\u8bb0   \u5728 \u67d0\u4e9b \u60c5\u51b5 \u4e0b \uff0c \u60a8 \u53ef\u80fd \u4f1a \u53d1\u73b0 \uff0c \u5f53 \u60a8 \u9009\u62e9 \u7ec6\u8282 \u7f51\u683c \u90e8\u4ef6 \uff08 \u4f8b\u5982 \u82b1\u76c6 \u3001 \u5929\u7ebf \u548c \u7a7a\u8c03 \u88c5\u7f6e \uff09 \u65f6 \uff0c \u60a8 \u4e0d\u5230 \u770b\u4e0d\u5230 \u5efa\u7b51 \u5efa\u7b51\u7269 \u6709 \u4efb\u4f55 \u53d8\u5316 \u3002 \u8fd9 \u5f88 \u53ef\u80fd \u56e0\u4e3a \u662f\u56e0\u4e3a \u60a8 \u6b63\u5728 \u4f7f\u7528 \u7684 \u90e8\u4ef6 \u6ca1\u6709 \u6dfb\u52a0 \u60a8 \u9009\u62e9 \u7684 \u90e8\u4ef6 \u6240 \u9700 \u7684 \u9002\u5f53 \u5957 \u63a5\u5b57 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605 \u63d2\u69fd \u90e8\u5206 \uff08   sockets   section   \uff09 \u4e86\u89e3 \u5982\u4f55 \u4f7f\u7528 \u63d2\u69fd \u3002","title":"\u7f51\u683c \u5143\u7d20  "},{"location":"adv_procedural_building_tool/#_6","text":"\u63d2\u69fd \u662f \u951a\u70b9 \uff0c \u7528\u4e8e \u5b9a\u4e49 \u5c06 \u7ec6\u8282 \u7f51\u683c \u7269\u4f53 \u653e\u7f6e \u5728 \u53e6 \u4e00\u4e2a \u7f51\u683c \u7269\u4f53 \u4e0a \u7684 \u4f4d\u7f6e \u3002 \u8981 \u5c06 \u5957 \u63a5\u5b57 \u6dfb\u52a0 \u5230 \u7a0b\u5e8f \u5efa\u7b51 \u4e2d \u7684 \u7f51\u683c \u7269\u4f53 \uff0c \u8bf7 \u5728 \u9009\u62e9 \u7a0b\u5e8f \u5efa\u7b51 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u8f6c \u5230 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u9762\u677f \uff08   details   panel   \uff09 \uff0c \u901a\u5e38 \u4f4d\u4e8e \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u754c\u9762 \u7684 \u53f3\u4fa7 \u3002 \u5728 \u90a3\u91cc \uff0c \u60a8 \u5c06 \u627e\u5230 \u201c \u7f51\u683c \uff08   Meshes   \uff09 \u201d \u548c \u201c \u7ec6\u8282 \u7f51\u683c \uff08   Detail   meshes   \uff09 \u201d \u9762\u677f \u3002 \u6253\u5f00 \u76f8\u5173 \u90e8\u5206 \uff0c \u5728 \u60a8 \u8981 \u653e\u7f6e \u63d2\u5ea7 \u7684 \u4f4d\u7f6e \u6253\u5f00 \u7f51\u7247 \u3002   \u627e\u5230 \u8981 \u5728 \u5176 \u4e0a \u653e\u7f6e \u5957 \u63a5\u5b57 \u7684 \u7f51\u683c \uff0c \u7136\u540e \u53cc\u51fb \u8be5 \u56fe\u6807 \u4ee5 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d\u5c06 \u5176 \u6253\u5f00 \u3002 \u5355\u51fb \u201c \u521b\u5efa \u5957 \u63a5\u5b57 (   create   socket   ) \u201d \u4ee5 \u6dfb\u52a0 \u5957 \u63a5\u5b57 \u5e76 \u4f7f\u7528 \u4ee5\u4e0b \u7ea6\u5b9a \u547d\u540d \uff1a   \u7a7a\u8c03 \u673a\u7ec4 \uff08 Air   conditioning   unit \uff09 \uff1a   aa _ *   \u5929\u7ebf \uff08 Antennas \uff09 \uff1a   ant _ *   \u82b1\u76c6 \uff08 Plant   pots \uff09 \uff1a   pot _ *   \u5c06 \u661f\u53f7 \u66ff\u6362 \u4e3a \u7d22\u5f15 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u6709 \u591a\u5c11 \u4e2a\u5957 \u63a5\u5b57 \uff0c \u5373   aa _ 0 ,   aa _ 2 ,   aa _ 3 ...   \u5f53 \u60a8 \u5355\u51fb \u201c \u521b\u5efa \u5957 \u63a5\u5b57 (   Create   socket   ) \u201d \u65f6 \uff0c \u5957 \u63a5\u5b57 \u5c06 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u4f7f\u7528 \u4e09\u7ef4 \u53e5\u67c4 \u8fdb\u884c \u5b9e\u4f8b \u5316 \u3002 \u5c06 \u63d2\u69fd \u62d6\u52a8 \u5230 \u7f51\u683c \u4e0a \u7684 \u6240 \u9700 \u4f4d\u7f6e \uff0c \u8fd9 \u662f \u60a8 \u7684 \u7ec6\u8282 \u90e8\u4ef6 \u5c06 \u663e\u793a \u8fde\u63a5 \u5230 \u5355\u5143 \u7684 \u4f4d\u7f6e \u3002","title":"\u5957 \u63a5\u5b57  "},{"location":"adv_procedural_building_tool/#_7","text":"\u5728 \u5916\u89c2 \u6750\u6599 \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u6d4f\u89c8 \u548c \u9884\u89c8 \u8981 \u88c5\u9970 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5899\u58c1 \u7684 \u6750\u6599 \u3002","title":"\u5916\u5899 \u6750\u6599  "},{"location":"adv_procedural_building_tool/#_8","text":"\u5728 \u70f9\u996a \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u5c06 \u9009\u62e9 \u7684 \u6240\u6709 \u7f51\u683c \u7269\u4f53 \u548c \u6750\u8d28 \u7ec4\u5408 \u5230 \u5177\u6709 \u5173\u8054 \u6750\u8d28 \u548c \u7eb9\u7406 \u7684 \u5355\u4e2a \u9759\u6001 \u7f51\u683c \u7269\u4f53 \u4e2d \u3002 \u8fd8 \u5c06 \u4e3a   LOD   \u521b\u5efa \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684   LOD   \u7eb9\u7406 \u3002 \u5728 \u754c\u9762 \u4e2d \u6307\u5b9a \u5c06 \u4fdd\u5b58 \u65b0 \u5efa\u7b51 \u8d44\u6e90 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u540d\u79f0 \u3002   \u4e00\u65e6 \u60a8 \u5b8c\u6210 \u4e86 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u5236\u4f5c \uff0c \u60a8 \u5c31 \u53ef\u4ee5 \u50cf \u4efb\u4f55 \u5176\u4ed6   Carla   \u8d44\u4ea7 \u4e00\u6837 \u5c06 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u5b9e\u4f8b \u653e\u7f6e \u5728 \u5730\u56fe \u4e2d \u3002","title":"\u70d8\u7119  "},{"location":"adv_ptv/","text":"PTV - Vissim   \u8054\u5408 \u4eff\u771f   Carla   \u5f00\u53d1 \u4e86 \u4e0e   PTV - Vissim   \u7684 \u534f\u540c \u4eff\u771f \u529f\u80fd \u3002 \u8fd9 \u5141\u8bb8 \u968f\u610f \u5206\u914d \u4efb\u52a1 \u5206\u914d\u4efb\u52a1 \uff0c \u5e76 \u5229\u7528 \u6bcf\u4e2a \u4eff\u771f \u7684 \u80fd\u529b \u6709\u5229 \u5229\u4e8e \u6709\u5229\u4e8e \u7528\u6237 \u3002   \u5fc5\u5907 \u6761\u4ef6 \u5fc5\u5907\u6761\u4ef6   \u8fd0\u884c \u534f\u540c \u4eff\u771f   \u521b\u5efa \u65b0 \u7f51\u7edc   \u5fc5\u5907 \u6761\u4ef6 \u5fc5\u5907\u6761\u4ef6   \u4e3a\u4e86 \u8fd0\u884c \u534f\u540c \u4eff\u771f \uff0c \u6709 \u4e24\u4ef6 \u4e24\u4ef6\u4e8b \u662f \u5fc5\u8981 \u7684 \u3002   \u8d2d\u4e70   PTV - Vissim   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u7684 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u3002 \u9700\u8981 \u83b7\u53d6 \u9a7e\u9a76 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u754c\u9762 \u63d2\u4ef6 \u3002   \u5728   PTV - Vissim   \u5b89\u88c5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u67e5\u627e   DrivingSimulatorProxy . dll   \u3002 \u5c06 \u5176 \u79fb\u81f3   C : \\ Windows \\ System32   \u3002   \u8fd0\u884c \u8054\u5408 \u4eff\u771f   \u4e0e \u6b64 \u529f\u80fd \u76f8\u5173 \u7684 \u6240\u6709 \u5185\u5bb9 \u90fd \u53ef\u4ee5 \u5728 \u201c Co - Simulation / PTV - Vissim \u201d \u4e2d \u627e\u5230 \u3002   Carla   \u63d0\u4f9b \u4e86 \u4e00\u4e9b \u793a\u4f8b \uff0c \u5176\u4e2d \u5305\u542b   Town01   \u548c   Town03   \u7684 \u7f51\u7edc \u3002   \u8981 \u8fd0\u884c \u8054\u5408 \u4eff\u771f \uff0c \u8bf7 \u4f7f\u7528 \u811a\u672c   PTV - Vissim / run _ synchronization . py   \u3002 \u8fd9\u6709 \u4e00\u4e2a \u5305\u542b   PTV - Vissim   \u7f51\u7edc \u7684 \u5f3a\u5236 \u53c2\u6570 \u548c \u4e00\u4e9b \u5176\u4ed6 \u53ef \u9009 \u53c2\u6570 \u3002   vissim _ network   \u2014   vissim   \u7f51\u7edc \u6587\u4ef6 \u3002 \u8fd9 \u53ef\u4ee5 \u662f \u4e00\u4e2a \u793a\u4f8b \uff0c \u4e5f \u53ef\u4ee5 \u662f \u4e00\u4e2a \u81ea\u884c \u521b\u5efa \u7684   PTV - Vissim   \u7f51\u7edc \u3002   -- carla - host   \uff08 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 127.0 . 0.1 \uff09   \u2014   carla   \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP \u3002   -- carla - port   \uff08 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 2000 \uff09   \u8981 \u76d1\u542c \u7684   TCP   \u7aef\u53e3 \u3002   -- vissim - version   \uff08 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 2020 \uff09   \u2014   PTV - Vissim   \u7248\u672c \u3002   -- step - length   ( default :   0.05 s )   -   \u4e3a \u4eff\u771f \u65f6\u95f4 \u6b65 \u8bbe\u7f6e \u56fa\u5b9a \u7684 \u589e\u91cf \u79d2 \u3002   -- simulator - vehicles   \uff08 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 1 \uff09   \u2014   \u5c06 \u5728   Carla   \u4e2d \u751f\u6210 \u5e76 \u4f20\u9012 \u7ed9   PTV - Vissim   \u7684 \u8f66\u8f86 \u6570\u91cf \u3002   python3   run _ synchronization . py   examples / Town03 / Town03 . inpx   \u7b14\u8bb0   \u8981 \u505c\u6b62 \u8054\u5408 \u4eff\u771f \uff0c \u8bf7 \u5728 \u8fd0\u884c \u811a\u672c \u7684 \u7ec8\u7aef \u4e2d \u6309   Ctrl + C   \u3002   \u4e24\u4e2a \u4eff\u771f \u5c06 \u540c\u6b65 \u8fd0\u884c \u3002 \u4e00\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u53d1\u751f \u7684 \u52a8\u4f5c \u6216 \u4e8b\u4ef6 \u5c06 \u4f20\u64ad \u5230 \u53e6 \u4e00\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u8be5 \u529f\u80fd \u4ec5 \u5305\u62ec \u8f66\u8f86 \u79fb\u52a8 \u548c \u751f\u6210 \u3002 \u7531\u4e8e   PTV - Vissim   \u7c7b\u578b \uff0c \u751f\u6210 \u53d7\u5230 \u9650\u5236 \u53d7\u5230\u9650\u5236 \u3002   *   \u5982\u679c \u8f66\u8f86 \u5728   Carla   \u4e2d \u751f\u6210 \uff0c \u5e76\u4e14   PTV - Vissim   \u4e2d \u7684   Vehicle   Type   \u8bbe\u7f6e \u4e3a \u201c \u6c7d\u8f66 \u201d \uff0c \u5b83 \u5c06 \u751f\u6210 \u6c7d\u8f66 \u3002 \u4e0d\u7ba1 \u5b83 \u662f\u5426 \u5728   Carla   \u4e2d \u4f5c\u4e3a \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \u3002 \u5728 \u63d0\u4f9b \u7684 \u793a\u4f8b \u4e2d \uff0c \u8f66\u8f86 \u7c7b\u578b \u8bbe\u7f6e \u4e3a \u201c \u6c7d\u8f66 \u201d \u3002   *   \u5982\u679c \u8f66\u8f86 \u5728   PTV - Vissim   \u4e2d \u751f\u6210 \uff0c Carla   \u5c06 \u4f7f\u7528 \u76f8\u540c \u7c7b\u578b \u7684 \u8f66\u8f86 \u3002 \u5c3a\u5bf8 \u548c \u7279\u6027 \u5c06 \u76f8\u4f3c \uff0c \u4f46 \u4e0d \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u3002   \u521b\u5efa \u4e00\u4e2a \u65b0 \u7f51\u7edc   \u4e3a\u4e86 \u8ba9 \u65b0 \u7684   PTV - Vissim   \u7f51\u7edc \u4e0e   Carla   \u4e00\u8d77 \u8fd0\u884c \uff0c \u9700\u8981 \u5b8c\u6210 \u4e00\u4e9b \u8bbe\u7f6e \u3002   \u6fc0\u6d3b \u9a7e\u9a76 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u3002 \u8f6c \u5230   Base   Data / Network   setting / Driving   simulator   \u5e76 \u542f\u7528 \u8be5 \u9009\u9879   \u6307\u5b9a \u8f66\u8f86 \u548c \u884c\u4eba \u7c7b\u578b   \u3002 \u8fd9\u4e9b \u7c7b\u578b \u5c06 \u5728   PTV - Vissim   \u4e2d \u7528\u4e8e \u4e0e   Carla   \u4e2d \u5b8c\u6210 \u7684 \u751f\u6210 \u540c\u6b65 \uff0c \u9ed8\u8ba4 \u4e3a\u7a7a   \u5c06 \u7f51\u7edc \u5bfc\u51fa \u4e3a   . inpx   \u3002 \u521b\u5efa \u7f51\u7edc \uff0c \u5c06 \u5176 \u5bfc\u51fa \uff0c \u7136\u540e \u4f7f\u7528   run _ synchronization . py   \u8fd0\u884c \u534f\u540c \u4eff\u771f   \u5728   Carla   \u4e2d \u751f\u6210 \u7684 \u4efb\u4f55 \u8f66\u8f86 \u90fd \u5c06 \u4f7f\u7528 \u8fd9\u4e9b \u7c7b\u578b \u5728   PTV - Vissim   \u4e2d \u751f\u6210 \u3002   \u7b14\u8bb0   \u5982\u679c \u884c\u4eba \u548c \u8f66\u8f86 \u7c7b\u578b \u4e3a\u7a7a \uff0c PTV - Vissim   \u5c06 \u5d29\u6e83 \u3002   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u8fd9 \u5c31\u662f   PTV - Vissim   \u4e0e   Carla   \u7684 \u8054\u5408 \u4eff\u771f \u7684 \u5168\u90e8 \u5185\u5bb9 \u5168\u90e8\u5185\u5bb9 \u3002   \u6253\u5f00   Carla   \u5e76 \u73a9\u5f04 \u4e00\u4f1a \u4f1a\u513f \u4e00\u4f1a\u513f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"PTV - Vissim   \u8054\u5408 \u4eff\u771f"},{"location":"adv_ptv/#ptv-vissim","text":"Carla   \u5f00\u53d1 \u4e86 \u4e0e   PTV - Vissim   \u7684 \u534f\u540c \u4eff\u771f \u529f\u80fd \u3002 \u8fd9 \u5141\u8bb8 \u968f\u610f \u5206\u914d \u4efb\u52a1 \u5206\u914d\u4efb\u52a1 \uff0c \u5e76 \u5229\u7528 \u6bcf\u4e2a \u4eff\u771f \u7684 \u80fd\u529b \u6709\u5229 \u5229\u4e8e \u6709\u5229\u4e8e \u7528\u6237 \u3002   \u5fc5\u5907 \u6761\u4ef6 \u5fc5\u5907\u6761\u4ef6   \u8fd0\u884c \u534f\u540c \u4eff\u771f   \u521b\u5efa \u65b0 \u7f51\u7edc","title":"PTV - Vissim   \u8054\u5408 \u4eff\u771f"},{"location":"adv_ptv/#_1","text":"\u4e3a\u4e86 \u8fd0\u884c \u534f\u540c \u4eff\u771f \uff0c \u6709 \u4e24\u4ef6 \u4e24\u4ef6\u4e8b \u662f \u5fc5\u8981 \u7684 \u3002   \u8d2d\u4e70   PTV - Vissim   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u7684 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u3002 \u9700\u8981 \u83b7\u53d6 \u9a7e\u9a76 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u754c\u9762 \u63d2\u4ef6 \u3002   \u5728   PTV - Vissim   \u5b89\u88c5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u67e5\u627e   DrivingSimulatorProxy . dll   \u3002 \u5c06 \u5176 \u79fb\u81f3   C : \\ Windows \\ System32   \u3002","title":"\u5fc5\u5907\u6761\u4ef6  "},{"location":"adv_ptv/#_2","text":"\u4e0e \u6b64 \u529f\u80fd \u76f8\u5173 \u7684 \u6240\u6709 \u5185\u5bb9 \u90fd \u53ef\u4ee5 \u5728 \u201c Co - Simulation / PTV - Vissim \u201d \u4e2d \u627e\u5230 \u3002   Carla   \u63d0\u4f9b \u4e86 \u4e00\u4e9b \u793a\u4f8b \uff0c \u5176\u4e2d \u5305\u542b   Town01   \u548c   Town03   \u7684 \u7f51\u7edc \u3002   \u8981 \u8fd0\u884c \u8054\u5408 \u4eff\u771f \uff0c \u8bf7 \u4f7f\u7528 \u811a\u672c   PTV - Vissim / run _ synchronization . py   \u3002 \u8fd9\u6709 \u4e00\u4e2a \u5305\u542b   PTV - Vissim   \u7f51\u7edc \u7684 \u5f3a\u5236 \u53c2\u6570 \u548c \u4e00\u4e9b \u5176\u4ed6 \u53ef \u9009 \u53c2\u6570 \u3002   vissim _ network   \u2014   vissim   \u7f51\u7edc \u6587\u4ef6 \u3002 \u8fd9 \u53ef\u4ee5 \u662f \u4e00\u4e2a \u793a\u4f8b \uff0c \u4e5f \u53ef\u4ee5 \u662f \u4e00\u4e2a \u81ea\u884c \u521b\u5efa \u7684   PTV - Vissim   \u7f51\u7edc \u3002   -- carla - host   \uff08 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 127.0 . 0.1 \uff09   \u2014   carla   \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP \u3002   -- carla - port   \uff08 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 2000 \uff09   \u8981 \u76d1\u542c \u7684   TCP   \u7aef\u53e3 \u3002   -- vissim - version   \uff08 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 2020 \uff09   \u2014   PTV - Vissim   \u7248\u672c \u3002   -- step - length   ( default :   0.05 s )   -   \u4e3a \u4eff\u771f \u65f6\u95f4 \u6b65 \u8bbe\u7f6e \u56fa\u5b9a \u7684 \u589e\u91cf \u79d2 \u3002   -- simulator - vehicles   \uff08 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 1 \uff09   \u2014   \u5c06 \u5728   Carla   \u4e2d \u751f\u6210 \u5e76 \u4f20\u9012 \u7ed9   PTV - Vissim   \u7684 \u8f66\u8f86 \u6570\u91cf \u3002   python3   run _ synchronization . py   examples / Town03 / Town03 . inpx   \u7b14\u8bb0   \u8981 \u505c\u6b62 \u8054\u5408 \u4eff\u771f \uff0c \u8bf7 \u5728 \u8fd0\u884c \u811a\u672c \u7684 \u7ec8\u7aef \u4e2d \u6309   Ctrl + C   \u3002   \u4e24\u4e2a \u4eff\u771f \u5c06 \u540c\u6b65 \u8fd0\u884c \u3002 \u4e00\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u53d1\u751f \u7684 \u52a8\u4f5c \u6216 \u4e8b\u4ef6 \u5c06 \u4f20\u64ad \u5230 \u53e6 \u4e00\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u8be5 \u529f\u80fd \u4ec5 \u5305\u62ec \u8f66\u8f86 \u79fb\u52a8 \u548c \u751f\u6210 \u3002 \u7531\u4e8e   PTV - Vissim   \u7c7b\u578b \uff0c \u751f\u6210 \u53d7\u5230 \u9650\u5236 \u53d7\u5230\u9650\u5236 \u3002   *   \u5982\u679c \u8f66\u8f86 \u5728   Carla   \u4e2d \u751f\u6210 \uff0c \u5e76\u4e14   PTV - Vissim   \u4e2d \u7684   Vehicle   Type   \u8bbe\u7f6e \u4e3a \u201c \u6c7d\u8f66 \u201d \uff0c \u5b83 \u5c06 \u751f\u6210 \u6c7d\u8f66 \u3002 \u4e0d\u7ba1 \u5b83 \u662f\u5426 \u5728   Carla   \u4e2d \u4f5c\u4e3a \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \u3002 \u5728 \u63d0\u4f9b \u7684 \u793a\u4f8b \u4e2d \uff0c \u8f66\u8f86 \u7c7b\u578b \u8bbe\u7f6e \u4e3a \u201c \u6c7d\u8f66 \u201d \u3002   *   \u5982\u679c \u8f66\u8f86 \u5728   PTV - Vissim   \u4e2d \u751f\u6210 \uff0c Carla   \u5c06 \u4f7f\u7528 \u76f8\u540c \u7c7b\u578b \u7684 \u8f66\u8f86 \u3002 \u5c3a\u5bf8 \u548c \u7279\u6027 \u5c06 \u76f8\u4f3c \uff0c \u4f46 \u4e0d \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u3002","title":"\u8fd0\u884c \u8054\u5408 \u4eff\u771f  "},{"location":"adv_ptv/#_3","text":"\u4e3a\u4e86 \u8ba9 \u65b0 \u7684   PTV - Vissim   \u7f51\u7edc \u4e0e   Carla   \u4e00\u8d77 \u8fd0\u884c \uff0c \u9700\u8981 \u5b8c\u6210 \u4e00\u4e9b \u8bbe\u7f6e \u3002   \u6fc0\u6d3b \u9a7e\u9a76 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u3002 \u8f6c \u5230   Base   Data / Network   setting / Driving   simulator   \u5e76 \u542f\u7528 \u8be5 \u9009\u9879   \u6307\u5b9a \u8f66\u8f86 \u548c \u884c\u4eba \u7c7b\u578b   \u3002 \u8fd9\u4e9b \u7c7b\u578b \u5c06 \u5728   PTV - Vissim   \u4e2d \u7528\u4e8e \u4e0e   Carla   \u4e2d \u5b8c\u6210 \u7684 \u751f\u6210 \u540c\u6b65 \uff0c \u9ed8\u8ba4 \u4e3a\u7a7a   \u5c06 \u7f51\u7edc \u5bfc\u51fa \u4e3a   . inpx   \u3002 \u521b\u5efa \u7f51\u7edc \uff0c \u5c06 \u5176 \u5bfc\u51fa \uff0c \u7136\u540e \u4f7f\u7528   run _ synchronization . py   \u8fd0\u884c \u534f\u540c \u4eff\u771f   \u5728   Carla   \u4e2d \u751f\u6210 \u7684 \u4efb\u4f55 \u8f66\u8f86 \u90fd \u5c06 \u4f7f\u7528 \u8fd9\u4e9b \u7c7b\u578b \u5728   PTV - Vissim   \u4e2d \u751f\u6210 \u3002   \u7b14\u8bb0   \u5982\u679c \u884c\u4eba \u548c \u8f66\u8f86 \u7c7b\u578b \u4e3a\u7a7a \uff0c PTV - Vissim   \u5c06 \u5d29\u6e83 \u3002   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u8fd9 \u5c31\u662f   PTV - Vissim   \u4e0e   Carla   \u7684 \u8054\u5408 \u4eff\u771f \u7684 \u5168\u90e8 \u5185\u5bb9 \u5168\u90e8\u5185\u5bb9 \u3002   \u6253\u5f00   Carla   \u5e76 \u73a9\u5f04 \u4e00\u4f1a \u4f1a\u513f \u4e00\u4f1a\u513f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"\u521b\u5efa \u4e00\u4e2a \u65b0 \u7f51\u7edc  "},{"location":"adv_recorder/","text":"\u8bb0\u5f55 \u8bb0\u5f55\u5668   \u6b64 \u529f\u80fd \u5141\u8bb8 \u8bb0\u5f55 \u548c \u91cd\u65b0 \u65b0\u5236 \u5236\u5b9a \u91cd\u65b0\u5236\u5b9a \u4ee5\u524d \u7684 \u4eff\u771f \u3002 \u6240\u6709 \u53d1\u751f \u7684 \u4e8b\u4ef6 \u90fd \u8bb0\u5f55 \u5728   \u8bb0\u5f55 \u6587\u4ef6   \u4e2d \u3002 \u6709 \u4e00\u4e9b \u9ad8\u7ea7 \u67e5\u8be2 \u53ef\u4ee5 \u8ddf\u8e2a \u548c \u7814\u7a76 \u8fd9\u4e9b \u4e8b\u4ef6 \u3002   \u8bb0\u5f55   \u4eff\u771f \u64ad\u653e   \u8bbe\u7f6e \u65f6\u95f4 \u56e0\u5b50   \u5f55\u5236 \u6587\u4ef6   \u67e5\u8be2   \u78b0\u649e   \u88ab \u56f0\u4f4f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u793a\u4f8b   Python   \u811a\u672c   \u8bb0\u5f55   \u6240\u6709 \u6570\u636e \u4ec5 \u5199\u5165 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u3002 \u4f46\u662f \uff0c \u4f7f\u7528   carla . Client   \u7ba1\u7406 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002   \u6839\u636e \u8bb0\u5f55 \u6587\u4ef6 \u4e2d \u5305\u542b \u7684 \u6570\u636e \uff0c \u6bcf\u5e27 \u66f4\u65b0 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5f53\u524d \u4eff\u771f \u4e2d \u51fa\u73b0 \u5728 \u5f55\u5236 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u88ab \u79fb\u52a8 \u6216 \u91cd\u65b0 \u751f\u6210 \u4ee5 \u4eff\u771f \u5b83 \u3002 \u90a3\u4e9b \u6ca1\u6709 \u51fa\u73b0 \u5728 \u8bb0\u5f55 \u4e2d \u7684 \u5c06 \u7ee7\u7eed \u4ed6\u4eec \u7684 \u65b9\u5f0f \uff0c \u5c31 \u597d\u50cf \u4ec0\u4e48 \u90fd \u6ca1 \u53d1\u751f \u4e00\u6837 \u3002   \u91cd\u8981 \u7684   \u64ad\u653e \u7ed3\u675f \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u4f46   \u884c\u4eba \u5c06 \u505c\u6b62   \u3002   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u5305\u62ec \u6709\u5173 \u8bb8\u591a \u4e0d\u540c \u5143\u7d20 \u7684 \u4fe1\u606f \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005   \u2014   \u521b\u5efa \u548c \u9500\u6bc1 \u3001 \u8fb9\u754c \u548c \u89e6\u53d1 \u6846 \u3002   \u4ea4\u901a \u4ea4\u901a\u706f   \u2014   \u72b6\u6001 \u53d8\u5316 \u548c \u65f6\u95f4 \u8bbe\u7f6e \u3002   \u8f66\u8f86   \u2014   \u4f4d\u7f6e \u548c \u65b9\u5411 \u3001 \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3001 \u5149 \u72b6\u6001 \u548c \u7269\u7406 \u63a7\u5236 \u3002   \u884c\u4eba   \u2014   \u4f4d\u7f6e \u548c \u65b9\u5411 \uff0c \u4ee5\u53ca \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3002   \u706f\u5149   \u2014   \u6765\u81ea \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u8857\u9053 \u548c \u8f66\u8f86 \u7684 \u706f\u5149 \u72b6\u6001 \u3002   \u8981 \u5f00\u59cb \u5f55\u5236 \uff0c \u53ea \u9700\u8981 \u4e00\u4e2a \u6587\u4ef6 \u6587\u4ef6\u540d \u3002 \u5728 \u6587\u4ef6 \u6587\u4ef6\u540d \u4e2d \u4f7f\u7528   \\   \u3001   /   \u6216   :   \u5b57\u7b26 \u4f1a \u5c06 \u5176 \u5b9a\u4e49 \u4e3a \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002 \u5982\u679c \u6ca1\u6709 \u8be6\u7ec6 \u7684 \u8def\u5f84 \uff0c \u6587\u4ef6 \u5c06 \u4fdd\u5b58 \u5728   CarlaUE4 / Saved   \u4e2d \u3002   client . start _ recorder ( \" / home / carla / recording01 . log \" )   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8bbe\u7f6e \u4e3a \u4ec5 \u5b58\u50a8 \u56de\u653e \u4eff\u771f \u6240 \u9700 \u7684 \u4fe1\u606f \u3002 \u4e3a\u4e86 \u4fdd\u5b58 \u524d\u9762 \u63d0\u5230 \u7684 \u6240\u6709 \u4fe1\u606f \uff0c \u5fc5\u987b \u5728 \u5f00\u59cb \u5f55\u5236 \u65f6 \u914d\u7f6e \u53c2\u6570   additional _ data   \u3002   client . start _ recorder ( \" / home / carla / recording01 . log \" ,   True )   \u7b14\u8bb0   \u5176\u4ed6 \u6570\u636e \u5305\u62ec \uff1a \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3001 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6\u95f4 \u8bbe\u7f6e \u3001 \u6267\u884c \u65f6\u95f4 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \u548c \u8fb9\u754c \u6846 \uff0c \u4ee5\u53ca \u8f66\u8f86 \u7684 \u7269\u7406 \u63a7\u5236 \u3002   \u8981 \u505c\u6b62 \u5f55\u5236 \uff0c \u8c03\u7528 \u4e5f \u5f88 \u7b80\u5355 \u3002   client . stop _ recorder ( )   \u7b14\u8bb0   \u4f30\u8ba1 \u636e\u4f30\u8ba1 \uff0c 50   \u4e2a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u548c   100   \u8f86\u8f66 \u7684   1   \u5c0f\u65f6 \u8bb0\u5f55 \u5927\u7ea6 \u9700\u8981   200MB   \u5927\u5c0f \u3002   \u4eff\u771f \u64ad\u653e   \u53ef\u4ee5 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u7684 \u4efb\u4f55 \u65f6\u5019 \u5f00\u59cb \u64ad\u653e \u3002 \u9664\u4e86 \u65e5\u5fd7 \u6587\u4ef6 \u7684 \u8def\u5f84 \uff0c \u8fd9\u4e2a \u65b9\u6cd5 \u8fd8 \u9700\u8981 \u4e00\u4e9b \u53c2\u6570 \u3002   client . replay _ file ( \" recording01 . log \" ,   start ,   duration ,   camera )   \u53c2\u6570   \u8bf4\u660e   \u7b14\u8bb0   \u5f00\u59cb   \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \u8bb0\u5f55 \u5f00\u59cb \u4eff\u771f \u7684 \u65f6\u95f4 \u3002   \u5982\u679c \u662f \u80af\u5b9a \u7684 \uff0c \u65f6\u95f4 \u5c06 \u4ece \u8bb0\u5f55 \u5f00\u59cb \u8ba1\u7b97 \u3002   \u5982\u679c \u662f \u5426\u5b9a \u7684 \uff0c \u5c06 \u4ece \u6700\u540e \u8003\u8651 \u3002   \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4   \u64ad\u653e \u79d2\u6570 \u3002   0   \u662f \u6240\u6709 \u7684 \u8bb0\u5f55 \u3002   \u64ad\u653e \u7ed3\u675f \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u884c\u4eba \u5c06 \u505c\u6b62 \u3002   \u76f8\u673a   \u76f8\u673a \u5c06 \u805a\u7126 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u201c 0 \u201d \u4ee5 \u8ba9 \u89c2\u4f17 \u81ea\u7531 \u79fb\u52a8 \u3002   \u8bbe\u7f6e \u65f6\u95f4 \u56e0\u5b50   \u65f6\u95f4 \u56e0\u7d20 \u5c06 \u51b3\u5b9a \u64ad\u653e \u901f\u5ea6 \u3002 \u5b83 \u53ef\u4ee5 \u968f\u65f6 \u66f4\u6539 \u800c \u65e0\u9700 \u505c\u6b62 \u56de\u653e \u3002   client . set _ replayer _ time _ factor ( 2.0 )   \u53c2\u6570   \u9ed8\u8ba4   \u5feb \u52a8\u4f5c   \u52a8\u4f5c \u6162\u52a8\u4f5c   time _ factor   1.0   > 1.0   * *   < 1.0   * *   \u91cd\u8981 \u7684   \u5982\u679c   time _ factor > 2.0   \uff0c actors   \u7684 \u4f4d\u7f6e \u63d2\u503c \u88ab \u7981\u7528 \u5e76\u4e14 \u53ea\u662f \u66f4\u65b0 \u3002 \u884c\u4eba \u7684 \u52a8\u753b \u4e0d \u53d7 \u65f6\u95f4 \u56e0\u7d20 \u7684 \u5f71\u54cd \u3002   \u5f53 \u65f6\u95f4 \u56e0\u7d20 \u5728   20x   \u5de6\u53f3 \u65f6 \uff0c \u5f88 \u5bb9\u6613 \u7406\u89e3 \u6d41\u91cf \u3002   \u5f55\u5236 \u6587\u4ef6   \u53ef\u4ee5 \u4f7f\u7528 \u7b80\u5355 \u7684   API   \u8c03\u7528 \u6765 \u68c0\u7d22 \u8bb0\u5f55 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u53ea \u68c0\u7d22 \u6ce8\u518c \u4e8b\u4ef6 \u7684 \u90a3\u4e9b \u5e27 \u3002 \u8bbe\u7f6e \u53c2\u6570   show _ all   \u5c06 \u8fd4\u56de \u6bcf \u4e00\u5e27 \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u5173\u4e8e \u5982\u4f55 \u5b58\u50a8 \u6570\u636e \u7684 \u7ec6\u8282 \u5728   recorder ' s   reference   \u4e2d\u6709 \u8be6\u7ec6 \u8bf4\u660e \u3002   #   \u663e\u793a \u76f8\u5173 \u5e27 \u7684 \u4fe1\u606f   print   ( client . show _ recorder _ file _ info   ( \" recording01 . log \" ) )   \u5f00\u653e \u4fe1\u606f .   \u8bb0\u5f55 \u4eff\u771f \u7684 \u5730\u56fe \u3001 \u65e5\u671f \u548c \u65f6\u95f4 \u3002   Frame   information .   \u4efb\u4f55 \u53ef\u80fd \u53d1\u751f \u7684 \u4e8b\u4ef6 \uff0c \u4f8b\u5982 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u751f\u6210 \u6216 \u78b0\u649e \u3002 \u5b83 \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID   \u548c \u4e00\u4e9b \u9644\u52a0 \u4fe1\u606f \u3002   \u5173\u95ed \u4fe1\u606f .   \u8bb0\u5f55 \u7684 \u5e27 \u6570 \u548c \u603b \u65f6\u95f4 \u3002   Version :   1   Map :   Town05   Date :   02 / 21 / 19   10 : 46 : 20   Frame   1   at   0   seconds   Create   2190 :   spectator   ( 0 )   at   ( - 260 ,   - 200 ,   382.001 )   Create   2191 :   traffic . traffic _ light   ( 3 )   at   ( 4255 ,   10020 ,   0 )   Create   2192 :   traffic . traffic _ light   ( 3 )   at   ( 4025 ,   7860 ,   0 )   ...   Create   2258 :   traffic . speed _ limit.90   ( 0 )   at   ( 21651.7 ,   - 1347.59 ,   15 )   Create   2259 :   traffic . speed _ limit.90   ( 0 )   at   ( 5357 ,   21457.1 ,   15 )   Frame   2   at   0.0254253   seconds   Create   2276 :   vehicle . mini . cooperst   ( 1 )   at   ( 4347.63 ,   - 8409.51 ,   120 )   number _ of _ wheels   =   4   object _ type   =   color   =   255 , 241 , 0   role _ name   =   autopilot   ...   Frame   2350   at   60.2805   seconds   Destroy   2276   Frame   2351   at   60.3057   seconds   Destroy   2277   ...   Frames :   2354   Duration :   60.3753   seconds   \u67e5\u8be2   \u78b0\u649e   \u8f66\u8f86 \u5fc5\u987b \u6709 \u4e00\u4e2a   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u4ee5 \u8bb0\u5f55 \u78b0\u649e \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u88ab \u67e5\u8be2 \uff0c \u4f7f\u7528 \u53c2\u6570 \u6765 \u8fc7\u6ee4 \u78b0\u649e \u4e2d \u6d89\u53ca \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7c7b\u578b \u3002 \u4f8b\u5982 \uff0c   h   \u6807\u8bc6   role _ name   =   hero   \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u901a\u5e38 \u5206\u914d \u7ed9 \u7528\u6237 \u7ba1\u7406 \u7684 \u8f66\u8f86 \u3002 \u6709 \u4e00\u7ec4 \u7279\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7c7b\u578b \u53ef \u7528\u4e8e \u67e5\u8be2 \u3002   h   =   Hero   v   =   Vehicle   w   =   Walker   t   =   Traffic   light   o   =   Other   a   =   Any   \u7b14\u8bb0   manual _ control . py   \u811a\u672c \u4e3a   \u81ea\u6211 \u8f66\u8f86 \u5206\u914d   role _ name   =   hero   \u3002   \u78b0\u649e \u67e5\u8be2 \u9700\u8981 \u4e24\u4e2a \u6807\u5fd7 \u6765 \u8fc7\u6ee4 \u78b0\u649e \u3002 \u4ee5\u4e0b \u793a\u4f8b \u5c06 \u663e\u793a \u8f66\u8f86 \u4e0e \u4efb\u4f55 \u5176\u4ed6 \u5bf9\u8c61 \u4e4b\u95f4 \u7684 \u78b0\u649e \u3002   print ( client . show _ recorder _ collisions ( \" recording01 . log \" , \" v \" ,   \" a \" ) )   \u8f93\u51fa \u603b\u7ed3 \u4e86 \u78b0\u649e \u7684 \u65f6\u95f4 \uff0c \u4ee5\u53ca \u6240 \u6d89\u53ca \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7c7b\u578b \u3001 ID   \u548c \u63cf\u8ff0 \u3002   Version :   1   Map :   Town05   Date :   02 / 19 / 19   15 : 36 : 08   Time   Types   Id   Actor   1   Id   Actor   2   16   v   v   122   vehicle . yamaha . yzf   118   vehicle . dodge _ charger . police   27   v   o   122   vehicle . yamaha . yzf   0   Frames :   790   Duration :   46   seconds   \u91cd\u8981 \u7684   \u56e0\u4e3a \u8bb0\u5f55 \u78b0\u649e \u7684 \u662f   Hero   \u6216   Ego   \u8f66\u8f86 \uff0c \u6240\u4ee5 \u8fd9 \u5c06 \u59cb\u7ec8 \u662f   Actor   1   \u3002   \u53ef\u4ee5 \u901a\u8fc7 \u4f7f\u7528 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5e76 \u5728 \u4e8b\u4ef6 \u53d1\u751f \u524d \u51e0\u79d2 \u8bbe\u7f6e \u5b83 \u6765 \u91cd\u65b0 \u65b0\u5236 \u5236\u5b9a \u91cd\u65b0\u5236\u5b9a \u78b0\u649e \u3002   client . replay _ file ( \" col2 . log \" ,   13 ,   0 ,   122 )   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u56de\u653e \u663e\u793a \u4e86 \u8fd9 \u4e00\u70b9 \u3002   \u88ab \u5361\u4f4f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u68c0\u6d4b \u5728 \u5f55\u5236 \u8fc7\u7a0b \u4e2d \u5361\u4f4f \u7684 \u8f66\u8f86 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u7279\u5b9a \u65f6\u95f4 \u5185 \u6ca1\u6709 \u79fb\u52a8 \u6700\u5c0f \u8ddd\u79bb \uff0c \u5219 \u8ba4\u4e3a \u5b83 \u88ab \u963b\u585e \u3002 \u8be5 \u5b9a\u4e49 \u7531 \u7528\u6237 \u5728 \u67e5\u8be2 \u671f\u95f4 \u8fdb\u884c \u3002   print ( client . show _ recorder _ actors _ blocked ( \" recording01 . log \" ,   min _ time ,   min _ distance ) )   \u53c2\u6570   \u8bf4\u660e   \u9ed8\u8ba4   min _ time   \u79fb\u52a8 \u7684 \u6700\u5c0f \u79d2\u6570 ` min _ distance ` \u3002   30   \u79d2 \u3002   min _ distance   \u79fb\u52a8 \u7684 \u6700\u5c0f \u5398\u7c73 \u6570 \u4e0d\u4f1a \u88ab \u89c6\u4e3a \u963b\u585e \u3002   10 \u5398\u7c73 \u3002   \u7b14\u8bb0   \u6709\u65f6 \u8f66\u8f86 \u5728 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5904 \u505c\u7559 \u7684 \u65f6\u95f4 \u6bd4 \u9884\u671f \u7684 \u8981 \u957f \u3002   \u4ee5\u4e0b \u793a\u4f8b \u8003\u8651 \u8f66\u8f86 \u5728   60   \u79d2 \u5185 \u79fb\u52a8 \u4e0d\u5230   1   \u7c73 \u65f6 \u88ab \u5361\u4f4f \u3002   client . show _ recorder _ actors _ blocked ( \" col3 . log \" ,   60 ,   100 )   \u8f93\u51fa \u5df2 \u6392\u5e8f   \u7531   duration   \u8868\u793a \uff0c \u5b83 \u8bf4\u660e \u4e86 \u505c\u6b62 \u88ab \u201c \u963b\u585e \u201d \u5e76 \u79fb\u52a8   min _ distance   \u9700\u8981 \u591a\u957f \u65f6\u95f4 \u957f\u65f6\u95f4 \u591a\u957f\u65f6\u95f4 \u3002   Version :   1   Map :   Town05   Date :   02 / 19 / 19   15 : 45 : 01   Time   Id   Actor   Duration   36   173   vehicle . nissan . patrol   336   75   214   vehicle . chevrolet . impala   295   302   143   vehicle . bmw . grandtourer   67   Frames :   6985   Duration :   374   seconds   \u8f66\u8f86   173   \u5728   36   \u79d2 \u65f6 \u505c\u6b62   336   \u79d2 \u3002 \u5728 \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a   36   \u4e4b\u524d \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u91cd\u65b0 \u4eff\u771f \u4ee5 \u68c0\u67e5 \u5b83 \u3002   client . replay _ file ( \" col3 . log \" ,   34 ,   0 ,   173 )   \u793a\u4f8b   python   \u811a\u672c   PythonAPI / examples   \u4e2d \u63d0\u4f9b \u7684 \u4e00\u4e9b \u811a\u672c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u7684 \u4f7f\u7528 \u3002   start _ recording . py   \u5f00\u59cb \u5f55\u5236 \u3002 \u53ef\u4ee5 \u8bbe\u7f6e \u5f55\u5236 \u7684 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \uff0c \u5e76\u4e14 \u53ef\u4ee5 \u5728 \u5f00\u59cb \u65f6 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u53c2\u6570   \u8bf4\u660e   - f   \u6587\u4ef6 \u6587\u4ef6\u540d \u3002   - n   \uff08 \u53ef \u9009 \uff09   \u4ea7\u751f \u7684 \u8f66\u8f86 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   10 \u3002   - t   \uff08 \u53ef \u9009 \uff09   \u5f55\u5236 \u7684 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u3002   start _ replaying . py   \u5f00\u59cb \u64ad\u653e \u5f55\u5236 \u3002 \u53ef\u4ee5 \u8bbe\u7f6e \u5f00\u59cb \u65f6\u95f4 \u3001 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u548c \u8981 \u8ddf\u968f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u53c2\u6570   \u8bf4\u660e   - f   \u6587\u4ef6 \u6587\u4ef6\u540d \u3002   - s   \uff08 \u53ef \u9009 \uff09   \u8d77\u59cb \u65f6\u95f4 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   10 \u3002   - d   ( \u53ef \u9009 )   \u671f\u95f4 \u3002 \u9ed8\u8ba4 \u4e3a \u5168\u90e8 \u3002   - c   \uff08 \u53ef \u9009 \uff09   \u8981 \u5173\u6ce8 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   show _ recorder _ file _ info . py   \u663e\u793a \u5f55\u5236 \u6587\u4ef6 \u4e2d \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u4ec5 \u663e\u793a \u8bb0\u5f55 \u4e8b\u4ef6 \u7684 \u5e27 \u3002 \u4f46\u662f \uff0c \u6240\u6709 \u8fd9\u4e9b \u90fd \u53ef\u4ee5 \u663e\u793a \u3002   \u53c2\u6570   \u8bf4\u660e   - f   \u6587\u4ef6 \u6587\u4ef6\u540d \u3002   - s   \uff08 \u53ef \u9009 \uff09   \u6807\u8bb0 \u4ee5 \u663e\u793a \u6240\u6709 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   show _ recorder _ collisions . py   \u663e\u793a \u7c7b\u578b \u4e3a   A   \u548c   B   \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e24\u4e2a \u6807\u5fd7 \u4e4b\u95f4 \u8bb0\u5f55 \u7684 \u78b0\u649e \u3002   - t   =   vv   \u5c06 \u663e\u793a \u8f66\u8f86 \u4e4b\u95f4 \u7684 \u6240\u6709 \u78b0\u649e \u3002   \u53c2\u6570   \u8bf4\u660e   - f   \u6587\u4ef6 \u6587\u4ef6\u540d \u3002   - t   \u76f8\u5173 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6807\u5fd7 \u3002   h   =   hero   v   =   vehicle   w   =   walker   t   =   traffic   light   o   =   other   a   =   any   show _ recorder _ actors _ blocked . py   \u5217\u51fa \u88ab \u8ba4\u4e3a \u88ab \u963b\u6b62 \u7684 \u8f66\u8f86 \u3002 \u5982\u679c \u5728 \u7279\u5b9a \u65f6\u95f4 \u5185 \u6ca1\u6709 \u79fb\u52a8 \u6700\u5c0f \u8ddd\u79bb \uff0c \u5219 \u8ba4\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u88ab \u963b\u6321 \u3002   \u53c2\u6570   \u8bf4\u660e   - f   \u6587\u4ef6 \u6587\u4ef6\u540d \u3002   - t   \uff08 \u53ef \u9009 \uff09   \u662f \u65f6\u5019 \u5728 \u88ab \u8ba4\u4e3a \u88ab \u963b\u585e \u4e4b\u524d \u79fb\u52a8   - d   \u4e86 \u3002   - d   ( \u53ef \u9009 )   \u79fb\u52a8 \u8ddd\u79bb \u4e0d\u4f1a \u88ab \u89c6\u4e3a \u963b\u585e \u3002   \u73b0\u5728 \u662f \u8bd5\u9a8c \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u7684 \u65f6\u5019 \u4e86 \u3002 \u4f7f\u7528 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u56de\u653e \u4eff\u771f \u3001 \u8ffd\u6eaf \u4e8b\u4ef6 \u3001 \u8fdb\u884c \u66f4\u6539 \u4ee5 \u67e5\u770b \u65b0 \u7ed3\u679c \u3002 \u5728   Carla   \u8bba\u575b \u4e0a \u5c31 \u6b64\u4e8b \u53d1\u8868 \u8868\u610f \u610f\u89c1 \u53d1\u8868\u610f\u89c1 \u3002   Carla   \u8bba\u575b","title":"\u8bb0\u5f55\u5668"},{"location":"adv_recorder/#_1","text":"\u6b64 \u529f\u80fd \u5141\u8bb8 \u8bb0\u5f55 \u548c \u91cd\u65b0 \u65b0\u5236 \u5236\u5b9a \u91cd\u65b0\u5236\u5b9a \u4ee5\u524d \u7684 \u4eff\u771f \u3002 \u6240\u6709 \u53d1\u751f \u7684 \u4e8b\u4ef6 \u90fd \u8bb0\u5f55 \u5728   \u8bb0\u5f55 \u6587\u4ef6   \u4e2d \u3002 \u6709 \u4e00\u4e9b \u9ad8\u7ea7 \u67e5\u8be2 \u53ef\u4ee5 \u8ddf\u8e2a \u548c \u7814\u7a76 \u8fd9\u4e9b \u4e8b\u4ef6 \u3002   \u8bb0\u5f55   \u4eff\u771f \u64ad\u653e   \u8bbe\u7f6e \u65f6\u95f4 \u56e0\u5b50   \u5f55\u5236 \u6587\u4ef6   \u67e5\u8be2   \u78b0\u649e   \u88ab \u56f0\u4f4f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u793a\u4f8b   Python   \u811a\u672c","title":"\u8bb0\u5f55\u5668"},{"location":"adv_recorder/#_2","text":"\u6240\u6709 \u6570\u636e \u4ec5 \u5199\u5165 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u3002 \u4f46\u662f \uff0c \u4f7f\u7528   carla . Client   \u7ba1\u7406 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002   \u6839\u636e \u8bb0\u5f55 \u6587\u4ef6 \u4e2d \u5305\u542b \u7684 \u6570\u636e \uff0c \u6bcf\u5e27 \u66f4\u65b0 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5f53\u524d \u4eff\u771f \u4e2d \u51fa\u73b0 \u5728 \u5f55\u5236 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u88ab \u79fb\u52a8 \u6216 \u91cd\u65b0 \u751f\u6210 \u4ee5 \u4eff\u771f \u5b83 \u3002 \u90a3\u4e9b \u6ca1\u6709 \u51fa\u73b0 \u5728 \u8bb0\u5f55 \u4e2d \u7684 \u5c06 \u7ee7\u7eed \u4ed6\u4eec \u7684 \u65b9\u5f0f \uff0c \u5c31 \u597d\u50cf \u4ec0\u4e48 \u90fd \u6ca1 \u53d1\u751f \u4e00\u6837 \u3002   \u91cd\u8981 \u7684   \u64ad\u653e \u7ed3\u675f \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u4f46   \u884c\u4eba \u5c06 \u505c\u6b62   \u3002   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u5305\u62ec \u6709\u5173 \u8bb8\u591a \u4e0d\u540c \u5143\u7d20 \u7684 \u4fe1\u606f \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005   \u2014   \u521b\u5efa \u548c \u9500\u6bc1 \u3001 \u8fb9\u754c \u548c \u89e6\u53d1 \u6846 \u3002   \u4ea4\u901a \u4ea4\u901a\u706f   \u2014   \u72b6\u6001 \u53d8\u5316 \u548c \u65f6\u95f4 \u8bbe\u7f6e \u3002   \u8f66\u8f86   \u2014   \u4f4d\u7f6e \u548c \u65b9\u5411 \u3001 \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3001 \u5149 \u72b6\u6001 \u548c \u7269\u7406 \u63a7\u5236 \u3002   \u884c\u4eba   \u2014   \u4f4d\u7f6e \u548c \u65b9\u5411 \uff0c \u4ee5\u53ca \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3002   \u706f\u5149   \u2014   \u6765\u81ea \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u8857\u9053 \u548c \u8f66\u8f86 \u7684 \u706f\u5149 \u72b6\u6001 \u3002   \u8981 \u5f00\u59cb \u5f55\u5236 \uff0c \u53ea \u9700\u8981 \u4e00\u4e2a \u6587\u4ef6 \u6587\u4ef6\u540d \u3002 \u5728 \u6587\u4ef6 \u6587\u4ef6\u540d \u4e2d \u4f7f\u7528   \\   \u3001   /   \u6216   :   \u5b57\u7b26 \u4f1a \u5c06 \u5176 \u5b9a\u4e49 \u4e3a \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002 \u5982\u679c \u6ca1\u6709 \u8be6\u7ec6 \u7684 \u8def\u5f84 \uff0c \u6587\u4ef6 \u5c06 \u4fdd\u5b58 \u5728   CarlaUE4 / Saved   \u4e2d \u3002   client . start _ recorder ( \" / home / carla / recording01 . log \" )   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8bbe\u7f6e \u4e3a \u4ec5 \u5b58\u50a8 \u56de\u653e \u4eff\u771f \u6240 \u9700 \u7684 \u4fe1\u606f \u3002 \u4e3a\u4e86 \u4fdd\u5b58 \u524d\u9762 \u63d0\u5230 \u7684 \u6240\u6709 \u4fe1\u606f \uff0c \u5fc5\u987b \u5728 \u5f00\u59cb \u5f55\u5236 \u65f6 \u914d\u7f6e \u53c2\u6570   additional _ data   \u3002   client . start _ recorder ( \" / home / carla / recording01 . log \" ,   True )   \u7b14\u8bb0   \u5176\u4ed6 \u6570\u636e \u5305\u62ec \uff1a \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3001 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6\u95f4 \u8bbe\u7f6e \u3001 \u6267\u884c \u65f6\u95f4 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \u548c \u8fb9\u754c \u6846 \uff0c \u4ee5\u53ca \u8f66\u8f86 \u7684 \u7269\u7406 \u63a7\u5236 \u3002   \u8981 \u505c\u6b62 \u5f55\u5236 \uff0c \u8c03\u7528 \u4e5f \u5f88 \u7b80\u5355 \u3002   client . stop _ recorder ( )   \u7b14\u8bb0   \u4f30\u8ba1 \u636e\u4f30\u8ba1 \uff0c 50   \u4e2a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u548c   100   \u8f86\u8f66 \u7684   1   \u5c0f\u65f6 \u8bb0\u5f55 \u5927\u7ea6 \u9700\u8981   200MB   \u5927\u5c0f \u3002","title":"\u8bb0\u5f55  "},{"location":"adv_recorder/#_3","text":"\u53ef\u4ee5 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u7684 \u4efb\u4f55 \u65f6\u5019 \u5f00\u59cb \u64ad\u653e \u3002 \u9664\u4e86 \u65e5\u5fd7 \u6587\u4ef6 \u7684 \u8def\u5f84 \uff0c \u8fd9\u4e2a \u65b9\u6cd5 \u8fd8 \u9700\u8981 \u4e00\u4e9b \u53c2\u6570 \u3002   client . replay _ file ( \" recording01 . log \" ,   start ,   duration ,   camera )   \u53c2\u6570   \u8bf4\u660e   \u7b14\u8bb0   \u5f00\u59cb   \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \u8bb0\u5f55 \u5f00\u59cb \u4eff\u771f \u7684 \u65f6\u95f4 \u3002   \u5982\u679c \u662f \u80af\u5b9a \u7684 \uff0c \u65f6\u95f4 \u5c06 \u4ece \u8bb0\u5f55 \u5f00\u59cb \u8ba1\u7b97 \u3002   \u5982\u679c \u662f \u5426\u5b9a \u7684 \uff0c \u5c06 \u4ece \u6700\u540e \u8003\u8651 \u3002   \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4   \u64ad\u653e \u79d2\u6570 \u3002   0   \u662f \u6240\u6709 \u7684 \u8bb0\u5f55 \u3002   \u64ad\u653e \u7ed3\u675f \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u884c\u4eba \u5c06 \u505c\u6b62 \u3002   \u76f8\u673a   \u76f8\u673a \u5c06 \u805a\u7126 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u201c 0 \u201d \u4ee5 \u8ba9 \u89c2\u4f17 \u81ea\u7531 \u79fb\u52a8 \u3002","title":"\u4eff\u771f \u64ad\u653e  "},{"location":"adv_recorder/#_4","text":"\u65f6\u95f4 \u56e0\u7d20 \u5c06 \u51b3\u5b9a \u64ad\u653e \u901f\u5ea6 \u3002 \u5b83 \u53ef\u4ee5 \u968f\u65f6 \u66f4\u6539 \u800c \u65e0\u9700 \u505c\u6b62 \u56de\u653e \u3002   client . set _ replayer _ time _ factor ( 2.0 )   \u53c2\u6570   \u9ed8\u8ba4   \u5feb \u52a8\u4f5c   \u52a8\u4f5c \u6162\u52a8\u4f5c   time _ factor   1.0   > 1.0   * *   < 1.0   * *   \u91cd\u8981 \u7684   \u5982\u679c   time _ factor > 2.0   \uff0c actors   \u7684 \u4f4d\u7f6e \u63d2\u503c \u88ab \u7981\u7528 \u5e76\u4e14 \u53ea\u662f \u66f4\u65b0 \u3002 \u884c\u4eba \u7684 \u52a8\u753b \u4e0d \u53d7 \u65f6\u95f4 \u56e0\u7d20 \u7684 \u5f71\u54cd \u3002   \u5f53 \u65f6\u95f4 \u56e0\u7d20 \u5728   20x   \u5de6\u53f3 \u65f6 \uff0c \u5f88 \u5bb9\u6613 \u7406\u89e3 \u6d41\u91cf \u3002","title":"\u8bbe\u7f6e \u65f6\u95f4 \u56e0\u5b50  "},{"location":"adv_recorder/#_5","text":"\u53ef\u4ee5 \u4f7f\u7528 \u7b80\u5355 \u7684   API   \u8c03\u7528 \u6765 \u68c0\u7d22 \u8bb0\u5f55 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u53ea \u68c0\u7d22 \u6ce8\u518c \u4e8b\u4ef6 \u7684 \u90a3\u4e9b \u5e27 \u3002 \u8bbe\u7f6e \u53c2\u6570   show _ all   \u5c06 \u8fd4\u56de \u6bcf \u4e00\u5e27 \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u5173\u4e8e \u5982\u4f55 \u5b58\u50a8 \u6570\u636e \u7684 \u7ec6\u8282 \u5728   recorder ' s   reference   \u4e2d\u6709 \u8be6\u7ec6 \u8bf4\u660e \u3002   #   \u663e\u793a \u76f8\u5173 \u5e27 \u7684 \u4fe1\u606f   print   ( client . show _ recorder _ file _ info   ( \" recording01 . log \" ) )   \u5f00\u653e \u4fe1\u606f .   \u8bb0\u5f55 \u4eff\u771f \u7684 \u5730\u56fe \u3001 \u65e5\u671f \u548c \u65f6\u95f4 \u3002   Frame   information .   \u4efb\u4f55 \u53ef\u80fd \u53d1\u751f \u7684 \u4e8b\u4ef6 \uff0c \u4f8b\u5982 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u751f\u6210 \u6216 \u78b0\u649e \u3002 \u5b83 \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID   \u548c \u4e00\u4e9b \u9644\u52a0 \u4fe1\u606f \u3002   \u5173\u95ed \u4fe1\u606f .   \u8bb0\u5f55 \u7684 \u5e27 \u6570 \u548c \u603b \u65f6\u95f4 \u3002   Version :   1   Map :   Town05   Date :   02 / 21 / 19   10 : 46 : 20   Frame   1   at   0   seconds   Create   2190 :   spectator   ( 0 )   at   ( - 260 ,   - 200 ,   382.001 )   Create   2191 :   traffic . traffic _ light   ( 3 )   at   ( 4255 ,   10020 ,   0 )   Create   2192 :   traffic . traffic _ light   ( 3 )   at   ( 4025 ,   7860 ,   0 )   ...   Create   2258 :   traffic . speed _ limit.90   ( 0 )   at   ( 21651.7 ,   - 1347.59 ,   15 )   Create   2259 :   traffic . speed _ limit.90   ( 0 )   at   ( 5357 ,   21457.1 ,   15 )   Frame   2   at   0.0254253   seconds   Create   2276 :   vehicle . mini . cooperst   ( 1 )   at   ( 4347.63 ,   - 8409.51 ,   120 )   number _ of _ wheels   =   4   object _ type   =   color   =   255 , 241 , 0   role _ name   =   autopilot   ...   Frame   2350   at   60.2805   seconds   Destroy   2276   Frame   2351   at   60.3057   seconds   Destroy   2277   ...   Frames :   2354   Duration :   60.3753   seconds","title":"\u5f55\u5236 \u6587\u4ef6  "},{"location":"adv_recorder/#_6","text":"","title":"\u67e5\u8be2  "},{"location":"adv_recorder/#_7","text":"\u8f66\u8f86 \u5fc5\u987b \u6709 \u4e00\u4e2a   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u4ee5 \u8bb0\u5f55 \u78b0\u649e \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u88ab \u67e5\u8be2 \uff0c \u4f7f\u7528 \u53c2\u6570 \u6765 \u8fc7\u6ee4 \u78b0\u649e \u4e2d \u6d89\u53ca \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7c7b\u578b \u3002 \u4f8b\u5982 \uff0c   h   \u6807\u8bc6   role _ name   =   hero   \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u901a\u5e38 \u5206\u914d \u7ed9 \u7528\u6237 \u7ba1\u7406 \u7684 \u8f66\u8f86 \u3002 \u6709 \u4e00\u7ec4 \u7279\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7c7b\u578b \u53ef \u7528\u4e8e \u67e5\u8be2 \u3002   h   =   Hero   v   =   Vehicle   w   =   Walker   t   =   Traffic   light   o   =   Other   a   =   Any   \u7b14\u8bb0   manual _ control . py   \u811a\u672c \u4e3a   \u81ea\u6211 \u8f66\u8f86 \u5206\u914d   role _ name   =   hero   \u3002   \u78b0\u649e \u67e5\u8be2 \u9700\u8981 \u4e24\u4e2a \u6807\u5fd7 \u6765 \u8fc7\u6ee4 \u78b0\u649e \u3002 \u4ee5\u4e0b \u793a\u4f8b \u5c06 \u663e\u793a \u8f66\u8f86 \u4e0e \u4efb\u4f55 \u5176\u4ed6 \u5bf9\u8c61 \u4e4b\u95f4 \u7684 \u78b0\u649e \u3002   print ( client . show _ recorder _ collisions ( \" recording01 . log \" , \" v \" ,   \" a \" ) )   \u8f93\u51fa \u603b\u7ed3 \u4e86 \u78b0\u649e \u7684 \u65f6\u95f4 \uff0c \u4ee5\u53ca \u6240 \u6d89\u53ca \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7c7b\u578b \u3001 ID   \u548c \u63cf\u8ff0 \u3002   Version :   1   Map :   Town05   Date :   02 / 19 / 19   15 : 36 : 08   Time   Types   Id   Actor   1   Id   Actor   2   16   v   v   122   vehicle . yamaha . yzf   118   vehicle . dodge _ charger . police   27   v   o   122   vehicle . yamaha . yzf   0   Frames :   790   Duration :   46   seconds   \u91cd\u8981 \u7684   \u56e0\u4e3a \u8bb0\u5f55 \u78b0\u649e \u7684 \u662f   Hero   \u6216   Ego   \u8f66\u8f86 \uff0c \u6240\u4ee5 \u8fd9 \u5c06 \u59cb\u7ec8 \u662f   Actor   1   \u3002   \u53ef\u4ee5 \u901a\u8fc7 \u4f7f\u7528 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5e76 \u5728 \u4e8b\u4ef6 \u53d1\u751f \u524d \u51e0\u79d2 \u8bbe\u7f6e \u5b83 \u6765 \u91cd\u65b0 \u65b0\u5236 \u5236\u5b9a \u91cd\u65b0\u5236\u5b9a \u78b0\u649e \u3002   client . replay _ file ( \" col2 . log \" ,   13 ,   0 ,   122 )   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u56de\u653e \u663e\u793a \u4e86 \u8fd9 \u4e00\u70b9 \u3002","title":"\u78b0\u649e  "},{"location":"adv_recorder/#_8","text":"\u68c0\u6d4b \u5728 \u5f55\u5236 \u8fc7\u7a0b \u4e2d \u5361\u4f4f \u7684 \u8f66\u8f86 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u7279\u5b9a \u65f6\u95f4 \u5185 \u6ca1\u6709 \u79fb\u52a8 \u6700\u5c0f \u8ddd\u79bb \uff0c \u5219 \u8ba4\u4e3a \u5b83 \u88ab \u963b\u585e \u3002 \u8be5 \u5b9a\u4e49 \u7531 \u7528\u6237 \u5728 \u67e5\u8be2 \u671f\u95f4 \u8fdb\u884c \u3002   print ( client . show _ recorder _ actors _ blocked ( \" recording01 . log \" ,   min _ time ,   min _ distance ) )   \u53c2\u6570   \u8bf4\u660e   \u9ed8\u8ba4   min _ time   \u79fb\u52a8 \u7684 \u6700\u5c0f \u79d2\u6570 ` min _ distance ` \u3002   30   \u79d2 \u3002   min _ distance   \u79fb\u52a8 \u7684 \u6700\u5c0f \u5398\u7c73 \u6570 \u4e0d\u4f1a \u88ab \u89c6\u4e3a \u963b\u585e \u3002   10 \u5398\u7c73 \u3002   \u7b14\u8bb0   \u6709\u65f6 \u8f66\u8f86 \u5728 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5904 \u505c\u7559 \u7684 \u65f6\u95f4 \u6bd4 \u9884\u671f \u7684 \u8981 \u957f \u3002   \u4ee5\u4e0b \u793a\u4f8b \u8003\u8651 \u8f66\u8f86 \u5728   60   \u79d2 \u5185 \u79fb\u52a8 \u4e0d\u5230   1   \u7c73 \u65f6 \u88ab \u5361\u4f4f \u3002   client . show _ recorder _ actors _ blocked ( \" col3 . log \" ,   60 ,   100 )   \u8f93\u51fa \u5df2 \u6392\u5e8f   \u7531   duration   \u8868\u793a \uff0c \u5b83 \u8bf4\u660e \u4e86 \u505c\u6b62 \u88ab \u201c \u963b\u585e \u201d \u5e76 \u79fb\u52a8   min _ distance   \u9700\u8981 \u591a\u957f \u65f6\u95f4 \u957f\u65f6\u95f4 \u591a\u957f\u65f6\u95f4 \u3002   Version :   1   Map :   Town05   Date :   02 / 19 / 19   15 : 45 : 01   Time   Id   Actor   Duration   36   173   vehicle . nissan . patrol   336   75   214   vehicle . chevrolet . impala   295   302   143   vehicle . bmw . grandtourer   67   Frames :   6985   Duration :   374   seconds   \u8f66\u8f86   173   \u5728   36   \u79d2 \u65f6 \u505c\u6b62   336   \u79d2 \u3002 \u5728 \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a   36   \u4e4b\u524d \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u91cd\u65b0 \u4eff\u771f \u4ee5 \u68c0\u67e5 \u5b83 \u3002   client . replay _ file ( \" col3 . log \" ,   34 ,   0 ,   173 )","title":"\u88ab \u5361\u4f4f \u7684 \u53c2\u4e0e\u8005  "},{"location":"adv_recorder/#python","text":"PythonAPI / examples   \u4e2d \u63d0\u4f9b \u7684 \u4e00\u4e9b \u811a\u672c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u7684 \u4f7f\u7528 \u3002   start _ recording . py   \u5f00\u59cb \u5f55\u5236 \u3002 \u53ef\u4ee5 \u8bbe\u7f6e \u5f55\u5236 \u7684 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \uff0c \u5e76\u4e14 \u53ef\u4ee5 \u5728 \u5f00\u59cb \u65f6 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u53c2\u6570   \u8bf4\u660e   - f   \u6587\u4ef6 \u6587\u4ef6\u540d \u3002   - n   \uff08 \u53ef \u9009 \uff09   \u4ea7\u751f \u7684 \u8f66\u8f86 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   10 \u3002   - t   \uff08 \u53ef \u9009 \uff09   \u5f55\u5236 \u7684 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u3002   start _ replaying . py   \u5f00\u59cb \u64ad\u653e \u5f55\u5236 \u3002 \u53ef\u4ee5 \u8bbe\u7f6e \u5f00\u59cb \u65f6\u95f4 \u3001 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u548c \u8981 \u8ddf\u968f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u53c2\u6570   \u8bf4\u660e   - f   \u6587\u4ef6 \u6587\u4ef6\u540d \u3002   - s   \uff08 \u53ef \u9009 \uff09   \u8d77\u59cb \u65f6\u95f4 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   10 \u3002   - d   ( \u53ef \u9009 )   \u671f\u95f4 \u3002 \u9ed8\u8ba4 \u4e3a \u5168\u90e8 \u3002   - c   \uff08 \u53ef \u9009 \uff09   \u8981 \u5173\u6ce8 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   show _ recorder _ file _ info . py   \u663e\u793a \u5f55\u5236 \u6587\u4ef6 \u4e2d \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u4ec5 \u663e\u793a \u8bb0\u5f55 \u4e8b\u4ef6 \u7684 \u5e27 \u3002 \u4f46\u662f \uff0c \u6240\u6709 \u8fd9\u4e9b \u90fd \u53ef\u4ee5 \u663e\u793a \u3002   \u53c2\u6570   \u8bf4\u660e   - f   \u6587\u4ef6 \u6587\u4ef6\u540d \u3002   - s   \uff08 \u53ef \u9009 \uff09   \u6807\u8bb0 \u4ee5 \u663e\u793a \u6240\u6709 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   show _ recorder _ collisions . py   \u663e\u793a \u7c7b\u578b \u4e3a   A   \u548c   B   \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e24\u4e2a \u6807\u5fd7 \u4e4b\u95f4 \u8bb0\u5f55 \u7684 \u78b0\u649e \u3002   - t   =   vv   \u5c06 \u663e\u793a \u8f66\u8f86 \u4e4b\u95f4 \u7684 \u6240\u6709 \u78b0\u649e \u3002   \u53c2\u6570   \u8bf4\u660e   - f   \u6587\u4ef6 \u6587\u4ef6\u540d \u3002   - t   \u76f8\u5173 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6807\u5fd7 \u3002   h   =   hero   v   =   vehicle   w   =   walker   t   =   traffic   light   o   =   other   a   =   any   show _ recorder _ actors _ blocked . py   \u5217\u51fa \u88ab \u8ba4\u4e3a \u88ab \u963b\u6b62 \u7684 \u8f66\u8f86 \u3002 \u5982\u679c \u5728 \u7279\u5b9a \u65f6\u95f4 \u5185 \u6ca1\u6709 \u79fb\u52a8 \u6700\u5c0f \u8ddd\u79bb \uff0c \u5219 \u8ba4\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u88ab \u963b\u6321 \u3002   \u53c2\u6570   \u8bf4\u660e   - f   \u6587\u4ef6 \u6587\u4ef6\u540d \u3002   - t   \uff08 \u53ef \u9009 \uff09   \u662f \u65f6\u5019 \u5728 \u88ab \u8ba4\u4e3a \u88ab \u963b\u585e \u4e4b\u524d \u79fb\u52a8   - d   \u4e86 \u3002   - d   ( \u53ef \u9009 )   \u79fb\u52a8 \u8ddd\u79bb \u4e0d\u4f1a \u88ab \u89c6\u4e3a \u963b\u585e \u3002   \u73b0\u5728 \u662f \u8bd5\u9a8c \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u7684 \u65f6\u5019 \u4e86 \u3002 \u4f7f\u7528 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u56de\u653e \u4eff\u771f \u3001 \u8ffd\u6eaf \u4e8b\u4ef6 \u3001 \u8fdb\u884c \u66f4\u6539 \u4ee5 \u67e5\u770b \u65b0 \u7ed3\u679c \u3002 \u5728   Carla   \u8bba\u575b \u4e0a \u5c31 \u6b64\u4e8b \u53d1\u8868 \u8868\u610f \u610f\u89c1 \u53d1\u8868\u610f\u89c1 \u3002   Carla   \u8bba\u575b","title":"\u793a\u4f8b   python   \u811a\u672c  "},{"location":"adv_rendering_options/","text":"\u6e32\u67d3 \u9009\u9879   \u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86   Carla   \u4e2d \u53ef\u7528 \u7684 \u4e0d\u540c \u6e32\u67d3 \u9009\u9879 \uff0c \u5305\u62ec \u8d28\u91cf \u7ea7\u522b \u3001 \u65e0 \u6e32\u67d3 \u6a21\u5f0f \u548c \u79bb\u5c4f \u6a21\u5f0f \u3002 \u5b83 \u8fd8 \u89e3\u91ca \u4e86   Carla   0.9 . 12   \u7248\u672c \u5728 \u8fd9\u4e9b \u65b9\u9762 \u4e0e \u4ee5\u524d \u7248\u672c \u7684 \u4e0d\u540c \u4e4b\u5904 \u4e0d\u540c\u4e4b\u5904 \u3002   \u56fe\u5f62 \u8d28\u91cf   Vulkan   \u56fe\u5f62   API   \u8d28\u91cf \u7b49\u7ea7   \u65e0 \u6e32\u67d3 \u6a21\u5f0f   \u79bb\u5c4f \u6a21\u5f0f   \u79bb\u5c4f \u4e0e \u65e0 \u6e32\u67d3   \u8bbe\u7f6e \u79bb\u5c4f \u6a21\u5f0f \uff08 \u7248\u672c 0.9 . 12 + \uff09 )   \u8bbe\u7f6e \u79bb\u5c4f \u6a21\u5f0f \uff08 0.9 . 12 \u4e4b\u524d \u7684 \u7248\u672c \uff09   \u7a7a \u6e32\u67d3 \u786c\u4ef6 \u63a5\u53e3   \u91cd\u8981   \u4e0b\u9762 \u7684 \u4e00\u4e9b \u547d\u4ee4 \u9009\u9879 \u5728   Carla   \u6253\u5305 \u7248\u672c \u4e2d \u5e76 \u4e0d \u7b49\u6548 \u3002 \u8bf7 \u9605\u8bfb   \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879   \u90e8\u5206 \u4ee5 \u4e86\u89e3 \u6709\u5173 \u6b64 \u5185\u5bb9 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u56fe\u5f62 \u8d28\u91cf   Vulkan   \u56fe\u5f62   API   \u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u5728 \u865a\u5e7b \u5f15\u64ce   4.26 \u4e0a \u8fd0\u884c \uff0c \u4ec5 \u652f\u6301   Vulkan   \u56fe\u5f62 API \u3002 \u4ee5\u524d \u7248\u672c \u7684   Carla   \u53ef\u4ee5 \u914d\u7f6e \u4e3a \u4f7f\u7528   OpenGL \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u7684 \u65e9\u671f \u7248\u672c \uff0c \u8bf7 \u5728 \u5c4f\u5e55 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u9009\u62e9 \u76f8\u5e94 \u7684 \u6587\u6863 \u7248\u672c \u4ee5 \u83b7\u53d6 \u66f4 \u591a \u4fe1\u606f \u3002   \u8d28\u91cf \u7b49\u7ea7   Carla   \u6709 \u4e24\u4e2a \u4e0d\u540c \u7684 \u56fe\u5f62 \u8d28\u91cf \u7ea7\u522b \u3002   Epic   \u662f \u9ed8\u8ba4 \u7684 \u5e76\u4e14 \u662f \u6700 \u8be6\u7ec6 \u7684 \u3002   Low   \u4f1a \u7981\u7528 \u6240\u6709 \u5904\u7406 \u540e\u5904\u7406 \u548c \u9634\u5f71 \uff0c \u5e76\u4e14 \u7ed8\u56fe \u8ddd\u79bb \u8bbe\u7f6e \u4e3a   50m   \u800c \u4e0d\u662f \u65e0\u9650 \u3002   \u4eff\u771f \u5728   Low   \u6a21\u5f0f \u4e0b \u8fd0\u884c \u901f\u5ea6 \u660e\u663e \u66f4 \u5feb \u3002 \u8fd9 \u5728 \u5b58\u5728 \u6280\u672f \u9650\u5236 \u3001 \u7cbe\u5ea6 \u4e0d \u91cd\u8981 \u7684 \u60c5\u51b5 \u4e0b \u6216\u8005 \u5728 \u5177\u6709 \u66f4 \u7b80\u5355 \u6570\u636e \u6216\u4ec5 \u6d89\u53ca \u63a5\u8fd1 \u5143\u7d20 \u7684 \u6761\u4ef6 \u4e0b \u8bad\u7ec3 \u4ee3\u7406 \u7684 \u60c5\u51b5 \u4e0b \u5f88 \u6709 \u5e2e\u52a9 \u3002   \u4e0b\u56fe \u6bd4\u8f83 \u4e86 \u4e24\u79cd \u6a21\u5f0f \u3002 Windows   \u548c   Linux   \u6240 \u4f7f\u7528 \u7684 \u6807\u5fd7 \u662f \u76f8\u540c \u7684 \u3002 \u4f7f\u7528 \u6784\u5efa \u65f6 \u6ca1\u6709 \u7b49\u6548 \u9009\u9879 \uff0c \u4f46 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u6709 \u81ea\u5df1 \u7684 \u8d28\u91cf \u8bbe\u7f6e \u3002 \u8bbf\u95ee   Settings / Engine   Scalability   Settings   \u4ee5 \u83b7\u5f97 \u6240 \u9700 \u8d28\u91cf \u7684 \u66f4 \u5927 \u5b9a\u5236 \u3002   \u53f2\u8bd7 \u6a21\u5f0f   . / CarlaUE4 . sh   - quality - level = Epic   \u53f2\u8bd7 \u6a21\u5f0f \u622a\u56fe   \u4f4e\u8d28 \u8d28\u91cf \u4f4e\u8d28\u91cf \u6a21\u5f0f   . / CarlaUE4 . sh   - quality - level = Low   \u4f4e\u8d28 \u8d28\u91cf \u4f4e\u8d28\u91cf \u6a21\u5f0f \u622a\u56fe   \u91cd\u8981   \u5bfc\u81f4 \u53f2\u8bd7 \u6a21\u5f0f \u663e\u793a \u5f02\u5e38 \u767d\u5ea6 \u7684 \u95ee\u9898 \u5df2 \u5f97\u5230 \u4fee\u590d \u3002 \u5982\u679c \u95ee\u9898 \u4ecd\u7136 \u5b58\u5728 \uff0c \u8bf7 \u5220\u9664   GameUserSettings . ini   \u3002 \u5b83 \u6b63\u5728 \u4fdd\u5b58 \u4ee5\u524d \u7684 \u8bbe\u7f6e \uff0c \u5e76 \u5c06 \u5728 \u4e0b\u6b21 \u8fd0\u884c \u65f6 \u518d\u6b21 \u751f\u6210 \u3002   Ubuntu   \u8def\u5f84 \uff1a   ~ / . config / Epic / CarlaUE4 / Saved / Config / LinuxNoEditor /   Windows   \u8def\u5f84 \uff1a   < Package   folder > \\ WindowsNoEditor \\ CarlaUE4 \\ Saved \\ Config \\ WindowsNoEditor \\   \u65e0 \u6e32\u67d3 \u6a21\u5f0f   \u6b64 \u6a21\u5f0f \u7981\u7528 \u6e32\u67d3 \u3002 \u865a\u5e7b \u5f15\u64ce \u5c06 \u8df3 \u8fc7 \u6709\u5173 \u56fe\u5f62 \u7684 \u6240\u6709 \u5185\u5bb9 \u3002 \u6b64 \u6a21\u5f0f \u53ef \u9632\u6b62 \u6e32\u67d3 \u5f00\u9500 \u3002 \u5b83 \u6709\u5229 \u5229\u4e8e \u6709\u5229\u4e8e \u5927\u91cf \u4ea4\u901a \u4eff\u771f \u548c \u975e\u5e38 \u9ad8\u9891 \u9891\u7387 \u9ad8\u9891\u7387 \u7684 \u9053\u8def \u884c\u4e3a \u3002 \u8981 \u542f\u7528 \u6216 \u7981\u7528 \u65e0 \u6e32\u67d3 \u6a21\u5f0f \uff0c \u8bf7 \u66f4\u6539 \u4e16\u754c \u8bbe\u7f6e \uff0c \u6216 \u4f7f\u7528   / PythonAPI / util / config . py   \u3002   \u4ee5\u4e0b \u662f \u5982\u4f55 \u901a\u8fc7 \u811a\u672c \u542f\u7528 \u548c \u7981\u7528 \u5b83 \u7684 \u793a\u4f8b \uff1a   settings   =   world . get _ settings ( )   settings . no _ rendering _ mode   =   True   world . apply _ settings ( settings )   ...   settings . no _ rendering _ mode   =   False   world . apply _ settings ( settings )   \u8981 \u901a\u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u7981\u7528 \u548c \u542f\u7528 \u6e32\u67d3 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cd   PythonAPI / util   &&   python3   config . py   -- no - rendering   cd   PythonAPI / util   &&   python3   config . py   -- rendering   \u811a\u672c   PythonAPI / examples / no _ rendering _ mode . py   \u5c06 \u542f\u7528 \u65e0 \u6e32\u67d3 \u6a21\u5f0f \uff0c \u670d\u52a1 \u670d\u52a1\u7aef \u7a97\u53e3 \u4f1a \u8fdb\u5165 \u9ed1\u5c4f \uff0c \u4f46\u662f \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef pygame \u4f9d\u7136 \u4f1a \u6e32\u67d3 \u3002 \u5e76 \u4f7f\u7528 \u7b80\u5355 \u56fe\u5f62 \u5229\u7528   pygame   \u521b\u5efa \u9e1f\u77b0 \u9e1f\u77b0\u56fe \uff1a   cd   PythonAPI / examples   &&   python3   no _ rendering _ mode . py   \u670d\u52a1 \u670d\u52a1\u7aef \u4e0d \u6e32\u67d3 \uff0c \u9ed1\u5c4f   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c pygame \u4f9d\u7136 \u4f1a \u6e32\u67d3 \uff0c pygame \u4e5f \u9700\u8981 \u4f7f\u7528 no - render \u8bbe\u7f6e   \u7b14\u8bb0   \u5728 \u65e0 \u6e32\u67d3 \u6a21\u5f0f \u4e0b \uff0c \u76f8\u673a \u548c   GPU   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u8fd4\u56de \u7a7a \u6570\u636e \u3002 \u4e0d \u4f7f\u7528   GPU \u3002 \u865a\u5e7b \u5f15\u64ce \u672a \u7ed8\u5236 \u4efb\u4f55 \u573a\u666f \u3002   \u79bb\u5c4f \u6a21\u5f0f   \u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u5728 \u865a\u5e7b \u5f15\u64ce   4.26   \u4e0a \u8fd0\u884c \uff0c \u8be5 \u5f15\u64ce \u5f15\u5165 \u4e86 \u5bf9 \u79bb\u5c4f \u6e32\u67d3 \u7684 \u652f\u6301 \u3002 \u5728   Carla   \u7684 \u65e9\u671f \u7248\u672c \u4e2d \uff0c \u79bb\u5c4f \u6e32\u67d3 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4f7f\u7528 \u7684 \u56fe\u5f62   API \u3002   \u79bb\u5c4f \u4e0e \u65e0 \u6e32\u67d3   \u4e86\u89e3 \u65e0 \u6e32\u67d3 \u6a21\u5f0f (   no - rendering   mode   ) \u548c \u79bb\u5c4f \u6a21\u5f0f (   off - screen   mode   ) \u4e4b\u95f4 \u7684 \u533a\u522b \u5f88 \u91cd\u8981 \uff1a   \u65e0 \u6e32\u67d3 \u6a21\u5f0f \uff1a   \u865a\u5e7b \u5f15\u64ce \u4e0d \u6e32\u67d3 \u4efb\u4f55 \u5185\u5bb9 \u3002 \u56fe\u5f62 \u4e0d \u88ab \u8ba1\u7b97 \u3002 \u57fa\u4e8e   GPU   \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fd4\u56de \u7a7a \u6570\u636e \u3002   \u79bb\u5c4f \u6a21\u5f0f \uff1a   \u865a\u5e7b \u5f15\u64ce \u6b63\u5e38 \u5de5\u4f5c \uff0c \u8ba1\u7b97 \u6e32\u67d3 \uff0c \u4f46 \u6ca1\u6709 \u53ef\u7528 \u7684 \u663e\u793a \u3002 \u57fa\u4e8e   GPU   \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fd4\u56de \u6570\u636e \u3002   \u8bbe\u7f6e \u79bb\u5c4f \u6a21\u5f0f \uff08 \u7248\u672c 0.9 . 12 + \uff09   \u8981 \u5728 \u79bb\u5c4f \u6a21\u5f0f \u4e0b \u542f\u52a8   Carla \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   . / CarlaUE4 . sh   - RenderOffScreen   \u8bbe\u7f6e \u79bb\u5c4f \u6a21\u5f0f \uff08 0.9 . 12 \u4e4b\u524d \u7684 \u7248\u672c \uff09   \u5982\u679c \u60a8 \u4f7f\u7528   OpenGL   \u6216   Vulkan \uff0c \u5219 \u4f7f\u7528 \u79bb\u5c4f \u6a21\u5f0f \u4f1a \u6709\u6240 \u4e0d\u540c \u6709\u6240\u4e0d\u540c \u3002   \u4f7f\u7528   OpenGL   \uff0c \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u5728   Linux   \u4e2d\u4ee5 \u79bb\u5c4f \u6a21\u5f0f \u8fd0\u884c \uff1a   #   Linux   DISPLAY =   . / CarlaUE4 . sh   - opengl   Vulkan   \u9700\u8981 \u989d\u5916 \u7684 \u6b65\u9aa4 \uff0c \u56e0\u4e3a \u5b83 \u9700\u8981 \u4f7f\u7528   X11   \u7f51\u7edc \u534f\u8bae \u7f51\u7edc\u534f\u8bae \u4e0e \u663e\u793a   X   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u624d\u80fd \u6b63\u5e38 \u5de5\u4f5c \u3002 \u4ee5\u4e0b \u6b65\u9aa4 \u5c06 \u6307\u5bfc \u60a8 \u5982\u4f55 \u8bbe\u7f6e \u6ca1\u6709 \u663e\u793a \u663e\u793a\u5c4f \u7684   Ubuntu   18.04   \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \uff0c \u4ee5\u4fbf   Carla   \u53ef\u4ee5 \u4e0e   Vulkan   \u4e00\u8d77 \u8fd0\u884c \u3002   1 .   \u83b7\u53d6 \u6700\u65b0 \u7684   NVIDIA   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \uff1a   wget   http : / / download . nvidia . com / XFree86 / Linux - x86 _ 64 / 450.57 / NVIDIA - Linux - x86 _ 64 - 450.57 . run   2 .   \u5b89\u88c5 \u9a71\u52a8 \uff1a   sudo   / bin / bash   NVIDIA - Linux - x86 _ 64 - 450.57 . run   -- accept - license   -- no - questions   -- ui = none   3 .   \u5b89\u88c5   xserver   \u76f8\u5173 \u4f9d\u8d56 \uff1a   sudo   apt - get   install   - y   xserver - xorg   mesa - utils   libvulkan1   4 .   \u914d\u7f6e   xserver \uff1a   sudo   nvidia - xconfig   -- preserve - busid   - a   -- virtual = 1280x1024   5 .   \u8bbe\u7f6e   SDL _ VIDEODRIVER   \u53d8\u91cf \u3002   ENV   SDL _ VIDEODRIVER = x11   6 .   \u8fd0\u884c   xserver \uff1a   sudo   X   : 0   &   7 .   \u8fd0\u884c   Carla \uff1a   DISPLAY = : 0 . GPU   . / CarlaUE4 . sh   - vulkan   Carla   \u5728   \u8fd9\u91cc   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u6267\u884c \u4e0a\u8ff0 \u6240\u6709 \u6b65\u9aa4 \u7684   Dockerfile   \u3002   \u7a7a \u6e32\u67d3 \u786c\u4ef6 \u63a5\u53e3   \u800c \u53e6 \u4e00\u79cd \u5728   Carla   \u5b98\u65b9 \u6587\u6863 \u4e2d\u672a \u88ab \u63d0\u53ca \u7684 \u65b9\u5f0f \u5c31\u662f   -- nullrhi   \u3002 \u5728 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u56fe\u5f62 \u5f62\u5b66 \u56fe\u5f62\u5b66 \u4e2d \uff0c RHI \uff08 Rendering   Hardware   Interface \uff09 \u662f \u4e00\u79cd \u786c\u4ef6 \u62bd\u8c61 \u5c42 \uff0c \u7528\u4e8e \u5c01\u88c5 \u4e0d\u540c \u56fe\u5f62 \u786c\u4ef6 \uff08 GPU \uff09 \u7684 \u5e95\u5c42 \u7ec6\u8282 \uff0c \u4f7f\u5f97 \u56fe\u5f62 \u6e32\u67d3 \u5f15\u64ce \u53ef\u4ee5 \u4e0e \u5404\u79cd \u4e0d\u540c \u7c7b\u578b \u7684 \u786c\u4ef6 \u534f\u540c \u540c\u5de5 \u5de5\u4f5c \u534f\u540c\u5de5\u4f5c \u3002 RHI   \u8d1f\u8d23 \u7ba1\u7406 \u8d1f\u8d23\u7ba1\u7406 \u56fe\u5f62 \u8d44\u6e90 \u3001 \u6267\u884c \u6e32\u67d3 \u547d\u4ee4 \u7b49 \u5e95\u5c42 \u64cd\u4f5c \uff0c \u4f7f\u5f97 \u5f00\u53d1 \u5f00\u53d1\u8005 \u53ef\u4ee5 \u7f16\u5199 \u4e0e \u5177\u4f53 \u786c\u4ef6 \u65e0\u5173 \u7684 \u56fe\u5f62 \u6e32\u67d3 \u4ee3\u7801 \u3002   \u800c \u865a\u5e7b \u5f15\u64ce \u4e2d \u7684   -- nullrhi   \u53c2\u6570 \u5219 \u662f \u4e00\u79cd \u7279\u6b8a \u7684 \u6a21\u5f0f \uff0c \u8868\u793a \u4f7f\u7528   Null   Rendering   Hardware   Interface \uff0c \u5373\u7a7a \u6e32\u67d3 \u786c\u4ef6 \u63a5\u53e3 \u3002 \u5728 \u8fd9\u79cd \u6a21\u5f0f \u4e0b \uff0c Carla   \u5c06 \u4e0d\u4f1a \u6267\u884c \u5b9e\u9645 \u7684 \u56fe\u5f62 \u6e32\u67d3 \u64cd\u4f5c \uff0c \u4ece\u800c \u51cf\u8f7b \u4e86 \u4e0e \u56fe\u5f62 \u76f8\u5173 \u7684 \u8ba1\u7b97 \u8d1f\u62c5 \u3002 \u8fd9 \u5bf9\u4e8e \u4e00\u4e9b \u7279\u6b8a \u7684 \u4eff\u771f \u573a\u666f \uff0c \u6bd4\u5982 \u9700\u8981 \u5728 \u540e\u53f0 \u8fd0\u884c \u4eff\u771f \u6216 \u8fdb\u884c \u6027\u80fd \u6d4b\u8bd5 \u65f6 \uff0c \u662f \u975e\u5e38 \u6709\u7528 \u7684 \u3002   \u4f7f\u7528   -- nullrhi   \u53c2\u6570 \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd0\u884c   manual _ control . py   \u65f6   pygame   \u9ed1\u5c4f \u3002 nullrhi   \u53ea \u9002\u7528 \u4e8e \u591a   GPU   \u6a21\u5f0f \uff0c \u53ef\u4ee5 \u53ea\u6709 \u4e00\u4e2a   GPU   \u8fdb\u884c \u6e32\u67d3 \uff0c \u800c \u5176\u4ed6   GPU   \u4f7f\u7528   nullrhi   \u4e0d \u8fdb\u884c \u6e32\u67d3 \u3002   \u4e0e \u6b64 \u4e3b\u9898 \u76f8\u5173 \u7684 \u4efb\u4f55 \u95ee\u9898 \u6216 \u7591\u95ee \u90fd \u53ef\u4ee5 \u5728   Carla   \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"Adv   rendering   options"},{"location":"adv_rendering_options/#_1","text":"\u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86   Carla   \u4e2d \u53ef\u7528 \u7684 \u4e0d\u540c \u6e32\u67d3 \u9009\u9879 \uff0c \u5305\u62ec \u8d28\u91cf \u7ea7\u522b \u3001 \u65e0 \u6e32\u67d3 \u6a21\u5f0f \u548c \u79bb\u5c4f \u6a21\u5f0f \u3002 \u5b83 \u8fd8 \u89e3\u91ca \u4e86   Carla   0.9 . 12   \u7248\u672c \u5728 \u8fd9\u4e9b \u65b9\u9762 \u4e0e \u4ee5\u524d \u7248\u672c \u7684 \u4e0d\u540c \u4e4b\u5904 \u4e0d\u540c\u4e4b\u5904 \u3002   \u56fe\u5f62 \u8d28\u91cf   Vulkan   \u56fe\u5f62   API   \u8d28\u91cf \u7b49\u7ea7   \u65e0 \u6e32\u67d3 \u6a21\u5f0f   \u79bb\u5c4f \u6a21\u5f0f   \u79bb\u5c4f \u4e0e \u65e0 \u6e32\u67d3   \u8bbe\u7f6e \u79bb\u5c4f \u6a21\u5f0f \uff08 \u7248\u672c 0.9 . 12 + \uff09 )   \u8bbe\u7f6e \u79bb\u5c4f \u6a21\u5f0f \uff08 0.9 . 12 \u4e4b\u524d \u7684 \u7248\u672c \uff09   \u7a7a \u6e32\u67d3 \u786c\u4ef6 \u63a5\u53e3   \u91cd\u8981   \u4e0b\u9762 \u7684 \u4e00\u4e9b \u547d\u4ee4 \u9009\u9879 \u5728   Carla   \u6253\u5305 \u7248\u672c \u4e2d \u5e76 \u4e0d \u7b49\u6548 \u3002 \u8bf7 \u9605\u8bfb   \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879   \u90e8\u5206 \u4ee5 \u4e86\u89e3 \u6709\u5173 \u6b64 \u5185\u5bb9 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u6e32\u67d3 \u9009\u9879"},{"location":"adv_rendering_options/#_2","text":"","title":"\u56fe\u5f62 \u8d28\u91cf  "},{"location":"adv_rendering_options/#vulkan-api","text":"\u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u5728 \u865a\u5e7b \u5f15\u64ce   4.26 \u4e0a \u8fd0\u884c \uff0c \u4ec5 \u652f\u6301   Vulkan   \u56fe\u5f62 API \u3002 \u4ee5\u524d \u7248\u672c \u7684   Carla   \u53ef\u4ee5 \u914d\u7f6e \u4e3a \u4f7f\u7528   OpenGL \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u7684 \u65e9\u671f \u7248\u672c \uff0c \u8bf7 \u5728 \u5c4f\u5e55 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u9009\u62e9 \u76f8\u5e94 \u7684 \u6587\u6863 \u7248\u672c \u4ee5 \u83b7\u53d6 \u66f4 \u591a \u4fe1\u606f \u3002","title":"Vulkan   \u56fe\u5f62   API  "},{"location":"adv_rendering_options/#_3","text":"Carla   \u6709 \u4e24\u4e2a \u4e0d\u540c \u7684 \u56fe\u5f62 \u8d28\u91cf \u7ea7\u522b \u3002   Epic   \u662f \u9ed8\u8ba4 \u7684 \u5e76\u4e14 \u662f \u6700 \u8be6\u7ec6 \u7684 \u3002   Low   \u4f1a \u7981\u7528 \u6240\u6709 \u5904\u7406 \u540e\u5904\u7406 \u548c \u9634\u5f71 \uff0c \u5e76\u4e14 \u7ed8\u56fe \u8ddd\u79bb \u8bbe\u7f6e \u4e3a   50m   \u800c \u4e0d\u662f \u65e0\u9650 \u3002   \u4eff\u771f \u5728   Low   \u6a21\u5f0f \u4e0b \u8fd0\u884c \u901f\u5ea6 \u660e\u663e \u66f4 \u5feb \u3002 \u8fd9 \u5728 \u5b58\u5728 \u6280\u672f \u9650\u5236 \u3001 \u7cbe\u5ea6 \u4e0d \u91cd\u8981 \u7684 \u60c5\u51b5 \u4e0b \u6216\u8005 \u5728 \u5177\u6709 \u66f4 \u7b80\u5355 \u6570\u636e \u6216\u4ec5 \u6d89\u53ca \u63a5\u8fd1 \u5143\u7d20 \u7684 \u6761\u4ef6 \u4e0b \u8bad\u7ec3 \u4ee3\u7406 \u7684 \u60c5\u51b5 \u4e0b \u5f88 \u6709 \u5e2e\u52a9 \u3002   \u4e0b\u56fe \u6bd4\u8f83 \u4e86 \u4e24\u79cd \u6a21\u5f0f \u3002 Windows   \u548c   Linux   \u6240 \u4f7f\u7528 \u7684 \u6807\u5fd7 \u662f \u76f8\u540c \u7684 \u3002 \u4f7f\u7528 \u6784\u5efa \u65f6 \u6ca1\u6709 \u7b49\u6548 \u9009\u9879 \uff0c \u4f46 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u6709 \u81ea\u5df1 \u7684 \u8d28\u91cf \u8bbe\u7f6e \u3002 \u8bbf\u95ee   Settings / Engine   Scalability   Settings   \u4ee5 \u83b7\u5f97 \u6240 \u9700 \u8d28\u91cf \u7684 \u66f4 \u5927 \u5b9a\u5236 \u3002","title":"\u8d28\u91cf \u7b49\u7ea7  "},{"location":"adv_rendering_options/#_4","text":". / CarlaUE4 . sh   - quality - level = Epic   \u53f2\u8bd7 \u6a21\u5f0f \u622a\u56fe","title":"\u53f2\u8bd7 \u6a21\u5f0f"},{"location":"adv_rendering_options/#_5","text":". / CarlaUE4 . sh   - quality - level = Low   \u4f4e\u8d28 \u8d28\u91cf \u4f4e\u8d28\u91cf \u6a21\u5f0f \u622a\u56fe   \u91cd\u8981   \u5bfc\u81f4 \u53f2\u8bd7 \u6a21\u5f0f \u663e\u793a \u5f02\u5e38 \u767d\u5ea6 \u7684 \u95ee\u9898 \u5df2 \u5f97\u5230 \u4fee\u590d \u3002 \u5982\u679c \u95ee\u9898 \u4ecd\u7136 \u5b58\u5728 \uff0c \u8bf7 \u5220\u9664   GameUserSettings . ini   \u3002 \u5b83 \u6b63\u5728 \u4fdd\u5b58 \u4ee5\u524d \u7684 \u8bbe\u7f6e \uff0c \u5e76 \u5c06 \u5728 \u4e0b\u6b21 \u8fd0\u884c \u65f6 \u518d\u6b21 \u751f\u6210 \u3002   Ubuntu   \u8def\u5f84 \uff1a   ~ / . config / Epic / CarlaUE4 / Saved / Config / LinuxNoEditor /   Windows   \u8def\u5f84 \uff1a   < Package   folder > \\ WindowsNoEditor \\ CarlaUE4 \\ Saved \\ Config \\ WindowsNoEditor \\","title":"\u4f4e\u8d28\u91cf \u6a21\u5f0f"},{"location":"adv_rendering_options/#_6","text":"\u6b64 \u6a21\u5f0f \u7981\u7528 \u6e32\u67d3 \u3002 \u865a\u5e7b \u5f15\u64ce \u5c06 \u8df3 \u8fc7 \u6709\u5173 \u56fe\u5f62 \u7684 \u6240\u6709 \u5185\u5bb9 \u3002 \u6b64 \u6a21\u5f0f \u53ef \u9632\u6b62 \u6e32\u67d3 \u5f00\u9500 \u3002 \u5b83 \u6709\u5229 \u5229\u4e8e \u6709\u5229\u4e8e \u5927\u91cf \u4ea4\u901a \u4eff\u771f \u548c \u975e\u5e38 \u9ad8\u9891 \u9891\u7387 \u9ad8\u9891\u7387 \u7684 \u9053\u8def \u884c\u4e3a \u3002 \u8981 \u542f\u7528 \u6216 \u7981\u7528 \u65e0 \u6e32\u67d3 \u6a21\u5f0f \uff0c \u8bf7 \u66f4\u6539 \u4e16\u754c \u8bbe\u7f6e \uff0c \u6216 \u4f7f\u7528   / PythonAPI / util / config . py   \u3002   \u4ee5\u4e0b \u662f \u5982\u4f55 \u901a\u8fc7 \u811a\u672c \u542f\u7528 \u548c \u7981\u7528 \u5b83 \u7684 \u793a\u4f8b \uff1a   settings   =   world . get _ settings ( )   settings . no _ rendering _ mode   =   True   world . apply _ settings ( settings )   ...   settings . no _ rendering _ mode   =   False   world . apply _ settings ( settings )   \u8981 \u901a\u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u7981\u7528 \u548c \u542f\u7528 \u6e32\u67d3 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cd   PythonAPI / util   &&   python3   config . py   -- no - rendering   cd   PythonAPI / util   &&   python3   config . py   -- rendering   \u811a\u672c   PythonAPI / examples / no _ rendering _ mode . py   \u5c06 \u542f\u7528 \u65e0 \u6e32\u67d3 \u6a21\u5f0f \uff0c \u670d\u52a1 \u670d\u52a1\u7aef \u7a97\u53e3 \u4f1a \u8fdb\u5165 \u9ed1\u5c4f \uff0c \u4f46\u662f \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef pygame \u4f9d\u7136 \u4f1a \u6e32\u67d3 \u3002 \u5e76 \u4f7f\u7528 \u7b80\u5355 \u56fe\u5f62 \u5229\u7528   pygame   \u521b\u5efa \u9e1f\u77b0 \u9e1f\u77b0\u56fe \uff1a   cd   PythonAPI / examples   &&   python3   no _ rendering _ mode . py   \u670d\u52a1 \u670d\u52a1\u7aef \u4e0d \u6e32\u67d3 \uff0c \u9ed1\u5c4f   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c pygame \u4f9d\u7136 \u4f1a \u6e32\u67d3 \uff0c pygame \u4e5f \u9700\u8981 \u4f7f\u7528 no - render \u8bbe\u7f6e   \u7b14\u8bb0   \u5728 \u65e0 \u6e32\u67d3 \u6a21\u5f0f \u4e0b \uff0c \u76f8\u673a \u548c   GPU   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u8fd4\u56de \u7a7a \u6570\u636e \u3002 \u4e0d \u4f7f\u7528   GPU \u3002 \u865a\u5e7b \u5f15\u64ce \u672a \u7ed8\u5236 \u4efb\u4f55 \u573a\u666f \u3002","title":"\u65e0 \u6e32\u67d3 \u6a21\u5f0f  "},{"location":"adv_rendering_options/#_7","text":"\u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u5728 \u865a\u5e7b \u5f15\u64ce   4.26   \u4e0a \u8fd0\u884c \uff0c \u8be5 \u5f15\u64ce \u5f15\u5165 \u4e86 \u5bf9 \u79bb\u5c4f \u6e32\u67d3 \u7684 \u652f\u6301 \u3002 \u5728   Carla   \u7684 \u65e9\u671f \u7248\u672c \u4e2d \uff0c \u79bb\u5c4f \u6e32\u67d3 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4f7f\u7528 \u7684 \u56fe\u5f62   API \u3002","title":"\u79bb\u5c4f \u6a21\u5f0f  "},{"location":"adv_rendering_options/#_8","text":"\u4e86\u89e3 \u65e0 \u6e32\u67d3 \u6a21\u5f0f (   no - rendering   mode   ) \u548c \u79bb\u5c4f \u6a21\u5f0f (   off - screen   mode   ) \u4e4b\u95f4 \u7684 \u533a\u522b \u5f88 \u91cd\u8981 \uff1a   \u65e0 \u6e32\u67d3 \u6a21\u5f0f \uff1a   \u865a\u5e7b \u5f15\u64ce \u4e0d \u6e32\u67d3 \u4efb\u4f55 \u5185\u5bb9 \u3002 \u56fe\u5f62 \u4e0d \u88ab \u8ba1\u7b97 \u3002 \u57fa\u4e8e   GPU   \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fd4\u56de \u7a7a \u6570\u636e \u3002   \u79bb\u5c4f \u6a21\u5f0f \uff1a   \u865a\u5e7b \u5f15\u64ce \u6b63\u5e38 \u5de5\u4f5c \uff0c \u8ba1\u7b97 \u6e32\u67d3 \uff0c \u4f46 \u6ca1\u6709 \u53ef\u7528 \u7684 \u663e\u793a \u3002 \u57fa\u4e8e   GPU   \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fd4\u56de \u6570\u636e \u3002","title":"\u79bb\u5c4f \u4e0e \u65e0 \u6e32\u67d3  "},{"location":"adv_rendering_options/#0912","text":"\u8981 \u5728 \u79bb\u5c4f \u6a21\u5f0f \u4e0b \u542f\u52a8   Carla \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   . / CarlaUE4 . sh   - RenderOffScreen","title":"\u8bbe\u7f6e \u79bb\u5c4f \u6a21\u5f0f \uff08 \u7248\u672c 0.9 . 12 + \uff09  "},{"location":"adv_rendering_options/#0912_1","text":"\u5982\u679c \u60a8 \u4f7f\u7528   OpenGL   \u6216   Vulkan \uff0c \u5219 \u4f7f\u7528 \u79bb\u5c4f \u6a21\u5f0f \u4f1a \u6709\u6240 \u4e0d\u540c \u6709\u6240\u4e0d\u540c \u3002   \u4f7f\u7528   OpenGL   \uff0c \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u5728   Linux   \u4e2d\u4ee5 \u79bb\u5c4f \u6a21\u5f0f \u8fd0\u884c \uff1a   #   Linux   DISPLAY =   . / CarlaUE4 . sh   - opengl   Vulkan   \u9700\u8981 \u989d\u5916 \u7684 \u6b65\u9aa4 \uff0c \u56e0\u4e3a \u5b83 \u9700\u8981 \u4f7f\u7528   X11   \u7f51\u7edc \u534f\u8bae \u7f51\u7edc\u534f\u8bae \u4e0e \u663e\u793a   X   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u624d\u80fd \u6b63\u5e38 \u5de5\u4f5c \u3002 \u4ee5\u4e0b \u6b65\u9aa4 \u5c06 \u6307\u5bfc \u60a8 \u5982\u4f55 \u8bbe\u7f6e \u6ca1\u6709 \u663e\u793a \u663e\u793a\u5c4f \u7684   Ubuntu   18.04   \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \uff0c \u4ee5\u4fbf   Carla   \u53ef\u4ee5 \u4e0e   Vulkan   \u4e00\u8d77 \u8fd0\u884c \u3002   1 .   \u83b7\u53d6 \u6700\u65b0 \u7684   NVIDIA   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \uff1a   wget   http : / / download . nvidia . com / XFree86 / Linux - x86 _ 64 / 450.57 / NVIDIA - Linux - x86 _ 64 - 450.57 . run   2 .   \u5b89\u88c5 \u9a71\u52a8 \uff1a   sudo   / bin / bash   NVIDIA - Linux - x86 _ 64 - 450.57 . run   -- accept - license   -- no - questions   -- ui = none   3 .   \u5b89\u88c5   xserver   \u76f8\u5173 \u4f9d\u8d56 \uff1a   sudo   apt - get   install   - y   xserver - xorg   mesa - utils   libvulkan1   4 .   \u914d\u7f6e   xserver \uff1a   sudo   nvidia - xconfig   -- preserve - busid   - a   -- virtual = 1280x1024   5 .   \u8bbe\u7f6e   SDL _ VIDEODRIVER   \u53d8\u91cf \u3002   ENV   SDL _ VIDEODRIVER = x11   6 .   \u8fd0\u884c   xserver \uff1a   sudo   X   : 0   &   7 .   \u8fd0\u884c   Carla \uff1a   DISPLAY = : 0 . GPU   . / CarlaUE4 . sh   - vulkan   Carla   \u5728   \u8fd9\u91cc   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u6267\u884c \u4e0a\u8ff0 \u6240\u6709 \u6b65\u9aa4 \u7684   Dockerfile   \u3002","title":"\u8bbe\u7f6e \u79bb\u5c4f \u6a21\u5f0f \uff08 0.9 . 12 \u4e4b\u524d \u7684 \u7248\u672c \uff09  "},{"location":"adv_rendering_options/#_9","text":"\u800c \u53e6 \u4e00\u79cd \u5728   Carla   \u5b98\u65b9 \u6587\u6863 \u4e2d\u672a \u88ab \u63d0\u53ca \u7684 \u65b9\u5f0f \u5c31\u662f   -- nullrhi   \u3002 \u5728 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u56fe\u5f62 \u5f62\u5b66 \u56fe\u5f62\u5b66 \u4e2d \uff0c RHI \uff08 Rendering   Hardware   Interface \uff09 \u662f \u4e00\u79cd \u786c\u4ef6 \u62bd\u8c61 \u5c42 \uff0c \u7528\u4e8e \u5c01\u88c5 \u4e0d\u540c \u56fe\u5f62 \u786c\u4ef6 \uff08 GPU \uff09 \u7684 \u5e95\u5c42 \u7ec6\u8282 \uff0c \u4f7f\u5f97 \u56fe\u5f62 \u6e32\u67d3 \u5f15\u64ce \u53ef\u4ee5 \u4e0e \u5404\u79cd \u4e0d\u540c \u7c7b\u578b \u7684 \u786c\u4ef6 \u534f\u540c \u540c\u5de5 \u5de5\u4f5c \u534f\u540c\u5de5\u4f5c \u3002 RHI   \u8d1f\u8d23 \u7ba1\u7406 \u8d1f\u8d23\u7ba1\u7406 \u56fe\u5f62 \u8d44\u6e90 \u3001 \u6267\u884c \u6e32\u67d3 \u547d\u4ee4 \u7b49 \u5e95\u5c42 \u64cd\u4f5c \uff0c \u4f7f\u5f97 \u5f00\u53d1 \u5f00\u53d1\u8005 \u53ef\u4ee5 \u7f16\u5199 \u4e0e \u5177\u4f53 \u786c\u4ef6 \u65e0\u5173 \u7684 \u56fe\u5f62 \u6e32\u67d3 \u4ee3\u7801 \u3002   \u800c \u865a\u5e7b \u5f15\u64ce \u4e2d \u7684   -- nullrhi   \u53c2\u6570 \u5219 \u662f \u4e00\u79cd \u7279\u6b8a \u7684 \u6a21\u5f0f \uff0c \u8868\u793a \u4f7f\u7528   Null   Rendering   Hardware   Interface \uff0c \u5373\u7a7a \u6e32\u67d3 \u786c\u4ef6 \u63a5\u53e3 \u3002 \u5728 \u8fd9\u79cd \u6a21\u5f0f \u4e0b \uff0c Carla   \u5c06 \u4e0d\u4f1a \u6267\u884c \u5b9e\u9645 \u7684 \u56fe\u5f62 \u6e32\u67d3 \u64cd\u4f5c \uff0c \u4ece\u800c \u51cf\u8f7b \u4e86 \u4e0e \u56fe\u5f62 \u76f8\u5173 \u7684 \u8ba1\u7b97 \u8d1f\u62c5 \u3002 \u8fd9 \u5bf9\u4e8e \u4e00\u4e9b \u7279\u6b8a \u7684 \u4eff\u771f \u573a\u666f \uff0c \u6bd4\u5982 \u9700\u8981 \u5728 \u540e\u53f0 \u8fd0\u884c \u4eff\u771f \u6216 \u8fdb\u884c \u6027\u80fd \u6d4b\u8bd5 \u65f6 \uff0c \u662f \u975e\u5e38 \u6709\u7528 \u7684 \u3002   \u4f7f\u7528   -- nullrhi   \u53c2\u6570 \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd0\u884c   manual _ control . py   \u65f6   pygame   \u9ed1\u5c4f \u3002 nullrhi   \u53ea \u9002\u7528 \u4e8e \u591a   GPU   \u6a21\u5f0f \uff0c \u53ef\u4ee5 \u53ea\u6709 \u4e00\u4e2a   GPU   \u8fdb\u884c \u6e32\u67d3 \uff0c \u800c \u5176\u4ed6   GPU   \u4f7f\u7528   nullrhi   \u4e0d \u8fdb\u884c \u6e32\u67d3 \u3002   \u4e0e \u6b64 \u4e3b\u9898 \u76f8\u5173 \u7684 \u4efb\u4f55 \u95ee\u9898 \u6216 \u7591\u95ee \u90fd \u53ef\u4ee5 \u5728   Carla   \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"\u7a7a \u6e32\u67d3 \u786c\u4ef6 \u63a5\u53e3  "},{"location":"adv_rss/","text":"\u8d23\u4efb \u654f\u611f \u5b89\u5168   Carla   \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93\u4e2d \u96c6\u6210 \u4e86   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u7684   C++   \u5e93   \u3002 \u6b64 \u529f\u80fd \u5141\u8bb8 \u7528\u6237 \u8c03\u67e5 \u8d23\u4efb \u654f\u611f \u5b89\u5168 ( Responsibility   Sensitive   Safety ,   RSS ) \u7684 \u884c\u4e3a \uff0c \u800c \u65e0\u9700 \u6267\u884c \u4efb\u4f55 \u64cd\u4f5c \u3002 Carla   \u5c06 \u8d1f\u8d23 \u63d0\u4f9b \u8f93\u5165 \uff0c \u5e76 \u5c06 \u8f93\u51fa \u52a8\u6001 \u5e94\u7528 \u5230 \u81ea\u52a8 \u9a7e\u9a76 ( Autonomous   Driving ,   AD )   \u7cfb\u7edf \u3002   \u6982\u8ff0   \u7f16\u8bd1   \u4f9d\u8d56   \u6784\u5efa   \u5f53\u524d \u72b6\u6001   RssSensor   RssRestrictor   \u91cd\u8981   \u6b64 \u529f\u80fd \u6b63\u5728 \u5f00\u53d1 \u4e2d \u3002 \u76ee\u524d \uff0c \u5b83 \u4ec5 \u9002\u7528 \u4e8e   Linux   \u7248\u672c \u3002   \u6982\u8ff0   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5e93 \u5b9e\u73b0 \u4e86 \u5b89\u5168 \u4fdd\u8bc1 \u7684 \u6570\u5b66 \u6a21\u578b \u6570\u5b66\u6a21\u578b \u3002 \u5b83 \u63a5\u6536 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4fe1\u606f \uff0c \u5e76 \u5411 \u8f66\u8f86 \u63a7\u5236 \u63a7\u5236\u5668 \u63d0\u4f9b \u9650\u5236 \u3002 \u7efc\u4e0a \u6240\u8ff0 \u7efc\u4e0a\u6240\u8ff0 \uff0c \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u6a21\u5757 \u4f7f\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u6765 \u5b9a\u4e49   \u60c5\u51b5   \u3002 \u60c5\u5883 \u63cf\u8ff0 \u4e86 \u81ea\u6211 \u8f66\u8f86 \u4e0e \u73af\u5883 \u5143\u7d20 \u7684 \u72b6\u6001 \u3002 \u5bf9\u4e8e \u6bcf\u79cd \u60c5\u51b5 \uff0c \u90fd \u4f1a \u8fdb\u884c \u5b89\u5168 \u68c0\u67e5 \u5b89\u5168\u68c0\u67e5 \uff0c \u5e76 \u8ba1\u7b97 \u9002\u5f53 \u7684 \u54cd\u5e94 \u3002 \u603b\u4f53 \u54cd\u5e94 \u662f \u6240\u6709 \u54cd\u5e94 \u7684 \u7efc\u5408 \u7ed3\u679c \u3002 \u6709\u5173 \u8be5\u5e93 \u7684 \u5177\u4f53 \u4fe1\u606f \uff0c \u8bf7 \u9605\u8bfb   \u6587\u6863   \uff0c \u5c24\u5176 \u662f   \u80cc\u666f \u90e8\u5206   \u3002   \u8fd9 \u662f \u5728   Carla   \u4e2d \u4f7f\u7528 \u4e24\u4e2a \u5143\u7d20 \u5b9e\u73b0 \u7684 \u3002   RssSensor   \u8d1f\u8d23 \u60c5\u51b5 \u5206\u6790 \uff0c \u5e76 \u4f7f\u7528   ad - rss - lib   \u751f\u6210 \u54cd\u5e94 \u3002   RssRestrictor   \u901a\u8fc7 \u9650\u5236 \u8f66\u8f86 \u7684 \u547d\u4ee4 \u6765 \u5e94\u7528 \u54cd\u5e94 \u3002   \u4e0b\u56fe \u63cf\u7ed8 \u4e86   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u4e0e   Carla   \u67b6\u6784 \u7684 \u96c6\u6210 \u3002   1 .   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u5c06 \u76f8\u673a \u56fe\u50cf \u53d1\u9001 \u9001\u7ed9 \u53d1\u9001\u7ed9 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   \uff08 \u4ec5\u5f53 \u5ba2\u6237 \u9700\u8981 \u53ef\u89c6 \u53ef\u89c6\u5316 \u65f6 \uff09 \u3002   \u4e3a   RssSensor   \u63d0\u4f9b \u4e16\u754c \u6570\u636e \u3002   \u5c06 \u8f66\u8f86 \u7684 \u7269\u7406 \u6a21\u578b \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   RssRestrictor \u3002   \uff08 \u4ec5\u5f53 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u88ab \u8986\u76d6 \u65f6 \uff09 \u3002   2 .   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u4e3a   RssSensor   \u63d0\u4f9b \u4e00\u4e9b \u9700\u8981 \u8003\u8651 \u7684   \u53c2\u6570   \u3002   \u5411   RssResrictor   \u53d1\u9001 \u521d\u59cb   carla . VehicleControl   .   3 .   RssSensor   \u4f7f\u7528   ad - rss - lib   \u63d0\u53d6 \u60c5\u5883 \u3001 \u6267\u884c \u5b89\u5168 \u68c0\u67e5 \u5b89\u5168\u68c0\u67e5 \u5e76 \u751f\u6210 \u54cd\u5e94 \u3002   \u5411   RssRestrictor   \u53d1\u9001 \u5305\u542b \u6b63\u786e \u54cd\u5e94 \u548c \u8981 \u5e94\u7528 \u7684 \u52a0\u901f \u9650\u5236 \u7684 \u54cd\u5e94 \u3002   4 .   RssRestrictor   \u5982\u679c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bf7\u6c42 \uff0c \u5219 \u5c06 \u54cd\u5e94 \u5e94\u7528 \u4e8e   carla . VehicleControl   \uff0c \u5e76 \u8fd4\u56de \u7ed3\u679c \u3002   \u7ed3\u679c \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u7f16\u8bd1   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u96c6\u6210 \u5fc5\u987b \u4e0e   Carla   \u7684 \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \u5206\u5f00 \u6784\u5efa \u3002   ad - rss - lib   \u9644\u5e26   LGPL - 2.1   \u5f00\u6e90 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \uff0c \u8fd9\u4f1a \u4ea7\u751f \u51b2\u7a81 \u3002 \u5b83 \u5fc5\u987b \u9759\u6001 \u94fe\u63a5 \u5230   libCarla   \u3002   \u63d0\u9192 \u4e00\u4e0b \uff0c \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u8be5 \u529f\u80fd \u4ec5 \u9002\u7528 \u4e8e   Linux   \u7248\u672c \u3002   \u4f9d\u8d56   \u6784\u5efa   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u53ca\u5176 \u4f9d\u8d56 \u9879 \u8fd8 \u9700\u8981 \u5176\u4ed6 \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6 \u3002 \u67e5\u770b   \u5b98\u65b9 \u6587\u6863   \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   Ubunutu   ( > =   16.04 )   \u63d0\u4f9b \u7684 \u4f9d\u8d56 \u9879 \u3002   sudo   apt - get   install   libgtest - dev   libpython - dev   libpugixml - dev   libtbb - dev   \u4f9d\u8d56 \u9879\u662f \u4f7f\u7528   colcon   \u6784\u5efa \u7684 \uff0c \u56e0\u6b64 \u5fc5\u987b \u5b89\u88c5 \u5b83 \u3002   pip3   install   -- user   - U   colcon - common - extensions   Python   \u7ed1\u5b9a \u8fd8\u6709 \u4e00\u4e9b \u989d\u5916 \u7684 \u4f9d\u8d56 \u9879 \u3002   sudo   apt - get   install   castxml   pip3   install   -- user   pygccxml   pyplusplus   \u6784\u5efa   \u5b8c\u6210 \u6b64 \u64cd\u4f5c \u540e \uff0c \u5373\u53ef \u6784\u5efa \u5b8c\u6574 \u7684 \u4f9d\u8d56 \u9879 \u548c   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u7ec4\u4ef6 \u96c6 \u3002   \u7f16\u8bd1   LibCarla   \u4ee5 \u4f7f\u7528   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u3002   make   LibCarla . client . rss   \u7f16\u8bd1   PythonAPI   \u4ee5 \u5305\u542b   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u529f\u80fd \u3002   make   PythonAPI . rss   \u4f5c\u4e3a \u66ff\u4ee3 \u65b9\u6848 \uff0c \u53ef\u4ee5 \u76f4\u63a5 \u6784\u5efa \u5305 \u3002   make   package . rss   \u5f53\u524d \u72b6\u6001   RssSensor   carla . RssSensor   \u5b8c\u5168 \u652f\u6301   ad - rss - lib   v4.2 . 0   \u529f\u80fd \u529f\u80fd\u96c6   \uff0c \u5305\u62ec \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u3001   stay   on   road   \u652f\u6301 \u548c   \u975e \u7ed3\u6784 \u7ed3\u6784\u5316 \u7684   constellations \uff08 \u6bd4\u5982 \uff1a \u884c\u4eba \uff09   \u3002   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u63d0\u4f9b \u4e86 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u7684 \u771f\u5b9e \u6570\u636e \uff0c \u5305\u62ec \u5176\u4ed6 \u4ea4\u901a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u72b6\u6001 \u3002   RssRestrictor   \u5f53 \u5ba2\u6237 \u4f46 \u8c03\u7528 \u65f6 \uff0c   carla . RssRestrictor   \u5c06 \u4fee\u6539 \u8f66\u8f86 \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u4ee5 \u901a\u8fc7 \u7ed9\u5b9a \u7684 \u54cd\u5e94 \u6700\u597d \u5730 \u8fbe\u5230 \u6240 \u9700 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u6216 \u51cf \u901f\u5ea6 \u3002   \u7531\u4e8e   carla . VehicleControl   \u5bf9\u8c61 \u7684 \u7ed3\u6784 \uff0c \u6240 \u5e94\u7528 \u7684 \u9650\u5236 \u5177\u6709 \u4e00\u5b9a \u7684 \u5c40\u9650 \u9650\u6027 \u5c40\u9650\u6027 \u3002 \u8fd9\u4e9b \u63a7\u5236 \u63a7\u5236\u5668 \u5305\u62ec \u6cb9\u95e8 (   throttle   ) \u3001 \u5239\u8f66 (   brake   ) \u548c \u65b9\u5411 \u65b9\u5411\u76d8 (   streering   ) \u503c \u3002 \u7136\u800c \uff0c \u7531\u4e8e \u6c7d\u8f66 \u7269\u7406 \u539f\u7406 \u548c \u7b80\u5355 \u7684 \u63a7\u5236 \u9009\u9879 \uff0c \u8fd9\u4e9b \u53ef\u80fd \u65e0\u6cd5 \u6ee1\u8db3 \u3002 \u53ea \u9700 \u901a\u8fc7 \u671d\u5e73 \u884c\u8f66 \u8f66\u9053 \u884c\u8f66\u9053 \u65b9\u5411 \u53cd\u5411 \u8f6c\u5411 \u5373\u53ef \u5728 \u6a2a\u5411 \u65b9\u5411 \u8fdb\u884c \u9650\u5236 \u5e72\u9884 \u3002 \u5982\u679c   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u8bf7\u6c42 \u51cf\u901f \uff0c \u5236\u52a8 \u5236\u52a8\u5668 \u5c06 \u88ab \u6fc0\u6d3b \u3002 \u8fd9 \u53d6\u51b3 \u53d6\u51b3\u4e8e   carla . Vehicle   \u63d0\u4f9b \u7684 \u8f66\u8f86 \u8d28\u91cf \u548c \u5236\u52a8 \u626d\u77e9 \u3002   \u7b14\u8bb0   \u5728 \u81ea\u52a8 \u8f66\u8f86 \u63a7\u5236 \u63a7\u5236\u5668 \u4e2d \uff0c \u53ef\u4ee5 \u4f7f \u8ba1\u5212 \u7684 \u8f68\u8ff9 \u9002\u5e94 \u9650\u5236 \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u5feb\u901f \u63a7\u5236 \u73af\u8def \uff08 > 1KHz \uff09 \u6765 \u786e\u4fdd \u9075\u5faa \u8fd9\u4e9b \u8981\u6c42 \u3002   \u8fd9 \u5960\u5b9a \u4e86   Carla   \u4e2d   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6 \u3002 \u5728   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u4e2d \u67e5\u627e \u6709\u5173 \u7279\u5b9a \u5c5e\u6027 \u548c \u53c2\u6570 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u6253\u5f00   Carla   \u5e76 \u95f2\u901b \u4e00\u4f1a \u4f1a\u513f \u4e00\u4f1a\u513f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"Adv   rss"},{"location":"adv_rss/#_1","text":"Carla   \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93\u4e2d \u96c6\u6210 \u4e86   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u7684   C++   \u5e93   \u3002 \u6b64 \u529f\u80fd \u5141\u8bb8 \u7528\u6237 \u8c03\u67e5 \u8d23\u4efb \u654f\u611f \u5b89\u5168 ( Responsibility   Sensitive   Safety ,   RSS ) \u7684 \u884c\u4e3a \uff0c \u800c \u65e0\u9700 \u6267\u884c \u4efb\u4f55 \u64cd\u4f5c \u3002 Carla   \u5c06 \u8d1f\u8d23 \u63d0\u4f9b \u8f93\u5165 \uff0c \u5e76 \u5c06 \u8f93\u51fa \u52a8\u6001 \u5e94\u7528 \u5230 \u81ea\u52a8 \u9a7e\u9a76 ( Autonomous   Driving ,   AD )   \u7cfb\u7edf \u3002   \u6982\u8ff0   \u7f16\u8bd1   \u4f9d\u8d56   \u6784\u5efa   \u5f53\u524d \u72b6\u6001   RssSensor   RssRestrictor   \u91cd\u8981   \u6b64 \u529f\u80fd \u6b63\u5728 \u5f00\u53d1 \u4e2d \u3002 \u76ee\u524d \uff0c \u5b83 \u4ec5 \u9002\u7528 \u4e8e   Linux   \u7248\u672c \u3002","title":"\u8d23\u4efb \u654f\u611f \u5b89\u5168"},{"location":"adv_rss/#_2","text":"\u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5e93 \u5b9e\u73b0 \u4e86 \u5b89\u5168 \u4fdd\u8bc1 \u7684 \u6570\u5b66 \u6a21\u578b \u6570\u5b66\u6a21\u578b \u3002 \u5b83 \u63a5\u6536 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4fe1\u606f \uff0c \u5e76 \u5411 \u8f66\u8f86 \u63a7\u5236 \u63a7\u5236\u5668 \u63d0\u4f9b \u9650\u5236 \u3002 \u7efc\u4e0a \u6240\u8ff0 \u7efc\u4e0a\u6240\u8ff0 \uff0c \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u6a21\u5757 \u4f7f\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u6765 \u5b9a\u4e49   \u60c5\u51b5   \u3002 \u60c5\u5883 \u63cf\u8ff0 \u4e86 \u81ea\u6211 \u8f66\u8f86 \u4e0e \u73af\u5883 \u5143\u7d20 \u7684 \u72b6\u6001 \u3002 \u5bf9\u4e8e \u6bcf\u79cd \u60c5\u51b5 \uff0c \u90fd \u4f1a \u8fdb\u884c \u5b89\u5168 \u68c0\u67e5 \u5b89\u5168\u68c0\u67e5 \uff0c \u5e76 \u8ba1\u7b97 \u9002\u5f53 \u7684 \u54cd\u5e94 \u3002 \u603b\u4f53 \u54cd\u5e94 \u662f \u6240\u6709 \u54cd\u5e94 \u7684 \u7efc\u5408 \u7ed3\u679c \u3002 \u6709\u5173 \u8be5\u5e93 \u7684 \u5177\u4f53 \u4fe1\u606f \uff0c \u8bf7 \u9605\u8bfb   \u6587\u6863   \uff0c \u5c24\u5176 \u662f   \u80cc\u666f \u90e8\u5206   \u3002   \u8fd9 \u662f \u5728   Carla   \u4e2d \u4f7f\u7528 \u4e24\u4e2a \u5143\u7d20 \u5b9e\u73b0 \u7684 \u3002   RssSensor   \u8d1f\u8d23 \u60c5\u51b5 \u5206\u6790 \uff0c \u5e76 \u4f7f\u7528   ad - rss - lib   \u751f\u6210 \u54cd\u5e94 \u3002   RssRestrictor   \u901a\u8fc7 \u9650\u5236 \u8f66\u8f86 \u7684 \u547d\u4ee4 \u6765 \u5e94\u7528 \u54cd\u5e94 \u3002   \u4e0b\u56fe \u63cf\u7ed8 \u4e86   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u4e0e   Carla   \u67b6\u6784 \u7684 \u96c6\u6210 \u3002   1 .   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u5c06 \u76f8\u673a \u56fe\u50cf \u53d1\u9001 \u9001\u7ed9 \u53d1\u9001\u7ed9 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   \uff08 \u4ec5\u5f53 \u5ba2\u6237 \u9700\u8981 \u53ef\u89c6 \u53ef\u89c6\u5316 \u65f6 \uff09 \u3002   \u4e3a   RssSensor   \u63d0\u4f9b \u4e16\u754c \u6570\u636e \u3002   \u5c06 \u8f66\u8f86 \u7684 \u7269\u7406 \u6a21\u578b \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   RssRestrictor \u3002   \uff08 \u4ec5\u5f53 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u88ab \u8986\u76d6 \u65f6 \uff09 \u3002   2 .   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u4e3a   RssSensor   \u63d0\u4f9b \u4e00\u4e9b \u9700\u8981 \u8003\u8651 \u7684   \u53c2\u6570   \u3002   \u5411   RssResrictor   \u53d1\u9001 \u521d\u59cb   carla . VehicleControl   .   3 .   RssSensor   \u4f7f\u7528   ad - rss - lib   \u63d0\u53d6 \u60c5\u5883 \u3001 \u6267\u884c \u5b89\u5168 \u68c0\u67e5 \u5b89\u5168\u68c0\u67e5 \u5e76 \u751f\u6210 \u54cd\u5e94 \u3002   \u5411   RssRestrictor   \u53d1\u9001 \u5305\u542b \u6b63\u786e \u54cd\u5e94 \u548c \u8981 \u5e94\u7528 \u7684 \u52a0\u901f \u9650\u5236 \u7684 \u54cd\u5e94 \u3002   4 .   RssRestrictor   \u5982\u679c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bf7\u6c42 \uff0c \u5219 \u5c06 \u54cd\u5e94 \u5e94\u7528 \u4e8e   carla . VehicleControl   \uff0c \u5e76 \u8fd4\u56de \u7ed3\u679c \u3002   \u7ed3\u679c \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002","title":"\u6982\u8ff0  "},{"location":"adv_rss/#_3","text":"\u8d23\u4efb \u654f\u611f \u5b89\u5168   \u96c6\u6210 \u5fc5\u987b \u4e0e   Carla   \u7684 \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \u5206\u5f00 \u6784\u5efa \u3002   ad - rss - lib   \u9644\u5e26   LGPL - 2.1   \u5f00\u6e90 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \uff0c \u8fd9\u4f1a \u4ea7\u751f \u51b2\u7a81 \u3002 \u5b83 \u5fc5\u987b \u9759\u6001 \u94fe\u63a5 \u5230   libCarla   \u3002   \u63d0\u9192 \u4e00\u4e0b \uff0c \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u8be5 \u529f\u80fd \u4ec5 \u9002\u7528 \u4e8e   Linux   \u7248\u672c \u3002","title":"\u7f16\u8bd1  "},{"location":"adv_rss/#_4","text":"\u6784\u5efa   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u53ca\u5176 \u4f9d\u8d56 \u9879 \u8fd8 \u9700\u8981 \u5176\u4ed6 \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6 \u3002 \u67e5\u770b   \u5b98\u65b9 \u6587\u6863   \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   Ubunutu   ( > =   16.04 )   \u63d0\u4f9b \u7684 \u4f9d\u8d56 \u9879 \u3002   sudo   apt - get   install   libgtest - dev   libpython - dev   libpugixml - dev   libtbb - dev   \u4f9d\u8d56 \u9879\u662f \u4f7f\u7528   colcon   \u6784\u5efa \u7684 \uff0c \u56e0\u6b64 \u5fc5\u987b \u5b89\u88c5 \u5b83 \u3002   pip3   install   -- user   - U   colcon - common - extensions   Python   \u7ed1\u5b9a \u8fd8\u6709 \u4e00\u4e9b \u989d\u5916 \u7684 \u4f9d\u8d56 \u9879 \u3002   sudo   apt - get   install   castxml   pip3   install   -- user   pygccxml   pyplusplus","title":"\u4f9d\u8d56  "},{"location":"adv_rss/#_5","text":"\u5b8c\u6210 \u6b64 \u64cd\u4f5c \u540e \uff0c \u5373\u53ef \u6784\u5efa \u5b8c\u6574 \u7684 \u4f9d\u8d56 \u9879 \u548c   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u7ec4\u4ef6 \u96c6 \u3002   \u7f16\u8bd1   LibCarla   \u4ee5 \u4f7f\u7528   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u3002   make   LibCarla . client . rss   \u7f16\u8bd1   PythonAPI   \u4ee5 \u5305\u542b   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u529f\u80fd \u3002   make   PythonAPI . rss   \u4f5c\u4e3a \u66ff\u4ee3 \u65b9\u6848 \uff0c \u53ef\u4ee5 \u76f4\u63a5 \u6784\u5efa \u5305 \u3002   make   package . rss","title":"\u6784\u5efa  "},{"location":"adv_rss/#_6","text":"","title":"\u5f53\u524d \u72b6\u6001  "},{"location":"adv_rss/#rsssensor","text":"carla . RssSensor   \u5b8c\u5168 \u652f\u6301   ad - rss - lib   v4.2 . 0   \u529f\u80fd \u529f\u80fd\u96c6   \uff0c \u5305\u62ec \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u3001   stay   on   road   \u652f\u6301 \u548c   \u975e \u7ed3\u6784 \u7ed3\u6784\u5316 \u7684   constellations \uff08 \u6bd4\u5982 \uff1a \u884c\u4eba \uff09   \u3002   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u63d0\u4f9b \u4e86 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u7684 \u771f\u5b9e \u6570\u636e \uff0c \u5305\u62ec \u5176\u4ed6 \u4ea4\u901a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u72b6\u6001 \u3002","title":"RssSensor  "},{"location":"adv_rss/#rssrestrictor","text":"\u5f53 \u5ba2\u6237 \u4f46 \u8c03\u7528 \u65f6 \uff0c   carla . RssRestrictor   \u5c06 \u4fee\u6539 \u8f66\u8f86 \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u4ee5 \u901a\u8fc7 \u7ed9\u5b9a \u7684 \u54cd\u5e94 \u6700\u597d \u5730 \u8fbe\u5230 \u6240 \u9700 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u6216 \u51cf \u901f\u5ea6 \u3002   \u7531\u4e8e   carla . VehicleControl   \u5bf9\u8c61 \u7684 \u7ed3\u6784 \uff0c \u6240 \u5e94\u7528 \u7684 \u9650\u5236 \u5177\u6709 \u4e00\u5b9a \u7684 \u5c40\u9650 \u9650\u6027 \u5c40\u9650\u6027 \u3002 \u8fd9\u4e9b \u63a7\u5236 \u63a7\u5236\u5668 \u5305\u62ec \u6cb9\u95e8 (   throttle   ) \u3001 \u5239\u8f66 (   brake   ) \u548c \u65b9\u5411 \u65b9\u5411\u76d8 (   streering   ) \u503c \u3002 \u7136\u800c \uff0c \u7531\u4e8e \u6c7d\u8f66 \u7269\u7406 \u539f\u7406 \u548c \u7b80\u5355 \u7684 \u63a7\u5236 \u9009\u9879 \uff0c \u8fd9\u4e9b \u53ef\u80fd \u65e0\u6cd5 \u6ee1\u8db3 \u3002 \u53ea \u9700 \u901a\u8fc7 \u671d\u5e73 \u884c\u8f66 \u8f66\u9053 \u884c\u8f66\u9053 \u65b9\u5411 \u53cd\u5411 \u8f6c\u5411 \u5373\u53ef \u5728 \u6a2a\u5411 \u65b9\u5411 \u8fdb\u884c \u9650\u5236 \u5e72\u9884 \u3002 \u5982\u679c   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u8bf7\u6c42 \u51cf\u901f \uff0c \u5236\u52a8 \u5236\u52a8\u5668 \u5c06 \u88ab \u6fc0\u6d3b \u3002 \u8fd9 \u53d6\u51b3 \u53d6\u51b3\u4e8e   carla . Vehicle   \u63d0\u4f9b \u7684 \u8f66\u8f86 \u8d28\u91cf \u548c \u5236\u52a8 \u626d\u77e9 \u3002   \u7b14\u8bb0   \u5728 \u81ea\u52a8 \u8f66\u8f86 \u63a7\u5236 \u63a7\u5236\u5668 \u4e2d \uff0c \u53ef\u4ee5 \u4f7f \u8ba1\u5212 \u7684 \u8f68\u8ff9 \u9002\u5e94 \u9650\u5236 \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u5feb\u901f \u63a7\u5236 \u73af\u8def \uff08 > 1KHz \uff09 \u6765 \u786e\u4fdd \u9075\u5faa \u8fd9\u4e9b \u8981\u6c42 \u3002   \u8fd9 \u5960\u5b9a \u4e86   Carla   \u4e2d   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6 \u3002 \u5728   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u4e2d \u67e5\u627e \u6709\u5173 \u7279\u5b9a \u5c5e\u6027 \u548c \u53c2\u6570 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u6253\u5f00   Carla   \u5e76 \u95f2\u901b \u4e00\u4f1a \u4f1a\u513f \u4e00\u4f1a\u513f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"RssRestrictor  "},{"location":"adv_sumo/","text":"\u548c   SUMO   \u8fdb\u884c \u8054\u5408 \u4eff\u771f   Carla   \u4e0e   SUMO   \u5f00\u53d1 \u4e86 \u8054\u5408 \u4eff\u771f \u529f\u80fd \u3002 \u8fd9 \u5141\u8bb8 \u968f\u610f \u5206\u914d \u4efb\u52a1 \u5206\u914d\u4efb\u52a1 \uff0c \u5e76 \u5229\u7528 \u6bcf\u4e2a \u4eff\u771f \u7684 \u529f\u80fd \u6765 \u652f\u6301 \u7528\u6237 \u3002   \u5fc5\u5907 \u6761\u4ef6 \u5fc5\u5907\u6761\u4ef6   \u8fd0\u884c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8054\u5408 \u4eff\u771f   \u521b\u5efa   Carla   vtypes   \u521b\u5efa   SUMO   \u7f51\u7edc   \u8fd0\u884c \u540c\u6b65   \u7531   SUMO   \u63a7\u5236 \u7684   NPC   \u751f\u6210   SUMO   TraCI \u63a5\u53e3 \u6587\u6863   \u5fc5\u5907 \u6761\u4ef6 \u5fc5\u5907\u6761\u4ef6   \u9996\u5148 \uff0c \u9700\u8981   \u5b89\u88c5   SUMO   \u624d\u80fd \u8fd0\u884c \u8054\u5408 \u4eff\u771f \u3002 \u5efa\u8bae \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u800c \u4e0d\u662f \u7b80\u5355 \u5b89\u88c5 \uff0c \u56e0\u4e3a \u6709 \u65b0 \u529f\u80fd \u548c \u4fee\u590d \u53ef\u4ee5 \u6539\u8fdb \u534f\u540c \u4eff\u771f \u3002   \u5b8c\u6210 \u540e \uff0c \u8bbe\u7f6e   SUMO   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u3002   echo   \" export   SUMO _ HOME = / usr / share / sumo \"   > >   ~ / . bashrc   &&   source   ~ / . bashrc   SUMO   \u5df2 \u51c6\u5907 \u597d \u8fd0\u884c \u8054\u5408 \u4eff\u771f \u3002   Co - Simulation / Sumo / examples   \u4e2d\u6709 \u4e00\u4e9b   Town01   ,   Town04   \u548c   Town05   \u7684 \u793a\u4f8b \u3002 \u8fd9\u4e9b \u6587\u4ef6 \u63cf\u8ff0 \u4e86 \u4eff\u771f \u7684 \u914d\u7f6e \uff08 \u4f8b\u5982 \u7f51\u7edc \u3001 \u8def\u7ebf \u3001 \u8f66\u8f86 \u7c7b\u578b ... \uff09 \u3002 \u4f7f\u7528 \u5176\u4e2d \u4e4b\u4e00 \u6765 \u6d4b\u8bd5 \u8054\u5408 \u4eff\u771f \u3002 \u8be5 \u811a\u672c \u6709 \u4e0d\u540c \u7684 \u9009\u9879 \uff0c   \u4e0b\u9762   \u5c06 \u8be6\u7ec6 \u4ecb\u7ecd \u3002 \u73b0\u5728 \uff0c \u8ba9 \u6211\u4eec \u4e3a   Town04   \u8fd0\u884c \u4e00\u4e2a \u7b80\u5355 \u7684 \u793a\u4f8b \u3002   \u4f7f\u7528   Town04   \u8fd0\u884c   Carla   \u4eff\u771f \u3002   cd   ~ / carla   . / CarlaUE4 . sh   cd   PythonAPI / util   python3   config . py   -- map   Town04   \u7136\u540e \uff0c \u8fd0\u884c   SUMO   \u8054\u5408 \u4eff\u771f \u793a\u4f8b \u3002   cd   ~ / carla / Co - Simulation / Sumo   python3   run _ synchronization . py   examples / Town04 . sumocfg   -- sumo - gui   \u7b14\u8bb0   \u8fd0\u884c \u65f6\u5019 \u53ef\u80fd \u62a5\u9519 \uff1a   module   ' traci '   has   no   attribute   ' sumolib '   \uff0c \u56e0\u4e3a \u662f\u56e0\u4e3a   sumolib   \u662f \u72ec\u7acb \u7684 \u5305 \uff0c \u4e0d \u5728   traci   \u91cc\u9762 \uff0c \u9700\u8981 \u628a   carla / Co - Simulation / Sumo / sumo _ integration / sumo _ simulation . py   \u7684 304 \u884c \u7684 \u8fd9 \u4e00\u53e5 \u4ee3   sumo _ net   =   traci . sumolib . net . readNet ( net _ file )   \u7801 \u6539\u6210   sumo _ net   =   sumolib . net . readNet ( net _ file )   \u3002   \u8fd0\u884c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8054\u5408 \u4eff\u771f   \u521b\u5efa   Carla   vtypes   \u4f7f\u7528 \u811a\u672c   Co - Simulation / Sumo / util / create _ sumo _ vtypes . py   \u7528\u6237 \u53ef\u4ee5 \u57fa\u4e8e   Carla   \u84dd \u56fe\u5e93 \u521b\u5efa   vtypes   \uff0c \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e   Carla   \u84dd\u56fe \u3002   -- carla - host   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 127.0 . 0.1 )   \u2014   Carla   \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP \u3002   -- carla - port   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 2000 )   \u2014   \u8981 \u4fa6\u542c \u7684   TCP   \u7aef\u53e3 \u3002   -- output - file   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a carlavtypes . rou . xml )   \u2014   \u751f\u6210 \u7684 \u5305\u542b   vtypes   \u7684 \u6587\u4ef6 \u3002   \u8be5 \u811a\u672c \u4f7f\u7528   data / vtypes . json   \u5b58\u50a8 \u7684 \u4fe1\u606f \u6765 \u521b\u5efa   SUMO   vtypes   \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u901a\u8fc7 \u7f16\u8f91 \u6240\u8ff0 \u6587\u4ef6 \u6765 \u4fee\u6539 \u3002   \u7b14\u8bb0   \u5fc5\u987b \u8fd0\u884c   Carla   \u4eff\u771f \u624d\u80fd \u6267\u884c \u8be5 \u811a\u672c \u3002   \u521b\u5efa   SUMO   \u7f51\u7edc   \u521b\u5efa \u4e0e   Carla   \u540c\u6b65 \u7684   SUMO   \u7f51\u7edc \u63a8\u8350 \u65b9\u6cd5 \u662f \u4f7f\u7528 \u811a\u672c   Co - Simulation / Sumo / util / netconvert _ carla . py   .   \u8fd9 \u5c31\u8981 \u5229\u7528   SUMO   \u63d0\u4f9b \u7684   netconvert   \u5de5\u5177 \u4e86 \u3002 \u4e3a\u4e86 \u8fd0\u884c \u8be5 \u811a\u672c \uff0c \u9700\u8981 \u4e00\u4e9b \u53c2\u6570 \u3002   xodr _ file   \u2014   OpenDRIVE   \u6587\u4ef6   . xodr   \u3002   -- output '   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   net . net . xml   )   \u2014   \u8f93\u51fa \u6587\u4ef6   . net . xml   \u3002   -- guess - tls   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a false )   \u2014   SUMO   \u53ea\u80fd \u4e3a \u9053\u8def \u4e2d \u7684 \u7279\u5b9a \u8f66\u9053 \u8bbe\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \uff0c \u4f46   Carla   \u4e0d\u80fd \u3002 \u5982\u679c \u8bbe\u7f6e \u4e3a   True   \uff0c SUMO   \u5c06 \u4e0d\u4f1a \u533a\u5206 \u7279\u5b9a \u8f66\u9053 \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \uff0c \u5e76\u4e14 \u8fd9\u4e9b \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5c06 \u4e0e   Carla   \u540c\u6b65 \u3002   \u8be5 \u811a\u672c \u7684 \u8f93\u51fa \u5c06 \u662f   . net . xml   \u53ef\u4ee5 \u4f7f\u7528   NETEDIT   \u8fdb\u884c \u7f16\u8f91 \u7684 \u3002 \u4f7f\u7528 \u5b83 \u6765 \u7f16\u8f91 \u8def\u7ebf \u3001 \u6dfb\u52a0 \u9700\u6c42 \uff0c \u5e76 \u6700\u7ec8 \u51c6\u5907 \u4e00\u4e2a \u53ef\u4ee5 \u4fdd\u5b58 \u4e3a   . sumocfg   \u3002   \u5728 \u6b64 \u8fc7\u7a0b \u4e2d \u63d0\u4f9b \u7684 \u793a\u4f8b \u53ef\u80fd \u4f1a \u6709\u6240 \u5e2e\u52a9 \u3002 \u770b \u4e00\u773c   Co - Simulation / Sumo / examples   \u3002 \u5bf9\u4e8e \u6bcf\u4e2a   example . sumocfg   \u6587\u4ef6 \uff0c \u90fd \u6709 \u591a\u4e2a \u540c\u540d \u7684 \u76f8\u5173 \u6587\u4ef6 \u3002 \u6240\u6709 \u8fd9\u4e9b \u90fd \u5305\u542b \u4e00\u4e2a \u8054\u5408 \u4eff\u771f \u793a\u4f8b \u3002   \u8fd0\u884c \u540c\u6b65   \u4e00\u65e6 \u4eff\u771f \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u5e76 \u4fdd\u5b58 \u4e3a   . sumocfg   \uff0c \u5c31 \u53ef\u4ee5 \u8fd0\u884c \u4e86 \u3002 \u6709 \u4e00\u4e9b \u53ef \u9009 \u53c2\u6570 \u53ef\u4ee5 \u66f4\u6539 \u534f\u540c \u4eff\u771f \u7684 \u8bbe\u7f6e \u3002   sumo _ cfg _ file   \u2014   SUMO   \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3002   -- carla - host   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 127.0 . 0.1 )   \u2014   Carla   \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP   -- carla - port   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 2000 )   \u2014   \u8981 \u4fa6\u542c \u7684   TCP   \u7aef\u53e3   -- sumo - host   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 127.0 . 0.1 )   \u2014   SUMO   \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP \u3002   -- sumo - port   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 8813 )   \u2014   \u8981 \u4fa6\u542c \u7684   TCP   \u7aef\u53e3 \u3002   -- sumo - gui   \u2014   \u6253\u5f00 \u4e00\u4e2a \u7a97\u53e3 \u4ee5 \u53ef\u89c6 \u53ef\u89c6\u5316   SUMO   \u7684   GUI   \u7248\u672c \u3002   -- step - length   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 0.05 s )   \u2014   \u8bbe\u7f6e \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u7684 \u56fa\u5b9a \u589e\u91cf \u79d2 \u3002   -- sync - vehicle - lights   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a False )   \u2014   \u540c\u6b65 \u8f66\u706f \u3002   -- sync - vehicle - color   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a False )   \u2014   \u540c\u6b65 \u8f66\u8f86 \u989c\u8272 \u3002   -- sync - vehicle - all   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a False )   \u2014   \u540c\u6b65 \u6240\u6709 \u8f66\u8f86 \u5c5e\u6027 \u3002   -- tls - manager   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a none )   \u2014   \u9009\u62e9 \u54ea\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5e94 \u7ba1\u7406 \u4ea4\u901a \u4ea4\u901a\u706f \u3002 \u53e6 \u4e00\u4e2a \u5c06 \u76f8\u5e94 \u5730 \u66f4\u65b0 \u8fd9\u4e9b \u5185\u5bb9 \u3002 \u9009\u9879 \u6709   carla   ,   sumo   \u548c   none   \u3002 \u5982\u679c \u9009\u62e9   none   \uff0c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5c06 \u4e0d \u540c\u6b65 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u53ea\u4f1a \u9075\u5b88 \u751f\u6210 \u5b83 \u7684 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   python3   run _ synchronization . py   < SUMOCFG   FILE >   -- tls - manager   carla   -- sumo - gui   \u7b14\u8bb0   \u8981 \u505c\u6b62 \u8054\u5408 \u4eff\u771f \uff0c \u8bf7 \u5728 \u8fd0\u884c \u811a\u672c \u7684 \u7ec8\u7aef \u6309   Ctrl + C   \u3002   \u7531   SUMO   \u63a7\u5236 \u7684   NPC   \u751f\u6210   \u4e0e   SUMO   \u7684 \u8054\u5408 \u4eff\u771f \u5e26\u6765 \u4e86 \u4e00\u9879 \u9644\u52a0 \u529f\u80fd \u3002 \u8f66\u8f86 \u53ef\u4ee5 \u901a\u8fc7   SUMO   \u5728   Carla   \u4e2d \u751f\u6210 \uff0c \u5e76 \u7531 \u540e\u8005 \u8fdb\u884c \u7ba1\u7406 \uff0c \u5c31 \u50cf \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4e00\u6837 \u3002   \u811a\u672c   spawn _ npc _ sumo . py   \u51e0\u4e4e \u7b49\u540c \u540c\u4e8e \u7b49\u540c\u4e8e \u5df2\u77e5 \u7684   generate _ traffic . py   \u3002 \u8be5 \u811a\u672c \u6839\u636e   Carla   \u4e2d \u7684 \u6d3b\u52a8 \u57ce\u9547 \u81ea\u52a8 \u5728 \u4e34\u65f6 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u751f\u6210   SUMO   \u7f51\u7edc \u3002 \u8be5 \u811a\u672c \u5c06 \u521b\u5efa \u968f\u673a \u8def\u7ebf \u5e76 \u8ba9 \u8f66\u8f86 \u56db\u5904 \u6f2b\u6e38 \u3002   \u5f53 \u811a\u672c \u8fd0\u884c \u540c\u6b65 \u4eff\u5e76 \u5728 \u5176\u4e2d \u751f\u6210 \u8f66\u8f86 \u65f6 \uff0c \u53c2\u6570 \u4e0e   run _ synchronization . py   \u548c   generate _ traffic . py   \u4e2d \u51fa\u73b0 \u7684 \u53c2\u6570 \u76f8\u540c \u3002   -- host   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 127.0 . 0.1 )   \u2014   \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP \u3002   -- port   ( default :   2000 )   \u2014   \u8981 \u4fa6\u542c \u7684   TCP   \u7aef\u53e3 \u3002   - n , -- number - of - vehicles   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 10 )   \u2014   \u751f\u6210 \u7684 \u8f66\u8f86 \u6570\u91cf \u3002   -- safe   \u2014   \u907f\u514d \u751f\u6210 \u8f66\u8f86 \u5bb9\u6613 \u53d1\u751f \u4e8b\u6545 \u3002   -- filterv   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a \" vehicle .   \" ) *   \u2014   \u8fc7\u6ee4 \u751f\u6210 \u7684 \u8f66\u8f86 \u7684 \u84dd\u56fe \u3002   -- sumo - gui   \u2014   \u6253\u5f00 \u4e00\u4e2a \u7a97\u53e3 \u6765 \u53ef\u89c6 \u53ef\u89c6\u5316   SUMO \u3002   -- step - length   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 0.05 s )   \u2014   \u8bbe\u7f6e \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u7684 \u56fa\u5b9a \u589e\u91cf \u79d2 \u3002   -- sync - vehicle - lights   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a False )   \u2014   \u540c\u6b65 \u8f66\u706f \u72b6\u6001 \u3002   -- sync - vehicle - color   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a False )   \u2014   \u540c\u6b65 \u8f66\u8f86 \u989c\u8272 \u3002   -- sync - vehicle - all   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   False )   \u2014   \u540c\u6b65 \u6240\u6709 \u8f66\u8f86 \u5c5e\u6027 \u3002   -- tls - manager   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   none )   \u2014   \u9009\u62e9 \u54ea\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6765 \u66f4\u6539 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u3002 \u53e6 \u4e00\u4e2a \u5c06 \u76f8\u5e94 \u5730 \u66f4\u65b0 \u5b83\u4eec \u3002 \u5982\u679c \u662f   none   \uff0c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5c06 \u4e0d \u540c\u6b65 \u3002   #   \u751f\u6210   10   \u8f86\u8f66 \uff0c \u7531   SUMO   \u7ba1\u7406 \uff0c \u800c \u4e0d\u662f \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   python3   spawn _ sumo _ npc . py   - n   10   -- tls - manager   carla   -- sumo - gui   SUMO   TraCI \u63a5\u53e3 \u6587\u6863   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u8fd9 \u5c31\u662f \u4e0e   Carla   \u8fdb\u884c   SUMO   \u8054\u5408 \u4eff\u771f \u7684 \u5168\u90e8 \u5185\u5bb9 \u5168\u90e8\u5185\u5bb9 \u3002   \u6253\u5f00   Carla   \u5e76 \u95f2\u901b \u4e00\u4f1a \u4f1a\u513f \u4e00\u4f1a\u513f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"Adv   sumo"},{"location":"adv_sumo/#sumo","text":"Carla   \u4e0e   SUMO   \u5f00\u53d1 \u4e86 \u8054\u5408 \u4eff\u771f \u529f\u80fd \u3002 \u8fd9 \u5141\u8bb8 \u968f\u610f \u5206\u914d \u4efb\u52a1 \u5206\u914d\u4efb\u52a1 \uff0c \u5e76 \u5229\u7528 \u6bcf\u4e2a \u4eff\u771f \u7684 \u529f\u80fd \u6765 \u652f\u6301 \u7528\u6237 \u3002   \u5fc5\u5907 \u6761\u4ef6 \u5fc5\u5907\u6761\u4ef6   \u8fd0\u884c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8054\u5408 \u4eff\u771f   \u521b\u5efa   Carla   vtypes   \u521b\u5efa   SUMO   \u7f51\u7edc   \u8fd0\u884c \u540c\u6b65   \u7531   SUMO   \u63a7\u5236 \u7684   NPC   \u751f\u6210   SUMO   TraCI \u63a5\u53e3 \u6587\u6863","title":"\u548c   SUMO   \u8fdb\u884c \u8054\u5408 \u4eff\u771f"},{"location":"adv_sumo/#_1","text":"\u9996\u5148 \uff0c \u9700\u8981   \u5b89\u88c5   SUMO   \u624d\u80fd \u8fd0\u884c \u8054\u5408 \u4eff\u771f \u3002 \u5efa\u8bae \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u800c \u4e0d\u662f \u7b80\u5355 \u5b89\u88c5 \uff0c \u56e0\u4e3a \u6709 \u65b0 \u529f\u80fd \u548c \u4fee\u590d \u53ef\u4ee5 \u6539\u8fdb \u534f\u540c \u4eff\u771f \u3002   \u5b8c\u6210 \u540e \uff0c \u8bbe\u7f6e   SUMO   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u3002   echo   \" export   SUMO _ HOME = / usr / share / sumo \"   > >   ~ / . bashrc   &&   source   ~ / . bashrc   SUMO   \u5df2 \u51c6\u5907 \u597d \u8fd0\u884c \u8054\u5408 \u4eff\u771f \u3002   Co - Simulation / Sumo / examples   \u4e2d\u6709 \u4e00\u4e9b   Town01   ,   Town04   \u548c   Town05   \u7684 \u793a\u4f8b \u3002 \u8fd9\u4e9b \u6587\u4ef6 \u63cf\u8ff0 \u4e86 \u4eff\u771f \u7684 \u914d\u7f6e \uff08 \u4f8b\u5982 \u7f51\u7edc \u3001 \u8def\u7ebf \u3001 \u8f66\u8f86 \u7c7b\u578b ... \uff09 \u3002 \u4f7f\u7528 \u5176\u4e2d \u4e4b\u4e00 \u6765 \u6d4b\u8bd5 \u8054\u5408 \u4eff\u771f \u3002 \u8be5 \u811a\u672c \u6709 \u4e0d\u540c \u7684 \u9009\u9879 \uff0c   \u4e0b\u9762   \u5c06 \u8be6\u7ec6 \u4ecb\u7ecd \u3002 \u73b0\u5728 \uff0c \u8ba9 \u6211\u4eec \u4e3a   Town04   \u8fd0\u884c \u4e00\u4e2a \u7b80\u5355 \u7684 \u793a\u4f8b \u3002   \u4f7f\u7528   Town04   \u8fd0\u884c   Carla   \u4eff\u771f \u3002   cd   ~ / carla   . / CarlaUE4 . sh   cd   PythonAPI / util   python3   config . py   -- map   Town04   \u7136\u540e \uff0c \u8fd0\u884c   SUMO   \u8054\u5408 \u4eff\u771f \u793a\u4f8b \u3002   cd   ~ / carla / Co - Simulation / Sumo   python3   run _ synchronization . py   examples / Town04 . sumocfg   -- sumo - gui   \u7b14\u8bb0   \u8fd0\u884c \u65f6\u5019 \u53ef\u80fd \u62a5\u9519 \uff1a   module   ' traci '   has   no   attribute   ' sumolib '   \uff0c \u56e0\u4e3a \u662f\u56e0\u4e3a   sumolib   \u662f \u72ec\u7acb \u7684 \u5305 \uff0c \u4e0d \u5728   traci   \u91cc\u9762 \uff0c \u9700\u8981 \u628a   carla / Co - Simulation / Sumo / sumo _ integration / sumo _ simulation . py   \u7684 304 \u884c \u7684 \u8fd9 \u4e00\u53e5 \u4ee3   sumo _ net   =   traci . sumolib . net . readNet ( net _ file )   \u7801 \u6539\u6210   sumo _ net   =   sumolib . net . readNet ( net _ file )   \u3002","title":"\u5fc5\u5907\u6761\u4ef6  "},{"location":"adv_sumo/#_2","text":"","title":"\u8fd0\u884c \u81ea\u5b9a\u4e49 \u8054\u5408 \u4eff\u771f  "},{"location":"adv_sumo/#carla-vtypes","text":"\u4f7f\u7528 \u811a\u672c   Co - Simulation / Sumo / util / create _ sumo _ vtypes . py   \u7528\u6237 \u53ef\u4ee5 \u57fa\u4e8e   Carla   \u84dd \u56fe\u5e93 \u521b\u5efa   vtypes   \uff0c \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e   Carla   \u84dd\u56fe \u3002   -- carla - host   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 127.0 . 0.1 )   \u2014   Carla   \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP \u3002   -- carla - port   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 2000 )   \u2014   \u8981 \u4fa6\u542c \u7684   TCP   \u7aef\u53e3 \u3002   -- output - file   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a carlavtypes . rou . xml )   \u2014   \u751f\u6210 \u7684 \u5305\u542b   vtypes   \u7684 \u6587\u4ef6 \u3002   \u8be5 \u811a\u672c \u4f7f\u7528   data / vtypes . json   \u5b58\u50a8 \u7684 \u4fe1\u606f \u6765 \u521b\u5efa   SUMO   vtypes   \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u901a\u8fc7 \u7f16\u8f91 \u6240\u8ff0 \u6587\u4ef6 \u6765 \u4fee\u6539 \u3002   \u7b14\u8bb0   \u5fc5\u987b \u8fd0\u884c   Carla   \u4eff\u771f \u624d\u80fd \u6267\u884c \u8be5 \u811a\u672c \u3002","title":"\u521b\u5efa   Carla   vtypes  "},{"location":"adv_sumo/#sumo_1","text":"\u521b\u5efa \u4e0e   Carla   \u540c\u6b65 \u7684   SUMO   \u7f51\u7edc \u63a8\u8350 \u65b9\u6cd5 \u662f \u4f7f\u7528 \u811a\u672c   Co - Simulation / Sumo / util / netconvert _ carla . py   .   \u8fd9 \u5c31\u8981 \u5229\u7528   SUMO   \u63d0\u4f9b \u7684   netconvert   \u5de5\u5177 \u4e86 \u3002 \u4e3a\u4e86 \u8fd0\u884c \u8be5 \u811a\u672c \uff0c \u9700\u8981 \u4e00\u4e9b \u53c2\u6570 \u3002   xodr _ file   \u2014   OpenDRIVE   \u6587\u4ef6   . xodr   \u3002   -- output '   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   net . net . xml   )   \u2014   \u8f93\u51fa \u6587\u4ef6   . net . xml   \u3002   -- guess - tls   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a false )   \u2014   SUMO   \u53ea\u80fd \u4e3a \u9053\u8def \u4e2d \u7684 \u7279\u5b9a \u8f66\u9053 \u8bbe\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \uff0c \u4f46   Carla   \u4e0d\u80fd \u3002 \u5982\u679c \u8bbe\u7f6e \u4e3a   True   \uff0c SUMO   \u5c06 \u4e0d\u4f1a \u533a\u5206 \u7279\u5b9a \u8f66\u9053 \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \uff0c \u5e76\u4e14 \u8fd9\u4e9b \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5c06 \u4e0e   Carla   \u540c\u6b65 \u3002   \u8be5 \u811a\u672c \u7684 \u8f93\u51fa \u5c06 \u662f   . net . xml   \u53ef\u4ee5 \u4f7f\u7528   NETEDIT   \u8fdb\u884c \u7f16\u8f91 \u7684 \u3002 \u4f7f\u7528 \u5b83 \u6765 \u7f16\u8f91 \u8def\u7ebf \u3001 \u6dfb\u52a0 \u9700\u6c42 \uff0c \u5e76 \u6700\u7ec8 \u51c6\u5907 \u4e00\u4e2a \u53ef\u4ee5 \u4fdd\u5b58 \u4e3a   . sumocfg   \u3002   \u5728 \u6b64 \u8fc7\u7a0b \u4e2d \u63d0\u4f9b \u7684 \u793a\u4f8b \u53ef\u80fd \u4f1a \u6709\u6240 \u5e2e\u52a9 \u3002 \u770b \u4e00\u773c   Co - Simulation / Sumo / examples   \u3002 \u5bf9\u4e8e \u6bcf\u4e2a   example . sumocfg   \u6587\u4ef6 \uff0c \u90fd \u6709 \u591a\u4e2a \u540c\u540d \u7684 \u76f8\u5173 \u6587\u4ef6 \u3002 \u6240\u6709 \u8fd9\u4e9b \u90fd \u5305\u542b \u4e00\u4e2a \u8054\u5408 \u4eff\u771f \u793a\u4f8b \u3002","title":"\u521b\u5efa   SUMO   \u7f51\u7edc  "},{"location":"adv_sumo/#_3","text":"\u4e00\u65e6 \u4eff\u771f \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u5e76 \u4fdd\u5b58 \u4e3a   . sumocfg   \uff0c \u5c31 \u53ef\u4ee5 \u8fd0\u884c \u4e86 \u3002 \u6709 \u4e00\u4e9b \u53ef \u9009 \u53c2\u6570 \u53ef\u4ee5 \u66f4\u6539 \u534f\u540c \u4eff\u771f \u7684 \u8bbe\u7f6e \u3002   sumo _ cfg _ file   \u2014   SUMO   \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3002   -- carla - host   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 127.0 . 0.1 )   \u2014   Carla   \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP   -- carla - port   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 2000 )   \u2014   \u8981 \u4fa6\u542c \u7684   TCP   \u7aef\u53e3   -- sumo - host   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 127.0 . 0.1 )   \u2014   SUMO   \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP \u3002   -- sumo - port   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 8813 )   \u2014   \u8981 \u4fa6\u542c \u7684   TCP   \u7aef\u53e3 \u3002   -- sumo - gui   \u2014   \u6253\u5f00 \u4e00\u4e2a \u7a97\u53e3 \u4ee5 \u53ef\u89c6 \u53ef\u89c6\u5316   SUMO   \u7684   GUI   \u7248\u672c \u3002   -- step - length   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 0.05 s )   \u2014   \u8bbe\u7f6e \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u7684 \u56fa\u5b9a \u589e\u91cf \u79d2 \u3002   -- sync - vehicle - lights   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a False )   \u2014   \u540c\u6b65 \u8f66\u706f \u3002   -- sync - vehicle - color   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a False )   \u2014   \u540c\u6b65 \u8f66\u8f86 \u989c\u8272 \u3002   -- sync - vehicle - all   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a False )   \u2014   \u540c\u6b65 \u6240\u6709 \u8f66\u8f86 \u5c5e\u6027 \u3002   -- tls - manager   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a none )   \u2014   \u9009\u62e9 \u54ea\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5e94 \u7ba1\u7406 \u4ea4\u901a \u4ea4\u901a\u706f \u3002 \u53e6 \u4e00\u4e2a \u5c06 \u76f8\u5e94 \u5730 \u66f4\u65b0 \u8fd9\u4e9b \u5185\u5bb9 \u3002 \u9009\u9879 \u6709   carla   ,   sumo   \u548c   none   \u3002 \u5982\u679c \u9009\u62e9   none   \uff0c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5c06 \u4e0d \u540c\u6b65 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u53ea\u4f1a \u9075\u5b88 \u751f\u6210 \u5b83 \u7684 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   python3   run _ synchronization . py   < SUMOCFG   FILE >   -- tls - manager   carla   -- sumo - gui   \u7b14\u8bb0   \u8981 \u505c\u6b62 \u8054\u5408 \u4eff\u771f \uff0c \u8bf7 \u5728 \u8fd0\u884c \u811a\u672c \u7684 \u7ec8\u7aef \u6309   Ctrl + C   \u3002","title":"\u8fd0\u884c \u540c\u6b65  "},{"location":"adv_sumo/#sumo-npc","text":"\u4e0e   SUMO   \u7684 \u8054\u5408 \u4eff\u771f \u5e26\u6765 \u4e86 \u4e00\u9879 \u9644\u52a0 \u529f\u80fd \u3002 \u8f66\u8f86 \u53ef\u4ee5 \u901a\u8fc7   SUMO   \u5728   Carla   \u4e2d \u751f\u6210 \uff0c \u5e76 \u7531 \u540e\u8005 \u8fdb\u884c \u7ba1\u7406 \uff0c \u5c31 \u50cf \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4e00\u6837 \u3002   \u811a\u672c   spawn _ npc _ sumo . py   \u51e0\u4e4e \u7b49\u540c \u540c\u4e8e \u7b49\u540c\u4e8e \u5df2\u77e5 \u7684   generate _ traffic . py   \u3002 \u8be5 \u811a\u672c \u6839\u636e   Carla   \u4e2d \u7684 \u6d3b\u52a8 \u57ce\u9547 \u81ea\u52a8 \u5728 \u4e34\u65f6 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u751f\u6210   SUMO   \u7f51\u7edc \u3002 \u8be5 \u811a\u672c \u5c06 \u521b\u5efa \u968f\u673a \u8def\u7ebf \u5e76 \u8ba9 \u8f66\u8f86 \u56db\u5904 \u6f2b\u6e38 \u3002   \u5f53 \u811a\u672c \u8fd0\u884c \u540c\u6b65 \u4eff\u5e76 \u5728 \u5176\u4e2d \u751f\u6210 \u8f66\u8f86 \u65f6 \uff0c \u53c2\u6570 \u4e0e   run _ synchronization . py   \u548c   generate _ traffic . py   \u4e2d \u51fa\u73b0 \u7684 \u53c2\u6570 \u76f8\u540c \u3002   -- host   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 127.0 . 0.1 )   \u2014   \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684   IP \u3002   -- port   ( default :   2000 )   \u2014   \u8981 \u4fa6\u542c \u7684   TCP   \u7aef\u53e3 \u3002   - n , -- number - of - vehicles   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 10 )   \u2014   \u751f\u6210 \u7684 \u8f66\u8f86 \u6570\u91cf \u3002   -- safe   \u2014   \u907f\u514d \u751f\u6210 \u8f66\u8f86 \u5bb9\u6613 \u53d1\u751f \u4e8b\u6545 \u3002   -- filterv   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a \" vehicle .   \" ) *   \u2014   \u8fc7\u6ee4 \u751f\u6210 \u7684 \u8f66\u8f86 \u7684 \u84dd\u56fe \u3002   -- sumo - gui   \u2014   \u6253\u5f00 \u4e00\u4e2a \u7a97\u53e3 \u6765 \u53ef\u89c6 \u53ef\u89c6\u5316   SUMO \u3002   -- step - length   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a 0.05 s )   \u2014   \u8bbe\u7f6e \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u7684 \u56fa\u5b9a \u589e\u91cf \u79d2 \u3002   -- sync - vehicle - lights   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a False )   \u2014   \u540c\u6b65 \u8f66\u706f \u72b6\u6001 \u3002   -- sync - vehicle - color   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a False )   \u2014   \u540c\u6b65 \u8f66\u8f86 \u989c\u8272 \u3002   -- sync - vehicle - all   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   False )   \u2014   \u540c\u6b65 \u6240\u6709 \u8f66\u8f86 \u5c5e\u6027 \u3002   -- tls - manager   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   none )   \u2014   \u9009\u62e9 \u54ea\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6765 \u66f4\u6539 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u3002 \u53e6 \u4e00\u4e2a \u5c06 \u76f8\u5e94 \u5730 \u66f4\u65b0 \u5b83\u4eec \u3002 \u5982\u679c \u662f   none   \uff0c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5c06 \u4e0d \u540c\u6b65 \u3002   #   \u751f\u6210   10   \u8f86\u8f66 \uff0c \u7531   SUMO   \u7ba1\u7406 \uff0c \u800c \u4e0d\u662f \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   python3   spawn _ sumo _ npc . py   - n   10   -- tls - manager   carla   -- sumo - gui","title":"\u7531   SUMO   \u63a7\u5236 \u7684   NPC   \u751f\u6210  "},{"location":"adv_sumo/#sumo-traci","text":"\u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u8fd9 \u5c31\u662f \u4e0e   Carla   \u8fdb\u884c   SUMO   \u8054\u5408 \u4eff\u771f \u7684 \u5168\u90e8 \u5185\u5bb9 \u5168\u90e8\u5185\u5bb9 \u3002   \u6253\u5f00   Carla   \u5e76 \u95f2\u901b \u4e00\u4f1a \u4f1a\u513f \u4e00\u4f1a\u513f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"SUMO   TraCI \u63a5\u53e3 \u6587\u6863    "},{"location":"adv_synchrony_timestep/","text":"\u540c\u6b65 \u548c \u65f6\u95f4 \u6b65\u957f   \u672c \u8282 \u4ecb\u7ecd   Carla   \u4e2d \u7684 \u4e24\u4e2a \u57fa\u672c \u6982\u5ff5 \u57fa\u672c\u6982\u5ff5 \u3002 \u5b83\u4eec \u7684 \u914d\u7f6e \u5b9a\u4e49 \u4e86 \u4eff\u771f \u4e2d \u7684 \u65f6\u95f4 \u5982\u4f55 \u6d41\u901d \uff0c \u4ee5\u53ca \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5982\u4f55 \u4f7f \u4eff\u771f \u5411\u524d \u63a8\u8fdb \u3002   \u4eff\u771f \u548c \u65f6\u95f4 \u6b65\u957f   \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f   \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f   \u4eff\u771f \u8bb0\u5f55   \u7269\u7406 \u5b50\u6b65   \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540c\u6b65   \u8bbe\u7f6e \u540c\u6b65 \u6a21\u5f0f   \u4f7f\u7528 \u540c\u6b65 \u6a21\u5f0f   \u53ef\u80fd \u7684 \u914d\u7f6e   \u7269\u7406 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027   \u4eff\u771f \u65f6\u95f4 \u6b65\u957f   \u5b9e\u65f6 \u65f6\u95f4 \u548c \u4eff\u771f \u65f6\u95f4 \u662f \u6709 \u533a\u522b \u7684 \u3002 \u4eff\u771f \u4e16\u754c \u6709 \u81ea\u5df1 \u7684 \u65f6\u949f \u548c \u65f6\u95f4 \uff0c \u7531 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6267\u884c \u3002 \u8ba1\u7b97 \u4e24\u4e2a \u4eff\u771f \u6b65\u9aa4 \u9700\u8981 \u4e00\u4e9b \u5b9e\u65f6 \u65f6\u95f4 \u3002 \u4f46\u662f \uff0c \u5728 \u8fd9 \u4e24\u4e2a \u4eff\u771f \u65f6\u523b \u4e4b\u95f4 \u4e5f \u5b58\u5728 \u65f6\u95f4 \u8de8\u5ea6 \u65f6\u95f4\u8de8\u5ea6 \uff0c \u5373   \u65f6\u95f4 \u6b65\u957f   \u3002   \u4e3a\u4e86 \u6f84\u6e05 \u8fd9 \u4e00\u70b9 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53ef\u80fd \u9700\u8981 \u51e0 \u6beb\u79d2 \u6765 \u8ba1\u7b97 \u4eff\u771f \u7684 \u4e24\u4e2a \u6b65\u9aa4 \u3002 \u4f46\u662f \uff0c \u6bd4\u5982 \u8fd9 \u4e24\u4e2a \u4eff\u771f \u65f6\u523b \u4e4b\u95f4 \u7684 \u65f6\u95f4 \u6b65\u957f \u53ef\u4ee5 \u914d\u7f6e \u59cb\u7ec8 \u4e3a   1   \u79d2 \u3002   \u65f6\u95f4 \u6b65\u957f \u53ef\u4ee5 \u662f \u56fa\u5b9a \u7684 \uff0c \u4e5f \u53ef\u4ee5 \u662f \u53ef\u53d8 \u7684 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u7528\u6237 \u7684 \u504f\u597d \u3002   \u7b14\u8bb0   \u65f6\u95f4 \u6b65\u957f \u548c \u540c\u6b65 \u662f \u76f8\u4e92 \u4e92\u4ea4 \u4ea4\u7ec7 \u76f8\u4e92\u4ea4\u7ec7 \u7684 \u6982\u5ff5 \u3002 \u8bf7 \u52a1\u5fc5 \u9605\u8bfb \u8fd9 \u4e24\u4e2a \u90e8\u5206 \uff0c \u4ee5 \u5145\u5206 \u4e86\u89e3   Carla   \u7684 \u5de5\u4f5c \u539f\u7406 \u3002   \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f   Carla   \u4e2d \u7684 \u9ed8\u8ba4 \u6a21\u5f0f \u3002 \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u662f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8ba1\u7b97 \u8fd9\u4e9b \u6b65\u9aa4 \u6240 \u9700 \u7684 \u65f6\u95f4 \u3002   settings   =   world . get _ settings ( )   settings . fixed _ delta _ seconds   =   None   #   \u8bbe\u7f6e \u4e3a \u53ef\u53d8 \u6b65\u957f   world . apply _ settings ( settings )   PythonAPI / util / config . py   \u4f7f\u7528 \u53c2\u6570 \u8bbe\u7f6e \u53c2\u6570\u8bbe\u7f6e \u65f6\u95f4 \u6b65\u957f \u3002 0   \u8868\u793a \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \u3002   cd   PythonAPI / util   &&   python3   config . py   -- delta - seconds   0   \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f   \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u4e4b\u95f4 \u7ecf\u8fc7 \u7684 \u65f6\u95f4 \u4fdd\u6301 \u6052\u5b9a \u3002 \u5982\u679c \u8bbe\u7f6e \u4e3a   0.5   \u79d2 \uff0c \u6bcf\u79d2 \u5c06 \u6709   2   \u4e2a \u4eff\u771f \u5e27 \u3002 \u4f7f\u7528 \u76f8\u540c \u7684 \u65f6\u95f4 \u589e\u91cf \u5bf9\u4e8e \u4ece \u4eff\u771f \u4e2d \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e \u662f \u6700\u597d \u7684 \u65b9\u5f0f \u3002 \u7269\u7406 \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c06 \u5bf9\u5e94 \u4e8e \u4eff\u771f \u4e2d \u6613\u4e8e \u7406\u89e3 \u7684 \u65f6\u523b \u3002 \u6b64\u5916 \uff0c \u5982\u679c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901f\u5ea6 \u8db3\u591f \u5feb \uff0c \u53ef\u4ee5 \u5728 \u66f4 \u5c11 \u7684 \u5b9e\u9645 \u65f6\u95f4 \u5185 \u4eff\u771f \u66f4\u957f \u7684 \u65f6\u95f4 \u65f6\u95f4\u6bb5 \u3002   \u53ef\u4ee5 \u5728 \u4e16\u754c \u8bbe\u7f6e \u4e2d \u8bbe\u7f6e \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u3002 \u8981 \u5c06 \u4eff\u771f \u8bbe\u7f6e \u4e3a \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f \u4e3a   0.05   \u79d2 \uff0c \u8bf7 \u5e94\u7528 \u4ee5\u4e0b \u8bbe\u7f6e \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5c06 \u82b1\u8d39 20   \u6b65 \uff08 1 / 0.05 \uff09 \u6765 \u91cd\u73b0 \u4eff\u771f \u4e16\u754c \u4e2d \u7684   1   \u79d2 \u3002   settings   =   world . get _ settings ( )   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   \u8fd9 \u4e5f \u53ef\u4ee5 \u4f7f\u7528   PythonAPI / util / config . py   \u63d0\u4f9b \u7684 \u811a\u672c \u8fdb\u884c \u8bbe\u7f6e \u3002   cd   PythonAPI / util   &&   python3   config . py   -- delta - seconds   0.05   \u4eff\u771f \u8bb0\u5f55   Carla   \u5177\u6709   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u529f\u80fd \uff0c \u53ef\u4ee5 \u8bb0\u5f55 \u4eff\u771f \uff0c \u7136\u540e \u91cd\u65b0 \u64ad\u653e \u3002 \u4f46\u662f \uff0c \u5728 \u5bfb\u627e \u7cbe\u5ea6 \u65f6 \uff0c \u9700\u8981 \u8003\u8651 \u4e00\u4e9b \u4e8b\u60c5 \u3002   \u6709 \u4e86   \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f   \uff0c \u91cd\u65b0 \u64ad\u653e \u5b83 \u5c31 \u5f88 \u5bb9\u6613 \u4e86 \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53ef\u4ee5 \u8bbe\u7f6e \u4e3a \u4e0e \u539f\u59cb \u4eff\u771f \u76f8\u540c \u7684 \u65f6\u95f4 \u6b65\u957f \u3002   \u4f7f\u7528   \u53ef\u53d8 \u7684 \u65f6\u95f4 \u6b65\u957f   \uff0c \u4e8b\u60c5 \u4f1a \u7a0d\u5fae \u590d\u6742 \u4e00\u4e9b \u3002   \u5982\u679c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4ee5 \u53ef\u53d8 \u7684 \u65f6\u95f4 \u6b65\u957f \u8fd0\u884c \uff0c \u5219 \u65f6\u95f4 \u6b65\u957f \u5c06 \u4e0e \u539f\u59cb \u65f6\u95f4 \u6b65\u957f \u4e0d\u540c \uff0c \u56e0\u4e3a \u903b\u8f91 \u5468\u671f \u4f1a \u4e0d\u65f6 \u53d8\u5316 \u3002 \u7136\u540e \uff0c \u5c06 \u4f7f\u7528 \u8bb0\u5f55 \u7684 \u6570\u636e \u5bf9 \u4fe1\u606f \u8fdb\u884c \u63d2\u503c \u3002   \u5982\u679c   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u88ab\u8feb \u91cd\u73b0 \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u7684 \u65f6\u95f4   \u6b65\u957f \uff0c \u5219 \u4eff\u771f \u7684 \u6b65\u957f \u5c06 \u76f8\u540c \uff0c \u4f46 \u5b83\u4eec \u4e4b\u95f4 \u7684 \u5b9e\u65f6 \u65f6\u95f4 \u4f1a \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002 \u65f6\u95f4 \u6b65\u957f \u5e94 \u9010\u4e00 \u4f20\u9012 \u3002 \u8fd9\u4e9b \u539f\u59cb \u65f6\u95f4 \u6b65\u957f \u662f \u539f\u59cb \u4eff\u771f \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5feb \u8fd0\u884c \u7684 \u7ed3\u679c \u3002 \u7531\u4e8e \u8868\u793a \u8fd9\u4e9b \u6240 \u9700 \u7684 \u65f6\u95f4 \u5927\u591a \u4e0d\u540c \uff0c \u56e0\u6b64 \u4eff\u771f \u5fc5\u7136 \u4f1a\u4ee5 \u5947\u602a \u7684 \u65f6\u95f4 \u6ce2\u52a8 \u518d\u73b0 \u3002   \u7269\u7406 \u5b50\u6b65   \u4e3a\u4e86 \u7cbe\u786e \u8ba1\u7b97 \u7269\u7406 \u6548\u679c \uff0c \u7269\u7406 \u4eff\u771f \u5fc5\u987b \u5728 \u975e\u5e38 \u5c0f \u7684 \u65f6\u95f4 \u6b65\u5185 \u8fdb\u884c \u3002 \u5f53 \u6211\u4eec \u5728 \u4eff\u771f \u4e2d \u6bcf \u5e27 \u6267\u884c \u591a\u6b21 \u8ba1\u7b97 \uff08 \u4f8b\u5982 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6e32\u67d3 \uff0c \u8bfb\u53d6 \u5b58\u50a8 \u7b49 \uff09 \u65f6 \uff0c \u65f6\u95f4 \u6b65\u957f \u53ef\u80fd \u4f1a \u6210\u4e3a \u4e00\u4e2a \u95ee\u9898 \u3002 \u7531\u4e8e \u8fd9\u4e2a \u9650\u5236 \u4ec5 \u53d1\u751f \u5728 \u7269\u7406 \u4eff\u771f \u4e2d \uff0c \u6211\u4eec \u53ef\u4ee5 \u4ec5 \u5bf9 \u7269\u7406 \u8ba1\u7b97 \u5e94\u7528 \u5b50\u6b65 \u3002 \u5728 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u7269\u7406 \u5b50\u6b65 \u662f \u6253\u5f00 \u7684 \uff0c \u5e76\u4e14 \u88ab \u8bbe\u5b9a \u4e3a \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u957f \u6700\u5927   10   \u4e2a \u7269\u7406 \u5b50\u6b65 \uff0c \u6bcf\u4e2a \u7269\u7406 \u5b50\u6b65 \u6700\u5927 \u4e3a 0.01   \u79d2 \u3002   \u5f53\u7136 \uff0c \u6211\u4eec \u53ef\u4ee5 \u901a\u8fc7 API \u8c03\u6574 \u8fd9\u4e9b \u8bbe\u5b9a \uff1a   settings   =   world . get _ settings ( )   settings . substepping   =   True   settings . max _ substep _ delta _ time   =   0.01   settings . max _ substeps   =   10   world . apply _ settings ( settings )   \u6ce8\u610f \uff0c \u5f53 \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \u65f6 \uff0c \u6211\u4eec \u8bbe\u5b9a \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u65f6 \u9700\u8981 \u9075\u5faa \u4ee5\u4e0b \u6761\u4ef6 \u6765 \u4fdd\u8bc1 \u7269\u7406 \u4eff\u771f \u7684 \u51c6\u786e \u51c6\u786e\u6027 \uff1a   fixed _ delta _ seconds   < =   max _ substep _ delta _ time   *   max _ substeps   \u6ce8\u610f \uff0c \u4e3a\u4e86 \u4fdd\u8bc1 \u7269\u7406 \u4eff\u771f \u7684 \u51c6\u786e \u51c6\u786e\u6027 \uff0c \u5b50\u6b65 \u7684 \u65f6\u95f4 \u95f4\u9694 \u5e94\u8be5 \u81f3\u5c11 \u4f4e\u4e8e   0.01666 \uff0c \u7406\u60f3 \u60c5\u51b5 \u4e0b \u4f4e\u4e8e   0.01 \u3002   \u4e3a\u4e86 \u6f14\u793a \u6700\u4f73 \u7269\u7406 \u5b50\u6b65 \u7684 \u6548\u679c \uff0c \u8bf7 \u8003\u8651 \u4e0b\u9762 \u7684 \u56fe \u3002 \u4e0b\u9762 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u56fe\u8868 \u663e\u793a \u4e86 \u5728 \u4e0d\u540c \u56fa\u5b9a \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u7684 \u4eff\u771f \u4e2d \u901f\u5ea6 \u968f \u65f6\u95f4 \u7684 \u53d8\u5316 \u3002 \u7269\u7406 \u589e\u91cf \u65f6\u95f4 \u5728 \u6240\u6709 \u4eff\u771f \u4e2d \u90fd \u662f \u6052\u5b9a \u7684 \uff0c \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.01 \u3002 \u6211\u4eec \u53ef\u4ee5 \u770b\u5230 \uff0c \u901f\u5ea6 \u4e0d \u53d7 \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u5dee\u5f02 \u7684 \u5f71\u54cd \u3002   \u7b2c\u4e8c \u4e8c\u5f20 \u7b2c\u4e8c\u5f20 \u56fe \u663e\u793a \u4e86 \u4eff\u771f \u4e2d \u901f\u5ea6 \u968f \u65f6\u95f4 \u7684 \u53d8\u5316 \uff0c \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u56fa\u5b9a \u4e3a 0.04 \u3002 \u6211\u4eec \u53ef\u4ee5 \u770b\u5230 \uff0c \u4e00\u65e6 \u7269\u7406 \u589e\u91cf \u65f6\u95f4 \u8d85\u8fc7   0.01 \uff0c \u901f\u5ea6 \u5e38\u6570 \u5f00\u59cb \u51fa\u73b0 \u504f\u5dee \uff0c \u968f\u7740 \u7269\u7406 \u589e\u91cf \u65f6\u95f4 \u7684 \u589e\u52a0 \uff0c \u504f\u5dee \u7684 \u4e25\u91cd \u7a0b\u5ea6 \u4e5f \u5728 \u589e\u52a0 \u3002   \u6211\u4eec \u53ef\u4ee5 \u901a\u8fc7 \u5728 \u6d4b\u91cf z - \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u65f6 \u663e\u793a \u7269\u7406 \u589e\u91cf \u65f6\u95f4 \u4e0e \u56fa\u5b9a \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u76f8\u540c \u7684 \u5dee\u5f02 \u7684 \u5f71\u54cd \u6765 \u518d\u6b21 \u8bc1\u660e \u8fd9\u79cd \u504f\u5dee \uff0c \u53ea\u6709 \u5f53 \u7269\u7406 \u589e\u91cf \u65f6\u95f4 \u4e3a   0.01   \u6216 \u66f4 \u5c0f\u65f6 \u624d \u4f1a \u53d1\u751f \u6536\u655b \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540c\u6b65   Carla   \u91c7\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u67b6\u6784 \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fd0\u884c \u4eff\u771f \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u83b7\u53d6 \u53d6\u4fe1 \u4fe1\u606f \u83b7\u53d6\u4fe1\u606f \u5e76 \u5bf9 \u4e16\u754c \u8fdb\u884c \u4fee\u6539 \u3002 \u672c \u8282 \u6d89\u53ca \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u7684 \u901a\u4fe1 \u3002   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c Carla   \u4ee5 \u5f02\u6b65 \u6a21\u5f0f \u8fd0\u884c \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5feb\u5730 \u8fd0\u884c \u4eff\u771f \uff0c \u800c \u4e0d \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002 \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5728 \u66f4\u65b0 \u5230 \u4e0b \u4e00\u4e2a \u4eff\u771f \u6b65\u9aa4 \u4e4b\u524d \u4f1a \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u53d1\u9001 \u7684 \u201c ready   to   go \u201d \u7684 \u6d88\u606f \u3002   \u7b14\u8bb0   \u540c\u65f6 \u8fd0\u884c \u591a\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u65f6 \uff0c \u53ea\u80fd \u6709 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u5f00\u542f \u540c\u6b65 \u6a21\u5f0f \uff0c \u56e0\u4e3a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f1a \u5bf9 \u6bcf\u4e2a \u6536\u5230 \u7684 \u201c ready   to   go \u201d \u4fe1\u606f \u8fdb\u884c \u53cd\u5e94 \uff0c \u591a\u4e2a client \u5f00\u542f \u540c\u6b65 \u6a21\u5f0f \u5c06\u4f1a \u53d1\u9001 \u8fc7\u591a \u201c ready   to   go \u201d \u4fe1\u606f \u5bfc\u81f4 \u540c\u6b65 \u5931\u8d25 \u3002   \u8bbe\u7f6e \u540c\u6b65 \u6a21\u5f0f   \u540c\u6b65 \u6a21\u5f0f \u548c \u5f02\u6b65 \u6a21\u5f0f \u4e4b\u95f4 \u5207\u6362 \u53ea \u9700\u8981 \u6539\u53d8   settings . synchronous _ mode   \u7684 \u503c \u5373\u53ef \u3002   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f   world . apply _ settings ( settings )   \u8b66\u544a   \u5982\u679c \u542f\u7528 \u4e86 \u540c\u6b65 \u6a21\u5f0f \uff0c \u5e76\u4e14 \u6b63\u5728 \u8fd0\u884c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u5219 \u4e5f \u5fc5\u987b \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002 \u9605\u8bfb   \u8fd9\u4e2a   \u4ee5 \u4e86\u89e3 \u5982\u4f55 \u64cd\u4f5c \u3002   \u8981 \u7981\u7528 \u540c\u6b65 \u6a21\u5f0f \uff0c \u53ea \u9700 \u5c06 \u53d8\u91cf \u8bbe\u7f6e \u4e3a   false   \u6216 \u4f7f\u7528   PythonAPI / util / config . py   \u811a\u672c \u3002   cd   PythonAPI / util   &&   python3   config . py   -- no - sync   #   Disables   synchronous   mode   \u540c\u6b65 \u6a21\u5f0f \u4e0d\u80fd \u901a\u8fc7 \u811a\u672c \u542f\u7528 \uff0c \u53ea\u80fd \u7981\u7528 \u3002 \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \u5c06 \u4f7f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u673a \u7684 \u54cd\u5e94 \u3002 \u4f7f\u7528 \u8fd9\u4e2a \u811a\u672c \uff0c \u7528\u6237 \u4e0d\u80fd \u5728 \u9700\u8981 \u7684 \u65f6\u5019 \u53d1\u9001 \u523b\u5ea6 \u3002   \u4f7f\u7528 \u540c\u6b65 \u6a21\u5f0f   \u540c\u6b65 \u6a21\u5f0f \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u8f83\u6162 \u4ee5\u53ca \u9700\u8981 \u4e0d\u540c \u5143\u7d20 \u4e4b\u95f4 \u7684 \u540c\u6b65 \uff0c \u5982 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7b49 \u60c5\u51b5 \u4e0b \u5c24\u4e3a \u4e3a\u91cd \u91cd\u8981 \u5c24\u4e3a\u91cd\u8981 \u3002 \u5982\u679c \u5ba2\u6237 \u5ba2\u6237\u7aef \u901f\u5ea6 \u592a\u6162 \u800c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0d \u7b49\u5f85 \uff0c \u4fe1\u606f \u5c06\u4f1a \u6ea2\u51fa \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06 \u65e0\u6cd5 \u7ba1\u7406 \u6240\u6709 \u5185\u5bb9 \uff0c \u4fe1\u606f \u4f1a \u4e22\u5931 \u6216 \u6df7\u6dc6 \u3002 \u7c7b\u4f3c \u7684 \u60c5\u51b5 \u662f \uff0c \u5982\u679c \u6709 \u5f88\u591a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u5f02\u6b65 \u64cd\u4f5c \uff0c \u5c06 \u65e0\u6cd5 \u786e\u5b9a \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u5426 \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u6765\u81ea \u540c\u4e00 \u65f6\u523b \u7684 \u6570\u636e \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u7247\u6bb5 \u6269\u5c55 \u4e86 \u524d \u4e00\u6bb5 \u4ee3\u7801 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa \u4e00\u4e2a \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5c06 \u5f53\u524d \u6b65\u9aa4 \u7684 \u56fe\u50cf \u6570\u636e \u5b58\u50a8 \u5728 \u961f\u5217 \u4e2d \uff0c \u5e76 \u5728 \u4ece \u961f\u5217 \u4e2d \u68c0\u7d22 \u540e \u52fe\u9009 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u53ef\u4ee5   \u5728 \u6b64\u5904   \u627e\u5230 \u6709\u5173 \u591a\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u66f4 \u590d\u6742 \u793a\u4f8b \u3002   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   world . apply _ settings ( settings )   camera   =   world . spawn _ actor ( blueprint ,   transform )   image _ queue   =   queue . Queue ( )   camera . listen ( image _ queue . put )   while   True :   world . tick ( )   image   =   image _ queue . get ( )   \u91cd\u8981   \u6765\u81ea \u57fa\u4e8e GPU \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u4e3b\u8981 \u662f \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \uff09 \u7684 \u91cd\u8981 \u6570\u636e \u901a\u5e38 \u4f1a \u5ef6\u8fdf \u51e0\u5e27 \u3002 \u5728 \u8fd9\u91cc \uff0c \u540c\u6b65 \u662f \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u7684 \u3002   \u4e16\u754c \u5177\u6709 \u5f02\u6b65 \u65b9\u6cd5 \uff0c \u53ef\u4ee5 \u8ba9 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7b49\u5f85 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u65f6\u95f4 \u6b65\u8fdb \uff0c \u6216 \u5728 \u6536\u5230 \u65f6 \u6267\u884c \u67d0\u4e9b \u64cd\u4f5c \u3002   #   \u7b49\u5f85 \u4e0b \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f \u5e76 \u68c0\u7d22 \u8be5 \u8282\u62cd \u7684 \u5feb\u7167 \u3002   world _ snapshot   =   world . wait _ for _ tick ( )   #   \u6ce8\u518c \u4e00\u4e2a \u56de\u8c03 \u51fd\u6570 \uff0c \u6bcf\u6b21 \u63a5\u6536 \u5230 \u65b0 \u5feb\u7167 \u65f6 \u8c03\u7528 \u5b83 \u3002   world . on _ tick ( lambda   world _ snapshot :   do _ something ( world _ snapshot ) )   \u53ef\u80fd \u7684 \u914d\u7f6e   \u65f6\u95f4 \u6b65\u957f \u548c \u540c\u6b65 \u7684 \u914d\u7f6e \uff0c \u5bfc\u81f4 \u4e0d\u540c \u7684 \u8bbe\u7f6e \u3002 \u4ee5\u4e0b \u662f \u5bf9 \u8fd9\u4e9b \u53ef\u80fd \u53ef\u80fd\u6027 \u7684 \u7b80\u8981 \u603b\u7ed3 \u3002   \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f   \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f   \u540c\u6b65 \u6a21\u5f0f   \u5ba2\u6237 \u5b8c\u5168 \u63a7\u5236 \u4eff\u771f \u53ca\u5176 \u4fe1\u606f \u3002   \u4e0d \u53ef\u9760 \u4eff\u771f \u7684 \u98ce\u9669 \u3002   \u5f02\u6b65 \u6a21\u5f0f   \u8fd9\u662f \u5173\u4e8e \u4fe1\u606f \u7684 \u597d \u65f6\u95f4 \u53c2\u8003 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u4ee5 \u6700\u5feb \u7684 \u901f\u5ea6 \u8fd0\u884c \u3002   \u4e0d \u5bb9\u6613 \u91cd\u590d \u7684 \u4eff\u771f \u3002   \u540c\u6b65 \u6a21\u5f0f + \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \u3002   \u8fd9 \u51e0\u4e4e \u53ef\u4ee5 \u80af\u5b9a \u662f \u4e00\u79cd \u4e0d \u53ef\u53d6 \u7684 \u72b6\u6001 \u3002 \u5f53 \u65f6\u95f4 \u6b65\u957f \u5927\u4e8e   0.1   \u79d2 \u65f6 \uff0c \u7269\u7406 \u65e0\u6cd5 \u6b63\u5e38 \u8fd0\u884c \u3002 \u5982\u679c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5fc5\u987b \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8ba1\u7b97 \u6b65\u9aa4 \uff0c \u5219 \u5f88 \u53ef\u80fd \u4f1a \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \u3002 \u4eff\u771f \u65f6\u95f4 \u548c \u7269\u7406 \u7279\u6027 \u4e0d\u4f1a \u540c\u6b65 \u3002 \u4eff\u771f \u5c06 \u4e0d \u53ef\u9760 \u3002   \u5f02\u6b65 \u6a21\u5f0f + \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \u3002   \u8fd9\u662f \u9ed8\u8ba4 \u7684   Carla   \u72b6\u6001 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 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\u7528\u6237 \uff0c \u5e76\u4e14 \u5b83 \u4f7f\u7528 \u7684 \u662f \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \uff0c \u5219 \u65f6\u95f4 \u6b65\u957f \u5c06 \u592a\u5927 \u3002 \u7269\u7406 \u7406\u5b66 \u7269\u7406\u5b66 \u662f \u4e0d \u53ef\u9760 \u7684 \u3002 \u8fd9\u4e2a \u95ee\u9898 \u5728 \u65f6\u95f4 \u6b65\u957f \u9650\u5236 \u90e8\u5206 \u6709 \u66f4\u597d \u7684 \u89e3\u91ca \u3002   \u7269\u7406 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027   Carla   \u5728 \u7279\u5b9a \u60c5\u51b5 \u4e0b \u652f\u6301 \u7269\u7406 \u548c \u78b0\u649e \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \uff1a   \u540c\u6b65 \u6a21\u5f0f \u548c \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u5fc5\u987b \u542f\u7528   \uff1a \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u8981\u6c42 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5b8c\u5168 \u540c\u6b65 \uff0c \u4ee5 \u786e\u4fdd \u547d\u4ee4 \u88ab \u6b63\u786e \u5e94\u7528 \u5e76 \u4ea7\u751f \u51c6\u786e \u548c \u53ef \u590d\u5236 \u7684 \u7ed3\u679c \u3002 \u5fc5\u987b \u901a\u8fc7 \u8bbe\u7f6e \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u6765 \u5f3a\u5236 \u6267\u884c \u5f3a\u5236\u6267\u884c \u6052\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u3002 \u5982\u679c \u4e0d \u8bbe\u7f6e \uff0c \u65f6\u95f4 \u6b65\u957f \u5c06 \u6839\u636e \u4eff\u771f \u6027\u80fd \u5728 \u6bcf\u4e2a \u6b65\u9aa4 \u81ea\u52a8 \u8ba1\u7b97 \u3002   \u5728 \u52a0\u8f7d \u6216 \u91cd\u65b0 \u52a0\u8f7d \u4e16\u754c \u4e4b\u524d \uff0c \u5fc5\u987b \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \uff1a   \u5982\u679c \u4e16\u754c \u4ece \u4e00 \u5f00\u59cb \u5c31 \u4e0d \u5904\u4e8e \u540c\u6b65 \u6a21\u5f0f \uff0c \u5219 \u53ef\u80fd \u4f1a \u51fa\u73b0 \u4e0d\u540c \u7684 \u65f6\u95f4 \u6233 \u3002 \u8fd9 \u53ef\u80fd \u4f1a \u5728 \u7269\u7406 \u4eff\u771f \u548c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7b49 \u5bf9\u8c61 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u4e2d \u4ea7\u751f \u5fae\u5c0f \u7684 \u5dee\u5f02 \u3002   \u6bcf \u4e00\u6b21 \u65b0 \u7684 \u91cd\u590d \u90fd \u5fc5\u987b \u91cd\u65b0 \u52a0\u8f7d \u4e16\u754c \uff1a   \u6bcf\u6b21 \u8981 \u91cd\u73b0 \u4eff\u771f \u65f6 \uff0c \u8bf7 \u91cd\u65b0 \u52a0\u8f7d \u4e16\u754c \u3002   \u547d\u4ee4   \u5e94\u8be5 \u662f \u5904\u7406 \u6279\u5904\u7406 \u7684 \uff0c \u800c \u4e0d\u662f \u4e00\u6b21 \u53d1\u51fa \u4e00\u4e2a \u547d\u4ee4 \uff1a   \u867d\u7136 \u5f88\u5c11 \u89c1 \uff0c \u4f46 \u5728 \u7e41\u5fd9 \u7684 \u4eff\u771f \u6216 \u8fc7\u8f7d \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e2d \uff0c \u5355\u4e2a \u53d1\u51fa \u7684 \u547d\u4ee4 \u53ef\u80fd \u4f1a \u4e22\u5931 \u3002 \u5982\u679c \u547d\u4ee4 \u5728   apply _ batch _ sync   \u547d\u4ee4 \u4e2d \u5904\u7406 \u6279\u5904\u7406 \uff0c \u5219 \u4fdd\u8bc1 \u8be5 \u547d\u4ee4 \u88ab \u6267\u884c \u6216 \u8fd4\u56de \u5931\u8d25 \u54cd\u5e94 \u3002   \u4ee5\u4e0b \u662f \u4e0a\u8ff0 \u6b65\u9aa4 \u7684 \u793a\u4f8b \uff1a   client   =   carla . Client ( HOST ,   PORT )   #   connect   to   the   server   client . set _ timeout ( 10.0 )   world   =   client . get _ world ( )   #   Load   the   desired   map   client . load _ world ( \" Town10HD _ Opt \" )   #   Set   synchronous   mode   settings   new _ settings   =   world . get _ settings ( )   new _ settings . synchronous _ mode   =   True   new _ settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( new _ settings )   client . reload _ world ( False )   #   reload   map   keeping   the   world   settings   #   Set   up   the   traffic   manager   traffic _ manager   =   client . get _ trafficmanager ( TM _ PORT )   traffic _ manager . set _ synchronous _ mode ( True )   traffic _ manager . set _ random _ device _ seed ( SEED )   #   define   TM   seed   for   determinism   #   Spawn   your   vehicles ,   pedestrians ,   etc .   #   Simulation   loop   while   True :   #   Your   code   world . tick ( )   \u64ad\u653e \u529f\u80fd \u7684 \u4e00\u4e2a \u5177\u4f53 \u793a\u4f8b \uff1a   client   =   carla . Client ( HOST ,   PORT )   #   connect   to   the   server   client . set _ timeout ( 10.0 )   world   =   client . get _ world ( )   #   Load   the   desired   map   client . load _ world ( \" Town10HD _ Opt \" )   #   Set   synchronous   mode   settings   new _ settings   =   world . get _ settings ( )   new _ settings . synchronous _ mode   =   True   new _ settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( new _ settings )   client . reload _ world ( False )   #   reload   map   keeping   the   world   settings   client . replay _ file ( FILE _ TO _ PLAY ,   0 ,   0 ,   0 ,   False )   world . tick ( )   #   a   tick   is   necessary   for   the   server   to   process   the   replay _ file   command   #   Simulation   loop   while   True :   #   Your   code   world . tick ( )   \u8fd0\u884c \u8fd9\u4e9b \u6b65\u9aa4 \u5c06 \u786e\u4fdd \u6bcf\u6b21 \u4eff\u771f \u8fd0\u884c \u7684 \u7ed3\u679c \u76f8\u540c \u3002   \u8fd9 \u5c31\u662f \u5173\u4e8e \u4eff\u771f \u65f6\u95f4 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540c\u6b65 \u5728   Carla   \u4e2d \u7684 \u4f5c\u7528 \u7684 \u5168\u90e8 \u4fe1\u606f \u3002   \u6253\u5f00   Carla \uff0c \u73a9 \u4e00\u4f1a \u4f1a\u513f \u4e00\u4f1a\u513f \u3002 \u6b22\u8fce \u5728 \u8bba\u575b \u4e2d \u63d0\u51fa \u4efb\u4f55 \u5efa\u8bae \u6216 \u7591\u95ee \u3002   Carla   forum","title":"Adv   synchrony   timestep"},{"location":"adv_synchrony_timestep/#_1","text":"\u672c \u8282 \u4ecb\u7ecd   Carla   \u4e2d \u7684 \u4e24\u4e2a \u57fa\u672c \u6982\u5ff5 \u57fa\u672c\u6982\u5ff5 \u3002 \u5b83\u4eec \u7684 \u914d\u7f6e \u5b9a\u4e49 \u4e86 \u4eff\u771f \u4e2d \u7684 \u65f6\u95f4 \u5982\u4f55 \u6d41\u901d \uff0c \u4ee5\u53ca \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5982\u4f55 \u4f7f \u4eff\u771f \u5411\u524d \u63a8\u8fdb \u3002   \u4eff\u771f \u548c \u65f6\u95f4 \u6b65\u957f   \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f   \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f   \u4eff\u771f \u8bb0\u5f55   \u7269\u7406 \u5b50\u6b65   \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540c\u6b65   \u8bbe\u7f6e \u540c\u6b65 \u6a21\u5f0f   \u4f7f\u7528 \u540c\u6b65 \u6a21\u5f0f   \u53ef\u80fd \u7684 \u914d\u7f6e   \u7269\u7406 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027","title":"\u540c\u6b65 \u548c \u65f6\u95f4 \u6b65\u957f"},{"location":"adv_synchrony_timestep/#_2","text":"\u5b9e\u65f6 \u65f6\u95f4 \u548c \u4eff\u771f \u65f6\u95f4 \u662f \u6709 \u533a\u522b \u7684 \u3002 \u4eff\u771f \u4e16\u754c \u6709 \u81ea\u5df1 \u7684 \u65f6\u949f \u548c \u65f6\u95f4 \uff0c \u7531 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6267\u884c \u3002 \u8ba1\u7b97 \u4e24\u4e2a \u4eff\u771f \u6b65\u9aa4 \u9700\u8981 \u4e00\u4e9b \u5b9e\u65f6 \u65f6\u95f4 \u3002 \u4f46\u662f \uff0c \u5728 \u8fd9 \u4e24\u4e2a \u4eff\u771f \u65f6\u523b \u4e4b\u95f4 \u4e5f \u5b58\u5728 \u65f6\u95f4 \u8de8\u5ea6 \u65f6\u95f4\u8de8\u5ea6 \uff0c \u5373   \u65f6\u95f4 \u6b65\u957f   \u3002   \u4e3a\u4e86 \u6f84\u6e05 \u8fd9 \u4e00\u70b9 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53ef\u80fd \u9700\u8981 \u51e0 \u6beb\u79d2 \u6765 \u8ba1\u7b97 \u4eff\u771f \u7684 \u4e24\u4e2a \u6b65\u9aa4 \u3002 \u4f46\u662f \uff0c \u6bd4\u5982 \u8fd9 \u4e24\u4e2a \u4eff\u771f \u65f6\u523b \u4e4b\u95f4 \u7684 \u65f6\u95f4 \u6b65\u957f \u53ef\u4ee5 \u914d\u7f6e \u59cb\u7ec8 \u4e3a   1   \u79d2 \u3002   \u65f6\u95f4 \u6b65\u957f \u53ef\u4ee5 \u662f \u56fa\u5b9a \u7684 \uff0c \u4e5f \u53ef\u4ee5 \u662f \u53ef\u53d8 \u7684 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u7528\u6237 \u7684 \u504f\u597d \u3002   \u7b14\u8bb0   \u65f6\u95f4 \u6b65\u957f \u548c \u540c\u6b65 \u662f \u76f8\u4e92 \u4e92\u4ea4 \u4ea4\u7ec7 \u76f8\u4e92\u4ea4\u7ec7 \u7684 \u6982\u5ff5 \u3002 \u8bf7 \u52a1\u5fc5 \u9605\u8bfb \u8fd9 \u4e24\u4e2a \u90e8\u5206 \uff0c \u4ee5 \u5145\u5206 \u4e86\u89e3   Carla   \u7684 \u5de5\u4f5c \u539f\u7406 \u3002","title":"\u4eff\u771f \u65f6\u95f4 \u6b65\u957f  "},{"location":"adv_synchrony_timestep/#_3","text":"Carla   \u4e2d \u7684 \u9ed8\u8ba4 \u6a21\u5f0f \u3002 \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u662f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8ba1\u7b97 \u8fd9\u4e9b \u6b65\u9aa4 \u6240 \u9700 \u7684 \u65f6\u95f4 \u3002   settings   =   world . get _ settings ( )   settings . fixed _ delta _ seconds   =   None   #   \u8bbe\u7f6e \u4e3a \u53ef\u53d8 \u6b65\u957f   world . apply _ settings ( settings )   PythonAPI / util / config . py   \u4f7f\u7528 \u53c2\u6570 \u8bbe\u7f6e \u53c2\u6570\u8bbe\u7f6e \u65f6\u95f4 \u6b65\u957f \u3002 0   \u8868\u793a \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \u3002   cd   PythonAPI / util   &&   python3   config . py   -- delta - seconds   0","title":"\u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f  "},{"location":"adv_synchrony_timestep/#_4","text":"\u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u4e4b\u95f4 \u7ecf\u8fc7 \u7684 \u65f6\u95f4 \u4fdd\u6301 \u6052\u5b9a \u3002 \u5982\u679c \u8bbe\u7f6e \u4e3a   0.5   \u79d2 \uff0c \u6bcf\u79d2 \u5c06 \u6709   2   \u4e2a \u4eff\u771f \u5e27 \u3002 \u4f7f\u7528 \u76f8\u540c \u7684 \u65f6\u95f4 \u589e\u91cf \u5bf9\u4e8e \u4ece \u4eff\u771f \u4e2d \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e \u662f \u6700\u597d \u7684 \u65b9\u5f0f \u3002 \u7269\u7406 \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c06 \u5bf9\u5e94 \u4e8e \u4eff\u771f \u4e2d \u6613\u4e8e \u7406\u89e3 \u7684 \u65f6\u523b \u3002 \u6b64\u5916 \uff0c \u5982\u679c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901f\u5ea6 \u8db3\u591f \u5feb \uff0c \u53ef\u4ee5 \u5728 \u66f4 \u5c11 \u7684 \u5b9e\u9645 \u65f6\u95f4 \u5185 \u4eff\u771f \u66f4\u957f \u7684 \u65f6\u95f4 \u65f6\u95f4\u6bb5 \u3002   \u53ef\u4ee5 \u5728 \u4e16\u754c \u8bbe\u7f6e \u4e2d \u8bbe\u7f6e \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u3002 \u8981 \u5c06 \u4eff\u771f \u8bbe\u7f6e \u4e3a \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f \u4e3a   0.05   \u79d2 \uff0c \u8bf7 \u5e94\u7528 \u4ee5\u4e0b \u8bbe\u7f6e \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5c06 \u82b1\u8d39 20   \u6b65 \uff08 1 / 0.05 \uff09 \u6765 \u91cd\u73b0 \u4eff\u771f \u4e16\u754c \u4e2d \u7684   1   \u79d2 \u3002   settings   =   world . get _ settings ( )   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   \u8fd9 \u4e5f \u53ef\u4ee5 \u4f7f\u7528   PythonAPI / util / config . py   \u63d0\u4f9b \u7684 \u811a\u672c \u8fdb\u884c \u8bbe\u7f6e \u3002   cd   PythonAPI / util   &&   python3   config . py   -- delta - seconds   0.05","title":"\u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f  "},{"location":"adv_synchrony_timestep/#_5","text":"Carla   \u5177\u6709   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u529f\u80fd \uff0c \u53ef\u4ee5 \u8bb0\u5f55 \u4eff\u771f \uff0c \u7136\u540e \u91cd\u65b0 \u64ad\u653e \u3002 \u4f46\u662f \uff0c \u5728 \u5bfb\u627e \u7cbe\u5ea6 \u65f6 \uff0c \u9700\u8981 \u8003\u8651 \u4e00\u4e9b \u4e8b\u60c5 \u3002   \u6709 \u4e86   \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f   \uff0c \u91cd\u65b0 \u64ad\u653e \u5b83 \u5c31 \u5f88 \u5bb9\u6613 \u4e86 \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53ef\u4ee5 \u8bbe\u7f6e \u4e3a \u4e0e \u539f\u59cb \u4eff\u771f \u76f8\u540c \u7684 \u65f6\u95f4 \u6b65\u957f \u3002   \u4f7f\u7528   \u53ef\u53d8 \u7684 \u65f6\u95f4 \u6b65\u957f   \uff0c \u4e8b\u60c5 \u4f1a \u7a0d\u5fae \u590d\u6742 \u4e00\u4e9b \u3002   \u5982\u679c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4ee5 \u53ef\u53d8 \u7684 \u65f6\u95f4 \u6b65\u957f \u8fd0\u884c \uff0c \u5219 \u65f6\u95f4 \u6b65\u957f \u5c06 \u4e0e \u539f\u59cb \u65f6\u95f4 \u6b65\u957f \u4e0d\u540c \uff0c \u56e0\u4e3a \u903b\u8f91 \u5468\u671f \u4f1a \u4e0d\u65f6 \u53d8\u5316 \u3002 \u7136\u540e \uff0c \u5c06 \u4f7f\u7528 \u8bb0\u5f55 \u7684 \u6570\u636e \u5bf9 \u4fe1\u606f \u8fdb\u884c \u63d2\u503c \u3002   \u5982\u679c   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u88ab\u8feb \u91cd\u73b0 \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u7684 \u65f6\u95f4   \u6b65\u957f \uff0c \u5219 \u4eff\u771f \u7684 \u6b65\u957f \u5c06 \u76f8\u540c \uff0c \u4f46 \u5b83\u4eec \u4e4b\u95f4 \u7684 \u5b9e\u65f6 \u65f6\u95f4 \u4f1a \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002 \u65f6\u95f4 \u6b65\u957f \u5e94 \u9010\u4e00 \u4f20\u9012 \u3002 \u8fd9\u4e9b \u539f\u59cb \u65f6\u95f4 \u6b65\u957f \u662f \u539f\u59cb \u4eff\u771f \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5feb \u8fd0\u884c \u7684 \u7ed3\u679c \u3002 \u7531\u4e8e \u8868\u793a \u8fd9\u4e9b \u6240 \u9700 \u7684 \u65f6\u95f4 \u5927\u591a \u4e0d\u540c \uff0c \u56e0\u6b64 \u4eff\u771f \u5fc5\u7136 \u4f1a\u4ee5 \u5947\u602a \u7684 \u65f6\u95f4 \u6ce2\u52a8 \u518d\u73b0 \u3002","title":"\u4eff\u771f \u8bb0\u5f55  "},{"location":"adv_synchrony_timestep/#_6","text":"\u4e3a\u4e86 \u7cbe\u786e \u8ba1\u7b97 \u7269\u7406 \u6548\u679c \uff0c \u7269\u7406 \u4eff\u771f \u5fc5\u987b \u5728 \u975e\u5e38 \u5c0f \u7684 \u65f6\u95f4 \u6b65\u5185 \u8fdb\u884c \u3002 \u5f53 \u6211\u4eec \u5728 \u4eff\u771f \u4e2d \u6bcf \u5e27 \u6267\u884c \u591a\u6b21 \u8ba1\u7b97 \uff08 \u4f8b\u5982 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6e32\u67d3 \uff0c \u8bfb\u53d6 \u5b58\u50a8 \u7b49 \uff09 \u65f6 \uff0c \u65f6\u95f4 \u6b65\u957f \u53ef\u80fd \u4f1a \u6210\u4e3a \u4e00\u4e2a \u95ee\u9898 \u3002 \u7531\u4e8e \u8fd9\u4e2a \u9650\u5236 \u4ec5 \u53d1\u751f \u5728 \u7269\u7406 \u4eff\u771f \u4e2d \uff0c \u6211\u4eec \u53ef\u4ee5 \u4ec5 \u5bf9 \u7269\u7406 \u8ba1\u7b97 \u5e94\u7528 \u5b50\u6b65 \u3002 \u5728 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u7269\u7406 \u5b50\u6b65 \u662f \u6253\u5f00 \u7684 \uff0c \u5e76\u4e14 \u88ab \u8bbe\u5b9a \u4e3a \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u957f \u6700\u5927   10   \u4e2a \u7269\u7406 \u5b50\u6b65 \uff0c \u6bcf\u4e2a \u7269\u7406 \u5b50\u6b65 \u6700\u5927 \u4e3a 0.01   \u79d2 \u3002   \u5f53\u7136 \uff0c \u6211\u4eec \u53ef\u4ee5 \u901a\u8fc7 API \u8c03\u6574 \u8fd9\u4e9b \u8bbe\u5b9a \uff1a   settings   =   world . get _ settings ( )   settings . substepping   =   True   settings . max _ substep _ delta _ time   =   0.01   settings . max _ substeps   =   10   world . apply _ settings ( settings )   \u6ce8\u610f \uff0c \u5f53 \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \u65f6 \uff0c \u6211\u4eec \u8bbe\u5b9a \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u65f6 \u9700\u8981 \u9075\u5faa \u4ee5\u4e0b \u6761\u4ef6 \u6765 \u4fdd\u8bc1 \u7269\u7406 \u4eff\u771f \u7684 \u51c6\u786e \u51c6\u786e\u6027 \uff1a   fixed _ delta _ seconds   < =   max _ substep _ delta _ time   *   max _ substeps   \u6ce8\u610f \uff0c \u4e3a\u4e86 \u4fdd\u8bc1 \u7269\u7406 \u4eff\u771f \u7684 \u51c6\u786e \u51c6\u786e\u6027 \uff0c \u5b50\u6b65 \u7684 \u65f6\u95f4 \u95f4\u9694 \u5e94\u8be5 \u81f3\u5c11 \u4f4e\u4e8e   0.01666 \uff0c \u7406\u60f3 \u60c5\u51b5 \u4e0b \u4f4e\u4e8e   0.01 \u3002   \u4e3a\u4e86 \u6f14\u793a \u6700\u4f73 \u7269\u7406 \u5b50\u6b65 \u7684 \u6548\u679c \uff0c \u8bf7 \u8003\u8651 \u4e0b\u9762 \u7684 \u56fe \u3002 \u4e0b\u9762 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u56fe\u8868 \u663e\u793a \u4e86 \u5728 \u4e0d\u540c \u56fa\u5b9a \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u7684 \u4eff\u771f \u4e2d \u901f\u5ea6 \u968f \u65f6\u95f4 \u7684 \u53d8\u5316 \u3002 \u7269\u7406 \u589e\u91cf \u65f6\u95f4 \u5728 \u6240\u6709 \u4eff\u771f \u4e2d \u90fd \u662f \u6052\u5b9a \u7684 \uff0c \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.01 \u3002 \u6211\u4eec \u53ef\u4ee5 \u770b\u5230 \uff0c \u901f\u5ea6 \u4e0d \u53d7 \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u5dee\u5f02 \u7684 \u5f71\u54cd \u3002   \u7b2c\u4e8c \u4e8c\u5f20 \u7b2c\u4e8c\u5f20 \u56fe \u663e\u793a \u4e86 \u4eff\u771f \u4e2d \u901f\u5ea6 \u968f \u65f6\u95f4 \u7684 \u53d8\u5316 \uff0c \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u56fa\u5b9a \u4e3a 0.04 \u3002 \u6211\u4eec \u53ef\u4ee5 \u770b\u5230 \uff0c \u4e00\u65e6 \u7269\u7406 \u589e\u91cf \u65f6\u95f4 \u8d85\u8fc7   0.01 \uff0c \u901f\u5ea6 \u5e38\u6570 \u5f00\u59cb \u51fa\u73b0 \u504f\u5dee \uff0c \u968f\u7740 \u7269\u7406 \u589e\u91cf \u65f6\u95f4 \u7684 \u589e\u52a0 \uff0c \u504f\u5dee \u7684 \u4e25\u91cd \u7a0b\u5ea6 \u4e5f \u5728 \u589e\u52a0 \u3002   \u6211\u4eec \u53ef\u4ee5 \u901a\u8fc7 \u5728 \u6d4b\u91cf z - \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u65f6 \u663e\u793a \u7269\u7406 \u589e\u91cf \u65f6\u95f4 \u4e0e \u56fa\u5b9a \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u76f8\u540c \u7684 \u5dee\u5f02 \u7684 \u5f71\u54cd \u6765 \u518d\u6b21 \u8bc1\u660e \u8fd9\u79cd \u504f\u5dee \uff0c \u53ea\u6709 \u5f53 \u7269\u7406 \u589e\u91cf \u65f6\u95f4 \u4e3a   0.01   \u6216 \u66f4 \u5c0f\u65f6 \u624d \u4f1a \u53d1\u751f \u6536\u655b \u3002","title":"\u7269\u7406 \u5b50\u6b65  "},{"location":"adv_synchrony_timestep/#-","text":"Carla   \u91c7\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u67b6\u6784 \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fd0\u884c \u4eff\u771f \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u83b7\u53d6 \u53d6\u4fe1 \u4fe1\u606f \u83b7\u53d6\u4fe1\u606f \u5e76 \u5bf9 \u4e16\u754c \u8fdb\u884c \u4fee\u6539 \u3002 \u672c \u8282 \u6d89\u53ca \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u7684 \u901a\u4fe1 \u3002   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c Carla   \u4ee5 \u5f02\u6b65 \u6a21\u5f0f \u8fd0\u884c \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5feb\u5730 \u8fd0\u884c \u4eff\u771f \uff0c \u800c \u4e0d \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002 \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5728 \u66f4\u65b0 \u5230 \u4e0b \u4e00\u4e2a \u4eff\u771f \u6b65\u9aa4 \u4e4b\u524d \u4f1a \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u53d1\u9001 \u7684 \u201c ready   to   go \u201d \u7684 \u6d88\u606f \u3002   \u7b14\u8bb0   \u540c\u65f6 \u8fd0\u884c \u591a\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u65f6 \uff0c \u53ea\u80fd \u6709 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u5f00\u542f \u540c\u6b65 \u6a21\u5f0f \uff0c \u56e0\u4e3a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f1a \u5bf9 \u6bcf\u4e2a \u6536\u5230 \u7684 \u201c ready   to   go \u201d \u4fe1\u606f \u8fdb\u884c \u53cd\u5e94 \uff0c \u591a\u4e2a client \u5f00\u542f \u540c\u6b65 \u6a21\u5f0f \u5c06\u4f1a \u53d1\u9001 \u8fc7\u591a \u201c ready   to   go \u201d \u4fe1\u606f \u5bfc\u81f4 \u540c\u6b65 \u5931\u8d25 \u3002","title":"\u5ba2\u6237\u7aef - \u670d\u52a1\u5668 \u540c\u6b65  "},{"location":"adv_synchrony_timestep/#_7","text":"\u540c\u6b65 \u6a21\u5f0f \u548c \u5f02\u6b65 \u6a21\u5f0f \u4e4b\u95f4 \u5207\u6362 \u53ea \u9700\u8981 \u6539\u53d8   settings . synchronous _ mode   \u7684 \u503c \u5373\u53ef \u3002   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f   world . apply _ settings ( settings )   \u8b66\u544a   \u5982\u679c \u542f\u7528 \u4e86 \u540c\u6b65 \u6a21\u5f0f \uff0c \u5e76\u4e14 \u6b63\u5728 \u8fd0\u884c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u5219 \u4e5f \u5fc5\u987b \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002 \u9605\u8bfb   \u8fd9\u4e2a   \u4ee5 \u4e86\u89e3 \u5982\u4f55 \u64cd\u4f5c \u3002   \u8981 \u7981\u7528 \u540c\u6b65 \u6a21\u5f0f \uff0c \u53ea \u9700 \u5c06 \u53d8\u91cf \u8bbe\u7f6e \u4e3a   false   \u6216 \u4f7f\u7528   PythonAPI / util / config . py   \u811a\u672c \u3002   cd   PythonAPI / util   &&   python3   config . py   -- no - sync   #   Disables   synchronous   mode   \u540c\u6b65 \u6a21\u5f0f \u4e0d\u80fd \u901a\u8fc7 \u811a\u672c \u542f\u7528 \uff0c \u53ea\u80fd \u7981\u7528 \u3002 \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \u5c06 \u4f7f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u673a \u7684 \u54cd\u5e94 \u3002 \u4f7f\u7528 \u8fd9\u4e2a \u811a\u672c \uff0c \u7528\u6237 \u4e0d\u80fd \u5728 \u9700\u8981 \u7684 \u65f6\u5019 \u53d1\u9001 \u523b\u5ea6 \u3002","title":"\u8bbe\u7f6e \u540c\u6b65 \u6a21\u5f0f  "},{"location":"adv_synchrony_timestep/#_8","text":"\u540c\u6b65 \u6a21\u5f0f \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u8f83\u6162 \u4ee5\u53ca \u9700\u8981 \u4e0d\u540c \u5143\u7d20 \u4e4b\u95f4 \u7684 \u540c\u6b65 \uff0c \u5982 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7b49 \u60c5\u51b5 \u4e0b \u5c24\u4e3a \u4e3a\u91cd \u91cd\u8981 \u5c24\u4e3a\u91cd\u8981 \u3002 \u5982\u679c \u5ba2\u6237 \u5ba2\u6237\u7aef \u901f\u5ea6 \u592a\u6162 \u800c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0d \u7b49\u5f85 \uff0c \u4fe1\u606f \u5c06\u4f1a \u6ea2\u51fa \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06 \u65e0\u6cd5 \u7ba1\u7406 \u6240\u6709 \u5185\u5bb9 \uff0c \u4fe1\u606f \u4f1a \u4e22\u5931 \u6216 \u6df7\u6dc6 \u3002 \u7c7b\u4f3c \u7684 \u60c5\u51b5 \u662f \uff0c \u5982\u679c \u6709 \u5f88\u591a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u5f02\u6b65 \u64cd\u4f5c \uff0c \u5c06 \u65e0\u6cd5 \u786e\u5b9a \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u5426 \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u6765\u81ea \u540c\u4e00 \u65f6\u523b \u7684 \u6570\u636e \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u7247\u6bb5 \u6269\u5c55 \u4e86 \u524d \u4e00\u6bb5 \u4ee3\u7801 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa \u4e00\u4e2a \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5c06 \u5f53\u524d \u6b65\u9aa4 \u7684 \u56fe\u50cf \u6570\u636e \u5b58\u50a8 \u5728 \u961f\u5217 \u4e2d \uff0c \u5e76 \u5728 \u4ece \u961f\u5217 \u4e2d \u68c0\u7d22 \u540e \u52fe\u9009 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u53ef\u4ee5   \u5728 \u6b64\u5904   \u627e\u5230 \u6709\u5173 \u591a\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u66f4 \u590d\u6742 \u793a\u4f8b \u3002   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   world . apply _ settings ( settings )   camera   =   world . spawn _ actor ( blueprint ,   transform )   image _ queue   =   queue . Queue ( )   camera . listen ( image _ queue . put )   while   True :   world . tick ( )   image   =   image _ queue . get ( )   \u91cd\u8981   \u6765\u81ea \u57fa\u4e8e GPU \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u4e3b\u8981 \u662f \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \uff09 \u7684 \u91cd\u8981 \u6570\u636e \u901a\u5e38 \u4f1a \u5ef6\u8fdf \u51e0\u5e27 \u3002 \u5728 \u8fd9\u91cc \uff0c \u540c\u6b65 \u662f \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u7684 \u3002   \u4e16\u754c \u5177\u6709 \u5f02\u6b65 \u65b9\u6cd5 \uff0c \u53ef\u4ee5 \u8ba9 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7b49\u5f85 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u65f6\u95f4 \u6b65\u8fdb \uff0c \u6216 \u5728 \u6536\u5230 \u65f6 \u6267\u884c \u67d0\u4e9b \u64cd\u4f5c \u3002   #   \u7b49\u5f85 \u4e0b \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f \u5e76 \u68c0\u7d22 \u8be5 \u8282\u62cd \u7684 \u5feb\u7167 \u3002   world _ snapshot   =   world . wait _ for _ tick ( )   #   \u6ce8\u518c \u4e00\u4e2a \u56de\u8c03 \u51fd\u6570 \uff0c \u6bcf\u6b21 \u63a5\u6536 \u5230 \u65b0 \u5feb\u7167 \u65f6 \u8c03\u7528 \u5b83 \u3002   world . on _ tick ( lambda   world _ snapshot :   do _ something ( world _ snapshot ) )","title":"\u4f7f\u7528 \u540c\u6b65 \u6a21\u5f0f  "},{"location":"adv_synchrony_timestep/#_9","text":"\u65f6\u95f4 \u6b65\u957f \u548c \u540c\u6b65 \u7684 \u914d\u7f6e \uff0c \u5bfc\u81f4 \u4e0d\u540c \u7684 \u8bbe\u7f6e \u3002 \u4ee5\u4e0b \u662f \u5bf9 \u8fd9\u4e9b \u53ef\u80fd \u53ef\u80fd\u6027 \u7684 \u7b80\u8981 \u603b\u7ed3 \u3002   \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f   \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f   \u540c\u6b65 \u6a21\u5f0f   \u5ba2\u6237 \u5b8c\u5168 \u63a7\u5236 \u4eff\u771f \u53ca\u5176 \u4fe1\u606f \u3002   \u4e0d \u53ef\u9760 \u4eff\u771f \u7684 \u98ce\u9669 \u3002   \u5f02\u6b65 \u6a21\u5f0f   \u8fd9\u662f \u5173\u4e8e \u4fe1\u606f \u7684 \u597d \u65f6\u95f4 \u53c2\u8003 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u4ee5 \u6700\u5feb \u7684 \u901f\u5ea6 \u8fd0\u884c \u3002   \u4e0d \u5bb9\u6613 \u91cd\u590d \u7684 \u4eff\u771f \u3002   \u540c\u6b65 \u6a21\u5f0f + \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \u3002   \u8fd9 \u51e0\u4e4e \u53ef\u4ee5 \u80af\u5b9a \u662f \u4e00\u79cd \u4e0d \u53ef\u53d6 \u7684 \u72b6\u6001 \u3002 \u5f53 \u65f6\u95f4 \u6b65\u957f \u5927\u4e8e   0.1   \u79d2 \u65f6 \uff0c \u7269\u7406 \u65e0\u6cd5 \u6b63\u5e38 \u8fd0\u884c \u3002 \u5982\u679c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5fc5\u987b \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8ba1\u7b97 \u6b65\u9aa4 \uff0c \u5219 \u5f88 \u53ef\u80fd \u4f1a \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \u3002 \u4eff\u771f \u65f6\u95f4 \u548c \u7269\u7406 \u7279\u6027 \u4e0d\u4f1a \u540c\u6b65 \u3002 \u4eff\u771f \u5c06 \u4e0d \u53ef\u9760 \u3002   \u5f02\u6b65 \u6a21\u5f0f + \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \u3002   \u8fd9\u662f \u9ed8\u8ba4 \u7684   Carla   \u72b6\u6001 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u662f \u5f02\u6b65 \u7684 \u3002 \u4eff\u771f \u65f6\u95f4 \u6839\u636e \u5b9e\u65f6 \u6d41\u52a8 \u3002 \u91cd\u65b0 \u6267\u884c \u4eff\u771f \u9700\u8981 \u8003\u8651 \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \u7b97\u672f \u8bef\u5dee \uff0c \u4ee5\u53ca \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u65f6\u95f4 \u6b65\u957f \u7684 \u53ef\u80fd \u5dee\u5f02 \u3002   \u5f02\u6b65 \u6a21\u5f0f + \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f \u3002   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5feb\u5730 \u8fd0\u884c \u3002 \u68c0\u7d22 \u5230 \u7684 \u4fe1\u606f \u5c06 \u5f88 \u5bb9\u6613 \u4e0e \u4eff\u771f \u4e2d \u7684 \u786e\u5207 \u65f6\u523b \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u5982\u679c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901f\u5ea6 \u8db3\u591f \u5feb \uff0c \u8fd9\u79cd \u914d\u7f6e \u53ef\u4ee5 \u4ee5 \u66f4 \u4f4e \u7684 \u5b9e\u65f6 \u5ea6 \u4eff\u771f \u65f6\u95f4 \u957f\u65f6\u95f4 \u3002   \u540c\u6b65 \u6a21\u5f0f + \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06 \u7edf\u6cbb \u4eff\u771f \u3002 \u65f6\u95f4 \u6b65\u957f \u5c06 \u662f \u56fa\u5b9a \u7684 \u3002 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u53d1\u9001 \u5373\u65f6 \u62a5\u4ef7 \u4e4b\u524d \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0d\u4f1a \u8ba1\u7b97 \u4ee5\u4e0b \u6b65\u9aa4 \u3002 \u5f53 \u540c\u6b65 \u548c \u7cbe\u5ea6 \u76f8\u5173 \u65f6 \uff0c \u8fd9\u662f \u6700\u4f73 \u6a21\u5f0f \u3002 \u5c24\u5176 \u662f \u5728 \u5904\u7406 \u7f13\u6162 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6216 \u68c0\u7d22 \u4fe1\u606f \u7684 \u4e0d\u540c \u5143\u7d20 \u65f6 \u3002   \u8b66\u544a   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u8bf7 \u59cb\u7ec8 \u4f7f\u7528 \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u3002 \u5982\u679c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5fc5\u987b \u7b49\u5f85 \u7528\u6237 \uff0c \u5e76\u4e14 \u5b83 \u4f7f\u7528 \u7684 \u662f \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \uff0c \u5219 \u65f6\u95f4 \u6b65\u957f \u5c06 \u592a\u5927 \u3002 \u7269\u7406 \u7406\u5b66 \u7269\u7406\u5b66 \u662f \u4e0d \u53ef\u9760 \u7684 \u3002 \u8fd9\u4e2a \u95ee\u9898 \u5728 \u65f6\u95f4 \u6b65\u957f \u9650\u5236 \u90e8\u5206 \u6709 \u66f4\u597d \u7684 \u89e3\u91ca \u3002","title":"\u53ef\u80fd \u7684 \u914d\u7f6e    "},{"location":"adv_synchrony_timestep/#_10","text":"Carla   \u5728 \u7279\u5b9a \u60c5\u51b5 \u4e0b \u652f\u6301 \u7269\u7406 \u548c \u78b0\u649e \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \uff1a   \u540c\u6b65 \u6a21\u5f0f \u548c \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u5fc5\u987b \u542f\u7528   \uff1a \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u8981\u6c42 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5b8c\u5168 \u540c\u6b65 \uff0c \u4ee5 \u786e\u4fdd \u547d\u4ee4 \u88ab \u6b63\u786e \u5e94\u7528 \u5e76 \u4ea7\u751f \u51c6\u786e \u548c \u53ef \u590d\u5236 \u7684 \u7ed3\u679c \u3002 \u5fc5\u987b \u901a\u8fc7 \u8bbe\u7f6e \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u6765 \u5f3a\u5236 \u6267\u884c \u5f3a\u5236\u6267\u884c \u6052\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u3002 \u5982\u679c \u4e0d \u8bbe\u7f6e \uff0c \u65f6\u95f4 \u6b65\u957f \u5c06 \u6839\u636e \u4eff\u771f \u6027\u80fd \u5728 \u6bcf\u4e2a \u6b65\u9aa4 \u81ea\u52a8 \u8ba1\u7b97 \u3002   \u5728 \u52a0\u8f7d \u6216 \u91cd\u65b0 \u52a0\u8f7d \u4e16\u754c \u4e4b\u524d \uff0c \u5fc5\u987b \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \uff1a   \u5982\u679c \u4e16\u754c \u4ece \u4e00 \u5f00\u59cb \u5c31 \u4e0d \u5904\u4e8e \u540c\u6b65 \u6a21\u5f0f \uff0c \u5219 \u53ef\u80fd \u4f1a \u51fa\u73b0 \u4e0d\u540c \u7684 \u65f6\u95f4 \u6233 \u3002 \u8fd9 \u53ef\u80fd \u4f1a \u5728 \u7269\u7406 \u4eff\u771f \u548c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7b49 \u5bf9\u8c61 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u4e2d \u4ea7\u751f \u5fae\u5c0f \u7684 \u5dee\u5f02 \u3002   \u6bcf \u4e00\u6b21 \u65b0 \u7684 \u91cd\u590d \u90fd \u5fc5\u987b \u91cd\u65b0 \u52a0\u8f7d \u4e16\u754c \uff1a   \u6bcf\u6b21 \u8981 \u91cd\u73b0 \u4eff\u771f \u65f6 \uff0c \u8bf7 \u91cd\u65b0 \u52a0\u8f7d \u4e16\u754c \u3002   \u547d\u4ee4   \u5e94\u8be5 \u662f \u5904\u7406 \u6279\u5904\u7406 \u7684 \uff0c \u800c \u4e0d\u662f \u4e00\u6b21 \u53d1\u51fa \u4e00\u4e2a \u547d\u4ee4 \uff1a   \u867d\u7136 \u5f88\u5c11 \u89c1 \uff0c \u4f46 \u5728 \u7e41\u5fd9 \u7684 \u4eff\u771f \u6216 \u8fc7\u8f7d \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e2d \uff0c \u5355\u4e2a \u53d1\u51fa \u7684 \u547d\u4ee4 \u53ef\u80fd \u4f1a \u4e22\u5931 \u3002 \u5982\u679c \u547d\u4ee4 \u5728   apply _ batch _ sync   \u547d\u4ee4 \u4e2d \u5904\u7406 \u6279\u5904\u7406 \uff0c \u5219 \u4fdd\u8bc1 \u8be5 \u547d\u4ee4 \u88ab \u6267\u884c \u6216 \u8fd4\u56de \u5931\u8d25 \u54cd\u5e94 \u3002   \u4ee5\u4e0b \u662f \u4e0a\u8ff0 \u6b65\u9aa4 \u7684 \u793a\u4f8b \uff1a   client   =   carla . Client ( HOST ,   PORT )   #   connect   to   the   server   client . set _ timeout ( 10.0 )   world   =   client . get _ world ( )   #   Load   the   desired   map   client . load _ world ( \" Town10HD _ Opt \" )   #   Set   synchronous   mode   settings   new _ settings   =   world . get _ settings ( )   new _ settings . synchronous _ mode   =   True   new _ settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( new _ settings )   client . reload _ world ( False )   #   reload   map   keeping   the   world   settings   #   Set   up   the   traffic   manager   traffic _ manager   =   client . get _ trafficmanager ( TM _ PORT )   traffic _ manager . set _ synchronous _ mode ( True )   traffic _ manager . set _ random _ device _ seed ( SEED )   #   define   TM   seed   for   determinism   #   Spawn   your   vehicles ,   pedestrians ,   etc .   #   Simulation   loop   while   True :   #   Your   code   world . tick ( )   \u64ad\u653e \u529f\u80fd \u7684 \u4e00\u4e2a \u5177\u4f53 \u793a\u4f8b \uff1a   client   =   carla . Client ( HOST ,   PORT )   #   connect   to   the   server   client . set _ timeout ( 10.0 )   world   =   client . get _ world ( )   #   Load   the   desired   map   client . load _ world ( \" Town10HD _ Opt \" )   #   Set   synchronous   mode   settings   new _ settings   =   world . get _ settings ( )   new _ settings . synchronous _ mode   =   True   new _ settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( new _ settings )   client . reload _ world ( False )   #   reload   map   keeping   the   world   settings   client . replay _ file ( FILE _ TO _ PLAY ,   0 ,   0 ,   0 ,   False )   world . tick ( )   #   a   tick   is   necessary   for   the   server   to   process   the   replay _ file   command   #   Simulation   loop   while   True :   #   Your   code   world . tick ( )   \u8fd0\u884c \u8fd9\u4e9b \u6b65\u9aa4 \u5c06 \u786e\u4fdd \u6bcf\u6b21 \u4eff\u771f \u8fd0\u884c \u7684 \u7ed3\u679c \u76f8\u540c \u3002   \u8fd9 \u5c31\u662f \u5173\u4e8e \u4eff\u771f \u65f6\u95f4 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540c\u6b65 \u5728   Carla   \u4e2d \u7684 \u4f5c\u7528 \u7684 \u5168\u90e8 \u4fe1\u606f \u3002   \u6253\u5f00   Carla \uff0c \u73a9 \u4e00\u4f1a \u4f1a\u513f \u4e00\u4f1a\u513f \u3002 \u6b22\u8fce \u5728 \u8bba\u575b \u4e2d \u63d0\u51fa \u4efb\u4f55 \u5efa\u8bae \u6216 \u7591\u95ee \u3002   Carla   forum","title":"\u7269\u7406 \u786e\u5b9a\u6027  "},{"location":"adv_traffic_manager/","text":"\u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u4ec0\u4e48 \u662f \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff1f   \u7ed3\u6784 \u7ed3\u6784\u5316 \u8bbe\u8ba1   \u7528\u6237 \u5b9a\u5236   \u67b6\u6784   \u6982\u8ff0   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u4eff\u771f \u72b6\u6001   \u63a7\u5236 \u5faa\u73af   \u5185\u5b58 \u5730\u56fe   \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9   PID   \u63a7\u5236 \u63a7\u5236\u5668   \u547d\u4ee4 \u6570\u7ec4   \u63a7\u5236 \u5faa\u73af \u7684 \u9636\u6bb5   \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u8f66\u8f86 \u884c\u4e3a \u8003\u8651 \u56e0\u7d20   \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u914d\u7f6e \u81ea\u52a8 \u9a7e\u9a76 \u884c\u4e3a   \u505c\u6b62 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f   \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f   \u8fd0\u884c \u591a\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4eff\u771f   \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4eff\u771f   \u591a\u91cd \u4eff\u771f   \u540c\u6b65 \u6a21\u5f0f   \u5927 \u5730\u56fe \u4e2d \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u4ec0\u4e48 \u662f \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff1f   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   ( Traffic   Manager ,   TM )   \u662f \u5728 \u4eff\u771f \u4e2d\u4ee5 \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u63a7\u5236 \u8f66\u8f86 \u7684 \u6a21\u5757 \u3002 \u5176 \u76ee\u6807 \u662f \u5728 \u4eff\u771f \u4e2d \u586b\u5145 \u771f\u5b9e \u7684 \u57ce\u5e02 \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u3002 \u7528\u6237 \u53ef\u4ee5 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4e00\u4e9b \u884c\u4e3a \uff0c \u4f8b\u5982 \u8bbe\u7f6e \u7279\u5b9a \u7684 \u5b66\u4e60 \u73af\u5883 \u3002   \u7ed3\u6784 \u7ed3\u6784\u5316 \u8bbe\u8ba1   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u6784\u5efa \u4e8e   Carla   \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e4b\u4e0a \u3002 \u6267\u884c \u6d41\u7a0b \u5206\u4e3a \u591a\u4e2a \u9636\u6bb5 \uff0c \u6bcf\u4e2a \u9636\u6bb5 \u90fd \u6709 \u72ec\u7acb \u7684 \u64cd\u4f5c \u548c \u76ee\u6807 \u3002 \u8fd9 \u6709\u5229 \u5229\u4e8e \u6709\u5229\u4e8e \u76f8\u4f4d \u76f8\u5173 \u529f\u80fd \u548c \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u7684 \u5f00\u53d1 \uff0c \u540c\u65f6 \u63d0\u9ad8 \u8ba1\u7b97 \u6548\u7387 \u3002 \u6bcf\u4e2a \u9636\u6bb5 \u90fd \u5728 \u4e0d\u540c \u7684 \u7ebf\u7a0b \u4e0a \u8fd0\u884c \u3002 \u4e0e \u5176\u4ed6 \u9636\u6bb5 \u7684 \u901a\u4fe1 \u901a\u8fc7 \u540c\u6b65 \u6d88\u606f \u4f20\u9012 \u6d88\u606f\u4f20\u9012 \u8fdb\u884c \u7ba1\u7406 \u3002 \u4fe1\u606f \u671d \u4e00\u4e2a \u65b9\u5411 \u6d41\u52a8 \u3002   \u7528\u6237 \u5b9a\u5236   \u7528\u6237 \u53ef\u4ee5 \u901a\u8fc7 \u8bbe\u7f6e \u5141\u8bb8 \u3001 \u5f3a\u5236 \u6216 \u9f13\u52b1 \u7279\u5b9a \u884c\u4e3a \u7684 \u53c2\u6570 \u6765 \u5bf9 \u6d41\u91cf \u8fdb\u884c \u4e00\u5b9a \u7a0b\u5ea6 \u7684 \u63a7\u5236 \u3002 \u7528\u6237 \u53ef\u4ee5 \u6839\u636e \u81ea\u5df1 \u7684 \u559c\u597d \u6539\u53d8 \u6d41\u91cf \u884c\u4e3a \uff0c \u65e0\u8bba \u65e0\u8bba\u662f \u5728\u7ebf \u8fd8\u662f \u79bb\u7ebf \u3002 \u4f8b\u5982 \uff0c \u53ef\u4ee5 \u5141\u8bb8 \u6c7d\u8f66 \u5ffd\u7565 \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u6216 \u5f3a\u5236 \u53d8\u9053 \u3002 \u5728 \u5c1d\u8bd5 \u4eff\u771f \u73b0\u5b9e \u65f6 \uff0c \u80fd\u591f \u5c1d\u8bd5 \u5404\u79cd \u884c\u4e3a \u662f \u4e0d\u53ef \u5fc5\u4e0d\u53ef\u5c11 \u7684 \u3002 \u9a7e\u9a76 \u7cfb\u7edf \u9700\u8981 \u5728 \u7279\u5b9a \u548c \u975e\u5178 \u5178\u578b \u975e\u5178\u578b \u60c5\u51b5 \u4e0b \u8fdb\u884c \u8bad\u7ec3 \u3002   \u67b6\u6784   \u6982\u8ff0   \u4e0a\u56fe \u662f \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u5185\u90e8 \u67b6\u6784 \u793a\u610f \u610f\u56fe \u793a\u610f\u56fe \u3002 \u6bcf\u4e2a \u7ec4\u4ef6 \u7684   C++   \u4ee3\u7801 \u53ef\u4ee5 \u5728   LibCarla / source / carla / trafficmanager   \u4e2d \u627e\u5230 \u3002 \u4ee5\u4e0b \u5404\u8282 \u8be6\u7ec6 \u89e3\u91ca \u4e86 \u6bcf\u4e2a \u7ec4\u4ef6 \u3002 \u903b\u8f91 \u6982\u8ff0 \u5982\u4e0b \uff1a   1 .   \u5b58\u50a8 \u5e76 \u66f4\u65b0 \u4eff\u771f \u7684 \u5f53\u524d \u72b6\u6001 \u3002   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406   ( Agent   Lifecycle   &   State   Management ,   ALSM )   \u626b\u63cf \u4e16\u754c \uff0c \u8ddf\u8e2a \u6240\u6709 \u5b58\u5728 \u7684 \u8f66\u8f86 \u548c \u884c\u4eba \uff0c \u5e76 \u6e05\u7406 \u4e0d\u518d \u5b58\u5728 \u7684 \u6761\u76ee \u3002 \u6240\u6709 \u6570\u636e \u5747 \u4ece \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u68c0\u7d22 \u5e76 \u7ecf\u8fc7 \u591a\u4e2a   \u9636\u6bb5   \u3002 ALSM   \u662f \u552f\u4e00 \u8c03\u7528 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u7ec4\u4ef6 \u3002   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u5305\u542b \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5904\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u72b6\u6001 \u7684 \u8f66\u8f86 \uff08 \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \uff09 \u4ee5\u53ca \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u4e0d \u5904\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u72b6\u6001 \uff08 \u4e0d \u53d7 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u63a7\u5236 \uff09 \u7684 \u884c\u4eba \u548c \u8f66\u8f86 \u3002   \u4eff\u771f \u72b6\u6001   \u662f \u4eff\u771f \u4e2d \u6240\u6709 \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u4f4d\u7f6e \u3001 \u901f\u5ea6 \u548c \u9644\u52a0 \u4fe1\u606f \u7684 \u7f13\u5b58 \u5b58\u50a8 \u3002   2 .   \u8ba1\u7b97 \u6bcf\u8f86 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u7684 \u8fd0\u52a8 \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u6839\u636e   \u4eff\u771f \u72b6\u6001   \u4e3a   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u4e2d \u7684 \u6240\u6709 \u8f66\u8f86 \u751f\u6210 \u53ef\u884c \u7684 \u547d\u4ee4 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u8ba1\u7b97 \u90fd \u662f \u5355\u72ec \u8fdb\u884c \u7684 \u3002 \u8fd9\u4e9b \u8ba1\u7b97 \u5206\u4e3a \u4e0d\u540c \u7684   \u9636\u6bb5   \u3002   \u63a7\u5236 \u5faa\u73af   \u901a\u8fc7 \u5728 \u9636\u6bb5 \u4e4b\u95f4 \u521b\u5efa \u540c\u6b65 \u5c4f\u969c \u6765 \u786e\u4fdd \u6240\u6709 \u8ba1\u7b97 \u7684 \u4e00\u81f4 \u4e00\u81f4\u6027 \u3002 \u5728 \u5f53\u524d \u9636\u6bb5 \u7684 \u6240\u6709 \u8f66\u8f86 \u8ba1\u7b97 \u5b8c\u6210 \u4e4b\u524d \uff0c \u6ca1\u6709 \u8f66\u8f86 \u8fdb\u5165 \u9636\u6bb5 \u4e0b\u4e00\u9636\u6bb5 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u4f1a \u7ecf\u5386 \u4ee5\u4e0b \u9636\u6bb5 \uff1a   2.1   -   \u5b9a\u4f4d \u9636\u6bb5   \u8def\u5f84 \u662f \u4f7f\u7528 \u4ece   \u5185\u5b58 \u5730\u56fe   \u4e2d \u6536\u96c6 \u7684 \u9644\u8fd1 \u8def\u5f84 \u70b9 \u5217\u8868 \u52a8\u6001 \u521b\u5efa \u52a8\u6001\u521b\u5efa \u7684 \uff0c \u5185\u5b58 \u5730\u56fe \u662f \u4eff\u771f \u5730\u56fe \u4f5c\u4e3a \u8def\u5f84 \u70b9 \u7f51\u683c \u7684 \u7b80\u5316 \u3002 \u8def\u53e3 \u7684 \u65b9\u5411 \u662f \u968f\u673a \u9009\u62e9 \u7684 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u8def\u5f84 \u5747 \u7531 \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9 ( Path   Buffers   &   Vehicle   Tracking ,   PBVT   )   \u7ec4\u4ef6 \u5b58\u50a8 \u548c \u7ef4\u62a4 \uff0c \u4ee5\u4fbf \u5728 \u672a\u6765 \u9636\u6bb5 \u8f7b\u677e \u8bbf\u95ee \u548c \u4fee\u6539 \u3002   2.2   -   \u78b0\u649e \u9636\u6bb5   \u8fb9\u754c \u6846 \u5ef6\u4f38 \u5230 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u8def\u5f84 \u4e0a \uff0c \u4ee5 \u8bc6\u522b \u548c \u5bfc\u822a \u6f5c\u5728 \u7684 \u78b0\u649e \u5371\u9669 \u3002   2.3   -   \u4ea4\u901a \u4ea4\u901a\u706f \u9636\u6bb5   .   \u4e0e \u78b0\u649e \u9636\u6bb5 \u7c7b\u4f3c \uff0c \u4f1a \u8bc6\u522b \u7531\u4e8e \u4ea4\u901a \u4ea4\u901a\u706f \u5f71\u54cd \u3001 \u505c\u8f66 \u6807\u5fd7 \u548c \u8def\u53e3 \u4f18\u5148 \u4f18\u5148\u7ea7 \u800c \u5f71\u54cd \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u8def\u5f84 \u7684 \u6f5c\u5728 \u5371\u9669 \u3002   2.4   -   \u8fd0\u52a8 \u89c4\u5212 \u5668 \u9636\u6bb5   .   \u8f66\u8f86 \u8fd0\u52a8 \u662f \u6839\u636e \u5b9a\u4e49 \u7684 \u8def\u5f84 \u8ba1\u7b97 \u7684 \u3002   PID   \u63a7\u5236 \u63a7\u5236\u5668   \u786e\u5b9a \u5982\u4f55 \u5230\u8fbe \u76ee\u6807 \u8def\u5f84 \u70b9 \u3002 \u7136\u540e \u5c06 \u5176 \u8f6c\u6362 \u4e3a   Carla   \u547d\u4ee4 \u4ee5\u4f9b \u4e0b \u4e00\u6b65 \u5e94\u7528 \u3002   2.5   -   \u8f66\u706f \u9636\u6bb5   .   \u8f66\u706f \u6839\u636e \u73af\u5883 \u56e0\u7d20 \u73af\u5883\u56e0\u7d20 \uff08 \u4f8b\u5982 \u9633\u5149 \u548c \u96fe \u6216 \u96e8 \u7684 \u5b58\u5728 \uff09 \u548c \u8f66\u8f86 \u884c\u4e3a \uff08 \u4f8b\u5982 \uff0c \u5982\u679c \u8f66\u8f86 \u5c06 \u5728 \u4e0b \u4e00\u4e2a \u8def\u53e3 \u5de6\u8f6c / \u53f3\u8f6c \uff0c \u5219 \u6253\u5f00 \u65b9\u5411 \u6307\u793a \u6307\u793a\u706f \uff1b \u5982\u679c \u5236\u52a8 \uff0c \u5219 \u6253\u5f00 \u5239\u8f66 \u8f66\u706f \u5239\u8f66\u706f \uff09 \u3002   3 .   \u5728 \u4eff\u771f \u4e2d \u5e94\u7528 \u547d\u4ee4   \u4e0a \u4e00\u6b65 \u751f\u6210 \u7684 \u547d\u4ee4 \u88ab \u6536\u96c6 \u5230   \u547d\u4ee4 \u6570\u7ec4   \u4e2d \uff0c \u6279\u91cf \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5728 \u540c\u4e00 \u5e27 \u4e2d \u5e94\u7528 \u3002   \u4ee5\u4e0b \u90e8\u5206 \u5c06 \u66f4 \u8be6\u7ec6 \u5730 \u89e3\u91ca \u4e0a\u8ff0 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u903b\u8f91 \u4e2d \u7684 \u6bcf\u4e2a \u7ec4\u4ef6 \u548c \u9636\u6bb5 \u3002   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406 \u3002 \u5b83 \u662f \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u903b\u8f91 \u5468\u671f \u7684 \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \uff0c \u63d0\u4f9b \u4eff\u771f \u5f53\u524d \u72b6\u6001 \u7684 \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u3002   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406 \u7ec4\u4ef6 \uff1a   \u626b\u63cf \u4e16\u754c \u4ee5 \u8ddf\u8e2a \u6240\u6709 \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \u3002 \u5982\u679c \u542f\u7528 \u7269\u7406 \u529f\u80fd \uff0c \u5219 \u901a\u8fc7   Vehicle . get _ velocity ( )   \u68c0\u7d22 \u901f\u5ea6 \u3002 \u5426\u5219 \uff0c \u5c06 \u4f7f\u7528 \u4f4d\u7f6e \u968f \u65f6\u95f4 \u66f4\u65b0 \u7684 \u5386\u53f2 \u53f2\u8bb0 \u8bb0\u5f55 \u5386\u53f2\u8bb0\u5f55 \u6765 \u8ba1\u7b97 \u901f\u5ea6 \u8ba1\u7b97\u901f\u5ea6 \u3002   \u5b58\u50a8   \u4eff\u771f \u72b6\u6001   \u7ec4\u4ef6 \u4e2d \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u548c \u884c\u4eba \u7684 \u4f4d\u7f6e \u3001 \u901f\u5ea6 \u548c \u9644\u52a0 \u4fe1\u606f \uff08 \u4ea4\u901a \u4ea4\u901a\u706f \u5f71\u54cd \u3001 \u8fb9\u754c \u6846\u7b49 \uff09 \u3002   \u66f4\u65b0   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u4e2d \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u8f66\u8f86 \u5217\u8868 \u3002   \u66f4\u65b0   \u63a7\u5236 \u5faa\u73af   \u548c   \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9   \u7ec4\u4ef6 \u4e2d \u7684 \u6761\u76ee \u4ee5 \u5339\u914d \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 \uff1a   ALSM . h   ,   ALSM . cpp   .   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868 \u8bb0\u5f55 \u4eff\u771f \u4e2d \u7684 \u6240\u6709 \u8f66\u8f86 \u548c \u884c\u4eba \u3002   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868 \uff1a   \u4ece   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406   \u4f20\u9012 \u6765 \u6700\u65b0 \u7684 \u8f66\u8f86 \u548c \u884c\u4eba \u5217\u8868 \u3002   \u5c06 \u6ce8\u518c \u5230 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u8f66\u8f86 \u5b58\u50a8 \u5728 \u5355\u72ec \u7684 \u6570\u7ec4 \u4e2d \uff0c \u4ee5\u4fbf \u5728   \u63a7\u5236 \u5faa\u73af   \u671f\u95f4 \u8fdb\u884c \u8fed\u4ee3 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 \uff1a   MotionPlannerStage . cpp   .   \u4eff\u771f \u72b6\u6001   \u4eff\u771f \u72b6\u6001 \u5b58\u50a8 \u4eff\u771f \u4e2d \u6240\u6709 \u8f66\u8f86 \u7684 \u4fe1\u606f \uff0c \u4ee5\u4fbf \u5728 \u540e\u671f \u9636\u6bb5 \u8f7b\u677e \u8bbf\u95ee \u548c \u4fee\u6539 \u3002   \u4eff\u771f \u72b6\u6001 \uff1a   \u4ece   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406   \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \uff0c \u5305\u62ec \u5f53\u524d \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f4d\u7f6e \u3001 \u901f\u5ea6 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u5f71\u54cd \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u7b49 \u3002   \u5c06 \u6240\u6709 \u4fe1\u606f \u5b58\u50a8 \u5728 \u7f13\u5b58 \u4e2d \uff0c \u907f\u514d \u5728   \u63a7\u5236 \u5faa\u73af   \u671f\u95f4 \u5bf9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u540e\u7eed \u8c03\u7528 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 \uff1a   SimulationState . cpp   ,   SimulationState . h   .   \u63a7\u5236 \u5faa\u73af   \u63a7\u5236 \u5faa\u73af \u7ba1\u7406 \u6240\u6709 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u7684 \u4e0b \u4e00\u4e2a \u547d\u4ee4 \u7684 \u8ba1\u7b97 \uff0c \u4ee5\u4fbf \u5b83\u4eec \u540c\u6b65 \u6267\u884c \u3002 \u63a7\u5236 \u5faa\u73af \u7531 \u4e94\u4e2a \u4e0d\u540c \u7684   \u9636\u6bb5   \u7ec4\u6210 ; \u5b9a\u4f4d \uff0c \u78b0\u649e \uff0c \u4ea4\u901a \u4ea4\u901a\u706f \uff0c \u8fd0\u52a8 \u89c4\u5212 \u548c \u8f66\u8f86 \u706f \u3002   \u63a7\u5236 \u5faa\u73af :   \u4ece   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u63a5\u6536 TM - \u63a7\u5236 \u7684 \u8f66\u8f86 \u6570\u7ec4 \u3002   \u901a\u8fc7 \u5faa\u73af \u904d\u5386 \u6570\u7ec4 \uff0c \u5206\u522b \u5bf9 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u6267\u884c \u8ba1\u7b97 \u3002   \u5c06 \u8ba1\u7b97 \u5206\u6210 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7684   \u9636\u6bb5   \u3002   \u5728 \u9636\u6bb5 \u4e4b\u95f4 \u521b\u5efa \u540c\u6b65 \u5c4f\u969c \u4ee5 \u4fdd\u8bc1 \u4e00\u81f4 \u4e00\u81f4\u6027 \u3002 \u6240\u6709 \u8f66\u8f86 \u7684 \u8ba1\u7b97 \u5728 \u4efb\u4f55 \u8f66\u8f86 \u79fb\u52a8 \u5230 \u9636\u6bb5 \u4e0b\u4e00\u9636\u6bb5 \u4e4b\u524d \u5b8c\u6210 \uff0c \u786e\u4fdd \u6240\u6709 \u8f66\u8f86 \u5728 \u540c\u4e00 \u5e27 \u4e2d \u66f4\u65b0 \u3002   \u534f\u8c03 \u5404   \u9636\u6bb5   \u4e4b\u95f4 \u7684 \u8fc7\u6e21 \uff0c \u4f7f \u6240\u6709 \u8ba1\u7b97 \u540c\u6b65 \u5b8c\u6210 \u3002   \u5f53 \u6700\u540e \u4e00\u4e2a \u9636\u6bb5 (   \u8fd0\u52a8 \u89c4\u5212 \u9636\u6bb5   \u548c   \u8f66\u8f86 \u706f\u5149 \u9636\u6bb5   ) \u5b8c\u6210 \u65f6 \uff0c \u5c06   \u547d\u4ee4 \u6570\u7ec4   \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u56e0\u6b64 \u5728 \u547d\u4ee4 \u8ba1\u7b97 \u548c \u547d\u4ee4 \u5e94\u7528 \u4e4b\u95f4 \u6ca1\u6709 \u5e27 \u5ef6\u8fdf \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   TrafficManagerLocal . cpp   .   \u5185\u5b58 \u5730\u56fe   \u5185\u5b58 \u5730\u56fe \u662f \u5305\u542b \u5728   \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9   \u4e2d \u7684 \u8f85\u52a9 \u6a21\u5757 \uff0c \u5728   \u5b9a\u4f4d \u9636\u6bb5   \u4f7f\u7528 \u3002   \u5185\u5b58 \u5730\u56fe :   \u5c06 \u5730\u56fe \u8f6c\u6362 \u4e3a \u79bb\u6563 \u8def\u5f84 \u70b9 \u7684 \u7f51\u683c \u3002   \u5305\u542b \u7279\u5b9a \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u4e2d \u7684 \u8def\u70b9 \uff0c \u5e76 \u63d0\u4f9b \u66f4 \u591a \u4fe1\u606f \u6765 \u8fde\u63a5 \u8def\u70b9 \u548c \u8bc6\u522b \u9053\u8def \u3001 \u8def\u53e3 \u7b49 \u3002   \u901a\u8fc7 \u8bc6\u522b \u8fd9\u4e9b \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684   ID   \u6765 \u5feb\u901f \u5b9a\u4f4d \u9644\u8fd1 \u533a\u57df \u7684 \u8f66\u8f86 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   InMemoryMap . cpp   and   SimpleWaypoint . cpp   .   \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9   PBVT \u4ee3\u8868 \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9 \u3002 PBVT \u662f \u4e00\u79cd \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \uff0c \u5b83 \u5305\u542b \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u9884\u671f \u8def\u5f84 \uff0c \u5e76 \u5141\u8bb8 \u5728   \u63a7\u5236 \u5faa\u73af   \u671f\u95f4 \u8f7b\u677e \u8bbf\u95ee \u6570\u636e \u3002   PBVT :   \u5305\u542b \u4e00\u4e2a deque \u5bf9\u8c61 \u7684 \u5730\u56fe \uff0c \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u6709 \u4e00\u4e2a \u5165\u53e3 \u3002   \u5305\u542b \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u4e00\u7ec4 \u8def\u70b9 \uff0c \u63cf\u8ff0 \u5176 \u5f53\u524d \u4f4d\u7f6e \u548c \u8fd1\u671f \u8def\u5f84 \u3002   \u5305\u542b   \u5b9a\u4f4d \u9636\u6bb5   \u4f7f\u7528 \u7684   \u5185\u5b58 \u5730\u56fe   \uff0c \u7528\u4e8e \u5c06 \u6bcf\u4e2a \u8f66\u8f86 \u4e0e \u6700\u8fd1 \u7684 \u8def\u70b9 \u548c \u53ef\u80fd \u7684 \u91cd\u53e0 \u8def\u5f84 \u5173\u8054 \u8d77\u6765 \u3002   PID   \u63a7\u5236 \u63a7\u5236\u5668   PID \u63a7\u5236 \u63a7\u5236\u5668 \u662f \u5728   \u8fd0\u52a8 \u89c4\u5212 \u9636\u6bb5   \u6267\u884c \u8ba1\u7b97 \u7684 \u8f85\u52a9 \u6a21\u5757 \u3002   PID   \u63a7\u5236 \u63a7\u5236\u5668 :   \u6839\u636e   \u8fd0\u52a8 \u89c4\u5212 \u9636\u6bb5   \u6536\u96c6 \u7684 \u4fe1\u606f \uff0c \u4f30\u7b97 \u8fbe\u5230 \u76ee\u6807 \u6807\u503c \u76ee\u6807\u503c \u6240 \u9700 \u7684 \u6cb9\u95e8 \u3001 \u5239\u8f66 \u548c \u8f6c\u5411 \u8f93\u5165 \u3002   \u6839\u636e \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5177\u4f53 \u53c2\u6570 \u5316 \u8fdb\u884c \u8c03\u6574 \u3002 \u5982\u679c \u9700\u8981 \uff0c \u53ef\u4ee5 \u4fee\u6539 \u53c2\u6570 \u3002 \u9605\u8bfb \u66f4 \u591a \u5173\u4e8e   PID \u63a7\u5236 \u63a7\u5236\u5668   \u7684 \u4fe1\u606f \uff0c \u4e86\u89e3 \u5982\u4f55 \u8fdb\u884c \u4fee\u6539 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   PIDController . cpp   .   \u547d\u4ee4 \u6570\u7ec4   \u547d\u4ee4 \u6570\u7ec4 \u8868\u793a   TM   \u903b\u8f91 \u5468\u671f \u4e2d \u7684 \u6700\u540e \u4e00\u6b65 \u3002 \u5b83 \u63a5\u6536 \u6240\u6709 \u6ce8\u518c \u8f66\u8f86 \u7684 \u547d\u4ee4 \u5e76 \u5e94\u7528 \u5b83\u4eec \u3002   \u547d\u4ee4 \u6570\u7ec4 :   \u4ece   \u8def\u5f84 \u89c4\u5212 \u9636\u6bb5   \u63a5\u6536 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217   carla . VehicleControl   \u3002   \u5904\u7406 \u6279\u5904\u7406 \u8981 \u5728 \u540c\u4e00 \u5e27 \u5185 \u5e94\u7528 \u7684 \u6240\u6709 \u547d\u4ee4 \u3002   \u5c06 \u5904\u7406 \u6279\u5904\u7406 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u5728   carla   \u4e2d \u8c03\u7528   apply _ batch   \uff08 \uff09   \u6216   apply _ batch _ synch \uff08 \uff09   \u7684   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 . \u5ba2\u6237 \u5ba2\u6237\u7aef   \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4eff\u771f \u662f \u5206\u522b \u4ee5 \u5f02\u6b65 \u6a21\u5f0f \u8fd8\u662f \u540c\u6b65 \u6a21\u5f0f \u8fd0\u884c \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   TrafficManagerLocal . cpp   .   \u63a7\u5236 \u5faa\u73af \u7684 \u9636\u6bb5   \u7b2c   1   \u9636\u6bb5   -   \u5b9a\u4f4d \u9636\u6bb5   \u5b9a\u4f4d \u9636\u6bb5 \u4e3a TM \u63a7\u5236 \u7684 \u8f66\u8f86 \u5b9a\u4e49 \u4e86 \u8fd1 \u672a\u6765 \u7684 \u8def\u5f84 \u3002   \u672c\u5730 \u672c\u5730\u5316 \u9636\u6bb5 \uff1a   \u4ece   \u4eff\u771f \u72b6\u6001   \u83b7\u53d6 \u6240\u6709 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \u3002   \u4f7f\u7528   \u5185\u5b58 \u5730\u56fe   \u5c06 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u4e0e \u8def\u5f84 \u70b9 \u5217\u8868 \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \uff0c \u8be5 \u8def\u5f84 \u70b9 \u5217\u8868 \u6839\u636e \u5176 \u8f68\u8ff9 \u63cf\u8ff0 \u5176 \u5f53\u524d \u4f4d\u7f6e \u548c \u8fd1\u671f \u8def\u5f84 \u3002 \u8f66\u8f86 \u884c\u9a76 \u5f97 \u8d8a \u5feb \uff0c \u5217\u8868 \u5c31 \u8d8a\u957f \u3002   \u6839\u636e \u89c4\u5212 \u51b3\u7b56 \u66f4\u65b0 \u8def\u5f84 \uff0c \u4f8b\u5982 \u53d8\u9053 \u3001 \u9650\u901f \u3001 \u4e0e \u524d\u65b9 \u8f66\u8f86 \u7684 \u8ddd\u79bb \u53c2\u6570 \u5316\u7b49 \u3002   \u5c06 \u6240\u6709 \u8f66\u8f86 \u7684 \u8def\u5f84 \u5b58\u50a8 \u5728   PBVT   \u6a21\u5757 \u4e2d \u3002   \u76f8\u4e92 \u6bd4\u8f83 \u8def\u5f84 \u4ee5 \u4f30\u8ba1 \u53ef\u80fd \u7684 \u78b0\u649e \u60c5\u51b5 \u3002 \u7ed3\u679c \u5c06 \u4f20\u9012 \u5230 \u78b0\u649e \u9636\u6bb5 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   LocalizationStage . cpp   and   LocalizationUtils . cpp   .   \u7b2c   2   \u9636\u6bb5   -   \u78b0\u649e \u9636\u6bb5   \u78b0\u649e \u9636\u6bb5 \u4f1a \u89e6\u53d1 \u78b0\u649e \u5371\u9669 \u3002   \u78b0\u649e \u9636\u6bb5 \uff1a   \u4ece   \u5b9a\u4f4d \u9636\u6bb5   \u63a5\u6536 \u8def\u5f84 \u53ef\u80fd \u91cd\u53e0 \u7684 \u8f66\u8f86 \u5bf9 \u5217\u8868 \u3002   \u524d\u65b9 \u8def\u5f84 \uff08 \u5730\u7ebf \u6d4b\u5730\u7ebf \u8fb9\u754c \uff09 \u6269\u5c55 \u6bcf\u4e2a \u8f66\u8f86 \u5bf9 \u7684 \u8fb9\u754c \u6846 \uff0c \u4ee5 \u68c0\u67e5 \u5b83\u4eec \u662f\u5426 \u5b9e\u9645 \u91cd\u53e0 \u5e76 \u786e\u5b9a \u78b0\u649e \u98ce\u9669 \u662f\u5426 \u771f\u5b9e \u3002   \u5c06 \u6240\u6709 \u53ef\u80fd \u7684 \u78b0\u649e \u7684 \u5371\u9669 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   \u8fd0\u52a8 \u89c4\u5212 \u5668 \u9636\u6bb5   \uff0c \u4ee5 \u76f8\u5e94 \u5730 \u4fee\u6539 \u8def\u5f84 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   CollisionStage . cpp   .   \u7b2c\u4e09 \u4e09\u9636 \u9636\u6bb5 \u7b2c\u4e09\u9636\u6bb5   -   \u4ea4\u901a \u4ea4\u901a\u706f \u9636\u6bb5   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u9636\u6bb5 \u4f1a \u89e6\u53d1 \u4ea4\u901a \u7ba1\u5236 \u4ea4\u901a\u7ba1\u5236 \u5668 \u9020\u6210 \u7684 \u5371\u9669 \uff0c \u4f8b\u5982 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3001 \u505c\u8f66 \u6807\u5fd7 \u548c \u8def\u53e3 \u7684 \u4f18\u5148 \u4f18\u5148\u6743 \u3002   \u4ea4\u901a \u4ea4\u901a\u706f \u9636\u6bb5 \uff1a   \u5982\u679c \u8f66\u8f86 \u53d7\u5230 \u9ec4\u8272 \u6216 \u7ea2\u8272 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u6216 \u505c\u8f66 \u6807\u5fd7 \u7684 \u5f71\u54cd \uff0c \u5219 \u8bbe\u7f6e \u4ea4\u901a \u5371\u9669 \u3002   \u5982\u679c \u8fb9\u754c \u6846 \u4f4d\u4e8e \u65e0 \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u4ea4\u6c47 \u4ea4\u6c47\u70b9 \uff0c \u5219 \u6cbf \u8f66\u8f86 \u8def\u5f84 \u5ef6\u4f38 \u8fb9\u754c \u6846 \u3002 \u8def\u5f84 \u91cd\u53e0 \u7684 \u8f66\u8f86 \u9075\u5faa \u201c \u5148\u8fdb \u5148\u8fdb\u5148\u51fa \u201d \u7684 \u987a\u5e8f \u79fb\u52a8 \u3002 \u7b49\u5f85 \u65f6\u95f4 \u7b49\u5f85\u65f6\u95f4 \u8bbe\u7f6e \u4e3a \u56fa\u5b9a \u56fa\u5b9a\u503c \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   TrafficLightStage . cpp   .   \u7b2c   4   \u9636\u6bb5   -   \u8fd0\u52a8 \u89c4\u5212 \u5668 \u9636\u6bb5   \u201c \u8fd0\u52a8 \u89c4\u5212 \u5668 \u9636\u6bb5 \u201d \uff08 Motion   Planner   Stage \uff09   \u751f\u6210 \u8981 \u5e94\u7528 \u4e8e \u8f66\u8f86 \u7684   Carla   \u547d\u4ee4 \u3002   \u8fd0\u52a8 \u89c4\u5212 \u5668 \u9636\u6bb5 \uff1a   \u6536\u96c6 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \uff08   \u4eff\u771f \u72b6\u6001   ) \uff09 \u3001 \u8def\u5f84   \uff08   \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9   \uff09   \u548c \u5371\u9669 \uff08   \u78b0\u649e   \u9636\u6bb5 \u548c   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u9636\u6bb5   \uff09 \u3002   \u5bf9 \u8f66\u8f86 \u5e94 \u5982\u4f55 \u79fb\u52a8 \u505a\u51fa \u9ad8\u7ea7 \u51b3\u7b56 \uff0c \u4f8b\u5982 \uff0c \u8ba1\u7b97 \u9632\u6b62 \u78b0\u649e \u5371\u9669 \u6240 \u9700 \u7684 \u5236\u52a8 \u5236\u52a8\u5668 \u3002   PID \u63a7\u5236 \u63a7\u5236\u5668   \u7528\u4e8e \u6839\u636e \u76ee\u6807 \u6807\u503c \u76ee\u6807\u503c \u4f30\u8ba1 \u884c\u4e3a \u3002   \u5c06 \u671f\u671b \u7684 \u8fd0\u52a8 \u8f6c\u5316 \u4e3a \u9002\u7528 \u4e8e \u8f66\u8f86 \u7684   carla . VehicleControl \u3002   \u5c06 \u751f\u6210 \u7684   Carla   \u547d\u4ee4 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   \u547d\u4ee4 \u6570\u7ec4   \u3002   \u76f8\u5173 \u7684 . cpp \u6587\u4ef6 :   MotionPlannerStage . cpp   .   \u7b2c   5   \u9636\u6bb5   -   \u8f66\u706f \u9636\u6bb5   \u8f66\u706f \u9636\u6bb5 \u6839\u636e \u8f66\u8f86 \u72b6\u51b5 \u548c \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u6fc0\u6d3b \u8f66\u706f \u3002   \u8f66\u706f \u9636\u6bb5 :   \u68c0\u7d22 \u8f66\u8f86 \u7684 \u8ba1\u5212 \u8def\u5f84 \u70b9 \u3001 \u6709\u5173 \u8f66\u8f86 \u706f\u5149 \u7684 \u4fe1\u606f \uff08 \u4f8b\u5982 \u706f\u5149 \u72b6\u6001 \u548c \u8ba1\u5212 \u5e94\u7528 \u7684 \u547d\u4ee4 \uff09 \u548c \u5929\u6c14 \u72b6\u51b5 \u5929\u6c14\u72b6\u51b5 \u3002   \u786e\u5b9a \u8f66\u706f \u7684 \u65b0 \u72b6\u6001 :   \u5982\u679c \u8f66\u8f86 \u8ba1\u5212 \u5728 \u4e0b \u4e00\u4e2a \u8def\u53e3 \u5de6\u8f6c / \u53f3\u8f6c \uff0c \u5219 \u6253\u5f00 \u95ea\u5149 \u5149\u706f \u95ea\u5149\u706f \u3002   \u5982\u679c \u5e94\u7528 \u7684 \u547d\u4ee4 \u8981\u6c42 \u8f66\u8f86 \u5236\u52a8 \uff0c \u5219 \u6253\u5f00 \u505c\u8f66 \u8f66\u706f \u505c\u8f66\u706f \u3002   \u4ece \u65e5 \u843d\u5230 \u9ece\u660e \u6216 \u5728 \u5927\u96e8 \u4e2d \u6253\u5f00 \u5149\u706f \u8fd1\u5149\u706f \u548c \u4f4d\u7f6e \u4f4d\u7f6e\u706f \u3002   \u5728 \u5927\u96fe \u6761\u4ef6 \u4e0b \u6253\u5f00 \u96fe\u706f \u3002   \u5982\u679c \u8f66\u706f \u72b6\u6001 \u5df2 \u66f4\u6539 \uff0c \u8bf7 \u66f4\u65b0 \u8f66\u706f \u72b6\u6001 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   VehicleLightStage . cpp   .   \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u8f66\u8f86 \u884c\u4e3a \u8003\u8651 \u56e0\u7d20   TM   \u5b9e\u73b0 \u4e86 \u5c06 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u65f6 \u5fc5\u987b \u8003\u8651 \u7684 \u4e00\u822c \u884c\u4e3a \u6a21\u5f0f \uff1a   \u8f66\u8f86 \u4e0d\u662f \u4ee5 \u76ee\u6807 \u4e3a \u5bfc\u5411 \u7684   \uff0c \u5b83\u4eec \u9075\u5faa \u52a8\u6001 \u4ea7\u751f \u7684 \u8f68\u8ff9 \uff0c \u5e76 \u5728 \u63a5\u8fd1 \u8def\u53e3 \u65f6 \u968f\u673a \u9009\u62e9 \u8def\u5f84 \u3002 \u4ed6\u4eec \u7684 \u9053\u8def \u662f \u6b62\u5883 \u65e0\u6b62\u5883 \u7684 \u3002   \u9664\u975e \u8bbe\u7f6e \u4e86 \u4efb\u4f55 \u5176\u4ed6 \u503c \uff0c   \u5426\u5219 \u8f66\u8f86 \u7684 \u76ee\u6807 \u901f\u5ea6 \u662f \u5176 \u5f53\u524d \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u7684   70% \u3002   \u8def\u53e3 \u4f18\u5148 \u4f18\u5148\u6743 \u4e0d \u9075\u5b88 \u4ea4\u901a \u6cd5\u89c4 \u4ea4\u901a\u6cd5\u89c4 \u3002   TM   \u5728 \u8def\u53e3 \u4f7f\u7528 \u81ea\u5df1 \u7684 \u4f18\u5148 \u4f18\u5148\u7ea7 \u7cfb\u7edf \u3002 \u6b64 \u9650\u5236 \u7684 \u89e3\u51b3 \u5de5\u4f5c \u6b63\u5728 \u8fdb\u884c \u4e2d \u3002 \u540c\u65f6 \uff0c \u53ef\u80fd \u4f1a \u51fa\u73b0 \u4e00\u4e9b \u95ee\u9898 \uff0c \u4f8b\u5982 \uff0c \u73af\u5f62 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u5185 \u7684 \u8f66\u8f86 \u8ba9\u6b65 \u7ed9 \u8bd5\u56fe \u8fdb\u5165 \u7684 \u8f66\u8f86 \u3002   TM   \u884c\u4e3a \u53ef\u4ee5 \u901a\u8fc7   Python   API   \u8fdb\u884c \u8c03\u6574 \u3002 \u6709\u5173 \u5177\u4f53 \u65b9\u6cd5 \u5177\u4f53\u65b9\u6cd5 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Python   API   \u6587\u6863   \u7684   TM   \u90e8\u5206 \u3002 \u4ee5\u4e0b \u662f \u901a\u8fc7   API   \u5b9e\u73b0 \u7684 \u529f\u80fd \u7684 \u4e00\u822c \u6458\u8981 \uff1a   \u4e3b\u9898   \u63cf\u8ff0   \u5e38\u89c4 :   -   \u521b\u5efa \u8fde\u63a5 \u5230 \u7aef\u53e3 \u7684 TM \u5b9e\u4f8b \u3002   -   \u68c0\u7d22 TM \u8fde\u63a5 \u7684 \u7aef\u53e3 \u3002   \u5b89\u5168 \u6761\u4ef6 :   -   \u8bbe\u7f6e \u505c\u6b62 \u8f66\u8f86 \u4e4b\u95f4 \u7684 \u6700\u5c0f \u8ddd\u79bb \uff08 \u5bf9\u4e8e \u5355\u4e2a \u8f66\u8f86 \u6216\u8005 \u6240\u6709 \u8f66\u8f86 \uff09 \u3002 \u8fd9 \u5c06 \u5f71\u54cd \u6700\u5c0f \u79fb\u52a8 \u8ddd\u79bb \u3002   -   \u5c06 \u6240 \u9700 \u901f\u5ea6 \u8bbe\u7f6e \u4e3a \u5f53\u524d \u901f\u5ea6 \u73b0\u72b6 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \uff08 \u5bf9\u4e8e \u5355\u4e2a \u8f66\u8f86 \u6216 \u6240\u6709 \u8f66\u8f86 \uff09 \u3002   -   \u91cd\u7f6e \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002   \u78b0\u649e \u7ba1\u7406 :   -   \u542f\u7528 / \u7981\u7528 \u8f66\u8f86 \u4e0e \u7279\u5b9a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u95f4 \u7684 \u78b0\u649e \u3002   -   \u8ba9 \u8f66\u8f86 \u5ffd\u7565 \u6240\u6709 \u5176\u4ed6 \u8f66\u8f86 \u3002   -   \u8ba9 \u8f66\u8f86 \u5ffd\u7565 \u6240\u6709 \u884c\u4eba   -   \u8ba9 \u8f66\u8f86 \u5ffd\u7565 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   \u53d8\u9053 :   -   \u5f3a\u5236 \u53d8\u9053 \uff0c \u5ffd\u7565 \u53ef\u80fd \u7684 \u78b0\u649e \u3002   -   \u542f\u7528 / \u7981\u7528 \u8f66\u8f86 \u7684 \u53d8\u9053 \u3002   \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f :   -   \u542f\u7528 / \u7981\u7528 \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f \u3002   -   \u66f4\u6539 \u542f\u7528 \u7269\u7406 \u7684 \u534a\u5f84 \u3002   \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u7b14\u8bb0   TM   \u8bbe\u8ba1 \u4e3a \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u5de5\u4f5c \u3002 \u5728 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528   TM   \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u610f\u5916 \u548c \u4e0d\u826f \u7ed3\u679c \u3002 \u6709\u5173 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u540c\u6b65 \u6a21\u5f0f   \u3002   TM   \u5b9e\u4f8b \u7531   carla   \u521b\u5efa . \u5ba2\u6237 \u5ba2\u6237\u7aef   \uff0c \u4f20\u9012 \u8981 \u4f7f\u7528 \u7684 \u7aef\u53e3 \u3002 \u7f3a\u7701 \u7aef\u53e3 \u4e3a   8000   \u3002   \u8981 \u521b\u5efa   TM   \u5b9e\u4f8b \uff1a   tm   =   client . get _ trafficmanager ( port )   \u8981 \u4e3a \u4e00\u7ec4 \u8f66\u8f86 \u542f\u7528   autopilot \uff0c \u8bf7 \u68c0\u7d22   TM   \u5b9e\u4f8b \u7684 \u7aef\u53e3 \u5e76 \u8bbe\u7f6e set _ autopilot \u4e3a True   \uff0c \u540c\u65f6 \u4f20\u9012   TM   \u7aef\u53e3 \u3002 \u5982\u679c \u672a \u63d0\u4f9b \u7aef\u53e3 \uff0c \u5b83 \u5c06 \u5c1d\u8bd5 \u8fde\u63a5 \u5230 \u9ed8\u8ba4 \u7aef\u53e3   \uff08 8000 \uff09   \u4e2d \u7684   TM \u3002 \u5982\u679c   TM   \u4e0d \u5b58\u5728 \uff0c \u5b83 \u5c06 \u521b\u5efa \u4e00\u4e2a \u3002   tm _ port   =   tm . get _ port ( )   for   v   in   vehicles _ list :   v . set _ autopilot ( True , tm _ port )   \u7b14\u8bb0   \u5728 \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u60c5\u51b5 \u4e0b \u521b\u5efa \u6216 \u8fde\u63a5 \u5230   TM   \u4e0e \u4e0a\u8ff0 \u793a\u4f8b \u4e0d\u540c \u3002   / PythonAPI / examples   \u4e2d \u7684   generate _ traffic . py   \u811a\u672c \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u793a\u4f8b \uff0c   \u8bf4\u660e \u5982\u4f55 \u4f7f\u7528 \u4f5c\u4e3a \u811a\u672c \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7684 \u7aef\u53e3 \u521b\u5efa   TM   \u5b9e\u4f8b \uff0c \u5e76 \u901a\u8fc7 \u6279\u91cf \u5c06 \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u8bbe\u7f6e \u4e3a \u4ee5\u4e0b \u503c\u6765 \u6ce8\u518c \u751f\u6210 \u7684 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u3002   traffic _ manager   =   client . get _ trafficmanager ( args . tm - port )   tm _ port   =   traffic _ manager . get _ port ( )   ...   batch . append ( SpawnActor ( blueprint ,   transform ) . then ( SetAutopilot ( FutureActor ,   True , tm _ port ) ) )   ...   traffic _ manager . global _ percentage _ speed _ difference ( 30.0 )   \u914d\u7f6e   autopilot   \u884c\u4e3a   \u4ee5\u4e0b \u793a\u4f8b \u521b\u5efa \u4e00\u4e2a   TM   \u5b9e\u4f8b \uff0c \u5e76 \u4e3a \u7279\u5b9a \u8f66\u8f86 \u914d\u7f6e \u5371\u9669 \u884c\u4e3a \uff0c \u4f7f \u5176 \u5ffd\u7565 \u6240\u6709 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \uff0c \u4e0d \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u4fdd\u6301 \u5b89\u5168 \u8ddd\u79bb \uff0c \u5e76 \u4ee5 \u6bd4 \u5f53\u524d \u9650\u901f \u5feb   20%   \u7684 \u901f\u5ea6 \u884c\u9a76 \uff1a   tm   =   client . get _ trafficmanager ( port )   tm _ port   =   tm . get _ port ( )   for   v   in   my _ vehicles :   v . set _ autopilot ( True , tm _ port )   danger _ car   =   my _ vehicles [ 0 ]   tm . ignore _ lights _ percentage ( danger _ car , 100 )   tm . distance _ to _ leading _ vehicle ( danger _ car , 0 )   tm . vehicle _ percentage _ speed _ difference ( danger _ car , - 20 )   \u4ee5\u4e0b \u793a\u4f8b \u5c06 \u76f8\u540c \u7684 \u8f66\u8f86 \u5217\u8868 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \uff0c \u4f46 \u5c06 \u5176 \u914d\u7f6e \u4e3a \u9002\u5ea6 \u9a7e\u9a76 \u884c\u4e3a \u3002 \u8f66\u8f86 \u7684 \u884c\u9a76 \u901f\u5ea6 \u6bd4 \u5f53\u524d \u9650\u901f \u6162   80% \uff0c \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u4e4b\u95f4 \u81f3\u5c11 \u7559\u51fa   5   \u7c73 \u7684 \u8ddd\u79bb \uff0c \u5e76\u4e14 \u4ece\u4e0d \u8fdb\u884c \u53d8\u9053 \uff1a   tm   =   client . get _ trafficmanager ( port )   tm _ port   =   tm . get _ port ( )   for   v   in   my _ vehicles :   v . set _ autopilot ( True , tm _ port )   danger _ car   =   my _ vehicles [ 0 ]   tm . global _ distance _ to _ leading _ vehicle ( 5 )   tm . global _ percentage _ speed _ difference ( 80 )   for   v   in   my _ vehicles :   tm . auto _ lane _ change ( v , False )   \u59d4\u6d3e \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u81ea\u52a8 \u66f4\u65b0 \u81ea\u52a8\u66f4\u65b0 \u8f66\u706f   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c TM   \u7ba1\u7406 \u7684 \u8f66\u8f86 \u7684 \u8f66\u706f \uff08 \u5239\u8f66 \u8f66\u706f \u5239\u8f66\u706f \u3001 \u8f6c\u5411 \u8f6c\u5411\u706f \u7b49 \uff09 \u6c38\u8fdc \u4e0d\u4f1a \u66f4\u65b0 \u3002 \u53ef\u4ee5 \u59d4\u6258   TM   \u6765 \u66f4\u65b0 \u7ed9\u5b9a \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8f66\u706f \uff1a   tm   =   client . get _ trafficmanager ( port )   for   actor   in   my _ vehicles :   tm . update _ vehicle _ lights ( actor ,   True )   \u8f66\u706f \u7ba1\u7406 \u5fc5\u987b \u6309 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u8fdb\u884c \u6307\u5b9a \uff0c \u5e76\u4e14 \u5728 \u4efb\u4f55 \u7ed9\u5b9a \u65f6\u95f4 \u90fd \u53ef\u4ee5 \u6709 \u5e26 \u548c \u4e0d\u5e26 \u81ea\u52a8 \u706f \u7ba1\u7406 \u7684 \u8f66\u8f86 \u3002   \u505c\u6b62 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u662f \u4e00\u4e2a \u4e0d \u9700\u8981 \u88ab \u9500\u6bc1 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff1b \u5f53 \u521b\u5efa \u5b83 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u505c\u6b62 \u65f6 \uff0c \u5b83 \u5c06 \u505c\u6b62 \u3002 \u8fd9 \u662f \u7531   API   \u81ea\u52a8 \u7ba1\u7406 \u7684 \uff0c \u7528\u6237 \u65e0\u9700 \u6267\u884c \u4efb\u4f55 \u64cd\u4f5c \u3002 \u4f46\u662f \uff0c \u5728 \u5173\u95ed \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u65f6 \uff0c \u7528\u6237 \u5fc5\u987b \u9500\u6bc1 \u7531 \u5b83 \u63a7\u5236 \u7684 \u8f66\u8f86 \uff0c \u5426\u5219 \u5b83\u4eec \u5c06 \u5728 \u5730\u56fe \u4e0a \u4fdd\u6301 \u4e0d \u52a8 \u3002   generate _ traffic . py   \u811a\u672c \u4f1a \u81ea\u52a8 \u6267\u884c \u6b64 \u64cd\u4f5c :   client . apply _ batch ( [ carla . command . DestroyActor ( x )   for   x   in   vehicles _ list ] )   \u7b14\u8bb0   \u5173\u95ed   TM - Server   \u5c06 \u5173\u95ed \u8fde\u63a5 \u5230 \u5b83 \u7684   TM - Clients   \u3002   \u8981 \u4e86\u89e3   TM - Server   \u548c   TM - Client   \u4e4b\u95f4 \u7684 \u533a\u522b ,   \u8bf7 \u9605\u8bfb   Running   multiple   Traffic   Managers   \u3002   \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f   \u5728 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f \u4e0b \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u5728 \u76f8\u540c \u6761\u4ef6 \u4e0b \u4ea7\u751f \u76f8\u540c \u7684 \u7ed3\u679c \u548c \u884c\u4e3a \u3002 \u4e0d\u8981 \u5c06 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u8bba \u8bef\u8ba4 \u8ba4\u4e3a \u8bef\u8ba4\u4e3a \u662f \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002 \u867d\u7136 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5141\u8bb8 \u60a8 \u5b58\u50a8 \u4eff\u771f \u65e5\u5fd7 \u4ee5 \u8fdb\u884c \u56de\u653e \uff0c \u4f46 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u53ef \u786e\u4fdd \u53ea\u8981 \u7ef4\u6301 \u76f8\u540c \u7684 \u6761\u4ef6 \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5728 \u811a\u672c \u7684 \u4e0d\u540c \u6267\u884c \u8fc7\u7a0b \u4e2d \u59cb\u7ec8 \u5177\u6709 \u76f8\u540c \u7684 \u8f93\u51fa \u3002   \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f   \u4ec5 \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b   \u53ef\u7528 \u3002 \u5728 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u5bf9 \u4eff\u771f \u7684 \u63a7\u5236 \u8f83 \u5c11 \uff0c \u5e76\u4e14 \u65e0\u6cd5 \u5b9e\u73b0 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u3002 \u5728 \u5f00\u59cb \u4e4b\u524d \uff0c \u8bf7 \u9605\u8bfb   \u540c\u6b65 \u6a21\u5f0f   \u90e8\u5206 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u8981 \u542f\u7528 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b \u65b9\u6cd5 \uff1a   my _ tm . set _ random _ device _ seed ( seed _ value )   seed _ value   \u662f \u4e00\u4e2a \u5c06 \u751f\u6210 \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u7684 \u6570\u5b57 \u7684   int   \u79cd\u5b50 \u79cd\u5b50\u6570 \u3002 \u8be5\u503c \u672c\u8eab \u5e76 \u4e0d \u76f8\u5173 \uff0c \u4f46 \u76f8\u540c \u7684 \u503c \u5c06 \u59cb\u7ec8 \u5bfc\u81f4 \u76f8\u540c \u7684 \u8f93\u51fa \u3002 \u5177\u6709 \u76f8\u540c \u6761\u4ef6 \u3001 \u4f7f\u7528 \u76f8\u540c \u79cd\u5b50 \u503c \u7684 \u4e24\u6b21 \u4eff\u771f \u5c06 \u662f \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u7684 \u3002   \u4e3a\u4e86 \u4fdd\u6301 \u591a\u6b21 \u4eff\u771f \u8fd0\u884c \u7684 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \uff0c   \u5fc5\u987b \u4e3a \u6bcf\u6b21 \u4eff\u771f \u8bbe\u7f6e \u79cd\u5b50   \u3002 \u4f8b\u5982 \uff0c \u6bcf\u6b21   \u91cd\u65b0 \u52a0\u8f7d   \u4e16\u754c \u65f6 \uff0c \u90fd \u5fc5\u987b \u91cd\u65b0 \u8bbe\u7f6e \u79cd\u5b50 \uff1a   client . reload _ world ( )   my _ tm . set _ random _ device _ seed ( seed _ value )   \u53ef\u4ee5 \u901a\u8fc7 \u5c06 \u79cd\u5b50 \u503c \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u6765 \u5728 \u793a\u4f8b \u811a\u672c   generate _ traffic . py   \u4e2d \u6d4b\u8bd5 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f \u3002 \u4ee5\u4e0b \u793a\u4f8b \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528   50   \u4e2a \u81ea\u52a8 \u9a7e\u9a76 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u586b\u5145 \u5730\u56fe \uff0c \u5e76 \u5c06 \u79cd\u5b50 \u8bbe\u7f6e \u4e3a \u4efb\u610f \u503c   9   \uff1a   cd   PythonAPI / examples   python3   generate _ traffic . py   - n   50   -- seed   9   \u8b66\u544a   \u5728 \u542f\u7528 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f \u4e4b\u524d \uff0c Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5fc5\u987b \u5904\u4e8e \u540c\u6b65 \u6a21\u5f0f \u3002 \u5728 \u6b64\u5904 \u9605\u8bfb \u6709\u5173 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u4e2d \u540c\u6b65 \u6a21\u5f0f \u7684   \u66f4 \u591a \u4fe1\u606f   \u3002   \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f   \u6df7\u5408 \u6a21\u5f0f \u5141\u8bb8 \u7528\u6237 \u7981\u7528 \u6240\u6709 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u6216 \u6807\u8bb0 \u4e3a   \u82f1\u96c4   \u7684 \u8f66\u8f86 \u7279\u5b9a \u534a\u5f84 \u4e4b\u5916 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u7684 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u7269\u7406 \u8ba1\u7b97 \u3002 \u8fd9 \u6d88\u9664 \u4e86 \u4eff\u771f \u4e2d \u7684 \u8f66\u8f86 \u7269\u7406 \u74f6\u9888 \u3002 \u7269\u7406 \u529f\u80fd \u88ab \u7981\u7528 \u7684 \u8f66\u8f86 \u5c06 \u901a\u8fc7 \u9690\u5f62 \u4f20\u9001 \u79fb\u52a8 \u3002 \u7ef4\u6301 \u7ebf\u6027 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u7684 \u57fa\u672c \u8ba1\u7b97 \uff0c \u4ee5 \u786e\u4fdd \u4f4d\u7f6e \u66f4\u65b0 \u548c \u8f66\u8f86 \u901f\u5ea6 \u4fdd\u6301 \u771f\u5b9e \uff0c \u5e76\u4e14 \u8f66\u8f86 \u4e0a \u7269\u7406 \u8ba1\u7b97 \u7684 \u5207\u6362 \u662f \u6d41\u7545 \u7684 \u3002   \u6df7\u5408 \u6a21\u5f0f \u4f7f\u7528   Actor . set _ simulate _ physics ( )   \u65b9\u6cd5 \u6765 \u5207\u6362 \u7269\u7406 \u8ba1\u7b97 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u662f \u7981\u7528 \u7684 \u3002 \u6709 \u4e24\u4e2a \u9009\u9879 \u53ef\u4ee5 \u542f\u7528 \u5b83 \uff1a   TrafficManager . set _ hybrid _ physics _ mode ( True )   \u2014   \u6b64 \u65b9\u6cd5 \u4e3a \u8c03\u7528 \u5b83 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5bf9\u8c61 \u542f\u7528 \u6df7\u5408 \u6a21\u5f0f \u3002   \u4ee5   -- hybrid   \u6807\u5fd7 \u8fd0\u884c   generate _ traffic . py   \u2014   \u6b64 \u793a\u4f8b \u811a\u672c \u521b\u5efa \u4e00\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5e76 \u5728 \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u4e2d \u751f\u6210 \u8f66\u8f86 \u3002 \u5f53 \u6807\u5fd7   -- hybrid   \u4f5c\u4e3a \u811a\u672c \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u65f6 \uff0c \u5b83 \u5c06 \u8fd9\u4e9b \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u6df7\u5408 \u6a21\u5f0f \u3002   \u8981 \u4fee\u6539 \u6df7\u5408 \u6a21\u5f0f \u7684 \u884c\u4e3a \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b \u4e24\u4e2a \u53c2\u6570 \uff1a   Radius   ( \u9ed8\u8ba4   =   50   \u7c73 )   \u2014   \u534a\u5f84 \u76f8\u5bf9 \u4e8e \u6807\u8bb0 \u6709   \u82f1\u96c4   \u7684 \u8f66\u8f86 \u3002 \u8be5 \u534a\u5f84 \u5185 \u7684 \u6240\u6709 \u8f66\u8f86 \u90fd \u5c06 \u542f\u7528 \u7269\u7406 \u529f\u80fd \uff1b \u534a\u5f84 \u4e4b\u5916 \u7684 \u8f66\u8f86 \u5c06 \u7981\u7528 \u7269\u7406 \u529f\u80fd \u3002 \u4f7f\u7528   traffic _ manager . set _ hybrid _ physics _ radius ( r )   \u4fee\u6539 \u534a\u5f84 \u7684 \u5927\u5c0f \u3002   Hero   vehicle   \u2014   \u5e26\u6709 \u6807\u8bb0   role _ name = ' hero '   \u7684 \u8f66\u8f86 \u4f5c\u4e3a \u534a\u5f84 \u7684 \u4e2d\u5fc3 \u3002   \u5982\u679c \u6ca1\u6709 \u82f1\u96c4 \u8f66\u8f86 \uff0c   \u6240\u6709 \u8f66\u8f86 \u7684 \u7269\u7406 \u529f\u80fd \u5c06 \u88ab \u7981\u7528 \u3002   \u5982\u679c \u6709 \u4e0d\u6b62 \u4e00\u8f86 \u82f1\u96c4 \u8f66\u8f86 \uff0c   \u5219 \u4f1a \u8003\u8651 \u6240\u6709 \u82f1\u96c4 \u8f66\u8f86 \u7684 \u534a\u5f84 \uff0c \u4ece\u800c \u5728 \u542f\u7528 \u7269\u7406 \u529f\u80fd \u7684 \u60c5\u51b5 \u4e0b \u521b\u5efa \u4e0d\u540c \u7684 \u5f71\u54cd \u533a\u57df \u3002   \u4e0b\u9762 \u7684 \u526a\u8f91 \u663e\u793a \u4e86 \u6df7\u5408 \u6a21\u5f0f \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u65f6 \u5982\u4f55 \u542f\u7528 \u548c \u7981\u7528 \u7269\u7406 \u529f\u80fd \u3002   \u82f1\u96c4 \u8f66\u8f86   \u6807\u6709   \u7ea2\u8272 \u65b9\u5757   \u3002   \u7981\u7528 \u7269\u7406 \u529f\u80fd   \u7684 \u8f66\u8f86 \u6807\u6709   \u84dd\u8272 \u65b9\u5757   \u3002 \u5f53 \u5728 \u82f1\u96c4 \u8f66\u8f86 \u7684 \u5f71\u54cd \u534a\u5f84 \u5185\u65f6 \uff0c   \u542f\u7528 \u7269\u7406 \u529f\u80fd   \u5e76\u4e14 \u6807\u7b7e \u53d8\u4e3a   \u7eff\u8272   \u3002   \u8fd0\u884c \u591a\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u670d\u52a1 \u670d\u52a1\u7aef \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u901a\u8fc7 \u5411 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6307\u5b9a \u8981 \u4f7f\u7528 \u7684 \u7aef\u53e3 \u6765 \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002 \u5982\u679c \u6307\u5b9a \u672a\u6307\u5b9a \u7aef\u53e3 \uff0c \u5c06 \u4f7f\u7528 \u9ed8\u8ba4   8000   \u7aef\u53e3 \u3002 \u5982\u679c \u5728 \u540c\u4e00 \u7aef\u53e3 \u4e0a \u521b\u5efa \u66f4 \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u5b83\u4eec \u5c06 \u6210\u4e3a   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef   \uff0c \u800c \u539f\u59cb \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u6210\u4e3a   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u670d\u52a1 \u670d\u52a1\u7aef   \u3002 \u8fd9\u4e9b \u6807\u9898 \u5b9a\u4e49 \u4e86 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5728 \u4eff\u771f \u4e2d \u7684 \u884c\u4e3a \u65b9\u5f0f \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u670d\u52a1 \u670d\u52a1\u7aef   \u5982\u679c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u670d\u52a1 \u670d\u52a1\u7aef \u662f \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8fde\u63a5 \u5230 \u7a7a\u95f2 \u7aef\u53e3 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u7136\u540e \u5176\u4ed6 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff08 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff09 \u8fde\u63a5 \u5230 \u5b83 \u6b63\u5728 \u8fd0\u884c \u7684 \u540c\u4e00 \u7aef\u53e3 \uff0c \u5219 \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u5c06 \u89c4\u5b9a \u6240\u6709 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u884c\u4e3a   \uff0c \u4f8b\u5982 \uff0c \u5982\u679c   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u670d\u52a1 \u670d\u52a1\u7aef   \u505c\u6b62 \uff0c \u5219 \u6240\u6709   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5c06 \u505c\u6b62 \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u521b\u5efa \u4e24\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u3002 \u6bcf\u4e2a \u7aef\u53e3 \u90fd \u8fde\u63a5 \u5230 \u4e0d\u540c \u4e14 \u90fd \u672a \u4f7f\u7528 \u7684 \u7aef\u53e3 \uff1a   tm01   =   client01 . get _ trafficmanager ( )   #   tm01   -- >   tm01   ( p = 8000 )   tm02   =   client02 . get _ trafficmanager ( 5000 )   #   tm02 ( p = 5000 )   -- >   tm02   ( p = 5000 )   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5f53 \u4e00\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8fde\u63a5 \u5230 \u53e6 \u4e00\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff08 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \uff09 \u5360\u7528 \u7684 \u7aef\u53e3 \u65f6 \uff0c \u5c31 \u4f1a \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u884c\u4e3a \u5c06 \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u51b3\u5b9a \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u521b\u5efa \u4e24\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u6bcf \u4e00\u4e2a \u90fd \u4e0e \u4e0a \u4e00\u8282 \u4e2d \u521b\u5efa \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u8fde\u63a5 \u3002   tm03   =   client03 . get _ trafficmanager ( )   #   tm03   -- >   tm01   ( p = 8000 ) .   tm04   =   client04 . get _ trafficmanager ( 5000 )   #   tm04 ( p = 5000 )   -- >   tm02   ( p = 5000 )   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u8fc7 \u5b58\u50a8 \u94fe\u63a5 \u5230 \u5b83\u4eec \u7684 \u7aef\u53e3 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   IP \uff08 \u5bf9 \u7528\u6237 \u9690\u85cf \uff09 \u6765 \u4fdd\u5b58 \u6240\u6709 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u7684 \u5bc4\u5b58 \u5bc4\u5b58\u5668 \u3002 \u76ee\u524d \u65e0\u6cd5 \u68c0\u67e5 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \u5df2 \u521b\u5efa \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u3002 \u5c1d\u8bd5 \u521b\u5efa \u5b9e\u4f8b \u65f6 \u59cb\u7ec8 \u4f1a \u5c1d\u8bd5 \u8fde\u63a5 \uff0c \u5e76\u4e14 \u5b83 \u5c06 \u521b\u5efa \u65b0 \u7684   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef   \u6216   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef   \u3002   \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4eff\u771f   \u5728 \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4eff\u771f \u4e2d \uff0c \u5728 \u540c\u4e00 \u7aef\u53e3 \u4e0a \u521b\u5efa \u591a\u4e2a TM \u3002 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a   TM   \u5c06 \u662f   TM   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5176\u4f59 \u7684 \u5c06 \u662f \u8fde\u63a5 \u5230 \u5b83 \u7684   TM   \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002 TM - Server   \u5c06 \u89c4\u5b9a \u6240\u6709   TM   \u5b9e\u4f8b \u7684 \u884c\u4e3a \uff1a   terminal   1 :   . / CarlaUE4 . sh   - carla - rpc - port = 4000   terminal   2 :   python3   generate _ traffic . py   -- port   4000   -- tm - port   4050   #   TM - Server   terminal   3 :   python3   generate _ traffic . py   -- port   4000   -- tm - port   4050   #   TM - Client   \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4eff\u771f   \u5728 \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4eff\u771f \u4e2d \uff0c \u5728 \u4e0d\u540c \u7684 \u7aef\u53e3 \u4e0a \u521b\u5efa \u591a\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u3002 \u6bcf\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u90fd \u4f1a \u63a7\u5236 \u81ea\u5df1 \u7684 \u884c\u4e3a \uff1a   terminal   1 :   . / CarlaUE4 . sh   - carla - rpc - port = 4000   terminal   2 :   python3   generate _ traffic . py   -- port   4000   -- tm - port   4050   #   TM - Server   A   terminal   3 :   python3   generate _ traffic . py   -- port   4000   -- tm - port   4550   #   TM - Server   B   \u591a\u91cd \u4eff\u771f   \u591a\u91cd \u4eff\u771f \u662f \u6307 \u591a\u4e2a   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540c\u65f6 \u8fd0\u884c \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u9700\u8981 \u8fde\u63a5 \u5230 \u76f8\u5173 \u7684   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u53e3 \u3002 \u53ea\u8981 \u8ba1\u7b97 \u80fd\u529b \u8ba1\u7b97\u80fd\u529b \u5141\u8bb8 \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u53ef\u4ee5 \u4e00\u6b21 \u8fd0\u884c \u591a\u4e2a \u4eff\u771f \uff0c \u4e0d\u4f1a \u51fa\u73b0 \u4efb\u4f55 \u95ee\u9898 \uff1a   terminal   1 :   . / CarlaUE4 . sh   - carla - rpc - port = 4000   #   simulation   A   terminal   2 :   . / CarlaUE4 . sh   - carla - rpc - port = 5000   #   simulation   B   terminal   3 :   python3   generate _ traffic . py   -- port   4000   -- tm - port   4050   #   TM - Server   A   connected   to   simulation   A   terminal   4 :   python3   generate _ traffic . py   -- port   5000   -- tm - port   5050   #   TM - Server   B   connected   to   simulation   B   \u591a\u91cd \u4eff\u771f \u7684 \u6982\u5ff5 \u72ec\u7acb \u4e8e \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u672c\u8eab \u3002 \u4e0a\u9762 \u7684 \u793a\u4f8b \u5e76\u884c \u8fd0\u884c \u4e24\u4e2a   Carla   \u4eff\u771f   A   \u548c   B \u3002 \u5728 \u6bcf\u4e2a \u4eff\u771f \u4e2d \uff0c \u90fd \u72ec\u7acb \u521b\u5efa \u4e00\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u3002 \u4eff\u771f   A   \u53ef\u4ee5 \u8fd0\u884c \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u7a0b\u5e8f \uff0c \u800c \u4eff\u771f   B   \u5219 \u8fd0\u884c \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u6216 \u6839\u672c \u4e0d \u8fd0\u884c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   \u4e0a\u8ff0 \u8bbe\u7f6e \u6700 \u53ef\u80fd \u51fa\u73b0 \u7684 \u95ee\u9898 \u662f \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c1d\u8bd5 \u8fde\u63a5 \u5230 \u672a \u5728 \u6240\u9009 \u4eff\u771f \u4e0a \u8fd0\u884c \u7684 \u73b0\u6709 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002 \u5982\u679c \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \uff0c \u5c06\u4f1a \u51fa\u73b0 \u9519\u8bef \u6d88\u606f \uff0c \u5e76\u4e14 \u8fde\u63a5 \u5c06 \u88ab \u4e2d\u6b62 \uff0c \u4ee5 \u9632\u6b62 \u4eff\u771f \u4e4b\u95f4 \u7684 \u5e72\u6270 \u3002   \u540c\u6b65 \u6a21\u5f0f   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8bbe\u8ba1 \u4e3a \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u5de5\u4f5c \u3002 Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u5e94 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u624d\u80fd \u6b63\u5e38 \u8fd0\u884c \u3002   \u5728 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u610f\u5916 \u548c \u4e0d\u826f \u7ed3\u679c   \uff0c \u4f46\u662f \uff0c \u5982\u679c \u9700\u8981 \u5f02\u6b65 \u6a21\u5f0f \uff0c \u5219 \u4eff\u771f \u5e94 \u81f3\u5c11 \u4ee5   20 - 30   fps   \u8fd0\u884c \u3002   \u4e0b\u9762 \u7684 \u811a\u672c \u6f14\u793a \u4e86 \u5982\u4f55 \u5c06 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \uff1a   ...   #   Set   the   simulation   to   sync   mode   init _ settings   =   world . get _ settings ( )   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   After   that ,   set   the   TM   to   sync   mode   my _ tm . set _ synchronous _ mode ( True )   ...   #   Tick   the   world   in   the   same   client   world . apply _ settings ( init _ settings )   world . tick ( )   ...   #   Always   disable   sync   mode   before   the   script   ends   to   prevent   the   server   blocking   whilst   waiting   for   a   tick   settings . synchronous _ mode   =   False   my _ tm . set _ synchronous _ mode ( False )   \u793a\u4f8b \u811a\u672c   generate _ traffic . py   \u542f\u52a8 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5e76\u7528 \u8f66\u8f86 \u548c \u884c\u4eba \u586b\u5145 \u5730\u56fe \u3002 \u5b83 \u81ea\u52a8 \u5c06 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u548c   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \uff1a   cd   PythonAPI / examples   python3   generate _ traffic . py   - n   50   \u5982\u679c \u9700\u8981 \u5f02\u6b65 \u6a21\u5f0f \uff0c \u8bf7 \u5728 \u8fd0\u884c \u4e0a\u8ff0 \u547d\u4ee4 \u65f6 \u4f7f\u7528   -- async   \u6807\u5fd7 \u3002   \u5982\u679c \u591a\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \uff0c \u540c\u6b65 \u5c06\u4f1a \u5931\u8d25 \u3002 \u8bf7 \u9075\u5faa \u4ee5\u4e0b \u51c6\u5219 \u4ee5 \u907f\u514d \u51fa\u73b0 \u907f\u514d\u51fa\u73b0 \u95ee\u9898 \uff1a   \u5728   \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef   \u60c5\u51b5 \u4e0b \uff0c \u53ea\u6709   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef   \u5e94 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002   \u5728   \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u60c5\u51b5 \u4e0b \uff0c \u53ea \u9700 \u5c06 \u4e00\u53f0   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef   \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002   ScenarioRunner   \u6a21\u5757   \u81ea\u52a8 \u8fd0\u884c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002 ScenarioRunner   \u5185 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u81ea\u52a8 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002   \u8b66\u544a   \u5728 \u7ba1\u7406 \u65f6\u949f \u7684 \u811a\u672c \u5b8c\u6210 \u4e4b\u524d \u7981\u7528 \u540c\u6b65 \u6a21\u5f0f \uff08 \u5bf9\u4e8e \u4e16\u754c \u548c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff09 \uff0c \u4ee5 \u9632\u6b62 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u963b\u585e \uff0c \u6c38\u8fdc \u7b49\u5f85 \u65f6\u949f \u3002   \u5927 \u5730\u56fe \u4e2d \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u8981 \u4e86\u89e3 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5982\u4f55 \u5728 \u5927 \u5730\u56fe \u4e0a \u5de5\u4f5c \uff0c \u8bf7 \u52a1\u5fc5 \u9996\u5148 \u9605\u8bfb   \u6b64\u5904   \u7684 \u6587\u6863 \u6765 \u719f\u6089 \u5927 \u5730\u56fe \u7684 \u5de5\u4f5c \u539f\u7406 \u3002   \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u5728 \u5927 \u5730\u56fe \u4e2d \u7684 \u884c\u4e3a \u53d6\u51b3 \u53d6\u51b3\u4e8e \u662f\u5426 \u5b58\u5728 \u82f1\u96c4 \u8f66\u8f86 \uff1a   \u4e0d \u5b58\u5728 \u82f1\u96c4 \u8f66\u8f86   \u6240\u6709 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u90fd \u5c06 \u88ab \u89c6\u4e3a \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u4f11\u7720 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u50cf \u6df7\u5408 \u6a21\u5f0f \u4e00\u6837 \u5728 \u5730\u56fe \u4e0a \u79fb\u52a8 \u3002 \u7531\u4e8e \u6ca1\u6709 \u82f1\u96c4 \u8f66\u8f86 \u6765 \u89e6\u53d1 \u5730\u56fe \u74e6\u7247 \u6d41 \uff0c \u56e0\u6b64 \u4e0d\u4f1a \u6e32\u67d3 \u8f66\u8f86 \u3002   \u5448\u73b0 \u82f1\u96c4 \u8f66\u8f86   \u5f53 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u8d85\u8fc7   actor _ active _ distance   \u5b9a\u4e49 \u7684 \u503c\u65f6 \uff0c \u5c06 \u8fdb\u5165 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002 \u8981 \u8bbe\u7f6e \u6b64\u503c \uff0c \u8bf7 \u4f7f\u7528   Python   API \uff1a   settings   =   world . get _ settings ( )   #   \u79bb \u82f1\u96c4 \u8f66\u8f86 \u8d85\u8fc7 2 \u516c\u91cc \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06\u4f1a \u4f11\u7720   settings . actor _ active _ distance   =   2000   world . apply _ settings ( settings )   \u5728 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u4e2d \uff0c \u4f11\u7720 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u914d\u7f6e \u4e3a \u5728 \u82f1\u96c4 \u8f66\u8f86 \u5468\u56f4 \u4e0d\u65ad \u91cd\u751f \uff0c \u800c \u4e0d\u662f \u5728 \u5730\u56fe \u7684 \u5176\u4ed6 \u90e8\u5206 \u4fdd\u6301 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002 \u53ef\u4ee5 \u4f7f\u7528   set _ respawn _ dormant _ vehicles   Python   API   \u4e2d \u7684 \u65b9\u6cd5 \u914d\u7f6e \u6b64 \u9009\u9879 \u3002 \u8f66\u8f86 \u5c06 \u5728 \u82f1\u96c4 \u8f66\u8f86 \u7684 \u7528\u6237 \u5b9a\u4e49 \u8ddd\u79bb \u5185 \u91cd\u751f \u3002 \u53ef \u91cd\u751f \u8ddd\u79bb \u7684 \u4e0a\u4e0b \u8fb9\u754c \u53ef\u4ee5 \u4f7f\u7528   set _ boundaries _ respawn _ dormant _ vehicles   \u65b9\u6cd5 \u8bbe\u7f6e \u3002 \u6ce8\u610f \uff0c \u4e0a \u8ddd\u79bb \u4e0d\u4f1a \u5927\u4e8e \u5927 \u5730\u56fe \u7684 \u74e6\u7247 \u6d41 \u8ddd\u79bb \uff0c \u8ddd\u79bb \u6700\u5c0f \u4e3a   20   \u7c73 \u3002   \u8981 \u4f7f \u82f1\u96c4 \u8f66\u8f86   25   \u7c73 \u548c   700   \u7c73 \u8303\u56f4 \u5185 \u7684 \u4f11\u7720 \u8f66\u8f86 \u91cd\u751f \uff1a   my _ tm . set _ respawn _ dormant _ vehicles ( True )   my _ tm . set _ boundaries _ respawn _ dormant _ vehicles ( 25 , 700 )   \u5982\u679c \u78b0\u649e \u963b\u6b62 \u4f11\u7720 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u91cd\u751f \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u91cd\u8bd5 \u4e0b \u4e00\u4e2a \u4eff\u771f \u6b65\u9aa4 \u3002   \u5982\u679c \u4f11\u7720 \u8f66\u8f86 \u6ca1\u6709 \u91cd\u751f \uff0c \u5b83\u4eec \u7684 \u884c\u4e3a \u5c06 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u662f\u5426 \u542f\u7528 \u6df7\u5408 \u6a21\u5f0f \u3002 \u5982\u679c \u542f\u7528 \u4e86 \u6df7\u5408 \u6a21\u5f0f \uff0c \u5219 \u4f11\u7720 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u5728 \u5730\u56fe \u4e0a \u4f20\u9001 \u3002 \u5982\u679c \u672a \u542f\u7528 \u6df7\u5408 \u6a21\u5f0f \uff0c \u5219 \u4e0d\u4f1a \u8ba1\u7b97 \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7269\u7406 \u7279\u6027 \uff0c \u5e76\u4e14 \u5b83\u4eec \u5c06 \u4fdd\u6301 \u5728 \u539f \u4f4d\u7f6e \uff0c \u76f4\u5230 \u4e0d\u518d \u4f11\u7720 \u3002   \u5982\u679c \u4f60 \u6709 \u4efb\u4f55 \u5173\u4e8e \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u95ee\u9898 \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e0a \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"Adv   traffic   manager"},{"location":"adv_traffic_manager/#_1","text":"\u4ec0\u4e48 \u662f \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff1f   \u7ed3\u6784 \u7ed3\u6784\u5316 \u8bbe\u8ba1   \u7528\u6237 \u5b9a\u5236   \u67b6\u6784   \u6982\u8ff0   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u4eff\u771f \u72b6\u6001   \u63a7\u5236 \u5faa\u73af   \u5185\u5b58 \u5730\u56fe   \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9   PID   \u63a7\u5236 \u63a7\u5236\u5668   \u547d\u4ee4 \u6570\u7ec4   \u63a7\u5236 \u5faa\u73af \u7684 \u9636\u6bb5   \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u8f66\u8f86 \u884c\u4e3a \u8003\u8651 \u56e0\u7d20   \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u914d\u7f6e \u81ea\u52a8 \u9a7e\u9a76 \u884c\u4e3a   \u505c\u6b62 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f   \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f   \u8fd0\u884c \u591a\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4eff\u771f   \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4eff\u771f   \u591a\u91cd \u4eff\u771f   \u540c\u6b65 \u6a21\u5f0f   \u5927 \u5730\u56fe \u4e2d \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668","title":"\u4ea4\u901a\u7ba1\u7406 \u5668"},{"location":"adv_traffic_manager/#_2","text":"\u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   ( Traffic   Manager ,   TM )   \u662f \u5728 \u4eff\u771f \u4e2d\u4ee5 \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u63a7\u5236 \u8f66\u8f86 \u7684 \u6a21\u5757 \u3002 \u5176 \u76ee\u6807 \u662f \u5728 \u4eff\u771f \u4e2d \u586b\u5145 \u771f\u5b9e \u7684 \u57ce\u5e02 \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u3002 \u7528\u6237 \u53ef\u4ee5 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4e00\u4e9b \u884c\u4e3a \uff0c \u4f8b\u5982 \u8bbe\u7f6e \u7279\u5b9a \u7684 \u5b66\u4e60 \u73af\u5883 \u3002","title":"\u4ec0\u4e48 \u662f \u4ea4\u901a\u7ba1\u7406 \u5668 \uff1f  "},{"location":"adv_traffic_manager/#_3","text":"\u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u6784\u5efa \u4e8e   Carla   \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e4b\u4e0a \u3002 \u6267\u884c \u6d41\u7a0b \u5206\u4e3a \u591a\u4e2a \u9636\u6bb5 \uff0c \u6bcf\u4e2a \u9636\u6bb5 \u90fd \u6709 \u72ec\u7acb \u7684 \u64cd\u4f5c \u548c \u76ee\u6807 \u3002 \u8fd9 \u6709\u5229 \u5229\u4e8e \u6709\u5229\u4e8e \u76f8\u4f4d \u76f8\u5173 \u529f\u80fd \u548c \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u7684 \u5f00\u53d1 \uff0c \u540c\u65f6 \u63d0\u9ad8 \u8ba1\u7b97 \u6548\u7387 \u3002 \u6bcf\u4e2a \u9636\u6bb5 \u90fd \u5728 \u4e0d\u540c \u7684 \u7ebf\u7a0b \u4e0a \u8fd0\u884c \u3002 \u4e0e \u5176\u4ed6 \u9636\u6bb5 \u7684 \u901a\u4fe1 \u901a\u8fc7 \u540c\u6b65 \u6d88\u606f \u4f20\u9012 \u6d88\u606f\u4f20\u9012 \u8fdb\u884c \u7ba1\u7406 \u3002 \u4fe1\u606f \u671d \u4e00\u4e2a \u65b9\u5411 \u6d41\u52a8 \u3002","title":"\u7ed3\u6784\u5316 \u8bbe\u8ba1  "},{"location":"adv_traffic_manager/#_4","text":"\u7528\u6237 \u53ef\u4ee5 \u901a\u8fc7 \u8bbe\u7f6e \u5141\u8bb8 \u3001 \u5f3a\u5236 \u6216 \u9f13\u52b1 \u7279\u5b9a \u884c\u4e3a \u7684 \u53c2\u6570 \u6765 \u5bf9 \u6d41\u91cf \u8fdb\u884c \u4e00\u5b9a \u7a0b\u5ea6 \u7684 \u63a7\u5236 \u3002 \u7528\u6237 \u53ef\u4ee5 \u6839\u636e \u81ea\u5df1 \u7684 \u559c\u597d \u6539\u53d8 \u6d41\u91cf \u884c\u4e3a \uff0c \u65e0\u8bba \u65e0\u8bba\u662f \u5728\u7ebf \u8fd8\u662f \u79bb\u7ebf \u3002 \u4f8b\u5982 \uff0c \u53ef\u4ee5 \u5141\u8bb8 \u6c7d\u8f66 \u5ffd\u7565 \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u6216 \u5f3a\u5236 \u53d8\u9053 \u3002 \u5728 \u5c1d\u8bd5 \u4eff\u771f \u73b0\u5b9e \u65f6 \uff0c \u80fd\u591f \u5c1d\u8bd5 \u5404\u79cd \u884c\u4e3a \u662f \u4e0d\u53ef \u5fc5\u4e0d\u53ef\u5c11 \u7684 \u3002 \u9a7e\u9a76 \u7cfb\u7edf \u9700\u8981 \u5728 \u7279\u5b9a \u548c \u975e\u5178 \u5178\u578b \u975e\u5178\u578b \u60c5\u51b5 \u4e0b \u8fdb\u884c \u8bad\u7ec3 \u3002","title":"\u7528\u6237 \u5b9a\u5236  "},{"location":"adv_traffic_manager/#_5","text":"","title":"\u67b6\u6784  "},{"location":"adv_traffic_manager/#_6","text":"\u4e0a\u56fe \u662f \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u5185\u90e8 \u67b6\u6784 \u793a\u610f \u610f\u56fe \u793a\u610f\u56fe \u3002 \u6bcf\u4e2a \u7ec4\u4ef6 \u7684   C++   \u4ee3\u7801 \u53ef\u4ee5 \u5728   LibCarla / source / carla / trafficmanager   \u4e2d \u627e\u5230 \u3002 \u4ee5\u4e0b \u5404\u8282 \u8be6\u7ec6 \u89e3\u91ca \u4e86 \u6bcf\u4e2a \u7ec4\u4ef6 \u3002 \u903b\u8f91 \u6982\u8ff0 \u5982\u4e0b \uff1a   1 .   \u5b58\u50a8 \u5e76 \u66f4\u65b0 \u4eff\u771f \u7684 \u5f53\u524d \u72b6\u6001 \u3002   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406   ( Agent   Lifecycle   &   State   Management ,   ALSM )   \u626b\u63cf \u4e16\u754c \uff0c \u8ddf\u8e2a \u6240\u6709 \u5b58\u5728 \u7684 \u8f66\u8f86 \u548c \u884c\u4eba \uff0c \u5e76 \u6e05\u7406 \u4e0d\u518d \u5b58\u5728 \u7684 \u6761\u76ee \u3002 \u6240\u6709 \u6570\u636e \u5747 \u4ece \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u68c0\u7d22 \u5e76 \u7ecf\u8fc7 \u591a\u4e2a   \u9636\u6bb5   \u3002 ALSM   \u662f \u552f\u4e00 \u8c03\u7528 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u7ec4\u4ef6 \u3002   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u5305\u542b \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5904\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u72b6\u6001 \u7684 \u8f66\u8f86 \uff08 \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \uff09 \u4ee5\u53ca \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u4e0d \u5904\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u72b6\u6001 \uff08 \u4e0d \u53d7 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u63a7\u5236 \uff09 \u7684 \u884c\u4eba \u548c \u8f66\u8f86 \u3002   \u4eff\u771f \u72b6\u6001   \u662f \u4eff\u771f \u4e2d \u6240\u6709 \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u4f4d\u7f6e \u3001 \u901f\u5ea6 \u548c \u9644\u52a0 \u4fe1\u606f \u7684 \u7f13\u5b58 \u5b58\u50a8 \u3002   2 .   \u8ba1\u7b97 \u6bcf\u8f86 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u7684 \u8fd0\u52a8 \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u6839\u636e   \u4eff\u771f \u72b6\u6001   \u4e3a   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u4e2d \u7684 \u6240\u6709 \u8f66\u8f86 \u751f\u6210 \u53ef\u884c \u7684 \u547d\u4ee4 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u8ba1\u7b97 \u90fd \u662f \u5355\u72ec \u8fdb\u884c \u7684 \u3002 \u8fd9\u4e9b \u8ba1\u7b97 \u5206\u4e3a \u4e0d\u540c \u7684   \u9636\u6bb5   \u3002   \u63a7\u5236 \u5faa\u73af   \u901a\u8fc7 \u5728 \u9636\u6bb5 \u4e4b\u95f4 \u521b\u5efa \u540c\u6b65 \u5c4f\u969c \u6765 \u786e\u4fdd \u6240\u6709 \u8ba1\u7b97 \u7684 \u4e00\u81f4 \u4e00\u81f4\u6027 \u3002 \u5728 \u5f53\u524d \u9636\u6bb5 \u7684 \u6240\u6709 \u8f66\u8f86 \u8ba1\u7b97 \u5b8c\u6210 \u4e4b\u524d \uff0c \u6ca1\u6709 \u8f66\u8f86 \u8fdb\u5165 \u9636\u6bb5 \u4e0b\u4e00\u9636\u6bb5 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u4f1a \u7ecf\u5386 \u4ee5\u4e0b \u9636\u6bb5 \uff1a   2.1   -   \u5b9a\u4f4d \u9636\u6bb5   \u8def\u5f84 \u662f \u4f7f\u7528 \u4ece   \u5185\u5b58 \u5730\u56fe   \u4e2d \u6536\u96c6 \u7684 \u9644\u8fd1 \u8def\u5f84 \u70b9 \u5217\u8868 \u52a8\u6001 \u521b\u5efa \u52a8\u6001\u521b\u5efa \u7684 \uff0c \u5185\u5b58 \u5730\u56fe \u662f \u4eff\u771f \u5730\u56fe \u4f5c\u4e3a \u8def\u5f84 \u70b9 \u7f51\u683c \u7684 \u7b80\u5316 \u3002 \u8def\u53e3 \u7684 \u65b9\u5411 \u662f \u968f\u673a \u9009\u62e9 \u7684 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u8def\u5f84 \u5747 \u7531 \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9 ( Path   Buffers   &   Vehicle   Tracking ,   PBVT   )   \u7ec4\u4ef6 \u5b58\u50a8 \u548c \u7ef4\u62a4 \uff0c \u4ee5\u4fbf \u5728 \u672a\u6765 \u9636\u6bb5 \u8f7b\u677e \u8bbf\u95ee \u548c \u4fee\u6539 \u3002   2.2   -   \u78b0\u649e \u9636\u6bb5   \u8fb9\u754c \u6846 \u5ef6\u4f38 \u5230 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u8def\u5f84 \u4e0a \uff0c \u4ee5 \u8bc6\u522b \u548c \u5bfc\u822a \u6f5c\u5728 \u7684 \u78b0\u649e \u5371\u9669 \u3002   2.3   -   \u4ea4\u901a \u4ea4\u901a\u706f \u9636\u6bb5   .   \u4e0e \u78b0\u649e \u9636\u6bb5 \u7c7b\u4f3c \uff0c \u4f1a \u8bc6\u522b \u7531\u4e8e \u4ea4\u901a \u4ea4\u901a\u706f \u5f71\u54cd \u3001 \u505c\u8f66 \u6807\u5fd7 \u548c \u8def\u53e3 \u4f18\u5148 \u4f18\u5148\u7ea7 \u800c \u5f71\u54cd \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u8def\u5f84 \u7684 \u6f5c\u5728 \u5371\u9669 \u3002   2.4   -   \u8fd0\u52a8 \u89c4\u5212 \u5668 \u9636\u6bb5   .   \u8f66\u8f86 \u8fd0\u52a8 \u662f \u6839\u636e \u5b9a\u4e49 \u7684 \u8def\u5f84 \u8ba1\u7b97 \u7684 \u3002   PID   \u63a7\u5236 \u63a7\u5236\u5668   \u786e\u5b9a \u5982\u4f55 \u5230\u8fbe \u76ee\u6807 \u8def\u5f84 \u70b9 \u3002 \u7136\u540e \u5c06 \u5176 \u8f6c\u6362 \u4e3a   Carla   \u547d\u4ee4 \u4ee5\u4f9b \u4e0b \u4e00\u6b65 \u5e94\u7528 \u3002   2.5   -   \u8f66\u706f \u9636\u6bb5   .   \u8f66\u706f \u6839\u636e \u73af\u5883 \u56e0\u7d20 \u73af\u5883\u56e0\u7d20 \uff08 \u4f8b\u5982 \u9633\u5149 \u548c \u96fe \u6216 \u96e8 \u7684 \u5b58\u5728 \uff09 \u548c \u8f66\u8f86 \u884c\u4e3a \uff08 \u4f8b\u5982 \uff0c \u5982\u679c \u8f66\u8f86 \u5c06 \u5728 \u4e0b \u4e00\u4e2a \u8def\u53e3 \u5de6\u8f6c / \u53f3\u8f6c \uff0c \u5219 \u6253\u5f00 \u65b9\u5411 \u6307\u793a \u6307\u793a\u706f \uff1b \u5982\u679c \u5236\u52a8 \uff0c \u5219 \u6253\u5f00 \u5239\u8f66 \u8f66\u706f \u5239\u8f66\u706f \uff09 \u3002   3 .   \u5728 \u4eff\u771f \u4e2d \u5e94\u7528 \u547d\u4ee4   \u4e0a \u4e00\u6b65 \u751f\u6210 \u7684 \u547d\u4ee4 \u88ab \u6536\u96c6 \u5230   \u547d\u4ee4 \u6570\u7ec4   \u4e2d \uff0c \u6279\u91cf \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5728 \u540c\u4e00 \u5e27 \u4e2d \u5e94\u7528 \u3002   \u4ee5\u4e0b \u90e8\u5206 \u5c06 \u66f4 \u8be6\u7ec6 \u5730 \u89e3\u91ca \u4e0a\u8ff0 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u903b\u8f91 \u4e2d \u7684 \u6bcf\u4e2a \u7ec4\u4ef6 \u548c \u9636\u6bb5 \u3002","title":"\u6982\u8ff0  "},{"location":"adv_traffic_manager/#_7","text":"\u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406 \u3002 \u5b83 \u662f \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u903b\u8f91 \u5468\u671f \u7684 \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \uff0c \u63d0\u4f9b \u4eff\u771f \u5f53\u524d \u72b6\u6001 \u7684 \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u3002   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406 \u7ec4\u4ef6 \uff1a   \u626b\u63cf \u4e16\u754c \u4ee5 \u8ddf\u8e2a \u6240\u6709 \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \u3002 \u5982\u679c \u542f\u7528 \u7269\u7406 \u529f\u80fd \uff0c \u5219 \u901a\u8fc7   Vehicle . get _ velocity ( )   \u68c0\u7d22 \u901f\u5ea6 \u3002 \u5426\u5219 \uff0c \u5c06 \u4f7f\u7528 \u4f4d\u7f6e \u968f \u65f6\u95f4 \u66f4\u65b0 \u7684 \u5386\u53f2 \u53f2\u8bb0 \u8bb0\u5f55 \u5386\u53f2\u8bb0\u5f55 \u6765 \u8ba1\u7b97 \u901f\u5ea6 \u8ba1\u7b97\u901f\u5ea6 \u3002   \u5b58\u50a8   \u4eff\u771f \u72b6\u6001   \u7ec4\u4ef6 \u4e2d \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u548c \u884c\u4eba \u7684 \u4f4d\u7f6e \u3001 \u901f\u5ea6 \u548c \u9644\u52a0 \u4fe1\u606f \uff08 \u4ea4\u901a \u4ea4\u901a\u706f \u5f71\u54cd \u3001 \u8fb9\u754c \u6846\u7b49 \uff09 \u3002   \u66f4\u65b0   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u4e2d \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u8f66\u8f86 \u5217\u8868 \u3002   \u66f4\u65b0   \u63a7\u5236 \u5faa\u73af   \u548c   \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9   \u7ec4\u4ef6 \u4e2d \u7684 \u6761\u76ee \u4ee5 \u5339\u914d \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 \uff1a   ALSM . h   ,   ALSM . cpp   .","title":"\u4ee3\u7406 \u7684 \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406  "},{"location":"adv_traffic_manager/#_8","text":"\u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868 \u8bb0\u5f55 \u4eff\u771f \u4e2d \u7684 \u6240\u6709 \u8f66\u8f86 \u548c \u884c\u4eba \u3002   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868 \uff1a   \u4ece   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406   \u4f20\u9012 \u6765 \u6700\u65b0 \u7684 \u8f66\u8f86 \u548c \u884c\u4eba \u5217\u8868 \u3002   \u5c06 \u6ce8\u518c \u5230 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u8f66\u8f86 \u5b58\u50a8 \u5728 \u5355\u72ec \u7684 \u6570\u7ec4 \u4e2d \uff0c \u4ee5\u4fbf \u5728   \u63a7\u5236 \u5faa\u73af   \u671f\u95f4 \u8fdb\u884c \u8fed\u4ee3 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 \uff1a   MotionPlannerStage . cpp   .","title":"\u8f66\u8f86 \u6ce8\u518c\u8868  "},{"location":"adv_traffic_manager/#_9","text":"\u4eff\u771f \u72b6\u6001 \u5b58\u50a8 \u4eff\u771f \u4e2d \u6240\u6709 \u8f66\u8f86 \u7684 \u4fe1\u606f \uff0c \u4ee5\u4fbf \u5728 \u540e\u671f \u9636\u6bb5 \u8f7b\u677e \u8bbf\u95ee \u548c \u4fee\u6539 \u3002   \u4eff\u771f \u72b6\u6001 \uff1a   \u4ece   \u4ee3\u7406 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u548c \u72b6\u6001 \u7ba1\u7406   \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \uff0c \u5305\u62ec \u5f53\u524d \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f4d\u7f6e \u3001 \u901f\u5ea6 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u5f71\u54cd \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u7b49 \u3002   \u5c06 \u6240\u6709 \u4fe1\u606f \u5b58\u50a8 \u5728 \u7f13\u5b58 \u4e2d \uff0c \u907f\u514d \u5728   \u63a7\u5236 \u5faa\u73af   \u671f\u95f4 \u5bf9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u540e\u7eed \u8c03\u7528 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 \uff1a   SimulationState . cpp   ,   SimulationState . h   .","title":"\u4eff\u771f \u72b6\u6001  "},{"location":"adv_traffic_manager/#_10","text":"\u63a7\u5236 \u5faa\u73af \u7ba1\u7406 \u6240\u6709 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u7684 \u4e0b \u4e00\u4e2a \u547d\u4ee4 \u7684 \u8ba1\u7b97 \uff0c \u4ee5\u4fbf \u5b83\u4eec \u540c\u6b65 \u6267\u884c \u3002 \u63a7\u5236 \u5faa\u73af \u7531 \u4e94\u4e2a \u4e0d\u540c \u7684   \u9636\u6bb5   \u7ec4\u6210 ; \u5b9a\u4f4d \uff0c \u78b0\u649e \uff0c \u4ea4\u901a \u4ea4\u901a\u706f \uff0c \u8fd0\u52a8 \u89c4\u5212 \u548c \u8f66\u8f86 \u706f \u3002   \u63a7\u5236 \u5faa\u73af :   \u4ece   \u8f66\u8f86 \u6ce8\u518c \u6ce8\u518c\u8868   \u63a5\u6536 TM - \u63a7\u5236 \u7684 \u8f66\u8f86 \u6570\u7ec4 \u3002   \u901a\u8fc7 \u5faa\u73af \u904d\u5386 \u6570\u7ec4 \uff0c \u5206\u522b \u5bf9 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u6267\u884c \u8ba1\u7b97 \u3002   \u5c06 \u8ba1\u7b97 \u5206\u6210 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7684   \u9636\u6bb5   \u3002   \u5728 \u9636\u6bb5 \u4e4b\u95f4 \u521b\u5efa \u540c\u6b65 \u5c4f\u969c \u4ee5 \u4fdd\u8bc1 \u4e00\u81f4 \u4e00\u81f4\u6027 \u3002 \u6240\u6709 \u8f66\u8f86 \u7684 \u8ba1\u7b97 \u5728 \u4efb\u4f55 \u8f66\u8f86 \u79fb\u52a8 \u5230 \u9636\u6bb5 \u4e0b\u4e00\u9636\u6bb5 \u4e4b\u524d \u5b8c\u6210 \uff0c \u786e\u4fdd \u6240\u6709 \u8f66\u8f86 \u5728 \u540c\u4e00 \u5e27 \u4e2d \u66f4\u65b0 \u3002   \u534f\u8c03 \u5404   \u9636\u6bb5   \u4e4b\u95f4 \u7684 \u8fc7\u6e21 \uff0c \u4f7f \u6240\u6709 \u8ba1\u7b97 \u540c\u6b65 \u5b8c\u6210 \u3002   \u5f53 \u6700\u540e \u4e00\u4e2a \u9636\u6bb5 (   \u8fd0\u52a8 \u89c4\u5212 \u9636\u6bb5   \u548c   \u8f66\u8f86 \u706f\u5149 \u9636\u6bb5   ) \u5b8c\u6210 \u65f6 \uff0c \u5c06   \u547d\u4ee4 \u6570\u7ec4   \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u56e0\u6b64 \u5728 \u547d\u4ee4 \u8ba1\u7b97 \u548c \u547d\u4ee4 \u5e94\u7528 \u4e4b\u95f4 \u6ca1\u6709 \u5e27 \u5ef6\u8fdf \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   TrafficManagerLocal . cpp   .","title":"\u63a7\u5236 \u5faa\u73af  "},{"location":"adv_traffic_manager/#_11","text":"\u5185\u5b58 \u5730\u56fe \u662f \u5305\u542b \u5728   \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9   \u4e2d \u7684 \u8f85\u52a9 \u6a21\u5757 \uff0c \u5728   \u5b9a\u4f4d \u9636\u6bb5   \u4f7f\u7528 \u3002   \u5185\u5b58 \u5730\u56fe :   \u5c06 \u5730\u56fe \u8f6c\u6362 \u4e3a \u79bb\u6563 \u8def\u5f84 \u70b9 \u7684 \u7f51\u683c \u3002   \u5305\u542b \u7279\u5b9a \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u4e2d \u7684 \u8def\u70b9 \uff0c \u5e76 \u63d0\u4f9b \u66f4 \u591a \u4fe1\u606f \u6765 \u8fde\u63a5 \u8def\u70b9 \u548c \u8bc6\u522b \u9053\u8def \u3001 \u8def\u53e3 \u7b49 \u3002   \u901a\u8fc7 \u8bc6\u522b \u8fd9\u4e9b \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684   ID   \u6765 \u5feb\u901f \u5b9a\u4f4d \u9644\u8fd1 \u533a\u57df \u7684 \u8f66\u8f86 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   InMemoryMap . cpp   and   SimpleWaypoint . cpp   .","title":"\u5185\u5b58 \u5730\u56fe  "},{"location":"adv_traffic_manager/#_12","text":"PBVT \u4ee3\u8868 \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9 \u3002 PBVT \u662f \u4e00\u79cd \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \uff0c \u5b83 \u5305\u542b \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u9884\u671f \u8def\u5f84 \uff0c \u5e76 \u5141\u8bb8 \u5728   \u63a7\u5236 \u5faa\u73af   \u671f\u95f4 \u8f7b\u677e \u8bbf\u95ee \u6570\u636e \u3002   PBVT :   \u5305\u542b \u4e00\u4e2a deque \u5bf9\u8c61 \u7684 \u5730\u56fe \uff0c \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u6709 \u4e00\u4e2a \u5165\u53e3 \u3002   \u5305\u542b \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u4e00\u7ec4 \u8def\u70b9 \uff0c \u63cf\u8ff0 \u5176 \u5f53\u524d \u4f4d\u7f6e \u548c \u8fd1\u671f \u8def\u5f84 \u3002   \u5305\u542b   \u5b9a\u4f4d \u9636\u6bb5   \u4f7f\u7528 \u7684   \u5185\u5b58 \u5730\u56fe   \uff0c \u7528\u4e8e \u5c06 \u6bcf\u4e2a \u8f66\u8f86 \u4e0e \u6700\u8fd1 \u7684 \u8def\u70b9 \u548c \u53ef\u80fd \u7684 \u91cd\u53e0 \u8def\u5f84 \u5173\u8054 \u8d77\u6765 \u3002","title":"\u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9  "},{"location":"adv_traffic_manager/#pid","text":"PID \u63a7\u5236 \u63a7\u5236\u5668 \u662f \u5728   \u8fd0\u52a8 \u89c4\u5212 \u9636\u6bb5   \u6267\u884c \u8ba1\u7b97 \u7684 \u8f85\u52a9 \u6a21\u5757 \u3002   PID   \u63a7\u5236 \u63a7\u5236\u5668 :   \u6839\u636e   \u8fd0\u52a8 \u89c4\u5212 \u9636\u6bb5   \u6536\u96c6 \u7684 \u4fe1\u606f \uff0c \u4f30\u7b97 \u8fbe\u5230 \u76ee\u6807 \u6807\u503c \u76ee\u6807\u503c \u6240 \u9700 \u7684 \u6cb9\u95e8 \u3001 \u5239\u8f66 \u548c \u8f6c\u5411 \u8f93\u5165 \u3002   \u6839\u636e \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5177\u4f53 \u53c2\u6570 \u5316 \u8fdb\u884c \u8c03\u6574 \u3002 \u5982\u679c \u9700\u8981 \uff0c \u53ef\u4ee5 \u4fee\u6539 \u53c2\u6570 \u3002 \u9605\u8bfb \u66f4 \u591a \u5173\u4e8e   PID \u63a7\u5236 \u63a7\u5236\u5668   \u7684 \u4fe1\u606f \uff0c \u4e86\u89e3 \u5982\u4f55 \u8fdb\u884c \u4fee\u6539 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   PIDController . cpp   .","title":"PID   \u63a7\u5236\u5668  "},{"location":"adv_traffic_manager/#_13","text":"\u547d\u4ee4 \u6570\u7ec4 \u8868\u793a   TM   \u903b\u8f91 \u5468\u671f \u4e2d \u7684 \u6700\u540e \u4e00\u6b65 \u3002 \u5b83 \u63a5\u6536 \u6240\u6709 \u6ce8\u518c \u8f66\u8f86 \u7684 \u547d\u4ee4 \u5e76 \u5e94\u7528 \u5b83\u4eec \u3002   \u547d\u4ee4 \u6570\u7ec4 :   \u4ece   \u8def\u5f84 \u89c4\u5212 \u9636\u6bb5   \u63a5\u6536 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217   carla . VehicleControl   \u3002   \u5904\u7406 \u6279\u5904\u7406 \u8981 \u5728 \u540c\u4e00 \u5e27 \u5185 \u5e94\u7528 \u7684 \u6240\u6709 \u547d\u4ee4 \u3002   \u5c06 \u5904\u7406 \u6279\u5904\u7406 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u5728   carla   \u4e2d \u8c03\u7528   apply _ batch   \uff08 \uff09   \u6216   apply _ batch _ synch \uff08 \uff09   \u7684   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 . \u5ba2\u6237 \u5ba2\u6237\u7aef   \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4eff\u771f \u662f \u5206\u522b \u4ee5 \u5f02\u6b65 \u6a21\u5f0f \u8fd8\u662f \u540c\u6b65 \u6a21\u5f0f \u8fd0\u884c \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   TrafficManagerLocal . cpp   .","title":"\u547d\u4ee4 \u6570\u7ec4  "},{"location":"adv_traffic_manager/#_14","text":"","title":"\u63a7\u5236 \u5faa\u73af \u7684 \u9636\u6bb5  "},{"location":"adv_traffic_manager/#1-","text":"\u5b9a\u4f4d \u9636\u6bb5 \u4e3a TM \u63a7\u5236 \u7684 \u8f66\u8f86 \u5b9a\u4e49 \u4e86 \u8fd1 \u672a\u6765 \u7684 \u8def\u5f84 \u3002   \u672c\u5730 \u672c\u5730\u5316 \u9636\u6bb5 \uff1a   \u4ece   \u4eff\u771f \u72b6\u6001   \u83b7\u53d6 \u6240\u6709 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \u3002   \u4f7f\u7528   \u5185\u5b58 \u5730\u56fe   \u5c06 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u4e0e \u8def\u5f84 \u70b9 \u5217\u8868 \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \uff0c \u8be5 \u8def\u5f84 \u70b9 \u5217\u8868 \u6839\u636e \u5176 \u8f68\u8ff9 \u63cf\u8ff0 \u5176 \u5f53\u524d \u4f4d\u7f6e \u548c \u8fd1\u671f \u8def\u5f84 \u3002 \u8f66\u8f86 \u884c\u9a76 \u5f97 \u8d8a \u5feb \uff0c \u5217\u8868 \u5c31 \u8d8a\u957f \u3002   \u6839\u636e \u89c4\u5212 \u51b3\u7b56 \u66f4\u65b0 \u8def\u5f84 \uff0c \u4f8b\u5982 \u53d8\u9053 \u3001 \u9650\u901f \u3001 \u4e0e \u524d\u65b9 \u8f66\u8f86 \u7684 \u8ddd\u79bb \u53c2\u6570 \u5316\u7b49 \u3002   \u5c06 \u6240\u6709 \u8f66\u8f86 \u7684 \u8def\u5f84 \u5b58\u50a8 \u5728   PBVT   \u6a21\u5757 \u4e2d \u3002   \u76f8\u4e92 \u6bd4\u8f83 \u8def\u5f84 \u4ee5 \u4f30\u8ba1 \u53ef\u80fd \u7684 \u78b0\u649e \u60c5\u51b5 \u3002 \u7ed3\u679c \u5c06 \u4f20\u9012 \u5230 \u78b0\u649e \u9636\u6bb5 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   LocalizationStage . cpp   and   LocalizationUtils . cpp   .","title":"\u7b2c   1   \u9636\u6bb5   -   \u5b9a\u4f4d \u9636\u6bb5"},{"location":"adv_traffic_manager/#2-","text":"\u78b0\u649e \u9636\u6bb5 \u4f1a \u89e6\u53d1 \u78b0\u649e \u5371\u9669 \u3002   \u78b0\u649e \u9636\u6bb5 \uff1a   \u4ece   \u5b9a\u4f4d \u9636\u6bb5   \u63a5\u6536 \u8def\u5f84 \u53ef\u80fd \u91cd\u53e0 \u7684 \u8f66\u8f86 \u5bf9 \u5217\u8868 \u3002   \u524d\u65b9 \u8def\u5f84 \uff08 \u5730\u7ebf \u6d4b\u5730\u7ebf \u8fb9\u754c \uff09 \u6269\u5c55 \u6bcf\u4e2a \u8f66\u8f86 \u5bf9 \u7684 \u8fb9\u754c \u6846 \uff0c \u4ee5 \u68c0\u67e5 \u5b83\u4eec \u662f\u5426 \u5b9e\u9645 \u91cd\u53e0 \u5e76 \u786e\u5b9a \u78b0\u649e \u98ce\u9669 \u662f\u5426 \u771f\u5b9e \u3002   \u5c06 \u6240\u6709 \u53ef\u80fd \u7684 \u78b0\u649e \u7684 \u5371\u9669 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   \u8fd0\u52a8 \u89c4\u5212 \u5668 \u9636\u6bb5   \uff0c \u4ee5 \u76f8\u5e94 \u5730 \u4fee\u6539 \u8def\u5f84 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   CollisionStage . cpp   .","title":"\u7b2c   2   \u9636\u6bb5   -   \u78b0\u649e \u9636\u6bb5"},{"location":"adv_traffic_manager/#-","text":"\u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u9636\u6bb5 \u4f1a \u89e6\u53d1 \u4ea4\u901a \u7ba1\u5236 \u4ea4\u901a\u7ba1\u5236 \u5668 \u9020\u6210 \u7684 \u5371\u9669 \uff0c \u4f8b\u5982 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3001 \u505c\u8f66 \u6807\u5fd7 \u548c \u8def\u53e3 \u7684 \u4f18\u5148 \u4f18\u5148\u6743 \u3002   \u4ea4\u901a \u4ea4\u901a\u706f \u9636\u6bb5 \uff1a   \u5982\u679c \u8f66\u8f86 \u53d7\u5230 \u9ec4\u8272 \u6216 \u7ea2\u8272 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u6216 \u505c\u8f66 \u6807\u5fd7 \u7684 \u5f71\u54cd \uff0c \u5219 \u8bbe\u7f6e \u4ea4\u901a \u5371\u9669 \u3002   \u5982\u679c \u8fb9\u754c \u6846 \u4f4d\u4e8e \u65e0 \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u4ea4\u6c47 \u4ea4\u6c47\u70b9 \uff0c \u5219 \u6cbf \u8f66\u8f86 \u8def\u5f84 \u5ef6\u4f38 \u8fb9\u754c \u6846 \u3002 \u8def\u5f84 \u91cd\u53e0 \u7684 \u8f66\u8f86 \u9075\u5faa \u201c \u5148\u8fdb \u5148\u8fdb\u5148\u51fa \u201d \u7684 \u987a\u5e8f \u79fb\u52a8 \u3002 \u7b49\u5f85 \u65f6\u95f4 \u7b49\u5f85\u65f6\u95f4 \u8bbe\u7f6e \u4e3a \u56fa\u5b9a \u56fa\u5b9a\u503c \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   TrafficLightStage . cpp   .","title":"\u7b2c\u4e09\u9636\u6bb5   -   \u4ea4\u901a\u706f \u9636\u6bb5"},{"location":"adv_traffic_manager/#4-","text":"\u201c \u8fd0\u52a8 \u89c4\u5212 \u5668 \u9636\u6bb5 \u201d \uff08 Motion   Planner   Stage \uff09   \u751f\u6210 \u8981 \u5e94\u7528 \u4e8e \u8f66\u8f86 \u7684   Carla   \u547d\u4ee4 \u3002   \u8fd0\u52a8 \u89c4\u5212 \u5668 \u9636\u6bb5 \uff1a   \u6536\u96c6 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \uff08   \u4eff\u771f \u72b6\u6001   ) \uff09 \u3001 \u8def\u5f84   \uff08   \u8def\u5f84 \u7f13\u5b58 \u548c \u8f66\u8f86 \u8f68\u8ff9   \uff09   \u548c \u5371\u9669 \uff08   \u78b0\u649e   \u9636\u6bb5 \u548c   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u9636\u6bb5   \uff09 \u3002   \u5bf9 \u8f66\u8f86 \u5e94 \u5982\u4f55 \u79fb\u52a8 \u505a\u51fa \u9ad8\u7ea7 \u51b3\u7b56 \uff0c \u4f8b\u5982 \uff0c \u8ba1\u7b97 \u9632\u6b62 \u78b0\u649e \u5371\u9669 \u6240 \u9700 \u7684 \u5236\u52a8 \u5236\u52a8\u5668 \u3002   PID \u63a7\u5236 \u63a7\u5236\u5668   \u7528\u4e8e \u6839\u636e \u76ee\u6807 \u6807\u503c \u76ee\u6807\u503c \u4f30\u8ba1 \u884c\u4e3a \u3002   \u5c06 \u671f\u671b \u7684 \u8fd0\u52a8 \u8f6c\u5316 \u4e3a \u9002\u7528 \u4e8e \u8f66\u8f86 \u7684   carla . VehicleControl \u3002   \u5c06 \u751f\u6210 \u7684   Carla   \u547d\u4ee4 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   \u547d\u4ee4 \u6570\u7ec4   \u3002   \u76f8\u5173 \u7684 . cpp \u6587\u4ef6 :   MotionPlannerStage . cpp   .","title":"\u7b2c   4   \u9636\u6bb5   -   \u8fd0\u52a8 \u89c4\u5212 \u5668 \u9636\u6bb5"},{"location":"adv_traffic_manager/#5-","text":"\u8f66\u706f \u9636\u6bb5 \u6839\u636e \u8f66\u8f86 \u72b6\u51b5 \u548c \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u6fc0\u6d3b \u8f66\u706f \u3002   \u8f66\u706f \u9636\u6bb5 :   \u68c0\u7d22 \u8f66\u8f86 \u7684 \u8ba1\u5212 \u8def\u5f84 \u70b9 \u3001 \u6709\u5173 \u8f66\u8f86 \u706f\u5149 \u7684 \u4fe1\u606f \uff08 \u4f8b\u5982 \u706f\u5149 \u72b6\u6001 \u548c \u8ba1\u5212 \u5e94\u7528 \u7684 \u547d\u4ee4 \uff09 \u548c \u5929\u6c14 \u72b6\u51b5 \u5929\u6c14\u72b6\u51b5 \u3002   \u786e\u5b9a \u8f66\u706f \u7684 \u65b0 \u72b6\u6001 :   \u5982\u679c \u8f66\u8f86 \u8ba1\u5212 \u5728 \u4e0b \u4e00\u4e2a \u8def\u53e3 \u5de6\u8f6c / \u53f3\u8f6c \uff0c \u5219 \u6253\u5f00 \u95ea\u5149 \u5149\u706f \u95ea\u5149\u706f \u3002   \u5982\u679c \u5e94\u7528 \u7684 \u547d\u4ee4 \u8981\u6c42 \u8f66\u8f86 \u5236\u52a8 \uff0c \u5219 \u6253\u5f00 \u505c\u8f66 \u8f66\u706f \u505c\u8f66\u706f \u3002   \u4ece \u65e5 \u843d\u5230 \u9ece\u660e \u6216 \u5728 \u5927\u96e8 \u4e2d \u6253\u5f00 \u5149\u706f \u8fd1\u5149\u706f \u548c \u4f4d\u7f6e \u4f4d\u7f6e\u706f \u3002   \u5728 \u5927\u96fe \u6761\u4ef6 \u4e0b \u6253\u5f00 \u96fe\u706f \u3002   \u5982\u679c \u8f66\u706f \u72b6\u6001 \u5df2 \u66f4\u6539 \uff0c \u8bf7 \u66f4\u65b0 \u8f66\u706f \u72b6\u6001 \u3002   \u76f8\u5173 \u7684   . cpp   \u6587\u4ef6 :   VehicleLightStage . cpp   .","title":"\u7b2c   5   \u9636\u6bb5   -   \u8f66\u706f \u9636\u6bb5"},{"location":"adv_traffic_manager/#_15","text":"","title":"\u4f7f\u7528 \u4ea4\u901a\u7ba1\u7406 \u5668  "},{"location":"adv_traffic_manager/#_16","text":"TM   \u5b9e\u73b0 \u4e86 \u5c06 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u65f6 \u5fc5\u987b \u8003\u8651 \u7684 \u4e00\u822c \u884c\u4e3a \u6a21\u5f0f \uff1a   \u8f66\u8f86 \u4e0d\u662f \u4ee5 \u76ee\u6807 \u4e3a \u5bfc\u5411 \u7684   \uff0c \u5b83\u4eec \u9075\u5faa \u52a8\u6001 \u4ea7\u751f \u7684 \u8f68\u8ff9 \uff0c \u5e76 \u5728 \u63a5\u8fd1 \u8def\u53e3 \u65f6 \u968f\u673a \u9009\u62e9 \u8def\u5f84 \u3002 \u4ed6\u4eec \u7684 \u9053\u8def \u662f \u6b62\u5883 \u65e0\u6b62\u5883 \u7684 \u3002   \u9664\u975e \u8bbe\u7f6e \u4e86 \u4efb\u4f55 \u5176\u4ed6 \u503c \uff0c   \u5426\u5219 \u8f66\u8f86 \u7684 \u76ee\u6807 \u901f\u5ea6 \u662f \u5176 \u5f53\u524d \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u7684   70% \u3002   \u8def\u53e3 \u4f18\u5148 \u4f18\u5148\u6743 \u4e0d \u9075\u5b88 \u4ea4\u901a \u6cd5\u89c4 \u4ea4\u901a\u6cd5\u89c4 \u3002   TM   \u5728 \u8def\u53e3 \u4f7f\u7528 \u81ea\u5df1 \u7684 \u4f18\u5148 \u4f18\u5148\u7ea7 \u7cfb\u7edf \u3002 \u6b64 \u9650\u5236 \u7684 \u89e3\u51b3 \u5de5\u4f5c \u6b63\u5728 \u8fdb\u884c \u4e2d \u3002 \u540c\u65f6 \uff0c \u53ef\u80fd \u4f1a \u51fa\u73b0 \u4e00\u4e9b \u95ee\u9898 \uff0c \u4f8b\u5982 \uff0c \u73af\u5f62 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u5185 \u7684 \u8f66\u8f86 \u8ba9\u6b65 \u7ed9 \u8bd5\u56fe \u8fdb\u5165 \u7684 \u8f66\u8f86 \u3002   TM   \u884c\u4e3a \u53ef\u4ee5 \u901a\u8fc7   Python   API   \u8fdb\u884c \u8c03\u6574 \u3002 \u6709\u5173 \u5177\u4f53 \u65b9\u6cd5 \u5177\u4f53\u65b9\u6cd5 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Python   API   \u6587\u6863   \u7684   TM   \u90e8\u5206 \u3002 \u4ee5\u4e0b \u662f \u901a\u8fc7   API   \u5b9e\u73b0 \u7684 \u529f\u80fd \u7684 \u4e00\u822c \u6458\u8981 \uff1a   \u4e3b\u9898   \u63cf\u8ff0   \u5e38\u89c4 :   -   \u521b\u5efa \u8fde\u63a5 \u5230 \u7aef\u53e3 \u7684 TM \u5b9e\u4f8b \u3002   -   \u68c0\u7d22 TM \u8fde\u63a5 \u7684 \u7aef\u53e3 \u3002   \u5b89\u5168 \u6761\u4ef6 :   -   \u8bbe\u7f6e \u505c\u6b62 \u8f66\u8f86 \u4e4b\u95f4 \u7684 \u6700\u5c0f \u8ddd\u79bb \uff08 \u5bf9\u4e8e \u5355\u4e2a \u8f66\u8f86 \u6216\u8005 \u6240\u6709 \u8f66\u8f86 \uff09 \u3002 \u8fd9 \u5c06 \u5f71\u54cd \u6700\u5c0f \u79fb\u52a8 \u8ddd\u79bb \u3002   -   \u5c06 \u6240 \u9700 \u901f\u5ea6 \u8bbe\u7f6e \u4e3a \u5f53\u524d \u901f\u5ea6 \u73b0\u72b6 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \uff08 \u5bf9\u4e8e \u5355\u4e2a \u8f66\u8f86 \u6216 \u6240\u6709 \u8f66\u8f86 \uff09 \u3002   -   \u91cd\u7f6e \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002   \u78b0\u649e \u7ba1\u7406 :   -   \u542f\u7528 / \u7981\u7528 \u8f66\u8f86 \u4e0e \u7279\u5b9a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u95f4 \u7684 \u78b0\u649e \u3002   -   \u8ba9 \u8f66\u8f86 \u5ffd\u7565 \u6240\u6709 \u5176\u4ed6 \u8f66\u8f86 \u3002   -   \u8ba9 \u8f66\u8f86 \u5ffd\u7565 \u6240\u6709 \u884c\u4eba   -   \u8ba9 \u8f66\u8f86 \u5ffd\u7565 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   \u53d8\u9053 :   -   \u5f3a\u5236 \u53d8\u9053 \uff0c \u5ffd\u7565 \u53ef\u80fd \u7684 \u78b0\u649e \u3002   -   \u542f\u7528 / \u7981\u7528 \u8f66\u8f86 \u7684 \u53d8\u9053 \u3002   \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f :   -   \u542f\u7528 / \u7981\u7528 \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f \u3002   -   \u66f4\u6539 \u542f\u7528 \u7269\u7406 \u7684 \u534a\u5f84 \u3002","title":"\u8f66\u8f86 \u884c\u4e3a \u8003\u8651 \u56e0\u7d20  "},{"location":"adv_traffic_manager/#_17","text":"\u7b14\u8bb0   TM   \u8bbe\u8ba1 \u4e3a \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u5de5\u4f5c \u3002 \u5728 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528   TM   \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u610f\u5916 \u548c \u4e0d\u826f \u7ed3\u679c \u3002 \u6709\u5173 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u540c\u6b65 \u6a21\u5f0f   \u3002   TM   \u5b9e\u4f8b \u7531   carla   \u521b\u5efa . \u5ba2\u6237 \u5ba2\u6237\u7aef   \uff0c \u4f20\u9012 \u8981 \u4f7f\u7528 \u7684 \u7aef\u53e3 \u3002 \u7f3a\u7701 \u7aef\u53e3 \u4e3a   8000   \u3002   \u8981 \u521b\u5efa   TM   \u5b9e\u4f8b \uff1a   tm   =   client . get _ trafficmanager ( port )   \u8981 \u4e3a \u4e00\u7ec4 \u8f66\u8f86 \u542f\u7528   autopilot \uff0c \u8bf7 \u68c0\u7d22   TM   \u5b9e\u4f8b \u7684 \u7aef\u53e3 \u5e76 \u8bbe\u7f6e set _ autopilot \u4e3a True   \uff0c \u540c\u65f6 \u4f20\u9012   TM   \u7aef\u53e3 \u3002 \u5982\u679c \u672a \u63d0\u4f9b \u7aef\u53e3 \uff0c \u5b83 \u5c06 \u5c1d\u8bd5 \u8fde\u63a5 \u5230 \u9ed8\u8ba4 \u7aef\u53e3   \uff08 8000 \uff09   \u4e2d \u7684   TM \u3002 \u5982\u679c   TM   \u4e0d \u5b58\u5728 \uff0c \u5b83 \u5c06 \u521b\u5efa \u4e00\u4e2a \u3002   tm _ port   =   tm . get _ port ( )   for   v   in   vehicles _ list :   v . set _ autopilot ( True , tm _ port )   \u7b14\u8bb0   \u5728 \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u60c5\u51b5 \u4e0b \u521b\u5efa \u6216 \u8fde\u63a5 \u5230   TM   \u4e0e \u4e0a\u8ff0 \u793a\u4f8b \u4e0d\u540c \u3002   / PythonAPI / examples   \u4e2d \u7684   generate _ traffic . py   \u811a\u672c \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u793a\u4f8b \uff0c   \u8bf4\u660e \u5982\u4f55 \u4f7f\u7528 \u4f5c\u4e3a \u811a\u672c \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7684 \u7aef\u53e3 \u521b\u5efa   TM   \u5b9e\u4f8b \uff0c \u5e76 \u901a\u8fc7 \u6279\u91cf \u5c06 \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u8bbe\u7f6e \u4e3a \u4ee5\u4e0b \u503c\u6765 \u6ce8\u518c \u751f\u6210 \u7684 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u3002   traffic _ manager   =   client . get _ trafficmanager ( args . tm - port )   tm _ port   =   traffic _ manager . get _ port ( )   ...   batch . append ( SpawnActor ( blueprint ,   transform ) . then ( SetAutopilot ( FutureActor ,   True , tm _ port ) ) )   ...   traffic _ manager . global _ percentage _ speed _ difference ( 30.0 )","title":"\u521b\u5efa \u4ea4\u901a\u7ba1\u7406 \u5668  "},{"location":"adv_traffic_manager/#autopilot","text":"\u4ee5\u4e0b \u793a\u4f8b \u521b\u5efa \u4e00\u4e2a   TM   \u5b9e\u4f8b \uff0c \u5e76 \u4e3a \u7279\u5b9a \u8f66\u8f86 \u914d\u7f6e \u5371\u9669 \u884c\u4e3a \uff0c \u4f7f \u5176 \u5ffd\u7565 \u6240\u6709 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \uff0c \u4e0d \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u4fdd\u6301 \u5b89\u5168 \u8ddd\u79bb \uff0c \u5e76 \u4ee5 \u6bd4 \u5f53\u524d \u9650\u901f \u5feb   20%   \u7684 \u901f\u5ea6 \u884c\u9a76 \uff1a   tm   =   client . get _ trafficmanager ( port )   tm _ port   =   tm . get _ port ( )   for   v   in   my _ vehicles :   v . set _ autopilot ( True , tm _ port )   danger _ car   =   my _ vehicles [ 0 ]   tm . ignore _ lights _ percentage ( danger _ car , 100 )   tm . distance _ to _ leading _ vehicle ( danger _ car , 0 )   tm . vehicle _ percentage _ speed _ difference ( danger _ car , - 20 )   \u4ee5\u4e0b \u793a\u4f8b \u5c06 \u76f8\u540c \u7684 \u8f66\u8f86 \u5217\u8868 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \uff0c \u4f46 \u5c06 \u5176 \u914d\u7f6e \u4e3a \u9002\u5ea6 \u9a7e\u9a76 \u884c\u4e3a \u3002 \u8f66\u8f86 \u7684 \u884c\u9a76 \u901f\u5ea6 \u6bd4 \u5f53\u524d \u9650\u901f \u6162   80% \uff0c \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u4e4b\u95f4 \u81f3\u5c11 \u7559\u51fa   5   \u7c73 \u7684 \u8ddd\u79bb \uff0c \u5e76\u4e14 \u4ece\u4e0d \u8fdb\u884c \u53d8\u9053 \uff1a   tm   =   client . get _ trafficmanager ( port )   tm _ port   =   tm . get _ port ( )   for   v   in   my _ vehicles :   v . set _ autopilot ( True , tm _ port )   danger _ car   =   my _ vehicles [ 0 ]   tm . global _ distance _ to _ leading _ vehicle ( 5 )   tm . global _ percentage _ speed _ difference ( 80 )   for   v   in   my _ vehicles :   tm . auto _ lane _ change ( v , False )","title":"\u914d\u7f6e   autopilot   \u884c\u4e3a  "},{"location":"adv_traffic_manager/#_18","text":"\u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c TM   \u7ba1\u7406 \u7684 \u8f66\u8f86 \u7684 \u8f66\u706f \uff08 \u5239\u8f66 \u8f66\u706f \u5239\u8f66\u706f \u3001 \u8f6c\u5411 \u8f6c\u5411\u706f \u7b49 \uff09 \u6c38\u8fdc \u4e0d\u4f1a \u66f4\u65b0 \u3002 \u53ef\u4ee5 \u59d4\u6258   TM   \u6765 \u66f4\u65b0 \u7ed9\u5b9a \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8f66\u706f \uff1a   tm   =   client . get _ trafficmanager ( port )   for   actor   in   my _ vehicles :   tm . update _ vehicle _ lights ( actor ,   True )   \u8f66\u706f \u7ba1\u7406 \u5fc5\u987b \u6309 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u8fdb\u884c \u6307\u5b9a \uff0c \u5e76\u4e14 \u5728 \u4efb\u4f55 \u7ed9\u5b9a \u65f6\u95f4 \u90fd \u53ef\u4ee5 \u6709 \u5e26 \u548c \u4e0d\u5e26 \u81ea\u52a8 \u706f \u7ba1\u7406 \u7684 \u8f66\u8f86 \u3002","title":"\u59d4\u6d3e \u4ea4\u901a\u7ba1\u7406 \u5668 \u81ea\u52a8\u66f4\u65b0 \u8f66\u706f"},{"location":"adv_traffic_manager/#_19","text":"\u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u662f \u4e00\u4e2a \u4e0d \u9700\u8981 \u88ab \u9500\u6bc1 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff1b \u5f53 \u521b\u5efa \u5b83 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u505c\u6b62 \u65f6 \uff0c \u5b83 \u5c06 \u505c\u6b62 \u3002 \u8fd9 \u662f \u7531   API   \u81ea\u52a8 \u7ba1\u7406 \u7684 \uff0c \u7528\u6237 \u65e0\u9700 \u6267\u884c \u4efb\u4f55 \u64cd\u4f5c \u3002 \u4f46\u662f \uff0c \u5728 \u5173\u95ed \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u65f6 \uff0c \u7528\u6237 \u5fc5\u987b \u9500\u6bc1 \u7531 \u5b83 \u63a7\u5236 \u7684 \u8f66\u8f86 \uff0c \u5426\u5219 \u5b83\u4eec \u5c06 \u5728 \u5730\u56fe \u4e0a \u4fdd\u6301 \u4e0d \u52a8 \u3002   generate _ traffic . py   \u811a\u672c \u4f1a \u81ea\u52a8 \u6267\u884c \u6b64 \u64cd\u4f5c :   client . apply _ batch ( [ carla . command . DestroyActor ( x )   for   x   in   vehicles _ list ] )   \u7b14\u8bb0   \u5173\u95ed   TM - Server   \u5c06 \u5173\u95ed \u8fde\u63a5 \u5230 \u5b83 \u7684   TM - Clients   \u3002   \u8981 \u4e86\u89e3   TM - Server   \u548c   TM - Client   \u4e4b\u95f4 \u7684 \u533a\u522b ,   \u8bf7 \u9605\u8bfb   Running   multiple   Traffic   Managers   \u3002","title":"\u505c\u6b62 \u4ea4\u901a\u7ba1\u7406 \u5668  "},{"location":"adv_traffic_manager/#_20","text":"\u5728 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f \u4e0b \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u5728 \u76f8\u540c \u6761\u4ef6 \u4e0b \u4ea7\u751f \u76f8\u540c \u7684 \u7ed3\u679c \u548c \u884c\u4e3a \u3002 \u4e0d\u8981 \u5c06 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u8bba \u8bef\u8ba4 \u8ba4\u4e3a \u8bef\u8ba4\u4e3a \u662f \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002 \u867d\u7136 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5141\u8bb8 \u60a8 \u5b58\u50a8 \u4eff\u771f \u65e5\u5fd7 \u4ee5 \u8fdb\u884c \u56de\u653e \uff0c \u4f46 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u53ef \u786e\u4fdd \u53ea\u8981 \u7ef4\u6301 \u76f8\u540c \u7684 \u6761\u4ef6 \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5728 \u811a\u672c \u7684 \u4e0d\u540c \u6267\u884c \u8fc7\u7a0b \u4e2d \u59cb\u7ec8 \u5177\u6709 \u76f8\u540c \u7684 \u8f93\u51fa \u3002   \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f   \u4ec5 \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b   \u53ef\u7528 \u3002 \u5728 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u5bf9 \u4eff\u771f \u7684 \u63a7\u5236 \u8f83 \u5c11 \uff0c \u5e76\u4e14 \u65e0\u6cd5 \u5b9e\u73b0 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u3002 \u5728 \u5f00\u59cb \u4e4b\u524d \uff0c \u8bf7 \u9605\u8bfb   \u540c\u6b65 \u6a21\u5f0f   \u90e8\u5206 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u8981 \u542f\u7528 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b \u65b9\u6cd5 \uff1a   my _ tm . set _ random _ device _ seed ( seed _ value )   seed _ value   \u662f \u4e00\u4e2a \u5c06 \u751f\u6210 \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u7684 \u6570\u5b57 \u7684   int   \u79cd\u5b50 \u79cd\u5b50\u6570 \u3002 \u8be5\u503c \u672c\u8eab \u5e76 \u4e0d \u76f8\u5173 \uff0c \u4f46 \u76f8\u540c \u7684 \u503c \u5c06 \u59cb\u7ec8 \u5bfc\u81f4 \u76f8\u540c \u7684 \u8f93\u51fa \u3002 \u5177\u6709 \u76f8\u540c \u6761\u4ef6 \u3001 \u4f7f\u7528 \u76f8\u540c \u79cd\u5b50 \u503c \u7684 \u4e24\u6b21 \u4eff\u771f \u5c06 \u662f \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u7684 \u3002   \u4e3a\u4e86 \u4fdd\u6301 \u591a\u6b21 \u4eff\u771f \u8fd0\u884c \u7684 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \uff0c   \u5fc5\u987b \u4e3a \u6bcf\u6b21 \u4eff\u771f \u8bbe\u7f6e \u79cd\u5b50   \u3002 \u4f8b\u5982 \uff0c \u6bcf\u6b21   \u91cd\u65b0 \u52a0\u8f7d   \u4e16\u754c \u65f6 \uff0c \u90fd \u5fc5\u987b \u91cd\u65b0 \u8bbe\u7f6e \u79cd\u5b50 \uff1a   client . reload _ world ( )   my _ tm . set _ random _ device _ seed ( seed _ value )   \u53ef\u4ee5 \u901a\u8fc7 \u5c06 \u79cd\u5b50 \u503c \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u6765 \u5728 \u793a\u4f8b \u811a\u672c   generate _ traffic . py   \u4e2d \u6d4b\u8bd5 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f \u3002 \u4ee5\u4e0b \u793a\u4f8b \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528   50   \u4e2a \u81ea\u52a8 \u9a7e\u9a76 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u586b\u5145 \u5730\u56fe \uff0c \u5e76 \u5c06 \u79cd\u5b50 \u8bbe\u7f6e \u4e3a \u4efb\u610f \u503c   9   \uff1a   cd   PythonAPI / examples   python3   generate _ traffic . py   - n   50   -- seed   9   \u8b66\u544a   \u5728 \u542f\u7528 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u6a21\u5f0f \u4e4b\u524d \uff0c Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5fc5\u987b \u5904\u4e8e \u540c\u6b65 \u6a21\u5f0f \u3002 \u5728 \u6b64\u5904 \u9605\u8bfb \u6709\u5173 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u4e2d \u540c\u6b65 \u6a21\u5f0f \u7684   \u66f4 \u591a \u4fe1\u606f   \u3002","title":"\u786e\u5b9a\u6027 \u6a21\u5f0f  "},{"location":"adv_traffic_manager/#_21","text":"\u6df7\u5408 \u6a21\u5f0f \u5141\u8bb8 \u7528\u6237 \u7981\u7528 \u6240\u6709 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u6216 \u6807\u8bb0 \u4e3a   \u82f1\u96c4   \u7684 \u8f66\u8f86 \u7279\u5b9a \u534a\u5f84 \u4e4b\u5916 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u7684 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u7269\u7406 \u8ba1\u7b97 \u3002 \u8fd9 \u6d88\u9664 \u4e86 \u4eff\u771f \u4e2d \u7684 \u8f66\u8f86 \u7269\u7406 \u74f6\u9888 \u3002 \u7269\u7406 \u529f\u80fd \u88ab \u7981\u7528 \u7684 \u8f66\u8f86 \u5c06 \u901a\u8fc7 \u9690\u5f62 \u4f20\u9001 \u79fb\u52a8 \u3002 \u7ef4\u6301 \u7ebf\u6027 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u7684 \u57fa\u672c \u8ba1\u7b97 \uff0c \u4ee5 \u786e\u4fdd \u4f4d\u7f6e \u66f4\u65b0 \u548c \u8f66\u8f86 \u901f\u5ea6 \u4fdd\u6301 \u771f\u5b9e \uff0c \u5e76\u4e14 \u8f66\u8f86 \u4e0a \u7269\u7406 \u8ba1\u7b97 \u7684 \u5207\u6362 \u662f \u6d41\u7545 \u7684 \u3002   \u6df7\u5408 \u6a21\u5f0f \u4f7f\u7528   Actor . set _ simulate _ physics ( )   \u65b9\u6cd5 \u6765 \u5207\u6362 \u7269\u7406 \u8ba1\u7b97 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u662f \u7981\u7528 \u7684 \u3002 \u6709 \u4e24\u4e2a \u9009\u9879 \u53ef\u4ee5 \u542f\u7528 \u5b83 \uff1a   TrafficManager . set _ hybrid _ physics _ mode ( True )   \u2014   \u6b64 \u65b9\u6cd5 \u4e3a \u8c03\u7528 \u5b83 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5bf9\u8c61 \u542f\u7528 \u6df7\u5408 \u6a21\u5f0f \u3002   \u4ee5   -- hybrid   \u6807\u5fd7 \u8fd0\u884c   generate _ traffic . py   \u2014   \u6b64 \u793a\u4f8b \u811a\u672c \u521b\u5efa \u4e00\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5e76 \u5728 \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u4e2d \u751f\u6210 \u8f66\u8f86 \u3002 \u5f53 \u6807\u5fd7   -- hybrid   \u4f5c\u4e3a \u811a\u672c \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u65f6 \uff0c \u5b83 \u5c06 \u8fd9\u4e9b \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u6df7\u5408 \u6a21\u5f0f \u3002   \u8981 \u4fee\u6539 \u6df7\u5408 \u6a21\u5f0f \u7684 \u884c\u4e3a \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b \u4e24\u4e2a \u53c2\u6570 \uff1a   Radius   ( \u9ed8\u8ba4   =   50   \u7c73 )   \u2014   \u534a\u5f84 \u76f8\u5bf9 \u4e8e \u6807\u8bb0 \u6709   \u82f1\u96c4   \u7684 \u8f66\u8f86 \u3002 \u8be5 \u534a\u5f84 \u5185 \u7684 \u6240\u6709 \u8f66\u8f86 \u90fd \u5c06 \u542f\u7528 \u7269\u7406 \u529f\u80fd \uff1b \u534a\u5f84 \u4e4b\u5916 \u7684 \u8f66\u8f86 \u5c06 \u7981\u7528 \u7269\u7406 \u529f\u80fd \u3002 \u4f7f\u7528   traffic _ manager . set _ hybrid _ physics _ radius ( r )   \u4fee\u6539 \u534a\u5f84 \u7684 \u5927\u5c0f \u3002   Hero   vehicle   \u2014   \u5e26\u6709 \u6807\u8bb0   role _ name = ' hero '   \u7684 \u8f66\u8f86 \u4f5c\u4e3a \u534a\u5f84 \u7684 \u4e2d\u5fc3 \u3002   \u5982\u679c \u6ca1\u6709 \u82f1\u96c4 \u8f66\u8f86 \uff0c   \u6240\u6709 \u8f66\u8f86 \u7684 \u7269\u7406 \u529f\u80fd \u5c06 \u88ab \u7981\u7528 \u3002   \u5982\u679c \u6709 \u4e0d\u6b62 \u4e00\u8f86 \u82f1\u96c4 \u8f66\u8f86 \uff0c   \u5219 \u4f1a \u8003\u8651 \u6240\u6709 \u82f1\u96c4 \u8f66\u8f86 \u7684 \u534a\u5f84 \uff0c \u4ece\u800c \u5728 \u542f\u7528 \u7269\u7406 \u529f\u80fd \u7684 \u60c5\u51b5 \u4e0b \u521b\u5efa \u4e0d\u540c \u7684 \u5f71\u54cd \u533a\u57df \u3002   \u4e0b\u9762 \u7684 \u526a\u8f91 \u663e\u793a \u4e86 \u6df7\u5408 \u6a21\u5f0f \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u65f6 \u5982\u4f55 \u542f\u7528 \u548c \u7981\u7528 \u7269\u7406 \u529f\u80fd \u3002   \u82f1\u96c4 \u8f66\u8f86   \u6807\u6709   \u7ea2\u8272 \u65b9\u5757   \u3002   \u7981\u7528 \u7269\u7406 \u529f\u80fd   \u7684 \u8f66\u8f86 \u6807\u6709   \u84dd\u8272 \u65b9\u5757   \u3002 \u5f53 \u5728 \u82f1\u96c4 \u8f66\u8f86 \u7684 \u5f71\u54cd \u534a\u5f84 \u5185\u65f6 \uff0c   \u542f\u7528 \u7269\u7406 \u529f\u80fd   \u5e76\u4e14 \u6807\u7b7e \u53d8\u4e3a   \u7eff\u8272   \u3002","title":"\u6df7\u5408 \u7269\u7406\u6a21\u5f0f  "},{"location":"adv_traffic_manager/#_22","text":"","title":"\u8fd0\u884c \u591a\u4e2a \u4ea4\u901a\u7ba1\u7406 \u5668  "},{"location":"adv_traffic_manager/#_23","text":"Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u901a\u8fc7 \u5411 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6307\u5b9a \u8981 \u4f7f\u7528 \u7684 \u7aef\u53e3 \u6765 \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002 \u5982\u679c \u6307\u5b9a \u672a\u6307\u5b9a \u7aef\u53e3 \uff0c \u5c06 \u4f7f\u7528 \u9ed8\u8ba4   8000   \u7aef\u53e3 \u3002 \u5982\u679c \u5728 \u540c\u4e00 \u7aef\u53e3 \u4e0a \u521b\u5efa \u66f4 \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u5b83\u4eec \u5c06 \u6210\u4e3a   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef   \uff0c \u800c \u539f\u59cb \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u6210\u4e3a   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u670d\u52a1 \u670d\u52a1\u7aef   \u3002 \u8fd9\u4e9b \u6807\u9898 \u5b9a\u4e49 \u4e86 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5728 \u4eff\u771f \u4e2d \u7684 \u884c\u4e3a \u65b9\u5f0f \u3002","title":"\u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u670d\u52a1\u7aef \u548c \u5ba2\u6237\u7aef  "},{"location":"adv_traffic_manager/#_24","text":"\u5982\u679c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u670d\u52a1 \u670d\u52a1\u7aef \u662f \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8fde\u63a5 \u5230 \u7a7a\u95f2 \u7aef\u53e3 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u7136\u540e \u5176\u4ed6 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff08 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff09 \u8fde\u63a5 \u5230 \u5b83 \u6b63\u5728 \u8fd0\u884c \u7684 \u540c\u4e00 \u7aef\u53e3 \uff0c \u5219 \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u5c06 \u89c4\u5b9a \u6240\u6709 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u884c\u4e3a   \uff0c \u4f8b\u5982 \uff0c \u5982\u679c   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u670d\u52a1 \u670d\u52a1\u7aef   \u505c\u6b62 \uff0c \u5219 \u6240\u6709   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5c06 \u505c\u6b62 \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u521b\u5efa \u4e24\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u3002 \u6bcf\u4e2a \u7aef\u53e3 \u90fd \u8fde\u63a5 \u5230 \u4e0d\u540c \u4e14 \u90fd \u672a \u4f7f\u7528 \u7684 \u7aef\u53e3 \uff1a   tm01   =   client01 . get _ trafficmanager ( )   #   tm01   -- >   tm01   ( p = 8000 )   tm02   =   client02 . get _ trafficmanager ( 5000 )   #   tm02 ( p = 5000 )   -- >   tm02   ( p = 5000 )","title":"\u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u670d\u52a1\u7aef"},{"location":"adv_traffic_manager/#_25","text":"\u5f53 \u4e00\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8fde\u63a5 \u5230 \u53e6 \u4e00\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff08 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \uff09 \u5360\u7528 \u7684 \u7aef\u53e3 \u65f6 \uff0c \u5c31 \u4f1a \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u884c\u4e3a \u5c06 \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u51b3\u5b9a \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u521b\u5efa \u4e24\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u6bcf \u4e00\u4e2a \u90fd \u4e0e \u4e0a \u4e00\u8282 \u4e2d \u521b\u5efa \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u8fde\u63a5 \u3002   tm03   =   client03 . get _ trafficmanager ( )   #   tm03   -- >   tm01   ( p = 8000 ) .   tm04   =   client04 . get _ trafficmanager ( 5000 )   #   tm04 ( p = 5000 )   -- >   tm02   ( p = 5000 )   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u8fc7 \u5b58\u50a8 \u94fe\u63a5 \u5230 \u5b83\u4eec \u7684 \u7aef\u53e3 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   IP \uff08 \u5bf9 \u7528\u6237 \u9690\u85cf \uff09 \u6765 \u4fdd\u5b58 \u6240\u6709 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u7684 \u5bc4\u5b58 \u5bc4\u5b58\u5668 \u3002 \u76ee\u524d \u65e0\u6cd5 \u68c0\u67e5 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \u5df2 \u521b\u5efa \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u3002 \u5c1d\u8bd5 \u521b\u5efa \u5b9e\u4f8b \u65f6 \u59cb\u7ec8 \u4f1a \u5c1d\u8bd5 \u8fde\u63a5 \uff0c \u5e76\u4e14 \u5b83 \u5c06 \u521b\u5efa \u65b0 \u7684   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef   \u6216   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef   \u3002","title":"\u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u5ba2\u6237\u7aef"},{"location":"adv_traffic_manager/#_26","text":"\u5728 \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4eff\u771f \u4e2d \uff0c \u5728 \u540c\u4e00 \u7aef\u53e3 \u4e0a \u521b\u5efa \u591a\u4e2a TM \u3002 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a   TM   \u5c06 \u662f   TM   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5176\u4f59 \u7684 \u5c06 \u662f \u8fde\u63a5 \u5230 \u5b83 \u7684   TM   \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002 TM - Server   \u5c06 \u89c4\u5b9a \u6240\u6709   TM   \u5b9e\u4f8b \u7684 \u884c\u4e3a \uff1a   terminal   1 :   . / CarlaUE4 . sh   - carla - rpc - port = 4000   terminal   2 :   python3   generate _ traffic . py   -- port   4000   -- tm - port   4050   #   TM - Server   terminal   3 :   python3   generate _ traffic . py   -- port   4000   -- tm - port   4050   #   TM - Client","title":"\u591a \u5ba2\u6237\u7aef \u4eff\u771f  "},{"location":"adv_traffic_manager/#_27","text":"\u5728 \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4eff\u771f \u4e2d \uff0c \u5728 \u4e0d\u540c \u7684 \u7aef\u53e3 \u4e0a \u521b\u5efa \u591a\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u3002 \u6bcf\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u90fd \u4f1a \u63a7\u5236 \u81ea\u5df1 \u7684 \u884c\u4e3a \uff1a   terminal   1 :   . / CarlaUE4 . sh   - carla - rpc - port = 4000   terminal   2 :   python3   generate _ traffic . py   -- port   4000   -- tm - port   4050   #   TM - Server   A   terminal   3 :   python3   generate _ traffic . py   -- port   4000   -- tm - port   4550   #   TM - Server   B","title":"\u591a \u4ea4\u901a\u7ba1\u7406 \u5668 \u4eff\u771f  "},{"location":"adv_traffic_manager/#_28","text":"\u591a\u91cd \u4eff\u771f \u662f \u6307 \u591a\u4e2a   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540c\u65f6 \u8fd0\u884c \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u9700\u8981 \u8fde\u63a5 \u5230 \u76f8\u5173 \u7684   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u53e3 \u3002 \u53ea\u8981 \u8ba1\u7b97 \u80fd\u529b \u8ba1\u7b97\u80fd\u529b \u5141\u8bb8 \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u53ef\u4ee5 \u4e00\u6b21 \u8fd0\u884c \u591a\u4e2a \u4eff\u771f \uff0c \u4e0d\u4f1a \u51fa\u73b0 \u4efb\u4f55 \u95ee\u9898 \uff1a   terminal   1 :   . / CarlaUE4 . sh   - carla - rpc - port = 4000   #   simulation   A   terminal   2 :   . / CarlaUE4 . sh   - carla - rpc - port = 5000   #   simulation   B   terminal   3 :   python3   generate _ traffic . py   -- port   4000   -- tm - port   4050   #   TM - Server   A   connected   to   simulation   A   terminal   4 :   python3   generate _ traffic . py   -- port   5000   -- tm - port   5050   #   TM - Server   B   connected   to   simulation   B   \u591a\u91cd \u4eff\u771f \u7684 \u6982\u5ff5 \u72ec\u7acb \u4e8e \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u672c\u8eab \u3002 \u4e0a\u9762 \u7684 \u793a\u4f8b \u5e76\u884c \u8fd0\u884c \u4e24\u4e2a   Carla   \u4eff\u771f   A   \u548c   B \u3002 \u5728 \u6bcf\u4e2a \u4eff\u771f \u4e2d \uff0c \u90fd \u72ec\u7acb \u521b\u5efa \u4e00\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef \u3002 \u4eff\u771f   A   \u53ef\u4ee5 \u8fd0\u884c \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u7a0b\u5e8f \uff0c \u800c \u4eff\u771f   B   \u5219 \u8fd0\u884c \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u6216 \u6839\u672c \u4e0d \u8fd0\u884c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   \u4e0a\u8ff0 \u8bbe\u7f6e \u6700 \u53ef\u80fd \u51fa\u73b0 \u7684 \u95ee\u9898 \u662f \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c1d\u8bd5 \u8fde\u63a5 \u5230 \u672a \u5728 \u6240\u9009 \u4eff\u771f \u4e0a \u8fd0\u884c \u7684 \u73b0\u6709 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002 \u5982\u679c \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \uff0c \u5c06\u4f1a \u51fa\u73b0 \u9519\u8bef \u6d88\u606f \uff0c \u5e76\u4e14 \u8fde\u63a5 \u5c06 \u88ab \u4e2d\u6b62 \uff0c \u4ee5 \u9632\u6b62 \u4eff\u771f \u4e4b\u95f4 \u7684 \u5e72\u6270 \u3002","title":"\u591a\u91cd \u4eff\u771f  "},{"location":"adv_traffic_manager/#_29","text":"\u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8bbe\u8ba1 \u4e3a \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u5de5\u4f5c \u3002 Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u5e94 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u624d\u80fd \u6b63\u5e38 \u8fd0\u884c \u3002   \u5728 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u610f\u5916 \u548c \u4e0d\u826f \u7ed3\u679c   \uff0c \u4f46\u662f \uff0c \u5982\u679c \u9700\u8981 \u5f02\u6b65 \u6a21\u5f0f \uff0c \u5219 \u4eff\u771f \u5e94 \u81f3\u5c11 \u4ee5   20 - 30   fps   \u8fd0\u884c \u3002   \u4e0b\u9762 \u7684 \u811a\u672c \u6f14\u793a \u4e86 \u5982\u4f55 \u5c06 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \uff1a   ...   #   Set   the   simulation   to   sync   mode   init _ settings   =   world . get _ settings ( )   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   After   that ,   set   the   TM   to   sync   mode   my _ tm . set _ synchronous _ mode ( True )   ...   #   Tick   the   world   in   the   same   client   world . apply _ settings ( init _ settings )   world . tick ( )   ...   #   Always   disable   sync   mode   before   the   script   ends   to   prevent   the   server   blocking   whilst   waiting   for   a   tick   settings . synchronous _ mode   =   False   my _ tm . set _ synchronous _ mode ( False )   \u793a\u4f8b \u811a\u672c   generate _ traffic . py   \u542f\u52a8 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5e76\u7528 \u8f66\u8f86 \u548c \u884c\u4eba \u586b\u5145 \u5730\u56fe \u3002 \u5b83 \u81ea\u52a8 \u5c06 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u548c   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \uff1a   cd   PythonAPI / examples   python3   generate _ traffic . py   - n   50   \u5982\u679c \u9700\u8981 \u5f02\u6b65 \u6a21\u5f0f \uff0c \u8bf7 \u5728 \u8fd0\u884c \u4e0a\u8ff0 \u547d\u4ee4 \u65f6 \u4f7f\u7528   -- async   \u6807\u5fd7 \u3002   \u5982\u679c \u591a\u4e2a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \uff0c \u540c\u6b65 \u5c06\u4f1a \u5931\u8d25 \u3002 \u8bf7 \u9075\u5faa \u4ee5\u4e0b \u51c6\u5219 \u4ee5 \u907f\u514d \u51fa\u73b0 \u907f\u514d\u51fa\u73b0 \u95ee\u9898 \uff1a   \u5728   \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef   \u60c5\u51b5 \u4e0b \uff0c \u53ea\u6709   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef   \u5e94 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002   \u5728   \u591a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u60c5\u51b5 \u4e0b \uff0c \u53ea \u9700 \u5c06 \u4e00\u53f0   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u670d\u52a1 \u670d\u52a1\u7aef   \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002   ScenarioRunner   \u6a21\u5757   \u81ea\u52a8 \u8fd0\u884c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002 ScenarioRunner   \u5185 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u81ea\u52a8 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002   \u8b66\u544a   \u5728 \u7ba1\u7406 \u65f6\u949f \u7684 \u811a\u672c \u5b8c\u6210 \u4e4b\u524d \u7981\u7528 \u540c\u6b65 \u6a21\u5f0f \uff08 \u5bf9\u4e8e \u4e16\u754c \u548c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff09 \uff0c \u4ee5 \u9632\u6b62 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u963b\u585e \uff0c \u6c38\u8fdc \u7b49\u5f85 \u65f6\u949f \u3002","title":"\u540c\u6b65 \u6a21\u5f0f  "},{"location":"adv_traffic_manager/#_30","text":"\u8981 \u4e86\u89e3 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5982\u4f55 \u5728 \u5927 \u5730\u56fe \u4e0a \u5de5\u4f5c \uff0c \u8bf7 \u52a1\u5fc5 \u9996\u5148 \u9605\u8bfb   \u6b64\u5904   \u7684 \u6587\u6863 \u6765 \u719f\u6089 \u5927 \u5730\u56fe \u7684 \u5de5\u4f5c \u539f\u7406 \u3002   \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u5728 \u5927 \u5730\u56fe \u4e2d \u7684 \u884c\u4e3a \u53d6\u51b3 \u53d6\u51b3\u4e8e \u662f\u5426 \u5b58\u5728 \u82f1\u96c4 \u8f66\u8f86 \uff1a   \u4e0d \u5b58\u5728 \u82f1\u96c4 \u8f66\u8f86   \u6240\u6709 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u90fd \u5c06 \u88ab \u89c6\u4e3a \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u4f11\u7720 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u50cf \u6df7\u5408 \u6a21\u5f0f \u4e00\u6837 \u5728 \u5730\u56fe \u4e0a \u79fb\u52a8 \u3002 \u7531\u4e8e \u6ca1\u6709 \u82f1\u96c4 \u8f66\u8f86 \u6765 \u89e6\u53d1 \u5730\u56fe \u74e6\u7247 \u6d41 \uff0c \u56e0\u6b64 \u4e0d\u4f1a \u6e32\u67d3 \u8f66\u8f86 \u3002   \u5448\u73b0 \u82f1\u96c4 \u8f66\u8f86   \u5f53 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u8d85\u8fc7   actor _ active _ distance   \u5b9a\u4e49 \u7684 \u503c\u65f6 \uff0c \u5c06 \u8fdb\u5165 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002 \u8981 \u8bbe\u7f6e \u6b64\u503c \uff0c \u8bf7 \u4f7f\u7528   Python   API \uff1a   settings   =   world . get _ settings ( )   #   \u79bb \u82f1\u96c4 \u8f66\u8f86 \u8d85\u8fc7 2 \u516c\u91cc \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06\u4f1a \u4f11\u7720   settings . actor _ active _ distance   =   2000   world . apply _ settings ( settings )   \u5728 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u4e2d \uff0c \u4f11\u7720 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u914d\u7f6e \u4e3a \u5728 \u82f1\u96c4 \u8f66\u8f86 \u5468\u56f4 \u4e0d\u65ad \u91cd\u751f \uff0c \u800c \u4e0d\u662f \u5728 \u5730\u56fe \u7684 \u5176\u4ed6 \u90e8\u5206 \u4fdd\u6301 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002 \u53ef\u4ee5 \u4f7f\u7528   set _ respawn _ dormant _ vehicles   Python   API   \u4e2d \u7684 \u65b9\u6cd5 \u914d\u7f6e \u6b64 \u9009\u9879 \u3002 \u8f66\u8f86 \u5c06 \u5728 \u82f1\u96c4 \u8f66\u8f86 \u7684 \u7528\u6237 \u5b9a\u4e49 \u8ddd\u79bb \u5185 \u91cd\u751f \u3002 \u53ef \u91cd\u751f \u8ddd\u79bb \u7684 \u4e0a\u4e0b \u8fb9\u754c \u53ef\u4ee5 \u4f7f\u7528   set _ boundaries _ respawn _ dormant _ vehicles   \u65b9\u6cd5 \u8bbe\u7f6e \u3002 \u6ce8\u610f \uff0c \u4e0a \u8ddd\u79bb \u4e0d\u4f1a \u5927\u4e8e \u5927 \u5730\u56fe \u7684 \u74e6\u7247 \u6d41 \u8ddd\u79bb \uff0c \u8ddd\u79bb \u6700\u5c0f \u4e3a   20   \u7c73 \u3002   \u8981 \u4f7f \u82f1\u96c4 \u8f66\u8f86   25   \u7c73 \u548c   700   \u7c73 \u8303\u56f4 \u5185 \u7684 \u4f11\u7720 \u8f66\u8f86 \u91cd\u751f \uff1a   my _ tm . set _ respawn _ dormant _ vehicles ( True )   my _ tm . set _ boundaries _ respawn _ dormant _ vehicles ( 25 , 700 )   \u5982\u679c \u78b0\u649e \u963b\u6b62 \u4f11\u7720 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u91cd\u751f \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u91cd\u8bd5 \u4e0b \u4e00\u4e2a \u4eff\u771f \u6b65\u9aa4 \u3002   \u5982\u679c \u4f11\u7720 \u8f66\u8f86 \u6ca1\u6709 \u91cd\u751f \uff0c \u5b83\u4eec \u7684 \u884c\u4e3a \u5c06 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u662f\u5426 \u542f\u7528 \u6df7\u5408 \u6a21\u5f0f \u3002 \u5982\u679c \u542f\u7528 \u4e86 \u6df7\u5408 \u6a21\u5f0f \uff0c \u5219 \u4f11\u7720 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u5728 \u5730\u56fe \u4e0a \u4f20\u9001 \u3002 \u5982\u679c \u672a \u542f\u7528 \u6df7\u5408 \u6a21\u5f0f \uff0c \u5219 \u4e0d\u4f1a \u8ba1\u7b97 \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7269\u7406 \u7279\u6027 \uff0c \u5e76\u4e14 \u5b83\u4eec \u5c06 \u4fdd\u6301 \u5728 \u539f \u4f4d\u7f6e \uff0c \u76f4\u5230 \u4e0d\u518d \u4f11\u7720 \u3002   \u5982\u679c \u4f60 \u6709 \u4efb\u4f55 \u5173\u4e8e \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u95ee\u9898 \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e0a \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u5927 \u5730\u56fe \u4e2d \u7684 \u4ea4\u901a\u7ba1\u7406 \u5668  "},{"location":"benchmark_creating/","text":"\u5bf9 \u4f60 \u7684 \u4ee3\u7406 \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5   \u5728 \u672c \u6559\u7a0b \u4e2d \u6211\u4eec \u5c55\u793a \uff1a   \u5982\u4f55 \u5b9a\u4e49 \u4e00\u4e2a \u5177\u6709 \u524d\u5411 \u7b56\u7565 \u7684 \u7b80\u5355 \u4ee3\u7406   \u5982\u4f55 \u5b9a\u4e49 \u4e00\u4e2a \u57fa\u672c \u7684 \u5b9e\u9a8c \u5957\u4ef6   \u5b9a\u4e49   \u5b9a\u4e49 \u6d4b\u8bd5 \u548c \u8bad\u7ec3 \u5929\u6c14 \u6761\u4ef6   \u6784\u5efa \u5b9e\u9a8c   \u9884\u671f \u7ed3\u679c   \u9a7e\u9a76 \u57fa\u51c6 \u6d4b\u8bd5 \u4e0e \u5176\u4ed6 \u4e24\u4e2a \u6a21\u5757 \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u4ee3\u7406 \u6a21\u5757 \u662f \u53e6 \u4e00\u4e2a \u6a21\u5757 \uff08 \u5b9e\u9a8c \u5957\u4ef6 \uff09 \u4e2d \u6267\u884c \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u3002 \u8fd9 \u4e24\u4e2a \u6a21\u5757 \u90fd \u662f \u62bd\u8c61 \u62bd\u8c61\u7c7b \uff0c \u5fc5\u987b \u7531 \u7528\u6237 \u91cd\u65b0 \u5b9a\u4e49 \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u6458\u5f55 \u662f \u5982\u4f55 \u5e94\u7528 \u9a7e\u9a76 \u57fa\u51c6 \u7684 \u793a\u4f8b \uff1b   #   \u6211\u4eec \u5b9e\u4f8b \u5316 \u4e86 \u4e00\u4e2a \u8f6c\u53d1 \u4ee3\u7406 \uff0c \u8fd9\u662f \u4e00\u4e2a \u7b80\u5355 \u7684 \u7b56\u7565 \uff0c   #   \u53ea \u9700 \u5c06 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u8bbe\u7f6e \u4e3a 0.9 \uff0c \u5c06 \u8f6c\u5411 \u8bbe\u7f6e \u4e3a \u96f6   agent   =   ForwardAgent ( )   #   \u6211\u4eec \u5b9e\u4f8b \u5316 \u4e86 \u4e00\u4e2a \u5b9e\u9a8c \u5957\u4ef6 \u3002   #   \u57fa\u672c \u57fa\u672c\u4e0a \u662f \u4e00\u7ec4 \u5c06 \u5728 \u6b64 \u57fa\u51c6 \u4e0a \u8fdb\u884c \u8bc4\u4f30 \u7684 \u5b9e\u9a8c \u3002   experiment _ suite   =   BasicExperimentSuite ( city _ name )   #   \u73b0\u5728 \u5b9e\u9645 \u8fd0\u884c   driving _ benchmark \u3002   #   \u9664\u4e86 \u4ee3\u7406 \u548c \u5b9e\u9a8c \u5957\u4ef6 \u4e4b\u5916 \uff0c \u6211\u4eec \u8fd8 \u5e94\u8be5 \u53d1\u9001 \u57ce\u5e02 \u540d\u79f0 \uff08 Town01 \uff0c Town02 \uff09 \u65e5\u5fd7   run _ driving _ benchmark ( agent ,   experiment _ suite ,   city _ name ,   log _ name ,   continue _ experiment ,   host ,   port )   \u8fd9 \u6bb5 \u6458\u5f55 \u4e4b\u540e \uff0c \u6709 \u4e24\u4e2a \u7c7b \u9700\u8981 \u5b9a\u4e49 \u3002 ForwardAgent ( )   \u548c   BasicExperimentSuite ( ) \u3002 \u4e4b\u540e \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u201c run _ driving _ benchmark \u201d \u51fd\u6570 \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002 \u6267\u884c \u6458\u8981 \u3001   \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807   \u5b58\u50a8 \u5728   json   \u6587\u4ef6 \u4e2d \u6253\u5370 \u5e76\u6253\u5370 \u5230 \u5c4f\u5e55 \u4e0a \u3002   \u5b9a\u4e49 \u4ee3\u7406   \u88ab \u6d4b\u8bd5 \u7684 \u4ee3\u7406 \u5fc5\u987b \u7ee7\u627f \u57fa\u7c7b   Agent   \u3002 \u6211\u4eec \u5148 \u4ece \u6d3e\u751f \u4e00\u4e2a \u7b80\u5355 \u7684 \u8f6c\u53d1 \u4ee3\u7406 \u5f00\u59cb \uff1a   from   carla . agent . agent   import   Agent   from   carla . client   import   VehicleControl   class   ForwardAgent ( Agent ) :   \u4e3a\u4e86 \u8bc4\u4f30 \u5176 \u6027\u80fd \uff0c   ForwardAgent   \u6d3e\u751f \u6d3e\u751f\u7c7b \u5fc5\u987b   \u91cd\u65b0 \u5b9a\u4e49   run _ step   \u51fd\u6570 \uff0c \u5982 \u4e0b\u9762 \u6458\u5f55 \u7684 \u90a3\u6837 \uff1a   def   run _ step ( self ,   measurements ,   sensor _ data ,   directions ,   target ) :   \" \" \"   \u5728 CARLA \u8f66\u8f86 \u4e2d \u8fd0\u884c \u63a7\u5236 \u6b65\u9aa4 \u7684 \u51fd\u6570 \u3002   \" \" \"   control   =   VehicleControl ( )   control . throttle   =   0.9   return   control   \u8be5 \u51fd\u6570 \u63a5\u6536 \u4ee5\u4e0b \u53c2\u6570 \uff1a   \u6d4b\u91cf \u503c   \uff1a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4ece   CARLA   \u6a21\u62df \u6a21\u62df\u5668 \u63a5\u6536 \u5230 \u7684 \u6574\u4e2a \u4e16\u754c \u72b6\u6001 \u3002 \u8fd9\u4e9b \u6d4b\u91cf \u503c \u5305\u542b \u4ee3\u7406 \u4f4d\u7f6e \u3001 \u65b9\u5411 \u3001 \u52a8\u6001 \u5bf9\u8c61 \u4fe1\u606f \u7b49 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e   \uff1a \u6765\u81ea \u5b9a\u4e49 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6d4b\u91cf \u6570\u636e \uff0c \u4f8b\u5982 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6216   RGB   \u6444\u50cf \u6444\u50cf\u673a \u3002   \u65b9\u5411 \uff1a \u6765\u81ea \u9ad8\u7ea7 \u89c4\u5212 \u5668 \u7684 \u4fe1\u606f \u3002 \u5f53\u524d \uff0c \u89c4\u5212 \u5668 \u4ece \u4e0b\u5217 \u96c6\u5408 \u53d1\u9001 \u9ad8\u7ea7 \u547d\u4ee4 \uff1a \u76f4\u884c \u3001 \u53f3 \u884c \u3001 \u5de6 \u884c \u3001 \u65e0 \u884c \u3002   \u76ee\u6807 \u4f4d\u7f6e \uff1a \u76ee\u6807 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002   \u6709 \u4e86 \u6240\u6709 \u8fd9\u4e9b \u4fe1\u606f \uff0c   run _ step   \u51fd\u6570 \u9884\u8ba1 \u4f1a \u8fd4\u56de \u4e00\u4e2a   \u8f66\u8f86 \u63a7\u5236 \u6d88\u606f   \uff0c \u5305\u542b \uff1a \u8f6c\u5411 \u503c \u3001 \u6cb9\u95e8 \u503c \u3001 \u5239\u8f66 \u503c \u7b49 \u3002   \u5b9a\u4e49 \u5b9e\u9a8c \u5957\u4ef6   \u8981 \u521b\u5efa \u5b9e\u9a8c \u5957\u4ef6 \u7c7b \uff0c \u60a8 \u9700\u8981 \u6267\u884c \u4ee5\u4e0b \u6b65\u9aa4 \uff1a   \u901a\u8fc7 \u7ee7\u627f   ExperimentSuite   \u57fa\u7c7b \u6765 \u521b\u5efa \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7c7b \u3002   \u5b9a\u4e49 \u8981 \u4f7f\u7528 \u7684 \u6d4b\u8bd5 \u548c \u8bad\u7ec3 \u5929\u6c14 \u6761\u4ef6 \u3002   \u6784\u5efa \u5b9e\u9a8c \u5bf9\u8c61 \u3002   \u5b9a\u4e49   \u5b9a\u4e49 \u7684 \u5b9e\u9a8c \u96c6 \u5fc5\u987b \u6d3e\u751f   ExperimentSuite   \u7c7b \uff0c \u5982 \u4e0b\u9762 \u7684 \u4ee3\u7801 \u6458\u5f55 \u6240\u793a \uff1a   from   carla . agent _ benchmark . experiment   import   Experiment   from   carla . sensor   import   Camera   from   carla . settings   import   CarlaSettings   from   . experiment _ suite   import   ExperimentSuite   class   BasicExperimentSuite ( ExperimentSuite ) :   \u5b9a\u4e49 \u6d4b\u8bd5 \u548c \u8bad\u7ec3 \u5929\u6c14 \u6761\u4ef6   \u7528\u6237 \u5fc5\u987b \u9009\u62e9 \u8981 \u4f7f\u7528 \u7684 \u5929\u6c14 \u3002 \u5e94\u8be5 \u9009\u62e9 \u4e00\u7ec4 \u6d4b\u8bd5 \u5929\u6c14 \u548c \u4e00\u7ec4 \u8bad\u7ec3 \u5929\u6c14 \u3002 \u8fd9 \u88ab \u5b9a\u4e49 \u4e3a\u7c7b \u5c5e\u6027 \uff0c \u5982\u4e0b \u4f8b \u6240\u793a \uff1a   @ property   def   train _ weathers ( self ) :   return   [ 1 ]   @ property   def   test _ weathers ( self ) :   return   [ 1 ]   \u6784\u5efa \u5b9e\u9a8c   \u5b9e\u9a8c \u7531 \u4e00\u7ec4 \u59ff\u52bf \u5b9a\u4e49 \u7684 \u4efb\u52a1 \u7ec4\u6210 \u3002 \u8ba9 \u6211\u4eec \u4ece \u9009\u62e9 \u5176\u4e2d \u4e00\u4e2a \u57ce\u5e02 \u7684 \u59ff\u52bf \u5f00\u59cb \uff0c \u4ee5   Town01   \u4e3a\u4f8b \u3002 \u9996\u5148 \uff0c \u6211\u4eec \u9700\u8981 \u67e5\u770b \u6240\u6709 \u53ef\u80fd \u7684 \u4f4d\u7f6e \uff0c \u4e3a\u6b64 \uff0c \u5728 \u7ec8\u7aef \u4e2d \u8fd0\u884c   CARLA   \u6a21\u62df \u6a21\u62df\u5668 \uff0c \u8fd0\u884c   view _ start _ positions . py   \uff1a   python   view _ start _ positions . py   \u73b0\u5728 \u8ba9 \u6211\u4eec \u9009\u62e9   140   \u4f5c\u4e3a \u8d77\u59cb \u4f4d\u7f6e \uff0c 134   \u4f5c\u4e3a \u7ec8\u6b62 \u4f4d\u7f6e \u3002 \u8fd9 \u4e24\u4e2a \u4f4d\u7f6e \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u53ef\u89c6 \u53ef\u89c6\u5316 \uff1a   python   view _ start _ positions . py   -- pos   140 , 134   -- no - labels   \u6211\u4eec \u518d \u9009\u62e9 \u4e24\u4e2a \u59ff\u52bf \uff0c \u4e00\u4e2a \u7528\u4e8e \u76f4\u884c \uff0c \u53e6 \u4e00\u4e2a \u7528\u4e8e \u7b80\u5355 \u8f6c\u5f2f \u3002 \u6b64\u5916 \uff0c \u6211\u4eec \u8fd8 \u4e3a   Town02   \u9009\u62e9 \u4e09\u4e2a \u59ff\u52bf \uff1a   \u56fe \uff1a \u6b64 \u57fa\u672c \u5b9e\u9a8c \u5957\u4ef6 \u793a\u4f8b \u4e2d \u4f7f\u7528 \u7684 \u59ff\u52bf \u3002 \u59ff\u52bf \u662f \u76ee\u6807 \u5bfc\u5411 \u60c5\u8282 \u7684 \u5f00\u59cb \u548c \u7ed3\u675f \u4f4d\u7f6e \u7684 \u5143\u7ec4 \u3002 \u5f00\u59cb \u4f4d\u7f6e \u663e\u793a \u4e3a \u84dd\u8272 \uff0c \u7ed3\u675f \u4f4d\u7f6e \u663e\u793a \u4e3a \u7ea2\u8272 \u3002 \u5de6 \uff1a \u76f4\u7ebf \u59ff\u52bf \uff0c \u5176\u4e2d \u76ee\u6807 \u4e0e \u8d77\u59cb \u4f4d\u7f6e \u76f4\u7ebf \u8ddd\u79bb \u3002 \u4e2d \uff1a \u4e00\u4e2a \u8f6c\u5f2f \u60c5\u8282 \uff0c \u5176\u4e2d \u76ee\u6807 \u4e0e \u8d77\u70b9 \u76f8\u8ddd \u4e00\u4e2a \u8f6c\u5f2f \u3002 \u53f3 \uff1a \u4efb\u610f \u4f4d\u7f6e \uff0c \u76ee\u6807 \u8ddd\u79bb \u8d77\u59cb \u4f4d\u7f6e \u8f83 \u8fdc \uff0c \u901a\u5e38 \u8d85\u8fc7 \u4e00\u4e2a \u8f6c\u5f2f \u3002   \u6211\u4eec \u5c06 \u6bcf\u4e2a \u59ff\u52bf \u5b9a\u4e49 \u4e3a \u4e00\u9879 \u4efb\u52a1 \u3002 \u6b64\u5916 \uff0c \u6211\u4eec \u8fd8 \u4e3a \u6bcf\u4e2a \u4efb\u52a1 \u8bbe\u7f6e \u52a8\u6001 \u5bf9\u8c61 \u7684 \u6570\u91cf \uff0c \u5e76 \u91cd\u590d \u4efb\u610f \u4f4d\u7f6e \u4efb\u52a1 \uff0c \u4f7f \u5176 \u4e5f \u4f7f\u7528 \u52a8\u6001 \u5bf9\u8c61 \u8fdb\u884c \u5b9a\u4e49 \u3002 \u5728 \u4e0b\u9762 \u7684 \u4ee3\u7801 \u6458\u5f55 \u4e2d \uff0c \u6211\u4eec \u5c55\u793a \u4e86 \u6bcf\u4e2a \u4efb\u52a1 \u7684 \u6700\u7ec8 \u5b9a\u4e49 \u4f4d\u7f6e \u548c \u52a8\u6001 \u5bf9\u8c61 \u7684 \u6570\u91cf \uff1a   #   Define   the   start / end   position   below   as   tasks   poses _ task0   =   [ [ 7 ,   3 ] ]   poses _ task1   =   [ [ 138 ,   17 ] ]   poses _ task2   =   [ [ 140 ,   134 ] ]   poses _ task3   =   [ [ 140 ,   134 ] ]   #   Concatenate   all   the   tasks   poses _ tasks   =   [ poses _ task0 ,   poses _ task1   ,   poses _ task1   ,   poses _ task3 ]   #   Add   dynamic   objects   to   tasks   vehicles _ tasks   =   [ 0 ,   0 ,   0 ,   20 ]   pedestrians _ tasks   =   [ 0 ,   0 ,   0 ,   50 ]   \u6700\u540e \uff0c \u901a\u8fc7 \u4f7f\u7528 \u5b9a\u4e49 \u7684 \u4efb\u52a1 \uff0c \u6211\u4eec \u53ef\u4ee5 \u6784\u5efa \u5b9e\u9a8c \u5411\u91cf \uff0c \u5982 \u4e0b\u9762 \u7684 \u4ee3\u7801 \u6458\u5f55 \u6240\u793a \uff1a   experiments _ vector   =   [ ]   #   The   used   weathers   is   the   union   between   test   and   train   weathers   for   weather   in   used _ weathers :   for   iteration   in   range ( len ( poses _ tasks ) ) :   poses   =   poses _ tasks [ iteration ]   vehicles   =   vehicles _ tasks [ iteration ]   pedestrians   =   pedestrians _ tasks [ iteration ]   conditions   =   CarlaSettings ( )   conditions . set (   SendNonPlayerAgentsInfo = True ,   NumberOfVehicles = vehicles ,   NumberOfPedestrians = pedestrians ,   WeatherId = weather   )   #   Add   all   the   cameras   that   were   set   for   this   experiments   conditions . add _ sensor ( camera )   experiment   =   Experiment ( )   experiment . set (   Conditions = conditions ,   Poses = poses ,   Task = iteration ,   Repetitions = 1   )   experiments _ vector . append ( experiment )   \u5b8c\u6574 \u4ee3\u7801 \u53ef\u4ee5 \u5728   basic _ experiment _ suite . py   \u627e\u5230 \u3002   \u9884\u671f \u7ed3\u679c   \u9996\u5148 \uff0c \u60a8 \u9700\u8981 \u4e00\u4e2a \u4ee5 \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f \u8fd0\u884c \u7684   Carla   \u6a21\u62df \u6a21\u62df\u5668   \uff0c \u8fd9\u6837 \u60a8 \u83b7\u5f97 \u7684 \u7ed3\u679c \u5c06 \u6216\u591a\u6216\u5c11 \u5177\u6709 \u91cd\u590d \u590d\u6027 \u91cd\u590d\u6027 \u53ef\u91cd\u590d\u6027 \u3002 \u4e3a\u6b64 \uff0c \u60a8 \u5e94\u8be5 \u6309 \u5982\u4e0b \u65b9\u5f0f \u8fd0\u884c   Carla   \u6a21\u62df \u6a21\u62df\u5668 \uff1a   . / CarlaUE4 . sh   / Game / Maps / < Town _ name >   - windowed   - world - port = 2000   - benchmark   - fps = 10   \u672c \u6559\u7a0b \u4e2d \u63d0\u4f9b \u7684 \u793a\u4f8b \u53ef\u4ee5 \u9488\u5bf9   Town01   \u6267\u884c \uff0c \u5982\u4e0b \u6240\u793a \uff1a   . / driving _ benchmark _ example . py   - c   Town01   \u60a8 \u5e94\u8be5 \u671f\u671b \u5f97\u5230 \u4ee5\u4e0b \u7ed3\u679c \uff1a   town01 _ basic _ forward _ results   \u5bf9\u4e8e   Town02 \uff1a   . / driving _ benchmark _ example . py   - c   Town02   \u60a8 \u5e94\u8be5 \u671f\u671b \u5f97\u5230 \u4ee5\u4e0b \u7ed3\u679c \uff1a   town01 _ basic _ forward _ results","title":"\u5bf9 \u4f60 \u7684 \u4ee3\u7406 \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5"},{"location":"benchmark_creating/#_1","text":"\u5728 \u672c \u6559\u7a0b \u4e2d \u6211\u4eec \u5c55\u793a \uff1a   \u5982\u4f55 \u5b9a\u4e49 \u4e00\u4e2a \u5177\u6709 \u524d\u5411 \u7b56\u7565 \u7684 \u7b80\u5355 \u4ee3\u7406   \u5982\u4f55 \u5b9a\u4e49 \u4e00\u4e2a \u57fa\u672c \u7684 \u5b9e\u9a8c \u5957\u4ef6   \u5b9a\u4e49   \u5b9a\u4e49 \u6d4b\u8bd5 \u548c \u8bad\u7ec3 \u5929\u6c14 \u6761\u4ef6   \u6784\u5efa \u5b9e\u9a8c   \u9884\u671f \u7ed3\u679c   \u9a7e\u9a76 \u57fa\u51c6 \u6d4b\u8bd5 \u4e0e \u5176\u4ed6 \u4e24\u4e2a \u6a21\u5757 \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u4ee3\u7406 \u6a21\u5757 \u662f \u53e6 \u4e00\u4e2a \u6a21\u5757 \uff08 \u5b9e\u9a8c \u5957\u4ef6 \uff09 \u4e2d \u6267\u884c \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u3002 \u8fd9 \u4e24\u4e2a \u6a21\u5757 \u90fd \u662f \u62bd\u8c61 \u62bd\u8c61\u7c7b \uff0c \u5fc5\u987b \u7531 \u7528\u6237 \u91cd\u65b0 \u5b9a\u4e49 \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u6458\u5f55 \u662f \u5982\u4f55 \u5e94\u7528 \u9a7e\u9a76 \u57fa\u51c6 \u7684 \u793a\u4f8b \uff1b   #   \u6211\u4eec \u5b9e\u4f8b \u5316 \u4e86 \u4e00\u4e2a \u8f6c\u53d1 \u4ee3\u7406 \uff0c \u8fd9\u662f \u4e00\u4e2a \u7b80\u5355 \u7684 \u7b56\u7565 \uff0c   #   \u53ea \u9700 \u5c06 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u8bbe\u7f6e \u4e3a 0.9 \uff0c \u5c06 \u8f6c\u5411 \u8bbe\u7f6e \u4e3a \u96f6   agent   =   ForwardAgent ( )   #   \u6211\u4eec \u5b9e\u4f8b \u5316 \u4e86 \u4e00\u4e2a \u5b9e\u9a8c \u5957\u4ef6 \u3002   #   \u57fa\u672c \u57fa\u672c\u4e0a \u662f \u4e00\u7ec4 \u5c06 \u5728 \u6b64 \u57fa\u51c6 \u4e0a \u8fdb\u884c \u8bc4\u4f30 \u7684 \u5b9e\u9a8c \u3002   experiment _ suite   =   BasicExperimentSuite ( city _ name )   #   \u73b0\u5728 \u5b9e\u9645 \u8fd0\u884c   driving _ benchmark \u3002   #   \u9664\u4e86 \u4ee3\u7406 \u548c \u5b9e\u9a8c \u5957\u4ef6 \u4e4b\u5916 \uff0c \u6211\u4eec \u8fd8 \u5e94\u8be5 \u53d1\u9001 \u57ce\u5e02 \u540d\u79f0 \uff08 Town01 \uff0c Town02 \uff09 \u65e5\u5fd7   run _ driving _ benchmark ( agent ,   experiment _ suite ,   city _ name ,   log _ name ,   continue _ experiment ,   host ,   port )   \u8fd9 \u6bb5 \u6458\u5f55 \u4e4b\u540e \uff0c \u6709 \u4e24\u4e2a \u7c7b \u9700\u8981 \u5b9a\u4e49 \u3002 ForwardAgent ( )   \u548c   BasicExperimentSuite ( ) \u3002 \u4e4b\u540e \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u201c run _ driving _ benchmark \u201d \u51fd\u6570 \u8fd0\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002 \u6267\u884c \u6458\u8981 \u3001   \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807   \u5b58\u50a8 \u5728   json   \u6587\u4ef6 \u4e2d \u6253\u5370 \u5e76\u6253\u5370 \u5230 \u5c4f\u5e55 \u4e0a \u3002","title":"\u5bf9 \u4f60 \u7684 \u4ee3\u7406 \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5"},{"location":"benchmark_creating/#_2","text":"\u88ab \u6d4b\u8bd5 \u7684 \u4ee3\u7406 \u5fc5\u987b \u7ee7\u627f \u57fa\u7c7b   Agent   \u3002 \u6211\u4eec \u5148 \u4ece \u6d3e\u751f \u4e00\u4e2a \u7b80\u5355 \u7684 \u8f6c\u53d1 \u4ee3\u7406 \u5f00\u59cb \uff1a   from   carla . agent . agent   import   Agent   from   carla . client   import   VehicleControl   class   ForwardAgent ( Agent ) :   \u4e3a\u4e86 \u8bc4\u4f30 \u5176 \u6027\u80fd \uff0c   ForwardAgent   \u6d3e\u751f \u6d3e\u751f\u7c7b \u5fc5\u987b   \u91cd\u65b0 \u5b9a\u4e49   run _ step   \u51fd\u6570 \uff0c \u5982 \u4e0b\u9762 \u6458\u5f55 \u7684 \u90a3\u6837 \uff1a   def   run _ step ( self ,   measurements ,   sensor _ data ,   directions ,   target ) :   \" \" \"   \u5728 CARLA \u8f66\u8f86 \u4e2d \u8fd0\u884c \u63a7\u5236 \u6b65\u9aa4 \u7684 \u51fd\u6570 \u3002   \" \" \"   control   =   VehicleControl ( )   control . throttle   =   0.9   return   control   \u8be5 \u51fd\u6570 \u63a5\u6536 \u4ee5\u4e0b \u53c2\u6570 \uff1a   \u6d4b\u91cf \u503c   \uff1a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4ece   CARLA   \u6a21\u62df \u6a21\u62df\u5668 \u63a5\u6536 \u5230 \u7684 \u6574\u4e2a \u4e16\u754c \u72b6\u6001 \u3002 \u8fd9\u4e9b \u6d4b\u91cf \u503c \u5305\u542b \u4ee3\u7406 \u4f4d\u7f6e \u3001 \u65b9\u5411 \u3001 \u52a8\u6001 \u5bf9\u8c61 \u4fe1\u606f \u7b49 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e   \uff1a \u6765\u81ea \u5b9a\u4e49 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6d4b\u91cf \u6570\u636e \uff0c \u4f8b\u5982 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6216   RGB   \u6444\u50cf \u6444\u50cf\u673a \u3002   \u65b9\u5411 \uff1a \u6765\u81ea \u9ad8\u7ea7 \u89c4\u5212 \u5668 \u7684 \u4fe1\u606f \u3002 \u5f53\u524d \uff0c \u89c4\u5212 \u5668 \u4ece \u4e0b\u5217 \u96c6\u5408 \u53d1\u9001 \u9ad8\u7ea7 \u547d\u4ee4 \uff1a \u76f4\u884c \u3001 \u53f3 \u884c \u3001 \u5de6 \u884c \u3001 \u65e0 \u884c \u3002   \u76ee\u6807 \u4f4d\u7f6e \uff1a \u76ee\u6807 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002   \u6709 \u4e86 \u6240\u6709 \u8fd9\u4e9b \u4fe1\u606f \uff0c   run _ step   \u51fd\u6570 \u9884\u8ba1 \u4f1a \u8fd4\u56de \u4e00\u4e2a   \u8f66\u8f86 \u63a7\u5236 \u6d88\u606f   \uff0c \u5305\u542b \uff1a \u8f6c\u5411 \u503c \u3001 \u6cb9\u95e8 \u503c \u3001 \u5239\u8f66 \u503c \u7b49 \u3002","title":"\u5b9a\u4e49 \u4ee3\u7406  "},{"location":"benchmark_creating/#_3","text":"\u8981 \u521b\u5efa \u5b9e\u9a8c \u5957\u4ef6 \u7c7b \uff0c \u60a8 \u9700\u8981 \u6267\u884c \u4ee5\u4e0b \u6b65\u9aa4 \uff1a   \u901a\u8fc7 \u7ee7\u627f   ExperimentSuite   \u57fa\u7c7b \u6765 \u521b\u5efa \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7c7b \u3002   \u5b9a\u4e49 \u8981 \u4f7f\u7528 \u7684 \u6d4b\u8bd5 \u548c \u8bad\u7ec3 \u5929\u6c14 \u6761\u4ef6 \u3002   \u6784\u5efa \u5b9e\u9a8c \u5bf9\u8c61 \u3002","title":"\u5b9a\u4e49 \u5b9e\u9a8c \u5957\u4ef6  "},{"location":"benchmark_creating/#_4","text":"\u5b9a\u4e49 \u7684 \u5b9e\u9a8c \u96c6 \u5fc5\u987b \u6d3e\u751f   ExperimentSuite   \u7c7b \uff0c \u5982 \u4e0b\u9762 \u7684 \u4ee3\u7801 \u6458\u5f55 \u6240\u793a \uff1a   from   carla . agent _ benchmark . experiment   import   Experiment   from   carla . sensor   import   Camera   from   carla . settings   import   CarlaSettings   from   . experiment _ suite   import   ExperimentSuite   class   BasicExperimentSuite ( ExperimentSuite ) :","title":"\u5b9a\u4e49  "},{"location":"benchmark_creating/#_5","text":"\u7528\u6237 \u5fc5\u987b \u9009\u62e9 \u8981 \u4f7f\u7528 \u7684 \u5929\u6c14 \u3002 \u5e94\u8be5 \u9009\u62e9 \u4e00\u7ec4 \u6d4b\u8bd5 \u5929\u6c14 \u548c \u4e00\u7ec4 \u8bad\u7ec3 \u5929\u6c14 \u3002 \u8fd9 \u88ab \u5b9a\u4e49 \u4e3a\u7c7b \u5c5e\u6027 \uff0c \u5982\u4e0b \u4f8b \u6240\u793a \uff1a   @ property   def   train _ weathers ( self ) :   return   [ 1 ]   @ property   def   test _ weathers ( self ) :   return   [ 1 ]","title":"\u5b9a\u4e49 \u6d4b\u8bd5 \u548c \u8bad\u7ec3 \u5929\u6c14 \u6761\u4ef6  "},{"location":"benchmark_creating/#_6","text":"\u5b9e\u9a8c \u7531 \u4e00\u7ec4 \u59ff\u52bf \u5b9a\u4e49 \u7684 \u4efb\u52a1 \u7ec4\u6210 \u3002 \u8ba9 \u6211\u4eec \u4ece \u9009\u62e9 \u5176\u4e2d \u4e00\u4e2a \u57ce\u5e02 \u7684 \u59ff\u52bf \u5f00\u59cb \uff0c \u4ee5   Town01   \u4e3a\u4f8b \u3002 \u9996\u5148 \uff0c \u6211\u4eec \u9700\u8981 \u67e5\u770b \u6240\u6709 \u53ef\u80fd \u7684 \u4f4d\u7f6e \uff0c \u4e3a\u6b64 \uff0c \u5728 \u7ec8\u7aef \u4e2d \u8fd0\u884c   CARLA   \u6a21\u62df \u6a21\u62df\u5668 \uff0c \u8fd0\u884c   view _ start _ positions . py   \uff1a   python   view _ start _ positions . py   \u73b0\u5728 \u8ba9 \u6211\u4eec \u9009\u62e9   140   \u4f5c\u4e3a \u8d77\u59cb \u4f4d\u7f6e \uff0c 134   \u4f5c\u4e3a \u7ec8\u6b62 \u4f4d\u7f6e \u3002 \u8fd9 \u4e24\u4e2a \u4f4d\u7f6e \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u53ef\u89c6 \u53ef\u89c6\u5316 \uff1a   python   view _ start _ positions . py   -- pos   140 , 134   -- no - labels   \u6211\u4eec \u518d \u9009\u62e9 \u4e24\u4e2a \u59ff\u52bf \uff0c \u4e00\u4e2a \u7528\u4e8e \u76f4\u884c \uff0c \u53e6 \u4e00\u4e2a \u7528\u4e8e \u7b80\u5355 \u8f6c\u5f2f \u3002 \u6b64\u5916 \uff0c \u6211\u4eec \u8fd8 \u4e3a   Town02   \u9009\u62e9 \u4e09\u4e2a \u59ff\u52bf \uff1a   \u56fe \uff1a \u6b64 \u57fa\u672c \u5b9e\u9a8c \u5957\u4ef6 \u793a\u4f8b \u4e2d \u4f7f\u7528 \u7684 \u59ff\u52bf \u3002 \u59ff\u52bf \u662f \u76ee\u6807 \u5bfc\u5411 \u60c5\u8282 \u7684 \u5f00\u59cb \u548c \u7ed3\u675f \u4f4d\u7f6e \u7684 \u5143\u7ec4 \u3002 \u5f00\u59cb \u4f4d\u7f6e \u663e\u793a \u4e3a \u84dd\u8272 \uff0c \u7ed3\u675f \u4f4d\u7f6e \u663e\u793a \u4e3a \u7ea2\u8272 \u3002 \u5de6 \uff1a \u76f4\u7ebf \u59ff\u52bf \uff0c \u5176\u4e2d \u76ee\u6807 \u4e0e \u8d77\u59cb \u4f4d\u7f6e \u76f4\u7ebf \u8ddd\u79bb \u3002 \u4e2d \uff1a \u4e00\u4e2a \u8f6c\u5f2f \u60c5\u8282 \uff0c \u5176\u4e2d \u76ee\u6807 \u4e0e \u8d77\u70b9 \u76f8\u8ddd \u4e00\u4e2a \u8f6c\u5f2f \u3002 \u53f3 \uff1a \u4efb\u610f \u4f4d\u7f6e \uff0c \u76ee\u6807 \u8ddd\u79bb \u8d77\u59cb \u4f4d\u7f6e \u8f83 \u8fdc \uff0c \u901a\u5e38 \u8d85\u8fc7 \u4e00\u4e2a \u8f6c\u5f2f \u3002   \u6211\u4eec \u5c06 \u6bcf\u4e2a \u59ff\u52bf \u5b9a\u4e49 \u4e3a \u4e00\u9879 \u4efb\u52a1 \u3002 \u6b64\u5916 \uff0c \u6211\u4eec \u8fd8 \u4e3a \u6bcf\u4e2a \u4efb\u52a1 \u8bbe\u7f6e \u52a8\u6001 \u5bf9\u8c61 \u7684 \u6570\u91cf \uff0c \u5e76 \u91cd\u590d \u4efb\u610f \u4f4d\u7f6e \u4efb\u52a1 \uff0c \u4f7f \u5176 \u4e5f \u4f7f\u7528 \u52a8\u6001 \u5bf9\u8c61 \u8fdb\u884c \u5b9a\u4e49 \u3002 \u5728 \u4e0b\u9762 \u7684 \u4ee3\u7801 \u6458\u5f55 \u4e2d \uff0c \u6211\u4eec \u5c55\u793a \u4e86 \u6bcf\u4e2a \u4efb\u52a1 \u7684 \u6700\u7ec8 \u5b9a\u4e49 \u4f4d\u7f6e \u548c \u52a8\u6001 \u5bf9\u8c61 \u7684 \u6570\u91cf \uff1a   #   Define   the   start / end   position   below   as   tasks   poses _ task0   =   [ [ 7 ,   3 ] ]   poses _ task1   =   [ [ 138 ,   17 ] ]   poses _ task2   =   [ [ 140 ,   134 ] ]   poses _ task3   =   [ [ 140 ,   134 ] ]   #   Concatenate   all   the   tasks   poses _ tasks   =   [ poses _ task0 ,   poses _ task1   ,   poses _ task1   ,   poses _ task3 ]   #   Add   dynamic   objects   to   tasks   vehicles _ tasks   =   [ 0 ,   0 ,   0 ,   20 ]   pedestrians _ tasks   =   [ 0 ,   0 ,   0 ,   50 ]   \u6700\u540e \uff0c \u901a\u8fc7 \u4f7f\u7528 \u5b9a\u4e49 \u7684 \u4efb\u52a1 \uff0c \u6211\u4eec \u53ef\u4ee5 \u6784\u5efa \u5b9e\u9a8c \u5411\u91cf \uff0c \u5982 \u4e0b\u9762 \u7684 \u4ee3\u7801 \u6458\u5f55 \u6240\u793a \uff1a   experiments _ vector   =   [ ]   #   The   used   weathers   is   the   union   between   test   and   train   weathers   for   weather   in   used _ weathers :   for   iteration   in   range ( len ( poses _ tasks ) ) :   poses   =   poses _ tasks [ iteration ]   vehicles   =   vehicles _ tasks [ iteration ]   pedestrians   =   pedestrians _ tasks [ iteration ]   conditions   =   CarlaSettings ( )   conditions . set (   SendNonPlayerAgentsInfo = True ,   NumberOfVehicles = vehicles ,   NumberOfPedestrians = pedestrians ,   WeatherId = weather   )   #   Add   all   the   cameras   that   were   set   for   this   experiments   conditions . add _ sensor ( camera )   experiment   =   Experiment ( )   experiment . set (   Conditions = conditions ,   Poses = poses ,   Task = iteration ,   Repetitions = 1   )   experiments _ vector . append ( experiment )   \u5b8c\u6574 \u4ee3\u7801 \u53ef\u4ee5 \u5728   basic _ experiment _ suite . py   \u627e\u5230 \u3002","title":"\u6784\u5efa \u5b9e\u9a8c  "},{"location":"benchmark_creating/#_7","text":"\u9996\u5148 \uff0c \u60a8 \u9700\u8981 \u4e00\u4e2a \u4ee5 \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f \u8fd0\u884c \u7684   Carla   \u6a21\u62df \u6a21\u62df\u5668   \uff0c \u8fd9\u6837 \u60a8 \u83b7\u5f97 \u7684 \u7ed3\u679c \u5c06 \u6216\u591a\u6216\u5c11 \u5177\u6709 \u91cd\u590d \u590d\u6027 \u91cd\u590d\u6027 \u53ef\u91cd\u590d\u6027 \u3002 \u4e3a\u6b64 \uff0c \u60a8 \u5e94\u8be5 \u6309 \u5982\u4e0b \u65b9\u5f0f \u8fd0\u884c   Carla   \u6a21\u62df \u6a21\u62df\u5668 \uff1a   . / CarlaUE4 . sh   / Game / Maps / < Town _ name >   - windowed   - world - port = 2000   - benchmark   - fps = 10   \u672c \u6559\u7a0b \u4e2d \u63d0\u4f9b \u7684 \u793a\u4f8b \u53ef\u4ee5 \u9488\u5bf9   Town01   \u6267\u884c \uff0c \u5982\u4e0b \u6240\u793a \uff1a   . / driving _ benchmark _ example . py   - c   Town01   \u60a8 \u5e94\u8be5 \u671f\u671b \u5f97\u5230 \u4ee5\u4e0b \u7ed3\u679c \uff1a   town01 _ basic _ forward _ results   \u5bf9\u4e8e   Town02 \uff1a   . / driving _ benchmark _ example . py   - c   Town02   \u60a8 \u5e94\u8be5 \u671f\u671b \u5f97\u5230 \u4ee5\u4e0b \u7ed3\u679c \uff1a   town01 _ basic _ forward _ results","title":"\u9884\u671f \u7ed3\u679c  "},{"location":"benchmark_metrics/","text":"\u8ba1\u7b97 \u7684 \u57fa\u51c6 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807   \u672c\u9875 \u4ecb\u7ecd \u4e86 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807 \u6a21\u5757 \u3002 \u6b64 \u6a21\u5757 \u7528\u4e8e \u6839\u636e \u4ee3\u7406 \u5728 \u57fa\u51c6 \u6d4b\u8bd5 \u671f\u95f4 \u6267\u884c \u7684 \u64cd\u4f5c \u8ba1\u7b97 \u7ed3\u679c \u8ba1\u7b97\u7ed3\u679c \u6458\u8981 \u3002   \u63d0\u4f9b \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807   \u9a7e\u9a76 \u57fa\u51c6 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807 \u6a21\u5757 \u63d0\u4f9b \u4ee5\u4e0b \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807 \uff1a   \u6210\u529f \u767e\u5206 \u767e\u5206\u6bd4   \uff1a \u4ee3\u7406 \u6210\u529f \u5b8c\u6210 \u7684 \u60c5\u8282 \uff08 \u4efb\u52a1 \u59ff\u52bf \uff09 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   \u5e73\u5747 \u5b8c\u6210 \u5b8c\u6210\u5ea6   \uff1a \u4ee3\u7406 \u80fd\u591f \u5230\u8fbe \u76ee\u6807 \u7684 \u5e73\u5747 \u8ddd\u79bb \u3002   \u8d8a\u91ce \u8def\u53e3   \uff1a \u4ee3\u7406 \u9a76\u51fa \u9053\u8def \u7684 \u6b21\u6570 \u3002 \u53ea\u6709 \u5f53 \u8f66\u8f86 \u5728 \u9053\u8def \u5916 \u7684 \u9762\u79ef \u5927\u4e8e \u9608\u503c \u65f6 \uff0c \u624d \u4f1a \u8ba1\u7b97 \u8def\u53e3 \u3002   \u5176\u4ed6 \u8f66\u9053 \u4ea4\u53c9 \u4ea4\u53c9\u53e3   \uff1a \u4ee3\u7406 \u8fdb\u5165 \u5176\u4ed6 \u8f66\u9053 \u7684 \u6b21\u6570 \u3002 \u53ea\u6709 \u5f53 \u5176\u4ed6 \u8f66\u9053 \u4e0a \u7684 \u8f66\u8f86 \u9762\u79ef \u5927\u4e8e \u9608\u503c \u65f6 \uff0c \u624d \u4f1a \u8ba1\u7b97 \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u3002   \u8f66\u8f86 \u78b0\u649e   \uff1a \u5f71\u54cd \u91cf \u5927\u4e8e \u9608\u503c \u7684 \u8f66\u8f86 \u78b0\u649e \u6b21\u6570 \u3002   \u884c\u4eba \u78b0\u649e   \uff1a \u4e0e \u884c\u4eba \u53d1\u751f \u78b0\u649e \u4e14 \u5f71\u54cd \u5927\u4e8e \u9608\u503c \u7684 \u6b21\u6570 \u3002   \u4e00\u822c \u78b0\u649e   \uff1a \u4e0e \u6240\u6709 \u5176\u4ed6 \u7269\u4f53 \u53d1\u751f \u78b0\u649e \u4e14 \u5f71\u54cd \u5927\u4e8e \u9608\u503c \u7684 \u6b21\u6570 \u3002   \u6267\u884c \u5e76 \u8bbe\u7f6e \u53c2\u6570   \u6307\u6807 \u4f5c\u4e3a \u57fa\u51c6 \u6d4b\u8bd5 \u7684 \u6700\u540e \u4e00\u6b65 \u8fdb\u884c \u8ba1\u7b97 \uff0c \u5e76 \u5c06 \u7ed3\u679c \u6458\u8981 \u5b58\u50a8 \u5728   json   \u6587\u4ef6 \u4e2d \u3002 \u5185\u90e8 \u6267\u884c \u5982\u4e0b \uff1a   metrics _ object   =   Metrics ( metrics _ parameters )   summary _ dictionary   =   metrics _ object . compute ( path _ to _ execution _ log )   Metric   \u7684 \u8ba1\u7b97 \u51fd\u6570 \u63a5\u6536 \u6267\u884c \u65e5\u5fd7 \u7684 \u5b8c\u6574 \u8def\u5f84 \u3002 Metric   \u7c7b \u5e94\u8be5 \u4f7f\u7528 \u4e00\u4e9b \u53c2\u6570 \u8fdb\u884c \u5b9e\u4f8b \u5316 \u3002 \u8fd9\u4e9b \u53c2\u6570 \u5305\u62ec \uff1a   \u9608\u503c   \uff1a \u6307\u6807 \u4f7f\u7528 \u7684 \u9608\u503c \u3002   \u5e27 \u91cd\u65b0 \u8ba1\u6570   \uff1a \u72af\u89c4 \u540e \uff0c \u8bbe\u7f6e \u4ee3\u7406 \u9700\u8981 \u7ee7\u7eed \u72af\u89c4 \u7684 \u5e27 \u6570 \uff0c \u624d \u4f1a \u5c06 \u5176\u8ba1 \u4e3a \u53e6 \u4e00\u6b21 \u72af\u89c4 \u3002   \u8df3\u8fc7 \u5e27 \u6570   \uff1a \u4e0e \u78b0\u649e \u6216 \u4ea4\u53c9 \u5f00\u59cb \u540e \u8df3 \u8fc7 \u7684 \u5e27 \u6570 \u6709\u5173 \u3002   \u8fd9\u4e9b \u53c2\u6570 \u88ab \u5b9a\u4e49 \u4e3a   \u5b9e\u9a8c \u5957\u4ef6   \u57fa\u7c7b \u7684 \u5c5e\u6027 \uff0c \u53ef\u4ee5 \u5728 \u60a8 \u7684   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5b9e\u9a8c \u5957\u4ef6   \u4e2d \u91cd\u65b0 \u5b9a\u4e49 \u3002   \u9ed8\u8ba4 \u53c2\u6570 \u4e3a \uff1a   @ property   def   metrics _ parameters ( self ) :   \" \" \"   Property   to   return   the   parameters   for   the   metrics   module   Could   be   redefined   depending   on   the   needs   of   the   user .   \" \" \"   return   {   ' intersection _ offroad ' :   { ' frames _ skip ' :   10 ,   ' frames _ recount ' :   20 ,   ' threshold ' :   0.3   } ,   ' intersection _ otherlane ' :   { ' frames _ skip ' :   10 ,   ' frames _ recount ' :   20 ,   ' threshold ' :   0.4   } ,   ' collision _ other ' :   { ' frames _ skip ' :   10 ,   ' frames _ recount ' :   20 ,   ' threshold ' :   400   } ,   ' collision _ vehicles ' :   { ' frames _ skip ' :   10 ,   ' frames _ recount ' :   30 ,   ' threshold ' :   400   } ,   ' collision _ pedestrians ' :   { ' frames _ skip ' :   5 ,   ' frames _ recount ' :   100 ,   ' threshold ' :   300   } ,   }","title":"\u8ba1\u7b97 \u7684 \u57fa\u51c6 \u6027\u80fd\u6307\u6807"},{"location":"benchmark_metrics/#_1","text":"\u672c\u9875 \u4ecb\u7ecd \u4e86 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807 \u6a21\u5757 \u3002 \u6b64 \u6a21\u5757 \u7528\u4e8e \u6839\u636e \u4ee3\u7406 \u5728 \u57fa\u51c6 \u6d4b\u8bd5 \u671f\u95f4 \u6267\u884c \u7684 \u64cd\u4f5c \u8ba1\u7b97 \u7ed3\u679c \u8ba1\u7b97\u7ed3\u679c \u6458\u8981 \u3002","title":"\u8ba1\u7b97 \u7684 \u57fa\u51c6 \u6027\u80fd\u6307\u6807"},{"location":"benchmark_metrics/#_2","text":"\u9a7e\u9a76 \u57fa\u51c6 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807 \u6a21\u5757 \u63d0\u4f9b \u4ee5\u4e0b \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807 \uff1a   \u6210\u529f \u767e\u5206 \u767e\u5206\u6bd4   \uff1a \u4ee3\u7406 \u6210\u529f \u5b8c\u6210 \u7684 \u60c5\u8282 \uff08 \u4efb\u52a1 \u59ff\u52bf \uff09 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   \u5e73\u5747 \u5b8c\u6210 \u5b8c\u6210\u5ea6   \uff1a \u4ee3\u7406 \u80fd\u591f \u5230\u8fbe \u76ee\u6807 \u7684 \u5e73\u5747 \u8ddd\u79bb \u3002   \u8d8a\u91ce \u8def\u53e3   \uff1a \u4ee3\u7406 \u9a76\u51fa \u9053\u8def \u7684 \u6b21\u6570 \u3002 \u53ea\u6709 \u5f53 \u8f66\u8f86 \u5728 \u9053\u8def \u5916 \u7684 \u9762\u79ef \u5927\u4e8e \u9608\u503c \u65f6 \uff0c \u624d \u4f1a \u8ba1\u7b97 \u8def\u53e3 \u3002   \u5176\u4ed6 \u8f66\u9053 \u4ea4\u53c9 \u4ea4\u53c9\u53e3   \uff1a \u4ee3\u7406 \u8fdb\u5165 \u5176\u4ed6 \u8f66\u9053 \u7684 \u6b21\u6570 \u3002 \u53ea\u6709 \u5f53 \u5176\u4ed6 \u8f66\u9053 \u4e0a \u7684 \u8f66\u8f86 \u9762\u79ef \u5927\u4e8e \u9608\u503c \u65f6 \uff0c \u624d \u4f1a \u8ba1\u7b97 \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u3002   \u8f66\u8f86 \u78b0\u649e   \uff1a \u5f71\u54cd \u91cf \u5927\u4e8e \u9608\u503c \u7684 \u8f66\u8f86 \u78b0\u649e \u6b21\u6570 \u3002   \u884c\u4eba \u78b0\u649e   \uff1a \u4e0e \u884c\u4eba \u53d1\u751f \u78b0\u649e \u4e14 \u5f71\u54cd \u5927\u4e8e \u9608\u503c \u7684 \u6b21\u6570 \u3002   \u4e00\u822c \u78b0\u649e   \uff1a \u4e0e \u6240\u6709 \u5176\u4ed6 \u7269\u4f53 \u53d1\u751f \u78b0\u649e \u4e14 \u5f71\u54cd \u5927\u4e8e \u9608\u503c \u7684 \u6b21\u6570 \u3002","title":"\u63d0\u4f9b \u6027\u80fd\u6307\u6807"},{"location":"benchmark_metrics/#_3","text":"\u6307\u6807 \u4f5c\u4e3a \u57fa\u51c6 \u6d4b\u8bd5 \u7684 \u6700\u540e \u4e00\u6b65 \u8fdb\u884c \u8ba1\u7b97 \uff0c \u5e76 \u5c06 \u7ed3\u679c \u6458\u8981 \u5b58\u50a8 \u5728   json   \u6587\u4ef6 \u4e2d \u3002 \u5185\u90e8 \u6267\u884c \u5982\u4e0b \uff1a   metrics _ object   =   Metrics ( metrics _ parameters )   summary _ dictionary   =   metrics _ object . compute ( path _ to _ execution _ log )   Metric   \u7684 \u8ba1\u7b97 \u51fd\u6570 \u63a5\u6536 \u6267\u884c \u65e5\u5fd7 \u7684 \u5b8c\u6574 \u8def\u5f84 \u3002 Metric   \u7c7b \u5e94\u8be5 \u4f7f\u7528 \u4e00\u4e9b \u53c2\u6570 \u8fdb\u884c \u5b9e\u4f8b \u5316 \u3002 \u8fd9\u4e9b \u53c2\u6570 \u5305\u62ec \uff1a   \u9608\u503c   \uff1a \u6307\u6807 \u4f7f\u7528 \u7684 \u9608\u503c \u3002   \u5e27 \u91cd\u65b0 \u8ba1\u6570   \uff1a \u72af\u89c4 \u540e \uff0c \u8bbe\u7f6e \u4ee3\u7406 \u9700\u8981 \u7ee7\u7eed \u72af\u89c4 \u7684 \u5e27 \u6570 \uff0c \u624d \u4f1a \u5c06 \u5176\u8ba1 \u4e3a \u53e6 \u4e00\u6b21 \u72af\u89c4 \u3002   \u8df3\u8fc7 \u5e27 \u6570   \uff1a \u4e0e \u78b0\u649e \u6216 \u4ea4\u53c9 \u5f00\u59cb \u540e \u8df3 \u8fc7 \u7684 \u5e27 \u6570 \u6709\u5173 \u3002   \u8fd9\u4e9b \u53c2\u6570 \u88ab \u5b9a\u4e49 \u4e3a   \u5b9e\u9a8c \u5957\u4ef6   \u57fa\u7c7b \u7684 \u5c5e\u6027 \uff0c \u53ef\u4ee5 \u5728 \u60a8 \u7684   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5b9e\u9a8c \u5957\u4ef6   \u4e2d \u91cd\u65b0 \u5b9a\u4e49 \u3002   \u9ed8\u8ba4 \u53c2\u6570 \u4e3a \uff1a   @ property   def   metrics _ parameters ( self ) :   \" \" \"   Property   to   return   the   parameters   for   the   metrics   module   Could   be   redefined   depending   on   the   needs   of   the   user .   \" \" \"   return   {   ' intersection _ offroad ' :   { ' frames _ skip ' :   10 ,   ' frames _ recount ' :   20 ,   ' threshold ' :   0.3   } ,   ' intersection _ otherlane ' :   { ' frames _ skip ' :   10 ,   ' frames _ recount ' :   20 ,   ' threshold ' :   0.4   } ,   ' collision _ other ' :   { ' frames _ skip ' :   10 ,   ' frames _ recount ' :   20 ,   ' threshold ' :   400   } ,   ' collision _ vehicles ' :   { ' frames _ skip ' :   10 ,   ' frames _ recount ' :   30 ,   ' threshold ' :   400   } ,   ' collision _ pedestrians ' :   { ' frames _ skip ' :   5 ,   ' frames _ recount ' :   100 ,   ' threshold ' :   300   } ,   }","title":"\u6267\u884c \u5e76 \u8bbe\u7f6e \u53c2\u6570"},{"location":"benchmark_start/","text":"\u9a7e\u9a76 \u57fa\u51c6   \u9a7e\u9a76 \u57fa\u51c6 \u6a21\u5757   \u7528\u4e8e \u8bc4\u4f30 \u9a7e\u9a76 \u63a7\u5236 \u63a7\u5236\u5668 \uff08 \u4ee3\u7406 \uff09 \u5e76 \u83b7\u53d6 \u6709\u5173 \u5176 \u6027\u80fd \u7684 \u6307\u6807 \u3002   \u8be5 \u6a21\u5757 \u4e3b\u8981 \u8bbe\u8ba1 \u7528\u4e8e \uff1a   \u81f4\u529b \u81f4\u529b\u4e8e \u5f00\u53d1 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u5e76 \u5e0c\u671b \u4e86\u89e3 \u5176 \u5728   CARLA   \u4e2d \u7684 \u8868\u73b0 \u7684 \u7528\u6237 \u3002   \u5728 \u672c\u8282 \u4e2d \u60a8 \u5c06 \u4e86\u89e3 \u3002   \u5982\u4f55 \u5feb\u901f \u5165\u95e8 \u5e76 \u7acb\u5373 \u5bf9 \u7b80\u5355 \u4ee3\u7406 \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002   \u4e86\u89e3 \u9a7e\u9a76 \u57fa\u51c6 \u6d4b\u8bd5 \u6a21\u5757 \u7684 \u603b\u4f53 \u5b9e\u73b0 \u67b6\u6784 \u3002   \u4e86\u89e3 \u5982\u4f55 \u8bbe\u7f6e \u60a8 \u7684 \u4ee3\u7406 \u5e76 \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u4e00\u7ec4 \u5b9e\u9a8c \u3002   \u4e86\u89e3 \u6240 \u4f7f\u7528 \u7684 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807 \u3002   \u5165\u95e8   \u4e3a\u4e86 \u8ba9 \u60a8 \u719f\u6089 \u7cfb\u7edf \uff0c \u6211\u4eec \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5728 \u4e00\u7ec4 \u5c0f\u578b \u5b9e\u9a8c \u4e2d \u6267\u884c \u7684 \u7b80\u5355 \u4ee3\u7406 \uff08 \u57fa\u672c \uff09 \u3002 \u8981 \u6267\u884c \u5b83 \uff0c \u53ea \u9700 \u8fd0\u884c \uff1a   . / driving _ benchmark _ example . py   \u8bf7 \u8bb0\u4f4f \uff0c \u8981 \u8fd0\u884c \u4e0a\u8ff0 \u547d\u4ee4 \uff0c \u60a8 \u9700\u8981 \u5728 \u672c\u5730 \u4e3b\u673a \u548c \u7aef\u53e3   2000   \u4e0a \u8fd0\u884c   CARLA   \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u6211\u4eec \u5df2\u7ecf \u63d0\u4f9b \u4e86 \u4e0e   CoRL   2017   \u8bba\u6587 \u4e2d \u4f7f\u7528 \u7684 \u76f8\u540c \u57fa\u51c6 \u3002 CoRL   2017   \u5b9e\u9a8c \u5957\u4ef6 \u53ef\u4ee5 \u5728 \u4e00\u4e2a \u7b80\u5355 \u7684 \u4ee3\u7406 \u4e2d \u8fd0\u884c \uff0c \u53ea \u9700 \u8fd0\u884c \uff1a   . / driving _ benchmark _ example . py   -- corl - 2017   \u6b64 \u57fa\u51c6 \u6d4b\u8bd5 \u793a\u4f8b \u53ef\u4ee5 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u914d\u7f6e \u3002 \u8fd0\u884c   help   \u547d\u4ee4 \u67e5\u770b \u53ef\u7528 \u7684 \u9009\u9879 \u3002   . / driving _ benchmark _ example . py   -- help   \u53ef\u7528 \u7684 \u9009\u9879 \u4e4b\u4e00 \u662f \u80fd\u591f \u4ece \u4e4b\u524d \u7684 \u57fa\u51c6 \u6d4b\u8bd5 \u6267\u884c \u7ee7\u7eed \u3002 \u4f8b\u5982 \uff0c \u8981 \u7ee7\u7eed   CoRL2017   \u4e2d \u65e5\u5fd7 \u540d\u79f0 \u4e3a \u201c driving _ benchmark _ test \u201d \u7684 \u5b9e\u9a8c \uff0c \u8bf7 \u8fd0\u884c \uff1a   . / driving _ benchmark _ example . py   -- continue - experiment   - n   driving _ benchmark _ test   -- corl - 2017   \u7b14\u8bb0   \u5982\u679c \u65e5\u5fd7 \u540d\u79f0 \u5df2\u7ecf \u5b58\u5728 \u5e76\u4e14 \u60a8 \u6ca1\u6709 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u7ee7\u7eed \uff0c \u5b83 \u5c06 \u4ee5 \u4e0d\u540c \u7684 \u540d\u79f0 \u521b\u5efa \u53e6 \u4e00\u4e2a \u65e5\u5fd7 \u3002   \u5f53 \u8fd0\u884c \u57fa\u672c \u914d\u7f6e \u7684 \u9a7e\u9a76 \u57fa\u51c6 \u6d4b\u8bd5 \u65f6 \uff0c \u4f60 \u5e94\u8be5   \u671f\u5f85 \u8fd9\u4e9b \u7ed3\u679c   \u3002","title":"\u9a7e\u9a76 \u57fa\u51c6"},{"location":"benchmark_start/#_1","text":"\u9a7e\u9a76 \u57fa\u51c6 \u6a21\u5757   \u7528\u4e8e \u8bc4\u4f30 \u9a7e\u9a76 \u63a7\u5236 \u63a7\u5236\u5668 \uff08 \u4ee3\u7406 \uff09 \u5e76 \u83b7\u53d6 \u6709\u5173 \u5176 \u6027\u80fd \u7684 \u6307\u6807 \u3002   \u8be5 \u6a21\u5757 \u4e3b\u8981 \u8bbe\u8ba1 \u7528\u4e8e \uff1a   \u81f4\u529b \u81f4\u529b\u4e8e \u5f00\u53d1 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u5e76 \u5e0c\u671b \u4e86\u89e3 \u5176 \u5728   CARLA   \u4e2d \u7684 \u8868\u73b0 \u7684 \u7528\u6237 \u3002   \u5728 \u672c\u8282 \u4e2d \u60a8 \u5c06 \u4e86\u89e3 \u3002   \u5982\u4f55 \u5feb\u901f \u5165\u95e8 \u5e76 \u7acb\u5373 \u5bf9 \u7b80\u5355 \u4ee3\u7406 \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002   \u4e86\u89e3 \u9a7e\u9a76 \u57fa\u51c6 \u6d4b\u8bd5 \u6a21\u5757 \u7684 \u603b\u4f53 \u5b9e\u73b0 \u67b6\u6784 \u3002   \u4e86\u89e3 \u5982\u4f55 \u8bbe\u7f6e \u60a8 \u7684 \u4ee3\u7406 \u5e76 \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u4e00\u7ec4 \u5b9e\u9a8c \u3002   \u4e86\u89e3 \u6240 \u4f7f\u7528 \u7684 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807 \u3002","title":"\u9a7e\u9a76 \u57fa\u51c6"},{"location":"benchmark_start/#_2","text":"\u4e3a\u4e86 \u8ba9 \u60a8 \u719f\u6089 \u7cfb\u7edf \uff0c \u6211\u4eec \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5728 \u4e00\u7ec4 \u5c0f\u578b \u5b9e\u9a8c \u4e2d \u6267\u884c \u7684 \u7b80\u5355 \u4ee3\u7406 \uff08 \u57fa\u672c \uff09 \u3002 \u8981 \u6267\u884c \u5b83 \uff0c \u53ea \u9700 \u8fd0\u884c \uff1a   . / driving _ benchmark _ example . py   \u8bf7 \u8bb0\u4f4f \uff0c \u8981 \u8fd0\u884c \u4e0a\u8ff0 \u547d\u4ee4 \uff0c \u60a8 \u9700\u8981 \u5728 \u672c\u5730 \u4e3b\u673a \u548c \u7aef\u53e3   2000   \u4e0a \u8fd0\u884c   CARLA   \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u6211\u4eec \u5df2\u7ecf \u63d0\u4f9b \u4e86 \u4e0e   CoRL   2017   \u8bba\u6587 \u4e2d \u4f7f\u7528 \u7684 \u76f8\u540c \u57fa\u51c6 \u3002 CoRL   2017   \u5b9e\u9a8c \u5957\u4ef6 \u53ef\u4ee5 \u5728 \u4e00\u4e2a \u7b80\u5355 \u7684 \u4ee3\u7406 \u4e2d \u8fd0\u884c \uff0c \u53ea \u9700 \u8fd0\u884c \uff1a   . / driving _ benchmark _ example . py   -- corl - 2017   \u6b64 \u57fa\u51c6 \u6d4b\u8bd5 \u793a\u4f8b \u53ef\u4ee5 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u914d\u7f6e \u3002 \u8fd0\u884c   help   \u547d\u4ee4 \u67e5\u770b \u53ef\u7528 \u7684 \u9009\u9879 \u3002   . / driving _ benchmark _ example . py   -- help   \u53ef\u7528 \u7684 \u9009\u9879 \u4e4b\u4e00 \u662f \u80fd\u591f \u4ece \u4e4b\u524d \u7684 \u57fa\u51c6 \u6d4b\u8bd5 \u6267\u884c \u7ee7\u7eed \u3002 \u4f8b\u5982 \uff0c \u8981 \u7ee7\u7eed   CoRL2017   \u4e2d \u65e5\u5fd7 \u540d\u79f0 \u4e3a \u201c driving _ benchmark _ test \u201d \u7684 \u5b9e\u9a8c \uff0c \u8bf7 \u8fd0\u884c \uff1a   . / driving _ benchmark _ example . py   -- continue - experiment   - n   driving _ benchmark _ test   -- corl - 2017   \u7b14\u8bb0   \u5982\u679c \u65e5\u5fd7 \u540d\u79f0 \u5df2\u7ecf \u5b58\u5728 \u5e76\u4e14 \u60a8 \u6ca1\u6709 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u7ee7\u7eed \uff0c \u5b83 \u5c06 \u4ee5 \u4e0d\u540c \u7684 \u540d\u79f0 \u521b\u5efa \u53e6 \u4e00\u4e2a \u65e5\u5fd7 \u3002   \u5f53 \u8fd0\u884c \u57fa\u672c \u914d\u7f6e \u7684 \u9a7e\u9a76 \u57fa\u51c6 \u6d4b\u8bd5 \u65f6 \uff0c \u4f60 \u5e94\u8be5   \u671f\u5f85 \u8fd9\u4e9b \u7ed3\u679c   \u3002","title":"\u5165\u95e8"},{"location":"benchmark_structure/","text":"\u9a7e\u9a76 \u57fa\u51c6 \u7ed3\u6784   \u4e0b\u56fe \u663e\u793a \u4e86 \u9a7e\u9a76 \u57fa\u51c6 \u6a21\u5757 \u7684 \u603b\u4f53 \u7ed3\u6784 \u3002   \u56fe \uff1a \u4ee3\u7406 \u57fa\u51c6 \u6d4b\u8bd5 \u6a21\u5757 \u7684 \u603b\u4f53 \u7ed3\u6784 \u3002   \u9a7e\u9a76 \u57fa\u51c6   \u662f \u8d1f\u8d23 \u8bc4\u4f30 \u5b9e\u9a8c \u5957\u4ef6 \u4e2d \u67d0\u4e2a   \u4ee3\u7406   \u7684 \u6a21\u5757 \u3002   \u5b9e\u9a8c \u5957\u4ef6   \u662f \u4e00\u4e2a \u62bd\u8c61 \u6a21\u5757 \u3002 \u56e0\u6b64 \uff0c \u7528\u6237 \u5fc5\u987b \u5b9a\u4e49 \u81ea\u5df1 \u7684 \u5b9e\u9a8c \u5957\u4ef6 \u6d3e\u751f \u3002 \u6211\u4eec \u5df2\u7ecf \u63d0\u4f9b \u4e86   CoRL2017   \u5957\u4ef6 \u548c \u4e00\u4e2a \u7b80\u5355 \u7684   \u5b9e\u9a8c \u5957\u4ef6   \u4f9b \u6d4b\u8bd5 \u3002   \u5b9e\u9a8c \u5957\u4ef6 \u7531 \u4e00\u7ec4 \u5b9e\u9a8c \u7ec4\u6210 \u3002 \u6bcf\u4e2a \u5b9e\u9a8c \u5305\u542b \u4e00\u4e2a \u7531 \u4e00\u7ec4 \u5bfc\u822a \u60c5\u8282 \u7ec4\u6210 \u7684 \u4efb\u52a1 \uff0c \u7531 \u4e00\u7ec4 \u59ff\u52bf \u8868\u793a \u3002 \u8fd9\u4e9b \u59ff\u52bf \u662f \u5305\u542b \u60c5\u8282 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u7684 \u5143\u7ec4 \u3002   \u5b9e\u9a8c \u8fd8 \u4e0e \u6761\u4ef6 \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u6761\u4ef6 \u7531   carla   \u8bbe\u7f6e \u5bf9\u8c61 \u8868\u793a \u3002 \u6761\u4ef6 \u6307\u5b9a \u6a21\u62df \u53c2\u6570 \uff0c \u4f8b\u5982 \uff1a \u5929\u6c14 \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5957\u4ef6 \u3001 \u8f66\u8f86 \u548c \u884c\u4eba \u6570\u91cf \u7b49 \u3002   \u7528\u6237 \u8fd8 \u5e94\u8be5 \u6d3e\u751f \u4e00\u4e2a \u4ee3\u7406 \u7c7b \u3002 \u4ee3\u7406 \u662f \u5c06 \u5728 \u9a7e\u9a76 \u57fa\u51c6 \u4e0a \u8fdb\u884c \u8bc4\u4f30 \u7684 \u4e3b\u52a8 \u90e8\u5206 \u3002   \u9a7e\u9a76 \u57fa\u51c6 \u6d4b\u8bd5 \u8fd8 \u5305\u542b \u4e24\u4e2a \u8f85\u52a9 \u6a21\u5757 \u3002 \u8bb0\u5f55 \u6a21\u5757 \u7528\u4e8e \u8ddf\u8e2a \u6240\u6709 \u6d4b\u91cf \u503c \uff0c \u5e76 \u53ef \u7528\u4e8e \u6682\u505c \u548c \u7ee7\u7eed \u9a7e\u9a76 \u57fa\u51c6 \u6d4b\u8bd5 \u3002   \u6307\u6807 \u6a21\u5757 \u7528\u4e8e \u4f7f\u7528 \u8bb0\u5f55 \u7684 \u6d4b\u91cf \u503c \u8ba1\u7b97 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807 \u3002   \u793a\u4f8b \uff1a CORL   2017   \u6211\u4eec \u5df2\u7ecf \u63d0\u4f9b \u4e86 \u7528\u4e8e \u5bf9   CoRL   2017   \u8bba\u6587 \u7684 \u4ee3\u7406 \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u7684   CoRL   2017   \u5b9e\u9a8c \u5957\u4ef6 \u3002   CoRL   2017   \u5b9e\u9a8c \u5957\u4ef6 \u7684 \u7ec4\u6210 \u5982\u4e0b \uff1a   \u6bcf\u4e2a   CARLA   \u57ce\u9547 \u5171 \u8fdb\u884c   24   \u4e2a \u5b9e\u9a8c \uff0c \u5305\u62ec \uff1a   \u76f4\u884c \u7684 \u4efb\u52a1 \u3002   \u8fdb\u884c \u4e00\u6b21 \u8f6c\u5f2f \u7684 \u4efb\u52a1 \u3002   \u524d\u5f80 \u4efb\u610f \u4f4d\u7f6e \u7684 \u4efb\u52a1 \u3002   \u5e26 \u7740 \u52a8\u6001 \u7269\u4f53 \u524d\u5f80 \u4efb\u610f \u4f4d\u7f6e \u7684 \u4efb\u52a1 \u3002   \u6bcf\u4e2a \u4efb\u52a1 \u7531   25   \u4e2a \u59ff\u52bf \u7ec4\u6210 \uff0c \u5728   6   \u79cd \u4e0d\u540c \u7684 \u5929\u6c14 \u6761\u4ef6 \u4e0b \u91cd\u590d \u6267\u884c \uff08 \u6674\u6717 \u4e2d\u5348 \u3001 \u5927\u96e8 \u4e2d\u5348 \u3001 \u6674\u6717 \u65e5\u843d \u3001 \u96e8 \u540e \u4e2d\u5348 \u3001 \u96e8 \u540e \u591a\u4e91 \u548c \u5c0f\u96e8 \u65e5\u843d \uff09 \u3002   \u6574\u4e2a \u5b9e\u9a8c \u96c6 \u5171\u6709 600 \u96c6 \u3002   \u6839\u636e \u4ee3\u7406 \u7684 \u6027\u80fd \uff0c CoRL   2017   \u53ef\u80fd \u9700\u8981 \u6700 \u591a   24   \u5c0f\u65f6 \u624d\u80fd \u4e3a   Town01   \u6267\u884c \uff0c \u6700 \u591a   15   \u5c0f\u65f6 \u624d\u80fd \u4e3a   Town02   \u6267\u884c \u3002","title":"\u9a7e\u9a76 \u57fa\u51c6 \u7ed3\u6784"},{"location":"benchmark_structure/#_1","text":"\u4e0b\u56fe \u663e\u793a \u4e86 \u9a7e\u9a76 \u57fa\u51c6 \u6a21\u5757 \u7684 \u603b\u4f53 \u7ed3\u6784 \u3002   \u56fe \uff1a \u4ee3\u7406 \u57fa\u51c6 \u6d4b\u8bd5 \u6a21\u5757 \u7684 \u603b\u4f53 \u7ed3\u6784 \u3002   \u9a7e\u9a76 \u57fa\u51c6   \u662f \u8d1f\u8d23 \u8bc4\u4f30 \u5b9e\u9a8c \u5957\u4ef6 \u4e2d \u67d0\u4e2a   \u4ee3\u7406   \u7684 \u6a21\u5757 \u3002   \u5b9e\u9a8c \u5957\u4ef6   \u662f \u4e00\u4e2a \u62bd\u8c61 \u6a21\u5757 \u3002 \u56e0\u6b64 \uff0c \u7528\u6237 \u5fc5\u987b \u5b9a\u4e49 \u81ea\u5df1 \u7684 \u5b9e\u9a8c \u5957\u4ef6 \u6d3e\u751f \u3002 \u6211\u4eec \u5df2\u7ecf \u63d0\u4f9b \u4e86   CoRL2017   \u5957\u4ef6 \u548c \u4e00\u4e2a \u7b80\u5355 \u7684   \u5b9e\u9a8c \u5957\u4ef6   \u4f9b \u6d4b\u8bd5 \u3002   \u5b9e\u9a8c \u5957\u4ef6 \u7531 \u4e00\u7ec4 \u5b9e\u9a8c \u7ec4\u6210 \u3002 \u6bcf\u4e2a \u5b9e\u9a8c \u5305\u542b \u4e00\u4e2a \u7531 \u4e00\u7ec4 \u5bfc\u822a \u60c5\u8282 \u7ec4\u6210 \u7684 \u4efb\u52a1 \uff0c \u7531 \u4e00\u7ec4 \u59ff\u52bf \u8868\u793a \u3002 \u8fd9\u4e9b \u59ff\u52bf \u662f \u5305\u542b \u60c5\u8282 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u7684 \u5143\u7ec4 \u3002   \u5b9e\u9a8c \u8fd8 \u4e0e \u6761\u4ef6 \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u6761\u4ef6 \u7531   carla   \u8bbe\u7f6e \u5bf9\u8c61 \u8868\u793a \u3002 \u6761\u4ef6 \u6307\u5b9a \u6a21\u62df \u53c2\u6570 \uff0c \u4f8b\u5982 \uff1a \u5929\u6c14 \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5957\u4ef6 \u3001 \u8f66\u8f86 \u548c \u884c\u4eba \u6570\u91cf \u7b49 \u3002   \u7528\u6237 \u8fd8 \u5e94\u8be5 \u6d3e\u751f \u4e00\u4e2a \u4ee3\u7406 \u7c7b \u3002 \u4ee3\u7406 \u662f \u5c06 \u5728 \u9a7e\u9a76 \u57fa\u51c6 \u4e0a \u8fdb\u884c \u8bc4\u4f30 \u7684 \u4e3b\u52a8 \u90e8\u5206 \u3002   \u9a7e\u9a76 \u57fa\u51c6 \u6d4b\u8bd5 \u8fd8 \u5305\u542b \u4e24\u4e2a \u8f85\u52a9 \u6a21\u5757 \u3002 \u8bb0\u5f55 \u6a21\u5757 \u7528\u4e8e \u8ddf\u8e2a \u6240\u6709 \u6d4b\u91cf \u503c \uff0c \u5e76 \u53ef \u7528\u4e8e \u6682\u505c \u548c \u7ee7\u7eed \u9a7e\u9a76 \u57fa\u51c6 \u6d4b\u8bd5 \u3002   \u6307\u6807 \u6a21\u5757 \u7528\u4e8e \u4f7f\u7528 \u8bb0\u5f55 \u7684 \u6d4b\u91cf \u503c \u8ba1\u7b97 \u6027\u80fd \u80fd\u6307 \u6307\u6807 \u6027\u80fd\u6307\u6807 \u3002","title":"\u9a7e\u9a76 \u57fa\u51c6 \u7ed3\u6784"},{"location":"benchmark_structure/#corl-2017","text":"\u6211\u4eec \u5df2\u7ecf \u63d0\u4f9b \u4e86 \u7528\u4e8e \u5bf9   CoRL   2017   \u8bba\u6587 \u7684 \u4ee3\u7406 \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u7684   CoRL   2017   \u5b9e\u9a8c \u5957\u4ef6 \u3002   CoRL   2017   \u5b9e\u9a8c \u5957\u4ef6 \u7684 \u7ec4\u6210 \u5982\u4e0b \uff1a   \u6bcf\u4e2a   CARLA   \u57ce\u9547 \u5171 \u8fdb\u884c   24   \u4e2a \u5b9e\u9a8c \uff0c \u5305\u62ec \uff1a   \u76f4\u884c \u7684 \u4efb\u52a1 \u3002   \u8fdb\u884c \u4e00\u6b21 \u8f6c\u5f2f \u7684 \u4efb\u52a1 \u3002   \u524d\u5f80 \u4efb\u610f \u4f4d\u7f6e \u7684 \u4efb\u52a1 \u3002   \u5e26 \u7740 \u52a8\u6001 \u7269\u4f53 \u524d\u5f80 \u4efb\u610f \u4f4d\u7f6e \u7684 \u4efb\u52a1 \u3002   \u6bcf\u4e2a \u4efb\u52a1 \u7531   25   \u4e2a \u59ff\u52bf \u7ec4\u6210 \uff0c \u5728   6   \u79cd \u4e0d\u540c \u7684 \u5929\u6c14 \u6761\u4ef6 \u4e0b \u91cd\u590d \u6267\u884c \uff08 \u6674\u6717 \u4e2d\u5348 \u3001 \u5927\u96e8 \u4e2d\u5348 \u3001 \u6674\u6717 \u65e5\u843d \u3001 \u96e8 \u540e \u4e2d\u5348 \u3001 \u96e8 \u540e \u591a\u4e91 \u548c \u5c0f\u96e8 \u65e5\u843d \uff09 \u3002   \u6574\u4e2a \u5b9e\u9a8c \u96c6 \u5171\u6709 600 \u96c6 \u3002   \u6839\u636e \u4ee3\u7406 \u7684 \u6027\u80fd \uff0c CoRL   2017   \u53ef\u80fd \u9700\u8981 \u6700 \u591a   24   \u5c0f\u65f6 \u624d\u80fd \u4e3a   Town01   \u6267\u884c \uff0c \u6700 \u591a   15   \u5c0f\u65f6 \u624d\u80fd \u4e3a   Town02   \u6267\u884c \u3002","title":"\u793a\u4f8b \uff1a CORL   2017"},{"location":"bp_library/","text":"\u84dd \u56fe\u5e93   \u84dd \u56fe\u5e93   (   carla . BlueprintLibrary   )   \u662f   Carla   \u4e2d \u7528\u4e8e \u53ef\u7528 \u7684 \u6240\u6709 \u5185\u5bb9   carla . ActorBlueprint   \u53ca\u5176 \u5c5e\u6027   (   carla . ActorAttribute   )   \u7684 \u6458\u8981 \u3002   \u4ee5\u4e0b \u662f \u6253\u5370 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u84dd\u56fe \u53ca\u5176 \u5c5e\u6027 \u7684 \u793a\u4f8b \u4ee3\u7801 \uff1a   blueprints   =   [ bp   for   bp   in   world . get _ blueprint _ library ( ) . filter ( ' * ' ) ]   for   blueprint   in   blueprints :   print ( blueprint . id )   for   attr   in   blueprint :   print ( '   -   { } ' . format ( attr ) )   \u67e5\u770b   \u84dd\u56fe \u7684 \u4ecb\u7ecd   \u3002   \u63a7\u5236 \u63a7\u5236\u5668   controller . ai . walker   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   sensor . camera . depth   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   fov   (   Float   )   -   \u53ef \u4fee\u6539   image _ size _ x   (   Int   )   -   \u53ef \u4fee\u6539   image _ size _ y   (   Int   )   -   \u53ef \u4fee\u6539   lens _ circle _ falloff   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ multiplier   (   Float   )   -   \u53ef \u4fee\u6539   lens _ k   (   Float   )   -   \u53ef \u4fee\u6539   lens _ kcube   (   Float   )   -   \u53ef \u4fee\u6539   lens _ x _ size   (   Float   )   -   \u53ef \u4fee\u6539   lens _ y _ size   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . camera . dvs   \u5c5e\u6027 \uff1a   black _ clip   (   Float   )   -   \u53ef \u4fee\u6539   blade _ count   (   Int   )   -   \u53ef \u4fee\u6539   bloom _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   blur _ amount   (   Float   )   -   \u53ef \u4fee\u6539   blur _ radius   (   Float   )   -   \u53ef \u4fee\u6539   calibration _ constant   (   Float   )   -   \u53ef \u4fee\u6539   chromatic _ aberration _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   chromatic _ aberration _ offset   (   Float   )   -   \u53ef \u4fee\u6539   enable _ postprocess _ effects   (   Bool   )   -   \u53ef \u4fee\u6539   exposure _ compensation   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ max _ bright   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ min _ bright   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ mode   (   String   )   -   \u53ef \u4fee\u6539   exposure _ speed _ down   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ speed _ up   (   Float   )   -   \u53ef \u4fee\u6539   focal _ distance   (   Float   )   -   \u53ef \u4fee\u6539   fov   (   Float   )   -   \u53ef \u4fee\u6539   fstop   (   Float   )   -   \u53ef \u4fee\u6539   gamma   (   Float   )   -   \u53ef \u4fee\u6539   image _ size _ x   (   Int   )   -   \u53ef \u4fee\u6539   image _ size _ y   (   Int   )   -   \u53ef \u4fee\u6539   iso   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ falloff   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ multiplier   (   Float   )   -   \u53ef \u4fee\u6539   lens _ flare _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   lens _ k   (   Float   )   -   \u53ef \u4fee\u6539   lens _ kcube   (   Float   )   -   \u53ef \u4fee\u6539   lens _ x _ size   (   Float   )   -   \u53ef \u4fee\u6539   lens _ y _ size   (   Float   )   -   \u53ef \u4fee\u6539   log _ eps   (   Float   )   -   \u53ef \u4fee\u6539   min _ fstop   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ max _ distortion   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ min _ object _ screen _ size   (   Float   )   -   \u53ef \u4fee\u6539   negative _ threshold   (   Float   )   -   \u53ef \u4fee\u6539   positive _ threshold   (   Float   )   -   \u53ef \u4fee\u6539   refractory _ period _ ns   (   Int   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   shoulder   (   Float   )   -   \u53ef \u4fee\u6539   shutter _ speed   (   Float   )   -   \u53ef \u4fee\u6539   sigma _ negative _ threshold   (   Float   )   -   \u53ef \u4fee\u6539   sigma _ positive _ threshold   (   Float   )   -   \u53ef \u4fee\u6539   slope   (   Float   )   -   \u53ef \u4fee\u6539   temp   (   Float   )   -   \u53ef \u4fee\u6539   tint   (   Float   )   -   \u53ef \u4fee\u6539   toe   (   Float   )   -   \u53ef \u4fee\u6539   use _ log   (   Bool   )   -   \u53ef \u4fee\u6539   white _ clip   (   Float   )   -   \u53ef \u4fee\u6539   sensor . camera . optical _ flow   \u5c5e\u6027 \uff1a   fov   (   Float   )   -   \u53ef \u4fee\u6539   image _ size _ x   (   Int   )   -   \u53ef \u4fee\u6539   image _ size _ y   (   Int   )   -   \u53ef \u4fee\u6539   lens _ circle _ falloff   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ multiplier   (   Float   )   -   \u53ef \u4fee\u6539   lens _ k   (   Float   )   -   \u53ef \u4fee\u6539   lens _ kcube   (   Float   )   -   \u53ef \u4fee\u6539   lens _ x _ size   (   Float   )   -   \u53ef \u4fee\u6539   lens _ y _ size   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . camera . rgb   \u5c5e\u6027 \uff1a   black _ clip   (   Float   )   -   \u53ef \u4fee\u6539   blade _ count   (   Int   )   -   \u53ef \u4fee\u6539   bloom _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   blur _ amount   (   Float   )   -   \u53ef \u4fee\u6539   blur _ radius   (   Float   )   -   \u53ef \u4fee\u6539   calibration _ constant   (   Float   )   -   \u53ef \u4fee\u6539   chromatic _ aberration _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   chromatic _ aberration _ offset   (   Float   )   -   \u53ef \u4fee\u6539   enable _ postprocess _ effects   (   Bool   )   -   \u53ef \u4fee\u6539   exposure _ compensation   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ max _ bright   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ min _ bright   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ mode   (   String   )   -   \u53ef \u4fee\u6539   exposure _ speed _ down   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ speed _ up   (   Float   )   -   \u53ef \u4fee\u6539   focal _ distance   (   Float   )   -   \u53ef \u4fee\u6539   fov   (   Float   )   -   \u53ef \u4fee\u6539   fstop   (   Float   )   -   \u53ef \u4fee\u6539   gamma   (   Float   )   -   \u53ef \u4fee\u6539   image _ size _ x   (   Int   )   -   \u53ef \u4fee\u6539   image _ size _ y   (   Int   )   -   \u53ef \u4fee\u6539   iso   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ falloff   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ multiplier   (   Float   )   -   \u53ef \u4fee\u6539   lens _ flare _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   lens _ k   (   Float   )   -   \u53ef \u4fee\u6539   lens _ kcube   (   Float   )   -   \u53ef \u4fee\u6539   lens _ x _ size   (   Float   )   -   \u53ef \u4fee\u6539   lens _ y _ size   (   Float   )   -   \u53ef \u4fee\u6539   min _ fstop   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ max _ distortion   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ min _ object _ screen _ size   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   shoulder   (   Float   )   -   \u53ef \u4fee\u6539   shutter _ speed   (   Float   )   -   \u53ef \u4fee\u6539   slope   (   Float   )   -   \u53ef \u4fee\u6539   temp   (   Float   )   -   \u53ef \u4fee\u6539   tint   (   Float   )   -   \u53ef \u4fee\u6539   toe   (   Float   )   -   \u53ef \u4fee\u6539   white _ clip   (   Float   )   -   \u53ef \u4fee\u6539   sensor . camera . semantic _ segmentation   \u5c5e\u6027 \uff1a   fov   (   Float   )   -   \u53ef \u4fee\u6539   image _ size _ x   (   Int   )   -   \u53ef \u4fee\u6539   image _ size _ y   (   Int   )   -   \u53ef \u4fee\u6539   lens _ circle _ falloff   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ multiplier   (   Float   )   -   \u53ef \u4fee\u6539   lens _ k   (   Float   )   -   \u53ef \u4fee\u6539   lens _ kcube   (   Float   )   -   \u53ef \u4fee\u6539   lens _ x _ size   (   Float   )   -   \u53ef \u4fee\u6539   lens _ y _ size   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . lidar . ray _ cast   \u5c5e\u6027 \uff1a   atmosphere _ attenuation _ rate   (   Float   )   -   \u53ef \u4fee\u6539   channels   (   Int   )   -   \u53ef \u4fee\u6539   dropoff _ general _ rate   (   Float   )   -   \u53ef \u4fee\u6539   dropoff _ intensity _ limit   (   Float   )   -   \u53ef \u4fee\u6539   dropoff _ zero _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   horizontal _ fov   (   Float   )   -   \u53ef \u4fee\u6539   lower _ fov   (   Float   )   -   \u53ef \u4fee\u6539   noise _ seed   (   Int   )   -   \u53ef \u4fee\u6539   noise _ stddev   (   Float   )   -   \u53ef \u4fee\u6539   points _ per _ second   (   Int   )   -   \u53ef \u4fee\u6539   range   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   rotation _ frequency   (   Float   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   upper _ fov   (   Float   )   -   \u53ef \u4fee\u6539   sensor . lidar . ray _ cast _ semantic   \u5c5e\u6027 \uff1a   channels   (   Int   )   -   \u53ef \u4fee\u6539   horizontal _ fov   (   Float   )   -   \u53ef \u4fee\u6539   lower _ fov   (   Float   )   -   \u53ef \u4fee\u6539   points _ per _ second   (   Int   )   -   \u53ef \u4fee\u6539   range   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   rotation _ frequency   (   Float   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   upper _ fov   (   Float   )   -   \u53ef \u4fee\u6539   sensor . other . collision   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor . other . gnss   \u5c5e\u6027 \uff1a   noise _ alt _ bias   (   Float   )   -   \u53ef \u4fee\u6539   noise _ alt _ stddev   (   Float   )   -   \u53ef \u4fee\u6539   noise _ lat _ bias   (   Float   )   -   \u53ef \u4fee\u6539   noise _ lat _ stddev   (   Float   )   -   \u53ef \u4fee\u6539   noise _ lon _ bias   (   Float   )   -   \u53ef \u4fee\u6539   noise _ lon _ stddev   (   Float   )   -   \u53ef \u4fee\u6539   noise _ seed   (   Int   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . other . imu   \u5c5e\u6027 \uff1a   noise _ accel _ stddev _ x   (   Float   )   -   \u53ef \u4fee\u6539   noise _ accel _ stddev _ y   (   Float   )   -   \u53ef \u4fee\u6539   noise _ accel _ stddev _ z   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ bias _ x   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ bias _ y   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ bias _ z   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ stddev _ x   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ stddev _ y   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ stddev _ z   (   Float   )   -   \u53ef \u4fee\u6539   noise _ seed   (   Int   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . other . lane _ invasion   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor . other . obstacle   \u5c5e\u6027 \uff1a   debug _ linetrace   (   Bool   )   -   \u53ef \u4fee\u6539   distance   (   Float   )   -   \u53ef \u4fee\u6539   hit _ radius   (   Float   )   -   \u53ef \u4fee\u6539   only _ dynamics   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . other . radar   \u5c5e\u6027 \uff1a   horizontal _ fov   (   Float   )   -   \u53ef \u4fee\u6539   noise _ seed   (   Int   )   -   \u53ef \u4fee\u6539   points _ per _ second   (   Int   )   -   \u53ef \u4fee\u6539   range   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   vertical _ fov   (   Float   )   -   \u53ef \u4fee\u6539   sensor . other . rss   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   static   static . prop . advertisement   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . atm   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . barbeque   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . barrel   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . bench01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . bench02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . bench03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . bike   helmet   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . bin   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . box01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . box02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . box03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . briefcase   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . brokentile01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . brokentile02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . brokentile03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . brokentile04   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . busstop   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . calibrator   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . chainbarrier   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . chainbarrierend   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . clothcontainer   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . clothesline   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . colacan   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . constructioncone   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . container   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . creasedbox01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . creasedbox02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . creasedbox03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . dirtdebris01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . dirtdebris02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . dirtdebris03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . doghouse   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . fountain   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage04   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage05   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage06   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . gardenlamp   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . glasscontainer   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . gnome   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . guitarcase   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . ironplank   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . kiosk _ 01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . mailbox   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . maptable   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . mesh   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   static . prop . mobile   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . motorhelmet   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . omri - 0   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . omri - 1   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . pergola   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot04   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot05   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot06   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot07   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot08   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plasticbag   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plasticchair   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plastictable   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . platformgarbage01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . purse   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . shoppingbag   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . shoppingcart   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . shoppingtrolley   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . slide   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . streetbarrier   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . streetfountain   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . streetsign   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . streetsign01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . streetsign04   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . swing   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . swingcouch   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . table   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trafficcone01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trafficcone02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trafficwarning   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trampoline   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashbag   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashcan01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashcan02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashcan03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashcan04   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashcan05   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . travelcase   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . vendingmachine   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . wateringcan   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . trigger . friction   \u5c5e\u6027 \uff1a   extent _ x   (   Float   )   -   \u53ef \u4fee\u6539   extent _ y   (   Float   )   -   \u53ef \u4fee\u6539   extent _ z   (   Float   )   -   \u53ef \u4fee\u6539   friction   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   vehicle   vehicle . audi . a2   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . audi . etron   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . audi . tt   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . bh . crossbike   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . bmw . grandtourer   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . carlamotors . carlacola   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . carlamotors . firetruck   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . chevrolet . impala   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . citroen . c3   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . diamondback . century   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . dodge . charger _ 2020   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . dodge . charger _ police   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . dodge . charger _ police _ 2020   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . ford . ambulance   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . ford . crown   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . ford . mustang   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . gazelle . omafiets   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . harley - davidson . low _ rider   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . jeep . wrangler _ rubicon   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . kawasaki . ninja   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . lincoln . mkz _ 2017   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . lincoln . mkz _ 2020   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . mercedes . coupe   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . mercedes . coupe _ 2020   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . mercedes . sprinter   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . micro . microlino   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . mini . cooper _ s   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . mini . cooper _ s _ 2021   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . nissan . micra   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . nissan . patrol   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . nissan . patrol _ 2021   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . seat . leon   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . tesla . cybertruck   \u5c5e\u6027 \uff1a   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . tesla . model3   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . toyota . prius   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . vespa . zx125   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . volkswagen . t2   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . volkswagen . t2 _ 2021   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . yamaha . yzf   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   walker   walker . pedestrian.0001   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0002   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0003   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0004   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0005   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0006   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0007   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0008   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0009   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0010   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0011   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0012   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0013   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0014   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0015   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0016   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0017   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0018   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0019   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0020   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0021   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0022   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0023   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0024   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0025   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0026   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0027   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0028   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0029   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0030   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0031   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0032   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0033   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0034   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0035   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0036   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0037   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0038   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0039   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0040   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0041   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0042   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0043   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0044   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0045   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0046   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0047   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0048   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539","title":"Bp   library"},{"location":"bp_library/#_1","text":"\u84dd \u56fe\u5e93   (   carla . BlueprintLibrary   )   \u662f   Carla   \u4e2d \u7528\u4e8e \u53ef\u7528 \u7684 \u6240\u6709 \u5185\u5bb9   carla . ActorBlueprint   \u53ca\u5176 \u5c5e\u6027   (   carla . ActorAttribute   )   \u7684 \u6458\u8981 \u3002   \u4ee5\u4e0b \u662f \u6253\u5370 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u84dd\u56fe \u53ca\u5176 \u5c5e\u6027 \u7684 \u793a\u4f8b \u4ee3\u7801 \uff1a   blueprints   =   [ bp   for   bp   in   world . get _ blueprint _ library ( ) . filter ( ' * ' ) ]   for   blueprint   in   blueprints :   print ( blueprint . id )   for   attr   in   blueprint :   print ( '   -   { } ' . format ( attr ) )   \u67e5\u770b   \u84dd\u56fe \u7684 \u4ecb\u7ecd   \u3002","title":"\u84dd \u56fe\u5e93"},{"location":"bp_library/#_2","text":"controller . ai . walker   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539","title":"\u63a7\u5236\u5668"},{"location":"bp_library/#_3","text":"sensor . camera . depth   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   fov   (   Float   )   -   \u53ef \u4fee\u6539   image _ size _ x   (   Int   )   -   \u53ef \u4fee\u6539   image _ size _ y   (   Int   )   -   \u53ef \u4fee\u6539   lens _ circle _ falloff   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ multiplier   (   Float   )   -   \u53ef \u4fee\u6539   lens _ k   (   Float   )   -   \u53ef \u4fee\u6539   lens _ kcube   (   Float   )   -   \u53ef \u4fee\u6539   lens _ x _ size   (   Float   )   -   \u53ef \u4fee\u6539   lens _ y _ size   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . camera . dvs   \u5c5e\u6027 \uff1a   black _ clip   (   Float   )   -   \u53ef \u4fee\u6539   blade _ count   (   Int   )   -   \u53ef \u4fee\u6539   bloom _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   blur _ amount   (   Float   )   -   \u53ef \u4fee\u6539   blur _ radius   (   Float   )   -   \u53ef \u4fee\u6539   calibration _ constant   (   Float   )   -   \u53ef \u4fee\u6539   chromatic _ aberration _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   chromatic _ aberration _ offset   (   Float   )   -   \u53ef \u4fee\u6539   enable _ postprocess _ effects   (   Bool   )   -   \u53ef \u4fee\u6539   exposure _ compensation   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ max _ bright   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ min _ bright   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ mode   (   String   )   -   \u53ef \u4fee\u6539   exposure _ speed _ down   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ speed _ up   (   Float   )   -   \u53ef \u4fee\u6539   focal _ distance   (   Float   )   -   \u53ef \u4fee\u6539   fov   (   Float   )   -   \u53ef \u4fee\u6539   fstop   (   Float   )   -   \u53ef \u4fee\u6539   gamma   (   Float   )   -   \u53ef \u4fee\u6539   image _ size _ x   (   Int   )   -   \u53ef \u4fee\u6539   image _ size _ y   (   Int   )   -   \u53ef \u4fee\u6539   iso   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ falloff   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ multiplier   (   Float   )   -   \u53ef \u4fee\u6539   lens _ flare _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   lens _ k   (   Float   )   -   \u53ef \u4fee\u6539   lens _ kcube   (   Float   )   -   \u53ef \u4fee\u6539   lens _ x _ size   (   Float   )   -   \u53ef \u4fee\u6539   lens _ y _ size   (   Float   )   -   \u53ef \u4fee\u6539   log _ eps   (   Float   )   -   \u53ef \u4fee\u6539   min _ fstop   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ max _ distortion   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ min _ object _ screen _ size   (   Float   )   -   \u53ef \u4fee\u6539   negative _ threshold   (   Float   )   -   \u53ef \u4fee\u6539   positive _ threshold   (   Float   )   -   \u53ef \u4fee\u6539   refractory _ period _ ns   (   Int   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   shoulder   (   Float   )   -   \u53ef \u4fee\u6539   shutter _ speed   (   Float   )   -   \u53ef \u4fee\u6539   sigma _ negative _ threshold   (   Float   )   -   \u53ef \u4fee\u6539   sigma _ positive _ threshold   (   Float   )   -   \u53ef \u4fee\u6539   slope   (   Float   )   -   \u53ef \u4fee\u6539   temp   (   Float   )   -   \u53ef \u4fee\u6539   tint   (   Float   )   -   \u53ef \u4fee\u6539   toe   (   Float   )   -   \u53ef \u4fee\u6539   use _ log   (   Bool   )   -   \u53ef \u4fee\u6539   white _ clip   (   Float   )   -   \u53ef \u4fee\u6539   sensor . camera . optical _ flow   \u5c5e\u6027 \uff1a   fov   (   Float   )   -   \u53ef \u4fee\u6539   image _ size _ x   (   Int   )   -   \u53ef \u4fee\u6539   image _ size _ y   (   Int   )   -   \u53ef \u4fee\u6539   lens _ circle _ falloff   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ multiplier   (   Float   )   -   \u53ef \u4fee\u6539   lens _ k   (   Float   )   -   \u53ef \u4fee\u6539   lens _ kcube   (   Float   )   -   \u53ef \u4fee\u6539   lens _ x _ size   (   Float   )   -   \u53ef \u4fee\u6539   lens _ y _ size   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . camera . rgb   \u5c5e\u6027 \uff1a   black _ clip   (   Float   )   -   \u53ef \u4fee\u6539   blade _ count   (   Int   )   -   \u53ef \u4fee\u6539   bloom _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   blur _ amount   (   Float   )   -   \u53ef \u4fee\u6539   blur _ radius   (   Float   )   -   \u53ef \u4fee\u6539   calibration _ constant   (   Float   )   -   \u53ef \u4fee\u6539   chromatic _ aberration _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   chromatic _ aberration _ offset   (   Float   )   -   \u53ef \u4fee\u6539   enable _ postprocess _ effects   (   Bool   )   -   \u53ef \u4fee\u6539   exposure _ compensation   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ max _ bright   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ min _ bright   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ mode   (   String   )   -   \u53ef \u4fee\u6539   exposure _ speed _ down   (   Float   )   -   \u53ef \u4fee\u6539   exposure _ speed _ up   (   Float   )   -   \u53ef \u4fee\u6539   focal _ distance   (   Float   )   -   \u53ef \u4fee\u6539   fov   (   Float   )   -   \u53ef \u4fee\u6539   fstop   (   Float   )   -   \u53ef \u4fee\u6539   gamma   (   Float   )   -   \u53ef \u4fee\u6539   image _ size _ x   (   Int   )   -   \u53ef \u4fee\u6539   image _ size _ y   (   Int   )   -   \u53ef \u4fee\u6539   iso   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ falloff   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ multiplier   (   Float   )   -   \u53ef \u4fee\u6539   lens _ flare _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   lens _ k   (   Float   )   -   \u53ef \u4fee\u6539   lens _ kcube   (   Float   )   -   \u53ef \u4fee\u6539   lens _ x _ size   (   Float   )   -   \u53ef \u4fee\u6539   lens _ y _ size   (   Float   )   -   \u53ef \u4fee\u6539   min _ fstop   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ max _ distortion   (   Float   )   -   \u53ef \u4fee\u6539   motion _ blur _ min _ object _ screen _ size   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   shoulder   (   Float   )   -   \u53ef \u4fee\u6539   shutter _ speed   (   Float   )   -   \u53ef \u4fee\u6539   slope   (   Float   )   -   \u53ef \u4fee\u6539   temp   (   Float   )   -   \u53ef \u4fee\u6539   tint   (   Float   )   -   \u53ef \u4fee\u6539   toe   (   Float   )   -   \u53ef \u4fee\u6539   white _ clip   (   Float   )   -   \u53ef \u4fee\u6539   sensor . camera . semantic _ segmentation   \u5c5e\u6027 \uff1a   fov   (   Float   )   -   \u53ef \u4fee\u6539   image _ size _ x   (   Int   )   -   \u53ef \u4fee\u6539   image _ size _ y   (   Int   )   -   \u53ef \u4fee\u6539   lens _ circle _ falloff   (   Float   )   -   \u53ef \u4fee\u6539   lens _ circle _ multiplier   (   Float   )   -   \u53ef \u4fee\u6539   lens _ k   (   Float   )   -   \u53ef \u4fee\u6539   lens _ kcube   (   Float   )   -   \u53ef \u4fee\u6539   lens _ x _ size   (   Float   )   -   \u53ef \u4fee\u6539   lens _ y _ size   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . lidar . ray _ cast   \u5c5e\u6027 \uff1a   atmosphere _ attenuation _ rate   (   Float   )   -   \u53ef \u4fee\u6539   channels   (   Int   )   -   \u53ef \u4fee\u6539   dropoff _ general _ rate   (   Float   )   -   \u53ef \u4fee\u6539   dropoff _ intensity _ limit   (   Float   )   -   \u53ef \u4fee\u6539   dropoff _ zero _ intensity   (   Float   )   -   \u53ef \u4fee\u6539   horizontal _ fov   (   Float   )   -   \u53ef \u4fee\u6539   lower _ fov   (   Float   )   -   \u53ef \u4fee\u6539   noise _ seed   (   Int   )   -   \u53ef \u4fee\u6539   noise _ stddev   (   Float   )   -   \u53ef \u4fee\u6539   points _ per _ second   (   Int   )   -   \u53ef \u4fee\u6539   range   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   rotation _ frequency   (   Float   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   upper _ fov   (   Float   )   -   \u53ef \u4fee\u6539   sensor . lidar . ray _ cast _ semantic   \u5c5e\u6027 \uff1a   channels   (   Int   )   -   \u53ef \u4fee\u6539   horizontal _ fov   (   Float   )   -   \u53ef \u4fee\u6539   lower _ fov   (   Float   )   -   \u53ef \u4fee\u6539   points _ per _ second   (   Int   )   -   \u53ef \u4fee\u6539   range   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   rotation _ frequency   (   Float   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   upper _ fov   (   Float   )   -   \u53ef \u4fee\u6539   sensor . other . collision   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor . other . gnss   \u5c5e\u6027 \uff1a   noise _ alt _ bias   (   Float   )   -   \u53ef \u4fee\u6539   noise _ alt _ stddev   (   Float   )   -   \u53ef \u4fee\u6539   noise _ lat _ bias   (   Float   )   -   \u53ef \u4fee\u6539   noise _ lat _ stddev   (   Float   )   -   \u53ef \u4fee\u6539   noise _ lon _ bias   (   Float   )   -   \u53ef \u4fee\u6539   noise _ lon _ stddev   (   Float   )   -   \u53ef \u4fee\u6539   noise _ seed   (   Int   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . other . imu   \u5c5e\u6027 \uff1a   noise _ accel _ stddev _ x   (   Float   )   -   \u53ef \u4fee\u6539   noise _ accel _ stddev _ y   (   Float   )   -   \u53ef \u4fee\u6539   noise _ accel _ stddev _ z   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ bias _ x   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ bias _ y   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ bias _ z   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ stddev _ x   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ stddev _ y   (   Float   )   -   \u53ef \u4fee\u6539   noise _ gyro _ stddev _ z   (   Float   )   -   \u53ef \u4fee\u6539   noise _ seed   (   Int   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . other . lane _ invasion   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor . other . obstacle   \u5c5e\u6027 \uff1a   debug _ linetrace   (   Bool   )   -   \u53ef \u4fee\u6539   distance   (   Float   )   -   \u53ef \u4fee\u6539   hit _ radius   (   Float   )   -   \u53ef \u4fee\u6539   only _ dynamics   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   sensor . other . radar   \u5c5e\u6027 \uff1a   horizontal _ fov   (   Float   )   -   \u53ef \u4fee\u6539   noise _ seed   (   Int   )   -   \u53ef \u4fee\u6539   points _ per _ second   (   Int   )   -   \u53ef \u4fee\u6539   range   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sensor _ tick   (   Float   )   -   \u53ef \u4fee\u6539   vertical _ fov   (   Float   )   -   \u53ef \u4fee\u6539   sensor . other . rss   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539","title":"\u4f20\u611f\u5668"},{"location":"bp_library/#static","text":"static . prop . advertisement   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . atm   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . barbeque   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . barrel   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . bench01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . bench02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . bench03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . bike   helmet   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . bin   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . box01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . box02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . box03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . briefcase   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . brokentile01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . brokentile02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . brokentile03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . brokentile04   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . busstop   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . calibrator   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . chainbarrier   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . chainbarrierend   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . clothcontainer   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . clothesline   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . colacan   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . constructioncone   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . container   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . creasedbox01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . creasedbox02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . creasedbox03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . dirtdebris01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . dirtdebris02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . dirtdebris03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . doghouse   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . fountain   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage04   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage05   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . garbage06   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . gardenlamp   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . glasscontainer   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . gnome   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . guitarcase   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . ironplank   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . kiosk _ 01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . mailbox   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . maptable   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . mesh   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   static . prop . mobile   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . motorhelmet   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . omri - 0   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . omri - 1   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . pergola   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot04   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot05   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot06   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot07   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plantpot08   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plasticbag   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plasticchair   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . plastictable   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . platformgarbage01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . purse   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . shoppingbag   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . shoppingcart   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . shoppingtrolley   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . slide   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . streetbarrier   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . streetfountain   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . streetsign   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . streetsign01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . streetsign04   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . swing   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . swingcouch   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . table   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trafficcone01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trafficcone02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trafficwarning   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trampoline   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashbag   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashcan01   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashcan02   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashcan03   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashcan04   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . trashcan05   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . travelcase   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . vendingmachine   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . prop . wateringcan   \u5c5e\u6027 \uff1a   role _ name   (   String   )   -   \u53ef \u4fee\u6539   size   (   String   )   static . trigger . friction   \u5c5e\u6027 \uff1a   extent _ x   (   Float   )   -   \u53ef \u4fee\u6539   extent _ y   (   Float   )   -   \u53ef \u4fee\u6539   extent _ z   (   Float   )   -   \u53ef \u4fee\u6539   friction   (   Float   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539","title":"static"},{"location":"bp_library/#vehicle","text":"vehicle . audi . a2   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . audi . etron   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . audi . tt   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . bh . crossbike   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . bmw . grandtourer   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . carlamotors . carlacola   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . carlamotors . firetruck   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . chevrolet . impala   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . citroen . c3   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . diamondback . century   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . dodge . charger _ 2020   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . dodge . charger _ police   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . dodge . charger _ police _ 2020   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . ford . ambulance   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . ford . crown   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . ford . mustang   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . gazelle . omafiets   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . harley - davidson . low _ rider   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . jeep . wrangler _ rubicon   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . kawasaki . ninja   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . lincoln . mkz _ 2017   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . lincoln . mkz _ 2020   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . mercedes . coupe   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . mercedes . coupe _ 2020   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . mercedes . sprinter   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . micro . microlino   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . mini . cooper _ s   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . mini . cooper _ s _ 2021   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . nissan . micra   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . nissan . patrol   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . nissan . patrol _ 2021   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . seat . leon   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . tesla . cybertruck   \u5c5e\u6027 \uff1a   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . tesla . model3   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . toyota . prius   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . vespa . zx125   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . volkswagen . t2   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . volkswagen . t2 _ 2021   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539   vehicle . yamaha . yzf   \u5c5e\u6027 \uff1a   color   (   RGBColor   )   -   \u53ef \u4fee\u6539   driver _ id   (   Int   )   -   \u53ef \u4fee\u6539   generation   (   Int   )   number _ of _ wheels   (   Int   )   object _ type   (   String   )   role _ name   (   String   )   -   \u53ef \u4fee\u6539   sticky _ control   (   Bool   )   -   \u53ef \u4fee\u6539","title":"vehicle"},{"location":"bp_library/#walker","text":"walker . pedestrian.0001   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0002   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0003   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0004   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0005   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0006   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0007   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0008   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0009   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0010   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0011   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0012   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0013   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0014   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0015   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0016   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0017   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0018   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0019   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0020   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0021   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0022   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0023   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0024   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0025   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0026   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0027   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0028   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0029   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0030   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0031   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0032   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0033   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0034   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0035   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0036   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0037   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0038   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0039   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0040   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0041   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0042   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0043   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0044   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0045   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0046   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0047   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539   walker . pedestrian.0048   \u5c5e\u6027 \uff1a   age   (   String   )   gender   (   String   )   generation   (   Int   )   is _ invincible   (   Bool   )   -   \u53ef \u4fee\u6539   role _ name   (   String   )   -   \u53ef \u4fee\u6539   speed   (   Float   )   -   \u53ef \u4fee\u6539","title":"walker"},{"location":"build_carla/","text":"\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla   \u7528\u6237 \u53ef\u4ee5 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla   \u4ee5 \u7528\u4e8e \u5f00\u53d1 \u76ee\u7684 \u3002 \u5982\u679c \u60a8 \u60f3\u8981 \u5411   Carla   \u6dfb\u52a0 \u989d\u5916 \u7684 \u7279\u6027 \u6216 \u529f\u80fd \uff0c \u6216\u8005 \u60f3\u8981 \u4f7f\u7528 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u521b\u5efa \u8d44\u6e90 \u6216 \u64cd\u4f5c \u5730\u56fe \uff0c \u5219 \u5efa\u8bae \u5efa\u8bae\u60a8 \u8fd9\u6837 \u505a \u3002   \u6784\u5efa \u8bf4\u660e \u9002\u7528 \u4e8e   Linux   \u548c   Windows \u3002 \u60a8 \u8fd8 \u53ef\u4ee5 \u5728   Docker   \u5bb9\u5668 \u4e2d \u6784\u5efa   Carla \uff0c \u4ee5\u4fbf \u90e8\u7f72 \u5728   AWS \u3001 Azure   \u6216   Google   \u4e91 \u670d\u52a1 \u4e2d \u3002 \u8bbf\u95ee   Carla   GitHub   \u5e76 \u514b\u9686 \u5b58\u50a8 \u5e93 \u3002   Linux   \u6784\u5efa   Windows   \u6784\u5efa   Docker   \u5e26 \u865a\u5e7b \u5f15\u64ce \u7684   Docker   \u66f4\u65b0   Carla   \u6784\u5efa \u7cfb\u7edf   \u5728   Linux   \u4e0a \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   5.3   \u6784\u5efa   \u5728   Windows   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   5.3   \u6784\u5efa   \u5e38\u89c1 \u95ee\u9898 \u5e38\u89c1\u95ee\u9898   \u79d1\u5b66 \u4e0a\u7f51   \u53c2\u8003 \u5176\u4e2d \u7684 \u4e00\u4e2a \u94fe\u63a5 \u8fdb\u884c \u79d1\u5b66 \u4e0a\u7f51 \u7684 \u8ba2\u9605 \u548c \u73af\u5883 \u914d\u7f6e \uff1a   \u94fe\u63a5 1   \u3001   \u94fe\u63a5 2   \u3001   \u94fe\u63a5 3   \u3001   \u94fe\u63a5 4   \u3002   \u6bd4\u5982 \u4f7f\u7528 Clash \uff0c \u9996\u5148 \u5728   \u914d\u7f6e   \u9875\u9762 \u4e0b \u6839\u636e \u8ba2\u9605 \u94fe\u63a5 \u8fdb\u884c \u4e0b\u8f7d \uff0c \u7136\u540e \u5728   \u5e38\u89c4   \u9875\u9762 \u5f00\u542f   \u7cfb\u7edf \u4ee3\u7406   \uff0c \u6700\u540e \u6d4b\u8bd5 \u662f\u5426 \u53ef\u4ee5 \u6b63\u5e38 \u79d1\u5b66 \u4e0a\u7f51 \u3002   Ubuntu   \u4e0b \u7684 \u914d\u7f6e   Linux   \u79d1\u5b66 \u4e0a\u7f51 \u914d\u7f6e   \u6559\u7a0b   \u3002 \u4e0b\u8f7d   clash   \u3002   \u9996\u6b21 \u542f\u52a8   clash   \uff0c \u4f1a \u65b0\u5efa \u6587\u4ef6   ~ / . config / clash / config . yaml   \uff1a   cd   $ HOME / . config / clash /   \u5c06 Clash \u4e2d \u7684 \u8ba2\u9605 \u5730\u5740 \u5199\u5165   config . yaml   \u6587\u4ef6 \u3002   \u6253\u5f00   Ubuntu   \u7684 \u201c \u8bbe\u7f6e \u201d \u7ba1\u7406 \uff0c \u5728 \u201c \u7f51\u7edc \u201d \u5185 \u5c06 \u201c \u7f51\u7edc \u4ee3\u7406 \u201d \u7684 \u201c \u81ea\u52a8 \u201d \u6539\u4e3a \u201c \u624b\u52a8 \u201d \uff0c \u6839\u636e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u8fdb\u884c \u586b\u5199   HTTP \u3001 HTTPS   \u548c   Socks   \u5730\u5740   #   HTTP   \u4ee3\u7406   127.0 . 0.1 : 7890   #   HTTPS   \u4ee3\u7406   127.0 . 0.1 : 7890   #   Socks   \u4e3b\u673a   127.0 . 0.1 : 7891   TortoiseGit   \u7f51\u7edc \u4ee3\u7406 \u914d\u7f6e   \u5982\u679c \u4f7f\u7528 TortoiseGit \u4f5c\u4e3a git \u7684 \u56fe\u5f62 \u56fe\u5f62\u5316 \u754c\u9762 \u8f6f\u4ef6 \uff0c \u9996\u9875 \u5728 \u6587\u4ef6 \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668 \u7a7a\u767d \u4f4d\u7f6e \u53f3\u952e \uff0c \u9009\u62e9   TortoiseGit - > Setting   \uff0c \u7136\u540e \u5728 \u5f39\u51fa \u7684 \u754c\u9762 \u8fdb\u884c \u5982\u4e0b \u914d\u7f6e \uff1a   \u5176\u4ed6   \u865a\u5e7b \u5f15\u64ce commandlet   \u865a\u5e7b \u5f15\u64ce \u7ba1\u7ebf","title":"\u4ece \u6e90\u4ee3\u7801 \u6784\u5efa   Carla"},{"location":"build_carla/#carla","text":"\u7528\u6237 \u53ef\u4ee5 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla   \u4ee5 \u7528\u4e8e \u5f00\u53d1 \u76ee\u7684 \u3002 \u5982\u679c \u60a8 \u60f3\u8981 \u5411   Carla   \u6dfb\u52a0 \u989d\u5916 \u7684 \u7279\u6027 \u6216 \u529f\u80fd \uff0c \u6216\u8005 \u60f3\u8981 \u4f7f\u7528 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u521b\u5efa \u8d44\u6e90 \u6216 \u64cd\u4f5c \u5730\u56fe \uff0c \u5219 \u5efa\u8bae \u5efa\u8bae\u60a8 \u8fd9\u6837 \u505a \u3002   \u6784\u5efa \u8bf4\u660e \u9002\u7528 \u4e8e   Linux   \u548c   Windows \u3002 \u60a8 \u8fd8 \u53ef\u4ee5 \u5728   Docker   \u5bb9\u5668 \u4e2d \u6784\u5efa   Carla \uff0c \u4ee5\u4fbf \u90e8\u7f72 \u5728   AWS \u3001 Azure   \u6216   Google   \u4e91 \u670d\u52a1 \u4e2d \u3002 \u8bbf\u95ee   Carla   GitHub   \u5e76 \u514b\u9686 \u5b58\u50a8 \u5e93 \u3002   Linux   \u6784\u5efa   Windows   \u6784\u5efa   Docker   \u5e26 \u865a\u5e7b \u5f15\u64ce \u7684   Docker   \u66f4\u65b0   Carla   \u6784\u5efa \u7cfb\u7edf   \u5728   Linux   \u4e0a \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   5.3   \u6784\u5efa   \u5728   Windows   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   5.3   \u6784\u5efa   \u5e38\u89c1 \u95ee\u9898 \u5e38\u89c1\u95ee\u9898","title":"\u4ece \u6e90\u4ee3\u7801 \u6784\u5efa   Carla"},{"location":"build_carla/#_1","text":"\u53c2\u8003 \u5176\u4e2d \u7684 \u4e00\u4e2a \u94fe\u63a5 \u8fdb\u884c \u79d1\u5b66 \u4e0a\u7f51 \u7684 \u8ba2\u9605 \u548c \u73af\u5883 \u914d\u7f6e \uff1a   \u94fe\u63a5 1   \u3001   \u94fe\u63a5 2   \u3001   \u94fe\u63a5 3   \u3001   \u94fe\u63a5 4   \u3002   \u6bd4\u5982 \u4f7f\u7528 Clash \uff0c \u9996\u5148 \u5728   \u914d\u7f6e   \u9875\u9762 \u4e0b \u6839\u636e \u8ba2\u9605 \u94fe\u63a5 \u8fdb\u884c \u4e0b\u8f7d \uff0c \u7136\u540e \u5728   \u5e38\u89c4   \u9875\u9762 \u5f00\u542f   \u7cfb\u7edf \u4ee3\u7406   \uff0c \u6700\u540e \u6d4b\u8bd5 \u662f\u5426 \u53ef\u4ee5 \u6b63\u5e38 \u79d1\u5b66 \u4e0a\u7f51 \u3002","title":"\u79d1\u5b66 \u4e0a\u7f51  "},{"location":"build_carla/#ubuntu","text":"Linux   \u79d1\u5b66 \u4e0a\u7f51 \u914d\u7f6e   \u6559\u7a0b   \u3002 \u4e0b\u8f7d   clash   \u3002   \u9996\u6b21 \u542f\u52a8   clash   \uff0c \u4f1a \u65b0\u5efa \u6587\u4ef6   ~ / . config / clash / config . yaml   \uff1a   cd   $ HOME / . config / clash /   \u5c06 Clash \u4e2d \u7684 \u8ba2\u9605 \u5730\u5740 \u5199\u5165   config . yaml   \u6587\u4ef6 \u3002   \u6253\u5f00   Ubuntu   \u7684 \u201c \u8bbe\u7f6e \u201d \u7ba1\u7406 \uff0c \u5728 \u201c \u7f51\u7edc \u201d \u5185 \u5c06 \u201c \u7f51\u7edc \u4ee3\u7406 \u201d \u7684 \u201c \u81ea\u52a8 \u201d \u6539\u4e3a \u201c \u624b\u52a8 \u201d \uff0c \u6839\u636e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u8fdb\u884c \u586b\u5199   HTTP \u3001 HTTPS   \u548c   Socks   \u5730\u5740   #   HTTP   \u4ee3\u7406   127.0 . 0.1 : 7890   #   HTTPS   \u4ee3\u7406   127.0 . 0.1 : 7890   #   Socks   \u4e3b\u673a   127.0 . 0.1 : 7891","title":"Ubuntu   \u4e0b \u7684 \u914d\u7f6e"},{"location":"build_carla/#tortoisegit","text":"\u5982\u679c \u4f7f\u7528 TortoiseGit \u4f5c\u4e3a git \u7684 \u56fe\u5f62 \u56fe\u5f62\u5316 \u754c\u9762 \u8f6f\u4ef6 \uff0c \u9996\u9875 \u5728 \u6587\u4ef6 \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668 \u7a7a\u767d \u4f4d\u7f6e \u53f3\u952e \uff0c \u9009\u62e9   TortoiseGit - > Setting   \uff0c \u7136\u540e \u5728 \u5f39\u51fa \u7684 \u754c\u9762 \u8fdb\u884c \u5982\u4e0b \u914d\u7f6e \uff1a","title":"TortoiseGit   \u7f51\u7edc \u4ee3\u7406 \u914d\u7f6e"},{"location":"build_carla/#_2","text":"\u865a\u5e7b \u5f15\u64ce commandlet   \u865a\u5e7b \u5f15\u64ce \u7ba1\u7ebf","title":"\u5176\u4ed6"},{"location":"build_docker/","text":"Docker   \u4e2d \u7684   Carla   \u7528\u6237 \u53ef\u4ee5 \u62c9\u53d6 \u57fa\u4e8e   Carla   \u7248\u672c \u7684 \u6620\u50cf \u4ee5 \u5728   Docker   \u5bb9\u5668 \u4e2d \u8fd0\u884c \u3002 \u8fd9 \u5bf9\u4e8e \u4ee5\u4e0b \u7528\u6237 \u5f88 \u6709\u7528 \uff1a   \u60f3\u8981 \u8fd0\u884c   Carla   \u800c \u4e0d \u9700\u8981 \u5b89\u88c5 \u6240\u6709 \u4f9d\u8d56 \u9879   \u8fd0\u884c \u591a\u4e2a   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5e76 \u6267\u884c   GPU   \u6620\u5c04   \u5728 \u6ca1\u6709 \u663e\u793a \u7684 \u60c5\u51b5 \u4e0b \u8fd0\u884c   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u672c \u6559\u7a0b \u4ecb\u7ecd \u4e86 \u8fd0\u884c   Carla   \u56fe\u50cf \u7684 \u8981\u6c42 \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528   OpenGL   \u548c   Vulkan   \u56fe\u5f62   API   \u8fd0\u884c \u56fe\u50cf \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5728 \u5bb9\u5668 \u4e2d \u8fd0\u884c   Carla   \u79bb\u5c4f \u6a21\u5f0f   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u60a8 \u9700\u8981 \u5b89\u88c5 \uff1a   Docker :   \u6309\u7167   \u6b64\u5904   \u7684 \u5b89\u88c5 \u8bf4\u660e \u8fdb\u884c \u64cd\u4f5c \u3002   NVIDIA   Container   Toolkit :   NVIDIA   \u5bb9\u5668 \u5de5\u5177 \u5de5\u5177\u5305 \u662f \u4e00\u4e2a \u5e93 \u548c \u5de5\u5177 \u5de5\u5177\u96c6 \uff0c \u53ef \u5c06   NVIDIA   \u56fe\u5f62 \u8bbe\u5907 \u516c\u5f00 \u7ed9   Linux   \u5bb9\u5668 \u3002 \u5b83 \u4e13\u4e3a \u5728   Linux   \u4e3b\u673a \u7cfb\u7edf \u6216 \u9002\u7528 \u4e8e   Linux   \u7684   Windows   \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7248\u672c   2   \u4e0b \u7684   Linux   \u53d1\u884c \u53d1\u884c\u7248 \u4e2d \u8fd0\u884c \u7684   Linux   \u5bb9\u5668 \u800c \u8bbe\u8ba1 \u3002   nvidia - docker2   \u6309\u7167   \u6b64\u5904   \u7684 \u8bf4\u660e \u5b89\u88c5 \u8be5 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002   CentOS \u5b89\u88c5 Docker \uff1a   yum   install   - y   yum - utils   device - mapper - persistent - data   lvm2   yum - config - manager   -- add - repo   http : / / mirrors . aliyun . com / docker - ce / linux / centos / docker - ce . repo   yum   list   docker - ce   -- showduplicates   |   sort   - r   yum   - y   install   docker - ce - 18.03 . 1 . ce   docker \u542f\u52a8 \u51fa\u9519 \uff1a   failed   to   start   daemon :   error   initializing   graphdriver :   driver   not   supported   \u89e3\u51b3 \uff1a   rm   - rf   / var / lib / docker / *   systemctl   restart   docker   CentOS   \u5b89\u88c5   NVIDIA   \u5bb9\u5668 \u5de5\u5177 \u5de5\u5177\u5305 \u547d\u4ee4 \uff1a   curl   - s   - L   https : / / nvidia . github . io / libnvidia - container / stable / rpm / nvidia - container - toolkit . repo   |   \\   tee   / etc / yum . repos . d / nvidia - container - toolkit . repo   yum - config - manager   -- enable   nvidia - container - toolkit - experimental   yum   install   - y   nvidia - container - toolkit   nvidia - ctk   runtime   configure   -- runtime = docker   \u7b14\u8bb0   Docker   \u9700\u8981   sudo   \u624d\u80fd \u8fd0\u884c \u3002 \u6309\u7167   \u672c \u6307\u5357   \u5c06 \u7528\u6237 \u6dfb\u52a0 \u5230   docker   sudo   \u7ec4 \u3002   \u5728 \u5bb9\u5668 \u4e2d \u8fd0\u884c   Carla   1 .   \u62c9\u53d6   Carla   \u955c\u50cf \u3002   \u60a8 \u53ef\u4ee5 \u63d0\u53d6 \u6700\u65b0 \u7684   Carla   \u6620\u50cf \u6216 \u7279\u5b9a \u7684 \u53d1\u884c \u7248\u672c \u3002 \u6700\u65b0 \u955c\u50cf \u662f \u6307   \u6700\u65b0 \u7684 \u6253\u5305 \u7248\u672c   \u3002 \u8981\u62c9\u53d6 \u6620\u50cf \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4e4b\u4e00 \uff1a   #   \u62c9\u53d6 \u6700\u65b0 \u7684 \u955c\u50cf   docker   pull   carlasim / carla : latest   #   \u62c9\u53d6 \u7279\u5b9a \u7684 \u7248\u672c   docker   pull   carlasim / carla : 0.9 . 12   2 .   \u8fd0\u884c   Carla   \u5bb9\u5668 \u3002   \u4e0d\u540c \u7248\u672c \u7684   Carla   \u652f\u6301 \u4e0d\u540c \u7684 \u56fe\u5f62   API \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u5f71\u54cd   Docker   \u955c\u50cf \u7684 \u8fd0\u884c \u6761\u4ef6 \uff1a   0.9 . 12   \u4ec5 \u652f\u6301   Vulkan   0.9 . 7 +   \u540c\u65f6 \u652f\u6301   Vulkan   \u548c   OpenGL \u3002   Carla   0.9 . 12   \u8981 \u4f7f\u7528 \u663e\u793a \u8fd0\u884c   Carla \uff1a   sudo   docker   run   -- privileged   -- gpus   all   -- net = host   - e   DISPLAY = $ DISPLAY   carlasim / carla : 0.9 . 12   / bin / bash   . / CarlaUE4 . sh   \u8981 \u5728 \u79bb\u5c4f \u6a21\u5f0f \u4e0b \u8fd0\u884c   Carla \uff1a   sudo   docker   run   -- privileged   -- gpus   all   -- net = host   - v   / tmp / . X11 - unix : / tmp / . X11 - unix : rw   carlasim / carla : 0.9 . 12   / bin / bash   . / CarlaUE4 . sh   - RenderOffScreen   Carla   0.9 . 7   \u81f3   0.9 . 11   \u8981 \u4f7f\u7528   Vulkan   \u8fd0\u884c   Carla \uff1a   sudo   docker   run   -- privileged   -- gpus   all   -- net = host   - e   DISPLAY = $ DISPLAY   - e   SDL _ VIDEODRIVER = x11   - v   / tmp / . X11 - unix : / tmp / . X11 - unix : rw   carlasim / carla : 0.9 . 11   / bin / bash   . / CarlaUE4 . sh   - vulkan   < - additonal - carla - flags >   \u7b14\u8bb0   \u53ea\u8981 \u60a8 \u7684 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u6709 \u663e\u793a \u663e\u793a\u5668 \uff0c \u6b64 \u547d\u4ee4 \u5c06 \u5141\u8bb8 \u60a8 \u4f7f\u7528   Vulkan   \u8fd0\u884c   Carla   \u6620\u50cf \u3002 \u6709\u5173 \u5728 \u79bb\u5c4f \u6a21\u5f0f \u4e0b \u8fd0\u884c   Vulkan   \u7684 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u6e32\u67d3 \u6587\u6863   \u3002   \u8981 \u4f7f\u7528   OpenGL   \u8fd0\u884c   Carla \uff1a   docker   run   - e   DISPLAY = $ DISPLAY   -- net = host   -- gpus   all   -- runtime = nvidia   carlasim / carla : < version >   / bin / bash   CarlaUE4 . sh   - opengl   < - additonal - carla - flags >   3 .   \uff08 \u53ef \u9009 \uff09 \u914d\u7f6e   Docker   \u6807\u5fd7 \u3002   \u4e0a\u9762 \u7684 \u547d\u4ee4 \u4f7f\u7528 \u4e86 \u4e00\u4e9b   Docker   \u6807\u5fd7 \uff0c \u53ef\u4ee5 \u6839\u636e \u60a8 \u7684 \u9700\u8981 \u8fdb\u884c \u914d\u7f6e \uff1a   Networking :   -- net = host   \u53c2\u6570 \u5c06 \u5141\u8bb8 \u5bb9\u5668 \u5171\u4eab \u4e3b\u673a \u7684 \u6574\u4e2a \u7f51\u7edc \u3002 \u5982\u679c \u60a8 \u5e0c\u671b \u5c06 \u4e3b\u673a \u4e0a \u7684 \u7279\u5b9a \u7aef\u53e3   \u6620\u5c04 \u5230 \u5bb9\u5668 \u7aef\u53e3   \uff0c \u8bf7 \u4f7f\u7528 \u6807\u5fd7   - p   < host - ports > : < container - ports >   \u3002   GPUs :   \u60a8 \u53ef\u4ee5 \u4f7f\u7528   -- gpus   all   \u9009\u62e9 \u6709\u6240   GPU \uff0c \u6216\u8005 \u4f7f\u7528   -- gpus   ' \" device = < gpu _ 01 > , < gpu _ 02 > \" '   \u4f7f\u7528 \u7279\u5b9a   GPU \u3002   \u6d4f\u89c8   \u6b64\u5904   \u83b7\u53d6 \u66f4 \u591a \u4fe1\u606f \u3002   \u79bb\u5c4f \u6a21\u5f0f   \u5982\u679c \u60a8 \u5728 \u6ca1\u6709 \u663e\u793a \u663e\u793a\u5668 \u7684 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u8fd0\u884c   Carla \uff0c \u5219   OpenGL   \u4e0d \u9700\u8981 \u914d\u7f6e \uff0c \u4f46\u662f \u60a8 \u9700\u8981 \u6267\u884c \u4e00\u4e9b \u989d\u5916 \u7684 \u6b65\u9aa4 \u624d\u80fd \u4f7f\u7528   Carla   0.9 . 12   \u4e4b\u524d \u7684   Vulkan   \u6267\u884c \u76f8\u540c \u7684 \u64cd\u4f5c \u3002 \u6709\u5173 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u6e32\u67d3 \u6587\u6863   \u3002   \u4e0e \u6b64 \u4e3b\u9898 \u76f8\u5173 \u7684 \u4efb\u4f55 \u95ee\u9898 \u6216 \u7591\u95ee \u90fd \u53ef\u4ee5 \u5728   Carla   \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"Build   docker"},{"location":"build_docker/#docker-carla","text":"\u7528\u6237 \u53ef\u4ee5 \u62c9\u53d6 \u57fa\u4e8e   Carla   \u7248\u672c \u7684 \u6620\u50cf \u4ee5 \u5728   Docker   \u5bb9\u5668 \u4e2d \u8fd0\u884c \u3002 \u8fd9 \u5bf9\u4e8e \u4ee5\u4e0b \u7528\u6237 \u5f88 \u6709\u7528 \uff1a   \u60f3\u8981 \u8fd0\u884c   Carla   \u800c \u4e0d \u9700\u8981 \u5b89\u88c5 \u6240\u6709 \u4f9d\u8d56 \u9879   \u8fd0\u884c \u591a\u4e2a   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5e76 \u6267\u884c   GPU   \u6620\u5c04   \u5728 \u6ca1\u6709 \u663e\u793a \u7684 \u60c5\u51b5 \u4e0b \u8fd0\u884c   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u672c \u6559\u7a0b \u4ecb\u7ecd \u4e86 \u8fd0\u884c   Carla   \u56fe\u50cf \u7684 \u8981\u6c42 \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528   OpenGL   \u548c   Vulkan   \u56fe\u5f62   API   \u8fd0\u884c \u56fe\u50cf \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5728 \u5bb9\u5668 \u4e2d \u8fd0\u884c   Carla   \u79bb\u5c4f \u6a21\u5f0f","title":"Docker   \u4e2d \u7684   Carla"},{"location":"build_docker/#_1","text":"\u60a8 \u9700\u8981 \u5b89\u88c5 \uff1a   Docker :   \u6309\u7167   \u6b64\u5904   \u7684 \u5b89\u88c5 \u8bf4\u660e \u8fdb\u884c \u64cd\u4f5c \u3002   NVIDIA   Container   Toolkit :   NVIDIA   \u5bb9\u5668 \u5de5\u5177 \u5de5\u5177\u5305 \u662f \u4e00\u4e2a \u5e93 \u548c \u5de5\u5177 \u5de5\u5177\u96c6 \uff0c \u53ef \u5c06   NVIDIA   \u56fe\u5f62 \u8bbe\u5907 \u516c\u5f00 \u7ed9   Linux   \u5bb9\u5668 \u3002 \u5b83 \u4e13\u4e3a \u5728   Linux   \u4e3b\u673a \u7cfb\u7edf \u6216 \u9002\u7528 \u4e8e   Linux   \u7684   Windows   \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7248\u672c   2   \u4e0b \u7684   Linux   \u53d1\u884c \u53d1\u884c\u7248 \u4e2d \u8fd0\u884c \u7684   Linux   \u5bb9\u5668 \u800c \u8bbe\u8ba1 \u3002   nvidia - docker2   \u6309\u7167   \u6b64\u5904   \u7684 \u8bf4\u660e \u5b89\u88c5 \u8be5 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002   CentOS \u5b89\u88c5 Docker \uff1a   yum   install   - y   yum - utils   device - mapper - persistent - data   lvm2   yum - config - manager   -- add - repo   http : / / mirrors . aliyun . com / docker - ce / linux / centos / docker - ce . repo   yum   list   docker - ce   -- showduplicates   |   sort   - r   yum   - y   install   docker - ce - 18.03 . 1 . ce   docker \u542f\u52a8 \u51fa\u9519 \uff1a   failed   to   start   daemon :   error   initializing   graphdriver :   driver   not   supported   \u89e3\u51b3 \uff1a   rm   - rf   / var / lib / docker / *   systemctl   restart   docker   CentOS   \u5b89\u88c5   NVIDIA   \u5bb9\u5668 \u5de5\u5177 \u5de5\u5177\u5305 \u547d\u4ee4 \uff1a   curl   - s   - L   https : / / nvidia . github . io / libnvidia - container / stable / rpm / nvidia - container - toolkit . repo   |   \\   tee   / etc / yum . repos . d / nvidia - container - toolkit . repo   yum - config - manager   -- enable   nvidia - container - toolkit - experimental   yum   install   - y   nvidia - container - toolkit   nvidia - ctk   runtime   configure   -- runtime = docker   \u7b14\u8bb0   Docker   \u9700\u8981   sudo   \u624d\u80fd \u8fd0\u884c \u3002 \u6309\u7167   \u672c \u6307\u5357   \u5c06 \u7528\u6237 \u6dfb\u52a0 \u5230   docker   sudo   \u7ec4 \u3002","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"build_docker/#carla","text":"1 .   \u62c9\u53d6   Carla   \u955c\u50cf \u3002   \u60a8 \u53ef\u4ee5 \u63d0\u53d6 \u6700\u65b0 \u7684   Carla   \u6620\u50cf \u6216 \u7279\u5b9a \u7684 \u53d1\u884c \u7248\u672c \u3002 \u6700\u65b0 \u955c\u50cf \u662f \u6307   \u6700\u65b0 \u7684 \u6253\u5305 \u7248\u672c   \u3002 \u8981\u62c9\u53d6 \u6620\u50cf \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4e4b\u4e00 \uff1a   #   \u62c9\u53d6 \u6700\u65b0 \u7684 \u955c\u50cf   docker   pull   carlasim / carla : latest   #   \u62c9\u53d6 \u7279\u5b9a \u7684 \u7248\u672c   docker   pull   carlasim / carla : 0.9 . 12   2 .   \u8fd0\u884c   Carla   \u5bb9\u5668 \u3002   \u4e0d\u540c \u7248\u672c \u7684   Carla   \u652f\u6301 \u4e0d\u540c \u7684 \u56fe\u5f62   API \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u5f71\u54cd   Docker   \u955c\u50cf \u7684 \u8fd0\u884c \u6761\u4ef6 \uff1a   0.9 . 12   \u4ec5 \u652f\u6301   Vulkan   0.9 . 7 +   \u540c\u65f6 \u652f\u6301   Vulkan   \u548c   OpenGL \u3002   Carla   0.9 . 12   \u8981 \u4f7f\u7528 \u663e\u793a \u8fd0\u884c   Carla \uff1a   sudo   docker   run   -- privileged   -- gpus   all   -- net = host   - e   DISPLAY = $ DISPLAY   carlasim / carla : 0.9 . 12   / bin / bash   . / CarlaUE4 . sh   \u8981 \u5728 \u79bb\u5c4f \u6a21\u5f0f \u4e0b \u8fd0\u884c   Carla \uff1a   sudo   docker   run   -- privileged   -- gpus   all   -- net = host   - v   / tmp / . X11 - unix : / tmp / . X11 - unix : rw   carlasim / carla : 0.9 . 12   / bin / bash   . / CarlaUE4 . sh   - RenderOffScreen   Carla   0.9 . 7   \u81f3   0.9 . 11   \u8981 \u4f7f\u7528   Vulkan   \u8fd0\u884c   Carla \uff1a   sudo   docker   run   -- privileged   -- gpus   all   -- net = host   - e   DISPLAY = $ DISPLAY   - e   SDL _ VIDEODRIVER = x11   - v   / tmp / . X11 - unix : / tmp / . X11 - unix : rw   carlasim / carla : 0.9 . 11   / bin / bash   . / CarlaUE4 . sh   - vulkan   < - additonal - carla - flags >   \u7b14\u8bb0   \u53ea\u8981 \u60a8 \u7684 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u6709 \u663e\u793a \u663e\u793a\u5668 \uff0c \u6b64 \u547d\u4ee4 \u5c06 \u5141\u8bb8 \u60a8 \u4f7f\u7528   Vulkan   \u8fd0\u884c   Carla   \u6620\u50cf \u3002 \u6709\u5173 \u5728 \u79bb\u5c4f \u6a21\u5f0f \u4e0b \u8fd0\u884c   Vulkan   \u7684 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u6e32\u67d3 \u6587\u6863   \u3002   \u8981 \u4f7f\u7528   OpenGL   \u8fd0\u884c   Carla \uff1a   docker   run   - e   DISPLAY = $ DISPLAY   -- net = host   -- gpus   all   -- runtime = nvidia   carlasim / carla : < version >   / bin / bash   CarlaUE4 . sh   - opengl   < - additonal - carla - flags >   3 .   \uff08 \u53ef \u9009 \uff09 \u914d\u7f6e   Docker   \u6807\u5fd7 \u3002   \u4e0a\u9762 \u7684 \u547d\u4ee4 \u4f7f\u7528 \u4e86 \u4e00\u4e9b   Docker   \u6807\u5fd7 \uff0c \u53ef\u4ee5 \u6839\u636e \u60a8 \u7684 \u9700\u8981 \u8fdb\u884c \u914d\u7f6e \uff1a   Networking :   -- net = host   \u53c2\u6570 \u5c06 \u5141\u8bb8 \u5bb9\u5668 \u5171\u4eab \u4e3b\u673a \u7684 \u6574\u4e2a \u7f51\u7edc \u3002 \u5982\u679c \u60a8 \u5e0c\u671b \u5c06 \u4e3b\u673a \u4e0a \u7684 \u7279\u5b9a \u7aef\u53e3   \u6620\u5c04 \u5230 \u5bb9\u5668 \u7aef\u53e3   \uff0c \u8bf7 \u4f7f\u7528 \u6807\u5fd7   - p   < host - ports > : < container - ports >   \u3002   GPUs :   \u60a8 \u53ef\u4ee5 \u4f7f\u7528   -- gpus   all   \u9009\u62e9 \u6709\u6240   GPU \uff0c \u6216\u8005 \u4f7f\u7528   -- gpus   ' \" device = < gpu _ 01 > , < gpu _ 02 > \" '   \u4f7f\u7528 \u7279\u5b9a   GPU \u3002   \u6d4f\u89c8   \u6b64\u5904   \u83b7\u53d6 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u5728 \u5bb9\u5668 \u4e2d \u8fd0\u884c   Carla  "},{"location":"build_docker/#_2","text":"\u5982\u679c \u60a8 \u5728 \u6ca1\u6709 \u663e\u793a \u663e\u793a\u5668 \u7684 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u8fd0\u884c   Carla \uff0c \u5219   OpenGL   \u4e0d \u9700\u8981 \u914d\u7f6e \uff0c \u4f46\u662f \u60a8 \u9700\u8981 \u6267\u884c \u4e00\u4e9b \u989d\u5916 \u7684 \u6b65\u9aa4 \u624d\u80fd \u4f7f\u7528   Carla   0.9 . 12   \u4e4b\u524d \u7684   Vulkan   \u6267\u884c \u76f8\u540c \u7684 \u64cd\u4f5c \u3002 \u6709\u5173 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u6e32\u67d3 \u6587\u6863   \u3002   \u4e0e \u6b64 \u4e3b\u9898 \u76f8\u5173 \u7684 \u4efb\u4f55 \u95ee\u9898 \u6216 \u7591\u95ee \u90fd \u53ef\u4ee5 \u5728   Carla   \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"\u79bb\u5c4f \u6a21\u5f0f  "},{"location":"build_docker_unreal/","text":"\u5728   Docker   \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u672c \u6307\u5357 \u89e3\u91ca \u4e86 \u5982\u4f55 \u4f7f\u7528   Docker   \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla \u3002 \u7136\u540e \uff0c \u751f\u6210 \u7684 \u6620\u50cf \u53ef \u7528\u4e8e \u521b\u5efa   Carla   \u5305 \u6216 \u51c6\u5907 \u5728   Carla   \u5305\u4e2d \u4f7f\u7528 \u7684 \u8d44\u6e90 \u3002 \u6b64 \u8fc7\u7a0b \u4e0d\u5e94 \u4e0e \u7528\u4e8e \u5728 \u591a\u4e2a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6216 \u6ca1\u6709 \u663e\u793a \u663e\u793a\u5668 \u7684 \u60c5\u51b5 \u4e0b \u8fd0\u884c   Carla   \u7684 \u9884 \u6784\u5efa   Carla   Docker   \u6620\u50cf \u76f8 \u6df7\u6dc6 \u3002 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u76f8\u5173 \u6587\u6863 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u7cfb\u7edf \u8981\u6c42   \u8f6f\u4ef6 \u8981\u6c42   \u6784\u5efa \u955c\u50cf   \u4e0b \u4e00\u6b65 \uff1a \u6253\u5305   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u7cfb\u7edf \u8981\u6c42   \u60a8 \u9700\u8981 \u6ee1\u8db3 \u4ee5\u4e0b \u7cfb\u7edf \u8981\u6c42 \uff1a   64 \u4f4d \u7248\u672c \u7684 Docker \u662f Ubuntu   16.04 +   \u81f3\u5c11   8GB   \u5185\u5b58   \u7528\u4e8e \u521d\u59cb \u5bb9\u5668 \u6784\u5efa \u8fc7\u7a0b \u7684 \u81f3\u5c11   600GB   \u53ef\u7528 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4   \u8f6f\u4ef6 \u8981\u6c42   Docker :   \u6309\u7167   \u6b64\u5904   \u7684 \u5b89\u88c5 \u8bf4\u660e \u5b89\u88c5   Docker   \u3002   Python   :   \u60a8 \u9700\u8981 \u5b89\u88c5   Python   3.6   \u6216 \u66f4 \u9ad8 \u7248\u672c \u5e76 \u5728 \u7cfb\u7edf \u8def\u5f84 \u4e2d \u6b63\u786e \u8bbe\u7f6e \u3002 \u6709\u5173 \u5b89\u88c5 \u8bf4\u660e \u548c   Python   \u6587\u6863 \uff0c \u8bf7 \u67e5\u770b   \u6b64\u5904   \u3002   \u865a\u5e7b \u5f15\u64ce   GitHub   \u8bbf\u95ee   :   \u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   4.26   \u7684 \u4fee\u6539 \u6539\u7248 \u4fee\u6539\u7248 \u3002 \u8be5 \u5206\u652f \u5305\u542b   Carla   \u7279\u5b9a \u7684 \u8865\u4e01 \u3002 \u8fd9 \u5c06 \u5728   Docker   \u6784\u5efa \u8fc7\u7a0b \u4e2d \u4e0b\u8f7d \u3002 \u5bf9\u4e8e \u6b64 \u4e0b\u8f7d \uff0c \u60a8 \u9700\u8981 \u6709 \u4e00\u4e2a \u4e0e \u865a\u5e7b \u5f15\u64ce \u5e10\u6237 \u5173\u8054 \u7684   GitHub   \u5e10\u6237 \u3002 \u5982\u679c \u60a8 \u6ca1\u6709 \u8fdb\u884c \u6b64 \u8bbe\u7f6e \uff0c \u8bf7 \u5148 \u6309\u7167   \u672c \u6307\u5357   \u8fdb\u884c \u64cd\u4f5c \uff0c \u7136\u540e \u518d \u7ee7\u7eed \u64cd\u4f5c \u3002 \u5728 \u6784\u5efa \u8fc7\u7a0b \u4e2d \u60a8 \u9700\u8981 \u767b\u5f55 \u60a8 \u7684 \u5e10\u6237 \u3002 \u6216\u8005 \u76f4\u63a5 \u4ece   \u5f00\u6e90 \u6e56 \u5de5\u5546 \u4ed3\u5e93   \u8fdb\u884c \u4e0b\u8f7d \u3002   Carla :   \u4e3a   Carla   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u4ee5\u53ca   Carla   \u672c\u8eab \u6240 \u9700 \u7684   Dockerfile   \u548c \u5de5\u5177 \u4f4d\u4e8e   Util / DockerCARLA   \u6e90 \u5b58\u50a8 \u5e93 \u7684 \u76ee\u5f55 \u4e2d \u3002   \u5982\u679c \u60a8 \u8fd8 \u6ca1\u6709 \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u4e0b\u8f7d \u5b58\u50a8 \u5e93 \uff1a   git   clone   https : / / github . com / carla - simulator / carla   \u6784\u5efa \u955c\u50cf   \u4ee5\u4e0b \u6b65\u9aa4 \u5c06 \u82b1\u8d39 \u5f88 \u65f6\u95f4 \u957f\u65f6\u95f4 \u3002   1 .   \u6784\u5efa   Carla   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6 \u955c\u50cf \u3002   \u4ee5\u4e0b \u547d\u4ee4 \u5c06 \u4f7f\u7528   Prerequisites . Dockerfile   \u6784\u5efa \u4e00\u4e2a \u540d\u4e3a   carla - prerequisitesusing   \u7684 \u6620\u50cf \u3002 \u5728 \u6b64 \u7248\u672c \u4e2d \uff0c \u6211\u4eec \u5b89\u88c5 \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u548c \u6240 \u9700 \u7684 \u5de5\u5177 \uff0c \u4e0b\u8f7d \u865a\u5e7b \u5f15\u64ce   4.26   \u5206\u652f \u5e76 \u7f16\u8bd1 \u5b83 \u3002 \u60a8 \u9700\u8981 \u63d0\u4f9b \u60a8 \u7684 \u767b\u5f55 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u4f5c\u4e3a \u6784\u5efa \u53c2\u6570 \uff0c \u624d\u80fd \u6210\u529f \u4e0b\u8f7d \u865a\u5e7b \u5f15\u64ce \uff1a   docker   build   -- build - arg   EPIC _ USER = < GitHubUserName >   -- build - arg   EPIC _ PASS = < GitHubPassword >   - t   carla - prerequisites   - f   Prerequisites . Dockerfile   .   2 .   \u6784\u5efa \u6700\u7ec8 \u7684   Carla   \u955c\u50cf \u3002   \u4ee5\u4e0b \u547d\u4ee4 \u5c06 \u4f7f\u7528 \u4e0a \u4e00\u6b65 \u4e2d \u521b\u5efa \u7684 \u6620\u50cf \u57fa\u4e8e   Carla   \u5b58\u50a8 \u5e93 \u7684 \u5f53\u524d \u4e3b \u5206\u652f \uff08 \u6700\u65b0 \u7248\u672c \uff09 \u6784\u5efa \u6700\u7ec8 \u7684   Carla   \u6620\u50cf \uff1a   docker   build   - t   carla   - f   Carla . Dockerfile   .   \u5982\u679c \u60a8 \u60f3 \u6784\u5efa   Carla   \u5b58\u50a8 \u5e93 \u7684 \u7279\u5b9a \u5206\u652f \u6216 \u6807\u7b7e \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   docker   build   - t   carla   - f   Carla . Dockerfile   .   -- build - arg   GIT _ BRANCH = < branch _ or _ tag _ name >   \u4e0b \u4e00\u6b65 \uff1a \u6253\u5305   \u672c \u6307\u5357 \u4e2d \u521b\u5efa \u7684   Carla   \u955c\u50cf \u7528\u4e8e \u521b\u5efa \u72ec\u7acb \u7684   Carla   \u5305 \u6216 \u6253\u5305 \u5730\u56fe \u6216 \u7f51\u683c \u7b49 \u8d44\u6e90 \uff0c \u4ee5\u4fbf \u5b83\u4eec \u53ef\u4ee5 \u5728   Carla   \u5305\u4e2d \u4f7f\u7528 \u3002 \u8fd9\u662f \u901a\u8fc7 \u4f7f\u7528   Util / Docker   \u4e2d \u7684 \u811a\u672c   docker _ tools . py   \u6765 \u5b9e\u73b0 \u7684 \u3002 \u8be5 \u811a\u672c \u7528\u4e8e   docker - py   \u5904\u7406   Docker   \u955c\u50cf \u6620\u50cf \u3002   \u8be5   docker _ tools . py   \u811a\u672c \u53ef \u7528\u4e8e \uff1a   \u521b\u5efa   Carla   \u5305   \uff1a \u5728   \u6b64\u5904   \u67e5\u627e \u6559\u7a0b \u3002   \u5728   Carla   \u5305\u4e2d \u70d8\u7119 \u9700\u8981 \u4f7f\u7528 \u7684 \u8d44\u4ea7 \uff1a   \u5728   \u6b64\u5904   \u67e5\u627e \u6559\u7a0b \u3002   \u51c6\u5907 \u5730\u56fe \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u5728   Carla   \u5305\u4e2d \u4f7f\u7528 \uff1a   \u5728   \u6b64\u5904   \u67e5\u627e \u6559\u7a0b \u3002   \u4e0e \u6b64 \u4e3b\u9898 \u76f8\u5173 \u7684 \u4efb\u4f55 \u95ee\u9898 \u6216 \u7591\u95ee \u90fd \u53ef\u4ee5 \u5728   Carla   \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   forum","title":"\u5728   Docker   \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla"},{"location":"build_docker_unreal/#docker-carla","text":"\u672c \u6307\u5357 \u89e3\u91ca \u4e86 \u5982\u4f55 \u4f7f\u7528   Docker   \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla \u3002 \u7136\u540e \uff0c \u751f\u6210 \u7684 \u6620\u50cf \u53ef \u7528\u4e8e \u521b\u5efa   Carla   \u5305 \u6216 \u51c6\u5907 \u5728   Carla   \u5305\u4e2d \u4f7f\u7528 \u7684 \u8d44\u6e90 \u3002 \u6b64 \u8fc7\u7a0b \u4e0d\u5e94 \u4e0e \u7528\u4e8e \u5728 \u591a\u4e2a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6216 \u6ca1\u6709 \u663e\u793a \u663e\u793a\u5668 \u7684 \u60c5\u51b5 \u4e0b \u8fd0\u884c   Carla   \u7684 \u9884 \u6784\u5efa   Carla   Docker   \u6620\u50cf \u76f8 \u6df7\u6dc6 \u3002 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u76f8\u5173 \u6587\u6863 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u7cfb\u7edf \u8981\u6c42   \u8f6f\u4ef6 \u8981\u6c42   \u6784\u5efa \u955c\u50cf   \u4e0b \u4e00\u6b65 \uff1a \u6253\u5305","title":"\u5728   Docker   \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla"},{"location":"build_docker_unreal/#_1","text":"","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"build_docker_unreal/#_2","text":"\u60a8 \u9700\u8981 \u6ee1\u8db3 \u4ee5\u4e0b \u7cfb\u7edf \u8981\u6c42 \uff1a   64 \u4f4d \u7248\u672c \u7684 Docker \u662f Ubuntu   16.04 +   \u81f3\u5c11   8GB   \u5185\u5b58   \u7528\u4e8e \u521d\u59cb \u5bb9\u5668 \u6784\u5efa \u8fc7\u7a0b \u7684 \u81f3\u5c11   600GB   \u53ef\u7528 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4","title":"\u7cfb\u7edf \u8981\u6c42  "},{"location":"build_docker_unreal/#_3","text":"Docker :   \u6309\u7167   \u6b64\u5904   \u7684 \u5b89\u88c5 \u8bf4\u660e \u5b89\u88c5   Docker   \u3002   Python   :   \u60a8 \u9700\u8981 \u5b89\u88c5   Python   3.6   \u6216 \u66f4 \u9ad8 \u7248\u672c \u5e76 \u5728 \u7cfb\u7edf \u8def\u5f84 \u4e2d \u6b63\u786e \u8bbe\u7f6e \u3002 \u6709\u5173 \u5b89\u88c5 \u8bf4\u660e \u548c   Python   \u6587\u6863 \uff0c \u8bf7 \u67e5\u770b   \u6b64\u5904   \u3002   \u865a\u5e7b \u5f15\u64ce   GitHub   \u8bbf\u95ee   :   \u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   4.26   \u7684 \u4fee\u6539 \u6539\u7248 \u4fee\u6539\u7248 \u3002 \u8be5 \u5206\u652f \u5305\u542b   Carla   \u7279\u5b9a \u7684 \u8865\u4e01 \u3002 \u8fd9 \u5c06 \u5728   Docker   \u6784\u5efa \u8fc7\u7a0b \u4e2d \u4e0b\u8f7d \u3002 \u5bf9\u4e8e \u6b64 \u4e0b\u8f7d \uff0c \u60a8 \u9700\u8981 \u6709 \u4e00\u4e2a \u4e0e \u865a\u5e7b \u5f15\u64ce \u5e10\u6237 \u5173\u8054 \u7684   GitHub   \u5e10\u6237 \u3002 \u5982\u679c \u60a8 \u6ca1\u6709 \u8fdb\u884c \u6b64 \u8bbe\u7f6e \uff0c \u8bf7 \u5148 \u6309\u7167   \u672c \u6307\u5357   \u8fdb\u884c \u64cd\u4f5c \uff0c \u7136\u540e \u518d \u7ee7\u7eed \u64cd\u4f5c \u3002 \u5728 \u6784\u5efa \u8fc7\u7a0b \u4e2d \u60a8 \u9700\u8981 \u767b\u5f55 \u60a8 \u7684 \u5e10\u6237 \u3002 \u6216\u8005 \u76f4\u63a5 \u4ece   \u5f00\u6e90 \u6e56 \u5de5\u5546 \u4ed3\u5e93   \u8fdb\u884c \u4e0b\u8f7d \u3002   Carla :   \u4e3a   Carla   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u4ee5\u53ca   Carla   \u672c\u8eab \u6240 \u9700 \u7684   Dockerfile   \u548c \u5de5\u5177 \u4f4d\u4e8e   Util / DockerCARLA   \u6e90 \u5b58\u50a8 \u5e93 \u7684 \u76ee\u5f55 \u4e2d \u3002   \u5982\u679c \u60a8 \u8fd8 \u6ca1\u6709 \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u4e0b\u8f7d \u5b58\u50a8 \u5e93 \uff1a   git   clone   https : / / github . com / carla - simulator / carla","title":"\u8f6f\u4ef6 \u8981\u6c42  "},{"location":"build_docker_unreal/#_4","text":"\u4ee5\u4e0b \u6b65\u9aa4 \u5c06 \u82b1\u8d39 \u5f88 \u65f6\u95f4 \u957f\u65f6\u95f4 \u3002   1 .   \u6784\u5efa   Carla   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6 \u955c\u50cf \u3002   \u4ee5\u4e0b \u547d\u4ee4 \u5c06 \u4f7f\u7528   Prerequisites . Dockerfile   \u6784\u5efa \u4e00\u4e2a \u540d\u4e3a   carla - prerequisitesusing   \u7684 \u6620\u50cf \u3002 \u5728 \u6b64 \u7248\u672c \u4e2d \uff0c \u6211\u4eec \u5b89\u88c5 \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u548c \u6240 \u9700 \u7684 \u5de5\u5177 \uff0c \u4e0b\u8f7d \u865a\u5e7b \u5f15\u64ce   4.26   \u5206\u652f \u5e76 \u7f16\u8bd1 \u5b83 \u3002 \u60a8 \u9700\u8981 \u63d0\u4f9b \u60a8 \u7684 \u767b\u5f55 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u4f5c\u4e3a \u6784\u5efa \u53c2\u6570 \uff0c \u624d\u80fd \u6210\u529f \u4e0b\u8f7d \u865a\u5e7b \u5f15\u64ce \uff1a   docker   build   -- build - arg   EPIC _ USER = < GitHubUserName >   -- build - arg   EPIC _ PASS = < GitHubPassword >   - t   carla - prerequisites   - f   Prerequisites . Dockerfile   .   2 .   \u6784\u5efa \u6700\u7ec8 \u7684   Carla   \u955c\u50cf \u3002   \u4ee5\u4e0b \u547d\u4ee4 \u5c06 \u4f7f\u7528 \u4e0a \u4e00\u6b65 \u4e2d \u521b\u5efa \u7684 \u6620\u50cf \u57fa\u4e8e   Carla   \u5b58\u50a8 \u5e93 \u7684 \u5f53\u524d \u4e3b \u5206\u652f \uff08 \u6700\u65b0 \u7248\u672c \uff09 \u6784\u5efa \u6700\u7ec8 \u7684   Carla   \u6620\u50cf \uff1a   docker   build   - t   carla   - f   Carla . Dockerfile   .   \u5982\u679c \u60a8 \u60f3 \u6784\u5efa   Carla   \u5b58\u50a8 \u5e93 \u7684 \u7279\u5b9a \u5206\u652f \u6216 \u6807\u7b7e \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   docker   build   - t   carla   - f   Carla . Dockerfile   .   -- build - arg   GIT _ BRANCH = < branch _ or _ tag _ name >","title":"\u6784\u5efa \u955c\u50cf  "},{"location":"build_docker_unreal/#_5","text":"\u672c \u6307\u5357 \u4e2d \u521b\u5efa \u7684   Carla   \u955c\u50cf \u7528\u4e8e \u521b\u5efa \u72ec\u7acb \u7684   Carla   \u5305 \u6216 \u6253\u5305 \u5730\u56fe \u6216 \u7f51\u683c \u7b49 \u8d44\u6e90 \uff0c \u4ee5\u4fbf \u5b83\u4eec \u53ef\u4ee5 \u5728   Carla   \u5305\u4e2d \u4f7f\u7528 \u3002 \u8fd9\u662f \u901a\u8fc7 \u4f7f\u7528   Util / Docker   \u4e2d \u7684 \u811a\u672c   docker _ tools . py   \u6765 \u5b9e\u73b0 \u7684 \u3002 \u8be5 \u811a\u672c \u7528\u4e8e   docker - py   \u5904\u7406   Docker   \u955c\u50cf \u6620\u50cf \u3002   \u8be5   docker _ tools . py   \u811a\u672c \u53ef \u7528\u4e8e \uff1a   \u521b\u5efa   Carla   \u5305   \uff1a \u5728   \u6b64\u5904   \u67e5\u627e \u6559\u7a0b \u3002   \u5728   Carla   \u5305\u4e2d \u70d8\u7119 \u9700\u8981 \u4f7f\u7528 \u7684 \u8d44\u4ea7 \uff1a   \u5728   \u6b64\u5904   \u67e5\u627e \u6559\u7a0b \u3002   \u51c6\u5907 \u5730\u56fe \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u5728   Carla   \u5305\u4e2d \u4f7f\u7528 \uff1a   \u5728   \u6b64\u5904   \u67e5\u627e \u6559\u7a0b \u3002   \u4e0e \u6b64 \u4e3b\u9898 \u76f8\u5173 \u7684 \u4efb\u4f55 \u95ee\u9898 \u6216 \u7591\u95ee \u90fd \u53ef\u4ee5 \u5728   Carla   \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   forum","title":"\u4e0b \u4e00\u6b65 \uff1a \u6253\u5305  "},{"location":"build_faq/","text":"\u5e38\u95ee \u7684 \u95ee\u9898   \u6b64\u5904 \u5217\u51fa \u4e86 \u6709\u5173   Carla   \u5b89\u88c5 \u548c \u6784\u5efa \u7684 \u4e00\u4e9b \u6700 \u5e38\u89c1 \u95ee\u9898 \u5e38\u89c1\u95ee\u9898 \u3002 \u66f4 \u591a \u4fe1\u606f \u53ef\u4ee5 \u5728 \u8be5\u9879 \u76ee\u7684   GitHub   issues   \u627e\u5230 \u3002 \u5982\u679c \u60a8 \u6ca1\u6709 \u53d1\u73b0 \u6b64\u5904 \u5217\u51fa \u7684 \u7591\u95ee \uff0c \u8bf7 \u67e5\u770b \u8bba\u575b \u5e76 \u968f\u65f6 \u63d0\u95ee \u3002   Carla   \u8bba\u575b   \u4e13\u4e1a \u95ee\u9898   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66   \u7cfb\u7edf \u8981\u6c42   \u6784\u5efa   Carla   \u6240 \u9700 \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u3002   \u8fd0\u884c   Carla   \u7684 \u63a8\u8350 \u786c\u4ef6 \u3002   Linux   \u6784\u5efa   \u4ece   GitHub   \u4e0b\u8f7d \u65f6 \u4e0d\u4f1a \u51fa\u73b0 \u201c CarlaUE4 . sh \u201d \u811a\u672c \u3002   \u201c make   launch \u201d   \u5728   Linux   \u4e0a \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   \u514b\u9686 \u865a\u5e7b \u5f15\u64ce \u5b58\u50a8 \u5e93 \u663e\u793a \u9519\u8bef \u3002   AttributeError :   module   ' carla '   has   no   attribute   ' Client '   when   running   a   script .   \u65e0\u6cd5 \u8fd0\u884c \u793a\u4f8b \u811a\u672c \u6216   \" RuntimeError :   rpc : : rpc _ error   during   call   in   function   version \" .   Windows   \u6784\u5efa   \u4ece   GitHub   \u4e0b\u8f7d \u65f6 \u4e0d\u4f1a \u51fa\u73b0 \u201c CarlaUE4 . exe \u201d \u3002   CarlaUE4   \u65e0\u6cd5 \u7f16\u8bd1 \u3002 \u5c1d\u8bd5 \u4ece\u6e90 \u624b\u52a8 \u91cd\u5efa \u5b83 \u3002   \u5373\u4f7f   CMake   \u5df2 \u6b63\u786e \u5b89\u88c5 \uff0c \u4e5f \u4f1a \u663e\u793a   CMake   \u9519\u8bef \u3002   Error   C2440 ,   C2672 \uff1a \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u7248\u672c \u3002   \u201c make   launch \u201d \u5728   Windows   \u4e0a \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   Make   \u7f3a\u5c11   libintl3 . dll   \u6216 / \u548c   libiconv2 . dll \u3002   \u6a21\u5757 \u7f3a\u5931 \u6216 \u4f7f\u7528 \u4e0d\u540c \u7684 \u5f15\u64ce \u7248\u672c \u6784\u5efa \u3002   \u5728   PythonAPI / carla   \u4e2d \u5c3d\u7ba1 \u6210\u529f \u8f93\u51fa \u6d88\u606f \uff0c \u4f46 \u6ca1\u6709   dist   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   osm2odr - visualstudio \u4e3a\u7a7a \uff0c \u6216\u8005 \u62f7\u8d1d \u8fc7\u53bb \u7684 \u76ee\u5f55 \u4e0d \u5bf9   \u7c7b\u578b \u8f6c\u6362 \u7c7b\u578b\u8f6c\u6362 \u4e0d \u5bf9   \u94fe\u63a5 \u4e0d\u5230 osm2odr . lib   \u8fd0\u884c   Carla   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u8fd0\u884c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u65f6   FPS   \u901f\u7387 \u8f83 \u4f4e \u3002   \u65e0\u6cd5 \u8fd0\u884c \u811a\u672c \u3002   \u5f53 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u8fd0\u884c \u65f6 \u94fe\u63a5 \u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u65e0\u6cd5 \u8fd0\u884c   Carla \uff0c \u65e0\u8bba \u65e0\u8bba\u662f \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u8fd8\u662f \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u3002   ImportError :   DLL   load   failed :   The   specified   module   could   not   be   found .   ImportError :   DLL   load   failed   while   importing   libcarla :   % 1   is   not   a   valid   Win32   app .   ImportError :   No   module   named   ' carla '   RuntimeError :   rpc : : rpc _ error   during   call   in   function   apply _ batch   ValueError :   sticky _ control :   invalid   value   type   \u5176\u4ed6   Fatal   error :   ' version . h '   has   been   modified   since   the   precompiled   header .   \u521b\u5efa   Carla   \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c \u3002   \u6211 \u53ef\u4ee5 \u5728   Linux   \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u6253\u5305 \u9002\u7528 \u4e8e   Windows   \u7684   Carla \uff0c \u53cd\u4e4b \u4ea6\u7136 \u53cd\u4e4b\u4ea6\u7136 \u5417 \uff1f   \u5982\u4f55 \u5378\u8f7d   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff1f   \u7cfb\u7edf \u8981\u6c42   \u6784\u5efa   Carla   \u6240 \u9700 \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u3002   \u5efa\u8bae \u81f3\u5c11 \u6709   170GB   \u53ef\u7528 \u7a7a\u95f4 \u3002 \u6784\u5efa   Carla   \u9700\u8981 \u5927\u7ea6   35GB   \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \uff0c \u52a0\u4e0a \u865a\u5e7b \u5f15\u64ce \u5927\u7ea6 \u9700\u8981   95 - 135GB \u3002   \u8fd0\u884c   Carla   \u7684 \u63a8\u8350 \u786c\u4ef6 \u3002   Carla   \u662f \u4e00\u6b3e \u6027\u80fd \u8981\u6c42 \u8f83 \u9ad8 \u7684 \u8f6f\u4ef6 \u3002 \u5b83 \u81f3\u5c11 \u9700\u8981   6GB   GPU \uff0c \u6216\u8005 \u66f4\u597d \u7684 \u662f \u80fd\u591f \u8fd0\u884c \u865a\u5e7b \u5f15\u64ce \u7684 \u4e13\u7528   GPU \u3002   \u770b\u770b   \u865a\u5e7b \u5f15\u64ce \u63a8\u8350 \u7684 \u786c\u4ef6   \u3002   Linux   \u6784\u5efa   \u4ece   GitHub   \u4e0b\u8f7d \u65f6 \u4e0d\u4f1a \u51fa\u73b0 \u201c CarlaUE4 . sh \u201d \u811a\u672c \u3002   Carla   \u7684 \u6e90 \u7248\u672c \u4e2d \u6ca1\u6709   CarlaUE4 . sh   \u811a\u672c \u3002 \u6309\u7167   \u6784\u5efa \u8bf4\u660e   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002   \u8981 \u4f7f\u7528   CarlaUE4 . sh   \u8fd0\u884c   Carla \uff0c \u8bf7 \u6309\u7167   \u5feb\u901f \u542f\u52a8 \u5b89\u88c5   \u8fdb\u884c \u64cd\u4f5c \u3002   \u201c make   launch \u201d \u5728   Linux   \u4e0a \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   \u5728 \u6784\u5efa \u5b89\u88c5 \u8fc7\u7a0b \u4e2d \u53ef\u80fd \u4f1a \u62d6 \u51fa \u8bb8\u591a \u4e0d\u540c \u7684 \u95ee\u9898 \uff0c \u5e76\u4f1a \u50cf \u8fd9\u6837 \u663e\u73b0 \u73b0\u51fa \u51fa\u6765 \u663e\u73b0\u51fa \u663e\u73b0\u51fa\u6765 \u3002 \u4ee5\u4e0b \u662f \u6700 \u53ef\u80fd \u7684 \u539f\u56e0 \u5217\u8868 \uff1a   \u8fd0\u884c \u865a\u5e7b \u5f15\u64ce   4.26 \u3002   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u65f6 \u53ef\u80fd \u51fa\u73b0 \u67d0\u4e9b \u95ee\u9898 \u3002 \u5c1d\u8bd5 \u5355\u72ec \u8fd0\u884c \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5e76 \u68c0\u67e5 \u5b83 \u662f\u5426 \u662f\u5426\u662f   4.26   \u7248\u672c \u3002   \u4e0b\u8f7d \u8d44\u4ea7 \u3002   \u5982\u679c \u6ca1\u6709 \u89c6\u89c9 \u5185\u5bb9 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u65e0\u6cd5 \u8fd0\u884c \u3002 \u6b64 \u6b65\u9aa4 \u662f \u5f3a\u5236 \u5f3a\u5236\u6027 \u7684 \u3002   UE4 _ ROOT   \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \u3002   \u5883 \u53d8\u91cf \u672a \u8bbe\u7f6e \u3002 \u8bf7 \u8bb0\u4f4f \u901a\u8fc7 \u5c06 \u5176 \u6dfb\u52a0 \u5230   ~ / . bashrc   \u6216   ~ / . profile   \u6765 \u4f7f \u5176 \u5728 \u4f1a \u8bdd \u8303\u56f4 \u5185 \u6301\u4e45 \u5b58\u5728 \u3002 \u5426\u5219 \uff0c \u9700\u8981 \u4e3a \u6bcf\u4e2a \u65b0   shell   \u8fdb\u884c \u8bbe\u7f6e \u3002 \u8fd0\u884c   export   UE4 _ ROOT = < path _ to _ unreal _ 4 - 26 >   \u8bbe\u7f6e \u8fd9\u6b21 \u7684 \u53d8\u91cf \u3002   \u68c0\u67e5 \u4f9d\u8d56 \u3002   \u786e\u4fdd \u4e00\u5207 \u90fd \u5b89\u88c5 \u6b63\u786e \u3002 \u4e5f\u8bb8 \u5176\u4e2d \u4e00\u4e2a \u547d\u4ee4 \u88ab \u8df3 \u8fc7 \u3001 \u4e0d \u6210\u529f \u6216\u8005 \u4f9d\u8d56 \u9879 \u4e0d \u9002\u5408 \u7cfb\u7edf \u3002   \u5220\u9664   Carla   \u5e76 \u518d\u6b21 \u514b\u9686 \u5b83 \u3002   \u4ee5\u9632 \u4e07\u4e00 \u4ee5\u9632\u4e07\u4e00 \u51fa \u4e86 \u95ee\u9898 \u3002 \u5220\u9664   Carla   \u5e76 \u91cd\u65b0 \u514b\u9686 \u6216 \u4e0b\u8f7d \u3002   \u6ee1\u8db3 \u7cfb\u7edf \u8981\u6c42 \u3002   Ubuntu   \u7248\u672c \u5e94\u4e3a   16.04   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002 Carla   \u9700\u8981 \u5927\u7ea6   170GB   \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u548c \u4e00\u4e2a \u4e13\u7528   GPU \uff08 \u6216 \u81f3\u5c11 \u4e00\u4e2a   6GB \uff09 \u624d\u80fd \u8fd0\u884c \u3002   \u7cfb\u7edf \u663e\u793a \u4e0e   Carla   \u51b2\u7a81 \u7684 \u5176\u4ed6 \u7279\u5b9a \u539f\u56e0 \u53ef\u80fd \u4f1a \u53d1\u751f \u3002 \u8bf7 \u5c06 \u8fd9\u4e9b \u5185\u5bb9 \u53d1\u5e03 \u5230   \u8bba\u575b   \u4e0a \uff0c \u4ee5\u4fbf \u56e2\u961f \u53ef\u4ee5 \u66f4\u591a \u66f4\u591a\u5730 \u4e86\u89e3 \u5b83\u4eec \u3002   \u514b\u9686 \u865a\u5e7b \u5f15\u64ce \u5b58\u50a8 \u5e93 \u663e\u793a \u9519\u8bef \u3002   1 .   \u865a\u5e7b \u5f15\u64ce \u5e10\u53f7 \u662f\u5426 \u5df2 \u6fc0\u6d3b \uff1f   \u865a\u5e7b \u5f15\u64ce \u5b58\u50a8 \u5e93\u662f \u79c1\u6709 \u7684 \u3002 \u4e3a\u4e86 \u514b\u9686 \u5b83 \uff0c \u8bf7 \u521b\u5efa \u865a   \u5e7b \u5f15\u64ce \u5e10   \u6237 \uff0c \u6fc0\u6d3b \u5b83 \uff08 \u68c0\u67e5 \u9a8c\u8bc1 \u90ae\u4ef6 \uff09 \uff0c \u7136\u540e   \u94fe\u63a5 \u60a8 \u7684   GitHub   \u5e10\u6237 \u3002   2 .   git \u662f\u5426 \u5b89\u88c5 \u6b63\u786e \uff1f   \u6709\u65f6 \u9519\u8bef \u8868\u660e \u4e0e   https   \u534f\u8bae \u4e0d \u517c\u5bb9 \u3002 \u901a\u8fc7 \u5378\u8f7d \u5e76 \u91cd\u65b0 \u65b0\u5b89 \u5b89\u88c5 \u91cd\u65b0\u5b89\u88c5   git   \u5373\u53ef \u8f7b\u677e \u89e3\u51b3 \u3002 \u6253\u5f00 \u7ec8\u7aef \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   sudo   apt - get   remove   git   #   \u5378\u8f7d   git   sudo   apt   install   git - all   #   \u5b89\u88c5   git   AttributeError :   module   ' carla '   has   no   attribute   ' Client '   when   running   a   script .   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u3002   pip3   install   - Iv   setuptools = = 47.3 . 1   \u5e76 \u518d\u6b21 \u6784\u5efa   PythonAPI \u3002   make   PythonAPI   \u5c1d\u8bd5 \u6784\u5efa \u6587\u6863 \u6765 \u6d4b\u8bd5 \u4e00\u5207 \u662f\u5426 \u6b63\u5e38 \u8fd0\u884c \u3002 \u5e94\u8be5 \u4f1a \u663e\u793a \u6210\u529f \u7684 \u6d88\u606f \u3002   make   PythonAPI . docs   \u65e0\u6cd5 \u8fd0\u884c \u793a\u4f8b \u811a\u672c \u6216   \" RuntimeError :   rpc : : rpc _ error   during   call   in   function   version \" .   \u5982\u679c \u8fd0\u884c \u811a\u672c \u8fd4\u56de \u4e0e \u6b64\u7c7b \u4f3c\u7684 \u8f93\u51fa \uff0c \u5219 \u8bf4\u660e   PythonAPI   \u4e2d \u7684   . egg   \u6587\u4ef6 \u5b58\u5728 \u95ee\u9898 \u3002   \u91cd\u8981   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   0.9 . 12 + \uff0c \u6709 \u591a\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u4f7f\u7528 / \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff08   . whl   \u6216   PyPi   \u4e0b\u8f7d \uff09 \u7684 \u8f83 \u65b0 \u65b9\u6cd5 \u4e4b\u4e00 \uff0c \u672c\u8282 \u4e2d \u7684 \u4fe1\u606f \u5c06 \u4e0e \u60a8 \u65e0\u5173 \u3002   \u9996\u5148 \uff0c \u6253\u5f00   < root _ carla > / PythonAPI / carla / dist   \u3002   \u5e94\u8be5 \u6709 \u4e00\u4e2a \u548c \u4f60 \u6b63\u5728 \u4f7f\u7528 \u76f8\u5bf9 \u5e94 \u7684   Carla   \u548c   Python   \u54cd\u5e94 \u7684   . egg   \u6587\u4ef6 \uff08 \u7c7b\u4f3c \u4e8e   carla - 0 . X . X - pyX . X - linux - x86 _ 64 . egg   \uff09 \u3002 \u786e\u4fdd \u8be5 \u6587\u4ef6 \u4e0e \u60a8 \u6b63\u5728 \u4f7f\u7528 \u7684   Python   \u7248\u672c \u5339\u914d \u3002 \u8981 \u68c0\u67e5 \u60a8 \u7684   Python   \u7248\u672c \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u3002   python3   -- version   #   \u6216\u8005 \u5bf9\u4e8e   Python   2   python   -- version   \u5982\u679c \u6587\u4ef6 \u4e22\u5931 \u6216\u8005 \u60a8 \u8ba4\u4e3a \u5b83 \u53ef\u80fd \u635f\u574f \u5df2\u635f\u574f \uff0c \u8bf7 \u5c1d\u8bd5 \u518d\u6b21 \u91cd\u5efa \u3002   make   clean   make   PythonAPI   make   launch   \u73b0\u5728 \u518d\u6b21 \u5c1d\u8bd5 \u793a\u4f8b \u811a\u672c \u4e4b\u4e00 \u3002   cd   PythonAPI / examples   python3   dynamic _ weather . py   \u5982\u679c \u9519\u8bef \u4ecd\u7136 \u5b58\u5728 \uff0c \u5219 \u95ee\u9898 \u53ef\u80fd \u4e0e \u60a8 \u7684   PythonPATH   \u6709\u5173 \u3002 \u8fd9\u4e9b \u811a\u672c \u4f1a \u81ea\u52a8 \u67e5\u627e   . egg   \u4e0e \u6784\u5efa \u76f8\u5173 \u7684 \u6587\u4ef6 \uff0c \u56e0\u6b64 \uff0c \u60a8 \u7684   PythonPATH   \u4e2d \u53ef\u80fd \u5b58\u5728 \u53e6 \u4e00\u4e2a   . egg   \u6587\u4ef6 \u5e72\u6270 \u8be5 \u8fc7\u7a0b \u3002 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u663e\u793a   PythonPATH   \u7684 \u5185\u5bb9 \u3002   echo   $ PYTHONPATH   \u5728 \u7c7b\u4f3c \u4e8e   PythonAPI / carla / dist   \u7684 \u8def\u5f84 \u4e0b \u67e5\u627e \u53e6 \u4e00\u4e2a   . egg   \u6587\u4ef6 \uff0c \u5e76 \u5220\u9664 \u5b83\u4eec \u3002 \u5b83\u4eec \u53ef\u80fd \u5c5e\u4e8e   Carla   \u5b89\u88c5 \u7684 \u5176\u4ed6 \u5b9e\u4f8b \u3002 \u4f8b\u5982 \uff0c \u5982\u679c \u60a8 \u8fd8 \u901a\u8fc7   apt - get   \u5b89\u88c5 \u4e86   Carla   \uff0c \u5219 \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u5c06 \u5176 \u5220\u9664 \uff0c \u5e76\u4e14   PythonPATH   \u4e5f \u4f1a \u88ab \u6e05\u7406 \u3002   sudo   apt - get   purge   carla - simulator   \u6700\u7ec8 \u53ef\u4ee5 \u9009\u62e9 \u4f7f\u7528   ~ / . bashrc   \uff0c \u5c06 PythonPATH \u4e0b \u4f60 \u6784\u5efa \u7684   . egg   \u6587\u4ef6 \u6dfb\u52a0 \u8fdb\u6765 \u3002 \u8fd9 \u4e0d\u662f \u63a8\u8350 \u7684 \u65b9\u5f0f \u3002 \u6700\u597d \u6709 \u4e00\u4e2a \u660e\u786e \u7684   PythonPATH \uff0c \u53ea \u9700 \u5728 \u811a\u672c \u4e2d \u6dfb\u52a0 \u5fc5\u8981 \u7684   . egg   \u6587\u4ef6 \u8def\u5f84 \u5373\u53ef \u3002   \u9996\u5148 \uff0c \u6253\u5f00   ~ / . bashrc   .   gedit   ~ / . bashrc   \u5c06 \u4ee5\u4e0b \u884c \u6dfb\u52a0 \u5230   ~ / . bashrc   \u3002 \u5b83\u4eec \u5b58\u50a8 \u6784\u5efa \u7684   . egg   \u6587\u4ef6 \u8def\u5f84 \uff0c \u4ee5\u4fbf Python \u53ef\u4ee5 \u81ea\u52a8 \u627e\u5230 \u5b83 \u3002 \u4fdd\u5b58 \u6587\u4ef6 \uff0c \u7136\u540e \u91cd\u7f6e \u7ec8\u7aef \u4ee5 \u4f7f \u66f4\u6539 \u751f\u6548 \u3002   export   PYTHONPATH = $ PYTHONPATH : \" $ { CARLA _ ROOT } / PythonAPI / carla / dist / $ ( ls   $ { CARLA _ ROOT } / PythonAPI / carla / dist   |   grep   py3 . ) \"   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla   \u6e05\u7406   PythonPATH   \u6216 \u6dfb\u52a0 \u6784\u5efa \u7684   . egg   \u6587\u4ef6 \u8def\u5f84 \u540e \uff0c \u6240\u6709 \u793a\u4f8b \u811a\u672c \u90fd \u5e94\u8be5 \u6b63\u5e38 \u5de5\u4f5c \u3002   Windows   \u6784\u5efa   \u4ece   GitHub   \u4e0b\u8f7d \u65f6 \u4e0d\u4f1a \u51fa\u73b0 \u201c CarlaUE4 . exe \u201d \u3002   Carla   \u7684 \u6e90 \u7248\u672c \u4e2d \u6ca1\u6709   CarlaUE4 . exe   \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u3002 \u6309\u7167 \u6784\u5efa \u8bf4\u660e \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002 \u8981 \u76f4\u63a5 \u83b7\u53d6   CarlaUE4 . exe   \uff0c \u8bf7 \u6309\u7167   \u5feb\u901f \u5165\u95e8   \u8bf4\u660e \u8fdb\u884c \u64cd\u4f5c \u3002   CarlaUE4   could   not   be   compiled .   Try   rebuilding   it   from   source   manually .   \u5c1d\u8bd5 \u6784\u5efa   Carla   \u65f6 \u51fa\u73b0 \u95ee\u9898 \u3002 \u4f7f\u7528   Visual   Studio   \u91cd\u65b0 \u6784\u5efa \u4ee5 \u53d1\u73b0 \u53d1\u751f \u4e86 \u4ec0\u4e48 \u3002   1 .   \u8f6c \u5230   carla / Unreal / CarlaUE4   \u5e76 \u53f3\u952e \u5355\u51fb   CarlaUE4 . uproject   \u3002   2 .   \u5355\u51fb   Generate   Visual   Studio   project   files   \u3002   3 .   \u4f7f\u7528   Visual   Studio   2019   \u6253\u5f00 \u751f\u6210 \u7684 \u6587\u4ef6 \u3002   4 .   \u4f7f\u7528   Visual   Studio   \u7f16\u8bd1 \u9879\u76ee \u3002 \u5feb\u6377 \u5feb\u6377\u952e \u662f F7 \u3002 \u6784\u5efa \u5c06 \u5931\u8d25 \uff0c \u4f46 \u53d1\u73b0 \u7684 \u95ee\u9898 \u5c06 \u663e\u793a \u5728 \u4e0b\u9762 \u3002   \u4e0d\u540c \u7684 \u95ee\u9898 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u51fa\u73b0 \u6b64 \u7279\u5b9a \u9519\u8bef \u6d88\u606f \u3002 \u7528\u6237   @ tamakoji   \u89e3\u51b3 \u4e86 \u4e00\u4e2a \u7ecf\u5e38 \u51fa\u73b0 \u7ecf\u5e38\u51fa\u73b0 \u7684 \u60c5\u51b5 \uff0c \u5373 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u672a \u6b63\u786e \u514b\u9686 \u4e14 \u65e0\u6cd5 \u8bbe\u7f6e   Carla   \u7248\u672c \uff08 \u4ece   git   \u5c06 \u5176 \u4e0b\u8f7d \u4e3a   . zip   \u65f6 \uff09 \u3002   \u68c0\u67e5   Build / CMakeLists . txt . in   .   \u5982\u679c \u663e\u793a \uff1a   set ( CARLA _ VERSION   )   \uff0c \u8bf7 \u6267\u884c \u4ee5\u4e0b \u64cd\u4f5c \uff1a   1 .   \u8f6c \u5230   Setup . bat   \u7b2c   198   \u884c \u3002   2 .   Update   the   line   from :   for   / f   %% i   in   ( ' git   describe   -- tags   -- dirty   -- always ' )   do   set   carla _ version = %% i   \u4e3a \uff1a   for   / f   %% i   in   ( ' git   describe   -- tags   -- dirty   -- always ' )   do   set   carla _ version = \" 0.9 . 9 \"   \u5373\u4f7f   CMake   \u5df2 \u6b63\u786e \u5b89\u88c5 \uff0c \u4e5f \u4f1a \u663e\u793a   CMake   \u9519\u8bef \u3002   \u5f53 \u5c1d\u8bd5 \u4f7f\u7528   make   \u547d\u4ee4 \u6784\u5efa \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6216 \u5ba2\u6237 \u5ba2\u6237\u7aef \u65f6\u4f1a \u51fa\u73b0 \u6b64 \u95ee\u9898 \u3002 \u5373\u4f7f   CMake   \u5df2 \u5b89\u88c5 \u3001 \u66f4\u65b0 \u5e76 \u6dfb\u52a0 \u5230 \u73af\u5883 \u8def\u5f84 \u4e2d \u3002 Visual   Studio   \u7248\u672c \u4e4b\u95f4 \u53ef\u80fd \u5b58\u5728 \u51b2\u7a81 \u3002   \u53ea \u7559\u4e0b VS2019 \uff0c \u5176\u4f59 \u7684 \u5f7b\u5e95 \u5220\u9664 \u3002   Error   C2440 ,   C2672 :   compiler   version .   \u7531\u4e8e \u4e0e \u5176\u4ed6   Visual   Studio   \u6216   Microsoft   \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u7248\u672c \u51b2\u7a81 \uff0c \u8be5 \u6784\u5efa \u672a \u4f7f\u7528   2019   \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u3002 \u5378\u8f7d \u8fd9\u4e9b \u5e76 \u518d\u6b21 \u91cd\u5efa \u3002   Visual   Studio   \u4e0d \u64c5\u957f \u6446\u8131 \u81ea\u8eab \u3002 \u8981 \u4ece \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e2d \u5f7b\u5e95 \u6e05\u9664 \u5f7b\u5e95\u6e05\u9664   Visual   Studio \uff0c \u8bf7 \u8f6c\u5230   Program   Files   ( x86 ) \\ Microsoft   Visual   Studio \\ Installer \\ resources \\ app \\ layout   \u5e76 \u8fd0\u884c   . \\ InstallCleanup . exe   - full   \u3002 \u8fd9 \u53ef\u80fd \u9700\u8981 \u7ba1\u7406 \u7ba1\u7406\u5458 \u6743\u9650 \u3002   \u8981 \u4fdd\u7559 \u5176\u4ed6   Visual   Studio   \u7248\u672c \uff0c \u8bf7 \u901a\u8fc7 \u6dfb\u52a0 \u4ee5\u4e0b \u884c \u8fdb\u884c \u7f16\u8f91   % appdata% \\ Unreal   Engine \\ UnrealBuildTool \\ BuildConfiguration . xml   \uff1a   < VCProjectFileGenerator >   < Version > VisualStudio2019 < / Version >   < / VCProjectFileGenerator >   < WindowsPlatform >   < Compiler > VisualStudio2019 < / Compiler >   < / WindowsPlatform >   \u201c make   launch \u201d \u5728   Windows   \u4e0a \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   \u5728 \u6784\u5efa \u5b89\u88c5 \u8fc7\u7a0b \u4e2d \u53ef\u80fd \u4f1a \u62d6 \u51fa \u8bb8\u591a \u4e0d\u540c \u7684 \u95ee\u9898 \uff0c \u5e76 \u50cf \u8fd9\u6837 \u663e\u73b0 \u73b0\u51fa \u51fa\u6765 \u663e\u73b0\u51fa \u663e\u73b0\u51fa\u6765 \u3002 \u4ee5\u4e0b \u662f \u6700 \u53ef\u80fd \u7684 \u539f\u56e0 \u5217\u8868 \uff1a   \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u3002   Windows   \u6784\u5efa \u671f\u95f4 \u53d1\u751f \u4e86 \u5f88\u591a \u4e8b\u60c5 \u3002 \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \u5e76 \u786e\u4fdd \u6240\u6709 \u5185\u5bb9 \u5747 \u5df2 \u6b63\u786e \u66f4\u65b0 \u3002   \u8fd0\u884c \u865a\u5e7b \u5f15\u64ce   4.26 \u3002   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u65f6 \u53ef\u80fd \u51fa\u73b0 \u67d0\u4e9b \u95ee\u9898 \u3002 \u8fd0\u884c \u7f16\u8f91 \u7f16\u8f91\u5668 \u5e76 \u68c0\u67e5 \u662f\u5426 \u4f7f\u7528 \u4e86   4.26   \u7248\u672c \u3002   \u4e0b\u8f7d \u8d44\u4ea7 \u3002   \u5982\u679c \u6ca1\u6709 \u89c6\u89c9 \u5185\u5bb9 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u65e0\u6cd5 \u8fd0\u884c \u3002 \u6b64 \u6b65\u9aa4 \u662f \u5f3a\u5236 \u5f3a\u5236\u6027 \u7684 \u3002   Visual   Studio   2019 .   \u5982\u679c \u5b89\u88c5 \u6216 \u6700\u8fd1 \u5378\u8f7d \u4e86 \u5176\u4ed6 \u7248\u672c \u7684   Visual   Studio \uff0c \u53ef\u80fd \u4f1a \u51fa\u73b0 \u51b2\u7a81 \u3002 \u8981 \u4ece \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e2d \u5f7b\u5e95 \u6e05\u9664 \u5f7b\u5e95\u6e05\u9664   Visual   Studio \uff0c \u8bf7 \u8f6c\u5230   Program   Files   ( x86 ) \\ Microsoft   Visual   Studio \\ Installer \\ resources \\ app \\ layout   \u5e76 \u8fd0\u884c   . \\ InstallCleanup . exe   - full   \u3002   \u5220\u9664   Carla   \u5e76 \u518d\u6b21 \u514b\u9686 \u5b83 \u3002   \u4ee5\u9632 \u4e07\u4e00 \u4ee5\u9632\u4e07\u4e00 \u51fa \u4e86 \u95ee\u9898 \u3002 \u5220\u9664   Carla   \u5e76 \u91cd\u65b0 \u514b\u9686 \u6216 \u4e0b\u8f7d \u3002   \u6ee1\u8db3 \u7cfb\u7edf \u8981\u6c42 \u3002   Carla   \u9700\u8981 \u5927\u7ea6   170GB   \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u548c \u4e00\u4e2a \u4e13\u7528   GPU \uff08 \u6216 \u81f3\u5c11 \u4e00\u4e2a   6GB \uff09 \u624d\u80fd \u8fd0\u884c \u3002   \u7cfb\u7edf \u663e\u793a \u4e0e   Carla   \u51b2\u7a81 \u7684 \u5176\u4ed6 \u7279\u5b9a \u539f\u56e0 \u53ef\u80fd \u4f1a \u53d1\u751f \u3002 \u8bf7 \u5c06 \u8fd9\u4e9b \u5185\u5bb9 \u53d1\u5e03 \u5230   \u8bba\u575b   \u4e0a \uff0c \u4ee5\u4fbf \u56e2\u961f \u53ef\u4ee5 \u66f4\u591a \u66f4\u591a\u5730 \u4e86\u89e3 \u5b83\u4eec \u3002   Make   \u7f3a\u5c11   libintl3 . dll   \u6216 / \u548c   libiconv2 . dll \u3002   \u4e0b\u8f7d   \u4f9d\u8d56 \u9879   \u5e76 \u5c06   bin   \u5185\u5bb9 \u89e3\u538b \u5230   make   \u5b89\u88c5 \u8def\u5f84 \u4e2d \u3002   Modules   are   missing   or   built   with   a   different   engine   version .   \u5355\u51fb   on   Accept   \u4ee5 \u91cd\u5efa \u5b83\u4eec \u3002   \u5c3d\u7ba1 \u6210\u529f \u8f93\u51fa \u6d88\u606f \uff0c \u4f46 \u5728   PythonAPI / carla   \u4e2d \u6ca1\u6709   dist   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u5728   Windows   \u4e2d \uff0c   make   PythonAPI   \u547d\u4ee4 \u53ef\u80fd \u4f1a \u8fd4\u56de \u4e00\u6761 \u6d88\u606f \uff0c \u8868\u660e   Python   API   \u5b89\u88c5 \u6210\u529f \uff0c \u4f46 \u5b9e\u9645 \u5b9e\u9645\u4e0a \u5e76\u672a \u6210\u529f \u3002 \u5982\u679c \u770b\u5230 \u6b64 \u8f93\u51fa \u540e \u76ee\u5f55   PythonAPI / carla   \u4e2d \u6ca1\u6709   dist   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u8bf7 \u67e5\u770b \u4e0a\u9762 \u7684 \u547d\u4ee4 \u8f93\u51fa \u3002 \u5f88 \u53ef\u80fd \u53d1\u751f \u4e86 \u9519\u8bef \uff0c \u9700\u8981 \u5728 \u66f4\u6b63 \u9519\u8bef \u5e76 \u8fd0\u884c   make   clean   \u540e \u91cd\u8bd5 \u6784\u5efa \u3002   osm2odr - visualstudio \u4e3a\u7a7a \uff0c \u6216\u8005 \u62f7\u8d1d \u8fc7\u53bb \u7684 \u76ee\u5f55 \u4e0d \u5bf9   CMake   Error :   The   current   CMakeCache . txt   directory   D : / work / workspace / carla / Build / osm2odr - visualstudio / CMakeCache . txt   is   different   than   the   directory   d : / work / buffer / carla / Build / osm2odr - visualstudio   where   CMakeCache . txt   was   created .   This   may   result   in   binaries   being   created   in   the   wrong   place .   If   you   are   not   sure ,   reedit   the   CMakeCache . txt   CMake   Error :   The   source   directory   \" D : / work / workspace / carla / Build / osm2odr - visualstudio / x64 \"   does   not   appear   to   contain   CMakeLists . txt .   \u5220\u9664   carla \\ Build \\ osm2odr - visualstudio \\ CMakeCache . txt   \u7c7b\u578b \u8f6c\u6362 \u7c7b\u578b\u8f6c\u6362 \u4e0d \u5bf9   carla / Unreal / CarlaUE4 / Plugins / Carla / Source / Carla / Vehicle / CustomTerrainPhysicsComponent . cpp ( 1161 ) :   error   C2440 :   \u201c static _ cast \u201d :   \u65e0\u6cd5 \u4ece \u201c float \u201d \u8f6c\u6362 \u4e3a \u201c EDefResolutionType \u201d   \u6ce8\u91ca \u6389   / /   ChosenRes   =   static _ cast < EDefResolutionType > ( Value ) ;   / /   static _ cast < EDefResolutionType > ( Value )   \u6ce8\u610f \uff1a \u6ce8\u610f vs2019 \u4e13\u4e1a \u4e13\u4e1a\u7248 \u624d \u6709 \u8fd9\u4e2a \u95ee\u9898 \uff0c vs2019 \u793e\u533a \u7248 \u6ca1\u6709 \u8fd9\u4e2a \u95ee\u9898 \u3002   \u94fe\u63a5 \u4e0d\u5230 osm2odr . lib   fatal   error   LNK1181 :   carla \\ Unreal \\ CarlaUE4 \\ Plugins \\ Carla \\ CarlaDependencies \\ lib \\ osm2odr . lib   \u4ece \u5176\u4ed6 \u5730\u65b9 \u62f7\u8d1d \u8fc7\u6765 \u3002   \u8fd0\u884c   Carla   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u8fd0\u884c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u65f6   FPS   \u901f\u7387 \u8f83 \u4f4e \u3002   \u865a\u5e7b 4 \u7f16\u8f91 \u7f16\u8f91\u5668 \u5728 \u5931\u7126 \u65f6\u4f1a \u8fdb\u5165 \u4f4e \u6027\u80fd \u6a21\u5f0f \u3002   \u8f6c \u5230 \u201c \u7f16\u8f91 - > \u7f16\u8f91 \u7f16\u8f91\u5668 \u504f\u597d \u8bbe\u7f6e - > \u6027\u80fd \u201d   \uff08   Edit / Editor   Preferences / Performance   \uff09 \uff0c \u7136\u540e \u7981\u7528 \u201c \u5904\u4e8e \u80cc\u666f \u4e2d \u65f6 \u5360\u7528 \u8f83 \u5c11   CPU \u201d \u9009\u9879 \u3002   \u65e0\u6cd5 \u8fd0\u884c \u811a\u672c \u3002   \u6709\u4e9b \u811a\u672c \u6709 \u8981\u6c42 \u3002 \u8fd9\u4e9b \u5217 \u5728 \u540d\u4e3a   Requirements . txt   \u7684 \u6587\u4ef6 \u4e2d \uff0c \u4e0e \u811a\u672c \u672c\u8eab \u4f4d\u4e8e \u540c\u4e00 \u8def\u5f84 \u4e2d \u3002 \u8bf7 \u52a1\u5fc5 \u68c0\u67e5 \u8fd9\u4e9b \u4ee5\u4fbf \u8fd0\u884c \u811a\u672c \u3002 \u5176\u4e2d \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u53ef\u4ee5 \u901a\u8fc7 \u7b80\u5355 \u7684   pip   \u547d\u4ee4 \u8fdb\u884c \u5b89\u88c5 \u3002   \u6709\u65f6 \u5728   Windows   \u4e0a \uff0c \u811a\u672c \u65e0\u6cd5 \u4ec5 \u4f7f\u7528   >   script _ name . py   \u8fd0\u884c \u3002 \u5c1d\u8bd5 \u6dfb\u52a0 .   Try   adding   >   python3   script _ name . py   \uff0c \u5e76 \u786e\u4fdd \u4f4d\u4e8e \u6b63\u786e \u7684 \u76ee\u5f55 \u4e2d \u3002   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u8fd0\u884c \u65f6 \u8fde\u63a5 \u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u5355\u51fb \u201c \u8fd0\u884c \u201d \uff08   Play   \uff09 \u5e76 \u7b49\u5f85 \u573a\u666f \u52a0\u8f7d \u3002 \u6b64\u65f6 \uff0c Python   \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u50cf \u72ec\u7acb \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e00\u6837 \u8fde\u63a5 \u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u65e0\u6cd5 \u8fd0\u884c   Carla \uff0c \u65e0\u8bba \u65e0\u8bba\u662f \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u8fd8\u662f \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u3002   NVIDIA   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u53ef\u80fd \u5df2 \u8fc7\u65f6 \u3002 \u786e\u4fdd \u60c5\u51b5 \u5e76\u975e \u5982\u6b64 \u5e76\u975e\u5982\u6b64 \u3002 \u5982\u679c \u95ee\u9898 \u4ecd \u672a \u89e3\u51b3 \uff0c \u8bf7 \u67e5\u770b   \u8bba\u575b   \u5e76 \u53d1\u5e03 \u5177\u4f53 \u95ee\u9898 \u3002   ImportError :   DLL   load   failed :   The   specified   module   could   not   be   found .   \u6240 \u9700 \u7684 \u5e93 \u4e4b\u4e00 \u5c1a\u672a \u6b63\u786e \u5b89\u88c5 \u3002 \u4f5c\u4e3a \u89e3\u51b3 \u65b9\u6cd5 \uff0c \u8bf7 \u8f6c\u81f3   carla \\ Build \\ zlib - source \\ build   \u5e76 \u5728 \u811a\u672c \u7684 \u8def\u5f84 \u4e2d \u590d\u5236 \u540d\u4e3a   zlib . dll   \u7684 \u6587\u4ef6 \u3002   ImportError :   DLL   load   failed   while   importing   libcarla :   % 1   is   not   a   valid   Win32   app .   32   \u4f4d   Python   \u7248\u672c \u5728 \u5c1d\u8bd5 \u8fd0\u884c \u811a\u672c \u65f6\u4f1a \u4ea7\u751f \u51b2\u7a81 \u3002 \u5378\u8f7d \u5b83 \u5e76 \u4ec5 \u4fdd\u7559 \u6240 \u9700 \u7684   Python3   x64 \u3002   ImportError :   No   module   named   ' carla '   \u51fa\u73b0 \u6b64 \u9519\u8bef \u7684 \u539f\u56e0 \u662f   Python   \u627e \u4e0d\u5230   Carla   \u5e93 \u3002 Carla   \u5e93 \u5305\u542b \u5728 \u4f4d\u4e8e   PythonAPI / carla / dist   \u76ee\u5f55 \u4e2d \u7684 \u4e00\u4e2a   . egg   \u6587\u4ef6 \u4e2d \uff0c \u6240\u6709 \u793a\u4f8b \u811a\u672c \u90fd \u5c06 \u5728 \u6b64 \u76ee\u5f55 \u4e2d \u67e5\u627e \u5b83 \u3002 \u8be5   . egg   \u6587\u4ef6 \u9075\u5faa carla -   - py   -   . egg   \u547d\u540d \u6cd5 \u3002   \u91cd\u8981   Carla   \u4ec5 \u5728   0.9 . 12   \u4e4b\u524d \u7684 \u7248\u672c \u4e2d \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u6587\u4ef6   . egg   \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   0.9 . 12 + \uff0c \u6709 \u591a\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u4f7f\u7528 / \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff08   . whl   \u6216   PyPi   \u4e0b\u8f7d \uff09 \u7684 \u8f83 \u65b0 \u65b9\u6cd5 \u4e4b\u4e00 \uff0c \u672c\u8282 \u4e2d \u7684 \u4fe1\u606f \u5c06 \u4e0e \u60a8 \u65e0\u5173 \u3002   \u5728   \u5feb\u901f \u5165\u95e8 \u6559\u7a0b \u5165\u95e8\u6559\u7a0b   \u4e2d \u9605\u8bfb \u6709\u5173 \u4f7f\u7528 / \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u7684 \u65b0 \u65b9\u6cd5 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f \u6253\u5305 \u7248\u672c \u7684   Carla \uff0c \u5219 \u4f1a \u6709 \u591a\u4e2a   . egg   \u6587\u4ef6 \uff0c \u5bf9\u5e94 \u4e0d\u540c \u7248\u672c \u7684   Python \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e   Carla   \u7684 \u7248\u672c \u3002 \u786e\u4fdd \u786e\u4fdd\u60a8 \u6b63\u5728 \u4f7f\u7528 \u8fd9\u4e9b   Python   \u7248\u672c \u4e4b\u4e00 \u8fd0\u884c \u811a\u672c \u3002 \u8981 \u68c0\u67e5 \u9ed8\u8ba4 \u7684   Python   \u7248\u672c \uff0c \u8bf7 \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u4e2d \u952e\u5165 \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   python3   -- version   #   \u6216\u8005   python   -- version   \u5982\u679c \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Python \uff0c \u5219 \u8be5   . egg   \u6587\u4ef6 \u5c06 \u6839\u636e \u7cfb\u7edf \u4e0a \u7684 \u9ed8\u8ba4   Python   \u7248\u672c \u6784\u5efa \u3002 \u5728   Linux   \u4e2d \uff0c \u8fd9 \u5c06 \u662f \u8fd4\u56de \u7684 \u9ed8\u8ba4   Python   \u7248\u672c \uff1a   / usr / bin / env   python3   -- version   #   \u6216\u8005 \u5982\u679c \u4f60 \u6307\u5b9a   ARGS = \" -- python - version = 2 \"   / usr / bin / env   python2   -- version   \u5728   Windows   \u4e2d \uff0c \u5b83 \u5c06 \u6210\u4e3a \u4ee5\u4e0b \u529f\u80fd \u7684 \u9ed8\u8ba4   Python   \u7248\u672c \uff1a   py   - 3   -- version   \u786e\u4fdd \u786e\u4fdd\u60a8 \u4f7f\u7528 \u4e0e \u60a8 \u7684   . egg   \u6587\u4ef6 \u5bf9\u5e94 \u7684   Python   \u7248\u672c \u8fd0\u884c \u811a\u672c . egg \u3002 \u5728   Linux   \u4e2d \uff0c \u60a8 \u53ef\u80fd \u8fd8 \u9700\u8981 \u5c06   Python   \u8def\u5f84 \u8bbe\u7f6e \u4e3a \u6307\u5411   Carla \u3002 \u4e3a\u6b64 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   export   PYTHONPATH = $ PYTHONPATH : < path / to / carla / > / PythonAPI / carla / dist / < your _ egg _ file >   #   \u68c0\u67e5 \u73b0\u5728   Carla   \u662f\u5426 \u80fd \u53d1\u73b0   python3   - c   ' import   carla ; print ( \" Success \" ) '   \u8bf7 \u6ce8\u610f \uff0c \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u6216   Conda   \u7b49 \u5176\u4ed6   Python   \u73af\u5883 \u53ef\u80fd \u4f1a \u4f7f   Carla   \u7684 \u5b89\u88c5 \u53d8\u5f97 \u590d\u6742 \u53d8\u5f97\u590d\u6742 \u3002 \u786e\u4fdd \u786e\u4fdd\u60a8 \u5df2 \u76f8\u5e94 \u5730 \u8bbe\u7f6e   Python   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u548c \u8def\u5f84 \u3002   RuntimeError :   rpc : : rpc _ error   during   call   in   function   apply _ batch   PythonAPI \u7684 \u7248\u672c \u8981 \u548c Carla \u670d\u52a1 \u7684 \u7248\u672c \u4e00\u81f4 \uff0c \u6bd4\u5982 dev \u5206\u652f \u7684 \u4ee3\u7801 \u7f16\u8bd1 \u5f97\u5230 \u7684 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u8fd0\u884c \u7684 \u573a\u666f \u4e5f \u8981 \u7528 dev \u5206\u652f \u4ee3\u7801 \u7f16\u8bd1 \u7684 PythonAPI \u8fdb\u884c \u8fde\u63a5 \u3002   ValueError :   sticky _ control :   invalid   value   type   \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u670d\u52a1\u7aef \u7684 PythonAPI \u7248\u672c \u4e0d \u4e00\u81f4 \uff0c \u5728 dev \u5206\u652f \u5f00\u53d1 \u65f6\u4f1a \u51fa\u73b0 \u3002   \u5176\u4ed6   Fatal   error :   ' version . h '   has   been   modified   since   the   precompiled   header .   \u7531\u4e8e   Linux   \u66f4\u65b0 \uff0c \u8fd9\u79cd \u60c5\u51b5 \u65f6\u5e38 \u53d1\u751f \u3002 Makefile   \u4e2d\u6709 \u4e00\u4e2a \u9488\u5bf9 \u6b64 \u95ee\u9898 \u7684 \u7279\u6b8a \u76ee\u6807 \u3002 \u867d\u7136 \u82b1 \u4e86 \u5f88 \u65f6\u95f4 \u957f\u65f6\u95f4 \uff0c \u4f46 \u89e3\u51b3 \u4e86 \u95ee\u9898 \uff1a   make   hard - clean   make   CarlaUE4Editor   \u521b\u5efa   Carla   \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c \u3002   \u5728   Linux   \u4e2d \uff0c \u5728 \u9879\u76ee \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c   make   package   \u3002 \u8be5\u5305 \u5c06 \u5305\u62ec \u9879\u76ee \u548c   Python   API   \u6a21\u5757 \u3002   \u6216\u8005 \uff0c \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7f16\u8bd1   Carla   \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c \u3002 \u6253\u5f00   CarlaUE4   \u9879\u76ee \uff0c \u8f6c \u5230 \u83dc\u5355   File / Package   Project   \uff0c \u7136\u540e \u9009\u62e9 \u4e00\u4e2a \u5e73\u53f0 \u3002 \u53ef\u80fd \u8fd8\u8981 \u7b49 \u4e00\u4e0b \u3002   \u6211 \u53ef\u4ee5 \u5728   Linux   \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u6253\u5305 \u9002\u7528 \u4e8e   Windows   \u7684   Carla \uff0c \u53cd\u4e4b \u4ea6\u7136 \u53cd\u4e4b\u4ea6\u7136 \u5417 \uff1f   \u867d\u7136 \u6b64 \u529f\u80fd \u9002\u7528 \u4e8e \u865a\u5e7b \u5f15\u64ce \uff0c \u4f46 \u5728   Carla   \u4e2d \u4e0d\u53ef \u7528 \u3002 \u6211\u4eec \u6709 \u8bb8\u591a \u4e0d \u652f\u6301 \u4ea4\u53c9 \u7f16\u8bd1 \u7684 \u4f9d\u8d56 \u9879 \u3002   \u5982\u4f55 \u5378\u8f7d   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff1f   \u5982\u679c \u60a8 \u4f7f\u7528   pip / pip3   \u5b89\u88c5 \u4e86 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u5219 \u5e94 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u5c06 \u5176 \u5378\u8f7d \uff1a   #   Python   3   pip3   uninstall   carla   #   Python   2   pip   uninstall   carla","title":"\u5e38\u95ee \u7684 \u95ee\u9898"},{"location":"build_faq/#_1","text":"\u6b64\u5904 \u5217\u51fa \u4e86 \u6709\u5173   Carla   \u5b89\u88c5 \u548c \u6784\u5efa \u7684 \u4e00\u4e9b \u6700 \u5e38\u89c1 \u95ee\u9898 \u5e38\u89c1\u95ee\u9898 \u3002 \u66f4 \u591a \u4fe1\u606f \u53ef\u4ee5 \u5728 \u8be5\u9879 \u76ee\u7684   GitHub   issues   \u627e\u5230 \u3002 \u5982\u679c \u60a8 \u6ca1\u6709 \u53d1\u73b0 \u6b64\u5904 \u5217\u51fa \u7684 \u7591\u95ee \uff0c \u8bf7 \u67e5\u770b \u8bba\u575b \u5e76 \u968f\u65f6 \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u5e38\u95ee \u7684 \u95ee\u9898"},{"location":"build_faq/#_2","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66","title":"\u4e13\u4e1a \u95ee\u9898"},{"location":"build_faq/#_3","text":"\u6784\u5efa   Carla   \u6240 \u9700 \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u3002   \u8fd0\u884c   Carla   \u7684 \u63a8\u8350 \u786c\u4ef6 \u3002","title":"\u7cfb\u7edf \u8981\u6c42"},{"location":"build_faq/#linux","text":"\u4ece   GitHub   \u4e0b\u8f7d \u65f6 \u4e0d\u4f1a \u51fa\u73b0 \u201c CarlaUE4 . sh \u201d \u811a\u672c \u3002   \u201c make   launch \u201d   \u5728   Linux   \u4e0a \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   \u514b\u9686 \u865a\u5e7b \u5f15\u64ce \u5b58\u50a8 \u5e93 \u663e\u793a \u9519\u8bef \u3002   AttributeError :   module   ' carla '   has   no   attribute   ' Client '   when   running   a   script .   \u65e0\u6cd5 \u8fd0\u884c \u793a\u4f8b \u811a\u672c \u6216   \" RuntimeError :   rpc : : rpc _ error   during   call   in   function   version \" .","title":"Linux   \u6784\u5efa"},{"location":"build_faq/#windows","text":"\u4ece   GitHub   \u4e0b\u8f7d \u65f6 \u4e0d\u4f1a \u51fa\u73b0 \u201c CarlaUE4 . exe \u201d \u3002   CarlaUE4   \u65e0\u6cd5 \u7f16\u8bd1 \u3002 \u5c1d\u8bd5 \u4ece\u6e90 \u624b\u52a8 \u91cd\u5efa \u5b83 \u3002   \u5373\u4f7f   CMake   \u5df2 \u6b63\u786e \u5b89\u88c5 \uff0c \u4e5f \u4f1a \u663e\u793a   CMake   \u9519\u8bef \u3002   Error   C2440 ,   C2672 \uff1a \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u7248\u672c \u3002   \u201c make   launch \u201d \u5728   Windows   \u4e0a \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   Make   \u7f3a\u5c11   libintl3 . dll   \u6216 / \u548c   libiconv2 . dll \u3002   \u6a21\u5757 \u7f3a\u5931 \u6216 \u4f7f\u7528 \u4e0d\u540c \u7684 \u5f15\u64ce \u7248\u672c \u6784\u5efa \u3002   \u5728   PythonAPI / carla   \u4e2d \u5c3d\u7ba1 \u6210\u529f \u8f93\u51fa \u6d88\u606f \uff0c \u4f46 \u6ca1\u6709   dist   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   osm2odr - visualstudio \u4e3a\u7a7a \uff0c \u6216\u8005 \u62f7\u8d1d \u8fc7\u53bb \u7684 \u76ee\u5f55 \u4e0d \u5bf9   \u7c7b\u578b \u8f6c\u6362 \u7c7b\u578b\u8f6c\u6362 \u4e0d \u5bf9   \u94fe\u63a5 \u4e0d\u5230 osm2odr . lib","title":"Windows   \u6784\u5efa"},{"location":"build_faq/#carla","text":"\u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u8fd0\u884c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u65f6   FPS   \u901f\u7387 \u8f83 \u4f4e \u3002   \u65e0\u6cd5 \u8fd0\u884c \u811a\u672c \u3002   \u5f53 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u8fd0\u884c \u65f6 \u94fe\u63a5 \u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u65e0\u6cd5 \u8fd0\u884c   Carla \uff0c \u65e0\u8bba \u65e0\u8bba\u662f \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u8fd8\u662f \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u3002   ImportError :   DLL   load   failed :   The   specified   module   could   not   be   found .   ImportError :   DLL   load   failed   while   importing   libcarla :   % 1   is   not   a   valid   Win32   app .   ImportError :   No   module   named   ' carla '   RuntimeError :   rpc : : rpc _ error   during   call   in   function   apply _ batch   ValueError :   sticky _ control :   invalid   value   type","title":"\u8fd0\u884c   Carla"},{"location":"build_faq/#_4","text":"Fatal   error :   ' version . h '   has   been   modified   since   the   precompiled   header .   \u521b\u5efa   Carla   \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c \u3002   \u6211 \u53ef\u4ee5 \u5728   Linux   \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u6253\u5305 \u9002\u7528 \u4e8e   Windows   \u7684   Carla \uff0c \u53cd\u4e4b \u4ea6\u7136 \u53cd\u4e4b\u4ea6\u7136 \u5417 \uff1f   \u5982\u4f55 \u5378\u8f7d   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff1f","title":"\u5176\u4ed6"},{"location":"build_faq/#_5","text":"","title":"\u7cfb\u7edf \u8981\u6c42"},{"location":"build_faq/#carla_1","text":"\u5efa\u8bae \u81f3\u5c11 \u6709   170GB   \u53ef\u7528 \u7a7a\u95f4 \u3002 \u6784\u5efa   Carla   \u9700\u8981 \u5927\u7ea6   35GB   \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \uff0c \u52a0\u4e0a \u865a\u5e7b \u5f15\u64ce \u5927\u7ea6 \u9700\u8981   95 - 135GB \u3002","title":"\u6784\u5efa   Carla   \u6240 \u9700 \u7684 \u78c1\u76d8\u7a7a\u95f4 \u3002  "},{"location":"build_faq/#carla_2","text":"Carla   \u662f \u4e00\u6b3e \u6027\u80fd \u8981\u6c42 \u8f83 \u9ad8 \u7684 \u8f6f\u4ef6 \u3002 \u5b83 \u81f3\u5c11 \u9700\u8981   6GB   GPU \uff0c \u6216\u8005 \u66f4\u597d \u7684 \u662f \u80fd\u591f \u8fd0\u884c \u865a\u5e7b \u5f15\u64ce \u7684 \u4e13\u7528   GPU \u3002   \u770b\u770b   \u865a\u5e7b \u5f15\u64ce \u63a8\u8350 \u7684 \u786c\u4ef6   \u3002","title":"\u8fd0\u884c   Carla   \u7684 \u63a8\u8350 \u786c\u4ef6 \u3002  "},{"location":"build_faq/#linux_1","text":"","title":"Linux   \u6784\u5efa"},{"location":"build_faq/#github-carlaue4sh","text":"Carla   \u7684 \u6e90 \u7248\u672c \u4e2d \u6ca1\u6709   CarlaUE4 . sh   \u811a\u672c \u3002 \u6309\u7167   \u6784\u5efa \u8bf4\u660e   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002   \u8981 \u4f7f\u7528   CarlaUE4 . sh   \u8fd0\u884c   Carla \uff0c \u8bf7 \u6309\u7167   \u5feb\u901f \u542f\u52a8 \u5b89\u88c5   \u8fdb\u884c \u64cd\u4f5c \u3002","title":"\u4ece   GitHub   \u4e0b\u8f7d \u65f6 \u4e0d\u4f1a \u51fa\u73b0 \u201c CarlaUE4 . sh \u201d \u811a\u672c \u3002  "},{"location":"build_faq/#make-launch-linux","text":"\u5728 \u6784\u5efa \u5b89\u88c5 \u8fc7\u7a0b \u4e2d \u53ef\u80fd \u4f1a \u62d6 \u51fa \u8bb8\u591a \u4e0d\u540c \u7684 \u95ee\u9898 \uff0c \u5e76\u4f1a \u50cf \u8fd9\u6837 \u663e\u73b0 \u73b0\u51fa \u51fa\u6765 \u663e\u73b0\u51fa \u663e\u73b0\u51fa\u6765 \u3002 \u4ee5\u4e0b \u662f \u6700 \u53ef\u80fd \u7684 \u539f\u56e0 \u5217\u8868 \uff1a   \u8fd0\u884c \u865a\u5e7b \u5f15\u64ce   4.26 \u3002   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u65f6 \u53ef\u80fd \u51fa\u73b0 \u67d0\u4e9b \u95ee\u9898 \u3002 \u5c1d\u8bd5 \u5355\u72ec \u8fd0\u884c \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5e76 \u68c0\u67e5 \u5b83 \u662f\u5426 \u662f\u5426\u662f   4.26   \u7248\u672c \u3002   \u4e0b\u8f7d \u8d44\u4ea7 \u3002   \u5982\u679c \u6ca1\u6709 \u89c6\u89c9 \u5185\u5bb9 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u65e0\u6cd5 \u8fd0\u884c \u3002 \u6b64 \u6b65\u9aa4 \u662f \u5f3a\u5236 \u5f3a\u5236\u6027 \u7684 \u3002   UE4 _ ROOT   \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \u3002   \u5883 \u53d8\u91cf \u672a \u8bbe\u7f6e \u3002 \u8bf7 \u8bb0\u4f4f \u901a\u8fc7 \u5c06 \u5176 \u6dfb\u52a0 \u5230   ~ / . bashrc   \u6216   ~ / . profile   \u6765 \u4f7f \u5176 \u5728 \u4f1a \u8bdd \u8303\u56f4 \u5185 \u6301\u4e45 \u5b58\u5728 \u3002 \u5426\u5219 \uff0c \u9700\u8981 \u4e3a \u6bcf\u4e2a \u65b0   shell   \u8fdb\u884c \u8bbe\u7f6e \u3002 \u8fd0\u884c   export   UE4 _ ROOT = < path _ to _ unreal _ 4 - 26 >   \u8bbe\u7f6e \u8fd9\u6b21 \u7684 \u53d8\u91cf \u3002   \u68c0\u67e5 \u4f9d\u8d56 \u3002   \u786e\u4fdd \u4e00\u5207 \u90fd \u5b89\u88c5 \u6b63\u786e \u3002 \u4e5f\u8bb8 \u5176\u4e2d \u4e00\u4e2a \u547d\u4ee4 \u88ab \u8df3 \u8fc7 \u3001 \u4e0d \u6210\u529f \u6216\u8005 \u4f9d\u8d56 \u9879 \u4e0d \u9002\u5408 \u7cfb\u7edf \u3002   \u5220\u9664   Carla   \u5e76 \u518d\u6b21 \u514b\u9686 \u5b83 \u3002   \u4ee5\u9632 \u4e07\u4e00 \u4ee5\u9632\u4e07\u4e00 \u51fa \u4e86 \u95ee\u9898 \u3002 \u5220\u9664   Carla   \u5e76 \u91cd\u65b0 \u514b\u9686 \u6216 \u4e0b\u8f7d \u3002   \u6ee1\u8db3 \u7cfb\u7edf \u8981\u6c42 \u3002   Ubuntu   \u7248\u672c \u5e94\u4e3a   16.04   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002 Carla   \u9700\u8981 \u5927\u7ea6   170GB   \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u548c \u4e00\u4e2a \u4e13\u7528   GPU \uff08 \u6216 \u81f3\u5c11 \u4e00\u4e2a   6GB \uff09 \u624d\u80fd \u8fd0\u884c \u3002   \u7cfb\u7edf \u663e\u793a \u4e0e   Carla   \u51b2\u7a81 \u7684 \u5176\u4ed6 \u7279\u5b9a \u539f\u56e0 \u53ef\u80fd \u4f1a \u53d1\u751f \u3002 \u8bf7 \u5c06 \u8fd9\u4e9b \u5185\u5bb9 \u53d1\u5e03 \u5230   \u8bba\u575b   \u4e0a \uff0c \u4ee5\u4fbf \u56e2\u961f \u53ef\u4ee5 \u66f4\u591a \u66f4\u591a\u5730 \u4e86\u89e3 \u5b83\u4eec \u3002","title":"\u201c make   launch \u201d \u5728   Linux   \u4e0a \u4e0d\u8d77\u4f5c\u7528 \u3002  "},{"location":"build_faq/#_6","text":"1 .   \u865a\u5e7b \u5f15\u64ce \u5e10\u53f7 \u662f\u5426 \u5df2 \u6fc0\u6d3b \uff1f   \u865a\u5e7b \u5f15\u64ce \u5b58\u50a8 \u5e93\u662f \u79c1\u6709 \u7684 \u3002 \u4e3a\u4e86 \u514b\u9686 \u5b83 \uff0c \u8bf7 \u521b\u5efa \u865a   \u5e7b \u5f15\u64ce \u5e10   \u6237 \uff0c \u6fc0\u6d3b \u5b83 \uff08 \u68c0\u67e5 \u9a8c\u8bc1 \u90ae\u4ef6 \uff09 \uff0c \u7136\u540e   \u94fe\u63a5 \u60a8 \u7684   GitHub   \u5e10\u6237 \u3002   2 .   git \u662f\u5426 \u5b89\u88c5 \u6b63\u786e \uff1f   \u6709\u65f6 \u9519\u8bef \u8868\u660e \u4e0e   https   \u534f\u8bae \u4e0d \u517c\u5bb9 \u3002 \u901a\u8fc7 \u5378\u8f7d \u5e76 \u91cd\u65b0 \u65b0\u5b89 \u5b89\u88c5 \u91cd\u65b0\u5b89\u88c5   git   \u5373\u53ef \u8f7b\u677e \u89e3\u51b3 \u3002 \u6253\u5f00 \u7ec8\u7aef \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   sudo   apt - get   remove   git   #   \u5378\u8f7d   git   sudo   apt   install   git - all   #   \u5b89\u88c5   git","title":"\u514b\u9686 \u865a\u5e7b \u5f15\u64ce \u5b58\u50a8 \u5e93 \u663e\u793a \u9519\u8bef \u3002  "},{"location":"build_faq/#attributeerror-module-carla-has-no-attribute-client-when-running-a-script","text":"\u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u3002   pip3   install   - Iv   setuptools = = 47.3 . 1   \u5e76 \u518d\u6b21 \u6784\u5efa   PythonAPI \u3002   make   PythonAPI   \u5c1d\u8bd5 \u6784\u5efa \u6587\u6863 \u6765 \u6d4b\u8bd5 \u4e00\u5207 \u662f\u5426 \u6b63\u5e38 \u8fd0\u884c \u3002 \u5e94\u8be5 \u4f1a \u663e\u793a \u6210\u529f \u7684 \u6d88\u606f \u3002   make   PythonAPI . docs","title":"AttributeError :   module   ' carla '   has   no   attribute   ' Client '   when   running   a   script .  "},{"location":"build_faq/#runtimeerror-rpcrpc_error-during-call-in-function-version","text":"\u5982\u679c \u8fd0\u884c \u811a\u672c \u8fd4\u56de \u4e0e \u6b64\u7c7b \u4f3c\u7684 \u8f93\u51fa \uff0c \u5219 \u8bf4\u660e   PythonAPI   \u4e2d \u7684   . egg   \u6587\u4ef6 \u5b58\u5728 \u95ee\u9898 \u3002   \u91cd\u8981   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   0.9 . 12 + \uff0c \u6709 \u591a\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u4f7f\u7528 / \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff08   . whl   \u6216   PyPi   \u4e0b\u8f7d \uff09 \u7684 \u8f83 \u65b0 \u65b9\u6cd5 \u4e4b\u4e00 \uff0c \u672c\u8282 \u4e2d \u7684 \u4fe1\u606f \u5c06 \u4e0e \u60a8 \u65e0\u5173 \u3002   \u9996\u5148 \uff0c \u6253\u5f00   < root _ carla > / PythonAPI / carla / dist   \u3002   \u5e94\u8be5 \u6709 \u4e00\u4e2a \u548c \u4f60 \u6b63\u5728 \u4f7f\u7528 \u76f8\u5bf9 \u5e94 \u7684   Carla   \u548c   Python   \u54cd\u5e94 \u7684   . egg   \u6587\u4ef6 \uff08 \u7c7b\u4f3c \u4e8e   carla - 0 . X . X - pyX . X - linux - x86 _ 64 . egg   \uff09 \u3002 \u786e\u4fdd \u8be5 \u6587\u4ef6 \u4e0e \u60a8 \u6b63\u5728 \u4f7f\u7528 \u7684   Python   \u7248\u672c \u5339\u914d \u3002 \u8981 \u68c0\u67e5 \u60a8 \u7684   Python   \u7248\u672c \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u3002   python3   -- version   #   \u6216\u8005 \u5bf9\u4e8e   Python   2   python   -- version   \u5982\u679c \u6587\u4ef6 \u4e22\u5931 \u6216\u8005 \u60a8 \u8ba4\u4e3a \u5b83 \u53ef\u80fd \u635f\u574f \u5df2\u635f\u574f \uff0c \u8bf7 \u5c1d\u8bd5 \u518d\u6b21 \u91cd\u5efa \u3002   make   clean   make   PythonAPI   make   launch   \u73b0\u5728 \u518d\u6b21 \u5c1d\u8bd5 \u793a\u4f8b \u811a\u672c \u4e4b\u4e00 \u3002   cd   PythonAPI / examples   python3   dynamic _ weather . py   \u5982\u679c \u9519\u8bef \u4ecd\u7136 \u5b58\u5728 \uff0c \u5219 \u95ee\u9898 \u53ef\u80fd \u4e0e \u60a8 \u7684   PythonPATH   \u6709\u5173 \u3002 \u8fd9\u4e9b \u811a\u672c \u4f1a \u81ea\u52a8 \u67e5\u627e   . egg   \u4e0e \u6784\u5efa \u76f8\u5173 \u7684 \u6587\u4ef6 \uff0c \u56e0\u6b64 \uff0c \u60a8 \u7684   PythonPATH   \u4e2d \u53ef\u80fd \u5b58\u5728 \u53e6 \u4e00\u4e2a   . egg   \u6587\u4ef6 \u5e72\u6270 \u8be5 \u8fc7\u7a0b \u3002 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u663e\u793a   PythonPATH   \u7684 \u5185\u5bb9 \u3002   echo   $ PYTHONPATH   \u5728 \u7c7b\u4f3c \u4e8e   PythonAPI / carla / dist   \u7684 \u8def\u5f84 \u4e0b \u67e5\u627e \u53e6 \u4e00\u4e2a   . egg   \u6587\u4ef6 \uff0c \u5e76 \u5220\u9664 \u5b83\u4eec \u3002 \u5b83\u4eec \u53ef\u80fd \u5c5e\u4e8e   Carla   \u5b89\u88c5 \u7684 \u5176\u4ed6 \u5b9e\u4f8b \u3002 \u4f8b\u5982 \uff0c \u5982\u679c \u60a8 \u8fd8 \u901a\u8fc7   apt - get   \u5b89\u88c5 \u4e86   Carla   \uff0c \u5219 \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u5c06 \u5176 \u5220\u9664 \uff0c \u5e76\u4e14   PythonPATH   \u4e5f \u4f1a \u88ab \u6e05\u7406 \u3002   sudo   apt - get   purge   carla - simulator   \u6700\u7ec8 \u53ef\u4ee5 \u9009\u62e9 \u4f7f\u7528   ~ / . bashrc   \uff0c \u5c06 PythonPATH \u4e0b \u4f60 \u6784\u5efa \u7684   . egg   \u6587\u4ef6 \u6dfb\u52a0 \u8fdb\u6765 \u3002 \u8fd9 \u4e0d\u662f \u63a8\u8350 \u7684 \u65b9\u5f0f \u3002 \u6700\u597d \u6709 \u4e00\u4e2a \u660e\u786e \u7684   PythonPATH \uff0c \u53ea \u9700 \u5728 \u811a\u672c \u4e2d \u6dfb\u52a0 \u5fc5\u8981 \u7684   . egg   \u6587\u4ef6 \u8def\u5f84 \u5373\u53ef \u3002   \u9996\u5148 \uff0c \u6253\u5f00   ~ / . bashrc   .   gedit   ~ / . bashrc   \u5c06 \u4ee5\u4e0b \u884c \u6dfb\u52a0 \u5230   ~ / . bashrc   \u3002 \u5b83\u4eec \u5b58\u50a8 \u6784\u5efa \u7684   . egg   \u6587\u4ef6 \u8def\u5f84 \uff0c \u4ee5\u4fbf Python \u53ef\u4ee5 \u81ea\u52a8 \u627e\u5230 \u5b83 \u3002 \u4fdd\u5b58 \u6587\u4ef6 \uff0c \u7136\u540e \u91cd\u7f6e \u7ec8\u7aef \u4ee5 \u4f7f \u66f4\u6539 \u751f\u6548 \u3002   export   PYTHONPATH = $ PYTHONPATH : \" $ { CARLA _ ROOT } / PythonAPI / carla / dist / $ ( ls   $ { CARLA _ ROOT } / PythonAPI / carla / dist   |   grep   py3 . ) \"   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla   \u6e05\u7406   PythonPATH   \u6216 \u6dfb\u52a0 \u6784\u5efa \u7684   . egg   \u6587\u4ef6 \u8def\u5f84 \u540e \uff0c \u6240\u6709 \u793a\u4f8b \u811a\u672c \u90fd \u5e94\u8be5 \u6b63\u5e38 \u5de5\u4f5c \u3002","title":"\u65e0\u6cd5 \u8fd0\u884c \u793a\u4f8b \u811a\u672c \u6216   \" RuntimeError :   rpc : : rpc _ error   during   call   in   function   version \" .  "},{"location":"build_faq/#windows_1","text":"","title":"Windows   \u6784\u5efa"},{"location":"build_faq/#github-carlaue4exe","text":"Carla   \u7684 \u6e90 \u7248\u672c \u4e2d \u6ca1\u6709   CarlaUE4 . exe   \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u3002 \u6309\u7167 \u6784\u5efa \u8bf4\u660e \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002 \u8981 \u76f4\u63a5 \u83b7\u53d6   CarlaUE4 . exe   \uff0c \u8bf7 \u6309\u7167   \u5feb\u901f \u5165\u95e8   \u8bf4\u660e \u8fdb\u884c \u64cd\u4f5c \u3002","title":"\u4ece   GitHub   \u4e0b\u8f7d \u65f6 \u4e0d\u4f1a \u51fa\u73b0 \u201c CarlaUE4 . exe \u201d \u3002  "},{"location":"build_faq/#carlaue4-could-not-be-compiled-try-rebuilding-it-from-source-manually","text":"\u5c1d\u8bd5 \u6784\u5efa   Carla   \u65f6 \u51fa\u73b0 \u95ee\u9898 \u3002 \u4f7f\u7528   Visual   Studio   \u91cd\u65b0 \u6784\u5efa \u4ee5 \u53d1\u73b0 \u53d1\u751f \u4e86 \u4ec0\u4e48 \u3002   1 .   \u8f6c \u5230   carla / Unreal / CarlaUE4   \u5e76 \u53f3\u952e \u5355\u51fb   CarlaUE4 . uproject   \u3002   2 .   \u5355\u51fb   Generate   Visual   Studio   project   files   \u3002   3 .   \u4f7f\u7528   Visual   Studio   2019   \u6253\u5f00 \u751f\u6210 \u7684 \u6587\u4ef6 \u3002   4 .   \u4f7f\u7528   Visual   Studio   \u7f16\u8bd1 \u9879\u76ee \u3002 \u5feb\u6377 \u5feb\u6377\u952e \u662f F7 \u3002 \u6784\u5efa \u5c06 \u5931\u8d25 \uff0c \u4f46 \u53d1\u73b0 \u7684 \u95ee\u9898 \u5c06 \u663e\u793a \u5728 \u4e0b\u9762 \u3002   \u4e0d\u540c \u7684 \u95ee\u9898 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u51fa\u73b0 \u6b64 \u7279\u5b9a \u9519\u8bef \u6d88\u606f \u3002 \u7528\u6237   @ tamakoji   \u89e3\u51b3 \u4e86 \u4e00\u4e2a \u7ecf\u5e38 \u51fa\u73b0 \u7ecf\u5e38\u51fa\u73b0 \u7684 \u60c5\u51b5 \uff0c \u5373 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u672a \u6b63\u786e \u514b\u9686 \u4e14 \u65e0\u6cd5 \u8bbe\u7f6e   Carla   \u7248\u672c \uff08 \u4ece   git   \u5c06 \u5176 \u4e0b\u8f7d \u4e3a   . zip   \u65f6 \uff09 \u3002   \u68c0\u67e5   Build / CMakeLists . txt . in   .   \u5982\u679c \u663e\u793a \uff1a   set ( CARLA _ VERSION   )   \uff0c \u8bf7 \u6267\u884c \u4ee5\u4e0b \u64cd\u4f5c \uff1a   1 .   \u8f6c \u5230   Setup . bat   \u7b2c   198   \u884c \u3002   2 .   Update   the   line   from :   for   / f   %% i   in   ( ' git   describe   -- tags   -- dirty   -- always ' )   do   set   carla _ version = %% i   \u4e3a \uff1a   for   / f   %% i   in   ( ' git   describe   -- tags   -- dirty   -- always ' )   do   set   carla _ version = \" 0.9 . 9 \"","title":"CarlaUE4   could   not   be   compiled .   Try   rebuilding   it   from   source   manually .  "},{"location":"build_faq/#cmake-cmake","text":"\u5f53 \u5c1d\u8bd5 \u4f7f\u7528   make   \u547d\u4ee4 \u6784\u5efa \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6216 \u5ba2\u6237 \u5ba2\u6237\u7aef \u65f6\u4f1a \u51fa\u73b0 \u6b64 \u95ee\u9898 \u3002 \u5373\u4f7f   CMake   \u5df2 \u5b89\u88c5 \u3001 \u66f4\u65b0 \u5e76 \u6dfb\u52a0 \u5230 \u73af\u5883 \u8def\u5f84 \u4e2d \u3002 Visual   Studio   \u7248\u672c \u4e4b\u95f4 \u53ef\u80fd \u5b58\u5728 \u51b2\u7a81 \u3002   \u53ea \u7559\u4e0b VS2019 \uff0c \u5176\u4f59 \u7684 \u5f7b\u5e95 \u5220\u9664 \u3002","title":"\u5373\u4f7f   CMake   \u5df2 \u6b63\u786e \u5b89\u88c5 \uff0c \u4e5f \u4f1a \u663e\u793a   CMake   \u9519\u8bef \u3002  "},{"location":"build_faq/#error-c2440-c2672-compiler-version","text":"\u7531\u4e8e \u4e0e \u5176\u4ed6   Visual   Studio   \u6216   Microsoft   \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u7248\u672c \u51b2\u7a81 \uff0c \u8be5 \u6784\u5efa \u672a \u4f7f\u7528   2019   \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u3002 \u5378\u8f7d \u8fd9\u4e9b \u5e76 \u518d\u6b21 \u91cd\u5efa \u3002   Visual   Studio   \u4e0d \u64c5\u957f \u6446\u8131 \u81ea\u8eab \u3002 \u8981 \u4ece \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e2d \u5f7b\u5e95 \u6e05\u9664 \u5f7b\u5e95\u6e05\u9664   Visual   Studio \uff0c \u8bf7 \u8f6c\u5230   Program   Files   ( x86 ) \\ Microsoft   Visual   Studio \\ Installer \\ resources \\ app \\ layout   \u5e76 \u8fd0\u884c   . \\ InstallCleanup . exe   - full   \u3002 \u8fd9 \u53ef\u80fd \u9700\u8981 \u7ba1\u7406 \u7ba1\u7406\u5458 \u6743\u9650 \u3002   \u8981 \u4fdd\u7559 \u5176\u4ed6   Visual   Studio   \u7248\u672c \uff0c \u8bf7 \u901a\u8fc7 \u6dfb\u52a0 \u4ee5\u4e0b \u884c \u8fdb\u884c \u7f16\u8f91   % appdata% \\ Unreal   Engine \\ UnrealBuildTool \\ BuildConfiguration . xml   \uff1a   < VCProjectFileGenerator >   < Version > VisualStudio2019 < / Version >   < / VCProjectFileGenerator >   < WindowsPlatform >   < Compiler > VisualStudio2019 < / Compiler >   < / WindowsPlatform >","title":"Error   C2440 ,   C2672 :   compiler   version .  "},{"location":"build_faq/#make-launch-windows","text":"\u5728 \u6784\u5efa \u5b89\u88c5 \u8fc7\u7a0b \u4e2d \u53ef\u80fd \u4f1a \u62d6 \u51fa \u8bb8\u591a \u4e0d\u540c \u7684 \u95ee\u9898 \uff0c \u5e76 \u50cf \u8fd9\u6837 \u663e\u73b0 \u73b0\u51fa \u51fa\u6765 \u663e\u73b0\u51fa \u663e\u73b0\u51fa\u6765 \u3002 \u4ee5\u4e0b \u662f \u6700 \u53ef\u80fd \u7684 \u539f\u56e0 \u5217\u8868 \uff1a   \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u3002   Windows   \u6784\u5efa \u671f\u95f4 \u53d1\u751f \u4e86 \u5f88\u591a \u4e8b\u60c5 \u3002 \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \u5e76 \u786e\u4fdd \u6240\u6709 \u5185\u5bb9 \u5747 \u5df2 \u6b63\u786e \u66f4\u65b0 \u3002   \u8fd0\u884c \u865a\u5e7b \u5f15\u64ce   4.26 \u3002   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u65f6 \u53ef\u80fd \u51fa\u73b0 \u67d0\u4e9b \u95ee\u9898 \u3002 \u8fd0\u884c \u7f16\u8f91 \u7f16\u8f91\u5668 \u5e76 \u68c0\u67e5 \u662f\u5426 \u4f7f\u7528 \u4e86   4.26   \u7248\u672c \u3002   \u4e0b\u8f7d \u8d44\u4ea7 \u3002   \u5982\u679c \u6ca1\u6709 \u89c6\u89c9 \u5185\u5bb9 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u65e0\u6cd5 \u8fd0\u884c \u3002 \u6b64 \u6b65\u9aa4 \u662f \u5f3a\u5236 \u5f3a\u5236\u6027 \u7684 \u3002   Visual   Studio   2019 .   \u5982\u679c \u5b89\u88c5 \u6216 \u6700\u8fd1 \u5378\u8f7d \u4e86 \u5176\u4ed6 \u7248\u672c \u7684   Visual   Studio \uff0c \u53ef\u80fd \u4f1a \u51fa\u73b0 \u51b2\u7a81 \u3002 \u8981 \u4ece \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e2d \u5f7b\u5e95 \u6e05\u9664 \u5f7b\u5e95\u6e05\u9664   Visual   Studio \uff0c \u8bf7 \u8f6c\u5230   Program   Files   ( x86 ) \\ Microsoft   Visual   Studio \\ Installer \\ resources \\ app \\ layout   \u5e76 \u8fd0\u884c   . \\ InstallCleanup . exe   - full   \u3002   \u5220\u9664   Carla   \u5e76 \u518d\u6b21 \u514b\u9686 \u5b83 \u3002   \u4ee5\u9632 \u4e07\u4e00 \u4ee5\u9632\u4e07\u4e00 \u51fa \u4e86 \u95ee\u9898 \u3002 \u5220\u9664   Carla   \u5e76 \u91cd\u65b0 \u514b\u9686 \u6216 \u4e0b\u8f7d \u3002   \u6ee1\u8db3 \u7cfb\u7edf \u8981\u6c42 \u3002   Carla   \u9700\u8981 \u5927\u7ea6   170GB   \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u548c \u4e00\u4e2a \u4e13\u7528   GPU \uff08 \u6216 \u81f3\u5c11 \u4e00\u4e2a   6GB \uff09 \u624d\u80fd \u8fd0\u884c \u3002   \u7cfb\u7edf \u663e\u793a \u4e0e   Carla   \u51b2\u7a81 \u7684 \u5176\u4ed6 \u7279\u5b9a \u539f\u56e0 \u53ef\u80fd \u4f1a \u53d1\u751f \u3002 \u8bf7 \u5c06 \u8fd9\u4e9b \u5185\u5bb9 \u53d1\u5e03 \u5230   \u8bba\u575b   \u4e0a \uff0c \u4ee5\u4fbf \u56e2\u961f \u53ef\u4ee5 \u66f4\u591a \u66f4\u591a\u5730 \u4e86\u89e3 \u5b83\u4eec \u3002","title":"\u201c make   launch \u201d \u5728   Windows   \u4e0a \u4e0d\u8d77\u4f5c\u7528 \u3002  "},{"location":"build_faq/#make-libintl3dll-libiconv2dll","text":"\u4e0b\u8f7d   \u4f9d\u8d56 \u9879   \u5e76 \u5c06   bin   \u5185\u5bb9 \u89e3\u538b \u5230   make   \u5b89\u88c5 \u8def\u5f84 \u4e2d \u3002","title":"Make   \u7f3a\u5c11   libintl3 . dll   \u6216 / \u548c   libiconv2 . dll \u3002  "},{"location":"build_faq/#modules-are-missing-or-built-with-a-different-engine-version","text":"\u5355\u51fb   on   Accept   \u4ee5 \u91cd\u5efa \u5b83\u4eec \u3002","title":"Modules   are   missing   or   built   with   a   different   engine   version .  "},{"location":"build_faq/#pythonapicarladist","text":"\u5728   Windows   \u4e2d \uff0c   make   PythonAPI   \u547d\u4ee4 \u53ef\u80fd \u4f1a \u8fd4\u56de \u4e00\u6761 \u6d88\u606f \uff0c \u8868\u660e   Python   API   \u5b89\u88c5 \u6210\u529f \uff0c \u4f46 \u5b9e\u9645 \u5b9e\u9645\u4e0a \u5e76\u672a \u6210\u529f \u3002 \u5982\u679c \u770b\u5230 \u6b64 \u8f93\u51fa \u540e \u76ee\u5f55   PythonAPI / carla   \u4e2d \u6ca1\u6709   dist   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u8bf7 \u67e5\u770b \u4e0a\u9762 \u7684 \u547d\u4ee4 \u8f93\u51fa \u3002 \u5f88 \u53ef\u80fd \u53d1\u751f \u4e86 \u9519\u8bef \uff0c \u9700\u8981 \u5728 \u66f4\u6b63 \u9519\u8bef \u5e76 \u8fd0\u884c   make   clean   \u540e \u91cd\u8bd5 \u6784\u5efa \u3002","title":"\u5c3d\u7ba1 \u6210\u529f \u8f93\u51fa \u6d88\u606f \uff0c \u4f46 \u5728 PythonAPI / carla \u4e2d \u6ca1\u6709 dist \u6587\u4ef6\u5939 \u3002    "},{"location":"build_faq/#osm2odr-visualstudio","text":"CMake   Error :   The   current   CMakeCache . txt   directory   D : / work / workspace / carla / Build / osm2odr - visualstudio / CMakeCache . txt   is   different   than   the   directory   d : / work / buffer / carla / Build / osm2odr - visualstudio   where   CMakeCache . txt   was   created .   This   may   result   in   binaries   being   created   in   the   wrong   place .   If   you   are   not   sure ,   reedit   the   CMakeCache . txt   CMake   Error :   The   source   directory   \" D : / work / workspace / carla / Build / osm2odr - visualstudio / x64 \"   does   not   appear   to   contain   CMakeLists . txt .   \u5220\u9664   carla \\ Build \\ osm2odr - visualstudio \\ CMakeCache . txt","title":"osm2odr - visualstudio \u4e3a\u7a7a \uff0c \u6216\u8005 \u62f7\u8d1d \u8fc7\u53bb \u7684 \u76ee\u5f55 \u4e0d \u5bf9  "},{"location":"build_faq/#_7","text":"carla / Unreal / CarlaUE4 / Plugins / Carla / Source / Carla / Vehicle / CustomTerrainPhysicsComponent . cpp ( 1161 ) :   error   C2440 :   \u201c static _ cast \u201d :   \u65e0\u6cd5 \u4ece \u201c float \u201d \u8f6c\u6362 \u4e3a \u201c EDefResolutionType \u201d   \u6ce8\u91ca \u6389   / /   ChosenRes   =   static _ cast < EDefResolutionType > ( Value ) ;   / /   static _ cast < EDefResolutionType > ( Value )   \u6ce8\u610f \uff1a \u6ce8\u610f vs2019 \u4e13\u4e1a \u4e13\u4e1a\u7248 \u624d \u6709 \u8fd9\u4e2a \u95ee\u9898 \uff0c vs2019 \u793e\u533a \u7248 \u6ca1\u6709 \u8fd9\u4e2a \u95ee\u9898 \u3002","title":"\u7c7b\u578b\u8f6c\u6362 \u4e0d \u5bf9  "},{"location":"build_faq/#osm2odrlib","text":"fatal   error   LNK1181 :   carla \\ Unreal \\ CarlaUE4 \\ Plugins \\ Carla \\ CarlaDependencies \\ lib \\ osm2odr . lib   \u4ece \u5176\u4ed6 \u5730\u65b9 \u62f7\u8d1d \u8fc7\u6765 \u3002","title":"\u94fe\u63a5 \u4e0d\u5230 osm2odr . lib  "},{"location":"build_faq/#carla_3","text":"","title":"\u8fd0\u884c   Carla"},{"location":"build_faq/#fps","text":"\u865a\u5e7b 4 \u7f16\u8f91 \u7f16\u8f91\u5668 \u5728 \u5931\u7126 \u65f6\u4f1a \u8fdb\u5165 \u4f4e \u6027\u80fd \u6a21\u5f0f \u3002   \u8f6c \u5230 \u201c \u7f16\u8f91 - > \u7f16\u8f91 \u7f16\u8f91\u5668 \u504f\u597d \u8bbe\u7f6e - > \u6027\u80fd \u201d   \uff08   Edit / Editor   Preferences / Performance   \uff09 \uff0c \u7136\u540e \u7981\u7528 \u201c \u5904\u4e8e \u80cc\u666f \u4e2d \u65f6 \u5360\u7528 \u8f83 \u5c11   CPU \u201d \u9009\u9879 \u3002","title":"\u5728 \u865a\u5e7b \u7f16\u8f91\u5668 \u4e2d \u8fd0\u884c \u670d\u52a1\u5668\u65f6   FPS   \u901f\u7387 \u8f83 \u4f4e \u3002  "},{"location":"build_faq/#_8","text":"\u6709\u4e9b \u811a\u672c \u6709 \u8981\u6c42 \u3002 \u8fd9\u4e9b \u5217 \u5728 \u540d\u4e3a   Requirements . txt   \u7684 \u6587\u4ef6 \u4e2d \uff0c \u4e0e \u811a\u672c \u672c\u8eab \u4f4d\u4e8e \u540c\u4e00 \u8def\u5f84 \u4e2d \u3002 \u8bf7 \u52a1\u5fc5 \u68c0\u67e5 \u8fd9\u4e9b \u4ee5\u4fbf \u8fd0\u884c \u811a\u672c \u3002 \u5176\u4e2d \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u53ef\u4ee5 \u901a\u8fc7 \u7b80\u5355 \u7684   pip   \u547d\u4ee4 \u8fdb\u884c \u5b89\u88c5 \u3002   \u6709\u65f6 \u5728   Windows   \u4e0a \uff0c \u811a\u672c \u65e0\u6cd5 \u4ec5 \u4f7f\u7528   >   script _ name . py   \u8fd0\u884c \u3002 \u5c1d\u8bd5 \u6dfb\u52a0 .   Try   adding   >   python3   script _ name . py   \uff0c \u5e76 \u786e\u4fdd \u4f4d\u4e8e \u6b63\u786e \u7684 \u76ee\u5f55 \u4e2d \u3002","title":"\u65e0\u6cd5 \u8fd0\u884c \u811a\u672c \u3002  "},{"location":"build_faq/#_9","text":"\u5355\u51fb \u201c \u8fd0\u884c \u201d \uff08   Play   \uff09 \u5e76 \u7b49\u5f85 \u573a\u666f \u52a0\u8f7d \u3002 \u6b64\u65f6 \uff0c Python   \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u50cf \u72ec\u7acb \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e00\u6837 \u8fde\u63a5 \u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002","title":"\u5728 \u865a\u5e7b \u7f16\u8f91\u5668 \u4e2d \u8fd0\u884c \u65f6 \u8fde\u63a5 \u5230 \u4eff\u771f\u5668 \u3002  "},{"location":"build_faq/#carla_4","text":"NVIDIA   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u53ef\u80fd \u5df2 \u8fc7\u65f6 \u3002 \u786e\u4fdd \u60c5\u51b5 \u5e76\u975e \u5982\u6b64 \u5e76\u975e\u5982\u6b64 \u3002 \u5982\u679c \u95ee\u9898 \u4ecd \u672a \u89e3\u51b3 \uff0c \u8bf7 \u67e5\u770b   \u8bba\u575b   \u5e76 \u53d1\u5e03 \u5177\u4f53 \u95ee\u9898 \u3002","title":"\u65e0\u6cd5 \u8fd0\u884c   Carla \uff0c \u65e0\u8bba\u662f \u4e8c\u8fdb\u5236 \u8fd8\u662f \u6e90\u4ee3\u7801 \u6784\u5efa \u3002  "},{"location":"build_faq/#importerror-dll-load-failed-the-specified-module-could-not-be-found","text":"\u6240 \u9700 \u7684 \u5e93 \u4e4b\u4e00 \u5c1a\u672a \u6b63\u786e \u5b89\u88c5 \u3002 \u4f5c\u4e3a \u89e3\u51b3 \u65b9\u6cd5 \uff0c \u8bf7 \u8f6c\u81f3   carla \\ Build \\ zlib - source \\ build   \u5e76 \u5728 \u811a\u672c \u7684 \u8def\u5f84 \u4e2d \u590d\u5236 \u540d\u4e3a   zlib . dll   \u7684 \u6587\u4ef6 \u3002","title":"ImportError :   DLL   load   failed :   The   specified   module   could   not   be   found .  "},{"location":"build_faq/#importerror-dll-load-failed-while-importing-libcarla-1-is-not-a-valid-win32-app","text":"32   \u4f4d   Python   \u7248\u672c \u5728 \u5c1d\u8bd5 \u8fd0\u884c \u811a\u672c \u65f6\u4f1a \u4ea7\u751f \u51b2\u7a81 \u3002 \u5378\u8f7d \u5b83 \u5e76 \u4ec5 \u4fdd\u7559 \u6240 \u9700 \u7684   Python3   x64 \u3002","title":"ImportError :   DLL   load   failed   while   importing   libcarla :   % 1   is   not   a   valid   Win32   app .  "},{"location":"build_faq/#importerror-no-module-named-carla","text":"\u51fa\u73b0 \u6b64 \u9519\u8bef \u7684 \u539f\u56e0 \u662f   Python   \u627e \u4e0d\u5230   Carla   \u5e93 \u3002 Carla   \u5e93 \u5305\u542b \u5728 \u4f4d\u4e8e   PythonAPI / carla / dist   \u76ee\u5f55 \u4e2d \u7684 \u4e00\u4e2a   . egg   \u6587\u4ef6 \u4e2d \uff0c \u6240\u6709 \u793a\u4f8b \u811a\u672c \u90fd \u5c06 \u5728 \u6b64 \u76ee\u5f55 \u4e2d \u67e5\u627e \u5b83 \u3002 \u8be5   . egg   \u6587\u4ef6 \u9075\u5faa carla -   - py   -   . egg   \u547d\u540d \u6cd5 \u3002   \u91cd\u8981   Carla   \u4ec5 \u5728   0.9 . 12   \u4e4b\u524d \u7684 \u7248\u672c \u4e2d \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u6587\u4ef6   . egg   \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   0.9 . 12 + \uff0c \u6709 \u591a\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u4f7f\u7528 / \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff08   . whl   \u6216   PyPi   \u4e0b\u8f7d \uff09 \u7684 \u8f83 \u65b0 \u65b9\u6cd5 \u4e4b\u4e00 \uff0c \u672c\u8282 \u4e2d \u7684 \u4fe1\u606f \u5c06 \u4e0e \u60a8 \u65e0\u5173 \u3002   \u5728   \u5feb\u901f \u5165\u95e8 \u6559\u7a0b \u5165\u95e8\u6559\u7a0b   \u4e2d \u9605\u8bfb \u6709\u5173 \u4f7f\u7528 / \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u7684 \u65b0 \u65b9\u6cd5 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f \u6253\u5305 \u7248\u672c \u7684   Carla \uff0c \u5219 \u4f1a \u6709 \u591a\u4e2a   . egg   \u6587\u4ef6 \uff0c \u5bf9\u5e94 \u4e0d\u540c \u7248\u672c \u7684   Python \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e   Carla   \u7684 \u7248\u672c \u3002 \u786e\u4fdd \u786e\u4fdd\u60a8 \u6b63\u5728 \u4f7f\u7528 \u8fd9\u4e9b   Python   \u7248\u672c \u4e4b\u4e00 \u8fd0\u884c \u811a\u672c \u3002 \u8981 \u68c0\u67e5 \u9ed8\u8ba4 \u7684   Python   \u7248\u672c \uff0c \u8bf7 \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u4e2d \u952e\u5165 \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   python3   -- version   #   \u6216\u8005   python   -- version   \u5982\u679c \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Python \uff0c \u5219 \u8be5   . egg   \u6587\u4ef6 \u5c06 \u6839\u636e \u7cfb\u7edf \u4e0a \u7684 \u9ed8\u8ba4   Python   \u7248\u672c \u6784\u5efa \u3002 \u5728   Linux   \u4e2d \uff0c \u8fd9 \u5c06 \u662f \u8fd4\u56de \u7684 \u9ed8\u8ba4   Python   \u7248\u672c \uff1a   / usr / bin / env   python3   -- version   #   \u6216\u8005 \u5982\u679c \u4f60 \u6307\u5b9a   ARGS = \" -- python - version = 2 \"   / usr / bin / env   python2   -- version   \u5728   Windows   \u4e2d \uff0c \u5b83 \u5c06 \u6210\u4e3a \u4ee5\u4e0b \u529f\u80fd \u7684 \u9ed8\u8ba4   Python   \u7248\u672c \uff1a   py   - 3   -- version   \u786e\u4fdd \u786e\u4fdd\u60a8 \u4f7f\u7528 \u4e0e \u60a8 \u7684   . egg   \u6587\u4ef6 \u5bf9\u5e94 \u7684   Python   \u7248\u672c \u8fd0\u884c \u811a\u672c . egg \u3002 \u5728   Linux   \u4e2d \uff0c \u60a8 \u53ef\u80fd \u8fd8 \u9700\u8981 \u5c06   Python   \u8def\u5f84 \u8bbe\u7f6e \u4e3a \u6307\u5411   Carla \u3002 \u4e3a\u6b64 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   export   PYTHONPATH = $ PYTHONPATH : < path / to / carla / > / PythonAPI / carla / dist / < your _ egg _ file >   #   \u68c0\u67e5 \u73b0\u5728   Carla   \u662f\u5426 \u80fd \u53d1\u73b0   python3   - c   ' import   carla ; print ( \" Success \" ) '   \u8bf7 \u6ce8\u610f \uff0c \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u6216   Conda   \u7b49 \u5176\u4ed6   Python   \u73af\u5883 \u53ef\u80fd \u4f1a \u4f7f   Carla   \u7684 \u5b89\u88c5 \u53d8\u5f97 \u590d\u6742 \u53d8\u5f97\u590d\u6742 \u3002 \u786e\u4fdd \u786e\u4fdd\u60a8 \u5df2 \u76f8\u5e94 \u5730 \u8bbe\u7f6e   Python   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u548c \u8def\u5f84 \u3002","title":"ImportError :   No   module   named   ' carla '  "},{"location":"build_faq/#runtimeerror-rpcrpc_error-during-call-in-function-apply_batch","text":"PythonAPI \u7684 \u7248\u672c \u8981 \u548c Carla \u670d\u52a1 \u7684 \u7248\u672c \u4e00\u81f4 \uff0c \u6bd4\u5982 dev \u5206\u652f \u7684 \u4ee3\u7801 \u7f16\u8bd1 \u5f97\u5230 \u7684 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u8fd0\u884c \u7684 \u573a\u666f \u4e5f \u8981 \u7528 dev \u5206\u652f \u4ee3\u7801 \u7f16\u8bd1 \u7684 PythonAPI \u8fdb\u884c \u8fde\u63a5 \u3002","title":"RuntimeError :   rpc : : rpc _ error   during   call   in   function   apply _ batch  "},{"location":"build_faq/#valueerror-sticky_control-invalid-value-type","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u670d\u52a1\u7aef \u7684 PythonAPI \u7248\u672c \u4e0d \u4e00\u81f4 \uff0c \u5728 dev \u5206\u652f \u5f00\u53d1 \u65f6\u4f1a \u51fa\u73b0 \u3002","title":"ValueError :   sticky _ control :   invalid   value   type  "},{"location":"build_faq/#_10","text":"","title":"\u5176\u4ed6"},{"location":"build_faq/#fatal-error-versionh-has-been-modified-since-the-precompiled-header","text":"\u7531\u4e8e   Linux   \u66f4\u65b0 \uff0c \u8fd9\u79cd \u60c5\u51b5 \u65f6\u5e38 \u53d1\u751f \u3002 Makefile   \u4e2d\u6709 \u4e00\u4e2a \u9488\u5bf9 \u6b64 \u95ee\u9898 \u7684 \u7279\u6b8a \u76ee\u6807 \u3002 \u867d\u7136 \u82b1 \u4e86 \u5f88 \u65f6\u95f4 \u957f\u65f6\u95f4 \uff0c \u4f46 \u89e3\u51b3 \u4e86 \u95ee\u9898 \uff1a   make   hard - clean   make   CarlaUE4Editor","title":"Fatal   error :   ' version . h '   has   been   modified   since   the   precompiled   header .  "},{"location":"build_faq/#carla_5","text":"\u5728   Linux   \u4e2d \uff0c \u5728 \u9879\u76ee \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c   make   package   \u3002 \u8be5\u5305 \u5c06 \u5305\u62ec \u9879\u76ee \u548c   Python   API   \u6a21\u5757 \u3002   \u6216\u8005 \uff0c \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7f16\u8bd1   Carla   \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c \u3002 \u6253\u5f00   CarlaUE4   \u9879\u76ee \uff0c \u8f6c \u5230 \u83dc\u5355   File / Package   Project   \uff0c \u7136\u540e \u9009\u62e9 \u4e00\u4e2a \u5e73\u53f0 \u3002 \u53ef\u80fd \u8fd8\u8981 \u7b49 \u4e00\u4e0b \u3002","title":"\u521b\u5efa   Carla   \u7684 \u4e8c\u8fdb\u5236 \u7248\u672c \u3002  "},{"location":"build_faq/#linux-windows-carla","text":"\u867d\u7136 \u6b64 \u529f\u80fd \u9002\u7528 \u4e8e \u865a\u5e7b \u5f15\u64ce \uff0c \u4f46 \u5728   Carla   \u4e2d \u4e0d\u53ef \u7528 \u3002 \u6211\u4eec \u6709 \u8bb8\u591a \u4e0d \u652f\u6301 \u4ea4\u53c9 \u7f16\u8bd1 \u7684 \u4f9d\u8d56 \u9879 \u3002","title":"\u6211 \u53ef\u4ee5 \u5728   Linux   \u8ba1\u7b97\u673a \u4e0a \u6253\u5305 \u9002\u7528 \u4e8e   Windows   \u7684   Carla \uff0c \u53cd\u4e4b\u4ea6\u7136 \u5417 \uff1f  "},{"location":"build_faq/#carla_6","text":"\u5982\u679c \u60a8 \u4f7f\u7528   pip / pip3   \u5b89\u88c5 \u4e86 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u5219 \u5e94 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u5c06 \u5176 \u5378\u8f7d \uff1a   #   Python   3   pip3   uninstall   carla   #   Python   2   pip   uninstall   carla","title":"\u5982\u4f55 \u5378\u8f7d   Carla   \u5ba2\u6237\u7aef \u5e93 \uff1f  "},{"location":"build_linux/","text":"Linux   \u7cfb\u7edf \u4e0a \u7684 \u6784\u5efa   \u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u5728   Linux   \u4e0a \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002 \u6709 \u4e24\u4e2a \u90e8\u5206 \u3002 \u7b2c\u4e00 \u90e8\u5206 \u8be6\u7ec6 \u4ecb\u7ecd \u7cfb\u7edf \u8981\u6c42 \u548c \u6240 \u9700 \u8f6f\u4ef6 \u7684 \u5b89\u88c5 \uff0c \u7b2c\u4e8c \u90e8\u5206 \u8be6\u7ec6 \u4ecb\u7ecd \u5982\u4f55 \u5b9e\u9645 \u6784\u5efa \u548c \u8fd0\u884c   Carla \u3002   \u6784\u5efa \u8fc7\u7a0b \u5f88\u957f \uff08 4 \u5c0f\u65f6 \u6216 \u66f4 \u65f6\u95f4 \u957f\u65f6\u95f4 \uff09 \u5e76\u4e14 \u6d89\u53ca \u591a\u79cd \u8f6f\u4ef6 \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u5728 \u5f00\u59cb \u4e4b\u524d \u5b8c\u6574 \u9605\u8bfb \u8be5 \u6307\u5357 \u3002   \u7b2c\u4e00 \u90e8\u5206 \uff1a \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u7cfb\u7edf \u8981\u6c42   \u8f6f\u4ef6 \u8981\u6c42   \u865a\u5e7b \u5f15\u64ce   \u7b2c\u4e8c \u90e8\u5206 \uff1a \u6784\u5efa   Carla   \u514b\u9686   Carla   \u4ed3\u5e93   \u83b7\u53d6 \u8d44\u4ea7   \u8bbe\u7f6e \u865a\u5e7b \u5f15\u64ce \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   \u6784\u5efa   Carla   \u5176\u4ed6   make   \u547d\u4ee4   \u5176\u4ed6   \u7b2c\u4e00 \u90e8\u5206 \uff1a \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u7cfb\u7edf \u8981\u6c42   Ubuntu   18.04 .   Carla   \u63d0\u4f9b \u5bf9   Ubuntu   16.04   \u4e4b\u524d \u7248\u672c \u7684 \u652f\u6301 \u3002   \u7136\u800c   \uff0c \u865a\u5e7b \u5f15\u64ce \u9700\u8981 \u9002\u5f53 \u7684 \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u624d\u80fd \u6b63\u5e38 \u5de5\u4f5c \u3002 \u4e0b\u9762 \u5355\u72ec \u5217\u51fa \u4e86   Ubuntu   18.04   \u53ca \u4e4b\u524d \u7248\u672c \u7684 \u4f9d\u8d56 \u9879 \u3002 \u786e\u4fdd \u5b89\u88c5 \u4e0e \u60a8 \u7684 \u7cfb\u7edf \u76f8\u5bf9 \u5e94 \u7684 \u8f6f\u4ef6 \u3002   130   GB   \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u3002   Carla   \u5c06 \u5360\u7528 \u5927\u7ea6   31   GB \uff0c \u865a\u5e7b \u5f15\u64ce \u5c06 \u5360\u7528 \u5927\u7ea6   91   GB \uff0c \u56e0\u6b64 \u9700\u8981 \u5927\u7ea6   130   GB   \u7684 \u53ef\u7528 \u7a7a\u95f4 \u6765 \u5bb9\u7eb3 \u8fd9 \u4e24\u4e2a \u7a7a\u95f4 \u4ee5\u53ca \u989d\u5916 \u7684 \u5c0f\u578b \u8f6f\u4ef6 \u5b89\u88c5 \u3002   \u8db3\u591f \u7684   GPU \u3002   Carla   \u7684 \u76ee\u6807 \u662f \u8fdb\u884c \u771f\u5b9e \u7684 \u4eff\u771f \uff0c \u56e0\u6b64 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u81f3\u5c11 \u9700\u8981   6   GB   GPU \uff0c \u4f46 \u5efa\u8bae \u4f7f\u7528   8   GB \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u4f7f\u7528 \u4e13\u7528   GPU   \u8fdb\u884c \u673a\u5668 \u5b66\u4e60 \u3002   \u4e24\u4e2a   TCP   \u7aef\u53e3 \u548c \u826f\u597d \u7684 \u4e92\u8054 \u8054\u7f51 \u4e92\u8054\u7f51 \u8fde\u63a5 \u3002   \u9ed8\u8ba4 \u4e3a   2000   \u5e74 \u548c   2001   \u5e74 \u3002 \u786e\u4fdd \u8fd9\u4e9b \u7aef\u53e3 \u672a \u88ab \u9632\u706b \u706b\u5899 \u9632\u706b\u5899 \u6216 \u4efb\u4f55 \u5176\u4ed6 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u963b\u6b62 \u3002   \u8b66\u544a   \u5982\u679c \u60a8 \u8981 \u4ece   Carla   0.9 . 12   \u5347\u7ea7 \u5230   0.9 . 13   :   \u60a8 \u5fc5\u987b \u9996\u5148 \u5c06 \u865a\u5e7b \u5f15\u64ce   4   \u7684   Carla   \u5206\u652f \u5347\u7ea7 \u5230 \u6700\u65b0 \u7248\u672c \u3002 \u6709\u5173 \u5347\u7ea7 \u865a\u5e7b \u5f15\u64ce   4   \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u865a\u5e7b \u5f15\u64ce   \u90e8\u5206 \u3002   \u8f6f\u4ef6 \u8981\u6c42   Carla   \u9700\u8981 \u8fd0\u884c \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7c7b\u578b \u7684 \u8f6f\u4ef6 \u3002 \u6709\u4e9b \u662f \u5728   Carla   \u6784\u5efa \u8fc7\u7a0b \u672c\u8eab \u671f\u95f4 \u6784\u5efa \u7684 \uff0c \u4f8b\u5982   Boost . Python   \u3002 \u5176\u4ed6 \u662f \u5e94\u8be5 \u5728 \u5f00\u59cb \u6784\u5efa \u4e4b\u524d \u5b89\u88c5 \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \uff08   cmake   \u3001   clang   \u3001 \u4e0d\u540c \u7248\u672c \u7684   Python   \u7b49 \uff09 \u3002 \u8981 \u5b89\u88c5 \u8fd9\u4e9b \u8981\u6c42 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   sudo   apt - get   update   &&   sudo   apt - get   install   wget   software - properties - common   &&   sudo   add - apt - repository   ppa : ubuntu - toolchain - r / test   &&   wget   - O   -   https : / / apt . llvm . org / llvm - snapshot . gpg . key | sudo   apt - key   add   -   &&   sudo   apt - add - repository   \" deb   http : / / apt . llvm . org / xenial /   llvm - toolchain - xenial - 8   main \"   &&   sudo   apt - get   update   \u8b66\u544a   \u4ee5\u4e0b \u547d\u4ee4 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684   Ubuntu   \u7248\u672c \u3002 \u8bf7 \u52a1\u5fc5 \u505a\u51fa \u76f8\u5e94 \u7684 \u9009\u62e9 \u3002   Ubuntu   24.04   #   \u663e\u5361 \u9a71\u52a8 \u4f7f\u7528 nvidia - driver - 470 - server \uff08 \u8f6c\u6709 \uff09   #   \u5df2\u7ecf \u5b89\u88c5 \u4e86 clang - 14   #   sudo   apt   install   g ++- 10   #   sudo   apt - get   install   clang ++- 10   #   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7f16\u8bd1 \u5b89\u88c5   llvm - 10   sudo   apt   install   gcc - multilib   git   clone   -- branch   release / 10 . x   -- recursive   https : / / github . com / llvm / llvm - project   cd   llvm - project / llvm   cmake   - G   \" Unix   Makefiles \"   - DCMAKE _ BUILD _ TYPE = Release   - DLLVM _ ENABLE _ PROJECTS = lld   - DCMAKE _ INSTALL _ PREFIX = / usr / local / llvm - 10   ..   make   - j8   sudo   make   install   #   / usr / local / llvm - 10 / bin   #   \u7f16\u8bd1 clang - 10 \uff08 \u9ed8\u8ba4 LLVM \u7f16\u8bd1 \u5b8c \u6ca1\u6709 clang \uff09   #   \u56de\u5230 llvm - project \u76ee\u5f55   cd   llvm - project / clang /   mkdir   build   cd   build   cmake   - G   \" Unix   Makefiles \"   - DCMAKE _ BUILD _ TYPE = Release   - DCMAKE _ INSTALL _ PREFIX = / usr / local / clang - 10   ..   make   - j8   sudo   make   install   #   \u521b\u5efa \u8f6f \u94fe\u63a5   sudo   ln   - s   / usr / local / clang - 10 / bin / clang ++   / usr / bin / clang ++   sudo   ln   - s   / usr / local / clang - 10 / bin / clang   / usr / bin / clang   #   \u68c0\u67e5 \u7248\u672c   clang   -- version   #   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7f16\u8bd1 \u5b89\u88c5   gcc - 7   wget   http : / / ftp . gnu . org / gnu / gcc / gcc - 7.5 . 0 / gcc - 7.5 . 0 . tar . gz   tar   - zxvf   gcc - 7.5 . 0 . tar . gz   cd   gcc - 7.5 . 0   mkdir   build   cd   build   .. / configure   -- prefix = / usr / local / gcc - 7   #   \u5f00\u59cb \u914d\u7f6e \u5b89\u88c5   #   \u5982\u679c \u5b89\u88c5 \u7f3a\u5c11 \u7684 \u5e93 \uff0c \u5219 \u8fd0\u884c \u4e0b\u9762 \u8fd9 \u4e00\u6761 \u547d\u4ee4   sudo   apt - get   install   libgmp - dev   libmpfr - dev   libmpc - dev   gcc - multilib   g ++- multilib   #   \u518d\u6b21 \u4f7f\u7528 \u4e0b\u9762 \u547d\u4ee4 \u6784\u5efa \u5b89\u88c5 \u73af\u5883   .. / configure   -- enable - multilib   #   \u6784\u5efa \u5b8c\u6210 \u540e \u5f97\u5230 \u4e00\u4e2a Makefile \u6587\u4ef6 \u3002 \u5f00\u59cb \u7f16\u8bd1   make   - j8   #   - j \u9009\u9879 \u540e \u7684 \u6570\u5b57 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u673a\u5668 \u7684 \u903b\u8f91 \u5904\u7406 \u7406\u5668 \u5904\u7406\u5668 \u6570\u91cf   sudo   make   install   #   \u521b\u5efa \u8f6f \u94fe\u63a5   sudo   ln   - s   / usr / local / clang - 10 / bin / clang ++   / usr / bin / g ++   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / bin / clang ++- 14   180   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / bin / clang - 14   180   sudo   update - alternatives   -- install   / usr / bin / g ++   g ++   / usr / bin / g ++- 12   180   \u8b66\u544a   \u6784\u5efa \u65f6 \u5bf9   Util / BuildTools / Setup . sh   \u6240 \u505a \u7684 \u4fee\u6539 \uff1a 1 .   \u6784\u5efa boost \u65f6 \uff0c \u6267\u884c   . / bootstrap . sh   \u7684 \u547d\u4ee4 \u4e2d \u53bb \u9664\u4e86   -- with - toolset = clang   \u9009\u9879 \u3002 2 .   \u5bf9 rcplib \u6267\u884c cmake \u65f6 \uff0c \u53bb \u9664\u4e86   - stdlib = lib c++   \u9009\u9879 \u3002   Ubuntu   22.04   sudo   apt - add - repository   \" deb   http : / / archive . ubuntu . com / ubuntu   focal   main   universe \"   sudo   apt - get   update   sudo   apt - get   install   build - essential   clang - 10   lld - 10   g ++- 7   cmake   ninja - build   libvulkan1   python   python3   python3 - dev   python3 - pip   libpng - dev   libtiff5 - dev   libjpeg - dev   tzdata   sed   curl   unzip   autoconf   libtool   rsync   libxml2 - dev   git   git - lfs   #   update - alternatives \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u53c2\u6570 -- install \u8868\u793a \u5411 update - alternatives \u6ce8\u518c \u670d\u52a1 \u540d \u3002   #   \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u53c2\u6570 \u662f \u6ce8\u518c \u6700\u7ec8 \u5730\u5740 \uff0c \u6210\u529f \u540e \u5c06 \u4f1a \u628a \u547d\u4ee4 \u5728 \u8fd9\u4e2a \u56fa\u5b9a \u7684 \u76ee\u7684 \u5730\u5740 \u505a \u771f\u5b9e \u547d\u4ee4 \u7684 \u8f6f\u94fe \uff0c \u4ee5\u540e \u7ba1\u7406 \u5c31\u662f \u7ba1\u7406 \u8fd9\u4e2a \u8f6f\u94fe \uff1b   #   \u7b2c\u4e09 \u4e09\u4e2a \u7b2c\u4e09\u4e2a \u53c2\u6570 \uff1a \u670d\u52a1 \u540d \uff0c \u4ee5\u540e \u7ba1\u7406 \u65f6\u4ee5 \u5b83 \u4e3a \u5173\u8054 \u4f9d\u636e \u3002   #   \u7b2c\u56db \u56db\u4e2a \u7b2c\u56db\u4e2a \u53c2\u6570 \uff0c \u88ab \u7ba1\u7406 \u7684 \u547d\u4ee4 \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002   #   \u7b2c\u4e94 \u4e94\u4e2a \u7b2c\u4e94\u4e2a \u53c2\u6570 \uff0c \u4f18\u5148 \u4f18\u5148\u7ea7 \uff0c \u6570\u5b57 \u8d8a\u5927 \u4f18\u5148 \u4f18\u5148\u7ea7 \u8d8a\u9ad8 \u3002   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / lib / llvm - 10 / bin / clang ++   180   &&   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / lib / llvm - 10 / bin / clang   180   &&   sudo   update - alternatives   -- install   / usr / bin / g ++   g ++   / usr / bin / g ++- 7   180   Ubuntu   20.04   sudo   apt - add - repository   \" deb   http : / / apt . llvm . org / focal /   llvm - toolchain - focal   main \"   sudo   apt - get   update   sudo   apt - get   install   build - essential   clang - 10   lld - 10   g ++- 7   cmake   ninja - build   libvulkan1   python   python - dev   python3 - dev   python3 - pip   libpng - dev   libtiff5 - dev   libjpeg - dev   tzdata   sed   curl   unzip   autoconf   libtool   rsync   libxml2 - dev   git   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / lib / llvm - 10 / bin / clang ++   180   &&   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / lib / llvm - 10 / bin / clang   180   Ubuntu   18.04   .   sudo   apt - add - repository   \" deb   http : / / apt . llvm . org / bionic /   llvm - toolchain - bionic   main \"   sudo   apt - get   update   sudo   apt - get   install   build - essential   clang - 8   lld - 8   g ++- 7   cmake   ninja - build   libvulkan1   python   python - pip   python - dev   python3 - dev   python3 - pip   libpng - dev   libtiff5 - dev   libjpeg - dev   tzdata   sed   curl   unzip   autoconf   libtool   rsync   libxml2 - dev   git   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / lib / llvm - 8 / bin / clang ++   180   &&   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / lib / llvm - 8 / bin / clang   180   Ubuntu   16.04   .   sudo   apt - add - repository   \" deb   http : / / apt . llvm . org / xenial /   llvm - toolchain - xenial - 8   main \"   &&   sudo   apt - get   update   sudo   apt - get   install   build - essential   clang - 8   lld - 8   g ++- 7   cmake   ninja - build   libvulkan1   python   python - pip   python - dev   python3 - dev   python3 - pip   libpng16 - dev   libtiff5 - dev   libjpeg - dev   tzdata   sed   curl   unzip   autoconf   libtool   rsync   libxml2 - dev   git   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / lib / llvm - 8 / bin / clang ++   180   &&   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / lib / llvm - 8 / bin / clang   180   \u4ee5\u524d \u7684   Ubuntu   \u7248\u672c \u3002   sudo   apt - get   install   build - essential   clang - 8   lld - 8   g ++- 7   cmake   ninja - build   libvulkan1   python   python - pip   python - dev   python3 - dev   python3 - pip   libpng16 - dev   libtiff5 - dev   libjpeg - dev   tzdata   sed   curl   unzip   autoconf   libtool   rsync   libxml2 - dev   git   \u6240\u6709   Ubuntu   \u7cfb\u7edf   \u3002   \u4e3a\u4e86 \u907f\u514d \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u4f9d\u8d56 \u9879 \u4e4b\u95f4 \u7684 \u517c\u5bb9 \u5bb9\u6027 \u95ee\u9898 \u517c\u5bb9\u6027 \u517c\u5bb9\u6027\u95ee\u9898 \uff0c \u8bf7 \u4f7f\u7528 \u76f8\u540c \u7684 \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u7248\u672c \u548c   C++   \u8fd0\u884c \u65f6\u5e93 \u6765 \u7f16\u8bd1 \u6240\u6709 \u5185\u5bb9 \u3002 Carla   \u56e2\u961f \u4f7f\u7528   clang - 8   \u548c   LLVM   \u7684   lib c++ \u3002 \u66f4\u6539 \u9ed8\u8ba4 \u7684   clang   \u7248\u672c \u4ee5 \u7f16\u8bd1 \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u4f9d\u8d56 \u9879 \u3002   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / lib / llvm - 8 / bin / clang ++   180   &&   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / lib / llvm - 8 / bin / clang   180   \u4ece   Carla   0.9 . 12   \u5f00\u59cb \uff0c \u7528\u6237 \u53ef\u4ee5 \u9009\u62e9 \u4f7f\u7528   pip   \u6216   pip3   \u5b89\u88c5   Carla   Python   API \u3002 \u9700\u8981   20.3   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002 \u8981 \u68c0\u67e5 \u60a8 \u662f\u5426 \u6709 \u5408\u9002 \u7684 \u7248\u672c \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   \u5bf9\u4e8e   Python   3   pip3   - V   #   \u5bf9\u4e8e   Python   2   pip   - V   \u5982\u679c \u60a8 \u9700\u8981 \u5347\u7ea7 \uff1a   #   \u5bf9\u4e8e   Python   3   pip3   install   -- upgrade   pip   #   \u5bf9\u4e8e   Python   2   pip   install   -- upgrade   pip   \u60a8 \u5fc5\u987b \u5b89\u88c5 \u4ee5\u4e0b   Python   \u4f9d\u8d56 \u9879 \uff1a   pip   install   -- user   setuptools   &&   pip3   install   -- user   - Iv   setuptools = = 47.3 . 1   &&   pip   install   -- user   distro   &&   pip3   install   -- user   distro   &&   pip   install   -- user   wheel   &&   pip3   install   -- user   wheel   auditwheel   \u865a\u5e7b \u5f15\u64ce   \u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   4.26   \u7684 \u4fee\u6539 \u6539\u7248 \u4fee\u6539\u7248 \u3002 \u8be5 \u5206\u652f \u5305\u542b   Carla   \u7279\u6709 \u7684 \u8865\u4e01 \u3002   1 .   \u5c06   Carla   \u7684 \u865a\u5e7b \u5f15\u64ce   4.26   \u5206\u652f \u7684 \u5185\u5bb9 \u514b\u9686 \u5230 \u672c\u5730 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \uff1a   git   clone   https : / / github . com / OpenHUTB / UnrealEngine . git   ~ / UnrealEngine _ 4.26   2 .   \u5bfc\u822a \u5230 \u514b\u9686 \u5b58\u50a8 \u5e93 \u7684 \u76ee\u5f55 \uff1a   cd   ~ / UnrealEngine _ 4.26   3 .   \u8fdb\u884c \u6784\u5efa \u3002 \u8fd9 \u53ef\u80fd \u9700\u8981 \u4e00\u4e24 \u4e24\u4e2a \u4e00\u4e24\u4e2a \u5c0f\u65f6 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684 \u7cfb\u7edf \u3002   . / Setup . sh   &&   . / GenerateProjectFiles . sh   &&   make   \u5982\u679c \u51fa\u73b0   bash :   . / Setup . sh :   Permission   denied   . / Setup . sh :   line   40 :   Engine / Build / BatchFiles / Linux / GitDependencies . sh :   Permission   denied   Engine / Build / BatchFiles / Linux / GitDependencies . sh :   line   25 :   mono :   command   not   found   Setting   up   Mono   Corlib   not   in   sync   with   this   runtime :   expected   corlib   version   149 ,   found   1051600014 .   chmod   + x   Setup . sh   chmod   + x   Engine / Build / BatchFiles / Linux / GitDependencies . sh   sudo   apt - get   install   mono - complete   git   clone   https : / / github . com / OpenHUTB / UnrealEngine . git   ~ / UnrealEngine _ 4.26   4 .   \u6253\u5f00 \u7f16\u8f91 \u7f16\u8f91\u5668 \u68c0\u67e5 \u865a\u5e7b \u5f15\u64ce \u662f\u5426 \u5df2 \u6b63\u786e \u5b89\u88c5 \u3002   cd   ~ / UnrealEngine _ 4.26 / Engine / Binaries / Linux   &&   . / UE4Editor   \u7535\u8111 \u914d\u7f6e \u7535\u8111\u914d\u7f6e \u8fbe \u4e0d\u5230 Vulkan \u7684 \u6807\u51c6 \u4f1a \u51fa\u73b0 \uff08 OpenGL \u7684 API \u4e5f \u5e9f\u5f03 \u4e86 \uff09 \uff1a   Cannot   find   a   compatible   Yulkan   driver   ( ICD )   \u7b2c\u4e8c \u90e8\u5206 \uff1a \u6784\u5efa   Carla   \u7b14\u8bb0   \u4f7f\u7528   sudo   apt - get   install   aria2   \u4e0b\u8f7d   aria2   \u5c06 \u52a0\u5feb \u4ee5\u4e0b \u547d\u4ee4 \u7684 \u901f\u5ea6 \u3002   \u514b\u9686   Carla   \u4ed3\u5e93   Carla   \u4ed3\u5e93   \u4e0a\u9762 \u7684 \u6309\u94ae \u5c06 \u5e26 \u60a8 \u8fdb\u5165 \u8be5\u9879 \u76ee\u7684 \u5b98\u65b9 \u5b58\u50a8 \u5e93 \u3002 \u4ece \u90a3\u91cc \u4e0b\u8f7d \u5e76 \u5728 \u672c\u5730 \u63d0\u53d6 \u5b83 \u6216 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u514b\u9686 \u5b83 \uff1a   git   clone   https : / / github . com / carla - simulator / carla . git   \u7b14\u8bb0   The   master   \u5206\u652f \u5305\u542b   Carla   \u7684 \u5f53\u524d \u7248\u672c \u4ee5\u53ca \u6700\u65b0 \u7684 \u4fee\u590d \u548c \u529f\u80fd \u3002 \u4ee5\u524d \u7684   Carla   \u7248\u672c \u6807\u6709 \u7248\u672c \u540d\u79f0 \u3002 \u6c38\u8fdc \u8bb0\u4f4f \u4f7f\u7528 \u547d\u4ee4   git   branch   \u68c0\u67e5   git   \u4e2d \u7684 \u5f53\u524d \u5206\u652f \u3002   \u83b7\u53d6 \u8d44\u4ea7   \u60a8 \u9700\u8981 \u4e0b\u8f7d   \u6700\u65b0 \u7684   \u8d44\u6e90 \u624d\u80fd \u4f7f\u7528 \u5f53\u524d \u7248\u672c \u7684   Carla \u3002 \u6211\u4eec \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u811a\u672c \u6765 \u81ea\u52a8 \u6267\u884c \u6b64 \u8fc7\u7a0b \u3002 \u8981 \u4f7f\u7528 \u8be5 \u811a\u672c \uff0c \u8bf7 \u5728   Carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   . / Update . sh   \u8d44\u6e90 \u5c06 \u88ab \u4e0b\u8f7d \u5e76 \u63d0\u53d6 \u5230 \u9002\u5f53 \u7684 \u4f4d\u7f6e \u3002   \u91cd\u8981   \u8981 \u4e0b\u8f7d \u5f53\u524d \u6b63\u5728 \u5f00\u53d1 \u7684 \u8d44\u4ea7 \uff0c \u8bf7 \u8bbf\u95ee   \u66f4\u65b0   Carla   \u5e76 \u9605\u8bfb   \u83b7\u53d6 \u5f00\u53d1 \u8d44\u4ea7   \u3002   \u8981 \u4e0b\u8f7d   \u7279\u5b9a \u7248\u672c   \u7684   Carla   \u8d44\u6e90 \uff1a   \u4ece   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \uff0c \u5bfc\u822a \u5230   \\ Util \\ ContentVersions . txt   \u3002 \u672c \u6587\u6863 \u5305\u542b \u6240\u6709   Carla   \u7248\u672c \u7684 \u8d44\u6e90 \u94fe\u63a5 \u3002   \u63d0\u53d6   Unreal \\ CarlaUE4 \\ Content \\ Carla   \u4e2d \u7684 \u8d44\u4ea7 \u3002 \u5982\u679c \u8be5 \u8def\u5f84 \u4e0d \u5b58\u5728 \uff0c \u8bf7 \u521b\u5efa \u5b83 \u3002   \u4f7f\u7528 \u7c7b\u4f3c \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u7684 \u547d\u4ee4 \u63d0\u53d6 \u6587\u4ef6 \uff1a   tar   - xvzf   < assets _ file _ name > . tar . gz . tar   - C   C : \\ path \\ to \\ carla \\ Unreal \\ CarlaUE4 \\ Content \\ Carla   \u8bbe\u7f6e \u865a\u5e7b \u5f15\u64ce \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   \u4e3a\u4e86 \u8ba9   Carla   \u627e\u5230 \u865a\u5e7b \u5f15\u64ce \u7684 \u6b63\u786e \u5b89\u88c5 \uff0c \u6211\u4eec \u9700\u8981 \u8bbe\u7f6e   Carla   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u3002   \u4ec5 \u4e3a\u6b64 \u4f1a\u8bdd \u8bbe\u7f6e \u53d8\u91cf \uff1a   export   UE4 _ ROOT = ~ / UnrealEngine _ 4.26   \u8981 \u8bbe\u7f6e \u53d8\u91cf \u4ee5\u4f7f \u5176 \u5728 \u4f1a \u8bdd \u4e2d \u4fdd\u6301 \u4e0d\u53d8 \uff1a   1 .   \u6253\u5f00   ~ / . bashrc   \u6216   . / profile   \u3002   gedit   ~ / . bashrc   #   \u6216   gedit   ~ / . profile   2 .   \u5c06 \u4ee5\u4e0b \u884c \u6dfb\u52a0 \u5230 \u6587\u4ef6 \u5e95\u90e8 \uff1a   export   UE4 _ ROOT = ~ / UnrealEngine _ 4.26   3 .   \u4fdd\u5b58 \u6587\u4ef6 \u5e76 \u91cd\u7f6e \u7ec8\u7aef \u3002   \u6784\u5efa   Carla   \u672c \u8282 \u6982\u8ff0 \u4e86 \u6784\u5efa   Carla   \u7684 \u547d\u4ee4 \u3002   \u6240\u6709 \u547d\u4ee4 \u90fd \u5e94 \u5728 \u6839   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u3002   Carla   \u7684 \u6784\u5efa \u8fc7\u7a0b \u5206\u4e3a \u4e24\u4e2a \u90e8\u5206 \uff0c \u7f16\u8bd1 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u7f16\u8bd1 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   \u8b66\u544a   \u786e\u4fdd \u8fd0\u884c   make   PythonAPI   \u4ee5 \u51c6\u5907 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u8fd0\u884c   make   launch   \u51c6\u5907 \u670d\u52a1 \u670d\u52a1\u7aef \u3002   \u6216\u8005   make   LibCarla   \u5c06 \u51c6\u5907   Carla   \u5e93\u4ee5 \u5bfc\u5165 \u5bfc\u5165\u5230 \u4efb\u4f55 \u5730\u65b9 \u3002   1 .   \u7f16\u8bd1   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1a   \uff1a   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6388\u4e88 \u5bf9 \u4eff\u771f \u7684 \u63a7\u5236 \u63a7\u5236\u6743 \u3002 \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u6784\u5efa   Carla   \u65f6 \u9700\u8981 \u7f16\u8bd1   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5e76\u4e14 \u5728 \u6267\u884c \u4efb\u4f55 \u66f4\u65b0 \u540e \u9700\u8981 \u518d\u6b21 \u7f16\u8bd1 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7f16\u8bd1 \u5b8c\u6210 \u540e \uff0c \u60a8 \u5c06 \u80fd\u591f \u8fd0\u884c \u811a\u672c \u4e0e \u4eff\u771f \u8fdb\u884c \u4ea4\u4e92 \u3002   \u4ee5\u4e0b \u547d\u4ee4 \u7f16\u8bd1   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1a   make   PythonAPI   \u6216\u8005 \uff0c \u8981 \u4e3a \u7279\u5b9a \u7248\u672c \u7684   Python   \u7f16\u8bd1   PythonAPI \uff0c \u8bf7 \u5728 \u6839   Carla   \u76ee\u5f55 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u3002   #   Delete   versions   as   required   make   PythonAPI   ARGS = \" -- python - version = 2.7 ,   3.6 ,   3.7 ,   3.8 \"   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u5c06 \u4ee5 \u4e24\u79cd \u622a\u7136 \u4e0d\u540c \u622a\u7136\u4e0d\u540c \u3001 \u4e92\u65a5 \u7684 \u5f62\u5f0f \u6784\u5efa \u3002 \u8fd9\u4f7f \u7528\u6237 \u53ef\u4ee5 \u81ea\u7531 \u9009\u62e9 \u81ea\u7531\u9009\u62e9 \u4ed6\u4eec \u559c\u6b22 \u7684 \u5f62\u5f0f \u6765 \u8fd0\u884c   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u4ee3\u7801 \u3002 \u4e24\u79cd \u5f62\u5f0f \u5305\u62ec   . egg   \u6587\u4ef6 \u548c   . whl   \u6587\u4ef6 \u3002 \u9009\u62e9 \u4ee5\u4e0b \u9009\u9879 \u4e4b\u4e00 \u6765 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff1a   A .   . egg   \u6587\u4ef6   . egg   \u6587\u4ef6 \u4e0d \u9700\u8981 \u5b89\u88c5 \u3002 \u5bfc\u5165   Carla   \u65f6 \uff0c Carla   \u7684 \u6240\u6709 \u793a\u4f8b \u811a\u672c \u90fd \u4f1a \u81ea\u52a8   \u67e5\u627e \u6b64 \u6587\u4ef6   \u3002   \u5982\u679c \u60a8 \u4e4b\u524d \u5b89\u88c5 \u4e86   Carla   . whl   \uff0c   . whl   \u5c06 \u4f18\u5148 \u4e8e   . egg   \u6587\u4ef6 \u3002   B .   . whl   \u6587\u4ef6   . whl   \u6587\u4ef6 \u5e94 \u4f7f\u7528   pip   \u6216   pip3   \u5b89\u88c5 \uff1a   #   Python   3   pip3   install   < path / to / wheel > . whl   #   Python   2   pip   install   < path / to / wheel > . whl   . whl   \u6587\u4ef6 \u65e0\u6cd5 \u5206\u53d1 \uff0c \u56e0\u4e3a \u5b83 \u662f \u4e13\u95e8 \u4e3a \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u6784\u5efa \u7684 \u3002   \u8b66\u544a   \u4f7f\u7528 \u4e0d\u540c \u65b9\u6cd5 \u5b89\u88c5   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u4ee5\u53ca \u7cfb\u7edf \u4e0a \u5b89\u88c5 \u4e0d\u540c \u7248\u672c \u7684   Carla   \u53ef\u80fd \u4f1a \u51fa\u73b0 \u95ee\u9898 \u3002 \u5efa\u8bae \u5728 \u5b89\u88c5 \u65f6 \u4f7f\u7528 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \uff0c \u5e76 \u5728 \u5b89\u88c5   . whl   \u65b0 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u4e4b\u524d \u5378\u8f7d \u4efb\u4f55 \u4ee5\u524d \u5b89\u88c5 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002   2 .   \u7f16\u8bd1 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \uff1a   \u4ee5\u4e0b \u547d\u4ee4 \u7f16\u8bd1 \u5e76 \u542f\u52a8 \u865a\u5e7b \u5f15\u64ce \u3002 \u6bcf\u6b21 \u60a8 \u60f3\u8981 \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6216 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u65f6 \u8fd0\u884c \u6b64 \u547d\u4ee4 \uff1a   make   launch   \u8be5 \u9879\u76ee \u53ef\u80fd \u4f1a \u8981\u6c42 \u6784\u5efa \u5176\u4ed6 \u5b9e\u4f8b \uff0c \u4f8b\u5982   UE4Editor - Carla . dll   \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u3002 \u540c\u610f \u624d\u80fd \u6253\u5f00 \u9879\u76ee \u3002 \u5728 \u9996\u6b21 \u542f\u52a8 \u671f\u95f4 \uff0c \u7f16\u8f91 \u7f16\u8f91\u5668 \u53ef\u80fd \u4f1a \u663e\u793a \u6709\u5173 \u7740\u8272 \u7740\u8272\u5668 \u548c \u7f51\u683c \u8ddd\u79bb \u573a \u7684 \u8b66\u544a \u3002 \u8fd9\u4e9b \u9700\u8981 \u4e00\u4e9b \u65f6\u95f4 \u6765 \u52a0\u8f7d \uff0c \u4e4b\u524d \u5728\u6b64\u4e4b\u524d \u5730\u56fe \u5c06 \u65e0\u6cd5 \u6b63\u786e \u663e\u793a \u3002   3 .   \u5f00\u59cb \u4eff\u771f   \uff1a   \u6309 \u201c \u8fd0\u884c \u201d \u5f00\u59cb \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4eff\u771f \u3002 \u53ef\u4ee5 \u4f7f\u7528   WASD   \u952e \u79fb\u52a8 \u76f8\u673a \uff0c \u5e76 \u901a\u8fc7 \u5728 \u79fb\u52a8 \u9f20\u6807 \u7684 \u540c\u65f6 \u5355\u51fb \u573a\u666f \u6765 \u65cb\u8f6c \u76f8\u673a \u3002   \u4f7f\u7528   PythonAPI \\ examples   \u91cc\u9762 \u7684 \u793a\u4f8b \u811a\u672c \u6d4b\u8bd5 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002 \u5728 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fd0\u884c \u7684 \u60c5\u51b5 \u4e0b \uff0c \u4e3a \u6bcf\u4e2a \u811a\u672c \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4ee5 \u57ce\u9547 \u5728\u57ce\u9547 \u4e2d \u4ea7\u751f \u4e00\u4e9b \u751f\u547d \u5e76 \u521b\u5efa \u5929\u6c14 \u5faa\u73af \uff1a   #   \u7ec8\u7aef   A   cd   PythonAPI / examples   python3   - m   pip   install   - r   requirements . txt   python3   generate _ traffic . py   #   \u7ec8\u7aef   B   cd   PythonAPI / examples   python3   dynamic _ weather . py   \u91cd\u8981   \u5982\u679c \u4eff\u771f \u4ee5 \u975e\u5e38 \u975e\u5e38\u4f4e \u7684   FPS   \u901f\u7387 \u8fd0\u884c \uff0c \u8bf7 \u8f6c\u81f3 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684   Edit   - >   Editor   preferences   - >   Performance   \u5e76 \u7981\u7528   Use   less   CPU   when   in   background   \u3002   \u5176\u4ed6   make   \u547d\u4ee4   \u60a8 \u53ef\u80fd \u4f1a \u53d1\u73b0 \u8fd8\u6709 \u66f4 \u591a \u6709\u7528 \u7684   make   \u547d\u4ee4 \u3002 \u5728 \u4e0b\u8868\u4e2d \u627e\u5230 \u5b83\u4eec \uff1a   \u547d\u4ee4   \u63cf\u8ff0   make   help   \u6253\u5370 \u6240\u6709 \u53ef\u7528 \u7684 \u547d\u4ee4 \u3002   make   launch   \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   make   PythonAPI   \u6784\u5efa   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   make   LibCarla   \u51c6\u5907 \u5c06   Carla   \u5e93 \u5bfc\u5165 \u5bfc\u5165\u5230 \u4efb\u4f55 \u5730\u65b9 \u3002   make   package   \u6784\u5efa   Carla   \u5e76 \u521b\u5efa \u7528\u4e8e \u5206\u53d1 \u7684 \u6253\u5305 \u7248\u672c \u3002   make   clean   \u5220\u9664 \u6784\u5efa \u7cfb\u7edf \u751f\u6210 \u7cfb\u7edf\u751f\u6210 \u7684 \u6240\u6709 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u548c \u4e34\u65f6 \u65f6\u6587 \u6587\u4ef6 \u4e34\u65f6\u6587\u4ef6 \u3002   make   rebuild   make   clean   \u548c   make   launch   \u4e24\u8005 \u90fd \u5728 \u4e00\u4e2a \u547d\u4ee4 \u4e2d \u3002   make   check   \u8fdb\u884c \u5355\u5143 \u6d4b\u8bd5 \u5355\u5143\u6d4b\u8bd5   \u5176\u4ed6   v2ray   \u7684 \u7248\u672c \u4e0d\u80fd \u592a\u9ad8 \uff0c \u6bd4\u5982 \u53ef\u4ee5 \u4f7f\u7528   v4.45 . 2   \uff0c \u56fe\u5f62 \u754c\u9762 \u56fe\u5f62\u754c\u9762 \u4f7f\u7528   Qv2ray   2.7 . 0   \u3002   \u95ee\u9898   \u6267\u884c   make   Python   \u65f6\u62a5 \u9519 \uff1a   A   C++ 11   capable   compiler   is   required   for   building   the   B2   engine .   Toolset   ' clang '   does   not   appear   to   support   C++ 11 .   \u6709\u5173 \u672c \u6307\u5357 \u7684 \u4efb\u4f55 \u95ee\u9898 \uff0c   \u8bf7 \u9605\u8bfb   \u5e38\u89c1 \u95ee\u9898 \u9898\u89e3 \u89e3\u7b54 \u95ee\u9898\u89e3\u7b54   \u9875\u9762 \u6216   Carla   \u8bba\u575b   \u4e2d \u7684 \u5e16\u5b50 \u3002   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u5b66\u4e60 \u5982\u4f55 \u66f4\u65b0   Carla   \u6784\u5efa \u6216 \u5728 \u4eff\u771f \u4e2d \u8fc8\u51fa \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \uff0c \u5e76 \u5b66\u4e60 \u4e00\u4e9b \u6838\u5fc3 \u6982\u5ff5 \u3002   \u66f4\u65b0   Carla   \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65","title":"Linux   \u7cfb\u7edf \u4e0a \u7684 \u6784\u5efa"},{"location":"build_linux/#linux","text":"\u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u5728   Linux   \u4e0a \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002 \u6709 \u4e24\u4e2a \u90e8\u5206 \u3002 \u7b2c\u4e00 \u90e8\u5206 \u8be6\u7ec6 \u4ecb\u7ecd \u7cfb\u7edf \u8981\u6c42 \u548c \u6240 \u9700 \u8f6f\u4ef6 \u7684 \u5b89\u88c5 \uff0c \u7b2c\u4e8c \u90e8\u5206 \u8be6\u7ec6 \u4ecb\u7ecd \u5982\u4f55 \u5b9e\u9645 \u6784\u5efa \u548c \u8fd0\u884c   Carla \u3002   \u6784\u5efa \u8fc7\u7a0b \u5f88\u957f \uff08 4 \u5c0f\u65f6 \u6216 \u66f4 \u65f6\u95f4 \u957f\u65f6\u95f4 \uff09 \u5e76\u4e14 \u6d89\u53ca \u591a\u79cd \u8f6f\u4ef6 \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u5728 \u5f00\u59cb \u4e4b\u524d \u5b8c\u6574 \u9605\u8bfb \u8be5 \u6307\u5357 \u3002   \u7b2c\u4e00 \u90e8\u5206 \uff1a \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u7cfb\u7edf \u8981\u6c42   \u8f6f\u4ef6 \u8981\u6c42   \u865a\u5e7b \u5f15\u64ce   \u7b2c\u4e8c \u90e8\u5206 \uff1a \u6784\u5efa   Carla   \u514b\u9686   Carla   \u4ed3\u5e93   \u83b7\u53d6 \u8d44\u4ea7   \u8bbe\u7f6e \u865a\u5e7b \u5f15\u64ce \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   \u6784\u5efa   Carla   \u5176\u4ed6   make   \u547d\u4ee4   \u5176\u4ed6","title":"Linux   \u7cfb\u7edf \u4e0a \u7684 \u6784\u5efa"},{"location":"build_linux/#_1","text":"","title":"\u7b2c\u4e00 \u90e8\u5206 \uff1a \u5148\u51b3\u6761\u4ef6  "},{"location":"build_linux/#_2","text":"Ubuntu   18.04 .   Carla   \u63d0\u4f9b \u5bf9   Ubuntu   16.04   \u4e4b\u524d \u7248\u672c \u7684 \u652f\u6301 \u3002   \u7136\u800c   \uff0c \u865a\u5e7b \u5f15\u64ce \u9700\u8981 \u9002\u5f53 \u7684 \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u624d\u80fd \u6b63\u5e38 \u5de5\u4f5c \u3002 \u4e0b\u9762 \u5355\u72ec \u5217\u51fa \u4e86   Ubuntu   18.04   \u53ca \u4e4b\u524d \u7248\u672c \u7684 \u4f9d\u8d56 \u9879 \u3002 \u786e\u4fdd \u5b89\u88c5 \u4e0e \u60a8 \u7684 \u7cfb\u7edf \u76f8\u5bf9 \u5e94 \u7684 \u8f6f\u4ef6 \u3002   130   GB   \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u3002   Carla   \u5c06 \u5360\u7528 \u5927\u7ea6   31   GB \uff0c \u865a\u5e7b \u5f15\u64ce \u5c06 \u5360\u7528 \u5927\u7ea6   91   GB \uff0c \u56e0\u6b64 \u9700\u8981 \u5927\u7ea6   130   GB   \u7684 \u53ef\u7528 \u7a7a\u95f4 \u6765 \u5bb9\u7eb3 \u8fd9 \u4e24\u4e2a \u7a7a\u95f4 \u4ee5\u53ca \u989d\u5916 \u7684 \u5c0f\u578b \u8f6f\u4ef6 \u5b89\u88c5 \u3002   \u8db3\u591f \u7684   GPU \u3002   Carla   \u7684 \u76ee\u6807 \u662f \u8fdb\u884c \u771f\u5b9e \u7684 \u4eff\u771f \uff0c \u56e0\u6b64 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u81f3\u5c11 \u9700\u8981   6   GB   GPU \uff0c \u4f46 \u5efa\u8bae \u4f7f\u7528   8   GB \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u4f7f\u7528 \u4e13\u7528   GPU   \u8fdb\u884c \u673a\u5668 \u5b66\u4e60 \u3002   \u4e24\u4e2a   TCP   \u7aef\u53e3 \u548c \u826f\u597d \u7684 \u4e92\u8054 \u8054\u7f51 \u4e92\u8054\u7f51 \u8fde\u63a5 \u3002   \u9ed8\u8ba4 \u4e3a   2000   \u5e74 \u548c   2001   \u5e74 \u3002 \u786e\u4fdd \u8fd9\u4e9b \u7aef\u53e3 \u672a \u88ab \u9632\u706b \u706b\u5899 \u9632\u706b\u5899 \u6216 \u4efb\u4f55 \u5176\u4ed6 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u963b\u6b62 \u3002   \u8b66\u544a   \u5982\u679c \u60a8 \u8981 \u4ece   Carla   0.9 . 12   \u5347\u7ea7 \u5230   0.9 . 13   :   \u60a8 \u5fc5\u987b \u9996\u5148 \u5c06 \u865a\u5e7b \u5f15\u64ce   4   \u7684   Carla   \u5206\u652f \u5347\u7ea7 \u5230 \u6700\u65b0 \u7248\u672c \u3002 \u6709\u5173 \u5347\u7ea7 \u865a\u5e7b \u5f15\u64ce   4   \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u865a\u5e7b \u5f15\u64ce   \u90e8\u5206 \u3002","title":"\u7cfb\u7edf \u8981\u6c42  "},{"location":"build_linux/#_3","text":"Carla   \u9700\u8981 \u8fd0\u884c \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7c7b\u578b \u7684 \u8f6f\u4ef6 \u3002 \u6709\u4e9b \u662f \u5728   Carla   \u6784\u5efa \u8fc7\u7a0b \u672c\u8eab \u671f\u95f4 \u6784\u5efa \u7684 \uff0c \u4f8b\u5982   Boost . Python   \u3002 \u5176\u4ed6 \u662f \u5e94\u8be5 \u5728 \u5f00\u59cb \u6784\u5efa \u4e4b\u524d \u5b89\u88c5 \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \uff08   cmake   \u3001   clang   \u3001 \u4e0d\u540c \u7248\u672c \u7684   Python   \u7b49 \uff09 \u3002 \u8981 \u5b89\u88c5 \u8fd9\u4e9b \u8981\u6c42 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   sudo   apt - get   update   &&   sudo   apt - get   install   wget   software - properties - common   &&   sudo   add - apt - repository   ppa : ubuntu - toolchain - r / test   &&   wget   - O   -   https : / / apt . llvm . org / llvm - snapshot . gpg . key | sudo   apt - key   add   -   &&   sudo   apt - add - repository   \" deb   http : / / apt . llvm . org / xenial /   llvm - toolchain - xenial - 8   main \"   &&   sudo   apt - get   update   \u8b66\u544a   \u4ee5\u4e0b \u547d\u4ee4 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684   Ubuntu   \u7248\u672c \u3002 \u8bf7 \u52a1\u5fc5 \u505a\u51fa \u76f8\u5e94 \u7684 \u9009\u62e9 \u3002   Ubuntu   24.04   #   \u663e\u5361 \u9a71\u52a8 \u4f7f\u7528 nvidia - driver - 470 - server \uff08 \u8f6c\u6709 \uff09   #   \u5df2\u7ecf \u5b89\u88c5 \u4e86 clang - 14   #   sudo   apt   install   g ++- 10   #   sudo   apt - get   install   clang ++- 10   #   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7f16\u8bd1 \u5b89\u88c5   llvm - 10   sudo   apt   install   gcc - multilib   git   clone   -- branch   release / 10 . x   -- recursive   https : / / github . com / llvm / llvm - project   cd   llvm - project / llvm   cmake   - G   \" Unix   Makefiles \"   - DCMAKE _ BUILD _ TYPE = Release   - DLLVM _ ENABLE _ PROJECTS = lld   - DCMAKE _ INSTALL _ PREFIX = / usr / local / llvm - 10   ..   make   - j8   sudo   make   install   #   / usr / local / llvm - 10 / bin   #   \u7f16\u8bd1 clang - 10 \uff08 \u9ed8\u8ba4 LLVM \u7f16\u8bd1 \u5b8c \u6ca1\u6709 clang \uff09   #   \u56de\u5230 llvm - project \u76ee\u5f55   cd   llvm - project / clang /   mkdir   build   cd   build   cmake   - G   \" Unix   Makefiles \"   - DCMAKE _ BUILD _ TYPE = Release   - DCMAKE _ INSTALL _ PREFIX = / usr / local / clang - 10   ..   make   - j8   sudo   make   install   #   \u521b\u5efa \u8f6f \u94fe\u63a5   sudo   ln   - s   / usr / local / clang - 10 / bin / clang ++   / usr / bin / clang ++   sudo   ln   - s   / usr / local / clang - 10 / bin / clang   / usr / bin / clang   #   \u68c0\u67e5 \u7248\u672c   clang   -- version   #   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7f16\u8bd1 \u5b89\u88c5   gcc - 7   wget   http : / / ftp . gnu . org / gnu / gcc / gcc - 7.5 . 0 / gcc - 7.5 . 0 . tar . gz   tar   - zxvf   gcc - 7.5 . 0 . tar . gz   cd   gcc - 7.5 . 0   mkdir   build   cd   build   .. / configure   -- prefix = / usr / local / gcc - 7   #   \u5f00\u59cb \u914d\u7f6e \u5b89\u88c5   #   \u5982\u679c \u5b89\u88c5 \u7f3a\u5c11 \u7684 \u5e93 \uff0c \u5219 \u8fd0\u884c \u4e0b\u9762 \u8fd9 \u4e00\u6761 \u547d\u4ee4   sudo   apt - get   install   libgmp - dev   libmpfr - dev   libmpc - dev   gcc - multilib   g ++- multilib   #   \u518d\u6b21 \u4f7f\u7528 \u4e0b\u9762 \u547d\u4ee4 \u6784\u5efa \u5b89\u88c5 \u73af\u5883   .. / configure   -- enable - multilib   #   \u6784\u5efa \u5b8c\u6210 \u540e \u5f97\u5230 \u4e00\u4e2a Makefile \u6587\u4ef6 \u3002 \u5f00\u59cb \u7f16\u8bd1   make   - j8   #   - j \u9009\u9879 \u540e \u7684 \u6570\u5b57 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u673a\u5668 \u7684 \u903b\u8f91 \u5904\u7406 \u7406\u5668 \u5904\u7406\u5668 \u6570\u91cf   sudo   make   install   #   \u521b\u5efa \u8f6f \u94fe\u63a5   sudo   ln   - s   / usr / local / clang - 10 / bin / clang ++   / usr / bin / g ++   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / bin / clang ++- 14   180   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / bin / clang - 14   180   sudo   update - alternatives   -- install   / usr / bin / g ++   g ++   / usr / bin / g ++- 12   180   \u8b66\u544a   \u6784\u5efa \u65f6 \u5bf9   Util / BuildTools / Setup . sh   \u6240 \u505a \u7684 \u4fee\u6539 \uff1a 1 .   \u6784\u5efa boost \u65f6 \uff0c \u6267\u884c   . / bootstrap . sh   \u7684 \u547d\u4ee4 \u4e2d \u53bb \u9664\u4e86   -- with - toolset = clang   \u9009\u9879 \u3002 2 .   \u5bf9 rcplib \u6267\u884c cmake \u65f6 \uff0c \u53bb \u9664\u4e86   - stdlib = lib c++   \u9009\u9879 \u3002   Ubuntu   22.04   sudo   apt - add - repository   \" deb   http : / / archive . ubuntu . com / ubuntu   focal   main   universe \"   sudo   apt - get   update   sudo   apt - get   install   build - essential   clang - 10   lld - 10   g ++- 7   cmake   ninja - build   libvulkan1   python   python3   python3 - dev   python3 - pip   libpng - dev   libtiff5 - dev   libjpeg - dev   tzdata   sed   curl   unzip   autoconf   libtool   rsync   libxml2 - dev   git   git - lfs   #   update - alternatives \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u53c2\u6570 -- install \u8868\u793a \u5411 update - alternatives \u6ce8\u518c \u670d\u52a1 \u540d \u3002   #   \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u53c2\u6570 \u662f \u6ce8\u518c \u6700\u7ec8 \u5730\u5740 \uff0c \u6210\u529f \u540e \u5c06 \u4f1a \u628a \u547d\u4ee4 \u5728 \u8fd9\u4e2a \u56fa\u5b9a \u7684 \u76ee\u7684 \u5730\u5740 \u505a \u771f\u5b9e \u547d\u4ee4 \u7684 \u8f6f\u94fe \uff0c \u4ee5\u540e \u7ba1\u7406 \u5c31\u662f \u7ba1\u7406 \u8fd9\u4e2a \u8f6f\u94fe \uff1b   #   \u7b2c\u4e09 \u4e09\u4e2a \u7b2c\u4e09\u4e2a \u53c2\u6570 \uff1a \u670d\u52a1 \u540d \uff0c \u4ee5\u540e \u7ba1\u7406 \u65f6\u4ee5 \u5b83 \u4e3a \u5173\u8054 \u4f9d\u636e \u3002   #   \u7b2c\u56db \u56db\u4e2a \u7b2c\u56db\u4e2a \u53c2\u6570 \uff0c \u88ab \u7ba1\u7406 \u7684 \u547d\u4ee4 \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002   #   \u7b2c\u4e94 \u4e94\u4e2a \u7b2c\u4e94\u4e2a \u53c2\u6570 \uff0c \u4f18\u5148 \u4f18\u5148\u7ea7 \uff0c \u6570\u5b57 \u8d8a\u5927 \u4f18\u5148 \u4f18\u5148\u7ea7 \u8d8a\u9ad8 \u3002   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / lib / llvm - 10 / bin / clang ++   180   &&   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / lib / llvm - 10 / bin / clang   180   &&   sudo   update - alternatives   -- install   / usr / bin / g ++   g ++   / usr / bin / g ++- 7   180   Ubuntu   20.04   sudo   apt - add - repository   \" deb   http : / / apt . llvm . org / focal /   llvm - toolchain - focal   main \"   sudo   apt - get   update   sudo   apt - get   install   build - essential   clang - 10   lld - 10   g ++- 7   cmake   ninja - build   libvulkan1   python   python - dev   python3 - dev   python3 - pip   libpng - dev   libtiff5 - dev   libjpeg - dev   tzdata   sed   curl   unzip   autoconf   libtool   rsync   libxml2 - dev   git   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / lib / llvm - 10 / bin / clang ++   180   &&   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / lib / llvm - 10 / bin / clang   180   Ubuntu   18.04   .   sudo   apt - add - repository   \" deb   http : / / apt . llvm . org / bionic /   llvm - toolchain - bionic   main \"   sudo   apt - get   update   sudo   apt - get   install   build - essential   clang - 8   lld - 8   g ++- 7   cmake   ninja - build   libvulkan1   python   python - pip   python - dev   python3 - dev   python3 - pip   libpng - dev   libtiff5 - dev   libjpeg - dev   tzdata   sed   curl   unzip   autoconf   libtool   rsync   libxml2 - dev   git   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / lib / llvm - 8 / bin / clang ++   180   &&   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / lib / llvm - 8 / bin / clang   180   Ubuntu   16.04   .   sudo   apt - add - repository   \" deb   http : / / apt . llvm . org / xenial /   llvm - toolchain - xenial - 8   main \"   &&   sudo   apt - get   update   sudo   apt - get   install   build - essential   clang - 8   lld - 8   g ++- 7   cmake   ninja - build   libvulkan1   python   python - pip   python - dev   python3 - dev   python3 - pip   libpng16 - dev   libtiff5 - dev   libjpeg - dev   tzdata   sed   curl   unzip   autoconf   libtool   rsync   libxml2 - dev   git   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / lib / llvm - 8 / bin / clang ++   180   &&   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / lib / llvm - 8 / bin / clang   180   \u4ee5\u524d \u7684   Ubuntu   \u7248\u672c \u3002   sudo   apt - get   install   build - essential   clang - 8   lld - 8   g ++- 7   cmake   ninja - build   libvulkan1   python   python - pip   python - dev   python3 - dev   python3 - pip   libpng16 - dev   libtiff5 - dev   libjpeg - dev   tzdata   sed   curl   unzip   autoconf   libtool   rsync   libxml2 - dev   git   \u6240\u6709   Ubuntu   \u7cfb\u7edf   \u3002   \u4e3a\u4e86 \u907f\u514d \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u4f9d\u8d56 \u9879 \u4e4b\u95f4 \u7684 \u517c\u5bb9 \u5bb9\u6027 \u95ee\u9898 \u517c\u5bb9\u6027 \u517c\u5bb9\u6027\u95ee\u9898 \uff0c \u8bf7 \u4f7f\u7528 \u76f8\u540c \u7684 \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u7248\u672c \u548c   C++   \u8fd0\u884c \u65f6\u5e93 \u6765 \u7f16\u8bd1 \u6240\u6709 \u5185\u5bb9 \u3002 Carla   \u56e2\u961f \u4f7f\u7528   clang - 8   \u548c   LLVM   \u7684   lib c++ \u3002 \u66f4\u6539 \u9ed8\u8ba4 \u7684   clang   \u7248\u672c \u4ee5 \u7f16\u8bd1 \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u4f9d\u8d56 \u9879 \u3002   sudo   update - alternatives   -- install   / usr / bin / clang ++   clang ++   / usr / lib / llvm - 8 / bin / clang ++   180   &&   sudo   update - alternatives   -- install   / usr / bin / clang   clang   / usr / lib / llvm - 8 / bin / clang   180   \u4ece   Carla   0.9 . 12   \u5f00\u59cb \uff0c \u7528\u6237 \u53ef\u4ee5 \u9009\u62e9 \u4f7f\u7528   pip   \u6216   pip3   \u5b89\u88c5   Carla   Python   API \u3002 \u9700\u8981   20.3   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002 \u8981 \u68c0\u67e5 \u60a8 \u662f\u5426 \u6709 \u5408\u9002 \u7684 \u7248\u672c \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   \u5bf9\u4e8e   Python   3   pip3   - V   #   \u5bf9\u4e8e   Python   2   pip   - V   \u5982\u679c \u60a8 \u9700\u8981 \u5347\u7ea7 \uff1a   #   \u5bf9\u4e8e   Python   3   pip3   install   -- upgrade   pip   #   \u5bf9\u4e8e   Python   2   pip   install   -- upgrade   pip   \u60a8 \u5fc5\u987b \u5b89\u88c5 \u4ee5\u4e0b   Python   \u4f9d\u8d56 \u9879 \uff1a   pip   install   -- user   setuptools   &&   pip3   install   -- user   - Iv   setuptools = = 47.3 . 1   &&   pip   install   -- user   distro   &&   pip3   install   -- user   distro   &&   pip   install   -- user   wheel   &&   pip3   install   -- user   wheel   auditwheel","title":"\u8f6f\u4ef6 \u8981\u6c42  "},{"location":"build_linux/#_4","text":"\u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   4.26   \u7684 \u4fee\u6539 \u6539\u7248 \u4fee\u6539\u7248 \u3002 \u8be5 \u5206\u652f \u5305\u542b   Carla   \u7279\u6709 \u7684 \u8865\u4e01 \u3002   1 .   \u5c06   Carla   \u7684 \u865a\u5e7b \u5f15\u64ce   4.26   \u5206\u652f \u7684 \u5185\u5bb9 \u514b\u9686 \u5230 \u672c\u5730 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \uff1a   git   clone   https : / / github . com / OpenHUTB / UnrealEngine . git   ~ / UnrealEngine _ 4.26   2 .   \u5bfc\u822a \u5230 \u514b\u9686 \u5b58\u50a8 \u5e93 \u7684 \u76ee\u5f55 \uff1a   cd   ~ / UnrealEngine _ 4.26   3 .   \u8fdb\u884c \u6784\u5efa \u3002 \u8fd9 \u53ef\u80fd \u9700\u8981 \u4e00\u4e24 \u4e24\u4e2a \u4e00\u4e24\u4e2a \u5c0f\u65f6 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684 \u7cfb\u7edf \u3002   . / Setup . sh   &&   . / GenerateProjectFiles . sh   &&   make   \u5982\u679c \u51fa\u73b0   bash :   . / Setup . sh :   Permission   denied   . / Setup . sh :   line   40 :   Engine / Build / BatchFiles / Linux / GitDependencies . sh :   Permission   denied   Engine / Build / BatchFiles / Linux / GitDependencies . sh :   line   25 :   mono :   command   not   found   Setting   up   Mono   Corlib   not   in   sync   with   this   runtime :   expected   corlib   version   149 ,   found   1051600014 .   chmod   + x   Setup . sh   chmod   + x   Engine / Build / BatchFiles / Linux / GitDependencies . sh   sudo   apt - get   install   mono - complete   git   clone   https : / / github . com / OpenHUTB / UnrealEngine . git   ~ / UnrealEngine _ 4.26   4 .   \u6253\u5f00 \u7f16\u8f91 \u7f16\u8f91\u5668 \u68c0\u67e5 \u865a\u5e7b \u5f15\u64ce \u662f\u5426 \u5df2 \u6b63\u786e \u5b89\u88c5 \u3002   cd   ~ / UnrealEngine _ 4.26 / Engine / Binaries / Linux   &&   . / UE4Editor   \u7535\u8111 \u914d\u7f6e \u7535\u8111\u914d\u7f6e \u8fbe \u4e0d\u5230 Vulkan \u7684 \u6807\u51c6 \u4f1a \u51fa\u73b0 \uff08 OpenGL \u7684 API \u4e5f \u5e9f\u5f03 \u4e86 \uff09 \uff1a   Cannot   find   a   compatible   Yulkan   driver   ( ICD )","title":"\u865a\u5e7b \u5f15\u64ce  "},{"location":"build_linux/#carla","text":"\u7b14\u8bb0   \u4f7f\u7528   sudo   apt - get   install   aria2   \u4e0b\u8f7d   aria2   \u5c06 \u52a0\u5feb \u4ee5\u4e0b \u547d\u4ee4 \u7684 \u901f\u5ea6 \u3002","title":"\u7b2c\u4e8c \u90e8\u5206 \uff1a \u6784\u5efa   Carla  "},{"location":"build_linux/#carla_1","text":"Carla   \u4ed3\u5e93   \u4e0a\u9762 \u7684 \u6309\u94ae \u5c06 \u5e26 \u60a8 \u8fdb\u5165 \u8be5\u9879 \u76ee\u7684 \u5b98\u65b9 \u5b58\u50a8 \u5e93 \u3002 \u4ece \u90a3\u91cc \u4e0b\u8f7d \u5e76 \u5728 \u672c\u5730 \u63d0\u53d6 \u5b83 \u6216 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u514b\u9686 \u5b83 \uff1a   git   clone   https : / / github . com / carla - simulator / carla . git   \u7b14\u8bb0   The   master   \u5206\u652f \u5305\u542b   Carla   \u7684 \u5f53\u524d \u7248\u672c \u4ee5\u53ca \u6700\u65b0 \u7684 \u4fee\u590d \u548c \u529f\u80fd \u3002 \u4ee5\u524d \u7684   Carla   \u7248\u672c \u6807\u6709 \u7248\u672c \u540d\u79f0 \u3002 \u6c38\u8fdc \u8bb0\u4f4f \u4f7f\u7528 \u547d\u4ee4   git   branch   \u68c0\u67e5   git   \u4e2d \u7684 \u5f53\u524d \u5206\u652f \u3002","title":"\u514b\u9686   Carla   \u4ed3\u5e93  "},{"location":"build_linux/#_5","text":"\u60a8 \u9700\u8981 \u4e0b\u8f7d   \u6700\u65b0 \u7684   \u8d44\u6e90 \u624d\u80fd \u4f7f\u7528 \u5f53\u524d \u7248\u672c \u7684   Carla \u3002 \u6211\u4eec \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u811a\u672c \u6765 \u81ea\u52a8 \u6267\u884c \u6b64 \u8fc7\u7a0b \u3002 \u8981 \u4f7f\u7528 \u8be5 \u811a\u672c \uff0c \u8bf7 \u5728   Carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   . / Update . sh   \u8d44\u6e90 \u5c06 \u88ab \u4e0b\u8f7d \u5e76 \u63d0\u53d6 \u5230 \u9002\u5f53 \u7684 \u4f4d\u7f6e \u3002   \u91cd\u8981   \u8981 \u4e0b\u8f7d \u5f53\u524d \u6b63\u5728 \u5f00\u53d1 \u7684 \u8d44\u4ea7 \uff0c \u8bf7 \u8bbf\u95ee   \u66f4\u65b0   Carla   \u5e76 \u9605\u8bfb   \u83b7\u53d6 \u5f00\u53d1 \u8d44\u4ea7   \u3002   \u8981 \u4e0b\u8f7d   \u7279\u5b9a \u7248\u672c   \u7684   Carla   \u8d44\u6e90 \uff1a   \u4ece   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \uff0c \u5bfc\u822a \u5230   \\ Util \\ ContentVersions . txt   \u3002 \u672c \u6587\u6863 \u5305\u542b \u6240\u6709   Carla   \u7248\u672c \u7684 \u8d44\u6e90 \u94fe\u63a5 \u3002   \u63d0\u53d6   Unreal \\ CarlaUE4 \\ Content \\ Carla   \u4e2d \u7684 \u8d44\u4ea7 \u3002 \u5982\u679c \u8be5 \u8def\u5f84 \u4e0d \u5b58\u5728 \uff0c \u8bf7 \u521b\u5efa \u5b83 \u3002   \u4f7f\u7528 \u7c7b\u4f3c \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u7684 \u547d\u4ee4 \u63d0\u53d6 \u6587\u4ef6 \uff1a   tar   - xvzf   < assets _ file _ name > . tar . gz . tar   - C   C : \\ path \\ to \\ carla \\ Unreal \\ CarlaUE4 \\ Content \\ Carla","title":"\u83b7\u53d6 \u8d44\u4ea7  "},{"location":"build_linux/#_6","text":"\u4e3a\u4e86 \u8ba9   Carla   \u627e\u5230 \u865a\u5e7b \u5f15\u64ce \u7684 \u6b63\u786e \u5b89\u88c5 \uff0c \u6211\u4eec \u9700\u8981 \u8bbe\u7f6e   Carla   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u3002   \u4ec5 \u4e3a\u6b64 \u4f1a\u8bdd \u8bbe\u7f6e \u53d8\u91cf \uff1a   export   UE4 _ ROOT = ~ / UnrealEngine _ 4.26   \u8981 \u8bbe\u7f6e \u53d8\u91cf \u4ee5\u4f7f \u5176 \u5728 \u4f1a \u8bdd \u4e2d \u4fdd\u6301 \u4e0d\u53d8 \uff1a   1 .   \u6253\u5f00   ~ / . bashrc   \u6216   . / profile   \u3002   gedit   ~ / . bashrc   #   \u6216   gedit   ~ / . profile   2 .   \u5c06 \u4ee5\u4e0b \u884c \u6dfb\u52a0 \u5230 \u6587\u4ef6 \u5e95\u90e8 \uff1a   export   UE4 _ ROOT = ~ / UnrealEngine _ 4.26   3 .   \u4fdd\u5b58 \u6587\u4ef6 \u5e76 \u91cd\u7f6e \u7ec8\u7aef \u3002","title":"\u8bbe\u7f6e \u865a\u5e7b \u5f15\u64ce \u73af\u5883\u53d8\u91cf  "},{"location":"build_linux/#carla_2","text":"\u672c \u8282 \u6982\u8ff0 \u4e86 \u6784\u5efa   Carla   \u7684 \u547d\u4ee4 \u3002   \u6240\u6709 \u547d\u4ee4 \u90fd \u5e94 \u5728 \u6839   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u3002   Carla   \u7684 \u6784\u5efa \u8fc7\u7a0b \u5206\u4e3a \u4e24\u4e2a \u90e8\u5206 \uff0c \u7f16\u8bd1 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u7f16\u8bd1 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   \u8b66\u544a   \u786e\u4fdd \u8fd0\u884c   make   PythonAPI   \u4ee5 \u51c6\u5907 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u8fd0\u884c   make   launch   \u51c6\u5907 \u670d\u52a1 \u670d\u52a1\u7aef \u3002   \u6216\u8005   make   LibCarla   \u5c06 \u51c6\u5907   Carla   \u5e93\u4ee5 \u5bfc\u5165 \u5bfc\u5165\u5230 \u4efb\u4f55 \u5730\u65b9 \u3002   1 .   \u7f16\u8bd1   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1a   \uff1a   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6388\u4e88 \u5bf9 \u4eff\u771f \u7684 \u63a7\u5236 \u63a7\u5236\u6743 \u3002 \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u6784\u5efa   Carla   \u65f6 \u9700\u8981 \u7f16\u8bd1   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5e76\u4e14 \u5728 \u6267\u884c \u4efb\u4f55 \u66f4\u65b0 \u540e \u9700\u8981 \u518d\u6b21 \u7f16\u8bd1 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7f16\u8bd1 \u5b8c\u6210 \u540e \uff0c \u60a8 \u5c06 \u80fd\u591f \u8fd0\u884c \u811a\u672c \u4e0e \u4eff\u771f \u8fdb\u884c \u4ea4\u4e92 \u3002   \u4ee5\u4e0b \u547d\u4ee4 \u7f16\u8bd1   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1a   make   PythonAPI   \u6216\u8005 \uff0c \u8981 \u4e3a \u7279\u5b9a \u7248\u672c \u7684   Python   \u7f16\u8bd1   PythonAPI \uff0c \u8bf7 \u5728 \u6839   Carla   \u76ee\u5f55 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u3002   #   Delete   versions   as   required   make   PythonAPI   ARGS = \" -- python - version = 2.7 ,   3.6 ,   3.7 ,   3.8 \"   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u5c06 \u4ee5 \u4e24\u79cd \u622a\u7136 \u4e0d\u540c \u622a\u7136\u4e0d\u540c \u3001 \u4e92\u65a5 \u7684 \u5f62\u5f0f \u6784\u5efa \u3002 \u8fd9\u4f7f \u7528\u6237 \u53ef\u4ee5 \u81ea\u7531 \u9009\u62e9 \u81ea\u7531\u9009\u62e9 \u4ed6\u4eec \u559c\u6b22 \u7684 \u5f62\u5f0f \u6765 \u8fd0\u884c   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u4ee3\u7801 \u3002 \u4e24\u79cd \u5f62\u5f0f \u5305\u62ec   . egg   \u6587\u4ef6 \u548c   . whl   \u6587\u4ef6 \u3002 \u9009\u62e9 \u4ee5\u4e0b \u9009\u9879 \u4e4b\u4e00 \u6765 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff1a   A .   . egg   \u6587\u4ef6   . egg   \u6587\u4ef6 \u4e0d \u9700\u8981 \u5b89\u88c5 \u3002 \u5bfc\u5165   Carla   \u65f6 \uff0c Carla   \u7684 \u6240\u6709 \u793a\u4f8b \u811a\u672c \u90fd \u4f1a \u81ea\u52a8   \u67e5\u627e \u6b64 \u6587\u4ef6   \u3002   \u5982\u679c \u60a8 \u4e4b\u524d \u5b89\u88c5 \u4e86   Carla   . whl   \uff0c   . whl   \u5c06 \u4f18\u5148 \u4e8e   . egg   \u6587\u4ef6 \u3002   B .   . whl   \u6587\u4ef6   . whl   \u6587\u4ef6 \u5e94 \u4f7f\u7528   pip   \u6216   pip3   \u5b89\u88c5 \uff1a   #   Python   3   pip3   install   < path / to / wheel > . whl   #   Python   2   pip   install   < path / to / wheel > . whl   . whl   \u6587\u4ef6 \u65e0\u6cd5 \u5206\u53d1 \uff0c \u56e0\u4e3a \u5b83 \u662f \u4e13\u95e8 \u4e3a \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u6784\u5efa \u7684 \u3002   \u8b66\u544a   \u4f7f\u7528 \u4e0d\u540c \u65b9\u6cd5 \u5b89\u88c5   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u4ee5\u53ca \u7cfb\u7edf \u4e0a \u5b89\u88c5 \u4e0d\u540c \u7248\u672c \u7684   Carla   \u53ef\u80fd \u4f1a \u51fa\u73b0 \u95ee\u9898 \u3002 \u5efa\u8bae \u5728 \u5b89\u88c5 \u65f6 \u4f7f\u7528 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \uff0c \u5e76 \u5728 \u5b89\u88c5   . whl   \u65b0 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u4e4b\u524d \u5378\u8f7d \u4efb\u4f55 \u4ee5\u524d \u5b89\u88c5 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002   2 .   \u7f16\u8bd1 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \uff1a   \u4ee5\u4e0b \u547d\u4ee4 \u7f16\u8bd1 \u5e76 \u542f\u52a8 \u865a\u5e7b \u5f15\u64ce \u3002 \u6bcf\u6b21 \u60a8 \u60f3\u8981 \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6216 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u65f6 \u8fd0\u884c \u6b64 \u547d\u4ee4 \uff1a   make   launch   \u8be5 \u9879\u76ee \u53ef\u80fd \u4f1a \u8981\u6c42 \u6784\u5efa \u5176\u4ed6 \u5b9e\u4f8b \uff0c \u4f8b\u5982   UE4Editor - Carla . dll   \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u3002 \u540c\u610f \u624d\u80fd \u6253\u5f00 \u9879\u76ee \u3002 \u5728 \u9996\u6b21 \u542f\u52a8 \u671f\u95f4 \uff0c \u7f16\u8f91 \u7f16\u8f91\u5668 \u53ef\u80fd \u4f1a \u663e\u793a \u6709\u5173 \u7740\u8272 \u7740\u8272\u5668 \u548c \u7f51\u683c \u8ddd\u79bb \u573a \u7684 \u8b66\u544a \u3002 \u8fd9\u4e9b \u9700\u8981 \u4e00\u4e9b \u65f6\u95f4 \u6765 \u52a0\u8f7d \uff0c \u4e4b\u524d \u5728\u6b64\u4e4b\u524d \u5730\u56fe \u5c06 \u65e0\u6cd5 \u6b63\u786e \u663e\u793a \u3002   3 .   \u5f00\u59cb \u4eff\u771f   \uff1a   \u6309 \u201c \u8fd0\u884c \u201d \u5f00\u59cb \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4eff\u771f \u3002 \u53ef\u4ee5 \u4f7f\u7528   WASD   \u952e \u79fb\u52a8 \u76f8\u673a \uff0c \u5e76 \u901a\u8fc7 \u5728 \u79fb\u52a8 \u9f20\u6807 \u7684 \u540c\u65f6 \u5355\u51fb \u573a\u666f \u6765 \u65cb\u8f6c \u76f8\u673a \u3002   \u4f7f\u7528   PythonAPI \\ examples   \u91cc\u9762 \u7684 \u793a\u4f8b \u811a\u672c \u6d4b\u8bd5 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002 \u5728 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fd0\u884c \u7684 \u60c5\u51b5 \u4e0b \uff0c \u4e3a \u6bcf\u4e2a \u811a\u672c \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4ee5 \u57ce\u9547 \u5728\u57ce\u9547 \u4e2d \u4ea7\u751f \u4e00\u4e9b \u751f\u547d \u5e76 \u521b\u5efa \u5929\u6c14 \u5faa\u73af \uff1a   #   \u7ec8\u7aef   A   cd   PythonAPI / examples   python3   - m   pip   install   - r   requirements . txt   python3   generate _ traffic . py   #   \u7ec8\u7aef   B   cd   PythonAPI / examples   python3   dynamic _ weather . py   \u91cd\u8981   \u5982\u679c \u4eff\u771f \u4ee5 \u975e\u5e38 \u975e\u5e38\u4f4e \u7684   FPS   \u901f\u7387 \u8fd0\u884c \uff0c \u8bf7 \u8f6c\u81f3 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684   Edit   - >   Editor   preferences   - >   Performance   \u5e76 \u7981\u7528   Use   less   CPU   when   in   background   \u3002","title":"\u6784\u5efa   Carla  "},{"location":"build_linux/#make","text":"\u60a8 \u53ef\u80fd \u4f1a \u53d1\u73b0 \u8fd8\u6709 \u66f4 \u591a \u6709\u7528 \u7684   make   \u547d\u4ee4 \u3002 \u5728 \u4e0b\u8868\u4e2d \u627e\u5230 \u5b83\u4eec \uff1a   \u547d\u4ee4   \u63cf\u8ff0   make   help   \u6253\u5370 \u6240\u6709 \u53ef\u7528 \u7684 \u547d\u4ee4 \u3002   make   launch   \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   make   PythonAPI   \u6784\u5efa   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   make   LibCarla   \u51c6\u5907 \u5c06   Carla   \u5e93 \u5bfc\u5165 \u5bfc\u5165\u5230 \u4efb\u4f55 \u5730\u65b9 \u3002   make   package   \u6784\u5efa   Carla   \u5e76 \u521b\u5efa \u7528\u4e8e \u5206\u53d1 \u7684 \u6253\u5305 \u7248\u672c \u3002   make   clean   \u5220\u9664 \u6784\u5efa \u7cfb\u7edf \u751f\u6210 \u7cfb\u7edf\u751f\u6210 \u7684 \u6240\u6709 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u548c \u4e34\u65f6 \u65f6\u6587 \u6587\u4ef6 \u4e34\u65f6\u6587\u4ef6 \u3002   make   rebuild   make   clean   \u548c   make   launch   \u4e24\u8005 \u90fd \u5728 \u4e00\u4e2a \u547d\u4ee4 \u4e2d \u3002   make   check   \u8fdb\u884c \u5355\u5143 \u6d4b\u8bd5 \u5355\u5143\u6d4b\u8bd5","title":"\u5176\u4ed6   make   \u547d\u4ee4  "},{"location":"build_linux/#_7","text":"v2ray   \u7684 \u7248\u672c \u4e0d\u80fd \u592a\u9ad8 \uff0c \u6bd4\u5982 \u53ef\u4ee5 \u4f7f\u7528   v4.45 . 2   \uff0c \u56fe\u5f62 \u754c\u9762 \u56fe\u5f62\u754c\u9762 \u4f7f\u7528   Qv2ray   2.7 . 0   \u3002","title":"\u5176\u4ed6  "},{"location":"build_linux/#_8","text":"\u6267\u884c   make   Python   \u65f6\u62a5 \u9519 \uff1a   A   C++ 11   capable   compiler   is   required   for   building   the   B2   engine .   Toolset   ' clang '   does   not   appear   to   support   C++ 11 .   \u6709\u5173 \u672c \u6307\u5357 \u7684 \u4efb\u4f55 \u95ee\u9898 \uff0c   \u8bf7 \u9605\u8bfb   \u5e38\u89c1 \u95ee\u9898 \u9898\u89e3 \u89e3\u7b54 \u95ee\u9898\u89e3\u7b54   \u9875\u9762 \u6216   Carla   \u8bba\u575b   \u4e2d \u7684 \u5e16\u5b50 \u3002   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u5b66\u4e60 \u5982\u4f55 \u66f4\u65b0   Carla   \u6784\u5efa \u6216 \u5728 \u4eff\u771f \u4e2d \u8fc8\u51fa \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \uff0c \u5e76 \u5b66\u4e60 \u4e00\u4e9b \u6838\u5fc3 \u6982\u5ff5 \u3002   \u66f4\u65b0   Carla   \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65","title":"\u95ee\u9898"},{"location":"build_linux_ue5/","text":"\u8b66\u544a   \u8fd9\u662f \u4e00\u9879 \u6b63\u5728 \u8fdb\u884c \u7684 \u5de5\u4f5c \uff01 \uff01 \u8fd9\u4e2a \u7248\u672c \u7684   Carla   \u4e0d \u88ab \u8ba4\u4e3a \u662f \u4e00\u4e2a \u7a33\u5b9a \u7684 \u7248\u672c \u3002 \u5728 \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u7684 \u51e0\u4e2a \u6708 \u91cc \uff0c \u8fd9\u4e2a \u5206\u652f \u53ef\u80fd \u4f1a \u53d1\u751f \u8bb8\u591a \u91cd\u5927 \u53d8\u5316 \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u7834\u574f \u60a8 \u6240 \u505a \u7684 \u4efb\u4f55 \u4fee\u6539 \u3002 \u6211\u4eec \u5efa\u8bae \u4f60 \u628a \u8fd9\u4e2a \u5206\u652f \u5f53\u4f5c \u5b9e\u9a8c \u5b9e\u9a8c\u6027 \u7684 \u3002   \u5728 Linux \u4e2d \u4f7f\u7528   Unreal   Engine   5.3   \u6784\u5efa   \u7b14\u8bb0   \u8fd9\u4e2a \u6784\u5efa \u8fc7\u7a0b \u662f \u4e3a   Ubuntu   22.04   \u5b9e\u73b0 \u548c \u6d4b\u8bd5 \u7684 \u3002 \u6211\u4eec \u5efa\u8bae \u4f7f\u7528 \u8fd9\u4e2a   Ubuntu   \u7248\u672c \u3002   \u8bbe\u7f6e \u73af\u5883   \u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u5728   Linux   \u4e0a \u4f7f\u7528   Unreal   Engine   5.3   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002   \u5728 \u60a8 \u7684 \u672c\u5730 \u673a\u5668 \u4e0a \u514b\u9686   Carla   \u7684   ue5 - dev   \u5206\u652f \uff1a   git   clone   - b   ue5 - dev   https : / / github . com / carla - simulator / carla . git   CarlaUE5   \u8fd0\u884c \u5b89\u88c5 \u811a\u672c \uff1a   cd   CarlaUE5   bash   - x   Setup . sh   Setup . sh   \u811a\u672c \u5b89\u88c5 \u6240\u6709 \u5fc5\u9700 \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff0c \u5305\u62ec   Cmake \u3001 debian   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3001 Python \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u548c   Unreal   Engine   5.3 \u3002 \u5b83 \u8fd8 \u4e0b\u8f7d   Carla   \u5185\u5bb9 \u5e76 \u6784\u5efa   Carla \u3002 \u56e0\u6b64 \uff0c \u6b64 \u811a\u672c \u53ef\u80fd \u9700\u8981 \u5f88 \u65f6\u95f4 \u957f\u65f6\u95f4 \u624d\u80fd \u5b8c\u6210 \u3002   \u6ce8\u610f \uff1a   *   \u8fd9\u4e2a \u7248\u672c \u7684   Carla   \u9700\u8981   \u521b\u5efa \u865a\u5e7b \u5f15\u64ce   5.3   \u7684   Carla   \u5206\u53c9   \u3002 \u4e3a\u4e86 \u83b7\u5f97 \u514b\u9686 UE \u5b58\u50a8 \u5e93 \u7684 \u6743\u9650 \uff0c \u60a8 \u9700\u8981 \u5c06 GitHub   \u5e10\u6237 \u94fe\u63a5 \u5230 Epic   Games \u3002 \u5982\u679c \u60a8 \u5c1a\u672a \u94fe\u63a5 \u60a8 \u7684 \u5e10\u6237 \uff0c \u8bf7 \u9075\u5faa   \u672c \u6307\u5357   \u3002   \u8981 \u4f7f\u7528   Carla   Unreal   Engine   5   \u4ee5\u524d \u7684 \u7248\u672c \uff0c   \u8bf7 \u786e\u4fdd \u5b9a\u4e49 \u4e86 \u6307\u5411   CARLA _ UNREAL _ ENGINE _ PATH   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u5b9a\u4e49 \u7684   \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002 \u5982\u679c \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \u6b64 \u53d8\u91cf \uff0c   Setup . sh   \u811a\u672c \u5c06 \u4e0b\u8f7d \u5e76 \u6784\u5efa   Carla   Unreal   Engine   5 \uff0c   \u8fd9 \u9700\u8981 \u989d\u5916 1 \u4e2a \u591a \u5c0f\u65f6 \u7684 \u6784\u5efa \u548c 225Gb \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4   \u3002   Setup . sh   \u811a\u672c \u68c0\u67e5   PATH   \u53d8\u91cf \u9876\u90e8 \u662f\u5426 \u5b89\u88c5 \u4e86 \u4efb\u4f55 Python \uff0c \u5426\u5219 \u5b89\u88c5   Python \u3002 \u8981 \u4f7f\u7528 \u60a8 \u81ea\u5df1 \u7684   Python   \u7248\u672c \uff0c   \u8bf7 \u786e\u4fdd \u5728 \u8fd0\u884c \u811a\u672c \u4e4b\u524d \u4e3a   Python   \u6b63\u786e \u8bbe\u7f6e \u4e86   PATH   \u53d8\u91cf   \u3002   Carla   \u4e0d\u80fd \u5728 \u5916\u90e8 \u78c1\u76d8 \u4e0a \u6784\u5efa \uff0c Ubuntu   \u6ca1\u6709 \u4e3a \u6784\u5efa \u63d0\u4f9b \u6240 \u9700 \u7684 \u8bfb / \u5199 / \u6267\u884c \u6743\u9650 \u3002   \u6784\u5efa \u5e76 \u8fd0\u884c   Carla   UE5   \u5b89\u88c5 \u811a\u672c \u672c\u8eab \u542f\u52a8 \u4ee5\u4e0b \u547d\u4ee4 \uff0c \u4e00\u65e6 \u4fee\u6539 \u4ee3\u7801 \u5e76 \u5e0c\u671b \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \uff0c \u5219 \u9700\u8981 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \uff1a   \u914d\u7f6e \uff1a   cmake   - G   Ninja   - S   .   - B   Build   -- toolchain = $ PWD / CMake / LinuxToolchain . cmake   \\   - DLAUNCH _ ARGS = \" - prefernvidia \"   - DCMAKE _ BUILD _ TYPE = Release   - DENABLE _ ROS2 = ON   \\   - DBUILD _ CARLA _ UNREAL = ON   - DCARLA _ UNREAL _ ENGINE _ PATH = $ CARLA _ UNREAL _ ENGINE _ PATH   \u6784\u5efa   Carla :   cmake   -- build   Build   \u6784\u5efa \u5e76 \u5b89\u88c5   Python   API \uff1a   cmake   -- build   Build   -- target   carla - python - api - install   \u542f\u52a8 \u7f16\u8f91 \u7f16\u8f91\u5668 \uff1a   cmake   -- build   Build   -- target   launch   \u4f7f\u7528   CARLA   UE5   \u6784\u5efa \u5305   cmake   -- build   Build   -- target   package   \u8be5 \u5305\u4f1a \u5728 \u76ee\u5f55   $ CARLA _ PATH / Build / Package   \u4e0b \u751f\u6210 \u3002   \u8fd0\u884c \u5305   \u4f7f\u7528 \u4e0b\u5217 \u547d\u4ee4 \u8fd0\u884c \u5305 \u3002   . / CarlaUnreal . sh   \u5982\u679c \u4f60 \u60f3 \u8fd0\u884c \u539f\u751f \u7684   ROS2   \u63a5\u53e3 \uff0c \u6dfb\u52a0   -- ros2   \u547d\u4ee4   . / CarlaUnreal . sh   -- ros2   \u5982\u679c \u60a8 \u60f3\u8981 \u5b89\u88c5 \u4e0e \u60a8 \u6240 \u6784\u5efa \u7684 \u5305 \u76f8\u5bf9 \u5e94 \u7684   Python   API \uff1a   pip3   install   PythonAPI / carla / dist / carla - * . whl   \u95ee\u9898   \u7cfb\u7edf \u5b89\u88c5   Ubuntu   20.04   \u6ca1\u6709 g ++- 12 \u7684 \u6e90 \uff0c \u53ea\u6709 g ++- 9 \u7684 \u6e90 \u3002 \u800c Ubuntu   22.04   \u6709 g ++- 12 \u7684 \u6e90 \u3002   \u89e3\u51b3   ubuntu   \u5b89\u88c5 \u8fc7\u7a0b \u4e2d   \u5b89\u88c5 \u754c\u9762 \u9ed1\u5c4f   \u7684 \u95ee\u9898 \uff1a   u \u76d8 \u542f\u52a8 \u8fc7\u7a0b \u4e2d \uff0c \u4f1a \u51fa\u73b0 \u9009\u62e9 \u754c\u9762 \uff0c try   ubuntu   \u3001 install   ubuntu \u7b49 \uff0c \u6b64\u65f6 \u70b9 \u201c e \u201d \u952e \uff0c \u4f1a \u51fa\u73b0 \u4e00\u4e2a \u9ed1\u6846 \uff0c \u6b64\u65f6 \u5728 \u5012\u6570 \u7b2c\u4e8c \u4e8c\u884c \u7b2c\u4e8c\u884c \u5de6\u53f3 \uff0c \u627e\u5230   quiet   splash   -   -   -   \u6539\u6210   quiet   splash   acpi = off   \u518d\u6b21 \u542f\u52a8 \u65f6 \uff0c \u4ecd\u7136 \u4f1a \u9ed1\u5c4f \uff0c \u8fdb\u4e0d\u53bb \u3002   \u9700\u8981   \u7981\u7528 nouveau   \uff0c \u7136\u540e \u518d \u8fdb\u5165 \u7cfb\u7edf \u4e2d \u5b89\u88c5 \u663e\u5361 \u9a71\u52a8 \u3002   vi   / etc / modprobe . d / blacklist . conf   \u6700\u540e \u4e00\u884c \u52a0\u4e0a   blacklist   nouveau   \u3002   \u4f7f \u4e4b \u751f\u6548 \uff1a   update - initramfs   - u   \u7136\u540e \u8f93\u5165   reboot   \u91cd\u542f \u3002   \u7f16\u8bd1   bin / clang \"   is   not   able   to   compile   a   simple   test   program .   clang ++   -- version   \u786e\u5b9a clang \u6ca1\u6709 \u5b89\u88c5 \uff0c \u6267\u884c \uff1a   sudo   apt - get   install   clang   \u8fd8\u662f \u627e \u4e0d\u5230 \uff01 \uff01 \uff01   Carla   \u5207\u6362 \u5230   ue5 - dev   \u5206\u652f \uff1a   git   checkout   - b   ue5 - dev   origin / ue5 - dev   bash   - x   \u4e2d \u7684 \u53c2\u6570   - x   \u4f1a \u5217\u51fa shell \u6307\u5b9a \u8bed\u53e5 \u7684 \u987a\u5e8f \u5e76 \u5c06 \u5176 \u6253\u5370 \u3002   \u62a5\u9519 \uff1a   error :   externally - managed - environment   \u539f\u56e0 \uff1a \u8868\u793a \u5f53\u524d Python \u73af\u5883 \u662f \u7531 \u7cfb\u7edf \u5916\u90e8 \u7ba1\u7406 \u7684 \uff0c \u901a\u5e38 \u5728 \u67d0\u4e9b Linux \u53d1\u884c \u53d1\u884c\u7248 \u4e2d \uff08 \u5c24\u5176 \u662f Debian \u548c \u57fa\u4e8e Debian \u7684 \u7cfb\u7edf \uff0c \u6bd4\u5982 Ubuntu \uff09 \uff0c \u7cfb\u7edf \u4f1a \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u4e0d\u8981 \u76f4\u63a5 \u4f7f\u7528 pip \u6765 \u5b89\u88c5 \u5b89\u88c5\u5305 \uff0c \u4ee5 \u907f\u514d \u4e0e \u7cfb\u7edf \u5305 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \uff08 \u5982 apt \uff09 \u7684 \u6f5c\u5728 \u51b2\u7a81 \u3002   \u89e3\u51b3 \uff1a \u65b0\u5efa Python \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u3002   cmake \u65f6\u5019 \u62a5\u9519 \uff1a   cannot   find   / lib64 / ld - linux - x86 - 64 . so.2","title":"Build   linux   ue5"},{"location":"build_linux_ue5/#linux-unreal-engine-53","text":"\u7b14\u8bb0   \u8fd9\u4e2a \u6784\u5efa \u8fc7\u7a0b \u662f \u4e3a   Ubuntu   22.04   \u5b9e\u73b0 \u548c \u6d4b\u8bd5 \u7684 \u3002 \u6211\u4eec \u5efa\u8bae \u4f7f\u7528 \u8fd9\u4e2a   Ubuntu   \u7248\u672c \u3002","title":"\u5728 Linux \u4e2d \u4f7f\u7528   Unreal   Engine   5.3   \u6784\u5efa"},{"location":"build_linux_ue5/#_1","text":"\u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u5728   Linux   \u4e0a \u4f7f\u7528   Unreal   Engine   5.3   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002   \u5728 \u60a8 \u7684 \u672c\u5730 \u673a\u5668 \u4e0a \u514b\u9686   Carla   \u7684   ue5 - dev   \u5206\u652f \uff1a   git   clone   - b   ue5 - dev   https : / / github . com / carla - simulator / carla . git   CarlaUE5   \u8fd0\u884c \u5b89\u88c5 \u811a\u672c \uff1a   cd   CarlaUE5   bash   - x   Setup . sh   Setup . sh   \u811a\u672c \u5b89\u88c5 \u6240\u6709 \u5fc5\u9700 \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff0c \u5305\u62ec   Cmake \u3001 debian   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3001 Python \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u548c   Unreal   Engine   5.3 \u3002 \u5b83 \u8fd8 \u4e0b\u8f7d   Carla   \u5185\u5bb9 \u5e76 \u6784\u5efa   Carla \u3002 \u56e0\u6b64 \uff0c \u6b64 \u811a\u672c \u53ef\u80fd \u9700\u8981 \u5f88 \u65f6\u95f4 \u957f\u65f6\u95f4 \u624d\u80fd \u5b8c\u6210 \u3002   \u6ce8\u610f \uff1a   *   \u8fd9\u4e2a \u7248\u672c \u7684   Carla   \u9700\u8981   \u521b\u5efa \u865a\u5e7b \u5f15\u64ce   5.3   \u7684   Carla   \u5206\u53c9   \u3002 \u4e3a\u4e86 \u83b7\u5f97 \u514b\u9686 UE \u5b58\u50a8 \u5e93 \u7684 \u6743\u9650 \uff0c \u60a8 \u9700\u8981 \u5c06 GitHub   \u5e10\u6237 \u94fe\u63a5 \u5230 Epic   Games \u3002 \u5982\u679c \u60a8 \u5c1a\u672a \u94fe\u63a5 \u60a8 \u7684 \u5e10\u6237 \uff0c \u8bf7 \u9075\u5faa   \u672c \u6307\u5357   \u3002   \u8981 \u4f7f\u7528   Carla   Unreal   Engine   5   \u4ee5\u524d \u7684 \u7248\u672c \uff0c   \u8bf7 \u786e\u4fdd \u5b9a\u4e49 \u4e86 \u6307\u5411   CARLA _ UNREAL _ ENGINE _ PATH   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u5b9a\u4e49 \u7684   \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002 \u5982\u679c \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \u6b64 \u53d8\u91cf \uff0c   Setup . sh   \u811a\u672c \u5c06 \u4e0b\u8f7d \u5e76 \u6784\u5efa   Carla   Unreal   Engine   5 \uff0c   \u8fd9 \u9700\u8981 \u989d\u5916 1 \u4e2a \u591a \u5c0f\u65f6 \u7684 \u6784\u5efa \u548c 225Gb \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4   \u3002   Setup . sh   \u811a\u672c \u68c0\u67e5   PATH   \u53d8\u91cf \u9876\u90e8 \u662f\u5426 \u5b89\u88c5 \u4e86 \u4efb\u4f55 Python \uff0c \u5426\u5219 \u5b89\u88c5   Python \u3002 \u8981 \u4f7f\u7528 \u60a8 \u81ea\u5df1 \u7684   Python   \u7248\u672c \uff0c   \u8bf7 \u786e\u4fdd \u5728 \u8fd0\u884c \u811a\u672c \u4e4b\u524d \u4e3a   Python   \u6b63\u786e \u8bbe\u7f6e \u4e86   PATH   \u53d8\u91cf   \u3002   Carla   \u4e0d\u80fd \u5728 \u5916\u90e8 \u78c1\u76d8 \u4e0a \u6784\u5efa \uff0c Ubuntu   \u6ca1\u6709 \u4e3a \u6784\u5efa \u63d0\u4f9b \u6240 \u9700 \u7684 \u8bfb / \u5199 / \u6267\u884c \u6743\u9650 \u3002","title":"\u8bbe\u7f6e \u73af\u5883"},{"location":"build_linux_ue5/#carla-ue5","text":"\u5b89\u88c5 \u811a\u672c \u672c\u8eab \u542f\u52a8 \u4ee5\u4e0b \u547d\u4ee4 \uff0c \u4e00\u65e6 \u4fee\u6539 \u4ee3\u7801 \u5e76 \u5e0c\u671b \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \uff0c \u5219 \u9700\u8981 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \uff1a   \u914d\u7f6e \uff1a   cmake   - G   Ninja   - S   .   - B   Build   -- toolchain = $ PWD / CMake / LinuxToolchain . cmake   \\   - DLAUNCH _ ARGS = \" - prefernvidia \"   - DCMAKE _ BUILD _ TYPE = Release   - DENABLE _ ROS2 = ON   \\   - DBUILD _ CARLA _ UNREAL = ON   - DCARLA _ UNREAL _ ENGINE _ PATH = $ CARLA _ UNREAL _ ENGINE _ PATH   \u6784\u5efa   Carla :   cmake   -- build   Build   \u6784\u5efa \u5e76 \u5b89\u88c5   Python   API \uff1a   cmake   -- build   Build   -- target   carla - python - api - install   \u542f\u52a8 \u7f16\u8f91 \u7f16\u8f91\u5668 \uff1a   cmake   -- build   Build   -- target   launch","title":"\u6784\u5efa \u5e76 \u8fd0\u884c   Carla   UE5"},{"location":"build_linux_ue5/#carla-ue5_1","text":"cmake   -- build   Build   -- target   package   \u8be5 \u5305\u4f1a \u5728 \u76ee\u5f55   $ CARLA _ PATH / Build / Package   \u4e0b \u751f\u6210 \u3002","title":"\u4f7f\u7528   CARLA   UE5   \u6784\u5efa \u5305"},{"location":"build_linux_ue5/#_2","text":"\u4f7f\u7528 \u4e0b\u5217 \u547d\u4ee4 \u8fd0\u884c \u5305 \u3002   . / CarlaUnreal . sh   \u5982\u679c \u4f60 \u60f3 \u8fd0\u884c \u539f\u751f \u7684   ROS2   \u63a5\u53e3 \uff0c \u6dfb\u52a0   -- ros2   \u547d\u4ee4   . / CarlaUnreal . sh   -- ros2   \u5982\u679c \u60a8 \u60f3\u8981 \u5b89\u88c5 \u4e0e \u60a8 \u6240 \u6784\u5efa \u7684 \u5305 \u76f8\u5bf9 \u5e94 \u7684   Python   API \uff1a   pip3   install   PythonAPI / carla / dist / carla - * . whl","title":"\u8fd0\u884c \u5305"},{"location":"build_linux_ue5/#_3","text":"","title":"\u95ee\u9898"},{"location":"build_linux_ue5/#_4","text":"Ubuntu   20.04   \u6ca1\u6709 g ++- 12 \u7684 \u6e90 \uff0c \u53ea\u6709 g ++- 9 \u7684 \u6e90 \u3002 \u800c Ubuntu   22.04   \u6709 g ++- 12 \u7684 \u6e90 \u3002   \u89e3\u51b3   ubuntu   \u5b89\u88c5 \u8fc7\u7a0b \u4e2d   \u5b89\u88c5 \u754c\u9762 \u9ed1\u5c4f   \u7684 \u95ee\u9898 \uff1a   u \u76d8 \u542f\u52a8 \u8fc7\u7a0b \u4e2d \uff0c \u4f1a \u51fa\u73b0 \u9009\u62e9 \u754c\u9762 \uff0c try   ubuntu   \u3001 install   ubuntu \u7b49 \uff0c \u6b64\u65f6 \u70b9 \u201c e \u201d \u952e \uff0c \u4f1a \u51fa\u73b0 \u4e00\u4e2a \u9ed1\u6846 \uff0c \u6b64\u65f6 \u5728 \u5012\u6570 \u7b2c\u4e8c \u4e8c\u884c \u7b2c\u4e8c\u884c \u5de6\u53f3 \uff0c \u627e\u5230   quiet   splash   -   -   -   \u6539\u6210   quiet   splash   acpi = off   \u518d\u6b21 \u542f\u52a8 \u65f6 \uff0c \u4ecd\u7136 \u4f1a \u9ed1\u5c4f \uff0c \u8fdb\u4e0d\u53bb \u3002   \u9700\u8981   \u7981\u7528 nouveau   \uff0c \u7136\u540e \u518d \u8fdb\u5165 \u7cfb\u7edf \u4e2d \u5b89\u88c5 \u663e\u5361 \u9a71\u52a8 \u3002   vi   / etc / modprobe . d / blacklist . conf   \u6700\u540e \u4e00\u884c \u52a0\u4e0a   blacklist   nouveau   \u3002   \u4f7f \u4e4b \u751f\u6548 \uff1a   update - initramfs   - u   \u7136\u540e \u8f93\u5165   reboot   \u91cd\u542f \u3002","title":"\u7cfb\u7edf \u5b89\u88c5"},{"location":"build_linux_ue5/#_5","text":"bin / clang \"   is   not   able   to   compile   a   simple   test   program .   clang ++   -- version   \u786e\u5b9a clang \u6ca1\u6709 \u5b89\u88c5 \uff0c \u6267\u884c \uff1a   sudo   apt - get   install   clang   \u8fd8\u662f \u627e \u4e0d\u5230 \uff01 \uff01 \uff01","title":"\u7f16\u8bd1"},{"location":"build_linux_ue5/#carla","text":"\u5207\u6362 \u5230   ue5 - dev   \u5206\u652f \uff1a   git   checkout   - b   ue5 - dev   origin / ue5 - dev   bash   - x   \u4e2d \u7684 \u53c2\u6570   - x   \u4f1a \u5217\u51fa shell \u6307\u5b9a \u8bed\u53e5 \u7684 \u987a\u5e8f \u5e76 \u5c06 \u5176 \u6253\u5370 \u3002   \u62a5\u9519 \uff1a   error :   externally - managed - environment   \u539f\u56e0 \uff1a \u8868\u793a \u5f53\u524d Python \u73af\u5883 \u662f \u7531 \u7cfb\u7edf \u5916\u90e8 \u7ba1\u7406 \u7684 \uff0c \u901a\u5e38 \u5728 \u67d0\u4e9b Linux \u53d1\u884c \u53d1\u884c\u7248 \u4e2d \uff08 \u5c24\u5176 \u662f Debian \u548c \u57fa\u4e8e Debian \u7684 \u7cfb\u7edf \uff0c \u6bd4\u5982 Ubuntu \uff09 \uff0c \u7cfb\u7edf \u4f1a \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u4e0d\u8981 \u76f4\u63a5 \u4f7f\u7528 pip \u6765 \u5b89\u88c5 \u5b89\u88c5\u5305 \uff0c \u4ee5 \u907f\u514d \u4e0e \u7cfb\u7edf \u5305 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \uff08 \u5982 apt \uff09 \u7684 \u6f5c\u5728 \u51b2\u7a81 \u3002   \u89e3\u51b3 \uff1a \u65b0\u5efa Python \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u3002   cmake \u65f6\u5019 \u62a5\u9519 \uff1a   cannot   find   / lib64 / ld - linux - x86 - 64 . so.2","title":"Carla"},{"location":"build_system/","text":"\u6784\u5efa \u7cfb\u7edf   \u8bbe\u7f6e   LibCarla   CarlaUE4   \u548c   Carla   \u63d2\u4ef6   PythonAPI   0.9 . 12 +   \u7248\u672c   0.9 . 12   \u4e4b\u524d \u7684 \u7248\u672c   \u672c \u6587\u6863 \u662f \u4e00\u4e2a \u6b63\u5728 \u8fdb\u884c \u7684 \u5de5\u4f5c \uff0c \u8fd9\u91cc \u4ec5 \u8003\u8651   Linux   \u6784\u5efa \u7cfb\u7edf \u3002   \u8bbe\u7f6e \u4e2d \u6700\u5177 \u6311\u6218 \u6311\u6218\u6027 \u7684 \u90e8\u5206 \u662f \u7f16\u8bd1 \u6240\u6709 \u4f9d\u8d56 \u9879 \u548c \u6a21\u5757 \uff0c \u4f7f \u5176 \u4e0e   a )   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u7684 \u865a\u5e7b \u5f15\u64ce   \u548c   b )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684   Python   \u517c\u5bb9 \u3002   \u76ee\u6807 \u662f \u80fd\u591f \u4ece \u5355\u72ec \u7684   Python   \u8fdb\u7a0b \u8c03\u7528 \u865a\u5e7b \u5f15\u64ce \u7684 \u51fd\u6570 \u3002   \u5728   Linux   \u4e2d \uff0c \u6211\u4eec \u4f7f\u7528   clang - 8.0   \u548c   C++ 14   \u6807\u51c6 \u7f16\u8bd1   Carla   \u548c \u6240\u6709 \u4f9d\u8d56 \u9879 \u3002 \u7136\u800c \uff0c \u6211\u4eec \u6839\u636e \u4ee3\u7801 \u7684 \u4f7f\u7528 \u4f4d\u7f6e \u6765 \u94fe\u63a5 \u4e0d\u540c \u7684 \u8fd0\u884c \u65f6   C++   \u5e93 \uff0c \u56e0\u4e3a \u6240\u6709 \u5c06 \u4e0e \u865a\u5e7b \u5f15\u64ce \u94fe\u63a5 \u7684 \u4ee3\u7801 \u90fd \u9700\u8981 \u4f7f\u7528   lib c++   \u8fdb\u884c \u7f16\u8bd1 \u3002   \u8bbe\u7f6e   \u547d\u4ee4   make   setup   \u83b7\u53d6 \u5e76 \u7f16\u8bd1 \u4f9d\u8d56 \u9879   llvm - 8   ( lib c++   and   lib c++ abi )   rpclib - 2.2 . 1   ( twice ,   with   libstd c++   and   lib c++ )   boost - 1.72 . 0   ( headers   and   boost _ python   for   libstd c++ )   googletest - 1.8 . 1   ( with   lib c++ )   LibCarla   \u4f7f\u7528   CMake   \u7f16\u8bd1 \uff08 \u6700\u4f4e \u7248\u672c \u9700\u8981   CMake   3.9 \uff09 \u3002   \u547d\u4ee4   make   LibCarla   \u4e24\u79cd \u914d\u7f6e \uff1a   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5355\u5143 \u6d4b\u8bd5 \u5355\u5143\u6d4b\u8bd5   \u662f   \u5426   \u8981\u6c42   rpclib ,   gtest ,   boost   rpclib ,   boost   \u6807\u51c6 \u8fd0\u884c \u65f6   LLVM ' s   lib c++   \u9ed8\u8ba4   libstd c++   \u8f93\u51fa   \u6587\u4ef6 \u5934\u6587\u4ef6 \u548c   carla _ server . lib   carla _ server . lib   \u9700\u8981   Carla   plugin   PythonAPI   CarlaUE4   \u548c   Carla   \u63d2\u4ef6   \u4e24\u8005 \u5747 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u6784\u5efa \u5de5\u5177 \u5728 \u540c\u4e00 \u6b65\u9aa4 \u8fdb\u884c \u7f16\u8bd1 \u3002 \u5b83\u4eec \u9700\u8981   UE4 _ ROOT   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u3002   \u547d\u4ee4   make   CarlaUE4Editor   \u8981 \u542f\u52a8 \u865a\u5e7b \u5f15\u64ce \u7684 \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u8bf7 \u8fd0\u884c   make   launch   \u7f16\u8bd1   0.9 . 15   \u65f6\u5019 \u51fa\u73b0   carla / Unreal / CarlaUE4 / Plugins / CarlaTools / Source / CarlaTools / Private / Online / CustomFileDownloader . cpp ( 11 ) :   fatal   rror   C1083 :   \u65e0\u6cd5 \u6253\u5f00 \u5305\u62ec \u6587\u4ef6 :   \u201c OSM2ODR . h \u201d :   No   such   file   or   directory   \u89e3\u51b3 \uff1a \u5c06 0.9 . 14   build   \u4e2d \u7684   carla \\ Build \\ osm2odr - visualstudio   \u590d\u5236 \u8fc7\u6765 \u3002   PythonAPI   0.9 . 12 +   \u7248\u672c   \u4f7f\u7528   Python   \u7684   setuptools   ( \" setup . py \" )   \u7f16\u8bd1 \u3002   \u76ee\u524d \u9700\u8981 \u5728 \u673a\u5668 \u4e0a \u5b89\u88c5 \u4ee5\u4e0b \u8f6f\u4ef6 \uff1a Python ,   libpython - dev ,   \u548c   libboost - python - dev ,   pip > = 20.3 ,   wheel ,   \u548c   auditwheel \u3002   \u547d\u4ee4 \uff1a   make   PythonAPI   \u521b\u5efa \u4e24\u4e2a \u6587\u4ef6 \uff0c \u6bcf\u4e2a \u6587\u4ef6 \u5305\u542b \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u5e76 \u5bf9\u5e94 \u4e8e \u7cfb\u7edf \u4e0a \u652f\u6301 \u7684   Python   \u7248\u672c \u3002 \u4e00\u4e2a \u6587\u4ef6 \u662f   . whl   \u6587\u4ef6 \uff0c \u53e6 \u4e00\u4e2a \u6587\u4ef6 \u662f   . egg   \u6587\u4ef6 \u3002 \u8fd9 \u5141\u8bb8 \u9009\u62e9 \u4e24\u79cd \u4e0d\u540c \u7684 \u3001 \u4e92\u65a5 \u7684 \u65b9\u5f0f \u6765 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002   A .   . whl   \u6587\u4ef6   . whl   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u5b89\u88c5 \uff1a   pip   install   < wheel _ file > . whl   \u65e0\u9700 \u50cf \u4ee5\u524d \u7248\u672c \u6216   . egg   \u6587\u4ef6 \u4e2d \u90a3\u6837 \u76f4\u63a5 \u5728 \u811a\u672c \u4e2d \u5bfc \u5165\u5e93 \u8def\u5f84   ( \u53c2\u9605 \u8bf7\u53c2\u9605   __ 0.9 . 12 _ \u4e4b\u524d \u7684 \u7248\u672c _   ) ;   import   carla   \u5c31 \u8db3\u591f \u4e86 \u3002   B .   . egg   \u6587\u4ef6   \u53c2\u9605 \u8bf7\u53c2\u9605   0.9 . 12   \u4e4b\u524d \u7684 \u7248\u672c   \u4e86\u89e3 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   0.9 . 12   \u4e4b\u524d \u7684 \u7248\u672c   \u4f7f\u7528   Python   \u7684   setuptools   ( \" setup . py \" ) \u7f16\u8bd1 \u3002   \u76ee\u524d \u9700\u8981 \u5728 \u673a\u5668 \u4e0a \u5b89\u88c5 \u4ee5\u4e0b \u8f6f\u4ef6 \uff1a   Python ,   libpython - dev ,   \u548c   libboost - python - dev \u3002   \u547d\u4ee4   make   PythonAPI   \u5b83 \u521b\u9020 \u4e86 \u4e24\u4e2a   \" egg \"   \u5305   PythonAPI / dist / carla - X . X . X - py2.7 - linux - x86 _ 64 . egg   PythonAPI / dist / carla - X . X . X - py3.7 - linux - x86 _ 64 . egg   \u901a\u8fc7 \u5c06 \u5176 \u6dfb\u52a0 \u5230 \u7cfb\u7edf \u8def\u5f84 \uff0c \u53ef\u4ee5 \u5c06 \u8be5 \u5305 \u76f4\u63a5 \u5bfc\u5165 \u5bfc\u5165\u5230   Python   \u811a\u672c \u4e2d \u3002   # ! / usr / bin / env   python   import   sys   sys . path . append (   ' PythonAPI / dist / carla - X . X . X - py% d .% d - linux - x86 _ 64 . egg '   %   ( sys . version _ info . major ,   sys . version _ info . minor ) )   import   carla   #   ...   \u6216\u8005 \uff0c \u53ef\u4ee5 \u4f7f\u7528   easy _ install   \u5b89\u88c5   easy _ install2   -- user   -- no - deps   PythonAPI / dist / carla - X . X . X - py2.7 - linux - x86 _ 64 . egg   easy _ install3   -- user   -- no - deps   PythonAPI / dist / carla - X . X . X - py3.7 - linux - x86 _ 64 . egg","title":"\u6784\u5efa \u7cfb\u7edf"},{"location":"build_system/#_1","text":"\u8bbe\u7f6e   LibCarla   CarlaUE4   \u548c   Carla   \u63d2\u4ef6   PythonAPI   0.9 . 12 +   \u7248\u672c   0.9 . 12   \u4e4b\u524d \u7684 \u7248\u672c   \u672c \u6587\u6863 \u662f \u4e00\u4e2a \u6b63\u5728 \u8fdb\u884c \u7684 \u5de5\u4f5c \uff0c \u8fd9\u91cc \u4ec5 \u8003\u8651   Linux   \u6784\u5efa \u7cfb\u7edf \u3002   \u8bbe\u7f6e \u4e2d \u6700\u5177 \u6311\u6218 \u6311\u6218\u6027 \u7684 \u90e8\u5206 \u662f \u7f16\u8bd1 \u6240\u6709 \u4f9d\u8d56 \u9879 \u548c \u6a21\u5757 \uff0c \u4f7f \u5176 \u4e0e   a )   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u7684 \u865a\u5e7b \u5f15\u64ce   \u548c   b )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684   Python   \u517c\u5bb9 \u3002   \u76ee\u6807 \u662f \u80fd\u591f \u4ece \u5355\u72ec \u7684   Python   \u8fdb\u7a0b \u8c03\u7528 \u865a\u5e7b \u5f15\u64ce \u7684 \u51fd\u6570 \u3002   \u5728   Linux   \u4e2d \uff0c \u6211\u4eec \u4f7f\u7528   clang - 8.0   \u548c   C++ 14   \u6807\u51c6 \u7f16\u8bd1   Carla   \u548c \u6240\u6709 \u4f9d\u8d56 \u9879 \u3002 \u7136\u800c \uff0c \u6211\u4eec \u6839\u636e \u4ee3\u7801 \u7684 \u4f7f\u7528 \u4f4d\u7f6e \u6765 \u94fe\u63a5 \u4e0d\u540c \u7684 \u8fd0\u884c \u65f6   C++   \u5e93 \uff0c \u56e0\u4e3a \u6240\u6709 \u5c06 \u4e0e \u865a\u5e7b \u5f15\u64ce \u94fe\u63a5 \u7684 \u4ee3\u7801 \u90fd \u9700\u8981 \u4f7f\u7528   lib c++   \u8fdb\u884c \u7f16\u8bd1 \u3002","title":"\u6784\u5efa \u7cfb\u7edf"},{"location":"build_system/#_2","text":"\u547d\u4ee4   make   setup   \u83b7\u53d6 \u5e76 \u7f16\u8bd1 \u4f9d\u8d56 \u9879   llvm - 8   ( lib c++   and   lib c++ abi )   rpclib - 2.2 . 1   ( twice ,   with   libstd c++   and   lib c++ )   boost - 1.72 . 0   ( headers   and   boost _ python   for   libstd c++ )   googletest - 1.8 . 1   ( with   lib c++ )","title":"\u8bbe\u7f6e  "},{"location":"build_system/#libcarla","text":"\u4f7f\u7528   CMake   \u7f16\u8bd1 \uff08 \u6700\u4f4e \u7248\u672c \u9700\u8981   CMake   3.9 \uff09 \u3002   \u547d\u4ee4   make   LibCarla   \u4e24\u79cd \u914d\u7f6e \uff1a   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5355\u5143 \u6d4b\u8bd5 \u5355\u5143\u6d4b\u8bd5   \u662f   \u5426   \u8981\u6c42   rpclib ,   gtest ,   boost   rpclib ,   boost   \u6807\u51c6 \u8fd0\u884c \u65f6   LLVM ' s   lib c++   \u9ed8\u8ba4   libstd c++   \u8f93\u51fa   \u6587\u4ef6 \u5934\u6587\u4ef6 \u548c   carla _ server . lib   carla _ server . lib   \u9700\u8981   Carla   plugin   PythonAPI","title":"LibCarla  "},{"location":"build_system/#carlaue4-carla","text":"\u4e24\u8005 \u5747 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u6784\u5efa \u5de5\u5177 \u5728 \u540c\u4e00 \u6b65\u9aa4 \u8fdb\u884c \u7f16\u8bd1 \u3002 \u5b83\u4eec \u9700\u8981   UE4 _ ROOT   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u3002   \u547d\u4ee4   make   CarlaUE4Editor   \u8981 \u542f\u52a8 \u865a\u5e7b \u5f15\u64ce \u7684 \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u8bf7 \u8fd0\u884c   make   launch   \u7f16\u8bd1   0.9 . 15   \u65f6\u5019 \u51fa\u73b0   carla / Unreal / CarlaUE4 / Plugins / CarlaTools / Source / CarlaTools / Private / Online / CustomFileDownloader . cpp ( 11 ) :   fatal   rror   C1083 :   \u65e0\u6cd5 \u6253\u5f00 \u5305\u62ec \u6587\u4ef6 :   \u201c OSM2ODR . h \u201d :   No   such   file   or   directory   \u89e3\u51b3 \uff1a \u5c06 0.9 . 14   build   \u4e2d \u7684   carla \\ Build \\ osm2odr - visualstudio   \u590d\u5236 \u8fc7\u6765 \u3002","title":"CarlaUE4   \u548c   Carla   \u63d2\u4ef6  "},{"location":"build_system/#pythonapi","text":"","title":"PythonAPI  "},{"location":"build_system/#0912","text":"\u4f7f\u7528   Python   \u7684   setuptools   ( \" setup . py \" )   \u7f16\u8bd1 \u3002   \u76ee\u524d \u9700\u8981 \u5728 \u673a\u5668 \u4e0a \u5b89\u88c5 \u4ee5\u4e0b \u8f6f\u4ef6 \uff1a Python ,   libpython - dev ,   \u548c   libboost - python - dev ,   pip > = 20.3 ,   wheel ,   \u548c   auditwheel \u3002   \u547d\u4ee4 \uff1a   make   PythonAPI   \u521b\u5efa \u4e24\u4e2a \u6587\u4ef6 \uff0c \u6bcf\u4e2a \u6587\u4ef6 \u5305\u542b \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u5e76 \u5bf9\u5e94 \u4e8e \u7cfb\u7edf \u4e0a \u652f\u6301 \u7684   Python   \u7248\u672c \u3002 \u4e00\u4e2a \u6587\u4ef6 \u662f   . whl   \u6587\u4ef6 \uff0c \u53e6 \u4e00\u4e2a \u6587\u4ef6 \u662f   . egg   \u6587\u4ef6 \u3002 \u8fd9 \u5141\u8bb8 \u9009\u62e9 \u4e24\u79cd \u4e0d\u540c \u7684 \u3001 \u4e92\u65a5 \u7684 \u65b9\u5f0f \u6765 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002   A .   . whl   \u6587\u4ef6   . whl   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u5b89\u88c5 \uff1a   pip   install   < wheel _ file > . whl   \u65e0\u9700 \u50cf \u4ee5\u524d \u7248\u672c \u6216   . egg   \u6587\u4ef6 \u4e2d \u90a3\u6837 \u76f4\u63a5 \u5728 \u811a\u672c \u4e2d \u5bfc \u5165\u5e93 \u8def\u5f84   ( \u53c2\u9605 \u8bf7\u53c2\u9605   __ 0.9 . 12 _ \u4e4b\u524d \u7684 \u7248\u672c _   ) ;   import   carla   \u5c31 \u8db3\u591f \u4e86 \u3002   B .   . egg   \u6587\u4ef6   \u53c2\u9605 \u8bf7\u53c2\u9605   0.9 . 12   \u4e4b\u524d \u7684 \u7248\u672c   \u4e86\u89e3 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002","title":"0.9 . 12 +   \u7248\u672c  "},{"location":"build_system/#0912_1","text":"\u4f7f\u7528   Python   \u7684   setuptools   ( \" setup . py \" ) \u7f16\u8bd1 \u3002   \u76ee\u524d \u9700\u8981 \u5728 \u673a\u5668 \u4e0a \u5b89\u88c5 \u4ee5\u4e0b \u8f6f\u4ef6 \uff1a   Python ,   libpython - dev ,   \u548c   libboost - python - dev \u3002   \u547d\u4ee4   make   PythonAPI   \u5b83 \u521b\u9020 \u4e86 \u4e24\u4e2a   \" egg \"   \u5305   PythonAPI / dist / carla - X . X . X - py2.7 - linux - x86 _ 64 . egg   PythonAPI / dist / carla - X . X . X - py3.7 - linux - x86 _ 64 . egg   \u901a\u8fc7 \u5c06 \u5176 \u6dfb\u52a0 \u5230 \u7cfb\u7edf \u8def\u5f84 \uff0c \u53ef\u4ee5 \u5c06 \u8be5 \u5305 \u76f4\u63a5 \u5bfc\u5165 \u5bfc\u5165\u5230   Python   \u811a\u672c \u4e2d \u3002   # ! / usr / bin / env   python   import   sys   sys . path . append (   ' PythonAPI / dist / carla - X . X . X - py% d .% d - linux - x86 _ 64 . egg '   %   ( sys . version _ info . major ,   sys . version _ info . minor ) )   import   carla   #   ...   \u6216\u8005 \uff0c \u53ef\u4ee5 \u4f7f\u7528   easy _ install   \u5b89\u88c5   easy _ install2   -- user   -- no - deps   PythonAPI / dist / carla - X . X . X - py2.7 - linux - x86 _ 64 . egg   easy _ install3   -- user   -- no - deps   PythonAPI / dist / carla - X . X . X - py3.7 - linux - x86 _ 64 . egg","title":"0.9 . 12   \u4e4b\u524d \u7684 \u7248\u672c  "},{"location":"build_tools/","text":"Package . bat   % UE4 _ ROOT% \\ Engine \\ Build \\ BatchFiles \\ Build . bat   \u4f20\u9012 \u7684 \u53c2\u6570 \u5305\u62ec \uff1a   *   \u53c2\u6570 1 \uff1a \u6e38\u620f \u540d \uff08 CarlaUE4Editor \u3001 CarlaUE4 \uff09   *   \u53c2\u6570 2 \uff1a \u5e73\u53f0 \u540d \uff08 Win64 \uff09   *   \u53c2\u6570 3 \uff1a \u914d\u7f6e \u540d \uff08 Development \uff09   *   - WaitMutex   \uff1a \u662f\u5426 \u9700\u8981 \u7b49\u5f85 \u5176\u4ed6 \u9501 \u64cd\u4f5c \u6267\u884c \u5b8c \uff08 \u9ed8\u8ba4 \u662f False \uff09   *   - FromMsBuild   \uff1a \u662f\u5426 \u628a   MSBuild   \u7684   Log   \u4e5f \u6253\u5370 \u5230   UBT   \u7684   log   \u7cfb\u7edf \u7684 \u8f93\u51fa \u4e2d \uff08 \u9ed8\u8ba4 \u662f false \uff09   *   % ROOT _ PATH% Unreal / CarlaUE4 / CarlaUE4 . uproject   \u81ea\u52a8 \u81ea\u52a8\u5316 \u5de5\u5177   % UE4 _ ROOT% \\ Engine \\ Build \\ BatchFiles \\ RunUAT . bat   ( Unreal   Automation   Tool )   \u4f20\u9012 \u7684 \u53c2\u6570 \u5305\u62ec \uff1a   *   BuildCookRun \uff1a \u6784\u5efa \uff08 Build \uff09 \uff1a \u8be5 \u9636\u6bb5 \u5c06 \u4e3a \u6240 \u9009\u62e9 \u7684 \u5e73\u53f0 \u7f16\u8bd1 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u3002 \u70d8\u57f9 \uff08 Cook \uff09 \uff1a \u8be5 \u9636\u6bb5 \u901a\u8fc7 \u5728 \u7279\u6b8a \u6a21\u5f0f \u4e0b \u6267\u884c \u7f16\u8f91 \u7f16\u8f91\u5668 \u6765 \u8f6c\u5316 \u5185\u5bb9 \u3002 \u8fd0\u884c \uff08 Run \uff09 \uff1a \u8be5 \u9636\u6bb5 \u5728 \u76ee\u6807 \u5e73\u53f0 \u4e0a \u542f\u52a8 \u5df2 \u5c01\u88c5 \u7684 \u9879\u76ee \u3002   *   nocompileeditor \uff1a \u4e0d \u5305\u62ec \u7f16\u8bd1 \u597d \u7684 \u7f16\u8f91 \u7f16\u8f91\u5668 \uff1f   *   - TargetPlatform = Win64   \uff1a   \u7f16\u8bd1 \u8bd1\u6210 \u7f16\u8bd1\u6210 \u7684 \u76ee\u6807 \u6587\u4ef6   *   - Platform = Win64   \uff1a \u6240\u5728 \u6240\u5728\u5730 \u5e73\u53f0   *   - installed   *   - nop4 \uff1a \u5728 \u6b64 \u6784\u5efa \u671f\u95f4 \u4e0d\u60f3 \u4e0e   Perforce   \u4ea4\u4e92 \uff08 \u76f8\u53cd \u662f \uff1a - P4 \uff09   *   - project = \" % ROOT _ PATH% Unreal / CarlaUE4 / CarlaUE4 . uproject \"   *   - cook \uff1a \u8981 \u8fd0\u884c \u70d8\u57f9 \u6b65\u9aa4   *   - stage \uff1a \u5c06 \u70d8\u57f9 \u7ed3\u679c \u4fdd\u5b58 \u5728 \u6682\u5b58 \u76ee\u5f55 \u4e2d   *   - build \uff1a \u8981 \u8fd0\u884c \u6784\u5efa \u6b65\u9aa4   *   - archive \uff1a \u5e0c\u671b \u5c06 \u76ee\u5f55 \u4e2d \u7684 \u5b8c\u6574 \u8f93\u51fa \u5f52\u6863   *   - archivedirectory = \" ! BUILD _ FOLDER ! \" \uff1a \u5f52\u6863 \u9879\u76ee \u7684 \u8def\u5f84   *   - package \uff1a \u4e3a \u76ee\u6807 \u5e73\u53f0 \u521b\u5efa \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff08 \u4f8b\u5982 Mac \u4e0a \u7684 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u6587\u4ef6 \uff0c Android \u4e0a \u7684 apk \u6216 iPhone \u4e0a \u7684 ipa \uff09   *   - clientconfig = % PACKAGE _ CONFIG%   \u53c2\u8003   UnrealBuildTool \u529f\u80fd \u6d41\u7a0b \u89e3\u6790","title":"Build   tools"},{"location":"build_tools/#packagebat","text":"% UE4 _ ROOT% \\ Engine \\ Build \\ BatchFiles \\ Build . bat   \u4f20\u9012 \u7684 \u53c2\u6570 \u5305\u62ec \uff1a   *   \u53c2\u6570 1 \uff1a \u6e38\u620f \u540d \uff08 CarlaUE4Editor \u3001 CarlaUE4 \uff09   *   \u53c2\u6570 2 \uff1a \u5e73\u53f0 \u540d \uff08 Win64 \uff09   *   \u53c2\u6570 3 \uff1a \u914d\u7f6e \u540d \uff08 Development \uff09   *   - WaitMutex   \uff1a \u662f\u5426 \u9700\u8981 \u7b49\u5f85 \u5176\u4ed6 \u9501 \u64cd\u4f5c \u6267\u884c \u5b8c \uff08 \u9ed8\u8ba4 \u662f False \uff09   *   - FromMsBuild   \uff1a \u662f\u5426 \u628a   MSBuild   \u7684   Log   \u4e5f \u6253\u5370 \u5230   UBT   \u7684   log   \u7cfb\u7edf \u7684 \u8f93\u51fa \u4e2d \uff08 \u9ed8\u8ba4 \u662f false \uff09   *   % ROOT _ PATH% Unreal / CarlaUE4 / CarlaUE4 . uproject   \u81ea\u52a8 \u81ea\u52a8\u5316 \u5de5\u5177   % UE4 _ ROOT% \\ Engine \\ Build \\ BatchFiles \\ RunUAT . bat   ( Unreal   Automation   Tool )   \u4f20\u9012 \u7684 \u53c2\u6570 \u5305\u62ec \uff1a   *   BuildCookRun \uff1a \u6784\u5efa \uff08 Build \uff09 \uff1a \u8be5 \u9636\u6bb5 \u5c06 \u4e3a \u6240 \u9009\u62e9 \u7684 \u5e73\u53f0 \u7f16\u8bd1 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u3002 \u70d8\u57f9 \uff08 Cook \uff09 \uff1a \u8be5 \u9636\u6bb5 \u901a\u8fc7 \u5728 \u7279\u6b8a \u6a21\u5f0f \u4e0b \u6267\u884c \u7f16\u8f91 \u7f16\u8f91\u5668 \u6765 \u8f6c\u5316 \u5185\u5bb9 \u3002 \u8fd0\u884c \uff08 Run \uff09 \uff1a \u8be5 \u9636\u6bb5 \u5728 \u76ee\u6807 \u5e73\u53f0 \u4e0a \u542f\u52a8 \u5df2 \u5c01\u88c5 \u7684 \u9879\u76ee \u3002   *   nocompileeditor \uff1a \u4e0d \u5305\u62ec \u7f16\u8bd1 \u597d \u7684 \u7f16\u8f91 \u7f16\u8f91\u5668 \uff1f   *   - TargetPlatform = Win64   \uff1a   \u7f16\u8bd1 \u8bd1\u6210 \u7f16\u8bd1\u6210 \u7684 \u76ee\u6807 \u6587\u4ef6   *   - Platform = Win64   \uff1a \u6240\u5728 \u6240\u5728\u5730 \u5e73\u53f0   *   - installed   *   - nop4 \uff1a \u5728 \u6b64 \u6784\u5efa \u671f\u95f4 \u4e0d\u60f3 \u4e0e   Perforce   \u4ea4\u4e92 \uff08 \u76f8\u53cd \u662f \uff1a - P4 \uff09   *   - project = \" % ROOT _ PATH% Unreal / CarlaUE4 / CarlaUE4 . uproject \"   *   - cook \uff1a \u8981 \u8fd0\u884c \u70d8\u57f9 \u6b65\u9aa4   *   - stage \uff1a \u5c06 \u70d8\u57f9 \u7ed3\u679c \u4fdd\u5b58 \u5728 \u6682\u5b58 \u76ee\u5f55 \u4e2d   *   - build \uff1a \u8981 \u8fd0\u884c \u6784\u5efa \u6b65\u9aa4   *   - archive \uff1a \u5e0c\u671b \u5c06 \u76ee\u5f55 \u4e2d \u7684 \u5b8c\u6574 \u8f93\u51fa \u5f52\u6863   *   - archivedirectory = \" ! BUILD _ FOLDER ! \" \uff1a \u5f52\u6863 \u9879\u76ee \u7684 \u8def\u5f84   *   - package \uff1a \u4e3a \u76ee\u6807 \u5e73\u53f0 \u521b\u5efa \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff08 \u4f8b\u5982 Mac \u4e0a \u7684 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u6587\u4ef6 \uff0c Android \u4e0a \u7684 apk \u6216 iPhone \u4e0a \u7684 ipa \uff09   *   - clientconfig = % PACKAGE _ CONFIG%","title":"Package . bat"},{"location":"build_tools/#_1","text":"UnrealBuildTool \u529f\u80fd \u6d41\u7a0b \u89e3\u6790","title":"\u53c2\u8003"},{"location":"build_update/","text":"\u66f4\u65b0   Carla   \u66f4\u65b0 \u547d\u4ee4 \u6458\u8981   \u83b7\u53d6 \u6700\u65b0 \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c   \u66f4\u65b0   Linux   \u548c   Windows   \u6784\u5efa   \u6e05\u9664 \u6784\u5efa   \u4ece   origin   \u62c9\u53d6   \u4e0b\u8f7d \u8d44\u4ea7   \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u83b7\u53d6 \u5f00\u53d1 \u8d44\u4ea7   \u8981 \u53d1\u5e03 \u610f\u5916 \u95ee\u9898 \u3001 \u7591\u95ee \u6216 \u5efa\u8bae \uff0c \u8bf7 \u968f\u65f6 \u767b\u5f55   Carla   \u8bba\u575b \u3002   Carla   \u8bba\u575b   \u66f4\u65b0 \u547d\u4ee4 \u6458\u8981   \u663e\u793a \u66f4\u65b0   Carla   \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c   #   \u66f4\u65b0   Carla   \u5305 \u7684 \u53d1\u884c \u53d1\u884c\u7248 \u3002   #   1 .   \u5220\u9664 \u5f53\u524d \u7684 \u7248\u672c \u3002   #   2 .   \u6309\u7167 \u5feb\u901f \u5f00\u59cb \u5b89\u88c5 \u6216 \u4e00\u4e2a \u4e00\u4e2a \u60f3\u8981 \u7684 \u7248\u672c \u3002   #   \u66f4\u65b0   Linux   \u6784\u5efa \u3002   git   checkout   master   make   clean   git   pull   origin   master   . / Update . sh   #   \u66f4\u65b0   Windows   \u6784\u5efa \u3002   git   checkout   master   make   clean   git   pull   origin   master   #   \u64e6\u9664   ` Unreal \\ CarlaUE4 \\ Content \\ Carla `   \u4e2d \u7684 \u5185\u5bb9 \u3002   #   \u8f6c \u81f3   ` \\ Util \\ ContentVersions . txt ` .   #   \u4e0b\u8f7d \u6700\u65b0 \u7684 \u8d44\u4ea7 \u5185\u5bb9 \u3002   #   \u5728   ` Unreal \\ CarlaUE4 \\ Content \\ Carla `   \u4e2d \u89e3\u538b \u51fa\u65b0 \u7684 \u8d44\u4ea7 \u5185\u5bb9 \u3002   #   \u83b7\u53d6 \u5f00\u53d1 \u7248\u672c \u7684 \u8d44\u4ea7   #   \u5220\u9664 \u5305\u542b \u4e4b\u524d \u8d44\u4ea7 \u7684   ` / Carla `   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   #   \u8f6c\u81f3 \u8f6c\u81f3\u4e3b   Carla   \u76ee\u5f55 \u3002   git   clone   https : / / bitbucket . org / carla - simulator / carla - content   Unreal / CarlaUE4 / Content / Carla   \u83b7\u53d6 \u6700\u65b0 \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c   \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c \u5df2 \u9884\u5148 \u6253\u5305 \uff0c \u56e0\u6b64 \u4e0e   Carla   \u7684 \u7279\u5b9a \u7248\u672c \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u8981 \u83b7\u53d6 \u6700\u65b0 \u7248\u672c \uff0c \u8bf7 \u5220\u9664 \u4e4b\u524d \u7684 \u7248\u672c \uff0c \u7136\u540e \u6309\u7167   \u5feb\u901f \u542f\u52a8 \u5b89\u88c5   \u6765 \u83b7\u53d6 \u6240 \u9700 \u7684 \u7248\u672c \u3002   \u7248\u672c \u5217 \u5728   Carla   \u4ed3\u5e93 \u7684   Development   \u4e2d \u3002 \u8fd8\u6709 \u4e00\u4e2a \u9ad8\u5ea6 \u5b9e\u9a8c \u5b9e\u9a8c\u6027 \u7684   Nightly   build   \uff0c \u5176\u4e2d \u5305\u542b   Carla   \u7684 \u6700\u65b0 \u72b6\u6001 \u3002   Get   releases   Get   the   nightly   build   \u66f4\u65b0   Linux   \u548c   Windows   \u6784\u5efa   \u66f4\u65b0 \u524d \u8bf7 \u786e\u4fdd \u4f4d\u4e8e \u672c\u5730   master   \u5206\u652f \u3002 \u7136\u540e \uff0c \u5c06 \u66f4\u6539   merge   \u6216 rebase   \u5230 \u5176\u4ed6 \u5206\u652f \u5e76 \u89e3\u51b3 \u53ef\u80fd \u7684 \u51b2\u7a81 \u3002   git   checkout   master   \u6e05\u7406 \u6784\u5efa   \u8f6c\u5230 \u4e3b   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u5220\u9664 \u5148\u524d \u6784\u5efa \u751f\u6210 \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u548c \u4e34\u65f6 \u65f6\u6587 \u6587\u4ef6 \u4e34\u65f6\u6587\u4ef6 \u3002   make   clean   \u4ece   origin   \u62c9\u53d6   \u4ece   Carla   \u5b58\u50a8 \u5e93\u4e2d   master   \u5206\u652f \u83b7\u53d6 \u5f53\u524d \u7248\u672c \u3002   git   pull   origin   master   \u4e0b\u8f7d \u8d44\u4ea7   Linux .   . / Update . sh   Windows .   1 .   \u5220\u9664   Unreal \\ CarlaUE4 \\ Content \\ Carla   \u4e2d \u4e4b\u524d \u7684 \u5185\u5bb9 \u3002   2 .   \u8f6c \u81f3   \\ Util \\ ContentVersions . txt   \u3002   3 .   \u4e0b\u8f7d \u6700\u65b0 \u7684   latest   \u7684 \u5185\u5bb9 \u3002   4 .   \u5728   Unreal \\ CarlaUE4 \\ Content \\ Carla   \u62bd\u53d6 \u65b0 \u7684 \u5185\u5bb9 \u3002   \u7b14\u8bb0   \u4e3a\u4e86 \u4e0e   Carla   \u56e2\u961f \u6b63\u5728 \u5f00\u53d1 \u7684 \u9879\u76ee \u5408\u4f5c \uff0c \u8bf7   \u83b7\u53d6 \u4e0b\u9762 \u7684 \u5f00\u53d1 \u8d44\u4ea7   \u3002   \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u5728 \u65c1\u89c2 \u89c2\u8005 \u65c1\u89c2\u8005 \u89c6\u56fe \u4e2d \u8fd0\u884c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4ee5 \u786e\u4fdd \u4e00\u5207 \u6b63\u5e38 \u4e00\u5207\u6b63\u5e38 \u3002   make   launch   \u83b7\u53d6 \u5f00\u53d1 \u7248 \u7684 \u8d44\u4ea7   Carla   \u56e2\u961f \u4f7f\u7528 \u4ecd \u5728 \u5f00\u53d1 \u4e2d \u7684 \u8d44\u4ea7 \u3002 \u8fd9\u4e9b \u6a21\u578b \u548c \u5730\u56fe \u6709 \u4e00\u4e2a   \u516c\u5171   git   \u5b58\u50a8 \u5e93   \uff0c Carla   \u56e2\u961f \u5b9a\u671f \u5728 \u5176\u4e2d \u63a8\u9001 \u6700\u65b0 \u66f4\u65b0 \u6700\u65b0\u66f4\u65b0 \u3002 \u8d44\u4ea7 \u5c1a\u672a \u5b8c\u6210 \uff0c \u4ec5 \u5efa\u8bae \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u4f7f\u7528 \u5b83\u4eec \u3002   \u4e3a\u4e86 \u5904\u7406 \u8fd9\u4e2a \u5b58\u50a8 \u5e93 \uff0c \u5efa\u8bae \u5b89\u88c5   git - lfs   \u3002 \u5b58\u50a8 \u5e93\u4f1a \u5b9a\u671f \u4fee\u6539 \uff0c \u5e76\u4e14   git - lfs   \u5904\u7406 \u5927\u578b \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6   \u7684 \u901f\u5ea6 \u66f4 \u5feb \u3002   \u8981 \u514b\u9686 \u5b58\u50a8 \u5e93 \uff0c \u8bf7   \u8f6c\u5230 \u4e3b   Carla   \u76ee\u5f55   \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u3002   git   clone   https : / / bitbucket . org / carla - simulator / carla - content   Unreal / CarlaUE4 / Content / Carla   \u7b14\u8bb0   \u5728 \u514b\u9686 \u5b58\u50a8 \u5e93 \u4e4b\u524d \u5220\u9664 \u5305\u542b \u8d44\u4ea7 \u7684   / Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u5426\u5219 \uff0c \u5c06 \u663e\u793a \u9519\u8bef \u3002","title":"\u66f4\u65b0   Carla"},{"location":"build_update/#carla","text":"\u66f4\u65b0 \u547d\u4ee4 \u6458\u8981   \u83b7\u53d6 \u6700\u65b0 \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c   \u66f4\u65b0   Linux   \u548c   Windows   \u6784\u5efa   \u6e05\u9664 \u6784\u5efa   \u4ece   origin   \u62c9\u53d6   \u4e0b\u8f7d \u8d44\u4ea7   \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u83b7\u53d6 \u5f00\u53d1 \u8d44\u4ea7   \u8981 \u53d1\u5e03 \u610f\u5916 \u95ee\u9898 \u3001 \u7591\u95ee \u6216 \u5efa\u8bae \uff0c \u8bf7 \u968f\u65f6 \u767b\u5f55   Carla   \u8bba\u575b \u3002   Carla   \u8bba\u575b","title":"\u66f4\u65b0   Carla"},{"location":"build_update/#_1","text":"\u663e\u793a \u66f4\u65b0   Carla   \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c   #   \u66f4\u65b0   Carla   \u5305 \u7684 \u53d1\u884c \u53d1\u884c\u7248 \u3002   #   1 .   \u5220\u9664 \u5f53\u524d \u7684 \u7248\u672c \u3002   #   2 .   \u6309\u7167 \u5feb\u901f \u5f00\u59cb \u5b89\u88c5 \u6216 \u4e00\u4e2a \u4e00\u4e2a \u60f3\u8981 \u7684 \u7248\u672c \u3002   #   \u66f4\u65b0   Linux   \u6784\u5efa \u3002   git   checkout   master   make   clean   git   pull   origin   master   . / Update . sh   #   \u66f4\u65b0   Windows   \u6784\u5efa \u3002   git   checkout   master   make   clean   git   pull   origin   master   #   \u64e6\u9664   ` Unreal \\ CarlaUE4 \\ Content \\ Carla `   \u4e2d \u7684 \u5185\u5bb9 \u3002   #   \u8f6c \u81f3   ` \\ Util \\ ContentVersions . txt ` .   #   \u4e0b\u8f7d \u6700\u65b0 \u7684 \u8d44\u4ea7 \u5185\u5bb9 \u3002   #   \u5728   ` Unreal \\ CarlaUE4 \\ Content \\ Carla `   \u4e2d \u89e3\u538b \u51fa\u65b0 \u7684 \u8d44\u4ea7 \u5185\u5bb9 \u3002   #   \u83b7\u53d6 \u5f00\u53d1 \u7248\u672c \u7684 \u8d44\u4ea7   #   \u5220\u9664 \u5305\u542b \u4e4b\u524d \u8d44\u4ea7 \u7684   ` / Carla `   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   #   \u8f6c\u81f3 \u8f6c\u81f3\u4e3b   Carla   \u76ee\u5f55 \u3002   git   clone   https : / / bitbucket . org / carla - simulator / carla - content   Unreal / CarlaUE4 / Content / Carla","title":"\u66f4\u65b0 \u547d\u4ee4 \u6458\u8981  "},{"location":"build_update/#_2","text":"\u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c \u5df2 \u9884\u5148 \u6253\u5305 \uff0c \u56e0\u6b64 \u4e0e   Carla   \u7684 \u7279\u5b9a \u7248\u672c \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u8981 \u83b7\u53d6 \u6700\u65b0 \u7248\u672c \uff0c \u8bf7 \u5220\u9664 \u4e4b\u524d \u7684 \u7248\u672c \uff0c \u7136\u540e \u6309\u7167   \u5feb\u901f \u542f\u52a8 \u5b89\u88c5   \u6765 \u83b7\u53d6 \u6240 \u9700 \u7684 \u7248\u672c \u3002   \u7248\u672c \u5217 \u5728   Carla   \u4ed3\u5e93 \u7684   Development   \u4e2d \u3002 \u8fd8\u6709 \u4e00\u4e2a \u9ad8\u5ea6 \u5b9e\u9a8c \u5b9e\u9a8c\u6027 \u7684   Nightly   build   \uff0c \u5176\u4e2d \u5305\u542b   Carla   \u7684 \u6700\u65b0 \u72b6\u6001 \u3002   Get   releases   Get   the   nightly   build","title":"\u83b7\u53d6 \u6700\u65b0 \u7684 \u4e8c\u8fdb\u5236 \u7248\u672c  "},{"location":"build_update/#linux-windows","text":"\u66f4\u65b0 \u524d \u8bf7 \u786e\u4fdd \u4f4d\u4e8e \u672c\u5730   master   \u5206\u652f \u3002 \u7136\u540e \uff0c \u5c06 \u66f4\u6539   merge   \u6216 rebase   \u5230 \u5176\u4ed6 \u5206\u652f \u5e76 \u89e3\u51b3 \u53ef\u80fd \u7684 \u51b2\u7a81 \u3002   git   checkout   master","title":"\u66f4\u65b0   Linux   \u548c   Windows   \u6784\u5efa  "},{"location":"build_update/#_3","text":"\u8f6c\u5230 \u4e3b   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u5220\u9664 \u5148\u524d \u6784\u5efa \u751f\u6210 \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u548c \u4e34\u65f6 \u65f6\u6587 \u6587\u4ef6 \u4e34\u65f6\u6587\u4ef6 \u3002   make   clean","title":"\u6e05\u7406 \u6784\u5efa  "},{"location":"build_update/#origin","text":"\u4ece   Carla   \u5b58\u50a8 \u5e93\u4e2d   master   \u5206\u652f \u83b7\u53d6 \u5f53\u524d \u7248\u672c \u3002   git   pull   origin   master","title":"\u4ece   origin   \u62c9\u53d6  "},{"location":"build_update/#_4","text":"Linux .   . / Update . sh   Windows .   1 .   \u5220\u9664   Unreal \\ CarlaUE4 \\ Content \\ Carla   \u4e2d \u4e4b\u524d \u7684 \u5185\u5bb9 \u3002   2 .   \u8f6c \u81f3   \\ Util \\ ContentVersions . txt   \u3002   3 .   \u4e0b\u8f7d \u6700\u65b0 \u7684   latest   \u7684 \u5185\u5bb9 \u3002   4 .   \u5728   Unreal \\ CarlaUE4 \\ Content \\ Carla   \u62bd\u53d6 \u65b0 \u7684 \u5185\u5bb9 \u3002   \u7b14\u8bb0   \u4e3a\u4e86 \u4e0e   Carla   \u56e2\u961f \u6b63\u5728 \u5f00\u53d1 \u7684 \u9879\u76ee \u5408\u4f5c \uff0c \u8bf7   \u83b7\u53d6 \u4e0b\u9762 \u7684 \u5f00\u53d1 \u8d44\u4ea7   \u3002","title":"\u4e0b\u8f7d \u8d44\u4ea7  "},{"location":"build_update/#_5","text":"\u5728 \u65c1\u89c2 \u89c2\u8005 \u65c1\u89c2\u8005 \u89c6\u56fe \u4e2d \u8fd0\u884c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4ee5 \u786e\u4fdd \u4e00\u5207 \u6b63\u5e38 \u4e00\u5207\u6b63\u5e38 \u3002   make   launch","title":"\u542f\u52a8 \u670d\u52a1\u5668  "},{"location":"build_update/#_6","text":"Carla   \u56e2\u961f \u4f7f\u7528 \u4ecd \u5728 \u5f00\u53d1 \u4e2d \u7684 \u8d44\u4ea7 \u3002 \u8fd9\u4e9b \u6a21\u578b \u548c \u5730\u56fe \u6709 \u4e00\u4e2a   \u516c\u5171   git   \u5b58\u50a8 \u5e93   \uff0c Carla   \u56e2\u961f \u5b9a\u671f \u5728 \u5176\u4e2d \u63a8\u9001 \u6700\u65b0 \u66f4\u65b0 \u6700\u65b0\u66f4\u65b0 \u3002 \u8d44\u4ea7 \u5c1a\u672a \u5b8c\u6210 \uff0c \u4ec5 \u5efa\u8bae \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u4f7f\u7528 \u5b83\u4eec \u3002   \u4e3a\u4e86 \u5904\u7406 \u8fd9\u4e2a \u5b58\u50a8 \u5e93 \uff0c \u5efa\u8bae \u5b89\u88c5   git - lfs   \u3002 \u5b58\u50a8 \u5e93\u4f1a \u5b9a\u671f \u4fee\u6539 \uff0c \u5e76\u4e14   git - lfs   \u5904\u7406 \u5927\u578b \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6   \u7684 \u901f\u5ea6 \u66f4 \u5feb \u3002   \u8981 \u514b\u9686 \u5b58\u50a8 \u5e93 \uff0c \u8bf7   \u8f6c\u5230 \u4e3b   Carla   \u76ee\u5f55   \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u3002   git   clone   https : / / bitbucket . org / carla - simulator / carla - content   Unreal / CarlaUE4 / Content / Carla   \u7b14\u8bb0   \u5728 \u514b\u9686 \u5b58\u50a8 \u5e93 \u4e4b\u524d \u5220\u9664 \u5305\u542b \u8d44\u4ea7 \u7684   / Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u5426\u5219 \uff0c \u5c06 \u663e\u793a \u9519\u8bef \u3002","title":"\u83b7\u53d6 \u5f00\u53d1 \u7248 \u7684 \u8d44\u4ea7  "},{"location":"build_windows/","text":"Windows   \u4e0b \u7684 \u6784\u5efa   \u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u5728   Windows   \u4e0a \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002 \u6709 \u4e24\u4e2a \u90e8\u5206 \u3002 \u7b2c\u4e00 \u90e8\u5206 \u8be6\u7ec6 \u4ecb\u7ecd \u7cfb\u7edf \u8981\u6c42 \u548c \u6240 \u9700 \u8f6f\u4ef6 \u7684 \u5b89\u88c5 \uff0c \u7b2c\u4e8c \u90e8\u5206 \u8be6\u7ec6 \u4ecb\u7ecd \u5982\u4f55 \u5b9e\u9645 \u6784\u5efa \u548c \u8fd0\u884c   Carla \u3002   \u6784\u5efa \u8fc7\u7a0b \u5f88\u957f \uff08 4 \u5c0f\u65f6 \u6216 \u66f4 \u65f6\u95f4 \u957f\u65f6\u95f4 \uff09 \u5e76\u4e14 \u6d89\u53ca \u591a\u79cd \u8f6f\u4ef6 \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u5728 \u5f00\u59cb \u4e4b\u524d \u5b8c\u6574 \u9605\u8bfb \u8be5 \u6307\u5357 \u3002   \u5982\u679c \u60a8 \u9047\u5230 \u9519\u8bef \u6216 \u56f0\u96be \uff0c \u8bf7 \u67e5\u770b   \u5e38\u89c1 \u95ee\u9898 \u9898\u89e3 \u89e3\u7b54 \u95ee\u9898\u89e3\u7b54   \u9875\u9762 \uff0c \u5176\u4e2d \u63d0\u4f9b \u4e86 \u6700 \u5e38\u89c1 \u95ee\u9898 \u5e38\u89c1\u95ee\u9898 \u7684 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u3002 \u6216\u8005 \u4f7f\u7528   Carla   \u8bba\u575b   \u53d1\u5e03 \u60a8 \u53ef\u80fd \u6709 \u7684 \u4efb\u4f55 \u7591\u95ee \u3002   \u7b2c\u4e00 \u90e8\u5206 \uff1a \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u7cfb\u7edf \u8981\u6c42   \u8f6f\u4ef6 \u8981\u6c42   \u57fa\u7840 \u8f6f\u4ef6 \u5b89\u88c5   Python   \u4f9d\u8d56 \u9879   \u4e3b\u8981 \u8f6f\u4ef6 \u5b89\u88c5   Visual   Studio   2019   \u865a\u5e7b \u5f15\u64ce   \u7b2c\u4e8c \u90e8\u5206 \uff1a \u6784\u5efa   Carla   \u514b\u9686   Carla   \u4ed3\u5e93   \u83b7\u53d6 \u8d44\u4ea7   \u8bbe\u7f6e \u865a\u5e7b \u5f15\u64ce \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   \u6784\u5efa   Carla   \u5176\u4ed6   make   \u547d\u4ee4   \u5176\u4ed6   \u62a5\u9519   \u7b2c\u4e00 \u90e8\u5206 \uff1a \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u5728 \u672c\u8282 \u4e2d \uff0c \u60a8 \u5c06 \u627e\u5230 \u5f00\u59cb \u6784\u5efa   Carla   \u4e4b\u524d \u6240 \u9700 \u7684 \u7cfb\u7edf \u8981\u6c42 \u3001 \u6b21\u8981 \u548c \u4e3b\u8981 \u8f6f\u4ef6 \u5b89\u88c5 \u4ee5\u53ca   Python   \u4f9d\u8d56 \u9879 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u7cfb\u7edf \u8981\u6c42   64   \u4f4d \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u3002   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5e94 \u5728 \u4efb\u4f55   64   \u4f4d   Windows   \u7cfb\u7edf \u4e2d \u8fd0\u884c \u3002   165   GB   \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u3002   Carla   \u672c\u8eab \u5c06 \u5360\u7528 \u5927\u7ea6   32   GB \uff0c \u76f8\u5173 \u7684 \u4e3b\u8981 \u8f6f\u4ef6 \u5b89\u88c5 \uff08 \u5305\u62ec \u865a\u5e7b \u5f15\u64ce \uff09 \u5c06 \u5360\u7528 \u5927\u7ea6   133   GB \u3002   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NET   Framework   4.6 . 2   development   tools   \u3002 \u8fd9\u662f \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u6240 \u5fc5\u9700 \u7684 \u3002   \u91cd\u8981   \u5176\u4ed6   Visual   Studio   \u7248\u672c \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u51b2\u7a81 \u3002 \u5373\u4f7f \u8fd9\u4e9b \u5df2 \u88ab \u5378\u8f7d \uff0c \u67d0\u4e9b \u5bc4\u5b58 \u5bc4\u5b58\u5668 \u4e5f \u53ef\u80fd \u4ecd\u7136 \u5b58\u5728 \u3002 \u8981 \u4ece \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e2d \u5f7b\u5e95 \u6e05\u9664 \u5f7b\u5e95\u6e05\u9664   Visual   Studio \uff0c \u8bf7 \u8f6c\u5230   Program   Files   ( x86 ) \\ Microsoft   Visual   Studio \\ Installer \\ resources \\ app \\ layout   \u5e76 \u8fd0\u884c   . \\ InstallCleanup . exe   - full   \u3002   \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u5b89\u88c5   \u3002   \u7b14\u8bb0   \u8fd8 \u53ef\u4ee5 \u901a\u8fc7 \u4e0a\u8ff0 \u6b65\u9aa4 \u4f7f\u7528   Visual   Studio   2022 \uff0c \u5e76 \u5c06   Windows   8.1   SDK   \u66ff\u6362 \u4e3a   Windows   11 / 10   SDK \u3002 \u8981 \u8986\u76d6   CMake   \u4e2d \u7684 \u9ed8\u8ba4   Visual   Studio   2019   Generator \uff0c \u8bf7 \u5728 \u4f7f\u7528   makefile   \u547d\u4ee4 \u65f6 \u6307\u5b9a   GENERATOR = \" Visual   Studio   17   2022 \" \uff08 \u8bf7 \u53c2\u89c1   \u8868   \uff09 \u3002 \u60a8 \u53ef\u4ee5 \u6307\u5b9a \u4efb\u4f55 \u4e0e \u6784\u5efa \u811a\u672c \u4e2d \u7279\u5b9a \u7684 \u6784\u5efa \u547d\u4ee4 \u914d\u5408 \u4f7f\u7528 \u7684 \u751f\u6210 \u6210\u5668 \u751f\u6210\u5668 \uff0c \u4ee5 \u8fdb\u884c \u5b8c\u6574 \u5217\u8868 \u8fd0\u884c   cmake   - G   \uff08 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c Ninja   \u5df2\u7ecf \u8fc7 \u6d4b\u8bd5 \u53ef\u7528 \u6d4b\u8bd5\u53ef\u7528 \u4e8e \u6784\u5efa   LibCarla \uff09 \u3002   \u865a\u5e7b \u5f15\u64ce   \u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   4.26   \u7684 \u4fee\u6539 \u6539\u7248 \u4fee\u6539\u7248 \u3002 \u8be5 \u5206\u652f \u5305\u542b   Carla   \u7279\u5b9a \u7684 \u8865\u4e01 \u3002   \u8bf7 \u6ce8\u610f \uff0c \u8981 \u4e0b\u8f7d \u865a\u5e7b \u5f15\u64ce \u7684 \u8fd9\u4e2a \u5206\u652f \uff0c   \u60a8 \u9700\u8981 \u6709 \u4e00\u4e2a \u94fe\u63a5 \u5230 \u865a\u5e7b \u5f15\u64ce \u5e10\u6237 \u7684   GitHub   \u5e10\u6237   \u3002 \u5982\u679c \u60a8 \u6ca1\u6709 \u8fdb\u884c \u6b64 \u8bbe\u7f6e \uff0c \u8bf7 \u5148 \u6309\u7167   \u672c \u6307\u5357   \u8fdb\u884c \u64cd\u4f5c \uff0c \u7136\u540e \u518d \u7ee7\u7eed \u64cd\u4f5c \u3002   \u8981 \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u7684 \u4fee\u6539 \u7248\u672c \uff1a   1 .   \u5728 \u7ec8\u7aef \u4e2d \uff0c \u5bfc\u822a \u5230 \u8981 \u4fdd\u5b58 \u865a\u5e7b \u5f15\u64ce \u7684 \u4f4d\u7f6e \u5e76 \u514b\u9686   carla   \u5206\u652f \uff1a   git   clone   -- depth   1   - b   carla   https : / / github . com / CarlaUnreal / UnrealEngine . git   .   \u7b14\u8bb0   \u865a\u5e7b \u5f15\u64ce \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u9760\u8fd1   C : \\ \\   \uff0c \u56e0\u4e3a \u5982\u679c \u8def\u5f84 \u8d85\u8fc7 \u4e00\u5b9a \u957f\u5ea6 \uff0c   Setup . bat   \u5219 \u4f1a \u5728 \u6b65\u9aa4   3   \u4e2d \u8fd4\u56de \u9519\u8bef \u3002   2 .   \u8fd0\u884c \u914d\u7f6e \u811a\u672c \uff1a   Setup . bat   GenerateProjectFiles . bat   3 .   \u7f16\u8bd1 \u4fee\u6539 \u540e \u7684 \u5f15\u64ce \uff1a   \u4f7f\u7528   Visual   Studio   2019 \u6253\u5f00   UE4 . sln   \u6e90 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u7684 \u6587\u4ef6 \u3002   \u5728 \u6784\u5efa \u680f\u4e2d \uff0c \u786e\u4fdd \u786e\u4fdd\u60a8 \u5df2 \u9009\u62e9 \u201c Development   Editor \u201d \u3001 \u201c Win64 \u201d \u548c \u201c UnrealBuildTool \u201d \u9009\u9879 \u3002 \u5982\u679c \u60a8 \u9700\u8981 \u4efb\u4f55 \u5e2e\u52a9 \uff0c \u8bf7 \u67e5\u770b   \u672c \u6307\u5357   \u3002   \u5728 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668\u4e2d \uff0c \u53f3\u952e \u5355\u51fb   UE4   \u5e76 \u9009\u62e9   Build   \u3002   4 .   \u7f16\u8bd1 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u6253\u5f00 \u5f15\u64ce \uff0c \u901a\u8fc7 \u542f\u52a8 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6   Engine \\ Binaries \\ Win64 \\ UE4Editor . exe   \u6765 \u68c0\u67e5 \u6240\u6709 \u5185\u5bb9 \u662f\u5426 \u5df2 \u6b63\u786e \u5b89\u88c5 \u3002   \u7b14\u8bb0   \u5982\u679c \u5b89\u88c5 \u6210\u529f \uff0c \u865a\u5e7b \u5f15\u64ce \u7684 \u7248\u672c \u9009\u62e9 \u9009\u62e9\u5668 \u5e94\u8be5 \u80fd\u591f \u8bc6\u522b \u3002 \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u53f3\u952e \u5355\u51fb \u4efb\u4f55   . uproject   \u6587\u4ef6 \u5e76 \u9009\u62e9   Switch   Unreal   Engine   version   \u6765 \u68c0\u67e5 \u8fd9 \u4e00\u70b9 \u3002 \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230 \u4e00\u4e2a \u5f39 \u51fa \u7a97\u53e3 \uff0c \u663e\u793a   Source   Build   at   PATH   \u662f \u60a8 \u9009\u62e9 \u7684 \u5b89\u88c5 \u8def\u5f84 \u3002 \u5982\u679c \u60a8 \u5728 \u53f3\u952e \u5355\u51fb   . uproject   \u6587\u4ef6 \u6216   Generate   Visual   Studio   project   files   \u65f6 \u4e0d\u5230 \u770b\u4e0d\u5230 \u6b64 \u9009\u62e9 \u9009\u62e9\u5668 \uff0c \u5219 \u865a\u5e7b \u5f15\u64ce \u5b89\u88c5 \u51fa\u73b0 \u95ee\u9898 \uff0c \u60a8 \u53ef\u80fd \u9700\u8981 \u91cd\u65b0 \u6b63\u786e \u5b89\u88c5 \u3002   \u91cd\u8981   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \u53d1\u751f \u4e86 \u5f88\u591a \u4e8b\u60c5 \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u5728 \u7ee7\u7eed \u4e4b\u524d \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u3002   \u7b2c\u4e8c \u90e8\u5206 \uff1a \u6784\u5efa   Carla   \u514b\u9686   Carla   \u5b58\u50a8 \u5e93   Carla   \u4ed3\u5e93   \u4e0a\u9762 \u7684 \u6309\u94ae \u5c06 \u5e26 \u60a8 \u8fdb\u5165 \u8be5\u9879 \u76ee\u7684 \u5b98\u65b9 \u5b58\u50a8 \u5e93 \u3002 \u4ece \u90a3\u91cc \u4e0b\u8f7d \u5e76 \u5728 \u672c\u5730 \u63d0\u53d6 \u5b83 \u6216 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u514b\u9686 \u5b83 \uff1a   git   clone   https : / / github . com / carla - simulator / carla   \u7b14\u8bb0   \u8be5   master   \u5206\u652f \u5305\u542b   Carla   \u7684 \u5f53\u524d \u7248\u672c \u4ee5\u53ca \u6700\u65b0 \u7684 \u4fee\u590d \u548c \u529f\u80fd \u3002 \u4ee5\u524d \u7684   Carla   \u7248\u672c \u6807\u6709 \u7248\u672c \u540d\u79f0 \u3002 \u6c38\u8fdc \u8bb0\u4f4f \u4f7f\u7528 \u547d\u4ee4   git   branch   \u68c0\u67e5   git   \u4e2d \u7684 \u5f53\u524d \u5206\u652f \u3002   \u83b7\u53d6 \u8d44\u4ea7   \u901a\u8fc7 \u5728   Carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff0c \u4e0b\u8f7d   \u6700\u65b0 \u7684   \u8d44\u4ea7 \u4ee5 \u4f7f\u7528 \u5f53\u524d \u7248\u672c \u7684   Carla \uff1a   Update . bat   \u5982\u679c \u5b89\u88c5 \u4e86   7zip \uff0c \u8d44\u6e90 \u5c06 \u88ab \u4e0b\u8f7d \u5e76 \u89e3\u538b \u5230 \u9002\u5f53 \u7684 \u4f4d\u7f6e \u3002 \u5982\u679c \u60a8 \u6ca1\u6709 \u5b89\u88c5 \u6b64 \u8f6f\u4ef6 \uff0c \u5219 \u9700\u8981 \u624b\u52a8 \u5c06 \u6587\u4ef6 \u5185\u5bb9 \u89e3\u538b \u5230   Unreal \\ CarlaUE4 \\ Content \\ Carla   \u3002   \u8981 \u4e0b\u8f7d   \u7279\u5b9a \u7248\u672c   Carla   \u7684 \u8d44\u6e90 \uff1a   \u4ece   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \uff0c \u5bfc\u822a \u5230   \\ Util \\ ContentVersions . txt   \u3002 \u672c \u6587\u6863 \u5305\u542b \u6240\u6709   Carla   \u7248\u672c \u7684 \u8d44\u4ea7 \u94fe\u63a5 \u3002   \u63d0\u53d6   Unreal \\ CarlaUE4 \\ Content \\ Carla   \u4e2d \u7684 \u8d44\u4ea7 \u3002 \u5982\u679c \u8be5 \u8def\u5f84 \u4e0d \u5b58\u5728 \uff0c \u8bf7 \u521b\u5efa \u5b83 \u3002   \u4f7f\u7528 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u7684 \u547d\u4ee4 \u63d0\u53d6 \u6587\u4ef6 \uff1a   tar   - xvzf   < assets _ file _ name > . tar . gz . tar   - C   C : \\ path \\ to \\ carla \\ Unreal \\ CarlaUE4 \\ Content \\ Carla   \u8bbe\u7f6e \u865a\u5e7b \u5f15\u64ce \u53d8\u91cf   \u9700\u8981 \u8bbe\u7f6e \u4e00\u4e2a \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c \u4ee5\u4fbf   Carla   \u53ef\u4ee5 \u627e\u5230 \u865a\u5e7b \u5f15\u64ce \u7684 \u5b89\u88c5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u8fd9 \u5141\u8bb8 \u7528\u6237 \u9009\u62e9 \u8981 \u4f7f\u7528 \u54ea\u4e2a \u7279\u5b9a \u7248\u672c \u7684 \u865a\u5e7b \u5f15\u64ce \u3002 \u5982\u679c \u6307\u5b9a \u672a\u6307\u5b9a \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c Carla   \u5c06 \u5728   Windows   \u6ce8\u518c \u6ce8\u518c\u8868 \u4e2d \u641c\u7d22 \u865a\u5e7b \u5f15\u64ce \u5e76 \u4f7f\u7528 \u5728 \u90a3\u91cc \u627e\u5230 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u7248\u672c \u3002   \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff1a   \u6253\u5f00   Windows   \u63a7\u5236 \u5236\u9762 \u9762\u677f \u63a7\u5236\u9762\u677f \uff0c \u7136\u540e \u8f6c \u81f3   Advanced   System   Settings   \u6216 \u5728   Windows   \u641c\u7d22 \u680f\u4e2d \u641c\u7d22   Advanced   System   Settings   \u3002   \u5728 \u9762\u677f \u4e0a Advanced   Advanced   \u6253\u5f00   Environment   Variables ...   \u3002   \u5355\u51fb   New ...   \u4ee5 \u521b\u5efa \u53d8\u91cf \u3002   \u4e3a \u53d8\u91cf   UE4 _ ROOT   \u547d\u540d \u5e76 \u9009\u62e9 \u6240 \u9700 \u865a\u5e7b \u5f15\u64ce \u5b89\u88c5 \u7684 \u5b89\u88c5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u8def\u5f84 \u3002   \u6784\u5efa   Carla   \u672c \u8282 \u6982\u8ff0 \u4e86 \u6784\u5efa   Carla   \u7684 \u547d\u4ee4 \u3002   \u6240\u6709 \u547d\u4ee4 \u90fd \u5e94 \u5728 \u6839   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u3002   \u547d\u4ee4 \u5e94 \u901a\u8fc7 VS   2019   \u7684   x64   Native   Tools   Command   Prompt   for   VS   2019   \u6267\u884c \u3002 \u901a\u8fc7 \u5355\u51fb \u8be5 Windows \u952e \u5e76 \u641c\u7d22   \u6765 \u6253\u5f00 \u5b83 x64 \u3002   Carla   \u7684 \u6784\u5efa \u8fc7\u7a0b \u5206\u4e3a \u4e24 \u90e8\u5206 \uff1a \u7f16\u8bd1 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u7f16\u8bd1 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   1 .   \u7f16\u8bd1   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef   :   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6388\u4e88 \u5bf9 \u4eff\u771f \u7684 \u63a7\u5236 \u63a7\u5236\u6743 \u3002 \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u6784\u5efa   Carla   \u65f6 \u9700\u8981 \u7f16\u8bd1   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5e76\u4e14 \u5728 \u6267\u884c \u4efb\u4f55 \u66f4\u65b0 \u540e \u9700\u8981 \u518d\u6b21 \u7f16\u8bd1 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7f16\u8bd1 \u5b8c\u6210 \u540e \uff0c \u60a8 \u5c06 \u80fd\u591f \u8fd0\u884c \u811a\u672c \u4e0e \u4eff\u771f \u8fdb\u884c \u4ea4\u4e92 \u3002   \u4ee5\u4e0b \u547d\u4ee4 \u7f16\u8bd1   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1a   make   PythonAPI   \u751f\u6210 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5b89\u88c5 \u6587\u4ef6 \u5b89\u88c5\u6587\u4ef6 \u4f4d\u4e8e   PythonAPI / carla / dist /   \u3002 Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u5c06 \u4ee5 \u4e24\u79cd \u622a\u7136 \u4e0d\u540c \u622a\u7136\u4e0d\u540c \u3001 \u4e92\u65a5 \u7684 \u5f62\u5f0f \u6784\u5efa \u3002 \u8fd9\u4f7f \u7528\u6237 \u53ef\u4ee5 \u81ea\u7531 \u9009\u62e9 \u81ea\u7531\u9009\u62e9 \u4ed6\u4eec \u559c\u6b22 \u7684 \u5f62\u5f0f \u6765 \u8fd0\u884c   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u4ee3\u7801 \u3002 \u4e24\u79cd \u5f62\u5f0f \u5305\u62ec   . egg   \u6587\u4ef6 \u548c   . whl   \u6587\u4ef6 \u3002 \u9009\u62e9 \u4ee5\u4e0b \u9009\u9879   \u4e4b\u4e00   \u6765 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff1a   A .   . egg   \u6587\u4ef6   . egg   \u6587\u4ef6 \u4e0d \u9700\u8981 \u5b89\u88c5 \u3002 \u5bfc\u5165   Carla   \u65f6 \uff0c Carla   \u7684 \u6240\u6709 \u793a\u4f8b \u811a\u672c \u90fd \u4f1a \u81ea\u52a8   \u67e5\u627e \u6b64 \u6587\u4ef6   \u3002   \u5982\u679c \u60a8 \u4e4b\u524d \u5b89\u88c5 \u4e86   Carla   . whl   \uff0c \u5219   \u5b83 \u5c06   . whl   \u4f18\u5148 \u4e8e   . egg   \u6587\u4ef6 \u3002   B .   . whl   \u6587\u4ef6   \u5e94 \u4f7f\u7528 \u4ee5\u4e0b   pip3   \u547d\u4ee4 \u5b89\u88c5   . whl   \u6587\u4ef6 \uff1a   pip3   install   < path / to / wheel > . whl   . whl   \u6587\u4ef6 \u65e0\u6cd5 \u5206\u53d1 \uff0c \u56e0\u4e3a \u5b83 \u662f \u4e13\u95e8 \u4e3a \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u6784\u5efa \u7684 \u3002   \u8b66\u544a   \u4f7f\u7528 \u4e0d\u540c \u65b9\u6cd5 \u5b89\u88c5   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u4ee5\u53ca \u7cfb\u7edf \u4e0a \u5b89\u88c5 \u4e0d\u540c \u7248\u672c \u7684   Carla   \u53ef\u80fd \u4f1a 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\u76ee\u5f55 \u4e0b \u751f\u6210 \u8fd0\u884c \u5305 \uff0c \u5305\u62ec   libcarla . cp37 - win _ amd64 . pyd   \u3002   \u5176\u4ed6   \u5982\u679c \u60f3 \u91cd\u65b0 \u7f16\u8bd1 LibCarla \u6216\u8005 \u4f7f\u7528 \u6700\u65b0 \u7684 \u4fee\u6539 \uff0c \u9700\u8981 \u5220\u9664   Build / libcarla - visualstudio   \u76ee\u5f55 \uff0c \u7136\u540e \u91cd\u65b0 \u8fd0\u884c \u7f16\u8bd1 \u547d\u4ee4 \uff1a   make   LibCarla   \u5219 \u670d\u52a1 \u670d\u52a1\u7aef \u6587\u4ef6   carla _ server . lib   \u751f\u6210 \u81f3   carla \\ Unreal \\ CarlaUE4 \\ Plugins \\ Carla \\ CarlaDependencies \\   \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u6587\u4ef6   carla _ client . lib   \u751f\u6210 \u81f3   carla \\ PythonAPI \\ carla \\ dependencies \\   \u3002   \u62a5\u9519   \u6267\u884c   make   osm2odr   \u62a5\u9519 \uff1a   CMake   Error :   The   source   directory   \" D : / work / workspace / carla / Build / osm2odr - visualstudio / x64 \"   does   not   appear   to   contain   CMakeLists . txt .   Specify   -- help   for   usage ,   or   press   the   help   button   on   the   CMake   GUI .   Error :   could   not   load   cache   \u4ece \u5176\u4ed6 \u5730\u65b9 \u628a   Build \\ osm2odr - visualstudio \\ CMakeCache . txt   \u62f7\u8d1d \u8fc7\u6765 \uff0c \u4fee\u6539 \u91cc\u9762 \u5bf9\u5e94 \u7684 \u76ee\u5f55 \u4e3a \u5f53\u524d \u5de5\u7a0b \u7684 \u76ee\u5f55 \u3002   \u6267\u884c   make   PythonAPI   \u62a5\u9519 \uff1a   libcarla . obj   :   error   LNK2001 :   \u65e0\u6cd5 \u89e3\u6790 \u7684 \u5916\u90e8 \u7b26\u53f7   \" class   std : : basic _ string < char , struct   std : : char _ traits < char > , class   std : : allocator < char >   >   __ cdecl   osm2odr : : ConvertOSMToOpenDRIVE ( class   std : : basic _ string < char , struct   std : : char _ traits < char > , class   std : : allocator < char >   > , struct   osm2odr : : OSM2ODRSettings ) \"   ( ? ConvertOSMToOpenDRIVE @ osm2odr @ @ YA ? 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\u7684 \u5b89\u88c5 \uff0c \u7b2c\u4e8c \u90e8\u5206 \u8be6\u7ec6 \u4ecb\u7ecd \u5982\u4f55 \u5b9e\u9645 \u6784\u5efa \u548c \u8fd0\u884c   Carla \u3002   \u6784\u5efa \u8fc7\u7a0b \u5f88\u957f \uff08 4 \u5c0f\u65f6 \u6216 \u66f4 \u65f6\u95f4 \u957f\u65f6\u95f4 \uff09 \u5e76\u4e14 \u6d89\u53ca \u591a\u79cd \u8f6f\u4ef6 \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u5728 \u5f00\u59cb \u4e4b\u524d \u5b8c\u6574 \u9605\u8bfb \u8be5 \u6307\u5357 \u3002   \u5982\u679c \u60a8 \u9047\u5230 \u9519\u8bef \u6216 \u56f0\u96be \uff0c \u8bf7 \u67e5\u770b   \u5e38\u89c1 \u95ee\u9898 \u9898\u89e3 \u89e3\u7b54 \u95ee\u9898\u89e3\u7b54   \u9875\u9762 \uff0c \u5176\u4e2d \u63d0\u4f9b \u4e86 \u6700 \u5e38\u89c1 \u95ee\u9898 \u5e38\u89c1\u95ee\u9898 \u7684 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u3002 \u6216\u8005 \u4f7f\u7528   Carla   \u8bba\u575b   \u53d1\u5e03 \u60a8 \u53ef\u80fd \u6709 \u7684 \u4efb\u4f55 \u7591\u95ee \u3002   \u7b2c\u4e00 \u90e8\u5206 \uff1a \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u7cfb\u7edf \u8981\u6c42   \u8f6f\u4ef6 \u8981\u6c42   \u57fa\u7840 \u8f6f\u4ef6 \u5b89\u88c5   Python   \u4f9d\u8d56 \u9879   \u4e3b\u8981 \u8f6f\u4ef6 \u5b89\u88c5   Visual   Studio   2019   \u865a\u5e7b \u5f15\u64ce   \u7b2c\u4e8c \u90e8\u5206 \uff1a \u6784\u5efa   Carla   \u514b\u9686   Carla   \u4ed3\u5e93   \u83b7\u53d6 \u8d44\u4ea7   \u8bbe\u7f6e \u865a\u5e7b \u5f15\u64ce \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   \u6784\u5efa   Carla   \u5176\u4ed6   make   \u547d\u4ee4   \u5176\u4ed6   \u62a5\u9519","title":"Windows   \u4e0b \u7684 \u6784\u5efa"},{"location":"build_windows/#_1","text":"\u5728 \u672c\u8282 \u4e2d \uff0c \u60a8 \u5c06 \u627e\u5230 \u5f00\u59cb \u6784\u5efa   Carla   \u4e4b\u524d \u6240 \u9700 \u7684 \u7cfb\u7edf \u8981\u6c42 \u3001 \u6b21\u8981 \u548c \u4e3b\u8981 \u8f6f\u4ef6 \u5b89\u88c5 \u4ee5\u53ca   Python   \u4f9d\u8d56 \u9879 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002","title":"\u7b2c\u4e00 \u90e8\u5206 \uff1a \u5148\u51b3\u6761\u4ef6  "},{"location":"build_windows/#_2","text":"64   \u4f4d \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u3002   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5e94 \u5728 \u4efb\u4f55   64   \u4f4d   Windows   \u7cfb\u7edf \u4e2d \u8fd0\u884c \u3002   165   GB   \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u3002   Carla   \u672c\u8eab \u5c06 \u5360\u7528 \u5927\u7ea6   32   GB \uff0c \u76f8\u5173 \u7684 \u4e3b\u8981 \u8f6f\u4ef6 \u5b89\u88c5 \uff08 \u5305\u62ec \u865a\u5e7b \u5f15\u64ce \uff09 \u5c06 \u5360\u7528 \u5927\u7ea6   133   GB \u3002   \u8db3\u591f \u7684   GPU \u3002   Carla   \u65e8\u5728 \u5b9e\u73b0 \u771f\u5b9e \u4eff\u771f \uff0c \u56e0\u6b64 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u81f3\u5c11 \u9700\u8981   6   GB   GPU \uff0c \u4f46 \u5efa\u8bae \u4f7f\u7528   8   GB \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u4f7f\u7528 \u4e13\u7528   GPU   \u8fdb\u884c \u673a\u5668 \u5b66\u4e60 \u3002   \u4e24\u4e2a   TCP   \u7aef\u53e3 \u548c \u826f\u597d \u7684 \u4e92\u8054 \u8054\u7f51 \u4e92\u8054\u7f51 \u8fde\u63a5 \u3002   \u9ed8\u8ba4 \u7aef\u53e3 \u4e3a   2000   \u548c   2001   \u3002   \u786e\u4fdd \u8fd9\u4e9b \u7aef\u53e3 \u672a \u88ab \u9632\u706b \u706b\u5899 \u9632\u706b\u5899 \u6216 \u4efb\u4f55 \u5176\u4ed6 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u963b\u6b62 \u3002   \u7b14\u8bb0   \u5982\u679c \u60a8 \u8981 \u4ece   Carla   0.9 . 12   \u5347\u7ea7 \u5230   0.9 . 13   :   \u60a8 \u5fc5\u987b \u9996\u5148 \u5c06 \u865a\u5e7b \u5f15\u64ce   4   \u7684   Carla   \u5206\u652f \u5347\u7ea7 \u5230 \u6700\u65b0 \u7248\u672c \u3002 \u6709\u5173 \u5347\u7ea7 \u865a\u5e7b \u5f15\u64ce   4   \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u865a\u5e7b \u5f15\u64ce   \u90e8\u5206 \u3002","title":"\u7cfb\u7edf \u8981\u6c42  "},{"location":"build_windows/#_3","text":"","title":"\u8f6f\u4ef6 \u8981\u6c42  "},{"location":"build_windows/#_4","text":"CMake   \u4ece \u7b80\u5355 \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u751f\u6210 \u6807\u51c6 \u6784\u5efa \u6587\u4ef6 \u3002   Git   \u662f \u4e00\u4e2a \u7528\u4e8e \u7ba1\u7406   Carla   \u5b58\u50a8 \u5e93 \u7684 \u7248\u672c \u63a7\u5236 \u7cfb\u7edf \u63a7\u5236\u7cfb\u7edf \u3002   Make   \u751f\u6210 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u3002 \u5fc5\u987b \u4f7f\u7528   Make   \u7684   3.81   \u7248\u672c   \uff0c \u5426\u5219 \u6784\u5efa \u53ef\u80fd \u4f1a \u5931\u8d25 \u3002 \u5982\u679c \u5b89\u88c5 \u4e86 \u591a\u4e2a \u7248\u672c \u7684   Make \uff0c \u8bf7 \u68c0\u67e5 \u6784\u5efa   Carla   \u65f6 \u5728   PATH   \u4e2d \u4f7f\u7528 \u7684 \u7248\u672c \u662f\u5426 \u4e3a   3.81 \u3002 \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c \u6765 \u68c0\u67e5 \u9ed8\u8ba4 \u7684   Make   \u7248\u672c   make   -- version   \u3002   7Zip   \u4e00\u6b3e \u6587\u4ef6 \u538b\u7f29 \u8f6f\u4ef6 \u538b\u7f29\u8f6f\u4ef6 \u3002 \u8fd9\u662f \u81ea\u52a8 \u89e3\u538b \u538b\u7f29 \u89e3\u538b\u7f29 \u8d44\u4ea7 \u6587\u4ef6 \u6240 \u5fc5\u9700 \u7684 \uff0c \u5e76 \u9632\u6b62 \u5728 \u6784\u5efa \u671f\u95f4 \u7531\u4e8e \u9519\u8bef \u6216 \u90e8\u5206 \u63d0\u53d6 \u5927 \u6587\u4ef6 \u800c \u51fa\u73b0 \u9519\u8bef \u3002   Python3   x64   \u662f   Carla   \u4e2d \u7684 \u4e3b\u8981 \u811a\u672c \u8bed\u8a00 \u811a\u672c\u8bed\u8a00 \u3002 \u5b89\u88c5   x32   \u7248\u672c \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u51b2\u7a81 \uff0c \u56e0\u6b64 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u5378\u8f7d \u5b83 \u3002   \u91cd\u8981   \u786e\u4fdd \u5c06 \u4e0a\u8ff0 \u7a0b\u5e8f \u6dfb\u52a0 \u5230   \u73af\u5883 \u8def\u5f84   \u4e2d \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u6dfb\u52a0 \u7684 \u8def\u5f84 \u5e94 \u4e0e \u7a0b\u5e8f \u7684   bin   \u76ee\u5f55 \u76f8\u5bf9 \u5e94 \u3002","title":"\u57fa\u7840 \u8f6f\u4ef6 \u5b89\u88c5  "},{"location":"build_windows/#python","text":"\u4ece   Carla   0.9 . 12   \u5f00\u59cb \uff0c \u7528\u4e8e \u53ef\u4ee5 \u9009\u62e9 \u4f7f\u7528   pip3   \u6765 \u5b89\u88c5   Carla   \u7684   Python   API \u3002 \u8981 \u68c0\u67e5 \u60a8 \u662f\u5426 \u6709 \u5408\u9002 \u7684 \u7248\u672c \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   pip3   - V   \u5982\u679c \u60a8 \u9700\u8981 \u5347\u7ea7 \uff1a   pip3   install   -- upgrade   pip   \u60a8 \u5fc5\u987b \u5b89\u88c5 \u4ee5\u4e0b   Python   \u4f9d\u8d56 \u9879 \uff1a   pip3   install   -- user   setuptools   pip3   install   -- user   wheel","title":"Python   \u4f9d\u8d56 \u9879  "},{"location":"build_windows/#_5","text":"","title":"\u4e3b\u8981 \u8f6f\u4ef6 \u5b89\u88c5  "},{"location":"build_windows/#visual-studio-2019","text":"\u4ece   \u6b64\u5904   \u83b7\u53d6   2019   \u7248   Visual   Studio   \u3002 \u9009\u62e9   \u793e\u533a   \u4f5c\u4e3a \u514d\u8d39 \u7248\u672c \u3002 \u4f7f\u7528   Visual   Studio   \u5b89\u88c5 \u7a0b\u5e8f \u5b89\u88c5\u7a0b\u5e8f   \u5b89\u88c5 \u4e09\u4e2a \u9644\u52a0 \u5143\u7d20 \uff1a   Windows   8.1   SDK .   \u5728 \u53f3\u4fa7 \u7684   Installation   details   \u90e8\u5206 \u4e2d \u9009\u62e9 \u5b83 \uff0c \u6216\u8005 \u8f6c \u5230   Indivdual   Components   \u9009\u9879 \u9009\u9879\u5361 \u5e76 \u5728   SDKs ,   libraries ,   and   frameworks   \u6807\u9898 \u4e0b \u67e5\u770b \u3002   x64   Visual   C++   Toolset .   \u5728   Workloads   \u90e8\u5206 \u4e2d \uff0c \u9009\u62e9   Desktop   development   with   C++   \u3002 \u8fd9 \u5c06 \u542f\u7528 \u7528\u4e8e \u6784\u5efa \u7684   x64   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u3002 \u901a\u8fc7 \u6309   Windows   \u6309\u94ae \u5e76 \u641c\u7d22   x64   \u6765 \u68c0\u67e5 \u5b83 \u662f\u5426 \u5df2 \u6b63\u786e \u5b89\u88c5 \u3002 \u5c0f\u5fc3   \u4e0d\u8981 \u6253\u5f00   x86 _ x64   \u63d0\u793a   \u3002   . NET   framework   4.6 . 2   .   \u5728   Workloads   \u90e8\u5206 \u4e2d \uff0c \u9009\u62e9   . NET   desktop   development   \uff0c \u7136\u540e \u5728 \u53f3\u4fa7 \u7684 \u5b89\u88c5 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u9762\u677f \u4e2d \u9009\u62e9   . NET   Framework   4.6 . 2   development   tools   \u3002 \u8fd9\u662f \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u6240 \u5fc5\u9700 \u7684 \u3002   \u91cd\u8981   \u5176\u4ed6   Visual   Studio   \u7248\u672c \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u51b2\u7a81 \u3002 \u5373\u4f7f \u8fd9\u4e9b \u5df2 \u88ab \u5378\u8f7d \uff0c \u67d0\u4e9b \u5bc4\u5b58 \u5bc4\u5b58\u5668 \u4e5f \u53ef\u80fd \u4ecd\u7136 \u5b58\u5728 \u3002 \u8981 \u4ece \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e2d \u5f7b\u5e95 \u6e05\u9664 \u5f7b\u5e95\u6e05\u9664   Visual   Studio \uff0c \u8bf7 \u8f6c\u5230   Program   Files   ( x86 ) \\ Microsoft   Visual   Studio \\ Installer \\ resources \\ app \\ layout   \u5e76 \u8fd0\u884c   . \\ InstallCleanup . exe   - full   \u3002   \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u5b89\u88c5   \u3002   \u7b14\u8bb0   \u8fd8 \u53ef\u4ee5 \u901a\u8fc7 \u4e0a\u8ff0 \u6b65\u9aa4 \u4f7f\u7528   Visual   Studio   2022 \uff0c \u5e76 \u5c06   Windows   8.1   SDK   \u66ff\u6362 \u4e3a   Windows   11 / 10   SDK \u3002 \u8981 \u8986\u76d6   CMake   \u4e2d \u7684 \u9ed8\u8ba4   Visual   Studio   2019   Generator \uff0c \u8bf7 \u5728 \u4f7f\u7528   makefile   \u547d\u4ee4 \u65f6 \u6307\u5b9a   GENERATOR = \" Visual   Studio   17   2022 \" \uff08 \u8bf7 \u53c2\u89c1   \u8868   \uff09 \u3002 \u60a8 \u53ef\u4ee5 \u6307\u5b9a \u4efb\u4f55 \u4e0e \u6784\u5efa \u811a\u672c \u4e2d \u7279\u5b9a \u7684 \u6784\u5efa \u547d\u4ee4 \u914d\u5408 \u4f7f\u7528 \u7684 \u751f\u6210 \u6210\u5668 \u751f\u6210\u5668 \uff0c \u4ee5 \u8fdb\u884c \u5b8c\u6574 \u5217\u8868 \u8fd0\u884c   cmake   - G   \uff08 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c Ninja   \u5df2\u7ecf \u8fc7 \u6d4b\u8bd5 \u53ef\u7528 \u6d4b\u8bd5\u53ef\u7528 \u4e8e \u6784\u5efa   LibCarla \uff09 \u3002","title":"Visual   Studio   2019  "},{"location":"build_windows/#_6","text":"\u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   4.26   \u7684 \u4fee\u6539 \u6539\u7248 \u4fee\u6539\u7248 \u3002 \u8be5 \u5206\u652f \u5305\u542b   Carla   \u7279\u5b9a \u7684 \u8865\u4e01 \u3002   \u8bf7 \u6ce8\u610f \uff0c \u8981 \u4e0b\u8f7d \u865a\u5e7b \u5f15\u64ce \u7684 \u8fd9\u4e2a \u5206\u652f \uff0c   \u60a8 \u9700\u8981 \u6709 \u4e00\u4e2a \u94fe\u63a5 \u5230 \u865a\u5e7b \u5f15\u64ce \u5e10\u6237 \u7684   GitHub   \u5e10\u6237   \u3002 \u5982\u679c \u60a8 \u6ca1\u6709 \u8fdb\u884c \u6b64 \u8bbe\u7f6e \uff0c \u8bf7 \u5148 \u6309\u7167   \u672c \u6307\u5357   \u8fdb\u884c \u64cd\u4f5c \uff0c \u7136\u540e \u518d \u7ee7\u7eed \u64cd\u4f5c \u3002   \u8981 \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u7684 \u4fee\u6539 \u7248\u672c \uff1a   1 .   \u5728 \u7ec8\u7aef \u4e2d \uff0c \u5bfc\u822a \u5230 \u8981 \u4fdd\u5b58 \u865a\u5e7b \u5f15\u64ce \u7684 \u4f4d\u7f6e \u5e76 \u514b\u9686   carla   \u5206\u652f \uff1a   git   clone   -- depth   1   - b   carla   https : / / github . com / CarlaUnreal / UnrealEngine . git   .   \u7b14\u8bb0   \u865a\u5e7b \u5f15\u64ce \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u9760\u8fd1   C : \\ \\   \uff0c \u56e0\u4e3a \u5982\u679c \u8def\u5f84 \u8d85\u8fc7 \u4e00\u5b9a \u957f\u5ea6 \uff0c   Setup . bat   \u5219 \u4f1a \u5728 \u6b65\u9aa4   3   \u4e2d \u8fd4\u56de \u9519\u8bef \u3002   2 .   \u8fd0\u884c \u914d\u7f6e \u811a\u672c \uff1a   Setup . bat   GenerateProjectFiles . bat   3 .   \u7f16\u8bd1 \u4fee\u6539 \u540e \u7684 \u5f15\u64ce \uff1a   \u4f7f\u7528   Visual   Studio   2019 \u6253\u5f00   UE4 . sln   \u6e90 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u7684 \u6587\u4ef6 \u3002   \u5728 \u6784\u5efa \u680f\u4e2d \uff0c \u786e\u4fdd \u786e\u4fdd\u60a8 \u5df2 \u9009\u62e9 \u201c Development   Editor \u201d \u3001 \u201c Win64 \u201d \u548c \u201c UnrealBuildTool \u201d \u9009\u9879 \u3002 \u5982\u679c \u60a8 \u9700\u8981 \u4efb\u4f55 \u5e2e\u52a9 \uff0c \u8bf7 \u67e5\u770b   \u672c \u6307\u5357   \u3002   \u5728 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668\u4e2d \uff0c \u53f3\u952e \u5355\u51fb   UE4   \u5e76 \u9009\u62e9   Build   \u3002   4 .   \u7f16\u8bd1 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u6253\u5f00 \u5f15\u64ce \uff0c \u901a\u8fc7 \u542f\u52a8 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6   Engine \\ Binaries \\ Win64 \\ UE4Editor . exe   \u6765 \u68c0\u67e5 \u6240\u6709 \u5185\u5bb9 \u662f\u5426 \u5df2 \u6b63\u786e \u5b89\u88c5 \u3002   \u7b14\u8bb0   \u5982\u679c \u5b89\u88c5 \u6210\u529f \uff0c \u865a\u5e7b \u5f15\u64ce \u7684 \u7248\u672c \u9009\u62e9 \u9009\u62e9\u5668 \u5e94\u8be5 \u80fd\u591f \u8bc6\u522b \u3002 \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u53f3\u952e \u5355\u51fb \u4efb\u4f55   . uproject   \u6587\u4ef6 \u5e76 \u9009\u62e9   Switch   Unreal   Engine   version   \u6765 \u68c0\u67e5 \u8fd9 \u4e00\u70b9 \u3002 \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230 \u4e00\u4e2a \u5f39 \u51fa \u7a97\u53e3 \uff0c \u663e\u793a   Source   Build   at   PATH   \u662f \u60a8 \u9009\u62e9 \u7684 \u5b89\u88c5 \u8def\u5f84 \u3002 \u5982\u679c \u60a8 \u5728 \u53f3\u952e \u5355\u51fb   . uproject   \u6587\u4ef6 \u6216   Generate   Visual   Studio   project   files   \u65f6 \u4e0d\u5230 \u770b\u4e0d\u5230 \u6b64 \u9009\u62e9 \u9009\u62e9\u5668 \uff0c \u5219 \u865a\u5e7b \u5f15\u64ce \u5b89\u88c5 \u51fa\u73b0 \u95ee\u9898 \uff0c \u60a8 \u53ef\u80fd \u9700\u8981 \u91cd\u65b0 \u6b63\u786e \u5b89\u88c5 \u3002   \u91cd\u8981   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \u53d1\u751f \u4e86 \u5f88\u591a \u4e8b\u60c5 \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u5728 \u7ee7\u7eed \u4e4b\u524d \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u3002","title":"\u865a\u5e7b \u5f15\u64ce  "},{"location":"build_windows/#carla","text":"","title":"\u7b2c\u4e8c \u90e8\u5206 \uff1a \u6784\u5efa   Carla  "},{"location":"build_windows/#carla_1","text":"Carla   \u4ed3\u5e93   \u4e0a\u9762 \u7684 \u6309\u94ae \u5c06 \u5e26 \u60a8 \u8fdb\u5165 \u8be5\u9879 \u76ee\u7684 \u5b98\u65b9 \u5b58\u50a8 \u5e93 \u3002 \u4ece \u90a3\u91cc \u4e0b\u8f7d \u5e76 \u5728 \u672c\u5730 \u63d0\u53d6 \u5b83 \u6216 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u514b\u9686 \u5b83 \uff1a   git   clone   https : / / github . com / carla - simulator / carla   \u7b14\u8bb0   \u8be5   master   \u5206\u652f \u5305\u542b   Carla   \u7684 \u5f53\u524d \u7248\u672c \u4ee5\u53ca \u6700\u65b0 \u7684 \u4fee\u590d \u548c \u529f\u80fd \u3002 \u4ee5\u524d \u7684   Carla   \u7248\u672c \u6807\u6709 \u7248\u672c \u540d\u79f0 \u3002 \u6c38\u8fdc \u8bb0\u4f4f \u4f7f\u7528 \u547d\u4ee4   git   branch   \u68c0\u67e5   git   \u4e2d \u7684 \u5f53\u524d \u5206\u652f \u3002","title":"\u514b\u9686   Carla   \u5b58\u50a8 \u5e93  "},{"location":"build_windows/#_7","text":"\u901a\u8fc7 \u5728   Carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff0c \u4e0b\u8f7d   \u6700\u65b0 \u7684   \u8d44\u4ea7 \u4ee5 \u4f7f\u7528 \u5f53\u524d \u7248\u672c \u7684   Carla \uff1a   Update . bat   \u5982\u679c \u5b89\u88c5 \u4e86   7zip \uff0c \u8d44\u6e90 \u5c06 \u88ab \u4e0b\u8f7d \u5e76 \u89e3\u538b \u5230 \u9002\u5f53 \u7684 \u4f4d\u7f6e \u3002 \u5982\u679c \u60a8 \u6ca1\u6709 \u5b89\u88c5 \u6b64 \u8f6f\u4ef6 \uff0c \u5219 \u9700\u8981 \u624b\u52a8 \u5c06 \u6587\u4ef6 \u5185\u5bb9 \u89e3\u538b \u5230   Unreal \\ CarlaUE4 \\ Content \\ Carla   \u3002   \u8981 \u4e0b\u8f7d   \u7279\u5b9a \u7248\u672c   Carla   \u7684 \u8d44\u6e90 \uff1a   \u4ece   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \uff0c \u5bfc\u822a \u5230   \\ Util \\ ContentVersions . txt   \u3002 \u672c \u6587\u6863 \u5305\u542b \u6240\u6709   Carla   \u7248\u672c \u7684 \u8d44\u4ea7 \u94fe\u63a5 \u3002   \u63d0\u53d6   Unreal \\ CarlaUE4 \\ Content \\ Carla   \u4e2d \u7684 \u8d44\u4ea7 \u3002 \u5982\u679c \u8be5 \u8def\u5f84 \u4e0d \u5b58\u5728 \uff0c \u8bf7 \u521b\u5efa \u5b83 \u3002   \u4f7f\u7528 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u7684 \u547d\u4ee4 \u63d0\u53d6 \u6587\u4ef6 \uff1a   tar   - xvzf   < assets _ file _ name > . tar . gz . tar   - C   C : \\ path \\ to \\ carla \\ Unreal \\ CarlaUE4 \\ Content \\ Carla","title":"\u83b7\u53d6 \u8d44\u4ea7  "},{"location":"build_windows/#_8","text":"\u9700\u8981 \u8bbe\u7f6e \u4e00\u4e2a \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c \u4ee5\u4fbf   Carla   \u53ef\u4ee5 \u627e\u5230 \u865a\u5e7b \u5f15\u64ce \u7684 \u5b89\u88c5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u8fd9 \u5141\u8bb8 \u7528\u6237 \u9009\u62e9 \u8981 \u4f7f\u7528 \u54ea\u4e2a \u7279\u5b9a \u7248\u672c \u7684 \u865a\u5e7b \u5f15\u64ce \u3002 \u5982\u679c \u6307\u5b9a \u672a\u6307\u5b9a \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c Carla   \u5c06 \u5728   Windows   \u6ce8\u518c \u6ce8\u518c\u8868 \u4e2d \u641c\u7d22 \u865a\u5e7b \u5f15\u64ce \u5e76 \u4f7f\u7528 \u5728 \u90a3\u91cc \u627e\u5230 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u7248\u672c \u3002   \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff1a   \u6253\u5f00   Windows   \u63a7\u5236 \u5236\u9762 \u9762\u677f \u63a7\u5236\u9762\u677f \uff0c \u7136\u540e \u8f6c \u81f3   Advanced   System   Settings   \u6216 \u5728   Windows   \u641c\u7d22 \u680f\u4e2d \u641c\u7d22   Advanced   System   Settings   \u3002   \u5728 \u9762\u677f \u4e0a Advanced   Advanced   \u6253\u5f00   Environment   Variables ...   \u3002   \u5355\u51fb   New ...   \u4ee5 \u521b\u5efa \u53d8\u91cf \u3002   \u4e3a \u53d8\u91cf   UE4 _ ROOT   \u547d\u540d \u5e76 \u9009\u62e9 \u6240 \u9700 \u865a\u5e7b \u5f15\u64ce \u5b89\u88c5 \u7684 \u5b89\u88c5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u8def\u5f84 \u3002","title":"\u8bbe\u7f6e \u865a\u5e7b \u5f15\u64ce \u53d8\u91cf  "},{"location":"build_windows/#carla_2","text":"\u672c \u8282 \u6982\u8ff0 \u4e86 \u6784\u5efa   Carla   \u7684 \u547d\u4ee4 \u3002   \u6240\u6709 \u547d\u4ee4 \u90fd \u5e94 \u5728 \u6839   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u3002   \u547d\u4ee4 \u5e94 \u901a\u8fc7 VS   2019   \u7684   x64   Native   Tools   Command   Prompt   for   VS   2019   \u6267\u884c \u3002 \u901a\u8fc7 \u5355\u51fb \u8be5 Windows \u952e \u5e76 \u641c\u7d22   \u6765 \u6253\u5f00 \u5b83 x64 \u3002   Carla   \u7684 \u6784\u5efa \u8fc7\u7a0b \u5206\u4e3a \u4e24 \u90e8\u5206 \uff1a \u7f16\u8bd1 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u7f16\u8bd1 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   1 .   \u7f16\u8bd1   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef   :   Python   API   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6388\u4e88 \u5bf9 \u4eff\u771f \u7684 \u63a7\u5236 \u63a7\u5236\u6743 \u3002 \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u6784\u5efa 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\u8fd0\u884c   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u4ee3\u7801 \u3002 \u4e24\u79cd \u5f62\u5f0f \u5305\u62ec   . egg   \u6587\u4ef6 \u548c   . whl   \u6587\u4ef6 \u3002 \u9009\u62e9 \u4ee5\u4e0b \u9009\u9879   \u4e4b\u4e00   \u6765 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff1a   A .   . egg   \u6587\u4ef6   . egg   \u6587\u4ef6 \u4e0d \u9700\u8981 \u5b89\u88c5 \u3002 \u5bfc\u5165   Carla   \u65f6 \uff0c Carla   \u7684 \u6240\u6709 \u793a\u4f8b \u811a\u672c \u90fd \u4f1a \u81ea\u52a8   \u67e5\u627e \u6b64 \u6587\u4ef6   \u3002   \u5982\u679c \u60a8 \u4e4b\u524d \u5b89\u88c5 \u4e86   Carla   . whl   \uff0c \u5219   \u5b83 \u5c06   . whl   \u4f18\u5148 \u4e8e   . egg   \u6587\u4ef6 \u3002   B .   . whl   \u6587\u4ef6   \u5e94 \u4f7f\u7528 \u4ee5\u4e0b   pip3   \u547d\u4ee4 \u5b89\u88c5   . whl   \u6587\u4ef6 \uff1a   pip3   install   < path / to / wheel > . whl   . whl   \u6587\u4ef6 \u65e0\u6cd5 \u5206\u53d1 \uff0c \u56e0\u4e3a \u5b83 \u662f \u4e13\u95e8 \u4e3a \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u6784\u5efa \u7684 \u3002   \u8b66\u544a   \u4f7f\u7528 \u4e0d\u540c \u65b9\u6cd5 \u5b89\u88c5   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u4ee5\u53ca \u7cfb\u7edf \u4e0a \u5b89\u88c5 \u4e0d\u540c \u7248\u672c \u7684   Carla   \u53ef\u80fd \u4f1a \u51fa\u73b0 \u95ee\u9898 \u3002 \u5efa\u8bae \u5728 \u5b89\u88c5   . whl   \u65f6 \u4f7f\u7528 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \uff0c \u5e76 \u5728 \u5b89\u88c5 \u65b0 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u4e4b\u524d   \u5378\u8f7d   \u4efb\u4f55 \u4ee5\u524d \u5b89\u88c5 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002   2 .   \u7f16\u8bd1 \u670d\u52a1 \u670d\u52a1\u7aef   :   \u4ee5\u4e0b \u547d\u4ee4 \u7f16\u8bd1 \u5e76 \u542f\u52a8 \u865a\u5e7b \u5f15\u64ce \u3002 \u6bcf\u6b21 \u60a8 \u60f3\u8981 \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6216 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u65f6 \u8fd0\u884c \u6b64 \u547d\u4ee4 \uff1a   make   launch   \u8be5 \u9879\u76ee \u53ef\u80fd \u4f1a \u8981\u6c42 \u6784\u5efa \u5176\u4ed6 \u5b9e\u4f8b \uff0c \u4f8b\u5982   UE4Editor - Carla . dll   \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u3002 \u540c\u610f \u624d\u80fd \u6253\u5f00 \u9879\u76ee \u3002 \u5728 \u9996\u6b21 \u542f\u52a8 \u671f\u95f4 \uff0c \u7f16\u8f91 \u7f16\u8f91\u5668 \u53ef\u80fd \u4f1a \u663e\u793a \u6709\u5173 \u7740\u8272 \u7740\u8272\u5668 \u548c \u7f51\u683c \u8ddd\u79bb \u573a \u7684 \u8b66\u544a \u3002 \u8fd9\u4e9b \u9700\u8981 \u4e00\u4e9b \u65f6\u95f4 \u6765 \u52a0\u8f7d \uff0c \u4e4b\u524d \u5728\u6b64\u4e4b\u524d \u5730\u56fe \u5c06 \u65e0\u6cd5 \u6b63\u786e \u663e\u793a \u3002   \u7b14\u8bb0   \u5982\u679c \u7f16\u8bd1 \u8fc7\u7a0b \u4e2d \u51fa\u73b0 \u4e2d\u6587 \u4e71\u7801 \uff0c \u4e3a\u4e86 \u4fbf\u4e8e \u5bfb\u627e \u7f16\u8bd1 \u9519\u8bef \uff0c \u53ef\u4ee5 \u4f7f\u7528   chcp   65001   \u547d\u4ee4 \u5c06 \u7f16\u7801 \u65b9\u5f0f \u7f16\u7801\u65b9\u5f0f \u4fee\u6539 \u4e3a UTF - 8 \uff08 \u9009\u62e9 \u201c \u5c5e\u6027 \u201d \u3002 \u5728 \u201c \u5c5e\u6027 \u201d > > \u201c \u9009\u9879 \u201d \u4e00\u680f \u4e2d \uff0c \u5c31 \u53ef\u4ee5 \u770b\u5230 \u5f53\u524d \u4ee3\u7801 \u9875 \u7684 \u7f16\u7801 \u65b9\u5f0f \u7f16\u7801\u65b9\u5f0f \uff09 \u3002   3 .   \u5f00\u59cb \u4eff\u771f   :   \u6309   Play   \u5f00\u59cb \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4eff\u771f \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u6309\u952e \u79fb\u52a8 \u76f8\u673a   WASD   \uff0c \u5e76 \u901a\u8fc7 \u5728 \u79fb\u52a8 \u9f20\u6807 \u7684 \u540c\u65f6 \u5355\u51fb \u573a\u666f \u6765 \u65cb\u8f6c \u76f8\u673a \u3002   \u4f7f\u7528 \u91cc\u9762 \u7684 \u793a\u4f8b \u811a\u672c \u6d4b\u8bd5 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   PythonAPI \\ examples   \u3002 \u5728 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fd0\u884c \u7684 \u60c5\u51b5 \u4e0b \uff0c \u4e3a \u6bcf\u4e2a \u811a\u672c \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4ee5 \u57ce\u9547 \u5728\u57ce\u9547 \u4e2d \u4ea7\u751f \u4e00\u4e9b \u751f\u547d \u5e76 \u521b\u5efa \u5929\u6c14 \u5faa\u73af \uff1a   #   \u7ec8\u7aef   A   cd   PythonAPI \\ examples   pip3   install   - r   requirements . txt   python3   generate _ traffic . py   #   \u7ec8\u7aef   B   cd   PythonAPI \\ examples   python3   dynamic _ weather . py   \u91cd\u8981   \u5982\u679c \u4eff\u771f \u4ee5 \u975e\u5e38 \u975e\u5e38\u4f4e \u7684   FPS   \u901f\u7387 \u8fd0\u884c \uff0c \u8bf7 \u8f6c\u81f3 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668   Edit   - >   Editor   preferences   - >   Performance   \u5e76 \u7981\u7528 \u3002","title":"\u6784\u5efa   Carla  "},{"location":"build_windows/#make","text":"\u60a8 \u53ef\u80fd \u4f1a \u53d1\u73b0 \u8fd8\u6709 \u66f4 \u591a \u6709\u7528 \u7684   make   \u547d\u4ee4 \u3002 \u5728 \u4e0b\u8868\u4e2d \u627e\u5230 \u5b83\u4eec \uff1a   \u547d\u4ee4   \u63cf\u8ff0   make   help   \u6253\u5370 \u6240\u6709 \u53ef\u7528 \u7684 \u547d\u4ee4 \u3002   make   launch   \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   make   PythonAPI   \u6784\u5efa   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   make   LibCarla   \u51c6\u5907 \u5c06   Carla   \u5e93 \u5bfc\u5165 \u5bfc\u5165\u5230 \u4efb\u4f55 \u5730\u65b9 \u3002   make   package   \u6784\u5efa   Carla   \u5e76 \u521b\u5efa \u7528\u4e8e \u5206\u53d1 \u7684 \u6253\u5305 \u7248\u672c \u3002   make   clean   \u5220\u9664 \u6784\u5efa \u7cfb\u7edf \u751f\u6210 \u7cfb\u7edf\u751f\u6210 \u7684 \u6240\u6709 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u548c \u4e34\u65f6 \u65f6\u6587 \u6587\u4ef6 \u4e34\u65f6\u6587\u4ef6 \u3002   make   rebuild   make   clean   \u548c   make   launch   \u4e24\u8005 \u90fd \u5728 \u4e00\u4e2a \u547d\u4ee4 \u4e2d \u3002   make   downloadplugin   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u63d2\u4ef6   StreetMap   \u3002   make   setup   \u6784 \u4e0b\u8f7d \u5e76 \u751f\u6210 \u4f9d\u8d56 \u5e93   make   LibCarla   \u521b\u5efa LibCarla \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u670d\u52a1\u7aef \uff08   make   server   +   make   client   \uff09   make   osm2odr   \u521b\u5efa OSM \u8f6c OpenDRIVE \u7684 \u5e93   make   import   \u5bfc\u5165 \u8d44\u4ea7   \u6784\u5efa \u4e00\u4e2a   egg   \u5206\u53d1 \u5305 \uff08 binary   distribution \uff09 \uff0c \u4f1a \u5728 \u5f53\u524d \u76ee\u5f55 \u5f53\u524d\u76ee\u5f55 \u4e0b \u7684 \u201c dist \u201d \u76ee\u5f55 \u5185 \u521b\u5efa \u4e00\u4e2a \u201c egg \u201d \u6587\u4ef6 \uff0c \u6587\u4ef6 \u6587\u4ef6\u540d \u683c\u5f0f \u5c31\u662f \u201d \u9879\u76ee \u540d - \u7248\u672c \u7248\u672c\u53f7 - Python \u7248\u672c . egg \u201d \uff1a   python   setup . py   bdist _ egg   \u6784\u5efa \u4e00\u4e2a   wheel   \u5206\u53d1 \u5305 \uff0c egg   \u5305\u662f \u8fc7\u65f6 \u7684 \uff0c whl   \u5305\u662f \u65b0 \u7684 \u6807\u51c6 \uff1a   python   setup . py   bdist _ wheel   \u811a\u672c   setup . py   \u4e2d \u7684   ext _ modules   \u53c2\u6570 \u7528\u4e8e \u6784\u5efa   C   \u548c   C++   \u6269\u5c55 \u6269\u5c55 \u5305 \u3002 \u5176\u662f   Extension   \u5b9e\u4f8b \u7684 \u5217\u8868 \uff0c \u6bcf \u4e00\u4e2a   Extension   \u5b9e\u4f8b \u63cf\u8ff0 \u4e86 \u4e00\u4e2a \u72ec\u7acb \u7684 \u6269\u5c55 \u6a21\u5757 \uff0c \u6269\u5c55 \u6a21\u5757 \u53ef\u4ee5 \u8bbe\u7f6e \u6269\u5c55 \u5305\u540d \uff0c \u6587\u4ef6 \u5934\u6587\u4ef6 \u3001 \u6587\u4ef6 \u6e90\u6587\u4ef6 \u3001 \u94fe\u63a5 \u94fe\u63a5\u5e93 \u53ca\u5176 \u8def\u5f84 \u3001 \u5b8f \u5b9a\u4e49 \u548c \u7f16\u8f91 \u53c2\u6570 \u7b49 \u3002   \u5f53 \u4f60 \u5b89\u88c5 \u4e00\u4e2a \u4e00\u4e2a\u5305 \u540e \uff0c \u8fd9\u4e2a \u5305 \u9700\u8981 \u4f60 \u4e0d\u65ad \u4fee\u6539 \uff0c \u8fd9\u65f6 \u5c31 \u91c7\u7528 \u8fd9\u79cd \u5b89\u88c5 \u65b9\u6cd5 \uff1a   python   setup . py   develop   \u3002 \u4ec5 \u5728   Python37 / Lib / site - packages   \u76ee\u5f55 \u4e0b \u751f\u6210 \u94fe\u63a5 \u6587\u4ef6   carla . egg - link   \u6307\u5411   carla \\ PythonAPI \\ carla \\ source   \u548c   .. /   \u3002   \u800c   python   setup . py   install   \u5728   Python37 \\ Lib \\ site - packages \\ carla - 0.9 . 15 - py3.7 - win - amd64 . egg   \u76ee\u5f55 \u4e0b \u751f\u6210 \u8fd0\u884c \u5305 \uff0c \u5305\u62ec   libcarla . cp37 - win _ amd64 . pyd   \u3002","title":"\u5176\u4ed6   make   \u547d\u4ee4  "},{"location":"build_windows/#_9","text":"\u5982\u679c \u60f3 \u91cd\u65b0 \u7f16\u8bd1 LibCarla \u6216\u8005 \u4f7f\u7528 \u6700\u65b0 \u7684 \u4fee\u6539 \uff0c \u9700\u8981 \u5220\u9664   Build / libcarla - visualstudio   \u76ee\u5f55 \uff0c \u7136\u540e \u91cd\u65b0 \u8fd0\u884c \u7f16\u8bd1 \u547d\u4ee4 \uff1a   make   LibCarla   \u5219 \u670d\u52a1 \u670d\u52a1\u7aef \u6587\u4ef6   carla _ server . lib   \u751f\u6210 \u81f3   carla \\ Unreal \\ CarlaUE4 \\ Plugins \\ Carla \\ CarlaDependencies \\   \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u6587\u4ef6   carla _ client . lib   \u751f\u6210 \u81f3   carla \\ PythonAPI \\ carla \\ dependencies \\   \u3002","title":"\u5176\u4ed6  "},{"location":"build_windows/#_10","text":"\u6267\u884c   make   osm2odr   \u62a5\u9519 \uff1a   CMake   Error :   The   source   directory   \" D : / work / workspace / carla / Build / osm2odr - visualstudio / x64 \"   does   not   appear   to   contain   CMakeLists . txt .   Specify   -- help   for   usage ,   or   press   the   help   button   on   the   CMake   GUI .   Error :   could   not   load   cache   \u4ece \u5176\u4ed6 \u5730\u65b9 \u628a   Build \\ osm2odr - visualstudio \\ CMakeCache . txt   \u62f7\u8d1d \u8fc7\u6765 \uff0c \u4fee\u6539 \u91cc\u9762 \u5bf9\u5e94 \u7684 \u76ee\u5f55 \u4e3a \u5f53\u524d \u5de5\u7a0b \u7684 \u76ee\u5f55 \u3002   \u6267\u884c   make   PythonAPI   \u62a5\u9519 \uff1a   libcarla . obj   :   error   LNK2001 :   \u65e0\u6cd5 \u89e3\u6790 \u7684 \u5916\u90e8 \u7b26\u53f7   \" class   std : : basic _ string < char , struct   std : : char _ traits < char > , class   std : : allocator < char >   >   __ cdecl   osm2odr : : ConvertOSMToOpenDRIVE ( class   std : : basic _ string < char , struct   std : : char _ traits < char > , class   std : : allocator < char >   > , struct   osm2odr : : OSM2ODRSettings ) \"   ( ? ConvertOSMToOpenDRIVE @ osm2odr @ @ YA ? AV ? $ basic _ string @ DU ? $ char _ traits @ D @ std @ @ V ? $ allocator @ D @ 2 @ @ std @ @ V23 @ UOSM2ODRSettings @ 1 @ @ Z )   \u4ece \u5176\u4ed6 \u7f16\u8bd1 \u6210\u529f \u7684 \u5730\u65b9 \u5c06   PythonAPI \\ carla \\ dependencies \\ lib \\ osm2odr . lib   \u62f7\u8d1d \u8fc7\u6765 \u3002   \u540c\u4e00 \u53f0 \u673a\u5668 \u4e2d \u4e4b\u524d \u5b89\u88c5 \u8fc7 vs \uff0c \u518d \u5b89\u88c5 \u65f6\u62a5 \u9519 \uff1a   \u65e0\u6cd5 \u5b89\u88c5   Microsoft . VisualStudio . Debugger . JustInTime . Msi   \u548c   Could   not   open   key :   UNKNOWNComponents   Werify   that   you   have   sufficient   access   to   that   key ,   or   contact   your   support   personnel .   \u89e3\u51b3 \uff1a   \u6ce8\u518c \u6ce8\u518c\u8868 \u7f16\u8f91 \u7f16\u8f91\u5668 \u65e0\u6cd5 \u5728 \u5f53\u524d \u6240\u9009 \u7684 \u9879 \u53ca\u5176 \u90e8\u5206 \u5b50\u9879 \u4e0a \u8bbe\u7f6e \u5b89\u5168 \u5b89\u5168\u6027   \u3002   \u6ce8\u610f \uff1a \u4f7f\u7528 \u5728\u7ebf \u5b89\u88c5 \u6587\u4ef6 \u5b89\u88c5\u6587\u4ef6   vs _ community __ 2019 . exe   \u8fdb\u884c \u5b89\u88c5 \uff0c \u4e0d\u8981 \u4f7f\u7528 \u79bb\u7ebf \u7248 \u7684 vs2019 \u5b89\u88c5 \u5b89\u88c5\u5305 \uff0c \u5426\u5219 \u4f1a \u51fa\u73b0 \u9519\u8bef \uff1a   \u7cfb\u7edf \u9519\u8bef \uff1a & H8007007E ( - 2147024770 ) \u3002   \u627e \u4e0d\u5230 \u6307\u5b9a \u7684 \u6a21\u5757   \u3002","title":"\u62a5\u9519  "},{"location":"build_windows/#_11","text":"\u6784\u5efa \u7cfb\u7edf   \u6709\u5173 \u672c \u6307\u5357 \u7684 \u4efb\u4f55 \u95ee\u9898 \uff0c   \u8bf7 \u9605\u8bfb   \u5e38\u89c1 \u95ee\u9898 \u9898\u89e3 \u89e3\u7b54 \u95ee\u9898\u89e3\u7b54   \u9875\u9762 \u6216 \u5728   Carla   \u8bba\u575b   \u4e2d \u53d1\u5e16 \u3002   \u73b0\u5728 \u60a8 \u5df2\u7ecf \u6784\u5efa \u4e86   Carla \uff0c \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u4e86\u89e3 \u5982\u4f55 \u66f4\u65b0   Carla   \u6784\u5efa \u6216 \u5728 \u4eff\u771f \u4e2d \u8fc8\u51fa \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \uff0c \u5e76 \u5b66\u4e60 \u4e00\u4e9b \u6838\u5fc3 \u6982\u5ff5 \u3002   \u66f4\u65b0   Carla   \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65","title":"\u53c2\u8003"},{"location":"build_windows_ue5/","text":"\u8b66\u544a   \u8fd9\u662f \u4e00\u9879 \u6b63\u5728 \u8fdb\u884c \u7684 \u5de5\u4f5c \uff01 \uff01 \u8fd9\u4e2a \u7248\u672c \u7684 Carla \u4e0d \u88ab \u8ba4\u4e3a \u662f \u4e00\u4e2a \u7a33\u5b9a \u7684 \u7248\u672c \u3002 \u5728 \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u7684 \u51e0\u4e2a \u6708 \u91cc \uff0c \u8fd9\u4e2a \u5206\u652f \u53ef\u80fd \u4f1a \u53d1\u751f \u8bb8\u591a \u91cd\u5927 \u53d8\u5316 \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u7834\u574f \u60a8 \u6240 \u505a \u7684 \u4efb\u4f55 \u4fee\u6539 \u3002 \u6211\u4eec \u5efa\u8bae \u4f60 \u628a \u8fd9\u4e2a \u5206\u652f \u5f53\u4f5c \u5b9e\u9a8c \u5b9e\u9a8c\u6027 \u7684 \u3002   \u5728   Windows   \u4e2d \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   5.3   \u7f16\u8bd1   Carla   \u8bbe\u7f6e \u73af\u5883   \u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   5.3   \u5728   Windows   \u4e0a \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002   \u5728 \u672c\u5730 \u673a\u5668 \u4e0a \u514b\u9686   Carla   \u7684   ue5 - dev   \u5206\u652f \uff1a   git   clone   - b   ue5 - dev   https : / / github . com / carla - simulator / carla . git   CarlaUE5   \u8fd0\u884c \u5b89\u88c5 \u811a\u672c \uff1a   cd   CarlaUE5   Setup . bat   Setup . bat   \u811a\u672c \u4f1a \u5b89\u88c5 \u6240\u6709 \u5fc5\u9700 \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff0c \u5305\u62ec   Visual   Studio   2022 \u3001 Cmake \u3001 Python   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u548c \u865a\u5e7b \u5f15\u64ce   5 \u3002 \u5b83 \u8fd8 \u4f1a \u4e0b\u8f7d   Carla   \u5185\u5bb9 \u5e76 \u6784\u5efa   Carla \u3002 \u56e0\u6b64 \uff0c \u6b64 \u5904\u7406 \u6279\u5904\u7406 \u6587\u4ef6 \u53ef\u80fd \u9700\u8981 \u5f88 \u65f6\u95f4 \u957f\u65f6\u95f4 \u624d\u80fd \u5b8c\u6210 \u3002   \u7b14\u8bb0   \u6b64 \u7248\u672c \u7684   Carla   \u9700\u8981   \u865a\u5e7b \u5f15\u64ce   5.3   \u7684   Carla   \u5206\u652f   \u3002 \u60a8 \u9700\u8981 \u5c06 \u60a8 \u7684   GitHub   \u5e10\u6237 \u94fe\u63a5 \u5230   Epic   Games \uff0c \u624d\u80fd \u83b7\u5f97 \u514b\u9686 \u865a\u5e7b \u5f15\u64ce \u5b58\u50a8 \u5e93 \u7684 \u6743\u9650 \u3002 \u5982\u679c \u60a8 \u5c1a\u672a \u94fe\u63a5 \u60a8 \u7684 \u5e10\u6237 \uff0c \u8bf7 \u6309\u7167   \u672c \u6307\u5357   \u64cd\u4f5c   \u8981 \u4f7f\u7528   Carla   Unreal   Engine   5   \u4ee5\u524d \u7684 \u7248\u672c \uff0c \u8bf7 \u786e\u4fdd \u5b9a\u4e49   CARLA _ UNREAL _ ENGINE _ PATH   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c \u6307\u5411   CARLA   Unreal   Engine   5   \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002 \u5982\u679c \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \u6b64 \u53d8\u91cf \uff0c Setup . bat   \u811a\u672c \u5c06 \u4e0b\u8f7d \u5e76 \u6784\u5efa   Carla   Unreal   Engine   5 \uff0c   \u8fd9 \u9700\u8981 \u989d\u5916   1   \u4e2a \u591a \u5c0f\u65f6 \u7684 \u6784\u5efa \u65f6\u95f4 \u548c   225Gb   \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4   \u3002   Setup . bat   \u811a\u672c \u68c0\u67e5   PATH   \u53d8\u91cf \u9876\u90e8 \u662f\u5426 \u5b89\u88c5 \u4e86 \u4efb\u4f55   Python   \u7248\u672c \uff0c \u5426\u5219 \u5b89\u88c5   Python \u3002   \u8981 \u4f7f\u7528 \u60a8 \u81ea\u5df1 \u7684   Python   \u7248\u672c \uff0c \u8bf7 \u786e\u4fdd \u5728 \u8fd0\u884c \u811a\u672c \u4e4b\u524d \u4e3a   Python   \u6b63\u786e \u8bbe\u7f6e \u4e86   PATH   \u53d8\u91cf   \u3002   \u5e94 \u6fc0\u6d3b   Windows   \u5f00\u53d1 \u5f00\u53d1\u8005 \u6a21\u5f0f   \uff0c \u5426\u5219 \u6784\u5efa \u5c06 \u5931\u8d25 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u6b64\u5904   \u3002   Carla   \u65e0\u6cd5 \u5728 \u5916\u90e8 \u78c1\u76d8 \u4e0a \u6784\u5efa   \uff0c Windows   \u6ca1\u6709 \u63d0\u4f9b \u6784\u5efa \u6240 \u9700 \u7684 \u8bfb / \u5199 / \u6267\u884c \u6743\u9650 \u3002   \u6784\u5efa \u5e76 \u8fd0\u884c   Carla   UE5   Setup . bat   \u6587\u4ef6 \u672c\u8eab \u542f\u52a8 \u4ee5\u4e0b \u547d\u4ee4 \uff0c \u4e00\u65e6 \u60a8 \u4fee\u6539 \u4ee3\u7801 \u5e76 \u5e0c\u671b \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \uff0c \u5219 \u9700\u8981 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \uff1a   \u8b66\u544a   \u786e\u4fdd \u5b9a\u4e49   CARLA _ UNREAL _ ENGINE _ PATH   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c \u6307\u5411   Carla   Unreal   Engine   5.3   \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002 Setup . bat   \u8bbe\u7f6e \u6b64 \u53d8\u91cf \uff0c \u4f46 \u5982\u679c \u91c7\u7528 \u5176\u4ed6 \u65b9\u6cd5 \u5b89\u88c5 \u8981\u6c42 \uff0c \u5219 \u53ef\u80fd \u65e0\u6cd5 \u8bbe\u7f6e \u3002 \u6b64\u5916 \uff0c Carla   UE4   \u4f7f\u7528 \u7684 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u662f   UE4 _ ROOT   \u3002   \u914d\u7f6e   \u3002 \u5728   CarlaUE5   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u6253\u5f00   VS   2022   \u7684   x64   Native   Tools   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cmake   - G   Ninja   - S   .   - B   Build   - DCMAKE _ BUILD _ TYPE = Release   - DBUILD _ CARLA _ UNREAL = ON   - DCARLA _ UNREAL _ ENGINE _ PATH = % CARLA _ UNREAL _ ENGINE _ PATH%   \u6784\u5efa   Carla   \u3002 \u5728   CarlaUE5   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u6253\u5f00   VS   2022   \u7684   x64   Native   Tools   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cmake   -- build   Build   \u6784\u5efa \u5e76 \u5b89\u88c5   Python   API   \u3002 \u5728   CarlaUE5   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u6253\u5f00   VS   2022   \u7684   x64   Native   Tools   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cmake   -- build   Build   -- target   carla - python - api - install   \u542f\u52a8 \u7f16\u8f91 \u7f16\u8f91\u5668   \u3002 \u5728   CarlaUE5   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u6253\u5f00   VS   2022   \u7684   x64   Native   Tools   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cmake   -- build   Build   -- target   launch   \u4f7f\u7528   Carla   UE5   \u6784\u5efa \u8f6f\u4ef6 \u8f6f\u4ef6\u5305   \u8b66\u544a   Carla   UE5   \u7684 \u6784\u5efa \u5305 \u5c1a\u672a \u9488\u5bf9   Windows   \u8fdb\u884c \u5168\u9762 \u6d4b\u8bd5 \u3002   \u5728   CarlaUE5   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u6253\u5f00   VS   2022   \u7684   x64   Native   Tools   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cmake   -- build   Build   -- target   package   \u8be5\u5305 \u5c06 \u5728 \u76ee\u5f55   Build / Package   \u4e2d \u751f\u6210   \u8fd0\u884c \u5305   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u6784\u5efa \u5c1a\u672a \u9488\u5bf9   Windows   \u8fdb\u884c \u6d4b\u8bd5 \u3002   Ubuntu   \u5b89\u88c5   \u5982\u679c \u5f15\u5bfc \u4e0d\u4e86 \u7cfb\u7edf \uff0c \u9700\u8981 \u5c06 \u5728 BIOS \u4e2d \u8bbe\u7f6e \u4e3a UEFI \u542f\u52a8 \u3002   \u5b89\u88c5 \u754c\u9762 \u5361\u6b7b \u5b8c   quiet   splash   -   -   -   \u6539\u6210   quiet   splash   acpi = off   acpi = off \u662f \u5173\u95ed \u9ad8\u7ea7 \u7535\u6e90 \u7ba1\u7406 \u63a5\u53e3 \u3002 \u5982\u679c \u5fc5\u987b \u6dfb\u52a0 acpi   =   off \u4f7f ubuntu \u6210\u529f \u542f\u52a8 \uff0c \u5219 \u8868\u793a \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u7684 ACPI \u4e0e \u8be5 \u7248\u672c \u7684 ubuntu \u4e0d \u517c\u5bb9 \u3002   \u95ee\u9898   \u65e0\u6cd5 \u5b89\u88c5 Microsoft . VisualStudio . Community . Msi   \u5220\u9664 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   C \uff1a \\ Program   Files   \uff08 x86 \uff09 \\ Windows   Kits   \u540e \u91cd\u65b0 \u65b0\u5b89 \u5b89\u88c5 \u91cd\u65b0\u5b89\u88c5 \u3002 \uff08 \u524d\u63d0 \u662f \u7528 \u7f51\u7edc \u5b89\u88c5 \u88c5\u7248 \u5b89\u88c5\u7248 \u5b89\u88c5 \u6587\u4ef6 \u5b89\u88c5\u6587\u4ef6 \uff0c \u4e0d\u80fd \u7528 \u79bb\u7ebf \u5b89\u88c5 \u88c5\u7248 \u5b89\u88c5\u7248 \uff09   VS2022 \u5b89\u88c5 \u65f6\u5019 \u51fa\u73b0 \u201c \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u6b63 \u5fd9\u4e8e \u5b89\u88c5 \u4e00\u4e2a \u975e Visual   Studio \u7684 \u7a0b\u5e8f \u201d   \u6253\u5f00 \u201c \u4efb\u52a1 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \u201d \u3002 \u5355\u51fb \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u201d \u9009\u9879 \u9009\u9879\u5361 \u3002 \u67e5\u627e \u201c msiexec . exe \u201d \u8fdb\u7a0b \u3002 \u5982\u679c \u6709 \u4e00\u4e2a \u6216 \u591a\u4e2a \uff0c \u8bf7 \u5168\u90e8 \u9009\u4e2d \uff0c \u518d \u9009\u62e9 \u201c \u7ec8\u6b62 \u4efb\u52a1 \u201d \u3002   \u5b89\u88c5 python \u5305\u65f6 \u51fa\u73b0 \uff1a   ValueError :   check _ hostname   requires   server _ hostname   \u89e3\u51b3 \uff1a \u5173\u95ed \u4ee3\u7406 \u3002   fatal :   fetch - pack :   invalid   index - pack   output   git   clone   -- depth   1   https : / / gitlab . scm321 . com / ufx / xxxx . git   \u7f16\u8bd1 Carla \u4f9d\u8d56 \u65f6 \u51fa\u9519 \uff1a   HTTP / 2   stream   1   was   not   closed   cleanly :   PROTOCOL _ ERROR   ( err   1 )   \u89e3\u51b3 \uff1a \u95ee\u9898 \u662f \u7531\u4e8e HTTP / 2 \u5f15\u8d77 \u7684 \uff0c \u5728 Git \u914d\u7f6e \u4e2d \u7981\u7528 HTTP / 2 \uff0c \u6539\u7528 HTTP / 1.1   git   config   -- global   http . version   HTTP / 1.1","title":"Build   windows   ue5"},{"location":"build_windows_ue5/#windows-53-carla","text":"","title":"\u5728   Windows   \u4e2d \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   5.3   \u7f16\u8bd1   Carla"},{"location":"build_windows_ue5/#_1","text":"\u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   5.3   \u5728   Windows   \u4e0a \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \u3002   \u5728 \u672c\u5730 \u673a\u5668 \u4e0a \u514b\u9686   Carla   \u7684   ue5 - dev   \u5206\u652f \uff1a   git   clone   - b   ue5 - dev   https : / / github . com / carla - simulator / carla . git   CarlaUE5   \u8fd0\u884c \u5b89\u88c5 \u811a\u672c \uff1a   cd   CarlaUE5   Setup . bat   Setup . bat   \u811a\u672c \u4f1a \u5b89\u88c5 \u6240\u6709 \u5fc5\u9700 \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff0c \u5305\u62ec   Visual   Studio   2022 \u3001 Cmake \u3001 Python   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u548c \u865a\u5e7b \u5f15\u64ce   5 \u3002 \u5b83 \u8fd8 \u4f1a \u4e0b\u8f7d   Carla   \u5185\u5bb9 \u5e76 \u6784\u5efa   Carla \u3002 \u56e0\u6b64 \uff0c \u6b64 \u5904\u7406 \u6279\u5904\u7406 \u6587\u4ef6 \u53ef\u80fd \u9700\u8981 \u5f88 \u65f6\u95f4 \u957f\u65f6\u95f4 \u624d\u80fd \u5b8c\u6210 \u3002   \u7b14\u8bb0   \u6b64 \u7248\u672c \u7684   Carla   \u9700\u8981   \u865a\u5e7b \u5f15\u64ce   5.3   \u7684   Carla   \u5206\u652f   \u3002 \u60a8 \u9700\u8981 \u5c06 \u60a8 \u7684   GitHub   \u5e10\u6237 \u94fe\u63a5 \u5230   Epic   Games \uff0c \u624d\u80fd \u83b7\u5f97 \u514b\u9686 \u865a\u5e7b \u5f15\u64ce \u5b58\u50a8 \u5e93 \u7684 \u6743\u9650 \u3002 \u5982\u679c \u60a8 \u5c1a\u672a \u94fe\u63a5 \u60a8 \u7684 \u5e10\u6237 \uff0c \u8bf7 \u6309\u7167   \u672c \u6307\u5357   \u64cd\u4f5c   \u8981 \u4f7f\u7528   Carla   Unreal   Engine   5   \u4ee5\u524d \u7684 \u7248\u672c \uff0c \u8bf7 \u786e\u4fdd \u5b9a\u4e49   CARLA _ UNREAL _ ENGINE _ PATH   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c \u6307\u5411   CARLA   Unreal   Engine   5   \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002 \u5982\u679c \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \u6b64 \u53d8\u91cf \uff0c Setup . bat   \u811a\u672c \u5c06 \u4e0b\u8f7d \u5e76 \u6784\u5efa   Carla   Unreal   Engine   5 \uff0c   \u8fd9 \u9700\u8981 \u989d\u5916   1   \u4e2a \u591a \u5c0f\u65f6 \u7684 \u6784\u5efa \u65f6\u95f4 \u548c   225Gb   \u7684 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4   \u3002   Setup . bat   \u811a\u672c \u68c0\u67e5   PATH   \u53d8\u91cf \u9876\u90e8 \u662f\u5426 \u5b89\u88c5 \u4e86 \u4efb\u4f55   Python   \u7248\u672c \uff0c \u5426\u5219 \u5b89\u88c5   Python \u3002   \u8981 \u4f7f\u7528 \u60a8 \u81ea\u5df1 \u7684   Python   \u7248\u672c \uff0c \u8bf7 \u786e\u4fdd \u5728 \u8fd0\u884c \u811a\u672c \u4e4b\u524d \u4e3a   Python   \u6b63\u786e \u8bbe\u7f6e \u4e86   PATH   \u53d8\u91cf   \u3002   \u5e94 \u6fc0\u6d3b   Windows   \u5f00\u53d1 \u5f00\u53d1\u8005 \u6a21\u5f0f   \uff0c \u5426\u5219 \u6784\u5efa \u5c06 \u5931\u8d25 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u6b64\u5904   \u3002   Carla   \u65e0\u6cd5 \u5728 \u5916\u90e8 \u78c1\u76d8 \u4e0a \u6784\u5efa   \uff0c Windows   \u6ca1\u6709 \u63d0\u4f9b \u6784\u5efa \u6240 \u9700 \u7684 \u8bfb / \u5199 / \u6267\u884c \u6743\u9650 \u3002","title":"\u8bbe\u7f6e \u73af\u5883"},{"location":"build_windows_ue5/#carla-ue5","text":"Setup . bat   \u6587\u4ef6 \u672c\u8eab \u542f\u52a8 \u4ee5\u4e0b \u547d\u4ee4 \uff0c \u4e00\u65e6 \u60a8 \u4fee\u6539 \u4ee3\u7801 \u5e76 \u5e0c\u671b \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \uff0c \u5219 \u9700\u8981 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \uff1a   \u8b66\u544a   \u786e\u4fdd \u5b9a\u4e49   CARLA _ UNREAL _ ENGINE _ PATH   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c \u6307\u5411   Carla   Unreal   Engine   5.3   \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002 Setup . bat   \u8bbe\u7f6e \u6b64 \u53d8\u91cf \uff0c \u4f46 \u5982\u679c \u91c7\u7528 \u5176\u4ed6 \u65b9\u6cd5 \u5b89\u88c5 \u8981\u6c42 \uff0c \u5219 \u53ef\u80fd \u65e0\u6cd5 \u8bbe\u7f6e \u3002 \u6b64\u5916 \uff0c Carla   UE4   \u4f7f\u7528 \u7684 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u662f   UE4 _ ROOT   \u3002   \u914d\u7f6e   \u3002 \u5728   CarlaUE5   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u6253\u5f00   VS   2022   \u7684   x64   Native   Tools   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cmake   - G   Ninja   - S   .   - B   Build   - DCMAKE _ BUILD _ TYPE = Release   - DBUILD _ CARLA _ UNREAL = ON   - DCARLA _ UNREAL _ ENGINE _ PATH = % CARLA _ UNREAL _ ENGINE _ PATH%   \u6784\u5efa   Carla   \u3002 \u5728   CarlaUE5   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u6253\u5f00   VS   2022   \u7684   x64   Native   Tools   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cmake   -- build   Build   \u6784\u5efa \u5e76 \u5b89\u88c5   Python   API   \u3002 \u5728   CarlaUE5   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u6253\u5f00   VS   2022   \u7684   x64   Native   Tools   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cmake   -- build   Build   -- target   carla - python - api - install   \u542f\u52a8 \u7f16\u8f91 \u7f16\u8f91\u5668   \u3002 \u5728   CarlaUE5   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u6253\u5f00   VS   2022   \u7684   x64   Native   Tools   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cmake   -- build   Build   -- target   launch","title":"\u6784\u5efa \u5e76 \u8fd0\u884c   Carla   UE5"},{"location":"build_windows_ue5/#carla-ue5_1","text":"\u8b66\u544a   Carla   UE5   \u7684 \u6784\u5efa \u5305 \u5c1a\u672a \u9488\u5bf9   Windows   \u8fdb\u884c \u5168\u9762 \u6d4b\u8bd5 \u3002   \u5728   CarlaUE5   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u6253\u5f00   VS   2022   \u7684   x64   Native   Tools   \u547d\u4ee4 \u63d0\u793a \u63d0\u793a\u7b26 \u547d\u4ee4\u63d0\u793a\u7b26 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   cmake   -- build   Build   -- target   package   \u8be5\u5305 \u5c06 \u5728 \u76ee\u5f55   Build / Package   \u4e2d \u751f\u6210","title":"\u4f7f\u7528   Carla   UE5   \u6784\u5efa \u8f6f\u4ef6\u5305"},{"location":"build_windows_ue5/#_2","text":"\u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u6784\u5efa \u5c1a\u672a \u9488\u5bf9   Windows   \u8fdb\u884c \u6d4b\u8bd5 \u3002","title":"\u8fd0\u884c \u5305"},{"location":"build_windows_ue5/#ubuntu","text":"\u5982\u679c \u5f15\u5bfc \u4e0d\u4e86 \u7cfb\u7edf \uff0c \u9700\u8981 \u5c06 \u5728 BIOS \u4e2d \u8bbe\u7f6e \u4e3a UEFI \u542f\u52a8 \u3002   \u5b89\u88c5 \u754c\u9762 \u5361\u6b7b \u5b8c   quiet   splash   -   -   -   \u6539\u6210   quiet   splash   acpi = off   acpi = off \u662f \u5173\u95ed \u9ad8\u7ea7 \u7535\u6e90 \u7ba1\u7406 \u63a5\u53e3 \u3002 \u5982\u679c \u5fc5\u987b \u6dfb\u52a0 acpi   =   off \u4f7f ubuntu \u6210\u529f \u542f\u52a8 \uff0c \u5219 \u8868\u793a \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u7684 ACPI \u4e0e \u8be5 \u7248\u672c \u7684 ubuntu \u4e0d \u517c\u5bb9 \u3002","title":"Ubuntu   \u5b89\u88c5"},{"location":"build_windows_ue5/#_3","text":"\u65e0\u6cd5 \u5b89\u88c5 Microsoft . VisualStudio . Community . Msi   \u5220\u9664 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   C \uff1a \\ Program   Files   \uff08 x86 \uff09 \\ Windows   Kits   \u540e \u91cd\u65b0 \u65b0\u5b89 \u5b89\u88c5 \u91cd\u65b0\u5b89\u88c5 \u3002 \uff08 \u524d\u63d0 \u662f \u7528 \u7f51\u7edc \u5b89\u88c5 \u88c5\u7248 \u5b89\u88c5\u7248 \u5b89\u88c5 \u6587\u4ef6 \u5b89\u88c5\u6587\u4ef6 \uff0c \u4e0d\u80fd \u7528 \u79bb\u7ebf \u5b89\u88c5 \u88c5\u7248 \u5b89\u88c5\u7248 \uff09   VS2022 \u5b89\u88c5 \u65f6\u5019 \u51fa\u73b0 \u201c \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u6b63 \u5fd9\u4e8e \u5b89\u88c5 \u4e00\u4e2a \u975e Visual   Studio \u7684 \u7a0b\u5e8f \u201d   \u6253\u5f00 \u201c \u4efb\u52a1 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \u201d \u3002 \u5355\u51fb \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u201d \u9009\u9879 \u9009\u9879\u5361 \u3002 \u67e5\u627e \u201c msiexec . exe \u201d \u8fdb\u7a0b \u3002 \u5982\u679c \u6709 \u4e00\u4e2a \u6216 \u591a\u4e2a \uff0c \u8bf7 \u5168\u90e8 \u9009\u4e2d \uff0c \u518d \u9009\u62e9 \u201c \u7ec8\u6b62 \u4efb\u52a1 \u201d \u3002   \u5b89\u88c5 python \u5305\u65f6 \u51fa\u73b0 \uff1a   ValueError :   check _ hostname   requires   server _ hostname   \u89e3\u51b3 \uff1a \u5173\u95ed \u4ee3\u7406 \u3002   fatal :   fetch - pack :   invalid   index - pack   output   git   clone   -- depth   1   https : / / gitlab . scm321 . com / ufx / xxxx . git   \u7f16\u8bd1 Carla \u4f9d\u8d56 \u65f6 \u51fa\u9519 \uff1a   HTTP / 2   stream   1   was   not   closed   cleanly :   PROTOCOL _ ERROR   ( err   1 )   \u89e3\u51b3 \uff1a \u95ee\u9898 \u662f \u7531\u4e8e HTTP / 2 \u5f15\u8d77 \u7684 \uff0c \u5728 Git \u914d\u7f6e \u4e2d \u7981\u7528 HTTP / 2 \uff0c \u6539\u7528 HTTP / 1.1   git   config   -- global   http . version   HTTP / 1.1","title":"\u95ee\u9898"},{"location":"carla_ackermann_control/","text":"Carla   \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236   carla _ ackermann _ control   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305   \u7528\u4e8e \u901a\u8fc7 \u963f\u514b \u963f\u514b\u66fc \u6d88\u606f \u63a7\u5236   Carla   \u8f66\u8f86 \u3002 \u8be5\u5305 \u5c06   \u963f\u514b \u963f\u514b\u66fc \u6d88\u606f   \u8f6c\u6362 \u4e3a   CarlaEgoVehicleControl   \u6d88\u606f \u3002 \u5b83 \u4ece   Carla   \u8bfb\u53d6 \u8f66\u8f86 \u4fe1\u606f \uff0c \u5e76 \u5c06 \u8be5 \u4fe1\u606f \u4f20\u9012 \u7ed9 \u57fa\u4e8e   Python   \u7684   PID   \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u8c03\u7528   simple - pid   \u63a7\u5236 \u63a7\u5236\u5668 \u6765 \u63a7\u5236 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u548c \u901f\u5ea6 \u3002   \u914d\u7f6e   \u6d4b\u8bd5 \u63a7\u5236 \u6d88\u606f   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u8ba2\u9605   \u53d1\u5e03   \u914d\u7f6e   \u4f7f\u7528   ROS   1   \u548c   ROS   2   \u65f6 \uff0c \u53ef\u4ee5 \u5728   \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6   \u4e2d \u521d\u59cb \u8bbe\u7f6e \u53c2\u6570 \uff0c \u4e5f \u53ef\u4ee5 \u5728 \u8fd0\u884c \u65f6 \u901a\u8fc7   ROS   1   \u4e2d \u7684   ROS   \u52a8\u6001 \u91cd\u65b0 \u914d\u7f6e \u91cd\u65b0\u914d\u7f6e   \u6765 \u8bbe\u7f6e \u53c2\u6570 \u3002   \u6d4b\u8bd5 \u63a7\u5236 \u6d88\u606f   \u901a\u8fc7 \u4e3b\u9898   / carla / < ROLE   NAME > / ackermann _ cmd   \u5411 \u6c7d\u8f66 \u53d1\u9001 \u547d\u4ee4 \u6765 \u6d4b\u8bd5 \u8bbe\u7f6e \u3002 \u4f8b\u5982 \uff0c \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4ee5   10   \u7c73 / \u79d2 \u7684 \u901f\u5ea6 \u79fb\u52a8 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0 \u4e3a   ego _ vehicle   \u7684 \u81ea\u6211 \u8f66\u8f86 \uff1a   #   ROS   1   rostopic   pub   / carla / ego _ vehicle / ackermann _ cmd   ackermann _ msgs / AckermannDrive   \" { steering _ angle :   0.0 ,   steering _ angle _ velocity :   0.0 ,   speed :   10 ,   acceleration :   0.0 ,   jerk :   0.0 } \"   - r   10   #   ROS   2   ros2   topic   pub   / carla / ego _ vehicle / ackermann _ cmd   ackermann _ msgs / AckermannDrive   \" { steering _ angle :   0.0 ,   steering _ angle _ velocity :   0.0 ,   speed :   10 ,   acceleration :   0.0 ,   jerk :   0.0 } \"   - r   10   \u6216\u8005 \u8ba9 \u8f66\u8f86 \u5411\u524d \u79fb\u52a8 \uff0c \u540c\u65f6 \u8f6c\u5f2f   1.22   \u5f27\u5ea6 \u7684 \u89d2\u5ea6 \uff1a   #   ROS   1   rostopic   pub   / carla / ego _ vehicle / ackermann _ cmd   ackermann _ msgs / AckermannDrive   \" { steering _ angle :   1.22 ,   steering _ angle _ velocity :   0.0 ,   speed :   10 ,   acceleration :   0.0 ,   jerk :   0.0 } \"   - r   10   #   ROS   2   ros2   topic   pub   / carla / ego _ vehicle / ackermann _ cmd   ackermann _ msgs / AckermannDrive   \" { steering _ angle :   1.22 ,   steering _ angle _ velocity :   0.0 ,   speed :   10 ,   acceleration :   0.0 ,   jerk :   0.0 } \"   - r   10   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u8ba2\u9605   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / ackermann _ cmd   ackermann _ msgs . AckermannDrive   \u8f6c\u5411 \u547d\u4ee4 \u7684   \u8ba2\u9605 \u8005   \u53d1\u5e03   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / ackermann _ control / control _ info   carla _ ackermann _ control . EgoVehicleControlInfo   \u63a7\u5236 \u63a7\u5236\u5668 \u5185 \u4f7f\u7528 \u7684 \u5f53\u524d \u503c \uff08 \u5bf9\u4e8e \u8c03\u8bd5 \u6709\u7528 \uff09","title":"Carla   \u963f\u514b\u66fc \u63a7\u5236"},{"location":"carla_ackermann_control/#carla","text":"carla _ ackermann _ control   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305   \u7528\u4e8e \u901a\u8fc7 \u963f\u514b \u963f\u514b\u66fc \u6d88\u606f \u63a7\u5236   Carla   \u8f66\u8f86 \u3002 \u8be5\u5305 \u5c06   \u963f\u514b \u963f\u514b\u66fc \u6d88\u606f   \u8f6c\u6362 \u4e3a   CarlaEgoVehicleControl   \u6d88\u606f \u3002 \u5b83 \u4ece   Carla   \u8bfb\u53d6 \u8f66\u8f86 \u4fe1\u606f \uff0c \u5e76 \u5c06 \u8be5 \u4fe1\u606f \u4f20\u9012 \u7ed9 \u57fa\u4e8e   Python   \u7684   PID   \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u8c03\u7528   simple - pid   \u63a7\u5236 \u63a7\u5236\u5668 \u6765 \u63a7\u5236 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u548c \u901f\u5ea6 \u3002   \u914d\u7f6e   \u6d4b\u8bd5 \u63a7\u5236 \u6d88\u606f   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u8ba2\u9605   \u53d1\u5e03","title":"Carla   \u963f\u514b\u66fc \u63a7\u5236"},{"location":"carla_ackermann_control/#_1","text":"\u4f7f\u7528   ROS   1   \u548c   ROS   2   \u65f6 \uff0c \u53ef\u4ee5 \u5728   \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6   \u4e2d \u521d\u59cb \u8bbe\u7f6e \u53c2\u6570 \uff0c \u4e5f \u53ef\u4ee5 \u5728 \u8fd0\u884c \u65f6 \u901a\u8fc7   ROS   1   \u4e2d \u7684   ROS   \u52a8\u6001 \u91cd\u65b0 \u914d\u7f6e \u91cd\u65b0\u914d\u7f6e   \u6765 \u8bbe\u7f6e \u53c2\u6570 \u3002","title":"\u914d\u7f6e  "},{"location":"carla_ackermann_control/#_2","text":"\u901a\u8fc7 \u4e3b\u9898   / carla / < ROLE   NAME > / ackermann _ cmd   \u5411 \u6c7d\u8f66 \u53d1\u9001 \u547d\u4ee4 \u6765 \u6d4b\u8bd5 \u8bbe\u7f6e \u3002 \u4f8b\u5982 \uff0c \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4ee5   10   \u7c73 / \u79d2 \u7684 \u901f\u5ea6 \u79fb\u52a8 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0 \u4e3a   ego _ vehicle   \u7684 \u81ea\u6211 \u8f66\u8f86 \uff1a   #   ROS   1   rostopic   pub   / carla / ego _ vehicle / ackermann _ cmd   ackermann _ msgs / AckermannDrive   \" { steering _ angle :   0.0 ,   steering _ angle _ velocity :   0.0 ,   speed :   10 ,   acceleration :   0.0 ,   jerk :   0.0 } \"   - r   10   #   ROS   2   ros2   topic   pub   / carla / ego _ vehicle / ackermann _ cmd   ackermann _ msgs / AckermannDrive   \" { steering _ angle :   0.0 ,   steering _ angle _ velocity :   0.0 ,   speed :   10 ,   acceleration :   0.0 ,   jerk :   0.0 } \"   - r   10   \u6216\u8005 \u8ba9 \u8f66\u8f86 \u5411\u524d \u79fb\u52a8 \uff0c \u540c\u65f6 \u8f6c\u5f2f   1.22   \u5f27\u5ea6 \u7684 \u89d2\u5ea6 \uff1a   #   ROS   1   rostopic   pub   / carla / ego _ vehicle / ackermann _ cmd   ackermann _ msgs / AckermannDrive   \" { steering _ angle :   1.22 ,   steering _ angle _ velocity :   0.0 ,   speed :   10 ,   acceleration :   0.0 ,   jerk :   0.0 } \"   - r   10   #   ROS   2   ros2   topic   pub   / carla / ego _ vehicle / ackermann _ cmd   ackermann _ msgs / AckermannDrive   \" { steering _ angle :   1.22 ,   steering _ angle _ velocity :   0.0 ,   speed :   10 ,   acceleration :   0.0 ,   jerk :   0.0 } \"   - r   10","title":"\u6d4b\u8bd5 \u63a7\u5236 \u6d88\u606f  "},{"location":"carla_ackermann_control/#ros","text":"","title":"ROS   \u5e94\u7528 \u7a0b\u5e8f\u63a5\u53e3  "},{"location":"carla_ackermann_control/#_3","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / ackermann _ cmd   ackermann _ msgs . AckermannDrive   \u8f6c\u5411 \u547d\u4ee4 \u7684   \u8ba2\u9605 \u8005","title":"\u8ba2\u9605  "},{"location":"carla_ackermann_control/#_4","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / ackermann _ control / control _ info   carla _ ackermann _ control . EgoVehicleControlInfo   \u63a7\u5236 \u63a7\u5236\u5668 \u5185 \u4f7f\u7528 \u7684 \u5f53\u524d \u503c \uff08 \u5bf9\u4e8e \u8c03\u8bd5 \u6709\u7528 \uff09","title":"\u53d1\u5e03  "},{"location":"carla_ad_agent/","text":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406   \u662f \u4e00\u79cd \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \uff0c \u53ef\u4ee5 \u9075\u5faa \u7ed9\u5b9a \u8def\u7ebf \uff0c \u907f\u514d \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u53d1\u751f \u78b0\u649e \uff0c \u5e76 \u901a\u8fc7 \u8bbf\u95ee \u771f\u5b9e \u6570\u636e \u5c0a\u91cd \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u72b6\u6001 \u3002   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6f14\u793a   \u4f7f\u7528 \u5b83 \u6765 \u63d0\u4f9b \u5982\u4f55 \u4f7f\u7528   ROS   \u6865 \u7684 \u793a\u4f8b \u3002   \u9700\u6c42   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u8282\u70b9   \u53c2\u6570   \u8ba2\u9605   \u53d1\u5e03   \u672c\u5730 \u89c4\u5212 \u5668 \u8282\u70b9   \u53c2\u6570   \u53d1\u5e03   \u8ba2\u9605   \u5728 \u5185\u90e8 \uff0c Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u4f7f\u7528 \u5355\u72ec \u7684 \u8282\u70b9 \u8fdb\u884c   \u672c\u5730 \u89c4\u5212   \u3002 \u8be5 \u8282\u70b9 \u5df2 \u9488\u5bf9   vehicle . tesla . model3   \u8fdb\u884c \u4e86 \u4f18\u5316 \uff0c \u56e0\u4e3a \u5b83 \u6ca1\u6709 \u4efb\u4f55 \u6362\u6863 \u5ef6\u8fdf \u3002   PID   \u53c2\u6570 \u901a\u8fc7   Ziegler - Nichols \u65b9\u6cd5   \u91c7\u96c6 \u3002   \u9700\u6c42   \u4e3a\u4e86 \u80fd\u591f \u4f7f\u7528   carla _ ad _ agent   \uff0c \u9700\u8981 \u751f\u6210 \u6700\u5c11 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u96c6 \uff08 \u6709\u5173 \u5982\u4f55 \u751f\u6210 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Carla   \u751f\u6210 \u5bf9\u8c61   \uff1a   \u91cc\u7a0b \u91cc\u7a0b\u8ba1 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   (   sensor . pseudo . odom   ) \uff0c \u5176 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d   odometry   \u9644\u52a0 \u5230 \u8f66\u8f86 \u4e0a \u3002   \u4e00\u4e2a \u5bf9\u8c61 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   (   sensor . pseudo . objects   ) \uff0c \u5176 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d   objects   \u9644\u52a0 \u5230 \u8f66\u8f86 \u4e0a \u3002   \u5177\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0   traffic _ lights   \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   (   sensor . pseudo . traffic _ lights   )   \u3002   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u8282\u70b9   \u53c2\u6570   \u53c2\u6570   \u7c7b\u578b   \u63cf\u8ff0   role _ name   string   ( \u9ed8\u8ba4 \uff1a   ego _ vehicle   )   \u81ea\u6211 \u8f66\u8f86 \u7684   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0   avoid _ risk   bool   ( default :   true   )   \u5982\u679c \u4e3a \u771f \uff0c \u5219 \u907f\u514d \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u76f8\u649e \u5e76 \u5c0a\u91cd \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f   \u8ba2\u9605   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / target _ speed   std _ msgs / Float64   \u81ea\u6211 \u8f66\u8f86 \u7684 \u76ee\u6807 \u901f\u5ea6   / carla / < ROLE   NAME > / odometry   nav _ msgs / Odometry   \u81ea\u6211 \u8f66\u8f86 \u7684 \u91cc\u7a0b \u91cc\u7a0b\u8ba1   / carla / < ROLE   NAME > / vehicle _ info   carla _ msgs / CarlaEgoVehicleInfo   \u8bc6\u522b \u81ea\u6211 \u8f66\u8f86 \u7684   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005   id   / carla / < ROLE   NAME > / objects   derived _ object _ msgs / ObjectArray   \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4fe1\u606f   / carla / traffic _ lights / status   carla _ msgs / CarlaTrafficLightStatusList   \u83b7\u53d6 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u5f53\u524d \u72b6\u6001   / carla / traffic _ lights / info   carla _ msgs / CarlaTrafficLightInfoList   \u83b7\u53d6 \u6709\u5173 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u4fe1\u606f   \u53d1\u5e03   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / speed _ command   std _ msgs / Float64   \u76ee\u6807 \u901f\u5ea6   \u672c\u5730 \u89c4\u5212 \u5668 \u8282\u70b9   \u53c2\u6570   \u53c2\u6570   \u7c7b\u578b   \u63cf\u8ff0   role _ name   string   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   ego _ vehicle   )   \u81ea\u6211 \u8f66\u8f86 \u7684   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0   control _ time _ step   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.05   )   \u63a7\u5236 \u5faa\u73af \u901f\u7387   Kp _ lateral   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.9   )   \u6bd4\u4f8b \u9879 \u6a2a\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   Ki _ lateral   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.0   )   \u79ef\u5206 \u9879 \u6a2a\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   Kd _ lateral   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.0   )   \u5fae\u5206 \u9879 \u6a2a\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   Kp _ longitudinal   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.206   )   \u6bd4\u4f8b \u9879 \u7eb5\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   Ki _ longitudinal   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.0206   )   \u79ef\u5206 \u9879 \u7eb5\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   Kd _ longitudinal   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.515   )   \u5fae\u5206 \u9879 \u7eb5\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   \u8ba2\u9605   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / waypoints   nav _ msgs / Path   \u9075\u5faa \u7684 \u8def\u7ebf   / carla / < ROLE   NAME > / odometry   nav _ msgs / Odometry   \u81ea\u6211 \u8f66\u8f86 \u7684 \u91cc\u7a0b \u91cc\u7a0b\u8ba1   / carla / < ROLE   NAME > / speed _ command   std _ msgs / Float64   \u76ee\u6807 \u901f\u5ea6   \u53d1\u5e03   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / next _ target   visualization _ msgs / Marker   \u4e0b \u4e00\u4e2a \u76ee\u6807 \u59ff\u52bf \u6807\u8bb0   / carla / < ROLE   NAME > / vehicle _ control _ cmd   carla _ msgs / CarlaEgoVehicleControl   \u8f66\u8f86 \u63a7\u5236 \u6307\u4ee4 \u63a7\u5236\u6307\u4ee4","title":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406"},{"location":"carla_ad_agent/#carla","text":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406   \u662f \u4e00\u79cd \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \uff0c \u53ef\u4ee5 \u9075\u5faa \u7ed9\u5b9a \u8def\u7ebf \uff0c \u907f\u514d \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u53d1\u751f \u78b0\u649e \uff0c \u5e76 \u901a\u8fc7 \u8bbf\u95ee \u771f\u5b9e \u6570\u636e \u5c0a\u91cd \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u72b6\u6001 \u3002   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6f14\u793a   \u4f7f\u7528 \u5b83 \u6765 \u63d0\u4f9b \u5982\u4f55 \u4f7f\u7528   ROS   \u6865 \u7684 \u793a\u4f8b \u3002   \u9700\u6c42   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u8282\u70b9   \u53c2\u6570   \u8ba2\u9605   \u53d1\u5e03   \u672c\u5730 \u89c4\u5212 \u5668 \u8282\u70b9   \u53c2\u6570   \u53d1\u5e03   \u8ba2\u9605   \u5728 \u5185\u90e8 \uff0c Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u4f7f\u7528 \u5355\u72ec \u7684 \u8282\u70b9 \u8fdb\u884c   \u672c\u5730 \u89c4\u5212   \u3002 \u8be5 \u8282\u70b9 \u5df2 \u9488\u5bf9   vehicle . tesla . model3   \u8fdb\u884c \u4e86 \u4f18\u5316 \uff0c \u56e0\u4e3a \u5b83 \u6ca1\u6709 \u4efb\u4f55 \u6362\u6863 \u5ef6\u8fdf \u3002   PID   \u53c2\u6570 \u901a\u8fc7   Ziegler - Nichols \u65b9\u6cd5   \u91c7\u96c6 \u3002","title":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406"},{"location":"carla_ad_agent/#_1","text":"\u4e3a\u4e86 \u80fd\u591f \u4f7f\u7528   carla _ ad _ agent   \uff0c \u9700\u8981 \u751f\u6210 \u6700\u5c11 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u96c6 \uff08 \u6709\u5173 \u5982\u4f55 \u751f\u6210 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Carla   \u751f\u6210 \u5bf9\u8c61   \uff1a   \u91cc\u7a0b \u91cc\u7a0b\u8ba1 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   (   sensor . pseudo . odom   ) \uff0c \u5176 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d   odometry   \u9644\u52a0 \u5230 \u8f66\u8f86 \u4e0a \u3002   \u4e00\u4e2a \u5bf9\u8c61 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   (   sensor . pseudo . objects   ) \uff0c \u5176 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d   objects   \u9644\u52a0 \u5230 \u8f66\u8f86 \u4e0a \u3002   \u5177\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0   traffic _ lights   \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   (   sensor . pseudo . traffic _ lights   )   \u3002","title":"\u9700\u6c42  "},{"location":"carla_ad_agent/#ros","text":"","title":"ROS   \u5e94\u7528 \u7a0b\u5e8f\u63a5\u53e3    "},{"location":"carla_ad_agent/#_2","text":"","title":"\u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u8282\u70b9  "},{"location":"carla_ad_agent/#_3","text":"\u53c2\u6570   \u7c7b\u578b   \u63cf\u8ff0   role _ name   string   ( \u9ed8\u8ba4 \uff1a   ego _ vehicle   )   \u81ea\u6211 \u8f66\u8f86 \u7684   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0   avoid _ risk   bool   ( default :   true   )   \u5982\u679c \u4e3a \u771f \uff0c \u5219 \u907f\u514d \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u76f8\u649e \u5e76 \u5c0a\u91cd \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f","title":"\u53c2\u6570  "},{"location":"carla_ad_agent/#_4","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / target _ speed   std _ msgs / Float64   \u81ea\u6211 \u8f66\u8f86 \u7684 \u76ee\u6807 \u901f\u5ea6   / carla / < ROLE   NAME > / odometry   nav _ msgs / Odometry   \u81ea\u6211 \u8f66\u8f86 \u7684 \u91cc\u7a0b \u91cc\u7a0b\u8ba1   / carla / < ROLE   NAME > / vehicle _ info   carla _ msgs / CarlaEgoVehicleInfo   \u8bc6\u522b \u81ea\u6211 \u8f66\u8f86 \u7684   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005   id   / carla / < ROLE   NAME > / objects   derived _ object _ msgs / ObjectArray   \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4fe1\u606f   / carla / traffic _ lights / status   carla _ msgs / CarlaTrafficLightStatusList   \u83b7\u53d6 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u5f53\u524d \u72b6\u6001   / carla / traffic _ lights / info   carla _ msgs / CarlaTrafficLightInfoList   \u83b7\u53d6 \u6709\u5173 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u4fe1\u606f","title":"\u8ba2\u9605  "},{"location":"carla_ad_agent/#_5","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / speed _ command   std _ msgs / Float64   \u76ee\u6807 \u901f\u5ea6","title":"\u53d1\u5e03  "},{"location":"carla_ad_agent/#_6","text":"","title":"\u672c\u5730 \u89c4\u5212 \u5668 \u8282\u70b9  "},{"location":"carla_ad_agent/#_7","text":"\u53c2\u6570   \u7c7b\u578b   \u63cf\u8ff0   role _ name   string   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   ego _ vehicle   )   \u81ea\u6211 \u8f66\u8f86 \u7684   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0   control _ time _ step   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.05   )   \u63a7\u5236 \u5faa\u73af \u901f\u7387   Kp _ lateral   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.9   )   \u6bd4\u4f8b \u9879 \u6a2a\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   Ki _ lateral   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.0   )   \u79ef\u5206 \u9879 \u6a2a\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   Kd _ lateral   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.0   )   \u5fae\u5206 \u9879 \u6a2a\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   Kp _ longitudinal   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.206   )   \u6bd4\u4f8b \u9879 \u7eb5\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   Ki _ longitudinal   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.0206   )   \u79ef\u5206 \u9879 \u7eb5\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668   Kd _ longitudinal   float   ( \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   0.515   )   \u5fae\u5206 \u9879 \u7eb5\u5411 PID \u63a7\u5236 \u63a7\u5236\u5668","title":"\u53c2\u6570  "},{"location":"carla_ad_agent/#_8","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / waypoints   nav _ msgs / Path   \u9075\u5faa \u7684 \u8def\u7ebf   / carla / < ROLE   NAME > / odometry   nav _ msgs / Odometry   \u81ea\u6211 \u8f66\u8f86 \u7684 \u91cc\u7a0b \u91cc\u7a0b\u8ba1   / carla / < ROLE   NAME > / speed _ command   std _ msgs / Float64   \u76ee\u6807 \u901f\u5ea6","title":"\u8ba2\u9605  "},{"location":"carla_ad_agent/#_9","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / next _ target   visualization _ msgs / Marker   \u4e0b \u4e00\u4e2a \u76ee\u6807 \u59ff\u52bf \u6807\u8bb0   / carla / < ROLE   NAME > / vehicle _ control _ cmd   carla _ msgs / CarlaEgoVehicleControl   \u8f66\u8f86 \u63a7\u5236 \u6307\u4ee4 \u63a7\u5236\u6307\u4ee4","title":"\u53d1\u5e03  "},{"location":"carla_ad_demo/","text":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6f14\u793a   \u81ea\u52a8 \u9a7e\u9a76   \u662f \u4e00\u4e2a \u793a\u4f8b \u5305 \uff0c \u63d0\u4f9b \u4f7f\u7528 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u542f\u52a8   Carla   ROS   \u73af\u5883 \u6240 \u9700 \u7684 \u4e00\u5207 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u8fd0\u884c \u6f14\u793a   \u968f\u673a \u8def\u7ebf   \u573a\u666f \u6267\u884c   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5b89\u88c5   Scenario   Runner   \u5e76 \u6309\u7167   Scenario   Runner   \u5165\u95e8 \u6559\u7a0b \u5165\u95e8\u6559\u7a0b   \u9a8c\u8bc1 \u5176 \u662f\u5426 \u6b63\u5e38 \u5de5\u4f5c \u3002   \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u4ee5 \u67e5\u627e   Scenario   Runner   \u5b89\u88c5 \uff1a   export   SCENARIO _ RUNNER _ PATH = < path _ to _ scenario _ runner >   \u8fd0\u884c \u6f14\u793a   \u968f\u673a \u8def\u7ebf   \u8981 \u542f\u52a8 \u81ea\u6211 \u8f66\u8f86 \u9075\u5faa \u968f\u673a \u751f\u6210 \u7684 \u8def\u7ebf \u7684 \u6f14\u793a \uff0c \u8bf7 \u5728 \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   ROS   1   roslaunch   carla _ ad _ demo   carla _ ad _ demo . launch   #   ROS   2   ros2   launch   carla _ ad _ demo   carla _ ad _ demo . launch . py   \u60a8 \u8fd8 \u53ef\u4ee5 \u901a\u8fc7 \u5728 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u4e2d \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u751f\u6210 \u66f4 \u591a \u8f66\u8f86 \u6216 \u884c\u4eba \uff1a   cd   < CARLA _ PATH > / PythonAPI / examples /   python3   spawn _ npc . py   \u573a\u666f \u6267\u884c   \u8981 \u4f7f\u7528 \u9884\u5b9a \u4e49 \u573a\u666f \u6267\u884c \u6f14\u793a \uff0c \u8bf7 \u5728 \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   ROS1   roslaunch   carla _ ad _ demo   carla _ ad _ demo _ with _ scenario . launch   #   ROS2   ros2   launch   carla _ ad _ demo   carla _ ad _ demo _ with _ scenario . launch . py   \u5728   RVIZ   Carla   \u63d2\u4ef6 \u4e2d \u9009\u62e9 \u793a\u4f8b \u573a\u666f \u201c FollowLeadingVehicle \u201d \uff0c \u7136\u540e \u6309 \u201c \u6267\u884c \u201d \u3002 \u81ea\u6211 \u8f66\u8f86 \u91cd\u65b0 \u5b9a\u4f4d \u5e76 \u5904\u7406 \u573a\u666f \u3002   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u53d1\u5e03 \u5230   / carla / available _ scenarios   \u6765 \u6307\u5b9a \u81ea\u5df1 \u7684 \u573a\u666f \u3002   \u542f\u52a8 \u6587\u4ef6   \u663e\u793a \u4e86 \u5982\u4f55 \u6267\u884c \u6b64 \u64cd\u4f5c \u7684 \u793a\u4f8b \uff1a   < node   pkg = \" rostopic \"   type = \" rostopic \"   name = \" publish _ scenarios \"   args = \" pub   / carla / available _ scenarios   carla _ ros _ scenario _ runner _ types / CarlaScenarioList   ' {   ' scenarios ' :   [   {   ' name ' :   ' FollowLeadingVehicle ' ,   ' scenario _ file ' :   ' $ ( find   carla _ ad _ demo ) / config / FollowLeadingVehicle . xosc '   }   ]   } '   - l \" / >","title":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6f14\u793a"},{"location":"carla_ad_demo/#carla","text":"\u81ea\u52a8 \u9a7e\u9a76   \u662f \u4e00\u4e2a \u793a\u4f8b \u5305 \uff0c \u63d0\u4f9b \u4f7f\u7528 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u542f\u52a8   Carla   ROS   \u73af\u5883 \u6240 \u9700 \u7684 \u4e00\u5207 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u8fd0\u884c \u6f14\u793a   \u968f\u673a \u8def\u7ebf   \u573a\u666f \u6267\u884c","title":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6f14\u793a"},{"location":"carla_ad_demo/#_1","text":"\u5b89\u88c5   Scenario   Runner   \u5e76 \u6309\u7167   Scenario   Runner   \u5165\u95e8 \u6559\u7a0b \u5165\u95e8\u6559\u7a0b   \u9a8c\u8bc1 \u5176 \u662f\u5426 \u6b63\u5e38 \u5de5\u4f5c \u3002   \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u4ee5 \u67e5\u627e   Scenario   Runner   \u5b89\u88c5 \uff1a   export   SCENARIO _ RUNNER _ PATH = < path _ to _ scenario _ runner >","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"carla_ad_demo/#_2","text":"","title":"\u8fd0\u884c \u6f14\u793a  "},{"location":"carla_ad_demo/#_3","text":"\u8981 \u542f\u52a8 \u81ea\u6211 \u8f66\u8f86 \u9075\u5faa \u968f\u673a \u751f\u6210 \u7684 \u8def\u7ebf \u7684 \u6f14\u793a \uff0c \u8bf7 \u5728 \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   ROS   1   roslaunch   carla _ ad _ demo   carla _ ad _ demo . launch   #   ROS   2   ros2   launch   carla _ ad _ demo   carla _ ad _ demo . launch . py   \u60a8 \u8fd8 \u53ef\u4ee5 \u901a\u8fc7 \u5728 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u4e2d \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u751f\u6210 \u66f4 \u591a \u8f66\u8f86 \u6216 \u884c\u4eba \uff1a   cd   < CARLA _ PATH > / PythonAPI / examples /   python3   spawn _ npc . py","title":"\u968f\u673a \u8def\u7ebf  "},{"location":"carla_ad_demo/#_4","text":"\u8981 \u4f7f\u7528 \u9884\u5b9a \u4e49 \u573a\u666f \u6267\u884c \u6f14\u793a \uff0c \u8bf7 \u5728 \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   ROS1   roslaunch   carla _ ad _ demo   carla _ ad _ demo _ with _ scenario . launch   #   ROS2   ros2   launch   carla _ ad _ demo   carla _ ad _ demo _ with _ scenario . launch . py   \u5728   RVIZ   Carla   \u63d2\u4ef6 \u4e2d \u9009\u62e9 \u793a\u4f8b \u573a\u666f \u201c FollowLeadingVehicle \u201d \uff0c \u7136\u540e \u6309 \u201c \u6267\u884c \u201d \u3002 \u81ea\u6211 \u8f66\u8f86 \u91cd\u65b0 \u5b9a\u4f4d \u5e76 \u5904\u7406 \u573a\u666f \u3002   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u53d1\u5e03 \u5230   / carla / available _ scenarios   \u6765 \u6307\u5b9a \u81ea\u5df1 \u7684 \u573a\u666f \u3002   \u542f\u52a8 \u6587\u4ef6   \u663e\u793a \u4e86 \u5982\u4f55 \u6267\u884c \u6b64 \u64cd\u4f5c \u7684 \u793a\u4f8b \uff1a   < node   pkg = \" rostopic \"   type = \" rostopic \"   name = \" publish _ scenarios \"   args = \" pub   / carla / available _ scenarios   carla _ ros _ scenario _ runner _ types / CarlaScenarioList   ' {   ' scenarios ' :   [   {   ' name ' :   ' FollowLeadingVehicle ' ,   ' scenario _ file ' :   ' $ ( find   carla _ ad _ demo ) / config / FollowLeadingVehicle . xosc '   }   ]   } '   - l \" / >","title":"\u573a\u666f \u6267\u884c  "},{"location":"carla_design/","text":"Carla   \u8bbe\u8ba1   \u672c \u6587\u6863 \u5c1a \u5728 \u7f16\u5199 \u4e2d \uff0c \u53ef\u80fd \u4e0d \u5b8c\u6574 \u3002   Carla \u7531 \u4ee5\u4e0b \u6a21\u5757 \u7ec4\u6210   \u5ba2\u6237 \u5ba2\u6237\u7aef   Python   \u5ba2\u6237 \u5ba2\u6237\u7aef   API \uff1a \u201c PythonClient / carla \u201d   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef   CarlaUE4   \u865a\u5e7b \u5f15\u64ce \u9879\u76ee \uff1a \u201c Unreal / CarlaUE4 \u201d   \u865a\u5e7b \u5f15\u64ce \u7684   Carla   \u63d2\u4ef6 \uff1a \u201c Unreal / CarlaUE4 / Plugins / Carla \u201d   Carla \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff1a \u201c Util / CarlaServer \u201d   \u7b14\u8bb0   \u901a\u8fc7 \u5728   Carla   \u9879\u76ee \u4e3b \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c   Doxygen   \u53ef\u4ee5 \u751f\u6210   C++   \u4ee3\u7801 \u7684 \u6587\u6863   \u3002   Python   \u5ba2\u6237 \u5ba2\u6237\u7aef   API   \u5ba2\u6237 \u5ba2\u6237\u7aef   API   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u7528\u4e8e \u4e0e   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u7684   Python   \u6a21\u5757 \u3002 \u5728 \u201c PythonClient \u201d \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u6211\u4eec \u63d0\u4f9b \u4e86 \u51e0\u4e2a \u4f7f\u7528 \u201c carla \u201d \u6a21\u5757 \u7f16\u5199   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u811a\u672c \u7684 \u793a\u4f8b \u3002   CarlaUE4   \u865a\u5e7b \u5f15\u64ce \u9879\u76ee   Unreal   \u9879\u76ee \u201c CarlaUE4 \u201d \u5305\u542b \u751f\u6210   Carla   \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u7684 \u6240\u6709 \u8d44\u4ea7 \u548c \u573a\u666f \u3002 \u5b83 \u4f7f\u7528   Carla   \u63d2\u4ef6 \u63d0\u4f9b \u7684 \u5de5\u5177 \u6765 \u7ec4\u88c5 \u573a\u666f \u4e2d \u7684 \u57ce\u5e02 \u548c \u4ee3\u7406 \u7684 \u884c\u4e3a \u3002   \u865a\u5e7b \u5f15\u64ce \u7684   Carla   \u63d2\u4ef6   Carla   \u63d2\u4ef6 \u5305\u542b   Carla   \u7684 \u6240\u6709 \u529f\u80fd \u3002 \u6211\u4eec \u5c1d\u8bd5 \u5c06 \u6b64 \u529f\u80fd \u4e0e \u8d44\u4ea7 \u5206\u5f00 \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u5728 \u4efb\u4f55 \u865a\u5e7b \u5f15\u64ce \u9879\u76ee \u4e2d \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u591a\u5730 \u4f7f\u7528 \u6b64 \u63d2\u4ef6 \u4e2d \u7684 \u529f\u80fd \u3002   \u5b83 \u4f7f\u7528 \u201c CarlaServer \u201d \u5e93 \u8fdb\u884c \u7f51\u7edc \u901a\u4fe1 \u7f51\u7edc\u901a\u4fe1 \u3002   CarlaServer   \u7528\u4e8e \u7f51\u7edc \u901a\u4fe1 \u7f51\u7edc\u901a\u4fe1 \u7684 \u5916\u90e8 \u5e93 \u3002   \u6709\u5173 \u5b9e\u65bd \u7ec6\u8282 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u201c   CarlaServer   \u201d   \u3002","title":"Carla   \u8bbe\u8ba1"},{"location":"carla_design/#carla","text":"\u672c \u6587\u6863 \u5c1a \u5728 \u7f16\u5199 \u4e2d \uff0c \u53ef\u80fd \u4e0d \u5b8c\u6574 \u3002   Carla \u7531 \u4ee5\u4e0b \u6a21\u5757 \u7ec4\u6210   \u5ba2\u6237 \u5ba2\u6237\u7aef   Python   \u5ba2\u6237 \u5ba2\u6237\u7aef   API \uff1a \u201c PythonClient / carla \u201d   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef   CarlaUE4   \u865a\u5e7b \u5f15\u64ce \u9879\u76ee \uff1a \u201c Unreal / CarlaUE4 \u201d   \u865a\u5e7b \u5f15\u64ce \u7684   Carla   \u63d2\u4ef6 \uff1a \u201c Unreal / CarlaUE4 / Plugins / Carla \u201d   Carla \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff1a \u201c Util / CarlaServer \u201d   \u7b14\u8bb0   \u901a\u8fc7 \u5728   Carla   \u9879\u76ee \u4e3b \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c   Doxygen   \u53ef\u4ee5 \u751f\u6210   C++   \u4ee3\u7801 \u7684 \u6587\u6863   \u3002","title":"Carla   \u8bbe\u8ba1"},{"location":"carla_design/#python-api","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef   API   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u7528\u4e8e \u4e0e   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u7684   Python   \u6a21\u5757 \u3002 \u5728 \u201c PythonClient \u201d \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u6211\u4eec \u63d0\u4f9b \u4e86 \u51e0\u4e2a \u4f7f\u7528 \u201c carla \u201d \u6a21\u5757 \u7f16\u5199   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u811a\u672c \u7684 \u793a\u4f8b \u3002","title":"Python   \u5ba2\u6237\u7aef   API"},{"location":"carla_design/#carlaue4","text":"Unreal   \u9879\u76ee \u201c CarlaUE4 \u201d \u5305\u542b \u751f\u6210   Carla   \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u7684 \u6240\u6709 \u8d44\u4ea7 \u548c \u573a\u666f \u3002 \u5b83 \u4f7f\u7528   Carla   \u63d2\u4ef6 \u63d0\u4f9b \u7684 \u5de5\u5177 \u6765 \u7ec4\u88c5 \u573a\u666f \u4e2d \u7684 \u57ce\u5e02 \u548c \u4ee3\u7406 \u7684 \u884c\u4e3a \u3002","title":"CarlaUE4   \u865a\u5e7b \u5f15\u64ce \u9879\u76ee"},{"location":"carla_design/#carla_1","text":"Carla   \u63d2\u4ef6 \u5305\u542b   Carla   \u7684 \u6240\u6709 \u529f\u80fd \u3002 \u6211\u4eec \u5c1d\u8bd5 \u5c06 \u6b64 \u529f\u80fd \u4e0e \u8d44\u4ea7 \u5206\u5f00 \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u5728 \u4efb\u4f55 \u865a\u5e7b \u5f15\u64ce \u9879\u76ee \u4e2d \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u591a\u5730 \u4f7f\u7528 \u6b64 \u63d2\u4ef6 \u4e2d \u7684 \u529f\u80fd \u3002   \u5b83 \u4f7f\u7528 \u201c CarlaServer \u201d \u5e93 \u8fdb\u884c \u7f51\u7edc \u901a\u4fe1 \u7f51\u7edc\u901a\u4fe1 \u3002","title":"\u865a\u5e7b \u5f15\u64ce \u7684   Carla   \u63d2\u4ef6"},{"location":"carla_design/#carlaserver","text":"\u7528\u4e8e \u7f51\u7edc \u901a\u4fe1 \u7f51\u7edc\u901a\u4fe1 \u7684 \u5916\u90e8 \u5e93 \u3002   \u6709\u5173 \u5b9e\u65bd \u7ec6\u8282 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u201c   CarlaServer   \u201d   \u3002","title":"CarlaServer"},{"location":"carla_headless/","text":"\u65e0 \u663e\u793a \u663e\u793a\u5c4f \u8fd0\u884c   CARLA   \u5e76 \u9009\u62e9   GPU   \u7b14\u8bb0   \u53c2\u9605 \u8bf7\u53c2\u9605   # 225   \u4e86\u89e3 \u66ff\u4ee3 \u65b9\u6cd5 \u3002   \u672c \u6559\u7a0b \u9002\u7528 \u4e8e   \u62e5\u6709 \u591a \u5f20   nvidia   \u663e\u5361 \u5e76 \u5e0c\u671b \u5728 \u6240\u6709   GPU   \u4e0a \u6709\u6548 \u4f7f\u7528   CARLA   \u7684 \u8fdc\u7a0b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7528\u6237 \u3002   \u60f3\u8981 \u4f7f\u7528 \u672a \u63d2 \u5728 \u5c4f\u5e55 \u4e0a \u7684 GPU \u6765 \u6e32\u67d3 CARLA \u7684 \u684c\u9762 \u7528\u6237 \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \u4f60 \u5c06 \u5b66\u4e60   \u5982\u4f55 \u914d\u7f6e \u60a8 \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u8ba9   nvidia   \u5728 \u672a \u8fde\u63a5 \u663e\u793a \u663e\u793a\u5668 \u7684 \u60c5\u51b5 \u4e0b \u8fdb\u884c \u6e32\u67d3 \u3002   \u5982\u4f55 \u4f7f\u7528   VNC   +   VGL   \u6a21\u62df \u8fde\u63a5 \u5230 \u60a8 \u673a\u5668 \u4e2d \u4efb\u4f55   GPU   \u7684 \u663e\u793a \u663e\u793a\u5668 \u3002   \u6700\u540e \uff0c \u5982\u4f55 \u5728 \u6b64 \u73af\u5883 \u8fd0\u884c \u73af\u5883\u4e2d\u8fd0\u884c   CARLA   \u672c \u6559\u7a0b \u5728   Ubuntu   16.04   \u4e2d \u4f7f\u7528   NVIDIA   384.11   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u8fdb\u884c \u4e86 \u6d4b\u8bd5 \u3002   \u51c6\u5907 \u5de5\u4f5c   \u60a8 \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e2d \u9700\u8981 \u5148 \u8fd0\u884c \u4e00\u4e9b \u7a0b\u5e8f \u3002 \u6700\u65b0 \u7684   NVIDIA   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u3001 OpenGL \u3001 VirtualGL ( VGL ) \u3001 TurboVNC   2.11 \u3002   NVIDIA   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f   \u4e0b\u8f7d \u5e76 \u5b89\u88c5   NVIDIA   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f   \u4ee5\u53ca \u5178\u578b \u6559\u7a0b \u3002   OpenGL   Openg   GL   \u662f   Virtual   GL   \u6240 \u5fc5\u9700 \u7684 \u3002 \u901a\u5e38 \u53ef\u4ee5 \u901a\u8fc7   apt   \u5b89\u88c5   OpenGL \u3002   sudo   apt - get   install   freeglut3 - dev   mesa - utils   VGL   \u6309\u7167 \u672c \u6559\u7a0b \u5b89\u88c5   vgl \uff1a   \u5b89\u88c5   VGL   TurboVNC   \u6309\u7167 \u4ee5\u4e0b \u6559\u7a0b \u5b89\u88c5   TurboVNC   2.11 \uff1a   \u5b89\u88c5   TurboVNC   \u8b66\u544a \uff1a \u8bf7 \u8c28\u614e \u5b89\u88c5   VNC \uff0c \u56e0\u4e3a \u5b83 \u53ef\u80fd \u4e0e   Unreal   \u4e0d \u517c\u5bb9 \u3002 \u4e0a\u9762 \u7684 \u90a3\u4e2a \u662f \u552f\u4e00 \u5bf9 \u6211 \u6709\u7528 \u7684 \u3002   \u989d\u5916 \u7684 \u5305   \u8fd9\u4e9b \u989d\u5916 \u7684 \u5305 \u5bf9\u4e8e \u865a\u5e7b \u5f15\u64ce \u7684 \u8fd0\u884c \u662f \u5fc5\u9700 \u7684 \u3002   ` ` ` shell   script   sudo   apt   install   x11 - xserver - utils   libxrandr - dev   ###   \u914d\u7f6e \u4f60 \u7684   X   \u60a8 \u5fc5\u987b \u751f\u6210 \u4e0e \u60a8 \u7684   nvdia   \u517c\u5bb9 \u7684   X \uff0c \u5e76\u4e14 \u517c\u5bb9 \u5728 \u65e0 \u663e\u793a \u7684 \u60c5\u51b5 \u4e0b \u8fd0\u884c \u3002 \u4e3a\u6b64 \uff0c \u4ee5\u4e0b \u547d\u4ee4 \u6709\u6548 \uff1a   ` ` ` shell   script   sudo   nvidia - xconfig   - a   -- use - display - device = None   -- virtual = 1280x1024   \u6a21\u62df \u865a\u62df \u663e\u793a   \u8fd0\u884c \u4f60 \u81ea\u5df1 \u7684   Xorg \u3002 \u8fd9\u91cc \u6211 \u4f7f\u7528 \u6570\u5b57   7 \uff0c \u4f46 \u5b83 \u53ef\u4ee5 \u6807\u8bb0 \u4e3a \u4efb\u4f55 \u81ea\u7531 \u6570\u5b57   ` ` ` shell   script   sudo   nohup   Xorg   : 7   &   \u8fd0\u884c \u8f85\u52a9 \u8fdc\u7a0b   VNC - Xserver \u3002 \u8fd9 \u5c06 \u521b\u5efa \u865a\u62df \u663e\u793a \u663e\u793a\u5668 \u201c 8 \u201d \u3002   ` ` ` shell   script   / opt / TurboVNC / bin / vncserver   : 8   \u5982\u679c \u4e00\u5207 \u6b63\u5e38 \u4e00\u5207\u6b63\u5e38 \uff0c \u4ee5\u4e0b \u547d\u4ee4 \u5e94\u8be5 \u53ef\u4ee5 \u987a\u5229 \u8fd0\u884c \u3002   ` ` ` shell   script   DISPLAY = : 8   vglrun   - d   : 7.0   glxinfo   \u6ce8\u610f \u3002 \u8fd9 \u5c06 \u5728   Xserver   7 \u3001 \u8bbe\u5907   0   \u4e0a \u8fd0\u884c   glxinfo \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u60a8 \u6b63\u5728 \u9009\u62e9 \u673a\u5668 \u4e0a \u7684   GPU   0 \u3002 \u8981 \u5728 \u5176\u4ed6   GPU \uff08 \u4f8b\u5982   GPU   1 \uff09 \u4e0a \u8fd0\u884c \uff0c \u8bf7 \u8fd0\u884c \uff1a   ` ` ` shell   script   DISPLAY = : 8   vglrun   - d   : 7.1   glxinfo   \u989d\u5916 \u7684   \u5982\u679c \u60a8 \u5e0c\u671b \u5728 \u521b\u5efa \u201c nohup   Xorg \u201d \u65f6 \u7981\u7528   sudo \uff0c \u8bf7 \u8f6c\u5230 \u201c / etc / X11 / Xwrapper . config \u201d \u6587\u4ef6 \u5e76 \u5c06 \u201c allowed _ users = console \u201d \u66f4 \u6539\u4e3a \u201c allowed _ users = anybody \u201d   \u5728 \u8fd0\u884c   nohup   Xorg   \u4e4b\u524d \u53ef\u80fd \u9700\u8981 \u505c\u6b62 \u6240\u6709   Xorg   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u8be5 \u547d\u4ee4 \u53ef\u80fd \u56e0 \u60a8 \u7684 \u7cfb\u7edf \u800c\u5f02 \u3002 \u901a\u5e38 \u5bf9\u4e8e   Ubuntu   16.04 \uff0c \u60a8 \u5e94\u8be5 \u4f7f\u7528 \uff1a   ` ` ` shell   script   sudo   service   lightdm   stop   ##   \u8fd0\u884c   CARLA   \u73b0\u5728 \uff0c \u6700\u540e \uff0c \u8981 \u5728 \u67d0\u4e2a   $ CARLA _ PATH   \u4e2d \u7684 \u67d0\u4e2a   gpu _ number   \u4e0a \u8fd0\u884c   CARLA \uff0c \u8bf7 \u8fd0\u884c \u3002   ` ` ` shell   script   DISPLAY = : 8   vglrun   - d   : 7 . < gpu _ number >   $ CARLA _ PATH / CarlaUE4 / Binaries / Linux / CarlaUE4","title":"\u65e0 \u663e\u793a\u5c4f \u8fd0\u884c   CARLA   \u5e76 \u9009\u62e9   GPU"},{"location":"carla_headless/#carla-gpu","text":"\u7b14\u8bb0   \u53c2\u9605 \u8bf7\u53c2\u9605   # 225   \u4e86\u89e3 \u66ff\u4ee3 \u65b9\u6cd5 \u3002   \u672c \u6559\u7a0b \u9002\u7528 \u4e8e   \u62e5\u6709 \u591a \u5f20   nvidia   \u663e\u5361 \u5e76 \u5e0c\u671b \u5728 \u6240\u6709   GPU   \u4e0a \u6709\u6548 \u4f7f\u7528   CARLA   \u7684 \u8fdc\u7a0b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7528\u6237 \u3002   \u60f3\u8981 \u4f7f\u7528 \u672a \u63d2 \u5728 \u5c4f\u5e55 \u4e0a \u7684 GPU \u6765 \u6e32\u67d3 CARLA \u7684 \u684c\u9762 \u7528\u6237 \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \u4f60 \u5c06 \u5b66\u4e60   \u5982\u4f55 \u914d\u7f6e \u60a8 \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u8ba9   nvidia   \u5728 \u672a \u8fde\u63a5 \u663e\u793a \u663e\u793a\u5668 \u7684 \u60c5\u51b5 \u4e0b \u8fdb\u884c \u6e32\u67d3 \u3002   \u5982\u4f55 \u4f7f\u7528   VNC   +   VGL   \u6a21\u62df \u8fde\u63a5 \u5230 \u60a8 \u673a\u5668 \u4e2d \u4efb\u4f55   GPU   \u7684 \u663e\u793a \u663e\u793a\u5668 \u3002   \u6700\u540e \uff0c \u5982\u4f55 \u5728 \u6b64 \u73af\u5883 \u8fd0\u884c \u73af\u5883\u4e2d\u8fd0\u884c   CARLA   \u672c \u6559\u7a0b \u5728   Ubuntu   16.04   \u4e2d \u4f7f\u7528   NVIDIA   384.11   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u8fdb\u884c \u4e86 \u6d4b\u8bd5 \u3002","title":"\u65e0 \u663e\u793a\u5c4f \u8fd0\u884c   CARLA   \u5e76 \u9009\u62e9   GPU"},{"location":"carla_headless/#_1","text":"\u60a8 \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e2d \u9700\u8981 \u5148 \u8fd0\u884c \u4e00\u4e9b \u7a0b\u5e8f \u3002 \u6700\u65b0 \u7684   NVIDIA   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u3001 OpenGL \u3001 VirtualGL ( VGL ) \u3001 TurboVNC   2.11 \u3002","title":"\u51c6\u5907 \u5de5\u4f5c"},{"location":"carla_headless/#nvidia","text":"\u4e0b\u8f7d \u5e76 \u5b89\u88c5   NVIDIA   \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f   \u4ee5\u53ca \u5178\u578b \u6559\u7a0b \u3002","title":"NVIDIA   \u9a71\u52a8\u7a0b\u5e8f"},{"location":"carla_headless/#opengl","text":"Openg   GL   \u662f   Virtual   GL   \u6240 \u5fc5\u9700 \u7684 \u3002 \u901a\u5e38 \u53ef\u4ee5 \u901a\u8fc7   apt   \u5b89\u88c5   OpenGL \u3002   sudo   apt - get   install   freeglut3 - dev   mesa - utils","title":"OpenGL"},{"location":"carla_headless/#vgl","text":"\u6309\u7167 \u672c \u6559\u7a0b \u5b89\u88c5   vgl \uff1a   \u5b89\u88c5   VGL","title":"VGL"},{"location":"carla_headless/#turbovnc","text":"\u6309\u7167 \u4ee5\u4e0b \u6559\u7a0b \u5b89\u88c5   TurboVNC   2.11 \uff1a   \u5b89\u88c5   TurboVNC   \u8b66\u544a \uff1a \u8bf7 \u8c28\u614e \u5b89\u88c5   VNC \uff0c \u56e0\u4e3a \u5b83 \u53ef\u80fd \u4e0e   Unreal   \u4e0d \u517c\u5bb9 \u3002 \u4e0a\u9762 \u7684 \u90a3\u4e2a \u662f \u552f\u4e00 \u5bf9 \u6211 \u6709\u7528 \u7684 \u3002","title":"TurboVNC"},{"location":"carla_headless/#_2","text":"\u8fd9\u4e9b \u989d\u5916 \u7684 \u5305 \u5bf9\u4e8e \u865a\u5e7b \u5f15\u64ce \u7684 \u8fd0\u884c \u662f \u5fc5\u9700 \u7684 \u3002   ` ` ` shell   script   sudo   apt   install   x11 - xserver - utils   libxrandr - dev   ###   \u914d\u7f6e \u4f60 \u7684   X   \u60a8 \u5fc5\u987b \u751f\u6210 \u4e0e \u60a8 \u7684   nvdia   \u517c\u5bb9 \u7684   X \uff0c \u5e76\u4e14 \u517c\u5bb9 \u5728 \u65e0 \u663e\u793a \u7684 \u60c5\u51b5 \u4e0b \u8fd0\u884c \u3002 \u4e3a\u6b64 \uff0c \u4ee5\u4e0b \u547d\u4ee4 \u6709\u6548 \uff1a   ` ` ` shell   script   sudo   nvidia - xconfig   - a   -- use - display - device = None   -- virtual = 1280x1024","title":"\u989d\u5916 \u7684 \u5305"},{"location":"carla_headless/#_3","text":"\u8fd0\u884c \u4f60 \u81ea\u5df1 \u7684   Xorg \u3002 \u8fd9\u91cc \u6211 \u4f7f\u7528 \u6570\u5b57   7 \uff0c \u4f46 \u5b83 \u53ef\u4ee5 \u6807\u8bb0 \u4e3a \u4efb\u4f55 \u81ea\u7531 \u6570\u5b57   ` ` ` shell   script   sudo   nohup   Xorg   : 7   &   \u8fd0\u884c \u8f85\u52a9 \u8fdc\u7a0b   VNC - Xserver \u3002 \u8fd9 \u5c06 \u521b\u5efa \u865a\u62df \u663e\u793a \u663e\u793a\u5668 \u201c 8 \u201d \u3002   ` ` ` shell   script   / opt / TurboVNC / bin / vncserver   : 8   \u5982\u679c \u4e00\u5207 \u6b63\u5e38 \u4e00\u5207\u6b63\u5e38 \uff0c \u4ee5\u4e0b \u547d\u4ee4 \u5e94\u8be5 \u53ef\u4ee5 \u987a\u5229 \u8fd0\u884c \u3002   ` ` ` shell   script   DISPLAY = : 8   vglrun   - d   : 7.0   glxinfo   \u6ce8\u610f \u3002 \u8fd9 \u5c06 \u5728   Xserver   7 \u3001 \u8bbe\u5907   0   \u4e0a \u8fd0\u884c   glxinfo \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u60a8 \u6b63\u5728 \u9009\u62e9 \u673a\u5668 \u4e0a \u7684   GPU   0 \u3002 \u8981 \u5728 \u5176\u4ed6   GPU \uff08 \u4f8b\u5982   GPU   1 \uff09 \u4e0a \u8fd0\u884c \uff0c \u8bf7 \u8fd0\u884c \uff1a   ` ` ` shell   script   DISPLAY = : 8   vglrun   - d   : 7.1   glxinfo","title":"\u6a21\u62df \u865a\u62df \u663e\u793a"},{"location":"carla_headless/#_4","text":"\u5982\u679c \u60a8 \u5e0c\u671b \u5728 \u521b\u5efa \u201c nohup   Xorg \u201d \u65f6 \u7981\u7528   sudo \uff0c \u8bf7 \u8f6c\u5230 \u201c / etc / X11 / Xwrapper . config \u201d \u6587\u4ef6 \u5e76 \u5c06 \u201c allowed _ users = console \u201d \u66f4 \u6539\u4e3a \u201c allowed _ users = anybody \u201d   \u5728 \u8fd0\u884c   nohup   Xorg   \u4e4b\u524d \u53ef\u80fd \u9700\u8981 \u505c\u6b62 \u6240\u6709   Xorg   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u8be5 \u547d\u4ee4 \u53ef\u80fd \u56e0 \u60a8 \u7684 \u7cfb\u7edf \u800c\u5f02 \u3002 \u901a\u5e38 \u5bf9\u4e8e   Ubuntu   16.04 \uff0c \u60a8 \u5e94\u8be5 \u4f7f\u7528 \uff1a   ` ` ` shell   script   sudo   service   lightdm   stop   ##   \u8fd0\u884c   CARLA   \u73b0\u5728 \uff0c \u6700\u540e \uff0c \u8981 \u5728 \u67d0\u4e2a   $ CARLA _ PATH   \u4e2d \u7684 \u67d0\u4e2a   gpu _ number   \u4e0a \u8fd0\u884c   CARLA \uff0c \u8bf7 \u8fd0\u884c \u3002   ` ` ` shell   script   DISPLAY = : 8   vglrun   - d   : 7 . < gpu _ number >   $ CARLA _ PATH / CarlaUE4 / Binaries / Linux / CarlaUE4","title":"\u989d\u5916 \u7684"},{"location":"carla_manual_control/","text":"Carla   \u624b\u52a8 \u63a7\u5236   CARLA   \u624b\u52a8 \u63a7\u5236 \u5305   \u662f \u4e0e   Carla   \u4e00\u8d77 \u6253\u5305 \u7684   manual _ control . py   \u811a\u672c \u7684 \u4ec5   ROS   \u7248\u672c \u3002 \u6240\u6709 \u6570\u636e \u5747 \u901a\u8fc7   ROS   \u4e3b\u9898 \u63a5\u6536 \u3002   \u9700\u6c42   \u8fd0\u884c \u5305   \u9700\u6c42   \u4e3a\u4e86 \u80fd\u591f \u4f7f\u7528   carla _ manual _ control   \uff0c \u9700\u8981 \u5c06 \u4e00\u4e9b \u7279\u5b9a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fde\u63a5 \u5230 \u81ea\u6211 \u8f66\u8f86 \uff08 \u6709\u5173 \u5982\u4f55 \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u7684 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Carla   \u751f\u6210 \u5bf9\u8c61   \u5bf9\u8c61 \uff09 \uff1a   to   display   an   image   :   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u4e3a   rgb _ view   \u548c \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u4e3a   800x600   \u7684 \u76f8\u673a \u3002   to   display   the   current   position   :   \u5177\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0   gnss   \u7684 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u5177\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d   odometry   \u7684 \u91cc\u7a0b \u91cc\u7a0b\u8ba1 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   to   get   a   notification   on   lane   invasions   :   \u5177\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d   lane _ invasion   \u7684 \u538b\u7ebf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   to   get   a   notification   on   collisons   :   \u5177\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d   collision   \u7684 \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u8fd0\u884c \u5305   \u8981 \u8fd0\u884c \u5305 \uff1a   1 .   \u786e\u4fdd   Carla   \u6b63\u5728 \u8fd0\u884c \u3002 \u542f\u52a8   ROS   \u6865 \uff1a   #   ROS   1   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge . launch   #   ROS   2   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge . launch . py   2 .   \u751f\u6210 \u5bf9\u8c61 \uff1a   #   ROS   1   roslaunch   carla _ spawn _ objects   carla _ spawn _ objects . launch   #   ROS   2   ros2   launch   carla _ spawn _ objects   carla _ spawn _ objects . launch . py   3 .   \u542f\u52a8   carla _ manual _ control   \u8282\u70b9 \uff1a   #   ROS   1   roslaunch   carla _ manual _ control   carla _ manual _ control . launch   #   ROS   2   ros2   launch   carla _ manual _ control   carla _ manual _ control . launch . py   4 .   \u8981 \u624b\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \uff0c \u8bf7 \u6309 \u201c B \u201d \u3002 \u6309 \u201c H \u201d \u67e5\u770b \u8bf4\u660e \u3002   \u6216\u8005 \uff0c \u5c06 \u4e0a\u8ff0 \u6240\u6709 \u547d\u4ee4 \u7ec4\u5408 \u5408\u6210 \u7ec4\u5408\u6210 \u4e00\u4e2a \u5355\u72ec \u7684 \u542f\u52a8 \u6587\u4ef6 \uff0c \u5e76 \u53ef\u4ee5 \u901a\u8fc7 \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \u540c\u65f6 \u8fd0\u884c \uff1a   #   ROS   1   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch   #   ROS   2   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch . py","title":"Carla   \u624b\u52a8 \u63a7\u5236"},{"location":"carla_manual_control/#carla","text":"CARLA   \u624b\u52a8 \u63a7\u5236 \u5305   \u662f \u4e0e   Carla   \u4e00\u8d77 \u6253\u5305 \u7684   manual _ control . py   \u811a\u672c \u7684 \u4ec5   ROS   \u7248\u672c \u3002 \u6240\u6709 \u6570\u636e \u5747 \u901a\u8fc7   ROS   \u4e3b\u9898 \u63a5\u6536 \u3002   \u9700\u6c42   \u8fd0\u884c \u5305","title":"Carla   \u624b\u52a8 \u63a7\u5236"},{"location":"carla_manual_control/#_1","text":"\u4e3a\u4e86 \u80fd\u591f \u4f7f\u7528   carla _ manual _ control   \uff0c \u9700\u8981 \u5c06 \u4e00\u4e9b \u7279\u5b9a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fde\u63a5 \u5230 \u81ea\u6211 \u8f66\u8f86 \uff08 \u6709\u5173 \u5982\u4f55 \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u7684 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Carla   \u751f\u6210 \u5bf9\u8c61   \u5bf9\u8c61 \uff09 \uff1a   to   display   an   image   :   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u4e3a   rgb _ view   \u548c \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u4e3a   800x600   \u7684 \u76f8\u673a \u3002   to   display   the   current   position   :   \u5177\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0   gnss   \u7684 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u5177\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d   odometry   \u7684 \u91cc\u7a0b \u91cc\u7a0b\u8ba1 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   to   get   a   notification   on   lane   invasions   :   \u5177\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d   lane _ invasion   \u7684 \u538b\u7ebf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   to   get   a   notification   on   collisons   :   \u5177\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d   collision   \u7684 \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002","title":"\u9700\u6c42  "},{"location":"carla_manual_control/#_2","text":"\u8981 \u8fd0\u884c \u5305 \uff1a   1 .   \u786e\u4fdd   Carla   \u6b63\u5728 \u8fd0\u884c \u3002 \u542f\u52a8   ROS   \u6865 \uff1a   #   ROS   1   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge . launch   #   ROS   2   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge . launch . py   2 .   \u751f\u6210 \u5bf9\u8c61 \uff1a   #   ROS   1   roslaunch   carla _ spawn _ objects   carla _ spawn _ objects . launch   #   ROS   2   ros2   launch   carla _ spawn _ objects   carla _ spawn _ objects . launch . py   3 .   \u542f\u52a8   carla _ manual _ control   \u8282\u70b9 \uff1a   #   ROS   1   roslaunch   carla _ manual _ control   carla _ manual _ control . launch   #   ROS   2   ros2   launch   carla _ manual _ control   carla _ manual _ control . launch . py   4 .   \u8981 \u624b\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \uff0c \u8bf7 \u6309 \u201c B \u201d \u3002 \u6309 \u201c H \u201d \u67e5\u770b \u8bf4\u660e \u3002   \u6216\u8005 \uff0c \u5c06 \u4e0a\u8ff0 \u6240\u6709 \u547d\u4ee4 \u7ec4\u5408 \u5408\u6210 \u7ec4\u5408\u6210 \u4e00\u4e2a \u5355\u72ec \u7684 \u542f\u52a8 \u6587\u4ef6 \uff0c \u5e76 \u53ef\u4ee5 \u901a\u8fc7 \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \u540c\u65f6 \u8fd0\u884c \uff1a   #   ROS   1   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch   #   ROS   2   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch . py","title":"\u8fd0\u884c \u5305  "},{"location":"carla_plugin/","text":"\u865a\u5e7b \u5f15\u64ce \u7684   Carla   \u63d2\u4ef6   \u5404\u4e2a \u7c7b \u7684 \u7ee7\u627f \u5173\u7cfb \u56fe \uff1a   C++ \u6587\u6863","title":"Carla   plugin"},{"location":"carla_plugin/#carla","text":"\u5404\u4e2a \u7c7b \u7684 \u7ee7\u627f \u5173\u7cfb \u56fe \uff1a   C++ \u6587\u6863","title":"\u865a\u5e7b \u5f15\u64ce \u7684   Carla   \u63d2\u4ef6"},{"location":"carla_ros_scenario_runner/","text":"Carla   ROS   Scenario   Runner   The   CARLA   ROS   Scenario   Runner   \u5305   \u662f \u4e00\u4e2a \u5305\u88c5 \u5668 \uff0c \u7528\u4e8e \u901a\u8fc7   ROS   \u4f7f\u7528   CARLA   Scenario   Runner   \u6267\u884c   OpenScenarios   \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u4f7f\u7528   ROS   Scenario   Runner   \u8fd0\u884c   ROS   Scenario   Runner   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u670d\u52a1   \u53d1\u5e03   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u6309\u7167   Scenario   Runner   \u5165\u95e8 \u201d \u6559\u7a0b   \u5b89\u88c5   Scenario   Runner \u3002   \u5b89\u88c5   Python   \u6a21\u5757   Pexpect   :   sudo   apt   install   python - pexpect   \u4f7f\u7528   ROS   Scenario   Runner   ROS   Scenario   Runner   \u6700\u597d \u5728   rviz _ carla _ plugin   \u4e2d \u4f7f\u7528 \u3002   \u7b14\u8bb0   \u76ee\u524d \u4e0d \u652f\u6301 \u66f4\u6539 \u5730\u56fe \u3002 \u6bcf\u4e2a \u573a\u666f \u90fd \u9700\u8981 \u4f7f\u7528 \u5f53\u524d \u6d3b\u52a8 \u7684 \u5730\u56fe \u3002   \u6b64\u5904   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u793a\u4f8b \u573a\u666f \u3002 \u7279\u522b \u91cd\u8981 \u7684 \u662f   ROS   \u63a7\u5236 \u63a7\u5236\u5668   \u7684 \u8bbe\u7f6e \uff1a   < Controller   name = \" EgoVehicleAgent \" >   < Properties >   < Property   name = \" module \"   value = \" carla _ ros _ scenario _ runner . ros _ vehicle _ control \"   / >   < Property   name = \" launch \"   value = \" carla _ ad _ agent . launch \" / >   < Property   name = \" launch - package \"   value = \" carla _ ad _ agent \" / >   < Property   name = \" path _ topic _ name \"   value = \" waypoints \" / >   < / Properties >   < / Controller >   \u4e0a\u9762 \u7684 \u4ee3\u7801 \u793a\u4f8b \u663e\u793a \u4e86 \u4e00\u4e2a \u6b63\u5728 \u542f\u52a8 \u7684   carla _ ad _ agent   \u5b9e\u4f8b \u3002 \u4efb\u4f55 \u9644\u52a0 \u5185\u5bb9   < Property >   \u90fd \u5e94 \u4f5c\u4e3a   ROS   \u53c2\u6570 \u9644\u52a0 \uff08 \u540d\u79f0 : = \u503c \uff09 \u3002   \u8fd0\u884c   ROS   Scenario   Runner   1 .   \u8fd0\u884c   ROS   Scenario   Runner   \u5305 \uff1a   #   ROS   1   roslaunch   carla _ ros _ scenario _ runner   carla _ ros _ scenario _ runner . launch   scenario _ runner _ path : = < path _ to _ scenario _ runner >   #   ROS   2   ros2   launch   carla _ ros _ scenario _ runner   carla _ ros _ scenario _ runner . launch . py   scenario _ runner _ path : = < path _ to _ scenario _ runner >   2 .   \u8fd0\u884c \u573a\u666f \uff1a   #   ROS   1   rosservice   call   / scenario _ runner / execute _ scenario   \" {   ' scenario ' :   {   ' scenario _ file ' :   ' < full _ path _ to _ openscenario _ file > '   }   } \"   #   ROS   2   ros2   service   call   / scenario _ runner / execute _ scenario   carla _ ros _ scenario _ runner _ types / srv / ExecuteScenario   \" {   ' scenario ' :   {   ' scenario _ file ' :   ' < full _ path _ to _ openscenario _ file > '   }   } \"   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u670d\u52a1   \u670d\u52a1   \u7c7b\u578b   \u63cf\u8ff0   / scenario _ runner / execute _ scenario   carla _ ros _ scenario _ runner _ types . ExecuteScenario   \u6267\u884c \u4e00\u4e2a \u573a\u666f \u3002 \u5982\u679c \u5f53\u524d \u6b63\u5728 \u8fd0\u884c \u53e6 \u4e00\u4e2a \u573a\u666f \uff0c \u5b83 \u5c06 \u505c\u6b62 \u3002   \u53d1\u5e03   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / scenario _ runner / status   carla _ ros _ scenario _ runner _ types . CarlaScenarioRunnerStatus   \u573a\u666f \u8fd0\u884c \u5668 \u6267\u884c \u7684 \u5f53\u524d \u72b6\u6001 \uff08 \u7531   rviz _ carla _ plugin   \u4f7f\u7528 \uff09   \u63a7\u5236 \u63a7\u5236\u5668   ros _ vehicle _ control   \u63d0\u4f9b \u4ee5\u4e0b \u4e3b\u9898 \uff1a   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / waypoints   nav _ msgs . Path   \u573a\u666f \u4e2d \u5b9a\u4e49 \u7684 \u8def\u5f84 \u3002 \u6ce8 \uff1a \u53ef\u4ee5 \u901a\u8fc7 \u4fee\u6539 \u53c2\u6570   path _ topic _ name   \u6765 \u66f4\u6539 \u4e3b\u9898 \u540d\u79f0   / carla / < ROLE   NAME > / target _ speed   std _ msgs . Float64   \u573a\u666f \u4e2d \u5b9a\u4e49 \u7684 \u76ee\u6807 \u901f\u5ea6","title":"Carla   ROS   Scenario   Runner"},{"location":"carla_ros_scenario_runner/#carla-ros-scenario-runner","text":"The   CARLA   ROS   Scenario   Runner   \u5305   \u662f \u4e00\u4e2a \u5305\u88c5 \u5668 \uff0c \u7528\u4e8e \u901a\u8fc7   ROS   \u4f7f\u7528   CARLA   Scenario   Runner   \u6267\u884c   OpenScenarios   \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u4f7f\u7528   ROS   Scenario   Runner   \u8fd0\u884c   ROS   Scenario   Runner   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u670d\u52a1   \u53d1\u5e03","title":"Carla   ROS   Scenario   Runner"},{"location":"carla_ros_scenario_runner/#_1","text":"\u6309\u7167   Scenario   Runner   \u5165\u95e8 \u201d \u6559\u7a0b   \u5b89\u88c5   Scenario   Runner \u3002   \u5b89\u88c5   Python   \u6a21\u5757   Pexpect   :   sudo   apt   install   python - pexpect","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"carla_ros_scenario_runner/#ros-scenario-runner","text":"ROS   Scenario   Runner   \u6700\u597d \u5728   rviz _ carla _ plugin   \u4e2d \u4f7f\u7528 \u3002   \u7b14\u8bb0   \u76ee\u524d \u4e0d \u652f\u6301 \u66f4\u6539 \u5730\u56fe \u3002 \u6bcf\u4e2a \u573a\u666f \u90fd \u9700\u8981 \u4f7f\u7528 \u5f53\u524d \u6d3b\u52a8 \u7684 \u5730\u56fe \u3002   \u6b64\u5904   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u793a\u4f8b \u573a\u666f \u3002 \u7279\u522b \u91cd\u8981 \u7684 \u662f   ROS   \u63a7\u5236 \u63a7\u5236\u5668   \u7684 \u8bbe\u7f6e \uff1a   < Controller   name = \" EgoVehicleAgent \" >   < Properties >   < Property   name = \" module \"   value = \" carla _ ros _ scenario _ runner . ros _ vehicle _ control \"   / >   < Property   name = \" launch \"   value = \" carla _ ad _ agent . launch \" / >   < Property   name = \" launch - package \"   value = \" carla _ ad _ agent \" / >   < Property   name = \" path _ topic _ name \"   value = \" waypoints \" / >   < / Properties >   < / Controller >   \u4e0a\u9762 \u7684 \u4ee3\u7801 \u793a\u4f8b \u663e\u793a \u4e86 \u4e00\u4e2a \u6b63\u5728 \u542f\u52a8 \u7684   carla _ ad _ agent   \u5b9e\u4f8b \u3002 \u4efb\u4f55 \u9644\u52a0 \u5185\u5bb9   < Property >   \u90fd \u5e94 \u4f5c\u4e3a   ROS   \u53c2\u6570 \u9644\u52a0 \uff08 \u540d\u79f0 : = \u503c \uff09 \u3002","title":"\u4f7f\u7528   ROS   Scenario   Runner  "},{"location":"carla_ros_scenario_runner/#ros-scenario-runner_1","text":"1 .   \u8fd0\u884c   ROS   Scenario   Runner   \u5305 \uff1a   #   ROS   1   roslaunch   carla _ ros _ scenario _ runner   carla _ ros _ scenario _ runner . launch   scenario _ runner _ path : = < path _ to _ scenario _ runner >   #   ROS   2   ros2   launch   carla _ ros _ scenario _ runner   carla _ ros _ scenario _ runner . launch . py   scenario _ runner _ path : = < path _ to _ scenario _ runner >   2 .   \u8fd0\u884c \u573a\u666f \uff1a   #   ROS   1   rosservice   call   / scenario _ runner / execute _ scenario   \" {   ' scenario ' :   {   ' scenario _ file ' :   ' < full _ path _ to _ openscenario _ file > '   }   } \"   #   ROS   2   ros2   service   call   / scenario _ runner / execute _ scenario   carla _ ros _ scenario _ runner _ types / srv / ExecuteScenario   \" {   ' scenario ' :   {   ' scenario _ file ' :   ' < full _ path _ to _ openscenario _ file > '   }   } \"","title":"\u8fd0\u884c   ROS   Scenario   Runner  "},{"location":"carla_ros_scenario_runner/#ros","text":"","title":"ROS   \u5e94\u7528 \u7a0b\u5e8f\u63a5\u53e3  "},{"location":"carla_ros_scenario_runner/#_2","text":"\u670d\u52a1   \u7c7b\u578b   \u63cf\u8ff0   / scenario _ runner / execute _ scenario   carla _ ros _ scenario _ runner _ types . ExecuteScenario   \u6267\u884c \u4e00\u4e2a \u573a\u666f \u3002 \u5982\u679c \u5f53\u524d \u6b63\u5728 \u8fd0\u884c \u53e6 \u4e00\u4e2a \u573a\u666f \uff0c \u5b83 \u5c06 \u505c\u6b62 \u3002","title":"\u670d\u52a1  "},{"location":"carla_ros_scenario_runner/#_3","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / scenario _ runner / status   carla _ ros _ scenario _ runner _ types . CarlaScenarioRunnerStatus   \u573a\u666f \u8fd0\u884c \u5668 \u6267\u884c \u7684 \u5f53\u524d \u72b6\u6001 \uff08 \u7531   rviz _ carla _ plugin   \u4f7f\u7528 \uff09   \u63a7\u5236 \u63a7\u5236\u5668   ros _ vehicle _ control   \u63d0\u4f9b \u4ee5\u4e0b \u4e3b\u9898 \uff1a   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / waypoints   nav _ msgs . Path   \u573a\u666f \u4e2d \u5b9a\u4e49 \u7684 \u8def\u5f84 \u3002 \u6ce8 \uff1a \u53ef\u4ee5 \u901a\u8fc7 \u4fee\u6539 \u53c2\u6570   path _ topic _ name   \u6765 \u66f4\u6539 \u4e3b\u9898 \u540d\u79f0   / carla / < ROLE   NAME > / target _ speed   std _ msgs . Float64   \u573a\u666f \u4e2d \u5b9a\u4e49 \u7684 \u76ee\u6807 \u901f\u5ea6","title":"\u53d1\u5e03  "},{"location":"carla_server/","text":"CARLA   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u7f16\u8bd1   \u63d0\u4f9b \u4e86 \u4e00\u4e9b \u7528\u4e8e \u5728   Linux   \u4e0a \u6784\u5efa \u548c \u6d4b\u8bd5   CarlaServer   \u7684 \u811a\u672c   ` ` ` shell   script   . / Setup . sh   make   make   check   \u5b89\u88c5 \u811a\u672c \u4f1a \u4e0b\u8f7d \u5e76 \u7f16\u8bd1 \u6240\u6709 \u5fc5\u9700 \u7684 \u4f9d\u8d56 \u9879 \u3002 Makefile   \u8c03\u7528   CMake   \u6765 \u6784\u5efa   CarlaServer   \u5e76 \u5c06 \u5176 \u5b89\u88c5 \u5728 \u201c Util / Install \u201d \u4e0b \u3002   ##   \u534f\u8bae   \u6240\u6709 \u6d88\u606f \u524d \u90fd \u9644\u52a0 \u4e00\u4e2a   32   \u4f4d \u65e0 \u7b26\u53f7 \u6574\u6570 \uff08 \u5c0f\u7aef \u5b57\u8282 \u5e8f \uff09 \uff0c \u6307\u793a \u5373\u5c06 \u5230\u6765 \u7684 \u6d88\u606f \u7684 \u5927\u5c0f \u3002   \u4f7f\u7528 \u4e09\u4e2a \u8fde\u7eed \u7684 \u7aef\u53e3 \uff0c   -   world - port   ( \u9ed8\u8ba4   2000 )   -   measurements - port   =   world - port   +   1   -   control - port   =   world - port   +   2   \u6bcf\u4e2a \u7aef\u53e3 \u90fd \u6709 \u4e00\u4e2a \u5173\u8054 \u7684 \u7ebf\u7a0b \uff0c \u53ef\u4ee5 \u5f02\u6b65 \u53d1\u9001 / \u8bfb\u53d6 \u6570\u636e \u8bfb\u53d6\u6570\u636e \u3002   ###   \u4e16\u754c \u7ebf\u7a0b   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bfb\u53d6 \u4e00\u4e2a \uff0c \u5199\u5165 \u4e00\u4e2a \u3002 \u59cb\u7ec8 \u662f   protobuf   \u6d88\u606f \u3002   [ client ]   RequestNewEpisode   [ server ]   SceneDescription   [ client ]   EpisodeStart   [ server ]   EpisodeReady   ... repeat ...   ###   \u6d4b\u91cf \u7ebf\u7a0b   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4ec5 \u5199\u5165 \u7b2c\u4e00 \u4e00\u6761 \u7b2c\u4e00\u6761 \u6d4b\u91cf \u6d88\u606f \uff0c \u7136\u540e \u5199\u5165 \u5927\u91cf \u539f\u59cb \u56fe\u50cf \u3002   [ server ]   Measurements   [ server ]   raw   images   ... repeat ...   \u6bcf\u4e2a \u56fe\u50cf \u90fd \u662f \u4e00\u4e2a   uint32   \u6570\u7ec4   [ width ,   height ,   type ,   FOV ,   color [ 0 ] ,   color [ 1 ] , ... ]   \u5176\u4e2d   FOV   \u662f \u76f8\u673a \u6c34\u5e73 \u89c6\u91ce \u7684 \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \uff0c \u6bcf\u79cd \u989c\u8272 \u90fd \u662f \u865a\u5e7b \u5f15\u64ce \u4e2d \u5b58\u50a8 \u7684 FColor   ( BGRA ) \uff0c \u53ef\u80fd \u7684 \u56fe\u50cf \u7c7b\u578b \u5305\u62ec   type   =   0   None   ( RGB   without   any   post - processing )   type   =   1   SceneFinal   ( RGB   with   post - processing   present   at   the   scene )   type   =   2   Depth   ( Depth   Map )   type   =   3   SemanticSegmentation   ( Semantic   Segmentation )   [ \u6b64\u5904 ]   \u8be6\u7ec6 \u89e3\u91ca \u4e86 \u6d4b\u91cf \u4fe1\u606f \u3002   ###   \u63a7\u5236 \u63a7\u5236\u7ebf \u7a0b   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4ec5 \u8bfb\u53d6 \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u6bcf\u5e27 \u53d1\u9001 \u63a7\u5236 \u6d88\u606f \u3002   [ client ]   Control   ... repeat ...   ` ` `   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6bcf\u5e27 \u90fd \u4f1a \u6682\u505c \u6267\u884c \uff0c \u76f4\u5230 \u6536\u5230 \u63a7\u5236 \u6d88\u606f \u3002   \u63a5\u53e3   \u8be5\u5e93 \u5c01\u88c5 \u5728   C   \u8bed\u8a00 \u4e2d \u7684 \u5355\u4e2a \u5305\u542b \u6587\u4ef6   \u201c carla / carla _ server . h \u201d \u4e2d \u3002   \u6b64 \u6587\u4ef6 \u5305\u542b \u7528\u4e8e \u5411 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bfb\u53d6 \u548c \u5199\u5165 \u6d88\u606f \u7684 \u57fa\u672c \u63a5\u53e3 \uff0c \u9690\u85cf \u4e86 \u7f51\u7edc \u548c \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b \u90e8\u5206 \u3002 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u51fd\u6570 \u90fd \u6709 \u4e00\u4e2a \u8d85\u65f6 \u53c2\u6570 \uff0c \u5e76\u4f1a \u963b\u585e \uff0c \u76f4\u5230 \u76f8\u5e94 \u7684 \u5f02\u6b65 \u64cd\u4f5c \u5b8c\u6210 \u6216 \u8fbe\u5230 \u8d85\u65f6 \u8981\u6c42 \u3002 \u5c06 \u8d85\u65f6 \u8bbe\u7f6e \u4e3a   0   \u53ef \u83b7\u5f97 \u975e \u963b\u585e \u8c03\u7528 \u3002   CarlaServer   \u5b9e\u4f8b \u662f \u7528   carla _ make _ server ( )   \u521b\u5efa \u7684 \uff0c \u4f7f\u7528 \u540e\u5e94 \u88ab   carla _ server _ free ( ptr )   \u9500\u6bc1 \u3002   \u8bbe\u8ba1   C   API   \u8d1f\u8d23 \u5c06 \u8bf7\u6c42 \u5206\u53d1 \u5230 \u76f8\u5e94 \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u6709 \u4e09\u4e2a \u5f02\u6b65 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u6bcf\u4e2a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u90fd \u5728 \u81ea\u5df1 \u7684 \u7ebf\u7a0b \u4e0a \u8fd0\u884c \u3002   \u4ece \u6982\u5ff5 \u4e0a \u8bb2 \uff0c \u6709 \u4e24\u4e2a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5373   World   Server   \u548c   Agent   Server   \u3002   World   Server   \u63a7\u5236 \u60c5\u8282 \u7684 \u521d\u59cb \u521d\u59cb\u5316 \u3002 \u6bcf\u6b21 \u901a\u8fc7   RequestNewEpisode   \u6d88\u606f \u5411   World   Server   \u8bf7\u6c42 \u65b0 \u60c5\u8282 \u65f6 \uff0c \u90fd \u4f1a \u542f\u52a8 \u65b0 \u60c5\u8282 \u3002 \u60c5\u8282 \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u540e \uff0c   World   Server   \u5c06 \u542f\u52a8   Agent   Server   \u3002   Agent   Server   \u6709 \u4e24\u4e2a \u7ebf\u7a0b \uff0c \u4e00\u4e2a \u7528\u4e8e \u53d1\u9001 \u6d4b\u91cf \u6d41 \uff0c \u53e6 \u4e00\u4e2a \u7528\u4e8e \u63a5\u6536 \u63a7\u5236 \u3002 \u4e24\u4e2a \u4ee3\u7406 \u7ebf\u7a0b \u90fd \u901a\u8fc7 \u65e0\u9501 \u53cc \u7f13\u51b2 \u7f13\u51b2\u533a \u4e0e \u4e3b\u7ebf \u7a0b \u901a\u4fe1 \uff0c \u4ee5 \u52a0\u5feb \u6d88\u606f \u548c \u56fe\u50cf \u7684 \u6d41\u5f0f \u4f20\u8f93 \u3002   \u6d88\u606f \uff08 protobuf \uff09 \u7684 \u7f16\u7801 \u548c \u7f51\u7edc \u64cd\u4f5c \u662f \u5f02\u6b65 \u6267\u884c \u7684 \u3002","title":"CARLA   \u670d\u52a1\u5668"},{"location":"carla_server/#carla","text":"","title":"CARLA   \u670d\u52a1\u5668"},{"location":"carla_server/#_1","text":"\u63d0\u4f9b \u4e86 \u4e00\u4e9b \u7528\u4e8e \u5728   Linux   \u4e0a \u6784\u5efa \u548c \u6d4b\u8bd5   CarlaServer   \u7684 \u811a\u672c   ` ` ` shell   script   . / Setup . sh   make   make   check   \u5b89\u88c5 \u811a\u672c \u4f1a \u4e0b\u8f7d \u5e76 \u7f16\u8bd1 \u6240\u6709 \u5fc5\u9700 \u7684 \u4f9d\u8d56 \u9879 \u3002 Makefile   \u8c03\u7528   CMake   \u6765 \u6784\u5efa   CarlaServer   \u5e76 \u5c06 \u5176 \u5b89\u88c5 \u5728 \u201c Util / Install \u201d \u4e0b \u3002   ##   \u534f\u8bae   \u6240\u6709 \u6d88\u606f \u524d \u90fd \u9644\u52a0 \u4e00\u4e2a   32   \u4f4d \u65e0 \u7b26\u53f7 \u6574\u6570 \uff08 \u5c0f\u7aef \u5b57\u8282 \u5e8f \uff09 \uff0c \u6307\u793a \u5373\u5c06 \u5230\u6765 \u7684 \u6d88\u606f \u7684 \u5927\u5c0f \u3002   \u4f7f\u7528 \u4e09\u4e2a \u8fde\u7eed \u7684 \u7aef\u53e3 \uff0c   -   world - port   ( \u9ed8\u8ba4   2000 )   -   measurements - port   =   world - port   +   1   -   control - port   =   world - port   +   2   \u6bcf\u4e2a \u7aef\u53e3 \u90fd \u6709 \u4e00\u4e2a \u5173\u8054 \u7684 \u7ebf\u7a0b \uff0c \u53ef\u4ee5 \u5f02\u6b65 \u53d1\u9001 / \u8bfb\u53d6 \u6570\u636e \u8bfb\u53d6\u6570\u636e \u3002   ###   \u4e16\u754c \u7ebf\u7a0b   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bfb\u53d6 \u4e00\u4e2a \uff0c \u5199\u5165 \u4e00\u4e2a \u3002 \u59cb\u7ec8 \u662f   protobuf   \u6d88\u606f \u3002   [ client ]   RequestNewEpisode   [ server ]   SceneDescription   [ client ]   EpisodeStart   [ server ]   EpisodeReady   ... repeat ...   ###   \u6d4b\u91cf \u7ebf\u7a0b   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4ec5 \u5199\u5165 \u7b2c\u4e00 \u4e00\u6761 \u7b2c\u4e00\u6761 \u6d4b\u91cf \u6d88\u606f \uff0c \u7136\u540e \u5199\u5165 \u5927\u91cf \u539f\u59cb \u56fe\u50cf \u3002   [ server ]   Measurements   [ server ]   raw   images   ... repeat ...   \u6bcf\u4e2a \u56fe\u50cf \u90fd \u662f \u4e00\u4e2a   uint32   \u6570\u7ec4   [ width ,   height ,   type ,   FOV ,   color [ 0 ] ,   color [ 1 ] , ... ]   \u5176\u4e2d   FOV   \u662f \u76f8\u673a \u6c34\u5e73 \u89c6\u91ce \u7684 \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \uff0c \u6bcf\u79cd \u989c\u8272 \u90fd \u662f \u865a\u5e7b \u5f15\u64ce \u4e2d \u5b58\u50a8 \u7684 FColor   ( BGRA ) \uff0c \u53ef\u80fd \u7684 \u56fe\u50cf \u7c7b\u578b \u5305\u62ec   type   =   0   None   ( RGB   without   any   post - processing )   type   =   1   SceneFinal   ( RGB   with   post - processing   present   at   the   scene )   type   =   2   Depth   ( Depth   Map )   type   =   3   SemanticSegmentation   ( Semantic   Segmentation )   [ \u6b64\u5904 ]   \u8be6\u7ec6 \u89e3\u91ca \u4e86 \u6d4b\u91cf \u4fe1\u606f \u3002   ###   \u63a7\u5236 \u63a7\u5236\u7ebf \u7a0b   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4ec5 \u8bfb\u53d6 \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u6bcf\u5e27 \u53d1\u9001 \u63a7\u5236 \u6d88\u606f \u3002   [ client ]   Control   ... repeat ...   ` ` `   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6bcf\u5e27 \u90fd \u4f1a \u6682\u505c \u6267\u884c \uff0c \u76f4\u5230 \u6536\u5230 \u63a7\u5236 \u6d88\u606f \u3002","title":"\u7f16\u8bd1"},{"location":"carla_server/#_2","text":"\u8be5\u5e93 \u5c01\u88c5 \u5728   C   \u8bed\u8a00 \u4e2d \u7684 \u5355\u4e2a \u5305\u542b \u6587\u4ef6   \u201c carla / carla _ server . h \u201d \u4e2d \u3002   \u6b64 \u6587\u4ef6 \u5305\u542b \u7528\u4e8e \u5411 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bfb\u53d6 \u548c \u5199\u5165 \u6d88\u606f \u7684 \u57fa\u672c \u63a5\u53e3 \uff0c \u9690\u85cf \u4e86 \u7f51\u7edc \u548c \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b \u90e8\u5206 \u3002 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u51fd\u6570 \u90fd \u6709 \u4e00\u4e2a \u8d85\u65f6 \u53c2\u6570 \uff0c \u5e76\u4f1a \u963b\u585e \uff0c \u76f4\u5230 \u76f8\u5e94 \u7684 \u5f02\u6b65 \u64cd\u4f5c \u5b8c\u6210 \u6216 \u8fbe\u5230 \u8d85\u65f6 \u8981\u6c42 \u3002 \u5c06 \u8d85\u65f6 \u8bbe\u7f6e \u4e3a   0   \u53ef \u83b7\u5f97 \u975e \u963b\u585e \u8c03\u7528 \u3002   CarlaServer   \u5b9e\u4f8b \u662f \u7528   carla _ make _ server ( )   \u521b\u5efa \u7684 \uff0c \u4f7f\u7528 \u540e\u5e94 \u88ab   carla _ server _ free ( ptr )   \u9500\u6bc1 \u3002","title":"\u63a5\u53e3"},{"location":"carla_server/#_3","text":"C   API   \u8d1f\u8d23 \u5c06 \u8bf7\u6c42 \u5206\u53d1 \u5230 \u76f8\u5e94 \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u6709 \u4e09\u4e2a \u5f02\u6b65 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u6bcf\u4e2a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u90fd \u5728 \u81ea\u5df1 \u7684 \u7ebf\u7a0b \u4e0a \u8fd0\u884c \u3002   \u4ece \u6982\u5ff5 \u4e0a \u8bb2 \uff0c \u6709 \u4e24\u4e2a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5373   World   Server   \u548c   Agent   Server   \u3002   World   Server   \u63a7\u5236 \u60c5\u8282 \u7684 \u521d\u59cb \u521d\u59cb\u5316 \u3002 \u6bcf\u6b21 \u901a\u8fc7   RequestNewEpisode   \u6d88\u606f \u5411   World   Server   \u8bf7\u6c42 \u65b0 \u60c5\u8282 \u65f6 \uff0c \u90fd \u4f1a \u542f\u52a8 \u65b0 \u60c5\u8282 \u3002 \u60c5\u8282 \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u540e \uff0c   World   Server   \u5c06 \u542f\u52a8   Agent   Server   \u3002   Agent   Server   \u6709 \u4e24\u4e2a \u7ebf\u7a0b \uff0c \u4e00\u4e2a \u7528\u4e8e \u53d1\u9001 \u6d4b\u91cf \u6d41 \uff0c \u53e6 \u4e00\u4e2a \u7528\u4e8e \u63a5\u6536 \u63a7\u5236 \u3002 \u4e24\u4e2a \u4ee3\u7406 \u7ebf\u7a0b \u90fd \u901a\u8fc7 \u65e0\u9501 \u53cc \u7f13\u51b2 \u7f13\u51b2\u533a \u4e0e \u4e3b\u7ebf \u7a0b \u901a\u4fe1 \uff0c \u4ee5 \u52a0\u5feb \u6d88\u606f \u548c \u56fe\u50cf \u7684 \u6d41\u5f0f \u4f20\u8f93 \u3002   \u6d88\u606f \uff08 protobuf \uff09 \u7684 \u7f16\u7801 \u548c \u7f51\u7edc \u64cd\u4f5c \u662f \u5f02\u6b65 \u6267\u884c \u7684 \u3002","title":"\u8bbe\u8ba1"},{"location":"carla_settings/","text":"CARLA   \u8bbe\u7f6e   \u672c \u6587\u6863 \u5c1a \u5728 \u7f16\u5199 \u4e2d \uff0c \u53ef\u80fd \u4e0d \u5b8c\u6574 \u3002   Carla \u8bbe\u7f6e   CARLA   \u4ece   CarlaSettings . ini   \u6587\u4ef6 \u4e2d \u8bfb\u53d6 \u8bbe\u7f6e \u3002 \u6b64 \u6587\u4ef6 \u63a7\u5236 \u6a21\u62df \u7684 \u5927\u90e8 \u90e8\u5206 \u5927\u90e8\u5206 \u65b9\u9762 \uff0c \u6bcf\u6b21 \u5f00\u59cb \u65b0 \u60c5\u8282 \u65f6 \uff08 \u6bcf\u6b21 \u52a0\u8f7d \u5173\u5361 \u65f6 \uff09 \u90fd \u4f1a \u52a0\u8f7d \u6b64 \u6587\u4ef6 \u3002   \u8bbe\u7f6e \u5c06 \u6309\u7167 \u4e0b \u4e00\u4e2a \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u8fdb\u884c \u52a0\u8f7d \uff0c \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u540e\u9762 \u7684 \u503c \u5c06 \u8986\u76d6 \u524d\u9762 \u7684 \u503c \u3002   { CarlaFolder } / Unreal / CarlaUE4 / Config / CarlaSettings . ini   \u3002   \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u63d0\u4f9b \u7684 \u6587\u4ef6   - carla - settings = \" Path / To / CarlaSettings . ini \"   \u3002   \u5176\u4ed6 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u5982   - carla - server   \u6216   - world - port   \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u4e00\u96c6 \u6bcf\u4e00\u96c6 \u65b0 \u60c5\u8282 \u65f6 \u53d1\u9001 \u7684 \u8bbe\u7f6e \u6587\u4ef6 \u3002   \u770b \u4e00\u4e0b   CARLA   \u8bbe\u7f6e \u793a\u4f8b \u3002   \u5929\u6c14 \u9884\u8bbe   \u53ef\u4ee5 \u4ece \u4e00\u7ec4 \u9884\u5b9a \u4e49 \u8bbe\u7f6e \u4e2d \u9009\u62e9 \u5929\u6c14 \u548c \u7167\u660e \u6761\u4ef6 \u3002 \u8981 \u9009\u62e9 \u4e00\u4e2a \uff0c \u8bf7 \u5728   CarlaSettings . ini   \u4e2d \u8bbe\u7f6e \u952e   WeatherId   \u3002 \u4ee5\u4e0b \u9884\u8bbe \u53ef\u7528   0   -   Default   1   -   ClearNoon   2   -   CloudyNoon   3   -   WetNoon   4   -   WetCloudyNoon   5   -   MidRainyNoon   6   -   HardRainNoon   7   -   SoftRainNoon   8   -   ClearSunset   9   -   CloudySunset   10   -   WetSunset   11   -   WetCloudySunset   12   -   MidRainSunset   13   -   HardRainSunset   14   -   SoftRainSunset   \u4f8b\u5982 \uff0c \u8981 \u9009\u62e9 \u4e2d\u5348 \u6709 \u5927\u96e8 \u7684 \u5929\u6c14 \uff0c \u8bf7 \u6dfb\u52a0 \u5230   CarlaSettings . ini   [ CARLA / LevelSettings ]   WeatherId = 6   \u6a21\u62df \u6a21\u62df\u5668 \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879   - carla - server   \u542f\u52a8   CARLA   \u4f5c\u4e3a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u6267\u884c \u6682\u505c \uff0c \u76f4\u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u3002   - carla - settings = \" Path / To / CarlaSettings . ini \"   \u4ece \u7ed9\u5b9a \u7684   INI   \u6587\u4ef6 \u52a0\u8f7d \u8bbe\u7f6e \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   Example . CarlaSettings . ini   \u3002   - carla - world - port = N   \u5728 \u7aef\u53e3   N   \u4e0a \u76d1\u542c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \uff0c \u4ee3\u7406 \u7aef\u53e3 \u5206\u522b \u8bbe\u7f6e \u4e3a   N + 1   \u548c   N + 2 \u3002 \u6fc0\u6d3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   - carla - no - hud   \u9ed8\u8ba4 \u4e0d \u663e\u793a HUD \u3002   - carla - no - networking   \u7981\u7528 \u7f51\u7edc \u3002 \u5982\u679c \u5b58\u5728 \u5219 \u8986\u76d6   - carla - server   \u3002","title":"CARLA   \u8bbe\u7f6e"},{"location":"carla_settings/#carla","text":"\u672c \u6587\u6863 \u5c1a \u5728 \u7f16\u5199 \u4e2d \uff0c \u53ef\u80fd \u4e0d \u5b8c\u6574 \u3002","title":"CARLA   \u8bbe\u7f6e"},{"location":"carla_settings/#carla_1","text":"CARLA   \u4ece   CarlaSettings . ini   \u6587\u4ef6 \u4e2d \u8bfb\u53d6 \u8bbe\u7f6e \u3002 \u6b64 \u6587\u4ef6 \u63a7\u5236 \u6a21\u62df \u7684 \u5927\u90e8 \u90e8\u5206 \u5927\u90e8\u5206 \u65b9\u9762 \uff0c \u6bcf\u6b21 \u5f00\u59cb \u65b0 \u60c5\u8282 \u65f6 \uff08 \u6bcf\u6b21 \u52a0\u8f7d \u5173\u5361 \u65f6 \uff09 \u90fd \u4f1a \u52a0\u8f7d \u6b64 \u6587\u4ef6 \u3002   \u8bbe\u7f6e \u5c06 \u6309\u7167 \u4e0b \u4e00\u4e2a \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u8fdb\u884c \u52a0\u8f7d \uff0c \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u540e\u9762 \u7684 \u503c \u5c06 \u8986\u76d6 \u524d\u9762 \u7684 \u503c \u3002   { CarlaFolder } / Unreal / CarlaUE4 / Config / CarlaSettings . ini   \u3002   \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u63d0\u4f9b \u7684 \u6587\u4ef6   - carla - settings = \" Path / To / CarlaSettings . ini \"   \u3002   \u5176\u4ed6 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u5982   - carla - server   \u6216   - world - port   \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u4e00\u96c6 \u6bcf\u4e00\u96c6 \u65b0 \u60c5\u8282 \u65f6 \u53d1\u9001 \u7684 \u8bbe\u7f6e \u6587\u4ef6 \u3002   \u770b \u4e00\u4e0b   CARLA   \u8bbe\u7f6e \u793a\u4f8b \u3002","title":"Carla \u8bbe\u7f6e"},{"location":"carla_settings/#_1","text":"\u53ef\u4ee5 \u4ece \u4e00\u7ec4 \u9884\u5b9a \u4e49 \u8bbe\u7f6e \u4e2d \u9009\u62e9 \u5929\u6c14 \u548c \u7167\u660e \u6761\u4ef6 \u3002 \u8981 \u9009\u62e9 \u4e00\u4e2a \uff0c \u8bf7 \u5728   CarlaSettings . ini   \u4e2d \u8bbe\u7f6e \u952e   WeatherId   \u3002 \u4ee5\u4e0b \u9884\u8bbe \u53ef\u7528   0   -   Default   1   -   ClearNoon   2   -   CloudyNoon   3   -   WetNoon   4   -   WetCloudyNoon   5   -   MidRainyNoon   6   -   HardRainNoon   7   -   SoftRainNoon   8   -   ClearSunset   9   -   CloudySunset   10   -   WetSunset   11   -   WetCloudySunset   12   -   MidRainSunset   13   -   HardRainSunset   14   -   SoftRainSunset   \u4f8b\u5982 \uff0c \u8981 \u9009\u62e9 \u4e2d\u5348 \u6709 \u5927\u96e8 \u7684 \u5929\u6c14 \uff0c \u8bf7 \u6dfb\u52a0 \u5230   CarlaSettings . ini   [ CARLA / LevelSettings ]   WeatherId = 6","title":"\u5929\u6c14 \u9884\u8bbe"},{"location":"carla_settings/#_2","text":"- carla - server   \u542f\u52a8   CARLA   \u4f5c\u4e3a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u6267\u884c \u6682\u505c \uff0c \u76f4\u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u3002   - carla - settings = \" Path / To / CarlaSettings . ini \"   \u4ece \u7ed9\u5b9a \u7684   INI   \u6587\u4ef6 \u52a0\u8f7d \u8bbe\u7f6e \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   Example . CarlaSettings . ini   \u3002   - carla - world - port = N   \u5728 \u7aef\u53e3   N   \u4e0a \u76d1\u542c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \uff0c \u4ee3\u7406 \u7aef\u53e3 \u5206\u522b \u8bbe\u7f6e \u4e3a   N + 1   \u548c   N + 2 \u3002 \u6fc0\u6d3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   - carla - no - hud   \u9ed8\u8ba4 \u4e0d \u663e\u793a HUD \u3002   - carla - no - networking   \u7981\u7528 \u7f51\u7edc \u3002 \u5982\u679c \u5b58\u5728 \u5219 \u8986\u76d6   - carla - server   \u3002","title":"\u6a21\u62df\u5668 \u547d\u4ee4\u884c \u9009\u9879"},{"location":"carla_spawn_objects/","text":"Carla   \u751f\u6210 \u5bf9\u8c61   carla _ spawn _ objects   \u5305   \u7528\u4e8e \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u8f66\u8f86 \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u884c\u4eba \uff09 \u5e76 \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9644\u52a0 \u5230 \u5b83\u4eec \u4e0a \u3002   \u914d\u7f6e \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e   \u521b\u5efa \u914d\u7f6e   \u751f\u6210 \u8f66\u8f86   \u8f66\u8f86 \u518d \u751f\u6210   \u751f\u6210 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5b89\u88c5 \u5230 \u73b0\u6709 \u8f66\u8f86 \u4e0a   \u914d\u7f6e \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e   \u5bf9\u8c61 \u53ca\u5176 \u9644\u52a0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u901a\u8fc7   . json   \u6587\u4ef6 \u5b9a\u4e49 \u3002 \u8be5 \u6587\u4ef6 \u7684 \u9ed8\u8ba4 \u4f4d\u7f6e \u5728   carla _ spawn _ objects / config / objects . json .   \u8981 \u66f4\u6539 \u4f4d\u7f6e \uff0c \u8bf7 \u5728 \u542f\u52a8 \u5305\u65f6 \u901a\u8fc7 \u79c1\u6709   ROS   \u53c2\u6570   objects _ definition _ file   \u4f20\u9012 \u6587\u4ef6 \u8def\u5f84 \uff1a   #   ROS   1   roslaunch   carla _ spawn _ objects   carla _ spawn _ objects . launch   objects _ definition _ file : = path / to / objects . json   #   ROS   2   ros2   launch   carla _ spawn _ objects   carla _ spawn _ objects . launch . py   objects _ definition _ file : = path / to / objects . json   \u521b\u5efa \u914d\u7f6e   \u60a8 \u53ef\u4ee5 \u5728   ros - bridge   repository   \u5b58\u50a8 \u5e93\u4e2d \u627e\u5230 \u793a\u4f8b \uff0c \u5e76 \u6309\u7167 \u6b64 \u5927\u7eb2 \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u914d\u7f6e \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e \uff1a   {   \" objects \" :   [   {   \" type \" :   \" < SENSOR - TYPE > \" ,   \" id \" :   \" < NAME > \" ,   \" spawn _ point \" :   { \" x \" :   0.0 ,   \" y \" :   0.0 ,   \" z \" :   0.0 ,   \" roll \" :   0.0 ,   \" pitch \" :   0.0 ,   \" yaw \" :   0.0 } ,   < ADDITIONAL - SENSOR - ATTRIBUTES >   } ,   {   \" type \" :   \" < VEHICLE - TYPE > \" ,   \" id \" :   \" < VEHICLE - NAME > \" ,   \" spawn _ point \" :   { \" x \" :   - 11.1 ,   \" y \" :   138.5 ,   \" z \" :   0.2 ,   \" roll \" :   0.0 ,   \" pitch \" :   0.0 ,   \" yaw \" :   - 178.7 } ,   \" sensors \" :   [   < SENSORS - TO - ATTACH - TO - VEHICLE >   ]   }   ...   ]   }   \u7b14\u8bb0   \u8bf7 \u8bb0\u4f4f \uff0c \u76f4\u63a5 \u5b9a\u4e49 \u4f4d\u7f6e \u65f6 \uff0c ROS   \u4f7f\u7528   \u53f3\u624b \u7cfb\u7edf   \u3002   \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c5e\u6027 \u5747 \u6309\u7167   \u84dd \u56fe\u5e93   \u4e2d \u7684 \u63cf\u8ff0 \u8fdb\u884c \u5b9a\u4e49 \u3002   \u751f\u6210 \u8f66\u8f86   \u5982\u679c \u6ca1\u6709 \u5b9a\u4e49 \u7279\u5b9a \u7684 \u751f\u6210 \u70b9 \uff0c \u8f66\u8f86 \u5c06 \u5728 \u968f\u673a \u4f4d\u7f6e \u751f\u6210 \u3002   \u8981 \u5b9a\u4e49 \u8f66\u8f86 \u751f\u6210 \u7684 \u4f4d\u7f6e \uff0c \u6709 \u4e24\u79cd \u9009\u62e9 \uff1a   \u5c06 \u6240 \u9700 \u4f4d\u7f6e \u4f20\u9012 \u7ed9   ROS   \u53c2\u6570   spawn _ point _ < VEHICLE - NAME >   \u3002   < VEHICLE - NAME >   \u5c06 \u662f \u60a8 \u5728   . json   \u6587\u4ef6 \u4e2d \u63d0\u4f9b \u7684 \u8f66\u8f86   id   \uff1a   #   ROS   1   roslaunch   carla _ spawn _ objects   carla _ spawn _ objects . launch   spawn _ point _ < VEHICLE - NAME > : = x , y , z , roll , pitch , yaw   #   ROS   2   ros2   launch   carla _ spawn _ objects   carla _ spawn _ objects . launch . py   spawn _ point _ < VEHICLE - NAME > : = x , y , z , roll , pitch , yaw   \u76f4\u63a5 \u5728   . json   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \u521d\u59cb \u4f4d\u7f6e \uff1a   {   \" type \" :   \" vehicle . * \" ,   \" id \" :   \" ego _ vehicle \" ,   \" spawn _ point \" :   { \" x \" :   - 11.1 ,   \" y \" :   138.5 ,   \" z \" :   0.2 ,   \" roll \" :   0.0 ,   \" pitch \" :   0.0 ,   \" yaw \" :   - 178.7 } ,   }   \u8f66\u8f86 \u518d \u751f\u6210   \u901a\u8fc7 \u53d1\u5e03 \u5230 \u4e3b\u9898   / carla / < ROLE   NAME > / < CONTROLLER _ ID > / initialpose   \uff0c \u8f66\u8f86 \u53ef\u4ee5 \u5728 \u4eff\u771f \u671f\u95f4 \u91cd\u751f \u5230 \u4e0d\u540c \u7684 \u4f4d\u7f6e \u3002 \u8981 \u4f7f\u7528 \u6b64 \u529f\u80fd \uff1a   \u5c06   actor . pseudo . control   \u4f2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u9644\u52a0 \u5230   . json   \u6587\u4ef6 \u4e2d \u7684 \u8f66\u8f86 \u3002 \u5b83 \u5e94\u8be5 \u4e0e \u7528\u4e8e \u53d1\u5e03 \u5230 \u4e3b\u9898 \u7684   < CONTROLLER _ ID >   \u503c \u5177\u6709 \u76f8\u540c \u7684   id   \u503c \uff1a   {   \" type \" :   \" vehicle . * \" ,   \" id \" :   \" ego _ vehicle \" ,   \" sensors \" :   [   {   \" type \" :   \" actor . pseudo . control \" ,   \" id \" :   \" control \"   }   ]   }   \u542f\u52a8   set _ inital _ pose   \u8282\u70b9 \uff0c \u5c06   < CONTROLLER _ ID >   \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9   ROS   \u53c2\u6570   controller _ id   \uff08 \u9ed8\u8ba4   =   ' control ' \uff09 \uff1a   roslaunch   carla _ spawn _ objects   set _ initial _ pose . launch   controller _ id : = < CONTROLLER _ ID >   \u53d1\u5e03 \u6d88\u606f \u4ee5 \u8bbe\u7f6e \u65b0 \u4f4d\u7f6e \u7684 \u9996\u9009 \u65b9\u6cd5 \u662f \u4f7f\u7528   RVIZ   \u754c\u9762 \u4e2d \u63d0\u4f9b \u7684   2D   Pose   Estimate   \u6309\u94ae \u3002 \u7136\u540e \uff0c \u60a8 \u53ef\u4ee5 \u5355\u51fb \u5730\u56fe \u7684 \u89c6\u53e3 \u4ee5 \u5728 \u8be5 \u4f4d\u7f6e \u91cd\u751f \u3002 \u8fd9 \u5c06 \u5220\u9664 \u5f53\u524d   ego _ vehicle   \u5bf9\u8c61 \u5e76 \u5728 \u6307\u5b9a \u4f4d\u7f6e \u91cd\u65b0 \u751f\u6210 \u5b83 \u3002   \u751f\u6210 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u521d\u59cb \u4f4d\u7f6e \u5e94 \u76f4\u63a5 \u5728   . json   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \uff0c \u5982 \u4e0a\u9762 \u7684 \u8f66\u8f86 \u6240\u793a \u3002   \u8fde\u63a5 \u5230 \u8f66\u8f86 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u751f\u6210 \u70b9 \u88ab \u8ba4\u4e3a \u662f \u76f8\u5bf9 \u4e8e \u8f66\u8f86 \u7684 \u3002   \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5b89\u88c5 \u5230 \u73b0\u6709 \u8f66\u8f86 \u4e0a   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u4ee5 \u8fde\u63a5 \u5230 \u73b0\u6709 \u7684 \u8f66\u8f86 \u4e0a \u3002 \u4e3a\u6b64 \uff1a   \u5728   . json   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   sensor . pseudo . actor _ list   \u3002 \u8fd9 \u5c06 \u5141\u8bb8 \u8bbf\u95ee \u73b0\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5217\u8868 \u3002   ...   {   \" type \" :   \" sensor . pseudo . actor _ list \" ,   \" id \" :   \" actor _ list \"   } ,   \u6839\u636e \u9700\u8981 \u5b9a\u4e49 \u5176\u4f59 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u542f\u52a8 \u8282\u70b9 \u5e76 \u5c06   spawn _ sensors _ only   \u53c2\u6570 \u8bbe\u7f6e \u53c2\u6570\u8bbe\u7f6e \u4e3a   True \u3002 \u8fd9 \u5c06 \u68c0\u67e5 \u4e0e \u6587\u4ef6 \u4e2d \u6307\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u76f8\u540c   id   \u548c   type   \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u5df2 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \uff0c \u5982\u679c \u662f \uff0c \u5219 \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9644\u52a0 \u5230 \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   #   ROS   1   roslaunch   carla _ spawn _ objects   carla _ spawn _ objects . launch   spawn _ sensors _ only : = True   #   ROS   2   ros2   launch   carla _ spawn _ objects   carla _ spawn _ objects . launch . py   spawn _ sensors _ only : = True","title":"Carla   \u751f\u6210 \u5bf9\u8c61"},{"location":"carla_spawn_objects/#carla","text":"carla _ spawn _ objects   \u5305   \u7528\u4e8e \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u8f66\u8f86 \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u884c\u4eba \uff09 \u5e76 \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9644\u52a0 \u5230 \u5b83\u4eec \u4e0a \u3002   \u914d\u7f6e \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e   \u521b\u5efa \u914d\u7f6e   \u751f\u6210 \u8f66\u8f86   \u8f66\u8f86 \u518d \u751f\u6210   \u751f\u6210 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5b89\u88c5 \u5230 \u73b0\u6709 \u8f66\u8f86 \u4e0a","title":"Carla   \u751f\u6210 \u5bf9\u8c61"},{"location":"carla_spawn_objects/#_1","text":"\u5bf9\u8c61 \u53ca\u5176 \u9644\u52a0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u901a\u8fc7   . json   \u6587\u4ef6 \u5b9a\u4e49 \u3002 \u8be5 \u6587\u4ef6 \u7684 \u9ed8\u8ba4 \u4f4d\u7f6e \u5728   carla _ spawn _ objects / config / objects . json .   \u8981 \u66f4\u6539 \u4f4d\u7f6e \uff0c \u8bf7 \u5728 \u542f\u52a8 \u5305\u65f6 \u901a\u8fc7 \u79c1\u6709   ROS   \u53c2\u6570   objects _ definition _ file   \u4f20\u9012 \u6587\u4ef6 \u8def\u5f84 \uff1a   #   ROS   1   roslaunch   carla _ spawn _ objects   carla _ spawn _ objects . launch   objects _ definition _ file : = path / to / objects . json   #   ROS   2   ros2   launch   carla _ spawn _ objects   carla _ spawn _ objects . launch . py   objects _ definition _ file : = path / to / objects . json","title":"\u914d\u7f6e \u548c \u4f20\u611f\u5668 \u8bbe\u7f6e  "},{"location":"carla_spawn_objects/#_2","text":"\u60a8 \u53ef\u4ee5 \u5728   ros - bridge   repository   \u5b58\u50a8 \u5e93\u4e2d \u627e\u5230 \u793a\u4f8b \uff0c \u5e76 \u6309\u7167 \u6b64 \u5927\u7eb2 \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u914d\u7f6e \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e \uff1a   {   \" objects \" :   [   {   \" type \" :   \" < SENSOR - TYPE > \" ,   \" id \" :   \" < NAME > \" ,   \" spawn _ point \" :   { \" x \" :   0.0 ,   \" y \" :   0.0 ,   \" z \" :   0.0 ,   \" roll \" :   0.0 ,   \" pitch \" :   0.0 ,   \" yaw \" :   0.0 } ,   < ADDITIONAL - SENSOR - ATTRIBUTES >   } ,   {   \" type \" :   \" < VEHICLE - TYPE > \" ,   \" id \" :   \" < VEHICLE - NAME > \" ,   \" spawn _ point \" :   { \" x \" :   - 11.1 ,   \" y \" :   138.5 ,   \" z \" :   0.2 ,   \" roll \" :   0.0 ,   \" pitch \" :   0.0 ,   \" yaw \" :   - 178.7 } ,   \" sensors \" :   [   < SENSORS - TO - ATTACH - TO - VEHICLE >   ]   }   ...   ]   }   \u7b14\u8bb0   \u8bf7 \u8bb0\u4f4f \uff0c \u76f4\u63a5 \u5b9a\u4e49 \u4f4d\u7f6e \u65f6 \uff0c ROS   \u4f7f\u7528   \u53f3\u624b \u7cfb\u7edf   \u3002   \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c5e\u6027 \u5747 \u6309\u7167   \u84dd \u56fe\u5e93   \u4e2d \u7684 \u63cf\u8ff0 \u8fdb\u884c \u5b9a\u4e49 \u3002","title":"\u521b\u5efa \u914d\u7f6e  "},{"location":"carla_spawn_objects/#_3","text":"\u5982\u679c \u6ca1\u6709 \u5b9a\u4e49 \u7279\u5b9a \u7684 \u751f\u6210 \u70b9 \uff0c \u8f66\u8f86 \u5c06 \u5728 \u968f\u673a \u4f4d\u7f6e \u751f\u6210 \u3002   \u8981 \u5b9a\u4e49 \u8f66\u8f86 \u751f\u6210 \u7684 \u4f4d\u7f6e \uff0c \u6709 \u4e24\u79cd \u9009\u62e9 \uff1a   \u5c06 \u6240 \u9700 \u4f4d\u7f6e \u4f20\u9012 \u7ed9   ROS   \u53c2\u6570   spawn _ point _ < VEHICLE - NAME >   \u3002   < VEHICLE - NAME >   \u5c06 \u662f \u60a8 \u5728   . json   \u6587\u4ef6 \u4e2d \u63d0\u4f9b \u7684 \u8f66\u8f86   id   \uff1a   #   ROS   1   roslaunch   carla _ spawn _ objects   carla _ spawn _ objects . launch   spawn _ point _ < VEHICLE - NAME > : = x , y , z , roll , pitch , yaw   #   ROS   2   ros2   launch   carla _ spawn _ objects   carla _ spawn _ objects . launch . py   spawn _ point _ < VEHICLE - NAME > : = x , y , z , roll , pitch , yaw   \u76f4\u63a5 \u5728   . json   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \u521d\u59cb \u4f4d\u7f6e \uff1a   {   \" type \" :   \" vehicle . * \" ,   \" id \" :   \" ego _ vehicle \" ,   \" spawn _ point \" :   { \" x \" :   - 11.1 ,   \" y \" :   138.5 ,   \" z \" :   0.2 ,   \" roll \" :   0.0 ,   \" pitch \" :   0.0 ,   \" yaw \" :   - 178.7 } ,   }","title":"\u751f\u6210 \u8f66\u8f86  "},{"location":"carla_spawn_objects/#_4","text":"\u901a\u8fc7 \u53d1\u5e03 \u5230 \u4e3b\u9898   / carla / < ROLE   NAME > / < CONTROLLER _ ID > / initialpose   \uff0c \u8f66\u8f86 \u53ef\u4ee5 \u5728 \u4eff\u771f \u671f\u95f4 \u91cd\u751f \u5230 \u4e0d\u540c \u7684 \u4f4d\u7f6e \u3002 \u8981 \u4f7f\u7528 \u6b64 \u529f\u80fd \uff1a   \u5c06   actor . pseudo . control   \u4f2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u9644\u52a0 \u5230   . json   \u6587\u4ef6 \u4e2d \u7684 \u8f66\u8f86 \u3002 \u5b83 \u5e94\u8be5 \u4e0e \u7528\u4e8e \u53d1\u5e03 \u5230 \u4e3b\u9898 \u7684   < CONTROLLER _ ID >   \u503c \u5177\u6709 \u76f8\u540c \u7684   id   \u503c \uff1a   {   \" type \" :   \" vehicle . * \" ,   \" id \" :   \" ego _ vehicle \" ,   \" sensors \" :   [   {   \" type \" :   \" actor . pseudo . control \" ,   \" id \" :   \" control \"   }   ]   }   \u542f\u52a8   set _ inital _ pose   \u8282\u70b9 \uff0c \u5c06   < CONTROLLER _ ID >   \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9   ROS   \u53c2\u6570   controller _ id   \uff08 \u9ed8\u8ba4   =   ' control ' \uff09 \uff1a   roslaunch   carla _ spawn _ objects   set _ initial _ pose . launch   controller _ id : = < CONTROLLER _ ID >   \u53d1\u5e03 \u6d88\u606f \u4ee5 \u8bbe\u7f6e \u65b0 \u4f4d\u7f6e \u7684 \u9996\u9009 \u65b9\u6cd5 \u662f \u4f7f\u7528   RVIZ   \u754c\u9762 \u4e2d \u63d0\u4f9b \u7684   2D   Pose   Estimate   \u6309\u94ae \u3002 \u7136\u540e \uff0c \u60a8 \u53ef\u4ee5 \u5355\u51fb \u5730\u56fe \u7684 \u89c6\u53e3 \u4ee5 \u5728 \u8be5 \u4f4d\u7f6e \u91cd\u751f \u3002 \u8fd9 \u5c06 \u5220\u9664 \u5f53\u524d   ego _ vehicle   \u5bf9\u8c61 \u5e76 \u5728 \u6307\u5b9a \u4f4d\u7f6e \u91cd\u65b0 \u751f\u6210 \u5b83 \u3002","title":"\u8f66\u8f86 \u518d \u751f\u6210  "},{"location":"carla_spawn_objects/#_5","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u521d\u59cb \u4f4d\u7f6e \u5e94 \u76f4\u63a5 \u5728   . json   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \uff0c \u5982 \u4e0a\u9762 \u7684 \u8f66\u8f86 \u6240\u793a \u3002   \u8fde\u63a5 \u5230 \u8f66\u8f86 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u751f\u6210 \u70b9 \u88ab \u8ba4\u4e3a \u662f \u76f8\u5bf9 \u4e8e \u8f66\u8f86 \u7684 \u3002","title":"\u751f\u6210 \u4f20\u611f\u5668  "},{"location":"carla_spawn_objects/#_6","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u4ee5 \u8fde\u63a5 \u5230 \u73b0\u6709 \u7684 \u8f66\u8f86 \u4e0a \u3002 \u4e3a\u6b64 \uff1a   \u5728   . json   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   sensor . pseudo . actor _ list   \u3002 \u8fd9 \u5c06 \u5141\u8bb8 \u8bbf\u95ee \u73b0\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5217\u8868 \u3002   ...   {   \" type \" :   \" sensor . pseudo . actor _ list \" ,   \" id \" :   \" actor _ list \"   } ,   \u6839\u636e \u9700\u8981 \u5b9a\u4e49 \u5176\u4f59 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u542f\u52a8 \u8282\u70b9 \u5e76 \u5c06   spawn _ sensors _ only   \u53c2\u6570 \u8bbe\u7f6e \u53c2\u6570\u8bbe\u7f6e \u4e3a   True \u3002 \u8fd9 \u5c06 \u68c0\u67e5 \u4e0e \u6587\u4ef6 \u4e2d \u6307\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u76f8\u540c   id   \u548c   type   \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u5df2 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \uff0c \u5982\u679c \u662f \uff0c \u5219 \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9644\u52a0 \u5230 \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   #   ROS   1   roslaunch   carla _ spawn _ objects   carla _ spawn _ objects . launch   spawn _ sensors _ only : = True   #   ROS   2   ros2   launch   carla _ spawn _ objects   carla _ spawn _ objects . launch . py   spawn _ sensors _ only : = True","title":"\u5c06 \u4f20\u611f\u5668 \u5b89\u88c5 \u5230 \u73b0\u6709 \u8f66\u8f86 \u4e0a  "},{"location":"carla_twist_to_control/","text":"Carla   \u626d\u8f6c \u63a7\u5236   carla _ twist _ to _ control   \u5305   \u5c06   geometry _ msgs . Twist   \u8f6c\u6362 \u4e3a   carla _ msgs . CarlaEgoVehicleControl   \u3002   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u8ba2\u9605   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / vehicle _ info   carla _ msgs . CarlaEgoVehicleInfo   \u81ea\u6211 \u8f66\u8f86 \u4fe1\u606f \uff0c \u63a5\u6536 \u6700\u5927 \u8f6c\u5411 \u89d2\u5ea6 \u3002   / carla / < ROLE   NAME > / twist   geometry _ msgs . Twist   \u626d\u8f6c \u8f6c\u6362 \u3002   \u53d1\u5e03   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / vehicle _ control _ cmd   carla _ msgs . CarlaEgoVehicleControl   \u8f6c\u6362 \u540e \u7684 \u8f66\u8f86 \u63a7\u5236 \u547d\u4ee4 \u3002","title":"Carla   \u626d\u8f6c \u63a7\u5236"},{"location":"carla_twist_to_control/#carla","text":"carla _ twist _ to _ control   \u5305   \u5c06   geometry _ msgs . Twist   \u8f6c\u6362 \u4e3a   carla _ msgs . CarlaEgoVehicleControl   \u3002","title":"Carla   \u626d\u8f6c \u63a7\u5236"},{"location":"carla_twist_to_control/#ros","text":"","title":"ROS   \u5e94\u7528 \u7a0b\u5e8f\u63a5\u53e3"},{"location":"carla_twist_to_control/#_1","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / vehicle _ info   carla _ msgs . CarlaEgoVehicleInfo   \u81ea\u6211 \u8f66\u8f86 \u4fe1\u606f \uff0c \u63a5\u6536 \u6700\u5927 \u8f6c\u5411 \u89d2\u5ea6 \u3002   / carla / < ROLE   NAME > / twist   geometry _ msgs . Twist   \u626d\u8f6c \u8f6c\u6362 \u3002","title":"\u8ba2\u9605"},{"location":"carla_twist_to_control/#_2","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ROLE   NAME > / vehicle _ control _ cmd   carla _ msgs . CarlaEgoVehicleControl   \u8f6c\u6362 \u540e \u7684 \u8f66\u8f86 \u63a7\u5236 \u547d\u4ee4 \u3002","title":"\u53d1\u5e03"},{"location":"carla_waypoint/","text":"Carla   \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   Carla   \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   \u4f7f \u8def\u5f84 \u70b9 \u8ba1\u7b97 \u53ef \u7528\u4e8e   ROS   \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \uff0c \u5e76 \u63d0\u4f9b \u67e5\u8be2   Carla   \u8def\u5f84 \u70b9 \u7684 \u670d\u52a1 \u3002 \u8981 \u4e86\u89e3 \u6709\u5173 \u8def\u5f84 \u70b9 \u7684 \u66f4 \u591a \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Carla   \u6587\u6863   \u3002   \u8fd0\u884c \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   \u8bbe\u5b9a \u76ee\u6807   \u4f7f\u7528 \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u53d1\u5e03   \u670d\u52a1   \u8fd0\u884c \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   \u5728   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fd0\u884c \u7684 \u60c5\u51b5 \u4e0b \uff0c \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   ROS   1   roslaunch   carla _ waypoint _ publisher   carla _ waypoint _ publisher . launch   #   ROS   2   ros2   launch   carla _ waypoint _ publisher   carla _ waypoint _ publisher . launch . py   \u8bbe\u5b9a \u76ee\u6807   \u5982\u679c \u53ef\u7528 \uff0c \u5219 \u4ece \u4e3b\u9898   / carla / < ROLE   NAME > / goal   \u4e2d \u8bfb\u53d6 \u76ee\u6807 \uff0c \u5426\u5219 \u4f7f\u7528 \u56fa\u5b9a \u7684 \u751f\u6210 \u70b9 \u3002   \u8bbe\u7f6e \u76ee\u6807 \u7684 \u9996\u9009 \u65b9\u6cd5 \u662f \u5355\u51fb   RVIZ   \u4e2d \u7684 \u201c 2D   Nav   Goal \u201d \u3002   \u4f7f\u7528 \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6f14\u793a   \u4f7f\u7528   Waypoint   Publisher   \u4e3a   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406   \u89c4\u5212 \u8def\u7ebf \u3002 \u6709\u5173 \u5982\u4f55 \u4f7f\u7528 \u5b83 \u7684 \u793a\u4f8b \uff0c   \u53c2\u9605 \u8bf7\u53c2\u9605   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6f14\u793a   \u542f\u52a8 \u6587\u4ef6   \u3002   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u53d1\u5e03   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ego   vehicle   name > / waypoints   nav _ msgs / Path   \u53d1\u5e03 \u8ba1\u7b97 \u51fa \u7684 \u8def\u7ebf   \u670d\u52a1   \u670d\u52a1   \u7c7b\u578b   \u63cf\u8ff0   / carla _ waypoint _ publisher / < ego   vehicle   name > / get _ waypoint   carla _ waypoint _ types / GetWaypoint   \u83b7\u53d6 \u7279\u5b9a \u4f4d\u7f6e \u7684 \u8def\u5f84 \u70b9   / carla _ waypoint _ publisher / < ego   vehicle   name > / get _ actor _ waypoint   carla _ waypoint _ types / GetActorWaypoint   \u83b7\u53d6 \u53c2\u4e0e \u53c2\u4e0e\u8005   ID   \u7684 \u8def\u5f84 \u70b9","title":"Carla   \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668"},{"location":"carla_waypoint/#carla","text":"Carla   \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   \u4f7f \u8def\u5f84 \u70b9 \u8ba1\u7b97 \u53ef \u7528\u4e8e   ROS   \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \uff0c \u5e76 \u63d0\u4f9b \u67e5\u8be2   Carla   \u8def\u5f84 \u70b9 \u7684 \u670d\u52a1 \u3002 \u8981 \u4e86\u89e3 \u6709\u5173 \u8def\u5f84 \u70b9 \u7684 \u66f4 \u591a \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Carla   \u6587\u6863   \u3002   \u8fd0\u884c \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   \u8bbe\u5b9a \u76ee\u6807   \u4f7f\u7528 \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u53d1\u5e03   \u670d\u52a1","title":"Carla   \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668"},{"location":"carla_waypoint/#_1","text":"\u5728   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fd0\u884c \u7684 \u60c5\u51b5 \u4e0b \uff0c \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   ROS   1   roslaunch   carla _ waypoint _ publisher   carla _ waypoint _ publisher . launch   #   ROS   2   ros2   launch   carla _ waypoint _ publisher   carla _ waypoint _ publisher . launch . py","title":"\u8fd0\u884c \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668"},{"location":"carla_waypoint/#_2","text":"\u5982\u679c \u53ef\u7528 \uff0c \u5219 \u4ece \u4e3b\u9898   / carla / < ROLE   NAME > / goal   \u4e2d \u8bfb\u53d6 \u76ee\u6807 \uff0c \u5426\u5219 \u4f7f\u7528 \u56fa\u5b9a \u7684 \u751f\u6210 \u70b9 \u3002   \u8bbe\u7f6e \u76ee\u6807 \u7684 \u9996\u9009 \u65b9\u6cd5 \u662f \u5355\u51fb   RVIZ   \u4e2d \u7684 \u201c 2D   Nav   Goal \u201d \u3002","title":"\u8bbe\u5b9a \u76ee\u6807"},{"location":"carla_waypoint/#_3","text":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6f14\u793a   \u4f7f\u7528   Waypoint   Publisher   \u4e3a   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406   \u89c4\u5212 \u8def\u7ebf \u3002 \u6709\u5173 \u5982\u4f55 \u4f7f\u7528 \u5b83 \u7684 \u793a\u4f8b \uff0c   \u53c2\u9605 \u8bf7\u53c2\u9605   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6f14\u793a   \u542f\u52a8 \u6587\u4ef6   \u3002","title":"\u4f7f\u7528 \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668"},{"location":"carla_waypoint/#ros","text":"","title":"ROS   \u5e94\u7528 \u7a0b\u5e8f\u63a5\u53e3"},{"location":"carla_waypoint/#_4","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < ego   vehicle   name > / waypoints   nav _ msgs / Path   \u53d1\u5e03 \u8ba1\u7b97 \u51fa \u7684 \u8def\u7ebf","title":"\u53d1\u5e03"},{"location":"carla_waypoint/#_5","text":"\u670d\u52a1   \u7c7b\u578b   \u63cf\u8ff0   / carla _ waypoint _ publisher / < ego   vehicle   name > / get _ waypoint   carla _ waypoint _ types / GetWaypoint   \u83b7\u53d6 \u7279\u5b9a \u4f4d\u7f6e \u7684 \u8def\u5f84 \u70b9   / carla _ waypoint _ publisher / < ego   vehicle   name > / get _ actor _ waypoint   carla _ waypoint _ types / GetActorWaypoint   \u83b7\u53d6 \u53c2\u4e0e \u53c2\u4e0e\u8005   ID   \u7684 \u8def\u5f84 \u70b9","title":"\u670d\u52a1"},{"location":"catalogue/","text":"Carla   \u76ee\u5f55   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5e9e\u5927 \u7684 \u4e09\u7ef4 \u8d44\u4ea7 \u5e93\u6765 \u586b\u5145 \u60a8 \u7684 \u81ea\u4e3b \u4ee3\u7406 \u7684 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u3002 \u4e09\u7ef4 \u8d44\u6e90 \u8d44\u6e90\u5e93 \u63d0\u4f9b \u4e86 \u5927\u91cf \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u7684 \u9884 \u6784\u5efa \u5730\u56fe \u3001 \u7528\u4e8e \u4ea4\u901a \u4eff\u771f \u7684 \u5404\u79cd \u8f66\u8f86 \u6a21\u578b \u4ee5\u53ca \u884c\u4eba \u548c \u5176\u4ed6 \u7ed3\u6784 \u6216 \u969c\u788d \u969c\u788d\u7269 \u7684 \u6a21\u578b \uff0c \u8fd9\u4e9b \u6a21\u578b \u53ef\u4ee5 \u5728 \u8fd0\u884c \u65f6 \u52a8\u6001 \u6dfb\u52a0 \u5230 \u60a8 \u7684 \u4eff\u771f \u4e2d \u3002 \u8be5 \u76ee\u5f55 \u8bb0\u5f55 \u4e86 \u53ef \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u7684 \u6240\u6709 \u4e09\u7ef4 \u8d44\u6e90 \u3002   \u5730\u56fe   \u8f66\u8f86   \u884c\u4eba   \u9053\u5177   \u5730\u56fe   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u63d0\u4f9b   10   \u4e2a\u9884 \u6784\u5efa \u5730\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \uff0c \u4e3a \u8bad\u7ec3 \u548c \u6d4b\u8bd5 \u81ea\u4e3b \u4ee3\u7406 \u63d0\u4f9b \u4e86 \u591a\u79cd \u73af\u5883 \u3002   \u57ce\u9547   \u6982\u51b5   Town01   \u4e00\u4e2a \u7b80\u5355 \u7684 \u5c0f\u9547 \uff0c \u6709 \u4e00\u6761 \u6cb3\u6d41 \u548c \u51e0\u5ea7 \u6865\u6881 \u3002   Town02   \u4e00\u4e2a \u7b80\u5355 \u7684 \u5c0f\u9547 \uff0c \u4f4f\u5b85 \u548c \u5546\u4e1a \u5efa\u7b51 \u6df7\u5408 \u5728 \u4e00\u8d77 \u3002   Town03   \u66f4\u5927 \u7684 \u57ce\u5e02 \u5e02\u5730 \u5730\u56fe \u57ce\u5e02\u5730\u56fe \uff0c \u5e26\u6709 \u73af\u5c9b \u548c \u5927\u578b \u8def\u53e3 \u3002   Town04   \u4e00\u5ea7 \u9576\u5d4c \u5728 \u7fa4\u5c71 \u4e4b\u4e2d \u7684 \u5c0f\u9547 \uff0c \u6709 \u4e00\u6761 \u7279\u6b8a \u7684 \u201c 8   \u5b57\u5f62 \u201d   \u65e0\u9650   \u516c\u8def \u3002   Town05   \u65b9\u5f62 \u7f51\u683c \u57ce\u9547 \uff0c \u6709 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u548c \u4e00\u5ea7 \u6865\u6881 \u3002 \u6bcf\u4e2a \u65b9\u5411 \u6709 \u591a\u4e2a \u8f66\u9053 \u3002 \u5bf9\u4e8e \u6267\u884c \u53d8\u9053 \u5f88 \u6709\u7528 \u3002   Town06   \u957f \u7684 \u591a \u8f66\u9053 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \uff0c \u6709 \u8bb8\u591a \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u5165\u53e3 \u548c \u51fa\u53e3 \u3002 \u5b83 \u8fd8\u6709 \u4e00\u4e2a   \u5bc6\u6b47\u6839 \u5de6\u7ffc   \u3002   Town07   \u4e61\u6751 \u73af\u5883 \uff0c \u9053\u8def \u72ed\u7a84 \uff0c \u6709 \u7389\u7c73 \u3001 \u8c37\u4ed3 \uff0c \u51e0\u4e4e \u6ca1\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u3002   Town08   \u7528\u4e8e   \u6392\u884c \u6392\u884c\u699c   \u6311\u6218 \u7684 \u79d8\u5bc6 \u201c \u4e0d\u89c1 \u770b\u4e0d\u89c1 \u201d \u5c0f\u9547 \u3002   Town09   \u7528\u4e8e   \u6392\u884c \u6392\u884c\u699c   \u6311\u6218 \u7684 \u79d8\u5bc6 \u201c \u4e0d\u89c1 \u770b\u4e0d\u89c1 \u201d \u5c0f\u9547 \u3002   Town10   \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u7684 \u57ce\u5e02 \u73af\u5883 \uff0c \u62e5\u6709 \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u697c \u548c \u6d77\u6ee8 \u957f\u5eca \u3002   Town11   \u672a \u88c5\u9970 \u7684 \u5927 \u5730\u56fe \u3002 \u7528\u4f5c \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd \u7684 \u6982\u5ff5 \u8bc1\u660e \u3002   Town12   \u4e00\u5f20 \u5305\u542b \u8bb8\u591a \u4e0d\u540c \u533a\u57df \u7684 \u5927 \u5730\u56fe \uff0c \u5305\u62ec \u9ad8\u5c42 \u5efa\u7b51 \u9ad8\u5c42\u5efa\u7b51 \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u73af\u5883 \u3002   Town13   \u4e00\u5f20 \u4e0e   12   \u53f7 \u9547 \u89c4\u6a21 \u76f8\u4f3c \u7684 \u5927 \u5730\u56fe \uff0c \u4f46 \u5177\u6709 \u9c9c\u660e \u7684 \u7279\u8272 \u3002   Town15   \u57fa\u4e8e \u5df4\u585e \u585e\u7f57 \u7f57\u90a3 \u5df4\u585e\u7f57\u90a3 \u81ea\u6cbb \u5927\u5b66 \u9053\u8def \u5e03\u5c40 \u7684 \u5730\u56fe \u3002   \u8f66\u8f86   Carla   \u63d0\u4f9b \u5404\u79cd \u8f66\u8f86 \uff0c \u4ee5\u53ca \u73b0\u5b9e \u4e16\u754c \u6c7d\u8f66 \u3001 \u5361\u8f66 \u548c \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4fdd\u771f \u9ad8\u4fdd\u771f \u6a21\u578b \uff0c \u7528\u4e8e \u5728 \u4eff\u771f \u4e2d \u590d\u5236 \u4ea4\u901a \u3002 \u5728   \u8f66\u8f86 \u76ee\u5f55   \u4e2d \u6d4f\u89c8 \u5e76 \u9009\u62e9 \u60a8 \u559c\u6b22 \u7684 \u8f66\u8f86 \u3002   \u884c\u4eba   Carla   \u7684 \u8d44\u4ea7 \u5e93 \u5305\u542b \u5404\u79cd \u884c\u4eba \uff0c \u53ef \u4eff\u771f \u4ee3\u7406 \u5468\u56f4 \u4e09\u7ef4 \u73af\u5883 \u4e2d \u7684 \u4eba\u6d41 \u6d41\u91cf \u4eba\u6d41\u91cf \u3002 \u5728   \u884c\u4eba \u76ee\u5f55   \u4e2d \u6d4f\u89c8 \u5e76 \u9009\u62e9 \u60a8 \u60f3\u8981 \u7684 \u884c\u4eba \u3002   \u9053\u5177   Carla   \u7684 \u9053\u5177 \u4eff\u771f \u4e86 \u60a8 \u53ef\u80fd \u5728 \u9053\u8def \u4e0a \u6216 \u9053\u8def \u9644\u8fd1 \u53d1\u73b0 \u7684 \u5404\u79cd \u7ed3\u6784 \u548c \u7269\u54c1 \uff0c \u4f8b\u5982 \u4fe1\u606f \u4ead \u3001 \u96d5\u50cf \u3001 \u957f\u51f3 \u3001 \u76d2\u5b50 \u3001 \u5783\u573e \u5783\u573e\u7bb1 \u3001 \u788e\u7247 \u6216 \u5783\u573e \u3002 \u8fd9\u4e9b \u9053\u5177 \u53ef\u4ee5 \u5728 \u8fd0\u884c \u65f6 \u52a8\u6001 \u5730 \u653e\u7f6e \u5728 \u4eff\u771f \u4e2d \u7684 \u4efb\u4f55 \u4f4d\u7f6e \u3002 \u5728   \u9053\u5177 \u76ee\u5f55   \u4e2d \u6d4f\u89c8 \u5e76 \u9009\u62e9 \u60a8 \u7684 \u9053\u5177 \u3002","title":"Carla   \u76ee\u5f55"},{"location":"catalogue/#carla","text":"Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5e9e\u5927 \u7684 \u4e09\u7ef4 \u8d44\u4ea7 \u5e93\u6765 \u586b\u5145 \u60a8 \u7684 \u81ea\u4e3b \u4ee3\u7406 \u7684 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u3002 \u4e09\u7ef4 \u8d44\u6e90 \u8d44\u6e90\u5e93 \u63d0\u4f9b \u4e86 \u5927\u91cf \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u7684 \u9884 \u6784\u5efa \u5730\u56fe \u3001 \u7528\u4e8e \u4ea4\u901a \u4eff\u771f \u7684 \u5404\u79cd \u8f66\u8f86 \u6a21\u578b \u4ee5\u53ca \u884c\u4eba \u548c \u5176\u4ed6 \u7ed3\u6784 \u6216 \u969c\u788d \u969c\u788d\u7269 \u7684 \u6a21\u578b \uff0c \u8fd9\u4e9b \u6a21\u578b \u53ef\u4ee5 \u5728 \u8fd0\u884c \u65f6 \u52a8\u6001 \u6dfb\u52a0 \u5230 \u60a8 \u7684 \u4eff\u771f \u4e2d \u3002 \u8be5 \u76ee\u5f55 \u8bb0\u5f55 \u4e86 \u53ef \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u7684 \u6240\u6709 \u4e09\u7ef4 \u8d44\u6e90 \u3002   \u5730\u56fe   \u8f66\u8f86   \u884c\u4eba   \u9053\u5177","title":"Carla   \u76ee\u5f55"},{"location":"catalogue/#_1","text":"Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u63d0\u4f9b   10   \u4e2a\u9884 \u6784\u5efa \u5730\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \uff0c \u4e3a \u8bad\u7ec3 \u548c \u6d4b\u8bd5 \u81ea\u4e3b \u4ee3\u7406 \u63d0\u4f9b \u4e86 \u591a\u79cd \u73af\u5883 \u3002   \u57ce\u9547   \u6982\u51b5   Town01   \u4e00\u4e2a \u7b80\u5355 \u7684 \u5c0f\u9547 \uff0c \u6709 \u4e00\u6761 \u6cb3\u6d41 \u548c \u51e0\u5ea7 \u6865\u6881 \u3002   Town02   \u4e00\u4e2a \u7b80\u5355 \u7684 \u5c0f\u9547 \uff0c \u4f4f\u5b85 \u548c \u5546\u4e1a \u5efa\u7b51 \u6df7\u5408 \u5728 \u4e00\u8d77 \u3002   Town03   \u66f4\u5927 \u7684 \u57ce\u5e02 \u5e02\u5730 \u5730\u56fe \u57ce\u5e02\u5730\u56fe \uff0c \u5e26\u6709 \u73af\u5c9b \u548c \u5927\u578b \u8def\u53e3 \u3002   Town04   \u4e00\u5ea7 \u9576\u5d4c \u5728 \u7fa4\u5c71 \u4e4b\u4e2d \u7684 \u5c0f\u9547 \uff0c \u6709 \u4e00\u6761 \u7279\u6b8a \u7684 \u201c 8   \u5b57\u5f62 \u201d   \u65e0\u9650   \u516c\u8def \u3002   Town05   \u65b9\u5f62 \u7f51\u683c \u57ce\u9547 \uff0c \u6709 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u548c \u4e00\u5ea7 \u6865\u6881 \u3002 \u6bcf\u4e2a \u65b9\u5411 \u6709 \u591a\u4e2a \u8f66\u9053 \u3002 \u5bf9\u4e8e \u6267\u884c \u53d8\u9053 \u5f88 \u6709\u7528 \u3002   Town06   \u957f \u7684 \u591a \u8f66\u9053 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \uff0c \u6709 \u8bb8\u591a \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u5165\u53e3 \u548c \u51fa\u53e3 \u3002 \u5b83 \u8fd8\u6709 \u4e00\u4e2a   \u5bc6\u6b47\u6839 \u5de6\u7ffc   \u3002   Town07   \u4e61\u6751 \u73af\u5883 \uff0c \u9053\u8def \u72ed\u7a84 \uff0c \u6709 \u7389\u7c73 \u3001 \u8c37\u4ed3 \uff0c \u51e0\u4e4e \u6ca1\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u3002   Town08   \u7528\u4e8e   \u6392\u884c \u6392\u884c\u699c   \u6311\u6218 \u7684 \u79d8\u5bc6 \u201c \u4e0d\u89c1 \u770b\u4e0d\u89c1 \u201d \u5c0f\u9547 \u3002   Town09   \u7528\u4e8e   \u6392\u884c \u6392\u884c\u699c   \u6311\u6218 \u7684 \u79d8\u5bc6 \u201c \u4e0d\u89c1 \u770b\u4e0d\u89c1 \u201d \u5c0f\u9547 \u3002   Town10   \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u7684 \u57ce\u5e02 \u73af\u5883 \uff0c \u62e5\u6709 \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u697c \u548c \u6d77\u6ee8 \u957f\u5eca \u3002   Town11   \u672a \u88c5\u9970 \u7684 \u5927 \u5730\u56fe \u3002 \u7528\u4f5c \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd \u7684 \u6982\u5ff5 \u8bc1\u660e \u3002   Town12   \u4e00\u5f20 \u5305\u542b \u8bb8\u591a \u4e0d\u540c \u533a\u57df \u7684 \u5927 \u5730\u56fe \uff0c \u5305\u62ec \u9ad8\u5c42 \u5efa\u7b51 \u9ad8\u5c42\u5efa\u7b51 \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u73af\u5883 \u3002   Town13   \u4e00\u5f20 \u4e0e   12   \u53f7 \u9547 \u89c4\u6a21 \u76f8\u4f3c \u7684 \u5927 \u5730\u56fe \uff0c \u4f46 \u5177\u6709 \u9c9c\u660e \u7684 \u7279\u8272 \u3002   Town15   \u57fa\u4e8e \u5df4\u585e \u585e\u7f57 \u7f57\u90a3 \u5df4\u585e\u7f57\u90a3 \u81ea\u6cbb \u5927\u5b66 \u9053\u8def \u5e03\u5c40 \u7684 \u5730\u56fe \u3002","title":"\u5730\u56fe"},{"location":"catalogue/#_2","text":"Carla   \u63d0\u4f9b \u5404\u79cd \u8f66\u8f86 \uff0c \u4ee5\u53ca \u73b0\u5b9e \u4e16\u754c \u6c7d\u8f66 \u3001 \u5361\u8f66 \u548c \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4fdd\u771f \u9ad8\u4fdd\u771f \u6a21\u578b \uff0c \u7528\u4e8e \u5728 \u4eff\u771f \u4e2d \u590d\u5236 \u4ea4\u901a \u3002 \u5728   \u8f66\u8f86 \u76ee\u5f55   \u4e2d \u6d4f\u89c8 \u5e76 \u9009\u62e9 \u60a8 \u559c\u6b22 \u7684 \u8f66\u8f86 \u3002","title":"\u8f66\u8f86"},{"location":"catalogue/#_3","text":"Carla   \u7684 \u8d44\u4ea7 \u5e93 \u5305\u542b \u5404\u79cd \u884c\u4eba \uff0c \u53ef \u4eff\u771f \u4ee3\u7406 \u5468\u56f4 \u4e09\u7ef4 \u73af\u5883 \u4e2d \u7684 \u4eba\u6d41 \u6d41\u91cf \u4eba\u6d41\u91cf \u3002 \u5728   \u884c\u4eba \u76ee\u5f55   \u4e2d \u6d4f\u89c8 \u5e76 \u9009\u62e9 \u60a8 \u60f3\u8981 \u7684 \u884c\u4eba \u3002","title":"\u884c\u4eba"},{"location":"catalogue/#_4","text":"Carla   \u7684 \u9053\u5177 \u4eff\u771f \u4e86 \u60a8 \u53ef\u80fd \u5728 \u9053\u8def \u4e0a \u6216 \u9053\u8def \u9644\u8fd1 \u53d1\u73b0 \u7684 \u5404\u79cd \u7ed3\u6784 \u548c \u7269\u54c1 \uff0c \u4f8b\u5982 \u4fe1\u606f \u4ead \u3001 \u96d5\u50cf \u3001 \u957f\u51f3 \u3001 \u76d2\u5b50 \u3001 \u5783\u573e \u5783\u573e\u7bb1 \u3001 \u788e\u7247 \u6216 \u5783\u573e \u3002 \u8fd9\u4e9b \u9053\u5177 \u53ef\u4ee5 \u5728 \u8fd0\u884c \u65f6 \u52a8\u6001 \u5730 \u653e\u7f6e \u5728 \u4eff\u771f \u4e2d \u7684 \u4efb\u4f55 \u4f4d\u7f6e \u3002 \u5728   \u9053\u5177 \u76ee\u5f55   \u4e2d \u6d4f\u89c8 \u5e76 \u9009\u62e9 \u60a8 \u7684 \u9053\u5177 \u3002","title":"\u9053\u5177"},{"location":"catalogue_pedestrians/","text":"\u884c\u4eba \u76ee\u5f55   \u6210\u5e74 \u6210\u5e74\u4eba   \u6210\u5e74 \u884c\u4eba   -   1   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u53d8\u4f53   4   \u53d8\u4f53   5   \u53d8\u4f53   6   \u6210\u5e74 \u884c\u4eba   -   2   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u53d8\u4f53   4   \u6210\u5e74 \u884c\u4eba   -   3   \u53d8\u4f53   1   \u53d8\u4f53   2   \u6210\u5e74 \u884c\u4eba   -   4   \u53d8\u4f53   1   \u53d8\u4f53   2   \u6210\u5e74 \u884c\u4eba   -   5   \u53d8\u4f53   1   \u53d8\u4f53   2   \u6210\u5e74 \u884c\u4eba   -   6   \u53d8\u4f53   1   \u53d8\u4f53   2   \u6210\u5e74 \u884c\u4eba   -   7   \u53d8\u4f53   1   \u53d8\u4f53   2   \u6210\u5e74 \u884c\u4eba   -   8   \u53d8\u4f53   1   \u53d8\u4f53   2   \u6210\u5e74 \u884c\u4eba   -   9   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u6210\u5e74 \u884c\u4eba   -   10   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u53d8\u4f53   4   \u6210\u5e74 \u884c\u4eba   -   11   \u53d8\u4f53   1   \u53d8\u4f53   2   \u6210\u5e74 \u884c\u4eba   -   12   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u6210\u5e74 \u884c\u4eba   -   13   \u53d8\u4f53   1   \u6210\u5e74 \u884c\u4eba   -   14   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u6210\u5e74 \u884c\u4eba   -   15   \u53d8\u4f53   1   \u53d8\u4f53   2   \u5c0f\u5b69   \u5c0f\u5b69 \u884c\u4eba   -   1   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u5c0f\u5b69 \u884c\u4eba   -   2   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u5c0f\u5b69 \u884c\u4eba   -   3   \u53d8\u4f53   1   \u5c0f\u5b69 \u884c\u4eba   -   4   \u53d8\u4f53   1   \u8b66\u5bdf   \u8b66\u5bdf   -   1   \u8b66\u5bdf   -   2   \u6210\u5e74 \u6210\u5e74\u4eba   \u6210\u5e74 \u884c\u4eba   1   -   \u53d8\u4f53   1   \u84dd\u56fe   ID   :   walker . pedestrian.0001   \u6210\u5e74 \u884c\u4eba   1   -   \u53d8\u4f53   2   \u84dd\u56fe   ID   :   walker . pedestrian.0005   \u6210\u5e74 \u884c\u4eba   1   -   \u53d8\u4f53   3   \u84dd\u56fe   ID   :   walker . pedestrian.0006   \u6210\u5e74 \u884c\u4eba   1   -   \u53d8\u4f53   4   \u84dd\u56fe   ID   :   walker . pedestrian.0007   \u6210\u5e74 \u884c\u4eba   1   -   \u53d8\u4f53   5   \u84dd\u56fe   ID   :   walker . pedestrian.0008   \u6210\u5e74 \u884c\u4eba   2   -   \u53d8\u4f53   1   \u84dd\u56fe   ID   :   walker . pedestrian.0004   \u6210\u5e74 \u884c\u4eba   2   -   \u53d8\u4f53   2   \u84dd\u56fe   ID   :   walker . pedestrian.0003   \u6210\u5e74 \u884c\u4eba   2   -   \u53d8\u4f53   3   \u84dd\u56fe   ID   :   walker . pedestrian.0002   \u6210\u5e74 \u884c\u4eba   3   -   \u53d8\u4f53   1   \u84dd\u56fe   ID   :   walker . pedestrian.0015   \u6210\u5e74 \u884c\u4eba   3   -   \u53d8\u4f53   2   \u84dd\u56fe   ID   :   walker . pedestrian.0019   \u6210\u5e74 \u884c\u4eba   4   -   \u53d8\u4f53   1   \u84dd\u56fe   ID   :   walker . pedestrian.0016   \u6210\u5e74 \u884c\u4eba   4   -   \u53d8\u4f53   2   \u84dd\u56fe   ID   :   walker . pedestrian.0017   \u6210\u5e74 \u884c\u4eba   5   -   \u53d8\u4f53   1   \u84dd\u56fe   ID   :   walker . pedestrian.0026   \u6210\u5e74 \u884c\u4eba   5   -   \u53d8\u4f53   2   \u84dd\u56fe   ID   :   walker . pedestrian.0018   \u6210\u5e74 \u884c\u4eba   6   -   \u53d8\u4f53   1   \u84dd\u56fe   ID   :   walker . pedestrian.0021   \u6210\u5e74 \u884c\u4eba   6   -   \u53d8\u4f53   2   \u84dd\u56fe   ID   :   walker . pedestrian.0020   \u6210\u5e74 \u884c\u4eba   7   -   \u53d8\u4f53   1   \u84dd\u56fe   ID   :   walker . pedestrian.0023   \u6210\u5e74 \u884c\u4eba   7   -   \u53d8\u4f53   2   \u84dd\u56fe   ID   :   walker . pedestrian.0022   \u6210\u5e74 \u884c\u4eba   8   -   \u53d8\u4f53   1   \u84dd\u56fe   ID   :   walker . pedestrian.0024   \u6210\u5e74 \u884c\u4eba   8   -   \u53d8\u4f53   2   \u84dd\u56fe   ID   :   walker . pedestrian.0025   \u6210\u5e74 \u884c\u4eba   9   -   \u53d8\u4f53   1   \u84dd\u56fe   ID   :   walker . pedestrian.0027   \u6210\u5e74 \u884c\u4eba   9   -   \u53d8\u4f53   2   \u84dd\u56fe   ID   :   walker . pedestrian.0029   \u6210\u5e74 \u884c\u4eba   9   -   \u53d8\u4f53   3   \u84dd\u56fe   ID   :   walker . pedestrian.0028   \u6210\u5e74 \u884c\u4eba   10   -   \u53d8\u4f53   1   \u84dd\u56fe   ID   :   walker . pedestrian.0041   \u6210\u5e74 \u884c\u4eba   10   -   \u53d8\u4f53   2   \u84dd\u56fe   ID   :   walker . pedestrian.0040   \u6210\u5e74 \u884c\u4eba   10   -   \u53d8\u4f53   3   \u84dd\u56fe   ID   :   walker . pedestrian.0033   \u6210\u5e74 \u884c\u4eba   10   -   \u53d8\u4f53   4   \u84dd\u56fe   ID   :   walker . pedestrian.0031   \u6210\u5e74 \u884c\u4eba   11   -   \u53d8\u4f53   1   \u84dd\u56fe   ID   :   walker . pedestrian.0034   \u6210\u5e74 \u884c\u4eba   11   -   \u53d8\u4f53   2   \u84dd\u56fe   ID   :   walker . pedestrian.0038   \u6210\u5e74 \u884c\u4eba   12   -   \u53d8\u4f53   1   \u84dd\u56fe   ID   :   walker . pedestrian.0035   \u6210\u5e74 \u884c\u4eba   12   -   \u53d8\u4f53   2   \u84dd\u56fe   ID   :   walker . pedestrian.0036   \u6210\u5e74 \u884c\u4eba   12   -   \u53d8\u4f53   3   \u84dd\u56fe   ID   :   walker . pedestrian.0037   \u6210\u5e74 \u884c\u4eba   13   -   \u53d8\u4f53   1   \u84dd\u56fe   ID   :   walker . pedestrian.0039   \u6210\u5e74 \u884c\u4eba   14   -   \u53d8\u4f53   1   \u84dd\u56fe   ID   :   walker . pedestrian.0042   \u6210\u5e74 \u884c\u4eba   14   -   \u53d8\u4f53   2   \u84dd\u56fe   ID   :   walker . pedestrian.0043   \u6210\u5e74 \u884c\u4eba   14   -   \u53d8\u4f53  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\u53d8\u4f53   1   \u53d8\u4f53   2   \u6210\u5e74 \u884c\u4eba   -   8   \u53d8\u4f53   1   \u53d8\u4f53   2   \u6210\u5e74 \u884c\u4eba   -   9   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u6210\u5e74 \u884c\u4eba   -   10   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u53d8\u4f53   4   \u6210\u5e74 \u884c\u4eba   -   11   \u53d8\u4f53   1   \u53d8\u4f53   2   \u6210\u5e74 \u884c\u4eba   -   12   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u6210\u5e74 \u884c\u4eba   -   13   \u53d8\u4f53   1   \u6210\u5e74 \u884c\u4eba   -   14   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u6210\u5e74 \u884c\u4eba   -   15   \u53d8\u4f53   1   \u53d8\u4f53   2","title":"\u6210\u5e74\u4eba"},{"location":"catalogue_pedestrians/#_3","text":"\u5c0f\u5b69 \u884c\u4eba   -   1   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u5c0f\u5b69 \u884c\u4eba   -   2   \u53d8\u4f53   1   \u53d8\u4f53   2   \u53d8\u4f53   3   \u5c0f\u5b69 \u884c\u4eba 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"},{"location":"catalogue_pedestrians/#1-5","text":"\u84dd\u56fe   ID   :   walker . pedestrian.0008","title":"\u6210\u5e74 \u884c\u4eba   1   -   \u53d8\u4f53   5  "},{"location":"catalogue_pedestrians/#2-1","text":"\u84dd\u56fe   ID   :   walker . pedestrian.0004","title":"\u6210\u5e74 \u884c\u4eba   2   -   \u53d8\u4f53   1  "},{"location":"catalogue_pedestrians/#2-2","text":"\u84dd\u56fe   ID   :   walker . pedestrian.0003","title":"\u6210\u5e74 \u884c\u4eba   2   -   \u53d8\u4f53   2  "},{"location":"catalogue_pedestrians/#2-3","text":"\u84dd\u56fe   ID   :   walker . pedestrian.0002","title":"\u6210\u5e74 \u884c\u4eba   2   -   \u53d8\u4f53   3  "},{"location":"catalogue_pedestrians/#3-1","text":"\u84dd\u56fe   ID   :   walker . pedestrian.0015","title":"\u6210\u5e74 \u884c\u4eba   3   -   \u53d8\u4f53   1  "},{"location":"catalogue_pedestrians/#3-2","text":"\u84dd\u56fe   ID   :   walker . pedestrian.0019","title":"\u6210\u5e74 \u884c\u4eba   3   -   \u53d8\u4f53   2  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shoppingbag","title":"\u8d2d\u7269\u888b"},{"location":"catalogue_props/#_49","text":"","title":"\u63a8\u8f66"},{"location":"catalogue_props/#_50","text":"\u84dd\u56fe   ID   :   static . prop . shoppingcart","title":"\u8d2d\u7269\u8f66"},{"location":"catalogue_props/#_51","text":"\u84dd\u56fe   ID   :   static . prop . shoppingtrolley","title":"\u8d2d\u7269 \u624b\u63a8\u8f66"},{"location":"catalogue_props/#_52","text":"","title":"\u7bb1"},{"location":"catalogue_props/#_53","text":"\u84dd\u56fe   ID   :   static . prop . briefcase","title":"\u516c\u6587\u5305"},{"location":"catalogue_props/#_54","text":"\u84dd\u56fe   ID   :   static . prop . guitarcase","title":"\u5409\u4ed6 \u76d2"},{"location":"catalogue_props/#_55","text":"\u84dd\u56fe   ID   :   static . prop . travelcase","title":"\u65c5\u884c\u7bb1"},{"location":"catalogue_props/#_56","text":"","title":"\u8863\u670d"},{"location":"catalogue_props/#_57","text":"\u84dd\u56fe   ID   :   static . prop . bike   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:   static . prop . brokentile03","title":"\u788e\u74e6   03"},{"location":"catalogue_props/#04_3","text":"\u84dd\u56fe   ID   :   static . prop . brokentile04","title":"\u788e\u74e6   04"},{"location":"catalogue_props/#01_8","text":"\u84dd\u56fe   ID   :   static . prop . dirtdebris01","title":"\u6c61\u57a2   /   \u788e\u7247   01"},{"location":"catalogue_props/#02_7","text":"\u84dd\u56fe   ID   :   static . prop . dirtdebris02","title":"\u6c61\u57a2   /   \u788e\u7247   02"},{"location":"catalogue_props/#03_7","text":"\u84dd\u56fe   ID   :   static . prop . dirtdebris03","title":"\u6c61\u57a2   /   \u788e\u7247   03"},{"location":"catalogue_props/#_71","text":"","title":"\u6807\u5fd7"},{"location":"catalogue_props/#_72","text":"\u84dd\u56fe   ID   :   static . prop . trafficwarning","title":"\u4ea4\u901a \u8b66\u544a"},{"location":"catalogue_props/#_73","text":"\u84dd\u56fe   ID   :   static . prop . warningaccident","title":"\u4e8b\u6545 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:   static . prop . kiosk _ 01","title":"\u4fe1\u606f \u4ead   01"},{"location":"catalogue_props/#_81","text":"","title":"\u7eaa\u5ff5\u7891"},{"location":"catalogue_props/#_82","text":"\u84dd\u56fe   ID   :   static . prop . fountain","title":"\u55b7\u6cc9"},{"location":"catalogue_props/#_83","text":"","title":"\u7eaa\u5ff5\u7891"},{"location":"catalogue_props/#_84","text":"\u84dd\u56fe   ID   :   static . prop . maptable","title":"\u5730 \u56fe\u8868"},{"location":"catalogue_props/#_85","text":"\u84dd\u56fe   ID   :   static . prop . advertisement","title":"\u5e7f\u544a"},{"location":"catalogue_props/#_86","text":"\u84dd\u56fe   ID   :   static . prop . streetsign","title":"\u8def\u724c"},{"location":"catalogue_props/#01_11","text":"\u84dd\u56fe   ID   :   static . prop . streetsign01","title":"\u8def\u724c   01"},{"location":"catalogue_props/#04_4","text":"\u84dd\u56fe   ID   :   static . prop . streetsign04","title":"\u8def\u724c   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calibrator","title":"\u6821\u51c6\u5668"},{"location":"catalogue_vehicles/","text":"\u8f66\u8f86 \u76ee\u5f55   \u7b2c   2   \u4ee3   \u8f66   \u9053\u5947   -   Charger   2020   \u9053\u5947   -   Police   Charger   2020   \u798f\u7279   -   \u7687\u51a0 \uff08 \u51fa\u79df \u79df\u8f66 \u51fa\u79df\u8f66 \uff09   \u6797\u80af   -   MKZ   2020   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   -   Coupe   2020   \u8ff7\u4f60   -   Cooper   S   2021   \u5c3c\u6851   -   Patrol   2021   \u5361\u8f66   Carla   Motors   -   \u6b27\u6d32   HGV \uff08 \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u4f4d\u4e8e \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u4e0a\u65b9 \uff09   Carla   Motors   -   \u6d88\u9632 \u6d88\u9632\u8f66   \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   -   Cybertruck   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u798f\u7279   -   \u6551\u62a4 \u62a4\u8f66 \u6551\u62a4\u8f66   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   -   Sprinter   \u5927\u4f17   -   T2   2021   \u5df4\u58eb   \u4e09\u83f1   -   Fusorosa   \u7b2c\u4e00 \u4e00\u4ee3 \u7b2c\u4e00\u4ee3   \u8f66   \u5965\u8fea   -   A2   \u5965\u8fea   -   E - Tron   \u5965\u8fea   -   TT   \u5b9d\u9a6c   -   \u529f\u80fd \u591a\u529f\u80fd \u65c5\u884c \u884c\u8f66 \u65c5\u884c\u8f66   \u96ea\u4f5b\u5170   -   Impala   \u96ea\u94c1\u9f99   -   C3   \u9053\u5947   -   Police   Charger   \u798f\u7279   -   Mustang   \u5409\u666e \u5409\u666e\u8f66   -   Wrangler   Rubicon   \u6797\u80af   -   MKZ   2017   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   -   Coupe   \u5fae\u578b \u5fae\u578b\u8f66   -   Microlino   \u8ff7\u4f60   -   Cooper   S   \u5c3c\u6851   -   Micra   \u5c3c\u6851   -   Patrol   Seat   -   Leon   \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   -   Model   3   Toyota   -   Prius   \u5361\u8f66   Carla   Motors   -   CarlaCola   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u5927\u4f17   -   T2   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u54c8\u96f7 \u6234\u7ef4\u68ee   -   Low   Rider   Kawasaki   -   Ninja   Vespa   -   ZX   125   Yamaha   -   YZF   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   BH   -   \u8d8a\u91ce \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u5927\u540d \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   -   Century   Gazelle   -   Omafiets   \u68c0\u67e5 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u7684 \u8f66\u8f86   \u8981 \u68c0\u67e5 \u76ee\u5f55 \u4e2d \u7684 \u8f66\u8f86 \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b \u4ee3\u7801 \uff0c \u4ece \u4e0b\u9762 \u7684 \u8f66\u8f86 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u4e2d \u68c0\u7d22 \u84dd\u56fe   ID   \u5e76 \u5c06 \u5176 \u7c98\u8d34 \u5230 \u884c\u4e2d   bp _ lib . find ( ' blueprint . id . goes _ here ' )   \uff1a   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   bp _ lib   =   world . get _ blueprint _ library ( )   spectator   =   world . get _ spectator ( )   #   \u8bbe\u7f6e \u8f66\u8f86 \u53d8\u6362   vehicle _ loc   =   carla . Location ( x = - 46.9 ,   y = 20.0 ,   z = 0.2 )   vehicle _ rot   =   carla . Rotation ( pitch = 0.0 ,   yaw = 142.0 ,   roll = 0.0 )   vehicle _ trans   =   carla . Transform ( vehicle _ loc , vehicle _ rot )   #   \u5728 \u8fd9\u91cc \u7c98\u8d34 \u84dd\u56fe   ID   vehicle _ bp   =   bp _ lib . find ( ' vehicle . lincoln . mkz _ 2020 ' )   #   \u8bbe\u7f6e \u89c6\u89d2 \u53d8\u6362   camera _ loc   =   carla . Location ( x = - 48.7 ,   y = 24.8 ,   z = 1.7 )   camera _ rot   =   carla . Rotation ( pitch = - 13.4 ,   yaw = - 75.7 ,   roll = 0.0 )   camera _ trans   =   carla . Transform ( camera _ loc , camera _ rot )   #   \u751f\u6210 \u8f66\u8f86   vehicle   =   world . spawn _ actor ( vehicle _ bp ,   vehicle _ trans )   #   \u79fb\u52a8 \u89c2\u5bdf \u89c2\u5bdf\u8005   spectator . set _ transform ( camera _ trans )   \u5728 \u5c1d\u8bd5 \u751f\u6210 \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u4e4b\u524d \uff0c \u4e0d\u8981 \u5fd8\u8bb0 \u9500\u6bc1 \u8be5 \u8f66\u8f86 \u4ee5 \u907f\u514d \u78b0\u649e \uff1a   vehicle . destroy ( )   \u8f66   \u5965\u8fea   -   A2   \u5236\u9020 \u5236\u9020\u5546   :   \u5965\u8fea   \u578b\u53f7   :   A2   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . audi . a2   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u5965\u8fea   -   E - Tron   \u5236\u9020 \u5236\u9020\u5546   :   \u5965\u8fea   \u578b\u53f7   :   E - Tron   \u7c7b\u522b   :   SUV   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . audi . etron   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u7535\u52a8   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u5965\u8fea   -   TT   \u5236\u9020 \u5236\u9020\u5546   :   \u5965\u8fea   \u578b\u53f7   :   TT   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . audi . tt   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u5b9d\u9a6c   -   \u529f\u80fd \u591a\u529f\u80fd \u65c5\u884c \u884c\u8f66 \u65c5\u884c\u8f66   \u5236\u9020 \u5236\u9020\u5546   :   \u5b9d\u9a6c   \u578b\u53f7   :   \u529f\u80fd \u591a\u529f\u80fd \u65c5\u884c \u884c\u8f66 \u65c5\u884c\u8f66   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . bmw . grandtourer   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u96ea\u4f5b\u5170   -   Impala   \u5236\u9020 \u5236\u9020\u5546   :   \u96ea\u4f5b\u5170   \u578b\u53f7   :   Impala   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . chevrolet . impala   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u96ea\u94c1\u9f99   -   C3   \u5236\u9020 \u5236\u9020\u5546   :   \u96ea\u94c1\u9f99   \u578b\u53f7   :   C3   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . citroen . c3   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u9053\u5947   -   Charger   2020   \u5236\u9020 \u5236\u9020\u5546   :   \u9053\u5947   \u578b\u53f7   :   Charger   2020   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . dodge . charger _ 2020   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   \u9053\u5947   -   Police   Charger   \u5236\u9020 \u5236\u9020\u5546   :   \u9053\u5947   \u578b\u53f7   :   Police   Charger   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . dodge . charger _ police   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u6551\u9669 \u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u9053\u5947   -   Police   Charger   2020   \u5236\u9020 \u5236\u9020\u5546   :   \u9053\u5947   \u578b\u53f7   :   Police   Charger   2020   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . dodge . charger _ police _ 2020   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u6551\u9669 \u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   \u798f\u7279   -   \u7687\u51a0 \uff08 \u51fa\u79df \u79df\u8f66 \u51fa\u79df\u8f66 \uff09   \u5236\u9020 \u5236\u9020\u5546   :   \u798f\u7279   \u578b\u53f7   :   \u7687\u51a0 \uff08 \u51fa\u79df \u79df\u8f66 \u51fa\u79df\u8f66 \uff09   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . ford . crown   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   taxi   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   \u798f\u7279   -   Mustang   \u5236\u9020 \u5236\u9020\u5546   :   \u798f\u7279   \u578b\u53f7   :   Mustang   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . ford . mustang   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u5409\u666e \u5409\u666e\u8f66   -   Wrangler   Rubicon   \u5236\u9020 \u5236\u9020\u5546   :   \u5409\u666e \u5409\u666e\u8f66   \u578b\u53f7   :   Wrangler   Rubicon   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . jeep . wrangler _ rubicon   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u6797\u80af   -   MKZ   2017   \u5236\u9020 \u5236\u9020\u5546   :   \u6797\u80af   \u578b\u53f7   :   MKZ   2017   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . lincoln . mkz _ 2017   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u6797\u80af   -   MKZ   2020   \u5236\u9020 \u5236\u9020\u5546   :   \u6797\u80af   \u578b\u53f7   :   MKZ   2020   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . lincoln . mkz _ 2020   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   -   Coupe   \u5236\u9020 \u5236\u9020\u5546   :   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   \u578b\u53f7   :   Coupe   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . mercedes . coupe   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   -   Coupe   2020   \u5236\u9020 \u5236\u9020\u5546   :   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   \u578b\u53f7   :   Coupe   2020   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . mercedes . coupe _ 2020   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   \u5fae\u578b \u5fae\u578b\u8f66   -   Microlino   \u5236\u9020 \u5236\u9020\u5546   :   \u5fae\u578b \u5fae\u578b\u8f66   \u578b\u53f7   :   Microlino   \u7c7b\u522b   :   \u5fae\u578b \u5fae\u578b\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . micro . microlino   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u7535\u52a8   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u8ff7\u4f60   -   Cooper   S   \u5236\u9020 \u5236\u9020\u5546   :   \u8ff7\u4f60   \u578b\u53f7   :   Cooper   S   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . mini . cooper _ s   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u8ff7\u4f60   -   Cooper   S   2021   \u5236\u9020 \u5236\u9020\u5546   :   \u8ff7\u4f60   \u578b\u53f7   :   Cooper   S   2021   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . mini . cooper _ s _ 2021   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   \u5c3c\u6851   -   Micra   \u5236\u9020 \u5236\u9020\u5546   :   \u5c3c\u6851   \u578b\u53f7   :   Micra   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . nissan . micra   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u5c3c\u6851   -   Patrol   \u5236\u9020 \u5236\u9020\u5546   :   \u5c3c\u6851   \u578b\u53f7   :   Patrol   \u7c7b\u522b   :   SUV   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . nissan . patrol   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u5c3c\u6851   -   Patrol   2021   \u5236\u9020 \u5236\u9020\u5546   :   \u5c3c\u6851   \u578b\u53f7   :   Patrol   2021   \u7c7b\u522b   :   SUV   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . nissan . patrol _ 2021   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   Seat   -   Leon   \u5236\u9020 \u5236\u9020\u5546   :   Seat   \u578b\u53f7   :   Leon   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . seat . leon   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   -   Model   3   \u5236\u9020 \u5236\u9020\u5546   :   \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   \u578b\u53f7   :   Model   3   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . tesla . model3   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u7535\u52a8   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   Toyota   -   Prius   \u5236\u9020 \u5236\u9020\u5546   :   Toyota   \u578b\u53f7   :   Prius   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . toyota . prius   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u7535\u52a8   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u5361\u8f66   Carla   Motors   -   CarlaCola   \u5236\u9020 \u5236\u9020\u5546   :   Carla   Motors   \u578b\u53f7   :   CarlaCola   \u7c7b\u522b   :   \u5361\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . carlamotors . carlacola   \u57fa\u672c \u7c7b\u578b   :   \u5361\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   Carla   Motors   -   \u6b27\u6d32   HGV \uff08 \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u4f4d\u4e8e \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u4e0a\u65b9 \uff09   \u5236\u9020 \u5236\u9020\u5546   :   Carla   Motors   \u578b\u53f7   :   \u6b27\u6d32   HGV \uff08 \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u4f4d\u4e8e \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u4e0a\u65b9 \uff09   \u7c7b\u522b   :   \u5361\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . carlamotors . european _ hgv   \u57fa\u672c \u7c7b\u578b   :   \u5361\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   Carla   Motors   -   Firetruck   \u5236\u9020 \u5236\u9020\u5546   :   Carla   Motors   \u578b\u53f7   :   Firetruck   \u7c7b\u522b   :   \u5361\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . carlamotors . firetruck   \u57fa\u672c \u7c7b\u578b   :   \u5361\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u6551\u9669 \u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   -   Cybertruck   \u5236\u9020 \u5236\u9020\u5546   :   \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   \u578b\u53f7   :   Cybertruck   \u7c7b\u522b   :   \u5361\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . tesla . cybertruck   \u57fa\u672c \u7c7b\u578b   :   \u5361\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u7535\u52a8   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u798f\u7279   -   \u6551\u62a4 \u62a4\u8f66 \u6551\u62a4\u8f66   \u5236\u9020 \u5236\u9020\u5546   :   \u798f\u7279   \u578b\u53f7   :   \u6551\u62a4 \u62a4\u8f66 \u6551\u62a4\u8f66   \u7c7b\u522b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . ford . ambulance   \u57fa\u672c \u7c7b\u578b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u6551\u9669 \u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   -   Sprinter   \u5236\u9020 \u5236\u9020\u5546   :   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   \u578b\u53f7   :   Sprinter   \u7c7b\u522b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . mercedes . sprinter   \u57fa\u672c \u7c7b\u578b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   \u5927\u4f17   -   T2   \u5236\u9020 \u5236\u9020\u5546   :   \u5927\u4f17   \u578b\u53f7   :   T2   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . volkswagen . t2   \u57fa\u672c \u7c7b\u578b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u5927\u4f17   -   T2   2021   \u5236\u9020 \u5236\u9020\u5546   :   \u5927\u4f17   \u578b\u53f7   :   T2   2021   \u7c7b\u522b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . volkswagen . t2 _ 2021   \u57fa\u672c \u7c7b\u578b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True   \u5df4\u58eb   \u4e09\u83f1   -   Fusorosa   \u5236\u9020 \u5236\u9020\u5546   :   \u4e09\u83f1   \u578b\u53f7   :   Fusorosa   \u7c7b\u522b   :   \u5df4\u58eb   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . mitsubishi . fusorosa   \u57fa\u672c \u7c7b\u578b   :   \u5df4\u58eb   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u54c8\u96f7 \u6234\u7ef4\u68ee   -   Low   Rider   \u5236\u9020 \u5236\u9020\u5546   :   \u54c8\u96f7 \u6234\u7ef4\u68ee   \u578b\u53f7   :   Low   Rider   \u7c7b\u522b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . harley - davidson . low _ rider   \u57fa\u672c \u7c7b\u578b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   Kawasaki   -   Ninja   \u5236\u9020 \u5236\u9020\u5546   :   Kawasaki   \u578b\u53f7   :   Ninja   \u7c7b\u522b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . kawasaki . ninja   \u57fa\u672c \u7c7b\u578b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   Vespa   -   ZX   125   \u5236\u9020 \u5236\u9020\u5546   :   Vespa   \u578b\u53f7   :   ZX   125   \u7c7b\u522b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . vespa . zx125   \u57fa\u672c \u7c7b\u578b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   Yamaha   -   YZF   \u5236\u9020 \u5236\u9020\u5546   :   Yamaha   \u578b\u53f7   :   YZF   \u7c7b\u522b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . yamaha . yzf   \u57fa\u672c \u7c7b\u578b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   BH   -   \u8d8a\u91ce \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u5236\u9020 \u5236\u9020\u5546   :   BH   \u578b\u53f7   :   \u8d8a\u91ce \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u7c7b\u522b   :   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . bh . crossbike   \u57fa\u672c \u7c7b\u578b   :   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   \u5927\u540d \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   -   Century   \u5236\u9020 \u5236\u9020\u5546   :   \u5927\u540d \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u578b\u53f7   :   Century   \u7c7b\u522b   :   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . diamondback . century   \u57fa\u672c \u7c7b\u578b   :   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False   Gazelle   -   Omafiets   \u5236\u9020 \u5236\u9020\u5546   :   Gazelle   \u578b\u53f7   :   Omafiets   \u7c7b\u522b   :   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . gazelle . omafiets   \u57fa\u672c \u7c7b\u578b   :   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"Catalogue   vehicles"},{"location":"catalogue_vehicles/#_1","text":"","title":"\u8f66\u8f86 \u76ee\u5f55"},{"location":"catalogue_vehicles/#2","text":"\u8f66   \u9053\u5947   -   Charger   2020   \u9053\u5947   -   Police   Charger   2020   \u798f\u7279   -   \u7687\u51a0 \uff08 \u51fa\u79df \u79df\u8f66 \u51fa\u79df\u8f66 \uff09   \u6797\u80af   -   MKZ   2020   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   -   Coupe   2020   \u8ff7\u4f60   -   Cooper   S   2021   \u5c3c\u6851   -   Patrol   2021   \u5361\u8f66   Carla   Motors   -   \u6b27\u6d32   HGV \uff08 \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u4f4d\u4e8e \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u4e0a\u65b9 \uff09   Carla   Motors   -   \u6d88\u9632 \u6d88\u9632\u8f66   \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   -   Cybertruck   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u798f\u7279   -   \u6551\u62a4 \u62a4\u8f66 \u6551\u62a4\u8f66   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   -   Sprinter   \u5927\u4f17   -   T2   2021   \u5df4\u58eb   \u4e09\u83f1   -   Fusorosa","title":"\u7b2c   2   \u4ee3"},{"location":"catalogue_vehicles/#_2","text":"\u8f66   \u5965\u8fea   -   A2   \u5965\u8fea   -   E - Tron   \u5965\u8fea   -   TT   \u5b9d\u9a6c   -   \u529f\u80fd \u591a\u529f\u80fd \u65c5\u884c \u884c\u8f66 \u65c5\u884c\u8f66   \u96ea\u4f5b\u5170   -   Impala   \u96ea\u94c1\u9f99   -   C3   \u9053\u5947   -   Police   Charger   \u798f\u7279   -   Mustang   \u5409\u666e \u5409\u666e\u8f66   -   Wrangler   Rubicon   \u6797\u80af   -   MKZ   2017   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   -   Coupe   \u5fae\u578b \u5fae\u578b\u8f66   -   Microlino   \u8ff7\u4f60   -   Cooper   S   \u5c3c\u6851   -   Micra   \u5c3c\u6851   -   Patrol   Seat   -   Leon   \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   -   Model   3   Toyota   -   Prius   \u5361\u8f66   Carla   Motors   -   CarlaCola   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u5927\u4f17   -   T2   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u54c8\u96f7 \u6234\u7ef4\u68ee   -   Low   Rider   Kawasaki   -   Ninja   Vespa   -   ZX   125   Yamaha   -   YZF   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   BH   -   \u8d8a\u91ce \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u5927\u540d \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   -   Century   Gazelle   -   Omafiets","title":"\u7b2c\u4e00\u4ee3"},{"location":"catalogue_vehicles/#_3","text":"\u8981 \u68c0\u67e5 \u76ee\u5f55 \u4e2d \u7684 \u8f66\u8f86 \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b \u4ee3\u7801 \uff0c \u4ece \u4e0b\u9762 \u7684 \u8f66\u8f86 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u4e2d \u68c0\u7d22 \u84dd\u56fe   ID   \u5e76 \u5c06 \u5176 \u7c98\u8d34 \u5230 \u884c\u4e2d   bp _ lib . find ( ' blueprint . id . goes _ here ' )   \uff1a   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   bp _ lib   =   world . get _ blueprint _ library ( )   spectator   =   world . get _ spectator ( )   #   \u8bbe\u7f6e \u8f66\u8f86 \u53d8\u6362   vehicle _ loc   =   carla . Location ( x = - 46.9 ,   y = 20.0 ,   z = 0.2 )   vehicle _ rot   =   carla . Rotation ( pitch = 0.0 ,   yaw = 142.0 ,   roll = 0.0 )   vehicle _ trans   =   carla . Transform ( vehicle _ loc , vehicle _ rot )   #   \u5728 \u8fd9\u91cc \u7c98\u8d34 \u84dd\u56fe   ID   vehicle _ bp   =   bp _ lib . find ( ' vehicle . lincoln . mkz _ 2020 ' )   #   \u8bbe\u7f6e \u89c6\u89d2 \u53d8\u6362   camera _ loc   =   carla . Location ( x = - 48.7 ,   y = 24.8 ,   z = 1.7 )   camera _ rot   =   carla . Rotation ( pitch = - 13.4 ,   yaw = - 75.7 ,   roll = 0.0 )   camera _ trans   =   carla . Transform ( camera _ loc , camera _ rot )   #   \u751f\u6210 \u8f66\u8f86   vehicle   =   world . spawn _ actor ( vehicle _ bp ,   vehicle _ trans )   #   \u79fb\u52a8 \u89c2\u5bdf \u89c2\u5bdf\u8005   spectator . set _ transform ( camera _ trans )   \u5728 \u5c1d\u8bd5 \u751f\u6210 \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u4e4b\u524d \uff0c \u4e0d\u8981 \u5fd8\u8bb0 \u9500\u6bc1 \u8be5 \u8f66\u8f86 \u4ee5 \u907f\u514d \u78b0\u649e \uff1a   vehicle . destroy ( )","title":"\u68c0\u67e5 \u4eff\u771f\u5668 \u4e2d \u7684 \u8f66\u8f86"},{"location":"catalogue_vehicles/#_4","text":"","title":"\u8f66"},{"location":"catalogue_vehicles/#-a2","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5965\u8fea   \u578b\u53f7   :   A2   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . audi . a2   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u5965\u8fea   -   A2"},{"location":"catalogue_vehicles/#-e-tron","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5965\u8fea   \u578b\u53f7   :   E - Tron   \u7c7b\u522b   :   SUV   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . audi . etron   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u7535\u52a8   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u5965\u8fea   -   E - Tron"},{"location":"catalogue_vehicles/#-tt","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5965\u8fea   \u578b\u53f7   :   TT   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . audi . tt   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u5965\u8fea   -   TT"},{"location":"catalogue_vehicles/#-","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5b9d\u9a6c   \u578b\u53f7   :   \u529f\u80fd \u591a\u529f\u80fd \u65c5\u884c \u884c\u8f66 \u65c5\u884c\u8f66   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . bmw . grandtourer   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u5b9d\u9a6c   -   \u591a\u529f\u80fd \u65c5\u884c\u8f66"},{"location":"catalogue_vehicles/#-impala","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u96ea\u4f5b\u5170   \u578b\u53f7   :   Impala   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . chevrolet . impala   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u96ea\u4f5b\u5170   -   Impala"},{"location":"catalogue_vehicles/#-c3","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u96ea\u94c1\u9f99   \u578b\u53f7   :   C3   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . citroen . c3   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u96ea\u94c1\u9f99   -   C3"},{"location":"catalogue_vehicles/#-charger-2020","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u9053\u5947   \u578b\u53f7   :   Charger   2020   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . dodge . charger _ 2020   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"\u9053\u5947   -   Charger   2020"},{"location":"catalogue_vehicles/#-police-charger","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u9053\u5947   \u578b\u53f7   :   Police   Charger   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . dodge . charger _ police   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u6551\u9669 \u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u9053\u5947   -   Police   Charger"},{"location":"catalogue_vehicles/#-police-charger-2020","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u9053\u5947   \u578b\u53f7   :   Police   Charger   2020   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . dodge . charger _ police _ 2020   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u6551\u9669 \u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"\u9053\u5947   -   Police   Charger   2020"},{"location":"catalogue_vehicles/#-_1","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u798f\u7279   \u578b\u53f7   :   \u7687\u51a0 \uff08 \u51fa\u79df \u79df\u8f66 \u51fa\u79df\u8f66 \uff09   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . ford . crown   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   taxi   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"\u798f\u7279   -   \u7687\u51a0 \uff08 \u51fa\u79df\u8f66 \uff09"},{"location":"catalogue_vehicles/#-mustang","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u798f\u7279   \u578b\u53f7   :   Mustang   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . ford . mustang   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u798f\u7279   -   Mustang"},{"location":"catalogue_vehicles/#-wrangler-rubicon","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5409\u666e \u5409\u666e\u8f66   \u578b\u53f7   :   Wrangler   Rubicon   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . jeep . wrangler _ rubicon   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u5409\u666e\u8f66   -   Wrangler   Rubicon"},{"location":"catalogue_vehicles/#-mkz-2017","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u6797\u80af   \u578b\u53f7   :   MKZ   2017   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . lincoln . mkz _ 2017   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u6797\u80af   -   MKZ   2017"},{"location":"catalogue_vehicles/#-mkz-2020","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u6797\u80af   \u578b\u53f7   :   MKZ   2020   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . lincoln . mkz _ 2020   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"\u6797\u80af   -   MKZ   2020"},{"location":"catalogue_vehicles/#-coupe","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   \u578b\u53f7   :   Coupe   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . mercedes . coupe   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u6885\u8d5b\u5fb7\u65af   -   Coupe"},{"location":"catalogue_vehicles/#-coupe-2020","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   \u578b\u53f7   :   Coupe   2020   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . mercedes . coupe _ 2020   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"\u6885\u8d5b\u5fb7\u65af   -   Coupe   2020"},{"location":"catalogue_vehicles/#-microlino","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5fae\u578b \u5fae\u578b\u8f66   \u578b\u53f7   :   Microlino   \u7c7b\u522b   :   \u5fae\u578b \u5fae\u578b\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . micro . microlino   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u7535\u52a8   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u5fae\u578b\u8f66   -   Microlino"},{"location":"catalogue_vehicles/#-cooper-s","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u8ff7\u4f60   \u578b\u53f7   :   Cooper   S   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . mini . cooper _ s   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u8ff7\u4f60   -   Cooper   S"},{"location":"catalogue_vehicles/#-cooper-s-2021","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u8ff7\u4f60   \u578b\u53f7   :   Cooper   S   2021   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . mini . cooper _ s _ 2021   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"\u8ff7\u4f60   -   Cooper   S   2021"},{"location":"catalogue_vehicles/#-micra","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5c3c\u6851   \u578b\u53f7   :   Micra   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . nissan . micra   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u5c3c\u6851   -   Micra"},{"location":"catalogue_vehicles/#-patrol","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5c3c\u6851   \u578b\u53f7   :   Patrol   \u7c7b\u522b   :   SUV   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . nissan . patrol   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u5c3c\u6851   -   Patrol"},{"location":"catalogue_vehicles/#-patrol-2021","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5c3c\u6851   \u578b\u53f7   :   Patrol   2021   \u7c7b\u522b   :   SUV   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . nissan . patrol _ 2021   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"\u5c3c\u6851   -   Patrol   2021"},{"location":"catalogue_vehicles/#seat-leon","text":"\u5236\u9020 \u5236\u9020\u5546   :   Seat   \u578b\u53f7   :   Leon   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . seat . leon   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"Seat   -   Leon"},{"location":"catalogue_vehicles/#-model-3","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   \u578b\u53f7   :   Model   3   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . tesla . model3   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u7535\u52a8   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u7279\u65af\u62c9   -   Model   3"},{"location":"catalogue_vehicles/#toyota-prius","text":"\u5236\u9020 \u5236\u9020\u5546   :   Toyota   \u578b\u53f7   :   Prius   \u7c7b\u522b   :   \u7d27\u51d1 \u7d27\u51d1\u578b \u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . toyota . prius   \u57fa\u672c \u7c7b\u578b   :   \u6c7d\u8f66 \u5c0f\u6c7d\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u7535\u52a8   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"Toyota   -   Prius"},{"location":"catalogue_vehicles/#_5","text":"","title":"\u5361\u8f66"},{"location":"catalogue_vehicles/#carla-motors-carlacola","text":"\u5236\u9020 \u5236\u9020\u5546   :   Carla   Motors   \u578b\u53f7   :   CarlaCola   \u7c7b\u522b   :   \u5361\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . carlamotors . carlacola   \u57fa\u672c \u7c7b\u578b   :   \u5361\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"Carla   Motors   -   CarlaCola"},{"location":"catalogue_vehicles/#carla-motors-hgv","text":"\u5236\u9020 \u5236\u9020\u5546   :   Carla   Motors   \u578b\u53f7   :   \u6b27\u6d32   HGV \uff08 \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u4f4d\u4e8e \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u4e0a\u65b9 \uff09   \u7c7b\u522b   :   \u5361\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . carlamotors . european _ hgv   \u57fa\u672c \u7c7b\u578b   :   \u5361\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"Carla   Motors   -   \u6b27\u6d32   HGV \uff08 \u9a7e\u9a76\u5ba4 \u4f4d\u4e8e \u53d1\u52a8\u673a \u4e0a\u65b9 \uff09"},{"location":"catalogue_vehicles/#carla-motors-firetruck","text":"\u5236\u9020 \u5236\u9020\u5546   :   Carla   Motors   \u578b\u53f7   :   Firetruck   \u7c7b\u522b   :   \u5361\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . carlamotors . firetruck   \u57fa\u672c \u7c7b\u578b   :   \u5361\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u6551\u9669 \u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"Carla   Motors   -   Firetruck"},{"location":"catalogue_vehicles/#-cybertruck","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   \u578b\u53f7   :   Cybertruck   \u7c7b\u522b   :   \u5361\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . tesla . cybertruck   \u57fa\u672c \u7c7b\u578b   :   \u5361\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u7535\u52a8   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u7279\u65af\u62c9   -   Cybertruck"},{"location":"catalogue_vehicles/#_6","text":"","title":"\u9762\u5305\u8f66"},{"location":"catalogue_vehicles/#-_2","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u798f\u7279   \u578b\u53f7   :   \u6551\u62a4 \u62a4\u8f66 \u6551\u62a4\u8f66   \u7c7b\u522b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . ford . ambulance   \u57fa\u672c \u7c7b\u578b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u7279\u6b8a \u7c7b\u578b   :   \u6551\u9669 \u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"\u798f\u7279   -   \u6551\u62a4\u8f66"},{"location":"catalogue_vehicles/#-sprinter","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   \u578b\u53f7   :   Sprinter   \u7c7b\u522b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . mercedes . sprinter   \u57fa\u672c \u7c7b\u578b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"\u6885\u8d5b\u5fb7\u65af   -   Sprinter"},{"location":"catalogue_vehicles/#-t2","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5927\u4f17   \u578b\u53f7   :   T2   \u7c7b\u522b   :   \u6807\u51c6   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . volkswagen . t2   \u57fa\u672c \u7c7b\u578b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u5927\u4f17   -   T2"},{"location":"catalogue_vehicles/#-t2-2021","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5927\u4f17   \u578b\u53f7   :   T2   2021   \u7c7b\u522b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . volkswagen . t2 _ 2021   \u57fa\u672c \u7c7b\u578b   :   \u9762\u5305 \u5305\u8f66 \u9762\u5305\u8f66   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   True","title":"\u5927\u4f17   -   T2   2021"},{"location":"catalogue_vehicles/#_7","text":"","title":"\u5df4\u58eb"},{"location":"catalogue_vehicles/#-fusorosa","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u4e09\u83f1   \u578b\u53f7   :   Fusorosa   \u7c7b\u522b   :   \u5df4\u58eb   \u4e16\u4ee3   :   2   \u84dd\u56fe   ID   :   vehicle . mitsubishi . fusorosa   \u57fa\u672c \u7c7b\u578b   :   \u5df4\u58eb   \u6709\u706f   :   True   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u4e09\u83f1   -   Fusorosa"},{"location":"catalogue_vehicles/#_8","text":"","title":"\u6469\u6258\u8f66"},{"location":"catalogue_vehicles/#-low-rider","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u54c8\u96f7 \u6234\u7ef4\u68ee   \u578b\u53f7   :   Low   Rider   \u7c7b\u522b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . harley - davidson . low _ rider   \u57fa\u672c \u7c7b\u578b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"\u54c8\u96f7 \u6234\u7ef4\u68ee   -   Low   Rider"},{"location":"catalogue_vehicles/#kawasaki-ninja","text":"\u5236\u9020 \u5236\u9020\u5546   :   Kawasaki   \u578b\u53f7   :   Ninja   \u7c7b\u522b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . kawasaki . ninja   \u57fa\u672c \u7c7b\u578b   :   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   \u6709\u706f   :   False   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YZF"},{"location":"catalogue_vehicles/#_9","text":"","title":"\u81ea\u884c\u8f66"},{"location":"catalogue_vehicles/#bh-","text":"\u5236\u9020 \u5236\u9020\u5546   :   BH   \u578b\u53f7   :   \u8d8a\u91ce \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u7c7b\u522b   :   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . bh . crossbike   \u57fa\u672c \u7c7b\u578b   :   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u6709\u706f   :   False   \u6709 \u6253\u5f00 \u7684 \u95e8   :   False","title":"BH   -   \u8d8a\u91ce \u81ea\u884c\u8f66"},{"location":"catalogue_vehicles/#-century","text":"\u5236\u9020 \u5236\u9020\u5546   :   \u5927\u540d \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u578b\u53f7   :   Century   \u7c7b\u522b   :   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   \u4e16\u4ee3   :   1   \u84dd\u56fe   ID   :   vehicle . diamondback . century   \u57fa\u672c \u7c7b\u578b   :   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   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\u65e0\u8bba \u5e74\u9f84 \u3001 \u4f53\u578b \u3001 \u6b8b\u75be \u3001 \u79cd\u65cf \u3001 \u6027\u522b \u8ba4\u540c \u548c \u8868\u8fbe \uff0c \u7ecf\u9a8c \u6c34\u5e73 \u3001 \u6559\u80b2 \u7a0b\u5ea6 \u3001 \u793e\u4f1a \u7ecf\u6d4e \u5730\u4f4d \u3001 \u56fd\u7c4d \u3001 \u4e2a\u4eba \u5916\u8868 \u3001 \u79cd\u65cf \u3001 \u5b97\u6559 \u6216\u6027 \u8ba4\u540c \u548c \u53d6\u5411 \u3002","title":"\u6211\u4eec \u7684 \u627f\u8bfa  "},{"location":"cont_code_of_conduct/#_3","text":"\u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u521b\u9020 \u79ef\u6781 \u73af\u5883 \u7684 \u884c\u4e3a \u793a\u4f8b \u5305\u62ec \uff1a   \u4f7f\u7528 \u6b22\u8fce \u548c \u5305\u5bb9 \u7684 \u8bed\u8a00   \u5c0a\u91cd \u4e0d\u540c \u7684 \u89c2\u70b9 \u548c \u7ecf\u9a8c   \u4f18\u96c5 \u5730 \u63a5\u53d7 \u5efa\u8bbe \u5efa\u8bbe\u6027 \u7684 \u6279\u8bc4   \u4e13\u6ce8 \u4e8e \u5bf9 \u793e\u533a \u6700 \u6709\u5229 \u7684 \u4e8b\u60c5   \u5bf9 \u5176\u4ed6 \u793e\u533a \u6210\u5458 \u8868\u73b0 \u51fa \u540c\u60c5 \u540c\u60c5\u5fc3   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0d\u53ef \u63a5\u53d7 \u7684 \u884c\u4e3a \u793a\u4f8b \u5305\u62ec \uff1a   \u4f7f\u7528 \u6027 \u8bed\u8a00 \u6216 \u56fe\u50cf \u4ee5\u53ca \u4e0d \u6b22\u8fce \u53d7\u6b22\u8fce \u7684 \u6027 \u5173\u6ce8 \u6216 \u6311\u9017   \u6076\u641e \u3001 \u4fae\u8fb1 / \u8d2c\u635f \u8bc4\u8bba \u4ee5\u53ca \u4e2a\u4eba \u6216 \u653f\u6cbb \u653b\u51fb   \u516c\u5f00 \u6216 \u79c1\u4eba \u9a9a\u6270   \u672a\u7ecf \u660e\u786e \u8bb8\u53ef \uff0c \u53d1\u5e03 \u4ed6\u4eba \u7684 \u79c1\u4eba \u4fe1\u606f \uff0c \u4f8b\u5982 \u5b9e\u9645 \u5730\u5740 \u6216 \u7535\u5b50 \u5730\u5740   \u5728 \u4e13\u4e1a \u73af\u5883 \u4e2d \u53ef\u80fd \u88ab \u5408\u7406 \u5730 \u8ba4\u4e3a \u4e0d \u9002\u5f53 \u7684 \u5176\u4ed6 \u884c\u4e3a","title":"\u6211\u4eec \u7684 \u6807\u51c6  "},{"location":"cont_code_of_conduct/#_4","text":"\u9879\u76ee \u7ef4\u62a4 \u7ef4\u62a4\u8005 \u6709 \u8d23\u4efb \u9610\u660e \u53ef \u63a5\u53d7 \u884c\u4e3a \u7684 \u6807\u51c6 \uff0c \u5e76 \u5e94 \u9488\u5bf9 \u4efb\u4f55 \u4e0d\u53ef \u63a5\u53d7 \u884c\u4e3a \u7684 \u60c5\u51b5 \u91c7\u53d6 \u9002\u5f53 \u548c \u516c\u5e73 \u7684 \u7ea0\u6b63 \u63aa\u65bd \u3002   \u9879\u76ee \u7ef4\u62a4 \u7ef4\u62a4\u8005 \u6709 \u6743\u5229 \u548c \u8d23\u4efb \u5220\u9664 \u3001 \u7f16\u8f91 \u6216 \u62d2\u7edd \u4e0d \u7b26\u5408 \u672c \u884c\u4e3a \u4e3a\u51c6 \u51c6\u5219 \u884c\u4e3a\u51c6\u5219 \u7684 \u8bc4\u8bba \u3001 \u63d0\u4ea4 \u3001 \u4ee3\u7801 \u3001 \u7ef4\u57fa \u7f16\u8f91 \u3001 \u95ee\u9898 \u548c \u5176\u4ed6 \u8d21\u732e \uff0c \u6216\u8005 \u6682\u65f6 \u6216 \u6c38\u4e45 \u7981\u6b62 \u4efb\u4f55 \u8d21\u732e \u8d21\u732e\u8005 \u7684 \u5176\u4ed6 \u884c\u4e3a \u4ed6\u4eec \u8ba4\u4e3a \u4e0d \u6070\u5f53 \u3001 \u5177\u6709 \u5a01\u80c1 \u5a01\u80c1\u6027 \u3001 \u5192\u72af \u6027 \u6216 \u6709\u5bb3 \u3002","title":"\u6211\u4eec \u7684 \u8d23\u4efb  "},{"location":"cont_code_of_conduct/#_5","text":"\u5f53 \u4e2a\u4eba \u4ee3\u8868 \u9879\u76ee \u6216 \u5176 \u793e\u533a \u65f6 \uff0c \u672c \u884c\u4e3a \u4e3a\u51c6 \u51c6\u5219 \u884c\u4e3a\u51c6\u5219 \u9002\u7528 \u4e8e \u9879\u76ee \u7a7a\u95f4 \u548c \u516c\u5171 \u7a7a\u95f4 \u3002 \u4ee3\u8868 \u9879\u76ee \u6216 \u793e\u533a \u7684 \u793a\u4f8b \u5305\u62ec \u4f7f\u7528 \u5b98\u65b9 \u9879\u76ee \u7535\u5b50 \u90ae\u4ef6 \u7535\u5b50\u90ae\u4ef6 \u5730\u5740 \u3001 \u901a\u8fc7 \u5b98\u65b9 \u793e\u4ea4 \u5a92\u4f53 \u5e10\u6237 \u53d1\u5e16 \u6216 \u5728\u7ebf \u4e0a \u6216 \u7ebf\u4e0b \u6d3b\u52a8 \u4e2d \u62c5\u4efb \u6307\u5b9a \u4ee3\u8868 \u3002 \u9879\u76ee \u7684 \u8868\u793a \u53ef\u4ee5 \u7531 \u9879\u76ee \u7ef4\u62a4 \u7ef4\u62a4\u8005 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u5b9a\u4e49 \u548c \u6f84\u6e05 \u3002","title":"\u8303\u56f4  "},{"location":"cont_code_of_conduct/#_6","text":"\u53ef\u4ee5 \u901a\u8fc7   info - carla @ osvf . org   \u8054\u7cfb \u9879\u76ee \u56e2\u961f \u6765 \u4e3e\u62a5 \u8fb1\u9a82 \u3001 \u9a9a\u6270 \u6216 \u5176\u4ed6 \u4e0d\u53ef \u63a5\u53d7 \u7684 \u884c\u4e3a \u3002 \u6240\u6709 \u6295\u8bc9 \u90fd \u5c06 \u63a5\u53d7 \u5ba1\u67e5 \u548c \u8c03\u67e5 \uff0c \u5e76 \u5c06 \u6839\u636e \u5177\u4f53 \u60c5\u51b5 \u5177\u4f53\u60c5\u51b5 \u505a\u51fa \u5fc5\u8981 \u4e14 \u9002\u5f53 \u7684 \u56de\u5e94 \u3002 \u9879\u76ee \u56e2\u961f \u6709 \u4e49\u52a1 \u5bf9 \u4e8b\u4ef6 \u62a5\u544a \u4e8b\u4ef6\u62a5\u544a \u8005 \u4fdd\u5bc6 \u3002 \u5177\u4f53 \u6267\u884c \u653f\u7b56 \u7684 \u66f4 \u591a \u7ec6\u8282 \u53ef\u80fd \u4f1a \u5355\u72ec \u53d1\u5e03 \u3002   \u4e0d \u5584\u610f \u5730 \u9075\u5b88 \u6216 \u6267\u884c \u884c\u4e3a \u4e3a\u51c6 \u51c6\u5219 \u884c\u4e3a\u51c6\u5219 \u7684 \u9879\u76ee \u7ef4\u62a4 \u7ef4\u62a4\u8005 \u53ef\u80fd \u4f1a \u9762\u4e34 \u9879\u76ee \u9886\u5bfc \u9886\u5bfc\u5c42 \u5176\u4ed6 \u6210\u5458 \u786e\u5b9a \u7684 \u6682\u65f6 \u6216 \u6c38\u4e45 \u7684 \u5f71\u54cd \u3002","title":"\u6267\u884c  "},{"location":"cont_code_of_conduct/#_7","text":"\u672c \u884c\u4e3a \u4e3a\u51c6 \u51c6\u5219 \u884c\u4e3a\u51c6\u5219 \u6539\u7f16 \u6539\u7f16\u81ea   \u8d21\u732e \u8d21\u732e\u8005 \u5951\u7ea6   1.4   \u7248 \uff0c \u53ef \u4ece   \u94fe\u63a5   \u83b7\u53d6 \u3002","title":"\u5f52\u5c5e  "},{"location":"cont_coding_standard/","text":"\u7f16\u7801 \u6807\u51c6 \u7f16\u7801\u6807\u51c6   \u4e00\u822c   Python   C++   \u4e00\u822c   \u4f7f\u7528 \u7a7a\u683c \uff0c \u800c \u4e0d\u662f \u5236\u8868 \u5236\u8868\u7b26 \u3002   \u907f\u514d \u6dfb\u52a0 \u5c3e\u968f \u7a7a\u683c \uff0c \u56e0\u4e3a \u5b83\u4f1a \u5728 \u5dee\u5f02 \u4e2d \u4ea7\u751f \u566a\u97f3 \u3002   Python   \u6ce8\u91ca \u4e0d \u5e94 \u8d85\u8fc7   80   \u5217 \uff0c \u4ee3\u7801 \u4e0d \u5e94 \u8d85\u8fc7   120   \u5217 \u3002   \u6240\u6709 \u4ee3\u7801 \u5fc5\u987b \u4e0e   Python   2.7   \u548c   3.7   \u517c\u5bb9 \u3002   Pylint   \u4e0d \u5e94 \u7ed9\u51fa \u4efb\u4f55 \u9519\u8bef \u6216 \u8b66\u544a \uff08 \u5f88\u5c11 \u6709 \u4f8b\u5916 \u9002\u7528 \u4e8e\u5916 \u90e8\u7c7b \uff0c \u5982   numpy   \u548c   pygame   \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u6211\u4eec \u7684   . pylintrc   \uff09 \u3002   Python   \u4ee3\u7801 \u9075\u5faa   PEP8   \u98ce\u683c \u6307\u5357   \uff08 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u4f7f\u7528   autopep8   \uff09 \u3002   C++   \u6ce8\u91ca \u4e0d \u5e94 \u8d85\u8fc7   80   \u5217 \uff0c \u5982\u679c \u53ef\u4ee5 \u4f7f \u4ee3\u7801 \u66f4 \u6e05\u6670 \uff0c \u5728 \u6781\u5c11 \u5c11\u6570 \u6781\u5c11\u6570 \u60c5\u51b5 \u4e0b \u4ee3\u7801 \u53ef\u80fd \u4f1a \u7a0d\u5fae \u8d85\u51fa \u6b64 \u9650\u5236 \u3002   \u7f16\u8bd1 \u4e0d \u5e94 \u7ed9\u51fa \u4efb\u4f55 \u9519\u8bef \u6216 \u8b66\u544a   (   clang ++- 8   - Wall   - Wextra   - std = C++ 14   - Wno - missing - braces   ) .   \u7981\u6b62 \u4f7f\u7528   throw   \uff0c \u8bf7 \u6539\u4e3a \u4f7f\u7528   carla : : throw _ exception   \u3002   \u865a\u5e7b   C++   \u4ee3\u7801 \uff08 CarlaUE4   \u548c   Carla   \u63d2\u4ef6 \uff09 \u9075\u5faa   \u865a\u5e7b \u5f15\u64ce \u7684 \u7f16\u7801 \u6807\u51c6 \u7f16\u7801\u6807\u51c6   \uff0c \u4f46 \u4f7f\u7528 \u7a7a\u683c \u800c \u4e0d\u662f \u5236\u8868 \u5236\u8868\u7b26 \u3002   LibCarla   \u4f7f\u7528   \u8c37\u6b4c \u98ce\u683c \u6307\u5357   \u7684 \u53d8\u4f53 \u3002   \u5982\u679c \u4ee3\u7801 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u4f7f\u7528 \uff0c \u5219 \u5e94 \u5c06   try - catch   \u5757 \u7684 \u4f7f\u7528   # ifndef   LIBCARLA _ NO _ EXCEPTIONS   \u62ec \u8d77\u6765   \u3002","title":"\u7f16\u7801\u6807\u51c6"},{"location":"cont_coding_standard/#_1","text":"\u4e00\u822c   Python   C++","title":"\u7f16\u7801\u6807\u51c6"},{"location":"cont_coding_standard/#_2","text":"\u4f7f\u7528 \u7a7a\u683c \uff0c \u800c \u4e0d\u662f \u5236\u8868 \u5236\u8868\u7b26 \u3002   \u907f\u514d \u6dfb\u52a0 \u5c3e\u968f \u7a7a\u683c \uff0c \u56e0\u4e3a \u5b83\u4f1a \u5728 \u5dee\u5f02 \u4e2d \u4ea7\u751f \u566a\u97f3 \u3002","title":"\u4e00\u822c  "},{"location":"cont_coding_standard/#python","text":"\u6ce8\u91ca \u4e0d \u5e94 \u8d85\u8fc7   80   \u5217 \uff0c \u4ee3\u7801 \u4e0d \u5e94 \u8d85\u8fc7   120   \u5217 \u3002   \u6240\u6709 \u4ee3\u7801 \u5fc5\u987b \u4e0e   Python   2.7   \u548c   3.7   \u517c\u5bb9 \u3002   Pylint   \u4e0d \u5e94 \u7ed9\u51fa \u4efb\u4f55 \u9519\u8bef \u6216 \u8b66\u544a \uff08 \u5f88\u5c11 \u6709 \u4f8b\u5916 \u9002\u7528 \u4e8e\u5916 \u90e8\u7c7b \uff0c \u5982   numpy   \u548c   pygame   \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u6211\u4eec \u7684   . pylintrc   \uff09 \u3002   Python   \u4ee3\u7801 \u9075\u5faa   PEP8   \u98ce\u683c \u6307\u5357   \uff08 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u4f7f\u7528   autopep8   \uff09 \u3002","title":"Python  "},{"location":"cont_coding_standard/#c","text":"\u6ce8\u91ca \u4e0d \u5e94 \u8d85\u8fc7   80   \u5217 \uff0c \u5982\u679c \u53ef\u4ee5 \u4f7f \u4ee3\u7801 \u66f4 \u6e05\u6670 \uff0c \u5728 \u6781\u5c11 \u5c11\u6570 \u6781\u5c11\u6570 \u60c5\u51b5 \u4e0b \u4ee3\u7801 \u53ef\u80fd \u4f1a \u7a0d\u5fae \u8d85\u51fa \u6b64 \u9650\u5236 \u3002   \u7f16\u8bd1 \u4e0d \u5e94 \u7ed9\u51fa \u4efb\u4f55 \u9519\u8bef \u6216 \u8b66\u544a   (   clang ++- 8   - Wall   - Wextra   - std = C++ 14   - Wno - missing - braces   ) .   \u7981\u6b62 \u4f7f\u7528   throw   \uff0c \u8bf7 \u6539\u4e3a \u4f7f\u7528   carla : : throw _ exception   \u3002   \u865a\u5e7b   C++   \u4ee3\u7801 \uff08 CarlaUE4   \u548c   Carla   \u63d2\u4ef6 \uff09 \u9075\u5faa   \u865a\u5e7b \u5f15\u64ce \u7684 \u7f16\u7801 \u6807\u51c6 \u7f16\u7801\u6807\u51c6   \uff0c \u4f46 \u4f7f\u7528 \u7a7a\u683c \u800c \u4e0d\u662f \u5236\u8868 \u5236\u8868\u7b26 \u3002   LibCarla   \u4f7f\u7528   \u8c37\u6b4c \u98ce\u683c \u6307\u5357   \u7684 \u53d8\u4f53 \u3002   \u5982\u679c \u4ee3\u7801 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u4f7f\u7528 \uff0c \u5219 \u5e94 \u5c06   try - catch   \u5757 \u7684 \u4f7f\u7528   # ifndef   LIBCARLA _ NO _ EXCEPTIONS   \u62ec \u8d77\u6765   \u3002","title":"C++  "},{"location":"cont_contribution_guidelines/","text":"\u4e3a   Carla   \u505a\u51fa \u8d21\u732e   Carla   \u56e2\u961f \u5f88 \u9ad8\u5174 \u63a5\u53d7 \u4efb\u4f55 \u613f\u610f \u5408\u4f5c \u7684 \u4eba \u7684 \u8d21\u732e \u3002 \u6839\u636e \u8d21\u732e \u8d21\u732e\u8005 \u7684 \u80fd\u529b \uff0c \u53ef\u4ee5 \u91c7\u7528 \u4e0d\u540c \u7684 \u65b9\u5f0f \u4e3a \u9879\u76ee \u505a\u51fa \u8d21\u732e \u3002 \u8be5 \u56e2\u961f \u5c06 \u5c3d \u6700\u5927 \u52aa\u529b \u5c06 \u8d21\u732e \u6210\u529f \u6574\u5408 \u5230   Carla   \u4e2d \u3002   \u770b\u770b \u5427 \uff0c \u4e0d\u8981 \u72b9\u8c6b \uff01   \u62a5\u544a \u9519\u8bef   \u8bf7\u6c42 \u529f\u80fd   \u4ee3\u7801 \u8d21\u732e   \u4e86\u89e3 \u865a\u5e7b \u5f15\u64ce   \u5f00\u59cb \u4e4b\u524d   \u7f16\u7801 \u6807\u51c6 \u7f16\u7801\u6807\u51c6   \u63d0\u4ea4   \u6e05\u5355   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\u662f \u4e00\u79cd \u5f88 \u597d \u7684 \u8d21\u732e \u65b9\u5f0f \u3002 \u4efb\u4f55 \u53ef\u4ee5 \u6539\u5584 \u7528\u6237 \u4f53\u9a8c \u7684 \u5efa\u8bae \u90fd \u53ef\u4ee5 \u5728   \u6b64\u5904   \u7684 \u76f8\u5e94   GitHub   \u90e8\u5206 \u63d0\u4ea4 \u3002   \u4ee3\u7801 \u8d21\u732e   \u5728 \u5f00\u59cb \u52a8\u624b \u7f16\u7801 \u4e4b\u524d \uff0c \u8bf7 \u67e5\u770b   Issues   \u677f\u5757   \u4ee5 \u4e86\u89e3 \u56e2\u961f \u5df2\u7ecf \u5728 \u505a \u4ec0\u4e48 \uff0c \u4ee5 \u907f\u514d \u91cd\u53e0 \u3002 \u5982 \u6709 \u7591\u95ee \u6216 \u8ba8\u8bba \u5982\u4f55 \u7ee7\u7eed \uff0c \u8bf7 \u8054\u7cfb \u6211\u4eec \u4e4b\u4e00 \uff08 \u6216 \u53d1\u9001 \u7535\u5b50 \u90ae\u4ef6 \u7535\u5b50\u90ae\u4ef6 \u81f3   carla . simulator @ gmail . com   \uff09 \u3002   \u4e3a\u4e86 \u5f00\u59cb \u5de5\u4f5c \uff0c \u8bf7   \u521b\u5efa   Carla   \u5b58\u50a8 \u5e93 \u7684 \u5206\u53c9   \uff0c \u5e76 \u5c06 \u6240\u8ff0 \u5206\u53c9 \u514b\u9686 \u5230 \u60a8 \u7684 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\u8fd9\u4e9b \u5b58\u50a8 \u5728   BitBucket   \u5b58\u50a8 \u5e93\u4e2d \uff0c \u8be5 \u5b58\u50a8 \u5e93\u6709 \u4e00\u4e9b \u5e10\u6237 \u7a7a\u95f4 \u9650\u5236 \u3002 \u51fa\u4e8e \u4e0a\u8ff0 \u539f\u56e0 \uff0c \u8d21\u732e \u8d21\u732e\u8005 \u5fc5\u987b \u4e0e   Carla   \u56e2\u961f \u8054\u7cfb \uff0c \u5e76 \u8981\u6c42 \u4ed6\u4eec \u5728 \u5185\u5bb9 \u5b58\u50a8 \u5e93\u4e0a \u4e3a \u8d21\u732e \u521b\u5efa \u4e00\u4e2a \u5206\u652f \u3002   1 .   \u521b\u5efa BitBucket \u8d26\u6237 \u3002   \u8bbf\u95ee   Bitbucket   \u9875\u9762   \u3002   2 .   \u8054\u7cfb \u827a\u672f \u56e2\u961f \u4ee5 \u83b7\u53d6 \u5185\u5bb9 \u5b58\u50a8 \u5e93 \u7684 \u8bbf\u95ee \u6743\u9650 \u3002   \u52a0\u5165   Discord   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u3002 \u8f6c \u81f3   \u8d21\u732e \u8d21\u732e\u8005   \u9891\u9053 \u5e76 \u8bf7\u6c42 \u8bbf\u95ee \u5185\u5bb9 \u5b58\u50a8 \u5e93 \u3002   3 .   \u5c06 \u4e3a \u6bcf\u4e2a \u8d21\u732e \u8d21\u732e\u8005 \u521b\u5efa 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\u5212\u5206 \u4e86 \u5730\u56fe \uff0c \u4ee5\u4fbf \u4ec5 \u5c06 \u9700\u8981 \u7684 \u5730\u56fe \u90e8\u5206 \u52a0\u8f7d \u5230 \u56fe\u5f62 \u5185\u5b58 \u4e2d\u4ee5 \u8fdb\u884c \u9ad8\u6548 \u6e32\u67d3 \u3002 \u4e0d \u9700\u8981 \u7684 \u56fe\u5757 \u4fdd\u6301 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u5e76 \u51c6\u5907 \u5728 \u9700\u8981 \u65f6 \u52a0\u8f7d \u3002 \u901a\u5e38 \uff0c \u4f1a \u52a0\u8f7d \u81ea\u6211 \u8f66\u8f86 \u4f4d\u7f6e \u4e2d \u7684 \u56fe\u5757 \u65c1\u8fb9 \u7684 \u56fe\u5757 \uff0c \u4f46 \u5982\u679c \u9700\u8981 \uff0c \u53ef\u4ee5 \u52a0\u8f7d \u66f4 \u591a \u56fe\u5757 \u3002 \u5f53   Carla   \u542f\u52a8 \u65f6 \uff0c \u53ef\u4ee5 \u5728 \u8bbe\u7f6e \u4e2d \u4fee\u6539 \u6b64 \u884c\u4e3a \u3002   \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5927 \u5730\u56fe   RoadRunner   \u662f \u63a8\u8350 \u7528\u4e8e \u521b\u5efa \u8981 \u5bfc\u5165   Carla   \u7684 \u5927 \u5730\u56fe \u7684 \u8f6f\u4ef6 \u3002 \u672c \u6307\u5357 \u6982\u8ff0 \u4e86 \u5982\u4f55 \u4f7f\u7528   RoadRunner   \u521b\u5efa \u5927 \u5730\u56fe \u4ee5\u53ca \u5982\u4f55 \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5bfc\u5165 \u548c \u5904\u7406 \u5927 \u5730\u56fe \u3002   \u5728   RoadRunner   \u4e2d \u6784\u5efa \u5927 \u5730\u56fe   \u5728   RoadRunner   \u4e2d \u5bfc\u51fa \u5927 \u5730\u56fe   \u5c06 \u5927 \u5730\u56fe \u5bfc\u5165   Carla   \u6587\u4ef6 \u548c \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u521b\u5efa   JSON   \u63cf\u8ff0 \uff08 \u53ef \u9009 \uff09   \u8fdb\u884c \u5bfc\u5165   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5904\u7406 \u5927 \u5730\u56fe   \u6253\u5305 \u4e00\u5f20 \u5927 \u5730\u56fe   \u5728   RoadRunner   \u4e2d \u6784\u5efa \u5927 \u5730\u56fe   \u5982\u4f55 \u5728   RoadRunner   \u4e2d \u6784\u5efa \u590d\u6742 \u5730\u56fe \u7684 \u5177\u4f53 \u7ec6\u8282 \u8d85\u51fa \u4e86 \u672c \u6307\u5357 \u7684 \u8303\u56f4 \uff0c \u4f46\u662f \uff0c   RoadRunner   \u6587\u6863   \u4e2d \u63d0\u4f9b \u4e86 \u89c6\u9891 \u6559\u7a0b \u89c6\u9891\u6559\u7a0b \u3002 \u4ece \u8868\u9762 \u4e0a \u770b \uff0c \u5728   RoadRunner   \u4e2d \u6784\u5efa \u5927 \u5730\u56fe \u4e0e \u6784\u5efa \u6807\u51c6 \u5730\u56fe \u57fa\u672c \u672c\u76f8 \u76f8\u540c \u57fa\u672c\u76f8\u540c \uff0c \u53ea\u662f \u6bd4\u4f8b \u66f4\u5927 \u3002 \u5dee\u5f02 \u4e3b\u8981 \u5728\u4e8e \u5730\u56fe \u7684 \u5bfc\u51fa \u65b9\u5f0f \u3002   \u8fd9\u91cc \u6211\u4eec \u521b\u5efa \u4e86 \u4e00\u5f20 \u5927\u7ea6   1.2   \u516c\u91cc \u5927\u5c0f \u7684 \u5927 \u5730\u56fe \u3002 \u5f53 \u6211\u4eec \u5bfc\u51fa \u5b83 \u65f6 \uff0c \u5b83\u4f1a \u88ab \u5206\u5272 \u6210 \u56fe\u5757 \uff0c \u6211\u4eec \u5c06 \u9009\u62e9   700m   \u7684 \u56fe\u5757 \u5927\u5c0f \uff0c \u56e0\u6b64 \u5730\u56fe \u5e94\u8be5 \u5206\u5272 \u6210 \u5927\u7ea6   4   \u4e2a \u56fe\u5757 \u3002   \u5982\u679c \u60a8 \u6b63\u5728 \u6784\u5efa \u5e26\u6709 \u9ad8\u7a0b \u7684 \u5927 \u5730\u56fe \uff0c \u5efa\u8bae \u7684 \u5730\u56fe \u6700\u5927 \u5c3a\u5bf8 \u4e3a   20x20   km   2   \u3002 \u5927\u4e8e \u6b64 \u5927\u5c0f \u7684 \u5730\u56fe \u53ef\u80fd \u4f1a \u5bfc\u81f4   RoadRunner   \u5728 \u5bfc\u51fa \u65f6 \u5d29\u6e83 \u3002   \u5728   RoadRunner   \u4e2d \u5bfc\u51fa \u5927 \u5730\u56fe   \u4ee5\u4e0b \u662f\u4ece   RoadRunner   \u5bfc\u51fa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5927 \u5730\u56fe \u7684 \u57fa\u672c \u6307\u5357 \u3002   \u901a\u8fc7 \u5355\u51fb \u4e16\u754c \u8bbe\u7f6e \u5de5\u5177 \uff08   World   settings   tool   \uff09 \u5e76 \u62d6\u52a8 \u84dd\u8272 \u8fb9\u754c \u6846 \u7684 \u8fb9\u7f18 \u4ee5 \u5305\u542b \u8981 \u5bfc\u51fa \u7684 \u6574\u4e2a \u533a\u57df \uff0c \u786e\u4fdd \u9009\u62e9 \u5bfc\u51fa \u5b8c\u6574 \u5730\u56fe \u3002 \u51c6\u5907 \u597d\u540e \uff0c \u5355\u51fb \u201c \u5e94\u7528 \u4e16\u754c \u66f4\u6539 \u201d \uff08   Apply   World   Changes   \uff09 \u3002   \u4f7f\u7528 \u573a\u666f \u5bfc\u51fa \u9884\u89c8 \u5de5\u5177 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u4e86\u89e3 \u5982\u4f55 \u5c06 \u5730\u56fe \u5212\u5206 \u4e3a \u56fe\u5757 \u4ee5\u4f9b \u5bfc\u51fa \u3002 \u8c03\u6574 \u201c \u5e73\u94fa \u9009\u9879 \u201d \uff08   Tiling   Options   \uff09 \u83dc\u5355 \u4e2d \u7684 \u201c \u5e73\u94fa \u5927\u5c0f \u201d \uff08   Tile   Size   \uff09 \u53c2\u6570 \uff0c \u627e\u5230 \u9002\u5408 \u60a8 \u5730\u56fe \u7684 \u5e73\u94fa \u5927\u5c0f \uff0c \u6309 \u201c \u5237\u65b0 \u573a\u666f \u201d \uff08   Refresh   Scene   \uff09 \u67e5\u770b \u8c03\u6574 \u7684 \u5f71\u54cd \u3002   \u7b14\u8bb0   Tile   size   :   \u60a8 \u4f7f\u7528 \u7684 \u56fe\u5757 \u5927\u5c0f \u662f \u4e00\u4e2a \u5224\u65ad \u8c03\u7528 \uff0c \u4ee5 \u786e\u4fdd \u5730\u56fe \u5728   Carla   \u4e2d \u4f7f\u7528 \u65f6 \u80fd\u591f \u6709\u6548 \u5de5\u4f5c \u3002 \u5982\u679c \u60a8 \u7684 \u5730\u56fe \u5305\u542b \u5bc6\u96c6 \u7684   3D   \u8d44\u6e90 \uff08 \u4f8b\u5982 \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u690d\u88ab \uff09 \uff0c \u60a8 \u53ef\u80fd \u4f1a \u53d7\u76ca \u4e8e \u8f83 \u5c0f \u7684 \u56fe\u5757 \u5927\u5c0f \uff0c \u4ee5 \u9632\u6b62 \u52a0\u8f7d \u4e0d\u5fc5 \u5fc5\u8981 \u4e0d\u5fc5\u8981 \u7684 \u8d44\u6e90 \u3002 \u4f46\u662f \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u589e\u52a0 \u6784\u5efa \u5730\u56fe \u6240 \u9700 \u5de5\u4f5c \u7684 \u590d\u6742 \u590d\u6742\u6027 \u3002 Carla   \u5f15\u64ce \u652f\u6301 \u7684 \u6700\u5927 \u74e6\u7247 \u5c3a\u5bf8 \u4e3a   2   \u516c\u91cc \uff0c \u6211\u4eec \u5efa\u8bae \u74e6\u7247 \u5c3a\u5bf8 \u4e3a   1   \u516c\u91cc \u5de6\u53f3 \u3002   \u5f53 \u60a8 \u51c6\u5907 \u597d \u5bfc\u51fa \u65f6 \uff1a   1 .   \u5bfc\u51fa   . fbx   \u51e0\u4f55 \u6587\u4ef6 \uff1a   \u5728 \u4e3b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \uff0c \u9009\u62e9   File   - >   Export   - >   Firebox   ( . fbx )   2 .   \u5728 \u5f39\u51fa \u7684 \u7a97\u53e3 \u4e2d \uff1a   \u68c0\u67e5 \u4ee5\u4e0b \u9009\u9879 \uff1a   \u901a\u8fc7 \u5206\u6bb5 \u5206\u5272   \uff08   Split   by   Segmentation   \uff09 :   \u901a\u8fc7 \u8bed\u4e49 \u5206\u5272 \u6765 \u5212\u5206 \u7f51\u683c \u5e76 \u6539\u8fdb \u884c\u4eba \u5bfc\u822a \u3002   \u4e8c\u7ef4 \u7eb9\u7406 \u7684 \u529b\u91cf   \uff08   Power   of   Two   Texture   Dimensions   \uff09 :   \u63d0\u9ad8 \u6027\u80fd \u3002   \u5d4c\u5165 \u7eb9\u7406   \uff08   Embed   Textures   \uff09 :   \u786e\u4fdd \u7eb9\u7406 \u5d4c\u5165 \u5230 \u7f51\u683c \u4e2d \u3002   \u5bfc\u51fa \u5230 \u56fe\u5757   \uff08   Export   to   Tiles   \uff09 :   \u9009\u62e9 \u56fe\u5757 \u7684 \u5927\u5c0f \u3002 Carla   \u53ef\u4ee5 \u4f7f\u7528 \u7684 \u6700\u5927 \u5c3a\u5bf8 \u4e3a   2000   x   2000 \u3002   \u5bfc\u51fa \u5355\u4e2a \u56fe\u5757   \uff08   Export   Individual   Tiles   \uff09 :   \u751f\u6210 \u5728   Carla   \u4e2d \u6d41\u5f0f \u4f20\u8f93 \u5927 \u5730\u56fe \u6240 \u9700 \u7684 \u5355\u4e2a \u56fe\u5757 \u3002   3 .   \u5bfc\u51fa   . xodr   OpenDrive   \u5730\u56fe \u6587\u4ef6 \uff1a   \u5728 \u4e3b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \uff0c \u9009\u62e9   File   - >   Export   - >   OpendDRIVE   ( . xodr )   \u5728 \u60a8 \u9009\u62e9 \u5bfc\u51fa \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u60a8 \u73b0\u5728 \u5c06 \u6709 \u51e0\u4e2a \u65b0 \u6587\u4ef6 \uff0c \u4e00\u4e2a   . xodr   \u6587\u4ef6 \u548c \u51e0\u4e2a   . fbx   \u6587\u4ef6 \uff1a   \u7b14\u8bb0   \u786e\u4fdd   . xodr   \u548c   . fbx   \u6587\u4ef6 \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \u6839 \u3002   \u73b0\u5728 \u60a8 \u5df2\u7ecf \u5728   Roadrunner   \u4e2d \u521b\u5efa \u4e86 \u5927 \u5730\u56fe \uff0c \u60a8 \u53ef\u4ee5 \u5c06 \u5176 \u5bfc\u5165   Carla   \u4e2d \u3002 RoadRunner   \u521b\u5efa \u7684 \u6587\u4ef6 \u5e94 \u8f6c\u79fb \u5230 \u7528\u4e8e \u6784\u5efa   Carla   \u7684 \u76ee\u5f55 \u6839\u76ee\u5f55 \u7684   Import   \u76ee\u5f55 \u5185 \u3002   \u5c06 \u5927 \u5730\u56fe \u5bfc\u5165   Carla   RoadRunner   \u4e2d \u751f\u6210 \u7684 \u5927 \u5730\u56fe \u53ef\u4ee5 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u4e2d \uff0c \u5e76 \u6253\u5305 \u5728   Carla   \u72ec\u7acb \u5305\u4e2d \u5206\u53d1 \u548c \u4f7f\u7528 \u3002 \u8be5 \u8fc7\u7a0b \u4e0e \u6807\u51c6 \u5730\u56fe \u975e\u5e38 \u76f8\u4f3c \uff0c \u53ea\u662f \u6dfb\u52a0 \u4e86 \u56fe\u5757 \u548c \u6279\u91cf \u5bfc\u5165 \u7684 \u7279\u5b9a \u672f\u8bed \u3002   \u6587\u4ef6 \u548c \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u6240\u6709 \u8981 \u5bfc\u5165 \u7684 \u6587\u4ef6 \u5e94 \u653e\u7f6e \u5728   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u8fd9\u4e9b \u6587\u4ef6 \u5e94 \u5305\u62ec \uff1a   \u591a\u4e2a   . fbx   \u6587\u4ef6 \u4e2d \u7684 \u5730\u56fe \u7f51\u683c \u4ee3\u8868 \u5730\u56fe \u7684 \u4e0d\u540c \u56fe\u5757 \u3002   OpenDRIVE   \u5b9a\u4e49 \u4f4d\u4e8e \u5355\u4e2a   . xodr   \u6587\u4ef6 \u4e2d \u3002   \u8b66\u544a   \u60a8 \u4e0d\u80fd \u540c\u65f6 \u5bfc\u5165 \u5927 \u5730\u56fe \u548c \u6807\u51c6 \u5730\u56fe \u3002   \u5730\u56fe \u56fe\u5757 \u7684 \u547d\u540d \u7ea6\u5b9a \u975e\u5e38 \u91cd\u8981 \u3002 \u6bcf\u4e2a \u5730\u56fe \u56fe\u5757 \u5e94 \u6839\u636e \u4ee5\u4e0b \u7ea6\u5b9a \u547d\u540d \uff1a   < mapName > _ Tile _ < x - coordinate > _ < y - coordinate > . fbx   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c RoadRunner   \u5e94 \u7b26\u5408 \u6b64 \u547d\u540d \u7ea6\u5b9a \uff0c \u4f46 \u5728 \u51c6\u5907 \u5bfc\u5165   Carla   \u4e4b\u524d \u503c\u5f97 \u4ed4\u7ec6 \u68c0\u67e5 \u4ed4\u7ec6\u68c0\u67e5 \uff0c \u56e0\u4e3a \u6b64 \u9636\u6bb5 \u5f15\u8d77 \u7684 \u95ee\u9898 \u7a0d\u540e \u4fee\u590d \u8d77\u6765 \u53ef\u80fd \u4f1a \u5f88 \u4e4f\u5473 \u3002 \u6700\u7ec8 \u5730\u56fe \u4e2d \u7684 \u56fe\u5757 \u5c06 \u5982\u4e0b \u56fe \u6240\u793a \u6392\u5217 \uff1a   \u751f\u6210 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u5305\u542b \u4e00\u4e2a \u5305\u542b \u7531 \u56db\u4e2a \u56fe\u5757 \u7ec4\u6210 \u7684 \u5927 \u5730\u56fe \u7684 \u5305 \uff0c \u5176 \u7ed3\u6784 \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u7ed3\u6784 \uff1a   Import   \u2502   \u2514 \u2500 \u2500   Package01   \u251c \u2500 \u2500   Package01 . json   \u251c \u2500 \u2500   LargeMap _ Tile _ 0 _ 0 . fbx   \u251c \u2500 \u2500   LargeMap _ Tile _ 0 _ 1 . fbx   \u251c \u2500 \u2500   LargeMap _ Tile _ 1 _ 0 . fbx   \u251c \u2500 \u2500   LargeMap _ Tile _ 1 _ 1 . fbx   \u2514 \u2500 \u2500   LargeMap . xodr   \u7b14\u8bb0   package . json   \u6587\u4ef6 \u5e76 \u4e0d\u662f \u7edd\u5bf9 \u5fc5\u8981 \u7684 \u3002 \u5982\u679c \u672a \u521b\u5efa   package . json   \u6587\u4ef6 \uff0c \u81ea\u52a8 \u5bfc\u5165 \u8fc7\u7a0b \u5c06 \u521b\u5efa \u4e00\u4e2a \u3002 package . json \u5728 \u4e0b \u4e00\u8282 \u4e2d \u4e86\u89e3 \u6709\u5173 \u6784\u5efa \u81ea\u5df1   package . json   \u7684 \u7ed3\u6784 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u521b\u5efa   JSON   \u63cf\u8ff0 \uff08 \u53ef \u9009 \uff09   . json   \u63cf\u8ff0 \u662f \u5728 \u5bfc\u5165 \u8fc7\u7a0b \u4e2d \u81ea\u52a8 \u521b\u5efa \u7684 \uff0c \u4f46 \u4e5f \u53ef\u4ee5 \u9009\u62e9 \u624b\u52a8 \u521b\u5efa \u63cf\u8ff0 \u3002 \u73b0\u6709   . json   \u63cf\u8ff0 \u5c06 \u8986\u76d6 \u5bfc\u5165 \u8fc7\u7a0b \u4e2d \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7684 \u4efb\u4f55 \u503c \u3002   \u8be5   . json   \u6587\u4ef6 \u5e94 \u521b\u5efa \u5728 \u5305 \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u6587\u4ef6 \u6587\u4ef6\u540d \u5c06 \u662f \u5305 \u5206\u53d1 \u540d\u79f0 \u3002 \u6587\u4ef6 \u7684 \u5185\u5bb9 \u63cf\u8ff0 \u4e86   \u5730\u56fe   \u548c   \u9053\u5177   \u7684   JSON   \u6570\u7ec4 \uff0c \u5176\u4e2d \u5305\u542b \u6bcf\u4e2a \u5730\u56fe \u548c \u9053\u5177 \u7684 \u57fa\u672c \u4fe1\u606f \u3002   Maps   \u9700\u8981 \u4ee5\u4e0b \u53c2\u6570 \uff1a   name :   \u5730\u56fe \u7684 \u540d\u79f0 \u3002 \u8fd9 \u5fc5\u987b \u4e0e \u548c   . fbx   \u548c   . xodr   \u6587\u4ef6 \u76f8\u540c . xodr \u3002   xodr :   . xodr   \u6587\u4ef6 \u7684 \u8def\u5f84   use _ carla _ materials :   \u5982\u679c \u4e3a   True   \uff0c \u5730\u56fe \u5c06 \u4f7f\u7528   Carla   \u6750\u8d28 \u3002 \u5426\u5219 \uff0c \u5b83 \u5c06 \u4f7f\u7528   RoadRunner   \u6750\u6599 \u3002   tile _ size :   \u56fe\u5757 \u7684 \u5927\u5c0f \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   2000   ( 2kmx2km ) \u3002   tiles :   \u7ec4\u6210 \u6574\u4e2a \u5730\u56fe \u7684   . fbx   tile \u6587\u4ef6 \u7684 \u5217\u8868 \u3002   Props   \u5c5e\u4e8e \u672c \u6559\u7a0b \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u672c   \u6559\u7a0b \u4e86\u89e3 \u5982\u4f55 \u6dfb\u52a0 \u65b0 \u9053\u5177 \u3002   \u751f\u6210 \u7684   . json   \u6587\u4ef6 \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   {   \" maps \" :   [   {   \" name \" :   \" LargeMap \" ,   \" xodr \" :   \" . / LargeMap . xodr \" ,   \" use _ carla _ materials \" :   true ,   \" tile _ size \" :   700 ,   \" tiles \" :   [   \" . / LargeMap _ Tile _ 0 _ 0 . fbx \" ,   \" . / LargeMap _ Tile _ 0 _ 1 . fbx \" ,   \" . / LargeMap _ Tile _ 1 _ 0 . fbx \" ,   \" . / LargeMap _ Tile _ 1 _ 1 . fbx \"   ]   }   ] ,   \" props \" :   [ ]   }   \u8fdb\u884c \u5bfc\u5165   \u5c06 \u6240\u6709 \u6587\u4ef6 \u653e\u5165 \u8be5   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u540e \uff0c \u5728 \u6839   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   make   import   \u6839\u636e \u60a8 \u7684 \u7cfb\u7edf \uff0c \u865a\u5e7b \u5f15\u64ce \u53ef\u80fd \u4f1a \u6d88\u8017 \u592a \u591a \u5185\u5b58 \u800c \u65e0\u6cd5 \u4e00\u6b21 \u5bfc\u5165 \u6240\u6709 \u6587\u4ef6 \u3002 \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u9009\u62e9 \u6279\u91cf \u5bfc\u5165 \u6587\u4ef6 \uff1a   make   import   ARGS = \" -- batch - size = 200 \"   \u8be5   make   import   \u547d\u4ee4 \u8fd8 \u5b58\u5728 \u4e24\u4e2a \u6807\u5fd7 \uff1a   -- package = < package _ name >   \u6307\u5b9a \u5305 \u7684 \u540d\u79f0 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u6b64\u9879 \u8bbe\u7f6e \u4e3a   map _ package   \u3002 \u4e24\u4e2a \u5305 \u4e0d\u80fd \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \uff0c \u56e0\u6b64 \u4f7f\u7528 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u5c06 \u5bfc\u81f4 \u540e\u7eed \u5bfc\u5165 \u65f6 \u51fa\u9519 \u3002   \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u66f4\u6539 \u5305 \u7684 \u540d\u79f0   \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- package = < package _ name > \"   -- no - carla - materials   \u6307\u5b9a \u60a8 \u4e0d\u60f3 \u4f7f\u7528 \u9ed8\u8ba4 \u7684   Carla   \u6750\u8d28 \uff08 \u9053\u8def \u7eb9\u7406 \u7b49 \uff09 \u3002 \u60a8 \u5c06 \u6539\u7528   RoadRunner   \u6750\u6599 \u3002   \u4ec5 \u5f53 \u60a8 \u4e0d \u63d0\u4f9b \u81ea\u5df1 \u7684   . json   \u6587\u4ef6   \u65f6\u624d \u9700\u8981 \u6b64 \u6807\u5fd7 \u3002   . json   \u6587\u4ef6 \u4e2d \u7684 \u4efb\u4f55 \u503c \u90fd \u5c06 \u8986\u76d6 \u6b64 \u6807\u5fd7 \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- no - carla - materials \"   \u6240\u6709 \u6587\u4ef6 \u90fd \u5c06 \u88ab \u5bfc\u5165 \u5e76 \u51c6\u5907 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u4f7f\u7528 \u3002 \u5730\u56fe \u5730\u56fe\u5305 \u5c06 \u5728   Unreal / CarlaUE4 / Content   \u4e2d \u521b\u5efa \u3002 \u5c06 \u521b\u5efa \u4e00\u4e2a \u5e95\u56fe \u56fe\u5757   \uff0c \u4f5c\u4e3a \u6240\u6709 \u56fe\u5757 \u7684 \u6d41 \u7ea7\u522b \u3002 \u57fa\u7840 \u56fe\u5757 \u5c06 \u5305\u542b \u5929\u7a7a \u3001 \u5929\u6c14 \u548c \u5927 \u5730\u56fe \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5e76 \u51c6\u5907 \u597d \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u3002   \u7b14\u8bb0   \u76ee\u524d \u4e0d \u5efa\u8bae \u4f7f\u7528 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d\u4e3a \u6807\u51c6 \u5730\u56fe \u63d0\u4f9b \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5de5\u5177 \uff0c \u4f8b\u5982 \u9053\u8def \u753b\u5bb6 \u3001 \u7a0b\u5e8f \u5efa\u7b51 \u7b49 \u3002   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5904\u7406 \u5927 \u5730\u56fe   \u73b0\u5728 \u60a8 \u5df2 \u5bfc\u5165 \u65b0 \u5730\u56fe \uff0c \u60a8 \u5c06 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u7684 \u9ed8\u8ba4 \u547d\u540d   map _ package   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u627e\u5230 \u8be5 \u5730\u56fe \u3002 \u5982\u679c \u60a8 \u5728 \u5bfc\u5165 \u547d\u4ee4 \u4e2d \u4f7f\u7528 \u53c2\u6570   \" -- package = < package _ name > \"   \uff0c \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5c06 \u6709 \u4e00\u4e2a \u5907\u7528 \u540d\u79f0 \u3002 \u5728 \u6b64 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \uff0c \u6253\u5f00 \u8be5   Maps   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u6253\u5f00 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u5728 \u91cc\u9762 \u4f60 \u4f1a \u53d1\u73b0 \u51e0\u4e2a \u6a59\u8272 \u7684 \u5173\u5361 \u6587\u4ef6 \u3002   \u6574\u4e2a \u5730\u56fe \u5c06 \u6709 \u4e00\u4e2a \u5173\u5361 \u6587\u4ef6 \uff0c \u800c \u4ece   RoadRunner   \u5bfc\u51fa \u7684 \u6bcf\u4e2a \u56fe\u5757 \u5c06 \u6709 \u4e00\u4e2a \u5173\u5361 \u6587\u4ef6 \u3002 \u8981 \u5c06 \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u690d\u88ab \u7b49 \u8d44\u4ea7 \u6dfb\u52a0 \u5230 \u5730\u56fe \u4e2d \uff0c \u8bf7 \u53cc\u51fb \u8981 \u5904\u7406 \u7684 \u56fe\u5757 \u7684 \u5173\u5361 \u6587\u4ef6 \uff08 \u4f8b\u5982 \u672c\u4f8b \u4e2d   LargeMap _ Tile _ 0 _ 0   \uff09 \uff0c \u4ee5\u4fbf \u5c06 \u5176 \u52a0\u8f7d \u5230 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u56fe\u5757 \u6ca1\u6709 \u4efb\u4f55 \u7167\u660e \u8bbe\u7f6e \uff0c \u56e0\u6b64 \u60a8 \u53ef\u80fd \u9700\u8981 \u5c06 \u89c6\u56fe \u6a21\u5f0f \u4ece   \u66f4\u6539   Lit   \u4e3a   Unlit   \u624d\u80fd \u5728 \u52a0\u8f7d \u56fe\u5757 \u540e \u770b\u5230 \u5b83 \u3002 \u73b0\u5728 \uff0c \u60a8 \u53ef\u4ee5 \u6309\u7167   \u4e0e \u6807\u51c6 \u5730\u56fe \u76f8\u540c \u7684 \u8fc7\u7a0b   \u5411 \u5730\u56fe \u6dfb\u52a0 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8bf7 \u786e\u4fdd \u4fdd\u5b58 \u5bf9 \u6b63\u5728 \u5904\u7406 \u7684 \u56fe\u5757 \u6240 \u505a \u7684 \u4fee\u6539 \uff0c \u7136\u540e \u52a0\u8f7d \u4e0b \u4e00\u4e2a \u56fe\u5757 \u5e76 \u91cd\u590d \u8be5 \u8fc7\u7a0b \u3002 \u60a8 \u65e0\u6cd5 \u4e00\u6b21 \u4e00\u6b21\u6027 \u5904\u7406 \u6574\u4e2a \u5730\u56fe \uff0c \u56e0\u6b64 \u52a0\u8f7d \uff08 \u901a\u8fc7 \u53cc\u51fb \uff09 \u6574\u4e2a \u5730\u56fe \u7684 \u5173\u5361 \u6587\u4ef6 \uff08 \u540e\u9762 \u4e0d\u5e26 \u540e\u7f00   \u7684 \u6587\u4ef6   _ Tile _ X _ Y   \uff09 \u5bf9\u4e8e \u88c5\u9970 \u5730\u56fe \u5c06 \u6ca1\u6709 \u7528\u5904 \u3002   \u52a0\u8f7d \u6574\u4e2a \u5730\u56fe \u5e76 \u8fd0\u884c \u4eff\u771f   \u5982\u679c \u60a8 \u60f3 \u52a0\u8f7d \u5730\u56fe \u5e76 \u5f00\u59cb \u4eff\u771f \u8fdb\u884c \u5b9e\u9a8c \uff0c \u60a8 \u5e94\u8be5 \u52a0\u8f7d \u6574\u4e2a \u5730\u56fe \u7684 \u5173\u5361 \u6587\u4ef6 \u3002 \u53cc\u51fb \u5e26\u6709 \u6839 \u5730\u56fe \u540d\u79f0 \u7684 \u5173\u5361 \u6587\u4ef6 \uff08 \u540e\u9762 \u4e0d\u5e26 \u540e\u7f00 \u7684 \u6587\u4ef6   _ Tile _ X _ Y   \uff09 \u5e76 \u7b49\u5f85 \u5176 \u52a0\u8f7d \u3002 \u5bf9\u4e8e \u975e\u5e38 \u5927 \u7684 \u5730\u56fe \uff0c \u52a0\u8f7d \u6709\u65f6 \u53ef\u80fd \u9700\u8981 \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u751a\u81f3 \u51e0\u5206 \u5206\u949f \u51e0\u5206\u949f \u3002 \u52a0\u8f7d \u540e \uff0c \u5355\u51fb \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u7684 \u64ad\u653e \u9009\u9879 \u3002 \u4eff\u771f \u73b0\u5728 \u5c06 \u4ece \u60a8 \u7684 \u65b0 \u5927 \u5730\u56fe \u5f00\u59cb \u3002   \u7b14\u8bb0   \u5982\u679c \u60a8 \u662f \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u4ece \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u8fd0\u884c \u4eff\u771f \uff0c \u5efa\u8bae \u5728 \u5f00\u59cb \u4eff\u771f \u4e4b\u524d \u5148 \u9010\u4e2a \u52a0\u8f7d \u6bcf\u4e2a \u56fe\u5757 \uff08 \u901a\u8fc7 \u53cc\u51fb \u5b83\u4eec \uff09 \uff0c \u76f4\u5230 \u52a0\u8f7d \u5b8c \u6240\u6709 \u56fe\u5757 \u3002 \u8fd9\u4f1a \u5728 \u540e\u53f0 \u6267\u884c \u67d0\u4e9b \u64cd\u4f5c \uff0c \u4f8b\u5982 \u70d8\u7119 \u7f51\u683c \u8ddd\u79bb \u573a \u548c \u56fe\u5757 \u7684 \u7740\u8272 \u7740\u8272\u5668 \u3002 \u5982\u679c \u60a8 \u4e00 \u5f00\u59cb \u4e0d \u9010\u4e00 \u52a0\u8f7d \u56fe\u5757 \uff0c \u8fd9\u4e9b \u64cd\u4f5c \u53ef\u80fd \u4f1a \u5728 \u8fd0\u884c \u65f6 \u6267\u884c \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u865a\u5e7b \u5f15\u64ce \u6302 \u8d77 \u6216 \u5d29\u6e83 \u3002   \u6253\u5305 \u4e00\u5f20 \u5927 \u5730\u56fe   \u8981 \u6253\u5305 \u5927 \u5730\u56fe \u4ee5\u4fbf \u53ef\u4ee5 \u5728   Carla   \u72ec\u7acb \u5305\u4e2d \u4f7f\u7528 \uff0c \u8bf7 \u9075\u5faa \u4e0e \u6807\u51c6 \u5730\u56fe \u76f8\u540c \u7684 \u8fc7\u7a0b   -   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   make   package   ARGS = \" -- packages = < mapPackage > \"   \u8fd9 \u5c06 \u521b\u5efa \u4e00\u4e2a \u538b\u7f29 \u5728   . tar . gz   \u6587\u4ef6 \u4e2d \u7684 \u72ec\u7acb \u5305 \u3002 Linux   \u4e0b \u6587\u4ef6 \u5c06 \u4fdd\u5b58 \u5728   Dist   \u548c   Windows \u4e0b \u4fdd\u5b58 \u5728   / Build / UE4Carla /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u7136\u540e \u53ef\u4ee5 \u5c06 \u5b83\u4eec \u5206\u53d1 \u548c \u6253\u5305 \u4ee5 \u5728 \u72ec\u7acb \u7684   Carla   \u5305\u4e2d \u4f7f\u7528 \u3002   \u5982\u679c \u60a8 \u5bf9 \u5927 \u5730\u56fe \u5bfc\u5165 \u548c \u6253\u5305 \u8fc7\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u90a3\u4e48 \u60a8 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"Content   authoring   large   maps"},{"location":"content_authoring_large_maps/#carla","text":"Carla   \u4e2d \u5927 \u5730\u56fe \uff08 \u5982 \u57ce\u9547   11   \u548c   12 \uff09 \u7684 \u64cd\u4f5c \u65b9\u5f0f \u4e0e \u6807\u51c6 \u5730\u56fe \uff08 \u5982 \u57ce\u9547   10 \uff09 \u4e0d\u540c \u3002 \u5730\u56fe \u88ab \u5212\u5206 \u4e3a \u56fe\u5757 \uff0c \u5373 \u5730\u56fe \u7684 \u7ec6\u5206 \uff0c \u901a\u5e38 \u5927\u5c0f \u8bbe\u7f6e \u4e3a \u7ea6   1   \u81f3   2   \u516c\u91cc \u3002 \u8fd9\u4e9b \u56fe\u5757 \u5212\u5206 \u4e86 \u5730\u56fe \uff0c \u4ee5\u4fbf \u4ec5 \u5c06 \u9700\u8981 \u7684 \u5730\u56fe \u90e8\u5206 \u52a0\u8f7d \u5230 \u56fe\u5f62 \u5185\u5b58 \u4e2d\u4ee5 \u8fdb\u884c \u9ad8\u6548 \u6e32\u67d3 \u3002 \u4e0d \u9700\u8981 \u7684 \u56fe\u5757 \u4fdd\u6301 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u5e76 \u51c6\u5907 \u5728 \u9700\u8981 \u65f6 \u52a0\u8f7d \u3002 \u901a\u5e38 \uff0c \u4f1a \u52a0\u8f7d \u81ea\u6211 \u8f66\u8f86 \u4f4d\u7f6e \u4e2d \u7684 \u56fe\u5757 \u65c1\u8fb9 \u7684 \u56fe\u5757 \uff0c \u4f46 \u5982\u679c \u9700\u8981 \uff0c \u53ef\u4ee5 \u52a0\u8f7d \u66f4 \u591a \u56fe\u5757 \u3002 \u5f53   Carla   \u542f\u52a8 \u65f6 \uff0c \u53ef\u4ee5 \u5728 \u8bbe\u7f6e \u4e2d \u4fee\u6539 \u6b64 \u884c\u4e3a \u3002","title":"\u4e3a   Carla   \u521b\u5efa \u5927 \u5730\u56fe"},{"location":"content_authoring_large_maps/#roadrunner","text":"RoadRunner   \u662f \u63a8\u8350 \u7528\u4e8e \u521b\u5efa \u8981 \u5bfc\u5165   Carla   \u7684 \u5927 \u5730\u56fe \u7684 \u8f6f\u4ef6 \u3002 \u672c \u6307\u5357 \u6982\u8ff0 \u4e86 \u5982\u4f55 \u4f7f\u7528   RoadRunner   \u521b\u5efa \u5927 \u5730\u56fe \u4ee5\u53ca \u5982\u4f55 \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5bfc\u5165 \u548c \u5904\u7406 \u5927 \u5730\u56fe \u3002   \u5728   RoadRunner   \u4e2d \u6784\u5efa \u5927 \u5730\u56fe   \u5728   RoadRunner   \u4e2d \u5bfc\u51fa \u5927 \u5730\u56fe   \u5c06 \u5927 \u5730\u56fe \u5bfc\u5165   Carla   \u6587\u4ef6 \u548c \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u521b\u5efa   JSON   \u63cf\u8ff0 \uff08 \u53ef \u9009 \uff09   \u8fdb\u884c \u5bfc\u5165   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5904\u7406 \u5927 \u5730\u56fe   \u6253\u5305 \u4e00\u5f20 \u5927 \u5730\u56fe","title":"\u5728   RoadRunner   \u4e2d \u521b\u5efa \u5927 \u5730\u56fe"},{"location":"content_authoring_large_maps/#roadrunner_1","text":"\u5982\u4f55 \u5728   RoadRunner   \u4e2d \u6784\u5efa \u590d\u6742 \u5730\u56fe \u7684 \u5177\u4f53 \u7ec6\u8282 \u8d85\u51fa \u4e86 \u672c \u6307\u5357 \u7684 \u8303\u56f4 \uff0c \u4f46\u662f \uff0c   RoadRunner   \u6587\u6863   \u4e2d \u63d0\u4f9b \u4e86 \u89c6\u9891 \u6559\u7a0b \u89c6\u9891\u6559\u7a0b \u3002 \u4ece \u8868\u9762 \u4e0a \u770b \uff0c \u5728   RoadRunner   \u4e2d \u6784\u5efa \u5927 \u5730\u56fe \u4e0e \u6784\u5efa \u6807\u51c6 \u5730\u56fe \u57fa\u672c \u672c\u76f8 \u76f8\u540c \u57fa\u672c\u76f8\u540c \uff0c \u53ea\u662f \u6bd4\u4f8b \u66f4\u5927 \u3002 \u5dee\u5f02 \u4e3b\u8981 \u5728\u4e8e \u5730\u56fe \u7684 \u5bfc\u51fa \u65b9\u5f0f \u3002   \u8fd9\u91cc \u6211\u4eec \u521b\u5efa \u4e86 \u4e00\u5f20 \u5927\u7ea6   1.2   \u516c\u91cc \u5927\u5c0f \u7684 \u5927 \u5730\u56fe \u3002 \u5f53 \u6211\u4eec \u5bfc\u51fa \u5b83 \u65f6 \uff0c \u5b83\u4f1a \u88ab \u5206\u5272 \u6210 \u56fe\u5757 \uff0c \u6211\u4eec \u5c06 \u9009\u62e9   700m   \u7684 \u56fe\u5757 \u5927\u5c0f \uff0c \u56e0\u6b64 \u5730\u56fe \u5e94\u8be5 \u5206\u5272 \u6210 \u5927\u7ea6   4   \u4e2a \u56fe\u5757 \u3002   \u5982\u679c \u60a8 \u6b63\u5728 \u6784\u5efa \u5e26\u6709 \u9ad8\u7a0b \u7684 \u5927 \u5730\u56fe \uff0c \u5efa\u8bae \u7684 \u5730\u56fe \u6700\u5927 \u5c3a\u5bf8 \u4e3a   20x20   km   2   \u3002 \u5927\u4e8e \u6b64 \u5927\u5c0f \u7684 \u5730\u56fe \u53ef\u80fd \u4f1a \u5bfc\u81f4   RoadRunner   \u5728 \u5bfc\u51fa \u65f6 \u5d29\u6e83 \u3002","title":"\u5728   RoadRunner   \u4e2d \u6784\u5efa \u5927 \u5730\u56fe"},{"location":"content_authoring_large_maps/#roadrunner_2","text":"\u4ee5\u4e0b \u662f\u4ece   RoadRunner   \u5bfc\u51fa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5927 \u5730\u56fe \u7684 \u57fa\u672c \u6307\u5357 \u3002   \u901a\u8fc7 \u5355\u51fb \u4e16\u754c \u8bbe\u7f6e \u5de5\u5177 \uff08   World   settings   tool   \uff09 \u5e76 \u62d6\u52a8 \u84dd\u8272 \u8fb9\u754c \u6846 \u7684 \u8fb9\u7f18 \u4ee5 \u5305\u542b \u8981 \u5bfc\u51fa \u7684 \u6574\u4e2a \u533a\u57df \uff0c \u786e\u4fdd \u9009\u62e9 \u5bfc\u51fa \u5b8c\u6574 \u5730\u56fe \u3002 \u51c6\u5907 \u597d\u540e \uff0c \u5355\u51fb \u201c \u5e94\u7528 \u4e16\u754c \u66f4\u6539 \u201d \uff08   Apply   World   Changes   \uff09 \u3002   \u4f7f\u7528 \u573a\u666f \u5bfc\u51fa \u9884\u89c8 \u5de5\u5177 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u4e86\u89e3 \u5982\u4f55 \u5c06 \u5730\u56fe \u5212\u5206 \u4e3a \u56fe\u5757 \u4ee5\u4f9b \u5bfc\u51fa \u3002 \u8c03\u6574 \u201c \u5e73\u94fa \u9009\u9879 \u201d \uff08   Tiling   Options   \uff09 \u83dc\u5355 \u4e2d \u7684 \u201c \u5e73\u94fa \u5927\u5c0f \u201d \uff08   Tile   Size   \uff09 \u53c2\u6570 \uff0c \u627e\u5230 \u9002\u5408 \u60a8 \u5730\u56fe \u7684 \u5e73\u94fa \u5927\u5c0f \uff0c \u6309 \u201c \u5237\u65b0 \u573a\u666f \u201d \uff08   Refresh   Scene   \uff09 \u67e5\u770b \u8c03\u6574 \u7684 \u5f71\u54cd \u3002   \u7b14\u8bb0   Tile   size   :   \u60a8 \u4f7f\u7528 \u7684 \u56fe\u5757 \u5927\u5c0f \u662f \u4e00\u4e2a \u5224\u65ad \u8c03\u7528 \uff0c \u4ee5 \u786e\u4fdd \u5730\u56fe \u5728   Carla   \u4e2d \u4f7f\u7528 \u65f6 \u80fd\u591f \u6709\u6548 \u5de5\u4f5c \u3002 \u5982\u679c \u60a8 \u7684 \u5730\u56fe \u5305\u542b \u5bc6\u96c6 \u7684   3D   \u8d44\u6e90 \uff08 \u4f8b\u5982 \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u690d\u88ab \uff09 \uff0c \u60a8 \u53ef\u80fd \u4f1a \u53d7\u76ca \u4e8e \u8f83 \u5c0f \u7684 \u56fe\u5757 \u5927\u5c0f \uff0c \u4ee5 \u9632\u6b62 \u52a0\u8f7d \u4e0d\u5fc5 \u5fc5\u8981 \u4e0d\u5fc5\u8981 \u7684 \u8d44\u6e90 \u3002 \u4f46\u662f \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u589e\u52a0 \u6784\u5efa \u5730\u56fe \u6240 \u9700 \u5de5\u4f5c \u7684 \u590d\u6742 \u590d\u6742\u6027 \u3002 Carla   \u5f15\u64ce \u652f\u6301 \u7684 \u6700\u5927 \u74e6\u7247 \u5c3a\u5bf8 \u4e3a   2   \u516c\u91cc \uff0c \u6211\u4eec \u5efa\u8bae \u74e6\u7247 \u5c3a\u5bf8 \u4e3a   1   \u516c\u91cc \u5de6\u53f3 \u3002   \u5f53 \u60a8 \u51c6\u5907 \u597d \u5bfc\u51fa \u65f6 \uff1a   1 .   \u5bfc\u51fa   . fbx   \u51e0\u4f55 \u6587\u4ef6 \uff1a   \u5728 \u4e3b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \uff0c \u9009\u62e9   File   - >   Export   - >   Firebox   ( . fbx )   2 .   \u5728 \u5f39\u51fa \u7684 \u7a97\u53e3 \u4e2d \uff1a   \u68c0\u67e5 \u4ee5\u4e0b \u9009\u9879 \uff1a   \u901a\u8fc7 \u5206\u6bb5 \u5206\u5272   \uff08   Split   by   Segmentation   \uff09 :   \u901a\u8fc7 \u8bed\u4e49 \u5206\u5272 \u6765 \u5212\u5206 \u7f51\u683c \u5e76 \u6539\u8fdb \u884c\u4eba \u5bfc\u822a \u3002   \u4e8c\u7ef4 \u7eb9\u7406 \u7684 \u529b\u91cf   \uff08   Power   of   Two   Texture   Dimensions   \uff09 :   \u63d0\u9ad8 \u6027\u80fd \u3002   \u5d4c\u5165 \u7eb9\u7406   \uff08   Embed   Textures   \uff09 :   \u786e\u4fdd \u7eb9\u7406 \u5d4c\u5165 \u5230 \u7f51\u683c \u4e2d \u3002   \u5bfc\u51fa \u5230 \u56fe\u5757   \uff08   Export   to   Tiles   \uff09 :   \u9009\u62e9 \u56fe\u5757 \u7684 \u5927\u5c0f \u3002 Carla   \u53ef\u4ee5 \u4f7f\u7528 \u7684 \u6700\u5927 \u5c3a\u5bf8 \u4e3a   2000   x   2000 \u3002   \u5bfc\u51fa \u5355\u4e2a \u56fe\u5757   \uff08   Export   Individual   Tiles   \uff09 :   \u751f\u6210 \u5728   Carla   \u4e2d \u6d41\u5f0f \u4f20\u8f93 \u5927 \u5730\u56fe \u6240 \u9700 \u7684 \u5355\u4e2a \u56fe\u5757 \u3002   3 .   \u5bfc\u51fa   . xodr   OpenDrive   \u5730\u56fe \u6587\u4ef6 \uff1a   \u5728 \u4e3b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \uff0c \u9009\u62e9   File   - >   Export   - >   OpendDRIVE   ( . xodr )   \u5728 \u60a8 \u9009\u62e9 \u5bfc\u51fa \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u60a8 \u73b0\u5728 \u5c06 \u6709 \u51e0\u4e2a \u65b0 \u6587\u4ef6 \uff0c \u4e00\u4e2a   . xodr   \u6587\u4ef6 \u548c \u51e0\u4e2a   . fbx   \u6587\u4ef6 \uff1a   \u7b14\u8bb0   \u786e\u4fdd   . xodr   \u548c   . fbx   \u6587\u4ef6 \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \u6839 \u3002   \u73b0\u5728 \u60a8 \u5df2\u7ecf \u5728   Roadrunner   \u4e2d \u521b\u5efa \u4e86 \u5927 \u5730\u56fe \uff0c \u60a8 \u53ef\u4ee5 \u5c06 \u5176 \u5bfc\u5165   Carla   \u4e2d \u3002 RoadRunner   \u521b\u5efa \u7684 \u6587\u4ef6 \u5e94 \u8f6c\u79fb \u5230 \u7528\u4e8e \u6784\u5efa   Carla   \u7684 \u76ee\u5f55 \u6839\u76ee\u5f55 \u7684   Import   \u76ee\u5f55 \u5185 \u3002","title":"\u5728   RoadRunner   \u4e2d \u5bfc\u51fa \u5927 \u5730\u56fe"},{"location":"content_authoring_large_maps/#carla_1","text":"RoadRunner   \u4e2d \u751f\u6210 \u7684 \u5927 \u5730\u56fe \u53ef\u4ee5 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u4e2d \uff0c \u5e76 \u6253\u5305 \u5728   Carla   \u72ec\u7acb \u5305\u4e2d \u5206\u53d1 \u548c \u4f7f\u7528 \u3002 \u8be5 \u8fc7\u7a0b \u4e0e \u6807\u51c6 \u5730\u56fe \u975e\u5e38 \u76f8\u4f3c \uff0c \u53ea\u662f \u6dfb\u52a0 \u4e86 \u56fe\u5757 \u548c \u6279\u91cf \u5bfc\u5165 \u7684 \u7279\u5b9a \u672f\u8bed \u3002","title":"\u5c06 \u5927 \u5730\u56fe \u5bfc\u5165   Carla"},{"location":"content_authoring_large_maps/#_1","text":"\u6240\u6709 \u8981 \u5bfc\u5165 \u7684 \u6587\u4ef6 \u5e94 \u653e\u7f6e \u5728   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u8fd9\u4e9b \u6587\u4ef6 \u5e94 \u5305\u62ec \uff1a   \u591a\u4e2a   . fbx   \u6587\u4ef6 \u4e2d \u7684 \u5730\u56fe \u7f51\u683c \u4ee3\u8868 \u5730\u56fe \u7684 \u4e0d\u540c \u56fe\u5757 \u3002   OpenDRIVE   \u5b9a\u4e49 \u4f4d\u4e8e \u5355\u4e2a   . xodr   \u6587\u4ef6 \u4e2d \u3002   \u8b66\u544a   \u60a8 \u4e0d\u80fd \u540c\u65f6 \u5bfc\u5165 \u5927 \u5730\u56fe \u548c \u6807\u51c6 \u5730\u56fe \u3002   \u5730\u56fe \u56fe\u5757 \u7684 \u547d\u540d \u7ea6\u5b9a \u975e\u5e38 \u91cd\u8981 \u3002 \u6bcf\u4e2a \u5730\u56fe \u56fe\u5757 \u5e94 \u6839\u636e \u4ee5\u4e0b \u7ea6\u5b9a \u547d\u540d \uff1a   < mapName > _ Tile _ < x - coordinate > _ < y - coordinate > . fbx   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c RoadRunner   \u5e94 \u7b26\u5408 \u6b64 \u547d\u540d \u7ea6\u5b9a \uff0c \u4f46 \u5728 \u51c6\u5907 \u5bfc\u5165   Carla   \u4e4b\u524d \u503c\u5f97 \u4ed4\u7ec6 \u68c0\u67e5 \u4ed4\u7ec6\u68c0\u67e5 \uff0c \u56e0\u4e3a \u6b64 \u9636\u6bb5 \u5f15\u8d77 \u7684 \u95ee\u9898 \u7a0d\u540e \u4fee\u590d \u8d77\u6765 \u53ef\u80fd \u4f1a \u5f88 \u4e4f\u5473 \u3002 \u6700\u7ec8 \u5730\u56fe \u4e2d \u7684 \u56fe\u5757 \u5c06 \u5982\u4e0b \u56fe \u6240\u793a \u6392\u5217 \uff1a   \u751f\u6210 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u5305\u542b \u4e00\u4e2a \u5305\u542b \u7531 \u56db\u4e2a \u56fe\u5757 \u7ec4\u6210 \u7684 \u5927 \u5730\u56fe \u7684 \u5305 \uff0c \u5176 \u7ed3\u6784 \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u7ed3\u6784 \uff1a   Import   \u2502   \u2514 \u2500 \u2500   Package01   \u251c \u2500 \u2500   Package01 . json   \u251c \u2500 \u2500   LargeMap _ Tile _ 0 _ 0 . fbx   \u251c \u2500 \u2500   LargeMap _ Tile _ 0 _ 1 . fbx   \u251c \u2500 \u2500   LargeMap _ Tile _ 1 _ 0 . fbx   \u251c \u2500 \u2500   LargeMap _ Tile _ 1 _ 1 . fbx   \u2514 \u2500 \u2500   LargeMap . xodr   \u7b14\u8bb0   package . json   \u6587\u4ef6 \u5e76 \u4e0d\u662f \u7edd\u5bf9 \u5fc5\u8981 \u7684 \u3002 \u5982\u679c \u672a \u521b\u5efa   package . json   \u6587\u4ef6 \uff0c \u81ea\u52a8 \u5bfc\u5165 \u8fc7\u7a0b \u5c06 \u521b\u5efa \u4e00\u4e2a \u3002 package . json \u5728 \u4e0b \u4e00\u8282 \u4e2d \u4e86\u89e3 \u6709\u5173 \u6784\u5efa \u81ea\u5df1   package . json   \u7684 \u7ed3\u6784 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u6587\u4ef6 \u548c \u6587\u4ef6\u5939"},{"location":"content_authoring_large_maps/#json","text":". json   \u63cf\u8ff0 \u662f \u5728 \u5bfc\u5165 \u8fc7\u7a0b \u4e2d \u81ea\u52a8 \u521b\u5efa \u7684 \uff0c \u4f46 \u4e5f \u53ef\u4ee5 \u9009\u62e9 \u624b\u52a8 \u521b\u5efa \u63cf\u8ff0 \u3002 \u73b0\u6709   . json   \u63cf\u8ff0 \u5c06 \u8986\u76d6 \u5bfc\u5165 \u8fc7\u7a0b \u4e2d \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7684 \u4efb\u4f55 \u503c \u3002   \u8be5   . json   \u6587\u4ef6 \u5e94 \u521b\u5efa \u5728 \u5305 \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u6587\u4ef6 \u6587\u4ef6\u540d \u5c06 \u662f \u5305 \u5206\u53d1 \u540d\u79f0 \u3002 \u6587\u4ef6 \u7684 \u5185\u5bb9 \u63cf\u8ff0 \u4e86   \u5730\u56fe   \u548c   \u9053\u5177   \u7684   JSON   \u6570\u7ec4 \uff0c \u5176\u4e2d \u5305\u542b \u6bcf\u4e2a \u5730\u56fe \u548c \u9053\u5177 \u7684 \u57fa\u672c \u4fe1\u606f \u3002   Maps   \u9700\u8981 \u4ee5\u4e0b \u53c2\u6570 \uff1a   name :   \u5730\u56fe \u7684 \u540d\u79f0 \u3002 \u8fd9 \u5fc5\u987b \u4e0e \u548c   . fbx   \u548c   . xodr   \u6587\u4ef6 \u76f8\u540c . xodr \u3002   xodr :   . xodr   \u6587\u4ef6 \u7684 \u8def\u5f84   use _ carla _ materials :   \u5982\u679c \u4e3a   True   \uff0c \u5730\u56fe \u5c06 \u4f7f\u7528   Carla   \u6750\u8d28 \u3002 \u5426\u5219 \uff0c \u5b83 \u5c06 \u4f7f\u7528   RoadRunner   \u6750\u6599 \u3002   tile _ size :   \u56fe\u5757 \u7684 \u5927\u5c0f \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   2000   ( 2kmx2km ) \u3002   tiles :   \u7ec4\u6210 \u6574\u4e2a \u5730\u56fe \u7684   . fbx   tile \u6587\u4ef6 \u7684 \u5217\u8868 \u3002   Props   \u5c5e\u4e8e \u672c \u6559\u7a0b \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u672c   \u6559\u7a0b \u4e86\u89e3 \u5982\u4f55 \u6dfb\u52a0 \u65b0 \u9053\u5177 \u3002   \u751f\u6210 \u7684   . json   \u6587\u4ef6 \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   {   \" maps \" :   [   {   \" name \" :   \" LargeMap \" ,   \" xodr \" :   \" . / LargeMap . xodr \" ,   \" use _ carla _ materials \" :   true ,   \" tile _ size \" :   700 ,   \" tiles \" :   [   \" . / LargeMap _ Tile _ 0 _ 0 . fbx \" ,   \" . / LargeMap _ Tile _ 0 _ 1 . fbx \" ,   \" . / LargeMap _ Tile _ 1 _ 0 . fbx \" ,   \" . / LargeMap _ Tile _ 1 _ 1 . fbx \"   ]   }   ] ,   \" props \" :   [ ]   }","title":"\u521b\u5efa   JSON   \u63cf\u8ff0 \uff08 \u53ef \u9009 \uff09"},{"location":"content_authoring_large_maps/#_2","text":"\u5c06 \u6240\u6709 \u6587\u4ef6 \u653e\u5165 \u8be5   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u540e \uff0c \u5728 \u6839   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   make   import   \u6839\u636e \u60a8 \u7684 \u7cfb\u7edf \uff0c \u865a\u5e7b \u5f15\u64ce \u53ef\u80fd \u4f1a \u6d88\u8017 \u592a \u591a \u5185\u5b58 \u800c \u65e0\u6cd5 \u4e00\u6b21 \u5bfc\u5165 \u6240\u6709 \u6587\u4ef6 \u3002 \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u9009\u62e9 \u6279\u91cf \u5bfc\u5165 \u6587\u4ef6 \uff1a   make   import   ARGS = \" -- batch - size = 200 \"   \u8be5   make   import   \u547d\u4ee4 \u8fd8 \u5b58\u5728 \u4e24\u4e2a \u6807\u5fd7 \uff1a   -- package = < package _ name >   \u6307\u5b9a \u5305 \u7684 \u540d\u79f0 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u6b64\u9879 \u8bbe\u7f6e \u4e3a   map _ package   \u3002 \u4e24\u4e2a \u5305 \u4e0d\u80fd \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \uff0c \u56e0\u6b64 \u4f7f\u7528 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u5c06 \u5bfc\u81f4 \u540e\u7eed \u5bfc\u5165 \u65f6 \u51fa\u9519 \u3002   \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u66f4\u6539 \u5305 \u7684 \u540d\u79f0   \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- package = < package _ name > \"   -- no - carla - materials   \u6307\u5b9a \u60a8 \u4e0d\u60f3 \u4f7f\u7528 \u9ed8\u8ba4 \u7684   Carla   \u6750\u8d28 \uff08 \u9053\u8def \u7eb9\u7406 \u7b49 \uff09 \u3002 \u60a8 \u5c06 \u6539\u7528   RoadRunner   \u6750\u6599 \u3002   \u4ec5 \u5f53 \u60a8 \u4e0d \u63d0\u4f9b \u81ea\u5df1 \u7684   . json   \u6587\u4ef6   \u65f6\u624d \u9700\u8981 \u6b64 \u6807\u5fd7 \u3002   . json   \u6587\u4ef6 \u4e2d \u7684 \u4efb\u4f55 \u503c \u90fd \u5c06 \u8986\u76d6 \u6b64 \u6807\u5fd7 \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- no - carla - materials \"   \u6240\u6709 \u6587\u4ef6 \u90fd \u5c06 \u88ab \u5bfc\u5165 \u5e76 \u51c6\u5907 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u4f7f\u7528 \u3002 \u5730\u56fe \u5730\u56fe\u5305 \u5c06 \u5728   Unreal / CarlaUE4 / Content   \u4e2d \u521b\u5efa \u3002 \u5c06 \u521b\u5efa \u4e00\u4e2a \u5e95\u56fe \u56fe\u5757   \uff0c \u4f5c\u4e3a \u6240\u6709 \u56fe\u5757 \u7684 \u6d41 \u7ea7\u522b \u3002 \u57fa\u7840 \u56fe\u5757 \u5c06 \u5305\u542b \u5929\u7a7a \u3001 \u5929\u6c14 \u548c \u5927 \u5730\u56fe \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5e76 \u51c6\u5907 \u597d \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u3002   \u7b14\u8bb0   \u76ee\u524d \u4e0d \u5efa\u8bae \u4f7f\u7528 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d\u4e3a \u6807\u51c6 \u5730\u56fe \u63d0\u4f9b \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5de5\u5177 \uff0c \u4f8b\u5982 \u9053\u8def \u753b\u5bb6 \u3001 \u7a0b\u5e8f \u5efa\u7b51 \u7b49 \u3002","title":"\u8fdb\u884c \u5bfc\u5165"},{"location":"content_authoring_large_maps/#_3","text":"\u73b0\u5728 \u60a8 \u5df2 \u5bfc\u5165 \u65b0 \u5730\u56fe \uff0c \u60a8 \u5c06 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u7684 \u9ed8\u8ba4 \u547d\u540d   map _ package   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u627e\u5230 \u8be5 \u5730\u56fe \u3002 \u5982\u679c \u60a8 \u5728 \u5bfc\u5165 \u547d\u4ee4 \u4e2d \u4f7f\u7528 \u53c2\u6570   \" -- package = < package _ name > \"   \uff0c \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5c06 \u6709 \u4e00\u4e2a \u5907\u7528 \u540d\u79f0 \u3002 \u5728 \u6b64 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \uff0c \u6253\u5f00 \u8be5   Maps   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u6253\u5f00 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u5728 \u91cc\u9762 \u4f60 \u4f1a \u53d1\u73b0 \u51e0\u4e2a \u6a59\u8272 \u7684 \u5173\u5361 \u6587\u4ef6 \u3002   \u6574\u4e2a \u5730\u56fe \u5c06 \u6709 \u4e00\u4e2a \u5173\u5361 \u6587\u4ef6 \uff0c \u800c \u4ece   RoadRunner   \u5bfc\u51fa \u7684 \u6bcf\u4e2a \u56fe\u5757 \u5c06 \u6709 \u4e00\u4e2a \u5173\u5361 \u6587\u4ef6 \u3002 \u8981 \u5c06 \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u690d\u88ab \u7b49 \u8d44\u4ea7 \u6dfb\u52a0 \u5230 \u5730\u56fe \u4e2d \uff0c \u8bf7 \u53cc\u51fb \u8981 \u5904\u7406 \u7684 \u56fe\u5757 \u7684 \u5173\u5361 \u6587\u4ef6 \uff08 \u4f8b\u5982 \u672c\u4f8b \u4e2d   LargeMap _ Tile _ 0 _ 0   \uff09 \uff0c \u4ee5\u4fbf \u5c06 \u5176 \u52a0\u8f7d \u5230 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u56fe\u5757 \u6ca1\u6709 \u4efb\u4f55 \u7167\u660e \u8bbe\u7f6e \uff0c \u56e0\u6b64 \u60a8 \u53ef\u80fd \u9700\u8981 \u5c06 \u89c6\u56fe \u6a21\u5f0f \u4ece   \u66f4\u6539   Lit   \u4e3a   Unlit   \u624d\u80fd \u5728 \u52a0\u8f7d \u56fe\u5757 \u540e \u770b\u5230 \u5b83 \u3002 \u73b0\u5728 \uff0c \u60a8 \u53ef\u4ee5 \u6309\u7167   \u4e0e \u6807\u51c6 \u5730\u56fe \u76f8\u540c \u7684 \u8fc7\u7a0b   \u5411 \u5730\u56fe \u6dfb\u52a0 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8bf7 \u786e\u4fdd \u4fdd\u5b58 \u5bf9 \u6b63\u5728 \u5904\u7406 \u7684 \u56fe\u5757 \u6240 \u505a \u7684 \u4fee\u6539 \uff0c \u7136\u540e \u52a0\u8f7d \u4e0b \u4e00\u4e2a \u56fe\u5757 \u5e76 \u91cd\u590d \u8be5 \u8fc7\u7a0b \u3002 \u60a8 \u65e0\u6cd5 \u4e00\u6b21 \u4e00\u6b21\u6027 \u5904\u7406 \u6574\u4e2a \u5730\u56fe \uff0c \u56e0\u6b64 \u52a0\u8f7d \uff08 \u901a\u8fc7 \u53cc\u51fb \uff09 \u6574\u4e2a \u5730\u56fe \u7684 \u5173\u5361 \u6587\u4ef6 \uff08 \u540e\u9762 \u4e0d\u5e26 \u540e\u7f00   \u7684 \u6587\u4ef6   _ Tile _ X _ Y   \uff09 \u5bf9\u4e8e \u88c5\u9970 \u5730\u56fe \u5c06 \u6ca1\u6709 \u7528\u5904 \u3002","title":"\u5728 \u865a\u5e7b \u7f16\u8f91\u5668 \u4e2d \u5904\u7406 \u5927 \u5730\u56fe"},{"location":"content_authoring_large_maps/#_4","text":"\u5982\u679c \u60a8 \u60f3 \u52a0\u8f7d \u5730\u56fe \u5e76 \u5f00\u59cb \u4eff\u771f \u8fdb\u884c \u5b9e\u9a8c \uff0c \u60a8 \u5e94\u8be5 \u52a0\u8f7d \u6574\u4e2a \u5730\u56fe \u7684 \u5173\u5361 \u6587\u4ef6 \u3002 \u53cc\u51fb \u5e26\u6709 \u6839 \u5730\u56fe \u540d\u79f0 \u7684 \u5173\u5361 \u6587\u4ef6 \uff08 \u540e\u9762 \u4e0d\u5e26 \u540e\u7f00 \u7684 \u6587\u4ef6   _ Tile _ X _ Y   \uff09 \u5e76 \u7b49\u5f85 \u5176 \u52a0\u8f7d \u3002 \u5bf9\u4e8e \u975e\u5e38 \u5927 \u7684 \u5730\u56fe \uff0c \u52a0\u8f7d \u6709\u65f6 \u53ef\u80fd \u9700\u8981 \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u751a\u81f3 \u51e0\u5206 \u5206\u949f \u51e0\u5206\u949f \u3002 \u52a0\u8f7d \u540e \uff0c \u5355\u51fb \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u7684 \u64ad\u653e \u9009\u9879 \u3002 \u4eff\u771f \u73b0\u5728 \u5c06 \u4ece \u60a8 \u7684 \u65b0 \u5927 \u5730\u56fe \u5f00\u59cb \u3002   \u7b14\u8bb0   \u5982\u679c \u60a8 \u662f \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u4ece \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u8fd0\u884c \u4eff\u771f \uff0c \u5efa\u8bae \u5728 \u5f00\u59cb \u4eff\u771f \u4e4b\u524d \u5148 \u9010\u4e2a \u52a0\u8f7d \u6bcf\u4e2a \u56fe\u5757 \uff08 \u901a\u8fc7 \u53cc\u51fb \u5b83\u4eec \uff09 \uff0c \u76f4\u5230 \u52a0\u8f7d \u5b8c \u6240\u6709 \u56fe\u5757 \u3002 \u8fd9\u4f1a \u5728 \u540e\u53f0 \u6267\u884c \u67d0\u4e9b \u64cd\u4f5c \uff0c \u4f8b\u5982 \u70d8\u7119 \u7f51\u683c \u8ddd\u79bb \u573a \u548c \u56fe\u5757 \u7684 \u7740\u8272 \u7740\u8272\u5668 \u3002 \u5982\u679c \u60a8 \u4e00 \u5f00\u59cb \u4e0d \u9010\u4e00 \u52a0\u8f7d \u56fe\u5757 \uff0c \u8fd9\u4e9b \u64cd\u4f5c \u53ef\u80fd \u4f1a \u5728 \u8fd0\u884c \u65f6 \u6267\u884c \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u865a\u5e7b \u5f15\u64ce \u6302 \u8d77 \u6216 \u5d29\u6e83 \u3002","title":"\u52a0\u8f7d \u6574\u4e2a \u5730\u56fe \u5e76 \u8fd0\u884c \u4eff\u771f"},{"location":"content_authoring_large_maps/#_5","text":"\u8981 \u6253\u5305 \u5927 \u5730\u56fe \u4ee5\u4fbf \u53ef\u4ee5 \u5728   Carla   \u72ec\u7acb \u5305\u4e2d \u4f7f\u7528 \uff0c \u8bf7 \u9075\u5faa \u4e0e \u6807\u51c6 \u5730\u56fe \u76f8\u540c \u7684 \u8fc7\u7a0b   -   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   make   package   ARGS = \" -- packages = < mapPackage > \"   \u8fd9 \u5c06 \u521b\u5efa \u4e00\u4e2a \u538b\u7f29 \u5728   . tar . gz   \u6587\u4ef6 \u4e2d \u7684 \u72ec\u7acb \u5305 \u3002 Linux   \u4e0b \u6587\u4ef6 \u5c06 \u4fdd\u5b58 \u5728   Dist   \u548c   Windows \u4e0b \u4fdd\u5b58 \u5728   / Build / UE4Carla /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u7136\u540e \u53ef\u4ee5 \u5c06 \u5b83\u4eec \u5206\u53d1 \u548c \u6253\u5305 \u4ee5 \u5728 \u72ec\u7acb \u7684   Carla   \u5305\u4e2d \u4f7f\u7528 \u3002   \u5982\u679c \u60a8 \u5bf9 \u5927 \u5730\u56fe \u5bfc\u5165 \u548c \u6253\u5305 \u8fc7\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u90a3\u4e48 \u60a8 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u6253\u5305 \u4e00\u5f20 \u5927 \u5730\u56fe"},{"location":"core_actors/","text":"\u7b2c\u4e8c \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe   Carla   \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f \u5728 \u4eff\u771f \u4e2d \u6267\u884c \u52a8\u4f5c \u7684 \u5143\u7d20 \uff0c \u4ed6\u4eec \u53ef\u4ee5 \u5f71\u54cd \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 Carla   \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5305\u62ec \u8f66\u8f86 \u548c \u884c\u4eba \uff0c \u4e5f \u5305\u62ec \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3001 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u548c \u89c2\u770b \u8005 \u3002 \u5bf9 \u5982\u4f55 \u64cd\u4f5c \u5b83\u4eec \u6709 \u5145\u5206 \u7684 \u4e86\u89e3 \u662f \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u7684 \u3002   \u672c\u8282 \u5c06 \u4ecb\u7ecd \u751f\u6210 \u3001 \u9500\u6bc1 \u3001 \u7c7b\u578b \u4ee5\u53ca \u5982\u4f55 \u7ba1\u7406 \u5b83\u4eec \u3002 \u7136\u800c \uff0c \u53ef\u80fd \u53ef\u80fd\u6027 \u51e0\u4e4e \u662f \u65e0\u7a77 \u65e0\u5c3d \u65e0\u7a77\u65e0\u5c3d \u7684 \u3002 \u5b9e\u9a8c \u3001 \u67e5\u770b \u672c \u6587\u6863 \u4e2d \u7684   \u6559\u7a0b   \uff0c \u5e76 \u5728   Carla   \u8bba\u575b   \u4e2d \u5206\u4eab \u7591\u8651 \u548c \u60f3\u6cd5 \u3002   \u84dd\u56fe   \u7ba1\u7406 \u84dd \u56fe\u5e93   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f   \u751f\u6210   \u5904\u7406   \u9500\u6bc1   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7c7b\u578b   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u89c2\u5bdf \u89c2\u5bdf\u8005   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u548c \u4ea4\u901a \u4ea4\u901a\u706f   \u8f66\u8f86   \u884c\u4eba   \u84dd\u56fe   \u8fd9\u4e9b \u5e03\u5c40 \u5141\u8bb8 \u7528\u6237 \u5c06 \u65b0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e73\u6ed1 \u5730 \u7ed3\u5408 \u5230 \u4eff\u771f \u4e2d \u3002 \u5b83\u4eec \u5df2\u7ecf \u662f \u5e26\u6709 \u52a8\u753b \u548c \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5c5e\u6027 \u7684 \u6a21\u578b \u3002 \u5176\u4e2d \u4e00\u4e9b \u662f \u53ef \u4fee\u6539 \u7684 \uff0c \u800c \u53e6 \u4e00\u4e9b \u4e00\u4e9b\u5219 \u4e0d\u662f \u3002 \u8fd9\u4e9b \u5c5e\u6027 \u5305\u62ec \u8f66\u8f86 \u989c\u8272 \u3001 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u7684 \u901a\u9053 \u6570\u91cf \u3001 \u884c\u4eba \u7684 \u901f\u5ea6 \u7b49\u7b49 \u3002   \u84dd \u56fe\u5e93   \u5217\u51fa \u4e86 \u53ef\u7528 \u7684 \u84dd\u56fe \u53ca\u5176 \u5c5e\u6027 \u3002 \u8f66\u8f86 \u548c \u884c\u4eba \u84dd\u56fe \u5177\u6709 \u4e00\u4e2a \u751f\u6210 \u5c5e\u6027 \uff0c \u7528\u4e8e \u6307\u793a \u5b83\u4eec \u662f \u65b0 \u7684 \uff08 \u7b2c   2   \u4ee3 \uff09 \u8d44\u4ea7 \u8fd8\u662f \u65e7 \u7684 \uff08 \u7b2c   1   \u4ee3 \uff09 \u8d44\u4ea7 \u3002   \u7ba1\u7406 \u84dd \u56fe\u5e93   carla . BlueprintLibrary   \u7c7b \u5305\u542b \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217   carla . ActorBlueprint   \u5143\u7d20 \u3002 \u5b83 \u662f \u80fd\u591f \u63d0\u4f9b \u5bf9 \u5b83 \u8bbf\u95ee \u7684 \u4e16\u754c \u5bf9\u8c61 \u3002   blueprint _ library   =   world . get _ blueprint _ library ( )   \u84dd\u56fe \u6709 \u4e00\u4e2a   ID   \u6765 \u8bc6\u522b \u5b83\u4eec \u548c \u7531\u6b64 \u4ea7\u751f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u53ef\u4ee5 \u8bfb\u53d6 \u5e93\u6765 \u627e\u5230 \u67d0\u4e2a   ID \uff0c \u968f\u673a \u9009\u62e9 \u84dd\u56fe \uff0c \u6216\u8005 \u4f7f\u7528   \u901a\u914d\u7b26 \u6a21\u5f0f   \u8fc7\u6ee4 \u7ed3\u679c \u3002   #   \u627e \u4e00\u4e2a \u6307\u5b9a \u7684 \u84dd\u56fe   collision _ sensor _ bp   =   blueprint _ library . find ( ' sensor . other . collision ' )   #   \u968f\u673a \u9009\u62e9 \u4e00\u4e2a \u8f66\u8f86 \u84dd\u56fe   vehicle _ bp   =   random . choice ( blueprint _ library . filter ( ' vehicle . * . * ' ) )   \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u6bcf\u4e2a   carla . ActorBlueprint   \u80fd \u83b7\u53d6   get   \u548c \u6539\u53d8   set   \u4e00\u4e9b \u5217 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c5e\u6027   carla . ActorAttribute   \u3002   is _ bike   =   [ vehicle . get _ attribute ( ' number _ of _ wheels ' )   = =   2 ]   if ( is _ bike )   vehicle . set _ attribute ( ' color ' ,   ' 255 , 0 , 0 ' )   \u7b14\u8bb0   \u67d0\u4e9b \u5c5e\u6027 \u65e0\u6cd5 \u4fee\u6539 \u3002 \u5728   \u84dd \u56fe\u5e93   \u4e2d \u67e5\u770b \u3002   \u5c5e\u6027 \u6709 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c5e\u6027 \u7c7b\u578b   carla . ActorAttributeType   \u53d8\u91cf \u3002 \u5b83 \u4ece \u679a\u4e3e \u5217\u8868 \u4e2d \u58f0\u660e \u5176 \u7c7b\u578b \u3002 \u6b64\u5916 \uff0c \u53ef \u4fee\u6539 \u7684 \u5c5e\u6027 \u8fd8 \u9644\u5e26 \u4e00\u4e2a   \u63a8\u8350 \u63a8\u8350\u503c \u5217\u8868   \u3002   for   attr   in   blueprint :   if   attr . is _ modifiable :   blueprint . set _ attribute ( attr . id ,   random . choice ( attr . recommended _ values ) )   \u7b14\u8bb0   \u7528\u6237 \u53ef\u4ee5 \u521b\u5efa \u4ed6\u4eec \u81ea\u5df1 \u7684 \u8f66\u8f86 \u3002 \u67e5\u770b   \u6559\u7a0b \uff08 \u8d44\u4ea7 \uff09   \u4ee5 \u4e86\u89e3 \u76f8\u5173 \u4fe1\u606f \u3002 \u8d21\u732e \u8d21\u732e\u8005 \u53ef\u4ee5   \u5c06 \u4ed6\u4eec \u7684 \u65b0 \u5185\u5bb9 \u6dfb\u52a0 \u5230   Carla   \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f   \u91cd\u8981   \u672c \u8282 \u63d0\u5230 \u4e86 \u5173\u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e0d\u540c \u65b9\u6cd5 \u3002 Python   API   \u63d0\u4f9b   commands   \uff0c \u4ee5\u4fbf \u5728 \u4e00\u4e2a \u6846\u67b6 \u4e2d \u5e94\u7528 \u4e00\u6279 \u6700 \u5e38\u89c1 \u7684 \u547d\u4ee4 \u3002   \u751f\u6210   \u4e16\u754c \u5bf9\u8c61 \u8d1f\u8d23 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e76 \u8ddf\u8e2a \u8fd9\u4e9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u751f\u6210 \u53ea \u9700\u8981 \u4e00\u5f20 \u84dd\u56fe \u548c \u4e00\u4e2a   carla . Transform   \u8bf4\u660e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   \u4e16\u754c \u6709 \u4e24\u4e2a \u4e0d\u540c \u7684 \u65b9\u6cd5 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   spawn _ actor ( )   \u5982\u679c \u751f\u6210 \u5931\u8d25 \u629b\u51fa \u4e00\u4e2a \u5f02\u5e38 \u3002   try _ spawn _ actor ( )   \u5982\u679c \u751f\u6210 \u5931\u8d25 \u8fd4\u56de   None   \u3002   transform   =   Transform ( Location ( x = 230 ,   y = 195 ,   z = 40 ) ,   Rotation ( yaw = 180 ) )   actor   =   world . spawn _ actor ( blueprint ,   transform )   \u91cd\u8981   Carla   \u4f7f\u7528   \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u7cfb\u7edf   \u3002 \u8bb0\u4f4f \uff1a   carla . Rotation   \u6784\u9020 \u51fd\u6570 \u6784\u9020\u51fd\u6570 \u5b9a\u4e49 \u4e3a \u201c \u4fef\u4ef0 \u3001 \u504f\u822a \u3001 \u7ffb\u6eda \u201d   ( pitch ,   yaw ,   roll )   \uff0c \u4e0e \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u201c \u7ffb\u6eda \u3001 \u4fef\u4ef0 \u3001 \u504f\u822a \u201d   ( roll ,   pitch ,   yaw )   \u4e0d\u540c \u3002   \u5982\u679c \u5728 \u6307\u5b9a \u4f4d\u7f6e \u53d1\u751f \u51b2\u7a81 \u53d1\u751f\u51b2\u7a81 \uff0c \u5c06 \u4e0d\u4f1a \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u65e0\u8bba \u8fd9\u79cd \u60c5\u51b5 \u53d1\u751f \u5728 \u9759\u6001 \u5bf9\u8c61 \u8fd8\u662f \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8eab\u4e0a \u3002 \u53ef\u4ee5 \u5c1d\u8bd5 \u907f\u514d \u8fd9\u4e9b \u4e0d \u5e0c\u671b \u7684 \u751f\u6210 \u78b0\u649e \u3002   \u5bf9\u4e8e \u8f66\u8f86   \u3002   map . get _ spawn _ points ( )   \u8fd4\u56de \u63a8\u8350 \u751f\u6210 \u70b9 \u7684 \u5217\u8868 \u3002   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   \u5bf9\u4e8e \u884c\u4eba   \u3002   world . get _ random _ location ( )   \u8fd4\u56de \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u4e0a \u7684 \u968f\u673a \u70b9 \u3002 \u540c\u6837 \u7684 \u65b9\u6cd5 \u4e5f \u7528\u4e8e \u4e3a \u884c\u4eba \u8bbe\u7f6e \u76ee\u6807 \u4f4d\u7f6e \u3002   spawn _ point   =   carla . Transform ( )   spawn _ point . location   =   world . get _ random _ location _ from _ navigation ( )   \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u751f\u6210 \u65f6 \u53ef\u4ee5 \u9644\u52a0 \u5230 \u53e6 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0a \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8ddf\u968f \u4ed6\u4eec \u6240 \u4f9d\u9644 \u7684 \u7236\u7ea7 \u3002 \u8fd9 \u5bf9\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7279\u522b \u6709\u7528 \u3002 \u8be5 \u9644\u4ef6 \u53ef\u4ee5 \u662f \u521a\u6027 \u7684 \uff08 \u9002\u5408 \u68c0\u7d22 \u7cbe\u786e \u6570\u636e \uff09 \uff0c \u4e5f \u53ef\u4ee5 \u6839\u636e \u5176\u7236 \u7ea7 \u7684 \u60c5\u51b5 \u8fdb\u884c \u8f7b\u677e \u79fb\u52a8 \u3002 \u5b83 \u7531 \u8f85\u52a9 \u7c7b   carla . AttachmentType   \u5b9a\u4e49 \u3002   \u4e0b \u4e00\u4e2a \u793a\u4f8b \u5c06 \u76f8\u673a \u521a\u6027 \u5730 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u4e0a \uff0c \u56e0\u6b64 \u5b83\u4eec \u7684 \u76f8\u5bf9 \u4f4d\u7f6e \u4fdd\u6301 \u56fa\u5b9a \u3002   camera   =   world . spawn _ actor ( camera _ bp ,   relative _ transform ,   attach _ to = my _ vehicle ,   carla . AttachmentType . Rigid )   \u91cd\u8981   \u5f53 \u751f\u6210 \u9644\u52a0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \uff0c \u63d0\u4f9b \u7684 \u53d8\u6362 \u5fc5\u987b \u76f8\u5bf9 \u4e8e \u7236\u7ea7 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u4e00\u65e6 \u751f\u6210 \uff0c \u4e16\u754c \u5bf9\u8c61 \u5c31 \u4f1a \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6dfb\u52a0 \u5230 \u5217\u8868 \u4e2d \u3002 \u8fd9 \u53ef\u4ee5 \u5f88 \u5bb9\u6613 \u5730 \u641c\u7d22 \u6216 \u8fed\u4ee3 \u3002   actor _ list   =   world . get _ actors ( )   #   \u6839\u636e   id   \u627e \u53c2\u4e0e \u53c2\u4e0e\u8005   actor   =   actor _ list . find ( id )   #   \u6253\u5370 \u4e16\u754c \u4e0a \u6240\u6709 \u9650\u901f \u6807\u5fd7 \u7684 \u4f4d\u7f6e \u3002   for   speed _ sign   in   actor _ list . filter ( ' traffic . speed _ limit . * ' ) :   print ( speed _ sign . get _ location ( ) )   \u5904\u7406   carla . Actor   \u4e3b\u8981 \u7531   get ( )   \u548c   set ( )   \u65b9\u6cd5 \u7ec4\u6210 \uff0c \u7528\u4e8e \u7ba1\u7406 \u5730\u56fe \u5468\u56f4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   print ( actor . get _ acceleration ( ) )   print ( actor . get _ velocity ( ) )   location   =   actor . get _ location ( )   location . z   + =   10.0   actor . set _ location ( location )   \u53ef\u4ee5 \u7981\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7269\u7406 \u7279\u6027 \u4ee5 \u5c06 \u5176 \u51bb\u7ed3 \u5728 \u9002\u5f53 \u7684 \u4f4d\u7f6e \u3002   actor . set _ simulate _ physics ( False )   \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8fd8\u6709 \u4ed6\u4eec \u7684 \u84dd\u56fe \u63d0\u4f9b \u7684 \u6807\u7b7e \u3002 \u8fd9\u4e9b \u5bf9\u4e8e \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6700 \u6709\u7528 \u3002   \u7b14\u8bb0   \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u65b9\u6cd5 \u662f \u5f02\u6b65 \u5411 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u53d1\u9001 \u8bf7\u6c42 \u3002 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6bcf\u6b21 \u66f4\u65b0 \u89e3\u6790 \u5b83\u4eec \u7684 \u65f6\u95f4 \u6709\u9650 \u3002 \u4f7f\u7528   set ( )   \u65b9\u6cd5 \u6df9\u6ca1 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5c06 \u79ef\u7d2f \u660e\u663e \u7684 \u5ef6\u8fdf \u3002   \u9500\u6bc1   \u5f53   Python   \u811a\u672c \u5b8c\u6210 \u65f6 \uff0c \u4e0d\u56de \u9500\u6bc1 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u4ed6\u4eec \u5fc5\u987b \u660e\u786e \u5730 \u9500\u6bc1 \u81ea\u5df1 \u3002   destroyed _ sucessfully   =   actor . destroy ( )   #   \u5982\u679c \u6210\u529f \u8fd4\u56de   True   \u91cd\u8981   \u9500\u6bc1 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f1a \u963b\u585e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \uff0c \u76f4\u5230 \u8be5 \u8fc7\u7a0b \u5b8c\u6210 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7c7b\u578b   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f \u4ea7\u751f \u6570\u636e \u6570\u636e\u6d41 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u4ed6\u4eec \u6709 \u81ea\u5df1 \u7684 \u90e8\u5206 \uff0c   \u7b2c\u56db \u90e8\u5206 .   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u6570\u636e   \u3002 \u73b0\u5728 \uff0c \u6211\u4eec \u53ea \u770b \u4e00\u4e0b \u5e38\u89c1 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u751f\u6210 \u5468\u671f \u3002   \u6b64 \u793a\u4f8b \u751f\u6210 \u4e00\u4e2a \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5c06 \u5176 \u8fde\u63a5 \u5230 \u8f66\u8f86 \uff0c \u5e76 \u544a\u8bc9 \u76f8\u673a \u5c06 \u751f\u6210 \u7684 \u56fe\u50cf \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002   camera _ bp   =   blueprint _ library . find ( ' sensor . camera . rgb ' )   camera   =   world . spawn _ actor ( camera _ bp ,   relative _ transform ,   attach _ to = my _ vehicle )   camera . listen ( lambda   image :   image . save _ to _ disk ( ' output / % 06d . png '   %   image . frame ) )   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e5f \u6709 \u84dd\u56fe \u3002 \u8bbe\u7f6e \u5c5e\u6027 \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002   \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u5b89\u88c5 \u5728 \u8f66\u8f86 \u4e0a\u4ee5 \u6536\u96c6 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u7684 \u4fe1\u606f \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u76d1\u542c   \u6570\u636e \u3002 \u6536\u5230 \u6570\u636e \u540e \uff0c \u5b83\u4eec \u4f1a \u8c03\u7528 \u7528   Lambda   \u8868\u8fbe \u8fbe\u5f0f \u8868\u8fbe\u5f0f   \u63cf\u8ff0 \u7684 \u51fd\u6570   ( \u63d0\u4f9b \u7684 \u94fe\u63a5 \u4e2d \u7684   6.14 )   \u3002   \u89c2\u5bdf \u89c2\u5bdf\u8005   \u7531 \u865a\u5e7b \u5f15\u64ce \u653e\u7f6e \u4ee5 \u63d0\u4f9b \u6e38\u620f \u5185 \u7684 \u89c6\u89d2 \u3002 \u5b83 \u53ef \u7528\u4e8e \u79fb\u52a8 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7a97\u53e3 \u7684 \u89c6\u89d2 \u3002 \u4ee5\u4e0b \u793a\u4f8b \u5c06 \u79fb\u52a8 \u89c2\u4f17 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5c06 \u89c6\u89d2 \u6307\u5411 \u6240 \u9700 \u7684 \u8f66\u8f86 \u3002   spectator   =   world . get _ spectator ( )   transform   =   vehicle . get _ transform ( )   spectator . set _ transform ( carla . Transform ( transform . location   +   carla . Location ( z = 50 ) ,   carla . Rotation ( pitch = - 90 ) ) )   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u548c \u4ea4\u901a \u4ea4\u901a\u706f   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c Carela   \u4e2d \u53ea\u6709 \u505c\u9760 \u505c\u9760\u70b9 \u3001 \u8ba9 \u884c \u8def\u7ebf \u548c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u88ab \u89c6\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5176\u4f59 \u7684   OpenDRIVE   \u6807\u5fd7 \u53ef \u901a\u8fc7   API   \u4f5c\u4e3a \u5730\u6807 \uff08   carla . Landmark   \uff09 \u8fdb\u884c \u8bbf\u95ee \u3002 \u4ed6\u4eec \u7684 \u4fe1\u606f \u53ef\u4ee5 \u4f7f\u7528 \u8fd9\u4e9b \u5b9e\u4f8b \u8bbf\u95ee \uff0c \u4f46 \u4ed6\u4eec \u5728 \u4eff\u771f \u4e2d \u5e76 \u4e0d \u4f5c\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5b58\u5728 \u3002 \u5728 \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u7684   \u7b2c   3   \u90e8\u5206   \u5730\u56fe \u548c \u5bfc\u822a   \u4e2d\u5c06 \u66f4 \u8be6\u7ec6 \u5730 \u89e3\u91ca \u5730\u6807 \u3002   \u5f53 \u4eff\u771f \u5f00\u59cb \u3001 \u505c\u6b62 \u3001 \u8ba9 \u884c \u548c \u4ea4\u901a \u4ea4\u901a\u706f \u65f6 \uff0c \u4f1a \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u4e2d \u7684 \u4fe1\u606f \u81ea\u52a8 \u751f\u6210 \u3002   \u8fd9\u4e9b \u90fd \u65e0\u6cd5 \u5728 \u84dd \u56fe\u5e93 \u4e2d \u627e\u5230   \uff0c \u56e0\u6b64 \u65e0\u6cd5 \u751f\u6210 \u3002   \u7b14\u8bb0   OpenDRIVE   \u6587\u4ef6 \u4e2d \u7684   Carela   \u5730\u56fe \u6ca1\u6709 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u6216 \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002 \u8fd9\u4e9b \u662f \u7531 \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u624b\u52a8 \u653e\u7f6e \u7684 \u3002   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7   \u672a \u5728 \u8def\u7ebf \u7ebf\u56fe \u8def\u7ebf\u56fe \u672c\u8eab \u4e2d \u5b9a\u4e49 \uff0c \u5982\u4e0b \u9875 \u6240\u8ff0 \u3002 \u76f8\u53cd \uff0c \u4ed6\u4eec \u6709 \u4e00\u4e2a   carla . BoundingBox   \u6765 \u5f71\u54cd \u5176\u4e2d \u7684 \u8f66\u8f86 \u3002   #   \u83b7\u5f97 \u5f71\u54cd \u8f66\u8f86 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f   if   vehicle _ actor . is _ at _ traffic _ light ( ) :   traffic _ light   =   vehicle _ actor . get _ traffic _ light ( )   \u8def\u53e3 \u8bbe\u6709   \u4ea4\u901a \u4ea4\u901a\u706f   \u3002 \u4e0e \u4efb\u4f55 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e00\u6837 \uff0c \u4ed6\u4eec \u6709 \u81ea\u5df1 \u72ec\u7279 \u7684   ID \uff0c \u4f46 \u5bf9\u4e8e \u5c94\u8def \u53e3 \u4e5f \u6709 \u4e00\u4e2a \u4e00\u4e2a\u7ec4 \uff08   group   \uff09   ID   \u3002   \u540c \u4e00\u7ec4 \u4e2d \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u9075\u5faa \u4e00\u4e2a \u5faa\u73af \u3002 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8bbe\u7f6e \u4e3a \u7eff\u8272 \uff0c \u800c \u5176\u4f59 \u7684 \u5219 \u4fdd\u6301 \u7ea2\u8272 \u3002 \u6d3b\u8dc3 \u7684 \u706f\u4f1a \u6301\u7eed \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u5448 \u7eff\u8272 \u3001 \u9ec4\u8272 \u548c \u7ea2\u8272 \uff0c \u56e0\u6b64 \u6709 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u6240\u6709 \u706f \u90fd \u662f \u7ea2\u8272 \u7684 \u3002 \u7136\u540e \uff0c \u4e0b \u4e00\u4e2a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5f00\u59cb \u5faa\u73af \uff0c \u524d \u4e00\u4e2a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u4e0e \u5176\u4f59 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u4e00\u8d77 \u51bb\u7ed3 \u3002   \u53ef\u4ee5 \u4f7f\u7528   API   \u8bbe\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u3002 \u6bcf\u4e2a \u72b6\u6001 \u82b1\u8d39 \u7684 \u79d2\u6570 \u4e5f \u662f \u5982\u6b64 \u3002 \u53ef\u80fd \u7684 \u72b6\u6001 \u7528   carla . TrafficLightState   \u63cf\u8ff0 \u4e3a \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u679a\u4e3e \u503c \u3002   #   \u4ea4\u901a \u4ea4\u901a\u706f \u4ece\u7ea2 \u53d8\u7eff   if   traffic _ light . get _ state ( )   = =   carla . TrafficLightState . Red :   traffic _ light . set _ state ( carla . TrafficLightState . Green )   traffic _ light . set _ set _ green _ time ( 4.0 )   \u7b14\u8bb0   \u53ea\u6709 \u5f53 \u4fe1\u53f7 \u4fe1\u53f7\u706f \u4e3a \u7ea2\u8272 \u65f6 \uff0c \u8f66\u8f86 \u624d \u4f1a \u610f\u8bc6 \u5230 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   \u8f66\u8f86   carla . Vehicle   \u662f \u4e00\u79cd \u7279\u6b8a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5b83 \u91c7\u7528 \u4e86 \u4eff\u771f \u8f6e\u5f0f \u8f66\u8f86 \u7269\u7406 \u7279\u6027 \u7684 \u7279\u6b8a \u5185\u90e8 \u7ec4\u4ef6 \u3002 \u8fd9\u662f \u901a\u8fc7 \u5e94\u7528 \u56db\u79cd \u4e0d\u540c \u7684 \u63a7\u4ef6 \u6765 \u5b9e\u73b0 \u7684 \uff1a   carla . VehicleControl   \u63d0\u4f9b \u6cb9\u95e8 \u3001 \u8f6c\u5411 \u3001 \u5239\u8f66 \u7b49 \u9a7e\u9a76 \u547d\u4ee4 \u7684 \u8f93\u5165 \u3002   vehicle . apply _ control ( carla . VehicleControl ( throttle = 1.0 ,   steer = - 1.0 ) )   carla . VehiclePhysicsControl   \u5b9a\u4e49 \u8f66\u8f86 \u7684 \u7269\u7406 \u5c5e\u6027 \u5e76 \u5305\u542b \u53e6\u5916 \u4e24\u4e2a \u63a7\u5236 \u63a7\u5236\u5668 \uff1a   carla . GearPhysicsControl   \u63a7\u5236 \u6863\u4f4d \u3002   carla . WheelPhysicsControl   \u63d0\u4f9b \u5bf9 \u6bcf\u4e2a \u8f6e\u5b50 \u7684 \u7279\u5b9a \u63a7\u5236 \u3002   vehicle . apply _ physics _ control ( carla . VehiclePhysicsControl ( max _ rpm   =   5000.0 ,   center _ of _ mass   =   carla . Vector3D ( 0.0 ,   0.0 ,   0.0 ) ,   torque _ curve = [ [ 0 , 400 ] , [ 5000 , 400 ] ] ) )   \u8f66\u8f86 \u6709 \u4e00\u4e2a   carla . BoundingBox   \u5c01\u88c5 \u5b83\u4eec \u3002 \u8be5 \u8fb9\u754c \u6846 \u5141\u8bb8 \u5c06 \u7269\u7406 \u539f\u7406 \u5e94\u7528 \u4e8e \u8f66\u8f86 \u5e76 \u68c0\u6d4b \u78b0\u649e \u3002   box   =   vehicle . bounding _ box   print ( box . location )   #   \u76f8\u5bf9 \u8f66\u8f86 \u7684 \u4f4d\u7f6e   print ( box . extent )   #   XYZ   half - box   extents   in   meters .   \u901a\u8fc7 \u542f\u7528   \u626b\u8f6e \u78b0\u649e \u53c2\u6570   \u53ef\u4ee5 \u6539\u5584 \u8f66\u8f6e \u7684 \u7269\u7406 \u7279\u6027 \u3002 \u9ed8\u8ba4 \u7684 \u8f6e\u5b50 \u7269\u7406 \u7cfb\u7edf \u7cfb\u7edf\u5bf9 \u6bcf\u4e2a \u8f6e\u5b50 \u4f7f\u7528 \u4ece\u8f74\u5230 \u5730\u677f \u7684 \u5355 \u5c04\u7ebf \u6295\u5c04 \uff0c \u4f46\u662f \u5f53 \u542f\u7528 \u626b\u8f6e \u78b0\u649e \u65f6 \uff0c \u5c06 \u68c0\u67e5 \u8f6e\u5b50 \u7684 \u6574\u4e2a \u4f53\u79ef \u662f\u5426 \u53d1\u751f \u78b0\u649e \u3002 \u5b83 \u53ef\u4ee5 \u8fd9\u6837 \u542f\u7528 \uff1a   physics _ control   =   vehicle . get _ physics _ control ( )   physics _ control . use _ sweep _ wheel _ collision   =   True   vehicle . apply _ physics _ control ( physics _ control )   \u8f66\u8f86 \u8fd8 \u5305\u62ec \u5176 \u72ec\u6709 \u7684 \u5176\u4ed6 \u529f\u80fd \uff1a   \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f   \u4f1a \u5c06 \u8f66\u8f86 \u8ba2\u9605 \u5230   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u4ee5 \u4eff\u771f \u771f\u5b9e \u7684 \u57ce\u5e02 \u72b6\u51b5 \u3002 \u8be5 \u6a21\u5757 \u662f \u786c \u7f16\u7801 \u7684 \uff0c \u4e0d\u662f \u57fa\u4e8e \u673a\u5668 \u5b66\u4e60 \u7684 \u3002   vehicle . set _ autopilot ( True )   \u8f66\u706f   \u5fc5\u987b \u7531 \u7528\u6237 \u6253\u5f00 \u548c \u5173\u95ed \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u6709 \u4e00\u7ec4 \u5728   carla . VehicleLightState   \u4e2d \u5217\u51fa \u7684 \u706f \u3002 \u5e76\u975e \u6240\u6709 \u8f66\u8f86 \u90fd \u96c6\u6210 \u4e86 \u8f66\u706f \u3002 \u622a\u81f3 \u64b0\u5199 \u672c\u6587 \u65f6 \uff0c \u914d\u5907 \u96c6\u6210 \u8f66\u706f \u7684 \u8f66\u8f86 \u5982\u4e0b \uff1a   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \uff1a   \u6240\u6709 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u90fd \u6709 \u524d\u540e \u4f4d\u7f6e \u4f4d\u7f6e\u706f \u3002   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \uff1a   \u9a6c\u54c8 \u96c5\u9a6c\u54c8 \u548c \u54c8\u96f7 \u6234\u7ef4\u68ee \u578b\u53f7 \u3002   \u6c7d\u8f66 \uff1a   \u5965\u8fea   TT \u3001 \u96ea\u4f5b\u5170   Impala \u3001 \u9053\u5947 \u8b66\u8f66 \u3001 \u9053\u5947   Charger \u3001 \u5965\u8fea   e - tron \u3001 \u6797\u80af   2017   \u5e74 \u548c   2020   \u5e74 \u3001 \u91ce\u9a6c \u3001 \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   Model   3 \u3001 \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   Cybertruck \u3001 \u5927\u4f17   T2   \u548c \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   C   \u7ea7 \u3002   \u53ef\u4ee5 \u4f7f\u7528   carla . Vehicle . get _ light _ state   \u548c   carla . Vehicle . set _ light _ state   \u65b9\u6cd5 \u968f\u65f6 \u68c0\u7d22 \u548c \u66f4\u65b0 \u8f66\u8f86 \u7684 \u706f\u5149 \u3002 \u5b83\u4eec \u4f7f\u7528 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u8fd0\u7b97 \u6765\u81ea \u5b9a\u4e49 \u706f\u5149 \u8bbe\u7f6e \u3002   #   \u6253\u5f00 \u4f4d\u7f6e \u4f4d\u7f6e\u706f   current _ lights   =   carla . VehicleLightState . NONE   current _ lights   | =   carla . VehicleLightState . Position   vehicle . set _ light _ state ( current _ lights )   \u884c\u4eba   carla . Walker   \u7684 \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u8f66\u8f86 \u7c7b\u4f3c \u3002 \u5bf9 \u5b83\u4eec \u7684 \u63a7\u5236 \u7531 \u63a7\u5236 \u63a7\u5236\u5668 \u63d0\u4f9b \u3002   carla . WalkerControl   \u4ee5 \u4e00\u5b9a \u7684 \u65b9\u5411 \u548c \u901f\u5ea6 \u79fb\u52a8 \u884c\u4eba \u3002 \u5b83 \u8fd8 \u5141\u8bb8 \u4ed6\u4eec \u8df3\u8dc3 \u3002   carla . WalkerBoneControl   \u63d0\u4f9b \u5bf9 \u4e09\u7ef4 \u9aa8\u67b6 \u7684 \u63a7\u5236 \u3002   \u672c \u6559\u7a0b   \u89e3\u91ca \u4e86 \u5982\u4f55 \u63a7\u5236 \u5b83 \u3002   \u884c\u4eba \u53ef\u4ee5 \u7531 \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u3002 \u4ed6\u4eec \u6ca1\u6709 \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u3002   carla . WalkerAIController   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5b83 \u6240 \u9644\u52a0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5468\u56f4 \u79fb\u52a8 \u3002   walker _ controller _ bp   =   world . get _ blueprint _ library ( ) . find ( ' controller . ai . walker ' )   world . SpawnActor ( walker _ controller _ bp ,   carla . Transform ( ) ,   parent _ walker )   \u7b14\u8bb0   \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u63a7\u5236\u5668 \u662f \u65e0\u5f62 \u7684 \uff0c \u6ca1\u6709 \u7269\u7406 \u7279\u6027 \u3002 \u5b83 \u4e0d\u4f1a \u51fa\u73b0 \u5728 \u73b0\u573a \u3002 \u6b64\u5916 \uff0c \u4f4d\u7f6e   ( 0 , 0 , 0 )   \u76f8\u5bf9 \u4e8e \u5176\u7236 \u7ea7 \u7684 \u4f4d\u7f6e \u4e0d\u4f1a \u5bfc\u81f4 \u78b0\u649e \u3002   \u6bcf\u4e2a \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u63a7\u5236\u5668 \u90fd \u9700\u8981 \u521d\u59cb \u521d\u59cb\u5316 \u3001 \u76ee\u6807 \u548c \u53ef\u9009 \u7684 \u901f\u5ea6   \u3002 \u505c\u6b62 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5de5\u4f5c \u65b9\u5f0f \u76f8\u540c \u3002   ai _ controller . start ( )   ai _ controller . go _ to _ location ( world . get _ random _ location _ from _ navigation ( ) )   ai _ controller . set _ max _ speed ( 1   +   random . random ( ) )   #   \u5728   1   \u7c73 \u6bcf\u79d2   \u5230   2   \u7c73 \u6bcf\u79d2 \u4e4b\u95f4 \uff08 \u9ed8\u8ba4 \u662f   1.4   \u7c73 \u6bcf\u79d2 \uff09   ...   ai _ controller . stop ( )   \u5f53 \u884c\u4eba \u5230\u8fbe \u76ee\u6807 \u4f4d\u7f6e \u65f6 \uff0c \u4ed6\u4eec \u4f1a \u81ea\u52a8 \u6b65\u884c \u5230 \u53e6 \u4e00\u4e2a \u968f\u673a \u70b9 \u3002 \u5982\u679c \u65e0\u6cd5 \u5230\u8fbe \u76ee\u6807 \u70b9 \uff0c \u884c\u4eba \u5c06 \u524d\u5f80 \u8ddd\u79bb \u5f53\u524d \u4f4d\u7f6e \u6700\u8fd1 \u7684 \u70b9 \u3002   carla . Client   \u4e2d \u7684 \u4e00\u4e2a \u7247\u6bb5 \u4f7f\u7528 \u6279\u6b21 \u751f\u6210 \u5927\u91cf \u884c\u4eba \u5e76 \u8ba9 \u5b83\u4eec \u56db\u5904 \u6e38\u8361 \u3002   \u91cd\u8981   \u8981 \u9500\u6bc1 \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u884c\u4eba   \uff0c \u8bf7 \u505c\u6b62 \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u63a7\u5236\u5668 \u5e76 \u9500\u6bc1 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u63a7\u5236 \u63a7\u5236\u5668 \u3002   \u5173\u4e8e   Carla   \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8fd9 \u5c31\u662f \u4e00\u4e2a \u603b\u7ed3 \u3002 \u4e0b \u4e00\u6b65 \u5c06 \u4ed4\u7ec6 \u7814\u7a76   Carla   \u7684 \u5730\u56fe \u3001 \u9053\u8def \u548c \u4ea4\u901a \u3002   \u7ee7\u7eed \u9605\u8bfb \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \uff0c \u6216 \u8bbf\u95ee \u8bba\u575b \u53d1\u5e03 \u5728 \u9605\u8bfb \u8fc7\u7a0b \u4e2d \u60f3\u5230 \u7684 \u4efb\u4f55 \u7591\u95ee \u6216 \u5efa\u8bae \u3002   Carla   \u8bba\u575b   3rd .   \u5730\u56fe \u548c \u5bfc\u822a","title":"\u7b2c\u4e8c \u3001 \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe"},{"location":"core_actors/#_1","text":"Carla   \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f \u5728 \u4eff\u771f \u4e2d \u6267\u884c \u52a8\u4f5c \u7684 \u5143\u7d20 \uff0c \u4ed6\u4eec \u53ef\u4ee5 \u5f71\u54cd \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 Carla   \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5305\u62ec \u8f66\u8f86 \u548c \u884c\u4eba \uff0c \u4e5f \u5305\u62ec \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3001 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u548c \u89c2\u770b \u8005 \u3002 \u5bf9 \u5982\u4f55 \u64cd\u4f5c \u5b83\u4eec \u6709 \u5145\u5206 \u7684 \u4e86\u89e3 \u662f \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u7684 \u3002   \u672c\u8282 \u5c06 \u4ecb\u7ecd \u751f\u6210 \u3001 \u9500\u6bc1 \u3001 \u7c7b\u578b \u4ee5\u53ca \u5982\u4f55 \u7ba1\u7406 \u5b83\u4eec \u3002 \u7136\u800c \uff0c \u53ef\u80fd \u53ef\u80fd\u6027 \u51e0\u4e4e \u662f \u65e0\u7a77 \u65e0\u5c3d \u65e0\u7a77\u65e0\u5c3d \u7684 \u3002 \u5b9e\u9a8c \u3001 \u67e5\u770b \u672c \u6587\u6863 \u4e2d \u7684   \u6559\u7a0b   \uff0c \u5e76 \u5728   Carla   \u8bba\u575b   \u4e2d \u5206\u4eab \u7591\u8651 \u548c \u60f3\u6cd5 \u3002   \u84dd\u56fe   \u7ba1\u7406 \u84dd \u56fe\u5e93   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f   \u751f\u6210   \u5904\u7406   \u9500\u6bc1   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7c7b\u578b   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u89c2\u5bdf \u89c2\u5bdf\u8005   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u548c \u4ea4\u901a \u4ea4\u901a\u706f   \u8f66\u8f86   \u884c\u4eba","title":"\u7b2c\u4e8c \u3001 \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe"},{"location":"core_actors/#_2","text":"\u8fd9\u4e9b \u5e03\u5c40 \u5141\u8bb8 \u7528\u6237 \u5c06 \u65b0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e73\u6ed1 \u5730 \u7ed3\u5408 \u5230 \u4eff\u771f \u4e2d \u3002 \u5b83\u4eec \u5df2\u7ecf \u662f \u5e26\u6709 \u52a8\u753b \u548c \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5c5e\u6027 \u7684 \u6a21\u578b \u3002 \u5176\u4e2d \u4e00\u4e9b \u662f \u53ef \u4fee\u6539 \u7684 \uff0c \u800c \u53e6 \u4e00\u4e9b \u4e00\u4e9b\u5219 \u4e0d\u662f \u3002 \u8fd9\u4e9b \u5c5e\u6027 \u5305\u62ec \u8f66\u8f86 \u989c\u8272 \u3001 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u7684 \u901a\u9053 \u6570\u91cf \u3001 \u884c\u4eba \u7684 \u901f\u5ea6 \u7b49\u7b49 \u3002   \u84dd \u56fe\u5e93   \u5217\u51fa \u4e86 \u53ef\u7528 \u7684 \u84dd\u56fe \u53ca\u5176 \u5c5e\u6027 \u3002 \u8f66\u8f86 \u548c \u884c\u4eba \u84dd\u56fe \u5177\u6709 \u4e00\u4e2a \u751f\u6210 \u5c5e\u6027 \uff0c \u7528\u4e8e \u6307\u793a \u5b83\u4eec \u662f \u65b0 \u7684 \uff08 \u7b2c   2   \u4ee3 \uff09 \u8d44\u4ea7 \u8fd8\u662f \u65e7 \u7684 \uff08 \u7b2c   1   \u4ee3 \uff09 \u8d44\u4ea7 \u3002","title":"\u84dd\u56fe  "},{"location":"core_actors/#_3","text":"carla . BlueprintLibrary   \u7c7b \u5305\u542b \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217   carla . ActorBlueprint   \u5143\u7d20 \u3002 \u5b83 \u662f \u80fd\u591f \u63d0\u4f9b \u5bf9 \u5b83 \u8bbf\u95ee \u7684 \u4e16\u754c \u5bf9\u8c61 \u3002   blueprint _ library   =   world . get _ blueprint _ library ( )   \u84dd\u56fe \u6709 \u4e00\u4e2a   ID   \u6765 \u8bc6\u522b \u5b83\u4eec \u548c \u7531\u6b64 \u4ea7\u751f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u53ef\u4ee5 \u8bfb\u53d6 \u5e93\u6765 \u627e\u5230 \u67d0\u4e2a   ID \uff0c \u968f\u673a \u9009\u62e9 \u84dd\u56fe \uff0c \u6216\u8005 \u4f7f\u7528   \u901a\u914d\u7b26 \u6a21\u5f0f   \u8fc7\u6ee4 \u7ed3\u679c \u3002   #   \u627e \u4e00\u4e2a \u6307\u5b9a \u7684 \u84dd\u56fe   collision _ sensor _ bp   =   blueprint _ library . find ( ' sensor . other . collision ' )   #   \u968f\u673a \u9009\u62e9 \u4e00\u4e2a \u8f66\u8f86 \u84dd\u56fe   vehicle _ bp   =   random . choice ( blueprint _ library . filter ( ' vehicle . * . * ' ) )   \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u6bcf\u4e2a   carla . ActorBlueprint   \u80fd \u83b7\u53d6   get   \u548c \u6539\u53d8   set   \u4e00\u4e9b \u5217 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c5e\u6027   carla . ActorAttribute   \u3002   is _ bike   =   [ vehicle . get _ attribute ( ' number _ of _ wheels ' )   = =   2 ]   if ( is _ bike )   vehicle . set _ attribute ( ' color ' ,   ' 255 , 0 , 0 ' )   \u7b14\u8bb0   \u67d0\u4e9b \u5c5e\u6027 \u65e0\u6cd5 \u4fee\u6539 \u3002 \u5728   \u84dd \u56fe\u5e93   \u4e2d \u67e5\u770b \u3002   \u5c5e\u6027 \u6709 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c5e\u6027 \u7c7b\u578b   carla . ActorAttributeType   \u53d8\u91cf \u3002 \u5b83 \u4ece \u679a\u4e3e \u5217\u8868 \u4e2d \u58f0\u660e \u5176 \u7c7b\u578b \u3002 \u6b64\u5916 \uff0c \u53ef \u4fee\u6539 \u7684 \u5c5e\u6027 \u8fd8 \u9644\u5e26 \u4e00\u4e2a   \u63a8\u8350 \u63a8\u8350\u503c \u5217\u8868   \u3002   for   attr   in   blueprint :   if   attr . is _ modifiable :   blueprint . set _ attribute ( attr . id ,   random . choice ( attr . recommended _ values ) )   \u7b14\u8bb0   \u7528\u6237 \u53ef\u4ee5 \u521b\u5efa \u4ed6\u4eec \u81ea\u5df1 \u7684 \u8f66\u8f86 \u3002 \u67e5\u770b   \u6559\u7a0b \uff08 \u8d44\u4ea7 \uff09   \u4ee5 \u4e86\u89e3 \u76f8\u5173 \u4fe1\u606f \u3002 \u8d21\u732e \u8d21\u732e\u8005 \u53ef\u4ee5   \u5c06 \u4ed6\u4eec \u7684 \u65b0 \u5185\u5bb9 \u6dfb\u52a0 \u5230   Carla   \u3002","title":"\u7ba1\u7406 \u84dd \u56fe\u5e93  "},{"location":"core_actors/#_4","text":"\u91cd\u8981   \u672c \u8282 \u63d0\u5230 \u4e86 \u5173\u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e0d\u540c \u65b9\u6cd5 \u3002 Python   API   \u63d0\u4f9b   commands   \uff0c \u4ee5\u4fbf \u5728 \u4e00\u4e2a \u6846\u67b6 \u4e2d \u5e94\u7528 \u4e00\u6279 \u6700 \u5e38\u89c1 \u7684 \u547d\u4ee4 \u3002","title":"\u53c2\u4e0e\u8005 \u751f\u547d\u5468\u671f      "},{"location":"core_actors/#_5","text":"\u4e16\u754c \u5bf9\u8c61 \u8d1f\u8d23 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e76 \u8ddf\u8e2a \u8fd9\u4e9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u751f\u6210 \u53ea \u9700\u8981 \u4e00\u5f20 \u84dd\u56fe \u548c \u4e00\u4e2a   carla . Transform   \u8bf4\u660e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   \u4e16\u754c \u6709 \u4e24\u4e2a \u4e0d\u540c \u7684 \u65b9\u6cd5 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   spawn _ actor ( )   \u5982\u679c \u751f\u6210 \u5931\u8d25 \u629b\u51fa \u4e00\u4e2a \u5f02\u5e38 \u3002   try _ spawn _ actor ( )   \u5982\u679c \u751f\u6210 \u5931\u8d25 \u8fd4\u56de   None   \u3002   transform   =   Transform ( Location ( x = 230 ,   y = 195 ,   z = 40 ) ,   Rotation ( yaw = 180 ) )   actor   =   world . spawn _ actor ( blueprint ,   transform )   \u91cd\u8981   Carla   \u4f7f\u7528   \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u7cfb\u7edf   \u3002 \u8bb0\u4f4f \uff1a   carla . Rotation   \u6784\u9020 \u51fd\u6570 \u6784\u9020\u51fd\u6570 \u5b9a\u4e49 \u4e3a \u201c \u4fef\u4ef0 \u3001 \u504f\u822a \u3001 \u7ffb\u6eda \u201d   ( pitch ,   yaw ,   roll )   \uff0c \u4e0e \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u201c \u7ffb\u6eda \u3001 \u4fef\u4ef0 \u3001 \u504f\u822a \u201d   ( roll ,   pitch ,   yaw )   \u4e0d\u540c \u3002   \u5982\u679c \u5728 \u6307\u5b9a \u4f4d\u7f6e \u53d1\u751f \u51b2\u7a81 \u53d1\u751f\u51b2\u7a81 \uff0c \u5c06 \u4e0d\u4f1a \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u65e0\u8bba \u8fd9\u79cd \u60c5\u51b5 \u53d1\u751f \u5728 \u9759\u6001 \u5bf9\u8c61 \u8fd8\u662f \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8eab\u4e0a \u3002 \u53ef\u4ee5 \u5c1d\u8bd5 \u907f\u514d \u8fd9\u4e9b \u4e0d \u5e0c\u671b \u7684 \u751f\u6210 \u78b0\u649e \u3002   \u5bf9\u4e8e \u8f66\u8f86   \u3002   map . get _ spawn _ points ( )   \u8fd4\u56de \u63a8\u8350 \u751f\u6210 \u70b9 \u7684 \u5217\u8868 \u3002   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   \u5bf9\u4e8e \u884c\u4eba   \u3002   world . get _ random _ location ( )   \u8fd4\u56de \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u4e0a \u7684 \u968f\u673a \u70b9 \u3002 \u540c\u6837 \u7684 \u65b9\u6cd5 \u4e5f \u7528\u4e8e \u4e3a \u884c\u4eba \u8bbe\u7f6e \u76ee\u6807 \u4f4d\u7f6e \u3002   spawn _ point   =   carla . Transform ( )   spawn _ point . location   =   world . get _ random _ location _ from _ navigation ( )   \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u751f\u6210 \u65f6 \u53ef\u4ee5 \u9644\u52a0 \u5230 \u53e6 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0a \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8ddf\u968f \u4ed6\u4eec \u6240 \u4f9d\u9644 \u7684 \u7236\u7ea7 \u3002 \u8fd9 \u5bf9\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7279\u522b \u6709\u7528 \u3002 \u8be5 \u9644\u4ef6 \u53ef\u4ee5 \u662f \u521a\u6027 \u7684 \uff08 \u9002\u5408 \u68c0\u7d22 \u7cbe\u786e \u6570\u636e \uff09 \uff0c \u4e5f \u53ef\u4ee5 \u6839\u636e \u5176\u7236 \u7ea7 \u7684 \u60c5\u51b5 \u8fdb\u884c \u8f7b\u677e \u79fb\u52a8 \u3002 \u5b83 \u7531 \u8f85\u52a9 \u7c7b   carla . AttachmentType   \u5b9a\u4e49 \u3002   \u4e0b \u4e00\u4e2a \u793a\u4f8b \u5c06 \u76f8\u673a \u521a\u6027 \u5730 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u4e0a \uff0c \u56e0\u6b64 \u5b83\u4eec \u7684 \u76f8\u5bf9 \u4f4d\u7f6e \u4fdd\u6301 \u56fa\u5b9a \u3002   camera   =   world . spawn _ actor ( camera _ bp ,   relative _ transform ,   attach _ to = my _ vehicle ,   carla . AttachmentType . Rigid )   \u91cd\u8981   \u5f53 \u751f\u6210 \u9644\u52a0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \uff0c \u63d0\u4f9b \u7684 \u53d8\u6362 \u5fc5\u987b \u76f8\u5bf9 \u4e8e \u7236\u7ea7 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u4e00\u65e6 \u751f\u6210 \uff0c \u4e16\u754c \u5bf9\u8c61 \u5c31 \u4f1a \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6dfb\u52a0 \u5230 \u5217\u8868 \u4e2d \u3002 \u8fd9 \u53ef\u4ee5 \u5f88 \u5bb9\u6613 \u5730 \u641c\u7d22 \u6216 \u8fed\u4ee3 \u3002   actor _ list   =   world . get _ actors ( )   #   \u6839\u636e   id   \u627e \u53c2\u4e0e \u53c2\u4e0e\u8005   actor   =   actor _ list . find ( id )   #   \u6253\u5370 \u4e16\u754c \u4e0a \u6240\u6709 \u9650\u901f \u6807\u5fd7 \u7684 \u4f4d\u7f6e \u3002   for   speed _ sign   in   actor _ list . filter ( ' traffic . speed _ limit . * ' ) :   print ( speed _ sign . get _ location ( ) )","title":"\u751f\u6210  "},{"location":"core_actors/#_6","text":"carla . Actor   \u4e3b\u8981 \u7531   get ( )   \u548c   set ( )   \u65b9\u6cd5 \u7ec4\u6210 \uff0c \u7528\u4e8e \u7ba1\u7406 \u5730\u56fe \u5468\u56f4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   print ( actor . get _ acceleration ( ) )   print ( actor . get _ velocity ( ) )   location   =   actor . get _ location ( )   location . z   + =   10.0   actor . set _ location ( location )   \u53ef\u4ee5 \u7981\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7269\u7406 \u7279\u6027 \u4ee5 \u5c06 \u5176 \u51bb\u7ed3 \u5728 \u9002\u5f53 \u7684 \u4f4d\u7f6e \u3002   actor . set _ simulate _ physics ( False )   \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8fd8\u6709 \u4ed6\u4eec \u7684 \u84dd\u56fe \u63d0\u4f9b \u7684 \u6807\u7b7e \u3002 \u8fd9\u4e9b \u5bf9\u4e8e \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6700 \u6709\u7528 \u3002   \u7b14\u8bb0   \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u65b9\u6cd5 \u662f \u5f02\u6b65 \u5411 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u53d1\u9001 \u8bf7\u6c42 \u3002 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6bcf\u6b21 \u66f4\u65b0 \u89e3\u6790 \u5b83\u4eec \u7684 \u65f6\u95f4 \u6709\u9650 \u3002 \u4f7f\u7528   set ( )   \u65b9\u6cd5 \u6df9\u6ca1 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5c06 \u79ef\u7d2f \u660e\u663e \u7684 \u5ef6\u8fdf \u3002","title":"\u5904\u7406  "},{"location":"core_actors/#_7","text":"\u5f53   Python   \u811a\u672c \u5b8c\u6210 \u65f6 \uff0c \u4e0d\u56de \u9500\u6bc1 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u4ed6\u4eec \u5fc5\u987b \u660e\u786e \u5730 \u9500\u6bc1 \u81ea\u5df1 \u3002   destroyed _ sucessfully   =   actor . destroy ( )   #   \u5982\u679c \u6210\u529f \u8fd4\u56de   True   \u91cd\u8981   \u9500\u6bc1 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f1a \u963b\u585e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \uff0c \u76f4\u5230 \u8be5 \u8fc7\u7a0b \u5b8c\u6210 \u3002","title":"\u9500\u6bc1  "},{"location":"core_actors/#_8","text":"","title":"\u53c2\u4e0e\u8005 \u7c7b\u578b    "},{"location":"core_actors/#_9","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f \u4ea7\u751f \u6570\u636e \u6570\u636e\u6d41 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u4ed6\u4eec \u6709 \u81ea\u5df1 \u7684 \u90e8\u5206 \uff0c   \u7b2c\u56db \u90e8\u5206 .   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u6570\u636e   \u3002 \u73b0\u5728 \uff0c \u6211\u4eec \u53ea \u770b \u4e00\u4e0b \u5e38\u89c1 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u751f\u6210 \u5468\u671f \u3002   \u6b64 \u793a\u4f8b \u751f\u6210 \u4e00\u4e2a \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5c06 \u5176 \u8fde\u63a5 \u5230 \u8f66\u8f86 \uff0c \u5e76 \u544a\u8bc9 \u76f8\u673a \u5c06 \u751f\u6210 \u7684 \u56fe\u50cf \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002   camera _ bp   =   blueprint _ library . find ( ' sensor . camera . rgb ' )   camera   =   world . spawn _ actor ( camera _ bp ,   relative _ transform ,   attach _ to = my _ vehicle )   camera . listen ( lambda   image :   image . save _ to _ disk ( ' output / % 06d . png '   %   image . frame ) )   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e5f \u6709 \u84dd\u56fe \u3002 \u8bbe\u7f6e \u5c5e\u6027 \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002   \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u5b89\u88c5 \u5728 \u8f66\u8f86 \u4e0a\u4ee5 \u6536\u96c6 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u7684 \u4fe1\u606f \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u76d1\u542c   \u6570\u636e \u3002 \u6536\u5230 \u6570\u636e \u540e \uff0c \u5b83\u4eec \u4f1a \u8c03\u7528 \u7528   Lambda   \u8868\u8fbe \u8fbe\u5f0f \u8868\u8fbe\u5f0f   \u63cf\u8ff0 \u7684 \u51fd\u6570   ( \u63d0\u4f9b \u7684 \u94fe\u63a5 \u4e2d \u7684   6.14 )   \u3002","title":"\u4f20\u611f\u5668  "},{"location":"core_actors/#_10","text":"\u7531 \u865a\u5e7b \u5f15\u64ce \u653e\u7f6e \u4ee5 \u63d0\u4f9b \u6e38\u620f \u5185 \u7684 \u89c6\u89d2 \u3002 \u5b83 \u53ef \u7528\u4e8e \u79fb\u52a8 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7a97\u53e3 \u7684 \u89c6\u89d2 \u3002 \u4ee5\u4e0b \u793a\u4f8b \u5c06 \u79fb\u52a8 \u89c2\u4f17 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5c06 \u89c6\u89d2 \u6307\u5411 \u6240 \u9700 \u7684 \u8f66\u8f86 \u3002   spectator   =   world . get _ spectator ( )   transform   =   vehicle . get _ transform ( )   spectator . set _ transform ( carla . Transform ( transform . location   +   carla . Location ( z = 50 ) ,   carla . Rotation ( pitch = - 90 ) ) )","title":"\u89c2\u5bdf\u8005  "},{"location":"core_actors/#_11","text":"\u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c Carela   \u4e2d \u53ea\u6709 \u505c\u9760 \u505c\u9760\u70b9 \u3001 \u8ba9 \u884c \u8def\u7ebf \u548c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u88ab \u89c6\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5176\u4f59 \u7684   OpenDRIVE   \u6807\u5fd7 \u53ef \u901a\u8fc7   API   \u4f5c\u4e3a \u5730\u6807 \uff08   carla . Landmark   \uff09 \u8fdb\u884c \u8bbf\u95ee \u3002 \u4ed6\u4eec \u7684 \u4fe1\u606f \u53ef\u4ee5 \u4f7f\u7528 \u8fd9\u4e9b \u5b9e\u4f8b \u8bbf\u95ee \uff0c \u4f46 \u4ed6\u4eec \u5728 \u4eff\u771f \u4e2d \u5e76 \u4e0d \u4f5c\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5b58\u5728 \u3002 \u5728 \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u7684   \u7b2c   3   \u90e8\u5206   \u5730\u56fe \u548c \u5bfc\u822a   \u4e2d\u5c06 \u66f4 \u8be6\u7ec6 \u5730 \u89e3\u91ca \u5730\u6807 \u3002   \u5f53 \u4eff\u771f \u5f00\u59cb \u3001 \u505c\u6b62 \u3001 \u8ba9 \u884c \u548c \u4ea4\u901a \u4ea4\u901a\u706f \u65f6 \uff0c \u4f1a \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u4e2d \u7684 \u4fe1\u606f \u81ea\u52a8 \u751f\u6210 \u3002   \u8fd9\u4e9b \u90fd \u65e0\u6cd5 \u5728 \u84dd \u56fe\u5e93 \u4e2d \u627e\u5230   \uff0c \u56e0\u6b64 \u65e0\u6cd5 \u751f\u6210 \u3002   \u7b14\u8bb0   OpenDRIVE   \u6587\u4ef6 \u4e2d \u7684   Carela   \u5730\u56fe \u6ca1\u6709 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u6216 \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002 \u8fd9\u4e9b \u662f \u7531 \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u624b\u52a8 \u653e\u7f6e \u7684 \u3002   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7   \u672a \u5728 \u8def\u7ebf \u7ebf\u56fe \u8def\u7ebf\u56fe \u672c\u8eab \u4e2d \u5b9a\u4e49 \uff0c \u5982\u4e0b \u9875 \u6240\u8ff0 \u3002 \u76f8\u53cd \uff0c \u4ed6\u4eec \u6709 \u4e00\u4e2a   carla . BoundingBox   \u6765 \u5f71\u54cd \u5176\u4e2d \u7684 \u8f66\u8f86 \u3002   #   \u83b7\u5f97 \u5f71\u54cd \u8f66\u8f86 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f   if   vehicle _ actor . is _ at _ traffic _ light ( ) :   traffic _ light   =   vehicle _ actor . get _ traffic _ light ( )   \u8def\u53e3 \u8bbe\u6709   \u4ea4\u901a \u4ea4\u901a\u706f   \u3002 \u4e0e \u4efb\u4f55 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e00\u6837 \uff0c \u4ed6\u4eec \u6709 \u81ea\u5df1 \u72ec\u7279 \u7684   ID \uff0c \u4f46 \u5bf9\u4e8e \u5c94\u8def \u53e3 \u4e5f \u6709 \u4e00\u4e2a \u4e00\u4e2a\u7ec4 \uff08   group   \uff09   ID   \u3002   \u540c \u4e00\u7ec4 \u4e2d \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u9075\u5faa \u4e00\u4e2a \u5faa\u73af \u3002 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8bbe\u7f6e \u4e3a \u7eff\u8272 \uff0c \u800c \u5176\u4f59 \u7684 \u5219 \u4fdd\u6301 \u7ea2\u8272 \u3002 \u6d3b\u8dc3 \u7684 \u706f\u4f1a \u6301\u7eed \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u5448 \u7eff\u8272 \u3001 \u9ec4\u8272 \u548c \u7ea2\u8272 \uff0c \u56e0\u6b64 \u6709 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u6240\u6709 \u706f \u90fd \u662f \u7ea2\u8272 \u7684 \u3002 \u7136\u540e \uff0c \u4e0b \u4e00\u4e2a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5f00\u59cb \u5faa\u73af \uff0c \u524d \u4e00\u4e2a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u4e0e \u5176\u4f59 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u4e00\u8d77 \u51bb\u7ed3 \u3002   \u53ef\u4ee5 \u4f7f\u7528   API   \u8bbe\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u3002 \u6bcf\u4e2a \u72b6\u6001 \u82b1\u8d39 \u7684 \u79d2\u6570 \u4e5f \u662f \u5982\u6b64 \u3002 \u53ef\u80fd \u7684 \u72b6\u6001 \u7528   carla . TrafficLightState   \u63cf\u8ff0 \u4e3a \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u679a\u4e3e \u503c \u3002   #   \u4ea4\u901a \u4ea4\u901a\u706f \u4ece\u7ea2 \u53d8\u7eff   if   traffic _ light . get _ state ( )   = =   carla . TrafficLightState . Red :   traffic _ light . set _ state ( carla . TrafficLightState . Green )   traffic _ light . set _ set _ green _ time ( 4.0 )   \u7b14\u8bb0   \u53ea\u6709 \u5f53 \u4fe1\u53f7 \u4fe1\u53f7\u706f \u4e3a \u7ea2\u8272 \u65f6 \uff0c \u8f66\u8f86 \u624d \u4f1a \u610f\u8bc6 \u5230 \u4ea4\u901a \u4ea4\u901a\u706f \u3002","title":"\u4ea4\u901a\u6807\u5fd7 \u548c \u4ea4\u901a\u706f  "},{"location":"core_actors/#_12","text":"carla . Vehicle   \u662f \u4e00\u79cd \u7279\u6b8a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5b83 \u91c7\u7528 \u4e86 \u4eff\u771f \u8f6e\u5f0f \u8f66\u8f86 \u7269\u7406 \u7279\u6027 \u7684 \u7279\u6b8a \u5185\u90e8 \u7ec4\u4ef6 \u3002 \u8fd9\u662f \u901a\u8fc7 \u5e94\u7528 \u56db\u79cd \u4e0d\u540c \u7684 \u63a7\u4ef6 \u6765 \u5b9e\u73b0 \u7684 \uff1a   carla . VehicleControl   \u63d0\u4f9b \u6cb9\u95e8 \u3001 \u8f6c\u5411 \u3001 \u5239\u8f66 \u7b49 \u9a7e\u9a76 \u547d\u4ee4 \u7684 \u8f93\u5165 \u3002   vehicle . apply _ control ( carla . VehicleControl ( throttle = 1.0 ,   steer = - 1.0 ) )   carla . VehiclePhysicsControl   \u5b9a\u4e49 \u8f66\u8f86 \u7684 \u7269\u7406 \u5c5e\u6027 \u5e76 \u5305\u542b \u53e6\u5916 \u4e24\u4e2a \u63a7\u5236 \u63a7\u5236\u5668 \uff1a   carla . GearPhysicsControl   \u63a7\u5236 \u6863\u4f4d \u3002   carla . WheelPhysicsControl   \u63d0\u4f9b \u5bf9 \u6bcf\u4e2a \u8f6e\u5b50 \u7684 \u7279\u5b9a \u63a7\u5236 \u3002   vehicle . apply _ physics _ control ( carla . VehiclePhysicsControl ( max _ rpm   =   5000.0 ,   center _ of _ mass   =   carla . Vector3D ( 0.0 ,   0.0 ,   0.0 ) ,   torque _ curve = [ [ 0 , 400 ] , [ 5000 , 400 ] ] ) )   \u8f66\u8f86 \u6709 \u4e00\u4e2a   carla . BoundingBox   \u5c01\u88c5 \u5b83\u4eec \u3002 \u8be5 \u8fb9\u754c \u6846 \u5141\u8bb8 \u5c06 \u7269\u7406 \u539f\u7406 \u5e94\u7528 \u4e8e \u8f66\u8f86 \u5e76 \u68c0\u6d4b \u78b0\u649e \u3002   box   =   vehicle . bounding _ box   print ( box . location )   #   \u76f8\u5bf9 \u8f66\u8f86 \u7684 \u4f4d\u7f6e   print ( box . extent )   #   XYZ   half - box   extents   in   meters .   \u901a\u8fc7 \u542f\u7528   \u626b\u8f6e \u78b0\u649e \u53c2\u6570   \u53ef\u4ee5 \u6539\u5584 \u8f66\u8f6e \u7684 \u7269\u7406 \u7279\u6027 \u3002 \u9ed8\u8ba4 \u7684 \u8f6e\u5b50 \u7269\u7406 \u7cfb\u7edf \u7cfb\u7edf\u5bf9 \u6bcf\u4e2a \u8f6e\u5b50 \u4f7f\u7528 \u4ece\u8f74\u5230 \u5730\u677f \u7684 \u5355 \u5c04\u7ebf \u6295\u5c04 \uff0c \u4f46\u662f \u5f53 \u542f\u7528 \u626b\u8f6e \u78b0\u649e \u65f6 \uff0c \u5c06 \u68c0\u67e5 \u8f6e\u5b50 \u7684 \u6574\u4e2a \u4f53\u79ef \u662f\u5426 \u53d1\u751f \u78b0\u649e \u3002 \u5b83 \u53ef\u4ee5 \u8fd9\u6837 \u542f\u7528 \uff1a   physics _ control   =   vehicle . get _ physics _ control ( )   physics _ control . use _ sweep _ wheel _ collision   =   True   vehicle . apply _ physics _ control ( physics _ control )   \u8f66\u8f86 \u8fd8 \u5305\u62ec \u5176 \u72ec\u6709 \u7684 \u5176\u4ed6 \u529f\u80fd \uff1a   \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f   \u4f1a \u5c06 \u8f66\u8f86 \u8ba2\u9605 \u5230   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u4ee5 \u4eff\u771f \u771f\u5b9e \u7684 \u57ce\u5e02 \u72b6\u51b5 \u3002 \u8be5 \u6a21\u5757 \u662f \u786c \u7f16\u7801 \u7684 \uff0c \u4e0d\u662f \u57fa\u4e8e \u673a\u5668 \u5b66\u4e60 \u7684 \u3002   vehicle . set _ autopilot ( True )   \u8f66\u706f   \u5fc5\u987b \u7531 \u7528\u6237 \u6253\u5f00 \u548c \u5173\u95ed \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u6709 \u4e00\u7ec4 \u5728   carla . VehicleLightState   \u4e2d \u5217\u51fa \u7684 \u706f \u3002 \u5e76\u975e \u6240\u6709 \u8f66\u8f86 \u90fd \u96c6\u6210 \u4e86 \u8f66\u706f \u3002 \u622a\u81f3 \u64b0\u5199 \u672c\u6587 \u65f6 \uff0c \u914d\u5907 \u96c6\u6210 \u8f66\u706f \u7684 \u8f66\u8f86 \u5982\u4e0b \uff1a   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \uff1a   \u6240\u6709 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u90fd \u6709 \u524d\u540e \u4f4d\u7f6e \u4f4d\u7f6e\u706f \u3002   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \uff1a   \u9a6c\u54c8 \u96c5\u9a6c\u54c8 \u548c \u54c8\u96f7 \u6234\u7ef4\u68ee \u578b\u53f7 \u3002   \u6c7d\u8f66 \uff1a   \u5965\u8fea   TT \u3001 \u96ea\u4f5b\u5170   Impala \u3001 \u9053\u5947 \u8b66\u8f66 \u3001 \u9053\u5947   Charger \u3001 \u5965\u8fea   e - tron \u3001 \u6797\u80af   2017   \u5e74 \u548c   2020   \u5e74 \u3001 \u91ce\u9a6c \u3001 \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   Model   3 \u3001 \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9   Cybertruck \u3001 \u5927\u4f17   T2   \u548c \u8d5b\u5fb7 \u5fb7\u65af \u6885\u8d5b\u5fb7 \u8d5b\u5fb7\u65af \u6885\u8d5b\u5fb7\u65af   C   \u7ea7 \u3002   \u53ef\u4ee5 \u4f7f\u7528   carla . Vehicle . get _ light _ state   \u548c   carla . Vehicle . set _ light _ state   \u65b9\u6cd5 \u968f\u65f6 \u68c0\u7d22 \u548c \u66f4\u65b0 \u8f66\u8f86 \u7684 \u706f\u5149 \u3002 \u5b83\u4eec \u4f7f\u7528 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u8fd0\u7b97 \u6765\u81ea \u5b9a\u4e49 \u706f\u5149 \u8bbe\u7f6e \u3002   #   \u6253\u5f00 \u4f4d\u7f6e \u4f4d\u7f6e\u706f   current _ lights   =   carla . VehicleLightState . NONE   current _ lights   | =   carla . VehicleLightState . Position   vehicle . set _ light _ state ( current _ lights )","title":"\u8f66\u8f86  "},{"location":"core_actors/#_13","text":"carla . Walker   \u7684 \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u8f66\u8f86 \u7c7b\u4f3c \u3002 \u5bf9 \u5b83\u4eec \u7684 \u63a7\u5236 \u7531 \u63a7\u5236 \u63a7\u5236\u5668 \u63d0\u4f9b \u3002   carla . WalkerControl   \u4ee5 \u4e00\u5b9a \u7684 \u65b9\u5411 \u548c \u901f\u5ea6 \u79fb\u52a8 \u884c\u4eba \u3002 \u5b83 \u8fd8 \u5141\u8bb8 \u4ed6\u4eec \u8df3\u8dc3 \u3002   carla . WalkerBoneControl   \u63d0\u4f9b \u5bf9 \u4e09\u7ef4 \u9aa8\u67b6 \u7684 \u63a7\u5236 \u3002   \u672c \u6559\u7a0b   \u89e3\u91ca \u4e86 \u5982\u4f55 \u63a7\u5236 \u5b83 \u3002   \u884c\u4eba \u53ef\u4ee5 \u7531 \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u3002 \u4ed6\u4eec \u6ca1\u6709 \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u3002   carla . WalkerAIController   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5b83 \u6240 \u9644\u52a0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5468\u56f4 \u79fb\u52a8 \u3002   walker _ controller _ bp   =   world . get _ blueprint _ library ( ) . find ( ' controller . ai . walker ' )   world . SpawnActor ( walker _ controller _ bp ,   carla . Transform ( ) ,   parent _ walker )   \u7b14\u8bb0   \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u63a7\u5236\u5668 \u662f \u65e0\u5f62 \u7684 \uff0c \u6ca1\u6709 \u7269\u7406 \u7279\u6027 \u3002 \u5b83 \u4e0d\u4f1a \u51fa\u73b0 \u5728 \u73b0\u573a \u3002 \u6b64\u5916 \uff0c \u4f4d\u7f6e   ( 0 , 0 , 0 )   \u76f8\u5bf9 \u4e8e \u5176\u7236 \u7ea7 \u7684 \u4f4d\u7f6e \u4e0d\u4f1a \u5bfc\u81f4 \u78b0\u649e \u3002   \u6bcf\u4e2a \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u63a7\u5236\u5668 \u90fd \u9700\u8981 \u521d\u59cb \u521d\u59cb\u5316 \u3001 \u76ee\u6807 \u548c \u53ef\u9009 \u7684 \u901f\u5ea6   \u3002 \u505c\u6b62 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5de5\u4f5c \u65b9\u5f0f \u76f8\u540c \u3002   ai _ controller . start ( )   ai _ controller . go _ to _ location ( world . get _ random _ location _ from _ navigation ( ) )   ai _ controller . set _ max _ speed ( 1   +   random . random ( ) )   #   \u5728   1   \u7c73 \u6bcf\u79d2   \u5230   2   \u7c73 \u6bcf\u79d2 \u4e4b\u95f4 \uff08 \u9ed8\u8ba4 \u662f   1.4   \u7c73 \u6bcf\u79d2 \uff09   ...   ai _ controller . stop ( )   \u5f53 \u884c\u4eba \u5230\u8fbe \u76ee\u6807 \u4f4d\u7f6e \u65f6 \uff0c \u4ed6\u4eec \u4f1a \u81ea\u52a8 \u6b65\u884c \u5230 \u53e6 \u4e00\u4e2a \u968f\u673a \u70b9 \u3002 \u5982\u679c \u65e0\u6cd5 \u5230\u8fbe \u76ee\u6807 \u70b9 \uff0c \u884c\u4eba \u5c06 \u524d\u5f80 \u8ddd\u79bb \u5f53\u524d \u4f4d\u7f6e \u6700\u8fd1 \u7684 \u70b9 \u3002   carla . Client   \u4e2d \u7684 \u4e00\u4e2a \u7247\u6bb5 \u4f7f\u7528 \u6279\u6b21 \u751f\u6210 \u5927\u91cf \u884c\u4eba \u5e76 \u8ba9 \u5b83\u4eec \u56db\u5904 \u6e38\u8361 \u3002   \u91cd\u8981   \u8981 \u9500\u6bc1 \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u884c\u4eba   \uff0c \u8bf7 \u505c\u6b62 \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u63a7\u5236\u5668 \u5e76 \u9500\u6bc1 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u63a7\u5236 \u63a7\u5236\u5668 \u3002   \u5173\u4e8e   Carla   \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8fd9 \u5c31\u662f \u4e00\u4e2a \u603b\u7ed3 \u3002 \u4e0b \u4e00\u6b65 \u5c06 \u4ed4\u7ec6 \u7814\u7a76   Carla   \u7684 \u5730\u56fe \u3001 \u9053\u8def \u548c \u4ea4\u901a \u3002   \u7ee7\u7eed \u9605\u8bfb \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \uff0c \u6216 \u8bbf\u95ee \u8bba\u575b \u53d1\u5e03 \u5728 \u9605\u8bfb \u8fc7\u7a0b \u4e2d \u60f3\u5230 \u7684 \u4efb\u4f55 \u7591\u95ee \u6216 \u5efa\u8bae \u3002   Carla   \u8bba\u575b   3rd .   \u5730\u56fe \u548c \u5bfc\u822a","title":"\u884c\u4eba  "},{"location":"core_map/","text":"\u7b2c\u4e09 \u3001 \u5730\u56fe \u548c \u5bfc\u822a   \u5728 \u8ba8\u8bba \u4e86 \u4e16\u754c \u53ca\u5176 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u540e \uff0c \u662f \u65f6\u5019 \u5c06 \u6240\u6709 \u5185\u5bb9 \u90fd \u653e\u5728 \u9002\u5f53 \u7684 \u4f4d\u7f6e \u5e76 \u4e86\u89e3 \u5730\u56fe \u4ee5\u53ca \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5982\u4f55 \u5bfc\u822a \u3002   \u5730\u56fe   \u6539\u53d8 \u5730\u56fe   \u5730\u6807   \u8def\u5f84 \u70b9   \u8f66\u9053   \u8def\u53e3   \u73af\u5883 \u5bf9\u8c61   \u5728   Carla   \u4e2d \u5bfc\u822a   \u901a\u8fc7 \u8def\u5f84 \u70b9 \u5bfc\u822a   \u751f\u6210 \u5730\u56fe \u5bfc\u822a   Carla   \u5730\u56fe   \u975e \u5206\u5c42 \u5730\u56fe   \u5206\u5c42 \u5730\u56fe   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   \u6982\u8ff0   \u9053\u8def \u6d82\u88c5   painting   \u5b9a\u5236 \u5efa\u7b51   \u751f\u6210 \u5730\u56fe   \u6dfb\u52a0 \u5730\u56fe \u5730\u56fe\u5305   \u6dfb\u52a0 \u5730\u56fe \u6e90   \u66ff\u4ee3 \u65b9\u6cd5   \u5730\u56fe   \u5730\u56fe \u5305\u62ec \u57ce\u9547 \u7684 \u4e09\u7ef4 \u6a21\u578b \u53ca\u5176 \u9053\u8def \u5b9a\u4e49 \u3002 \u5730\u56fe \u7684 \u9053\u8def \u5b9a\u4e49 \u57fa\u4e8e   OpenDRIVE   \u6587\u4ef6 \uff0c \u8fd9\u662f \u4e00\u79cd \u6807\u51c6 \u6807\u51c6\u5316 \u7684 \u5e26 \u6ce8\u91ca \u7684 \u9053\u8def \u5b9a\u4e49 \u683c\u5f0f \u3002   OpenDRIVE   1.4   \u6807\u51c6   \u5b9a\u4e49 \u9053\u8def \u3001 \u8f66\u9053 \u3001 \u8def\u53e3 \u7b49 \u65b9\u5f0f \u51b3\u5b9a \u4e86   Python   API   \u7684 \u529f\u80fd \u4ee5\u53ca \u51b3\u7b56 \u80cc\u540e \u7684 \u63a8\u7406 \u3002   Python   API   \u5145\u5f53 \u9ad8\u7ea7 \u67e5\u8be2 \u7cfb\u7edf \u6765 \u5bfc\u822a \u8fd9\u4e9b \u9053\u8def \u3002 \u5b83 \u4e0d\u65ad \u53d1\u5c55 \u4ee5 \u63d0\u4f9b \u66f4 \u5e7f\u6cdb \u7684 \u5de5\u5177 \u5de5\u5177\u96c6 \u3002   \u6539\u53d8 \u5730\u56fe   \u8981 \u6539\u53d8 \u5730\u56fe \uff0c \u4e16\u754c \u4e5f \u5fc5\u987b \u6539\u53d8   \u3002 \u5c06 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u91cd\u65b0 \u521b\u5efa \u4eff\u771f \u3002 \u60a8 \u53ef\u4ee5 \u5728 \u4e16\u754c \u65b0\u4e16\u754c \u4e2d \u4f7f\u7528 \u76f8\u540c \u7684 \u5730\u56fe \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \uff0c \u4e5f \u53ef\u4ee5 \u66f4\u6539 \u5730\u56fe \u548c \u4e16\u754c \uff1a   reload _ world ( )   \u4f7f\u7528 \u76f8\u540c \u7684 \u5730\u56fe \u521b\u5efa \u4e16\u754c \u7684 \u65b0 \u5b9e\u4f8b \u3002   load _ world ( )   \u6539\u53d8 \u5f53\u524d \u5730\u56fe \u5e76 \u521b\u5efa \u4e00\u4e2a \u4e16\u754c \u65b0\u4e16\u754c \u3002   world   =   client . load _ world ( ' Town01 ' )   \u6bcf\u4e2a \u5730\u56fe \u90fd \u6709 \u4e00\u4e2a \u4e0e \u5f53\u524d \u52a0\u8f7d \u7684 \u57ce\u5e02 \u540d\u79f0 \u5339\u914d \u7684   name   \u5c5e\u6027 \uff0c \u4f8b\u5982   Town01   \u3002 \u8981 \u83b7\u53d6 \u53ef\u7528 \u5730\u56fe \u7684 \u5217\u8868 \uff1a   print ( client . get _ available _ maps ( ) )   \u5730\u6807   OpenDRIVE   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \u7684 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u5c06 \u8f6c\u6362 \u4e3a   Carla \uff0c \u4f5c\u4e3a \u53ef \u4ece   API   \u67e5\u8be2 \u7684 \u5730\u6807 \u5bf9\u8c61 \u3002 \u4ee5\u4e0b \u65b9\u6cd5 \u548c \u7c7b \u53ef \u7528\u4e8e \u64cd\u4f5c \u548c \u4f7f\u7528 \u5730\u6807 \u5bf9\u8c61 \uff1a   carla . Landmark   \u5bf9\u8c61 \u4ee3\u8868   OpenDRIVE   \u4fe1\u53f7 \u3002 \u8be5\u7c7b \u7684 \u5c5e\u6027 \u548c \u65b9\u6cd5 \u63cf\u8ff0 \u4e86 \u5730\u6807 \u53ca\u5176 \u5f71\u54cd \u533a\u57df \u3002   carla . LandmarkOrientation   \u8bf4\u660e \u5730\u6807 \u76f8\u5bf9 \u4e8e \u9053\u8def \u51e0\u4f55 \u5b9a\u4e49 \u7684 \u65b9\u5411 \u3002   carla . LandmarkType   \u5305\u542b \u5e38\u89c1 \u7684 \u5730\u6807 \u7c7b\u578b \uff0c \u4ee5\u4fbf \u4e8e \u8f6c\u6362 \u4e3a   OpenDRIVE   \u7c7b\u578b \u3002   carla . Waypoint   \u53ef\u4ee5 \u83b7\u5f97 \u4f4d\u4e8e \u5176 \u524d\u65b9 \u4e00\u5b9a \u8ddd\u79bb \u7684 \u5730\u6807 \u3002 \u53ef\u4ee5 \u6307\u5b9a \u8981 \u83b7\u53d6 \u7684 \u5730\u6807 \u7c7b\u578b \u3002   carla . Map   \u68c0\u7d22 \u5730\u6807 \u96c6 \u3002 \u5b83 \u53ef\u4ee5 \u8fd4\u56de \u5730\u56fe \u4e2d \u7684 \u6240\u6709 \u5730\u6807 \uff0c \u6216\u8005 \u5177\u6709 \u5171\u540c   ID \u3001 \u7c7b\u578b \u6216\u7ec4 \u7684 \u5730\u6807 \u3002   carla . World   \u5145\u5f53 \u5730\u6807 \u3001 \u4eff\u771f \u4e2d \u4ee3\u8868 \u4ed6\u4eec \u7684   carla . TrafficSign   \u548c   carla . TrafficLight   \u4e4b\u95f4 \u7684 \u4e2d\u95f4 \u3002   my _ waypoint . get _ landmarks ( 200.0 , True )   \u8def\u5f84 \u70b9   carla . Waypoint   \u662f   Carla   \u4e16\u754c \u4e2d \u7684 \u4e09\u7ef4 \u6709 \u5411 \u70b9 \uff0c \u5bf9\u5e94 \u4e8e   OpenDRIVE   \u8f66\u9053 \u3002 \u4e0e \u8def\u5f84 \u70b9 \u76f8\u5173 \u7684 \u6240\u6709 \u4e8b\u60c5 \u90fd \u53d1\u751f \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1b \u53ea \u9700 \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u4e00\u6b21 \u5373\u53ef \u83b7\u53d6 \u5305\u542b \u8def\u5f84 \u70b9 \u4fe1\u606f \u7684   \u5730\u56fe \u5bf9\u8c61   \u3002   \u6bcf\u4e2a \u8def\u5f84 \u70b9 \u90fd \u5305\u542b \u4e00\u4e2a   carla . Transform   \uff0c \u5b83 \u8bf4\u660e \u5176 \u5728 \u5730\u56fe \u4e0a \u7684 \u4f4d\u7f6e \u4ee5\u53ca \u5305\u542b \u8be5 \u8def\u5f84 \u70b9 \u7684 \u8f66\u9053 \u7684 \u65b9\u5411 \u3002 \u53d8\u91cf   road _ id   ,   section _ id   ,   lane _ id   \u548c   s   \u5bf9\u5e94   OpenDRIVE   \u9053\u8def \u3002 \u8def\u5f84 \u70b9   id   \u7684 \u662f \u7531 \u8fd9 \u56db\u4e2a \u503c \u7684 \u54c8\u5e0c \u7ec4\u5408 \u6784\u9020 \u7684 \u3002   \u7b14\u8bb0   \u540c\u4e00 \u9053\u8def \u5185 \u8ddd\u79bb \u5c0f\u4e8e   2   \u5398\u7c73   \u7684 \u8def\u70b9 \u5171\u4eab \u76f8\u540c \u7684 \u8def\u70b9   id   \u3002   \u8def\u5f84 \u70b9 \u4fdd\u5b58 \u6709\u5173 \u5305\u542b \u8be5 \u8def\u5f84 \u70b9 \u7684   \u8f66\u9053   \u7684 \u4fe1\u606f \u3002 \u6b64 \u4fe1\u606f \u5305\u62ec \u8f66\u9053 \u7684 \u5de6 \u8f66\u9053 \u548c \u53f3   \u8f66\u9053 \u6807\u8bb0   \u3001 \u7528\u4e8e \u786e\u5b9a \u5176 \u662f\u5426 \u4f4d\u4e8e \u8def\u53e3 \u5185 \u7684 \u5e03\u5c14 \u5e03\u5c14\u503c \u3001 \u8f66\u9053 \u7c7b\u578b \u3001 \u5bbd\u5ea6 \u548c \u8f66\u9053 \u53d8\u66f4 \u6743\u9650 \u3002   #   \u4ece \u8def\u5f84 \u70b9 \u8bbf\u95ee \u8f66\u9053 \u4fe1\u606f   inside _ junction   =   waypoint . is _ junction ( )   width   =   waypoint . lane _ width   right _ lm _ color   =   waypoint . right _ lane _ marking . color   \u8f66\u9053   OpenDRIVE   1.4   \u6807\u51c6   \u5b9a\u4e49 \u7684 \u901a\u9053 \u7c7b\u578b \u5c06   carla . LaneType   \u4f5c\u4e3a \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u679a\u4e3e \u503c \u8f6c\u6362 \u4e3a   API   \u3002   \u8f66\u9053 \u5468\u56f4 \u7684 \u8f66\u9053 \u6807\u8bb0 \u53ef \u901a\u8fc7   carla . LaneMarking   \u8bbf\u95ee \u3002 \u8f66\u9053 \u6807\u8bb0 \u7531 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u53d8\u91cf \u5b9a\u4e49 \uff1a   color :   carla . LaneMarkingColor   \u662f \u5b9a\u4e49 \u6807\u8bb0 \u989c\u8272 \u7684 \u679a\u4e3e \u503c \u3002   lane _ change :   carla . LaneChange   \u8bf4\u660e \u8f66\u9053 \u662f\u5426 \u5141\u8bb8 \u5de6\u8f6c \u3001 \u53f3\u8f6c \u3001 \u4e24\u8005 \u90fd \u5141\u8bb8 \u6216 \u4e0d \u5141\u8bb8 \u3002   type :   carla . LaneMarkingType   \u662f \u6839\u636e   OpenDRIVE   \u6807\u51c6 \u5b9a\u4e49 \u6807\u8bb0 \u7c7b\u578b \u7684 \u679a\u4e3e \u503c \u3002   width :   \u5b9a\u4e49 \u6807\u8bb0 \u7684 \u539a\u5ea6 \u3002   \u4e0b\u9762 \u7684 \u793a\u4f8b \u663e\u793a \u4e86 \u83b7\u53d6 \u6709\u5173 \u7279\u5b9a \u8def\u5f84 \u70b9 \u7684 \u8f66\u9053 \u7c7b\u578b \u3001 \u8f66\u9053 \u6807\u8bb0 \u548c \u8f66\u9053 \u53d8\u66f4 \u6743\u9650 \u7684 \u4fe1\u606f \uff1a   #   \u83b7\u5f97 \u8def\u5f84 \u70b9 \u8f66\u9053 \u7c7b\u578b   lane _ type   =   waypoint . lane _ type   #   \u83b7\u5f97 \u5de6 \u8f66\u9053 \u6807\u8bb0 \u7684 \u7c7b\u578b   left _ lanemarking _ type   =   waypoint . left _ lane _ marking . type ( )   #   \u83b7\u5f97 \u8be5 \u8def\u5f84 \u70b9 \u53ef \u5f97 \u7684 \u8f66\u9053 \u6539\u53d8   lane _ change   =   waypoint . lane _ change   \u8def\u53e3   carla . Junction   \u4ee3\u8868   OpenDRIVE   \u8fde\u63a5 \u63a5\u70b9 \u8fde\u63a5\u70b9 \u3002 \u6b64\u7c7b \u5305\u542b \u5e26\u6709 \u8fb9\u754c \u6846 \u7684 \u4ea4\u6c47 \u4ea4\u6c47\u5904 \uff0c \u7528\u4e8e \u8bc6\u522b \u5176\u4e2d \u7684 \u8f66\u9053 \u6216 \u8f66\u8f86 \u3002   \u8be5   carla . Junction   \u7c7b \u5305\u542b   get _ waypoints   \u4e3a \u4ea4\u6c47 \u4ea4\u6c47\u5904 \u7684 \u6bcf\u4e2a \u8f66\u9053 \u8fd4\u56de \u4e00\u5bf9 \u8def\u70b9 \u7684 \u65b9\u6cd5 \u3002 \u6bcf \u5bf9 \u4f4d\u4e8e \u4ea4\u754c \u4ea4\u754c\u5904 \u8fb9\u754c \u7684 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u3002   waypoints _ junc   =   my _ junction . get _ waypoints ( )   \u73af\u5883 \u5bf9\u8c61   Carla   \u5730\u56fe \u4e0a \u7684 \u6bcf\u4e2a \u5bf9\u8c61 \u90fd \u6709 \u4e00\u7ec4 \u5173\u8054 \u7684 \u53d8\u91cf \uff0c \u53ef\u4ee5 \u5728   \u6b64   \u5904 \u627e\u5230 \u8fd9\u4e9b \u53d8\u91cf \u3002 \u8fd9\u4e9b \u53d8\u91cf \u4e2d \u5305\u542b \u4e00\u4e2a   \u552f\u4e00   ID   \uff0c \u53ef \u7528\u4e8e \u5207\u6362 \u8be5 \u5bf9\u8c61 \u5728 \u5730\u56fe \u4e0a \u7684 \u53ef\u89c1 \u6027 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528   Python   API   \u6839\u636e \u6bcf\u4e2a \u73af\u5883 \u5bf9\u8c61 \u7684   \u8bed\u4e49 \u6807\u7b7e   \u83b7\u53d6   \u5176   ID   \uff1a   #   \u83b7\u5f97 \u4e16\u754c \u4e2d \u7684 \u5efa\u7b51   world   =   client . get _ world ( )   env _ objs   =   world . get _ environment _ objects ( carla . CityObjectLabel . Buildings )   #   \u8bbf\u95ee \u5404\u4e2a \u5efa\u7b51   IDs   \u5e76 \u4fdd\u5b58 \u5728 \u96c6\u5408 \u5f53\u4e2d   building _ 01   =   env _ objs [ 0 ]   building _ 02   =   env _ objs [ 1 ]   objects _ to _ toggle   =   { building _ 01 . id ,   building _ 02 . id }   #   \u5207\u6362 \u5efa\u7b51 \u4e3a \u4e0d \u53ef\u89c1   world . enable _ environment _ objects ( objects _ to _ toggle ,   False )   #   \u5207\u6362 \u5efa\u7b51 \u4e3a \u53ef\u89c1   world . enable _ environment _ objects ( objects _ to _ toggle ,   True )   \u67e5\u770b \u5207\u6362 \u4e0d\u540c \u5bf9\u8c61 \u7684 \u793a\u4f8b \uff1a   \u5728   Carla   \u4e2d \u5bfc\u822a   Carla   \u4e2d \u7684 \u5bfc\u822a \u662f \u901a\u8fc7   Waypoint   API   \uff08 \u6765\u81ea   carla . Waypoint   \u548c   carla . Map   \u7684 \u65b9\u6cd5 \u7ec4\u5408 \uff09 \u8fdb\u884c \u7ba1\u7406 \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5fc5\u987b \u9996\u5148 \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u4ee5 \u68c0\u7d22 \u5305\u542b \u8def\u5f84 \u70b9 \u4fe1\u606f \u7684 \u5730\u56fe \u5bf9\u8c61 \u3002 \u8fd9 \u53ea \u9700\u8981 \u4e00\u6b21 \uff0c \u6240\u6709 \u540e\u7eed \u67e5\u8be2 \u90fd \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6267\u884c \u3002   \u901a\u8fc7 \u8def\u5f84 \u70b9 \u5bfc\u822a   Waypoint   API   \u516c\u5f00 \u4e86 \u5141\u8bb8 \u8def\u5f84 \u70b9 \u76f8\u4e92 \u4e92\u8fde \u8fde\u63a5 \u76f8\u4e92\u8fde\u63a5 \u5e76 \u6784\u5efa \u6cbf \u9053\u8def \u4f9b \u8f66\u8f86 \u5bfc\u822a \u7684 \u8def\u5f84 \u7684 \u65b9\u6cd5 \uff1a   next ( d )   \u5728 \u8f66\u9053 \u65b9\u5411 \u4e0a   \u521b\u5efa \u8fd1\u4f3c \u8ddd\u79bb   d   \u5185 \u7684 \u8def\u5f84 \u70b9 \u5217\u8868 \u3002 \u8be5 \u5217\u8868 \u5305\u542b \u6bcf\u4e2a \u53ef\u80fd \u504f\u5dee \u7684 \u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002   previous ( d )   \u5728 \u8f66\u9053 \u76f8\u53cd \u7684 \u65b9\u5411 \u4e0a   \u521b\u5efa \u8fd1\u4f3c \u8ddd\u79bb \u5c0f\u4e8e   d   \u7684 \u8def\u5f84 \u70b9 \u5217\u8868 \u3002 \u8be5 \u5217\u8868 \u5305\u542b \u6bcf\u4e2a \u53ef\u80fd \u504f\u5dee \u7684 \u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002   next _ until _ lane _ end ( d )   \u548c   previous _ until _ lane _ start ( d )   \u8fd4\u56de \u76f8\u8ddd \u4e00\u5b9a \u8ddd\u79bb   d   \u7684 \u8def\u5f84 \u70b9 \u5217\u8868 \u3002 \u8fd9\u4e9b \u5217\u8868 \u5206\u522b \u4ece \u5f53\u524d \u8def\u5f84 \u70b9\u5230 \u5176 \u8f66\u9053 \u7684 \u7ec8\u70b9 \u548c \u8d77\u70b9 \u3002   get _ right _ lane ( )   \u548c   get _ left _ lane ( )   \u8fd4\u56de \u76f8\u90bb \u8f66\u9053 \u4e2d \u7684 \u7b49 \u8def\u5f84 \u70b9 \uff08 \u5982\u679c \u5b58\u5728 \uff09 \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u627e\u5230 \u53f3 / \u5de6 \u8f66\u9053 \u4e0a \u7684 \u4e0b \u4e00\u4e2a \u8def\u70b9 \u5e76 \u79fb\u52a8 \u5230 \u8be5 \u8def\u70b9 \u6765 \u8fdb\u884c \u53d8\u9053 \u64cd\u4f5c \u3002   #   \u627e\u5230 \u524d\u9762   2   \u7c73 \u7684 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9   waypoint   =   waypoint . next ( 2.0 )   \u751f\u6210 \u5730\u56fe \u5bfc\u822a   \u5ba2\u6237 \u5ba2\u6237\u7aef \u9700\u8981 \u5411 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53d1\u51fa \u8bf7\u6c42 \u53d1\u51fa\u8bf7\u6c42 \u6765 \u83b7\u53d6   . xodr   \u5730\u56fe \u6587\u4ef6 \u5e76 \u5c06 \u5176 \u89e3\u6790 \u4e3a   carla . Map   \u5bf9\u8c61 \u3002 \u8fd9 \u53ea \u9700\u8981 \u505a \u4e00\u6b21 \u3002   \u83b7\u53d6 \u5730\u56fe \u5bf9\u8c61 \uff1a   map   =   world . get _ map ( )   \u5730\u56fe \u5bf9\u8c61 \u5305\u542b \u7528\u4e8e \u521b\u5efa \u8f66\u8f86 \u7684   \u63a8\u8350 \u751f\u6210 \u70b9   \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u65b9\u6cd5 \u83b7\u53d6 \u8fd9\u4e9b \u751f\u6210 \u70b9 \u7684 \u5217\u8868 \uff0c \u6bcf\u4e2a \u751f\u6210 \u70b9 \u90fd \u5305\u542b   carla . Transform   \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u751f\u6210 \u70b9 \u53ef\u80fd \u5df2 \u88ab \u5360\u7528 \uff0c \u4ece\u800c \u5bfc\u81f4 \u7531\u4e8e \u78b0\u649e \u800c \u5bfc\u81f4 \u8f66\u8f86 \u521b\u5efa \u5931\u8d25 \u3002   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   \u60a8 \u53ef\u4ee5 \u901a\u8fc7   \u83b7\u53d6   \u8ddd \u7279\u5b9a \u4f4d\u7f6e \u6216 \u7279\u5b9a   road _ id   \u3001   lane _ id   \u548c   s   \u4f4d\u7f6e \u6700\u8fd1 \u7684 \u8def\u5f84 \u70b9 \u4ee5\u53ca \u5730\u56fe   OpenDRIVE   \u5b9a\u4e49 \u4e2d \u7684 \u503c\u6765 \u5f00\u59cb \u4f7f\u7528 \u8def\u5f84 \u70b9 \uff1a   #   \u9a7e\u9a76 \u8f66\u9053 \u6216 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u4e2d\u5fc3 \u6700\u8fd1 \u7684 \u8def\u5f84 \u70b9 \u3002   waypoint01   =   map . get _ waypoint ( vehicle . get _ location ( ) , project _ to _ road = True ,   lane _ type = ( carla . LaneType . Driving   |   carla . LaneType . Sidewalk ) )   #   \u6700\u8fd1 \u7684 \u8def\u5f84 \u70b9 \uff0c \u540c\u65f6 \u6307\u5b9a   OpenDRIVE   \u53c2\u6570 \u3002   waypoint02   =   map . get _ waypoint _ xodr ( road _ id , lane _ id , s )   \u4e0b\u9762 \u7684 \u793a\u4f8b \u5c55\u793a \u4e86 \u5982\u4f55   \u751f\u6210 \u8def\u70b9 \u96c6\u5408   \u4ee5 \u53ef\u89c6 \u53ef\u89c6\u5316 \u57ce\u5e02 \u8f66\u9053 \u3002 \u8fd9 \u5c06 \u4e3a \u6574\u4e2a \u5730\u56fe \u4e0a \u7684 \u6bcf\u6761 \u9053\u8def \u548c \u8f66\u9053 \u521b\u5efa \u8def\u5f84 \u70b9 \u3002 \u5b83\u4eec \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u5927\u7ea6 \u4e3a   2   \u7c73 \uff1a   waypoint _ list   =   map . generate _ waypoints ( 2.0 )   \u8981   \u751f\u6210 \u9053\u8def \u62d3\u6251 \u7684 \u6700\u5c0f \u56fe   \uff0c \u8bf7 \u4f7f\u7528 \u4e0b\u9762 \u7684 \u793a\u4f8b \u3002 \u8fd9 \u5c06 \u8fd4\u56de \u8def\u5f84 \u70b9 \u5bf9 \uff08 \u5143\u7ec4 \uff09 \u7684 \u5217\u8868 \u3002 \u6bcf \u5bf9 \u4e2d \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u5143\u7d20 \u4e0e \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u5143\u7d20 \u8fde\u63a5 \uff0c \u4e24\u8005 \u90fd \u5b9a\u4e49 \u4e86 \u5730\u56fe \u4e2d \u6bcf\u6761 \u8f66\u9053 \u7684 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u3002 \u6709\u5173 \u6b64 \u65b9\u6cd5 \u7684 \u66f4 \u591a \u4fe1\u606f \u53ef\u4ee5 \u5728   PythonAPI   \u4e2d \u627e\u5230 \u3002   waypoint _ tuple _ list   =   map . get _ topology ( )   \u4e0b\u9762 \u7684 \u793a\u4f8b   \u5c06   carla . Transform   \u8f6c\u6362 \u4e3a \u5730\u7406 \u7eac\u5ea6 \u5730\u7406\u7eac\u5ea6 \u548c \u7ecf\u5ea6 \u5750\u6807   \uff0c \u91c7\u7528   carla . GeoLocation   \u7684 \u5f62\u5f0f \uff1a   my _ geolocation   =   map . transform _ to _ geolocation ( vehicle . transform )   \u4f7f\u7528 \u4ee5\u4e0b \u793a\u4f8b \u5c06   OpenDRIVE   \u683c\u5f0f \u7684   \u9053\u8def \u4fe1\u606f \u4fdd\u5b58 \u5230 \u78c1\u76d8   \uff1a   info _ map   =   map . to _ opendrive ( )   Carla   \u5730\u56fe   Carla   \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf \u4e2d\u6709 \u516b\u4e2a \u57ce\u9547 \uff0c \u6bcf\u4e2a \u57ce\u9547 \u90fd \u6709 \u4e24\u79cd \u5730\u56fe \uff0c \u975e \u5206\u5c42 \u5730\u56fe \u548c \u5206\u5c42 \u5730\u56fe \u3002   \u56fe\u5c42   \u662f \u6307 \u5730\u56fe \u4e2d \u5206\u7ec4 \u7684 \u5bf9\u8c61 \uff0c \u7531 \u4ee5\u4e0b \u90e8\u5206 \u7ec4\u6210 \uff1a   NONE   \u5efa\u7b51 \u5efa\u7b51\u7269   \u8d34\u6807   \u53f6\u5b50   \u5730\u9762   \u505c\u653e \u7684 \u8f66\u8f86   \u7c92\u5b50   \u9053\u5177   \u8def\u706f   \u5899\u58c1   \u5168\u90e8   \u975e \u5206\u5c42 \u5730\u56fe   \u4e0b\u8868 \u663e\u793a \u4e86 \u975e \u5206\u5c42 \u5730\u56fe \uff08 \u5355\u51fb \u57ce\u9547 \u540d\u79f0 \u53ef \u67e5\u770b \u5e03\u5c40 \u7684 \u4fef\u89c6 \u89c6\u56fe \u4fef\u89c6\u56fe \uff09 \u3002 \u6240\u6709 \u56fe\u5c42 \u59cb\u7ec8 \u5b58\u5728 \uff0c \u5e76\u4e14 \u65e0\u6cd5 \u5728 \u8fd9\u4e9b \u5730\u56fe \u4e2d \u6253\u5f00 \u6216 \u5173\u95ed \u3002 \u76f4\u5230   Carla   0.9 . 11   \u4e3a\u6b62 \uff0c \u8fd9\u4e9b \u662f \u552f\u4e00 \u53ef\u7528 \u7684 \u5730\u56fe \u7c7b\u578b \u3002   \u7b14\u8bb0   \u7528\u6237 \u53ef\u4ee5 \u4f7f\u7528   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   \u751a\u81f3 \u521b\u5efa \u8981 \u5728   Carla   \u4e2d \u4f7f\u7528 \u7684   \u65b0 \u5730\u56fe   \u3002   \u57ce\u9547   \u6982\u62ec   Town01   \u7531 \u201c T   \u5b57 \u8def\u53e3 \u201d \u7ec4\u6210 \u7684 \u57fa\u672c \u57ce\u9547 \u5e03\u5c40 \u3002   Town02   \u548c   Town01   \u7c7b\u4f3c \uff0c \u4f46\u662f \u66f4 \u5c0f \u3002   Town03   \u6700 \u590d\u6742 \u7684 \u57ce\u9547 \uff0c \u6709   5   \u8f66\u9053 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u3001 \u73af\u5c9b \u3001 \u51f9\u51f8 \u4e0d\u5e73 \u51f9\u51f8\u4e0d\u5e73 \u3001 \u96a7\u9053 \u7b49 \u3002   Town04   \u6709 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u548c \u5c0f\u9547 \u7684 \u65e0\u9650 \u5faa\u73af \u3002   Town05   \u65b9\u5f62 \u7f51\u683c \u57ce\u9547 \uff0c \u6709 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u548c \u4e00\u5ea7 \u6865\u6881 \u3002 \u6bcf\u4e2a \u65b9\u5411 \u6709 \u591a\u4e2a \u8f66\u9053 \u3002 \u5bf9\u4e8e \u6267\u884c \u53d8\u9053 \u5f88 \u6709\u7528 \u3002   Town06   \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u957f \uff0c \u6709 \u8bb8\u591a \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u5165\u53e3 \u548c \u51fa\u53e3 \u3002 \u5b83 \u8fd8\u6709 \u4e00\u4e2a   \u5bc6\u6b47\u6839 \u5de6\u8f6c   \u3002   Town07   \u4e61\u6751 \u73af\u5883 \uff0c \u9053\u8def \u72ed\u7a84 \uff0c \u8c37\u4ed3 \uff0c \u51e0\u4e4e \u6ca1\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u3002   Town10   \u5177\u6709 \u5927\u9053 \u6216 \u957f\u5eca \u7b49 \u4e0d\u540c \u73af\u5883 \u7684 \u57ce\u5e02 \u73af\u5883 \uff0c \u4ee5\u53ca \u66f4 \u771f\u5b9e \u7684 \u7eb9\u7406 \u3002   Town11   \u5177\u6709 \u5927\u9053 \u6216 \u957f\u5eca \u7b49 \u4e0d\u540c \u73af\u5883 \u7684 \u57ce\u5e02 \u73af\u5883 \uff0c \u4ee5\u53ca \u66f4 \u771f\u5b9e \u7684 \u7eb9\u7406 \u3002   Town12   \u4e00\u5f20 \u5305\u542b \u8bb8\u591a \u4e0d\u540c \u533a\u57df \u7684 \u5927 \u5730\u56fe \uff0c \u5305\u62ec \u9ad8\u5c42 \u5efa\u7b51 \u9ad8\u5c42\u5efa\u7b51 \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u73af\u5883 \u3002   Town13   \u4e00\u5f20 \u4e0e   12   \u53f7 \u9547 \u89c4\u6a21 \u76f8\u4f3c \u7684 \u5927 \u5730\u56fe \uff0c \u4f46 \u5177\u6709 \u9c9c\u660e \u7684 \u7279\u8272 \u3002   Town15   \u57fa\u4e8e \u5df4\u585e \u585e\u7f57 \u7f57\u90a3 \u5df4\u585e\u7f57\u90a3 \u81ea\u6cbb \u5927\u5b66 \u9053\u8def \u5e03\u5c40 \u7684 \u5730\u56fe \u3002   HUTB   \u57fa\u4e8e \u6e56\u5357 \u5de5\u5546 \u5546\u5927 \u5927\u5b66 \u5de5\u5546\u5927\u5b66 \u9053\u8def \u5e03\u5c40 \u7684 \u5730\u56fe \u3002   \u5206\u5c42 \u5730\u56fe   \u5206\u5c42 \u5730\u56fe \u7684 \u5e03\u5c40 \u4e0e\u975e \u5206\u5c42 \u5730\u56fe \u76f8\u540c \uff0c \u4f46 \u53ef\u4ee5 \u5173\u95ed \u548c \u6253\u5f00 \u5730\u56fe \u7684 \u56fe\u5c42 \u3002 \u6709 \u4e00\u4e2a \u65e0\u6cd5 \u5173\u95ed \u7684 \u6700\u5c0f \u5e03\u5c40 \uff0c \u7531 \u9053\u8def \u3001 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u7ec4\u6210 \u3002 \u5206\u5c42 \u5730\u56fe \u53ef\u4ee5 \u901a\u8fc7 \u540e\u7f00   _ Opt   \u6765 \u6807\u8bc6 \uff0c \u4f8b\u5982   Town01 _ Opt   \u3002 \u4f7f\u7528 \u8fd9\u4e9b \u5730\u56fe \uff0c \u53ef\u4ee5 \u901a\u8fc7   Python   API   \u52a0\u8f7d   \u548c   \u5378\u8f7d   \u56fe\u5c42 \uff1a   #   \u52a0\u8f7d   \u57ce\u9547 01   \u7684 \u5206\u5c42 \u5730\u56fe \uff0c \u5e26\u6709 \u6700\u5c0f \u5e03\u5c40 \u52a0\u4e0a \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u505c\u653e \u7684 \u8f66\u8f86   world   =   client . load _ world ( ' Town01 _ Opt ' ,   carla . MapLayer . Buildings   |   carla . MapLayer . ParkedVehicles )   #   \u5173\u95ed \u6240\u6709 \u5efa\u7b51   world . unload _ map _ layer ( carla . MapLayer . Buildings )   #   \u6253\u5f00 \u6240\u6709 \u5efa\u7b51   world . load _ map _ layer ( carla . MapLayer . Buildings )   \u67e5\u770b \u6309 \u987a\u5e8f \u52a0\u8f7d \u548c \u5378\u8f7d \u6240\u6709 \u5c42 \u7684 \u793a\u4f8b \uff1a   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   Carla   \u65e8\u5728 \u9488\u5bf9 \u4e13\u4e1a \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u8fdb\u884c \u53ef \u6269\u5c55 \u548c \u9ad8\u5ea6 \u5b9a\u5236 \u3002 \u56e0\u6b64 \uff0c \u9664\u4e86   Carla   \u4e2d \u73b0\u6709 \u7684 \u8bb8\u591a \u5730\u56fe \u548c \u8d44\u4ea7 \u4e4b\u5916 \uff0c \u8fd8 \u53ef\u4ee5 \u521b\u5efa \u548c \u5bfc\u5165 \u65b0 \u7684 \u5730\u56fe \u3001 \u9053\u8def \u7f51\u7edc \u548c \u8d44\u4ea7 \uff0c \u4ee5 \u586b\u5145   Carla   \u4eff\u771f \u4e2d \u7684 \u5b9a\u5236 \u73af\u5883 \u3002 \u4ee5\u4e0b \u6587\u6863 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u6784\u5efa \u548c \u96c6\u6210 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u6240 \u9700 \u7684 \u6b65\u9aa4 \uff1a   \u6982\u8ff0   \u9053\u8def \u6d82\u88c5   \u5b9a\u5236 \u5efa\u7b51   \u751f\u6210 \u5730\u56fe   \u6dfb\u52a0 \u5730\u56fe \u5730\u56fe\u5305   \u6dfb\u52a0 \u5730\u56fe \u6e90   \u66ff\u4ee3 \u65b9\u6cd5","title":"Core   map"},{"location":"core_map/#_1","text":"\u5728 \u8ba8\u8bba \u4e86 \u4e16\u754c \u53ca\u5176 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u540e \uff0c \u662f \u65f6\u5019 \u5c06 \u6240\u6709 \u5185\u5bb9 \u90fd \u653e\u5728 \u9002\u5f53 \u7684 \u4f4d\u7f6e \u5e76 \u4e86\u89e3 \u5730\u56fe \u4ee5\u53ca \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5982\u4f55 \u5bfc\u822a \u3002   \u5730\u56fe   \u6539\u53d8 \u5730\u56fe   \u5730\u6807   \u8def\u5f84 \u70b9   \u8f66\u9053   \u8def\u53e3   \u73af\u5883 \u5bf9\u8c61   \u5728   Carla   \u4e2d \u5bfc\u822a   \u901a\u8fc7 \u8def\u5f84 \u70b9 \u5bfc\u822a   \u751f\u6210 \u5730\u56fe \u5bfc\u822a   Carla   \u5730\u56fe   \u975e \u5206\u5c42 \u5730\u56fe   \u5206\u5c42 \u5730\u56fe   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   \u6982\u8ff0   \u9053\u8def \u6d82\u88c5   painting   \u5b9a\u5236 \u5efa\u7b51   \u751f\u6210 \u5730\u56fe   \u6dfb\u52a0 \u5730\u56fe \u5730\u56fe\u5305   \u6dfb\u52a0 \u5730\u56fe \u6e90   \u66ff\u4ee3 \u65b9\u6cd5","title":"\u7b2c\u4e09 \u3001 \u5730\u56fe \u548c \u5bfc\u822a"},{"location":"core_map/#_2","text":"\u5730\u56fe \u5305\u62ec \u57ce\u9547 \u7684 \u4e09\u7ef4 \u6a21\u578b \u53ca\u5176 \u9053\u8def \u5b9a\u4e49 \u3002 \u5730\u56fe \u7684 \u9053\u8def \u5b9a\u4e49 \u57fa\u4e8e   OpenDRIVE   \u6587\u4ef6 \uff0c \u8fd9\u662f \u4e00\u79cd \u6807\u51c6 \u6807\u51c6\u5316 \u7684 \u5e26 \u6ce8\u91ca \u7684 \u9053\u8def \u5b9a\u4e49 \u683c\u5f0f \u3002   OpenDRIVE   1.4   \u6807\u51c6   \u5b9a\u4e49 \u9053\u8def \u3001 \u8f66\u9053 \u3001 \u8def\u53e3 \u7b49 \u65b9\u5f0f \u51b3\u5b9a \u4e86   Python   API   \u7684 \u529f\u80fd \u4ee5\u53ca \u51b3\u7b56 \u80cc\u540e \u7684 \u63a8\u7406 \u3002   Python   API   \u5145\u5f53 \u9ad8\u7ea7 \u67e5\u8be2 \u7cfb\u7edf \u6765 \u5bfc\u822a \u8fd9\u4e9b \u9053\u8def \u3002 \u5b83 \u4e0d\u65ad \u53d1\u5c55 \u4ee5 \u63d0\u4f9b \u66f4 \u5e7f\u6cdb \u7684 \u5de5\u5177 \u5de5\u5177\u96c6 \u3002","title":"\u5730\u56fe  "},{"location":"core_map/#_3","text":"\u8981 \u6539\u53d8 \u5730\u56fe \uff0c \u4e16\u754c \u4e5f \u5fc5\u987b \u6539\u53d8   \u3002 \u5c06 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u91cd\u65b0 \u521b\u5efa \u4eff\u771f \u3002 \u60a8 \u53ef\u4ee5 \u5728 \u4e16\u754c \u65b0\u4e16\u754c \u4e2d \u4f7f\u7528 \u76f8\u540c \u7684 \u5730\u56fe \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \uff0c \u4e5f \u53ef\u4ee5 \u66f4\u6539 \u5730\u56fe \u548c \u4e16\u754c \uff1a   reload _ world ( )   \u4f7f\u7528 \u76f8\u540c \u7684 \u5730\u56fe \u521b\u5efa \u4e16\u754c \u7684 \u65b0 \u5b9e\u4f8b \u3002   load _ world ( )   \u6539\u53d8 \u5f53\u524d \u5730\u56fe \u5e76 \u521b\u5efa \u4e00\u4e2a \u4e16\u754c \u65b0\u4e16\u754c \u3002   world   =   client . load _ world ( ' Town01 ' )   \u6bcf\u4e2a \u5730\u56fe \u90fd \u6709 \u4e00\u4e2a \u4e0e \u5f53\u524d \u52a0\u8f7d \u7684 \u57ce\u5e02 \u540d\u79f0 \u5339\u914d \u7684   name   \u5c5e\u6027 \uff0c \u4f8b\u5982   Town01   \u3002 \u8981 \u83b7\u53d6 \u53ef\u7528 \u5730\u56fe \u7684 \u5217\u8868 \uff1a   print ( client . get _ available _ maps ( ) )","title":"\u6539\u53d8 \u5730\u56fe  "},{"location":"core_map/#_4","text":"OpenDRIVE   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \u7684 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u5c06 \u8f6c\u6362 \u4e3a   Carla \uff0c \u4f5c\u4e3a \u53ef \u4ece   API   \u67e5\u8be2 \u7684 \u5730\u6807 \u5bf9\u8c61 \u3002 \u4ee5\u4e0b \u65b9\u6cd5 \u548c \u7c7b \u53ef \u7528\u4e8e \u64cd\u4f5c \u548c \u4f7f\u7528 \u5730\u6807 \u5bf9\u8c61 \uff1a   carla . Landmark   \u5bf9\u8c61 \u4ee3\u8868   OpenDRIVE   \u4fe1\u53f7 \u3002 \u8be5\u7c7b \u7684 \u5c5e\u6027 \u548c \u65b9\u6cd5 \u63cf\u8ff0 \u4e86 \u5730\u6807 \u53ca\u5176 \u5f71\u54cd \u533a\u57df \u3002   carla . LandmarkOrientation   \u8bf4\u660e \u5730\u6807 \u76f8\u5bf9 \u4e8e \u9053\u8def \u51e0\u4f55 \u5b9a\u4e49 \u7684 \u65b9\u5411 \u3002   carla . LandmarkType   \u5305\u542b \u5e38\u89c1 \u7684 \u5730\u6807 \u7c7b\u578b \uff0c \u4ee5\u4fbf \u4e8e \u8f6c\u6362 \u4e3a   OpenDRIVE   \u7c7b\u578b \u3002   carla . Waypoint   \u53ef\u4ee5 \u83b7\u5f97 \u4f4d\u4e8e \u5176 \u524d\u65b9 \u4e00\u5b9a \u8ddd\u79bb \u7684 \u5730\u6807 \u3002 \u53ef\u4ee5 \u6307\u5b9a \u8981 \u83b7\u53d6 \u7684 \u5730\u6807 \u7c7b\u578b \u3002   carla . Map   \u68c0\u7d22 \u5730\u6807 \u96c6 \u3002 \u5b83 \u53ef\u4ee5 \u8fd4\u56de \u5730\u56fe \u4e2d \u7684 \u6240\u6709 \u5730\u6807 \uff0c \u6216\u8005 \u5177\u6709 \u5171\u540c   ID \u3001 \u7c7b\u578b \u6216\u7ec4 \u7684 \u5730\u6807 \u3002   carla . World   \u5145\u5f53 \u5730\u6807 \u3001 \u4eff\u771f \u4e2d \u4ee3\u8868 \u4ed6\u4eec \u7684   carla . TrafficSign   \u548c   carla . TrafficLight   \u4e4b\u95f4 \u7684 \u4e2d\u95f4 \u3002   my _ waypoint . get _ landmarks ( 200.0 , True )","title":"\u5730\u6807  "},{"location":"core_map/#_5","text":"carla . Waypoint   \u662f   Carla   \u4e16\u754c \u4e2d \u7684 \u4e09\u7ef4 \u6709 \u5411 \u70b9 \uff0c \u5bf9\u5e94 \u4e8e   OpenDRIVE   \u8f66\u9053 \u3002 \u4e0e \u8def\u5f84 \u70b9 \u76f8\u5173 \u7684 \u6240\u6709 \u4e8b\u60c5 \u90fd \u53d1\u751f \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1b \u53ea \u9700 \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u4e00\u6b21 \u5373\u53ef \u83b7\u53d6 \u5305\u542b \u8def\u5f84 \u70b9 \u4fe1\u606f \u7684   \u5730\u56fe \u5bf9\u8c61   \u3002   \u6bcf\u4e2a \u8def\u5f84 \u70b9 \u90fd \u5305\u542b \u4e00\u4e2a   carla . Transform   \uff0c \u5b83 \u8bf4\u660e \u5176 \u5728 \u5730\u56fe \u4e0a \u7684 \u4f4d\u7f6e \u4ee5\u53ca \u5305\u542b \u8be5 \u8def\u5f84 \u70b9 \u7684 \u8f66\u9053 \u7684 \u65b9\u5411 \u3002 \u53d8\u91cf   road _ id   ,   section _ id   ,   lane _ id   \u548c   s   \u5bf9\u5e94   OpenDRIVE   \u9053\u8def \u3002 \u8def\u5f84 \u70b9   id   \u7684 \u662f \u7531 \u8fd9 \u56db\u4e2a \u503c \u7684 \u54c8\u5e0c \u7ec4\u5408 \u6784\u9020 \u7684 \u3002   \u7b14\u8bb0   \u540c\u4e00 \u9053\u8def \u5185 \u8ddd\u79bb \u5c0f\u4e8e   2   \u5398\u7c73   \u7684 \u8def\u70b9 \u5171\u4eab \u76f8\u540c \u7684 \u8def\u70b9   id   \u3002   \u8def\u5f84 \u70b9 \u4fdd\u5b58 \u6709\u5173 \u5305\u542b \u8be5 \u8def\u5f84 \u70b9 \u7684   \u8f66\u9053   \u7684 \u4fe1\u606f \u3002 \u6b64 \u4fe1\u606f \u5305\u62ec \u8f66\u9053 \u7684 \u5de6 \u8f66\u9053 \u548c \u53f3   \u8f66\u9053 \u6807\u8bb0   \u3001 \u7528\u4e8e \u786e\u5b9a \u5176 \u662f\u5426 \u4f4d\u4e8e \u8def\u53e3 \u5185 \u7684 \u5e03\u5c14 \u5e03\u5c14\u503c \u3001 \u8f66\u9053 \u7c7b\u578b \u3001 \u5bbd\u5ea6 \u548c \u8f66\u9053 \u53d8\u66f4 \u6743\u9650 \u3002   #   \u4ece \u8def\u5f84 \u70b9 \u8bbf\u95ee \u8f66\u9053 \u4fe1\u606f   inside _ junction   =   waypoint . is _ junction ( )   width   =   waypoint . lane _ width   right _ lm _ color   =   waypoint . right _ lane _ marking . color","title":"\u8def\u5f84 \u70b9  "},{"location":"core_map/#_6","text":"OpenDRIVE   1.4   \u6807\u51c6   \u5b9a\u4e49 \u7684 \u901a\u9053 \u7c7b\u578b \u5c06   carla . LaneType   \u4f5c\u4e3a \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u679a\u4e3e \u503c \u8f6c\u6362 \u4e3a   API   \u3002   \u8f66\u9053 \u5468\u56f4 \u7684 \u8f66\u9053 \u6807\u8bb0 \u53ef \u901a\u8fc7   carla . LaneMarking   \u8bbf\u95ee \u3002 \u8f66\u9053 \u6807\u8bb0 \u7531 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u53d8\u91cf \u5b9a\u4e49 \uff1a   color :   carla . LaneMarkingColor   \u662f \u5b9a\u4e49 \u6807\u8bb0 \u989c\u8272 \u7684 \u679a\u4e3e \u503c \u3002   lane _ change :   carla . LaneChange   \u8bf4\u660e \u8f66\u9053 \u662f\u5426 \u5141\u8bb8 \u5de6\u8f6c \u3001 \u53f3\u8f6c \u3001 \u4e24\u8005 \u90fd \u5141\u8bb8 \u6216 \u4e0d \u5141\u8bb8 \u3002   type :   carla . LaneMarkingType   \u662f \u6839\u636e   OpenDRIVE   \u6807\u51c6 \u5b9a\u4e49 \u6807\u8bb0 \u7c7b\u578b \u7684 \u679a\u4e3e \u503c \u3002   width :   \u5b9a\u4e49 \u6807\u8bb0 \u7684 \u539a\u5ea6 \u3002   \u4e0b\u9762 \u7684 \u793a\u4f8b \u663e\u793a \u4e86 \u83b7\u53d6 \u6709\u5173 \u7279\u5b9a \u8def\u5f84 \u70b9 \u7684 \u8f66\u9053 \u7c7b\u578b \u3001 \u8f66\u9053 \u6807\u8bb0 \u548c \u8f66\u9053 \u53d8\u66f4 \u6743\u9650 \u7684 \u4fe1\u606f \uff1a   #   \u83b7\u5f97 \u8def\u5f84 \u70b9 \u8f66\u9053 \u7c7b\u578b   lane _ type   =   waypoint . lane _ type   #   \u83b7\u5f97 \u5de6 \u8f66\u9053 \u6807\u8bb0 \u7684 \u7c7b\u578b   left _ lanemarking _ type   =   waypoint . left _ lane _ marking . type ( )   #   \u83b7\u5f97 \u8be5 \u8def\u5f84 \u70b9 \u53ef \u5f97 \u7684 \u8f66\u9053 \u6539\u53d8   lane _ change   =   waypoint . lane _ change","title":"\u8f66\u9053  "},{"location":"core_map/#_7","text":"carla . Junction   \u4ee3\u8868   OpenDRIVE   \u8fde\u63a5 \u63a5\u70b9 \u8fde\u63a5\u70b9 \u3002 \u6b64\u7c7b \u5305\u542b \u5e26\u6709 \u8fb9\u754c \u6846 \u7684 \u4ea4\u6c47 \u4ea4\u6c47\u5904 \uff0c \u7528\u4e8e \u8bc6\u522b \u5176\u4e2d \u7684 \u8f66\u9053 \u6216 \u8f66\u8f86 \u3002   \u8be5   carla . Junction   \u7c7b \u5305\u542b   get _ waypoints   \u4e3a \u4ea4\u6c47 \u4ea4\u6c47\u5904 \u7684 \u6bcf\u4e2a \u8f66\u9053 \u8fd4\u56de \u4e00\u5bf9 \u8def\u70b9 \u7684 \u65b9\u6cd5 \u3002 \u6bcf \u5bf9 \u4f4d\u4e8e \u4ea4\u754c \u4ea4\u754c\u5904 \u8fb9\u754c \u7684 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u3002   waypoints _ junc   =   my _ junction . get _ waypoints ( )","title":"\u8def\u53e3  "},{"location":"core_map/#_8","text":"Carla   \u5730\u56fe \u4e0a \u7684 \u6bcf\u4e2a \u5bf9\u8c61 \u90fd \u6709 \u4e00\u7ec4 \u5173\u8054 \u7684 \u53d8\u91cf \uff0c \u53ef\u4ee5 \u5728   \u6b64   \u5904 \u627e\u5230 \u8fd9\u4e9b \u53d8\u91cf \u3002 \u8fd9\u4e9b \u53d8\u91cf \u4e2d \u5305\u542b \u4e00\u4e2a   \u552f\u4e00   ID   \uff0c \u53ef \u7528\u4e8e \u5207\u6362 \u8be5 \u5bf9\u8c61 \u5728 \u5730\u56fe \u4e0a \u7684 \u53ef\u89c1 \u6027 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528   Python   API   \u6839\u636e \u6bcf\u4e2a \u73af\u5883 \u5bf9\u8c61 \u7684   \u8bed\u4e49 \u6807\u7b7e   \u83b7\u53d6   \u5176   ID   \uff1a   #   \u83b7\u5f97 \u4e16\u754c \u4e2d \u7684 \u5efa\u7b51   world   =   client . get _ world ( )   env _ objs   =   world . get _ environment _ objects ( carla . CityObjectLabel . Buildings )   #   \u8bbf\u95ee \u5404\u4e2a \u5efa\u7b51   IDs   \u5e76 \u4fdd\u5b58 \u5728 \u96c6\u5408 \u5f53\u4e2d   building _ 01   =   env _ objs [ 0 ]   building _ 02   =   env _ objs [ 1 ]   objects _ to _ toggle   =   { building _ 01 . id ,   building _ 02 . id }   #   \u5207\u6362 \u5efa\u7b51 \u4e3a \u4e0d \u53ef\u89c1   world . enable _ environment _ objects ( objects _ to _ toggle ,   False )   #   \u5207\u6362 \u5efa\u7b51 \u4e3a \u53ef\u89c1   world . enable _ environment _ objects ( objects _ to _ toggle ,   True )   \u67e5\u770b \u5207\u6362 \u4e0d\u540c \u5bf9\u8c61 \u7684 \u793a\u4f8b \uff1a","title":"\u73af\u5883 \u5bf9\u8c61  "},{"location":"core_map/#carla","text":"Carla   \u4e2d \u7684 \u5bfc\u822a \u662f \u901a\u8fc7   Waypoint   API   \uff08 \u6765\u81ea   carla . Waypoint   \u548c   carla . Map   \u7684 \u65b9\u6cd5 \u7ec4\u5408 \uff09 \u8fdb\u884c \u7ba1\u7406 \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5fc5\u987b \u9996\u5148 \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u4ee5 \u68c0\u7d22 \u5305\u542b \u8def\u5f84 \u70b9 \u4fe1\u606f \u7684 \u5730\u56fe \u5bf9\u8c61 \u3002 \u8fd9 \u53ea \u9700\u8981 \u4e00\u6b21 \uff0c \u6240\u6709 \u540e\u7eed \u67e5\u8be2 \u90fd \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6267\u884c \u3002","title":"\u5728   Carla   \u4e2d \u5bfc\u822a  "},{"location":"core_map/#_9","text":"Waypoint   API   \u516c\u5f00 \u4e86 \u5141\u8bb8 \u8def\u5f84 \u70b9 \u76f8\u4e92 \u4e92\u8fde \u8fde\u63a5 \u76f8\u4e92\u8fde\u63a5 \u5e76 \u6784\u5efa \u6cbf \u9053\u8def \u4f9b \u8f66\u8f86 \u5bfc\u822a \u7684 \u8def\u5f84 \u7684 \u65b9\u6cd5 \uff1a   next ( d )   \u5728 \u8f66\u9053 \u65b9\u5411 \u4e0a   \u521b\u5efa \u8fd1\u4f3c \u8ddd\u79bb   d   \u5185 \u7684 \u8def\u5f84 \u70b9 \u5217\u8868 \u3002 \u8be5 \u5217\u8868 \u5305\u542b \u6bcf\u4e2a \u53ef\u80fd \u504f\u5dee \u7684 \u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002   previous ( d )   \u5728 \u8f66\u9053 \u76f8\u53cd \u7684 \u65b9\u5411 \u4e0a   \u521b\u5efa \u8fd1\u4f3c \u8ddd\u79bb \u5c0f\u4e8e   d   \u7684 \u8def\u5f84 \u70b9 \u5217\u8868 \u3002 \u8be5 \u5217\u8868 \u5305\u542b \u6bcf\u4e2a \u53ef\u80fd \u504f\u5dee \u7684 \u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002   next _ until _ lane _ end ( d )   \u548c   previous _ until _ lane _ start ( d )   \u8fd4\u56de \u76f8\u8ddd \u4e00\u5b9a \u8ddd\u79bb   d   \u7684 \u8def\u5f84 \u70b9 \u5217\u8868 \u3002 \u8fd9\u4e9b \u5217\u8868 \u5206\u522b \u4ece \u5f53\u524d \u8def\u5f84 \u70b9\u5230 \u5176 \u8f66\u9053 \u7684 \u7ec8\u70b9 \u548c \u8d77\u70b9 \u3002   get _ right _ lane ( )   \u548c   get _ left _ lane ( )   \u8fd4\u56de \u76f8\u90bb \u8f66\u9053 \u4e2d \u7684 \u7b49 \u8def\u5f84 \u70b9 \uff08 \u5982\u679c \u5b58\u5728 \uff09 \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u627e\u5230 \u53f3 / \u5de6 \u8f66\u9053 \u4e0a \u7684 \u4e0b \u4e00\u4e2a \u8def\u70b9 \u5e76 \u79fb\u52a8 \u5230 \u8be5 \u8def\u70b9 \u6765 \u8fdb\u884c \u53d8\u9053 \u64cd\u4f5c \u3002   #   \u627e\u5230 \u524d\u9762   2   \u7c73 \u7684 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9   waypoint   =   waypoint . next ( 2.0 )","title":"\u901a\u8fc7 \u8def\u5f84 \u70b9 \u5bfc\u822a  "},{"location":"core_map/#_10","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef \u9700\u8981 \u5411 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53d1\u51fa \u8bf7\u6c42 \u53d1\u51fa\u8bf7\u6c42 \u6765 \u83b7\u53d6   . xodr   \u5730\u56fe \u6587\u4ef6 \u5e76 \u5c06 \u5176 \u89e3\u6790 \u4e3a   carla . Map   \u5bf9\u8c61 \u3002 \u8fd9 \u53ea \u9700\u8981 \u505a \u4e00\u6b21 \u3002   \u83b7\u53d6 \u5730\u56fe \u5bf9\u8c61 \uff1a   map   =   world . get _ map ( )   \u5730\u56fe \u5bf9\u8c61 \u5305\u542b \u7528\u4e8e \u521b\u5efa \u8f66\u8f86 \u7684   \u63a8\u8350 \u751f\u6210 \u70b9   \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u65b9\u6cd5 \u83b7\u53d6 \u8fd9\u4e9b \u751f\u6210 \u70b9 \u7684 \u5217\u8868 \uff0c \u6bcf\u4e2a \u751f\u6210 \u70b9 \u90fd \u5305\u542b   carla . Transform   \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u751f\u6210 \u70b9 \u53ef\u80fd \u5df2 \u88ab \u5360\u7528 \uff0c \u4ece\u800c \u5bfc\u81f4 \u7531\u4e8e \u78b0\u649e \u800c \u5bfc\u81f4 \u8f66\u8f86 \u521b\u5efa \u5931\u8d25 \u3002   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   \u60a8 \u53ef\u4ee5 \u901a\u8fc7   \u83b7\u53d6   \u8ddd \u7279\u5b9a \u4f4d\u7f6e \u6216 \u7279\u5b9a   road _ id   \u3001   lane _ id   \u548c   s   \u4f4d\u7f6e \u6700\u8fd1 \u7684 \u8def\u5f84 \u70b9 \u4ee5\u53ca \u5730\u56fe   OpenDRIVE   \u5b9a\u4e49 \u4e2d \u7684 \u503c\u6765 \u5f00\u59cb \u4f7f\u7528 \u8def\u5f84 \u70b9 \uff1a   #   \u9a7e\u9a76 \u8f66\u9053 \u6216 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u4e2d\u5fc3 \u6700\u8fd1 \u7684 \u8def\u5f84 \u70b9 \u3002   waypoint01   =   map . get _ waypoint ( vehicle . get _ location ( ) , project _ to _ road = True ,   lane _ type = ( carla . LaneType . Driving   |   carla . LaneType . Sidewalk ) )   #   \u6700\u8fd1 \u7684 \u8def\u5f84 \u70b9 \uff0c \u540c\u65f6 \u6307\u5b9a   OpenDRIVE   \u53c2\u6570 \u3002   waypoint02   =   map . get _ waypoint _ xodr ( road _ id , lane _ id , s )   \u4e0b\u9762 \u7684 \u793a\u4f8b \u5c55\u793a \u4e86 \u5982\u4f55   \u751f\u6210 \u8def\u70b9 \u96c6\u5408   \u4ee5 \u53ef\u89c6 \u53ef\u89c6\u5316 \u57ce\u5e02 \u8f66\u9053 \u3002 \u8fd9 \u5c06 \u4e3a \u6574\u4e2a \u5730\u56fe \u4e0a \u7684 \u6bcf\u6761 \u9053\u8def \u548c \u8f66\u9053 \u521b\u5efa \u8def\u5f84 \u70b9 \u3002 \u5b83\u4eec \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u5927\u7ea6 \u4e3a   2   \u7c73 \uff1a   waypoint _ list   =   map . generate _ waypoints ( 2.0 )   \u8981   \u751f\u6210 \u9053\u8def \u62d3\u6251 \u7684 \u6700\u5c0f \u56fe   \uff0c \u8bf7 \u4f7f\u7528 \u4e0b\u9762 \u7684 \u793a\u4f8b \u3002 \u8fd9 \u5c06 \u8fd4\u56de \u8def\u5f84 \u70b9 \u5bf9 \uff08 \u5143\u7ec4 \uff09 \u7684 \u5217\u8868 \u3002 \u6bcf \u5bf9 \u4e2d \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u5143\u7d20 \u4e0e \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u5143\u7d20 \u8fde\u63a5 \uff0c \u4e24\u8005 \u90fd \u5b9a\u4e49 \u4e86 \u5730\u56fe \u4e2d \u6bcf\u6761 \u8f66\u9053 \u7684 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u3002 \u6709\u5173 \u6b64 \u65b9\u6cd5 \u7684 \u66f4 \u591a \u4fe1\u606f \u53ef\u4ee5 \u5728   PythonAPI   \u4e2d \u627e\u5230 \u3002   waypoint _ tuple _ list   =   map . get _ topology ( )   \u4e0b\u9762 \u7684 \u793a\u4f8b   \u5c06   carla . Transform   \u8f6c\u6362 \u4e3a \u5730\u7406 \u7eac\u5ea6 \u5730\u7406\u7eac\u5ea6 \u548c \u7ecf\u5ea6 \u5750\u6807   \uff0c \u91c7\u7528   carla . GeoLocation   \u7684 \u5f62\u5f0f \uff1a   my _ geolocation   =   map . transform _ to _ geolocation ( vehicle . transform )   \u4f7f\u7528 \u4ee5\u4e0b \u793a\u4f8b \u5c06   OpenDRIVE   \u683c\u5f0f \u7684   \u9053\u8def \u4fe1\u606f \u4fdd\u5b58 \u5230 \u78c1\u76d8   \uff1a   info _ map   =   map . to _ opendrive ( )","title":"\u751f\u6210 \u5730\u56fe \u5bfc\u822a  "},{"location":"core_map/#carla_1","text":"Carla   \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf \u4e2d\u6709 \u516b\u4e2a \u57ce\u9547 \uff0c \u6bcf\u4e2a \u57ce\u9547 \u90fd \u6709 \u4e24\u79cd \u5730\u56fe \uff0c \u975e \u5206\u5c42 \u5730\u56fe \u548c \u5206\u5c42 \u5730\u56fe \u3002   \u56fe\u5c42   \u662f \u6307 \u5730\u56fe \u4e2d \u5206\u7ec4 \u7684 \u5bf9\u8c61 \uff0c \u7531 \u4ee5\u4e0b \u90e8\u5206 \u7ec4\u6210 \uff1a   NONE   \u5efa\u7b51 \u5efa\u7b51\u7269   \u8d34\u6807   \u53f6\u5b50   \u5730\u9762   \u505c\u653e \u7684 \u8f66\u8f86   \u7c92\u5b50   \u9053\u5177   \u8def\u706f   \u5899\u58c1   \u5168\u90e8","title":"Carla   \u5730\u56fe  "},{"location":"core_map/#_11","text":"\u4e0b\u8868 \u663e\u793a \u4e86 \u975e \u5206\u5c42 \u5730\u56fe \uff08 \u5355\u51fb \u57ce\u9547 \u540d\u79f0 \u53ef \u67e5\u770b \u5e03\u5c40 \u7684 \u4fef\u89c6 \u89c6\u56fe \u4fef\u89c6\u56fe \uff09 \u3002 \u6240\u6709 \u56fe\u5c42 \u59cb\u7ec8 \u5b58\u5728 \uff0c \u5e76\u4e14 \u65e0\u6cd5 \u5728 \u8fd9\u4e9b \u5730\u56fe \u4e2d \u6253\u5f00 \u6216 \u5173\u95ed \u3002 \u76f4\u5230   Carla   0.9 . 11   \u4e3a\u6b62 \uff0c \u8fd9\u4e9b \u662f \u552f\u4e00 \u53ef\u7528 \u7684 \u5730\u56fe \u7c7b\u578b \u3002   \u7b14\u8bb0   \u7528\u6237 \u53ef\u4ee5 \u4f7f\u7528   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   \u751a\u81f3 \u521b\u5efa \u8981 \u5728   Carla   \u4e2d \u4f7f\u7528 \u7684   \u65b0 \u5730\u56fe   \u3002   \u57ce\u9547   \u6982\u62ec   Town01   \u7531 \u201c T   \u5b57 \u8def\u53e3 \u201d \u7ec4\u6210 \u7684 \u57fa\u672c \u57ce\u9547 \u5e03\u5c40 \u3002   Town02   \u548c   Town01   \u7c7b\u4f3c \uff0c \u4f46\u662f \u66f4 \u5c0f \u3002   Town03   \u6700 \u590d\u6742 \u7684 \u57ce\u9547 \uff0c \u6709   5   \u8f66\u9053 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u3001 \u73af\u5c9b \u3001 \u51f9\u51f8 \u4e0d\u5e73 \u51f9\u51f8\u4e0d\u5e73 \u3001 \u96a7\u9053 \u7b49 \u3002   Town04   \u6709 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u548c \u5c0f\u9547 \u7684 \u65e0\u9650 \u5faa\u73af \u3002   Town05   \u65b9\u5f62 \u7f51\u683c \u57ce\u9547 \uff0c \u6709 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u548c \u4e00\u5ea7 \u6865\u6881 \u3002 \u6bcf\u4e2a \u65b9\u5411 \u6709 \u591a\u4e2a \u8f66\u9053 \u3002 \u5bf9\u4e8e \u6267\u884c \u53d8\u9053 \u5f88 \u6709\u7528 \u3002   Town06   \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u957f \uff0c \u6709 \u8bb8\u591a \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u5165\u53e3 \u548c \u51fa\u53e3 \u3002 \u5b83 \u8fd8\u6709 \u4e00\u4e2a   \u5bc6\u6b47\u6839 \u5de6\u8f6c   \u3002   Town07   \u4e61\u6751 \u73af\u5883 \uff0c \u9053\u8def \u72ed\u7a84 \uff0c \u8c37\u4ed3 \uff0c \u51e0\u4e4e \u6ca1\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u3002   Town10   \u5177\u6709 \u5927\u9053 \u6216 \u957f\u5eca \u7b49 \u4e0d\u540c \u73af\u5883 \u7684 \u57ce\u5e02 \u73af\u5883 \uff0c \u4ee5\u53ca \u66f4 \u771f\u5b9e \u7684 \u7eb9\u7406 \u3002   Town11   \u5177\u6709 \u5927\u9053 \u6216 \u957f\u5eca \u7b49 \u4e0d\u540c \u73af\u5883 \u7684 \u57ce\u5e02 \u73af\u5883 \uff0c \u4ee5\u53ca \u66f4 \u771f\u5b9e \u7684 \u7eb9\u7406 \u3002   Town12   \u4e00\u5f20 \u5305\u542b \u8bb8\u591a \u4e0d\u540c \u533a\u57df \u7684 \u5927 \u5730\u56fe \uff0c \u5305\u62ec \u9ad8\u5c42 \u5efa\u7b51 \u9ad8\u5c42\u5efa\u7b51 \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u73af\u5883 \u3002   Town13   \u4e00\u5f20 \u4e0e   12   \u53f7 \u9547 \u89c4\u6a21 \u76f8\u4f3c \u7684 \u5927 \u5730\u56fe \uff0c \u4f46 \u5177\u6709 \u9c9c\u660e \u7684 \u7279\u8272 \u3002   Town15   \u57fa\u4e8e \u5df4\u585e \u585e\u7f57 \u7f57\u90a3 \u5df4\u585e\u7f57\u90a3 \u81ea\u6cbb \u5927\u5b66 \u9053\u8def \u5e03\u5c40 \u7684 \u5730\u56fe \u3002   HUTB   \u57fa\u4e8e \u6e56\u5357 \u5de5\u5546 \u5546\u5927 \u5927\u5b66 \u5de5\u5546\u5927\u5b66 \u9053\u8def \u5e03\u5c40 \u7684 \u5730\u56fe \u3002","title":"\u975e \u5206\u5c42 \u5730\u56fe  "},{"location":"core_map/#_12","text":"\u5206\u5c42 \u5730\u56fe \u7684 \u5e03\u5c40 \u4e0e\u975e \u5206\u5c42 \u5730\u56fe \u76f8\u540c \uff0c \u4f46 \u53ef\u4ee5 \u5173\u95ed \u548c \u6253\u5f00 \u5730\u56fe \u7684 \u56fe\u5c42 \u3002 \u6709 \u4e00\u4e2a \u65e0\u6cd5 \u5173\u95ed \u7684 \u6700\u5c0f \u5e03\u5c40 \uff0c \u7531 \u9053\u8def \u3001 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u7ec4\u6210 \u3002 \u5206\u5c42 \u5730\u56fe \u53ef\u4ee5 \u901a\u8fc7 \u540e\u7f00   _ Opt   \u6765 \u6807\u8bc6 \uff0c \u4f8b\u5982   Town01 _ Opt   \u3002 \u4f7f\u7528 \u8fd9\u4e9b \u5730\u56fe \uff0c \u53ef\u4ee5 \u901a\u8fc7   Python   API   \u52a0\u8f7d   \u548c   \u5378\u8f7d   \u56fe\u5c42 \uff1a   #   \u52a0\u8f7d   \u57ce\u9547 01   \u7684 \u5206\u5c42 \u5730\u56fe \uff0c \u5e26\u6709 \u6700\u5c0f \u5e03\u5c40 \u52a0\u4e0a \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u505c\u653e \u7684 \u8f66\u8f86   world   =   client . load _ world ( ' Town01 _ Opt ' ,   carla . MapLayer . Buildings   |   carla . MapLayer . ParkedVehicles )   #   \u5173\u95ed \u6240\u6709 \u5efa\u7b51   world . unload _ map _ layer ( carla . MapLayer . Buildings )   #   \u6253\u5f00 \u6240\u6709 \u5efa\u7b51   world . load _ map _ layer ( carla . MapLayer . Buildings )   \u67e5\u770b \u6309 \u987a\u5e8f \u52a0\u8f7d \u548c \u5378\u8f7d \u6240\u6709 \u5c42 \u7684 \u793a\u4f8b \uff1a","title":"\u5206\u5c42 \u5730\u56fe  "},{"location":"core_map/#_13","text":"Carla   \u65e8\u5728 \u9488\u5bf9 \u4e13\u4e1a \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u8fdb\u884c \u53ef \u6269\u5c55 \u548c \u9ad8\u5ea6 \u5b9a\u5236 \u3002 \u56e0\u6b64 \uff0c \u9664\u4e86   Carla   \u4e2d \u73b0\u6709 \u7684 \u8bb8\u591a \u5730\u56fe \u548c \u8d44\u4ea7 \u4e4b\u5916 \uff0c \u8fd8 \u53ef\u4ee5 \u521b\u5efa \u548c \u5bfc\u5165 \u65b0 \u7684 \u5730\u56fe \u3001 \u9053\u8def \u7f51\u7edc \u548c \u8d44\u4ea7 \uff0c \u4ee5 \u586b\u5145   Carla   \u4eff\u771f \u4e2d \u7684 \u5b9a\u5236 \u73af\u5883 \u3002 \u4ee5\u4e0b \u6587\u6863 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u6784\u5efa \u548c \u96c6\u6210 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u6240 \u9700 \u7684 \u6b65\u9aa4 \uff1a   \u6982\u8ff0   \u9053\u8def \u6d82\u88c5   \u5b9a\u5236 \u5efa\u7b51   \u751f\u6210 \u5730\u56fe   \u6dfb\u52a0 \u5730\u56fe \u5730\u56fe\u5305   \u6dfb\u52a0 \u5730\u56fe \u6e90   \u66ff\u4ee3 \u65b9\u6cd5","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe    "},{"location":"core_sensors/","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u6570\u636e   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u4ece \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u4e2d \u68c0\u7d22 \u6570\u636e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5b83\u4eec \u5bf9\u4e8e \u4e3a \u9a7e\u9a76 \u4ee3\u7406 \u521b\u9020 \u5b66\u4e60 \u73af\u5883 \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002   \u672c\u9875 \u603b\u7ed3 \u4e86 \u5f00\u59cb \u5904\u7406 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6240 \u9700 \u7684 \u4e00\u5207 \u3002 \u5b83 \u4ecb\u7ecd \u4e86 \u53ef\u7528 \u7684 \u7c7b\u578b \u53ca\u5176 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u7684 \u5206\u6b65 \u6307\u5357 \u3002 \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u53ef\u4ee5 \u5728   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u4e2d \u627e\u5230 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9010\u6b65 \u4ecb\u7ecd   \u8bbe\u7f6e   \u751f\u6210   \u76d1\u542c   \u6570\u636e   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7c7b\u578b   \u76f8\u673a   \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u5176\u4ed6   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9010\u6b65 \u4ecb\u7ecd   carla . Sensor   \u7c7b \u5b9a\u4e49 \u4e86 \u4e00\u79cd \u7279\u6b8a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u80fd\u591f \u6d4b\u91cf \u548c \u4f20\u8f93 \u6570\u636e \u4f20\u8f93\u6570\u636e \u3002   \u8fd9\u4e2a \u6570\u636e \u662f \u4ec0\u4e48 \uff1f   \u6839\u636e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7c7b\u578b \uff0c \u5b83 \u53d8\u5316 \u5f88\u5927 \u53d8\u5316\u5f88\u5927 \u3002 \u6240\u6709 \u7c7b\u578b \u7684 \u6570\u636e \u90fd \u7ee7\u627f \u81ea \u901a\u7528 \u7684   carla . SensorData   \u3002   \u4ed6\u4eec \u4ec0\u4e48 \u65f6\u5019 \u68c0\u7d22 \u6570\u636e \uff1f   \u5728 \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u4e0a \u6216 \u5728 \u6ce8\u518c \u67d0\u4e2a \u4e8b\u4ef6 \u65f6 \u3002 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7c7b\u578b \u3002   \u4ed6\u4eec \u5982\u4f55 \u68c0\u7d22 \u6570\u636e \uff1f   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u6709 \u4e00\u79cd \u63a5\u6536 \u548c \u7ba1\u7406 \u6570\u636e \u7684   listen ( )   \u65b9\u6cd5 \u3002   \u5c3d\u7ba1 \u5b58\u5728 \u5dee\u5f02 \uff0c \u4f46 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4f7f\u7528 \u65b9\u5f0f \u90fd \u76f8\u4f3c \u3002   \u8bbe\u7f6e   \u4e0e \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e00\u6837 \uff0c \u627e\u5230 \u84dd\u56fe \u5e76 \u8bbe\u7f6e \u7279\u5b9a \u5c5e\u6027 \u3002 \u8fd9 \u5728 \u5904\u7406 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65f6 \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002 \u4ed6\u4eec \u7684 \u5c5e\u6027 \u5c06 \u51b3\u5b9a \u6240 \u83b7\u5f97 \u7684 \u7ed3\u679c \u3002 \u8fd9\u4e9b \u5728   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u4e2d\u6709 \u8be6\u7ec6 \u4ecb\u7ecd \u3002   \u4ee5\u4e0b \u793a\u4f8b \u8bbe\u7f6e \u4eea\u8868 \u4eea\u8868\u677f \u9ad8\u6e05 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u3002   #   \u627e\u5230 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u84dd\u56fe \u3002   blueprint   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   #   \u4fee\u6539 \u84dd\u56fe \u5c5e\u6027 \u6765 \u8bbe\u7f6e \u56fe\u50cf \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u548c \u89c6\u91ce   blueprint . set _ attribute ( ' image _ size _ x ' ,   ' 1920 ' )   blueprint . set _ attribute ( ' image _ size _ y ' ,   ' 1080 ' )   blueprint . set _ attribute ( ' fov ' ,   ' 110 ' )   #   \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09   blueprint . set _ attribute ( ' sensor _ tick ' ,   ' 1.0 ' )   \u751f\u6210   attachment _ to   \u548c   attachment _ type   \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e94 \u8fde\u63a5 \u5230\u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u901a\u5e38 \u662f \u8f66\u8f86 \uff09 \u4e0a \uff0c \u4ee5 \u8ddf\u8e2a \u5b83 \u5e76 \u6536\u96c6 \u4fe1\u606f \u3002 \u9644\u4ef6 \u7c7b\u578b \u5c06 \u786e\u5b9a \u5176 \u5173\u4e8e \u6240\u8ff0 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u5982\u4f55 \u66f4\u65b0 \u3002   \u521a\u6027 \u9644\u4ef6 ( Rigid   attachment ) \u3002   \u52a8 \u5bf9\u4e8e \u5176\u7236 \u4f4d\u7f6e \u662f \u4e25\u683c \u7684 \u3002 \u8fd9 \u662f\u4ece \u4eff\u771f \u4e2d \u68c0\u7d22 \u6570\u636e \u7684 \u5408\u9002 \u9644\u4ef6 \u3002   \u5f39\u7c27 \u81c2 \u9644\u4ef6 ( SpringArm   attachment ) \u3002   \u8fd0\u52a8 \u53d8\u5f97 \u8f7b\u677e \uff0c \u51e0\u4e4e \u6ca1\u6709 \u52a0\u901f \u548c \u51cf\u901f \u3002 \u4ec5 \u5efa\u8bae \u4f7f\u7528 \u6b64 \u9644\u4ef6 \u6765 \u5f55\u5236 \u4eff\u771f \u89c6\u9891 \u3002 \u66f4\u65b0 \u6444\u50cf \u6444\u50cf\u673a \u4f4d\u7f6e \u65f6 \uff0c \u79fb\u52a8 \u5e73\u6ed1 \u5e76\u4e14 \u907f\u514d \u201c \u8df3\u8dc3 \u201d \u3002   \u5f39\u7c27 \u81c2 \u5e7d\u7075 \u9644\u4ef6 ( SpringArmGhost   attachment ) \u3002   \u4e0e \u524d \u4e00\u4e2a \u7c7b\u4f3c \uff0c \u4f46 \u6ca1\u6709 \u8fdb\u884c \u78b0\u649e \u6d4b\u8bd5 \uff0c \u56e0\u6b64 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6216\u4f20\u611f\u5668 \u53ef\u4ee5 \u7a7f\u8fc7 \u5899\u58c1 \u6216 \u5176\u4ed6 \u51e0\u4f55 \u5f62\u72b6 \u3002   transform   =   carla . Transform ( carla . Location ( x = 0.8 ,   z = 1.7 ) )   sensor   =   world . spawn _ actor ( blueprint ,   transform ,   attach _ to = my _ vehicle )   \u91cd\u8981   \u5f53 \u5e26\u6709 \u9644\u4ef6 \u751f\u6210 \u65f6 \uff0c \u4f4d\u7f6e \u5fc5\u987b \u76f8\u5bf9 \u4e8e\u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u76d1\u542c   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u6709 \u4e00\u4e2a   listen ( )   \u65b9\u6cd5 \u3002 \u6bcf\u6b21 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e \u65f6 \u90fd \u4f1a \u8c03\u7528 \u6b64 \u51fd\u6570 \u3002   \u53c2\u6570   callback   \u662f \u4e00\u4e2a   lambda   \u51fd\u6570   \u3002 \u5b83 \u63cf\u8ff0 \u4e86 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e \u65f6 \u5e94\u8be5 \u505a \u4ec0\u4e48 \u3002 \u8fd9 \u5fc5\u987b \u5c06 \u68c0\u7d22 \u7684 \u6570\u636e \u4f5c\u4e3a \u53c2\u6570 \u3002   #   \u6bcf\u6b21 \u76f8\u673a \u751f\u6210 \u65b0 \u56fe\u50cf \u65f6 \uff0c \u90fd \u4f1a \u8c03\u7528   do _ something ( ) \u3002   sensor . listen ( lambda   data :   do _ something ( data ) )   ...   #   \u6bcf\u6b21 \u68c0\u6d4b \u5230 \u78b0\u649e \u65f6 \uff0c \u6b64 \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u4f1a \u6253\u5370 \u3002   def   callback ( event ) :   for   actor _ id   in   event :   vehicle   =   world _ ref ( ) . get _ actor ( actor _ id )   print ( ' Vehicle   too   close :   % s '   %   vehicle . type _ id )   sensor02 . listen ( callback )   \u6570\u636e   \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5bf9\u8c61 \u90fd \u5177\u6709 \u5c06 \u4fe1\u606f \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u7684 \u529f\u80fd \u3002 \u8fd9 \u5c06 \u5141\u8bb8 \u5b83 \u5728 \u5176\u4ed6 \u73af\u5883 \u4e2d \u4f7f\u7528 \u3002   \u4e0d\u540c \u7c7b\u578b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5dee\u5f02 \u5f88\u5927 \u3002 \u67e5\u770b   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u4ee5 \u83b7\u5f97 \u8be6\u7ec6 \u8bf4\u660e \u3002 \u7136\u800c \uff0c \u6240\u6709 \u8fd9\u4e9b \u90fd \u603b\u662f \u5e26\u6709 \u4e00\u4e9b \u57fa\u672c \u4fe1\u606f \u7684 \u6807\u7b7e \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u8f6e\u6570 \u5f00\u59cb \u4ee5\u6765 \u4ee5 \u4eff\u771f \u79d2 \u4e3a \u5355\u4f4d \u7684 \u6d4b\u91cf \u65f6\u95f4 \u6233 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4e16\u754c \u53c2\u8003 \u3002   \u91cd\u8981   is _ listening   \u662f \u4e00\u79cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65b9\u6cd5 \uff0c \u7528\u4e8e \u68c0\u67e5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u5426 \u6709 \u901a\u8fc7   listen   \u6ce8\u518c \u7684 \u56de\u8c03 \u3002   stop ( )   \u662f \u4e00\u79cd \u505c\u6b62 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u76d1\u542c \u7684   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65b9\u6cd5   \u3002   sensor _ tick   \u662f \u4e00\u4e2a   \u84dd\u56fe \u5c5e\u6027   \uff0c \u7528\u4e8e \u8bbe\u7f6e \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \u4e4b\u95f4 \u7684 \u6a21\u62df \u65f6\u95f4 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7c7b\u578b   \u76f8\u673a   \u4ece \u4ed6\u4eec \u7684 \u89d2\u5ea6 \u62cd\u6444 \u4e16\u754c \u3002 \u5bf9\u4e8e \u8fd4\u56de   carla . Image   \u7684 \u76f8\u673a \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u8f85\u52a9 \u7c7b   carla . ColorConverter   \u4fee\u6539 \u56fe\u50cf \u4ee5 \u8868\u793a \u4e0d\u540c \u7684 \u4fe1\u606f \u3002   \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4   \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e   \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8f93\u51fa   \u6982\u8ff0   \u6df1\u5ea6   carla . Image   \u5728 \u7070\u5ea6 \u56fe\u4e2d \u6e32\u67d3 \u89c6\u91ce \u4e2d \u5143\u7d20 \u7684 \u6df1\u5ea6 \u3002   RGB   carla . Image   \u63d0\u4f9b \u6e05\u6670 \u7684 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u89c6\u91ce \u3002 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u5c31 \u50cf \u4e00\u5f20 \u6b63\u5e38 \u7684 \u73b0\u573a \u7167\u7247 \u3002   \u5149\u6d41   carla . Image   \u6e32\u67d3 \u76f8\u673a \u4e2d \u6bcf\u4e2a \u50cf\u7d20 \u7684 \u8fd0\u52a8 \u3002   \u8bed\u4e49 \u5206\u5272   carla . Image   \u6839\u636e \u5143\u7d20 \u7684 \u6807\u7b7e \u4ee5 \u7279\u5b9a \u989c\u8272 \u6e32\u67d3 \u89c6\u91ce \u4e2d \u7684 \u5143\u7d20 \u3002   \u5b9e\u4f8b \u5206\u5272   carla . Image   \u6839\u636e \u5143\u7d20 \u7684 \u6807\u7b7e \u548c \u552f\u4e00 \u7684 \u5bf9\u8c61   ID   \u4ee5 \u7279\u5b9a \u989c\u8272 \u6e32\u67d3 \u89c6\u91ce \u4e2d \u7684 \u5143\u7d20 \u3002   DVS   carla . DVSEventArray   \u4f5c\u4e3a \u4e8b\u4ef6 \u6d41 \u5f02\u6b65 \u6d4b\u91cf \u4eae\u5ea6 \u5f3a\u5ea6 \u7684 \u53d8\u5316 \u3002   \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u5f53 \u9644\u52a0 \u7684 \u5bf9\u8c61 \u6ce8\u518c \u7279\u5b9a \u4e8b\u4ef6 \u65f6 \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e \u3002   \u89e6\u53d1 \u65f6   \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e   \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8f93\u51fa   \u6982\u8ff0   \u78b0\u649e   carla . CollisionEvent   \u68c0\u7d22 \u5176\u7236 \u7ea7 \u4e0e \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u95f4 \u7684 \u78b0\u649e \u3002   \u538b\u7ebf   carla . LaneInvasionEvent   \u5f53 \u5176\u7236 \u7ea7 \u7a7f\u8fc7 \u8f66\u9053 \u6807\u8bb0 \u65f6 \u8fdb\u884c \u6ce8\u518c \u3002   \u969c\u788d   carla . ObstacleDetectionEvent   \u68c0\u6d4b \u5176\u7236 \u7ea7 \u524d\u65b9 \u53ef\u80fd \u5b58\u5728 \u7684 \u969c\u788d \u969c\u788d\u7269 \u3002   \u5176\u4ed6   \u4e0d\u540c \u7684 \u529f\u80fd \uff0c \u4f8b\u5982 \u5bfc\u822a \u3001 \u7269\u7406 \u5c5e\u6027 \u6d4b\u91cf \u548c \u573a\u666f \u7684 \u4e8c\u7ef4 / \u4e09\u7ef4 \u70b9\u56fe \u3002   \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4   \u68c0\u7d22 \u6570\u636e   \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8f93\u51fa   \u6982\u8ff0   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf ( GNSS )   carla . GNSSMeasurement   \u68c0\u7d22 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5730\u7406 \u4f4d\u7f6e \u5730\u7406\u4f4d\u7f6e \u3002   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 ( IMU )   carla . IMUMeasurement   \u5305\u62ec \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \u3001 \u9640\u87ba \u9640\u87ba\u4eea \u548c \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \u3002   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe ( LIDAR )   carla . LidarMeasurement   \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002 \u751f\u6210 \u5305\u542b \u6bcf\u4e2a \u70b9 \u7684 \u5750\u6807 \u548c \u5f3a\u5ea6 \u7684   4D   \u70b9\u4e91 \uff0c \u4ee5 \u5bf9 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u8fdb\u884c \u5efa\u6a21 \u3002   \u96f7\u8fbe   carla . RadarMeasurement   \u4e8c\u7ef4 \u70b9\u56fe \u5efa\u6a21 \u89c6\u7ebf \u4e2d \u7684 \u5143\u7d20 \u53ca\u5176 \u76f8\u5bf9 \u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8fd0\u52a8 \u3002   \u8d23\u4efb \u654f\u611f \u5b89\u5168 ( RSS )   carla . RssResponse   \u6839\u636e \u5b89\u5168 \u68c0\u67e5 \u5b89\u5168\u68c0\u67e5 \u4fee\u6539 \u5e94\u7528 \u4e8e \u8f66\u8f86 \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u3002 \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e0d\u540c \uff0c \u5e76\u4e14 \u6709 \u4e13\u95e8 \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u6587\u6863   \u3002   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe   carla . SemanticLidarMeasurement   \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002 \u751f\u6210   3D   \u70b9\u4e91 \uff0c \u5176\u4e2d \u5305\u542b \u6709\u5173 \u5b9e\u4f8b \u548c \u8bed\u4e49 \u5206\u5272 \u7684 \u989d\u5916 \u4fe1\u606f \u3002   \u8fd9\u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5305\u88c5 \u4ee5\u53ca \u5b83\u4eec \u5982\u4f55 \u68c0\u7d22 \u4eff\u771f \u6570\u636e \u3002   Carla   \u7684 \u4ecb\u7ecd \u7ed3\u675f \u5230\u6b64\u7ed3\u675f \u3002 \u7136\u800c \uff0c \u8fd8\u6709 \u5f88\u591a \u4e1c\u897f \u9700\u8981 \u5b66\u4e60 \u3002   \u7ee7\u7eed \u5b66\u4e60 \u3002   Carla   \u4e2d\u6709 \u4e00\u4e9b \u9ad8\u7ea7 \u529f\u80fd \uff1a \u6e32\u67d3 \u9009\u9879 \u3001 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3001 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u7b49\u7b49 \u3002 \u8fd9\u662f \u4e86\u89e3 \u66f4 \u591a \u5173\u4e8e \u4ed6\u4eec \u7684 \u65f6\u673a \u597d\u65f6\u673a \u3002   \u540c\u6b65 \u548c \u65f6\u95f4 \u6b65\u957f   \u81ea\u7531 \u5b9e\u9a8c \u3002   \u67e5\u770b \u672c \u6587\u6863 \u7684   \u53c2\u8003   \u90e8\u5206 \u3002 \u5b83 \u5305\u542b \u6709\u5173   Python   API   \u4e2d \u7684 \u7c7b \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u4ee3\u7801 \u7247\u6bb5 \u7b49 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   Python   API   \u53c2\u8003   \u53d1\u8868 \u60a8 \u7684 \u610f\u89c1 \u3002   \u6709 \u4efb\u4f55 \u7591\u95ee \u3001 \u5efa\u8bae \u548c \u60f3\u6cd5 \u6b22\u8fce \u5728 \u8bba\u575b \u4e2d \u63d0\u51fa \u3002   Carla   \u8bba\u575b","title":"Core   sensors"},{"location":"core_sensors/#_1","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u4ece \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u4e2d \u68c0\u7d22 \u6570\u636e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5b83\u4eec \u5bf9\u4e8e \u4e3a \u9a7e\u9a76 \u4ee3\u7406 \u521b\u9020 \u5b66\u4e60 \u73af\u5883 \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002   \u672c\u9875 \u603b\u7ed3 \u4e86 \u5f00\u59cb \u5904\u7406 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6240 \u9700 \u7684 \u4e00\u5207 \u3002 \u5b83 \u4ecb\u7ecd \u4e86 \u53ef\u7528 \u7684 \u7c7b\u578b \u53ca\u5176 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u7684 \u5206\u6b65 \u6307\u5357 \u3002 \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u53ef\u4ee5 \u5728   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u4e2d \u627e\u5230 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9010\u6b65 \u4ecb\u7ecd   \u8bbe\u7f6e   \u751f\u6210   \u76d1\u542c   \u6570\u636e   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7c7b\u578b   \u76f8\u673a   \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u5176\u4ed6","title":"\u4f20\u611f\u5668 \u548c \u6570\u636e"},{"location":"core_sensors/#_2","text":"carla . Sensor   \u7c7b \u5b9a\u4e49 \u4e86 \u4e00\u79cd \u7279\u6b8a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u80fd\u591f \u6d4b\u91cf \u548c \u4f20\u8f93 \u6570\u636e \u4f20\u8f93\u6570\u636e \u3002   \u8fd9\u4e2a \u6570\u636e \u662f \u4ec0\u4e48 \uff1f   \u6839\u636e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7c7b\u578b \uff0c \u5b83 \u53d8\u5316 \u5f88\u5927 \u53d8\u5316\u5f88\u5927 \u3002 \u6240\u6709 \u7c7b\u578b \u7684 \u6570\u636e \u90fd \u7ee7\u627f \u81ea \u901a\u7528 \u7684   carla . SensorData   \u3002   \u4ed6\u4eec \u4ec0\u4e48 \u65f6\u5019 \u68c0\u7d22 \u6570\u636e \uff1f   \u5728 \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u4e0a \u6216 \u5728 \u6ce8\u518c \u67d0\u4e2a \u4e8b\u4ef6 \u65f6 \u3002 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7c7b\u578b \u3002   \u4ed6\u4eec \u5982\u4f55 \u68c0\u7d22 \u6570\u636e \uff1f   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u6709 \u4e00\u79cd \u63a5\u6536 \u548c \u7ba1\u7406 \u6570\u636e \u7684   listen ( )   \u65b9\u6cd5 \u3002   \u5c3d\u7ba1 \u5b58\u5728 \u5dee\u5f02 \uff0c \u4f46 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4f7f\u7528 \u65b9\u5f0f \u90fd \u76f8\u4f3c \u3002","title":"\u4f20\u611f\u5668 \u9010\u6b65 \u4ecb\u7ecd  "},{"location":"core_sensors/#_3","text":"\u4e0e \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e00\u6837 \uff0c \u627e\u5230 \u84dd\u56fe \u5e76 \u8bbe\u7f6e \u7279\u5b9a \u5c5e\u6027 \u3002 \u8fd9 \u5728 \u5904\u7406 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65f6 \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002 \u4ed6\u4eec \u7684 \u5c5e\u6027 \u5c06 \u51b3\u5b9a \u6240 \u83b7\u5f97 \u7684 \u7ed3\u679c \u3002 \u8fd9\u4e9b \u5728   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u4e2d\u6709 \u8be6\u7ec6 \u4ecb\u7ecd \u3002   \u4ee5\u4e0b \u793a\u4f8b \u8bbe\u7f6e \u4eea\u8868 \u4eea\u8868\u677f \u9ad8\u6e05 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u3002   #   \u627e\u5230 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u84dd\u56fe \u3002   blueprint   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   #   \u4fee\u6539 \u84dd\u56fe \u5c5e\u6027 \u6765 \u8bbe\u7f6e \u56fe\u50cf \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u548c \u89c6\u91ce   blueprint . set _ attribute ( ' image _ size _ x ' ,   ' 1920 ' )   blueprint . set _ attribute ( ' image _ size _ y ' ,   ' 1080 ' )   blueprint . set _ attribute ( ' fov ' ,   ' 110 ' )   #   \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09   blueprint . set _ attribute ( ' sensor _ tick ' ,   ' 1.0 ' )","title":"\u8bbe\u7f6e  "},{"location":"core_sensors/#_4","text":"attachment _ to   \u548c   attachment _ type   \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e94 \u8fde\u63a5 \u5230\u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u901a\u5e38 \u662f \u8f66\u8f86 \uff09 \u4e0a \uff0c \u4ee5 \u8ddf\u8e2a \u5b83 \u5e76 \u6536\u96c6 \u4fe1\u606f \u3002 \u9644\u4ef6 \u7c7b\u578b \u5c06 \u786e\u5b9a \u5176 \u5173\u4e8e \u6240\u8ff0 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u5982\u4f55 \u66f4\u65b0 \u3002   \u521a\u6027 \u9644\u4ef6 ( Rigid   attachment ) \u3002   \u52a8 \u5bf9\u4e8e \u5176\u7236 \u4f4d\u7f6e \u662f \u4e25\u683c \u7684 \u3002 \u8fd9 \u662f\u4ece \u4eff\u771f \u4e2d \u68c0\u7d22 \u6570\u636e \u7684 \u5408\u9002 \u9644\u4ef6 \u3002   \u5f39\u7c27 \u81c2 \u9644\u4ef6 ( SpringArm   attachment ) \u3002   \u8fd0\u52a8 \u53d8\u5f97 \u8f7b\u677e \uff0c \u51e0\u4e4e \u6ca1\u6709 \u52a0\u901f \u548c \u51cf\u901f \u3002 \u4ec5 \u5efa\u8bae \u4f7f\u7528 \u6b64 \u9644\u4ef6 \u6765 \u5f55\u5236 \u4eff\u771f \u89c6\u9891 \u3002 \u66f4\u65b0 \u6444\u50cf \u6444\u50cf\u673a \u4f4d\u7f6e \u65f6 \uff0c \u79fb\u52a8 \u5e73\u6ed1 \u5e76\u4e14 \u907f\u514d \u201c \u8df3\u8dc3 \u201d \u3002   \u5f39\u7c27 \u81c2 \u5e7d\u7075 \u9644\u4ef6 ( SpringArmGhost   attachment ) \u3002   \u4e0e \u524d \u4e00\u4e2a \u7c7b\u4f3c \uff0c \u4f46 \u6ca1\u6709 \u8fdb\u884c \u78b0\u649e \u6d4b\u8bd5 \uff0c \u56e0\u6b64 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6216\u4f20\u611f\u5668 \u53ef\u4ee5 \u7a7f\u8fc7 \u5899\u58c1 \u6216 \u5176\u4ed6 \u51e0\u4f55 \u5f62\u72b6 \u3002   transform   =   carla . Transform ( carla . Location ( x = 0.8 ,   z = 1.7 ) )   sensor   =   world . spawn _ actor ( blueprint ,   transform ,   attach _ to = my _ vehicle )   \u91cd\u8981   \u5f53 \u5e26\u6709 \u9644\u4ef6 \u751f\u6210 \u65f6 \uff0c \u4f4d\u7f6e \u5fc5\u987b \u76f8\u5bf9 \u4e8e\u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002","title":"\u751f\u6210  "},{"location":"core_sensors/#_5","text":"\u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u6709 \u4e00\u4e2a   listen ( )   \u65b9\u6cd5 \u3002 \u6bcf\u6b21 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e \u65f6 \u90fd \u4f1a \u8c03\u7528 \u6b64 \u51fd\u6570 \u3002   \u53c2\u6570   callback   \u662f \u4e00\u4e2a   lambda   \u51fd\u6570   \u3002 \u5b83 \u63cf\u8ff0 \u4e86 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e \u65f6 \u5e94\u8be5 \u505a \u4ec0\u4e48 \u3002 \u8fd9 \u5fc5\u987b \u5c06 \u68c0\u7d22 \u7684 \u6570\u636e \u4f5c\u4e3a \u53c2\u6570 \u3002   #   \u6bcf\u6b21 \u76f8\u673a \u751f\u6210 \u65b0 \u56fe\u50cf \u65f6 \uff0c \u90fd \u4f1a \u8c03\u7528   do _ something ( ) \u3002   sensor . listen ( lambda   data :   do _ something ( data ) )   ...   #   \u6bcf\u6b21 \u68c0\u6d4b \u5230 \u78b0\u649e \u65f6 \uff0c \u6b64 \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u4f1a \u6253\u5370 \u3002   def   callback ( event ) :   for   actor _ id   in   event :   vehicle   =   world _ ref ( ) . get _ actor ( actor _ id )   print ( ' Vehicle   too   close :   % s '   %   vehicle . type _ id )   sensor02 . listen ( callback )","title":"\u76d1\u542c  "},{"location":"core_sensors/#_6","text":"\u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5bf9\u8c61 \u90fd \u5177\u6709 \u5c06 \u4fe1\u606f \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u7684 \u529f\u80fd \u3002 \u8fd9 \u5c06 \u5141\u8bb8 \u5b83 \u5728 \u5176\u4ed6 \u73af\u5883 \u4e2d \u4f7f\u7528 \u3002   \u4e0d\u540c \u7c7b\u578b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5dee\u5f02 \u5f88\u5927 \u3002 \u67e5\u770b   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u4ee5 \u83b7\u5f97 \u8be6\u7ec6 \u8bf4\u660e \u3002 \u7136\u800c \uff0c \u6240\u6709 \u8fd9\u4e9b \u90fd \u603b\u662f \u5e26\u6709 \u4e00\u4e9b \u57fa\u672c \u4fe1\u606f \u7684 \u6807\u7b7e \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u8f6e\u6570 \u5f00\u59cb \u4ee5\u6765 \u4ee5 \u4eff\u771f \u79d2 \u4e3a \u5355\u4f4d \u7684 \u6d4b\u91cf \u65f6\u95f4 \u6233 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4e16\u754c \u53c2\u8003 \u3002   \u91cd\u8981   is _ listening   \u662f \u4e00\u79cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65b9\u6cd5 \uff0c \u7528\u4e8e \u68c0\u67e5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u5426 \u6709 \u901a\u8fc7   listen   \u6ce8\u518c \u7684 \u56de\u8c03 \u3002   stop ( )   \u662f \u4e00\u79cd \u505c\u6b62 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u76d1\u542c \u7684   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65b9\u6cd5   \u3002   sensor _ tick   \u662f \u4e00\u4e2a   \u84dd\u56fe \u5c5e\u6027   \uff0c \u7528\u4e8e \u8bbe\u7f6e \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \u4e4b\u95f4 \u7684 \u6a21\u62df \u65f6\u95f4 \u3002","title":"\u6570\u636e  "},{"location":"core_sensors/#_7","text":"","title":"\u4f20\u611f\u5668 \u7c7b\u578b  "},{"location":"core_sensors/#_8","text":"\u4ece \u4ed6\u4eec \u7684 \u89d2\u5ea6 \u62cd\u6444 \u4e16\u754c \u3002 \u5bf9\u4e8e \u8fd4\u56de   carla . Image   \u7684 \u76f8\u673a \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u8f85\u52a9 \u7c7b   carla . ColorConverter   \u4fee\u6539 \u56fe\u50cf \u4ee5 \u8868\u793a \u4e0d\u540c \u7684 \u4fe1\u606f \u3002   \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4   \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e   \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8f93\u51fa   \u6982\u8ff0   \u6df1\u5ea6   carla . Image   \u5728 \u7070\u5ea6 \u56fe\u4e2d \u6e32\u67d3 \u89c6\u91ce \u4e2d \u5143\u7d20 \u7684 \u6df1\u5ea6 \u3002   RGB   carla . Image   \u63d0\u4f9b \u6e05\u6670 \u7684 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u89c6\u91ce \u3002 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u5c31 \u50cf \u4e00\u5f20 \u6b63\u5e38 \u7684 \u73b0\u573a \u7167\u7247 \u3002   \u5149\u6d41   carla . Image   \u6e32\u67d3 \u76f8\u673a \u4e2d \u6bcf\u4e2a \u50cf\u7d20 \u7684 \u8fd0\u52a8 \u3002   \u8bed\u4e49 \u5206\u5272   carla . Image   \u6839\u636e \u5143\u7d20 \u7684 \u6807\u7b7e \u4ee5 \u7279\u5b9a \u989c\u8272 \u6e32\u67d3 \u89c6\u91ce \u4e2d \u7684 \u5143\u7d20 \u3002   \u5b9e\u4f8b \u5206\u5272   carla . Image   \u6839\u636e \u5143\u7d20 \u7684 \u6807\u7b7e \u548c \u552f\u4e00 \u7684 \u5bf9\u8c61   ID   \u4ee5 \u7279\u5b9a \u989c\u8272 \u6e32\u67d3 \u89c6\u91ce \u4e2d \u7684 \u5143\u7d20 \u3002   DVS   carla . DVSEventArray   \u4f5c\u4e3a \u4e8b\u4ef6 \u6d41 \u5f02\u6b65 \u6d4b\u91cf \u4eae\u5ea6 \u5f3a\u5ea6 \u7684 \u53d8\u5316 \u3002","title":"\u76f8\u673a  "},{"location":"core_sensors/#_9","text":"\u5f53 \u9644\u52a0 \u7684 \u5bf9\u8c61 \u6ce8\u518c \u7279\u5b9a \u4e8b\u4ef6 \u65f6 \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e \u3002   \u89e6\u53d1 \u65f6   \u83b7\u53d6 \u6570\u636e \u83b7\u53d6\u6570\u636e   \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8f93\u51fa   \u6982\u8ff0   \u78b0\u649e   carla . CollisionEvent   \u68c0\u7d22 \u5176\u7236 \u7ea7 \u4e0e \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u95f4 \u7684 \u78b0\u649e \u3002   \u538b\u7ebf   carla . LaneInvasionEvent   \u5f53 \u5176\u7236 \u7ea7 \u7a7f\u8fc7 \u8f66\u9053 \u6807\u8bb0 \u65f6 \u8fdb\u884c \u6ce8\u518c \u3002   \u969c\u788d   carla . ObstacleDetectionEvent   \u68c0\u6d4b \u5176\u7236 \u7ea7 \u524d\u65b9 \u53ef\u80fd \u5b58\u5728 \u7684 \u969c\u788d \u969c\u788d\u7269 \u3002","title":"\u68c0\u6d4b\u5668  "},{"location":"core_sensors/#_10","text":"\u4e0d\u540c \u7684 \u529f\u80fd \uff0c \u4f8b\u5982 \u5bfc\u822a \u3001 \u7269\u7406 \u5c5e\u6027 \u6d4b\u91cf \u548c \u573a\u666f \u7684 \u4e8c\u7ef4 / \u4e09\u7ef4 \u70b9\u56fe \u3002   \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4   \u68c0\u7d22 \u6570\u636e   \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8f93\u51fa   \u6982\u8ff0   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf ( GNSS )   carla . GNSSMeasurement   \u68c0\u7d22 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5730\u7406 \u4f4d\u7f6e \u5730\u7406\u4f4d\u7f6e \u3002   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 ( IMU )   carla . IMUMeasurement   \u5305\u62ec \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \u3001 \u9640\u87ba \u9640\u87ba\u4eea \u548c \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \u3002   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe ( LIDAR )   carla . LidarMeasurement   \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002 \u751f\u6210 \u5305\u542b \u6bcf\u4e2a \u70b9 \u7684 \u5750\u6807 \u548c \u5f3a\u5ea6 \u7684   4D   \u70b9\u4e91 \uff0c \u4ee5 \u5bf9 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u8fdb\u884c \u5efa\u6a21 \u3002   \u96f7\u8fbe   carla . RadarMeasurement   \u4e8c\u7ef4 \u70b9\u56fe \u5efa\u6a21 \u89c6\u7ebf \u4e2d \u7684 \u5143\u7d20 \u53ca\u5176 \u76f8\u5bf9 \u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8fd0\u52a8 \u3002   \u8d23\u4efb \u654f\u611f \u5b89\u5168 ( RSS )   carla . RssResponse   \u6839\u636e \u5b89\u5168 \u68c0\u67e5 \u5b89\u5168\u68c0\u67e5 \u4fee\u6539 \u5e94\u7528 \u4e8e \u8f66\u8f86 \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u3002 \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e0d\u540c \uff0c \u5e76\u4e14 \u6709 \u4e13\u95e8 \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u6587\u6863   \u3002   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe   carla . SemanticLidarMeasurement   \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002 \u751f\u6210   3D   \u70b9\u4e91 \uff0c \u5176\u4e2d \u5305\u542b \u6709\u5173 \u5b9e\u4f8b \u548c \u8bed\u4e49 \u5206\u5272 \u7684 \u989d\u5916 \u4fe1\u606f \u3002   \u8fd9\u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5305\u88c5 \u4ee5\u53ca \u5b83\u4eec \u5982\u4f55 \u68c0\u7d22 \u4eff\u771f \u6570\u636e \u3002   Carla   \u7684 \u4ecb\u7ecd \u7ed3\u675f \u5230\u6b64\u7ed3\u675f \u3002 \u7136\u800c \uff0c \u8fd8\u6709 \u5f88\u591a \u4e1c\u897f \u9700\u8981 \u5b66\u4e60 \u3002   \u7ee7\u7eed \u5b66\u4e60 \u3002   Carla   \u4e2d\u6709 \u4e00\u4e9b \u9ad8\u7ea7 \u529f\u80fd \uff1a \u6e32\u67d3 \u9009\u9879 \u3001 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3001 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u7b49\u7b49 \u3002 \u8fd9\u662f \u4e86\u89e3 \u66f4 \u591a \u5173\u4e8e \u4ed6\u4eec \u7684 \u65f6\u673a \u597d\u65f6\u673a \u3002   \u540c\u6b65 \u548c \u65f6\u95f4 \u6b65\u957f   \u81ea\u7531 \u5b9e\u9a8c \u3002   \u67e5\u770b \u672c \u6587\u6863 \u7684   \u53c2\u8003   \u90e8\u5206 \u3002 \u5b83 \u5305\u542b \u6709\u5173   Python   API   \u4e2d \u7684 \u7c7b \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u4ee3\u7801 \u7247\u6bb5 \u7b49 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   Python   API   \u53c2\u8003   \u53d1\u8868 \u60a8 \u7684 \u610f\u89c1 \u3002   \u6709 \u4efb\u4f55 \u7591\u95ee \u3001 \u5efa\u8bae \u548c \u60f3\u6cd5 \u6b22\u8fce \u5728 \u8bba\u575b \u4e2d \u63d0\u51fa \u3002   Carla   \u8bba\u575b","title":"\u5176\u4ed6  "},{"location":"core_world/","text":"\u7b2c\u4e00 \u3001 \u4e16\u754c \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u4e16\u754c \u662f   Carla   \u7684 \u4e24\u4e2a \u57fa\u672c \u8981\u7d20 \u57fa\u672c\u8981\u7d20 \uff0c \u662f \u64cd\u4f5c \u4eff\u771f \u53ca\u5176 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5fc5\u8981 \u62bd\u8c61 \u3002   \u672c \u6559\u7a0b \u4ece \u5b9a\u4e49 \u8fd9\u4e9b \u5143\u7d20 \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6 \u548c \u521b\u5efa \uff0c \u5230 \u63cf\u8ff0 \u5b83\u4eec \u7684 \u53ef\u80fd \u53ef\u80fd\u6027 \u3002 \u5982\u679c \u9605\u8bfb \u8fc7\u7a0b \u4e2d \u51fa\u73b0 \u4efb\u4f55 \u7591\u95ee \u6216 \u95ee\u9898 \uff0c   Carla   \u8bba\u575b   \u53ef\u4ee5 \u4e3a \u60a8 \u89e3\u51b3 \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa   \u4e16\u754c \u8fde\u63a5   \u4f7f\u7528 \u547d\u4ee4   \u5176\u4ed6 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f   \u4e16\u754c   \u53c2\u4e0e \u53c2\u4e0e\u8005   \u5929\u6c14   \u706f\u5149   \u8c03\u8bd5   \u4e16\u754c \u5feb\u7167   \u4e16\u754c \u8bbe\u7f6e   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5ba2\u6237 \u5ba2\u6237\u7aef \u662f   Carla   \u67b6\u6784 \u4e2d \u7684 \u4e3b\u8981 \u5143\u7d20 \u4e4b\u4e00 \u3002 \u5b83\u4eec \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3001 \u68c0\u7d22 \u4fe1\u606f \u5e76 \u66f4\u6539 \u547d\u4ee4 \u3002 \u8fd9\u662f \u901a\u8fc7 \u811a\u672c \u5b8c\u6210 \u7684 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bc6\u522b \u81ea\u5df1 \u7684 \u8eab\u4efd \uff0c \u5e76 \u8fde\u63a5 \u5230 \u4e16\u754c \uff0c \u7136\u540e \u8fdb\u884c \u4eff\u771f \u64cd\u4f5c \u3002   \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u5ba2\u6237 \u8fd8 \u53ef\u4ee5 \u8bbf\u95ee \u9ad8\u7ea7   Carla   \u6a21\u5757 \u3001 \u529f\u80fd \u5e76 \u5e94\u7528 \u547d\u4ee4 \u5904\u7406 \u6279\u5904\u7406 \u3002 \u672c\u8282 \u4ec5 \u4ecb\u7ecd \u547d\u4ee4 \u5904\u7406 \u6279\u5904\u7406 \u3002 \u8fd9\u4e9b \u5bf9\u4e8e \u8bf8\u5982 \u751f\u6210 \u5927\u91cf \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u7c7b \u7684 \u57fa\u672c \u4e8b\u60c5 \u5f88 \u6709\u7528 \u3002 \u5176\u4f59 \u529f\u80fd \u66f4\u52a0 \u590d\u6742 \uff0c \u5c06 \u5728   \u9ad8\u7ea7 \u6b65\u9aa4   \u4e2d \u5404\u81ea \u7684 \u9875\u9762 \u4e2d \u8fdb\u884c \u89e3\u51b3 \u3002   \u67e5\u770b   Python   API   \u53c2\u8003 \u4e2d \u7684   carla . Client   \u4ee5 \u4e86\u89e3 \u8be5\u7c7b \u7684 \u7279\u5b9a \u65b9\u6cd5 \u548c \u53d8\u91cf \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa   \u9700\u8981 \u4e24\u4ef6 \u4e24\u4ef6\u4e8b \u3002 \u6807\u8bc6 \u5b83 \u7684   IP   \u5730\u5740 \u4ee5\u53ca \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u7684   \u4e24\u4e2a   TCP   \u7aef\u53e3   \u3002 \u53ef\u9009 \u7684 \u7b2c\u4e09 \u4e09\u4e2a \u7b2c\u4e09\u4e2a \u53c2\u6570 \u8bbe\u7f6e \u53c2\u6570\u8bbe\u7f6e \u5de5\u4f5c \u7ebf\u7a0b \u7684 \u6570\u91cf \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8be5\u503c \u8bbe\u7f6e \u4e3a \u5168\u90e8   (   0   ) \u3002 Python   API   \u53c2\u8003 \u4e2d \u7684   carla . Client   \u5305\u542b \u4e00\u4e2a \u7247\u6bb5 \uff0c \u663e\u793a \u5982\u4f55 \u5728 \u8fd0\u884c \u811a\u672c \u65f6 \u5c06 \u8fd9\u4e9b \u89e3\u6790 \u4e3a \u53c2\u6570 \u3002   client   =   carla . Client ( ' localhost ' ,   2000 )   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c Carla   \u4f7f\u7528 \u672c\u5730 \u4e3b\u673a   IP   \u548c \u7aef\u53e3   2000   \u8fdb\u884c \u8fde\u63a5 \uff0c \u4f46 \u8fd9\u4e9b \u53ef\u4ee5 \u968f\u610f \u66f4\u6539 \u3002 \u5728 \u672c\u4f8b \u4e2d \uff0c \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u7aef\u53e3 \u59cb\u7ec8 \u4e3a   n + 1   , 2001 \u3002   \u521b\u5efa \u5ba2\u6237 \u5ba2\u6237\u7aef \u540e \uff0c \u8bbe\u7f6e \u5176   time - out   \u3002 \u8fd9 \u9650\u5236 \u4e86 \u6240\u6709 \u7f51\u7edc \u64cd\u4f5c \uff0c \u4ee5\u4fbf \u8fd9\u4e9b \u64cd\u4f5c \u4e0d\u4f1a \u6c38\u8fdc \u963b\u6b62 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002 \u5982\u679c \u8fde\u63a5 \u5931\u8d25 \uff0c \u5c06 \u8fd4\u56de \u9519\u8bef \u3002   client . set _ timeout ( 10.0 )   #   \u79d2   \u53ef\u4ee5 \u8fde\u63a5 \u8bb8\u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u56e0\u4e3a \u4e00\u6b21 \u8fd0\u884c \u591a\u4e2a \u811a\u672c \u662f \u5f88 \u5e38\u89c1 \u7684 \u3002 \u5728 \u5177\u6709 \u9ad8\u7ea7   Carla   \u529f\u80fd \uff08 \u4f8b\u5982 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff09 \u7684 \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u65b9\u6848 \u4e2d \u5de5\u4f5c \uff0c \u5fc5\u7136 \u4f1a \u4f7f \u901a\u4fe1 \u66f4\u52a0 \u590d\u6742 \u3002   \u7b14\u8bb0   \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6709 \u4e0d\u540c \u7684   libcarla   \u6a21\u5757 \u3002 \u5982\u679c \u7248\u672c \u4e0d\u540c \uff0c \u53ef\u80fd \u4f1a \u51fa\u73b0 \u95ee\u9898 \u3002 \u8fd9 \u53ef\u4ee5 \u4f7f\u7528   get _ client _ version ( )   \u548c   get _ server _ version ( )   \u65b9\u6cd5 \u8fdb\u884c \u68c0\u67e5 \u3002   \u4e16\u754c \u8fde\u63a5   \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u76f8\u5f53 \u8f7b\u677e \u5730 \u8fde\u63a5 \u548c \u68c0\u7d22 \u5f53\u524d \u4e16\u754c \u3002   world   =   client . get _ world ( )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd8 \u53ef\u4ee5 \u83b7\u5f97 \u53ef\u7528 \u5730\u56fe \u5217\u8868 \u6765 \u66f4\u6539 \u5f53\u524d \u5730\u56fe \u3002 \u8fd9 \u5c06 \u9500\u6bc1 \u5f53\u524d \u7684 \u4e16\u754c \u5e76 \u521b\u9020 \u4e00\u4e2a \u65b0 \u7684 \u4e16\u754c \u3002   print ( client . get _ available _ maps ( ) )   ...   world   =   client . load _ world ( ' Town01 ' )   #   client . reload _ world ( )   \u521b\u5efa \u4e00\u4e2a \u76f8\u540c \u5730\u56fe \u4e16\u754c \u7684 \u65b0 \u5b9e\u4f8b \u3002   \u6bcf\u4e2a \u4e16\u754c \u5bf9\u8c61 \u90fd \u6709 \u4e00\u4e2a   id   \u6216 \u4e16\u4ee3 \u3002 \u6bcf\u5f53 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8c03\u7528   load _ world ( )   \u6216   reload _ world ( )   \u65f6 \uff0c \u524d \u4e00\u4e2a \u88ab \u9500\u6bc1 \u3002 \u4e00\u4e2a \u65b0 \u7684 \u4e16\u4ee3 \u662f \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u521b\u5efa \u7684 \u3002 \u5728 \u6b64 \u8fc7\u7a0b \u4e2d \u865a\u5e7b \u5f15\u64ce \u4e0d\u4f1a \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \u3002   \u4f7f\u7528 \u547d\u4ee4   \u547d\u4ee4   \u662f \u4e00\u4e9b \u6700 \u5e38\u89c1 \u7684   Carla   \u65b9\u6cd5 \u7684 \u6539\u7f16 \uff0c \u53ef\u4ee5 \u6279\u91cf \u5e94\u7528 \u3002 \u4f8b\u5982 \uff0c   command . SetAutopilot   \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e   command . SetAutopilot   \uff0c \u542f\u7528 \u8f66\u8f86 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u529f\u80fd \u3002 \u4f46\u662f \uff0c \u4f7f\u7528   Client . apply _ batch   \u6216   Client . apply _ batch _ sync ( )   \u65b9\u6cd5 \uff0c \u53ef\u4ee5 \u5728 \u4e00\u4e2a \u4eff\u771f \u6b65\u9aa4 \u4e2d \u5e94\u7528 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u547d\u4ee4 \u3002 \u8fd9 \u5bf9\u4e8e \u901a\u5e38 \u5e94\u7528 \u4e8e \u6570\u767e \u767e\u4e2a \u6570\u767e\u4e2a \u5143\u7d20 \u7684 \u65b9\u6cd5 \u6765\u8bf4 \u53d8\u5f97 \u975e\u5e38 \u6709\u7528 \u3002   \u4ee5\u4e0b \u793a\u4f8b \u4f7f\u7528 \u5904\u7406 \u6279\u5904\u7406 \u4e00\u6b21 \u4e00\u6b21\u6027 \u9500\u6bc1 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u8f66\u8f86 \u3002   client . apply _ batch ( [ carla . command . DestroyActor ( x )   for   x   in   vehicles _ list ] )   Python   API   \u53c2\u8003 \u7684   \u6700\u65b0 \u90e8\u5206   \u5217\u51fa \u4e86 \u6240\u6709 \u53ef\u7528 \u7684 \u547d\u4ee4 \u3002   \u5176\u4ed6 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u7684 \u4e3b\u8981 \u76ee\u7684 \u662f \u83b7\u53d6 \u6216 \u6539\u53d8 \u4e16\u754c \uff0c \u5e76 \u5e94\u7528 \u547d\u4ee4 \u3002 \u4f46\u662f \uff0c \u5b83 \u8fd8 \u63d0\u4f9b \u5bf9 \u4e00\u4e9b \u9644\u52a0 \u529f\u80fd \u7684 \u8bbf\u95ee \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   \u8be5 \u6a21\u5757 \u8d1f\u8d23 \u6bcf\u8f86 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u7684 \u8f66\u8f86 \u4ee5 \u91cd\u5efa \u57ce\u5e02 \u4ea4\u901a \u57ce\u5e02\u4ea4\u901a \u3002   \u8bb0\u5f55 \u8bb0\u5f55\u5668   .   \u5141\u8bb8 \u91cd\u65b0 \u8fdb\u884c \u4ee5\u524d \u7684 \u4eff\u771f \u3002 \u4f7f\u7528   \u5feb\u7167   \u603b\u7ed3 \u6bcf\u5e27 \u7684 \u4eff\u771f \u72b6\u6001 \u3002   \u4e16\u754c   \u4eff\u771f \u7684 \u4e3b\u8981 \u6807\u5c3a \u3002 \u5b83 \u7684 \u5b9e\u4f8b \u5e94\u8be5 \u7531 \u5ba2\u6237 \u5ba2\u6237\u7aef \u68c0\u7d22 \u3002 \u5b83 \u4e0d \u5305\u542b \u4e16\u754c \u672c\u8eab \u7684 \u6a21\u578b \uff0c \u8fd9\u662f   Map   \u7c7b \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u76f8\u53cd \uff0c \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4fe1\u606f \u548c \u5e38\u89c4 \u8bbe\u7f6e \u53ef\u4ee5 \u4ece \u6b64\u7c7b \u8bbf\u95ee \u3002   \u4eff\u771f \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u89c2\u5bdf \u89c2\u5bdf\u8005 \u3002   \u84dd \u56fe\u5e93 \u3002   \u5730\u56fe \u3002   \u4eff\u771f \u8bbe\u7f6e \u3002   \u5feb\u7167 \u3002   \u5929\u6c14 \u548c \u706f\u5149 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \u3002   \u5b83 \u7684 \u4e00\u4e9b \u6700 \u91cd\u8981 \u7684 \u65b9\u6cd5 \u662f   getters   \uff0c \u7cbe\u786e \u5730 \u68c0\u7d22 \u8fd9\u4e9b \u5143\u7d20 \u7684 \u4fe1\u606f \u6216 \u5b9e\u4f8b \u3002 \u67e5\u770b   carla . World   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005   \u4e16\u754c \u4e0a \u6709 \u4e0d\u540c \u7684 \u4e0e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u76f8\u5173 \u7684 \u65b9\u6cd5 \uff0c \u5141\u8bb8 \u4e0d\u540c \u7684 \u529f\u80fd \u3002   \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u4f46 \u4e0d \u9500\u6bc1 \u4ed6\u4eec \uff09 \u3002   \u83b7\u5f97 \u573a\u666f \u4e2d \u7684 \u6bcf \u4e00\u4f4d \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u6216\u8005 \u627e\u5230 \u4e00\u4e2a \u7279\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u8bbf\u95ee \u84dd \u56fe\u5e93 \u3002   \u8bbf\u95ee \u89c2\u5bdf \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3001 \u4eff\u771f \u7684 \u89c6\u89d2 \u3002   \u68c0\u7d22 \u9002\u5408 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u968f\u673a \u4f4d\u7f6e \u3002   \u751f\u6210 \u5c06 \u5728   \u7b2c\u4e8c \u90e8\u5206 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe   \u3002 \u9700\u8981 \u5bf9 \u84dd \u56fe\u5e93 \u3001 \u5c5e\u6027 \u7b49 \u6709 \u4e00\u5b9a \u7684 \u4e86\u89e3 \u3002   \u5929\u6c14   \u5929\u6c14 \u672c\u8eab \u5e76 \u4e0d\u662f \u4e00\u4e2a \u7c7b \uff0c \u800c\u662f \u4e00\u7ec4 \u53ef \u4ece \u4e16\u754c \u83b7\u53d6 \u7684 \u53c2\u6570 \u3002 \u53c2\u6570 \u5316 \u5305\u62ec \u592a\u9633 \u65b9\u5411 \u3001 \u4e91\u91cf \u3001 \u98ce \u3001 \u96fe \u7b49\u7b49 \u3002 \u8f85\u52a9 \u7c7b   carla . WeatherParameters   \u7528\u4e8e \u5b9a\u4e49 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14 \u3002   weather   =   carla . WeatherParameters (   cloudiness = 80.0 ,   precipitation = 30.0 ,   sun _ altitude _ angle = 70.0 )   world . set _ weather ( weather )   print ( world . get _ weather ( ) )   \u6709 \u4e00\u4e9b \u5929\u6c14 \u9884\u8bbe \u53ef\u4ee5 \u76f4\u63a5 \u5e94\u7528 \u4e8e \u4e16\u754c \u3002 \u8fd9\u4e9b \u5217 \u5728   carla . WeatherParameters   \u4e2d \u5e76 \u53ef \u4f5c\u4e3a \u679a\u4e3e \u8bbf\u95ee \u3002   world . set _ weather ( carla . WeatherParameters . WetCloudySunset )   \u8fd8 \u53ef\u4ee5 \u4f7f\u7528   Carla   \u63d0\u4f9b \u7684 \u4e24\u4e2a \u811a\u672c \u6765\u81ea \u5b9a\u4e49 \u5929\u6c14 \u3002   environment . py   ( \u5728   PythonAPI / util   \u76ee\u5f55 \u4e0b )   \u2014   \u63d0\u4f9b \u5bf9 \u5929\u6c14 \u548c \u5149\u7167 \u53c2\u6570 \u7684 \u8bbf\u95ee \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u5b9e\u65f6 \u66f4\u6539 \u8fd9\u4e9b \u53c2\u6570 \u3002   environment . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   -- host   H   IP   of   the   host   server   ( default :   127.0 . 0.1 )   - p   P ,   -- port   P   TCP   port   to   listen   to   ( default :   2000 )   -- sun   SUN   Sun   position   presets   [ sunset   |   day   |   night ]   -- weather   WEATHER   Weather   condition   presets   [ clear   |   overcast   |   rain ]   -- altitude   A ,   - alt   A   Sun   altitude   [ - 90.0 ,   90.0 ]   -- azimuth   A ,   - azm   A   Sun   azimuth   [ 0.0 ,   360.0 ]   -- clouds   C ,   - c   C   Clouds   amount   [ 0.0 ,   100.0 ]   -- rain   R ,   - r   R   Rain   amount   [ 0.0 ,   100.0 ]   -- puddles   Pd ,   - pd   Pd   Puddles   amount   [ 0.0 ,   100.0 ]   -- wind   W ,   - w   W   Wind   intensity   [ 0.0 ,   100.0 ]   -- fog   F ,   - f   F   Fog   intensity   [ 0.0 ,   100.0 ]   -- fogdist   Fd ,   - fd   Fd   Fog   Distance   [ 0.0 ,   inf )   -- wetness   Wet ,   - wet   Wet   Wetness   intensity   [ 0.0 ,   100.0 ]   dynamic _ weather . py   ( \u5728   PythonAPI / examples   \u76ee\u5f55 \u4e0b )   \u2014   \u542f\u7528 \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u4e3a \u6bcf\u5f20   Carla   \u5730\u56fe \u51c6\u5907 \u7684 \u7279\u5b9a \u5929\u6c14 \u5468\u671f \u3002   dynamic _ weather . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   -- host   H   IP   of   the   host   server   ( default :   127.0 . 0.1 )   - p   P ,   -- port   P   TCP   port   to   listen   to   ( default :   2000 )   - s   FACTOR ,   -- speed   FACTOR   rate   at   which   the   weather   changes   ( default :   1.0 )   \u7b14\u8bb0   \u5929\u6c14 \u7684 \u53d8\u5316 \u4e0d\u4f1a \u5f71\u54cd \u7269\u7406 \u3002 \u5b83\u4eec \u53ea\u662f \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u4ee5 \u6355\u83b7 \u7684 \u89c6\u89c9 \u6548\u679c \u89c6\u89c9\u6548\u679c \u3002   \u5f53   sun _ altitude _ angle   <   0   \u65f6 \uff0c \u591c\u95f4 \u6a21\u5f0f \u5f00\u59cb   \uff0c \u8fd9 \u88ab \u8ba4\u4e3a \u662f \u65e5\u843d \u3002 \u8fd9\u662f \u706f\u5149 \u53d8\u5f97 \u7279\u522b \u91cd\u8981 \u7684 \u65f6\u5019 \u3002   \u706f\u5149   \u5f53 \u4eff\u771f \u8fdb\u5165 \u591c\u95f4 \u6a21\u5f0f \u65f6 \uff0c   \u8def\u706f   \u4f1a \u81ea\u52a8 \u6253\u5f00 \u3002 \u706f\u5149 \u7531 \u5730\u56fe \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u653e\u7f6e \uff0c \u5e76 \u53ef \u4f5c\u4e3a   carla . Light   \u5bf9\u8c61 \u8bbf\u95ee \u3002 \u989c\u8272 \u548c \u5f3a\u5ea6 \u7b49 \u5c5e\u6027 \u53ef\u4ee5 \u968f\u610f \u66f4\u6539 \u3002   carla . LightState   \u7c7b\u578b \u7684 \u53d8\u91cf   light _ state   \u5141\u8bb8 \u5728 \u4e00\u6b21 \u8c03\u7528 \u4e2d \u8bbe\u7f6e \u6240\u6709 \u8fd9\u4e9b \u3002   \u8def\u706f \u4f7f\u7528 \u5176 \u7c7b\u578b \u4e3a   carla . LightState   \u7684 \u5c5e\u6027   light _ state   \u8fdb\u884c \u5206\u7c7b \u3002 \u8fd9 \u5141\u8bb8 \u5c06 \u706f \u5206\u7c7b \u4e3a \u8def\u706f \u3001 \u5efa\u7b51 \u5efa\u7b51\u7269 \u706f ... \u53ef\u4ee5 \u68c0\u7d22   [   carla . LightManager   ]   \u7684 \u5b9e\u4f8b \u6765 \u5728 \u4e00\u6b21 \u8c03\u7528 \u4e2d \u5904\u7406 \u4e00\u7ec4 \u706f \u3002   #   \u83b7\u5f97 \u706f\u5149 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \u548c \u706f\u5149   lmanager   =   world . get _ lightmanager ( )   mylights   =   lmanager . get _ all _ lights ( )   #   \u5b9a\u5236 \u4e00\u4e2a \u7279\u5b9a \u7684 \u706f\u5149   light01   =   mylights [ 0 ]   light01 . turn _ on ( )   light01 . set _ intensity ( 100.0 )   state01   =   carla . LightState ( 200.0 , red , carla . LightGroup . Building , True )   light01 . set _ light _ state ( state01 )   #   \u5b9a\u5236 \u4e00\u7ec4 \u706f   my _ lights   =   lmanager . get _ light _ group ( carla . LightGroup . Building )   lmanager . turn _ on ( my _ lights )   lmanager . set _ color ( my _ lights , carla . Color ( 255 , 0 , 0 ) )   lmanager . set _ intensities ( my _ lights , list _ of _ intensities )   \u8f66\u706f   \u5fc5\u987b \u7531 \u7528\u6237 \u6253\u5f00 / \u5173\u95ed \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u6709 \u4e00\u7ec4 \u5728   carla . VehicleLightState   \u4e2d \u5217\u51fa \u7684 \u706f \u3002 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u5e76\u975e \u6240\u6709 \u8f66\u8f86 \u90fd \u96c6\u6210 \u4e86 \u8f66\u706f \u3002 \u4ee5\u4e0b \u662f \u622a\u81f3 \u64b0\u5199 \u672c\u6587 \u65f6 \u53ef\u7528 \u7684 \u5217\u8868 \u3002   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u3002   \u5b83\u4eec \u90fd \u6709 \u524d\u540e \u793a\u5ed3 \u706f \u3002   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \u3002   \u9a6c\u54c8 \u96c5\u9a6c\u54c8 \u548c \u54c8\u96f7 \u6234\u7ef4\u68ee \u578b\u53f7 \u3002   \u6c7d\u8f66 \u3002   \u5965\u8fea   TT \u3001 \u96ea\u4f5b\u5170 \u3001 \u9053\u5947 \uff08 \u8b66\u8f66 \uff09 \u3001 \u94b0 \u521b \u3001 \u6797\u80af \u3001 \u91ce\u9a6c \u3001 \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9 3S \u3001 \u5927\u4f17 T2 \u4ee5\u53ca \u5373\u5c06 \u5230\u6765 \u7684   Carla   \u65b0 \u5ba2\u4eba \u3002   \u53ef\u4ee5 \u4f7f\u7528   carla . Vehicle . get _ light _ state   \u548c   carla . Vehicle . set _ light _ state   \u65b9\u6cd5 \u968f\u65f6 \u68c0\u7d22 \u548c \u66f4\u65b0 \u8f66\u8f86 \u7684 \u706f\u5149 \u3002 \u5b83\u4eec \u4f7f\u7528 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u8fd0\u7b97 \u6765\u81ea \u5b9a\u4e49 \u706f\u5149 \u8bbe\u7f6e \u3002   #   \u6253\u5f00 \u4f4d\u7f6e \u4f4d\u7f6e\u706f   current _ lights   =   carla . VehicleLightState . NONE   current _ lights   | =   carla . VehicleLightState . Position   vehicle . set _ light _ state ( current _ lights )   \u7b14\u8bb0   \u8fd8 \u53ef\u4ee5 \u4f7f\u7528 \u5929\u6c14   environment . py   \u90e8\u5206 \u4e2d \u63cf\u8ff0 \u7684 \u5b9e\u65f6 \u8bbe\u7f6e \u706f\u5149 \u3002   \u8c03\u8bd5   \u4e16\u754c \u5bf9\u8c61 \u6709 \u4e00\u4e2a   carla . DebugHelper   \u5bf9\u8c61 \u4f5c\u4e3a \u516c\u5171 \u5c5e\u6027 \u3002 \u5b83 \u5141\u8bb8 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u7ed8\u5236 \u4e0d\u540c \u7684 \u5f62\u72b6 \u3002 \u8fd9\u4e9b \u7528\u4e8e \u8ddf\u8e2a \u6b63\u5728 \u53d1\u751f \u7684 \u4e8b\u4ef6 \u3002 \u4ee5\u4e0b \u793a\u4f8b \u5c06 \u5728 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u5904 \u7ed8\u5236 \u4e00\u4e2a \u7ea2\u8272 \u6846 \u3002   debug   =   world . debug   debug . draw _ box ( carla . BoundingBox ( actor _ snapshot . get _ transform ( ) . location , carla . Vector3D ( 0.5 , 0.5 , 2 ) ) , actor _ snapshot . get _ transform ( ) . rotation ,   0.05 ,   carla . Color ( 255 , 0 , 0 , 0 ) , 0 )   \u6b64 \u793a\u4f8b \u5728   carla . DebugHelper   \u7684 \u7247\u6bb5 \u4e2d \u8fdb\u884c \u4e86 \u6269\u5c55 \uff0c \u5c55\u793a \u4e86 \u5982\u4f55 \u4e3a \u4e16\u754c \u5feb\u7167 \u4e2d \u7684 \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7ed8\u5236 \u65b9\u6846 \u3002   \u4e16\u754c \u5feb\u7167   \u5305\u542b \u4eff\u771f \u4e2d \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5355\u4e2a \u5e27 \u4e2d \u7684 \u72b6\u6001 \u3002 \u4e00\u79cd \u5e26\u6709 \u65f6\u95f4 \u53c2\u8003 \u7684 \u9759\u6001 \u4e16\u754c \u56fe\u50cf \u3002 \u5373\u4f7f \u5728 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u4fe1\u606f \u4e5f \u6765\u81ea \u76f8\u540c \u7684 \u4eff\u771f \u6b65\u9aa4 \u3002   #   \u68c0\u7d22 \u5f53\u524d \u5e27 \u7684 \u4e16\u754c \u5feb\u7167 \u3002   world _ snapshot   =   world . get _ snapshot ( )   carla . WorldSnapshot   \u5305\u542b   carla . Timestamp   \u548c   carla . ActorSnapshot   \u5217\u8868 \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u7684 \u641c\u7d22 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5feb\u7167 \u3002 \u5feb\u7167 \u5217\u51fa \u4e86 \u5176\u4e2d \u51fa\u73b0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u3002   timestamp   =   world _ snapshot . timestamp   #   \u83b7\u53d6 \u65f6\u95f4 \u53c2\u8003   for   actor _ snapshot   in   world _ snapshot :   #   \u83b7\u53d6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u5feb\u7167 \u4fe1\u606f   actual _ actor   =   world . get _ actor ( actor _ snapshot . id )   actor _ snapshot . get _ transform ( )   actor _ snapshot . get _ velocity ( )   actor _ snapshot . get _ angular _ velocity ( )   actor _ snapshot . get _ acceleration ( )   actor _ snapshot   =   world _ snapshot . find ( actual _ actor . id )   #   \u83b7\u5f97 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5feb\u7167   \u4e16\u754c \u8bbe\u7f6e   \u4e16\u754c \u53ef\u4ee5 \u4f7f\u7528 \u4e00\u4e9b \u9ad8\u7ea7 \u7684 \u4eff\u771f \u914d\u7f6e \u3002 \u8fd9\u4e9b \u51b3\u5b9a \u4e86 \u6e32\u67d3 \u6761\u4ef6 \u3001 \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u4ee5\u53ca \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u7684 \u540c\u6b65 \u3002 \u5b83\u4eec \u53ef\u4ee5 \u4ece \u8f85\u52a9 \u7c7b   carla . WorldSettings   \u8bbf\u95ee \u3002   \u76ee\u524d \uff0c \u9ed8\u8ba4 \u7684   Carla   \u4ee5 \u6700\u4f73 \u56fe\u5f62 \u8d28\u91cf \u3001 \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \u548c \u5f02\u6b65 \u65b9\u5f0f \u8fd0\u884c \u3002 \u8981 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u6df1\u5165 \u4e86\u89e3 \u6b64 \u95ee\u9898 \uff0c \u8bf7 \u67e5\u770b   \u9ad8\u7ea7 \u6b65\u9aa4   \u90e8\u5206 \u3002 \u6709\u5173   \u540c\u6b65 \u3001 \u65f6\u95f4 \u6b65\u957f   \u4ee5\u53ca   \u6e32\u67d3 \u9009\u9879   \u7684 \u9875\u9762 \u53ef\u80fd \u662f \u4e00\u4e2a \u5f88 \u597d \u7684 \u8d77\u70b9 \u3002   \u8fd9 \u662f \u5bf9 \u4e16\u754c \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u7684 \u5305\u88c5 \u3002 \u4e0b \u4e00\u6b65 \u5c06 \u4ed4\u7ec6 \u7814\u7a76 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe \uff0c \u4e3a \u4eff\u771f \u8d4b\u4e88 \u751f\u547d \u3002   \u7ee7\u7eed \u9605\u8bfb \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002 \u8bf7 \u8bbf\u95ee \u8bba\u575b \uff0c \u53d1\u8868 \u5728 \u9605\u8bfb \u8fc7\u7a0b \u4e2d \u60f3\u5230 \u7684 \u4efb\u4f55 \u7591\u95ee \u6216 \u5efa\u8bae \u3002   Carla   \u8bba\u575b   \u7b2c\u4e8c \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe","title":"\u7b2c\u4e00 \u3001 \u4e16\u754c \u548c \u5ba2\u6237\u7aef"},{"location":"core_world/#_1","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u4e16\u754c \u662f   Carla   \u7684 \u4e24\u4e2a \u57fa\u672c \u8981\u7d20 \u57fa\u672c\u8981\u7d20 \uff0c \u662f \u64cd\u4f5c \u4eff\u771f \u53ca\u5176 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5fc5\u8981 \u62bd\u8c61 \u3002   \u672c \u6559\u7a0b \u4ece \u5b9a\u4e49 \u8fd9\u4e9b \u5143\u7d20 \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6 \u548c \u521b\u5efa \uff0c \u5230 \u63cf\u8ff0 \u5b83\u4eec \u7684 \u53ef\u80fd \u53ef\u80fd\u6027 \u3002 \u5982\u679c \u9605\u8bfb \u8fc7\u7a0b \u4e2d \u51fa\u73b0 \u4efb\u4f55 \u7591\u95ee \u6216 \u95ee\u9898 \uff0c   Carla   \u8bba\u575b   \u53ef\u4ee5 \u4e3a \u60a8 \u89e3\u51b3 \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa   \u4e16\u754c \u8fde\u63a5   \u4f7f\u7528 \u547d\u4ee4   \u5176\u4ed6 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f   \u4e16\u754c   \u53c2\u4e0e \u53c2\u4e0e\u8005   \u5929\u6c14   \u706f\u5149   \u8c03\u8bd5   \u4e16\u754c \u5feb\u7167   \u4e16\u754c \u8bbe\u7f6e","title":"\u7b2c\u4e00 \u3001 \u4e16\u754c \u548c \u5ba2\u6237\u7aef"},{"location":"core_world/#_2","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef \u662f   Carla   \u67b6\u6784 \u4e2d \u7684 \u4e3b\u8981 \u5143\u7d20 \u4e4b\u4e00 \u3002 \u5b83\u4eec \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3001 \u68c0\u7d22 \u4fe1\u606f \u5e76 \u66f4\u6539 \u547d\u4ee4 \u3002 \u8fd9\u662f \u901a\u8fc7 \u811a\u672c \u5b8c\u6210 \u7684 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bc6\u522b \u81ea\u5df1 \u7684 \u8eab\u4efd \uff0c \u5e76 \u8fde\u63a5 \u5230 \u4e16\u754c \uff0c \u7136\u540e \u8fdb\u884c \u4eff\u771f \u64cd\u4f5c \u3002   \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u5ba2\u6237 \u8fd8 \u53ef\u4ee5 \u8bbf\u95ee \u9ad8\u7ea7   Carla   \u6a21\u5757 \u3001 \u529f\u80fd \u5e76 \u5e94\u7528 \u547d\u4ee4 \u5904\u7406 \u6279\u5904\u7406 \u3002 \u672c\u8282 \u4ec5 \u4ecb\u7ecd \u547d\u4ee4 \u5904\u7406 \u6279\u5904\u7406 \u3002 \u8fd9\u4e9b \u5bf9\u4e8e \u8bf8\u5982 \u751f\u6210 \u5927\u91cf \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u7c7b \u7684 \u57fa\u672c \u4e8b\u60c5 \u5f88 \u6709\u7528 \u3002 \u5176\u4f59 \u529f\u80fd \u66f4\u52a0 \u590d\u6742 \uff0c \u5c06 \u5728   \u9ad8\u7ea7 \u6b65\u9aa4   \u4e2d \u5404\u81ea \u7684 \u9875\u9762 \u4e2d \u8fdb\u884c \u89e3\u51b3 \u3002   \u67e5\u770b   Python   API   \u53c2\u8003 \u4e2d \u7684   carla . Client   \u4ee5 \u4e86\u89e3 \u8be5\u7c7b \u7684 \u7279\u5b9a \u65b9\u6cd5 \u548c \u53d8\u91cf \u3002","title":"\u5ba2\u6237\u7aef  "},{"location":"core_world/#_3","text":"\u9700\u8981 \u4e24\u4ef6 \u4e24\u4ef6\u4e8b \u3002 \u6807\u8bc6 \u5b83 \u7684   IP   \u5730\u5740 \u4ee5\u53ca \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u7684   \u4e24\u4e2a   TCP   \u7aef\u53e3   \u3002 \u53ef\u9009 \u7684 \u7b2c\u4e09 \u4e09\u4e2a \u7b2c\u4e09\u4e2a \u53c2\u6570 \u8bbe\u7f6e \u53c2\u6570\u8bbe\u7f6e \u5de5\u4f5c \u7ebf\u7a0b \u7684 \u6570\u91cf \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8be5\u503c \u8bbe\u7f6e \u4e3a \u5168\u90e8   (   0   ) \u3002 Python   API   \u53c2\u8003 \u4e2d \u7684   carla . Client   \u5305\u542b \u4e00\u4e2a \u7247\u6bb5 \uff0c \u663e\u793a \u5982\u4f55 \u5728 \u8fd0\u884c \u811a\u672c \u65f6 \u5c06 \u8fd9\u4e9b \u89e3\u6790 \u4e3a \u53c2\u6570 \u3002   client   =   carla . Client ( ' localhost ' ,   2000 )   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c Carla   \u4f7f\u7528 \u672c\u5730 \u4e3b\u673a   IP   \u548c \u7aef\u53e3   2000   \u8fdb\u884c \u8fde\u63a5 \uff0c \u4f46 \u8fd9\u4e9b \u53ef\u4ee5 \u968f\u610f \u66f4\u6539 \u3002 \u5728 \u672c\u4f8b \u4e2d \uff0c \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u7aef\u53e3 \u59cb\u7ec8 \u4e3a   n + 1   , 2001 \u3002   \u521b\u5efa \u5ba2\u6237 \u5ba2\u6237\u7aef \u540e \uff0c \u8bbe\u7f6e \u5176   time - out   \u3002 \u8fd9 \u9650\u5236 \u4e86 \u6240\u6709 \u7f51\u7edc \u64cd\u4f5c \uff0c \u4ee5\u4fbf \u8fd9\u4e9b \u64cd\u4f5c \u4e0d\u4f1a \u6c38\u8fdc \u963b\u6b62 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002 \u5982\u679c \u8fde\u63a5 \u5931\u8d25 \uff0c \u5c06 \u8fd4\u56de \u9519\u8bef \u3002   client . set _ timeout ( 10.0 )   #   \u79d2   \u53ef\u4ee5 \u8fde\u63a5 \u8bb8\u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u56e0\u4e3a \u4e00\u6b21 \u8fd0\u884c \u591a\u4e2a \u811a\u672c \u662f \u5f88 \u5e38\u89c1 \u7684 \u3002 \u5728 \u5177\u6709 \u9ad8\u7ea7   Carla   \u529f\u80fd \uff08 \u4f8b\u5982 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff09 \u7684 \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u65b9\u6848 \u4e2d \u5de5\u4f5c \uff0c \u5fc5\u7136 \u4f1a \u4f7f \u901a\u4fe1 \u66f4\u52a0 \u590d\u6742 \u3002   \u7b14\u8bb0   \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6709 \u4e0d\u540c \u7684   libcarla   \u6a21\u5757 \u3002 \u5982\u679c \u7248\u672c \u4e0d\u540c \uff0c \u53ef\u80fd \u4f1a \u51fa\u73b0 \u95ee\u9898 \u3002 \u8fd9 \u53ef\u4ee5 \u4f7f\u7528   get _ client _ version ( )   \u548c   get _ server _ version ( )   \u65b9\u6cd5 \u8fdb\u884c \u68c0\u67e5 \u3002","title":"\u5ba2\u6237\u7aef \u521b\u5efa  "},{"location":"core_world/#_4","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u76f8\u5f53 \u8f7b\u677e \u5730 \u8fde\u63a5 \u548c \u68c0\u7d22 \u5f53\u524d \u4e16\u754c \u3002   world   =   client . get _ world ( )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd8 \u53ef\u4ee5 \u83b7\u5f97 \u53ef\u7528 \u5730\u56fe \u5217\u8868 \u6765 \u66f4\u6539 \u5f53\u524d \u5730\u56fe \u3002 \u8fd9 \u5c06 \u9500\u6bc1 \u5f53\u524d \u7684 \u4e16\u754c \u5e76 \u521b\u9020 \u4e00\u4e2a \u65b0 \u7684 \u4e16\u754c \u3002   print ( client . get _ available _ maps ( ) )   ...   world   =   client . load _ world ( ' Town01 ' )   #   client . reload _ world ( )   \u521b\u5efa \u4e00\u4e2a \u76f8\u540c \u5730\u56fe \u4e16\u754c \u7684 \u65b0 \u5b9e\u4f8b \u3002   \u6bcf\u4e2a \u4e16\u754c \u5bf9\u8c61 \u90fd \u6709 \u4e00\u4e2a   id   \u6216 \u4e16\u4ee3 \u3002 \u6bcf\u5f53 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8c03\u7528   load _ world ( )   \u6216   reload _ world ( )   \u65f6 \uff0c \u524d \u4e00\u4e2a \u88ab \u9500\u6bc1 \u3002 \u4e00\u4e2a \u65b0 \u7684 \u4e16\u4ee3 \u662f \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u521b\u5efa \u7684 \u3002 \u5728 \u6b64 \u8fc7\u7a0b \u4e2d \u865a\u5e7b \u5f15\u64ce \u4e0d\u4f1a \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \u3002","title":"\u4e16\u754c \u8fde\u63a5  "},{"location":"core_world/#_5","text":"\u547d\u4ee4   \u662f \u4e00\u4e9b \u6700 \u5e38\u89c1 \u7684   Carla   \u65b9\u6cd5 \u7684 \u6539\u7f16 \uff0c \u53ef\u4ee5 \u6279\u91cf \u5e94\u7528 \u3002 \u4f8b\u5982 \uff0c   command . SetAutopilot   \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e   command . SetAutopilot   \uff0c \u542f\u7528 \u8f66\u8f86 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u529f\u80fd \u3002 \u4f46\u662f \uff0c \u4f7f\u7528   Client . apply _ batch   \u6216   Client . apply _ batch _ sync ( )   \u65b9\u6cd5 \uff0c \u53ef\u4ee5 \u5728 \u4e00\u4e2a \u4eff\u771f \u6b65\u9aa4 \u4e2d \u5e94\u7528 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u547d\u4ee4 \u3002 \u8fd9 \u5bf9\u4e8e \u901a\u5e38 \u5e94\u7528 \u4e8e \u6570\u767e \u767e\u4e2a \u6570\u767e\u4e2a \u5143\u7d20 \u7684 \u65b9\u6cd5 \u6765\u8bf4 \u53d8\u5f97 \u975e\u5e38 \u6709\u7528 \u3002   \u4ee5\u4e0b \u793a\u4f8b \u4f7f\u7528 \u5904\u7406 \u6279\u5904\u7406 \u4e00\u6b21 \u4e00\u6b21\u6027 \u9500\u6bc1 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u8f66\u8f86 \u3002   client . apply _ batch ( [ carla . command . DestroyActor ( x )   for   x   in   vehicles _ list ] )   Python   API   \u53c2\u8003 \u7684   \u6700\u65b0 \u90e8\u5206   \u5217\u51fa \u4e86 \u6240\u6709 \u53ef\u7528 \u7684 \u547d\u4ee4 \u3002","title":"\u4f7f\u7528 \u547d\u4ee4  "},{"location":"core_world/#_6","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u7684 \u4e3b\u8981 \u76ee\u7684 \u662f \u83b7\u53d6 \u6216 \u6539\u53d8 \u4e16\u754c \uff0c \u5e76 \u5e94\u7528 \u547d\u4ee4 \u3002 \u4f46\u662f \uff0c \u5b83 \u8fd8 \u63d0\u4f9b \u5bf9 \u4e00\u4e9b \u9644\u52a0 \u529f\u80fd \u7684 \u8bbf\u95ee \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   \u8be5 \u6a21\u5757 \u8d1f\u8d23 \u6bcf\u8f86 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u7684 \u8f66\u8f86 \u4ee5 \u91cd\u5efa \u57ce\u5e02 \u4ea4\u901a \u57ce\u5e02\u4ea4\u901a \u3002   \u8bb0\u5f55 \u8bb0\u5f55\u5668   .   \u5141\u8bb8 \u91cd\u65b0 \u8fdb\u884c \u4ee5\u524d \u7684 \u4eff\u771f \u3002 \u4f7f\u7528   \u5feb\u7167   \u603b\u7ed3 \u6bcf\u5e27 \u7684 \u4eff\u771f \u72b6\u6001 \u3002","title":"\u5176\u4ed6 \u5ba2\u6237\u7aef \u5b9e\u7528\u7a0b\u5e8f  "},{"location":"core_world/#_7","text":"\u4eff\u771f \u7684 \u4e3b\u8981 \u6807\u5c3a \u3002 \u5b83 \u7684 \u5b9e\u4f8b \u5e94\u8be5 \u7531 \u5ba2\u6237 \u5ba2\u6237\u7aef \u68c0\u7d22 \u3002 \u5b83 \u4e0d \u5305\u542b \u4e16\u754c \u672c\u8eab \u7684 \u6a21\u578b \uff0c \u8fd9\u662f   Map   \u7c7b \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u76f8\u53cd \uff0c \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4fe1\u606f \u548c \u5e38\u89c4 \u8bbe\u7f6e \u53ef\u4ee5 \u4ece \u6b64\u7c7b \u8bbf\u95ee \u3002   \u4eff\u771f \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u89c2\u5bdf \u89c2\u5bdf\u8005 \u3002   \u84dd \u56fe\u5e93 \u3002   \u5730\u56fe \u3002   \u4eff\u771f \u8bbe\u7f6e \u3002   \u5feb\u7167 \u3002   \u5929\u6c14 \u548c \u706f\u5149 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \u3002   \u5b83 \u7684 \u4e00\u4e9b \u6700 \u91cd\u8981 \u7684 \u65b9\u6cd5 \u662f   getters   \uff0c \u7cbe\u786e \u5730 \u68c0\u7d22 \u8fd9\u4e9b \u5143\u7d20 \u7684 \u4fe1\u606f \u6216 \u5b9e\u4f8b \u3002 \u67e5\u770b   carla . World   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u4e16\u754c  "},{"location":"core_world/#_8","text":"\u4e16\u754c \u4e0a \u6709 \u4e0d\u540c \u7684 \u4e0e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u76f8\u5173 \u7684 \u65b9\u6cd5 \uff0c \u5141\u8bb8 \u4e0d\u540c \u7684 \u529f\u80fd \u3002   \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u4f46 \u4e0d \u9500\u6bc1 \u4ed6\u4eec \uff09 \u3002   \u83b7\u5f97 \u573a\u666f \u4e2d \u7684 \u6bcf \u4e00\u4f4d \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u6216\u8005 \u627e\u5230 \u4e00\u4e2a \u7279\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u8bbf\u95ee \u84dd \u56fe\u5e93 \u3002   \u8bbf\u95ee \u89c2\u5bdf \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3001 \u4eff\u771f \u7684 \u89c6\u89d2 \u3002   \u68c0\u7d22 \u9002\u5408 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u968f\u673a \u4f4d\u7f6e \u3002   \u751f\u6210 \u5c06 \u5728   \u7b2c\u4e8c \u90e8\u5206 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe   \u3002 \u9700\u8981 \u5bf9 \u84dd \u56fe\u5e93 \u3001 \u5c5e\u6027 \u7b49 \u6709 \u4e00\u5b9a \u7684 \u4e86\u89e3 \u3002","title":"\u53c2\u4e0e\u8005  "},{"location":"core_world/#_9","text":"\u5929\u6c14 \u672c\u8eab \u5e76 \u4e0d\u662f \u4e00\u4e2a \u7c7b \uff0c \u800c\u662f \u4e00\u7ec4 \u53ef \u4ece \u4e16\u754c \u83b7\u53d6 \u7684 \u53c2\u6570 \u3002 \u53c2\u6570 \u5316 \u5305\u62ec \u592a\u9633 \u65b9\u5411 \u3001 \u4e91\u91cf \u3001 \u98ce \u3001 \u96fe \u7b49\u7b49 \u3002 \u8f85\u52a9 \u7c7b   carla . WeatherParameters   \u7528\u4e8e \u5b9a\u4e49 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14 \u3002   weather   =   carla . WeatherParameters (   cloudiness = 80.0 ,   precipitation = 30.0 ,   sun _ altitude _ angle = 70.0 )   world . set _ weather ( weather )   print ( world . get _ weather ( ) )   \u6709 \u4e00\u4e9b \u5929\u6c14 \u9884\u8bbe \u53ef\u4ee5 \u76f4\u63a5 \u5e94\u7528 \u4e8e \u4e16\u754c \u3002 \u8fd9\u4e9b \u5217 \u5728   carla . WeatherParameters   \u4e2d \u5e76 \u53ef \u4f5c\u4e3a \u679a\u4e3e \u8bbf\u95ee \u3002   world . set _ weather ( carla . WeatherParameters . WetCloudySunset )   \u8fd8 \u53ef\u4ee5 \u4f7f\u7528   Carla   \u63d0\u4f9b \u7684 \u4e24\u4e2a \u811a\u672c \u6765\u81ea \u5b9a\u4e49 \u5929\u6c14 \u3002   environment . py   ( \u5728   PythonAPI / util   \u76ee\u5f55 \u4e0b )   \u2014   \u63d0\u4f9b \u5bf9 \u5929\u6c14 \u548c \u5149\u7167 \u53c2\u6570 \u7684 \u8bbf\u95ee \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u5b9e\u65f6 \u66f4\u6539 \u8fd9\u4e9b \u53c2\u6570 \u3002   environment . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   -- host   H   IP   of   the   host   server   ( default :   127.0 . 0.1 )   - p   P ,   -- port   P   TCP   port   to   listen   to   ( default :   2000 )   -- sun   SUN   Sun   position   presets   [ sunset   |   day   |   night ]   -- weather   WEATHER   Weather   condition   presets   [ clear   |   overcast   |   rain ]   -- altitude   A ,   - alt   A   Sun   altitude   [ - 90.0 ,   90.0 ]   -- azimuth   A ,   - azm   A   Sun   azimuth   [ 0.0 ,   360.0 ]   -- clouds   C ,   - c   C   Clouds   amount   [ 0.0 ,   100.0 ]   -- rain   R ,   - r   R   Rain   amount   [ 0.0 ,   100.0 ]   -- puddles   Pd ,   - pd   Pd   Puddles   amount   [ 0.0 ,   100.0 ]   -- wind   W ,   - w   W   Wind   intensity   [ 0.0 ,   100.0 ]   -- fog   F ,   - f   F   Fog   intensity   [ 0.0 ,   100.0 ]   -- fogdist   Fd ,   - fd   Fd   Fog   Distance   [ 0.0 ,   inf )   -- wetness   Wet ,   - wet   Wet   Wetness   intensity   [ 0.0 ,   100.0 ]   dynamic _ weather . py   ( \u5728   PythonAPI / examples   \u76ee\u5f55 \u4e0b )   \u2014   \u542f\u7528 \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u4e3a \u6bcf\u5f20   Carla   \u5730\u56fe \u51c6\u5907 \u7684 \u7279\u5b9a \u5929\u6c14 \u5468\u671f \u3002   dynamic _ weather . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   -- host   H   IP   of   the   host   server   ( default :   127.0 . 0.1 )   - p   P ,   -- port   P   TCP   port   to   listen   to   ( default :   2000 )   - s   FACTOR ,   -- speed   FACTOR   rate   at   which   the   weather   changes   ( default :   1.0 )   \u7b14\u8bb0   \u5929\u6c14 \u7684 \u53d8\u5316 \u4e0d\u4f1a \u5f71\u54cd \u7269\u7406 \u3002 \u5b83\u4eec \u53ea\u662f \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u4ee5 \u6355\u83b7 \u7684 \u89c6\u89c9 \u6548\u679c \u89c6\u89c9\u6548\u679c \u3002   \u5f53   sun _ altitude _ angle   <   0   \u65f6 \uff0c \u591c\u95f4 \u6a21\u5f0f \u5f00\u59cb   \uff0c \u8fd9 \u88ab \u8ba4\u4e3a \u662f \u65e5\u843d \u3002 \u8fd9\u662f \u706f\u5149 \u53d8\u5f97 \u7279\u522b \u91cd\u8981 \u7684 \u65f6\u5019 \u3002","title":"\u5929\u6c14  "},{"location":"core_world/#_10","text":"\u5f53 \u4eff\u771f \u8fdb\u5165 \u591c\u95f4 \u6a21\u5f0f \u65f6 \uff0c   \u8def\u706f   \u4f1a \u81ea\u52a8 \u6253\u5f00 \u3002 \u706f\u5149 \u7531 \u5730\u56fe \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u653e\u7f6e \uff0c \u5e76 \u53ef \u4f5c\u4e3a   carla . Light   \u5bf9\u8c61 \u8bbf\u95ee \u3002 \u989c\u8272 \u548c \u5f3a\u5ea6 \u7b49 \u5c5e\u6027 \u53ef\u4ee5 \u968f\u610f \u66f4\u6539 \u3002   carla . LightState   \u7c7b\u578b \u7684 \u53d8\u91cf   light _ state   \u5141\u8bb8 \u5728 \u4e00\u6b21 \u8c03\u7528 \u4e2d \u8bbe\u7f6e \u6240\u6709 \u8fd9\u4e9b \u3002   \u8def\u706f \u4f7f\u7528 \u5176 \u7c7b\u578b \u4e3a   carla . LightState   \u7684 \u5c5e\u6027   light _ state   \u8fdb\u884c \u5206\u7c7b \u3002 \u8fd9 \u5141\u8bb8 \u5c06 \u706f \u5206\u7c7b \u4e3a \u8def\u706f \u3001 \u5efa\u7b51 \u5efa\u7b51\u7269 \u706f ... \u53ef\u4ee5 \u68c0\u7d22   [   carla . LightManager   ]   \u7684 \u5b9e\u4f8b \u6765 \u5728 \u4e00\u6b21 \u8c03\u7528 \u4e2d \u5904\u7406 \u4e00\u7ec4 \u706f \u3002   #   \u83b7\u5f97 \u706f\u5149 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \u548c \u706f\u5149   lmanager   =   world . get _ lightmanager ( )   mylights   =   lmanager . get _ all _ lights ( )   #   \u5b9a\u5236 \u4e00\u4e2a \u7279\u5b9a \u7684 \u706f\u5149   light01   =   mylights [ 0 ]   light01 . turn _ on ( )   light01 . set _ intensity ( 100.0 )   state01   =   carla . LightState ( 200.0 , red , carla . LightGroup . Building , True )   light01 . set _ light _ state ( state01 )   #   \u5b9a\u5236 \u4e00\u7ec4 \u706f   my _ lights   =   lmanager . get _ light _ group ( carla . LightGroup . Building )   lmanager . turn _ on ( my _ lights )   lmanager . set _ color ( my _ lights , carla . Color ( 255 , 0 , 0 ) )   lmanager . set _ intensities ( my _ lights , list _ of _ intensities )   \u8f66\u706f   \u5fc5\u987b \u7531 \u7528\u6237 \u6253\u5f00 / \u5173\u95ed \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u6709 \u4e00\u7ec4 \u5728   carla . VehicleLightState   \u4e2d \u5217\u51fa \u7684 \u706f \u3002 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u5e76\u975e \u6240\u6709 \u8f66\u8f86 \u90fd \u96c6\u6210 \u4e86 \u8f66\u706f \u3002 \u4ee5\u4e0b \u662f \u622a\u81f3 \u64b0\u5199 \u672c\u6587 \u65f6 \u53ef\u7528 \u7684 \u5217\u8868 \u3002   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u3002   \u5b83\u4eec \u90fd \u6709 \u524d\u540e \u793a\u5ed3 \u706f \u3002   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \u3002   \u9a6c\u54c8 \u96c5\u9a6c\u54c8 \u548c \u54c8\u96f7 \u6234\u7ef4\u68ee \u578b\u53f7 \u3002   \u6c7d\u8f66 \u3002   \u5965\u8fea   TT \u3001 \u96ea\u4f5b\u5170 \u3001 \u9053\u5947 \uff08 \u8b66\u8f66 \uff09 \u3001 \u94b0 \u521b \u3001 \u6797\u80af \u3001 \u91ce\u9a6c \u3001 \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9 3S \u3001 \u5927\u4f17 T2 \u4ee5\u53ca \u5373\u5c06 \u5230\u6765 \u7684   Carla   \u65b0 \u5ba2\u4eba \u3002   \u53ef\u4ee5 \u4f7f\u7528   carla . Vehicle . get _ light _ state   \u548c   carla . Vehicle . set _ light _ state   \u65b9\u6cd5 \u968f\u65f6 \u68c0\u7d22 \u548c \u66f4\u65b0 \u8f66\u8f86 \u7684 \u706f\u5149 \u3002 \u5b83\u4eec \u4f7f\u7528 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u8fd0\u7b97 \u6765\u81ea \u5b9a\u4e49 \u706f\u5149 \u8bbe\u7f6e \u3002   #   \u6253\u5f00 \u4f4d\u7f6e \u4f4d\u7f6e\u706f   current _ lights   =   carla . VehicleLightState . NONE   current _ lights   | =   carla . VehicleLightState . Position   vehicle . set _ light _ state ( current _ lights )   \u7b14\u8bb0   \u8fd8 \u53ef\u4ee5 \u4f7f\u7528 \u5929\u6c14   environment . py   \u90e8\u5206 \u4e2d \u63cf\u8ff0 \u7684 \u5b9e\u65f6 \u8bbe\u7f6e \u706f\u5149 \u3002","title":"\u706f\u5149  "},{"location":"core_world/#_11","text":"\u4e16\u754c \u5bf9\u8c61 \u6709 \u4e00\u4e2a   carla . DebugHelper   \u5bf9\u8c61 \u4f5c\u4e3a \u516c\u5171 \u5c5e\u6027 \u3002 \u5b83 \u5141\u8bb8 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u7ed8\u5236 \u4e0d\u540c \u7684 \u5f62\u72b6 \u3002 \u8fd9\u4e9b \u7528\u4e8e \u8ddf\u8e2a \u6b63\u5728 \u53d1\u751f \u7684 \u4e8b\u4ef6 \u3002 \u4ee5\u4e0b \u793a\u4f8b \u5c06 \u5728 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u5904 \u7ed8\u5236 \u4e00\u4e2a \u7ea2\u8272 \u6846 \u3002   debug   =   world . debug   debug . draw _ box ( carla . BoundingBox ( actor _ snapshot . get _ transform ( ) . location , carla . Vector3D ( 0.5 , 0.5 , 2 ) ) , actor _ snapshot . get _ transform ( ) . rotation ,   0.05 ,   carla . Color ( 255 , 0 , 0 , 0 ) , 0 )   \u6b64 \u793a\u4f8b \u5728   carla . DebugHelper   \u7684 \u7247\u6bb5 \u4e2d \u8fdb\u884c \u4e86 \u6269\u5c55 \uff0c \u5c55\u793a \u4e86 \u5982\u4f55 \u4e3a \u4e16\u754c \u5feb\u7167 \u4e2d \u7684 \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7ed8\u5236 \u65b9\u6846 \u3002","title":"\u8c03\u8bd5  "},{"location":"core_world/#_12","text":"\u5305\u542b \u4eff\u771f \u4e2d \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5355\u4e2a \u5e27 \u4e2d \u7684 \u72b6\u6001 \u3002 \u4e00\u79cd \u5e26\u6709 \u65f6\u95f4 \u53c2\u8003 \u7684 \u9759\u6001 \u4e16\u754c \u56fe\u50cf \u3002 \u5373\u4f7f \u5728 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u4fe1\u606f \u4e5f \u6765\u81ea \u76f8\u540c \u7684 \u4eff\u771f \u6b65\u9aa4 \u3002   #   \u68c0\u7d22 \u5f53\u524d \u5e27 \u7684 \u4e16\u754c \u5feb\u7167 \u3002   world _ snapshot   =   world . get _ snapshot ( )   carla . WorldSnapshot   \u5305\u542b   carla . Timestamp   \u548c   carla . ActorSnapshot   \u5217\u8868 \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u7684 \u641c\u7d22 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5feb\u7167 \u3002 \u5feb\u7167 \u5217\u51fa \u4e86 \u5176\u4e2d \u51fa\u73b0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u3002   timestamp   =   world _ snapshot . timestamp   #   \u83b7\u53d6 \u65f6\u95f4 \u53c2\u8003   for   actor _ snapshot   in   world _ snapshot :   #   \u83b7\u53d6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u5feb\u7167 \u4fe1\u606f   actual _ actor   =   world . get _ actor ( actor _ snapshot . id )   actor _ snapshot . get _ transform ( )   actor _ snapshot . get _ velocity ( )   actor _ snapshot . get _ angular _ velocity ( )   actor _ snapshot . get _ acceleration ( )   actor _ snapshot   =   world _ snapshot . find ( actual _ actor . id )   #   \u83b7\u5f97 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5feb\u7167","title":"\u4e16\u754c \u5feb\u7167  "},{"location":"core_world/#_13","text":"\u4e16\u754c \u53ef\u4ee5 \u4f7f\u7528 \u4e00\u4e9b \u9ad8\u7ea7 \u7684 \u4eff\u771f \u914d\u7f6e \u3002 \u8fd9\u4e9b \u51b3\u5b9a \u4e86 \u6e32\u67d3 \u6761\u4ef6 \u3001 \u4eff\u771f \u65f6\u95f4 \u6b65\u957f \u4ee5\u53ca \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u7684 \u540c\u6b65 \u3002 \u5b83\u4eec \u53ef\u4ee5 \u4ece \u8f85\u52a9 \u7c7b   carla . WorldSettings   \u8bbf\u95ee \u3002   \u76ee\u524d \uff0c \u9ed8\u8ba4 \u7684   Carla   \u4ee5 \u6700\u4f73 \u56fe\u5f62 \u8d28\u91cf \u3001 \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \u548c \u5f02\u6b65 \u65b9\u5f0f \u8fd0\u884c \u3002 \u8981 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u6df1\u5165 \u4e86\u89e3 \u6b64 \u95ee\u9898 \uff0c \u8bf7 \u67e5\u770b   \u9ad8\u7ea7 \u6b65\u9aa4   \u90e8\u5206 \u3002 \u6709\u5173   \u540c\u6b65 \u3001 \u65f6\u95f4 \u6b65\u957f   \u4ee5\u53ca   \u6e32\u67d3 \u9009\u9879   \u7684 \u9875\u9762 \u53ef\u80fd \u662f \u4e00\u4e2a \u5f88 \u597d \u7684 \u8d77\u70b9 \u3002   \u8fd9 \u662f \u5bf9 \u4e16\u754c \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u7684 \u5305\u88c5 \u3002 \u4e0b \u4e00\u6b65 \u5c06 \u4ed4\u7ec6 \u7814\u7a76 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe \uff0c \u4e3a \u4eff\u771f \u8d4b\u4e88 \u751f\u547d \u3002   \u7ee7\u7eed \u9605\u8bfb \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002 \u8bf7 \u8bbf\u95ee \u8bba\u575b \uff0c \u53d1\u8868 \u5728 \u9605\u8bfb \u8fc7\u7a0b \u4e2d \u60f3\u5230 \u7684 \u4efb\u4f55 \u7591\u95ee \u6216 \u5efa\u8bae \u3002   Carla   \u8bba\u575b   \u7b2c\u4e8c \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe","title":"\u4e16\u754c \u8bbe\u7f6e  "},{"location":"cpp/","text":"C++   \u5728 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7684 \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e0b \u8fd0\u884c   doxygen   \u5c06 \u5728   Doxygen / html   \u76ee\u5f55 \u4e0b \u751f\u6210 html \u6587\u4ef6 \uff0c   \u6587\u6863 \u4e3b\u9875   \u4f4d\u4e8e \u3002   \u6240\u6709 \u7c7b \u7684 \u7ee7\u627f \u5173\u7cfb   \u3002   LibCarla   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u4e0d \u4f7f\u7528   Nagle   \u7b97\u6cd5 \uff0c \u5c06 Linux \u4e0a \u7684 \u540c\u6b65 \u6a21\u5f0f \u901f\u5ea6 \u63d0\u9ad8 \u4e86 \u7ea6 3 \u500d \u3002   _ socket . set _ option ( boost : : asio : : ip : : tcp : : no _ delay ( true ) ) ;   \u7b14\u8bb0   Nagle \u7b97\u6cd5 \u662f \u4e00\u79cd \u7528\u4e8e \u63d0\u9ad8 TCP / IP \u7f51\u7edc \u6027\u80fd \u7684 \u7b97\u6cd5 \uff0c \u5b83 \u901a\u8fc7 \u51cf\u5c11 \u6570\u636e \u6570\u636e\u5305 \u7684 \u53d1\u9001 \u53d1\u9001\u91cf \u6765 \u51cf\u5c11 \u7f51\u7edc \u62e5\u5835 \u3002 Nagle \u7b97\u6cd5 \u7684 \u4e3b\u8981 \u76ee\u7684 \u662f \u5408\u5e76 \u4e00\u5b9a \u6570\u91cf \u7684 \u8f93\u51fa \u6570\u636e \u540e \u4e00\u6b21 \u4e00\u6b21\u6027 \u63d0\u4ea4 \uff0c \u4ee5 \u907f\u514d \u7f51\u7edc \u4e2d \u5145\u65a5 \u7740 \u8bb8\u591a \u5c0f \u6570\u636e \u5757 \u3002 \u5f53 TCP \u62a5\u6587 \u627f\u8f7d \u7684 \u6570\u636e \u6570\u636e\u91cf \u975e\u5e38 \u5c0f\u65f6 \uff0c \u4f8b\u5982 \u51e0\u4e2a \u5b57\u8282 \uff0c \u6574\u4e2a \u7f51\u7edc \u7684 \u6548\u7387 \u4f1a \u5f88 \u4f4e \uff0c \u56e0\u4e3a \u6bcf\u4e2a TCP \u62a5\u6587 \u4e2d \u90fd \u4f1a \u5305\u542b \u5927\u91cf \u7684 \u5934\u90e8 \u4fe1\u606f \uff0c \u800c \u6709\u6548 \u6570\u636e \u5360\u6709 \u7684 \u6bd4\u91cd \u5c31 \u4f1a \u975e\u5e38 \u975e\u5e38\u4f4e \u3002 Nagle \u7b97\u6cd5 \u8981\u6c42 \uff0c \u5f53 \u4e00\u4e2a TCP \u8fde\u63a5 \u4e2d\u6709 \u5728 \u4f20 \u6570\u636e \uff08 \u5df2\u7ecf \u53d1\u51fa \u4f46 \u8fd8 \u672a \u786e\u8ba4 \u7684 \u6570\u636e \uff09 \u65f6 \uff0c \u5c0f\u4e8e MSS \uff08 \u6700\u5927 \u5206\u6bb5 \u5927\u5c0f \uff09 \u7684 \u62a5\u6587 \u6bb5 \u5c31 \u4e0d\u80fd \u88ab \u53d1\u9001 \uff0c \u76f4\u5230 \u6240\u6709 \u7684 \u5728 \u4f20 \u6570\u636e \u90fd \u6536\u5230 \u4e86 ACK \u3002 \u540c\u65f6 \u6536\u5230 ACK \u540e \uff0c TCP \u8fd8 \u4e0d\u4f1a \u9a6c\u4e0a \u5c31 \u53d1\u9001 \u6570\u636e \u53d1\u9001\u6570\u636e \uff0c \u4f1a \u6536\u96c6 \u5c0f\u5305 \u5408\u5e76 \u4e00\u8d77 \u53d1\u9001 \u3002 \u7136\u800c \uff0c Nagle \u7b97\u6cd5 \u5e76 \u4e0d\u9002 \u7528\u4e8e \u6240\u6709 \u60c5\u51b5 \uff0c \u5728 \u4e00\u4e9b \u8981\u6c42 \u4f4e \u5ef6\u8fdf \u7684 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \uff08 \u4f8b\u5982 \u5373\u65f6 \u901a\u8baf \u5373\u65f6\u901a \u5373\u65f6\u901a\u8baf \u5e94\u7528 \uff09 \uff0c Nagle \u7b97\u6cd5 \u7684 \u89c4\u5b9a \u662f \u4e0d\u6613 \u88ab \u63a5\u53d7 \u7684 \uff0c \u56e0\u6b64 \u9700\u8981 \u8bbe\u7f6e   TCP _ NODELAY   \u6216\u8005   TCP _ CORK   \u5173\u95ed Nagle \u7b97\u6cd5 \u3002   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u793a\u4f8b   \u53ea \u652f\u6301 \u5728   Linux   \u4e0a \u8fd0\u884c \u3002   \u95ee\u9898   VS   \u63d0\u793a \u65e0\u6cd5 \u542f\u52a8 \u7a0b\u5e8f \u201c   \\ DEBUG \\ ALL - BUILD \u201d , \u7cfb\u7edf \u627e \u4e0d\u5230 \u6307\u5b9a \u7684 \u6587\u4ef6   \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u662f \uff1a \u9879\u76ee   \u2014 >   \u8bbe\u7f6e \u4e3a \u542f\u52a8 \u9879\u76ee \u3002   \u53c2\u8003   CMake   \u4e2d\u6587 \u6559\u7a0b   vs2019   CMake   \u6559\u7a0b   \uff0c \u4e0b\u8f7d   CMake   3.26   \u7684 \u793a\u4f8b \u4ee3\u7801 \u3002   C++   API \u6587\u6863   C++   \u6559\u7a0b   CMake   \u94fe\u63a5 \u6743\u9650   \uff0c \u533a\u5206 PRIVATE \u3001 PUBLIC \u4e0e INTERFACE \u3002","title":"Cpp"},{"location":"cpp/#c","text":"\u5728 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7684 \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e0b \u8fd0\u884c   doxygen   \u5c06 \u5728   Doxygen / html   \u76ee\u5f55 \u4e0b \u751f\u6210 html \u6587\u4ef6 \uff0c   \u6587\u6863 \u4e3b\u9875   \u4f4d\u4e8e \u3002   \u6240\u6709 \u7c7b \u7684 \u7ee7\u627f \u5173\u7cfb   \u3002","title":"C++"},{"location":"cpp/#libcarla","text":"","title":"LibCarla"},{"location":"cpp/#_1","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u4e0d \u4f7f\u7528   Nagle   \u7b97\u6cd5 \uff0c \u5c06 Linux \u4e0a \u7684 \u540c\u6b65 \u6a21\u5f0f \u901f\u5ea6 \u63d0\u9ad8 \u4e86 \u7ea6 3 \u500d \u3002   _ socket . set _ option ( boost : : asio : : ip : : tcp : : no _ delay ( true ) ) ;   \u7b14\u8bb0   Nagle \u7b97\u6cd5 \u662f \u4e00\u79cd \u7528\u4e8e \u63d0\u9ad8 TCP / IP \u7f51\u7edc \u6027\u80fd \u7684 \u7b97\u6cd5 \uff0c \u5b83 \u901a\u8fc7 \u51cf\u5c11 \u6570\u636e \u6570\u636e\u5305 \u7684 \u53d1\u9001 \u53d1\u9001\u91cf \u6765 \u51cf\u5c11 \u7f51\u7edc \u62e5\u5835 \u3002 Nagle \u7b97\u6cd5 \u7684 \u4e3b\u8981 \u76ee\u7684 \u662f \u5408\u5e76 \u4e00\u5b9a \u6570\u91cf \u7684 \u8f93\u51fa \u6570\u636e \u540e \u4e00\u6b21 \u4e00\u6b21\u6027 \u63d0\u4ea4 \uff0c \u4ee5 \u907f\u514d \u7f51\u7edc \u4e2d \u5145\u65a5 \u7740 \u8bb8\u591a \u5c0f \u6570\u636e \u5757 \u3002 \u5f53 TCP \u62a5\u6587 \u627f\u8f7d \u7684 \u6570\u636e \u6570\u636e\u91cf \u975e\u5e38 \u5c0f\u65f6 \uff0c \u4f8b\u5982 \u51e0\u4e2a \u5b57\u8282 \uff0c \u6574\u4e2a \u7f51\u7edc \u7684 \u6548\u7387 \u4f1a \u5f88 \u4f4e \uff0c \u56e0\u4e3a \u6bcf\u4e2a TCP \u62a5\u6587 \u4e2d \u90fd \u4f1a \u5305\u542b \u5927\u91cf \u7684 \u5934\u90e8 \u4fe1\u606f \uff0c \u800c \u6709\u6548 \u6570\u636e \u5360\u6709 \u7684 \u6bd4\u91cd \u5c31 \u4f1a \u975e\u5e38 \u975e\u5e38\u4f4e \u3002 Nagle \u7b97\u6cd5 \u8981\u6c42 \uff0c \u5f53 \u4e00\u4e2a TCP \u8fde\u63a5 \u4e2d\u6709 \u5728 \u4f20 \u6570\u636e \uff08 \u5df2\u7ecf \u53d1\u51fa \u4f46 \u8fd8 \u672a \u786e\u8ba4 \u7684 \u6570\u636e \uff09 \u65f6 \uff0c \u5c0f\u4e8e MSS \uff08 \u6700\u5927 \u5206\u6bb5 \u5927\u5c0f \uff09 \u7684 \u62a5\u6587 \u6bb5 \u5c31 \u4e0d\u80fd \u88ab \u53d1\u9001 \uff0c \u76f4\u5230 \u6240\u6709 \u7684 \u5728 \u4f20 \u6570\u636e \u90fd \u6536\u5230 \u4e86 ACK \u3002 \u540c\u65f6 \u6536\u5230 ACK \u540e \uff0c TCP \u8fd8 \u4e0d\u4f1a \u9a6c\u4e0a \u5c31 \u53d1\u9001 \u6570\u636e \u53d1\u9001\u6570\u636e \uff0c \u4f1a \u6536\u96c6 \u5c0f\u5305 \u5408\u5e76 \u4e00\u8d77 \u53d1\u9001 \u3002 \u7136\u800c \uff0c Nagle \u7b97\u6cd5 \u5e76 \u4e0d\u9002 \u7528\u4e8e \u6240\u6709 \u60c5\u51b5 \uff0c \u5728 \u4e00\u4e9b \u8981\u6c42 \u4f4e \u5ef6\u8fdf \u7684 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \uff08 \u4f8b\u5982 \u5373\u65f6 \u901a\u8baf \u5373\u65f6\u901a \u5373\u65f6\u901a\u8baf \u5e94\u7528 \uff09 \uff0c Nagle \u7b97\u6cd5 \u7684 \u89c4\u5b9a \u662f \u4e0d\u6613 \u88ab \u63a5\u53d7 \u7684 \uff0c \u56e0\u6b64 \u9700\u8981 \u8bbe\u7f6e   TCP _ NODELAY   \u6216\u8005   TCP _ CORK   \u5173\u95ed Nagle \u7b97\u6cd5 \u3002   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u793a\u4f8b   \u53ea \u652f\u6301 \u5728   Linux   \u4e0a \u8fd0\u884c \u3002","title":"\u5ba2\u6237\u7aef"},{"location":"cpp/#_2","text":"VS   \u63d0\u793a \u65e0\u6cd5 \u542f\u52a8 \u7a0b\u5e8f \u201c   \\ DEBUG \\ ALL - BUILD \u201d , \u7cfb\u7edf \u627e \u4e0d\u5230 \u6307\u5b9a \u7684 \u6587\u4ef6   \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u662f \uff1a \u9879\u76ee   \u2014 >   \u8bbe\u7f6e \u4e3a \u542f\u52a8 \u9879\u76ee \u3002","title":"\u95ee\u9898"},{"location":"cpp/#_3","text":"CMake   \u4e2d\u6587 \u6559\u7a0b   vs2019   CMake   \u6559\u7a0b   \uff0c \u4e0b\u8f7d   CMake   3.26   \u7684 \u793a\u4f8b \u4ee3\u7801 \u3002   C++   API \u6587\u6863   C++   \u6559\u7a0b   CMake   \u94fe\u63a5 \u6743\u9650   \uff0c \u533a\u5206 PRIVATE \u3001 PUBLIC \u4e0e INTERFACE \u3002","title":"\u53c2\u8003"},{"location":"cpp_client/","text":"C++   \u5ba2\u6237 \u5ba2\u6237\u7aef \u793a\u4f8b   \u6b64 \u793a\u4f8b \u4f7f\u7528   Carla   \u7684 C++ API \u521b\u5efa \u4e00\u4e2a \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff0c \u4ee5 \u4ece C++ \u8fde\u63a5 \u548c \u63a7\u5236 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u7f16\u8bd1 \u548c \u8fd0\u884c   \u4f7f\u7528 \u63d0\u4f9b \u7684   Makefile \uff08 \u4ec5\u9650 Linux \uff09 \u7f16\u8bd1 \u5e76 \u8fd0\u884c \u793a\u4f8b \u3002 \u8bf7 \u6ce8\u610f \uff0c \u5b83 \u5e0c\u671b \u6709 \u4e00\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5728 2000 \u7aef\u53e3 \u8fd0\u884c \u3002 \uff08   Windows \u5ba2\u6237 \u5ba2\u6237\u7aef cmake \u6587\u4ef6   \uff09   make   run   \u5b83 \u7684 \u5de5\u4f5c \u539f\u7406   \u4e3a\u4e86 \u5c06 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u94fe\u63a5 \u5230   LibCarla \uff0c \u6211\u4eec \u9700\u8981 \u4f7f\u7528 \u4e0e \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u76f8\u540c \u7684 \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u548c \u914d\u7f6e \u6765 \u7f16\u8bd1   LibCarla \u3002 \u4e3a\u6b64 \uff0c \u6211\u4eec \u751f\u6210 \u4e00\u4e2a   CMake   \u5de5\u5177 \u94fe \u6587\u4ef6 \uff0c \u6307\u5b9a \u6240 \u9700 \u7684 \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u548c \u6807\u5fd7   #   ToolChain . cmake   \u793a\u4f8b   set ( CMAKE _ C _ COMPILER   / usr / bin / clang - 8 )   set ( CMAKE _ CXX _ COMPILER   / usr / bin / clang ++- 8 )   set ( CMAKE _ CXX _ FLAGS   \" $ { CMAKE _ CXX _ FLAGS }   - std = c++ 14   - O3   - DNDEBUG \"   CACHE   STRING   \" \"   FORCE )   \u7f16\u8bd1 LibCarla . client \u65f6 \uff0c \u6211\u4eec \u5c06 \u6b64 \u6587\u4ef6 \u4f20\u9012 \u7ed9 CMake   cd   / path / to / carla - root - folder   make   setup   cd   / path / to / build - folder   cmake   \\   - G   \" Ninja \"   \\   - DCMAKE _ BUILD _ TYPE = Client   \\   - DLIBCARLA _ BUILD _ RELEASE = ON   \\   - DLIBCARLA _ BUILD _ DEBUG = OFF   \\   - DLIBCARLA _ BUILD _ TEST = OFF   \\   - DCMAKE _ TOOLCHAIN _ FILE = / path / to / ToolChain . cmake   \\   - DCMAKE _ INSTALL _ PREFIX = / path / to / install - folder   \\   / path / to / carla - root - folder   ninja   ninja   install   \u8fd9 \u5c06 \u5728 \u63d0\u4f9b \u7684 \u5b89\u88c5 \u8def\u5f84 \u4e0a \u751f\u6210 \u4ee5\u4e0b \u7ed3\u6784   libcarla - install   \u251c \u2500 \u2500   include   \u2502   \u251c \u2500 \u2500   carla   \u2502   \u251c \u2500 \u2500   cephes   \u2502   \u251c \u2500 \u2500   pugixml   |   \u251c \u2500 \u2500   ...   \u2502   \u2514 \u2500 \u2500   system   \u2502   \u251c \u2500 \u2500   boost   \u2502   \u251c \u2500 \u2500   recast   \u2502   \u2514 \u2500 \u2500   rpc   \u2514 \u2500 \u2500   lib   \u251c \u2500 \u2500   libcarla _ client . a   \u251c \u2500 \u2500   librpc . a   \u251c \u2500 \u2500   libboost _ filesystem . a   \u2514 \u2500 \u2500   ...   \u6211\u4eec \u7684 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u81f3\u5c11 \u9700\u8981 \u94fe\u63a5 \u5230   libcarla _ client . a   \uff0c   librpc . a   \u3001   libRecast . a   \u548c   libDetour * . a   \u3002 \u5982\u679c \u6211\u4eec \u5229\u7528 IO \u6211\u4eec \u9700\u8981 \u94fe\u63a5 \u7684 \u529f\u80fd \u548c / \u6216 \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406   boost _ filesystem   \u3001   png   \u3001   tiff   \u548c / \u6216   jpeg   \u3002   \u6709\u5173 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8bf7 \u67e5\u770b \u63d0\u4f9b \u7684   Makefile \u3002   \u5176\u4ed6   \u94fe\u63a5 \u94fe\u63a5\u5e93 \u8bf4\u660e","title":"C++   \u5ba2\u6237\u7aef \u793a\u4f8b"},{"location":"cpp_client/#c","text":"\u6b64 \u793a\u4f8b \u4f7f\u7528   Carla   \u7684 C++ API \u521b\u5efa \u4e00\u4e2a \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff0c \u4ee5 \u4ece C++ \u8fde\u63a5 \u548c \u63a7\u5236 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002","title":"C++   \u5ba2\u6237\u7aef \u793a\u4f8b"},{"location":"cpp_client/#_1","text":"\u4f7f\u7528 \u63d0\u4f9b \u7684   Makefile \uff08 \u4ec5\u9650 Linux \uff09 \u7f16\u8bd1 \u5e76 \u8fd0\u884c \u793a\u4f8b \u3002 \u8bf7 \u6ce8\u610f \uff0c \u5b83 \u5e0c\u671b \u6709 \u4e00\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5728 2000 \u7aef\u53e3 \u8fd0\u884c \u3002 \uff08   Windows \u5ba2\u6237 \u5ba2\u6237\u7aef cmake \u6587\u4ef6   \uff09   make   run","title":"\u7f16\u8bd1 \u548c \u8fd0\u884c"},{"location":"cpp_client/#_2","text":"\u4e3a\u4e86 \u5c06 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u94fe\u63a5 \u5230   LibCarla \uff0c \u6211\u4eec \u9700\u8981 \u4f7f\u7528 \u4e0e \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u76f8\u540c \u7684 \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u548c \u914d\u7f6e \u6765 \u7f16\u8bd1   LibCarla \u3002 \u4e3a\u6b64 \uff0c \u6211\u4eec \u751f\u6210 \u4e00\u4e2a   CMake   \u5de5\u5177 \u94fe \u6587\u4ef6 \uff0c \u6307\u5b9a \u6240 \u9700 \u7684 \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u548c \u6807\u5fd7   #   ToolChain . cmake   \u793a\u4f8b   set ( CMAKE _ C _ COMPILER   / usr / bin / clang - 8 )   set ( CMAKE _ CXX _ COMPILER   / usr / bin / clang ++- 8 )   set ( CMAKE _ CXX _ FLAGS   \" $ { CMAKE _ CXX _ FLAGS }   - std = c++ 14   - O3   - DNDEBUG \"   CACHE   STRING   \" \"   FORCE )   \u7f16\u8bd1 LibCarla . client \u65f6 \uff0c \u6211\u4eec \u5c06 \u6b64 \u6587\u4ef6 \u4f20\u9012 \u7ed9 CMake   cd   / path / to / carla - root - folder   make   setup   cd   / path / to / build - folder   cmake   \\   - G   \" Ninja \"   \\   - DCMAKE _ BUILD _ TYPE = Client   \\   - DLIBCARLA _ BUILD _ RELEASE = ON   \\   - DLIBCARLA _ BUILD _ DEBUG = OFF   \\   - DLIBCARLA _ BUILD _ TEST = OFF   \\   - DCMAKE _ TOOLCHAIN _ FILE = / path / to / ToolChain . cmake   \\   - DCMAKE _ INSTALL _ PREFIX = / path / to / install - folder   \\   / path / to / carla - root - folder   ninja   ninja   install   \u8fd9 \u5c06 \u5728 \u63d0\u4f9b \u7684 \u5b89\u88c5 \u8def\u5f84 \u4e0a \u751f\u6210 \u4ee5\u4e0b \u7ed3\u6784   libcarla - install   \u251c \u2500 \u2500   include   \u2502   \u251c \u2500 \u2500   carla   \u2502   \u251c \u2500 \u2500   cephes   \u2502   \u251c \u2500 \u2500   pugixml   |   \u251c \u2500 \u2500   ...   \u2502   \u2514 \u2500 \u2500   system   \u2502   \u251c \u2500 \u2500   boost   \u2502   \u251c \u2500 \u2500   recast   \u2502   \u2514 \u2500 \u2500   rpc   \u2514 \u2500 \u2500   lib   \u251c \u2500 \u2500   libcarla _ client . a   \u251c \u2500 \u2500   librpc . a   \u251c \u2500 \u2500   libboost _ filesystem . a   \u2514 \u2500 \u2500   ...   \u6211\u4eec \u7684 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u81f3\u5c11 \u9700\u8981 \u94fe\u63a5 \u5230   libcarla _ client . a   \uff0c   librpc . a   \u3001   libRecast . a   \u548c   libDetour * . a   \u3002 \u5982\u679c \u6211\u4eec \u5229\u7528 IO \u6211\u4eec \u9700\u8981 \u94fe\u63a5 \u7684 \u529f\u80fd \u548c / \u6216 \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406   boost _ filesystem   \u3001   png   \u3001   tiff   \u548c / \u6216   jpeg   \u3002   \u6709\u5173 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8bf7 \u67e5\u770b \u63d0\u4f9b \u7684   Makefile \u3002","title":"\u5b83 \u7684 \u5de5\u4f5c \u539f\u7406"},{"location":"cpp_client/#_3","text":"\u94fe\u63a5 \u94fe\u63a5\u5e93 \u8bf4\u660e","title":"\u5176\u4ed6"},{"location":"custom_assets_tutorials/","text":"\u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8d44\u4ea7   Carla   \u62e5\u6709 \u5927\u91cf \u5f00\u7bb1 \u5373\u7528 \u7684 \u8d44\u4ea7 \uff0c \u5305\u62ec \u5b8c\u6574 \u7684 \u57ce\u9547 \u548c \u57ce\u5e02 \u4ee5\u53ca \u9053\u8def \u7f51\u7edc \u3001 \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u57fa\u7840 \u8bbe\u65bd \u57fa\u7840\u8bbe\u65bd \u3001 \u8f66\u8f86 \u548c \u884c\u4eba \uff0c \u4ee5 \u586b\u5145 \u60a8 \u7684 \u4eff\u771f \u3002 \u7136\u800c \uff0c \u5bf9\u4e8e \u8bb8\u591a \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff0c \u60a8 \u53ef\u80fd \u60f3\u8981 \u6dfb\u52a0 \u81ea\u5df1 \u7684 \u8d44\u4ea7 \uff0c \u800c   Carla   \u5b8c\u5168 \u6709 \u80fd\u529b \u52a0\u8f7d \u5b8c\u5168 \u7531 \u7528\u6237 \u521b\u5efa \u7684 \u65b0 \u8d44\u4ea7 \uff0c \u4ee5 \u5b9e\u73b0 \u6700\u5927 \u7684 \u6269\u5c55 \u5c55\u6027 \u6269\u5c55\u6027 \u53ef\u6269\u5c55\u6027 \u3002 \u4e4b\u524d \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8d44\u4ea7 \u6b65\u9aa4 \u8bf7 \u53c2\u8003   \u94fe\u63a5   \u3002   \u4ee5\u4e0b \u6587\u6863 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u8d44\u4ea7 \u5e76 \u5c06 \u5176 \u6dfb\u52a0 \u5230   Carla   \u7684 \u591a\u79cd \u6280\u672f \u3002   \u6dfb\u52a0 \u9053\u5177   \u6dfb\u52a0 \u8f66\u8f86   \u6253\u5305 \u8d44\u4ea7   \u5b9a\u5236 \u6750\u6599   \u6dfb\u52a0 \u9053\u5177   \u9053\u5177 \u662f \u573a\u666f \u4e2d\u9664 \u9053\u8def \u548c \u8f66\u8f86 \u4e4b\u5916 \u7684 \u8d44\u4ea7 \u3002 \u5176\u4e2d 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\u89c4\u8303 \u8bbe\u8ba1\u89c4\u8303 \u3002   \u8f66\u724c \u56fe\u50cf \u5e94 \u4fdd\u5b58 \u4e3a \u9ad8\u5206 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u9ad8\u5206\u8fa8\u7387 \u7684 . PNG \u6216 . JPG \u6587\u4ef6 \uff0c \u4ee5 \u4fdd\u6301 \u89c6\u89c9 \u6548\u679c \u89c6\u89c9\u6548\u679c \u7684 \u6e05\u6670 \u6e05\u6670\u5ea6 \u3002   \u5c06 \u8bbe\u8ba1 \u597d \u7684 \u56fe\u7247 \u5bfc\u5165 Carla \u4e2d \u5bf9\u5e94 \u7684 \u76ee\u5f55 \u4e0b \uff0c \u5e76 \u8f6c\u6362 \u4e3a \u6750\u8d28 \u3002 \u5982\u4e0b \u56fe \u6240\u793a \uff1a   \u5c06 \u56fe\u7247 \u76f4\u63a5 \u62d6\u81f3   / Game / Carla / Static / GenericMaterials / Licenseplates , \u53f3\u952e \u9009\u62e9 \u521b\u5efa \u6750\u8d28   2 . \u6750\u8d28 \u66ff\u6362   \u5bfc \u80ae\u81f3 Carla / Blueprints / Vehicles \u4e0b \u7684 \u76ee\u6807 \u8f66\u8f86 \uff0c \u53f3\u952e \u9009\u62e9 \u7f16\u8f91 \u3002 \u5982\u4e0b \u56fe \u6240\u793a \uff1a   \u8fdb\u5165 \u8f66\u8f86 \u8d44\u4ea7 \u7f16\u8f91 \u754c\u9762 \u540e \uff0c \u53cc\u51fb \u7f51\u683c \u4f53 \uff08 VehicleMesh \uff09 \u7ee7\u627f \uff0c \u4f1a \u51fa\u73b0 \u8f66\u8f86 \u4ee5\u53ca \u8f66\u8f86 \u6240 \u5f15\u7528 \u7684 \u8d44\u4ea7 \u3002   \u5c06 \u8f66\u8f86 \u653e\u5927 \uff0c \u4ee5\u4fbf \u67e5\u770b \u662f\u5426 \u4fee\u6539 \u6210\u529f \u3002   \u627e\u5230 \u8f66\u8f86 \u8f66\u724c \u4f4d\u7f6e \uff0c \u5c06\u6750 \u8def\u5f84 \u66ff\u6362 \u4e3a \u5148\u524d \u6240 \u51c6\u5907 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6750\u8d28 \u3002   \u8fd9\u6837 \uff0c \u6211\u4eec \u7684 \u8f66\u724c \u5df2\u7ecf \u66ff\u6362 \u6210\u529f \uff01 \u56de\u5230 \u4e3b \u754c\u9762 \uff0c \u70b9\u51fb \u7f16\u8bd1 \u8fd0\u884c \uff0c \u5219 \u51fa\u73b0 \u6211\u4eec \u60f3\u8981 \u7684 \u6548\u679c \uff01   3 . \u6d4b\u8bd5   \u8f66\u724c \u66ff\u6362 \u6210\u529f \u540e \uff0c \u5c06 \u573a\u666f \u5bfc\u51fa \uff0c \u6253\u5305 \u6210 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u3002   \u8fd0\u884c   Python   \u811a\u672c \u5728 \u573a\u666f \u4e2d \u6dfb\u52a0 \u5df2\u7ecf \u88ab \u66ff\u6362 \u8fc7 \u8f66\u724c \u7684 \u8f66\u8f86 \uff0c \u8c03\u6574 \u89c6\u89d2 \uff0c \u89c2\u5bdf \u8f66\u724c \u3002 \u6700\u540e \u663e\u793a \u7ed3\u679c \u5982\u4e0b \u56fe \u6240\u793a \uff1a","title":"\u81ea\u5b9a\u4e49 Carla \u4e2d \u8f66\u8f86 \u7684 \u8f66\u724c"},{"location":"custom_plate/#carla","text":"\u5728 Carla \u4eff\u771f \u73af\u5883 \u4e2d \uff0c \u9ed8\u8ba4 \u7684 \u8f66\u8f86 \u8f66\u724c \u662f \u9884\u8bbe \u7684 \u9759\u6001 \u8d44\u4ea7 \u3002 \u5982\u679c \u9700\u8981 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u8f66\u724c \u4ee5 \u6ee1\u8db3 \u7279\u5b9a \u7684 \u6d4b\u8bd5 \u9700\u6c42 \u6216 \u589e\u5f3a \u573a\u666f \u7684 \u771f\u5b9e \u771f\u5b9e\u6027 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u4ee5\u4e0b \u4e13\u4e1a \u65b9\u6cd5 \u6765 \u66ff\u6362 Carla \u4e2d \u8f66\u8f86 \u7684 \u8f66\u724c \uff1a","title":"\u81ea\u5b9a\u4e49 Carla \u4e2d \u8f66\u8f86 \u7684 \u8f66\u724c"},{"location":"custom_plate/#_1","text":"1 . \u8d44\u4ea7 \u51c6\u5907   \u9996\u5148 \uff0c \u8bbe\u8ba1 \u6216 \u83b7\u53d6 \u4f60 \u60f3\u8981 \u5e94\u7528 \u7684 \u8f66\u724c \u56fe\u50cf \u3002 \u786e\u4fdd \u56fe\u50cf \u7b26\u5408 \u5b9e\u9645 \u7b26\u5408\u5b9e\u9645 \u8f66\u724c \u7684 \u5c3a\u5bf8 \u548c \u8bbe\u8ba1 \u89c4\u8303 \u8bbe\u8ba1\u89c4\u8303 \u3002   \u8f66\u724c \u56fe\u50cf \u5e94 \u4fdd\u5b58 \u4e3a \u9ad8\u5206 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u9ad8\u5206\u8fa8\u7387 \u7684 . PNG \u6216 . 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\u5c06 \u8f66\u8f86 \u653e\u5927 \uff0c \u4ee5\u4fbf \u67e5\u770b \u662f\u5426 \u4fee\u6539 \u6210\u529f \u3002   \u627e\u5230 \u8f66\u8f86 \u8f66\u724c \u4f4d\u7f6e \uff0c \u5c06\u6750 \u8def\u5f84 \u66ff\u6362 \u4e3a \u5148\u524d \u6240 \u51c6\u5907 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6750\u8d28 \u3002   \u8fd9\u6837 \uff0c \u6211\u4eec \u7684 \u8f66\u724c \u5df2\u7ecf \u66ff\u6362 \u6210\u529f \uff01 \u56de\u5230 \u4e3b \u754c\u9762 \uff0c \u70b9\u51fb \u7f16\u8bd1 \u8fd0\u884c \uff0c \u5219 \u51fa\u73b0 \u6211\u4eec \u60f3\u8981 \u7684 \u6548\u679c \uff01   3 . \u6d4b\u8bd5   \u8f66\u724c \u66ff\u6362 \u6210\u529f \u540e \uff0c \u5c06 \u573a\u666f \u5bfc\u51fa \uff0c \u6253\u5305 \u6210 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u3002   \u8fd0\u884c   Python   \u811a\u672c \u5728 \u573a\u666f \u4e2d \u6dfb\u52a0 \u5df2\u7ecf \u88ab \u66ff\u6362 \u8fc7 \u8f66\u724c \u7684 \u8f66\u8f86 \uff0c \u8c03\u6574 \u89c6\u89d2 \uff0c \u89c2\u5bdf \u8f66\u724c \u3002 \u6700\u540e \u663e\u793a \u7ed3\u679c \u5982\u4e0b \u56fe \u6240\u793a \uff1a","title":"\u81ea\u5b9a\u4e49 \u8f66\u8f86 \u8f66\u724c \u7684 \u6b65\u9aa4"},{"location":"development_tutorials/","text":"\u5f00\u53d1   Carla   \u662f \u5f00\u6e90 \u7684 \uff0c \u5e76\u4e14 \u5177\u6709 \u9ad8\u5ea6 \u6269\u5c55 \u5c55\u6027 \u6269\u5c55\u6027 \u53ef\u6269\u5c55\u6027 \u3002 \u8fd9 \u5141\u8bb8 \u7528\u6237 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u529f\u80fd \u6216 \u5185\u5bb9 \u4ee5 \u6ee1\u8db3 \u4e13\u95e8 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u6216 \u7279\u5b9a \u9700\u6c42 \u3002 \u4ee5\u4e0b \u6559\u7a0b \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u4f7f\u7528   Carla   \u4ee3\u7801 \u5e93 \u5b9e\u73b0 \u7279\u5b9a \u7684 \u5f00\u53d1 \u76ee\u6807 \uff1a   \u8fdb\u884c \u53d1\u5e03   \u5347\u7ea7 \u5185\u5bb9   \u521b\u5efa \u8bed\u4e49 \u6807\u7b7e   \u521b\u5efa \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6027\u80fd \u57fa\u51c6 \u6d4b\u8bd5   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u78b0\u649e \u8fb9\u754c   \u8fdb\u884c \u53d1\u5e03   \u5982\u679c \u60a8 \u60f3 \u5f00\u53d1 \u81ea\u5df1 \u7684   Carla   \u5206\u652f \u5e76 \u53d1\u5e03 \u4ee3\u7801 \u7248\u672c \uff0c \u8bf7 \u9075\u5faa   \u672c \u6307\u5357   \u3002   \u5347\u7ea7 \u5185\u5bb9   \u6211\u4eec \u7684 \u5185\u5bb9 \u9a7b\u7559 \u5728 \u5355\u72ec \u7684   Git   LFS   \u5b58\u50a8 \u5e93\u4e2d \u3002 \u4f5c\u4e3a \u6784\u5efa \u7cfb\u7edf \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u6211\u4eec \u751f\u6210 \u5e76 \u4e0a\u4f20 \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff0c \u5176\u4e2d \u5305\u542b \u5e26\u6709 \u5f53\u524d \u65e5\u671f \u548c \u63d0\u4ea4 \u6807\u8bb0 \u7684 \u8be5 \u5185\u5bb9 \u7684 \u6700\u65b0 \u7248\u672c \u3002 \u6211\u4eec \u5b9a\u671f \u5347\u7ea7   Carla   \u5b58\u50a8 \u5e93 \uff0c \u5e76 \u63d0\u4f9b \u6700\u65b0 \u7248\u672c \u5185\u5bb9 \u5305 \u7684 \u94fe\u63a5 \u3002 \u8bf7 \u6309\u7167   \u8fd9\u4e9b \u8bf4\u660e   \u5347\u7ea7 \u5185\u5bb9 \u3002   \u521b\u5efa \u8bed\u4e49 \u6807\u7b7e   Carla   \u6709 \u4e00\u7ec4 \u5df2 \u5b9a\u4e49 \u7684 \u8bed\u4e49 \u6807\u7b7e \uff0c \u9002\u5408 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u7528\u4f8b \u3002 \u4f46\u662f \uff0c \u5982\u679c \u60a8 \u9700\u8981 \u5176\u4ed6 \u8bfe\u7a0b \uff0c \u60a8 \u53ef\u4ee5 \u6309\u7167   \u672c \u6307\u5357   \u4e2d \u7684 \u8be6\u7ec6 \u8bf4\u660e \u6dfb\u52a0 \u5b83\u4eec \u3002   \u521b\u5efa \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u60a8 \u53ef\u4ee5 \u4fee\u6539   Carla   \u7684   C++   \u4ee3\u7801 \u6765 \u4e3a \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7528\u4f8b \u521b\u5efa \u65b0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u8bf7 \u5728   \u6b64\u5904   \u67e5\u627e \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u6027\u80fd \u57fa\u51c6 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 \u662f \u5f00\u6e90 \u7684 \uff0c \u5e76\u4e14 \u5177\u6709 \u9ad8\u5ea6 \u6269\u5c55 \u5c55\u6027 \u6269\u5c55\u6027 \u53ef\u6269\u5c55\u6027 \u3002 \u8fd9 \u5141\u8bb8 \u7528\u6237 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u529f\u80fd \u6216 \u5185\u5bb9 \u4ee5 \u6ee1\u8db3 \u4e13\u95e8 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u6216 \u7279\u5b9a \u9700\u6c42 \u3002 \u4ee5\u4e0b \u6559\u7a0b \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u4f7f\u7528   Carla   \u4ee3\u7801 \u5e93 \u5b9e\u73b0 \u7279\u5b9a \u7684 \u5f00\u53d1 \u76ee\u6807 \uff1a   \u8fdb\u884c \u53d1\u5e03   \u5347\u7ea7 \u5185\u5bb9   \u521b\u5efa \u8bed\u4e49 \u6807\u7b7e   \u521b\u5efa \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6027\u80fd \u57fa\u51c6 \u6d4b\u8bd5   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u78b0\u649e \u8fb9\u754c","title":"\u5f00\u53d1"},{"location":"development_tutorials/#_2","text":"\u5982\u679c \u60a8 \u60f3 \u5f00\u53d1 \u81ea\u5df1 \u7684   Carla   \u5206\u652f \u5e76 \u53d1\u5e03 \u4ee3\u7801 \u7248\u672c \uff0c \u8bf7 \u9075\u5faa   \u672c \u6307\u5357   \u3002","title":"\u8fdb\u884c \u53d1\u5e03"},{"location":"development_tutorials/#_3","text":"\u6211\u4eec \u7684 \u5185\u5bb9 \u9a7b\u7559 \u5728 \u5355\u72ec \u7684   Git   LFS   \u5b58\u50a8 \u5e93\u4e2d \u3002 \u4f5c\u4e3a \u6784\u5efa \u7cfb\u7edf \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u6211\u4eec \u751f\u6210 \u5e76 \u4e0a\u4f20 \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff0c \u5176\u4e2d \u5305\u542b \u5e26\u6709 \u5f53\u524d \u65e5\u671f \u548c \u63d0\u4ea4 \u6807\u8bb0 \u7684 \u8be5 \u5185\u5bb9 \u7684 \u6700\u65b0 \u7248\u672c \u3002 \u6211\u4eec \u5b9a\u671f \u5347\u7ea7   Carla   \u5b58\u50a8 \u5e93 \uff0c \u5e76 \u63d0\u4f9b \u6700\u65b0 \u7248\u672c \u5185\u5bb9 \u5305 \u7684 \u94fe\u63a5 \u3002 \u8bf7 \u6309\u7167   \u8fd9\u4e9b \u8bf4\u660e   \u5347\u7ea7 \u5185\u5bb9 \u3002","title":"\u5347\u7ea7 \u5185\u5bb9"},{"location":"development_tutorials/#_4","text":"Carla   \u6709 \u4e00\u7ec4 \u5df2 \u5b9a\u4e49 \u7684 \u8bed\u4e49 \u6807\u7b7e \uff0c \u9002\u5408 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u7528\u4f8b \u3002 \u4f46\u662f \uff0c \u5982\u679c \u60a8 \u9700\u8981 \u5176\u4ed6 \u8bfe\u7a0b \uff0c \u60a8 \u53ef\u4ee5 \u6309\u7167   \u672c \u6307\u5357   \u4e2d \u7684 \u8be6\u7ec6 \u8bf4\u660e \u6dfb\u52a0 \u5b83\u4eec \u3002","title":"\u521b\u5efa \u8bed\u4e49 \u6807\u7b7e"},{"location":"development_tutorials/#_5","text":"\u60a8 \u53ef\u4ee5 \u4fee\u6539   Carla   \u7684   C++   \u4ee3\u7801 \u6765 \u4e3a \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7528\u4f8b \u521b\u5efa \u65b0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u8bf7 \u5728   \u6b64\u5904   \u67e5\u627e \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002","title":"\u521b\u5efa \u65b0 \u4f20\u611f\u5668"},{"location":"development_tutorials/#_6","text":"Carla   \u6709 \u4e00\u4e2a \u57fa\u51c6 \u6d4b\u8bd5 \u811a\u672c \uff0c \u53ef \u5e2e\u52a9 \u7cfb\u7edf \u5bf9\u7cfb\u7edf \u6027\u80fd \u8fdb\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002 \u5728   \u8fd9\u91cc   \u627e\u5230 \u5b8c\u6574 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002","title":"\u6027\u80fd \u57fa\u51c6 \u6d4b\u8bd5"},{"location":"development_tutorials/#_7","text":"\u6709\u5173 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u6b64\u5904   \u3002","title":"\u8bb0\u5f55\u5668 \u6587\u4ef6\u683c\u5f0f"},{"location":"development_tutorials/#_8","text":"\u6709\u5173 \u4e3a \u8f66\u8f86 \u751f\u6210 \u66f4 \u51c6\u786e \u7684 \u78b0\u649e \u8fb9\u754c \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u672c \u6307\u5357   \u3002","title":"\u751f\u6210 \u78b0\u649e \u8fb9\u754c"},{"location":"download/","text":"\u4e0b\u8f7d   \u6700\u65b0 \u53d1\u5e03   Carla   0.9 . 15   -   \u6587\u6863   \u6bcf\u665a \u6784\u5efa   \u8fd9\u662f \u4e00\u4e2a \u81ea\u52a8 \u6784\u5efa \uff0c \u6700\u65b0 \u7684 \u66f4\u6539 \u5df2 \u63a8\u9001 \u5230 \u6211\u4eec \u7684   dev   \u5206\u652f \u3002 \u5b83 \u5305\u542b \u5c06 \u6210\u4e3a \u4e0b \u4e00\u4e2a \u7248\u672c \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u7684 \u6700\u65b0 \u4fee\u590d \u548c \u529f\u80fd \uff0c \u4f46 \u4e5f \u5305\u542b \u4e00\u4e9b \u5b9e\u9a8c \u5b9e\u9a8c\u6027 \u66f4\u6539 \u3002 \u4f7f\u7528 \u98ce\u9669 \u81ea\u8d1f \uff01   Carla   \u6bcf\u665a \u6784\u5efa   ( Linux )   \u9644\u52a0 \u5730\u56fe \u591c\u95f4 \u6784\u5efa   ( Linux )   Carla   \u6bcf\u665a \u6784\u5efa \uff08 Windows \uff09   \u9644\u52a0 \u5730\u56fe \u6bcf\u665a \u6784\u5efa   ( Windows )   \u7248\u672c   0.9 . x   \u4ee5\u4e0b \u662f   Carla   \u7684 \u5148\u524d \u7248\u672c \uff0c \u5176\u4e2d \u5305\u542b \u6bcf\u4e2a \u7248\u672c \u7684 \u7279\u5b9a \u6587\u6863 \u7684 \u94fe\u63a5 \uff1a   Carla   0.9 . 14   -   \u6587\u6863   Carla   0.9 . 13   -   \u6587\u6863   Carla   0.9 . 12   -   \u6587\u6863   Carla   0.9 . 11   -   \u6587\u6863   Carla   0.9 . 10   -   \u6587\u6863   Carla   0.9 . 9   -   \u6587\u6863   Carla   0.9 . 8   -   \u6587\u6863   Carla   0.9 . 7   -   \u6587\u6863   Carla   0.9 . 6   -   \u6587\u6863   Carla   0.9 . 5   -   \u6587\u6863   Carla   0.9 . 4   -   \u6587\u6863   Carla   0.9 . 3   -   \u6587\u6863   Carla   0.9 . 2   -   \u6587\u6863   Carla   0.9 . 1   -   \u6587\u6863   Carla   0.9 . 0   -   \u6587\u6863   Versions   0.8 . x   Carla   0.8 . 4   -   \u6587\u6863   Carla   0.8 . 3   Carla   0.8 . 2   -   \u6587\u6863   Docker   \u6240\u6709 \u7248\u672c \u90fd \u53ef\u4ee5 \u4ece   DockerHub   \u4e2d \u83b7\u53d6 \uff1a   docker   pull   carlasim / carla : X . X . X   \u4f7f\u7528 \u6807\u7b7e \u201c latest \u201d \u8868\u793a \u6700\u65b0 \u7248\u672c \uff1a   docker   pull   carlasim / carla : latest","title":"\u4e0b\u8f7d"},{"location":"download/#_1","text":"","title":"\u4e0b\u8f7d"},{"location":"download/#_2","text":"Carla   0.9 . 15   -   \u6587\u6863","title":"\u6700\u65b0 \u53d1\u5e03"},{"location":"download/#_3","text":"\u8fd9\u662f \u4e00\u4e2a \u81ea\u52a8 \u6784\u5efa \uff0c \u6700\u65b0 \u7684 \u66f4\u6539 \u5df2 \u63a8\u9001 \u5230 \u6211\u4eec \u7684   dev   \u5206\u652f \u3002 \u5b83 \u5305\u542b \u5c06 \u6210\u4e3a \u4e0b \u4e00\u4e2a \u7248\u672c \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u7684 \u6700\u65b0 \u4fee\u590d \u548c \u529f\u80fd \uff0c \u4f46 \u4e5f \u5305\u542b \u4e00\u4e9b \u5b9e\u9a8c \u5b9e\u9a8c\u6027 \u66f4\u6539 \u3002 \u4f7f\u7528 \u98ce\u9669 \u81ea\u8d1f \uff01   Carla   \u6bcf\u665a \u6784\u5efa   ( Linux )   \u9644\u52a0 \u5730\u56fe \u591c\u95f4 \u6784\u5efa   ( Linux )   Carla   \u6bcf\u665a \u6784\u5efa \uff08 Windows \uff09   \u9644\u52a0 \u5730\u56fe \u6bcf\u665a \u6784\u5efa   ( Windows )","title":"\u6bcf\u665a \u6784\u5efa"},{"location":"download/#09x","text":"\u4ee5\u4e0b \u662f   Carla   \u7684 \u5148\u524d \u7248\u672c \uff0c \u5176\u4e2d \u5305\u542b \u6bcf\u4e2a \u7248\u672c \u7684 \u7279\u5b9a \u6587\u6863 \u7684 \u94fe\u63a5 \uff1a   Carla   0.9 . 14   -   \u6587\u6863   Carla   0.9 . 13   -   \u6587\u6863   Carla   0.9 . 12   -   \u6587\u6863   Carla   0.9 . 11   -   \u6587\u6863   Carla   0.9 . 10   -   \u6587\u6863   Carla   0.9 . 9   -   \u6587\u6863   Carla   0.9 . 8   -   \u6587\u6863   Carla   0.9 . 7   -   \u6587\u6863   Carla   0.9 . 6   -   \u6587\u6863   Carla   0.9 . 5   -   \u6587\u6863   Carla   0.9 . 4   -   \u6587\u6863   Carla   0.9 . 3   -   \u6587\u6863   Carla   0.9 . 2   -   \u6587\u6863   Carla   0.9 . 1   -   \u6587\u6863   Carla   0.9 . 0   -   \u6587\u6863","title":"\u7248\u672c   0.9 . x"},{"location":"download/#versions-08x","text":"Carla   0.8 . 4   -   \u6587\u6863   Carla   0.8 . 3   Carla   0.8 . 2   -   \u6587\u6863","title":"Versions   0.8 . x"},{"location":"download/#docker","text":"\u6240\u6709 \u7248\u672c \u90fd \u53ef\u4ee5 \u4ece   DockerHub   \u4e2d \u83b7\u53d6 \uff1a   docker   pull   carlasim / carla : X . X . X   \u4f7f\u7528 \u6807\u7b7e \u201c latest \u201d \u8868\u793a \u6700\u65b0 \u7248\u672c \uff1a   docker   pull   carlasim / carla : latest","title":"Docker"},{"location":"ecosys_ansys/","text":"Ansys   \u5b9e\u65f6 \u96f7\u8fbe \u6a21\u578b \uff1a \u4f7f\u7528 \u5f3a\u5316 \u5b66\u4e60 \u8bad\u7ec3 \u8f66\u8f86 \u7eb5\u5411 \u63a7\u5236 \u63a7\u5236\u5668   \u5728   2021   \u5e74   4   \u6708 \u7684 \u7f51\u7edc \u7814\u8ba8 \u7814\u8ba8\u4f1a \u7cfb\u5217 \u4e2d \uff0c   Ansys   \u8be6\u7ec6 \u4ecb\u7ecd \u4e86   Ansys   \u5b9e\u65f6 \u96f7\u8fbe   ( Real   Time   Radar ,   RTR )   \u4e0e   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u96c6\u6210 \u3002 \u60a8 \u53ef\u4ee5 \u5728 \u8fd9\u91cc \u4e0b\u8f7d \u5e76 \u67e5\u770b \u7f51\u7edc \u7814\u8ba8 \u7814\u8ba8\u4f1a \u9644\u5e26 \u7684 \u6f14\u793a \u5e7b\u706f \u5e7b\u706f\u7247 \u548c \u89c6\u9891 \u3002   \u8be5 \u6f14\u793a \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5b9e\u65f6 \u96f7\u8fbe \u5982\u4f55 \u4e0e   Carla   \u96c6\u6210 \uff0c \u4ee5 \u4f7f\u7528 \u5f3a\u5316 \u5b66\u4e60 \u8bad\u7ec3 \u8f66\u8f86 \u7eb5\u5411 \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u5e76 \u5305\u62ec \u6240 \u4f7f\u7528 \u7684 \u6a21\u578b \u3001 \u52a8\u4f5c \u7a7a\u95f4 \u548c \u5956\u52b1 \u7b56\u7565 \u3002 \u89c6\u9891 \u663e\u793a \u4e86   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u7684 \u8bad\u7ec3 \u7ed3\u679c \u3002   \u8bf7 \u5728   \u6b64\u5904   \u67e5\u770b \u6f14\u793a \u6587\u7a3f \u5e76 \u5728   \u6b64\u5904   \u67e5\u770b \u89c6\u9891 \u3002","title":"Ecosys   ansys"},{"location":"ecosys_ansys/#ansys","text":"\u5728   2021   \u5e74   4   \u6708 \u7684 \u7f51\u7edc \u7814\u8ba8 \u7814\u8ba8\u4f1a \u7cfb\u5217 \u4e2d \uff0c   Ansys   \u8be6\u7ec6 \u4ecb\u7ecd \u4e86   Ansys   \u5b9e\u65f6 \u96f7\u8fbe   ( Real   Time   Radar ,   RTR )   \u4e0e   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u96c6\u6210 \u3002 \u60a8 \u53ef\u4ee5 \u5728 \u8fd9\u91cc \u4e0b\u8f7d \u5e76 \u67e5\u770b \u7f51\u7edc \u7814\u8ba8 \u7814\u8ba8\u4f1a \u9644\u5e26 \u7684 \u6f14\u793a \u5e7b\u706f \u5e7b\u706f\u7247 \u548c \u89c6\u9891 \u3002   \u8be5 \u6f14\u793a \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5b9e\u65f6 \u96f7\u8fbe \u5982\u4f55 \u4e0e   Carla   \u96c6\u6210 \uff0c \u4ee5 \u4f7f\u7528 \u5f3a\u5316 \u5b66\u4e60 \u8bad\u7ec3 \u8f66\u8f86 \u7eb5\u5411 \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u5e76 \u5305\u62ec \u6240 \u4f7f\u7528 \u7684 \u6a21\u578b \u3001 \u52a8\u4f5c \u7a7a\u95f4 \u548c \u5956\u52b1 \u7b56\u7565 \u3002 \u89c6\u9891 \u663e\u793a \u4e86   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u7684 \u8bad\u7ec3 \u7ed3\u679c \u3002   \u8bf7 \u5728   \u6b64\u5904   \u67e5\u770b \u6f14\u793a \u6587\u7a3f \u5e76 \u5728   \u6b64\u5904   \u67e5\u770b \u89c6\u9891 \u3002","title":"Ansys   \u5b9e\u65f6 \u96f7\u8fbe \u6a21\u578b \uff1a \u4f7f\u7528 \u5f3a\u5316 \u5b66\u4e60 \u8bad\u7ec3 \u8f66\u8f86 \u7eb5\u5411 \u63a7\u5236\u5668"},{"location":"ecosys_femfx/","text":"\u9650\u5143 \u53d8\u5f62 \u6750\u6599 \u865a\u5e7b \u63d2\u4ef6   FEMFX   \u662f \u4e00\u4e2a \u7528\u4e8e \u53d8\u5f62 \u6750\u6599 \u7269\u7406 \u7684 \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b   CPU   \u5e93 \uff0c \u4f7f\u7528 \u6709\u9650 \u5143\u6cd5 \u6709\u9650\u5143 \u6709\u9650\u5143\u6cd5   ( Finite   Element   Method ,   FEM ) \u3002 \u5b9e\u4f53 \u5bf9\u8c61 \u8868\u793a \u4e3a \u56db\u9762 \u56db\u9762\u4f53 \u5355\u5143 \u7684 \u7f51\u683c \uff0c \u6bcf\u4e2a \u5355\u5143 \u90fd \u5177\u6709 \u63a7\u5236 \u521a\u5ea6 \u3001 \u4f53\u79ef \u5982\u4f55 \u968f \u53d8\u5f62 \u53d8\u5316 \u4ee5\u53ca \u53d1\u751f \u65ad\u88c2 \u6216 \u5851\u6027 \uff08 \u6c38\u4e45 \uff09 \u53d8\u5f62 \u7684 \u5e94\u529b \u9650\u5236 \u7684 \u6750\u6599 \u53c2\u6570 \u3002 \u8be5 \u6a21\u578b \u652f\u6301 \u591a\u79cd \u6750\u6599 \u4ee5\u53ca \u6750\u6599 \u4e4b\u95f4 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u3002 \u6211\u4eec \u6253\u7b97 \u8ba9 \u8fd9\u4e9b \u529f\u80fd \u8865\u5145 \u800c \u4e0d\u662f \u53d6\u4ee3 \u4f20\u7edf \u7684 \u521a\u4f53 \u7269\u7406 \u3002 \u8be5 \u7cfb\u7edf \u7684 \u8bbe\u8ba1 \u8003\u8651 \u4e86 \u4ee5\u4e0b \u56e0\u7d20 \uff1a   \u4fdd\u771f \u771f\u5ea6 \u4fdd\u771f\u5ea6 \uff1a \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u903c\u771f \u7684 \u6728\u6750 \u3001 \u91d1\u5c5e \u3001 \u5851\u6599 \uff0c \u751a\u81f3 \u73bb\u7483 \uff0c \u56e0\u4e3a \u5b83\u4eec \u50cf \u771f\u5b9e \u6750\u6599 \u4e00\u6837 \u6839\u636e \u538b\u529b \u5f2f\u66f2 \u548c \u65ad\u88c2 \u3002   \u53d8\u5f62 \u6548\u679c \uff1a \u975e \u521a\u6027 \u7528\u4f8b \uff0c \u4f8b\u5982 \u8f6f\u4f53 \u7269\u4f53 \u3001 \u5f2f\u66f2 \u6216 \u626d\u66f2 \u7684 \u7269\u4f53 \u3002 \u8fd9 \u4e0d\u4ec5 \u4ec5\u4ec5 \u4e0d\u4ec5\u4ec5 \u662f \u4e00\u79cd \u89c6\u89c9 \u6548\u679c \u89c6\u89c9\u6548\u679c \uff0c \u800c\u4e14 \u6750\u6599 \u4f1a \u62b5\u6297 \u6216 \u63a8\u56de \u5176\u4ed6 \u7269\u4f53 \u3002   \u52a8\u6001 \u66f4\u6539 \u6750\u8d28 \uff1a \u60a8 \u53ef\u4ee5 \u66f4\u6539 \u8bbe\u7f6e \u4ee5 \u4f7f \u540c\u4e00 \u5bf9\u8c61 \u7684 \u884c\u4e3a \u622a\u7136 \u4e0d\u540c \u622a\u7136\u4e0d\u540c \uff0c \u4f8b\u5982 \u53d8\u6210 \u51dd\u80f6 \u72b6 \u6216 \u878d\u5316   \u6e38\u620f \u6216 \u8c1c\u9898 \u7684 \u6709\u8da3 \u7269\u7406 \u4ea4\u4e92   \u5b9e\u4f53 \u5bf9\u8c61 \u8868\u793a \u4e3a \u56db\u9762 \u56db\u9762\u4f53 \u5355\u5143 \u7684 \u7f51\u683c \uff0c \u6bcf\u4e2a \u5355\u5143 \u90fd \u5177\u6709 \u63a7\u5236 \u521a\u5ea6 \u3001 \u4f53\u79ef \u5982\u4f55 \u968f \u53d8\u5f62 \u53d8\u5316 \u4ee5\u53ca \u53d1\u751f \u65ad\u88c2 \u6216 \u5851\u6027 \uff08 \u6c38\u4e45 \uff09 \u53d8\u5f62 \u7684 \u5e94\u529b \u9650\u5236 \u7684 \u6750\u6599 \u53c2\u6570 \u3002 \u8be5 \u6a21\u578b \u652f\u6301 \u591a\u79cd \u6750\u6599 \u4ee5\u53ca \u6750\u6599 \u4e4b\u95f4 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u3002   \u8be5\u5e93 \u4f7f\u7528 \u5e7f\u6cdb \u7684 \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b \u6765 \u5229\u7528 \u591a\u6838   CPU \uff0c \u5e76 \u4ece   CPU   \u6838\u5fc3 \u6570\u91cf \u589e\u52a0 \u7684 \u8d8b\u52bf \u4e2d \u53d7\u76ca \u3002","title":"Ecosys   femfx"},{"location":"ecosys_femfx/#_1","text":"FEMFX   \u662f \u4e00\u4e2a \u7528\u4e8e \u53d8\u5f62 \u6750\u6599 \u7269\u7406 \u7684 \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b   CPU   \u5e93 \uff0c \u4f7f\u7528 \u6709\u9650 \u5143\u6cd5 \u6709\u9650\u5143 \u6709\u9650\u5143\u6cd5   ( Finite   Element   Method ,   FEM ) \u3002 \u5b9e\u4f53 \u5bf9\u8c61 \u8868\u793a \u4e3a \u56db\u9762 \u56db\u9762\u4f53 \u5355\u5143 \u7684 \u7f51\u683c \uff0c \u6bcf\u4e2a \u5355\u5143 \u90fd \u5177\u6709 \u63a7\u5236 \u521a\u5ea6 \u3001 \u4f53\u79ef \u5982\u4f55 \u968f \u53d8\u5f62 \u53d8\u5316 \u4ee5\u53ca \u53d1\u751f \u65ad\u88c2 \u6216 \u5851\u6027 \uff08 \u6c38\u4e45 \uff09 \u53d8\u5f62 \u7684 \u5e94\u529b \u9650\u5236 \u7684 \u6750\u6599 \u53c2\u6570 \u3002 \u8be5 \u6a21\u578b \u652f\u6301 \u591a\u79cd \u6750\u6599 \u4ee5\u53ca \u6750\u6599 \u4e4b\u95f4 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u3002 \u6211\u4eec \u6253\u7b97 \u8ba9 \u8fd9\u4e9b \u529f\u80fd \u8865\u5145 \u800c \u4e0d\u662f \u53d6\u4ee3 \u4f20\u7edf \u7684 \u521a\u4f53 \u7269\u7406 \u3002 \u8be5 \u7cfb\u7edf \u7684 \u8bbe\u8ba1 \u8003\u8651 \u4e86 \u4ee5\u4e0b \u56e0\u7d20 \uff1a   \u4fdd\u771f \u771f\u5ea6 \u4fdd\u771f\u5ea6 \uff1a \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u903c\u771f \u7684 \u6728\u6750 \u3001 \u91d1\u5c5e \u3001 \u5851\u6599 \uff0c \u751a\u81f3 \u73bb\u7483 \uff0c \u56e0\u4e3a \u5b83\u4eec \u50cf \u771f\u5b9e \u6750\u6599 \u4e00\u6837 \u6839\u636e \u538b\u529b \u5f2f\u66f2 \u548c \u65ad\u88c2 \u3002   \u53d8\u5f62 \u6548\u679c \uff1a \u975e \u521a\u6027 \u7528\u4f8b \uff0c \u4f8b\u5982 \u8f6f\u4f53 \u7269\u4f53 \u3001 \u5f2f\u66f2 \u6216 \u626d\u66f2 \u7684 \u7269\u4f53 \u3002 \u8fd9 \u4e0d\u4ec5 \u4ec5\u4ec5 \u4e0d\u4ec5\u4ec5 \u662f \u4e00\u79cd \u89c6\u89c9 \u6548\u679c \u89c6\u89c9\u6548\u679c \uff0c \u800c\u4e14 \u6750\u6599 \u4f1a \u62b5\u6297 \u6216 \u63a8\u56de \u5176\u4ed6 \u7269\u4f53 \u3002   \u52a8\u6001 \u66f4\u6539 \u6750\u8d28 \uff1a \u60a8 \u53ef\u4ee5 \u66f4\u6539 \u8bbe\u7f6e \u4ee5 \u4f7f \u540c\u4e00 \u5bf9\u8c61 \u7684 \u884c\u4e3a \u622a\u7136 \u4e0d\u540c \u622a\u7136\u4e0d\u540c \uff0c \u4f8b\u5982 \u53d8\u6210 \u51dd\u80f6 \u72b6 \u6216 \u878d\u5316   \u6e38\u620f \u6216 \u8c1c\u9898 \u7684 \u6709\u8da3 \u7269\u7406 \u4ea4\u4e92   \u5b9e\u4f53 \u5bf9\u8c61 \u8868\u793a \u4e3a \u56db\u9762 \u56db\u9762\u4f53 \u5355\u5143 \u7684 \u7f51\u683c \uff0c \u6bcf\u4e2a \u5355\u5143 \u90fd \u5177\u6709 \u63a7\u5236 \u521a\u5ea6 \u3001 \u4f53\u79ef \u5982\u4f55 \u968f \u53d8\u5f62 \u53d8\u5316 \u4ee5\u53ca \u53d1\u751f \u65ad\u88c2 \u6216 \u5851\u6027 \uff08 \u6c38\u4e45 \uff09 \u53d8\u5f62 \u7684 \u5e94\u529b \u9650\u5236 \u7684 \u6750\u6599 \u53c2\u6570 \u3002 \u8be5 \u6a21\u578b \u652f\u6301 \u591a\u79cd \u6750\u6599 \u4ee5\u53ca \u6750\u6599 \u4e4b\u95f4 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u3002   \u8be5\u5e93 \u4f7f\u7528 \u5e7f\u6cdb \u7684 \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b \u6765 \u5229\u7528 \u591a\u6838   CPU \uff0c \u5e76 \u4ece   CPU   \u6838\u5fc3 \u6570\u91cf \u589e\u52a0 \u7684 \u8d8b\u52bf \u4e2d \u53d7\u76ca \u3002","title":"\u9650\u5143 \u53d8\u5f62 \u6750\u6599 \u865a\u5e7b \u63d2\u4ef6"},{"location":"ecosys_iss/","text":"\u667a\u80fd \u9a7e\u9a76 \u7cfb\u7edf   \u667a\u80fd \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \uff08 Intelligent   Self - driving   System ,   ISS \uff09 \u662f \u4e00\u4e2a \u7528   Python   \u548c   C++   \u7f16\u5199 \u7684 \u6a21\u5757 \u6a21\u5757\u5316 \u6846\u67b6 \uff0c \u65e8\u5728 \u6784\u5efa \u4e00\u4e2a \u9002\u5408 \u7814\u7a76 \u7684 \u53ef \u6269\u5c55 \u5de5\u4f5c \u7a7a\u95f4 \u3002 \u8be5 \u6846\u67b6 \u5c06 \u5305\u542b \u7528\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u76f8\u5173 \u4efb\u52a1 \u7684 \u4f20\u7edf \u548c \u6df1\u5ea6 \u5b66\u4e60 \u7b97\u6cd5 \uff0c \u4f8b\u5982 \u611f\u77e5 \u3001 \u5b9a\u4f4d \u3001 \u6620\u5c04 \u3001 \u9884\u6d4b \u3001 \u89c4\u5212 \u548c \u63a7\u5236 \u3002 \u5bf9\u5916 \u5916\u90e8 \u5bf9\u5916\u90e8 \u5e93 \u4f9d\u8d56 \u4f9d\u8d56\u6027 \u6700\u5c0f \u7684 \u6a21\u5757 \u6a21\u5757\u5316 \u8bbe\u8ba1 \u53ef\u4ee5 \u4e3a \u7814\u7a76 \u4eba\u5458 \u8bc4\u4f30 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u7684 \u7b97\u6cd5 \u63d0\u4f9b \u900f\u660e \u3001 \u5e72\u51c0 \u7684 \u5de5\u4f5c \u7a7a\u95f4 \u3002   \u5b89\u88c5   \u7b97\u6cd5   \u611f\u77e5   \u5b9a\u4f4d   \u9884\u6d4b   \u89c4\u5212   \u63a7\u5236   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u793a\u4f8b   \u76ee\u524d \uff0c \u667a\u80fd \u9a7e\u9a76 \u7cfb\u7edf \u6846\u67b6 \u80fd\u591f \u4f7f\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u751f\u6210 \u7684 \u6570\u636e \u6765 \u90e8\u7f72 \u548c \u6d4b\u8bd5 \u7b97\u6cd5 \u3002 \u5c06   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u96c6\u6210 \u5230 \u6211\u4eec \u7684 \u6846\u67b6 \u4e2d\u540e \uff0c \u6211\u4eec \u53ef\u4ee5 \u8bc4\u4f30 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7b97\u6cd5 \u3002 \u6b64\u5916 \uff0c \u53ef\u4ee5 \u91c7\u7528 \u76f8\u5e94 \u7684 \u63a7\u5236 \u7b97\u6cd5 \u63a7\u5236\u7b97\u6cd5 \u6765 \u64cd\u7eb5 \u4eff\u771f \u8f66\u8f86 \u3002 \u4ee5\u4e0b \u662f \u4e00\u4e9b \u6f14\u793a \u3002   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d   PointPillar   3D   \u68c0\u6d4b \u7b97\u6cd5 \u7684 \u5b9e\u65f6 \u6f14\u793a   \u5c55\u793a \u672c\u5730 \u884c\u4e3a \u89c4\u5212 \u7684 \u6f14\u793a   \u5fae\u578b \u5fae\u578b\u8f66 \u6f14\u793a   \u9664\u4e86 \u4eff\u771f \u7ed3\u679c \u4e4b\u5916 \uff0c \u5982\u679c \u6765\u81ea \u771f\u5b9e \u5fae\u578b \u6c7d\u8f66 \u5fae\u578b\u6c7d\u8f66 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u901a\u8fc7   ROS   \u4f20\u8f93 \u56de   ISS \uff0c \u5219   ISS   \u6846\u67b6 \u53ef\u4ee5 \u5229\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5b8c\u6210 \u5404\u79cd \u4efb\u52a1 \u5e76 \u5bf9 \u7269\u7406 \u5fae\u578b \u6c7d\u8f66 \u5fae\u578b\u6c7d\u8f66 \u8fdb\u884c \u63a7\u5236 \u3002 \u6211\u4eec \u5728 \u4e0b\u9762 \u5c55\u793a \u4e86 \u4e09\u4e2a \u89c6\u9891 \uff0c \u5c55\u793a \u4e86   ISS   \u4e0e \u771f\u5b9e \u5fae\u578b \u6c7d\u8f66 \u5fae\u578b\u6c7d\u8f66 \u7684 \u4e92\u52a8 \u3002   \u4e24\u4e2a \u6f14\u793a \u5206\u522b \u5c55\u793a \u4e86 \u5728 \u5ba4\u5185 \u548c \u5ba4\u5916 \u73af\u5883 \u4e2d \u5bfc\u822a \u7684 \u5b9e\u4f53 \u5fae\u578b \u5fae\u578b\u8f66   \u4f7f\u7528 \u6765\u81ea \u7269\u7406 \u5fae\u578b \u5fae\u578b\u8f66 \u7684 \u6570\u636e \u5c55\u793a   A - LOAM   SLAM   \u7b97\u6cd5 \u7684 \u6f14\u793a","title":"Ecosys   iss"},{"location":"ecosys_iss/#_1","text":"\u667a\u80fd \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \uff08 Intelligent   Self - driving   System ,   ISS \uff09 \u662f \u4e00\u4e2a \u7528   Python   \u548c   C++   \u7f16\u5199 \u7684 \u6a21\u5757 \u6a21\u5757\u5316 \u6846\u67b6 \uff0c \u65e8\u5728 \u6784\u5efa \u4e00\u4e2a \u9002\u5408 \u7814\u7a76 \u7684 \u53ef \u6269\u5c55 \u5de5\u4f5c \u7a7a\u95f4 \u3002 \u8be5 \u6846\u67b6 \u5c06 \u5305\u542b \u7528\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u76f8\u5173 \u4efb\u52a1 \u7684 \u4f20\u7edf \u548c \u6df1\u5ea6 \u5b66\u4e60 \u7b97\u6cd5 \uff0c \u4f8b\u5982 \u611f\u77e5 \u3001 \u5b9a\u4f4d \u3001 \u6620\u5c04 \u3001 \u9884\u6d4b \u3001 \u89c4\u5212 \u548c \u63a7\u5236 \u3002 \u5bf9\u5916 \u5916\u90e8 \u5bf9\u5916\u90e8 \u5e93 \u4f9d\u8d56 \u4f9d\u8d56\u6027 \u6700\u5c0f \u7684 \u6a21\u5757 \u6a21\u5757\u5316 \u8bbe\u8ba1 \u53ef\u4ee5 \u4e3a \u7814\u7a76 \u4eba\u5458 \u8bc4\u4f30 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u7684 \u7b97\u6cd5 \u63d0\u4f9b \u900f\u660e \u3001 \u5e72\u51c0 \u7684 \u5de5\u4f5c \u7a7a\u95f4 \u3002   \u5b89\u88c5   \u7b97\u6cd5   \u611f\u77e5   \u5b9a\u4f4d   \u9884\u6d4b   \u89c4\u5212   \u63a7\u5236","title":"\u667a\u80fd \u9a7e\u9a76 \u7cfb\u7edf"},{"location":"ecosys_iss/#_2","text":"\u76ee\u524d \uff0c \u667a\u80fd \u9a7e\u9a76 \u7cfb\u7edf \u6846\u67b6 \u80fd\u591f \u4f7f\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u751f\u6210 \u7684 \u6570\u636e \u6765 \u90e8\u7f72 \u548c \u6d4b\u8bd5 \u7b97\u6cd5 \u3002 \u5c06   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u96c6\u6210 \u5230 \u6211\u4eec \u7684 \u6846\u67b6 \u4e2d\u540e \uff0c \u6211\u4eec \u53ef\u4ee5 \u8bc4\u4f30 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7b97\u6cd5 \u3002 \u6b64\u5916 \uff0c \u53ef\u4ee5 \u91c7\u7528 \u76f8\u5e94 \u7684 \u63a7\u5236 \u7b97\u6cd5 \u63a7\u5236\u7b97\u6cd5 \u6765 \u64cd\u7eb5 \u4eff\u771f \u8f66\u8f86 \u3002 \u4ee5\u4e0b \u662f \u4e00\u4e9b \u6f14\u793a \u3002   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d   PointPillar   3D   \u68c0\u6d4b \u7b97\u6cd5 \u7684 \u5b9e\u65f6 \u6f14\u793a   \u5c55\u793a \u672c\u5730 \u884c\u4e3a \u89c4\u5212 \u7684 \u6f14\u793a","title":"\u4eff\u771f\u5668 \u793a\u4f8b"},{"location":"ecosys_iss/#_3","text":"\u9664\u4e86 \u4eff\u771f \u7ed3\u679c \u4e4b\u5916 \uff0c \u5982\u679c \u6765\u81ea \u771f\u5b9e \u5fae\u578b \u6c7d\u8f66 \u5fae\u578b\u6c7d\u8f66 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u901a\u8fc7   ROS   \u4f20\u8f93 \u56de   ISS \uff0c \u5219   ISS   \u6846\u67b6 \u53ef\u4ee5 \u5229\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5b8c\u6210 \u5404\u79cd \u4efb\u52a1 \u5e76 \u5bf9 \u7269\u7406 \u5fae\u578b \u6c7d\u8f66 \u5fae\u578b\u6c7d\u8f66 \u8fdb\u884c \u63a7\u5236 \u3002 \u6211\u4eec \u5728 \u4e0b\u9762 \u5c55\u793a \u4e86 \u4e09\u4e2a \u89c6\u9891 \uff0c \u5c55\u793a \u4e86   ISS   \u4e0e \u771f\u5b9e \u5fae\u578b \u6c7d\u8f66 \u5fae\u578b\u6c7d\u8f66 \u7684 \u4e92\u52a8 \u3002   \u4e24\u4e2a \u6f14\u793a \u5206\u522b \u5c55\u793a \u4e86 \u5728 \u5ba4\u5185 \u548c \u5ba4\u5916 \u73af\u5883 \u4e2d \u5bfc\u822a \u7684 \u5b9e\u4f53 \u5fae\u578b \u5fae\u578b\u8f66   \u4f7f\u7528 \u6765\u81ea \u7269\u7406 \u5fae\u578b \u5fae\u578b\u8f66 \u7684 \u6570\u636e \u5c55\u793a   A - LOAM   SLAM   \u7b97\u6cd5 \u7684 \u6f14\u793a","title":"\u5fae\u578b\u8f66 \u6f14\u793a"},{"location":"ecosys_ros/","text":"\u673a\u5668 \u673a\u5668\u4eba \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf   \u673a\u5668 \u673a\u5668\u4eba \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \uff08 Robotic   Operating   System ,   ROS \uff09   \u662f \u4e00\u7ec4 \u7528\u4e8e \u673a\u5668 \u673a\u5668\u4eba \u548c \u81ea\u52a8 \u9a7e\u9a76 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u7684 \u8f6f\u4ef6 \u5e93 \u3002 Carla   \u53ef\u4ee5 \u901a\u8fc7 \u5176   ROS   \u63a5\u53e3 \u76f4\u63a5 \u8fde\u63a5 \u5230   ROS \uff0c \u63a7\u5236 \u4fe1\u53f7 \u53ef\u4ee5 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5e76\u4e14 \u53ef\u4ee5 \u901a\u8fc7   ROS   \u4e3b\u9898 \u8bbf\u95ee \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u8fde\u63a5   Carla   \u548c   ROS   \u6709 \u4e24\u79cd \u9009\u62e9 \u3002   Carla   \u539f\u751f \u63a5\u53e3   :   \u76f4\u63a5 \u6784\u5efa \u5230   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e2d \u7684   ROS   \u63a5\u53e3   ROS   \u6865   :   \u4e00\u4e2a \u5355\u72ec \u7684 \u5e93 \uff0c \u7528\u4e8e \u5728   ROS   \u548c   Carla   \u4e4b\u95f4 \u4f20\u8f93 \u4fe1\u53f7   Carla   \u7684 \u539f\u751f   ROS   \u63a5\u53e3   \u8fd9\u662f \u63a8\u8350 \u7684 \u63a5\u53e3 \uff0c \u56e0\u4e3a \u5b83 \u63d0\u4f9b \u6700\u4f73 \u6027\u80fd \u548c \u6700\u4f4e \u5ef6\u8fdf \u3002 \u76ee\u524d \u672c \u673a \u63a5\u53e3 \u4ec5 \u652f\u6301   ROS   2 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528   ROS   1 \uff0c \u5219 \u5fc5\u987b \u4f7f\u7528   ROS   \u6865 \u3002   Carla   ROS   \u6865   Carla   ROS   \u6865   \u662f \u4e00\u4e2a \u7528\u4e8e \u5c06   ROS   \u8fde\u63a5 \u5230   Carla   \u7684 \u5e93 \uff0c \u5b83 \u4e0e   ROS   1   \u548c   ROS   2   \u517c\u5bb9 \u3002 \u7531\u4e8e   Carla   ROS   \u6865 \u662f \u4e00\u4e2a \u5355\u72ec \u7684 \u5305 \uff0c \u56e0\u6b64 \u4e0e \u672c\u673a \u63a5\u53e3 \u76f8\u6bd4 \uff0c \u5b58\u5728 \u989d\u5916 \u7684 \u5ef6\u8fdf \u3002 ROS   \u6865 \u4ecd\u7136 \u63d0\u4f9b \u652f\u6301   ROS   1   \u548c   ROS   2   \u7684 \u65e7 \u5b9e\u73b0 \u3002","title":"Ecosys   ros"},{"location":"ecosys_ros/#_1","text":"\u673a\u5668 \u673a\u5668\u4eba \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \uff08 Robotic   Operating   System ,   ROS \uff09   \u662f \u4e00\u7ec4 \u7528\u4e8e \u673a\u5668 \u673a\u5668\u4eba \u548c \u81ea\u52a8 \u9a7e\u9a76 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u7684 \u8f6f\u4ef6 \u5e93 \u3002 Carla   \u53ef\u4ee5 \u901a\u8fc7 \u5176   ROS   \u63a5\u53e3 \u76f4\u63a5 \u8fde\u63a5 \u5230   ROS \uff0c \u63a7\u5236 \u4fe1\u53f7 \u53ef\u4ee5 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5e76\u4e14 \u53ef\u4ee5 \u901a\u8fc7   ROS   \u4e3b\u9898 \u8bbf\u95ee \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u8fde\u63a5   Carla   \u548c   ROS   \u6709 \u4e24\u79cd \u9009\u62e9 \u3002   Carla   \u539f\u751f \u63a5\u53e3   :   \u76f4\u63a5 \u6784\u5efa \u5230   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e2d \u7684   ROS   \u63a5\u53e3   ROS   \u6865   :   \u4e00\u4e2a \u5355\u72ec \u7684 \u5e93 \uff0c \u7528\u4e8e \u5728   ROS   \u548c   Carla   \u4e4b\u95f4 \u4f20\u8f93 \u4fe1\u53f7","title":"\u673a\u5668\u4eba \u64cd\u4f5c\u7cfb\u7edf"},{"location":"ecosys_ros/#carla-ros","text":"\u8fd9\u662f \u63a8\u8350 \u7684 \u63a5\u53e3 \uff0c \u56e0\u4e3a \u5b83 \u63d0\u4f9b \u6700\u4f73 \u6027\u80fd \u548c \u6700\u4f4e \u5ef6\u8fdf \u3002 \u76ee\u524d \u672c \u673a \u63a5\u53e3 \u4ec5 \u652f\u6301   ROS   2 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528   ROS   1 \uff0c \u5219 \u5fc5\u987b \u4f7f\u7528   ROS   \u6865 \u3002","title":"Carla   \u7684 \u539f\u751f   ROS   \u63a5\u53e3"},{"location":"ecosys_ros/#carla-ros_1","text":"Carla   ROS   \u6865   \u662f \u4e00\u4e2a \u7528\u4e8e \u5c06   ROS   \u8fde\u63a5 \u5230   Carla   \u7684 \u5e93 \uff0c \u5b83 \u4e0e   ROS   1   \u548c   ROS   2   \u517c\u5bb9 \u3002 \u7531\u4e8e   Carla   ROS   \u6865 \u662f \u4e00\u4e2a \u5355\u72ec \u7684 \u5305 \uff0c \u56e0\u6b64 \u4e0e \u672c\u673a \u63a5\u53e3 \u76f8\u6bd4 \uff0c \u5b58\u5728 \u989d\u5916 \u7684 \u5ef6\u8fdf \u3002 ROS   \u6865 \u4ecd\u7136 \u63d0\u4f9b \u652f\u6301   ROS   1   \u548c   ROS   2   \u7684 \u65e7 \u5b9e\u73b0 \u3002","title":"Carla   ROS   \u6865"},{"location":"ecosys_simready/","text":"NVIDIA   Omniverse   \u7684   SimReady   \u5185\u5bb9   NVIDIA   \u7684   SimReady   \u89c4\u8303 \u652f\u6301 \u51c6\u5907 \u4e13   \u4e3a \u4eff\u771f \u800c \u6784\u5efa \u7684 \u4e09\u7ef4 \u5185\u5bb9   \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u7b80\u5316 \u4eff\u771f \u4e09\u7ef4 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u7684 \u5185\u5bb9 \u521b\u5efa \u7ba1\u9053 \uff0c \u4ee5 \u5b9e\u73b0 \u673a\u5668 \u673a\u5668\u4eba \u548c \u81ea\u52a8 \u9a7e\u9a76 \u4e2d \u7684 \u673a\u5668 \u5b66\u4e60 \u76ee\u7684 \u3002 \u901a\u8fc7 \u73b0\u5df2 \u96c6\u6210 \u5230   Carla   \u4e2d \u7684   Omniverse   \u865a\u5e7b \u5f15\u64ce \u63d2\u4ef6 \uff0c \u7528\u6237 \u53ea \u9700 \u70b9\u51fb \u51e0\u4e0b \u5373\u53ef \u5bfc\u5165   SimReady   \u5185\u5bb9 \uff0c \u4f8b\u5982 \u5df2 \u914d\u7f6e \u5de5\u4f5c \u706f \u3001 \u95e8 \u3001 \u8f66\u8f6e \u548c \u9053\u5177 \u7684 \u8f66\u8f86 \uff0c \u53ef \u7acb\u5373 \u7528\u4e8e \u88c5\u9970   Carla   \u5730\u56fe \u3002   Carla   \u7684   Omniverse   \u96c6\u6210 \u80fd\u591f \u663e \u7740 \u52a0\u901f \u60a8 \u7684 \u73af\u5883 \u6784\u5efa \u6d41\u7a0b \uff0c \u5e76 \u4e3a   Omniverse   \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf   \u4e2d \u7684 \u6574\u4e2a \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e16\u754c \u6253\u5f00 \u5927\u95e8 \u3002   \u7b14\u8bb0   Omniverse   \u865a\u5e7b \u5f15\u64ce \u8fde\u63a5 \u63a5\u5668 \u8fde\u63a5\u5668 \u76ee\u524d \u4ec5 \u5728   Windows   \u4e2d \u53ef\u7528 \u3002   \u8bf7 \u6309\u7167 \u4ee5\u4e0b \u6b65\u9aa4 \u5f00\u59cb \u4f7f\u7528   Omniverse   \u5e76 \u5728   Carla   \u4e2d \u4f7f\u7528   SimReady   \u5185\u5bb9 \uff1a   \u9996\u5148 \uff0c \u60a8 \u5e94\u8be5 \u5148   \u5b89\u88c5   NVIDIA   Omniverse   1 .   \u5b89\u88c5 \u865a\u5e7b \u5f15\u64ce   Omniverse   \u8fde\u63a5 \u63a5\u5668 \u8fde\u63a5\u5668   \u542f\u52a8   NVIDIA   Omniverse   \u542f\u52a8 \u542f\u52a8\u5668   \u5bfc\u822a \u81f3   Exchange   \u9009\u9879 \u9009\u9879\u5361   \u627e\u5230   Epic   Games   Unreal   Engine   4.26   Omniverse   \u8fde\u63a5 \u63a5\u5668 \u8fde\u63a5\u5668   \u786e\u4fdd \u5b89\u88c5 \u7248\u672c \u4e3a   Release   105.1 . 578   \u5355\u51fb   \u5b89\u88c5   Omniverse   \u5c06 \u65e0\u6cd5 \u627e\u5230   Unreal   Engine \uff0c \u5355\u51fb \u8bf7\u5355\u51fb   OK   \u3002   \u5b83\u4f1a \u63d0\u793a \u4f60 \u627e\u5230 \u4f60 \u7684 \u865a\u5e7b \u5f15\u64ce \u5b89\u88c5 \uff0c \u9009\u62e9 \u8fd9\u4e2a \u8def\u5f84 \uff1a { UE4 _ ROOT } \\ Engine \\ Plugins \\ Marketplace \\ NVIDIA   \u6309   \u5b89\u88c5   \u3002   2 .   \u8bbe\u7f6e \u672c\u5730   Omniverse   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u4f7f\u7528 \u542f\u52a8 \u542f\u52a8\u5668 \u6253\u5f00   NVIDIA   Omniverse   \u5bfc\u822a \u81f3   Nucleus   \u9009\u9879 \u9009\u9879\u5361   \u70b9\u51fb   Create   Local   Server   \u521b\u5efa \u7ba1\u7406 \u7ba1\u7406\u5458 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f   \u9009\u62e9   Local   Nucleus   Service   \u65c1\u8fb9 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u56fe\u6807 \uff0c \u8fd9 \u5e94\u8be5 \u5728   Web   \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u6253\u5f00 \u672c\u5730 \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   3 .   \u8fde\u63a5   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u4ece   Carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u547d\u4ee4 \u547d\u4ee4\u884c \u4f7f\u7528   make   launch   \u542f\u52a8   Carla   \u5982\u679c \u73b0\u6709 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u5e76\u4e14 \u60a8 \u60f3\u8981 \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \u8bbe\u7f6e \uff0c \u5355\u51fb \u8bf7\u5355\u51fb   Clean   Local   Assets   \uff08 \u53ef \u9009 \uff09   \u9009\u62e9   Omniverse   \u56fe\u6807 \u5e76 \u5355\u51fb   Add   Server   \u4e3a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u547d\u540d \u5e76 \u5355\u51fb   Add   to   Content   Browser   \u767b\u5f55 \u8868\u5355 \u5e94 \u5728 \u60a8 \u7684 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u542f\u52a8 \uff0c \u5355\u51fb   Create   Account   \u521b\u5efa \u7ba1\u7406 \u7ba1\u7406\u5458 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f   Omniverse   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u73b0\u5728 \u5e94\u8be5 \u5728 \u865a\u5e7b \u5f15\u64ce \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u7684   Content / Omniverse   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u53ef\u89c1   \u518d\u6b21 \u8bbf\u95ee \u60a8 \u7684 \u7f51\u7edc \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u5355\u51fb   Connect   to   a   Server   \u4f7f\u7528 \u60a8 \u4e3a   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bbe\u7f6e \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540d\u79f0 \u8fdb\u884c \u8eab\u4efd \u9a8c\u8bc1 \u8eab\u4efd\u9a8c\u8bc1   \u4f7f\u7528 \u60a8 \u4e3a   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bbe\u7f6e \u7684 \u7ba1\u7406 \u7ba1\u7406\u5458 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u73b0\u5728 \u5e94\u8be5 \u663e\u793a \u5728 \u60a8 \u7684 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d   4 .   \u5bfc\u5165   SimReady   \u8d44\u4ea7   \u5bfc\u822a \u81f3 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5bfc\u822a \u5668\u4e2d \u7684 \u201c Projects \u201d \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u53f3\u952e \u5355\u51fb \uff0c \u7136\u540e \u9009\u62e9   Upload   Folder   \u9009\u62e9 \u60a8 \u7684   SimReady   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u4e0a\u4f20 \u6587\u4ef6   5 .   \u4f7f\u7528   Omniverse   \u8fde\u63a5 \u63a5\u5668 \u8fde\u63a5\u5668 \u5c06 \u8f66\u8f86 \u52a0\u8f7d \u5230   Carla   \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6253\u5f00   Carla   \u9879\u76ee   \u5bfc\u822a \u81f3   CarlaTools / Content / USDImporter   \u53f3\u952e \u5355\u51fb   UW _ USDVehicleImporterEditorWidget   \u9009\u62e9   Run   Editor   Utility   Widget   \u5728   Omniverse   \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5bfc\u822a \u5668\u4e2d \u67e5\u627e \u8f66\u8f86   \u590d\u5236 \u8def\u5f84 \uff08 \u5e94 \u7c7b\u4f3c \u4e8e \uff1a omniverse : / / localhost / Projects / SimReadyUSD ... / vehicle . usd )   \u5c06 \u5176 \u7c98\u8d34 \u5230 \u5c0f\u7ec4 \u4ef6 \u5185 \u7684   Omiverse   URL   \u9009\u9879 \u9009\u9879\u5361 \u4e2d   \u9009\u62e9   Import   Asset   \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230 \u8f66\u8f86 \u663e\u793a \u5728 \u5f15\u64ce \u4e2d \u60a8 \u5728   Import   destination   \u5b57\u6bb5 \u4e2d \u6307\u5b9a \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d   \u6253\u5f00 \u53e6 \u4e00\u4e2a \u5730\u56fe \u573a\u666f \uff08 \u5b83 \u53ef\u80fd \u5df2 \u6253\u5f00 \u5305\u542b \u5bfc\u5165 \u6570\u636e \u7684 \u65b0 \u573a\u666f \uff09 \uff0c \u5e94 \u51fa\u73b0   Save   Content   \u63d0\u793a \u3002 \u53d6\u6d88 \u9009\u4e2d   Untitled   \u573a\u666f \uff0c \u7136\u540e \u5355\u51fb   Save   selected   \u4ee5 \u4fdd\u5b58 \u65b0 \u5185\u5bb9   \u8be5 \u8f66\u8f86 \u73b0\u5df2 \u53ef \u5728   Carla   \u5185 \u4f7f\u7528 \uff0c \u5e76 \u5c06 \u901a\u8fc7   Python   API   \u63d0\u4f9b","title":"NVIDIA   Omniverse   \u7684   SimReady   \u5185\u5bb9"},{"location":"ecosys_simready/#nvidia-omniverse-simready","text":"NVIDIA   \u7684   SimReady   \u89c4\u8303 \u652f\u6301 \u51c6\u5907 \u4e13   \u4e3a \u4eff\u771f \u800c \u6784\u5efa \u7684 \u4e09\u7ef4 \u5185\u5bb9   \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u7b80\u5316 \u4eff\u771f \u4e09\u7ef4 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u7684 \u5185\u5bb9 \u521b\u5efa \u7ba1\u9053 \uff0c \u4ee5 \u5b9e\u73b0 \u673a\u5668 \u673a\u5668\u4eba \u548c \u81ea\u52a8 \u9a7e\u9a76 \u4e2d \u7684 \u673a\u5668 \u5b66\u4e60 \u76ee\u7684 \u3002 \u901a\u8fc7 \u73b0\u5df2 \u96c6\u6210 \u5230   Carla   \u4e2d \u7684   Omniverse   \u865a\u5e7b \u5f15\u64ce \u63d2\u4ef6 \uff0c \u7528\u6237 \u53ea \u9700 \u70b9\u51fb \u51e0\u4e0b \u5373\u53ef \u5bfc\u5165   SimReady   \u5185\u5bb9 \uff0c \u4f8b\u5982 \u5df2 \u914d\u7f6e \u5de5\u4f5c \u706f \u3001 \u95e8 \u3001 \u8f66\u8f6e \u548c \u9053\u5177 \u7684 \u8f66\u8f86 \uff0c \u53ef \u7acb\u5373 \u7528\u4e8e \u88c5\u9970   Carla   \u5730\u56fe \u3002   Carla   \u7684   Omniverse   \u96c6\u6210 \u80fd\u591f \u663e \u7740 \u52a0\u901f \u60a8 \u7684 \u73af\u5883 \u6784\u5efa \u6d41\u7a0b \uff0c \u5e76 \u4e3a   Omniverse   \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf   \u4e2d \u7684 \u6574\u4e2a \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e16\u754c \u6253\u5f00 \u5927\u95e8 \u3002   \u7b14\u8bb0   Omniverse   \u865a\u5e7b \u5f15\u64ce \u8fde\u63a5 \u63a5\u5668 \u8fde\u63a5\u5668 \u76ee\u524d \u4ec5 \u5728   Windows   \u4e2d \u53ef\u7528 \u3002   \u8bf7 \u6309\u7167 \u4ee5\u4e0b \u6b65\u9aa4 \u5f00\u59cb \u4f7f\u7528   Omniverse   \u5e76 \u5728   Carla   \u4e2d \u4f7f\u7528   SimReady   \u5185\u5bb9 \uff1a   \u9996\u5148 \uff0c \u60a8 \u5e94\u8be5 \u5148   \u5b89\u88c5   NVIDIA   Omniverse","title":"NVIDIA   Omniverse   \u7684   SimReady   \u5185\u5bb9"},{"location":"ecosys_simready/#1-omniverse","text":"\u542f\u52a8   NVIDIA   Omniverse   \u542f\u52a8 \u542f\u52a8\u5668   \u5bfc\u822a \u81f3   Exchange   \u9009\u9879 \u9009\u9879\u5361   \u627e\u5230   Epic   Games   Unreal   Engine   4.26   Omniverse   \u8fde\u63a5 \u63a5\u5668 \u8fde\u63a5\u5668   \u786e\u4fdd \u5b89\u88c5 \u7248\u672c \u4e3a   Release   105.1 . 578   \u5355\u51fb   \u5b89\u88c5   Omniverse   \u5c06 \u65e0\u6cd5 \u627e\u5230   Unreal   Engine \uff0c \u5355\u51fb \u8bf7\u5355\u51fb   OK   \u3002   \u5b83\u4f1a \u63d0\u793a \u4f60 \u627e\u5230 \u4f60 \u7684 \u865a\u5e7b \u5f15\u64ce \u5b89\u88c5 \uff0c \u9009\u62e9 \u8fd9\u4e2a \u8def\u5f84 \uff1a { UE4 _ ROOT } \\ Engine \\ Plugins \\ Marketplace \\ NVIDIA   \u6309   \u5b89\u88c5   \u3002","title":"1 .   \u5b89\u88c5 \u865a\u5e7b \u5f15\u64ce   Omniverse   \u8fde\u63a5\u5668"},{"location":"ecosys_simready/#2-omniverse","text":"\u4f7f\u7528 \u542f\u52a8 \u542f\u52a8\u5668 \u6253\u5f00   NVIDIA   Omniverse   \u5bfc\u822a \u81f3   Nucleus   \u9009\u9879 \u9009\u9879\u5361   \u70b9\u51fb   Create   Local   Server   \u521b\u5efa \u7ba1\u7406 \u7ba1\u7406\u5458 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f   \u9009\u62e9   Local   Nucleus   Service   \u65c1\u8fb9 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u56fe\u6807 \uff0c \u8fd9 \u5e94\u8be5 \u5728   Web   \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u6253\u5f00 \u672c\u5730 \u4e3b\u673a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668","title":"2 .   \u8bbe\u7f6e \u672c\u5730   Omniverse   \u670d\u52a1\u5668"},{"location":"ecosys_simready/#3-carla","text":"\u4ece   Carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u547d\u4ee4 \u547d\u4ee4\u884c \u4f7f\u7528   make   launch   \u542f\u52a8   Carla   \u5982\u679c \u73b0\u6709 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u5e76\u4e14 \u60a8 \u60f3\u8981 \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \u8bbe\u7f6e \uff0c \u5355\u51fb \u8bf7\u5355\u51fb   Clean   Local   Assets   \uff08 \u53ef \u9009 \uff09   \u9009\u62e9   Omniverse   \u56fe\u6807 \u5e76 \u5355\u51fb   Add   Server   \u4e3a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u547d\u540d \u5e76 \u5355\u51fb   Add   to   Content   Browser   \u767b\u5f55 \u8868\u5355 \u5e94 \u5728 \u60a8 \u7684 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u542f\u52a8 \uff0c \u5355\u51fb   Create   Account   \u521b\u5efa \u7ba1\u7406 \u7ba1\u7406\u5458 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f   Omniverse   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u73b0\u5728 \u5e94\u8be5 \u5728 \u865a\u5e7b \u5f15\u64ce \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u7684   Content / Omniverse   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u53ef\u89c1   \u518d\u6b21 \u8bbf\u95ee \u60a8 \u7684 \u7f51\u7edc \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u5355\u51fb   Connect   to   a   Server   \u4f7f\u7528 \u60a8 \u4e3a   Carla   \u670d\u52a1 \u52a1\u5668 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20   -- safe   \u624b\u52a8 \u63a7\u5236 \u8f66\u8f86   python   examples / manual _ control . py   -- host   localhost   -- port   2000   -- rolename   hero   -- keep _ ego _ vehicle   \u624b\u52a8 \u63a7\u5236 \u884c\u4eba \uff1a   python   examples / manual _ control . py   -- filter   walker . pedestrian . *   \u7ed8\u5236 \u8fb9\u754c \u6846   \u811a\u672c \u5c06 \u6839\u636e \u7528\u6237 \u6307\u5b9a \u7684 \u89c6\u89d2   view   \uff08 \u4e0a\u65b9   above   \u3001 \u540e\u9762   behind   \uff09 \u9644\u52a0 \u4e00\u4e2a   RGB   \u76f8\u673a \uff0c \u5e76 \u5728 \u8ddd\u79bb   distance   \u4e4b\u5185 \u7ed8\u5236 \u6240\u6709 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   python   examples / sensor _ bounding _ box . py   -- host   localhost   -- port   2000   -- rolename   hero   -- view   above   -- distance   100   -- res   800x600   -- fov   90   \u6ce8\u610f   \u8fd0\u884c \u4e4b\u524d \uff0c \u9700\u8981 \u5148 \u8fd0\u884c   manual _ control . py   \u751f\u6210 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python   examples / waypoint _ follow . py   -- host   localhost   -- port   2000   -- rolename   hero   -- map   Town01   -- json _ file   data / town01 _ waypoints . json   -- sync   -- fixed _ delta _ seconds = 0.05   -- spawn   -- visualize   -- camera _ follow   \u6ce8\u610f   \u8fd0\u884c \u4e4b\u524d \u9700\u8981 \u5148 \u8bd5\u7528   python   config . py   - m   Town01   \u5c06 \u5730\u56fe \u5207\u6362 \u5230   Town01   \u3002   \u53ef\u89c6 \u53ef\u89c6\u5316 \u6fc0\u5149 \u70b9\u4e91   \u6b64 \u811a\u672c \u63d0\u4f9b \u4e86 \u5982\u4f55 \u4f7f\u7528   Open3D   \u53ef\u89c6 \u53ef\u89c6\u5316 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u70b9\u4e91 \u548c \u96f7\u8fbe \u6570\u636e \u7684 \u793a\u4f8b \u3002   python   examples / 3d _ lidar . py   -- host   localhost   -- port   2000   -- rolename   hero   -- keep _ ego _ vehicle","title":"Examples"},{"location":"examples/#_1","text":"","title":"\u4ea4\u4e92\u5f0f \u811a\u672c"},{"location":"examples/#_2","text":"python   examples / generate _ traffic . py   -- host   localhost   -- port   2000   - n   50   - w   20   -- safe","title":"\u751f\u6210 \u4ea4\u901a\u6d41\u91cf"},{"location":"examples/#_3","text":"python   examples / manual _ control . py   -- host   localhost   -- port   2000   -- rolename   hero   -- keep _ ego _ vehicle   \u624b\u52a8 \u63a7\u5236 \u884c\u4eba \uff1a   python   examples / manual _ control . py   -- filter   walker . pedestrian . *","title":"\u624b\u52a8 \u63a7\u5236 \u8f66\u8f86"},{"location":"examples/#_4","text":"\u811a\u672c \u5c06 \u6839\u636e \u7528\u6237 \u6307\u5b9a \u7684 \u89c6\u89d2   view   \uff08 \u4e0a\u65b9   above   \u3001 \u540e\u9762   behind   \uff09 \u9644\u52a0 \u4e00\u4e2a   RGB   \u76f8\u673a \uff0c \u5e76 \u5728 \u8ddd\u79bb   distance   \u4e4b\u5185 \u7ed8\u5236 \u6240\u6709 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   python   examples / sensor _ bounding _ box . py   -- host   localhost   -- port   2000   -- rolename   hero   -- view   above   -- distance   100   -- res   800x600   -- fov   90   \u6ce8\u610f   \u8fd0\u884c \u4e4b\u524d \uff0c \u9700\u8981 \u5148 \u8fd0\u884c   manual _ control . py   \u751f\u6210 \u4e00\u8f86 \u82f1\u96c4 \u8f66\u8f86 \uff0c \u5426\u5219 \u8fd0\u52a8 \u62a5\u9519 \uff1a   Actor   hero   not   found   \u3002   \u5e76\u4e14 \u5c06 \u539f\u59cb \u811a\u672c \u7684 \u73af\u5883 \u8def\u5f84   .. / src   \u6539\u4e3a   ..   \u3002","title":"\u7ed8\u5236 \u8fb9\u754c \u6846"},{"location":"examples/#_5","text":"\u8be5 \u811a\u672c \u4e3a \u60a8 \u63d0\u4f9b \u4e86 \u5982\u4f55 \u5728   Carla   \u4e2d \u53ef\u89c6 \u53ef\u89c6\u5316 \u5404\u79cd   RGB   \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u793a\u4f8b \u3002   python   examples / rgb _ camera _ example . py   -- host   localhost   -- port   2000   -- rolename   hero","title":"\u53ef\u89c6\u5316 \u516d\u79cd \u76f8\u673a"},{"location":"examples/#_6","text":"\u8be5 \u811a\u672c \u5b9e\u73b0 \u4e86 \u4e00\u4e2a \u7b80\u5355 \u7684 \u8def\u5f84 \u70b9 \u8ddf\u8e2a \u65b9\u6cd5 \u3002 \u5b83 \u5c06 \u6cbf\u7740 \u5730\u56fe \u4e0a \u7684 \u8def\u5f84 \u70b9 \u884c\u9a76 \uff0c \u5e76 \u5728 \u5230\u8fbe \u8def\u5f84 \u70b9 \u7ec8\u70b9 \u65f6 \u505c\u6b62 \u3002   python   examples / waypoint _ follow . py   -- host   localhost   -- port   2000   -- rolename   hero   -- map   Town01   -- json _ file   data / town01 _ waypoints . json   -- sync   -- fixed _ delta _ seconds = 0.05   -- spawn   -- visualize   -- camera _ follow   \u6ce8\u610f   \u8fd0\u884c \u4e4b\u524d \u9700\u8981 \u5148 \u8bd5\u7528   python   config . py   - m   Town01   \u5c06 \u5730\u56fe \u5207\u6362 \u5230   Town01   \u3002","title":"\u8def\u5f84 \u70b9 \u8ddf\u8e2a"},{"location":"examples/#_7","text":"\u6b64 \u811a\u672c \u63d0\u4f9b \u4e86 \u5982\u4f55 \u4f7f\u7528   Open3D   \u53ef\u89c6 \u53ef\u89c6\u5316 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u70b9\u4e91 \u548c \u96f7\u8fbe \u6570\u636e \u7684 \u793a\u4f8b \u3002   python   examples / 3d _ lidar . py   -- host   localhost   -- port   2000   -- rolename   hero   -- keep _ ego _ vehicle","title":"\u53ef\u89c6\u5316 \u6fc0\u5149 \u70b9\u4e91"},{"location":"ext_docs/","text":"\u6269\u5c55 \u6587\u6863   \u4e0b\u9762 \uff0c \u60a8 \u5c06 \u627e\u5230 \u6709\u5173   Carla   \u8bb8\u591a \u5e7f\u6cdb \u529f\u80fd \u7684 \u6df1\u5165 \u6587\u6863 \u3002   \u5de5\u5177   \u8bad\u7ec3 \u6570\u636e \u751f\u6210   \u2014   \u751f\u6210 \u5404\u79cd \u9a7e\u9a76 \u573a\u666f \u5e76 \u6355\u83b7 \u5404\u79cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u753b\u7ebf   \u2014   \u5728 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u7ed8\u5236 \u4fef\u89c6 \u76f8\u673a \u4e2d \u7684 \u7ebf \uff0c \u5e76 \u4fdd\u5b58 \u53c2\u8003 \u8003\u70b9 \u53c2\u8003\u70b9 \u3002   \u573a\u666f   \u751f\u6210 \u573a\u666f   \u2014   \u4f7f\u7528 \u7279\u5b9a \u9886\u57df \u5efa\u6a21 \u9886\u57df\u5efa\u6a21 \u8bed\u8a00 \u751f\u6210 \u81ea\u52a8 \u9a7e\u9a76 \u573a\u666f \u3002   \u5148\u8fdb \u7406\u5ff5   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u2014   \u5728 \u4eff\u771f \u4e2d \u6ce8\u518c \u4e8b\u4ef6 \u5e76 \u518d\u6b21 \u64ad\u653e \u3002   \u6e32\u67d3 \u9009\u9879   \u2014   \u4ece \u8d28\u91cf \u8bbe\u7f6e \u5230 \u65e0 \u6e32\u67d3 \u6216 \u79bb\u5c4f \u6a21\u5f0f \u3002   \u540c\u6b65 \u548c \u65f6\u95f4 \u6b65\u957f   \u2014   \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u548c \u4eff\u771f \u65f6\u95f4 \u3002   \u57fa\u51c6 \u6d4b\u8bd5 \u6027\u80fd   \u2014   \u4f7f\u7528 \u6211\u4eec \u51c6\u5907 \u7684 \u811a\u672c \u6267\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002   Carla   \u4ee3\u7406   \u2014   \u4ee3\u7406 \u811a\u672c \u5141\u8bb8 \u5355\u4e2a \u8f66\u8f86 \u5728 \u5730\u56fe \u4e0a \u6f2b\u6e38 \u6216 \u884c\u9a76 \u5230 \u8bbe\u5b9a \u7684 \u76ee\u7684 \u76ee\u7684\u5730 \u3002   \u591a   GPU   \u2014   \u8bbe\u7f6e   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4ee5 \u4f7f\u7528 \u591a\u4e2a   GPU   \u8fdb\u884c \u5904\u7406 \u3002   \u4ea4\u901a \u4eff\u771f   \u4ea4\u901a \u4eff\u771f \u6982\u8ff0   \u2014   \u53ef \u7528\u4e8e \u7528 \u586b\u5145 \u4ea4\u901a \u573a\u666f \u7684 \u4e0d\u540c \u9009\u9879 \u7684 \u6982\u8ff0 \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u2014   \u901a\u8fc7 \u5c06 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u6765 \u4eff\u771f \u57ce\u5e02 \u4ea4\u901a \u57ce\u5e02\u4ea4\u901a \u3002   \u53c2\u8003   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u2014   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u7684 \u8be6\u7ec6 \u8bf4\u660e \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u2014   \u6709\u5173 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ca\u5176 \u68c0\u7d22 \u6570\u636e \u7684 \u6240\u6709 \u5185\u5bb9 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177   \u2014   \u4f7f\u7528   OpenStreetMap   \u6570\u636e \u7684 \u7a0b\u5e8f \u5730\u56fe \u751f\u6210 \u5de5\u5177 \u3002   Carla   \u4e2d \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u6982\u8ff0   \u2014   \u6dfb\u52a0 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6807\u51c6 \u5c3a\u5bf8 \u5730\u56fe \u6240 \u6d89\u53ca \u7684 \u8fc7\u7a0b \u548c \u9009\u9879 \u7684 \u6982\u8ff0 \u3002   \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5730\u56fe   \u2014   \u5982\u4f55 \u5728   RoadRunner   \u4e2d \u751f\u6210 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u6807\u51c6 \u5c3a\u5bf8 \u5730\u56fe \u3002   \u5728   Carla   \u5305\u4e2d \u5bfc\u5165 \u5730\u56fe   \u5982\u4f55 \u5728   Carla   \u5305\u4e2d \u5bfc\u5165 \u5730\u56fe \u3002   \u5728   Carla   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u4e2d \u5bfc\u5165 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u5165 \u5730\u56fe \u3002   \u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5   \u2014   \u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5 \u3002   \u624b\u52a8 \u51c6\u5907 \u5730\u56fe \u5730\u56fe\u5305   \u2014   \u5982\u4f55 \u51c6\u5907 \u7528\u4e8e \u624b\u52a8 \u5bfc\u5165 \u7684 \u5730\u56fe \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5206\u5c42 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u4e2d \u521b\u5efa \u5b50 \u56fe\u5c42 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7   \u2014   \u5982\u4f55 \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u6dfb\u52a0 \u5230 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u4e2d \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u9053\u8def \u753b\u5bb6   \u2014   \u5982\u4f55 \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u66f4\u6539 \u9053\u8def \u7684 \u5916\u89c2 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5efa\u7b51\u7269   \u2014   \u7528 \u5efa\u7b51 \u5efa\u7b51\u7269 \u586b\u5145 \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5929\u6c14 \u548c \u666f\u89c2   \u2014   \u4e3a \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u521b\u5efa \u5929\u6c14 \u8d44\u6599 \u5e76 \u586b\u5145 \u666f\u89c2 \u3002   \u751f\u6210 \u884c\u4eba \u5bfc\u822a   \u2014   \u83b7\u53d6 \u884c\u4eba \u56db\u5904 \u8d70\u52a8 \u6240 \u9700 \u7684 \u4fe1\u606f \u3002   \u5927 \u5730\u56fe   \u5927 \u5730\u56fe \u6982\u8ff0   \u2014   \u89e3\u91ca \u5927 \u5730\u56fe \u5728   Carla   \u4e2d \u7684 \u5de5\u4f5c \u539f\u7406 \u3002   \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5927 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5927 \u5730\u56fe \u3002   \u5bfc\u5165 / \u6253\u5305 \u5927 \u5730\u56fe   \u2014   \u5982\u4f55 \u5bfc\u5165 \u5927 \u5730\u56fe \u3002","title":"\u6269\u5c55 \u6587\u6863"},{"location":"ext_docs/#_1","text":"\u4e0b\u9762 \uff0c \u60a8 \u5c06 \u627e\u5230 \u6709\u5173   Carla   \u8bb8\u591a \u5e7f\u6cdb \u529f\u80fd \u7684 \u6df1\u5165 \u6587\u6863 \u3002","title":"\u6269\u5c55 \u6587\u6863"},{"location":"ext_docs/#_2","text":"\u8bad\u7ec3 \u6570\u636e \u751f\u6210   \u2014   \u751f\u6210 \u5404\u79cd \u9a7e\u9a76 \u573a\u666f \u5e76 \u6355\u83b7 \u5404\u79cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u753b\u7ebf   \u2014   \u5728 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u7ed8\u5236 \u4fef\u89c6 \u76f8\u673a \u4e2d \u7684 \u7ebf \uff0c \u5e76 \u4fdd\u5b58 \u53c2\u8003 \u8003\u70b9 \u53c2\u8003\u70b9 \u3002","title":"\u5de5\u5177"},{"location":"ext_docs/#_3","text":"\u751f\u6210 \u573a\u666f   \u2014   \u4f7f\u7528 \u7279\u5b9a \u9886\u57df \u5efa\u6a21 \u9886\u57df\u5efa\u6a21 \u8bed\u8a00 \u751f\u6210 \u81ea\u52a8 \u9a7e\u9a76 \u573a\u666f \u3002","title":"\u573a\u666f"},{"location":"ext_docs/#_4","text":"\u8bb0\u5f55 \u8bb0\u5f55\u5668   \u2014   \u5728 \u4eff\u771f \u4e2d \u6ce8\u518c \u4e8b\u4ef6 \u5e76 \u518d\u6b21 \u64ad\u653e \u3002   \u6e32\u67d3 \u9009\u9879   \u2014   \u4ece \u8d28\u91cf \u8bbe\u7f6e \u5230 \u65e0 \u6e32\u67d3 \u6216 \u79bb\u5c4f \u6a21\u5f0f \u3002   \u540c\u6b65 \u548c \u65f6\u95f4 \u6b65\u957f   \u2014   \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u548c \u4eff\u771f \u65f6\u95f4 \u3002   \u57fa\u51c6 \u6d4b\u8bd5 \u6027\u80fd   \u2014   \u4f7f\u7528 \u6211\u4eec \u51c6\u5907 \u7684 \u811a\u672c \u6267\u884c \u57fa\u51c6 \u6d4b\u8bd5 \u3002   Carla   \u4ee3\u7406   \u2014   \u4ee3\u7406 \u811a\u672c \u5141\u8bb8 \u5355\u4e2a \u8f66\u8f86 \u5728 \u5730\u56fe \u4e0a \u6f2b\u6e38 \u6216 \u884c\u9a76 \u5230 \u8bbe\u5b9a \u7684 \u76ee\u7684 \u76ee\u7684\u5730 \u3002   \u591a   GPU   \u2014   \u8bbe\u7f6e   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4ee5 \u4f7f\u7528 \u591a\u4e2a   GPU   \u8fdb\u884c \u5904\u7406 \u3002","title":"\u5148\u8fdb \u7406\u5ff5"},{"location":"ext_docs/#_5","text":"\u4ea4\u901a \u4eff\u771f \u6982\u8ff0   \u2014   \u53ef \u7528\u4e8e \u7528 \u586b\u5145 \u4ea4\u901a \u573a\u666f \u7684 \u4e0d\u540c \u9009\u9879 \u7684 \u6982\u8ff0 \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u2014   \u901a\u8fc7 \u5c06 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u6765 \u4eff\u771f \u57ce\u5e02 \u4ea4\u901a \u57ce\u5e02\u4ea4\u901a \u3002","title":"\u4ea4\u901a \u4eff\u771f"},{"location":"ext_docs/#_6","text":"\u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u2014   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u7684 \u8be6\u7ec6 \u8bf4\u660e \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u2014   \u6709\u5173 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ca\u5176 \u68c0\u7d22 \u6570\u636e \u7684 \u6240\u6709 \u5185\u5bb9 \u3002","title":"\u53c2\u8003"},{"location":"ext_docs/#_7","text":"\u6570\u5b57 \u5b6a\u751f \u5de5\u5177   \u2014   \u4f7f\u7528   OpenStreetMap   \u6570\u636e \u7684 \u7a0b\u5e8f \u5730\u56fe \u751f\u6210 \u5de5\u5177 \u3002   Carla   \u4e2d \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u6982\u8ff0   \u2014   \u6dfb\u52a0 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6807\u51c6 \u5c3a\u5bf8 \u5730\u56fe \u6240 \u6d89\u53ca \u7684 \u8fc7\u7a0b \u548c \u9009\u9879 \u7684 \u6982\u8ff0 \u3002   \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5730\u56fe   \u2014   \u5982\u4f55 \u5728   RoadRunner   \u4e2d \u751f\u6210 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u6807\u51c6 \u5c3a\u5bf8 \u5730\u56fe \u3002   \u5728   Carla   \u5305\u4e2d \u5bfc\u5165 \u5730\u56fe   \u5982\u4f55 \u5728   Carla   \u5305\u4e2d \u5bfc\u5165 \u5730\u56fe \u3002   \u5728   Carla   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u4e2d \u5bfc\u5165 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u5165 \u5730\u56fe \u3002   \u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5   \u2014   \u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5 \u3002   \u624b\u52a8 \u51c6\u5907 \u5730\u56fe \u5730\u56fe\u5305   \u2014   \u5982\u4f55 \u51c6\u5907 \u7528\u4e8e \u624b\u52a8 \u5bfc\u5165 \u7684 \u5730\u56fe \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5206\u5c42 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u4e2d \u521b\u5efa \u5b50 \u56fe\u5c42 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7   \u2014   \u5982\u4f55 \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u6dfb\u52a0 \u5230 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u4e2d \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u9053\u8def \u753b\u5bb6   \u2014   \u5982\u4f55 \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u66f4\u6539 \u9053\u8def \u7684 \u5916\u89c2 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5efa\u7b51\u7269   \u2014   \u7528 \u5efa\u7b51 \u5efa\u7b51\u7269 \u586b\u5145 \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5929\u6c14 \u548c \u666f\u89c2   \u2014   \u4e3a \u60a8 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u521b\u5efa \u5929\u6c14 \u8d44\u6599 \u5e76 \u586b\u5145 \u666f\u89c2 \u3002   \u751f\u6210 \u884c\u4eba \u5bfc\u822a   \u2014   \u83b7\u53d6 \u884c\u4eba \u56db\u5904 \u8d70\u52a8 \u6240 \u9700 \u7684 \u4fe1\u606f \u3002","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe"},{"location":"ext_docs/#_8","text":"\u5927 \u5730\u56fe \u6982\u8ff0   \u2014   \u89e3\u91ca \u5927 \u5730\u56fe \u5728   Carla   \u4e2d \u7684 \u5de5\u4f5c \u539f\u7406 \u3002   \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5927 \u5730\u56fe   \u2014   \u5982\u4f55 \u5728   RoadRunner   \u4e2d \u521b\u5efa \u5927 \u5730\u56fe \u3002   \u5bfc\u5165 / \u6253\u5305 \u5927 \u5730\u56fe   \u2014   \u5982\u4f55 \u5bfc\u5165 \u5927 \u5730\u56fe \u3002","title":"\u5927 \u5730\u56fe"},{"location":"file_specification/","text":"Util / BuildTools / *   BuildUE4Plugins . bat   :   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u63d2\u4ef6   StreetMap   Setup . bat \uff1a \u8c03\u7528   Util / InstallersWin / * . bat   \u4e0b\u8f7d \u5e76 \u751f\u6210   zlib \u3001 libpng \u3001 rpclib \u3001 Google   Test \u3001 Recast   &   Detour \u3001 Fast - DDS   ( for   ROS2 ) \u3001 Boost \u3001 Xercesc \u3001 Sqlite3 \u3001 PROJ \u3001 Eigen \u3001 Chrono   \u5e93 \uff1b \u8bbe\u7f6e \u8d44\u4ea7 \u4e0b\u8f7d URL \uff1b \u751f\u6210 CMakeLists . txt . in \uff1b   BuildLibCarla . bat \uff1a \u521b\u5efa LibCarla \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u670d\u52a1\u7aef \uff1b   BuildOSM2ODR . bat \uff1a \u521b\u5efa OSM \u8f6c OpenDRIVE \u7684 \u5e93 \uff1b   \u9644\u52a0 \uff1a \u6784\u5efa \u6b65\u9aa4 \u5206\u6790   Update . bat   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u521d\u59cb \u521d\u59cb\u5316 \uff1b   \u83b7\u53d6 \u6700\u65b0 \u7684 \u8d44\u4ea7 \u5305 \uff1b   \u4e0b\u8f7d \u5e76 \u89e3\u538b \u8d44\u4ea7 \u5185\u5bb9 \uff1b   \u5982\u679c \u4e0d \u5b58\u5728 7zip \u5c31 \u7528   powershell   - Command   \" Expand - Archive   '   \u547d\u4ee4 \u8fdb\u884c \u89e3\u538b \u3002   Makefile   make   PythonAPI   \u6267\u884c   Util / BuildTools / BuildPythonAPI . bat   \uff0c \u771f\u6b63 \u6267\u884c \u7684 \u662f   python   setup . py   bdist _ egg   bdist _ wheel   \uff0c \u5728   PythonAPI / carla / dist   \u76ee\u5f55 \u4e0b \u751f\u6210   * . egg   \u548c   * . whl   \u6587\u4ef6 \uff1b   make   launch   \u6267\u884c   Makefile   \uff0c \u8c03\u7528   Util / BuildTools / Windows . mk   \uff0c \u771f\u6b63 \u6267\u884c \u7684 \u662f   BuildLibCarla . bat   \uff0c \u6784\u5efa LibCarla \u7684 \u670d\u52a1 \u670d\u52a1\u7aef \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1b   Build   Xerces   \u662f \u7531   Apache   \u7ec4\u7ec7 \u6240 \u63a8\u52a8 \u7684 \u4e00\u9879   XML   \u6587\u6863 \u89e3\u6790 \u5f00\u6e90 \u9879\u76ee \u3002   SQLite   \u662f \u4e00\u6b3e \u8f7b\u578b \u7684 \u6570\u636e \u636e\u5e93 \u6570\u636e\u5e93 \uff0c \u662f \u9075\u5b88   ACID   \u7684 \u5173\u7cfb \u578b \u6570\u636e \u636e\u5e93 \u6570\u636e\u5e93 \u7ba1\u7406 \u7cfb\u7edf \u7ba1\u7406\u7cfb \u7ba1\u7406\u7cfb\u7edf \uff0c \u5b83 \u5305\u542b \u5728 \u4e00\u4e2a \u76f8\u5bf9 \u5c0f \u7684 C \u5e93\u4e2d \u3002   PROJ   \u662f \u4e00\u79cd \u901a\u7528 \u5750\u6807 \u8f6c\u6362 \u8f6f\u4ef6 \uff0c \u5b83 \u5c06 \u5750\u6807 \u4ece \u4e00\u4e2a \u5750\u6807 \u53c2\u8003 \u53c2\u8003\u7cfb \uff08 CRS \uff09 \u8f6c\u6362 \u4e3a \u53e6 \u4e00\u4e2a \u5750\u6807 \u53c2\u8003 \u53c2\u8003\u7cfb \u3002 \u8fd9 \u5305\u62ec \u5730\u56fe \u6295\u5f71 \u5730\u56fe\u6295\u5f71 \u548c \u5927\u5730 \u5750\u6807 \u53d8\u6362 \u3002","title":"File   specification"},{"location":"file_specification/#utilbuildtools","text":"BuildUE4Plugins . bat   :   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u63d2\u4ef6   StreetMap   Setup . bat \uff1a \u8c03\u7528   Util / InstallersWin / * . bat   \u4e0b\u8f7d \u5e76 \u751f\u6210   zlib \u3001 libpng \u3001 rpclib \u3001 Google   Test \u3001 Recast   &   Detour \u3001 Fast - DDS   ( for   ROS2 ) \u3001 Boost \u3001 Xercesc \u3001 Sqlite3 \u3001 PROJ \u3001 Eigen \u3001 Chrono   \u5e93 \uff1b \u8bbe\u7f6e \u8d44\u4ea7 \u4e0b\u8f7d URL \uff1b \u751f\u6210 CMakeLists . txt . in \uff1b   BuildLibCarla . bat \uff1a \u521b\u5efa LibCarla \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u670d\u52a1\u7aef \uff1b   BuildOSM2ODR . bat \uff1a \u521b\u5efa OSM \u8f6c OpenDRIVE \u7684 \u5e93 \uff1b","title":"Util / BuildTools / *"},{"location":"file_specification/#_1","text":"","title":"\u9644\u52a0 \uff1a \u6784\u5efa \u6b65\u9aa4 \u5206\u6790"},{"location":"file_specification/#updatebat","text":"\u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u521d\u59cb \u521d\u59cb\u5316 \uff1b   \u83b7\u53d6 \u6700\u65b0 \u7684 \u8d44\u4ea7 \u5305 \uff1b   \u4e0b\u8f7d \u5e76 \u89e3\u538b \u8d44\u4ea7 \u5185\u5bb9 \uff1b   \u5982\u679c \u4e0d \u5b58\u5728 7zip \u5c31 \u7528   powershell   - Command   \" Expand - Archive   '   \u547d\u4ee4 \u8fdb\u884c \u89e3\u538b \u3002","title":"Update . bat"},{"location":"file_specification/#makefile","text":"make   PythonAPI   \u6267\u884c   Util / BuildTools / BuildPythonAPI . bat   \uff0c \u771f\u6b63 \u6267\u884c \u7684 \u662f   python   setup . py   bdist _ egg   bdist _ wheel   \uff0c \u5728   PythonAPI / carla / dist   \u76ee\u5f55 \u4e0b \u751f\u6210   * . egg   \u548c   * . whl   \u6587\u4ef6 \uff1b   make   launch   \u6267\u884c   Makefile   \uff0c \u8c03\u7528   Util / BuildTools / Windows . mk   \uff0c \u771f\u6b63 \u6267\u884c \u7684 \u662f   BuildLibCarla . bat   \uff0c \u6784\u5efa LibCarla \u7684 \u670d\u52a1 \u670d\u52a1\u7aef \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1b","title":"Makefile"},{"location":"file_specification/#build","text":"Xerces   \u662f \u7531   Apache   \u7ec4\u7ec7 \u6240 \u63a8\u52a8 \u7684 \u4e00\u9879   XML   \u6587\u6863 \u89e3\u6790 \u5f00\u6e90 \u9879\u76ee \u3002   SQLite   \u662f \u4e00\u6b3e \u8f7b\u578b \u7684 \u6570\u636e \u636e\u5e93 \u6570\u636e\u5e93 \uff0c \u662f \u9075\u5b88   ACID   \u7684 \u5173\u7cfb \u578b \u6570\u636e \u636e\u5e93 \u6570\u636e\u5e93 \u7ba1\u7406 \u7cfb\u7edf \u7ba1\u7406\u7cfb \u7ba1\u7406\u7cfb\u7edf \uff0c \u5b83 \u5305\u542b \u5728 \u4e00\u4e2a \u76f8\u5bf9 \u5c0f \u7684 C \u5e93\u4e2d \u3002   PROJ   \u662f \u4e00\u79cd \u901a\u7528 \u5750\u6807 \u8f6c\u6362 \u8f6f\u4ef6 \uff0c \u5b83 \u5c06 \u5750\u6807 \u4ece \u4e00\u4e2a \u5750\u6807 \u53c2\u8003 \u53c2\u8003\u7cfb \uff08 CRS \uff09 \u8f6c\u6362 \u4e3a \u53e6 \u4e00\u4e2a \u5750\u6807 \u53c2\u8003 \u53c2\u8003\u7cfb \u3002 \u8fd9 \u5305\u62ec \u5730\u56fe \u6295\u5f71 \u5730\u56fe\u6295\u5f71 \u548c \u5927\u5730 \u5750\u6807 \u53d8\u6362 \u3002","title":"Build"},{"location":"foundations/","text":"\u57fa\u7840   \u672c\u9875 \u4ecb\u7ecd \u4e86   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u5982\u4f55 \u901a\u8fc7   API   \u8fdb\u884c \u64cd\u4f5c \u548c \u901a\u4fe1 \u6240 \u9700 \u7684 \u57fa\u672c \u6982\u5ff5 \u57fa\u672c\u6982\u5ff5 \u3002 Carla   \u4f7f\u7528 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 - \u5ba2\u6237 \u5ba2\u6237\u7aef \u67b6\u6784 \u8fd0\u884c \uff0c \u5176\u4e2d   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fd0\u884c \u4eff\u771f \u5e76 \u7531 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5411 \u5176 \u53d1\u9001 \u6307\u4ee4 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4ee3\u7801 \u4f7f\u7528   API   \u4e0e \u670d\u52a1 \u52a1\u5668 \u8fdb\u884c \u670d\u52a1\u5668 \u670d\u52a1\u5668\u8fdb\u884c \u901a\u4fe1 \u3002 \u8981 \u4f7f\u7528   Python   API \uff0c \u60a8 \u5fc5\u987b \u901a\u8fc7   pip   \u5b89\u88c5 \u8be5 \u6a21\u5757 \uff1a   pip   install   carla - simulator   #   Python   2   pip3   install   carla - simulator   #   Python   3   \u8fd8\u8981 \u786e\u4fdd \u5728   python   \u811a\u672c \u4e2d \u5bfc\u5165   Carla   \u5305 \uff1a   import   carla   \u4e16\u754c \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u4e16\u754c   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe   \u5730\u56fe \u548c \u5bfc\u822a   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u6570\u636e   \u540c\u6b65 \u6a21\u5f0f \u548c \u5f02\u6b65 \u6a21\u5f0f   \u8bbe\u7f6e \u540c\u6b65 \u6a21\u5f0f   \u4f7f\u7528 \u540c\u6b65 \u6a21\u5f0f   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u8bb0\u5f55   \u4eff\u771f \u56de\u653e   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u6e32\u67d3   \u53f2\u8bd7 \u6a21\u5f0f   \u4f4e\u8d28 \u8d28\u91cf \u4f4e\u8d28\u91cf \u6a21\u5f0f   \u8fdb\u9636 \u6b65\u9aa4   \u4e16\u754c \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u662f \u7528\u6237 \u8fd0\u884c \u4ee5 \u8bf7\u6c42 \u4eff\u771f \u4e2d \u7684 \u4fe1\u606f \u6216 \u66f4\u6539 \u7684 \u6a21\u5757 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4f7f\u7528   IP   \u548c \u7279\u5b9a \u7aef\u53e3 \u8fd0\u884c \u3002 \u5b83 \u901a\u8fc7 \u7ec8\u7aef \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u3002 \u53ef\u4ee5 \u6709 \u8bb8\u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u540c\u65f6 \u8fd0\u884c \u3002 \u9ad8\u7ea7 \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u7ba1\u7406 \u9700\u8981 \u5bf9   Carla   \u548c   \u540c\u6b65   \u6709 \u900f\u5f7b \u7684 \u4e86\u89e3 \u3002   \u4f7f\u7528   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u8bbe\u7f6e \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1a   client   =   carla . Client ( ' localhost ' ,   2000 )   \u8fd9\u4f1a \u5c06 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bbe\u7f6e \u4e3a \u4e0e \u672c\u5730 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a   localhost   \u8fd0\u884c \u7684   Carla   \u670d\u52a1 \u52a1\u5668 \u8fdb\u884c \u670d\u52a1\u5668 \u670d\u52a1\u5668\u8fdb\u884c \u901a\u4fe1 \u3002 \u6216\u8005 \uff0c \u5982\u679c \u5728 \u5355\u72ec \u7684 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u8fd0\u884c \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5219 \u53ef\u4ee5 \u4f7f\u7528 \u7f51\u7edc \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u7f51\u7edc\u8ba1\u7b97\u673a \u7684   IP   \u5730\u5740 \u3002 \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u53c2\u6570 \u662f \u7aef\u53e3 \u53e3\u53f7 \u7aef\u53e3\u53f7 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u5728 \u7aef\u53e3   2000   \u4e0a \u8fd0\u884c \uff0c \u5982 \u6709 \u5fc5\u8981 \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u542f\u52a8   Carla   \u65f6 \u5728 \u8bbe\u7f6e \u4e2d \u66f4\u6539 \u6b64 \u8bbe\u7f6e \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u53ef \u7528\u4e8e \u591a\u79cd \u529f\u80fd \uff0c \u5305\u62ec \u52a0\u8f7d \u65b0 \u5730\u56fe \u3001 \u8bb0\u5f55 \u4eff\u771f \u548c \u521d\u59cb \u521d\u59cb\u5316 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff1a   client . load _ world ( ' Town07 ' )   client . start _ recorder ( ' recording . log ' )   \u4e16\u754c   \u4e16\u754c   \u662f \u4ee3\u8868 \u4eff\u771f \u7684 \u5bf9\u8c61 \u3002 \u5b83 \u5145\u5f53 \u4e00\u4e2a \u62bd\u8c61 \u5c42 \uff0c \u5305\u542b \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3001 \u6539\u53d8 \u5929\u6c14 \u3001 \u83b7\u53d6 \u4e16\u754c \u5f53\u524d \u72b6\u6001 \u7b49 \u7684 \u4e3b\u8981 \u65b9\u6cd5 \u3002 \u6bcf\u4e2a \u4eff\u771f \u53ea\u6709 \u4e00\u4e2a \u4e16\u754c \u3002 \u5f53 \u5730\u56fe \u6539\u53d8 \u65f6 \uff0c \u5b83\u4f1a \u88ab \u9500\u6bc1 \u5e76 \u66ff\u6362 \u4e3a \u65b0 \u7684 \u3002   \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u68c0\u7d22 \u4e16\u754c \u5bf9\u8c61 \uff1a   world   =   client . get _ world ( )   \u4e16\u754c \u5bf9\u8c61 \u53ef \u7528\u4e8e \u4f7f\u7528 \u5176 \u591a\u79cd \u65b9\u6cd5 \u8bbf\u95ee \u4eff\u771f \u4e2d \u7684 \u5bf9\u8c61 \uff0c \u4f8b\u5982 \u5929\u6c14 \u3001 \u8f66\u8f86 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u3001 \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u5730\u56fe \uff1a   level   =   world . get _ map ( )   weather   =   world . get _ weather ( )   blueprint _ library   =   world . get _ blueprint _ library ( )   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f \u5728 \u4eff\u771f \u4e2d \u626e\u6f14 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4efb\u4f55 \u4e1c\u897f \u3002   \u8f66\u8f86   \u884c\u4eba   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u89c2\u5bdf \u89c2\u5bdf\u8005   \u4ea4\u901a \u901a\u4fe1 \u4fe1\u53f7 \u4ea4\u901a\u4fe1\u53f7 \u548c \u4ea4\u901a \u4ea4\u901a\u706f   \u84dd\u56fe   \u662f \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240 \u5fc5\u9700 \u7684 \u5df2\u7ecf \u5236\u4f5c \u597d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e03\u5c40 \u3002 \u57fa\u672c \u57fa\u672c\u4e0a \uff0c \u662f \u5e26\u6709 \u52a8\u753b \u548c \u4e00\u7ec4 \u5c5e\u6027 \u7684 \u6a21\u578b \u3002 \u5176\u4e2d \u4e00\u4e9b \u5c5e\u6027 \u53ef\u4ee5 \u7531 \u7528\u6237 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \uff0c \u800c \u53e6 \u4e00\u4e9b \u4e00\u4e9b\u5219 \u4e0d\u80fd \u3002 \u6709 \u4e00\u4e2a   \u84dd \u56fe\u5e93   \uff0c \u5176\u4e2d \u5305\u542b \u6240\u6709 \u53ef\u7528 \u7684 \u84dd\u56fe \u4ee5\u53ca \u6709\u5173 \u5b83\u4eec \u7684 \u4fe1\u606f \u3002   \u5730\u56fe \u548c \u5bfc\u822a   \u5730\u56fe   \u662f \u4ee3\u8868 \u4eff\u771f \u4e16\u754c \u7684 \u5bf9\u8c61 \uff0c \u4e3b\u8981 \u662f \u57ce\u9547 \u3002 \u6709 \u516b\u5f20 \u5730\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002 \u5b83\u4eec \u90fd \u4f7f\u7528   opdrive   1.4   \u6807\u51c6 \u6765 \u63cf\u8ff0 \u9053\u8def \u3002   \u9053\u8def \u3001 \u8f66\u9053 \u548c \u8def\u53e3   \u7531   Python   API   \u7ba1\u7406 \uff0c \u4ee5\u4fbf \u4ece \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bbf\u95ee \u3002 \u8fd9\u4e9b \u4e0e   waypoint   \u7c7b \u4e00\u8d77 \u4f7f\u7528 \uff0c \u4e3a \u8f66\u8f86 \u63d0\u4f9b \u5bfc\u822a \u8def\u5f84 \u3002   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7   \u548c   \u4ea4\u901a \u4ea4\u901a\u706f   \u662f \u53ef \u8bbf\u95ee \u7684   carla . Landmark   \u3002 \u8fd9\u4e9b \u5730\u6807 \u5bf9\u8c61 \u5305\u542b \u5173\u4e8e \u5b83\u4eec \u7684   OpenDRIVE   \u5b9a\u4e49 \u7684 \u4fe1\u606f \u3002 \u6b64\u5916 \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5728 \u8fd0\u884c \u65f6\u4f1a \u81ea\u52a8 \u751f\u6210 \u505c\u8f66 \u6807\u5fd7 \u3001 \u8ba9 \u884c \u6807\u5fd7 \u548c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5bf9\u8c61 \uff0c \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u4e2d \u7684 \u4fe1\u606f \u3002 \u8fd9\u4e9b \u5bf9\u8c61 \u4f1a \u653e\u7f6e \u5728 \u9053\u8def \u4e0a \uff0c \u6709 \u8fb9\u754c \u6846 \u5305\u56f4 \u3002 \u4e00\u65e6 \u8f66\u8f86 \u8fdb\u5165 \u5b83\u4eec \u7684 \u8fb9\u754c \u6846 \uff0c \u5b83\u4eec \u5c31 \u4f1a \u610f\u8bc6 \u5230 \u8fd9\u4e9b \u5bf9\u8c61 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u6570\u636e   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u7b49\u5f85 \u4e00\u4e9b \u4e8b\u4ef6 \u53d1\u751f \uff0c \u7136\u540e \u4ece \u4eff\u771f \u4e2d \u6536\u96c6 \u6570\u636e \u3002 \u5b83\u4eec \u8c03\u7528 \u5b9a\u4e49 \u5982\u4f55 \u7ba1\u7406 \u6570\u636e \u7684 \u51fd\u6570 \u3002 \u6839\u636e \u4e0d\u540c \u7684 \u60c5\u51b5 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f1a \u68c0\u7d22 \u4e0d\u540c \u7c7b\u578b \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f \u9644\u7740 \u5728 \u7236 \u8f66\u8f86 \u4e0a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5b83 \u8ddf\u968f \u8f66\u8f86 \uff0c \u6536\u96c6 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u7684 \u4fe1\u606f \u3002 \u53ef\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7531   Blueprint \u5e93   \u4e2d \u7684 \u84dd\u56fe \u5b9a\u4e49 \u3002   \u76f8\u673a \uff08 RGB \uff0c \u6df1\u5ea6 \u548c \u8bed\u4e49 \u5206\u5272 \uff09   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5c04\u7ebf \u6295\u5c04   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u969c\u788d \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u96f7\u8fbe   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u540c\u6b65 \u6a21\u5f0f \u548c \u5f02\u6b65 \u6a21\u5f0f   Carla   \u5177\u6709 \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u67b6\u6784 \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fd0\u884c \u4eff\u771f \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u68c0\u7d22 \u4fe1\u606f \u5e76 \u8bf7\u6c42 \u4eff\u771f \u4e2d \u7684 \u66f4\u6539 \u3002 \u672c \u8282 \u6d89\u53ca \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u7684 \u901a\u4fe1 \u3002   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c Carla   \u4ee5   \u5f02\u6b65 \u6a21\u5f0f   \u8fd0\u884c \u3002   \u672c\u8d28 \u4e0a \uff0c \u5728   \u5f02\u6b65 \u6a21\u5f0f   \u4e0b \uff0c Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f1a \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5feb\u5730 \u8fd0\u884c \u3002 \u5ba2\u6237 \u8bf7\u6c42 \u662f \u5373\u65f6 \u5904\u7406 \u7684 \u3002 \u5728   \u540c\u6b65 \u6a21\u5f0f   \u4e0b \uff0c \u8fd0\u884c   Python   \u4ee3\u7801 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8d1f\u8d23 \u63a7\u5236 \u5e76 \u544a\u8bc9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f55\u65f6 \u66f4\u65b0 \u3002   \u5982\u679c \u60a8 \u6b63\u5728 \u5b9e\u9a8c \u6216 \u8bbe\u7f6e \u4eff\u771f \uff0c   \u5f02\u6b65 \u6a21\u5f0f   \u662f \u8fd0\u884c   Carla   \u7684 \u5408\u9002 \u6a21\u5f0f \uff0c \u56e0\u6b64 \u60a8 \u53ef\u4ee5 \u5728 \u653e\u7f6e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \u4e0e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4e00\u8d77 \u5728 \u5730\u56fe \u4e0a \u98de\u884c \u3002 \u5f53 \u60a8 \u60f3\u8981 \u5f00\u59cb \u751f\u6210 \u8bad\u7ec3 \u6570\u636e \u6216 \u5728 \u4eff\u771f \u4e2d \u90e8\u7f72 \u4ee3\u7406 \u65f6 \uff0c \u5efa\u8bae \u5efa\u8bae\u60a8 \u4f7f\u7528   \u540c\u6b65 \u6a21\u5f0f   \uff0c \u56e0\u4e3a \u8fd9 \u5c06 \u4e3a \u60a8 \u63d0\u4f9b \u66f4 \u591a \u7684 \u63a7\u5236 \u63a7\u5236\u529b \u548c \u9884\u6d4b \u6d4b\u6027 \u9884\u6d4b\u6027 \u53ef\u9884\u6d4b\u6027 \u3002   \u9605\u8bfb \u6709\u5173   \u540c\u6b65 \u6a21\u5f0f \u548c \u5f02\u6b65 \u6a21\u5f0f   \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u7b14\u8bb0   \u5728 \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u67b6\u6784 \u4e2d \uff0c \u53ea\u6709 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e94\u8be5 \u53d1\u51fa \u8282\u62cd \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5bf9 \u6536\u5230 \u7684 \u6bcf\u4e2a \u8282\u62cd \u505a\u51fa \u54cd\u5e94 \uff0c \u5c31 \u597d\u50cf \u5b83 \u6765\u81ea \u540c\u4e00 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e00\u6837 \u3002 \u8bb8\u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u8282\u62cd \u5c06 \u4f7f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e4b\u95f4 \u4ea7\u751f \u4e0d \u4e00\u81f4 \u3002   \u8bbe\u7f6e \u540c\u6b65 \u6a21\u5f0f   \u540c\u6b65 \u6a21\u5f0f \u548c \u5f02\u6b65 \u6a21\u5f0f \u4e4b\u95f4 \u7684 \u66f4\u6539 \u53ea\u662f \u5e03\u5c14 \u72b6\u6001 \u7684 \u95ee\u9898 \u3002   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   \u8b66\u544a   \u5982\u679c \u542f\u7528 \u4e86 \u540c\u6b65 \u6a21\u5f0f \uff0c \u5e76\u4e14 \u6b63\u5728 \u8fd0\u884c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u5219 \u4e5f \u5fc5\u987b \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002 \u9605\u8bfb   \u672c\u6587   \u4ee5 \u4e86\u89e3 \u5982\u4f55 \u64cd\u4f5c \u3002   \u8981 \u7981\u7528 \u540c\u6b65 \u6a21\u5f0f \uff0c \u53ea \u9700 \u5c06 \u53d8\u91cf \u8bbe\u7f6e \u4e3a   False   \u6216 \u4f7f\u7528 \u811a\u672c   PythonAPI / util / config . py   \u3002   cd   PythonAPI / util   &&   python3   config . py   -- no - sync   #   \u7981\u7528 \u540c\u6b65 \u6a21\u5f0f   \u540c\u6b65 \u6a21\u5f0f \u65e0\u6cd5 \u4f7f\u7528 \u811a\u672c \u542f\u7528 \uff0c \u53ea\u80fd \u7981\u7528 \u3002 \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \u4f7f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8282\u62cd \u3002 \u4f7f\u7528 \u6b64 \u811a\u672c \uff0c \u7528\u6237 \u65e0\u6cd5 \u5728 \u9700\u8981 \u65f6 \u53d1\u9001 \u8282\u62cd \u3002   \u4f7f\u7528 \u540c\u6b65 \u6a21\u5f0f   \u540c\u6b65 \u6a21\u5f0f \u4e0e \u7f13\u6162 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4ee5\u53ca \u9700\u8981 \u4e0d\u540c \u5143\u7d20 \uff08 \u4f8b\u5982 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff09 \u4e4b\u95f4 \u7684 \u540c\u6b65 \u65f6 \u7279\u522b \u76f8\u5173 \u3002 \u5982\u679c \u5ba2\u6237 \u5ba2\u6237\u7aef \u592a\u6162 \u800c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6ca1\u6709 \u7b49\u5f85 \uff0c \u5c31 \u4f1a \u51fa\u73b0 \u4fe1\u606f \u6ea2\u51fa \u3002 \u5ba2\u6237 \u5c06 \u65e0\u6cd5 \u7ba1\u7406 \u4e00\u5207 \uff0c \u5e76\u4e14 \u4f1a \u4e22\u5931 \u6216 \u6df7\u5408 \u3002 \u540c\u6837 \uff0c \u5bf9\u4e8e \u8bb8\u591a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u5f02\u6b65 \u60c5\u51b5 \uff0c \u4e0d \u53ef\u80fd \u77e5\u9053 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u5426 \u90fd \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u540c\u4e00 \u65f6\u523b \u7684 \u6570\u636e \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u7247\u6bb5 \u6269\u5c55 \u4e86 \u524d \u4e00\u4e2a \u4ee3\u7801 \u7247\u6bb5 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa \u4e00\u4e2a \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5c06 \u5f53\u524d \u6b65\u9aa4 \u7684 \u56fe\u50cf \u6570\u636e \u5b58\u50a8 \u5728 \u961f\u5217 \u4e2d \uff0c \u5e76 \u4ece \u961f\u5217 \u4e2d \u68c0\u7d22 \u540e \u53d1\u9001 \u8282\u62cd \u7ed9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6709\u5173 \u591a\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u66f4 \u590d\u6742 \u7684 \u793a\u4f8b \u3002   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   world . apply _ settings ( settings )   camera   =   world . spawn _ actor ( blueprint ,   transform )   image _ queue   =   queue . Queue ( )   camera . listen ( image _ queue . put )   while   True :   world . tick ( )   image   =   image _ queue . get ( )   \u91cd\u8981   \u6765\u81ea \u57fa\u4e8e   GPU   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u4e3b\u8981 \u662f \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \uff09 \u7684 \u6570\u636e \u901a\u5e38 \u4f1a \u5ef6\u8fdf \u51e0\u5e27 \u751f\u6210 \u3002 \u540c\u6b65 \u5728 \u8fd9\u91cc \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002   \u4e16\u754c \u4e0a \u6709 \u5f02\u6b65 \u65b9\u6cd5 \u53ef\u4ee5 \u8ba9 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7b49\u5f85 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8282\u62cd \uff0c \u6216\u8005 \u5728 \u6536\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8282\u62cd \u65f6 \u6267\u884c \u67d0\u4e9b \u64cd\u4f5c \u3002   #   \u7b49\u5f85 \u4e0b \u4e00\u4e2a \u8282\u62cd \u5e76 \u83b7\u53d6 \u8282\u62cd \u7684 \u5feb\u7167   world _ snapshot   =   world . wait _ for _ tick ( )   #   \u6ce8\u518c \u4e00\u4e2a \u56de\u8c03 \uff0c \u4ee5\u4fbf \u5728 \u6bcf\u6b21 \u6536\u5230 \u65b0 \u7684 \u5feb\u7167 \u65f6 \u90fd \u88ab \u8c03\u7528 \u3002   world . on _ tick ( lambda   world _ snapshot :   do _ something ( world _ snapshot ) )   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u53ef\u4ee5 \u5c06 \u91cd\u73b0 \u5148\u524d \u4eff\u771f \u6240 \u9700 \u7684 \u6240\u6709 \u6570\u636e \u4fdd\u5b58 \u5230 \u6587\u4ef6 \u4e2d \u3002 \u8fd9\u4e9b \u6570\u636e \u5305\u62ec \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \u3001 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u72b6\u6001 \u3001 \u884c\u4eba \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \u4ee5\u53ca \u592a\u9633 \u7684 \u4f4d\u7f6e \u548c \u5929\u6c14 \u72b6\u51b5 \u5929\u6c14\u72b6\u51b5 \u7b49 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002 \u6570\u636e \u88ab \u8bb0\u5f55 \u5230 \u4e00\u4e2a \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u4e2d \uff0c Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7a0d\u540e \u53ef\u4ee5 \u52a0\u8f7d \u8be5 \u6587\u4ef6 \u4ee5 \u51c6\u786e \u5730 \u518d\u73b0 \u4eff\u771f \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6839\u636e \u8bb0\u5f55 \u6587\u4ef6 \u4e2d \u5305\u542b \u7684 \u6570\u636e \u5728 \u6bcf \u4e00\u5e27 \u4e0a \u8fdb\u884c \u66f4\u65b0 \u3002 \u5f53\u524d \u4eff\u771f \u4e2d \u51fa\u73b0 \u5728 \u5f55\u5236 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u88ab \u79fb\u52a8 \u6216 \u91cd\u65b0 \u751f\u6210 \u4ee5 \u4eff\u771f \u5b83 \u3002 \u90a3\u4e9b \u6ca1\u6709 \u51fa\u73b0 \u5728 \u8bb0\u5f55 \u4e2d \u7684 \u4eba\u4f1a \u7ee7\u7eed \u4ed6\u4eec \u7684 \u8def \uff0c \u5c31 \u50cf \u4ec0\u4e48 \u90fd \u6ca1 \u53d1\u751f \u4e00\u6837 \u3002   \u91cd\u8981   \u64ad\u653e \u7ed3\u675f \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u4f46   \u884c\u4eba \u4e0d\u4f1a \u505c\u4e0b \u4e0b\u6765 \u505c\u4e0b\u6765   \u3002   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u5305\u62ec \u6709\u5173 \u8bb8\u591a \u4e0d\u540c \u5143\u7d20 \u7684 \u4fe1\u606f \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005   \u2014   \u521b\u9020 \u548c \u9500\u6bc1 \u3001 \u8fb9\u754c \u548c \u89e6\u53d1 \u76d2 \u3002   \u4ea4\u901a \u7b49   \u2014   \u72b6\u6001 \u53d8\u5316 \u548c \u65f6\u95f4 \u8bbe\u7f6e \u3002   \u8f66\u8f86   \u2014   \u4f4d\u7f6e \u548c \u65b9\u5411 \u3001 \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3001 \u5149 \u72b6\u6001 \u548c \u7269\u7406 \u63a7\u5236 \u3002   \u884c\u4eba   \u2014   \u4f4d\u7f6e \u548c \u65b9\u5411 \uff0c \u4ee5\u53ca \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3002   \u706f\u5149   \u2014   \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u8857\u9053 \u548c \u8f66\u8f86 \u7684 \u706f\u5149 \u72b6\u6001 \u3002   \u8bb0\u5f55   \u8981 \u5f00\u59cb \u5f55\u5236 \uff0c \u53ea \u9700\u8981 \u4e00\u4e2a \u6587\u4ef6 \u6587\u4ef6\u540d \u3002 \u5728 \u6587\u4ef6 \u6587\u4ef6\u540d \u4e2d \u4f7f\u7528   \\   ,   /   \u6216   :   \u5b57\u7b26 \u4f1a \u5c06 \u5176 \u5b9a\u4e49 \u4e3a \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002 \u5982\u679c \u6ca1\u6709 \u8be6\u7ec6 \u8def\u5f84 \uff0c \u6587\u4ef6 \u5c06 \u4fdd\u5b58 \u5728   CarlaUE4 / Saved   \u3002   client . start _ recorder ( \" / home / carla / recording01 . log \" )   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8bbe\u7f6e \u4e3a \u4ec5 \u5b58\u50a8 \u56de\u653e \u4eff\u771f \u6240 \u9700 \u7684 \u4fe1\u606f \u3002 \u4e3a\u4e86 \u4fdd\u5b58 \u524d\u9762 \u63d0\u5230 \u7684 \u6240\u6709 \u4fe1\u606f \uff0c   additional _ data   \u5fc5\u987b \u5728 \u5f00\u59cb \u5f55\u5236 \u65f6 \u914d\u7f6e \u53c2\u6570 \u3002   client . start _ recorder ( \" / home / carla / recording01 . log \" ,   True )   \u7b14\u8bb0   \u5176\u4ed6 \u6570\u636e \u5305\u62ec \uff1a \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u65f6\u95f4 \u8bbe\u7f6e \u3001 \u6267\u884c \u65f6\u95f4 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \u548c \u8fb9\u754c \u6846 \u4ee5\u53ca \u8f66\u8f86 \u7684 \u7269\u7406 \u63a7\u5236 \u3002   \u8981 \u505c\u6b62 \u8bb0\u5f55 \uff0c \u8c03\u7528 \u4e5f \u5f88 \u7b80\u5355 \u3002   client . stop _ recorder ( )   \u7b14\u8bb0   \u4f30\u8ba1 \u636e\u4f30\u8ba1 \uff0c 50   \u4e2a \u4ea4\u901a \u4ea4\u901a\u706f \u548c   100   \u8f86\u8f66 \u7684   1   \u5c0f\u65f6 \u8bb0\u5f55 \u5927\u7ea6 \u9700\u8981   200MB   \u5927\u5c0f \u3002   \u4eff\u771f \u56de\u653e   \u53ef\u4ee5 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u7684 \u4efb\u4f55 \u4f55\u65f6 \u65f6\u523b \u4efb\u4f55\u65f6\u523b \u5f00\u59cb \u64ad\u653e \u3002 \u9664\u4e86 \u65e5\u5fd7 \u6587\u4ef6 \u7684 \u8def\u5f84 \u4e4b\u5916 \uff0c \u6b64 \u65b9\u6cd5 \u8fd8 \u9700\u8981 \u4e00\u4e9b \u53c2\u6570 \u3002   client . replay _ file ( \" recording01 . log \" ,   start ,   duration ,   camera )   \u53c2\u6570   \u63cf\u8ff0   \u7b14\u8bb0   start   \u8bb0\u5f55 \u5f00\u59cb \u4eff\u771f \u7684 \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   \u5982\u679c \u4e3a \u6b63 \uff0c \u65f6\u95f4 \u5c06 \u4ece \u8bb0\u5f55 \u5f00\u59cb \u7b97 \u8d77 \u3002   \u5982\u679c \u4e3a \u8d1f \uff0c \u5219 \u4ece \u6700\u540e \u8003\u8651 \u3002   duration   \u64ad\u653e \u79d2\u6570 \u3002 0   \u4e3a \u5168\u90e8 \u8bb0\u5f55 \u3002   \u64ad\u653e \u7ed3\u675f \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u884c\u4eba \u5c06 \u505c\u6b62 \u3002   camera   \u76f8\u673a \u5c06 \u805a\u7126 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   \u5c06 \u5176 \u8bbe\u7f6e   0   \u662f \u8ba9 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u81ea\u7531 \u79fb\u52a8 \u3002   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u4ee5   \u672c \u6587\u6863   \u4e2d \u6307\u5b9a \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u4fdd\u5b58 \u6240\u6709 \u6570\u636e \u3002   \u6e32\u67d3   Carla   \u63d0\u4f9b \u4e86 \u8bb8\u591a \u6709\u5173 \u6e32\u67d3 \u8d28\u91cf \u548c \u6548\u7387 \u7684 \u9009\u9879 \u3002 \u5728 \u6700 \u57fa\u672c \u7684 \u5c42\u9762 \u4e0a \uff0c Carla   \u63d0\u4f9b \u4e86 \u4e24\u79cd \u8d28\u91cf \u9009\u9879 \uff0c \u53ef\u4ee5 \u5728 \u9ad8 \u89c4\u683c \u548c \u4f4e \u89c4\u683c \u786c\u4ef6 \u4e0a \u8fd0\u884c \u5e76 \u83b7\u5f97 \u6700\u4f73 \u83b7\u5f97\u6700\u4f73 \u6548\u679c \uff1a   \u53f2\u8bd7 \u6a21\u5f0f   . / CarlaUE4 . sh   - quality - level = Epic   \u53f2\u8bd7 \u6a21\u5f0f \u622a\u56fe   \u4f4e\u8d28 \u8d28\u91cf \u4f4e\u8d28\u91cf \u6a21\u5f0f   . / CarlaUE4 . sh   - quality - level = Low   \u4f4e\u8d28 \u8d28\u91cf \u4f4e\u8d28\u91cf \u6a21\u5f0f \u622a\u56fe   Carla   \u8fd8 \u63d0\u4f9b \u6682\u505c \u6e32\u67d3 \u6216 \u79bb\u5c4f \u6e32\u67d3 \u7684 \u9009\u9879 \uff0c \u4ee5\u4fbf \u66f4 \u6709\u6548 \u5730 \u8bb0\u5f55 \u6216 \u8fd0\u884c \u4eff\u771f \u3002   \u6709\u5173 \u6e32\u67d3 \u9009\u9879 \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8bf7 \u53c2\u89c1   \u6b64\u5904   \u3002   \u8fdb\u9636 \u6b65\u9aa4   Carla   \u63d0\u4f9b \u4e86 \u5e7f\u6cdb \u7684 \u529f\u80fd \uff0c \u8d85\u51fa \u4e86 \u672c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4ecb\u7ecd \u7684 \u8303\u56f4 \u3002 \u8fd9\u91cc \u5217\u51fa \u4e86 \u4e00\u4e9b \u6700 \u5f15\u4eba \u6ce8\u76ee \u5f15\u4eba\u6ce8\u76ee \u7684 \u3002 \u7136\u800c \uff0c \u5728 \u5f00\u59cb   \u8fdb\u9636 \u6b65\u9aa4   \u4e4b\u524d \uff0c \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u9605\u8bfb \u6574\u4e2a \u201c \u57fa\u7840 \u201d \u90e8\u5206 \u3002   OpenDRIVE \u72ec\u7acb \u6a21\u5f0f   \u3002 \u4ec5 \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u751f\u6210 \u9053\u8def \u7f51\u683c \u3002 \u5141\u8bb8 \u5728   Carla   \u4e2d \u52a0\u8f7d \u4efb\u4f55   OpenDRIVE   \u5730\u56fe \uff0c \u65e0\u9700 \u521b\u5efa \u8d44\u6e90 \u3002   PTV - Vissim \u534f\u540c \u4eff\u771f   \u3002 \u5728   Carla   \u548c   PTV - Vissim   \u4ea4\u901a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e4b\u95f4 \u8fd0\u884c \u534f\u540c \u4eff\u771f \u3002   \u5f55\u5236 \u5668   \u3002 \u4fdd\u5b58 \u4eff\u771f \u72b6\u6001 \u7684 \u5feb\u7167 \uff0c \u4ee5\u4fbf \u4ee5 \u7cbe\u786e \u7684 \u7cbe\u5ea6 \u91cd\u65b0 \u6267\u884c \u4eff\u771f \u3002   \u6e32\u67d3 \u9009\u9879   \u3002 \u5305\u62ec \u56fe\u5f62 \u8d28\u91cf \u8bbe\u7f6e \u3001 \u79bb\u5c4f \u6e32\u67d3 \u548c \u65e0 \u6e32\u67d3 \u6a21\u5f0f \u3002   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \uff08 Responsibility   Sensitive   Safety \uff09 \uff1a \u96c6\u6210 \u7528\u4e8e \u6839\u636e \u5b89\u5168 \u68c0\u67e5 \u5b89\u5168\u68c0\u67e5 \u4fee\u6539 \u8f66\u8f86 \u8f68\u8ff9 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5b89\u5168\u6027   C++ \u5e93   \u3002   \u4eff\u771f \u65f6\u95f4 \u548c \u540c\u6b65   \u3002 \u5173\u4e8e \u4eff\u771f \u65f6\u95f4 \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 - \u5ba2\u6237 \u5ba2\u6237\u7aef \u901a\u4fe1 \u7684 \u6240\u6709 \u5185\u5bb9 \u3002   SUMO \u534f\u540c \u4eff\u771f   \uff1a \u5728   Carla   \u548c   SUMO   \u4ea4\u901a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e4b\u95f4 \u8fd0\u884c \u534f\u540c \u4eff\u771f \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \uff1a \u8be5 \u6a21\u5757 \u8d1f\u8d23 \u6240\u6709 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u7684 \u8f66\u8f86 \u3002 \u5b83 \u4eff\u771f \u57ce\u5e02 \u4e2d \u7684 \u4ea4\u901a \uff0c \u4f7f \u4eff\u771f \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u50cf \u4e00\u4e2a \u771f\u5b9e \u7684 \u57ce\u5e02 \u73af\u5883 \u3002","title":"Foundations"},{"location":"foundations/#_1","text":"\u672c\u9875 \u4ecb\u7ecd \u4e86   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u5982\u4f55 \u901a\u8fc7   API   \u8fdb\u884c \u64cd\u4f5c \u548c \u901a\u4fe1 \u6240 \u9700 \u7684 \u57fa\u672c \u6982\u5ff5 \u57fa\u672c\u6982\u5ff5 \u3002 Carla   \u4f7f\u7528 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 - \u5ba2\u6237 \u5ba2\u6237\u7aef \u67b6\u6784 \u8fd0\u884c \uff0c \u5176\u4e2d   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fd0\u884c \u4eff\u771f \u5e76 \u7531 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5411 \u5176 \u53d1\u9001 \u6307\u4ee4 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4ee3\u7801 \u4f7f\u7528   API   \u4e0e \u670d\u52a1 \u52a1\u5668 \u8fdb\u884c \u670d\u52a1\u5668 \u670d\u52a1\u5668\u8fdb\u884c \u901a\u4fe1 \u3002 \u8981 \u4f7f\u7528   Python   API \uff0c \u60a8 \u5fc5\u987b \u901a\u8fc7   pip   \u5b89\u88c5 \u8be5 \u6a21\u5757 \uff1a   pip   install   carla - simulator   #   Python   2   pip3   install   carla - simulator   #   Python   3   \u8fd8\u8981 \u786e\u4fdd \u5728   python   \u811a\u672c \u4e2d \u5bfc\u5165   Carla   \u5305 \uff1a   import   carla   \u4e16\u754c \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u4e16\u754c   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u84dd\u56fe   \u5730\u56fe \u548c \u5bfc\u822a   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u6570\u636e   \u540c\u6b65 \u6a21\u5f0f \u548c \u5f02\u6b65 \u6a21\u5f0f   \u8bbe\u7f6e \u540c\u6b65 \u6a21\u5f0f   \u4f7f\u7528 \u540c\u6b65 \u6a21\u5f0f   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u8bb0\u5f55   \u4eff\u771f \u56de\u653e   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u6e32\u67d3   \u53f2\u8bd7 \u6a21\u5f0f   \u4f4e\u8d28 \u8d28\u91cf \u4f4e\u8d28\u91cf \u6a21\u5f0f   \u8fdb\u9636 \u6b65\u9aa4","title":"\u57fa\u7840"},{"location":"foundations/#_2","text":"","title":"\u4e16\u754c \u548c \u5ba2\u6237\u7aef  "},{"location":"foundations/#_3","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef   \u662f \u7528\u6237 \u8fd0\u884c \u4ee5 \u8bf7\u6c42 \u4eff\u771f \u4e2d \u7684 \u4fe1\u606f \u6216 \u66f4\u6539 \u7684 \u6a21\u5757 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4f7f\u7528   IP   \u548c \u7279\u5b9a \u7aef\u53e3 \u8fd0\u884c \u3002 \u5b83 \u901a\u8fc7 \u7ec8\u7aef \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u3002 \u53ef\u4ee5 \u6709 \u8bb8\u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u540c\u65f6 \u8fd0\u884c \u3002 \u9ad8\u7ea7 \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u7ba1\u7406 \u9700\u8981 \u5bf9   Carla   \u548c   \u540c\u6b65   \u6709 \u900f\u5f7b \u7684 \u4e86\u89e3 \u3002   \u4f7f\u7528   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u8bbe\u7f6e \u5ba2\u6237 \u5ba2\u6237\u7aef \uff1a   client   =   carla . Client ( ' localhost ' ,   2000 )   \u8fd9\u4f1a \u5c06 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bbe\u7f6e \u4e3a \u4e0e \u672c\u5730 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a   localhost   \u8fd0\u884c \u7684   Carla   \u670d\u52a1 \u52a1\u5668 \u8fdb\u884c \u670d\u52a1\u5668 \u670d\u52a1\u5668\u8fdb\u884c \u901a\u4fe1 \u3002 \u6216\u8005 \uff0c \u5982\u679c \u5728 \u5355\u72ec \u7684 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u8fd0\u884c \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5219 \u53ef\u4ee5 \u4f7f\u7528 \u7f51\u7edc \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u7f51\u7edc\u8ba1\u7b97\u673a \u7684   IP   \u5730\u5740 \u3002 \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u53c2\u6570 \u662f \u7aef\u53e3 \u53e3\u53f7 \u7aef\u53e3\u53f7 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u5728 \u7aef\u53e3   2000   \u4e0a \u8fd0\u884c \uff0c \u5982 \u6709 \u5fc5\u8981 \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u542f\u52a8   Carla   \u65f6 \u5728 \u8bbe\u7f6e \u4e2d \u66f4\u6539 \u6b64 \u8bbe\u7f6e \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u53ef \u7528\u4e8e \u591a\u79cd \u529f\u80fd \uff0c \u5305\u62ec \u52a0\u8f7d \u65b0 \u5730\u56fe \u3001 \u8bb0\u5f55 \u4eff\u771f \u548c \u521d\u59cb \u521d\u59cb\u5316 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff1a   client . load _ world ( ' Town07 ' )   client . start _ recorder ( ' recording . log ' )","title":"\u5ba2\u6237\u7aef  "},{"location":"foundations/#_4","text":"\u4e16\u754c   \u662f \u4ee3\u8868 \u4eff\u771f \u7684 \u5bf9\u8c61 \u3002 \u5b83 \u5145\u5f53 \u4e00\u4e2a \u62bd\u8c61 \u5c42 \uff0c \u5305\u542b \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3001 \u6539\u53d8 \u5929\u6c14 \u3001 \u83b7\u53d6 \u4e16\u754c \u5f53\u524d \u72b6\u6001 \u7b49 \u7684 \u4e3b\u8981 \u65b9\u6cd5 \u3002 \u6bcf\u4e2a \u4eff\u771f \u53ea\u6709 \u4e00\u4e2a \u4e16\u754c \u3002 \u5f53 \u5730\u56fe \u6539\u53d8 \u65f6 \uff0c \u5b83\u4f1a \u88ab \u9500\u6bc1 \u5e76 \u66ff\u6362 \u4e3a \u65b0 \u7684 \u3002   \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u68c0\u7d22 \u4e16\u754c \u5bf9\u8c61 \uff1a   world   =   client . get _ world ( )   \u4e16\u754c \u5bf9\u8c61 \u53ef \u7528\u4e8e \u4f7f\u7528 \u5176 \u591a\u79cd \u65b9\u6cd5 \u8bbf\u95ee \u4eff\u771f \u4e2d \u7684 \u5bf9\u8c61 \uff0c \u4f8b\u5982 \u5929\u6c14 \u3001 \u8f66\u8f86 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u3001 \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u5730\u56fe \uff1a   level   =   world . get _ map ( )   weather   =   world . get _ weather ( )   blueprint _ library   =   world . get _ blueprint _ library ( )","title":"\u4e16\u754c  "},{"location":"foundations/#_5","text":"\u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f \u5728 \u4eff\u771f \u4e2d \u626e\u6f14 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4efb\u4f55 \u4e1c\u897f \u3002   \u8f66\u8f86   \u884c\u4eba   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u89c2\u5bdf \u89c2\u5bdf\u8005   \u4ea4\u901a \u901a\u4fe1 \u4fe1\u53f7 \u4ea4\u901a\u4fe1\u53f7 \u548c \u4ea4\u901a \u4ea4\u901a\u706f   \u84dd\u56fe   \u662f \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240 \u5fc5\u9700 \u7684 \u5df2\u7ecf \u5236\u4f5c \u597d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e03\u5c40 \u3002 \u57fa\u672c \u57fa\u672c\u4e0a \uff0c \u662f \u5e26\u6709 \u52a8\u753b \u548c \u4e00\u7ec4 \u5c5e\u6027 \u7684 \u6a21\u578b \u3002 \u5176\u4e2d \u4e00\u4e9b \u5c5e\u6027 \u53ef\u4ee5 \u7531 \u7528\u6237 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \uff0c \u800c \u53e6 \u4e00\u4e9b \u4e00\u4e9b\u5219 \u4e0d\u80fd \u3002 \u6709 \u4e00\u4e2a   \u84dd \u56fe\u5e93   \uff0c \u5176\u4e2d \u5305\u542b \u6240\u6709 \u53ef\u7528 \u7684 \u84dd\u56fe \u4ee5\u53ca \u6709\u5173 \u5b83\u4eec \u7684 \u4fe1\u606f \u3002","title":"\u53c2\u4e0e\u8005 \u548c \u84dd\u56fe  "},{"location":"foundations/#_6","text":"\u5730\u56fe   \u662f \u4ee3\u8868 \u4eff\u771f \u4e16\u754c \u7684 \u5bf9\u8c61 \uff0c \u4e3b\u8981 \u662f \u57ce\u9547 \u3002 \u6709 \u516b\u5f20 \u5730\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002 \u5b83\u4eec \u90fd \u4f7f\u7528   opdrive   1.4   \u6807\u51c6 \u6765 \u63cf\u8ff0 \u9053\u8def \u3002   \u9053\u8def \u3001 \u8f66\u9053 \u548c \u8def\u53e3   \u7531   Python   API   \u7ba1\u7406 \uff0c \u4ee5\u4fbf \u4ece \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bbf\u95ee \u3002 \u8fd9\u4e9b \u4e0e   waypoint   \u7c7b \u4e00\u8d77 \u4f7f\u7528 \uff0c \u4e3a \u8f66\u8f86 \u63d0\u4f9b \u5bfc\u822a \u8def\u5f84 \u3002   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7   \u548c   \u4ea4\u901a \u4ea4\u901a\u706f   \u662f \u53ef \u8bbf\u95ee \u7684   carla . Landmark   \u3002 \u8fd9\u4e9b \u5730\u6807 \u5bf9\u8c61 \u5305\u542b \u5173\u4e8e \u5b83\u4eec \u7684   OpenDRIVE   \u5b9a\u4e49 \u7684 \u4fe1\u606f \u3002 \u6b64\u5916 \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5728 \u8fd0\u884c \u65f6\u4f1a \u81ea\u52a8 \u751f\u6210 \u505c\u8f66 \u6807\u5fd7 \u3001 \u8ba9 \u884c \u6807\u5fd7 \u548c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5bf9\u8c61 \uff0c \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u4e2d \u7684 \u4fe1\u606f \u3002 \u8fd9\u4e9b \u5bf9\u8c61 \u4f1a \u653e\u7f6e \u5728 \u9053\u8def \u4e0a \uff0c \u6709 \u8fb9\u754c \u6846 \u5305\u56f4 \u3002 \u4e00\u65e6 \u8f66\u8f86 \u8fdb\u5165 \u5b83\u4eec \u7684 \u8fb9\u754c \u6846 \uff0c \u5b83\u4eec \u5c31 \u4f1a \u610f\u8bc6 \u5230 \u8fd9\u4e9b \u5bf9\u8c61 \u3002","title":"\u5730\u56fe \u548c \u5bfc\u822a  "},{"location":"foundations/#_7","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u7b49\u5f85 \u4e00\u4e9b \u4e8b\u4ef6 \u53d1\u751f \uff0c \u7136\u540e \u4ece \u4eff\u771f \u4e2d \u6536\u96c6 \u6570\u636e \u3002 \u5b83\u4eec \u8c03\u7528 \u5b9a\u4e49 \u5982\u4f55 \u7ba1\u7406 \u6570\u636e \u7684 \u51fd\u6570 \u3002 \u6839\u636e \u4e0d\u540c \u7684 \u60c5\u51b5 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f1a \u68c0\u7d22 \u4e0d\u540c \u7c7b\u578b \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f \u9644\u7740 \u5728 \u7236 \u8f66\u8f86 \u4e0a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5b83 \u8ddf\u968f \u8f66\u8f86 \uff0c \u6536\u96c6 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u7684 \u4fe1\u606f \u3002 \u53ef\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7531   Blueprint \u5e93   \u4e2d \u7684 \u84dd\u56fe \u5b9a\u4e49 \u3002   \u76f8\u673a \uff08 RGB \uff0c \u6df1\u5ea6 \u548c \u8bed\u4e49 \u5206\u5272 \uff09   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5c04\u7ebf \u6295\u5c04   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u969c\u788d \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u96f7\u8fbe   \u8d23\u4efb \u654f\u611f \u5b89\u5168","title":"\u4f20\u611f\u5668 \u548c \u6570\u636e  "},{"location":"foundations/#_8","text":"Carla   \u5177\u6709 \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u67b6\u6784 \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fd0\u884c \u4eff\u771f \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u68c0\u7d22 \u4fe1\u606f \u5e76 \u8bf7\u6c42 \u4eff\u771f \u4e2d \u7684 \u66f4\u6539 \u3002 \u672c \u8282 \u6d89\u53ca \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u7684 \u901a\u4fe1 \u3002   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c Carla   \u4ee5   \u5f02\u6b65 \u6a21\u5f0f   \u8fd0\u884c \u3002   \u672c\u8d28 \u4e0a \uff0c \u5728   \u5f02\u6b65 \u6a21\u5f0f   \u4e0b \uff0c Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f1a \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5feb\u5730 \u8fd0\u884c \u3002 \u5ba2\u6237 \u8bf7\u6c42 \u662f \u5373\u65f6 \u5904\u7406 \u7684 \u3002 \u5728   \u540c\u6b65 \u6a21\u5f0f   \u4e0b \uff0c \u8fd0\u884c   Python   \u4ee3\u7801 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8d1f\u8d23 \u63a7\u5236 \u5e76 \u544a\u8bc9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f55\u65f6 \u66f4\u65b0 \u3002   \u5982\u679c \u60a8 \u6b63\u5728 \u5b9e\u9a8c \u6216 \u8bbe\u7f6e \u4eff\u771f \uff0c   \u5f02\u6b65 \u6a21\u5f0f   \u662f \u8fd0\u884c   Carla   \u7684 \u5408\u9002 \u6a21\u5f0f \uff0c \u56e0\u6b64 \u60a8 \u53ef\u4ee5 \u5728 \u653e\u7f6e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \u4e0e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4e00\u8d77 \u5728 \u5730\u56fe \u4e0a \u98de\u884c \u3002 \u5f53 \u60a8 \u60f3\u8981 \u5f00\u59cb \u751f\u6210 \u8bad\u7ec3 \u6570\u636e \u6216 \u5728 \u4eff\u771f \u4e2d \u90e8\u7f72 \u4ee3\u7406 \u65f6 \uff0c \u5efa\u8bae \u5efa\u8bae\u60a8 \u4f7f\u7528   \u540c\u6b65 \u6a21\u5f0f   \uff0c \u56e0\u4e3a \u8fd9 \u5c06 \u4e3a \u60a8 \u63d0\u4f9b \u66f4 \u591a \u7684 \u63a7\u5236 \u63a7\u5236\u529b \u548c \u9884\u6d4b \u6d4b\u6027 \u9884\u6d4b\u6027 \u53ef\u9884\u6d4b\u6027 \u3002   \u9605\u8bfb \u6709\u5173   \u540c\u6b65 \u6a21\u5f0f \u548c \u5f02\u6b65 \u6a21\u5f0f   \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u7b14\u8bb0   \u5728 \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u67b6\u6784 \u4e2d \uff0c \u53ea\u6709 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e94\u8be5 \u53d1\u51fa \u8282\u62cd \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5bf9 \u6536\u5230 \u7684 \u6bcf\u4e2a \u8282\u62cd \u505a\u51fa \u54cd\u5e94 \uff0c \u5c31 \u597d\u50cf \u5b83 \u6765\u81ea \u540c\u4e00 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e00\u6837 \u3002 \u8bb8\u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u8282\u62cd \u5c06 \u4f7f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e4b\u95f4 \u4ea7\u751f \u4e0d \u4e00\u81f4 \u3002","title":"\u540c\u6b65 \u6a21\u5f0f \u548c \u5f02\u6b65 \u6a21\u5f0f  "},{"location":"foundations/#_9","text":"\u540c\u6b65 \u6a21\u5f0f \u548c \u5f02\u6b65 \u6a21\u5f0f \u4e4b\u95f4 \u7684 \u66f4\u6539 \u53ea\u662f \u5e03\u5c14 \u72b6\u6001 \u7684 \u95ee\u9898 \u3002   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   \u8b66\u544a   \u5982\u679c \u542f\u7528 \u4e86 \u540c\u6b65 \u6a21\u5f0f \uff0c \u5e76\u4e14 \u6b63\u5728 \u8fd0\u884c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u5219 \u4e5f \u5fc5\u987b \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002 \u9605\u8bfb   \u672c\u6587   \u4ee5 \u4e86\u89e3 \u5982\u4f55 \u64cd\u4f5c \u3002   \u8981 \u7981\u7528 \u540c\u6b65 \u6a21\u5f0f \uff0c \u53ea \u9700 \u5c06 \u53d8\u91cf \u8bbe\u7f6e \u4e3a   False   \u6216 \u4f7f\u7528 \u811a\u672c   PythonAPI / util / config . py   \u3002   cd   PythonAPI / util   &&   python3   config . py   -- no - sync   #   \u7981\u7528 \u540c\u6b65 \u6a21\u5f0f   \u540c\u6b65 \u6a21\u5f0f \u65e0\u6cd5 \u4f7f\u7528 \u811a\u672c \u542f\u7528 \uff0c \u53ea\u80fd \u7981\u7528 \u3002 \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \u4f7f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8282\u62cd \u3002 \u4f7f\u7528 \u6b64 \u811a\u672c \uff0c \u7528\u6237 \u65e0\u6cd5 \u5728 \u9700\u8981 \u65f6 \u53d1\u9001 \u8282\u62cd \u3002","title":"\u8bbe\u7f6e \u540c\u6b65 \u6a21\u5f0f  "},{"location":"foundations/#_10","text":"\u540c\u6b65 \u6a21\u5f0f \u4e0e \u7f13\u6162 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4ee5\u53ca \u9700\u8981 \u4e0d\u540c \u5143\u7d20 \uff08 \u4f8b\u5982 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff09 \u4e4b\u95f4 \u7684 \u540c\u6b65 \u65f6 \u7279\u522b \u76f8\u5173 \u3002 \u5982\u679c \u5ba2\u6237 \u5ba2\u6237\u7aef \u592a\u6162 \u800c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6ca1\u6709 \u7b49\u5f85 \uff0c \u5c31 \u4f1a \u51fa\u73b0 \u4fe1\u606f \u6ea2\u51fa \u3002 \u5ba2\u6237 \u5c06 \u65e0\u6cd5 \u7ba1\u7406 \u4e00\u5207 \uff0c \u5e76\u4e14 \u4f1a \u4e22\u5931 \u6216 \u6df7\u5408 \u3002 \u540c\u6837 \uff0c \u5bf9\u4e8e \u8bb8\u591a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u5f02\u6b65 \u60c5\u51b5 \uff0c \u4e0d \u53ef\u80fd \u77e5\u9053 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u5426 \u90fd \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u540c\u4e00 \u65f6\u523b \u7684 \u6570\u636e \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u7247\u6bb5 \u6269\u5c55 \u4e86 \u524d \u4e00\u4e2a \u4ee3\u7801 \u7247\u6bb5 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa \u4e00\u4e2a \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5c06 \u5f53\u524d \u6b65\u9aa4 \u7684 \u56fe\u50cf \u6570\u636e \u5b58\u50a8 \u5728 \u961f\u5217 \u4e2d \uff0c \u5e76 \u4ece \u961f\u5217 \u4e2d \u68c0\u7d22 \u540e \u53d1\u9001 \u8282\u62cd \u7ed9 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6709\u5173 \u591a\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u66f4 \u590d\u6742 \u7684 \u793a\u4f8b \u3002   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   world . apply _ settings ( settings )   camera   =   world . spawn _ actor ( blueprint ,   transform )   image _ queue   =   queue . Queue ( )   camera . listen ( image _ queue . put )   while   True :   world . tick ( )   image   =   image _ queue . get ( )   \u91cd\u8981   \u6765\u81ea \u57fa\u4e8e   GPU   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u4e3b\u8981 \u662f \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \uff09 \u7684 \u6570\u636e \u901a\u5e38 \u4f1a \u5ef6\u8fdf \u51e0\u5e27 \u751f\u6210 \u3002 \u540c\u6b65 \u5728 \u8fd9\u91cc \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002   \u4e16\u754c \u4e0a \u6709 \u5f02\u6b65 \u65b9\u6cd5 \u53ef\u4ee5 \u8ba9 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7b49\u5f85 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8282\u62cd \uff0c \u6216\u8005 \u5728 \u6536\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8282\u62cd \u65f6 \u6267\u884c \u67d0\u4e9b \u64cd\u4f5c \u3002   #   \u7b49\u5f85 \u4e0b \u4e00\u4e2a \u8282\u62cd \u5e76 \u83b7\u53d6 \u8282\u62cd \u7684 \u5feb\u7167   world _ snapshot   =   world . wait _ for _ tick ( )   #   \u6ce8\u518c \u4e00\u4e2a \u56de\u8c03 \uff0c \u4ee5\u4fbf \u5728 \u6bcf\u6b21 \u6536\u5230 \u65b0 \u7684 \u5feb\u7167 \u65f6 \u90fd \u88ab \u8c03\u7528 \u3002   world . on _ tick ( lambda   world _ snapshot :   do _ something ( world _ snapshot ) )","title":"\u4f7f\u7528 \u540c\u6b65 \u6a21\u5f0f  "},{"location":"foundations/#_11","text":"\u8bb0\u5f55 \u8bb0\u5f55\u5668 \u53ef\u4ee5 \u5c06 \u91cd\u73b0 \u5148\u524d \u4eff\u771f \u6240 \u9700 \u7684 \u6240\u6709 \u6570\u636e \u4fdd\u5b58 \u5230 \u6587\u4ef6 \u4e2d \u3002 \u8fd9\u4e9b \u6570\u636e \u5305\u62ec \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \u3001 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u72b6\u6001 \u3001 \u884c\u4eba \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \u4ee5\u53ca \u592a\u9633 \u7684 \u4f4d\u7f6e \u548c \u5929\u6c14 \u72b6\u51b5 \u5929\u6c14\u72b6\u51b5 \u7b49 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002 \u6570\u636e \u88ab \u8bb0\u5f55 \u5230 \u4e00\u4e2a \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u4e2d \uff0c Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7a0d\u540e \u53ef\u4ee5 \u52a0\u8f7d \u8be5 \u6587\u4ef6 \u4ee5 \u51c6\u786e \u5730 \u518d\u73b0 \u4eff\u771f \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6839\u636e \u8bb0\u5f55 \u6587\u4ef6 \u4e2d \u5305\u542b \u7684 \u6570\u636e \u5728 \u6bcf \u4e00\u5e27 \u4e0a \u8fdb\u884c \u66f4\u65b0 \u3002 \u5f53\u524d \u4eff\u771f \u4e2d \u51fa\u73b0 \u5728 \u5f55\u5236 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u88ab \u79fb\u52a8 \u6216 \u91cd\u65b0 \u751f\u6210 \u4ee5 \u4eff\u771f \u5b83 \u3002 \u90a3\u4e9b \u6ca1\u6709 \u51fa\u73b0 \u5728 \u8bb0\u5f55 \u4e2d \u7684 \u4eba\u4f1a \u7ee7\u7eed \u4ed6\u4eec \u7684 \u8def \uff0c \u5c31 \u50cf \u4ec0\u4e48 \u90fd \u6ca1 \u53d1\u751f \u4e00\u6837 \u3002   \u91cd\u8981   \u64ad\u653e \u7ed3\u675f \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u4f46   \u884c\u4eba \u4e0d\u4f1a \u505c\u4e0b \u4e0b\u6765 \u505c\u4e0b\u6765   \u3002   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u5305\u62ec \u6709\u5173 \u8bb8\u591a \u4e0d\u540c \u5143\u7d20 \u7684 \u4fe1\u606f \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005   \u2014   \u521b\u9020 \u548c \u9500\u6bc1 \u3001 \u8fb9\u754c \u548c \u89e6\u53d1 \u76d2 \u3002   \u4ea4\u901a \u7b49   \u2014   \u72b6\u6001 \u53d8\u5316 \u548c \u65f6\u95f4 \u8bbe\u7f6e \u3002   \u8f66\u8f86   \u2014   \u4f4d\u7f6e \u548c \u65b9\u5411 \u3001 \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3001 \u5149 \u72b6\u6001 \u548c \u7269\u7406 \u63a7\u5236 \u3002   \u884c\u4eba   \u2014   \u4f4d\u7f6e \u548c \u65b9\u5411 \uff0c \u4ee5\u53ca \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3002   \u706f\u5149   \u2014   \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u8857\u9053 \u548c \u8f66\u8f86 \u7684 \u706f\u5149 \u72b6\u6001 \u3002","title":"\u8bb0\u5f55\u5668  "},{"location":"foundations/#_12","text":"\u8981 \u5f00\u59cb \u5f55\u5236 \uff0c \u53ea \u9700\u8981 \u4e00\u4e2a \u6587\u4ef6 \u6587\u4ef6\u540d \u3002 \u5728 \u6587\u4ef6 \u6587\u4ef6\u540d \u4e2d \u4f7f\u7528   \\   ,   /   \u6216   :   \u5b57\u7b26 \u4f1a \u5c06 \u5176 \u5b9a\u4e49 \u4e3a \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002 \u5982\u679c \u6ca1\u6709 \u8be6\u7ec6 \u8def\u5f84 \uff0c \u6587\u4ef6 \u5c06 \u4fdd\u5b58 \u5728   CarlaUE4 / Saved   \u3002   client . start _ recorder ( \" / home / carla / recording01 . log \" )   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8bbe\u7f6e \u4e3a \u4ec5 \u5b58\u50a8 \u56de\u653e \u4eff\u771f \u6240 \u9700 \u7684 \u4fe1\u606f \u3002 \u4e3a\u4e86 \u4fdd\u5b58 \u524d\u9762 \u63d0\u5230 \u7684 \u6240\u6709 \u4fe1\u606f \uff0c   additional _ data   \u5fc5\u987b \u5728 \u5f00\u59cb \u5f55\u5236 \u65f6 \u914d\u7f6e \u53c2\u6570 \u3002   client . start _ recorder ( \" / home / carla / recording01 . log \" ,   True )   \u7b14\u8bb0   \u5176\u4ed6 \u6570\u636e \u5305\u62ec \uff1a \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u65f6\u95f4 \u8bbe\u7f6e \u3001 \u6267\u884c \u65f6\u95f4 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \u548c \u8fb9\u754c \u6846 \u4ee5\u53ca \u8f66\u8f86 \u7684 \u7269\u7406 \u63a7\u5236 \u3002   \u8981 \u505c\u6b62 \u8bb0\u5f55 \uff0c \u8c03\u7528 \u4e5f \u5f88 \u7b80\u5355 \u3002   client . stop _ recorder ( )   \u7b14\u8bb0   \u4f30\u8ba1 \u636e\u4f30\u8ba1 \uff0c 50   \u4e2a \u4ea4\u901a \u4ea4\u901a\u706f \u548c   100   \u8f86\u8f66 \u7684   1   \u5c0f\u65f6 \u8bb0\u5f55 \u5927\u7ea6 \u9700\u8981   200MB   \u5927\u5c0f \u3002","title":"\u8bb0\u5f55  "},{"location":"foundations/#_13","text":"\u53ef\u4ee5 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u7684 \u4efb\u4f55 \u4f55\u65f6 \u65f6\u523b \u4efb\u4f55\u65f6\u523b \u5f00\u59cb \u64ad\u653e \u3002 \u9664\u4e86 \u65e5\u5fd7 \u6587\u4ef6 \u7684 \u8def\u5f84 \u4e4b\u5916 \uff0c \u6b64 \u65b9\u6cd5 \u8fd8 \u9700\u8981 \u4e00\u4e9b \u53c2\u6570 \u3002   client . replay _ file ( \" recording01 . log \" ,   start ,   duration ,   camera )   \u53c2\u6570   \u63cf\u8ff0   \u7b14\u8bb0   start   \u8bb0\u5f55 \u5f00\u59cb \u4eff\u771f \u7684 \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   \u5982\u679c \u4e3a \u6b63 \uff0c \u65f6\u95f4 \u5c06 \u4ece \u8bb0\u5f55 \u5f00\u59cb \u7b97 \u8d77 \u3002   \u5982\u679c \u4e3a \u8d1f \uff0c \u5219 \u4ece \u6700\u540e \u8003\u8651 \u3002   duration   \u64ad\u653e \u79d2\u6570 \u3002 0   \u4e3a \u5168\u90e8 \u8bb0\u5f55 \u3002   \u64ad\u653e \u7ed3\u675f \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u884c\u4eba \u5c06 \u505c\u6b62 \u3002   camera   \u76f8\u673a \u5c06 \u805a\u7126 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   \u5c06 \u5176 \u8bbe\u7f6e   0   \u662f \u8ba9 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u81ea\u7531 \u79fb\u52a8 \u3002","title":"\u4eff\u771f \u56de\u653e  "},{"location":"foundations/#_14","text":"\u8bb0\u5f55 \u8bb0\u5f55\u5668 \u4ee5   \u672c \u6587\u6863   \u4e2d \u6307\u5b9a \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u4fdd\u5b58 \u6240\u6709 \u6570\u636e \u3002","title":"\u8bb0\u5f55\u5668 \u6587\u4ef6\u683c\u5f0f  "},{"location":"foundations/#_15","text":"Carla   \u63d0\u4f9b \u4e86 \u8bb8\u591a \u6709\u5173 \u6e32\u67d3 \u8d28\u91cf \u548c \u6548\u7387 \u7684 \u9009\u9879 \u3002 \u5728 \u6700 \u57fa\u672c \u7684 \u5c42\u9762 \u4e0a \uff0c Carla   \u63d0\u4f9b \u4e86 \u4e24\u79cd \u8d28\u91cf \u9009\u9879 \uff0c \u53ef\u4ee5 \u5728 \u9ad8 \u89c4\u683c \u548c \u4f4e \u89c4\u683c \u786c\u4ef6 \u4e0a \u8fd0\u884c \u5e76 \u83b7\u5f97 \u6700\u4f73 \u83b7\u5f97\u6700\u4f73 \u6548\u679c \uff1a","title":"\u6e32\u67d3  "},{"location":"foundations/#_16","text":". / CarlaUE4 . sh   - quality - level = Epic   \u53f2\u8bd7 \u6a21\u5f0f \u622a\u56fe","title":"\u53f2\u8bd7 \u6a21\u5f0f  "},{"location":"foundations/#_17","text":". / CarlaUE4 . sh   - quality - level = Low   \u4f4e\u8d28 \u8d28\u91cf \u4f4e\u8d28\u91cf \u6a21\u5f0f \u622a\u56fe   Carla   \u8fd8 \u63d0\u4f9b \u6682\u505c \u6e32\u67d3 \u6216 \u79bb\u5c4f \u6e32\u67d3 \u7684 \u9009\u9879 \uff0c \u4ee5\u4fbf \u66f4 \u6709\u6548 \u5730 \u8bb0\u5f55 \u6216 \u8fd0\u884c \u4eff\u771f \u3002   \u6709\u5173 \u6e32\u67d3 \u9009\u9879 \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8bf7 \u53c2\u89c1   \u6b64\u5904   \u3002","title":"\u4f4e\u8d28\u91cf \u6a21\u5f0f  "},{"location":"foundations/#_18","text":"Carla   \u63d0\u4f9b \u4e86 \u5e7f\u6cdb \u7684 \u529f\u80fd \uff0c \u8d85\u51fa \u4e86 \u672c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4ecb\u7ecd \u7684 \u8303\u56f4 \u3002 \u8fd9\u91cc \u5217\u51fa \u4e86 \u4e00\u4e9b \u6700 \u5f15\u4eba \u6ce8\u76ee \u5f15\u4eba\u6ce8\u76ee \u7684 \u3002 \u7136\u800c \uff0c \u5728 \u5f00\u59cb   \u8fdb\u9636 \u6b65\u9aa4   \u4e4b\u524d \uff0c \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u9605\u8bfb \u6574\u4e2a \u201c \u57fa\u7840 \u201d \u90e8\u5206 \u3002   OpenDRIVE \u72ec\u7acb \u6a21\u5f0f   \u3002 \u4ec5 \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u751f\u6210 \u9053\u8def \u7f51\u683c \u3002 \u5141\u8bb8 \u5728   Carla   \u4e2d \u52a0\u8f7d \u4efb\u4f55   OpenDRIVE   \u5730\u56fe \uff0c \u65e0\u9700 \u521b\u5efa \u8d44\u6e90 \u3002   PTV - Vissim \u534f\u540c \u4eff\u771f   \u3002 \u5728   Carla   \u548c   PTV - Vissim   \u4ea4\u901a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e4b\u95f4 \u8fd0\u884c \u534f\u540c \u4eff\u771f \u3002   \u5f55\u5236 \u5668   \u3002 \u4fdd\u5b58 \u4eff\u771f \u72b6\u6001 \u7684 \u5feb\u7167 \uff0c \u4ee5\u4fbf \u4ee5 \u7cbe\u786e \u7684 \u7cbe\u5ea6 \u91cd\u65b0 \u6267\u884c \u4eff\u771f \u3002   \u6e32\u67d3 \u9009\u9879   \u3002 \u5305\u62ec \u56fe\u5f62 \u8d28\u91cf \u8bbe\u7f6e \u3001 \u79bb\u5c4f \u6e32\u67d3 \u548c \u65e0 \u6e32\u67d3 \u6a21\u5f0f \u3002   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \uff08 Responsibility   Sensitive   Safety \uff09 \uff1a \u96c6\u6210 \u7528\u4e8e \u6839\u636e \u5b89\u5168 \u68c0\u67e5 \u5b89\u5168\u68c0\u67e5 \u4fee\u6539 \u8f66\u8f86 \u8f68\u8ff9 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5b89\u5168\u6027   C++ \u5e93   \u3002   \u4eff\u771f \u65f6\u95f4 \u548c \u540c\u6b65   \u3002 \u5173\u4e8e \u4eff\u771f \u65f6\u95f4 \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 - \u5ba2\u6237 \u5ba2\u6237\u7aef \u901a\u4fe1 \u7684 \u6240\u6709 \u5185\u5bb9 \u3002   SUMO \u534f\u540c \u4eff\u771f   \uff1a \u5728   Carla   \u548c   SUMO   \u4ea4\u901a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e4b\u95f4 \u8fd0\u884c \u534f\u540c \u4eff\u771f \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \uff1a \u8be5 \u6a21\u5757 \u8d1f\u8d23 \u6240\u6709 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u7684 \u8f66\u8f86 \u3002 \u5b83 \u4eff\u771f \u57ce\u5e02 \u4e2d \u7684 \u4ea4\u901a \uff0c \u4f7f \u4eff\u771f \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u50cf \u4e00\u4e2a \u771f\u5b9e \u7684 \u57ce\u5e02 \u73af\u5883 \u3002","title":"\u8fdb\u9636 \u6b65\u9aa4  "},{"location":"game/","text":"\u6e38\u620f   \u8861\u91cf \u624b\u63a7 \u6c7d\u8f66 \u7684 \u6027\u80fd   \u5206\u6570   \u7ef4\u6301 \u4e0d\u53d8 \u5c31 \u52a0\u5206   \u6263\u5206 \uff1a \u78b0\u649e \u3001 \u538b\u7ebf \uff1b   \u5173\u5361 \uff1a \u5929\u6c14 \uff1b   \u6548\u679c   \u6e38\u620f \u8bf4\u660e \uff1a \u7ffb\u8bd1 \u3001   \u952e\u76d8 \u63a7\u5236   \uff1b   \u5168\u5c4f \uff1a \u6309 F11 \u5168\u5c4f \u3001 F11 \u6216 Esc \u9000\u51fa \u5168\u5c4f   \u5934\u663e \uff1a \u5206\u6570 \u3001 \u5404\u79cd \u6307\u6807 \uff08 \u53ef\u4ee5 \u9690\u85cf \uff09 \uff1b \u5207\u6362 \u5730\u56fe \u3001 \u8f66\u8f86 \uff1b","title":"\u6e38\u620f"},{"location":"game/#_1","text":"","title":"\u6e38\u620f"},{"location":"game/#_2","text":"\u5206\u6570   \u7ef4\u6301 \u4e0d\u53d8 \u5c31 \u52a0\u5206   \u6263\u5206 \uff1a \u78b0\u649e \u3001 \u538b\u7ebf \uff1b   \u5173\u5361 \uff1a \u5929\u6c14 \uff1b","title":"\u8861\u91cf \u624b\u63a7 \u6c7d\u8f66 \u7684 \u6027\u80fd"},{"location":"game/#_3","text":"\u6e38\u620f \u8bf4\u660e \uff1a \u7ffb\u8bd1 \u3001   \u952e\u76d8 \u63a7\u5236   \uff1b   \u5168\u5c4f \uff1a \u6309 F11 \u5168\u5c4f \u3001 F11 \u6216 Esc \u9000\u51fa \u5168\u5c4f   \u5934\u663e \uff1a \u5206\u6570 \u3001 \u5404\u79cd \u6307\u6807 \uff08 \u53ef\u4ee5 \u9690\u85cf \uff09 \uff1b \u5207\u6362 \u5730\u56fe \u3001 \u8f66\u8f86 \uff1b","title":"\u6548\u679c"},{"location":"how_to_add_assets/","text":"\u5982\u4f55 \u6dfb\u52a0 \u8d44\u4ea7   \u672c \u6587\u6863 \u5c1a \u5728 \u7f16\u5199 \u4e2d \uff0c \u53ef\u80fd \u4e0d \u5b8c\u6574 \u3002   \u6dfb\u52a0 \u8f66\u8f86   \u6309\u7167   \u827a\u672f \u6307\u5357   \u521b\u5efa \u9aa8\u67b6 \u7f51\u683c \u4f53 \u548c \u7269\u7406 \u8d44\u4ea7 \u3002   \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \u53c2\u9605 \u8bf7\u53c2\u9605   \u8f66\u8f86 \u7528\u6237 \u6307\u5357   \u3002   \u5c06   fbx   \u4f5c\u4e3a   Skelletal   Mesh   \u5bfc\u5165 \u5bfc\u5165\u5230 \u5176 \u81ea\u5df1 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d   Content / Static / Vehicles   \u3002 \u7269\u7406 \u8d44\u4ea7 \u548c \u9aa8\u67b6 \u5e94 \u81ea\u52a8 \u521b\u5efa \uff0c \u5e76 \u5c06 \u4e09\u8005 \u94fe\u63a5 \u5728 \u4e00\u8d77 \u3002   \u8c03\u6574 \u7269\u7406 \u8d44\u4ea7 \u3002 \u5220\u9664 \u81ea\u52a8 \u521b\u5efa \u7684 \u8d44\u4ea7 \uff0c \u5e76 \u4e3a \u4e0e   Vehicle _ Base   \u5f62\u72b6 \u5339\u914d \u7684 \u9aa8\u9abc \u6dfb\u52a0 \u6846 \uff0c \u786e\u4fdd \u542f\u7528 \u4e86 \u751f\u6210 \u649e\u51fb \u4e8b\u4ef6 \u3002 \u4e3a \u6bcf\u4e2a \u8f6e\u5b50 \u6dfb\u52a0 \u4e00\u4e2a \u7403\u4f53 \uff0c \u5e76 \u5c06 \u5176 \u201c \u7269\u7406 \u7c7b\u578b \u201d \u8bbe\u7f6e \u4e3a \u201c \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u201d \u3002   \u5728 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u521b\u5efa \u4e00\u4e2a \u201c \u52a8\u753b \u84dd\u56fe \u201d \uff0c \u521b\u5efa \u65f6 \u9009\u62e9 \u201c VehicleAnimInstance \u201d \u4f5c\u4e3a \u7236\u7c7b \uff0c \u5e76 \u4ee5\u6b64 \u6c7d\u8f66 \u8f66\u6a21 \u6a21\u578b \u6c7d\u8f66\u6a21\u578b \u7684 \u9aa8\u67b6 \u4f5c\u4e3a \u76ee\u6807 \u9aa8\u67b6 \u3002 \u6dfb\u52a0 \u52a8\u753b \u753b\u56fe \u52a8\u753b\u56fe \uff0c \u5982 \u4e0a\u9762 \u7ed9\u51fa \u7684 \u94fe\u63a5 \u6240\u793a \uff08 \u6216 \u5728 \u5176\u4ed6 \u6c7d\u8f66 \u7684 \u52a8\u753b \u4e2d \u67e5\u627e \uff0c \u5982   Mustang \uff09 \u3002   \u521b\u5efa \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   Content / Blueprints / Vehicles / < vehicle - model >   \u5728 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u521b\u5efa \u4e24\u4e2a \u4ece \u201c VehicleWheel \u201d \u7c7b \u6d3e\u751f \u7684 \u84dd\u56fe \u7c7b \u3002 \u5c06 \u5b83\u4eec \u547d\u540d \u4e3a   < vehicle - model > _ FrontWheel   \u548c   < vehicle - model > _ RearWheel   \u3002 \u5c06 \u5b83\u4eec \u7684 \u201c \u5f62\u72b6 \u534a\u5f84 \u201d \u8bbe\u7f6e \u4e3a \u4e0e \u7f51\u683c \u8f6e \u534a\u5f84 \u5b8c\u5168 \u5339\u914d \uff08 \u6ce8\u610f \uff0c \u662f \u534a\u5f84 \u800c \u4e0d\u662f \u76f4\u5f84 \uff09 \u3002 \u5c06 \u5b83\u4eec \u7684 \u201c \u8f6e\u80ce \u914d\u7f6e \u201d \u8bbe\u7f6e \u4e3a \u201c CommonTireConfig \u201d \u3002 \u5728 \u524d\u8f6e \u4e0a \u53d6\u6d88 \u9009\u4e2d \u201c \u53d7 \u624b\u5239 \u5f71\u54cd \u201d \uff0c \u5728 \u540e\u8f6e \u4e0a\u5c06 \u201c \u8f6c\u5411 \u89d2 \u201d \u8bbe\u7f6e \u4e3a \u96f6 \u3002   \u5728 \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u521b\u5efa \u4e00\u4e2a \u84dd\u56fe \u7c7b \uff0c \u4ece\u4e2d \u6d3e \u751f\u51fa \u5e76   BaseVehiclePawn   \u8c03\u7528 \u5b83   < vehicle - model >   \u3002 \u6253\u5f00 \u5b83 \u8fdb\u884c \u7f16\u8f91 \u5e76 \u9009\u62e9 \u7ec4\u4ef6 \u201c Mesh \u201d \uff0c \u5c06 \u201c Skeletal   Mesh \u201d \u548c \u201c Anim   Class \u201d \u8bbe\u7f6e \u4e3a \u76f8\u5e94 \u7684 \u3002 \u7136\u540e \u9009\u62e9 \u7ec4\u4ef6 \u201c VehicleMovement \u201d \uff0c \u5728 \u201c Vehicle   Setup \u201d \u4e0b \u5c55\u5f00 \u201c Wheel   Setups \u201d \uff0c \u8bbe\u7f6e \u6bcf\u4e2a \u8f66\u8f6e   0 \uff1a \u8f6e\u5b50 \u7c7b\u522b =   < vehicle - model > _ FrontWheel   \uff0c \u9aa8\u9abc \u540d\u79f0 =   Wheel _ Front _ Left   1 \uff1a \u8f6e\u5b50 \u7c7b\u522b =   < vehicle - model > _ FrontWheel   \uff0c \u9aa8\u9abc \u540d\u79f0 =   Wheel _ Front _ Right   2 \uff1a \u8f6e\u5b50 \u7c7b\u522b =   < vehicle - model > _ RearWheel   \uff0c \u9aa8\u9abc \u540d\u79f0 =   Wheel _ Rear _ Left   3 \uff1a \u8f6e\u5b50 \u7c7b\u522b =   < vehicle - model > _ RearWheel   \uff0c \u9aa8\u9abc \u540d\u79f0 =   Wheel _ Rear _ Right   \u5411 \u5176\u4e2d \u6dfb\u52a0 \u4e00\u4e2a \u540d\u4e3a \u201c Box \u201d \u7684 \u76d2\u5b50 \u7ec4\u4ef6 \uff08 \u53c2\u89c1   Mustang   \u84dd\u56fe \uff09 \uff0c \u5e76 \u5c06 \u5927\u5c0f \u8bbe\u7f6e \u4e3a \u4ece \u4e0a\u65b9 \u8986\u76d6 \u8f66\u8f86 \u533a\u57df \u3002 \u786e\u4fdd \u8bbe\u7f6e \u4e86 \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9   \u9690\u85cf \u5728 \u6e38\u620f \u4e2d   \u6a21\u62df \u7269\u7406 \u5df2 \u7981\u7528   \u7981\u7528 \u751f\u6210 \u91cd\u53e0 \u4e8b\u4ef6   \u78b0\u649e \u9884\u8bbe \u8bbe\u7f6e \u4e3a \u201c NoCollision \u201d   \u6d4b\u8bd5 \u4e00\u4e0b \uff0c \u8fdb\u5165   CarlaGameMode   \u84dd\u56fe \u5e76 \u5c06 \u201c Default   Pawn   Class \u201d \u66f4 \u6539\u4e3a \u65b0\u521b \u521b\u5efa \u65b0\u521b\u5efa \u7684 \u6c7d\u8f66 \u84dd\u56fe \u3002   \u5730\u56fe \u751f\u6210   \u5bf9\u4e8e \u9053\u8def \u751f\u6210 \uff0c \u9884\u8ba1 \u4f1a \u627e\u5230 \u4ee5\u4e0b \u7f51\u683c   #   Enum   Filepath   RoadTwoLanes _ LaneLeft   at   \" Content / Static / Road / St _ Road _ TileRoad _ RoadL . uasset \"   RoadTwoLanes _ LaneRight   at   \" Content / Static / Road / St _ Road _ TileRoad _ RoadR . uasset \"   RoadTwoLanes _ SidewalkLeft   at   \" Content / Static / SideWalk / St _ Road _ TileRoad _ SidewalkL . uasset \"   RoadTwoLanes _ SidewalkRight   at   \" Content / Static / SideWalk / St _ Road _ TileRoad _ SidewalkR . uasset \"   RoadTwoLanes _ LaneMarkingSolid   at   \" Content / Static / RoadLines / St _ Road _ TileRoad _ LaneMarkingSolid . uasset \"   RoadTwoLanes _ LaneMarkingBroken   at   \" Content / Static / RoadLines / St _ Road _ TileRoad _ LaneMarkingBroken . uasset \"   Road90DegTurn _ Lane0   at   \" Content / Static / Road / St _ Road _ Curve _ Road1 . uasset \"   Road90DegTurn _ Lane1   at   \" Content / Static / Road / St _ Road _ Curve _ Road2 . uasset \"   Road90DegTurn _ Lane2   at   \" Content / Static / Road / St _ Road _ Curve _ Road3 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road4 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road5 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road6 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road7 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road8 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road9 . uasset \"   Road90DegTurn _ Sidewalk0   at   \" Content / Static / SideWalk / St _ Road _ Curve _ Sidewalk1 . uasset \"   Road90DegTurn _ Sidewalk1   at   \" Content / Static / SideWalk / St _ Road _ Curve _ Sidewalk2 . uasset \"   Road90DegTurn _ Sidewalk2   at   \" Content / Static / SideWalk / St _ Road _ Curve _ Sidewalk3 . uasset \"   Road90DegTurn _ Sidewalk3   at   \" Content / Static / SideWalk / St _ Road _ Curve _ Sidewalk4 . uasset \"   Road90DegTurn _ LaneMarking   at   \" Content / Static / Road / St _ Road _ Curve _ LaneMarking . uasset \"   RoadTIntersection _ Lane0   at   \" Content / Static / Road / St _ Road _ TCross _ Road1 . uasset \"   RoadTIntersection _ Lane1   at   \" Content / Static / Road / St _ Road _ TCross _ Road2 . uasset \"   RoadTIntersection _ Lane2   at   \" Content / Static / Road / St _ Road _ TCross _ Road3 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road4 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road5 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road6 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road7 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road8 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road9 . uasset \"   RoadTIntersection _ Sidewalk0   at   \" Content / Static / SideWalk / St _ Road _ TCross _ Sidewalk1 . uasset \"   RoadTIntersection _ Sidewalk1   at   \" Content / Static / SideWalk / St _ Road _ TCross _ Sidewalk2 . uasset \"   RoadTIntersection _ Sidewalk2   at   \" Content / Static / SideWalk / St _ Road _ TCross _ Sidewalk3 . uasset \"   RoadTIntersection _ Sidewalk3   at   \" Content / Static / SideWalk / St _ Road _ TCross _ Sidewalk4 . uasset \"   RoadTIntersection _ LaneMarking   at   \" Content / Static / RoadLines / St _ Road _ TCross _ LaneMarking . uasset \"   RoadXIntersection _ Lane0   at   \" Content / Static / Road / St _ Road _ XCross _ Road1 . uasset \"   RoadXIntersection _ Lane1   at   \" Content / Static / Road / St _ Road _ XCross _ Road2 . uasset \"   RoadXIntersection _ Lane2   at   \" Content / Static / Road / St _ Road _ XCross _ Road3 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road4 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road5 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road6 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road7 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road8 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road9 . uasset \"   RoadXIntersection _ Sidewalk0   at   \" Content / Static / SideWalk / St _ Road _ XCross _ Sidewalk1 . uasset \"   RoadXIntersection _ Sidewalk1   at   \" Content / Static / SideWalk / St _ Road _ XCross _ Sidewalk2 . uasset \"   RoadXIntersection _ Sidewalk2   at   \" Content / Static / SideWalk / St _ Road _ XCross _ Sidewalk3 . uasset \"   RoadXIntersection _ Sidewalk3   at   \" Content / Static / SideWalk / St _ Road _ XCross _ Sidewalk4 . uasset \"   RoadXIntersection _ LaneMarking   at   \" Content / Static / RoadLines / St _ Road _ XCross _ LaneMarking . uasset \"","title":"\u5982\u4f55 \u6dfb\u52a0 \u8d44\u4ea7"},{"location":"how_to_add_assets/#_1","text":"\u672c \u6587\u6863 \u5c1a \u5728 \u7f16\u5199 \u4e2d \uff0c \u53ef\u80fd \u4e0d \u5b8c\u6574 \u3002","title":"\u5982\u4f55 \u6dfb\u52a0 \u8d44\u4ea7"},{"location":"how_to_add_assets/#_2","text":"\u6309\u7167   \u827a\u672f \u6307\u5357   \u521b\u5efa \u9aa8\u67b6 \u7f51\u683c \u4f53 \u548c \u7269\u7406 \u8d44\u4ea7 \u3002   \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \u53c2\u9605 \u8bf7\u53c2\u9605   \u8f66\u8f86 \u7528\u6237 \u6307\u5357   \u3002   \u5c06   fbx   \u4f5c\u4e3a   Skelletal   Mesh   \u5bfc\u5165 \u5bfc\u5165\u5230 \u5176 \u81ea\u5df1 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d   Content / Static / Vehicles   \u3002 \u7269\u7406 \u8d44\u4ea7 \u548c \u9aa8\u67b6 \u5e94 \u81ea\u52a8 \u521b\u5efa \uff0c \u5e76 \u5c06 \u4e09\u8005 \u94fe\u63a5 \u5728 \u4e00\u8d77 \u3002   \u8c03\u6574 \u7269\u7406 \u8d44\u4ea7 \u3002 \u5220\u9664 \u81ea\u52a8 \u521b\u5efa \u7684 \u8d44\u4ea7 \uff0c \u5e76 \u4e3a \u4e0e   Vehicle _ Base   \u5f62\u72b6 \u5339\u914d \u7684 \u9aa8\u9abc \u6dfb\u52a0 \u6846 \uff0c \u786e\u4fdd \u542f\u7528 \u4e86 \u751f\u6210 \u649e\u51fb \u4e8b\u4ef6 \u3002 \u4e3a \u6bcf\u4e2a \u8f6e\u5b50 \u6dfb\u52a0 \u4e00\u4e2a \u7403\u4f53 \uff0c \u5e76 \u5c06 \u5176 \u201c \u7269\u7406 \u7c7b\u578b \u201d \u8bbe\u7f6e \u4e3a \u201c \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u201d \u3002   \u5728 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u521b\u5efa \u4e00\u4e2a \u201c \u52a8\u753b \u84dd\u56fe \u201d \uff0c \u521b\u5efa \u65f6 \u9009\u62e9 \u201c VehicleAnimInstance \u201d \u4f5c\u4e3a \u7236\u7c7b \uff0c \u5e76 \u4ee5\u6b64 \u6c7d\u8f66 \u8f66\u6a21 \u6a21\u578b \u6c7d\u8f66\u6a21\u578b \u7684 \u9aa8\u67b6 \u4f5c\u4e3a \u76ee\u6807 \u9aa8\u67b6 \u3002 \u6dfb\u52a0 \u52a8\u753b \u753b\u56fe \u52a8\u753b\u56fe \uff0c \u5982 \u4e0a\u9762 \u7ed9\u51fa \u7684 \u94fe\u63a5 \u6240\u793a \uff08 \u6216 \u5728 \u5176\u4ed6 \u6c7d\u8f66 \u7684 \u52a8\u753b \u4e2d \u67e5\u627e \uff0c \u5982   Mustang \uff09 \u3002   \u521b\u5efa \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   Content / Blueprints / Vehicles / < vehicle - model >   \u5728 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u521b\u5efa \u4e24\u4e2a \u4ece \u201c VehicleWheel \u201d \u7c7b \u6d3e\u751f \u7684 \u84dd\u56fe \u7c7b \u3002 \u5c06 \u5b83\u4eec \u547d\u540d \u4e3a   < vehicle - model > _ FrontWheel   \u548c   < vehicle - model > _ RearWheel   \u3002 \u5c06 \u5b83\u4eec \u7684 \u201c \u5f62\u72b6 \u534a\u5f84 \u201d \u8bbe\u7f6e \u4e3a \u4e0e \u7f51\u683c \u8f6e \u534a\u5f84 \u5b8c\u5168 \u5339\u914d \uff08 \u6ce8\u610f \uff0c \u662f \u534a\u5f84 \u800c \u4e0d\u662f \u76f4\u5f84 \uff09 \u3002 \u5c06 \u5b83\u4eec \u7684 \u201c \u8f6e\u80ce \u914d\u7f6e \u201d \u8bbe\u7f6e \u4e3a \u201c CommonTireConfig \u201d \u3002 \u5728 \u524d\u8f6e \u4e0a \u53d6\u6d88 \u9009\u4e2d \u201c \u53d7 \u624b\u5239 \u5f71\u54cd \u201d \uff0c \u5728 \u540e\u8f6e \u4e0a\u5c06 \u201c \u8f6c\u5411 \u89d2 \u201d \u8bbe\u7f6e \u4e3a \u96f6 \u3002   \u5728 \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u521b\u5efa \u4e00\u4e2a \u84dd\u56fe \u7c7b \uff0c \u4ece\u4e2d \u6d3e \u751f\u51fa \u5e76   BaseVehiclePawn   \u8c03\u7528 \u5b83   < vehicle - model >   \u3002 \u6253\u5f00 \u5b83 \u8fdb\u884c \u7f16\u8f91 \u5e76 \u9009\u62e9 \u7ec4\u4ef6 \u201c Mesh \u201d \uff0c \u5c06 \u201c Skeletal   Mesh \u201d \u548c \u201c Anim   Class \u201d \u8bbe\u7f6e \u4e3a \u76f8\u5e94 \u7684 \u3002 \u7136\u540e \u9009\u62e9 \u7ec4\u4ef6 \u201c VehicleMovement \u201d \uff0c \u5728 \u201c Vehicle   Setup \u201d \u4e0b \u5c55\u5f00 \u201c Wheel   Setups \u201d \uff0c \u8bbe\u7f6e \u6bcf\u4e2a \u8f66\u8f6e   0 \uff1a \u8f6e\u5b50 \u7c7b\u522b =   < vehicle - model > _ FrontWheel   \uff0c \u9aa8\u9abc \u540d\u79f0 =   Wheel _ Front _ Left   1 \uff1a \u8f6e\u5b50 \u7c7b\u522b =   < vehicle - model > _ FrontWheel   \uff0c \u9aa8\u9abc \u540d\u79f0 =   Wheel _ Front _ Right   2 \uff1a \u8f6e\u5b50 \u7c7b\u522b =   < vehicle - model > _ RearWheel   \uff0c \u9aa8\u9abc \u540d\u79f0 =   Wheel _ Rear _ Left   3 \uff1a \u8f6e\u5b50 \u7c7b\u522b =   < vehicle - model > _ RearWheel   \uff0c \u9aa8\u9abc \u540d\u79f0 =   Wheel _ Rear _ Right   \u5411 \u5176\u4e2d \u6dfb\u52a0 \u4e00\u4e2a \u540d\u4e3a \u201c Box \u201d \u7684 \u76d2\u5b50 \u7ec4\u4ef6 \uff08 \u53c2\u89c1   Mustang   \u84dd\u56fe \uff09 \uff0c \u5e76 \u5c06 \u5927\u5c0f \u8bbe\u7f6e \u4e3a \u4ece \u4e0a\u65b9 \u8986\u76d6 \u8f66\u8f86 \u533a\u57df \u3002 \u786e\u4fdd \u8bbe\u7f6e \u4e86 \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9   \u9690\u85cf \u5728 \u6e38\u620f \u4e2d   \u6a21\u62df \u7269\u7406 \u5df2 \u7981\u7528   \u7981\u7528 \u751f\u6210 \u91cd\u53e0 \u4e8b\u4ef6   \u78b0\u649e \u9884\u8bbe \u8bbe\u7f6e \u4e3a \u201c NoCollision \u201d   \u6d4b\u8bd5 \u4e00\u4e0b \uff0c \u8fdb\u5165   CarlaGameMode   \u84dd\u56fe \u5e76 \u5c06 \u201c Default   Pawn   Class \u201d \u66f4 \u6539\u4e3a \u65b0\u521b \u521b\u5efa \u65b0\u521b\u5efa \u7684 \u6c7d\u8f66 \u84dd\u56fe \u3002","title":"\u6dfb\u52a0 \u8f66\u8f86"},{"location":"how_to_add_assets/#_3","text":"\u5bf9\u4e8e \u9053\u8def \u751f\u6210 \uff0c \u9884\u8ba1 \u4f1a \u627e\u5230 \u4ee5\u4e0b \u7f51\u683c   #   Enum   Filepath   RoadTwoLanes _ LaneLeft   at   \" Content / Static / Road / St _ Road _ TileRoad _ RoadL . uasset \"   RoadTwoLanes _ LaneRight   at   \" Content / Static / Road / St _ Road _ TileRoad _ RoadR . uasset \"   RoadTwoLanes _ SidewalkLeft   at   \" Content / Static / SideWalk / St _ Road _ TileRoad _ SidewalkL . uasset \"   RoadTwoLanes _ SidewalkRight   at   \" Content / Static / SideWalk / St _ Road _ TileRoad _ SidewalkR . uasset \"   RoadTwoLanes _ LaneMarkingSolid   at   \" Content / Static / RoadLines / St _ Road _ TileRoad _ LaneMarkingSolid . uasset \"   RoadTwoLanes _ LaneMarkingBroken   at   \" Content / Static / RoadLines / St _ Road _ TileRoad _ LaneMarkingBroken . uasset \"   Road90DegTurn _ Lane0   at   \" Content / Static / Road / St _ Road _ Curve _ Road1 . uasset \"   Road90DegTurn _ Lane1   at   \" Content / Static / Road / St _ Road _ Curve _ Road2 . uasset \"   Road90DegTurn _ Lane2   at   \" Content / Static / Road / St _ Road _ Curve _ Road3 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road4 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road5 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road6 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road7 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road8 . uasset \"   Road90DegTurn _ Lane3   at   \" Content / Static / Road / St _ Road _ Curve _ Road9 . uasset \"   Road90DegTurn _ Sidewalk0   at   \" Content / Static / SideWalk / St _ Road _ Curve _ Sidewalk1 . uasset \"   Road90DegTurn _ Sidewalk1   at   \" Content / Static / SideWalk / St _ Road _ Curve _ Sidewalk2 . uasset \"   Road90DegTurn _ Sidewalk2   at   \" Content / Static / SideWalk / St _ Road _ Curve _ Sidewalk3 . uasset \"   Road90DegTurn _ Sidewalk3   at   \" Content / Static / SideWalk / St _ Road _ Curve _ Sidewalk4 . uasset \"   Road90DegTurn _ LaneMarking   at   \" Content / Static / Road / St _ Road _ Curve _ LaneMarking . uasset \"   RoadTIntersection _ Lane0   at   \" Content / Static / Road / St _ Road _ TCross _ Road1 . uasset \"   RoadTIntersection _ Lane1   at   \" Content / Static / Road / St _ Road _ TCross _ Road2 . uasset \"   RoadTIntersection _ Lane2   at   \" Content / Static / Road / St _ Road _ TCross _ Road3 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road4 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road5 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road6 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road7 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road8 . uasset \"   RoadTIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ TCross _ Road9 . uasset \"   RoadTIntersection _ Sidewalk0   at   \" Content / Static / SideWalk / St _ Road _ TCross _ Sidewalk1 . uasset \"   RoadTIntersection _ Sidewalk1   at   \" Content / Static / SideWalk / St _ Road _ TCross _ Sidewalk2 . uasset \"   RoadTIntersection _ Sidewalk2   at   \" Content / Static / SideWalk / St _ Road _ TCross _ Sidewalk3 . uasset \"   RoadTIntersection _ Sidewalk3   at   \" Content / Static / SideWalk / St _ Road _ TCross _ Sidewalk4 . uasset \"   RoadTIntersection _ LaneMarking   at   \" Content / Static / RoadLines / St _ Road _ TCross _ LaneMarking . uasset \"   RoadXIntersection _ Lane0   at   \" Content / Static / Road / St _ Road _ XCross _ Road1 . uasset \"   RoadXIntersection _ Lane1   at   \" Content / Static / Road / St _ Road _ XCross _ Road2 . uasset \"   RoadXIntersection _ Lane2   at   \" Content / Static / Road / St _ Road _ XCross _ Road3 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road4 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road5 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road6 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road7 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road8 . uasset \"   RoadXIntersection _ Lane3   at   \" Content / Static / Road / St _ Road _ XCross _ Road9 . uasset \"   RoadXIntersection _ Sidewalk0   at   \" Content / Static / SideWalk / St _ Road _ XCross _ Sidewalk1 . uasset \"   RoadXIntersection _ Sidewalk1   at   \" Content / Static / SideWalk / St _ Road _ XCross _ Sidewalk2 . uasset \"   RoadXIntersection _ Sidewalk2   at   \" Content / Static / SideWalk / St _ Road _ XCross _ Sidewalk3 . uasset \"   RoadXIntersection _ Sidewalk3   at   \" Content / Static / SideWalk / St _ Road _ XCross _ Sidewalk4 . uasset \"   RoadXIntersection _ LaneMarking   at   \" Content / Static / RoadLines / St _ Road _ XCross _ LaneMarking . uasset \"","title":"\u5730\u56fe \u751f\u6210"},{"location":"iss_install/","text":"\u667a\u80fd \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf   \u667a\u80fd \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \uff08 ISS \uff09 \u662f \u4e00\u4e2a \u7528   Python   \u548c   C++   \u7f16\u5199 \u7684 \u6a21\u5757 \u6a21\u5757\u5316 \u6846\u67b6 \uff0c \u65e8\u5728 \u6784\u5efa \u4e00\u4e2a \u9002\u5408 \u7814\u7a76 \u7684 \u53ef \u6269\u5c55 \u5de5\u4f5c \u7a7a\u95f4 \u3002 \u8be5 \u6846\u67b6 \u5c06 \u5305\u542b \u7528\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u76f8\u5173 \u4efb\u52a1 \u7684 \u4f20\u7edf \u548c \u6df1\u5ea6 \u5b66\u4e60 \u7b97\u6cd5 \uff0c \u4f8b\u5982 \u611f\u77e5 \u3001 \u5b9a\u4f4d \u3001 \u6620\u5c04 \u3001 \u9884\u6d4b \u3001 \u89c4\u5212 \u548c \u63a7\u5236 \u3002 \u5bf9\u5916 \u5916\u90e8 \u5bf9\u5916\u90e8 \u5e93 \u4f9d\u8d56 \u4f9d\u8d56\u6027 \u6700\u5c0f \u7684 \u6a21\u5757 \u6a21\u5757\u5316 \u8bbe\u8ba1 \u53ef\u4ee5 \u4e3a \u7814\u7a76 \u4eba\u5458 \u8bc4\u4f30 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u7684 \u7b97\u6cd5 \u63d0\u4f9b \u900f\u660e \u3001 \u5e72\u51c0 \u7684 \u5de5\u4f5c \u7a7a\u95f4 \u3002   ISS   \u7684 \u4ee3\u7801 \u53ef\u4ee5 \u4ece \u5176   Github   \u4ed3\u5e93   \u4e0b\u8f7d \uff0c \u5176\u4e2d \u53ef\u4ee5 \u627e\u5230 \u8be6\u7ec6 \u7684 \u5b89\u88c5 \u8bf4\u660e \u3002   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   ISS   \u4f7f\u7528   Ubuntu   20.04   \u8fdb\u884c \u6d4b\u8bd5 \uff0c \u8fd0\u884c   Python   3.8 \u3002   \u5bf9\u4e8e \u90a3\u4e9b \u6709 \u5174\u8da3 \u5c06   ISS   \u4e0e   Gazebo   \u548c   ROS - Noetic   \u7ed3\u5408 \u4f7f\u7528 \u7684 \u4eba \uff0c \u60a8 \u5e94\u8be5 \u6309\u7167 \u5b98\u65b9   ROS   \u6587\u6863 \u4e2d \u63d0\u4f9b \u7684 \u8bf4\u660e \u5b89\u88c5 ROS - Noetic   \u3002   \u8981 \u5c06   ISS   \u4e0e   Carla   \u7ed3\u5408 \u4f7f\u7528 \uff0c \u5fc5\u987b \u5b89\u88c5   Carla \u3002 \u6211\u4eec \u5efa\u8bae \u4f7f\u7528 \u7248\u672c   0.9 . 13 \uff0c \u53ef\u4ee5 \u5728   Carla   GitHub   \u53d1\u5e03 \u9875\u9762 \u53d1\u5e03\u9875 \u53d1\u5e03\u9875\u9762 \u627e\u5230 \u8be5 \u7248\u672c \u3002   \u5b89\u88c5   \u5b89\u88c5   ROS   Noetic   ,   \u4ee5\u53ca \u4e0b\u8f7d \u76f8\u5173 \u4f9d\u8d56 :   sudo   apt - get   install   ros - noetic - navigation   ros - noetic - gmapping   ros - noetic - teb - local - planner   ros - noetic - ackermann - msgs   ros - noetic - gazebo - ros - pkgs   ros - noetic - gazebo - ros - control   ros - noetic - joint - state - publisher - gui   ros - noetic - ros - control   ros - noetic - ros - controllers   \u5b89\u88c5   Carla   0.9 . 13   \u5e76 \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf :   ` ` `   export   CARLA _ ROOT =   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla   \u6ce8\u610f   \u8fd0\u884c \u4ee3\u7801 \u65f6 \u9700\u8981   agents   \u6a21\u5757 \uff0c   \u5728   conda   \u73af\u5883   ISS   \u76ee\u5f55 \u4e0b \uff0c \u8fd8 \u9700\u8981 \u914d\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   export   PYTHONPATH = $ PYTHONPATH : / home / ... / carla - 0.9 . 13 / carla : / home / ... / carla - 0.9 . 13 / PythonAPI / carla / agents   ` ` `   \u521b\u5efa \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883   conda   create   - n   iss   python = 3.8   conda   activate   iss   \u6ce8\u610f   \u82e5 \u8981 \u9000\u51fa \u5f53\u524d conda \u73af\u5883 \uff0c \u6267\u884c   conda   deactivate   \u5b89\u88c5   git - lfs   \u9012\u5f52 \u514b\u9686 \u9879\u76ee \u53ca\u5176 \u5b50 \u6a21\u5757 :   ` ` `   git   clone   -- recurse - submodules   https : / / github . com / CAS - LRJ / ISS . git   &&   cd   ISS   pip3   install   - r   Install / requirements . txt   python3   Install / setup . py   develop   \u6ce8\u610f \uff1a \u8fd9\u91cc \u5fc5\u987b \u9012\u5f52 \u514b\u9686 \uff0c \u5c06\u5b50 \u6a21\u5757 \u4e00\u5e76 \u514b\u9686 \u4e0b\u6765 \uff0c \u67e5\u770b \u5b50 \u6a21\u5757 \u5185\u5bb9 \u662f\u5426 \u514b\u9686 \u6210\u529f \uff0c \u5426\u5219 \u8fd0\u884c \u62a5\u9519 \u3002   ` ` `   \u5b89\u88c5   PyTorch   \u548c   torch - scatter :   pip3   install   torch = = 1.7 . 1 + cu110   torchvision = = 0.8 . 2 + cu110   torchaudio = = 0.7 . 2   - f   https : / / download . pytorch . org / whl / torch _ stable . htmlpip3   install   Install / torch _ scatter - 2.0 . 7 - cp38 - cp38 - linux _ x86 _ 64 . whl   \u5b89\u88c5   CUDA   Toolkit   11.8   \u5b89\u88c5   MMDetection   \u6784\u5efa   \u8981 \u4f7f\u7528   ROS - Noetic ,   \u9996\u5148 \u6784\u5efa ROS \u5de5\u4f5c \u7a7a\u95f4 \u3002   ` ` `   cd   ros1 _ ws   &&   catkin   build   source   devel / setup . bash   #   or   setup . zsh   \u6ce8\u610f \uff1a \u4f1a \u751f\u6210 devel \u76ee\u5f55 \uff01   ` ` `   \u8fd0\u884c \u4efb\u52a1   \u6253\u5f00   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   cd   carla - 0.9 . 13   . / CarlaUE4 . sh   \u542f\u52a8   ros   \u8282\u70b9 \uff0c \u4e3a \u667a\u80fd \u9a7e\u9a76 \u8f66\u8f86 \u4f5c \u5168\u5c40 \u8def\u5f84 \u89c4\u5212   roslaunch   carla _ bridge   carla _ demo . launch   \u6ce8\u610f \uff1a   \u8fd0\u884c \u8fc7\u7a0b \u4e2d \u8981\u6c42 \u5b89\u88c5 \u5176\u4ed6 \u5305 \uff0c \u9664 CARLA   client   API   \u4e3a 0.9 . 13 \uff0c \u5176\u4ed6 \u4e0d \u505a \u8981\u6c42","title":"\u667a\u80fd \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf"},{"location":"iss_install/#_1","text":"\u667a\u80fd \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \uff08 ISS \uff09 \u662f \u4e00\u4e2a \u7528   Python   \u548c   C++   \u7f16\u5199 \u7684 \u6a21\u5757 \u6a21\u5757\u5316 \u6846\u67b6 \uff0c \u65e8\u5728 \u6784\u5efa \u4e00\u4e2a \u9002\u5408 \u7814\u7a76 \u7684 \u53ef \u6269\u5c55 \u5de5\u4f5c \u7a7a\u95f4 \u3002 \u8be5 \u6846\u67b6 \u5c06 \u5305\u542b \u7528\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u76f8\u5173 \u4efb\u52a1 \u7684 \u4f20\u7edf \u548c \u6df1\u5ea6 \u5b66\u4e60 \u7b97\u6cd5 \uff0c \u4f8b\u5982 \u611f\u77e5 \u3001 \u5b9a\u4f4d \u3001 \u6620\u5c04 \u3001 \u9884\u6d4b \u3001 \u89c4\u5212 \u548c \u63a7\u5236 \u3002 \u5bf9\u5916 \u5916\u90e8 \u5bf9\u5916\u90e8 \u5e93 \u4f9d\u8d56 \u4f9d\u8d56\u6027 \u6700\u5c0f \u7684 \u6a21\u5757 \u6a21\u5757\u5316 \u8bbe\u8ba1 \u53ef\u4ee5 \u4e3a \u7814\u7a76 \u4eba\u5458 \u8bc4\u4f30 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u7684 \u7b97\u6cd5 \u63d0\u4f9b \u900f\u660e \u3001 \u5e72\u51c0 \u7684 \u5de5\u4f5c \u7a7a\u95f4 \u3002   ISS   \u7684 \u4ee3\u7801 \u53ef\u4ee5 \u4ece \u5176   Github   \u4ed3\u5e93   \u4e0b\u8f7d \uff0c \u5176\u4e2d \u53ef\u4ee5 \u627e\u5230 \u8be6\u7ec6 \u7684 \u5b89\u88c5 \u8bf4\u660e \u3002","title":"\u667a\u80fd \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf"},{"location":"iss_install/#_2","text":"ISS   \u4f7f\u7528   Ubuntu   20.04   \u8fdb\u884c \u6d4b\u8bd5 \uff0c \u8fd0\u884c   Python   3.8 \u3002   \u5bf9\u4e8e \u90a3\u4e9b \u6709 \u5174\u8da3 \u5c06   ISS   \u4e0e   Gazebo   \u548c   ROS - Noetic   \u7ed3\u5408 \u4f7f\u7528 \u7684 \u4eba \uff0c \u60a8 \u5e94\u8be5 \u6309\u7167 \u5b98\u65b9   ROS   \u6587\u6863 \u4e2d \u63d0\u4f9b \u7684 \u8bf4\u660e \u5b89\u88c5 ROS - Noetic   \u3002   \u8981 \u5c06   ISS   \u4e0e   Carla   \u7ed3\u5408 \u4f7f\u7528 \uff0c \u5fc5\u987b \u5b89\u88c5   Carla \u3002 \u6211\u4eec \u5efa\u8bae \u4f7f\u7528 \u7248\u672c   0.9 . 13 \uff0c \u53ef\u4ee5 \u5728   Carla   GitHub   \u53d1\u5e03 \u9875\u9762 \u53d1\u5e03\u9875 \u53d1\u5e03\u9875\u9762 \u627e\u5230 \u8be5 \u7248\u672c \u3002","title":"\u5148\u51b3\u6761\u4ef6"},{"location":"iss_install/#_3","text":"\u5b89\u88c5   ROS   Noetic   ,   \u4ee5\u53ca \u4e0b\u8f7d \u76f8\u5173 \u4f9d\u8d56 :   sudo   apt - get   install   ros - noetic - navigation   ros - noetic - gmapping   ros - noetic - teb - local - planner   ros - noetic - ackermann - msgs   ros - noetic - gazebo - ros - pkgs   ros - noetic - gazebo - ros - control   ros - noetic - joint - state - publisher - gui   ros - noetic - ros - control   ros - noetic - ros - controllers   \u5b89\u88c5   Carla   0.9 . 13   \u5e76 \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf :   ` ` `   export   CARLA _ ROOT =   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla   \u6ce8\u610f   \u8fd0\u884c \u4ee3\u7801 \u65f6 \u9700\u8981   agents   \u6a21\u5757 \uff0c   \u5728   conda   \u73af\u5883   ISS   \u76ee\u5f55 \u4e0b \uff0c \u8fd8 \u9700\u8981 \u914d\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   export   PYTHONPATH = $ PYTHONPATH : / home / ... / carla - 0.9 . 13 / carla : / home / ... / carla - 0.9 . 13 / PythonAPI / carla / agents   ` ` `   \u521b\u5efa \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883   conda   create   - n   iss   python = 3.8   conda   activate   iss   \u6ce8\u610f   \u82e5 \u8981 \u9000\u51fa \u5f53\u524d conda \u73af\u5883 \uff0c \u6267\u884c   conda   deactivate   \u5b89\u88c5   git - lfs   \u9012\u5f52 \u514b\u9686 \u9879\u76ee \u53ca\u5176 \u5b50 \u6a21\u5757 :   ` ` `   git   clone   -- recurse - submodules   https : / / github . com / CAS - LRJ / ISS . git   &&   cd   ISS   pip3   install   - r   Install / requirements . txt   python3   Install / setup . py   develop   \u6ce8\u610f \uff1a \u8fd9\u91cc \u5fc5\u987b \u9012\u5f52 \u514b\u9686 \uff0c \u5c06\u5b50 \u6a21\u5757 \u4e00\u5e76 \u514b\u9686 \u4e0b\u6765 \uff0c \u67e5\u770b \u5b50 \u6a21\u5757 \u5185\u5bb9 \u662f\u5426 \u514b\u9686 \u6210\u529f \uff0c \u5426\u5219 \u8fd0\u884c \u62a5\u9519 \u3002   ` ` `   \u5b89\u88c5   PyTorch   \u548c   torch - scatter :   pip3   install   torch = = 1.7 . 1 + cu110   torchvision = = 0.8 . 2 + cu110   torchaudio = = 0.7 . 2   - f   https : / / download . pytorch . org / whl / torch _ stable . htmlpip3   install   Install / torch _ scatter - 2.0 . 7 - cp38 - cp38 - linux _ x86 _ 64 . whl   \u5b89\u88c5   CUDA   Toolkit   11.8   \u5b89\u88c5   MMDetection","title":"\u5b89\u88c5"},{"location":"iss_install/#_4","text":"\u8981 \u4f7f\u7528   ROS - Noetic ,   \u9996\u5148 \u6784\u5efa ROS \u5de5\u4f5c \u7a7a\u95f4 \u3002   ` ` `   cd   ros1 _ ws   &&   catkin   build   source   devel / setup . bash   #   or   setup . zsh   \u6ce8\u610f \uff1a \u4f1a \u751f\u6210 devel \u76ee\u5f55 \uff01   ` ` `","title":"\u6784\u5efa"},{"location":"iss_install/#_5","text":"\u6253\u5f00   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   cd   carla - 0.9 . 13   . / CarlaUE4 . sh   \u542f\u52a8   ros   \u8282\u70b9 \uff0c \u4e3a \u667a\u80fd \u9a7e\u9a76 \u8f66\u8f86 \u4f5c \u5168\u5c40 \u8def\u5f84 \u89c4\u5212   roslaunch   carla _ bridge   carla _ demo . launch   \u6ce8\u610f \uff1a   \u8fd0\u884c \u8fc7\u7a0b \u4e2d \u8981\u6c42 \u5b89\u88c5 \u5176\u4ed6 \u5305 \uff0c \u9664 CARLA   client   API   \u4e3a 0.9 . 13 \uff0c \u5176\u4ed6 \u4e0d \u505a \u8981\u6c42","title":"\u8fd0\u884c \u4efb\u52a1"},{"location":"large_map_import/","text":"\u5bfc\u5165 / \u6253\u5305 \u5927 \u5730\u56fe   RoadRunner   \u4e2d \u751f\u6210 \u7684 \u5927 \u5730\u56fe \u53ef\u4ee5 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7f16\u8bd1 \u7248\u672c \u4e2d \uff0c \u5e76 \u6253\u5305 \u5728   Carla   \u72ec\u7acb \u5305\u4e2d \u5206\u53d1 \u548c \u4f7f\u7528 \u3002 \u8be5 \u8fc7\u7a0b \u4e0e \u6807\u51c6 \u5730\u56fe \u7684 \u8fc7\u7a0b \u975e\u5e38 \u76f8\u4f3c \uff0c \u53ea\u662f \u6dfb\u52a0 \u4e86 \u56fe\u5757 \u548c \u6279\u91cf \u5bfc\u5165 \u7684 \u7279\u5b9a \u672f\u8bed \u3002   \u521b\u5efa \u6587\u4ef6 \u548c \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u521b\u5efa   JSON   \u63cf\u8ff0 \uff08 \u53ef \u9009 \uff09   \u8fdb\u884c \u5bfc\u5165   \u6253\u5305 \u4e00\u5f20 \u5927 \u5730\u56fe   \u521b\u5efa \u6587\u4ef6 \u548c \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u6240\u6709 \u8981 \u5bfc\u5165 \u7684 \u6587\u4ef6 \u5e94 \u653e\u7f6e \u5728   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u8fd9\u4e9b \u6587\u4ef6 \u5e94 \u5305\u62ec \uff1a   \u591a\u4e2a   . fbx   \u6587\u4ef6 \u4e2d \u7684 \u5730\u56fe \u7f51\u683c \u4ee3\u8868 \u5730\u56fe \u7684 \u4e0d\u540c \u56fe\u5757 \u3002   OpenDRIVE   \u5b9a\u4e49 \u4f4d\u4e8e \u5355\u4e2a   . xodr   \u6587\u4ef6 \u4e2d \u3002   \u7b14\u8bb0   \u60a8 \u4e0d\u80fd \u540c\u65f6 \u5bfc\u5165 \u5927 \u5730\u56fe \u548c \u6807\u51c6 \u5730\u56fe \u3002   \u5730\u56fe \u56fe\u5757 \u7684 \u547d\u540d \u7ea6\u5b9a \u975e\u5e38 \u91cd\u8981 \u3002 \u6bcf\u4e2a \u5730\u56fe \u56fe\u5757 \u5e94 \u6839\u636e \u4ee5\u4e0b \u7ea6\u5b9a \u547d\u540d \uff1a   < mapName > _ Tile _ < x - coordinate > _ < y - coordinate > . fbx   \u8bf7 \u6ce8\u610f \uff0c \u66f4\u6b63 \u7684   y   \u5750   \u6807\u662f \u6307   y   \u8f74\u4e0a \u8f83 \u4f4e \u7684 \u56fe\u5757 \u3002 \u4f8b\u5982 \uff0c   Map01 _ Tile _ 0 _ 1   \u4f1a \u5750\u5728   Map01 _ Tile _ 0 _ 0   \u7684 \u4e0b\u9762 \u3002   \u751f\u6210 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u5305\u542b \u4e00\u4e2a \u5305\u542b \u7531 \u56db\u4e2a \u56fe\u5757 \u7ec4\u6210 \u7684 \u5927 \u5730\u56fe \u7684 \u5305 \uff0c \u5176 \u7ed3\u6784 \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u7ed3\u6784 \uff1a   Import   \u2502   \u2514 \u2500 \u2500   Package01   \u251c \u2500 \u2500   Package01 . json   \u251c \u2500 \u2500   Map01 _ Tile _ 0 _ 0 . fbx   \u251c \u2500 \u2500   Map01 _ Tile _ 0 _ 1 . fbx   \u251c \u2500 \u2500   Map01 _ Tile _ 1 _ 0 . fbx   \u251c \u2500 \u2500   Map01 _ Tile _ 1 _ 1 . fbx   \u2514 \u2500 \u2500   Map01 . xodr   \u7b14\u8bb0   \u8be5   package . json   \u6587\u4ef6 \u5e76 \u4e0d\u662f \u7edd\u5bf9 \u5fc5\u8981 \u7684 \u3002 \u5982\u679c \u672a \u521b\u5efa   package . json   \u6587\u4ef6 \uff0c \u81ea\u52a8 \u5bfc\u5165 \u8fc7\u7a0b \u5c06 \u521b\u5efa \u4e00\u4e2a \u3002 \u5728 \u4e0b \u4e00\u8282 \u4e2d \u4e86\u89e3 \u6709\u5173 \u6784\u5efa \u81ea\u5df1   package . json   \u7684 \u7ed3\u6784 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u521b\u5efa   JSON   \u63cf\u8ff0 \uff08 \u53ef \u9009 \uff09   . json   \u63cf\u8ff0 \u662f \u5728 \u5bfc\u5165 \u8fc7\u7a0b \u4e2d \u81ea\u52a8 \u521b\u5efa \u7684 \uff0c \u4f46 \u4e5f \u53ef\u4ee5 \u9009\u62e9 \u624b\u52a8 \u521b\u5efa \u63cf\u8ff0 \u3002 \u73b0\u6709   . json   \u63cf\u8ff0 \u5c06 \u8986\u76d6 \u5bfc\u5165 \u8fc7\u7a0b \u4e2d \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7684 \u4efb\u4f55 \u503c \u3002   \u8be5   . json   \u6587\u4ef6 \u5e94 \u521b\u5efa \u5728 \u5305 \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u6587\u4ef6 \u6587\u4ef6\u540d \u5c06 \u662f \u5305 \u5206\u53d1 \u540d\u79f0 \u3002 \u6587\u4ef6 \u7684 \u5185\u5bb9 \u63cf\u8ff0 \u4e86   Maps   \u548c   Props   \u7684   JSON   \u6570\u7ec4 \uff0c \u5176\u4e2d \u5305\u542b \u6bcf\u4e2a \u5730\u56fe \u548c \u9053\u5177 \u7684 \u57fa\u672c \u4fe1\u606f \u3002   Maps   \u9700\u8981 \u4ee5\u4e0b \u53c2\u6570 \uff1a   name :   \u5730\u56fe \u7684 \u540d\u79f0 \u3002 \u8fd9 \u5fc5\u987b \u4e0e   . fbx   \u548c   . xodr   \u6587\u4ef6 \u76f8\u540c \u3002   xodr :   . xodr   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   use _ carla _ materials :   \u5982\u679c \u4e3a   True   \uff0c \u5730\u56fe \u5c06 \u4f7f\u7528   Carla   \u6750\u8d28 \u3002 \u5426\u5219 \uff0c \u5b83 \u5c06 \u4f7f\u7528   RoadRunner   \u6750\u8d28 \u3002   tile _ size :   \u56fe\u5757 \u7684 \u5927\u5c0f \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   2000   ( 2kmx2km ) \u3002   tiles :   \u7ec4\u6210 \u6574\u4e2a \u5730\u56fe \u7684   . fbx   \u56fe\u5757 \u6587\u4ef6 \u7684 \u5217\u8868 \u3002   Props   \u4e0d \u5c5e\u4e8e   \u672c   \u6559\u7a0b \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605 \u672c \u6559\u7a0b \u4e86\u89e3 \u5982\u4f55 \u6dfb\u52a0 \u65b0 \u9053\u5177 \u3002   \u751f\u6210 \u7684   . json   \u6587\u4ef6 \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   {   \" maps \" :   [   {   \" name \" :   \" Map01 \" ,   \" xodr \" :   \" . / Map01 . xodr \" ,   \" use _ carla _ materials \" :   true ,   \" tile _ size \" :   2000 ,   \" tiles \" :   [   \" . / Map01 _ Tile _ 0 _ 0 . fbx \" ,   \" . / Map01 _ Tile _ 0 _ 1 . fbx \" ,   \" . / Map01 _ Tile _ 1 _ 0 . fbx \" ,   \" . / Map01 _ Tile _ 1 _ 1 . fbx \"   ]   }   ] ,   \" props \" :   [ ]   }   \u8fdb\u884c \u5bfc\u5165   \u5c06 \u6240\u6709 \u6587\u4ef6 \u653e\u5165   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u540e \uff0c \u5728 \u6839   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   make   import   \u6839\u636e \u60a8 \u7684 \u7cfb\u7edf \uff0c \u865a\u5e7b \u5f15\u64ce \u53ef\u80fd \u4f1a \u6d88\u8017 \u592a \u591a \u5185\u5b58 \u800c \u65e0\u6cd5 \u4e00\u6b21 \u5bfc\u5165 \u6240\u6709 \u6587\u4ef6 \u3002 \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u9009\u62e9 \u6279\u91cf \u5bfc\u5165 \u6587\u4ef6 \uff1a   make   import   ARGS = \" -- batch - size = 200 \"   \u8be5   make   import   \u547d\u4ee4 \u8fd8 \u5b58\u5728 \u4e24\u4e2a \u6807\u5fd7 \uff1a   -- package = < package _ name >   \u6307\u5b9a \u5305 \u7684 \u540d\u79f0 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u6b64\u9879 \u8bbe\u7f6e \u4e3a   map _ package   \u3002 \u4e24\u4e2a \u5305 \u4e0d\u80fd \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \uff0c \u56e0\u6b64 \u4f7f\u7528 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u5c06 \u5bfc\u81f4 \u540e\u7eed \u5bfc\u5165 \u65f6 \u51fa\u9519 \u3002   \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u66f4\u6539 \u5305 \u7684 \u540d\u79f0   \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- package = < package _ name > \"   -- no - carla - materials   \u6307\u5b9a \u60a8 \u4e0d\u60f3 \u4f7f\u7528 \u9ed8\u8ba4 \u7684   Carla   \u6750\u8d28 \uff08 \u9053\u8def \u7eb9\u7406 \u7b49 \uff09 \u3002 \u60a8 \u5c06 \u6539\u7528   RoadRunner   \u6750\u6599 \u3002 \u4ec5 \u5f53 \u60a8   \u4e0d \u63d0\u4f9b   \u81ea\u5df1 \u7684   . json   \u6587\u4ef6   \u65f6\u624d \u9700\u8981 \u6b64 \u6807\u5fd7 \u3002   . json   \u6587\u4ef6 \u4e2d \u7684 \u4efb\u4f55 \u503c \u90fd \u5c06 \u8986\u76d6 \u6b64 \u6807\u5fd7 \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- no - carla - materials \"   \u6240\u6709 \u6587\u4ef6 \u90fd \u5c06 \u88ab \u5bfc\u5165 \u5e76 \u51c6\u5907 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u4f7f\u7528 \u3002 \u5730\u56fe \u5730\u56fe\u5305 \u5c06 \u5728   Unreal / CarlaUE4 / Content   \u4e2d \u521b\u5efa \u3002 \u5c06 \u521b\u5efa \u4e00\u4e2a \u5e95\u56fe \u56fe\u5757   < mapName >   \uff0c \u4f5c\u4e3a \u6240\u6709 \u56fe\u5757 \u7684 \u6d41 \u7ea7\u522b \u3002 \u57fa\u7840 \u56fe\u5757 \u5c06 \u5305\u542b \u5929\u7a7a \u3001 \u5929\u6c14 \u548c \u5927 \u5730\u56fe \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u53ef \u4f9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f7f\u7528 \u3002   \u7b14\u8bb0   \u76ee\u524d \u4e0d \u5efa\u8bae \u4f7f\u7528 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d\u4e3a \u6807\u51c6 \u5730\u56fe \u63d0\u4f9b \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5de5\u5177 \uff0c \u4f8b\u5982 \u9053\u8def \u753b\u5bb6 \u3001 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u7b49 \u3002   \u6253\u5305 \u4e00\u5f20 \u5927 \u5730\u56fe   \u8981 \u6253\u5305 \u5927 \u5730\u56fe \u4ee5\u4fbf \u53ef\u4ee5 \u5728   Carla   \u72ec\u7acb \u5305\u4e2d \u4f7f\u7528 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   make   package   ARGS = \" -- packages = < mapPackage > \"   \u8fd9 \u5c06 \u521b\u5efa \u4e00\u4e2a \u538b\u7f29 \u5728   . tar . gz   \u6587\u4ef6 \u4e2d \u7684 \u72ec\u7acb \u5305 \u3002 \u5728   Linux   \u4e2d \u6587\u4ef6 \u5c06 \u4fdd\u5b58 \u5728   Dist   \u76ee\u5f55 \u4e0b \uff0c \u5728   Windows   \u4e2d \u6587\u4ef6 \u4fdd\u5b58 \u5728   / Build / UE4Carla /   \u3002 \u7136\u540e \u53ef\u4ee5 \u5c06 \u5b83\u4eec \u5206\u53d1 \u548c \u6253\u5305 \u4ee5 \u5728 \u72ec\u7acb \u7684   Carla   \u5305\u4e2d \u4f7f\u7528 \u3002   \u5982\u679c \u60a8 \u5bf9 \u5927 \u5730\u56fe \u5bfc\u5165 \u6253\u5305 \u8fc7\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u90a3\u4e48 \u60a8 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"Large   map   import"},{"location":"large_map_import/#_1","text":"RoadRunner   \u4e2d \u751f\u6210 \u7684 \u5927 \u5730\u56fe \u53ef\u4ee5 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7f16\u8bd1 \u7248\u672c \u4e2d \uff0c \u5e76 \u6253\u5305 \u5728   Carla   \u72ec\u7acb \u5305\u4e2d \u5206\u53d1 \u548c \u4f7f\u7528 \u3002 \u8be5 \u8fc7\u7a0b \u4e0e \u6807\u51c6 \u5730\u56fe \u7684 \u8fc7\u7a0b \u975e\u5e38 \u76f8\u4f3c \uff0c \u53ea\u662f \u6dfb\u52a0 \u4e86 \u56fe\u5757 \u548c \u6279\u91cf \u5bfc\u5165 \u7684 \u7279\u5b9a \u672f\u8bed \u3002   \u521b\u5efa \u6587\u4ef6 \u548c \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u521b\u5efa   JSON   \u63cf\u8ff0 \uff08 \u53ef \u9009 \uff09   \u8fdb\u884c \u5bfc\u5165   \u6253\u5305 \u4e00\u5f20 \u5927 \u5730\u56fe","title":"\u5bfc\u5165 / \u6253\u5305 \u5927 \u5730\u56fe"},{"location":"large_map_import/#_2","text":"\u6240\u6709 \u8981 \u5bfc\u5165 \u7684 \u6587\u4ef6 \u5e94 \u653e\u7f6e \u5728   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u8fd9\u4e9b \u6587\u4ef6 \u5e94 \u5305\u62ec \uff1a   \u591a\u4e2a   . fbx   \u6587\u4ef6 \u4e2d \u7684 \u5730\u56fe \u7f51\u683c \u4ee3\u8868 \u5730\u56fe \u7684 \u4e0d\u540c \u56fe\u5757 \u3002   OpenDRIVE   \u5b9a\u4e49 \u4f4d\u4e8e \u5355\u4e2a   . xodr   \u6587\u4ef6 \u4e2d \u3002   \u7b14\u8bb0   \u60a8 \u4e0d\u80fd \u540c\u65f6 \u5bfc\u5165 \u5927 \u5730\u56fe \u548c \u6807\u51c6 \u5730\u56fe \u3002   \u5730\u56fe \u56fe\u5757 \u7684 \u547d\u540d \u7ea6\u5b9a \u975e\u5e38 \u91cd\u8981 \u3002 \u6bcf\u4e2a \u5730\u56fe \u56fe\u5757 \u5e94 \u6839\u636e \u4ee5\u4e0b \u7ea6\u5b9a \u547d\u540d \uff1a   < mapName > _ Tile _ < x - coordinate > _ < y - coordinate > . fbx   \u8bf7 \u6ce8\u610f \uff0c \u66f4\u6b63 \u7684   y   \u5750   \u6807\u662f \u6307   y   \u8f74\u4e0a \u8f83 \u4f4e \u7684 \u56fe\u5757 \u3002 \u4f8b\u5982 \uff0c   Map01 _ Tile _ 0 _ 1   \u4f1a \u5750\u5728   Map01 _ Tile _ 0 _ 0   \u7684 \u4e0b\u9762 \u3002   \u751f\u6210 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u5305\u542b \u4e00\u4e2a \u5305\u542b \u7531 \u56db\u4e2a \u56fe\u5757 \u7ec4\u6210 \u7684 \u5927 \u5730\u56fe \u7684 \u5305 \uff0c \u5176 \u7ed3\u6784 \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u7ed3\u6784 \uff1a   Import   \u2502   \u2514 \u2500 \u2500   Package01   \u251c \u2500 \u2500   Package01 . json   \u251c \u2500 \u2500   Map01 _ Tile _ 0 _ 0 . fbx   \u251c \u2500 \u2500   Map01 _ Tile _ 0 _ 1 . fbx   \u251c \u2500 \u2500   Map01 _ Tile _ 1 _ 0 . fbx   \u251c \u2500 \u2500   Map01 _ Tile _ 1 _ 1 . fbx   \u2514 \u2500 \u2500   Map01 . xodr   \u7b14\u8bb0   \u8be5   package . json   \u6587\u4ef6 \u5e76 \u4e0d\u662f \u7edd\u5bf9 \u5fc5\u8981 \u7684 \u3002 \u5982\u679c \u672a \u521b\u5efa   package . json   \u6587\u4ef6 \uff0c \u81ea\u52a8 \u5bfc\u5165 \u8fc7\u7a0b \u5c06 \u521b\u5efa \u4e00\u4e2a \u3002 \u5728 \u4e0b \u4e00\u8282 \u4e2d \u4e86\u89e3 \u6709\u5173 \u6784\u5efa \u81ea\u5df1   package . json   \u7684 \u7ed3\u6784 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u521b\u5efa \u6587\u4ef6 \u548c \u6587\u4ef6\u5939  "},{"location":"large_map_import/#json","text":". json   \u63cf\u8ff0 \u662f \u5728 \u5bfc\u5165 \u8fc7\u7a0b \u4e2d \u81ea\u52a8 \u521b\u5efa \u7684 \uff0c \u4f46 \u4e5f \u53ef\u4ee5 \u9009\u62e9 \u624b\u52a8 \u521b\u5efa \u63cf\u8ff0 \u3002 \u73b0\u6709   . json   \u63cf\u8ff0 \u5c06 \u8986\u76d6 \u5bfc\u5165 \u8fc7\u7a0b \u4e2d \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7684 \u4efb\u4f55 \u503c \u3002   \u8be5   . json   \u6587\u4ef6 \u5e94 \u521b\u5efa \u5728 \u5305 \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u6587\u4ef6 \u6587\u4ef6\u540d \u5c06 \u662f \u5305 \u5206\u53d1 \u540d\u79f0 \u3002 \u6587\u4ef6 \u7684 \u5185\u5bb9 \u63cf\u8ff0 \u4e86   Maps   \u548c   Props   \u7684   JSON   \u6570\u7ec4 \uff0c \u5176\u4e2d \u5305\u542b \u6bcf\u4e2a \u5730\u56fe \u548c \u9053\u5177 \u7684 \u57fa\u672c \u4fe1\u606f \u3002   Maps   \u9700\u8981 \u4ee5\u4e0b \u53c2\u6570 \uff1a   name :   \u5730\u56fe \u7684 \u540d\u79f0 \u3002 \u8fd9 \u5fc5\u987b \u4e0e   . fbx   \u548c   . xodr   \u6587\u4ef6 \u76f8\u540c \u3002   xodr :   . xodr   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   use _ carla _ materials :   \u5982\u679c \u4e3a   True   \uff0c \u5730\u56fe \u5c06 \u4f7f\u7528   Carla   \u6750\u8d28 \u3002 \u5426\u5219 \uff0c \u5b83 \u5c06 \u4f7f\u7528   RoadRunner   \u6750\u8d28 \u3002   tile _ size :   \u56fe\u5757 \u7684 \u5927\u5c0f \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   2000   ( 2kmx2km ) \u3002   tiles :   \u7ec4\u6210 \u6574\u4e2a \u5730\u56fe \u7684   . fbx   \u56fe\u5757 \u6587\u4ef6 \u7684 \u5217\u8868 \u3002   Props   \u4e0d \u5c5e\u4e8e   \u672c   \u6559\u7a0b \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605 \u672c \u6559\u7a0b \u4e86\u89e3 \u5982\u4f55 \u6dfb\u52a0 \u65b0 \u9053\u5177 \u3002   \u751f\u6210 \u7684   . json   \u6587\u4ef6 \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   {   \" maps \" :   [   {   \" name \" :   \" Map01 \" ,   \" xodr \" :   \" . / Map01 . xodr \" ,   \" use _ carla _ materials \" :   true ,   \" tile _ size \" :   2000 ,   \" tiles \" :   [   \" . / Map01 _ Tile _ 0 _ 0 . fbx \" ,   \" . / Map01 _ Tile _ 0 _ 1 . fbx \" ,   \" . / Map01 _ Tile _ 1 _ 0 . fbx \" ,   \" . / Map01 _ Tile _ 1 _ 1 . fbx \"   ]   }   ] ,   \" props \" :   [ ]   }","title":"\u521b\u5efa   JSON   \u63cf\u8ff0 \uff08 \u53ef \u9009 \uff09  "},{"location":"large_map_import/#_3","text":"\u5c06 \u6240\u6709 \u6587\u4ef6 \u653e\u5165   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u540e \uff0c \u5728 \u6839   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   make   import   \u6839\u636e \u60a8 \u7684 \u7cfb\u7edf \uff0c \u865a\u5e7b \u5f15\u64ce \u53ef\u80fd \u4f1a \u6d88\u8017 \u592a \u591a \u5185\u5b58 \u800c \u65e0\u6cd5 \u4e00\u6b21 \u5bfc\u5165 \u6240\u6709 \u6587\u4ef6 \u3002 \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u9009\u62e9 \u6279\u91cf \u5bfc\u5165 \u6587\u4ef6 \uff1a   make   import   ARGS = \" -- batch - size = 200 \"   \u8be5   make   import   \u547d\u4ee4 \u8fd8 \u5b58\u5728 \u4e24\u4e2a \u6807\u5fd7 \uff1a   -- package = < package _ name >   \u6307\u5b9a \u5305 \u7684 \u540d\u79f0 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u6b64\u9879 \u8bbe\u7f6e \u4e3a   map _ package   \u3002 \u4e24\u4e2a \u5305 \u4e0d\u80fd \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \uff0c \u56e0\u6b64 \u4f7f\u7528 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u5c06 \u5bfc\u81f4 \u540e\u7eed \u5bfc\u5165 \u65f6 \u51fa\u9519 \u3002   \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u66f4\u6539 \u5305 \u7684 \u540d\u79f0   \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- package = < package _ name > \"   -- no - carla - materials   \u6307\u5b9a \u60a8 \u4e0d\u60f3 \u4f7f\u7528 \u9ed8\u8ba4 \u7684   Carla   \u6750\u8d28 \uff08 \u9053\u8def \u7eb9\u7406 \u7b49 \uff09 \u3002 \u60a8 \u5c06 \u6539\u7528   RoadRunner   \u6750\u6599 \u3002 \u4ec5 \u5f53 \u60a8   \u4e0d \u63d0\u4f9b   \u81ea\u5df1 \u7684   . json   \u6587\u4ef6   \u65f6\u624d \u9700\u8981 \u6b64 \u6807\u5fd7 \u3002   . json   \u6587\u4ef6 \u4e2d \u7684 \u4efb\u4f55 \u503c \u90fd \u5c06 \u8986\u76d6 \u6b64 \u6807\u5fd7 \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- no - carla - materials \"   \u6240\u6709 \u6587\u4ef6 \u90fd \u5c06 \u88ab \u5bfc\u5165 \u5e76 \u51c6\u5907 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u4f7f\u7528 \u3002 \u5730\u56fe \u5730\u56fe\u5305 \u5c06 \u5728   Unreal / CarlaUE4 / Content   \u4e2d \u521b\u5efa \u3002 \u5c06 \u521b\u5efa \u4e00\u4e2a \u5e95\u56fe \u56fe\u5757   < mapName >   \uff0c \u4f5c\u4e3a \u6240\u6709 \u56fe\u5757 \u7684 \u6d41 \u7ea7\u522b \u3002 \u57fa\u7840 \u56fe\u5757 \u5c06 \u5305\u542b \u5929\u7a7a \u3001 \u5929\u6c14 \u548c \u5927 \u5730\u56fe \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u53ef \u4f9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f7f\u7528 \u3002   \u7b14\u8bb0   \u76ee\u524d \u4e0d \u5efa\u8bae \u4f7f\u7528 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d\u4e3a \u6807\u51c6 \u5730\u56fe \u63d0\u4f9b \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5de5\u5177 \uff0c \u4f8b\u5982 \u9053\u8def \u753b\u5bb6 \u3001 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u7b49 \u3002","title":"\u8fdb\u884c \u5bfc\u5165  "},{"location":"large_map_import/#_4","text":"\u8981 \u6253\u5305 \u5927 \u5730\u56fe \u4ee5\u4fbf \u53ef\u4ee5 \u5728   Carla   \u72ec\u7acb \u5305\u4e2d \u4f7f\u7528 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   make   package   ARGS = \" -- packages = < mapPackage > \"   \u8fd9 \u5c06 \u521b\u5efa \u4e00\u4e2a \u538b\u7f29 \u5728   . tar . gz   \u6587\u4ef6 \u4e2d \u7684 \u72ec\u7acb \u5305 \u3002 \u5728   Linux   \u4e2d \u6587\u4ef6 \u5c06 \u4fdd\u5b58 \u5728   Dist   \u76ee\u5f55 \u4e0b \uff0c \u5728   Windows   \u4e2d \u6587\u4ef6 \u4fdd\u5b58 \u5728   / Build / UE4Carla /   \u3002 \u7136\u540e \u53ef\u4ee5 \u5c06 \u5b83\u4eec \u5206\u53d1 \u548c \u6253\u5305 \u4ee5 \u5728 \u72ec\u7acb \u7684   Carla   \u5305\u4e2d \u4f7f\u7528 \u3002   \u5982\u679c \u60a8 \u5bf9 \u5927 \u5730\u56fe \u5bfc\u5165 \u6253\u5305 \u8fc7\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u90a3\u4e48 \u60a8 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u6253\u5305 \u4e00\u5f20 \u5927 \u5730\u56fe  "},{"location":"large_map_overview/","text":"\u5927 \u5730\u56fe \u6982\u8ff0   \u5927 \u5730\u56fe \u6982\u8ff0   \u74e6\u7247 \u6d41   \u4f11\u7720 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u5927 \u5730\u56fe \u6982\u8ff0   Carla   \u4e2d \u7684 \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd \u5141\u8bb8 \u7528\u6237 \u8fdb\u884c \u5927 \u8303\u56f4 \u7684 \u4eff\u771f \u3002 \u5728   Carla   \u4e2d \uff0c \u5927 \u5730\u56fe \u88ab \u5212\u5206 \u4e3a \u4e0d \u5927\u4e8e   2kmx2km   \u7684 \u65b9\u5f62 \u74e6\u7247 \u3002 \u74e6\u7247 \u6839\u636e \u5b83\u4eec \u4e0e \u81ea\u4e3b \u8f66\u8f86 \u7684 \u63a5\u8fd1 \u5ea6 \uff08 \u6d41 \u8ddd\u79bb \uff09 \u6d41\u5165 \u548c \u6d41\u51fa \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u5730\u56fe \u4e0a \u7684 \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e5f \u6839\u636e \u4ed6\u4eec \u4e0e \u81ea\u4e3b \u8f66\u8f86 \u7684 \u6d41 \u8ddd\u79bb \u8fdb\u884c \u7ba1\u7406 \u3002   \u74e6\u7247 \u6d41   \u81ea\u4e3b \u8f66\u8f86 \u5bf9\u4e8e \u5730\u56fe \u74e6\u7247 \u7684 \u88c5\u8f7d \u548c \u5378\u8f7d \u662f \u4e0d\u53ef \u6216\u7f3a \u4e0d\u53ef\u6216\u7f3a \u7684 \u3002 \u6839\u636e \u8ddd \u81ea\u4e3b \u8f66\u8f86 \u7684 \u6d41 \u8ddd\u79bb \u503c \uff0c \u74e6\u7247 \u88ab \u6d41\u5f0f \u4f20\u8f93 \u8fdb \u548c \u4f20\u51fa \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u4f8b\u5982 \uff0c \u4f4d\u4e8e \u6d41 \u8ddd\u79bb \u4e4b\u5916 \u7684 \u74e6\u7247 \u5c06 \u4e0d\u4f1a \u5728 \u4eff\u771f \u4e2d \u6e32\u67d3 \uff0c \u800c \u5c06 \u6e32\u67d3 \u6d41 \u8ddd\u79bb \u5185 \u7684 \u74e6\u7247 \u3002 \u6e32\u67d3 \u7684 \u74e6\u7247 \u5c06 \u968f\u7740 \u82f1\u96c4 \u8f66\u8f86 \u7684 \u79fb\u52a8 \u800c \u53d8\u5316 \u3002   \u8981 \u5c06 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u81ea\u4e3b \uff0c \u8bf7 \u4f7f\u7528 \u5982\u4e0b \u7684   set _ attribute   \u65b9\u6cd5 \uff1a   blueprint . set _ attribute ( ' role _ name ' ,   ' hero '   )   world . spawn _ actor ( blueprint ,   spawn _ point )   \u4f7f\u7528 \u4e0b\u9762 \u7684 \u4ee3\u7801 \u7247\u6bb5 \u8bbe\u7f6e \u6d41 \u8ddd\u79bb \uff0c \u4ee5\u4fbf \u5728 \u81ea\u4e3b \u8f66\u8f86 \u7684   2   \u516c\u91cc \u534a\u5f84 \u5185 \u52a0\u8f7d \u74e6\u7247 \uff1a   settings   =   world . get _ settings ( )   settings . tile _ stream _ distance   =   2000   world . apply _ settings ( settings )   \u60a8 \u8fd8 \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b   config . py   \u547d\u4ee4 \u8bbe\u7f6e \u6d41 \u4f20\u8f93 \u8ddd\u79bb :   cd   PythonAPI / util   python3   config . py   -- tile - stream - distance   2000   \u7b14\u8bb0   \u5927 \u5730\u56fe \u76ee\u524d \u4e00\u6b21 \u4ec5 \u652f\u6301 \u4e00\u8f86 \u81ea\u4e3b \u8f66\u8f86 \u3002   \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd \u5411   Carla   \u5f15\u5165 \u4e86 \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6982\u5ff5 \u3002 \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ec5 \u5b58\u5728 \u4e8e \u5927 \u5730\u56fe \u7684 \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u4e2d \u3002 \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f \u4eff\u771f \u4e2d \u4f4d\u4e8e \u81ea\u4e3b \u8f66\u8f86 \u7684   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb   \u4e4b\u5916 \u7684 \u975e \u81ea\u4e3b \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f8b\u5982 \uff0c \u8fdc\u79bb \u81ea\u4e3b \u8f66\u8f86 \u7684 \u8f66\u8f86 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb \u53ef\u4ee5 \u7b49\u4e8e \u6216 \u5c0f\u4e8e \u6d41 \u8ddd\u79bb \u3002   \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53d1\u73b0 \u81ea\u5df1 \u53d1\u73b0\u81ea\u5df1 \u5728 \u81ea\u4e3b \u8f66\u8f86 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb \u4e4b\u5916 \uff0c \u5b83 \u5c06 \u8fdb\u5165 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ecd\u7136 \u5b58\u5728 \uff0c \u4f46 \u4e0d\u4f1a \u88ab \u6e32\u67d3 \u3002 \u5c3d\u7ba1 \u4ecd\u7136 \u53ef\u4ee5   \u8bbe\u7f6e   \u4f4d\u7f6e \u548c   \u53d8\u6362   \uff0c \u4f46 \u4e0d\u4f1a \u8ba1\u7b97 \u7269\u7406 \u7269\u7406\u91cf \uff08 \u9664\u975e \u901a\u8fc7 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u4ee5 \u6df7\u5408 \u6a21\u5f0f \u8fd0\u884c \uff09   \u3002 \u4e00\u65e6 \u4f11\u7720 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u518d\u6b21 \u8fdb\u5165 \u81ea\u4e3b \u8f66\u8f86 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb \u5185 \uff0c \u5b83 \u5c06 \u9192\u6765 \uff0c \u5e76\u4e14 \u5176 \u6e32\u67d3 \u548c \u7269\u7406 \u5c06 \u6062\u590d \u6b63\u5e38 \u6062\u590d\u6b63\u5e38 \u3002   \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5177\u6709 \u4e0d\u540c \u7684 \u884c\u4e3a \uff0c \u53ef\u4ee5 \u5728 \u5927 \u5730\u56fe \u4e2d \u64cd\u4f5c \u65f6 \u8fdb\u884c \u914d\u7f6e \u3002 \u8bf7 \u9605\u8bfb   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u6587\u6863 \u4ee5 \u4e86\u89e3 \u5176 \u5de5\u4f5c \u539f\u7406 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u8fdb\u5165 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u6216 \u5728   world . tick ( )   \u65f6 \u9192\u6765 \u3002   \u8981 \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb \u8bbe\u7f6e \u4e3a \u81ea\u4e3b \u8f66\u8f86 \u5468\u56f4   2   \u516c\u91cc \u534a\u5f84 \uff1a   settings   =   world . get _ settings ( )   settings . actor _ active _ distance   =   2000   world . apply _ settings ( settings )   \u60a8 \u8fd8 \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b   config . py   \u65b9\u6cd5 \u8bbe\u7f6e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb   cd   PythonAPI / util   python3   config . py   -- actor - active - distance   2000   \u8981 \u68c0\u67e5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528   Python   API \uff1a   actor . is _ dormant   \u5982\u679c \u60a8 \u5bf9 \u5927 \u5730\u56fe \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u90a3\u4e48 \u60a8 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u5927 \u5730\u56fe \u6982\u8ff0"},{"location":"large_map_overview/#_1","text":"\u5927 \u5730\u56fe \u6982\u8ff0   \u74e6\u7247 \u6d41   \u4f11\u7720 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005","title":"\u5927 \u5730\u56fe \u6982\u8ff0"},{"location":"large_map_overview/#_2","text":"Carla   \u4e2d \u7684 \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd \u5141\u8bb8 \u7528\u6237 \u8fdb\u884c \u5927 \u8303\u56f4 \u7684 \u4eff\u771f \u3002 \u5728   Carla   \u4e2d \uff0c \u5927 \u5730\u56fe \u88ab \u5212\u5206 \u4e3a \u4e0d \u5927\u4e8e   2kmx2km   \u7684 \u65b9\u5f62 \u74e6\u7247 \u3002 \u74e6\u7247 \u6839\u636e \u5b83\u4eec \u4e0e \u81ea\u4e3b \u8f66\u8f86 \u7684 \u63a5\u8fd1 \u5ea6 \uff08 \u6d41 \u8ddd\u79bb \uff09 \u6d41\u5165 \u548c \u6d41\u51fa \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u5730\u56fe \u4e0a \u7684 \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e5f \u6839\u636e \u4ed6\u4eec \u4e0e \u81ea\u4e3b \u8f66\u8f86 \u7684 \u6d41 \u8ddd\u79bb \u8fdb\u884c \u7ba1\u7406 \u3002","title":"\u5927 \u5730\u56fe \u6982\u8ff0  "},{"location":"large_map_overview/#_3","text":"\u81ea\u4e3b \u8f66\u8f86 \u5bf9\u4e8e \u5730\u56fe \u74e6\u7247 \u7684 \u88c5\u8f7d \u548c \u5378\u8f7d \u662f \u4e0d\u53ef \u6216\u7f3a \u4e0d\u53ef\u6216\u7f3a \u7684 \u3002 \u6839\u636e \u8ddd \u81ea\u4e3b \u8f66\u8f86 \u7684 \u6d41 \u8ddd\u79bb \u503c \uff0c \u74e6\u7247 \u88ab \u6d41\u5f0f \u4f20\u8f93 \u8fdb \u548c \u4f20\u51fa \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u4f8b\u5982 \uff0c \u4f4d\u4e8e \u6d41 \u8ddd\u79bb \u4e4b\u5916 \u7684 \u74e6\u7247 \u5c06 \u4e0d\u4f1a \u5728 \u4eff\u771f \u4e2d \u6e32\u67d3 \uff0c \u800c \u5c06 \u6e32\u67d3 \u6d41 \u8ddd\u79bb \u5185 \u7684 \u74e6\u7247 \u3002 \u6e32\u67d3 \u7684 \u74e6\u7247 \u5c06 \u968f\u7740 \u82f1\u96c4 \u8f66\u8f86 \u7684 \u79fb\u52a8 \u800c \u53d8\u5316 \u3002   \u8981 \u5c06 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u81ea\u4e3b \uff0c \u8bf7 \u4f7f\u7528 \u5982\u4e0b \u7684   set _ attribute   \u65b9\u6cd5 \uff1a   blueprint . set _ attribute ( ' role _ name ' ,   ' hero '   )   world . spawn _ actor ( blueprint ,   spawn _ point )   \u4f7f\u7528 \u4e0b\u9762 \u7684 \u4ee3\u7801 \u7247\u6bb5 \u8bbe\u7f6e \u6d41 \u8ddd\u79bb \uff0c \u4ee5\u4fbf \u5728 \u81ea\u4e3b \u8f66\u8f86 \u7684   2   \u516c\u91cc \u534a\u5f84 \u5185 \u52a0\u8f7d \u74e6\u7247 \uff1a   settings   =   world . get _ settings ( )   settings . tile _ stream _ distance   =   2000   world . apply _ settings ( settings )   \u60a8 \u8fd8 \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b   config . py   \u547d\u4ee4 \u8bbe\u7f6e \u6d41 \u4f20\u8f93 \u8ddd\u79bb :   cd   PythonAPI / util   python3   config . py   -- tile - stream - distance   2000   \u7b14\u8bb0   \u5927 \u5730\u56fe \u76ee\u524d \u4e00\u6b21 \u4ec5 \u652f\u6301 \u4e00\u8f86 \u81ea\u4e3b \u8f66\u8f86 \u3002","title":"\u74e6\u7247 \u6d41  "},{"location":"large_map_overview/#_4","text":"\u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd \u5411   Carla   \u5f15\u5165 \u4e86 \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6982\u5ff5 \u3002 \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ec5 \u5b58\u5728 \u4e8e \u5927 \u5730\u56fe \u7684 \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u4e2d \u3002 \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f \u4eff\u771f \u4e2d \u4f4d\u4e8e \u81ea\u4e3b \u8f66\u8f86 \u7684   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb   \u4e4b\u5916 \u7684 \u975e \u81ea\u4e3b \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f8b\u5982 \uff0c \u8fdc\u79bb \u81ea\u4e3b \u8f66\u8f86 \u7684 \u8f66\u8f86 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb \u53ef\u4ee5 \u7b49\u4e8e \u6216 \u5c0f\u4e8e \u6d41 \u8ddd\u79bb \u3002   \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53d1\u73b0 \u81ea\u5df1 \u53d1\u73b0\u81ea\u5df1 \u5728 \u81ea\u4e3b \u8f66\u8f86 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb \u4e4b\u5916 \uff0c \u5b83 \u5c06 \u8fdb\u5165 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ecd\u7136 \u5b58\u5728 \uff0c \u4f46 \u4e0d\u4f1a \u88ab \u6e32\u67d3 \u3002 \u5c3d\u7ba1 \u4ecd\u7136 \u53ef\u4ee5   \u8bbe\u7f6e   \u4f4d\u7f6e \u548c   \u53d8\u6362   \uff0c \u4f46 \u4e0d\u4f1a \u8ba1\u7b97 \u7269\u7406 \u7269\u7406\u91cf \uff08 \u9664\u975e \u901a\u8fc7 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u4ee5 \u6df7\u5408 \u6a21\u5f0f \u8fd0\u884c \uff09   \u3002 \u4e00\u65e6 \u4f11\u7720 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u518d\u6b21 \u8fdb\u5165 \u81ea\u4e3b \u8f66\u8f86 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb \u5185 \uff0c \u5b83 \u5c06 \u9192\u6765 \uff0c \u5e76\u4e14 \u5176 \u6e32\u67d3 \u548c \u7269\u7406 \u5c06 \u6062\u590d \u6b63\u5e38 \u6062\u590d\u6b63\u5e38 \u3002   \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5177\u6709 \u4e0d\u540c \u7684 \u884c\u4e3a \uff0c \u53ef\u4ee5 \u5728 \u5927 \u5730\u56fe \u4e2d \u64cd\u4f5c \u65f6 \u8fdb\u884c \u914d\u7f6e \u3002 \u8bf7 \u9605\u8bfb   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u6587\u6863 \u4ee5 \u4e86\u89e3 \u5176 \u5de5\u4f5c \u539f\u7406 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u8fdb\u5165 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u6216 \u5728   world . tick ( )   \u65f6 \u9192\u6765 \u3002   \u8981 \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb \u8bbe\u7f6e \u4e3a \u81ea\u4e3b \u8f66\u8f86 \u5468\u56f4   2   \u516c\u91cc \u534a\u5f84 \uff1a   settings   =   world . get _ settings ( )   settings . actor _ active _ distance   =   2000   world . apply _ settings ( settings )   \u60a8 \u8fd8 \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b   config . py   \u65b9\u6cd5 \u8bbe\u7f6e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u52a8 \u8ddd\u79bb   cd   PythonAPI / util   python3   config . py   -- actor - active - distance   2000   \u8981 \u68c0\u67e5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528   Python   API \uff1a   actor . is _ dormant   \u5982\u679c \u60a8 \u5bf9 \u5927 \u5730\u56fe \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u90a3\u4e48 \u60a8 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u4f11\u7720 \u53c2\u4e0e\u8005  "},{"location":"large_map_roadrunner/","text":"\u5728   RoadRunner   \u521b\u5efa \u5927 \u5730\u56fe   RoadRunner   \u662f \u63a8\u8350 \u7684 \u8f6f\u4ef6 \uff0c \u7528\u4e8e \u521b\u5efa \u8981 \u5bfc\u5165   Carla   \u7684 \u5927 \u5730\u56fe \u3002 \u672c \u6307\u5357 \u6982\u8ff0 \u4e86   RoadRunner   \u662f \u4ec0\u4e48 \uff0c \u5728 \u6784\u5efa \u5927 \u5730\u56fe \u65f6 \u9700\u8981 \u8003\u8651 \u7684 \u4e8b\u60c5 \uff0c \u4ee5\u53ca \u5982\u4f55 \u5bfc\u51fa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u5927 \u5730\u56fe \uff0c \u4ee5\u4fbf \u5bfc\u5165   Carla \u3002   RoadRunner   \u7b80\u4ecb   \u5f00\u59cb \u4e4b\u524d   \u5728   RoadRunner   \u4e2d \u521b\u5efa \u4e00\u4e2a \u5927 \u5730\u56fe   \u5728   RoadRunner   \u4e2d \u5bfc\u51fa \u4e00\u4e2a \u5927 \u5730\u56fe   \u4e0b \u4e00\u4e2a \u6b65\u9aa4   RoadRunner \u7b80\u4ecb   RoadRunner \u662f \u4e00\u4e2a \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u53ef\u4ee5 \u8ba9 \u60a8 \u8bbe\u8ba1 3D \u573a\u666f \u6765 \u4eff\u771f \u548c \u6d4b\u8bd5 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u3002 \u5b83 \u53ef\u4ee5 \u7528\u6765 \u521b\u5efa \u9053\u8def \u5e03\u5c40 \u548c \u4f34\u968f \u7684 opdrive \u548c \u51e0\u4f55 \u4fe1\u606f \u3002   \u5728 \u8fd9\u91cc \u4e86\u89e3 \u66f4 \u591a \u5173\u4e8e RoadRunner \u7684 \u4fe1\u606f   \u3002   RoadRunner \u662f MATLAB \u6821\u56ed \u8bb8\u53ef \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u56e0\u6b64 \u8bb8\u591a \u5927\u5b66 \u53ef\u4ee5 \u63d0\u4f9b \u65e0 \u9650\u5236 \u7684 \u5b66\u672f \u8bbf\u95ee \u3002   \u68c0\u67e5   \u4e00\u4e0b \u4f60 \u7684 \u5927\u5b66 \u662f\u5426 \u6709 \u8bbf\u95ee \u6743\u9650 \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u5173\u4e8e \u53ef \u8bbf\u95ee \u6027 \u7684 \u95ee\u9898 \u6216 \u9ebb\u70e6 \uff0c \u8bf7 \u8054\u7cfb automated - driving @ mathworks . com \u3002   \u8fd8\u6709 \u4e00\u4e2a \u8bd5\u7528 \u8bd5\u7528\u7248   \u3002   \u53c2\u52a0   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u6bcf\u4e2a \u4eba \u90fd \u53ef\u4ee5 \u83b7\u5f97 RoadRunner \u7684 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u3002   \u70b9\u51fb \u8fd9\u91cc \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f   \u3002   \u5f00\u59cb \u4e4b\u524d   \u60a8 \u9700\u8981 \u5b89\u88c5 RoadRunner \u3002 \u60a8 \u53ef\u4ee5 \u6309\u7167 Mathworks \u7f51\u7ad9 \u4e0a \u7684   \u5b89\u88c5 \u6307\u5357   \u8fdb\u884c \u64cd\u4f5c \u3002   \u5728 RoadRunner \u4e2d \u521b\u5efa \u4e00\u4e2a \u5927 \u5730\u56fe   \u5982\u4f55 \u5728 RoadRunner \u4e2d \u6784\u5efa \u4e00\u4e2a \u5927 \u5730\u56fe \u7684 \u7ec6\u8282 \u8d85\u51fa \u4e86 \u672c \u6307\u5357 \u7684 \u8303\u56f4 \uff0c \u4f46\u662f \uff0c \u5728   RoadRunner \u6587\u6863   \u4e2d\u6709 \u89c6\u9891 \u6559\u7a0b \u89c6\u9891\u6559\u7a0b \u3002   \u5982\u679c \u60a8 \u6b63\u5728 \u6784\u5efa \u5e26\u6709 \u9ad8\u7a0b \u7684 \u5927 \u5730\u56fe \uff0c \u5219 \u5efa\u8bae \u5730\u56fe \u7684 \u6700\u5927 \u5c3a\u5bf8 \u4e3a 20km   \u4e58   20km \u3002 \u5927\u4e8e \u8fd9\u4e2a \u503c \u7684 \u5730\u56fe \u53ef\u80fd \u4f1a \u5bfc\u81f4   RoadRunner   \u5728 \u5bfc\u51fa \u65f6 \u5d29\u6e83 \u3002   \u5728 RoadRunner \u4e2d \u5bfc\u51fa \u4e00\u4e2a \u5927 \u5730\u56fe   \u4e0b\u9762 \u662f\u4ece RoadRunner \u5bfc\u51fa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5927 \u5730\u56fe \u7684 \u57fa\u672c \u6307\u5357 \u3002   \u4e00\u65e6 \u4f60 \u5728 RoadRunner \u4e2d \u5236\u4f5c \u4e86 \u4f60 \u7684 \u5730\u56fe \uff0c \u4f60 \u5c31 \u53ef\u4ee5 \u5bfc\u51fa \u5b83 \u4e86 \u3002 \u8bf7 \u6ce8\u610f \uff0c \u9053\u8def \u5e03\u5c40 \u5728 \u5bfc\u51fa \u540e \u4e0d\u80fd \u4fee\u6539 \u3002 \u5bfc\u51fa \u524d \uff0c \u8bf7 \u786e\u4fdd :   \u5730\u56fe \u4ee5 ( 0 , 0 ) \u4e3a \u4e2d\u5fc3 \uff0c \u4ee5 \u786e\u4fdd \u5730\u56fe \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6b63\u786e \u5730 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u6620\u5c04 \u5b9a\u4e49 \u662f \u6b63\u786e \u7684 \u3002   \u5730\u56fe \u9a8c\u8bc1 \u662f \u6b63\u786e \u7684 \uff0c \u5bc6\u5207 \u5173\u6ce8 \u8fde\u63a5 \u548c \u51e0\u4f55 \u5f62\u72b6 \u3002   \u4e00\u65e6 \u5730\u56fe \u51c6\u5907 \u597d \u4e86 \uff0c \u70b9\u51fb opdrive \u9884\u89c8 \u5de5\u5177 \u6309\u94ae \u6765 \u53ef\u89c6 \u53ef\u89c6\u5316 opdrive \u9053\u8def \u7f51\u7edc \uff0c \u5e76 \u7ed9 \u4e00\u5207 \u6700\u540e \u4e00\u6b21 \u68c0\u67e5 \u3002   \u7b14\u8bb0   _ opdrive \u9884\u89c8 \u5de5\u5177 _ \u4f7f \u5b83 \u66f4 \u5bb9\u6613 \u6d4b\u8bd5 \u5730\u56fe \u7684 \u5b8c\u6574 \u5b8c\u6574\u6027 \u3002 \u5982\u679c \u8def\u53e3 \u6709 \u4efb\u4f55 \u9519\u8bef \uff0c \u70b9\u51fb \u2018 Maneuver   Tool \u2019 \uff0c \u7136\u540e \u70b9\u51fb \u2018 Rebuild   Maneuver   Roads \u2019 \u3002   \u901a\u8fc7 \u70b9\u51fb   \u4e16\u754c \u8bbe\u7f6e \u5de5\u5177   \u5e76 \u62d6\u52a8 \u84dd\u8272 \u8fb9\u754c \u6846 \u7684 \u8fb9\u7f18 \u4ee5 \u5305\u542b \u60a8 \u60f3\u8981 \u5bfc\u51fa \u7684 \u6574\u4e2a \u533a\u57df \uff0c \u786e\u4fdd \u9009\u62e9 \u5b8c\u6574 \u7684 \u5730\u56fe \u8fdb\u884c \u5bfc\u51fa \u3002 \u5f53 \u5b83 \u51c6\u5907 \u597d \u4e86 \uff0c \u70b9\u51fb Apply   World   Changes \u3002   \u5f53 \u60a8 \u51c6\u5907 \u5bfc\u51fa \u65f6 :   1 .   \u5bfc\u51fa   . fbx   \u6587\u4ef6 :   \u5728 \u4e3b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u9009\u62e9 , \u9009\u62e9   File   - >   Export   - >   Firebox   ( . fbx )   __ 2 .__ \u5728 \u5f39\u51fa \u7684 \u7a97\u53e3 \u4e2d :   \u68c0\u67e5 \u4ee5\u4e0b \u9009\u9879 :   Split   by   Segmentation   :   \u901a\u8fc7 \u8bed\u4e49 \u5206\u5272 \u5bf9 \u7f51\u683c \u8fdb\u884c \u5212\u5206 \uff0c \u6539\u5584 \u884c\u4eba \u5bfc\u822a \u3002   Power   of   Two   Texture   Dimensions   :   \u63d0\u9ad8 \u4e86 \u6027\u80fd \u3002   Embed   Textures   :   \u786e\u4fdd \u7eb9\u7406 \u5d4c\u5165 \u5230 \u7f51\u683c \u4e2d \u3002   Export   to   Tiles   :   \u9009\u62e9 \u74f7\u7816 \u7684 \u5927\u5c0f \u3002 Carla   \u53ef\u4ee5 \u4f7f\u7528 \u7684 \u6700\u5927 \u5c3a\u5bf8 \u662f 2000   x   2000 \u3002   Export   Individual   Tiles   :   \u751f\u6210 \u5728   Carla   \u4e2d \u6d41\u5f0f \u4f20\u8f93 \u5927 \u5730\u56fe \u6240 \u9700 \u7684 \u5355\u4e2a \u5757 \u3002   3 .   \u5bfc\u51fa   . xodr   \u6587\u4ef6 :   \u5728 \u4e3b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u9009\u62e9   File   - >   Export   - >   OpendDRIVE   ( . xodr )   \u7b14\u8bb0   \u786e\u4fdd   . xodr   \u548c   . fbx   \u7684 \u6587\u4ef6 \u540d\u79f0 \u6587\u4ef6\u540d \u6587\u4ef6\u540d\u79f0 \u76f8\u540c \u3002   \u4e0b \u4e00\u4e2a \u6b65\u9aa4   \u73b0\u5728 \u53ef\u4ee5 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla   \u4e86 \u3002 \u6709\u5173 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u5bfc\u5165 \u5927 \u5730\u56fe \u6307\u5357   \u3002   \u5982\u679c \u4f60 \u5bf9 \u8fd9\u4e2a \u8fc7\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u90a3\u4e48 \u4f60 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e0a \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u5728   RoadRunner   \u521b\u5efa \u5927 \u5730\u56fe"},{"location":"large_map_roadrunner/#roadrunner","text":"RoadRunner   \u662f \u63a8\u8350 \u7684 \u8f6f\u4ef6 \uff0c \u7528\u4e8e \u521b\u5efa \u8981 \u5bfc\u5165   Carla   \u7684 \u5927 \u5730\u56fe \u3002 \u672c \u6307\u5357 \u6982\u8ff0 \u4e86   RoadRunner   \u662f \u4ec0\u4e48 \uff0c \u5728 \u6784\u5efa \u5927 \u5730\u56fe \u65f6 \u9700\u8981 \u8003\u8651 \u7684 \u4e8b\u60c5 \uff0c \u4ee5\u53ca \u5982\u4f55 \u5bfc\u51fa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u5927 \u5730\u56fe \uff0c \u4ee5\u4fbf \u5bfc\u5165   Carla \u3002   RoadRunner   \u7b80\u4ecb   \u5f00\u59cb \u4e4b\u524d   \u5728   RoadRunner   \u4e2d \u521b\u5efa \u4e00\u4e2a \u5927 \u5730\u56fe   \u5728   RoadRunner   \u4e2d \u5bfc\u51fa \u4e00\u4e2a \u5927 \u5730\u56fe   \u4e0b \u4e00\u4e2a \u6b65\u9aa4","title":"\u5728   RoadRunner   \u521b\u5efa \u5927 \u5730\u56fe"},{"location":"large_map_roadrunner/#roadrunner_1","text":"RoadRunner \u662f \u4e00\u4e2a \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u53ef\u4ee5 \u8ba9 \u60a8 \u8bbe\u8ba1 3D \u573a\u666f \u6765 \u4eff\u771f \u548c \u6d4b\u8bd5 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u3002 \u5b83 \u53ef\u4ee5 \u7528\u6765 \u521b\u5efa \u9053\u8def \u5e03\u5c40 \u548c \u4f34\u968f \u7684 opdrive \u548c \u51e0\u4f55 \u4fe1\u606f \u3002   \u5728 \u8fd9\u91cc \u4e86\u89e3 \u66f4 \u591a \u5173\u4e8e RoadRunner \u7684 \u4fe1\u606f   \u3002   RoadRunner \u662f MATLAB \u6821\u56ed \u8bb8\u53ef \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u56e0\u6b64 \u8bb8\u591a \u5927\u5b66 \u53ef\u4ee5 \u63d0\u4f9b \u65e0 \u9650\u5236 \u7684 \u5b66\u672f \u8bbf\u95ee \u3002   \u68c0\u67e5   \u4e00\u4e0b \u4f60 \u7684 \u5927\u5b66 \u662f\u5426 \u6709 \u8bbf\u95ee \u6743\u9650 \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u5173\u4e8e \u53ef \u8bbf\u95ee \u6027 \u7684 \u95ee\u9898 \u6216 \u9ebb\u70e6 \uff0c \u8bf7 \u8054\u7cfb automated - driving @ mathworks . com \u3002   \u8fd8\u6709 \u4e00\u4e2a \u8bd5\u7528 \u8bd5\u7528\u7248   \u3002   \u53c2\u52a0   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u6bcf\u4e2a \u4eba \u90fd \u53ef\u4ee5 \u83b7\u5f97 RoadRunner \u7684 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u3002   \u70b9\u51fb \u8fd9\u91cc \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f   \u3002","title":"RoadRunner \u7b80\u4ecb  "},{"location":"large_map_roadrunner/#_1","text":"\u60a8 \u9700\u8981 \u5b89\u88c5 RoadRunner \u3002 \u60a8 \u53ef\u4ee5 \u6309\u7167 Mathworks \u7f51\u7ad9 \u4e0a \u7684   \u5b89\u88c5 \u6307\u5357   \u8fdb\u884c \u64cd\u4f5c \u3002","title":"\u5f00\u59cb \u4e4b\u524d    "},{"location":"large_map_roadrunner/#roadrunner_2","text":"\u5982\u4f55 \u5728 RoadRunner \u4e2d \u6784\u5efa \u4e00\u4e2a \u5927 \u5730\u56fe \u7684 \u7ec6\u8282 \u8d85\u51fa \u4e86 \u672c \u6307\u5357 \u7684 \u8303\u56f4 \uff0c \u4f46\u662f \uff0c \u5728   RoadRunner \u6587\u6863   \u4e2d\u6709 \u89c6\u9891 \u6559\u7a0b \u89c6\u9891\u6559\u7a0b \u3002   \u5982\u679c \u60a8 \u6b63\u5728 \u6784\u5efa \u5e26\u6709 \u9ad8\u7a0b \u7684 \u5927 \u5730\u56fe \uff0c \u5219 \u5efa\u8bae \u5730\u56fe \u7684 \u6700\u5927 \u5c3a\u5bf8 \u4e3a 20km   \u4e58   20km \u3002 \u5927\u4e8e \u8fd9\u4e2a \u503c \u7684 \u5730\u56fe \u53ef\u80fd \u4f1a \u5bfc\u81f4   RoadRunner   \u5728 \u5bfc\u51fa \u65f6 \u5d29\u6e83 \u3002","title":"\u5728 RoadRunner \u4e2d \u521b\u5efa \u4e00\u4e2a \u5927 \u5730\u56fe  "},{"location":"large_map_roadrunner/#roadrunner_3","text":"\u4e0b\u9762 \u662f\u4ece RoadRunner \u5bfc\u51fa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5927 \u5730\u56fe \u7684 \u57fa\u672c \u6307\u5357 \u3002   \u4e00\u65e6 \u4f60 \u5728 RoadRunner \u4e2d \u5236\u4f5c \u4e86 \u4f60 \u7684 \u5730\u56fe \uff0c \u4f60 \u5c31 \u53ef\u4ee5 \u5bfc\u51fa \u5b83 \u4e86 \u3002 \u8bf7 \u6ce8\u610f \uff0c \u9053\u8def \u5e03\u5c40 \u5728 \u5bfc\u51fa \u540e \u4e0d\u80fd \u4fee\u6539 \u3002 \u5bfc\u51fa \u524d \uff0c \u8bf7 \u786e\u4fdd :   \u5730\u56fe \u4ee5 ( 0 , 0 ) \u4e3a \u4e2d\u5fc3 \uff0c \u4ee5 \u786e\u4fdd \u5730\u56fe \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6b63\u786e \u5730 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u6620\u5c04 \u5b9a\u4e49 \u662f \u6b63\u786e \u7684 \u3002   \u5730\u56fe \u9a8c\u8bc1 \u662f \u6b63\u786e \u7684 \uff0c \u5bc6\u5207 \u5173\u6ce8 \u8fde\u63a5 \u548c \u51e0\u4f55 \u5f62\u72b6 \u3002   \u4e00\u65e6 \u5730\u56fe \u51c6\u5907 \u597d \u4e86 \uff0c \u70b9\u51fb opdrive \u9884\u89c8 \u5de5\u5177 \u6309\u94ae \u6765 \u53ef\u89c6 \u53ef\u89c6\u5316 opdrive \u9053\u8def \u7f51\u7edc \uff0c \u5e76 \u7ed9 \u4e00\u5207 \u6700\u540e \u4e00\u6b21 \u68c0\u67e5 \u3002   \u7b14\u8bb0   _ opdrive \u9884\u89c8 \u5de5\u5177 _ \u4f7f \u5b83 \u66f4 \u5bb9\u6613 \u6d4b\u8bd5 \u5730\u56fe \u7684 \u5b8c\u6574 \u5b8c\u6574\u6027 \u3002 \u5982\u679c \u8def\u53e3 \u6709 \u4efb\u4f55 \u9519\u8bef \uff0c \u70b9\u51fb \u2018 Maneuver   Tool \u2019 \uff0c \u7136\u540e \u70b9\u51fb \u2018 Rebuild   Maneuver   Roads \u2019 \u3002   \u901a\u8fc7 \u70b9\u51fb   \u4e16\u754c \u8bbe\u7f6e \u5de5\u5177   \u5e76 \u62d6\u52a8 \u84dd\u8272 \u8fb9\u754c \u6846 \u7684 \u8fb9\u7f18 \u4ee5 \u5305\u542b \u60a8 \u60f3\u8981 \u5bfc\u51fa \u7684 \u6574\u4e2a \u533a\u57df \uff0c \u786e\u4fdd \u9009\u62e9 \u5b8c\u6574 \u7684 \u5730\u56fe \u8fdb\u884c \u5bfc\u51fa \u3002 \u5f53 \u5b83 \u51c6\u5907 \u597d \u4e86 \uff0c \u70b9\u51fb Apply   World   Changes \u3002   \u5f53 \u60a8 \u51c6\u5907 \u5bfc\u51fa \u65f6 :   1 .   \u5bfc\u51fa   . fbx   \u6587\u4ef6 :   \u5728 \u4e3b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u9009\u62e9 , \u9009\u62e9   File   - >   Export   - >   Firebox   ( . fbx )   __ 2 .__ \u5728 \u5f39\u51fa \u7684 \u7a97\u53e3 \u4e2d :   \u68c0\u67e5 \u4ee5\u4e0b \u9009\u9879 :   Split   by   Segmentation   :   \u901a\u8fc7 \u8bed\u4e49 \u5206\u5272 \u5bf9 \u7f51\u683c \u8fdb\u884c \u5212\u5206 \uff0c \u6539\u5584 \u884c\u4eba \u5bfc\u822a \u3002   Power   of   Two   Texture   Dimensions   :   \u63d0\u9ad8 \u4e86 \u6027\u80fd \u3002   Embed   Textures   :   \u786e\u4fdd \u7eb9\u7406 \u5d4c\u5165 \u5230 \u7f51\u683c \u4e2d \u3002   Export   to   Tiles   :   \u9009\u62e9 \u74f7\u7816 \u7684 \u5927\u5c0f \u3002 Carla   \u53ef\u4ee5 \u4f7f\u7528 \u7684 \u6700\u5927 \u5c3a\u5bf8 \u662f 2000   x   2000 \u3002   Export   Individual   Tiles   :   \u751f\u6210 \u5728   Carla   \u4e2d \u6d41\u5f0f \u4f20\u8f93 \u5927 \u5730\u56fe \u6240 \u9700 \u7684 \u5355\u4e2a \u5757 \u3002   3 .   \u5bfc\u51fa   . xodr   \u6587\u4ef6 :   \u5728 \u4e3b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u9009\u62e9   File   - >   Export   - >   OpendDRIVE   ( . xodr )   \u7b14\u8bb0   \u786e\u4fdd   . xodr   \u548c   . fbx   \u7684 \u6587\u4ef6 \u540d\u79f0 \u6587\u4ef6\u540d \u6587\u4ef6\u540d\u79f0 \u76f8\u540c \u3002","title":"\u5728 RoadRunner \u4e2d \u5bfc\u51fa \u4e00\u4e2a \u5927 \u5730\u56fe  "},{"location":"large_map_roadrunner/#_2","text":"\u73b0\u5728 \u53ef\u4ee5 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla   \u4e86 \u3002 \u6709\u5173 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u5bfc\u5165 \u5927 \u5730\u56fe \u6307\u5357   \u3002   \u5982\u679c \u4f60 \u5bf9 \u8fd9\u4e2a \u8fc7\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u90a3\u4e48 \u4f60 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e0a \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u4e0b \u4e00\u4e2a \u6b65\u9aa4  "},{"location":"launch_windows/","text":"Windows   \u4e0b \u7684 \u542f\u52a8 \u5305 \u7684 \u6784\u5efa   \u53d1\u5e03 \u5b89\u88c5 \u7248\u672c   \u53c2\u8003   \u94fe\u63a5   \u8fdb\u884c \u865a\u5e7b \u5f15\u64ce \u7684 \u53d1\u5e03 \u3002   \u4f7f\u7528   Visual   Studio   \u6253\u5f00   UE4 . shn   \u3002   \u5728 \u53f3\u4fa7 \u8fb9\u680f \uff0c \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230 \u4e00\u4e2a   \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668   \u9762\u677f \u3002 \u5c55\u5f00   Programs   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u627e\u5230   AutomationTool   \u9879\u76ee \uff08   Engine \\ Source \\ Programs \\ AutomationTool   \uff09 \uff1a   \u53f3\u952e \u5355\u51fb \u5b83 \u5e76 \u9009\u62e9   \u751f\u6210 ( Build )   \uff0c \u5e94\u8be5 \u5f88\u5feb \u3002   \u8fd0\u884c \u5b89\u88c5 \u8f6f\u4ef6 \u7684 \u6784\u5efa \u811a\u672c   \u5b89\u88c5   Windows   10   SDK   ;   \u8fd0\u884c \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e0b \u7684 \u5b89\u88c5 \u6784\u5efa \u811a\u672c   GenerateInstalledBuild . bat   \u3002   \u5982\u679c \u4e00\u5207 \u987a\u5229 \u4e00\u5207\u987a\u5229 \uff0c \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230   LocalBuilds   \u4e0e \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5904\u4e8e \u540c\u4e00 \u7ea7\u522b \u7684   Engine   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5e76\u4e14 \u63a7\u5236 \u63a7\u5236\u53f0 \u4e2d \u6ca1\u6709 \u9519\u8bef \u3002 ( \u8fd8 \u5305\u62ec \u4e00\u4e2a   InstalledDDC   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff1a DerivedDataCache ) \u3002   \u95ee\u9898   ERROR :   Visual   Studio   2017   must   be   installed   in   order   to   build   this   target .   \u89e3\u51b3 \uff1a \u4e0b\u8f7d   3d5 _ VisualStudio20171509 . rar   \u8fdb\u884c \u5b89\u88c5 \u3002   Unable   to   find   installation   of   PDBCOPY . EXE   \u89e3\u51b3 \uff1a \u53c2\u8003   \u94fe\u63a5   \u4ece   \u767e\u5ea6 \u767e\u5ea6\u7f51 \u76d8   \u4e0b\u8f7d   X64   Debuggers   And   Tools - x64 _ en - us . msi   \u5b89\u88c5 \u3002   \u65e0\u6cd5 \u542f\u52a8 \u6b64 \u7a0b\u5e8f \uff0c \u56e0\u4e3a \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e2d \u4e22\u5931 XINPUT1 _ 3 . dll \u3002 \u5c1d\u8bd5 \u91cd\u65b0 \u65b0\u5b89 \u5b89\u88c5 \u91cd\u65b0\u5b89\u88c5 \u8be5\u7a0b   \u89e3\u51b3 \uff1a \u53c2\u8003   \u94fe\u63a5   \u5b89\u88c5   DirectX   Redist   ( June   2010 ) \u3002   \u5355\u72ec \u8fd0\u884c   Engine - > Binaries - > Win64   \u4f1a \u51fa\u73b0 \u9519\u8bef \u63d0\u793a \uff1a   Plugin   ' ExampleDeviceProfileSelector '   failed   to   load   because   moduleExampleDeviceProfileSelector '   could   not   be   found .   Please   ensure   the   plugin   isproperly   installed ,   otherwise   consider   disabling   the   plugin   for   this   project .   \u4f46\u662f   make   launch   \u4e0d\u4f1a \u51fa\u9519 \u3002","title":"Windows   \u4e0b \u7684 \u542f\u52a8 \u5305 \u7684 \u6784\u5efa"},{"location":"launch_windows/#windows","text":"","title":"Windows   \u4e0b \u7684 \u542f\u52a8 \u5305 \u7684 \u6784\u5efa"},{"location":"launch_windows/#_1","text":"\u53c2\u8003   \u94fe\u63a5   \u8fdb\u884c \u865a\u5e7b \u5f15\u64ce \u7684 \u53d1\u5e03 \u3002   \u4f7f\u7528   Visual   Studio   \u6253\u5f00   UE4 . shn   \u3002   \u5728 \u53f3\u4fa7 \u8fb9\u680f \uff0c \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230 \u4e00\u4e2a   \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668   \u9762\u677f \u3002 \u5c55\u5f00   Programs   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u627e\u5230   AutomationTool   \u9879\u76ee \uff08   Engine \\ Source \\ Programs \\ AutomationTool   \uff09 \uff1a   \u53f3\u952e \u5355\u51fb \u5b83 \u5e76 \u9009\u62e9   \u751f\u6210 ( Build )   \uff0c \u5e94\u8be5 \u5f88\u5feb \u3002","title":"\u53d1\u5e03 \u5b89\u88c5 \u7248\u672c"},{"location":"launch_windows/#_2","text":"\u5b89\u88c5   Windows   10   SDK   ;   \u8fd0\u884c \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e0b \u7684 \u5b89\u88c5 \u6784\u5efa \u811a\u672c   GenerateInstalledBuild . bat   \u3002   \u5982\u679c \u4e00\u5207 \u987a\u5229 \u4e00\u5207\u987a\u5229 \uff0c \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230   LocalBuilds   \u4e0e \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5904\u4e8e \u540c\u4e00 \u7ea7\u522b \u7684   Engine   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5e76\u4e14 \u63a7\u5236 \u63a7\u5236\u53f0 \u4e2d \u6ca1\u6709 \u9519\u8bef \u3002 ( \u8fd8 \u5305\u62ec \u4e00\u4e2a   InstalledDDC   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff1a DerivedDataCache ) \u3002","title":"\u8fd0\u884c \u5b89\u88c5 \u8f6f\u4ef6 \u7684 \u6784\u5efa \u811a\u672c"},{"location":"launch_windows/#_3","text":"ERROR :   Visual   Studio   2017   must   be   installed   in   order   to   build   this   target .   \u89e3\u51b3 \uff1a \u4e0b\u8f7d   3d5 _ VisualStudio20171509 . rar   \u8fdb\u884c \u5b89\u88c5 \u3002   Unable   to   find   installation   of   PDBCOPY . EXE   \u89e3\u51b3 \uff1a \u53c2\u8003   \u94fe\u63a5   \u4ece   \u767e\u5ea6 \u767e\u5ea6\u7f51 \u76d8   \u4e0b\u8f7d   X64   Debuggers   And   Tools - x64 _ en - us . msi   \u5b89\u88c5 \u3002   \u65e0\u6cd5 \u542f\u52a8 \u6b64 \u7a0b\u5e8f \uff0c \u56e0\u4e3a \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e2d \u4e22\u5931 XINPUT1 _ 3 . dll \u3002 \u5c1d\u8bd5 \u91cd\u65b0 \u65b0\u5b89 \u5b89\u88c5 \u91cd\u65b0\u5b89\u88c5 \u8be5\u7a0b   \u89e3\u51b3 \uff1a \u53c2\u8003   \u94fe\u63a5   \u5b89\u88c5   DirectX   Redist   ( June   2010 ) \u3002   \u5355\u72ec \u8fd0\u884c   Engine - > Binaries - > Win64   \u4f1a \u51fa\u73b0 \u9519\u8bef \u63d0\u793a \uff1a   Plugin   ' ExampleDeviceProfileSelector '   failed   to   load   because   moduleExampleDeviceProfileSelector '   could   not   be   found .   Please   ensure   the   plugin   isproperly   installed ,   otherwise   consider   disabling   the   plugin   for   this   project .   \u4f46\u662f   make   launch   \u4e0d\u4f1a \u51fa\u9519 \u3002","title":"\u95ee\u9898"},{"location":"leaderboard/","text":"\u6982\u8ff0   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u7684 \u4e3b\u8981 \u76ee\u6807 \u662f \u8bc4\u4f30 \u81ea\u52a8 \u9a7e\u9a76 \u4eba\u5458 \u9a7e\u9a76\u4eba\u5458 \u5728 \u73b0\u5b9e \u4ea4\u901a \u573a\u666f \u4e2d \u7684 \u9a7e\u9a76 \u719f\u7ec3 \u7a0b\u5ea6 \u719f\u7ec3\u7a0b\u5ea6 \u3002 \u6392\u884c \u6392\u884c\u699c \u4f5c\u4e3a \u793e\u533a \u7684 \u5f00\u653e \u5e73\u53f0 \u5f00\u653e\u5e73\u53f0 \uff0c \u5bf9 \u81ea\u52a8 \u9a7e\u9a76 \u6c7d\u8f66 \u4ee3\u7406 \u8fdb\u884c \u516c\u5e73 \u4e14 \u53ef \u91cd\u590d \u7684 \u8bc4\u4f30 \uff0c \u7b80\u5316 \u4e86 \u4e0d\u540c \u65b9\u6cd5 \u4e4b\u95f4 \u7684 \u6bd4\u8f83 \u3002 \u6392\u884c \u6392\u884c\u699c \u76ee\u524d \u4e3a   2.0   \u7248\u672c \uff0c \u4ecd \u652f\u6301   1.0   \u7248\u672c \u3002   \u4efb\u52a1   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u8981\u6c42 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u9a7e\u9a76 \u901a\u8fc7 \u4e00\u7ec4 \u9884\u5b9a \u4e49 \u7684 \u8def\u7ebf \u3002 \u5bf9\u4e8e \u6bcf\u6761 \u8def\u7ebf \uff0c \u4ee3\u7406 \u5c06 \u5728 \u8d77\u70b9 \u8fdb\u884c \u521d\u59cb \u521d\u59cb\u5316 \uff0c \u5e76 \u5f15\u5bfc \u5176 \u884c\u9a76 \u81f3 \u76ee\u7684 \u76ee\u7684\u5730 \u70b9 \uff0c \u5e76 \u901a\u8fc7   GPS   \u6837\u5f0f \u5750\u6807 \u3001 \u5730\u56fe \u5750\u6807 \u6216 \u8def\u7ebf \u6307\u4ee4 \u63d0\u4f9b \u8def\u7ebf \u63cf\u8ff0 \u3002 \u8def\u7ebf \u662f \u5728 \u591a\u79cd \u60c5\u51b5 \u4e0b\u5b9a \u5b9a\u4e49 \u4e0b\u5b9a\u4e49 \u7684 \uff0c \u5305\u62ec \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3001 \u57ce\u5e02 \u5730\u533a \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u73af\u5883 \u3002 \u6392\u884c \u6392\u884c\u699c \u8bc4\u4f30 \u5404\u79cd \u5929\u6c14 \u6761\u4ef6 \u4e0b \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \uff0c \u5305\u62ec \u65e5\u5149 \u573a\u666f \u3001 \u65e5\u843d \u3001 \u96e8 \u3001 \u96fe \u548c \u591c\u665a \u7b49 \u3002   \u5e94\u7528 \u573a\u666f   \u4ee3\u7406 \u5c06 \u9762\u4e34 \u57fa\u4e8e   NHTSA   \u7c7b\u578b \u7684 \u591a\u79cd \u4ea4\u901a \u573a\u666f \u3002 \u53ef\u4ee5 \u5728 \u6b64 \u9875\u9762 \u4e2d \u67e5\u770b \u4ea4\u901a \u573a\u666f \u7684 \u5b8c\u6574 \u5217\u8868 \uff0c \u4f46 \u8fd9\u91cc \u6709 \u4e00\u4e9b \u793a\u4f8b \u3002   \u8f66\u9053 \u5408\u5e76 \u3002   \u53d8\u9053 \u3002   \u5728 \u4ea4\u901a \u8def\u53e3 \u8fdb\u884c \u534f\u5546 \u3002   \u5728 \u73af\u5c9b \u8fdb\u884c \u534f\u5546 \u3002   \u5904\u7406 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3002   \u7ed9 \u7d27\u6025 \u8f66\u8f86 \u8ba9 \u884c \u3002   \u5e94\u5bf9 \u884c\u4eba \u3001 \u9a91 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4eba \u548c \u5176\u4ed6 \u56e0\u7d20 \u3002   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u4e2d \u7684 \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u56fe\u89e3 \u3002   \u53c2\u4e0e \u65b9\u5f0f   \u6392\u884c \u6392\u884c\u699c \u63d0\u4f9b \u4e24\u79cd \u53c2\u4e0e \u65b9\u5f0f \uff1a SENSORS   \u548c   MAP \u3002 \u8fd9\u4e9b \u65b9\u5f0f \u7684 \u4e0d\u540c \u4e4b\u5904 \u4e0d\u540c\u4e4b\u5904 \u5728\u4e8e \u60a8 \u7684 \u4ee3\u7406 \u53ef\u4ee5 \u4ece \u5e73\u53f0 \u8bf7\u6c42 \u7684 \u8f93\u5165 \u6570\u636e \u7c7b\u578b \u6570\u636e\u7c7b\u578b \u3002   \u6b64\u5916 \uff0c \u4e24\u79cd \u6a21\u5f0f \u7684 \u4ee3\u7406 \u90fd \u5c06 \u6536\u5230 \u9ad8\u7ea7 \u8def\u7ebf \u63cf\u8ff0 \uff0c \u6307\u793a \u8def\u5f84 \u5fc5\u987b \u9075\u5faa \u7684 \u5173\u952e \u5173\u952e\u70b9 \u624d\u80fd \u5230\u8fbe \u76ee\u7684 \u76ee\u7684\u5730 \u3002 \u8be5 \u8def\u7ebf \u8868\u793a \u4e3a \u5143\u7ec4 \u5217\u8868 \uff0c \u5e76\u4e14 \u6709 \u4e24\u79cd \u53d8\u4f53 \u3002   \u5bf9\u4e8e \u7b2c\u4e00 \u4e00\u79cd \u7b2c\u4e00\u79cd \u60c5\u51b5 \uff0c \u5143\u7ec4 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u5143\u7d20 \u5305\u542b \u4e00\u4e2a \u8def\u5f84 \u70b9 \uff0c \u8868\u793a \u4e3a \u7eac\u5ea6 \u3001 \u7ecf\u5ea6 \u548c \u5206\u91cf   z \u3002   [ ( { ' z ' :   0.0 ,   ' lat ' :   48.99822669411668 ,   ' lon ' :   8.002271601998707 } ,   RoadOption . LEFT ) ,   ( { ' z ' :   0.0 ,   ' lat ' :   48.99822669411668 ,   ' lon ' :   8.002709765148996 } ,   RoadOption . RIGHT ) ,   ...   ( { ' z ' :   0.0 ,   ' lat ' :   48.99822679980298 ,   ' lon ' :   8.002735250105061 } ,   RoadOption . STRAIGHT ) ]   \u7b2c\u4e8c \u4e8c\u79cd \u7b2c\u4e8c\u79cd \u60c5\u51b5 \u4e0e \u524d \u4e00\u79cd \u60c5\u51b5 \u975e\u5e38 \u76f8\u4f3c \uff0c \u4f46 \u4e0d \u4f7f\u7528   GPS   \u5750\u6807 \uff0c \u800c\u662f \u7528 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u8868\u793a \u8def\u7ebf \u3002   [ ( { ' x ' :   153.7 ,   ' y ' :   15.6 ,   ' z ' :   0.0 } ,   RoadOption . LEFT ) ,   ( { ' x ' :   148.9 ,   ' y ' :   67.8 ,   ' z ' :   0.0 } ,   RoadOption . RIGHT ) ,   ...   ( { ' x ' :   180.7 ,   ' y ' :   45.1 ,   ' z ' :   1.2 } ,   RoadOption . STRAIGHT ) ]   \u7b14\u8bb0   \u4e24\u4e2a \u8fde\u7eed \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u53ef\u80fd \u957f \u8fbe \u6570\u767e \u767e\u7c73 \u6570\u767e\u7c73 \u3002 \u4e0d\u8981 \u4f9d\u8d56 \u8fd9\u4e9b \u4f5c\u4e3a \u60a8 \u9a7e\u9a6d \u73af\u5883 \u7684 \u4e3b\u8981 \u673a\u5236 \u3002   \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u5143\u7d20 \u5305\u542b \u9ad8\u7ea7 \u547d\u4ee4 \u3002 \u53ef\u7528 \u7684 \u9ad8\u7ea7 \u547d\u4ee4 \u547d\u4ee4\u96c6 \u662f \uff1a   RoadOption . CHANGELANELEFT \uff1a \u5411 \u5de6 \u79fb\u52a8 \u4e00\u6761 \u8f66\u9053 \u3002   RoadOption . CHANGELANERIGHT \uff1a \u5411 \u53f3 \u79fb\u52a8 \u4e00\u6761 \u8f66\u9053 \u3002   RoadOption . LANEFOLLOW \uff1a \u7ee7\u7eed \u5728 \u5f53\u524d \u8f66\u9053 \u4e0a \u884c\u9a76 \u3002   RoadOption . LEFT \uff1a \u5728 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u5de6\u8f6c \u3002   RoadOption . RIGHT \uff1a \u5728 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u53f3\u8f6c \u3002   RoadOption . STRAIGHT \uff1a \u5728 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u4fdd\u6301 \u76f4\u884c \u3002   \u7b14\u8bb0   \u60a8 \u4e0d\u5f97 \u4f7f\u7528   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u63d0\u4f9b \u7684 \u4efb\u4f55 \u7279\u6743 \u4fe1\u606f \uff0c \u5305\u62ec \u89c4\u5212 \u5668 \u6216 \u4efb\u4f55 \u7c7b\u578b \u7684 \u57fa\u672c \u4e8b\u5b9e \u3002 \u4f7f\u7528 \u8fd9\u4e9b \u529f\u80fd \u7684 \u63d0\u4ea4 \u5c06 \u88ab \u62d2\u7edd \uff0c \u56e2\u961f \u5c06 \u88ab \u7981\u6b62 \u8fdb\u5165 \u8be5 \u5e73\u53f0 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f68\u8ff9   \u5728 \u6b64 \u8f68\u8ff9 \u4e0a \uff0c \u4ee3\u7406 \u53ef\u4ee5 \u8bf7\u6c42 \u8bbf\u95ee \u4ee5\u4e0b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u7b14\u8bb0   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5355\u4f4d \u90fd \u53d7\u5230 \u9650\u5236 \u53d7\u5230\u9650\u5236 \uff0c \u4ee5 \u63a7\u5236 \u8ba1\u7b97 \u9884\u7b97 \u3002   \u5730\u56fe \u8f68\u8ff9   \u63d0\u4f9b \u4e0e   SENSORS   \u8f68\u8ff9 \u76f8\u540c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7ec4 \u3002 \u6b64\u5916 \uff0c \u4ee3\u7406 \u53ef\u4ee5 \u8bf7\u6c42 \u8bbf\u95ee \u9ad8\u7cbe \u5730\u56fe \uff0c \u8be5 \u5730\u56fe \u4ee5 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7684   OpenDRIVE   \u6587\u4ef6 \u5f62\u5f0f \u63d0\u4f9b \u3002   \u7b14\u8bb0   \u60a8 \u5b8c\u5168 \u8d1f\u8d23 \u89e3\u6790 \u6b64 \u6587\u4ef6 \u6216 \u5c06 \u5176 \u8f6c\u6362 \u4e3a \u5bf9 \u60a8 \u7684 \u4ee3\u7406 \u6709\u7528 \u7684 \u8868\u793a \u5f62\u5f0f \u3002   \u8d44\u683c \u8d44\u683c\u8d5b \u8d5b\u9053   \u6392\u884c \u6392\u884c\u699c   2.0   \u8bbe\u6709   2   \u6761 \u8d44\u683c \u8d44\u683c\u8d5b \u8d5b\u9053 \uff0c \u60a8 \u7684 \u4ee3\u7406 \u5c06 \u9700\u8981 \u901a\u8fc7 \u5177\u6709 \u7b80\u5355 \u9a7e\u9a76 \u573a\u666f \u7684 \u4e0d\u89c1 \u770b\u4e0d\u89c1 \u7684 \u5730\u56fe \u5b89\u5168 \u5730 \u5bfc\u822a \u4e00\u6761 \u7b80\u5355 \u7684 \u8def\u7ebf \u3002 \u6bcf\u4e2a   SENSOR   \u548c   MAP   \u8f68\u9053 \u90fd \u6709 \u5176 \u5404\u81ea \u7684 \u9650\u5b9a \u9650\u5b9a\u7b26 \u3002 \u60a8 \u5fc5\u987b \u5728 \u9884\u9009 \u9884\u9009\u8d5b \u4e2d \u8fbe\u5230 \u6700\u4f4e \u9a7e\u9a76 \u5206\u6570 \uff0c \u624d\u80fd \u5141\u8bb8 \u5411 \u6392\u884c \u6392\u884c\u699c   2.0   \u4e3b \u8d5b\u9053 \u63d0\u4ea4 \u4ee3\u7406 \u3002   \u4e3a\u4e86 \u8282\u7701 \u8ba1\u7b97 \u8d44\u6e90 \u8ba1\u7b97\u8d44\u6e90 \uff0c \u9884\u9009 \u9884\u9009\u8d5b \u5c06 \u5141\u8bb8 \u4f7f\u7528 \u6bd4 \u4e3b\u8981 \u7ade\u4e89 \u5bf9\u624b \u7ade\u4e89\u5bf9\u624b \u66f4 \u4e25\u683c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5957\u4ef6 \uff0c \u5305\u62ec   0 - 4   \u4e2a   RGB   \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u3001 0 - 2   \u4e2a \u96f7\u8fbe \u548c   0 - 1   \u4e2a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff0c \u4ee5\u53ca \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u3001 IMU   \u548c \u901f\u5ea6 \u901f\u5ea6\u8ba1 \uff08 \u4ee5\u53ca \u7528\u4e8e   MAP   \u8d5b\u9053 \u7684   OpenDRIVE \uff09 \u3002 \u6211\u4eec \u9f13\u52b1 \u60a8 \u4f7f\u7528 \u9650\u5b9a \u9650\u5b9a\u7b26 \u6765 \u786e\u4fdd \u786e\u4fdd\u60a8 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u5806\u6808 \u5df2 \u6b63\u786e \u914d\u7f6e \u5e76 \u5728 \u6392\u884c \u6392\u884c\u699c \u4e0a \u6b63\u5e38 \u8fd0\u884c \u3002   \u8bc4\u4f30 \u548c \u6307\u6807   \u4ee3\u7406 \u7684 \u9a7e\u9a76 \u719f\u7ec3 \u7a0b\u5ea6 \u719f\u7ec3\u7a0b\u5ea6 \u53ef\u4ee5 \u901a\u8fc7 \u591a\u79cd \u6307\u6807 \u6765 \u8868\u5f81 \u3002 \u5bf9\u4e8e \u8fd9\u4e2a \u6392\u884c \u6392\u884c\u699c \uff0c \u6211\u4eec \u9009\u62e9 \u4e86 \u4e00\u7ec4 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u4e86\u89e3 \u9a7e\u9a76 \u4e0d\u540c \u65b9\u9762 \u7684 \u6307\u6807 \u3002 \u867d\u7136 \u6240\u6709 \u8def\u7531 \u90fd \u5177\u6709 \u76f8\u540c \u7c7b\u578b \u7684 \u6307\u6807 \uff0c \u4f46 \u5b83\u4eec \u5404\u81ea \u7684 \u503c \u662f \u5355\u72ec \u8ba1\u7b97 \u7684 \u3002 \u5177\u4f53 \u6307\u6807 \u5982\u4e0b \uff1a   \u9a7e\u9a76 \u5206\u6570   \uff1a ( { R _ i   P _ i } , )   \u2014   \u6392\u884c \u6392\u884c\u699c \u7684 \u4e3b\u8981 \u6307\u6807 \uff0c \u4f5c\u4e3a \u8def\u7ebf \u5b8c\u6210 \u4e0e \u8fdd\u89c4 \u5904\u7f5a \u4e4b\u95f4 \u7684 \u4e58\u79ef \u3002 \u8fd9\u91cc ( Ri ) \u662f   ( i \u2212 th )   \u8def\u7ebf \u7684 \u5b8c\u6210 \u767e\u5206 \u767e\u5206\u6bd4 \uff0c \u800c ( Pi ) \u662f   ( i \u2212 th )   \u8def\u7ebf \u7684 \u8fdd\u89c4 \u5904\u7f5a \u3002   \u8def\u7ebf \u5b8c\u6210   \uff1a \u5ba2\u670d \u4eba\u5458 \u5b8c\u6210 \u7684 \u8def\u7ebf \u8ddd\u79bb \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   \u8fdd\u89c4 \u5904\u7f5a   :   ( \\ prod _ j ^ { \\ text { ped . ,   ... ,   stop } }   ( { p _ i ^ j } ) ^ { \\ text { # infractions } _ j } . )   \u2014   \u6392\u884c \u6392\u884c\u699c \u8ddf\u8e2a \u591a\u79cd \u79cd\u7c7b \u7c7b\u578b \u591a\u79cd\u7c7b\u578b \u7684 \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \u8be5 \u6307\u6807 \u5c06 \u4ee3\u7406 \u89e6\u53d1 \u7684 \u6240\u6709 \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \u6c47\u603b \u4e3a \u51e0\u4f55 \u7ea7\u6570 \u51e0\u4f55\u7ea7\u6570 \u3002 \u4ee3\u7406 \u7684 \u7406\u60f3 \u57fa\u7840 \u5206\u6570 \u662f 1.0 \uff0c \u6bcf \u72af\u4e0b \u4e00\u79cd \u7c7b\u578b \u7684 \u8fdd\u89c4 \uff0c \u8be5 \u5206\u6570 \u90fd \u4f1a \u964d\u4f4e \u3002   \u5f53 \u6240\u6709 \u8def\u7531 \u5b8c\u6210 \u540e \uff0c \u8fd8\u4f1a \u751f\u6210 \u524d \u4e09\u79cd \u7c7b\u578b \u4e2d \u6bcf \u4e00\u79cd \u7684 \u5168\u5c40 \u5ea6\u91cf \uff0c \u5373 \u6240\u6709 \u5355\u72ec \u8def\u7531 \u7ec4\u5408 \u7684 \u7b97\u672f \u5e73\u5747 \u5747\u503c \u5e73\u5747\u503c \u3002 \u5168\u5c40 \u9a7e\u9a76 \u5206\u6570 \u662f \u5bf9 \u60a8 \u4e0e \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8fdb\u884c \u5206\u7c7b \u7684 \u4e3b\u8981 \u6307\u6807 \u3002   \u8fdd\u89c4 \u548c \u5173\u95ed \u4e8b\u4ef6   Carla   \u6392\u884c \u6392\u884c\u699c \u63d0\u4f9b \u4e86 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \u7684 \u5355\u72ec \u6307\u6807 \u3002 \u5176\u4e2d \u6bcf \u4e00\u4e2a \u90fd \u6709 \u4e00\u4e2a \u60e9\u7f5a \u7cfb\u6570 \uff0c \u6bcf\u6b21 \u53d1\u751f \u65f6 \u90fd \u4f1a \u5e94\u7528 \u8be5 \u7cfb\u6570 \u3002 \u6309 \u4e25\u91cd \u7a0b\u5ea6 \u6392\u5e8f \uff0c \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \u5982\u4e0b \u3002   \u4e0e \u884c\u4eba \u76f8\u649e   \u2014   0.50 .   \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u76f8\u649e   \u2014   0.60 .   \u4e0e \u9759\u6001 \u5143\u7d20 \u7684 \u78b0\u649e   -   0.65 .   \u7ea2\u706f \u95ef\u7ea2\u706f   \u2014 \u2014   0.70 \u3002   \u8fd0\u884c \u505c\u8f66 \u6807\u5fd7   \u2014   0.80 .   \u67d0\u4e9b \u573a\u666f \u7684 \u884c\u4e3a \u53ef\u4ee5 \u65e0\u9650 \u9650\u671f \u65e0\u9650\u671f \u5730 \u963b\u6b62 \u81ea\u6211 \u8f66\u8f86 \u3002 \u8fd9\u4e9b \u573a\u666f \u5c06 \u6709   4   \u5206\u949f \u7684 \u8d85\u65f6 \u65f6\u95f4 \uff0c \u4e4b\u540e \u81ea\u52a8 \u8f66\u8f86 \u5c06 \u88ab \u91ca\u653e \u4ee5 \u7ee7\u7eed \u8def\u7ebf \u3002 \u4f46\u662f \uff0c \u5982\u679c \u8d85\u8fc7 \u65f6\u9650 \uff0c \u5219 \u4f1a \u53d7\u5230 \u5904\u7f5a \uff1a   \u573a\u666f \u8d85\u65f6   \u2014 0.7   \u9884\u8ba1 \u4ee3\u7406 \u5c06 \u4fdd\u6301 \u6700\u4f4e \u901f\u5ea6 \u4ee5 \u9002\u5e94 \u9644\u8fd1 \u7684 \u4ea4\u901a \u3002 \u4ee3\u7406 \u7684 \u901f\u5ea6 \u5c06 \u4e0e \u9644\u8fd1 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u8fdb\u884c \u6bd4\u8f83 \u3002 \u672a\u80fd \u4fdd\u6301 \u9002\u5f53 \u7684 \u901f\u5ea6 \u5c06 \u53d7\u5230 \u5904\u7f5a \u3002 \u6240 \u65bd\u52a0 \u7684 \u60e9\u7f5a \u53d6\u51b3 \u53d6\u51b3\u4e8e \u901f\u5ea6 \u5dee \u7684 \u5927\u5c0f \uff0c \u6700\u9ad8 \u53ef \u8fbe \u4ee5\u4e0b \u503c \uff1a   \u672a\u80fd \u4fdd\u6301 \u6700\u4f4e \u901f\u5ea6   \u2014 0.7   \u7279\u5de5 \u5e94\u8be5 \u7ed9 \u4ece \u540e\u9762 \u9a76\u6765 \u7684 \u7d27\u6025 \u8f66\u8f86 \u8ba9\u8def \u3002 \u4e0d\u8ba9 \u7d27\u6025 \u8f66\u8f86 \u901a\u8fc7 \u5c06 \u53d7\u5230 \u5904\u7f5a \uff1a   \u672a\u80fd \u7ed9 \u7d27\u6025 \u8f66\u8f86 \u8ba9\u8def   \u2014 0.7   \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u8fd8\u6709 \u4e00\u79cd \u989d\u5916 \u7684 \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \uff0c \u5b83 \u6ca1\u6709 \u7cfb\u6570 \uff0c \u800c\u662f \u5f71\u54cd \u8def\u7ebf \u5b8c\u6210 \uff08 ( R _ i ) \uff09 \u7684 \u8ba1\u7b97 \u3002   \u8d8a\u91ce \u9a7e\u9a76   -   \u5982\u679c \u4ee3\u7406 \u9a7e\u9a76 \u8d8a\u91ce \uff0c \u5219 \u5728 \u8ba1\u7b97 \u8def\u7ebf \u5b8c\u6210 \u5206\u6570 \u65f6 \u5c06 \u4e0d\u4f1a \u8003\u8651 \u8be5 \u8def\u7ebf \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   \u6b64\u5916 \uff0c \u67d0\u4e9b \u4e8b\u4ef6 \u4f1a \u4e2d\u65ad \u4eff\u771f \uff0c \u4ece\u800c \u963b\u6b62 \u4ee3\u7406 \u7ee7\u7eed \u8fdb\u884c \u3002 \u5728 \u8fd9\u4e9b \u60c5\u51b5 \u4e0b \uff0c \u6b63\u5728 \u4eff\u771f \u7684 \u8def\u7ebf \u5c06 \u88ab \u5173\u95ed \uff0c \u6392\u884c \u6392\u884c\u699c \u5c06 \u79fb\u81f3 \u4e0b \u4e00\u6761 \uff0c \u6b63\u5e38 \u89e6\u53d1 \u3002   \u8def\u7ebf \u504f\u5dee   30 -   \u5982\u679c \u5ba2\u670d \u4eba\u5458 \u504f\u79bb \u6307\u5b9a \u8def\u7ebf \u8d85\u8fc7 \u7c73 \u3002   \u4ee3\u7406 \u88ab \u963b\u6b62   180 \u2014   \u5982\u679c \u4ee3\u7406 \u5728 \u4eff\u771f \u79d2 \u5185 \u6ca1\u6709 \u91c7\u53d6 \u4efb\u4f55 \u91c7\u53d6\u4efb\u4f55 \u64cd\u4f5c \u3002   \u4eff\u771f \u8d85\u65f6   \u2014 \u2014 \u5982\u679c \u5728 \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u5185 \u65e0\u6cd5 \u5efa\u7acb \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 60 \u3002   \u8def\u7ebf \u8d85\u65f6   -   \u5982\u679c \u8def\u7ebf \u4eff\u771f \u82b1\u8d39 \u592a \u65f6\u95f4 \u957f\u65f6\u95f4 \u624d\u80fd \u5b8c\u6210 \u3002   \u6bcf\u6b21 \u53d1\u751f \u4e0a\u8ff0 \u4efb\u4f55 \u60c5\u51b5 \u65f6 \uff0c \u90fd \u4f1a \u8bb0\u5f55 \u4e00\u4e9b \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8fd9\u4e9b \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u5c06 \u663e\u793a \u4e3a \u5217\u8868 \uff0c \u4f9b \u60a8 \u67e5\u770b \u8def\u7ebf \u7684 \u5404\u4e2a \u6307\u6807 \u3002 \u4ee5\u4e0b \u662f \u4ee3\u7406 \u7ea2\u706f \u95ef\u7ea2\u706f \u5e76 \u504f\u79bb \u8def\u7ebf \u7684 \u8def\u7ebf \u793a\u4f8b \u3002   \" infractions \" :   {   \" Collisions   with   layout \" :   [ ] ,   \" Collisions   with   pedestrians \" :   [ ] ,   \" Collisions   with   vehicles \" :   [ ] ,   \" Red   lights   infractions \" :   [   \" Agent   ran   a   red   light   203   at   ( x = 341.25 ,   y = 209.1 ,   z = 0.104 ) \"   ] ,   \" Stop   sign   infractions \" :   [ ] ,   \" Off - road   infractions \" :   [ ] ,   \" Min   speed   infractions \" :   [ ] ,   \" Yield   to   emergency   vehicle   infractions \" :   [ ] ,   \" Scenario   timeouts \" :   [ ] ,   \" Route   deviations \" :   [   \" Agent   deviated   from   the   route   at   ( x = 95.92 ,   y = 165.673 ,   z = 0.138 ) \"   ] ,   \" Agent   blocked \" :   [ ] ,   \" Route   timeouts \" :   [ ]   }   \u7b14\u8bb0   \u5168\u5c40 \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \u5c06 \u5404\u4e2a \u8def\u7ebf \u7684 \u6570\u636e \u538b\u7f29 \u6570\u636e\u538b\u7f29 \u4e3a \u5355\u4e2a \u503c \uff0c \u5e76 \u4ee5 \u6bcf \u516c\u91cc \u7684 \u4e8b\u4ef6 \u6570 \u7ed9\u51fa \u3002   \u5f00\u59cb \u4f7f\u7528   \u4e3a\u4e86 \u719f\u6089 \u6392\u884c \u6392\u884c\u699c \uff0c \u6211\u4eec \u5efa\u8bae \u5efa\u8bae\u60a8 \u4ed4\u7ec6 \u9605\u8bfb \u4ed4\u7ec6\u9605\u8bfb \u201c \u5165\u95e8 \u201d \u90e8\u5206 \u3002 \u8bf7\u82b1 \u8db3\u591f \u7684 \u65f6\u95f4 \u786e\u4fdd \u4e00\u5207 \u5728 \u672c\u5730 \u6309 \u9884\u671f \u8fd0\u884c \u3002   \u51c6\u5907 \u597d\u540e \uff0c \u8bf7 \u68c0\u67e5 \u201c \u63d0\u4ea4 \u201d \u90e8\u5206 \u4ee5 \u4e86\u89e3 \u5982\u4f55 \u51c6\u5907 \u63d0\u4ea4 \u3002   \u6392\u884c \u6392\u884c\u699c   1.0   \u6392\u884c \u6392\u884c\u699c \u76ee\u524d \u4e3a   2.0   \u7248\u672c \u3002 \u6392\u884c \u6392\u884c\u699c   1.0   \u7248 \u4ecd\u7136 \u53ef\u4ee5 \u652f\u6301 \u60a8 \u4e4b\u524d \u7684 \u5de5\u4f5c \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605 \u201c \u5f00\u59cb \u201d \u548c \u201c \u63d0\u4ea4 \u201d \u9875\u9762 \u4ee5 \u83b7\u53d6 \u6392\u884c \u6392\u884c\u699c   1.0   \u7248\u672c \u7684 \u63d0\u4ea4 \u4fe1\u606f \u3002   \u6761\u6b3e \u548c \u6761\u4ef6   \u611f\u8c22 \u6211\u4eec \u7684 \u8d5e\u52a9 \u8d5e\u52a9\u5546 \u548c \u5408\u4f5c \u4f5c\u8005 \u5408\u4f5c\u8005 \u7684 \u6177\u6168 \u89e3\u56ca \u6177\u6168\u89e3\u56ca \uff0c Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u4f5c\u4e3a \u4e00\u9879 \u5411 \u7814\u7a76 \u754c \u63d0\u4f9b \u7684 \u670d\u52a1 \u514d\u8d39 \u63d0\u4f9b \u3002   \u6bcf\u4e2a \u63d0\u4ea4 \u90fd \u5c06 \u5728   AWS   \u4e2d \u4f7f\u7528   g5.12 xlarge   \u5b9e\u4f8b \u8fdb\u884c \u8bc4\u4f30   \u3002 \u8fd9\u4f7f \u7528\u6237 \u53ef\u4ee5 \u8bbf\u95ee \u5177\u6709 \u73b0\u4ee3   GPU   \u548c   CPU   \u7684 \u4e13\u7528 \u8282\u70b9 \u3002   \u6bcf\u4e2a \u6708 \u5411 \u56e2\u961f \u63d0\u4ea4 \u7684 \u63d0\u4ea4 \u6570\u91cf \u6709\u9650 \uff08 \u76ee\u524d \u4e3a   5   \u4efd \uff09 \u3002   \u63d0\u4ea4 \u6d25\u8d34 \u6bcf\u6708 \u81ea\u52a8 \u8865\u5145 \u3002   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u7ec4\u7ec7 \u7ec4\u7ec7\u8005 \u4fdd\u7559 \u5411 \u56e2\u961f \u5206\u914d \u989d\u5916 \u6d25\u8d34 \u7684 \u6743\u5229 \u3002 \u8be5 \u7ec4\u7ec7 \u8fd8 \u4fdd\u7559 \u4fee\u6539 \u6bcf\u6708 \u63d0\u4ea4 \u6d25\u8d34 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u7684 \u6743\u5229 \u3002   \u4e25\u683c \u7981\u6b62 \u6ee5\u7528 \u6216 \u653b\u51fb   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u57fa\u7840 \u8bbe\u65bd \u57fa\u7840\u8bbe\u65bd \uff0c \u5305\u62ec \u7528\u4e8e \u8fd0\u884c \u670d\u52a1 \u7684 \u6240\u6709 \u8f6f\u4ef6 \u548c \u786c\u4ef6 \u3002 \u504f\u79bb   Carla   \u6392\u884c \u6392\u884c\u699c \u7cbe\u795e \u7684 \u884c\u4e3a \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u56e2\u961f \u89e3\u6563 \u3002   \u5982\u9700 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u8bf4\u660e \uff0c \u8bf7 \u9605\u8bfb \u6761\u6b3e \u548c \u6761\u4ef6 \u3002   \u6027\u80fd \u6392\u884c \u6392\u884c\u699c","title":"\u6982\u8ff0"},{"location":"leaderboard/#_1","text":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u7684 \u4e3b\u8981 \u76ee\u6807 \u662f \u8bc4\u4f30 \u81ea\u52a8 \u9a7e\u9a76 \u4eba\u5458 \u9a7e\u9a76\u4eba\u5458 \u5728 \u73b0\u5b9e \u4ea4\u901a \u573a\u666f \u4e2d \u7684 \u9a7e\u9a76 \u719f\u7ec3 \u7a0b\u5ea6 \u719f\u7ec3\u7a0b\u5ea6 \u3002 \u6392\u884c \u6392\u884c\u699c \u4f5c\u4e3a \u793e\u533a \u7684 \u5f00\u653e \u5e73\u53f0 \u5f00\u653e\u5e73\u53f0 \uff0c \u5bf9 \u81ea\u52a8 \u9a7e\u9a76 \u6c7d\u8f66 \u4ee3\u7406 \u8fdb\u884c \u516c\u5e73 \u4e14 \u53ef \u91cd\u590d \u7684 \u8bc4\u4f30 \uff0c \u7b80\u5316 \u4e86 \u4e0d\u540c \u65b9\u6cd5 \u4e4b\u95f4 \u7684 \u6bd4\u8f83 \u3002 \u6392\u884c \u6392\u884c\u699c \u76ee\u524d \u4e3a   2.0   \u7248\u672c \uff0c \u4ecd \u652f\u6301   1.0   \u7248\u672c \u3002","title":"\u6982\u8ff0"},{"location":"leaderboard/#_2","text":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u8981\u6c42 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u9a7e\u9a76 \u901a\u8fc7 \u4e00\u7ec4 \u9884\u5b9a \u4e49 \u7684 \u8def\u7ebf \u3002 \u5bf9\u4e8e \u6bcf\u6761 \u8def\u7ebf \uff0c \u4ee3\u7406 \u5c06 \u5728 \u8d77\u70b9 \u8fdb\u884c \u521d\u59cb \u521d\u59cb\u5316 \uff0c \u5e76 \u5f15\u5bfc \u5176 \u884c\u9a76 \u81f3 \u76ee\u7684 \u76ee\u7684\u5730 \u70b9 \uff0c \u5e76 \u901a\u8fc7   GPS   \u6837\u5f0f \u5750\u6807 \u3001 \u5730\u56fe \u5750\u6807 \u6216 \u8def\u7ebf \u6307\u4ee4 \u63d0\u4f9b \u8def\u7ebf \u63cf\u8ff0 \u3002 \u8def\u7ebf \u662f \u5728 \u591a\u79cd \u60c5\u51b5 \u4e0b\u5b9a \u5b9a\u4e49 \u4e0b\u5b9a\u4e49 \u7684 \uff0c \u5305\u62ec \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3001 \u57ce\u5e02 \u5730\u533a \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u73af\u5883 \u3002 \u6392\u884c \u6392\u884c\u699c \u8bc4\u4f30 \u5404\u79cd \u5929\u6c14 \u6761\u4ef6 \u4e0b \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \uff0c \u5305\u62ec \u65e5\u5149 \u573a\u666f \u3001 \u65e5\u843d \u3001 \u96e8 \u3001 \u96fe \u548c \u591c\u665a \u7b49 \u3002","title":"\u4efb\u52a1"},{"location":"leaderboard/#_3","text":"\u4ee3\u7406 \u5c06 \u9762\u4e34 \u57fa\u4e8e   NHTSA   \u7c7b\u578b \u7684 \u591a\u79cd \u4ea4\u901a \u573a\u666f \u3002 \u53ef\u4ee5 \u5728 \u6b64 \u9875\u9762 \u4e2d \u67e5\u770b \u4ea4\u901a \u573a\u666f \u7684 \u5b8c\u6574 \u5217\u8868 \uff0c \u4f46 \u8fd9\u91cc \u6709 \u4e00\u4e9b \u793a\u4f8b \u3002   \u8f66\u9053 \u5408\u5e76 \u3002   \u53d8\u9053 \u3002   \u5728 \u4ea4\u901a \u8def\u53e3 \u8fdb\u884c \u534f\u5546 \u3002   \u5728 \u73af\u5c9b \u8fdb\u884c \u534f\u5546 \u3002   \u5904\u7406 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3002   \u7ed9 \u7d27\u6025 \u8f66\u8f86 \u8ba9 \u884c \u3002   \u5e94\u5bf9 \u884c\u4eba \u3001 \u9a91 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4eba \u548c \u5176\u4ed6 \u56e0\u7d20 \u3002   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u4e2d \u7684 \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u56fe\u89e3 \u3002","title":"\u5e94\u7528 \u573a\u666f"},{"location":"leaderboard/#_4","text":"\u6392\u884c \u6392\u884c\u699c \u63d0\u4f9b \u4e24\u79cd \u53c2\u4e0e \u65b9\u5f0f \uff1a SENSORS   \u548c   MAP \u3002 \u8fd9\u4e9b \u65b9\u5f0f \u7684 \u4e0d\u540c \u4e4b\u5904 \u4e0d\u540c\u4e4b\u5904 \u5728\u4e8e \u60a8 \u7684 \u4ee3\u7406 \u53ef\u4ee5 \u4ece \u5e73\u53f0 \u8bf7\u6c42 \u7684 \u8f93\u5165 \u6570\u636e \u7c7b\u578b \u6570\u636e\u7c7b\u578b \u3002   \u6b64\u5916 \uff0c \u4e24\u79cd \u6a21\u5f0f \u7684 \u4ee3\u7406 \u90fd \u5c06 \u6536\u5230 \u9ad8\u7ea7 \u8def\u7ebf \u63cf\u8ff0 \uff0c \u6307\u793a \u8def\u5f84 \u5fc5\u987b \u9075\u5faa \u7684 \u5173\u952e \u5173\u952e\u70b9 \u624d\u80fd \u5230\u8fbe \u76ee\u7684 \u76ee\u7684\u5730 \u3002 \u8be5 \u8def\u7ebf \u8868\u793a \u4e3a \u5143\u7ec4 \u5217\u8868 \uff0c \u5e76\u4e14 \u6709 \u4e24\u79cd \u53d8\u4f53 \u3002   \u5bf9\u4e8e \u7b2c\u4e00 \u4e00\u79cd \u7b2c\u4e00\u79cd \u60c5\u51b5 \uff0c \u5143\u7ec4 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u5143\u7d20 \u5305\u542b \u4e00\u4e2a \u8def\u5f84 \u70b9 \uff0c \u8868\u793a \u4e3a \u7eac\u5ea6 \u3001 \u7ecf\u5ea6 \u548c \u5206\u91cf   z \u3002   [ ( { ' z ' :   0.0 ,   ' lat ' :   48.99822669411668 ,   ' lon ' :   8.002271601998707 } ,   RoadOption . LEFT ) ,   ( { ' z ' :   0.0 ,   ' lat ' :   48.99822669411668 ,   ' lon ' :   8.002709765148996 } ,   RoadOption . RIGHT ) ,   ...   ( { ' z ' :   0.0 ,   ' lat ' :   48.99822679980298 ,   ' lon ' :   8.002735250105061 } ,   RoadOption . STRAIGHT ) ]   \u7b2c\u4e8c \u4e8c\u79cd \u7b2c\u4e8c\u79cd \u60c5\u51b5 \u4e0e \u524d \u4e00\u79cd \u60c5\u51b5 \u975e\u5e38 \u76f8\u4f3c \uff0c \u4f46 \u4e0d \u4f7f\u7528   GPS   \u5750\u6807 \uff0c \u800c\u662f \u7528 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u8868\u793a \u8def\u7ebf \u3002   [ ( { ' x ' :   153.7 ,   ' y ' :   15.6 ,   ' z ' :   0.0 } ,   RoadOption . LEFT ) ,   ( { ' x ' :   148.9 ,   ' y ' :   67.8 ,   ' z ' :   0.0 } ,   RoadOption . RIGHT ) ,   ...   ( { ' x ' :   180.7 ,   ' y ' :   45.1 ,   ' z ' :   1.2 } ,   RoadOption . STRAIGHT ) ]   \u7b14\u8bb0   \u4e24\u4e2a \u8fde\u7eed \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u53ef\u80fd \u957f \u8fbe \u6570\u767e \u767e\u7c73 \u6570\u767e\u7c73 \u3002 \u4e0d\u8981 \u4f9d\u8d56 \u8fd9\u4e9b \u4f5c\u4e3a \u60a8 \u9a7e\u9a6d \u73af\u5883 \u7684 \u4e3b\u8981 \u673a\u5236 \u3002   \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u5143\u7d20 \u5305\u542b \u9ad8\u7ea7 \u547d\u4ee4 \u3002 \u53ef\u7528 \u7684 \u9ad8\u7ea7 \u547d\u4ee4 \u547d\u4ee4\u96c6 \u662f \uff1a   RoadOption . CHANGELANELEFT \uff1a \u5411 \u5de6 \u79fb\u52a8 \u4e00\u6761 \u8f66\u9053 \u3002   RoadOption . CHANGELANERIGHT \uff1a \u5411 \u53f3 \u79fb\u52a8 \u4e00\u6761 \u8f66\u9053 \u3002   RoadOption . LANEFOLLOW \uff1a \u7ee7\u7eed \u5728 \u5f53\u524d \u8f66\u9053 \u4e0a \u884c\u9a76 \u3002   RoadOption . LEFT \uff1a \u5728 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u5de6\u8f6c \u3002   RoadOption . RIGHT \uff1a \u5728 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u53f3\u8f6c \u3002   RoadOption . STRAIGHT \uff1a \u5728 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u4fdd\u6301 \u76f4\u884c \u3002   \u7b14\u8bb0   \u60a8 \u4e0d\u5f97 \u4f7f\u7528   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u63d0\u4f9b \u7684 \u4efb\u4f55 \u7279\u6743 \u4fe1\u606f \uff0c \u5305\u62ec \u89c4\u5212 \u5668 \u6216 \u4efb\u4f55 \u7c7b\u578b \u7684 \u57fa\u672c \u4e8b\u5b9e \u3002 \u4f7f\u7528 \u8fd9\u4e9b \u529f\u80fd \u7684 \u63d0\u4ea4 \u5c06 \u88ab \u62d2\u7edd \uff0c \u56e2\u961f \u5c06 \u88ab \u7981\u6b62 \u8fdb\u5165 \u8be5 \u5e73\u53f0 \u3002","title":"\u53c2\u4e0e \u65b9\u5f0f"},{"location":"leaderboard/#_5","text":"\u5728 \u6b64 \u8f68\u8ff9 \u4e0a \uff0c \u4ee3\u7406 \u53ef\u4ee5 \u8bf7\u6c42 \u8bbf\u95ee \u4ee5\u4e0b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u7b14\u8bb0   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5355\u4f4d \u90fd \u53d7\u5230 \u9650\u5236 \u53d7\u5230\u9650\u5236 \uff0c \u4ee5 \u63a7\u5236 \u8ba1\u7b97 \u9884\u7b97 \u3002","title":"\u4f20\u611f\u5668 \u8f68\u8ff9"},{"location":"leaderboard/#_6","text":"\u63d0\u4f9b \u4e0e   SENSORS   \u8f68\u8ff9 \u76f8\u540c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7ec4 \u3002 \u6b64\u5916 \uff0c \u4ee3\u7406 \u53ef\u4ee5 \u8bf7\u6c42 \u8bbf\u95ee \u9ad8\u7cbe \u5730\u56fe \uff0c \u8be5 \u5730\u56fe \u4ee5 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7684   OpenDRIVE   \u6587\u4ef6 \u5f62\u5f0f \u63d0\u4f9b \u3002   \u7b14\u8bb0   \u60a8 \u5b8c\u5168 \u8d1f\u8d23 \u89e3\u6790 \u6b64 \u6587\u4ef6 \u6216 \u5c06 \u5176 \u8f6c\u6362 \u4e3a \u5bf9 \u60a8 \u7684 \u4ee3\u7406 \u6709\u7528 \u7684 \u8868\u793a \u5f62\u5f0f \u3002","title":"\u5730\u56fe \u8f68\u8ff9"},{"location":"leaderboard/#_7","text":"\u6392\u884c \u6392\u884c\u699c   2.0   \u8bbe\u6709   2   \u6761 \u8d44\u683c \u8d44\u683c\u8d5b \u8d5b\u9053 \uff0c \u60a8 \u7684 \u4ee3\u7406 \u5c06 \u9700\u8981 \u901a\u8fc7 \u5177\u6709 \u7b80\u5355 \u9a7e\u9a76 \u573a\u666f \u7684 \u4e0d\u89c1 \u770b\u4e0d\u89c1 \u7684 \u5730\u56fe \u5b89\u5168 \u5730 \u5bfc\u822a \u4e00\u6761 \u7b80\u5355 \u7684 \u8def\u7ebf \u3002 \u6bcf\u4e2a   SENSOR   \u548c   MAP   \u8f68\u9053 \u90fd \u6709 \u5176 \u5404\u81ea \u7684 \u9650\u5b9a \u9650\u5b9a\u7b26 \u3002 \u60a8 \u5fc5\u987b \u5728 \u9884\u9009 \u9884\u9009\u8d5b \u4e2d \u8fbe\u5230 \u6700\u4f4e \u9a7e\u9a76 \u5206\u6570 \uff0c \u624d\u80fd \u5141\u8bb8 \u5411 \u6392\u884c \u6392\u884c\u699c   2.0   \u4e3b \u8d5b\u9053 \u63d0\u4ea4 \u4ee3\u7406 \u3002   \u4e3a\u4e86 \u8282\u7701 \u8ba1\u7b97 \u8d44\u6e90 \u8ba1\u7b97\u8d44\u6e90 \uff0c \u9884\u9009 \u9884\u9009\u8d5b \u5c06 \u5141\u8bb8 \u4f7f\u7528 \u6bd4 \u4e3b\u8981 \u7ade\u4e89 \u5bf9\u624b \u7ade\u4e89\u5bf9\u624b \u66f4 \u4e25\u683c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5957\u4ef6 \uff0c \u5305\u62ec   0 - 4   \u4e2a   RGB   \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u3001 0 - 2   \u4e2a \u96f7\u8fbe \u548c   0 - 1   \u4e2a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff0c \u4ee5\u53ca \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u3001 IMU   \u548c \u901f\u5ea6 \u901f\u5ea6\u8ba1 \uff08 \u4ee5\u53ca \u7528\u4e8e   MAP   \u8d5b\u9053 \u7684   OpenDRIVE \uff09 \u3002 \u6211\u4eec \u9f13\u52b1 \u60a8 \u4f7f\u7528 \u9650\u5b9a \u9650\u5b9a\u7b26 \u6765 \u786e\u4fdd \u786e\u4fdd\u60a8 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u5806\u6808 \u5df2 \u6b63\u786e \u914d\u7f6e \u5e76 \u5728 \u6392\u884c \u6392\u884c\u699c \u4e0a \u6b63\u5e38 \u8fd0\u884c \u3002","title":"\u8d44\u683c\u8d5b \u8d5b\u9053"},{"location":"leaderboard/#_8","text":"\u4ee3\u7406 \u7684 \u9a7e\u9a76 \u719f\u7ec3 \u7a0b\u5ea6 \u719f\u7ec3\u7a0b\u5ea6 \u53ef\u4ee5 \u901a\u8fc7 \u591a\u79cd \u6307\u6807 \u6765 \u8868\u5f81 \u3002 \u5bf9\u4e8e \u8fd9\u4e2a \u6392\u884c \u6392\u884c\u699c \uff0c \u6211\u4eec \u9009\u62e9 \u4e86 \u4e00\u7ec4 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u4e86\u89e3 \u9a7e\u9a76 \u4e0d\u540c \u65b9\u9762 \u7684 \u6307\u6807 \u3002 \u867d\u7136 \u6240\u6709 \u8def\u7531 \u90fd \u5177\u6709 \u76f8\u540c \u7c7b\u578b \u7684 \u6307\u6807 \uff0c \u4f46 \u5b83\u4eec \u5404\u81ea \u7684 \u503c \u662f \u5355\u72ec \u8ba1\u7b97 \u7684 \u3002 \u5177\u4f53 \u6307\u6807 \u5982\u4e0b \uff1a   \u9a7e\u9a76 \u5206\u6570   \uff1a ( { R _ i   P _ i } , )   \u2014   \u6392\u884c \u6392\u884c\u699c \u7684 \u4e3b\u8981 \u6307\u6807 \uff0c \u4f5c\u4e3a \u8def\u7ebf \u5b8c\u6210 \u4e0e \u8fdd\u89c4 \u5904\u7f5a \u4e4b\u95f4 \u7684 \u4e58\u79ef \u3002 \u8fd9\u91cc ( Ri ) \u662f   ( i \u2212 th )   \u8def\u7ebf \u7684 \u5b8c\u6210 \u767e\u5206 \u767e\u5206\u6bd4 \uff0c \u800c ( Pi ) \u662f   ( i \u2212 th )   \u8def\u7ebf \u7684 \u8fdd\u89c4 \u5904\u7f5a \u3002   \u8def\u7ebf \u5b8c\u6210   \uff1a \u5ba2\u670d \u4eba\u5458 \u5b8c\u6210 \u7684 \u8def\u7ebf \u8ddd\u79bb \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   \u8fdd\u89c4 \u5904\u7f5a   :   ( \\ prod _ j ^ { \\ text { ped . ,   ... ,   stop } }   ( { p _ i ^ j } ) ^ { \\ text { # infractions } _ j } . )   \u2014   \u6392\u884c \u6392\u884c\u699c \u8ddf\u8e2a \u591a\u79cd \u79cd\u7c7b \u7c7b\u578b \u591a\u79cd\u7c7b\u578b \u7684 \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \u8be5 \u6307\u6807 \u5c06 \u4ee3\u7406 \u89e6\u53d1 \u7684 \u6240\u6709 \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \u6c47\u603b \u4e3a \u51e0\u4f55 \u7ea7\u6570 \u51e0\u4f55\u7ea7\u6570 \u3002 \u4ee3\u7406 \u7684 \u7406\u60f3 \u57fa\u7840 \u5206\u6570 \u662f 1.0 \uff0c \u6bcf \u72af\u4e0b \u4e00\u79cd \u7c7b\u578b \u7684 \u8fdd\u89c4 \uff0c \u8be5 \u5206\u6570 \u90fd \u4f1a \u964d\u4f4e \u3002   \u5f53 \u6240\u6709 \u8def\u7531 \u5b8c\u6210 \u540e \uff0c \u8fd8\u4f1a \u751f\u6210 \u524d \u4e09\u79cd \u7c7b\u578b \u4e2d \u6bcf \u4e00\u79cd \u7684 \u5168\u5c40 \u5ea6\u91cf \uff0c \u5373 \u6240\u6709 \u5355\u72ec \u8def\u7531 \u7ec4\u5408 \u7684 \u7b97\u672f \u5e73\u5747 \u5747\u503c \u5e73\u5747\u503c \u3002 \u5168\u5c40 \u9a7e\u9a76 \u5206\u6570 \u662f \u5bf9 \u60a8 \u4e0e \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8fdb\u884c \u5206\u7c7b \u7684 \u4e3b\u8981 \u6307\u6807 \u3002","title":"\u8bc4\u4f30 \u548c \u6307\u6807"},{"location":"leaderboard/#_9","text":"Carla   \u6392\u884c \u6392\u884c\u699c \u63d0\u4f9b \u4e86 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \u7684 \u5355\u72ec \u6307\u6807 \u3002 \u5176\u4e2d \u6bcf \u4e00\u4e2a \u90fd \u6709 \u4e00\u4e2a \u60e9\u7f5a \u7cfb\u6570 \uff0c \u6bcf\u6b21 \u53d1\u751f \u65f6 \u90fd \u4f1a \u5e94\u7528 \u8be5 \u7cfb\u6570 \u3002 \u6309 \u4e25\u91cd \u7a0b\u5ea6 \u6392\u5e8f \uff0c \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \u5982\u4e0b \u3002   \u4e0e \u884c\u4eba \u76f8\u649e   \u2014   0.50 .   \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u76f8\u649e   \u2014   0.60 .   \u4e0e \u9759\u6001 \u5143\u7d20 \u7684 \u78b0\u649e   -   0.65 .   \u7ea2\u706f \u95ef\u7ea2\u706f   \u2014 \u2014   0.70 \u3002   \u8fd0\u884c \u505c\u8f66 \u6807\u5fd7   \u2014   0.80 .   \u67d0\u4e9b \u573a\u666f \u7684 \u884c\u4e3a \u53ef\u4ee5 \u65e0\u9650 \u9650\u671f \u65e0\u9650\u671f \u5730 \u963b\u6b62 \u81ea\u6211 \u8f66\u8f86 \u3002 \u8fd9\u4e9b \u573a\u666f \u5c06 \u6709   4   \u5206\u949f \u7684 \u8d85\u65f6 \u65f6\u95f4 \uff0c \u4e4b\u540e \u81ea\u52a8 \u8f66\u8f86 \u5c06 \u88ab \u91ca\u653e \u4ee5 \u7ee7\u7eed \u8def\u7ebf \u3002 \u4f46\u662f \uff0c \u5982\u679c \u8d85\u8fc7 \u65f6\u9650 \uff0c \u5219 \u4f1a \u53d7\u5230 \u5904\u7f5a \uff1a   \u573a\u666f \u8d85\u65f6   \u2014 0.7   \u9884\u8ba1 \u4ee3\u7406 \u5c06 \u4fdd\u6301 \u6700\u4f4e \u901f\u5ea6 \u4ee5 \u9002\u5e94 \u9644\u8fd1 \u7684 \u4ea4\u901a \u3002 \u4ee3\u7406 \u7684 \u901f\u5ea6 \u5c06 \u4e0e \u9644\u8fd1 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u8fdb\u884c \u6bd4\u8f83 \u3002 \u672a\u80fd \u4fdd\u6301 \u9002\u5f53 \u7684 \u901f\u5ea6 \u5c06 \u53d7\u5230 \u5904\u7f5a \u3002 \u6240 \u65bd\u52a0 \u7684 \u60e9\u7f5a \u53d6\u51b3 \u53d6\u51b3\u4e8e \u901f\u5ea6 \u5dee \u7684 \u5927\u5c0f \uff0c \u6700\u9ad8 \u53ef \u8fbe \u4ee5\u4e0b \u503c \uff1a   \u672a\u80fd \u4fdd\u6301 \u6700\u4f4e \u901f\u5ea6   \u2014 0.7   \u7279\u5de5 \u5e94\u8be5 \u7ed9 \u4ece \u540e\u9762 \u9a76\u6765 \u7684 \u7d27\u6025 \u8f66\u8f86 \u8ba9\u8def \u3002 \u4e0d\u8ba9 \u7d27\u6025 \u8f66\u8f86 \u901a\u8fc7 \u5c06 \u53d7\u5230 \u5904\u7f5a \uff1a   \u672a\u80fd \u7ed9 \u7d27\u6025 \u8f66\u8f86 \u8ba9\u8def   \u2014 0.7   \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u8fd8\u6709 \u4e00\u79cd \u989d\u5916 \u7684 \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \uff0c \u5b83 \u6ca1\u6709 \u7cfb\u6570 \uff0c \u800c\u662f \u5f71\u54cd \u8def\u7ebf \u5b8c\u6210 \uff08 ( R _ i ) \uff09 \u7684 \u8ba1\u7b97 \u3002   \u8d8a\u91ce \u9a7e\u9a76   -   \u5982\u679c \u4ee3\u7406 \u9a7e\u9a76 \u8d8a\u91ce \uff0c \u5219 \u5728 \u8ba1\u7b97 \u8def\u7ebf \u5b8c\u6210 \u5206\u6570 \u65f6 \u5c06 \u4e0d\u4f1a \u8003\u8651 \u8be5 \u8def\u7ebf \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   \u6b64\u5916 \uff0c \u67d0\u4e9b \u4e8b\u4ef6 \u4f1a \u4e2d\u65ad \u4eff\u771f \uff0c \u4ece\u800c \u963b\u6b62 \u4ee3\u7406 \u7ee7\u7eed \u8fdb\u884c \u3002 \u5728 \u8fd9\u4e9b \u60c5\u51b5 \u4e0b \uff0c \u6b63\u5728 \u4eff\u771f \u7684 \u8def\u7ebf \u5c06 \u88ab \u5173\u95ed \uff0c \u6392\u884c \u6392\u884c\u699c \u5c06 \u79fb\u81f3 \u4e0b \u4e00\u6761 \uff0c \u6b63\u5e38 \u89e6\u53d1 \u3002   \u8def\u7ebf \u504f\u5dee   30 -   \u5982\u679c \u5ba2\u670d \u4eba\u5458 \u504f\u79bb \u6307\u5b9a \u8def\u7ebf \u8d85\u8fc7 \u7c73 \u3002   \u4ee3\u7406 \u88ab \u963b\u6b62   180 \u2014   \u5982\u679c \u4ee3\u7406 \u5728 \u4eff\u771f \u79d2 \u5185 \u6ca1\u6709 \u91c7\u53d6 \u4efb\u4f55 \u91c7\u53d6\u4efb\u4f55 \u64cd\u4f5c \u3002   \u4eff\u771f \u8d85\u65f6   \u2014 \u2014 \u5982\u679c \u5728 \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u5185 \u65e0\u6cd5 \u5efa\u7acb \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 60 \u3002   \u8def\u7ebf \u8d85\u65f6   -   \u5982\u679c \u8def\u7ebf \u4eff\u771f \u82b1\u8d39 \u592a \u65f6\u95f4 \u957f\u65f6\u95f4 \u624d\u80fd \u5b8c\u6210 \u3002   \u6bcf\u6b21 \u53d1\u751f \u4e0a\u8ff0 \u4efb\u4f55 \u60c5\u51b5 \u65f6 \uff0c \u90fd \u4f1a \u8bb0\u5f55 \u4e00\u4e9b \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8fd9\u4e9b \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u5c06 \u663e\u793a \u4e3a \u5217\u8868 \uff0c \u4f9b \u60a8 \u67e5\u770b \u8def\u7ebf \u7684 \u5404\u4e2a \u6307\u6807 \u3002 \u4ee5\u4e0b \u662f \u4ee3\u7406 \u7ea2\u706f \u95ef\u7ea2\u706f \u5e76 \u504f\u79bb \u8def\u7ebf \u7684 \u8def\u7ebf \u793a\u4f8b \u3002   \" infractions \" :   {   \" Collisions   with   layout \" :   [ ] ,   \" Collisions   with   pedestrians \" :   [ ] ,   \" Collisions   with   vehicles \" :   [ ] ,   \" Red   lights   infractions \" :   [   \" Agent   ran   a   red   light   203   at   ( x = 341.25 ,   y = 209.1 ,   z = 0.104 ) \"   ] ,   \" Stop   sign   infractions \" :   [ ] ,   \" Off - road   infractions \" :   [ ] ,   \" Min   speed   infractions \" :   [ ] ,   \" Yield   to   emergency   vehicle   infractions \" :   [ ] ,   \" Scenario   timeouts \" :   [ ] ,   \" Route   deviations \" :   [   \" Agent   deviated   from   the   route   at   ( x = 95.92 ,   y = 165.673 ,   z = 0.138 ) \"   ] ,   \" Agent   blocked \" :   [ ] ,   \" Route   timeouts \" :   [ ]   }   \u7b14\u8bb0   \u5168\u5c40 \u8fdd\u89c4 \u884c\u4e3a \u8fdd\u89c4\u884c\u4e3a \u5c06 \u5404\u4e2a \u8def\u7ebf \u7684 \u6570\u636e \u538b\u7f29 \u6570\u636e\u538b\u7f29 \u4e3a \u5355\u4e2a \u503c \uff0c \u5e76 \u4ee5 \u6bcf \u516c\u91cc \u7684 \u4e8b\u4ef6 \u6570 \u7ed9\u51fa \u3002","title":"\u8fdd\u89c4 \u548c \u5173\u95ed \u4e8b\u4ef6"},{"location":"leaderboard/#_10","text":"\u4e3a\u4e86 \u719f\u6089 \u6392\u884c \u6392\u884c\u699c \uff0c \u6211\u4eec \u5efa\u8bae \u5efa\u8bae\u60a8 \u4ed4\u7ec6 \u9605\u8bfb \u4ed4\u7ec6\u9605\u8bfb \u201c \u5165\u95e8 \u201d \u90e8\u5206 \u3002 \u8bf7\u82b1 \u8db3\u591f \u7684 \u65f6\u95f4 \u786e\u4fdd \u4e00\u5207 \u5728 \u672c\u5730 \u6309 \u9884\u671f \u8fd0\u884c \u3002   \u51c6\u5907 \u597d\u540e \uff0c \u8bf7 \u68c0\u67e5 \u201c \u63d0\u4ea4 \u201d \u90e8\u5206 \u4ee5 \u4e86\u89e3 \u5982\u4f55 \u51c6\u5907 \u63d0\u4ea4 \u3002","title":"\u5f00\u59cb \u4f7f\u7528"},{"location":"leaderboard/#10","text":"\u6392\u884c \u6392\u884c\u699c \u76ee\u524d \u4e3a   2.0   \u7248\u672c \u3002 \u6392\u884c \u6392\u884c\u699c   1.0   \u7248 \u4ecd\u7136 \u53ef\u4ee5 \u652f\u6301 \u60a8 \u4e4b\u524d \u7684 \u5de5\u4f5c \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605 \u201c \u5f00\u59cb \u201d \u548c \u201c \u63d0\u4ea4 \u201d \u9875\u9762 \u4ee5 \u83b7\u53d6 \u6392\u884c \u6392\u884c\u699c   1.0   \u7248\u672c \u7684 \u63d0\u4ea4 \u4fe1\u606f \u3002","title":"\u6392\u884c\u699c   1.0"},{"location":"leaderboard/#_11","text":"\u611f\u8c22 \u6211\u4eec \u7684 \u8d5e\u52a9 \u8d5e\u52a9\u5546 \u548c \u5408\u4f5c \u4f5c\u8005 \u5408\u4f5c\u8005 \u7684 \u6177\u6168 \u89e3\u56ca \u6177\u6168\u89e3\u56ca \uff0c Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u4f5c\u4e3a \u4e00\u9879 \u5411 \u7814\u7a76 \u754c \u63d0\u4f9b \u7684 \u670d\u52a1 \u514d\u8d39 \u63d0\u4f9b \u3002   \u6bcf\u4e2a \u63d0\u4ea4 \u90fd \u5c06 \u5728   AWS   \u4e2d \u4f7f\u7528   g5.12 xlarge   \u5b9e\u4f8b \u8fdb\u884c \u8bc4\u4f30   \u3002 \u8fd9\u4f7f \u7528\u6237 \u53ef\u4ee5 \u8bbf\u95ee \u5177\u6709 \u73b0\u4ee3   GPU   \u548c   CPU   \u7684 \u4e13\u7528 \u8282\u70b9 \u3002   \u6bcf\u4e2a \u6708 \u5411 \u56e2\u961f \u63d0\u4ea4 \u7684 \u63d0\u4ea4 \u6570\u91cf \u6709\u9650 \uff08 \u76ee\u524d \u4e3a   5   \u4efd \uff09 \u3002   \u63d0\u4ea4 \u6d25\u8d34 \u6bcf\u6708 \u81ea\u52a8 \u8865\u5145 \u3002   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u7ec4\u7ec7 \u7ec4\u7ec7\u8005 \u4fdd\u7559 \u5411 \u56e2\u961f \u5206\u914d \u989d\u5916 \u6d25\u8d34 \u7684 \u6743\u5229 \u3002 \u8be5 \u7ec4\u7ec7 \u8fd8 \u4fdd\u7559 \u4fee\u6539 \u6bcf\u6708 \u63d0\u4ea4 \u6d25\u8d34 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u7684 \u6743\u5229 \u3002   \u4e25\u683c \u7981\u6b62 \u6ee5\u7528 \u6216 \u653b\u51fb   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u57fa\u7840 \u8bbe\u65bd \u57fa\u7840\u8bbe\u65bd \uff0c \u5305\u62ec \u7528\u4e8e \u8fd0\u884c \u670d\u52a1 \u7684 \u6240\u6709 \u8f6f\u4ef6 \u548c \u786c\u4ef6 \u3002 \u504f\u79bb   Carla   \u6392\u884c \u6392\u884c\u699c \u7cbe\u795e \u7684 \u884c\u4e3a \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u56e2\u961f \u89e3\u6563 \u3002   \u5982\u9700 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u8bf4\u660e \uff0c \u8bf7 \u9605\u8bfb \u6761\u6b3e \u548c \u6761\u4ef6 \u3002   \u6027\u80fd \u6392\u884c \u6392\u884c\u699c","title":"\u6761\u6b3e \u548c \u6761\u4ef6"},{"location":"leaderboard_challenge/","text":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b   2023   \u5e74   Carla   \u6311\u6218 \u6311\u6218\u8d5b   \u6982\u8ff0   \u6b22\u8fce \u53c2\u52a0   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b \u3002 \u672c\u6b21 \u7ade\u8d5b \u5411 \u5b66\u672f \u5b66\u672f\u754c \u548c \u5de5\u4e1a \u4e1a\u754c \u5de5\u4e1a\u754c \u7684 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5f00\u653e \u3002 \u60a8 \u53ea \u9700 \u5728   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u4e0a \u6ce8\u518c \uff0c \u5e76 \u63d0\u4f9b \u60a8 \u7684 \u56e2\u961f \u540d\u79f0 \u548c \u6240\u5728 \u673a\u6784 \u5373\u53ef \u3002   \u8be5 \u6311\u6218 \u5229\u7528 \u73b0\u6709 \u7684   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u5e73\u53f0 \u6765 \u8bc4\u4f30 \u63d0\u4ea4 \u7684 \u5185\u5bb9 \u3002 \u6311\u6218 \u7684 \u4e3b\u8981 \u76ee\u6807 \u4ecd\u7136 \u662f \u8bc4\u4f30 \u81ea\u52a8 \u4ee3\u7406 \u5728 \u73b0\u5b9e \u4ea4\u901a \u60c5\u51b5 \u4e0b \u7684 \u9a7e\u9a76 \u719f\u7ec3 \u7a0b\u5ea6 \u719f\u7ec3\u7a0b\u5ea6 \uff0c \u5982 \u6392\u884c \u6392\u884c\u699c \u673a\u5236 \u4e2d \u6240 \u5b9a\u4e49 \u3002 \u53c2\u8d5b \u53c2\u8d5b\u961f \u5fc5\u987b \u5728   2   \u79cd \u5929\u6c14 \u6761\u4ef6 \u4e0b \u5b8c\u6210   10   \u6761 \u8def\u7ebf \uff0c \u91cd\u590d   5   \u6b21 \u3002   \u8be5 \u6311\u6218 \u9075\u5faa \u4e3a   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u5b9a\u4e49 \u7684 \u76f8\u540c \u7ed3\u6784 \u548c \u89c4\u5219 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u53ef \u7528\u4e8e \u6311\u6218 \u7684 \u89c4\u8303 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u52a0 \u4e24\u4e2a \u53ef\u7528 \u8d5b\u9053 \u4e2d \u7684 \u4efb\u4f55 \u4e00\u4e2a \uff1a SENSORS   \u548c   MAP \u3002   \u7b14\u8bb0   \u60a8 \u4e0d\u5f97 \u4f7f\u7528   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u63d0\u4f9b \u7684 \u4efb\u4f55 \u7279\u6743 \u4fe1\u606f \uff0c \u5305\u62ec \u89c4\u5212 \u5668 \u6216 \u4efb\u4f55 \u7c7b\u578b \u7684 \u57fa\u672c \u4e8b\u5b9e \u3002 \u4f7f\u7528 \u8fd9\u4e9b \u529f\u80fd \u7684 \u63d0\u4ea4 \u5c06 \u88ab \u62d2\u7edd \uff0c \u56e2\u961f \u5c06 \u88ab \u7981\u6b62 \u8fdb\u5165 \u8be5 \u5e73\u53f0 \u3002   \u6311\u6218 \u7684 \u673a\u5236   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b \u7684 \u673a\u5236 \u4e0e   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u5b9a\u4e49 \u7684 \u673a\u5236 \u76f8\u540c \u3002 \u800c\u8a00 \u7b80\u800c\u8a00\u4e4b \uff1a   \u901a\u8fc7 \u9605\u8bfb \u6392\u884c \u6392\u884c\u699c \u4ecb\u7ecd \u6765 \u719f\u6089 \u4efb\u52a1 \u3002   \u901a\u8fc7 \u9605\u8bfb \u5165\u95e8 \u6307\u5357 \u4e86\u89e3 \u5982\u4f55 \u521b\u5efa \u65b0 \u4ee3\u7406 \u3002   \u62a5\u540d \u53c2\u52a0 \u6311\u6218 \u3002   \u4e86\u89e3 \u5982\u4f55 \u6210\u529f \u63d0\u4ea4 \u3002   \u63d0\u4ea4 \u60a8 \u7684 \u4ee3\u7406 \u3002   \u5728 \u6311\u6218 \u7ed3\u675f \u65e5\u671f \u4e4b\u524d \u516c\u5f00 \u60a8 \u63d0\u4ea4 \u7684 \u5185\u5bb9 \uff08 \u53c2\u9605 \u8bf7\u53c2\u9605 \u4e0b\u9762 \u7684 \u65f6\u95f4 \u65f6\u95f4\u8868 \uff09 \u3002   \u7b14\u8bb0   \u5728 \u6311\u6218 \u6311\u6218\u8d5b \u5f00\u59cb \u548c \u7ed3\u675f \u65e5\u671f \u5185\u5728   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u4e0a \u516c\u5f00 \u7684 \u6240\u6709 \u63d0\u4ea4 \u5185\u5bb9 \u90fd \u5c06 \u88ab \u8003\u8651 \u53c2\u52a0   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b \u3002   \u6bcf\u4e2a \u8d5b\u9053 \u7684 \u524d   1   \u540d \u63d0\u4ea4 \u4f5c\u54c1 \u5c06 \u88ab \u9080\u8bf7 \u5728 \u81ea\u52a8 \u9a7e\u9a76 \u673a\u5668 \u5b66\u4e60 \u7814\u8ba8 \u7814\u8ba8\u4f1a \u4e0a \u5c55\u793a \u4ed6\u4eec \u7684 \u6210\u679c \u3002 \u6b64\u5916 \uff0c \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u88ab \u9080\u8bf7 \u63d0\u4ea4 \u4e00\u4efd \u63cf\u8ff0 \u5176 \u63d0\u4ea4 \u5185\u5bb9 \u7684 \u6280\u672f \u62a5\u544a \uff08 \u6700 \u591a   4   \u9875 \uff09 \u4ee5\u53ca \u63cf\u8ff0 \u5176 \u65b9\u6cd5 \u7684 \u89c6\u9891 \u3002 \u6839\u636e \u8fd9\u4e9b \u6280\u672f \u62a5\u544a \u7684 \u65b0\u9896 \u65b0\u9896\u6027 \u548c \u539f\u521b \u539f\u521b\u6027 \uff0c \u7ec4\u7ec7 \u5c06 \u9009\u62e9 \u6700 \u591a \u4e24\u4e2a \u56e2\u961f \u5728 \u7814\u8ba8 \u7814\u8ba8\u4f1a \u4e0a \u5c55\u793a \u4ed6\u4eec \u7684 \u5de5\u4f5c \u3002   \u4ee5\u524d \u7684   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218   \u5982\u9700 \u4e86\u89e3 \u6709\u5173 \u4e4b\u524d \u6311\u6218 \u53ca\u5176 \u7ed3\u679c \u7684 \u66f4 \u591a \u4fe1\u606f \uff0c \u8bf7 \u67e5\u770b \u6b64\u5904 \u3002   2022   \u5e74   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b -   \u5728   NeurIPS   2022   \u4e0a \u4e3b\u529e \uff1b   2021   \u5e74   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b -   \u5728   NeurIPS   2021   \u4e0a \u4e3b\u529e \uff1b   2020   \u5e74   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b -   \u5728   NeurIPS   2020   \u4e0a \u4e3b\u529e \uff1b   2019   \u5e74   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b -   \u5728   CVPR   2019   \u4e0a \u4e3b\u529e \u3002","title":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218\u8d5b"},{"location":"leaderboard_challenge/#carla","text":"","title":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218\u8d5b"},{"location":"leaderboard_challenge/#2023-carla","text":"","title":"2023   \u5e74   Carla   \u6311\u6218\u8d5b"},{"location":"leaderboard_challenge/#_1","text":"\u6b22\u8fce \u53c2\u52a0   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b \u3002 \u672c\u6b21 \u7ade\u8d5b \u5411 \u5b66\u672f \u5b66\u672f\u754c \u548c \u5de5\u4e1a \u4e1a\u754c \u5de5\u4e1a\u754c \u7684 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5f00\u653e \u3002 \u60a8 \u53ea \u9700 \u5728   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u4e0a \u6ce8\u518c \uff0c \u5e76 \u63d0\u4f9b \u60a8 \u7684 \u56e2\u961f \u540d\u79f0 \u548c \u6240\u5728 \u673a\u6784 \u5373\u53ef \u3002   \u8be5 \u6311\u6218 \u5229\u7528 \u73b0\u6709 \u7684   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u5e73\u53f0 \u6765 \u8bc4\u4f30 \u63d0\u4ea4 \u7684 \u5185\u5bb9 \u3002 \u6311\u6218 \u7684 \u4e3b\u8981 \u76ee\u6807 \u4ecd\u7136 \u662f \u8bc4\u4f30 \u81ea\u52a8 \u4ee3\u7406 \u5728 \u73b0\u5b9e \u4ea4\u901a \u60c5\u51b5 \u4e0b \u7684 \u9a7e\u9a76 \u719f\u7ec3 \u7a0b\u5ea6 \u719f\u7ec3\u7a0b\u5ea6 \uff0c \u5982 \u6392\u884c \u6392\u884c\u699c \u673a\u5236 \u4e2d \u6240 \u5b9a\u4e49 \u3002 \u53c2\u8d5b \u53c2\u8d5b\u961f \u5fc5\u987b \u5728   2   \u79cd \u5929\u6c14 \u6761\u4ef6 \u4e0b \u5b8c\u6210   10   \u6761 \u8def\u7ebf \uff0c \u91cd\u590d   5   \u6b21 \u3002   \u8be5 \u6311\u6218 \u9075\u5faa \u4e3a   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u5b9a\u4e49 \u7684 \u76f8\u540c \u7ed3\u6784 \u548c \u89c4\u5219 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u53ef \u7528\u4e8e \u6311\u6218 \u7684 \u89c4\u8303 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u52a0 \u4e24\u4e2a \u53ef\u7528 \u8d5b\u9053 \u4e2d \u7684 \u4efb\u4f55 \u4e00\u4e2a \uff1a SENSORS   \u548c   MAP \u3002   \u7b14\u8bb0   \u60a8 \u4e0d\u5f97 \u4f7f\u7528   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u63d0\u4f9b \u7684 \u4efb\u4f55 \u7279\u6743 \u4fe1\u606f \uff0c \u5305\u62ec \u89c4\u5212 \u5668 \u6216 \u4efb\u4f55 \u7c7b\u578b \u7684 \u57fa\u672c \u4e8b\u5b9e \u3002 \u4f7f\u7528 \u8fd9\u4e9b \u529f\u80fd \u7684 \u63d0\u4ea4 \u5c06 \u88ab \u62d2\u7edd \uff0c \u56e2\u961f \u5c06 \u88ab \u7981\u6b62 \u8fdb\u5165 \u8be5 \u5e73\u53f0 \u3002","title":"\u6982\u8ff0"},{"location":"leaderboard_challenge/#_2","text":"Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b \u7684 \u673a\u5236 \u4e0e   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u5b9a\u4e49 \u7684 \u673a\u5236 \u76f8\u540c \u3002 \u800c\u8a00 \u7b80\u800c\u8a00\u4e4b \uff1a   \u901a\u8fc7 \u9605\u8bfb \u6392\u884c \u6392\u884c\u699c \u4ecb\u7ecd \u6765 \u719f\u6089 \u4efb\u52a1 \u3002   \u901a\u8fc7 \u9605\u8bfb \u5165\u95e8 \u6307\u5357 \u4e86\u89e3 \u5982\u4f55 \u521b\u5efa \u65b0 \u4ee3\u7406 \u3002   \u62a5\u540d \u53c2\u52a0 \u6311\u6218 \u3002   \u4e86\u89e3 \u5982\u4f55 \u6210\u529f \u63d0\u4ea4 \u3002   \u63d0\u4ea4 \u60a8 \u7684 \u4ee3\u7406 \u3002   \u5728 \u6311\u6218 \u7ed3\u675f \u65e5\u671f \u4e4b\u524d \u516c\u5f00 \u60a8 \u63d0\u4ea4 \u7684 \u5185\u5bb9 \uff08 \u53c2\u9605 \u8bf7\u53c2\u9605 \u4e0b\u9762 \u7684 \u65f6\u95f4 \u65f6\u95f4\u8868 \uff09 \u3002   \u7b14\u8bb0   \u5728 \u6311\u6218 \u6311\u6218\u8d5b \u5f00\u59cb \u548c \u7ed3\u675f \u65e5\u671f \u5185\u5728   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \u4e0a \u516c\u5f00 \u7684 \u6240\u6709 \u63d0\u4ea4 \u5185\u5bb9 \u90fd \u5c06 \u88ab \u8003\u8651 \u53c2\u52a0   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b \u3002   \u6bcf\u4e2a \u8d5b\u9053 \u7684 \u524d   1   \u540d \u63d0\u4ea4 \u4f5c\u54c1 \u5c06 \u88ab \u9080\u8bf7 \u5728 \u81ea\u52a8 \u9a7e\u9a76 \u673a\u5668 \u5b66\u4e60 \u7814\u8ba8 \u7814\u8ba8\u4f1a \u4e0a \u5c55\u793a \u4ed6\u4eec \u7684 \u6210\u679c \u3002 \u6b64\u5916 \uff0c \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u88ab \u9080\u8bf7 \u63d0\u4ea4 \u4e00\u4efd \u63cf\u8ff0 \u5176 \u63d0\u4ea4 \u5185\u5bb9 \u7684 \u6280\u672f \u62a5\u544a \uff08 \u6700 \u591a   4   \u9875 \uff09 \u4ee5\u53ca \u63cf\u8ff0 \u5176 \u65b9\u6cd5 \u7684 \u89c6\u9891 \u3002 \u6839\u636e \u8fd9\u4e9b \u6280\u672f \u62a5\u544a \u7684 \u65b0\u9896 \u65b0\u9896\u6027 \u548c \u539f\u521b \u539f\u521b\u6027 \uff0c \u7ec4\u7ec7 \u5c06 \u9009\u62e9 \u6700 \u591a \u4e24\u4e2a \u56e2\u961f \u5728 \u7814\u8ba8 \u7814\u8ba8\u4f1a \u4e0a \u5c55\u793a \u4ed6\u4eec \u7684 \u5de5\u4f5c \u3002","title":"\u6311\u6218 \u7684 \u673a\u5236"},{"location":"leaderboard_challenge/#carla_1","text":"\u5982\u9700 \u4e86\u89e3 \u6709\u5173 \u4e4b\u524d \u6311\u6218 \u53ca\u5176 \u7ed3\u679c \u7684 \u66f4 \u591a \u4fe1\u606f \uff0c \u8bf7 \u67e5\u770b \u6b64\u5904 \u3002   2022   \u5e74   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b -   \u5728   NeurIPS   2022   \u4e0a \u4e3b\u529e \uff1b   2021   \u5e74   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b -   \u5728   NeurIPS   2021   \u4e0a \u4e3b\u529e \uff1b   2020   \u5e74   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b -   \u5728   NeurIPS   2020   \u4e0a \u4e3b\u529e \uff1b   2019   \u5e74   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b -   \u5728   CVPR   2019   \u4e0a \u4e3b\u529e \u3002","title":"\u4ee5\u524d \u7684   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218"},{"location":"leaderboard_get_started/","text":"\u5f00\u59cb \u4f7f\u7528 \u6392\u884c \u6392\u884c\u699c   2.0   \u7b14\u8bb0   \u672c\u9875 \u4fe1\u606f \u6d89\u53ca \u6700\u65b0 \u7248\u672c   Leaderboard   2.0 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f \u4ee5\u524d \u7248\u672c \u7684 \u6392\u884c \u6392\u884c\u699c \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u6392\u884c \u6392\u884c\u699c   1.0   \u5165\u95e8 \u8bf4\u660e \u3002   \u4e3a\u4e86 \u5f00\u59cb \u5f00\u53d1 \u60a8 \u7684 \u81ea\u4e3b \u4ee3\u7406 \uff0c \u60a8 \u9700\u8981 \u5b8c\u6210 \u4ee5\u4e0b \u8fc7\u7a0b \uff1a   \u7cfb\u7edf \u8bbe\u7f6e   \u4e0b\u8f7d   CARLA   \u6392\u884c \u6392\u884c\u699c \u5305   \u4e0b\u8f7d \u6253\u5305 \u7684   Carla   \u6392\u884c \u6392\u884c\u699c \u7248\u672c \u3002   \u5c06 \u5305 \u89e3\u538b \u5230 \u4e00\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u4f8b\u5982   Carla \u3002   \u7b14\u8bb0   \u5728 \u4ee5\u4e0b \u547d\u4ee4 \u4e2d \uff0c \u66f4\u6539   $ { CARLA _ ROOT }   \u53d8\u91cf \u4ee5 \u5bf9\u5e94 \u4e8e \u60a8 \u7684   Carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u4e3a\u4e86 \u4f7f\u7528   Carla   Python   API \uff0c \u60a8 \u9700\u8981 \u5728 \u60a8 \u559c\u6b22 \u7684 \u73af\u5883 \u4e2d \u5b89\u88c5 \u4e00\u4e9b \u4f9d\u8d56 \u9879 \u3002 \u4f5c\u4e3a \u53c2\u8003 \uff0c \u5bf9\u4e8e conda \uff0c \u9996\u5148 \u521b\u5efa \u4e00\u4e2a \u65b0 \u73af\u5883 \uff1a   conda   create   - n   py37   python = 3.7   conda   activate   py37   cd   $ { CARLA _ ROOT }   #   \u6539\u53d8 \u60a8 \u7684   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55   $ { CARLA _ ROOT }   pip3   install   - r   PythonAPI / carla / requirements . txt   \u7b14\u8bb0   Carla   \u6392\u884c \u6392\u884c\u699c \u7248\u672c \u57fa\u4e8e   0.9 . 14   \u7248\u672c \u3002 \u5b83 \u8fd8 \u5177\u6709 \u5373\u5c06 \u53d1\u5e03 \u7684   0.9 . 14   \u7248\u672c \u7684 \u4e00\u4e9b \u529f\u80fd \uff0c \u4f8b\u5982 \u65b0 \u7684 \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd \u3002 \u56e0\u6b64 \uff0c \u5728 \u4f7f\u7528   API   \u65f6\u8bf7 \u53c2\u8003 \u6700\u65b0 \u7684 \u6587\u6863 \u3002   \u83b7\u53d6 \u6392\u884c \u6392\u884c\u699c \u548c \u573a\u666f \u8dd1\u8005   \u4e0b\u8f7d \u6392\u884c \u6392\u884c\u699c \u5b58\u50a8 \u5e93   Leaderboard - 2.0   \u5206\u652f \u3002   git   clone   - b   leaderboard - 2.0   -- single - branch   https : / / github . com / carla - simulator / leaderboard . git   \u5728 \u4ee5\u4e0b \u547d\u4ee4 \u4e2d \uff0c \u66f4\u6539 $ { LEADERBOARD _ ROOT } \u53d8\u91cf \u4ee5 \u5bf9\u5e94 \u4e8e \u60a8 \u7684 \u6392\u884c \u6392\u884c\u699c \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u5b89\u88c5 \u6240 \u9700 \u7684   Python   \u4f9d\u8d56 \u9879 \u3002   cd   $ { LEADERBOARD _ ROOT }   #   \u6539\u53d8 \u60a8 \u7684 \u6392\u884c \u6392\u884c\u699c \u76ee\u5f55 \u6839\u76ee\u5f55   $ { LEADERBOARD _ ROOT }   pip3   install   - r   requirements . txt   \u4e0b\u8f7d   Scenario   Runner   \u5b58\u50a8 \u5e93 \u6392\u884c \u6392\u884c\u699c - 2.0   \u5206\u652f \u3002   git   clone   - b   leaderboard - 2.0   -- single - branch   https : / / github . com / carla - simulator / scenario _ runner . git   \u5728 \u4ee5\u4e0b \u547d\u4ee4 \u4e2d \uff0c \u5c06   \u66f4 \u6539\u4e3a   $ { SCENARIO _ RUNNER _ ROOT }   \u4e0e \u60a8 \u7684   Scenario _ Runner   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u76f8\u5bf9 \u5e94 \u3002   \u4f7f\u7528 \u76f8\u540c \u7684   Python   \u73af\u5883 \u5b89\u88c5 \u6240 \u9700 \u7684   Python   \u4f9d\u8d56 \u9879 \u3002   cd   $ { SCENARIO _ RUNNER _ ROOT }   #   \u6539\u53d8 \u60a8 \u7684   Scenario _ Runner   \u7684 \u76ee\u5f55 \u6839\u76ee\u5f55   $ { SCENARIO _ RUNNER _ ROOT }   pip3   install   - r   requirements . txt   \u57fa\u4e8e   ROS   \u7684 \u4ee3\u7406   \u9996\u5148 \uff0c \u4e0b\u8f7d \u5e76 \u5b89\u88c5 \u9002\u5f53 \u7684   ROS   \u6216   ROS2   \u53d1\u884c \u53d1\u884c\u7248 \u3002   Leaderboard   2.0   \u652f\u6301   ROS   Melodic \u3001 ROS   Noetic   \u548c   ROS2   Foxy \u3002 \u7136\u540e \uff0c \u514b\u9686 \u5e76 \u6784\u5efa   ROS   \u6216   ROS2   \u7684   Carla   ROS   \u6865 \u5b58\u50a8 \u5e93 \u3002 \u786e\u4fdd   leaderboard - 2.0   \u5728 \u514b\u9686   Carla   ROS   Bridge   \u5b58\u50a8 \u5e93\u65f6 \u6307\u5b9a \u5206\u652f \uff1a   git   clone   -- recurse - submodules   - b   leaderboard - 2.0   -- single - branch   https : / / github . com / carla - simulator / ros - bridge   \u5b9a\u4e49 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   \u6211\u4eec \u9700\u8981 \u786e\u4fdd \u4e0d\u540c \u7684 \u6a21\u5757 \u53ef\u4ee5 \u627e\u5230 \u5f7c\u6b64 \u3002   ~ / . bashrc   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u6253\u5f00 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \uff1a   gedit   ~ / . bashrc   \u7f16\u8f91 \u60a8 \u7684   ~ / . bashrc \u4e2a\u4eba \u8d44\u6599 \u4e2a\u4eba\u8d44\u6599 \uff0c \u6dfb\u52a0 \u4ee5\u4e0b \u5b9a\u4e49 \u3002 \u7f16\u8f91 \u540e \u4fdd\u5b58 \u5e76 \u5173\u95ed \u6587\u4ef6 \u3002   export   CARLA _ ROOT = PATH _ TO _ CARLA _ ROOT   export   SCENARIO _ RUNNER _ ROOT = PATH _ TO _ SCENARIO _ RUNNER   export   LEADERBOARD _ ROOT = PATH _ TO _ LEADERBOARD   export   PYTHONPATH = \" $ { CARLA _ ROOT } / PythonAPI / carla / \" : \" $ { SCENARIO _ RUNNER _ ROOT } \" : \" $ { LEADERBOARD _ ROOT } \" : \" $ { CARLA _ ROOT } / PythonAPI / carla / dist / carla - 0.9 . 14 - py3.7 - linux - x86 _ 64 . egg \" : $ { PYTHONPATH }   \u8bf7 \u8bb0\u4f4f   . bashrc   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f \u8fd9\u4e9b \u66f4\u6539 \u751f\u6548 \uff1a   source   ~ / . bashrc   \u521b\u5efa \u5e26\u6709 \u6392\u884c \u6392\u884c\u699c \u7684 \u81ea\u6cbb \u4ee3\u7406   \u6392\u884c \u6392\u884c\u699c \u7684 \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65   \u6392\u884c \u6392\u884c\u699c \u5c06 \u8d1f\u8d23 \u8fd0\u884c \u60a8 \u7684 \u81ea\u4e3b \u4ee3\u7406 \uff0c \u5e76 \u8bc4\u4f30 \u5176 \u5728 \u591a\u6761 \u8def\u7ebf \u7684 \u4e0d\u540c \u4ea4\u901a \u60c5\u51b5 \u4e0b \u7684 \u884c\u4e3a \u3002 \u4e3a\u4e86 \u66f4\u597d \u5730 \u7406\u89e3 \u8fd9\u4e2a \u8fc7\u7a0b \uff0c \u8ba9 \u6211\u4eec \u8fd0\u884c \u4e00\u4e2a \u57fa\u672c \u4ee3\u7406 \u3002   \u5728 \u4e00\u4e2a \u7ec8\u7aef \u4e2d \u8fd0\u884c   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   cd   $ { CARLA _ ROOT }   . / CarlaUE4 . sh   - quality - level = Epic   - world - port = 2000   - resx = 800   - resy = 600   \u5728 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u4e2d \uff0c \u5bfc\u822a \u5230   $ { LEADERBOARD _ ROOT }   . \u867d\u7136 \u6392\u884c \u6392\u884c\u699c \u662f \u4f7f\u7528   leaderboard _ evaluator . py   python   \u811a\u672c \u8fd0\u884c \u7684 \uff0c \u4f46 \u4f7f\u7528 \u7684 \u53c2\u6570 \u6570\u91cf \u53ef\u80fd \u4f1a \u8ba9 \u4f7f\u7528 \u7ec8\u7aef \u76f4\u63a5 \u6267\u884c \u6b64 \u64cd\u4f5c \u611f\u5230 \u975e\u5e38 \u4e0d \u8212\u670d \u3002 \u56e0\u6b64 \uff0c \u5efa\u8bae \u4f7f\u7528   bash   \u811a\u672c \u3002 \u6392\u884c \u6392\u884c\u699c \u63d0\u4f9b \u7684   run _ leaderboard . sh   \u811a\u672c \u6b63\u662f \u8fd9\u6837 \u505a \u7684 \u3002 \u8fd0\u884c \u811a\u672c \uff1a   . / run _ leaderboard . sh   \u8fd9 \u5c06 \u542f\u52a8 \u4e00\u4e2a   pygame   \u7a97\u53e3 \uff0c \u8ba9 \u60a8 \u53ef\u4ee5 \u9009\u62e9 \u624b\u52a8 \u63a7\u5236 \u4ee3\u7406 \u3002 \u6309\u7167 \u5f69\u8272 \u8def\u5f84 \u70b9 \u6307\u793a \u7684 \u8def\u7ebf \u5230\u8fbe \u76ee\u7684 \u76ee\u7684\u5730 \u3002 \u8be5 \u811a\u672c \u52a0\u8f7d   Town   12   \u4e2d \u7684 \u4e24\u6761 \u8def\u7ebf \u4e24\u6761\u8def \u4e24\u6761\u8def\u7ebf \u3002   \u9075\u5faa \u8def\u7ebf \u5e76 \u9075\u5b88 \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \uff0c \u76f4\u5230 \u5230\u8fbe \u76ee\u7684 \u76ee\u7684\u5730 \u3002   \u7b14\u8bb0   \u624b\u52a8 \u4e2d\u65ad \u6392\u884c \u6392\u884c\u699c \u5c06 \u62a2\u5148 \u505c\u6b62 \u8def\u7ebf \u4eff\u771f \uff0c \u81ea\u52a8 \u8fdb\u5165 \u4e0b \u4e00\u6761 \u8def\u7ebf \u3002   \u4e86\u89e3 \u6392\u884c \u6392\u884c\u699c \u7ec4\u4ef6   \u8fd0\u884c \u6d4b\u8bd5 \u65f6 \uff0c \u6211\u4eec \u8bbe\u7f6e \u4e86 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u53c2\u6570 \u3002 \u8ba9 \u6211\u4eec \u4e86\u89e3 \u4e00\u4e0b \u5b83\u4eec \u4ee5\u53ca \u5b83\u4eec \u5728 \u6392\u884c \u6392\u884c\u699c \u4e2d \u7684 \u4f5c\u7528 \u3002   ROUTES   ( XML )   \u2014   \u5c06 \u7528\u4e8e \u4eff\u771f \u7684 \u8def\u7ebf \u96c6 \u3002 \u6bcf\u6761 \u8def\u7ebf \u90fd \u6709 \u4e00\u4e2a \u8d77\u70b9 \uff08 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8def\u5f84 \u70b9 \uff09 \u548c \u4e00\u4e2a \u7ec8\u70b9 \uff08 \u6700\u540e \u4e00\u4e2a \u8def\u5f84 \u70b9 \uff09 \u3002 \u6b64\u5916 \uff0c \u5b83\u4eec \u8fd8 \u53ef\u4ee5 \u5305\u542b \u5929\u6c14 \u6982\u51b5 \u6765 \u8bbe\u7f6e \u7279\u5b9a \u7684 \u5929\u6c14 \u6761\u4ef6 \u3002 \u4e00\u4efd   XML   \u5305\u542b \u8bb8\u591a \u8def\u7531 \uff0c \u6bcf\u6761 \u8def\u7531 \u90fd \u6709 \u4e00\u4e2a   ID \u3002 \u7528\u6237 \u53ef\u4ee5 \u4fee\u6539 \u3001 \u6dfb\u52a0 \u548c \u5220\u9664 \u8def\u7ebf \u4ee5 \u8fdb\u884c \u57f9\u8bad \u548c \u9a8c\u8bc1 \u3002 \u6392\u884c \u6392\u884c\u699c \u9644\u5e26 \u4e86 \u4e00\u7ec4 \u7528\u4e8e \u8c03\u8bd5 \u3001 \u8bad\u7ec3 \u548c \u9a8c\u8bc1 \u7684 \u8def\u7ebf \u3002 \u7528\u4e8e \u5728\u7ebf \u8bc4\u4f30 \u7684 \u8def\u7ebf \u662f \u79d8\u5bc6 \u7684 \u3002 \u8be5 \u6587\u4ef6 \u8fd8 \u5305\u62ec \u5c06 \u5728 \u4eff\u771f \u4e2d \u6d4b\u8bd5 \u7684 \u573a\u666f \uff0c \u6bcf\u6761 \u8def\u7ebf \u90fd \u6709 \u81ea\u5df1 \u7684 \u4e00\u7ec4 \u573a\u666f \u3002 \u573a\u666f \u88ab \u5b9a\u4e49 \u4e3a \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u3002 \u7279\u5de5 \u5fc5\u987b \u514b\u670d \u8fd9\u4e9b \u573a\u666f \u624d\u80fd \u901a\u8fc7 \u6d4b\u8bd5 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u8bbf\u95ee \u4e00\u7ec4 \u9002\u7528 \u4e8e \u516c\u5171 \u57ce\u9547 \u7684 \u4ea4\u901a \u573a\u666f \u3002 \u5b58\u5728 \u4f7f\u7528 \u4e0d\u540c \u53c2\u6570 \u5b9e\u4f8b \u5316 \u7684 \u591a\u79cd \u79cd\u7c7b \u7c7b\u578b \u591a\u79cd\u7c7b\u578b \u7684 \u573a\u666f \u3002 \u4ee5\u4e0b \u662f \u53ef\u7528 \u65b9\u6848 \u7684 \u5217\u8868 \u3002   REPETITIONS   ( int )   \u2014   \u51fa\u4e8e \u7edf\u8ba1 \u76ee\u7684 \uff0c \u6bcf\u6761 \u8def\u7ebf \u91cd\u590d \u7684 \u6b21\u6570 \u3002   TEAM _ AGENT   ( Python   \u6a21\u5757 )   \u2014   \u4ee3\u7406 \u7684   Python   \u6a21\u5757 \u7684 \u8def\u5f84 \u3002 \u521b\u5efa \u4ee3\u7406 \u7684 \u6b65\u9aa4 \u5c06 \u5728 \u4e0b \u4e00\u6b65 \u4e2d \u89e3\u91ca \u3002   \u5176\u4ed6 \u76f8\u5173 \u53c2\u6570 \u5982\u4e0b \u6240\u8ff0 \u3002   TEAM _ CONFIG   \uff08 \u7531 \u7528\u6237 \u5b9a\u4e49 \uff09   \u2014   \u6240 \u63d0\u4f9b \u7684 \u4ee3\u7406 \u8bfb\u53d6 \u7684 \u4efb\u610f \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u7684 \u8def\u5f84 \u3002 \u60a8 \u8d1f\u8d23 \u5728 \u4ee3\u7406 \u7c7b\u4e2d \u5b9a\u4e49 \u548c \u89e3\u6790 \u6b64 \u6587\u4ef6 \u3002   DEBUG _ CHALLENGE   ( int )   \u2014   \u6307\u793a \u4eff\u771f \u671f\u95f4 \u662f\u5426 \u5e94 \u663e\u793a \u8c03\u8bd5 \u4fe1\u606f \u8c03\u8bd5\u4fe1\u606f \u7684 \u6807\u5fd7 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8be5 \u53d8\u91cf \u672a \u8bbe\u7f6e   ( 0 ) \uff0c \u8fd9 \u4e0d\u4f1a \u751f\u6210 \u8981 \u663e\u793a \u7684 \u8c03\u8bd5 \u4fe1\u606f \u8c03\u8bd5\u4fe1\u606f \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   1   \u65f6 \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5c06 \u663e\u793a \u8981 \u9075\u5faa \u7684 \u53c2\u8003 \u8def\u7ebf \u3002 \u5982\u679c \u6b64 \u53d8\u91cf \u8bbe\u7f6e \u4e3a \u5927\u4e8e \u4efb\u4f55 \u503c \uff0c   1 \u5f15\u64ce \u5c06 \u6253\u5370 \u4eff\u771f \u7684 \u5b8c\u6574 \u72b6\u6001 \u4ee5 \u7528\u4e8e \u8c03\u8bd5 \u76ee\u7684 \u3002   CHECKPOINT _ ENDPOINT   ( JSON )   \u2014   \u5c06 \u8bb0\u5f55   Leaderboard   \u6307\u6807 \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u3002   RECORD _ PATH   \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff09   \u2014   \u5c06 \u5b58\u50a8   Carla   \u65e5\u5fd7 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u8def\u5f84 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b\u672a \u8bbe\u7f6e \u3002   RESUME \u2014   \u6307\u793a \u4eff\u771f \u662f\u5426 \u5e94\u4ece \u6700\u540e \u4e00\u6761 \u8def\u7ebf \u6062\u590d \u7684 \u6807\u5fd7 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b\u672a \u8bbe\u7f6e \u3002   CHALLENGE _ TRACK _ CODENAME   \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff09   \u2014   \u4ee3\u7406 \u6b63\u5728 \u7ade\u4e89 \u7684 \u8d5b\u9053 \u3002 \u6709 \u4e24\u4e2a \u53ef\u80fd \u7684 \u9009\u9879 \uff1a   SENSORS   \u548c   MAP \u3002 \u8be5   SENSORS   \u8d5b\u9053 \u5141\u8bb8 \u4f7f\u7528 \u591a\u4e2a \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u3001 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u96f7\u8fbe \u3001 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u3001 \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u548c \u901f\u5ea6 \u901f\u5ea6\u8ba1 \u3002 \u9664\u4e86 \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e4b\u5916 \uff0c MAP   \u8d5b\u9053 \u8fd8 \u5141\u8bb8 \u76f4\u63a5 \u8bbf\u95ee   OpenDRIVE   \u9ad8\u6e05 \u5730\u56fe \u3002 \u60a8 \u8d1f\u8d23 \u6839\u636e \u9700\u8981 \u89e3\u6790 \u548c \u5904\u7406   OpenDRIVE   \u6620\u5c04 \u3002   \u8fd9\u4e9b \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u88ab \u4f20\u9012 \u5230   $ { LEADERBOARD _ ROOT } / LEADERBOARD / LEADERBOARD _ evaluator . py   \uff0c \u4f5c\u4e3a \u6267\u884c \u4eff\u771f \u7684 \u5165\u53e3 \u70b9 \u3002 \u67e5\u770b   leaderboard _ evaluator . py   \uff0c \u4e86\u89e3 \u6709\u5173 \u5982\u4f55 \u6267\u884c \u548c \u8bc4\u4f30 \u4ee3\u7406 \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u521b\u5efa \u81ea\u5df1 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406   \u65b0 \u4ee3\u7406 \u7684 \u5b9a\u4e49 \u59cb\u4e8e \u521b\u5efa \u4e00\u4e2a \u65b0\u7c7b \uff0c \u8be5\u7c7b \u7ee7\u627f \u81ea   leaderboard . autoagents . autonomous _ agent . AutonomousAgent   \u3002   \u521b\u5efa   get _ entry _ point   \u9996\u5148 \uff0c \u5b9a\u4e49 \u4e00\u4e2a \u540d\u4e3a   get _ entry _ point   \u7684 \u51fd\u6570 \uff0c \u8be5 \u51fd\u6570 \u8fd4\u56de \u65b0\u7c7b \u7684 \u540d\u79f0 \u3002 \u8fd9 \u5c06 \u7528\u4e8e \u81ea\u52a8 \u5b9e\u4f8b \u5316 \u60a8 \u7684 \u4ee3\u7406 \u3002   from   leaderboard . autoagents . autonomous _ agent   import   AutonomousAgent   def   get _ entry _ point ( ) :   return   ' MyAgent '   class   MyAgent ( AutonomousAgent ) :   ...   \u91cd\u5199   setup   \u65b9\u6cd5   \u5728 \u4ee3\u7406 \u7c7b\u4e2d \u91cd\u5199   setup   \u65b9\u6cd5 \u3002 \u6b64 \u65b9\u6cd5 \u6267\u884c \u4ee3\u7406 \u6240 \u9700 \u7684 \u6240\u6709 \u521d\u59cb \u521d\u59cb\u5316 \u548c \u5b9a\u4e49 \u3002 \u6bcf\u6b21 \u521d\u59cb \u521d\u59cb\u5316 \u8def\u7531 \u65f6 \uff0c \u90fd \u4f1a \u81ea\u52a8 \u8c03\u7528 \u5b83 \u3002 \u5b83 \u53ef\u4ee5 \u63a5\u6536 \u6307\u5411 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u7684 \u53ef\u9009 \u53c2\u6570 \u3002 \u7528\u6237 \u5e94 \u5206\u6790 \u6b64 \u6587\u4ef6 \u3002 \u81f3\u5c11 \uff0c \u60a8 \u9700\u8981 \u6307\u5b9a \u53c2\u4e0e \u7684 \u66f2\u76ee \u3002   from   leaderboard . autoagents . autonomous _ agent   import   Track   ...   def   setup ( self ,   path _ to _ conf _ file ) :   self . track   =   Track . SENSORS   #   \u6b64 \u65b9\u6cd5 \u81f3\u5c11 \u8bbe\u7f6e \u6392\u884c \u6392\u884c\u699c \u6a21\u5f0f \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b   SENSORS   \u6ce8\u610f   self . track   \u5c5e\u6027 \u5e94\u8be5 \u662f \u679a\u4e3e \uff0c \u800c \u4e0d\u662f \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002 \u5b83 \u53ea\u80fd \u53d6 \u53ef\u80fd \u7684 \u503c   Track . SENSORS   \u6216   Track . MAP   \u3002   \u91cd\u5199 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65b9\u6cd5   \u60a8 \u8fd8 \u5fc5\u987b \u8986\u76d6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65b9\u6cd5 \uff0c \u8be5 \u65b9\u6cd5 \u5b9a\u4e49 \u4e86 \u60a8 \u7684 \u4ee3\u7406 \u6240 \u9700 \u7684 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   def   sensors ( self ) :   sensors   =   [   { ' type ' :   ' sensor . camera . rgb ' ,   ' id ' :   ' Center ' ,   ' x ' :   0.7 ,   ' y ' :   0.0 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   0.0 ,   ' width ' :   300 ,   ' height ' :   200 ,   ' fov ' :   100 } ,   { ' type ' :   ' sensor . lidar . ray _ cast ' ,   ' id ' :   ' LIDAR ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   - 45.0 } ,   { ' type ' :   ' sensor . other . radar ' ,   ' id ' :   ' RADAR ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   - 45.0 ,   ' fov ' :   30 } ,   { ' type ' :   ' sensor . other . gnss ' ,   ' id ' :   ' GPS ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 } ,   { ' type ' :   ' sensor . other . imu ' ,   ' id ' :   ' IMU ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   - 45.0 } ,   { ' type ' :   ' sensor . opendrive _ map ' ,   ' id ' :   ' OpenDRIVE ' ,   ' reading _ frequency ' :   1 } ,   { ' type ' :   ' sensor . speedometer ' ,   ' id ' :   ' Speed ' } ,   ]   return   sensors   \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c5e\u6027 \u90fd \u5177\u6709 \u56fa\u5b9a \u56fa\u5b9a\u503c \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u5728   agent _ wrapper . py   \u4e2d \u8fdb\u884c \u68c0\u67e5 \u3002 \u8fd9\u6837 \u505a \u53ef\u4ee5 \u4f7f \u6240\u6709 \u56e2\u961f \u5728 \u4e00\u4e2a \u901a\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6846\u67b6 \u5185 \u8fdb\u884c \u7ade\u4e89 \u3002   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u8868\u793a \u4e3a \u5b57\u5178 \uff0c \u5305\u542b \u4ee5\u4e0b \u5c5e\u6027 \uff1a   type   :   \u8981 \u6dfb\u52a0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7c7b\u578b \u3002   id   :   \u5c06 \u88ab \u7ed9\u4e88 \u7a0d\u540e \u8981 \u8bbf\u95ee \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6807\u7b7e \u3002   other   attributes   :   \u8fd9\u4e9b \u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f9d\u8d56 \u4f9d\u8d56\u6027 \u7684 \uff0c \u4f8b\u5982 \uff1a \u5916\u53c2 \u548c   fov \u3002   \u7528\u6237 \u53ef\u4ee5 \u5728 \u76f8\u5bf9 \u4e8e \u8f66\u8f86 \u7684 \u76f8\u5bf9 \u5750\u6807 \u4e2d \u8bbe\u7f6e \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5185\u90e8 \u548c \u5916\u90e8 \u53c2\u6570 \uff08 \u4f4d\u7f6e \u548c \u65b9\u5411 \uff09 \u3002 \u8bf7 \u6ce8\u610f \uff0c Carla   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u5750\u6807\u7cfb \uff0c \u5373 \uff1a   x - front   \uff0c   y - right   \uff0c   z - up   \u3002   \u53ef\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6709 \uff1a   sensor . camera . rgb   :   \u6355\u6349 \u56fe\u50cf \u7684 \u666e\u901a \u76f8\u673a \u3002   sensor . lidar . ray _ cast   :   Velodyne   64 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002   sensor . other . radar   :   \u8fdc\u7a0b \u96f7\u8fbe \uff08 \u9ad8\u8fbe 100 \u7c73 \uff09 \u3002   sensor . other . gnss   :   GPS \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fd4\u56de \u5730\u7406 \u4f4d\u7f6e \u5730\u7406\u4f4d\u7f6e \u6570\u636e \u3002   sensor . other . imu   :   6 \u8f74 \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u3002   sensor . opendrive _ map   :   \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4ee5 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7684 OpenDRIVE \u683c\u5f0f \u516c\u5f00 HD \u6620\u5c04 \u3002   sensor . speedometer   :   \u63d0\u4f9b \u8fd1\u4f3c \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u7684 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u6ce8\u610f   \u8bd5\u56fe \u8bbe\u7f6e \u53e6 \u4e00\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6216 \u62fc\u9519 \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5c06 \u5bfc\u81f4 \u8bbe\u7f6e \u5931\u8d25 \u3002   \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u7684 \u4efb\u4f55 \u4e00\u4e2a \u6765 \u914d\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5806\u6808 \u3002 \u7136\u800c \uff0c \u4e3a\u4e86 \u4fdd\u6301 \u9002\u5ea6 \u7684 \u8ba1\u7b97 \u8d1f\u8f7d \uff0c \u6211\u4eec \u5bf9 \u53ef\u4ee5 \u6dfb\u52a0 \u5230 \u4ee3\u7406 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u91cf \u8bbe\u7f6e \u4e86 \u4ee5\u4e0b \u9650\u5236 \uff1a   sensor . camera . rgb   :   4   sensor . lidar . ray _ cast   :   1   sensor . other . radar   :   2   sensor . other . gnss   :   1   sensor . other . imu   :   1   sensor . opendrive _ map   :   1   sensor . speedometer   :   1   \u6ce8\u610f   \u8bd5\u56fe \u8bbe\u7f6e \u8fc7\u591a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5355\u5143 \u4f1a \u5bfc\u81f4 \u8bbe\u7f6e \u5931\u8d25 \u3002   \u8fd8\u6709 \u4e00\u4e9b \u7a7a\u95f4 \u9650\u5236 \u9650\u5236 \u4e86 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u8f66\u8f86 \u4f53\u79ef \u5185 \u7684 \u653e\u7f6e \u3002 \u5982\u679c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4efb\u4f55 \u8f74 \uff08 \u4f8b\u5982   [ 3.1 , 0.0 , 0.0 ]   \uff09 \u4e0a \u8ddd\u79bb \u5176\u7236 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8d85\u8fc7   3   \u7c73 \uff0c \u5219 \u8bbe\u7f6e \u5c06 \u5931\u8d25 \u3002   \u91cd\u5199   run _ step   \u65b9\u6cd5   \u6b64 \u65b9\u6cd5 \u5c06 \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u957f \u8c03\u7528 \u4e00\u6b21 \uff0c \u4ee5 \u751f\u6210   carla . VehicleControl   \u5bf9\u8c61 \u5f62\u5f0f \u7684 \u65b0 \u52a8\u4f5c \u3002 \u786e\u4fdd \u6b64 \u51fd\u6570 \u8fd4\u56de \u5c06 \u7528\u4e8e \u66f4\u65b0 \u4ee3\u7406 \u7684 \u63a7\u5236 \u5bf9\u8c61 \u3002   def   run _ step ( self ,   input _ data ,   timestamp ) :   control   =   self ._ do _ something _ smart ( input _ data ,   timestamp )   return   control   input _ data   :   \u5305\u542b \u6240 \u8bf7\u6c42 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u7684 \u5b57\u5178 \u3002 \u6570\u636e \u5df2\u7ecf \u5728   sensor _ interface . py   \u4e0a \u8fdb\u884c \u4e86 \u5904\u7406 \u9884\u5904\u7406 \uff0c \u5e76 \u5c06 \u4ee5 numpy \u6570\u7ec4 \u7684 \u5f62\u5f0f \u7ed9\u51fa \u3002 \u8be5 \u5b57\u5178 \u7531 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65b9\u6cd5 \u4e2d \u5b9a\u4e49 \u7684 id \u7d22\u5f15 \u3002   timestamp   :   \u5f53\u524d \u4eff\u771f \u77ac\u95f4 \u7684 \u65f6\u95f4 \u6233 \u3002   \u8bf7 \u8bb0\u4f4f \uff0c \u60a8 \u8fd8 \u53ef\u4ee5 \u8bbf\u95ee \u81ea\u6211 \u4ee3\u7406 \u4e3a \u8fbe\u5230 \u76ee\u7684 \u76ee\u7684\u5730 \u800c\u5e94 \u8d70 \u7684 \u8def\u7ebf \u3002 \u5229\u7528   self ._ global _ plan   \u6210\u5458 \u8bbf\u95ee \u5730\u7406 \u4f4d\u7f6e \u5730\u7406\u4f4d\u7f6e \u8def\u7531 \u548c   self ._ global _ plan _ world _ coord   \u4f5c\u4e3a \u5176 \u4e16\u754c \u4f4d\u7f6e \u5bf9\u5e94 \u9879 \u3002   \u91cd\u5199   destroy   \u65b9\u6cd5   \u5728 \u6bcf\u6761 \u8def\u7531 \u7ed3\u675f \u65f6 \uff0c \u5c06 \u8c03\u7528   destroy   \u65b9\u6cd5 \uff0c \u5728 \u9700\u8981 \u6e05\u7406 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u4ee3\u7406 \u53ef\u4ee5 \u8986\u76d6 \u8be5 \u65b9\u6cd5 \u3002 \u4f8b\u5982 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u6b64 \u529f\u80fd \u64e6\u9664 \u7f51\u7edc \u4e2d \u4efb\u4f55 \u4e0d \u9700\u8981 \u7684 \u5185\u5b58   def   destroy ( self ) :   pass   \u57fa\u4e8e \u4ee3\u7406 \u7684   ROS   \u5982\u679c \u60a8 \u60f3 \u5c06   ROS   \u4f5c\u4e3a \u4ee3\u7406 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u4ee5\u4e0b \u662f \u4e00\u4e9b \u9700\u8981 \u8003\u8651 \u7684 \u5efa\u8bae \uff1a   ROS   Melodic   :   \u7531\u4e8e \u6392\u884c \u6392\u884c\u699c \u4ec5 \u4e0e   Python   3   \u517c\u5bb9 \uff0c \u6211\u4eec \u5efa\u8bae \u4f7f\u7528   roslibpy   \u5728 \u6392\u884c \u6392\u884c\u699c \u548c ROS \u5806\u6808 \u4e4b\u95f4 \u8fdb\u884c \u901a\u4fe1 \u3002   ROS   Noetic   :   \u7531\u4e8e   ROS   Noetic   \u7684 \u76ee\u6807 \u662f   Python3 \uff0c \u60a8 \u53ef\u4ee5 \u76f4\u63a5 \u4f7f\u7528   rospy   \u521b\u5efa \u4e00\u4e2a \u8282\u70b9 \u6765 \u4e0e \u60a8 \u7684 ROS \u5806\u6808 \u901a\u4fe1 \u6392\u884c \u6392\u884c\u699c \u3002   ROS2   Foxy   :   \u4e0e ROS   Noetic \u7c7b\u4f3c \uff0c \u60a8 \u53ef\u4ee5 \u76f4\u63a5 \u4f7f\u7528   rcpy   \u4e0e \u60a8 \u7684 \u5806\u6808 \u5efa\u7acb \u901a\u4fe1 \u3002   \u8bad\u7ec3 \u548c \u6d4b\u8bd5 \u4ee3\u7406   \u6211\u4eec \u51c6\u5907 \u4e86 \u4e00\u7ec4 \u9884\u5b9a \u4e49 \u7684 \u8def\u7ebf \u4f5c\u4e3a \u8d77\u70b9 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u8fd9\u4e9b \u9014\u5f84 \u6765 \u8bad\u7ec3 \u548c \u9a8c\u8bc1 \u4ee3\u7406 \u7684 \u6027\u80fd \u3002 \u53ef\u4ee5 \u5728 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   { LEADERBOARD _ ROOT } / data   :   routes _ training . xml   :   \u62df \u7528\u4f5c \u8bad\u7ec3 \u6570\u636e \u7684 50 \u6761 \u8def\u7ebf \uff08 112.8 \u516c\u91cc \uff09 \u3002   routes _ testing . xml   :   \u62df \u7528\u4f5c \u9a8c\u8bc1 \u6570\u636e \u7684 26 \u6761 \u8def\u7ebf \uff08 58.9 \u516c\u91cc \uff09 \u3002   \u57fa\u51c6   Brady   Zhou   \u5728   Learning   by   Cheating   \u7684 \u57fa\u7840 \u4e0a \u521b\u9020 \u4e86 \u4e00\u5957 \u51fa\u8272 \u7684   starter   kit   \u3002","title":"\u5f00\u59cb \u4f7f\u7528 \u6392\u884c\u699c   2.0"},{"location":"leaderboard_get_started/#20","text":"\u7b14\u8bb0   \u672c\u9875 \u4fe1\u606f \u6d89\u53ca \u6700\u65b0 \u7248\u672c   Leaderboard   2.0 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f \u4ee5\u524d \u7248\u672c \u7684 \u6392\u884c \u6392\u884c\u699c \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u6392\u884c \u6392\u884c\u699c   1.0   \u5165\u95e8 \u8bf4\u660e \u3002   \u4e3a\u4e86 \u5f00\u59cb \u5f00\u53d1 \u60a8 \u7684 \u81ea\u4e3b \u4ee3\u7406 \uff0c \u60a8 \u9700\u8981 \u5b8c\u6210 \u4ee5\u4e0b \u8fc7\u7a0b \uff1a","title":"\u5f00\u59cb \u4f7f\u7528 \u6392\u884c\u699c   2.0"},{"location":"leaderboard_get_started/#_1","text":"","title":"\u7cfb\u7edf \u8bbe\u7f6e"},{"location":"leaderboard_get_started/#carla","text":"\u4e0b\u8f7d \u6253\u5305 \u7684   Carla   \u6392\u884c \u6392\u884c\u699c \u7248\u672c \u3002   \u5c06 \u5305 \u89e3\u538b \u5230 \u4e00\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u4f8b\u5982   Carla \u3002   \u7b14\u8bb0   \u5728 \u4ee5\u4e0b \u547d\u4ee4 \u4e2d \uff0c \u66f4\u6539   $ { CARLA _ ROOT }   \u53d8\u91cf \u4ee5 \u5bf9\u5e94 \u4e8e \u60a8 \u7684   Carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u4e3a\u4e86 \u4f7f\u7528   Carla   Python   API \uff0c \u60a8 \u9700\u8981 \u5728 \u60a8 \u559c\u6b22 \u7684 \u73af\u5883 \u4e2d \u5b89\u88c5 \u4e00\u4e9b \u4f9d\u8d56 \u9879 \u3002 \u4f5c\u4e3a \u53c2\u8003 \uff0c \u5bf9\u4e8e conda \uff0c \u9996\u5148 \u521b\u5efa \u4e00\u4e2a \u65b0 \u73af\u5883 \uff1a   conda   create   - n   py37   python = 3.7   conda   activate   py37   cd   $ { CARLA _ ROOT }   #   \u6539\u53d8 \u60a8 \u7684   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55   $ { CARLA _ ROOT }   pip3   install   - r   PythonAPI / carla / requirements . txt   \u7b14\u8bb0   Carla   \u6392\u884c \u6392\u884c\u699c \u7248\u672c \u57fa\u4e8e   0.9 . 14   \u7248\u672c \u3002 \u5b83 \u8fd8 \u5177\u6709 \u5373\u5c06 \u53d1\u5e03 \u7684   0.9 . 14   \u7248\u672c \u7684 \u4e00\u4e9b \u529f\u80fd \uff0c \u4f8b\u5982 \u65b0 \u7684 \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd \u3002 \u56e0\u6b64 \uff0c \u5728 \u4f7f\u7528   API   \u65f6\u8bf7 \u53c2\u8003 \u6700\u65b0 \u7684 \u6587\u6863 \u3002","title":"\u4e0b\u8f7d   CARLA   \u6392\u884c\u699c \u5305"},{"location":"leaderboard_get_started/#_2","text":"\u4e0b\u8f7d \u6392\u884c \u6392\u884c\u699c \u5b58\u50a8 \u5e93   Leaderboard - 2.0   \u5206\u652f \u3002   git   clone   - b   leaderboard - 2.0   -- single - branch   https : / / github . com / carla - simulator / leaderboard . git   \u5728 \u4ee5\u4e0b \u547d\u4ee4 \u4e2d \uff0c \u66f4\u6539 $ { LEADERBOARD _ ROOT } \u53d8\u91cf \u4ee5 \u5bf9\u5e94 \u4e8e \u60a8 \u7684 \u6392\u884c \u6392\u884c\u699c \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u5b89\u88c5 \u6240 \u9700 \u7684   Python   \u4f9d\u8d56 \u9879 \u3002   cd   $ { LEADERBOARD _ ROOT }   #   \u6539\u53d8 \u60a8 \u7684 \u6392\u884c \u6392\u884c\u699c \u76ee\u5f55 \u6839\u76ee\u5f55   $ { LEADERBOARD _ ROOT }   pip3   install   - r   requirements . txt   \u4e0b\u8f7d   Scenario   Runner   \u5b58\u50a8 \u5e93 \u6392\u884c \u6392\u884c\u699c - 2.0   \u5206\u652f \u3002   git   clone   - b   leaderboard - 2.0   -- single - branch   https : / / github . com / carla - simulator / scenario _ runner . git   \u5728 \u4ee5\u4e0b \u547d\u4ee4 \u4e2d \uff0c \u5c06   \u66f4 \u6539\u4e3a   $ { SCENARIO _ RUNNER _ ROOT }   \u4e0e \u60a8 \u7684   Scenario _ Runner   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u76f8\u5bf9 \u5e94 \u3002   \u4f7f\u7528 \u76f8\u540c \u7684   Python   \u73af\u5883 \u5b89\u88c5 \u6240 \u9700 \u7684   Python   \u4f9d\u8d56 \u9879 \u3002   cd   $ { SCENARIO _ RUNNER _ ROOT }   #   \u6539\u53d8 \u60a8 \u7684   Scenario _ Runner   \u7684 \u76ee\u5f55 \u6839\u76ee\u5f55   $ { SCENARIO _ RUNNER _ ROOT }   pip3   install   - r   requirements . txt","title":"\u83b7\u53d6 \u6392\u884c\u699c \u548c \u573a\u666f \u8dd1\u8005"},{"location":"leaderboard_get_started/#ros","text":"\u9996\u5148 \uff0c \u4e0b\u8f7d \u5e76 \u5b89\u88c5 \u9002\u5f53 \u7684   ROS   \u6216   ROS2   \u53d1\u884c \u53d1\u884c\u7248 \u3002   Leaderboard   2.0   \u652f\u6301   ROS   Melodic \u3001 ROS   Noetic   \u548c   ROS2   Foxy \u3002 \u7136\u540e \uff0c \u514b\u9686 \u5e76 \u6784\u5efa   ROS   \u6216   ROS2   \u7684   Carla   ROS   \u6865 \u5b58\u50a8 \u5e93 \u3002 \u786e\u4fdd   leaderboard - 2.0   \u5728 \u514b\u9686   Carla   ROS   Bridge   \u5b58\u50a8 \u5e93\u65f6 \u6307\u5b9a \u5206\u652f \uff1a   git   clone   -- recurse - submodules   - b   leaderboard - 2.0   -- single - branch   https : / / github . com / carla - simulator / ros - bridge","title":"\u57fa\u4e8e   ROS   \u7684 \u4ee3\u7406"},{"location":"leaderboard_get_started/#_3","text":"\u6211\u4eec \u9700\u8981 \u786e\u4fdd \u4e0d\u540c \u7684 \u6a21\u5757 \u53ef\u4ee5 \u627e\u5230 \u5f7c\u6b64 \u3002   ~ / . bashrc   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u6253\u5f00 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \uff1a   gedit   ~ / . bashrc   \u7f16\u8f91 \u60a8 \u7684   ~ / . bashrc \u4e2a\u4eba \u8d44\u6599 \u4e2a\u4eba\u8d44\u6599 \uff0c \u6dfb\u52a0 \u4ee5\u4e0b \u5b9a\u4e49 \u3002 \u7f16\u8f91 \u540e \u4fdd\u5b58 \u5e76 \u5173\u95ed \u6587\u4ef6 \u3002   export   CARLA _ ROOT = PATH _ TO _ CARLA _ ROOT   export   SCENARIO _ RUNNER _ ROOT = PATH _ TO _ SCENARIO _ RUNNER   export   LEADERBOARD _ ROOT = PATH _ TO _ LEADERBOARD   export   PYTHONPATH = \" $ { CARLA _ ROOT } / PythonAPI / carla / \" : \" $ { SCENARIO _ RUNNER _ ROOT } \" : \" $ { LEADERBOARD _ ROOT } \" : \" $ { CARLA _ ROOT } / PythonAPI / carla / dist / carla - 0.9 . 14 - py3.7 - linux - x86 _ 64 . egg \" : $ { PYTHONPATH }   \u8bf7 \u8bb0\u4f4f   . bashrc   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f \u8fd9\u4e9b \u66f4\u6539 \u751f\u6548 \uff1a   source   ~ / . bashrc","title":"\u5b9a\u4e49 \u73af\u5883\u53d8\u91cf"},{"location":"leaderboard_get_started/#_4","text":"","title":"\u521b\u5efa \u5e26\u6709 \u6392\u884c\u699c \u7684 \u81ea\u6cbb \u4ee3\u7406"},{"location":"leaderboard_get_started/#_5","text":"\u6392\u884c \u6392\u884c\u699c \u5c06 \u8d1f\u8d23 \u8fd0\u884c \u60a8 \u7684 \u81ea\u4e3b \u4ee3\u7406 \uff0c \u5e76 \u8bc4\u4f30 \u5176 \u5728 \u591a\u6761 \u8def\u7ebf \u7684 \u4e0d\u540c \u4ea4\u901a \u60c5\u51b5 \u4e0b \u7684 \u884c\u4e3a \u3002 \u4e3a\u4e86 \u66f4\u597d \u5730 \u7406\u89e3 \u8fd9\u4e2a \u8fc7\u7a0b \uff0c \u8ba9 \u6211\u4eec \u8fd0\u884c \u4e00\u4e2a \u57fa\u672c \u4ee3\u7406 \u3002   \u5728 \u4e00\u4e2a \u7ec8\u7aef \u4e2d \u8fd0\u884c   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   cd   $ { CARLA _ ROOT }   . / CarlaUE4 . sh   - quality - level = Epic   - world - port = 2000   - resx = 800   - resy = 600   \u5728 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u4e2d \uff0c \u5bfc\u822a \u5230   $ { LEADERBOARD _ ROOT }   . \u867d\u7136 \u6392\u884c \u6392\u884c\u699c \u662f \u4f7f\u7528   leaderboard _ evaluator . py   python   \u811a\u672c \u8fd0\u884c \u7684 \uff0c \u4f46 \u4f7f\u7528 \u7684 \u53c2\u6570 \u6570\u91cf \u53ef\u80fd \u4f1a \u8ba9 \u4f7f\u7528 \u7ec8\u7aef \u76f4\u63a5 \u6267\u884c \u6b64 \u64cd\u4f5c \u611f\u5230 \u975e\u5e38 \u4e0d \u8212\u670d \u3002 \u56e0\u6b64 \uff0c \u5efa\u8bae \u4f7f\u7528   bash   \u811a\u672c \u3002 \u6392\u884c \u6392\u884c\u699c \u63d0\u4f9b \u7684   run _ leaderboard . sh   \u811a\u672c \u6b63\u662f \u8fd9\u6837 \u505a \u7684 \u3002 \u8fd0\u884c \u811a\u672c \uff1a   . / run _ leaderboard . sh   \u8fd9 \u5c06 \u542f\u52a8 \u4e00\u4e2a   pygame   \u7a97\u53e3 \uff0c \u8ba9 \u60a8 \u53ef\u4ee5 \u9009\u62e9 \u624b\u52a8 \u63a7\u5236 \u4ee3\u7406 \u3002 \u6309\u7167 \u5f69\u8272 \u8def\u5f84 \u70b9 \u6307\u793a \u7684 \u8def\u7ebf \u5230\u8fbe \u76ee\u7684 \u76ee\u7684\u5730 \u3002 \u8be5 \u811a\u672c \u52a0\u8f7d   Town   12   \u4e2d \u7684 \u4e24\u6761 \u8def\u7ebf \u4e24\u6761\u8def \u4e24\u6761\u8def\u7ebf \u3002   \u9075\u5faa \u8def\u7ebf \u5e76 \u9075\u5b88 \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \uff0c \u76f4\u5230 \u5230\u8fbe \u76ee\u7684 \u76ee\u7684\u5730 \u3002   \u7b14\u8bb0   \u624b\u52a8 \u4e2d\u65ad \u6392\u884c \u6392\u884c\u699c \u5c06 \u62a2\u5148 \u505c\u6b62 \u8def\u7ebf \u4eff\u771f \uff0c \u81ea\u52a8 \u8fdb\u5165 \u4e0b \u4e00\u6761 \u8def\u7ebf \u3002","title":"\u6392\u884c\u699c \u7684 \u7b2c\u4e00\u6b65"},{"location":"leaderboard_get_started/#_6","text":"\u8fd0\u884c \u6d4b\u8bd5 \u65f6 \uff0c \u6211\u4eec \u8bbe\u7f6e \u4e86 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u53c2\u6570 \u3002 \u8ba9 \u6211\u4eec \u4e86\u89e3 \u4e00\u4e0b \u5b83\u4eec \u4ee5\u53ca \u5b83\u4eec \u5728 \u6392\u884c \u6392\u884c\u699c \u4e2d \u7684 \u4f5c\u7528 \u3002   ROUTES   ( XML )   \u2014   \u5c06 \u7528\u4e8e \u4eff\u771f \u7684 \u8def\u7ebf \u96c6 \u3002 \u6bcf\u6761 \u8def\u7ebf \u90fd \u6709 \u4e00\u4e2a \u8d77\u70b9 \uff08 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8def\u5f84 \u70b9 \uff09 \u548c \u4e00\u4e2a \u7ec8\u70b9 \uff08 \u6700\u540e \u4e00\u4e2a \u8def\u5f84 \u70b9 \uff09 \u3002 \u6b64\u5916 \uff0c \u5b83\u4eec \u8fd8 \u53ef\u4ee5 \u5305\u542b \u5929\u6c14 \u6982\u51b5 \u6765 \u8bbe\u7f6e \u7279\u5b9a \u7684 \u5929\u6c14 \u6761\u4ef6 \u3002 \u4e00\u4efd   XML   \u5305\u542b \u8bb8\u591a \u8def\u7531 \uff0c \u6bcf\u6761 \u8def\u7531 \u90fd \u6709 \u4e00\u4e2a   ID \u3002 \u7528\u6237 \u53ef\u4ee5 \u4fee\u6539 \u3001 \u6dfb\u52a0 \u548c \u5220\u9664 \u8def\u7ebf \u4ee5 \u8fdb\u884c \u57f9\u8bad \u548c \u9a8c\u8bc1 \u3002 \u6392\u884c \u6392\u884c\u699c \u9644\u5e26 \u4e86 \u4e00\u7ec4 \u7528\u4e8e \u8c03\u8bd5 \u3001 \u8bad\u7ec3 \u548c \u9a8c\u8bc1 \u7684 \u8def\u7ebf \u3002 \u7528\u4e8e \u5728\u7ebf \u8bc4\u4f30 \u7684 \u8def\u7ebf \u662f \u79d8\u5bc6 \u7684 \u3002 \u8be5 \u6587\u4ef6 \u8fd8 \u5305\u62ec \u5c06 \u5728 \u4eff\u771f \u4e2d \u6d4b\u8bd5 \u7684 \u573a\u666f \uff0c \u6bcf\u6761 \u8def\u7ebf \u90fd \u6709 \u81ea\u5df1 \u7684 \u4e00\u7ec4 \u573a\u666f \u3002 \u573a\u666f \u88ab \u5b9a\u4e49 \u4e3a \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u3002 \u7279\u5de5 \u5fc5\u987b \u514b\u670d \u8fd9\u4e9b \u573a\u666f \u624d\u80fd \u901a\u8fc7 \u6d4b\u8bd5 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u8bbf\u95ee \u4e00\u7ec4 \u9002\u7528 \u4e8e \u516c\u5171 \u57ce\u9547 \u7684 \u4ea4\u901a \u573a\u666f \u3002 \u5b58\u5728 \u4f7f\u7528 \u4e0d\u540c \u53c2\u6570 \u5b9e\u4f8b \u5316 \u7684 \u591a\u79cd \u79cd\u7c7b \u7c7b\u578b \u591a\u79cd\u7c7b\u578b \u7684 \u573a\u666f \u3002 \u4ee5\u4e0b \u662f \u53ef\u7528 \u65b9\u6848 \u7684 \u5217\u8868 \u3002   REPETITIONS   ( int )   \u2014   \u51fa\u4e8e \u7edf\u8ba1 \u76ee\u7684 \uff0c \u6bcf\u6761 \u8def\u7ebf \u91cd\u590d \u7684 \u6b21\u6570 \u3002   TEAM _ AGENT   ( Python   \u6a21\u5757 )   \u2014   \u4ee3\u7406 \u7684   Python   \u6a21\u5757 \u7684 \u8def\u5f84 \u3002 \u521b\u5efa \u4ee3\u7406 \u7684 \u6b65\u9aa4 \u5c06 \u5728 \u4e0b \u4e00\u6b65 \u4e2d \u89e3\u91ca \u3002   \u5176\u4ed6 \u76f8\u5173 \u53c2\u6570 \u5982\u4e0b \u6240\u8ff0 \u3002   TEAM _ CONFIG   \uff08 \u7531 \u7528\u6237 \u5b9a\u4e49 \uff09   \u2014   \u6240 \u63d0\u4f9b \u7684 \u4ee3\u7406 \u8bfb\u53d6 \u7684 \u4efb\u610f \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u7684 \u8def\u5f84 \u3002 \u60a8 \u8d1f\u8d23 \u5728 \u4ee3\u7406 \u7c7b\u4e2d \u5b9a\u4e49 \u548c \u89e3\u6790 \u6b64 \u6587\u4ef6 \u3002   DEBUG _ CHALLENGE   ( int )   \u2014   \u6307\u793a \u4eff\u771f \u671f\u95f4 \u662f\u5426 \u5e94 \u663e\u793a \u8c03\u8bd5 \u4fe1\u606f \u8c03\u8bd5\u4fe1\u606f \u7684 \u6807\u5fd7 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8be5 \u53d8\u91cf \u672a \u8bbe\u7f6e   ( 0 ) \uff0c \u8fd9 \u4e0d\u4f1a \u751f\u6210 \u8981 \u663e\u793a \u7684 \u8c03\u8bd5 \u4fe1\u606f \u8c03\u8bd5\u4fe1\u606f \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   1   \u65f6 \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5c06 \u663e\u793a \u8981 \u9075\u5faa \u7684 \u53c2\u8003 \u8def\u7ebf \u3002 \u5982\u679c \u6b64 \u53d8\u91cf \u8bbe\u7f6e \u4e3a \u5927\u4e8e \u4efb\u4f55 \u503c \uff0c   1 \u5f15\u64ce \u5c06 \u6253\u5370 \u4eff\u771f \u7684 \u5b8c\u6574 \u72b6\u6001 \u4ee5 \u7528\u4e8e \u8c03\u8bd5 \u76ee\u7684 \u3002   CHECKPOINT _ ENDPOINT   ( JSON )   \u2014   \u5c06 \u8bb0\u5f55   Leaderboard   \u6307\u6807 \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u3002   RECORD _ PATH   \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff09   \u2014   \u5c06 \u5b58\u50a8   Carla   \u65e5\u5fd7 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u8def\u5f84 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b\u672a \u8bbe\u7f6e \u3002   RESUME \u2014   \u6307\u793a \u4eff\u771f \u662f\u5426 \u5e94\u4ece \u6700\u540e \u4e00\u6761 \u8def\u7ebf \u6062\u590d \u7684 \u6807\u5fd7 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b\u672a \u8bbe\u7f6e \u3002   CHALLENGE _ TRACK _ CODENAME   \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff09   \u2014   \u4ee3\u7406 \u6b63\u5728 \u7ade\u4e89 \u7684 \u8d5b\u9053 \u3002 \u6709 \u4e24\u4e2a \u53ef\u80fd \u7684 \u9009\u9879 \uff1a   SENSORS   \u548c   MAP \u3002 \u8be5   SENSORS   \u8d5b\u9053 \u5141\u8bb8 \u4f7f\u7528 \u591a\u4e2a \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u3001 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u96f7\u8fbe \u3001 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u3001 \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u548c \u901f\u5ea6 \u901f\u5ea6\u8ba1 \u3002 \u9664\u4e86 \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e4b\u5916 \uff0c MAP   \u8d5b\u9053 \u8fd8 \u5141\u8bb8 \u76f4\u63a5 \u8bbf\u95ee   OpenDRIVE   \u9ad8\u6e05 \u5730\u56fe \u3002 \u60a8 \u8d1f\u8d23 \u6839\u636e \u9700\u8981 \u89e3\u6790 \u548c \u5904\u7406   OpenDRIVE   \u6620\u5c04 \u3002   \u8fd9\u4e9b \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u88ab \u4f20\u9012 \u5230   $ { LEADERBOARD _ ROOT } / LEADERBOARD / LEADERBOARD _ evaluator . py   \uff0c \u4f5c\u4e3a \u6267\u884c \u4eff\u771f \u7684 \u5165\u53e3 \u70b9 \u3002 \u67e5\u770b   leaderboard _ evaluator . py   \uff0c \u4e86\u89e3 \u6709\u5173 \u5982\u4f55 \u6267\u884c \u548c \u8bc4\u4f30 \u4ee3\u7406 \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002","title":"\u4e86\u89e3 \u6392\u884c\u699c \u7ec4\u4ef6"},{"location":"leaderboard_get_started/#_7","text":"\u65b0 \u4ee3\u7406 \u7684 \u5b9a\u4e49 \u59cb\u4e8e \u521b\u5efa \u4e00\u4e2a \u65b0\u7c7b \uff0c \u8be5\u7c7b \u7ee7\u627f \u81ea   leaderboard . autoagents . autonomous _ agent . AutonomousAgent   \u3002","title":"\u521b\u5efa \u81ea\u5df1 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406"},{"location":"leaderboard_get_started/#get_entry_point","text":"\u9996\u5148 \uff0c \u5b9a\u4e49 \u4e00\u4e2a \u540d\u4e3a   get _ entry _ point   \u7684 \u51fd\u6570 \uff0c \u8be5 \u51fd\u6570 \u8fd4\u56de \u65b0\u7c7b \u7684 \u540d\u79f0 \u3002 \u8fd9 \u5c06 \u7528\u4e8e \u81ea\u52a8 \u5b9e\u4f8b \u5316 \u60a8 \u7684 \u4ee3\u7406 \u3002   from   leaderboard . autoagents . autonomous _ agent   import   AutonomousAgent   def   get _ entry _ point ( ) :   return   ' MyAgent '   class   MyAgent ( AutonomousAgent ) :   ...","title":"\u521b\u5efa   get _ entry _ point"},{"location":"leaderboard_get_started/#setup","text":"\u5728 \u4ee3\u7406 \u7c7b\u4e2d \u91cd\u5199   setup   \u65b9\u6cd5 \u3002 \u6b64 \u65b9\u6cd5 \u6267\u884c \u4ee3\u7406 \u6240 \u9700 \u7684 \u6240\u6709 \u521d\u59cb \u521d\u59cb\u5316 \u548c \u5b9a\u4e49 \u3002 \u6bcf\u6b21 \u521d\u59cb \u521d\u59cb\u5316 \u8def\u7531 \u65f6 \uff0c \u90fd \u4f1a \u81ea\u52a8 \u8c03\u7528 \u5b83 \u3002 \u5b83 \u53ef\u4ee5 \u63a5\u6536 \u6307\u5411 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u7684 \u53ef\u9009 \u53c2\u6570 \u3002 \u7528\u6237 \u5e94 \u5206\u6790 \u6b64 \u6587\u4ef6 \u3002 \u81f3\u5c11 \uff0c \u60a8 \u9700\u8981 \u6307\u5b9a \u53c2\u4e0e \u7684 \u66f2\u76ee \u3002   from   leaderboard . autoagents . autonomous _ agent   import   Track   ...   def   setup ( self ,   path _ to _ conf _ file ) :   self . track   =   Track . SENSORS   #   \u6b64 \u65b9\u6cd5 \u81f3\u5c11 \u8bbe\u7f6e \u6392\u884c \u6392\u884c\u699c \u6a21\u5f0f \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b   SENSORS   \u6ce8\u610f   self . track   \u5c5e\u6027 \u5e94\u8be5 \u662f \u679a\u4e3e \uff0c \u800c \u4e0d\u662f \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002 \u5b83 \u53ea\u80fd \u53d6 \u53ef\u80fd \u7684 \u503c   Track . SENSORS   \u6216   Track . MAP   \u3002","title":"\u91cd\u5199   setup   \u65b9\u6cd5"},{"location":"leaderboard_get_started/#_8","text":"\u60a8 \u8fd8 \u5fc5\u987b \u8986\u76d6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65b9\u6cd5 \uff0c \u8be5 \u65b9\u6cd5 \u5b9a\u4e49 \u4e86 \u60a8 \u7684 \u4ee3\u7406 \u6240 \u9700 \u7684 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   def   sensors ( self ) :   sensors   =   [   { ' type ' :   ' sensor . camera . rgb ' ,   ' id ' :   ' Center ' ,   ' x ' :   0.7 ,   ' y ' :   0.0 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   0.0 ,   ' width ' :   300 ,   ' height ' :   200 ,   ' fov ' :   100 } ,   { ' type ' :   ' sensor . lidar . ray _ cast ' ,   ' id ' :   ' LIDAR ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   - 45.0 } ,   { ' type ' :   ' sensor . other . radar ' ,   ' id ' :   ' RADAR ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   - 45.0 ,   ' fov ' :   30 } ,   { ' type ' :   ' sensor . other . gnss ' ,   ' id ' :   ' GPS ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 } ,   { ' type ' :   ' sensor . other . imu ' ,   ' id ' :   ' IMU ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   - 45.0 } ,   { ' type ' :   ' sensor . opendrive _ map ' ,   ' id ' :   ' OpenDRIVE ' ,   ' reading _ frequency ' :   1 } ,   { ' type ' :   ' sensor . speedometer ' ,   ' id ' :   ' Speed ' } ,   ]   return   sensors   \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c5e\u6027 \u90fd \u5177\u6709 \u56fa\u5b9a \u56fa\u5b9a\u503c \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u5728   agent _ wrapper . py   \u4e2d \u8fdb\u884c \u68c0\u67e5 \u3002 \u8fd9\u6837 \u505a \u53ef\u4ee5 \u4f7f \u6240\u6709 \u56e2\u961f \u5728 \u4e00\u4e2a \u901a\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6846\u67b6 \u5185 \u8fdb\u884c \u7ade\u4e89 \u3002   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u8868\u793a \u4e3a \u5b57\u5178 \uff0c \u5305\u542b \u4ee5\u4e0b \u5c5e\u6027 \uff1a   type   :   \u8981 \u6dfb\u52a0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7c7b\u578b \u3002   id   :   \u5c06 \u88ab \u7ed9\u4e88 \u7a0d\u540e \u8981 \u8bbf\u95ee \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6807\u7b7e \u3002   other   attributes   :   \u8fd9\u4e9b \u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f9d\u8d56 \u4f9d\u8d56\u6027 \u7684 \uff0c \u4f8b\u5982 \uff1a \u5916\u53c2 \u548c   fov \u3002   \u7528\u6237 \u53ef\u4ee5 \u5728 \u76f8\u5bf9 \u4e8e \u8f66\u8f86 \u7684 \u76f8\u5bf9 \u5750\u6807 \u4e2d \u8bbe\u7f6e \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5185\u90e8 \u548c \u5916\u90e8 \u53c2\u6570 \uff08 \u4f4d\u7f6e \u548c \u65b9\u5411 \uff09 \u3002 \u8bf7 \u6ce8\u610f \uff0c Carla   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u5750\u6807\u7cfb \uff0c \u5373 \uff1a   x - front   \uff0c   y - right   \uff0c   z - up   \u3002   \u53ef\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6709 \uff1a   sensor . camera . rgb   :   \u6355\u6349 \u56fe\u50cf \u7684 \u666e\u901a \u76f8\u673a \u3002   sensor . lidar . ray _ cast   :   Velodyne   64 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002   sensor . other . radar   :   \u8fdc\u7a0b \u96f7\u8fbe \uff08 \u9ad8\u8fbe 100 \u7c73 \uff09 \u3002   sensor . other . gnss   :   GPS \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fd4\u56de \u5730\u7406 \u4f4d\u7f6e \u5730\u7406\u4f4d\u7f6e \u6570\u636e \u3002   sensor . other . imu   :   6 \u8f74 \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u3002   sensor . opendrive _ map   :   \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4ee5 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7684 OpenDRIVE \u683c\u5f0f \u516c\u5f00 HD \u6620\u5c04 \u3002   sensor . speedometer   :   \u63d0\u4f9b \u8fd1\u4f3c \u901f\u5ea6 \u7ebf\u901f\u5ea6 \u7684 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u6ce8\u610f   \u8bd5\u56fe \u8bbe\u7f6e \u53e6 \u4e00\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6216 \u62fc\u9519 \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5c06 \u5bfc\u81f4 \u8bbe\u7f6e \u5931\u8d25 \u3002   \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u7684 \u4efb\u4f55 \u4e00\u4e2a \u6765 \u914d\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5806\u6808 \u3002 \u7136\u800c \uff0c \u4e3a\u4e86 \u4fdd\u6301 \u9002\u5ea6 \u7684 \u8ba1\u7b97 \u8d1f\u8f7d \uff0c \u6211\u4eec \u5bf9 \u53ef\u4ee5 \u6dfb\u52a0 \u5230 \u4ee3\u7406 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u91cf \u8bbe\u7f6e \u4e86 \u4ee5\u4e0b \u9650\u5236 \uff1a   sensor . camera . rgb   :   4   sensor . lidar . ray _ cast   :   1   sensor . other . radar   :   2   sensor . other . gnss   :   1   sensor . other . imu   :   1   sensor . opendrive _ map   :   1   sensor . speedometer   :   1   \u6ce8\u610f   \u8bd5\u56fe \u8bbe\u7f6e \u8fc7\u591a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5355\u5143 \u4f1a \u5bfc\u81f4 \u8bbe\u7f6e \u5931\u8d25 \u3002   \u8fd8\u6709 \u4e00\u4e9b \u7a7a\u95f4 \u9650\u5236 \u9650\u5236 \u4e86 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u8f66\u8f86 \u4f53\u79ef \u5185 \u7684 \u653e\u7f6e \u3002 \u5982\u679c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4efb\u4f55 \u8f74 \uff08 \u4f8b\u5982   [ 3.1 , 0.0 , 0.0 ]   \uff09 \u4e0a \u8ddd\u79bb \u5176\u7236 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8d85\u8fc7   3   \u7c73 \uff0c \u5219 \u8bbe\u7f6e \u5c06 \u5931\u8d25 \u3002","title":"\u91cd\u5199 \u4f20\u611f\u5668 \u65b9\u6cd5"},{"location":"leaderboard_get_started/#run_step","text":"\u6b64 \u65b9\u6cd5 \u5c06 \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u957f \u8c03\u7528 \u4e00\u6b21 \uff0c \u4ee5 \u751f\u6210   carla . VehicleControl   \u5bf9\u8c61 \u5f62\u5f0f \u7684 \u65b0 \u52a8\u4f5c \u3002 \u786e\u4fdd \u6b64 \u51fd\u6570 \u8fd4\u56de \u5c06 \u7528\u4e8e \u66f4\u65b0 \u4ee3\u7406 \u7684 \u63a7\u5236 \u5bf9\u8c61 \u3002   def   run _ step ( self ,   input _ data ,   timestamp ) :   control   =   self ._ do _ something _ smart ( input _ data ,   timestamp )   return   control   input _ data   :   \u5305\u542b \u6240 \u8bf7\u6c42 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u7684 \u5b57\u5178 \u3002 \u6570\u636e \u5df2\u7ecf \u5728   sensor _ interface . py   \u4e0a \u8fdb\u884c \u4e86 \u5904\u7406 \u9884\u5904\u7406 \uff0c \u5e76 \u5c06 \u4ee5 numpy \u6570\u7ec4 \u7684 \u5f62\u5f0f \u7ed9\u51fa \u3002 \u8be5 \u5b57\u5178 \u7531 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65b9\u6cd5 \u4e2d \u5b9a\u4e49 \u7684 id \u7d22\u5f15 \u3002   timestamp   :   \u5f53\u524d \u4eff\u771f \u77ac\u95f4 \u7684 \u65f6\u95f4 \u6233 \u3002   \u8bf7 \u8bb0\u4f4f \uff0c \u60a8 \u8fd8 \u53ef\u4ee5 \u8bbf\u95ee \u81ea\u6211 \u4ee3\u7406 \u4e3a \u8fbe\u5230 \u76ee\u7684 \u76ee\u7684\u5730 \u800c\u5e94 \u8d70 \u7684 \u8def\u7ebf \u3002 \u5229\u7528   self ._ global _ plan   \u6210\u5458 \u8bbf\u95ee \u5730\u7406 \u4f4d\u7f6e \u5730\u7406\u4f4d\u7f6e \u8def\u7531 \u548c   self ._ global _ plan _ world _ coord   \u4f5c\u4e3a \u5176 \u4e16\u754c \u4f4d\u7f6e \u5bf9\u5e94 \u9879 \u3002","title":"\u91cd\u5199   run _ step   \u65b9\u6cd5"},{"location":"leaderboard_get_started/#destroy","text":"\u5728 \u6bcf\u6761 \u8def\u7531 \u7ed3\u675f \u65f6 \uff0c \u5c06 \u8c03\u7528   destroy   \u65b9\u6cd5 \uff0c \u5728 \u9700\u8981 \u6e05\u7406 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u4ee3\u7406 \u53ef\u4ee5 \u8986\u76d6 \u8be5 \u65b9\u6cd5 \u3002 \u4f8b\u5982 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u6b64 \u529f\u80fd \u64e6\u9664 \u7f51\u7edc \u4e2d \u4efb\u4f55 \u4e0d \u9700\u8981 \u7684 \u5185\u5b58   def   destroy ( self ) :   pass","title":"\u91cd\u5199   destroy   \u65b9\u6cd5"},{"location":"leaderboard_get_started/#ros_1","text":"\u5982\u679c \u60a8 \u60f3 \u5c06   ROS   \u4f5c\u4e3a \u4ee3\u7406 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u4ee5\u4e0b \u662f \u4e00\u4e9b \u9700\u8981 \u8003\u8651 \u7684 \u5efa\u8bae \uff1a   ROS   Melodic   :   \u7531\u4e8e \u6392\u884c \u6392\u884c\u699c \u4ec5 \u4e0e   Python   3   \u517c\u5bb9 \uff0c \u6211\u4eec \u5efa\u8bae \u4f7f\u7528   roslibpy   \u5728 \u6392\u884c \u6392\u884c\u699c \u548c ROS \u5806\u6808 \u4e4b\u95f4 \u8fdb\u884c \u901a\u4fe1 \u3002   ROS   Noetic   :   \u7531\u4e8e   ROS   Noetic   \u7684 \u76ee\u6807 \u662f   Python3 \uff0c \u60a8 \u53ef\u4ee5 \u76f4\u63a5 \u4f7f\u7528   rospy   \u521b\u5efa \u4e00\u4e2a \u8282\u70b9 \u6765 \u4e0e \u60a8 \u7684 ROS \u5806\u6808 \u901a\u4fe1 \u6392\u884c \u6392\u884c\u699c \u3002   ROS2   Foxy   :   \u4e0e ROS   Noetic \u7c7b\u4f3c \uff0c \u60a8 \u53ef\u4ee5 \u76f4\u63a5 \u4f7f\u7528   rcpy   \u4e0e \u60a8 \u7684 \u5806\u6808 \u5efa\u7acb \u901a\u4fe1 \u3002","title":"\u57fa\u4e8e \u4ee3\u7406 \u7684   ROS"},{"location":"leaderboard_get_started/#_9","text":"\u6211\u4eec \u51c6\u5907 \u4e86 \u4e00\u7ec4 \u9884\u5b9a \u4e49 \u7684 \u8def\u7ebf \u4f5c\u4e3a \u8d77\u70b9 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u8fd9\u4e9b \u9014\u5f84 \u6765 \u8bad\u7ec3 \u548c \u9a8c\u8bc1 \u4ee3\u7406 \u7684 \u6027\u80fd \u3002 \u53ef\u4ee5 \u5728 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   { LEADERBOARD _ ROOT } / data   :   routes _ training . xml   :   \u62df \u7528\u4f5c \u8bad\u7ec3 \u6570\u636e \u7684 50 \u6761 \u8def\u7ebf \uff08 112.8 \u516c\u91cc \uff09 \u3002   routes _ testing . xml   :   \u62df \u7528\u4f5c \u9a8c\u8bc1 \u6570\u636e \u7684 26 \u6761 \u8def\u7ebf \uff08 58.9 \u516c\u91cc \uff09 \u3002","title":"\u8bad\u7ec3 \u548c \u6d4b\u8bd5 \u4ee3\u7406"},{"location":"leaderboard_get_started/#_10","text":"Brady   Zhou   \u5728   Learning   by   Cheating   \u7684 \u57fa\u7840 \u4e0a \u521b\u9020 \u4e86 \u4e00\u5957 \u51fa\u8272 \u7684   starter   kit   \u3002","title":"\u57fa\u51c6"},{"location":"leaderboard_submit/","text":"\u4e3a \u6392\u884c \u6392\u884c\u699c 2.0 \u7248 \u63d0\u4ea4 \u4ee3\u7406   \u7b14\u8bb0   \u5c06 \u60a8 \u7684 \u4ee3\u7406 \u63d0\u4ea4 \u7ed9   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \uff0c \u5373 \u8868\u793a \u60a8 \u63a5\u53d7 \u4e86 \u4f7f\u7528 \u6761\u6b3e \u3002 \u672c\u9875 \u4ecb\u7ecd \u4e86 \u63d0\u4ea4 Leaderboard   2.0 \u7248\u672c \u7684 \u4ee3\u7406 \uff0c \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f Leaderboard1.0 \u7248\u672c \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u672c \u63d0\u4ea4 \u6307\u5357 \u3002   \u4e00\u822c \u6b65\u9aa4   \u4e3a\u4e86 \u521b\u5efa \u5e76 \u63d0\u4ea4 \u60a8 \u7684 \u4ee3\u7406 \uff0c \u60a8 \u5e94\u8be5 \u62e5\u6709 \u6392\u884c \u6392\u884c\u699c \u9879\u76ee \u548c   scenario _ runner   \u7684 \u526f\u672c \u3002 \u5982\u679c \u4e0d\u662f \u8fd9\u79cd \u60c5\u51b5 \uff0c \u8bf7 \u5148 \u8bbf\u95ee \u201c \u5165\u95e8 \u201d \u90e8\u5206 \u3002   \u521b\u5efa \u4e00\u4e2a   dockerfile   \u6765 \u6784\u5efa \u60a8 \u7684 \u4ee3\u7406   \u4e3a\u4e86 \u8ba9   Carla   \u6392\u884c \u6392\u884c\u699c \u8bc4\u4f30 \u60a8 \u7684 \u4ee3\u7406 \uff0c \u9700\u8981 \u5c06 \u5176 \u5c01\u88c5 \u5728   Docker   \u955c\u50cf \u4e2d \u3002 \u8981 \u60f3 \u6210\u529f \uff0c \u60a8 \u5fc5\u987b \u80fd\u591f \u5728   docker   \u5185 \u8fd0\u884c \u5e26\u6709 \u6392\u884c \u6392\u884c\u699c \u7684 \u4ee3\u7406 \u3002 \u60a8 \u53ef\u4ee5 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u521b\u5efa \u56fe\u50cf \uff0c \u4e5f \u53ef\u4ee5 \u9075\u5faa \u4ee5\u4e0b \u51c6\u5219 \uff1a   \u5c06 \u60a8 \u7684 \u4ee3\u7801 \u6258\u7ba1 \u5728   $ { LEADERBOARD _ ROOT }   \u5916\u9762 \u3002 \u6211\u4eec \u5c06 \u8be5 \u76ee\u5f55 \u79f0\u4e3a   $ { TEAM _ CODE _ ROOT }   \u5bf9\u4e8e \u57fa\u4e8e   ROS   \u7684 \u4ee3\u7406 \uff0c \u8fd9 \u5e94\u8be5 \u662f \u60a8 \u7684   ROS   \u5de5\u4f5c \u533a \u3002   \u5229\u7528 \u5b58\u50a8 \u5e93\u4e2d \u63d0\u4f9b \u7684 \u793a\u4f8b   Docker   \u6587\u4ef6 \u4e4b\u4e00 \uff0c \u5176\u4e2d \u573a\u666f \u8fd0\u884c \u5668 \u548c \u6392\u884c \u6392\u884c\u699c \u6240 \u9700 \u7684 \u6240\u6709 \u4f9d\u8d56 \u9879\u5747 \u5df2 \u8bbe\u7f6e \u3002 \u57fa\u4e8e   Python   \u7684 \u4ee3\u7406 \u53ef\u4ee5 \u4f7f\u7528 \u6b64 \u793a\u4f8b   Docker \uff0c \u800c \u57fa\u4e8e   ROS   \u7684 \u4ee3\u7406 \u53ef\u4ee5 \u5728 \u6b64\u5904 \u4f7f\u7528 \u5176   Docker   \u3002 \u5305\u62ec \u4ee3\u7406 \u6240 \u9700 \u7684 \u4f9d\u8d56 \u9879 \u548c \u9644\u52a0 \u5305 \u3002 \u6211\u4eec \u5efa\u8bae \u5efa\u8bae\u60a8 \u5728 \u7531 \u6807\u7b7e \u201c   BEGINNING   OF   USER   COMMANDS   \u201d \u548c \u201c   END   OF   USER   COMMANDS   \u201d \u5206\u9694 \u7684 \u533a\u57df \u4e2d \u6dfb\u52a0 \u65b0 \u547d\u4ee4 \u3002   \u66f4\u65b0 \u53d8\u91cf   TEAM _ AGENT   \u4ee5 \u8bbe\u7f6e \u4ee3\u7406 \u6587\u4ef6 \u548c   TEAM _ CONFIG   \uff0c \u5982\u679c \u9700\u8981 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u8fdb\u884c \u521d\u59cb \u521d\u59cb\u5316 \u3002 \u4e0d\u8981 \u66f4\u6539 \u8def\u5f84 \u201c   / workspace / team _ code   \u201d \u7684 \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \u3002   \u786e\u4fdd \u786e\u4fdd\u60a8 \u60f3\u8981 \u83b7\u53d6 \u7684 \u4efb\u4f55 \u5185\u5bb9 \u90fd \u5728 \u5185\u90e8 \uff0c   $ { HOME } / agent _ sources . sh   \u56e0\u4e3a \u5728 \u5176\u4ed6 \u4efb\u4f55 \u5730\u65b9 \u6dfb\u52a0 \u7684 \u6e90 \u90fd \u4e0d\u4f1a \u88ab \u8c03\u7528 \u3002 \u5728 \u4e91\u4e2d \u8fd0\u884c \u4ee3\u7406 \u4e4b\u524d \u4f1a \u81ea\u52a8 \u83b7\u53d6 \u6b64 \u6587\u4ef6 \u3002   \u6ce8\u610f   \u8bf7 \u6ce8\u610f \uff0c \u5f53 \u60a8 \u5c06 \u6761\u76ee \u63d0\u4ea4 \u5230 \u4e91\u65f6 \uff0c \u60a8 \u5bf9 \u6392\u884c \u6392\u884c\u699c \u6216 \u573a\u666f \u8fd0\u884c \u7a0b\u5e8f \u5b58\u50a8 \u5e93\u6240 \u505a \u7684 \u4efb\u4f55 \u66f4\u6539 \u90fd \u5c06 \u88ab \u8986\u76d6 \u3002   \u5c06 \u60a8 \u7684 \u4ee3\u7406 \u6784\u5efa \u5230   docker   \u955c\u50cf \u4e2d   dockerfile   \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u540e \uff0c \u60a8 \u73b0\u5728 \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c   make _ docker . sh   \u811a\u672c \u6765 \u521b\u5efa \u5b83 \uff0c \u8be5 \u811a\u672c \u4f1a \u5728 \u8be5 \u540d\u79f0 \u4e0b \u751f\u6210   docker   \u6620\u50cf   leaderboard - user   \u3002   $ { LEADERBOARD _ ROOT } / scripts / make _ docker . sh   [ -- ros - distro | - r   ROS _ DISTRO ]   \u8be5 \u811a\u672c \u786e\u4fdd \u6b63\u786e \u5b9a\u4e49 \u6240\u6709 \u6240 \u9700 \u7684 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c \u7136\u540e \u5c06 \u5176 \u5185\u5bb9 \u590d\u5236 \u590d\u5236\u5230 \u521b\u5efa \u7684   Dockerfile   \u4e2d \u3002 \u5efa\u8bae \u5c06 \u8fd9\u4e9b \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u4f5c\u4e3a \u60a8 \u7684   $ { HOME } / . bashrc   \u6587\u4ef6 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u5e76 \u5305\u542b \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   $ { CARLA _ ROOT }   $ { SCENARIO _ RUNNER _ ROOT }   $ { LEADERBOARD _ ROOT }   $ { TEAM _ CODE _ ROOT }   $ { ROS _ DISTRO }   \uff08 \u4ec5   ROS   \u4ee3\u7406 \u9700\u8981 \uff09   \u8bf7 \u968f\u610f \u8c03\u6574 \u6b64 \u811a\u672c \u4ee5 \u590d\u5236 \u60a8 \u8ba4\u4e3a \u5408\u9002 \u7684 \u5176\u4ed6 \u6587\u4ef6 \u548c \u8d44\u6e90 \u3002   \u6ce8\u610f   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u5728 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u672c\u5730 \u8fd0\u884c \u6392\u884c \u6392\u884c\u699c \u6765 \u6d4b\u8bd5 \u60a8 \u7684   docker   \u6620\u50cf   \u6211\u4eec \u8fd8 \u60f3 \u91cd\u70b9 \u4ecb\u7ecd   \u6392\u884c \u6392\u884c\u699c \u4ee3\u7406   \u5b58\u50a8 \u5e93 \uff0c \u5176\u4e2d \u5305\u542b \u591a\u4e2a \u65e8\u5728 \u4e0e   Leaderboard   2.0   \u914d\u5408 \u4f7f\u7528 \u7684 \u4ee3\u7406 \uff0c \u4ee5\u53ca \u5c06 \u5b83\u4eec \u5c01\u88c5 \u5728   Docker   \u4e2d\u6240 \u9700 \u7684 \u6587\u4ef6 \u3002   \u5728 Eval   AI \u6ce8\u518c \u65b0 \u7528\u6237   \u6211\u4eec Eval   AI \u7684 \u5408\u4f5c \u4f19\u4f34 \u5408\u4f5c\u4f19\u4f34 \u5f00\u53d1 \u4e86 \u6392\u884c \u6392\u884c\u699c \u7684 \u7528\u6237 \u754c\u9762 \u7528\u6237\u754c\u9762 \u3002 \u8981 \u63d0\u4ea4 \u5185\u5bb9 \uff0c \u60a8 \u9700\u8981 \u5728 \u7f51\u7ad9 \u4e0a \u6ce8\u518c \u7528\u6237 \u3002   \u6ce8\u610f   \u8bf7 \u52a1\u5fc5 \u586b\u5199 \u60a8 \u7684 \u7528\u6237 \u96b6\u5c5e \u5173\u7cfb \uff0c \u5426\u5219 \u60a8 \u53ef\u80fd \u4e0d\u4f1a \u88ab \u63a5\u53d7 \u53c2\u52a0 \u6311\u6218 \u3002   \u521b\u5efa \u65b0 \u56e2\u961f   \u5728   Eval   AI   \u6ce8\u518c \u7528\u6237 \u540e \uff0c \u901a\u8fc7 \u5355\u51fb \u201c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u56e2\u961f \u201d \u90e8\u5206 \u521b\u5efa \u4e00\u4e2a \u65b0 \u56e2\u961f \uff0c \u5982\u4e0b \u6240\u793a \u3002 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u9700\u8981 \u5728   Carla   \u6392\u884c \u6392\u884c\u699c   2.0   \u4e2d \u6ce8\u518c \u4e00\u4e2a \u56e2\u961f \u3002   AlphaDrive   UI   \u4e2d \u7684 \u56e2\u961f \u521b\u5efa \u5c4f\u5e55 \u3002   \u7533\u8bf7 \u52a0\u5165 \u7533\u8bf7\u52a0\u5165   Carla   \u6392\u884c \u6392\u884c\u699c   \u8f6c \u81f3 \u201c \u6240\u6709 \u6311\u6218 \u201d \u90e8\u5206 \u5e76 \u627e\u5230   Carla   \u6392\u884c \u6392\u884c\u699c \u6311\u6218 \uff0c \u6216 \u4f7f\u7528   \u6b64 \u94fe\u63a5   \u3002 \u9009\u62e9 \u201c \u53c2\u4e0e \u201d \uff0c \u7136\u540e \u9009\u62e9 \u4e00\u4e2a \u53c2\u4e0e \u56e2\u961f \u6765 \u7533\u8bf7 \u6311\u6218 \u3002 \u60a8 \u9700\u8981 \u7b49\u5f85   Carla   \u6392\u884c \u6392\u884c\u699c \u7ba1\u7406 \u7ba1\u7406\u5458 \u9a8c\u8bc1 \u60a8 \u7684 \u56e2\u961f \u3002 \u4e00\u65e6 \u60a8 \u7684 \u56e2\u961f \u901a\u8fc7 \u9a8c\u8bc1 \uff0c \u60a8 \u5c31 \u53ef\u4ee5 \u5f00\u59cb \u63d0\u4ea4 \u3002   \u57fa\u51c6 \u90e8\u5206 \u3002   \u63d0\u4ea4 \u60a8 \u7684 \u610f\u89c1   \u4e00\u65e6 \u60a8 \u7684 \u56e2\u961f \u7ecf\u8fc7 \u9a8c\u8bc1 \uff0c \u60a8 \u5c31 \u53ef\u4ee5 \u63d0\u4ea4 \u3002 \u5728 \u201c \u6982\u8ff0 \u201d \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u60a8 \u5c06 \u627e\u5230 \u6709\u5173   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u4e00\u822c \u4fe1\u606f \uff0c \u8bf7 \u524d\u5f80 \u201c \u63d0\u4ea4 \u201d \u90e8\u5206 \u8fdb\u884c \u63d0\u4ea4 \u3002 \u60a8 \u5c06 \u5728 \u90a3\u91cc \u627e\u5230 \u63d0\u4ea4 \u8bf4\u660e \u3002   \u60a8 \u9700\u8981 \u4f7f\u7528   pip   \u5b89\u88c5   EvalAI   CLI \uff1a   pip   install   evalai   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u60a8 \u9700\u8981 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u901a\u8fc7 \u4ee4\u724c \u6765 \u8bc6\u522b \u60a8 \u7684 \u7528\u6237 \uff1a   evalai   set _ token   < token >   \u60a8 \u53ef\u4ee5 \u4ece   EvalAI   \u7f51\u7ad9 \u7684 \u201c \u63d0\u4ea4 \u201d \u90e8\u5206 \u68c0\u7d22 \u60a8 \u7684 \u4ee4\u724c \u3002 \u60a8 \u53ef\u4ee5 \u76f4\u63a5 \u4ece \u63d0\u4ea4 \u8bf4\u660e \u4e2d \u590d\u5236 \u5e76 \u7c98\u8d34 \u547d\u4ee4 \uff1a   CLI   \u63d0\u4ea4 \u8bf4\u660e \u3002   \u6ce8\u610f   \u8be5 \u4ee4\u724c \u662f \u7279\u5b9a \u4e8e \u60a8 \u7684 \u7528\u6237 \u7684 \uff0c \u6bcf\u4e2a \u7528\u6237 \u90fd \u4f1a \u5728 \u7f51\u7ad9 \u7684 \u6b64 \u90e8\u5206 \u4e2d \u770b\u5230 \u4e0d\u540c \u7684 \u4ee4\u724c \u3002 \u4e0d\u8981 \u5171\u4eab \u4ee4\u724c \uff0c \u5426\u5219 \u63d0\u4ea4 \u4f5c\u8005 \u5c06\u4f1a \u4ea7\u751f \u6df7\u6dc6 \u3002   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u63a8\u9001   Docker   \u955c\u50cf \uff1a   evalai   push   < image > : < tag >   -- phase   < phase _ name >   \u60a8 \u53ef\u4ee5 \u5728 \u56db\u4e2a \u8f68\u8ff9 \u4e4b\u95f4 \u8fdb\u884c \u9009\u62e9 \uff08 \u5728   EvalAI   \u7f51\u7ad9 \u4e2d \u79f0\u4e3a \u9636\u6bb5 \uff09 \uff1a   \u6392\u884c \u6392\u884c\u699c   2.0   -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6392\u884c \u6392\u884c\u699c 2.0   -   \u5730\u56fe   \u6392\u884c \u6392\u884c\u699c   1.0   -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6392\u884c \u6392\u884c\u699c   1.0   -   \u5730\u56fe   \u5bf9\u4e8e \u6392\u884c \u6392\u884c\u699c   2.0   \u8d5b\u9053 \uff0c \u60a8 \u5fc5\u987b \u9996\u5148 \u5b8c\u6210 \u76f8\u5e94 \u7684 \u8d44\u683c \u4efb\u52a1 \uff1a   \u6392\u884c \u6392\u884c\u699c   2.0   -   SENSORS   \u9884\u9009 \u9884\u9009\u8d5b \u8d5b\u9053   \u6392\u884c \u6392\u884c\u699c   2.0   -   MAP   \u9884\u9009 \u9884\u9009\u8d5b \u8d5b\u9053   \u6ce8\u610f   \u5728 \u6d89\u53ca \u6392\u884c \u6392\u884c\u699c \u7684 \u5e74\u5ea6 \u6bd4\u8d5b \u671f\u95f4 \uff0c \u67d0\u4e9b \u8d5b\u9053 \u53ef\u80fd \u4f1a \u6682\u65f6 \u5173\u95ed \u3002 \u8bf7 \u5bc6\u5207 \u5173\u6ce8 \u6392\u884c \u6392\u884c\u699c \u7f51\u7ad9 \u548c   Discord   \u8bba\u575b \uff0c \u4e86\u89e3 \u8d5b\u9053 \u4f55\u65f6 \u53ef\u80fd \u5173\u95ed \u63d0\u4ea4 \u3002   \u60a8 \u53ef\u4ee5 \u76f4\u63a5 \u4ece \u4ee5\u4e0b \u90e8\u5206 \u590d\u5236 \u5e76 \u7c98\u8d34 \uff0c \u4ee5 \u786e\u4fdd \u63d0\u4ea4 \u5230 \u6b63\u786e \u7684 \u8f68\u9053 \uff0c \u5e76 \u5c06   < image >   \u548c \u66ff\u6362   < tag >   \u4e3a \u9002\u5408 \u60a8 \u7684   Docker   \u6620\u50cf \u7684 \u503c \uff1a   \u8981 \u63d0\u4ea4 \u5230 \u6bcf\u4e2a \u8f68\u8ff9 \u7684   CLI   \u547d\u4ee4 \u3002   \u68c0\u67e5 \u60a8 \u63d0\u4ea4 \u7684 \u6570\u636e   \u521b\u5efa \u63d0\u4ea4 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u8f6c\u5230 \u6b64   My   Submissions   \u90e8\u5206 \u67e5\u770b \u6240\u6709 \u63d0\u4ea4 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u72b6\u6001 \u663e\u793a \u63d0\u4ea4 \u72b6\u6001 \u7684 \u9ad8\u7ea7 \u8bf4\u660e \u3002 \u6240\u6709 \u63d0\u4ea4 \u90fd \u4ece \u72b6\u6001 \u5f00\u59cb \uff0c \u4e00\u65e6 \u5728 \u540e \u7aef \u5f00\u59cb \u8fd0\u884c \u5f00\u59cb\u8fd0\u884c \uff0c   SUBMITTED   \u5c31 \u4f1a \u66f4 \u6539\u4e3a \u3002 \u5b8c\u6210 \u540e \uff0c \u5982\u679c \u4eff\u771f \u8fc7\u7a0b \u4e2d \u4e00\u5207 \u987a\u5229 \u4e00\u5207\u987a\u5229 \uff0c \u5b83 \u5c06 \u66f4 \u6539\u4e3a   PARTIALLY _ EVALUATED   \uff0c \u6216\u8005 \u5982\u679c \u53d1\u751f \u751f\u610f \u610f\u5916 \u53d1\u751f\u610f\u5916 \u60c5\u51b5 \uff0c \u5219 \u66f4 \u6539\u4e3a   FINISHEDFAILED   \u3002   \u5931\u8d25 \u7684 \u63d0\u4ea4 \u53ef\u4ee5 \u6062\u590d \uff0c \u8fd9 \u5c06 \u7ee7\u7eed \u63d0\u4ea4 \uff0c \u800c \u4e0d \u91cd\u590d \u5df2\u7ecf \u5b8c\u6210 \u7684 \u8def\u7ebf \u3002 \u8fd9\u4e9b \u5c06 \u5177\u6709   RESUMED   \u72b6\u6001 \uff0c \u800c \u4e0d\u662f   SUBMITTED   \u76f4\u5230 \u5b83\u4eec \u5f00\u59cb \u8fd0\u884c \u5f00\u59cb\u8fd0\u884c \u3002   \u7528\u6237 \u53ef\u4ee5 \u968f\u65f6 \u53d6\u6d88 \u63d0\u4ea4 \u3001 \u505c\u6b62 \u63d0\u4ea4 \u5e76 \u5c06 \u5176 \u72b6\u6001 \u66f4 \u6539\u4e3a   CANCELLED   \u3002   \u4efb\u4f55 \u63d0\u4ea4 \u90fd \u53ef\u4ee5 \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \uff0c \u4f7f\u7528 \u76f8\u540c \u63d0\u4ea4 \u7684   docker   \u521b\u5efa \u4e00\u4e2a \u65b0 \u7684 \u63d0\u4ea4 \u3002 \u5982\u679c \u63d0\u4ea4 \u6b63\u5728 \u8fd0\u884c \uff0c \u5b83 \u5c06 \u81ea\u52a8 \u53d6\u6d88 \u3002   \u4e3a\u4e86 \u83b7\u5f97 \u63d0\u4ea4 \u7684 \u7ed3\u679c \uff0c \u8bf7 \u8bbf\u95ee   Stdout   file   \u63d0\u4f9b \u7684 \u94fe\u63a5 \u3002 \u8be5 \u6587\u4ef6 \u5305\u542b \u6709\u5173 \u63d0\u4ea4 \u7684 \u4e00\u4e9b \u4e00\u822c \u4fe1\u606f \uff0c \u5305\u62ec \u4f7f\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u8def\u7ebf \u8fdb\u5ea6 \u548c \u6700\u7ec8 \u7ed3\u679c \uff0c \u4ee5\u53ca \u6bcf\u6761 \u8def\u7ebf \u7684 \u72b6\u6001 \u548c \u6027\u80fd \u7684 \u672f\u8bed \u672f\u8bed\u8868 \u3002   \u6700\u540e \uff0c \u5982\u679c \u60a8 \u60f3 \u516c\u5f00 \u63d0\u4ea4 \u7684 \u5185\u5bb9 \uff0c \u8bf7 \u9009\u4e2d \u8be5   Show   on   Leaderboard   \u6846 \uff0c \u5b83 \u73b0\u5728 \u5c06 \u663e\u793a \u5728   Leaderboard   \u6311\u6218 \u90e8\u5206 \u4e2d \u3002 \u8bf7 \u968f\u610f \u7f16\u8f91 \u63d0\u4ea4 \u5185\u5bb9 \uff0c \u5176\u4e2d \u5305\u542b \u6709\u5173 \u65b9\u6cd5 \u540d\u79f0 \u3001 \u63cf\u8ff0 \u4ee5\u53ca \u9879\u76ee \u6216 \u51fa\u7248 \u51fa\u7248\u7269 \u7684   URL   \u7684 \u4efb\u4f55 \u4fe1\u606f \u3002","title":"\u4e3a \u6392\u884c\u699c 2.0 \u7248 \u63d0\u4ea4 \u4ee3\u7406"},{"location":"leaderboard_submit/#20","text":"\u7b14\u8bb0   \u5c06 \u60a8 \u7684 \u4ee3\u7406 \u63d0\u4ea4 \u7ed9   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6392\u884c \u6392\u884c\u699c \uff0c \u5373 \u8868\u793a \u60a8 \u63a5\u53d7 \u4e86 \u4f7f\u7528 \u6761\u6b3e \u3002 \u672c\u9875 \u4ecb\u7ecd \u4e86 \u63d0\u4ea4 Leaderboard   2.0 \u7248\u672c \u7684 \u4ee3\u7406 \uff0c \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f Leaderboard1.0 \u7248\u672c \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u672c \u63d0\u4ea4 \u6307\u5357 \u3002","title":"\u4e3a \u6392\u884c\u699c 2.0 \u7248 \u63d0\u4ea4 \u4ee3\u7406"},{"location":"leaderboard_submit/#_1","text":"\u4e3a\u4e86 \u521b\u5efa \u5e76 \u63d0\u4ea4 \u60a8 \u7684 \u4ee3\u7406 \uff0c \u60a8 \u5e94\u8be5 \u62e5\u6709 \u6392\u884c \u6392\u884c\u699c \u9879\u76ee \u548c   scenario _ runner   \u7684 \u526f\u672c \u3002 \u5982\u679c \u4e0d\u662f \u8fd9\u79cd \u60c5\u51b5 \uff0c \u8bf7 \u5148 \u8bbf\u95ee \u201c \u5165\u95e8 \u201d \u90e8\u5206 \u3002   \u521b\u5efa \u4e00\u4e2a   dockerfile   \u6765 \u6784\u5efa \u60a8 \u7684 \u4ee3\u7406   \u4e3a\u4e86 \u8ba9   Carla   \u6392\u884c \u6392\u884c\u699c \u8bc4\u4f30 \u60a8 \u7684 \u4ee3\u7406 \uff0c \u9700\u8981 \u5c06 \u5176 \u5c01\u88c5 \u5728   Docker   \u955c\u50cf \u4e2d \u3002 \u8981 \u60f3 \u6210\u529f \uff0c \u60a8 \u5fc5\u987b \u80fd\u591f \u5728   docker   \u5185 \u8fd0\u884c \u5e26\u6709 \u6392\u884c \u6392\u884c\u699c \u7684 \u4ee3\u7406 \u3002 \u60a8 \u53ef\u4ee5 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u521b\u5efa \u56fe\u50cf \uff0c \u4e5f \u53ef\u4ee5 \u9075\u5faa \u4ee5\u4e0b \u51c6\u5219 \uff1a   \u5c06 \u60a8 \u7684 \u4ee3\u7801 \u6258\u7ba1 \u5728   $ { LEADERBOARD _ ROOT }   \u5916\u9762 \u3002 \u6211\u4eec \u5c06 \u8be5 \u76ee\u5f55 \u79f0\u4e3a   $ { TEAM _ CODE _ ROOT }   \u5bf9\u4e8e \u57fa\u4e8e   ROS   \u7684 \u4ee3\u7406 \uff0c \u8fd9 \u5e94\u8be5 \u662f \u60a8 \u7684   ROS   \u5de5\u4f5c \u533a \u3002   \u5229\u7528 \u5b58\u50a8 \u5e93\u4e2d \u63d0\u4f9b \u7684 \u793a\u4f8b   Docker   \u6587\u4ef6 \u4e4b\u4e00 \uff0c \u5176\u4e2d \u573a\u666f \u8fd0\u884c \u5668 \u548c \u6392\u884c \u6392\u884c\u699c \u6240 \u9700 \u7684 \u6240\u6709 \u4f9d\u8d56 \u9879\u5747 \u5df2 \u8bbe\u7f6e \u3002 \u57fa\u4e8e   Python   \u7684 \u4ee3\u7406 \u53ef\u4ee5 \u4f7f\u7528 \u6b64 \u793a\u4f8b   Docker \uff0c \u800c \u57fa\u4e8e   ROS   \u7684 \u4ee3\u7406 \u53ef\u4ee5 \u5728 \u6b64\u5904 \u4f7f\u7528 \u5176   Docker   \u3002 \u5305\u62ec \u4ee3\u7406 \u6240 \u9700 \u7684 \u4f9d\u8d56 \u9879 \u548c \u9644\u52a0 \u5305 \u3002 \u6211\u4eec \u5efa\u8bae \u5efa\u8bae\u60a8 \u5728 \u7531 \u6807\u7b7e \u201c   BEGINNING   OF   USER   COMMANDS   \u201d \u548c \u201c   END   OF   USER   COMMANDS   \u201d \u5206\u9694 \u7684 \u533a\u57df \u4e2d \u6dfb\u52a0 \u65b0 \u547d\u4ee4 \u3002   \u66f4\u65b0 \u53d8\u91cf   TEAM _ AGENT   \u4ee5 \u8bbe\u7f6e \u4ee3\u7406 \u6587\u4ef6 \u548c   TEAM _ CONFIG   \uff0c \u5982\u679c \u9700\u8981 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u8fdb\u884c \u521d\u59cb \u521d\u59cb\u5316 \u3002 \u4e0d\u8981 \u66f4\u6539 \u8def\u5f84 \u201c   / workspace / team _ code   \u201d \u7684 \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \u3002   \u786e\u4fdd \u786e\u4fdd\u60a8 \u60f3\u8981 \u83b7\u53d6 \u7684 \u4efb\u4f55 \u5185\u5bb9 \u90fd \u5728 \u5185\u90e8 \uff0c   $ { HOME } / agent _ sources . sh   \u56e0\u4e3a \u5728 \u5176\u4ed6 \u4efb\u4f55 \u5730\u65b9 \u6dfb\u52a0 \u7684 \u6e90 \u90fd \u4e0d\u4f1a \u88ab \u8c03\u7528 \u3002 \u5728 \u4e91\u4e2d \u8fd0\u884c \u4ee3\u7406 \u4e4b\u524d \u4f1a \u81ea\u52a8 \u83b7\u53d6 \u6b64 \u6587\u4ef6 \u3002   \u6ce8\u610f   \u8bf7 \u6ce8\u610f \uff0c \u5f53 \u60a8 \u5c06 \u6761\u76ee \u63d0\u4ea4 \u5230 \u4e91\u65f6 \uff0c \u60a8 \u5bf9 \u6392\u884c \u6392\u884c\u699c \u6216 \u573a\u666f \u8fd0\u884c \u7a0b\u5e8f \u5b58\u50a8 \u5e93\u6240 \u505a \u7684 \u4efb\u4f55 \u66f4\u6539 \u90fd \u5c06 \u88ab \u8986\u76d6 \u3002","title":"\u4e00\u822c \u6b65\u9aa4"},{"location":"leaderboard_submit/#docker","text":"dockerfile   \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u540e \uff0c \u60a8 \u73b0\u5728 \u53ef\u4ee5 \u901a\u8fc7 \u8fd0\u884c   make _ docker . sh   \u811a\u672c \u6765 \u521b\u5efa \u5b83 \uff0c \u8be5 \u811a\u672c \u4f1a \u5728 \u8be5 \u540d\u79f0 \u4e0b \u751f\u6210   docker   \u6620\u50cf   leaderboard - user   \u3002   $ { LEADERBOARD _ ROOT } / scripts / make _ docker . sh   [ -- ros - distro | - r   ROS _ DISTRO ]   \u8be5 \u811a\u672c \u786e\u4fdd \u6b63\u786e \u5b9a\u4e49 \u6240\u6709 \u6240 \u9700 \u7684 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c \u7136\u540e \u5c06 \u5176 \u5185\u5bb9 \u590d\u5236 \u590d\u5236\u5230 \u521b\u5efa \u7684   Dockerfile   \u4e2d \u3002 \u5efa\u8bae \u5c06 \u8fd9\u4e9b \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u4f5c\u4e3a \u60a8 \u7684   $ { HOME } / . bashrc   \u6587\u4ef6 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u5e76 \u5305\u542b \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   $ { CARLA _ ROOT }   $ { SCENARIO _ RUNNER _ ROOT }   $ { LEADERBOARD _ ROOT }   $ { TEAM _ CODE _ ROOT }   $ { ROS _ DISTRO }   \uff08 \u4ec5   ROS   \u4ee3\u7406 \u9700\u8981 \uff09   \u8bf7 \u968f\u610f \u8c03\u6574 \u6b64 \u811a\u672c \u4ee5 \u590d\u5236 \u60a8 \u8ba4\u4e3a \u5408\u9002 \u7684 \u5176\u4ed6 \u6587\u4ef6 \u548c \u8d44\u6e90 \u3002   \u6ce8\u610f   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u5728 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u672c\u5730 \u8fd0\u884c \u6392\u884c \u6392\u884c\u699c \u6765 \u6d4b\u8bd5 \u60a8 \u7684   docker   \u6620\u50cf   \u6211\u4eec \u8fd8 \u60f3 \u91cd\u70b9 \u4ecb\u7ecd   \u6392\u884c \u6392\u884c\u699c \u4ee3\u7406   \u5b58\u50a8 \u5e93 \uff0c \u5176\u4e2d \u5305\u542b \u591a\u4e2a \u65e8\u5728 \u4e0e   Leaderboard   2.0   \u914d\u5408 \u4f7f\u7528 \u7684 \u4ee3\u7406 \uff0c \u4ee5\u53ca \u5c06 \u5b83\u4eec \u5c01\u88c5 \u5728   Docker   \u4e2d\u6240 \u9700 \u7684 \u6587\u4ef6 \u3002","title":"\u5c06 \u60a8 \u7684 \u4ee3\u7406 \u6784\u5efa \u5230   docker   \u955c\u50cf \u4e2d"},{"location":"leaderboard_submit/#eval-ai","text":"\u6211\u4eec Eval   AI \u7684 \u5408\u4f5c \u4f19\u4f34 \u5408\u4f5c\u4f19\u4f34 \u5f00\u53d1 \u4e86 \u6392\u884c \u6392\u884c\u699c \u7684 \u7528\u6237 \u754c\u9762 \u7528\u6237\u754c\u9762 \u3002 \u8981 \u63d0\u4ea4 \u5185\u5bb9 \uff0c \u60a8 \u9700\u8981 \u5728 \u7f51\u7ad9 \u4e0a \u6ce8\u518c \u7528\u6237 \u3002   \u6ce8\u610f   \u8bf7 \u52a1\u5fc5 \u586b\u5199 \u60a8 \u7684 \u7528\u6237 \u96b6\u5c5e \u5173\u7cfb \uff0c \u5426\u5219 \u60a8 \u53ef\u80fd \u4e0d\u4f1a \u88ab \u63a5\u53d7 \u53c2\u52a0 \u6311\u6218 \u3002","title":"\u5728 Eval   AI \u6ce8\u518c \u65b0 \u7528\u6237"},{"location":"leaderboard_submit/#_2","text":"\u5728   Eval   AI   \u6ce8\u518c \u7528\u6237 \u540e \uff0c \u901a\u8fc7 \u5355\u51fb \u201c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u56e2\u961f \u201d \u90e8\u5206 \u521b\u5efa \u4e00\u4e2a \u65b0 \u56e2\u961f \uff0c \u5982\u4e0b \u6240\u793a \u3002 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u9700\u8981 \u5728   Carla   \u6392\u884c \u6392\u884c\u699c   2.0   \u4e2d \u6ce8\u518c \u4e00\u4e2a \u56e2\u961f \u3002   AlphaDrive   UI   \u4e2d \u7684 \u56e2\u961f \u521b\u5efa \u5c4f\u5e55 \u3002","title":"\u521b\u5efa \u65b0 \u56e2\u961f"},{"location":"leaderboard_submit/#carla","text":"\u8f6c \u81f3 \u201c \u6240\u6709 \u6311\u6218 \u201d \u90e8\u5206 \u5e76 \u627e\u5230   Carla   \u6392\u884c \u6392\u884c\u699c \u6311\u6218 \uff0c \u6216 \u4f7f\u7528   \u6b64 \u94fe\u63a5   \u3002 \u9009\u62e9 \u201c \u53c2\u4e0e \u201d \uff0c \u7136\u540e \u9009\u62e9 \u4e00\u4e2a \u53c2\u4e0e \u56e2\u961f \u6765 \u7533\u8bf7 \u6311\u6218 \u3002 \u60a8 \u9700\u8981 \u7b49\u5f85   Carla   \u6392\u884c \u6392\u884c\u699c \u7ba1\u7406 \u7ba1\u7406\u5458 \u9a8c\u8bc1 \u60a8 \u7684 \u56e2\u961f \u3002 \u4e00\u65e6 \u60a8 \u7684 \u56e2\u961f \u901a\u8fc7 \u9a8c\u8bc1 \uff0c \u60a8 \u5c31 \u53ef\u4ee5 \u5f00\u59cb \u63d0\u4ea4 \u3002   \u57fa\u51c6 \u90e8\u5206 \u3002","title":"\u7533\u8bf7\u52a0\u5165   Carla   \u6392\u884c\u699c"},{"location":"leaderboard_submit/#_3","text":"\u4e00\u65e6 \u60a8 \u7684 \u56e2\u961f \u7ecf\u8fc7 \u9a8c\u8bc1 \uff0c \u60a8 \u5c31 \u53ef\u4ee5 \u63d0\u4ea4 \u3002 \u5728 \u201c \u6982\u8ff0 \u201d \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u60a8 \u5c06 \u627e\u5230 \u6709\u5173   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u4e00\u822c \u4fe1\u606f \uff0c \u8bf7 \u524d\u5f80 \u201c \u63d0\u4ea4 \u201d \u90e8\u5206 \u8fdb\u884c \u63d0\u4ea4 \u3002 \u60a8 \u5c06 \u5728 \u90a3\u91cc \u627e\u5230 \u63d0\u4ea4 \u8bf4\u660e \u3002   \u60a8 \u9700\u8981 \u4f7f\u7528   pip   \u5b89\u88c5   EvalAI   CLI \uff1a   pip   install   evalai   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u60a8 \u9700\u8981 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u901a\u8fc7 \u4ee4\u724c \u6765 \u8bc6\u522b \u60a8 \u7684 \u7528\u6237 \uff1a   evalai   set _ token   < token >   \u60a8 \u53ef\u4ee5 \u4ece   EvalAI   \u7f51\u7ad9 \u7684 \u201c \u63d0\u4ea4 \u201d \u90e8\u5206 \u68c0\u7d22 \u60a8 \u7684 \u4ee4\u724c \u3002 \u60a8 \u53ef\u4ee5 \u76f4\u63a5 \u4ece \u63d0\u4ea4 \u8bf4\u660e \u4e2d \u590d\u5236 \u5e76 \u7c98\u8d34 \u547d\u4ee4 \uff1a   CLI   \u63d0\u4ea4 \u8bf4\u660e \u3002   \u6ce8\u610f   \u8be5 \u4ee4\u724c \u662f \u7279\u5b9a \u4e8e \u60a8 \u7684 \u7528\u6237 \u7684 \uff0c \u6bcf\u4e2a \u7528\u6237 \u90fd \u4f1a \u5728 \u7f51\u7ad9 \u7684 \u6b64 \u90e8\u5206 \u4e2d \u770b\u5230 \u4e0d\u540c \u7684 \u4ee4\u724c \u3002 \u4e0d\u8981 \u5171\u4eab \u4ee4\u724c \uff0c \u5426\u5219 \u63d0\u4ea4 \u4f5c\u8005 \u5c06\u4f1a \u4ea7\u751f \u6df7\u6dc6 \u3002   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u63a8\u9001   Docker   \u955c\u50cf \uff1a   evalai   push   < image > : < tag >   -- phase   < phase _ name >   \u60a8 \u53ef\u4ee5 \u5728 \u56db\u4e2a \u8f68\u8ff9 \u4e4b\u95f4 \u8fdb\u884c \u9009\u62e9 \uff08 \u5728   EvalAI   \u7f51\u7ad9 \u4e2d \u79f0\u4e3a \u9636\u6bb5 \uff09 \uff1a   \u6392\u884c \u6392\u884c\u699c   2.0   -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6392\u884c \u6392\u884c\u699c 2.0   -   \u5730\u56fe   \u6392\u884c \u6392\u884c\u699c   1.0   -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6392\u884c \u6392\u884c\u699c   1.0   -   \u5730\u56fe   \u5bf9\u4e8e \u6392\u884c \u6392\u884c\u699c   2.0   \u8d5b\u9053 \uff0c \u60a8 \u5fc5\u987b \u9996\u5148 \u5b8c\u6210 \u76f8\u5e94 \u7684 \u8d44\u683c \u4efb\u52a1 \uff1a   \u6392\u884c \u6392\u884c\u699c   2.0   -   SENSORS   \u9884\u9009 \u9884\u9009\u8d5b \u8d5b\u9053   \u6392\u884c \u6392\u884c\u699c   2.0   -   MAP   \u9884\u9009 \u9884\u9009\u8d5b \u8d5b\u9053   \u6ce8\u610f   \u5728 \u6d89\u53ca \u6392\u884c \u6392\u884c\u699c \u7684 \u5e74\u5ea6 \u6bd4\u8d5b \u671f\u95f4 \uff0c \u67d0\u4e9b \u8d5b\u9053 \u53ef\u80fd \u4f1a \u6682\u65f6 \u5173\u95ed \u3002 \u8bf7 \u5bc6\u5207 \u5173\u6ce8 \u6392\u884c \u6392\u884c\u699c \u7f51\u7ad9 \u548c   Discord   \u8bba\u575b \uff0c \u4e86\u89e3 \u8d5b\u9053 \u4f55\u65f6 \u53ef\u80fd \u5173\u95ed \u63d0\u4ea4 \u3002   \u60a8 \u53ef\u4ee5 \u76f4\u63a5 \u4ece \u4ee5\u4e0b \u90e8\u5206 \u590d\u5236 \u5e76 \u7c98\u8d34 \uff0c \u4ee5 \u786e\u4fdd \u63d0\u4ea4 \u5230 \u6b63\u786e \u7684 \u8f68\u9053 \uff0c \u5e76 \u5c06   < image >   \u548c \u66ff\u6362   < tag >   \u4e3a \u9002\u5408 \u60a8 \u7684   Docker   \u6620\u50cf \u7684 \u503c \uff1a   \u8981 \u63d0\u4ea4 \u5230 \u6bcf\u4e2a \u8f68\u8ff9 \u7684   CLI   \u547d\u4ee4 \u3002","title":"\u63d0\u4ea4 \u60a8 \u7684 \u610f\u89c1"},{"location":"leaderboard_submit/#_4","text":"\u521b\u5efa \u63d0\u4ea4 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u8f6c\u5230 \u6b64   My   Submissions   \u90e8\u5206 \u67e5\u770b \u6240\u6709 \u63d0\u4ea4 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u72b6\u6001 \u663e\u793a \u63d0\u4ea4 \u72b6\u6001 \u7684 \u9ad8\u7ea7 \u8bf4\u660e \u3002 \u6240\u6709 \u63d0\u4ea4 \u90fd \u4ece \u72b6\u6001 \u5f00\u59cb \uff0c \u4e00\u65e6 \u5728 \u540e \u7aef \u5f00\u59cb \u8fd0\u884c \u5f00\u59cb\u8fd0\u884c \uff0c   SUBMITTED   \u5c31 \u4f1a \u66f4 \u6539\u4e3a \u3002 \u5b8c\u6210 \u540e \uff0c \u5982\u679c \u4eff\u771f \u8fc7\u7a0b \u4e2d \u4e00\u5207 \u987a\u5229 \u4e00\u5207\u987a\u5229 \uff0c \u5b83 \u5c06 \u66f4 \u6539\u4e3a   PARTIALLY _ EVALUATED   \uff0c \u6216\u8005 \u5982\u679c \u53d1\u751f \u751f\u610f \u610f\u5916 \u53d1\u751f\u610f\u5916 \u60c5\u51b5 \uff0c \u5219 \u66f4 \u6539\u4e3a   FINISHEDFAILED   \u3002   \u5931\u8d25 \u7684 \u63d0\u4ea4 \u53ef\u4ee5 \u6062\u590d \uff0c \u8fd9 \u5c06 \u7ee7\u7eed \u63d0\u4ea4 \uff0c \u800c \u4e0d \u91cd\u590d \u5df2\u7ecf \u5b8c\u6210 \u7684 \u8def\u7ebf \u3002 \u8fd9\u4e9b \u5c06 \u5177\u6709   RESUMED   \u72b6\u6001 \uff0c \u800c \u4e0d\u662f   SUBMITTED   \u76f4\u5230 \u5b83\u4eec \u5f00\u59cb \u8fd0\u884c \u5f00\u59cb\u8fd0\u884c \u3002   \u7528\u6237 \u53ef\u4ee5 \u968f\u65f6 \u53d6\u6d88 \u63d0\u4ea4 \u3001 \u505c\u6b62 \u63d0\u4ea4 \u5e76 \u5c06 \u5176 \u72b6\u6001 \u66f4 \u6539\u4e3a   CANCELLED   \u3002   \u4efb\u4f55 \u63d0\u4ea4 \u90fd \u53ef\u4ee5 \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \uff0c \u4f7f\u7528 \u76f8\u540c \u63d0\u4ea4 \u7684   docker   \u521b\u5efa \u4e00\u4e2a \u65b0 \u7684 \u63d0\u4ea4 \u3002 \u5982\u679c \u63d0\u4ea4 \u6b63\u5728 \u8fd0\u884c \uff0c \u5b83 \u5c06 \u81ea\u52a8 \u53d6\u6d88 \u3002   \u4e3a\u4e86 \u83b7\u5f97 \u63d0\u4ea4 \u7684 \u7ed3\u679c \uff0c \u8bf7 \u8bbf\u95ee   Stdout   file   \u63d0\u4f9b \u7684 \u94fe\u63a5 \u3002 \u8be5 \u6587\u4ef6 \u5305\u542b \u6709\u5173 \u63d0\u4ea4 \u7684 \u4e00\u4e9b \u4e00\u822c \u4fe1\u606f \uff0c \u5305\u62ec \u4f7f\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u8def\u7ebf \u8fdb\u5ea6 \u548c \u6700\u7ec8 \u7ed3\u679c \uff0c \u4ee5\u53ca \u6bcf\u6761 \u8def\u7ebf \u7684 \u72b6\u6001 \u548c \u6027\u80fd \u7684 \u672f\u8bed \u672f\u8bed\u8868 \u3002   \u6700\u540e \uff0c \u5982\u679c \u60a8 \u60f3 \u516c\u5f00 \u63d0\u4ea4 \u7684 \u5185\u5bb9 \uff0c \u8bf7 \u9009\u4e2d \u8be5   Show   on   Leaderboard   \u6846 \uff0c \u5b83 \u73b0\u5728 \u5c06 \u663e\u793a \u5728   Leaderboard   \u6311\u6218 \u90e8\u5206 \u4e2d \u3002 \u8bf7 \u968f\u610f \u7f16\u8f91 \u63d0\u4ea4 \u5185\u5bb9 \uff0c \u5176\u4e2d \u5305\u542b \u6709\u5173 \u65b9\u6cd5 \u540d\u79f0 \u3001 \u63cf\u8ff0 \u4ee5\u53ca \u9879\u76ee \u6216 \u51fa\u7248 \u51fa\u7248\u7269 \u7684   URL   \u7684 \u4efb\u4f55 \u4fe1\u606f \u3002","title":"\u68c0\u67e5 \u60a8 \u63d0\u4ea4 \u7684 \u6570\u636e"},{"location":"libcarla/","text":"LibCarla   \u6240\u6709 \u6a21\u5757 \u4e4b\u95f4 \u7684 \u8c03\u7528 \u5173\u7cfb \u56fe \uff1a   \u7b2c\u4e09 \u4e09\u65b9 \u7b2c\u4e09\u65b9 \u5e93 \u5305\u62ec \uff1a   simplify   \uff08 \u4f7f\u7528 \u4e8c\u6b21 \u66f2\u9762 \u4e8c\u6b21\u66f2\u9762 \u51cf\u5c11 \u7f51\u683c \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \uff09 \u3001   pugixml   \uff08 \u8f7b\u91cf \u91cf\u7ea7 \u8f7b\u91cf\u7ea7 \u7684   C++   XML   \u5904\u7406 \u5e93 \uff09 \u3001   odrSpiral   \uff08 OpenDrive \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \u8ba1\u7b97 \u87ba\u65cb \u7684 \u65b9\u6cd5 \uff09 \u3001   moodycamel   \uff08 C++ 11 \u5b9e\u73b0 \u7684 \u4e00\u4e2a \u4e00\u4e2a\u591a \u751f\u4ea7 \u4ea7\u8005 \u751f\u4ea7\u8005 \u3001 \u591a \u6d88\u8d39 \u6d88\u8d39\u8005 \u7684   \u65e0\u9501 \u961f\u5217   \uff09 \u3001   marchingcube   \uff08 \u4ece \u7ed9\u5b9a \u7684 \u6709 \u7b26\u53f7 \u8ddd\u79bb \u51fd\u6570 \u91cd\u5efa \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c \uff09 \u3002   \u7b14\u8bb0   Marching   Cubes ( \u4e09\u7ef4 \u89c4\u5219 \u6570\u636e \u573a \u7b49\u503c \u9762 \u751f\u6210 \u3001 \u4ece \u4e09\u7ef4 \u4f53\u7d20 \u4e2d \u63d0\u53d6 \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c ) \u3002 \u6709 \u7b26\u53f7 \u8ddd\u79bb \u51fd \uff08 Signed   Distance   Function ,   SDF \uff09 ,   \u6307 \u7684 \u662f \u7ed9\u5b9a \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u7684 \u5750\u6807 ,   \u8fd4\u56de \u8fd9\u4e2a \u70b9 \u4e0e \u67d0 \u4e00\u9762 \u7684 \u6700 \u77ed\u8ddd \u8ddd\u79bb \u77ed\u8ddd\u79bb \u3002 \u5982\u679c \u8fd9\u4e2a \u8ddd\u79bb \u662f \u8d1f\u6570 ,   \u5219 \u8bf4\u660e \u5728 \u9762\u5185 ,   \u662f \u6b63\u6570 \u5219 \u8bf4\u660e \u5728 \u9762\u5916 ,   \u5982\u679c \u662f 0 ,   \u5219 \u521a\u597d \u5728 \u9762\u4e0a \uff0c SDF \u7684 signed \u5c31\u662f \u7531\u6b64 \u800c\u6765 \u7531\u6b64\u800c\u6765 .   Visual   Studio   \u5de5\u7a0b \u6240\u5728 \u6240\u5728\u5730 \u76ee\u5f55 \u4e3a \uff1a   Build \\ libcarla - visualstudio \\   \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5404\u4e2a \u6a21\u5757 \u4e4b\u95f4 \u7684   \u8c03\u7528 \u5173\u7cfb \u56fe   \uff1a   \u9ed1\u8272 \u6846 \u8868\u660e \u5f53\u524d \u663e\u793a \u7684 \u662f \u7c7b \u6587\u6863 \u3002 \u7ea2\u8272 \u8fb9\u7ebf \u7684 \u65b9\u6846 \u8868\u793a \u6709 \u6587\u6863 \u7684 \u7ed3\u6784 \u4f53\u6216\u7c7b \uff0c \u8be5\u7c7b \u672a \u5c55\u793a \u5168\u90e8 \u7684 \u7ee7\u627f / \u5305\u542b \u5173\u7cfb \u3002 \u5b9e\u5fc3 \u7bad\u5934 \u6307\u793a \u516c\u6709 \u7ee7\u627f \u3002   \u7f16\u8bd1 \u540e \u7684 \u5b89\u88c5 \u76ee\u5f55 \u4f4d\u4e8e \uff1a   PythonAPI \\ carla \\ dependencies \\   \u3002   CMakeLists . txt   file   GLOB   \u547d\u4ee4 \u7528\u4e8e \u5c06 \u6307\u5b9a \u76ee\u5f55 \u4e0b \u7684 \u6240\u6709 \u6587\u4ef6 \u5339\u914d \u5230 \u4e00\u4e2a \u53d8\u91cf \u4e2d \u3002   install   \u7528\u4e8e \u6307\u5b9a \u5728 \u5b89\u88c5 \u65f6 \u8fd0\u884c \u7684 \u89c4\u5219 \u3002   DESTINATION   \u5b9a\u4e49 \u4e86 \u5b89\u88c5 \u7684 \u8def\u5f84 \uff0c \u4f7f\u7528   CMAKE _ INSTALL _ PREFIX   \u6765 \u5b9a\u4e49 \u5b89\u88c5 \u8def\u5f84 \uff08 \u5728   Util \\ BuildTools \\ BuildLibCarla . bat   \u4e2d \u7684   - DCMAKE _ INSTALL _ PREFIX   \u4e2d \u5b9a\u4e49 \uff0c \u5373   PythonAPI \\ carla \\ dependencies \\   \uff09 \uff0c \u5c31\u8981 \u5199\u6210 \u76f8\u5bf9 \u8def\u5f84 \u76f8\u5bf9\u8def\u5f84 \uff0c \u90a3\u4e48 \u5b89\u88c5 \u540e \u7684 \u8def\u5f84 \u5c31\u662f $ { CMAKE _ INSTALL _ PREFIX } /   \u3002 \u5c06 \u5bf9\u5e94 \u76ee\u5f55 \u4e0b \u7684 . cpp \u548c . h \u6587\u4ef6 \u62f7\u8d1d \u62f7\u8d1d\u5230 \u5b89\u88c5 \u8def\u5f84 \u4e0b \u3002   add _ library \uff1a \u7528\u4e8e \u5411 \u9879\u76ee \u6dfb\u52a0 \u4e00\u4e2a \u5e93 \u6587\u4ef6 , \u5e76 \u5b9a\u4e49 \u5176 \u7c7b\u578b ( \u9759\u6001 \u5e93   STATIC   \u6216 \u5171\u4eab \u5e93 ) \u3002   carla _ client $ { carla _ target _ postfix } _ debug   \u5bf9\u5e94 \uff1a   carla _ client _ debug . lib   target _ include _ directories \uff1a   \u6307\u5b9a \u76ee\u6807 \uff08 exe \u6216\u8005 so \u6587\u4ef6 \uff09 \u9700\u8981 \u5305\u542b \u7684 \u6587\u4ef6 \u5934\u6587\u4ef6 \u8def\u5f84   target _ link _ libraries \uff1a \u6307\u5b9a \u76ee\u6807 \uff08 exe \u6216\u8005 so \u6587\u4ef6 \uff09 \u9700\u8981 \u5305\u542b \u7684 \u5e93   set _ target _ properties \uff1a \u53ef\u4ee5 \u8bbe\u7f6e \u7f16\u8bd1 \u6807\u8bb0 \uff08 \u533a\u5206 \u8c03\u8bd5 \u8fd8\u662f \u53d1\u5e03 \uff09   \u670d\u52a1 \u670d\u52a1\u7aef   \u7f16\u8bd1 \u540e \u7684 \u5b89\u88c5 \u76ee\u5f55 \u4f4d\u4e8e \uff1a   Unreal \\ CarlaUE4 \\ Plugins \\ Carla \\ CarlaDependencies \\   \u3002   CMakeLists . txt   \u53c2\u8003   C++ \u6587\u6863   Doxygen   Doxygen   v1.63   \u4e2d\u6587 \u624b\u518c","title":"LibCarla"},{"location":"libcarla/#libcarla","text":"\u6240\u6709 \u6a21\u5757 \u4e4b\u95f4 \u7684 \u8c03\u7528 \u5173\u7cfb \u56fe \uff1a   \u7b2c\u4e09 \u4e09\u65b9 \u7b2c\u4e09\u65b9 \u5e93 \u5305\u62ec \uff1a   simplify   \uff08 \u4f7f\u7528 \u4e8c\u6b21 \u66f2\u9762 \u4e8c\u6b21\u66f2\u9762 \u51cf\u5c11 \u7f51\u683c \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \uff09 \u3001   pugixml   \uff08 \u8f7b\u91cf \u91cf\u7ea7 \u8f7b\u91cf\u7ea7 \u7684   C++   XML   \u5904\u7406 \u5e93 \uff09 \u3001   odrSpiral   \uff08 OpenDrive \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \u8ba1\u7b97 \u87ba\u65cb \u7684 \u65b9\u6cd5 \uff09 \u3001   moodycamel   \uff08 C++ 11 \u5b9e\u73b0 \u7684 \u4e00\u4e2a \u4e00\u4e2a\u591a \u751f\u4ea7 \u4ea7\u8005 \u751f\u4ea7\u8005 \u3001 \u591a \u6d88\u8d39 \u6d88\u8d39\u8005 \u7684   \u65e0\u9501 \u961f\u5217   \uff09 \u3001   marchingcube   \uff08 \u4ece \u7ed9\u5b9a \u7684 \u6709 \u7b26\u53f7 \u8ddd\u79bb \u51fd\u6570 \u91cd\u5efa \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c \uff09 \u3002   \u7b14\u8bb0   Marching   Cubes ( \u4e09\u7ef4 \u89c4\u5219 \u6570\u636e \u573a \u7b49\u503c \u9762 \u751f\u6210 \u3001 \u4ece \u4e09\u7ef4 \u4f53\u7d20 \u4e2d \u63d0\u53d6 \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c ) \u3002 \u6709 \u7b26\u53f7 \u8ddd\u79bb \u51fd \uff08 Signed   Distance   Function ,   SDF \uff09 ,   \u6307 \u7684 \u662f \u7ed9\u5b9a \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u7684 \u5750\u6807 ,   \u8fd4\u56de \u8fd9\u4e2a \u70b9 \u4e0e \u67d0 \u4e00\u9762 \u7684 \u6700 \u77ed\u8ddd \u8ddd\u79bb \u77ed\u8ddd\u79bb \u3002 \u5982\u679c \u8fd9\u4e2a \u8ddd\u79bb \u662f \u8d1f\u6570 ,   \u5219 \u8bf4\u660e \u5728 \u9762\u5185 ,   \u662f \u6b63\u6570 \u5219 \u8bf4\u660e \u5728 \u9762\u5916 ,   \u5982\u679c \u662f 0 ,   \u5219 \u521a\u597d \u5728 \u9762\u4e0a \uff0c SDF \u7684 signed \u5c31\u662f \u7531\u6b64 \u800c\u6765 \u7531\u6b64\u800c\u6765 .   Visual   Studio   \u5de5\u7a0b \u6240\u5728 \u6240\u5728\u5730 \u76ee\u5f55 \u4e3a \uff1a   Build \\ libcarla - visualstudio \\   \u3002","title":"LibCarla"},{"location":"libcarla/#_1","text":"\u5404\u4e2a \u6a21\u5757 \u4e4b\u95f4 \u7684   \u8c03\u7528 \u5173\u7cfb \u56fe   \uff1a   \u9ed1\u8272 \u6846 \u8868\u660e \u5f53\u524d \u663e\u793a \u7684 \u662f \u7c7b \u6587\u6863 \u3002 \u7ea2\u8272 \u8fb9\u7ebf \u7684 \u65b9\u6846 \u8868\u793a \u6709 \u6587\u6863 \u7684 \u7ed3\u6784 \u4f53\u6216\u7c7b \uff0c \u8be5\u7c7b \u672a \u5c55\u793a \u5168\u90e8 \u7684 \u7ee7\u627f / \u5305\u542b \u5173\u7cfb \u3002 \u5b9e\u5fc3 \u7bad\u5934 \u6307\u793a \u516c\u6709 \u7ee7\u627f \u3002   \u7f16\u8bd1 \u540e \u7684 \u5b89\u88c5 \u76ee\u5f55 \u4f4d\u4e8e \uff1a   PythonAPI \\ carla \\ dependencies \\   \u3002","title":"\u5ba2\u6237\u7aef"},{"location":"libcarla/#cmakeliststxt","text":"file   GLOB   \u547d\u4ee4 \u7528\u4e8e \u5c06 \u6307\u5b9a \u76ee\u5f55 \u4e0b \u7684 \u6240\u6709 \u6587\u4ef6 \u5339\u914d \u5230 \u4e00\u4e2a \u53d8\u91cf \u4e2d \u3002   install   \u7528\u4e8e \u6307\u5b9a \u5728 \u5b89\u88c5 \u65f6 \u8fd0\u884c \u7684 \u89c4\u5219 \u3002   DESTINATION   \u5b9a\u4e49 \u4e86 \u5b89\u88c5 \u7684 \u8def\u5f84 \uff0c \u4f7f\u7528   CMAKE _ INSTALL _ PREFIX   \u6765 \u5b9a\u4e49 \u5b89\u88c5 \u8def\u5f84 \uff08 \u5728   Util \\ BuildTools \\ BuildLibCarla . bat   \u4e2d \u7684   - DCMAKE _ INSTALL _ PREFIX   \u4e2d \u5b9a\u4e49 \uff0c \u5373   PythonAPI \\ carla \\ dependencies \\   \uff09 \uff0c \u5c31\u8981 \u5199\u6210 \u76f8\u5bf9 \u8def\u5f84 \u76f8\u5bf9\u8def\u5f84 \uff0c \u90a3\u4e48 \u5b89\u88c5 \u540e \u7684 \u8def\u5f84 \u5c31\u662f $ { CMAKE _ INSTALL _ PREFIX } /   \u3002 \u5c06 \u5bf9\u5e94 \u76ee\u5f55 \u4e0b \u7684 . cpp \u548c . h \u6587\u4ef6 \u62f7\u8d1d \u62f7\u8d1d\u5230 \u5b89\u88c5 \u8def\u5f84 \u4e0b \u3002   add _ library \uff1a \u7528\u4e8e \u5411 \u9879\u76ee \u6dfb\u52a0 \u4e00\u4e2a \u5e93 \u6587\u4ef6 , \u5e76 \u5b9a\u4e49 \u5176 \u7c7b\u578b ( \u9759\u6001 \u5e93   STATIC   \u6216 \u5171\u4eab \u5e93 ) \u3002   carla _ client $ { carla _ target _ postfix } _ debug   \u5bf9\u5e94 \uff1a   carla _ client _ debug . lib   target _ include _ directories \uff1a   \u6307\u5b9a \u76ee\u6807 \uff08 exe \u6216\u8005 so \u6587\u4ef6 \uff09 \u9700\u8981 \u5305\u542b \u7684 \u6587\u4ef6 \u5934\u6587\u4ef6 \u8def\u5f84   target _ link _ libraries \uff1a \u6307\u5b9a \u76ee\u6807 \uff08 exe \u6216\u8005 so \u6587\u4ef6 \uff09 \u9700\u8981 \u5305\u542b \u7684 \u5e93   set _ target _ properties \uff1a \u53ef\u4ee5 \u8bbe\u7f6e \u7f16\u8bd1 \u6807\u8bb0 \uff08 \u533a\u5206 \u8c03\u8bd5 \u8fd8\u662f \u53d1\u5e03 \uff09","title":"CMakeLists . txt"},{"location":"libcarla/#_2","text":"\u7f16\u8bd1 \u540e \u7684 \u5b89\u88c5 \u76ee\u5f55 \u4f4d\u4e8e \uff1a   Unreal \\ CarlaUE4 \\ Plugins \\ Carla \\ CarlaDependencies \\   \u3002","title":"\u670d\u52a1\u7aef"},{"location":"libcarla/#cmakeliststxt_1","text":"","title":"CMakeLists . txt"},{"location":"libcarla/#_3","text":"C++ \u6587\u6863   Doxygen   Doxygen   v1.63   \u4e2d\u6587 \u624b\u518c","title":"\u53c2\u8003"},{"location":"map_customization/","text":"\u5730\u56fe \u5b9a\u5236   \u672c \u6587\u6863 \u5c1a \u5728 \u7f16\u5199 \u4e2d \uff0c \u53ef\u80fd \u4e0d \u5b8c\u6574 \u3002   \u521b\u5efa \u65b0 \u5730\u56fe   \u6f0f\u6d1e   \u4f7f\u7528   Carla   \u5de5\u5177 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u521b\u5efa \u5730\u56fe \u4f1a \u5bfc\u81f4   UE4.17 . 2   \u5d29\u6e83 \uff08   \u95ee\u9898   # 99   \uff09 \uff0c \u672c \u6307\u5357 \u5efa\u8bae \u590d\u5236 \u73b0\u6709 \u5173\u5361 \uff0c \u800c \u4e0d\u662f \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u521b\u5efa \u5730\u56fe \u3002   \u8981\u6c42   \u5728   Linux   \u6216   Windows   \u4e0a \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u68c0\u51fa \u5e76 \u6784\u5efa   Carla \u3002   \u521b\u5efa   \u590d\u5236 \u73b0\u6709 \u5730\u56fe   \u4ece \u5730\u56fe \u4e0a \u5220\u9664 \u6240\u6709 \u4e0d \u9700\u8981 \u7684 \u5185\u5bb9   \u4fdd\u7559 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u201c Lighting \u201d \u3001 \u201c AtmosphericFog \u201d \u3001 \u201c PostProcessVol \u201d \u548c \u201c CarlaMapGenerator \u201d \uff0c \u8fd9 \u5c06 \u4f7f \u6c14\u5019 \u4fdd\u6301 \u9884\u671f \u8fd0\u884c \uff0c \u5e76 \u4fdd\u5b58 \u540e\u671f \u5904\u7406 \u3002   \u5c06 \u7a7a\u767d \u84dd\u56fe \u4fdd\u7559 \u4e3a \u6a21\u677f \u5e76 \u5728 \u5f00\u59cb \u586b\u5145 \u4e4b\u524d \u590d\u5236 \u5b83 \u53ef\u80fd \u4f1a \u5f88 \u6709\u8da3 \u3002   \u5728   CarlaMapGenerator   \u4e2d \uff0c \u6709 \u4e00\u4e2a \u5b57 \u6bb5 \u201c \u79cd\u5b50 \u201d \u3002 \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u66f4\u6539 \u8be5 \u79cd\u5b50 \u5e76 \u5355\u51fb \u201c \u89e6\u53d1 \u8def\u7ebf \u7ebf\u56fe \u8def\u7ebf\u56fe \u751f\u6210 \u201d \u6765 \u66f4\u6539 \u5730\u56fe \u3002 \u8fd8 \u5e94\u9009 \u4e2d \u201c \u5c06 \u8def\u7ebf \u7ebf\u56fe \u8def\u7ebf\u56fe \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u201d \u3002   \u60a8 \u53ef\u4ee5 \u66f4\u6539 \u79cd\u5b50 \uff0c \u76f4\u5230 \u83b7\u5f97 \u6ee1\u610f \u7684 \u5730\u56fe \u3002   \u6b64\u540e \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u60f3\u8981 \u751f\u6210 \u6c7d\u8f66 \u7684 \u5730\u65b9 \u653e\u7f6e \u65b0 \u7684   PlayerStarts \u3002   \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u5df2\u7ecf \u53d1\u6325 \u4f5c\u7528 \u53d1\u6325\u4f5c\u7528 \uff0c \u4f46 \u6c7d\u8f66 \u4e0d\u4f1a \u968f\u673a \u884c\u52a8 \u3002 \u8f66\u8f86 \u5c06 \u9075\u5faa   RoadMapGenerator   \u7ed9\u51fa \u7684 \u6307\u4ee4 \u3002 \u5b83\u4eec \u5728 \u76f4 \u8def\u4e0a \u4f1a \u5f88 \u5bb9\u6613 \u5730 \u6cbf\u7740 \u9053\u8def \u884c\u9a76 \uff0c \u4f46 \u5728 \u8fdb\u5165 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u65f6\u5219 \u4e0d\u4f1a \u90a3\u4e48 \u5bb9\u6613 \uff1a   \uff08 \u8fd9\u662f \u9053\u8def \u5411 \u8f66\u8f86 \u53d1\u51fa \u7684 \u6307\u4ee4 \u7684 \u8c03\u8bd5 \u89c6\u56fe \u3002 \u5b83\u4eec \u5c06 \u59cb\u7ec8 \u9075\u5faa \u7eff\u8272 \u7bad\u5934 \uff0c \u767d\u70b9 \u662f \u4e00\u6761 \u6216 \u591a\u6761 \u8def\u7ebf \u4e4b\u95f4 \u7684 \u5171\u4eab \u70b9 \uff0c \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83\u4eec \u547d\u4ee4 \u8f66\u8f86 \u7ee7\u7eed \u76f4\u884c \uff1b \u9ed1\u70b9 \u504f\u79bb \u9053\u8def \uff0c \u8f66\u8f86 \u6ca1\u6709 \u5f97\u5230 \u4efb\u4f55 \u6307\u4ee4 \u5e76 \u5411 \u5de6 \u884c\u9a76 \uff0c \u8bd5\u56fe \u56de\u5230 \u9053\u8def \u4e0a \uff09   \u8981 \u83b7\u5f97 \u968f\u673a \u884c\u4e3a \uff0c \u60a8 \u5fc5\u987b \u653e\u7f6e   IntersectionEntrances \uff0c \u8fd9 \u5c06 \u8ba9 \u60a8 \u91cd\u65b0 \u5b9a\u4e49 \u8f66\u8f86 \u884c\u9a76 \u7684 \u65b9\u5411 \uff0c \u8986\u76d6 \u9053\u8def \u5730\u56fe \u7ed9\u51fa \u7684 \u65b9\u5411 \uff08 \u76f4\u5230 \u5b83\u4eec \u5b8c\u6210 \u7ed9\u5b9a \u7684 \u987a\u5e8f \uff09 \u3002 \uff08 \u53c2\u89c1 \u4e24\u4e2a \u793a\u4f8b \u57ce\u9547 \uff0c \u4e86\u89e3 \u5176 \u5177\u4f53 \u5de5\u4f5c \u539f\u7406 \uff09 \u3002   0.7 . 1   \u7248\u672c \u4e4b\u524d \uff1a \u5bf9\u4e8e \u6bcf\u4e2a \u5165\u53e3 \uff0c \u4f60 \u5fc5\u987b \u521b\u5efa \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7a7a \u7684   \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5b83\u4eec \u5c06 \u4f5c\u4e3a \u5f15\u5bfc \u6c7d\u8f66 \u901a\u8fc7 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u7684 \u8def\u5f84 \u70b9 \uff1b \u7136\u540e \uff0c \u4f60 \u5fc5\u987b \u5c06 \u76f8\u5e94 \u7684   Actor   \u5206\u914d \u7ed9 \u6bcf\u6761 \u8def\u5f84   0.7 . 1   \u7248 \u4e4b\u540e \uff1a \u6bcf\u4e2a   IntersectionEntrance   \u90fd \u6709 \u4e00\u4e2a \u540d\u4e3a   routes   \u7684 \u6570\u7ec4 \uff0c \u5411 \u5176\u4e2d \u6dfb\u52a0 \u4e00\u4e2a \u5143\u7d20 \u4f1a \u5728 \u4e16\u754c \u4e2d \u521b\u5efa \u4e00\u4e2a \u53ef \u7f16\u8f91 \u7684 \u6837\u6761 \u7ebf \uff0c \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u70b9 \u4f4d\u4e8e   IntersectionEntrance   \u4e0a \uff08 \u60a8 \u53ef\u80fd \u9700\u8981 \u9009\u62e9 \u53e6 \u4e00\u4e2a \u5bf9\u8c61 \u624d\u80fd \u770b\u5230 \u5b83 \uff09 \u6b64 \u6837\u6761 \u7ebf \u5b9a\u4e49 \u4e86 \u4efb\u4f55 \u8f66\u8f86 \u8fdb\u5165 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u65f6 \u53ef\u80fd \u91c7\u53d6 \u7684 \u8def\u7ebf \uff08 \u5c31 \u50cf \u4e4b\u524d \u7684   Empty   \u6f14\u5458 \u6240 \u505a \u7684 \u90a3\u6837 \uff09 \u60a8 \u53ef\u4ee5 \u50cf \u7f16\u8f91 \u4efb\u4f55 \u865a\u5e7b \u6837\u6761 \u7ebf \u4e00\u6837 \u914d\u7f6e \u6b64 \u8def\u7ebf \u3002 \u6bcf\u6761 \u8def\u7ebf \u5c06 \u5728 \u4ee5\u4e0b \u5b57\u6bb5 \u4e2d \u521b\u5efa \u4e00\u4e2a \u5143\u7d20 \uff1a \u201c \u6982\u7387 \u201d \u6b64 \u6570\u7ec4 \u4e2d \u7684 \u6bcf\u4e2a \u6570\u5b57 \u90fd \u5b9a\u4e49 \u4e86 \u4efb\u4f55 \u8f66\u8f86 \u91c7\u53d6 \u76f8\u5e94 \u91c7\u53d6\u76f8\u5e94 \u8def\u7ebf \u7684 \u51e0\u7387 \u3002   \u8981 \u6539\u53d8 \u6c7d\u8f66 \u7684 \u901f\u5ea6 \uff0c \u8bf7 \u4f7f\u7528 \u901f\u5ea6 \u9650\u5236 \u9650\u5236\u5668 \u3002 \u5b83\u4eec \u4f7f\u7528 \u8d77\u6765 \u5f88 \u7b80\u5355 \u3002 \uff08 \u786e\u4fdd \u9650\u5236 \u8f6c\u5f2f \u901f\u5ea6 \uff0c \u5426\u5219 \u6c7d\u8f66 \u4f1a \u8bd5\u56fe \u4ee5 \u5168\u901f \u8f6c\u5f2f \uff0c \u4f46 \u65e0\u6cd5 \u6210\u529f \uff09   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u9700\u8981 \u6309\u7167 \u811a\u672c \u6765 \u907f\u514d \u4ea4\u901a \u901a\u4e8b \u4e8b\u6545 \u4ea4\u901a\u4e8b\u6545 \u3002 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u7684 \u6bcf\u6761 \u8857\u9053 \u90fd \u5e94\u8be5 \u6709 \u81ea\u5df1 \u7684 \u7eff\u706f \u8f6c\u5f2f \uff0c \u800c \u5176\u4ed6 \u8857\u9053 \u5219 \u4e0d \u5e94\u6709 \u7eff\u706f \u3002   \u7136\u540e \u4f60 \u5c31 \u53ef\u4ee5 \u5728 \u6574\u4e2a \u4e16\u754c \u4e2d \u5e03\u6ee1 \u98ce\u666f \u548c \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u591a\u5c42 \u5efa\u7b51 \u591a\u5c42\u5efa\u7b51   \u6b64 \u84dd\u56fe \u7684 \u76ee\u7684 \u662f \u4f7f \u91cd\u590d \u548c \u6539\u53d8 \u9ad8\u5c42 \u5efa\u7b51 \u9ad8\u5c42\u5efa\u7b51 \u53d8\u5f97 \u66f4 \u5bb9\u6613 \u4e00\u4e9b \u3002 \u63d0\u4f9b \u4e00\u4e2a \u57fa\u7840 \u3001 \u4e00\u4e2a \u4e2d\u5c42 \u548c \u4e00\u4e2a \u5c4b\u9876 \uff1b \u6b64 \u84dd\u56fe \u5c06 \u4e2d\u5c42 \u91cd\u590d \u5230 \u6240 \u9700 \u7684 \u5546\u5e97 \u6570\u91cf \uff0c \u5e76 \u5728 \u6ee1\u8db3 \u67d0\u4e9b \u6761\u4ef6 \u7684 \u60c5\u51b5 \u4e0b \u5c06 \u5176 \u4e0e \u6700\u540e \u4e00\u5c42 \u53e0\u52a0 \uff1a   \u6240\u6709 \u6a21\u578b \u67a2\u8f74 \u90fd \u5e94 \u4f4d\u4e8e \u7279\u5b9a \u7f51\u683c \u7684 \u5e95\u90e8 \u4e2d\u5fc3 \u3002   Al   \u6a21\u578b \u5fc5\u987b \u51c6\u786e \u5730 \u5728 \u91cd\u590d \u53d1\u751f \u7684 \u5730\u65b9 \u5f00\u59cb \u548c \u7ed3\u675f \u3002   \u8be5 \u84dd\u56fe \u7531 \u4ee5\u4e0b   6   \u4e2a \u7279\u5b9a \u53c2\u6570 \u63a7\u5236 \uff1a   GroundFloor \uff1a \u653e\u7f6e \u5728 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5e95\u90e8 \u7684 \u7f51\u683c \u3002   Floor \uff1a \u6cbf\u7740 \u5efa\u7b51 \u5efa\u7b51\u7269 \u91cd\u590d \u7684 \u7f51\u683c \u3002   Roof \uff1a \u5efa\u7b51 \u5efa\u7b51\u7269 \u9876\u90e8 \u7684 \u6700\u7ec8 \u7f51\u683c \u3002   FloorNumber \uff1a \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u697c\u5c42 \u6570 \u3002   FloorHeightOffset \uff1a \u5782\u76f4 \u8c03\u6574 \u6bcf \u5c42\u697c \u7684 \u4f4d\u7f6e \u3002   RoofOffset \uff1a \u5782\u76f4 \u8c03\u6574 \u5c4b\u9876 \u7684 \u4f4d\u7f6e \u3002   \u4e00\u65e6 \u5c06 \u8be5 \u84dd\u56fe \u653e\u7f6e \u5728 \u4e16\u754c \u4e2d \uff0c \u6240\u6709 \u8fd9\u4e9b \u53c2\u6570 \u90fd \u53ef\u4ee5 \u88ab \u4fee\u6539 \u3002   SplinemeshRepeater   \u6f0f\u6d1e   \u53c2\u89c1   # 35   SplineMeshRepeater   \u4e22\u5931 \u5176 \u78b0\u649e \u4f53 \u7f51\u683c   \u6807\u51c6 \u7528\u9014 \uff1a   SplineMeshRepeater   \u201c Content / Blueprints / SplineMeshRepeater \u201d   \u662f   Carla   Project   \u4e2d \u5305\u542b \u7684 \u4e00\u4e2a \u5de5\u5177 \uff0c \u7528\u4e8e \u5e2e\u52a9 \u6784\u5efa \u57ce\u5e02 \u73af\u5883 \uff1b \u5b83 \u6cbf\u7740 \u6837   \u6761\u7ebf   \uff08 \u865a\u5e7b \u7ec4\u4ef6 \uff09 \u91cd\u590d \u548c \u5bf9\u9f50 \u7279\u5b9a \u9009\u5b9a \u7684 \u7f51\u683c \u3002 \u5176 \u4e3b\u8981 \u529f\u80fd \u662f \u6784\u5efa \u901a\u5e38 \u5e73\u94fa \u548c \u91cd\u590d \u7684 \u7ed3\u6784 \uff0c \u5982 \u5899\u58c1 \u3001 \u9053\u8def \u3001 \u6865\u6881 \u3001 \u6805\u680f \u2026 \u2026 \u4e00\u65e6 \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u653e\u5165 \u4e16\u754c \uff0c \u5c31 \u53ef\u4ee5 \u4fee\u6539 \u6837\u6761 \u7ebf \uff0c \u4ee5\u4fbf \u5bf9\u8c61 \u83b7\u5f97 \u6240 \u9700 \u7684 \u5f62\u5f0f \u3002 \u5b9a\u4e49 \u6837\u6761 \u7ebf \u7684 \u6bcf\u4e2a \u70b9 \u90fd \u4f1a \u751f\u6210 \u4e00\u4e2a \u65b0 \u7684 \u56fe\u5757 \uff0c \u56e0\u6b64 \u6837\u6761 \u7ebf \u7684 \u70b9 \u8d8a \u591a \uff0c \u5b83 \u5c31 \u8d8a \u660e\u786e \uff0c \u4f46 \u5bf9 \u4e16\u754c \u7684 \u8d1f\u62c5 \u4e5f \u8d8a \u5927 \u3002 \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7531 \u4ee5\u4e0b \u53c2\u6570 \u5b9a\u4e49 \uff1a   \u9759\u6001 \u7f51\u683c \u7269\u4f53   ( StaticMesh ) \uff1a \u6cbf \u6837\u6761 \u7ebf \u91cd\u590d \u7684 \u7f51\u683c \u7269\u4f53 \u3002   ForWardAxis \uff1a \u6539\u53d8 \u7f51\u683c \u8f74\u4ee5 \u4e0e \u6837\u6761 \u7ebf \u5bf9\u9f50 \u3002   Material \uff1a \u8986\u76d6 \u7f51\u683c \u7684 \u9ed8\u8ba4 \u6750\u8d28 \u3002   Collision   Enabled \uff1a \u9009\u62e9 \u8981 \u4f7f\u7528 \u7684 \u78b0\u649e \u7c7b\u578b \u3002   Gap   distance \uff1a \u5728 \u6bcf\u4e2a \u91cd\u590d \u7f51\u683c \u4e4b\u95f4 \u653e\u7f6e \u4e00\u4e2a \u95f4\u9699 \uff0c \u9002\u7528 \u4e8e \u91cd\u590d \u7684 \u975e \u8fde\u7eed \u5899\u58c1 \uff1a \u704c\u6728 \u94fe \u3001 \u62a4\u67f1 \u2026 \u2026   \uff08 \u6700\u540e \u4e09\u4e2a \u53d8\u91cf \u662f \u9488\u5bf9 \u4e0b \u4e00\u70b9 \u4e2d\u8981 \u5b9a\u4e49 \u7684 \u4e00\u4e9b \u7279\u5b9a \u8d44\u4ea7 \u800c\u5b9a \u7684 \uff09 \u521b\u5efa \u4e0e \u6b64 \u7ec4\u4ef6 \u517c\u5bb9 \u7684 \u8d44\u4ea7 \u7684 \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6 \u662f \uff0c \u6240\u6709 \u7f51\u683c \u7684 \u67a2\u8f74 \u90fd \u653e\u7f6e \u5728 \u91cd\u590d \u5f00\u59cb \u7684 \u6700\u4f4e \u4f4e\u70b9 \u6700\u4f4e\u70b9 \uff0c \u5176\u4f59 \u7f51\u683c \u6307\u5411 \u6b63 \u65b9\u5411 \uff08 \u6700\u597d \u662f   X   \u8f74 \uff09   \u7279\u5b9a \u5899\u58c1 \uff08 \u52a8\u6001 \u6750\u8d28 \uff09   \u5728 \u9879\u76ee \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u201c Content / Static / Walls \u201d \u4e2d \u5305\u542b \u4e00\u4e9b \u7279\u5b9a \u8d44\u4ea7 \uff0c \u8fd9\u4e9b \u8d44\u4ea7 \u5c06 \u4e0e \u5177\u6709 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7279\u6b8a \u7279\u6027 \u7684   SplineMeshRepeater   \u4e00\u8d77 \u4f7f\u7528 \u3002 \u8fd9\u4e9b \u7f51\u683c \u7684   UV   \u7a7a\u95f4 \u53ca\u5176 \u6750\u8d28 \u5bf9\u4e8e \u6240\u6709 \u7f51\u683c \u90fd \u662f \u76f8\u540c \u7684 \uff0c \u56e0\u6b64 \u53ef\u4ee5 \u4e92\u6362 \u3002 \u6bcf\u79cd \u6750\u8d28 \u7531 \u4e09\u4e2a \u4e0d\u540c \u7684 \u8868\u9762 \u7ec4\u6210 \uff0c \u6700\u540e \u4e09\u4e2a \u53c2\u6570 \u4f1a \u7a0d\u5fae \u4fee\u6539 \u8fd9\u4e9b \u8868\u9762 \u7684 \u989c\u8272 \uff1a   MainMaterialColor \uff1a \u66f4\u6539 \u5899\u58c1 \u7684 \u4e3b\u8981 \u6750\u8d28   DetailsColor \uff1a \u66f4\u6539 \u7ec6\u8282 \u7684 \u989c\u8272 \uff08 \u5982\u679c \u6709 \uff09   TopWallColor \uff1a \u66f4\u6539 \u5899\u58c1 \u8986\u76d6 \u8986\u76d6\u7269 \u7684 \u989c\u8272 \uff08 \u5982\u679c \u6709 \uff09   \u8981 \u6dfb\u52a0 \u4ece\u6b64 \u529f\u80fd \u4e2d \u53d7\u76ca \u7684 \u5143\u7d20 \uff0c \u5b58\u5728   GardenWallMask   \u6587\u4ef6 \uff0c \u5b83 \u5b9a\u4e49 \u4e86 \u653e\u7f6e \u6750\u6599 \u7684   uv   \u7a7a\u95f4 \uff1a \uff08 \u84dd\u8272 \u7a7a\u95f4 \uff1a MainMaterial \uff1b \u7eff\u8272 \u7a7a\u95f4 \uff1a Details \uff1b \u7ea2\u8272 \u7a7a\u95f4   TopWall \uff09 \u3002   \u6750\u8d28 \u4e3b\u63a7 \u4e4b\u95f4 \u662f   WallMaster \uff0c \u5b83 \u5c06 \u6210\u4e3a \u4f7f\u7528 \u6b64 \u529f\u80fd \u7684 \u6750\u8d28 \u7684 \u4e3b\u63a7 \u3002 \u5c06 \u521b\u5efa \u6b64 \u6750\u8d28 \u7684 \u5b9e\u4f8b \u5e76 \u6dfb\u52a0 \u76f8\u5e94 \u7684 \u7eb9\u7406 \u3002 \u6b64 \u6750\u8d28 \u5305\u62ec \u4ee5\u4e0b \u53c2\u6570 \uff0c \u4f9b\u8981 \u4f7f\u7528 \u7684 \u6750\u8d28 \u4fee\u6539 \uff1a   Normal   Flattener \uff1a \u7a0d\u5fae \u4fee\u6539 \u6cd5\u7ebf \u8d34\u56fe \u503c\u4ee5 \u4f7f \u5176 \u5938\u5927 \u6216 \u5e73\u6574 \u3002   RoughnessCorrection \uff1a \u6539\u53d8 \u7eb9\u7406 \u7ed9\u51fa \u7684 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u503c \u3002   \u5176\u4f59 \u53c2\u6570 \u662f \u63a9\u7801 \u7eb9\u7406 \u548c \u989c\u8272 \u6821\u6b63 \uff0c \u8fd9\u4e9b \u53c2\u6570 \u5728 \u672c\u4f8b \u4e2d \u4e0d\u4f1a \u88ab \u4fee\u6539 \uff0c \u4f46 \u5728 \u5c06\u8981 \u53d1\u5e03 \u5230 \u4e16\u754c \u7684 \u84dd\u56fe \u4e2d\u4f1a \u88ab \u4fee\u6539 \u3002   \u5929\u6c14   \u8fd9\u662f \u8d1f\u8d23 \u4fee\u6539 \u6240\u6709 \u7167\u660e \u3001 \u73af\u5883 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ee5\u53ca \u5f71\u54cd \u6c14\u5019 \u5370\u8c61 \u7684 \u4efb\u4f55 \u4f55\u4e8b \u4e8b\u7269 \u4efb\u4f55\u4e8b\u7269 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5f53 \u5728   Config . Ini   \u4e2d\u672a \u53e6\u884c \u6307\u5b9a \u65f6 \uff0c \u5b83\u4f1a \u968f \u6e38\u620f \u81ea\u52a8 \u8fd0\u884c \uff0c \u4f46 \u6709 \u81ea\u5df1 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u6a21\u5f0f \u4e0b \u542f\u52a8 \u4ee5 \u914d\u7f6e \u6c14\u5019 \u6761\u4ef6 \u3002 \u8981 \u5b8c\u5168 \u5de5\u4f5c \uff0c \u5b83 \u5c06 \u9700\u8981 \u4ee5\u4e0b \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e2d \u7684 \u4e00\u4e2a \uff1a SkySphere \u3001 Skylight \u3001 Postprocess   Volume \uff08 \u65e0 \u8fb9\u754c \uff09 \u548c   Light   Source   \u5b58\u5728 \u4e8e \u4e16\u754c \u4e2d \u3002   SunPolarAngle \uff1a \u592a\u9633 \u7684 \u6781\u89d2 \uff0c \u51b3\u5b9a \u4e00\u5929 \u7684 \u65f6\u95f4   SunAzimuthAngle \uff1a \u6dfb\u52a0 \u5230 \u5f53\u524d \u7ea7\u522b \u7684 \u592a\u9633 \u4f4d\u7f6e   SunBrightness \uff1a \u5929\u7a7a \u76d2\u4e2d \u592a\u9633 \u6e32\u67d3 \u7684 \u4eae\u5ea6   SunDirectionalLightIntensity \uff1a \u592a\u9633 \u9633\u5149 \u592a\u9633\u5149 \u7684 \u5f3a\u5ea6   SunDirectionalLightColor \uff1a \u9633\u5149 \u7684 \u989c\u8272   SunIndirectLightIntensity \uff1a \u4e3b \u53cd\u5c04 \u5149\u53cd\u5c04 \u7684 \u5f3a\u5ea6   CloudOpacity \uff1a \u5929\u7a7a \u76d2 \u4e0a \u4e91 \u6e32\u67d3 \u7684 \u53ef\u89c1 \u6027   HorizontFalloff \uff1a \u786e\u5b9a \u5929\u9876 \u548c \u5730\u5e73 \u5730\u5e73\u7ebf \u989c\u8272 \u4e4b\u95f4 \u7684 \u6e10\u53d8 \u9ad8\u5ea6   ZenithColor \uff1a \u5b9a\u4e49 \u5929\u9876 \u7684 \u989c\u8272 \u3002   HorizonColor \uff1a \u5b9a\u4e49 \u5730\u5e73 \u5730\u5e73\u7ebf \u7684 \u989c\u8272 \u3002   CloudColor \uff1a \u5b9a\u4e49 \u4e91 \u7684 \u989c\u8272 \uff08 \u5982\u679c \u6709 \uff09 \u3002   OverallSkyColor \uff1a \u5c06 \u5929\u7a7a \u4e2d \u7684 \u6bcf\u4e2a \u989c\u8272 \u5143\u7d20 \u4e58\u4ee5 \u5355\u4e00 \u989c\u8272 \u3002   SkyLightIntensity \uff1a \u4ece \u5929\u7a7a \u53cd\u5c04 \u7684 \u5149 \u7684 \u5f3a\u5ea6 \u3002   SkyLightColor \uff1a \u4ece \u5929\u7a7a \u53cd\u5c04 \u7684 \u5149 \u7684 \u989c\u8272 \u3002   Precipitation \uff1a \u5b9a\u4e49 \u662f\u5426 \u6709 \u964d\u6c34 \u6d3b\u52a8 \u3002   PrecipitationType \uff1a \u6d3b\u8dc3 \u964d\u6c34 \u7684 \u7c7b\u578b \u3002   PrecipitationAmount \uff1a \u6240 \u9009 \u964d\u6c34 \u7684 \u6570\u91cf \u3002   PrecipitationAccumulation \uff1a \u6240 \u9009 \u964d\u6c34 \u7684 \u79ef\u7d2f \u3002   bWind \uff1a \u5b9a\u4e49 \u662f\u5426 \u6709\u98ce \u3002   WindIntensity \uff1a \u5b9a\u4e49 \u98ce \u5f3a\u5ea6 \u3002   WindAngle \uff1a \u5b9a\u4e49 \u98ce\u5411 \u3002   bOverrideCameraPostProcessParameters \uff1a \u5b9a\u4e49 \u662f\u5426 \u8986\u76d6 \u9ed8\u8ba4 \u7684 \u76f8\u673a \u540e\u671f \u5904\u7406 \u3002   CameraPostProcessParameters . AutoExposureMethod \uff1a \u5b9a\u4e49 \u81ea\u52a8 \u66dd\u5149 \u7684 \u65b9\u6cd5 \u3002   CameraPostProcessParameters . AutoExposureMinBrightness \uff1a \u5b9a\u4e49 \u81ea\u52a8 \u66dd\u5149 \u5728 \u6700\u7ec8 \u56fe\u50cf \u4e2d \u7b97\u4f5c \u7684 \u6700\u5c0f \u4eae\u5ea6 \u3002   CameraPostProcessParameters . AutoExposureMaxBrightness \uff1a \u5b9a\u4e49 \u81ea\u52a8 \u66dd\u5149 \u5728 \u6700\u7ec8 \u56fe\u50cf \u4e2d \u7b97\u4f5c \u7684 \u6700\u5927 \u4eae\u5ea6 \u3002   CameraPostProcessParameters . AutoExposureBias \uff1a \u4f7f \u6700\u7ec8 \u56fe\u50cf \u53d8\u6697 \u6216 \u53d8\u4eae \uff0c \u8fbe\u5230 \u5b9a\u4e49 \u7684 \u504f\u5dee \u3002   \u60a8 \u53ef\u4ee5 \u6839\u636e \u9700\u8981 \u5728 \u9879\u76ee \u4e2d \u4fdd\u5b58 \u4efb\u610f \u6570\u91cf \u7684 \u4e0d\u540c \u914d\u7f6e \uff0c \u5e76 \u901a\u8fc7   \u8bbe\u7f6e \u6587\u4ef6   \u9009\u62e9 \u5728 \u6784\u5efa \u65f6 \u5e94\u7528 \u7684 \u914d\u7f6e \uff1b \u6216\u8005 \u5728 \u6784\u5efa \u7ea7\u522b \u6216 \u6d4b\u8bd5 \u65f6 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5e94\u7528 \u3002","title":"\u5730\u56fe \u5b9a\u5236"},{"location":"map_customization/#_1","text":"\u672c \u6587\u6863 \u5c1a \u5728 \u7f16\u5199 \u4e2d \uff0c \u53ef\u80fd \u4e0d \u5b8c\u6574 \u3002","title":"\u5730\u56fe \u5b9a\u5236"},{"location":"map_customization/#_2","text":"\u6f0f\u6d1e   \u4f7f\u7528   Carla   \u5de5\u5177 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u521b\u5efa \u5730\u56fe \u4f1a \u5bfc\u81f4   UE4.17 . 2   \u5d29\u6e83 \uff08   \u95ee\u9898   # 99   \uff09 \uff0c \u672c \u6307\u5357 \u5efa\u8bae \u590d\u5236 \u73b0\u6709 \u5173\u5361 \uff0c \u800c \u4e0d\u662f \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u521b\u5efa \u5730\u56fe \u3002","title":"\u521b\u5efa \u65b0 \u5730\u56fe"},{"location":"map_customization/#_3","text":"\u5728   Linux   \u6216   Windows   \u4e0a \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u68c0\u51fa \u5e76 \u6784\u5efa   Carla \u3002","title":"\u8981\u6c42"},{"location":"map_customization/#_4","text":"\u590d\u5236 \u73b0\u6709 \u5730\u56fe   \u4ece \u5730\u56fe \u4e0a \u5220\u9664 \u6240\u6709 \u4e0d \u9700\u8981 \u7684 \u5185\u5bb9   \u4fdd\u7559 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u201c Lighting \u201d \u3001 \u201c AtmosphericFog \u201d \u3001 \u201c PostProcessVol \u201d \u548c \u201c CarlaMapGenerator \u201d \uff0c \u8fd9 \u5c06 \u4f7f \u6c14\u5019 \u4fdd\u6301 \u9884\u671f \u8fd0\u884c \uff0c \u5e76 \u4fdd\u5b58 \u540e\u671f \u5904\u7406 \u3002   \u5c06 \u7a7a\u767d \u84dd\u56fe \u4fdd\u7559 \u4e3a \u6a21\u677f \u5e76 \u5728 \u5f00\u59cb \u586b\u5145 \u4e4b\u524d \u590d\u5236 \u5b83 \u53ef\u80fd \u4f1a \u5f88 \u6709\u8da3 \u3002   \u5728   CarlaMapGenerator   \u4e2d \uff0c \u6709 \u4e00\u4e2a \u5b57 \u6bb5 \u201c \u79cd\u5b50 \u201d \u3002 \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u66f4\u6539 \u8be5 \u79cd\u5b50 \u5e76 \u5355\u51fb \u201c \u89e6\u53d1 \u8def\u7ebf \u7ebf\u56fe \u8def\u7ebf\u56fe \u751f\u6210 \u201d \u6765 \u66f4\u6539 \u5730\u56fe \u3002 \u8fd8 \u5e94\u9009 \u4e2d \u201c \u5c06 \u8def\u7ebf \u7ebf\u56fe \u8def\u7ebf\u56fe \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u201d \u3002   \u60a8 \u53ef\u4ee5 \u66f4\u6539 \u79cd\u5b50 \uff0c \u76f4\u5230 \u83b7\u5f97 \u6ee1\u610f \u7684 \u5730\u56fe \u3002   \u6b64\u540e \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u60f3\u8981 \u751f\u6210 \u6c7d\u8f66 \u7684 \u5730\u65b9 \u653e\u7f6e \u65b0 \u7684   PlayerStarts \u3002   \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u5df2\u7ecf \u53d1\u6325 \u4f5c\u7528 \u53d1\u6325\u4f5c\u7528 \uff0c \u4f46 \u6c7d\u8f66 \u4e0d\u4f1a \u968f\u673a \u884c\u52a8 \u3002 \u8f66\u8f86 \u5c06 \u9075\u5faa   RoadMapGenerator   \u7ed9\u51fa \u7684 \u6307\u4ee4 \u3002 \u5b83\u4eec \u5728 \u76f4 \u8def\u4e0a \u4f1a \u5f88 \u5bb9\u6613 \u5730 \u6cbf\u7740 \u9053\u8def \u884c\u9a76 \uff0c \u4f46 \u5728 \u8fdb\u5165 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u65f6\u5219 \u4e0d\u4f1a \u90a3\u4e48 \u5bb9\u6613 \uff1a   \uff08 \u8fd9\u662f \u9053\u8def \u5411 \u8f66\u8f86 \u53d1\u51fa \u7684 \u6307\u4ee4 \u7684 \u8c03\u8bd5 \u89c6\u56fe \u3002 \u5b83\u4eec \u5c06 \u59cb\u7ec8 \u9075\u5faa \u7eff\u8272 \u7bad\u5934 \uff0c \u767d\u70b9 \u662f \u4e00\u6761 \u6216 \u591a\u6761 \u8def\u7ebf \u4e4b\u95f4 \u7684 \u5171\u4eab \u70b9 \uff0c \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83\u4eec \u547d\u4ee4 \u8f66\u8f86 \u7ee7\u7eed \u76f4\u884c \uff1b \u9ed1\u70b9 \u504f\u79bb \u9053\u8def \uff0c \u8f66\u8f86 \u6ca1\u6709 \u5f97\u5230 \u4efb\u4f55 \u6307\u4ee4 \u5e76 \u5411 \u5de6 \u884c\u9a76 \uff0c \u8bd5\u56fe \u56de\u5230 \u9053\u8def \u4e0a \uff09   \u8981 \u83b7\u5f97 \u968f\u673a \u884c\u4e3a \uff0c \u60a8 \u5fc5\u987b \u653e\u7f6e   IntersectionEntrances \uff0c \u8fd9 \u5c06 \u8ba9 \u60a8 \u91cd\u65b0 \u5b9a\u4e49 \u8f66\u8f86 \u884c\u9a76 \u7684 \u65b9\u5411 \uff0c \u8986\u76d6 \u9053\u8def \u5730\u56fe \u7ed9\u51fa \u7684 \u65b9\u5411 \uff08 \u76f4\u5230 \u5b83\u4eec \u5b8c\u6210 \u7ed9\u5b9a \u7684 \u987a\u5e8f \uff09 \u3002 \uff08 \u53c2\u89c1 \u4e24\u4e2a \u793a\u4f8b \u57ce\u9547 \uff0c \u4e86\u89e3 \u5176 \u5177\u4f53 \u5de5\u4f5c \u539f\u7406 \uff09 \u3002   0.7 . 1   \u7248\u672c \u4e4b\u524d \uff1a \u5bf9\u4e8e \u6bcf\u4e2a \u5165\u53e3 \uff0c \u4f60 \u5fc5\u987b \u521b\u5efa \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7a7a \u7684   \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5b83\u4eec \u5c06 \u4f5c\u4e3a \u5f15\u5bfc \u6c7d\u8f66 \u901a\u8fc7 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u7684 \u8def\u5f84 \u70b9 \uff1b \u7136\u540e \uff0c \u4f60 \u5fc5\u987b \u5c06 \u76f8\u5e94 \u7684   Actor   \u5206\u914d \u7ed9 \u6bcf\u6761 \u8def\u5f84   0.7 . 1   \u7248 \u4e4b\u540e \uff1a \u6bcf\u4e2a   IntersectionEntrance   \u90fd \u6709 \u4e00\u4e2a \u540d\u4e3a   routes   \u7684 \u6570\u7ec4 \uff0c \u5411 \u5176\u4e2d \u6dfb\u52a0 \u4e00\u4e2a \u5143\u7d20 \u4f1a \u5728 \u4e16\u754c \u4e2d \u521b\u5efa \u4e00\u4e2a \u53ef \u7f16\u8f91 \u7684 \u6837\u6761 \u7ebf \uff0c \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u70b9 \u4f4d\u4e8e   IntersectionEntrance   \u4e0a \uff08 \u60a8 \u53ef\u80fd \u9700\u8981 \u9009\u62e9 \u53e6 \u4e00\u4e2a \u5bf9\u8c61 \u624d\u80fd \u770b\u5230 \u5b83 \uff09 \u6b64 \u6837\u6761 \u7ebf \u5b9a\u4e49 \u4e86 \u4efb\u4f55 \u8f66\u8f86 \u8fdb\u5165 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u65f6 \u53ef\u80fd \u91c7\u53d6 \u7684 \u8def\u7ebf \uff08 \u5c31 \u50cf \u4e4b\u524d \u7684   Empty   \u6f14\u5458 \u6240 \u505a \u7684 \u90a3\u6837 \uff09 \u60a8 \u53ef\u4ee5 \u50cf \u7f16\u8f91 \u4efb\u4f55 \u865a\u5e7b \u6837\u6761 \u7ebf \u4e00\u6837 \u914d\u7f6e \u6b64 \u8def\u7ebf \u3002 \u6bcf\u6761 \u8def\u7ebf \u5c06 \u5728 \u4ee5\u4e0b \u5b57\u6bb5 \u4e2d \u521b\u5efa \u4e00\u4e2a \u5143\u7d20 \uff1a \u201c \u6982\u7387 \u201d \u6b64 \u6570\u7ec4 \u4e2d \u7684 \u6bcf\u4e2a \u6570\u5b57 \u90fd \u5b9a\u4e49 \u4e86 \u4efb\u4f55 \u8f66\u8f86 \u91c7\u53d6 \u76f8\u5e94 \u91c7\u53d6\u76f8\u5e94 \u8def\u7ebf \u7684 \u51e0\u7387 \u3002   \u8981 \u6539\u53d8 \u6c7d\u8f66 \u7684 \u901f\u5ea6 \uff0c \u8bf7 \u4f7f\u7528 \u901f\u5ea6 \u9650\u5236 \u9650\u5236\u5668 \u3002 \u5b83\u4eec \u4f7f\u7528 \u8d77\u6765 \u5f88 \u7b80\u5355 \u3002 \uff08 \u786e\u4fdd \u9650\u5236 \u8f6c\u5f2f \u901f\u5ea6 \uff0c \u5426\u5219 \u6c7d\u8f66 \u4f1a \u8bd5\u56fe \u4ee5 \u5168\u901f \u8f6c\u5f2f \uff0c \u4f46 \u65e0\u6cd5 \u6210\u529f \uff09   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u9700\u8981 \u6309\u7167 \u811a\u672c \u6765 \u907f\u514d \u4ea4\u901a \u901a\u4e8b \u4e8b\u6545 \u4ea4\u901a\u4e8b\u6545 \u3002 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u7684 \u6bcf\u6761 \u8857\u9053 \u90fd \u5e94\u8be5 \u6709 \u81ea\u5df1 \u7684 \u7eff\u706f \u8f6c\u5f2f \uff0c \u800c \u5176\u4ed6 \u8857\u9053 \u5219 \u4e0d \u5e94\u6709 \u7eff\u706f \u3002   \u7136\u540e \u4f60 \u5c31 \u53ef\u4ee5 \u5728 \u6574\u4e2a \u4e16\u754c \u4e2d \u5e03\u6ee1 \u98ce\u666f \u548c \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002","title":"\u521b\u5efa"},{"location":"map_customization/#_5","text":"\u6b64 \u84dd\u56fe \u7684 \u76ee\u7684 \u662f \u4f7f \u91cd\u590d \u548c \u6539\u53d8 \u9ad8\u5c42 \u5efa\u7b51 \u9ad8\u5c42\u5efa\u7b51 \u53d8\u5f97 \u66f4 \u5bb9\u6613 \u4e00\u4e9b \u3002 \u63d0\u4f9b \u4e00\u4e2a \u57fa\u7840 \u3001 \u4e00\u4e2a \u4e2d\u5c42 \u548c \u4e00\u4e2a \u5c4b\u9876 \uff1b \u6b64 \u84dd\u56fe \u5c06 \u4e2d\u5c42 \u91cd\u590d \u5230 \u6240 \u9700 \u7684 \u5546\u5e97 \u6570\u91cf \uff0c \u5e76 \u5728 \u6ee1\u8db3 \u67d0\u4e9b \u6761\u4ef6 \u7684 \u60c5\u51b5 \u4e0b \u5c06 \u5176 \u4e0e \u6700\u540e \u4e00\u5c42 \u53e0\u52a0 \uff1a   \u6240\u6709 \u6a21\u578b \u67a2\u8f74 \u90fd \u5e94 \u4f4d\u4e8e \u7279\u5b9a \u7f51\u683c \u7684 \u5e95\u90e8 \u4e2d\u5fc3 \u3002   Al   \u6a21\u578b \u5fc5\u987b \u51c6\u786e \u5730 \u5728 \u91cd\u590d \u53d1\u751f \u7684 \u5730\u65b9 \u5f00\u59cb \u548c \u7ed3\u675f \u3002   \u8be5 \u84dd\u56fe \u7531 \u4ee5\u4e0b   6   \u4e2a \u7279\u5b9a \u53c2\u6570 \u63a7\u5236 \uff1a   GroundFloor \uff1a \u653e\u7f6e \u5728 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5e95\u90e8 \u7684 \u7f51\u683c \u3002   Floor \uff1a \u6cbf\u7740 \u5efa\u7b51 \u5efa\u7b51\u7269 \u91cd\u590d \u7684 \u7f51\u683c \u3002   Roof \uff1a \u5efa\u7b51 \u5efa\u7b51\u7269 \u9876\u90e8 \u7684 \u6700\u7ec8 \u7f51\u683c \u3002   FloorNumber \uff1a \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u697c\u5c42 \u6570 \u3002   FloorHeightOffset \uff1a \u5782\u76f4 \u8c03\u6574 \u6bcf \u5c42\u697c \u7684 \u4f4d\u7f6e \u3002   RoofOffset \uff1a \u5782\u76f4 \u8c03\u6574 \u5c4b\u9876 \u7684 \u4f4d\u7f6e \u3002   \u4e00\u65e6 \u5c06 \u8be5 \u84dd\u56fe \u653e\u7f6e \u5728 \u4e16\u754c \u4e2d \uff0c \u6240\u6709 \u8fd9\u4e9b \u53c2\u6570 \u90fd \u53ef\u4ee5 \u88ab \u4fee\u6539 \u3002","title":"\u591a\u5c42\u5efa\u7b51"},{"location":"map_customization/#splinemeshrepeater","text":"\u6f0f\u6d1e   \u53c2\u89c1   # 35   SplineMeshRepeater   \u4e22\u5931 \u5176 \u78b0\u649e \u4f53 \u7f51\u683c","title":"SplinemeshRepeater"},{"location":"map_customization/#_6","text":"SplineMeshRepeater   \u201c Content / Blueprints / SplineMeshRepeater \u201d   \u662f   Carla   Project   \u4e2d \u5305\u542b \u7684 \u4e00\u4e2a \u5de5\u5177 \uff0c \u7528\u4e8e \u5e2e\u52a9 \u6784\u5efa \u57ce\u5e02 \u73af\u5883 \uff1b \u5b83 \u6cbf\u7740 \u6837   \u6761\u7ebf   \uff08 \u865a\u5e7b \u7ec4\u4ef6 \uff09 \u91cd\u590d \u548c \u5bf9\u9f50 \u7279\u5b9a \u9009\u5b9a \u7684 \u7f51\u683c \u3002 \u5176 \u4e3b\u8981 \u529f\u80fd \u662f \u6784\u5efa \u901a\u5e38 \u5e73\u94fa \u548c \u91cd\u590d \u7684 \u7ed3\u6784 \uff0c \u5982 \u5899\u58c1 \u3001 \u9053\u8def \u3001 \u6865\u6881 \u3001 \u6805\u680f \u2026 \u2026 \u4e00\u65e6 \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u653e\u5165 \u4e16\u754c \uff0c \u5c31 \u53ef\u4ee5 \u4fee\u6539 \u6837\u6761 \u7ebf \uff0c \u4ee5\u4fbf \u5bf9\u8c61 \u83b7\u5f97 \u6240 \u9700 \u7684 \u5f62\u5f0f \u3002 \u5b9a\u4e49 \u6837\u6761 \u7ebf \u7684 \u6bcf\u4e2a \u70b9 \u90fd \u4f1a \u751f\u6210 \u4e00\u4e2a \u65b0 \u7684 \u56fe\u5757 \uff0c \u56e0\u6b64 \u6837\u6761 \u7ebf \u7684 \u70b9 \u8d8a \u591a \uff0c \u5b83 \u5c31 \u8d8a \u660e\u786e \uff0c \u4f46 \u5bf9 \u4e16\u754c \u7684 \u8d1f\u62c5 \u4e5f \u8d8a \u5927 \u3002 \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7531 \u4ee5\u4e0b \u53c2\u6570 \u5b9a\u4e49 \uff1a   \u9759\u6001 \u7f51\u683c \u7269\u4f53   ( StaticMesh ) \uff1a \u6cbf \u6837\u6761 \u7ebf \u91cd\u590d \u7684 \u7f51\u683c \u7269\u4f53 \u3002   ForWardAxis \uff1a \u6539\u53d8 \u7f51\u683c \u8f74\u4ee5 \u4e0e \u6837\u6761 \u7ebf \u5bf9\u9f50 \u3002   Material \uff1a \u8986\u76d6 \u7f51\u683c \u7684 \u9ed8\u8ba4 \u6750\u8d28 \u3002   Collision   Enabled \uff1a \u9009\u62e9 \u8981 \u4f7f\u7528 \u7684 \u78b0\u649e \u7c7b\u578b \u3002   Gap   distance \uff1a \u5728 \u6bcf\u4e2a \u91cd\u590d \u7f51\u683c \u4e4b\u95f4 \u653e\u7f6e \u4e00\u4e2a \u95f4\u9699 \uff0c \u9002\u7528 \u4e8e \u91cd\u590d \u7684 \u975e \u8fde\u7eed \u5899\u58c1 \uff1a \u704c\u6728 \u94fe \u3001 \u62a4\u67f1 \u2026 \u2026   \uff08 \u6700\u540e \u4e09\u4e2a \u53d8\u91cf \u662f \u9488\u5bf9 \u4e0b \u4e00\u70b9 \u4e2d\u8981 \u5b9a\u4e49 \u7684 \u4e00\u4e9b \u7279\u5b9a \u8d44\u4ea7 \u800c\u5b9a \u7684 \uff09 \u521b\u5efa \u4e0e \u6b64 \u7ec4\u4ef6 \u517c\u5bb9 \u7684 \u8d44\u4ea7 \u7684 \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6 \u662f \uff0c \u6240\u6709 \u7f51\u683c \u7684 \u67a2\u8f74 \u90fd \u653e\u7f6e \u5728 \u91cd\u590d \u5f00\u59cb \u7684 \u6700\u4f4e \u4f4e\u70b9 \u6700\u4f4e\u70b9 \uff0c \u5176\u4f59 \u7f51\u683c \u6307\u5411 \u6b63 \u65b9\u5411 \uff08 \u6700\u597d \u662f   X   \u8f74 \uff09","title":"\u6807\u51c6 \u7528\u9014 \uff1a"},{"location":"map_customization/#_7","text":"\u5728 \u9879\u76ee \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u201c Content / Static / Walls \u201d \u4e2d \u5305\u542b \u4e00\u4e9b \u7279\u5b9a \u8d44\u4ea7 \uff0c \u8fd9\u4e9b \u8d44\u4ea7 \u5c06 \u4e0e \u5177\u6709 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7279\u6b8a \u7279\u6027 \u7684   SplineMeshRepeater   \u4e00\u8d77 \u4f7f\u7528 \u3002 \u8fd9\u4e9b \u7f51\u683c \u7684   UV   \u7a7a\u95f4 \u53ca\u5176 \u6750\u8d28 \u5bf9\u4e8e \u6240\u6709 \u7f51\u683c \u90fd \u662f \u76f8\u540c \u7684 \uff0c \u56e0\u6b64 \u53ef\u4ee5 \u4e92\u6362 \u3002 \u6bcf\u79cd \u6750\u8d28 \u7531 \u4e09\u4e2a \u4e0d\u540c \u7684 \u8868\u9762 \u7ec4\u6210 \uff0c \u6700\u540e \u4e09\u4e2a \u53c2\u6570 \u4f1a \u7a0d\u5fae \u4fee\u6539 \u8fd9\u4e9b \u8868\u9762 \u7684 \u989c\u8272 \uff1a   MainMaterialColor \uff1a \u66f4\u6539 \u5899\u58c1 \u7684 \u4e3b\u8981 \u6750\u8d28   DetailsColor \uff1a \u66f4\u6539 \u7ec6\u8282 \u7684 \u989c\u8272 \uff08 \u5982\u679c \u6709 \uff09   TopWallColor \uff1a \u66f4\u6539 \u5899\u58c1 \u8986\u76d6 \u8986\u76d6\u7269 \u7684 \u989c\u8272 \uff08 \u5982\u679c \u6709 \uff09   \u8981 \u6dfb\u52a0 \u4ece\u6b64 \u529f\u80fd \u4e2d \u53d7\u76ca \u7684 \u5143\u7d20 \uff0c \u5b58\u5728   GardenWallMask   \u6587\u4ef6 \uff0c \u5b83 \u5b9a\u4e49 \u4e86 \u653e\u7f6e \u6750\u6599 \u7684   uv   \u7a7a\u95f4 \uff1a \uff08 \u84dd\u8272 \u7a7a\u95f4 \uff1a MainMaterial \uff1b \u7eff\u8272 \u7a7a\u95f4 \uff1a Details \uff1b \u7ea2\u8272 \u7a7a\u95f4   TopWall \uff09 \u3002   \u6750\u8d28 \u4e3b\u63a7 \u4e4b\u95f4 \u662f   WallMaster \uff0c \u5b83 \u5c06 \u6210\u4e3a \u4f7f\u7528 \u6b64 \u529f\u80fd \u7684 \u6750\u8d28 \u7684 \u4e3b\u63a7 \u3002 \u5c06 \u521b\u5efa \u6b64 \u6750\u8d28 \u7684 \u5b9e\u4f8b \u5e76 \u6dfb\u52a0 \u76f8\u5e94 \u7684 \u7eb9\u7406 \u3002 \u6b64 \u6750\u8d28 \u5305\u62ec \u4ee5\u4e0b \u53c2\u6570 \uff0c \u4f9b\u8981 \u4f7f\u7528 \u7684 \u6750\u8d28 \u4fee\u6539 \uff1a   Normal   Flattener \uff1a \u7a0d\u5fae \u4fee\u6539 \u6cd5\u7ebf \u8d34\u56fe \u503c\u4ee5 \u4f7f \u5176 \u5938\u5927 \u6216 \u5e73\u6574 \u3002   RoughnessCorrection \uff1a \u6539\u53d8 \u7eb9\u7406 \u7ed9\u51fa \u7684 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u503c \u3002   \u5176\u4f59 \u53c2\u6570 \u662f \u63a9\u7801 \u7eb9\u7406 \u548c \u989c\u8272 \u6821\u6b63 \uff0c \u8fd9\u4e9b \u53c2\u6570 \u5728 \u672c\u4f8b \u4e2d \u4e0d\u4f1a \u88ab \u4fee\u6539 \uff0c \u4f46 \u5728 \u5c06\u8981 \u53d1\u5e03 \u5230 \u4e16\u754c \u7684 \u84dd\u56fe \u4e2d\u4f1a \u88ab \u4fee\u6539 \u3002","title":"\u7279\u5b9a \u5899\u58c1 \uff08 \u52a8\u6001 \u6750\u8d28 \uff09"},{"location":"map_customization/#_8","text":"\u8fd9\u662f \u8d1f\u8d23 \u4fee\u6539 \u6240\u6709 \u7167\u660e \u3001 \u73af\u5883 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ee5\u53ca \u5f71\u54cd \u6c14\u5019 \u5370\u8c61 \u7684 \u4efb\u4f55 \u4f55\u4e8b \u4e8b\u7269 \u4efb\u4f55\u4e8b\u7269 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5f53 \u5728   Config . Ini   \u4e2d\u672a \u53e6\u884c \u6307\u5b9a \u65f6 \uff0c \u5b83\u4f1a \u968f \u6e38\u620f \u81ea\u52a8 \u8fd0\u884c \uff0c \u4f46 \u6709 \u81ea\u5df1 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u6a21\u5f0f \u4e0b \u542f\u52a8 \u4ee5 \u914d\u7f6e \u6c14\u5019 \u6761\u4ef6 \u3002 \u8981 \u5b8c\u5168 \u5de5\u4f5c \uff0c \u5b83 \u5c06 \u9700\u8981 \u4ee5\u4e0b \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e2d \u7684 \u4e00\u4e2a \uff1a SkySphere \u3001 Skylight \u3001 Postprocess   Volume \uff08 \u65e0 \u8fb9\u754c \uff09 \u548c   Light   Source   \u5b58\u5728 \u4e8e \u4e16\u754c \u4e2d \u3002   SunPolarAngle \uff1a \u592a\u9633 \u7684 \u6781\u89d2 \uff0c \u51b3\u5b9a \u4e00\u5929 \u7684 \u65f6\u95f4   SunAzimuthAngle \uff1a \u6dfb\u52a0 \u5230 \u5f53\u524d \u7ea7\u522b \u7684 \u592a\u9633 \u4f4d\u7f6e   SunBrightness \uff1a \u5929\u7a7a \u76d2\u4e2d \u592a\u9633 \u6e32\u67d3 \u7684 \u4eae\u5ea6   SunDirectionalLightIntensity \uff1a \u592a\u9633 \u9633\u5149 \u592a\u9633\u5149 \u7684 \u5f3a\u5ea6   SunDirectionalLightColor \uff1a \u9633\u5149 \u7684 \u989c\u8272   SunIndirectLightIntensity \uff1a \u4e3b \u53cd\u5c04 \u5149\u53cd\u5c04 \u7684 \u5f3a\u5ea6   CloudOpacity \uff1a \u5929\u7a7a \u76d2 \u4e0a \u4e91 \u6e32\u67d3 \u7684 \u53ef\u89c1 \u6027   HorizontFalloff \uff1a \u786e\u5b9a \u5929\u9876 \u548c \u5730\u5e73 \u5730\u5e73\u7ebf \u989c\u8272 \u4e4b\u95f4 \u7684 \u6e10\u53d8 \u9ad8\u5ea6   ZenithColor \uff1a \u5b9a\u4e49 \u5929\u9876 \u7684 \u989c\u8272 \u3002   HorizonColor \uff1a \u5b9a\u4e49 \u5730\u5e73 \u5730\u5e73\u7ebf \u7684 \u989c\u8272 \u3002   CloudColor \uff1a \u5b9a\u4e49 \u4e91 \u7684 \u989c\u8272 \uff08 \u5982\u679c \u6709 \uff09 \u3002   OverallSkyColor \uff1a \u5c06 \u5929\u7a7a \u4e2d \u7684 \u6bcf\u4e2a \u989c\u8272 \u5143\u7d20 \u4e58\u4ee5 \u5355\u4e00 \u989c\u8272 \u3002   SkyLightIntensity \uff1a \u4ece \u5929\u7a7a \u53cd\u5c04 \u7684 \u5149 \u7684 \u5f3a\u5ea6 \u3002   SkyLightColor \uff1a \u4ece \u5929\u7a7a \u53cd\u5c04 \u7684 \u5149 \u7684 \u989c\u8272 \u3002   Precipitation \uff1a \u5b9a\u4e49 \u662f\u5426 \u6709 \u964d\u6c34 \u6d3b\u52a8 \u3002   PrecipitationType \uff1a \u6d3b\u8dc3 \u964d\u6c34 \u7684 \u7c7b\u578b \u3002   PrecipitationAmount \uff1a \u6240 \u9009 \u964d\u6c34 \u7684 \u6570\u91cf \u3002   PrecipitationAccumulation \uff1a \u6240 \u9009 \u964d\u6c34 \u7684 \u79ef\u7d2f \u3002   bWind \uff1a \u5b9a\u4e49 \u662f\u5426 \u6709\u98ce \u3002   WindIntensity \uff1a \u5b9a\u4e49 \u98ce \u5f3a\u5ea6 \u3002   WindAngle \uff1a \u5b9a\u4e49 \u98ce\u5411 \u3002   bOverrideCameraPostProcessParameters \uff1a \u5b9a\u4e49 \u662f\u5426 \u8986\u76d6 \u9ed8\u8ba4 \u7684 \u76f8\u673a \u540e\u671f \u5904\u7406 \u3002   CameraPostProcessParameters . AutoExposureMethod \uff1a \u5b9a\u4e49 \u81ea\u52a8 \u66dd\u5149 \u7684 \u65b9\u6cd5 \u3002   CameraPostProcessParameters . AutoExposureMinBrightness \uff1a \u5b9a\u4e49 \u81ea\u52a8 \u66dd\u5149 \u5728 \u6700\u7ec8 \u56fe\u50cf \u4e2d \u7b97\u4f5c \u7684 \u6700\u5c0f \u4eae\u5ea6 \u3002   CameraPostProcessParameters . AutoExposureMaxBrightness \uff1a \u5b9a\u4e49 \u81ea\u52a8 \u66dd\u5149 \u5728 \u6700\u7ec8 \u56fe\u50cf \u4e2d \u7b97\u4f5c \u7684 \u6700\u5927 \u4eae\u5ea6 \u3002   CameraPostProcessParameters . AutoExposureBias \uff1a \u4f7f \u6700\u7ec8 \u56fe\u50cf \u53d8\u6697 \u6216 \u53d8\u4eae \uff0c \u8fbe\u5230 \u5b9a\u4e49 \u7684 \u504f\u5dee \u3002   \u60a8 \u53ef\u4ee5 \u6839\u636e \u9700\u8981 \u5728 \u9879\u76ee \u4e2d \u4fdd\u5b58 \u4efb\u610f \u6570\u91cf \u7684 \u4e0d\u540c \u914d\u7f6e \uff0c \u5e76 \u901a\u8fc7   \u8bbe\u7f6e \u6587\u4ef6   \u9009\u62e9 \u5728 \u6784\u5efa \u65f6 \u5e94\u7528 \u7684 \u914d\u7f6e \uff1b \u6216\u8005 \u5728 \u6784\u5efa \u7ea7\u522b \u6216 \u6d4b\u8bd5 \u65f6 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5e94\u7528 \u3002","title":"\u5929\u6c14"},{"location":"map_town01/","text":"\u57ce\u9547   1   \u57ce\u9547   1   \u662f \u4e00\u5ea7 \u5c0f\u9547 \uff0c \u62e5\u6709 \u4f17\u591a \u4e01\u5b57 \u8def\u53e3 \u548c \u5404\u79cd \u5efa\u7b51 \uff0c \u5468\u56f4 \u73af\u7ed5 \u73af\u7ed5\u7740 \u9488\u53f6 \u9488\u53f6\u6811 \uff0c \u8fd8\u6709 \u51e0\u5ea7 \u6a2a\u8de8 \u6cb3\u6d41 \u7684 \u5c0f\u6865 \uff0c \u5c06 \u5c0f\u9547 \u5206\u4e3a \u4e24\u534a \u3002   \u8def\u7f51   \u9053\u8def \u7f51\u7edc \u6709 \u51e0\u5ea7 \u8de8\u6c34 \u6865\u6881 \u548c \u8bb8\u591a \u7b80\u5355 \u7684 \u4e01\u5b57 \u8def\u53e3 \u3002   \u7279\u5f81   \u5730\u56fe \u4e0a \u6709 \u4e00\u6761 \u5c0f\u6cb3 \uff0c \u6709 \u51e0\u4e2a \u8def\u53e3 \u3002   \u5546\u4e1a \u98ce\u683c \u5efa\u7b51 \u6797\u7acb \u3002   \u8fd8\u6709 \u4f4f\u5b85 \u4f4f\u5b85\u697c \u3002","title":"\u57ce\u9547   1"},{"location":"map_town01/#1","text":"\u57ce\u9547   1   \u662f \u4e00\u5ea7 \u5c0f\u9547 \uff0c \u62e5\u6709 \u4f17\u591a \u4e01\u5b57 \u8def\u53e3 \u548c \u5404\u79cd \u5efa\u7b51 \uff0c \u5468\u56f4 \u73af\u7ed5 \u73af\u7ed5\u7740 \u9488\u53f6 \u9488\u53f6\u6811 \uff0c \u8fd8\u6709 \u51e0\u5ea7 \u6a2a\u8de8 \u6cb3\u6d41 \u7684 \u5c0f\u6865 \uff0c \u5c06 \u5c0f\u9547 \u5206\u4e3a \u4e24\u534a \u3002","title":"\u57ce\u9547   1"},{"location":"map_town01/#_1","text":"\u9053\u8def \u7f51\u7edc \u6709 \u51e0\u5ea7 \u8de8\u6c34 \u6865\u6881 \u548c \u8bb8\u591a \u7b80\u5355 \u7684 \u4e01\u5b57 \u8def\u53e3 \u3002","title":"\u8def\u7f51"},{"location":"map_town01/#_2","text":"\u5730\u56fe \u4e0a \u6709 \u4e00\u6761 \u5c0f\u6cb3 \uff0c \u6709 \u51e0\u4e2a \u8def\u53e3 \u3002   \u5546\u4e1a \u98ce\u683c \u5efa\u7b51 \u6797\u7acb \u3002   \u8fd8\u6709 \u4f4f\u5b85 \u4f4f\u5b85\u697c \u3002","title":"\u7279\u5f81"},{"location":"map_town02/","text":"\u57ce\u9547   2   \u57ce\u9547   2   \u662f \u4e00\u4e2a \u5c0f\u9547 \uff0c \u6709 \u4f17\u591a \u7684 \u4e01\u5b57 \u8def\u53e3 \u548c \u5404\u79cd \u5efa\u7b51 \u5efa\u7b51\u7269 \uff0c \u6709 \u6210\u7247 \u7684 \u9488\u53f6 \u9488\u53f6\u6811 \u3001 \u4e00\u4e2a \u516c\u56ed \u4ee5\u53ca \u4e00\u4e2a \u4f4f\u5b85 \u548c \u5546\u4e1a \u5546\u4e1a\u533a \u3002   \u8def\u7f51   \u8def\u7f51 \u7531 \u8bb8\u591a \u7b80\u5355 \u7684 \u4e01\u5b57 \u8def\u53e3 \u7ec4\u6210 \u3002   \u7279\u5f81   \u5730\u56fe \u4e0a \u6709 \u5546\u4e1a \u5546\u4e1a\u533a \u548c \u5927\u8857 \u3002   \u8fd8\u6709 \u4f4f\u5b85 \u516c\u5bd3 \u516c\u5bd3\u697c \u548c \u6559\u5802 \u3002   \u6709 \u4e00\u4e2a \u52a0\u6cb9 \u52a0\u6cb9\u7ad9 \u3002   \u8fd8\u6709 \u7eff\u6811 \u6210\u836b \u7eff\u6811\u6210\u836b \u7684 \u9053\u8def \u3002","title":"\u57ce\u9547   2"},{"location":"map_town02/#2","text":"\u57ce\u9547   2   \u662f \u4e00\u4e2a \u5c0f\u9547 \uff0c \u6709 \u4f17\u591a \u7684 \u4e01\u5b57 \u8def\u53e3 \u548c \u5404\u79cd \u5efa\u7b51 \u5efa\u7b51\u7269 \uff0c \u6709 \u6210\u7247 \u7684 \u9488\u53f6 \u9488\u53f6\u6811 \u3001 \u4e00\u4e2a \u516c\u56ed \u4ee5\u53ca \u4e00\u4e2a \u4f4f\u5b85 \u548c \u5546\u4e1a \u5546\u4e1a\u533a \u3002","title":"\u57ce\u9547   2"},{"location":"map_town02/#_1","text":"\u8def\u7f51 \u7531 \u8bb8\u591a \u7b80\u5355 \u7684 \u4e01\u5b57 \u8def\u53e3 \u7ec4\u6210 \u3002","title":"\u8def\u7f51"},{"location":"map_town02/#_2","text":"\u5730\u56fe \u4e0a \u6709 \u5546\u4e1a \u5546\u4e1a\u533a \u548c \u5927\u8857 \u3002   \u8fd8\u6709 \u4f4f\u5b85 \u516c\u5bd3 \u516c\u5bd3\u697c \u548c \u6559\u5802 \u3002   \u6709 \u4e00\u4e2a \u52a0\u6cb9 \u52a0\u6cb9\u7ad9 \u3002   \u8fd8\u6709 \u7eff\u6811 \u6210\u836b \u7eff\u6811\u6210\u836b \u7684 \u9053\u8def \u3002","title":"\u7279\u5f81"},{"location":"map_town03/","text":"\u57ce\u9547   3   \u57ce\u9547   3   \u662f \u4e00\u4e2a \u8f83\u5927 \u7684 \u9547 \uff0c \u5177\u6709 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u57ce\u533a \u7684 \u7279\u70b9 \u3002 \u8be5 \u5730\u56fe \u5305\u62ec \u4e00\u4e9b \u6709\u8da3 \u7684 \u9053\u8def \u7f51\u7edc \u7279\u5f81 \uff0c \u4f8b\u5982 \u73af\u5c9b \u3001 \u5730\u4e0b \u901a\u9053 \u5730\u4e0b\u901a\u9053 \u548c \u7acb\u4ea4 \u7acb\u4ea4\u6865 \u3002 \u8be5\u9547 \u8fd8 \u5305\u62ec \u4e00\u6761 \u9ad8\u67b6 \u5730\u94c1 \u8f68\u9053 \u548c \u4e00\u5ea7 \u6b63\u5728 \u5efa\u8bbe \u4e2d \u7684 \u5927\u578b \u5efa\u7b51 \u3002   \u8def\u7f51   \u8def\u7f51 \u8bbe\u6709 \u4e2d\u592e \u73af\u5c9b \u548c \u4f4f\u5b85 \u80e1\u540c \u6b7b\u80e1\u540c \uff0c \u4ee5\u53ca \u4f17\u591a \u56db\u5411 \u8def\u53e3 \u548c \u4e01\u5b57 \u8def\u53e3 \u3002   \u7279\u5f81   \u8be5 \u5730\u56fe \u4ee5 \u7a81\u51fa \u7684 \u4e2d\u592e \u73af\u5c9b \u4e3a \u7279\u8272 \uff0c \u5176\u4e2d \u6709 \u4e00\u5ea7 \u73b0\u4ee3 \u4e3b\u4e49 \u73b0\u4ee3\u4e3b\u4e49 \u7eaa\u5ff5 \u7eaa\u5ff5\u7891 \u548c \u6c34\u57df \u3002   \u4e2d\u5fc3 \u5468\u56f4 \u6709 \u4e00\u6761 \u51f8\u8d77 \u7684 \u5730\u94c1 \u8f68\u9053 \u3002   \u4e00\u4e2a \u5927\u8def \u8def\u53e3 \u5927\u8def\u53e3 \u65c1\u8fb9 \u8fd8\u6709 \u4e00\u4e2a \u52a0\u6cb9 \u52a0\u6cb9\u7ad9 \u3002   \u8def\u7f51 \u8bbe\u6709 \u5730\u4e0b \u901a\u9053 \u5730\u4e0b\u901a\u9053 \u3002   \u8fd9\u91cc \u6709 \u516c\u56ed \u548c \u5404\u79cd \u98ce\u683c \u5404\u5f02 \u98ce\u683c\u5404\u5f02 \u7684 \u5546\u4e1a \u5efa\u7b51 \u548c \u4f4f\u5b85 \u4f4f\u5b85\u697c \u3002","title":"\u57ce\u9547   3"},{"location":"map_town03/#3","text":"\u57ce\u9547   3   \u662f \u4e00\u4e2a \u8f83\u5927 \u7684 \u9547 \uff0c 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\u67e5\u770b \u57ce\u9547   11   \u7684 \u8d44\u6e90 \u6587\u4ef6 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u4e86\u89e3   Carla   \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf \u4e2d \u5904\u7406 \u5927 \u5730\u56fe \u7684 \u60c5\u51b5 \u3002","title":"Map   town11"},{"location":"map_town12/","text":"\u57ce\u9547   12   \u57ce\u9547   12   \u662f \u4e00\u5f20 \u5c3a\u5bf8 \u4e3a   10x10   km   2   \u7684 \u5927 \u5730\u56fe \u3002 \u5b83 \u5206\u4e3a   36   \u4e2a \u56fe\u5757 \uff0c \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u5c3a\u5bf8 \u4e3a   2x2   km   2   \uff08 \u67d0\u4e9b \u8fb9\u7f18 \u56fe\u5757 \u8f83 \u5c0f \uff09 \u3002 \u9053\u8def \u5e03\u5c40 \u90e8\u5206 \u53d7\u5230   \u7f8e\u56fd \u5fb7\u514b \u8428\u65af \u8428\u65af\u5dde \u5fb7\u514b\u8428\u65af\u5dde \u963f\u9a6c \u9a6c\u91cc \u963f\u9a6c\u91cc \u6d1b\u5e02   \u9053\u8def \u5e03\u5c40 \u7684 \u542f\u53d1 \u3002 \u6709 \u8bb8\u591a \u4e0e \u57ce\u5e02 \u5f62\u6210 \u9c9c\u660e \u5bf9\u6bd4 \u9c9c\u660e\u5bf9\u6bd4 \u7684 \u533a\u57df \uff0c \u5305\u62ec \u57ce\u5e02 \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u5730\u533a \uff0c \u8fd8\u6709 \u73af\u7ed5 \u57ce\u5e02 \u7684 \u5927\u578b \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u7cfb\u7edf \u548c \u73af\u5f62 \u516c\u8def \u3002 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u53cd\u6620 \u4e86 \u5317\u7f8e \u8bb8\u591a \u5927\u4e2d \u4e2d\u57ce \u57ce\u5e02 \u5927\u4e2d\u57ce\u5e02 \u7684 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u3002   \u5bfc\u822a \u5668   \u5bfc\u822a \u5668 \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u5730\u56fe \u53ef \u7528\u4e8e \u6d4f\u89c8 \u57ce\u9547 \u5e76 \u5bfc\u51fa \u5750\u6807 \u4ee5 \u5728   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u4f7f\u7528 \u3002   \u4f7f\u7528 \u5bfc\u822a \u5668   :   left   mouse   button   -   \u5355\u51fb \u5e76 \u6309\u4f4f \uff0c \u5411 \u5de6 \u3001 \u5411 \u53f3 \u3001 \u5411\u4e0a \u6216 \u5411\u4e0b \u62d6\u52a8 \u4ee5 \u79fb\u52a8 \u5730\u56fe   scroll   mouse   wheel   -   \u5411\u4e0b \u6eda\u52a8 \u7f29\u5c0f \uff0c \u5411\u4e0a \u6eda\u52a8 \u653e\u5927 \u9f20\u6807 \u6307\u9488 \u4e0b\u65b9 \u7684 \u4f4d\u7f6e   double   click   -   \u53cc\u51fb \u5730\u56fe \u4e0a \u7684 \u67d0\u4e2a \u70b9\u6765 \u8bb0\u5f55 \u5750\u6807 \uff0c \u60a8 \u5c06 \u5728 \u6587\u672c \u548c \u5730\u56fe \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u7684 \u4ee3\u7801 \u5757 \u4e2d \u627e\u5230 \u5750\u6807   \u533a\u57df \u989c\u8272 \u53c2\u8003   :   & nbsp   \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c   & nbsp   \u9ad8\u5bc6 \u5bc6\u5ea6 \u9ad8\u5bc6\u5ea6 \u4f4f\u5b85   & nbsp   \u793e\u533a \u5efa\u7b51   & nbsp   \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u4f4f\u5b85   & nbsp   \u516c\u56ed   & nbsp   \u519c\u6751 \u571f\u5730 \u519c\u6751\u571f\u5730   & nbsp   \u6c34\u57df   Carla   \u5750\u6807   :   X   :   --   Y   :   --   \u53cc\u51fb \u5174\u8da3 \u70b9\u540e \uff0c \u5bfc\u822a \u5668 \u5c06 \u663e\u793a \u76f8\u5e94 \u7684   Carla   \u5750\u6807 \u5e76 \u5728 \u4ee5\u4e0b \u4ee3\u7801 \u5757 \u4e2d \u66f4\u65b0 \u5b83\u4eec \u3002 \u5c06 \u4ee3\u7801 \u590d\u5236 \u5e76 \u7c98\u8d34 \u5230 \u7b14\u8bb0 \u7b14\u8bb0\u672c \u6216   Python   \u7ec8\u7aef \u4e2d \uff0c \u5c06 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u79fb\u52a8 \u5230 \u6240 \u9700 \u7684 \u4f4d\u7f6e \u3002 \u60a8 \u9996\u5148   \u9700\u8981 \u8fde\u63a5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e76 \u8bbe\u7f6e \u4e16\u754c \u5bf9\u8c61   \uff1a   #   Carla   \u5750\u6807 :   X   0.0 ,   Y   0.0   spectator   =   world . get _ spectator ( )   loc   =   carla . Location ( 0.0 ,   0.0 ,   500.0 )   rot   =   carla . Rotation ( pitch = - 90 ,   yaw = 0.0 ,   roll = 0.0 )   spectator . set _ transform ( carla . Transform ( loc ,   rot ) )   \u57ce\u9547   12   \u533a   \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u9ad8\u5c42 \u5efa\u7b51 \u9ad8\u5c42\u5efa\u7b51 \uff1a   \u57ce\u9547   12   \u7684 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u533a\u57df \u662f \u4e00 \u5927\u7247 \u9ad8\u5c42 \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c \uff0c \u5728 \u4e00\u81f4 \u7684 \u9053\u8def \u7f51\u683c \u4e0a \u6392\u5217 \u5217\u6210 \u6392\u5217\u6210 \u8857\u533a \uff0c \u7c7b\u4f3c \u4e8e \u8bb8\u591a \u7f8e\u56fd \u548c \u6b27\u6d32 \u5927\u57ce \u57ce\u5e02 \u5927\u57ce\u5e02 \u7684 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u533a\u57df \u3002   \u9ad8\u5bc6 \u5bc6\u5ea6 \u9ad8\u5bc6\u5ea6 \u4f4f\u5b85 \uff1a   \u57ce\u9547   12   \u7684 \u9ad8\u5bc6 \u5bc6\u5ea6 \u9ad8\u5bc6\u5ea6 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u62e5\u6709 \u8bb8\u591a   2   \u81f3   10   \u5c42 \u7684 \u516c\u5bd3 \u516c\u5bd3\u697c \uff0c \u8857\u9053 \u4e0a \u8fd8 \u8bbe\u6709 \u5496\u5561 \u5496\u5561\u9986 \u548c \u96f6\u552e \u96f6\u552e\u5e97 \u7b49 \u5546\u4e1a \u5730\u4ea7 \u5546\u4e1a\u5730\u4ea7 \u3002   \u793e\u533a \u5efa\u7b51 \uff1a   \u793e\u533a \u5efa\u7b51 \u662f \u4e00\u7ec4   2 - 4   \u5c42 \u7684 \u516c\u5bd3 \u516c\u5bd3\u697c \uff0c \u8272\u5f69 \u7f24\u7eb7 \u8272\u5f69\u7f24\u7eb7 \u7684 \u6ce2 \u7c73\u4e9a \u897f\u7c73\u4e9a \u98ce\u683c \uff0c \u5e95\u5c42 \u8bbe\u6709 \u5496\u5561 \u5496\u5561\u9986 \u548c \u7cbe\u54c1 \u7cbe\u54c1\u5e97 \uff0c \u6bd7\u90bb \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u4e2d\u5fc3\u533a \u5e02\u4e2d\u5fc3\u533a \u3002   \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u4f4f\u5b85 \uff1a   \u57ce\u9547   12   \u7684 \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u53cd\u6620 \u4e86 \u8bb8\u591a \u7f8e\u56fd \u57ce\u5e02 \u7684 \u7ecf\u5178 \u90ca\u533a \uff0c \u4e00\u5c42 \u548c \u4e24\u5c42 \u7684 \u4f4f\u5b85 \u5468\u56f4 \u73af\u7ed5 \u73af\u7ed5\u7740 \u56f4\u680f \u82b1\u56ed \u548c \u8f66\u5e93 \u3002   \u516c\u56ed \uff1a   \u5bc6\u96c6 \u7684 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u88ab \u7eff\u8272 \u516c\u5171 \u7a7a\u95f4 \u7684 \u5c0f\u5c9b \u6240 \u5206\u5272 \uff0c \u7eff\u53f6 \u4e0e \u57ce\u5e02 \u5efa\u7b51 \u5e76 \u7f6e \u3002   \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u548c \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \uff1a   \u57ce\u9547   12   \u62e5\u6709 \u5e7f\u6cdb \u7684 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u7cfb\u7edf \uff0c \u5305\u62ec   3 - 4   \u8f66\u9053 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \uff0c \u5176\u4e2d \u6563\u5e03 \u7740 \u4ee4\u4eba \u5370\u8c61 \u6df1\u523b \u7684 \u73af\u5c9b \u8def\u53e3 \u548c \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u3002   \u519c\u6751 \u548c \u519c\u7530 \uff1a   \u57ce\u9547   12   \u8fd8\u6709 \u4e61\u6751 \u5730\u533a \uff0c \u6709 \u7279\u8272 \u519c\u7530 \u5efa\u7b51 \uff0c \u5982 \u6728\u5236 \u8c37\u4ed3 \u548c \u519c\u820d \u3001 \u98ce\u8f66 \u3001 \u7cae\u4ed3 \u3001 \u7389\u7c73 \u7389\u7c73\u7530 \u3001 \u5e72 \u8349\u579b \u548c \u4e61\u6751 \u56f4\u680f \u3002 \u8fd9\u4e9b \u5730\u533a \u6709 \u672a \u6807\u8bb0 \u7684 \u4e61\u6751 \u571f\u8def \u548c \u7528\u4e8e \u57ce\u9645 \u4ea4\u901a \u7684 \u5355\u8f66 \u9053 \u57ce\u9645 \u9053\u8def \u3002   \u6c34\u57df \uff1a   \u57ce\u9547   12   \u4e2d\u6709 \u591a\u4e2a \u6c34\u57df \uff0c \u5305\u62ec   2   \u4e2a \u5927\u6e56 \u548c \u51e0\u4e2a \u6c60\u5858 \u3002 \u7531\u4e8e \u57ce\u5e02 \u65c1\u8fb9 \u6709 \u4e00\u4e9b \u5927\u578b \u6c34\u666f \uff0c \u8fd9\u4e9b \u6c34\u666f \u4f1a \u4ea7\u751f \u5929\u9645 \u5929\u9645\u7ebf \u7684 \u5012 \u53cd\u5c04 \uff0c \u7ed9 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u5e26\u6765 \u6311\u6218 \u3002   @ keyframes   fadeMe   {   from   {   color :   # 77aaff ;   }   to   {   color :   # 000000 ;   }   }   window . addEventListener ( ' load ' ,   function   ( )   {   var   text _ coord _ x   =   document . getElementById ( \" carlacoord _ x \" )   var   text _ coord _ y   =   document . getElementById ( \" carlacoord _ y \" )   const   code _ coords   =   document . getElementsByClassName ( \" hljs - number \" )   const   code _ comment   =   document . getElementsByClassName ( \" hljs - comment \" )   const   image   =   document . querySelector ( ' [ src $ = \" map \" ] ' ) ;   const   canv   =   document . createElement ( ' canvas ' ) ;   canv . setAttribute ( ' height ' ,   image . height )   canv . setAttribute ( ' width ' ,   image . width )   image . parentNode . replaceChild ( canv ,   image )   var   state   =   { mDown :   false ,   button :   0 ,   lastX :   0 ,   lastY : 0 ,   canvX :   0 ,   canvY :   0 ,   zoom :   1.0 ,   mdownX :   0 ,   mdownY :   0 ,   pX :   0.5 ,   pY :   0.5 ,   dblClick :   false ,   listObj :   false ,   touch :   false }   ctx   =   canv . getContext ( ' 2d ' )   ctx . drawImage ( image ,   0 ,   0 ,   canv . width ,   canv . height )   canv . addEventListener ( ' mousemove ' ,   ( event )   = >   {   dX   =   event . clientX   -   state . lastX   dY   =   event . clientY   -   state . lastY   state . lastX   =   event . clientX   state . lastY   =   event . clientY   if ( state . mDown   &&   state . button   = =   0 )   {   state . canvX   + =   dX   state . canvY   + =   dY   ctx . clearRect ( 0 ,   0 ,   canv . width ,   canv . height )   ctx . drawImage ( image ,   state . canvX ,   state . canvY ,   canv . width   *   state . zoom ,   canv . height   *   state . zoom )   state . touch   =   true ;   }   } )   canv . addEventListener ( ' mousedown ' ,   ( event )   = >   {   state . button   =   event . button ;   state . mDown   =   true ;   state . touch   =   true ;   var   rect   =   canv . getBoundingClientRect ( ) ;   state . mdownX   =   event . clientX   -   rect . left ;   state . mdownY   =   event . clientY   -   rect . top ;   state . pX   =   ( state . mdownX   -   state . canvX )   /   ( canv . width   *   state . zoom ) ;   state . pY   =   ( state . mdownY   -   state . canvY )   /   ( canv . height   *   state . zoom ) ;   } )   canv . addEventListener ( ' mouseup ' ,   ( event )   = >   {   state . mDown   =   false ;   } )   canv . addEventListener ( ' wheel ' ,   ( event )   = >   {   state . mDown   =   false ;   var   rect   =   canv . getBoundingClientRect ( ) ;   dX   =   event . clientX   -   rect . left ;   dY   =   event . clientY   -   rect . top ;   state . pX   =   ( dX   -   state . canvX )   /   ( canv . width   *   state . zoom ) ;   state . pY   =   ( dY   -   state . canvY )   /   ( canv . height   *   state . zoom ) ;   if ( state . touch ) {   event . preventDefault ( ) ;   if ( event . wheelDelta   >   0 ) {   state . zoom   * =   1.15   }   else   {   state . zoom   * =   0.85   }   if ( state . zoom   <   1.0 ) { state . zoom   =   1.0 ; }   if ( state . zoom   >   30.0 ) { state . zoom   =   30.0 }   ctx . clearRect ( 0 ,   0 ,   canv . width ,   canv . height )   state . canvX   =   -   canv . width   *   state . zoom   *   state . pX   +   dX ;   state . canvY   =   -   canv . height   *   state . zoom   *   state . pY   +   dY ;   ctx . drawImage ( image ,   state . canvX ,   state . canvY ,   canv . width   *   state . zoom ,   canv . height   *   state . zoom ) ;   }   } )   canv . addEventListener ( ' dblclick ' ,   ( event )   = >   {   text _ coord _ x   =   document . getElementById ( \" carlacoord _ x \" )   text _ coord _ y   =   document . getElementById ( \" carlacoord _ y \" )   const   carlaX   =   10482.4274   *   state . pX   +   - 5.39801455   *   state . pY   -   5673.07949 ;   const   carlaY   =   5.39801455   *   state . pX   +   10482.4274   *   state . pY   -   2885.15738 ;   code _ coords [ 0 ] . textContent   =   carlaX . toFixed ( 1 )   code _ coords [ 1 ] . textContent   =   carlaY . toFixed ( 1 )   code _ comment [ 0 ] . textContent   =   \" #   CARLA   coordinates   -   X :   \"   +   carlaX . toFixed ( 1 )   +   \"   Y :   \"   +   carlaY . toFixed ( 1 )   var   newX   =   text _ coord _ x . cloneNode ( true )   var   newY   =   text _ coord _ y . cloneNode ( true )   newX . textContent   =   carlaX . toFixed ( 1 )   newY . textContent   =   carlaY . toFixed ( 1 )   var   parentX   =   text _ coord _ x . parentNode   var   parentY   =   text _ coord _ y . parentNode   parentX . replaceChild ( newX ,   text _ coord _ x ) ;   parentY . replaceChild ( newY ,   text _ coord _ y ) ;   / / console . log ( state . pX   +   \" ,   \"   +   state . pY )   } )   } )","title":"\u57ce\u9547   12"},{"location":"map_town12/#12","text":"\u57ce\u9547   12   \u662f \u4e00\u5f20 \u5c3a\u5bf8 \u4e3a   10x10   km   2   \u7684 \u5927 \u5730\u56fe \u3002 \u5b83 \u5206\u4e3a   36   \u4e2a \u56fe\u5757 \uff0c \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u5c3a\u5bf8 \u4e3a   2x2   km   2   \uff08 \u67d0\u4e9b \u8fb9\u7f18 \u56fe\u5757 \u8f83 \u5c0f \uff09 \u3002 \u9053\u8def \u5e03\u5c40 \u90e8\u5206 \u53d7\u5230   \u7f8e\u56fd \u5fb7\u514b \u8428\u65af \u8428\u65af\u5dde \u5fb7\u514b\u8428\u65af\u5dde \u963f\u9a6c \u9a6c\u91cc \u963f\u9a6c\u91cc \u6d1b\u5e02   \u9053\u8def \u5e03\u5c40 \u7684 \u542f\u53d1 \u3002 \u6709 \u8bb8\u591a \u4e0e \u57ce\u5e02 \u5f62\u6210 \u9c9c\u660e \u5bf9\u6bd4 \u9c9c\u660e\u5bf9\u6bd4 \u7684 \u533a\u57df \uff0c \u5305\u62ec \u57ce\u5e02 \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u5730\u533a \uff0c \u8fd8\u6709 \u73af\u7ed5 \u57ce\u5e02 \u7684 \u5927\u578b \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u7cfb\u7edf \u548c \u73af\u5f62 \u516c\u8def \u3002 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u53cd\u6620 \u4e86 \u5317\u7f8e \u8bb8\u591a \u5927\u4e2d \u4e2d\u57ce \u57ce\u5e02 \u5927\u4e2d\u57ce\u5e02 \u7684 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u3002","title":"\u57ce\u9547   12"},{"location":"map_town12/#_1","text":"\u5bfc\u822a \u5668 \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u5730\u56fe \u53ef \u7528\u4e8e \u6d4f\u89c8 \u57ce\u9547 \u5e76 \u5bfc\u51fa \u5750\u6807 \u4ee5 \u5728   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u4f7f\u7528 \u3002   \u4f7f\u7528 \u5bfc\u822a \u5668   :   left   mouse   button   -   \u5355\u51fb \u5e76 \u6309\u4f4f \uff0c \u5411 \u5de6 \u3001 \u5411 \u53f3 \u3001 \u5411\u4e0a \u6216 \u5411\u4e0b \u62d6\u52a8 \u4ee5 \u79fb\u52a8 \u5730\u56fe   scroll   mouse   wheel   -   \u5411\u4e0b \u6eda\u52a8 \u7f29\u5c0f \uff0c \u5411\u4e0a \u6eda\u52a8 \u653e\u5927 \u9f20\u6807 \u6307\u9488 \u4e0b\u65b9 \u7684 \u4f4d\u7f6e   double   click   -   \u53cc\u51fb \u5730\u56fe \u4e0a \u7684 \u67d0\u4e2a \u70b9\u6765 \u8bb0\u5f55 \u5750\u6807 \uff0c \u60a8 \u5c06 \u5728 \u6587\u672c \u548c \u5730\u56fe \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u7684 \u4ee3\u7801 \u5757 \u4e2d \u627e\u5230 \u5750\u6807   \u533a\u57df \u989c\u8272 \u53c2\u8003   :   & nbsp   \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c   & nbsp   \u9ad8\u5bc6 \u5bc6\u5ea6 \u9ad8\u5bc6\u5ea6 \u4f4f\u5b85   & nbsp   \u793e\u533a \u5efa\u7b51   & nbsp   \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u4f4f\u5b85   & nbsp   \u516c\u56ed   & nbsp   \u519c\u6751 \u571f\u5730 \u519c\u6751\u571f\u5730   & nbsp   \u6c34\u57df   Carla   \u5750\u6807   :   X   :   --   Y   :   --   \u53cc\u51fb \u5174\u8da3 \u70b9\u540e \uff0c \u5bfc\u822a \u5668 \u5c06 \u663e\u793a \u76f8\u5e94 \u7684   Carla   \u5750\u6807 \u5e76 \u5728 \u4ee5\u4e0b \u4ee3\u7801 \u5757 \u4e2d \u66f4\u65b0 \u5b83\u4eec \u3002 \u5c06 \u4ee3\u7801 \u590d\u5236 \u5e76 \u7c98\u8d34 \u5230 \u7b14\u8bb0 \u7b14\u8bb0\u672c \u6216   Python   \u7ec8\u7aef \u4e2d \uff0c \u5c06 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u79fb\u52a8 \u5230 \u6240 \u9700 \u7684 \u4f4d\u7f6e \u3002 \u60a8 \u9996\u5148   \u9700\u8981 \u8fde\u63a5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e76 \u8bbe\u7f6e \u4e16\u754c \u5bf9\u8c61   \uff1a   #   Carla   \u5750\u6807 :   X   0.0 ,   Y   0.0   spectator   =   world . get _ spectator ( )   loc   =   carla . Location ( 0.0 ,   0.0 ,   500.0 )   rot   =   carla . Rotation ( pitch = - 90 ,   yaw = 0.0 ,   roll = 0.0 )   spectator . set _ transform ( carla . Transform ( loc ,   rot ) )","title":"\u5bfc\u822a \u5668"},{"location":"map_town12/#12_1","text":"","title":"\u57ce\u9547   12   \u533a"},{"location":"map_town12/#_2","text":"\u57ce\u9547   12   \u7684 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u533a\u57df \u662f \u4e00 \u5927\u7247 \u9ad8\u5c42 \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c \uff0c \u5728 \u4e00\u81f4 \u7684 \u9053\u8def \u7f51\u683c \u4e0a \u6392\u5217 \u5217\u6210 \u6392\u5217\u6210 \u8857\u533a \uff0c \u7c7b\u4f3c \u4e8e \u8bb8\u591a \u7f8e\u56fd \u548c \u6b27\u6d32 \u5927\u57ce \u57ce\u5e02 \u5927\u57ce\u5e02 \u7684 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u533a\u57df \u3002","title":"\u5e02\u4e2d\u5fc3 \u9ad8\u5c42\u5efa\u7b51 \uff1a"},{"location":"map_town12/#_3","text":"\u57ce\u9547   12   \u7684 \u9ad8\u5bc6 \u5bc6\u5ea6 \u9ad8\u5bc6\u5ea6 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u62e5\u6709 \u8bb8\u591a   2   \u81f3   10   \u5c42 \u7684 \u516c\u5bd3 \u516c\u5bd3\u697c \uff0c \u8857\u9053 \u4e0a \u8fd8 \u8bbe\u6709 \u5496\u5561 \u5496\u5561\u9986 \u548c \u96f6\u552e \u96f6\u552e\u5e97 \u7b49 \u5546\u4e1a \u5730\u4ea7 \u5546\u4e1a\u5730\u4ea7 \u3002","title":"\u9ad8\u5bc6\u5ea6 \u4f4f\u5b85 \uff1a"},{"location":"map_town12/#_4","text":"\u793e\u533a \u5efa\u7b51 \u662f \u4e00\u7ec4   2 - 4   \u5c42 \u7684 \u516c\u5bd3 \u516c\u5bd3\u697c \uff0c \u8272\u5f69 \u7f24\u7eb7 \u8272\u5f69\u7f24\u7eb7 \u7684 \u6ce2 \u7c73\u4e9a \u897f\u7c73\u4e9a \u98ce\u683c \uff0c \u5e95\u5c42 \u8bbe\u6709 \u5496\u5561 \u5496\u5561\u9986 \u548c \u7cbe\u54c1 \u7cbe\u54c1\u5e97 \uff0c \u6bd7\u90bb \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u4e2d\u5fc3\u533a \u5e02\u4e2d\u5fc3\u533a \u3002","title":"\u793e\u533a \u5efa\u7b51 \uff1a"},{"location":"map_town12/#_5","text":"\u57ce\u9547   12   \u7684 \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u53cd\u6620 \u4e86 \u8bb8\u591a \u7f8e\u56fd \u57ce\u5e02 \u7684 \u7ecf\u5178 \u90ca\u533a \uff0c \u4e00\u5c42 \u548c \u4e24\u5c42 \u7684 \u4f4f\u5b85 \u5468\u56f4 \u73af\u7ed5 \u73af\u7ed5\u7740 \u56f4\u680f \u82b1\u56ed \u548c \u8f66\u5e93 \u3002","title":"\u4f4e\u5bc6\u5ea6 \u4f4f\u5b85 \uff1a"},{"location":"map_town12/#_6","text":"\u5bc6\u96c6 \u7684 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u88ab \u7eff\u8272 \u516c\u5171 \u7a7a\u95f4 \u7684 \u5c0f\u5c9b \u6240 \u5206\u5272 \uff0c \u7eff\u53f6 \u4e0e \u57ce\u5e02 \u5efa\u7b51 \u5e76 \u7f6e \u3002","title":"\u516c\u56ed \uff1a"},{"location":"map_town12/#_7","text":"\u57ce\u9547   12   \u62e5\u6709 \u5e7f\u6cdb \u7684 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u7cfb\u7edf \uff0c \u5305\u62ec   3 - 4   \u8f66\u9053 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \uff0c \u5176\u4e2d \u6563\u5e03 \u7740 \u4ee4\u4eba \u5370\u8c61 \u6df1\u523b \u7684 \u73af\u5c9b \u8def\u53e3 \u548c \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u3002","title":"\u9ad8\u901f\u516c\u8def \u548c \u4ea4\u53c9\u8def\u53e3 \uff1a"},{"location":"map_town12/#_8","text":"\u57ce\u9547   12   \u8fd8\u6709 \u4e61\u6751 \u5730\u533a \uff0c \u6709 \u7279\u8272 \u519c\u7530 \u5efa\u7b51 \uff0c \u5982 \u6728\u5236 \u8c37\u4ed3 \u548c \u519c\u820d \u3001 \u98ce\u8f66 \u3001 \u7cae\u4ed3 \u3001 \u7389\u7c73 \u7389\u7c73\u7530 \u3001 \u5e72 \u8349\u579b \u548c \u4e61\u6751 \u56f4\u680f \u3002 \u8fd9\u4e9b \u5730\u533a \u6709 \u672a \u6807\u8bb0 \u7684 \u4e61\u6751 \u571f\u8def \u548c \u7528\u4e8e \u57ce\u9645 \u4ea4\u901a \u7684 \u5355\u8f66 \u9053 \u57ce\u9645 \u9053\u8def \u3002","title":"\u519c\u6751 \u548c \u519c\u7530 \uff1a"},{"location":"map_town12/#_9","text":"\u57ce\u9547   12   \u4e2d\u6709 \u591a\u4e2a \u6c34\u57df \uff0c \u5305\u62ec   2   \u4e2a \u5927\u6e56 \u548c \u51e0\u4e2a \u6c60\u5858 \u3002 \u7531\u4e8e \u57ce\u5e02 \u65c1\u8fb9 \u6709 \u4e00\u4e9b \u5927\u578b \u6c34\u666f \uff0c \u8fd9\u4e9b \u6c34\u666f \u4f1a \u4ea7\u751f \u5929\u9645 \u5929\u9645\u7ebf \u7684 \u5012 \u53cd\u5c04 \uff0c \u7ed9 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u5e26\u6765 \u6311\u6218 \u3002   @ keyframes   fadeMe   {   from   {   color :   # 77aaff ;   }   to   {   color :   # 000000 ;   }   }   window . addEventListener ( ' load ' ,   function   ( )   {   var   text _ coord _ x   =   document . getElementById ( \" carlacoord _ x \" )   var   text _ coord _ y   =   document . getElementById ( \" carlacoord _ y \" )   const   code _ coords   =   document . getElementsByClassName ( \" hljs - number \" )   const   code _ comment   =   document . getElementsByClassName ( \" hljs - comment \" )   const   image   =   document . querySelector ( ' [ src $ = \" map \" ] ' ) ;   const   canv   =   document . createElement ( ' canvas ' ) ;   canv . setAttribute ( ' height ' ,   image . height )   canv . setAttribute ( ' width ' ,   image . width )   image . parentNode . replaceChild ( canv ,   image )   var   state   =   { mDown :   false ,   button :   0 ,   lastX :   0 ,   lastY : 0 ,   canvX :   0 ,   canvY :   0 ,   zoom :   1.0 ,   mdownX :   0 ,   mdownY :   0 ,   pX :   0.5 ,   pY :   0.5 ,   dblClick :   false ,   listObj :   false ,   touch :   false }   ctx   =   canv . getContext ( ' 2d ' )   ctx . drawImage ( image ,   0 ,   0 ,   canv . width ,   canv . height )   canv . addEventListener ( ' mousemove ' ,   ( event )   = >   {   dX   =   event . clientX   -   state . lastX   dY   =   event . clientY   -   state . lastY   state . lastX   =   event . clientX   state . lastY   =   event . clientY   if ( state . mDown   &&   state . button   = =   0 )   {   state . canvX   + =   dX   state . canvY   + =   dY   ctx . clearRect ( 0 ,   0 ,   canv . width ,   canv . height )   ctx . drawImage ( image ,   state . canvX ,   state . canvY ,   canv . width   *   state . zoom ,   canv . height   *   state . zoom )   state . touch   =   true ;   }   } )   canv . addEventListener ( ' mousedown ' ,   ( event )   = >   {   state . button   =   event . button ;   state . mDown   =   true ;   state . touch   =   true ;   var   rect   =   canv . getBoundingClientRect ( ) ;   state . mdownX   =   event . clientX   -   rect . left ;   state . mdownY   =   event . clientY   -   rect . top ;   state . pX   =   ( state . mdownX   -   state . canvX )   /   ( canv . width   *   state . zoom ) ;   state . pY   =   ( state . mdownY   -   state . canvY )   /   ( canv . height   *   state . zoom ) ;   } )   canv . addEventListener ( ' mouseup ' ,   ( event )   = >   {   state . mDown   =   false ;   } )   canv . addEventListener ( ' wheel ' ,   ( event )   = >   {   state . mDown   =   false ;   var   rect   =   canv . getBoundingClientRect ( ) ;   dX   =   event . clientX   -   rect . left ;   dY   =   event . clientY   -   rect . top ;   state . pX   =   ( dX   -   state . canvX )   /   ( canv . width   *   state . zoom ) ;   state . pY   =   ( dY   -   state . canvY )   /   ( canv . height   *   state . zoom ) ;   if ( state . touch ) {   event . preventDefault ( ) ;   if ( event . wheelDelta   >   0 ) {   state . zoom   * =   1.15   }   else   {   state . zoom   * =   0.85   }   if ( state . zoom   <   1.0 ) { state . zoom   =   1.0 ; }   if ( state . zoom   >   30.0 ) { state . zoom   =   30.0 }   ctx . clearRect ( 0 ,   0 ,   canv . width ,   canv . height )   state . canvX   =   -   canv . width   *   state . zoom   *   state . pX   +   dX ;   state . canvY   =   -   canv . height   *   state . zoom   *   state . pY   +   dY ;   ctx . drawImage ( image ,   state . canvX ,   state . canvY ,   canv . width   *   state . zoom ,   canv . height   *   state . zoom ) ;   }   } )   canv . addEventListener ( ' dblclick ' ,   ( event )   = >   {   text _ coord _ x   =   document . getElementById ( \" carlacoord _ x \" )   text _ coord _ y   =   document . getElementById ( \" carlacoord _ y \" )   const   carlaX   =   10482.4274   *   state . pX   +   - 5.39801455   *   state . pY   -   5673.07949 ;   const   carlaY   =   5.39801455   *   state . pX   +   10482.4274   *   state . pY   -   2885.15738 ;   code _ coords [ 0 ] . textContent   =   carlaX . toFixed ( 1 )   code _ coords [ 1 ] . textContent   =   carlaY . toFixed ( 1 )   code _ comment [ 0 ] . textContent   =   \" #   CARLA   coordinates   -   X :   \"   +   carlaX . toFixed ( 1 )   +   \"   Y :   \"   +   carlaY . toFixed ( 1 )   var   newX   =   text _ coord _ x . cloneNode ( true )   var   newY   =   text _ coord _ y . cloneNode ( true )   newX . textContent   =   carlaX . toFixed ( 1 )   newY . textContent   =   carlaY . toFixed ( 1 )   var   parentX   =   text _ coord _ x . parentNode   var   parentY   =   text _ coord _ y . parentNode   parentX . replaceChild ( newX ,   text _ coord _ x ) ;   parentY . replaceChild ( newY ,   text _ coord _ y ) ;   / / console . log ( state . pX   +   \" ,   \"   +   state . pY )   } )   } )","title":"\u6c34\u57df \uff1a"},{"location":"map_town13/","text":"\u57ce\u9547   13   \u57ce\u9547   13   \u662f \u4e00\u5f20 \u5c3a\u5bf8 \u4e3a   10x10   km   2   \u7684 \u5927 \u5730\u56fe \u3002 \u5b83 \u5206\u4e3a   36   \u4e2a \u56fe\u5757 \uff0c \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u5c3a\u5bf8 \u4e3a   2x2   km   2   \uff08 \u67d0\u4e9b \u8fb9\u7f18 \u56fe\u5757 \u8f83 \u5c0f \uff09 \u3002 \u6709 \u8bb8\u591a \u4e0e \u57ce\u5e02 \u5f62\u6210 \u9c9c\u660e \u5bf9\u6bd4 \u9c9c\u660e\u5bf9\u6bd4 \u7684 \u533a\u57df \uff0c \u5305\u62ec \u57ce\u5e02 \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u5730\u533a \uff0c \u8fd8\u6709 \u73af\u7ed5 \u57ce\u5e02 \u7684 \u5927\u578b \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u7cfb\u7edf \u548c \u73af\u5f62 \u516c\u8def \u3002 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u53cd\u6620 \u4e86 \u5317\u7f8e \u8bb8\u591a \u5927\u4e2d \u4e2d\u57ce \u57ce\u5e02 \u5927\u4e2d\u57ce\u5e02 \u7684 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u3002   \u7b14\u8bb0   \u57ce\u9547   13   \u88ab \u8bbe\u8ba1 \u4e3a \u57ce\u9547   12   \u7684 \u9644\u5c5e \u8bbe\u65bd \uff0c \u8fd9\u6837 \u5b83\u4eec \u5c31 \u53ef\u4ee5 \u4f5c\u4e3a   \u8bad\u7ec3 - \u6d4b\u8bd5 \u5bf9   \u3002 \u8fd9\u4e9b \u57ce\u9547 \u6709 \u8bb8\u591a \u5171\u540c \u7279\u5f81 \uff0c \u4f46 \u5728 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u3001 \u9053\u8def \u7eb9\u7406 \u3001 \u8def\u9762 \u7eb9\u7406 \u548c \u690d\u88ab \u65b9\u9762 \u4e5f \u6709 \u8bb8\u591a \u5dee\u5f02 \u3002 \u4f7f\u7528 \u5176\u4e2d \u4e00\u4e2a \u751f\u6210 \u8bad\u7ec3 \u6570\u636e \uff0c \u7136\u540e \u4f7f\u7528 \u53e6 \u4e00\u4e2a \u8fdb\u884c \u6d4b\u8bd5 \uff0c \u975e\u5e38 \u9002\u5408 \u975e\u5e38\u9002\u5408 \u66b4\u9732 \u5f00\u53d1 \u81ea\u52a8 \u9a7e\u9a76 \u6280\u672f \u6808\u65f6 \u53ef\u80fd \u51fa\u73b0 \u7684 \u8fc7\u5ea6 \u62df\u5408 \u95ee\u9898 \u3002   \u5bfc\u822a \u5668   \u5bfc\u822a \u5668 \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u5730\u56fe \u53ef \u7528\u4e8e \u6d4f\u89c8 \u57ce\u9547 \u5e76 \u5bfc\u51fa \u5750\u6807 \u4ee5 \u5728   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u4f7f\u7528 \u3002   \u4f7f\u7528 \u5bfc\u822a \u5668   :   left   mouse   button   -   \u5355\u51fb \u5e76 \u6309\u4f4f \uff0c \u5411 \u5de6 \u3001 \u5411 \u53f3 \u3001 \u5411\u4e0a \u6216 \u5411\u4e0b \u62d6\u52a8 \u4ee5 \u79fb\u52a8 \u5730\u56fe   scroll   mouse   wheel   -   \u5411\u4e0b \u6eda\u52a8 \u7f29\u5c0f \uff0c \u5411\u4e0a \u6eda\u52a8 \u653e\u5927 \u9f20\u6807 \u6307\u9488 \u4e0b\u65b9 \u7684 \u4f4d\u7f6e   double   click   -   \u53cc\u51fb \u5730\u56fe \u4e0a \u7684 \u67d0\u4e2a \u70b9\u6765 \u8bb0\u5f55 \u5750\u6807 \uff0c \u60a8 \u5c06 \u5728 \u6587\u672c \u548c \u5730\u56fe \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u7684 \u4ee3\u7801 \u5757 \u4e2d \u627e\u5230 \u5750\u6807   \u533a\u57df \u989c\u8272 \u53c2\u8003   :   & nbsp   \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c   & nbsp   \u9ad8\u5bc6 \u5bc6\u5ea6 \u9ad8\u5bc6\u5ea6 \u4f4f\u5b85   & nbsp   \u793e\u533a \u5efa\u7b51   & nbsp   \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u4f4f\u5b85   & nbsp   \u516c\u56ed   & nbsp   \u519c\u6751 \u571f\u5730 \u519c\u6751\u571f\u5730   & nbsp   \u6c34\u57df   Carla   \u5750\u6807   :   X   :   --   Y   :   --   \u53cc\u51fb \u5174\u8da3 \u70b9\u540e \uff0c \u5bfc\u822a \u5668 \u5c06 \u663e\u793a \u76f8\u5e94 \u7684   Carla   \u5750\u6807 \u5e76 \u5728 \u4ee5\u4e0b \u4ee3\u7801 \u5757 \u4e2d \u66f4\u65b0 \u5b83\u4eec \u3002 \u5c06 \u4ee3\u7801 \u590d\u5236 \u5e76 \u7c98\u8d34 \u5230 \u7b14\u8bb0 \u7b14\u8bb0\u672c \u6216   Python   \u7ec8\u7aef \u4e2d \uff0c \u5c06 \u89c2\u4f17 \u79fb\u52a8 \u5230 \u6240 \u9700 \u7684 \u4f4d\u7f6e \u3002 \u60a8 \u9996\u5148 \u9700\u8981   \u8fde\u63a5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e76 \u8bbe\u7f6e \u4e16\u754c \u5bf9\u8c61   \uff1a   #   Carla   \u5750\u6807 :   X   0.0 ,   Y   0.0   spectator   =   world . get _ spectator ( )   loc   =   carla . Location ( 0.0 ,   0.0 ,   300.0 )   rot   =   carla . Rotation ( pitch = - 90 ,   yaw = 0.0 ,   roll = 0.0 )   spectator . set _ transform ( carla . Transform ( loc ,   rot ) )   \u57ce\u9547   13   \u533a   \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u9ad8\u5c42 \u5efa\u7b51 \u9ad8\u5c42\u5efa\u7b51 \uff1a   \u57ce\u9547   13   \u7684 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u533a\u57df \u662f \u4e00 \u5927\u7247 \u9ad8\u5c42 \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c \uff0c \u5728 \u4e00\u81f4 \u7684 \u9053\u8def \u7f51\u683c \u4e0a \u6392\u5217 \u5217\u6210 \u6392\u5217\u6210 \u8857\u533a \uff0c \u7c7b\u4f3c \u4e8e \u8bb8\u591a \u7f8e\u56fd \u548c \u6b27\u6d32 \u5927\u57ce \u57ce\u5e02 \u5927\u57ce\u5e02 \u7684 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u533a\u57df \u3002   \u793e\u533a \u5efa\u7b51 \uff1a   \u793e\u533a \u5efa\u7b51 \u662f \u4e00\u7ec4   2 - 4   \u5c42 \u7684 \u516c\u5bd3 \u516c\u5bd3\u697c \uff0c \u8272\u5f69 \u7f24\u7eb7 \u8272\u5f69\u7f24\u7eb7 \u7684 \u6ce2 \u7c73\u4e9a \u897f\u7c73\u4e9a \u98ce\u683c \uff0c \u5e95\u5c42 \u4e3a \u5546\u4e1a \uff0c \u6bd7\u90bb \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u4e2d\u5fc3\u533a \u5e02\u4e2d\u5fc3\u533a \u3002   \u9ad8\u5bc6 \u5bc6\u5ea6 \u9ad8\u5bc6\u5ea6 \u4f4f\u5b85 \uff1a   \u57ce\u9547   13   \u7684 \u9ad8\u5bc6 \u5bc6\u5ea6 \u9ad8\u5bc6\u5ea6 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u62e5\u6709 \u8bb8\u591a   2   \u81f3   10   \u5c42 \u7684 \u516c\u5bd3 \u516c\u5bd3\u697c \uff0c \u8857\u9053 \u4e0a \u8fd8 \u8bbe\u6709 \u5496\u5561 \u5496\u5561\u9986 \u548c \u96f6\u552e \u96f6\u552e\u5e97 \u7b49 \u5546\u4e1a \u5730\u4ea7 \u5546\u4e1a\u5730\u4ea7 \u3002 \u8bb8\u591a \u4f4f\u5b85 \u4f4f\u5b85\u533a \u90fd \u8bbe\u6709 \u5e26\u6709 \u906e\u9633 \u5e18 \u7684 \u9633\u53f0 \uff0c \u7c7b\u4f3c \u4e8e \u9633\u5149 \u5149\u660e \u660e\u5a9a \u9633\u5149\u660e\u5a9a \u7684 \u5357\u6b27 \u56fd\u5bb6 \u5357\u6b27\u56fd\u5bb6 \u3002   \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u4f4f\u5b85 \uff1a   \u57ce\u9547   13   \u7684 \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u53cd\u6620 \u4e86 \u8bb8\u591a \u6b27\u6d32 \u57ce\u5e02 \u7684 \u90ca\u533a \uff0c \u4e00\u5c42 \u548c \u4e24\u5c42 \u7684 \u4f4f\u5b85 \u88ab \u56f4\u680f \u82b1\u56ed \u548c \u8f66\u5e93 \u5305\u56f4 \u3002   \u516c\u56ed \uff1a   \u5bc6\u96c6 \u7684 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u88ab \u7eff\u8272 \u516c\u5171 \u7a7a\u95f4 \u7684 \u5c0f\u5c9b \u6240 \u5206\u5272 \uff0c \u7eff\u53f6 \u4e0e \u57ce\u5e02 \u5efa\u7b51 \u5e76 \u7f6e \u3002   \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u548c \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \uff1a   \u57ce\u9547   13   \u62e5\u6709 \u5e7f\u6cdb \u7684 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u7cfb\u7edf \uff0c \u5305\u62ec   3 - 4   \u8f66\u9053 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3001 \u5927\u578b \u73af\u5c9b \u548c \u6a2a\u8de8 \u5927\u7247 \u6c34\u57df \u7684 \u5824 \u9053 \u3002   \u519c\u6751 \u548c \u519c\u7530 \uff1a   \u57ce\u9547   13   \u8fd8\u6709 \u4e00\u4e9b \u519c\u6751 \u5730\u533a \uff0c \u6709 \u7279\u8272 \u519c\u7530 \u5efa\u7b51 \uff0c \u5982 \u6728\u5236 \u8c37\u4ed3 \u548c \u519c\u820d \u3001 \u98ce\u8f66 \u3001 \u7cae\u4ed3 \u3001 \u7389\u7c73 \u7389\u7c73\u7530 \u3001 \u5e72 \u8349\u579b \u548c \u4e61\u6751 \u56f4\u680f \u3002 \u8fd9\u4e9b \u5730\u533a \u6709 \u672a \u6807\u8bb0 \u7684 \u4e61\u6751 \u571f\u8def \u548c \u7528\u4e8e \u57ce\u9645 \u4ea4\u901a \u7684 \u5355\u8f66 \u9053 \u57ce\u9645 \u9053\u8def \u3002   \u6c34\u57df \uff1a   \u57ce\u9547   13   \u4e2d\u6709 \u591a\u4e2a \u6c34\u57df \uff0c \u5305\u62ec \u4e00\u4e2a \u5e26\u6709 \u4e2d\u5fc3 \u5c9b \u7684 \u5927\u6e56 \u548c \u519c\u6751 \u5730\u533a \u7684 \u51e0\u4e2a \u6c60\u5858 \u3002   @ keyframes   fadeMe   {   from   {   color :   # 77aaff ;   }   to   {   color :   # 000000 ;   }   }   window . addEventListener ( ' load ' ,   function   ( )   {   var   text _ coord _ x   =   document . getElementById ( \" carlacoord _ x \" )   var   text _ coord _ y   =   document . getElementById ( \" carlacoord _ y \" )   const   code _ coords   =   document . getElementsByClassName ( \" hljs - number \" )   const   code _ comment   =   document . getElementsByClassName ( \" hljs - comment \" )   const   image   =   document . querySelector ( ' [ src $ = \" map \" ] ' ) ;   const   canv   =   document . createElement ( ' canvas ' ) ;   canv . setAttribute ( ' height ' ,   image . height )   canv . setAttribute ( ' width ' ,   image . width )   image . parentNode . replaceChild ( canv ,   image )   var   state   =   { mDown :   false ,   button :   0 ,   lastX :   0 ,   lastY : 0 ,   canvX :   0 ,   canvY :   0 ,   zoom :   1.0 ,   mdownX :   0 ,   mdownY :   0 ,   pX :   0.5 ,   pY :   0.5 ,   dblClick :   false ,   listObj :   false ,   touch :   false }   ctx   =   canv . getContext ( ' 2d ' )   ctx . drawImage ( image ,   0 ,   0 ,   canv . width ,   canv . height )   canv . addEventListener ( ' mousemove ' ,   ( event )   = >   {   dX   =   event . clientX   -   state . lastX   dY   =   event . clientY   -   state . lastY   state . lastX   =   event . clientX   state . lastY   =   event . clientY   if ( state . mDown   &&   state . button   = =   0 )   {   state . canvX   + =   dX   state . canvY   + =   dY   ctx . clearRect ( 0 ,   0 ,   canv . width ,   canv . height )   ctx . drawImage ( image ,   state . canvX ,   state . canvY ,   canv . width   *   state . zoom ,   canv . height   *   state . zoom )   state . touch   =   true ;   }   } )   canv . addEventListener ( ' mousedown ' ,   ( event )   = >   {   state . button   =   event . button ;   state . mDown   =   true ;   state . touch   =   true ;   var   rect   =   canv . getBoundingClientRect ( ) ;   state . mdownX   =   event . clientX   -   rect . left ;   state . mdownY   =   event . clientY   -   rect . top ;   state . pX   =   ( state . mdownX   -   state . canvX )   /   ( canv . width   *   state . zoom ) ;   state . pY   =   ( state . mdownY   -   state . canvY )   /   ( canv . height   *   state . zoom ) ;   } )   canv . addEventListener ( ' mouseup ' ,   ( event )   = >   {   state . mDown   =   false ;   } )   canv . addEventListener ( ' wheel ' ,   ( event )   = >   {   state . mDown   =   false ;   var   rect   =   canv . getBoundingClientRect ( ) ;   dX   =   event . clientX   -   rect . left ;   dY   =   event . clientY   -   rect . top ;   state . pX   =   ( dX   -   state . canvX )   /   ( canv . width   *   state . zoom ) ;   state . pY   =   ( dY   -   state . canvY )   /   ( canv . height   *   state . zoom ) ;   if ( state . touch ) {   event . preventDefault ( ) ;   if ( event . wheelDelta   >   0 ) {   state . zoom   * =   1.15   }   else   {   state . zoom   * =   0.85   }   if ( state . zoom   <   1.0 ) { state . zoom   =   1.0 ; }   if ( state . zoom   >   30.0 ) { state . zoom   =   30.0 }   ctx . clearRect ( 0 ,   0 ,   canv . width ,   canv . height )   state . canvX   =   -   canv . width   *   state . zoom   *   state . pX   +   dX ;   state . canvY   =   -   canv . height   *   state . zoom   *   state . pY   +   dY ;   ctx . drawImage ( image ,   state . canvX ,   state . canvY ,   canv . width   *   state . zoom ,   canv . height   *   state . zoom ) ;   }   } )   canv . addEventListener ( ' dblclick ' ,   ( event )   = >   {   text _ coord _ x   =   document . getElementById ( \" carlacoord _ x \" )   text _ coord _ y   =   document . getElementById ( \" carlacoord _ y \" )   const   carlaX   =   14556.0868   *   state . pX   +   - 7.34734913   *   state . pY   -   6655.00941 ;   const   carlaY   =   2.19186383   *   state . pX   +   12431.3323   *   state . pY   -   4524.46039 ;   code _ coords [ 0 ] . textContent   =   carlaX . toFixed ( 1 )   code _ coords [ 1 ] . textContent   =   carlaY . toFixed ( 1 )   code _ comment [ 0 ] . textContent   =   \" #   CARLA   coordinates   -   X :   \"   +   carlaX . toFixed ( 1 )   +   \"   Y :   \"   +   carlaY . toFixed ( 1 )   var   newX   =   text _ coord _ x . cloneNode ( true )   var   newY   =   text _ coord _ y . cloneNode ( true )   newX . textContent   =   carlaX . toFixed ( 1 )   newY . textContent   =   carlaY . toFixed ( 1 )   var   parentX   =   text _ coord _ x . parentNode   var   parentY   =   text _ coord _ y . parentNode   parentX . replaceChild ( newX ,   text _ coord _ x ) ;   parentY . replaceChild ( newY ,   text _ coord _ y ) ;   / / console . log ( state . pX   +   \" ,   \"   +   state . pY )   } )   } )","title":"\u57ce\u9547   13"},{"location":"map_town13/#13","text":"\u57ce\u9547   13   \u662f \u4e00\u5f20 \u5c3a\u5bf8 \u4e3a   10x10   km   2   \u7684 \u5927 \u5730\u56fe \u3002 \u5b83 \u5206\u4e3a   36   \u4e2a \u56fe\u5757 \uff0c \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u5c3a\u5bf8 \u4e3a   2x2   km   2   \uff08 \u67d0\u4e9b \u8fb9\u7f18 \u56fe\u5757 \u8f83 \u5c0f \uff09 \u3002 \u6709 \u8bb8\u591a \u4e0e \u57ce\u5e02 \u5f62\u6210 \u9c9c\u660e \u5bf9\u6bd4 \u9c9c\u660e\u5bf9\u6bd4 \u7684 \u533a\u57df \uff0c \u5305\u62ec \u57ce\u5e02 \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u5730\u533a \uff0c \u8fd8\u6709 \u73af\u7ed5 \u57ce\u5e02 \u7684 \u5927\u578b \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u7cfb\u7edf \u548c \u73af\u5f62 \u516c\u8def \u3002 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u53cd\u6620 \u4e86 \u5317\u7f8e \u8bb8\u591a \u5927\u4e2d \u4e2d\u57ce \u57ce\u5e02 \u5927\u4e2d\u57ce\u5e02 \u7684 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u3002   \u7b14\u8bb0   \u57ce\u9547   13   \u88ab \u8bbe\u8ba1 \u4e3a \u57ce\u9547   12   \u7684 \u9644\u5c5e \u8bbe\u65bd \uff0c \u8fd9\u6837 \u5b83\u4eec \u5c31 \u53ef\u4ee5 \u4f5c\u4e3a   \u8bad\u7ec3 - \u6d4b\u8bd5 \u5bf9   \u3002 \u8fd9\u4e9b \u57ce\u9547 \u6709 \u8bb8\u591a \u5171\u540c \u7279\u5f81 \uff0c \u4f46 \u5728 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u3001 \u9053\u8def \u7eb9\u7406 \u3001 \u8def\u9762 \u7eb9\u7406 \u548c \u690d\u88ab \u65b9\u9762 \u4e5f \u6709 \u8bb8\u591a \u5dee\u5f02 \u3002 \u4f7f\u7528 \u5176\u4e2d \u4e00\u4e2a \u751f\u6210 \u8bad\u7ec3 \u6570\u636e \uff0c \u7136\u540e \u4f7f\u7528 \u53e6 \u4e00\u4e2a \u8fdb\u884c \u6d4b\u8bd5 \uff0c \u975e\u5e38 \u9002\u5408 \u975e\u5e38\u9002\u5408 \u66b4\u9732 \u5f00\u53d1 \u81ea\u52a8 \u9a7e\u9a76 \u6280\u672f \u6808\u65f6 \u53ef\u80fd \u51fa\u73b0 \u7684 \u8fc7\u5ea6 \u62df\u5408 \u95ee\u9898 \u3002","title":"\u57ce\u9547   13"},{"location":"map_town13/#_1","text":"\u5bfc\u822a \u5668 \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u5730\u56fe \u53ef \u7528\u4e8e \u6d4f\u89c8 \u57ce\u9547 \u5e76 \u5bfc\u51fa \u5750\u6807 \u4ee5 \u5728   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u4f7f\u7528 \u3002   \u4f7f\u7528 \u5bfc\u822a \u5668   :   left   mouse   button   -   \u5355\u51fb \u5e76 \u6309\u4f4f \uff0c \u5411 \u5de6 \u3001 \u5411 \u53f3 \u3001 \u5411\u4e0a \u6216 \u5411\u4e0b \u62d6\u52a8 \u4ee5 \u79fb\u52a8 \u5730\u56fe   scroll   mouse   wheel   -   \u5411\u4e0b \u6eda\u52a8 \u7f29\u5c0f \uff0c \u5411\u4e0a \u6eda\u52a8 \u653e\u5927 \u9f20\u6807 \u6307\u9488 \u4e0b\u65b9 \u7684 \u4f4d\u7f6e   double   click   -   \u53cc\u51fb \u5730\u56fe \u4e0a \u7684 \u67d0\u4e2a \u70b9\u6765 \u8bb0\u5f55 \u5750\u6807 \uff0c \u60a8 \u5c06 \u5728 \u6587\u672c \u548c \u5730\u56fe \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u7684 \u4ee3\u7801 \u5757 \u4e2d \u627e\u5230 \u5750\u6807   \u533a\u57df \u989c\u8272 \u53c2\u8003   :   & nbsp   \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c   & nbsp   \u9ad8\u5bc6 \u5bc6\u5ea6 \u9ad8\u5bc6\u5ea6 \u4f4f\u5b85   & nbsp   \u793e\u533a \u5efa\u7b51   & nbsp   \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u4f4f\u5b85   & nbsp   \u516c\u56ed   & nbsp   \u519c\u6751 \u571f\u5730 \u519c\u6751\u571f\u5730   & nbsp   \u6c34\u57df   Carla   \u5750\u6807   :   X   :   --   Y   :   --   \u53cc\u51fb \u5174\u8da3 \u70b9\u540e \uff0c \u5bfc\u822a \u5668 \u5c06 \u663e\u793a \u76f8\u5e94 \u7684   Carla   \u5750\u6807 \u5e76 \u5728 \u4ee5\u4e0b \u4ee3\u7801 \u5757 \u4e2d \u66f4\u65b0 \u5b83\u4eec \u3002 \u5c06 \u4ee3\u7801 \u590d\u5236 \u5e76 \u7c98\u8d34 \u5230 \u7b14\u8bb0 \u7b14\u8bb0\u672c \u6216   Python   \u7ec8\u7aef \u4e2d \uff0c \u5c06 \u89c2\u4f17 \u79fb\u52a8 \u5230 \u6240 \u9700 \u7684 \u4f4d\u7f6e \u3002 \u60a8 \u9996\u5148 \u9700\u8981   \u8fde\u63a5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e76 \u8bbe\u7f6e \u4e16\u754c \u5bf9\u8c61   \uff1a   #   Carla   \u5750\u6807 :   X   0.0 ,   Y   0.0   spectator   =   world . get _ spectator ( )   loc   =   carla . Location ( 0.0 ,   0.0 ,   300.0 )   rot   =   carla . Rotation ( pitch = - 90 ,   yaw = 0.0 ,   roll = 0.0 )   spectator . set _ transform ( carla . Transform ( loc ,   rot ) )","title":"\u5bfc\u822a \u5668"},{"location":"map_town13/#13_1","text":"","title":"\u57ce\u9547   13   \u533a"},{"location":"map_town13/#_2","text":"\u57ce\u9547   13   \u7684 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u533a\u57df \u662f \u4e00 \u5927\u7247 \u9ad8\u5c42 \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c \uff0c \u5728 \u4e00\u81f4 \u7684 \u9053\u8def \u7f51\u683c \u4e0a \u6392\u5217 \u5217\u6210 \u6392\u5217\u6210 \u8857\u533a \uff0c \u7c7b\u4f3c \u4e8e \u8bb8\u591a \u7f8e\u56fd \u548c \u6b27\u6d32 \u5927\u57ce \u57ce\u5e02 \u5927\u57ce\u5e02 \u7684 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u533a\u57df \u3002","title":"\u5e02\u4e2d\u5fc3 \u9ad8\u5c42\u5efa\u7b51 \uff1a"},{"location":"map_town13/#_3","text":"\u793e\u533a \u5efa\u7b51 \u662f \u4e00\u7ec4   2 - 4   \u5c42 \u7684 \u516c\u5bd3 \u516c\u5bd3\u697c \uff0c \u8272\u5f69 \u7f24\u7eb7 \u8272\u5f69\u7f24\u7eb7 \u7684 \u6ce2 \u7c73\u4e9a \u897f\u7c73\u4e9a \u98ce\u683c \uff0c \u5e95\u5c42 \u4e3a \u5546\u4e1a \uff0c \u6bd7\u90bb \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u4e2d\u5fc3\u533a \u5e02\u4e2d\u5fc3\u533a \u3002","title":"\u793e\u533a \u5efa\u7b51 \uff1a"},{"location":"map_town13/#_4","text":"\u57ce\u9547   13   \u7684 \u9ad8\u5bc6 \u5bc6\u5ea6 \u9ad8\u5bc6\u5ea6 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u62e5\u6709 \u8bb8\u591a   2   \u81f3   10   \u5c42 \u7684 \u516c\u5bd3 \u516c\u5bd3\u697c \uff0c \u8857\u9053 \u4e0a \u8fd8 \u8bbe\u6709 \u5496\u5561 \u5496\u5561\u9986 \u548c \u96f6\u552e \u96f6\u552e\u5e97 \u7b49 \u5546\u4e1a \u5730\u4ea7 \u5546\u4e1a\u5730\u4ea7 \u3002 \u8bb8\u591a \u4f4f\u5b85 \u4f4f\u5b85\u533a \u90fd \u8bbe\u6709 \u5e26\u6709 \u906e\u9633 \u5e18 \u7684 \u9633\u53f0 \uff0c \u7c7b\u4f3c \u4e8e \u9633\u5149 \u5149\u660e \u660e\u5a9a \u9633\u5149\u660e\u5a9a \u7684 \u5357\u6b27 \u56fd\u5bb6 \u5357\u6b27\u56fd\u5bb6 \u3002","title":"\u9ad8\u5bc6\u5ea6 \u4f4f\u5b85 \uff1a"},{"location":"map_town13/#_5","text":"\u57ce\u9547   13   \u7684 \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u53cd\u6620 \u4e86 \u8bb8\u591a \u6b27\u6d32 \u57ce\u5e02 \u7684 \u90ca\u533a \uff0c \u4e00\u5c42 \u548c \u4e24\u5c42 \u7684 \u4f4f\u5b85 \u88ab \u56f4\u680f \u82b1\u56ed \u548c \u8f66\u5e93 \u5305\u56f4 \u3002","title":"\u4f4e\u5bc6\u5ea6 \u4f4f\u5b85 \uff1a"},{"location":"map_town13/#_6","text":"\u5bc6\u96c6 \u7684 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u88ab \u7eff\u8272 \u516c\u5171 \u7a7a\u95f4 \u7684 \u5c0f\u5c9b \u6240 \u5206\u5272 \uff0c \u7eff\u53f6 \u4e0e \u57ce\u5e02 \u5efa\u7b51 \u5e76 \u7f6e \u3002","title":"\u516c\u56ed \uff1a"},{"location":"map_town13/#_7","text":"\u57ce\u9547   13   \u62e5\u6709 \u5e7f\u6cdb \u7684 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u7cfb\u7edf \uff0c \u5305\u62ec   3 - 4   \u8f66\u9053 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3001 \u5927\u578b \u73af\u5c9b \u548c \u6a2a\u8de8 \u5927\u7247 \u6c34\u57df \u7684 \u5824 \u9053 \u3002","title":"\u9ad8\u901f\u516c\u8def \u548c \u4ea4\u53c9\u8def\u53e3 \uff1a"},{"location":"map_town13/#_8","text":"\u57ce\u9547   13   \u8fd8\u6709 \u4e00\u4e9b \u519c\u6751 \u5730\u533a \uff0c \u6709 \u7279\u8272 \u519c\u7530 \u5efa\u7b51 \uff0c \u5982 \u6728\u5236 \u8c37\u4ed3 \u548c \u519c\u820d \u3001 \u98ce\u8f66 \u3001 \u7cae\u4ed3 \u3001 \u7389\u7c73 \u7389\u7c73\u7530 \u3001 \u5e72 \u8349\u579b \u548c \u4e61\u6751 \u56f4\u680f \u3002 \u8fd9\u4e9b \u5730\u533a \u6709 \u672a \u6807\u8bb0 \u7684 \u4e61\u6751 \u571f\u8def \u548c \u7528\u4e8e \u57ce\u9645 \u4ea4\u901a \u7684 \u5355\u8f66 \u9053 \u57ce\u9645 \u9053\u8def \u3002","title":"\u519c\u6751 \u548c \u519c\u7530 \uff1a"},{"location":"map_town13/#_9","text":"\u57ce\u9547   13   \u4e2d\u6709 \u591a\u4e2a \u6c34\u57df \uff0c \u5305\u62ec \u4e00\u4e2a \u5e26\u6709 \u4e2d\u5fc3 \u5c9b \u7684 \u5927\u6e56 \u548c \u519c\u6751 \u5730\u533a \u7684 \u51e0\u4e2a \u6c60\u5858 \u3002   @ keyframes   fadeMe   {   from   {   color :   # 77aaff ;   }   to   {   color :   # 000000 ;   }   }   window . addEventListener ( ' load ' ,   function   ( )   {   var   text _ coord _ x   =   document . getElementById ( \" carlacoord _ x \" )   var   text _ coord _ y   =   document . getElementById ( \" carlacoord _ y \" )   const   code _ coords   =   document . getElementsByClassName ( \" hljs - number \" )   const   code _ comment   =   document . getElementsByClassName ( \" hljs - comment \" )   const   image   =   document . querySelector ( ' [ src $ = \" map \" ] ' ) ;   const   canv   =   document . createElement ( ' canvas ' ) ;   canv . setAttribute ( ' height ' ,   image . height )   canv . setAttribute ( ' width ' ,   image . width )   image . parentNode . replaceChild ( canv ,   image )   var   state   =   { mDown :   false ,   button :   0 ,   lastX :   0 ,   lastY : 0 ,   canvX :   0 ,   canvY :   0 ,   zoom :   1.0 ,   mdownX :   0 ,   mdownY :   0 ,   pX :   0.5 ,   pY :   0.5 ,   dblClick :   false ,   listObj :   false ,   touch :   false }   ctx   =   canv . getContext ( ' 2d ' )   ctx . drawImage ( image ,   0 ,   0 ,   canv . width ,   canv . height )   canv . addEventListener ( ' mousemove ' ,   ( event )   = >   {   dX   =   event . clientX   -   state . lastX   dY   =   event . clientY   -   state . lastY   state . lastX   =   event . clientX   state . lastY   =   event . clientY   if ( state . mDown   &&   state . button   = =   0 )   {   state . canvX   + =   dX   state . canvY   + =   dY   ctx . clearRect ( 0 ,   0 ,   canv . width ,   canv . height )   ctx . drawImage ( image ,   state . canvX ,   state . canvY ,   canv . width   *   state . zoom ,   canv . height   *   state . zoom )   state . touch   =   true ;   }   } )   canv . addEventListener ( ' mousedown ' ,   ( event )   = >   {   state . button   =   event . button ;   state . mDown   =   true ;   state . touch   =   true ;   var   rect   =   canv . getBoundingClientRect ( ) ;   state . mdownX   =   event . clientX   -   rect . left ;   state . mdownY   =   event . clientY   -   rect . top ;   state . pX   =   ( state . mdownX   -   state . canvX )   /   ( canv . width   *   state . zoom ) ;   state . pY   =   ( state . mdownY   -   state . canvY )   /   ( canv . height   *   state . zoom ) ;   } )   canv . addEventListener ( ' mouseup ' ,   ( event )   = >   {   state . mDown   =   false ;   } )   canv . addEventListener ( ' wheel ' ,   ( event )   = >   {   state . mDown   =   false ;   var   rect   =   canv . getBoundingClientRect ( ) ;   dX   =   event . clientX   -   rect . left ;   dY   =   event . clientY   -   rect . top ;   state . pX   =   ( dX   -   state . canvX )   /   ( canv . width   *   state . zoom ) ;   state . pY   =   ( dY   -   state . canvY )   /   ( canv . height   *   state . zoom ) ;   if ( state . touch ) {   event . preventDefault ( ) ;   if ( event . wheelDelta   >   0 ) {   state . zoom   * =   1.15   }   else   {   state . zoom   * =   0.85   }   if ( state . zoom   <   1.0 ) { state . zoom   =   1.0 ; }   if ( state . zoom   >   30.0 ) { state . zoom   =   30.0 }   ctx . clearRect ( 0 ,   0 ,   canv . width ,   canv . height )   state . canvX   =   -   canv . width   *   state . zoom   *   state . pX   +   dX ;   state . canvY   =   -   canv . height   *   state . zoom   *   state . pY   +   dY ;   ctx . drawImage ( image ,   state . canvX ,   state . canvY ,   canv . width   *   state . zoom ,   canv . height   *   state . zoom ) ;   }   } )   canv . addEventListener ( ' dblclick ' ,   ( event )   = >   {   text _ coord _ x   =   document . getElementById ( \" carlacoord _ x \" )   text _ coord _ y   =   document . getElementById ( \" carlacoord _ y \" )   const   carlaX   =   14556.0868   *   state . pX   +   - 7.34734913   *   state . pY   -   6655.00941 ;   const   carlaY   =   2.19186383   *   state . pX   +   12431.3323   *   state . pY   -   4524.46039 ;   code _ coords [ 0 ] . textContent   =   carlaX . toFixed ( 1 )   code _ coords [ 1 ] . textContent   =   carlaY . toFixed ( 1 )   code _ comment [ 0 ] . textContent   =   \" #   CARLA   coordinates   -   X :   \"   +   carlaX . toFixed ( 1 )   +   \"   Y :   \"   +   carlaY . toFixed ( 1 )   var   newX   =   text _ coord _ x . cloneNode ( true )   var   newY   =   text _ coord _ y . cloneNode ( true )   newX . textContent   =   carlaX . toFixed ( 1 )   newY . textContent   =   carlaY . toFixed ( 1 )   var   parentX   =   text _ coord _ x . parentNode   var   parentY   =   text _ coord _ y . parentNode   parentX . replaceChild ( newX ,   text _ coord _ x ) ;   parentY . replaceChild ( newY ,   text _ coord _ y ) ;   / / console . log ( state . pX   +   \" ,   \"   +   state . pY )   } )   } )","title":"\u6c34\u57df \uff1a"},{"location":"map_town15/","text":"\u57ce\u9547   15   \u57ce\u9547   15   \u662f \u6839\u636e \u5df4\u585e \u585e\u7f57 \u7f57\u90a3 \u5df4\u585e\u7f57\u90a3 \u81ea\u6cbb \u5927\u5b66 \u7684 \u9053\u8def \u5e03\u5c40 \u7ed8\u5236 \u7684 \u5730\u56fe \u3002 \u5730\u56fe \u4e2d \u4eff\u771f \u4e86 \u73b0\u4ee3 \u6821\u56ed \u7684 \u4e00\u4e9b \u6807\u5fd7 \u6807\u5fd7\u6027 \u5efa\u7b51 \uff0c \u5305\u62ec \u4eba\u6587 \u56fe\u4e66 \u4e66\u9986 \u56fe\u4e66\u9986 \u3001 \u533b\u5b66 \u5927\u697c \u4ee5\u53ca   Carla   \u7684 \u8bde\u751f \u751f\u5730 \u8bde\u751f\u5730 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u4e2d\u5fc3 \u3002   \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u4e2d\u5fc3   \u8be5 \u5730\u56fe \u5305\u62ec \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u4e2d\u5fc3 \uff0c \u8be5 \u4e2d\u5fc3 \u662f \u4e16\u754c \u77e5\u540d \u7684 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u7814\u7a76 \u4e2d\u5fc3 \uff0c \u4e5f \u662f   Carla   \u5f00\u53d1 \u56e2\u961f \u7684 \u6240\u5728 \u6240\u5728\u5730 \u3002   \u4eba\u6587 \u56fe\u4e66 \u4e66\u9986 \u56fe\u4e66\u9986   \u8fd9\u5ea7 \u5efa\u7b51 \u5728 \u6cf0\u7f57 \u5c3c\u4e9a \u4e9a\u8bed \u52a0\u6cf0\u7f57 \u7f57\u5c3c\u4e9a \u5c3c\u4e9a\u8bed \u52a0\u6cf0\u7f57\u5c3c\u4e9a\u8bed \u4e2d \u88ab \u79f0\u4e3a   Biblioteca   d ' Humanitats \uff0c \u4e3a \u5728 \u5df4\u585e \u585e\u7f57 \u7f57\u90a3 \u5df4\u585e\u7f57\u90a3 \u81ea\u6cbb \u5927\u5b66 \u5b66\u4e60 \u548c \u5de5\u4f5c \u7684 \u5b66\u751f \u548c \u7814\u7a76 \u4eba\u5458 \u63d0\u4f9b \u4e86 \u6db5\u76d6 \u591a\u4e2a \u5b66\u79d1 \u7684 \u6587\u732e \u3002","title":"\u57ce\u9547   15"},{"location":"map_town15/#15","text":"\u57ce\u9547   15   \u662f \u6839\u636e \u5df4\u585e \u585e\u7f57 \u7f57\u90a3 \u5df4\u585e\u7f57\u90a3 \u81ea\u6cbb \u5927\u5b66 \u7684 \u9053\u8def \u5e03\u5c40 \u7ed8\u5236 \u7684 \u5730\u56fe \u3002 \u5730\u56fe \u4e2d \u4eff\u771f \u4e86 \u73b0\u4ee3 \u6821\u56ed \u7684 \u4e00\u4e9b \u6807\u5fd7 \u6807\u5fd7\u6027 \u5efa\u7b51 \uff0c \u5305\u62ec \u4eba\u6587 \u56fe\u4e66 \u4e66\u9986 \u56fe\u4e66\u9986 \u3001 \u533b\u5b66 \u5927\u697c \u4ee5\u53ca   Carla   \u7684 \u8bde\u751f \u751f\u5730 \u8bde\u751f\u5730 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u4e2d\u5fc3 \u3002","title":"\u57ce\u9547   15"},{"location":"map_town15/#_1","text":"\u8be5 \u5730\u56fe \u5305\u62ec \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u4e2d\u5fc3 \uff0c \u8be5 \u4e2d\u5fc3 \u662f \u4e16\u754c \u77e5\u540d \u7684 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u7814\u7a76 \u4e2d\u5fc3 \uff0c \u4e5f \u662f   Carla   \u5f00\u53d1 \u56e2\u961f \u7684 \u6240\u5728 \u6240\u5728\u5730 \u3002","title":"\u8ba1\u7b97\u673a \u89c6\u89c9 \u4e2d\u5fc3"},{"location":"map_town15/#_2","text":"\u8fd9\u5ea7 \u5efa\u7b51 \u5728 \u6cf0\u7f57 \u5c3c\u4e9a \u4e9a\u8bed \u52a0\u6cf0\u7f57 \u7f57\u5c3c\u4e9a \u5c3c\u4e9a\u8bed \u52a0\u6cf0\u7f57\u5c3c\u4e9a\u8bed \u4e2d \u88ab \u79f0\u4e3a   Biblioteca   d ' Humanitats \uff0c \u4e3a \u5728 \u5df4\u585e \u585e\u7f57 \u7f57\u90a3 \u5df4\u585e\u7f57\u90a3 \u81ea\u6cbb \u5927\u5b66 \u5b66\u4e60 \u548c \u5de5\u4f5c \u7684 \u5b66\u751f \u548c \u7814\u7a76 \u4eba\u5458 \u63d0\u4f9b \u4e86 \u6db5\u76d6 \u591a\u4e2a \u5b66\u79d1 \u7684 \u6587\u732e \u3002","title":"\u4eba\u6587 \u56fe\u4e66\u9986"},{"location":"maps_tutorials/","text":"\u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe   \u5728   Carla   \u4e2d \uff0c \u5730\u56fe \u5305\u62ec \u57ce\u9547 \u7684 \u4e09\u7ef4 \u6a21\u578b \u53ca\u5176 \u9053\u8def \u7f51\u7edc \u7684 \u5b9a\u4e49 \u3002 \u9053\u8def \u7f51\u7edc \u662f \u901a\u8fc7   OpenDRIVE   \u6807\u51c6 \u5b9a\u4e49 \u7684 \u3002 Carla   \u63d0\u4f9b \u4e86 \u591a\u79cd \u5f00\u7bb1 \u5373\u7528 \u7684 \u5730\u56fe \uff0c \u53ef \u7528\u4e8e \u591a\u79cd \u5e94\u7528 \u3002 \u7528\u6237 \u8fd8 \u53ef\u4ee5 \u521b\u5efa \u81ea\u5df1 \u7684 \u5730\u56fe \u5e76 \u5c06 \u5176 \u52a0\u8f7d \u5230   Carla   \u4e2d \u3002 \u4ee5\u4e0b \u6559\u7a0b \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u5e76 \u5c06 \u5176 \u52a0\u8f7d \u5230   Carla   \u4e2d \u7684 \u5fc5\u8981 \u6b65\u9aa4 \u3002   \u6982\u8ff0   \u9053\u8def \u6d82\u88c5   \u5b9a\u5236 \u5efa\u7b51   \u751f\u6210 \u5730\u56fe   \u6dfb\u52a0 \u5730\u56fe \u5730\u56fe\u5305   \u6dfb\u52a0 \u5730\u56fe \u6e90   \u66ff\u4ee3 \u65b9\u6cd5","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe"},{"location":"maps_tutorials/#_1","text":"\u5728   Carla   \u4e2d \uff0c \u5730\u56fe \u5305\u62ec \u57ce\u9547 \u7684 \u4e09\u7ef4 \u6a21\u578b \u53ca\u5176 \u9053\u8def \u7f51\u7edc \u7684 \u5b9a\u4e49 \u3002 \u9053\u8def \u7f51\u7edc \u662f \u901a\u8fc7   OpenDRIVE   \u6807\u51c6 \u5b9a\u4e49 \u7684 \u3002 Carla   \u63d0\u4f9b \u4e86 \u591a\u79cd \u5f00\u7bb1 \u5373\u7528 \u7684 \u5730\u56fe \uff0c \u53ef \u7528\u4e8e \u591a\u79cd \u5e94\u7528 \u3002 \u7528\u6237 \u8fd8 \u53ef\u4ee5 \u521b\u5efa \u81ea\u5df1 \u7684 \u5730\u56fe \u5e76 \u5c06 \u5176 \u52a0\u8f7d \u5230   Carla   \u4e2d \u3002 \u4ee5\u4e0b \u6559\u7a0b \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u5e76 \u5c06 \u5176 \u52a0\u8f7d \u5230   Carla   \u4e2d \u7684 \u5fc5\u8981 \u6b65\u9aa4 \u3002   \u6982\u8ff0   \u9053\u8def \u6d82\u88c5   \u5b9a\u5236 \u5efa\u7b51   \u751f\u6210 \u5730\u56fe   \u6dfb\u52a0 \u5730\u56fe \u5730\u56fe\u5305   \u6dfb\u52a0 \u5730\u56fe \u6e90   \u66ff\u4ee3 \u65b9\u6cd5","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe"},{"location":"measurements/","text":"\u6d4b\u91cf   \u91cd\u8981   \u81ea   0.8 . 0   \u7248\u8d77 \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u63a5\u6536 \u7684 \u6d4b\u91cf \u503c \u91c7\u7528 \u56fd\u9645 \u5355\u4f4d \u5355\u4f4d\u5236 \u3002 \u6240\u6709 \u4f4d\u7f6e \u5747 \u5df2 \u8f6c\u6362 \u4e3a   \u7c73   \uff0c \u901f\u5ea6 \u4e5f \u5df2 \u8f6c\u6362 \u4e3a   \u7c73 / \u79d2   \u3002   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6bcf\u5e27 \u90fd \u4f1a \u5411 \u5ba2\u6237 \u5ba2\u6237\u7aef \u53d1\u9001 \u4e00\u4e2a \u5305\u542b \u6d4b\u91cf \u503c \u548c \u6536\u96c6 \u5230 \u7684 \u56fe\u50cf \u6570\u636e \u6570\u636e\u5305 \u3002 \u672c \u6587\u6863 \u63cf\u8ff0 \u4e86 \u8fd9\u4e9b \u6d4b\u91cf \u503c \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u65f6\u95f4 \u6233   \u6bcf\u4e2a \u5e27 \u7531 \u4e09\u4e2a \u4e0d\u540c \u7684 \u8ba1\u6570 \u8ba1\u6570\u5668 / \u65f6\u95f4 \u6233 \u63cf\u8ff0   \u952e   \u7c7b\u578b   \u5355\u4f4d   \u63cf\u8ff0   frame _ number   uint64   \u5e27 \u8ba1\u6570 \u8ba1\u6570\u5668 \uff08 \u4e0d\u4f1a \u5728 \u6bcf\u96c6 \u7ed3\u675f \u540e \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \uff09 \u3002   platform _ timestamp   uint32   \u6beb\u79d2   \u5f53\u524d \u5e27 \u7684 \u65f6\u95f4 \u6233 \uff0c \u7531 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u7ed9\u51fa \u3002   game _ timestamp   uint32   \u6beb\u79d2   \u6e38\u620f \u4e2d \u7684 \u65f6\u95f4 \u6233 \uff0c \u81ea \u5f53\u524d \u5267\u96c6 \u5f00\u59cb \u4ee5\u6765 \u7ecf\u8fc7 \u7684 \u65f6\u95f4 \u3002   \u5728 \u5b9e\u65f6 \u6a21\u5f0f \u4e0b \uff0c \u4e24\u4e2a \u65f6\u95f4 \u6b65\u957f \u4e4b\u95f4 \u7684 \u7ecf\u8fc7 \u65f6\u95f4 \u5e94 \u4e0e \u5e73\u53f0 \u548c \u6e38\u620f \u65f6\u95f4 \u6233 \u76f8\u4f3c \u3002 \u5728 \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f \u4e2d \u8fd0\u884c \u65f6 \uff0c \u6e38\u620f \u65f6\u95f4 \u6233 \u4ee5 \u6052\u5b9a \u65f6\u95f4 \u6b65\u957f \u9012\u589e \uff08 delta = 1 / FPS \uff09 \uff0c \u800c \u5e73\u53f0 \u65f6\u95f4 \u6233 \u4fdd\u6301 \u5b9e\u9645 \u7ecf\u8fc7 \u7684 \u65f6\u95f4 \u3002   \u73a9\u5bb6 \u6d4b\u91cf   \u952e   \u7c7b\u578b   \u5355\u4f4d   \u63cf\u8ff0   transform   Transform   \u73a9\u5bb6 \u7684 \u4e16\u754c \u53d8\u6362 \uff08 \u5305\u542b \u4f4d\u7f6e \u548c \u65cb\u8f6c \uff09 \u3002   acceleration   Vector3D   m / s ^ 2   \u73a9\u5bb6 \u5f53\u524d \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   forward _ speed   float   m / s   \u73a9\u5bb6 \u7684 \u524d\u8fdb \u901f\u5ea6 \u3002   collision _ vehicles   float   kg * m / s   \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u7684 \u78b0\u649e \u5f3a\u5ea6 \u3002   collision _ pedestrians   float   kg * m / s   \u4e0e \u884c\u4eba \u7684 \u78b0\u649e \u5f3a\u5ea6 \u3002   collision _ other   float   kg * m / s   \u4e00\u822c \u78b0\u649e \u5f3a\u5ea6 \uff08 \u9664 \u884c\u4eba \u548c \u8f66\u8f86 \u4ee5\u5916 \u7684 \u4e00\u5207 \uff09 \u3002   intersection _ otherlane   float   \u8f66\u8f86 \u4fb5\u5165 \u5176\u4ed6 \u8f66\u9053 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   intersection _ offroad   float   \u6c7d\u8f66 \u8d8a\u91ce \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   autopilot _ control   float   \u8f66\u8f86 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u63a7\u5236 \u5c06 \u5e94\u7528 \u6b64 \u6846\u67b6 \u3002   \u8f6c\u6362   \u53d8\u6362 \u5305\u542b \u73a9\u5bb6 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   \u952e   \u7c7b\u578b   \u5355\u4f4d   \u63cf\u8ff0   location   Vector3D   \u7c73   \u4e16\u754c \u4f4d\u7f6e \u3002   orientation   [ \u5df2\u5f03 \u7528 ]   Vector3D   \u4ee5 \u5361\u5c14 \u7b1b\u5361\u5c14 \u5750\u6807 \u8868\u793a \u7684 \u65b9\u5411 \u3002   rotation   Vector3D   \u5ea6   \u4fef\u4ef0 \u3001 \u6eda\u8f6c \u548c \u504f\u822a \u3002   \u78b0\u649e   \u78b0\u649e \u53d8\u91cf \u4fdd\u5b58 \u4e86 \u6b64 \u4e8b\u4ef6 \u4e2d \u53d1\u751f \u7684 \u6240\u6709 \u78b0\u649e \u7684 \u7d2f\u79ef \u3002 \u6bcf\u6b21 \u78b0\u649e \u90fd \u4f1a \u6309 \u6bd4\u4f8b \u5f71\u54cd \u78b0\u649e \u5f3a\u5ea6 \uff08 \u4e24\u4e2a \u78b0\u649e \u7269\u4f53 \u4e4b\u95f4 \u7684 \u6cd5\u5411 \u51b2\u91cf \u7684 \u8303\u6570 \uff09 \u3002   \u4fdd\u7559 \u4e09\u79cd \u4e0d\u540c \u7684 \u8ba1\u6570 \uff08 \u884c\u4eba \u3001 \u8f66\u8f86 \u548c \u5176\u4ed6 \uff09 \u3002 \u78b0\u649e \u7269\u4f53 \u6839\u636e \u5176 \u6807\u7b7e \u8fdb\u884c \u5206\u7c7b \uff08 \u4e0e \u8bed\u4e49 \u5206\u5272 \u76f8\u540c \uff09 \u3002   \u6f0f\u6d1e   \u53c2\u89c1   # 13   \u5f53 \u8f66\u8f86 \u901f\u5ea6 \u8f83 \u4f4e\u65f6 \uff0c \u4e0d\u4f1a \u6807\u6ce8 \u78b0\u649e   \u5982\u679c \u8f66\u8f86 \u6ca1\u6709 \u79fb\u52a8 \uff08 < 1   \u516c\u91cc / \u5c0f\u65f6 \uff09 \uff0c \u5219 \u4e0d\u4f1a \u6ce8\u91ca \u78b0\u649e \uff0c \u4ee5 \u907f\u514d \u7531\u4e8e \u975e \u73a9\u5bb6 \u4ee3\u7406 \u7684   AI   \u9519\u8bef \u800c \u6ce8\u91ca \u4e0d\u5fc5 \u5fc5\u8981 \u4e0d\u5fc5\u8981 \u7684 \u78b0\u649e \u3002   \u8f66\u9053 / \u8d8a\u91ce \u8def\u53e3   \u8f66\u9053 \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u6d4b\u91cf \u8f66\u8f86 \u4fb5\u5165 \u5bf9\u9762 \u8f66\u9053 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002 \u8d8a\u91ce \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u6d4b\u91cf \u8f66\u8f86 \u5728 \u9053\u8def \u5916 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   \u8fd9\u4e9b \u503c \u662f \u901a\u8fc7 \u8f66\u8f86 \u8fb9\u754c \u6846 \uff08 \u4f5c\u4e3a   2D   \u77e9\u5f62 \uff09 \u4e0e \u57ce\u5e02 \u5e02\u5730 \u5730\u56fe \u57ce\u5e02\u5730\u56fe \u56fe\u50cf \u76f8\u4ea4 \u8ba1\u7b97 \u5f97\u51fa \u7684 \u3002 \u8fd9\u4e9b \u56fe\u50cf \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u751f\u6210 \u5e76 \u5e8f\u5217 \u5e8f\u5217\u5316 \u4ee5\u4f9b \u8fd0\u884c \u65f6 \u4f7f\u7528 \u3002 \u60a8 \u4e5f \u53ef\u4ee5 \u5728 \u53d1\u5e03 \u5305\u4e2d \u7684 \u201c RoadMaps \u201d \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u627e\u5230 \u5b83\u4eec \u3002   \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u63a7\u5236   \u6d4b\u91cf   autopilot _ control   \u7ed3\u679c \u5305\u542b \u6e38\u620f \u5185 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u5728 \u63a7\u5236 \u8f66\u8f86 \u65f6\u6240 \u5e94\u7528 \u7684 \u63a7\u5236 \u503c \u3002   \u8fd9 \u4e0e \u5c06 \u8f66\u8f86 \u63a7\u5236 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u7ed3\u6784 \u76f8\u540c \u3002   \u952e   \u7c7b\u578b   \u63cf\u8ff0   steer   float   \u8f6c\u5411 \u89d2\u5ea6 \u5728   [ - 1.0 ,   1.0 ]   \u4e4b\u95f4   ( * )   throttle   float   \u6cb9\u95e8 \u8f93\u5165 \u4ecb\u4e8e   [   0.0 ,   1.0 ]   \u4e4b\u95f4   brake   float   \u5239\u8f66 \u8f93\u5165 \u4ecb\u4e8e   [   0.0 ,   1.0 ]   \u4e4b\u95f4   hand _ brake   bool   \u624b\u5239 \u662f\u5426 \u62c9\u7d27   reverse   bool   \u8f66\u8f86 \u662f\u5426 \u5904\u4e8e \u5012 \u6863   \u8981 \u4ece \u5ba2\u6237 \u5ba2\u6237\u7aef \u6fc0\u6d3b \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \uff0c \u8bf7 \u5c06   autopilot _ control   \u53d1\u9001 \u56de \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u8bf7 \u6ce8\u610f \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u5c06 \u5176 \u53d1\u9001 \u56de \u4e4b\u524d \u5bf9 \u5176 \u8fdb\u884c \u4fee\u6539 \u3002   measurements ,   sensor _ data   =   carla _ client . read _ data ( )   control   =   measurements . player _ measurements . autopilot _ control   #   modify   here   control   if   wanted .   carla _ client . send _ control ( control )   ( * )   \u5b9e\u9645 \u8f6c\u5411 \u89d2\u5ea6 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u6240\u7528 \u8f66\u8f86 \u3002 \u9ed8\u8ba4   Mustang   \u7684 \u6700\u5927 \u8f6c\u5411 \u89d2\u5ea6 \u4e3a   70   \u5ea6 \uff08 \u53ef \u5728 \u8f66\u8f86 \u524d\u8f6e \u84dd\u56fe \u4e2d \u67e5\u770b \uff09 \u3002","title":"\u6d4b\u91cf"},{"location":"measurements/#_1","text":"\u91cd\u8981   \u81ea   0.8 . 0   \u7248\u8d77 \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u63a5\u6536 \u7684 \u6d4b\u91cf \u503c \u91c7\u7528 \u56fd\u9645 \u5355\u4f4d \u5355\u4f4d\u5236 \u3002 \u6240\u6709 \u4f4d\u7f6e \u5747 \u5df2 \u8f6c\u6362 \u4e3a   \u7c73   \uff0c \u901f\u5ea6 \u4e5f \u5df2 \u8f6c\u6362 \u4e3a   \u7c73 / \u79d2   \u3002   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6bcf\u5e27 \u90fd \u4f1a \u5411 \u5ba2\u6237 \u5ba2\u6237\u7aef \u53d1\u9001 \u4e00\u4e2a \u5305\u542b \u6d4b\u91cf \u503c \u548c \u6536\u96c6 \u5230 \u7684 \u56fe\u50cf \u6570\u636e \u6570\u636e\u5305 \u3002 \u672c \u6587\u6863 \u63cf\u8ff0 \u4e86 \u8fd9\u4e9b \u6d4b\u91cf \u503c \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002","title":"\u6d4b\u91cf"},{"location":"measurements/#_2","text":"\u6bcf\u4e2a \u5e27 \u7531 \u4e09\u4e2a \u4e0d\u540c \u7684 \u8ba1\u6570 \u8ba1\u6570\u5668 / \u65f6\u95f4 \u6233 \u63cf\u8ff0   \u952e   \u7c7b\u578b   \u5355\u4f4d   \u63cf\u8ff0   frame _ number   uint64   \u5e27 \u8ba1\u6570 \u8ba1\u6570\u5668 \uff08 \u4e0d\u4f1a \u5728 \u6bcf\u96c6 \u7ed3\u675f \u540e \u91cd\u65b0 \u542f\u52a8 \u91cd\u65b0\u542f\u52a8 \uff09 \u3002   platform _ timestamp   uint32   \u6beb\u79d2   \u5f53\u524d \u5e27 \u7684 \u65f6\u95f4 \u6233 \uff0c \u7531 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u7ed9\u51fa \u3002   game _ timestamp   uint32   \u6beb\u79d2   \u6e38\u620f \u4e2d \u7684 \u65f6\u95f4 \u6233 \uff0c \u81ea \u5f53\u524d \u5267\u96c6 \u5f00\u59cb \u4ee5\u6765 \u7ecf\u8fc7 \u7684 \u65f6\u95f4 \u3002   \u5728 \u5b9e\u65f6 \u6a21\u5f0f \u4e0b \uff0c \u4e24\u4e2a \u65f6\u95f4 \u6b65\u957f \u4e4b\u95f4 \u7684 \u7ecf\u8fc7 \u65f6\u95f4 \u5e94 \u4e0e \u5e73\u53f0 \u548c \u6e38\u620f \u65f6\u95f4 \u6233 \u76f8\u4f3c \u3002 \u5728 \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f \u4e2d \u8fd0\u884c \u65f6 \uff0c \u6e38\u620f \u65f6\u95f4 \u6233 \u4ee5 \u6052\u5b9a \u65f6\u95f4 \u6b65\u957f \u9012\u589e \uff08 delta = 1 / FPS \uff09 \uff0c \u800c \u5e73\u53f0 \u65f6\u95f4 \u6233 \u4fdd\u6301 \u5b9e\u9645 \u7ecf\u8fc7 \u7684 \u65f6\u95f4 \u3002","title":"\u65f6\u95f4 \u6233"},{"location":"measurements/#_3","text":"\u952e   \u7c7b\u578b   \u5355\u4f4d   \u63cf\u8ff0   transform   Transform   \u73a9\u5bb6 \u7684 \u4e16\u754c \u53d8\u6362 \uff08 \u5305\u542b \u4f4d\u7f6e \u548c \u65cb\u8f6c \uff09 \u3002   acceleration   Vector3D   m / s ^ 2   \u73a9\u5bb6 \u5f53\u524d \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   forward _ speed   float   m / s   \u73a9\u5bb6 \u7684 \u524d\u8fdb \u901f\u5ea6 \u3002   collision _ vehicles   float   kg * m / s   \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u7684 \u78b0\u649e \u5f3a\u5ea6 \u3002   collision _ pedestrians   float   kg * m / s   \u4e0e \u884c\u4eba \u7684 \u78b0\u649e \u5f3a\u5ea6 \u3002   collision _ other   float   kg * m / s   \u4e00\u822c \u78b0\u649e \u5f3a\u5ea6 \uff08 \u9664 \u884c\u4eba \u548c \u8f66\u8f86 \u4ee5\u5916 \u7684 \u4e00\u5207 \uff09 \u3002   intersection _ otherlane   float   \u8f66\u8f86 \u4fb5\u5165 \u5176\u4ed6 \u8f66\u9053 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   intersection _ offroad   float   \u6c7d\u8f66 \u8d8a\u91ce \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   autopilot _ control   float   \u8f66\u8f86 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u63a7\u5236 \u5c06 \u5e94\u7528 \u6b64 \u6846\u67b6 \u3002","title":"\u73a9\u5bb6 \u6d4b\u91cf"},{"location":"measurements/#_4","text":"\u53d8\u6362 \u5305\u542b \u73a9\u5bb6 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   \u952e   \u7c7b\u578b   \u5355\u4f4d   \u63cf\u8ff0   location   Vector3D   \u7c73   \u4e16\u754c \u4f4d\u7f6e \u3002   orientation   [ \u5df2\u5f03 \u7528 ]   Vector3D   \u4ee5 \u5361\u5c14 \u7b1b\u5361\u5c14 \u5750\u6807 \u8868\u793a \u7684 \u65b9\u5411 \u3002   rotation   Vector3D   \u5ea6   \u4fef\u4ef0 \u3001 \u6eda\u8f6c \u548c \u504f\u822a \u3002","title":"\u8f6c\u6362"},{"location":"measurements/#_5","text":"\u78b0\u649e \u53d8\u91cf \u4fdd\u5b58 \u4e86 \u6b64 \u4e8b\u4ef6 \u4e2d \u53d1\u751f \u7684 \u6240\u6709 \u78b0\u649e \u7684 \u7d2f\u79ef \u3002 \u6bcf\u6b21 \u78b0\u649e \u90fd \u4f1a \u6309 \u6bd4\u4f8b \u5f71\u54cd \u78b0\u649e \u5f3a\u5ea6 \uff08 \u4e24\u4e2a \u78b0\u649e \u7269\u4f53 \u4e4b\u95f4 \u7684 \u6cd5\u5411 \u51b2\u91cf \u7684 \u8303\u6570 \uff09 \u3002   \u4fdd\u7559 \u4e09\u79cd \u4e0d\u540c \u7684 \u8ba1\u6570 \uff08 \u884c\u4eba \u3001 \u8f66\u8f86 \u548c \u5176\u4ed6 \uff09 \u3002 \u78b0\u649e \u7269\u4f53 \u6839\u636e \u5176 \u6807\u7b7e \u8fdb\u884c \u5206\u7c7b \uff08 \u4e0e \u8bed\u4e49 \u5206\u5272 \u76f8\u540c \uff09 \u3002   \u6f0f\u6d1e   \u53c2\u89c1   # 13   \u5f53 \u8f66\u8f86 \u901f\u5ea6 \u8f83 \u4f4e\u65f6 \uff0c \u4e0d\u4f1a \u6807\u6ce8 \u78b0\u649e   \u5982\u679c \u8f66\u8f86 \u6ca1\u6709 \u79fb\u52a8 \uff08 < 1   \u516c\u91cc / \u5c0f\u65f6 \uff09 \uff0c \u5219 \u4e0d\u4f1a \u6ce8\u91ca \u78b0\u649e \uff0c \u4ee5 \u907f\u514d \u7531\u4e8e \u975e \u73a9\u5bb6 \u4ee3\u7406 \u7684   AI   \u9519\u8bef \u800c \u6ce8\u91ca \u4e0d\u5fc5 \u5fc5\u8981 \u4e0d\u5fc5\u8981 \u7684 \u78b0\u649e \u3002","title":"\u78b0\u649e"},{"location":"measurements/#_6","text":"\u8f66\u9053 \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u6d4b\u91cf \u8f66\u8f86 \u4fb5\u5165 \u5bf9\u9762 \u8f66\u9053 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002 \u8d8a\u91ce \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u6d4b\u91cf \u8f66\u8f86 \u5728 \u9053\u8def \u5916 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   \u8fd9\u4e9b \u503c \u662f \u901a\u8fc7 \u8f66\u8f86 \u8fb9\u754c \u6846 \uff08 \u4f5c\u4e3a   2D   \u77e9\u5f62 \uff09 \u4e0e \u57ce\u5e02 \u5e02\u5730 \u5730\u56fe \u57ce\u5e02\u5730\u56fe \u56fe\u50cf \u76f8\u4ea4 \u8ba1\u7b97 \u5f97\u51fa \u7684 \u3002 \u8fd9\u4e9b \u56fe\u50cf \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u751f\u6210 \u5e76 \u5e8f\u5217 \u5e8f\u5217\u5316 \u4ee5\u4f9b \u8fd0\u884c \u65f6 \u4f7f\u7528 \u3002 \u60a8 \u4e5f \u53ef\u4ee5 \u5728 \u53d1\u5e03 \u5305\u4e2d \u7684 \u201c RoadMaps \u201d \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u627e\u5230 \u5b83\u4eec \u3002","title":"\u8f66\u9053 / \u8d8a\u91ce \u8def\u53e3"},{"location":"measurements/#_7","text":"\u6d4b\u91cf   autopilot _ control   \u7ed3\u679c \u5305\u542b \u6e38\u620f \u5185 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u5728 \u63a7\u5236 \u8f66\u8f86 \u65f6\u6240 \u5e94\u7528 \u7684 \u63a7\u5236 \u503c \u3002   \u8fd9 \u4e0e \u5c06 \u8f66\u8f86 \u63a7\u5236 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u7ed3\u6784 \u76f8\u540c \u3002   \u952e   \u7c7b\u578b   \u63cf\u8ff0   steer   float   \u8f6c\u5411 \u89d2\u5ea6 \u5728   [ - 1.0 ,   1.0 ]   \u4e4b\u95f4   ( * )   throttle   float   \u6cb9\u95e8 \u8f93\u5165 \u4ecb\u4e8e   [   0.0 ,   1.0 ]   \u4e4b\u95f4   brake   float   \u5239\u8f66 \u8f93\u5165 \u4ecb\u4e8e   [   0.0 ,   1.0 ]   \u4e4b\u95f4   hand _ brake   bool   \u624b\u5239 \u662f\u5426 \u62c9\u7d27   reverse   bool   \u8f66\u8f86 \u662f\u5426 \u5904\u4e8e \u5012 \u6863   \u8981 \u4ece \u5ba2\u6237 \u5ba2\u6237\u7aef \u6fc0\u6d3b \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \uff0c \u8bf7 \u5c06   autopilot _ control   \u53d1\u9001 \u56de \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u8bf7 \u6ce8\u610f \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u5c06 \u5176 \u53d1\u9001 \u56de \u4e4b\u524d \u5bf9 \u5176 \u8fdb\u884c \u4fee\u6539 \u3002   measurements ,   sensor _ data   =   carla _ client . read _ data ( )   control   =   measurements . player _ measurements . autopilot _ control   #   modify   here   control   if   wanted .   carla _ client . send _ control ( control )   ( * )   \u5b9e\u9645 \u8f6c\u5411 \u89d2\u5ea6 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u6240\u7528 \u8f66\u8f86 \u3002 \u9ed8\u8ba4   Mustang   \u7684 \u6700\u5927 \u8f6c\u5411 \u89d2\u5ea6 \u4e3a   70   \u5ea6 \uff08 \u53ef \u5728 \u8f66\u8f86 \u524d\u8f6e \u84dd\u56fe \u4e2d \u67e5\u770b \uff09 \u3002","title":"\u81ea\u52a8 \u9a7e\u9a76\u4eea \u63a7\u5236"},{"location":"pcl_recorder/","text":"\u70b9\u4e91 \u5730\u56fe \u521b\u5efa   PCL \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u5305 \u5141\u8bb8 \u60a8 \u4ece   Carla   \u5730\u56fe \u521b\u5efa \u70b9\u4e91 \u5730\u56fe \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5b89\u88c5   pcl - tools   \u5e93 \uff1a   sudo   apt   install   pcl - tools   \u4f7f\u7528   PCL   \u8bb0\u5f55 \u8bb0\u5f55\u5668   PCL   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5305\u5c06 \u751f\u6210 \u4e00\u8f86 \u81ea\u6211 \u8f66\u8f86 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u952e\u76d8 \u6216   Carla   PythonAPI   \u4e2d \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u529f\u80fd \u8fdb\u884c \u63a7\u5236 \u3002   1 .   \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \uff0c \u5728 \u65b0 \u7ec8\u7aef \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u542f\u52a8   PCL   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5305 \uff1a   #   ROS   1   roslaunch   pcl _ recorder   pcl _ recorder . launch   #   ROS   2   ros2   launch   pcl _ recorder   pcl _ recorder . launch . py   2 .   \u6355\u83b7 \u9a71\u52a8 \u5b8c\u6210 \u540e \uff0c \u51cf\u5c0f \u70b9\u4e91 \u7684 \u6574\u4f53 \u5927\u5c0f \uff1a   #   \u521b\u5efa \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u4e91 \u6587\u4ef6   pcl _ concatenate _ points _ pcd   / tmp / pcl _ capture / * . pcd   #   Filter   duplicates   pcl _ voxel _ grid   - leaf   0.1 , 0.1 , 0.1   output . pcd   map . pcd   3 .   \u9a8c\u8bc1 \u7ed3\u679c \uff1a   pcl _ viewer   map . pcd","title":"\u70b9\u4e91 \u5730\u56fe \u521b\u5efa"},{"location":"pcl_recorder/#_1","text":"PCL \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u5305 \u5141\u8bb8 \u60a8 \u4ece   Carla   \u5730\u56fe \u521b\u5efa \u70b9\u4e91 \u5730\u56fe \u3002","title":"\u70b9\u4e91 \u5730\u56fe \u521b\u5efa"},{"location":"pcl_recorder/#_2","text":"\u5b89\u88c5   pcl - tools   \u5e93 \uff1a   sudo   apt   install   pcl - tools","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d"},{"location":"pcl_recorder/#pcl","text":"PCL   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5305\u5c06 \u751f\u6210 \u4e00\u8f86 \u81ea\u6211 \u8f66\u8f86 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u952e\u76d8 \u6216   Carla   PythonAPI   \u4e2d \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u529f\u80fd \u8fdb\u884c \u63a7\u5236 \u3002   1 .   \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \uff0c \u5728 \u65b0 \u7ec8\u7aef \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u542f\u52a8   PCL   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5305 \uff1a   #   ROS   1   roslaunch   pcl _ recorder   pcl _ recorder . launch   #   ROS   2   ros2   launch   pcl _ recorder   pcl _ recorder . launch . py   2 .   \u6355\u83b7 \u9a71\u52a8 \u5b8c\u6210 \u540e \uff0c \u51cf\u5c0f \u70b9\u4e91 \u7684 \u6574\u4f53 \u5927\u5c0f \uff1a   #   \u521b\u5efa \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u4e91 \u6587\u4ef6   pcl _ concatenate _ points _ pcd   / tmp / pcl _ capture / * . pcd   #   Filter   duplicates   pcl _ voxel _ grid   - leaf   0.1 , 0.1 , 0.1   output . pcd   map . pcd   3 .   \u9a8c\u8bc1 \u7ed3\u679c \uff1a   pcl _ viewer   map . pcd","title":"\u4f7f\u7528   PCL   \u8bb0\u5f55\u5668"},{"location":"plugins_carlaviz/","text":"carlaviz   carlaviz   \u63d2\u4ef6 \u7528\u4e8e \u5728 \u7f51\u7edc \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u53ef\u89c6 \u53ef\u89c6\u5316 \u4eff\u771f \u3002 \u521b\u5efa \u4e86 \u4e00\u4e2a \u5177\u6709 \u573a\u666f \u7684 \u4e00\u4e9b \u57fa\u672c \u8868\u793a \u7684 \u7a97\u53e3 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u5373\u65f6 \u66f4\u65b0 \uff0c \u53ef\u4ee5 \u68c0\u7d22 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \uff0c \u8fd8 \u53ef\u4ee5 \u5728 \u573a\u666f \u4e2d \u7ed8\u5236 \u9644\u52a0 \u6587\u672c \u3001 \u7ebf\u6761 \u548c \u6298\u7ebf \u3002   \u4e00\u822c \u4fe1\u606f   \u652f\u6301   \u83b7\u53d6   carlaviz   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u4e0b\u8f7d \u63d2\u4ef6   \u8fd0\u884c   \u5de5\u5177   \u4e00\u822c \u4fe1\u606f   \u8d21\u732e \u8d21\u732e\u8005   \u2014   Minjun   Xu ,   \u4e5f \u88ab \u79f0\u4e3a   wx9698   .   \u8bb8\u53ef \u8bb8\u53ef\u8bc1   \u2014   MIT   .   \u652f\u6301   Linux   \u2014   Carla   0.9 . 6 ,   0.9 . 7 ,   0.9 . 8 ,   0.9 . 9 ,   0.9 . 10 .   Windows   \u2014   Carla   0.9 . 9 ,   0.9 . 10 .   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   \u2014   \u6700\u65b0 \u66f4\u65b0 \u6700\u65b0\u66f4\u65b0 \u3002   \u83b7\u53d6   carlaviz   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   Docker   \u2014   \u8bbf\u95ee \u6587\u6863 \u5e76   \u5b89\u88c5   Docker   .   \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf   \u2014   \u4efb\u4f55 \u80fd\u591f \u8fd0\u884c   Carla   \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u90fd \u5e94\u8be5 \u53ef\u4ee5 \u5de5\u4f5c \u3002   Websocket - client   \u2014   pip3   install   websocket _ client   \u3002 \u5982\u679c \u7cfb\u7edf \u4e2d \u5c1a\u672a \u5b89\u88c5   pip   \u3002   \u4e0b\u8f7d \u63d2\u4ef6   \u6253\u5f00 \u7ec8\u7aef \u5e76 \u6839\u636e \u8981 \u8fd0\u884c \u7684   Carla   \u7248\u672c \u62c9\u53d6   carlaviz   \u7684   Docker   \u6620\u50cf \u3002   #   \u4ec5\u62c9\u53d6 \u548c \u6240 \u4f7f\u7528 \u7684 Carla \u5305 \u5339\u914d \u7684 \u955c\u50cf \u3002   docker   pull   mjxu96 / carlaviz : 0.9 . 6   docker   pull   mjxu96 / carlaviz : 0.9 . 7   docker   pull   mjxu96 / carlaviz : 0.9 . 8   docker   pull   mjxu96 / carlaviz : 0.9 . 9   docker   pull   mjxu96 / carlaviz : 0.9 . 10   #   \u5982\u679c \u5de5\u4f5c \u5728 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e0a \uff0c \u5219 \u62c9\u53d6 \u8be5 \u955c\u50cf   docker   pull   mjxu96 / carlaviz : latest   \u91cd\u8981   \u76ee\u524d \u5728   Windows   \u4e2d\u4ec5 \u652f\u6301   0.9 . 9   \u548c   0.9 . 10 \u3002   Carla   \u81f3   0.9 . 9 \uff08 \u5305\u542b \uff09 \u8bbe\u7f6e \u4e3a \u5355\u6d41 \u3002 \u5bf9\u4e8e \u66f4\u9ad8 \u7248\u672c \uff0c \u5b9e\u73b0 \u4e86 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u591a\u6d41 \u3002   \u5728 \u5355\u6d41 \u4e2d   ,   \u4e00\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ea\u80fd \u88ab \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u542c\u5230 \u3002 \u5f53 \u53e6 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u5df2\u7ecf \u542c\u5230 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65f6 \uff0c \u4f8b\u5982 \u5728 \u8fd0\u884c   manual _ control . py   \u65f6 \uff0c carlaviz   \u88ab\u8feb \u590d\u5236 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ee5 \u68c0\u7d22 \u6570\u636e \uff0c \u5e76\u4e14 \u6027\u80fd \u53ef\u80fd \u4f1a \u53d7\u5230 \u5f71\u54cd \u3002   \u5728 \u591a\u6d41 \u4e2d   \uff0c \u591a\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u542c\u5230 \u4e00\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 carlaviz   \u4e0d \u9700\u8981 \u91cd\u590d \u8fd9\u4e9b \uff0c \u5e76\u4e14 \u6027\u80fd \u4e0d\u4f1a \u53d7\u5230 \u5f71\u54cd \u3002   \u7b14\u8bb0   \u6216\u8005 \uff0c \u5728   Linux   \u4e0a \uff0c \u7528\u6237 \u53ef\u4ee5 \u6309\u7167   \u6b64\u5904   \u7684 \u8bf4\u660e \u6784\u5efa   carlaviz   \uff0c \u4f46 \u4f7f\u7528   Docker   \u6620\u50cf \u5c06 \u4f7f \u4e8b\u60c5 \u53d8\u5f97 \u66f4\u52a0 \u5bb9\u6613 \u3002   \u8fd0\u884c   carlaviz   1 .   \u8fd0\u884c   Carla \u3002   a )   \u5728   Carla   \u5305\u4e2d   \u2014   \u8f6c \u81f3   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u4f7f\u7528   CarlaUE4 . exe   ( Windows )   \u6216   . / CarlaUE4 . sh   ( Linux )   \u542f\u52a8 \u4eff\u771f \u3002   b )   \u5728 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684 \u5305\u4e2d   \u2014   \u8f6c \u5230   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u4f7f\u7528   make   launch   \u8fd0\u884c \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u5e76 \u6309   Play   \u3002   2 .   \u8fd0\u884c   carlaviz .   \u6839\u636e \u5df2 \u4e0b\u8f7d \u7684   Docker   \u955c\u50cf \uff0c \u5728 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u3002   \u66f4\u6539 \u5148\u524d \u4e0b\u8f7d \u7684 \u955c\u50cf \u7684 \u540d\u79f0   < name _ of _ Docker _ image >   \uff0c \u4f8b\u5982   mjxu96 / carlaviz : latest   \u6216   mjxu96 / carlaviz : 0.9 . 10   \u3002   #   \u5728   Linux   \u7cfb\u7edf   docker   run   - it   -- network = \" host \"   - e   CARLAVIZ _ HOST _ IP = localhost   - e   CARLA _ SERVER _ IP = localhost   - e   CARLA _ SERVER _ PORT = 2000   < name _ of _ Docker _ image >   #   \u5728   Windows / MacOS   \u7cfb\u7edf   docker   run   - it   - e   CARLAVIZ _ HOST _ IP = localhost   - e   CARLA _ SERVER _ IP = host . docker . internal   - e   CARLA _ SERVER _ PORT = 2000   - p   8080 - 8081 : 8080 - 8081   - p   8089 : 8089   < name _ of _ Docker _ image >   \u5982\u679c \u4e00\u5207 \u90fd \u5df2 \u6b63\u786e \u8bbe\u7f6e \uff0c carlaviz   \u5c06 \u663e\u793a \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u7684 \u6210\u529f \u6d88\u606f \u3002   \u8b66\u544a   \u8bf7 \u8bb0\u4f4f \u7f16\u8f91 \u524d\u9762 \u7684 \u547d\u4ee4 \u4ee5 \u5339\u914d \u6b63\u5728 \u4f7f\u7528 \u7684   Docker   \u6620\u50cf \u3002   3 .   \u4ece \u672c\u5730 \u6253\u5f00   \u6253\u5f00   Web   \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5e76 \u8f6c\u5230   http : / / 127.0 . 0.1 : 8080 /   \u3002 carlaviz   \u9ed8\u8ba4 \u5728   8080   \u7aef\u53e3 \u8fd0\u884c \u3002 \u8f93\u51fa \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u3002   \u5de5\u5177   \u4e00\u65e6 \u63d2\u4ef6 \u8fd0\u884c \uff0c \u5b83 \u5c31 \u53ef\u4ee5 \u7528\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 \u4eff\u771f \u3001 \u5176\u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ee5\u53ca \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u7d22 \u7684 \u6570\u636e \u3002 \u8be5 \u63d2\u4ef6 \u5728 \u53f3\u4fa7 \u663e\u793a \u4e00\u4e2a \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \uff0c \u573a\u666f \u5b9e\u65f6 \u66f4\u65b0 \uff0c \u5de6\u4fa7 \u663e\u793a \u4e00\u4e2a \u4fa7\u8fb9 \u680f \uff0c \u5176\u4e2d \u5305\u542b \u8981 \u663e\u793a \u7684 \u9879\u76ee \u5217\u8868 \u3002 \u5176\u4e2d \u4e00\u4e9b \u9879\u76ee \u5c06 \u51fa\u73b0 \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \uff0c \u5176\u4ed6 \u9879\u76ee \uff08 \u4e3b\u8981 \u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u6e38\u620f \u6570\u636e \uff09 \u51fa\u73b0 \u5728 \u9879\u76ee \u5217\u8868 \u4e0a\u65b9 \u3002   \u4ee5\u4e0b \u662f \u53ef \u7528\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 \u7684 \u9009\u9879 \u5217\u8868 \u3002 \u53ef\u80fd \u4f1a \u663e\u793a \u5176\u4ed6 \u5143\u7d20 \uff0c \u4f8b\u5982   View   Mode   \u2014   \u66f4\u6539 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u7684 \u89c6\u89d2 \u3002   Top   Down   \u2014   \u7a7a\u4e2d \u89c6\u89d2 \u3002   Perspective   \u2014   \u81ea\u7531 \u7684 \u89c6\u89d2 \u3002   Driver   \u2014   \u7b2c\u4e00 \u4eba\u79f0 \u7b2c\u4e00\u4eba\u79f0 \u89c6\u89d2 \u3002   / vehicle   \u2014   \u663e\u793a \u81ea\u6211 \u8f66\u8f86 \u7684 \u5c5e\u6027 \u3002 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u5305\u62ec \u901f\u5ea6 \u901f\u5ea6\u8ba1 \u548c \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \uff0c \u4ee5\u53ca   IMU \u3001 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u7d22 \u7684 \u6570\u636e \u3002   / velocity   \u2014   \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u3002   / acceleration   \u2014   \u81ea\u6211 \u8f66\u8f86 \u7684 \u52a0\u901f \u3002   / drawing   \u2014   \u5728 \u4f7f\u7528   CarlaPainter   \u7ed8\u5236 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u663e\u793a \u5176\u4ed6 \u5143\u7d20 \u3002   / texts   \u2014   \u6587\u672c \u5143\u7d20 \u3002   / points   \u2014   \u70b9 \u5143\u7d20 \u3002   / polylines   \u2014   \u6298\u7ebf \u5143\u7d20 \u3002   / objects   \u2014   \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u663e\u793a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   / walkers   \u2014   \u66f4\u65b0 \u884c\u4eba \u3002   / vehicles   \u2014   \u66f4\u65b0 \u8f66\u8f86 \u3002   / game   \u2014   \u663e\u793a \u6e38\u620f \u6570\u636e \u3002   / time   \u2014   \u5f53\u524d \u4eff\u771f \u65f6\u95f4 \u548c \u5e27 \u3002   / lidar   \u2014   LIDAR   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   / points   \u2014   LIDAR   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u6d4b \u5230 \u7684 \u70b9\u4e91 \u3002   / radar   \u2014   LIDAR   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   / points   \u2014   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u6d4b \u5230 \u7684 \u70b9\u4e91 \u3002   / traffic   \u2014   \u5730\u6807 \u6570\u636e \u3002   / traffic _ light   \u2014   \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u663e\u793a \u5730\u56fe \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   / stop _ sign   \u2014   \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u663e\u793a \u5730\u56fe \u7684 \u505c\u8f66 \u6807\u5fd7 \u3002   \u5c1d\u8bd5 \u751f\u6210 \u4e00\u4e9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u8fd9\u4e9b \u5c06 \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u81ea\u52a8 \u66f4\u65b0 \u81ea\u52a8\u66f4\u65b0 \u3002   cd   PythonAPI / examples   #   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4eff\u771f \u4e0b \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005   python3   generate _ traffic . py   - n   10   - w   5   \u751f\u6210 \u4e00\u4e2a \u624b\u52a8 \u63a7\u5236 \u7684 \u81ea\u6211 \u8f66\u8f86 \u5e76 \u56db\u5904 \u79fb\u52a8 \uff0c \u4ee5 \u67e5\u770b \u63d2\u4ef6 \u5982\u4f55 \u66f4\u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   cd   PythonAPI / examples   python3   manual _ control . py   \u8d21\u732e \u8d21\u732e\u8005   (   wx9698   )   \u521b\u5efa \u4e86 \u4e00\u4e2a \u9644\u52a0 \u7c7b   CarlaPainter   \uff0c \u5b83 \u5141\u8bb8 \u7528\u6237 \u7ed8\u5236 \u8981 \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u663e\u793a \u7684 \u5143\u7d20 \u3002 \u5176\u4e2d \u5305\u62ec \u6587\u672c \u3001 \u70b9 \u548c \u6298\u7ebf \u3002 \u6309\u7167   \u6b64 \u793a\u4f8b   \u751f\u6210 \u5e26\u6709   LIDAR   \u7684 \u81ea\u6211 \u8f66\u8f86 \uff0c \u5e76 \u7ed8\u5236   LIDAR   \u6570\u636e \u3001 \u8f66\u8f86 \u7684 \u8f68\u8ff9 \u548c \u901f\u5ea6 \u3002   \u8fd9 \u5c31\u662f \u5173\u4e8e   carlaviz   \u63d2\u4ef6 \u7684 \u5168\u90e8 \u4fe1\u606f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"carlaviz"},{"location":"plugins_carlaviz/#carlaviz","text":"carlaviz   \u63d2\u4ef6 \u7528\u4e8e \u5728 \u7f51\u7edc \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u53ef\u89c6 \u53ef\u89c6\u5316 \u4eff\u771f \u3002 \u521b\u5efa \u4e86 \u4e00\u4e2a \u5177\u6709 \u573a\u666f \u7684 \u4e00\u4e9b \u57fa\u672c \u8868\u793a \u7684 \u7a97\u53e3 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u5373\u65f6 \u66f4\u65b0 \uff0c \u53ef\u4ee5 \u68c0\u7d22 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \uff0c \u8fd8 \u53ef\u4ee5 \u5728 \u573a\u666f \u4e2d \u7ed8\u5236 \u9644\u52a0 \u6587\u672c \u3001 \u7ebf\u6761 \u548c \u6298\u7ebf \u3002   \u4e00\u822c \u4fe1\u606f   \u652f\u6301   \u83b7\u53d6   carlaviz   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u4e0b\u8f7d \u63d2\u4ef6   \u8fd0\u884c   \u5de5\u5177","title":"carlaviz"},{"location":"plugins_carlaviz/#_1","text":"\u8d21\u732e \u8d21\u732e\u8005   \u2014   Minjun   Xu ,   \u4e5f \u88ab \u79f0\u4e3a   wx9698   .   \u8bb8\u53ef \u8bb8\u53ef\u8bc1   \u2014   MIT   .","title":"\u4e00\u822c \u4fe1\u606f  "},{"location":"plugins_carlaviz/#_2","text":"Linux   \u2014   Carla   0.9 . 6 ,   0.9 . 7 ,   0.9 . 8 ,   0.9 . 9 ,   0.9 . 10 .   Windows   \u2014   Carla   0.9 . 9 ,   0.9 . 10 .   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   \u2014   \u6700\u65b0 \u66f4\u65b0 \u6700\u65b0\u66f4\u65b0 \u3002","title":"\u652f\u6301  "},{"location":"plugins_carlaviz/#carlaviz_1","text":"","title":"\u83b7\u53d6   carlaviz  "},{"location":"plugins_carlaviz/#_3","text":"Docker   \u2014   \u8bbf\u95ee \u6587\u6863 \u5e76   \u5b89\u88c5   Docker   .   \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf   \u2014   \u4efb\u4f55 \u80fd\u591f \u8fd0\u884c   Carla   \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u90fd \u5e94\u8be5 \u53ef\u4ee5 \u5de5\u4f5c \u3002   Websocket - client   \u2014   pip3   install   websocket _ client   \u3002 \u5982\u679c \u7cfb\u7edf \u4e2d \u5c1a\u672a \u5b89\u88c5   pip   \u3002","title":"\u5148\u51b3\u6761\u4ef6  "},{"location":"plugins_carlaviz/#_4","text":"\u6253\u5f00 \u7ec8\u7aef \u5e76 \u6839\u636e \u8981 \u8fd0\u884c \u7684   Carla   \u7248\u672c \u62c9\u53d6   carlaviz   \u7684   Docker   \u6620\u50cf \u3002   #   \u4ec5\u62c9\u53d6 \u548c \u6240 \u4f7f\u7528 \u7684 Carla \u5305 \u5339\u914d \u7684 \u955c\u50cf \u3002   docker   pull   mjxu96 / carlaviz : 0.9 . 6   docker   pull   mjxu96 / carlaviz : 0.9 . 7   docker   pull   mjxu96 / carlaviz : 0.9 . 8   docker   pull   mjxu96 / carlaviz : 0.9 . 9   docker   pull   mjxu96 / carlaviz : 0.9 . 10   #   \u5982\u679c \u5de5\u4f5c \u5728 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e0a \uff0c \u5219 \u62c9\u53d6 \u8be5 \u955c\u50cf   docker   pull   mjxu96 / carlaviz : latest   \u91cd\u8981   \u76ee\u524d \u5728   Windows   \u4e2d\u4ec5 \u652f\u6301   0.9 . 9   \u548c   0.9 . 10 \u3002   Carla   \u81f3   0.9 . 9 \uff08 \u5305\u542b \uff09 \u8bbe\u7f6e \u4e3a \u5355\u6d41 \u3002 \u5bf9\u4e8e \u66f4\u9ad8 \u7248\u672c \uff0c \u5b9e\u73b0 \u4e86 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u591a\u6d41 \u3002   \u5728 \u5355\u6d41 \u4e2d   ,   \u4e00\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ea\u80fd \u88ab \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u542c\u5230 \u3002 \u5f53 \u53e6 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u5df2\u7ecf \u542c\u5230 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65f6 \uff0c \u4f8b\u5982 \u5728 \u8fd0\u884c   manual _ control . py   \u65f6 \uff0c carlaviz   \u88ab\u8feb \u590d\u5236 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ee5 \u68c0\u7d22 \u6570\u636e \uff0c \u5e76\u4e14 \u6027\u80fd \u53ef\u80fd \u4f1a \u53d7\u5230 \u5f71\u54cd \u3002   \u5728 \u591a\u6d41 \u4e2d   \uff0c \u591a\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u542c\u5230 \u4e00\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 carlaviz   \u4e0d \u9700\u8981 \u91cd\u590d \u8fd9\u4e9b \uff0c \u5e76\u4e14 \u6027\u80fd \u4e0d\u4f1a \u53d7\u5230 \u5f71\u54cd \u3002   \u7b14\u8bb0   \u6216\u8005 \uff0c \u5728   Linux   \u4e0a \uff0c \u7528\u6237 \u53ef\u4ee5 \u6309\u7167   \u6b64\u5904   \u7684 \u8bf4\u660e \u6784\u5efa   carlaviz   \uff0c \u4f46 \u4f7f\u7528   Docker   \u6620\u50cf \u5c06 \u4f7f \u4e8b\u60c5 \u53d8\u5f97 \u66f4\u52a0 \u5bb9\u6613 \u3002","title":"\u4e0b\u8f7d \u63d2\u4ef6  "},{"location":"plugins_carlaviz/#carlaviz_2","text":"1 .   \u8fd0\u884c   Carla \u3002   a )   \u5728   Carla   \u5305\u4e2d   \u2014   \u8f6c \u81f3   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u4f7f\u7528   CarlaUE4 . exe   ( Windows )   \u6216   . / CarlaUE4 . sh   ( Linux )   \u542f\u52a8 \u4eff\u771f \u3002   b )   \u5728 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684 \u5305\u4e2d   \u2014   \u8f6c \u5230   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u4f7f\u7528   make   launch   \u8fd0\u884c \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u5e76 \u6309   Play   \u3002   2 .   \u8fd0\u884c   carlaviz .   \u6839\u636e \u5df2 \u4e0b\u8f7d \u7684   Docker   \u955c\u50cf \uff0c \u5728 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u3002   \u66f4\u6539 \u5148\u524d \u4e0b\u8f7d \u7684 \u955c\u50cf \u7684 \u540d\u79f0   < name _ of _ Docker _ image >   \uff0c \u4f8b\u5982   mjxu96 / carlaviz : latest   \u6216   mjxu96 / carlaviz : 0.9 . 10   \u3002   #   \u5728   Linux   \u7cfb\u7edf   docker   run   - it   -- network = \" host \"   - e   CARLAVIZ _ HOST _ IP = localhost   - e   CARLA _ SERVER _ IP = localhost   - e   CARLA _ SERVER _ PORT = 2000   < name _ of _ Docker _ image >   #   \u5728   Windows / MacOS   \u7cfb\u7edf   docker   run   - it   - e   CARLAVIZ _ HOST _ IP = localhost   - e   CARLA _ SERVER _ IP = host . docker . internal   - e   CARLA _ SERVER _ PORT = 2000   - p   8080 - 8081 : 8080 - 8081   - p   8089 : 8089   < name _ of _ Docker _ image >   \u5982\u679c \u4e00\u5207 \u90fd \u5df2 \u6b63\u786e \u8bbe\u7f6e \uff0c carlaviz   \u5c06 \u663e\u793a \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u7684 \u6210\u529f \u6d88\u606f \u3002   \u8b66\u544a   \u8bf7 \u8bb0\u4f4f \u7f16\u8f91 \u524d\u9762 \u7684 \u547d\u4ee4 \u4ee5 \u5339\u914d \u6b63\u5728 \u4f7f\u7528 \u7684   Docker   \u6620\u50cf \u3002   3 .   \u4ece \u672c\u5730 \u6253\u5f00   \u6253\u5f00   Web   \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5e76 \u8f6c\u5230   http : / / 127.0 . 0.1 : 8080 /   \u3002 carlaviz   \u9ed8\u8ba4 \u5728   8080   \u7aef\u53e3 \u8fd0\u884c \u3002 \u8f93\u51fa \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u3002","title":"\u8fd0\u884c   carlaviz  "},{"location":"plugins_carlaviz/#_5","text":"\u4e00\u65e6 \u63d2\u4ef6 \u8fd0\u884c \uff0c \u5b83 \u5c31 \u53ef\u4ee5 \u7528\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 \u4eff\u771f \u3001 \u5176\u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ee5\u53ca \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u7d22 \u7684 \u6570\u636e \u3002 \u8be5 \u63d2\u4ef6 \u5728 \u53f3\u4fa7 \u663e\u793a \u4e00\u4e2a \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \uff0c \u573a\u666f \u5b9e\u65f6 \u66f4\u65b0 \uff0c \u5de6\u4fa7 \u663e\u793a \u4e00\u4e2a \u4fa7\u8fb9 \u680f \uff0c \u5176\u4e2d \u5305\u542b \u8981 \u663e\u793a \u7684 \u9879\u76ee \u5217\u8868 \u3002 \u5176\u4e2d \u4e00\u4e9b \u9879\u76ee \u5c06 \u51fa\u73b0 \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \uff0c \u5176\u4ed6 \u9879\u76ee \uff08 \u4e3b\u8981 \u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u6e38\u620f \u6570\u636e \uff09 \u51fa\u73b0 \u5728 \u9879\u76ee \u5217\u8868 \u4e0a\u65b9 \u3002   \u4ee5\u4e0b \u662f \u53ef \u7528\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 \u7684 \u9009\u9879 \u5217\u8868 \u3002 \u53ef\u80fd \u4f1a \u663e\u793a \u5176\u4ed6 \u5143\u7d20 \uff0c \u4f8b\u5982   View   Mode   \u2014   \u66f4\u6539 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u7684 \u89c6\u89d2 \u3002   Top   Down   \u2014   \u7a7a\u4e2d \u89c6\u89d2 \u3002   Perspective   \u2014   \u81ea\u7531 \u7684 \u89c6\u89d2 \u3002   Driver   \u2014   \u7b2c\u4e00 \u4eba\u79f0 \u7b2c\u4e00\u4eba\u79f0 \u89c6\u89d2 \u3002   / vehicle   \u2014   \u663e\u793a \u81ea\u6211 \u8f66\u8f86 \u7684 \u5c5e\u6027 \u3002 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u5305\u62ec \u901f\u5ea6 \u901f\u5ea6\u8ba1 \u548c \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \uff0c \u4ee5\u53ca   IMU \u3001 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u7d22 \u7684 \u6570\u636e \u3002   / velocity   \u2014   \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u3002   / acceleration   \u2014   \u81ea\u6211 \u8f66\u8f86 \u7684 \u52a0\u901f \u3002   / drawing   \u2014   \u5728 \u4f7f\u7528   CarlaPainter   \u7ed8\u5236 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u663e\u793a \u5176\u4ed6 \u5143\u7d20 \u3002   / texts   \u2014   \u6587\u672c \u5143\u7d20 \u3002   / points   \u2014   \u70b9 \u5143\u7d20 \u3002   / polylines   \u2014   \u6298\u7ebf \u5143\u7d20 \u3002   / objects   \u2014   \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u663e\u793a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   / walkers   \u2014   \u66f4\u65b0 \u884c\u4eba \u3002   / vehicles   \u2014   \u66f4\u65b0 \u8f66\u8f86 \u3002   / game   \u2014   \u663e\u793a \u6e38\u620f \u6570\u636e \u3002   / time   \u2014   \u5f53\u524d \u4eff\u771f \u65f6\u95f4 \u548c \u5e27 \u3002   / lidar   \u2014   LIDAR   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   / points   \u2014   LIDAR   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u6d4b \u5230 \u7684 \u70b9\u4e91 \u3002   / radar   \u2014   LIDAR   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   / points   \u2014   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u6d4b \u5230 \u7684 \u70b9\u4e91 \u3002   / traffic   \u2014   \u5730\u6807 \u6570\u636e \u3002   / traffic _ light   \u2014   \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u663e\u793a \u5730\u56fe \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   / stop _ sign   \u2014   \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u663e\u793a \u5730\u56fe \u7684 \u505c\u8f66 \u6807\u5fd7 \u3002   \u5c1d\u8bd5 \u751f\u6210 \u4e00\u4e9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u8fd9\u4e9b \u5c06 \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u81ea\u52a8 \u66f4\u65b0 \u81ea\u52a8\u66f4\u65b0 \u3002   cd   PythonAPI / examples   #   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4eff\u771f \u4e0b \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005   python3   generate _ traffic . py   - n   10   - w   5   \u751f\u6210 \u4e00\u4e2a \u624b\u52a8 \u63a7\u5236 \u7684 \u81ea\u6211 \u8f66\u8f86 \u5e76 \u56db\u5904 \u79fb\u52a8 \uff0c \u4ee5 \u67e5\u770b \u63d2\u4ef6 \u5982\u4f55 \u66f4\u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   cd   PythonAPI / examples   python3   manual _ control . py   \u8d21\u732e \u8d21\u732e\u8005   (   wx9698   )   \u521b\u5efa \u4e86 \u4e00\u4e2a \u9644\u52a0 \u7c7b   CarlaPainter   \uff0c \u5b83 \u5141\u8bb8 \u7528\u6237 \u7ed8\u5236 \u8981 \u5728 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7a97\u53e3 \u4e2d \u663e\u793a \u7684 \u5143\u7d20 \u3002 \u5176\u4e2d \u5305\u62ec \u6587\u672c \u3001 \u70b9 \u548c \u6298\u7ebf \u3002 \u6309\u7167   \u6b64 \u793a\u4f8b   \u751f\u6210 \u5e26\u6709   LIDAR   \u7684 \u81ea\u6211 \u8f66\u8f86 \uff0c \u5e76 \u7ed8\u5236   LIDAR   \u6570\u636e \u3001 \u8f66\u8f86 \u7684 \u8f68\u8ff9 \u548c \u901f\u5ea6 \u3002   \u8fd9 \u5c31\u662f \u5173\u4e8e   carlaviz   \u63d2\u4ef6 \u7684 \u5168\u90e8 \u4fe1\u606f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"\u5de5\u5177  "},{"location":"python_api/","text":"Python   API   \u53c2\u8003   \u6b64 \u53c2\u8003 \u5305\u542b   Python   API   \u7684 \u6240\u6709 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002 \u8981 \u67e5\u9605 \u7279\u5b9a   Carla   \u7248\u672c \u7684 \u5148\u524d \u53c2\u8003 \uff0c \u8bf7 \u4f7f\u7528 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u7684 \u9762\u677f \u66f4\u6539 \u6587\u6863 \u7248\u672c \u3002   \u8fd9\u4f1a \u5c06 \u6574\u4e2a \u6587\u6863 \u66f4 \u6539\u4e3a \u4e4b\u524d \u7684 \u72b6\u6001 \u3002 \u8bf7 \u8bb0\u4f4f \uff0c   \u6700\u65b0   \u7248\u672c \u662f   dev   \u5206\u652f \uff0c \u53ef\u80fd \u4f1a \u663e\u793a \u4efb\u4f55   Carla   \u6253\u5305 \u7248\u672c \u4e2d \u4e0d\u53ef \u7528 \u7684 \u529f\u80fd \u3002   carla . AckermannControllerSettings   \u7ba1\u7406   Ackermann   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u8bbe\u7f6e \u3002   \u5b9e\u4f8b \u53d8\u91cf   speed _ kp   (   float   )   \u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u6bd4\u4f8b \u9879 \u3002   speed _ ki   (   float   )   \u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u79ef\u5206 \u9879 \u3002   speed _ kd   (   float   )   \u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5fae\u5206 \u9879 \u3002   accel _ kp   (   float   )   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u6bd4\u4f8b \u9879 \u3002   accel _ ki   (   float   )   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u79ef\u5206 \u9879 \u3002   accel _ kd   (   float   )   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5fae\u5206 \u9879 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   speed _ kp   = 0.15   ,   speed _ ki   = 0.0   ,   speed _ kd   = 0.25   ,   accel _ kp   = 0.01   ,   accel _ ki   = 0.0   ,   accel _ kd   = 0.01   )   Parameters :   speed _ kp   (   float   )   speed _ ki   (   float   )   speed _ kd   (   float   )   accel _ kp   (   float   )   accel _ ki   (   float   )   accel _ kd   (   float   )   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . AckermannControllerSettings   )   __ ne __   (   self   ,   other   =   carla . AckermannControllerSettings   )   __ str __   (   self   )   carla . Actor   Carla   \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5b9a\u4e49 \u4e3a \u5728 \u4eff\u771f \u4e2d \u53d1\u6325 \u4f5c\u7528 \u53d1\u6325\u4f5c\u7528 \u6216 \u53ef\u4ee5 \u79fb\u52a8 \u7684 \u4efb\u4f55 \u7269\u4f53 \u3002 \u5176\u4e2d \u5305\u62ec \uff1a \u884c\u4eba \u3001 \u8f66\u8f86 \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \uff08 \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u89c6\u4e3a \u5176\u4e2d \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff09 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u4eff\u771f \u4e2d \u7531   carla . World   \u751f\u6210 \uff0c \u5e76\u4e14 \u9700\u8981 \u521b\u5efa   carla . ActorBlueprint   \u3002 \u8fd9\u4e9b \u84dd\u56fe \u5c5e\u4e8e   Carla   \u63d0\u4f9b \u7684 \u5e93 \uff0c \u8bf7 \u5728   \u6b64\u5904   \u627e\u5230 \u6709\u5173 \u5b83\u4eec \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   attributes   (   dict   )   \u5305\u542b \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240 \u57fa\u4e8e \u84dd\u56fe \u5c5e\u6027 \u7684 \u5b57\u5178 \u3002   id   (   int   )   \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002 \u5728 \u7ed9\u5b9a \u7684 \u60c5\u8282 \u4e2d\u662f \u552f\u4e00 \u7684 \u3002   type _ id   (   str   )   \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240 \u57fa\u4e8e \u7684 \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \uff0c \u4f8b\u5982   vehicle . ford . mustang   \u3002   is _ alive   (   bool   )   \u8fd4\u56de \u6b64 \u5bf9\u8c61 \u662f\u5426 \u662f\u5426\u662f \u4f7f\u7528 \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53e5\u67c4 \u9500\u6bc1 \u7684 \u3002   is _ active   (   bool   )   \u8fd4\u56de \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001   ( True )   \u6216\u975e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001   ( False ) \u3002   is _ dormant   (   bool   )   \u8fd4\u56de \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001   ( True )   \u6216\u975e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001   ( False )   -   \u4e0e   is _ active   \u76f8\u53cd \u3002   parent   (   carla . Actor   )   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u9644\u52a0 \u5230 \u4ed6\u4eec \u5c06 \u8ddf\u968f \u7684 \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8fd9 \u5c31\u662f \u6240\u8bf4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   semantic _ tags   (   list ( int )   )   \u84dd\u56fe \u5217\u8868 \u7ec4\u4ef6 \u4e3a\u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63d0\u4f9b \u7684 \u8bed\u4e49 \u6807\u7b7e \u5217\u8868 \u3002 \u4f8b\u5982 \uff0c \u4ea4\u901a \u4ea4\u901a\u706f \u53ef\u4ee5 \u7528   Pole   \u548c   TrafficLight   \u3002 \u8fd9\u4e9b \u6807\u7b7e \u7531 \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f7f\u7528 \u3002 \u5728   \u6b64\u5904   \u67e5\u627e \u6709\u5173 \u6b64 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   actor _ state   (   carla . ActorState   )   \u8fd4\u56de   carla . ActorState   \uff0c \u5b83 \u53ef\u4ee5 \u8bc6\u522b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u5904\u4e8e \u6d3b\u52a8 \u3001 \u4f11\u7720 \u6216 \u65e0\u6548 \u72b6\u6001 \u3002   bounding _ box   (   carla . BoundingBox   )   \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u51e0\u4f55 \u5f62\u72b6 \u7684 \u8fb9\u754c \u6846 \u3002 \u5b83 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u662f \u76f8\u5bf9 \u4e8e \u5b83 \u6240 \u9644\u7740 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u3002   \u65b9\u6cd5   add _ angular _ impulse   (   self   ,   angular _ impulse   )   \u5728 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d28\u5fc3 \u5904 \u5e94\u7528 \u89d2 \u51b2\u91cf \u3002 \u6b64 \u65b9\u6cd5 \u9002\u7528 \u4e8e \u77ac\u65f6 \u626d\u77e9 \uff0c \u901a\u5e38 \u5e94\u7528 \u4e00\u6b21 \u3002 \u4f7f\u7528   add _ torque ( )   \u5728 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u5185 \u65bd\u52a0 \u65cb\u8f6c \u529b \u3002   \u53c2\u6570 :   angular _ impulse   (   carla . Vector3D   -   degrees * s   )   -   \u5168\u5c40 \u5750\u6807 \u4e2d \u7684 \u89d2 \u51b2\u91cf \u77e2\u91cf \u3002   add _ force   (   self   ,   force   )   \u5728 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d28\u5fc3 \u5904 \u65bd\u52a0 \u529b \u3002 \u6b64 \u65b9\u6cd5 \u9002\u7528 \u4e8e \u5728 \u4e00\u5b9a \u65f6\u95f4 \u5185 \u65bd\u52a0 \u7684 \u529b \u3002 \u4f7f\u7528   add _ impulse ( )   \u65bd\u52a0 \u4ec5 \u6301\u7eed \u77ac\u95f4 \u7684 \u51b2\u91cf \u3002   \u53c2\u6570 :   force   (   carla . Vector3D   -   N   )   -   \u5168\u5c40 \u5750\u6807 \u4e2d \u7684 \u529b \u77e2\u91cf \u3002   add _ impulse   (   self   ,   impulse   )   \u5728 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d28\u5fc3 \u5904 \u65bd\u52a0 \u51b2\u91cf \u3002 \u6b64 \u65b9\u6cd5 \u9002\u7528 \u4e8e \u77ac\u65f6 \u529b \uff0c \u901a\u5e38 \u5e94\u7528 \u4e00\u6b21 \u3002 \u4f7f\u7528   add _ force ( )   \u5728 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u5185 \u65bd\u52a0 \u529b \u3002   \u53c2\u6570 :   impulse   (   carla . Vector3D   -   N * s   )   -   \u5168\u5c40 \u5750\u6807 \u4e2d \u7684 \u51b2\u91cf \u77e2\u91cf \u3002   add _ torque   (   self   ,   torque   )   \u5728 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d28\u5fc3 \u5904 \u5e94\u7528 \u626d\u77e9 \u3002 \u6b64 \u65b9\u6cd5 \u9002\u7528 \u4e8e \u5728 \u4e00\u5b9a \u65f6\u95f4 \u5185 \u65bd\u52a0 \u7684 \u626d\u77e9 \u3002 \u4f7f\u7528   add _ angular _ impulse ( )   \u65bd\u52a0 \u4ec5 \u6301\u7eed \u77ac\u95f4 \u7684 \u626d\u77e9 \u3002   \u53c2\u6570 :   torque   (   carla . Vector3D   -   \u5ea6   )   -   \u5168\u5c40 \u5750\u6807 \u4e2d \u7684 \u626d\u77e9 \u77e2\u91cf \u3002   destroy   (   self   )   \u544a\u8bc9 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u9500\u6bc1 \u8fd9\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5982\u679c \u6210\u529f \u5219   True   \u3002 \u5982\u679c \u5df2\u7ecf \u88ab \u7834\u574f \u5219 \u6ca1\u6709 \u4efb\u4f55 \u6548\u679c \u3002   \u8fd4\u56de :   bool   \u8b66\u544a :   T \u6b64 \u65b9\u6cd5 \u4f1a \u963b\u6b62 \u811a\u672c \uff0c \u76f4\u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5b8c\u6210 \u9500\u6bc1 \u4e3a\u6b62 \u3002   disable _ constant _ velocity   (   self   )   \u7981\u7528 \u4e4b\u524d \u4e3a   carla . Vehicle   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8bbe\u7f6e \u7684 \u4efb\u4f55 \u6052\u5b9a \u901f\u5ea6 \u3002   enable _ constant _ velocity   (   self   ,   velocity   )   \u5c06 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u77e2\u91cf \u8bbe\u7f6e \u4e3a \u968f \u65f6\u95f4 \u53d8\u5316 \u7684 \u6052\u5b9a \u503c \u3002 \u6240 \u5f97\u5230 \u7684 \u901f\u5ea6 \u5c06 \u8fd1\u4f3c \u8fd1\u4f3c\u4e8e   velocity   \u6240 \u8bbe\u7f6e \u7684 \u901f\u5ea6 \uff0c \u4e0e   set _ target _ velocity ( )   \u4e00\u6837 \u3002   \u53c2\u6570 :   velocity   (   carla . Vector3D   -   m / s   )   -   Velocity   vector   in   local   space .   \u6ce8\u610f :   \u53ea\u6709   carla . Vehicle   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \u3002   \u8b66\u544a :   \u4e3a   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7ba1\u7406 \u7684 \u8f66\u8f86 \u542f\u7528 \u6052\u5b9a \u901f\u5ea6 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u51b2\u7a81 \u3002 \u6b64 \u65b9\u6cd5 \u4f1a \u8986\u76d6 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5bf9 \u901f\u5ea6 \u7684 \u4efb\u4f55 \u66f4\u6539 \u3002   \u83b7\u53d6 \u5668   get _ acceleration   (   self   )   \u8fd4\u56de \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6700\u540e \u4e00\u4e2a tick \u671f\u95f4 \u6536\u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e09\u7ef4 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5411\u91cf \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de :   carla . Vector3D   -   m / s   2   get _ angular _ velocity   (   self   )   \u8fd4\u56de \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6700\u540e \u4e00\u4e2a tick \u671f\u95f4 \u63a5\u6536 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5411\u91cf \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   -   deg / s   get _ location   (   self   )   \u8fd4\u56de \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u4e0a \u4e00\u6b21 tick \u671f\u95f4 \u63a5\u6536 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de \uff1a   carla . Location   -   \u7c73   \u8bbe\u7f6e \u5668 :   carla . Actor . set _ location   get _ transform   (   self   )   \u8fd4\u56de \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6700\u540e \u4e00\u4e2a tick \u671f\u95f4 \u63a5\u6536 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u53d8\u6362 \uff08 \u4f4d\u7f6e \u548c \u65cb\u8f6c \uff09 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de :   carla . Transform   \u8bbe\u7f6e \u5668 :   carla . Actor . set _ transform   get _ velocity   (   self   )   \u8fd4\u56de \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6700\u540e \u4e00\u4e2a tick \u671f\u95f4 \u63a5\u6536 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u5411\u91cf \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   -   m / s   get _ world   (   self   )   \u8fd4\u56de \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240\u5c5e \u7684 \u4e16\u754c \u3002   \u8fd4\u56de :   carla . World   \u8bbe\u7f6e \u5668   set _ enable _ gravity   (   self   ,   enabled   )   \u542f\u7528 \u6216 \u7981\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u91cd\u529b \u3002   \u9ed8\u8ba4   \u4e3a   True \u3002   \u53c2\u6570 \uff1a   enabled   (   bool   )   set _ location   (   self   ,   location   )   \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f20\u9001 \u5230 \u7ed9\u5b9a \u4f4d\u7f6e \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   -   \u7c73   )   \u83b7\u53d6 \u5668 \uff1a   carla . Actor . get _ location   set _ simulate _ physics   (   self   ,   enabled   = True   )   \u542f\u7528 \u6216 \u7981\u7528 \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0a \u7684 \u7269\u7406 \u4eff\u771f \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff1a   enabled   (   bool   )   set _ target _ angular _ velocity   (   self   ,   angular _ velocity   )   \u8bbe\u7f6e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u77e2\u91cf \u3002 \u8fd9 \u662f \u5728 \u7269\u7406 \u6b65\u9aa4 \u4e4b\u524d \u5e94\u7528 \u7684 \uff0c \u56e0\u6b64 \u6700\u7ec8 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5c06 \u53d7\u5230 \u6469\u64e6 \u7b49 \u5916\u529b \u7684 \u5f71\u54cd \u3002   \u53c2\u6570 \uff1a   angular _ velocity   (   carla . Vector3D   -   deg / s   )   set _ target _ velocity   (   self   ,   velocity   )   \u8bbe\u7f6e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u5411\u91cf \u3002 \u8fd9 \u662f \u5728 \u7269\u7406 \u6b65\u9aa4 \u4e4b\u524d \u5e94\u7528 \u7684 \uff0c \u56e0\u6b64 \u6700\u7ec8 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5c06 \u53d7\u5230 \u6469\u64e6 \u7b49 \u5916\u529b \u7684 \u5f71\u54cd \u3002   \u53c2\u6570 \uff1a   velocity   (   carla . Vector3D   )   set _ transform   (   self   ,   transform   )   \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f20\u9001 \u5230 \u7ed9\u5b9a \u7684 \u53d8\u6362 \uff08 \u4f4d\u7f6e \u548c \u65cb\u8f6c \uff09 \u3002   \u53c2\u6570 \uff1a   transform   (   carla . Transform   )   \u83b7\u53d6 \u5668 \uff1a   carla . Actor . get _ transform   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . ActorAttribute   Carla   \u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u84dd \u56fe\u5e93 \uff0c \u53ef\u4ee5 \u901a\u8fc7   carla . BlueprintLibrary   \u8fdb\u884c \u8bbf\u95ee \u3002 \u6bcf\u4e2a \u84dd\u56fe \u90fd \u6709 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5185\u90e8 \u5b9a\u4e49 \u7684 \u5c5e\u6027 \u3002 \u5176\u4e2d \u4e00\u4e9b \u662f \u53ef\u4ee5 \u4fee\u6539 \u7684 \uff0c \u53e6 \u4e00\u4e9b \u4e00\u4e9b\u5219 \u662f \u4e0d\u53ef \u4fee\u6539 \u7684 \u3002 \u4e3a \u53ef \u8bbe\u7f6e \u7684 \u503c \u63d0\u4f9b \u4e86 \u63a8\u8350 \u63a8\u8350\u503c \u5217\u8868 \u3002   \u5b9e\u4f8b \u53d8\u91cf   id   (   str   )   \u5e93\u4e2d \u5c5e\u6027 \u7684 \u540d\u79f0 \u548c \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   is _ modifiable   (   bool   )   \u5982\u679c \u5c5e\u6027 \u7684 \u503c \u53ef\u4ee5 \u4fee\u6539 \uff0c \u5219 \u4e3a   True   \u3002   recommended _ values   (   list ( str )   )   \u8bbe\u8ba1 \u84dd\u56fe \u7684 \u4eba\u5458 \u5efa\u8bae \u7684 \u503c \u5217\u8868 \u3002   type   (   carla . ActorAttributeType   )   \u5c5e\u6027 \u7684 \u53c2\u6570 \u7c7b\u578b \u3002   \u65b9\u6cd5   as _ bool   (   self   )   \u5c06 \u5c5e\u6027 \u8bfb\u53d6 \u4e3a \u5e03\u5c14 \u5e03\u5c14\u503c \u3002   as _ color   (   self   )   \u5c06 \u5c5e\u6027 \u8bfb\u53d6 \u4e3a   carla . Color   \u3002   as _ float   (   self   )   \u5c06 \u5c5e\u6027 \u8bfb\u53d6 \u4e3a \u6d6e\u70b9 \u578b \u3002   as _ int   (   self   )   \u5c06 \u5c5e\u6027 \u8bfb\u53d6 \u4e3a   int \u3002   as _ str   (   self   )   \u5c06 \u5c5e\u6027 \u8bfb\u53d6 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   \u9b54\u672f \u65b9\u6cd5   __ bool __   (   self   )   __ eq __   (   self   ,   other   = bool   /   int   /   float   /   str   /   carla . Color   /   carla . ActorAttribute   )   \u5982\u679c \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5c5e\u6027   \u548c   other   \u76f8\u540c \uff0c \u5219 \u8fd4\u56de   true \u3002   \u8fd4\u56de \uff1a   bool   __ float __   (   self   )   __ int __   (   self   )   __ ne __   (   self   ,   other   = bool   /   int   /   float   /   str   /   carla . Color   /   carla . ActorAttribute   )   \u5982\u679c \u6b64   actor   \u7684 \u5c5e\u6027 \u548c   other   \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de   true \u3002   \u8fd4\u56de \uff1a   bool   __ nonzero __   (   self   )   \u5982\u679c \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5c5e\u6027 \u4e0d\u4e3a \u96f6 \u6216   null \uff0c \u5219 \u8fd4\u56de   true \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )   carla . ActorAttributeType   Carla   \u5728   carla . BlueprintLibrary   \u4e2d\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u84dd \u56fe\u5e93 \uff0c \u6bcf\u4e2a \u84dd\u56fe \u5177\u6709 \u4e0d\u540c \u7684 \u5c5e\u6027 \u3002 \u6b64\u7c7b \u5c06   carla . ActorAttribute   \u4e2d \u7684 \u7c7b\u578b \u5b9a\u4e49 \u7c7b\u578b\u5b9a\u4e49 \u4e3a \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u679a\u4e3e \u3002 \u6240\u6709 \u8fd9\u4e9b \u4fe1\u606f \u5747 \u5728 \u5185\u90e8 \u7ba1\u7406 \uff0c \u5e76 \u5728 \u6b64\u5904 \u5217\u51fa \uff0c \u4ee5\u4fbf \u66f4\u597d \u5730 \u7406\u89e3   Carla   \u7684 \u5de5\u4f5c \u539f\u7406 \u3002   \u5b9e\u4f8b \u53d8\u91cf   Bool   Int   Float   String   RGBColor   carla . ActorBlueprint   Carla   \u4e3a   Actor   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u84dd \u56fe\u5e93 \uff0c \u53ef\u4ee5 \u901a\u8fc7   carla . BlueprintLibrary   \u8fdb\u884c \u67e5\u9605 \u3002 \u5176\u4e2d \u6bcf \u4e00\u4e2a \u90fd \u5305\u542b \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u548c \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u53ef\u4ee5 \u4fee\u6539 \u6216 \u4e0d\u53ef \u4fee\u6539 \u7684 \u5c5e\u6027 \u3002 \u8be5\u7c7b \u662f \u5e93 \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u521b\u5efa \u4e4b\u95f4 \u7684 \u4e2d\u95f4 \u6b65\u9aa4 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u9700\u8981 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u84dd\u56fe \u624d\u80fd \u4ea7\u751f \u3002 \u8fd9\u4e9b \u5c06 \u6240\u8ff0 \u84dd\u56fe \u7684 \u4fe1\u606f \u53ca\u5176 \u5c5e\u6027 \u548c \u4e00\u4e9b \u6807\u7b7e \u5b58\u50a8 \u5728 \u5bf9\u8c61 \u4e2d\u4ee5 \u5bf9 \u5176 \u8fdb\u884c \u5206\u7c7b \u3002 \u7136\u540e \uff0c \u7528\u6237 \u53ef\u4ee5 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4e00\u4e9b \u5c5e\u6027 \u5e76 \u6700\u7ec8 \u901a\u8fc7   carla . World   \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u5b9e\u4f8b \u53d8\u91cf   id   (   str   )   \u5e93\u5185 \u6240\u8ff0 \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002 \u4f8b\u5982   walker . pedestrian.0001   \u3002   tags   (   list ( str )   )   \u6bcf\u4e2a \u84dd\u56fe \u5177\u6709 \u7684 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63cf\u8ff0 \u5b83\u4eec \u7684 \u6807\u7b7e \u5217\u8868 \u3002 \u4f8b\u5982   [ ' 0001 ' ,   ' pedestrian ' ,   ' walker ' ]   \u3002   \u65b9\u6cd5   has _ attribute   (   self   ,   id   )   \u5982\u679c \u84dd\u56fe \u5305\u542b \u8be5   id   \u5c5e\u6027 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u53c2\u6570 \uff1a   id   (   str   )   -   \u4f8b\u5982   gender   \u5c06 \u4e3a \u884c\u4eba \u7684 \u84dd\u56fe \u8fd4\u56de   True   \u3002   \u8fd4\u56de \uff1a   bool   has _ tag   (   self   ,   tag   )   \u5982\u679c \u84dd\u56fe \u5df2 \u5217\u51fa \u6307\u5b9a   tag   \u7684 \u5185\u5bb9 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u53c2\u6570 \uff1a   tag   (   str   )   -   \u4f8b\u5982 \uff1a   ' walker ' \u3002   \u8fd4\u56de \uff1a   bool   match _ tags   (   self   ,   wildcard _ pattern   )   \u5982\u679c \u4e3a\u6b64 \u84dd\u56fe \u5217\u51fa \u7684 \u4efb\u4f55 \u6807\u8bb0 \u5339\u914d   wildcard _ pattern   \uff0c \u5219 \u8fd4\u56de   True   \u3002 \u5339\u914d \u9075\u5faa   fnmatch   \u6807\u51c6 \u3002   \u53c2\u6570 \uff1a   wildcard _ pattern   (   str   )   \u8fd4\u56de \uff1a   bool   \u83b7\u53d6 \u5668   get _ attribute   (   self   ,   id   )   \u8fd4\u56de \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5c5e\u6027 \u4ee5\u53ca   id   \u6807\u8bc6 \u6807\u8bc6\u7b26 \uff08 \u5982\u679c \u5b58\u5728 \uff09 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff1a   id   (   str   )   \u8fd4\u56de \uff1a   carla . ActorAttribute   \u8bbe\u7f6e \u5668 \uff1a   carla . ActorBlueprint . set _ attribute   \u8bbe\u7f6e \u5668   set _ attribute   (   self   ,   id   ,   value   )   snippet   \u2192   \u5982\u679c   id   \u5c5e\u6027 \u662f \u53ef \u4fee\u6539 \u7684 \uff0c \u5c06 \u5176\u503c \u6539\u4e3a   value   \u3002   \u53c2\u6570 \uff1a   id   (   str   )   -   \u8981 \u66f4\u6539 \u5c5e\u6027 \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   value   (   str   )   -   \u6240\u8ff0 \u5c5e\u6027 \u7684 \u65b0\u503c \u3002   \u83b7\u53d6 \u5668 \uff1a   carla . ActorBlueprint . get _ attribute   Dunder   \u65b9\u6cd5   __ iter __   (   self   )   \u5728 \u84dd\u56fe \u6709 \u7684   carla . ActorAttribute   \u4e4b\u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   \u8fd4\u56de \u6b64 \u84dd\u56fe \u7684 \u5c5e\u6027 \u6570\u91cf \u3002   __ str __   (   self   )   carla . ActorList   \u4e00\u4e2a \u7c7b \uff0c \u5b83 \u5305\u542b \u73b0\u573a \u51fa\u73b0 \u7684 \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e76 \u63d0\u4f9b \u5bf9 \u4ed6\u4eec \u7684 \u8bbf\u95ee \u3002 \u8be5 \u5217\u8868 \u7531 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u81ea\u52a8 \u521b\u5efa \u548c \u66f4\u65b0 \uff0c \u53ef\u4ee5 \u4f7f\u7528   carla . World   \u8fd4\u56de \u3002   \u65b9\u6cd5   filter   (   self   ,   wildcard _ pattern   )   \u7b5b\u9009 \u5339\u914d   wildcard _ pattern   \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \uff0c \u4ee5 \u5bf9\u6297 \u53d8\u91cf   type _ id   ( \u5b83 \u6807\u8bc6 \u7528\u4e8e \u751f\u6210 \u5b83\u4eec \u7684 \u84dd\u56fe ) \u3002 \u5339\u914d \u9075\u5faa   fnmatch   \u6807\u51c6 \u3002   \u53c2\u6570 \uff1a   wildcard _ pattern   (   str   )   \u8fd4\u56de \uff1a   list   find   (   self   ,   actor _ id   )   \u4f7f\u7528 \u5176 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u67e5\u627e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e76 \u8fd4\u56de \u5b83 \uff0c \u5982\u679c \u4e0d \u5b58\u5728 \u5219 \u8fd4\u56de   None   \u3002   \u53c2\u6570 \uff1a   actor _ id   (   int   )   \u8fd4\u56de \uff1a   carla . Actor   Dunder   \u65b9\u6cd5   __ getitem __   (   self   ,   pos   = int   )   \u8fd4\u56de \u4e0e \u5217\u8868 \u4e2d   pos   \u4f4d\u7f6e \u76f8\u5bf9 \u5e94 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8fd4\u56de \uff1a   carla . Actor   __ iter __   (   self   )   \u5728 \u5305\u542b   carla . Actor   \u7684 \u5217\u8868 \u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   \u8fd4\u56de \u5217\u51fa \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6570\u91cf \u3002   \u8fd4\u56de \uff1a   int   __ str __   (   self   )   \u5728 \u5217\u51fa \u7684 \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0a \u89e3\u6790 ID \u3002   \u8fd4\u56de \uff1a   str   carla . ActorSnapshot   \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u7279\u5b9a \u65f6\u523b \u7684 \u6240\u6709 \u4fe1\u606f \u7684 \u7c7b \u3002 \u8fd9\u4e9b \u5bf9\u8c61 \u5305\u542b \u5728   carla . WorldSnapshot   \u4e2d \uff0c \u5e76 \u5728 \u6bcf\u4e2a \u65f6\u949f \u5468\u671f \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e00\u6b21 \u3002   \u5b9e\u4f8b \u53d8\u91cf   id   (   int   )   \u5feb\u7167 \u672c\u8eab \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   \u65b9\u6cd5   \u83b7\u53d6 \u5668   get _ acceleration   (   self   )   \u8fd4\u56de \u5728 \u8be5 tick \u4e2d\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ce8\u518c \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   -   m / s   2   get _ angular _ velocity   (   self   )   \u8fd4\u56de \u4e3a \u8be5 tick \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ce8\u518c \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   -   rad / s   get _ transform   (   self   )   \u8fd4\u56de \u8be5   tick   \u4e2d \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53d8\u6362 \uff08 \u4f4d\u7f6e \u548c \u65cb\u8f6c \uff09 \u3002   \u8fd4\u56de \uff1a   carla . Transform   get _ velocity   (   self   )   \u8fd4\u56de \u5728 \u8be5 tick \u4e2d\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ce8\u518c \u7684 \u901f\u5ea6 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   -   m / s   carla . ActorState   \u5b9a\u4e49 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u72b6\u6001 \u7684 \u7c7b \u3002   \u5b9e\u4f8b \u53d8\u91cf   Invalid   \u5982\u679c \u51fa\u73b0 \u95ee\u9898 \uff0c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c31\u662f \u65e0\u6548 \u7684 \u3002   Active   \u5f53 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u89c6 \u53ef\u89c6\u5316 \u5e76\u4e14 \u53ef\u4ee5 \u5f71\u54cd \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \uff0c \u5b83 \u5c31\u662f \u6d3b\u8dc3 \u7684 \u3002   Dormant   \u5f53 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0d \u88ab \u53ef\u89c6 \u53ef\u89c6\u5316 \u5e76\u4e14 \u4e0d\u4f1a \u901a\u8fc7 \u7269\u7406 \u5f71\u54cd \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \uff0c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c31 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002 \u4f8b\u5982 \uff0c \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f4d\u4e8e \u5927 \u5730\u56fe \u4e2d \u5df2 \u5378\u8f7d \u7684 \u56fe\u5757 \u4e0a \uff0c \u5219 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002   carla . AttachmentType   \u5b9a\u4e49 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0e \u5176\u7236 \u7ea7 \u4e4b\u95f4 \u7684 \u9644\u4ef6 \u9009\u9879 \u7684 \u7c7b \u3002 \u5f53 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \uff0c \u5b83\u4eec \u53ef\u4ee5 \u9644\u52a0 \u5230 \u53e6 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0a \uff0c \u8fd9\u6837 \u5b83\u4eec \u7684 \u4f4d\u7f6e \u5c31 \u4f1a \u76f8\u5e94 \u6539\u53d8 \u3002 \u8fd9 \u5bf9\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7279\u522b \u6709\u7528 \u3002   carla . World . spawn _ actor   \u4e2d \u7684 \u7247\u6bb5 \u663e\u793a \u4e86 \u4e00\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u751f\u6210 \u65f6 \u8fde\u63a5 \u5230 \u6c7d\u8f66 \u4e0a \u3002 \u8bf7 \u6ce8\u610f \uff0c \u9644\u4ef6 \u7c7b\u578b \u5728 \u7c7b \u4e2d \u58f0\u660e \u4e3a \u679a\u4e3e \u3002   \u5b9e\u4f8b \u53d8\u91cf   Rigid   \u901a\u8fc7 \u6b64 \u56fa\u5b9a \u9644\u4ef6 \uff0c \u5bf9\u8c61 \u4e25\u683c \u9075\u5faa \u5176\u7236 \u4f4d\u7f6e \u3002 \u8fd9\u662f \u63a8\u8350 \u7684 \u9644\u4ef6 \uff0c \u7528\u4e8e \u4ece \u4eff\u771f \u4e2d \u68c0\u7d22 \u7cbe\u786e \u6570\u636e \u3002   SpringArm   \u4e00\u79cd \u9644\u4ef6 \uff0c \u53ef \u6839\u636e \u5176\u7236 \u7ea7 \u6269\u5c55 \u6216 \u7f29\u56de \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u3002 \u4ec5 \u5efa\u8bae \u5728 \u9700\u8981 \u5e73\u6ed1 \u8fd0\u52a8 \u7684 \u4eff\u771f \u4e2d \u5f55\u5236 \u89c6\u9891 \u65f6 \u4f7f\u7528 \u6b64 \u9644\u4ef6 \u3002 SpringArms   \u662f \u4e00\u4e2a \u865a\u5e7b \u5f15\u64ce \u7ec4\u4ef6 \uff0c \u56e0\u6b64   check   the   UE   \u6587\u6863   \u4ee5 \u4e86\u89e3 \u6709\u5173 \u5b83\u4eec \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u8b66\u544a \uff1a   \u5f53 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 Z \u8f74\u4e0a \u4ea7\u751f \u76f8\u5bf9 \u5e73\u79fb \u65f6 \uff0c   SpringArm   \u9644\u4ef6 \u5448\u73b0 \u73b0\u51fa \u5448\u73b0\u51fa \u5947\u602a \u7684 \u884c\u4e3a \u3002 \uff08 \u6bd4\u5982 \uff1a   child _ location   =   Location ( 0 , 0 , 2 )   \uff09 \u3002   SpringArmGhost   \u4e00\u4e2a \u4e0e \u524d \u4e00\u4e2a \u7c7b\u4f3c \u7684 \u9644\u4ef6 \uff0c \u4f46 \u5b83 \u4e0d\u4f1a \u8fdb\u884c \u78b0\u649e \u6d4b\u8bd5 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u5b83 \u4e0d\u4f1a \u6269\u5c55 \u6216 \u6536\u7f29 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u3002   ghost   \u4e00\u8bcd \u56e0\u4e3a \u662f\u56e0\u4e3a \u8fd9\u6837 \u76f8\u673a \u5c31 \u53ef\u4ee5 \u7a7f\u8fc7 \u5899\u58c1 \u548c \u5176\u4ed6 \u51e0\u4f55 \u5f62\u72b6 \u3002 \u6b64 \u9644\u4ef6 \u4ec5 \u5efa\u8bae \u7528\u4e8e \u5f55\u5236 \u9700\u8981 \u5e73\u6ed1 \u79fb\u52a8 \u7684 \u4eff\u771f \u89c6\u9891 \u3002 SpringArms   \u662f \u4e00\u4e2a \u865a\u5e7b \u5f15\u64ce \u7ec4\u4ef6 \uff0c \u8bf7   \u67e5\u770b \u865a\u5e7b \u5f15\u64ce \u6587\u6863   \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u8b66\u544a \uff1a   \u5f53 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 Z \u8f74\u4e0a \u4ea7\u751f \u76f8\u5bf9 \u5e73\u79fb \u65f6 \uff0c   SpringArm   \u9644\u4ef6 \u4f1a \u51fa\u73b0 \u5947\u602a \u7684 \u884c\u4e3a \uff08 \u6bd4\u5982   child _ location   =   Location ( 0 , 0 , 2 )   \uff09 \u3002   carla . BlueprintLibrary   \u5305\u542b \u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u751f\u6210 \u63d0\u4f9b \u7684 \u84dd\u56fe \u7684 \u7c7b \u3002 \u5b83 \u7684 \u4e3b\u8981 \u5e94\u7528 \u662f \u8fd4\u56de \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240 \u9700 \u7684   carla . ActorBlueprint   \u5bf9\u8c61 \u3002 \u6bcf\u4e2a \u84dd\u56fe \u90fd \u6709 \u4e00\u4e2a \u6807\u8bc6 \u6807\u8bc6\u7b26 \u548c \u5c5e\u6027 \uff0c \u8fd9\u4e9b \u5c5e\u6027 \u53ef\u80fd \u662f \u53ef \u4fee\u6539 \u7684 \uff0c \u4e5f \u53ef\u80fd \u662f \u4e0d\u53ef \u4fee\u6539 \u7684 \u3002 \u8be5\u5e93 \u7531 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u81ea\u52a8 \u521b\u5efa \uff0c \u53ef\u4ee5 \u901a\u8fc7   carla . World   \u8bbf\u95ee \u3002   \u8fd9   \u662f \u5305\u542b \u6bcf\u4e2a \u53ef\u7528 \u84dd\u56fe \u53ca\u5176 \u7ec6\u8282 \u7684 \u53c2\u8003 \u3002   \u65b9\u6cd5   filter   (   self   ,   wildcard _ pattern   )   \u6839\u636e \u6b64\u5e93 \u4e2d \u5305\u542b \u7684 \u6bcf\u4e2a \u84dd\u56fe \u7684 id \u548c \u6807\u8bb0 \u8fc7\u6ee4 \u4e0e \u901a\u914d\u7b26 \u6a21\u5f0f   wildcard _ pattern   \u5339\u914d \u7684 \u84dd\u56fe \u5217\u8868 \uff0c \u5e76 \u5c06 \u7ed3\u679c \u4f5c\u4e3a \u65b0 \u7684 \u7ed3\u679c \u8fd4\u56de \u3002 \u5339\u914d \u9075\u5faa   fnmatch   \u6807\u51c6 \u3002   \u53c2\u6570 \uff1a   wildcard _ pattern   (   str   )   \u8fd4\u56de \uff1a   carla . BlueprintLibrary   filter _ by _ attribute   (   self   ,   name   ,   value   )   \u6839\u636e \u6b64\u5e93 \u4e2d \u5305\u542b \u7684 \u6bcf\u4e2a \u84dd\u56fe \uff0c \u7b5b\u9009 \u5177\u6709 \u4e0e\u503c   value   \u5339\u914d \u7684 \u7ed9\u5b9a \u5c5e\u6027 \u7684 \u84dd\u56fe \u5217\u8868 \uff0c \u5e76 \u5c06 \u7ed3\u679c \u4f5c\u4e3a \u65b0 \u7684 \u7ed3\u679c \u8fd4\u56de \u3002 \u5339\u914d \u9075\u5faa   fnmatch   \u6807\u51c6 \u3002   \u53c2\u6570 \uff1a   name   (   str   )   value   (   str   )   \u8fd4\u56de \uff1a   carla . BlueprintLibrary   find   (   self   ,   id   )   \u8fd4\u56de \u4e0e \u8be5 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u5bf9\u5e94 \u7684 \u84dd\u56fe \u3002   \u53c2\u6570 \uff1a   id   (   str   )   \u8fd4\u56de \uff1a   carla . ActorBlueprint   Dunder   \u65b9\u6cd5   __ getitem __   (   self   ,   pos   = int   )   \u8fd4\u56de \u5b58\u50a8 \u5728 \u5305\u542b \u84dd\u56fe \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u5185   pos   \u4f4d\u7f6e \u7684 \u84dd\u56fe \u3002   \u8fd4\u56de :   carla . ActorBlueprint   __ iter __   (   self   )   \u5728 \u5b58\u50a8 \u5e93   carla . ActorBlueprint   \u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   \u8fd4\u56de \u6784\u6210 \u5e93 \u7684 \u84dd\u56fe \u6570\u91cf \u3002   \u8fd4\u56de \uff1a   int   __ str __   (   self   )   \u89e3\u6790 \u8981 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5316 \u7684 \u6bcf\u4e2a \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   \u8fd4\u56de \uff1a   string   carla . BoundingBox   \u8fb9\u754c \u6846 \u5305\u542b \u573a\u666f \u4e2d \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5143\u7d20 \u7684 \u51e0\u4f55 \u51e0\u4f55\u4f53 \u3002 \u5b83\u4eec \u53ef\u4ee5 \u88ab   carla . DebugHelper   \u6216   carla . Client   \u7528\u4e8e \u7ed8\u5236 \u5b83\u4eec \u7684 \u5f62\u72b6 \u4ee5 \u8fdb\u884c \u8c03\u8bd5 \u3002 \u770b\u770b   carla . DebugHelper . draw _ box   \uff0c \u5176\u4e2d \u4f7f\u7528 \u4e16\u754c \u5feb\u7167 \u7ed8\u5236 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u8fb9\u754c \u6846 \u3002   \u5b9e\u4f8b \u53d8\u91cf   extent   (   carla . Vector3D   -   \u7c73   )   \u4ece \u957f\u65b9 \u957f\u65b9\u4f53 \u4e2d\u5fc3 \u5230 \u4e00\u4e2a \u9876\u70b9 \u7684 \u77e2\u91cf \u3002 \u6bcf\u4e2a \u8f74\u4e2d \u7684 \u503c \u7b49\u4e8e \u8be5\u8f74\u6846 \u5927\u5c0f \u7684 \u4e00\u534a \u3002   extent . x   *   2   \u5c06 \u8fd4\u56de \u6846\u5728 x \u8f74\u4e0a \u7684 \u5927\u5c0f \u3002   location   (   carla . Location   -   \u7c73   )   \u8fb9\u754c \u6846 \u7684 \u4e2d\u5fc3 \u3002   rotation   (   carla . Rotation   )   \u8fb9\u754c \u6846 \u7684 \u671d\u5411 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   location   ,   extent   )   \u53c2\u6570 \uff1a   location   (   carla . Location   )   -   \u76f8\u5bf9 \u4e8e \u5176\u7236 \u6846 \u7684 \u4e2d\u5fc3 \u3002   extent   (   carla . Vector3D   -   \u7c73   )   -   \u5305\u542b \u6bcf\u4e2a \u8f74 \u7684 \u957f\u65b9 \u957f\u65b9\u4f53 \u5927\u5c0f \u7684 \u4e00\u534a \u7684 \u77e2\u91cf \u3002   contains   (   self   ,   world _ point   ,   transform   )   \u5982\u679c \u5728 \u4e16\u754c \u7a7a\u95f4 \u4e2d \u4f20\u9012 \u7684 \u70b9 \u5728 \u6b64 \u8fb9\u754c \u6846\u5185 \uff0c \u5219 \u8fd4\u56de   True   \u3002   Parameters :   world _ point   (   carla . Location   -   \u7c73   )   -   \u8981 \u68c0\u67e5 \u7684 \u4e16\u754c \u7a7a\u95f4 \u4e2d \u7684 \u70b9 \u3002   transform   (   carla . Transform   )   -   \u5305\u542b \u5c06 \u6b64 \u5bf9\u8c61 \u7684 \u5c40\u90e8 \u7a7a\u95f4 \u8f6c\u6362 \u4e3a \u4e16\u754c \u7a7a\u95f4 \u6240 \u9700 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   \u8fd4\u56de \uff1a   bool   \u83b7\u53d6 \u5668   get _ local _ vertices   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u8be5 \u5bf9\u8c61 \u7684 \u9876\u70b9 \u5728 \u5c40\u90e8 \u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u3002   \u8fd4\u56de \uff1a   list (   carla . Location   )   get _ world _ vertices   (   self   ,   transform   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u8be5 \u5bf9\u8c61 \u7684 \u9876\u70b9 \u5728 \u4e16\u754c \u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u3002   \u53c2\u6570 \uff1a   transform   (   carla . Transform   )   -   \u5305\u542b \u5c06 \u6b64 \u5bf9\u8c61 \u7684 \u672c\u5730 \u7a7a\u95f4 \u8f6c\u6362 \u4e3a \u4e16\u754c \u7a7a\u95f4 \u6240 \u9700 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   \u8fd4\u56de \uff1a   list (   carla . Location   )   Dunder   \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . BoundingBox   )   \u5982\u679c \u6b64 \u548c \u53e6 \u4e00\u4e2a   other   \u7684 \u4f4d\u7f6e \u548c \u8303\u56f4 \u76f8\u7b49 \uff0c \u5219 \u8fd4\u56de true \u3002   \u8fd4\u56de \uff1a   bool   __ ne __   (   self   ,   other   =   carla . BoundingBox   )   \u5982\u679c \u6b64 \u548c \u5176\u4ed6   other   \u7684 \u4f4d\u7f6e \u6216 \u8303\u56f4 \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de true \u3002   \u8fd4\u56de \uff1a   bool   __ str __   (   self   )   \u5c06 \u8fb9\u754c \u6846 \u7684 \u4f4d\u7f6e \u548c \u8303\u56f4 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   \u8fd4\u56de \uff1a   str   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . CAMEvent   \u7ee7\u627f \u81ea   carla . SensorData   \u5b9a\u4e49   sensor . other . v2x   \u63d0\u4f9b \u7684 \u6570\u636e \u7684 \u7c7b \u3002 \u8fd9\u662f \u4e00\u79cd \u96c6\u5408 \u7c7b\u578b \uff0c \u7528\u4e8e \u7ec4\u5408 \u8fd4\u56de \u591a\u4e2a   CAMData   \u3002   \u65b9\u6cd5   \u83b7\u53d6 \u5668   get _ message _ count   (   self   )   \u83b7\u53d6 \u63a5\u53d7 \u5230 \u7684   CAM   \u6570\u91cf \u3002   \u8fd4\u56de \uff1a   int   \u9b54\u672f \u65b9\u6cd5   __ get _ item __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728 \u83b7\u53d6 \u5230 \u7684   CAMData   \u6570\u636e \u4e0a \u8fed\u4ee3 \u3002   __ len __   (   self   )   carla . CityObjectLabel   \u5305\u542b \u53ef \u7528\u4e8e \u8fc7\u6ee4   carla . World . get _ level _ bbs   ( )   \u8fd4\u56de \u7684 \u8fb9\u754c \u6846 \u7684 \u4e0d\u540c \u6807\u7b7e \u7684 \u679a\u4e3e \u58f0\u660e \u3002 \u8fd9\u4e9b \u503c \u5bf9\u5e94 \u4e8e \u573a\u666f \u4e2d \u5143\u7d20 \u6240 \u5177\u6709 \u7684   \u8bed\u4e49 \u6807\u7b7e   \u3002   \u5b9e\u4f8b \u53d8\u91cf   None   Buildings   Fences   Other   Pedestrians   Poles   RoadLines   Roads   Sidewalks   TrafficSigns   Vegetation   Vehicles   Walls   Sky   Ground   Bridge   RailTrack   GuardRail   TrafficLight   Static   Dynamic   Water   Terrain   Any   carla . Client   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06   Carla   \u8fde\u63a5 \u5230 \u8fd0\u884c \u4eff\u771f \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u90fd \u5305\u542b   Carla   \u5e93   ( libcarla ) \uff0c \u4f46 \u5b58\u5728 \u4e00\u4e9b \u5dee\u5f02 \uff0c \u5141\u8bb8 \u5b83\u4eec \u4e4b\u95f4 \u8fdb\u884c \u901a\u4fe1 \u3002 \u53ef\u4ee5 \u521b\u5efa \u8bb8\u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u6bcf\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u90fd \u4f1a \u8fde\u63a5 \u5230 \u4eff\u771f \u5185 \u7684   RPC   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4ee5 \u53d1\u9001 \u547d\u4ee4 \u3002 \u4eff\u771f \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u8fd0\u884c \u3002 \u4e00\u65e6 \u5efa\u7acb \u8fde\u63a5 \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06 \u4ec5 \u63a5\u6536 \u4ece \u4eff\u771f \u68c0\u7d22 \u7684 \u6570\u636e \u3002 \u884c\u4eba \u662f \u4f8b\u5916 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8d1f\u8d23 \u7ba1\u7406 \u8d1f\u8d23\u7ba1\u7406 \u884c\u4eba \uff0c \u56e0\u6b64 \uff0c \u5982\u679c \u60a8 \u4e0e \u591a\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e00\u8d77 \u8fd0\u884c \u4eff\u771f \uff0c \u53ef\u80fd \u4f1a \u51fa\u73b0 \u4e00\u4e9b \u95ee\u9898 \u3002 \u4f8b\u5982 \uff0c \u5982\u679c \u60a8 \u901a\u8fc7 \u4e0d\u540c \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u751f\u6210 \u884c\u4eba \uff0c \u5219 \u53ef\u80fd \u4f1a \u53d1\u751f \u51b2\u7a81 \u53d1\u751f\u51b2\u7a81 \uff0c \u56e0\u4e3a \u6bcf\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ea \u77e5\u9053 \u5b83 \u8d1f\u8d23 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd8 \u5177\u6709 \u8bb0\u5f55 \u529f\u80fd \uff0c \u53ef\u4ee5 \u5728 \u8fd0\u884c \u4eff\u771f \u65f6 \u4fdd\u5b58 \u4eff\u771f \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u8fd9 \u4f7f\u5f97 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53ef\u4ee5 \u968f\u610f \u91cd\u653e \u91cd\u653e\u4ee5 \u83b7\u53d6 \u53d6\u4fe1 \u4fe1\u606f \u83b7\u53d6\u4fe1\u606f \u5e76 \u8fdb\u884c \u5b9e\u9a8c \u3002   \u4ee5\u4e0b   \u662f \u6709\u5173 \u5982\u4f55 \u4f7f\u7528 \u6b64 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u7684 \u4e00\u4e9b \u4fe1\u606f \u3002   \u65b9\u6cd5   __ init __   (   self   ,   host   = 127.0 . 0.1   ,   port   = 2000   ,   worker _ threads   = 0   )   snippet   \u2192   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6784\u9020 \u5668 \u3002   \u53c2\u6570 \uff1a   host   (   str   )   -   \u8fd0\u884c Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5b9e\u4f8b \u7684 \u5730\u5740 IP\u5730\u5740 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a localhost \uff08 127.0 . 0.1 \uff09 \u3002   port   (   int   )   -   \u8fd0\u884c Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5b9e\u4f8b \u7684 TCP \u7aef\u53e3 \u3002 \u9ed8\u8ba4 \u4e3a   2000   \u548c \u968f\u540e \u7684 2001   \u3002   worker _ threads   (   int   )   -   \u7528\u4e8e \u540e\u53f0 \u66f4\u65b0 \u7684 \u5de5\u4f5c \u7ebf\u7a0b \u6570 \u3002 \u5982\u679c \u4e3a   0 \uff0c \u5219 \u4f7f\u7528 \u6240\u6709 \u53ef\u7528 \u7684 \u5e76\u53d1 \u6027 \u3002   apply _ batch   (   self   ,   commands   )   \u5728 \u5355\u4e2a \u4eff\u771f \u6b65\u4e0a \u6267\u884c \u547d\u4ee4 \u6267\u884c\u547d\u4ee4 \u5217\u8868 \uff0c \u4e0d \u68c0\u7d22 \u4efb\u4f55 \u4fe1\u606f \u3002 \u5982\u679c \u9700\u8981 \u6709\u5173 \u6bcf\u4e2a \u547d\u4ee4 \u7684 \u54cd\u5e94 \u7684 \u4fe1\u606f \uff0c \u8bf7 \u4f7f\u7528   apply _ batch _ sync ( )   \u65b9\u6cd5 \u3002   \u4e0b\u9762   \u662f \u4e00\u4e2a \u5173\u4e8e \u5982\u4f55 \u5220\u9664   Carla   \u4e2d \u51fa\u73b0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u793a\u4f8b \u3002 \u4e00\u6b21 \u5217\u51fa \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005   carla . ActorList   \u3002   \u53c2\u6570 \uff1a   commands   (   list   )   -   \u8981 \u6279\u91cf \u6267\u884c \u7684 \u547d\u4ee4 \u5217\u8868 \u3002 \u6bcf\u4e2a \u547d\u4ee4 \u90fd \u4e0d\u540c \uff0c \u5e76\u4e14 \u6709 \u81ea\u5df1 \u7684 \u53c2\u6570 \u3002 \u5b83\u4eec \u663e\u793a \u5728 \u6b64 \u9875\u9762 \u5e95\u90e8 \u5217\u51fa \u3002   apply _ batch _ sync   (   self   ,   commands   ,   due _ tick _ cue   = False   )   snippet   \u2192   \u5728 \u5355\u4e2a \u4eff\u771f \u6b65\u4e0a \u6267\u884c \u547d\u4ee4 \u6267\u884c\u547d\u4ee4 \u5217\u8868 \uff0c \u963b\u6b62 \u76f4\u5230 \u547d\u4ee4 \u94fe\u63a5 \uff0c \u5e76 \u8fd4\u56de   command . Response   \u5217\u8868 \u3002 \u53ef \u7528\u4e8e \u786e\u5b9a \u5355\u4e2a \u547d\u4ee4 \u662f\u5426 \u6210\u529f \u7684 \u54cd\u5e94 \u3002   \u4e0b\u9762   \u662f \u4e00\u4e2a \u7528\u6765 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f8b\u5b50 \u3002   \u53c2\u6570 \uff1a   commands   (   list   )   -   \u8981 \u6279\u91cf \u6267\u884c \u7684 \u547d\u4ee4 \u5217\u8868 \u3002 \u53ef\u7528 \u7684 \u547d\u4ee4 \u5217 \u5728 \u65b9\u6cd5   apply _ batch ( )   \u7684 \u6b63\u4e0a \u4e0a\u65b9 \u6b63\u4e0a\u65b9 \u3002   due _ tick _ cue   (   bool   )   -   \u4e00\u4e2a \u5e03\u5c14 \u53c2\u6570 \uff0c \u7528\u4e8e \u6307\u5b9a \u662f\u5426 \u6267\u884c   Carla \u3002 \u5728   \u540c\u6b65 \u6a21\u5f0f   \u4e0b \u5e94\u7528 \u5904\u7406 \u6279\u5904\u7406 \u540e \u8fdb\u884c   carla . World . tick   \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u4e3a   False   \u3002   \u8fd4\u56de \uff1a   list ( command . Response )   generate _ opendrive _ world   (   self   ,   opendrive   ,   parameters   = ( 2.0 ,   50.0 ,   1.0 ,   0.6 ,   true ,   true )   ,   reset _ settings   = True   )   \u4f7f\u7528 \u4ece OpenDRIVE \u6587\u4ef6 \u7684 \u5185\u5bb9 \u751f\u6210 \u7684 \u57fa\u672c \u4e09\u7ef4 \u62d3\u6251 \u52a0\u8f7d \u4e16\u754c \u65b0\u4e16\u754c \u3002 \u6b64 \u5185\u5bb9 \u4f5c\u4e3a   string   \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u3002 \u5b83 \u7c7b\u4f3c \u4e8e   client . load _ world ( map _ name )   \uff0c \u4f46 \u5141\u8bb8 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 OpenDRIVE \u6620\u5c04 \u3002 \u6c7d\u8f66 \u53ef\u4ee5 \u5728 \u5730\u56fe \u4e0a \u884c\u9a76 \uff0c \u4f46 \u9664\u4e86 \u9053\u8def \u548c \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u4e4b\u5916 \uff0c \u6ca1\u6709 \u4efb\u4f55 \u56fe\u5f62 \u3002   \u53c2\u6570 \uff1a   opendrive   (   str   )   -   OpenDRIVE \u6587\u4ef6 \u7684 \u5185\u5bb9 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32   string   \uff0c   \u800c \u4e0d\u662f   . xodr   \u7684 \u8def\u5f84   \u3002   parameters   (   carla . OpendriveGenerationParameters   )   -   \u7f51\u683c \u751f\u6210 \u7684 \u5176\u4ed6 \u8bbe\u7f6e \u3002 \u5982\u679c \u6ca1\u6709 \u63d0\u4f9b \uff0c \u5c06 \u4f7f\u7528 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002   reset _ settings   (   bool   )   -   \u9009\u9879 \u53ef \u5c06 \u5267\u96c6 \u8bbe\u7f6e \u91cd\u7f6e \u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff0c \u8bbe\u7f6e \u4e3a false   \u53ef \u4fdd\u7559 \u5f53\u524d \u8bbe\u7f6e \u3002 \u8fd9 \u5bf9\u4e8e \u5728 \u66f4\u6539 \u6620\u5c04 \u65f6 \u4fdd\u6301 \u540c\u6b65 \u6a21\u5f0f \u548c \u4fdd\u6301 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u573a\u666f \u975e\u5e38 \u6709\u7528 \u3002   load _ world   (   self   ,   map _ name   ,   reset _ settings   = True   ,   map _ layers   =   carla . MapLayer . All   )   \u4f7f\u7528   map _ name   \u4f7f\u7528 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u521b\u5efa \u4e16\u754c \u65b0\u4e16\u754c \u3002 \u5f53\u4eca \u4eca\u4e16 \u4e16\u754c \u5f53\u4eca\u4e16\u754c \u7684 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u5c06 \u88ab \u6467\u6bc1 \u3002   \u53c2\u6570 \uff1a   map _ name   (   str   )   -   \u8981 \u5728 \u8fd9\u4e2a \u4e16\u754c \u4e0a \u4f7f\u7528 \u7684 \u5730\u56fe \u7684 \u540d\u79f0 \u3002 \u63a5\u53d7 \u5b8c\u6574 \u8def\u5f84 \u548c \u5730\u56fe \u540d\u79f0 \uff0c \u4f8b\u5982 \u201c / Game / Calla / Maps / Town01 \u201d \u6216 \u201c Town01 \u201d \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u8fd9\u4e9b \u8def\u5f84 \u662f \u52a8\u6001 \u7684 \u3002   reset _ settings   (   bool   )   -   \u9009\u9879 \u53ef \u5c06 \u60c5\u8282 \u8bbe\u7f6e \u91cd\u7f6e \u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff0c \u8bbe\u7f6e \u4e3a false \u53ef \u4fdd\u7559 \u5f53\u524d \u8bbe\u7f6e \u3002 \u8fd9 \u5bf9\u4e8e \u5728 \u66f4\u6539 \u6620\u5c04 \u65f6 \u4fdd\u6301 \u540c\u6b65 \u6a21\u5f0f \u548c \u4fdd\u6301 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u573a\u666f \u975e\u5e38 \u6709\u7528 \u3002   map _ layers   (   carla . MapLayer   )   -   \u5c06 \u52a0\u8f7d \u7684 \u5730\u56fe \u7684 \u56fe\u5c42 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5c06 \u52a0\u8f7d \u6240\u6709 \u56fe\u5c42 \u3002 \u53c2\u6570 \u6b64\u53c2\u6570 \u7684 \u4f5c\u7528 \u7c7b\u4f3c \u4e8e \u6807\u5fd7 \u63a9\u7801 \u3002   \u8b66\u544a \uff1a   map _ layers   \u4ec5 \u5bf9 \" Opt \" \u5730\u56fe \u53ef\u7528 \u3002   reload _ world   (   self   ,   reset _ settings   = True   )   \u91cd\u65b0 \u52a0\u8f7d \u5f53\u524d \u4e16\u754c \uff0c \u8bf7 \u6ce8\u610f \uff0c \u5c06 \u4f7f\u7528 \u540c\u4e00 \u5730\u56fe \u4f7f\u7528 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u521b\u5efa \u4e00\u4e2a \u4e16\u754c \u65b0\u4e16\u754c \u3002 \u4e16\u754c \u4e0a \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u5c06 \u88ab \u9500\u6bc1 \uff0c   \u4f46   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u5c06 \u7ee7\u7eed \u5b58\u5728 \u3002   \u53c2\u6570 \uff1a   reset _ settings   (   bool   )   -   \u9009\u9879 \u53ef \u5c06 \u60c5\u8282 \u8bbe\u7f6e \u91cd\u7f6e \u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff0c \u8bbe\u7f6e \u4e3a false \u53ef \u4fdd\u7559 \u5f53\u524d \u8bbe\u7f6e \u3002 \u8fd9 \u5bf9\u4e8e \u5728 \u66f4\u6539 \u6620\u5c04 \u65f6 \u4fdd\u6301 \u540c\u6b65 \u6a21\u5f0f \u548c \u4fdd\u6301 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u573a\u666f \u975e\u5e38 \u6709\u7528 \u3002   Raises :   \u5bf9\u5e94 \u7684 \u8fd0\u884c \u65f6 \u9519\u8bef   RuntimeError \u3002   replay _ file   (   self   ,   name   ,   start   ,   duration   ,   follow _ id   ,   replay _ sensors   )   \u4f7f\u7528   map _ name   \u52a0\u8f7d \u5177\u6709 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u7684 \u4e16\u754c \u65b0\u4e16\u754c \u3002 \u5f53\u524d \u4e16\u754c \u4e2d \u7684 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u5c06 \u88ab \u9500\u6bc1 \uff0c   \u4f46   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u5c06 \u7ee7\u7eed \u5b58\u5728 \u3002   \u53c2\u6570 \uff1a   name   (   str   )   -   \u5305\u542b \u4eff\u771f \u4fe1\u606f \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u3002   start   (   float   -   seconds   )   -   \u5f00\u59cb \u64ad\u653e \u4eff\u771f \u7684 \u65f6\u95f4 \u3002 \u8d1f\u6570 \u8868\u793a \u4ece \u7ed3\u5c3e \u5f00\u59cb \u8bfb\u53d6 \uff0c \u5728 \u5f55\u5236 \u7ed3\u675f \u524d 10 \u79d2 \u4e3a - 10 \u3002   duration   (   float   -   seconds   )   -   \u5c06 \u4f7f\u7528 \u4fe1\u606f   name   \u6587\u4ef6 \u91cd\u65b0 \u6267\u884c \u7684 \u65f6\u95f4 \u3002 \u5982\u679c \u5230\u8fbe \u7ec8\u70b9 \uff0c \u4eff\u771f \u5c06 \u7ee7\u7eed \u3002   follow _ id   (   int   )   -   \u8981 \u8ddf\u968f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002 \u5982\u679c \u6b64\u503c \u4e3a 0 \uff0c \u5219 \u7981\u7528 \u76f8\u673a \u3002   replay _ sensors   (   bool   )   -   \u7528\u4e8e \u5728 \u64ad\u653e \u671f\u95f4 \u542f\u7528 \u6216 \u7981\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u751f\u6210 \u7684 \u6807\u5fd7 \u3002   request _ file   (   self   ,   name   )   \u7531   carla . Client . get _ required _ files   \u8fd4\u56de \u9700\u8981 \u6587\u4ef6 \u7684 \u4e00\u4e2a \u8bf7\u6c42 \u3002   \u53c2\u6570 \uff1a   name   (   str   )   -   \u60a8 \u8bf7\u6c42 \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u3002   show _ recorder _ actors _ blocked   (   self   ,   filename   ,   min _ time   ,   min _ distance   )   \u7ec8\u7aef \u5c06 \u663e\u793a \u88ab \u89c6\u4e3a \u88ab \u5c4f\u853d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6ce8\u518c \u4fe1\u606f \u3002 \u5f53 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u5185 \u6ca1\u6709 \u79fb\u52a8 \u6700\u5c0f \u8ddd\u79bb \u65f6 \uff0c \u5373   min _ distance   \u548c   min _ time   \uff0c \u5219 \u89c6\u4e3a \u88ab \u963b\u6321 \u3002   \u53c2\u6570 \uff1a   filename   (   str   )   -   \u8981 \u52a0\u8f7d \u7684 \u5f55\u5236 \u6587\u4ef6 \u7684 \u540d\u79f0 \u3002   min _ time   (   float   -   seconds   )   -   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u88ab \u8ba4\u4e3a \u88ab \u963b\u6321 \u4e4b\u524d \u5fc5\u987b \u79fb\u52a8 \u6700 \u77ed\u8ddd \u8ddd\u79bb \u77ed\u8ddd\u79bb \u7684 \u6700 \u77ed\u65f6 \u65f6\u95f4 \u77ed\u65f6\u95f4 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a 60 \u79d2 \u3002   min _ distance   (   float   -   centimeters   )   -   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5fc5\u987b \u79fb\u52a8 \u7684 \u6700\u5c0f \u8ddd\u79bb \u624d\u80fd \u4e0d \u88ab \u89c6\u4e3a \u88ab \u963b\u6321 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a 100 \u5398\u7c73 \u3002   \u8fd4\u56de \uff1a   string   show _ recorder _ collisions   (   self   ,   filename   ,   category1   ,   category2   )   \u7ec8\u7aef \u5c06 \u663e\u793a \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8bb0\u5f55 \u7684 \u78b0\u649e \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u6307\u5b9a \u6240 \u6d89\u53ca \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7c7b\u578b \u6765 \u8fc7\u6ee4 \u8fd9\u4e9b \u5185\u5bb9 \u3002 \u7c7b\u522b \u5c06 \u5728   category1   \u548c   category1   \u4e2d \u6307\u5b9a \u5982\u4e0b \uff1a \u201c h \u201d = \u82f1\u96c4 \uff0c \u4e00\u79cd \u53ef\u4ee5 \u624b\u52a8 \u63a7\u5236 \u6216 \u7531 \u7528\u6237 \u7ba1\u7406 \u7684 \u8f66\u8f86 \u3002 \u201d v ' = \u8f66\u8f86 ' w ' = \u884c\u4eba ' t ' = \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f ' o ' = \u5176\u4ed6 ' a ' = \u4efb\u4f55 \u5982\u679c \u60a8 \u53ea \u60f3 \u770b\u5230 \u8f66\u8f86 \u548c \u6b65\u884c \u884c\u8005 \u6b65\u884c\u8005 \u4e4b\u95f4 \u7684 \u78b0\u649e \uff0c \u8bf7 \u5c06   category1   \u7528\u4f5c ' v ' \uff0c \u5c06   category2   \u7528\u4f5c ' w ' \uff0c \u53cd\u4e4b \u4ea6\u7136 \u53cd\u4e4b\u4ea6\u7136 \u3002 \u5982\u679c \u8981 \u67e5\u770b \u6240\u6709 \u78b0\u649e \uff08 \u8fc7\u6ee4 \u6389 \uff09 \uff0c \u53ef\u4ee5 \u5bf9 \u4e24\u4e2a \u53c2\u6570 \u90fd \u4f7f\u7528 \u201c a \u201d \u3002   \u53c2\u6570 \uff1a   filename   (   str   )   -   \u8bb0\u5f55 \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u6216 \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4e4b\u524d \u7684 \u9009\u62e9 \u3002   category1   (   single   char   )   -   \u6307\u5b9a \u51b2\u7a81 \u4e2d \u6d89\u53ca \u7684 \u7b2c\u4e00 \u4e00\u7c7b \u7b2c\u4e00\u7c7b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5b57\u7b26 \u53d8\u91cf \u3002   category2   (   single   char   )   -   \u6307\u5b9a \u51b2\u7a81 \u4e2d \u6d89\u53ca \u7684 \u7b2c\u4e8c \u4e8c\u7c7b \u7b2c\u4e8c\u7c7b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5b57\u7b26 \u53d8\u91cf \u3002   \u8fd4\u56de \uff1a   string   show _ recorder _ file _ info   (   self   ,   filename   ,   show _ all   )   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u4fdd\u5b58 \u7684 \u4fe1\u606f \u5c06 \u88ab \u89e3\u6790 \u5e76 \u4ee5 \u6587\u672c \u5f62\u5f0f \u663e\u793a \u5728 \u60a8 \u7684 \u7ec8\u7aef \u4e2d \uff08 \u5e27 \u3001 \u65f6\u95f4 \u3001 \u4e8b\u4ef6 \u3001 \u72b6\u6001 \u3001 \u4f4d\u7f6e \u2026 \uff09 \u3002 \u53ef\u4ee5 \u4f7f\u7528   show _ all   \u53c2\u6570 \u6307\u5b9a \u663e\u793a \u7684 \u4fe1\u606f \u3002   \u4ee5\u4e0b   \u662f \u6709\u5173 \u5982\u4f55 \u8bfb\u53d6 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u53c2\u6570 \uff1a   filename   (   str   )   -   \u8bb0\u5f55 \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u6216 \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4e4b\u524d \u7684 \u9009\u62e9 \u3002   show _ all   (   bool   )   -   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u8fd4\u56de \u4e3a \u6bcf \u5e27 \u5b58\u50a8 \u7684 \u6240\u6709 \u4fe1\u606f \uff08 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u72b6\u6001 \u3001 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u3001 \u65b9\u5411 \u548c \u52a8\u753b \u6570\u636e \u2026 \uff09 \u3002 \u5982\u679c \u4e3a   False   \uff0c \u5219 \u8fd4\u56de \u5173\u952e \u4e8b\u4ef6 \u548c \u5e27 \u7684 \u6458\u8981 \u3002   \u8fd4\u56de \uff1a   string   start _ recorder   (   self   ,   filename   ,   additional _ data   = False   )   \u542f\u7528 \u5f55\u5236 \u529f\u80fd \uff0c \u8be5 \u529f\u80fd \u5c06 \u5f00\u59cb \u4fdd\u5b58 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u91cd\u64ad \u4eff\u771f \u6240 \u9700 \u7684 \u6240\u6709 \u4fe1\u606f \u3002   \u53c2\u6570 \uff1a   filename   (   str   )   -   \u7528\u4e8e \u5199\u5165 \u8bb0\u5f55 \u6570\u636e \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u3002 \u4e00\u4e2a \u7b80\u5355 \u7684 \u540d\u79f0 \u4f1a \u5c06 \u5f55\u5236 \u4fdd\u5b58 \u5728 \u201c CarlaUE4 / Saved / recording . log \u201d \u4e2d \u3002 \u5426\u5219 \uff0c \u5982\u679c \u540d\u79f0 \u4e2d \u51fa\u73b0 \u67d0\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5219 \u4f1a \u5c06 \u5176 \u89c6\u4e3a \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002   additional _ data   (   bool   )   -   \u542f\u7528 \u6216 \u7981\u7528 \u8bb0\u5f55 \u7528\u4e8e \u518d\u73b0 \u4eff\u771f \u7684 \u5fc5\u8981 \u975e\u5fc5\u8981 \u6570\u636e \uff08 \u8fb9\u754c \u6846 \u4f4d\u7f6e \u3001 \u7269\u7406 \u63a7\u5236 \u53c2\u6570 \u63a7\u5236\u53c2\u6570 \u7b49 \uff09 \u3002   stop _ recorder   (   self   )   \u505c\u6b62 \u6b63\u5728 \u8fdb\u884c \u7684 \u5f55\u5236 \u3002 \u5982\u679c \u60a8 \u5728 \u6587\u4ef6 \u6587\u4ef6\u540d \u4e2d \u6307\u5b9a \u4e86 \u4e00\u4e2a \u8def\u5f84 \uff0c \u5219 \u5f55\u5236 \u6587\u4ef6 \u5c06 \u5728 \u90a3\u91cc \u3002 \u5982\u679c \u6ca1\u6709 \uff0c \u8bf7 \u67e5\u770b   CarlaUE4 / Saved /   \u5185\u90e8 \u3002   stop _ replayer   (   self   ,   keep _ actors   )   \u505c\u6b62 \u5f53\u524d \u91cd\u64ad \u3002   \u53c2\u6570 \uff1a   keep _ actors   (   bool   )   -   \u5982\u679c \u4f60 \u60f3 \u81ea\u52a8 \u5220\u9664 \u91cd\u64ad \u4e2d \u7684 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5219 \u4e3a   True \uff0c \u5982\u679c \u4f60 \u60f3 \u4fdd\u7559 \u4ed6\u4eec \uff0c \u5219 \u4e3a   False \u3002   \u83b7\u53d6 \u5668   get _ available _ maps   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0a \u53ef\u7528 \u6620\u5c04 \u7684 \u8def\u5f84 \u3002 \u8fd9\u4e9b \u8def\u5f84 \u662f \u52a8\u6001 \u7684 \uff0c \u5b83\u4eec \u5c06 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u521b\u5efa \uff0c \u56e0\u6b64 \u5728 \u6587\u4ef6 \u4e2d \u67e5\u627e \u65f6 \u627e \u4e0d\u5230 \u5b83\u4eec \u3002 \u6b64 \u65b9\u6cd5 \u53ef\u80fd \u7684 \u8fd4\u56de \u7ed3\u679c \u4e4b\u4e00 \u662f \uff1a   [ ' / Game / Carla / Maps / Town01 ' ,   ' / Game / Carla / Maps / Town02 ' ,   ' / Game / Carla / Maps / Town03 ' ,   ' / Game / Carla / Maps / Town04 ' ,   ' / Game / Carla / Maps / Town05 ' ,   ' / Game / Carla / Maps / Town06 ' ,   ' / Game / Carla / Maps / Town07 ' ] .   \u8fd4\u56de \uff1a   list ( str )   get _ client _ version   (   self   )   \u901a\u8fc7 \u5728 \u201c version . h \u201d \u6587\u4ef6 \u4e2d \u67e5\u9605 \u5ba2\u6237 \u5ba2\u6237\u7aef libcarla \u7248\u672c \uff0c \u8fd4\u56de \u8be5 \u7248\u672c \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u90fd \u53ef\u4ee5 \u4f7f\u7528 \u4e0d\u540c \u7684 libcarla \u7248\u672c \uff0c \u4f46 \u53ef\u80fd \u4f1a \u51fa\u73b0 \u4e00\u4e9b \u4e0e \u610f\u5916 \u4e0d \u517c\u5bb9 \u6709\u5173 \u7684 \u95ee\u9898 \u3002   \u8fd4\u56de \uff1a   str   get _ required _ files   (   self   ,   folder   ,   download   = True   )   \u8be2\u95ee \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef \u9700\u8981 \u54ea\u4e9b \u6587\u4ef6 \u624d\u80fd \u4f7f\u7528 \u5f53\u524d \u5730\u56fe \u3002 \u5982\u679c \u6587\u4ef6 \u4e0d \u5728 \u7f13\u5b58 \u4e2d \uff0c \u5219 \u81ea\u52a8 \u4e0b\u8f7d \u6587\u4ef6 \u3002   \u53c2\u6570 \uff1a   folder   (   str   )   -   \u6307\u5b9a \u8981 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5730\u56fe \u4e0a \u67e5\u770b \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u8be5 \u53c2\u6570 \u4e3a\u7a7a \u5c06 \u9012\u5f52 \u641c\u7d22 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e2d \u7684 \u6240\u6709 \u5730\u56fe \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5982\u679c \u60a8 \u4e0d \u719f\u6089 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5730\u56fe \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784 \uff0c \u5efa\u8bae \u8fd9\u6837 \u505a \u3002   download   (   bool   )   -   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u4e0b\u8f7d \u7f13\u5b58 \u4e2d \u5c1a\u672a \u5b58\u5728 \u7684 \u6587\u4ef6 \u3002 \u7f13\u5b58 \u53ef\u4ee5 \u5728   HOME \\ carlaCache   \u6216   USERPROFILE \\ carlaCache   \u4e2d \u627e\u5230 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u3002   get _ server _ version   (   self   )   \u901a\u8fc7 \u5728   version . h   \u6587\u4ef6 \u4e2d \u67e5\u9605 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 libcarla \u7248\u672c \uff0c \u8fd4\u56de \u8be5 \u7248\u672c \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u90fd \u5e94\u8be5 \u4f7f\u7528 \u76f8\u540c \u7684 libcarla \u7248\u672c \u3002   \u8fd4\u56de \uff1a   str   get _ trafficmanager   (   self   ,   client _ connection   = 8000   )   \u8fd4\u56de \u4e0e \u6307\u5b9a \u7aef\u53e3 \u76f8\u5173 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u3002 \u5982\u679c \u8be5 \u5b9e\u4f8b \u4e0d \u5b58\u5728 \uff0c \u5219 \u4f1a \u521b\u5efa \u8be5 \u5b9e\u4f8b \u3002   \u53c2\u6570 \uff1a   client _ connection   (   int   )   -   \u5c06 \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4f7f\u7528 \u7684 \u7aef\u53e3 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   8000   \u3002   \u8fd4\u56de \uff1a   carla . TrafficManager   get _ world   (   self   )   \u8fd4\u56de \u4eff\u771f \u4e2d \u5f53\u524d \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u7684 \u4e16\u754c \u5bf9\u8c61 \u3002 \u8be5 \u4e16\u754c \u7a0d\u540e \u5c06 \u7528\u4e8e \u52a0\u8f7d \u5730\u56fe \u3002   \u8fd4\u56de \uff1a   carla . World   \u8bbe\u7f6e \u5668   set _ files _ base _ folder   (   self   ,   path   )   \u53c2\u6570 \uff1a   path   (   str   )   -   \u8fd4\u56de \u4eff\u771f \u4e2d \u5f53\u524d \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u7684 \u4e16\u754c \u5bf9\u8c61 \u3002 \u8be5 \u4e16\u754c \u7a0d\u540e \u5c06 \u7528\u4e8e \u52a0\u8f7d \u5730\u56fe \u3002   set _ replayer _ ignore _ hero   (   self   ,   ignore _ hero   )   \u53c2\u6570 \uff1a   ignore _ hero   (   bool   )   -   \u5728 \u64ad\u653e \u5f55\u5236 \u7684 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u542f\u7528 \u6216 \u7981\u7528 \u82f1\u96c4 \u8f66\u8f86 \u7684 \u64ad\u653e \u3002   set _ replayer _ ignore _ spectator   (   self   ,   ignore _ spectator   )   \u53c2\u6570 \uff1a   ignore _ spectator   (   bool   )   -   \u786e\u5b9a \u56de\u653e \u7a0b\u5e8f \u662f\u5426 \u4f1a \u590d\u5236 \u8bb0\u5f55 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u52a8\u4f5c \u3002   set _ replayer _ time _ factor   (   self   ,   time _ factor   = 1.0   )   \u4f7f\u7528 \u65f6 \uff0c \u4f1a \u968f\u610f \u4fee\u6539 \u91cd\u65b0 \u4eff\u771f \u7684 \u65f6\u95f4 \u901f\u5ea6 \u3002 \u5f53 \u64ad\u653e \u65f6 \uff0c \u5b83 \u53ef\u4ee5 \u4f7f\u7528 \u591a\u6b21 \u3002   \u53c2\u6570 \uff1a   time _ factor   (   float   )   -   1.0 \u8868\u793a \u6b63\u5e38 \u65f6\u95f4 \u901f\u5ea6 \u3002 \u5927\u4e8e 1.0 \u8868\u793a \u5feb\u901f \u8fd0\u52a8 \uff08 2.0 \u8868\u793a \u53cc\u500d \u901f\u5ea6 \uff09 \uff0c \u5c0f\u4e8e 1.0 \u8868\u793a \u6162\u901f \u8fd0\u52a8 \uff08 0.5 \u8868\u793a \u4e00\u534a \u901f\u5ea6 \uff09 \u3002   set _ timeout   (   self   ,   seconds   )   \u8bbe\u7f6e \u5728 \u963b\u6b62 \u7f51\u7edc \u8c03\u7528 \u5e76 \u5f15\u53d1 \u8d85\u65f6 \u8d85\u65f6 \u9519\u8bef \u4e4b\u524d \u5141\u8bb8 \u7f51\u7edc \u8c03\u7528 \u7684 \u6700\u957f \u65f6\u95f4 \u3002   \u53c2\u6570 \uff1a   seconds   (   float   -   seconds   )   -   \u65b0 \u7684 \u8d85 \u65f6\u503c \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a 5 \u79d2 \u3002   carla . CollisionEvent   \u4ece   carla . SensorData   \u7ee7\u627f   \u4e3a   sensor . other . collision   \u5b9a\u4e49 \u78b0\u649e \u6570\u636e \u7684 \u7c7b \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e3a \u68c0\u6d4b \u5230 \u7684 \u6bcf\u4e2a \u78b0\u649e \u521b\u5efa \u4e00\u4e2a \u78b0\u649e \u6570\u636e \u3002 \u6bcf\u4e2a \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6bcf\u5e27 \u6bcf\u4e2a \u78b0\u649e \u4ea7\u751f \u4e00\u4e2a \u78b0\u649e \u4e8b\u4ef6 \u3002 \u901a\u8fc7 \u4e0e \u591a\u4e2a \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u78b0\u649e \uff0c \u53ef\u4ee5 \u5728 \u5355\u4e2a \u5e27 \u4e2d \u4ea7\u751f \u591a\u4e2a \u78b0\u649e \u4e8b\u4ef6 \u3002 \u70b9\u51fb   \u6b64\u5904   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor   (   carla . Actor   )   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fde\u63a5 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4e5f \u5c31\u662f \u6d4b\u91cf \u78b0\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   other _ actor   (   carla . Actor   )   \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u53c2\u4e0e \u78b0\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   normal _ impulse   (   carla . Vector3D   -   N * s   )   \u78b0\u649e \u4ea7\u751f \u7684 \u6b63\u5e38 \u51b2\u91cf \u3002   carla . Color   \u5b9a\u4e49 32 \u4f4d RGBA \u989c\u8272 \u7684 \u7c7b \u3002   \u5b9e\u4f8b \u53d8\u91cf   r   (   int   )   \u7ea2\u8272   ( 0 - 255 ) \u3002   g   (   int   )   \u7eff\u8272   ( 0 - 255 ) \u3002   b   (   int   )   \u84dd\u8272   ( 0 - 255 ) \u3002   a   (   int   )   Alpha   \u901a\u9053   ( 0 - 255 ) \u3002   \u65b9\u6cd5   __ init __   (   self   ,   r   = 0   ,   g   = 0   ,   b   = 0   ,   a   = 255   )   \u521d\u59cb \u521d\u59cb\u5316 \u989c\u8272 \uff0c \u9ed8\u8ba4 \u4e3a \u9ed1\u8272 \u3002   \u53c2\u6570 \uff1a   r   (   int   )   g   (   int   )   b   (   int   )   a   (   int   )   Dunder   \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . Color   )   __ ne __   (   self   ,   other   =   carla . Color   )   __ str __   (   self   )   carla . ColorConverter   \u5b9a\u4e49 \u53ef \u5e94\u7528 \u4e8e   carla . Image   \u7684 \u8f6c\u6362 \u6a21\u5f0f \u7684 \u7c7b \uff0c \u4ee5 \u663e\u793a   carla . Sensor   \u63d0\u4f9b \u7684 \u4fe1\u606f \u3002 \u6df1\u5ea6 \u8f6c\u6362 \u4f1a \u5bfc\u81f4 \u7cbe\u5ea6 \u635f\u5931 \uff0c \u56e0\u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u6df1\u5ea6 \u68c0\u6d4b \u4e3a \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \uff0c \u7136\u540e \u5c06 \u5176 \u8f6c\u6362 \u4e3a   0   \u5230   255   \u4e4b\u95f4 \u7684 \u7070\u5ea6 \u503c \u3002 \u67e5\u770b   carla . Sensor . listen   \u4e2d \u7684 \u7247\u6bb5 \uff0c \u4e86\u89e3 \u5982\u4f55 \u521b\u5efa \u548c \u4fdd\u5b58 \u56fe\u50cf \u7684 \u793a\u4f8b   sensor . camera . semantic _ segmentation   \u7684 \u6570\u636e \u3002   \u5b9e\u4f8b \u53d8\u91cf   CityScapesPalette   \u4f7f\u7528 \u84dd \u56fe\u5e93 \u63d0\u4f9b \u7684 \u6807\u7b7e \u5c06 \u56fe\u50cf \u8f6c\u6362 \u4e3a \u5206\u6bb5 \u5730\u56fe \u3002 \u7531   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u4f7f\u7528 \u3002   Depth   \u5c06 \u56fe\u50cf \u8f6c\u6362 \u4e3a \u7ebf\u6027 \u6df1\u5ea6 \u6df1\u5ea6\u56fe \u3002 \u7531   \u6df1\u5ea6 \u76f8\u673a   \u4f7f\u7528 \u3002   LogarithmicDepth   \u4f7f\u7528 \u5bf9\u6570 \u523b\u5ea6 \u5c06 \u56fe\u50cf \u8f6c\u6362 \u4e3a \u6df1\u5ea6 \u6df1\u5ea6\u56fe \uff0c \u4ece\u800c \u5728 \u5c0f \u8ddd\u79bb \u4e0a \u83b7\u5f97 \u66f4\u597d \u7684 \u7cbe\u5ea6 \uff0c \u4f46 \u5728 \u8ddd\u79bb \u8f83 \u8fdc \u65f6\u4f1a \u4e22\u5931 \u7cbe\u5ea6 \u3002   Raw   \u672a \u5bf9 \u56fe\u50cf \u5e94\u7528 \u4efb\u4f55 \u66f4\u6539 \u3002 \u7531   RGB   \u76f8\u673a   \u4f7f\u7528 \u3002   carla . CustomV2XData   \u7ee7\u627f \u81ea   carla . SensorData   \u8fd9\u662f \u5b9a\u4e49 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 V2X \u6d88\u606f \u7684 \u6570\u636e \u7c7b\u578b \u6570\u636e\u7c7b\u578b \u3002 \u4f5c\u4e3a   CustomV2XEvent   \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u63a5\u6536 \u3002   \u5b9e\u4f8b \u53d8\u91cf   power   (   float   -   \u6beb\u74e6 \u5206\u8d1d   dBm   )   \u63a5\u6536 \u529f\u7387 \u3002   \u65b9\u6cd5   get   (   self   )   \u83b7\u53d6 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d88\u606f \u3002 \u8fd4\u56de \u5305\u542b \u6d88\u606f \u7684 \u5d4c\u5957 \u5b57\u5178 \u3002 \u5b83 \u6709 \u4e24\u4e2a \u4e3b\u952e \uff1a   -   Header   :   dict   -   Message   :   str .   \u8fd4\u56de \uff1a   dict   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . CustomV2XEvent   \u7ee7\u627f \u81ea   carla . SensorData   \u5b9a\u4e49   sensor . other . v2x _ custom   \u63d0\u4f9b \u7684 \u6570\u636e \u7684 \u7c7b \u3002 \u8fd9\u662f \u4e00\u79cd \u96c6\u5408 \u7c7b\u578b \uff0c \u7528\u4e8e \u7ec4\u5408 \u8fd4\u56de \u591a\u4e2a   CustomV2XData   \u3002   \u65b9\u6cd5   \u83b7\u53d6 \u5668   get _ message _ count   (   self   )   \u83b7\u53d6 \u63a5\u53d7 \u5230 \u7684   CAM   \u6570\u91cf \u3002   \u8fd4\u56de \uff1a   int   \u9b54\u672f \u65b9\u6cd5   __ get _ item __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728 \u83b7\u53d6 \u7684   CustomV2XData   \u6570\u636e \u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   carla . DVSEvent   \u5b9a\u4e49   DVS   \u4e8b\u4ef6 \u7684 \u7c7b \u3002 \u4e8b\u4ef6 \u662f \u4e00\u4e2a \u56db\u5143 \u5143\u7ec4 \u56db\u5143\u7ec4 \uff0c \u56e0\u6b64 \u662f \u4e00\u4e2a \u7531   4   \u4e2a \u5143\u7d20 \u7ec4\u6210 \u7684 \u5143\u7ec4 \uff0c \u5176\u4e2d   x   \u3001 \u50cf\u7d20   y   \u5750\u6807 \u4f4d\u7f6e \u3001 \u65f6\u95f4 \u6233   t   \u548c \u4e8b\u4ef6 \u6781\u6027   pol   \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u5173\u4e8e \u5b83\u4eec \u7684 \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   x   (   int   )   X   \u50cf\u7d20 \u5750\u6807 \u3002   y   (   int   )   Y   \u50cf\u7d20 \u5750\u6807 \u3002   t   (   int   )   \u4e8b\u4ef6 \u53d1\u751f \u65f6\u523b \u7684 \u65f6\u95f4 \u6233 \u3002   pol   (   bool   )   \u4e8b\u4ef6 \u7684 \u6781\u6027 \u3002   True   \u8868\u793a \u6b63\u6570 \uff0c   False   \u8868\u793a \u8d1f\u6570 \u3002   \u65b9\u6cd5   Dunder   \u65b9\u6cd5   __ str __   (   self   )   carla . DVSEventArray   \u5728   carla . DVSEvent   \u4e2d \u5b9a\u4e49 \u4e8b\u4ef6 \u6d41 \u7684 \u7c7b \u3002 \u6b64\u7c7b \u6d41\u662f \u4efb\u610f \u5927\u5c0f \u7684 \u6570\u7ec4 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4e8b\u4ef6 \u7684 \u6570\u91cf \u3002 \u4e3a\u4e86 \u65b9\u4fbf \u8d77 \u89c1 \uff0c \u8be5\u7c7b \u8fd8 \u5b58\u50a8 \u89c6\u91ce \u3001 \u56fe\u50cf \u7684 \u9ad8\u5ea6 \u548c \u5bbd\u5ea6 \u4ee5\u53ca \u65f6\u95f4 \u6233 \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u5173\u4e8e \u5b83\u4eec \u7684 \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   fov   (   float   -   \u5ea6   )   \u56fe\u50cf \u7684 \u6c34\u5e73 \u89c6\u91ce \u3002   height   (   int   )   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   width   (   int   )   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   (   \u5b57\u8282   )   \u65b9\u6cd5   to _ array   (   self   )   \u6309 \u4ee5\u4e0b \u987a\u5e8f \u5c06 \u4e8b\u4ef6 \u6d41 \u8f6c\u6362 \u4e3a   int   \u503c \u6570\u7ec4   [ x ,   y ,   t ,   pol ]   \u3002   to _ array _ pol   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u6570\u7ec4 \uff0c \u8be5 \u6570\u7ec4 \u5177\u6709 \u6d41\u4e2d \u6240\u6709 \u4e8b\u4ef6 \u7684 \u6781\u6027 \u3002   to _ array _ t   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u6570\u7ec4 \uff0c \u5176\u4e2d \u5305\u542b \u6d41\u4e2d \u6240\u6709 \u4e8b\u4ef6 \u7684 \u65f6\u95f4 \u6233 \u3002   to _ array _ x   (   self   )   \u8fd4\u56de \u6d41\u4e2d \u6240\u6709 \u4e8b\u4ef6 \u7684 X \u50cf\u7d20 \u5750\u6807 \u7684 \u6570\u7ec4 \u3002   to _ array _ y   (   self   )   \u8fd4\u56de \u6d41\u4e2d \u6240\u6709 \u4e8b\u4ef6 \u7684 Y \u50cf\u7d20 \u5750\u6807 \u6570\u7ec4 \u3002   to _ image   (   self   )   \u6309\u7167 \u4ee5\u4e0b \u6a21\u5f0f \u8f6c\u6362 \u56fe\u50cf \uff1a \u84dd\u8272 \u8868\u793a \u6b63 \u4e8b\u4ef6 \uff0c \u7ea2\u8272 \u8868\u793a \u8d1f \u4e8b\u4ef6 \u3002   \u9b54\u672f \u65b9\u6cd5   __ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728   carla . DVSEvent   \u4f5c\u4e3a \u68c0\u7d22 \u7684 \u6570\u636e \u4e0a \u8fed\u4ee3 \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   color   =   carla . Color   )   __ str __   (   self   )   carla . DebugHelper   carla . World   \u7684 \u8f85\u52a9 \u7c7b \u90e8\u5206 \uff0c \u5b9a\u4e49 \u521b\u5efa \u8c03\u8bd5 \u5f62\u72b6 \u7684 \u65b9\u6cd5 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5f62\u72b6 \u6301\u7eed   1   \u79d2 \u3002 \u5b83\u4eec \u53ef\u4ee5 \u662f \u6c38\u4e45 \u6c38\u4e45\u6027 \u7684 \uff0c \u4f46 \u8981 \u8003\u8651 \u5230 \u8fd9\u6837 \u505a \u6240 \u9700 \u7684 \u8d44\u6e90 \u3002 \u67e5\u770b \u6b64\u7c7b \u7684 \u53ef\u7528 \u7247\u6bb5 \uff0c \u4e86\u89e3 \u5982\u4f55 \u5728   Carla   \u4e2d \u8f7b\u677e \u8c03\u8bd5 \u3002   \u65b9\u6cd5   draw _ arrow   (   self   ,   begin   ,   end   ,   thickness   = 0.1   ,   arrow _ size   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u4ece \u5f00\u59cb   begin   \u5230 \u7ed3\u675f   end   \u7ed8\u5236 \u4e00\u4e2a \u6307\u5411 \u8be5 \u65b9\u5411 \u7684 \u7bad\u5934 \u3002   \u53c2\u6570 \uff1a   begin   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u5750\u6807\u7cfb \u4e2d \u7bad\u5934 \u5f00\u59cb \u7684 \u70b9 \u3002   end   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u5750\u6807\u7cfb \u4e2d \u7bad\u5934 \u7ed3\u675f \u5e76 \u6307\u5411 \u7684 \u70b9 \u3002   thickness   (   float   -   \u7c73   )   -   \u7ebf \u7684 \u5bc6\u5ea6 \u3002   arrow _ size   (   float   -   \u7c73   )   -   \u7bad\u5934 \u5c16\u7aef \u7684 \u5927\u5c0f \u3002   color   (   carla . Color   )   -   \u7528\u4e8e \u4e3a \u5bf9\u8c61 \u7740\u8272 \u7684   RGB   \u4ee3\u7801 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5c06 \u5176 \u8bbe\u7f6e   0   \u4e3a \u6c38\u4e45 \u5f62\u72b6 \u3002   draw _ box   (   self   ,   box   ,   rotation   ,   thickness   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   snippet   \u2192   \u7ed8\u5236 \u4e00\u4e2a \u6846 \uff0c \u901a\u5e38 \u7528\u4e8e \u5bf9\u8c61 \u78b0\u649e \u4f53 \u3002   \u53c2\u6570 \uff1a   box   (   carla . BoundingBox   )   -   \u5305\u542b \u6bcf\u4e2a \u8f74 \u7684 \u4f4d\u7f6e \u548c \u6846 \u957f\u5ea6 \u7684 \u5bf9\u8c61 \u3002   rotation   (   carla . Rotation   -   \u5ea6   ( pitch , yaw , roll )   )   -   \u6839\u636e \u865a\u5e7b \u5f15\u64ce \u8f74\u7cfb \u7684 \u8fb9\u754c \u6846 \u65b9\u5411 \u3002   thickness   (   float   -   \u7c73   )   -   \u5b9a\u4e49 \u8fb9\u754c \u6846 \u7684 \u7ebf \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   \u7528\u4e8e \u4e3a \u5bf9\u8c61 \u7740\u8272 \u7684   RGB   \u4ee3\u7801 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   \u79d2   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5c06 \u5176 \u8bbe\u7f6e   0   \u4e3a \u6c38\u4e45 \u5f62\u72b6 \u3002   draw _ hud _ arrow   (   self   ,   begin   ,   end   ,   thickness   = 0.1   ,   arrow _ size   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u5728 HUD \u4e0a \u4ece\u5934   begin   \u5230 \u5c3e   end   \u753b \u4e00\u4e2a \u7bad\u5934 \uff0c \u8fd9\u4e2a \u7bad\u5934 \u53ea\u80fd \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u770b\u5230 \u3002   \u53c2\u6570 \uff1a   begin   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u7cfb\u7edf \u4e2d \u7bad\u5934 \u8d77\u59cb \u7684 \u70b9 \u3002   end   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u7cfb\u7edf \u4e2d \u7bad\u5934 \u7ed3\u675f \u5e76 \u6307\u5411 \u7684 \u70b9 \u3002   thickness   (   float   -   \u7c73   )   -   \u7ebf \u7684 \u5bc6\u5ea6 \u3002   arrow _ size   (   float   -   \u7c73   )   -   \u7bad\u5c16 \u7684 \u5927\u5c0f \u3002   color   (   carla . Color   )   -   RGB \u7f16\u7801 \u4e3a \u5bf9\u8c61 \u4e0a \u8272 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5bf9\u4e8e \u6c38\u4e45 \u5f62\u72b6 \uff0c \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   0   \u3002   draw _ hud _ box   (   self   ,   box   ,   rotation   ,   thickness   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u5728   HUD   \u4e0a \u7ed8\u5236 \u4e00\u4e2a \u6846 \uff0c \u901a\u5e38 \u7528\u4e8e \u5bf9\u8c61 \u78b0\u649e \u4f53 \u3002 \u8be5\u6846 \u53ea\u80fd \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u770b\u5230 \u3002   Parameters :   box   (   carla . BoundingBox   )   -   \u5305\u542b \u6bcf\u4e2a \u8f74 \u7684 \u6846 \u7684 \u4f4d\u7f6e \u548c \u957f\u5ea6 \u7684 \u5bf9\u8c61 \u3002   rotation   (   carla . Rotation   -   degrees   ( pitch , yaw , roll )   )   -   \u6839\u636e \u865a\u5e7b \u5f15\u64ce \u7684 \u8f74 \u7cfb\u7edf \u786e\u5b9a \u8fb9\u754c \u6846 \u7684 \u65b9\u5411 \u3002   thickness   (   float   -   \u7c73   )   -   \u5b9a\u4e49 \u8fb9\u754c \u6846\u7ebf \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   RGB   \u7f16\u7801 \u4e3a \u5bf9\u8c61 \u4e0a \u8272 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5bf9\u4e8e \u6c38\u4e45 \u5f62\u72b6 \uff0c \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   0   \u3002   draw _ hud _ line   (   self   ,   begin   ,   end   ,   thickness   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u5728 HUD \u4e0a \u5f00\u59cb   begin   \u548c \u7ed3\u675f   end   \u4e4b\u95f4 \u753b \u4e00\u6761 \u4e00\u6761\u7ebf \u3002 \u8fd9\u6761 \u8fd9\u6761\u7ebf \u53ea\u80fd \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u770b\u5230 \u3002   \u53c2\u6570 \uff1a   begin   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u7cfb\u7edf \u4e2d \u76f4\u7ebf \u5f00\u59cb \u7684 \u70b9 \u3002   end   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u7cfb\u7edf \u4e2d \u76f4\u7ebf \u7ed3\u675f \u7684 \u70b9 \u3002   thickness   (   float   -   \u7c73   )   -   \u7ebf \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   RGB   \u7f16\u7801 \u4e3a \u5bf9\u8c61 \u4e0a \u8272 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   \u79d2   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5bf9\u4e8e \u6c38\u4e45 \u5f62\u72b6 \uff0c \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   0   \u3002   draw _ hud _ point   (   self   ,   location   ,   size   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u5728   HUD   \u7684 \u4f4d\u7f6e   location   \u4e0a \u7ed8\u5236 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u3002 \u8fd9\u4e2a \u70b9 \u53ea\u80fd \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u770b\u5230 \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   -   \u7c73   )   -   \u70b9 \u5728 \u5750\u6807 \u5750\u6807\u7cfb \u4e2d\u4f7f \u7269\u4f53 \u5c45\u4e2d \u3002   size   (   float   -   \u7c73   )   -   \u70b9 \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   RGB   \u7f16\u7801 \u4e3a \u5bf9\u8c61 \u4e0a \u8272 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5bf9\u4e8e \u6c38\u4e45 \u5f62\u72b6 \uff0c \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   0   \u3002   draw _ line   (   self   ,   begin   ,   end   ,   thickness   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u5728 \u5f00\u59cb   begin   \u548c \u7ed3\u675f   end   \u4e4b\u95f4 \u7ed8\u5236 \u4e00\u6761 \u4e00\u6761\u7ebf \u3002   \u53c2\u6570 \uff1a   begin   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u5750\u6807\u7cfb \u4e2d \u76f4\u7ebf \u8d77\u70b9 \u3002   end   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u5750\u6807\u7cfb \u4e2d \u76f4\u7ebf \u7ec8\u70b9 \u3002   thickness   (   float   -   \u7c73   )   -   \u7ebf \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   \u7528\u4e8e \u4e3a \u5bf9\u8c61 \u7740\u8272 \u7684   RGB   \u4ee3\u7801 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   \u79d2   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5c06 \u5176 \u8bbe\u7f6e   0   \u4e3a \u6c38\u4e45 \u5f62\u72b6 \u3002   draw _ point   (   self   ,   location   ,   size   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u7ed8\u5236 \u4e00\u4e2a \u4e00\u4e2a\u70b9   location   \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   -   \u7c73   )   -   \u5728 \u5750\u6807 \u5750\u6807\u7cfb \u4e2d\u70b9 \u4ee5 \u5c06 \u5bf9\u8c61 \u5c45\u4e2d \u3002   size   (   float   -   \u7c73   )   -   \u70b9 \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   \u7528\u4e8e \u4e3a \u5bf9\u8c61 \u7740\u8272 \u7684   RGB   \u4ee3\u7801 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5c06 \u5176 \u8bbe\u7f6e   0   \u4e3a \u6c38\u4e45 \u5f62\u72b6 \u3002   draw _ string   (   self   ,   location   ,   text   ,   draw _ shadow   = False   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   snippet   \u2192   \u5728 \u4eff\u771f \u7684 \u7ed9\u5b9a \u4f4d\u7f6e \u7ed8\u5236 \u4e00\u4e2a \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u8be5 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u53ea\u80fd \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u770b\u5230 \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   -   \u7c73   )   -   \u4eff\u771f \u4e2d \u6587\u672c \u5c45\u4e2d \u7684 \u4f4d\u7f6e \u3002   text   (   str   )   -   \u65e8\u5728 \u5411 \u4e16\u754c \u5c55\u793a \u7684 \u6587\u672c \u3002   draw _ shadow   (   bool   )   -   \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u6295\u5c04 \u9634\u5f71 \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u662f \u7981\u7528 \u7684 \u3002   color   (   carla . Color   )   -   \u7528\u4e8e \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7740\u8272 \u7684   RGB   \u4ee3\u7801 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5c06 \u5176 \u8bbe\u7f6e   0   \u4e3a \u6c38\u4e45 \u5f62\u72b6 \u3002   carla . EnvironmentObject   \u8868\u793a \u5173\u5361 \u4e2d \u7684 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u7684 \u7c7b \uff0c \u8be5 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u53ef\u4ee5 \u662f \u4e0e \u5176\u4ed6 \u73af\u5883 \u5bf9\u8c61 \uff08 \u5373 \uff1a \u5efa\u7b51 \u5efa\u7b51\u7269 \uff09 \u5f62\u6210 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b9e\u4f8b \u53d8\u91cf   transform   (   carla . Transform   )   \u5305\u542b \u73af\u5883 \u5bf9\u8c61 \u5728 \u4e16\u754c \u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002   bounding _ box   (   carla . BoundingBox   )   \u5305\u542b \u4e16\u754c \u7a7a\u95f4 \u4e2d \u6bcf\u4e2a \u8f74 \u7684 \u4f4d\u7f6e \u3001 \u65cb\u8f6c \u548c \u8fb9\u754c \u6846 \u957f\u5ea6 \u7684 \u5bf9\u8c61 \u3002   id   (   int   )   \u7528\u4e8e \u6807\u8bc6 \u5173\u5361 \u4e2d \u5bf9\u8c61 \u7684 \u552f\u4e00   ID \u3002   name   (   string   )   \u73af\u5883 \u5bf9\u8c61   EnvironmentObject   \u7684 \u540d\u79f0 \u3002   type   (   carla . CityObjectLabel   )   Semantic   tag .   \u65b9\u6cd5   Dunder   \u65b9\u6cd5   __ str __   (   self   )   \u5c06 \u73af\u5883 \u5bf9\u8c61 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5e76 \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u4e2d \u663e\u793a \u5b83\u4eec \u3002   \u8fd4\u56de \uff1a   str   carla . FloatColor   \u5b9a\u4e49 \u6d6e\u70b9   RGBA   \u989c\u8272 \u7684 \u7c7b \u3002   \u5b9e\u4f8b \u53d8\u91cf   r   (   float   )   \u7ea2\u8272 \u3002   g   (   float   )   \u7eff\u8272 \u3002   b   (   float   )   \u84dd\u8272 \u3002   a   (   float   )   Alpha   \u901a\u9053 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   r   = 0   ,   g   = 0   ,   b   = 0   ,   a   = 1.0   )   \u521d\u59cb \u521d\u59cb\u5316 \u989c\u8272 \uff0c \u9ed8\u8ba4 \u4e3a \u9ed1\u8272 \u3002   \u53c2\u6570 \uff1a   r   (   float   )   g   (   float   )   b   (   float   )   a   (   float   )   Dunder   \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . FloatColor   )   __ ne __   (   self   ,   other   =   carla . FloatColor   )   carla . GBufferTextureID   \u5b9a\u4e49 \u6bcf\u4e2a GBuffer \u7eb9\u7406   ( \u53c2\u89c1 \u65b9\u6cd5   [ carla . Sensor . listen _ to _ gbuffer ] ( # carla . Sensor . listen _ to _ gbuffer )   ) \u3002   \u5b9e\u4f8b \u53d8\u91cf   SceneColor   \u7eb9\u7406 \u201c SceneColor \u201d \u5305\u542b \u56fe\u50cf \u7684 \u6700\u7ec8 \u989c\u8272 \u3002   SceneDepth   \u7eb9\u7406 \u201c SceneDepth \u201d \u5305\u542b \u6df1\u5ea6 \u7f13\u51b2 \u7f13\u51b2\u533a   -   \u4ee5 \u4e16\u754c \u5355\u4f4d \u4e3a \u7ebf\u6027 \u3002   SceneStencil   \u7eb9\u7406 \u201c SceneStencil \u201d \u5305\u542b \u6a21\u677f \u7f13\u51b2 \u7f13\u51b2\u533a \u3002   GBufferA   \u7eb9\u7406 \u201c GBufferA \u201d \u5305\u542b   RGB   \u901a\u9053 \u4e2d \u7684 \u4e16\u754c \u7a7a\u95f4 \u6cd5\u7ebf \u5411\u91cf \u3002 Alpha   \u901a\u9053 \u5305\u542b \u201c \u6bcf\u4e2a \u5bf9\u8c61 \u7684 \u6570\u636e \u201d \u3002   GBufferB   \u7eb9\u7406 \u201c GBufferB \u201d \u5206\u522b \u5305\u542b   RGB   \u901a\u9053 \u4e2d \u7684 \u91d1\u5c5e \u3001 \u955c\u9762 \u548c \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u3002 Alpha   \u901a\u9053 \u5305\u542b \u4e00\u4e2a \u63a9\u7801 \uff0c \u5176\u4e2d \u4f4e   4   \u4f4d \u8868\u793a \u7740\u8272 \u6a21\u578b \uff0c \u9ad8   4   \u4f4d \u5305\u542b \u9009\u62e9 \u9009\u62e9\u6027 \u8f93\u51fa \u63a9\u7801 \u3002   GBufferC   \u7eb9\u7406 \u201c GBufferC \u201d \u5305\u542b   RGB   \u901a\u9053 \u4e2d \u7684 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u989c\u8272 \uff0c \u4ee5\u53ca   Alpha   \u901a\u9053 \u4e2d \u7684 \u95f4\u63a5 \u8f90\u7167 \u7167\u5ea6 \u8f90\u7167\u5ea6 \u3002   \u5982\u679c \u4e0d \u5141\u8bb8 \u9759\u6001 \u95ea\u7535 \uff0c Alpha   \u901a\u9053 \u5c06 \u5305\u542b \u73af\u5883 \u73af\u5883\u5149 \u906e\u6321 \u3002   GBufferD   \u201c GBufferD \u201d \u7684 \u5185\u5bb9 \u6839\u636e \u6e32\u67d3 \u5bf9\u8c61 \u7684 \u6750\u8d28 \u7740\u8272 \u6a21\u578b   ( GBufferB )   \u7684 \u4e0d\u540c \u800c \u6709\u6240 \u4e0d\u540c \u6709\u6240\u4e0d\u540c \uff1a   MSM _ Subsurface   ( 2 ) ,   MSM _ PreintegratedSkin   ( 3 ) ,   MSM _ TwoSidedFoliage   ( 6 ) :   RGB :   \u6b21 \u8868\u9762 \u989c\u8272 \u3002   A :   \u4e0d \u900f\u660e \u660e\u5ea6 \u900f\u660e\u5ea6 \u3002   MSM _ ClearCoat   ( 4 ) :   R :   \u900f\u660e \u6d82\u5c42 \u3002   G :   \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u3002   MSM _ SubsurfaceProfile   ( 5 ) :   RGB :   \u6b21 \u8868\u9762 \u8f6e\u5ed3 \u3002   MSM _ Hair   ( 7 ) :   RG :   \u4e16\u754c \u6cd5\u7ebf \u3002   B :   \u80cc\u5149 \u503c \u3002   MSM _ Cloth   ( 8 ) :   RGB :   \u6b21 \u8868\u9762 \u989c\u8272 \u3002   A :   Cloth   value .   MSM _ Eye   ( 9 ) :   RG :   \u773c \u5207\u7ebf \u3002   B :   \u8679\u819c \u63a9\u6a21 \u3002   A :   \u8679\u819c \u8ddd\u79bb \u3002   GBufferE   \u7eb9\u7406 \u201c GBufferE \u201d \u5305\u542b   RGBA   \u901a\u9053 \u4e2d \u9884\u5148 \u8ba1\u7b97 \u7684 \u9634\u5f71 \u56e0\u5b50 \u3002 \u5982\u679c \u9009\u62e9 \u9009\u62e9\u6027 \u8f93\u51fa \u63a9\u7801   ( GBufferB )   \u6ca1\u6709 \u8bbe\u7f6e \u5176 \u7b2c   4   \u4f4d \uff0c \u5219 \u6b64 \u7eb9\u7406 \u4e0d\u53ef \u7528 \u3002   GBufferF   \u7eb9\u7406 \u201c GBufferF \u201d \u5305\u542b   RGB   \u901a\u9053 \u4e2d \u7684 \u4e16\u754c \u7a7a\u95f4 \u5207\u7ebf \u548c   Alpha   \u901a\u9053 \u4e2d \u7684 \u5f02\u6027 \u5404\u5411\u5f02\u6027 \u3002 \u5982\u679c \u9009\u62e9 \u9009\u62e9\u6027 \u8f93\u51fa \u63a9\u7801   ( GBufferB )   \u6ca1\u6709 \u8bbe\u7f6e \u5176 \u7b2c   5   \u4f4d \uff0c \u5219 \u6b64 \u7eb9\u7406 \u4e0d\u53ef \u7528 \u3002   Velocity   \u7eb9\u7406 \u201c \u901f\u5ea6 \u201d \u5305\u542b \u573a\u666f \u5bf9\u8c61 \u7684 \u5c4f\u5e55 \u7a7a\u95f4 \u901f\u5ea6 \u3002   SSAO   \u7eb9\u7406 \u201c SSAO \u201d \u5305\u542b \u5c4f\u5e55 \u7a7a\u95f4 \u73af\u5883 \u73af\u5883\u5149 \u906e\u6321 \u7eb9\u7406 \u3002   CustomDepth   \u7eb9\u7406 \u201c CustomDepth \u201d \u5305\u542b \u865a\u5e7b \u5f15\u64ce \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6df1\u5ea6 \u6570\u636e \u3002   CustomStencil   \u7eb9\u7406 \u201c CustomStencil \u201d \u5305\u542b \u865a\u5e7b \u5f15\u64ce \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6a21\u677f \u6570\u636e \u3002   carla . GearPhysicsControl   \u901a\u8fc7 \u5b9a\u4e49 \u6863\u4f4d \u4ee5\u53ca \u4f55\u65f6 \u8fd0\u884c \u8be5 \u6863\u4f4d \u6765 \u63d0\u4f9b \u5bf9 \u8f66\u8f86 \u53d8\u901f \u53d8\u901f\u7bb1 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u7684 \u8bbf\u95ee \u7684 \u7c7b \u3002   carla . VehiclePhysicsControl   \u7a0d\u540e \u5c06 \u4f7f\u7528 \u5b83 \u6765 \u5e2e\u52a9 \u4eff\u771f \u7269\u7406 \u3002   \u5b9e\u4f8b \u53d8\u91cf   ratio   (   float   )   \u9f7f\u8f6e \u7684 \u4f20\u52a8 \u4f20\u52a8\u6bd4 \u3002   down _ ratio   (   float   )   \u5f53\u524d   RPM   \u4e0e \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u5e94\u964d \u6863 \u7684   MaxRPM   \u4e4b\u95f4 \u7684 \u5546 \u3002   up _ ratio   (   float   )   \u5f53\u524d   RPM   \u4e0e \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u5e94 \u5347\u6863 \u7684   MaxRPM   \u4e4b\u95f4 \u7684 \u5546 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   ratio   = 1.0   ,   down _ ratio   = 0.5   ,   up _ ratio   = 0.65   )   \u53c2\u6570 \uff1a   ratio   (   float   )   down _ ratio   (   float   )   up _ ratio   (   float   )   Dunder   \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . GearPhysicsControl   )   __ ne __   (   self   ,   other   =   carla . GearPhysicsControl   )   __ str __   (   self   )   carla . GeoLocation   \u5305\u542b \u5730\u7406 \u5750\u6807 \u5730\u7406\u5750\u6807 \u4eff\u771f \u6570\u636e \u7684 \u7c7b \u3002   carla . Map   \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u65b9\u6cd5 \u8f6c\u6362 \u4eff\u771f \u4f4d\u7f6e   OpenDRIVE   \u6587\u4ef6 \u4e2d \u7684   \u6807\u8bb0 \u3002   \u5b9e\u4f8b \u53d8\u91cf   latitude   (   float   -   \u5ea6   )   \u5730\u56fe \u4e0a \u67d0\u4e2a \u70b9 \u7684 \u5317 / \u5357\u503c \u3002   longitude   (   float   -   \u5ea6   )   \u5730\u56fe \u4e0a \u67d0\u4e2a \u70b9 \u7684 \u897f / \u4e1c\u503c \u3002   altitude   (   float   -   \u7c73   )   \u76f8\u5bf9 \u4e8e \u5730\u9762 \u7684 \u9ad8\u5ea6 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   latitude   = 0.0   ,   longitude   = 0.0   ,   altitude   = 0.0   )   \u53c2\u6570 \uff1a   latitude   (   float   -   \u5ea6   )   longitude   (   float   -   \u5ea6   )   altitude   (   float   -   \u7c73   )   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . GeoLocation   )   __ ne __   (   self   ,   other   =   carla . GeoLocation   )   __ str __   (   self   )   carla . GnssMeasurement   \u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49 \u7531   sensor . other . gnss   \u6ce8\u518c \u7684 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u6570\u636e \u7684 \u7c7b \u3002 \u5b83 \u672c\u8d28 \u4e0a \u662f \u901a\u8fc7 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4f4d\u7f6e \u548c   OpenDRIVE   \u5730\u7406 \u53c2\u8003 \u6765 \u62a5\u544a \u5176 \u4f4d\u7f6e \u3002   \u5b9e\u4f8b \u53d8\u91cf   altitude   (   float   -   \u7c73   )   \u76f8\u5bf9 \u4e8e \u5730\u9762 \u7684 \u9ad8\u5ea6 \u3002   latitude   (   float   -   \u5ea6   )   \u5730\u56fe \u4e0a \u67d0\u4e2a \u70b9 \u7684 \u5317 / \u5357\u503c \u3002   longitude   (   float   -   \u5ea6   )   \u5730\u56fe \u4e0a \u67d0\u4e2a \u70b9 \u7684 \u897f / \u4e1c\u503c \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . IMUMeasurement   \u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49 \u7531   sensor . other . imu   \u6ce8\u518c \u7684 \u6570\u636e \u7c7b \uff0c \u6d89\u53ca \u6839\u636e \u5f53\u524d   carla . World   \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f6c\u6362 \u3002 \u5b83 \u672c\u8d28 \u4e0a \u5145\u5f53 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \u3001 \u9640\u87ba \u9640\u87ba\u4eea \u548c \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \u3002   \u5b9e\u4f8b \u53d8\u91cf   accelerometer   (   carla . Vector3D   -   m / s   2   )   \u7ebf\u6027 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   compass   (   float   -   \u5f27\u5ea6   )   \u76f8\u5bf9 \u4e8e \u5317\u65b9 \u7684 \u65b9\u5411 \uff08 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d\u4e3a   [ 0.0 ,   - 1.0 ,   0.0 ] \uff09 \u3002   gyroscope   (   carla . Vector3D   -   \u5f27\u5ea6 / \u79d2   )   \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . Image   \u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49   32   \u4f4d   BGRA   \u989c\u8272 \u56fe\u50cf \u7684 \u7c7b \uff0c \u8be5 \u56fe\u50cf \u5c06 \u7528\u4f5c \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u7d22 \u7684 \u521d\u59cb \u6570\u636e \u3002 \u6709 \u4e0d\u540c \u7684 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u76ee\u524d \u6709 \u4e09\u79cd \uff0c RGB \u3001 \u6df1\u5ea6 \u548c \u8bed\u4e49 \u5206\u5272 \uff09 \uff0c \u6bcf\u79cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5bf9 \u56fe\u50cf \u90fd \u6709 \u4e0d\u540c \u7684 \u7528\u9014 \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u5173\u4e8e \u5b83\u4eec \u7684 \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   fov   (   float   -   \u5ea6   )   \u56fe\u50cf \u7684 \u6c34\u5e73 \u89c6\u91ce \u3002   height   (   int   )   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   width   (   int   )   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   (   bytes   )   \u50cf\u7d20 \u6570\u636e \u7684 \u6241\u5e73 \u6570\u7ec4 \uff0c \u4f7f\u7528   reshape   \u521b\u5efa \u56fe\u50cf \u6570\u7ec4 \u3002   \u65b9\u6cd5   convert   (   self   ,   color _ converter   )   \u6309\u7167   color _ converter   \u6a21\u5f0f \u8f6c\u6362 \u56fe\u50cf \u3002   \u53c2\u6570 \uff1a   color _ converter   (   carla . ColorConverter   )   save _ to _ disk   (   self   ,   path   ,   color _ converter   = Raw   )   \u4f7f\u7528 \u5982\u4e0b \u6240\u793a \u7684 \u8f6c\u6362 \u8f6c\u6362\u5668 \u6a21\u5f0f   color _ converter   \u5c06 \u56fe\u50cf \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002 \u9ed8\u8ba4 \u8f6c\u6362 \u6a21\u5f0f \u662f   Raw   \uff0c \u4e0d\u4f1a \u5bf9 \u56fe\u50cf \u8fdb\u884c \u4efb\u4f55 \u66f4\u6539 \u3002   \u53c2\u6570 \uff1a   path   (   str   )   -   \u5c06 \u5305\u542b \u56fe\u50cf \u7684 \u8def\u5f84 \u3002   color _ converter   (   carla . ColorConverter   )   -   \u9ed8\u8ba4   Raw   \u4e0d\u4f1a \u8fdb\u884c \u4efb\u4f55 \u66f4\u6539 \u3002   \u9b54\u672f \u65b9\u6cd5   __ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728 \u5f62\u6210 \u56fe\u50cf \u7684   carla . Color   \u4e0a\u9762 \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   color   =   carla . Color   )   __ str __   (   self   )   carla . Junction   \u6839\u636e   OpenDRIVE   1.4   \u6807\u51c6 \uff0c \u4f53\u73b0   OpenDRIVE   \u6587\u4ef6 \u4e2d \u63cf\u8ff0 \u7684 \u9053\u8def \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u7684 \u7c7b \u3002   \u5b9e\u4f8b \u53d8\u91cf   id   (   int   )   OpenDRIVE   \u6587\u4ef6 \u4e2d \u627e\u5230 \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   bounding _ box   (   carla . BoundingBox   )   \u5c01\u88c5 \u8fde\u63a5 \u8f66\u9053 \u7684 \u8fb9\u754c \u6846 \u3002   \u65b9\u6cd5   \u83b7\u53d6 \u5668   get _ waypoints   (   self   ,   lane _ type   )   \u8fd4\u56de \u8def\u5f84 \u70b9 \u5bf9 \u7684 \u5217\u8868 \u3002 \u5217\u8868 \u4e2d \u7684 \u6bcf\u4e2a \u5143\u7ec4 \u9996\u5148 \u5305\u542b \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u8fb9\u754c \u5185 \u7684 \u521d\u59cb \u8def\u5f84 \u70b9 \uff0c \u7136\u540e \u5305\u542b \u6700\u7ec8 \u8def\u5f84 \u70b9 \uff0c \u63cf\u8ff0 \u6cbf \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u7684 \u6240\u8ff0 \u8f66\u9053 \u7684 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u3002 \u8f66\u9053 \u9075\u5faa \u5176   OpenDRIVE   \u5b9a\u4e49 \uff0c \u56e0\u6b64 \u7531\u4e8e \u53ef\u80fd \u7684 \u504f\u5dee \uff0c \u53ef\u80fd \u6709 \u8bb8\u591a \u4e0d\u540c \u7684 \u5143\u7ec4 \u5177\u6709 \u76f8\u540c \u7684 \u8d77\u59cb \u8def\u5f84 \u70b9 \uff0c \u56e0\u4e3a \u8fd9 \u88ab \u89c6\u4e3a \u4e0d\u540c \u7684 \u8f66\u9053 \u3002   \u53c2\u6570 \uff1a   lane _ type   (   carla . LaneType   )   -   \u83b7\u53d6 \u8def\u70b9 \u7684 \u8f66\u9053 \u7c7b\u578b \u3002   \u8fd4\u56de \uff1a   list ( tuple (   carla . Waypoint   ) )   carla . LabelledPoint   \u4f7f\u7528 \u8bed\u4e49 \u6807\u7b7e \u8868\u793a \u7a7a\u95f4 \u4f4d\u7f6e \u7684 \u7c7b \u3002   \u5b9e\u4f8b \u53d8\u91cf   location   \u4e09\u7ef4 \u7a7a\u95f4 \u7ef4\u7a7a\u95f4 \u4e09\u7ef4\u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u3002   label   \u70b9 \u7684 \u8bed\u4e49 \u6807\u7b7e \u3002   carla . Landmark   \u5b9a\u4e49 \u5f71\u54cd \u9053\u8def \u7684 \u4efb\u4f55 \u7c7b\u578b \u7684 \u4ea4\u901a \u5730\u6807 \u6216 \u6807\u5fd7 \u7684 \u7c7b \u3002 \u8fd9\u4e9b \u7c7b \u5728 \u5730 \u6807\u7684   OpenDRIVE   1.4   standard   \u6807\u51c6 \u5b9a\u4e49 \u53ca\u5176 \u5728 \u4eff\u771f \u4e2d \u7684 \u8868\u793a \u4e4b\u95f4 \u8fdb\u884c \u534f\u8c03 \u3002 \u6b64\u7c7b \u68c0\u7d22 \u5728   OpenDRIVE   \u4e2d \u5b9a\u4e49 \u5730 \u6807\u7684 \u6240\u6709 \u4fe1\u606f \uff0c \u5e76 \u63d0\u4f9b \u6709\u5173 \u5176 \u5f71\u54cd \u54ea\u4e9b \u8f66\u9053 \u4ee5\u53ca \u4f55\u65f6 \u5f71\u54cd \u7684 \u4fe1\u606f \u3002   carla . Waypoint   \u5bf9\u8c61 \u5c06 \u5c1d\u8bd5 \u68c0\u7d22 \u5176 \u8f66\u9053 \u89c4\u5219 \u6765 \u8bbf\u95ee \u5730\u6807 \u3002 \u56e0\u6b64 \uff0c \u67d0\u4e9b \u5c5e\u6027 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u6b63\u5728 \u54a8\u8be2 \u5730 \u6807\u7684 \u8def\u5f84 \u70b9 \uff0c \u4ece\u800c \u521b\u5efa \u5bf9\u8c61 \u521b\u5efa\u5bf9\u8c61 \u3002   \u5b9e\u4f8b \u53d8\u91cf   road _ id   (   int   )   \u5b9a\u4e49 \u6b64\u5730 \u6807\u7684 \u9053\u8def \u7684   OpenDRIVE   ID \u3002 \u7531\u4e8e   OpenDRIVE   \u9053\u8def \u5b9a\u4e49 \uff0c \u8be5 \u9053\u8def \u53ef\u80fd \u4e0e \u5730\u6807 \u5f53\u524d \u5f71\u54cd \u7684 \u9053\u8def \u4e0d\u540c \u3002 \u8fd9\u79cd \u60c5\u51b5 \u4e3b\u8981 \u53d1\u751f \u5728 \u4e0d\u540c \u8def\u7ebf \u7684 \u9053\u8def \u5206\u53c9 \u5904 \u3002   \u793a\u4f8b \uff1a \u5728 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u7684 \u4e00\u6761 \u5206\u53c9 \u9053\u8def \u4e2d \u5b9a\u4e49 \u4e86 \u4e00\u4e2a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff0c \u4f46 \u5b83 \u4f1a \u5f71\u54cd \u6240\u6709 \u53ef\u80fd \u7684 \u8def\u7ebf   \u3002   distance   (   float   -   \u7c73   )   \u5730\u6807 \u4e0e \u521b\u5efa \u5bf9\u8c61 \u521b\u5efa\u5bf9\u8c61 \u7684 \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \uff08 \u67e5\u8be2   get _ landmarks   \u6216   get _ landmarks _ of _ type   \uff09 \u3002   s   (   float   -   \u7c73   )   \u5730\u6807 \u6cbf \u9053\u8def \u51e0\u4f55 \u5f62\u72b6 \u5b9a\u4f4d \u7684 \u8ddd\u79bb   road _ id   \u3002   t   (   float   -   \u7c73   )   \u5730\u6807 \u8ddd \u9053\u8def \u8fb9\u7f18 \u7684 \u6a2a\u5411 \u8ddd\u79bb   road _ id   \u3002   id   (   str   )   OpenDRIVE   \u6587\u4ef6 \u4e2d \u5730 \u6807\u7684 \u552f\u4e00   ID \u3002   name   (   str   )   OpenDRIVE   \u6587\u4ef6 \u4e2d \u7684 \u5730\u6807 \u540d\u79f0 \u3002   is _ dynamic   (   bool   )   \u6307\u793a \u5730 \u6807\u7684 \u72b6\u6001 \u662f\u5426 \u968f \u65f6\u95f4 \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \uff0c \u4f8b\u5982 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002   orientation   (   carla . LandmarkOrientation   -   \u7c73   )   \u6307\u793a \u5730\u6807 \u9762\u5411 \u7684 \u8f66\u9053 \u3002   z _ offset   (   float   -   \u7c73   )   \u653e\u7f6e \u5730 \u6807\u7684 \u9ad8\u5ea6 \u3002   country   (   str   )   \u5b9a\u4e49 \u5730 \u6807\u7684 \u56fd\u5bb6 / \u5730\u533a \u4ee3\u7801 \uff08 OpenDRIVE   \u9ed8\u8ba4 \u4e3a \u5fb7\u56fd   2017 \uff09 \u3002   type   (   str   )   \u6839\u636e \u56fd\u5bb6 / \u5730\u533a \u4ee3\u7801 \u8f93\u5165 \u8f93\u5165\u5730 \u6807\u7684 \u7c7b\u578b \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   sub _ type   (   str   )   \u6839\u636e \u56fd\u5bb6 / \u5730\u533a \u4ee3\u7801 \u7684 \u5730\u6807 \u5b50 \u7c7b\u578b \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   value   (   float   )   \u4fe1\u53f7 \u4e2d \u6253\u5370 \u7684 \u503c \uff08 \u4f8b\u5982 \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u3001 \u6700\u5927 \u91cd\u91cf \u7b49 \uff09 \u3002   unit   (   str   )   \u5c5e\u6027   value   \u7684 \u6d4b\u91cf \u5355\u4f4d \u3002   height   (   float   -   \u7c73   )   \u4fe1\u53f7 \u7684 \u603b \u9ad8\u5ea6 \u3002   width   (   float   -   \u7c73   )   \u4fe1\u53f7 \u7684 \u603b \u5bbd\u5ea6 \u3002   text   (   str   )   \u4fe1\u53f7 \u4e2d \u7684 \u9644\u52a0 \u6587\u672c \u3002   h _ offset   (   float   -   \u7c73   )   \u4fe1\u53f7 \u76f8\u5bf9 \u4e8e OpenDRIVE \u4e2d   s   \u5904   road _ id   \u5b9a\u4e49 \u7684 \u65b9\u5411 \u504f\u79fb \u3002   pitch   (   float   -   \u7c73   )   \u4fe1\u53f7 \u7684 \u4fef\u4ef0 \u4ef0\u89d2 \u4fef\u4ef0\u89d2   ( Y - \u8f74 \u5728 \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u7cfb\u7edf ) .   roll   (   float   )   \u4fe1\u53f7 \u7684 \u7ffb\u6eda \u89d2   ( X - \u8f74 \u5728 \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u7cfb\u7edf ) .   waypoint   (   carla . Waypoint   )   \u653e\u7f6e \u5728 \u8fdb\u884c \u67e5\u8be2 \u7684 \u8f66\u9053 \u548c \u5730\u6807   s   \u5904 \u7684 \u8def\u5f84 \u70b9 \u3002 \u8fd9\u662f \u5730\u6807 \u6709\u6548 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002   transform   (   carla . Transform   )   \u4eff\u771f \u4e2d \u5730 \u6807\u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002   \u65b9\u6cd5   \u83b7\u53d6 \u5668   get _ lane _ validities   (   self   )   \u8fd4\u56de \u5730\u6807 \u5f71\u54cd \u7684 \u8f66\u9053 \u3002 \u7531\u4e8e \u53ef\u80fd \u5b58\u5728 \u5730\u6807 \u65e0\u6548 \u7684 \u7279\u5b9a \u8f66\u9053 \uff0c \u56e0\u6b64 \u8fd4\u56de \u7684 \u662f \u5305\u542b \u53d7 \u5f71\u54cd \u7684   lane _ id   \u8303\u56f4 \u7684 \u5bf9 \u5217\u8868 \uff1a   \u793a\u4f8b \uff1a \u5728 \u6709 5 \u6761 \u8f66\u9053 \u7684 \u9053\u8def \u4e2d \uff0c \u5176\u4e2d 3 \u4e0d\u53d7 \u6761\u4e0d\u53d7 \u5f71\u54cd \uff1a [ ( from _ lane1 , to _ lane2 ) , ( from _ lane4   , to _ lane5 ) ]   \u3002   \u8fd4\u56de \uff1a   list ( tuple ( int ) )   carla . LandmarkOrientation   \u7528\u4e8e \u5b9a\u4e49 \u9053\u8def \u4e2d \u5730\u6807 \u65b9\u5411 \u7684 \u8f85\u52a9 \u7c7b \u3002 \u8be5 \u5b9a\u4e49 \u5e76\u975e \u76f4\u63a5 \u4ece   OpenDRIVE   \u8f6c\u6362 \u800c \u6765 \uff0c \u800c\u662f \u4e3a\u4e86 \u4fbf\u4e8e \u7406\u89e3 \u800c \u8fdb\u884c \u4e86 \u8f6c\u6362 \u3002   \u5b9e\u4f8b \u53d8\u91cf   Positive   \u5730\u6807 \u671d\u5411 \u4e0e \u9053\u8def \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u5b9a\u4e49 \u65b9\u5411 \u76f8\u540c \u7684 \u8f66\u8f86 \uff08 OpenDRIVE   \u4e2d \u7684   0   \u8f66\u9053 \u548c \u8d1f \u8f66\u9053 \uff09 \u3002   Negative   \u5730\u6807 \u671d\u5411 \u4e0e \u9053\u8def \u51e0\u4f55 \u5b9a\u4e49 \u76f8\u53cd \u65b9\u5411 \u884c\u9a76 \u7684 \u8f66\u8f86 \uff08 OpenDRIVE \u4e2d \u7684 \u6b63 \u8f66\u9053 \uff09 \u3002   Both   \u90fd \u4f1a \u5f71\u54cd \u6cbf \u9053\u8def \u4e24\u4e2a \u65b9\u5411 \u884c\u9a76 \u7684 \u8f66\u8f86 \u3002   carla . LandmarkType   Helper   \u7c7b \u5305\u542b   OpenDRIVE   \u6807\u51c6   \uff08 \u5fb7\u56fd   2017 \uff09 \u4e2d \u9ed8\u8ba4 \u56fd\u5bb6 / \u5730\u533a \u4ee3\u7801 \u5b9a\u4e49 \u7684 \u4e00\u7ec4 \u5e38\u7528 \u5730\u6807 \u7c7b\u578b \u3002   carla . Landmark   \u4e0d \u5f15\u7528 \u6b64\u7c7b \u3002 \u5730\u6807 \u7c7b\u578b \u662f \u4e00\u4e2a \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u6839\u636e \u6240 \u4f7f\u7528 \u7684 \u56fd\u5bb6 / \u5730\u533a \u4ee3\u7801 \u7684 \u4e0d\u540c \uff0c \u5176 \u53d8\u5316 \u5f88\u5927 \u53d8\u5316\u5f88\u5927 \u3002 \u6b64\u7c7b \u4ec5 \u901a\u8fc7 \u5c06 \u9ed8\u8ba4 \u96c6\u4e2d \u7684 \u4e00\u4e9b \u6700 \u5e38\u7528 \u7684 \u63cf\u8ff0 \u4e3a \u679a\u4e3e \u6765 \u4f7f \u7ba1\u7406 \u5b83\u4eec \u53d8\u5f97 \u66f4 \u5bb9\u6613 \u3002   \u5b9e\u4f8b \u53d8\u91cf   Danger   \u7c7b\u578b   101 \u3002   LanesMerging   \u7c7b\u578b   121 \u3002   CautionPedestrian   \u7c7b\u578b   133 \u3002   CautionBicycle   \u7c7b\u578b   138 \u3002   LevelCrossing   \u7c7b\u578b   150 \u3002   StopSign   \u7c7b\u578b   206 \u3002   YieldSign   \u7c7b\u578b   205 \u3002   MandatoryTurnDirection   \u7c7b\u578b   209 \u3002   MandatoryLeftRightDirection   \u7c7b\u578b   211 \u3002   TwoChoiceTurnDirection   \u7c7b\u578b   214 \u3002   Roundabout   \u7c7b\u578b   215 \u3002   PassRightLeft   \u7c7b\u578b   222 \u3002   AccessForbidden   \u7c7b\u578b   250 \u3002   AccessForbiddenMotorvehicles   \u7c7b\u578b   251 \u3002   AccessForbiddenTrucks   \u7c7b\u578b   253 \u3002   AccessForbiddenBicycle   \u7c7b\u578b   254 \u3002   AccessForbiddenWeight   \u7c7b\u578b   263 \u3002   AccessForbiddenWidth   \u7c7b\u578b   264 \u3002   AccessForbiddenHeight   \u7c7b\u578b   265 \u3002   AccessForbiddenWrongDirection   \u7c7b\u578b   267 \u3002   ForbiddenUTurn   \u7c7b\u578b   272 \u3002   MaximumSpeed   \u7c7b\u578b   274 \u3002   ForbiddenOvertakingMotorvehicles   \u7c7b\u578b   276 \u3002   ForbiddenOvertakingTrucks   \u7c7b\u578b   277 \u3002   AbsoluteNoStop   \u7c7b\u578b   283 \u3002   RestrictedStop   \u7c7b\u578b   286 \u3002   HasWayNextIntersection   \u7c7b\u578b   301 \u3002   PriorityWay   \u7c7b\u578b   306 \u3002   PriorityWayEnd   \u7c7b\u578b   307 \u3002   CityBegin   \u7c7b\u578b   310 \u3002   CityEnd   \u7c7b\u578b   311 \u3002   Highway   \u7c7b\u578b   330 \u3002   DeadEnd   \u7c7b\u578b   357 \u3002   RecomendedSpeed   \u7c7b\u578b   380 \u3002   RecomendedSpeedEnd   \u7c7b\u578b   381 \u3002   carla . LaneChange   \u5b9a\u4e49 \u5de6\u8f6c \u3001 \u53f3\u8f6c \u3001 \u53cc\u8f6c \u6216 \u4e0d \u8f6c \u7684 \u6743\u9650 \u7684 \u7c7b \uff08 \u610f\u5473 \u610f\u5473\u7740 \u53ea \u5141\u8bb8 \u76f4\u884c \uff09 \u3002 \u6839\u636e   OpenDRIVE   \u6587\u4ef6 \u4e3a \u6bcf\u4e2a   carla . Waypoint   \u5b58\u50a8 \u6b64 \u4fe1\u606f \u3002   carla . Map . get _ waypoint   \u4e2d \u7684 \u7247\u6bb5 \u663e\u793a \u4e86 \u5982\u4f55 \u4f7f\u7528 \u8def\u5f84 \u70b9\u6765 \u4e86\u89e3 \u5141\u8bb8 \u54ea\u4e9b \u8f6c\u5f2f \u3002   \u5b9e\u4f8b \u53d8\u91cf   NONE   \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u4e0d \u5141\u8bb8 \u53f3\u8f6c \u6216 \u5de6\u8f6c \uff0c \u53ea\u80fd \u76f4\u884c \u3002   Right   \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u5141\u8bb8 \u53f3\u8f6c \u3002   Left   \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u5141\u8bb8 \u5de6\u8f6c \u3002   Both   \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u90fd \u5141\u8bb8 \u53f3\u8f6c \u6216 \u5de6\u8f6c \u3002   carla . LaneInvasionEvent   \u4ece   carla . SensorData   \u7ee7\u627f   \u4e3a   sensor . other . lane _ invasion   \u5b9a\u4e49 \u538b\u7ebf \u7684 \u7c7b \u3002 \u5b83 \u4ec5 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5de5\u4f5c \uff0c \u5e76 \u4f9d\u8d56   OpenDRIVE   \u6765 \u63d0\u4f9b \u53ef\u9760 \u7684 \u4fe1\u606f \u3002 \u6bcf\u6b21 \u53d1\u751f \u538b\u7ebf \u65f6 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u4f1a \u521b\u5efa \u4e00\u4e2a \u8fd9\u6837 \u7684 \u60c5\u51b5 \uff0c \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u53ef\u80fd \u4f1a \u53d1\u751f \u591a\u6b21 \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor   (   carla . Actor   )   \u83b7\u53d6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6240 \u8fde\u63a5 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5373 \u4fb5\u5165 \u53e6 \u4e00 \u8f66\u9053 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   crossed _ lane _ markings   (   list (   carla . LaneMarking   )   )   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5df2 \u7a7f\u8fc7 \u5e76 \u68c0\u6d4b \u5230 \u7684 \u8f66\u9053 \u6807\u8bb0 \u5217\u8868 \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . LaneMarking   \u6839\u636e   OpenDRIVE   1.4   \u6807\u51c6   \u6536\u96c6 \u6709\u5173 \u8f66\u9053 \u6807\u8bb0 \u7684 \u6240\u6709 \u4fe1\u606f \u7684 \u7c7b \u3002   \u5b9e\u4f8b \u53d8\u91cf   color   (   carla . LaneMarkingColor   )   \u6807\u8bb0 \u7684 \u5b9e\u9645 \u989c\u8272 \u3002   lane _ change   (   carla . LaneChange   )   \u8de8\u8d8a \u6240\u8ff0 \u8f66\u9053 \u6807\u8bb0 \u7684 \u6743\u9650 \u3002   type   (   carla . LaneMarkingType   )   \u8f66\u9053 \u6807\u8bb0 \u7c7b\u578b \u3002   width   (   float   )   \u6c34\u5e73 \u8f66\u9053 \u6807\u8bb0 \u539a\u5ea6 \u3002   carla . LaneMarkingColor   \u6839\u636e   OpenDRIVE   1.4   \u5b9a\u4e49 \u8f66\u9053 \u6807\u8bb0 \u989c\u8272 \u7684 \u7c7b \u3002   \u5b9e\u4f8b \u53d8\u91cf   Standard   \u9ed8\u8ba4 \u4e3a \u767d\u8272 \u3002   Blue   Green   Red   White   Yellow   Other   carla . LaneMarkingType   \u5b9a\u4e49   OpenDRIVE   1.4   \u63a5\u53d7 \u7684 \u8f66\u9053 \u6807\u8bb0 \u7c7b\u578b \u7684 \u7c7b \u3002   carla . Map . get _ waypoint   \u4e2d \u7684 \u7247\u6bb5 \u663e\u793a \u4e86 \u5982\u4f55 \u4f7f\u7528 \u8def\u5f84 \u70b9\u6765 \u68c0\u7d22 \u6709\u5173 \u76f8\u90bb \u8f66\u9053 \u6807\u8bb0 \u7684 \u4fe1\u606f \u3002   \u5173\u4e8e \u53cc \u7cbe\u5ea6 \u7c7b\u578b \u7684 \u6ce8\u610f \u4e8b\u9879 \u6ce8\u610f\u4e8b\u9879 \uff1a   \u8f66\u9053 \u6807\u8bb0 \u662f \u6839\u636e   OpenDRIVE   \u6807\u51c6 \u5b9a\u4e49 \u7684 \uff0c \u8be5 \u6807\u51c6 \u786e\u5b9a \u4e00\u6761 \u4e00\u6761\u7ebf \u5c06 \u88ab \u89c6\u4e3a \u201c BrokenSolid \u201d \u6216 \u201c SolidBroken \u201d \u3002 \u6bcf\u6761 \u9053\u8def \u90fd \u6709 \u4e00\u4e2a \u4e2d\u5fc3 \u8f66\u9053 \u6807\u8bb0 \uff0c \u6839\u636e \u8f66\u9053 \u65b9\u5411 \u4ece\u5de6\u5230\u53f3 \u5b9a\u4e49 \u3002 \u5176\u4f59 \u8f66\u9053 \u6807\u8bb0 \u6309 \u4ece \u4e2d\u5fc3 \u8f66\u9053 \u5230 \u6700\u8fd1 \u7684 \u9053\u8def \u5916\u4fa7 \u7684 \u987a\u5e8f \u5b9a\u4e49 \u3002   \u5b9e\u4f8b \u53d8\u91cf   NONE   Other   Broken   Solid   SolidSolid   SolidBroken   BrokenSolid   BrokenBroken   BottsDots   Grass   Curb   carla . LaneType   \u5b9a\u4e49   OpenDRIVE   1.4   \u63a5\u53d7 \u7684 \u53ef\u80fd \u901a\u9053 \u7c7b\u578b \u7684 \u7c7b \u3002 \u8be5 \u6807\u51c6 \u5b9a\u4e49 \u4e86 \u9053\u8def \u4fe1\u606f \u3002   carla . Map . get _ waypoint   \u4e2d \u7684 \u7247\u6bb5 \u5229\u7528 \u8def\u70b9 \u6765 \u83b7\u53d6 \u5f53\u524d \u548c \u76f8\u90bb \u8f66\u9053 \u7c7b\u578b \u3002   \u5b9e\u4f8b \u53d8\u91cf   NONE   Driving   Stop   Shoulder   Biking   Sidewalk   Border   Restricted   Parking   Bidirectional   Median   Special1   Special2   Special3   RoadWorks   Tram   Rail   Entry   Exit   OffRamp   OnRamp   Any   \u9664   NONE   \u4e4b\u5916 \u7684 \u6240\u6709 \u7c7b\u578b \u3002   carla . LidarDetection   carla . LidarMeasurement   \u4e2d \u5305\u542b \u7684 \u6570\u636e \u3002 \u5176\u4e2d \u6bcf \u4e00\u4e2a \u90fd \u4ee3\u8868 \u4e91\u4e2d \u7684 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u53ca\u5176 \u4f4d\u7f6e \u548c \u76f8\u5173 \u5f3a\u5ea6 \u3002   \u5b9e\u4f8b \u53d8\u91cf   point   (   carla . Location   -   \u7c73   )   xyz   \u5750\u6807 \u4e2d \u7684 \u70b9 \u3002   intensity   (   float   )   \u8ba1\u7b97 \u8be5\u70b9 \u7684 \u5f3a\u5ea6 \u4f5c\u4e3a   [ 0.0   ,   1.0 ]   \u4e4b\u95f4 \u7684 \u6807\u91cf \u503c \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . LidarMeasurement   \u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49 \u7531   sensor . lidar . ray _ cast   \u68c0\u7d22 \u7684 LIDAR \u6570\u636e \u7684 \u7c7b \u3002 \u8fd9 \u672c\u8d28 \u4e0a \u662f \u4f7f\u7528 \u5149\u7ebf \u6295\u5c04 \u4eff\u771f \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   channels   (   int   )   \u53d1\u5c04 \u7684 \u6fc0\u5149 \u6570\u91cf \u3002   horizontal _ angle   (   float   -   radians   )   \u6d4b\u91cf \u65f6   LIDAR   \u65cb\u8f6c \u7684 \u6c34\u5e73 \u89d2\u5ea6 \u3002   raw _ data   (   bytes   )   \u63a5\u6536 \u5230 \u7684   4D   \u70b9 \u5217\u8868 \u3002 \u6bcf\u4e2a \u70b9 \u7531   [ x , y , z ]   \u5750\u6807 \u52a0\u4e0a \u4e3a \u8be5\u70b9 \u8ba1\u7b97 \u7684 \u5f3a\u5ea6 \u7ec4\u6210 \u3002   \u65b9\u6cd5   save _ to _ disk   (   self   ,   path   )   \u5c06 \u70b9\u4e91 \u4f5c\u4e3a \u63cf\u8ff0 \u6765\u81ea   3D   \u626b\u63cf \u626b\u63cf\u4eea \u7684 \u6570\u636e \u7684   . ply   \u6587\u4ef6 \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002 \u751f\u6210 \u7684 \u6587\u4ef6 \u53ef\u4ee5 \u5728   MeshLab   \u4e2d \u4f7f\u7528 \uff0c MeshLab   \u662f \u4e00\u4e2a \u7528\u4e8e \u5904\u7406 \u6240\u8ff0 \u6587\u4ef6 \u7684 \u5f00\u6e90 \u7cfb\u7edf \u3002 \u53ea \u9700 \u8003\u8651 \u5230 \u8be5 \u8f74 \u53ef\u80fd \u4e0e \u865a\u5e7b \u5f15\u64ce \u4e0d\u540c \uff0c \u56e0\u6b64 \u9700\u8981 \u91cd\u65b0 \u5206\u914d \u91cd\u65b0\u5206\u914d \u3002   \u53c2\u6570 \uff1a   path   (   str   )   \u83b7\u53d6 \u5668   get _ point _ count   (   self   ,   channel   )   \u68c0\u7d22 \u7531\u6b64 \u6d4b\u91cf \u751f\u6210 \u7684 \u6309 \u901a\u9053 \u6392\u5e8f \u7684 \u70b9\u6570 \u3002 \u6309 \u901a\u9053 \u6392\u5e8f \u53ef\u4ee5 \u8bc6\u522b \u6bcf\u4e2a \u70b9 \u7684 \u539f\u59cb \u901a\u9053 \u3002   \u53c2\u6570 \uff1a   channel   (   int   )   \u9b54\u672f \u65b9\u6cd5   __ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728   carla . LidarDetection   \u83b7\u53d6 \u7684 \u6570\u636e \u4e0a \u8fed\u4ee3 \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   detection   =   carla . LidarDetection   )   __ str __   (   self   )   carla . Light   \u6b64\u7c7b \u516c\u5f00 \u573a\u666f \u4e2d \u5b58\u5728 \u7684 \u706f\u5149 \uff08 \u8f66\u8f86 \u706f\u5149 \u9664\u5916 \uff09 \u3002 \u706f\u5149 \u7684 \u5c5e\u6027 \u53ef\u4ee5 \u968f\u610f \u67e5\u8be2 \u548c \u6539\u53d8 \u3002 \u5f53 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fdb\u5165 \u591c\u95f4 \u6a21\u5f0f \uff08 \u592a\u9633 \u9ad8\u5ea6 \u4f4e\u4e8e \u96f6 \uff09 \u65f6 \uff0c \u706f\u4f1a \u81ea\u52a8 \u6253\u5f00 \u3002   \u5b9e\u4f8b \u53d8\u91cf   color   (   carla . Color   )   \u706f\u5149 \u7684 \u989c\u8272 \u3002   id   (   int   )   \u706f \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   intensity   (   float   -   lumens   )   \u5149 \u7684 \u5f3a\u5ea6 \u3002   is _ on   (   bool   )   \u706f \u7684 \u5f00\u5173 \u3002 \u5f53\u706f\u4eae \u65f6 \u8fd9 \u662f   True   \u3002 \u5f53 \u591c\u95f4 \u6a21\u5f0f \u542f\u52a8 \u65f6 \uff0c \u6b64\u9879 \u8bbe\u7f6e \u4e3a   True   \u3002   location   (   carla . Location   -   \u7c73   )   \u706f\u5149 \u7684 \u4f4d\u7f6e \u3002   light _ group   (   carla . LightGroup   )   \u706f\u5149 \u6240\u5c5e \u7684 \u7ec4 \u3002   light _ state   (   carla . LightState   )   \u706f\u5149 \u7684 \u72b6\u6001 \u3002 \u603b\u7ed3 \u5176 \u5c5e\u6027 \u3001 \u7ec4 \u4ee5\u53ca \u662f\u5426 \u6253\u5f00 / \u5173\u95ed \u3002   \u65b9\u6cd5   turn _ off   (   self   )   \u5173\u95ed \u706f \u3002   turn _ on   (   self   )   \u6253\u5f00 \u706f \u3002   \u8bbe\u7f6e \u5668   set _ color   (   self   ,   color   )   \u5c06 \u706f\u5149 \u7684 \u989c\u8272 \u66f4 \u6539\u4e3a   color   \u3002   \u53c2\u6570 \uff1a   color   (   carla . Color   )   set _ intensity   (   self   ,   intensity   )   \u5c06\u5149 \u7684 \u5f3a\u5ea6 \u66f4 \u6539\u4e3a   intensity   \u3002   \u53c2\u6570 \uff1a   intensity   (   float   -   lumens   )   set _ light _ group   (   self   ,   light _ group   )   \u5c06 \u706f\u5149 \u66f4 \u6539\u4e3a \u7ec4   light _ group   \u3002   \u53c2\u6570 \uff1a   light _ group   (   carla . LightGroup   )   set _ light _ state   (   self   ,   light _ state   )   \u5c06 \u706f\u5149 \u7684 \u72b6\u6001 \u66f4 \u6539\u4e3a   light _ state   \u3002 \u8fd9 \u53ef\u80fd \u4f1a \u540c\u65f6 \u66f4\u6539 \u5c5e\u6027 \u3001 \u5206\u7ec4 \u4ee5\u53ca \u6253\u5f00 / \u5173\u95ed \u706f \u3002   \u53c2\u6570 \uff1a   light _ state   (   carla . LightState   )   carla . LightGroup   \u6b64\u7c7b \u5c06 \u573a\u666f \u4e2d \u7684 \u706f\u5149 \u5206\u4e3a \u4e0d\u540c \u7684 \u7ec4 \u3002 \u8fd9\u4e9b \u53ef\u7528 \u7ec4 \u4f5c\u4e3a \u53ef \u7528\u4f5c \u6807\u5fd7 \u7684 \u679a\u4e3e \u503c \u63d0\u4f9b \u3002   \u7b14\u8bb0   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u867d\u7136 \u6709 \u4e00\u4e2a   vehicle   \u7ec4 \uff0c \u4f46 \u8f66\u706f \u8fd8 \u4e0d\u80fd \u7528\u4f5c   carla . Light   \u5bf9\u8c61 \u3002 \u8fd9\u4e9b \u5fc5\u987b \u4f7f\u7528   carla . Vehicle   \u548c   carla . VehicleLightState   \u8fdb\u884c \u7ba1\u7406 \u3002   \u5b9e\u4f8b \u53d8\u91cf   None   \u6240\u6709 \u706f \u3002   Vehicle   Street   Building   Other   carla . LightManager   \u6b64\u7c7b \u5904\u7406 \u573a\u666f \u4e2d \u7684 \u706f\u5149 \u3002 \u5b83 \u7684 \u4e3b\u8981 \u8981\u7528 \u7528\u9014 \u4e3b\u8981\u7528\u9014 \u662f \u5728 \u4e00\u6b21 \u8c03\u7528 \u4e2d \u83b7\u53d6 \u548c \u8bbe\u7f6e \u706f\u5149 \u7ec4 \u6216 \u706f\u5149 \u5217\u8868 \u7684 \u72b6\u6001 \u3002 \u6b64\u7c7b \u7684 \u5b9e\u4f8b \u53ef\u4ee5 \u901a\u8fc7   carla . World . get _ lightmanager   ( )   \u68c0\u7d22 \u3002   \u7b14\u8bb0   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u867d\u7136 \u6709 \u4e00\u4e2a   vehicle   \u7ec4 \uff0c \u4f46 \u8f66\u706f \u8fd8 \u4e0d\u80fd \u7528\u4f5c   carla . Light   \u5bf9\u8c61 \u3002 \u8fd9\u4e9b \u5fc5\u987b \u4f7f\u7528   carla . Vehicle   \u548c   carla . VehicleLightState   \u8fdb\u884c \u7ba1\u7406 \u3002   \u65b9\u6cd5   is _ active   (   self   ,   lights   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u5e03\u5c14 \u5e03\u5c14\u503c \uff0c \u8bf4\u660e \u5176\u4e2d \u7684 \u5143\u7d20   lights   \u662f\u5426 \u6253\u5f00 / \u5173\u95ed \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   \u8fd4\u56de \uff1a   list ( bool )   turn _ off   (   self   ,   lights   )   \u5173\u95ed   lights   \u4e2d \u7684 \u6240\u6709 \u706f \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u5173\u95ed \u7684 \u706f \u5217\u8868 \u3002   turn _ on   (   self   ,   lights   )   \u6253\u5f00   lights   \u4e2d \u7684 \u6240\u6709 \u706f \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u6253\u5f00 \u7684 \u706f \u5217\u8868 \u3002   \u83b7\u53d6 \u5668   get _ all _ lights   (   self   ,   light _ group   =   carla . LightGroup . None   )   \u8fd4\u56de \u5305\u542b \u7279\u5b9a \u7ec4\u4e2d \u7684 \u706f\u5149 \u7684 \u5217\u8868 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8be5\u7ec4 \u662f   None   \u3002   \u53c2\u6570 \uff1a   light _ group   (   carla . LightGroup   )   -   \u7528\u4e8e \u8fc7\u6ee4 \u8fd4\u56de \u7684 \u706f\u5149 \u7684 \u7ec4 \u3002 \u9ed8\u8ba4 \u4e3a   None   \u3002   \u8fd4\u56de \uff1a   list (   carla . Light   )   get _ color   (   self   ,   lights   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u989c\u8272 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   \u8fd4\u56de \uff1a   list (   carla . Color   )   \u8bbe\u7f6e \u5668 \uff1a   carla . LightManager . set _ color   get _ intensity   (   self   ,   lights   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5f3a\u5ea6 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   \u8fd4\u56de \uff1a   list ( float )   -   lumens   \u8bbe\u7f6e \u5668 \uff1a   carla . LightManager . set _ intensity   get _ light _ group   (   self   ,   lights   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u7ec4 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   \u8fd4\u56de \uff1a   list (   carla . LightGroup   )   \u8bbe\u7f6e \u5668 \uff1a   carla . LightManager . set _ light _ group   get _ light _ state   (   self   ,   lights   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u6240\u6709 \u5c5e\u6027 \u7684 \u72b6\u6001 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   * * \u8fd4\u56de \uff1a   * *   list (   carla . LightState   )   \u8bbe\u7f6e \u5668 \uff1a   carla . LightManager . set _ light _ state   get _ turned _ off _ lights   (   self   ,   light _ group   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u573a\u666f \u4e2d \u5173\u95ed \u7684 \u706f\u5149 \uff08 \u6309\u7ec4 \u8fc7\u6ee4 \uff09 \u3002   \u53c2\u6570 \uff1a   light _ group   (   carla . LightGroup   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   \u8fd4\u56de \uff1a   list (   carla . Light   )   get _ turned _ on _ lights   (   self   ,   light _ group   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u573a\u666f \u4e2d \u6253\u5f00 \u7684 \u706f\u5149 \uff08 \u6309\u7ec4 \u8fc7\u6ee4 \uff09 \u3002   \u53c2\u6570 \uff1a   light _ group   (   carla . LightGroup   )   -   List   of   lights   to   be   queried .   \u8fd4\u56de \uff1a   list (   carla . Light   )   \u8bbe\u7f6e \u5668   set _ active   (   self   ,   lights   ,   active   )   \u6253\u5f00 / \u5173\u95ed   lights   \u4e2d \u7684 \u5143\u7d20 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u6253\u5f00 / \u5173\u95ed \u7684 \u706f \u5217\u8868 \u3002   active   (   list ( bool )   )   -   \u8981 \u5e94\u7528 \u7684 \u5e03\u5c14 \u5e03\u5c14\u503c \u5217\u8868 \u3002   set _ color   (   self   ,   lights   ,   color   )   lights   \u5230   color   \u4e2d \u5143\u7d20 \u7684 \u989c\u8272 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   color   (   carla . Color   )   -   \u8981 \u5e94\u7528 \u7684 \u989c\u8272 \u3002   \u83b7\u53d6 \u5668 \uff1a   carla . LightManager . get _ color   set _ colors   (   self   ,   lights   ,   colors   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u989c\u8272 \u66f4 \u6539\u4e3a \u76f8\u5e94 \u7684   colors   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   colors   (   list (   carla . Color   )   )   -   \u8981 \u5e94\u7528 \u7684 \u989c\u8272 \u5217\u8868 \u3002   set _ day _ night _ cycle   (   self   ,   active   )   \u6240\u6709 \u573a\u666f \u706f \u90fd \u6709 \u663c\u591c \u5faa\u73af \uff0c \u968f\u7740 \u592a\u9633 \u7684 \u9ad8\u5ea6 \u81ea\u52a8 \u6253\u5f00 \u548c \u5173\u95ed \u3002 \u8fd9\u4f1a \u5e72\u6270 \u9700\u8981 \u5b8c\u5168 \u63a7\u5236 \u573a\u666f \u706f\u5149 \u7684 \u60c5\u51b5 \uff0c \u56e0\u6b64 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   False   \u4f1a \u505c\u7528 \u5b83 \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   True   \u6765 \u91cd\u65b0 \u6fc0\u6d3b \u5b83 \u3002   \u53c2\u6570 \uff1a   active   (   bool   )   -   ( \u53d6\u6d88 ) \u6fc0\u6d3b \u663c\u591c \u5faa\u73af \u3002   set _ intensities   (   self   ,   lights   ,   intensities   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5f3a\u5ea6 \u66f4 \u6539\u4e3a \u76f8\u5e94 \u7684   intensities   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   intensities   (   list ( float )   -   lumens   )   -   \u8981 \u5e94\u7528 \u7684 \u5f3a\u5ea6 \u5217\u8868 \u3002   set _ intensity   (   self   ,   lights   ,   intensity   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5f3a\u5ea6 \u6539\u4e3a   intensity   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   intensity   (   float   -   lumens   )   -   \u8981 \u5e94\u7528 \u7684 \u5f3a\u5ea6 \u3002   \u83b7\u53d6 \u5668 \uff1a   carla . LightManager . get _ intensity   set _ light _ group   (   self   ,   lights   ,   light _ group   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u7ec4 \u66f4 \u6539\u4e3a   light _ group   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   light _ group   (   carla . LightGroup   )   -   \u8981 \u5e94\u7528 \u7684 \u7ec4 \u3002   \u83b7\u53d6 \u5668 \uff1a   carla . LightManager . get _ light _ group   set _ light _ groups   (   self   ,   lights   ,   light _ groups   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u7ec4 \u66f4 \u6539\u4e3a \u76f8\u5e94 \u7684   light _ groups   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   light _ groups   (   list (   carla . LightGroup   )   )   -   \u8981 \u5e94\u7528 \u7684 \u7ec4 \u5217\u8868 \u3002   set _ light _ state   (   self   ,   lights   ,   light _ state   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5c5e\u6027 \u72b6\u6001 \u6539\u4e3a   light _ state   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   light _ state   (   carla . LightState   )   -   \u8981 \u5e94\u7528 \u7684 \u5c5e\u6027 \u7684 \u72b6\u6001 \u3002   \u83b7\u53d6 \u5668 \uff1a   carla . LightManager . get _ light _ state   set _ light _ states   (   self   ,   lights   ,   light _ states   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5c5e\u6027 \u72b6\u6001 \u66f4 \u6539\u4e3a \u76f8\u5e94 \u7684   light _ states   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   light _ states   (   list (   carla . LightState   )   )   -   \u8981 \u5e94\u7528 \u7684 \u5c5e\u6027 \u7684 \u72b6\u6001 \u5217\u8868 \u3002   carla . LightState   \u8fd9\u4e2a \u7c7b \u4ee3\u8868 \u9664\u4e86 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u548c \u4f4d\u7f6e \u4e4b\u5916 \u7684 \u6240\u6709 \u706f\u5149 \u53d8\u91cf \uff0c \u5b83\u4eec \u5e94\u8be5 \u662f \u9759\u6001 \u7684 \u3002 \u4f7f\u7528 \u6b64\u7c7b \u53ef\u4ee5 \u5728 \u4e00\u6b21 \u8c03\u7528 \u4e2d \u7ba1\u7406 \u706f\u5149 \u7684 \u6240\u6709 \u53c2\u6570 \u5316 \u3002   \u5b9e\u4f8b \u53d8\u91cf   intensity   (   float   -   lumens   )   \u5149 \u7684 \u5f3a\u5ea6 \u3002   color   (   carla . Color   )   \u706f\u5149 \u7684 \u989c\u8272 \u3002   group   (   carla . LightGroup   )   \u706f\u5149 \u6240\u5c5e \u7684 \u7ec4 \u3002   active   (   bool   )   \u706f \u7684 \u5f00\u5173 \u3002 \u5f53\u706f\u4eae \u65f6 \u4e3a   True   \u3002   \u65b9\u6cd5   __ init __   (   self   ,   intensity   = 0.0   ,   color   =   carla . Color   ( )   ,   group   =   carla . LightGroup . None   ,   active   = False   )   \u53c2\u6570 \uff1a   intensity   (   float   -   lumens   )   -   \u5149 \u7684 \u5f3a\u5ea6 \u3002 \u9ed8\u8ba4 \u4e3a   0.0   \u3002   color   (   carla . Color   )   -   \u5149 \u7684 \u989c\u8272 \u3002 \u9ed8\u8ba4 \u4e3a \u9ed1\u8272 \u3002   group   (   carla . LightGroup   )   -   \u706f\u5149 \u6240\u5c5e \u7684 \u7ec4 \u3002 \u9ed8\u8ba4 \u4e3a \u901a\u7528 \u7ec4   None   \u3002   active   (   bool   )   -   \u706f\u5149 \u5f00\u5173 \u3002 \u9ed8\u8ba4 \u4e3a   False   \uff0c \u706f \u5173\u95ed \u3002   carla . Location   \u4ece   carla . Vector3D   \u7ee7\u627f   \u4ee3\u8868 \u4e16\u754c \u4e0a \u7684 \u4e00\u4e2a \u5730\u65b9 \u3002   \u5b9e\u4f8b \u53d8\u91cf   x   (   float   -   \u7c73   )   X   \u8f74\u4e0a \u4ece \u539f \u70b9\u5230\u70b9 \u7684 \u8ddd\u79bb \u3002   y   (   float   -   \u7c73   )   Y   \u8f74\u4e0a \u4ece \u539f \u70b9\u5230\u70b9 \u7684 \u8ddd\u79bb \u3002   z   (   float   -   \u7c73   )   Z   \u8f74\u4e0a \u4ece \u539f \u70b9\u5230\u70b9 \u7684 \u8ddd\u79bb \u3002   \u65b9\u6cd5   __ init __   (   self   ,   x   = 0.0   ,   y   = 0.0   ,   z   = 0.0   )   \u53c2\u6570 \uff1a   x   (   float   )   y   (   float   )   z   (   float   )   distance   (   self   ,   location   )   \u8fd4\u56de \u4ece \u8be5 \u4f4d\u7f6e \u5230 \u53e6 \u4e00 \u4f4d\u7f6e \u7684 \u6b27\u51e0 \u51e0\u91cc \u6b27\u51e0\u91cc\u5f97 \u8ddd\u79bb \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   )   -   \u7528\u4e8e \u8ba1\u7b97 \u8ddd\u79bb \u7684 \u53e6 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u3002   \u8fd4\u56de \uff1a   float   -   \u7c73   \u9b54\u672f \u65b9\u6cd5   __ abs __   (   self   )   \u8fd4\u56de \u5177\u6709   x \u3001 y   \u548c   z   \u5206\u91cf \u7edd\u5bf9 \u7edd\u5bf9\u503c \u7684 \u4f4d\u7f6e \u3002   \u8fd4\u56de \uff1a   carla . Location   __ eq __   (   self   ,   other   =   carla . Location   )   \u5982\u679c \u4e24\u4e2a \u4f4d\u7f6e \u662f \u7a7a\u95f4 \u4e2d \u7684 \u540c \u4e00\u70b9 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de \uff1a   bool   __ ne __   (   self   ,   other   =   carla . Location   )   \u5982\u679c \u4e24\u4e2a \u4f4d\u7f6e \u662f \u7a7a\u95f4 \u4e2d \u7684 \u4e0d\u540c \u540c\u70b9 \u4e0d\u540c\u70b9 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de \uff1a   bool   __ str __   (   self   )   \u5c06 \u8f74 \u7684 \u503c \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   \u8fd4\u56de \uff1a   str   carla . Map   \u5305\u542b \u9053\u8def \u4fe1\u606f \u548c \u8def\u5f84 \u70b9 \u7ba1\u7406 \u7684 \u7c7b \u3002 \u4ece \u63cf\u8ff0 \u9053\u8def \u7684   OpenDRIVE   \u6587\u4ef6 \u4e2d \u68c0\u7d22 \u6570\u636e \u3002 \u5b9a\u4e49 \u4e86 \u4e00\u4e2a \u67e5\u8be2 \u7cfb\u7edf \uff0c \u5b83 \u4e0e   carla . Waypoint   \u643a\u624b \u5408\u4f5c \uff0c \u5c06 \u51e0\u4f55 \u4fe1\u606f \u4ece   . xodr   \u8f6c\u6362 \u4e3a \u81ea\u7136 \u4e16\u754c \u70b9 \u3002 Carla   \u76ee\u524d \u6b63\u5728 \u4f7f\u7528   OpenDRIVE   1.4   \u6807\u51c6   \u3002   \u5b9e\u4f8b \u53d8\u91cf   name   (   str   )   \u5730\u56fe \u7684 \u540d\u79f0 \u3002 \u5b83 \u5bf9\u5e94 \u4e8e \u4ece   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u52a0\u8f7d \u7684 \u865a\u5e7b \u5f15\u64ce \u4e2d \u7684   . umap \uff0c \u7136\u540e \u5f15\u7528   . xodr   \u9053\u8def \u63cf\u8ff0 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   name   ,   xodr _ content   )   \u6b64\u7c7b \u7684 \u6784\u9020 \u51fd\u6570 \u6784\u9020\u51fd\u6570 \u3002 \u5c3d\u7ba1 \u5728 \u521d\u59cb \u521d\u59cb\u5316 \u4e16\u754c \u65f6\u4f1a \u81ea\u52a8 \u751f\u6210 \u5730\u56fe \uff0c \u4f46 \u5728 \u65e0 \u6e32\u67d3 \u6a21\u5f0f \u4e0b \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u5728 \u4e0d \u8fd0\u884c \u4efb\u4f55   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u60c5\u51b5 \u4e0b \u4f7f\u7528   . xodr \u3002   \u53c2\u6570 \uff1a   name   (   str   )   -   \u5f53\u524d \u5730\u56fe \u7684 \u540d\u79f0 \u3002   xodr _ content   (   str   )   -   \u5b57\u7b26 \u5b57\u7b26\u4e32 \u683c\u5f0f \u7684   . xodr   \u5185\u5bb9 \u3002   \u8fd4\u56de \uff1a   list (   carla . Transform   )   cook _ in _ memory _ map   (   self   ,   path   )   \u4ece   Carla   \u6620\u5c04 \u751f\u6210 \u4e00\u4e2a \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \uff0c \u5176\u4e2d \u5305\u542b \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4f7f\u7528 \u7684 \u4fe1\u606f \u3002 \u6b64 \u65b9\u6cd5 \u4ec5 \u5728 \u5730\u56fe \u5bfc\u5165 \u8fc7\u7a0b \u4e2d \u4f7f\u7528 \u3002   \u53c2\u6570 \uff1a   path   (   str   )   -   \u5b58\u50a8 \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6620\u5c04 \u6587\u4ef6 \u7684 \u9884\u671f \u4f4d\u7f6e \u7684 \u8def\u5f84 \u3002   generate _ waypoints   (   self   ,   distance   )   \u8fd4\u56de \u4e00\u4e2a \u8def\u70b9 \u5217\u8868 \uff0c \u6bcf\u4e2a \u8f66\u9053 \u7684 \u8def\u70b9 \u4e4b\u95f4 \u90fd \u6709 \u4e00\u5b9a \u7684 \u8ddd\u79bb \uff0c \u5e76 \u4ee5 \u5176 \u4e3a \u4e2d\u5fc3 \u3002 \u8def\u70b9 \u4e0d \u6309 \u4efb\u4f55 \u7279\u5b9a \u987a\u5e8f \u5217\u51fa \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u540c\u4e00 \u9053\u8def \u3001 \u8def\u6bb5 \u548c \u8f66\u9053 \u5185 \u8ddd\u79bb \u8d85\u8fc7 2 \u5398\u7c73 \u7684 \u8def \u70b9\u5c06 \u5177\u6709 \u76f8\u540c \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   \u53c2\u6570 \uff1a   distance   (   float   -   \u7c73   )   -   \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u8fd1\u4f3c \u8ddd\u79bb \u3002   \u8fd4\u56de \uff1a   list (   carla . Waypoint   )   save _ to _ disk   (   self   ,   path   )   \u5c06 \u5f53\u524d \u6620\u5c04 \u7684   . xodr   OpenDRIVE   \u6587\u4ef6 \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002   \u53c2\u6570 \uff1a   path   -   \u4fdd\u5b58 \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   to _ opendrive   (   self   )   \u4ee5 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5f62\u5f0f \u8fd4\u56de \u5f53\u524d \u5730\u56fe \u7684   . xodr   OpenDRIVe   \u6587\u4ef6 \u3002   \u8fd4\u56de \uff1a   str   transform _ to _ geolocation   (   self   ,   location   )   \u5c06 \u4eff\u771f \u4e2d \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u7684 \u7ed9\u5b9a \u4f4d\u7f6e   location   \u8f6c\u6362 \u4e3a   carla . GeoLocation   \uff0c \u4ed6 \u8868\u793a \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \u3002 \u5730\u56fe \u7684 \u5730\u7406 \u4f4d\u7f6e \u5730\u7406\u4f4d\u7f6e \u5728   OpenDRIVE   \u6807\u7b7e   \u5185 \u5b9a\u4e49 \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   )   \u8fd4\u56de \uff1a   carla . GeoLocation   \u83b7\u53d6 \u5668   get _ all _ landmarks   (   self   )   \u8fd4\u56de \u5730\u56fe \u4e2d \u7684 \u6240\u6709 \u5730\u6807 \u3002 \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \u68c0\u7d22 \u5230 \u7684 \u5730\u6807 \u6709 \u4e00\u4e2a   null   \u8def\u5f84 \u70b9 \u3002   \u8fd4\u56de \uff1a   list (   carla . Landmark   )   get _ all _ landmarks _ from _ id   (   self   ,   opendrive _ id   )   \u8fd4\u56de \u5177\u6709 \u7279\u5b9a   OpenDRIVE   ID   \u7684 \u5730\u6807 \u3002 \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \u68c0\u7d22 \u7684 \u5730\u6807 \u5177\u6709   null   \u8def\u5f84 \u70b9 \u3002   \u53c2\u6570 \uff1a   opendrive _ id   (   string   )   -   \u5730 \u6807\u7684   OpenDRIVE   ID \u3002   \u8fd4\u56de \uff1a   list (   carla . Landmark   )   get _ all _ landmarks _ of _ type   (   self   ,   type   )   \u8fd4\u56de \u7279\u5b9a \u7c7b\u578b \u7684 \u5730\u6807 \u3002 \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \u68c0\u7d22 \u7684 \u5730\u6807 \u5177\u6709   null   \u8def\u5f84 \u70b9 \u3002   \u53c2\u6570 \uff1a   type   (   string   )   -   \u5730 \u6807\u7684 \u7c7b\u578b \u3002   \u8fd4\u56de \uff1a   list (   carla . Landmark   )   get _ crosswalks   (   self   )   \u4ee5 \u95ed\u5408 \u591a\u8fb9 \u591a\u8fb9\u5f62 \u7684 \u5f62\u5f0f \u8fd4\u56de \u5305\u542b \u6240\u6709 \u4eba\u884c \u4eba\u884c\u6a2a\u9053 \u533a\u57df \u7684 \u4f4d\u7f6e \u5217\u8868 \u3002 \u91cd\u590d \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u70b9 \uff0c \u8868\u793a \u591a\u8fb9 \u591a\u8fb9\u5f62 \u7684 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u3002   \u8fd4\u56de \uff1a   list (   carla . Location   )   get _ landmark _ group   (   self   ,   landmark   )   \u8fd4\u56de \u4e0e \u6307\u5b9a \u5730\u6807 \uff08 \u5305\u62ec \u5176 \u81ea\u8eab \uff09 \u4f4d\u4e8e \u540c \u4e00\u7ec4 \u4e2d \u7684 \u5730\u6807 \u3002 \u5982\u679c \u5730\u6807 \u4e0d \u5c5e\u4e8e \u4efb\u4f55 \u7ec4 \uff0c \u5219 \u8fd4\u56de \u7a7a \u5217\u8868 \u3002   \u53c2\u6570 \uff1a   landmark   (   carla . Landmark   )   -   \u5c5e\u4e8e \u8be5\u7ec4 \u7684 \u5730\u6807 \u3002   \u8fd4\u56de \uff1a   list (   carla . Landmark   )   get _ spawn _ points   (   self   )   \u8fd4\u56de \u5730\u56fe \u521b\u5efa \u521b\u5efa\u8005 \u63d0\u51fa \u7684 \u5efa\u8bae \u5217\u8868 \uff0c \u4ee5 \u7528\u4f5c \u8f66\u8f86 \u7684 \u751f\u6210 \u70b9 \u3002 \u8be5 \u5217\u8868 \u5305\u62ec \u5177\u6709 \u7279\u5b9a \u4f4d\u7f6e \u548c \u65b9\u5411 \u7684   carla . Transform   \u5bf9\u8c61 \u3002 \u4e3a\u4e86 \u907f\u514d   Z   \u578b \u78b0\u649e \uff0c \u4e0a\u8ff0 \u5730\u70b9 \u4f1a \u7a0d\u5fae \u5728 \u7a7a\u4e2d \uff0c \u56e0\u6b64 \u8f66\u8f86 \u5728 \u51fa\u53d1 \u524d\u4f1a \u7a0d\u5fae \u4e0b\u5760 \u3002   \u8fd4\u56de \uff1a   list (   carla . Transform   )   get _ topology   (   self   )   \u8fd4\u56de \u63cf\u8ff0   OpenDRIVE   \u6587\u4ef6 \u62d3\u6251 \u7684 \u6700\u5c0f \u56fe \u7684 \u5143\u7ec4 \u5217\u8868 \u3002 \u8fd9\u4e9b \u5143\u7ec4 \u5305\u542b \u4f4d\u4e8e \u9053\u8def \u8d77\u70b9 \u6216 \u7ec8\u70b9 \u7684 \u6210 \u5bf9 \u8def\u70b9 \u3002 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u662f \u8d77\u70b9 \uff0c \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u4ee3\u8868 \u53e6 \u4e00\u4e2a \u53ef\u4ee5 \u5230\u8fbe \u7684 \u8def \u7ec8\u70b9 \u3002 \u8be5\u56fe \u53ef\u4ee5 \u52a0\u8f7d \u5230   NetworkX   \u4e2d \u8fdb\u884c \u4f7f\u7528 \u3002 \u8f93\u51fa \u53ef\u80fd \u5982\u4e0b \u6240\u793a \uff1a   [ ( w0 ,   w1 ) ,   ( w0 ,   w2 ) ,   ( w1 ,   w3 ) ,   ( w2 ,   w3 ) ,   ( w0 ,   w4 ) ]   \u3002   \u8fd4\u56de \uff1a   list ( tuple (   carla . Waypoint   ,   carla . Waypoint   ) )   get _ waypoint   (   self   ,   location   ,   project _ to _ road   = True   ,   lane _ type   =   carla . LaneType . Driving   )   snippet   \u2192   \u8fd4\u56de \u53ef\u4ee5 \u4f4d\u4e8e \u7cbe\u786e \u4f4d\u7f6e \u6216 \u8f6c\u6362 \u5230 \u6700\u8fd1 \u8f66\u9053 \u4e2d\u5fc3 \u7684 \u8def\u5f84 \u70b9 \u3002 \u6240\u8ff0 \u8f66\u9053 \u7c7b\u578b \u53ef\u4ee5 \u4f7f\u7528 \u8bf8\u5982   LaneType . Driving   &   LaneType . Shoulder   \u7684 \u6807\u5fd7 \u6765 \u5b9a\u4e49 \u3002 \u5982\u679c \u627e\u5230 \u672a\u627e\u5230 \u8def\u5f84 \u70b9 \uff0c \u8be5 \u65b9\u6cd5 \u5c06 \u8fd4\u56de   None   \uff0c \u8fd9\u79cd \u60c5\u51b5 \u4ec5 \u5728 \u5c1d\u8bd5 \u68c0\u7d22 \u786e\u5207 \u4f4d\u7f6e \u7684 \u8def\u5f84 \u70b9\u65f6 \u53ef\u80fd \u4f1a \u53d1\u751f \u3002 \u8fd9 \u53ef\u4ee5 \u8f7b\u677e \u68c0\u67e5 \u67d0\u4e2a \u70b9 \u662f\u5426 \u5728 \u67d0\u6761 \u9053\u8def \u5185 \uff0c \u5426\u5219 \uff0c \u5b83 \u5c06 \u8fd4\u56de \u76f8\u5e94 \u7684 \u8def\u5f84 \u70b9 \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   -   \u7c73   )   -   \u7528\u4f5c   carla . Waypoint   \u53c2\u8003 \u7684 \u4efb\u52a1 \u3002   project _ to _ road   (   bool   )   -   \u5982\u679c \u662f   True   \uff0c \u8def\u5f84 \u70b9\u5c06 \u4f4d\u4e8e \u6700\u8fd1 \u8f66\u9053 \u7684 \u4e2d\u5fc3 \u3002 \u8fd9\u662f \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u3002 \u5982\u679c \u4e3a   False   \uff0c \u8def\u5f84 \u70b9\u5c06 \u6070\u597d \u4f4d\u4e8e   location   \u3002   None   \u8868\u793a \u8be5 \u4f4d\u7f6e \u4e0d \u5c5e\u4e8e \u9053\u8def \u3002   lane _ type   (   carla . LaneType   )   -   \u5c06 \u5bf9 \u6700\u8fd1 \u8f66\u9053 \u7684 \u641c\u7d22 \u9650\u5236 \u4e3a \u53ef\u4ee5 \u6807\u8bb0 \u7684 \u4e00\u79cd \u6216 \u591a\u79cd \u8f66\u9053 \u7c7b\u578b \u3002   \u8fd4\u56de \uff1a   carla . Waypoint   get _ waypoint _ xodr   (   self   ,   road _ id   ,   lane _ id   ,   s   )   \u5982\u679c \u4f20\u9012 \u7684 \u6240\u6709 \u53c2\u6570 \u90fd \u6b63\u786e \uff0c \u5219 \u8fd4\u56de \u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002 \u5426\u5219 \uff0c \u8fd4\u56de   None   \u3002   \u53c2\u6570 \uff1a   road _ id   (   int   )   -   \u83b7\u53d6 \u8def\u70b9 \u7684 \u9053\u8def id \u3002   lane _ id   (   int   )   -   \u83b7\u53d6 \u8def\u5f84 \u70b9 \u7684 \u8f66\u9053 id \u3002   s   (   float   -   \u7c73   )   -   \u6307\u5b9a \u4ece \u9053\u8def \u8d77\u70b9 \u5f00\u59cb \u7684 \u957f\u5ea6 \u3002   \u8fd4\u56de \uff1a   carla . Waypoint   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . MapLayer   \u8868\u793a \u5730\u56fe \u7684 \u6bcf\u4e2a \u53ef \u7ba1\u7406 \u7ba1\u7406\u5c42 \u7684 \u7c7b \u3002 \u53ef\u4ee5 \u7528\u4f5c \u6807\u5fd7 \u3002   \u8b66\u544a \uff1a \u53ea\u6709 \u201c Opt \u201d \u5730\u56fe \u624d\u80fd \u4f7f\u7528 \u5730\u56fe \u56fe\u5c42 \u3002   \u5b9e\u4f8b \u53d8\u91cf   NONE   \u672a \u9009\u62e9 \u4efb\u4f55 \u56fe\u5c42 \u3002   Buildings   Decals   Foliage   Ground   ParkedVehicles   Particles   Props   StreetLights   Walls   All   \u9009\u5b9a \u6240\u6709 \u56fe\u5c42 \u3002   carla . MaterialParameter   \u8868\u793a \u6750\u6599 \u53c2\u6570 \u7684 \u7c7b \u3002 \u5e76\u975e \u573a\u666f \u4e2d \u7684 \u6240\u6709 \u5bf9\u8c61 \u90fd \u5305\u542b \u6240\u6709 \u53c2\u6570 \u3002   \u5b9e\u4f8b \u53d8\u91cf   Normal   \u5bf9\u8c61 \u7684 \u6cd5\u7ebf \u8d34\u56fe \u3002 \u5b58\u5728 \u4e8e \u4e00\u5207 \u7269\u4f53 \u4e2d \u3002   Diffuse   \u7269\u4f53 \u7684 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u7eb9\u7406 \u3002 \u5b58\u5728 \u4e8e \u4e00\u5207 \u7269\u4f53 \u4e2d \u3002   AO _ Roughness _ Metallic _ Emissive   \u6bcf\u4e2a \u989c\u8272 \u901a\u9053 \u4ee3\u8868 \u6750\u8d28 \u5c5e\u6027 \u7684 \u7eb9\u7406 \uff08 R \uff1a \u73af\u5883 \u73af\u5883\u5149 \u906e\u6321 \uff0c G \uff1a \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \uff0c B \uff1a \u91d1\u5c5e \uff0c A \uff1a \u67d0\u4e9b \u7269\u4f53 \u4e2d \u7684 \u53d1\u5c04 / \u9ad8\u5ea6 \u8d34\u56fe \uff09 \u3002   Emissive   \u53d1\u5c04 \u7eb9\u7406 \u3002 \u5b58\u5728 \u4e8e \u4e00\u4e9b \u7269\u4f53 \u4e2d \u3002   carla . ObstacleDetectionEvent   \u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49   sensor . other . obstacle   \u969c\u788d \u969c\u788d\u7269 \u6570\u636e \u7684 \u7c7b \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor   (   carla . Actor   )   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6240 \u8fde\u63a5 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   other _ actor   (   carla . Actor   )   \u88ab \u89c6\u4e3a \u969c\u788d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u7269\u4f53 \u3002   distance   (   float   -   \u7c73   )   \u53c2\u4e0e \u53c2\u4e0e\u8005   actor   \u548c \u5176\u4ed6 \u4ed6\u4eba \u5176\u4ed6\u4eba   other   \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . OpendriveGenerationParameters   \u6b64\u7c7b \u5b9a\u4e49 \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u751f\u6210 \u4e16\u754c \u65f6 \u4f7f\u7528 \u7684 \u53c2\u6570 \u3002   \u5b9e\u4f8b \u53d8\u91cf   vertex _ distance   (   float   )   \u751f\u6210 \u7684 \u7f51\u683c \u9876\u70b9 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   2.0   \u3002   max _ road _ length   (   float   )   \u5355\u4e2a \u7f51\u683c \u90e8\u5206 \u7684 \u6700\u5927 \u9053\u8def \u957f\u5ea6 \u3002 \u5730\u56fe \u7684 \u7f51\u683c \u88ab \u5206\u4e3a \u591a\u4e2a \u90e8\u5206 \uff0c \u4ee5 \u907f\u514d \u4f20\u64ad \u95ee\u9898 \u3002   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   50.0   \u3002   wall _ height   (   float   )   \u5728 \u9053\u8def \u8fb9\u754c \u4e0a \u521b\u5efa \u7684 \u5899\u58c1 \u7684 \u9ad8\u5ea6 \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u9632\u6b62 \u8f66\u8f86 \u4ece \u9053\u8def \u4e0a \u4e0b\u6765 \u6389\u4e0b\u6765 \u3002   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   1.0   \u3002   additional _ width   (   float   )   \u53e6\u5916 \u8fd8\u6709 \u5e94\u7528 \u7684 \u8fde\u63a5 \u8f66\u9053 \u3002 \u590d\u6742 \u7684 \u60c5\u51b5 \u5f80\u5f80 \u53d1\u751f \u5728 \u8def\u53e3 \uff0c \u7a0d\u5fae \u589e\u52a0 \u4e00\u70b9 \u5c31 \u53ef\u4ee5 \u9632\u6b62 \u8f66\u8f86 \u5760\u843d \u8def\u9762 \u3002   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.6   \u3002   smooth _ junctions   (   bool   )   \u5982\u679c \u4e3a   True   \uff0c \u4ea4\u53c9 \u4ea4\u53c9\u70b9 \u5904 \u7684 \u7f51\u683c \u5c06 \u88ab \u5e73\u6ed1 \uff0c \u4ee5 \u9632\u6b62 \u9053\u8def \u963b\u585e \u5176\u4ed6 \u9053\u8def \u7684 \u95ee\u9898 \u3002   \u9ed8\u8ba4 \u4e3a   True   \u3002   enable _ mesh _ visibility   (   bool   )   \u5982\u679c \u4e3a   True   \uff0c \u5c06 \u6e32\u67d3 \u9053\u8def \u7f51\u683c \u3002 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   False   \u5e94\u8be5 \u4f1a \u51cf\u5c11 \u6e32\u67d3 \u5f00\u9500 \u3002   \u9ed8\u8ba4 \u4e3a   True   \u3002   enable _ pedestrian _ navigation   (   bool   )   \u5982\u679c \u4e3a   True   \uff0c \u5c06 \u4f7f\u7528   Recast   \u5de5\u5177 \u542f\u7528 \u884c\u4eba \u5bfc\u822a \u3002 \u5bf9\u4e8e \u975e\u5e38 \u5927 \u7684 \u5730\u56fe \uff0c \u5efa\u8bae \u7981\u7528 \u6b64 \u9009\u9879 \u3002   \u9ed8\u8ba4 \u4e3a   True   \u3002   carla . OpticalFlowImage   \u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49 \u8868\u793a \u89c6\u573a \u4e2d \u68c0\u6d4b \u5230 \u7684 \u5149\u6d41 \u7684 \u4e8c\u7ef4 \u6d6e\u70b9 \uff08 32   \u4f4d \uff09 \u5411\u91cf \u7684 \u5149\u6d41 \u56fe\u50cf \u7684 \u7c7b \u3002 \u77e2\u91cf \u7684 \u5206\u91cf \u8868\u793a \u7269\u4f53 \u5728 \u56fe\u50cf \u5e73\u9762 \u4e2d \u7684 \u4f4d\u79fb \u3002 \u6bcf\u4e2a \u7ec4\u4ef6 \u8f93\u51fa \u5f52\u4e00\u5316 \u8303\u56f4   [ - 2 , 2 ]   \u5185 \u7684 \u503c \uff0c \u8be5 \u8303\u56f4 \u7f29\u653e \u4e3a   [ - 2   size \uff0c 2   size ] \uff0c \u5927\u5c0f \u662f \u76f8\u5e94 \u7ec4\u4ef6 \u4e2d \u7684 \u603b \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u3002   \u5b9e\u4f8b \u53d8\u91cf   fov   (   float   -   \u5ea6   )   \u56fe\u50cf \u7684 \u6c34\u5e73 \u89c6\u91ce \u3002   height   (   int   )   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   width   (   int   )   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   (   bytes   )   \u5c55\u5e73 \u50cf\u7d20 \u6570\u636e \u6570\u7ec4 \uff0c \u4f7f\u7528   reshape   \u521b\u5efa \u56fe\u50cf \u6570\u7ec4 \u3002   \u65b9\u6cd5   \u83b7\u53d6 \u5668   get _ color _ coded _ flow   (   self   )   \u53ef\u89c6 \u53ef\u89c6\u5316 \u52a9\u624b \u3002 \u5c06 \u5149\u6d41 \u56fe\u50cf \u8f6c\u6362 \u4e3a   RGB   \u56fe\u50cf \u3002   \u8fd4\u56de \uff1a   carla . Image   \u9b54\u672f \u65b9\u6cd5   __ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u8fed\u4ee3 \u5f62\u6210 \u56fe\u50cf \u7684   carla . OpticalFlowPixel   \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   color   =   carla . Color   )   __ str __   (   self   )   carla . OpticalFlowPixel   \u5b9a\u4e49 \u8868\u793a \u5149\u6d41 \u50cf\u7d20 \u7684 \u4e8c\u7ef4 \u5411\u91cf \u7684 \u7c7b \u3002   \u5b9e\u4f8b \u53d8\u91cf   x   (   float   )   x   \u5206\u91cf \u4e2d \u7684 \u5149\u6d41 \u3002   y   (   float   )   y   \u5206\u91cf \u4e2d \u7684 \u5149\u6d41 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   x   = 0   ,   y   = 0   )   \u521d\u59cb \u521d\u59cb\u5316 \u5149\u6d41 \u50cf\u7d20 \u3002 \u9ed8\u8ba4 \u4e3a \u96f6 \u3002   \u53c2\u6570 \uff1a   x   (   float   )   y   (   float   )   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . OpticalFlowPixel   )   __ ne __   (   self   ,   other   =   carla . OpticalFlowPixel   )   __ str __   (   self   )   carla . Osm2Odr   \u5c06   OpenStreetMap   \u5730\u56fe \u8f6c\u6362 \u4e3a   OpenDRIVE   \u683c\u5f0f \u7684 \u7c7b \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u5728   Carla   \u4e2d \u52a0\u8f7d \u3002 \u5728   \u6587\u6863   \u4e2d \u4e86\u89e3 \u6709\u5173 \u6b64 \u529f\u80fd \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u65b9\u6cd5   convert   (   osm _ file   ,   settings   )   \u83b7\u53d6   . osm   \u6587\u4ef6 \uff08 OpenStreetMap   \u683c\u5f0f \uff09 \u7684 \u5185\u5bb9 \u5e76 \u8fd4\u56de \u63cf\u8ff0 \u6240\u8ff0 \u5730\u56fe \u7684   . xodr   \uff08 OpenDRIVE   \u683c\u5f0f \uff09 \u7684 \u5185\u5bb9 \u3002 \u4f20\u9012 \u4e00\u4e9b \u53c2\u6570 \u5316\u6765 \u8fdb\u884c \u8f6c\u6362 \u3002   \u53c2\u6570 \uff1a   osm _ file   (   str   )   -   \u8f93\u5165   OpenStreetMap   \u6587\u4ef6 \u7684 \u5185\u5bb9 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   settings   (   carla . OSM2ODRSettings   )   -   \u8f6c\u6362 \u7684 \u53c2\u6570 \u5316 \u3002   \u8fd4\u56de \uff1a   str   carla . Osm2OdrSettings   \u5305\u542b \u7531   carla . Osm2Odr   \u4f7f\u7528 \u7684 \u53c2\u6570 \u5316 \u7684 \u5e2e\u52a9 \u7a0b\u5e8f \u7c7b \uff0c \u7528\u4e8e \u5c06   OpenStreetMap   \u5730\u56fe \u8f6c\u6362 \u4e3a   OpenDRIVE   \u683c\u5f0f \u3002 \u5728   \u6587\u6863   \u4e2d \u4e86\u89e3 \u6709\u5173 \u6b64 \u529f\u80fd \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   use _ offsets   (   bool   )   \u5141\u8bb8 \u4f7f\u7528 \u504f\u79fb \u504f\u79fb\u91cf \u8fdb\u884c \u8f6c\u6362 \u3002 \u504f\u79fb \u504f\u79fb\u91cf \u5c06 \u79fb\u52a8 \u5730\u56fe \u7684 \u539f\u70b9 \u4f4d\u7f6e \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   False   \u3002   offset _ x   (   float   -   \u7c73   )   X   \u8f74 \u504f\u79fb \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0   \u3002   offset _ y   (   float   -   \u7c73   )   Y   \u8f74 \u504f\u79fb \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0   \u3002   default _ lane _ width   (   float   -   \u7c73   )   \u751f\u6210 \u7684   XODR   \u5730\u56fe \u4e2d \u63cf\u8ff0 \u7684 \u8f66\u9053 \u5bbd\u5ea6 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   4.0   \u3002   elevation _ layer _ height   (   float   -   \u7c73   )   \u5b9a\u4e49 \u5206\u9694 \u4e24\u4e2a \u4e0d\u540c   OpenStreetMap   \u56fe\u5c42   \u7684 \u9ad8\u5ea6 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0   \u3002   center _ map   (   bool   )   \u542f\u7528 \u6b64 \u9009\u9879 \u540e \uff0c \u5730\u56fe \u7684 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u5c06 \u53d1\u751f \u4f4d\u79fb \uff0c \u4ee5 \u4f7f \u5750\u6807 \u539f\u70b9 \u4e0e \u6574\u4e2a \u9053\u8def \u5730\u56fe \u7684 \u8fb9\u754c \u6846 \u4e2d\u5fc3 \u5339\u914d \u76f8\u5339\u914d \u3002   proj _ string   (   str   )   \u5b9a\u4e49 \u5c06 \u7528\u4e8e \u8ba1\u7b97 \u4ece \u5730\u7406 \u5750\u6807 \u5730\u7406\u5750\u6807 \u5230 \u5361\u5c14 \u7b1b\u5361\u5c14 \u5750\u6807 \u7684 \u6295\u5f71 \u7684   proj4   \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002 \u8be5 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5c06 \u5199\u5165 \u751f\u6210 \u7684   OpenDRIVE   \u4e2d \uff0c \u9664\u975e \u542f\u7528 \u4e86   use _ offsets   \u6216   center _ map   \u9009\u9879 \uff0c \u56e0\u4e3a \u8fd9\u4e9b \u9009\u9879 \u4f1a \u8986\u76d6 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u4e2d \u7684 \u67d0\u4e9b \u5b9a\u4e49 \u3002   generate _ traffic _ lights   (   bool   )   \u6307\u51fa \u662f\u5426 \u5728 OpenDRIVE \u4e2d \u751f\u6210 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u6570\u636e \u3002   set _ traffic _ light _ excluded _ way _ types ( way _ types )   \u5b9a\u4e49 \u7684 \u9053\u8def \u7c7b\u578b \u4e0d\u4f1a \u751f\u6210 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002   all _ junctions _ with _ traffic _ lights   (   bool   )   \u7981\u7528 \u65f6 \uff0c \u8f6c\u6362 \u8f6c\u6362\u5668 \u5c06 \u4ec5 \u4ece   OpenStreetMaps   \u6570\u636e \u751f\u6210 \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u636e \u3002 \u542f\u7528 \u540e \uff0c \u6240\u6709 \u8def\u53e3 \u90fd \u4f1a \u751f\u6210 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002   \u65b9\u6cd5   \u8bbe\u7f6e \u5668   set _ osm _ way _ types   (   self   ,   way _ types   )   \u5b9a\u4e49 \u5c06 \u5bfc\u5165 \u5bfc\u5165\u5230   OpenDRIVE   \u7684   OpenStreetMaps   \u9053\u8def \u7c7b\u578b \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5bfc\u5165 \u7684 \u9053\u8def \u7c7b\u578b \u4e3a   motorway ,   motorway _ link ,   trunk ,   trunk _ link ,   primary ,   primary _ link ,   secondary ,   secondary _ link ,   tertiary ,   tertiary _ link ,   unclassified ,   residential   \u3002 \u6709\u5173 \u9053\u8def \u7c7b\u578b \u7684 \u5b8c\u6574 \u5217\u8868 \uff0c \u8bf7 \u67e5\u770b   \u6b64\u5904   \u3002   \u53c2\u6570 \uff1a   way _ types   (   list ( str )   )   -   \u9053\u8def \u7c7b\u578b \u5217\u8868 \u3002   set _ traffic _ light _ excluded _ way _ types   (   self   ,   way _ types   )   \u5b9a\u4e49 \u5373\u4f7f \u542f\u7528   generate _ traffic _ lights   \u4e5f \u4e0d\u4f1a \u751f\u6210 \u4ea4\u901a \u4ea4\u901a\u706f \u7684   OpenStreetMaps   \u9053\u8def \u7c7b\u578b \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u6392\u9664 \u7684 \u9053\u8def \u7c7b\u578b \u4e3a   motorway _ link ,   primary _ link ,   secondary _ link ,   tertiary _ link   \u3002   \u53c2\u6570 \uff1a   way _ types   (   list ( str )   )   -   \u9053\u8def \u7c7b\u578b \u5217\u8868 \u3002   carla . RadarDetection   carla . RadarMeasurement   \u4e2d \u5305\u542b \u7684 \u6570\u636e \u3002 \u5176\u4e2d \u6bcf \u4e00\u4e2a \u90fd \u4ee3\u8868 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 .   sensor . other . radar   \u8bb0\u5f55 \u7684 \u4e91\u4e2d \u7684 \u70b9 \u4e4b\u4e00 \uff0c \u5e76 \u5305\u542b \u4e0e \u96f7\u8fbe \u76f8\u5173 \u7684 \u8ddd\u79bb \u3001 \u89d2\u5ea6 \u548c \u901f\u5ea6 \u3002   \u5b9e\u4f8b \u53d8\u91cf   altitude   (   float   -   radians   )   \u68c0\u6d4b \u7684 \u9ad8\u5ea6 \u89d2 \u3002   azimuth   (   float   -   radians   )   \u68c0\u6d4b \u7684 \u65b9\u4f4d \u65b9\u4f4d\u89d2 \u3002   depth   (   float   -   \u7c73   )   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5230 \u68c0\u6d4b \u4f4d\u7f6e \u7684 \u8ddd\u79bb \u3002   velocity   (   float   -   m / s   )   \u88ab \u68c0\u6d4b \u7269\u4f53 \u671d\u5411 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u901f\u5ea6 \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . RadarMeasurement   \u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49 \u5e76 \u6536\u96c6 \u7531   sensor . other . radar   \u6ce8\u518c \u7684 \u6d4b\u91cf \u503c \u7684 \u7c7b \uff0c \u4ee3\u8868 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u524d\u9762 \u7684 \u70b9 \u5899 \u4ee5\u53ca \u4e0e\u5176 \u76f8\u5173 \u7684 \u8ddd\u79bb \u3001 \u89d2\u5ea6 \u548c \u901f\u5ea6 \u3002 \u6570\u636e \u7531   carla . RadarDetection   \u6570\u7ec4 \u7ec4\u6210 \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   raw _ data   (   bytes   )   carla . RadarDetection   \u96f7\u8fbe \u7684 \u5b8c\u6210 \u4fe1\u606f \u5df2\u7ecf \u88ab \u6ce8\u518c \u3002   \u65b9\u6cd5   \u8bbe\u7f6e \u5668   get _ detection _ count   (   self   )   \u68c0\u7d22 \u751f\u6210 \u7684 \u6761\u76ee \u6570 \uff0c \u4e0e   __ str __ ( )   \u76f8\u540c \u3002   \u9b54\u672f \u65b9\u6cd5   __ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728 \u83b7\u53d6 \u7684 \u6570\u636e   carla . RadarDetection   \u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   detection   =   carla . RadarDetection   )   __ str __   (   self   )   carla . Rotation   \u8868\u793a   3D   \u65cb\u8f6c \u4ee5\u53ca \u7a7a\u95f4 \u65b9\u5411 \u7684 \u7c7b \u3002   Carla   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u5750\u6807\u7cfb \uff0c \u5728 \u865a\u5e7b \u5f15\u64ce \u4e16\u754c \u91cc \uff0c \u7a7a\u95f4 \u5750\u6807 \u7684 \u5355\u4f4d \u662f \u5398\u7c73 \u3002 \u5176 \u8bbe\u8ba1 \u57fa\u4e8e \u7b2c\u4e00 \u4eba\u79f0 \u7b2c\u4e00\u4eba\u79f0 \u89c6\u89c9 \uff1a X   \u8f74\u6b63 \u65b9\u5411 \u8868\u793a \u5411\u524d \uff0c Y   \u8f74\u6b63 \u65b9\u5411 \u8868\u793a \u5411 \u53f3 \uff0c Z   \u8f74\u6b63 \u65b9\u5411 \u8868\u793a \u5411\u4e0a \u3002   \u6784\u9020 \u51fd\u6570 \u6784\u9020\u51fd\u6570 \u65b9\u6cd5 \u9075\u5faa \u7279\u5b9a \u7684 \u58f0\u660e \u987a\u5e8f \uff1a   ( pitch ,   yaw ,   roll )   \u5bf9\u5e94 \u4e8e   ( Y - rotation , Z - rotation , X - rotation )   .   \u865a\u5e7b \u5f15\u64ce \u7684 \u5750\u6807 \u5750\u6807\u7cfb   \u3002   \u5b9e\u4f8b \u53d8\u91cf   pitch   (   float   -   \u5ea6   )   Y - \u8f74 \u65cb\u8f6c \u89d2\u5ea6 \u3002   yaw   (   float   -   \u5ea6   )   Z - \u8f74 \u65cb\u8f6c \u89d2\u5ea6 \u3002   roll   (   float   -   \u5ea6   )   X - \u8f74 \u65cb\u8f6c \u89d2\u5ea6 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   pitch   = 0.0   ,   yaw   = 0.0   ,   roll   = 0.0   )   \u53c2\u6570 \uff1a   pitch   (   float   -   \u5ea6   )   -   Y - axis   rotation   angle .   yaw   (   float   -   \u5ea6   )   -   Z - axis   rotation   angle .   roll   (   float   -   \u5ea6   )   -   X - axis   rotation   angle .   \u8b66\u544a \uff1a   CARLA   ( pitch , yaw , roll )   \u548c \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684 \u58f0\u660e \u987a\u5e8f \u4e0d\u540c \u3002 \u5f53 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u65f6 \uff0c \u4e0d\u8981 \u6df7\u6dc6 \u8f74 \u7684 \u65cb\u8f6c \u3002   \u8bbe\u7f6e \u5668   get _ forward _ vector   (   self   )   \u6839\u636e \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u6307\u5411 \u524d\u65b9 \u7684 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   get _ right _ vector   (   self   )   \u6839\u636e \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u6307\u5411 \u53f3\u4fa7 \u7684 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   get _ up _ vector   (   self   )   \u6839\u636e \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u6307\u5411 \u4e0a\u65b9 \u7684 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . Rotation   )   \u5982\u679c \u4e24\u4e2a \u65cb\u8f6c \u4ee3\u8868 \u6bcf\u4e2a \u8f74 \u7684 \u76f8\u540c \u65b9\u5411 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de \uff1a   bool   __ ne __   (   self   ,   other   =   carla . Rotation   )   \u5982\u679c \u4e24\u4e2a \u65cb\u8f6c \u4ee3\u8868 \u6bcf\u4e2a \u8f74 \u7684 \u76f8\u540c \u65b9\u5411 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de \uff1a   bool   __ str __   (   self   )   \u5c06 \u8f74 \u7684 \u65b9\u5411 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   carla . RssActorConstellationData   \u7531   RssSensor . register _ actor _ constellation _ callback ( )   \u6ce8\u518c \u7684 \u56de\u8c03 \u4e2d \u63d0\u4f9b \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u3002   \u5b9e\u4f8b \u53d8\u91cf   ego _ match _ object   (   ad . map . match . Object   )   \u81ea\u6211 \u6620\u5c04 \u5339\u914d \u4fe1\u606f \u3002   ego _ route   (   ad . map . route . FullRoute   )   \u81ea\u6211 \u8def\u7531 \u3002   ego _ dynamics _ on _ route   (   carla . RssEgoDynamicsOnRoute   )   \u5173\u4e8e \u8def\u7ebf \u7684 \u5f53\u524d \u81ea\u6211 \u8f66\u8f86 \u52a8\u6001 \u3002   other _ match _ object   (   ad . map . match . Object   )   \u5176\u4ed6 \u5bf9\u8c61 \u7684 \u5730\u56fe \u5339\u914d \u4fe1\u606f \u3002 \u4ec5\u5f53 \u201c other _ actor \u201d \u4e0d\u662f \u201c None \u201d \u65f6 \u8fd9 \u624d \u6709\u6548 \u3002   other _ actor   (   carla . Actor   )   \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5982\u679c \u67e5\u8be2 \u9ed8\u8ba4 \u53c2\u6570 \u6216 \u7c7b\u578b \u4e3a   ad . rss . world . ObjectType . ArtificialObject   \u4e14 \u6ca1\u6709 \u4e13\u7528 \u201c   carla . Actor   '   ( as   e . g .   for   the   road   boundaries   \u201d \u7684 \u4eba\u5de5 \u5bf9\u8c61 \uff08 \u4f8b\u5982 \u76ee\u524d \u7684 \u9053\u8def \u8fb9\u754c \uff09 \uff0c \u5219 \u4e3a \u201c None \u201d \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . RssActorConstellationResult   \u5e94\u8be5 \u7531   RssSensor . register _ actor _ constellation _ callback ( )   \u6ce8\u518c \u7684 \u56de\u8c03 \u8fd4\u56de \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u3002   \u5b9e\u4f8b \u53d8\u91cf   rss _ calculation _ mode   (   ad . rss . map . RssMode   )   \u8981 \u5e94\u7528 \u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8ba1\u7b97 \u6a21\u5f0f \u3002   restrict _ speed _ limit _ mode   (   ad . rss . map . RestrictSpeedLimitMode   )   \u9650\u901f \u6a21\u5f0f \u3002   ego _ vehicle _ dynamics   (   ad . rss . world . RssDynamics   )   \u5c06 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u52a8\u6001 \u5e94\u7528 \u4e8e \u81ea\u6211 \u8f66\u8f86 \u3002   actor _ object _ type   (   ad . rss . world . ObjectType   )   \u8981 \u7528\u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5bf9\u8c61 \u7c7b\u578b \u3002   actor _ dynamics   (   ad . rss . world . RssDynamics   )   \u8981 \u5e94\u7528 \u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . RssEgoDynamicsOnRoute   \u63cf\u8ff0 \u8f66\u8f86 \u72b6\u6001 \u7684   carla . RssResponse   \u4e2d \u5305\u542b \u7684 \u90e8\u5206 \u6570\u636e \u3002 \u53c2\u6570 \u5305\u62ec \u5b83 \u5f53\u524d \u7684 \u52a8\u6001 \uff0c \u4ee5\u53ca \u5b83 \u5982\u4f55 \u6839\u636e \u76ee\u6807 \u8def\u7ebf \u524d\u8fdb \u3002   \u5b9e\u4f8b \u53d8\u91cf   ego _ speed   (   ad . physics . Speed   )   \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u3002   min _ stopping _ distance   (   ad . physics . Distance   )   \u5f53\u524d \u6700\u5c0f \u505c\u8f66 \u8ddd\u79bb \u3002   ego _ center   (   ad . map . point . ENUPoint   )   \u81ea\u6211 \u8f66\u8f86 \u88ab \u8003\u8651 \u7684 enu \u4f4d\u7f6e \u3002   ego _ heading   (   ad . map . point . ENUHeading   )   \u8003\u8651 \u7684 \u81ea\u6211 \u8f66\u8f86 \u7684 \u822a\u5411 \u3002   ego _ center _ within _ route   (   bool   )   \u8bf4\u660e \u81ea\u6211 \u8f66\u8f86 \u7684 \u4e2d\u5fc3 \u662f\u5426 \u5728 \u8def\u7ebf \u5185 \u3002   crossing _ border   (   bool   )   \u8bf4\u660e \u8f66\u8f86 \u662f\u5426 \u5df2\u7ecf \u8d8a\u8fc7 \u5176\u4e2d \u4e00\u4e2a \u8f66\u9053 \u8fb9\u754c \u3002   route _ heading   (   ad . map . point . ENUHeading   )   \u8def\u7ebf \u7684 \u8003\u8651 \u65b9\u5411 \u3002   route _ nominal _ center   (   ad . map . point . ENUPoint   )   \u5f53\u524d \u8def\u7ebf \u7684 \u540d\u4e49 \u4e2d\u5fc3 \u3002   heading _ diff   (   ad . map . point . ENUHeading   )   \u88ab \u8003\u8651 \u7684 \u65b9\u5411 \u504f\u79bb \u4e86 \u8def\u7ebf \u3002   route _ speed _ lat   (   ad . physics . Speed   )   \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u5206\u91cf   lat   \u4e0e \u8def\u7ebf \u6709\u5173 \u3002   route _ speed _ lon   (   ad . physics . Speed   )   \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u5206\u91cf   lon   \u4e0e \u8def\u7ebf \u6709\u5173 \u3002   route _ accel _ lat   (   ad . physics . Acceleration   )   \u81ea\u6211 \u8f66\u8f86 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5206\u91cf   lat   \u4e0e \u8def\u7ebf \u6709\u5173 \u3002   route _ accel _ lon   (   ad . physics . Acceleration   )   \u81ea\u6211 \u8f66\u8f86 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5206\u91cf   lon   \u4e0e \u8def\u7ebf \u6709\u5173 \u3002   avg _ route _ accel _ lat   (   ad . physics . Acceleration   )   \u81ea\u6211 \u8f66 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5206\u91cf   lat   \u4e0e \u7ecf\u8fc7 \u5e73\u5747 \u6ee4\u6ce2 \u5e73\u6ed1 \u7684 \u8def\u7ebf \u6709\u5173 \u3002   The   ego   vehicle ' s   acceleration   component   lat   regarding   the   route   smoothened   by   an   average   filter .   avg _ route _ accel _ lon   (   ad . physics . Acceleration   )   \u5bf9 \u7ecf\u8fc7 \u5e73\u5747 \u6ee4\u6ce2 \u5e73\u6ed1 \u7684 \u8def\u7ebf \u8fdb\u884c \u81ea \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5206\u91cf   lon   \u5206\u6790 \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . RssLogLevel   \u679a\u4e3e \u58f0\u660e \u4e2d \u4f7f\u7528 \u7684   carla . RssSensor   \u8bbe\u7f6e \u65e5\u5fd7 \u7ea7\u522b \u3002   \u5b9e\u4f8b \u53d8\u91cf   trace   debug   info   warn   err   critical   off   carla . RssResponse   \u4ece   carla . SensorData   \u7ee7\u627f   \u5305\u542b c   carla . RssSensor   \u8f93\u51fa \u7684 \u7c7b \u3002 \u8fd9 \u662f \u5bf9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7236 \u8f66\u8f86 \u6267\u884c \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u8ba1\u7b97 \u7684 \u7ed3\u679c \u3002   carla . RssRestrictor   \u5c06 \u4f7f\u7528 \u6570\u636e \u4fee\u6539 \u8f66\u8f86 \u7684   carla . VehicleControl   \u3002   \u5b9e\u4f8b \u53d8\u91cf   response _ valid   (   bool   )   \u8bf4\u660e \u54cd\u5e94 \u662f\u5426 \u6709\u6548 \u3002 \u5982\u679c \u8ba1\u7b97 \u5931\u8d25 \u6216 \u53d1\u751f \u5f02\u5e38 \uff0c \u5219 \u4e3a   False   \u3002   proper _ response   (   ad . rss . state . ProperResponse   )   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4e3a \u8f66\u8f86 \u8ba1\u7b97 \u7684 \u6b63\u786e \u54cd\u5e94 \u3002   rss _ state _ snapshot   (   ad . rss . state . RssStateSnapshot   )   \u8be6\u7ec6 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5728 \u5f53\u524d \u65f6\u523b \u7684 \u72b6\u6001 \u3002   ego _ dynamics _ on _ route   (   carla . RssEgoDynamicsOnRoute   )   \u5173\u4e8e \u8def\u7ebf \u7684 \u5f53\u524d \u81ea\u6211 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3002   world _ model   (   ad . rss . world . WorldModel   )   \u7528\u4e8e \u8ba1\u7b97 \u7684 \u4e16\u754c \u6a21\u578b \u3002   situation _ snapshot   (   ad . rss . situation . SituationSnapshot   )   \u4ece \u4e16\u754c \u6a21\u578b \u4e2d \u63d0\u53d6 \u7684 \u8be6\u7ec6 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u60c5\u51b5 \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . RssRestrictor   \u8fd9\u4e9b \u5bf9\u8c61 \u5c06 \u9650\u5236 \u5e94\u7528 \u4e8e   carla . VehicleControl   \u3002 \u5b83 \u662f   \u8d1f\u8d23 \u654f\u611f \u5b89\u5168 \u7684 C++ \u5e93   \u7684 Carla \u5b9e\u73b0 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u6b64\u7c7b \u4e0e   rss \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u534f\u540c \u540c\u5de5 \u5de5\u4f5c \u534f\u540c\u5de5\u4f5c \uff0c rss \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u63d0\u4f9b \u8981 \u5e94\u7528 \u7684 \u9650\u5236 \u7684 \u6570\u636e \u3002   \u65b9\u6cd5   restrict _ vehicle _ control   (   self   ,   vehicle _ control   ,   proper _ response   ,   ego _ dynamics _ on _ route   ,   vehicle _ physics   )   \u5e94\u7528   carla . RssSensor   \u5bf9   carla . VehicleControl   \u7ed9\u51fa \u7684 \u5b89\u5168 \u9650\u5236 \u3002   \u53c2\u6570 \uff1a   vehicle _ control   (   carla . VehicleControl   )   -   \u8981 \u9650\u5236 \u7684 \u8f93\u5165 \u8f66\u8f86 \u63a7\u5236 \u3002   proper _ response   (   ad . rss . state . ProperResponse   )   -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ea7\u751f \u7684 \u90e8\u5206 \u54cd\u5e94 \u3002 \u5305\u542b \u9002\u7528 \u4e8e \u8f66\u8f86 \u52a0\u901f \u7684 \u9650\u5236 \u3002   ego _ dynamics _ on _ route   (   carla . RssEgoDynamicsOnRoute   )   -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ea7\u751f \u7684 \u90e8\u5206 \u54cd\u5e94 \u3002 \u5305\u542b \u6709\u5173 \u5176 \u8def\u7ebf \u7684 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u548c \u65b9\u5411 \u3002   vehicle _ physics   (   carla . VehiclePhysicsControl   )   -   \u8f66\u8f86 \u7684 \u5f53\u524d \u7269\u7406 \u7279\u6027 \u3002 \u7528\u4e8e \u6b63\u786e \u5e94\u7528 \u9650\u5236 \u3002   \u8fd4\u56de :   carla . VehicleControl   \u8bbe\u7f6e \u5668   set _ log _ level   (   self   ,   log _ level   )   \u8bbe\u7f6e \u65e5\u5fd7 \u7ea7\u522b \u3002   \u53c2\u6570 \uff1a   log _ level   (   carla . RssLogLevel   )   -   \u65b0 \u65e5\u5fd7 \u7ea7\u522b \u3002   carla . RssRoadBoundariesMode   carla . RssSensor   \u4e2d \u4f7f\u7528 \u7684 \u679a\u4e3e \u58f0\u660e \uff0c \u7528\u4e8e \u542f\u7528 \u6216 \u7981\u7528   \u516c\u8def \u505c\u7559   \u529f\u80fd \u3002 \u800c\u8a00 \u603b\u800c\u8a00\u4e4b \uff0c \u6b64 \u529f\u80fd \u5c06 \u9053\u8def \u8fb9\u754c \u89c6\u4e3a \u865a\u62df \u5bf9\u8c61 \u3002 \u6700\u5c0f \u5b89\u5168 \u8ddd\u79bb \u68c0\u67e5 \u5e94\u7528 \u4e8e \u8fd9\u4e9b \u865a\u62df \u5899 \uff0c \u4ee5 \u786e\u4fdd \u8f66\u8f86 \u4e0d\u4f1a \u9a76\u79bb \u9053\u8def \u3002   \u5b9e\u4f8b \u53d8\u91cf   On   \u542f\u7528 \u201c \u505c\u7559 \u5728 \u8def\u4e0a \uff08   stay   on   road   \uff09 \u201d \u529f\u80fd \u3002   Off   \u7981\u7528 \u201c \u505c\u7559 \u5728 \u8def\u4e0a \uff08   stay   on   road   \uff09 \u201d \u529f\u80fd \u3002   carla . RssSensor   \u4ece   carla . Sensor   \u7ee7\u627f   \u6b64 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5de5\u4f5c \u539f\u7406 \u4e0e \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7565\u6709 \u4e0d\u540c \u7565\u6709\u4e0d\u540c \u3002 \u8bf7 \u67e5\u770b   \u7279\u5b9a \u6587\u6863   \u548c   rss \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \uff0c \u4ee5 \u5145\u5206 \u4e86\u89e3 \u5b83 \u3002   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f7f\u7528 \u4e16\u754c \u4fe1\u606f \u548c   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5e93   \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u5b89\u5168 \u68c0\u67e5 \u5b89\u5168\u68c0\u67e5 \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u7d22 \u5230 \u7684 \u8f93\u51fa \u662f   carla . RssResponse   \u3002 \u8fd9 \u5c06 \u7531   carla . RssRestrictor   \u4f7f\u7528 \u3002 \u5728 \u5c06 \u5176 \u5e94\u7528 \u4e8e \u8f66\u8f86 \u4e4b\u524d \u8fdb\u884c   carla . VehicleControl   \u3002   \u5b9e\u4f8b \u53d8\u91cf   ego _ vehicle _ dynamics   (   ad . rss . world . RssDynamics   )   \u8bf4\u660e \u5982\u679c \u6ca1\u6709 \u6ce8\u518c \u53c2\u4e0e \u53c2\u4e0e\u8005   constellation   \u56de\u8c03 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u8003\u8651 \u7684 \u81ea\u6211 \u8f66\u8f86 \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   \u3002   other _ vehicle _ dynamics   (   ad . rss . world . RssDynamics   )   \u8bf4\u660e \u5982\u679c \u6ca1\u6709 \u6ce8\u518c \u53c2\u4e0e \u53c2\u4e0e\u8005   constellation   \u56de\u8c03 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u4e3a \u5176\u4f59 \u8f66\u8f86 \u8003\u8651 \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   \u3002   pedestrian _ dynamics   (   ad . rss . world . RssDynamics   )   \u8bf4\u660e \u5982\u679c \u6ca1\u6709 \u6ce8\u518c \u53c2\u4e0e \u53c2\u4e0e\u8005   constellation   \u56de\u8c03 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u4e3a \u884c\u4eba \u8003\u8651 \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   \u3002   road _ boundaries _ mode   (   carla . RssRoadBoundariesMode   )   \u5207\u6362 \u505c\u7559 \u5728 \u9053\u8def \u4e0a   stay   on   road   \u7684 \u529f\u80fd \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5904\u4e8e \u7981\u7528 \uff08   Off   \uff09 \u72b6\u6001 \u3002   routing _ targets   (   vector <   carla . Transform   >   )   \u5f53\u524d \u8003\u8651 \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u8def\u7531 \u7684 \u76ee\u6807 \u5217\u8868 \u3002 \u5982\u679c \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \u8def\u7531 \u76ee\u6807 \uff0c \u5219 \u968f\u673a \u751f\u6210 \u8def\u7531 \u3002   \u65b9\u6cd5   append _ routing _ target   (   self   ,   routing _ target   )   \u5c06 \u65b0 \u7684 \u76ee\u6807 \u4f4d\u7f6e \u9644\u52a0 \u5230 \u8f66\u8f86 \u7684 \u5f53\u524d \u8def\u7ebf \u3002   \u53c2\u6570 \uff1a   routing _ target   (   carla . Transform   )   -   \u4e3a \u8def\u7ebf \u65b0\u5efa \u76ee\u6807 \u70b9 \u3002 \u5728 \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u540e \u9009\u62e9 \u8fd9\u4e9b \u9009\u9879 \uff0c \u4ee5 \u5f3a\u5236 \u8def\u7ebf \u8f6c\u5f2f \u3002   drop _ route   (   self   )   \u653e\u5f03 \u5f53\u524d \u8def\u7531 \u3002 \u5982\u679c   routing _ targets   \u4e2d \u8fd8\u6709 \u76ee\u6807 \uff0c \u5219 \u4f7f\u7528 \u8fd9\u4e9b \u76ee\u6807 \u521b\u5efa \u65b0\u8def \u7531 \u3002 \u5426\u5219 \uff0c \u5c06 \u968f\u673a \u521b\u5efa \u65b0\u8def \u7531 \u3002   register _ actor _ constellation _ callback   (   self   ,   callback   )   \u6ce8\u518c \u56de\u8c03 \u4ee5 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49   carla . RssActorConstellationResult   \u3002 \u901a\u8fc7 \u6b64 \u56de\u8c03 \uff0c \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570 \u7684 \u8bbe\u7f6e \u662f \u6839\u636e \u53c2\u4e0e \u53c2\u4e0e\u8005   constellation   \u5b8c\u6210 \u7684 \uff0c \u5e76\u4e14 \u8bbe\u7f6e \uff08 ego _ vehicle _ dynamics ,   other _ vehicle _ dynamics   and   pedestrian _ dynamics \uff09 \u6ca1\u6709 \u4efb\u4f55 \u6548\u679c \u3002   \u53c2\u6570 \uff1a   callback   -   \u6bcf\u5f53 \u8981 \u8ba1\u7b97 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u60c5\u51b5 \u65f6\u8981 \u8c03\u7528 \u7684 \u51fd\u6570 \u3002   reset _ routing _ targets   (   self   )   \u5220\u9664 \u5df2 \u9644\u52a0 \u5230 \u8def\u7531 \u7684 \u76ee\u6807 \u3002   \u8bbe\u7f6e \u5668   set _ log _ level   (   self   ,   log _ level   )   \u8bbe\u7f6e \u65e5\u5fd7 \u7ea7\u522b \u3002   \u53c2\u6570 \uff1a   log _ level   (   carla . RssLogLevel   )   -   \u65b0 \u7684 \u65e5\u5fd7 \u7ea7\u522b \u3002   set _ map _ log _ level   (   self   ,   log _ level   )   \u8bbe\u7f6e \u65e5\u5fd7 \u65e5\u5fd7 \u7ea7\u522b \u3002   \u53c2\u6570 \uff1a   log _ level   (   carla . RssLogLevel   )   -   New   map   log   level .   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . SemanticLidarDetection   carla . SemanticLidarMeasurement   \u4e2d \u5305\u542b \u7684 \u6570\u636e \u3002 \u5176\u4e2d \u6bcf \u4e00\u4e2a \u90fd \u4ee3\u8868 \u4e91\u4e2d \u7684 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u53ca\u5176 \u4f4d\u7f6e \u3001 \u5165\u5c04 \u5c04\u89d2 \u5165\u5c04\u89d2 \u7684 \u4f59\u5f26 \u3001 \u547d\u4e2d \u7269\u4f53 \u7684 \u7d22\u5f15 \u53ca\u5176 \u8bed\u4e49 \u6807\u8bb0 \u3002   \u5b9e\u4f8b \u53d8\u91cf   point   (   carla . Location   -   \u7c73   )   \u70b9 \u7684 [ x \uff0c y \uff0c z ] \u5750\u6807 \u3002   cos _ inc _ angle   (   float   )   \u5149\u7ebf \u4e0e \u88ab \u51fb\u4e2d \u7269\u4f53 \u6cd5\u7ebf \u4e4b\u95f4 \u5165\u5c04 \u5c04\u89d2 \u5165\u5c04\u89d2 \u7684 \u4f59\u5f26 \u3002   object _ idx   (   uint   )   \u88ab \u5149\u7ebf \u51fb\u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 ID \u3002   object _ tag   (   uint   )   \u88ab \u5149\u7ebf \u51fb\u4e2d \u90e8\u4ef6 \u7684 \u8bed\u4e49 \u6807\u7b7e \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . SemanticLidarMeasurement   \u4ece   carla . SensorData   \u7ee7\u627f   \u8be5\u7c7b \u5b9a\u4e49 \u7531   sensor . lidar . ray _ cast _ semantic   \u68c0\u7d22 \u7684 \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6570\u636e \u3002 \u8fd9 \u5b9e\u8d28 \u4e0a \u662f \u4f7f\u7528 \u5149\u7ebf \u6295\u5c04 \u6765 \u4eff\u771f \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002 \u5728 \u6b64 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   channels   (   int   )   \u6fc0\u5149 \u53d1\u5c04 \u6b21\u6570 \u3002   horizontal _ angle   (   float   -   radians   )   \u6c34\u5e73 \u89d2\u5ea6 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5728 \u6d4b\u91cf \u65f6 \u65cb\u8f6c \u3002   raw _ data   (   bytes   )   \u6536\u5230 \u539f\u59cb \u68c0\u6d4b \u6d4b\u70b9 \u68c0\u6d4b\u70b9 \u5217\u8868 \u3002 \u6bcf\u4e2a \u70b9 \u7531 [ x \uff0c y \uff0c z ] \u5750\u6807 \u52a0\u4e0a \u5165\u5c04 \u5c04\u89d2 \u5165\u5c04\u89d2 \u7684 \u4f59\u5f26 \uff0c \u547d\u4e2d \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7d22\u5f15 \u53ca\u5176 \u8bed\u4e49 \u6807\u8bb0 \u7ec4\u6210 \u3002   \u65b9\u6cd5   save _ to _ disk   (   self   ,   path   )   \u5c06 \u70b9\u4e91 \u4fdd\u5b58 \u4e3a \u63cf\u8ff0 \u4e09\u7ef4 \u626b\u63cf \u626b\u63cf\u4eea \u6570\u636e \u7684   . ply   \u6587\u4ef6 \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002 \u751f\u6210 \u7684 \u6587\u4ef6 \u53ef\u4ee5 \u5728   MeshLab   \u4e2d \u4f7f\u7528 \uff0c MeshLab \u662f \u4e00\u4e2a \u7528\u4e8e \u5904\u7406 \u4e0a\u8ff0 \u6587\u4ef6 \u7684 \u5f00\u6e90 \u7cfb\u7edf \u3002 \u53ea \u9700 \u8003\u8651 \u5230 \u8f74 \u53ef\u80fd \u4e0e \u4e0d \u771f\u5b9e \u7684 \u5f15\u64ce \u4e0d\u540c \uff0c \u56e0\u6b64 \u9700\u8981 \u91cd\u65b0 \u5206\u914d \u91cd\u65b0\u5206\u914d \u3002   \u53c2\u6570 \uff1a   path   (   str   )   \u83b7\u53d6 \u5668   get _ point _ count   (   self   ,   channel   )   \u83b7\u53d6 \u6b64 \u5ea6\u91cf \u751f\u6210 \u7684 \u6309 \u901a\u9053 \u6392\u5e8f \u7684 \u70b9\u6570 \u3002 \u901a\u8fc7 \u901a\u9053 \u6392\u5e8f \u53ef\u4ee5 \u8bc6\u522b \u6bcf\u4e2a \u70b9 \u7684 \u539f\u59cb \u901a\u9053 \u3002   \u53c2\u6570 \uff1a   channel   (   int   )   \u9b54\u672f \u65b9\u6cd5   __ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728 \u83b7\u53d6 \u5230 \u7684   carla . SemanticLidarDetection   \u6570\u636e \u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   detection   =   carla . SemanticLidarDetection   )   __ str __   (   self   )   carla . Sensor   \u4ece   carla . Actor   \u7ee7\u627f   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6784\u6210 \u4e86 \u4e00\u4e2a \u975e\u5e38 \u591a\u6837 \u591a\u6837\u5316 \u548c \u72ec\u7279 \u7684 \u7279\u5b9a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5bb6\u65cf \u3002 \u5b83\u4eec \u901a\u5e38 \u662f \u4f5c\u4e3a \u8f66\u8f86 \u7684 \u9644\u4ef6 / \u513f\u5b50 \u800c \u4ea7\u751f \u7684 \uff08 \u770b\u770b   carla . World   \u6765 \u4e86\u89e3 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u751f\u6210 \uff09 \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7ecf\u8fc7 \u7cbe\u5fc3 \u8bbe\u8ba1 \u7cbe\u5fc3\u8bbe\u8ba1 \uff0c \u53ef\u4ee5 \u68c0\u7d22 \u5b83\u4eec \u6b63\u5728 \u76d1\u542c \u7684 \u4e0d\u540c \u7c7b\u578b \u7684 \u6570\u636e \u3002 \u5b83\u4eec \u63a5\u6536 \u5230 \u7684 \u6570\u636e \u88ab \u5f62\u6210 \u4e3a \u4ece   carla . SensorData   \u7ee7\u627f \u7684 \u4e0d\u540c \u5b50\u7c7b \u3002 \uff08 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff09 \u3002   \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef \u5206\u4e3a \u4e24\u7ec4 \uff1a \u4e00\u7ec4 \u5728 \u6bcf\u4e2a \u8282\u62cd \u4e2d \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \uff08 \u76f8\u673a \u3001 \u70b9\u4e91 \u548c \u4e00\u4e9b \u7279\u5b9a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff09 \uff0c \u4e00\u7ec4 \u53e6\u4e00\u7ec4 \u4ec5 \u5728 \u7279\u5b9a \u60c5\u51b5 \u4e0b \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \uff08 \u89e6\u53d1 \u63a2\u6d4b \u6d4b\u5668 \u63a2\u6d4b\u5668 \uff09 \u3002 Carla   \u63d0\u4f9b \u4e86 \u4e00\u5957 \u7279\u5b9a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5b83\u4eec \u7684 \u84dd\u56fe \u53ef\u4ee5 \u5728   carla . BlueprintLibrary   \u4e2d \u627e\u5230 \u3002 \u5173\u4e8e \u4ed6\u4eec \u7684 \u504f\u597d \u548c \u653e\u7f6e \u4f4d\u7f6e \u7684 \u6240\u6709 \u4fe1\u606f \u90fd \u53ef\u4ee5 \u5728   \u8fd9\u91cc   \u627e\u5230 \uff0c \u4f46 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c Carla   \u4e2d \u53ef\u7528 \u7684 \u4fe1\u606f \u5217\u8868 \u5982\u4e0b \u3002   \u6bcf\u4e2a \u8282\u62cd \u63a5\u6536 \u7684 \u6570\u636e \u3002   -   \u6df1\u5ea6 \u76f8\u673a   -   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   -   IMU   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   -   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5149\u7ebf \u6295\u5c04   -   SemanticLidar   \u5149\u7ebf \u6295\u5c04   -   \u96f7\u8fbe   -   RGB   \u76f8\u673a   -   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   -   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u4ec5 \u5728 \u89e6\u53d1 \u65f6 \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \u3002   -   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   .   -   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   .   -   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   .   \u5b9e\u4f8b \u53d8\u91cf   is _ listening   (   boolean   )   \u5f53\u4e3a   True   \u65f6 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u7b49\u5f85 \u6570\u636e \u3002   \u65b9\u6cd5   disable _ for _ ros   (   self   )   \u5982\u679c \u6ca1\u6709 \u4efb\u4f55 \u76d1\u542c \uff0c \u5219 \u547d\u4ee4 \u4e0d \u5904\u7406 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ee5 \u5728   ROS2   \u4e2d \u53d1\u5e03 \u3002   enable _ for _ ros   (   self   )   \u547d\u4ee4 \u8981 \u5904\u7406 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u80fd\u591f \u5728 ROS2 \u4e2d \u53d1\u5e03 \uff0c \u800c \u65e0\u9700 \u4efb\u4f55 \u76d1\u542c \u3002   is _ enabled _ for _ ros   (   self   )   \u5982\u679c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5df2 \u542f\u7528 \uff0c \u5219 \u8fd4\u56de \uff1b \u5982\u679c \u6ca1\u6709 \u4efb\u4f55 \u76d1\u542c \uff0c \u5219 \u4e0d \u5728 ROS2 \u4e2d \u53d1\u5e03 \u3002   \u8fd4\u56de \uff1a   bool   is _ listening   (   self   )   \u8fd4\u56de \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u5426 \u5904\u4e8e \u76d1\u542c \u72b6\u6001 \u3002   \u8fd4\u56de \uff1a   bool   is _ listening _ gbuffer   (   self   ,   gbuffer _ id   )   \u8fd4\u56de \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u5426 \u5904\u4e8e \u7279\u5b9a   GBuffer   \u7eb9\u7406 \u7684 \u76d1\u542c \u72b6\u6001 \u3002   \u53c2\u6570 \uff1a   gbuffer _ id   (   carla . GBufferTextureID   )   -   \u76ee\u6807 \u865a\u5e7b \u5f15\u64ce GBuffer \u7eb9\u7406 \u7684 ID \u3002   \u8fd4\u56de \uff1a   bool   listen   (   self   ,   callback   )   snippet   \u2192   \u6bcf\u6b21 \u6536\u5230 \u65b0 \u7684 \u6d4b\u91cf \u503c\u65f6 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u8c03\u7528 \u7684 \u51fd\u6570 \u3002 \u6b64 \u51fd\u6570 \u9700\u8981 \u4e00\u4e2a \u5305\u542b \u5bf9\u8c61 \u7c7b\u578b   carla . SensorData   \u7684 \u53c2\u6570 \u3002   \u53c2\u6570 \uff1a   callback   (   function   )   -   \u88ab \u8c03\u7528 \u7684 \u51fd\u6570 \u6709 \u4e00\u4e2a \u53c2\u6570 \u5305\u542b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   listen _ to _ gbuffer   (   self   ,   gbuffer _ id   ,   callback   )   \u6bcf\u6b21 \u63a5\u6536 \u5230 \u6240 \u9700 \u7684   GBuffer   \u7eb9\u7406 \u65f6 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u8c03\u7528 \u7684 \u51fd\u6570 \u3002   \u6b64 \u51fd\u6570 \u9700\u8981 \u4e00\u4e2a \u5305\u542b \u5bf9\u8c61 \u7c7b\u578b   carla . SensorData   \u7684 \u53c2\u6570 \u3002   \u53c2\u6570 \uff1a   gbuffer _ id   (   carla . GBufferTextureID   )   -   \u76ee\u6807 \u865a\u5e7b \u5f15\u64ce   GBuffer   \u7eb9\u7406 \u7684 ID \u3002   callback   (   function   )   -   \u88ab \u8c03\u7528 \u7684 \u51fd\u6570 \u6709 \u4e00\u4e2a \u53c2\u6570 \uff0c \u5176\u4e2d \u5305\u542b \u63a5\u6536 \u5230 \u7684 GBuffer \u7eb9\u7406 \u3002   stop   (   self   )   \u547d\u4ee4 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u505c\u6b62 \u76d1\u542c \u6570\u636e \u3002   stop _ gbuffer   (   self   ,   gbuffer _ id   )   \u547d\u4ee4 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u505c\u6b62 \u76d1\u542c \u6307\u5b9a \u7684   GBuffer   \u7eb9\u7406 \u3002   \u53c2\u6570 \uff1a   gbuffer _ id   (   carla . GBufferTextureID   )   -   \u865a\u5e7b \u5f15\u64ce   GBuffer   \u7eb9\u7406 \u7684 ID \u3002   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . SensorData   \u5305\u542b   carla . Sensor   \u751f\u6210 \u7684 \u6570\u636e \u7684 \u6240\u6709 \u5bf9\u8c61 \u7684 \u57fa\u7c7b \u3002 \u8fd9\u4e2a \u5bf9\u8c61 \u5e94\u8be5 \u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6b63\u5728 \u76d1\u542c \u7684 \u51fd\u6570 \u7684 \u53c2\u6570 \uff0c \u4ee5\u4fbf \u4e0e \u5b83\u4eec \u4e00\u8d77 \u5de5\u4f5c \u3002 \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u7684 \u6bcf \u4e00\u4e2a \u90fd \u9700\u8981 \u7279\u5b9a \u7c7b\u578b \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002 \u4ee5\u4e0b \u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ca\u5176 \u76f8\u5e94 \u6570\u636e \u7684 \u5217\u8868 \u3002   -   \u76f8\u673a   ( RGB ,   \u6df1\u5ea6 \u548c \u8bed\u4e49 \u5206\u5272 ) :   carla . Image   .   -   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \uff1a   carla . CollisionEvent   .   -   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . GnssMeasurement   .   -   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . IMUMeasurement   .   -   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \uff1a   carla . LaneInvasionEvent   .   -   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . LidarMeasurement   .   -   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \uff1a   carla . ObstacleDetectionEvent   .   -   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . RadarMeasurement   .   -   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . RssResponse   .   -   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . SemanticLidarMeasurement   .   -   V2X \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u534f\u540c \u611f\u77e5 \u4fe1\u606f \uff1a   carla . CAMEvent   .   -   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 V2X \u6d88\u606f V2X \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . CustomV2XEvent   .   \u5b9e\u4f8b \u53d8\u91cf   frame   (   int   )   \u751f\u6210 \u6570\u636e \u65f6 \u7684 \u5e27 \u6570 \u3002   timestamp   (   float   -   seconds   )   \u751f\u6210 \u6570\u636e \u7684 \u6a21\u62df \u65f6\u95f4 \u3002   transform   (   carla . Transform   )   \u6570\u636e \u751f\u6210 \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8f6c\u6362 \u3002   carla . TextureColor   \u7c7b \u8868\u793a \u8981 \u4e0a \u4f20\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u7eb9\u7406 \u5bf9\u8c61 \u3002 \u50cf\u7d20 \u683c\u5f0f \u4e3a   RGBA \uff0c \u6bcf\u4e2a \u901a\u9053 \u4e3a   uint8 \u3002   \u5b9e\u4f8b \u53d8\u91cf   width   (   int   )   \u7eb9\u7406 \u7684   X   \u5750\u6807 \u5927\u5c0f \u3002   height   (   int   )   \u7eb9\u7406 \u7684   Y   \u5750\u6807 \u5927\u5c0f \u3002   \u65b9\u6cd5   __ init __   (   self   ,   width   ,   height   )   \u4f7f\u7528 \uff08   width   ,   height   \uff09 \u5927\u5c0f \u521d\u59cb \u521d\u59cb\u5316 \u7eb9\u7406 \u3002   \u53c2\u6570 \uff1a   width   (   int   )   height   (   int   )   get   (   self   ,   x   ,   y   )   \u83b7\u53d6 \uff08 x \uff0c y \uff09 \u50cf\u7d20 \u6570\u636e \u3002   \u53c2\u6570 \uff1a   x   (   int   )   y   (   int   )   \u8fd4\u56de :   carla . Color   set   (   self   ,   x   ,   y   ,   value   )   \u7528\u503c   value   \u8bbe\u7f6e \uff08 x \uff0c y \uff09 \u50cf\u7d20 \u6570\u636e \u3002   \u53c2\u6570 \uff1a   x   (   int   )   y   (   int   )   value   (   carla . Color   )   \u8bbe\u7f6e \u5668   set _ dimensions   (   self   ,   width   ,   height   )   \u5c06 \u7eb9\u7406 \u8c03\u6574 \u5230 \u6307\u5b9a \u7684 \u5c3a\u5bf8 \u3002   \u53c2\u6570 \uff1a   width   (   int   )   height   (   int   )   carla . TextureFloatColor   \u7c7b \u8868\u793a \u8981 \u4e0a \u4f20\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u7eb9\u7406 \u5bf9\u8c61 \u3002 \u50cf\u7d20 \u683c\u5f0f \u4e3a   RGBA \uff0c \u6bcf\u4e2a \u901a\u9053 \u7684 \u662f   float   \u3002   \u5b9e\u4f8b \u53d8\u91cf   width   (   int   )   \u7eb9\u7406 \u7684   X   \u5750\u6807 \u5927\u5c0f \u3002   height   (   int   )   \u7eb9\u7406 \u7684   Y   \u5750\u6807 \u5927\u5c0f \u3002   \u65b9\u6cd5   __ init __   (   self   ,   width   ,   height   )   \u4f7f\u7528 \uff08   width   ,   height   \uff09 \u5927\u5c0f \u521d\u59cb \u521d\u59cb\u5316 \u7eb9\u7406 \u3002   \u53c2\u6570 \uff1a   width   (   int   )   height   (   int   )   get   (   self   ,   x   ,   y   )   \u83b7\u53d6 \uff08 x \uff0c y \uff09 \u50cf\u7d20 \u6570\u636e \u3002   \u53c2\u6570 \uff1a   x   (   int   )   y   (   int   )   \u8fd4\u56de :   carla . FloatColor   set   (   self   ,   x   ,   y   ,   value   )   \u7528\u503c   value   \u8bbe\u7f6e \uff08 x \uff0c y \uff09 \u50cf\u7d20 \u6570\u636e \u3002   \u53c2\u6570 \uff1a   x   (   int   )   y   (   int   )   value   (   carla . FloatColor   )   \u8bbe\u7f6e \u5668   set _ dimensions   (   self   ,   width   ,   height   )   \u5c06 \u7eb9\u7406 \u8c03\u6574 \u5230 \u6307\u5b9a \u7684 \u5c3a\u5bf8 \u3002   \u53c2\u6570 \uff1a   width   (   int   )   height   (   int   )   carla . Timestamp   \u5305\u542b \u6a21\u62df \u6570\u636e \u65f6\u95f4 \u4fe1\u606f \u7684 \u7c7b \u3002 \u6b64 \u4fe1\u606f \u5c06 \u4f5c\u4e3a   carla . WorldSnapshot   \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u81ea\u52a8 \u52a8\u68c0 \u68c0\u7d22 \u81ea\u52a8\u68c0\u7d22 \u3002 \u662f \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6bcf \u4e00\u5e27 \u4e0a \u83b7\u5f97 \u7684 \uff0c \u4f46 \u4e5f \u53ef\u80fd \u7528\u4e8e \u8bb8\u591a \u5176\u4ed6 \u60c5\u51b5 \uff0c \u5982   carla . Sensor   \u6b63\u5728 \u68c0\u7d22 \u6570\u636e \u3002   \u5b9e\u4f8b \u53d8\u91cf   frame   (   int   )   \u81ea \u6a21\u62df \u6a21\u62df\u5668 \u542f\u52a8 \u4ee5\u6765 \u7ecf\u8fc7 \u7684 \u5e27 \u6570 \u3002   elapsed _ seconds   (   float   -   seconds   )   \u81ea \u5f53\u524d \u5267\u96c6 \u5f00\u59cb \u4ee5\u6765 \u7ecf\u8fc7 \u7684 \u6a21\u62df \u79d2\u6570 \u3002   delta _ seconds   (   float   -   seconds   )   \u81ea\u4e0a \u4e00\u5e27 \u4ee5\u6765 \u7ecf\u8fc7 \u7684 \u6a21\u62df \u79d2\u6570 \u3002   platform _ timestamp   (   float   -   seconds   )   \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u7ed9\u51fa \u7684 \u8fdb\u884c \u6b64 \u6d4b\u91cf \u7684 \u5e27 \u7684 \u65f6\u95f4 \u5bc4\u5b58 \u5bc4\u5b58\u5668 \uff0c \u5355\u4f4d \u4e3a \u79d2 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   frame   ,   elapsed _ seconds   ,   delta _ seconds   ,   platform _ timestamp   )   \u53c2\u6570 \uff1a   frame   (   int   )   elapsed _ seconds   (   float   -   \u79d2   )   delta _ seconds   (   float   -   \u79d2   )   platform _ timestamp   (   float   -   \u79d2   )   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . Timestamp   )   __ ne __   (   self   ,   other   =   carla . Timestamp   )   __ str __   (   self   )   carla . TrafficLight   \u4ece   carla . TrafficSign   \u7ee7\u627f   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u88ab \u8ba4\u4e3a \u662f \u4e00\u79cd \u7279\u5b9a \u7c7b\u578b \u7684 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3002 \u7531\u4e8e \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5927\u591a \u51fa\u73b0 \u5728 \u8def\u53e3 \uff0c \u56e0\u6b64 \u5b83\u4eec \u5c5e\u4e8e \u4e00\u4e2a \u5305\u542b \u4e0d\u540c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u7ec4 \u3002 \u5728 \u7ec4\u5185 \uff0c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u901a\u8fc7 \u5176\u6746 \u6307\u6570 \u8fdb\u884c \u533a\u5206 \u3002   \u5728 \u4e00\u4e2a \u4e00\u4e2a\u7ec4 \u5185 \uff0c \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u4ee5 \u5faa\u73af \u6a21\u5f0f \u53d8\u5316 \uff1a \u9009\u62e9 \u4e00\u4e2a \u7d22\u5f15 \uff0c \u5b83 \u5728 \u7eff\u8272 \u3001 \u9ec4\u8272 \u548c \u6700\u7ec8 \u7ea2\u8272 \u4e2d \u505c\u7559 \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u3002 \u5176\u4f59 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u5728 \u6574\u4e2a \u8fc7\u7a0b \u4e2d \u90fd \u4fdd\u6301 \u7ea2\u8272 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u5728 \u5faa\u73af \u7684 \u6700\u540e \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u6709 \u4e00\u4e2a \u95f4\u9699 \uff0c \u6240\u6709 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u90fd \u662f \u7ea2\u8272 \u7684 \u3002 \u4f46\u662f \uff0c \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u53ef\u4ee5 \u624b\u52a8 \u6539\u53d8 \u3002   \u5b9e\u4f8b \u53d8\u91cf   state   (   carla . TrafficLightState   )   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u5f53\u524d \u72b6\u6001 \u3002   \u65b9\u6cd5   freeze   (   self   ,   freeze   )   \u5728 \u5f53\u524d \u72b6\u6001 \u5c06 \u573a\u666f \u4e2d \u7684 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u505c\u6b62 \u3002   \u53c2\u6570 \uff1a   freeze   (   bool   )   is _ frozen   (   self   )   \u5982\u679c \u4ea4\u901a \u4ea4\u901a\u706f \u6839\u636e \u4e0a\u6b21 \u52fe\u9009 \u88ab \u51bb\u7ed3 \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06 \u8fd4\u56de   True   \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   bool   reset _ group   (   self   )   \u5c06 \u7ec4 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u91cd\u7f6e \u4e3a \u6a21\u62df \u5f00\u59cb \u65f6 \u7684 \u521d\u59cb \u72b6\u6001 \u521d\u59cb\u72b6\u6001 \u3002   Note :   \u6b64 \u65b9\u6cd5 \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8bbe\u7f6e \u5668   get _ affected _ lane _ waypoints   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u8def\u5f84 \u70b9 \u5217\u8868 \uff0c \u6307\u793a \u4ea4\u901a \u4ea4\u901a\u706f \u4ea7\u751f \u5f71\u54cd \u7684 \u4f4d\u7f6e \u548c \u8f66\u9053 \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   get _ elapsed _ time   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u4e0a\u6b21 \u6ef4\u7b54 \u4fe1\u606f \u8fd4\u56de \u81ea \u5f53\u524d \u706f\u5149 \u72b6\u6001 \u5f00\u59cb \u4ee5\u6765 \u7684 \u65f6\u95f4 \uff08 \u79d2 \uff09 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   float   -   seconds   get _ green _ time   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f \u8fd4\u56de \u4e3a \u7eff\u706f \u8bbe\u7f6e \u7684 \u65f6\u95f4 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   float   -   seconds   \u8bbe\u7f6e \u5668 \uff1a   carla . TrafficLight . set _ green _ time   get _ group _ traffic _ lights   (   self   )   \u8fd4\u56de \u6b64 \u4ea4\u901a \u4ea4\u901a\u706f \u6240\u5c5e \u7ec4\u4e2d \u7684 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   \u8fd4\u56de :   list (   carla . TrafficLight   )   Note :   \u6b64 \u65b9\u6cd5 \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   get _ light _ boxes   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u5305\u542b \u4ea4\u901a \u4ea4\u901a\u706f \u6bcf\u4e2a \u706f\u7bb1 \u7684 \u8fb9\u754c \u6846 \u5217\u8868 \u3002   \u8fd4\u56de :   list (   carla . BoundingBox   )   get _ opendrive _ id   (   self   )   \u8fd4\u56de \u6b64 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 OpenDRIVE   id \u3002   \u8fd4\u56de :   str   get _ pole _ index   (   self   )   \u8fd4\u56de \u5c06 \u5176 \u6807\u8bc6 \u4e3a \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u4ea4\u901a \u4ea4\u901a\u706f \u7ec4 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u7684 \u6746 \u7684 \u7d22\u5f15 \u3002   \u8fd4\u56de :   int   get _ red _ time   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f \u8fd4\u56de \u4ea4\u901a \u4ea4\u901a\u706f \u53d8\u7ea2 \u7684 \u65f6\u95f4 \u8bbe\u7f6e \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   float   -   seconds   \u8bbe\u7f6e \u5668 \uff1a   carla . TrafficLight . set _ red _ time   get _ state   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f \u8fd4\u56de \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   carla . TrafficLightState   \u8bbe\u7f6e \u8d77 \uff1a   carla . TrafficLight . set _ state   get _ stop _ waypoints   (   self   )   \u8fd4\u56de \u6307\u793a \u4ea4\u901a \u4ea4\u901a\u706f \u505c\u6b62 \u4f4d\u7f6e \u7684 \u8def\u70b9 \u5217\u8868 \u3002 \u8fd9\u4e9b \u8def\u70b9 \u662f \u6839\u636e \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u89e6\u53d1 \u6846 \u8ba1\u7b97 \u7b97\u51fa \u51fa\u6765 \u8ba1\u7b97\u51fa\u6765 \u7684 \uff0c \u8fd9\u4e9b \u89e6\u53d1 \u6846 \u6307\u793a \u8f66\u8f86 \u5e94\u8be5 \u505c \u5728 \u54ea\u91cc \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   get _ yellow _ time   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f \u8fd4\u56de \u4e3a \u4ea4\u901a \u4ea4\u901a\u706f \u8bbe\u7f6e \u4e3a \u9ec4\u8272 \u7684 \u65f6\u95f4 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   float   -   \u79d2   \u8bbe\u7f6e \u5668 \uff1a   carla . TrafficLight . set _ yellow _ time   \u8bbe\u7f6e \u5668   set _ green _ time   (   self   ,   green _ time   )   \u53c2\u6570 \uff1a   green _ time   (   float   -   \u79d2   )   -   \u8bbe\u7f6e \u7eff\u706f \u6fc0\u6d3b \u7684 \u7ed9\u5b9a \u65f6\u95f4 \u3002   \u83b7\u53d6 \u5668 :   carla . TrafficLight . get _ green _ time   set _ red _ time   (   self   ,   red _ time   )   \u8bbe\u7f6e \u7ea2\u8272 \u72b6\u6001 \u6fc0\u6d3b \u7684 \u7ed9\u5b9a \u65f6\u95f4 \u3002   \u53c2\u6570 \uff1a   red _ time   (   float   -   \u79d2   )   \u83b7\u53d6 \u5668 :   carla . TrafficLight . get _ red _ time   set _ state   (   self   ,   state   )   snippet   \u2192   \u5c06 \u7ed9\u5b9a \u72b6\u6001 \u8bbe\u7f6e \u4e3a \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u53c2\u6570 \uff1a   state   (   carla . TrafficLightState   )   \u83b7\u53d6 \u5668 :   carla . TrafficLight . get _ state   set _ yellow _ time   (   self   ,   yellow _ time   )   \u8bbe\u7f6e \u9ec4\u706f \u6fc0\u6d3b \u7684 \u7ed9\u5b9a \u65f6\u95f4 \u3002   \u53c2\u6570 \uff1a   yellow _ time   (   float   -   seconds   )   \u83b7\u53d6 \u5668 :   carla . TrafficLight . get _ yellow _ time   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . TrafficLightState   \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u6240\u6709 \u53ef\u80fd \u72b6\u6001 \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u5728 \u7279\u5b9a \u65f6\u95f4 \u6b65\u957f \u66f4\u6539 \u6216 \u624b\u52a8 \u66f4\u6539 \u3002   carla . TrafficLight . set _ state   \u4e2d \u7684 \u7247\u6bb5 \u4f1a \u52a8\u6001 \u66f4\u6539 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u3002   \u5b9e\u4f8b \u53d8\u91cf   Red   Yellow   Green   Off   Unknown   carla . TrafficManager   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u662f \u4e00\u4e2a \u7528   C++   \u6784\u5efa \u5728   CARLA   API   \u4e4b\u4e0a \u7684 \u6a21\u5757 \u3002 \u5b83 \u53ef\u4ee5 \u5904\u7406 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u7684 \u4efb\u4f55 \u8f66\u8f86 \u7ec4 \uff0c \u4ee5 \u73b0\u5b9e \u7684 \u57ce\u5e02 \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u586b\u5145 \u4eff\u771f \uff0c \u5e76 \u4e3a \u7528\u6237 \u63d0\u4f9b \u5b9a\u5236 \u67d0\u4e9b \u884c\u4e3a \u7684 \u673a\u4f1a \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u67b6\u6784 \u5206\u4e3a \u4e94\u4e2a \u4e0d\u540c \u7684 \u9762\u5411 \u76ee\u6807 \u7684 \u9636\u6bb5 \u548c \u4e00\u4e2a   PID   \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u4fe1\u606f \u5728 \u5176\u4e2d \u6d41\u52a8 \uff0c \u76f4\u5230 \u6700\u7ec8 \u5c06   carla . VehicleControl   \u5e94\u7528 \u4e8e \u5728 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u4e2d \u6ce8\u518c \u7684 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u8f86 \u3002 \u8981 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \uff0c \u8bf7 \u8bbf\u95ee \u6709\u5173 \u6b64 \u6a21\u5757 \u7684   \u6587\u6863   \u3002   \u65b9\u6cd5   auto _ lane _ change   (   self   ,   actor   ,   enable   )   \u6253\u5f00 \u6216 \u5173\u95ed \u8f66\u8f86 \u7684 \u8f66\u9053 \u53d8\u6362 \u884c\u4e3a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u8bbe\u7f6e \u88ab \u66f4\u6539 \u7684 \u8f66\u8f86 \u3002   enable   (   bool   )   -   True   \u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u5e76 \u542f\u7528 \u8f66\u9053 \u53d8\u66f4 \u3002   False   \u5c06 \u7981\u7528 \u5b83\u4eec \u3002   collision _ detection   (   self   ,   reference _ actor   ,   other _ actor   ,   detect _ collision   )   \u8c03\u6574 \u8f66\u8f86 \u4e0e \u53e6 \u4e00\u4e2a \u7279\u5b9a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u95f4 \u7684 \u78b0\u649e \u3002 \u4e3a\u4e86 \u5ffd\u7565 \u6240\u6709 \u5176\u4ed6 \u8f66\u8f86 \u3001 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u6216 \u884c\u4eba \uff0c \u8bf7 \u4f7f\u7528 \u540c \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u4e2d \u63cf\u8ff0 \u7684   \u7279\u5b9a   ignore   \u65b9\u6cd5 \u3002   \u53c2\u6570 :   reference _ actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u78b0\u649e \u7684 \u8f66\u8f86 \u3002   other _ actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u4e0e \u4e4b \u53d1\u751f \u78b0\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   reference _ actor   \u3002   detect _ collision   (   bool   )   -   True   \u662f \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u5e76 \u542f\u7528 \u78b0\u649e \u3002   False   \u5c06 \u7981\u7528 \u5b83\u4eec \u3002   distance _ to _ leading _ vehicle   (   self   ,   actor   ,   distance   )   \u8bbe\u7f6e \u8f66\u8f86 \u5fc5\u987b \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u4fdd\u6301 \u7684 \u6700\u5c0f \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002 \u8ddd\u79bb \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff0c \u4f1a \u5f71\u54cd \u6700\u5c0f \u79fb\u52a8 \u8ddd\u79bb \u3002 \u5b83 \u662f\u4ece \u8f66\u8f86 \u5bf9\u8c61 \u7684 \u524d \u5230 \u540e \u8ba1\u7b97 \u7684 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u6b63\u5728 \u66f4\u6539 \u6700\u5c0f \u8ddd\u79bb \u7684 \u8f66\u8f86 \u3002   distance   (   float   -   \u7c73   )   -   \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \u4e4b\u95f4 \u7684 \u7c73 \u3002   force _ lane _ change   (   self   ,   actor   ,   direction   )   \u5f3a\u5236 \u8f66\u8f86 \u6539\u53d8 \u5230 \u5176 \u5de6\u4fa7 \u6216 \u53f3\u4fa7 \u7684 \u8f66\u9053 \uff08 \u5982\u679c \u5b58\u5728 \uff09 \uff0c \u5982   \u4e2d \u6240\u793a   direction   \u3002 \u65e0\u8bba \u53d1\u751f \u4ec0\u4e48 \u60c5\u51b5 \uff0c \u8be5 \u65b9\u6cd5 \u90fd \u4f1a \u5e94\u7528 \u8f66\u9053 \u53d8\u6362 \uff0c \u800c \u5ffd\u7565 \u53ef\u80fd \u53d1\u751f \u7684 \u78b0\u649e \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u8f66\u8f86 \u88ab\u8feb \u6539\u53d8 \u8f66\u9053 \u3002   direction   (   bool   )   -   \u76ee\u6807 \u8f66\u9053 \u3002   True   \u662f \u53f3\u8fb9 \u7684 \uff0c   False   \u662f \u5de6\u8fb9 \u7684 \u3002   global _ lane _ offset   (   self   ,   offset   )   \u8bbe\u7f6e \u8ddd \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \u7684 \u5168\u5c40 \u8f66\u9053 \u504f\u79fb \u4f4d\u79fb \u3002 \u6b63\u503c \u8868\u793a \u5411 \u53f3 \u504f\u79fb \uff0c \u8d1f\u503c \u8868\u793a \u5411 \u5de6 \u504f\u79fb \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0 \u3002 \u6570\u5b57 \u9ad8\u5230 \u8db3\u4ee5 \u5bfc\u81f4 \u8f66\u8f86 \u9a76\u8fc7 \u5176\u4ed6 \u8f66\u9053 \u53ef\u80fd \u4f1a \u635f\u574f \u63a7\u5236 \u63a7\u5236\u5668 \u3002   \u53c2\u6570 :   offset   (   float   )   -   \u8f66\u9053 \u8ddd \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \u7684 \u504f\u79fb \u4f4d\u79fb \u3002   global _ percentage _ speed _ difference   (   self   ,   percentage   )   \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u9884\u671f \u901f\u5ea6 \u4e0e\u5176 \u5f53\u524d \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u7684 \u5dee\u503c \u3002 \u901a\u8fc7 \u5c06   perc   \u8bbe \u4e3a \u8d1f\u503c \u53ef\u4ee5 \u8d85\u51fa \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   30 \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u8d1f \u767e\u5206 \u767e\u5206\u6bd4 \u6765 \u8d85\u8fc7 \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u3002   \u53c2\u6570 :   percentage   (   float   )   -   \u9884\u671f \u901f\u5ea6 \u548c \u5f53\u524d \u9650\u5236 \u4e4b\u95f4 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u5dee\u5f02 \u3002   ignore _ lights _ percentage   (   self   ,   actor   ,   perc   )   \u5728 \u6bcf \u5e27 \u8fd0\u884c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u9636\u6bb5 \uff0c \u6b64 \u65b9\u6cd5 \u8bbe\u7f6e \u8f66\u8f86 \u5ffd\u7565 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u673a\u4f1a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   perc   (   float   )   -   0   \u5230   100   \u4e4b\u95f4 \u3002 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u88ab \u5ffd\u7565 \u7684 \u6b21\u6570 \u3002   ignore _ signs _ percentage   (   self   ,   actor   ,   perc   )   \u5728 \u6bcf \u5e27 \u8fd0\u884c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u9636\u6bb5 \uff0c \u6b64 \u65b9\u6cd5 \u8bbe\u7f6e \u8f66\u8f86 \u5ffd\u7565 \u505c\u8f66 \u6807\u5fd7 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u673a\u4f1a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u505c\u8f66 \u6807\u5fd7 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   perc   (   float   )   -   0   \u5230   100   \u4e4b\u95f4 \u3002 \u505c\u8f66 \u6807\u5fd7 \u88ab \u5ffd\u7565 \u7684 \u6b21\u6570 \u3002   ignore _ vehicles _ percentage   (   self   ,   actor   ,   perc   )   \u5728 \u6bcf \u5e27 \u8fd0\u884c \u7684 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u9636\u6bb5 \uff0c \u6b64 \u65b9\u6cd5 \u8bbe\u7f6e \u4e00\u4e2a \u8f66\u8f86 \u5ffd\u7565 \u4e0e \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u78b0\u649e \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u673a\u4f1a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u5176\u4ed6 \u8f66\u8f86 \u7684 \u8f66\u8f86 \u3002   perc   (   float   )   -   Between   0   and   100 .   0   \u5230   100   \u4e4b\u95f4 \u3002 \u78b0\u649e \u88ab \u5ffd\u7565 \u7684 \u6b21\u6570 \u3002   ignore _ walkers _ percentage   (   self   ,   actor   ,   perc   )   \u5728 \u6bcf \u5e27 \u8fd0\u884c \u7684 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u9636\u6bb5 \uff0c \u6b64 \u65b9\u6cd5 \u8bbe\u7f6e \u8f66\u8f86 \u5ffd\u7565 \u4e0e \u884c\u4eba \u78b0\u649e \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u673a\u4f1a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u573a\u666f \u4e2d \u884c\u4eba \u7684 \u8f66\u8f86 \u3002   perc   (   float   )   -   Between   0   and   100 .   0   \u5230   100   \u4e4b\u95f4 \u3002 \u78b0\u649e \u88ab \u5ffd\u7565 \u7684 \u6b21\u6570 \u3002   keep _ right _ rule _ percentage   (   self   ,   actor   ,   perc   )   \u5728 \u5b9a\u4f4d \u9636\u6bb5 \uff0c \u6b64 \u65b9\u6cd5 \u8bbe\u7f6e \u8f66\u8f86 \u9075\u5faa   \u9760\u53f3   \u89c4\u5219 \u5e76 \u7559\u5728 \u53f3\u4fa7 \u8f66\u9053 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u673a\u4f1a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u6b63\u5728 \u6539\u53d8 \u884c\u4e3a \u7684 \u8f66\u8f86 \u3002   perc   (   float   )   -   Between   0   and   100 .   0   \u5230   100   \u4e4b\u95f4 \u3002 \u8f66\u8f86 \u9075\u5faa \u9760\u53f3 \u89c4\u5219 \u7684 \u6b21\u6570 \u3002   random _ left _ lanechange _ percentage   (   self   ,   actor   ,   percentage   )   \u8c03\u6574 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u4e2d \u6267\u884c \u5de6\u53d8 \u9053 \u7684 \u6982\u7387 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u53d8\u9053 \u53ef\u7528 \u53ef\u7528\u6027 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u60a8 \u8981 \u67e5\u8be2 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   percentage   (   float   )   -   \u6362\u9053 \u6982\u7387 \uff0c \u4ee5 \u767e\u5206 \u767e\u5206\u6bd4 \u4e3a \u5355\u4f4d \uff08 0   \u5230   100   \u4e4b\u95f4 \uff09 \u3002   random _ right _ lanechange _ percentage   (   self   ,   actor   ,   percentage   )   \u8c03\u6574 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65 \u6267\u884c \u53f3\u53d8 \u9053 \u7684 \u6982\u7387 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u53d8\u9053 \u53ef\u7528 \u53ef\u7528\u6027 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u60a8 \u8981 \u67e5\u8be2 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   percentage   (   float   )   -   \u6362\u9053 \u6982\u7387 \uff0c \u4ee5 \u767e\u5206 \u767e\u5206\u6bd4 \u4e3a \u5355\u4f4d \uff08 0   \u5230   100   \u4e4b\u95f4 \uff09 \u3002   shut _ down   (   self   )   \u5173\u95ed \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   update _ vehicle _ lights   (   self   ,   actor   ,   do _ update   )   \u8bbe\u7f6e \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u662f\u5426 \u8d1f\u8d23 \u66f4\u65b0 \u8f66\u706f \u3002 \u9ed8\u8ba4 \u4e3a   False   \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4e0d\u4f1a \u66f4\u6539 \u8f66\u8f86 \u7684 \u8f66\u706f \u72b6\u6001 \uff0c \u9664\u975e \u5176   auto _ update _ status   \u8bbe \u4e3a   True   \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5176 \u706f\u5149 \u72b6\u6001 \u6b63\u5728 \u66f4\u6539 \u7684 \u8f66\u8f86 \u3002   do _ update   (   bool   )   -   \u5982\u679c \u4e3a   True   \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u7ba1\u7406 \u6307\u5b9a \u8f66\u8f86 \u7684 \u8f66\u706f \u3002   vehicle _ lane _ offset   (   self   ,   actor   ,   offset   )   \u8bbe\u7f6e \u76f8\u5bf9 \u4e8e \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \u7684 \u8f66\u9053 \u504f\u79fb \u4f4d\u79fb \u3002 \u6b63\u503c \u8868\u793a \u5411 \u53f3 \u504f\u79fb \uff0c \u8d1f\u503c \u8868\u793a \u5411 \u5de6 \u504f\u79fb \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0 \u3002 \u6570\u5b57 \u9ad8\u5230 \u8db3\u4ee5 \u5bfc\u81f4 \u8f66\u8f86 \u9a76\u8fc7 \u5176\u4ed6 \u8f66\u9053 \u53ef\u80fd \u4f1a \u635f\u574f \u63a7\u5236 \u63a7\u5236\u5668 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u8f66\u9053 \u504f\u79fb \u884c\u4e3a \u6b63\u5728 \u66f4\u6539 \u7684 \u8f66\u8f86 \u3002   offset   (   float   )   -   \u8f66\u9053 \u8ddd \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \u7684 \u504f\u79fb \u4f4d\u79fb \u3002   vehicle _ percentage _ speed _ difference   (   self   ,   actor   ,   percentage   )   \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u9884\u671f \u901f\u5ea6 \u4e0e\u5176 \u5f53\u524d \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u7684 \u5dee\u503c \u3002 \u901a\u8fc7 \u5c06   perc   \u8bbe \u4e3a \u8d1f\u503c \u53ef\u4ee5 \u8d85\u51fa \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   30 \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u8d1f \u767e\u5206 \u767e\u5206\u6bd4 \u6765 \u8d85\u8fc7 \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u901f\u5ea6 \u884c\u4e3a \u6b63\u5728 \u6539\u53d8 \u7684 \u8f66\u8f86 \u3002   percentage   (   float   )   -   \u9884\u671f \u901f\u5ea6 \u548c \u5f53\u524d \u9650\u5236 \u4e4b\u95f4 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u5dee\u5f02 \u3002   \u8bbe\u7f6e \u5668   get _ all _ actions   (   self   ,   actor   )   \u8fd4\u56de \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u5728 \u540e\u7eed \u6b65\u9aa4 \u4e2d \u6267\u884c \u7684 \u6240\u6709 \u5df2\u77e5 \u64cd\u4f5c \uff08 \u5373 \u9053\u8def \u9009\u9879 \u548c \u8def\u5f84 \u70b9 \uff09 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u60a8 \u8981 \u67e5\u8be2 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8fd4\u56de :   \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5217\u8868 \u5217\u8868 \u5982\u4e0b   -   [ \u9053\u8def \u9009\u9879 \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u4f8b\u5982 \u201c \u5de6 \u201d \u3001 \u201c \u53f3 \u201d \u3001 \u201c \u76f4 \u201d \uff09 \u3001 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9   (   carla . Waypoint   ) ]   get _ next _ action   (   self   ,   actor   )   \u8fd4\u56de \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u9075\u5faa \u7684 \u4e0b \u4e00\u4e2a \u5df2\u77e5 \u9053\u8def \u9009\u9879 \u548c \u8def\u5f84 \u70b9 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u60a8 \u8981 \u67e5\u8be2 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8fd4\u56de :   \u4e24\u4e2a \u5143\u7d20 \u7684 \u5217\u8868   -   [ \u9053\u8def \u9009\u9879 \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u4f8b\u5982 \u201c \u5de6 \u201d \u3001 \u201c \u53f3 \u201d \u3001 \u201c \u76f4 \u201d \uff09 \u3001 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9   (   carla . Waypoint   ) ]   get _ port   (   self   )   \u8fd4\u56de \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8fde\u63a5 \u7684 \u7aef\u53e3 \u3002 \u5982\u679c \u8be5 \u5bf9\u8c61 \u662f   TM - Client \uff0c \u5b83 \u5c06 \u8fd4\u56de \u5176 TM - Server \u7684 \u7aef\u53e3 \u3002 \u9605\u8bfb   \u6587\u6863   \u4ee5 \u4e86\u89e3 \u5176\u4e2d \u7684 \u5dee\u5f02 \u3002   \u8fd4\u56de :   uint16   \u8bbe\u7f6e \u5668   set _ boundaries _ respawn _ dormant _ vehicles   (   self   ,   lower _ bound   = 25.0   ,   upper _ bound   = actor _ active _ distance   )   \u8bbe\u7f6e \u8981 \u5728 \u82f1\u96c4 \u8f66\u8f86 \u9644\u8fd1 \u91cd\u751f \u7684 \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e0a\u9650 \u548c \u4e0b\u9650 \u3002   \u53c2\u6570 :   lower _ bound   (   float   )   -   \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u91cd\u751f \u65f6\u8ddd \u82f1\u96c4 \u8f66\u8f86 \u7684 \u6700\u5c0f \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   upper _ bound   (   float   )   -   \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u91cd\u751f \u65f6\u8ddd \u82f1\u96c4 \u8f66\u8f86 \u7684 \u6700\u5927 \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   \u8b66\u544a :   upper _ bound   \u4e0d\u80fd \u9ad8\u4e8e   actor _ active _ distance   \u3002   lower _ bound   \u4e0d\u80fd \u5c0f\u4e8e   25 \u3002   set _ desired _ speed   (   self   ,   actor   ,   speed   )   \u5c06 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u8bbe\u7f6e \u4e3a \u6307\u5b9a \u503c \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u901f\u5ea6 \u6b63\u5728 \u6539\u53d8 \u7684 \u8f66\u8f86 \u3002   speed   (   float   )   -   \u8f66\u8f86 \u79fb\u52a8 \u6240 \u9700 \u7684 \u901f\u5ea6 \u3002   set _ global _ distance _ to _ leading _ vehicle   (   self   ,   distance   )   \u8bbe\u7f6e \u8f66\u8f86 \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u5fc5\u987b \u4fdd\u6301 \u7684 \u6700\u5c0f \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002 \u8ddd\u79bb \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff0c \u4f1a \u5f71\u54cd \u6700\u5c0f \u79fb\u52a8 \u8ddd\u79bb \u3002 \u5b83 \u662f\u4ece \u8f66\u8f86 \u5bf9\u8c61 \u7684 \u4e2d\u5fc3 \u5230 \u4e2d\u5fc3 \u8ba1\u7b97 \u7684 \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u8f66\u8f86 \u4e4b\u95f4 \u7684 \u7c73\u6570 \u3002   set _ hybrid _ physics _ mode   (   self   ,   enabled   = False   )   \u542f\u7528 \u6216 \u7981\u7528 \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f \u3002 \u5728 \u6b64 \u6a21\u5f0f \u4e0b \uff0c \u8ddd\u79bb \u81ea\u8eab \u8f66\u8f86 \u8d85\u8fc7 \u4e00\u5b9a \u534a\u5f84 \u7684 \u8f66\u8f86 \u5c06 \u7981\u7528 \u5176 \u7269\u7406 \u529f\u80fd \u3002 \u901a\u8fc7 \u4e0d \u8ba1\u7b97 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u5c06 \u964d\u4f4e \u8ba1\u7b97 \u6210\u672c \u8ba1\u7b97\u6210\u672c \u3002 \u8f66\u8f86 \u5c06 \u88ab \u4f20\u9001 \u3002   \u53c2\u6570 :   enabled   (   bool   )   -   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u542f\u7528 \u6df7\u5408 \u7269\u7406 \u3002   set _ hybrid _ physics _ radius   (   self   ,   r   = 50.0   )   \u542f\u7528 \u6df7\u5408 \u7269\u7406 \u529f\u80fd \u540e \uff0c \u66f4\u6539 \u542f\u7528 \u7269\u7406 \u529f\u80fd \u7684 \u5f71\u54cd \u533a\u57df \u7684 \u534a\u5f84 \u3002   \u53c2\u6570 :   r   (   float   -   \u7c73   )   -   \u542f\u7528 \u7269\u7406 \u7684 \u65b0 \u534a\u5f84 \u3002   set _ osm _ mode   (   self   ,   mode _ switch   = True   )   \u542f\u7528 \u6216 \u7981\u7528   OSM   \u6a21\u5f0f \u3002 \u8be5 \u6a21\u5f0f \u5141\u8bb8 \u7528\u6237 \u5728 \u4f7f\u7528   OSM   \u529f\u80fd   \u521b\u5efa \u7684 \u5730\u56fe \u4e2d \u8fd0\u884c   TM \u3002 \u8fd9\u4e9b \u5730\u56fe \u5141\u8bb8 \u6709 \u80e1\u540c \u6b7b\u80e1\u540c \u3002 \u901a\u5e38 \uff0c \u5982\u679c \u8f66\u8f86 \u65e0\u6cd5 \u627e\u5230 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9 \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c31 \u4f1a \u5d29\u6e83 \u3002 \u5982\u679c \u542f\u7528   OSM   \u6a21\u5f0f \uff0c \u5b83 \u5c06 \u663e\u793a \u8b66\u544a \uff0c \u5e76 \u5728 \u5fc5\u8981 \u65f6 \u9500\u6bc1 \u8f66\u8f86 \u3002   \u53c2\u6570 :   mode _ switch   (   bool   )   -   \u5982\u679c   True   \uff0c \u5219 \u542f\u7528   OSM   \u6a21\u5f0f \u3002   set _ path   (   self   ,   actor   ,   path   )   \u8bbe\u7f6e \u8f66\u8f86 \u5728 \u53d7 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u65f6\u8981 \u9075\u5faa \u7684 \u4f4d\u7f6e \u5217\u8868 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5fc5\u987b \u9075\u5faa \u7ed9\u5b9a \u8def\u5f84 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   path   (   list   )   -   carla . Locations   \u7684 \u5217\u8868 \uff0c \u4f9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8ddf\u968f \u3002   \u8b66\u544a :   \u786e\u4fdd \u9053\u8def \u62d3\u6251 \u4e0d\u4f1a \u59a8\u788d \u7ed9\u5b9a \u8def\u5f84 \u3002   set _ random _ device _ seed   (   self   ,   value   )   \u4e3a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8bbe\u7f6e \u7279\u5b9a \u7684 \u968f\u673a \u79cd\u5b50 \uff0c \u4ece\u800c \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u7684 \u3002   \u53c2\u6570 :   value   (   int   )   -   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u751f\u6210 \u7684 \u79cd\u5b50 \u503c \u3002   set _ respawn _ dormant _ vehicles   (   self   ,   mode _ switch   = False   )   \u5982\u679c \u4e3a   True   \uff0c \u5927 \u5730\u56fe \u4e2d \u7684 \u8f66\u8f86 \u5728 \u4f11\u7720 \u65f6\u4f1a \u5728 \u82f1\u96c4 \u8f66\u8f86 \u9644\u8fd1 \u91cd\u751f \u3002 \u5426\u5219 \uff0c \u5b83\u4eec \u5c06 \u4fdd\u6301 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \uff0c \u76f4\u5230   actor _ active _ distance   \u518d\u6b21 \u8fdb\u5165 \u82f1\u96c4 \u8f66\u8f86 \u3002   \u53c2\u6570 :   mode _ switch   (   bool   )   set _ route   (   self   ,   actor   ,   path   )   \u8bbe\u7f6e \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u8f66\u8f86 \u8981 \u9075\u5faa \u7684 \u8def\u7ebf \u6307\u4ee4 \u5217\u8868 \u3002 \u53ef\u80fd \u7684 \u8def\u7ebf \u6307\u4ee4 \u662f ' Left ' ,   ' Right ' ,   ' Straight ' \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5fc5\u987b \u9075\u5faa \u7ed9\u5b9a \u8def\u7ebf \u6307\u793a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   path   (   list   )   -   \u8f66\u8f86 \u8981 \u9075\u5faa \u7684 \u8def\u7ebf \u6307\u4ee4 \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff09 \u5217\u8868 \u3002   \u8b66\u544a :   \u786e\u4fdd \u8f66\u9053 \u62d3\u6251 \u4e0d\u4f1a \u59a8\u788d \u7ed9\u5b9a \u8def\u7ebf \u3002   set _ synchronous _ mode   (   self   ,   mode _ switch   = True   )   \u5c06 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8bbe\u7f6e \u4e3a   \u540c\u6b65 \u6a21\u5f0f   \u3002 \u5728   \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u60c5\u51b5   \u4e0b \uff0c \u53ea\u6709   TM - Server   \u53ef\u4ee5 \u8fd0\u884c \u3002 \u7c7b\u4f3c \u5730 \uff0c \u5728 \u591a TM   \u60c5\u51b5 \u4e0b \uff0c \u53ea\u6709 \u4e00\u4e2a TM - Server   \u5fc5\u987b \u52fe\u9009 \u3002 \u5728 \u8fdb\u884c \u4e16\u754c \u52fe\u9009 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e2d \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \uff0c \u5e76 \u5728 \u5c06 \u4e16\u754c \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u540e \u7acb\u5373 \u8bbe\u7f6e \u540c\u6b65 \u65f6 \u54ea\u4e2a   TM   \u5c06 \u6210\u4e3a \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   \u53c2\u6570 :   mode _ switch   (   bool   )   -   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u542f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u540c\u6b65 \u6a21\u5f0f \u3002   \u8b66\u544a :   \u5982\u679c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \uff0c \u5219 \u6267\u884c \u6807\u8bb0 \u7684 \u540c\u4e00 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e2d \u7684   TM   \u4e5f   \u5fc5\u987b   \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002   carla . TrafficSign   \u4ece   carla . Actor   \u7ee7\u627f   \u4eff\u771f \u4e2d \u51fa\u73b0 \u7684 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \uff08 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u9664\u5916 \uff09 \u3002 \u8fd9\u4e9b \u5728   carla . TrafficLight   \u4e2d\u6709 \u81ea\u5df1 \u7684 \u7c7b \u4ece \u8be5\u7c7b \u7ee7\u627f \u3002 \u76ee\u524d \uff0c \u4e3b\u8981 \u5b9e\u65bd \u7684 \u662f \u901f\u5ea6 \u6807\u5fd7 \u3001 \u505c\u9760 \u505c\u9760\u7ad9 \u548c \u8ba9 \u884c \u6807\u5fd7 \uff0c \u4f46 \u8fd8\u6709 \u8bb8\u591a \u5176\u4ed6 \u6807\u5fd7 \u4e5f \u88ab \u7262\u8bb0 \u7262\u8bb0\u5728\u5fc3 \u3002   \u5b9e\u4f8b \u53d8\u91cf   trigger _ volume   \u4f4d\u4e8e \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u9644\u8fd1 \u7684   carla . BoundingBox   \uff0c \u91cc\u9762 \u7684   carla . Actor   \u53ef\u4ee5 \u77e5\u9053 \u5b83 \u3002   carla . Transform   \u8be5\u7c7b \u5b9a\u4e49 \u4e86 \u4e00\u4e2a \u53d8\u6362 \uff0c \u5373 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u7684 \u7ec4\u5408 \uff0c \u800c \u4e0d \u8fdb\u884c \u7f29\u653e \u3002   \u5b9e\u4f8b \u53d8\u91cf   location   (   carla . Location   )   \u63cf\u8ff0 \u5750\u6807 \u7cfb\u7edf \u4e2d \u7684 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u3002   rotation   (   carla . Rotation   -   degrees   ( pitch ,   yaw ,   roll )   )   \u63cf\u8ff0 \u6839\u636e \u865a\u5e7b \u5f15\u64ce \u7684 \u8f74 \u7cfb\u7edf \u8fdb\u884c \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u3002   \u65b9\u6cd5   __ init __   (   self   ,   location   ,   rotation   )   \u53c2\u6570 :   location   (   carla . Location   )   rotation   (   carla . Rotation   -   \u5ea6\u6570 \uff08 \u4fef\u4ef0 \u3001 \u504f\u822a \u3001 \u7ffb\u6eda \uff09   )   transform   (   self   ,   in _ point   )   \u4f7f\u7528 \u5f53\u524d \u53d8\u6362 \u4f5c\u4e3a \u53c2\u8003 \u53c2\u8003\u7cfb \u5c06 \u4e09\u7ef4 \u70b9 \u4ece \u5c40\u90e8 \u5750\u6807 \u8f6c\u6362 \u4e3a \u5168\u5c40 \u5750\u6807 \u3002   \u53c2\u6570 :   in _ point   (   carla . Location   )   -   \u5c06 \u5e94\u7528 \u53d8\u6362 \u7684 \u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u3002   transform _ vector   (   self   ,   in _ vector   )   \u4f7f\u7528 \u5f53\u524d \u53d8\u6362 \u4f5c\u4e3a \u53c2\u8003 \u53c2\u8003\u7cfb \u6765 \u65cb\u8f6c \u5411\u91cf \uff0c \u800c \u4e0d \u5e94\u7528 \u5e73\u79fb \u3002 \u4f8b\u5982 \uff0c \u7528 \u5b83 \u6765 \u53d8\u6362 \u901f\u5ea6 \u3002   \u53c2\u6570 :   in _ vector   (   carla . Vector3D   )   -   \u5c06 \u5e94\u7528 \u8f6c\u6362 \u7684 \u5411\u91cf \u3002   \u8bbe\u7f6e \u5668   get _ forward _ vector   (   self   )   \u4f7f\u7528 \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u524d\u5411 \u5411\u91cf \u3002   \u8fd4\u56de :   carla . Vector3D   get _ inverse _ matrix   (   self   )   \u8ba1\u7b97 \u9006\u53d8 \u53d8\u6362 \u9006\u53d8\u6362 \u7684   4   \u77e9\u9635 \u8868\u793a \u3002   \u8fd4\u56de :   list ( list ( float ) )   get _ matrix   (   self   )   \u8ba1\u7b97 \u53d8\u6362 \u7684   4   \u77e9\u9635 \u8868\u793a \u3002   \u8fd4\u56de :   list ( list ( float ) )   get _ right _ vector   (   self   )   \u4f7f\u7528 \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u53f3 \u5411\u91cf \u3002   \u8fd4\u56de :   carla . Vector3D   get _ up _ vector   (   self   )   \u4f7f\u7528 \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u5411\u4e0a \u5411\u91cf \u3002   \u8fd4\u56de :   carla . Vector3D   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . Transform   )   \u5982\u679c   this   \u548c   other   \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u90fd \u76f8\u7b49 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ ne __   (   self   ,   other   =   carla . Transform   )   \u5982\u679c   this   \u548c   other   \u7684 \u4efb\u4f55 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u4e0d \u76f8\u7b49 \uff0c \u5219   \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )   \u5c06 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   \u8fd4\u56de :   str   carla . Vector2D   \u6267\u884c \u4e8c\u7ef4 \u64cd\u4f5c \u7684 \u8f85\u52a9 \u7c7b \u3002   \u5b9e\u4f8b \u53d8\u91cf   x   (   float   )   X - axis   value .   y   (   float   )   Y - axis   value .   \u65b9\u6cd5   __ init __   (   self   ,   x   = 0.0   ,   y   = 0.0   )   \u53c2\u6570 :   x   (   float   )   y   (   float   )   length   (   self   )   \u8ba1\u7b97 \u5411\u91cf \u7684 \u957f\u5ea6 \u3002   \u8fd4\u56de :   float   make _ unit _ vector   (   self   )   \u8fd4\u56de \u5177\u6709 \u76f8\u540c \u65b9\u5411 \u548c \u5355\u4f4d \u957f\u5ea6 \u7684 \u5411\u91cf \u3002   \u8fd4\u56de :   carla . Vector3D   squared _ length   (   self   )   \u8ba1\u7b97 \u5411\u91cf \u7684 \u5e73\u65b9 \u957f\u5ea6 \u3002   \u8fd4\u56de :   float   \u9b54\u672f \u65b9\u6cd5   __ add __   (   self   ,   other   =   carla . Vector2D   )   __ eq __   (   self   ,   other   =   carla . Vector2D   )   \u5982\u679c \u6bcf\u4e2a \u8f74 \u7684 \u503c \u76f8\u7b49 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ mul __   (   self   ,   other   =   carla . Vector2D   )   __ ne __   (   self   ,   bool   =   carla . Vector2D   )   \u5982\u679c \u4efb\u4f55 \u8f74 \u7684 \u503c \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )   \u8fd4\u56de \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7684 \u5411\u91cf \u7684 \u8f74\u503c \u3002   \u8fd4\u56de :   str   __ sub __   (   self   ,   other   =   carla . Vector2D   )   __ truediv __   (   self   ,   other   =   carla . Vector2D   )   carla . Vector3D   \u6267\u884c \u4e09\u7ef4 \u64cd\u4f5c \u7684 \u8f85\u52a9 \u7c7b \u3002   \u5b9e\u4f8b \u53d8\u91cf   x   (   float   )   X - axis   value .   y   (   float   )   Y - axis   value .   z   (   float   )   Z - axis   value .   \u65b9\u6cd5   __ init __   (   self   ,   x   = 0.0   ,   y   = 0.0   ,   z   = 0.0   )   \u53c2\u6570 :   x   (   float   )   y   (   float   )   z   (   float   )   cross   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u53c9\u79ef \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   carla . Vector3D   distance   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   distance _ 2d   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u4e8c\u7ef4 \u8ddd\u79bb \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   distance _ squared   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u5e73\u65b9 \u8ddd\u79bb \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   distance _ squared _ 2d   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u4e8c\u7ef4 \u5e73\u65b9 \u8ddd\u79bb \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   dot   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u70b9\u79ef \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   dot _ 2d   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u4e8c\u7ef4 \u70b9\u79ef \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   length   (   self   )   \u8ba1\u7b97 \u5411\u91cf \u7684 \u957f\u5ea6 \u3002   \u8fd4\u56de :   float   make _ unit _ vector   (   self   )   \u8fd4\u56de \u5177\u6709 \u76f8\u540c \u65b9\u5411 \u548c \u5355\u4f4d \u957f\u5ea6 \u7684 \u5411\u91cf \u3002   \u8fd4\u56de :   carla . Vector3D   squared _ length   (   self   )   \u8ba1\u7b97 \u5411\u91cf \u7684 \u5e73\u65b9 \u957f\u5ea6 \u3002   \u8fd4\u56de :   float   \u8bbe\u7f6e \u5668   get _ vector _ angle   (   self   ,   vector   )   \u8ba1\u7b97 \u4e00\u5bf9 \u4e09\u7ef4 \u5411\u91cf \u4e4b\u95f4 \u7684 \u89d2\u5ea6 \uff08 \u4ee5 \u5f27\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   \u9b54\u672f \u65b9\u6cd5   __ abs __   (   self   )   \u8fd4\u56de \u5177\u6709   x \u3001 y   \u548c   z   \u5206\u91cf \u7edd\u5bf9 \u7edd\u5bf9\u503c \u7684   Vector3D \u3002   \u8fd4\u56de :   carla . Vector3D   __ add __   (   self   ,   other   =   carla . Vector3D   )   __ eq __   (   self   ,   other   =   carla . Vector3D   )   \u5982\u679c \u6bcf\u4e2a \u8f74 \u7684 \u503c \u76f8\u7b49 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ mul __   (   self   ,   other   =   carla . Vector3D   )   __ ne __   (   self   ,   other   =   carla . Vector3D   )   \u5982\u679c \u4efb\u4f55 \u8f74 \u7684 \u503c \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )   \u8fd4\u56de \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7684 \u5411\u91cf \u7684 \u8f74\u503c \u3002   \u8fd4\u56de :   str   __ sub __   (   self   ,   other   =   carla . Vector3D   )   __ truediv __   (   self   ,   other   =   carla . Vector3D   )   carla . Vehicle   \u4ece   carla . Actor   \u7ee7\u627f   CARLA   \u4e2d \u6700 \u91cd\u8981 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7fa4\u4f53 \u4e4b\u4e00 \u3002 \u5176\u4e2d \u5305\u62ec \u4ece \u6c7d\u8f66 \u5230 \u5361\u8f66 \u3001 \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \u3001 \u8d27\u8f66 \u3001 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4efb\u4f55 \u7c7b\u578b \u7684 \u8f66\u8f86 \u4ee5\u53ca \u8b66\u8f66 \u7b49 \u5b98\u65b9 \u8f66\u8f86 \u3002   carla . BlueprintLibrary   \u4e2d \u63d0\u4f9b \u4e86 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5e7f\u6cdb \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4ee5 \u6ee1\u8db3 \u4e0d\u540c \u7684 \u9700\u6c42 \u3002 \u8f66\u8f86 \u53ef\u4ee5 \u624b\u52a8 \u63a7\u5236 \uff0c \u4e5f \u53ef\u4ee5 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \uff0c \u7531   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fdb\u884c \u63a7\u5236 \u3002   \u5b9e\u4f8b \u53d8\u91cf   bounding _ box   (   carla . BoundingBox   )   \u5305\u542b \u8f66\u8f86 \u51e0\u4f55 \u5f62\u72b6 \u7684 \u8fb9\u754c \u6846 \u3002 \u5b83 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u662f \u76f8\u5bf9 \u4e8e \u5b83 \u6240 \u9644\u7740 \u7684 \u8f66\u8f86 \u800c\u8a00 \u7684 \u3002   \u65b9\u6cd5   apply _ ackermann _ control   (   self   ,   control   )   \u5728 \u4e0b \u4e00\u4e2a \u523b\u5ea6 \u5904 \u5e94\u7528 \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u5bf9\u8c61 \u3002   \u53c2\u6570 :   control   (   carla . VehicleAckermannControl   )   apply _ ackermann _ controller _ settings   (   self   ,   settings   )   \u5728 \u4e0b \u4e00\u4e2a   tick   \u4e2d\u5c06 \u65b0 \u7684 \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u8bbe\u7f6e \u5e94\u7528 \u4e8e \u6b64 \u8f66\u8f86 \u3002   \u53c2\u6570 :   settings   (   carla . AckermannControllerSettings   )   \u8b66\u544a :   \u6b64 \u65b9\u6cd5 \u786e\u5b9e \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   apply _ control   (   self   ,   control   )   \u5728 \u4e0b \u4e00\u4e2a   tick   \u4e0a \u5e94\u7528 \u63a7\u5236 \u5bf9\u8c61 \uff0c \u5176\u4e2d \u5305\u542b \u6cb9\u95e8 \u3001 \u8f6c\u5411 \u6216 \u6362\u6863 \u7b49 \u9a7e\u9a76 \u53c2\u6570 \u3002   \u53c2\u6570 :   control   (   carla . VehicleControl   )   apply _ physics _ control   (   self   ,   physics _ control   )   \u5728 \u4e0b \u4e00\u4e2a   tick   \u4e2d \u5e94\u7528 \u7269\u7406 \u63a7\u5236 \u5bf9\u8c61 \uff0c \u5176\u4e2d \u5305\u542b \u5c06 \u8f66\u8f86 \u5b9a\u4e49 \u4e3a \u5b9e\u4f53 \u7684 \u53c2\u6570 \u3002 \u4f8b\u5982 \uff1a \u8f6c\u52a8 \u60ef\u91cf \u8f6c\u52a8\u60ef\u91cf \u3001 \u8d28\u91cf \u3001 \u963b\u529b \u7cfb\u6570 \u7b49\u7b49 \u3002   \u53c2\u6570 :   physics _ control   (   carla . VehiclePhysicsControl   )   close _ door   (   self   ,   door _ idx   )   \u5982\u679c \u8f66\u8f86 \u6709 \u5b83 \uff0c \u5219 \u5173\u95ed \u8f66\u95e8   door _ idx   \u3002 \u4f7f\u7528   carla . VehicleDoor . All   \u5173\u95ed \u6240\u6709 \u53ef\u7528 \u7684 \u95e8 \u3002   \u53c2\u6570 :   door _ idx   (   carla . VehicleDoor   )   -   \u95e8 \u7d22\u5f15 \u3002   enable _ carsim   (   self   ,   simfile _ path   )   \u4e3a \u8be5 \u7279\u5b9a \u8f66\u8f86 \u542f\u7528   CarSim   \u7269 \u7406\u89e3 \u7b97\u5668 \u3002 \u4e3a\u4e86 \u4f7f\u6b64 \u529f\u80fd \u53d1\u6325 \u4f5c\u7528 \u53d1\u6325\u4f5c\u7528 \uff0c \u9700\u8981 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u8fd0\u884c \u6709\u6548 \u7684 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \u3002 \u63a7\u5236 \u8f93\u5165 \u88ab \u5b9a\u5411 \u91cd\u5b9a\u5411 \u5230   CarSim \uff0c \u5b83 \u5c06 \u63d0\u4f9b \u6bcf \u4e00\u5e27 \u7684 \u8f66\u8f86 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002   \u53c2\u6570 :   simfile _ path   (   str   )   -   \u5305\u542b \u4eff\u771f \u53c2\u6570 \u7684   . simfile   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   enable _ chrono _ physics   (   self   ,   max _ substeps   ,   max _ substep _ delta _ time   ,   vehicle _ json   ,   powertrain _ json   ,   tire _ json   ,   base _ json _ path   )   \u5728 \u751f\u6210 \u7684 \u8f66\u8f86 \u4e0a \u542f\u7528   Chrono   \u7269\u7406 \u3002   \u53c2\u6570 :   max _ substeps   (   int   )   -   Chrono   \u5b50 \u6b65\u9aa4 \u7684 \u6700\u5927 \u6570\u91cf \u3002   max _ substep _ delta _ time   (   int   )   -   \u5b50\u6b65 \u7684 \u6700\u5927 \u5927\u5c0f \u3002   vehicle _ json   (   str   )   -   \u76f8\u5bf9 \u4e8e   base _ json _ path   \u7684 \u8f66\u8f86   json   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   powertrain _ json   (   str   )   -   \u76f8\u5bf9 \u4e8e   base _ json _ path   \u7684 \u52a8\u529b \u603b\u6210   json   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   tire _ json   (   str   )   -   \u76f8\u5bf9 \u4e8e   base _ json _ path   \u7684 \u8f6e\u80ce   json   \u6587\u4ef6 \u3002   base _ json _ path   (   str   )   -   \u6307\u5411   chrono / data / vehicle   \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u8def\u5f84 \u3002 \u4f8b\u5982 \uff0c   / home / user / carla / Build / chrono - install / share / chrono / data / vehicle /   ( \u6700\u540e \u4e00\u4e2a \u5b57\u7b26 \u9700\u8981 \u662f   /   ) \u3002   \u6ce8\u610f :   \u786e\u4fdd \u786e\u4fdd\u60a8 \u5df2 \u4f7f\u7528 \u8be5 \u6807\u5fd7 \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   ARGS = \" -- chrono \"   \u3002 \u5982\u679c \u6ca1\u6709 \u8bbe\u7f6e \u6b64 \u6807\u5fd7 \uff0c \u60a8 \u5c06 \u65e0\u6cd5 \u4f7f\u7528   Chrono   \u7269\u7406 \u3002   \u8b66\u544a :   \u4e0d \u652f\u6301 \u78b0\u649e \u3002 \u5f53 \u68c0\u6d4b \u5230 \u78b0\u649e \u65f6 \uff0c \u7269\u7406 \u7cfb\u7edf \u5c06 \u6062\u590d \u4e3a \u9ed8\u8ba4 \u7684   Carla   \u7269\u7406 \u7cfb\u7edf \u3002   is _ at _ traffic _ light   (   self   )   \u5f53 \u4ea4\u901a \u4ea4\u901a\u706f \u4e3a \u7ea2\u8272 \u5e76\u4e14 \u8f66\u8f86 \u4f4d\u4e8e \u5176 \u8fb9\u754c \u6846\u5185 \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u53d7\u5230 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5f71\u54cd \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a \u523b\u5ea6 \u8fd4\u56de \u4ea4\u901a \u4ea4\u901a\u706f \u662f\u5426 \u5f71\u54cd \u8be5 \u8f66\u8f86 \uff08 \u5b83 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \uff09 \u3002   \u8fd4\u56de :   bool   open _ door   (   self   ,   door _ idx   )   \u5982\u679c \u8f66\u8f86 \u6709 \u8f66\u95e8 \uff0c \u5219 \u6253\u5f00 \u8f66\u95e8   door _ idx   \u3002 \u4f7f\u7528   carla . VehicleDoor . All   \u6253\u5f00 \u6240\u6709 \u53ef\u7528 \u7684 \u95e8 \u3002   \u53c2\u6570 :   door _ idx   (   carla . VehicleDoor   )   -   \u95e8 \u7d22\u5f15 \u3002   show _ debug _ telemetry   (   self   ,   enabled   = True   )   \u542f\u7528 \u6216 \u7981\u7528 \u6b64 \u8f66\u8f86 \u4e0a \u7684 \u9065\u6d4b \u3002 \u8fd9\u4f1a \u5728 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u7a97\u53e3 \u4e2d \u663e\u793a \u6709\u5173 \u8f66\u8f86 \u5f53\u524d \u72b6\u6001 \u548c \u65bd\u52a0 \u5230 \u5176 \u4e0a \u7684 \u529b \u7684 \u4fe1\u606f \u3002 \u53ea\u80fd \u663e\u793a \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u7684 \u4fe1\u606f \uff0c \u56e0\u6b64 \uff0c \u5982\u679c \u542f\u7528 \u7b2c\u4e8c \u4e8c\u8f86 \u7b2c\u4e8c\u8f86 \u8f66 \uff0c \u524d \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u5c06 \u81ea\u52a8 \u7981\u7528 \u3002   \u53c2\u6570 :   enabled   (   bool   )   use _ carsim _ road   (   self   ,   enabled   )   \u542f\u7528 \u6216 \u7981\u7528   CarSim   \u4e0e \u5730\u5f62 \u6587\u4ef6   . simfile   \u4e2d \u6307\u5b9a \u7684 \u4f7f\u7528 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u6b64 \u9009\u9879 \u5904\u4e8e \u7981\u7528 \u72b6\u6001 \uff0c CarSim   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u65b9\u6cd5 \u6765 \u5904\u7406 \u573a\u666f \u7684 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u3002   \u53c2\u6570 :   enabled   (   bool   )   \u8bbe\u7f6e \u5668   get _ ackermann _ controller _ settings   (   self   )   \u8fd4\u56de \u5e94\u7528 \u4e8e \u8be5 \u8f66\u8f86 \u7684 \u6700\u540e \u4e00\u4e2a \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u8bbe\u7f6e \u3002   \u8fd4\u56de :   carla . AckermannControllerSettings   \u8b66\u544a :   \u6b64 \u65b9\u6cd5 \u786e\u5b9e \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6765 \u68c0\u7d22 \u503c \u3002   get _ control   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd4\u56de \u6700\u540e \u4e00\u4e2a tick \u4e2d \u5e94\u7528 \u7684 \u63a7\u5236 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de :   carla . VehicleControl   get _ failure _ state   (   self   )   \u8f66\u8f86 \u6709 \u6545\u969c \u72b6\u6001 \uff0c \u8868\u660e \u5b83 \u65e0\u6cd5 \u7ee7\u7eed \u5176 \u8def\u7ebf \u3002 \u8be5 \u51fd\u6570 \u8fd4\u56de \u8f66\u8f86 \u7684 \u5177\u4f53 \u6545\u969c \u72b6\u6001 \uff0c \u6216\u8005 \u6362\u53e5 \u6362\u53e5\u8bdd \u6362\u53e5\u8bdd\u8bf4 \uff0c \u8fd4\u56de \u5bfc\u81f4 \u6545\u969c \u7684 \u539f\u56e0 \u3002   \u8fd4\u56de :   carla . VehicleFailureState   get _ light _ state   (   self   )   \u8fd4\u56de \u8868\u793a \u8f66\u8f86 \u706f \u72b6\u6001 \u7684 \u6807\u5fd7 \uff0c \u8fd9 \u8868\u793a \u54ea\u4e9b \u706f \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u6216 \u4e0d \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u3002   \u8fd4\u56de :   carla . VehicleLightState   Setter :   carla . Vehicle . set _ light _ state   get _ physics _ control   (   self   )   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fd4\u56de \u5e94\u7528 \u4e8e \u8be5 \u8f66\u8f86 \u7684 \u6700\u540e \u4e00\u4e2a \u7269\u7406 \u63a7\u5236 \u3002   \u8fd4\u56de :   carla . VehiclePhysicsControl   \u8b66\u544a :   \u6b64 \u65b9\u6cd5 \u786e\u5b9e \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6765 \u68c0\u7d22 \u503c \u3002   get _ speed _ limit   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a tick \u8fd4\u56de \u5f71\u54cd \u8be5 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \uff08 \u5b83 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \uff09 \u3002 \u5f53 \u7ecf\u8fc7 \u9650\u901f \u4fe1\u53f7 \u65f6 \uff0c \u9650\u901f \u4f1a \u66f4\u65b0 \uff0c \u56e0\u6b64 \u8f66\u8f86 \u5728 \u751f\u6210 \u540e \u53ef\u80fd \u5c31 \u6ca1\u6709 \u9650\u901f \u4fe1\u53f7 \u3002   \u8fd4\u56de :   float   -   \u5343\u7c73 / \u5c0f\u65f6   get _ traffic _ light   (   self   )   \u6839\u636e \u6700\u540e \u4e00\u4e2a \u523b\u5ea6 \u68c0\u7d22 \u5f71\u54cd \u6b64 \u8f66\u8f86 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u5982\u679c \u6709 \uff09 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de :   carla . TrafficLight   get _ traffic _ light _ state   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u4e0a \u4e00\u4e2a tick \u8fd4\u56de \u5f71\u54cd \u8be5 \u8f66\u8f86 \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u72b6\u6001 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002 \u5982\u679c \u5f53\u524d \u6ca1\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u5f71\u54cd \u8f66\u8f86 \uff0c \u5219 \u8fd4\u56de   green   \u3002   \u8fd4\u56de :   carla . TrafficLightState   get _ wheel _ steer _ angle   (   self   ,   wheel _ location   )   \u8fd4\u56de \u8f66\u8f86 \u8f66\u8f6e \u7684 \u7269\u7406 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   \u53c2\u6570 :   wheel _ location   (   carla . VehicleWheelLocation   )   \u8fd4\u56de :   float   Note :   \u8fd4\u56de \u57fa\u4e8e \u8f66\u8f6e \u7269\u7406 \u539f\u7406 \u7684 \u89d2\u5ea6 \uff0c \u800c \u4e0d\u662f \u89c6\u89d2 \u3002   \u8bbe\u7f6e \u5668   set _ autopilot   (   self   ,   enabled   = True   ,   port   = 8000   )   \u5728 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u5217\u8868 \u4e2d \u6ce8\u518c \u6216 \u5220\u9664 \u8f66\u8f86 \u3002 \u5f53   True   \u65f6 \uff0c \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u79fb\u52a8 \u8f66\u8f86 \u3002 \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u53d1\u751f \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   \u53c2\u6570 :   enabled   (   bool   )   port   (   uint16   )   -   \u8f66\u8f86 \u8981 \u5728 \u5176\u4e2d \u6ce8\u518c \u6216 \u4e0d \u5217\u51fa \u7684   TM - Server   \u7aef\u53e3 \u3002 \u5982\u679c \u4f20\u9012   None   \uff0c \u5b83 \u5c06 \u8003\u8651 \u9ed8\u8ba4   8000   \u7aef\u53e3 \u4e0a \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   set _ light _ state   (   self   ,   light _ state   )   \u4f7f\u7528 \u8868\u793a \u706f\u5149 \u6253\u5f00 \u548c \u5173\u95ed \u7684 \u6807\u5fd7 \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u706f\u5149 \u72b6\u6001 \u3002   \u53c2\u6570 :   light _ state   (   carla . VehicleLightState   )   \u83b7\u53d6 \u5668 :   carla . Vehicle . get _ light _ state   set _ wheel _ steer _ direction   (   self   ,   wheel _ location   ,   angle _ in _ deg   )   snippet   \u2192   \u76f4\u89c2 \u5730 \u8bbe\u7f6e \u8f66\u8f6e \u7684 \u89d2\u5ea6 \u3002   \u53c2\u6570 :   wheel _ location   (   carla . VehicleWheelLocation   )   angle _ in _ deg   (   float   )   \u8b66\u544a :   \u4e0d \u5f71\u54cd \u8f66\u8f86 \u7684 \u7269\u7406 \u7279\u6027 \u3002   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . VehicleAckermannControl   \u4f7f\u7528 \u963f\u514b \u963f\u514b\u66fc \u9a7e\u9a76 \u63a7\u5236 \u88c5\u7f6e \u7ba1\u7406 \u8f66\u8f86 \u7684 \u57fa\u672c \u8fd0\u52a8 \u3002   \u5b9e\u4f8b \u53d8\u91cf   steer   (   float   )   \u6240 \u9700 \u8f6c\u5411   ( rad ) \u3002 \u6b63\u503c \u4f4d\u4e8e \u53f3\u4fa7 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   steer _ speed   (   float   )   \u8f6c\u5411 \u901f\u5ea6   ( rad / s ) \u3002 \u96f6 \u8f6c\u5411 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u610f\u5473 \u610f\u5473\u7740 \u5c3d\u5feb \u6539\u53d8 \u8f6c\u5411 \u89d2 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   speed   (   float   )   \u6240 \u9700 \u901f\u5ea6   ( m / s ) \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   acceleration   (   float   )   \u6240 \u9700 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   ( m / s2 )   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   jerk   (   float   )   \u6240 \u9700 \u7684   jerk   ( m / s3 ) \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   steer   = 0.0   ,   steer _ speed   = 0.0   ,   speed   = 0.0   ,   acceleration   = 0.0   ,   jerk   = 0.0   )   \u53c2\u6570 :   steer   (   float   )   steer _ speed   (   float   )   speed   (   float   )   acceleration   (   float   )   jerk   (   float   )   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . AckermannVehicleControl   )   __ ne __   (   self   ,   other   =   carla . AckermannVehicleControl   )   __ str __   (   self   )   carla . VehicleControl   \u4f7f\u7528 \u5178\u578b \u7684 \u9a7e\u9a76 \u63a7\u5236 \u6765 \u7ba1\u7406 \u8f66\u8f86 \u7684 \u57fa\u672c \u8fd0\u52a8 \u3002   \u5b9e\u4f8b \u53d8\u91cf   throttle   (   float   )   \u7528\u4e8e \u63a7\u5236 \u8f66\u8f86 \u6cb9\u95e8 \u7684 \u6807\u91cf \u503c   [ 0.0 ,   1.0 ] \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   steer   (   float   )   \u7528\u4e8e \u63a7\u5236 \u8f66\u8f86 \u8f6c\u5411 \u7684 \u6807\u91cf \u503c   [ - 1.0 ,   1.0 ] \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   brake   (   float   )   \u7528\u4e8e \u63a7\u5236 \u8f66\u8f86 \u5236\u52a8 \u7684 \u6807\u91cf \u503c   [ 0.0 ,   1.0 ] \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   hand _ brake   (   bool   )   \u786e\u5b9a \u662f\u5426 \u4f7f\u7528 \u624b\u5239 \u3002 \u9ed8\u8ba4 \u4e3a   False   \u3002   reverse   (   bool   )   \u786e\u5b9a \u8f66\u8f86 \u662f\u5426 \u5411 \u540e \u79fb\u52a8 \u3002 \u9ed8\u8ba4 \u4e3a   False   \u3002   manual _ gear _ shift   (   bool   )   \u786e\u5b9a \u662f\u5426 \u901a\u8fc7 \u624b\u52a8 \u6362\u6863 \u6765 \u63a7\u5236 \u8f66\u8f86 \u3002 \u9ed8\u8ba4 \u4e3a   False   \u3002   gear   (   int   )   \u6307\u793a \u8f66\u8f86 \u884c\u9a76 \u7684 \u6863\u4f4d \u3002   \u65b9\u6cd5   __ init __   (   self   ,   throttle   = 0.0   ,   steer   = 0.0   ,   brake   = 0.0   ,   hand _ brake   = False   ,   reverse   = False   ,   manual _ gear _ shift   = False   ,   gear   = 0   )   \u53c2\u6570 :   throttle   (   float   )   -   [ 0.0 , 1.0 ]   \u4e4b\u95f4 \u7684 \u6807\u91cf \u503c \u3002   steer   (   float   )   -   [ 0.0 , 1.0 ]   \u4e4b\u95f4 \u7684 \u6807\u91cf \u503c \u3002   brake   (   float   )   -   [ 0.0 , 1.0 ]   \u4e4b\u95f4 \u7684 \u6807\u91cf \u503c \u3002   hand _ brake   (   bool   )   reverse   (   bool   )   manual _ gear _ shift   (   bool   )   gear   (   int   )   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . VehicleControl   )   __ ne __   (   self   ,   other   =   carla . VehicleControl   )   __ str __   (   self   )   carla . VehicleDoor   \u53ef\u80fd \u7684 \u7d22\u5f15 \u8868\u793a \u53ef\u80fd \u6253\u5f00 \u7684 \u95e8 \u3002 \u8bf7 \u6ce8\u610f \uff0c \u67d0\u4e9b \u8f66\u8f86 \u5e76\u975e \u6240\u6709 \u53ef\u80fd \u7684 \u8f66\u95e8 \u90fd \u80fd \u6253\u5f00 \u3002   \u5b9e\u4f8b \u53d8\u91cf   FL   \u5de6 \u524d\u95e8 \u3002   FR   \u53f3 \u524d\u95e8 \u3002   RL   \u5de6 \u540e\u95e8 \u3002   RR   \u53f3 \u540e\u95e8 \u3002   All   \u4ee3\u8868 \u6240\u6709 \u95e8 \u3002   carla . VehicleFailureState   \u5305\u542b \u8f66\u8f86 \u65e0\u6cd5 \u6062\u590d \u7684 \u4e0d\u540c \u6545\u969c \u72b6\u6001 \u7684 \u679a\u4e3e \u3002 \u8fd9\u4e9b \u7531   get _ failure _ state ( )   \u8fd4\u56de \uff0c \u5f53\u524d \u4ec5 \u5b9e\u73b0 \u4e86   Rollover \u3002   \u5b9e\u4f8b \u53d8\u91cf   NONE   Rollover   Engine   TirePuncture   carla . VehicleLightState   \u6982\u62ec \u8f66\u8f86 \u706f \u72b6\u6001 \u7684 \u7c7b \uff0c \u8fd9\u4e9b \u53ef\u4ee5 \u7528\u4f5c \u6807\u5fd7 \u3002 \u4f8b\u5982 \uff1a   VehicleLightState . HighBeam   &   VehicleLightState . Brake   \u5f53 \u4e24\u8005 \u90fd \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u65f6 \uff0c \u5c06 \u8fd4\u56de   True   \u3002 \u5728 \u4efb\u4f55 \u60c5\u51b5 \u4e0b \uff0c \u706f \u9ed8\u8ba4 \u90fd \u662f \u5173\u95ed \u7684 \uff0c \u5e76\u4e14 \u5e94\u8be5 \u7531 \u7528\u6237 \u901a\u8fc7 \u811a\u672c \u8fdb\u884c \u7ba1\u7406 \u3002 \u95ea\u5149 \u5149\u706f \u95ea\u5149\u706f \u81ea\u52a8 \u95ea\u70c1 \u3002   \u8b66\u544a \uff1a \u76ee\u524d \uff0c \u5e76\u975e \u6240\u6709 \u8f66\u8f86 \u90fd \u51c6\u5907 \u597d \u4f7f\u7528 \u6b64 \u529f\u80fd \uff0c \u8fd9 \u5c06 \u5728 \u4ee5\u540e \u7684 \u66f4\u65b0 \u4e2d \u6dfb\u52a0 \u5230 \u6240\u6709 \u8f66\u8f86 \u4e2d \u3002   \u5b9e\u4f8b \u53d8\u91cf   NONE   \u6240\u6709 \u706f\u5747 \u5173\u95ed \u3002   Position   LowBeam   HighBeam   Brake   RightBlinker   LeftBlinker   Reverse   Fog   Interior   Special1   \u8fd9 \u662f \u4e3a \u67d0\u4e9b \u5177\u6709 \u7279\u6b8a \u706f \uff08 \u4f8b\u5982 \u8b66\u62a5 \u8b66\u62a5\u5668 \uff09 \u7684 \u8f66\u8f86 \u4fdd\u7559 \u7684 \u3002   Special2   \u8fd9 \u662f \u4e3a \u67d0\u4e9b \u5177\u6709 \u7279\u6b8a \u706f \uff08 \u4f8b\u5982 \u8b66\u62a5 \u8b66\u62a5\u5668 \uff09 \u7684 \u8f66\u8f86 \u4fdd\u7559 \u7684 \u3002   All   \u6240\u6709 \u706f\u5747\u4eae \u8d77 \u3002   carla . VehiclePhysicsControl   \u603b\u7ed3 \u5c06 \u7528\u4e8e \u5c06   carla . Vehicle   \u4eff\u771f \u4e3a \u7269\u7406 \u5bf9\u8c61 \u7684 \u53c2\u6570 \u3002 \u4e0d\u8fc7 \uff0c \u8f66\u8f6e \u7684 \u5177\u4f53 \u8bbe\u7f6e \u662f \u4f7f\u7528   carla . WheelPhysicsControl   \u89c4\u5b9a \u7684 \u3002   \u5b9e\u4f8b \u53d8\u91cf   torque _ curve   (   list (   carla . Vector2D   )   )   \u66f2\u7ebf \uff0c \u6307\u793a \u5728 \u8f66\u8f86 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7684 \u7279\u5b9a   RPM   \u4e0b \u6d4b\u91cf \u7684 \u626d\u77e9 \uff08 \u4ee5   Nm   \u4e3a \u5355\u4f4d \uff09 \u3002   max _ rpm   (   float   )   \u8f66\u8f86 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7684 \u6700\u5927 \u8f6c\u901f \u3002   moi   (   float   -   kg * m   2   )   \u8f66\u8f86 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7684 \u8f6c\u52a8 \u60ef\u91cf \u8f6c\u52a8\u60ef\u91cf \u3002   damping _ rate _ full _ throttle   (   float   )   \u6cb9\u95e8 \u6700\u5927 \u65f6 \u7684 \u963b\u5c3c \u963b\u5c3c\u6bd4 \u3002   damping _ rate _ zero _ throttle _ clutch _ engaged   (   float   )   \u79bb\u5408 \u79bb\u5408\u5668 \u63a5\u5408 \u65f6 \u6cb9\u95e8 \u4e3a \u96f6\u65f6 \u7684 \u963b\u5c3c \u963b\u5c3c\u6bd4 \u3002   damping _ rate _ zero _ throttle _ clutch _ disengaged   (   float   )   \u5f53 \u6cb9\u95e8 \u4e3a \u96f6\u4e14 \u79bb\u5408 \u79bb\u5408\u5668 \u5206\u79bb \u65f6 \u7684 \u963b\u5c3c \u963b\u5c3c\u6bd4 \u3002   use _ gear _ autobox   (   bool   )   \u5982\u679c \u4e3a   True   \uff0c \u8f66\u8f86 \u5c06 \u914d\u5907 \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u3002   gear _ switch _ time   (   float   -   seconds   )   \u9f7f\u8f6e \u4e4b\u95f4 \u7684 \u5207\u6362 \u65f6\u95f4 \u3002   clutch _ strength   (   float   -   kg * m   2   / s   )   \u8f66\u8f86 \u7684 \u79bb\u5408 \u79bb\u5408\u5668 \u5f3a\u5ea6 \u3002   final _ ratio   (   float   )   \u4ece \u53d8\u901f \u53d8\u901f\u7bb1 \u5230 \u8f66\u8f6e \u7684 \u56fa\u5b9a \u6bd4\u7387 \u3002   forward _ gears   (   list (   carla . GearPhysicsControl   )   )   \u5b9a\u4e49 \u8f66\u8f86 \u9f7f\u8f6e \u7684 \u5bf9\u8c61 \u5217\u8868 \u3002   mass   (   float   -   kilograms   )   \u8f66\u8f86 \u7684 \u8d28\u91cf \u3002   drag _ coefficient   (   float   )   \u8f66\u8f86 \u5e95\u76d8 \u7684 \u963b\u529b \u7cfb\u6570 \u3002   center _ of _ mass   (   carla . Vector3D   -   \u7c73   )   \u8f66\u8f86 \u7684 \u8d28\u5fc3 \u3002   steering _ curve   (   list (   carla . Vector2D   )   )   \u6307\u793a \u7279\u5b9a \u524d\u8fdb \u901f\u5ea6 \u7684 \u6700\u5927 \u8f6c\u5411 \u7684 \u66f2\u7ebf \u3002   use _ sweep _ wheel _ collision   (   bool   )   \u542f\u7528 \u8f66\u8f6e \u78b0\u649e \u626b\u63cf \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u662f \u7981\u7528 \u7684 \uff0c \u5e76\u4e14 \u5b83 \u4e3a \u6bcf\u4e2a \u8f6e\u5b50 \u4f7f\u7528 \u4ece\u8f74\u5230 \u5730\u677f \u7684 \u7b80\u5355 \u5149\u7ebf \u6295\u5c04 \u3002 \u6b64 \u9009\u9879 \u63d0\u4f9b \u4e86 \u66f4\u597d \u7684 \u78b0\u649e \u6a21\u578b \uff0c \u5176\u4e2d \u68c0\u67e5 \u8f66\u8f6e \u7684 \u6574\u4e2a \u4f53\u79ef \u662f\u5426 \u53d1\u751f \u78b0\u649e \u3002   wheels   (   list (   carla . WheelPhysicsControl   )   )   \u8f6e\u5b50 \u7269\u7406 \u5bf9\u8c61 \u5217\u8868 \u3002 \u8be5 \u5217\u8868 \u5e94\u8be5 \u6709   4   \u4e2a \u5143\u7d20 \uff0c \u5176\u4e2d \u7d22\u5f15   0   \u5bf9\u5e94 \u4e8e \u5de6 \u524d\u8f6e \uff0c \u7d22\u5f15   1   \u5bf9\u5e94 \u4e8e \u53f3 \u524d\u8f6e \uff0c \u7d22\u5f15   2   \u5bf9\u5e94 \u4e8e \u5de6 \u540e\u8f6e \uff0c \u7d22\u5f15   3   \u5bf9\u5e94 \u4e8e \u53f3 \u540e\u8f6e \u3002 \u5bf9\u4e8e \u4e24\u8f6e \u8f66\u8f86 \uff0c \u524d\u8f6e \u548c \u540e\u8f6e \u8bbe\u7f6e \u76f8\u540c \u7684 \u503c \u3002   \u65b9\u6cd5   __ init __   (   self   ,   torque _ curve   = [ [ 0.0 ,   500.0 ] ,   [ 5000.0 ,   500.0 ] ]   ,   max _ rpm   = 5000.0   ,   moi   = 1.0   ,   damping _ rate _ full _ throttle   = 0.15   ,   damping _ rate _ zero _ throttle _ clutch _ engaged   = 2.0   ,   damping _ rate _ zero _ throttle _ clutch _ disengaged   = 0.35   ,   use _ gear _ autobox   = True   ,   gear _ switch _ time   = 0.5   ,   clutch _ strength   = 10.0   ,   final _ ratio   = 4.0   ,   forward _ gears   = list ( )   ,   drag _ coefficient   = 0.3   ,   center _ of _ mass   = [ 0.0 ,   0.0 ,   0.0 ]   ,   steering _ curve   = [ [ 0.0 ,   1.0 ] ,   [ 10.0 ,   0.5 ] ]   ,   wheels   = list ( )   ,   use _ sweep _ wheel _ collision   = False   ,   mass   = 1000.0   )   VehiclePhysicsControl   \u6784\u9020 \u51fd\u6570 \u6784\u9020\u51fd\u6570 \u3002   \u53c2\u6570 :   torque _ curve   (   list (   carla . Vector2D   )   )   max _ rpm   (   float   )   moi   (   float   -   kg * m   2   )   damping _ rate _ full _ throttle   (   float   )   damping _ rate _ zero _ throttle _ clutch _ engaged   (   float   )   damping _ rate _ zero _ throttle _ clutch _ disengaged   (   float   )   use _ gear _ autobox   (   bool   )   gear _ switch _ time   (   float   -   seconds   )   clutch _ strength   (   float   -   kg * m   2   / s   )   final _ ratio   (   float   )   forward _ gears   (   list (   carla . GearPhysicsControl   )   )   drag _ coefficient   (   float   )   center _ of _ mass   (   carla . Vector3D   )   steering _ curve   (   carla . Vector2D   )   wheels   (   list (   carla . WheelPhysicsControl   )   )   use _ sweep _ wheel _ collision   (   bool   )   mass   (   float   -   kilograms   )   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . VehiclePhysicsControl   )   __ ne __   (   self   ,   other   =   carla . VehiclePhysicsControl   )   __ str __   (   self   )   carla . VehicleWheelLocation   enum   \u4ee3\u8868 \u8f66\u8f86 \u4e0a \u6bcf\u4e2a \u8f66\u8f6e \u7684 \u4f4d\u7f6e \u3002 \u7528\u4e8e \u5728   carla . Vehicle . set _ wheel _ steer _ direction   \u6216   carla . Vehicle . get _ wheel _ steer _ angle   \u4e2d \u8bbe\u7f6e \u89d2\u5ea6 \u65f6 \u8bc6\u522b \u76ee\u6807 \u8f66\u8f6e \u3002   \u5b9e\u4f8b \u53d8\u91cf   FL _ Wheel   \u56db\u8f6e \u8f66\u8f86 \u7684 \u5de6 \u524d\u8f6e \u3002   FR _ Wheel   \u56db\u8f6e \u8f66\u8f86 \u7684 \u53f3 \u524d\u8f6e \u3002   BL _ Wheel   \u56db\u8f6e \u8f66\u8f86 \u7684 \u5de6 \u540e\u8f6e \u3002   BR _ Wheel   \u56db\u8f6e \u8f66\u8f86 \u7684 \u53f3 \u540e\u8f6e \u3002   Front _ Wheel   \u4e24\u8f6e \u8f66\u8f86 \u7684 \u524d\u8f6e \u3002   Back _ Wheel   \u4e24\u8f6e \u8f66\u8f86 \u7684 \u540e\u8f6e \u3002   carla . Walker   \u4ece   carla . Actor   \u7ee7\u627f   \u8be5\u7c7b \u4ece   carla . Actor   \u7ee7\u627f \u5e76 \u5b9a\u4e49 \u4eff\u771f \u4e2d \u7684 \u884c\u4eba \u3002 Walkers   \u662f \u4e00\u79cd \u7279\u6b8a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u53ef\u4ee5 \u7531   AI   (   carla . WalkerAIController   )   \u63a7\u5236 \uff0c \u4e5f \u53ef\u4ee5 \u901a\u8fc7 \u811a\u672c \u624b\u52a8 \u63a7\u5236 \uff0c \u4f7f\u7528 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217   carla . WalkerControl   \u6765 \u79fb\u52a8 \u5b83\u4eec \u53ca\u5176 \u9aa8\u9abc \u3002   \u65b9\u6cd5   apply _ control   (   self   ,   control   )   \u5728 \u4e0b \u4e00\u4e2a \u523b\u5ea6 \u4e0a \uff0c \u63a7\u4ef6 \u5c06 \u4ee5 \u7279\u5b9a \u901f\u5ea6 \u5411 \u7279\u5b9a \u65b9\u5411 \u79fb\u52a8 \u884c\u4eba \u3002 \u4e5f \u53ef\u4ee5 \u547d\u4ee4 \u8df3\u8dc3 \u3002   \u53c2\u6570 :   control   (   carla . WalkerControl   )   blend _ pose   (   self   ,   blend _ value   )   \u8bbe\u7f6e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u4e0e \u52a8\u753b \u7684 \u6df7\u5408 \u503c \u3002 \u8fd9\u4e9b \u503c \u53ef\u4ee5 \u662f \uff1a   0 :   \u4ec5 \u663e\u793a \u52a8\u753b   1 :   \u4ec5 \u663e\u793a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \uff08 \u7531 \u7528\u6237 \u4f7f\u7528   set _ bones ( )   \u8bbe\u7f6e \uff09   any   other :   \u5c06 \u5728 \u52a8\u753b \u548c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u4e4b\u95f4 \u63d2\u5165 \u6240\u6709 \u9aa8\u9abc \u4f4d\u7f6e \u3002   \u53c2\u6570 :   blend _ value   (   float   -   value   from   0   to   1   with   the   blend   percentage   )   hide _ pose   (   self   )   \u9690\u85cf \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u5e76 \u663e\u793a \u52a8\u753b \uff08 \u4e0e \u8c03\u7528   blend _ pose ( 0 )   \u76f8\u540c \uff09 \u3002   show _ pose   (   self   )   \u663e\u793a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u5e76 \u9690\u85cf \u52a8\u753b \uff08 \u4e0e \u8c03\u7528   blend _ pose ( 1 )   \u76f8\u540c \uff09 \u3002   \u8bbe\u7f6e \u5668   get _ bones   (   self   )   \u8fd4\u56de \u5305\u542b \u6765\u81ea \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6240\u6709 \u9aa8\u9abc \u53d8\u6362 \u7684 \u7ed3\u6784 \u3002 \u5bf9\u4e8e \u6bcf\u4e2a \u9aa8\u9abc \uff0c \u6211\u4eec \u5728 \u4e09\u4e2a \u4e0d\u540c \u7684 \u7a7a\u95f4 \u4e2d \u83b7\u53d6 \u540d\u79f0 \u53ca\u5176 \u53d8\u6362 \uff1a   name :   \u9aa8\u9abc \u540d\u79f0   world :   \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u53d8\u6362   component :   \u57fa\u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u67a2\u8f74 \u8fdb\u884c \u53d8\u6362   relative :   \u57fa\u4e8e \u7236\u7ea7 \u9aa8\u9abc \u8fdb\u884c \u53d8\u6362 \u3002   \u8fd4\u56de :   carla . WalkerBoneControlOut   Setter :   carla . Walker . set _ bones   get _ control   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd4\u56de \u5728 \u6700\u540e \u4e00\u4e2a tick \u671f\u95f4 \u5e94\u7528 \u4e8e \u6b64\u884c \u4eba \u7684 \u63a7\u5236 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de :   carla . WalkerControl   get _ pose _ from _ animation   (   self   )   \u590d\u5236 \u5f53\u524d \u52a8\u753b \u5e27 \u4f5c\u4e3a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u3002 \u6700\u521d \uff0c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u662f \u4e2d\u6027 \u884c\u4eba \u59ff\u52bf \u3002   \u8bbe\u7f6e \u5668   set _ bones   (   self   ,   bones   )   \u8bbe\u7f6e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u9aa8\u9abc \u3002 \u5bf9\u4e8e \u6211\u4eec \u60f3\u8981 \u8bbe\u7f6e \u7684 \u6bcf\u4e2a \u9aa8\u9abc \uff0c \u6211\u4eec \u4f7f\u7528 \u76f8\u5bf9 \u53d8\u6362 \u3002 \u4ec5\u4f1a \u8bbe\u7f6e \u6b64 \u5217\u8868 \u4e2d \u7684 \u9aa8\u9abc \u3002 \u5bf9\u4e8e \u6bcf\u4e2a \u9aa8\u9abc \uff0c \u60a8 \u9700\u8981 \u8bbe\u7f6e \u4ee5\u4e0b \u4fe1\u606f \uff1a   name :   \u9aa8\u9abc \u540d\u79f0   relative :   \u57fa\u4e8e \u9aa8\u9abc \u7236\u7ea7 \u8fdb\u884c \u53d8\u6362 \u3002   \u53c2\u6570 :   bones   (   carla . WalkerBoneControlIn   -   \u6211\u4eec \u60f3\u8981 \u8bbe\u7f6e \u7684 \u9aa8\u9abc \u5bf9 \uff08 bone _ name \uff0c transform \uff09 \u7684 \u5217\u8868   )   \u83b7\u53d6 \u5668 :   carla . Walker . get _ bones   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . WalkerAIController   \u4ece   carla . Actor   \u7ee7\u627f   \u5bf9 \u884c\u4eba \u8fdb\u884c   AI   \u63a7\u5236 \u7684 \u7c7b \u3002 \u63a7\u5236 \u63a7\u5236\u5668 \u88ab \u5b9a\u4e49 \u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f46 \u5b83\u4eec \u4e0e \u5176\u4ed6 \u63a7\u5236 \u63a7\u5236\u5668 \u6709 \u5f88\u5927 \u4e0d\u540c \u3002 \u5b83\u4eec \u5728 \u521b\u5efa \u8fc7\u7a0b \u4e2d \u9700\u8981 \u9644\u52a0 \u5230\u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8fd9\u662f \u5b83\u4eec \u5c06 \u63a7\u5236 \u7684 \u884c\u4eba \uff08 \u5982\u679c \u60a8 \u5c1a\u672a \u4e86\u89e3 \u5982\u4f55 \u751f\u6210   Actor \uff0c \u8bf7 \u67e5\u770b   carla . World   \uff09 \u3002 \u4ed6\u4eec \u8fd8 \u9700\u8981 \u4e00\u4e2a \u7279\u6b8a \u7684 \u84dd\u56fe \uff08 \u5df2 \u5728   carla . BlueprintLibrary   \u4e2d \u5b9a\u4e49 \u4e3a \u201c controller . ai . walker \u201d \uff09 \u3002 \u8fd9\u662f \u4e00\u4e2a \u7a7a \u7684 \u84dd\u56fe \uff0c \u56e0\u4e3a \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u63a7\u5236\u5668 \u5728 \u4eff\u771f \u4e2d\u662f \u4e0d \u53ef\u89c1 \u7684 \uff0c \u4f46\u4f1a \u8ddf\u968f \u5176\u7236 \u63a7\u5236 \u63a7\u5236\u5668 \u6765 \u6307\u793a \u6bcf \u4e00\u6b65 \u3002   \u65b9\u6cd5   go _ to _ location   (   self   ,   destination   )   \u8bbe\u7f6e \u884c\u4eba \u5c06 \u5230\u8fbe \u7684 \u76ee\u7684 \u76ee\u7684\u5730 \u3002   \u53c2\u6570 :   destination   (   carla . Location   -   \u7c73   )   start   (   self   )   \u4e3a \u5176\u7236 \u884c\u4eba \u542f\u7528   AI   \u63a7\u5236 \u3002   stop   (   self   )   snippet   \u2192   \u7981\u7528 \u5176\u7236 \u884c\u4eba \u7684   AI   \u63a7\u5236 \u3002   \u8bbe\u7f6e \u5668   set _ max _ speed   (   self   ,   speed   = 1.4   )   \u8bbe\u7f6e \u884c\u4eba \u7684 \u901f\u5ea6 \uff08 \u4ee5\u7c73 \u6bcf\u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   \u53c2\u6570 :   speed   (   float   -   m / s   )   -   \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u8f7b\u677e \u6b65\u884c \u901f\u5ea6 \u3002   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . WalkerBoneControlIn   \u8be5\u7c7b \u4e3a \u884c\u4eba \u63d0\u4f9b \u9aa8\u9abc \u7279\u5b9a \u7684 \u64cd\u4f5c \u3002 \u4e3a\u4e86 \u6e05\u6670 \u8d77 \u89c1 \uff0c \u884c\u4eba \u7684 \u9aa8\u9abc \u5df2\u7ecf \u7edf\u4e00 \uff0c \u5e76\u4e14 \u5e94\u7528 \u4e8e \u6bcf\u4e2a \u9aa8\u9abc \u7684 \u53d8\u6362 \u59cb\u7ec8 \u76f8\u5bf9 \u4e8e \u5176\u7236 \u9aa8\u9abc \u3002 \u8bf7 \u67e5\u770b   \u6b64\u5904   \uff0c \u4e86\u89e3 \u6709\u5173 \u5982\u4f55 \u521b\u5efa \u52a9\u884c\u5668 \u5e76 \u5b9a\u4e49 \u5176 \u8fd0\u52a8 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u5b9e\u4f8b \u53d8\u91cf   bone _ transforms   (   list ( [ name , transform ] )   )   \u5217\u51fa \u6211\u4eec \u8981 \u8bbe\u7f6e \u7684 \u6bcf\u4e2a \u9aa8\u9abc \u7684 \u6570\u636e \uff1a   name :   \u9aa8\u9abc \u540d\u79f0   relative :   \u57fa\u4e8e \u9aa8\u9abc \u7236\u7ea7 \u8fdb\u884c \u53d8\u6362 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   list ( name , transform )   )   \u521d\u59cb \u521d\u59cb\u5316 \u4e00\u4e2a \u5305\u542b \u8981 \u5728 \u523b\u5ea6 \u4e0a \u5e94\u7528 \u7684 \u79fb\u52a8 \u7684 \u5bf9\u8c61 \u3002 \u8fd9\u4e9b \u4e0e \u9aa8\u9abc \u7684 \u540d\u79f0 \u548c \u5c06 \u5e94\u7528 \u4e8e \u5b83 \u7684 \u53d8\u6362 \u4e00\u8d77 \u5217\u51fa \u3002   \u53c2\u6570 :   list ( name , transform )   (   tuple   )   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . WalkerBoneControlOut   \u8be5\u7c7b \u7528\u4e8e \u8fd4\u56de \u884c\u4eba \u7684 \u6240\u6709 \u9aa8\u9abc \u4f4d\u7f6e \u3002 \u5bf9\u4e8e \u6bcf\u4e2a \u9aa8\u9abc \uff0c \u6211\u4eec \u5f97\u5230 \u5b83 \u7684 \u540d\u79f0 \u53ca\u5176 \u5728 \u4e09\u4e2a \u4e0d\u540c \u7a7a\u95f4 \uff08 \u4e16\u754c \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u76f8\u5bf9 \uff09 \u4e2d \u7684 \u53d8\u6362 \u3002   \u5b9e\u4f8b \u53d8\u91cf   bone _ transforms   (   list ( [ name , world ,   actor ,   relative ] )   )   \u6bcf\u4e2a \u9aa8\u9abc \u7684 \u4e00\u4e2a \u6761\u76ee \u5217\u8868 \uff0c \u5305\u542b \u4ee5\u4e0b \u4fe1\u606f \uff1a   name :   \u9aa8\u9abc \u540d\u79f0   world :   \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u53d8\u6362   component :   \u57fa\u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u67a2\u8f74 \u8fdb\u884c \u53d8\u6362   relative :   \u57fa\u4e8e \u9aa8\u9abc \u7236\u7ea7 \u8fdb\u884c \u53d8\u6362 \u3002   \u65b9\u6cd5   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . WalkerControl   \u6b64\u7c7b \u5b9a\u4e49 \u4e86 \u53ef\u4ee5 \u5411   carla . Walker   \u547d\u4ee4 \u901a\u8fc7 \u811a\u672c \u63a7\u5236 \u5b83 \u7684 \u7279\u5b9a \u65b9\u5411 \u3002   \u53ef\u4ee5 \u4e3a \u884c\u4eba \u89e3\u51b3 AI \u63a7\u5236 \uff0c \u4f46 \u7528\u4e8e \u6b64 \u76ee\u7684 \u7684 \u63a7\u4ef6 \u662f   carla . WalkerAIController   \u3002   \u5b9e\u4f8b \u53d8\u91cf   direction   (   carla . Vector3D   )   \u4f7f\u7528 \u4e0e \u884c\u4eba \u65b9\u5411 \u76f8\u5bf9 \u5e94 \u7684 \u5168\u5c40 \u5750\u6807 \u7684 \u5411\u91cf \u3002   speed   (   float   -   m / s   )   \u63a7\u5236 \u884c\u4eba \u901f\u5ea6 \u7684 \u6807\u91cf \u503c \u3002   jump   (   bool   )   \u5982\u679c \u4e3a   True   \uff0c \u884c\u4eba \u5c06 \u6267\u884c \u8df3\u8dc3 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   direction   = [ 1.0 ,   0.0 ,   0.0 ]   ,   speed   = 0.0   ,   jump   = False   )   \u53c2\u6570 :   direction   (   carla . Vector3D   )   speed   (   float   -   m / s   )   jump   (   bool   )   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . WalkerControl   )   \u548c   other   \u6bd4\u8f83 \u6bcf\u4e2a \u53d8\u91cf \uff0c \u5982\u679c \u5b83\u4eec \u90fd \u76f8\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   __ ne __   (   self   ,   other   =   carla . WalkerControl   )   \u548c   other   \u6bd4\u8f83 \u6bcf\u4e2a \u53d8\u91cf \uff0c \u5982\u679c \u5176\u4e2d \u4efb\u4f55 \u4e00\u4e2a \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   __ str __   (   self   )   carla . Waypoint   Carla   \u4e2d \u7684 \u8def\u5f84 \u70b9 \u88ab \u63cf\u8ff0 \u4e3a \u4e09\u7ef4 \u6709 \u5411 \u70b9 \u3002 \u4ed6\u4eec \u6709 \u4e00\u4e2a   carla . Transform   \uff0c \u5b83 \u53ef\u4ee5 \u5b9a\u4f4d \u9053\u8def \u4e2d \u7684 \u8def\u5f84 \u70b9 \u5e76 \u6839\u636e \u8f66\u9053 \u786e\u5b9a \u5176 \u65b9\u5411 \u3002 \u4ed6\u4eec \u8fd8 \u5b58\u50a8 \u5c5e\u4e8e \u8be5\u70b9 \u7684 \u6709\u5173 \u5176 \u8f66\u9053 \u548c \u8f66\u9053 \u6807\u8bb0 \u7684 \u9053\u8def \u4fe1\u606f \u3002   \u6709\u5173 \u8def\u5f84 \u70b9 \u548c   \u8def\u7ebf   API   \u7684 \u6240\u6709 \u4fe1\u606f \u5747 \u6309   OpenDRIVE   \u6587\u4ef6 \u63d0\u4f9b \u7684 \u65b9\u5f0f \u68c0\u7d22 \u3002 \u4e00\u65e6 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5411 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bf7\u6c42 \u5730\u56fe \u5bf9\u8c61 \uff0c \u5c31 \u4e0d\u518d \u9700\u8981 \u901a\u4fe1 \u3002   \u5b9e\u4f8b \u53d8\u91cf   id   (   int   )   \u6807\u8bc6 \u6807\u8bc6\u7b26 \u662f \u4f7f\u7528 \u4e0e   OpenDRIVE   \u51e0\u4f55 \u4e2d \u7684 \u6240\u8ff0 \u70b9 \u76f8\u5bf9 \u5e94 \u7684   road   ,   section   ,   lane   \u548c   s   \u503c \u7684 \u54c8\u5e0c \u7ec4\u5408 \u751f\u6210 \u7684 \u3002   s   \u7cbe\u5ea6 \u8bbe\u7f6e \u4e3a   2   \u5398\u7c73 \uff0c \u56e0\u6b64 \u5728 \u540c\u4e00 \u9053\u8def \u3001 \u8def\u6bb5 \u548c \u8f66\u9053 \u8ddd\u79bb \u4e2d\u8ddd\u79bb \u5c0f\u4e8e   2   \u5398\u7c73 \u7684   2   \u4e2a \u8def\u5f84 \u70b9\u5c06 \u5177\u6709 \u76f8\u540c \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26   \u3002   transform   (   carla . Transform   )   \u6839\u636e \u5f53\u524d \u8f66\u9053 \u4fe1\u606f \u786e\u5b9a \u8def\u70b9 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002 \u8be5 \u6570\u636e \u662f \u5728 \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u8bbf\u95ee \u65f6 \u8ba1\u7b97 \u7684 \u3002 \u5f53 \u521b\u5efa \u5927\u91cf \u8def\u5f84 \u70b9 \u4f46 \u4e0d \u9700\u8981 \u5b83\u4eec \u7684 \u7279\u5b9a \u8f6c\u6362 \u65f6 \uff0c \u5b83 \u4e0d\u4f1a \u7acb\u5373 \u521b\u5efa \uff0c \u4ee5 \u51cf\u8f7b \u8ba1\u7b97 \u6210\u672c \u8ba1\u7b97\u6210\u672c \u3002   road _ id   (   int   )   OpenDRIVE   \u9053\u8def \u7684   id \u3002   section _ id   (   int   )   OpenDRIVE   \u90e8\u5206 \u7684   id \uff0c \u57fa\u4e8e \u5b83\u4eec \u6700\u521d \u5b9a\u4e49 \u7684 \u987a\u5e8f \u3002   is _ junction   (   bool   )   \u5982\u679c \u5f53\u524d \u8def\u70b9 \u4f4d\u4e8e   OpenDRIVE   \u5b9a\u4e49 \u7684 \u4ea4\u6c47 \u4ea4\u6c47\u5904 \uff0c \u5219 \u4e3a   True   \u3002   junction _ id   (   int   )   OpenDRIVE   \u7ed3\u70b9 \u7684   id \u3002 \u6709\u5173 \u66f4 \u591a \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   OpenDRIVE   \u6587\u6863   \u3002   lane _ id   (   int   )   OpenDRIVE   \u8f66\u9053 \u7684   id \uff0c \u8be5\u503c \u53ef\u4ee5 \u662f \u6b63\u6570 \u6216 \u8d1f\u6570 \uff0c \u8868\u793a \u5f53\u524d \u8f66\u9053 \u76f8\u5bf9 \u4e8e \u9053\u8def \u7684 \u65b9\u5411 \u3002 \u6709\u5173 \u66f4 \u591a \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   OpenDRIVE   \u6587\u6863   \u3002   s   (   float   )   OpenDRIVE \u5f53\u524d \u4f4d\u7f6e \u7684   s   \u503c   \u3002   lane _ width   (   float   )   \u5f53\u524d   s   \u5904 \u9053\u8def \u7684 \u6c34\u5e73 \u5c3a\u5bf8 \u3002   lane _ change   (   carla . LaneChange   )   \u5f53\u524d \u8def\u70b9 \u4f4d\u7f6e \u7684 \u8f66\u9053 \u53d8\u66f4 \u5b9a\u4e49 \uff0c \u57fa\u4e8e   OpenDRIVE   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \u7684 \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u3002 \u5b83 \u8bf4\u660e \u662f\u5426 \u53ef\u4ee5 \u53d8\u9053 \u4ee5\u53ca \u671d \u54ea\u4e2a \u65b9\u5411 \u53d8\u9053 \u3002   lane _ type   (   carla . LaneType   )   \u5f53\u524d   Waypoint   \u7684 \u8f66\u9053 \u7c7b\u578b \uff0c \u57fa\u4e8e   OpenDRIVE   1.4   \u6807\u51c6 \u3002   right _ lane _ marking   (   carla . LaneMarking   )   \u57fa\u4e8e   Waypoint   \u65b9\u5411 \u7684 \u53f3 \u8f66\u9053 \u6807\u8bb0 \u4fe1\u606f \u3002   left _ lane _ marking   (   carla . LaneMarking   )   \u57fa\u4e8e   Waypoint   \u65b9\u5411 \u7684 \u5de6 \u8f66\u9053 \u6807\u8bb0 \u4fe1\u606f \u3002   \u65b9\u6cd5   next   (   self   ,   distance   )   \u5f53\u524d \u70b9 \u67d0\u4e2a \u8fd1\u4f3c \u8fd1\u4f3c\u503c \u7684 \u8def\u5f84 \u70b9 \u5217\u8868   distance   \u5b83\u4f1a \u8003\u8651 \u9053\u8def \u53ca\u5176 \u53ef\u80fd \u7684 \u504f\u5dee \uff0c \u800c \u4e0d \u6267\u884c \u4efb\u4f55 \u8f66\u9053 \u53d8\u66f4 \uff0c \u5e76 \u4e3a \u6bcf\u4e2a \u9009\u9879 \u8fd4\u56de \u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002 \u5982\u679c \u8f66\u9053 \u5728 \u6307\u5b9a \u8ddd\u79bb \u8ddd\u79bb\u5904 \u672a \u4e0e \u4efb\u4f55 \u5176\u4ed6 \u8f66\u9053 \u76f8\u8fde \uff0c \u5219 \u5217\u8868 \u53ef\u80fd \u4e3a\u7a7a \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u83b7\u53d6 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9 \u7684 \u5927\u81f4 \u8ddd\u79bb \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   next _ until _ lane _ end   (   self   ,   distance   )   \u8fd4\u56de \u4ece \u8fd9\u91cc \u5230 \u8f66\u9053 \u672b\u7aef \u7684 \u8def\u70b9 \u5217\u8868 \uff0c \u8fd9\u4e9b \u8def\u70b9 \u4e4b\u95f4 \u4ee5 \u4e00\u5b9a \u8ddd\u79bb   distance   \u5206\u9694 \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u5927\u81f4 \u8ddd\u79bb \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   previous   (   self   ,   distance   )   \u4f46 \u4e0e \u8f66\u9053 \u76f8\u53cd \u65b9\u5411 \u7684 \u8def\u70b9 \u5217\u8868   distance   \u4e0e   next ( )   \u7c7b\u4f3c \uff0c \u5b83\u4f1a \u8003\u8651 \u9053\u8def \u53ca\u5176 \u53ef\u80fd \u7684 \u504f\u5dee \uff0c \u800c \u4e0d \u6267\u884c \u4efb\u4f55 \u8f66\u9053 \u53d8\u66f4 \uff0c \u5e76 \u4e3a \u6bcf\u4e2a \u9009\u9879 \u8fd4\u56de \u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002 \u5982\u679c \u8f66\u9053 \u5728 \u6307\u5b9a \u8ddd\u79bb \u8ddd\u79bb\u5904 \u672a \u4e0e \u4efb\u4f55 \u5176\u4ed6 \u8f66\u9053 \u76f8\u8fde \uff0c \u5219 \u5217\u8868 \u53ef\u80fd \u4e3a\u7a7a \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u83b7\u53d6 \u5148\u524d \u8def\u5f84 \u70b9 \u7684 \u5927\u81f4 \u8ddd\u79bb \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   previous _ until _ lane _ start   (   self   ,   distance   )   \u8fd4\u56de \u4ece \u8fd9\u91cc \u5230 \u8f66\u9053 \u8d77\u70b9 \u7684 \u8def\u70b9 \u5217\u8868 \uff0c \u4ee5 \u4e00\u5b9a \u7684 \u8ddd\u79bb   distance   \u5206\u9694 \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u5927\u81f4 \u8ddd\u79bb \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   \u8bbe\u7f6e \u5668   get _ junction   (   self   )   \u5982\u679c \u8def\u5f84 \u70b9 \u5c5e\u4e8e \u8def\u53e3 \uff0c \u5219 \u6b64 \u65b9\u6cd5 \u8fd4\u56de \u5173\u8054 \u7684 \u8def\u53e3 \u5bf9\u8c61 \u3002 \u5426\u5219 \u8fd4\u56de   null \u3002   \u8fd4\u56de :   carla . Junction   get _ landmarks   (   self   ,   distance   ,   stop _ at _ junction   = False   )   \u8fd4\u56de \u4ece \u5f53\u524d \u8def\u5f84 \u70b9\u5230 \u6307\u5b9a \u8ddd\u79bb \u7684 \u9053\u8def \u4e0a \u7684 \u5730\u6807 \u5217\u8868 \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u4ece \u5f53\u524d \u8def\u5f84 \u70b9 \u641c\u7d22 \u5730 \u6807\u7684 \u6700\u5927 \u8ddd\u79bb \u3002   stop _ at _ junction   (   bool   )   -   \u542f\u7528 \u6216 \u7981\u7528 \u901a\u8fc7 \u8def\u53e3 \u7684 \u5730\u6807 \u641c\u7d22 \u3002   \u8fd4\u56de :   list (   carla . Landmark   )   get _ landmarks _ of _ type   (   self   ,   distance   ,   type   ,   stop _ at _ junction   = False   )   \u8fd4\u56de \u4ece \u5f53\u524d \u8def\u5f84 \u70b9\u5230 \u6307\u5b9a \u8ddd\u79bb \u7684 \u6307\u5b9a \u7c7b\u578b \u9053\u8def \u4e2d \u7684 \u5730\u6807 \u5217\u8868 \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u4ece \u5f53\u524d \u8def\u5f84 \u70b9 \u641c\u7d22 \u5730 \u6807\u7684 \u6700\u5927 \u8ddd\u79bb \u3002   type   (   str   )   -   \u8981 \u641c\u7d22 \u7684 \u5730\u6807 \u7c7b\u578b \u3002   stop _ at _ junction   (   bool   )   -   \u542f\u7528 \u6216 \u7981\u7528 \u901a\u8fc7 \u8def\u53e3 \u7684 \u5730\u6807 \u641c\u7d22 \u3002   \u8fd4\u56de :   list (   carla . Landmark   )   get _ left _ lane   (   self   )   \u6839\u636e \u5f53\u524d \u8def\u70b9 \u7684 \u65b9\u5411 \u5728 \u5de6 \u8f66\u9053 \u4e2d\u5fc3 \u751f\u6210 \u8def\u70b9 \uff0c \u540c\u65f6 \u8003\u8651 \u8be5 \u4f4d\u7f6e \u662f\u5426 \u5141\u8bb8 \u53d8\u9053 \u3002 \u5982\u679c \u8f66\u9053 \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   \u8fd4\u56de :   carla . Waypoint   get _ right _ lane   (   self   )   \u6839\u636e \u5f53\u524d \u8def\u70b9 \u7684 \u65b9\u5411 \u5728 \u53f3 \u8f66\u9053 \u4e2d\u5fc3 \u751f\u6210 \u8def\u70b9 \uff0c \u5e76 \u8003\u8651 \u8be5 \u4f4d\u7f6e \u662f\u5426 \u5141\u8bb8 \u53d8\u9053 \u3002 \u5982\u679c \u8f66\u9053 \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   \u8fd4\u56de :   carla . Waypoint   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   carla . WeatherParameters   \u6b64\u7c7b \u5b9a\u4e49 \u4e86 \u5305\u542b \u5149\u7167 \u548c \u5929\u6c14 \u89c4\u8303 \u7684 \u5bf9\u8c61 \uff0c \u8fd9\u4e9b \u89c4\u8303 \u7a0d\u540e \u53ef\u4ee5 \u5e94\u7528 \u5728   carla . World   \u4e2d \u3002 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u8fd9\u4e9b \u6761\u4ef6 \u4ec5 \u5f71\u54cd   sensor . camera . rgb   \u3002 \u5b83\u4eec \u65e2 \u4e0d \u5f71\u54cd \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7269\u7406 \u7279\u6027 \uff0c \u4e5f \u4e0d \u5f71\u54cd \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u8fd9\u4e9b \u53c2\u6570 \u4e2d \u7684 \u6bcf \u4e00\u4e2a \u90fd \u72ec\u7acb \u4e8e \u5176\u4ed6 \u53c2\u6570 \u8d77 \u4f5c\u7528 \u3002 \u589e\u52a0 \u964d\u96e8 \u96e8\u91cf \u964d\u96e8\u91cf \u4e0d\u4f1a \u81ea\u52a8 \u5f62\u6210 \u6c34\u5751 \uff0c \u4e5f \u4e0d\u4f1a \u6539\u53d8 \u9053\u8def \u7684 \u6e7f\u5ea6 \u3002 \u8fd9 \u53ef\u4ee5 \u5b9e\u73b0 \u66f4\u597d \u7684 \u5b9a\u5236 \uff0c \u4f46 \u4e5f \u610f\u5473 \u610f\u5473\u7740 \u9700\u8981 \u7f16\u5199 \u73b0\u5b9e \u6761\u4ef6 \u7684 \u811a\u672c \u3002 \u7136\u800c \uff0c \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u5b9e\u9645 \u8fd0\u884c \u7684 \u52a8\u6001 \u5929\u6c14 \u6761\u4ef6 \u7684 \u793a\u4f8b \u3002   \u5b9e\u4f8b \u53d8\u91cf   cloudiness   (   float   )   \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \uff0c 0   \u8868\u793a \u6674\u6717 \u7684 \u5929\u7a7a \uff0c 100   \u8868\u793a \u5b8c\u5168 \u88ab \u4e91 \u8986\u76d6 \u3002   precipitation   (   float   )   \u964d\u96e8 \u5f3a\u5ea6 \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \uff0c 0   \u8868\u793a \u65e0\u96e8 \uff0c 100   \u8868\u793a \u5927\u96e8 \u3002   precipitation _ deposits   (   float   )   \u51b3\u5b9a \u6c34\u5751 \u7684 \u521b\u5efa \u3002 \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \uff0c 0   \u8868\u793a \u5b8c\u5168 \u6ca1\u6709 \u6c34 \uff0c 100   \u8868\u793a \u9053\u8def \u5b8c\u5168 \u88ab \u6c34 \u8986\u76d6 \u3002 \u6c34\u5751 \u662f \u7528 \u9759\u6001 \u566a\u97f3 \u521b\u5efa \u7684 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u5b83\u4eec \u603b\u662f \u51fa\u73b0 \u5728 \u76f8\u540c \u7684 \u4f4d\u7f6e \u3002   wind _ intensity   (   float   )   \u63a7\u5236 \u98ce \u7684 \u5f3a\u5ea6 \uff0c \u503c \u4ece   0 \uff08 \u65e0 \u98ce \uff09 \u5230   100 \uff08 \u5f3a\u98ce \uff09 \u3002 \u98ce \u786e\u5b9e \u4f1a \u5f71\u54cd \u964d\u96e8 \u65b9\u5411 \u548c \u6811\u53f6 \uff0c \u56e0\u6b64 \u9650\u5236 \u8be5\u503c \u4ee5 \u907f\u514d \u52a8\u753b \u95ee\u9898 \u3002   sun _ azimuth _ angle   (   float   -   \u5ea6   )   \u592a\u9633 \u7684 \u65b9\u4f4d \u65b9\u4f4d\u89d2 \u3002 \u503c \u8303\u56f4 \u4e3a   0   \u5230   360 \u3002 \u96f6\u662f \u7531 \u865a\u5e7b \u5f15\u64ce \u786e\u5b9a \u7684 \u7403\u4f53 \u4e2d \u7684 \u539f\u70b9 \u3002   sun _ altitude _ angle   (   float   -   \u5ea6   )   \u592a\u9633 \u7684 \u9ad8\u5ea6 \u89d2 \u3002 \u503c \u8303\u56f4 \u4ece   - 90   \u5230   90 \uff0c \u5206\u522b \u5bf9\u5e94 \u4e8e \u5348\u591c \u548c \u4e2d\u5348 \u3002   fog _ density   (   float   )   \u96fe \u6d53\u5ea6 \u6216 \u539a\u5ea6 \u3002 \u5b83 \u4ec5 \u5f71\u54cd   RGB   \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \u3002   fog _ distance   (   float   -   \u7c73   )   \u96fe \u5f00\u59cb \u8ddd\u79bb \u3002 \u503c \u8303\u56f4 \u4ece   0   \u5230 \u65e0\u7a77 \u65e0\u7a77\u5927 \u3002   wetness   (   float   )   \u6e7f\u5ea6 \u5f3a\u5ea6 \u3002 \u5b83 \u4ec5 \u5f71\u54cd   RGB   \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \u3002   fog _ falloff   (   float   )   \u96fe \u7684 \u5bc6\u5ea6 \uff08 \u4ee5 \u7279\u5b9a \u8d28\u91cf \u8ba1 \uff09 \u4ece   0   \u5230 \u65e0\u7a77 \u65e0\u7a77\u5927 \u3002 \u503c\u8d8a \u5927 \uff0c \u96fe\u6c14 \u8d8a \u6d53\u91cd \uff0c \u96fe\u6c14 \u8fbe\u5230 \u7684 \u9ad8\u5ea6 \u4e5f \u8d8a \u5c0f \u3002 \u5bf9\u5e94 \u4e8e   UE   \u6587\u6863 \u4e2d \u7684   \u96fe \u9ad8\u5ea6 \u8870\u51cf   \u3002   \u5982\u679c \u503c\u4e3a   0 \uff0c \u96fe \u5c06 \u6bd4 \u7a7a\u6c14 \u4eae \uff0c \u5e76 \u8986\u76d6 \u6574\u4e2a \u573a\u666f \u3002   \u503c\u4e3a   1   \u65f6 \uff0c \u5bc6\u5ea6 \u5927\u7ea6 \u4e0e \u7a7a\u6c14 \u4e00\u6837 \uff0c \u53ef \u5230\u8fbe \u6b63\u5e38 \u5927\u5c0f \u7684 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u5bf9\u4e8e \u5927\u4e8e   5   \u7684 \u503c \uff0c \u7a7a\u6c14 \u5c06 \u975e\u5e38 \u7a20\u5bc6 \uff0c \u4ee5\u81f3 \u81f3\u4e8e \u4ee5\u81f3\u4e8e \u5728 \u5730\u9762 \u4e0a\u4f1a \u88ab \u538b\u7f29 \u3002   scattering _ intensity   (   float   )   \u63a7\u5236 \u5149\u5bf9 \u4f53\u79ef \u96fe \u7684 \u8d21\u732e \u7a0b\u5ea6 \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   0   \u65f6 \uff0c \u6ca1\u6709 \u8d21\u732e \u3002   mie _ scattering _ scale   (   float   )   \u63a7\u5236 \u5149 \u4e0e \u5927 \u9897\u7c92 \uff08 \u5982 \u82b1\u7c89 \u6216 \u7a7a\u6c14 \u6c61\u67d3 \u7a7a\u6c14\u6c61\u67d3 \uff09 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \uff0c \u5bfc\u81f4 \u5929\u7a7a \u6726\u80e7 \uff0c \u5149\u6e90 \u5468\u56f4 \u6709 \u5149\u6655 \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   0   \u65f6 \uff0c \u6ca1\u6709 \u8d21\u732e \u3002   rayleigh _ scattering _ scale   (   float   )   \u63a7\u5236 \u5149 \u4e0e \u7a7a\u6c14 \u5206\u5b50 \u7b49 \u5c0f \u7c92\u5b50 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u3002 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u5149 \u7684 \u6ce2\u957f \uff0c \u5bfc\u81f4 \u767d\u5929 \u7684 \u5929\u7a7a \u4e3a \u84dd\u8272 \uff0c \u665a\u4e0a \u7684 \u5929\u7a7a \u4e3a \u7ea2\u8272 \u3002   dust _ storm   (   float   )   \u786e\u5b9a \u6c99\u5c18 \u5c18\u66b4 \u6c99\u5c18\u66b4 \u5929\u6c14 \u7684 \u5f3a\u5ea6 \u3002 \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   cloudiness   = 0.0   ,   precipitation   = 0.0   ,   precipitation _ deposits   = 0.0   ,   wind _ intensity   = 0.0   ,   sun _ azimuth _ angle   = 0.0   ,   sun _ altitude _ angle   = 0.0   ,   fog _ density   = 0.0   ,   fog _ distance   = 0.0   ,   wetness   = 0.0   ,   fog _ falloff   = 0.0   ,   scattering _ intensity   = 0.0   ,   mie _ scattering _ scale   = 0.0   ,   rayleigh _ scattering _ scale   = 0.0331   )   \u521d\u59cb \u521d\u59cb\u5316 \u5b9a\u4e49 \u5929\u6c14 \u6761\u4ef6 \u7684 \u5bf9\u8c61 \u7684 \u65b9\u6cd5 \u3002 \u8be5\u7c7b \u6709 \u4e00\u4e9b \u9488\u5bf9 \u4e0d\u540c \u4e2d\u5348 \u548c \u65e5\u843d \u6761\u4ef6 \u7684 \u9884\u8bbe \uff0c \u5982 \u4e0b\u9762 \u7684 \u6ce8\u91ca \u6240\u793a \u3002   \u53c2\u6570 :   cloudiness   (   float   )   -   0   \u4e3a \u6674\u5929 \uff0c 100   \u4e3a \u9634\u5929 \u3002   precipitation   (   float   )   -   0   \u8868\u793a \u5b8c\u5168 \u6ca1\u6709 \u4e0b\u96e8 \uff0c 100   \u8868\u793a \u5927\u96e8 \u3002   precipitation _ deposits   (   float   )   -   0   \u8868\u793a \u9053\u8def \u4e0a \u6ca1\u6709 \u6c34\u5751 \uff0c 100   \u8868\u793a \u9053\u8def \u5b8c\u5168 \u88ab \u96e8\u6c34 \u8986\u76d6 \u3002   wind _ intensity   (   float   )   -   0   \u8868\u793a \u5e73\u6d6a \u98ce\u5e73\u6d6a\u9759 \uff0c 100   \u8868\u793a \u5f3a\u98ce \u3002   sun _ azimuth _ angle   (   float   -   \u5ea6   )   -   0   \u662f \u4efb\u610f \u5317 \uff0c 180   \u662f \u5176 \u5bf9\u5e94 \u7684 \u5357 \u3002   sun _ altitude _ angle   (   float   -   \u5ea6   )   -   90   \u662f \u4e2d\u5348 \uff0c - 90   \u662f \u5348\u591c \u3002   fog _ density   (   float   )   -   \u96fe \u7684 \u6d53\u5ea6 \u6216 \u539a\u5ea6 \uff0c \u4ece   0   \u5230   100 \u3002   fog _ distance   (   float   -   \u7c73   )   -   \u96fe \u5f00\u59cb \u7684 \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   wetness   (   float   )   -   \u9053\u8def \u7684 \u6e7f\u5ea6 \u767e\u5206 \u767e\u5206\u6bd4 \uff0c \u4ece   0   \u5230   100 \u3002   fog _ falloff   (   float   )   -   \u96fe \u7684 \u5bc6\u5ea6 \uff08 \u7279\u5b9a \u8d28\u91cf \uff09 \uff0c \u4ece   0   \u5230 \u65e0\u7a77 \u65e0\u7a77\u5927 \u3002   scattering _ intensity   (   float   )   -   \u63a7\u5236 \u5149\u7ebf \u5bf9 \u4f53\u79ef \u96fe \u7684 \u8d21\u732e \u7a0b\u5ea6 \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   0   \u65f6 \uff0c \u6ca1\u6709 \u8d21\u732e \u3002   mie _ scattering _ scale   (   float   )   -   \u7c73\u6c0f \u6563\u5c04   \u5f3a\u5ea6 \uff08 \u5927\u6c14 \u4e2d \u7c92\u5b50 \u7684 \u76f4\u5f84 \u4e0e \u8f90\u5c04 \u7684 \u6ce2\u957f \u76f8\u5f53 \uff09 \uff0c \u63a7\u5236 \u5149 \u4e0e \u5927 \u9897\u7c92 \uff08 \u5982 \u82b1\u7c89 \u6216 \u7a7a\u6c14 \u6c61\u67d3 \u7a7a\u6c14\u6c61\u67d3 \uff09 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \uff0c \u5bfc\u81f4 \u5929\u7a7a \u6726\u80e7 \uff0c \u5149\u6e90 \u5468\u56f4 \u6709 \u5149\u6655 \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   0   \u65f6 \uff0c \u6ca1\u6709 \u8d21\u732e \uff08 \u5b8c\u5168 \u4e0d \u6563\u5c04 \uff09 \u3002   rayleigh _ scattering _ scale   (   float   )   -   \u745e\u5229 \u6563\u5c04 \u745e\u5229\u6563\u5c04   \u5f3a\u5ea6 \uff08 \u7c92\u5b50 \u5c3a\u5ea6 \u5c0f\u4e8e \u6ce2\u957f \u7684 \u5341\u5206 \u4e4b\u4e00 \u5341\u5206\u4e4b\u4e00 \uff09 \uff0c \u63a7\u5236 \u5149 \u4e0e \u7a7a\u6c14 \u5206\u5b50 \u7b49 \u5c0f \u9897\u7c92 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u3002 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u5149 \u7684 \u6ce2\u957f \uff0c \u5bfc\u81f4 \u767d\u5929 \u7684 \u5929\u7a7a \u4e3a \u84dd\u8272 \uff08 \u7531\u4e8e \u745e\u5229 \u6563\u5c04 \u745e\u5229\u6563\u5c04 \u7684 \u5f3a\u5ea6 \u4e0e \u6ce2\u957f \u56db\u6b21 \u65b9 \u53cd\u6bd4 \u6210\u53cd\u6bd4 \uff0c \u6240\u4ee5 \u592a\u9633 \u5149\u8c31 \u4e2d\u6ce2 \u6ce2\u957f \u4e2d\u6ce2\u957f \u8f83 \u77ed \u7684 \u84dd \u7d2b\u5149 \u6bd4 \u6ce2\u957f \u8f83\u957f \u7684 \u7ea2\u5149 \u6563\u5c04 \u66f4 \u660e\u663e \uff09 \uff0c \u508d\u665a \u7684 \u5929\u7a7a \u4e3a \u7ea2\u8272 \uff08 \u592a\u9633 \u9633\u5149 \u592a\u9633\u5149 \u5728 \u5927\u6c14 \u4e2d\u8981 \u8d70 \u76f8\u5bf9 \u5f88\u957f \u7684 \u8def\u7a0b \uff0c \u76f4\u5c04 \u76f4\u5c04\u5149 \u4e2d \u7684 \u6ce2\u957f \u8f83 \u77ed \u84dd\u5149 \u5927\u91cf \u90fd \u88ab \u6563\u5c04 \u4e86 \uff0c \u53ea \u5269\u4e0b \u7ea2 \u6a59\u8272 \u7684 \u5149 \uff09 \u3002   \u7b14\u8bb0 :   ClearNoon ,   CloudyNoon ,   WetNoon ,   WetCloudyNoon ,   SoftRainNoon ,   MidRainyNoon ,   HardRainNoon ,   ClearSunset ,   CloudySunset ,   WetSunset ,   WetCloudySunset ,   SoftRainSunset ,   MidRainSunset ,   HardRainSunset .   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   )   \u5982\u679c \u4e24\u4e2a \u5bf9\u8c61 \u7684 \u53d8\u91cf \u76f8\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ ne __   (   self   ,   other   )   \u5982\u679c \u4e24\u4e2a \u5bf9\u8c61 \u7684 \u53d8\u91cf \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )   carla . WheelPhysicsControl   \u4e3a \u8f66\u8f6e \u5bf9\u8c61 \u5b9a\u4e49 \u7279\u5b9a \u7269\u7406 \u53c2\u6570 \u7684 \u7c7b \uff0c \u8fd9\u4e9b \u8f66\u8f6e \u5bf9\u8c61 \u5c06 \u6210\u4e3a   carla . VehiclePhysicsControl   \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u4ee5 \u5c06 \u8f66\u8f86 \u4eff\u771f \u4e3a \u6750\u8d28 \u5bf9\u8c61 \u3002   \u5b9e\u4f8b \u53d8\u91cf   tire _ friction   (   float   )   \u8868\u793a \u8f66\u8f6e \u6469\u64e6 \u6469\u64e6\u529b \u7684 \u6807\u91cf \u503c \u3002   damping _ rate   (   float   )   \u8f66\u8f6e \u7684 \u963b\u5c3c \u7387 \u3002   max _ steer _ angle   (   float   -   \u5ea6   )   \u8f66\u8f6e \u53ef\u4ee5 \u8f6c\u5411 \u7684 \u6700\u5927 \u89d2\u5ea6 \u3002   radius   (   float   -   \u5398\u7c73   )   \u8f6e\u5b50 \u7684 \u534a\u5f84 \u3002   max _ brake _ torque   (   float   -   N * m   )   \u6700\u5927 \u5236\u52a8 \u626d\u77e9 \u3002   max _ handbrake _ torque   (   float   -   N * m   )   \u6700\u5927 \u624b\u5239 \u626d\u77e9 \u3002   position   (   carla . Vector3D   )   \u8f66\u8f6e \u7684 \u4e16\u754c \u4f4d\u7f6e \u3002 \u8fd9\u662f \u4e00\u4e2a \u53ea\u8bfb \u53c2\u6570 \u3002   long _ stiff _ value   (   float   -   kg   per   radian   )   \u6bcf \u5355\u4f4d \u91cd\u529b \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u7684 \u8f6e\u80ce \u7eb5\u5411 \u521a\u5ea6 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u6709 \u4e00\u4e2a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u503c \u3002   lat _ stiff _ max _ load   (   float   )   \u6700\u5927 \u6807\u51c6 \u6807\u51c6\u5316 \u8f6e\u80ce \u8d1f\u8f7d \uff0c \u5728 \u8be5 \u8d1f\u8f7d \u4e0b \uff0c \u65e0\u8bba \u5411 \u8f6e\u80ce \u65bd\u52a0 \u591a\u5c11 \u989d\u5916 \u8d1f\u8f7d \uff0c \u8f6e\u80ce \u90fd \u4e0d\u518d \u63d0\u4f9b \u4fa7\u5411 \u521a\u5ea6 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u6709 \u4e00\u4e2a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u503c \u3002   lat _ stiff _ value   (   float   )   \u6bcf \u5355\u4f4d \u6a2a\u5411 \u6ed1\u79fb \u7684 \u6700\u5927 \u521a\u5ea6 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u6709 \u4e00\u4e2a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u503c \u3002   \u65b9\u6cd5   __ init __   (   self   ,   tire _ friction   = 2.0   ,   damping _ rate   = 0.25   ,   max _ steer _ angle   = 70.0   ,   radius   = 30.0   ,   max _ brake _ torque   = 1500.0   ,   max _ handbrake _ torque   = 3000.0   ,   position   = ( 0.0 , 0.0 , 0.0 )   )   \u53c2\u6570 :   tire _ friction   (   float   )   damping _ rate   (   float   )   max _ steer _ angle   (   float   -   \u5ea6   )   radius   (   float   -   \u5398\u7c73   )   max _ brake _ torque   (   float   -   N * m   )   max _ handbrake _ torque   (   float   -   N * m   )   position   (   carla . Vector3D   -   \u7c73   )   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . WheelPhysicsControl   )   __ ne __   (   self   ,   other   =   carla . WheelPhysicsControl   )   __ str __   (   self   )   carla . World   \u4e16\u754c \u5bf9\u8c61 \u7531 \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa \uff0c \u4ee5\u4fbf \u4e3a \u4eff\u771f \u63d0\u4f9b \u4e00\u4e2a \u53d1\u751f \u7684 \u5730\u65b9 \u3002 \u4e16\u754c \u5305\u542b \u6211\u4eec \u53ef\u4ee5 \u770b\u5230 \u7684 \u5730\u56fe \uff0c \u5373 \u8d44\u4ea7 \uff0c \u800c \u4e0d\u662f \u5bfc\u822a \u5730\u56fe \u3002 \u5bfc\u822a \u5730\u56fe \u662f   carla . Map   \u7c7b \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u5b83 \u8fd8 \u7ba1\u7406 \u5176\u4e2d \u7684 \u5929\u6c14 \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u6bcf\u4e2a \u4eff\u771f \u53ea\u80fd \u6709 \u4e00\u4e2a \u4e16\u754c \uff0c \u4f46 \u53ef\u4ee5 \u968f\u65f6 \u66f4\u6539 \u3002   \u5b9e\u4f8b \u53d8\u91cf   id   (   int   )   \u4e0e \u8fd9\u4e2a \u4e16\u754c \u76f8\u5173 \u7684 \u5267\u96c6 \u7684   ID \u3002 \u5267\u96c6 \u662f \u4eff\u771f \u7684 \u4e0d\u540c \u9636\u6bb5 \u3002 \u6bcf\u5f53 \u4e16\u754c \u88ab \u7981\u7528 \u6216 \u91cd\u65b0 \u52a0\u8f7d \u65f6 \uff0c \u8fd9\u4e9b \u90fd \u4f1a \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002 \u8ddf\u8e2a \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u907f\u514d \u53ef\u80fd \u51fa\u73b0 \u7684 \u95ee\u9898 \u3002   debug   (   carla . DebugHelper   )   \u8d1f\u8d23 \u521b\u5efa \u4e0d\u540c \u7684 \u5f62\u72b6 \u4ee5 \u8fdb\u884c \u8c03\u8bd5 \u3002 \u67e5\u770b \u5b83 \u7684 \u7c7b \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u65b9\u6cd5   apply _ color _ texture _ to _ object   (   self   ,   object _ name   ,   material _ parameter   ,   texture   )   \u5bf9\u5e94 \u4e8e   material _ parameter   ( normal ,   diffuse ,   etc )   \u7684 \u5b57 \u6bb5 \u4e2d \u7684 \u5bf9\u8c61 \u5e94\u7528 \u5230 \u5bf9\u5e94 \u4e8e   object _ name   \u7684 \u573a\u666f \u4e2d \u7684   texture   \u5bf9\u8c61 \u3002   \u53c2\u6570 :   object _ name   (   str   )   material _ parameter   (   carla . MaterialParameter   )   texture   (   TextureColor   )   apply _ color _ texture _ to _ objects   (   self   ,   objects _ name _ list   ,   material _ parameter   ,   texture   )   \u5bf9\u5e94 \u4e8e   material _ parameter   ( normal ,   diffuse ,   etc )   \u7684 \u5b57 \u6bb5 \u4e2d \u7684 \u5bf9\u8c61 \u5e94\u7528 \u5230 \u5bf9\u5e94 \u4e8e   objects _ name _ list   \u7684 \u573a\u666f \u4e2d \u7684   texture   \u5bf9\u8c61 \u3002   \u53c2\u6570 :   objects _ name _ list   (   list ( str )   )   material _ parameter   (   carla . MaterialParameter   )   texture   (   TextureColor   )   apply _ float _ color _ texture _ to _ object   (   self   ,   object _ name   ,   material _ parameter   ,   texture   )   \u5bf9\u5e94 \u4e8e   material _ parameter   \uff08 \u6cd5\u7ebf \u3001 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u7b49 \uff09 \u7684 \u5b57 \u6bb5 \u4e2d \u7684 \u5bf9\u8c61 \u5e94\u7528 \u5230 \u4e0e   object _ name   \u4e2d \u7684 \u6240\u6709 \u5bf9\u8c61 \u5bf9\u5e94 \u7684 \u573a\u666f \u4e2d \u7684   texture   \u5bf9\u8c61 \u3002   \u53c2\u6570 :   object _ name   (   str   )   material _ parameter   (   carla . MaterialParameter   )   texture   (   TextureFloatColor   )   apply _ float _ color _ texture _ to _ objects   (   self   ,   objects _ name _ list   ,   material _ parameter   ,   texture   )   \u5bf9\u5e94 \u4e8e   material _ parameter   \uff08 \u6cd5\u7ebf \u3001 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u7b49 \uff09 \u7684 \u5b57 \u6bb5 \u4e2d \u7684 \u5bf9\u8c61 \u5e94\u7528 \u5230 \u4e0e   objects _ name _ list   \u4e2d \u7684 \u6240\u6709 \u5bf9\u8c61 \u5bf9\u5e94 \u7684 \u573a\u666f \u4e2d \u7684   texture   \u5bf9\u8c61 \u3002   \u53c2\u6570 :   objects _ name _ list   (   list ( str )   )   material _ parameter   (   carla . MaterialParameter   )   texture   (   TextureFloatColor   )   apply _ settings   (   self   ,   world _ settings   )   \u6b64 \u65b9\u6cd5 \u5c06 \u5bf9\u8c61 \u4e2d \u5305\u542b \u7684 \u8bbe\u7f6e \u5e94\u7528 \u4e8e \u8fd0\u884c \u7684 \u4eff\u771f \uff0c \u5e76 \u8fd4\u56de \u5b83\u4eec \u6240 \u5b9e\u73b0 \u7684 \u5e27 \u7684   ID \u3002   \u53c2\u6570 :   world _ settings   (   carla . WorldSettings   )   \u8fd4\u56de :   int   \u8b66\u544a :   \u5982\u679c \u542f\u7528 \u4e86 \u540c\u6b65 \u6a21\u5f0f \uff0c \u5e76\u4e14 \u6b63\u5728 \u8fd0\u884c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u5219 \u4e5f \u5fc5\u987b \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002 \u9605\u8bfb   \u672c\u6587   \u4ee5 \u4e86\u89e3 \u5982\u4f55 \u64cd\u4f5c \u3002   apply _ textures _ to _ object   (   self   ,   object _ name   ,   diffuse _ texture   ,   emissive _ texture   ,   normal _ texture   ,   ao _ roughness _ metallic _ emissive _ texture   )   \u5c06   carla . MaterialParameter   \u4e2d \u7684 \u6240\u6709 \u7eb9\u7406 \u5b57 \u6bb5 \u5e94\u7528 \u5230 \u5bf9\u8c61   object _ name   \u3002 \u8fd9\u91cc \u4e0d\u4f1a \u5e94\u7528 \u7a7a \u7eb9\u7406 \u3002   \u53c2\u6570 :   object _ name   (   str   )   diffuse _ texture   (   TextureColor   )   emissive _ texture   (   TextureFloatColor   )   normal _ texture   (   TextureFloatColor   )   ao _ roughness _ metallic _ emissive _ texture   (   TextureFloatColor   )   apply _ textures _ to _ objects   (   self   ,   objects _ name _ list   ,   diffuse _ texture   ,   emissive _ texture   ,   normal _ texture   ,   ao _ roughness _ metallic _ emissive _ texture   )   \u5c06   carla . MaterialParameter   \u4e2d \u7684 \u6240\u6709 \u7eb9\u7406 \u5b57 \u6bb5 \u5e94\u7528 \u4e8e   objects _ name _ list   \u4e2d \u7684 \u6240\u6709 \u5bf9\u8c61 \u3002 \u8fd9\u91cc \u4e0d\u4f1a \u5e94\u7528 \u7a7a \u7eb9\u7406 \u3002   \u53c2\u6570 :   objects _ name _ list   (   list ( str )   )   diffuse _ texture   (   TextureColor   )   emissive _ texture   (   TextureFloatColor   )   normal _ texture   (   TextureFloatColor   )   ao _ roughness _ metallic _ emissive _ texture   (   TextureFloatColor   )   cast _ ray   (   self   ,   initial _ location   ,   final _ location   )   \u5c06 \u5149\u7ebf \u4ece \u6307\u5b9a \u7684 initial _ location \u6295\u5c04 \u5230 final _ location \u3002 \u7136\u540e \uff0c \u8be5 \u51fd\u6570 \u68c0\u6d4b \u4e0e \u5c04\u7ebf \u76f8\u4ea4 \u7684 \u6240\u6709 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \uff0c \u5e76 \u6309 \u987a\u5e8f   \u8fd4\u56de   carla . LabelledPoint   \u5217\u8868 \u3002   \u53c2\u6570 :   initial _ location   (   carla . Location   )   -   The   initial   position   of   the   ray .   final _ location   (   carla . Location   )   -   The   final   position   of   the   ray .   \u8fd4\u56de :   list (   carla . LabelledPoint   )   enable _ environment _ objects   (   self   ,   env _ objects _ ids   ,   enable   )   snippet   \u2192   \u542f\u7528 \u6216 \u7981\u7528 \u4e00\u7ec4 \u7531 \u5176   id   \u6807\u8bc6 \u7684 \u73af\u5883 \u5bf9\u8c61 \u3002 \u8fd9\u4e9b \u5bf9\u8c61 \u5c06 \u4ece \u5173\u5361 \u4e2d \u51fa\u73b0 \u6216 \u6d88\u5931 \u3002   \u53c2\u6570 :   env _ objects _ ids   (   set ( int )   )   -   \u8981 \u66f4\u6539 \u7684 \u73af\u5883 \u5bf9\u8c61   ID   \u96c6 \u3002   enable   (   bool   )   -   \u5e94\u7528 \u4e8e \u96c6\u5408 \u4e2d \u6240\u6709 \u73af\u5883 \u5bf9\u8c61 \u7684 \u72b6\u6001 \u3002   freeze _ all _ traffic _ lights   (   self   ,   frozen   )   \u51bb\u7ed3 \u6216 \u89e3\u51bb \u573a\u666f \u4e2d \u7684 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u3002 \u7528\u6237 \u53ef\u4ee5 \u4fee\u6539 \u51bb\u7ed3 \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \uff0c \u4f46 \u65f6\u95f4 \u4e0d\u4f1a \u66f4\u65b0 \u5b83\u4eec \uff0c \u76f4\u5230 \u89e3\u51bb \u3002   \u53c2\u6570 :   frozen   (   bool   )   ground _ projection   (   self   ,   location   ,   search _ distance   )   \u5728 \u573a\u666f \u4e2d \u5411\u4e0b \u6295\u5f71 \u6307\u5b9a \u70b9 \u3002 \u8fd9\u4e9b \u51fd\u6570 \u4ece \u4f4d\u7f6e   ( 0 , 0 , - 1 ) \uff08 \u5411\u4e0b \uff09 \u6295\u5c04 \u4e00\u6761 \u5c04\u7ebf \uff0c \u5e76 \u8fd4\u56de \u4e00\u4e2a   carla . LabelledPoint   \u5bf9\u8c61 \uff0c \u8be5 \u5bf9\u8c61 \u5177\u6709 \u8be5 \u5c04\u7ebf \u76f8\u4ea4 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u51e0\u4f55 \u51e0\u4f55\u4f53 \uff08 \u901a\u5e38 \u662f \u5730\u9762 \uff09 \u3002 \u5982\u679c \u5728   search _ distance   \u8303\u56f4 \u5185 \u627e\u5230 \u672a\u627e\u5230 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \uff0c \u5219 \u51fd\u6570 \u8fd4\u56de   None   \u3002   \u53c2\u6570 :   location   (   carla . Location   )   -   \u8981 \u6295\u5f71 \u7684 \u70b9 \u3002   search _ distance   (   float   )   -   \u6267\u884c \u6295\u5f71 \u7684 \u6700\u5927 \u8ddd\u79bb \u3002   \u8fd4\u56de :   carla . LabelledPoint   load _ map _ layer   (   self   ,   map _ layers   )   snippet   \u2192   \u52a0\u8f7d \u56fe\u5c42 \u5230 \u6307\u5b9a \u5c42\u6b21 \u3002 \u5982\u679c \u8be5 \u5c42\u6b21 \u5df2\u7ecf \u52a0\u8f7d \u5219 \u6ca1\u6709 \u4efb\u4f55 \u6548\u679c \u3002   \u53c2\u6570 \uff1a   map _ layers   (   carla . MapLayer   )   -   \u52a0\u8f7d \u5230 \u6307\u5b9a \u5c42\u6b21 \u7684 \u63a9\u819c \u3002   \u8b66\u544a \uff1a   \u8fd9 \u4ec5\u4ec5 \u5f71\u54cd \u5206\u5c42 \uff08 Opt \uff09 \u5730\u56fe \u3002 \u6700\u5c0f \u5e03\u5c40 \u5305\u62ec \u9053\u8def \u3001 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3002   on _ tick   (   self   ,   callback   )   \u6b64 \u65b9\u6cd5 \u7528\u4e8e \u5f02\u6b65 \u6a21\u5f0f \u3002 \u5b83 \u4ece \u5ba2\u6237 \u5ba2\u6237\u7aef \u5b9a\u4e49 \u7684   callback   \u51fd\u6570 \u542f\u52a8 \u56de\u8c03 \uff0c \u5e76 \u8fd4\u56de \u56de\u8c03 \u7684   ID \u3002 \u6bcf\u5f53 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53d1\u51fa \u65f6 \u8282\u62cd \u65f6 \uff0c \u5c31 \u4f1a \u8c03\u7528 \u8be5 \u51fd\u6570 \u3002 \u5b83 \u9700\u8981 \u4e00\u4e2a   carla . WorldSnapshot   \u4f5c\u4e3a \u53c2\u6570 \uff0c \u8fd9 \u53ef\u4ee5 \u4ece   wait _ for _ tick ( )   \u83b7\u5f97 \u3002 \u4f7f\u7528   remove _ on _ tick ( )   \u6765 \u505c\u6b62 \u56de\u8c03 \u3002   \u53c2\u6570 \uff1a   callback   (   carla . WorldSnapshot   )   -   \u5c06 \u5feb\u7167 \u4f5c\u4e3a \u5f3a\u5236 \u53c2\u6570 \u7684 \u51fd\u6570 \uff0c \u5f53 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6536\u5230 \u8282\u62cd \u65f6 \u5c06 \u8c03\u7528 \u8be5 \u51fd\u6570 \u3002   \u8fd4\u56de :   int   project _ point   (   self   ,   location   ,   direction   ,   search _ distance   )   \u5c06 \u6307\u5b9a \u70b9 \u6295\u5f71 \u5230 \u573a\u666f \u4e2d \u7684 \u6240 \u9700 \u65b9\u5411 \u3002 \u8fd9\u4e9b \u51fd\u6570 \u4ece \u67d0\u4e2a \u65b9\u5411 \u7684 \u67d0\u4e2a \u4f4d\u7f6e \u6295\u5c04 \u4e00\u6761 \u5c04\u7ebf \uff0c \u5e76 \u8fd4\u56de \u4e00\u4e2a \u5e26\u6709 \u8be5 \u5c04\u7ebf \u76f8\u4ea4 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u51e0\u4f55 \u51e0\u4f55\u4f53 \u7684   carla . Labelled   \u5bf9\u8c61 \u3002 \u5982\u679c \u5728   search _ distance   \u8303\u56f4 \u5185 \u627e\u5230 \u672a\u627e\u5230 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \uff0c \u5219 \u51fd\u6570 \u8fd4\u56de   None   \u3002   \u53c2\u6570 :   location   (   carla . Location   )   -   \u8981 \u6295\u5f71 \u7684 \u70b9 \u3002   direction   (   carla . Vector3D   )   -   \u6295\u5f71 \u65b9\u5411 \u3002   search _ distance   (   float   )   -   \u6267\u884c \u6295\u5f71 \u7684 \u6700\u5927 \u8ddd\u79bb \u3002   \u8fd4\u56de :   carla . LabelledPoint   remove _ on _ tick   (   self   ,   callback _ id   )   \u505c\u6b62 \u4ee5   on _ tick ( )   \u542f\u52a8 \u7684 \u56de\u8c03   callback _ id   \u3002   \u53c2\u6570 :   callback _ id   (   callback   )   -   \u8981 \u5220\u9664 \u7684 \u56de\u8c03 \u3002 \u521b\u5efa \u56de\u8c03 \u65f6 \u8fd4\u56de ID \u3002   reset _ all _ traffic _ lights   (   self   )   \u5c06 \u5730\u56fe \u4e2d \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5468\u671f \u91cd\u7f6e \u4e3a \u521d\u59cb \u72b6\u6001 \u521d\u59cb\u72b6\u6001 \u3002   spawn _ actor   (   self   ,   blueprint   ,   transform   ,   attach _ to   = None   ,   attachment   = Rigid   )   snippet   \u2192   \u8be5 \u65b9\u6cd5 \u5c06 \u521b\u5efa \u3001 \u8fd4\u56de \u5e76 \u751f\u6210 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5230 \u4e16\u754c \u4e2d \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u9700\u8981 \u521b\u5efa \u53ef\u7528 \u7684 \u84dd\u56fe \u548c \u53d8\u6362 \uff08 \u4f4d\u7f6e \u548c \u65cb\u8f6c \uff09 \u3002 \u5b83 \u8fd8 \u53ef\u4ee5 \u9644\u52a0 \u5230 \u5177\u6709 \u7279\u5b9a \u9644\u4ef6 \u7c7b\u578b \u7684 \u7236\u7ea7 \u3002   \u53c2\u6570 :   blueprint   (   carla . ActorBlueprint   )   -   \u5c06 \u521b\u5efa \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5f15\u7528 \u3002   transform   (   carla . Transform   )   -   \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u751f\u6210 \u65f6 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002   attach _ to   (   carla . Actor   )   -   \u751f\u6210 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u8ddf\u968f \u7684 \u7236 \u5bf9\u8c61 \u3002   attachment   (   carla . AttachmentType   )   -   \u6839\u636e \u5176\u7236 \u5bf9\u8c61 \u786e\u5b9a \u4f4d\u7f6e \u53d8\u5316 \u7684 \u56fa\u5b9a \u548c \u4e25\u5bc6 \u7a0b\u5ea6 \u3002   \u8fd4\u56de :   carla . Actor   tick   (   self   ,   seconds   = 10.0   )   \u8be5 \u65b9\u6cd5 \u7528\u4e8e   \u540c\u6b65   \u6a21\u5f0f \uff0c \u5373 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5728 \u8ba1\u7b97 \u4e0b \u4e00\u5e27 \u4e4b\u524d \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5ba2\u6237 \u5ba2\u6237\u7aef \u8282\u62cd \u4fe1\u53f7 \u3002 \u8fd9\u4e2a \u65b9\u6cd5 \u5c06 \u53d1\u9001 \u8282\u62cd \u4fe1\u53f7 \uff0c \u5e76 \u8ba9 \u4f4d\u4e8e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u5b83 \u8fd4\u56de \u7531 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8ba1\u7b97 \u7684 \u65b0 \u5e27 ID \u3002   \u53c2\u6570 \uff1a   seconds   (   float   -   \u79d2   )   -   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5e94\u8be5 \u7b49\u5f85 \u8282\u62cd \u4fe1\u53f7 \u7684 \u6700\u5927 \u65f6\u95f4 \u3002 \u5b83 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e3a   10.0   \u3002   \u8fd4\u56de \uff1a   int   \u6ce8\u610f \uff1a   \u5982\u679c \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u6ca1\u6709 \u6536\u5230 \u8282\u62cd \u4fe1\u53f7 \uff0c \u4eff\u771f \u5c06 \u51bb\u7ed3 \u3002 \u6b64\u5916 \uff0c \u5982\u679c \u4ece \u4e0d\u540c \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u63a5\u6536 \u5230 \u8bb8\u591a \u8282\u62cd \u4fe1\u53f7 \uff0c \u5219 \u53ef\u80fd \u5b58\u5728 \u540c\u6b65 \u95ee\u9898 \u3002 \u8bf7 \u9605\u8bfb \u6709\u5173   __ \u540c\u6b65 \u6a21\u5f0f __   \u7684 \u6587\u6863 \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   try _ spawn _ actor   (   self   ,   blueprint   ,   transform   ,   attach _ to   = None   ,   attachment   = Rigid   )   \u548c   spawn _ actor ( )   \u4e00\u6837 \uff0c \u4f46\u662f \u5355 \u5931\u8d25 \u65f6\u5019 \u8fd4\u56de   None   \u800c \u4e0d\u662f \u629b\u51fa \u5f02\u5e38 \u3002   \u53c2\u6570 \uff1a   blueprint   (   carla . ActorBlueprint   )   -   \u5c06 \u4ece\u4e2d \u521b\u5efa \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5f15\u7528 \u3002   transform   (   carla . Transform   )   -   \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u4f7f\u7528 \u7684 \u4f4d\u7f6e \u548c \u671d\u5411 \u3002   attach _ to   (   carla . Actor   )   -   \u6d3e\u751f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u8ddf\u968f \u7684 \u7236 \u5bf9\u8c61 \u3002   attachment   (   carla . AttachmentType   )   -   \u6839\u636e \u5176\u7236 \u5bf9\u8c61 \u786e\u5b9a \u4f4d\u7f6e \u66f4\u6539 \u7684 \u56fa\u5b9a \u548c \u4e25\u683c \u7a0b\u5ea6 \u3002   \u8fd4\u56de \uff1a   carla . Actor   unload _ map _ layer   (   self   ,   map _ layers   )   snippet   \u2192   \u5c06 \u9009\u5b9a \u7684 \u56fe\u5c42 \u5378\u8f7d \u5230 \u6307\u5b9a \u5c42\u6b21 \u3002 \u5982\u679c \u5c42 \u5df2\u7ecf \u5378\u8f7d \uff0c \u5219 \u8c03\u7528 \u6ca1\u6709 \u4efb\u4f55 \u6548\u679c \u3002   \u53c2\u6570 :   map _ layers   (   carla . MapLayer   )   -   \u8981 \u5378\u8f7d \u56fe\u5c42 \u7684 \u63a9\u819c \u3002   \u8b66\u544a :   \u8fd9 \u4ec5\u4ec5 \u5f71\u54cd \u5206\u5c42 \uff08 Opt \uff09 \u5730\u56fe \u3002 \u6700\u5c0f \u5e03\u5c40 \u5305\u62ec \u9053\u8def \u3001 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3002   wait _ for _ tick   (   self   ,   seconds   = 10.0   )   \u8be5 \u65b9\u6cd5 \u4f7f\u7528 \u5f02\u6b65 \u6a21\u5f0f \u3002 \u5b83 \u4f7f \u5ba2\u6237 \u5ba2\u6237\u7aef \u7b49\u5f85 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8282\u62cd \u4fe1\u53f7 \u3002 \u5f53 \u8ba1\u7b97 \u4e0b \u4e00\u5e27 \u65f6 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u52fe\u9009 \u5e76 \u8fd4\u56de \u63cf\u8ff0 \u4e16\u754c \u65b0 \u72b6\u6001 \u7684 \u5feb\u7167 \u3002   \u53c2\u6570 :   seconds   (   float   -   seconds   )   -   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7b49\u5f85 \u6ef4\u7b54 \u7684 \u6700\u957f \u65f6\u95f4 \u3002 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e3a   10.0   \u3002   \u8fd4\u56de :   carla . WorldSnapshot   \u8bbe\u7f6e \u5668   get _ actor   (   self   ,   actor _ id   )   \u901a\u8fc7   ID   \u67e5\u627e \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5982\u679c \u627e\u5230 \u672a\u627e\u5230 \u5219 \u8fd4\u56de   None   \u3002   \u53c2\u6570 :   actor _ id   (   int   )   \u8fd4\u56de :   carla . Actor   get _ actors   (   self   ,   actor _ ids   = None   )   \u68c0\u7d22   carla . Actor   \u5143\u7d20 \u5217\u8868 \uff0c \u4f7f\u7528 \u63d0\u4f9b \u7684   ID   \u5217\u8868 \u6216\u4ec5 \u5217\u51fa \u821e\u53f0 \u4e0a \u7684 \u6bcf\u4e2a \u4eba \u3002 \u5982\u679c \u4e00\u4e2a ID \u4e0d \u4e0e \u4efb\u4f55 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u76f8\u5bf9 \u5e94 \uff0c \u5b83 \u5c06 \u88ab \u6392\u9664 \u5728 \u8fd4\u56de \u7684 \u5217\u8868 \u4e4b\u5916 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 ID \u5217\u8868 \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \u53ef\u80fd \u5177\u6709 \u4e0d\u540c \u7684 \u957f\u5ea6 \u3002   \u53c2\u6570 :   actor _ ids   (   list   )   -   \u6b63\u5728 \u641c\u7d22 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u8bbe\u7f6e \u4e3a   None   \u5e76 \u8fd4\u56de \u573a\u666f \u4e2d \u7684 \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8fd4\u56de :   carla . ActorList   get _ blueprint _ library   (   self   )   \u8fd4\u56de \u53ef\u7528 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u84dd\u56fe \u5217\u8868 \uff0c \u4ee5 \u65b9\u4fbf \u5b83\u4eec \u5728 \u4e16\u754c \u4e2d \u7684 \u751f\u6210 \u3002   \u8fd4\u56de :   carla . BlueprintLibrary   get _ environment _ objects   (   self   ,   object _ type   = Any   )   \u8fd4\u56de \u5177\u6709 \u8bf7\u6c42 \u7684 \u8bed\u4e49 \u6807\u8bb0 \u7684   EnvironmentObject   \u5217\u8868 \u3002 \u8be5 \u65b9\u6cd5 \u9ed8\u8ba4 \u8fd4\u56de \u5173\u5361 \u4e2d \u7684 \u6240\u6709 \u73af\u5883 \u5bf9\u8c61 \uff0c \u4f46 \u53ef\u4ee5 \u4f7f\u7528   object _ type   \u53c2\u6570 \u901a\u8fc7 \u8bed\u4e49 \u6807\u7b7e \u8fc7\u6ee4 \u67e5\u8be2 \u3002   \u53c2\u6570 :   object _ type   (   carla . CityObjectLabel   )   -   Semantic   tag   of   the   \u8fd4\u56de \u7684   EnvironmentObjects \u3002   \u8fd4\u56de :   array (   carla . EnvironmentObject   )   get _ level _ bbs   (   self   ,   actor _ type   = Any   )   \u8fd4\u56de \u4e00\u4e2a \u8fb9\u754c \u6846 \u6570\u7ec4 \uff0c \u5176\u4e2d \u5305\u542b \u4e16\u754c \u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002 \u8be5 \u65b9\u6cd5 \u9ed8\u8ba4 \u8fd4\u56de \u8be5 \u7ea7\u522b \u4e2d \u7684 \u6240\u6709 \u8fb9\u754c \u6846 \uff0c \u4f46 \u53ef\u4ee5 \u4f7f\u7528   actor _ type   \u53c2\u6570 \u901a\u8fc7 \u8bed\u4e49 \u6807\u7b7e \u8fc7\u6ee4 \u67e5\u8be2 \u3002   \u53c2\u6570 :   actor _ type   (   carla . CityObjectLabel   )   -   \u8fd4\u56de \u7684 \u8fb9\u754c \u6846\u4e2d \u5305\u542b \u7684 \u5143\u7d20 \u7684 \u8bed\u4e49 \u6807\u7b7e \u3002   \u8fd4\u56de :   array (   carla . BoundingBox   )   get _ lightmanager   (   self   )   \u8fd4\u56de   carla . LightManager   \u7684 \u5b9e\u4f8b \uff0c \u53ef \u7528\u4e8e \u5904\u7406 \u573a\u666f \u4e2d \u7684 \u706f\u5149 \u3002   \u8fd4\u56de :   carla . LightManager   get _ map   (   self   )   \u5411 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bf7\u6c42 \u5305\u542b \u6620\u5c04 \u6587\u4ef6 \u7684   XODR \uff0c \u5e76 \u5c06 \u5176 \u89e3\u6790 \u4e3a   carla . Map   \u8fd4\u56de \u3002   \u8fd4\u56de :   carla . Map   \u8b66\u544a :   \u6b64 \u65b9\u6cd5 \u786e\u5b9e \u8c03\u7528 \u4eff\u771f \u3002 \u5b83 \u4ee3\u4ef7 \u5f88 \u9ad8 \uff0c \u5e76\u4e14 \u53ea\u80fd \u8c03\u7528 \u4e00\u6b21 \u3002   get _ names _ of _ all _ objects   (   self   )   \u8fd4\u56de \u573a\u666f \u4e2d \u53ef\u4ee5 \u4f7f\u7528 \u5e94\u7528 \u7eb9\u7406 \u51fd\u6570 \u7ed8\u5236 \u7684 \u6240\u6709 \u5bf9\u8c61 \u7684 \u540d\u79f0 \u5217\u8868 \u3002   \u8fd4\u56de :   list ( str )   get _ random _ location _ from _ navigation   (   self   )   \u8fd9 \u53ea\u80fd \u4e0e \u884c\u4eba \u4e00\u8d77 \u4f7f\u7528 \u3002 \u5b83 \u4f7f\u7528   carla . WalkerAIController   \u4e2d \u7684   go _ to _ location ( )   \u65b9\u6cd5 \u68c0\u7d22 \u8981 \u7528\u4f5c \u76ee\u7684 \u76ee\u7684\u5730 \u7684 \u968f\u673a \u4f4d\u7f6e \u3002 \u8be5 \u4f4d\u7f6e \u5c06 \u662f \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u9053\u8def \u3001 \u4eba\u884c \u4eba\u884c\u6a2a\u9053 \u548c \u8349\u5730 \u533a\u57df \u4e0d \u5305\u62ec \u5728\u5185 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8003\u8651 \u73b0\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \uff0c \u56e0\u6b64 \u5982\u679c \u5728 \u5c1d\u8bd5 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \u53d1\u751f \u78b0\u649e \uff0c \u5b83 \u5c06 \u8fd4\u56de \u9519\u8bef \u3002 \u770b \u4e00\u4e0b \u4f8b\u5b50   generate _ traffic . py   \u3002   \u8fd4\u56de :   carla . Location   get _ settings   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u5bf9\u8c61 \uff0c \u5176\u4e2d \u5305\u542b \u6709\u5173 \u4eff\u771f \u7684 \u4e00\u4e9b \u6570\u636e \uff0c \u4f8b\u5982 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u7684 \u540c\u6b65 \u6216 \u6e32\u67d3 \u6a21\u5f0f \u3002   \u8fd4\u56de :   carla . WorldSettings   get _ snapshot   (   self   )   \u8fd4\u56de \u67d0\u4e2a \u65f6\u523b \u7684 \u4e16\u754c \u5feb\u7167 \uff0c \u5305\u542b \u6709\u5173 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6240\u6709 \u4fe1\u606f \u3002   \u8fd4\u56de :   carla . WorldSnapshot   get _ spectator   (   self   )   snippet   \u2192   \u8fd4\u56de \u89c2\u5bdf \u89c2\u5bdf\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u662f \u865a\u5e7b \u5f15\u64ce \u521b\u5efa \u7684 \u4e00\u79cd \u7279\u6b8a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u901a\u5e38 ID = 0 \uff0c \u5145\u5f53 \u6444\u50cf \u6444\u50cf\u673a \u5e76 \u63a7\u5236 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7a97\u53e3 \u4e2d \u7684 \u89c6\u56fe \u3002   \u8fd4\u56de :   carla . Actor   get _ traffic _ light   (   self   ,   landmark   )   \u63d0\u4f9b \u4e00\u4e2a \u5730\u6807 \uff0c \u8fd4\u56de \u5b83 \u63cf\u8ff0 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u5bf9\u8c61 \u3002   \u53c2\u6570 :   landmark   (   carla . Landmark   )   -   \u63cf\u8ff0 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5730\u6807 \u5bf9\u8c61 \u3002   \u8fd4\u56de :   carla . TrafficLight   get _ traffic _ light _ from _ opendrive _ id   (   self   ,   traffic _ light _ id   )   \u8fd4\u56de \u4e0e \u6307\u793a \u7684   OpenDRIVE   id   \u5bf9\u5e94 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u53c2\u6570 :   traffic _ light _ id   (   str   )   -   The   OpenDRIVE   id .   \u8fd4\u56de :   carla . TrafficLight   get _ traffic _ lights _ from _ waypoint   (   self   ,   waypoint   ,   distance   )   \u6b64 \u51fd\u6570 \u6cbf\u7740 \u6307\u5b9a \u8def\u70b9 \u524d\u9762 \u7684 \u9053\u8def \u6267\u884c \u641c\u7d22 \uff0c \u5e76 \u8fd4\u56de \u5728 \u6307\u5b9a \u641c\u7d22 \u8ddd\u79bb \u5185 \u627e\u5230 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \u3002   \u53c2\u6570 :   waypoint   (   carla . Waypoint   )   -   \u8f93\u5165 \u8def\u5f84 \u70b9 \u3002   distance   (   float   )   -   \u641c\u7d22 \u8ddd\u79bb \u3002   \u8fd4\u56de :   list (   carla . TrafficLight   )   get _ traffic _ lights _ in _ junction   (   self   ,   junction _ id   )   \u8fd4\u56de \u5f71\u54cd   junction _ id   \u4e2d \u6307\u793a \u7684 \u8def\u53e3 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \u3002   \u53c2\u6570 :   junction _ id   (   int   )   -   \u8fde\u63a5 \u63a5\u70b9 \u8fde\u63a5\u70b9 \u7684   id \u3002   \u8fd4\u56de :   list (   carla . TrafficLight   )   get _ traffic _ sign   (   self   ,   landmark   )   \u63d0\u4f9b \u4e00\u4e2a \u5730\u6807 \uff0c \u8fd4\u56de \u5b83 \u63cf\u8ff0 \u7684 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u5bf9\u8c61 \u3002   \u53c2\u6570 :   landmark   (   carla . Landmark   )   -   \u63cf\u8ff0 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u7684 \u5730\u6807 \u5bf9\u8c61 \u3002   \u8fd4\u56de :   carla . TrafficSign   get _ vehicles _ light _ states   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u952e \u662f   carla . Actor   ID \uff0c \u503c \u662f \u8be5 \u8f66\u8f86 \u7684   carla . VehicleLightState   \u3002   \u8fd4\u56de :   dict   get _ weather   (   self   )   \u68c0\u7d22 \u5305\u542b \u4eff\u771f \u4e2d \u5f53\u524d \u6d3b\u52a8 \u7684 \u5929\u6c14 \u53c2\u6570 \u7684 \u5bf9\u8c61 \uff0c \u4e3b\u8981 \u662f \u4e91\u91cf \u3001 \u964d\u6c34 \u6c34\u91cf \u964d\u6c34\u91cf \u3001 \u98ce \u548c \u592a\u9633 \u4f4d\u7f6e \u3002   \u8fd4\u56de :   carla . WeatherParameters   Setter :   carla . World . set _ weather   \u8bbe\u7f6e \u5668   set _ pedestrians _ cross _ factor   (   self   ,   percentage   )   \u53c2\u6570 :   percentage   (   float   )   -   \u8bbe\u7f6e \u53ef\u4ee5 \u5728 \u9053\u8def \u4e0a \u884c\u8d70 \u6216 \u5728 \u9053\u8def \u4e0a \u7684 \u4efb\u4f55 \u70b9 \u7a7f\u8d8a \u7684 \u884c\u4eba \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002 \u503c\u5e94 \u4ecb\u4e8e   0.0   \u548c \u4e4b\u95f4   1.0   \u3002 \u4f8b\u5982 \uff0c \u503c   0.1   \u8868\u793a \u5141\u8bb8   10%   \u7684 \u884c\u4eba \u5728 \u9053\u8def \u4e0a \u884c\u8d70 \u3002   \u9ed8\u8ba4 \u4e3a   0.0   \u3002   \u7b14\u8bb0 :   \u5e94 \u5728 \u884c\u4eba \u751f\u6210 \u4e4b\u524d \u8bbe\u7f6e \u3002   set _ pedestrians _ seed   (   self   ,   seed   )   \u53c2\u6570 :   seed   (   int   )   -   \u8bbe\u7f6e \u7528\u4e8e \u751f\u6210 \u4e0e \u884c\u4eba \u76f8\u5173 \u7684 \u4efb\u4f55 \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u7684 \u79cd\u5b50 \u3002   \u7b14\u8bb0 :   \u5e94 \u5728 \u884c\u4eba \u751f\u6210 \u4e4b\u524d \u8bbe\u7f6e \u3002 \u5982\u679c \u60a8 \u60f3 \u4e3a \u6bcf\u4e2a \u884c\u4eba \u91cd\u590d \u76f8\u540c \u7684 \u8eab\u4f53 \uff08 \u84dd\u56fe \uff09 \uff0c \u8bf7 \u5728   Python   \u4ee3\u7801 \uff08 \u968f\u673a \u9009\u62e9 \u84dd\u56fe \uff09 \u548c \u6b64\u5904 \u4f7f\u7528 \u76f8\u540c \u7684 \u79cd\u5b50 \uff0c \u5426\u5219 \u884c\u4eba \u5c06 \u91cd\u590d \u76f8\u540c \u7684 \u8def\u5f84 \uff0c \u4f46 \u8eab\u4f53 \u4f1a \u4e0d\u540c \u3002   set _ weather   (   self   ,   weather   )   \u5c06 \u4eff\u771f \u7684 \u5929\u6c14 \u53c2\u6570 \u66f4 \u6539\u4e3a \u5bf9\u8c61 \u4e2d \u5b9a\u4e49 \u7684 \u5176\u4ed6 \u53c2\u6570 \u3002   \u53c2\u6570 :   weather   (   carla . WeatherParameters   )   -   \u8981 \u5e94\u7528 \u7684 \u65b0 \u6761\u4ef6 \u3002   \u83b7\u53d6 \u5668 :   carla . World . get _ weather   \u9b54\u672f \u65b9\u6cd5   __ str __   (   self   )   \u4e16\u754c \u7684 \u5185\u5bb9 \u88ab \u89e3\u6790 \u6253\u5370 \u5e76\u6253\u5370 \u4e3a \u5f53\u524d \u72b6\u6001 \u7684 \u7b80\u77ed \u62a5\u544a \u3002   \u8fd4\u56de :   string   carla . WorldSettings   \u8be5 \u4eff\u771f \u5177\u6709 \u4e00\u4e9b \u9ad8\u7ea7 \u914d\u7f6e \u9009\u9879 \uff0c \u8fd9\u4e9b \u9009\u9879 \u5305\u542b \u5728 \u6b64\u7c7b \u4e2d \uff0c \u5e76\u4e14 \u53ef\u4ee5 \u4f7f\u7528   carla . World   \u53ca\u5176 \u65b9\u6cd5 \u8fdb\u884c \u7ba1\u7406 \u3002 \u8fd9\u4e9b \u5141\u8bb8 \u7528\u6237 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540c\u6b65 / \u5f02\u6b65 \u3001 \u6fc0\u6d3b \u201c \u65e0 \u6e32\u67d3 \u6a21\u5f0f \u201d \u4ee5\u53ca \u4eff\u771f \u662f\u5426 \u5e94 \u4ee5 \u56fa\u5b9a \u6216 \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \u8fd0\u884c \u4e4b\u95f4 \u8fdb\u884c \u9009\u62e9 \u3002 \u5982\u679c \u60a8 \u60f3 \u4e86\u89e3 \u7684\u8bdd   \u8bf7 \u67e5\u770b   \u6b64 \u5185\u5bb9   \u3002   \u5b9e\u4f8b \u53d8\u91cf   synchronous _ mode   (   bool   )   \u8868\u793a \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u7684 \u540c\u6b65 \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   true   \u65f6 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6ef4\u7b54 \u4ee5\u4fbf \u7ee7\u7eed \u524d\u8fdb \u7ee7\u7eed\u524d\u8fdb \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u4e3a   false \u3002   no _ rendering _ mode   (   bool   )   \u542f\u7528 \u540e \uff0c \u4eff\u771f \u5c06 \u6839\u672c \u4e0d \u8fd0\u884c \u6e32\u67d3 \u3002 \u8fd9 \u4e3b\u8981 \u7528\u4e8e \u907f\u514d \u7e41\u5fd9 \u4ea4\u901a \u4eff\u771f \u671f\u95f4 \u7684 \u5f00\u9500 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u4e3a   false \u3002   fixed _ delta _ seconds   (   float   )   \u786e\u4fdd \u4eff\u771f \u7684 \u4e24\u4e2a \u6b65\u9aa4 \u4e4b\u95f4 \u7ecf\u8fc7 \u7684 \u65f6\u95f4 \u662f \u56fa\u5b9a \u7684 \u3002 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   0.0   \u4ee5 \u4f7f\u7528 \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \uff0c \u5c31 \u50cf \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u53d1\u751f \u7684 \u90a3\u6837 \u3002   substepping   (   bool   )   \u542f\u7528 \u7269\u7406 \u5b50 \u6b65\u8fdb \u3002 \u6b64 \u9009\u9879 \u5141\u8bb8 \u8ba1\u7b97 \u4e24\u4e2a \u6e32\u67d3 \u5e27 \u4e4b\u95f4 \u7684 \u4e00\u4e9b \u7269\u7406 \u5b50 \u6b65\u9aa4 \u3002 \u5982\u679c \u8bbe\u7f6e \u4e86 \u540c\u6b65 \u6a21\u5f0f \uff0c \u5219 \u5b50 \u6b65\u9aa4 \u7684 \u6570\u91cf \u53ca\u5176 \u65f6\u95f4 \u95f4\u9694 \u662f \u56fa\u5b9a \u7684 \u5e76 \u8fdb\u884c \u8ba1\u7b97 \uff0c \u4ee5\u4fbf \u6ee1\u8db3   carla . WorldSettings . max _ substep   \u548c   carla . WorldSettings . max _ substep _ delta _ time   \u7684 \u8981\u6c42 \u3002 \u6700\u540e \u4e24\u4e2a \u53c2\u6570 \u9700\u8981 \u4e0e   carla . WorldSettings . fixed _ delta _ seconds   \u517c\u5bb9 \u3002 \u9ed8\u8ba4 \u542f\u7528 \u3002   max _ substep _ delta _ time   (   float   )   \u5b50 \u6b65\u9aa4 \u7684 \u6700\u5927 \u589e\u91cf \u65f6\u95f4 \u3002 \u5982\u679c   carla . WorldSettingsmax _ substep   \u8db3\u591f \u9ad8 \uff0c \u5219 \u5b50\u6b65 \u589e\u91cf \u65f6\u95f4 \u5c06 \u59cb\u7ec8 \u4f4e\u4e8e \u6216 \u7b49\u4e8e \u8be5\u503c \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8be5\u503c \u8bbe\u7f6e \u4e3a   0.01 \u3002   max _ substeps   (   int   )   \u5141\u8bb8 \u7684 \u6700\u5927 \u7269\u7406 \u5b50 \u6b65\u6570 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8be5\u503c \u8bbe\u7f6e \u4e3a   10 \u3002   max _ culling _ distance   (   float   )   \u914d\u7f6e \u5173\u5361 \u4e2d \u6bcf\u4e2a \u7f51\u683c \u7684 \u6700\u5927 \u7ed8\u5236 \u8ddd\u79bb \u3002   deterministic _ ragdolls   (   bool   )   \u5b9a\u4e49 \u662f\u5426 \u5bf9 \u884c\u4eba \u6b7b\u4ea1 \u52a8\u753b \u6216 \u7269\u7406 \u5a03\u5a03 \u5e03\u5a03\u5a03 \u4eff\u771f \u4f7f\u7528 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u7269\u7406 \u3002 \u542f\u7528 \u540e \uff0c \u884c\u4eba \u7684 \u6b7b\u4ea1 \u52a8\u753b \u4e0d\u592a \u771f\u5b9e \uff0c \u4f46 \u786e\u4fdd \u4e86 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u3002 \u7981\u7528 \u540e \uff0c \u884c\u4eba \u5c06 \u88ab \u4eff\u771f \u4e3a \u5a03\u5a03 \u5e03\u5a03\u5a03 \uff0c \u5177\u6709 \u66f4 \u771f\u5b9e \u7684 \u4eff\u771f \u548c \u78b0\u649e \uff0c \u4f46 \u65e0\u6cd5 \u786e\u4fdd \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u3002   tile _ stream _ distance   (   float   )   \u4ec5 \u7528\u4e8e \u5927\u578b \u5730\u56fe \u3002 \u914d\u7f6e \u4ece \u82f1\u96c4 \u8f66\u8f86 \u4f20\u8f93 \u74e6\u7247 \u5730\u56fe \u7684 \u6700\u5927 \u8ddd\u79bb \u3002 \u6b64 \u8303\u56f4 \u5185 \u7684 \u5730\u56fe \u533a\u57df \u5c06 \u53ef\u89c1 \uff08 \u5e76\u4e14 \u80fd\u591f \u4eff\u771f \u7269\u7406 \uff09 \u3002 \u8be5 \u533a\u57df \u4e4b\u5916 \u7684 \u533a\u57df \u5c06 \u4e0d\u4f1a \u88ab \u52a0\u8f7d \u3002   actor _ active _ distance   (   float   )   \u4ec5 \u7528\u4e8e \u5927\u578b \u5730\u56fe \u3002 \u914d\u7f6e \u4e0e \u82f1\u96c4 \u8f66\u8f86 \u7684 \u8ddd\u79bb \u4ee5 \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8f6c\u6362 \u4e3a \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002 \u5728 \u6b64 \u8303\u56f4 \u5185 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u5904\u4e8e \u6d3b\u8dc3 \u72b6\u6001 \uff0c \u800c \u5728 \u8be5 \u8303\u56f4 \u4e4b\u5916 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002   spectator _ as _ ego   (   bool   )   \u4ec5 \u7528\u4e8e \u5927\u578b \u5730\u56fe \u3002 \u5b9a\u4e49 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u5bf9\u5927 \u5730\u56fe \u4e2d \u56fe\u5757 \u52a0\u8f7d \u7684 \u5f71\u54cd \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5728 \u6ca1\u6709 \u81ea\u6211 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u89c2\u5bdf \u89c2\u5bdf\u8005 \u5c06 \u5f15\u53d1 \u76f8\u90bb \u56fe\u5757 \u7684 \u52a0\u8f7d \u3002 \u5bf9\u4e8e \u7acb\u5373 \u4ea7\u751f \u81ea\u6211 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u6765\u8bf4 \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u5e26\u6765 \u4e0d\u4fbf \u3002   \u65b9\u6cd5   __ init __   (   self   ,   synchronous _ mode   = False   ,   no _ rendering _ mode   = False   ,   fixed _ delta _ seconds   = 0.0   ,   max _ culling _ distance   = 0.0   ,   deterministic _ ragdolls   = False   ,   tile _ stream _ distance   = 3000   ,   actor _ active _ distance   = 2000   ,   spectator _ as _ ego   = True   )   \u521b\u5efa \u4e00\u4e2a \u5305\u542b \u6240 \u9700 \u8bbe\u7f6e \u7684 \u5bf9\u8c61 \uff0c \u8fd9\u4e9b \u8bbe\u7f6e \u7a0d\u540e \u53ef\u4ee5 \u901a\u8fc7   carla . World   \u53ca\u5176 \u65b9\u6cd5   apply _ settings ( )   \u5e94\u7528 \u3002   \u53c2\u6570 :   synchronous _ mode   (   bool   )   -   \u542f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5219 \u8bbe\u7f6e \u4e3a   true \u3002   no _ rendering _ mode   (   bool   )   -   \u5728 \u4eff\u771f \u4e2d \u5b8c\u5168 \u7981\u7528 \u6e32\u67d3 \u5219 \u8bbe\u7f6e \u4e3a   true \u3002   fixed _ delta _ seconds   (   float   -   seconds   )   -   \u5728 \u5e27 \u4e4b\u95f4 \u8bbe\u7f6e \u4e3a \u56fa\u5b9a \u7684 \u6b65\u957f \u3002   0.0   \u610f\u5473 \u610f\u5473\u7740 \u53d8 \u6b65\u957f \u4e14 \u4e3a \u6a21\u5f0f \u6a21\u5f0f \u3002   max _ culling _ distance   (   float   -   \u7c73   )   -   \u5bf9\u4e8e \u5173\u5361 \u7684 \u6bcf \u4e00\u4e2a \u7f51\u683c \u914d\u7f6e \u6700\u5927 \u7684 \u7ed8\u5236 \u8ddd\u79bb \u3002   deterministic _ ragdolls   (   bool   )   -   \u5bf9\u4e8e \u884c\u4eba \u6b7b\u4ea1 \u4f7f\u7528 \u786e\u5b9a \u7684 \u7269\u7406 \u6216 \u5a03\u5a03 \u5e03\u5a03\u5a03 \u4eff\u771f \u5b9a\u4e49 wether \u3002   tile _ stream _ distance   (   float   -   \u7c73   )   -   \u4ec5 \u7528\u4e8e \u5927 \u5730\u56fe \u3002 \u4ece \u82f1\u96c4 \u8f66\u8f86 \u5230\u6d41 \u74e6\u7247 \u5730\u56fe \u914d\u7f6e \u6700\u5927 \u8ddd\u79bb \u3002   actor _ active _ distance   (   float   -   \u7c73   )   -   \u4ec5 \u7528\u4e8e \u5927 \u5730\u56fe \u3002 \u914d\u7f6e \u4e0e \u82f1\u96c4 \u8f66\u8f86 \u7684 \u8ddd\u79bb \u4ee5 \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8f6c\u6362 \u4e3a \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002   spectator _ as _ ego   (   bool   )   -   \u4ec5 \u7528\u4e8e \u5927 \u5730\u56fe \u3002 \u5728 \u5927\u578b \u8d34\u56fe \u4e2d \u5b9a\u4e49 \u89c2\u4f17 \u5bf9 \u5e73\u94fa \u52a0\u8f7d \u7684 \u5f71\u54cd \u3002   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . WorldSettings   )   \u5982\u679c \u5bf9\u8c61 \u7684 \u53d8\u91cf \u76f8\u540c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ ne __   (   self   ,   other   =   carla . WorldSettings   )   \u5982\u679c \u5bf9\u8c61 \u7684 \u53d8\u91cf \u4e0d\u540c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )   \u5bf9\u4e8e \u5b57\u7b26 \u5b57\u7b26\u4e32 \u89e3\u6790 \u5df2 \u5efa\u7acb \u7684 \u8bbe\u7f6e \u5e76 \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u4e2d \u663e\u793a \u51fa\u6765 \u3002   \u8fd4\u56de :   str   carla . WorldSnapshot   \u5feb\u7167 \u5305\u62ec \u67d0\u4e00 \u65f6\u523b \u573a\u666f \u4e2d \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u5b83 \u521b\u5efa \u5e76 \u7ed9\u51fa \u4e00\u4e9b \u5217 \u5305\u542b   carla . ActorSnapshot   \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6bcf \u4e00\u4e2a \u4e0d\u80fd \u5b58\u50a8 \u7684 \u8282\u62cd \u4fe1\u53f7 \u4e2d \u83b7\u53d6 \u4e00\u4e2a \u65b0 \u7684 \u5feb\u7167 \u3002   \u5b9e\u4f8b \u53d8\u91cf   id   (   int   )   \u4e3a\u4e86 \u5206\u8fa8 \u6bcf \u4e00\u4e2a \u5feb\u7167 \u7684 \u552f\u4e00 \u503c \u3002   frame   (   int   )   \u83b7\u53d6 \u5feb\u7167 \u65f6 \u7684 \u4eff\u771f \u65f6\u95f4 \u3002   timestamp   (   carla . Timestamp   -   seconds   )   \u83b7\u53d6 \u5feb\u7167 \u65f6\u5019 \u7684 \u7cbe\u786e \u65f6\u523b \u3002 \u7531 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u7ed9\u51fa \u7684 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \u7684 \u7c7b \u3002   \u65b9\u6cd5   find   (   self   ,   actor _ id   )   \u7ed9\u51fa \u67d0\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \uff0c \u8fd4\u56de \u5bf9\u5e94 \u7684 \u5feb\u7167 \uff0c \u5982\u679c \u6ca1\u6709 \u627e\u5230 \u5219 \u8fd4\u56de   None   \u3002   \u53c2\u6570 \uff1a   actor _ id   (   int   )   \u8fd4\u56de :   carla . ActorSnapshot   has _ actor   (   self   ,   actor _ id   )   \u7ed9\u51fa \u67d0\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \uff0c \u5982\u679c \u6709 \u5bf9\u5e94 \u7684 \u5feb\u7167 \u5219 \u68c0\u67e5 \uff0c \u5982\u679c \u5728 \u8fd9\u4e2a \u65f6\u523b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u51fa\u73b0 \u3002   \u53c2\u6570 \uff1a   actor _ id   (   int   )   \u8fd4\u56de \uff1a   bool   \u9b54\u672f \u65b9\u6cd5   __ eq __   (   self   ,   other   =   carla . WorldSnapshot   )   \u5982\u679c \u65f6\u95f4 \u6233   timestamp   \u76f8\u540c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ iter __   (   self   )   \u5728 \u5b58\u50a8 \u7684 \u5feb\u7167 \u4e0a \u8fdb\u884c \u8fed\u4ee3   carla . ActorSnapshot   \u3002   __ len __   (   self   )   \u8fd4\u56de \u5728 \u8be5 \u5feb\u7167 \u4e0a \u5448\u73b0 \u7684   carla . ActorSnapshot   \u7684 \u6570\u91cf \u3002   \u8fd4\u56de :   int   __ ne __   (   self   ,   other   =   carla . WorldSnapshot   )   \u5982\u679c \u65f6\u95f4 \u6233   timestamp   \u90fd \u4e0d\u540c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   command . ApplyAngularImpulse   carla . Actor   \u4e2d   add _ angular _ impulse ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f7f\u7528   angular   impulse \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   Actor   affected   by   the   command .   impulse   (   carla . Vector3D   -   degrees * s   )   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0a \u7684 \u89d2 \u51b2\u91cf \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   impulse   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u5c06\u8981 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216\u8005 \u5b83 \u7684   ID \u3002   impulse   (   carla . Vector3D   -   degrees * s   )   command . ApplyForce   carla . Actor   \u4e2d   add _ force ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65bd\u52a0 \u4e00\u4e2a \u529b \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u88ab \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   force   (   carla . Vector3D   -   N   )   \u5728 \u65f6\u95f4 \u4e0a \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65bd\u52a0 \u529b \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   force   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u5c06\u8981 \u65bd\u52a0 \u547d\u4ee4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684   ID \u3002   force   (   carla . Vector3D   -   N   )   command . ApplyImpulse   carla . Actor   \u4e2d   add _ impulse ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u6700 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65bd\u52a0 \u7684   impulse \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   impulse   (   carla . Vector3D   -   N * s   )   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   Impulse \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   impulse   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216\u8005 \u5b83 \u7684   ID \u3002   impulse   (   carla . Vector3D   -   N * s   )   command . ApplyTargetAngularVelocity   carla . Actor   \u4e2d   set _ target _ angular _ velocity ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u88ab \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   angular _ velocity   (   carla . Vector3D   -   deg / s   )   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e09\u7ef4 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   angular _ velocity   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5c06\u8981 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216\u8005 \u5b83 \u7684 ID \u3002   angular _ velocity   (   carla . Vector3D   -   deg / s   )   -   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5411\u91cf \u3002   command . ApplyTargetVelocity   carla . Actor   \u4e2d   set _ target _ velocity ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u88ab \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   velocity   (   carla . Vector3D   -   m / s   )   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e09\u7ef4 \u901f\u5ea6 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   velocity   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684 ID \u3002   velocity   (   carla . Vector3D   -   m / s   )   -   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u5411\u91cf \u3002   command . ApplyTorque   carla . Actor   \u4e2d   add _ torque ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e94\u7528   torque \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   torque   (   carla . Vector3D   -   \u5ea6   )   \u5728 \u65f6\u95f4 \u4e0a \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e94\u7528 \u529b\u77e9 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   torque   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u5b83 \u7684   ID \u3002   torque   (   carla . Vector3D   -   \u5ea6   )   command . ApplyTransform   carla . Actor   \u4e2d   set _ transform ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8bbe\u7f6e \u65b0 \u7684 \u53d8\u6362 \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   transform   (   carla . Transform   )   \u6240 \u4f7f\u7528 \u7684 \u53d8\u6362 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   transform   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684   ID \u3002   transform   (   carla . Transform   )   command . ApplyVehicleAckermannControl   carla . Vehicle   \u4e2d   apply _ ackermann _ control ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u8f66\u8f86 \u5e94\u7528 \u67d0\u4e2a \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u63a7\u5236\u5668 \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   control   (   carla . AckermannVehicleControl   )   \u5e94\u7528 \u7684 \u8f66\u8f86 \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   control   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684   ID \u3002   control   (   carla . AckermannVehicleControl   )   command . ApplyVehicleControl   \u5728   carla . Vehicle   \u4e2d   apply _ control ( )   \u547d\u4ee4 \u8fdb\u884c \u9002\u5e94 \uff0c \u5b9e\u73b0 \u5bf9 \u8f66\u8f86 \u5e94\u7528 \u67d0\u4e2a \u63a7\u5236 \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   control   (   carla . VehicleControl   )   \u5e94\u7528 \u7684 \u8f66\u8f86 \u63a7\u5236 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   control   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u5c06\u8981 \u5e94\u7528 \u547d\u4ee4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684 ID \u3002   control   (   carla . VehicleControl   )   command . ApplyVehiclePhysicsControl   carla . Vehicle   \u4e2d   apply _ physics _ control ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u8f66\u8f86 \u5e94\u7528 \u4e00\u4e2a \u65b0 \u7684 \u7269\u7406 \u63a7\u5236 \uff0c \u4fee\u6539 \u5b83 \u7684 \u7269\u7406 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   physics _ control   (   carla . VehiclePhysicsControl   )   \u5e94\u7528 \u7684 \u7269\u7406 \u63a7\u5236 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   physics _ control   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684 ID \u3002   physics _ control   (   carla . VehiclePhysicsControl   )   command . ApplyWalkerControl   carla . Walker   \u4e2d   apply _ control ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u884c\u4eba \u5e94\u7528 \u63a7\u5236 \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u884c\u4eba \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   control   (   carla . WalkerControl   )   \u5e94\u7528 \u7684 \u884c\u4eba \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   control   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u5c06\u8981 \u5e94\u7528 \u547d\u4ee4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216\u8005 \u5b83 \u7684 ID \u3002   control   (   carla . WalkerControl   )   command . ApplyWalkerState   \u5bf9 \u884c\u4eba \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e94\u7528 \u72b6\u6001 \u3002 \u5bf9 \u521d\u59cb \u521d\u59cb\u5316 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u3001 \u671d\u5411 \u548c \u901f\u5ea6 \u7279\u522b \u6709\u7528 \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u884c\u4eba \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   transform   (   carla . Transform   )   \u5e94\u7528 \u7684 \u8f6c\u6362 \u3002   speed   (   float   -   m / s   )   \u5e94\u7528 \u7684 \u901f\u5ea6 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   transform   ,   speed   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5f15\u7528 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684 ID \u3002   transform   (   carla . Transform   )   speed   (   float   -   m / s   )   command . DestroyActor   carla . Actor   \u4e2d   destroy ( )   \u547d\u4ee4 \u7684 \u6539\u7f16 \u7248 \uff0c \u5c06 \u544a\u8bc9 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u9500\u6bc1 \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5df2\u7ecf \u88ab \u9500\u6bc1 \u5219 \u6ca1\u6709 \u5f71\u54cd \u3002 \u5f53 \u5728   carla . Client   \u4e2d \u6267\u884c   apply _ batch _ sync ( )   \u5c06\u4f1a \u8fd4\u56de \u4e00\u4e2a \u5e03\u5c14 \u5e03\u5c14\u503c \u72b6\u6001 \u8868\u793a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u88ab \u6210\u529f \u9500\u6bc1 \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684   ID \u3002   command . Response   \u58f0\u660e \u547d\u4ee4 \u6267\u884c \u7684 \u7ed3\u679c \uff0c \u4e0d\u662f \u547d\u4ee4 \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 ID \uff08 \u5f53 \u6210\u529f \u65f6 \uff09 \uff0c \u5c31\u662f \u9519\u8bef \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff08 \u5f53 \u5931\u8d25 \u65f6 \uff09 \uff0c \u53c2\u4e0e \u53c2\u4e0e\u8005   ID   \u53d6\u51b3 \u53d6\u51b3\u4e8e \u547d\u4ee4 \u662f\u5426 \u6267\u884c \u6210\u529f \u3002   carla . Client   \u4e2d \u7684 \u65b9\u6cd5   apply _ batch _ sync ( )   \u8fd4\u56de \u8fd9\u4e9b \u7684 \u5217\u8868 \u6765 \u603b\u7ed3 \u6279\u91cf \u7684 \u6267\u884c \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u58f0\u660e \u8be5 \u547d\u4ee4 \u6210\u529f \u4e86 \u3002   error   (   str   )   \u58f0\u660e \u547d\u4ee4 \u5931\u8d25 \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   \u65b9\u6cd5   has _ error   (   self   )   \u5982\u679c \u547d\u4ee4 \u6267\u884c \u5931\u8d25 \u5219 \u8fd4\u56de   True   \uff0c \u5982\u679c \u6210\u529f \u5219 \u8fd4\u56de   False   \u3002   \u8fd4\u56de :   bool   command . SetAutopilot   carla . Vehicle   \u4e2d   set _ autopilot ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u6253\u5f00 / \u5173\u95ed \u8f66\u8f86 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   enabled   (   bool   )   \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u5c06 \u88ab \u6fc0\u6d3b \u6216\u8005 \u5931\u6d3b \u3002   port   (   uint16   )   \u6ce8\u518c \u6216 unlisted \u8f66\u8f86 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7aef\u53e3 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   enabled   ,   port   = 8000   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u5e94\u7528 \u547d\u4ee4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684 ID \u3002   enabled   (   bool   )   port   (   uint16   )   -   \u6ce8\u518c \u6216 unlisted \u8f66\u8f86 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7aef\u53e3 \u3002 \u5982\u679c \u4f20\u9012 \u7684 \u662f   None   \uff0c \u4f1a \u8003\u8651 \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u9ed8\u8ba4 \u7aef\u53e3   8000   \u3002   command . SetEnableGravity   carla . Actor   \u4e2d   set _ enable _ gravity ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u7981\u7528 \u6216 \u542f\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u91cd\u529b \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   carla . Actor   or   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   enabled   (   bool   )   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   enabled   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u53c2\u4e0e \u53c2\u4e0e\u8005 ID \u3002   enabled   (   bool   )   command . SetSimulatePhysics   carla . Actor   \u4e2d   set _ simulate _ physics ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u786e\u5b9a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u4f1a \u88ab \u7269\u7406 \u5f71\u54cd \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   enabled   (   bool   )   \u662f\u5426 \u6fc0\u6d3b \u7269\u7406 \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   enabled   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 ID \u3002   enabled   (   bool   )   command . SetVehicleLightState   carla . Vehicle   \u4e2d   set _ light _ state ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   light _ state   (   carla . VehicleLightState   )   \u5b9a\u4e49 \u8f66\u8f86 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   light _ state   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216\u8005 \u5b83 \u7684 ID \u3002   light _ state   (   carla . VehicleLightState   )   -   Recaps   \u8f66\u8f86 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \uff0c \u8fd9\u4e9b \u80fd \u88ab \u7528\u4f5c \u4e00\u4e2a \u6807\u5fd7 \u3002   command . ShowDebugTelemetry   carla . Actor   \u4e2d   show _ debug _ telemetry ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u663e\u793a \u8f66\u8f86 \u7684   telemetry   \u6570\u636e \u3002   \u5b9e\u4f8b \u53d8\u91cf   actor _ id   (   carla . Actor   or   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   enabled   (   bool   )   \u65b9\u6cd5   __ init __   (   self   ,   actor   ,   enabled   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u53c2\u4e0e \u53c2\u4e0e\u8005 ID \u3002   enabled   (   bool   )   command . SpawnActor   carla . World   \u4e2d   spawn _ actor ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u57fa\u4e8e \u63d0\u4f9b \u7684 \u84dd\u56fe \u548c \u53d8\u6362 \u5728 \u4e16\u754c \u4e2d \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5982\u679c \u63d0\u4f9b \u4e86 \u7236\u7c7b \uff0c \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06\u4f1a \u9644 \u5728 \u4e0a\u9762 \u3002   \u5b9e\u4f8b \u53d8\u91cf   transform   (   carla . Transform   )   \u5e94\u7528 \u7684 \u53d8\u6362 \u3002   parent _ id   (   int   )   \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6807\u5fd7 \u3002   \u65b9\u6cd5   __ init __   (   self   )   __ init __   (   self   ,   blueprint   ,   transform   )   \u53c2\u6570 \uff1a   blueprint   (   carla . ActorBlueprint   )   transform   (   carla . Transform   )   __ init __   (   self   ,   blueprint   ,   transform   ,   parent   )   \u53c2\u6570 \uff1a   blueprint   (   carla . ActorBlueprint   )   transform   (   carla . Transform   )   parent   (   carla . Actor   or   int   )   then   (   self   ,   command   )   \u94fe\u63a5 \u4e00\u4e2a \u5176\u4ed6 \u5c06\u8981 \u7acb\u523b \u6267\u884c \u7684 \u547d\u4ee4 \u3002 \u5b83 \u5141\u8bb8 ease \u975e\u5e38 \u5e38\u89c1 \u7684 \u6d41 \uff0c \u6bd4\u5982 \u901a\u8fc7 \u547d\u4ee4 \u751f\u6210 \u4e00\u7ec4 \u8f66\u8f86 \uff0c \u5e76 \u4f7f\u7528 \u8be5 \u65b9\u6cd5 \u8bbe\u7f6e \u81ea\u52a8 \u9a7e\u9a76 \u3002   \u53c2\u6570 \uff1a   command   (   any   carla   Command   )   -   \u4e00\u4e2a   Carla   \u547d\u4ee4 \u3002   function   CopyToClipboard ( containerid )   {   if   ( document . selection )   {   var   range   =   document . body . createTextRange ( ) ;   range . moveToElementText ( document . getElementById ( containerid ) ) ;   range . select ( ) . createTextRange ( ) ;   document . execCommand ( \" copy \" ) ;   }   else   if   ( window . getSelection )   {   var   range   =   document . createRange ( ) ;   range . selectNode ( document . getElementById ( containerid ) ) ;   window . getSelection ( ) . addRange ( range ) ;   document . execCommand ( \" copy \" ) ;   }   }   function   CloseSnipet ( )   {   document . getElementById ( \" snipets - container \" ) . innerHTML   =   null ;   }   carla . World . enable _ environment _ objects   \u4ee3\u7801 \u7247\u6bb5   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u5728 \u5730\u56fe \u4e0a \u663e\u793a \u6216 \u9690\u85cf \u7279\u5b9a \u5efa\u7b51 \u3002   #   Get   the   buildings   in   the   world   world   =   client . get _ world ( )   env _ objs   =   world . get _ environment _ objects ( carla . CityObjectLabel . Buildings )   #   \u8bbf\u95ee \u5355\u4e2a \u5efa\u7b51 IDs \u5e76 \u4fdd\u5b58 \u5230 \u4e00\u4e2a \u96c6\u5408 \u4e2d   building _ 01   =   env _ objs [ 0 ]   building _ 02   =   env _ objs [ 1 ]   objects _ to _ toggle   =   { building _ 01 . id ,   building _ 02 . id }   #   \u9690\u85cf \u5efa\u7b51   world . enable _ environment _ objects ( objects _ to _ toggle ,   False )   #   \u663e\u793a \u5efa\u7b51   world . enable _ environment _ objects ( objects _ to _ toggle ,   True )   Copy   snippet   Close   snippet   carla . DebugHelper . draw _ string   \u4ee3\u7801 \u7247\u6bb5   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u662f   lane _ explorer . py   \u793a\u4f8b \u7684 \u4fee\u6539   #   \u5b83 \u5728 \u76f4\u63a5 \u4e2d \u7ed8\u5236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8def\u5f84 \uff0c \u6253\u5370 \u6bcf\u4e2a \u8def\u5f84 \u70b9 \u7684 \u4fe1\u606f \u3002   #   ...   current _ w   =   map . get _ waypoint ( vehicle . get _ location ( ) )   while   True :   next _ w   =   map . get _ waypoint ( vehicle . get _ location ( ) ,   lane _ type = carla . LaneType . Driving   |   carla . LaneType . Shoulder   |   carla . LaneType . Sidewalk   )   #   \u68c0\u67e5 \u8f66\u8f86 \u662f\u5426 \u5728 \u79fb\u52a8   if   next _ w . id   ! =   current _ w . id :   vector   =   vehicle . get _ velocity ( )   #   Check   if   the   vehicle   is   on   a   sidewalk   if   current _ w . lane _ type   = =   carla . LaneType . Sidewalk :   draw _ waypoint _ union ( debug ,   current _ w ,   next _ w ,   cyan   if   current _ w . is _ junction   else   red ,   60 )   else :   draw _ waypoint _ union ( debug ,   current _ w ,   next _ w ,   cyan   if   current _ w . is _ junction   else   green ,   60 )   debug . draw _ string ( current _ w . transform . location ,   str ( ' % 15.0 f   km / h '   %   ( 3.6   *   math . sqrt ( vector . x * * 2   +   vector . y * * 2   +   vector . z * * 2 ) ) ) ,   False ,   orange ,   60 )   draw _ transform ( debug ,   current _ w . transform ,   white ,   60 )   #   \u66f4\u65b0 \u5f53\u524d \u8def\u5f84 \u70b9 \u5e76 \u4f11\u7720 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4   current _ w   =   next _ w   time . sleep ( args . tick _ time )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . World . unload _ map _ layer   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u5728 \u5206\u5c42 \u5730\u56fe \" _ Opt \" \u4e0a \u5173\u95ed \u51e0\u5c42   #   \u4ee5 \u6700\u5c0f \u5e03\u5c40 \uff08 \u9053\u8def \u3001 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \uff09 \u52a0\u8f7d \u57ce\u9547 \uff0c \u8fd8 \u5305\u62ec \u5efa\u7b51 \u548c \u505c\u9760 \u7684 \u8f66\u8f86   world   =   client . load _ world ( ' Town01 _ Opt ' ,   carla . MapLayer . Buildings   |   carla . MapLayer . ParkedVehicles )   #   \u9690\u85cf \u5efa\u7b51   world . unload _ map _ layer ( carla . MapLayer . Buildings )   #   \u9690\u85cf \u505c\u9760 \u7684 \u8f66\u8f86   world . unload _ map _ layer ( carla . MapLayer . ParkedVehicles )   Copy   snippet   Close   snippet   Snippet   for   carla . Vehicle . set _ wheel _ steer _ direction   #   \u8bbe\u7f6e \u524d \u8f6e\u8f6c 40 \u00b0 \u8f66\u8f86 \u7684 \u5916\u89c2 \u3002 \u4e0d\u4f1a \u5f71\u54cd \u8f66\u8f86 \u7684 \u7269\u7406 \u3002   vehicle . set _ wheel _ steer _ direction ( carla . VehicleWheelLocation . FR _ Wheel ,   40.0 )   vehicle . set _ wheel _ steer _ direction ( carla . VehicleWheelLocation . FL _ Wheel ,   40.0 )   Copy   snippet   Close   snippet   Snippet   for   carla . Client .__ init __   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u5728   PythonAPI / Examples   \u4e2d \u7684 \u6bcf\u4e2a \u811a\u672c \u4e2d \u90fd \u6709 \uff0c \u8fd0\u884c \u811a\u672c \u65f6\u5019 \u7528\u4e8e \u89e3\u6790 \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa \u53c2\u6570 \u3002   argparser   =   argparse . ArgumentParser (   description = __ doc __ )   argparser . add _ argument (   ' -- host ' ,   metavar = ' H ' ,   default = ' 127.0 . 0.1 ' ,   help = ' IP   of   the   host   server   ( default :   127.0 . 0.1 ) ' )   argparser . add _ argument (   ' - p ' ,   ' -- port ' ,   metavar = ' P ' ,   default = 2000 ,   type = int ,   help = ' TCP   port   to   listen   to   ( default :   2000 ) ' )   argparser . add _ argument (   ' - s ' ,   ' -- speed ' ,   metavar = ' FACTOR ' ,   default = 1.0 ,   type = float ,   help = ' rate   at   which   the   weather   changes   ( default :   1.0 ) ' )   args   =   argparser . parse _ args ( )   speed _ factor   =   args . speed   update _ freq   =   0.1   /   speed _ factor   client   =   carla . Client ( args . host ,   args . port )   Copy   snippet   Close   snippet   carla . Map . get _ waypoint   \u4ee3\u7801 \u7247\u6bb5   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u663e\u793a \u5f53\u524d \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u5f71\u54cd \u7684 \u8f66\u8f86 \u3002   #   \u663e\u793a \u5f53\u524d \u8f66\u8f86 \u7c7b\u578b \uff0c \u5728 \u5b9e\u9645 \u7684 \u8f66\u9053 \u6216 \u5468\u56f4 \u7684 \u7269\u4f53 \u4e2d \u8f66\u9053 \u7ebf \u662f\u5426 \u6539\u53d8 \u3002   #   ...   waypoint   =   world . get _ map ( ) . get _ waypoint ( vehicle . get _ location ( ) , project _ to _ road = True ,   lane _ type = ( carla . LaneType . Driving   |   carla . LaneType . Shoulder   |   carla . LaneType . Sidewalk ) )   print ( \" Current   lane   type :   \"   +   str ( waypoint . lane _ type ) )   #   Check   current   lane   change   allowed   print ( \" Current   Lane   change :   \"   +   str ( waypoint . lane _ change ) )   #   Left   and   Right   lane   markings   print ( \" L   lane   marking   type :   \"   +   str ( waypoint . left _ lane _ marking . type ) )   print ( \" L   lane   marking   change :   \"   +   str ( waypoint . left _ lane _ marking . lane _ change ) )   print ( \" R   lane   marking   type :   \"   +   str ( waypoint . right _ lane _ marking . type ) )   print ( \" R   lane   marking   change :   \"   +   str ( waypoint . right _ lane _ marking . lane _ change ) )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . World . spawn _ actor   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u4f7f\u7528 \u4e0d\u540c \u7684 \u9644\u7740 \u5c06 \u4e0d\u540c \u7684 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6216\u4f20\u611f\u5668 \u9644\u7740 \u5230 \u8f66\u8f86 \u4e2d \u3002   #   ...   camera   =   world . spawn _ actor ( rgb _ camera _ bp ,   transform ,   attach _ to = vehicle ,   attachment _ type = Attachment . Rigid )   #   \u9ed8\u8ba4 \u9644\u7740 \uff1a Attachment . Rigid   gnss _ sensor   =   world . spawn _ actor ( sensor _ gnss _ bp ,   transform ,   attach _ to = vehicle )   collision _ sensor   =   world . spawn _ actor ( sensor _ collision _ bp ,   transform ,   attach _ to = vehicle )   lane _ invasion _ sensor   =   world . spawn _ actor ( sensor _ lane _ invasion _ bp ,   transform ,   attach _ to = vehicle )   #   ...   Copy   snippet   Close   snippet   carla . WalkerAIController . stop   \u4ee3\u7801 \u7247\u6bb5   #   To   destroy   the   pedestrians ,   stop   them   from   the   navigation ,   and   then   destroy   the   objects   ( actor   and   controller ) .   #   stop   pedestrians   ( list   is   [ controller ,   actor ,   controller ,   actor   ... ] )   for   i   in   range ( 0 ,   len ( all _ id ) ,   2 ) :   all _ actors [ i ] . stop ( )   #   destroy   pedestrian   ( actor   and   controller )   client . apply _ batch ( [ carla . command . DestroyActor ( x )   for   x   in   all _ id ] )   Copy   snippet   Close   snippet   Snippet   for   carla . DebugHelper . draw _ box   #   This   recipe   shows   how   to   draw   traffic   light   actor   bounding   boxes   from   a   world   snapshot .   #   ....   debug   =   world . debug   world _ snapshot   =   world . get _ snapshot ( )   for   actor _ snapshot   in   world _ snapshot :   actual _ actor   =   world . get _ actor ( actor _ snapshot . id )   if   actual _ actor . type _ id   = =   ' traffic . traffic _ light ' :   debug . draw _ box ( carla . BoundingBox ( actor _ snapshot . get _ transform ( ) . location , carla . Vector3D ( 0.5 , 0.5 , 2 ) ) , actor _ snapshot . get _ transform ( ) . rotation ,   0.05 ,   carla . Color ( 255 , 0 , 0 , 0 ) , 0 )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . World . get _ spectator   #   This   recipe   spawns   an   actor   and   the   spectator   camera   at   the   actor ' s   location .   #   ...   world   =   client . get _ world ( )   spectator   =   world . get _ spectator ( )   vehicle _ bp   =   random . choice ( world . get _ blueprint _ library ( ) . filter ( ' vehicle . bmw . * ' ) )   transform   =   random . choice ( world . get _ map ( ) . get _ spawn _ points ( ) )   vehicle   =   world . try _ spawn _ actor ( vehicle _ bp ,   transform )   #   Wait   for   world   to   get   the   vehicle   actor   world . tick ( )   world _ snapshot   =   world . wait _ for _ tick ( )   actor _ snapshot   =   world _ snapshot . find ( vehicle . id )   #   Set   spectator   at   given   transform   ( vehicle   transform )   spectator . set _ transform ( actor _ snapshot . get _ transform ( ) )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . Sensor . listen   #   This   recipe   applies   a   color   conversion   to   the   image   taken   by   a   camera   sensor ,   #   so   it   is   converted   to   a   semantic   segmentation   image .   #   ...   camera _ bp   =   world . get _ blueprint _ library ( ) . filter ( ' sensor . camera . semantic _ segmentation ' )   #   ...   cc   =   carla . ColorConverter . CityScapesPalette   camera . listen ( lambda   image :   image . save _ to _ disk ( ' output / % 06d . png '   %   image . frame ,   cc ) )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . TrafficLight . set _ state   #   This   recipe   changes   from   red   to   green   the   traffic   light   that   affects   the   vehicle .   #   This   is   done   by   detecting   if   the   vehicle   actor   is   at   a   traffic   light .   #   ...   world   =   client . get _ world ( )   spectator   =   world . get _ spectator ( )   vehicle _ bp   =   random . choice ( world . get _ blueprint _ library ( ) . filter ( ' vehicle . bmw . * ' ) )   transform   =   random . choice ( world . get _ map ( ) . get _ spawn _ points ( ) )   vehicle   =   world . try _ spawn _ actor ( vehicle _ bp ,   transform )   #   Wait   for   world   to   get   the   vehicle   actor   world . tick ( )   world _ snapshot   =   world . wait _ for _ tick ( )   actor _ snapshot   =   world _ snapshot . find ( vehicle . id )   #   Set   spectator   at   given   transform   ( vehicle   transform )   spectator . set _ transform ( actor _ snapshot . get _ transform ( ) )   #   ...#   ...   if   vehicle _ actor . is _ at _ traffic _ light ( ) :   traffic _ light   =   vehicle _ actor . get _ traffic _ light ( )   if   traffic _ light . get _ state ( )   = =   carla . TrafficLightState . Red :   #   world . hud . notification ( \" Traffic   light   changed !   Good   to   go ! \" )   traffic _ light . set _ state ( carla . TrafficLightState . Green )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . ActorBlueprint . set _ attribute   #   This   recipe   changes   attributes   of   different   type   of   blueprint   actors .   #   ...   walker _ bp   =   world . get _ blueprint _ library ( ) . filter ( ' walker . pedestrian.0002 ' )   walker _ bp . set _ attribute ( ' is _ invincible ' ,   True )   #   ...   #   Changes   attribute   randomly   by   the   recommended   value   vehicle _ bp   =   wolrd . get _ blueprint _ library ( ) . filter ( ' vehicle . bmw . * ' )   color   =   random . choice ( vehicle _ bp . get _ attribute ( ' color ' ) . recommended _ values )   vehicle _ bp . set _ attribute ( ' color ' ,   color )   #   ...   camera _ bp   =   world . get _ blueprint _ library ( ) . filter ( ' sensor . camera . rgb ' )   camera _ bp . set _ attribute ( ' image _ size _ x ' ,   600 )   camera _ bp . set _ attribute ( ' image _ size _ y ' ,   600 )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . Client . apply _ batch _ sync   #   0 .   Choose   a   blueprint   fo   the   walkers   world   =   client . get _ world ( )   blueprintsWalkers   =   world . get _ blueprint _ library ( ) . filter ( \" walker . pedestrian . * \" )   walker _ bp   =   random . choice ( blueprintsWalkers )   #   1 .   Take   all   the   random   locations   to   spawn   spawn _ points   =   [ ]   for   i   in   range ( 50 ) :   spawn _ point   =   carla . Transform ( )   spawn _ point . location   =   world . get _ random _ location _ from _ navigation ( )   if   ( spawn _ point . location   ! =   None ) :   spawn _ points . append ( spawn _ point )   #   2 .   Build   the   batch   of   commands   to   spawn   the   pedestrians   batch   =   [ ]   for   spawn _ point   in   spawn _ points :   walker _ bp   =   random . choice ( blueprintsWalkers )   batch . append ( carla . command . SpawnActor ( walker _ bp ,   spawn _ point ) )   #   2.1   apply   the   batch   results   =   client . apply _ batch _ sync ( batch ,   True )   for   i   in   range ( len ( results ) ) :   if   results [ i ] . error :   logging . error ( results [ i ] . error )   else :   walkers _ list . append ( { \" id \" :   results [ i ] . actor _ id } )   #   3 .   Spawn   walker   AI   controllers   for   each   walker   batch   =   [ ]   walker _ controller _ bp   =   world . get _ blueprint _ library ( ) . find ( ' controller . ai . walker ' )   for   i   in   range ( len ( walkers _ list ) ) :   batch . append ( carla . command . SpawnActor ( walker _ controller _ bp ,   carla . Transform ( ) ,   walkers _ list [ i ] [ \" id \" ] ) )   #   3.1   apply   the   batch   results   =   client . apply _ batch _ sync ( batch ,   True )   for   i   in   range ( len ( results ) ) :   if   results [ i ] . error :   logging . error ( results [ i ] . error )   else :   walkers _ list [ i ] [ \" con \" ]   =   results [ i ] . actor _ id   #   4 .   Put   altogether   the   walker   and   controller   ids   for   i   in   range ( len ( walkers _ list ) ) :   all _ id . append ( walkers _ list [ i ] [ \" con \" ] )   all _ id . append ( walkers _ list [ i ] [ \" id \" ] )   all _ actors   =   world . get _ actors ( all _ id )   #   wait   for   a   tick   to   ensure   client   receives   the   last   transform   of   the   walkers   we   have   just   created   world . wait _ for _ tick ( )   #   5 .   initialize   each   controller   and   set   target   to   walk   to   ( list   is   [ controller ,   actor ,   controller ,   actor   ... ] )   for   i   in   range ( 0 ,   len ( all _ actors ) ,   2 ) :   #   start   walker   all _ actors [ i ] . start ( )   #   set   walk   to   random   point   all _ actors [ i ] . go _ to _ location ( world . get _ random _ location _ from _ navigation ( ) )   #   random   max   speed   all _ actors [ i ] . set _ max _ speed ( 1   +   random . random ( ) )   #   max   speed   between   1   and   2   ( default   is   1.4   m / s )   Copy   snippet   Close   snippet   Snippet   for   carla . World . load _ map _ layer   #   This   recipe   toggles   on   several   layers   in   our   \" _ Opt \"   maps   #   Load   town   one   with   only   minimum   layout   ( roads ,   sidewalks ,   traffic   lights   and   traffic   signs )   world   =   client . load _ world ( ' Town01 _ Opt ' ,   carla . MapLayer . None )   #   Toggle   all   buildings   on   world . load _ map _ layer ( carla . MapLayer . Buildings )   #   Toggle   all   foliage   on   world . load _ map _ layer ( carla . MapLayer . Foliage )   #   Toggle   all   parked   vehicles   on   world . load _ map _ layer ( carla . MapLayer . ParkedVehicles )   Copy   snippet   Close   snippet   function   ButtonAction ( container _ name ) {   if ( window _ big ) {   snipet _ name   =   container _ name . replace ( ' - snipet _ button ' , ' - snipet ' ) ;   document . getElementById ( \" snipets - container \" ) . innerHTML   =   document . getElementById ( snipet _ name ) . innerHTML ;   }   else {   document . getElementById ( \" snipets - container \" ) . innerHTML   =   null ; code _ name   =   container _ name . replace ( ' - snipet _ button ' , ' - code ' ) ;   var   range   =   document . createRange ( ) ;   range . selectNode ( document . getElementById ( code _ name ) ) ;   alert ( range ) ;   }   }   function   WindowResize ( ) {   if ( window . innerWidth   >   1200 ) {   window _ big   =   true ;   }   else {   window _ big   =   false ;   }   }   var   window _ big ;   if ( window . innerWidth   >   1200 ) {   window _ big   =   true ;   }   else {   window _ big   =   false ;   }   buttons   =   document . getElementsByClassName ( ' SnipetButton ' )   for   ( let   i   =   0 ;   i   <   buttons . length ;   i ++ )   {   buttons [ i ] . addEventListener ( \" click \" , function ( ) { ButtonAction ( buttons [ i ] . id ) ; } , true ) ;   }   window . onresize   =   WindowResize ;","title":"Python   api"},{"location":"python_api/#python-api","text":"\u6b64 \u53c2\u8003 \u5305\u542b   Python   API   \u7684 \u6240\u6709 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002 \u8981 \u67e5\u9605 \u7279\u5b9a   Carla   \u7248\u672c \u7684 \u5148\u524d \u53c2\u8003 \uff0c \u8bf7 \u4f7f\u7528 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u7684 \u9762\u677f \u66f4\u6539 \u6587\u6863 \u7248\u672c \u3002   \u8fd9\u4f1a \u5c06 \u6574\u4e2a \u6587\u6863 \u66f4 \u6539\u4e3a \u4e4b\u524d \u7684 \u72b6\u6001 \u3002 \u8bf7 \u8bb0\u4f4f \uff0c   \u6700\u65b0   \u7248\u672c \u662f   dev   \u5206\u652f \uff0c \u53ef\u80fd \u4f1a \u663e\u793a \u4efb\u4f55   Carla   \u6253\u5305 \u7248\u672c \u4e2d \u4e0d\u53ef \u7528 \u7684 \u529f\u80fd \u3002","title":"Python   API   \u53c2\u8003"},{"location":"python_api/#carlaackermanncontrollersettings","text":"\u7ba1\u7406   Ackermann   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u8bbe\u7f6e \u3002","title":"carla . AckermannControllerSettings"},{"location":"python_api/#_1","text":"speed _ kp   (   float   )   \u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u6bd4\u4f8b \u9879 \u3002   speed _ ki   (   float   )   \u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u79ef\u5206 \u9879 \u3002   speed _ kd   (   float   )   \u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5fae\u5206 \u9879 \u3002   accel _ kp   (   float   )   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u6bd4\u4f8b \u9879 \u3002   accel _ ki   (   float   )   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u79ef\u5206 \u9879 \u3002   accel _ kd   (   float   )   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5fae\u5206 \u9879 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_2","text":"__ init __   (   self   ,   speed _ kp   = 0.15   ,   speed _ ki   = 0.0   ,   speed _ kd   = 0.25   ,   accel _ kp   = 0.01   ,   accel _ ki   = 0.0   ,   accel _ kd   = 0.01   )   Parameters :   speed _ kp   (   float   )   speed _ ki   (   float   )   speed _ kd   (   float   )   accel _ kp   (   float   )   accel _ ki   (   float   )   accel _ kd   (   float   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_3","text":"__ eq __   (   self   ,   other   =   carla . AckermannControllerSettings   )   __ ne __   (   self   ,   other   =   carla . AckermannControllerSettings   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaactor","text":"Carla   \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5b9a\u4e49 \u4e3a \u5728 \u4eff\u771f \u4e2d \u53d1\u6325 \u4f5c\u7528 \u53d1\u6325\u4f5c\u7528 \u6216 \u53ef\u4ee5 \u79fb\u52a8 \u7684 \u4efb\u4f55 \u7269\u4f53 \u3002 \u5176\u4e2d \u5305\u62ec \uff1a \u884c\u4eba \u3001 \u8f66\u8f86 \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \uff08 \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u89c6\u4e3a \u5176\u4e2d \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff09 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u4eff\u771f \u4e2d \u7531   carla . World   \u751f\u6210 \uff0c \u5e76\u4e14 \u9700\u8981 \u521b\u5efa   carla . ActorBlueprint   \u3002 \u8fd9\u4e9b \u84dd\u56fe \u5c5e\u4e8e   Carla   \u63d0\u4f9b \u7684 \u5e93 \uff0c \u8bf7 \u5728   \u6b64\u5904   \u627e\u5230 \u6709\u5173 \u5b83\u4eec \u7684 \u66f4 \u591a \u4fe1\u606f \u3002","title":"carla . Actor"},{"location":"python_api/#_4","text":"attributes   (   dict   )   \u5305\u542b \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240 \u57fa\u4e8e \u84dd\u56fe \u5c5e\u6027 \u7684 \u5b57\u5178 \u3002   id   (   int   )   \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002 \u5728 \u7ed9\u5b9a \u7684 \u60c5\u8282 \u4e2d\u662f \u552f\u4e00 \u7684 \u3002   type _ id   (   str   )   \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240 \u57fa\u4e8e \u7684 \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \uff0c \u4f8b\u5982   vehicle . ford . mustang   \u3002   is _ alive   (   bool   )   \u8fd4\u56de \u6b64 \u5bf9\u8c61 \u662f\u5426 \u662f\u5426\u662f \u4f7f\u7528 \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53e5\u67c4 \u9500\u6bc1 \u7684 \u3002   is _ active   (   bool   )   \u8fd4\u56de \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001   ( True )   \u6216\u975e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001   ( False ) \u3002   is _ dormant   (   bool   )   \u8fd4\u56de \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001   ( True )   \u6216\u975e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001   ( False )   -   \u4e0e   is _ active   \u76f8\u53cd \u3002   parent   (   carla . Actor   )   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u9644\u52a0 \u5230 \u4ed6\u4eec \u5c06 \u8ddf\u968f \u7684 \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8fd9 \u5c31\u662f \u6240\u8bf4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   semantic _ tags   (   list ( int )   )   \u84dd\u56fe \u5217\u8868 \u7ec4\u4ef6 \u4e3a\u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63d0\u4f9b \u7684 \u8bed\u4e49 \u6807\u7b7e \u5217\u8868 \u3002 \u4f8b\u5982 \uff0c \u4ea4\u901a \u4ea4\u901a\u706f \u53ef\u4ee5 \u7528   Pole   \u548c   TrafficLight   \u3002 \u8fd9\u4e9b \u6807\u7b7e \u7531 \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f7f\u7528 \u3002 \u5728   \u6b64\u5904   \u67e5\u627e \u6709\u5173 \u6b64 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   actor _ state   (   carla . ActorState   )   \u8fd4\u56de   carla . ActorState   \uff0c \u5b83 \u53ef\u4ee5 \u8bc6\u522b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u5904\u4e8e \u6d3b\u52a8 \u3001 \u4f11\u7720 \u6216 \u65e0\u6548 \u72b6\u6001 \u3002   bounding _ box   (   carla . BoundingBox   )   \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u51e0\u4f55 \u5f62\u72b6 \u7684 \u8fb9\u754c \u6846 \u3002 \u5b83 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u662f \u76f8\u5bf9 \u4e8e \u5b83 \u6240 \u9644\u7740 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_5","text":"add _ angular _ impulse   (   self   ,   angular _ impulse   )   \u5728 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d28\u5fc3 \u5904 \u5e94\u7528 \u89d2 \u51b2\u91cf \u3002 \u6b64 \u65b9\u6cd5 \u9002\u7528 \u4e8e \u77ac\u65f6 \u626d\u77e9 \uff0c \u901a\u5e38 \u5e94\u7528 \u4e00\u6b21 \u3002 \u4f7f\u7528   add _ torque ( )   \u5728 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u5185 \u65bd\u52a0 \u65cb\u8f6c \u529b \u3002   \u53c2\u6570 :   angular _ impulse   (   carla . Vector3D   -   degrees * s   )   -   \u5168\u5c40 \u5750\u6807 \u4e2d \u7684 \u89d2 \u51b2\u91cf \u77e2\u91cf \u3002   add _ force   (   self   ,   force   )   \u5728 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d28\u5fc3 \u5904 \u65bd\u52a0 \u529b \u3002 \u6b64 \u65b9\u6cd5 \u9002\u7528 \u4e8e \u5728 \u4e00\u5b9a \u65f6\u95f4 \u5185 \u65bd\u52a0 \u7684 \u529b \u3002 \u4f7f\u7528   add _ impulse ( )   \u65bd\u52a0 \u4ec5 \u6301\u7eed \u77ac\u95f4 \u7684 \u51b2\u91cf \u3002   \u53c2\u6570 :   force   (   carla . Vector3D   -   N   )   -   \u5168\u5c40 \u5750\u6807 \u4e2d \u7684 \u529b \u77e2\u91cf \u3002   add _ impulse   (   self   ,   impulse   )   \u5728 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d28\u5fc3 \u5904 \u65bd\u52a0 \u51b2\u91cf \u3002 \u6b64 \u65b9\u6cd5 \u9002\u7528 \u4e8e \u77ac\u65f6 \u529b \uff0c \u901a\u5e38 \u5e94\u7528 \u4e00\u6b21 \u3002 \u4f7f\u7528   add _ force ( )   \u5728 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u5185 \u65bd\u52a0 \u529b \u3002   \u53c2\u6570 :   impulse   (   carla . Vector3D   -   N * s   )   -   \u5168\u5c40 \u5750\u6807 \u4e2d \u7684 \u51b2\u91cf \u77e2\u91cf \u3002   add _ torque   (   self   ,   torque   )   \u5728 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d28\u5fc3 \u5904 \u5e94\u7528 \u626d\u77e9 \u3002 \u6b64 \u65b9\u6cd5 \u9002\u7528 \u4e8e \u5728 \u4e00\u5b9a \u65f6\u95f4 \u5185 \u65bd\u52a0 \u7684 \u626d\u77e9 \u3002 \u4f7f\u7528   add _ angular _ impulse ( )   \u65bd\u52a0 \u4ec5 \u6301\u7eed \u77ac\u95f4 \u7684 \u626d\u77e9 \u3002   \u53c2\u6570 :   torque   (   carla . Vector3D   -   \u5ea6   )   -   \u5168\u5c40 \u5750\u6807 \u4e2d \u7684 \u626d\u77e9 \u77e2\u91cf \u3002   destroy   (   self   )   \u544a\u8bc9 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u9500\u6bc1 \u8fd9\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5982\u679c \u6210\u529f \u5219   True   \u3002 \u5982\u679c \u5df2\u7ecf \u88ab \u7834\u574f \u5219 \u6ca1\u6709 \u4efb\u4f55 \u6548\u679c \u3002   \u8fd4\u56de :   bool   \u8b66\u544a :   T \u6b64 \u65b9\u6cd5 \u4f1a \u963b\u6b62 \u811a\u672c \uff0c \u76f4\u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5b8c\u6210 \u9500\u6bc1 \u4e3a\u6b62 \u3002   disable _ constant _ velocity   (   self   )   \u7981\u7528 \u4e4b\u524d \u4e3a   carla . Vehicle   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8bbe\u7f6e \u7684 \u4efb\u4f55 \u6052\u5b9a \u901f\u5ea6 \u3002   enable _ constant _ velocity   (   self   ,   velocity   )   \u5c06 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u77e2\u91cf \u8bbe\u7f6e \u4e3a \u968f \u65f6\u95f4 \u53d8\u5316 \u7684 \u6052\u5b9a \u503c \u3002 \u6240 \u5f97\u5230 \u7684 \u901f\u5ea6 \u5c06 \u8fd1\u4f3c \u8fd1\u4f3c\u4e8e   velocity   \u6240 \u8bbe\u7f6e \u7684 \u901f\u5ea6 \uff0c \u4e0e   set _ target _ velocity ( )   \u4e00\u6837 \u3002   \u53c2\u6570 :   velocity   (   carla . Vector3D   -   m / s   )   -   Velocity   vector   in   local   space .   \u6ce8\u610f :   \u53ea\u6709   carla . Vehicle   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u4ee5 \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \u3002   \u8b66\u544a :   \u4e3a   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7ba1\u7406 \u7684 \u8f66\u8f86 \u542f\u7528 \u6052\u5b9a \u901f\u5ea6 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u51b2\u7a81 \u3002 \u6b64 \u65b9\u6cd5 \u4f1a \u8986\u76d6 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5bf9 \u901f\u5ea6 \u7684 \u4efb\u4f55 \u66f4\u6539 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_6","text":"get _ acceleration   (   self   )   \u8fd4\u56de \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6700\u540e \u4e00\u4e2a tick \u671f\u95f4 \u6536\u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e09\u7ef4 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5411\u91cf \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de :   carla . Vector3D   -   m / s   2   get _ angular _ velocity   (   self   )   \u8fd4\u56de \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6700\u540e \u4e00\u4e2a tick \u671f\u95f4 \u63a5\u6536 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5411\u91cf \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   -   deg / s   get _ location   (   self   )   \u8fd4\u56de \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u4e0a \u4e00\u6b21 tick \u671f\u95f4 \u63a5\u6536 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de \uff1a   carla . Location   -   \u7c73   \u8bbe\u7f6e \u5668 :   carla . Actor . set _ location   get _ transform   (   self   )   \u8fd4\u56de \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6700\u540e \u4e00\u4e2a tick \u671f\u95f4 \u63a5\u6536 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u53d8\u6362 \uff08 \u4f4d\u7f6e \u548c \u65cb\u8f6c \uff09 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de :   carla . Transform   \u8bbe\u7f6e \u5668 :   carla . Actor . set _ transform   get _ velocity   (   self   )   \u8fd4\u56de \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6700\u540e \u4e00\u4e2a tick \u671f\u95f4 \u63a5\u6536 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u5411\u91cf \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   -   m / s   get _ world   (   self   )   \u8fd4\u56de \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240\u5c5e \u7684 \u4e16\u754c \u3002   \u8fd4\u56de :   carla . World","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#_7","text":"set _ enable _ gravity   (   self   ,   enabled   )   \u542f\u7528 \u6216 \u7981\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u91cd\u529b \u3002   \u9ed8\u8ba4   \u4e3a   True \u3002   \u53c2\u6570 \uff1a   enabled   (   bool   )   set _ location   (   self   ,   location   )   \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f20\u9001 \u5230 \u7ed9\u5b9a \u4f4d\u7f6e \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   -   \u7c73   )   \u83b7\u53d6 \u5668 \uff1a   carla . Actor . get _ location   set _ simulate _ physics   (   self   ,   enabled   = True   )   \u542f\u7528 \u6216 \u7981\u7528 \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0a \u7684 \u7269\u7406 \u4eff\u771f \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff1a   enabled   (   bool   )   set _ target _ angular _ velocity   (   self   ,   angular _ velocity   )   \u8bbe\u7f6e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u77e2\u91cf \u3002 \u8fd9 \u662f \u5728 \u7269\u7406 \u6b65\u9aa4 \u4e4b\u524d \u5e94\u7528 \u7684 \uff0c \u56e0\u6b64 \u6700\u7ec8 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5c06 \u53d7\u5230 \u6469\u64e6 \u7b49 \u5916\u529b \u7684 \u5f71\u54cd \u3002   \u53c2\u6570 \uff1a   angular _ velocity   (   carla . Vector3D   -   deg / s   )   set _ target _ velocity   (   self   ,   velocity   )   \u8bbe\u7f6e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u5411\u91cf \u3002 \u8fd9 \u662f \u5728 \u7269\u7406 \u6b65\u9aa4 \u4e4b\u524d \u5e94\u7528 \u7684 \uff0c \u56e0\u6b64 \u6700\u7ec8 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5c06 \u53d7\u5230 \u6469\u64e6 \u7b49 \u5916\u529b \u7684 \u5f71\u54cd \u3002   \u53c2\u6570 \uff1a   velocity   (   carla . Vector3D   )   set _ transform   (   self   ,   transform   )   \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f20\u9001 \u5230 \u7ed9\u5b9a \u7684 \u53d8\u6362 \uff08 \u4f4d\u7f6e \u548c \u65cb\u8f6c \uff09 \u3002   \u53c2\u6570 \uff1a   transform   (   carla . Transform   )   \u83b7\u53d6 \u5668 \uff1a   carla . Actor . get _ transform","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_8","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaactorattribute","text":"Carla   \u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u84dd \u56fe\u5e93 \uff0c \u53ef\u4ee5 \u901a\u8fc7   carla . BlueprintLibrary   \u8fdb\u884c \u8bbf\u95ee \u3002 \u6bcf\u4e2a \u84dd\u56fe \u90fd \u6709 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5185\u90e8 \u5b9a\u4e49 \u7684 \u5c5e\u6027 \u3002 \u5176\u4e2d \u4e00\u4e9b \u662f \u53ef\u4ee5 \u4fee\u6539 \u7684 \uff0c \u53e6 \u4e00\u4e9b \u4e00\u4e9b\u5219 \u662f \u4e0d\u53ef \u4fee\u6539 \u7684 \u3002 \u4e3a \u53ef \u8bbe\u7f6e \u7684 \u503c \u63d0\u4f9b \u4e86 \u63a8\u8350 \u63a8\u8350\u503c \u5217\u8868 \u3002","title":"carla . ActorAttribute"},{"location":"python_api/#_9","text":"id   (   str   )   \u5e93\u4e2d \u5c5e\u6027 \u7684 \u540d\u79f0 \u548c \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   is _ modifiable   (   bool   )   \u5982\u679c \u5c5e\u6027 \u7684 \u503c \u53ef\u4ee5 \u4fee\u6539 \uff0c \u5219 \u4e3a   True   \u3002   recommended _ values   (   list ( str )   )   \u8bbe\u8ba1 \u84dd\u56fe \u7684 \u4eba\u5458 \u5efa\u8bae \u7684 \u503c \u5217\u8868 \u3002   type   (   carla . ActorAttributeType   )   \u5c5e\u6027 \u7684 \u53c2\u6570 \u7c7b\u578b \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_10","text":"as _ bool   (   self   )   \u5c06 \u5c5e\u6027 \u8bfb\u53d6 \u4e3a \u5e03\u5c14 \u5e03\u5c14\u503c \u3002   as _ color   (   self   )   \u5c06 \u5c5e\u6027 \u8bfb\u53d6 \u4e3a   carla . Color   \u3002   as _ float   (   self   )   \u5c06 \u5c5e\u6027 \u8bfb\u53d6 \u4e3a \u6d6e\u70b9 \u578b \u3002   as _ int   (   self   )   \u5c06 \u5c5e\u6027 \u8bfb\u53d6 \u4e3a   int \u3002   as _ str   (   self   )   \u5c06 \u5c5e\u6027 \u8bfb\u53d6 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_11","text":"__ bool __   (   self   )   __ eq __   (   self   ,   other   = bool   /   int   /   float   /   str   /   carla . Color   /   carla . ActorAttribute   )   \u5982\u679c \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5c5e\u6027   \u548c   other   \u76f8\u540c \uff0c \u5219 \u8fd4\u56de   true \u3002   \u8fd4\u56de \uff1a   bool   __ float __   (   self   )   __ int __   (   self   )   __ ne __   (   self   ,   other   = bool   /   int   /   float   /   str   /   carla . Color   /   carla . ActorAttribute   )   \u5982\u679c \u6b64   actor   \u7684 \u5c5e\u6027 \u548c   other   \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de   true \u3002   \u8fd4\u56de \uff1a   bool   __ nonzero __   (   self   )   \u5982\u679c \u6b64 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5c5e\u6027 \u4e0d\u4e3a \u96f6 \u6216   null \uff0c \u5219 \u8fd4\u56de   true \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaactorattributetype","text":"Carla   \u5728   carla . BlueprintLibrary   \u4e2d\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u84dd \u56fe\u5e93 \uff0c \u6bcf\u4e2a \u84dd\u56fe \u5177\u6709 \u4e0d\u540c \u7684 \u5c5e\u6027 \u3002 \u6b64\u7c7b \u5c06   carla . ActorAttribute   \u4e2d \u7684 \u7c7b\u578b \u5b9a\u4e49 \u7c7b\u578b\u5b9a\u4e49 \u4e3a \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u679a\u4e3e \u3002 \u6240\u6709 \u8fd9\u4e9b \u4fe1\u606f \u5747 \u5728 \u5185\u90e8 \u7ba1\u7406 \uff0c \u5e76 \u5728 \u6b64\u5904 \u5217\u51fa \uff0c \u4ee5\u4fbf \u66f4\u597d \u5730 \u7406\u89e3   Carla   \u7684 \u5de5\u4f5c \u539f\u7406 \u3002","title":"carla . ActorAttributeType"},{"location":"python_api/#_12","text":"Bool   Int   Float   String   RGBColor","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlaactorblueprint","text":"Carla   \u4e3a   Actor   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u84dd \u56fe\u5e93 \uff0c \u53ef\u4ee5 \u901a\u8fc7   carla . BlueprintLibrary   \u8fdb\u884c \u67e5\u9605 \u3002 \u5176\u4e2d \u6bcf \u4e00\u4e2a \u90fd \u5305\u542b \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u548c \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u53ef\u4ee5 \u4fee\u6539 \u6216 \u4e0d\u53ef \u4fee\u6539 \u7684 \u5c5e\u6027 \u3002 \u8be5\u7c7b \u662f \u5e93 \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u521b\u5efa \u4e4b\u95f4 \u7684 \u4e2d\u95f4 \u6b65\u9aa4 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u9700\u8981 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u84dd\u56fe \u624d\u80fd \u4ea7\u751f \u3002 \u8fd9\u4e9b \u5c06 \u6240\u8ff0 \u84dd\u56fe \u7684 \u4fe1\u606f \u53ca\u5176 \u5c5e\u6027 \u548c \u4e00\u4e9b \u6807\u7b7e \u5b58\u50a8 \u5728 \u5bf9\u8c61 \u4e2d\u4ee5 \u5bf9 \u5176 \u8fdb\u884c \u5206\u7c7b \u3002 \u7136\u540e \uff0c \u7528\u6237 \u53ef\u4ee5 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4e00\u4e9b \u5c5e\u6027 \u5e76 \u6700\u7ec8 \u901a\u8fc7   carla . World   \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002","title":"carla . ActorBlueprint"},{"location":"python_api/#_13","text":"id   (   str   )   \u5e93\u5185 \u6240\u8ff0 \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002 \u4f8b\u5982   walker . pedestrian.0001   \u3002   tags   (   list ( str )   )   \u6bcf\u4e2a \u84dd\u56fe \u5177\u6709 \u7684 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63cf\u8ff0 \u5b83\u4eec \u7684 \u6807\u7b7e \u5217\u8868 \u3002 \u4f8b\u5982   [ ' 0001 ' ,   ' pedestrian ' ,   ' walker ' ]   \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_14","text":"has _ attribute   (   self   ,   id   )   \u5982\u679c \u84dd\u56fe \u5305\u542b \u8be5   id   \u5c5e\u6027 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u53c2\u6570 \uff1a   id   (   str   )   -   \u4f8b\u5982   gender   \u5c06 \u4e3a \u884c\u4eba \u7684 \u84dd\u56fe \u8fd4\u56de   True   \u3002   \u8fd4\u56de \uff1a   bool   has _ tag   (   self   ,   tag   )   \u5982\u679c \u84dd\u56fe \u5df2 \u5217\u51fa \u6307\u5b9a   tag   \u7684 \u5185\u5bb9 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u53c2\u6570 \uff1a   tag   (   str   )   -   \u4f8b\u5982 \uff1a   ' walker ' \u3002   \u8fd4\u56de \uff1a   bool   match _ tags   (   self   ,   wildcard _ pattern   )   \u5982\u679c \u4e3a\u6b64 \u84dd\u56fe \u5217\u51fa \u7684 \u4efb\u4f55 \u6807\u8bb0 \u5339\u914d   wildcard _ pattern   \uff0c \u5219 \u8fd4\u56de   True   \u3002 \u5339\u914d \u9075\u5faa   fnmatch   \u6807\u51c6 \u3002   \u53c2\u6570 \uff1a   wildcard _ pattern   (   str   )   \u8fd4\u56de \uff1a   bool","title":"\u65b9\u6cd5"},{"location":"python_api/#_15","text":"get _ attribute   (   self   ,   id   )   \u8fd4\u56de \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5c5e\u6027 \u4ee5\u53ca   id   \u6807\u8bc6 \u6807\u8bc6\u7b26 \uff08 \u5982\u679c \u5b58\u5728 \uff09 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff1a   id   (   str   )   \u8fd4\u56de \uff1a   carla . ActorAttribute   \u8bbe\u7f6e \u5668 \uff1a   carla . ActorBlueprint . set _ attribute","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#_16","text":"set _ attribute   (   self   ,   id   ,   value   )   snippet   \u2192   \u5982\u679c   id   \u5c5e\u6027 \u662f \u53ef \u4fee\u6539 \u7684 \uff0c \u5c06 \u5176\u503c \u6539\u4e3a   value   \u3002   \u53c2\u6570 \uff1a   id   (   str   )   -   \u8981 \u66f4\u6539 \u5c5e\u6027 \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   value   (   str   )   -   \u6240\u8ff0 \u5c5e\u6027 \u7684 \u65b0\u503c \u3002   \u83b7\u53d6 \u5668 \uff1a   carla . ActorBlueprint . get _ attribute","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#dunder","text":"__ iter __   (   self   )   \u5728 \u84dd\u56fe \u6709 \u7684   carla . ActorAttribute   \u4e4b\u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   \u8fd4\u56de \u6b64 \u84dd\u56fe \u7684 \u5c5e\u6027 \u6570\u91cf \u3002   __ str __   (   self   )","title":"Dunder   \u65b9\u6cd5"},{"location":"python_api/#carlaactorlist","text":"\u4e00\u4e2a \u7c7b \uff0c \u5b83 \u5305\u542b \u73b0\u573a \u51fa\u73b0 \u7684 \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e76 \u63d0\u4f9b \u5bf9 \u4ed6\u4eec \u7684 \u8bbf\u95ee \u3002 \u8be5 \u5217\u8868 \u7531 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u81ea\u52a8 \u521b\u5efa \u548c \u66f4\u65b0 \uff0c \u53ef\u4ee5 \u4f7f\u7528   carla . World   \u8fd4\u56de \u3002","title":"carla . ActorList"},{"location":"python_api/#_17","text":"filter   (   self   ,   wildcard _ pattern   )   \u7b5b\u9009 \u5339\u914d   wildcard _ pattern   \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \uff0c \u4ee5 \u5bf9\u6297 \u53d8\u91cf   type _ id   ( \u5b83 \u6807\u8bc6 \u7528\u4e8e \u751f\u6210 \u5b83\u4eec \u7684 \u84dd\u56fe ) \u3002 \u5339\u914d \u9075\u5faa   fnmatch   \u6807\u51c6 \u3002   \u53c2\u6570 \uff1a   wildcard _ pattern   (   str   )   \u8fd4\u56de \uff1a   list   find   (   self   ,   actor _ id   )   \u4f7f\u7528 \u5176 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u67e5\u627e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e76 \u8fd4\u56de \u5b83 \uff0c \u5982\u679c \u4e0d \u5b58\u5728 \u5219 \u8fd4\u56de   None   \u3002   \u53c2\u6570 \uff1a   actor _ id   (   int   )   \u8fd4\u56de \uff1a   carla . Actor","title":"\u65b9\u6cd5"},{"location":"python_api/#dunder_1","text":"__ getitem __   (   self   ,   pos   = int   )   \u8fd4\u56de \u4e0e \u5217\u8868 \u4e2d   pos   \u4f4d\u7f6e \u76f8\u5bf9 \u5e94 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8fd4\u56de \uff1a   carla . Actor   __ iter __   (   self   )   \u5728 \u5305\u542b   carla . Actor   \u7684 \u5217\u8868 \u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   \u8fd4\u56de \u5217\u51fa \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6570\u91cf \u3002   \u8fd4\u56de \uff1a   int   __ str __   (   self   )   \u5728 \u5217\u51fa \u7684 \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0a \u89e3\u6790 ID \u3002   \u8fd4\u56de \uff1a   str","title":"Dunder   \u65b9\u6cd5"},{"location":"python_api/#carlaactorsnapshot","text":"\u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u7279\u5b9a \u65f6\u523b \u7684 \u6240\u6709 \u4fe1\u606f \u7684 \u7c7b \u3002 \u8fd9\u4e9b \u5bf9\u8c61 \u5305\u542b \u5728   carla . WorldSnapshot   \u4e2d \uff0c \u5e76 \u5728 \u6bcf\u4e2a \u65f6\u949f \u5468\u671f \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e00\u6b21 \u3002","title":"carla . ActorSnapshot"},{"location":"python_api/#_18","text":"id   (   int   )   \u5feb\u7167 \u672c\u8eab \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_19","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_20","text":"get _ acceleration   (   self   )   \u8fd4\u56de \u5728 \u8be5 tick \u4e2d\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ce8\u518c \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   -   m / s   2   get _ angular _ velocity   (   self   )   \u8fd4\u56de \u4e3a \u8be5 tick \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ce8\u518c \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   -   rad / s   get _ transform   (   self   )   \u8fd4\u56de \u8be5   tick   \u4e2d \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53d8\u6362 \uff08 \u4f4d\u7f6e \u548c \u65cb\u8f6c \uff09 \u3002   \u8fd4\u56de \uff1a   carla . Transform   get _ velocity   (   self   )   \u8fd4\u56de \u5728 \u8be5 tick \u4e2d\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ce8\u518c \u7684 \u901f\u5ea6 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   -   m / s","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#carlaactorstate","text":"\u5b9a\u4e49 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u72b6\u6001 \u7684 \u7c7b \u3002","title":"carla . ActorState"},{"location":"python_api/#_21","text":"Invalid   \u5982\u679c \u51fa\u73b0 \u95ee\u9898 \uff0c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c31\u662f \u65e0\u6548 \u7684 \u3002   Active   \u5f53 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53ef\u89c6 \u53ef\u89c6\u5316 \u5e76\u4e14 \u53ef\u4ee5 \u5f71\u54cd \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \uff0c \u5b83 \u5c31\u662f \u6d3b\u8dc3 \u7684 \u3002   Dormant   \u5f53 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0d \u88ab \u53ef\u89c6 \u53ef\u89c6\u5316 \u5e76\u4e14 \u4e0d\u4f1a \u901a\u8fc7 \u7269\u7406 \u5f71\u54cd \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \uff0c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c31 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002 \u4f8b\u5982 \uff0c \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f4d\u4e8e \u5927 \u5730\u56fe \u4e2d \u5df2 \u5378\u8f7d \u7684 \u56fe\u5757 \u4e0a \uff0c \u5219 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlaattachmenttype","text":"\u5b9a\u4e49 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0e \u5176\u7236 \u7ea7 \u4e4b\u95f4 \u7684 \u9644\u4ef6 \u9009\u9879 \u7684 \u7c7b \u3002 \u5f53 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \uff0c \u5b83\u4eec \u53ef\u4ee5 \u9644\u52a0 \u5230 \u53e6 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0a \uff0c \u8fd9\u6837 \u5b83\u4eec \u7684 \u4f4d\u7f6e \u5c31 \u4f1a \u76f8\u5e94 \u6539\u53d8 \u3002 \u8fd9 \u5bf9\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7279\u522b \u6709\u7528 \u3002   carla . World . spawn _ actor   \u4e2d \u7684 \u7247\u6bb5 \u663e\u793a \u4e86 \u4e00\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u751f\u6210 \u65f6 \u8fde\u63a5 \u5230 \u6c7d\u8f66 \u4e0a \u3002 \u8bf7 \u6ce8\u610f \uff0c \u9644\u4ef6 \u7c7b\u578b \u5728 \u7c7b \u4e2d \u58f0\u660e \u4e3a \u679a\u4e3e \u3002","title":"carla . AttachmentType"},{"location":"python_api/#_22","text":"Rigid   \u901a\u8fc7 \u6b64 \u56fa\u5b9a \u9644\u4ef6 \uff0c \u5bf9\u8c61 \u4e25\u683c \u9075\u5faa \u5176\u7236 \u4f4d\u7f6e \u3002 \u8fd9\u662f \u63a8\u8350 \u7684 \u9644\u4ef6 \uff0c \u7528\u4e8e \u4ece \u4eff\u771f \u4e2d \u68c0\u7d22 \u7cbe\u786e \u6570\u636e \u3002   SpringArm   \u4e00\u79cd \u9644\u4ef6 \uff0c \u53ef \u6839\u636e \u5176\u7236 \u7ea7 \u6269\u5c55 \u6216 \u7f29\u56de \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u3002 \u4ec5 \u5efa\u8bae \u5728 \u9700\u8981 \u5e73\u6ed1 \u8fd0\u52a8 \u7684 \u4eff\u771f \u4e2d \u5f55\u5236 \u89c6\u9891 \u65f6 \u4f7f\u7528 \u6b64 \u9644\u4ef6 \u3002 SpringArms   \u662f \u4e00\u4e2a \u865a\u5e7b \u5f15\u64ce \u7ec4\u4ef6 \uff0c \u56e0\u6b64   check   the   UE   \u6587\u6863   \u4ee5 \u4e86\u89e3 \u6709\u5173 \u5b83\u4eec \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u8b66\u544a \uff1a   \u5f53 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 Z \u8f74\u4e0a \u4ea7\u751f \u76f8\u5bf9 \u5e73\u79fb \u65f6 \uff0c   SpringArm   \u9644\u4ef6 \u5448\u73b0 \u73b0\u51fa \u5448\u73b0\u51fa \u5947\u602a \u7684 \u884c\u4e3a \u3002 \uff08 \u6bd4\u5982 \uff1a   child _ location   =   Location ( 0 , 0 , 2 )   \uff09 \u3002   SpringArmGhost   \u4e00\u4e2a \u4e0e \u524d \u4e00\u4e2a \u7c7b\u4f3c \u7684 \u9644\u4ef6 \uff0c \u4f46 \u5b83 \u4e0d\u4f1a \u8fdb\u884c \u78b0\u649e \u6d4b\u8bd5 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u5b83 \u4e0d\u4f1a \u6269\u5c55 \u6216 \u6536\u7f29 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u3002   ghost   \u4e00\u8bcd \u56e0\u4e3a \u662f\u56e0\u4e3a \u8fd9\u6837 \u76f8\u673a \u5c31 \u53ef\u4ee5 \u7a7f\u8fc7 \u5899\u58c1 \u548c \u5176\u4ed6 \u51e0\u4f55 \u5f62\u72b6 \u3002 \u6b64 \u9644\u4ef6 \u4ec5 \u5efa\u8bae \u7528\u4e8e \u5f55\u5236 \u9700\u8981 \u5e73\u6ed1 \u79fb\u52a8 \u7684 \u4eff\u771f \u89c6\u9891 \u3002 SpringArms   \u662f \u4e00\u4e2a \u865a\u5e7b \u5f15\u64ce \u7ec4\u4ef6 \uff0c \u8bf7   \u67e5\u770b \u865a\u5e7b \u5f15\u64ce \u6587\u6863   \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u8b66\u544a \uff1a   \u5f53 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 Z \u8f74\u4e0a \u4ea7\u751f \u76f8\u5bf9 \u5e73\u79fb \u65f6 \uff0c   SpringArm   \u9644\u4ef6 \u4f1a \u51fa\u73b0 \u5947\u602a \u7684 \u884c\u4e3a \uff08 \u6bd4\u5982   child _ location   =   Location ( 0 , 0 , 2 )   \uff09 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlablueprintlibrary","text":"\u5305\u542b \u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u751f\u6210 \u63d0\u4f9b \u7684 \u84dd\u56fe \u7684 \u7c7b \u3002 \u5b83 \u7684 \u4e3b\u8981 \u5e94\u7528 \u662f \u8fd4\u56de \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240 \u9700 \u7684   carla . ActorBlueprint   \u5bf9\u8c61 \u3002 \u6bcf\u4e2a \u84dd\u56fe \u90fd \u6709 \u4e00\u4e2a \u6807\u8bc6 \u6807\u8bc6\u7b26 \u548c \u5c5e\u6027 \uff0c \u8fd9\u4e9b \u5c5e\u6027 \u53ef\u80fd \u662f \u53ef \u4fee\u6539 \u7684 \uff0c \u4e5f \u53ef\u80fd \u662f \u4e0d\u53ef \u4fee\u6539 \u7684 \u3002 \u8be5\u5e93 \u7531 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u81ea\u52a8 \u521b\u5efa \uff0c \u53ef\u4ee5 \u901a\u8fc7   carla . World   \u8bbf\u95ee \u3002   \u8fd9   \u662f \u5305\u542b \u6bcf\u4e2a \u53ef\u7528 \u84dd\u56fe \u53ca\u5176 \u7ec6\u8282 \u7684 \u53c2\u8003 \u3002","title":"carla . BlueprintLibrary"},{"location":"python_api/#_23","text":"filter   (   self   ,   wildcard _ pattern   )   \u6839\u636e \u6b64\u5e93 \u4e2d \u5305\u542b \u7684 \u6bcf\u4e2a \u84dd\u56fe \u7684 id \u548c \u6807\u8bb0 \u8fc7\u6ee4 \u4e0e \u901a\u914d\u7b26 \u6a21\u5f0f   wildcard _ pattern   \u5339\u914d \u7684 \u84dd\u56fe \u5217\u8868 \uff0c \u5e76 \u5c06 \u7ed3\u679c \u4f5c\u4e3a \u65b0 \u7684 \u7ed3\u679c \u8fd4\u56de \u3002 \u5339\u914d \u9075\u5faa   fnmatch   \u6807\u51c6 \u3002   \u53c2\u6570 \uff1a   wildcard _ pattern   (   str   )   \u8fd4\u56de \uff1a   carla . BlueprintLibrary   filter _ by _ attribute   (   self   ,   name   ,   value   )   \u6839\u636e \u6b64\u5e93 \u4e2d \u5305\u542b \u7684 \u6bcf\u4e2a \u84dd\u56fe \uff0c \u7b5b\u9009 \u5177\u6709 \u4e0e\u503c   value   \u5339\u914d \u7684 \u7ed9\u5b9a \u5c5e\u6027 \u7684 \u84dd\u56fe \u5217\u8868 \uff0c \u5e76 \u5c06 \u7ed3\u679c \u4f5c\u4e3a \u65b0 \u7684 \u7ed3\u679c \u8fd4\u56de \u3002 \u5339\u914d \u9075\u5faa   fnmatch   \u6807\u51c6 \u3002   \u53c2\u6570 \uff1a   name   (   str   )   value   (   str   )   \u8fd4\u56de \uff1a   carla . BlueprintLibrary   find   (   self   ,   id   )   \u8fd4\u56de \u4e0e \u8be5 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u5bf9\u5e94 \u7684 \u84dd\u56fe \u3002   \u53c2\u6570 \uff1a   id   (   str   )   \u8fd4\u56de \uff1a   carla . ActorBlueprint","title":"\u65b9\u6cd5"},{"location":"python_api/#dunder_2","text":"__ getitem __   (   self   ,   pos   = int   )   \u8fd4\u56de \u5b58\u50a8 \u5728 \u5305\u542b \u84dd\u56fe \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u5185   pos   \u4f4d\u7f6e \u7684 \u84dd\u56fe \u3002   \u8fd4\u56de :   carla . ActorBlueprint   __ iter __   (   self   )   \u5728 \u5b58\u50a8 \u5e93   carla . ActorBlueprint   \u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   \u8fd4\u56de \u6784\u6210 \u5e93 \u7684 \u84dd\u56fe \u6570\u91cf \u3002   \u8fd4\u56de \uff1a   int   __ str __   (   self   )   \u89e3\u6790 \u8981 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5316 \u7684 \u6bcf\u4e2a \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   \u8fd4\u56de \uff1a   string","title":"Dunder   \u65b9\u6cd5"},{"location":"python_api/#carlaboundingbox","text":"\u8fb9\u754c \u6846 \u5305\u542b \u573a\u666f \u4e2d \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5143\u7d20 \u7684 \u51e0\u4f55 \u51e0\u4f55\u4f53 \u3002 \u5b83\u4eec \u53ef\u4ee5 \u88ab   carla . DebugHelper   \u6216   carla . Client   \u7528\u4e8e \u7ed8\u5236 \u5b83\u4eec \u7684 \u5f62\u72b6 \u4ee5 \u8fdb\u884c \u8c03\u8bd5 \u3002 \u770b\u770b   carla . DebugHelper . draw _ box   \uff0c \u5176\u4e2d \u4f7f\u7528 \u4e16\u754c \u5feb\u7167 \u7ed8\u5236 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u8fb9\u754c \u6846 \u3002","title":"carla . BoundingBox"},{"location":"python_api/#_24","text":"extent   (   carla . Vector3D   -   \u7c73   )   \u4ece \u957f\u65b9 \u957f\u65b9\u4f53 \u4e2d\u5fc3 \u5230 \u4e00\u4e2a \u9876\u70b9 \u7684 \u77e2\u91cf \u3002 \u6bcf\u4e2a \u8f74\u4e2d \u7684 \u503c \u7b49\u4e8e \u8be5\u8f74\u6846 \u5927\u5c0f \u7684 \u4e00\u534a \u3002   extent . x   *   2   \u5c06 \u8fd4\u56de \u6846\u5728 x \u8f74\u4e0a \u7684 \u5927\u5c0f \u3002   location   (   carla . Location   -   \u7c73   )   \u8fb9\u754c \u6846 \u7684 \u4e2d\u5fc3 \u3002   rotation   (   carla . Rotation   )   \u8fb9\u754c \u6846 \u7684 \u671d\u5411 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_25","text":"__ init __   (   self   ,   location   ,   extent   )   \u53c2\u6570 \uff1a   location   (   carla . Location   )   -   \u76f8\u5bf9 \u4e8e \u5176\u7236 \u6846 \u7684 \u4e2d\u5fc3 \u3002   extent   (   carla . Vector3D   -   \u7c73   )   -   \u5305\u542b \u6bcf\u4e2a \u8f74 \u7684 \u957f\u65b9 \u957f\u65b9\u4f53 \u5927\u5c0f \u7684 \u4e00\u534a \u7684 \u77e2\u91cf \u3002   contains   (   self   ,   world _ point   ,   transform   )   \u5982\u679c \u5728 \u4e16\u754c \u7a7a\u95f4 \u4e2d \u4f20\u9012 \u7684 \u70b9 \u5728 \u6b64 \u8fb9\u754c \u6846\u5185 \uff0c \u5219 \u8fd4\u56de   True   \u3002   Parameters :   world _ point   (   carla . Location   -   \u7c73   )   -   \u8981 \u68c0\u67e5 \u7684 \u4e16\u754c \u7a7a\u95f4 \u4e2d \u7684 \u70b9 \u3002   transform   (   carla . Transform   )   -   \u5305\u542b \u5c06 \u6b64 \u5bf9\u8c61 \u7684 \u5c40\u90e8 \u7a7a\u95f4 \u8f6c\u6362 \u4e3a \u4e16\u754c \u7a7a\u95f4 \u6240 \u9700 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   \u8fd4\u56de \uff1a   bool","title":"\u65b9\u6cd5"},{"location":"python_api/#_26","text":"get _ local _ vertices   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u8be5 \u5bf9\u8c61 \u7684 \u9876\u70b9 \u5728 \u5c40\u90e8 \u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u3002   \u8fd4\u56de \uff1a   list (   carla . Location   )   get _ world _ vertices   (   self   ,   transform   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u8be5 \u5bf9\u8c61 \u7684 \u9876\u70b9 \u5728 \u4e16\u754c \u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u3002   \u53c2\u6570 \uff1a   transform   (   carla . Transform   )   -   \u5305\u542b \u5c06 \u6b64 \u5bf9\u8c61 \u7684 \u672c\u5730 \u7a7a\u95f4 \u8f6c\u6362 \u4e3a \u4e16\u754c \u7a7a\u95f4 \u6240 \u9700 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   \u8fd4\u56de \uff1a   list (   carla . Location   )","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#dunder_3","text":"__ eq __   (   self   ,   other   =   carla . BoundingBox   )   \u5982\u679c \u6b64 \u548c \u53e6 \u4e00\u4e2a   other   \u7684 \u4f4d\u7f6e \u548c \u8303\u56f4 \u76f8\u7b49 \uff0c \u5219 \u8fd4\u56de true \u3002   \u8fd4\u56de \uff1a   bool   __ ne __   (   self   ,   other   =   carla . BoundingBox   )   \u5982\u679c \u6b64 \u548c \u5176\u4ed6   other   \u7684 \u4f4d\u7f6e \u6216 \u8303\u56f4 \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de true \u3002   \u8fd4\u56de \uff1a   bool   __ str __   (   self   )   \u5c06 \u8fb9\u754c \u6846 \u7684 \u4f4d\u7f6e \u548c \u8303\u56f4 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   \u8fd4\u56de \uff1a   str","title":"Dunder   \u65b9\u6cd5"},{"location":"python_api/#_27","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlacamevent","text":"\u7ee7\u627f \u81ea   carla . SensorData   \u5b9a\u4e49   sensor . other . v2x   \u63d0\u4f9b \u7684 \u6570\u636e \u7684 \u7c7b \u3002 \u8fd9\u662f \u4e00\u79cd \u96c6\u5408 \u7c7b\u578b \uff0c \u7528\u4e8e \u7ec4\u5408 \u8fd4\u56de \u591a\u4e2a   CAMData   \u3002","title":"carla . CAMEvent"},{"location":"python_api/#_28","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_29","text":"get _ message _ count   (   self   )   \u83b7\u53d6 \u63a5\u53d7 \u5230 \u7684   CAM   \u6570\u91cf \u3002   \u8fd4\u56de \uff1a   int","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#_30","text":"__ get _ item __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728 \u83b7\u53d6 \u5230 \u7684   CAMData   \u6570\u636e \u4e0a \u8fed\u4ee3 \u3002   __ len __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlacityobjectlabel","text":"\u5305\u542b \u53ef \u7528\u4e8e \u8fc7\u6ee4   carla . World . get _ level _ bbs   ( )   \u8fd4\u56de \u7684 \u8fb9\u754c \u6846 \u7684 \u4e0d\u540c \u6807\u7b7e \u7684 \u679a\u4e3e \u58f0\u660e \u3002 \u8fd9\u4e9b \u503c \u5bf9\u5e94 \u4e8e \u573a\u666f \u4e2d \u5143\u7d20 \u6240 \u5177\u6709 \u7684   \u8bed\u4e49 \u6807\u7b7e   \u3002","title":"carla . CityObjectLabel"},{"location":"python_api/#_31","text":"None   Buildings   Fences   Other   Pedestrians   Poles   RoadLines   Roads   Sidewalks   TrafficSigns   Vegetation   Vehicles   Walls   Sky   Ground   Bridge   RailTrack   GuardRail   TrafficLight   Static   Dynamic   Water   Terrain   Any","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlaclient","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06   Carla   \u8fde\u63a5 \u5230 \u8fd0\u884c \u4eff\u771f \u7684 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u90fd \u5305\u542b   Carla   \u5e93   ( libcarla ) \uff0c \u4f46 \u5b58\u5728 \u4e00\u4e9b \u5dee\u5f02 \uff0c \u5141\u8bb8 \u5b83\u4eec \u4e4b\u95f4 \u8fdb\u884c \u901a\u4fe1 \u3002 \u53ef\u4ee5 \u521b\u5efa \u8bb8\u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u6bcf\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u90fd \u4f1a \u8fde\u63a5 \u5230 \u4eff\u771f \u5185 \u7684   RPC   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4ee5 \u53d1\u9001 \u547d\u4ee4 \u3002 \u4eff\u771f \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u8fd0\u884c \u3002 \u4e00\u65e6 \u5efa\u7acb \u8fde\u63a5 \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06 \u4ec5 \u63a5\u6536 \u4ece \u4eff\u771f \u68c0\u7d22 \u7684 \u6570\u636e \u3002 \u884c\u4eba \u662f \u4f8b\u5916 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8d1f\u8d23 \u7ba1\u7406 \u8d1f\u8d23\u7ba1\u7406 \u884c\u4eba \uff0c \u56e0\u6b64 \uff0c \u5982\u679c \u60a8 \u4e0e \u591a\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e00\u8d77 \u8fd0\u884c \u4eff\u771f \uff0c \u53ef\u80fd \u4f1a \u51fa\u73b0 \u4e00\u4e9b \u95ee\u9898 \u3002 \u4f8b\u5982 \uff0c \u5982\u679c \u60a8 \u901a\u8fc7 \u4e0d\u540c \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u751f\u6210 \u884c\u4eba \uff0c \u5219 \u53ef\u80fd \u4f1a \u53d1\u751f \u51b2\u7a81 \u53d1\u751f\u51b2\u7a81 \uff0c \u56e0\u4e3a \u6bcf\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ea \u77e5\u9053 \u5b83 \u8d1f\u8d23 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd8 \u5177\u6709 \u8bb0\u5f55 \u529f\u80fd \uff0c \u53ef\u4ee5 \u5728 \u8fd0\u884c \u4eff\u771f \u65f6 \u4fdd\u5b58 \u4eff\u771f \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u8fd9 \u4f7f\u5f97 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53ef\u4ee5 \u968f\u610f \u91cd\u653e \u91cd\u653e\u4ee5 \u83b7\u53d6 \u53d6\u4fe1 \u4fe1\u606f \u83b7\u53d6\u4fe1\u606f \u5e76 \u8fdb\u884c \u5b9e\u9a8c \u3002   \u4ee5\u4e0b   \u662f \u6709\u5173 \u5982\u4f55 \u4f7f\u7528 \u6b64 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u7684 \u4e00\u4e9b \u4fe1\u606f \u3002","title":"carla . Client"},{"location":"python_api/#_32","text":"__ init __   (   self   ,   host   = 127.0 . 0.1   ,   port   = 2000   ,   worker _ threads   = 0   )   snippet   \u2192   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6784\u9020 \u5668 \u3002   \u53c2\u6570 \uff1a   host   (   str   )   -   \u8fd0\u884c Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5b9e\u4f8b \u7684 \u5730\u5740 IP\u5730\u5740 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a localhost \uff08 127.0 . 0.1 \uff09 \u3002   port   (   int   )   -   \u8fd0\u884c Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5b9e\u4f8b \u7684 TCP \u7aef\u53e3 \u3002 \u9ed8\u8ba4 \u4e3a   2000   \u548c \u968f\u540e \u7684 2001   \u3002   worker _ threads   (   int   )   -   \u7528\u4e8e \u540e\u53f0 \u66f4\u65b0 \u7684 \u5de5\u4f5c \u7ebf\u7a0b \u6570 \u3002 \u5982\u679c \u4e3a   0 \uff0c \u5219 \u4f7f\u7528 \u6240\u6709 \u53ef\u7528 \u7684 \u5e76\u53d1 \u6027 \u3002   apply _ batch   (   self   ,   commands   )   \u5728 \u5355\u4e2a \u4eff\u771f \u6b65\u4e0a \u6267\u884c \u547d\u4ee4 \u6267\u884c\u547d\u4ee4 \u5217\u8868 \uff0c \u4e0d \u68c0\u7d22 \u4efb\u4f55 \u4fe1\u606f \u3002 \u5982\u679c \u9700\u8981 \u6709\u5173 \u6bcf\u4e2a \u547d\u4ee4 \u7684 \u54cd\u5e94 \u7684 \u4fe1\u606f \uff0c \u8bf7 \u4f7f\u7528   apply _ batch _ sync ( )   \u65b9\u6cd5 \u3002   \u4e0b\u9762   \u662f \u4e00\u4e2a \u5173\u4e8e \u5982\u4f55 \u5220\u9664   Carla   \u4e2d \u51fa\u73b0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u793a\u4f8b \u3002 \u4e00\u6b21 \u5217\u51fa \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005   carla . ActorList   \u3002   \u53c2\u6570 \uff1a   commands   (   list   )   -   \u8981 \u6279\u91cf \u6267\u884c \u7684 \u547d\u4ee4 \u5217\u8868 \u3002 \u6bcf\u4e2a \u547d\u4ee4 \u90fd \u4e0d\u540c \uff0c \u5e76\u4e14 \u6709 \u81ea\u5df1 \u7684 \u53c2\u6570 \u3002 \u5b83\u4eec \u663e\u793a \u5728 \u6b64 \u9875\u9762 \u5e95\u90e8 \u5217\u51fa \u3002   apply _ batch _ sync   (   self   ,   commands   ,   due _ tick _ cue   = False   )   snippet   \u2192   \u5728 \u5355\u4e2a \u4eff\u771f \u6b65\u4e0a \u6267\u884c \u547d\u4ee4 \u6267\u884c\u547d\u4ee4 \u5217\u8868 \uff0c \u963b\u6b62 \u76f4\u5230 \u547d\u4ee4 \u94fe\u63a5 \uff0c \u5e76 \u8fd4\u56de   command . Response   \u5217\u8868 \u3002 \u53ef \u7528\u4e8e \u786e\u5b9a \u5355\u4e2a \u547d\u4ee4 \u662f\u5426 \u6210\u529f \u7684 \u54cd\u5e94 \u3002   \u4e0b\u9762   \u662f \u4e00\u4e2a \u7528\u6765 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f8b\u5b50 \u3002   \u53c2\u6570 \uff1a   commands   (   list   )   -   \u8981 \u6279\u91cf \u6267\u884c \u7684 \u547d\u4ee4 \u5217\u8868 \u3002 \u53ef\u7528 \u7684 \u547d\u4ee4 \u5217 \u5728 \u65b9\u6cd5   apply _ batch ( )   \u7684 \u6b63\u4e0a \u4e0a\u65b9 \u6b63\u4e0a\u65b9 \u3002   due _ tick _ cue   (   bool   )   -   \u4e00\u4e2a \u5e03\u5c14 \u53c2\u6570 \uff0c \u7528\u4e8e \u6307\u5b9a \u662f\u5426 \u6267\u884c   Carla \u3002 \u5728   \u540c\u6b65 \u6a21\u5f0f   \u4e0b \u5e94\u7528 \u5904\u7406 \u6279\u5904\u7406 \u540e \u8fdb\u884c   carla . World . tick   \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u4e3a   False   \u3002   \u8fd4\u56de \uff1a   list ( command . Response )   generate _ opendrive _ world   (   self   ,   opendrive   ,   parameters   = ( 2.0 ,   50.0 ,   1.0 ,   0.6 ,   true ,   true )   ,   reset _ settings   = True   )   \u4f7f\u7528 \u4ece OpenDRIVE \u6587\u4ef6 \u7684 \u5185\u5bb9 \u751f\u6210 \u7684 \u57fa\u672c \u4e09\u7ef4 \u62d3\u6251 \u52a0\u8f7d \u4e16\u754c \u65b0\u4e16\u754c \u3002 \u6b64 \u5185\u5bb9 \u4f5c\u4e3a   string   \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u3002 \u5b83 \u7c7b\u4f3c \u4e8e   client . load _ world ( map _ name )   \uff0c \u4f46 \u5141\u8bb8 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 OpenDRIVE \u6620\u5c04 \u3002 \u6c7d\u8f66 \u53ef\u4ee5 \u5728 \u5730\u56fe \u4e0a \u884c\u9a76 \uff0c \u4f46 \u9664\u4e86 \u9053\u8def \u548c \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u4e4b\u5916 \uff0c \u6ca1\u6709 \u4efb\u4f55 \u56fe\u5f62 \u3002   \u53c2\u6570 \uff1a   opendrive   (   str   )   -   OpenDRIVE \u6587\u4ef6 \u7684 \u5185\u5bb9 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32   string   \uff0c   \u800c \u4e0d\u662f   . xodr   \u7684 \u8def\u5f84   \u3002   parameters   (   carla . OpendriveGenerationParameters   )   -   \u7f51\u683c \u751f\u6210 \u7684 \u5176\u4ed6 \u8bbe\u7f6e \u3002 \u5982\u679c \u6ca1\u6709 \u63d0\u4f9b \uff0c \u5c06 \u4f7f\u7528 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002   reset _ settings   (   bool   )   -   \u9009\u9879 \u53ef \u5c06 \u5267\u96c6 \u8bbe\u7f6e \u91cd\u7f6e \u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff0c \u8bbe\u7f6e \u4e3a false   \u53ef \u4fdd\u7559 \u5f53\u524d \u8bbe\u7f6e \u3002 \u8fd9 \u5bf9\u4e8e \u5728 \u66f4\u6539 \u6620\u5c04 \u65f6 \u4fdd\u6301 \u540c\u6b65 \u6a21\u5f0f \u548c \u4fdd\u6301 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u573a\u666f \u975e\u5e38 \u6709\u7528 \u3002   load _ world   (   self   ,   map _ name   ,   reset _ settings   = True   ,   map _ layers   =   carla . MapLayer . All   )   \u4f7f\u7528   map _ name   \u4f7f\u7528 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u521b\u5efa \u4e16\u754c \u65b0\u4e16\u754c \u3002 \u5f53\u4eca \u4eca\u4e16 \u4e16\u754c \u5f53\u4eca\u4e16\u754c \u7684 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u5c06 \u88ab \u6467\u6bc1 \u3002   \u53c2\u6570 \uff1a   map _ name   (   str   )   -   \u8981 \u5728 \u8fd9\u4e2a \u4e16\u754c \u4e0a \u4f7f\u7528 \u7684 \u5730\u56fe \u7684 \u540d\u79f0 \u3002 \u63a5\u53d7 \u5b8c\u6574 \u8def\u5f84 \u548c \u5730\u56fe \u540d\u79f0 \uff0c \u4f8b\u5982 \u201c / Game / Calla / Maps / Town01 \u201d \u6216 \u201c Town01 \u201d \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u8fd9\u4e9b \u8def\u5f84 \u662f \u52a8\u6001 \u7684 \u3002   reset _ settings   (   bool   )   -   \u9009\u9879 \u53ef \u5c06 \u60c5\u8282 \u8bbe\u7f6e \u91cd\u7f6e \u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff0c \u8bbe\u7f6e \u4e3a false \u53ef \u4fdd\u7559 \u5f53\u524d \u8bbe\u7f6e \u3002 \u8fd9 \u5bf9\u4e8e \u5728 \u66f4\u6539 \u6620\u5c04 \u65f6 \u4fdd\u6301 \u540c\u6b65 \u6a21\u5f0f \u548c \u4fdd\u6301 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u573a\u666f \u975e\u5e38 \u6709\u7528 \u3002   map _ layers   (   carla . MapLayer   )   -   \u5c06 \u52a0\u8f7d \u7684 \u5730\u56fe \u7684 \u56fe\u5c42 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5c06 \u52a0\u8f7d \u6240\u6709 \u56fe\u5c42 \u3002 \u53c2\u6570 \u6b64\u53c2\u6570 \u7684 \u4f5c\u7528 \u7c7b\u4f3c \u4e8e \u6807\u5fd7 \u63a9\u7801 \u3002   \u8b66\u544a \uff1a   map _ layers   \u4ec5 \u5bf9 \" Opt \" \u5730\u56fe \u53ef\u7528 \u3002   reload _ world   (   self   ,   reset _ settings   = True   )   \u91cd\u65b0 \u52a0\u8f7d \u5f53\u524d \u4e16\u754c \uff0c \u8bf7 \u6ce8\u610f \uff0c \u5c06 \u4f7f\u7528 \u540c\u4e00 \u5730\u56fe \u4f7f\u7528 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u521b\u5efa \u4e00\u4e2a \u4e16\u754c \u65b0\u4e16\u754c \u3002 \u4e16\u754c \u4e0a \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u5c06 \u88ab \u9500\u6bc1 \uff0c   \u4f46   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u5c06 \u7ee7\u7eed \u5b58\u5728 \u3002   \u53c2\u6570 \uff1a   reset _ settings   (   bool   )   -   \u9009\u9879 \u53ef \u5c06 \u60c5\u8282 \u8bbe\u7f6e \u91cd\u7f6e \u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff0c \u8bbe\u7f6e \u4e3a false \u53ef \u4fdd\u7559 \u5f53\u524d \u8bbe\u7f6e \u3002 \u8fd9 \u5bf9\u4e8e \u5728 \u66f4\u6539 \u6620\u5c04 \u65f6 \u4fdd\u6301 \u540c\u6b65 \u6a21\u5f0f \u548c \u4fdd\u6301 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u573a\u666f \u975e\u5e38 \u6709\u7528 \u3002   Raises :   \u5bf9\u5e94 \u7684 \u8fd0\u884c \u65f6 \u9519\u8bef   RuntimeError \u3002   replay _ file   (   self   ,   name   ,   start   ,   duration   ,   follow _ id   ,   replay _ sensors   )   \u4f7f\u7528   map _ name   \u52a0\u8f7d \u5177\u6709 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u7684 \u4e16\u754c \u65b0\u4e16\u754c \u3002 \u5f53\u524d \u4e16\u754c \u4e2d \u7684 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u5c06 \u88ab \u9500\u6bc1 \uff0c   \u4f46   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u5c06 \u7ee7\u7eed \u5b58\u5728 \u3002   \u53c2\u6570 \uff1a   name   (   str   )   -   \u5305\u542b \u4eff\u771f \u4fe1\u606f \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u3002   start   (   float   -   seconds   )   -   \u5f00\u59cb \u64ad\u653e \u4eff\u771f \u7684 \u65f6\u95f4 \u3002 \u8d1f\u6570 \u8868\u793a \u4ece \u7ed3\u5c3e \u5f00\u59cb \u8bfb\u53d6 \uff0c \u5728 \u5f55\u5236 \u7ed3\u675f \u524d 10 \u79d2 \u4e3a - 10 \u3002   duration   (   float   -   seconds   )   -   \u5c06 \u4f7f\u7528 \u4fe1\u606f   name   \u6587\u4ef6 \u91cd\u65b0 \u6267\u884c \u7684 \u65f6\u95f4 \u3002 \u5982\u679c \u5230\u8fbe \u7ec8\u70b9 \uff0c \u4eff\u771f \u5c06 \u7ee7\u7eed \u3002   follow _ id   (   int   )   -   \u8981 \u8ddf\u968f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002 \u5982\u679c \u6b64\u503c \u4e3a 0 \uff0c \u5219 \u7981\u7528 \u76f8\u673a \u3002   replay _ sensors   (   bool   )   -   \u7528\u4e8e \u5728 \u64ad\u653e \u671f\u95f4 \u542f\u7528 \u6216 \u7981\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u751f\u6210 \u7684 \u6807\u5fd7 \u3002   request _ file   (   self   ,   name   )   \u7531   carla . Client . get _ required _ files   \u8fd4\u56de \u9700\u8981 \u6587\u4ef6 \u7684 \u4e00\u4e2a \u8bf7\u6c42 \u3002   \u53c2\u6570 \uff1a   name   (   str   )   -   \u60a8 \u8bf7\u6c42 \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u3002   show _ recorder _ actors _ blocked   (   self   ,   filename   ,   min _ time   ,   min _ distance   )   \u7ec8\u7aef \u5c06 \u663e\u793a \u88ab \u89c6\u4e3a \u88ab \u5c4f\u853d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6ce8\u518c \u4fe1\u606f \u3002 \u5f53 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u5185 \u6ca1\u6709 \u79fb\u52a8 \u6700\u5c0f \u8ddd\u79bb \u65f6 \uff0c \u5373   min _ distance   \u548c   min _ time   \uff0c \u5219 \u89c6\u4e3a \u88ab \u963b\u6321 \u3002   \u53c2\u6570 \uff1a   filename   (   str   )   -   \u8981 \u52a0\u8f7d \u7684 \u5f55\u5236 \u6587\u4ef6 \u7684 \u540d\u79f0 \u3002   min _ time   (   float   -   seconds   )   -   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u88ab \u8ba4\u4e3a \u88ab \u963b\u6321 \u4e4b\u524d \u5fc5\u987b \u79fb\u52a8 \u6700 \u77ed\u8ddd \u8ddd\u79bb \u77ed\u8ddd\u79bb \u7684 \u6700 \u77ed\u65f6 \u65f6\u95f4 \u77ed\u65f6\u95f4 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a 60 \u79d2 \u3002   min _ distance   (   float   -   centimeters   )   -   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5fc5\u987b \u79fb\u52a8 \u7684 \u6700\u5c0f \u8ddd\u79bb \u624d\u80fd \u4e0d \u88ab \u89c6\u4e3a \u88ab \u963b\u6321 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a 100 \u5398\u7c73 \u3002   \u8fd4\u56de \uff1a   string   show _ recorder _ collisions   (   self   ,   filename   ,   category1   ,   category2   )   \u7ec8\u7aef \u5c06 \u663e\u793a \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8bb0\u5f55 \u7684 \u78b0\u649e \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u6307\u5b9a \u6240 \u6d89\u53ca \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7c7b\u578b \u6765 \u8fc7\u6ee4 \u8fd9\u4e9b \u5185\u5bb9 \u3002 \u7c7b\u522b \u5c06 \u5728   category1   \u548c   category1   \u4e2d \u6307\u5b9a \u5982\u4e0b \uff1a \u201c h \u201d = \u82f1\u96c4 \uff0c \u4e00\u79cd \u53ef\u4ee5 \u624b\u52a8 \u63a7\u5236 \u6216 \u7531 \u7528\u6237 \u7ba1\u7406 \u7684 \u8f66\u8f86 \u3002 \u201d v ' = \u8f66\u8f86 ' w ' = \u884c\u4eba ' t ' = \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f ' o ' = \u5176\u4ed6 ' a ' = \u4efb\u4f55 \u5982\u679c \u60a8 \u53ea \u60f3 \u770b\u5230 \u8f66\u8f86 \u548c \u6b65\u884c \u884c\u8005 \u6b65\u884c\u8005 \u4e4b\u95f4 \u7684 \u78b0\u649e \uff0c \u8bf7 \u5c06   category1   \u7528\u4f5c ' v ' \uff0c \u5c06   category2   \u7528\u4f5c ' w ' \uff0c \u53cd\u4e4b \u4ea6\u7136 \u53cd\u4e4b\u4ea6\u7136 \u3002 \u5982\u679c \u8981 \u67e5\u770b \u6240\u6709 \u78b0\u649e \uff08 \u8fc7\u6ee4 \u6389 \uff09 \uff0c \u53ef\u4ee5 \u5bf9 \u4e24\u4e2a \u53c2\u6570 \u90fd \u4f7f\u7528 \u201c a \u201d \u3002   \u53c2\u6570 \uff1a   filename   (   str   )   -   \u8bb0\u5f55 \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u6216 \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4e4b\u524d \u7684 \u9009\u62e9 \u3002   category1   (   single   char   )   -   \u6307\u5b9a \u51b2\u7a81 \u4e2d \u6d89\u53ca \u7684 \u7b2c\u4e00 \u4e00\u7c7b \u7b2c\u4e00\u7c7b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5b57\u7b26 \u53d8\u91cf \u3002   category2   (   single   char   )   -   \u6307\u5b9a \u51b2\u7a81 \u4e2d \u6d89\u53ca \u7684 \u7b2c\u4e8c \u4e8c\u7c7b \u7b2c\u4e8c\u7c7b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5b57\u7b26 \u53d8\u91cf \u3002   \u8fd4\u56de \uff1a   string   show _ recorder _ file _ info   (   self   ,   filename   ,   show _ all   )   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u4fdd\u5b58 \u7684 \u4fe1\u606f \u5c06 \u88ab \u89e3\u6790 \u5e76 \u4ee5 \u6587\u672c \u5f62\u5f0f \u663e\u793a \u5728 \u60a8 \u7684 \u7ec8\u7aef \u4e2d \uff08 \u5e27 \u3001 \u65f6\u95f4 \u3001 \u4e8b\u4ef6 \u3001 \u72b6\u6001 \u3001 \u4f4d\u7f6e \u2026 \uff09 \u3002 \u53ef\u4ee5 \u4f7f\u7528   show _ all   \u53c2\u6570 \u6307\u5b9a \u663e\u793a \u7684 \u4fe1\u606f \u3002   \u4ee5\u4e0b   \u662f \u6709\u5173 \u5982\u4f55 \u8bfb\u53d6 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u53c2\u6570 \uff1a   filename   (   str   )   -   \u8bb0\u5f55 \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u6216 \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4e4b\u524d \u7684 \u9009\u62e9 \u3002   show _ all   (   bool   )   -   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u8fd4\u56de \u4e3a \u6bcf \u5e27 \u5b58\u50a8 \u7684 \u6240\u6709 \u4fe1\u606f \uff08 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u72b6\u6001 \u3001 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u3001 \u65b9\u5411 \u548c \u52a8\u753b \u6570\u636e \u2026 \uff09 \u3002 \u5982\u679c \u4e3a   False   \uff0c \u5219 \u8fd4\u56de \u5173\u952e \u4e8b\u4ef6 \u548c \u5e27 \u7684 \u6458\u8981 \u3002   \u8fd4\u56de \uff1a   string   start _ recorder   (   self   ,   filename   ,   additional _ data   = False   )   \u542f\u7528 \u5f55\u5236 \u529f\u80fd \uff0c \u8be5 \u529f\u80fd \u5c06 \u5f00\u59cb \u4fdd\u5b58 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u91cd\u64ad \u4eff\u771f \u6240 \u9700 \u7684 \u6240\u6709 \u4fe1\u606f \u3002   \u53c2\u6570 \uff1a   filename   (   str   )   -   \u7528\u4e8e \u5199\u5165 \u8bb0\u5f55 \u6570\u636e \u7684 \u6587\u4ef6 \u7684 \u540d\u79f0 \u3002 \u4e00\u4e2a \u7b80\u5355 \u7684 \u540d\u79f0 \u4f1a \u5c06 \u5f55\u5236 \u4fdd\u5b58 \u5728 \u201c CarlaUE4 / Saved / recording . log \u201d \u4e2d \u3002 \u5426\u5219 \uff0c \u5982\u679c \u540d\u79f0 \u4e2d \u51fa\u73b0 \u67d0\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5219 \u4f1a \u5c06 \u5176 \u89c6\u4e3a \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84 \u3002   additional _ data   (   bool   )   -   \u542f\u7528 \u6216 \u7981\u7528 \u8bb0\u5f55 \u7528\u4e8e \u518d\u73b0 \u4eff\u771f \u7684 \u5fc5\u8981 \u975e\u5fc5\u8981 \u6570\u636e \uff08 \u8fb9\u754c \u6846 \u4f4d\u7f6e \u3001 \u7269\u7406 \u63a7\u5236 \u53c2\u6570 \u63a7\u5236\u53c2\u6570 \u7b49 \uff09 \u3002   stop _ recorder   (   self   )   \u505c\u6b62 \u6b63\u5728 \u8fdb\u884c \u7684 \u5f55\u5236 \u3002 \u5982\u679c \u60a8 \u5728 \u6587\u4ef6 \u6587\u4ef6\u540d \u4e2d \u6307\u5b9a \u4e86 \u4e00\u4e2a \u8def\u5f84 \uff0c \u5219 \u5f55\u5236 \u6587\u4ef6 \u5c06 \u5728 \u90a3\u91cc \u3002 \u5982\u679c \u6ca1\u6709 \uff0c \u8bf7 \u67e5\u770b   CarlaUE4 / Saved /   \u5185\u90e8 \u3002   stop _ replayer   (   self   ,   keep _ actors   )   \u505c\u6b62 \u5f53\u524d \u91cd\u64ad \u3002   \u53c2\u6570 \uff1a   keep _ actors   (   bool   )   -   \u5982\u679c \u4f60 \u60f3 \u81ea\u52a8 \u5220\u9664 \u91cd\u64ad \u4e2d \u7684 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5219 \u4e3a   True \uff0c \u5982\u679c \u4f60 \u60f3 \u4fdd\u7559 \u4ed6\u4eec \uff0c \u5219 \u4e3a   False \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_33","text":"get _ available _ maps   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0a \u53ef\u7528 \u6620\u5c04 \u7684 \u8def\u5f84 \u3002 \u8fd9\u4e9b \u8def\u5f84 \u662f \u52a8\u6001 \u7684 \uff0c \u5b83\u4eec \u5c06 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u521b\u5efa \uff0c \u56e0\u6b64 \u5728 \u6587\u4ef6 \u4e2d \u67e5\u627e \u65f6 \u627e \u4e0d\u5230 \u5b83\u4eec \u3002 \u6b64 \u65b9\u6cd5 \u53ef\u80fd \u7684 \u8fd4\u56de \u7ed3\u679c \u4e4b\u4e00 \u662f \uff1a   [ ' / Game / Carla / Maps / Town01 ' ,   ' / Game / Carla / Maps / Town02 ' ,   ' / Game / Carla / Maps / Town03 ' ,   ' / Game / Carla / Maps / Town04 ' ,   ' / Game / Carla / Maps / Town05 ' ,   ' / Game / Carla / Maps / Town06 ' ,   ' / Game / Carla / Maps / Town07 ' ] .   \u8fd4\u56de \uff1a   list ( str )   get _ client _ version   (   self   )   \u901a\u8fc7 \u5728 \u201c version . h \u201d \u6587\u4ef6 \u4e2d \u67e5\u9605 \u5ba2\u6237 \u5ba2\u6237\u7aef libcarla \u7248\u672c \uff0c \u8fd4\u56de \u8be5 \u7248\u672c \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u90fd \u53ef\u4ee5 \u4f7f\u7528 \u4e0d\u540c \u7684 libcarla \u7248\u672c \uff0c \u4f46 \u53ef\u80fd \u4f1a \u51fa\u73b0 \u4e00\u4e9b \u4e0e \u610f\u5916 \u4e0d \u517c\u5bb9 \u6709\u5173 \u7684 \u95ee\u9898 \u3002   \u8fd4\u56de \uff1a   str   get _ required _ files   (   self   ,   folder   ,   download   = True   )   \u8be2\u95ee \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5ba2\u6237 \u5ba2\u6237\u7aef \u9700\u8981 \u54ea\u4e9b \u6587\u4ef6 \u624d\u80fd \u4f7f\u7528 \u5f53\u524d \u5730\u56fe \u3002 \u5982\u679c \u6587\u4ef6 \u4e0d \u5728 \u7f13\u5b58 \u4e2d \uff0c \u5219 \u81ea\u52a8 \u4e0b\u8f7d \u6587\u4ef6 \u3002   \u53c2\u6570 \uff1a   folder   (   str   )   -   \u6307\u5b9a \u8981 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5730\u56fe \u4e0a \u67e5\u770b \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u8be5 \u53c2\u6570 \u4e3a\u7a7a \u5c06 \u9012\u5f52 \u641c\u7d22 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e2d \u7684 \u6240\u6709 \u5730\u56fe \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5982\u679c \u60a8 \u4e0d \u719f\u6089 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5730\u56fe \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784 \uff0c \u5efa\u8bae \u8fd9\u6837 \u505a \u3002   download   (   bool   )   -   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u4e0b\u8f7d \u7f13\u5b58 \u4e2d \u5c1a\u672a \u5b58\u5728 \u7684 \u6587\u4ef6 \u3002 \u7f13\u5b58 \u53ef\u4ee5 \u5728   HOME \\ carlaCache   \u6216   USERPROFILE \\ carlaCache   \u4e2d \u627e\u5230 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u3002   get _ server _ version   (   self   )   \u901a\u8fc7 \u5728   version . h   \u6587\u4ef6 \u4e2d \u67e5\u9605 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 libcarla \u7248\u672c \uff0c \u8fd4\u56de \u8be5 \u7248\u672c \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u90fd \u5e94\u8be5 \u4f7f\u7528 \u76f8\u540c \u7684 libcarla \u7248\u672c \u3002   \u8fd4\u56de \uff1a   str   get _ trafficmanager   (   self   ,   client _ connection   = 8000   )   \u8fd4\u56de \u4e0e \u6307\u5b9a \u7aef\u53e3 \u76f8\u5173 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5b9e\u4f8b \u3002 \u5982\u679c \u8be5 \u5b9e\u4f8b \u4e0d \u5b58\u5728 \uff0c \u5219 \u4f1a \u521b\u5efa \u8be5 \u5b9e\u4f8b \u3002   \u53c2\u6570 \uff1a   client _ connection   (   int   )   -   \u5c06 \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4f7f\u7528 \u7684 \u7aef\u53e3 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   8000   \u3002   \u8fd4\u56de \uff1a   carla . TrafficManager   get _ world   (   self   )   \u8fd4\u56de \u4eff\u771f \u4e2d \u5f53\u524d \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u7684 \u4e16\u754c \u5bf9\u8c61 \u3002 \u8be5 \u4e16\u754c \u7a0d\u540e \u5c06 \u7528\u4e8e \u52a0\u8f7d \u5730\u56fe \u3002   \u8fd4\u56de \uff1a   carla . World","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#_34","text":"set _ files _ base _ folder   (   self   ,   path   )   \u53c2\u6570 \uff1a   path   (   str   )   -   \u8fd4\u56de \u4eff\u771f \u4e2d \u5f53\u524d \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u7684 \u4e16\u754c \u5bf9\u8c61 \u3002 \u8be5 \u4e16\u754c \u7a0d\u540e \u5c06 \u7528\u4e8e \u52a0\u8f7d \u5730\u56fe \u3002   set _ replayer _ ignore _ hero   (   self   ,   ignore _ hero   )   \u53c2\u6570 \uff1a   ignore _ hero   (   bool   )   -   \u5728 \u64ad\u653e \u5f55\u5236 \u7684 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u542f\u7528 \u6216 \u7981\u7528 \u82f1\u96c4 \u8f66\u8f86 \u7684 \u64ad\u653e \u3002   set _ replayer _ ignore _ spectator   (   self   ,   ignore _ spectator   )   \u53c2\u6570 \uff1a   ignore _ spectator   (   bool   )   -   \u786e\u5b9a \u56de\u653e \u7a0b\u5e8f \u662f\u5426 \u4f1a \u590d\u5236 \u8bb0\u5f55 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u52a8\u4f5c \u3002   set _ replayer _ time _ factor   (   self   ,   time _ factor   = 1.0   )   \u4f7f\u7528 \u65f6 \uff0c \u4f1a \u968f\u610f \u4fee\u6539 \u91cd\u65b0 \u4eff\u771f \u7684 \u65f6\u95f4 \u901f\u5ea6 \u3002 \u5f53 \u64ad\u653e \u65f6 \uff0c \u5b83 \u53ef\u4ee5 \u4f7f\u7528 \u591a\u6b21 \u3002   \u53c2\u6570 \uff1a   time _ factor   (   float   )   -   1.0 \u8868\u793a \u6b63\u5e38 \u65f6\u95f4 \u901f\u5ea6 \u3002 \u5927\u4e8e 1.0 \u8868\u793a \u5feb\u901f \u8fd0\u52a8 \uff08 2.0 \u8868\u793a \u53cc\u500d \u901f\u5ea6 \uff09 \uff0c \u5c0f\u4e8e 1.0 \u8868\u793a \u6162\u901f \u8fd0\u52a8 \uff08 0.5 \u8868\u793a \u4e00\u534a \u901f\u5ea6 \uff09 \u3002   set _ timeout   (   self   ,   seconds   )   \u8bbe\u7f6e \u5728 \u963b\u6b62 \u7f51\u7edc \u8c03\u7528 \u5e76 \u5f15\u53d1 \u8d85\u65f6 \u8d85\u65f6 \u9519\u8bef \u4e4b\u524d \u5141\u8bb8 \u7f51\u7edc \u8c03\u7528 \u7684 \u6700\u957f \u65f6\u95f4 \u3002   \u53c2\u6570 \uff1a   seconds   (   float   -   seconds   )   -   \u65b0 \u7684 \u8d85 \u65f6\u503c \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a 5 \u79d2 \u3002","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#carlacollisionevent","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u4e3a   sensor . other . collision   \u5b9a\u4e49 \u78b0\u649e \u6570\u636e \u7684 \u7c7b \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e3a \u68c0\u6d4b \u5230 \u7684 \u6bcf\u4e2a \u78b0\u649e \u521b\u5efa \u4e00\u4e2a \u78b0\u649e \u6570\u636e \u3002 \u6bcf\u4e2a \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6bcf\u5e27 \u6bcf\u4e2a \u78b0\u649e \u4ea7\u751f \u4e00\u4e2a \u78b0\u649e \u4e8b\u4ef6 \u3002 \u901a\u8fc7 \u4e0e \u591a\u4e2a \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u78b0\u649e \uff0c \u53ef\u4ee5 \u5728 \u5355\u4e2a \u5e27 \u4e2d \u4ea7\u751f \u591a\u4e2a \u78b0\u649e \u4e8b\u4ef6 \u3002 \u70b9\u51fb   \u6b64\u5904   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002","title":"carla . CollisionEvent"},{"location":"python_api/#_35","text":"actor   (   carla . Actor   )   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fde\u63a5 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4e5f \u5c31\u662f \u6d4b\u91cf \u78b0\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   other _ actor   (   carla . Actor   )   \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u53c2\u4e0e \u78b0\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   normal _ impulse   (   carla . Vector3D   -   N * s   )   \u78b0\u649e \u4ea7\u751f \u7684 \u6b63\u5e38 \u51b2\u91cf \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlacolor","text":"\u5b9a\u4e49 32 \u4f4d RGBA \u989c\u8272 \u7684 \u7c7b \u3002","title":"carla . Color"},{"location":"python_api/#_36","text":"r   (   int   )   \u7ea2\u8272   ( 0 - 255 ) \u3002   g   (   int   )   \u7eff\u8272   ( 0 - 255 ) \u3002   b   (   int   )   \u84dd\u8272   ( 0 - 255 ) \u3002   a   (   int   )   Alpha   \u901a\u9053   ( 0 - 255 ) \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_37","text":"__ init __   (   self   ,   r   = 0   ,   g   = 0   ,   b   = 0   ,   a   = 255   )   \u521d\u59cb \u521d\u59cb\u5316 \u989c\u8272 \uff0c \u9ed8\u8ba4 \u4e3a \u9ed1\u8272 \u3002   \u53c2\u6570 \uff1a   r   (   int   )   g   (   int   )   b   (   int   )   a   (   int   )","title":"\u65b9\u6cd5"},{"location":"python_api/#dunder_4","text":"__ eq __   (   self   ,   other   =   carla . Color   )   __ ne __   (   self   ,   other   =   carla . Color   )   __ str __   (   self   )","title":"Dunder   \u65b9\u6cd5"},{"location":"python_api/#carlacolorconverter","text":"\u5b9a\u4e49 \u53ef \u5e94\u7528 \u4e8e   carla . Image   \u7684 \u8f6c\u6362 \u6a21\u5f0f \u7684 \u7c7b \uff0c \u4ee5 \u663e\u793a   carla . Sensor   \u63d0\u4f9b \u7684 \u4fe1\u606f \u3002 \u6df1\u5ea6 \u8f6c\u6362 \u4f1a \u5bfc\u81f4 \u7cbe\u5ea6 \u635f\u5931 \uff0c \u56e0\u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u6df1\u5ea6 \u68c0\u6d4b \u4e3a \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \uff0c \u7136\u540e \u5c06 \u5176 \u8f6c\u6362 \u4e3a   0   \u5230   255   \u4e4b\u95f4 \u7684 \u7070\u5ea6 \u503c \u3002 \u67e5\u770b   carla . Sensor . listen   \u4e2d \u7684 \u7247\u6bb5 \uff0c \u4e86\u89e3 \u5982\u4f55 \u521b\u5efa \u548c \u4fdd\u5b58 \u56fe\u50cf \u7684 \u793a\u4f8b   sensor . camera . semantic _ segmentation   \u7684 \u6570\u636e \u3002","title":"carla . ColorConverter"},{"location":"python_api/#_38","text":"CityScapesPalette   \u4f7f\u7528 \u84dd \u56fe\u5e93 \u63d0\u4f9b \u7684 \u6807\u7b7e \u5c06 \u56fe\u50cf \u8f6c\u6362 \u4e3a \u5206\u6bb5 \u5730\u56fe \u3002 \u7531   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u4f7f\u7528 \u3002   Depth   \u5c06 \u56fe\u50cf \u8f6c\u6362 \u4e3a \u7ebf\u6027 \u6df1\u5ea6 \u6df1\u5ea6\u56fe \u3002 \u7531   \u6df1\u5ea6 \u76f8\u673a   \u4f7f\u7528 \u3002   LogarithmicDepth   \u4f7f\u7528 \u5bf9\u6570 \u523b\u5ea6 \u5c06 \u56fe\u50cf \u8f6c\u6362 \u4e3a \u6df1\u5ea6 \u6df1\u5ea6\u56fe \uff0c \u4ece\u800c \u5728 \u5c0f \u8ddd\u79bb \u4e0a \u83b7\u5f97 \u66f4\u597d \u7684 \u7cbe\u5ea6 \uff0c \u4f46 \u5728 \u8ddd\u79bb \u8f83 \u8fdc \u65f6\u4f1a \u4e22\u5931 \u7cbe\u5ea6 \u3002   Raw   \u672a \u5bf9 \u56fe\u50cf \u5e94\u7528 \u4efb\u4f55 \u66f4\u6539 \u3002 \u7531   RGB   \u76f8\u673a   \u4f7f\u7528 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlacustomv2xdata","text":"\u7ee7\u627f \u81ea   carla . SensorData   \u8fd9\u662f \u5b9a\u4e49 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 V2X \u6d88\u606f \u7684 \u6570\u636e \u7c7b\u578b \u6570\u636e\u7c7b\u578b \u3002 \u4f5c\u4e3a   CustomV2XEvent   \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u63a5\u6536 \u3002","title":"carla . CustomV2XData"},{"location":"python_api/#_39","text":"power   (   float   -   \u6beb\u74e6 \u5206\u8d1d   dBm   )   \u63a5\u6536 \u529f\u7387 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_40","text":"get   (   self   )   \u83b7\u53d6 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d88\u606f \u3002 \u8fd4\u56de \u5305\u542b \u6d88\u606f \u7684 \u5d4c\u5957 \u5b57\u5178 \u3002 \u5b83 \u6709 \u4e24\u4e2a \u4e3b\u952e \uff1a   -   Header   :   dict   -   Message   :   str .   \u8fd4\u56de \uff1a   dict","title":"\u65b9\u6cd5"},{"location":"python_api/#_41","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlacustomv2xevent","text":"\u7ee7\u627f \u81ea   carla . SensorData   \u5b9a\u4e49   sensor . other . v2x _ custom   \u63d0\u4f9b \u7684 \u6570\u636e \u7684 \u7c7b \u3002 \u8fd9\u662f \u4e00\u79cd \u96c6\u5408 \u7c7b\u578b \uff0c \u7528\u4e8e \u7ec4\u5408 \u8fd4\u56de \u591a\u4e2a   CustomV2XData   \u3002","title":"carla . CustomV2XEvent"},{"location":"python_api/#_42","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_43","text":"get _ message _ count   (   self   )   \u83b7\u53d6 \u63a5\u53d7 \u5230 \u7684   CAM   \u6570\u91cf \u3002   \u8fd4\u56de \uff1a   int","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#_44","text":"__ get _ item __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728 \u83b7\u53d6 \u7684   CustomV2XData   \u6570\u636e \u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carladvsevent","text":"\u5b9a\u4e49   DVS   \u4e8b\u4ef6 \u7684 \u7c7b \u3002 \u4e8b\u4ef6 \u662f \u4e00\u4e2a \u56db\u5143 \u5143\u7ec4 \u56db\u5143\u7ec4 \uff0c \u56e0\u6b64 \u662f \u4e00\u4e2a \u7531   4   \u4e2a \u5143\u7d20 \u7ec4\u6210 \u7684 \u5143\u7ec4 \uff0c \u5176\u4e2d   x   \u3001 \u50cf\u7d20   y   \u5750\u6807 \u4f4d\u7f6e \u3001 \u65f6\u95f4 \u6233   t   \u548c \u4e8b\u4ef6 \u6781\u6027   pol   \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u5173\u4e8e \u5b83\u4eec \u7684 \u4fe1\u606f \u3002","title":"carla . DVSEvent"},{"location":"python_api/#_45","text":"x   (   int   )   X   \u50cf\u7d20 \u5750\u6807 \u3002   y   (   int   )   Y   \u50cf\u7d20 \u5750\u6807 \u3002   t   (   int   )   \u4e8b\u4ef6 \u53d1\u751f \u65f6\u523b \u7684 \u65f6\u95f4 \u6233 \u3002   pol   (   bool   )   \u4e8b\u4ef6 \u7684 \u6781\u6027 \u3002   True   \u8868\u793a \u6b63\u6570 \uff0c   False   \u8868\u793a \u8d1f\u6570 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_46","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#dunder_5","text":"__ str __   (   self   )","title":"Dunder   \u65b9\u6cd5"},{"location":"python_api/#carladvseventarray","text":"\u5728   carla . DVSEvent   \u4e2d \u5b9a\u4e49 \u4e8b\u4ef6 \u6d41 \u7684 \u7c7b \u3002 \u6b64\u7c7b \u6d41\u662f \u4efb\u610f \u5927\u5c0f \u7684 \u6570\u7ec4 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4e8b\u4ef6 \u7684 \u6570\u91cf \u3002 \u4e3a\u4e86 \u65b9\u4fbf \u8d77 \u89c1 \uff0c \u8be5\u7c7b \u8fd8 \u5b58\u50a8 \u89c6\u91ce \u3001 \u56fe\u50cf \u7684 \u9ad8\u5ea6 \u548c \u5bbd\u5ea6 \u4ee5\u53ca \u65f6\u95f4 \u6233 \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u5173\u4e8e \u5b83\u4eec \u7684 \u4fe1\u606f \u3002","title":"carla . DVSEventArray"},{"location":"python_api/#_47","text":"fov   (   float   -   \u5ea6   )   \u56fe\u50cf \u7684 \u6c34\u5e73 \u89c6\u91ce \u3002   height   (   int   )   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   width   (   int   )   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   (   \u5b57\u8282   )","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_48","text":"to _ array   (   self   )   \u6309 \u4ee5\u4e0b \u987a\u5e8f \u5c06 \u4e8b\u4ef6 \u6d41 \u8f6c\u6362 \u4e3a   int   \u503c \u6570\u7ec4   [ x ,   y ,   t ,   pol ]   \u3002   to _ array _ pol   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u6570\u7ec4 \uff0c \u8be5 \u6570\u7ec4 \u5177\u6709 \u6d41\u4e2d \u6240\u6709 \u4e8b\u4ef6 \u7684 \u6781\u6027 \u3002   to _ array _ t   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u6570\u7ec4 \uff0c \u5176\u4e2d \u5305\u542b \u6d41\u4e2d \u6240\u6709 \u4e8b\u4ef6 \u7684 \u65f6\u95f4 \u6233 \u3002   to _ array _ x   (   self   )   \u8fd4\u56de \u6d41\u4e2d \u6240\u6709 \u4e8b\u4ef6 \u7684 X \u50cf\u7d20 \u5750\u6807 \u7684 \u6570\u7ec4 \u3002   to _ array _ y   (   self   )   \u8fd4\u56de \u6d41\u4e2d \u6240\u6709 \u4e8b\u4ef6 \u7684 Y \u50cf\u7d20 \u5750\u6807 \u6570\u7ec4 \u3002   to _ image   (   self   )   \u6309\u7167 \u4ee5\u4e0b \u6a21\u5f0f \u8f6c\u6362 \u56fe\u50cf \uff1a \u84dd\u8272 \u8868\u793a \u6b63 \u4e8b\u4ef6 \uff0c \u7ea2\u8272 \u8868\u793a \u8d1f \u4e8b\u4ef6 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_49","text":"__ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728   carla . DVSEvent   \u4f5c\u4e3a \u68c0\u7d22 \u7684 \u6570\u636e \u4e0a \u8fed\u4ee3 \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   color   =   carla . Color   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carladebughelper","text":"carla . World   \u7684 \u8f85\u52a9 \u7c7b \u90e8\u5206 \uff0c \u5b9a\u4e49 \u521b\u5efa \u8c03\u8bd5 \u5f62\u72b6 \u7684 \u65b9\u6cd5 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5f62\u72b6 \u6301\u7eed   1   \u79d2 \u3002 \u5b83\u4eec \u53ef\u4ee5 \u662f \u6c38\u4e45 \u6c38\u4e45\u6027 \u7684 \uff0c \u4f46 \u8981 \u8003\u8651 \u5230 \u8fd9\u6837 \u505a \u6240 \u9700 \u7684 \u8d44\u6e90 \u3002 \u67e5\u770b \u6b64\u7c7b \u7684 \u53ef\u7528 \u7247\u6bb5 \uff0c \u4e86\u89e3 \u5982\u4f55 \u5728   Carla   \u4e2d \u8f7b\u677e \u8c03\u8bd5 \u3002","title":"carla . DebugHelper"},{"location":"python_api/#_50","text":"draw _ arrow   (   self   ,   begin   ,   end   ,   thickness   = 0.1   ,   arrow _ size   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u4ece \u5f00\u59cb   begin   \u5230 \u7ed3\u675f   end   \u7ed8\u5236 \u4e00\u4e2a \u6307\u5411 \u8be5 \u65b9\u5411 \u7684 \u7bad\u5934 \u3002   \u53c2\u6570 \uff1a   begin   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u5750\u6807\u7cfb \u4e2d \u7bad\u5934 \u5f00\u59cb \u7684 \u70b9 \u3002   end   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u5750\u6807\u7cfb \u4e2d \u7bad\u5934 \u7ed3\u675f \u5e76 \u6307\u5411 \u7684 \u70b9 \u3002   thickness   (   float   -   \u7c73   )   -   \u7ebf \u7684 \u5bc6\u5ea6 \u3002   arrow _ size   (   float   -   \u7c73   )   -   \u7bad\u5934 \u5c16\u7aef \u7684 \u5927\u5c0f \u3002   color   (   carla . Color   )   -   \u7528\u4e8e \u4e3a \u5bf9\u8c61 \u7740\u8272 \u7684   RGB   \u4ee3\u7801 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5c06 \u5176 \u8bbe\u7f6e   0   \u4e3a \u6c38\u4e45 \u5f62\u72b6 \u3002   draw _ box   (   self   ,   box   ,   rotation   ,   thickness   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   snippet   \u2192   \u7ed8\u5236 \u4e00\u4e2a \u6846 \uff0c \u901a\u5e38 \u7528\u4e8e \u5bf9\u8c61 \u78b0\u649e \u4f53 \u3002   \u53c2\u6570 \uff1a   box   (   carla . BoundingBox   )   -   \u5305\u542b \u6bcf\u4e2a \u8f74 \u7684 \u4f4d\u7f6e \u548c \u6846 \u957f\u5ea6 \u7684 \u5bf9\u8c61 \u3002   rotation   (   carla . Rotation   -   \u5ea6   ( pitch , yaw , roll )   )   -   \u6839\u636e \u865a\u5e7b \u5f15\u64ce \u8f74\u7cfb \u7684 \u8fb9\u754c \u6846 \u65b9\u5411 \u3002   thickness   (   float   -   \u7c73   )   -   \u5b9a\u4e49 \u8fb9\u754c \u6846 \u7684 \u7ebf \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   \u7528\u4e8e \u4e3a \u5bf9\u8c61 \u7740\u8272 \u7684   RGB   \u4ee3\u7801 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   \u79d2   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5c06 \u5176 \u8bbe\u7f6e   0   \u4e3a \u6c38\u4e45 \u5f62\u72b6 \u3002   draw _ hud _ arrow   (   self   ,   begin   ,   end   ,   thickness   = 0.1   ,   arrow _ size   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u5728 HUD \u4e0a \u4ece\u5934   begin   \u5230 \u5c3e   end   \u753b \u4e00\u4e2a \u7bad\u5934 \uff0c \u8fd9\u4e2a \u7bad\u5934 \u53ea\u80fd \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u770b\u5230 \u3002   \u53c2\u6570 \uff1a   begin   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u7cfb\u7edf \u4e2d \u7bad\u5934 \u8d77\u59cb \u7684 \u70b9 \u3002   end   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u7cfb\u7edf \u4e2d \u7bad\u5934 \u7ed3\u675f \u5e76 \u6307\u5411 \u7684 \u70b9 \u3002   thickness   (   float   -   \u7c73   )   -   \u7ebf \u7684 \u5bc6\u5ea6 \u3002   arrow _ size   (   float   -   \u7c73   )   -   \u7bad\u5c16 \u7684 \u5927\u5c0f \u3002   color   (   carla . Color   )   -   RGB \u7f16\u7801 \u4e3a \u5bf9\u8c61 \u4e0a \u8272 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5bf9\u4e8e \u6c38\u4e45 \u5f62\u72b6 \uff0c \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   0   \u3002   draw _ hud _ box   (   self   ,   box   ,   rotation   ,   thickness   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u5728   HUD   \u4e0a \u7ed8\u5236 \u4e00\u4e2a \u6846 \uff0c \u901a\u5e38 \u7528\u4e8e \u5bf9\u8c61 \u78b0\u649e \u4f53 \u3002 \u8be5\u6846 \u53ea\u80fd \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u770b\u5230 \u3002   Parameters :   box   (   carla . BoundingBox   )   -   \u5305\u542b \u6bcf\u4e2a \u8f74 \u7684 \u6846 \u7684 \u4f4d\u7f6e \u548c \u957f\u5ea6 \u7684 \u5bf9\u8c61 \u3002   rotation   (   carla . Rotation   -   degrees   ( pitch , yaw , roll )   )   -   \u6839\u636e \u865a\u5e7b \u5f15\u64ce \u7684 \u8f74 \u7cfb\u7edf \u786e\u5b9a \u8fb9\u754c \u6846 \u7684 \u65b9\u5411 \u3002   thickness   (   float   -   \u7c73   )   -   \u5b9a\u4e49 \u8fb9\u754c \u6846\u7ebf \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   RGB   \u7f16\u7801 \u4e3a \u5bf9\u8c61 \u4e0a \u8272 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5bf9\u4e8e \u6c38\u4e45 \u5f62\u72b6 \uff0c \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   0   \u3002   draw _ hud _ line   (   self   ,   begin   ,   end   ,   thickness   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u5728 HUD \u4e0a \u5f00\u59cb   begin   \u548c \u7ed3\u675f   end   \u4e4b\u95f4 \u753b \u4e00\u6761 \u4e00\u6761\u7ebf \u3002 \u8fd9\u6761 \u8fd9\u6761\u7ebf \u53ea\u80fd \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u770b\u5230 \u3002   \u53c2\u6570 \uff1a   begin   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u7cfb\u7edf \u4e2d \u76f4\u7ebf \u5f00\u59cb \u7684 \u70b9 \u3002   end   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u7cfb\u7edf \u4e2d \u76f4\u7ebf \u7ed3\u675f \u7684 \u70b9 \u3002   thickness   (   float   -   \u7c73   )   -   \u7ebf \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   RGB   \u7f16\u7801 \u4e3a \u5bf9\u8c61 \u4e0a \u8272 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   \u79d2   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5bf9\u4e8e \u6c38\u4e45 \u5f62\u72b6 \uff0c \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   0   \u3002   draw _ hud _ point   (   self   ,   location   ,   size   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u5728   HUD   \u7684 \u4f4d\u7f6e   location   \u4e0a \u7ed8\u5236 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u3002 \u8fd9\u4e2a \u70b9 \u53ea\u80fd \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u770b\u5230 \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   -   \u7c73   )   -   \u70b9 \u5728 \u5750\u6807 \u5750\u6807\u7cfb \u4e2d\u4f7f \u7269\u4f53 \u5c45\u4e2d \u3002   size   (   float   -   \u7c73   )   -   \u70b9 \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   RGB   \u7f16\u7801 \u4e3a \u5bf9\u8c61 \u4e0a \u8272 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5bf9\u4e8e \u6c38\u4e45 \u5f62\u72b6 \uff0c \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   0   \u3002   draw _ line   (   self   ,   begin   ,   end   ,   thickness   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u5728 \u5f00\u59cb   begin   \u548c \u7ed3\u675f   end   \u4e4b\u95f4 \u7ed8\u5236 \u4e00\u6761 \u4e00\u6761\u7ebf \u3002   \u53c2\u6570 \uff1a   begin   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u5750\u6807\u7cfb \u4e2d \u76f4\u7ebf \u8d77\u70b9 \u3002   end   (   carla . Location   -   \u7c73   )   -   \u5750\u6807 \u5750\u6807\u7cfb \u4e2d \u76f4\u7ebf \u7ec8\u70b9 \u3002   thickness   (   float   -   \u7c73   )   -   \u7ebf \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   \u7528\u4e8e \u4e3a \u5bf9\u8c61 \u7740\u8272 \u7684   RGB   \u4ee3\u7801 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   \u79d2   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5c06 \u5176 \u8bbe\u7f6e   0   \u4e3a \u6c38\u4e45 \u5f62\u72b6 \u3002   draw _ point   (   self   ,   location   ,   size   = 0.1   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   \u7ed8\u5236 \u4e00\u4e2a \u4e00\u4e2a\u70b9   location   \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   -   \u7c73   )   -   \u5728 \u5750\u6807 \u5750\u6807\u7cfb \u4e2d\u70b9 \u4ee5 \u5c06 \u5bf9\u8c61 \u5c45\u4e2d \u3002   size   (   float   -   \u7c73   )   -   \u70b9 \u7684 \u5bc6\u5ea6 \u3002   color   (   carla . Color   )   -   \u7528\u4e8e \u4e3a \u5bf9\u8c61 \u7740\u8272 \u7684   RGB   \u4ee3\u7801 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5c06 \u5176 \u8bbe\u7f6e   0   \u4e3a \u6c38\u4e45 \u5f62\u72b6 \u3002   draw _ string   (   self   ,   location   ,   text   ,   draw _ shadow   = False   ,   color   = ( 255 , 0 , 0 )   ,   life _ time   = - 1.0   )   snippet   \u2192   \u5728 \u4eff\u771f \u7684 \u7ed9\u5b9a \u4f4d\u7f6e \u7ed8\u5236 \u4e00\u4e2a \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u8be5 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u53ea\u80fd \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u770b\u5230 \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   -   \u7c73   )   -   \u4eff\u771f \u4e2d \u6587\u672c \u5c45\u4e2d \u7684 \u4f4d\u7f6e \u3002   text   (   str   )   -   \u65e8\u5728 \u5411 \u4e16\u754c \u5c55\u793a \u7684 \u6587\u672c \u3002   draw _ shadow   (   bool   )   -   \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u6295\u5c04 \u9634\u5f71 \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u662f \u7981\u7528 \u7684 \u3002   color   (   carla . Color   )   -   \u7528\u4e8e \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7740\u8272 \u7684   RGB   \u4ee3\u7801 \u3002 \u9ed8\u8ba4 \u4e3a \u7ea2\u8272 \u3002   life _ time   (   float   -   seconds   )   -   \u5f62\u72b6 \u7684 \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5b83 \u53ea \u6301\u7eed \u4e00\u5e27 \u3002 \u5c06 \u5176 \u8bbe\u7f6e   0   \u4e3a \u6c38\u4e45 \u5f62\u72b6 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#carlaenvironmentobject","text":"\u8868\u793a \u5173\u5361 \u4e2d \u7684 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u7684 \u7c7b \uff0c \u8be5 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u53ef\u4ee5 \u662f \u4e0e \u5176\u4ed6 \u73af\u5883 \u5bf9\u8c61 \uff08 \u5373 \uff1a \u5efa\u7b51 \u5efa\u7b51\u7269 \uff09 \u5f62\u6210 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002","title":"carla . EnvironmentObject"},{"location":"python_api/#_51","text":"transform   (   carla . Transform   )   \u5305\u542b \u73af\u5883 \u5bf9\u8c61 \u5728 \u4e16\u754c \u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002   bounding _ box   (   carla . BoundingBox   )   \u5305\u542b \u4e16\u754c \u7a7a\u95f4 \u4e2d \u6bcf\u4e2a \u8f74 \u7684 \u4f4d\u7f6e \u3001 \u65cb\u8f6c \u548c \u8fb9\u754c \u6846 \u957f\u5ea6 \u7684 \u5bf9\u8c61 \u3002   id   (   int   )   \u7528\u4e8e \u6807\u8bc6 \u5173\u5361 \u4e2d \u5bf9\u8c61 \u7684 \u552f\u4e00   ID \u3002   name   (   string   )   \u73af\u5883 \u5bf9\u8c61   EnvironmentObject   \u7684 \u540d\u79f0 \u3002   type   (   carla . CityObjectLabel   )   Semantic   tag .","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_52","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#dunder_6","text":"__ str __   (   self   )   \u5c06 \u73af\u5883 \u5bf9\u8c61 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5e76 \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u4e2d \u663e\u793a \u5b83\u4eec \u3002   \u8fd4\u56de \uff1a   str","title":"Dunder   \u65b9\u6cd5"},{"location":"python_api/#carlafloatcolor","text":"\u5b9a\u4e49 \u6d6e\u70b9   RGBA   \u989c\u8272 \u7684 \u7c7b \u3002","title":"carla . FloatColor"},{"location":"python_api/#_53","text":"r   (   float   )   \u7ea2\u8272 \u3002   g   (   float   )   \u7eff\u8272 \u3002   b   (   float   )   \u84dd\u8272 \u3002   a   (   float   )   Alpha   \u901a\u9053 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_54","text":"__ init __   (   self   ,   r   = 0   ,   g   = 0   ,   b   = 0   ,   a   = 1.0   )   \u521d\u59cb \u521d\u59cb\u5316 \u989c\u8272 \uff0c \u9ed8\u8ba4 \u4e3a \u9ed1\u8272 \u3002   \u53c2\u6570 \uff1a   r   (   float   )   g   (   float   )   b   (   float   )   a   (   float   )","title":"\u65b9\u6cd5"},{"location":"python_api/#dunder_7","text":"__ eq __   (   self   ,   other   =   carla . FloatColor   )   __ ne __   (   self   ,   other   =   carla . FloatColor   )","title":"Dunder   \u65b9\u6cd5"},{"location":"python_api/#carlagbuffertextureid","text":"\u5b9a\u4e49 \u6bcf\u4e2a GBuffer \u7eb9\u7406   ( \u53c2\u89c1 \u65b9\u6cd5   [ carla . Sensor . listen _ to _ gbuffer ] ( # carla . Sensor . listen _ to _ gbuffer )   ) \u3002","title":"carla . GBufferTextureID"},{"location":"python_api/#_55","text":"SceneColor   \u7eb9\u7406 \u201c SceneColor \u201d \u5305\u542b \u56fe\u50cf \u7684 \u6700\u7ec8 \u989c\u8272 \u3002   SceneDepth   \u7eb9\u7406 \u201c SceneDepth \u201d \u5305\u542b \u6df1\u5ea6 \u7f13\u51b2 \u7f13\u51b2\u533a   -   \u4ee5 \u4e16\u754c \u5355\u4f4d \u4e3a \u7ebf\u6027 \u3002   SceneStencil   \u7eb9\u7406 \u201c SceneStencil \u201d \u5305\u542b \u6a21\u677f \u7f13\u51b2 \u7f13\u51b2\u533a \u3002   GBufferA   \u7eb9\u7406 \u201c GBufferA \u201d \u5305\u542b   RGB   \u901a\u9053 \u4e2d \u7684 \u4e16\u754c \u7a7a\u95f4 \u6cd5\u7ebf \u5411\u91cf \u3002 Alpha   \u901a\u9053 \u5305\u542b \u201c \u6bcf\u4e2a \u5bf9\u8c61 \u7684 \u6570\u636e \u201d \u3002   GBufferB   \u7eb9\u7406 \u201c GBufferB \u201d \u5206\u522b \u5305\u542b   RGB   \u901a\u9053 \u4e2d \u7684 \u91d1\u5c5e \u3001 \u955c\u9762 \u548c \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u3002 Alpha   \u901a\u9053 \u5305\u542b \u4e00\u4e2a \u63a9\u7801 \uff0c \u5176\u4e2d \u4f4e   4   \u4f4d \u8868\u793a \u7740\u8272 \u6a21\u578b \uff0c \u9ad8   4   \u4f4d \u5305\u542b \u9009\u62e9 \u9009\u62e9\u6027 \u8f93\u51fa \u63a9\u7801 \u3002   GBufferC   \u7eb9\u7406 \u201c GBufferC \u201d \u5305\u542b   RGB   \u901a\u9053 \u4e2d \u7684 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u989c\u8272 \uff0c \u4ee5\u53ca   Alpha   \u901a\u9053 \u4e2d \u7684 \u95f4\u63a5 \u8f90\u7167 \u7167\u5ea6 \u8f90\u7167\u5ea6 \u3002   \u5982\u679c \u4e0d \u5141\u8bb8 \u9759\u6001 \u95ea\u7535 \uff0c Alpha   \u901a\u9053 \u5c06 \u5305\u542b \u73af\u5883 \u73af\u5883\u5149 \u906e\u6321 \u3002   GBufferD   \u201c GBufferD \u201d \u7684 \u5185\u5bb9 \u6839\u636e \u6e32\u67d3 \u5bf9\u8c61 \u7684 \u6750\u8d28 \u7740\u8272 \u6a21\u578b   ( GBufferB )   \u7684 \u4e0d\u540c \u800c \u6709\u6240 \u4e0d\u540c \u6709\u6240\u4e0d\u540c \uff1a   MSM _ Subsurface   ( 2 ) ,   MSM _ PreintegratedSkin   ( 3 ) ,   MSM _ TwoSidedFoliage   ( 6 ) :   RGB :   \u6b21 \u8868\u9762 \u989c\u8272 \u3002   A :   \u4e0d \u900f\u660e \u660e\u5ea6 \u900f\u660e\u5ea6 \u3002   MSM _ ClearCoat   ( 4 ) :   R :   \u900f\u660e \u6d82\u5c42 \u3002   G :   \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u3002   MSM _ SubsurfaceProfile   ( 5 ) :   RGB :   \u6b21 \u8868\u9762 \u8f6e\u5ed3 \u3002   MSM _ Hair   ( 7 ) :   RG :   \u4e16\u754c \u6cd5\u7ebf \u3002   B :   \u80cc\u5149 \u503c \u3002   MSM _ Cloth   ( 8 ) :   RGB :   \u6b21 \u8868\u9762 \u989c\u8272 \u3002   A :   Cloth   value .   MSM _ Eye   ( 9 ) :   RG :   \u773c \u5207\u7ebf \u3002   B :   \u8679\u819c \u63a9\u6a21 \u3002   A :   \u8679\u819c \u8ddd\u79bb \u3002   GBufferE   \u7eb9\u7406 \u201c GBufferE \u201d \u5305\u542b   RGBA   \u901a\u9053 \u4e2d \u9884\u5148 \u8ba1\u7b97 \u7684 \u9634\u5f71 \u56e0\u5b50 \u3002 \u5982\u679c \u9009\u62e9 \u9009\u62e9\u6027 \u8f93\u51fa \u63a9\u7801   ( GBufferB )   \u6ca1\u6709 \u8bbe\u7f6e \u5176 \u7b2c   4   \u4f4d \uff0c \u5219 \u6b64 \u7eb9\u7406 \u4e0d\u53ef \u7528 \u3002   GBufferF   \u7eb9\u7406 \u201c GBufferF \u201d \u5305\u542b   RGB   \u901a\u9053 \u4e2d \u7684 \u4e16\u754c \u7a7a\u95f4 \u5207\u7ebf \u548c   Alpha   \u901a\u9053 \u4e2d \u7684 \u5f02\u6027 \u5404\u5411\u5f02\u6027 \u3002 \u5982\u679c \u9009\u62e9 \u9009\u62e9\u6027 \u8f93\u51fa \u63a9\u7801   ( GBufferB )   \u6ca1\u6709 \u8bbe\u7f6e \u5176 \u7b2c   5   \u4f4d \uff0c \u5219 \u6b64 \u7eb9\u7406 \u4e0d\u53ef \u7528 \u3002   Velocity   \u7eb9\u7406 \u201c \u901f\u5ea6 \u201d \u5305\u542b \u573a\u666f \u5bf9\u8c61 \u7684 \u5c4f\u5e55 \u7a7a\u95f4 \u901f\u5ea6 \u3002   SSAO   \u7eb9\u7406 \u201c SSAO \u201d \u5305\u542b \u5c4f\u5e55 \u7a7a\u95f4 \u73af\u5883 \u73af\u5883\u5149 \u906e\u6321 \u7eb9\u7406 \u3002   CustomDepth   \u7eb9\u7406 \u201c CustomDepth \u201d \u5305\u542b \u865a\u5e7b \u5f15\u64ce \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6df1\u5ea6 \u6570\u636e \u3002   CustomStencil   \u7eb9\u7406 \u201c CustomStencil \u201d \u5305\u542b \u865a\u5e7b \u5f15\u64ce \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6a21\u677f \u6570\u636e \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlagearphysicscontrol","text":"\u901a\u8fc7 \u5b9a\u4e49 \u6863\u4f4d \u4ee5\u53ca \u4f55\u65f6 \u8fd0\u884c \u8be5 \u6863\u4f4d \u6765 \u63d0\u4f9b \u5bf9 \u8f66\u8f86 \u53d8\u901f \u53d8\u901f\u7bb1 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u7684 \u8bbf\u95ee \u7684 \u7c7b \u3002   carla . VehiclePhysicsControl   \u7a0d\u540e \u5c06 \u4f7f\u7528 \u5b83 \u6765 \u5e2e\u52a9 \u4eff\u771f \u7269\u7406 \u3002","title":"carla . GearPhysicsControl"},{"location":"python_api/#_56","text":"ratio   (   float   )   \u9f7f\u8f6e \u7684 \u4f20\u52a8 \u4f20\u52a8\u6bd4 \u3002   down _ ratio   (   float   )   \u5f53\u524d   RPM   \u4e0e \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u5e94\u964d \u6863 \u7684   MaxRPM   \u4e4b\u95f4 \u7684 \u5546 \u3002   up _ ratio   (   float   )   \u5f53\u524d   RPM   \u4e0e \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u5e94 \u5347\u6863 \u7684   MaxRPM   \u4e4b\u95f4 \u7684 \u5546 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_57","text":"__ init __   (   self   ,   ratio   = 1.0   ,   down _ ratio   = 0.5   ,   up _ ratio   = 0.65   )   \u53c2\u6570 \uff1a   ratio   (   float   )   down _ ratio   (   float   )   up _ ratio   (   float   )","title":"\u65b9\u6cd5"},{"location":"python_api/#dunder_8","text":"__ eq __   (   self   ,   other   =   carla . GearPhysicsControl   )   __ ne __   (   self   ,   other   =   carla . GearPhysicsControl   )   __ str __   (   self   )","title":"Dunder   \u65b9\u6cd5"},{"location":"python_api/#carlageolocation","text":"\u5305\u542b \u5730\u7406 \u5750\u6807 \u5730\u7406\u5750\u6807 \u4eff\u771f \u6570\u636e \u7684 \u7c7b \u3002   carla . Map   \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u65b9\u6cd5 \u8f6c\u6362 \u4eff\u771f \u4f4d\u7f6e   OpenDRIVE   \u6587\u4ef6 \u4e2d \u7684   \u6807\u8bb0 \u3002","title":"carla . GeoLocation"},{"location":"python_api/#_58","text":"latitude   (   float   -   \u5ea6   )   \u5730\u56fe \u4e0a \u67d0\u4e2a \u70b9 \u7684 \u5317 / \u5357\u503c \u3002   longitude   (   float   -   \u5ea6   )   \u5730\u56fe \u4e0a \u67d0\u4e2a \u70b9 \u7684 \u897f / \u4e1c\u503c \u3002   altitude   (   float   -   \u7c73   )   \u76f8\u5bf9 \u4e8e \u5730\u9762 \u7684 \u9ad8\u5ea6 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_59","text":"__ init __   (   self   ,   latitude   = 0.0   ,   longitude   = 0.0   ,   altitude   = 0.0   )   \u53c2\u6570 \uff1a   latitude   (   float   -   \u5ea6   )   longitude   (   float   -   \u5ea6   )   altitude   (   float   -   \u7c73   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_60","text":"__ eq __   (   self   ,   other   =   carla . GeoLocation   )   __ ne __   (   self   ,   other   =   carla . GeoLocation   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlagnssmeasurement","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49 \u7531   sensor . other . gnss   \u6ce8\u518c \u7684 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u6570\u636e \u7684 \u7c7b \u3002 \u5b83 \u672c\u8d28 \u4e0a \u662f \u901a\u8fc7 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4f4d\u7f6e \u548c   OpenDRIVE   \u5730\u7406 \u53c2\u8003 \u6765 \u62a5\u544a \u5176 \u4f4d\u7f6e \u3002","title":"carla . GnssMeasurement"},{"location":"python_api/#_61","text":"altitude   (   float   -   \u7c73   )   \u76f8\u5bf9 \u4e8e \u5730\u9762 \u7684 \u9ad8\u5ea6 \u3002   latitude   (   float   -   \u5ea6   )   \u5730\u56fe \u4e0a \u67d0\u4e2a \u70b9 \u7684 \u5317 / \u5357\u503c \u3002   longitude   (   float   -   \u5ea6   )   \u5730\u56fe \u4e0a \u67d0\u4e2a \u70b9 \u7684 \u897f / \u4e1c\u503c \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_62","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_63","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaimumeasurement","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49 \u7531   sensor . other . imu   \u6ce8\u518c \u7684 \u6570\u636e \u7c7b \uff0c \u6d89\u53ca \u6839\u636e \u5f53\u524d   carla . World   \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f6c\u6362 \u3002 \u5b83 \u672c\u8d28 \u4e0a \u5145\u5f53 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \u3001 \u9640\u87ba \u9640\u87ba\u4eea \u548c \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \u3002","title":"carla . IMUMeasurement"},{"location":"python_api/#_64","text":"accelerometer   (   carla . Vector3D   -   m / s   2   )   \u7ebf\u6027 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   compass   (   float   -   \u5f27\u5ea6   )   \u76f8\u5bf9 \u4e8e \u5317\u65b9 \u7684 \u65b9\u5411 \uff08 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d\u4e3a   [ 0.0 ,   - 1.0 ,   0.0 ] \uff09 \u3002   gyroscope   (   carla . Vector3D   -   \u5f27\u5ea6 / \u79d2   )   \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_65","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_66","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaimage","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49   32   \u4f4d   BGRA   \u989c\u8272 \u56fe\u50cf \u7684 \u7c7b \uff0c \u8be5 \u56fe\u50cf \u5c06 \u7528\u4f5c \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u7d22 \u7684 \u521d\u59cb \u6570\u636e \u3002 \u6709 \u4e0d\u540c \u7684 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u76ee\u524d \u6709 \u4e09\u79cd \uff0c RGB \u3001 \u6df1\u5ea6 \u548c \u8bed\u4e49 \u5206\u5272 \uff09 \uff0c \u6bcf\u79cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5bf9 \u56fe\u50cf \u90fd \u6709 \u4e0d\u540c \u7684 \u7528\u9014 \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u5173\u4e8e \u5b83\u4eec \u7684 \u4fe1\u606f \u3002","title":"carla . Image"},{"location":"python_api/#_67","text":"fov   (   float   -   \u5ea6   )   \u56fe\u50cf \u7684 \u6c34\u5e73 \u89c6\u91ce \u3002   height   (   int   )   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   width   (   int   )   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   (   bytes   )   \u50cf\u7d20 \u6570\u636e \u7684 \u6241\u5e73 \u6570\u7ec4 \uff0c \u4f7f\u7528   reshape   \u521b\u5efa \u56fe\u50cf \u6570\u7ec4 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_68","text":"convert   (   self   ,   color _ converter   )   \u6309\u7167   color _ converter   \u6a21\u5f0f \u8f6c\u6362 \u56fe\u50cf \u3002   \u53c2\u6570 \uff1a   color _ converter   (   carla . ColorConverter   )   save _ to _ disk   (   self   ,   path   ,   color _ converter   = Raw   )   \u4f7f\u7528 \u5982\u4e0b \u6240\u793a \u7684 \u8f6c\u6362 \u8f6c\u6362\u5668 \u6a21\u5f0f   color _ converter   \u5c06 \u56fe\u50cf \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002 \u9ed8\u8ba4 \u8f6c\u6362 \u6a21\u5f0f \u662f   Raw   \uff0c \u4e0d\u4f1a \u5bf9 \u56fe\u50cf \u8fdb\u884c \u4efb\u4f55 \u66f4\u6539 \u3002   \u53c2\u6570 \uff1a   path   (   str   )   -   \u5c06 \u5305\u542b \u56fe\u50cf \u7684 \u8def\u5f84 \u3002   color _ converter   (   carla . ColorConverter   )   -   \u9ed8\u8ba4   Raw   \u4e0d\u4f1a \u8fdb\u884c \u4efb\u4f55 \u66f4\u6539 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_69","text":"__ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728 \u5f62\u6210 \u56fe\u50cf \u7684   carla . Color   \u4e0a\u9762 \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   color   =   carla . Color   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlajunction","text":"\u6839\u636e   OpenDRIVE   1.4   \u6807\u51c6 \uff0c \u4f53\u73b0   OpenDRIVE   \u6587\u4ef6 \u4e2d \u63cf\u8ff0 \u7684 \u9053\u8def \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u7684 \u7c7b \u3002","title":"carla . Junction"},{"location":"python_api/#_70","text":"id   (   int   )   OpenDRIVE   \u6587\u4ef6 \u4e2d \u627e\u5230 \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   bounding _ box   (   carla . BoundingBox   )   \u5c01\u88c5 \u8fde\u63a5 \u8f66\u9053 \u7684 \u8fb9\u754c \u6846 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_71","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_72","text":"get _ waypoints   (   self   ,   lane _ type   )   \u8fd4\u56de \u8def\u5f84 \u70b9 \u5bf9 \u7684 \u5217\u8868 \u3002 \u5217\u8868 \u4e2d \u7684 \u6bcf\u4e2a \u5143\u7ec4 \u9996\u5148 \u5305\u542b \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u8fb9\u754c \u5185 \u7684 \u521d\u59cb \u8def\u5f84 \u70b9 \uff0c \u7136\u540e \u5305\u542b \u6700\u7ec8 \u8def\u5f84 \u70b9 \uff0c \u63cf\u8ff0 \u6cbf \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u7684 \u6240\u8ff0 \u8f66\u9053 \u7684 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u3002 \u8f66\u9053 \u9075\u5faa \u5176   OpenDRIVE   \u5b9a\u4e49 \uff0c \u56e0\u6b64 \u7531\u4e8e \u53ef\u80fd \u7684 \u504f\u5dee \uff0c \u53ef\u80fd \u6709 \u8bb8\u591a \u4e0d\u540c \u7684 \u5143\u7ec4 \u5177\u6709 \u76f8\u540c \u7684 \u8d77\u59cb \u8def\u5f84 \u70b9 \uff0c \u56e0\u4e3a \u8fd9 \u88ab \u89c6\u4e3a \u4e0d\u540c \u7684 \u8f66\u9053 \u3002   \u53c2\u6570 \uff1a   lane _ type   (   carla . LaneType   )   -   \u83b7\u53d6 \u8def\u70b9 \u7684 \u8f66\u9053 \u7c7b\u578b \u3002   \u8fd4\u56de \uff1a   list ( tuple (   carla . Waypoint   ) )","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#carlalabelledpoint","text":"\u4f7f\u7528 \u8bed\u4e49 \u6807\u7b7e \u8868\u793a \u7a7a\u95f4 \u4f4d\u7f6e \u7684 \u7c7b \u3002","title":"carla . LabelledPoint"},{"location":"python_api/#_73","text":"location   \u4e09\u7ef4 \u7a7a\u95f4 \u7ef4\u7a7a\u95f4 \u4e09\u7ef4\u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u3002   label   \u70b9 \u7684 \u8bed\u4e49 \u6807\u7b7e \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlalandmark","text":"\u5b9a\u4e49 \u5f71\u54cd \u9053\u8def \u7684 \u4efb\u4f55 \u7c7b\u578b \u7684 \u4ea4\u901a \u5730\u6807 \u6216 \u6807\u5fd7 \u7684 \u7c7b \u3002 \u8fd9\u4e9b \u7c7b \u5728 \u5730 \u6807\u7684   OpenDRIVE   1.4   standard   \u6807\u51c6 \u5b9a\u4e49 \u53ca\u5176 \u5728 \u4eff\u771f \u4e2d \u7684 \u8868\u793a \u4e4b\u95f4 \u8fdb\u884c \u534f\u8c03 \u3002 \u6b64\u7c7b \u68c0\u7d22 \u5728   OpenDRIVE   \u4e2d \u5b9a\u4e49 \u5730 \u6807\u7684 \u6240\u6709 \u4fe1\u606f \uff0c \u5e76 \u63d0\u4f9b \u6709\u5173 \u5176 \u5f71\u54cd \u54ea\u4e9b \u8f66\u9053 \u4ee5\u53ca \u4f55\u65f6 \u5f71\u54cd \u7684 \u4fe1\u606f \u3002   carla . Waypoint   \u5bf9\u8c61 \u5c06 \u5c1d\u8bd5 \u68c0\u7d22 \u5176 \u8f66\u9053 \u89c4\u5219 \u6765 \u8bbf\u95ee \u5730\u6807 \u3002 \u56e0\u6b64 \uff0c \u67d0\u4e9b \u5c5e\u6027 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u6b63\u5728 \u54a8\u8be2 \u5730 \u6807\u7684 \u8def\u5f84 \u70b9 \uff0c \u4ece\u800c \u521b\u5efa \u5bf9\u8c61 \u521b\u5efa\u5bf9\u8c61 \u3002","title":"carla . Landmark"},{"location":"python_api/#_74","text":"road _ id   (   int   )   \u5b9a\u4e49 \u6b64\u5730 \u6807\u7684 \u9053\u8def \u7684   OpenDRIVE   ID \u3002 \u7531\u4e8e   OpenDRIVE   \u9053\u8def \u5b9a\u4e49 \uff0c \u8be5 \u9053\u8def \u53ef\u80fd \u4e0e \u5730\u6807 \u5f53\u524d \u5f71\u54cd \u7684 \u9053\u8def \u4e0d\u540c \u3002 \u8fd9\u79cd \u60c5\u51b5 \u4e3b\u8981 \u53d1\u751f \u5728 \u4e0d\u540c \u8def\u7ebf \u7684 \u9053\u8def \u5206\u53c9 \u5904 \u3002   \u793a\u4f8b \uff1a \u5728 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u7684 \u4e00\u6761 \u5206\u53c9 \u9053\u8def \u4e2d \u5b9a\u4e49 \u4e86 \u4e00\u4e2a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff0c \u4f46 \u5b83 \u4f1a \u5f71\u54cd \u6240\u6709 \u53ef\u80fd \u7684 \u8def\u7ebf   \u3002   distance   (   float   -   \u7c73   )   \u5730\u6807 \u4e0e \u521b\u5efa \u5bf9\u8c61 \u521b\u5efa\u5bf9\u8c61 \u7684 \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \uff08 \u67e5\u8be2   get _ landmarks   \u6216   get _ landmarks _ of _ type   \uff09 \u3002   s   (   float   -   \u7c73   )   \u5730\u6807 \u6cbf \u9053\u8def \u51e0\u4f55 \u5f62\u72b6 \u5b9a\u4f4d \u7684 \u8ddd\u79bb   road _ id   \u3002   t   (   float   -   \u7c73   )   \u5730\u6807 \u8ddd \u9053\u8def \u8fb9\u7f18 \u7684 \u6a2a\u5411 \u8ddd\u79bb   road _ id   \u3002   id   (   str   )   OpenDRIVE   \u6587\u4ef6 \u4e2d \u5730 \u6807\u7684 \u552f\u4e00   ID \u3002   name   (   str   )   OpenDRIVE   \u6587\u4ef6 \u4e2d \u7684 \u5730\u6807 \u540d\u79f0 \u3002   is _ dynamic   (   bool   )   \u6307\u793a \u5730 \u6807\u7684 \u72b6\u6001 \u662f\u5426 \u968f \u65f6\u95f4 \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \uff0c \u4f8b\u5982 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002   orientation   (   carla . LandmarkOrientation   -   \u7c73   )   \u6307\u793a \u5730\u6807 \u9762\u5411 \u7684 \u8f66\u9053 \u3002   z _ offset   (   float   -   \u7c73   )   \u653e\u7f6e \u5730 \u6807\u7684 \u9ad8\u5ea6 \u3002   country   (   str   )   \u5b9a\u4e49 \u5730 \u6807\u7684 \u56fd\u5bb6 / \u5730\u533a \u4ee3\u7801 \uff08 OpenDRIVE   \u9ed8\u8ba4 \u4e3a \u5fb7\u56fd   2017 \uff09 \u3002   type   (   str   )   \u6839\u636e \u56fd\u5bb6 / \u5730\u533a \u4ee3\u7801 \u8f93\u5165 \u8f93\u5165\u5730 \u6807\u7684 \u7c7b\u578b \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   sub _ type   (   str   )   \u6839\u636e \u56fd\u5bb6 / \u5730\u533a \u4ee3\u7801 \u7684 \u5730\u6807 \u5b50 \u7c7b\u578b \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   value   (   float   )   \u4fe1\u53f7 \u4e2d \u6253\u5370 \u7684 \u503c \uff08 \u4f8b\u5982 \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u3001 \u6700\u5927 \u91cd\u91cf \u7b49 \uff09 \u3002   unit   (   str   )   \u5c5e\u6027   value   \u7684 \u6d4b\u91cf \u5355\u4f4d \u3002   height   (   float   -   \u7c73   )   \u4fe1\u53f7 \u7684 \u603b \u9ad8\u5ea6 \u3002   width   (   float   -   \u7c73   )   \u4fe1\u53f7 \u7684 \u603b \u5bbd\u5ea6 \u3002   text   (   str   )   \u4fe1\u53f7 \u4e2d \u7684 \u9644\u52a0 \u6587\u672c \u3002   h _ offset   (   float   -   \u7c73   )   \u4fe1\u53f7 \u76f8\u5bf9 \u4e8e OpenDRIVE \u4e2d   s   \u5904   road _ id   \u5b9a\u4e49 \u7684 \u65b9\u5411 \u504f\u79fb \u3002   pitch   (   float   -   \u7c73   )   \u4fe1\u53f7 \u7684 \u4fef\u4ef0 \u4ef0\u89d2 \u4fef\u4ef0\u89d2   ( Y - \u8f74 \u5728 \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u7cfb\u7edf ) .   roll   (   float   )   \u4fe1\u53f7 \u7684 \u7ffb\u6eda \u89d2   ( X - \u8f74 \u5728 \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u7cfb\u7edf ) .   waypoint   (   carla . Waypoint   )   \u653e\u7f6e \u5728 \u8fdb\u884c \u67e5\u8be2 \u7684 \u8f66\u9053 \u548c \u5730\u6807   s   \u5904 \u7684 \u8def\u5f84 \u70b9 \u3002 \u8fd9\u662f \u5730\u6807 \u6709\u6548 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002   transform   (   carla . Transform   )   \u4eff\u771f \u4e2d \u5730 \u6807\u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_75","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_76","text":"get _ lane _ validities   (   self   )   \u8fd4\u56de \u5730\u6807 \u5f71\u54cd \u7684 \u8f66\u9053 \u3002 \u7531\u4e8e \u53ef\u80fd \u5b58\u5728 \u5730\u6807 \u65e0\u6548 \u7684 \u7279\u5b9a \u8f66\u9053 \uff0c \u56e0\u6b64 \u8fd4\u56de \u7684 \u662f \u5305\u542b \u53d7 \u5f71\u54cd \u7684   lane _ id   \u8303\u56f4 \u7684 \u5bf9 \u5217\u8868 \uff1a   \u793a\u4f8b \uff1a \u5728 \u6709 5 \u6761 \u8f66\u9053 \u7684 \u9053\u8def \u4e2d \uff0c \u5176\u4e2d 3 \u4e0d\u53d7 \u6761\u4e0d\u53d7 \u5f71\u54cd \uff1a [ ( from _ lane1 , to _ lane2 ) , ( from _ lane4   , to _ lane5 ) ]   \u3002   \u8fd4\u56de \uff1a   list ( tuple ( int ) )","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#carlalandmarkorientation","text":"\u7528\u4e8e \u5b9a\u4e49 \u9053\u8def \u4e2d \u5730\u6807 \u65b9\u5411 \u7684 \u8f85\u52a9 \u7c7b \u3002 \u8be5 \u5b9a\u4e49 \u5e76\u975e \u76f4\u63a5 \u4ece   OpenDRIVE   \u8f6c\u6362 \u800c \u6765 \uff0c \u800c\u662f \u4e3a\u4e86 \u4fbf\u4e8e \u7406\u89e3 \u800c \u8fdb\u884c \u4e86 \u8f6c\u6362 \u3002","title":"carla . LandmarkOrientation"},{"location":"python_api/#_77","text":"Positive   \u5730\u6807 \u671d\u5411 \u4e0e \u9053\u8def \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u5b9a\u4e49 \u65b9\u5411 \u76f8\u540c \u7684 \u8f66\u8f86 \uff08 OpenDRIVE   \u4e2d \u7684   0   \u8f66\u9053 \u548c \u8d1f \u8f66\u9053 \uff09 \u3002   Negative   \u5730\u6807 \u671d\u5411 \u4e0e \u9053\u8def \u51e0\u4f55 \u5b9a\u4e49 \u76f8\u53cd \u65b9\u5411 \u884c\u9a76 \u7684 \u8f66\u8f86 \uff08 OpenDRIVE \u4e2d \u7684 \u6b63 \u8f66\u9053 \uff09 \u3002   Both   \u90fd \u4f1a \u5f71\u54cd \u6cbf \u9053\u8def \u4e24\u4e2a \u65b9\u5411 \u884c\u9a76 \u7684 \u8f66\u8f86 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlalandmarktype","text":"Helper   \u7c7b \u5305\u542b   OpenDRIVE   \u6807\u51c6   \uff08 \u5fb7\u56fd   2017 \uff09 \u4e2d \u9ed8\u8ba4 \u56fd\u5bb6 / \u5730\u533a \u4ee3\u7801 \u5b9a\u4e49 \u7684 \u4e00\u7ec4 \u5e38\u7528 \u5730\u6807 \u7c7b\u578b \u3002   carla . Landmark   \u4e0d \u5f15\u7528 \u6b64\u7c7b \u3002 \u5730\u6807 \u7c7b\u578b \u662f \u4e00\u4e2a \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u6839\u636e \u6240 \u4f7f\u7528 \u7684 \u56fd\u5bb6 / \u5730\u533a \u4ee3\u7801 \u7684 \u4e0d\u540c \uff0c \u5176 \u53d8\u5316 \u5f88\u5927 \u53d8\u5316\u5f88\u5927 \u3002 \u6b64\u7c7b \u4ec5 \u901a\u8fc7 \u5c06 \u9ed8\u8ba4 \u96c6\u4e2d \u7684 \u4e00\u4e9b \u6700 \u5e38\u7528 \u7684 \u63cf\u8ff0 \u4e3a \u679a\u4e3e \u6765 \u4f7f \u7ba1\u7406 \u5b83\u4eec \u53d8\u5f97 \u66f4 \u5bb9\u6613 \u3002","title":"carla . LandmarkType"},{"location":"python_api/#_78","text":"Danger   \u7c7b\u578b   101 \u3002   LanesMerging   \u7c7b\u578b   121 \u3002   CautionPedestrian   \u7c7b\u578b   133 \u3002   CautionBicycle   \u7c7b\u578b   138 \u3002   LevelCrossing   \u7c7b\u578b   150 \u3002   StopSign   \u7c7b\u578b   206 \u3002   YieldSign   \u7c7b\u578b   205 \u3002   MandatoryTurnDirection   \u7c7b\u578b   209 \u3002   MandatoryLeftRightDirection   \u7c7b\u578b   211 \u3002   TwoChoiceTurnDirection   \u7c7b\u578b   214 \u3002   Roundabout   \u7c7b\u578b   215 \u3002   PassRightLeft   \u7c7b\u578b   222 \u3002   AccessForbidden   \u7c7b\u578b   250 \u3002   AccessForbiddenMotorvehicles   \u7c7b\u578b   251 \u3002   AccessForbiddenTrucks   \u7c7b\u578b   253 \u3002   AccessForbiddenBicycle   \u7c7b\u578b   254 \u3002   AccessForbiddenWeight   \u7c7b\u578b   263 \u3002   AccessForbiddenWidth   \u7c7b\u578b   264 \u3002   AccessForbiddenHeight   \u7c7b\u578b   265 \u3002   AccessForbiddenWrongDirection   \u7c7b\u578b   267 \u3002   ForbiddenUTurn   \u7c7b\u578b   272 \u3002   MaximumSpeed   \u7c7b\u578b   274 \u3002   ForbiddenOvertakingMotorvehicles   \u7c7b\u578b   276 \u3002   ForbiddenOvertakingTrucks   \u7c7b\u578b   277 \u3002   AbsoluteNoStop   \u7c7b\u578b   283 \u3002   RestrictedStop   \u7c7b\u578b   286 \u3002   HasWayNextIntersection   \u7c7b\u578b   301 \u3002   PriorityWay   \u7c7b\u578b   306 \u3002   PriorityWayEnd   \u7c7b\u578b   307 \u3002   CityBegin   \u7c7b\u578b   310 \u3002   CityEnd   \u7c7b\u578b   311 \u3002   Highway   \u7c7b\u578b   330 \u3002   DeadEnd   \u7c7b\u578b   357 \u3002   RecomendedSpeed   \u7c7b\u578b   380 \u3002   RecomendedSpeedEnd   \u7c7b\u578b   381 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlalanechange","text":"\u5b9a\u4e49 \u5de6\u8f6c \u3001 \u53f3\u8f6c \u3001 \u53cc\u8f6c \u6216 \u4e0d \u8f6c \u7684 \u6743\u9650 \u7684 \u7c7b \uff08 \u610f\u5473 \u610f\u5473\u7740 \u53ea \u5141\u8bb8 \u76f4\u884c \uff09 \u3002 \u6839\u636e   OpenDRIVE   \u6587\u4ef6 \u4e3a \u6bcf\u4e2a   carla . Waypoint   \u5b58\u50a8 \u6b64 \u4fe1\u606f \u3002   carla . Map . get _ waypoint   \u4e2d \u7684 \u7247\u6bb5 \u663e\u793a \u4e86 \u5982\u4f55 \u4f7f\u7528 \u8def\u5f84 \u70b9\u6765 \u4e86\u89e3 \u5141\u8bb8 \u54ea\u4e9b \u8f6c\u5f2f \u3002","title":"carla . LaneChange"},{"location":"python_api/#_79","text":"NONE   \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u4e0d \u5141\u8bb8 \u53f3\u8f6c \u6216 \u5de6\u8f6c \uff0c \u53ea\u80fd \u76f4\u884c \u3002   Right   \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u5141\u8bb8 \u53f3\u8f6c \u3002   Left   \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u5141\u8bb8 \u5de6\u8f6c \u3002   Both   \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u90fd \u5141\u8bb8 \u53f3\u8f6c \u6216 \u5de6\u8f6c \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlalaneinvasionevent","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u4e3a   sensor . other . lane _ invasion   \u5b9a\u4e49 \u538b\u7ebf \u7684 \u7c7b \u3002 \u5b83 \u4ec5 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5de5\u4f5c \uff0c \u5e76 \u4f9d\u8d56   OpenDRIVE   \u6765 \u63d0\u4f9b \u53ef\u9760 \u7684 \u4fe1\u606f \u3002 \u6bcf\u6b21 \u53d1\u751f \u538b\u7ebf \u65f6 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u4f1a \u521b\u5efa \u4e00\u4e2a \u8fd9\u6837 \u7684 \u60c5\u51b5 \uff0c \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u53ef\u80fd \u4f1a \u53d1\u751f \u591a\u6b21 \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002","title":"carla . LaneInvasionEvent"},{"location":"python_api/#_80","text":"actor   (   carla . Actor   )   \u83b7\u53d6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6240 \u8fde\u63a5 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5373 \u4fb5\u5165 \u53e6 \u4e00 \u8f66\u9053 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   crossed _ lane _ markings   (   list (   carla . LaneMarking   )   )   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5df2 \u7a7f\u8fc7 \u5e76 \u68c0\u6d4b \u5230 \u7684 \u8f66\u9053 \u6807\u8bb0 \u5217\u8868 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_81","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_82","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlalanemarking","text":"\u6839\u636e   OpenDRIVE   1.4   \u6807\u51c6   \u6536\u96c6 \u6709\u5173 \u8f66\u9053 \u6807\u8bb0 \u7684 \u6240\u6709 \u4fe1\u606f \u7684 \u7c7b \u3002","title":"carla . LaneMarking"},{"location":"python_api/#_83","text":"color   (   carla . LaneMarkingColor   )   \u6807\u8bb0 \u7684 \u5b9e\u9645 \u989c\u8272 \u3002   lane _ change   (   carla . LaneChange   )   \u8de8\u8d8a \u6240\u8ff0 \u8f66\u9053 \u6807\u8bb0 \u7684 \u6743\u9650 \u3002   type   (   carla . LaneMarkingType   )   \u8f66\u9053 \u6807\u8bb0 \u7c7b\u578b \u3002   width   (   float   )   \u6c34\u5e73 \u8f66\u9053 \u6807\u8bb0 \u539a\u5ea6 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlalanemarkingcolor","text":"\u6839\u636e   OpenDRIVE   1.4   \u5b9a\u4e49 \u8f66\u9053 \u6807\u8bb0 \u989c\u8272 \u7684 \u7c7b \u3002","title":"carla . LaneMarkingColor"},{"location":"python_api/#_84","text":"Standard   \u9ed8\u8ba4 \u4e3a \u767d\u8272 \u3002   Blue   Green   Red   White   Yellow   Other","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlalanemarkingtype","text":"\u5b9a\u4e49   OpenDRIVE   1.4   \u63a5\u53d7 \u7684 \u8f66\u9053 \u6807\u8bb0 \u7c7b\u578b \u7684 \u7c7b \u3002   carla . Map . get _ waypoint   \u4e2d \u7684 \u7247\u6bb5 \u663e\u793a \u4e86 \u5982\u4f55 \u4f7f\u7528 \u8def\u5f84 \u70b9\u6765 \u68c0\u7d22 \u6709\u5173 \u76f8\u90bb \u8f66\u9053 \u6807\u8bb0 \u7684 \u4fe1\u606f \u3002   \u5173\u4e8e \u53cc \u7cbe\u5ea6 \u7c7b\u578b \u7684 \u6ce8\u610f \u4e8b\u9879 \u6ce8\u610f\u4e8b\u9879 \uff1a   \u8f66\u9053 \u6807\u8bb0 \u662f \u6839\u636e   OpenDRIVE   \u6807\u51c6 \u5b9a\u4e49 \u7684 \uff0c \u8be5 \u6807\u51c6 \u786e\u5b9a \u4e00\u6761 \u4e00\u6761\u7ebf \u5c06 \u88ab \u89c6\u4e3a \u201c BrokenSolid \u201d \u6216 \u201c SolidBroken \u201d \u3002 \u6bcf\u6761 \u9053\u8def \u90fd \u6709 \u4e00\u4e2a \u4e2d\u5fc3 \u8f66\u9053 \u6807\u8bb0 \uff0c \u6839\u636e \u8f66\u9053 \u65b9\u5411 \u4ece\u5de6\u5230\u53f3 \u5b9a\u4e49 \u3002 \u5176\u4f59 \u8f66\u9053 \u6807\u8bb0 \u6309 \u4ece \u4e2d\u5fc3 \u8f66\u9053 \u5230 \u6700\u8fd1 \u7684 \u9053\u8def \u5916\u4fa7 \u7684 \u987a\u5e8f \u5b9a\u4e49 \u3002","title":"carla . LaneMarkingType"},{"location":"python_api/#_85","text":"NONE   Other   Broken   Solid   SolidSolid   SolidBroken   BrokenSolid   BrokenBroken   BottsDots   Grass   Curb","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlalanetype","text":"\u5b9a\u4e49   OpenDRIVE   1.4   \u63a5\u53d7 \u7684 \u53ef\u80fd \u901a\u9053 \u7c7b\u578b \u7684 \u7c7b \u3002 \u8be5 \u6807\u51c6 \u5b9a\u4e49 \u4e86 \u9053\u8def \u4fe1\u606f \u3002   carla . Map . get _ waypoint   \u4e2d \u7684 \u7247\u6bb5 \u5229\u7528 \u8def\u70b9 \u6765 \u83b7\u53d6 \u5f53\u524d \u548c \u76f8\u90bb \u8f66\u9053 \u7c7b\u578b \u3002","title":"carla . LaneType"},{"location":"python_api/#_86","text":"NONE   Driving   Stop   Shoulder   Biking   Sidewalk   Border   Restricted   Parking   Bidirectional   Median   Special1   Special2   Special3   RoadWorks   Tram   Rail   Entry   Exit   OffRamp   OnRamp   Any   \u9664   NONE   \u4e4b\u5916 \u7684 \u6240\u6709 \u7c7b\u578b \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlalidardetection","text":"carla . LidarMeasurement   \u4e2d \u5305\u542b \u7684 \u6570\u636e \u3002 \u5176\u4e2d \u6bcf \u4e00\u4e2a \u90fd \u4ee3\u8868 \u4e91\u4e2d \u7684 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u53ca\u5176 \u4f4d\u7f6e \u548c \u76f8\u5173 \u5f3a\u5ea6 \u3002","title":"carla . LidarDetection"},{"location":"python_api/#_87","text":"point   (   carla . Location   -   \u7c73   )   xyz   \u5750\u6807 \u4e2d \u7684 \u70b9 \u3002   intensity   (   float   )   \u8ba1\u7b97 \u8be5\u70b9 \u7684 \u5f3a\u5ea6 \u4f5c\u4e3a   [ 0.0   ,   1.0 ]   \u4e4b\u95f4 \u7684 \u6807\u91cf \u503c \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_88","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_89","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlalidarmeasurement","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49 \u7531   sensor . lidar . ray _ cast   \u68c0\u7d22 \u7684 LIDAR \u6570\u636e \u7684 \u7c7b \u3002 \u8fd9 \u672c\u8d28 \u4e0a \u662f \u4f7f\u7528 \u5149\u7ebf \u6295\u5c04 \u4eff\u771f \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002","title":"carla . LidarMeasurement"},{"location":"python_api/#_90","text":"channels   (   int   )   \u53d1\u5c04 \u7684 \u6fc0\u5149 \u6570\u91cf \u3002   horizontal _ angle   (   float   -   radians   )   \u6d4b\u91cf \u65f6   LIDAR   \u65cb\u8f6c \u7684 \u6c34\u5e73 \u89d2\u5ea6 \u3002   raw _ data   (   bytes   )   \u63a5\u6536 \u5230 \u7684   4D   \u70b9 \u5217\u8868 \u3002 \u6bcf\u4e2a \u70b9 \u7531   [ x , y , z ]   \u5750\u6807 \u52a0\u4e0a \u4e3a \u8be5\u70b9 \u8ba1\u7b97 \u7684 \u5f3a\u5ea6 \u7ec4\u6210 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_91","text":"save _ to _ disk   (   self   ,   path   )   \u5c06 \u70b9\u4e91 \u4f5c\u4e3a \u63cf\u8ff0 \u6765\u81ea   3D   \u626b\u63cf \u626b\u63cf\u4eea \u7684 \u6570\u636e \u7684   . ply   \u6587\u4ef6 \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002 \u751f\u6210 \u7684 \u6587\u4ef6 \u53ef\u4ee5 \u5728   MeshLab   \u4e2d \u4f7f\u7528 \uff0c MeshLab   \u662f \u4e00\u4e2a \u7528\u4e8e \u5904\u7406 \u6240\u8ff0 \u6587\u4ef6 \u7684 \u5f00\u6e90 \u7cfb\u7edf \u3002 \u53ea \u9700 \u8003\u8651 \u5230 \u8be5 \u8f74 \u53ef\u80fd \u4e0e \u865a\u5e7b \u5f15\u64ce \u4e0d\u540c \uff0c \u56e0\u6b64 \u9700\u8981 \u91cd\u65b0 \u5206\u914d \u91cd\u65b0\u5206\u914d \u3002   \u53c2\u6570 \uff1a   path   (   str   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_92","text":"get _ point _ count   (   self   ,   channel   )   \u68c0\u7d22 \u7531\u6b64 \u6d4b\u91cf \u751f\u6210 \u7684 \u6309 \u901a\u9053 \u6392\u5e8f \u7684 \u70b9\u6570 \u3002 \u6309 \u901a\u9053 \u6392\u5e8f \u53ef\u4ee5 \u8bc6\u522b \u6bcf\u4e2a \u70b9 \u7684 \u539f\u59cb \u901a\u9053 \u3002   \u53c2\u6570 \uff1a   channel   (   int   )","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#_93","text":"__ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728   carla . LidarDetection   \u83b7\u53d6 \u7684 \u6570\u636e \u4e0a \u8fed\u4ee3 \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   detection   =   carla . LidarDetection   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlalight","text":"\u6b64\u7c7b \u516c\u5f00 \u573a\u666f \u4e2d \u5b58\u5728 \u7684 \u706f\u5149 \uff08 \u8f66\u8f86 \u706f\u5149 \u9664\u5916 \uff09 \u3002 \u706f\u5149 \u7684 \u5c5e\u6027 \u53ef\u4ee5 \u968f\u610f \u67e5\u8be2 \u548c \u6539\u53d8 \u3002 \u5f53 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fdb\u5165 \u591c\u95f4 \u6a21\u5f0f \uff08 \u592a\u9633 \u9ad8\u5ea6 \u4f4e\u4e8e \u96f6 \uff09 \u65f6 \uff0c \u706f\u4f1a \u81ea\u52a8 \u6253\u5f00 \u3002","title":"carla . Light"},{"location":"python_api/#_94","text":"color   (   carla . Color   )   \u706f\u5149 \u7684 \u989c\u8272 \u3002   id   (   int   )   \u706f \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   intensity   (   float   -   lumens   )   \u5149 \u7684 \u5f3a\u5ea6 \u3002   is _ on   (   bool   )   \u706f \u7684 \u5f00\u5173 \u3002 \u5f53\u706f\u4eae \u65f6 \u8fd9 \u662f   True   \u3002 \u5f53 \u591c\u95f4 \u6a21\u5f0f \u542f\u52a8 \u65f6 \uff0c \u6b64\u9879 \u8bbe\u7f6e \u4e3a   True   \u3002   location   (   carla . Location   -   \u7c73   )   \u706f\u5149 \u7684 \u4f4d\u7f6e \u3002   light _ group   (   carla . LightGroup   )   \u706f\u5149 \u6240\u5c5e \u7684 \u7ec4 \u3002   light _ state   (   carla . LightState   )   \u706f\u5149 \u7684 \u72b6\u6001 \u3002 \u603b\u7ed3 \u5176 \u5c5e\u6027 \u3001 \u7ec4 \u4ee5\u53ca \u662f\u5426 \u6253\u5f00 / \u5173\u95ed \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_95","text":"turn _ off   (   self   )   \u5173\u95ed \u706f \u3002   turn _ on   (   self   )   \u6253\u5f00 \u706f \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_96","text":"set _ color   (   self   ,   color   )   \u5c06 \u706f\u5149 \u7684 \u989c\u8272 \u66f4 \u6539\u4e3a   color   \u3002   \u53c2\u6570 \uff1a   color   (   carla . Color   )   set _ intensity   (   self   ,   intensity   )   \u5c06\u5149 \u7684 \u5f3a\u5ea6 \u66f4 \u6539\u4e3a   intensity   \u3002   \u53c2\u6570 \uff1a   intensity   (   float   -   lumens   )   set _ light _ group   (   self   ,   light _ group   )   \u5c06 \u706f\u5149 \u66f4 \u6539\u4e3a \u7ec4   light _ group   \u3002   \u53c2\u6570 \uff1a   light _ group   (   carla . LightGroup   )   set _ light _ state   (   self   ,   light _ state   )   \u5c06 \u706f\u5149 \u7684 \u72b6\u6001 \u66f4 \u6539\u4e3a   light _ state   \u3002 \u8fd9 \u53ef\u80fd \u4f1a \u540c\u65f6 \u66f4\u6539 \u5c5e\u6027 \u3001 \u5206\u7ec4 \u4ee5\u53ca \u6253\u5f00 / \u5173\u95ed \u706f \u3002   \u53c2\u6570 \uff1a   light _ state   (   carla . LightState   )","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#carlalightgroup","text":"\u6b64\u7c7b \u5c06 \u573a\u666f \u4e2d \u7684 \u706f\u5149 \u5206\u4e3a \u4e0d\u540c \u7684 \u7ec4 \u3002 \u8fd9\u4e9b \u53ef\u7528 \u7ec4 \u4f5c\u4e3a \u53ef \u7528\u4f5c \u6807\u5fd7 \u7684 \u679a\u4e3e \u503c \u63d0\u4f9b \u3002   \u7b14\u8bb0   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u867d\u7136 \u6709 \u4e00\u4e2a   vehicle   \u7ec4 \uff0c \u4f46 \u8f66\u706f \u8fd8 \u4e0d\u80fd \u7528\u4f5c   carla . Light   \u5bf9\u8c61 \u3002 \u8fd9\u4e9b \u5fc5\u987b \u4f7f\u7528   carla . Vehicle   \u548c   carla . VehicleLightState   \u8fdb\u884c \u7ba1\u7406 \u3002","title":"carla . LightGroup"},{"location":"python_api/#_97","text":"None   \u6240\u6709 \u706f \u3002   Vehicle   Street   Building   Other","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlalightmanager","text":"\u6b64\u7c7b \u5904\u7406 \u573a\u666f \u4e2d \u7684 \u706f\u5149 \u3002 \u5b83 \u7684 \u4e3b\u8981 \u8981\u7528 \u7528\u9014 \u4e3b\u8981\u7528\u9014 \u662f \u5728 \u4e00\u6b21 \u8c03\u7528 \u4e2d \u83b7\u53d6 \u548c \u8bbe\u7f6e \u706f\u5149 \u7ec4 \u6216 \u706f\u5149 \u5217\u8868 \u7684 \u72b6\u6001 \u3002 \u6b64\u7c7b \u7684 \u5b9e\u4f8b \u53ef\u4ee5 \u901a\u8fc7   carla . World . get _ lightmanager   ( )   \u68c0\u7d22 \u3002   \u7b14\u8bb0   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u867d\u7136 \u6709 \u4e00\u4e2a   vehicle   \u7ec4 \uff0c \u4f46 \u8f66\u706f \u8fd8 \u4e0d\u80fd \u7528\u4f5c   carla . Light   \u5bf9\u8c61 \u3002 \u8fd9\u4e9b \u5fc5\u987b \u4f7f\u7528   carla . Vehicle   \u548c   carla . VehicleLightState   \u8fdb\u884c \u7ba1\u7406 \u3002","title":"carla . LightManager"},{"location":"python_api/#_98","text":"is _ active   (   self   ,   lights   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u5e03\u5c14 \u5e03\u5c14\u503c \uff0c \u8bf4\u660e \u5176\u4e2d \u7684 \u5143\u7d20   lights   \u662f\u5426 \u6253\u5f00 / \u5173\u95ed \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   \u8fd4\u56de \uff1a   list ( bool )   turn _ off   (   self   ,   lights   )   \u5173\u95ed   lights   \u4e2d \u7684 \u6240\u6709 \u706f \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u5173\u95ed \u7684 \u706f \u5217\u8868 \u3002   turn _ on   (   self   ,   lights   )   \u6253\u5f00   lights   \u4e2d \u7684 \u6240\u6709 \u706f \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u6253\u5f00 \u7684 \u706f \u5217\u8868 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_99","text":"get _ all _ lights   (   self   ,   light _ group   =   carla . LightGroup . None   )   \u8fd4\u56de \u5305\u542b \u7279\u5b9a \u7ec4\u4e2d \u7684 \u706f\u5149 \u7684 \u5217\u8868 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8be5\u7ec4 \u662f   None   \u3002   \u53c2\u6570 \uff1a   light _ group   (   carla . LightGroup   )   -   \u7528\u4e8e \u8fc7\u6ee4 \u8fd4\u56de \u7684 \u706f\u5149 \u7684 \u7ec4 \u3002 \u9ed8\u8ba4 \u4e3a   None   \u3002   \u8fd4\u56de \uff1a   list (   carla . Light   )   get _ color   (   self   ,   lights   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u989c\u8272 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   \u8fd4\u56de \uff1a   list (   carla . Color   )   \u8bbe\u7f6e \u5668 \uff1a   carla . LightManager . set _ color   get _ intensity   (   self   ,   lights   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5f3a\u5ea6 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   \u8fd4\u56de \uff1a   list ( float )   -   lumens   \u8bbe\u7f6e \u5668 \uff1a   carla . LightManager . set _ intensity   get _ light _ group   (   self   ,   lights   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u7ec4 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   \u8fd4\u56de \uff1a   list (   carla . LightGroup   )   \u8bbe\u7f6e \u5668 \uff1a   carla . LightManager . set _ light _ group   get _ light _ state   (   self   ,   lights   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u6240\u6709 \u5c5e\u6027 \u7684 \u72b6\u6001 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   * * \u8fd4\u56de \uff1a   * *   list (   carla . LightState   )   \u8bbe\u7f6e \u5668 \uff1a   carla . LightManager . set _ light _ state   get _ turned _ off _ lights   (   self   ,   light _ group   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u573a\u666f \u4e2d \u5173\u95ed \u7684 \u706f\u5149 \uff08 \u6309\u7ec4 \u8fc7\u6ee4 \uff09 \u3002   \u53c2\u6570 \uff1a   light _ group   (   carla . LightGroup   )   -   \u8981 \u67e5\u8be2 \u7684 \u706f\u5149 \u5217\u8868 \u3002   \u8fd4\u56de \uff1a   list (   carla . Light   )   get _ turned _ on _ lights   (   self   ,   light _ group   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u573a\u666f \u4e2d \u6253\u5f00 \u7684 \u706f\u5149 \uff08 \u6309\u7ec4 \u8fc7\u6ee4 \uff09 \u3002   \u53c2\u6570 \uff1a   light _ group   (   carla . LightGroup   )   -   List   of   lights   to   be   queried .   \u8fd4\u56de \uff1a   list (   carla . Light   )","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#_100","text":"set _ active   (   self   ,   lights   ,   active   )   \u6253\u5f00 / \u5173\u95ed   lights   \u4e2d \u7684 \u5143\u7d20 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u6253\u5f00 / \u5173\u95ed \u7684 \u706f \u5217\u8868 \u3002   active   (   list ( bool )   )   -   \u8981 \u5e94\u7528 \u7684 \u5e03\u5c14 \u5e03\u5c14\u503c \u5217\u8868 \u3002   set _ color   (   self   ,   lights   ,   color   )   lights   \u5230   color   \u4e2d \u5143\u7d20 \u7684 \u989c\u8272 \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   color   (   carla . Color   )   -   \u8981 \u5e94\u7528 \u7684 \u989c\u8272 \u3002   \u83b7\u53d6 \u5668 \uff1a   carla . LightManager . get _ color   set _ colors   (   self   ,   lights   ,   colors   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u989c\u8272 \u66f4 \u6539\u4e3a \u76f8\u5e94 \u7684   colors   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   colors   (   list (   carla . Color   )   )   -   \u8981 \u5e94\u7528 \u7684 \u989c\u8272 \u5217\u8868 \u3002   set _ day _ night _ cycle   (   self   ,   active   )   \u6240\u6709 \u573a\u666f \u706f \u90fd \u6709 \u663c\u591c \u5faa\u73af \uff0c \u968f\u7740 \u592a\u9633 \u7684 \u9ad8\u5ea6 \u81ea\u52a8 \u6253\u5f00 \u548c \u5173\u95ed \u3002 \u8fd9\u4f1a \u5e72\u6270 \u9700\u8981 \u5b8c\u5168 \u63a7\u5236 \u573a\u666f \u706f\u5149 \u7684 \u60c5\u51b5 \uff0c \u56e0\u6b64 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   False   \u4f1a \u505c\u7528 \u5b83 \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   True   \u6765 \u91cd\u65b0 \u6fc0\u6d3b \u5b83 \u3002   \u53c2\u6570 \uff1a   active   (   bool   )   -   ( \u53d6\u6d88 ) \u6fc0\u6d3b \u663c\u591c \u5faa\u73af \u3002   set _ intensities   (   self   ,   lights   ,   intensities   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5f3a\u5ea6 \u66f4 \u6539\u4e3a \u76f8\u5e94 \u7684   intensities   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   intensities   (   list ( float )   -   lumens   )   -   \u8981 \u5e94\u7528 \u7684 \u5f3a\u5ea6 \u5217\u8868 \u3002   set _ intensity   (   self   ,   lights   ,   intensity   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5f3a\u5ea6 \u6539\u4e3a   intensity   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   intensity   (   float   -   lumens   )   -   \u8981 \u5e94\u7528 \u7684 \u5f3a\u5ea6 \u3002   \u83b7\u53d6 \u5668 \uff1a   carla . LightManager . get _ intensity   set _ light _ group   (   self   ,   lights   ,   light _ group   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u7ec4 \u66f4 \u6539\u4e3a   light _ group   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   light _ group   (   carla . LightGroup   )   -   \u8981 \u5e94\u7528 \u7684 \u7ec4 \u3002   \u83b7\u53d6 \u5668 \uff1a   carla . LightManager . get _ light _ group   set _ light _ groups   (   self   ,   lights   ,   light _ groups   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u7ec4 \u66f4 \u6539\u4e3a \u76f8\u5e94 \u7684   light _ groups   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   light _ groups   (   list (   carla . LightGroup   )   )   -   \u8981 \u5e94\u7528 \u7684 \u7ec4 \u5217\u8868 \u3002   set _ light _ state   (   self   ,   lights   ,   light _ state   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5c5e\u6027 \u72b6\u6001 \u6539\u4e3a   light _ state   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   light _ state   (   carla . LightState   )   -   \u8981 \u5e94\u7528 \u7684 \u5c5e\u6027 \u7684 \u72b6\u6001 \u3002   \u83b7\u53d6 \u5668 \uff1a   carla . LightManager . get _ light _ state   set _ light _ states   (   self   ,   lights   ,   light _ states   )   \u5c06   lights   \u4e2d \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5c5e\u6027 \u72b6\u6001 \u66f4 \u6539\u4e3a \u76f8\u5e94 \u7684   light _ states   \u3002   \u53c2\u6570 \uff1a   lights   (   list (   carla . Light   )   )   -   \u8981 \u66f4\u6539 \u7684 \u706f\u5149 \u5217\u8868 \u3002   light _ states   (   list (   carla . LightState   )   )   -   \u8981 \u5e94\u7528 \u7684 \u5c5e\u6027 \u7684 \u72b6\u6001 \u5217\u8868 \u3002","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#carlalightstate","text":"\u8fd9\u4e2a \u7c7b \u4ee3\u8868 \u9664\u4e86 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u548c \u4f4d\u7f6e \u4e4b\u5916 \u7684 \u6240\u6709 \u706f\u5149 \u53d8\u91cf \uff0c \u5b83\u4eec \u5e94\u8be5 \u662f \u9759\u6001 \u7684 \u3002 \u4f7f\u7528 \u6b64\u7c7b \u53ef\u4ee5 \u5728 \u4e00\u6b21 \u8c03\u7528 \u4e2d \u7ba1\u7406 \u706f\u5149 \u7684 \u6240\u6709 \u53c2\u6570 \u5316 \u3002","title":"carla . LightState"},{"location":"python_api/#_101","text":"intensity   (   float   -   lumens   )   \u5149 \u7684 \u5f3a\u5ea6 \u3002   color   (   carla . Color   )   \u706f\u5149 \u7684 \u989c\u8272 \u3002   group   (   carla . LightGroup   )   \u706f\u5149 \u6240\u5c5e \u7684 \u7ec4 \u3002   active   (   bool   )   \u706f \u7684 \u5f00\u5173 \u3002 \u5f53\u706f\u4eae \u65f6 \u4e3a   True   \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_102","text":"__ init __   (   self   ,   intensity   = 0.0   ,   color   =   carla . Color   ( )   ,   group   =   carla . LightGroup . None   ,   active   = False   )   \u53c2\u6570 \uff1a   intensity   (   float   -   lumens   )   -   \u5149 \u7684 \u5f3a\u5ea6 \u3002 \u9ed8\u8ba4 \u4e3a   0.0   \u3002   color   (   carla . Color   )   -   \u5149 \u7684 \u989c\u8272 \u3002 \u9ed8\u8ba4 \u4e3a \u9ed1\u8272 \u3002   group   (   carla . LightGroup   )   -   \u706f\u5149 \u6240\u5c5e \u7684 \u7ec4 \u3002 \u9ed8\u8ba4 \u4e3a \u901a\u7528 \u7ec4   None   \u3002   active   (   bool   )   -   \u706f\u5149 \u5f00\u5173 \u3002 \u9ed8\u8ba4 \u4e3a   False   \uff0c \u706f \u5173\u95ed \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#carlalocation","text":"\u4ece   carla . Vector3D   \u7ee7\u627f   \u4ee3\u8868 \u4e16\u754c \u4e0a \u7684 \u4e00\u4e2a \u5730\u65b9 \u3002","title":"carla . Location"},{"location":"python_api/#_103","text":"x   (   float   -   \u7c73   )   X   \u8f74\u4e0a \u4ece \u539f \u70b9\u5230\u70b9 \u7684 \u8ddd\u79bb \u3002   y   (   float   -   \u7c73   )   Y   \u8f74\u4e0a \u4ece \u539f \u70b9\u5230\u70b9 \u7684 \u8ddd\u79bb \u3002   z   (   float   -   \u7c73   )   Z   \u8f74\u4e0a \u4ece \u539f \u70b9\u5230\u70b9 \u7684 \u8ddd\u79bb \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_104","text":"__ init __   (   self   ,   x   = 0.0   ,   y   = 0.0   ,   z   = 0.0   )   \u53c2\u6570 \uff1a   x   (   float   )   y   (   float   )   z   (   float   )   distance   (   self   ,   location   )   \u8fd4\u56de \u4ece \u8be5 \u4f4d\u7f6e \u5230 \u53e6 \u4e00 \u4f4d\u7f6e \u7684 \u6b27\u51e0 \u51e0\u91cc \u6b27\u51e0\u91cc\u5f97 \u8ddd\u79bb \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   )   -   \u7528\u4e8e \u8ba1\u7b97 \u8ddd\u79bb \u7684 \u53e6 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u3002   \u8fd4\u56de \uff1a   float   -   \u7c73","title":"\u65b9\u6cd5"},{"location":"python_api/#_105","text":"__ abs __   (   self   )   \u8fd4\u56de \u5177\u6709   x \u3001 y   \u548c   z   \u5206\u91cf \u7edd\u5bf9 \u7edd\u5bf9\u503c \u7684 \u4f4d\u7f6e \u3002   \u8fd4\u56de \uff1a   carla . Location   __ eq __   (   self   ,   other   =   carla . Location   )   \u5982\u679c \u4e24\u4e2a \u4f4d\u7f6e \u662f \u7a7a\u95f4 \u4e2d \u7684 \u540c \u4e00\u70b9 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de \uff1a   bool   __ ne __   (   self   ,   other   =   carla . Location   )   \u5982\u679c \u4e24\u4e2a \u4f4d\u7f6e \u662f \u7a7a\u95f4 \u4e2d \u7684 \u4e0d\u540c \u540c\u70b9 \u4e0d\u540c\u70b9 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de \uff1a   bool   __ str __   (   self   )   \u5c06 \u8f74 \u7684 \u503c \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   \u8fd4\u56de \uff1a   str","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlamap","text":"\u5305\u542b \u9053\u8def \u4fe1\u606f \u548c \u8def\u5f84 \u70b9 \u7ba1\u7406 \u7684 \u7c7b \u3002 \u4ece \u63cf\u8ff0 \u9053\u8def \u7684   OpenDRIVE   \u6587\u4ef6 \u4e2d \u68c0\u7d22 \u6570\u636e \u3002 \u5b9a\u4e49 \u4e86 \u4e00\u4e2a \u67e5\u8be2 \u7cfb\u7edf \uff0c \u5b83 \u4e0e   carla . Waypoint   \u643a\u624b \u5408\u4f5c \uff0c \u5c06 \u51e0\u4f55 \u4fe1\u606f \u4ece   . xodr   \u8f6c\u6362 \u4e3a \u81ea\u7136 \u4e16\u754c \u70b9 \u3002 Carla   \u76ee\u524d \u6b63\u5728 \u4f7f\u7528   OpenDRIVE   1.4   \u6807\u51c6   \u3002","title":"carla . Map"},{"location":"python_api/#_106","text":"name   (   str   )   \u5730\u56fe \u7684 \u540d\u79f0 \u3002 \u5b83 \u5bf9\u5e94 \u4e8e \u4ece   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u52a0\u8f7d \u7684 \u865a\u5e7b \u5f15\u64ce \u4e2d \u7684   . umap \uff0c \u7136\u540e \u5f15\u7528   . xodr   \u9053\u8def \u63cf\u8ff0 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_107","text":"__ init __   (   self   ,   name   ,   xodr _ content   )   \u6b64\u7c7b \u7684 \u6784\u9020 \u51fd\u6570 \u6784\u9020\u51fd\u6570 \u3002 \u5c3d\u7ba1 \u5728 \u521d\u59cb \u521d\u59cb\u5316 \u4e16\u754c \u65f6\u4f1a \u81ea\u52a8 \u751f\u6210 \u5730\u56fe \uff0c \u4f46 \u5728 \u65e0 \u6e32\u67d3 \u6a21\u5f0f \u4e0b \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u5728 \u4e0d \u8fd0\u884c \u4efb\u4f55   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u60c5\u51b5 \u4e0b \u4f7f\u7528   . xodr \u3002   \u53c2\u6570 \uff1a   name   (   str   )   -   \u5f53\u524d \u5730\u56fe \u7684 \u540d\u79f0 \u3002   xodr _ content   (   str   )   -   \u5b57\u7b26 \u5b57\u7b26\u4e32 \u683c\u5f0f \u7684   . xodr   \u5185\u5bb9 \u3002   \u8fd4\u56de \uff1a   list (   carla . Transform   )   cook _ in _ memory _ map   (   self   ,   path   )   \u4ece   Carla   \u6620\u5c04 \u751f\u6210 \u4e00\u4e2a \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \uff0c \u5176\u4e2d \u5305\u542b \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4f7f\u7528 \u7684 \u4fe1\u606f \u3002 \u6b64 \u65b9\u6cd5 \u4ec5 \u5728 \u5730\u56fe \u5bfc\u5165 \u8fc7\u7a0b \u4e2d \u4f7f\u7528 \u3002   \u53c2\u6570 \uff1a   path   (   str   )   -   \u5b58\u50a8 \u7684 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6620\u5c04 \u6587\u4ef6 \u7684 \u9884\u671f \u4f4d\u7f6e \u7684 \u8def\u5f84 \u3002   generate _ waypoints   (   self   ,   distance   )   \u8fd4\u56de \u4e00\u4e2a \u8def\u70b9 \u5217\u8868 \uff0c \u6bcf\u4e2a \u8f66\u9053 \u7684 \u8def\u70b9 \u4e4b\u95f4 \u90fd \u6709 \u4e00\u5b9a \u7684 \u8ddd\u79bb \uff0c \u5e76 \u4ee5 \u5176 \u4e3a \u4e2d\u5fc3 \u3002 \u8def\u70b9 \u4e0d \u6309 \u4efb\u4f55 \u7279\u5b9a \u987a\u5e8f \u5217\u51fa \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u540c\u4e00 \u9053\u8def \u3001 \u8def\u6bb5 \u548c \u8f66\u9053 \u5185 \u8ddd\u79bb \u8d85\u8fc7 2 \u5398\u7c73 \u7684 \u8def \u70b9\u5c06 \u5177\u6709 \u76f8\u540c \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   \u53c2\u6570 \uff1a   distance   (   float   -   \u7c73   )   -   \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u8fd1\u4f3c \u8ddd\u79bb \u3002   \u8fd4\u56de \uff1a   list (   carla . Waypoint   )   save _ to _ disk   (   self   ,   path   )   \u5c06 \u5f53\u524d \u6620\u5c04 \u7684   . xodr   OpenDRIVE   \u6587\u4ef6 \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002   \u53c2\u6570 \uff1a   path   -   \u4fdd\u5b58 \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   to _ opendrive   (   self   )   \u4ee5 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5f62\u5f0f \u8fd4\u56de \u5f53\u524d \u5730\u56fe \u7684   . xodr   OpenDRIVe   \u6587\u4ef6 \u3002   \u8fd4\u56de \uff1a   str   transform _ to _ geolocation   (   self   ,   location   )   \u5c06 \u4eff\u771f \u4e2d \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u7684 \u7ed9\u5b9a \u4f4d\u7f6e   location   \u8f6c\u6362 \u4e3a   carla . GeoLocation   \uff0c \u4ed6 \u8868\u793a \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \u3002 \u5730\u56fe \u7684 \u5730\u7406 \u4f4d\u7f6e \u5730\u7406\u4f4d\u7f6e \u5728   OpenDRIVE   \u6807\u7b7e   \u5185 \u5b9a\u4e49 \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   )   \u8fd4\u56de \uff1a   carla . GeoLocation","title":"\u65b9\u6cd5"},{"location":"python_api/#_108","text":"get _ all _ landmarks   (   self   )   \u8fd4\u56de \u5730\u56fe \u4e2d \u7684 \u6240\u6709 \u5730\u6807 \u3002 \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \u68c0\u7d22 \u5230 \u7684 \u5730\u6807 \u6709 \u4e00\u4e2a   null   \u8def\u5f84 \u70b9 \u3002   \u8fd4\u56de \uff1a   list (   carla . Landmark   )   get _ all _ landmarks _ from _ id   (   self   ,   opendrive _ id   )   \u8fd4\u56de \u5177\u6709 \u7279\u5b9a   OpenDRIVE   ID   \u7684 \u5730\u6807 \u3002 \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \u68c0\u7d22 \u7684 \u5730\u6807 \u5177\u6709   null   \u8def\u5f84 \u70b9 \u3002   \u53c2\u6570 \uff1a   opendrive _ id   (   string   )   -   \u5730 \u6807\u7684   OpenDRIVE   ID \u3002   \u8fd4\u56de \uff1a   list (   carla . Landmark   )   get _ all _ landmarks _ of _ type   (   self   ,   type   )   \u8fd4\u56de \u7279\u5b9a \u7c7b\u578b \u7684 \u5730\u6807 \u3002 \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \u68c0\u7d22 \u7684 \u5730\u6807 \u5177\u6709   null   \u8def\u5f84 \u70b9 \u3002   \u53c2\u6570 \uff1a   type   (   string   )   -   \u5730 \u6807\u7684 \u7c7b\u578b \u3002   \u8fd4\u56de \uff1a   list (   carla . Landmark   )   get _ crosswalks   (   self   )   \u4ee5 \u95ed\u5408 \u591a\u8fb9 \u591a\u8fb9\u5f62 \u7684 \u5f62\u5f0f \u8fd4\u56de \u5305\u542b \u6240\u6709 \u4eba\u884c \u4eba\u884c\u6a2a\u9053 \u533a\u57df \u7684 \u4f4d\u7f6e \u5217\u8868 \u3002 \u91cd\u590d \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u70b9 \uff0c \u8868\u793a \u591a\u8fb9 \u591a\u8fb9\u5f62 \u7684 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u3002   \u8fd4\u56de \uff1a   list (   carla . Location   )   get _ landmark _ group   (   self   ,   landmark   )   \u8fd4\u56de \u4e0e \u6307\u5b9a \u5730\u6807 \uff08 \u5305\u62ec \u5176 \u81ea\u8eab \uff09 \u4f4d\u4e8e \u540c \u4e00\u7ec4 \u4e2d \u7684 \u5730\u6807 \u3002 \u5982\u679c \u5730\u6807 \u4e0d \u5c5e\u4e8e \u4efb\u4f55 \u7ec4 \uff0c \u5219 \u8fd4\u56de \u7a7a \u5217\u8868 \u3002   \u53c2\u6570 \uff1a   landmark   (   carla . Landmark   )   -   \u5c5e\u4e8e \u8be5\u7ec4 \u7684 \u5730\u6807 \u3002   \u8fd4\u56de \uff1a   list (   carla . Landmark   )   get _ spawn _ points   (   self   )   \u8fd4\u56de \u5730\u56fe \u521b\u5efa \u521b\u5efa\u8005 \u63d0\u51fa \u7684 \u5efa\u8bae \u5217\u8868 \uff0c \u4ee5 \u7528\u4f5c \u8f66\u8f86 \u7684 \u751f\u6210 \u70b9 \u3002 \u8be5 \u5217\u8868 \u5305\u62ec \u5177\u6709 \u7279\u5b9a \u4f4d\u7f6e \u548c \u65b9\u5411 \u7684   carla . Transform   \u5bf9\u8c61 \u3002 \u4e3a\u4e86 \u907f\u514d   Z   \u578b \u78b0\u649e \uff0c \u4e0a\u8ff0 \u5730\u70b9 \u4f1a \u7a0d\u5fae \u5728 \u7a7a\u4e2d \uff0c \u56e0\u6b64 \u8f66\u8f86 \u5728 \u51fa\u53d1 \u524d\u4f1a \u7a0d\u5fae \u4e0b\u5760 \u3002   \u8fd4\u56de \uff1a   list (   carla . Transform   )   get _ topology   (   self   )   \u8fd4\u56de \u63cf\u8ff0   OpenDRIVE   \u6587\u4ef6 \u62d3\u6251 \u7684 \u6700\u5c0f \u56fe \u7684 \u5143\u7ec4 \u5217\u8868 \u3002 \u8fd9\u4e9b \u5143\u7ec4 \u5305\u542b \u4f4d\u4e8e \u9053\u8def \u8d77\u70b9 \u6216 \u7ec8\u70b9 \u7684 \u6210 \u5bf9 \u8def\u70b9 \u3002 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u662f \u8d77\u70b9 \uff0c \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u4ee3\u8868 \u53e6 \u4e00\u4e2a \u53ef\u4ee5 \u5230\u8fbe \u7684 \u8def \u7ec8\u70b9 \u3002 \u8be5\u56fe \u53ef\u4ee5 \u52a0\u8f7d \u5230   NetworkX   \u4e2d \u8fdb\u884c \u4f7f\u7528 \u3002 \u8f93\u51fa \u53ef\u80fd \u5982\u4e0b \u6240\u793a \uff1a   [ ( w0 ,   w1 ) ,   ( w0 ,   w2 ) ,   ( w1 ,   w3 ) ,   ( w2 ,   w3 ) ,   ( w0 ,   w4 ) ]   \u3002   \u8fd4\u56de \uff1a   list ( tuple (   carla . Waypoint   ,   carla . Waypoint   ) )   get _ waypoint   (   self   ,   location   ,   project _ to _ road   = True   ,   lane _ type   =   carla . LaneType . Driving   )   snippet   \u2192   \u8fd4\u56de \u53ef\u4ee5 \u4f4d\u4e8e \u7cbe\u786e \u4f4d\u7f6e \u6216 \u8f6c\u6362 \u5230 \u6700\u8fd1 \u8f66\u9053 \u4e2d\u5fc3 \u7684 \u8def\u5f84 \u70b9 \u3002 \u6240\u8ff0 \u8f66\u9053 \u7c7b\u578b \u53ef\u4ee5 \u4f7f\u7528 \u8bf8\u5982   LaneType . Driving   &   LaneType . Shoulder   \u7684 \u6807\u5fd7 \u6765 \u5b9a\u4e49 \u3002 \u5982\u679c \u627e\u5230 \u672a\u627e\u5230 \u8def\u5f84 \u70b9 \uff0c \u8be5 \u65b9\u6cd5 \u5c06 \u8fd4\u56de   None   \uff0c \u8fd9\u79cd \u60c5\u51b5 \u4ec5 \u5728 \u5c1d\u8bd5 \u68c0\u7d22 \u786e\u5207 \u4f4d\u7f6e \u7684 \u8def\u5f84 \u70b9\u65f6 \u53ef\u80fd \u4f1a \u53d1\u751f \u3002 \u8fd9 \u53ef\u4ee5 \u8f7b\u677e \u68c0\u67e5 \u67d0\u4e2a \u70b9 \u662f\u5426 \u5728 \u67d0\u6761 \u9053\u8def \u5185 \uff0c \u5426\u5219 \uff0c \u5b83 \u5c06 \u8fd4\u56de \u76f8\u5e94 \u7684 \u8def\u5f84 \u70b9 \u3002   \u53c2\u6570 \uff1a   location   (   carla . Location   -   \u7c73   )   -   \u7528\u4f5c   carla . Waypoint   \u53c2\u8003 \u7684 \u4efb\u52a1 \u3002   project _ to _ road   (   bool   )   -   \u5982\u679c \u662f   True   \uff0c \u8def\u5f84 \u70b9\u5c06 \u4f4d\u4e8e \u6700\u8fd1 \u8f66\u9053 \u7684 \u4e2d\u5fc3 \u3002 \u8fd9\u662f \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u3002 \u5982\u679c \u4e3a   False   \uff0c \u8def\u5f84 \u70b9\u5c06 \u6070\u597d \u4f4d\u4e8e   location   \u3002   None   \u8868\u793a \u8be5 \u4f4d\u7f6e \u4e0d \u5c5e\u4e8e \u9053\u8def \u3002   lane _ type   (   carla . LaneType   )   -   \u5c06 \u5bf9 \u6700\u8fd1 \u8f66\u9053 \u7684 \u641c\u7d22 \u9650\u5236 \u4e3a \u53ef\u4ee5 \u6807\u8bb0 \u7684 \u4e00\u79cd \u6216 \u591a\u79cd \u8f66\u9053 \u7c7b\u578b \u3002   \u8fd4\u56de \uff1a   carla . Waypoint   get _ waypoint _ xodr   (   self   ,   road _ id   ,   lane _ id   ,   s   )   \u5982\u679c \u4f20\u9012 \u7684 \u6240\u6709 \u53c2\u6570 \u90fd \u6b63\u786e \uff0c \u5219 \u8fd4\u56de \u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002 \u5426\u5219 \uff0c \u8fd4\u56de   None   \u3002   \u53c2\u6570 \uff1a   road _ id   (   int   )   -   \u83b7\u53d6 \u8def\u70b9 \u7684 \u9053\u8def id \u3002   lane _ id   (   int   )   -   \u83b7\u53d6 \u8def\u5f84 \u70b9 \u7684 \u8f66\u9053 id \u3002   s   (   float   -   \u7c73   )   -   \u6307\u5b9a \u4ece \u9053\u8def \u8d77\u70b9 \u5f00\u59cb \u7684 \u957f\u5ea6 \u3002   \u8fd4\u56de \uff1a   carla . Waypoint","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#_109","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlamaplayer","text":"\u8868\u793a \u5730\u56fe \u7684 \u6bcf\u4e2a \u53ef \u7ba1\u7406 \u7ba1\u7406\u5c42 \u7684 \u7c7b \u3002 \u53ef\u4ee5 \u7528\u4f5c \u6807\u5fd7 \u3002   \u8b66\u544a \uff1a \u53ea\u6709 \u201c Opt \u201d \u5730\u56fe \u624d\u80fd \u4f7f\u7528 \u5730\u56fe \u56fe\u5c42 \u3002","title":"carla . MapLayer"},{"location":"python_api/#_110","text":"NONE   \u672a \u9009\u62e9 \u4efb\u4f55 \u56fe\u5c42 \u3002   Buildings   Decals   Foliage   Ground   ParkedVehicles   Particles   Props   StreetLights   Walls   All   \u9009\u5b9a \u6240\u6709 \u56fe\u5c42 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlamaterialparameter","text":"\u8868\u793a \u6750\u6599 \u53c2\u6570 \u7684 \u7c7b \u3002 \u5e76\u975e \u573a\u666f \u4e2d \u7684 \u6240\u6709 \u5bf9\u8c61 \u90fd \u5305\u542b \u6240\u6709 \u53c2\u6570 \u3002","title":"carla . MaterialParameter"},{"location":"python_api/#_111","text":"Normal   \u5bf9\u8c61 \u7684 \u6cd5\u7ebf \u8d34\u56fe \u3002 \u5b58\u5728 \u4e8e \u4e00\u5207 \u7269\u4f53 \u4e2d \u3002   Diffuse   \u7269\u4f53 \u7684 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u7eb9\u7406 \u3002 \u5b58\u5728 \u4e8e \u4e00\u5207 \u7269\u4f53 \u4e2d \u3002   AO _ Roughness _ Metallic _ Emissive   \u6bcf\u4e2a \u989c\u8272 \u901a\u9053 \u4ee3\u8868 \u6750\u8d28 \u5c5e\u6027 \u7684 \u7eb9\u7406 \uff08 R \uff1a \u73af\u5883 \u73af\u5883\u5149 \u906e\u6321 \uff0c G \uff1a \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \uff0c B \uff1a \u91d1\u5c5e \uff0c A \uff1a \u67d0\u4e9b \u7269\u4f53 \u4e2d \u7684 \u53d1\u5c04 / \u9ad8\u5ea6 \u8d34\u56fe \uff09 \u3002   Emissive   \u53d1\u5c04 \u7eb9\u7406 \u3002 \u5b58\u5728 \u4e8e \u4e00\u4e9b \u7269\u4f53 \u4e2d \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlaobstacledetectionevent","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49   sensor . other . obstacle   \u969c\u788d \u969c\u788d\u7269 \u6570\u636e \u7684 \u7c7b \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002","title":"carla . ObstacleDetectionEvent"},{"location":"python_api/#_112","text":"actor   (   carla . Actor   )   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6240 \u8fde\u63a5 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   other _ actor   (   carla . Actor   )   \u88ab \u89c6\u4e3a \u969c\u788d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u7269\u4f53 \u3002   distance   (   float   -   \u7c73   )   \u53c2\u4e0e \u53c2\u4e0e\u8005   actor   \u548c \u5176\u4ed6 \u4ed6\u4eba \u5176\u4ed6\u4eba   other   \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_113","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_114","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaopendrivegenerationparameters","text":"\u6b64\u7c7b \u5b9a\u4e49 \u4f7f\u7528   OpenDRIVE   \u6587\u4ef6 \u751f\u6210 \u4e16\u754c \u65f6 \u4f7f\u7528 \u7684 \u53c2\u6570 \u3002","title":"carla . OpendriveGenerationParameters"},{"location":"python_api/#_115","text":"vertex _ distance   (   float   )   \u751f\u6210 \u7684 \u7f51\u683c \u9876\u70b9 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   2.0   \u3002   max _ road _ length   (   float   )   \u5355\u4e2a \u7f51\u683c \u90e8\u5206 \u7684 \u6700\u5927 \u9053\u8def \u957f\u5ea6 \u3002 \u5730\u56fe \u7684 \u7f51\u683c \u88ab \u5206\u4e3a \u591a\u4e2a \u90e8\u5206 \uff0c \u4ee5 \u907f\u514d \u4f20\u64ad \u95ee\u9898 \u3002   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   50.0   \u3002   wall _ height   (   float   )   \u5728 \u9053\u8def \u8fb9\u754c \u4e0a \u521b\u5efa \u7684 \u5899\u58c1 \u7684 \u9ad8\u5ea6 \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u9632\u6b62 \u8f66\u8f86 \u4ece \u9053\u8def \u4e0a \u4e0b\u6765 \u6389\u4e0b\u6765 \u3002   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   1.0   \u3002   additional _ width   (   float   )   \u53e6\u5916 \u8fd8\u6709 \u5e94\u7528 \u7684 \u8fde\u63a5 \u8f66\u9053 \u3002 \u590d\u6742 \u7684 \u60c5\u51b5 \u5f80\u5f80 \u53d1\u751f \u5728 \u8def\u53e3 \uff0c \u7a0d\u5fae \u589e\u52a0 \u4e00\u70b9 \u5c31 \u53ef\u4ee5 \u9632\u6b62 \u8f66\u8f86 \u5760\u843d \u8def\u9762 \u3002   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.6   \u3002   smooth _ junctions   (   bool   )   \u5982\u679c \u4e3a   True   \uff0c \u4ea4\u53c9 \u4ea4\u53c9\u70b9 \u5904 \u7684 \u7f51\u683c \u5c06 \u88ab \u5e73\u6ed1 \uff0c \u4ee5 \u9632\u6b62 \u9053\u8def \u963b\u585e \u5176\u4ed6 \u9053\u8def \u7684 \u95ee\u9898 \u3002   \u9ed8\u8ba4 \u4e3a   True   \u3002   enable _ mesh _ visibility   (   bool   )   \u5982\u679c \u4e3a   True   \uff0c \u5c06 \u6e32\u67d3 \u9053\u8def \u7f51\u683c \u3002 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   False   \u5e94\u8be5 \u4f1a \u51cf\u5c11 \u6e32\u67d3 \u5f00\u9500 \u3002   \u9ed8\u8ba4 \u4e3a   True   \u3002   enable _ pedestrian _ navigation   (   bool   )   \u5982\u679c \u4e3a   True   \uff0c \u5c06 \u4f7f\u7528   Recast   \u5de5\u5177 \u542f\u7528 \u884c\u4eba \u5bfc\u822a \u3002 \u5bf9\u4e8e \u975e\u5e38 \u5927 \u7684 \u5730\u56fe \uff0c \u5efa\u8bae \u7981\u7528 \u6b64 \u9009\u9879 \u3002   \u9ed8\u8ba4 \u4e3a   True   \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlaopticalflowimage","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49 \u8868\u793a \u89c6\u573a \u4e2d \u68c0\u6d4b \u5230 \u7684 \u5149\u6d41 \u7684 \u4e8c\u7ef4 \u6d6e\u70b9 \uff08 32   \u4f4d \uff09 \u5411\u91cf \u7684 \u5149\u6d41 \u56fe\u50cf \u7684 \u7c7b \u3002 \u77e2\u91cf \u7684 \u5206\u91cf \u8868\u793a \u7269\u4f53 \u5728 \u56fe\u50cf \u5e73\u9762 \u4e2d \u7684 \u4f4d\u79fb \u3002 \u6bcf\u4e2a \u7ec4\u4ef6 \u8f93\u51fa \u5f52\u4e00\u5316 \u8303\u56f4   [ - 2 , 2 ]   \u5185 \u7684 \u503c \uff0c \u8be5 \u8303\u56f4 \u7f29\u653e \u4e3a   [ - 2   size \uff0c 2   size ] \uff0c \u5927\u5c0f \u662f \u76f8\u5e94 \u7ec4\u4ef6 \u4e2d \u7684 \u603b \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u3002","title":"carla . OpticalFlowImage"},{"location":"python_api/#_116","text":"fov   (   float   -   \u5ea6   )   \u56fe\u50cf \u7684 \u6c34\u5e73 \u89c6\u91ce \u3002   height   (   int   )   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   width   (   int   )   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   (   bytes   )   \u5c55\u5e73 \u50cf\u7d20 \u6570\u636e \u6570\u7ec4 \uff0c \u4f7f\u7528   reshape   \u521b\u5efa \u56fe\u50cf \u6570\u7ec4 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_117","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_118","text":"get _ color _ coded _ flow   (   self   )   \u53ef\u89c6 \u53ef\u89c6\u5316 \u52a9\u624b \u3002 \u5c06 \u5149\u6d41 \u56fe\u50cf \u8f6c\u6362 \u4e3a   RGB   \u56fe\u50cf \u3002   \u8fd4\u56de \uff1a   carla . Image","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#_119","text":"__ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u8fed\u4ee3 \u5f62\u6210 \u56fe\u50cf \u7684   carla . OpticalFlowPixel   \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   color   =   carla . Color   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaopticalflowpixel","text":"\u5b9a\u4e49 \u8868\u793a \u5149\u6d41 \u50cf\u7d20 \u7684 \u4e8c\u7ef4 \u5411\u91cf \u7684 \u7c7b \u3002","title":"carla . OpticalFlowPixel"},{"location":"python_api/#_120","text":"x   (   float   )   x   \u5206\u91cf \u4e2d \u7684 \u5149\u6d41 \u3002   y   (   float   )   y   \u5206\u91cf \u4e2d \u7684 \u5149\u6d41 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_121","text":"__ init __   (   self   ,   x   = 0   ,   y   = 0   )   \u521d\u59cb \u521d\u59cb\u5316 \u5149\u6d41 \u50cf\u7d20 \u3002 \u9ed8\u8ba4 \u4e3a \u96f6 \u3002   \u53c2\u6570 \uff1a   x   (   float   )   y   (   float   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_122","text":"__ eq __   (   self   ,   other   =   carla . OpticalFlowPixel   )   __ ne __   (   self   ,   other   =   carla . OpticalFlowPixel   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaosm2odr","text":"\u5c06   OpenStreetMap   \u5730\u56fe \u8f6c\u6362 \u4e3a   OpenDRIVE   \u683c\u5f0f \u7684 \u7c7b \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u5728   Carla   \u4e2d \u52a0\u8f7d \u3002 \u5728   \u6587\u6863   \u4e2d \u4e86\u89e3 \u6709\u5173 \u6b64 \u529f\u80fd \u7684 \u66f4 \u591a \u4fe1\u606f \u3002","title":"carla . Osm2Odr"},{"location":"python_api/#_123","text":"convert   (   osm _ file   ,   settings   )   \u83b7\u53d6   . osm   \u6587\u4ef6 \uff08 OpenStreetMap   \u683c\u5f0f \uff09 \u7684 \u5185\u5bb9 \u5e76 \u8fd4\u56de \u63cf\u8ff0 \u6240\u8ff0 \u5730\u56fe \u7684   . xodr   \uff08 OpenDRIVE   \u683c\u5f0f \uff09 \u7684 \u5185\u5bb9 \u3002 \u4f20\u9012 \u4e00\u4e9b \u53c2\u6570 \u5316\u6765 \u8fdb\u884c \u8f6c\u6362 \u3002   \u53c2\u6570 \uff1a   osm _ file   (   str   )   -   \u8f93\u5165   OpenStreetMap   \u6587\u4ef6 \u7684 \u5185\u5bb9 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   settings   (   carla . OSM2ODRSettings   )   -   \u8f6c\u6362 \u7684 \u53c2\u6570 \u5316 \u3002   \u8fd4\u56de \uff1a   str","title":"\u65b9\u6cd5"},{"location":"python_api/#carlaosm2odrsettings","text":"\u5305\u542b \u7531   carla . Osm2Odr   \u4f7f\u7528 \u7684 \u53c2\u6570 \u5316 \u7684 \u5e2e\u52a9 \u7a0b\u5e8f \u7c7b \uff0c \u7528\u4e8e \u5c06   OpenStreetMap   \u5730\u56fe \u8f6c\u6362 \u4e3a   OpenDRIVE   \u683c\u5f0f \u3002 \u5728   \u6587\u6863   \u4e2d \u4e86\u89e3 \u6709\u5173 \u6b64 \u529f\u80fd \u7684 \u66f4 \u591a \u4fe1\u606f \u3002","title":"carla . Osm2OdrSettings"},{"location":"python_api/#_124","text":"use _ offsets   (   bool   )   \u5141\u8bb8 \u4f7f\u7528 \u504f\u79fb \u504f\u79fb\u91cf \u8fdb\u884c \u8f6c\u6362 \u3002 \u504f\u79fb \u504f\u79fb\u91cf \u5c06 \u79fb\u52a8 \u5730\u56fe \u7684 \u539f\u70b9 \u4f4d\u7f6e \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   False   \u3002   offset _ x   (   float   -   \u7c73   )   X   \u8f74 \u504f\u79fb \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0   \u3002   offset _ y   (   float   -   \u7c73   )   Y   \u8f74 \u504f\u79fb \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0   \u3002   default _ lane _ width   (   float   -   \u7c73   )   \u751f\u6210 \u7684   XODR   \u5730\u56fe \u4e2d \u63cf\u8ff0 \u7684 \u8f66\u9053 \u5bbd\u5ea6 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   4.0   \u3002   elevation _ layer _ height   (   float   -   \u7c73   )   \u5b9a\u4e49 \u5206\u9694 \u4e24\u4e2a \u4e0d\u540c   OpenStreetMap   \u56fe\u5c42   \u7684 \u9ad8\u5ea6 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0   \u3002   center _ map   (   bool   )   \u542f\u7528 \u6b64 \u9009\u9879 \u540e \uff0c \u5730\u56fe \u7684 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u5c06 \u53d1\u751f \u4f4d\u79fb \uff0c \u4ee5 \u4f7f \u5750\u6807 \u539f\u70b9 \u4e0e \u6574\u4e2a \u9053\u8def \u5730\u56fe \u7684 \u8fb9\u754c \u6846 \u4e2d\u5fc3 \u5339\u914d \u76f8\u5339\u914d \u3002   proj _ string   (   str   )   \u5b9a\u4e49 \u5c06 \u7528\u4e8e \u8ba1\u7b97 \u4ece \u5730\u7406 \u5750\u6807 \u5730\u7406\u5750\u6807 \u5230 \u5361\u5c14 \u7b1b\u5361\u5c14 \u5750\u6807 \u7684 \u6295\u5f71 \u7684   proj4   \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002 \u8be5 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5c06 \u5199\u5165 \u751f\u6210 \u7684   OpenDRIVE   \u4e2d \uff0c \u9664\u975e \u542f\u7528 \u4e86   use _ offsets   \u6216   center _ map   \u9009\u9879 \uff0c \u56e0\u4e3a \u8fd9\u4e9b \u9009\u9879 \u4f1a \u8986\u76d6 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u4e2d \u7684 \u67d0\u4e9b \u5b9a\u4e49 \u3002   generate _ traffic _ lights   (   bool   )   \u6307\u51fa \u662f\u5426 \u5728 OpenDRIVE \u4e2d \u751f\u6210 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u6570\u636e \u3002   set _ traffic _ light _ excluded _ way _ types ( way _ types )   \u5b9a\u4e49 \u7684 \u9053\u8def \u7c7b\u578b \u4e0d\u4f1a \u751f\u6210 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002   all _ junctions _ with _ traffic _ lights   (   bool   )   \u7981\u7528 \u65f6 \uff0c \u8f6c\u6362 \u8f6c\u6362\u5668 \u5c06 \u4ec5 \u4ece   OpenStreetMaps   \u6570\u636e \u751f\u6210 \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u636e \u3002 \u542f\u7528 \u540e \uff0c \u6240\u6709 \u8def\u53e3 \u90fd \u4f1a \u751f\u6210 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_125","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_126","text":"set _ osm _ way _ types   (   self   ,   way _ types   )   \u5b9a\u4e49 \u5c06 \u5bfc\u5165 \u5bfc\u5165\u5230   OpenDRIVE   \u7684   OpenStreetMaps   \u9053\u8def \u7c7b\u578b \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5bfc\u5165 \u7684 \u9053\u8def \u7c7b\u578b \u4e3a   motorway ,   motorway _ link ,   trunk ,   trunk _ link ,   primary ,   primary _ link ,   secondary ,   secondary _ link ,   tertiary ,   tertiary _ link ,   unclassified ,   residential   \u3002 \u6709\u5173 \u9053\u8def \u7c7b\u578b \u7684 \u5b8c\u6574 \u5217\u8868 \uff0c \u8bf7 \u67e5\u770b   \u6b64\u5904   \u3002   \u53c2\u6570 \uff1a   way _ types   (   list ( str )   )   -   \u9053\u8def \u7c7b\u578b \u5217\u8868 \u3002   set _ traffic _ light _ excluded _ way _ types   (   self   ,   way _ types   )   \u5b9a\u4e49 \u5373\u4f7f \u542f\u7528   generate _ traffic _ lights   \u4e5f \u4e0d\u4f1a \u751f\u6210 \u4ea4\u901a \u4ea4\u901a\u706f \u7684   OpenStreetMaps   \u9053\u8def \u7c7b\u578b \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u6392\u9664 \u7684 \u9053\u8def \u7c7b\u578b \u4e3a   motorway _ link ,   primary _ link ,   secondary _ link ,   tertiary _ link   \u3002   \u53c2\u6570 \uff1a   way _ types   (   list ( str )   )   -   \u9053\u8def \u7c7b\u578b \u5217\u8868 \u3002","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#carlaradardetection","text":"carla . RadarMeasurement   \u4e2d \u5305\u542b \u7684 \u6570\u636e \u3002 \u5176\u4e2d \u6bcf \u4e00\u4e2a \u90fd \u4ee3\u8868 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 .   sensor . other . radar   \u8bb0\u5f55 \u7684 \u4e91\u4e2d \u7684 \u70b9 \u4e4b\u4e00 \uff0c \u5e76 \u5305\u542b \u4e0e \u96f7\u8fbe \u76f8\u5173 \u7684 \u8ddd\u79bb \u3001 \u89d2\u5ea6 \u548c \u901f\u5ea6 \u3002","title":"carla . RadarDetection"},{"location":"python_api/#_127","text":"altitude   (   float   -   radians   )   \u68c0\u6d4b \u7684 \u9ad8\u5ea6 \u89d2 \u3002   azimuth   (   float   -   radians   )   \u68c0\u6d4b \u7684 \u65b9\u4f4d \u65b9\u4f4d\u89d2 \u3002   depth   (   float   -   \u7c73   )   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5230 \u68c0\u6d4b \u4f4d\u7f6e \u7684 \u8ddd\u79bb \u3002   velocity   (   float   -   m / s   )   \u88ab \u68c0\u6d4b \u7269\u4f53 \u671d\u5411 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u901f\u5ea6 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_128","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_129","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaradarmeasurement","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u5b9a\u4e49 \u5e76 \u6536\u96c6 \u7531   sensor . other . radar   \u6ce8\u518c \u7684 \u6d4b\u91cf \u503c \u7684 \u7c7b \uff0c \u4ee3\u8868 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u524d\u9762 \u7684 \u70b9 \u5899 \u4ee5\u53ca \u4e0e\u5176 \u76f8\u5173 \u7684 \u8ddd\u79bb \u3001 \u89d2\u5ea6 \u548c \u901f\u5ea6 \u3002 \u6570\u636e \u7531   carla . RadarDetection   \u6570\u7ec4 \u7ec4\u6210 \u3002 \u5728   \u8fd9\u91cc   \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002","title":"carla . RadarMeasurement"},{"location":"python_api/#_130","text":"raw _ data   (   bytes   )   carla . RadarDetection   \u96f7\u8fbe \u7684 \u5b8c\u6210 \u4fe1\u606f \u5df2\u7ecf \u88ab \u6ce8\u518c \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_131","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_132","text":"get _ detection _ count   (   self   )   \u68c0\u7d22 \u751f\u6210 \u7684 \u6761\u76ee \u6570 \uff0c \u4e0e   __ str __ ( )   \u76f8\u540c \u3002","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_133","text":"__ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728 \u83b7\u53d6 \u7684 \u6570\u636e   carla . RadarDetection   \u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   detection   =   carla . RadarDetection   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlarotation","text":"\u8868\u793a   3D   \u65cb\u8f6c \u4ee5\u53ca \u7a7a\u95f4 \u65b9\u5411 \u7684 \u7c7b \u3002   Carla   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u5750\u6807\u7cfb \uff0c \u5728 \u865a\u5e7b \u5f15\u64ce \u4e16\u754c \u91cc \uff0c \u7a7a\u95f4 \u5750\u6807 \u7684 \u5355\u4f4d \u662f \u5398\u7c73 \u3002 \u5176 \u8bbe\u8ba1 \u57fa\u4e8e \u7b2c\u4e00 \u4eba\u79f0 \u7b2c\u4e00\u4eba\u79f0 \u89c6\u89c9 \uff1a X   \u8f74\u6b63 \u65b9\u5411 \u8868\u793a \u5411\u524d \uff0c Y   \u8f74\u6b63 \u65b9\u5411 \u8868\u793a \u5411 \u53f3 \uff0c Z   \u8f74\u6b63 \u65b9\u5411 \u8868\u793a \u5411\u4e0a \u3002   \u6784\u9020 \u51fd\u6570 \u6784\u9020\u51fd\u6570 \u65b9\u6cd5 \u9075\u5faa \u7279\u5b9a \u7684 \u58f0\u660e \u987a\u5e8f \uff1a   ( pitch ,   yaw ,   roll )   \u5bf9\u5e94 \u4e8e   ( Y - rotation , Z - rotation , X - rotation )   .   \u865a\u5e7b \u5f15\u64ce \u7684 \u5750\u6807 \u5750\u6807\u7cfb   \u3002","title":"carla . Rotation"},{"location":"python_api/#_134","text":"pitch   (   float   -   \u5ea6   )   Y - \u8f74 \u65cb\u8f6c \u89d2\u5ea6 \u3002   yaw   (   float   -   \u5ea6   )   Z - \u8f74 \u65cb\u8f6c \u89d2\u5ea6 \u3002   roll   (   float   -   \u5ea6   )   X - \u8f74 \u65cb\u8f6c \u89d2\u5ea6 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_135","text":"__ init __   (   self   ,   pitch   = 0.0   ,   yaw   = 0.0   ,   roll   = 0.0   )   \u53c2\u6570 \uff1a   pitch   (   float   -   \u5ea6   )   -   Y - axis   rotation   angle .   yaw   (   float   -   \u5ea6   )   -   Z - axis   rotation   angle .   roll   (   float   -   \u5ea6   )   -   X - axis   rotation   angle .   \u8b66\u544a \uff1a   CARLA   ( pitch , yaw , roll )   \u548c \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684 \u58f0\u660e \u987a\u5e8f \u4e0d\u540c \u3002 \u5f53 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u65f6 \uff0c \u4e0d\u8981 \u6df7\u6dc6 \u8f74 \u7684 \u65cb\u8f6c \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_136","text":"get _ forward _ vector   (   self   )   \u6839\u636e \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u6307\u5411 \u524d\u65b9 \u7684 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   get _ right _ vector   (   self   )   \u6839\u636e \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u6307\u5411 \u53f3\u4fa7 \u7684 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D   get _ up _ vector   (   self   )   \u6839\u636e \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u6307\u5411 \u4e0a\u65b9 \u7684 \u5411\u91cf \u3002   \u8fd4\u56de \uff1a   carla . Vector3D","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_137","text":"__ eq __   (   self   ,   other   =   carla . Rotation   )   \u5982\u679c \u4e24\u4e2a \u65cb\u8f6c \u4ee3\u8868 \u6bcf\u4e2a \u8f74 \u7684 \u76f8\u540c \u65b9\u5411 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de \uff1a   bool   __ ne __   (   self   ,   other   =   carla . Rotation   )   \u5982\u679c \u4e24\u4e2a \u65cb\u8f6c \u4ee3\u8868 \u6bcf\u4e2a \u8f74 \u7684 \u76f8\u540c \u65b9\u5411 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de \uff1a   bool   __ str __   (   self   )   \u5c06 \u8f74 \u7684 \u65b9\u5411 \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlarssactorconstellationdata","text":"\u7531   RssSensor . register _ actor _ constellation _ callback ( )   \u6ce8\u518c \u7684 \u56de\u8c03 \u4e2d \u63d0\u4f9b \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u3002","title":"carla . RssActorConstellationData"},{"location":"python_api/#_138","text":"ego _ match _ object   (   ad . map . match . Object   )   \u81ea\u6211 \u6620\u5c04 \u5339\u914d \u4fe1\u606f \u3002   ego _ route   (   ad . map . route . FullRoute   )   \u81ea\u6211 \u8def\u7531 \u3002   ego _ dynamics _ on _ route   (   carla . RssEgoDynamicsOnRoute   )   \u5173\u4e8e \u8def\u7ebf \u7684 \u5f53\u524d \u81ea\u6211 \u8f66\u8f86 \u52a8\u6001 \u3002   other _ match _ object   (   ad . map . match . Object   )   \u5176\u4ed6 \u5bf9\u8c61 \u7684 \u5730\u56fe \u5339\u914d \u4fe1\u606f \u3002 \u4ec5\u5f53 \u201c other _ actor \u201d \u4e0d\u662f \u201c None \u201d \u65f6 \u8fd9 \u624d \u6709\u6548 \u3002   other _ actor   (   carla . Actor   )   \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5982\u679c \u67e5\u8be2 \u9ed8\u8ba4 \u53c2\u6570 \u6216 \u7c7b\u578b \u4e3a   ad . rss . world . ObjectType . ArtificialObject   \u4e14 \u6ca1\u6709 \u4e13\u7528 \u201c   carla . Actor   '   ( as   e . g .   for   the   road   boundaries   \u201d \u7684 \u4eba\u5de5 \u5bf9\u8c61 \uff08 \u4f8b\u5982 \u76ee\u524d \u7684 \u9053\u8def \u8fb9\u754c \uff09 \uff0c \u5219 \u4e3a \u201c None \u201d \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_139","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_140","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlarssactorconstellationresult","text":"\u5e94\u8be5 \u7531   RssSensor . register _ actor _ constellation _ callback ( )   \u6ce8\u518c \u7684 \u56de\u8c03 \u8fd4\u56de \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u3002","title":"carla . RssActorConstellationResult"},{"location":"python_api/#_141","text":"rss _ calculation _ mode   (   ad . rss . map . RssMode   )   \u8981 \u5e94\u7528 \u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8ba1\u7b97 \u6a21\u5f0f \u3002   restrict _ speed _ limit _ mode   (   ad . rss . map . RestrictSpeedLimitMode   )   \u9650\u901f \u6a21\u5f0f \u3002   ego _ vehicle _ dynamics   (   ad . rss . world . RssDynamics   )   \u5c06 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u52a8\u6001 \u5e94\u7528 \u4e8e \u81ea\u6211 \u8f66\u8f86 \u3002   actor _ object _ type   (   ad . rss . world . ObjectType   )   \u8981 \u7528\u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5bf9\u8c61 \u7c7b\u578b \u3002   actor _ dynamics   (   ad . rss . world . RssDynamics   )   \u8981 \u5e94\u7528 \u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_142","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_143","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlarssegodynamicsonroute","text":"\u63cf\u8ff0 \u8f66\u8f86 \u72b6\u6001 \u7684   carla . RssResponse   \u4e2d \u5305\u542b \u7684 \u90e8\u5206 \u6570\u636e \u3002 \u53c2\u6570 \u5305\u62ec \u5b83 \u5f53\u524d \u7684 \u52a8\u6001 \uff0c \u4ee5\u53ca \u5b83 \u5982\u4f55 \u6839\u636e \u76ee\u6807 \u8def\u7ebf \u524d\u8fdb \u3002","title":"carla . RssEgoDynamicsOnRoute"},{"location":"python_api/#_144","text":"ego _ speed   (   ad . physics . Speed   )   \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u3002   min _ stopping _ distance   (   ad . physics . Distance   )   \u5f53\u524d \u6700\u5c0f \u505c\u8f66 \u8ddd\u79bb \u3002   ego _ center   (   ad . map . point . ENUPoint   )   \u81ea\u6211 \u8f66\u8f86 \u88ab \u8003\u8651 \u7684 enu \u4f4d\u7f6e \u3002   ego _ heading   (   ad . map . point . ENUHeading   )   \u8003\u8651 \u7684 \u81ea\u6211 \u8f66\u8f86 \u7684 \u822a\u5411 \u3002   ego _ center _ within _ route   (   bool   )   \u8bf4\u660e \u81ea\u6211 \u8f66\u8f86 \u7684 \u4e2d\u5fc3 \u662f\u5426 \u5728 \u8def\u7ebf \u5185 \u3002   crossing _ border   (   bool   )   \u8bf4\u660e \u8f66\u8f86 \u662f\u5426 \u5df2\u7ecf \u8d8a\u8fc7 \u5176\u4e2d \u4e00\u4e2a \u8f66\u9053 \u8fb9\u754c \u3002   route _ heading   (   ad . map . point . ENUHeading   )   \u8def\u7ebf \u7684 \u8003\u8651 \u65b9\u5411 \u3002   route _ nominal _ center   (   ad . map . point . ENUPoint   )   \u5f53\u524d \u8def\u7ebf \u7684 \u540d\u4e49 \u4e2d\u5fc3 \u3002   heading _ diff   (   ad . map . point . ENUHeading   )   \u88ab \u8003\u8651 \u7684 \u65b9\u5411 \u504f\u79bb \u4e86 \u8def\u7ebf \u3002   route _ speed _ lat   (   ad . physics . Speed   )   \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u5206\u91cf   lat   \u4e0e \u8def\u7ebf \u6709\u5173 \u3002   route _ speed _ lon   (   ad . physics . Speed   )   \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u5206\u91cf   lon   \u4e0e \u8def\u7ebf \u6709\u5173 \u3002   route _ accel _ lat   (   ad . physics . Acceleration   )   \u81ea\u6211 \u8f66\u8f86 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5206\u91cf   lat   \u4e0e \u8def\u7ebf \u6709\u5173 \u3002   route _ accel _ lon   (   ad . physics . Acceleration   )   \u81ea\u6211 \u8f66\u8f86 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5206\u91cf   lon   \u4e0e \u8def\u7ebf \u6709\u5173 \u3002   avg _ route _ accel _ lat   (   ad . physics . Acceleration   )   \u81ea\u6211 \u8f66 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5206\u91cf   lat   \u4e0e \u7ecf\u8fc7 \u5e73\u5747 \u6ee4\u6ce2 \u5e73\u6ed1 \u7684 \u8def\u7ebf \u6709\u5173 \u3002   The   ego   vehicle ' s   acceleration   component   lat   regarding   the   route   smoothened   by   an   average   filter .   avg _ route _ accel _ lon   (   ad . physics . Acceleration   )   \u5bf9 \u7ecf\u8fc7 \u5e73\u5747 \u6ee4\u6ce2 \u5e73\u6ed1 \u7684 \u8def\u7ebf \u8fdb\u884c \u81ea \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5206\u91cf   lon   \u5206\u6790 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_145","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_146","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlarssloglevel","text":"\u679a\u4e3e \u58f0\u660e \u4e2d \u4f7f\u7528 \u7684   carla . RssSensor   \u8bbe\u7f6e \u65e5\u5fd7 \u7ea7\u522b \u3002","title":"carla . RssLogLevel"},{"location":"python_api/#_147","text":"trace   debug   info   warn   err   critical   off","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlarssresponse","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u5305\u542b c   carla . RssSensor   \u8f93\u51fa \u7684 \u7c7b \u3002 \u8fd9 \u662f \u5bf9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7236 \u8f66\u8f86 \u6267\u884c \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u8ba1\u7b97 \u7684 \u7ed3\u679c \u3002   carla . RssRestrictor   \u5c06 \u4f7f\u7528 \u6570\u636e \u4fee\u6539 \u8f66\u8f86 \u7684   carla . VehicleControl   \u3002","title":"carla . RssResponse"},{"location":"python_api/#_148","text":"response _ valid   (   bool   )   \u8bf4\u660e \u54cd\u5e94 \u662f\u5426 \u6709\u6548 \u3002 \u5982\u679c \u8ba1\u7b97 \u5931\u8d25 \u6216 \u53d1\u751f \u5f02\u5e38 \uff0c \u5219 \u4e3a   False   \u3002   proper _ response   (   ad . rss . state . ProperResponse   )   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4e3a \u8f66\u8f86 \u8ba1\u7b97 \u7684 \u6b63\u786e \u54cd\u5e94 \u3002   rss _ state _ snapshot   (   ad . rss . state . RssStateSnapshot   )   \u8be6\u7ec6 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5728 \u5f53\u524d \u65f6\u523b \u7684 \u72b6\u6001 \u3002   ego _ dynamics _ on _ route   (   carla . RssEgoDynamicsOnRoute   )   \u5173\u4e8e \u8def\u7ebf \u7684 \u5f53\u524d \u81ea\u6211 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3002   world _ model   (   ad . rss . world . WorldModel   )   \u7528\u4e8e \u8ba1\u7b97 \u7684 \u4e16\u754c \u6a21\u578b \u3002   situation _ snapshot   (   ad . rss . situation . SituationSnapshot   )   \u4ece \u4e16\u754c \u6a21\u578b \u4e2d \u63d0\u53d6 \u7684 \u8be6\u7ec6 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u60c5\u51b5 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_149","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_150","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlarssrestrictor","text":"\u8fd9\u4e9b \u5bf9\u8c61 \u5c06 \u9650\u5236 \u5e94\u7528 \u4e8e   carla . VehicleControl   \u3002 \u5b83 \u662f   \u8d1f\u8d23 \u654f\u611f \u5b89\u5168 \u7684 C++ \u5e93   \u7684 Carla \u5b9e\u73b0 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u6b64\u7c7b \u4e0e   rss \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u534f\u540c \u540c\u5de5 \u5de5\u4f5c \u534f\u540c\u5de5\u4f5c \uff0c rss \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u63d0\u4f9b \u8981 \u5e94\u7528 \u7684 \u9650\u5236 \u7684 \u6570\u636e \u3002","title":"carla . RssRestrictor"},{"location":"python_api/#_151","text":"restrict _ vehicle _ control   (   self   ,   vehicle _ control   ,   proper _ response   ,   ego _ dynamics _ on _ route   ,   vehicle _ physics   )   \u5e94\u7528   carla . RssSensor   \u5bf9   carla . VehicleControl   \u7ed9\u51fa \u7684 \u5b89\u5168 \u9650\u5236 \u3002   \u53c2\u6570 \uff1a   vehicle _ control   (   carla . VehicleControl   )   -   \u8981 \u9650\u5236 \u7684 \u8f93\u5165 \u8f66\u8f86 \u63a7\u5236 \u3002   proper _ response   (   ad . rss . state . ProperResponse   )   -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ea7\u751f \u7684 \u90e8\u5206 \u54cd\u5e94 \u3002 \u5305\u542b \u9002\u7528 \u4e8e \u8f66\u8f86 \u52a0\u901f \u7684 \u9650\u5236 \u3002   ego _ dynamics _ on _ route   (   carla . RssEgoDynamicsOnRoute   )   -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ea7\u751f \u7684 \u90e8\u5206 \u54cd\u5e94 \u3002 \u5305\u542b \u6709\u5173 \u5176 \u8def\u7ebf \u7684 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u548c \u65b9\u5411 \u3002   vehicle _ physics   (   carla . VehiclePhysicsControl   )   -   \u8f66\u8f86 \u7684 \u5f53\u524d \u7269\u7406 \u7279\u6027 \u3002 \u7528\u4e8e \u6b63\u786e \u5e94\u7528 \u9650\u5236 \u3002   \u8fd4\u56de :   carla . VehicleControl","title":"\u65b9\u6cd5"},{"location":"python_api/#_152","text":"set _ log _ level   (   self   ,   log _ level   )   \u8bbe\u7f6e \u65e5\u5fd7 \u7ea7\u522b \u3002   \u53c2\u6570 \uff1a   log _ level   (   carla . RssLogLevel   )   -   \u65b0 \u65e5\u5fd7 \u7ea7\u522b \u3002","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#carlarssroadboundariesmode","text":"carla . RssSensor   \u4e2d \u4f7f\u7528 \u7684 \u679a\u4e3e \u58f0\u660e \uff0c \u7528\u4e8e \u542f\u7528 \u6216 \u7981\u7528   \u516c\u8def \u505c\u7559   \u529f\u80fd \u3002 \u800c\u8a00 \u603b\u800c\u8a00\u4e4b \uff0c \u6b64 \u529f\u80fd \u5c06 \u9053\u8def \u8fb9\u754c \u89c6\u4e3a \u865a\u62df \u5bf9\u8c61 \u3002 \u6700\u5c0f \u5b89\u5168 \u8ddd\u79bb \u68c0\u67e5 \u5e94\u7528 \u4e8e \u8fd9\u4e9b \u865a\u62df \u5899 \uff0c \u4ee5 \u786e\u4fdd \u8f66\u8f86 \u4e0d\u4f1a \u9a76\u79bb \u9053\u8def \u3002","title":"carla . RssRoadBoundariesMode"},{"location":"python_api/#_153","text":"On   \u542f\u7528 \u201c \u505c\u7559 \u5728 \u8def\u4e0a \uff08   stay   on   road   \uff09 \u201d \u529f\u80fd \u3002   Off   \u7981\u7528 \u201c \u505c\u7559 \u5728 \u8def\u4e0a \uff08   stay   on   road   \uff09 \u201d \u529f\u80fd \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlarsssensor","text":"\u4ece   carla . Sensor   \u7ee7\u627f   \u6b64 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5de5\u4f5c \u539f\u7406 \u4e0e \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7565\u6709 \u4e0d\u540c \u7565\u6709\u4e0d\u540c \u3002 \u8bf7 \u67e5\u770b   \u7279\u5b9a \u6587\u6863   \u548c   rss \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \uff0c \u4ee5 \u5145\u5206 \u4e86\u89e3 \u5b83 \u3002   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f7f\u7528 \u4e16\u754c \u4fe1\u606f \u548c   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u5e93   \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u5b89\u5168 \u68c0\u67e5 \u5b89\u5168\u68c0\u67e5 \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u7d22 \u5230 \u7684 \u8f93\u51fa \u662f   carla . RssResponse   \u3002 \u8fd9 \u5c06 \u7531   carla . RssRestrictor   \u4f7f\u7528 \u3002 \u5728 \u5c06 \u5176 \u5e94\u7528 \u4e8e \u8f66\u8f86 \u4e4b\u524d \u8fdb\u884c   carla . VehicleControl   \u3002","title":"carla . RssSensor"},{"location":"python_api/#_154","text":"ego _ vehicle _ dynamics   (   ad . rss . world . RssDynamics   )   \u8bf4\u660e \u5982\u679c \u6ca1\u6709 \u6ce8\u518c \u53c2\u4e0e \u53c2\u4e0e\u8005   constellation   \u56de\u8c03 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u8003\u8651 \u7684 \u81ea\u6211 \u8f66\u8f86 \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   \u3002   other _ vehicle _ dynamics   (   ad . rss . world . RssDynamics   )   \u8bf4\u660e \u5982\u679c \u6ca1\u6709 \u6ce8\u518c \u53c2\u4e0e \u53c2\u4e0e\u8005   constellation   \u56de\u8c03 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u4e3a \u5176\u4f59 \u8f66\u8f86 \u8003\u8651 \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   \u3002   pedestrian _ dynamics   (   ad . rss . world . RssDynamics   )   \u8bf4\u660e \u5982\u679c \u6ca1\u6709 \u6ce8\u518c \u53c2\u4e0e \u53c2\u4e0e\u8005   constellation   \u56de\u8c03 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u4e3a \u884c\u4eba \u8003\u8651 \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   \u3002   road _ boundaries _ mode   (   carla . RssRoadBoundariesMode   )   \u5207\u6362 \u505c\u7559 \u5728 \u9053\u8def \u4e0a   stay   on   road   \u7684 \u529f\u80fd \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u5904\u4e8e \u7981\u7528 \uff08   Off   \uff09 \u72b6\u6001 \u3002   routing _ targets   (   vector <   carla . Transform   >   )   \u5f53\u524d \u8003\u8651 \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u8def\u7531 \u7684 \u76ee\u6807 \u5217\u8868 \u3002 \u5982\u679c \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \u8def\u7531 \u76ee\u6807 \uff0c \u5219 \u968f\u673a \u751f\u6210 \u8def\u7531 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_155","text":"append _ routing _ target   (   self   ,   routing _ target   )   \u5c06 \u65b0 \u7684 \u76ee\u6807 \u4f4d\u7f6e \u9644\u52a0 \u5230 \u8f66\u8f86 \u7684 \u5f53\u524d \u8def\u7ebf \u3002   \u53c2\u6570 \uff1a   routing _ target   (   carla . Transform   )   -   \u4e3a \u8def\u7ebf \u65b0\u5efa \u76ee\u6807 \u70b9 \u3002 \u5728 \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u540e \u9009\u62e9 \u8fd9\u4e9b \u9009\u9879 \uff0c \u4ee5 \u5f3a\u5236 \u8def\u7ebf \u8f6c\u5f2f \u3002   drop _ route   (   self   )   \u653e\u5f03 \u5f53\u524d \u8def\u7531 \u3002 \u5982\u679c   routing _ targets   \u4e2d \u8fd8\u6709 \u76ee\u6807 \uff0c \u5219 \u4f7f\u7528 \u8fd9\u4e9b \u76ee\u6807 \u521b\u5efa \u65b0\u8def \u7531 \u3002 \u5426\u5219 \uff0c \u5c06 \u968f\u673a \u521b\u5efa \u65b0\u8def \u7531 \u3002   register _ actor _ constellation _ callback   (   self   ,   callback   )   \u6ce8\u518c \u56de\u8c03 \u4ee5 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49   carla . RssActorConstellationResult   \u3002 \u901a\u8fc7 \u6b64 \u56de\u8c03 \uff0c \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570 \u7684 \u8bbe\u7f6e \u662f \u6839\u636e \u53c2\u4e0e \u53c2\u4e0e\u8005   constellation   \u5b8c\u6210 \u7684 \uff0c \u5e76\u4e14 \u8bbe\u7f6e \uff08 ego _ vehicle _ dynamics ,   other _ vehicle _ dynamics   and   pedestrian _ dynamics \uff09 \u6ca1\u6709 \u4efb\u4f55 \u6548\u679c \u3002   \u53c2\u6570 \uff1a   callback   -   \u6bcf\u5f53 \u8981 \u8ba1\u7b97 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u60c5\u51b5 \u65f6\u8981 \u8c03\u7528 \u7684 \u51fd\u6570 \u3002   reset _ routing _ targets   (   self   )   \u5220\u9664 \u5df2 \u9644\u52a0 \u5230 \u8def\u7531 \u7684 \u76ee\u6807 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_156","text":"set _ log _ level   (   self   ,   log _ level   )   \u8bbe\u7f6e \u65e5\u5fd7 \u7ea7\u522b \u3002   \u53c2\u6570 \uff1a   log _ level   (   carla . RssLogLevel   )   -   \u65b0 \u7684 \u65e5\u5fd7 \u7ea7\u522b \u3002   set _ map _ log _ level   (   self   ,   log _ level   )   \u8bbe\u7f6e \u65e5\u5fd7 \u65e5\u5fd7 \u7ea7\u522b \u3002   \u53c2\u6570 \uff1a   log _ level   (   carla . RssLogLevel   )   -   New   map   log   level .","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_157","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlasemanticlidardetection","text":"carla . SemanticLidarMeasurement   \u4e2d \u5305\u542b \u7684 \u6570\u636e \u3002 \u5176\u4e2d \u6bcf \u4e00\u4e2a \u90fd \u4ee3\u8868 \u4e91\u4e2d \u7684 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u53ca\u5176 \u4f4d\u7f6e \u3001 \u5165\u5c04 \u5c04\u89d2 \u5165\u5c04\u89d2 \u7684 \u4f59\u5f26 \u3001 \u547d\u4e2d \u7269\u4f53 \u7684 \u7d22\u5f15 \u53ca\u5176 \u8bed\u4e49 \u6807\u8bb0 \u3002","title":"carla . SemanticLidarDetection"},{"location":"python_api/#_158","text":"point   (   carla . Location   -   \u7c73   )   \u70b9 \u7684 [ x \uff0c y \uff0c z ] \u5750\u6807 \u3002   cos _ inc _ angle   (   float   )   \u5149\u7ebf \u4e0e \u88ab \u51fb\u4e2d \u7269\u4f53 \u6cd5\u7ebf \u4e4b\u95f4 \u5165\u5c04 \u5c04\u89d2 \u5165\u5c04\u89d2 \u7684 \u4f59\u5f26 \u3002   object _ idx   (   uint   )   \u88ab \u5149\u7ebf \u51fb\u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 ID \u3002   object _ tag   (   uint   )   \u88ab \u5149\u7ebf \u51fb\u4e2d \u90e8\u4ef6 \u7684 \u8bed\u4e49 \u6807\u7b7e \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_159","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_160","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlasemanticlidarmeasurement","text":"\u4ece   carla . SensorData   \u7ee7\u627f   \u8be5\u7c7b \u5b9a\u4e49 \u7531   sensor . lidar . ray _ cast _ semantic   \u68c0\u7d22 \u7684 \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6570\u636e \u3002 \u8fd9 \u5b9e\u8d28 \u4e0a \u662f \u4f7f\u7528 \u5149\u7ebf \u6295\u5c04 \u6765 \u4eff\u771f \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002 \u5728 \u6b64 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002","title":"carla . SemanticLidarMeasurement"},{"location":"python_api/#_161","text":"channels   (   int   )   \u6fc0\u5149 \u53d1\u5c04 \u6b21\u6570 \u3002   horizontal _ angle   (   float   -   radians   )   \u6c34\u5e73 \u89d2\u5ea6 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5728 \u6d4b\u91cf \u65f6 \u65cb\u8f6c \u3002   raw _ data   (   bytes   )   \u6536\u5230 \u539f\u59cb \u68c0\u6d4b \u6d4b\u70b9 \u68c0\u6d4b\u70b9 \u5217\u8868 \u3002 \u6bcf\u4e2a \u70b9 \u7531 [ x \uff0c y \uff0c z ] \u5750\u6807 \u52a0\u4e0a \u5165\u5c04 \u5c04\u89d2 \u5165\u5c04\u89d2 \u7684 \u4f59\u5f26 \uff0c \u547d\u4e2d \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7d22\u5f15 \u53ca\u5176 \u8bed\u4e49 \u6807\u8bb0 \u7ec4\u6210 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_162","text":"save _ to _ disk   (   self   ,   path   )   \u5c06 \u70b9\u4e91 \u4fdd\u5b58 \u4e3a \u63cf\u8ff0 \u4e09\u7ef4 \u626b\u63cf \u626b\u63cf\u4eea \u6570\u636e \u7684   . ply   \u6587\u4ef6 \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002 \u751f\u6210 \u7684 \u6587\u4ef6 \u53ef\u4ee5 \u5728   MeshLab   \u4e2d \u4f7f\u7528 \uff0c MeshLab \u662f \u4e00\u4e2a \u7528\u4e8e \u5904\u7406 \u4e0a\u8ff0 \u6587\u4ef6 \u7684 \u5f00\u6e90 \u7cfb\u7edf \u3002 \u53ea \u9700 \u8003\u8651 \u5230 \u8f74 \u53ef\u80fd \u4e0e \u4e0d \u771f\u5b9e \u7684 \u5f15\u64ce \u4e0d\u540c \uff0c \u56e0\u6b64 \u9700\u8981 \u91cd\u65b0 \u5206\u914d \u91cd\u65b0\u5206\u914d \u3002   \u53c2\u6570 \uff1a   path   (   str   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_163","text":"get _ point _ count   (   self   ,   channel   )   \u83b7\u53d6 \u6b64 \u5ea6\u91cf \u751f\u6210 \u7684 \u6309 \u901a\u9053 \u6392\u5e8f \u7684 \u70b9\u6570 \u3002 \u901a\u8fc7 \u901a\u9053 \u6392\u5e8f \u53ef\u4ee5 \u8bc6\u522b \u6bcf\u4e2a \u70b9 \u7684 \u539f\u59cb \u901a\u9053 \u3002   \u53c2\u6570 \uff1a   channel   (   int   )","title":"\u83b7\u53d6 \u5668"},{"location":"python_api/#_164","text":"__ getitem __   (   self   ,   pos   = int   )   __ iter __   (   self   )   \u5728 \u83b7\u53d6 \u5230 \u7684   carla . SemanticLidarDetection   \u6570\u636e \u4e0a \u8fdb\u884c \u8fed\u4ee3 \u3002   __ len __   (   self   )   __ setitem __   (   self   ,   pos   = int   ,   detection   =   carla . SemanticLidarDetection   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlasensor","text":"\u4ece   carla . Actor   \u7ee7\u627f   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6784\u6210 \u4e86 \u4e00\u4e2a \u975e\u5e38 \u591a\u6837 \u591a\u6837\u5316 \u548c \u72ec\u7279 \u7684 \u7279\u5b9a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5bb6\u65cf \u3002 \u5b83\u4eec \u901a\u5e38 \u662f \u4f5c\u4e3a \u8f66\u8f86 \u7684 \u9644\u4ef6 / \u513f\u5b50 \u800c \u4ea7\u751f \u7684 \uff08 \u770b\u770b   carla . World   \u6765 \u4e86\u89e3 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u751f\u6210 \uff09 \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7ecf\u8fc7 \u7cbe\u5fc3 \u8bbe\u8ba1 \u7cbe\u5fc3\u8bbe\u8ba1 \uff0c \u53ef\u4ee5 \u68c0\u7d22 \u5b83\u4eec \u6b63\u5728 \u76d1\u542c \u7684 \u4e0d\u540c \u7c7b\u578b \u7684 \u6570\u636e \u3002 \u5b83\u4eec \u63a5\u6536 \u5230 \u7684 \u6570\u636e \u88ab \u5f62\u6210 \u4e3a \u4ece   carla . SensorData   \u7ee7\u627f \u7684 \u4e0d\u540c \u5b50\u7c7b \u3002 \uff08 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff09 \u3002   \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef \u5206\u4e3a \u4e24\u7ec4 \uff1a \u4e00\u7ec4 \u5728 \u6bcf\u4e2a \u8282\u62cd \u4e2d \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \uff08 \u76f8\u673a \u3001 \u70b9\u4e91 \u548c \u4e00\u4e9b \u7279\u5b9a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff09 \uff0c \u4e00\u7ec4 \u53e6\u4e00\u7ec4 \u4ec5 \u5728 \u7279\u5b9a \u60c5\u51b5 \u4e0b \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \uff08 \u89e6\u53d1 \u63a2\u6d4b \u6d4b\u5668 \u63a2\u6d4b\u5668 \uff09 \u3002 Carla   \u63d0\u4f9b \u4e86 \u4e00\u5957 \u7279\u5b9a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5b83\u4eec \u7684 \u84dd\u56fe \u53ef\u4ee5 \u5728   carla . BlueprintLibrary   \u4e2d \u627e\u5230 \u3002 \u5173\u4e8e \u4ed6\u4eec \u7684 \u504f\u597d \u548c \u653e\u7f6e \u4f4d\u7f6e \u7684 \u6240\u6709 \u4fe1\u606f \u90fd \u53ef\u4ee5 \u5728   \u8fd9\u91cc   \u627e\u5230 \uff0c \u4f46 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c Carla   \u4e2d \u53ef\u7528 \u7684 \u4fe1\u606f \u5217\u8868 \u5982\u4e0b \u3002   \u6bcf\u4e2a \u8282\u62cd \u63a5\u6536 \u7684 \u6570\u636e \u3002   -   \u6df1\u5ea6 \u76f8\u673a   -   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   -   IMU   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   -   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5149\u7ebf \u6295\u5c04   -   SemanticLidar   \u5149\u7ebf \u6295\u5c04   -   \u96f7\u8fbe   -   RGB   \u76f8\u673a   -   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   -   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u4ec5 \u5728 \u89e6\u53d1 \u65f6 \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \u3002   -   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   .   -   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   .   -   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   .","title":"carla . Sensor"},{"location":"python_api/#_165","text":"is _ listening   (   boolean   )   \u5f53\u4e3a   True   \u65f6 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u7b49\u5f85 \u6570\u636e \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_166","text":"disable _ for _ ros   (   self   )   \u5982\u679c \u6ca1\u6709 \u4efb\u4f55 \u76d1\u542c \uff0c \u5219 \u547d\u4ee4 \u4e0d \u5904\u7406 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ee5 \u5728   ROS2   \u4e2d \u53d1\u5e03 \u3002   enable _ for _ ros   (   self   )   \u547d\u4ee4 \u8981 \u5904\u7406 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u80fd\u591f \u5728 ROS2 \u4e2d \u53d1\u5e03 \uff0c \u800c \u65e0\u9700 \u4efb\u4f55 \u76d1\u542c \u3002   is _ enabled _ for _ ros   (   self   )   \u5982\u679c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5df2 \u542f\u7528 \uff0c \u5219 \u8fd4\u56de \uff1b \u5982\u679c \u6ca1\u6709 \u4efb\u4f55 \u76d1\u542c \uff0c \u5219 \u4e0d \u5728 ROS2 \u4e2d \u53d1\u5e03 \u3002   \u8fd4\u56de \uff1a   bool   is _ listening   (   self   )   \u8fd4\u56de \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u5426 \u5904\u4e8e \u76d1\u542c \u72b6\u6001 \u3002   \u8fd4\u56de \uff1a   bool   is _ listening _ gbuffer   (   self   ,   gbuffer _ id   )   \u8fd4\u56de \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f\u5426 \u5904\u4e8e \u7279\u5b9a   GBuffer   \u7eb9\u7406 \u7684 \u76d1\u542c \u72b6\u6001 \u3002   \u53c2\u6570 \uff1a   gbuffer _ id   (   carla . GBufferTextureID   )   -   \u76ee\u6807 \u865a\u5e7b \u5f15\u64ce GBuffer \u7eb9\u7406 \u7684 ID \u3002   \u8fd4\u56de \uff1a   bool   listen   (   self   ,   callback   )   snippet   \u2192   \u6bcf\u6b21 \u6536\u5230 \u65b0 \u7684 \u6d4b\u91cf \u503c\u65f6 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u8c03\u7528 \u7684 \u51fd\u6570 \u3002 \u6b64 \u51fd\u6570 \u9700\u8981 \u4e00\u4e2a \u5305\u542b \u5bf9\u8c61 \u7c7b\u578b   carla . SensorData   \u7684 \u53c2\u6570 \u3002   \u53c2\u6570 \uff1a   callback   (   function   )   -   \u88ab \u8c03\u7528 \u7684 \u51fd\u6570 \u6709 \u4e00\u4e2a \u53c2\u6570 \u5305\u542b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   listen _ to _ gbuffer   (   self   ,   gbuffer _ id   ,   callback   )   \u6bcf\u6b21 \u63a5\u6536 \u5230 \u6240 \u9700 \u7684   GBuffer   \u7eb9\u7406 \u65f6 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u8c03\u7528 \u7684 \u51fd\u6570 \u3002   \u6b64 \u51fd\u6570 \u9700\u8981 \u4e00\u4e2a \u5305\u542b \u5bf9\u8c61 \u7c7b\u578b   carla . SensorData   \u7684 \u53c2\u6570 \u3002   \u53c2\u6570 \uff1a   gbuffer _ id   (   carla . GBufferTextureID   )   -   \u76ee\u6807 \u865a\u5e7b \u5f15\u64ce   GBuffer   \u7eb9\u7406 \u7684 ID \u3002   callback   (   function   )   -   \u88ab \u8c03\u7528 \u7684 \u51fd\u6570 \u6709 \u4e00\u4e2a \u53c2\u6570 \uff0c \u5176\u4e2d \u5305\u542b \u63a5\u6536 \u5230 \u7684 GBuffer \u7eb9\u7406 \u3002   stop   (   self   )   \u547d\u4ee4 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u505c\u6b62 \u76d1\u542c \u6570\u636e \u3002   stop _ gbuffer   (   self   ,   gbuffer _ id   )   \u547d\u4ee4 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u505c\u6b62 \u76d1\u542c \u6307\u5b9a \u7684   GBuffer   \u7eb9\u7406 \u3002   \u53c2\u6570 \uff1a   gbuffer _ id   (   carla . GBufferTextureID   )   -   \u865a\u5e7b \u5f15\u64ce   GBuffer   \u7eb9\u7406 \u7684 ID \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_167","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlasensordata","text":"\u5305\u542b   carla . Sensor   \u751f\u6210 \u7684 \u6570\u636e \u7684 \u6240\u6709 \u5bf9\u8c61 \u7684 \u57fa\u7c7b \u3002 \u8fd9\u4e2a \u5bf9\u8c61 \u5e94\u8be5 \u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6b63\u5728 \u76d1\u542c \u7684 \u51fd\u6570 \u7684 \u53c2\u6570 \uff0c \u4ee5\u4fbf \u4e0e \u5b83\u4eec \u4e00\u8d77 \u5de5\u4f5c \u3002 \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u7684 \u6bcf \u4e00\u4e2a \u90fd \u9700\u8981 \u7279\u5b9a \u7c7b\u578b \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002 \u4ee5\u4e0b \u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ca\u5176 \u76f8\u5e94 \u6570\u636e \u7684 \u5217\u8868 \u3002   -   \u76f8\u673a   ( RGB ,   \u6df1\u5ea6 \u548c \u8bed\u4e49 \u5206\u5272 ) :   carla . Image   .   -   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \uff1a   carla . CollisionEvent   .   -   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . GnssMeasurement   .   -   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . IMUMeasurement   .   -   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \uff1a   carla . LaneInvasionEvent   .   -   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . LidarMeasurement   .   -   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \uff1a   carla . ObstacleDetectionEvent   .   -   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . RadarMeasurement   .   -   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . RssResponse   .   -   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . SemanticLidarMeasurement   .   -   V2X \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u534f\u540c \u611f\u77e5 \u4fe1\u606f \uff1a   carla . CAMEvent   .   -   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 V2X \u6d88\u606f V2X \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   carla . CustomV2XEvent   .","title":"carla . SensorData"},{"location":"python_api/#_168","text":"frame   (   int   )   \u751f\u6210 \u6570\u636e \u65f6 \u7684 \u5e27 \u6570 \u3002   timestamp   (   float   -   seconds   )   \u751f\u6210 \u6570\u636e \u7684 \u6a21\u62df \u65f6\u95f4 \u3002   transform   (   carla . Transform   )   \u6570\u636e \u751f\u6210 \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8f6c\u6362 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlatexturecolor","text":"\u7c7b \u8868\u793a \u8981 \u4e0a \u4f20\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u7eb9\u7406 \u5bf9\u8c61 \u3002 \u50cf\u7d20 \u683c\u5f0f \u4e3a   RGBA \uff0c \u6bcf\u4e2a \u901a\u9053 \u4e3a   uint8 \u3002","title":"carla . TextureColor"},{"location":"python_api/#_169","text":"width   (   int   )   \u7eb9\u7406 \u7684   X   \u5750\u6807 \u5927\u5c0f \u3002   height   (   int   )   \u7eb9\u7406 \u7684   Y   \u5750\u6807 \u5927\u5c0f \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_170","text":"__ init __   (   self   ,   width   ,   height   )   \u4f7f\u7528 \uff08   width   ,   height   \uff09 \u5927\u5c0f \u521d\u59cb \u521d\u59cb\u5316 \u7eb9\u7406 \u3002   \u53c2\u6570 \uff1a   width   (   int   )   height   (   int   )   get   (   self   ,   x   ,   y   )   \u83b7\u53d6 \uff08 x \uff0c y \uff09 \u50cf\u7d20 \u6570\u636e \u3002   \u53c2\u6570 \uff1a   x   (   int   )   y   (   int   )   \u8fd4\u56de :   carla . Color   set   (   self   ,   x   ,   y   ,   value   )   \u7528\u503c   value   \u8bbe\u7f6e \uff08 x \uff0c y \uff09 \u50cf\u7d20 \u6570\u636e \u3002   \u53c2\u6570 \uff1a   x   (   int   )   y   (   int   )   value   (   carla . Color   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_171","text":"set _ dimensions   (   self   ,   width   ,   height   )   \u5c06 \u7eb9\u7406 \u8c03\u6574 \u5230 \u6307\u5b9a \u7684 \u5c3a\u5bf8 \u3002   \u53c2\u6570 \uff1a   width   (   int   )   height   (   int   )","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#carlatexturefloatcolor","text":"\u7c7b \u8868\u793a \u8981 \u4e0a \u4f20\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u7eb9\u7406 \u5bf9\u8c61 \u3002 \u50cf\u7d20 \u683c\u5f0f \u4e3a   RGBA \uff0c \u6bcf\u4e2a \u901a\u9053 \u7684 \u662f   float   \u3002","title":"carla . TextureFloatColor"},{"location":"python_api/#_172","text":"width   (   int   )   \u7eb9\u7406 \u7684   X   \u5750\u6807 \u5927\u5c0f \u3002   height   (   int   )   \u7eb9\u7406 \u7684   Y   \u5750\u6807 \u5927\u5c0f \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_173","text":"__ init __   (   self   ,   width   ,   height   )   \u4f7f\u7528 \uff08   width   ,   height   \uff09 \u5927\u5c0f \u521d\u59cb \u521d\u59cb\u5316 \u7eb9\u7406 \u3002   \u53c2\u6570 \uff1a   width   (   int   )   height   (   int   )   get   (   self   ,   x   ,   y   )   \u83b7\u53d6 \uff08 x \uff0c y \uff09 \u50cf\u7d20 \u6570\u636e \u3002   \u53c2\u6570 \uff1a   x   (   int   )   y   (   int   )   \u8fd4\u56de :   carla . FloatColor   set   (   self   ,   x   ,   y   ,   value   )   \u7528\u503c   value   \u8bbe\u7f6e \uff08 x \uff0c y \uff09 \u50cf\u7d20 \u6570\u636e \u3002   \u53c2\u6570 \uff1a   x   (   int   )   y   (   int   )   value   (   carla . FloatColor   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_174","text":"set _ dimensions   (   self   ,   width   ,   height   )   \u5c06 \u7eb9\u7406 \u8c03\u6574 \u5230 \u6307\u5b9a \u7684 \u5c3a\u5bf8 \u3002   \u53c2\u6570 \uff1a   width   (   int   )   height   (   int   )","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#carlatimestamp","text":"\u5305\u542b \u6a21\u62df \u6570\u636e \u65f6\u95f4 \u4fe1\u606f \u7684 \u7c7b \u3002 \u6b64 \u4fe1\u606f \u5c06 \u4f5c\u4e3a   carla . WorldSnapshot   \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u81ea\u52a8 \u52a8\u68c0 \u68c0\u7d22 \u81ea\u52a8\u68c0\u7d22 \u3002 \u662f \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6bcf \u4e00\u5e27 \u4e0a \u83b7\u5f97 \u7684 \uff0c \u4f46 \u4e5f \u53ef\u80fd \u7528\u4e8e \u8bb8\u591a \u5176\u4ed6 \u60c5\u51b5 \uff0c \u5982   carla . Sensor   \u6b63\u5728 \u68c0\u7d22 \u6570\u636e \u3002","title":"carla . Timestamp"},{"location":"python_api/#_175","text":"frame   (   int   )   \u81ea \u6a21\u62df \u6a21\u62df\u5668 \u542f\u52a8 \u4ee5\u6765 \u7ecf\u8fc7 \u7684 \u5e27 \u6570 \u3002   elapsed _ seconds   (   float   -   seconds   )   \u81ea \u5f53\u524d \u5267\u96c6 \u5f00\u59cb \u4ee5\u6765 \u7ecf\u8fc7 \u7684 \u6a21\u62df \u79d2\u6570 \u3002   delta _ seconds   (   float   -   seconds   )   \u81ea\u4e0a \u4e00\u5e27 \u4ee5\u6765 \u7ecf\u8fc7 \u7684 \u6a21\u62df \u79d2\u6570 \u3002   platform _ timestamp   (   float   -   seconds   )   \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u7ed9\u51fa \u7684 \u8fdb\u884c \u6b64 \u6d4b\u91cf \u7684 \u5e27 \u7684 \u65f6\u95f4 \u5bc4\u5b58 \u5bc4\u5b58\u5668 \uff0c \u5355\u4f4d \u4e3a \u79d2 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_176","text":"__ init __   (   self   ,   frame   ,   elapsed _ seconds   ,   delta _ seconds   ,   platform _ timestamp   )   \u53c2\u6570 \uff1a   frame   (   int   )   elapsed _ seconds   (   float   -   \u79d2   )   delta _ seconds   (   float   -   \u79d2   )   platform _ timestamp   (   float   -   \u79d2   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_177","text":"__ eq __   (   self   ,   other   =   carla . Timestamp   )   __ ne __   (   self   ,   other   =   carla . Timestamp   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlatrafficlight","text":"\u4ece   carla . TrafficSign   \u7ee7\u627f   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u88ab \u8ba4\u4e3a \u662f \u4e00\u79cd \u7279\u5b9a \u7c7b\u578b \u7684 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3002 \u7531\u4e8e \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u5927\u591a \u51fa\u73b0 \u5728 \u8def\u53e3 \uff0c \u56e0\u6b64 \u5b83\u4eec \u5c5e\u4e8e \u4e00\u4e2a \u5305\u542b \u4e0d\u540c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u7ec4 \u3002 \u5728 \u7ec4\u5185 \uff0c \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u901a\u8fc7 \u5176\u6746 \u6307\u6570 \u8fdb\u884c \u533a\u5206 \u3002   \u5728 \u4e00\u4e2a \u4e00\u4e2a\u7ec4 \u5185 \uff0c \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u4ee5 \u5faa\u73af \u6a21\u5f0f \u53d8\u5316 \uff1a \u9009\u62e9 \u4e00\u4e2a \u7d22\u5f15 \uff0c \u5b83 \u5728 \u7eff\u8272 \u3001 \u9ec4\u8272 \u548c \u6700\u7ec8 \u7ea2\u8272 \u4e2d \u505c\u7559 \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u3002 \u5176\u4f59 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u5728 \u6574\u4e2a \u8fc7\u7a0b \u4e2d \u90fd \u4fdd\u6301 \u7ea2\u8272 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u5728 \u5faa\u73af \u7684 \u6700\u540e \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u6709 \u4e00\u4e2a \u95f4\u9699 \uff0c \u6240\u6709 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u90fd \u662f \u7ea2\u8272 \u7684 \u3002 \u4f46\u662f \uff0c \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u53ef\u4ee5 \u624b\u52a8 \u6539\u53d8 \u3002","title":"carla . TrafficLight"},{"location":"python_api/#_178","text":"state   (   carla . TrafficLightState   )   \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u5f53\u524d \u72b6\u6001 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_179","text":"freeze   (   self   ,   freeze   )   \u5728 \u5f53\u524d \u72b6\u6001 \u5c06 \u573a\u666f \u4e2d \u7684 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u505c\u6b62 \u3002   \u53c2\u6570 \uff1a   freeze   (   bool   )   is _ frozen   (   self   )   \u5982\u679c \u4ea4\u901a \u4ea4\u901a\u706f \u6839\u636e \u4e0a\u6b21 \u52fe\u9009 \u88ab \u51bb\u7ed3 \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06 \u8fd4\u56de   True   \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   bool   reset _ group   (   self   )   \u5c06 \u7ec4 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u91cd\u7f6e \u4e3a \u6a21\u62df \u5f00\u59cb \u65f6 \u7684 \u521d\u59cb \u72b6\u6001 \u521d\u59cb\u72b6\u6001 \u3002   Note :   \u6b64 \u65b9\u6cd5 \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_180","text":"get _ affected _ lane _ waypoints   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u8def\u5f84 \u70b9 \u5217\u8868 \uff0c \u6307\u793a \u4ea4\u901a \u4ea4\u901a\u706f \u4ea7\u751f \u5f71\u54cd \u7684 \u4f4d\u7f6e \u548c \u8f66\u9053 \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   get _ elapsed _ time   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u4e0a\u6b21 \u6ef4\u7b54 \u4fe1\u606f \u8fd4\u56de \u81ea \u5f53\u524d \u706f\u5149 \u72b6\u6001 \u5f00\u59cb \u4ee5\u6765 \u7684 \u65f6\u95f4 \uff08 \u79d2 \uff09 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   float   -   seconds   get _ green _ time   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f \u8fd4\u56de \u4e3a \u7eff\u706f \u8bbe\u7f6e \u7684 \u65f6\u95f4 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   float   -   seconds   \u8bbe\u7f6e \u5668 \uff1a   carla . TrafficLight . set _ green _ time   get _ group _ traffic _ lights   (   self   )   \u8fd4\u56de \u6b64 \u4ea4\u901a \u4ea4\u901a\u706f \u6240\u5c5e \u7ec4\u4e2d \u7684 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u3002   \u8fd4\u56de :   list (   carla . TrafficLight   )   Note :   \u6b64 \u65b9\u6cd5 \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   get _ light _ boxes   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u5305\u542b \u4ea4\u901a \u4ea4\u901a\u706f \u6bcf\u4e2a \u706f\u7bb1 \u7684 \u8fb9\u754c \u6846 \u5217\u8868 \u3002   \u8fd4\u56de :   list (   carla . BoundingBox   )   get _ opendrive _ id   (   self   )   \u8fd4\u56de \u6b64 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 OpenDRIVE   id \u3002   \u8fd4\u56de :   str   get _ pole _ index   (   self   )   \u8fd4\u56de \u5c06 \u5176 \u6807\u8bc6 \u4e3a \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u4ea4\u901a \u4ea4\u901a\u706f \u7ec4 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u7684 \u6746 \u7684 \u7d22\u5f15 \u3002   \u8fd4\u56de :   int   get _ red _ time   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f \u8fd4\u56de \u4ea4\u901a \u4ea4\u901a\u706f \u53d8\u7ea2 \u7684 \u65f6\u95f4 \u8bbe\u7f6e \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   float   -   seconds   \u8bbe\u7f6e \u5668 \uff1a   carla . TrafficLight . set _ red _ time   get _ state   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f \u8fd4\u56de \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   carla . TrafficLightState   \u8bbe\u7f6e \u8d77 \uff1a   carla . TrafficLight . set _ state   get _ stop _ waypoints   (   self   )   \u8fd4\u56de \u6307\u793a \u4ea4\u901a \u4ea4\u901a\u706f \u505c\u6b62 \u4f4d\u7f6e \u7684 \u8def\u70b9 \u5217\u8868 \u3002 \u8fd9\u4e9b \u8def\u70b9 \u662f \u6839\u636e \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u89e6\u53d1 \u6846 \u8ba1\u7b97 \u7b97\u51fa \u51fa\u6765 \u8ba1\u7b97\u51fa\u6765 \u7684 \uff0c \u8fd9\u4e9b \u89e6\u53d1 \u6846 \u6307\u793a \u8f66\u8f86 \u5e94\u8be5 \u505c \u5728 \u54ea\u91cc \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   get _ yellow _ time   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f \u8fd4\u56de \u4e3a \u4ea4\u901a \u4ea4\u901a\u706f \u8bbe\u7f6e \u4e3a \u9ec4\u8272 \u7684 \u65f6\u95f4 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u8fd4\u56de :   float   -   \u79d2   \u8bbe\u7f6e \u5668 \uff1a   carla . TrafficLight . set _ yellow _ time","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_181","text":"set _ green _ time   (   self   ,   green _ time   )   \u53c2\u6570 \uff1a   green _ time   (   float   -   \u79d2   )   -   \u8bbe\u7f6e \u7eff\u706f \u6fc0\u6d3b \u7684 \u7ed9\u5b9a \u65f6\u95f4 \u3002   \u83b7\u53d6 \u5668 :   carla . TrafficLight . get _ green _ time   set _ red _ time   (   self   ,   red _ time   )   \u8bbe\u7f6e \u7ea2\u8272 \u72b6\u6001 \u6fc0\u6d3b \u7684 \u7ed9\u5b9a \u65f6\u95f4 \u3002   \u53c2\u6570 \uff1a   red _ time   (   float   -   \u79d2   )   \u83b7\u53d6 \u5668 :   carla . TrafficLight . get _ red _ time   set _ state   (   self   ,   state   )   snippet   \u2192   \u5c06 \u7ed9\u5b9a \u72b6\u6001 \u8bbe\u7f6e \u4e3a \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u53c2\u6570 \uff1a   state   (   carla . TrafficLightState   )   \u83b7\u53d6 \u5668 :   carla . TrafficLight . get _ state   set _ yellow _ time   (   self   ,   yellow _ time   )   \u8bbe\u7f6e \u9ec4\u706f \u6fc0\u6d3b \u7684 \u7ed9\u5b9a \u65f6\u95f4 \u3002   \u53c2\u6570 \uff1a   yellow _ time   (   float   -   seconds   )   \u83b7\u53d6 \u5668 :   carla . TrafficLight . get _ yellow _ time","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_182","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlatrafficlightstate","text":"\u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u6240\u6709 \u53ef\u80fd \u72b6\u6001 \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u5728 \u7279\u5b9a \u65f6\u95f4 \u6b65\u957f \u66f4\u6539 \u6216 \u624b\u52a8 \u66f4\u6539 \u3002   carla . TrafficLight . set _ state   \u4e2d \u7684 \u7247\u6bb5 \u4f1a \u52a8\u6001 \u66f4\u6539 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u72b6\u6001 \u3002","title":"carla . TrafficLightState"},{"location":"python_api/#_183","text":"Red   Yellow   Green   Off   Unknown","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlatrafficmanager","text":"\u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u662f \u4e00\u4e2a \u7528   C++   \u6784\u5efa \u5728   CARLA   API   \u4e4b\u4e0a \u7684 \u6a21\u5757 \u3002 \u5b83 \u53ef\u4ee5 \u5904\u7406 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u7684 \u4efb\u4f55 \u8f66\u8f86 \u7ec4 \uff0c \u4ee5 \u73b0\u5b9e \u7684 \u57ce\u5e02 \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u586b\u5145 \u4eff\u771f \uff0c \u5e76 \u4e3a \u7528\u6237 \u63d0\u4f9b \u5b9a\u5236 \u67d0\u4e9b \u884c\u4e3a \u7684 \u673a\u4f1a \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u67b6\u6784 \u5206\u4e3a \u4e94\u4e2a \u4e0d\u540c \u7684 \u9762\u5411 \u76ee\u6807 \u7684 \u9636\u6bb5 \u548c \u4e00\u4e2a   PID   \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u4fe1\u606f \u5728 \u5176\u4e2d \u6d41\u52a8 \uff0c \u76f4\u5230 \u6700\u7ec8 \u5c06   carla . VehicleControl   \u5e94\u7528 \u4e8e \u5728 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u4e2d \u6ce8\u518c \u7684 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u8f86 \u3002 \u8981 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \uff0c \u8bf7 \u8bbf\u95ee \u6709\u5173 \u6b64 \u6a21\u5757 \u7684   \u6587\u6863   \u3002","title":"carla . TrafficManager"},{"location":"python_api/#_184","text":"auto _ lane _ change   (   self   ,   actor   ,   enable   )   \u6253\u5f00 \u6216 \u5173\u95ed \u8f66\u8f86 \u7684 \u8f66\u9053 \u53d8\u6362 \u884c\u4e3a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u8bbe\u7f6e \u88ab \u66f4\u6539 \u7684 \u8f66\u8f86 \u3002   enable   (   bool   )   -   True   \u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u5e76 \u542f\u7528 \u8f66\u9053 \u53d8\u66f4 \u3002   False   \u5c06 \u7981\u7528 \u5b83\u4eec \u3002   collision _ detection   (   self   ,   reference _ actor   ,   other _ actor   ,   detect _ collision   )   \u8c03\u6574 \u8f66\u8f86 \u4e0e \u53e6 \u4e00\u4e2a \u7279\u5b9a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u95f4 \u7684 \u78b0\u649e \u3002 \u4e3a\u4e86 \u5ffd\u7565 \u6240\u6709 \u5176\u4ed6 \u8f66\u8f86 \u3001 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u6216 \u884c\u4eba \uff0c \u8bf7 \u4f7f\u7528 \u540c \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u4e2d \u63cf\u8ff0 \u7684   \u7279\u5b9a   ignore   \u65b9\u6cd5 \u3002   \u53c2\u6570 :   reference _ actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u78b0\u649e \u7684 \u8f66\u8f86 \u3002   other _ actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u4e0e \u4e4b \u53d1\u751f \u78b0\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   reference _ actor   \u3002   detect _ collision   (   bool   )   -   True   \u662f \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u5e76 \u542f\u7528 \u78b0\u649e \u3002   False   \u5c06 \u7981\u7528 \u5b83\u4eec \u3002   distance _ to _ leading _ vehicle   (   self   ,   actor   ,   distance   )   \u8bbe\u7f6e \u8f66\u8f86 \u5fc5\u987b \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u4fdd\u6301 \u7684 \u6700\u5c0f \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002 \u8ddd\u79bb \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff0c \u4f1a \u5f71\u54cd \u6700\u5c0f \u79fb\u52a8 \u8ddd\u79bb \u3002 \u5b83 \u662f\u4ece \u8f66\u8f86 \u5bf9\u8c61 \u7684 \u524d \u5230 \u540e \u8ba1\u7b97 \u7684 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u6b63\u5728 \u66f4\u6539 \u6700\u5c0f \u8ddd\u79bb \u7684 \u8f66\u8f86 \u3002   distance   (   float   -   \u7c73   )   -   \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \u4e4b\u95f4 \u7684 \u7c73 \u3002   force _ lane _ change   (   self   ,   actor   ,   direction   )   \u5f3a\u5236 \u8f66\u8f86 \u6539\u53d8 \u5230 \u5176 \u5de6\u4fa7 \u6216 \u53f3\u4fa7 \u7684 \u8f66\u9053 \uff08 \u5982\u679c \u5b58\u5728 \uff09 \uff0c \u5982   \u4e2d \u6240\u793a   direction   \u3002 \u65e0\u8bba \u53d1\u751f \u4ec0\u4e48 \u60c5\u51b5 \uff0c \u8be5 \u65b9\u6cd5 \u90fd \u4f1a \u5e94\u7528 \u8f66\u9053 \u53d8\u6362 \uff0c \u800c \u5ffd\u7565 \u53ef\u80fd \u53d1\u751f \u7684 \u78b0\u649e \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u8f66\u8f86 \u88ab\u8feb \u6539\u53d8 \u8f66\u9053 \u3002   direction   (   bool   )   -   \u76ee\u6807 \u8f66\u9053 \u3002   True   \u662f \u53f3\u8fb9 \u7684 \uff0c   False   \u662f \u5de6\u8fb9 \u7684 \u3002   global _ lane _ offset   (   self   ,   offset   )   \u8bbe\u7f6e \u8ddd \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \u7684 \u5168\u5c40 \u8f66\u9053 \u504f\u79fb \u4f4d\u79fb \u3002 \u6b63\u503c \u8868\u793a \u5411 \u53f3 \u504f\u79fb \uff0c \u8d1f\u503c \u8868\u793a \u5411 \u5de6 \u504f\u79fb \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0 \u3002 \u6570\u5b57 \u9ad8\u5230 \u8db3\u4ee5 \u5bfc\u81f4 \u8f66\u8f86 \u9a76\u8fc7 \u5176\u4ed6 \u8f66\u9053 \u53ef\u80fd \u4f1a \u635f\u574f \u63a7\u5236 \u63a7\u5236\u5668 \u3002   \u53c2\u6570 :   offset   (   float   )   -   \u8f66\u9053 \u8ddd \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \u7684 \u504f\u79fb \u4f4d\u79fb \u3002   global _ percentage _ speed _ difference   (   self   ,   percentage   )   \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u9884\u671f \u901f\u5ea6 \u4e0e\u5176 \u5f53\u524d \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u7684 \u5dee\u503c \u3002 \u901a\u8fc7 \u5c06   perc   \u8bbe \u4e3a \u8d1f\u503c \u53ef\u4ee5 \u8d85\u51fa \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   30 \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u8d1f \u767e\u5206 \u767e\u5206\u6bd4 \u6765 \u8d85\u8fc7 \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u3002   \u53c2\u6570 :   percentage   (   float   )   -   \u9884\u671f \u901f\u5ea6 \u548c \u5f53\u524d \u9650\u5236 \u4e4b\u95f4 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u5dee\u5f02 \u3002   ignore _ lights _ percentage   (   self   ,   actor   ,   perc   )   \u5728 \u6bcf \u5e27 \u8fd0\u884c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u9636\u6bb5 \uff0c \u6b64 \u65b9\u6cd5 \u8bbe\u7f6e \u8f66\u8f86 \u5ffd\u7565 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u673a\u4f1a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   perc   (   float   )   -   0   \u5230   100   \u4e4b\u95f4 \u3002 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u88ab \u5ffd\u7565 \u7684 \u6b21\u6570 \u3002   ignore _ signs _ percentage   (   self   ,   actor   ,   perc   )   \u5728 \u6bcf \u5e27 \u8fd0\u884c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u9636\u6bb5 \uff0c \u6b64 \u65b9\u6cd5 \u8bbe\u7f6e \u8f66\u8f86 \u5ffd\u7565 \u505c\u8f66 \u6807\u5fd7 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u673a\u4f1a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u505c\u8f66 \u6807\u5fd7 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   perc   (   float   )   -   0   \u5230   100   \u4e4b\u95f4 \u3002 \u505c\u8f66 \u6807\u5fd7 \u88ab \u5ffd\u7565 \u7684 \u6b21\u6570 \u3002   ignore _ vehicles _ percentage   (   self   ,   actor   ,   perc   )   \u5728 \u6bcf \u5e27 \u8fd0\u884c \u7684 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u9636\u6bb5 \uff0c \u6b64 \u65b9\u6cd5 \u8bbe\u7f6e \u4e00\u4e2a \u8f66\u8f86 \u5ffd\u7565 \u4e0e \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u78b0\u649e \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u673a\u4f1a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u5176\u4ed6 \u8f66\u8f86 \u7684 \u8f66\u8f86 \u3002   perc   (   float   )   -   Between   0   and   100 .   0   \u5230   100   \u4e4b\u95f4 \u3002 \u78b0\u649e \u88ab \u5ffd\u7565 \u7684 \u6b21\u6570 \u3002   ignore _ walkers _ percentage   (   self   ,   actor   ,   perc   )   \u5728 \u6bcf \u5e27 \u8fd0\u884c \u7684 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u9636\u6bb5 \uff0c \u6b64 \u65b9\u6cd5 \u8bbe\u7f6e \u8f66\u8f86 \u5ffd\u7565 \u4e0e \u884c\u4eba \u78b0\u649e \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u673a\u4f1a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5c06 \u5ffd\u7565 \u573a\u666f \u4e2d \u884c\u4eba \u7684 \u8f66\u8f86 \u3002   perc   (   float   )   -   Between   0   and   100 .   0   \u5230   100   \u4e4b\u95f4 \u3002 \u78b0\u649e \u88ab \u5ffd\u7565 \u7684 \u6b21\u6570 \u3002   keep _ right _ rule _ percentage   (   self   ,   actor   ,   perc   )   \u5728 \u5b9a\u4f4d \u9636\u6bb5 \uff0c \u6b64 \u65b9\u6cd5 \u8bbe\u7f6e \u8f66\u8f86 \u9075\u5faa   \u9760\u53f3   \u89c4\u5219 \u5e76 \u7559\u5728 \u53f3\u4fa7 \u8f66\u9053 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u673a\u4f1a \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u6b63\u5728 \u6539\u53d8 \u884c\u4e3a \u7684 \u8f66\u8f86 \u3002   perc   (   float   )   -   Between   0   and   100 .   0   \u5230   100   \u4e4b\u95f4 \u3002 \u8f66\u8f86 \u9075\u5faa \u9760\u53f3 \u89c4\u5219 \u7684 \u6b21\u6570 \u3002   random _ left _ lanechange _ percentage   (   self   ,   actor   ,   percentage   )   \u8c03\u6574 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u4e2d \u6267\u884c \u5de6\u53d8 \u9053 \u7684 \u6982\u7387 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u53d8\u9053 \u53ef\u7528 \u53ef\u7528\u6027 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u60a8 \u8981 \u67e5\u8be2 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   percentage   (   float   )   -   \u6362\u9053 \u6982\u7387 \uff0c \u4ee5 \u767e\u5206 \u767e\u5206\u6bd4 \u4e3a \u5355\u4f4d \uff08 0   \u5230   100   \u4e4b\u95f4 \uff09 \u3002   random _ right _ lanechange _ percentage   (   self   ,   actor   ,   percentage   )   \u8c03\u6574 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65 \u6267\u884c \u53f3\u53d8 \u9053 \u7684 \u6982\u7387 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u53d8\u9053 \u53ef\u7528 \u53ef\u7528\u6027 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u60a8 \u8981 \u67e5\u8be2 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   percentage   (   float   )   -   \u6362\u9053 \u6982\u7387 \uff0c \u4ee5 \u767e\u5206 \u767e\u5206\u6bd4 \u4e3a \u5355\u4f4d \uff08 0   \u5230   100   \u4e4b\u95f4 \uff09 \u3002   shut _ down   (   self   )   \u5173\u95ed \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   update _ vehicle _ lights   (   self   ,   actor   ,   do _ update   )   \u8bbe\u7f6e \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u662f\u5426 \u8d1f\u8d23 \u66f4\u65b0 \u8f66\u706f \u3002 \u9ed8\u8ba4 \u4e3a   False   \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4e0d\u4f1a \u66f4\u6539 \u8f66\u8f86 \u7684 \u8f66\u706f \u72b6\u6001 \uff0c \u9664\u975e \u5176   auto _ update _ status   \u8bbe \u4e3a   True   \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5176 \u706f\u5149 \u72b6\u6001 \u6b63\u5728 \u66f4\u6539 \u7684 \u8f66\u8f86 \u3002   do _ update   (   bool   )   -   \u5982\u679c \u4e3a   True   \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u7ba1\u7406 \u6307\u5b9a \u8f66\u8f86 \u7684 \u8f66\u706f \u3002   vehicle _ lane _ offset   (   self   ,   actor   ,   offset   )   \u8bbe\u7f6e \u76f8\u5bf9 \u4e8e \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \u7684 \u8f66\u9053 \u504f\u79fb \u4f4d\u79fb \u3002 \u6b63\u503c \u8868\u793a \u5411 \u53f3 \u504f\u79fb \uff0c \u8d1f\u503c \u8868\u793a \u5411 \u5de6 \u504f\u79fb \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0 \u3002 \u6570\u5b57 \u9ad8\u5230 \u8db3\u4ee5 \u5bfc\u81f4 \u8f66\u8f86 \u9a76\u8fc7 \u5176\u4ed6 \u8f66\u9053 \u53ef\u80fd \u4f1a \u635f\u574f \u63a7\u5236 \u63a7\u5236\u5668 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u8f66\u9053 \u504f\u79fb \u884c\u4e3a \u6b63\u5728 \u66f4\u6539 \u7684 \u8f66\u8f86 \u3002   offset   (   float   )   -   \u8f66\u9053 \u8ddd \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \u7684 \u504f\u79fb \u4f4d\u79fb \u3002   vehicle _ percentage _ speed _ difference   (   self   ,   actor   ,   percentage   )   \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u9884\u671f \u901f\u5ea6 \u4e0e\u5176 \u5f53\u524d \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u7684 \u5dee\u503c \u3002 \u901a\u8fc7 \u5c06   perc   \u8bbe \u4e3a \u8d1f\u503c \u53ef\u4ee5 \u8d85\u51fa \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   30 \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u8d1f \u767e\u5206 \u767e\u5206\u6bd4 \u6765 \u8d85\u8fc7 \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u901f\u5ea6 \u884c\u4e3a \u6b63\u5728 \u6539\u53d8 \u7684 \u8f66\u8f86 \u3002   percentage   (   float   )   -   \u9884\u671f \u901f\u5ea6 \u548c \u5f53\u524d \u9650\u5236 \u4e4b\u95f4 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u5dee\u5f02 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_185","text":"get _ all _ actions   (   self   ,   actor   )   \u8fd4\u56de \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u5728 \u540e\u7eed \u6b65\u9aa4 \u4e2d \u6267\u884c \u7684 \u6240\u6709 \u5df2\u77e5 \u64cd\u4f5c \uff08 \u5373 \u9053\u8def \u9009\u9879 \u548c \u8def\u5f84 \u70b9 \uff09 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u60a8 \u8981 \u67e5\u8be2 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8fd4\u56de :   \u6bcf\u4e2a \u5143\u7d20 \u7684 \u5217\u8868 \u5217\u8868 \u5982\u4e0b   -   [ \u9053\u8def \u9009\u9879 \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u4f8b\u5982 \u201c \u5de6 \u201d \u3001 \u201c \u53f3 \u201d \u3001 \u201c \u76f4 \u201d \uff09 \u3001 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9   (   carla . Waypoint   ) ]   get _ next _ action   (   self   ,   actor   )   \u8fd4\u56de \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u9075\u5faa \u7684 \u4e0b \u4e00\u4e2a \u5df2\u77e5 \u9053\u8def \u9009\u9879 \u548c \u8def\u5f84 \u70b9 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u60a8 \u8981 \u67e5\u8be2 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8fd4\u56de :   \u4e24\u4e2a \u5143\u7d20 \u7684 \u5217\u8868   -   [ \u9053\u8def \u9009\u9879 \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u4f8b\u5982 \u201c \u5de6 \u201d \u3001 \u201c \u53f3 \u201d \u3001 \u201c \u76f4 \u201d \uff09 \u3001 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9   (   carla . Waypoint   ) ]   get _ port   (   self   )   \u8fd4\u56de \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8fde\u63a5 \u7684 \u7aef\u53e3 \u3002 \u5982\u679c \u8be5 \u5bf9\u8c61 \u662f   TM - Client \uff0c \u5b83 \u5c06 \u8fd4\u56de \u5176 TM - Server \u7684 \u7aef\u53e3 \u3002 \u9605\u8bfb   \u6587\u6863   \u4ee5 \u4e86\u89e3 \u5176\u4e2d \u7684 \u5dee\u5f02 \u3002   \u8fd4\u56de :   uint16","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_186","text":"set _ boundaries _ respawn _ dormant _ vehicles   (   self   ,   lower _ bound   = 25.0   ,   upper _ bound   = actor _ active _ distance   )   \u8bbe\u7f6e \u8981 \u5728 \u82f1\u96c4 \u8f66\u8f86 \u9644\u8fd1 \u91cd\u751f \u7684 \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e0a\u9650 \u548c \u4e0b\u9650 \u3002   \u53c2\u6570 :   lower _ bound   (   float   )   -   \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u91cd\u751f \u65f6\u8ddd \u82f1\u96c4 \u8f66\u8f86 \u7684 \u6700\u5c0f \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   upper _ bound   (   float   )   -   \u4f11\u7720 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u91cd\u751f \u65f6\u8ddd \u82f1\u96c4 \u8f66\u8f86 \u7684 \u6700\u5927 \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   \u8b66\u544a :   upper _ bound   \u4e0d\u80fd \u9ad8\u4e8e   actor _ active _ distance   \u3002   lower _ bound   \u4e0d\u80fd \u5c0f\u4e8e   25 \u3002   set _ desired _ speed   (   self   ,   actor   ,   speed   )   \u5c06 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u8bbe\u7f6e \u4e3a \u6307\u5b9a \u503c \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u901f\u5ea6 \u6b63\u5728 \u6539\u53d8 \u7684 \u8f66\u8f86 \u3002   speed   (   float   )   -   \u8f66\u8f86 \u79fb\u52a8 \u6240 \u9700 \u7684 \u901f\u5ea6 \u3002   set _ global _ distance _ to _ leading _ vehicle   (   self   ,   distance   )   \u8bbe\u7f6e \u8f66\u8f86 \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u5fc5\u987b \u4fdd\u6301 \u7684 \u6700\u5c0f \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002 \u8ddd\u79bb \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff0c \u4f1a \u5f71\u54cd \u6700\u5c0f \u79fb\u52a8 \u8ddd\u79bb \u3002 \u5b83 \u662f\u4ece \u8f66\u8f86 \u5bf9\u8c61 \u7684 \u4e2d\u5fc3 \u5230 \u4e2d\u5fc3 \u8ba1\u7b97 \u7684 \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u8f66\u8f86 \u4e4b\u95f4 \u7684 \u7c73\u6570 \u3002   set _ hybrid _ physics _ mode   (   self   ,   enabled   = False   )   \u542f\u7528 \u6216 \u7981\u7528 \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f \u3002 \u5728 \u6b64 \u6a21\u5f0f \u4e0b \uff0c \u8ddd\u79bb \u81ea\u8eab \u8f66\u8f86 \u8d85\u8fc7 \u4e00\u5b9a \u534a\u5f84 \u7684 \u8f66\u8f86 \u5c06 \u7981\u7528 \u5176 \u7269\u7406 \u529f\u80fd \u3002 \u901a\u8fc7 \u4e0d \u8ba1\u7b97 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u5c06 \u964d\u4f4e \u8ba1\u7b97 \u6210\u672c \u8ba1\u7b97\u6210\u672c \u3002 \u8f66\u8f86 \u5c06 \u88ab \u4f20\u9001 \u3002   \u53c2\u6570 :   enabled   (   bool   )   -   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u542f\u7528 \u6df7\u5408 \u7269\u7406 \u3002   set _ hybrid _ physics _ radius   (   self   ,   r   = 50.0   )   \u542f\u7528 \u6df7\u5408 \u7269\u7406 \u529f\u80fd \u540e \uff0c \u66f4\u6539 \u542f\u7528 \u7269\u7406 \u529f\u80fd \u7684 \u5f71\u54cd \u533a\u57df \u7684 \u534a\u5f84 \u3002   \u53c2\u6570 :   r   (   float   -   \u7c73   )   -   \u542f\u7528 \u7269\u7406 \u7684 \u65b0 \u534a\u5f84 \u3002   set _ osm _ mode   (   self   ,   mode _ switch   = True   )   \u542f\u7528 \u6216 \u7981\u7528   OSM   \u6a21\u5f0f \u3002 \u8be5 \u6a21\u5f0f \u5141\u8bb8 \u7528\u6237 \u5728 \u4f7f\u7528   OSM   \u529f\u80fd   \u521b\u5efa \u7684 \u5730\u56fe \u4e2d \u8fd0\u884c   TM \u3002 \u8fd9\u4e9b \u5730\u56fe \u5141\u8bb8 \u6709 \u80e1\u540c \u6b7b\u80e1\u540c \u3002 \u901a\u5e38 \uff0c \u5982\u679c \u8f66\u8f86 \u65e0\u6cd5 \u627e\u5230 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9 \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c31 \u4f1a \u5d29\u6e83 \u3002 \u5982\u679c \u542f\u7528   OSM   \u6a21\u5f0f \uff0c \u5b83 \u5c06 \u663e\u793a \u8b66\u544a \uff0c \u5e76 \u5728 \u5fc5\u8981 \u65f6 \u9500\u6bc1 \u8f66\u8f86 \u3002   \u53c2\u6570 :   mode _ switch   (   bool   )   -   \u5982\u679c   True   \uff0c \u5219 \u542f\u7528   OSM   \u6a21\u5f0f \u3002   set _ path   (   self   ,   actor   ,   path   )   \u8bbe\u7f6e \u8f66\u8f86 \u5728 \u53d7 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u65f6\u8981 \u9075\u5faa \u7684 \u4f4d\u7f6e \u5217\u8868 \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5fc5\u987b \u9075\u5faa \u7ed9\u5b9a \u8def\u5f84 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   path   (   list   )   -   carla . Locations   \u7684 \u5217\u8868 \uff0c \u4f9b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8ddf\u968f \u3002   \u8b66\u544a :   \u786e\u4fdd \u9053\u8def \u62d3\u6251 \u4e0d\u4f1a \u59a8\u788d \u7ed9\u5b9a \u8def\u5f84 \u3002   set _ random _ device _ seed   (   self   ,   value   )   \u4e3a \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8bbe\u7f6e \u7279\u5b9a \u7684 \u968f\u673a \u79cd\u5b50 \uff0c \u4ece\u800c \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u7684 \u3002   \u53c2\u6570 :   value   (   int   )   -   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u751f\u6210 \u7684 \u79cd\u5b50 \u503c \u3002   set _ respawn _ dormant _ vehicles   (   self   ,   mode _ switch   = False   )   \u5982\u679c \u4e3a   True   \uff0c \u5927 \u5730\u56fe \u4e2d \u7684 \u8f66\u8f86 \u5728 \u4f11\u7720 \u65f6\u4f1a \u5728 \u82f1\u96c4 \u8f66\u8f86 \u9644\u8fd1 \u91cd\u751f \u3002 \u5426\u5219 \uff0c \u5b83\u4eec \u5c06 \u4fdd\u6301 \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \uff0c \u76f4\u5230   actor _ active _ distance   \u518d\u6b21 \u8fdb\u5165 \u82f1\u96c4 \u8f66\u8f86 \u3002   \u53c2\u6570 :   mode _ switch   (   bool   )   set _ route   (   self   ,   actor   ,   path   )   \u8bbe\u7f6e \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u8f66\u8f86 \u8981 \u9075\u5faa \u7684 \u8def\u7ebf \u6307\u4ee4 \u5217\u8868 \u3002 \u53ef\u80fd \u7684 \u8def\u7ebf \u6307\u4ee4 \u662f ' Left ' ,   ' Right ' ,   ' Straight ' \u3002   \u53c2\u6570 :   actor   (   carla . Actor   )   -   \u5fc5\u987b \u9075\u5faa \u7ed9\u5b9a \u8def\u7ebf \u6307\u793a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   path   (   list   )   -   \u8f66\u8f86 \u8981 \u9075\u5faa \u7684 \u8def\u7ebf \u6307\u4ee4 \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff09 \u5217\u8868 \u3002   \u8b66\u544a :   \u786e\u4fdd \u8f66\u9053 \u62d3\u6251 \u4e0d\u4f1a \u59a8\u788d \u7ed9\u5b9a \u8def\u7ebf \u3002   set _ synchronous _ mode   (   self   ,   mode _ switch   = True   )   \u5c06 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8bbe\u7f6e \u4e3a   \u540c\u6b65 \u6a21\u5f0f   \u3002 \u5728   \u591a \u5ba2\u6237 \u5ba2\u6237\u7aef \u60c5\u51b5   \u4e0b \uff0c \u53ea\u6709   TM - Server   \u53ef\u4ee5 \u8fd0\u884c \u3002 \u7c7b\u4f3c \u5730 \uff0c \u5728 \u591a TM   \u60c5\u51b5 \u4e0b \uff0c \u53ea\u6709 \u4e00\u4e2a TM - Server   \u5fc5\u987b \u52fe\u9009 \u3002 \u5728 \u8fdb\u884c \u4e16\u754c \u52fe\u9009 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e2d \u4f7f\u7528 \u6b64 \u65b9\u6cd5 \uff0c \u5e76 \u5728 \u5c06 \u4e16\u754c \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u540e \u7acb\u5373 \u8bbe\u7f6e \u540c\u6b65 \u65f6 \u54ea\u4e2a   TM   \u5c06 \u6210\u4e3a \u4e3b \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   \u53c2\u6570 :   mode _ switch   (   bool   )   -   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u542f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u540c\u6b65 \u6a21\u5f0f \u3002   \u8b66\u544a :   \u5982\u679c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \uff0c \u5219 \u6267\u884c \u6807\u8bb0 \u7684 \u540c\u4e00 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e2d \u7684   TM   \u4e5f   \u5fc5\u987b   \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#carlatrafficsign","text":"\u4ece   carla . Actor   \u7ee7\u627f   \u4eff\u771f \u4e2d \u51fa\u73b0 \u7684 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \uff08 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u9664\u5916 \uff09 \u3002 \u8fd9\u4e9b \u5728   carla . TrafficLight   \u4e2d\u6709 \u81ea\u5df1 \u7684 \u7c7b \u4ece \u8be5\u7c7b \u7ee7\u627f \u3002 \u76ee\u524d \uff0c \u4e3b\u8981 \u5b9e\u65bd \u7684 \u662f \u901f\u5ea6 \u6807\u5fd7 \u3001 \u505c\u9760 \u505c\u9760\u7ad9 \u548c \u8ba9 \u884c \u6807\u5fd7 \uff0c \u4f46 \u8fd8\u6709 \u8bb8\u591a \u5176\u4ed6 \u6807\u5fd7 \u4e5f \u88ab \u7262\u8bb0 \u7262\u8bb0\u5728\u5fc3 \u3002","title":"carla . TrafficSign"},{"location":"python_api/#_187","text":"trigger _ volume   \u4f4d\u4e8e \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u9644\u8fd1 \u7684   carla . BoundingBox   \uff0c \u91cc\u9762 \u7684   carla . Actor   \u53ef\u4ee5 \u77e5\u9053 \u5b83 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlatransform","text":"\u8be5\u7c7b \u5b9a\u4e49 \u4e86 \u4e00\u4e2a \u53d8\u6362 \uff0c \u5373 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u7684 \u7ec4\u5408 \uff0c \u800c \u4e0d \u8fdb\u884c \u7f29\u653e \u3002","title":"carla . Transform"},{"location":"python_api/#_188","text":"location   (   carla . Location   )   \u63cf\u8ff0 \u5750\u6807 \u7cfb\u7edf \u4e2d \u7684 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u3002   rotation   (   carla . Rotation   -   degrees   ( pitch ,   yaw ,   roll )   )   \u63cf\u8ff0 \u6839\u636e \u865a\u5e7b \u5f15\u64ce \u7684 \u8f74 \u7cfb\u7edf \u8fdb\u884c \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_189","text":"__ init __   (   self   ,   location   ,   rotation   )   \u53c2\u6570 :   location   (   carla . Location   )   rotation   (   carla . Rotation   -   \u5ea6\u6570 \uff08 \u4fef\u4ef0 \u3001 \u504f\u822a \u3001 \u7ffb\u6eda \uff09   )   transform   (   self   ,   in _ point   )   \u4f7f\u7528 \u5f53\u524d \u53d8\u6362 \u4f5c\u4e3a \u53c2\u8003 \u53c2\u8003\u7cfb \u5c06 \u4e09\u7ef4 \u70b9 \u4ece \u5c40\u90e8 \u5750\u6807 \u8f6c\u6362 \u4e3a \u5168\u5c40 \u5750\u6807 \u3002   \u53c2\u6570 :   in _ point   (   carla . Location   )   -   \u5c06 \u5e94\u7528 \u53d8\u6362 \u7684 \u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u3002   transform _ vector   (   self   ,   in _ vector   )   \u4f7f\u7528 \u5f53\u524d \u53d8\u6362 \u4f5c\u4e3a \u53c2\u8003 \u53c2\u8003\u7cfb \u6765 \u65cb\u8f6c \u5411\u91cf \uff0c \u800c \u4e0d \u5e94\u7528 \u5e73\u79fb \u3002 \u4f8b\u5982 \uff0c \u7528 \u5b83 \u6765 \u53d8\u6362 \u901f\u5ea6 \u3002   \u53c2\u6570 :   in _ vector   (   carla . Vector3D   )   -   \u5c06 \u5e94\u7528 \u8f6c\u6362 \u7684 \u5411\u91cf \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_190","text":"get _ forward _ vector   (   self   )   \u4f7f\u7528 \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u524d\u5411 \u5411\u91cf \u3002   \u8fd4\u56de :   carla . Vector3D   get _ inverse _ matrix   (   self   )   \u8ba1\u7b97 \u9006\u53d8 \u53d8\u6362 \u9006\u53d8\u6362 \u7684   4   \u77e9\u9635 \u8868\u793a \u3002   \u8fd4\u56de :   list ( list ( float ) )   get _ matrix   (   self   )   \u8ba1\u7b97 \u53d8\u6362 \u7684   4   \u77e9\u9635 \u8868\u793a \u3002   \u8fd4\u56de :   list ( list ( float ) )   get _ right _ vector   (   self   )   \u4f7f\u7528 \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u53f3 \u5411\u91cf \u3002   \u8fd4\u56de :   carla . Vector3D   get _ up _ vector   (   self   )   \u4f7f\u7528 \u5bf9\u8c61 \u7684 \u65cb\u8f6c \u8ba1\u7b97 \u5411\u4e0a \u5411\u91cf \u3002   \u8fd4\u56de :   carla . Vector3D","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_191","text":"__ eq __   (   self   ,   other   =   carla . Transform   )   \u5982\u679c   this   \u548c   other   \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u90fd \u76f8\u7b49 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ ne __   (   self   ,   other   =   carla . Transform   )   \u5982\u679c   this   \u548c   other   \u7684 \u4efb\u4f55 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u4e0d \u76f8\u7b49 \uff0c \u5219   \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )   \u5c06 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002   \u8fd4\u56de :   str","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlavector2d","text":"\u6267\u884c \u4e8c\u7ef4 \u64cd\u4f5c \u7684 \u8f85\u52a9 \u7c7b \u3002","title":"carla . Vector2D"},{"location":"python_api/#_192","text":"x   (   float   )   X - axis   value .   y   (   float   )   Y - axis   value .","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_193","text":"__ init __   (   self   ,   x   = 0.0   ,   y   = 0.0   )   \u53c2\u6570 :   x   (   float   )   y   (   float   )   length   (   self   )   \u8ba1\u7b97 \u5411\u91cf \u7684 \u957f\u5ea6 \u3002   \u8fd4\u56de :   float   make _ unit _ vector   (   self   )   \u8fd4\u56de \u5177\u6709 \u76f8\u540c \u65b9\u5411 \u548c \u5355\u4f4d \u957f\u5ea6 \u7684 \u5411\u91cf \u3002   \u8fd4\u56de :   carla . Vector3D   squared _ length   (   self   )   \u8ba1\u7b97 \u5411\u91cf \u7684 \u5e73\u65b9 \u957f\u5ea6 \u3002   \u8fd4\u56de :   float","title":"\u65b9\u6cd5"},{"location":"python_api/#_194","text":"__ add __   (   self   ,   other   =   carla . Vector2D   )   __ eq __   (   self   ,   other   =   carla . Vector2D   )   \u5982\u679c \u6bcf\u4e2a \u8f74 \u7684 \u503c \u76f8\u7b49 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ mul __   (   self   ,   other   =   carla . Vector2D   )   __ ne __   (   self   ,   bool   =   carla . Vector2D   )   \u5982\u679c \u4efb\u4f55 \u8f74 \u7684 \u503c \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )   \u8fd4\u56de \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7684 \u5411\u91cf \u7684 \u8f74\u503c \u3002   \u8fd4\u56de :   str   __ sub __   (   self   ,   other   =   carla . Vector2D   )   __ truediv __   (   self   ,   other   =   carla . Vector2D   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlavector3d","text":"\u6267\u884c \u4e09\u7ef4 \u64cd\u4f5c \u7684 \u8f85\u52a9 \u7c7b \u3002","title":"carla . Vector3D"},{"location":"python_api/#_195","text":"x   (   float   )   X - axis   value .   y   (   float   )   Y - axis   value .   z   (   float   )   Z - axis   value .","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_196","text":"__ init __   (   self   ,   x   = 0.0   ,   y   = 0.0   ,   z   = 0.0   )   \u53c2\u6570 :   x   (   float   )   y   (   float   )   z   (   float   )   cross   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u53c9\u79ef \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   carla . Vector3D   distance   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   distance _ 2d   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u4e8c\u7ef4 \u8ddd\u79bb \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   distance _ squared   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u5e73\u65b9 \u8ddd\u79bb \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   distance _ squared _ 2d   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u4e8c\u7ef4 \u5e73\u65b9 \u8ddd\u79bb \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   dot   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u70b9\u79ef \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   dot _ 2d   (   self   ,   vector   )   \u8ba1\u7b97 \u4e24\u4e2a \u5411\u91cf \u4e4b\u95f4 \u7684 \u4e8c\u7ef4 \u70b9\u79ef \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float   length   (   self   )   \u8ba1\u7b97 \u5411\u91cf \u7684 \u957f\u5ea6 \u3002   \u8fd4\u56de :   float   make _ unit _ vector   (   self   )   \u8fd4\u56de \u5177\u6709 \u76f8\u540c \u65b9\u5411 \u548c \u5355\u4f4d \u957f\u5ea6 \u7684 \u5411\u91cf \u3002   \u8fd4\u56de :   carla . Vector3D   squared _ length   (   self   )   \u8ba1\u7b97 \u5411\u91cf \u7684 \u5e73\u65b9 \u957f\u5ea6 \u3002   \u8fd4\u56de :   float","title":"\u65b9\u6cd5"},{"location":"python_api/#_197","text":"get _ vector _ angle   (   self   ,   vector   )   \u8ba1\u7b97 \u4e00\u5bf9 \u4e09\u7ef4 \u5411\u91cf \u4e4b\u95f4 \u7684 \u89d2\u5ea6 \uff08 \u4ee5 \u5f27\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   \u53c2\u6570 :   vector   (   carla . Vector3D   )   \u8fd4\u56de :   float","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_198","text":"__ abs __   (   self   )   \u8fd4\u56de \u5177\u6709   x \u3001 y   \u548c   z   \u5206\u91cf \u7edd\u5bf9 \u7edd\u5bf9\u503c \u7684   Vector3D \u3002   \u8fd4\u56de :   carla . Vector3D   __ add __   (   self   ,   other   =   carla . Vector3D   )   __ eq __   (   self   ,   other   =   carla . Vector3D   )   \u5982\u679c \u6bcf\u4e2a \u8f74 \u7684 \u503c \u76f8\u7b49 \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ mul __   (   self   ,   other   =   carla . Vector3D   )   __ ne __   (   self   ,   other   =   carla . Vector3D   )   \u5982\u679c \u4efb\u4f55 \u8f74 \u7684 \u503c \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )   \u8fd4\u56de \u89e3\u6790 \u4e3a \u5b57\u7b26 \u5b57\u7b26\u4e32 \u7684 \u5411\u91cf \u7684 \u8f74\u503c \u3002   \u8fd4\u56de :   str   __ sub __   (   self   ,   other   =   carla . Vector3D   )   __ truediv __   (   self   ,   other   =   carla . Vector3D   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlavehicle","text":"\u4ece   carla . Actor   \u7ee7\u627f   CARLA   \u4e2d \u6700 \u91cd\u8981 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7fa4\u4f53 \u4e4b\u4e00 \u3002 \u5176\u4e2d \u5305\u62ec \u4ece \u6c7d\u8f66 \u5230 \u5361\u8f66 \u3001 \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \u3001 \u8d27\u8f66 \u3001 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4efb\u4f55 \u7c7b\u578b \u7684 \u8f66\u8f86 \u4ee5\u53ca \u8b66\u8f66 \u7b49 \u5b98\u65b9 \u8f66\u8f86 \u3002   carla . BlueprintLibrary   \u4e2d \u63d0\u4f9b \u4e86 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5e7f\u6cdb \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4ee5 \u6ee1\u8db3 \u4e0d\u540c \u7684 \u9700\u6c42 \u3002 \u8f66\u8f86 \u53ef\u4ee5 \u624b\u52a8 \u63a7\u5236 \uff0c \u4e5f \u53ef\u4ee5 \u8bbe\u7f6e \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \uff0c \u7531   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fdb\u884c \u63a7\u5236 \u3002","title":"carla . Vehicle"},{"location":"python_api/#_199","text":"bounding _ box   (   carla . BoundingBox   )   \u5305\u542b \u8f66\u8f86 \u51e0\u4f55 \u5f62\u72b6 \u7684 \u8fb9\u754c \u6846 \u3002 \u5b83 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u662f \u76f8\u5bf9 \u4e8e \u5b83 \u6240 \u9644\u7740 \u7684 \u8f66\u8f86 \u800c\u8a00 \u7684 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_200","text":"apply _ ackermann _ control   (   self   ,   control   )   \u5728 \u4e0b \u4e00\u4e2a \u523b\u5ea6 \u5904 \u5e94\u7528 \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u5bf9\u8c61 \u3002   \u53c2\u6570 :   control   (   carla . VehicleAckermannControl   )   apply _ ackermann _ controller _ settings   (   self   ,   settings   )   \u5728 \u4e0b \u4e00\u4e2a   tick   \u4e2d\u5c06 \u65b0 \u7684 \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u8bbe\u7f6e \u5e94\u7528 \u4e8e \u6b64 \u8f66\u8f86 \u3002   \u53c2\u6570 :   settings   (   carla . AckermannControllerSettings   )   \u8b66\u544a :   \u6b64 \u65b9\u6cd5 \u786e\u5b9e \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   apply _ control   (   self   ,   control   )   \u5728 \u4e0b \u4e00\u4e2a   tick   \u4e0a \u5e94\u7528 \u63a7\u5236 \u5bf9\u8c61 \uff0c \u5176\u4e2d \u5305\u542b \u6cb9\u95e8 \u3001 \u8f6c\u5411 \u6216 \u6362\u6863 \u7b49 \u9a7e\u9a76 \u53c2\u6570 \u3002   \u53c2\u6570 :   control   (   carla . VehicleControl   )   apply _ physics _ control   (   self   ,   physics _ control   )   \u5728 \u4e0b \u4e00\u4e2a   tick   \u4e2d \u5e94\u7528 \u7269\u7406 \u63a7\u5236 \u5bf9\u8c61 \uff0c \u5176\u4e2d \u5305\u542b \u5c06 \u8f66\u8f86 \u5b9a\u4e49 \u4e3a \u5b9e\u4f53 \u7684 \u53c2\u6570 \u3002 \u4f8b\u5982 \uff1a \u8f6c\u52a8 \u60ef\u91cf \u8f6c\u52a8\u60ef\u91cf \u3001 \u8d28\u91cf \u3001 \u963b\u529b \u7cfb\u6570 \u7b49\u7b49 \u3002   \u53c2\u6570 :   physics _ control   (   carla . VehiclePhysicsControl   )   close _ door   (   self   ,   door _ idx   )   \u5982\u679c \u8f66\u8f86 \u6709 \u5b83 \uff0c \u5219 \u5173\u95ed \u8f66\u95e8   door _ idx   \u3002 \u4f7f\u7528   carla . VehicleDoor . All   \u5173\u95ed \u6240\u6709 \u53ef\u7528 \u7684 \u95e8 \u3002   \u53c2\u6570 :   door _ idx   (   carla . VehicleDoor   )   -   \u95e8 \u7d22\u5f15 \u3002   enable _ carsim   (   self   ,   simfile _ path   )   \u4e3a \u8be5 \u7279\u5b9a \u8f66\u8f86 \u542f\u7528   CarSim   \u7269 \u7406\u89e3 \u7b97\u5668 \u3002 \u4e3a\u4e86 \u4f7f\u6b64 \u529f\u80fd \u53d1\u6325 \u4f5c\u7528 \u53d1\u6325\u4f5c\u7528 \uff0c \u9700\u8981 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u8fd0\u884c \u6709\u6548 \u7684 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \u3002 \u63a7\u5236 \u8f93\u5165 \u88ab \u5b9a\u5411 \u91cd\u5b9a\u5411 \u5230   CarSim \uff0c \u5b83 \u5c06 \u63d0\u4f9b \u6bcf \u4e00\u5e27 \u7684 \u8f66\u8f86 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002   \u53c2\u6570 :   simfile _ path   (   str   )   -   \u5305\u542b \u4eff\u771f \u53c2\u6570 \u7684   . simfile   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   enable _ chrono _ physics   (   self   ,   max _ substeps   ,   max _ substep _ delta _ time   ,   vehicle _ json   ,   powertrain _ json   ,   tire _ json   ,   base _ json _ path   )   \u5728 \u751f\u6210 \u7684 \u8f66\u8f86 \u4e0a \u542f\u7528   Chrono   \u7269\u7406 \u3002   \u53c2\u6570 :   max _ substeps   (   int   )   -   Chrono   \u5b50 \u6b65\u9aa4 \u7684 \u6700\u5927 \u6570\u91cf \u3002   max _ substep _ delta _ time   (   int   )   -   \u5b50\u6b65 \u7684 \u6700\u5927 \u5927\u5c0f \u3002   vehicle _ json   (   str   )   -   \u76f8\u5bf9 \u4e8e   base _ json _ path   \u7684 \u8f66\u8f86   json   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   powertrain _ json   (   str   )   -   \u76f8\u5bf9 \u4e8e   base _ json _ path   \u7684 \u52a8\u529b \u603b\u6210   json   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   tire _ json   (   str   )   -   \u76f8\u5bf9 \u4e8e   base _ json _ path   \u7684 \u8f6e\u80ce   json   \u6587\u4ef6 \u3002   base _ json _ path   (   str   )   -   \u6307\u5411   chrono / data / vehicle   \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u8def\u5f84 \u3002 \u4f8b\u5982 \uff0c   / home / user / carla / Build / chrono - install / share / chrono / data / vehicle /   ( \u6700\u540e \u4e00\u4e2a \u5b57\u7b26 \u9700\u8981 \u662f   /   ) \u3002   \u6ce8\u610f :   \u786e\u4fdd \u786e\u4fdd\u60a8 \u5df2 \u4f7f\u7528 \u8be5 \u6807\u5fd7 \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   ARGS = \" -- chrono \"   \u3002 \u5982\u679c \u6ca1\u6709 \u8bbe\u7f6e \u6b64 \u6807\u5fd7 \uff0c \u60a8 \u5c06 \u65e0\u6cd5 \u4f7f\u7528   Chrono   \u7269\u7406 \u3002   \u8b66\u544a :   \u4e0d \u652f\u6301 \u78b0\u649e \u3002 \u5f53 \u68c0\u6d4b \u5230 \u78b0\u649e \u65f6 \uff0c \u7269\u7406 \u7cfb\u7edf \u5c06 \u6062\u590d \u4e3a \u9ed8\u8ba4 \u7684   Carla   \u7269\u7406 \u7cfb\u7edf \u3002   is _ at _ traffic _ light   (   self   )   \u5f53 \u4ea4\u901a \u4ea4\u901a\u706f \u4e3a \u7ea2\u8272 \u5e76\u4e14 \u8f66\u8f86 \u4f4d\u4e8e \u5176 \u8fb9\u754c \u6846\u5185 \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u53d7\u5230 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5f71\u54cd \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a \u523b\u5ea6 \u8fd4\u56de \u4ea4\u901a \u4ea4\u901a\u706f \u662f\u5426 \u5f71\u54cd \u8be5 \u8f66\u8f86 \uff08 \u5b83 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \uff09 \u3002   \u8fd4\u56de :   bool   open _ door   (   self   ,   door _ idx   )   \u5982\u679c \u8f66\u8f86 \u6709 \u8f66\u95e8 \uff0c \u5219 \u6253\u5f00 \u8f66\u95e8   door _ idx   \u3002 \u4f7f\u7528   carla . VehicleDoor . All   \u6253\u5f00 \u6240\u6709 \u53ef\u7528 \u7684 \u95e8 \u3002   \u53c2\u6570 :   door _ idx   (   carla . VehicleDoor   )   -   \u95e8 \u7d22\u5f15 \u3002   show _ debug _ telemetry   (   self   ,   enabled   = True   )   \u542f\u7528 \u6216 \u7981\u7528 \u6b64 \u8f66\u8f86 \u4e0a \u7684 \u9065\u6d4b \u3002 \u8fd9\u4f1a \u5728 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u7a97\u53e3 \u4e2d \u663e\u793a \u6709\u5173 \u8f66\u8f86 \u5f53\u524d \u72b6\u6001 \u548c \u65bd\u52a0 \u5230 \u5176 \u4e0a \u7684 \u529b \u7684 \u4fe1\u606f \u3002 \u53ea\u80fd \u663e\u793a \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u7684 \u4fe1\u606f \uff0c \u56e0\u6b64 \uff0c \u5982\u679c \u542f\u7528 \u7b2c\u4e8c \u4e8c\u8f86 \u7b2c\u4e8c\u8f86 \u8f66 \uff0c \u524d \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u5c06 \u81ea\u52a8 \u7981\u7528 \u3002   \u53c2\u6570 :   enabled   (   bool   )   use _ carsim _ road   (   self   ,   enabled   )   \u542f\u7528 \u6216 \u7981\u7528   CarSim   \u4e0e \u5730\u5f62 \u6587\u4ef6   . simfile   \u4e2d \u6307\u5b9a \u7684 \u4f7f\u7528 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u6b64 \u9009\u9879 \u5904\u4e8e \u7981\u7528 \u72b6\u6001 \uff0c CarSim   \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u65b9\u6cd5 \u6765 \u5904\u7406 \u573a\u666f \u7684 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u3002   \u53c2\u6570 :   enabled   (   bool   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_201","text":"get _ ackermann _ controller _ settings   (   self   )   \u8fd4\u56de \u5e94\u7528 \u4e8e \u8be5 \u8f66\u8f86 \u7684 \u6700\u540e \u4e00\u4e2a \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u8bbe\u7f6e \u3002   \u8fd4\u56de :   carla . AckermannControllerSettings   \u8b66\u544a :   \u6b64 \u65b9\u6cd5 \u786e\u5b9e \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6765 \u68c0\u7d22 \u503c \u3002   get _ control   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd4\u56de \u6700\u540e \u4e00\u4e2a tick \u4e2d \u5e94\u7528 \u7684 \u63a7\u5236 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de :   carla . VehicleControl   get _ failure _ state   (   self   )   \u8f66\u8f86 \u6709 \u6545\u969c \u72b6\u6001 \uff0c \u8868\u660e \u5b83 \u65e0\u6cd5 \u7ee7\u7eed \u5176 \u8def\u7ebf \u3002 \u8be5 \u51fd\u6570 \u8fd4\u56de \u8f66\u8f86 \u7684 \u5177\u4f53 \u6545\u969c \u72b6\u6001 \uff0c \u6216\u8005 \u6362\u53e5 \u6362\u53e5\u8bdd \u6362\u53e5\u8bdd\u8bf4 \uff0c \u8fd4\u56de \u5bfc\u81f4 \u6545\u969c \u7684 \u539f\u56e0 \u3002   \u8fd4\u56de :   carla . VehicleFailureState   get _ light _ state   (   self   )   \u8fd4\u56de \u8868\u793a \u8f66\u8f86 \u706f \u72b6\u6001 \u7684 \u6807\u5fd7 \uff0c \u8fd9 \u8868\u793a \u54ea\u4e9b \u706f \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u6216 \u4e0d \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u3002   \u8fd4\u56de :   carla . VehicleLightState   Setter :   carla . Vehicle . set _ light _ state   get _ physics _ control   (   self   )   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fd4\u56de \u5e94\u7528 \u4e8e \u8be5 \u8f66\u8f86 \u7684 \u6700\u540e \u4e00\u4e2a \u7269\u7406 \u63a7\u5236 \u3002   \u8fd4\u56de :   carla . VehiclePhysicsControl   \u8b66\u544a :   \u6b64 \u65b9\u6cd5 \u786e\u5b9e \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6765 \u68c0\u7d22 \u503c \u3002   get _ speed _ limit   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u6700\u540e \u4e00\u4e2a tick \u8fd4\u56de \u5f71\u54cd \u8be5 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u9650\u5236 \u901f\u5ea6\u9650\u5236 \uff08 \u5b83 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \uff09 \u3002 \u5f53 \u7ecf\u8fc7 \u9650\u901f \u4fe1\u53f7 \u65f6 \uff0c \u9650\u901f \u4f1a \u66f4\u65b0 \uff0c \u56e0\u6b64 \u8f66\u8f86 \u5728 \u751f\u6210 \u540e \u53ef\u80fd \u5c31 \u6ca1\u6709 \u9650\u901f \u4fe1\u53f7 \u3002   \u8fd4\u56de :   float   -   \u5343\u7c73 / \u5c0f\u65f6   get _ traffic _ light   (   self   )   \u6839\u636e \u6700\u540e \u4e00\u4e2a \u523b\u5ea6 \u68c0\u7d22 \u5f71\u54cd \u6b64 \u8f66\u8f86 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u5982\u679c \u6709 \uff09 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de :   carla . TrafficLight   get _ traffic _ light _ state   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u6839\u636e \u4e0a \u4e00\u4e2a tick \u8fd4\u56de \u5f71\u54cd \u8be5 \u8f66\u8f86 \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u7684 \u72b6\u6001 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002 \u5982\u679c \u5f53\u524d \u6ca1\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u5f71\u54cd \u8f66\u8f86 \uff0c \u5219 \u8fd4\u56de   green   \u3002   \u8fd4\u56de :   carla . TrafficLightState   get _ wheel _ steer _ angle   (   self   ,   wheel _ location   )   \u8fd4\u56de \u8f66\u8f86 \u8f66\u8f6e \u7684 \u7269\u7406 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   \u53c2\u6570 :   wheel _ location   (   carla . VehicleWheelLocation   )   \u8fd4\u56de :   float   Note :   \u8fd4\u56de \u57fa\u4e8e \u8f66\u8f6e \u7269\u7406 \u539f\u7406 \u7684 \u89d2\u5ea6 \uff0c \u800c \u4e0d\u662f \u89c6\u89d2 \u3002","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_202","text":"set _ autopilot   (   self   ,   enabled   = True   ,   port   = 8000   )   \u5728 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u5217\u8868 \u4e2d \u6ce8\u518c \u6216 \u5220\u9664 \u8f66\u8f86 \u3002 \u5f53   True   \u65f6 \uff0c \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u79fb\u52a8 \u8f66\u8f86 \u3002 \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u53d1\u751f \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   \u53c2\u6570 :   enabled   (   bool   )   port   (   uint16   )   -   \u8f66\u8f86 \u8981 \u5728 \u5176\u4e2d \u6ce8\u518c \u6216 \u4e0d \u5217\u51fa \u7684   TM - Server   \u7aef\u53e3 \u3002 \u5982\u679c \u4f20\u9012   None   \uff0c \u5b83 \u5c06 \u8003\u8651 \u9ed8\u8ba4   8000   \u7aef\u53e3 \u4e0a \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   set _ light _ state   (   self   ,   light _ state   )   \u4f7f\u7528 \u8868\u793a \u706f\u5149 \u6253\u5f00 \u548c \u5173\u95ed \u7684 \u6807\u5fd7 \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u706f\u5149 \u72b6\u6001 \u3002   \u53c2\u6570 :   light _ state   (   carla . VehicleLightState   )   \u83b7\u53d6 \u5668 :   carla . Vehicle . get _ light _ state   set _ wheel _ steer _ direction   (   self   ,   wheel _ location   ,   angle _ in _ deg   )   snippet   \u2192   \u76f4\u89c2 \u5730 \u8bbe\u7f6e \u8f66\u8f6e \u7684 \u89d2\u5ea6 \u3002   \u53c2\u6570 :   wheel _ location   (   carla . VehicleWheelLocation   )   angle _ in _ deg   (   float   )   \u8b66\u544a :   \u4e0d \u5f71\u54cd \u8f66\u8f86 \u7684 \u7269\u7406 \u7279\u6027 \u3002","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_203","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlavehicleackermanncontrol","text":"\u4f7f\u7528 \u963f\u514b \u963f\u514b\u66fc \u9a7e\u9a76 \u63a7\u5236 \u88c5\u7f6e \u7ba1\u7406 \u8f66\u8f86 \u7684 \u57fa\u672c \u8fd0\u52a8 \u3002","title":"carla . VehicleAckermannControl"},{"location":"python_api/#_204","text":"steer   (   float   )   \u6240 \u9700 \u8f6c\u5411   ( rad ) \u3002 \u6b63\u503c \u4f4d\u4e8e \u53f3\u4fa7 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   steer _ speed   (   float   )   \u8f6c\u5411 \u901f\u5ea6   ( rad / s ) \u3002 \u96f6 \u8f6c\u5411 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u610f\u5473 \u610f\u5473\u7740 \u5c3d\u5feb \u6539\u53d8 \u8f6c\u5411 \u89d2 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   speed   (   float   )   \u6240 \u9700 \u901f\u5ea6   ( m / s ) \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   acceleration   (   float   )   \u6240 \u9700 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   ( m / s2 )   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   jerk   (   float   )   \u6240 \u9700 \u7684   jerk   ( m / s3 ) \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_205","text":"__ init __   (   self   ,   steer   = 0.0   ,   steer _ speed   = 0.0   ,   speed   = 0.0   ,   acceleration   = 0.0   ,   jerk   = 0.0   )   \u53c2\u6570 :   steer   (   float   )   steer _ speed   (   float   )   speed   (   float   )   acceleration   (   float   )   jerk   (   float   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_206","text":"__ eq __   (   self   ,   other   =   carla . AckermannVehicleControl   )   __ ne __   (   self   ,   other   =   carla . AckermannVehicleControl   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlavehiclecontrol","text":"\u4f7f\u7528 \u5178\u578b \u7684 \u9a7e\u9a76 \u63a7\u5236 \u6765 \u7ba1\u7406 \u8f66\u8f86 \u7684 \u57fa\u672c \u8fd0\u52a8 \u3002","title":"carla . VehicleControl"},{"location":"python_api/#_207","text":"throttle   (   float   )   \u7528\u4e8e \u63a7\u5236 \u8f66\u8f86 \u6cb9\u95e8 \u7684 \u6807\u91cf \u503c   [ 0.0 ,   1.0 ] \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   steer   (   float   )   \u7528\u4e8e \u63a7\u5236 \u8f66\u8f86 \u8f6c\u5411 \u7684 \u6807\u91cf \u503c   [ - 1.0 ,   1.0 ] \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   brake   (   float   )   \u7528\u4e8e \u63a7\u5236 \u8f66\u8f86 \u5236\u52a8 \u7684 \u6807\u91cf \u503c   [ 0.0 ,   1.0 ] \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.0 \u3002   hand _ brake   (   bool   )   \u786e\u5b9a \u662f\u5426 \u4f7f\u7528 \u624b\u5239 \u3002 \u9ed8\u8ba4 \u4e3a   False   \u3002   reverse   (   bool   )   \u786e\u5b9a \u8f66\u8f86 \u662f\u5426 \u5411 \u540e \u79fb\u52a8 \u3002 \u9ed8\u8ba4 \u4e3a   False   \u3002   manual _ gear _ shift   (   bool   )   \u786e\u5b9a \u662f\u5426 \u901a\u8fc7 \u624b\u52a8 \u6362\u6863 \u6765 \u63a7\u5236 \u8f66\u8f86 \u3002 \u9ed8\u8ba4 \u4e3a   False   \u3002   gear   (   int   )   \u6307\u793a \u8f66\u8f86 \u884c\u9a76 \u7684 \u6863\u4f4d \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_208","text":"__ init __   (   self   ,   throttle   = 0.0   ,   steer   = 0.0   ,   brake   = 0.0   ,   hand _ brake   = False   ,   reverse   = False   ,   manual _ gear _ shift   = False   ,   gear   = 0   )   \u53c2\u6570 :   throttle   (   float   )   -   [ 0.0 , 1.0 ]   \u4e4b\u95f4 \u7684 \u6807\u91cf \u503c \u3002   steer   (   float   )   -   [ 0.0 , 1.0 ]   \u4e4b\u95f4 \u7684 \u6807\u91cf \u503c \u3002   brake   (   float   )   -   [ 0.0 , 1.0 ]   \u4e4b\u95f4 \u7684 \u6807\u91cf \u503c \u3002   hand _ brake   (   bool   )   reverse   (   bool   )   manual _ gear _ shift   (   bool   )   gear   (   int   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_209","text":"__ eq __   (   self   ,   other   =   carla . VehicleControl   )   __ ne __   (   self   ,   other   =   carla . VehicleControl   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlavehicledoor","text":"\u53ef\u80fd \u7684 \u7d22\u5f15 \u8868\u793a \u53ef\u80fd \u6253\u5f00 \u7684 \u95e8 \u3002 \u8bf7 \u6ce8\u610f \uff0c \u67d0\u4e9b \u8f66\u8f86 \u5e76\u975e \u6240\u6709 \u53ef\u80fd \u7684 \u8f66\u95e8 \u90fd \u80fd \u6253\u5f00 \u3002","title":"carla . VehicleDoor"},{"location":"python_api/#_210","text":"FL   \u5de6 \u524d\u95e8 \u3002   FR   \u53f3 \u524d\u95e8 \u3002   RL   \u5de6 \u540e\u95e8 \u3002   RR   \u53f3 \u540e\u95e8 \u3002   All   \u4ee3\u8868 \u6240\u6709 \u95e8 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlavehiclefailurestate","text":"\u5305\u542b \u8f66\u8f86 \u65e0\u6cd5 \u6062\u590d \u7684 \u4e0d\u540c \u6545\u969c \u72b6\u6001 \u7684 \u679a\u4e3e \u3002 \u8fd9\u4e9b \u7531   get _ failure _ state ( )   \u8fd4\u56de \uff0c \u5f53\u524d \u4ec5 \u5b9e\u73b0 \u4e86   Rollover \u3002","title":"carla . VehicleFailureState"},{"location":"python_api/#_211","text":"NONE   Rollover   Engine   TirePuncture","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlavehiclelightstate","text":"\u6982\u62ec \u8f66\u8f86 \u706f \u72b6\u6001 \u7684 \u7c7b \uff0c \u8fd9\u4e9b \u53ef\u4ee5 \u7528\u4f5c \u6807\u5fd7 \u3002 \u4f8b\u5982 \uff1a   VehicleLightState . HighBeam   &   VehicleLightState . Brake   \u5f53 \u4e24\u8005 \u90fd \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u65f6 \uff0c \u5c06 \u8fd4\u56de   True   \u3002 \u5728 \u4efb\u4f55 \u60c5\u51b5 \u4e0b \uff0c \u706f \u9ed8\u8ba4 \u90fd \u662f \u5173\u95ed \u7684 \uff0c \u5e76\u4e14 \u5e94\u8be5 \u7531 \u7528\u6237 \u901a\u8fc7 \u811a\u672c \u8fdb\u884c \u7ba1\u7406 \u3002 \u95ea\u5149 \u5149\u706f \u95ea\u5149\u706f \u81ea\u52a8 \u95ea\u70c1 \u3002   \u8b66\u544a \uff1a \u76ee\u524d \uff0c \u5e76\u975e \u6240\u6709 \u8f66\u8f86 \u90fd \u51c6\u5907 \u597d \u4f7f\u7528 \u6b64 \u529f\u80fd \uff0c \u8fd9 \u5c06 \u5728 \u4ee5\u540e \u7684 \u66f4\u65b0 \u4e2d \u6dfb\u52a0 \u5230 \u6240\u6709 \u8f66\u8f86 \u4e2d \u3002","title":"carla . VehicleLightState"},{"location":"python_api/#_212","text":"NONE   \u6240\u6709 \u706f\u5747 \u5173\u95ed \u3002   Position   LowBeam   HighBeam   Brake   RightBlinker   LeftBlinker   Reverse   Fog   Interior   Special1   \u8fd9 \u662f \u4e3a \u67d0\u4e9b \u5177\u6709 \u7279\u6b8a \u706f \uff08 \u4f8b\u5982 \u8b66\u62a5 \u8b66\u62a5\u5668 \uff09 \u7684 \u8f66\u8f86 \u4fdd\u7559 \u7684 \u3002   Special2   \u8fd9 \u662f \u4e3a \u67d0\u4e9b \u5177\u6709 \u7279\u6b8a \u706f \uff08 \u4f8b\u5982 \u8b66\u62a5 \u8b66\u62a5\u5668 \uff09 \u7684 \u8f66\u8f86 \u4fdd\u7559 \u7684 \u3002   All   \u6240\u6709 \u706f\u5747\u4eae \u8d77 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlavehiclephysicscontrol","text":"\u603b\u7ed3 \u5c06 \u7528\u4e8e \u5c06   carla . Vehicle   \u4eff\u771f \u4e3a \u7269\u7406 \u5bf9\u8c61 \u7684 \u53c2\u6570 \u3002 \u4e0d\u8fc7 \uff0c \u8f66\u8f6e \u7684 \u5177\u4f53 \u8bbe\u7f6e \u662f \u4f7f\u7528   carla . WheelPhysicsControl   \u89c4\u5b9a \u7684 \u3002","title":"carla . VehiclePhysicsControl"},{"location":"python_api/#_213","text":"torque _ curve   (   list (   carla . Vector2D   )   )   \u66f2\u7ebf \uff0c \u6307\u793a \u5728 \u8f66\u8f86 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7684 \u7279\u5b9a   RPM   \u4e0b \u6d4b\u91cf \u7684 \u626d\u77e9 \uff08 \u4ee5   Nm   \u4e3a \u5355\u4f4d \uff09 \u3002   max _ rpm   (   float   )   \u8f66\u8f86 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7684 \u6700\u5927 \u8f6c\u901f \u3002   moi   (   float   -   kg * m   2   )   \u8f66\u8f86 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7684 \u8f6c\u52a8 \u60ef\u91cf \u8f6c\u52a8\u60ef\u91cf \u3002   damping _ rate _ full _ throttle   (   float   )   \u6cb9\u95e8 \u6700\u5927 \u65f6 \u7684 \u963b\u5c3c \u963b\u5c3c\u6bd4 \u3002   damping _ rate _ zero _ throttle _ clutch _ engaged   (   float   )   \u79bb\u5408 \u79bb\u5408\u5668 \u63a5\u5408 \u65f6 \u6cb9\u95e8 \u4e3a \u96f6\u65f6 \u7684 \u963b\u5c3c \u963b\u5c3c\u6bd4 \u3002   damping _ rate _ zero _ throttle _ clutch _ disengaged   (   float   )   \u5f53 \u6cb9\u95e8 \u4e3a \u96f6\u4e14 \u79bb\u5408 \u79bb\u5408\u5668 \u5206\u79bb \u65f6 \u7684 \u963b\u5c3c \u963b\u5c3c\u6bd4 \u3002   use _ gear _ autobox   (   bool   )   \u5982\u679c \u4e3a   True   \uff0c \u8f66\u8f86 \u5c06 \u914d\u5907 \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u3002   gear _ switch _ time   (   float   -   seconds   )   \u9f7f\u8f6e \u4e4b\u95f4 \u7684 \u5207\u6362 \u65f6\u95f4 \u3002   clutch _ strength   (   float   -   kg * m   2   / s   )   \u8f66\u8f86 \u7684 \u79bb\u5408 \u79bb\u5408\u5668 \u5f3a\u5ea6 \u3002   final _ ratio   (   float   )   \u4ece \u53d8\u901f \u53d8\u901f\u7bb1 \u5230 \u8f66\u8f6e \u7684 \u56fa\u5b9a \u6bd4\u7387 \u3002   forward _ gears   (   list (   carla . GearPhysicsControl   )   )   \u5b9a\u4e49 \u8f66\u8f86 \u9f7f\u8f6e \u7684 \u5bf9\u8c61 \u5217\u8868 \u3002   mass   (   float   -   kilograms   )   \u8f66\u8f86 \u7684 \u8d28\u91cf \u3002   drag _ coefficient   (   float   )   \u8f66\u8f86 \u5e95\u76d8 \u7684 \u963b\u529b \u7cfb\u6570 \u3002   center _ of _ mass   (   carla . Vector3D   -   \u7c73   )   \u8f66\u8f86 \u7684 \u8d28\u5fc3 \u3002   steering _ curve   (   list (   carla . Vector2D   )   )   \u6307\u793a \u7279\u5b9a \u524d\u8fdb \u901f\u5ea6 \u7684 \u6700\u5927 \u8f6c\u5411 \u7684 \u66f2\u7ebf \u3002   use _ sweep _ wheel _ collision   (   bool   )   \u542f\u7528 \u8f66\u8f6e \u78b0\u649e \u626b\u63cf \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u662f \u7981\u7528 \u7684 \uff0c \u5e76\u4e14 \u5b83 \u4e3a \u6bcf\u4e2a \u8f6e\u5b50 \u4f7f\u7528 \u4ece\u8f74\u5230 \u5730\u677f \u7684 \u7b80\u5355 \u5149\u7ebf \u6295\u5c04 \u3002 \u6b64 \u9009\u9879 \u63d0\u4f9b \u4e86 \u66f4\u597d \u7684 \u78b0\u649e \u6a21\u578b \uff0c \u5176\u4e2d \u68c0\u67e5 \u8f66\u8f6e \u7684 \u6574\u4e2a \u4f53\u79ef \u662f\u5426 \u53d1\u751f \u78b0\u649e \u3002   wheels   (   list (   carla . WheelPhysicsControl   )   )   \u8f6e\u5b50 \u7269\u7406 \u5bf9\u8c61 \u5217\u8868 \u3002 \u8be5 \u5217\u8868 \u5e94\u8be5 \u6709   4   \u4e2a \u5143\u7d20 \uff0c \u5176\u4e2d \u7d22\u5f15   0   \u5bf9\u5e94 \u4e8e \u5de6 \u524d\u8f6e \uff0c \u7d22\u5f15   1   \u5bf9\u5e94 \u4e8e \u53f3 \u524d\u8f6e \uff0c \u7d22\u5f15   2   \u5bf9\u5e94 \u4e8e \u5de6 \u540e\u8f6e \uff0c \u7d22\u5f15   3   \u5bf9\u5e94 \u4e8e \u53f3 \u540e\u8f6e \u3002 \u5bf9\u4e8e \u4e24\u8f6e \u8f66\u8f86 \uff0c \u524d\u8f6e \u548c \u540e\u8f6e \u8bbe\u7f6e \u76f8\u540c \u7684 \u503c \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_214","text":"__ init __   (   self   ,   torque _ curve   = [ [ 0.0 ,   500.0 ] ,   [ 5000.0 ,   500.0 ] ]   ,   max _ rpm   = 5000.0   ,   moi   = 1.0   ,   damping _ rate _ full _ throttle   = 0.15   ,   damping _ rate _ zero _ throttle _ clutch _ engaged   = 2.0   ,   damping _ rate _ zero _ throttle _ clutch _ disengaged   = 0.35   ,   use _ gear _ autobox   = True   ,   gear _ switch _ time   = 0.5   ,   clutch _ strength   = 10.0   ,   final _ ratio   = 4.0   ,   forward _ gears   = list ( )   ,   drag _ coefficient   = 0.3   ,   center _ of _ mass   = [ 0.0 ,   0.0 ,   0.0 ]   ,   steering _ curve   = [ [ 0.0 ,   1.0 ] ,   [ 10.0 ,   0.5 ] ]   ,   wheels   = list ( )   ,   use _ sweep _ wheel _ collision   = False   ,   mass   = 1000.0   )   VehiclePhysicsControl   \u6784\u9020 \u51fd\u6570 \u6784\u9020\u51fd\u6570 \u3002   \u53c2\u6570 :   torque _ curve   (   list (   carla . Vector2D   )   )   max _ rpm   (   float   )   moi   (   float   -   kg * m   2   )   damping _ rate _ full _ throttle   (   float   )   damping _ rate _ zero _ throttle _ clutch _ engaged   (   float   )   damping _ rate _ zero _ throttle _ clutch _ disengaged   (   float   )   use _ gear _ autobox   (   bool   )   gear _ switch _ time   (   float   -   seconds   )   clutch _ strength   (   float   -   kg * m   2   / s   )   final _ ratio   (   float   )   forward _ gears   (   list (   carla . GearPhysicsControl   )   )   drag _ coefficient   (   float   )   center _ of _ mass   (   carla . Vector3D   )   steering _ curve   (   carla . Vector2D   )   wheels   (   list (   carla . WheelPhysicsControl   )   )   use _ sweep _ wheel _ collision   (   bool   )   mass   (   float   -   kilograms   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_215","text":"__ eq __   (   self   ,   other   =   carla . VehiclePhysicsControl   )   __ ne __   (   self   ,   other   =   carla . VehiclePhysicsControl   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlavehiclewheellocation","text":"enum   \u4ee3\u8868 \u8f66\u8f86 \u4e0a \u6bcf\u4e2a \u8f66\u8f6e \u7684 \u4f4d\u7f6e \u3002 \u7528\u4e8e \u5728   carla . Vehicle . set _ wheel _ steer _ direction   \u6216   carla . Vehicle . get _ wheel _ steer _ angle   \u4e2d \u8bbe\u7f6e \u89d2\u5ea6 \u65f6 \u8bc6\u522b \u76ee\u6807 \u8f66\u8f6e \u3002","title":"carla . VehicleWheelLocation"},{"location":"python_api/#_216","text":"FL _ Wheel   \u56db\u8f6e \u8f66\u8f86 \u7684 \u5de6 \u524d\u8f6e \u3002   FR _ Wheel   \u56db\u8f6e \u8f66\u8f86 \u7684 \u53f3 \u524d\u8f6e \u3002   BL _ Wheel   \u56db\u8f6e \u8f66\u8f86 \u7684 \u5de6 \u540e\u8f6e \u3002   BR _ Wheel   \u56db\u8f6e \u8f66\u8f86 \u7684 \u53f3 \u540e\u8f6e \u3002   Front _ Wheel   \u4e24\u8f6e \u8f66\u8f86 \u7684 \u524d\u8f6e \u3002   Back _ Wheel   \u4e24\u8f6e \u8f66\u8f86 \u7684 \u540e\u8f6e \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#carlawalker","text":"\u4ece   carla . Actor   \u7ee7\u627f   \u8be5\u7c7b \u4ece   carla . Actor   \u7ee7\u627f \u5e76 \u5b9a\u4e49 \u4eff\u771f \u4e2d \u7684 \u884c\u4eba \u3002 Walkers   \u662f \u4e00\u79cd \u7279\u6b8a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u53ef\u4ee5 \u7531   AI   (   carla . WalkerAIController   )   \u63a7\u5236 \uff0c \u4e5f \u53ef\u4ee5 \u901a\u8fc7 \u811a\u672c \u624b\u52a8 \u63a7\u5236 \uff0c \u4f7f\u7528 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217   carla . WalkerControl   \u6765 \u79fb\u52a8 \u5b83\u4eec \u53ca\u5176 \u9aa8\u9abc \u3002","title":"carla . Walker"},{"location":"python_api/#_217","text":"apply _ control   (   self   ,   control   )   \u5728 \u4e0b \u4e00\u4e2a \u523b\u5ea6 \u4e0a \uff0c \u63a7\u4ef6 \u5c06 \u4ee5 \u7279\u5b9a \u901f\u5ea6 \u5411 \u7279\u5b9a \u65b9\u5411 \u79fb\u52a8 \u884c\u4eba \u3002 \u4e5f \u53ef\u4ee5 \u547d\u4ee4 \u8df3\u8dc3 \u3002   \u53c2\u6570 :   control   (   carla . WalkerControl   )   blend _ pose   (   self   ,   blend _ value   )   \u8bbe\u7f6e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u4e0e \u52a8\u753b \u7684 \u6df7\u5408 \u503c \u3002 \u8fd9\u4e9b \u503c \u53ef\u4ee5 \u662f \uff1a   0 :   \u4ec5 \u663e\u793a \u52a8\u753b   1 :   \u4ec5 \u663e\u793a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \uff08 \u7531 \u7528\u6237 \u4f7f\u7528   set _ bones ( )   \u8bbe\u7f6e \uff09   any   other :   \u5c06 \u5728 \u52a8\u753b \u548c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u4e4b\u95f4 \u63d2\u5165 \u6240\u6709 \u9aa8\u9abc \u4f4d\u7f6e \u3002   \u53c2\u6570 :   blend _ value   (   float   -   value   from   0   to   1   with   the   blend   percentage   )   hide _ pose   (   self   )   \u9690\u85cf \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u5e76 \u663e\u793a \u52a8\u753b \uff08 \u4e0e \u8c03\u7528   blend _ pose ( 0 )   \u76f8\u540c \uff09 \u3002   show _ pose   (   self   )   \u663e\u793a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u5e76 \u9690\u85cf \u52a8\u753b \uff08 \u4e0e \u8c03\u7528   blend _ pose ( 1 )   \u76f8\u540c \uff09 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_218","text":"get _ bones   (   self   )   \u8fd4\u56de \u5305\u542b \u6765\u81ea \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6240\u6709 \u9aa8\u9abc \u53d8\u6362 \u7684 \u7ed3\u6784 \u3002 \u5bf9\u4e8e \u6bcf\u4e2a \u9aa8\u9abc \uff0c \u6211\u4eec \u5728 \u4e09\u4e2a \u4e0d\u540c \u7684 \u7a7a\u95f4 \u4e2d \u83b7\u53d6 \u540d\u79f0 \u53ca\u5176 \u53d8\u6362 \uff1a   name :   \u9aa8\u9abc \u540d\u79f0   world :   \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u53d8\u6362   component :   \u57fa\u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u67a2\u8f74 \u8fdb\u884c \u53d8\u6362   relative :   \u57fa\u4e8e \u7236\u7ea7 \u9aa8\u9abc \u8fdb\u884c \u53d8\u6362 \u3002   \u8fd4\u56de :   carla . WalkerBoneControlOut   Setter :   carla . Walker . set _ bones   get _ control   (   self   )   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd4\u56de \u5728 \u6700\u540e \u4e00\u4e2a tick \u671f\u95f4 \u5e94\u7528 \u4e8e \u6b64\u884c \u4eba \u7684 \u63a7\u5236 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8c03\u7528 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002   \u8fd4\u56de :   carla . WalkerControl   get _ pose _ from _ animation   (   self   )   \u590d\u5236 \u5f53\u524d \u52a8\u753b \u5e27 \u4f5c\u4e3a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u3002 \u6700\u521d \uff0c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u59ff\u52bf \u662f \u4e2d\u6027 \u884c\u4eba \u59ff\u52bf \u3002","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_219","text":"set _ bones   (   self   ,   bones   )   \u8bbe\u7f6e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u9aa8\u9abc \u3002 \u5bf9\u4e8e \u6211\u4eec \u60f3\u8981 \u8bbe\u7f6e \u7684 \u6bcf\u4e2a \u9aa8\u9abc \uff0c \u6211\u4eec \u4f7f\u7528 \u76f8\u5bf9 \u53d8\u6362 \u3002 \u4ec5\u4f1a \u8bbe\u7f6e \u6b64 \u5217\u8868 \u4e2d \u7684 \u9aa8\u9abc \u3002 \u5bf9\u4e8e \u6bcf\u4e2a \u9aa8\u9abc \uff0c \u60a8 \u9700\u8981 \u8bbe\u7f6e \u4ee5\u4e0b \u4fe1\u606f \uff1a   name :   \u9aa8\u9abc \u540d\u79f0   relative :   \u57fa\u4e8e \u9aa8\u9abc \u7236\u7ea7 \u8fdb\u884c \u53d8\u6362 \u3002   \u53c2\u6570 :   bones   (   carla . WalkerBoneControlIn   -   \u6211\u4eec \u60f3\u8981 \u8bbe\u7f6e \u7684 \u9aa8\u9abc \u5bf9 \uff08 bone _ name \uff0c transform \uff09 \u7684 \u5217\u8868   )   \u83b7\u53d6 \u5668 :   carla . Walker . get _ bones","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_220","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlawalkeraicontroller","text":"\u4ece   carla . Actor   \u7ee7\u627f   \u5bf9 \u884c\u4eba \u8fdb\u884c   AI   \u63a7\u5236 \u7684 \u7c7b \u3002 \u63a7\u5236 \u63a7\u5236\u5668 \u88ab \u5b9a\u4e49 \u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f46 \u5b83\u4eec \u4e0e \u5176\u4ed6 \u63a7\u5236 \u63a7\u5236\u5668 \u6709 \u5f88\u5927 \u4e0d\u540c \u3002 \u5b83\u4eec \u5728 \u521b\u5efa \u8fc7\u7a0b \u4e2d \u9700\u8981 \u9644\u52a0 \u5230\u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8fd9\u662f \u5b83\u4eec \u5c06 \u63a7\u5236 \u7684 \u884c\u4eba \uff08 \u5982\u679c \u60a8 \u5c1a\u672a \u4e86\u89e3 \u5982\u4f55 \u751f\u6210   Actor \uff0c \u8bf7 \u67e5\u770b   carla . World   \uff09 \u3002 \u4ed6\u4eec \u8fd8 \u9700\u8981 \u4e00\u4e2a \u7279\u6b8a \u7684 \u84dd\u56fe \uff08 \u5df2 \u5728   carla . BlueprintLibrary   \u4e2d \u5b9a\u4e49 \u4e3a \u201c controller . ai . walker \u201d \uff09 \u3002 \u8fd9\u662f \u4e00\u4e2a \u7a7a \u7684 \u84dd\u56fe \uff0c \u56e0\u4e3a \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u63a7\u5236\u5668 \u5728 \u4eff\u771f \u4e2d\u662f \u4e0d \u53ef\u89c1 \u7684 \uff0c \u4f46\u4f1a \u8ddf\u968f \u5176\u7236 \u63a7\u5236 \u63a7\u5236\u5668 \u6765 \u6307\u793a \u6bcf \u4e00\u6b65 \u3002","title":"carla . WalkerAIController"},{"location":"python_api/#_221","text":"go _ to _ location   (   self   ,   destination   )   \u8bbe\u7f6e \u884c\u4eba \u5c06 \u5230\u8fbe \u7684 \u76ee\u7684 \u76ee\u7684\u5730 \u3002   \u53c2\u6570 :   destination   (   carla . Location   -   \u7c73   )   start   (   self   )   \u4e3a \u5176\u7236 \u884c\u4eba \u542f\u7528   AI   \u63a7\u5236 \u3002   stop   (   self   )   snippet   \u2192   \u7981\u7528 \u5176\u7236 \u884c\u4eba \u7684   AI   \u63a7\u5236 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_222","text":"set _ max _ speed   (   self   ,   speed   = 1.4   )   \u8bbe\u7f6e \u884c\u4eba \u7684 \u901f\u5ea6 \uff08 \u4ee5\u7c73 \u6bcf\u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   \u53c2\u6570 :   speed   (   float   -   m / s   )   -   \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u8f7b\u677e \u6b65\u884c \u901f\u5ea6 \u3002","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_223","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlawalkerbonecontrolin","text":"\u8be5\u7c7b \u4e3a \u884c\u4eba \u63d0\u4f9b \u9aa8\u9abc \u7279\u5b9a \u7684 \u64cd\u4f5c \u3002 \u4e3a\u4e86 \u6e05\u6670 \u8d77 \u89c1 \uff0c \u884c\u4eba \u7684 \u9aa8\u9abc \u5df2\u7ecf \u7edf\u4e00 \uff0c \u5e76\u4e14 \u5e94\u7528 \u4e8e \u6bcf\u4e2a \u9aa8\u9abc \u7684 \u53d8\u6362 \u59cb\u7ec8 \u76f8\u5bf9 \u4e8e \u5176\u7236 \u9aa8\u9abc \u3002 \u8bf7 \u67e5\u770b   \u6b64\u5904   \uff0c \u4e86\u89e3 \u6709\u5173 \u5982\u4f55 \u521b\u5efa \u52a9\u884c\u5668 \u5e76 \u5b9a\u4e49 \u5176 \u8fd0\u52a8 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002","title":"carla . WalkerBoneControlIn"},{"location":"python_api/#_224","text":"bone _ transforms   (   list ( [ name , transform ] )   )   \u5217\u51fa \u6211\u4eec \u8981 \u8bbe\u7f6e \u7684 \u6bcf\u4e2a \u9aa8\u9abc \u7684 \u6570\u636e \uff1a   name :   \u9aa8\u9abc \u540d\u79f0   relative :   \u57fa\u4e8e \u9aa8\u9abc \u7236\u7ea7 \u8fdb\u884c \u53d8\u6362 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_225","text":"__ init __   (   self   ,   list ( name , transform )   )   \u521d\u59cb \u521d\u59cb\u5316 \u4e00\u4e2a \u5305\u542b \u8981 \u5728 \u523b\u5ea6 \u4e0a \u5e94\u7528 \u7684 \u79fb\u52a8 \u7684 \u5bf9\u8c61 \u3002 \u8fd9\u4e9b \u4e0e \u9aa8\u9abc \u7684 \u540d\u79f0 \u548c \u5c06 \u5e94\u7528 \u4e8e \u5b83 \u7684 \u53d8\u6362 \u4e00\u8d77 \u5217\u51fa \u3002   \u53c2\u6570 :   list ( name , transform )   (   tuple   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_226","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlawalkerbonecontrolout","text":"\u8be5\u7c7b \u7528\u4e8e \u8fd4\u56de \u884c\u4eba \u7684 \u6240\u6709 \u9aa8\u9abc \u4f4d\u7f6e \u3002 \u5bf9\u4e8e \u6bcf\u4e2a \u9aa8\u9abc \uff0c \u6211\u4eec \u5f97\u5230 \u5b83 \u7684 \u540d\u79f0 \u53ca\u5176 \u5728 \u4e09\u4e2a \u4e0d\u540c \u7a7a\u95f4 \uff08 \u4e16\u754c \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u76f8\u5bf9 \uff09 \u4e2d \u7684 \u53d8\u6362 \u3002","title":"carla . WalkerBoneControlOut"},{"location":"python_api/#_227","text":"bone _ transforms   (   list ( [ name , world ,   actor ,   relative ] )   )   \u6bcf\u4e2a \u9aa8\u9abc \u7684 \u4e00\u4e2a \u6761\u76ee \u5217\u8868 \uff0c \u5305\u542b \u4ee5\u4e0b \u4fe1\u606f \uff1a   name :   \u9aa8\u9abc \u540d\u79f0   world :   \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u53d8\u6362   component :   \u57fa\u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u67a2\u8f74 \u8fdb\u884c \u53d8\u6362   relative :   \u57fa\u4e8e \u9aa8\u9abc \u7236\u7ea7 \u8fdb\u884c \u53d8\u6362 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_228","text":"","title":"\u65b9\u6cd5"},{"location":"python_api/#_229","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlawalkercontrol","text":"\u6b64\u7c7b \u5b9a\u4e49 \u4e86 \u53ef\u4ee5 \u5411   carla . Walker   \u547d\u4ee4 \u901a\u8fc7 \u811a\u672c \u63a7\u5236 \u5b83 \u7684 \u7279\u5b9a \u65b9\u5411 \u3002   \u53ef\u4ee5 \u4e3a \u884c\u4eba \u89e3\u51b3 AI \u63a7\u5236 \uff0c \u4f46 \u7528\u4e8e \u6b64 \u76ee\u7684 \u7684 \u63a7\u4ef6 \u662f   carla . WalkerAIController   \u3002","title":"carla . WalkerControl"},{"location":"python_api/#_230","text":"direction   (   carla . Vector3D   )   \u4f7f\u7528 \u4e0e \u884c\u4eba \u65b9\u5411 \u76f8\u5bf9 \u5e94 \u7684 \u5168\u5c40 \u5750\u6807 \u7684 \u5411\u91cf \u3002   speed   (   float   -   m / s   )   \u63a7\u5236 \u884c\u4eba \u901f\u5ea6 \u7684 \u6807\u91cf \u503c \u3002   jump   (   bool   )   \u5982\u679c \u4e3a   True   \uff0c \u884c\u4eba \u5c06 \u6267\u884c \u8df3\u8dc3 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_231","text":"__ init __   (   self   ,   direction   = [ 1.0 ,   0.0 ,   0.0 ]   ,   speed   = 0.0   ,   jump   = False   )   \u53c2\u6570 :   direction   (   carla . Vector3D   )   speed   (   float   -   m / s   )   jump   (   bool   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_232","text":"__ eq __   (   self   ,   other   =   carla . WalkerControl   )   \u548c   other   \u6bd4\u8f83 \u6bcf\u4e2a \u53d8\u91cf \uff0c \u5982\u679c \u5b83\u4eec \u90fd \u76f8\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   __ ne __   (   self   ,   other   =   carla . WalkerControl   )   \u548c   other   \u6bd4\u8f83 \u6bcf\u4e2a \u53d8\u91cf \uff0c \u5982\u679c \u5176\u4e2d \u4efb\u4f55 \u4e00\u4e2a \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlawaypoint","text":"Carla   \u4e2d \u7684 \u8def\u5f84 \u70b9 \u88ab \u63cf\u8ff0 \u4e3a \u4e09\u7ef4 \u6709 \u5411 \u70b9 \u3002 \u4ed6\u4eec \u6709 \u4e00\u4e2a   carla . Transform   \uff0c \u5b83 \u53ef\u4ee5 \u5b9a\u4f4d \u9053\u8def \u4e2d \u7684 \u8def\u5f84 \u70b9 \u5e76 \u6839\u636e \u8f66\u9053 \u786e\u5b9a \u5176 \u65b9\u5411 \u3002 \u4ed6\u4eec \u8fd8 \u5b58\u50a8 \u5c5e\u4e8e \u8be5\u70b9 \u7684 \u6709\u5173 \u5176 \u8f66\u9053 \u548c \u8f66\u9053 \u6807\u8bb0 \u7684 \u9053\u8def \u4fe1\u606f \u3002   \u6709\u5173 \u8def\u5f84 \u70b9 \u548c   \u8def\u7ebf   API   \u7684 \u6240\u6709 \u4fe1\u606f \u5747 \u6309   OpenDRIVE   \u6587\u4ef6 \u63d0\u4f9b \u7684 \u65b9\u5f0f \u68c0\u7d22 \u3002 \u4e00\u65e6 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5411 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bf7\u6c42 \u5730\u56fe \u5bf9\u8c61 \uff0c \u5c31 \u4e0d\u518d \u9700\u8981 \u901a\u4fe1 \u3002","title":"carla . Waypoint"},{"location":"python_api/#_233","text":"id   (   int   )   \u6807\u8bc6 \u6807\u8bc6\u7b26 \u662f \u4f7f\u7528 \u4e0e   OpenDRIVE   \u51e0\u4f55 \u4e2d \u7684 \u6240\u8ff0 \u70b9 \u76f8\u5bf9 \u5e94 \u7684   road   ,   section   ,   lane   \u548c   s   \u503c \u7684 \u54c8\u5e0c \u7ec4\u5408 \u751f\u6210 \u7684 \u3002   s   \u7cbe\u5ea6 \u8bbe\u7f6e \u4e3a   2   \u5398\u7c73 \uff0c \u56e0\u6b64 \u5728 \u540c\u4e00 \u9053\u8def \u3001 \u8def\u6bb5 \u548c \u8f66\u9053 \u8ddd\u79bb \u4e2d\u8ddd\u79bb \u5c0f\u4e8e   2   \u5398\u7c73 \u7684   2   \u4e2a \u8def\u5f84 \u70b9\u5c06 \u5177\u6709 \u76f8\u540c \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26   \u3002   transform   (   carla . Transform   )   \u6839\u636e \u5f53\u524d \u8f66\u9053 \u4fe1\u606f \u786e\u5b9a \u8def\u70b9 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002 \u8be5 \u6570\u636e \u662f \u5728 \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u8bbf\u95ee \u65f6 \u8ba1\u7b97 \u7684 \u3002 \u5f53 \u521b\u5efa \u5927\u91cf \u8def\u5f84 \u70b9 \u4f46 \u4e0d \u9700\u8981 \u5b83\u4eec \u7684 \u7279\u5b9a \u8f6c\u6362 \u65f6 \uff0c \u5b83 \u4e0d\u4f1a \u7acb\u5373 \u521b\u5efa \uff0c \u4ee5 \u51cf\u8f7b \u8ba1\u7b97 \u6210\u672c \u8ba1\u7b97\u6210\u672c \u3002   road _ id   (   int   )   OpenDRIVE   \u9053\u8def \u7684   id \u3002   section _ id   (   int   )   OpenDRIVE   \u90e8\u5206 \u7684   id \uff0c \u57fa\u4e8e \u5b83\u4eec \u6700\u521d \u5b9a\u4e49 \u7684 \u987a\u5e8f \u3002   is _ junction   (   bool   )   \u5982\u679c \u5f53\u524d \u8def\u70b9 \u4f4d\u4e8e   OpenDRIVE   \u5b9a\u4e49 \u7684 \u4ea4\u6c47 \u4ea4\u6c47\u5904 \uff0c \u5219 \u4e3a   True   \u3002   junction _ id   (   int   )   OpenDRIVE   \u7ed3\u70b9 \u7684   id \u3002 \u6709\u5173 \u66f4 \u591a \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   OpenDRIVE   \u6587\u6863   \u3002   lane _ id   (   int   )   OpenDRIVE   \u8f66\u9053 \u7684   id \uff0c \u8be5\u503c \u53ef\u4ee5 \u662f \u6b63\u6570 \u6216 \u8d1f\u6570 \uff0c \u8868\u793a \u5f53\u524d \u8f66\u9053 \u76f8\u5bf9 \u4e8e \u9053\u8def \u7684 \u65b9\u5411 \u3002 \u6709\u5173 \u66f4 \u591a \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   OpenDRIVE   \u6587\u6863   \u3002   s   (   float   )   OpenDRIVE \u5f53\u524d \u4f4d\u7f6e \u7684   s   \u503c   \u3002   lane _ width   (   float   )   \u5f53\u524d   s   \u5904 \u9053\u8def \u7684 \u6c34\u5e73 \u5c3a\u5bf8 \u3002   lane _ change   (   carla . LaneChange   )   \u5f53\u524d \u8def\u70b9 \u4f4d\u7f6e \u7684 \u8f66\u9053 \u53d8\u66f4 \u5b9a\u4e49 \uff0c \u57fa\u4e8e   OpenDRIVE   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \u7684 \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u3002 \u5b83 \u8bf4\u660e \u662f\u5426 \u53ef\u4ee5 \u53d8\u9053 \u4ee5\u53ca \u671d \u54ea\u4e2a \u65b9\u5411 \u53d8\u9053 \u3002   lane _ type   (   carla . LaneType   )   \u5f53\u524d   Waypoint   \u7684 \u8f66\u9053 \u7c7b\u578b \uff0c \u57fa\u4e8e   OpenDRIVE   1.4   \u6807\u51c6 \u3002   right _ lane _ marking   (   carla . LaneMarking   )   \u57fa\u4e8e   Waypoint   \u65b9\u5411 \u7684 \u53f3 \u8f66\u9053 \u6807\u8bb0 \u4fe1\u606f \u3002   left _ lane _ marking   (   carla . LaneMarking   )   \u57fa\u4e8e   Waypoint   \u65b9\u5411 \u7684 \u5de6 \u8f66\u9053 \u6807\u8bb0 \u4fe1\u606f \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_234","text":"next   (   self   ,   distance   )   \u5f53\u524d \u70b9 \u67d0\u4e2a \u8fd1\u4f3c \u8fd1\u4f3c\u503c \u7684 \u8def\u5f84 \u70b9 \u5217\u8868   distance   \u5b83\u4f1a \u8003\u8651 \u9053\u8def \u53ca\u5176 \u53ef\u80fd \u7684 \u504f\u5dee \uff0c \u800c \u4e0d \u6267\u884c \u4efb\u4f55 \u8f66\u9053 \u53d8\u66f4 \uff0c \u5e76 \u4e3a \u6bcf\u4e2a \u9009\u9879 \u8fd4\u56de \u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002 \u5982\u679c \u8f66\u9053 \u5728 \u6307\u5b9a \u8ddd\u79bb \u8ddd\u79bb\u5904 \u672a \u4e0e \u4efb\u4f55 \u5176\u4ed6 \u8f66\u9053 \u76f8\u8fde \uff0c \u5219 \u5217\u8868 \u53ef\u80fd \u4e3a\u7a7a \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u83b7\u53d6 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9 \u7684 \u5927\u81f4 \u8ddd\u79bb \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   next _ until _ lane _ end   (   self   ,   distance   )   \u8fd4\u56de \u4ece \u8fd9\u91cc \u5230 \u8f66\u9053 \u672b\u7aef \u7684 \u8def\u70b9 \u5217\u8868 \uff0c \u8fd9\u4e9b \u8def\u70b9 \u4e4b\u95f4 \u4ee5 \u4e00\u5b9a \u8ddd\u79bb   distance   \u5206\u9694 \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u5927\u81f4 \u8ddd\u79bb \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   previous   (   self   ,   distance   )   \u4f46 \u4e0e \u8f66\u9053 \u76f8\u53cd \u65b9\u5411 \u7684 \u8def\u70b9 \u5217\u8868   distance   \u4e0e   next ( )   \u7c7b\u4f3c \uff0c \u5b83\u4f1a \u8003\u8651 \u9053\u8def \u53ca\u5176 \u53ef\u80fd \u7684 \u504f\u5dee \uff0c \u800c \u4e0d \u6267\u884c \u4efb\u4f55 \u8f66\u9053 \u53d8\u66f4 \uff0c \u5e76 \u4e3a \u6bcf\u4e2a \u9009\u9879 \u8fd4\u56de \u4e00\u4e2a \u8def\u5f84 \u70b9 \u3002 \u5982\u679c \u8f66\u9053 \u5728 \u6307\u5b9a \u8ddd\u79bb \u8ddd\u79bb\u5904 \u672a \u4e0e \u4efb\u4f55 \u5176\u4ed6 \u8f66\u9053 \u76f8\u8fde \uff0c \u5219 \u5217\u8868 \u53ef\u80fd \u4e3a\u7a7a \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u83b7\u53d6 \u5148\u524d \u8def\u5f84 \u70b9 \u7684 \u5927\u81f4 \u8ddd\u79bb \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )   previous _ until _ lane _ start   (   self   ,   distance   )   \u8fd4\u56de \u4ece \u8fd9\u91cc \u5230 \u8f66\u9053 \u8d77\u70b9 \u7684 \u8def\u70b9 \u5217\u8868 \uff0c \u4ee5 \u4e00\u5b9a \u7684 \u8ddd\u79bb   distance   \u5206\u9694 \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u8def\u5f84 \u70b9 \u4e4b\u95f4 \u7684 \u5927\u81f4 \u8ddd\u79bb \u3002   \u8fd4\u56de :   list (   carla . Waypoint   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_235","text":"get _ junction   (   self   )   \u5982\u679c \u8def\u5f84 \u70b9 \u5c5e\u4e8e \u8def\u53e3 \uff0c \u5219 \u6b64 \u65b9\u6cd5 \u8fd4\u56de \u5173\u8054 \u7684 \u8def\u53e3 \u5bf9\u8c61 \u3002 \u5426\u5219 \u8fd4\u56de   null \u3002   \u8fd4\u56de :   carla . Junction   get _ landmarks   (   self   ,   distance   ,   stop _ at _ junction   = False   )   \u8fd4\u56de \u4ece \u5f53\u524d \u8def\u5f84 \u70b9\u5230 \u6307\u5b9a \u8ddd\u79bb \u7684 \u9053\u8def \u4e0a \u7684 \u5730\u6807 \u5217\u8868 \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u4ece \u5f53\u524d \u8def\u5f84 \u70b9 \u641c\u7d22 \u5730 \u6807\u7684 \u6700\u5927 \u8ddd\u79bb \u3002   stop _ at _ junction   (   bool   )   -   \u542f\u7528 \u6216 \u7981\u7528 \u901a\u8fc7 \u8def\u53e3 \u7684 \u5730\u6807 \u641c\u7d22 \u3002   \u8fd4\u56de :   list (   carla . Landmark   )   get _ landmarks _ of _ type   (   self   ,   distance   ,   type   ,   stop _ at _ junction   = False   )   \u8fd4\u56de \u4ece \u5f53\u524d \u8def\u5f84 \u70b9\u5230 \u6307\u5b9a \u8ddd\u79bb \u7684 \u6307\u5b9a \u7c7b\u578b \u9053\u8def \u4e2d \u7684 \u5730\u6807 \u5217\u8868 \u3002   \u53c2\u6570 :   distance   (   float   -   \u7c73   )   -   \u4ece \u5f53\u524d \u8def\u5f84 \u70b9 \u641c\u7d22 \u5730 \u6807\u7684 \u6700\u5927 \u8ddd\u79bb \u3002   type   (   str   )   -   \u8981 \u641c\u7d22 \u7684 \u5730\u6807 \u7c7b\u578b \u3002   stop _ at _ junction   (   bool   )   -   \u542f\u7528 \u6216 \u7981\u7528 \u901a\u8fc7 \u8def\u53e3 \u7684 \u5730\u6807 \u641c\u7d22 \u3002   \u8fd4\u56de :   list (   carla . Landmark   )   get _ left _ lane   (   self   )   \u6839\u636e \u5f53\u524d \u8def\u70b9 \u7684 \u65b9\u5411 \u5728 \u5de6 \u8f66\u9053 \u4e2d\u5fc3 \u751f\u6210 \u8def\u70b9 \uff0c \u540c\u65f6 \u8003\u8651 \u8be5 \u4f4d\u7f6e \u662f\u5426 \u5141\u8bb8 \u53d8\u9053 \u3002 \u5982\u679c \u8f66\u9053 \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   \u8fd4\u56de :   carla . Waypoint   get _ right _ lane   (   self   )   \u6839\u636e \u5f53\u524d \u8def\u70b9 \u7684 \u65b9\u5411 \u5728 \u53f3 \u8f66\u9053 \u4e2d\u5fc3 \u751f\u6210 \u8def\u70b9 \uff0c \u5e76 \u8003\u8651 \u8be5 \u4f4d\u7f6e \u662f\u5426 \u5141\u8bb8 \u53d8\u9053 \u3002 \u5982\u679c \u8f66\u9053 \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   \u8fd4\u56de :   carla . Waypoint","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_236","text":"__ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaweatherparameters","text":"\u6b64\u7c7b \u5b9a\u4e49 \u4e86 \u5305\u542b \u5149\u7167 \u548c \u5929\u6c14 \u89c4\u8303 \u7684 \u5bf9\u8c61 \uff0c \u8fd9\u4e9b \u89c4\u8303 \u7a0d\u540e \u53ef\u4ee5 \u5e94\u7528 \u5728   carla . World   \u4e2d \u3002 \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u8fd9\u4e9b \u6761\u4ef6 \u4ec5 \u5f71\u54cd   sensor . camera . rgb   \u3002 \u5b83\u4eec \u65e2 \u4e0d \u5f71\u54cd \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7269\u7406 \u7279\u6027 \uff0c \u4e5f \u4e0d \u5f71\u54cd \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u8fd9\u4e9b \u53c2\u6570 \u4e2d \u7684 \u6bcf \u4e00\u4e2a \u90fd \u72ec\u7acb \u4e8e \u5176\u4ed6 \u53c2\u6570 \u8d77 \u4f5c\u7528 \u3002 \u589e\u52a0 \u964d\u96e8 \u96e8\u91cf \u964d\u96e8\u91cf \u4e0d\u4f1a \u81ea\u52a8 \u5f62\u6210 \u6c34\u5751 \uff0c \u4e5f \u4e0d\u4f1a \u6539\u53d8 \u9053\u8def \u7684 \u6e7f\u5ea6 \u3002 \u8fd9 \u53ef\u4ee5 \u5b9e\u73b0 \u66f4\u597d \u7684 \u5b9a\u5236 \uff0c \u4f46 \u4e5f \u610f\u5473 \u610f\u5473\u7740 \u9700\u8981 \u7f16\u5199 \u73b0\u5b9e \u6761\u4ef6 \u7684 \u811a\u672c \u3002 \u7136\u800c \uff0c \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u5b9e\u9645 \u8fd0\u884c \u7684 \u52a8\u6001 \u5929\u6c14 \u6761\u4ef6 \u7684 \u793a\u4f8b \u3002","title":"carla . WeatherParameters"},{"location":"python_api/#_237","text":"cloudiness   (   float   )   \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \uff0c 0   \u8868\u793a \u6674\u6717 \u7684 \u5929\u7a7a \uff0c 100   \u8868\u793a \u5b8c\u5168 \u88ab \u4e91 \u8986\u76d6 \u3002   precipitation   (   float   )   \u964d\u96e8 \u5f3a\u5ea6 \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \uff0c 0   \u8868\u793a \u65e0\u96e8 \uff0c 100   \u8868\u793a \u5927\u96e8 \u3002   precipitation _ deposits   (   float   )   \u51b3\u5b9a \u6c34\u5751 \u7684 \u521b\u5efa \u3002 \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \uff0c 0   \u8868\u793a \u5b8c\u5168 \u6ca1\u6709 \u6c34 \uff0c 100   \u8868\u793a \u9053\u8def \u5b8c\u5168 \u88ab \u6c34 \u8986\u76d6 \u3002 \u6c34\u5751 \u662f \u7528 \u9759\u6001 \u566a\u97f3 \u521b\u5efa \u7684 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u5b83\u4eec \u603b\u662f \u51fa\u73b0 \u5728 \u76f8\u540c \u7684 \u4f4d\u7f6e \u3002   wind _ intensity   (   float   )   \u63a7\u5236 \u98ce \u7684 \u5f3a\u5ea6 \uff0c \u503c \u4ece   0 \uff08 \u65e0 \u98ce \uff09 \u5230   100 \uff08 \u5f3a\u98ce \uff09 \u3002 \u98ce \u786e\u5b9e \u4f1a \u5f71\u54cd \u964d\u96e8 \u65b9\u5411 \u548c \u6811\u53f6 \uff0c \u56e0\u6b64 \u9650\u5236 \u8be5\u503c \u4ee5 \u907f\u514d \u52a8\u753b \u95ee\u9898 \u3002   sun _ azimuth _ angle   (   float   -   \u5ea6   )   \u592a\u9633 \u7684 \u65b9\u4f4d \u65b9\u4f4d\u89d2 \u3002 \u503c \u8303\u56f4 \u4e3a   0   \u5230   360 \u3002 \u96f6\u662f \u7531 \u865a\u5e7b \u5f15\u64ce \u786e\u5b9a \u7684 \u7403\u4f53 \u4e2d \u7684 \u539f\u70b9 \u3002   sun _ altitude _ angle   (   float   -   \u5ea6   )   \u592a\u9633 \u7684 \u9ad8\u5ea6 \u89d2 \u3002 \u503c \u8303\u56f4 \u4ece   - 90   \u5230   90 \uff0c \u5206\u522b \u5bf9\u5e94 \u4e8e \u5348\u591c \u548c \u4e2d\u5348 \u3002   fog _ density   (   float   )   \u96fe \u6d53\u5ea6 \u6216 \u539a\u5ea6 \u3002 \u5b83 \u4ec5 \u5f71\u54cd   RGB   \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \u3002   fog _ distance   (   float   -   \u7c73   )   \u96fe \u5f00\u59cb \u8ddd\u79bb \u3002 \u503c \u8303\u56f4 \u4ece   0   \u5230 \u65e0\u7a77 \u65e0\u7a77\u5927 \u3002   wetness   (   float   )   \u6e7f\u5ea6 \u5f3a\u5ea6 \u3002 \u5b83 \u4ec5 \u5f71\u54cd   RGB   \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \u3002   fog _ falloff   (   float   )   \u96fe \u7684 \u5bc6\u5ea6 \uff08 \u4ee5 \u7279\u5b9a \u8d28\u91cf \u8ba1 \uff09 \u4ece   0   \u5230 \u65e0\u7a77 \u65e0\u7a77\u5927 \u3002 \u503c\u8d8a \u5927 \uff0c \u96fe\u6c14 \u8d8a \u6d53\u91cd \uff0c \u96fe\u6c14 \u8fbe\u5230 \u7684 \u9ad8\u5ea6 \u4e5f \u8d8a \u5c0f \u3002 \u5bf9\u5e94 \u4e8e   UE   \u6587\u6863 \u4e2d \u7684   \u96fe \u9ad8\u5ea6 \u8870\u51cf   \u3002   \u5982\u679c \u503c\u4e3a   0 \uff0c \u96fe \u5c06 \u6bd4 \u7a7a\u6c14 \u4eae \uff0c \u5e76 \u8986\u76d6 \u6574\u4e2a \u573a\u666f \u3002   \u503c\u4e3a   1   \u65f6 \uff0c \u5bc6\u5ea6 \u5927\u7ea6 \u4e0e \u7a7a\u6c14 \u4e00\u6837 \uff0c \u53ef \u5230\u8fbe \u6b63\u5e38 \u5927\u5c0f \u7684 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u5bf9\u4e8e \u5927\u4e8e   5   \u7684 \u503c \uff0c \u7a7a\u6c14 \u5c06 \u975e\u5e38 \u7a20\u5bc6 \uff0c \u4ee5\u81f3 \u81f3\u4e8e \u4ee5\u81f3\u4e8e \u5728 \u5730\u9762 \u4e0a\u4f1a \u88ab \u538b\u7f29 \u3002   scattering _ intensity   (   float   )   \u63a7\u5236 \u5149\u5bf9 \u4f53\u79ef \u96fe \u7684 \u8d21\u732e \u7a0b\u5ea6 \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   0   \u65f6 \uff0c \u6ca1\u6709 \u8d21\u732e \u3002   mie _ scattering _ scale   (   float   )   \u63a7\u5236 \u5149 \u4e0e \u5927 \u9897\u7c92 \uff08 \u5982 \u82b1\u7c89 \u6216 \u7a7a\u6c14 \u6c61\u67d3 \u7a7a\u6c14\u6c61\u67d3 \uff09 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \uff0c \u5bfc\u81f4 \u5929\u7a7a \u6726\u80e7 \uff0c \u5149\u6e90 \u5468\u56f4 \u6709 \u5149\u6655 \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   0   \u65f6 \uff0c \u6ca1\u6709 \u8d21\u732e \u3002   rayleigh _ scattering _ scale   (   float   )   \u63a7\u5236 \u5149 \u4e0e \u7a7a\u6c14 \u5206\u5b50 \u7b49 \u5c0f \u7c92\u5b50 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u3002 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u5149 \u7684 \u6ce2\u957f \uff0c \u5bfc\u81f4 \u767d\u5929 \u7684 \u5929\u7a7a \u4e3a \u84dd\u8272 \uff0c \u665a\u4e0a \u7684 \u5929\u7a7a \u4e3a \u7ea2\u8272 \u3002   dust _ storm   (   float   )   \u786e\u5b9a \u6c99\u5c18 \u5c18\u66b4 \u6c99\u5c18\u66b4 \u5929\u6c14 \u7684 \u5f3a\u5ea6 \u3002 \u503c \u8303\u56f4 \u4ece   0   \u5230   100 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_238","text":"__ init __   (   self   ,   cloudiness   = 0.0   ,   precipitation   = 0.0   ,   precipitation _ deposits   = 0.0   ,   wind _ intensity   = 0.0   ,   sun _ azimuth _ angle   = 0.0   ,   sun _ altitude _ angle   = 0.0   ,   fog _ density   = 0.0   ,   fog _ distance   = 0.0   ,   wetness   = 0.0   ,   fog _ falloff   = 0.0   ,   scattering _ intensity   = 0.0   ,   mie _ scattering _ scale   = 0.0   ,   rayleigh _ scattering _ scale   = 0.0331   )   \u521d\u59cb \u521d\u59cb\u5316 \u5b9a\u4e49 \u5929\u6c14 \u6761\u4ef6 \u7684 \u5bf9\u8c61 \u7684 \u65b9\u6cd5 \u3002 \u8be5\u7c7b \u6709 \u4e00\u4e9b \u9488\u5bf9 \u4e0d\u540c \u4e2d\u5348 \u548c \u65e5\u843d \u6761\u4ef6 \u7684 \u9884\u8bbe \uff0c \u5982 \u4e0b\u9762 \u7684 \u6ce8\u91ca \u6240\u793a \u3002   \u53c2\u6570 :   cloudiness   (   float   )   -   0   \u4e3a \u6674\u5929 \uff0c 100   \u4e3a \u9634\u5929 \u3002   precipitation   (   float   )   -   0   \u8868\u793a \u5b8c\u5168 \u6ca1\u6709 \u4e0b\u96e8 \uff0c 100   \u8868\u793a \u5927\u96e8 \u3002   precipitation _ deposits   (   float   )   -   0   \u8868\u793a \u9053\u8def \u4e0a \u6ca1\u6709 \u6c34\u5751 \uff0c 100   \u8868\u793a \u9053\u8def \u5b8c\u5168 \u88ab \u96e8\u6c34 \u8986\u76d6 \u3002   wind _ intensity   (   float   )   -   0   \u8868\u793a \u5e73\u6d6a \u98ce\u5e73\u6d6a\u9759 \uff0c 100   \u8868\u793a \u5f3a\u98ce \u3002   sun _ azimuth _ angle   (   float   -   \u5ea6   )   -   0   \u662f \u4efb\u610f \u5317 \uff0c 180   \u662f \u5176 \u5bf9\u5e94 \u7684 \u5357 \u3002   sun _ altitude _ angle   (   float   -   \u5ea6   )   -   90   \u662f \u4e2d\u5348 \uff0c - 90   \u662f \u5348\u591c \u3002   fog _ density   (   float   )   -   \u96fe \u7684 \u6d53\u5ea6 \u6216 \u539a\u5ea6 \uff0c \u4ece   0   \u5230   100 \u3002   fog _ distance   (   float   -   \u7c73   )   -   \u96fe \u5f00\u59cb \u7684 \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   wetness   (   float   )   -   \u9053\u8def \u7684 \u6e7f\u5ea6 \u767e\u5206 \u767e\u5206\u6bd4 \uff0c \u4ece   0   \u5230   100 \u3002   fog _ falloff   (   float   )   -   \u96fe \u7684 \u5bc6\u5ea6 \uff08 \u7279\u5b9a \u8d28\u91cf \uff09 \uff0c \u4ece   0   \u5230 \u65e0\u7a77 \u65e0\u7a77\u5927 \u3002   scattering _ intensity   (   float   )   -   \u63a7\u5236 \u5149\u7ebf \u5bf9 \u4f53\u79ef \u96fe \u7684 \u8d21\u732e \u7a0b\u5ea6 \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   0   \u65f6 \uff0c \u6ca1\u6709 \u8d21\u732e \u3002   mie _ scattering _ scale   (   float   )   -   \u7c73\u6c0f \u6563\u5c04   \u5f3a\u5ea6 \uff08 \u5927\u6c14 \u4e2d \u7c92\u5b50 \u7684 \u76f4\u5f84 \u4e0e \u8f90\u5c04 \u7684 \u6ce2\u957f \u76f8\u5f53 \uff09 \uff0c \u63a7\u5236 \u5149 \u4e0e \u5927 \u9897\u7c92 \uff08 \u5982 \u82b1\u7c89 \u6216 \u7a7a\u6c14 \u6c61\u67d3 \u7a7a\u6c14\u6c61\u67d3 \uff09 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \uff0c \u5bfc\u81f4 \u5929\u7a7a \u6726\u80e7 \uff0c \u5149\u6e90 \u5468\u56f4 \u6709 \u5149\u6655 \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   0   \u65f6 \uff0c \u6ca1\u6709 \u8d21\u732e \uff08 \u5b8c\u5168 \u4e0d \u6563\u5c04 \uff09 \u3002   rayleigh _ scattering _ scale   (   float   )   -   \u745e\u5229 \u6563\u5c04 \u745e\u5229\u6563\u5c04   \u5f3a\u5ea6 \uff08 \u7c92\u5b50 \u5c3a\u5ea6 \u5c0f\u4e8e \u6ce2\u957f \u7684 \u5341\u5206 \u4e4b\u4e00 \u5341\u5206\u4e4b\u4e00 \uff09 \uff0c \u63a7\u5236 \u5149 \u4e0e \u7a7a\u6c14 \u5206\u5b50 \u7b49 \u5c0f \u9897\u7c92 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u3002 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u5149 \u7684 \u6ce2\u957f \uff0c \u5bfc\u81f4 \u767d\u5929 \u7684 \u5929\u7a7a \u4e3a \u84dd\u8272 \uff08 \u7531\u4e8e \u745e\u5229 \u6563\u5c04 \u745e\u5229\u6563\u5c04 \u7684 \u5f3a\u5ea6 \u4e0e \u6ce2\u957f \u56db\u6b21 \u65b9 \u53cd\u6bd4 \u6210\u53cd\u6bd4 \uff0c \u6240\u4ee5 \u592a\u9633 \u5149\u8c31 \u4e2d\u6ce2 \u6ce2\u957f \u4e2d\u6ce2\u957f \u8f83 \u77ed \u7684 \u84dd \u7d2b\u5149 \u6bd4 \u6ce2\u957f \u8f83\u957f \u7684 \u7ea2\u5149 \u6563\u5c04 \u66f4 \u660e\u663e \uff09 \uff0c \u508d\u665a \u7684 \u5929\u7a7a \u4e3a \u7ea2\u8272 \uff08 \u592a\u9633 \u9633\u5149 \u592a\u9633\u5149 \u5728 \u5927\u6c14 \u4e2d\u8981 \u8d70 \u76f8\u5bf9 \u5f88\u957f \u7684 \u8def\u7a0b \uff0c \u76f4\u5c04 \u76f4\u5c04\u5149 \u4e2d \u7684 \u6ce2\u957f \u8f83 \u77ed \u84dd\u5149 \u5927\u91cf \u90fd \u88ab \u6563\u5c04 \u4e86 \uff0c \u53ea \u5269\u4e0b \u7ea2 \u6a59\u8272 \u7684 \u5149 \uff09 \u3002   \u7b14\u8bb0 :   ClearNoon ,   CloudyNoon ,   WetNoon ,   WetCloudyNoon ,   SoftRainNoon ,   MidRainyNoon ,   HardRainNoon ,   ClearSunset ,   CloudySunset ,   WetSunset ,   WetCloudySunset ,   SoftRainSunset ,   MidRainSunset ,   HardRainSunset .","title":"\u65b9\u6cd5"},{"location":"python_api/#_239","text":"__ eq __   (   self   ,   other   )   \u5982\u679c \u4e24\u4e2a \u5bf9\u8c61 \u7684 \u53d8\u91cf \u76f8\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ ne __   (   self   ,   other   )   \u5982\u679c \u4e24\u4e2a \u5bf9\u8c61 \u7684 \u53d8\u91cf \u4e0d\u540c \uff0c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlawheelphysicscontrol","text":"\u4e3a \u8f66\u8f6e \u5bf9\u8c61 \u5b9a\u4e49 \u7279\u5b9a \u7269\u7406 \u53c2\u6570 \u7684 \u7c7b \uff0c \u8fd9\u4e9b \u8f66\u8f6e \u5bf9\u8c61 \u5c06 \u6210\u4e3a   carla . VehiclePhysicsControl   \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u4ee5 \u5c06 \u8f66\u8f86 \u4eff\u771f \u4e3a \u6750\u8d28 \u5bf9\u8c61 \u3002","title":"carla . WheelPhysicsControl"},{"location":"python_api/#_240","text":"tire _ friction   (   float   )   \u8868\u793a \u8f66\u8f6e \u6469\u64e6 \u6469\u64e6\u529b \u7684 \u6807\u91cf \u503c \u3002   damping _ rate   (   float   )   \u8f66\u8f6e \u7684 \u963b\u5c3c \u7387 \u3002   max _ steer _ angle   (   float   -   \u5ea6   )   \u8f66\u8f6e \u53ef\u4ee5 \u8f6c\u5411 \u7684 \u6700\u5927 \u89d2\u5ea6 \u3002   radius   (   float   -   \u5398\u7c73   )   \u8f6e\u5b50 \u7684 \u534a\u5f84 \u3002   max _ brake _ torque   (   float   -   N * m   )   \u6700\u5927 \u5236\u52a8 \u626d\u77e9 \u3002   max _ handbrake _ torque   (   float   -   N * m   )   \u6700\u5927 \u624b\u5239 \u626d\u77e9 \u3002   position   (   carla . Vector3D   )   \u8f66\u8f6e \u7684 \u4e16\u754c \u4f4d\u7f6e \u3002 \u8fd9\u662f \u4e00\u4e2a \u53ea\u8bfb \u53c2\u6570 \u3002   long _ stiff _ value   (   float   -   kg   per   radian   )   \u6bcf \u5355\u4f4d \u91cd\u529b \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u7684 \u8f6e\u80ce \u7eb5\u5411 \u521a\u5ea6 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u6709 \u4e00\u4e2a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u503c \u3002   lat _ stiff _ max _ load   (   float   )   \u6700\u5927 \u6807\u51c6 \u6807\u51c6\u5316 \u8f6e\u80ce \u8d1f\u8f7d \uff0c \u5728 \u8be5 \u8d1f\u8f7d \u4e0b \uff0c \u65e0\u8bba \u5411 \u8f6e\u80ce \u65bd\u52a0 \u591a\u5c11 \u989d\u5916 \u8d1f\u8f7d \uff0c \u8f6e\u80ce \u90fd \u4e0d\u518d \u63d0\u4f9b \u4fa7\u5411 \u521a\u5ea6 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u6709 \u4e00\u4e2a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u503c \u3002   lat _ stiff _ value   (   float   )   \u6bcf \u5355\u4f4d \u6a2a\u5411 \u6ed1\u79fb \u7684 \u6700\u5927 \u521a\u5ea6 \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u6709 \u4e00\u4e2a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u503c \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_241","text":"__ init __   (   self   ,   tire _ friction   = 2.0   ,   damping _ rate   = 0.25   ,   max _ steer _ angle   = 70.0   ,   radius   = 30.0   ,   max _ brake _ torque   = 1500.0   ,   max _ handbrake _ torque   = 3000.0   ,   position   = ( 0.0 , 0.0 , 0.0 )   )   \u53c2\u6570 :   tire _ friction   (   float   )   damping _ rate   (   float   )   max _ steer _ angle   (   float   -   \u5ea6   )   radius   (   float   -   \u5398\u7c73   )   max _ brake _ torque   (   float   -   N * m   )   max _ handbrake _ torque   (   float   -   N * m   )   position   (   carla . Vector3D   -   \u7c73   )","title":"\u65b9\u6cd5"},{"location":"python_api/#_242","text":"__ eq __   (   self   ,   other   =   carla . WheelPhysicsControl   )   __ ne __   (   self   ,   other   =   carla . WheelPhysicsControl   )   __ str __   (   self   )","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaworld","text":"\u4e16\u754c \u5bf9\u8c61 \u7531 \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa \uff0c \u4ee5\u4fbf \u4e3a \u4eff\u771f \u63d0\u4f9b \u4e00\u4e2a \u53d1\u751f \u7684 \u5730\u65b9 \u3002 \u4e16\u754c \u5305\u542b \u6211\u4eec \u53ef\u4ee5 \u770b\u5230 \u7684 \u5730\u56fe \uff0c \u5373 \u8d44\u4ea7 \uff0c \u800c \u4e0d\u662f \u5bfc\u822a \u5730\u56fe \u3002 \u5bfc\u822a \u5730\u56fe \u662f   carla . Map   \u7c7b \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u5b83 \u8fd8 \u7ba1\u7406 \u5176\u4e2d \u7684 \u5929\u6c14 \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u6bcf\u4e2a \u4eff\u771f \u53ea\u80fd \u6709 \u4e00\u4e2a \u4e16\u754c \uff0c \u4f46 \u53ef\u4ee5 \u968f\u65f6 \u66f4\u6539 \u3002","title":"carla . World"},{"location":"python_api/#_243","text":"id   (   int   )   \u4e0e \u8fd9\u4e2a \u4e16\u754c \u76f8\u5173 \u7684 \u5267\u96c6 \u7684   ID \u3002 \u5267\u96c6 \u662f \u4eff\u771f \u7684 \u4e0d\u540c \u9636\u6bb5 \u3002 \u6bcf\u5f53 \u4e16\u754c \u88ab \u7981\u7528 \u6216 \u91cd\u65b0 \u52a0\u8f7d \u65f6 \uff0c \u8fd9\u4e9b \u90fd \u4f1a \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002 \u8ddf\u8e2a \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u907f\u514d \u53ef\u80fd \u51fa\u73b0 \u7684 \u95ee\u9898 \u3002   debug   (   carla . DebugHelper   )   \u8d1f\u8d23 \u521b\u5efa \u4e0d\u540c \u7684 \u5f62\u72b6 \u4ee5 \u8fdb\u884c \u8c03\u8bd5 \u3002 \u67e5\u770b \u5b83 \u7684 \u7c7b \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_244","text":"apply _ color _ texture _ to _ object   (   self   ,   object _ name   ,   material _ parameter   ,   texture   )   \u5bf9\u5e94 \u4e8e   material _ parameter   ( normal ,   diffuse ,   etc )   \u7684 \u5b57 \u6bb5 \u4e2d \u7684 \u5bf9\u8c61 \u5e94\u7528 \u5230 \u5bf9\u5e94 \u4e8e   object _ name   \u7684 \u573a\u666f \u4e2d \u7684   texture   \u5bf9\u8c61 \u3002   \u53c2\u6570 :   object _ name   (   str   )   material _ parameter   (   carla . MaterialParameter   )   texture   (   TextureColor   )   apply _ color _ texture _ to _ objects   (   self   ,   objects _ name _ list   ,   material _ parameter   ,   texture   )   \u5bf9\u5e94 \u4e8e   material _ parameter   ( normal ,   diffuse ,   etc )   \u7684 \u5b57 \u6bb5 \u4e2d \u7684 \u5bf9\u8c61 \u5e94\u7528 \u5230 \u5bf9\u5e94 \u4e8e   objects _ name _ list   \u7684 \u573a\u666f \u4e2d \u7684   texture   \u5bf9\u8c61 \u3002   \u53c2\u6570 :   objects _ name _ list   (   list ( str )   )   material _ parameter   (   carla . MaterialParameter   )   texture   (   TextureColor   )   apply _ float _ color _ texture _ to _ object   (   self   ,   object _ name   ,   material _ parameter   ,   texture   )   \u5bf9\u5e94 \u4e8e   material _ parameter   \uff08 \u6cd5\u7ebf \u3001 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u7b49 \uff09 \u7684 \u5b57 \u6bb5 \u4e2d \u7684 \u5bf9\u8c61 \u5e94\u7528 \u5230 \u4e0e   object _ name   \u4e2d \u7684 \u6240\u6709 \u5bf9\u8c61 \u5bf9\u5e94 \u7684 \u573a\u666f \u4e2d \u7684   texture   \u5bf9\u8c61 \u3002   \u53c2\u6570 :   object _ name   (   str   )   material _ parameter   (   carla . MaterialParameter   )   texture   (   TextureFloatColor   )   apply _ float _ color _ texture _ to _ objects   (   self   ,   objects _ name _ list   ,   material _ parameter   ,   texture   )   \u5bf9\u5e94 \u4e8e   material _ parameter   \uff08 \u6cd5\u7ebf \u3001 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u7b49 \uff09 \u7684 \u5b57 \u6bb5 \u4e2d \u7684 \u5bf9\u8c61 \u5e94\u7528 \u5230 \u4e0e   objects _ name _ list   \u4e2d \u7684 \u6240\u6709 \u5bf9\u8c61 \u5bf9\u5e94 \u7684 \u573a\u666f \u4e2d \u7684   texture   \u5bf9\u8c61 \u3002   \u53c2\u6570 :   objects _ name _ list   (   list ( str )   )   material _ parameter   (   carla . MaterialParameter   )   texture   (   TextureFloatColor   )   apply _ settings   (   self   ,   world _ settings   )   \u6b64 \u65b9\u6cd5 \u5c06 \u5bf9\u8c61 \u4e2d \u5305\u542b \u7684 \u8bbe\u7f6e \u5e94\u7528 \u4e8e \u8fd0\u884c \u7684 \u4eff\u771f \uff0c \u5e76 \u8fd4\u56de \u5b83\u4eec \u6240 \u5b9e\u73b0 \u7684 \u5e27 \u7684   ID \u3002   \u53c2\u6570 :   world _ settings   (   carla . WorldSettings   )   \u8fd4\u56de :   int   \u8b66\u544a :   \u5982\u679c \u542f\u7528 \u4e86 \u540c\u6b65 \u6a21\u5f0f \uff0c \u5e76\u4e14 \u6b63\u5728 \u8fd0\u884c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u5219 \u4e5f \u5fc5\u987b \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002 \u9605\u8bfb   \u672c\u6587   \u4ee5 \u4e86\u89e3 \u5982\u4f55 \u64cd\u4f5c \u3002   apply _ textures _ to _ object   (   self   ,   object _ name   ,   diffuse _ texture   ,   emissive _ texture   ,   normal _ texture   ,   ao _ roughness _ metallic _ emissive _ texture   )   \u5c06   carla . MaterialParameter   \u4e2d \u7684 \u6240\u6709 \u7eb9\u7406 \u5b57 \u6bb5 \u5e94\u7528 \u5230 \u5bf9\u8c61   object _ name   \u3002 \u8fd9\u91cc \u4e0d\u4f1a \u5e94\u7528 \u7a7a \u7eb9\u7406 \u3002   \u53c2\u6570 :   object _ name   (   str   )   diffuse _ texture   (   TextureColor   )   emissive _ texture   (   TextureFloatColor   )   normal _ texture   (   TextureFloatColor   )   ao _ roughness _ metallic _ emissive _ texture   (   TextureFloatColor   )   apply _ textures _ to _ objects   (   self   ,   objects _ name _ list   ,   diffuse _ texture   ,   emissive _ texture   ,   normal _ texture   ,   ao _ roughness _ metallic _ emissive _ texture   )   \u5c06   carla . MaterialParameter   \u4e2d \u7684 \u6240\u6709 \u7eb9\u7406 \u5b57 \u6bb5 \u5e94\u7528 \u4e8e   objects _ name _ list   \u4e2d \u7684 \u6240\u6709 \u5bf9\u8c61 \u3002 \u8fd9\u91cc \u4e0d\u4f1a \u5e94\u7528 \u7a7a \u7eb9\u7406 \u3002   \u53c2\u6570 :   objects _ name _ list   (   list ( str )   )   diffuse _ texture   (   TextureColor   )   emissive _ texture   (   TextureFloatColor   )   normal _ texture   (   TextureFloatColor   )   ao _ roughness _ metallic _ emissive _ texture   (   TextureFloatColor   )   cast _ ray   (   self   ,   initial _ location   ,   final _ location   )   \u5c06 \u5149\u7ebf \u4ece \u6307\u5b9a \u7684 initial _ location \u6295\u5c04 \u5230 final _ location \u3002 \u7136\u540e \uff0c \u8be5 \u51fd\u6570 \u68c0\u6d4b \u4e0e \u5c04\u7ebf \u76f8\u4ea4 \u7684 \u6240\u6709 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \uff0c \u5e76 \u6309 \u987a\u5e8f   \u8fd4\u56de   carla . LabelledPoint   \u5217\u8868 \u3002   \u53c2\u6570 :   initial _ location   (   carla . Location   )   -   The   initial   position   of   the   ray .   final _ location   (   carla . Location   )   -   The   final   position   of   the   ray .   \u8fd4\u56de :   list (   carla . LabelledPoint   )   enable _ environment _ objects   (   self   ,   env _ objects _ ids   ,   enable   )   snippet   \u2192   \u542f\u7528 \u6216 \u7981\u7528 \u4e00\u7ec4 \u7531 \u5176   id   \u6807\u8bc6 \u7684 \u73af\u5883 \u5bf9\u8c61 \u3002 \u8fd9\u4e9b \u5bf9\u8c61 \u5c06 \u4ece \u5173\u5361 \u4e2d \u51fa\u73b0 \u6216 \u6d88\u5931 \u3002   \u53c2\u6570 :   env _ objects _ ids   (   set ( int )   )   -   \u8981 \u66f4\u6539 \u7684 \u73af\u5883 \u5bf9\u8c61   ID   \u96c6 \u3002   enable   (   bool   )   -   \u5e94\u7528 \u4e8e \u96c6\u5408 \u4e2d \u6240\u6709 \u73af\u5883 \u5bf9\u8c61 \u7684 \u72b6\u6001 \u3002   freeze _ all _ traffic _ lights   (   self   ,   frozen   )   \u51bb\u7ed3 \u6216 \u89e3\u51bb \u573a\u666f \u4e2d \u7684 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u3002 \u7528\u6237 \u53ef\u4ee5 \u4fee\u6539 \u51bb\u7ed3 \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \uff0c \u4f46 \u65f6\u95f4 \u4e0d\u4f1a \u66f4\u65b0 \u5b83\u4eec \uff0c \u76f4\u5230 \u89e3\u51bb \u3002   \u53c2\u6570 :   frozen   (   bool   )   ground _ projection   (   self   ,   location   ,   search _ distance   )   \u5728 \u573a\u666f \u4e2d \u5411\u4e0b \u6295\u5f71 \u6307\u5b9a \u70b9 \u3002 \u8fd9\u4e9b \u51fd\u6570 \u4ece \u4f4d\u7f6e   ( 0 , 0 , - 1 ) \uff08 \u5411\u4e0b \uff09 \u6295\u5c04 \u4e00\u6761 \u5c04\u7ebf \uff0c \u5e76 \u8fd4\u56de \u4e00\u4e2a   carla . LabelledPoint   \u5bf9\u8c61 \uff0c \u8be5 \u5bf9\u8c61 \u5177\u6709 \u8be5 \u5c04\u7ebf \u76f8\u4ea4 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u51e0\u4f55 \u51e0\u4f55\u4f53 \uff08 \u901a\u5e38 \u662f \u5730\u9762 \uff09 \u3002 \u5982\u679c \u5728   search _ distance   \u8303\u56f4 \u5185 \u627e\u5230 \u672a\u627e\u5230 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \uff0c \u5219 \u51fd\u6570 \u8fd4\u56de   None   \u3002   \u53c2\u6570 :   location   (   carla . Location   )   -   \u8981 \u6295\u5f71 \u7684 \u70b9 \u3002   search _ distance   (   float   )   -   \u6267\u884c \u6295\u5f71 \u7684 \u6700\u5927 \u8ddd\u79bb \u3002   \u8fd4\u56de :   carla . LabelledPoint   load _ map _ layer   (   self   ,   map _ layers   )   snippet   \u2192   \u52a0\u8f7d \u56fe\u5c42 \u5230 \u6307\u5b9a \u5c42\u6b21 \u3002 \u5982\u679c \u8be5 \u5c42\u6b21 \u5df2\u7ecf \u52a0\u8f7d \u5219 \u6ca1\u6709 \u4efb\u4f55 \u6548\u679c \u3002   \u53c2\u6570 \uff1a   map _ layers   (   carla . MapLayer   )   -   \u52a0\u8f7d \u5230 \u6307\u5b9a \u5c42\u6b21 \u7684 \u63a9\u819c \u3002   \u8b66\u544a \uff1a   \u8fd9 \u4ec5\u4ec5 \u5f71\u54cd \u5206\u5c42 \uff08 Opt \uff09 \u5730\u56fe \u3002 \u6700\u5c0f \u5e03\u5c40 \u5305\u62ec \u9053\u8def \u3001 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3002   on _ tick   (   self   ,   callback   )   \u6b64 \u65b9\u6cd5 \u7528\u4e8e \u5f02\u6b65 \u6a21\u5f0f \u3002 \u5b83 \u4ece \u5ba2\u6237 \u5ba2\u6237\u7aef \u5b9a\u4e49 \u7684   callback   \u51fd\u6570 \u542f\u52a8 \u56de\u8c03 \uff0c \u5e76 \u8fd4\u56de \u56de\u8c03 \u7684   ID \u3002 \u6bcf\u5f53 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53d1\u51fa \u65f6 \u8282\u62cd \u65f6 \uff0c \u5c31 \u4f1a \u8c03\u7528 \u8be5 \u51fd\u6570 \u3002 \u5b83 \u9700\u8981 \u4e00\u4e2a   carla . WorldSnapshot   \u4f5c\u4e3a \u53c2\u6570 \uff0c \u8fd9 \u53ef\u4ee5 \u4ece   wait _ for _ tick ( )   \u83b7\u5f97 \u3002 \u4f7f\u7528   remove _ on _ tick ( )   \u6765 \u505c\u6b62 \u56de\u8c03 \u3002   \u53c2\u6570 \uff1a   callback   (   carla . WorldSnapshot   )   -   \u5c06 \u5feb\u7167 \u4f5c\u4e3a \u5f3a\u5236 \u53c2\u6570 \u7684 \u51fd\u6570 \uff0c \u5f53 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6536\u5230 \u8282\u62cd \u65f6 \u5c06 \u8c03\u7528 \u8be5 \u51fd\u6570 \u3002   \u8fd4\u56de :   int   project _ point   (   self   ,   location   ,   direction   ,   search _ distance   )   \u5c06 \u6307\u5b9a \u70b9 \u6295\u5f71 \u5230 \u573a\u666f \u4e2d \u7684 \u6240 \u9700 \u65b9\u5411 \u3002 \u8fd9\u4e9b \u51fd\u6570 \u4ece \u67d0\u4e2a \u65b9\u5411 \u7684 \u67d0\u4e2a \u4f4d\u7f6e \u6295\u5c04 \u4e00\u6761 \u5c04\u7ebf \uff0c \u5e76 \u8fd4\u56de \u4e00\u4e2a \u5e26\u6709 \u8be5 \u5c04\u7ebf \u76f8\u4ea4 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u51e0\u4f55 \u51e0\u4f55\u4f53 \u7684   carla . Labelled   \u5bf9\u8c61 \u3002 \u5982\u679c \u5728   search _ distance   \u8303\u56f4 \u5185 \u627e\u5230 \u672a\u627e\u5230 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \uff0c \u5219 \u51fd\u6570 \u8fd4\u56de   None   \u3002   \u53c2\u6570 :   location   (   carla . Location   )   -   \u8981 \u6295\u5f71 \u7684 \u70b9 \u3002   direction   (   carla . Vector3D   )   -   \u6295\u5f71 \u65b9\u5411 \u3002   search _ distance   (   float   )   -   \u6267\u884c \u6295\u5f71 \u7684 \u6700\u5927 \u8ddd\u79bb \u3002   \u8fd4\u56de :   carla . LabelledPoint   remove _ on _ tick   (   self   ,   callback _ id   )   \u505c\u6b62 \u4ee5   on _ tick ( )   \u542f\u52a8 \u7684 \u56de\u8c03   callback _ id   \u3002   \u53c2\u6570 :   callback _ id   (   callback   )   -   \u8981 \u5220\u9664 \u7684 \u56de\u8c03 \u3002 \u521b\u5efa \u56de\u8c03 \u65f6 \u8fd4\u56de ID \u3002   reset _ all _ traffic _ lights   (   self   )   \u5c06 \u5730\u56fe \u4e2d \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5468\u671f \u91cd\u7f6e \u4e3a \u521d\u59cb \u72b6\u6001 \u521d\u59cb\u72b6\u6001 \u3002   spawn _ actor   (   self   ,   blueprint   ,   transform   ,   attach _ to   = None   ,   attachment   = Rigid   )   snippet   \u2192   \u8be5 \u65b9\u6cd5 \u5c06 \u521b\u5efa \u3001 \u8fd4\u56de \u5e76 \u751f\u6210 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5230 \u4e16\u754c \u4e2d \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u9700\u8981 \u521b\u5efa \u53ef\u7528 \u7684 \u84dd\u56fe \u548c \u53d8\u6362 \uff08 \u4f4d\u7f6e \u548c \u65cb\u8f6c \uff09 \u3002 \u5b83 \u8fd8 \u53ef\u4ee5 \u9644\u52a0 \u5230 \u5177\u6709 \u7279\u5b9a \u9644\u4ef6 \u7c7b\u578b \u7684 \u7236\u7ea7 \u3002   \u53c2\u6570 :   blueprint   (   carla . ActorBlueprint   )   -   \u5c06 \u521b\u5efa \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5f15\u7528 \u3002   transform   (   carla . Transform   )   -   \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u751f\u6210 \u65f6 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002   attach _ to   (   carla . Actor   )   -   \u751f\u6210 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u8ddf\u968f \u7684 \u7236 \u5bf9\u8c61 \u3002   attachment   (   carla . AttachmentType   )   -   \u6839\u636e \u5176\u7236 \u5bf9\u8c61 \u786e\u5b9a \u4f4d\u7f6e \u53d8\u5316 \u7684 \u56fa\u5b9a \u548c \u4e25\u5bc6 \u7a0b\u5ea6 \u3002   \u8fd4\u56de :   carla . Actor   tick   (   self   ,   seconds   = 10.0   )   \u8be5 \u65b9\u6cd5 \u7528\u4e8e   \u540c\u6b65   \u6a21\u5f0f \uff0c \u5373 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5728 \u8ba1\u7b97 \u4e0b \u4e00\u5e27 \u4e4b\u524d \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5ba2\u6237 \u5ba2\u6237\u7aef \u8282\u62cd \u4fe1\u53f7 \u3002 \u8fd9\u4e2a \u65b9\u6cd5 \u5c06 \u53d1\u9001 \u8282\u62cd \u4fe1\u53f7 \uff0c \u5e76 \u8ba9 \u4f4d\u4e8e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u5b83 \u8fd4\u56de \u7531 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8ba1\u7b97 \u7684 \u65b0 \u5e27 ID \u3002   \u53c2\u6570 \uff1a   seconds   (   float   -   \u79d2   )   -   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5e94\u8be5 \u7b49\u5f85 \u8282\u62cd \u4fe1\u53f7 \u7684 \u6700\u5927 \u65f6\u95f4 \u3002 \u5b83 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e3a   10.0   \u3002   \u8fd4\u56de \uff1a   int   \u6ce8\u610f \uff1a   \u5982\u679c \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u6ca1\u6709 \u6536\u5230 \u8282\u62cd \u4fe1\u53f7 \uff0c \u4eff\u771f \u5c06 \u51bb\u7ed3 \u3002 \u6b64\u5916 \uff0c \u5982\u679c \u4ece \u4e0d\u540c \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u63a5\u6536 \u5230 \u8bb8\u591a \u8282\u62cd \u4fe1\u53f7 \uff0c \u5219 \u53ef\u80fd \u5b58\u5728 \u540c\u6b65 \u95ee\u9898 \u3002 \u8bf7 \u9605\u8bfb \u6709\u5173   __ \u540c\u6b65 \u6a21\u5f0f __   \u7684 \u6587\u6863 \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   try _ spawn _ actor   (   self   ,   blueprint   ,   transform   ,   attach _ to   = None   ,   attachment   = Rigid   )   \u548c   spawn _ actor ( )   \u4e00\u6837 \uff0c \u4f46\u662f \u5355 \u5931\u8d25 \u65f6\u5019 \u8fd4\u56de   None   \u800c \u4e0d\u662f \u629b\u51fa \u5f02\u5e38 \u3002   \u53c2\u6570 \uff1a   blueprint   (   carla . ActorBlueprint   )   -   \u5c06 \u4ece\u4e2d \u521b\u5efa \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5f15\u7528 \u3002   transform   (   carla . Transform   )   -   \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u4f7f\u7528 \u7684 \u4f4d\u7f6e \u548c \u671d\u5411 \u3002   attach _ to   (   carla . Actor   )   -   \u6d3e\u751f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u8ddf\u968f \u7684 \u7236 \u5bf9\u8c61 \u3002   attachment   (   carla . AttachmentType   )   -   \u6839\u636e \u5176\u7236 \u5bf9\u8c61 \u786e\u5b9a \u4f4d\u7f6e \u66f4\u6539 \u7684 \u56fa\u5b9a \u548c \u4e25\u683c \u7a0b\u5ea6 \u3002   \u8fd4\u56de \uff1a   carla . Actor   unload _ map _ layer   (   self   ,   map _ layers   )   snippet   \u2192   \u5c06 \u9009\u5b9a \u7684 \u56fe\u5c42 \u5378\u8f7d \u5230 \u6307\u5b9a \u5c42\u6b21 \u3002 \u5982\u679c \u5c42 \u5df2\u7ecf \u5378\u8f7d \uff0c \u5219 \u8c03\u7528 \u6ca1\u6709 \u4efb\u4f55 \u6548\u679c \u3002   \u53c2\u6570 :   map _ layers   (   carla . MapLayer   )   -   \u8981 \u5378\u8f7d \u56fe\u5c42 \u7684 \u63a9\u819c \u3002   \u8b66\u544a :   \u8fd9 \u4ec5\u4ec5 \u5f71\u54cd \u5206\u5c42 \uff08 Opt \uff09 \u5730\u56fe \u3002 \u6700\u5c0f \u5e03\u5c40 \u5305\u62ec \u9053\u8def \u3001 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3002   wait _ for _ tick   (   self   ,   seconds   = 10.0   )   \u8be5 \u65b9\u6cd5 \u4f7f\u7528 \u5f02\u6b65 \u6a21\u5f0f \u3002 \u5b83 \u4f7f \u5ba2\u6237 \u5ba2\u6237\u7aef \u7b49\u5f85 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8282\u62cd \u4fe1\u53f7 \u3002 \u5f53 \u8ba1\u7b97 \u4e0b \u4e00\u5e27 \u65f6 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u52fe\u9009 \u5e76 \u8fd4\u56de \u63cf\u8ff0 \u4e16\u754c \u65b0 \u72b6\u6001 \u7684 \u5feb\u7167 \u3002   \u53c2\u6570 :   seconds   (   float   -   seconds   )   -   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7b49\u5f85 \u6ef4\u7b54 \u7684 \u6700\u957f \u65f6\u95f4 \u3002 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e3a   10.0   \u3002   \u8fd4\u56de :   carla . WorldSnapshot","title":"\u65b9\u6cd5"},{"location":"python_api/#_245","text":"get _ actor   (   self   ,   actor _ id   )   \u901a\u8fc7   ID   \u67e5\u627e \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u5982\u679c \u627e\u5230 \u672a\u627e\u5230 \u5219 \u8fd4\u56de   None   \u3002   \u53c2\u6570 :   actor _ id   (   int   )   \u8fd4\u56de :   carla . Actor   get _ actors   (   self   ,   actor _ ids   = None   )   \u68c0\u7d22   carla . Actor   \u5143\u7d20 \u5217\u8868 \uff0c \u4f7f\u7528 \u63d0\u4f9b \u7684   ID   \u5217\u8868 \u6216\u4ec5 \u5217\u51fa \u821e\u53f0 \u4e0a \u7684 \u6bcf\u4e2a \u4eba \u3002 \u5982\u679c \u4e00\u4e2a ID \u4e0d \u4e0e \u4efb\u4f55 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u76f8\u5bf9 \u5e94 \uff0c \u5b83 \u5c06 \u88ab \u6392\u9664 \u5728 \u8fd4\u56de \u7684 \u5217\u8868 \u4e4b\u5916 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 ID \u5217\u8868 \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \u53ef\u80fd \u5177\u6709 \u4e0d\u540c \u7684 \u957f\u5ea6 \u3002   \u53c2\u6570 :   actor _ ids   (   list   )   -   \u6b63\u5728 \u641c\u7d22 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u8bbe\u7f6e \u4e3a   None   \u5e76 \u8fd4\u56de \u573a\u666f \u4e2d \u7684 \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8fd4\u56de :   carla . ActorList   get _ blueprint _ library   (   self   )   \u8fd4\u56de \u53ef\u7528 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u84dd\u56fe \u5217\u8868 \uff0c \u4ee5 \u65b9\u4fbf \u5b83\u4eec \u5728 \u4e16\u754c \u4e2d \u7684 \u751f\u6210 \u3002   \u8fd4\u56de :   carla . BlueprintLibrary   get _ environment _ objects   (   self   ,   object _ type   = Any   )   \u8fd4\u56de \u5177\u6709 \u8bf7\u6c42 \u7684 \u8bed\u4e49 \u6807\u8bb0 \u7684   EnvironmentObject   \u5217\u8868 \u3002 \u8be5 \u65b9\u6cd5 \u9ed8\u8ba4 \u8fd4\u56de \u5173\u5361 \u4e2d \u7684 \u6240\u6709 \u73af\u5883 \u5bf9\u8c61 \uff0c \u4f46 \u53ef\u4ee5 \u4f7f\u7528   object _ type   \u53c2\u6570 \u901a\u8fc7 \u8bed\u4e49 \u6807\u7b7e \u8fc7\u6ee4 \u67e5\u8be2 \u3002   \u53c2\u6570 :   object _ type   (   carla . CityObjectLabel   )   -   Semantic   tag   of   the   \u8fd4\u56de \u7684   EnvironmentObjects \u3002   \u8fd4\u56de :   array (   carla . EnvironmentObject   )   get _ level _ bbs   (   self   ,   actor _ type   = Any   )   \u8fd4\u56de \u4e00\u4e2a \u8fb9\u754c \u6846 \u6570\u7ec4 \uff0c \u5176\u4e2d \u5305\u542b \u4e16\u754c \u7a7a\u95f4 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002 \u8be5 \u65b9\u6cd5 \u9ed8\u8ba4 \u8fd4\u56de \u8be5 \u7ea7\u522b \u4e2d \u7684 \u6240\u6709 \u8fb9\u754c \u6846 \uff0c \u4f46 \u53ef\u4ee5 \u4f7f\u7528   actor _ type   \u53c2\u6570 \u901a\u8fc7 \u8bed\u4e49 \u6807\u7b7e \u8fc7\u6ee4 \u67e5\u8be2 \u3002   \u53c2\u6570 :   actor _ type   (   carla . CityObjectLabel   )   -   \u8fd4\u56de \u7684 \u8fb9\u754c \u6846\u4e2d \u5305\u542b \u7684 \u5143\u7d20 \u7684 \u8bed\u4e49 \u6807\u7b7e \u3002   \u8fd4\u56de :   array (   carla . BoundingBox   )   get _ lightmanager   (   self   )   \u8fd4\u56de   carla . LightManager   \u7684 \u5b9e\u4f8b \uff0c \u53ef \u7528\u4e8e \u5904\u7406 \u573a\u666f \u4e2d \u7684 \u706f\u5149 \u3002   \u8fd4\u56de :   carla . LightManager   get _ map   (   self   )   \u5411 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bf7\u6c42 \u5305\u542b \u6620\u5c04 \u6587\u4ef6 \u7684   XODR \uff0c \u5e76 \u5c06 \u5176 \u89e3\u6790 \u4e3a   carla . Map   \u8fd4\u56de \u3002   \u8fd4\u56de :   carla . Map   \u8b66\u544a :   \u6b64 \u65b9\u6cd5 \u786e\u5b9e \u8c03\u7528 \u4eff\u771f \u3002 \u5b83 \u4ee3\u4ef7 \u5f88 \u9ad8 \uff0c \u5e76\u4e14 \u53ea\u80fd \u8c03\u7528 \u4e00\u6b21 \u3002   get _ names _ of _ all _ objects   (   self   )   \u8fd4\u56de \u573a\u666f \u4e2d \u53ef\u4ee5 \u4f7f\u7528 \u5e94\u7528 \u7eb9\u7406 \u51fd\u6570 \u7ed8\u5236 \u7684 \u6240\u6709 \u5bf9\u8c61 \u7684 \u540d\u79f0 \u5217\u8868 \u3002   \u8fd4\u56de :   list ( str )   get _ random _ location _ from _ navigation   (   self   )   \u8fd9 \u53ea\u80fd \u4e0e \u884c\u4eba \u4e00\u8d77 \u4f7f\u7528 \u3002 \u5b83 \u4f7f\u7528   carla . WalkerAIController   \u4e2d \u7684   go _ to _ location ( )   \u65b9\u6cd5 \u68c0\u7d22 \u8981 \u7528\u4f5c \u76ee\u7684 \u76ee\u7684\u5730 \u7684 \u968f\u673a \u4f4d\u7f6e \u3002 \u8be5 \u4f4d\u7f6e \u5c06 \u662f \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u9053\u8def \u3001 \u4eba\u884c \u4eba\u884c\u6a2a\u9053 \u548c \u8349\u5730 \u533a\u57df \u4e0d \u5305\u62ec \u5728\u5185 \u3002 \u8be5 \u65b9\u6cd5 \u4e0d \u8003\u8651 \u73b0\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \uff0c \u56e0\u6b64 \u5982\u679c \u5728 \u5c1d\u8bd5 \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \u53d1\u751f \u78b0\u649e \uff0c \u5b83 \u5c06 \u8fd4\u56de \u9519\u8bef \u3002 \u770b \u4e00\u4e0b \u4f8b\u5b50   generate _ traffic . py   \u3002   \u8fd4\u56de :   carla . Location   get _ settings   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u5bf9\u8c61 \uff0c \u5176\u4e2d \u5305\u542b \u6709\u5173 \u4eff\u771f \u7684 \u4e00\u4e9b \u6570\u636e \uff0c \u4f8b\u5982 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u7684 \u540c\u6b65 \u6216 \u6e32\u67d3 \u6a21\u5f0f \u3002   \u8fd4\u56de :   carla . WorldSettings   get _ snapshot   (   self   )   \u8fd4\u56de \u67d0\u4e2a \u65f6\u523b \u7684 \u4e16\u754c \u5feb\u7167 \uff0c \u5305\u542b \u6709\u5173 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6240\u6709 \u4fe1\u606f \u3002   \u8fd4\u56de :   carla . WorldSnapshot   get _ spectator   (   self   )   snippet   \u2192   \u8fd4\u56de \u89c2\u5bdf \u89c2\u5bdf\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u662f \u865a\u5e7b \u5f15\u64ce \u521b\u5efa \u7684 \u4e00\u79cd \u7279\u6b8a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u901a\u5e38 ID = 0 \uff0c \u5145\u5f53 \u6444\u50cf \u6444\u50cf\u673a \u5e76 \u63a7\u5236 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7a97\u53e3 \u4e2d \u7684 \u89c6\u56fe \u3002   \u8fd4\u56de :   carla . Actor   get _ traffic _ light   (   self   ,   landmark   )   \u63d0\u4f9b \u4e00\u4e2a \u5730\u6807 \uff0c \u8fd4\u56de \u5b83 \u63cf\u8ff0 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u5bf9\u8c61 \u3002   \u53c2\u6570 :   landmark   (   carla . Landmark   )   -   \u63cf\u8ff0 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5730\u6807 \u5bf9\u8c61 \u3002   \u8fd4\u56de :   carla . TrafficLight   get _ traffic _ light _ from _ opendrive _ id   (   self   ,   traffic _ light _ id   )   \u8fd4\u56de \u4e0e \u6307\u793a \u7684   OpenDRIVE   id   \u5bf9\u5e94 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u53c2\u6570 :   traffic _ light _ id   (   str   )   -   The   OpenDRIVE   id .   \u8fd4\u56de :   carla . TrafficLight   get _ traffic _ lights _ from _ waypoint   (   self   ,   waypoint   ,   distance   )   \u6b64 \u51fd\u6570 \u6cbf\u7740 \u6307\u5b9a \u8def\u70b9 \u524d\u9762 \u7684 \u9053\u8def \u6267\u884c \u641c\u7d22 \uff0c \u5e76 \u8fd4\u56de \u5728 \u6307\u5b9a \u641c\u7d22 \u8ddd\u79bb \u5185 \u627e\u5230 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \u3002   \u53c2\u6570 :   waypoint   (   carla . Waypoint   )   -   \u8f93\u5165 \u8def\u5f84 \u70b9 \u3002   distance   (   float   )   -   \u641c\u7d22 \u8ddd\u79bb \u3002   \u8fd4\u56de :   list (   carla . TrafficLight   )   get _ traffic _ lights _ in _ junction   (   self   ,   junction _ id   )   \u8fd4\u56de \u5f71\u54cd   junction _ id   \u4e2d \u6307\u793a \u7684 \u8def\u53e3 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \u3002   \u53c2\u6570 :   junction _ id   (   int   )   -   \u8fde\u63a5 \u63a5\u70b9 \u8fde\u63a5\u70b9 \u7684   id \u3002   \u8fd4\u56de :   list (   carla . TrafficLight   )   get _ traffic _ sign   (   self   ,   landmark   )   \u63d0\u4f9b \u4e00\u4e2a \u5730\u6807 \uff0c \u8fd4\u56de \u5b83 \u63cf\u8ff0 \u7684 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u5bf9\u8c61 \u3002   \u53c2\u6570 :   landmark   (   carla . Landmark   )   -   \u63cf\u8ff0 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u7684 \u5730\u6807 \u5bf9\u8c61 \u3002   \u8fd4\u56de :   carla . TrafficSign   get _ vehicles _ light _ states   (   self   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u952e \u662f   carla . Actor   ID \uff0c \u503c \u662f \u8be5 \u8f66\u8f86 \u7684   carla . VehicleLightState   \u3002   \u8fd4\u56de :   dict   get _ weather   (   self   )   \u68c0\u7d22 \u5305\u542b \u4eff\u771f \u4e2d \u5f53\u524d \u6d3b\u52a8 \u7684 \u5929\u6c14 \u53c2\u6570 \u7684 \u5bf9\u8c61 \uff0c \u4e3b\u8981 \u662f \u4e91\u91cf \u3001 \u964d\u6c34 \u6c34\u91cf \u964d\u6c34\u91cf \u3001 \u98ce \u548c \u592a\u9633 \u4f4d\u7f6e \u3002   \u8fd4\u56de :   carla . WeatherParameters   Setter :   carla . World . set _ weather","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_246","text":"set _ pedestrians _ cross _ factor   (   self   ,   percentage   )   \u53c2\u6570 :   percentage   (   float   )   -   \u8bbe\u7f6e \u53ef\u4ee5 \u5728 \u9053\u8def \u4e0a \u884c\u8d70 \u6216 \u5728 \u9053\u8def \u4e0a \u7684 \u4efb\u4f55 \u70b9 \u7a7f\u8d8a \u7684 \u884c\u4eba \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002 \u503c\u5e94 \u4ecb\u4e8e   0.0   \u548c \u4e4b\u95f4   1.0   \u3002 \u4f8b\u5982 \uff0c \u503c   0.1   \u8868\u793a \u5141\u8bb8   10%   \u7684 \u884c\u4eba \u5728 \u9053\u8def \u4e0a \u884c\u8d70 \u3002   \u9ed8\u8ba4 \u4e3a   0.0   \u3002   \u7b14\u8bb0 :   \u5e94 \u5728 \u884c\u4eba \u751f\u6210 \u4e4b\u524d \u8bbe\u7f6e \u3002   set _ pedestrians _ seed   (   self   ,   seed   )   \u53c2\u6570 :   seed   (   int   )   -   \u8bbe\u7f6e \u7528\u4e8e \u751f\u6210 \u4e0e \u884c\u4eba \u76f8\u5173 \u7684 \u4efb\u4f55 \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u7684 \u79cd\u5b50 \u3002   \u7b14\u8bb0 :   \u5e94 \u5728 \u884c\u4eba \u751f\u6210 \u4e4b\u524d \u8bbe\u7f6e \u3002 \u5982\u679c \u60a8 \u60f3 \u4e3a \u6bcf\u4e2a \u884c\u4eba \u91cd\u590d \u76f8\u540c \u7684 \u8eab\u4f53 \uff08 \u84dd\u56fe \uff09 \uff0c \u8bf7 \u5728   Python   \u4ee3\u7801 \uff08 \u968f\u673a \u9009\u62e9 \u84dd\u56fe \uff09 \u548c \u6b64\u5904 \u4f7f\u7528 \u76f8\u540c \u7684 \u79cd\u5b50 \uff0c \u5426\u5219 \u884c\u4eba \u5c06 \u91cd\u590d \u76f8\u540c \u7684 \u8def\u5f84 \uff0c \u4f46 \u8eab\u4f53 \u4f1a \u4e0d\u540c \u3002   set _ weather   (   self   ,   weather   )   \u5c06 \u4eff\u771f \u7684 \u5929\u6c14 \u53c2\u6570 \u66f4 \u6539\u4e3a \u5bf9\u8c61 \u4e2d \u5b9a\u4e49 \u7684 \u5176\u4ed6 \u53c2\u6570 \u3002   \u53c2\u6570 :   weather   (   carla . WeatherParameters   )   -   \u8981 \u5e94\u7528 \u7684 \u65b0 \u6761\u4ef6 \u3002   \u83b7\u53d6 \u5668 :   carla . World . get _ weather","title":"\u8bbe\u7f6e \u5668"},{"location":"python_api/#_247","text":"__ str __   (   self   )   \u4e16\u754c \u7684 \u5185\u5bb9 \u88ab \u89e3\u6790 \u6253\u5370 \u5e76\u6253\u5370 \u4e3a \u5f53\u524d \u72b6\u6001 \u7684 \u7b80\u77ed \u62a5\u544a \u3002   \u8fd4\u56de :   string","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaworldsettings","text":"\u8be5 \u4eff\u771f \u5177\u6709 \u4e00\u4e9b \u9ad8\u7ea7 \u914d\u7f6e \u9009\u9879 \uff0c \u8fd9\u4e9b \u9009\u9879 \u5305\u542b \u5728 \u6b64\u7c7b \u4e2d \uff0c \u5e76\u4e14 \u53ef\u4ee5 \u4f7f\u7528   carla . World   \u53ca\u5176 \u65b9\u6cd5 \u8fdb\u884c \u7ba1\u7406 \u3002 \u8fd9\u4e9b \u5141\u8bb8 \u7528\u6237 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540c\u6b65 / \u5f02\u6b65 \u3001 \u6fc0\u6d3b \u201c \u65e0 \u6e32\u67d3 \u6a21\u5f0f \u201d \u4ee5\u53ca \u4eff\u771f \u662f\u5426 \u5e94 \u4ee5 \u56fa\u5b9a \u6216 \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \u8fd0\u884c \u4e4b\u95f4 \u8fdb\u884c \u9009\u62e9 \u3002 \u5982\u679c \u60a8 \u60f3 \u4e86\u89e3 \u7684\u8bdd   \u8bf7 \u67e5\u770b   \u6b64 \u5185\u5bb9   \u3002","title":"carla . WorldSettings"},{"location":"python_api/#_248","text":"synchronous _ mode   (   bool   )   \u8868\u793a \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u4e4b\u95f4 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u4e4b\u95f4 \u7684 \u540c\u6b65 \u3002 \u5f53 \u8bbe\u7f6e \u4e3a   true   \u65f6 \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5c06 \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6ef4\u7b54 \u4ee5\u4fbf \u7ee7\u7eed \u524d\u8fdb \u7ee7\u7eed\u524d\u8fdb \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u4e3a   false \u3002   no _ rendering _ mode   (   bool   )   \u542f\u7528 \u540e \uff0c \u4eff\u771f \u5c06 \u6839\u672c \u4e0d \u8fd0\u884c \u6e32\u67d3 \u3002 \u8fd9 \u4e3b\u8981 \u7528\u4e8e \u907f\u514d \u7e41\u5fd9 \u4ea4\u901a \u4eff\u771f \u671f\u95f4 \u7684 \u5f00\u9500 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u4e3a   false \u3002   fixed _ delta _ seconds   (   float   )   \u786e\u4fdd \u4eff\u771f \u7684 \u4e24\u4e2a \u6b65\u9aa4 \u4e4b\u95f4 \u7ecf\u8fc7 \u7684 \u65f6\u95f4 \u662f \u56fa\u5b9a \u7684 \u3002 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   0.0   \u4ee5 \u4f7f\u7528 \u53ef\u53d8 \u65f6\u95f4 \u6b65\u957f \uff0c \u5c31 \u50cf \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \u53d1\u751f \u7684 \u90a3\u6837 \u3002   substepping   (   bool   )   \u542f\u7528 \u7269\u7406 \u5b50 \u6b65\u8fdb \u3002 \u6b64 \u9009\u9879 \u5141\u8bb8 \u8ba1\u7b97 \u4e24\u4e2a \u6e32\u67d3 \u5e27 \u4e4b\u95f4 \u7684 \u4e00\u4e9b \u7269\u7406 \u5b50 \u6b65\u9aa4 \u3002 \u5982\u679c \u8bbe\u7f6e \u4e86 \u540c\u6b65 \u6a21\u5f0f \uff0c \u5219 \u5b50 \u6b65\u9aa4 \u7684 \u6570\u91cf \u53ca\u5176 \u65f6\u95f4 \u95f4\u9694 \u662f \u56fa\u5b9a \u7684 \u5e76 \u8fdb\u884c \u8ba1\u7b97 \uff0c \u4ee5\u4fbf \u6ee1\u8db3   carla . WorldSettings . max _ substep   \u548c   carla . WorldSettings . max _ substep _ delta _ time   \u7684 \u8981\u6c42 \u3002 \u6700\u540e \u4e24\u4e2a \u53c2\u6570 \u9700\u8981 \u4e0e   carla . WorldSettings . fixed _ delta _ seconds   \u517c\u5bb9 \u3002 \u9ed8\u8ba4 \u542f\u7528 \u3002   max _ substep _ delta _ time   (   float   )   \u5b50 \u6b65\u9aa4 \u7684 \u6700\u5927 \u589e\u91cf \u65f6\u95f4 \u3002 \u5982\u679c   carla . WorldSettingsmax _ substep   \u8db3\u591f \u9ad8 \uff0c \u5219 \u5b50\u6b65 \u589e\u91cf \u65f6\u95f4 \u5c06 \u59cb\u7ec8 \u4f4e\u4e8e \u6216 \u7b49\u4e8e \u8be5\u503c \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8be5\u503c \u8bbe\u7f6e \u4e3a   0.01 \u3002   max _ substeps   (   int   )   \u5141\u8bb8 \u7684 \u6700\u5927 \u7269\u7406 \u5b50 \u6b65\u6570 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8be5\u503c \u8bbe\u7f6e \u4e3a   10 \u3002   max _ culling _ distance   (   float   )   \u914d\u7f6e \u5173\u5361 \u4e2d \u6bcf\u4e2a \u7f51\u683c \u7684 \u6700\u5927 \u7ed8\u5236 \u8ddd\u79bb \u3002   deterministic _ ragdolls   (   bool   )   \u5b9a\u4e49 \u662f\u5426 \u5bf9 \u884c\u4eba \u6b7b\u4ea1 \u52a8\u753b \u6216 \u7269\u7406 \u5a03\u5a03 \u5e03\u5a03\u5a03 \u4eff\u771f \u4f7f\u7528 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u7269\u7406 \u3002 \u542f\u7528 \u540e \uff0c \u884c\u4eba \u7684 \u6b7b\u4ea1 \u52a8\u753b \u4e0d\u592a \u771f\u5b9e \uff0c \u4f46 \u786e\u4fdd \u4e86 \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u3002 \u7981\u7528 \u540e \uff0c \u884c\u4eba \u5c06 \u88ab \u4eff\u771f \u4e3a \u5a03\u5a03 \u5e03\u5a03\u5a03 \uff0c \u5177\u6709 \u66f4 \u771f\u5b9e \u7684 \u4eff\u771f \u548c \u78b0\u649e \uff0c \u4f46 \u65e0\u6cd5 \u786e\u4fdd \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u3002   tile _ stream _ distance   (   float   )   \u4ec5 \u7528\u4e8e \u5927\u578b \u5730\u56fe \u3002 \u914d\u7f6e \u4ece \u82f1\u96c4 \u8f66\u8f86 \u4f20\u8f93 \u74e6\u7247 \u5730\u56fe \u7684 \u6700\u5927 \u8ddd\u79bb \u3002 \u6b64 \u8303\u56f4 \u5185 \u7684 \u5730\u56fe \u533a\u57df \u5c06 \u53ef\u89c1 \uff08 \u5e76\u4e14 \u80fd\u591f \u4eff\u771f \u7269\u7406 \uff09 \u3002 \u8be5 \u533a\u57df \u4e4b\u5916 \u7684 \u533a\u57df \u5c06 \u4e0d\u4f1a \u88ab \u52a0\u8f7d \u3002   actor _ active _ distance   (   float   )   \u4ec5 \u7528\u4e8e \u5927\u578b \u5730\u56fe \u3002 \u914d\u7f6e \u4e0e \u82f1\u96c4 \u8f66\u8f86 \u7684 \u8ddd\u79bb \u4ee5 \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8f6c\u6362 \u4e3a \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002 \u5728 \u6b64 \u8303\u56f4 \u5185 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u5904\u4e8e \u6d3b\u8dc3 \u72b6\u6001 \uff0c \u800c \u5728 \u8be5 \u8303\u56f4 \u4e4b\u5916 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002   spectator _ as _ ego   (   bool   )   \u4ec5 \u7528\u4e8e \u5927\u578b \u5730\u56fe \u3002 \u5b9a\u4e49 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u5bf9\u5927 \u5730\u56fe \u4e2d \u56fe\u5757 \u52a0\u8f7d \u7684 \u5f71\u54cd \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5728 \u6ca1\u6709 \u81ea\u6211 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u89c2\u5bdf \u89c2\u5bdf\u8005 \u5c06 \u5f15\u53d1 \u76f8\u90bb \u56fe\u5757 \u7684 \u52a0\u8f7d \u3002 \u5bf9\u4e8e \u7acb\u5373 \u4ea7\u751f \u81ea\u6211 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u6765\u8bf4 \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u5e26\u6765 \u4e0d\u4fbf \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_249","text":"__ init __   (   self   ,   synchronous _ mode   = False   ,   no _ rendering _ mode   = False   ,   fixed _ delta _ seconds   = 0.0   ,   max _ culling _ distance   = 0.0   ,   deterministic _ ragdolls   = False   ,   tile _ stream _ distance   = 3000   ,   actor _ active _ distance   = 2000   ,   spectator _ as _ ego   = True   )   \u521b\u5efa \u4e00\u4e2a \u5305\u542b \u6240 \u9700 \u8bbe\u7f6e \u7684 \u5bf9\u8c61 \uff0c \u8fd9\u4e9b \u8bbe\u7f6e \u7a0d\u540e \u53ef\u4ee5 \u901a\u8fc7   carla . World   \u53ca\u5176 \u65b9\u6cd5   apply _ settings ( )   \u5e94\u7528 \u3002   \u53c2\u6570 :   synchronous _ mode   (   bool   )   -   \u542f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5219 \u8bbe\u7f6e \u4e3a   true \u3002   no _ rendering _ mode   (   bool   )   -   \u5728 \u4eff\u771f \u4e2d \u5b8c\u5168 \u7981\u7528 \u6e32\u67d3 \u5219 \u8bbe\u7f6e \u4e3a   true \u3002   fixed _ delta _ seconds   (   float   -   seconds   )   -   \u5728 \u5e27 \u4e4b\u95f4 \u8bbe\u7f6e \u4e3a \u56fa\u5b9a \u7684 \u6b65\u957f \u3002   0.0   \u610f\u5473 \u610f\u5473\u7740 \u53d8 \u6b65\u957f \u4e14 \u4e3a \u6a21\u5f0f \u6a21\u5f0f \u3002   max _ culling _ distance   (   float   -   \u7c73   )   -   \u5bf9\u4e8e \u5173\u5361 \u7684 \u6bcf \u4e00\u4e2a \u7f51\u683c \u914d\u7f6e \u6700\u5927 \u7684 \u7ed8\u5236 \u8ddd\u79bb \u3002   deterministic _ ragdolls   (   bool   )   -   \u5bf9\u4e8e \u884c\u4eba \u6b7b\u4ea1 \u4f7f\u7528 \u786e\u5b9a \u7684 \u7269\u7406 \u6216 \u5a03\u5a03 \u5e03\u5a03\u5a03 \u4eff\u771f \u5b9a\u4e49 wether \u3002   tile _ stream _ distance   (   float   -   \u7c73   )   -   \u4ec5 \u7528\u4e8e \u5927 \u5730\u56fe \u3002 \u4ece \u82f1\u96c4 \u8f66\u8f86 \u5230\u6d41 \u74e6\u7247 \u5730\u56fe \u914d\u7f6e \u6700\u5927 \u8ddd\u79bb \u3002   actor _ active _ distance   (   float   -   \u7c73   )   -   \u4ec5 \u7528\u4e8e \u5927 \u5730\u56fe \u3002 \u914d\u7f6e \u4e0e \u82f1\u96c4 \u8f66\u8f86 \u7684 \u8ddd\u79bb \u4ee5 \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8f6c\u6362 \u4e3a \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \u3002   spectator _ as _ ego   (   bool   )   -   \u4ec5 \u7528\u4e8e \u5927 \u5730\u56fe \u3002 \u5728 \u5927\u578b \u8d34\u56fe \u4e2d \u5b9a\u4e49 \u89c2\u4f17 \u5bf9 \u5e73\u94fa \u52a0\u8f7d \u7684 \u5f71\u54cd \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#_250","text":"__ eq __   (   self   ,   other   =   carla . WorldSettings   )   \u5982\u679c \u5bf9\u8c61 \u7684 \u53d8\u91cf \u76f8\u540c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ ne __   (   self   ,   other   =   carla . WorldSettings   )   \u5982\u679c \u5bf9\u8c61 \u7684 \u53d8\u91cf \u4e0d\u540c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ str __   (   self   )   \u5bf9\u4e8e \u5b57\u7b26 \u5b57\u7b26\u4e32 \u89e3\u6790 \u5df2 \u5efa\u7acb \u7684 \u8bbe\u7f6e \u5e76 \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u4e2d \u663e\u793a \u51fa\u6765 \u3002   \u8fd4\u56de :   str","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#carlaworldsnapshot","text":"\u5feb\u7167 \u5305\u62ec \u67d0\u4e00 \u65f6\u523b \u573a\u666f \u4e2d \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u5b83 \u521b\u5efa \u5e76 \u7ed9\u51fa \u4e00\u4e9b \u5217 \u5305\u542b   carla . ActorSnapshot   \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5728 \u6bcf \u4e00\u4e2a \u4e0d\u80fd \u5b58\u50a8 \u7684 \u8282\u62cd \u4fe1\u53f7 \u4e2d \u83b7\u53d6 \u4e00\u4e2a \u65b0 \u7684 \u5feb\u7167 \u3002","title":"carla . WorldSnapshot"},{"location":"python_api/#_251","text":"id   (   int   )   \u4e3a\u4e86 \u5206\u8fa8 \u6bcf \u4e00\u4e2a \u5feb\u7167 \u7684 \u552f\u4e00 \u503c \u3002   frame   (   int   )   \u83b7\u53d6 \u5feb\u7167 \u65f6 \u7684 \u4eff\u771f \u65f6\u95f4 \u3002   timestamp   (   carla . Timestamp   -   seconds   )   \u83b7\u53d6 \u5feb\u7167 \u65f6\u5019 \u7684 \u7cbe\u786e \u65f6\u523b \u3002 \u7531 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u7ed9\u51fa \u7684 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \u7684 \u7c7b \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_252","text":"find   (   self   ,   actor _ id   )   \u7ed9\u51fa \u67d0\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \uff0c \u8fd4\u56de \u5bf9\u5e94 \u7684 \u5feb\u7167 \uff0c \u5982\u679c \u6ca1\u6709 \u627e\u5230 \u5219 \u8fd4\u56de   None   \u3002   \u53c2\u6570 \uff1a   actor _ id   (   int   )   \u8fd4\u56de :   carla . ActorSnapshot   has _ actor   (   self   ,   actor _ id   )   \u7ed9\u51fa \u67d0\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \uff0c \u5982\u679c \u6709 \u5bf9\u5e94 \u7684 \u5feb\u7167 \u5219 \u68c0\u67e5 \uff0c \u5982\u679c \u5728 \u8fd9\u4e2a \u65f6\u523b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u51fa\u73b0 \u3002   \u53c2\u6570 \uff1a   actor _ id   (   int   )   \u8fd4\u56de \uff1a   bool","title":"\u65b9\u6cd5"},{"location":"python_api/#_253","text":"__ eq __   (   self   ,   other   =   carla . WorldSnapshot   )   \u5982\u679c \u65f6\u95f4 \u6233   timestamp   \u76f8\u540c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool   __ iter __   (   self   )   \u5728 \u5b58\u50a8 \u7684 \u5feb\u7167 \u4e0a \u8fdb\u884c \u8fed\u4ee3   carla . ActorSnapshot   \u3002   __ len __   (   self   )   \u8fd4\u56de \u5728 \u8be5 \u5feb\u7167 \u4e0a \u5448\u73b0 \u7684   carla . ActorSnapshot   \u7684 \u6570\u91cf \u3002   \u8fd4\u56de :   int   __ ne __   (   self   ,   other   =   carla . WorldSnapshot   )   \u5982\u679c \u65f6\u95f4 \u6233   timestamp   \u90fd \u4e0d\u540c \u5219 \u8fd4\u56de   True   \u3002   \u8fd4\u56de :   bool","title":"\u9b54\u672f \u65b9\u6cd5"},{"location":"python_api/#commandapplyangularimpulse","text":"carla . Actor   \u4e2d   add _ angular _ impulse ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f7f\u7528   angular   impulse \u3002","title":"command . ApplyAngularImpulse"},{"location":"python_api/#_254","text":"actor _ id   (   int   )   Actor   affected   by   the   command .   impulse   (   carla . Vector3D   -   degrees * s   )   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0a \u7684 \u89d2 \u51b2\u91cf \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_255","text":"__ init __   (   self   ,   actor   ,   impulse   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u5c06\u8981 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216\u8005 \u5b83 \u7684   ID \u3002   impulse   (   carla . Vector3D   -   degrees * s   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplyforce","text":"carla . Actor   \u4e2d   add _ force ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65bd\u52a0 \u4e00\u4e2a \u529b \u3002","title":"command . ApplyForce"},{"location":"python_api/#_256","text":"actor _ id   (   int   )   \u88ab \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   force   (   carla . Vector3D   -   N   )   \u5728 \u65f6\u95f4 \u4e0a \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65bd\u52a0 \u529b \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_257","text":"__ init __   (   self   ,   actor   ,   force   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u5c06\u8981 \u65bd\u52a0 \u547d\u4ee4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684   ID \u3002   force   (   carla . Vector3D   -   N   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplyimpulse","text":"carla . Actor   \u4e2d   add _ impulse ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u6700 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65bd\u52a0 \u7684   impulse \u3002","title":"command . ApplyImpulse"},{"location":"python_api/#_258","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   impulse   (   carla . Vector3D   -   N * s   )   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   Impulse \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_259","text":"__ init __   (   self   ,   actor   ,   impulse   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216\u8005 \u5b83 \u7684   ID \u3002   impulse   (   carla . Vector3D   -   N * s   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplytargetangularvelocity","text":"carla . Actor   \u4e2d   set _ target _ angular _ velocity ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002","title":"command . ApplyTargetAngularVelocity"},{"location":"python_api/#_260","text":"actor _ id   (   int   )   \u88ab \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   angular _ velocity   (   carla . Vector3D   -   deg / s   )   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4e09\u7ef4 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_261","text":"__ init __   (   self   ,   actor   ,   angular _ velocity   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5c06\u8981 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216\u8005 \u5b83 \u7684 ID \u3002   angular _ velocity   (   carla . Vector3D   -   deg / s   )   -   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5411\u91cf \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplytargetvelocity","text":"carla . Actor   \u4e2d   set _ target _ velocity ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002","title":"command . ApplyTargetVelocity"},{"location":"python_api/#_262","text":"actor _ id   (   int   )   \u88ab \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   velocity   (   carla . Vector3D   -   m / s   )   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e09\u7ef4 \u901f\u5ea6 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_263","text":"__ init __   (   self   ,   actor   ,   velocity   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684 ID \u3002   velocity   (   carla . Vector3D   -   m / s   )   -   \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u5411\u91cf \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplytorque","text":"carla . Actor   \u4e2d   add _ torque ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e94\u7528   torque \u3002","title":"command . ApplyTorque"},{"location":"python_api/#_264","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   torque   (   carla . Vector3D   -   \u5ea6   )   \u5728 \u65f6\u95f4 \u4e0a \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e94\u7528 \u529b\u77e9 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_265","text":"__ init __   (   self   ,   actor   ,   torque   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u5b83 \u7684   ID \u3002   torque   (   carla . Vector3D   -   \u5ea6   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplytransform","text":"carla . Actor   \u4e2d   set _ transform ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8bbe\u7f6e \u65b0 \u7684 \u53d8\u6362 \u3002","title":"command . ApplyTransform"},{"location":"python_api/#_266","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   transform   (   carla . Transform   )   \u6240 \u4f7f\u7528 \u7684 \u53d8\u6362 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_267","text":"__ init __   (   self   ,   actor   ,   transform   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684   ID \u3002   transform   (   carla . Transform   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplyvehicleackermanncontrol","text":"carla . Vehicle   \u4e2d   apply _ ackermann _ control ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u8f66\u8f86 \u5e94\u7528 \u67d0\u4e2a \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u63a7\u5236\u5668 \u3002","title":"command . ApplyVehicleAckermannControl"},{"location":"python_api/#_268","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   control   (   carla . AckermannVehicleControl   )   \u5e94\u7528 \u7684 \u8f66\u8f86 \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_269","text":"__ init __   (   self   ,   actor   ,   control   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684   ID \u3002   control   (   carla . AckermannVehicleControl   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplyvehiclecontrol","text":"\u5728   carla . Vehicle   \u4e2d   apply _ control ( )   \u547d\u4ee4 \u8fdb\u884c \u9002\u5e94 \uff0c \u5b9e\u73b0 \u5bf9 \u8f66\u8f86 \u5e94\u7528 \u67d0\u4e2a \u63a7\u5236 \u3002","title":"command . ApplyVehicleControl"},{"location":"python_api/#_270","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   control   (   carla . VehicleControl   )   \u5e94\u7528 \u7684 \u8f66\u8f86 \u63a7\u5236 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_271","text":"__ init __   (   self   ,   actor   ,   control   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u5c06\u8981 \u5e94\u7528 \u547d\u4ee4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684 ID \u3002   control   (   carla . VehicleControl   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplyvehiclephysicscontrol","text":"carla . Vehicle   \u4e2d   apply _ physics _ control ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u8f66\u8f86 \u5e94\u7528 \u4e00\u4e2a \u65b0 \u7684 \u7269\u7406 \u63a7\u5236 \uff0c \u4fee\u6539 \u5b83 \u7684 \u7269\u7406 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002","title":"command . ApplyVehiclePhysicsControl"},{"location":"python_api/#_272","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   physics _ control   (   carla . VehiclePhysicsControl   )   \u5e94\u7528 \u7684 \u7269\u7406 \u63a7\u5236 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_273","text":"__ init __   (   self   ,   actor   ,   physics _ control   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684 ID \u3002   physics _ control   (   carla . VehiclePhysicsControl   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplywalkercontrol","text":"carla . Walker   \u4e2d   apply _ control ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u5bf9 \u884c\u4eba \u5e94\u7528 \u63a7\u5236 \u3002","title":"command . ApplyWalkerControl"},{"location":"python_api/#_274","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u884c\u4eba \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   control   (   carla . WalkerControl   )   \u5e94\u7528 \u7684 \u884c\u4eba \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_275","text":"__ init __   (   self   ,   actor   ,   control   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u5c06\u8981 \u5e94\u7528 \u547d\u4ee4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216\u8005 \u5b83 \u7684 ID \u3002   control   (   carla . WalkerControl   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandapplywalkerstate","text":"\u5bf9 \u884c\u4eba \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5e94\u7528 \u72b6\u6001 \u3002 \u5bf9 \u521d\u59cb \u521d\u59cb\u5316 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4f4d\u7f6e \u3001 \u671d\u5411 \u548c \u901f\u5ea6 \u7279\u522b \u6709\u7528 \u3002","title":"command . ApplyWalkerState"},{"location":"python_api/#_276","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u884c\u4eba \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   transform   (   carla . Transform   )   \u5e94\u7528 \u7684 \u8f6c\u6362 \u3002   speed   (   float   -   m / s   )   \u5e94\u7528 \u7684 \u901f\u5ea6 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_277","text":"__ init __   (   self   ,   actor   ,   transform   ,   speed   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5f15\u7528 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684 ID \u3002   transform   (   carla . Transform   )   speed   (   float   -   m / s   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commanddestroyactor","text":"carla . Actor   \u4e2d   destroy ( )   \u547d\u4ee4 \u7684 \u6539\u7f16 \u7248 \uff0c \u5c06 \u544a\u8bc9 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u9500\u6bc1 \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5df2\u7ecf \u88ab \u9500\u6bc1 \u5219 \u6ca1\u6709 \u5f71\u54cd \u3002 \u5f53 \u5728   carla . Client   \u4e2d \u6267\u884c   apply _ batch _ sync ( )   \u5c06\u4f1a \u8fd4\u56de \u4e00\u4e2a \u5e03\u5c14 \u5e03\u5c14\u503c \u72b6\u6001 \u8868\u793a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u88ab \u6210\u529f \u9500\u6bc1 \u3002","title":"command . DestroyActor"},{"location":"python_api/#_278","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_279","text":"__ init __   (   self   ,   actor   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684   ID \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#commandresponse","text":"\u58f0\u660e \u547d\u4ee4 \u6267\u884c \u7684 \u7ed3\u679c \uff0c \u4e0d\u662f \u547d\u4ee4 \u5e94\u7528 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 ID \uff08 \u5f53 \u6210\u529f \u65f6 \uff09 \uff0c \u5c31\u662f \u9519\u8bef \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff08 \u5f53 \u5931\u8d25 \u65f6 \uff09 \uff0c \u53c2\u4e0e \u53c2\u4e0e\u8005   ID   \u53d6\u51b3 \u53d6\u51b3\u4e8e \u547d\u4ee4 \u662f\u5426 \u6267\u884c \u6210\u529f \u3002   carla . Client   \u4e2d \u7684 \u65b9\u6cd5   apply _ batch _ sync ( )   \u8fd4\u56de \u8fd9\u4e9b \u7684 \u5217\u8868 \u6765 \u603b\u7ed3 \u6279\u91cf \u7684 \u6267\u884c \u3002","title":"command . Response"},{"location":"python_api/#_280","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u58f0\u660e \u8be5 \u547d\u4ee4 \u6210\u529f \u4e86 \u3002   error   (   str   )   \u58f0\u660e \u547d\u4ee4 \u5931\u8d25 \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_281","text":"has _ error   (   self   )   \u5982\u679c \u547d\u4ee4 \u6267\u884c \u5931\u8d25 \u5219 \u8fd4\u56de   True   \uff0c \u5982\u679c \u6210\u529f \u5219 \u8fd4\u56de   False   \u3002   \u8fd4\u56de :   bool","title":"\u65b9\u6cd5"},{"location":"python_api/#commandsetautopilot","text":"carla . Vehicle   \u4e2d   set _ autopilot ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u6253\u5f00 / \u5173\u95ed \u8f66\u8f86 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u3002","title":"command . SetAutopilot"},{"location":"python_api/#_282","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   enabled   (   bool   )   \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u5f0f \u5c06 \u88ab \u6fc0\u6d3b \u6216\u8005 \u5931\u6d3b \u3002   port   (   uint16   )   \u6ce8\u518c \u6216 unlisted \u8f66\u8f86 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7aef\u53e3 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_283","text":"__ init __   (   self   ,   actor   ,   enabled   ,   port   = 8000   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u5e94\u7528 \u547d\u4ee4 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u5b83 \u7684 ID \u3002   enabled   (   bool   )   port   (   uint16   )   -   \u6ce8\u518c \u6216 unlisted \u8f66\u8f86 \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7aef\u53e3 \u3002 \u5982\u679c \u4f20\u9012 \u7684 \u662f   None   \uff0c \u4f1a \u8003\u8651 \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u9ed8\u8ba4 \u7aef\u53e3   8000   \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#commandsetenablegravity","text":"carla . Actor   \u4e2d   set _ enable _ gravity ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u7981\u7528 \u6216 \u542f\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u91cd\u529b \u3002","title":"command . SetEnableGravity"},{"location":"python_api/#_284","text":"actor _ id   (   carla . Actor   or   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   enabled   (   bool   )","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_285","text":"__ init __   (   self   ,   actor   ,   enabled   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u53c2\u4e0e \u53c2\u4e0e\u8005 ID \u3002   enabled   (   bool   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandsetsimulatephysics","text":"carla . Actor   \u4e2d   set _ simulate _ physics ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u786e\u5b9a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f\u5426 \u4f1a \u88ab \u7269\u7406 \u5f71\u54cd \u3002","title":"command . SetSimulatePhysics"},{"location":"python_api/#_286","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   enabled   (   bool   )   \u662f\u5426 \u6fc0\u6d3b \u7269\u7406 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_287","text":"__ init __   (   self   ,   actor   ,   enabled   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 ID \u3002   enabled   (   bool   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandsetvehiclelightstate","text":"carla . Vehicle   \u4e2d   set _ light _ state ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u3002","title":"command . SetVehicleLightState"},{"location":"python_api/#_288","text":"actor _ id   (   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   light _ state   (   carla . VehicleLightState   )   \u5b9a\u4e49 \u8f66\u8f86 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_289","text":"__ init __   (   self   ,   actor   ,   light _ state   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216\u8005 \u5b83 \u7684 ID \u3002   light _ state   (   carla . VehicleLightState   )   -   Recaps   \u8f66\u8f86 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \uff0c \u8fd9\u4e9b \u80fd \u88ab \u7528\u4f5c \u4e00\u4e2a \u6807\u5fd7 \u3002","title":"\u65b9\u6cd5"},{"location":"python_api/#commandshowdebugtelemetry","text":"carla . Actor   \u4e2d   show _ debug _ telemetry ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u663e\u793a \u8f66\u8f86 \u7684   telemetry   \u6570\u636e \u3002","title":"command . ShowDebugTelemetry"},{"location":"python_api/#_290","text":"actor _ id   (   carla . Actor   or   int   )   \u547d\u4ee4 \u5f71\u54cd \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   enabled   (   bool   )","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_291","text":"__ init __   (   self   ,   actor   ,   enabled   )   \u53c2\u6570 \uff1a   actor   (   carla . Actor   or   int   )   -   \u547d\u4ee4 \u5e94\u7528 \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6216 \u53c2\u4e0e \u53c2\u4e0e\u8005 ID \u3002   enabled   (   bool   )","title":"\u65b9\u6cd5"},{"location":"python_api/#commandspawnactor","text":"carla . World   \u4e2d   spawn _ actor ( )   \u7684 \u547d\u4ee4 \u9002\u5e94 \u3002 \u57fa\u4e8e \u63d0\u4f9b \u7684 \u84dd\u56fe \u548c \u53d8\u6362 \u5728 \u4e16\u754c \u4e2d \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u5982\u679c \u63d0\u4f9b \u4e86 \u7236\u7c7b \uff0c \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5c06\u4f1a \u9644 \u5728 \u4e0a\u9762 \u3002","title":"command . SpawnActor"},{"location":"python_api/#_292","text":"transform   (   carla . Transform   )   \u5e94\u7528 \u7684 \u53d8\u6362 \u3002   parent _ id   (   int   )   \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6807\u5fd7 \u3002","title":"\u5b9e\u4f8b \u53d8\u91cf"},{"location":"python_api/#_293","text":"__ init __   (   self   )   __ init __   (   self   ,   blueprint   ,   transform   )   \u53c2\u6570 \uff1a   blueprint   (   carla . ActorBlueprint   )   transform   (   carla . Transform   )   __ init __   (   self   ,   blueprint   ,   transform   ,   parent   )   \u53c2\u6570 \uff1a   blueprint   (   carla . ActorBlueprint   )   transform   (   carla . Transform   )   parent   (   carla . Actor   or   int   )   then   (   self   ,   command   )   \u94fe\u63a5 \u4e00\u4e2a \u5176\u4ed6 \u5c06\u8981 \u7acb\u523b \u6267\u884c \u7684 \u547d\u4ee4 \u3002 \u5b83 \u5141\u8bb8 ease \u975e\u5e38 \u5e38\u89c1 \u7684 \u6d41 \uff0c \u6bd4\u5982 \u901a\u8fc7 \u547d\u4ee4 \u751f\u6210 \u4e00\u7ec4 \u8f66\u8f86 \uff0c \u5e76 \u4f7f\u7528 \u8be5 \u65b9\u6cd5 \u8bbe\u7f6e \u81ea\u52a8 \u9a7e\u9a76 \u3002   \u53c2\u6570 \uff1a   command   (   any   carla   Command   )   -   \u4e00\u4e2a   Carla   \u547d\u4ee4 \u3002   function   CopyToClipboard ( containerid )   {   if   ( document . selection )   {   var   range   =   document . body . createTextRange ( ) ;   range . moveToElementText ( document . getElementById ( containerid ) ) ;   range . select ( ) . createTextRange ( ) ;   document . execCommand ( \" copy \" ) ;   }   else   if   ( window . getSelection )   {   var   range   =   document . createRange ( ) ;   range . selectNode ( document . getElementById ( containerid ) ) ;   window . getSelection ( ) . addRange ( range ) ;   document . execCommand ( \" copy \" ) ;   }   }   function   CloseSnipet ( )   {   document . getElementById ( \" snipets - container \" ) . innerHTML   =   null ;   }   carla . World . enable _ environment _ objects   \u4ee3\u7801 \u7247\u6bb5   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u5728 \u5730\u56fe \u4e0a \u663e\u793a \u6216 \u9690\u85cf \u7279\u5b9a \u5efa\u7b51 \u3002   #   Get   the   buildings   in   the   world   world   =   client . get _ world ( )   env _ objs   =   world . get _ environment _ objects ( carla . CityObjectLabel . Buildings )   #   \u8bbf\u95ee \u5355\u4e2a \u5efa\u7b51 IDs \u5e76 \u4fdd\u5b58 \u5230 \u4e00\u4e2a \u96c6\u5408 \u4e2d   building _ 01   =   env _ objs [ 0 ]   building _ 02   =   env _ objs [ 1 ]   objects _ to _ toggle   =   { building _ 01 . id ,   building _ 02 . id }   #   \u9690\u85cf \u5efa\u7b51   world . enable _ environment _ objects ( objects _ to _ toggle ,   False )   #   \u663e\u793a \u5efa\u7b51   world . enable _ environment _ objects ( objects _ to _ toggle ,   True )   Copy   snippet   Close   snippet   carla . DebugHelper . draw _ string   \u4ee3\u7801 \u7247\u6bb5   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u662f   lane _ explorer . py   \u793a\u4f8b \u7684 \u4fee\u6539   #   \u5b83 \u5728 \u76f4\u63a5 \u4e2d \u7ed8\u5236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8def\u5f84 \uff0c \u6253\u5370 \u6bcf\u4e2a \u8def\u5f84 \u70b9 \u7684 \u4fe1\u606f \u3002   #   ...   current _ w   =   map . get _ waypoint ( vehicle . get _ location ( ) )   while   True :   next _ w   =   map . get _ waypoint ( vehicle . get _ location ( ) ,   lane _ type = carla . LaneType . Driving   |   carla . LaneType . Shoulder   |   carla . LaneType . Sidewalk   )   #   \u68c0\u67e5 \u8f66\u8f86 \u662f\u5426 \u5728 \u79fb\u52a8   if   next _ w . id   ! =   current _ w . id :   vector   =   vehicle . get _ velocity ( )   #   Check   if   the   vehicle   is   on   a   sidewalk   if   current _ w . lane _ type   = =   carla . LaneType . Sidewalk :   draw _ waypoint _ union ( debug ,   current _ w ,   next _ w ,   cyan   if   current _ w . is _ junction   else   red ,   60 )   else :   draw _ waypoint _ union ( debug ,   current _ w ,   next _ w ,   cyan   if   current _ w . is _ junction   else   green ,   60 )   debug . draw _ string ( current _ w . transform . location ,   str ( ' % 15.0 f   km / h '   %   ( 3.6   *   math . sqrt ( vector . x * * 2   +   vector . y * * 2   +   vector . z * * 2 ) ) ) ,   False ,   orange ,   60 )   draw _ transform ( debug ,   current _ w . transform ,   white ,   60 )   #   \u66f4\u65b0 \u5f53\u524d \u8def\u5f84 \u70b9 \u5e76 \u4f11\u7720 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4   current _ w   =   next _ w   time . sleep ( args . tick _ time )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . World . unload _ map _ layer   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u5728 \u5206\u5c42 \u5730\u56fe \" _ Opt \" \u4e0a \u5173\u95ed \u51e0\u5c42   #   \u4ee5 \u6700\u5c0f \u5e03\u5c40 \uff08 \u9053\u8def \u3001 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \uff09 \u52a0\u8f7d \u57ce\u9547 \uff0c \u8fd8 \u5305\u62ec \u5efa\u7b51 \u548c \u505c\u9760 \u7684 \u8f66\u8f86   world   =   client . load _ world ( ' Town01 _ Opt ' ,   carla . MapLayer . Buildings   |   carla . MapLayer . ParkedVehicles )   #   \u9690\u85cf \u5efa\u7b51   world . unload _ map _ layer ( carla . MapLayer . Buildings )   #   \u9690\u85cf \u505c\u9760 \u7684 \u8f66\u8f86   world . unload _ map _ layer ( carla . MapLayer . ParkedVehicles )   Copy   snippet   Close   snippet   Snippet   for   carla . Vehicle . set _ wheel _ steer _ direction   #   \u8bbe\u7f6e \u524d \u8f6e\u8f6c 40 \u00b0 \u8f66\u8f86 \u7684 \u5916\u89c2 \u3002 \u4e0d\u4f1a \u5f71\u54cd \u8f66\u8f86 \u7684 \u7269\u7406 \u3002   vehicle . set _ wheel _ steer _ direction ( carla . VehicleWheelLocation . FR _ Wheel ,   40.0 )   vehicle . set _ wheel _ steer _ direction ( carla . VehicleWheelLocation . FL _ Wheel ,   40.0 )   Copy   snippet   Close   snippet   Snippet   for   carla . Client .__ init __   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u5728   PythonAPI / Examples   \u4e2d \u7684 \u6bcf\u4e2a \u811a\u672c \u4e2d \u90fd \u6709 \uff0c \u8fd0\u884c \u811a\u672c \u65f6\u5019 \u7528\u4e8e \u89e3\u6790 \u5ba2\u6237 \u5ba2\u6237\u7aef \u521b\u5efa \u53c2\u6570 \u3002   argparser   =   argparse . ArgumentParser (   description = __ doc __ )   argparser . add _ argument (   ' -- host ' ,   metavar = ' H ' ,   default = ' 127.0 . 0.1 ' ,   help = ' IP   of   the   host   server   ( default :   127.0 . 0.1 ) ' )   argparser . add _ argument (   ' - p ' ,   ' -- port ' ,   metavar = ' P ' ,   default = 2000 ,   type = int ,   help = ' TCP   port   to   listen   to   ( default :   2000 ) ' )   argparser . add _ argument (   ' - s ' ,   ' -- speed ' ,   metavar = ' FACTOR ' ,   default = 1.0 ,   type = float ,   help = ' rate   at   which   the   weather   changes   ( default :   1.0 ) ' )   args   =   argparser . parse _ args ( )   speed _ factor   =   args . speed   update _ freq   =   0.1   /   speed _ factor   client   =   carla . Client ( args . host ,   args . port )   Copy   snippet   Close   snippet   carla . Map . get _ waypoint   \u4ee3\u7801 \u7247\u6bb5   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u663e\u793a \u5f53\u524d \u4ea4\u901a \u89c4\u5219 \u4ea4\u901a\u89c4\u5219 \u5f71\u54cd \u7684 \u8f66\u8f86 \u3002   #   \u663e\u793a \u5f53\u524d \u8f66\u8f86 \u7c7b\u578b \uff0c \u5728 \u5b9e\u9645 \u7684 \u8f66\u9053 \u6216 \u5468\u56f4 \u7684 \u7269\u4f53 \u4e2d \u8f66\u9053 \u7ebf \u662f\u5426 \u6539\u53d8 \u3002   #   ...   waypoint   =   world . get _ map ( ) . get _ waypoint ( vehicle . get _ location ( ) , project _ to _ road = True ,   lane _ type = ( carla . LaneType . Driving   |   carla . LaneType . Shoulder   |   carla . LaneType . Sidewalk ) )   print ( \" Current   lane   type :   \"   +   str ( waypoint . lane _ type ) )   #   Check   current   lane   change   allowed   print ( \" Current   Lane   change :   \"   +   str ( waypoint . lane _ change ) )   #   Left   and   Right   lane   markings   print ( \" L   lane   marking   type :   \"   +   str ( waypoint . left _ lane _ marking . type ) )   print ( \" L   lane   marking   change :   \"   +   str ( waypoint . left _ lane _ marking . lane _ change ) )   print ( \" R   lane   marking   type :   \"   +   str ( waypoint . right _ lane _ marking . type ) )   print ( \" R   lane   marking   change :   \"   +   str ( waypoint . right _ lane _ marking . lane _ change ) )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . World . spawn _ actor   #   \u8be5 \u4ee3\u7801 \u7247\u6bb5 \u4f7f\u7528 \u4e0d\u540c \u7684 \u9644\u7740 \u5c06 \u4e0d\u540c \u7684 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6216\u4f20\u611f\u5668 \u9644\u7740 \u5230 \u8f66\u8f86 \u4e2d \u3002   #   ...   camera   =   world . spawn _ actor ( rgb _ camera _ bp ,   transform ,   attach _ to = vehicle ,   attachment _ type = Attachment . Rigid )   #   \u9ed8\u8ba4 \u9644\u7740 \uff1a Attachment . Rigid   gnss _ sensor   =   world . spawn _ actor ( sensor _ gnss _ bp ,   transform ,   attach _ to = vehicle )   collision _ sensor   =   world . spawn _ actor ( sensor _ collision _ bp ,   transform ,   attach _ to = vehicle )   lane _ invasion _ sensor   =   world . spawn _ actor ( sensor _ lane _ invasion _ bp ,   transform ,   attach _ to = vehicle )   #   ...   Copy   snippet   Close   snippet   carla . WalkerAIController . stop   \u4ee3\u7801 \u7247\u6bb5   #   To   destroy   the   pedestrians ,   stop   them   from   the   navigation ,   and   then   destroy   the   objects   ( actor   and   controller ) .   #   stop   pedestrians   ( list   is   [ controller ,   actor ,   controller ,   actor   ... ] )   for   i   in   range ( 0 ,   len ( all _ id ) ,   2 ) :   all _ actors [ i ] . stop ( )   #   destroy   pedestrian   ( actor   and   controller )   client . apply _ batch ( [ carla . command . DestroyActor ( x )   for   x   in   all _ id ] )   Copy   snippet   Close   snippet   Snippet   for   carla . DebugHelper . draw _ box   #   This   recipe   shows   how   to   draw   traffic   light   actor   bounding   boxes   from   a   world   snapshot .   #   ....   debug   =   world . debug   world _ snapshot   =   world . get _ snapshot ( )   for   actor _ snapshot   in   world _ snapshot :   actual _ actor   =   world . get _ actor ( actor _ snapshot . id )   if   actual _ actor . type _ id   = =   ' traffic . traffic _ light ' :   debug . draw _ box ( carla . BoundingBox ( actor _ snapshot . get _ transform ( ) . location , carla . Vector3D ( 0.5 , 0.5 , 2 ) ) , actor _ snapshot . get _ transform ( ) . rotation ,   0.05 ,   carla . Color ( 255 , 0 , 0 , 0 ) , 0 )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . World . get _ spectator   #   This   recipe   spawns   an   actor   and   the   spectator   camera   at   the   actor ' s   location .   #   ...   world   =   client . get _ world ( )   spectator   =   world . get _ spectator ( )   vehicle _ bp   =   random . choice ( world . get _ blueprint _ library ( ) . filter ( ' vehicle . bmw . * ' ) )   transform   =   random . choice ( world . get _ map ( ) . get _ spawn _ points ( ) )   vehicle   =   world . try _ spawn _ actor ( vehicle _ bp ,   transform )   #   Wait   for   world   to   get   the   vehicle   actor   world . tick ( )   world _ snapshot   =   world . wait _ for _ tick ( )   actor _ snapshot   =   world _ snapshot . find ( vehicle . id )   #   Set   spectator   at   given   transform   ( vehicle   transform )   spectator . set _ transform ( actor _ snapshot . get _ transform ( ) )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . Sensor . listen   #   This   recipe   applies   a   color   conversion   to   the   image   taken   by   a   camera   sensor ,   #   so   it   is   converted   to   a   semantic   segmentation   image .   #   ...   camera _ bp   =   world . get _ blueprint _ library ( ) . filter ( ' sensor . camera . semantic _ segmentation ' )   #   ...   cc   =   carla . ColorConverter . CityScapesPalette   camera . listen ( lambda   image :   image . save _ to _ disk ( ' output / % 06d . png '   %   image . frame ,   cc ) )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . TrafficLight . set _ state   #   This   recipe   changes   from   red   to   green   the   traffic   light   that   affects   the   vehicle .   #   This   is   done   by   detecting   if   the   vehicle   actor   is   at   a   traffic   light .   #   ...   world   =   client . get _ world ( )   spectator   =   world . get _ spectator ( )   vehicle _ bp   =   random . choice ( world . get _ blueprint _ library ( ) . filter ( ' vehicle . bmw . * ' ) )   transform   =   random . choice ( world . get _ map ( ) . get _ spawn _ points ( ) )   vehicle   =   world . try _ spawn _ actor ( vehicle _ bp ,   transform )   #   Wait   for   world   to   get   the   vehicle   actor   world . tick ( )   world _ snapshot   =   world . wait _ for _ tick ( )   actor _ snapshot   =   world _ snapshot . find ( vehicle . id )   #   Set   spectator   at   given   transform   ( vehicle   transform )   spectator . set _ transform ( actor _ snapshot . get _ transform ( ) )   #   ...#   ...   if   vehicle _ actor . is _ at _ traffic _ light ( ) :   traffic _ light   =   vehicle _ actor . get _ traffic _ light ( )   if   traffic _ light . get _ state ( )   = =   carla . TrafficLightState . Red :   #   world . hud . notification ( \" Traffic   light   changed !   Good   to   go ! \" )   traffic _ light . set _ state ( carla . TrafficLightState . Green )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . ActorBlueprint . set _ attribute   #   This   recipe   changes   attributes   of   different   type   of   blueprint   actors .   #   ...   walker _ bp   =   world . get _ blueprint _ library ( ) . filter ( ' walker . pedestrian.0002 ' )   walker _ bp . set _ attribute ( ' is _ invincible ' ,   True )   #   ...   #   Changes   attribute   randomly   by   the   recommended   value   vehicle _ bp   =   wolrd . get _ blueprint _ library ( ) . filter ( ' vehicle . bmw . * ' )   color   =   random . choice ( vehicle _ bp . get _ attribute ( ' color ' ) . recommended _ values )   vehicle _ bp . set _ attribute ( ' color ' ,   color )   #   ...   camera _ bp   =   world . get _ blueprint _ library ( ) . filter ( ' sensor . camera . rgb ' )   camera _ bp . set _ attribute ( ' image _ size _ x ' ,   600 )   camera _ bp . set _ attribute ( ' image _ size _ y ' ,   600 )   #   ...   Copy   snippet   Close   snippet   Snippet   for   carla . Client . apply _ batch _ sync   #   0 .   Choose   a   blueprint   fo   the   walkers   world   =   client . get _ world ( )   blueprintsWalkers   =   world . get _ blueprint _ library ( ) . filter ( \" walker . pedestrian . * \" )   walker _ bp   =   random . choice ( blueprintsWalkers )   #   1 .   Take   all   the   random   locations   to   spawn   spawn _ points   =   [ ]   for   i   in   range ( 50 ) :   spawn _ point   =   carla . Transform ( )   spawn _ point . location   =   world . get _ random _ location _ from _ navigation ( )   if   ( spawn _ point . location   ! =   None ) :   spawn _ points . append ( spawn _ point )   #   2 .   Build   the   batch   of   commands   to   spawn   the   pedestrians   batch   =   [ ]   for   spawn _ point   in   spawn _ points :   walker _ bp   =   random . choice ( blueprintsWalkers )   batch . append ( carla . command . SpawnActor ( walker _ bp ,   spawn _ point ) )   #   2.1   apply   the   batch   results   =   client . apply _ batch _ sync ( batch ,   True )   for   i   in   range ( len ( results ) ) :   if   results [ i ] . error :   logging . error ( results [ i ] . error )   else :   walkers _ list . append ( { \" id \" :   results [ i ] . actor _ id } )   #   3 .   Spawn   walker   AI   controllers   for   each   walker   batch   =   [ ]   walker _ controller _ bp   =   world . get _ blueprint _ library ( ) . find ( ' controller . ai . walker ' )   for   i   in   range ( len ( walkers _ list ) ) :   batch . append ( carla . command . SpawnActor ( walker _ controller _ bp ,   carla . Transform ( ) ,   walkers _ list [ i ] [ \" id \" ] ) )   #   3.1   apply   the   batch   results   =   client . apply _ batch _ sync ( batch ,   True )   for   i   in   range ( len ( results ) ) :   if   results [ i ] . error :   logging . error ( results [ i ] . error )   else :   walkers _ list [ i ] [ \" con \" ]   =   results [ i ] . actor _ id   #   4 .   Put   altogether   the   walker   and   controller   ids   for   i   in   range ( len ( walkers _ list ) ) :   all _ id . append ( walkers _ list [ i ] [ \" con \" ] )   all _ id . append ( walkers _ list [ i ] [ \" id \" ] )   all _ actors   =   world . get _ actors ( all _ id )   #   wait   for   a   tick   to   ensure   client   receives   the   last   transform   of   the   walkers   we   have   just   created   world . wait _ for _ tick ( )   #   5 .   initialize   each   controller   and   set   target   to   walk   to   ( list   is   [ controller ,   actor ,   controller ,   actor   ... ] )   for   i   in   range ( 0 ,   len ( all _ actors ) ,   2 ) :   #   start   walker   all _ actors [ i ] . start ( )   #   set   walk   to   random   point   all _ actors [ i ] . go _ to _ location ( world . get _ random _ location _ from _ navigation ( ) )   #   random   max   speed   all _ actors [ i ] . set _ max _ speed ( 1   +   random . random ( ) )   #   max   speed   between   1   and   2   ( default   is   1.4   m / s )   Copy   snippet   Close   snippet   Snippet   for   carla . World . load _ map _ layer   #   This   recipe   toggles   on   several   layers   in   our   \" _ Opt \"   maps   #   Load   town   one   with   only   minimum   layout   ( roads ,   sidewalks ,   traffic   lights   and   traffic   signs )   world   =   client . load _ world ( ' Town01 _ Opt ' ,   carla . MapLayer . None )   #   Toggle   all   buildings   on   world . load _ map _ layer ( carla . MapLayer . Buildings )   #   Toggle   all   foliage   on   world . load _ map _ layer ( carla . MapLayer . Foliage )   #   Toggle   all   parked   vehicles   on   world . load _ map _ layer ( carla . MapLayer . ParkedVehicles )   Copy   snippet   Close   snippet   function   ButtonAction ( container _ name ) {   if ( window _ big ) {   snipet _ name   =   container _ name . replace ( ' - snipet _ button ' , ' - snipet ' ) ;   document . getElementById ( \" snipets - container \" ) . innerHTML   =   document . getElementById ( snipet _ name ) . innerHTML ;   }   else {   document . getElementById ( \" snipets - container \" ) . innerHTML   =   null ; code _ name   =   container _ name . replace ( ' - snipet _ button ' , ' - code ' ) ;   var   range   =   document . createRange ( ) ;   range . selectNode ( document . getElementById ( code _ name ) ) ;   alert ( range ) ;   }   }   function   WindowResize ( ) {   if ( window . innerWidth   >   1200 ) {   window _ big   =   true ;   }   else {   window _ big   =   false ;   }   }   var   window _ big ;   if ( window . innerWidth   >   1200 ) {   window _ big   =   true ;   }   else {   window _ big   =   false ;   }   buttons   =   document . getElementsByClassName ( ' SnipetButton ' )   for   ( let   i   =   0 ;   i   <   buttons . length ;   i ++ )   {   buttons [ i ] . addEventListener ( \" click \" , function ( ) { ButtonAction ( buttons [ i ] . id ) ; } , true ) ;   }   window . onresize   =   WindowResize ;","title":"\u65b9\u6cd5"},{"location":"ref_cpp/","text":"C++   \u53c2\u8003   C++   \u5ba2\u6237 \u5ba2\u6237\u7aef   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u5728   Linux   \u4e0a\u7528   make   \u6784\u5efa \uff0c \u5728 Windows \u4e0a\u7528   cmake   \u6784\u5efa \u3002   CARLA _ ROOT / Examples / CppClient / main . cpp   \u4e2d \u7684 \u5b58\u50a8 \u5e93\u4e2d \u63d0\u4f9b \u4e86 \u4e00\u4e2a C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u793a\u4f8b \u3002 \u8fd9\u4e2a \u793a\u4f8b \u5c55\u793a \u4e86 \u5982\u4f55 \u5c06 C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5230 CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5e76 \u4f7f\u7528 API \u6267\u884c \u4e00\u4e9b \u7b80\u5355 \u7684 \u4efb\u52a1 \u3002   \u8981 \u6784\u5efa \u793a\u4f8b C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u8bf7 \u5728 \u5b58\u50a8 \u5e93 \u7684   CARLA _ ROOT / Examples / CppClient   \u76ee\u5f55 \u4e2d \u6253\u5f00 \u4e00\u4e2a \u7ec8\u7aef \u3002 \u5728 \u6b64 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c   make   \uff0c \u7136\u540e \u6267\u884c   . / bin / cpp _ client   \u6765 \u8fd0\u884c \u793a\u4f8b \u3002 \u8be5 \u793a\u4f8b \u5c06 \u4ece \u53ef\u7528 \u5730\u56fe \u4e2d \u9009\u62e9 \u4e00\u4e2a \u968f\u673a \u5730\u56fe \uff0c \u7136\u540e \u52a0\u8f7d \u5b83 \u3002 \u7136\u540e \uff0c \u5b83 \u5c06 \u751f\u6210 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u5e76 \u5bf9 \u8be5\u8f66 \u5e94\u7528 \u63a7\u5236 \u3002   \u6709\u5173 \u6b64 \u793a\u4f8b \u811a\u672c \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u793a\u4f8b   \u3001   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef   \u3002   C++   \u6587\u6863   \u6211\u4eec \u4f7f\u7528   Doxygen   \u751f\u6210   C++   \u4ee3\u7801 \u7684 \u6587\u6863 \uff1a   Libcarla / source   Unreal / CarlaUE4 / Source   Unreal / CarlaUE4 / Plugins   \u751f\u6210 \u7684 \u6587\u6863 \u53ef \u901a\u8fc7 \u6b64   \u94fe\u63a5   \u83b7\u53d6 \u3002   \u7b14\u8bb0   \u6587\u6863 \u66f4\u65b0 \u7531   GitHub   \u81ea\u52a8 \u5b8c\u6210 \u3002   \u521b\u5efa   doxygen   \u6587\u6863   \u91cd\u8981   \u9700\u8981   Doxygen   \u6765 \u751f\u6210 \u6587\u6863 \uff0c \u9700\u8981   Graphviz   \u4f5c\u4e3a \u56fe\u5f62 \u7ed8\u5236 \u5de5\u5177 \u5de5\u5177\u5305 \u3002   1 -   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u5b89\u88c5   doxygen   \u548c   graphviz \uff1a   #   linux   sudo   apt - get   install   doxygen   graphviz   2 -   \u5b89\u88c5 \u540e \uff0c \u8f6c \u5230   Doxyfile   \u6587\u4ef6 \u6240\u5728 \u7684 \u9879\u76ee \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   doxygen   \u5b83 \u5c06 \u5f00\u59cb \u6784\u5efa \u6587\u6863 \u7f51\u9875 \u3002   \u751f\u6210 \u7684 \u7f51\u9875 \u53ef\u4ee5 \u5728   Doxygen / html /   \u4e2d \u627e\u5230   3 -   \u5728 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u6253\u5f00   index . html   \u3002 \u73b0\u5728 \u60a8 \u5df2\u7ecf \u6709 \u4e86 \u672c\u5730   cpp   \u6587\u6863 \uff01   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd0\u884c   \u5728 vs2019 \u4e2d \u70b9\u51fb \u83dc\u5355   \u6587\u4ef6 - > \u6253\u5f00 - > CMake   \uff0c \u6253\u5f00   Examples \\ CppClient \\ CMakeLists . txt   \uff1b   \u70b9\u51fb   \u7ba1\u7406 \u914d\u7f6e   \uff0c \u6dfb\u52a0 \u65b0 \u7684 \u914d\u7f6e   x64 - release   \uff1b \uff08 \u6ce8\u610f \uff1a   x64 - Debug   \u8fd8\u6709 \u95ee\u9898 \uff09 \uff1b   \u542f\u52a8 Carla \u670d\u52a1 \u670d\u52a1\u7aef \u540e \uff0c \u5728 vs2019 \u4e2d \u70b9\u51fb   \u8c03\u8bd5 - > \u5f00\u59cb \u6267\u884c   \u3002   \u9605\u8bfb   HUD   :   Heads - up   Displays ,   \u5934\u663e \u3002 \u7528\u6237 \u754c\u9762 \u7528\u6237\u754c\u9762   \uff08 UI \uff09 \u548c   \u5934\u663e   \uff08 HUD \uff09 \u662f \u6e38\u620f \u5411 \u73a9\u5bb6 \u63d0\u4f9b \u6e38\u620f \u4fe1\u606f \u4ee5\u53ca \u5728 \u67d0\u4e9b \u60c5\u51b5 \u4e0b \u5141\u8bb8 \u73a9\u5bb6 \u4e0e \u6e38\u620f \u4e92\u52a8 \u7684 \u65b9\u5f0f \u3002 HUD \u6307 \u7684 \u662f \u6e38\u620f \u671f\u95f4 \u5728 \u5c4f\u5e55 \u4e0a \u8986\u76d6 \u7684 \u72b6\u6001 \u548c \u4fe1\u606f \u3002 HUD \u7684 \u76ee\u7684 \u662f   \u544a\u77e5 \u73a9\u5bb6 \u5f53\u524d \u6e38\u620f \u72b6\u6001 \uff0c \u5373 \u5206\u6570 \u3001 \u751f\u547d \u503c \u3001 \u6e38\u620f \u5269\u4f59 \u65f6\u95f4 \u5269\u4f59\u65f6\u95f4 \u7b49 \u3002   HUD \u901a\u5e38 \u662f \u4e0d\u53ef \u4e92\u52a8 \u7684 \uff0c \u610f\u5473 \u610f\u5473\u7740 \u73a9\u5bb6 \u4e0d\u80fd \u5355\u51fb HUD \u7684 \u5143\u7d20 \uff0c \u56e0\u6b64   \u5728 HUD \u548c \u7528\u6237 \u754c\u9762 \u7528\u6237\u754c\u9762 \u96be\u4ee5 \u5206\u79bb \u7684 \u67d0\u4e9b \u7c7b\u578b \u6e38\u620f \u4e2d \uff0c \u8fd9\u4e9b \u5143\u7d20 \u4f1a \u663e\u793a \u4e3a \u7070\u8272 \u533a\u57df \u3002","title":"Ref   cpp"},{"location":"ref_cpp/#c","text":"","title":"C++   \u53c2\u8003"},{"location":"ref_cpp/#c_1","text":"C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u5728   Linux   \u4e0a\u7528   make   \u6784\u5efa \uff0c \u5728 Windows \u4e0a\u7528   cmake   \u6784\u5efa \u3002   CARLA _ ROOT / Examples / CppClient / main . cpp   \u4e2d \u7684 \u5b58\u50a8 \u5e93\u4e2d \u63d0\u4f9b \u4e86 \u4e00\u4e2a C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u793a\u4f8b \u3002 \u8fd9\u4e2a \u793a\u4f8b \u5c55\u793a \u4e86 \u5982\u4f55 \u5c06 C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5230 CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5e76 \u4f7f\u7528 API \u6267\u884c \u4e00\u4e9b \u7b80\u5355 \u7684 \u4efb\u52a1 \u3002   \u8981 \u6784\u5efa \u793a\u4f8b C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u8bf7 \u5728 \u5b58\u50a8 \u5e93 \u7684   CARLA _ ROOT / Examples / CppClient   \u76ee\u5f55 \u4e2d \u6253\u5f00 \u4e00\u4e2a \u7ec8\u7aef \u3002 \u5728 \u6b64 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c   make   \uff0c \u7136\u540e \u6267\u884c   . / bin / cpp _ client   \u6765 \u8fd0\u884c \u793a\u4f8b \u3002 \u8be5 \u793a\u4f8b \u5c06 \u4ece \u53ef\u7528 \u5730\u56fe \u4e2d \u9009\u62e9 \u4e00\u4e2a \u968f\u673a \u5730\u56fe \uff0c \u7136\u540e \u52a0\u8f7d \u5b83 \u3002 \u7136\u540e \uff0c \u5b83 \u5c06 \u751f\u6210 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u5e76 \u5bf9 \u8be5\u8f66 \u5e94\u7528 \u63a7\u5236 \u3002   \u6709\u5173 \u6b64 \u793a\u4f8b \u811a\u672c \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u793a\u4f8b   \u3001   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef   \u3002","title":"C++   \u5ba2\u6237\u7aef"},{"location":"ref_cpp/#c_2","text":"\u6211\u4eec \u4f7f\u7528   Doxygen   \u751f\u6210   C++   \u4ee3\u7801 \u7684 \u6587\u6863 \uff1a   Libcarla / source   Unreal / CarlaUE4 / Source   Unreal / CarlaUE4 / Plugins   \u751f\u6210 \u7684 \u6587\u6863 \u53ef \u901a\u8fc7 \u6b64   \u94fe\u63a5   \u83b7\u53d6 \u3002   \u7b14\u8bb0   \u6587\u6863 \u66f4\u65b0 \u7531   GitHub   \u81ea\u52a8 \u5b8c\u6210 \u3002","title":"C++   \u6587\u6863"},{"location":"ref_cpp/#doxygen","text":"\u91cd\u8981   \u9700\u8981   Doxygen   \u6765 \u751f\u6210 \u6587\u6863 \uff0c \u9700\u8981   Graphviz   \u4f5c\u4e3a \u56fe\u5f62 \u7ed8\u5236 \u5de5\u5177 \u5de5\u5177\u5305 \u3002   1 -   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u5b89\u88c5   doxygen   \u548c   graphviz \uff1a   #   linux   sudo   apt - get   install   doxygen   graphviz   2 -   \u5b89\u88c5 \u540e \uff0c \u8f6c \u5230   Doxyfile   \u6587\u4ef6 \u6240\u5728 \u7684 \u9879\u76ee \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   doxygen   \u5b83 \u5c06 \u5f00\u59cb \u6784\u5efa \u6587\u6863 \u7f51\u9875 \u3002   \u751f\u6210 \u7684 \u7f51\u9875 \u53ef\u4ee5 \u5728   Doxygen / html /   \u4e2d \u627e\u5230   3 -   \u5728 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u6253\u5f00   index . html   \u3002 \u73b0\u5728 \u60a8 \u5df2\u7ecf \u6709 \u4e86 \u672c\u5730   cpp   \u6587\u6863 \uff01","title":"\u521b\u5efa   doxygen   \u6587\u6863"},{"location":"ref_cpp/#c_3","text":"\u5728 vs2019 \u4e2d \u70b9\u51fb \u83dc\u5355   \u6587\u4ef6 - > \u6253\u5f00 - > CMake   \uff0c \u6253\u5f00   Examples \\ CppClient \\ CMakeLists . txt   \uff1b   \u70b9\u51fb   \u7ba1\u7406 \u914d\u7f6e   \uff0c \u6dfb\u52a0 \u65b0 \u7684 \u914d\u7f6e   x64 - release   \uff1b \uff08 \u6ce8\u610f \uff1a   x64 - Debug   \u8fd8\u6709 \u95ee\u9898 \uff09 \uff1b   \u542f\u52a8 Carla \u670d\u52a1 \u670d\u52a1\u7aef \u540e \uff0c \u5728 vs2019 \u4e2d \u70b9\u51fb   \u8c03\u8bd5 - > \u5f00\u59cb \u6267\u884c   \u3002","title":"C++ \u5ba2\u6237\u7aef \u8fd0\u884c"},{"location":"ref_cpp/#_1","text":"HUD   :   Heads - up   Displays ,   \u5934\u663e \u3002 \u7528\u6237 \u754c\u9762 \u7528\u6237\u754c\u9762   \uff08 UI \uff09 \u548c   \u5934\u663e   \uff08 HUD \uff09 \u662f \u6e38\u620f \u5411 \u73a9\u5bb6 \u63d0\u4f9b \u6e38\u620f \u4fe1\u606f \u4ee5\u53ca \u5728 \u67d0\u4e9b \u60c5\u51b5 \u4e0b \u5141\u8bb8 \u73a9\u5bb6 \u4e0e \u6e38\u620f \u4e92\u52a8 \u7684 \u65b9\u5f0f \u3002 HUD \u6307 \u7684 \u662f \u6e38\u620f \u671f\u95f4 \u5728 \u5c4f\u5e55 \u4e0a \u8986\u76d6 \u7684 \u72b6\u6001 \u548c \u4fe1\u606f \u3002 HUD \u7684 \u76ee\u7684 \u662f   \u544a\u77e5 \u73a9\u5bb6 \u5f53\u524d \u6e38\u620f \u72b6\u6001 \uff0c \u5373 \u5206\u6570 \u3001 \u751f\u547d \u503c \u3001 \u6e38\u620f \u5269\u4f59 \u65f6\u95f4 \u5269\u4f59\u65f6\u95f4 \u7b49 \u3002   HUD \u901a\u5e38 \u662f \u4e0d\u53ef \u4e92\u52a8 \u7684 \uff0c \u610f\u5473 \u610f\u5473\u7740 \u73a9\u5bb6 \u4e0d\u80fd \u5355\u51fb HUD \u7684 \u5143\u7d20 \uff0c \u56e0\u6b64   \u5728 HUD \u548c \u7528\u6237 \u754c\u9762 \u7528\u6237\u754c\u9762 \u96be\u4ee5 \u5206\u79bb \u7684 \u67d0\u4e9b \u7c7b\u578b \u6e38\u620f \u4e2d \uff0c \u8fd9\u4e9b \u5143\u7d20 \u4f1a \u663e\u793a \u4e3a \u7070\u8272 \u533a\u57df \u3002","title":"\u9605\u8bfb"},{"location":"ref_recorder_binary_file_format/","text":"\u8bb0\u5f55 \u8bb0\u5f55\u5668 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u7cfb\u7edf \u5c06 \u91cd\u653e \u4eff\u771f \u6240 \u9700 \u7684 \u6240\u6709 \u4fe1\u606f \u4fdd\u5b58 \u5728 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u6587\u4ef6 \u4e2d \uff0c \u5bf9 \u591a \u5b57\u8282 \u503c \u4f7f\u7528 \u5c0f\u7aef \u5b57\u8282 \u987a\u5e8f \u3002   1 -   \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u5b57\u7b26 \u5b57\u7b26\u4e32   2 -   \u4fe1\u606f \u5934   3 -   \u6570\u636e \u6570\u636e\u5305   \u6570\u636e \u6570\u636e\u5305   0   -   \u5e27 \u5f00\u59cb   \u6570\u636e \u6570\u636e\u5305   1   -   \u5e27 \u7ed3\u675f   \u6570\u636e \u6570\u636e\u5305   2   -   \u4e8b\u4ef6 \u6dfb\u52a0   \u6570\u636e \u6570\u636e\u5305   3   -   \u4e8b\u4ef6 \u5220\u9664   \u6570\u636e \u6570\u636e\u5305   4   -   \u4e8b\u4ef6 \u7236\u7ea7   \u6570\u636e \u6570\u636e\u5305   5   -   \u4e8b\u4ef6 \u78b0\u649e   \u6570\u636e \u6570\u636e\u5305   6   -   \u4f4d\u7f6e   \u6570\u636e \u6570\u636e\u5305   7   -   \u4ea4\u901a \u4ea4\u901a\u706f   \u6570\u636e \u6570\u636e\u5305   8   -   \u8f66\u8f86 \u52a8\u753b   \u6570\u636e \u6570\u636e\u5305   9   -   \u884c\u4eba \u52a8\u753b   4 -   \u5e27 \u5e03\u5c40   5 -   \u6587\u4ef6 \u5e03\u5c40   \u5728 \u4e0b \u4e00\u5f20 \u4ee3\u8868 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u7684 \u56fe\u50cf \u4e2d \uff0c \u6211\u4eec \u53ef\u4ee5 \u5feb\u901f \u67e5\u770b \u6240\u6709 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002 \u56fe\u50cf \u4e2d \u53ef\u89c6 \u53ef\u89c6\u5316 \u7684 \u6bcf\u4e2a \u90e8\u5206 \u5c06 \u5728 \u4ee5\u4e0b \u90e8\u5206 \u4e2d \u8fdb\u884c \u89e3\u91ca \uff1a   \u603b\u4e4b \uff0c \u8be5 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u6709 \u4e00\u4e2a \u5c0f \u5934 \uff0c \u5176\u4e2d \u5305\u542b \u4e00\u822c \u4fe1\u606f \uff08 \u7248\u672c \u3001 \u9b54\u672f \u5b57\u7b26 \u5b57\u7b26\u4e32 \u3001 \u65e5\u671f \u548c \u4f7f\u7528 \u7684 \u5730\u56fe \uff09 \u548c \u4e0d\u540c \u7c7b\u578b \u7684 \u6570\u636e \u6570\u636e\u5305 \u96c6\u5408 \uff08 \u76ee\u524d \u6211\u4eec \u4f7f\u7528   10   \u79cd \u7c7b\u578b \uff0c \u4f46 \u5c06\u6765 \u4f1a \u7ee7\u7eed \u589e\u957f \uff09   \u3002   1 -   \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u5b57\u7b26 \u5b57\u7b26\u4e32   \u5b57\u7b26 \u5b57\u7b26\u4e32 \u9996\u5148 \u4f7f\u7528 \u5176 \u957f\u5ea6 \u8fdb\u884c \u7f16\u7801 \uff0c \u7136\u540e \u662f \u5176 \u5b57\u7b26 \uff08 \u4e0d \u4ee5 \u5b57\u7b26 \u7a7a\u5b57\u7b26 \u7ed3\u5c3e \uff09 \u3002 \u4f8b\u5982 \uff0c \u5b57\u7b26 \u5b57\u7b26\u4e32 \u201c Town06 \u201d \u5c06 \u4fdd\u5b58 \u4e3a \u5341\u516d \u8fdb\u5236 \u5341\u516d\u8fdb\u5236 \u503c \uff1a 06   00   54   6f   77   6e   30   36   2 -   \u4fe1\u606f \u5934   \u4fe1\u606f \u6807\u5934 \u5305\u542b \u6709\u5173 \u5f55\u5236 \u6587\u4ef6 \u7684 \u4e00\u822c \u4fe1\u606f \u3002 \u57fa\u672c \u57fa\u672c\u4e0a \uff0c \u5b83 \u5305\u542b \u7248\u672c \u548c \u4e00\u4e2a \u9b54\u672f \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u7528\u4e8e \u5c06 \u8be5 \u6587\u4ef6 \u6807\u8bc6 \u4e3a \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u4ef6 \u3002 \u5982\u679c \u6807\u9898 \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \uff0c \u90a3\u4e48 \u7248\u672c \u4e5f \u4f1a \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002 \u6b64\u5916 \uff0c \u5b83 \u8fd8 \u5305\u542b \u4e00\u4e2a \u65e5\u671f \u65f6\u95f4 \u6233 \uff0c \u4ee5\u53ca \u4ece   1900   \u5e74 \u5f00\u59cb \u7684 \u79d2\u6570 \uff0c \u5e76\u4e14 \u8fd8 \u5305\u542b \u4e00\u4e2a \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff0c \u5176\u4e2d \u5305\u542b \u7528\u4e8e \u8bb0\u5f55 \u7684 \u5730\u56fe \u540d\u79f0 \u3002   \u793a\u4f8b \u4fe1\u606f \u5934 \u662f \uff1a   3 -   \u6570\u636e \u6570\u636e\u5305   \u6bcf\u4e2a \u6570\u636e \u6570\u636e\u5305 \u4ee5 \u4e24\u4e2a \u5b57 \u6bb5 \uff08 5   \u4e2a \u5b57\u8282 \uff09 \u7684 \u5c0f \u6807\u5934 \u5f00\u5934 \uff1a   id   :   \u6570\u636e \u6570\u636e\u5305 \u7c7b\u578b   size   :   \u6570\u636e \u6570\u636e\u5305 \u6570\u636e \u7684 \u5927\u5c0f   \u5934 \u4fe1\u606f \u540e\u9762 \u8ddf\u7740   \u6570\u636e   \u3002 \u6570\u636e \u662f \u53ef\u9009 \u7684 \uff0c   \u5927\u5c0f   \u4e3a   0   \u8868\u793a \u6570\u636e \u6570\u636e\u5305 \u4e2d \u6ca1\u6709   \u6570\u636e   \u3002 \u5982\u679c   \u5927\u5c0f   \u5927\u4e8e   0 \uff0c \u5219 \u8868\u793a \u6570\u636e \u6570\u636e\u5305 \u6709   \u6570\u636e   \u5b57\u8282 \u3002 \u56e0\u6b64 \uff0c \u9700\u8981 \u6839\u636e \u6570\u636e \u6570\u636e\u5305 \u7684 \u7c7b\u578b \u91cd\u65b0 \u89e3\u91ca   \u6570\u636e   \u3002   \u6570\u636e \u6570\u636e\u5305 \u7684 \u5934 \u5f88 \u6709\u7528 \uff0c \u56e0\u4e3a \u6211\u4eec \u53ef\u4ee5 \u5728 \u64ad\u653e \u65f6 \u5ffd\u7565 \u90a3\u4e9b \u6211\u4eec \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u4e0d\u611f\u5174\u8da3 \u7684 \u6570\u636e \u6570\u636e\u5305 \u3002 \u6211\u4eec \u53ea \u9700\u8981 \u8bfb\u53d6 \u6570\u636e \u8bfb\u53d6\u6570\u636e \u5305 \u7684 \u5934 \uff08 \u524d   5   \u4e2a \u5b57\u8282 \uff09 \u5e76 \u8df3 \u8fc7 \u6570\u636e \u6570\u636e\u5305 \u7684 \u6570\u636e \u8df3\u8f6c \u5230 \u4e0b \u4e00\u4e2a \u6570\u636e \u6570\u636e\u5305 \uff1a   \u6570\u636e \u6570\u636e\u5305 \u7684 \u7c7b\u578b \u6709 \uff1a   \u6211\u4eec \u5efa\u8bae \u7528\u6237 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6570\u636e \u6570\u636e\u5305 \u4f7f\u7528 \u8d85\u8fc7   100   \u7684   id   \uff0c \u56e0\u4e3a \u8fd9\u4e2a \u5217\u8868 \u5c06\u6765 \u4f1a \u4e0d\u65ad \u589e\u957f \u3002   \u6570\u636e \u6570\u636e\u5305   0   -   \u5e27 \u5f00\u59cb   \u8be5 \u6570\u636e \u6570\u636e\u5305 \u6807\u8bb0 \u65b0\u5e27 \u7684 \u5f00\u59cb \uff0c \u5e76\u4e14 \u5b83 \u5c06 \u662f \u5f00\u59cb \u6bcf\u4e2a \u5e27 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u6570\u636e \u6570\u636e\u5305 \u3002 \u6240\u6709 \u6570\u636e \u6570\u636e\u5305 \u90fd \u9700\u8981 \u653e\u7f6e \u5728   Frame   Start   \u548c   Frame   End   \u4e4b\u95f4 \u3002   \u56e0\u6b64 \uff0c \u7ecf\u8fc7 \u65f6\u95f4   +   \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4   =   \u4e0b \u4e00\u5e27 \u7ecf\u8fc7 \u7684 \u65f6\u95f4 \u3002   \u6570\u636e \u6570\u636e\u5305   1   -   \u5e27 \u7ed3\u675f   \u8be5 \u5e27 \u6ca1\u6709 \u6570\u636e \uff0c \u4ec5 \u6807\u8bb0 \u5f53\u524d \u5e27 \u7684 \u7ed3\u675f \u3002 \u8fd9 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u91cd\u653e \u91cd\u653e\u5668 \u5728 \u65b0 \u4e00\u5e27 \u5f00\u59cb \u4e4b\u524d \u77e5\u9053 \u6bcf \u4e00\u5e27 \u7684 \u7ed3\u675f \u3002 \u901a\u5e38 \uff0c \u4e0b \u4e00\u5e27 \u5e94\u8be5 \u662f \u5e27 \u8d77\u59cb \u6570\u636e \u6570\u636e\u5305 \u4ee5 \u5f00\u59cb \u65b0\u5e27 \u3002   \u6570\u636e \u6570\u636e\u5305   2   -   \u4e8b\u4ef6 \u6dfb\u52a0   \u8fd9\u4e2a \u6570\u636e \u6570\u636e\u5305 \u8bf4\u660e \u4e86 \u6211\u4eec \u9700\u8981 \u5728 \u5f53\u524d \u5e27 \u521b\u5efa \u591a\u5c11 \u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u5b57 \u6bb5   \u603b\u8ba1   \u8868\u793a \u540e\u9762 \u6709 \u591a\u5c11 \u6761 \u8bb0\u5f55 \u3002 \u6bcf\u6761 \u8bb0\u5f55 \u90fd \u4ee5   id   \u5b57 \u6bb5 \u5f00\u5934 \uff0c \u5373 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5f55\u5236 \u65f6\u6240 \u62e5\u6709 \u7684   id \uff08 \u5728 \u64ad\u653e \u65f6 \uff0c \u8be5   id   \u53ef\u4ee5 \u5728 \u5185\u90e8 \u66f4\u6539 \uff0c \u4f46 \u6211\u4eec \u9700\u8981 \u4f7f\u7528 \u6b64   id   \uff09 \u3002 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   \u7c7b\u578b   \u53ef\u4ee5 \u6709 \u4ee5\u4e0b \u53ef\u80fd \u7684 \u503c \uff1a   0   =   \u5176\u4ed6   1   =   \u8f66\u8f86   2   =   \u884c\u4eba   3   =   \u4ea4\u901a \u4ea4\u901a\u706f   4   =   \u65e0\u6548   \u4e4b\u540e \uff0c \u7ee7\u7eed \u6211\u4eec \u60f3\u8981 \u521b\u5efa \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   \u4f4d\u7f6e   \u548c   \u65cb\u8f6c   \u3002   \u5728 \u6211\u4eec \u5f97\u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u63cf\u8ff0 \u4e4b\u540e \u3002 \u63cf\u8ff0   uid   \u662f \u63cf\u8ff0 \u7684 \u6570\u5b57   ID \uff0c \u800c   id   \u662f \u6587\u672c   ID \uff0c \u4f8b\u5982 \" vehicle . seat . leon \" \u3002   \u7136\u540e \u662f \u5176   \u5c5e\u6027   \u7684 \u96c6\u5408 \uff0c \u4f8b\u5982 \u989c\u8272 \u3001 \u8f6e\u5b50 \u6570\u91cf \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7b49 \u3002 \u5c5e\u6027 \u7684 \u6570\u91cf \u662f \u53ef\u53d8 \u7684 \uff0c \u5e94\u8be5 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   number _ of _ wheels   =   4   sticky _ control   =   true   color   =   79 , 33 , 85   role _ name   =   autopilot   \u6570\u636e \u6570\u636e\u5305   3   -   \u4e8b\u4ef6 \u5220\u9664   \u8fd9\u4e2a \u6570\u636e \u6570\u636e\u5305 \u8bf4\u660e \u4e86 \u8fd9 \u4e00\u5e27 \u9700\u8981 \u9500\u6bc1 \u591a\u5c11 \u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u5b83 \u6709 \u8bb0\u5f55   \u603b\u6570   \uff0c \u6bcf\u6761 \u8bb0\u5f55 \u90fd \u6709 \u8981 \u5220\u9664 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 ID   \u3002   \u4f8b\u5982 \uff0c \u8fd9\u4e2a \u6570\u636e \u6570\u636e\u5305 \u53ef\u80fd \u662f \u8fd9\u6837 \u7684 \uff1a   \u6570\u5b57   3   \u5c06 \u6570\u636e \u6570\u636e\u5305 \u6807\u8bc6 \u4e3a \u4e8b\u4ef6 \u5220\u9664 \u3002 \u6570\u5b57   16   \u662f \u6570\u636e \u6570\u636e\u5305 \u6570\u636e \u7684 \u5927\u5c0f \uff08 4   \u4e2a \u5b57 \u6bb5 \uff0c \u6bcf\u4e2a \u5b57 \u6bb5   4   \u5b57\u8282 \uff09 \u3002 \u56e0\u6b64 \uff0c \u5982\u679c \u6211\u4eec \u4e0d\u60f3 \u5904\u7406 \u8fd9\u4e2a \u6570\u636e \u6570\u636e\u5305 \uff0c \u6211\u4eec \u53ef\u4ee5 \u8df3\u8fc7 \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u7684   16   \u4e2a \u5b57\u8282 \uff0c \u76f4\u63a5 \u8fdb\u5165 \u4e0b \u4e00\u4e2a \u6570\u636e \u6570\u636e\u5305 \u7684 \u5f00\u5934 \u3002 \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u7684   3   \u8868\u793a \u540e\u9762 \u7684 \u603b \u8bb0\u5f55 \uff0c \u6bcf\u6761 \u8bb0\u5f55 \u90fd \u662f \u8981 \u5220\u9664 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id \u3002 \u56e0\u6b64 \uff0c \u6211\u4eec \u9700\u8981 \u5728 \u8fd9 \u4e00\u5e27 \u4e2d \u5220\u9664 \u53c2\u4e0e \u53c2\u4e0e\u8005   100 \u3001 101   \u548c   120 \u3002   \u6570\u636e \u6570\u636e\u5305   4   -   \u4e8b\u4ef6 \u7236\u7ea7   \u8be5 \u6570\u636e \u6570\u636e\u5305 \u8bf4\u660e \u54ea\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u662f \u53e6 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u7236\u6bcd \uff09 \u7684 \u5b69\u5b50 \u3002   \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a   id   \u662f\u5b50 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a   id   \u662f \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u6570\u636e \u6570\u636e\u5305   5   -   \u4e8b\u4ef6 \u78b0\u649e   \u5982\u679c \u4e24\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u95f4 \u53d1\u751f \u78b0\u649e \uff0c \u5b83 \u5c06 \u88ab \u6ce8\u518c \u5230 \u8fd9\u4e2a \u6570\u636e \u6570\u636e\u5305 \u4e2d \u3002 \u76ee\u524d \uff0c \u53ea\u6709 \u5177\u6709 \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u624d \u4f1a \u62a5\u544a \u78b0\u649e \uff0c \u56e0\u6b64 \u76ee\u524d \u53ea\u6709 \u82f1\u96c4 \u8f66\u8f86 \u4f1a \u81ea\u52a8 \u8fde\u63a5 \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   id   \u53ea\u662f \u4e00\u4e2a \u7528\u4e8e \u5728 \u5185\u90e8 \u6807\u8bc6 \u6bcf\u6b21 \u78b0\u649e \u7684 \u5e8f\u5217 \u3002 \u540c\u4e00 \u5e27 \u4e2d \u53ef\u80fd \u4f1a \u53d1\u751f \u540c\u4e00 \u5bf9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u95f4 \u7684 \u591a\u6b21 \u78b0\u649e \uff0c \u56e0\u4e3a \u7269\u7406 \u5e27 \u901f\u7387 \u662f \u56fa\u5b9a \u7684 \uff0c \u5e76\u4e14 \u540c\u4e00 \u6e32\u67d3 \u5e27 \u4e2d \u901a\u5e38 \u5b58\u5728 \u591a\u4e2a \u7269\u7406 \u5b50 \u6b65\u9aa4 \u3002   \u6570\u636e \u6570\u636e\u5305   6   - 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  \u6587\u4ef6 \u5e03\u5c40  "},{"location":"ref_sensors/","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u6df1\u5ea6 \u76f8\u673a   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   RGB \u76f8\u673a   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u5b9e\u4f8b \u5206\u5272 \u76f8\u673a   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u76f8\u673a   \u5149\u6d41 \u76f8\u673a   V2X   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u534f\u540c \u611f\u77e5   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d88\u606f   \u91cd\u8981   \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u5750\u6807\u7cfb \uff08   x   -   \u5411\u524d   \uff0c   y   -   \u5411 \u53f3   \uff0c   z   -   \u5411\u4e0a   \uff09 \uff0c \u5e76 \u8fd4\u56de \u672c\u5730 \u7a7a\u95f4 \u4e2d \u7684 \u5750\u6807 \u3002 \u4f7f\u7528 \u4efb\u4f55 \u53ef\u89c6 \u53ef\u89c6\u5316 \u8f6f\u4ef6 \u65f6 \uff0c \u8bf7 \u6ce8\u610f \u5176 \u5750\u6807 \u5750\u6807\u7cfb \u3002 \u8bb8\u591a \u53cd\u8f6c   Y   \u8f74 \uff0c \u56e0\u6b64 \u76f4\u63a5 \u53ef\u89c6 \u53ef\u89c6\u5316 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u955c\u50cf \u8f93\u51fa \u3002   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u84dd\u56fe \uff1a   sensor . other . collision   \u8f93\u51fa \uff1a   \u6bcf\u6b21 \u78b0\u649e \u7684   carla . CollisionEvent   \u3002   \u6bcf\u5f53 \u5176\u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0e \u4e16\u754c \u4e0a \u7684 \u67d0\u4e9b \u7269\u4f53 \u53d1\u751f \u78b0\u649e \u65f6 \uff0c \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u4f1a \u8bb0\u5f55 \u4e00\u4e2a \u4e8b\u4ef6 \u3002 \u6bcf\u4e2a \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6bcf\u5e27 \u6bcf\u6b21 \u78b0\u649e \u90fd \u4f1a \u4ea7\u751f \u4e00\u4e2a \u78b0\u649e \u4e8b\u4ef6 \u3002 \u901a\u8fc7 \u4e0e \u591a\u4e2a \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u78b0\u649e \uff0c \u53ef\u4ee5 \u5728 \u5355\u4e2a \u5e27 \u4e2d \u4ea7\u751f \u591a\u4e2a \u78b0\u649e \u4e8b\u4ef6 \u3002 \u4e3a\u4e86 \u786e\u4fdd \u68c0\u6d4b \u5230 \u4e0e \u4efb\u4f55 \u7c7b\u578b \u7684 \u5bf9\u8c61 \u7684 \u78b0\u649e \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e3a \u5efa\u7b51 \u5efa\u7b51\u7269 \u6216 \u704c\u6728 \u6728\u4e1b \u704c\u6728\u4e1b \u7b49 \u5143\u7d20 \u521b\u5efa \u201c \u5047 \u201d \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u68c0\u7d22 \u8bed\u4e49 \u6807\u7b7e \u6765 \u8bc6\u522b \u5b83 \u3002   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u6ca1\u6709 \u4efb\u4f55 \u53ef \u914d\u7f6e \u7684 \u5c5e\u6027 \u3002   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   actor   carla . Actor   \u6d4b\u91cf \u78b0\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7236\u7ea7 \uff09 \u3002   other _ actor   carla . Actor   \u4e0e \u7236\u7ea7 \u76f8\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   normal _ impulse   carla . Vector3D   \u78b0\u649e \u7684 \u6b63\u5e38 \u8109\u51b2 \u7ed3\u679c \u3002   \u6df1\u5ea6 \u76f8\u673a   \u84dd\u56fe \uff1a   sensor . camera . depth   \u8f93\u51fa \uff1a   \u6bcf\u6b65 \u7684 \u56fe\u50cf   carla . Image   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u76f8\u673a \u63d0\u4f9b \u573a\u666f \u7684 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \uff0c \u7f16\u7801 \u6bcf\u4e2a \u50cf\u7d20 \u5230 \u76f8\u673a \u7684 \u8ddd\u79bb \uff08 \u4e5f \u79f0\u4e3a   \u6df1\u5ea6 \u7f13\u51b2 \u7f13\u51b2\u533a   \u6216   z   \u7f13\u51b2 \u7f13\u51b2\u533a   \uff09 \u4ee5 \u521b\u5efa \u5143\u7d20 \u7684 \u6df1\u5ea6 \u6df1\u5ea6\u56fe \u3002   \u8be5 \u56fe\u50cf \u4f7f\u7528   RGB   \u989c\u8272 \u7a7a\u95f4 \u7684   3   \u4e2a \u901a\u9053 \uff08 \u4ece \u5b57\u8282 \u4f4e\u5b57\u8282 \u5230 \u5b57\u8282 \u9ad8\u5b57\u8282 \uff09 \u5bf9 \u6bcf\u4e2a \u50cf\u7d20 \u7684 \u6df1\u5ea6 \u503c \u8fdb\u884c \u7f16\u7801 \uff1a   R   - >   G   - >   B   \u3002 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \u7684 \u5b9e\u9645 \u8ddd\u79bb \u53ef\u4ee5 \u901a\u8fc7 \u4ee5\u4e0b \u65b9\u5f0f \u89e3\u7801 \uff1a   normalized   =   ( R   +   G   *   256   +   B   *   256   *   256 )   /   ( 256   *   256   *   256   -   1 )   in _ meters   =   1000   *   normalized   \u7136\u540e \uff0c \u5e94 \u4f7f\u7528   carla . colorConverter   \u5c06 \u8f93\u51fa   carla . Image   \u4fdd\u5b58 \u5230 \u78c1\u76d8 \uff0c \u8be5   carla . colorConverter   \u4f1a \u5c06 \u5b58\u50a8 \u5728   RGB   \u901a\u9053 \u4e2d \u7684 \u8ddd\u79bb \u8f6c\u6362 \u4e3a \u5305\u542b \u8be5 \u8ddd\u79bb \u7684   [ 0 , 1 ]   \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \uff0c \u7136\u540e \u5c06 \u5176 \u8f6c\u6362 \u4e3a \u7070\u5ea6 \u3002   carla . colorConverter   \u4e2d\u6709 \u4e24\u4e2a \u9009\u9879 \u53ef \u83b7\u53d6 \u6df1\u5ea6 \u89c6\u56fe \uff1a   Depth   \u548c   Logaritmic   depth   \u3002 \u4e24\u8005 \u7684 \u7cbe\u5ea6 \u90fd \u662f \u6beb\u7c73 \u7ea7 \u7684 \uff0c \u4f46 \u5bf9\u6570 \u65b9\u6cd5 \u53ef\u4ee5 \u4e3a \u66f4 \u8fd1 \u7684 \u7269\u4f53 \u63d0\u4f9b \u66f4\u597d \u7684 \u7ed3\u679c \u3002   ...   raw _ image . save _ to _ disk ( \" path / to / save / converted / image \" , carla . Depth )   \u76f8\u673a \u57fa\u672c \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   image _ size _ x   int   800   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ y   int   600   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   fov   float   90.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   \u76f8\u673a \u955c\u5934 \u7578\u53d8 \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   lens _ circle _ falloff   float   5.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ circle _ multiplier   float   0.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ k   float   - 1.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ kcube   float   0.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ x _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   lens _ y _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   width   int   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   height   int   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   fov   float   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   bytes   BGRA   32   \u4f4d \u50cf\u7d20 \u9635\u5217 \u3002   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u84dd\u56fe \uff1a   sensor . other . gnss   Output :   \u6bcf \u4e00\u6b65 \u7684 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u7684 \u6d4b\u91cf   carla . GNSSMeasurement   \uff08   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u62a5\u544a \u5176\u7236 \u5bf9\u8c61 \u7684 \u5f53\u524d   gnss   \u4f4d\u7f6e   \u3002 \u8fd9\u662f \u901a\u8fc7 \u5c06 \u5ea6\u91cf \u4f4d\u7f6e \u6dfb\u52a0 \u5230   OpenDRIVE   \u5730\u56fe \u5b9a\u4e49 \u4e2d \u5b9a\u4e49 \u7684 \u521d\u59cb \u5730\u7406 \u53c2\u8003 \u4f4d\u7f6e \u6765 \u8ba1\u7b97 \u7684 \u3002   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   noise _ alt _ bias   float   0.0   \u6d77\u62d4 \u62d4\u9ad8 \u9ad8\u5ea6 \u6d77\u62d4\u9ad8\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ alt _ stddev   float   0.0   \u6d77\u62d4 \u62d4\u9ad8 \u9ad8\u5ea6 \u6d77\u62d4\u9ad8\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ lat _ bias   float   0.0   \u7eac\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ lat _ stddev   float   0.0   \u7eac\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ lon _ bias   float   0.0   \u7ecf\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ lon _ stddev   float   0.0   \u7ecf\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ seed   int   0   \u4f2a \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u751f\u6210 \u6210\u5668 \u751f\u6210\u5668 \u7684 \u521d\u59cb \u521d\u59cb\u5316 \u7a0b\u5e8f \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   latitude   double   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7eac\u5ea6 \u3002   longitude   double   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7ecf\u5ea6 \u3002   altitude   double   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6d77\u62d4 \u62d4\u9ad8 \u9ad8\u5ea6 \u6d77\u62d4\u9ad8\u5ea6 \u3002   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u84dd\u56fe \uff1a   sensor . other . imu   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65 \u7684 \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u6d4b\u91cf \u503c   carla . IMUMeasurement   \uff08 \u9664\u975e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8282\u62cd   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u63d0\u4f9b \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \u3001 \u9640\u87ba \u9640\u87ba\u4eea \u548c \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \u5c06 \u4e3a \u7236 \u5bf9\u8c61 \u68c0\u7d22 \u7684 \u6d4b\u91cf \u503c \u3002 \u6570\u636e \u662f\u4ece \u5bf9\u8c61 \u7684 \u5f53\u524d \u72b6\u6001 \u6536\u96c6 \u7684 \u3002   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   noise _ accel _ stddev _ x   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 X   \u8f74 \uff09 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ accel _ stddev _ y   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 Y   \u8f74 \uff09 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ accel _ stddev _ z   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 Z   \u8f74 \uff09 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ gyro _ bias _ x   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \uff08 X   \u8f74 \uff09 \u3002   noise _ gyro _ bias _ y   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \uff08 Y   \u8f74 \uff09 \u3002   noise _ gyro _ bias _ z   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \uff08 Z   \u8f74 \uff09 \u3002   noise _ gyro _ stddev _ x   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \uff08 X   \u8f74 \uff09 \u3002   noise _ gyro _ stddev _ y   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \uff08 Y   \u8f74 \uff09 \u3002   noise _ gyro _ stddev _ z   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \uff08 Z   \u8f74 \uff09 \u3002   noise _ seed   int   0   \u4f2a \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u751f\u6210 \u6210\u5668 \u751f\u6210\u5668 \u7684 \u521d\u59cb \u521d\u59cb\u5316 \u7a0b\u5e8f \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   accelerometer   carla . Vector3D   \u6d4b\u91cf \u7ebf\u6027 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 \u4ee5   m / s ^ 2   \u4e3a \u5355\u4f4d \uff09 \u3002   gyroscope   carla . Vector3D   \u6d4b\u91cf \u901f\u5ea6 \u89d2\u901f\u5ea6 \uff08 \u4ee5   rad / sec   \u4e3a \u5355\u4f4d \uff09 \u3002   compass   float   \u4ee5 \u5f27\u5ea6 \u4e3a \u5355\u4f4d \u7684 \u65b9\u5411 \u3002 \u5317\u662f 0 \u5f27\u5ea6 \u3002   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u8ba1\u7b97 \u65b9\u6cd5 \u8ba1\u7b97\u65b9\u6cd5 \uff1a   $ $   d _ 2   ( i )   =   - 2.0   \\ times   [   {   y _ 1   \\ over   { h _ 1   \\ times   h _ 2   }   }   -   {   y _ 2   \\ over   {   h _ 2   \\ times   ( h _ 1 + h _ 2 )   }   }   -   { y _ 0   \\ over   {   h _ 1   \\ times   ( h _ 1   +   h _ 2 )   } }   ]   . $ $   \u5176\u4e2d \uff0c ( h _ 1 )   \u4e3a \u5f53\u524d \u65f6\u95f4 \u589e\u91cf \uff0c ( h _ 2 ) \u4e3a \u524d \u4e00\u4e2a \u65f6\u95f4 \u589e\u91cf \u3002   \u6ce8\u610f   \u5bf9\u4e8e \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \uff0c \u5317\u4e3a   0   \u5f27\u5ea6 \u3002 \u4e1c\u4e3a   pi   / 2   \u5f27\u5ea6 \uff0c \u5357\u4e3a   pi   \u5f27\u5ea6 \uff0c \u897f\u4e3a   3   pi   / 2   \u5f27\u5ea6 \u3002 \u5728   Carla   \u7684 \u5168\u5c40 \u5750\u6807 \u5750\u6807\u7cfb \u4e2d \uff0c \u5317\u4e3a   Y   \u8f74 \u51cf\u5c0f \u7684 \u65b9\u5411 \u3002 \u4e1c\u4e3a   X   \u8f74 \u589e\u52a0 \u7684 \u65b9\u5411 \u3002 \u8f6c\u6362 \u4e3a \u5ea6\u6570 \u7684 \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \u503c \u7b49\u4e8e   90   -   \u504f\u822a   \u3002   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u84dd\u56fe \uff1a   sensor . other . lane _ invasion   \u8f93\u51fa \uff1a   \u6bcf\u6b21 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u7684   carla . LaneInvasionEvent   \u3002   \u6bcf\u6b21 \u5176\u7236 \u7ea7 \u7a7f\u8fc7 \u8f66\u9053 \u6807\u8bb0 \u65f6 \u90fd \u4f1a \u6ce8\u518c \u4e00\u4e2a \u4e8b\u4ef6 \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f7f\u7528 \u5730\u56fe \u7684   OpenDRIVE   \u63cf\u8ff0 \u63d0\u4f9b \u7684 \u9053\u8def \u6570\u636e \uff0c \u901a\u8fc7 \u8003\u8651 \u8f66\u8f6e \u4e4b\u95f4 \u7684 \u7a7a\u95f4 \u6765 \u786e\u5b9a \u4e3b \u8f66\u8f86 \u662f\u5426 \u6b63\u5728 \u4fb5\u5165 \u53e6 \u4e00 \u8f66\u9053 \u3002 \u7136\u800c \uff0c \u6709 \u4e00\u4e9b \u4e8b\u60c5 \u9700\u8981 \u8003\u8651 \uff1a   OpenDRIVE   \u6587\u4ef6 \u548c \u5730\u56fe \u4e4b\u95f4 \u7684 \u5dee\u5f02 \u5c06 \u5bfc\u81f4 \u89c4\u5219 \u4e0d\u89c4\u5219 \u73b0\u8c61 \uff0c \u4f8b\u5982 \u5728 \u5730\u56fe \u4e2d \u4e0d \u53ef\u89c1 \u7684 \u4ea4\u53c9 \u8f66\u9053 \u3002   \u8f93\u51fa \u68c0\u7d22 \u4ea4\u53c9 \u8f66\u9053 \u6807\u8bb0 \u5217\u8868 \uff1a \u8ba1\u7b97 \u5728   OpenDRIVE   \u4e2d \u5b8c\u6210 \uff0c \u5e76 \u5c06 \u56db\u4e2a \u8f66\u8f6e \u4e4b\u95f4 \u7684 \u6574\u4e2a \u7a7a\u95f4 \u89c6\u4e3a \u4e00\u4e2a \u6574\u4f53 \u3002 \u56e0\u6b64 \uff0c \u53ef\u80fd \u6709 \u4e0d\u6b62 \u4e00\u6761 \u8f66\u9053 \u540c\u65f6 \u7a7f\u8fc7 \u3002   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6ca1\u6709 \u4efb\u4f55 \u53ef \u914d\u7f6e \u5c5e\u6027 \u3002   \u91cd\u8981   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5b8c\u5168 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5de5\u4f5c \u3002   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   actor   carla . Actor   \u4fb5\u5165 \u53e6 \u4e00 \u8f66\u9053 \u7684 \u8f66\u8f86 \uff08 \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff09 \u3002   crossed _ lane _ markings   list (   carla . LaneMarking   )   \u5df2 \u7a7f\u8d8a \u7684 \u8f66\u9053 \u6807\u8bb0 \u5217\u8868 \u3002   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u84dd\u56fe \uff1a   sensor . lidar . ray _ cast   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65   carla . LidarMeasurement   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6d4b\u91cf \u5305\u542b \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff0c \u5176\u4e2d \u5305\u542b \u5728 \u67d0\u4e2a \u65f6\u95f4 \u95f4\u9694 \u5185 \u751f\u6210 \u7684 \u6240\u6709 \u70b9 1 / FPS \u3002 \u5728 \u6b64 \u95f4\u9694 \u671f\u95f4 \uff0c \u7269\u7406 \u4e0d\u4f1a \u66f4\u65b0 \uff0c \u56e0\u6b64 \u6d4b\u91cf \u4e2d \u7684 \u6240\u6709 \u70b9 \u90fd \u53cd\u6620 \u573a\u666f \u7684 \u76f8\u540c \u201c \u9759\u6001 \u56fe\u7247 \u201d \u3002   points _ per _ channel _ each _ step   =   points _ per _ second   /   ( FPS   *   channels )   \u6b64 \u8f93\u51fa \u5305\u542b \u4eff\u771f \u70b9\u4e91 \uff0c \u56e0\u6b64 \u53ef\u4ee5 \u5bf9 \u5176 \u8fdb\u884c \u8fed\u4ee3 \u4ee5 \u68c0\u7d22 \u5b83\u4eec \u7684 \u5217\u8868   carla . Location   \uff1a   for   location   in   lidar _ measurement :   print ( location )   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6d4b\u91cf \u7684 \u4fe1\u606f \u88ab \u7f16\u7801 \u4e3a   4D   \u70b9 \u3002 \u524d \u4e09\u4e2a \u662f   xyz   \u5750\u6807 \u4e2d \u7684 \u7a7a\u95f4 \u70b9 \uff0c \u6700\u540e \u4e00\u4e2a \u662f \u65c5\u884c \u8fc7\u7a0b \u4e2d \u7684 \u5f3a\u5ea6 \u635f\u5931 \u3002 \u8be5 \u5f3a\u5ea6 \u901a\u8fc7 \u4ee5\u4e0b \u516c\u5f0f \u8ba1\u7b97 \u3002   a   \u2014   \u8870\u51cf \u7cfb\u6570 \u8870\u51cf\u7cfb\u6570 \u3002 \u8fd9 \u53ef\u80fd \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6ce2\u957f \u548c \u5927\u6c14 \u6761\u4ef6 \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5c5e\u6027 \u5bf9 \u5176 \u8fdb\u884c \u4fee\u6539   atmosphere _ attenuation _ rate   \u3002   d   \u2014   \u4ece \u51fb\u4e2d \u70b9\u5230 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8ddd\u79bb   \u4e3a\u4e86 \u83b7\u5f97 \u66f4\u597d \u7684 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \uff0c \u53ef\u4ee5 \u5220\u9664 \u4e91\u4e2d \u7684 \u70b9 \u3002 \u8fd9\u662f \u4eff\u771f \u5916\u90e8 \u6270\u52a8 \u9020\u6210 \u7684 \u635f\u5931 \u7684 \u7b80\u5355 \u65b9\u6cd5 \u3002 \u8fd9 \u53ef\u4ee5 \u7ed3\u5408 \u4e24\u4e2a \u4e0d\u540c \u7684 \u6765 \u5b8c\u6210 \u3002   General   drop - off   \u2014   \u968f\u673a \u6389\u843d \u7684 \u5206\u6570 \u6bd4\u4f8b \u3002 \u8fd9 \u662f \u5728 \u8ddf\u8e2a \u4e4b\u524d \u5b8c\u6210 \u7684 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u4e0d\u4f1a \u8ba1\u7b97 \u88ab \u4e22\u5f03 \u7684 \u70b9 \uff0c \u4ece\u800c \u63d0\u9ad8 \u6027\u80fd \u3002 \u5982\u679c \u662f   dropoff _ general _ rate   =   0.5   \uff0c \u5219 \u6263\u6389 \u4e00\u534a \u7684 \u5206\u6570 \u3002   Instensity - based   drop - off   \u2014   \u5bf9\u4e8e \u68c0\u6d4b \u5230 \u7684 \u6bcf\u4e2a \u70b9 \uff0c \u6839\u636e \u8ba1\u7b97 \u7684 \u5f3a\u5ea6 \u7684 \u6982\u7387 \u6267\u884c \u989d\u5916 \u7684 \u4e0b\u964d \u3002 \u8be5 \u6982\u7387 \u7531 \u4e24\u4e2a \u53c2\u6570 \u786e\u5b9a \u3002   dropoff _ zero _ intensity   \u662f \u5f3a\u5ea6 \u4e3a \u96f6 \u7684 \u70b9 \u88ab \u4e22\u5f03 \u7684 \u6982\u7387 \u3002   dropoff _ intensity _ limit   \u662f \u9608\u503c \u5f3a\u5ea6 \uff0c \u8d85\u8fc7 \u8be5 \u9608\u503c \u5c06 \u4e0d\u4f1a \u6389\u843d \u4efb\u4f55 \u5206\u6570 \u3002 \u8303\u56f4 \u5185 \u7684 \u70b9 \u88ab \u4e22\u5f03 \u7684 \u6982\u7387 \u662f \u57fa\u4e8e \u8fd9 \u4e24\u4e2a \u53c2\u6570 \u7684 \u7ebf\u6027 \u6bd4\u4f8b \u3002   \u6b64\u5916 \uff0c \u8be5   noise _ stddev   \u5c5e\u6027 \u8fd8 \u4f7f \u566a\u58f0 \u6a21\u578b \u80fd\u591f \u4eff\u771f \u73b0\u5b9e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u51fa\u73b0 \u7684 \u610f\u5916 \u504f\u5dee \u3002 \u5bf9\u4e8e \u6b63\u503c \uff0c \u6bcf\u4e2a \u70b9 \u90fd \u4f1a \u6cbf\u7740 \u6fc0\u5149 \u5c04\u7ebf \u7684 \u77e2\u91cf \u968f\u673a \u6270\u52a8 \u3002 \u7ed3\u679c \u662f \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5177\u6709 \u5b8c\u7f8e \u7684 \u89d2\u5ea6 \u5b9a\u4f4d \uff0c \u4f46 \u8ddd\u79bb \u6d4b\u91cf \u5b58\u5728 \u566a\u97f3 \u3002   \u53ef\u4ee5 \u8c03\u6574 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7684 \u65cb\u8f6c \u4ee5 \u8986\u76d6 \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u7684 \u7279\u5b9a \u89d2\u5ea6 \uff08 \u4f7f\u7528   \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f   \uff09 \u3002 \u4f8b\u5982 \uff0c \u6bcf\u6b65 \u65cb\u8f6c \u4e00\u6b21 \uff08 \u6574\u5708 \u8f93\u51fa \uff0c \u5982\u4e0b \u56fe \uff09 \uff0c \u65cb\u8f6c \u9891\u7387 \u548c \u4eff\u771f \u7684   FPS   \u5e94\u8be5 \u76f8\u7b49 \u3002   1 .   \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u9891\u7387   sensors _ bp [ ' lidar ' ] [ 0 ] . set _ attribute ( ' rotation _ frequency ' , ' 10 ' )   .   2 .   \u4f7f\u7528   python3   config . py   -- fps = 10   \u8fd0\u884c \u4eff\u771f \u3002   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   channels   int   32   \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6570\u91cf \u3002   range   float   10.0   \u6d4b\u91cf / \u5149\u7ebf \u6295\u5c04 \u7684 \u6700\u5927 \u8ddd\u79bb \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff08 Carla   0.9 . 6   \u6216 \u66f4 \u4f4e\u7248 \u7248\u672c \u4f4e\u7248\u672c \u4e3a \u5398\u7c73 \uff09 \u3002   points _ per _ second   int   56000   \u6240\u6709 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6bcf\u79d2 \u751f\u6210 \u7684 \u70b9 \u3002   rotation _ frequency   float   10.0   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u65cb\u8f6c \u9891\u7387 \u3002   upper _ fov   float   10.0   \u6700\u9ad8 \u6fc0\u5149 \u7684 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   lower _ fov   float   - 30.0   \u6700\u4f4e \u6fc0\u5149 \u7684 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   horizontal _ fov   float   360.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \uff0c 0   -   360 \u3002   atmosphere _ attenuation _ rate   float   0.004   \u6d4b\u91cf \u6bcf\u7c73 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5f3a\u5ea6 \u635f\u5931 \u7684 \u7cfb\u6570 \u3002 \u68c0\u67e5 \u4e0a\u9762 \u7684 \u5f3a\u5ea6 \u8ba1\u7b97 \u3002   dropoff _ general _ rate   float   0.45   \u968f\u673a \u4e22\u5f03 \u7684 \u70b9 \u7684 \u4e00\u822c \u6bd4\u4f8b \u3002   dropoff _ intensity _ limit   float   0.8   \u5bf9\u4e8e \u57fa\u4e8e \u5f3a\u5ea6 \u7684 \u4e0b\u964d \uff0c \u5f3a\u5ea6 \u9608\u503c \uff0c \u9ad8\u4e8e \u8be5\u503c \u5219 \u4e0d\u4f1a \u4e0b\u964d \u4efb\u4f55 \u70b9 \u3002   dropoff _ zero _ intensity   float   0.4   \u5bf9\u4e8e \u57fa\u4e8e \u5f3a\u5ea6 \u7684 \u4e0b\u964d \uff0c \u6bcf\u4e2a \u5f3a\u5ea6 \u4e3a \u96f6 \u7684 \u70b9 \u88ab \u4e0b\u964d \u7684 \u6982\u7387 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   noise _ stddev   float   0.0   \u566a\u58f0 \u6a21\u578b \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \uff0c \u7528\u4e8e \u5e72\u6270 \u6cbf\u5176 \u5149\u7ebf \u6295\u5c04 \u77e2\u91cf \u7684 \u6bcf\u4e2a \u70b9 \u3002   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   horizontal _ angle   float   \u5f53\u524d \u5e27 \u4e2d \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7684   XY   \u5e73\u9762 \u4e2d \u7684 \u89d2\u5ea6 \uff08 \u5f27\u5ea6 \uff09 \u3002   channels   int   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7684 \u901a\u9053 \uff08 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \uff09 \u6570\u91cf \u3002   get _ point _ count ( channel )   int   \u6bcf\u4e2a \u901a\u9053 \u6355\u83b7 \u6b64\u5e27 \u7684 \u70b9\u6570 \u3002   raw _ data   bytes   32   \u4f4d \u6d6e\u70b9 \u6570\u7ec4 \uff08 \u6bcf\u4e2a \u70b9 \u7684   XYZI \uff09 \u3002   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u84dd\u56fe \uff1a   sensor . other . obstacle   \u8f93\u51fa \uff1a   \u6bcf\u4e2a \u969c\u788d \u969c\u788d\u7269 \u7684   carla . ObstacleDetectionEvent   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u6bcf\u5f53 \u7236\u7ea7 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u524d\u65b9 \u6709 \u969c\u788d \u65f6 \uff0c \u90fd \u4f1a \u6ce8\u518c \u4e00\u4e2a \u4e8b\u4ef6 \u3002 \u4e3a\u4e86 \u9884\u6d4b \u969c\u788d \u969c\u788d\u7269 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u6bcd\u8f66 \u524d\u65b9 \u521b\u5efa \u4e00\u4e2a \u80f6\u56ca \u5f62\u72b6 \uff0c \u5e76\u7528 \u5b83 \u6765 \u68c0\u67e5 \u78b0\u649e \u3002 \u4e3a\u4e86 \u786e\u4fdd \u68c0\u6d4b \u5230 \u4e0e \u4efb\u4f55 \u7c7b\u578b \u7684 \u5bf9\u8c61 \u7684 \u78b0\u649e \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e3a \u5efa\u7b51 \u5efa\u7b51\u7269 \u6216 \u704c\u6728 \u6728\u4e1b \u704c\u6728\u4e1b \u7b49 \u5143\u7d20 \u521b\u5efa \u201c \u5047 \u201d \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u68c0\u7d22 \u8bed\u4e49 \u6807\u7b7e \u6765 \u8bc6\u522b \u5b83 \u3002   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   distance   float   5   \u8f68\u8ff9 \u8ddd\u79bb \u3002   hit _ radius   float   0.5   \u8f68\u8ff9 \u7684 \u534a\u5f84 \u3002   only _ dynamics   bool   False   \u5982\u679c \u4e3a   true \uff0c \u5219 \u8f68\u8ff9 \u5c06 \u4ec5 \u8003\u8651 \u52a8\u6001 \u5bf9\u8c61 \u3002   debug _ linetrace   bool   False   \u5982\u679c \u4e3a   true \uff0c \u5219 \u8f68\u8ff9 \u5c06 \u53ef\u89c1 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u8f66 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   actor   carla . Actor   \u68c0\u6d4b \u5230 \u969c\u788d \u969c\u788d\u7269 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u7236\u7ea7 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff09 \u3002   other _ actor   carla . Actor   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u88ab \u68c0\u6d4b \u4e3a \u969c\u788d \u969c\u788d\u7269 \u3002   distance   float   \u4ece \u53c2\u4e0e \u53c2\u4e0e\u8005   actor   \u5230 \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005   other _ actor   \u7684 \u8ddd\u79bb \u3002   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u84dd\u56fe \uff1a   sensor . other . radar   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65   carla . RadarMeasurement   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u521b\u5efa \u4e00\u4e2a \u5706\u9525 \u89c6\u56fe \uff0c \u8be5 \u89c6\u56fe \u88ab \u8f6c\u6362 \u4e3a \u89c6\u91ce \u4e2d \u7684 \u5143\u7d20 \u53ca\u5176 \u76f8\u5bf9 \u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u901f\u5ea6 \u7684 \u4e8c\u7ef4 \u70b9\u56fe \u3002 \u8fd9 \u53ef \u7528\u4e8e \u5851\u9020 \u5143\u7d20 \u5e76 \u8bc4\u4f30 \u5b83\u4eec \u7684 \u8fd0\u52a8 \u548c \u65b9\u5411 \u3002 \u7531\u4e8e \u4f7f\u7528 \u5750\u6807 \u6781\u5750\u6807 \uff0c \u8fd9\u4e9b \u70b9\u5c06 \u96c6\u4e2d \u5728 \u89c6\u56fe \u4e2d\u5fc3 \u5468\u56f4 \u3002   \u6d4b\u91cf \u7684 \u70b9 \u4f5c\u4e3a   carla . RadarDetection   \u6570\u7ec4 \u5305\u542b \u5728   carla . RadarMeasurement   \u4e2d \uff0c \u8be5 \u6570\u7ec4 \u6307\u5b9a \u5b83\u4eec \u7684 \u5750\u6807 \u6781\u5750\u6807 \u3001 \u8ddd\u79bb \u548c \u901f\u5ea6 \u3002 \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u63d0\u4f9b \u7684 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u53ef\u4ee5 \u8f7b\u677e \u8f6c\u6362 \u4e3a   numpy   \u53ef \u7ba1\u7406 \u7684 \u683c\u5f0f \uff1a   #   \u4e3a\u4e86 \u83b7\u5f97   numpy   [ [ vel ,   azimuth ,   altitude ,   depth ] , ... [ , , , ] ] :   points   =   np . frombuffer ( radar _ data . raw _ data ,   dtype = np . dtype ( ' f4 ' ) )   points   =   np . reshape ( points ,   ( len ( radar _ data ) ,   4 ) )   \u63d0\u4f9b \u7684 \u811a\u672c   manual _ control . py   \u4f7f\u7528 \u6b64 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6765 \u663e\u793a \u6b63\u5728 \u68c0\u6d4b \u7684 \u70b9 \uff0c \u5e76 \u5728 \u9759\u6001 \u65f6 \u5c06 \u5176 \u7ed8\u5236 \u4e3a \u767d\u8272 \uff0c \u5728 \u5411 \u7269\u4f53 \u79fb\u52a8 \u65f6 \u5c06 \u5176 \u7ed8\u5236 \u4e3a \u7ea2\u8272 \uff0c \u5728 \u8fdc\u79bb \u7269\u4f53 \u65f6 \u5c06 \u5176 \u7ed8\u5236 \u4e3a \u84dd\u8272 \uff1a   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   horizontal _ fov   float   30.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   points _ per _ second   int   1500   \u6240\u6709 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6bcf\u79d2 \u751f\u6210 \u7684 \u70b9 \u3002   range   float   100   \u6d4b\u91cf / \u5149\u7ebf \u6295\u5c04 \u7684 \u6700\u5927 \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   vertical _ fov   float   30.0   \u5782\u76f4 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   raw _ data   carla . RadarDetection   \u68c0\u6d4b \u5230 \u7684 \u70b9 \u5217\u8868 \u3002   RadarDetection   \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   altitude   float   \u4ee5 \u5f27\u5ea6 \u8868\u793a \u7684 \u9ad8\u5ea6 \u89d2 \u3002   azimuth   float   \u65b9\u4f4d \u65b9\u4f4d\u89d2 \uff08 \u4ee5 \u5f27\u5ea6 \u8868\u793a \uff09 \u3002   depth   float   \u8ddd\u79bb \u4ee5\u7c73 \u4e3a \u5355\u4f4d \u3002   velocity   float   \u671d\u5411 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u901f\u5ea6 \u3002   RGB   \u76f8\u673a   \u84dd\u56fe \uff1a   sensor . camera . rgb   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65   carla . Image   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u201c RGB \u201d \u76f8\u673a \u5145\u5f53 \u6355\u83b7 \u573a\u666f \u56fe\u50cf \u7684 \u5e38\u89c4 \u76f8\u673a \u3002   carla . colorConverter   \u5982\u679c   enable _ postprocess _ effects   \u542f\u7528 \uff0c \u4e3a\u4e86 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \uff0c \u4e00\u7ec4 \u5904\u7406 \u540e\u5904\u7406 \u6548\u679c \u5c06 \u5e94\u7528 \u4e8e \u56fe\u50cf \uff1a   Vignette :   \u4f7f \u5c4f\u5e55 \u8fb9\u6846 \u53d8\u6697 \u3002   Grain   jitter :   \u4e3a \u6e32\u67d3 \u6dfb\u52a0 \u4e00\u4e9b \u566a\u70b9 \u3002   Bloom :   \u5f3a\u70c8 \u7684 \u5149\u7ebf \u4f1a \u707c\u70e7 \u5b83\u4eec \u5468\u56f4 \u7684 \u533a\u57df \u3002   Auto   exposure :   \u4fee\u6539 \u56fe\u50cf \u4f3d\u739b\u4ee5 \u4eff\u771f \u773c\u775b \u5bf9 \u8f83 \u6697 \u6216 \u8f83\u4eae \u533a\u57df \u7684 \u9002\u5e94 \u3002   Lens   flares :   \u4eff\u771f \u660e\u4eae \u7269\u4f53 \u5728 \u955c\u5934 \u4e0a \u7684 \u53cd\u5c04 \u3002   Depth   of   field :   \u6a21\u7cca \u9760\u8fd1 \u6216 \u8fdc\u79bb \u76f8\u673a \u7684 \u7269\u4f53 \u3002   sensor _ tick   \u544a\u8bc9 \u6211\u4eec \u5e0c\u671b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u6570\u636e \u7684 \u901f\u5ea6 \u6709 \u591a \u5feb \u3002 \u503c\u4e3a   1.5   \u610f\u5473 \u610f\u5473\u7740 \u6211\u4eec \u5e0c\u671b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6bcf \u534a\u79d2 \u6355\u83b7 \u4e00\u6b21 \u6570\u636e \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u503c   0.0   \u8868\u793a \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5feb \u3002   \u76f8\u673a \u57fa\u672c \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   bloom _ intensity   float   0.675   \u5149\u6655 \u5904\u7406 \u540e\u5904\u7406 \u6548\u679c \u7684 \u5f3a\u5ea6 \uff0c   0.0   \u7528\u4e8e \u7981\u7528 \u5b83 \u3002   fov   float   90.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   fstop   float   1.4   \u76f8\u673a \u955c\u5934 \u7684 \u6253\u5f00 \u3002 \u5178\u578b \u955c\u5934 \u7684 \u5149\u5708   1 / fstop   \u4e3a   f / 1.2 \uff08 \u66f4\u5927 \u7684 \u5149\u5708 \uff09 \u3002 \u8f83\u5927 \u7684 \u6570\u5b57 \u5c06 \u51cf\u5c11 \u666f\u6df1 \u6548\u679c \u3002   image _ size _ x   int   800   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ y   int   600   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   iso   float   100.0   \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7075\u654f \u654f\u5ea6 \u7075\u654f\u5ea6 \u3002   gamma   float   2.2   \u76f8\u673a \u7684 \u76ee\u6807 \u4f3d\u739b\u503c \u3002   lens _ flare _ intensity   float   0.1   \u955c\u5934 \u7729\u5149 \u5904\u7406 \u540e\u5904\u7406 \u6548\u679c \u7684 \u5f3a\u5ea6 \uff0c   0.0   \u7528\u4e8e \u7981\u7528 \u5b83 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   shutter _ speed   float   200.0   \u76f8\u673a \u5feb\u95e8 \u901f\u5ea6 \u5feb\u95e8\u901f\u5ea6 \uff0c \u4ee5 \u79d2 \u4e3a \u5355\u4f4d   ( 1.0 / s ) \u3002   \u76f8\u673a \u955c\u5934 \u7578\u53d8 \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   lens _ circle _ falloff   float   5.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ circle _ multiplier   float   0.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ k   float   - 1.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ kcube   float   0.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ x _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   lens _ y _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   \u9ad8\u7ea7 \u76f8\u673a \u5c5e\u6027   \u7531\u4e8e \u8fd9\u4e9b \u6548\u679c \u662f \u7531 \u865a\u5e7b \u5f15\u64ce \u63d0\u4f9b \u7684 \uff0c \u8bf7 \u52a1\u5fc5 \u68c0\u67e5 \u4ed6\u4eec \u7684 \u6587\u6863 \uff1a   \u81ea\u52a8 \u66dd\u5149   \u5f71\u89c6 \u7ea7 \u666f\u6df1 \u65b9\u6848   \u989c\u8272 \u5206\u7ea7 \u548c \u7535\u5f71 \u8272\u8c03 \u6620\u5c04 \u5c04\u5668 \u6620\u5c04\u5668   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   min _ fstop   float   1.2   \u6700\u5927 \u5149\u5708 \u3002   blade _ count   int   5   \u6784\u6210 \u9694\u819c \u673a\u6784 \u7684 \u53f6\u7247 \u6570\u91cf \u3002   exposure _ mode   str   histogram   \u53ef\u4ee5 \u662f   manual   \u6216 or   histogram   \u3002 \u66f4 \u591a \u5185\u5bb9 \u8bf7 \u53c2\u89c1   UE4   \u6587\u6863   \u3002   exposure _ compensation   float   Linux :   + 0.75   Windows :   0.0   \u66dd\u5149 \u7684 \u5bf9\u6570 \u8c03\u6574 \u3002 0 \uff1a \u65e0 \u8c03\u6574 \uff0c - 1 \uff1a 2   \u500d \u66f4 \u6697 \uff0c - 2 \uff1a 4   \u66f4\u6697 \uff0c 1 \uff1a 2   \u500d \u66f4\u4eae \uff0c 2 \uff1a 4   \u500d \u66f4\u4eae \u3002   exposure _ min _ bright   float   10.0   \u5728   exposure _ mode :   \" histogram \"   \u3002 \u81ea\u52a8 \u66dd\u5149 \u7684 \u6700\u4f4e \u4eae\u5ea6 \u3002 \u773c\u775b \u80fd \u9002\u5e94 \u7684 \u6700\u4f4e \u9650\u5ea6 \u3002 \u5fc5\u987b \u5927\u4e8e   0   \u4e14 \u5c0f\u4e8e \u6216 \u7b49\u4e8e   exposure _ max _ bright   \u3002   exposure _ max _ bright   float   12.0   \u5728 ` exposure _ mode :   \" histogram \" ` \u4e2d \u3002 \u81ea\u52a8 \u66dd\u5149 \u7684 \u6700\u5927 \u4eae\u5ea6 \u3002 \u773c\u775b \u80fd \u9002\u5e94 \u7684 \u6700\u9ad8 \u9650\u5ea6 \u3002 \u5fc5\u987b \u5927\u4e8e   0   \u4e14 \u5927\u4e8e \u6216 \u7b49\u4e8e   ` exposure _ min _ bright ` \u3002   exposure _ speed _ up   float   3.0   \u5728   exposure _ mode :   \" histogram \"   \u3002 \u3002 \u4ece \u9ed1\u6697 \u73af\u5883 \u5230 \u660e\u4eae \u73af\u5883 \u7684 \u9002\u5e94 \u901f\u5ea6 \u3002   exposure _ speed _ down   float   1.0   \u5728   exposure _ mode :   \" histogram \"   \u3002 \u4ece \u660e\u4eae \u73af\u5883 \u5230 \u9ed1\u6697 \u73af\u5883 \u7684 \u9002\u5e94 \u901f\u5ea6 \u3002   calibration _ constant   float   16.0   18%   \u53cd\u7167 \u53cd\u7167\u7387 \u7684 \u6821\u51c6 \u5e38\u6570 \u3002   focal _ distance   float   1000.0   \u666f\u6df1 \u6548\u679c \u5e94 \u6e05\u6670 \u7684 \u8ddd\u79bb \u3002 \u4ee5 \u5398\u7c73 \uff08 \u865a\u5e7b \u5f15\u64ce \u5355\u4f4d \uff09 \u4e3a \u5355\u4f4d \u6d4b\u91cf \u3002   blur _ amount   float   1.0   \u8fd0\u52a8 \u6a21\u7cca \u7684 \u5f3a\u5ea6 / \u5f3a\u5ea6 \u3002   blur _ radius   float   0.0   1080p   \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u4e0b \u7684 \u534a\u5f84 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \uff0c \u6839\u636e \u8ddd \u76f8\u673a \u7684 \u8ddd\u79bb \u4eff\u771f \u5927\u6c14 \u6563\u5c04 \u3002   motion _ blur _ intensity   float   0.45   \u8fd0\u52a8 \u6a21\u7cca \u7684 \u5f3a\u5ea6   [ 0 , 1 ] \u3002   motion _ blur _ max _ distortion   float   0.35   \u8fd0\u52a8 \u6a21\u7cca \u5f15\u8d77 \u7684 \u6700\u5927 \u5931\u771f \u3002 \u5c4f\u5e55 \u5bbd\u5ea6 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   motion _ blur _ min _ object _ screen _ size   float   0.1   \u5bf9\u4e8e \u8fd0\u52a8 \u6a21\u7cca \uff0c \u5bf9\u8c61 \u5fc5\u987b \u5177\u6709 \u5c4f\u5e55 \u5bbd\u5ea6 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \uff0c \u8f83 \u4f4e \u7684 \u503c \u610f\u5473 \u610f\u5473\u7740 \u8f83\u5c11 \u7684 \u7ed8\u5236 \u8c03\u7528 \u3002   slope   float   0.88   \u8272\u8c03 \u6620\u5c04 \u5c04\u5668 \u6620\u5c04\u5668   S   \u66f2\u7ebf \u7684 \u9661\u5ea6 \u3002 \u503c\u8d8a \u5927 \uff0c \u659c\u7387 \u8d8a \u9661 \uff08 \u8d8a\u6697 \uff09 [ 0.0 ,   1.0 ] \u3002   toe   float   0.55   \u8c03\u6574 \u8272\u8c03 \u6620\u5c04 \u5c04\u5668 \u6620\u5c04\u5668 \u4e2d \u7684 \u6df1\u8272   [ 0.0 ,   1.0 ] \u3002   shoulder   float   0.26   \u8c03\u6574 \u8272\u8c03 \u6620\u5c04 \u5c04\u5668 \u6620\u5c04\u5668 \u4e2d \u7684 \u660e\u4eae \u989c\u8272   [ 0.0 ,   1.0 ] \u3002   black _ clip   float   0.0   \u4e0d \u5e94 \u8c03\u6574 \u6b64\u503c \u3002 \u8bbe\u7f6e \u4ea4\u53c9 \u53d1\u751f \u548c \u9ed1\u8272 \u8272\u8c03 \u5f00\u59cb \u5207\u65ad \u5176\u503c \u7684 \u4f4d\u7f6e   [ 0.0 ,   1.0 ] \u3002   white _ clip   float   0.04   \u8bbe\u7f6e \u4ea4\u53c9 \u53d1\u751f \u7684 \u4f4d\u7f6e \uff0c \u5e76\u4e14 \u767d\u8272 \u8272\u8c03 \u5f00\u59cb \u5207\u65ad \u5176\u503c \u3002 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u60c5\u51b5 \u4e0b\u4f1a \u6709 \u7ec6\u5fae \u7684 \u53d8\u5316   [ 0.0 ,   1.0 ] \u3002   temp   float   6500.0   \u5e73\u8861 \u767d\u5e73\u8861 \u4e0e \u573a\u666f \u4e2d \u5149\u7ebf \u7684 \u6e29\u5ea6 \u6709\u5173 \u3002   \u767d\u5149   \uff1a \u5f53 \u4e0e \u5149\u6e29 \u5339\u914d \u65f6 \u3002   \u6696\u5149   \uff1a \u5f53 \u9ad8\u4e8e \u573a\u666f \u4e2d \u7684 \u5149\u7ebf \u65f6 \uff0c \u5448 \u6de1\u9ec4 \u9ec4\u8272 \u6de1\u9ec4\u8272 \u3002   \u51b7\u5149   \uff1a \u4f4e\u4e8e \u5149\u7ebf \u65f6 \u3002 \u84dd\u8272 \u3002   tint   float   0.0   \u5e73\u8861 \u767d\u5e73\u8861 \u6e29\u5ea6 \u8272\u8c03 \u3002 \u8c03\u6574 \u9752\u8272 \u548c \u6d0b\u7ea2 \u7ea2\u8272 \u6d0b\u7ea2\u8272 \u7684 \u989c\u8272 \u8303\u56f4 \u3002 \u8fd9 \u5e94\u8be5 \u4e0e \u5e73\u8861 \u767d\u5e73\u8861 \u6e29\u5ea6 \u5c5e\u6027 \u4e00\u8d77 \u4f7f\u7528 \u4ee5 \u83b7\u5f97 \u51c6\u786e \u7684 \u989c\u8272 \u3002 \u5728 \u67d0\u4e9b \u5149\u6e29 \u4e0b \uff0c \u989c\u8272 \u53ef\u80fd \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u66f4 \u9ec4 \u6216 \u66f4 \u84dd \u3002 \u8fd9 \u53ef \u7528\u4e8e \u5e73\u8861 \u6700\u7ec8 \u7684 \u989c\u8272 \uff0c \u4f7f \u5176 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u66f4 \u81ea\u7136 \u3002   chromatic _ aberration _ intensity   float   0.0   \u7528\u4e8e \u63a7\u5236 \u8272\u5f69 \u504f\u79fb \u7684 \u7f29\u653e \u56e0\u5b50 \uff0c \u5728 \u5c4f\u5e55 \u8fb9\u6846 \u4e0a \u66f4 \u660e\u663e \u3002   chromatic _ aberration _ offset   float   0.0   \u5230 \u53d1\u751f \u6548\u679c \u7684 \u56fe\u50cf \u4e2d\u5fc3 \u7684 \u6b63\u5219 \u5316 \u8ddd\u79bb \u3002   enable _ postprocess _ effects   bool   True   \u5904\u7406 \u540e\u5904\u7406 \u6548\u679c \u6fc0\u6d3b \u3002   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   width   int   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   height   int   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   fov   float   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   bytes   BGRA   32   \u4f4d \u50cf\u7d20 \u9635\u5217 \u3002   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u84dd\u56fe \uff1a   sensor . other . rss   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65   carla . RssResponse   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u91cd\u8981   \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u5728 \u9605\u8bfb \u672c\u6587 \u4e4b\u524d \u5148 \u9605\u8bfb \u5177\u4f53 \u7684   \u4efb \u654f\u611f \u5b89\u5168 \u6587\u6863   \u3002   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u96c6\u6210 \u4e86   Carla   \u4e2d \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168   C++   \u5e93   \u3002 \u5b83 \u5728   Carla   \u4e2d \u9ed8\u8ba4 \u88ab \u7981\u7528 \uff0c \u5e76\u4e14 \u5fc5\u987b \u663e\u5f0f \u6784\u5efa \u624d\u80fd \u4f7f\u7528 \u3002   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8ba1\u7b97 \u8f66\u8f86 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u72b6\u6001 \u5e76 \u68c0\u7d22 \u5f53\u524d \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u54cd\u5e94 \u4f5c\u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   carla . RssRestrictor   \u5c06 \u4f7f\u7528 \u6b64 \u6570\u636e \u6765 \u8c03\u6574   carla . VehicleControl   \uff0c \u7136\u540e \u518d \u5c06 \u5176 \u5e94\u7528 \u4e8e \u8f66\u8f86 \u3002   \u8fd9\u4e9b \u63a7\u5236 \u63a7\u5236\u5668 \u53ef\u4ee5 \u901a\u8fc7   \u81ea\u52a8 \u9a7e\u9a76   \u5806\u6808 \u6216 \u7528\u6237 \u8f93\u5165 \u751f\u6210 \u3002 \u4f8b\u5982 \uff0c \u4e0b\u9762 \u6709 \u4e00\u6bb5 \u6765\u81ea   \u7684 \u4ee3\u7801 \u7247\u6bb5   PythonAPI / examples / rss / manual _ control _ rss . py   \uff0c \u5176\u4e2d \u5728 \u5fc5\u8981 \u65f6 \u4f7f\u7528 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4fee\u6539 \u7528\u6237 \u8f93\u5165 \u3002   1 .   \u68c0\u67e5   RssSensor   \u662f\u5426 \u751f\u6210 \u5305\u542b \u9650\u5236 \u7684 \u6709\u6548 \u54cd\u5e94 \u3002   2 .   \u6536\u96c6 \u8f66\u8f86 \u7684 \u5f53\u524d \u52a8\u6001 \u548c \u8f66\u8f86 \u7269\u7406 \u7279\u6027 \u3002   3 .   \u4f7f\u7528   RssSensor   \u7684 \u54cd\u5e94 \u4ee5\u53ca \u8f66\u8f86 \u5f53\u524d \u7684 \u52a8\u6001 \u548c \u7269\u7406 \u7279\u6027 \u5bf9 \u8f66\u8f86 \u63a7\u5236 \u65bd\u52a0 \u9650\u5236 \u3002   rss _ proper _ response   =   self ._ world . rss _ sensor . proper _ response   if   self ._ world . rss _ sensor   and   self ._ world . rss _ sensor . response _ valid   else   None   if   rss _ proper _ response :   ...   vehicle _ control   =   self ._ restrictor . restrict _ vehicle _ control (   vehicle _ control ,   rss _ proper _ response ,   self ._ world . rss _ sensor . ego _ dynamics _ on _ route ,   self ._ vehicle _ physics )   carla . RssSensor   \u7c7b   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u84dd\u56fe \u6ca1\u6709 \u53ef \u4fee\u6539 \u7684 \u5c5e\u6027 \u3002 \u4f46\u662f \uff0c \u5b83 \u5b9e\u4f8b \u5316 \u7684   carla . RssSensor   \u5bf9\u8c61 \u5177\u6709   Python   API   \u53c2\u8003 \u4e2d \u8be6\u7ec6 \u4ecb\u7ecd \u7684 \u5c5e\u6027 \u548c \u65b9\u6cd5 \u3002 \u4ee5\u4e0b \u662f \u5b83\u4eec \u7684 \u6458\u8981 \u3002   carla . RssSensor   \u53d8\u91cf   \u7c7b\u578b   \u63cf\u8ff0   ego _ vehicle _ dynamics   ad . rss . world . RssDynamics   \u5e94\u7528 \u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   other _ vehicle _ dynamics   ad . rss . world . RssDynamics   \u9002\u7528 \u4e8e \u5176\u4ed6 \u8f66\u8f86 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   pedestrian _ dynamics   ad . rss . world . RssDynamics   \u9002\u7528 \u4e8e \u884c\u4eba \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   road _ boundaries _ mode   carla . RssRoadBoundariesMode   \u542f\u7528 / \u7981\u7528   \u7559\u5728 \u9053\u8def \u4e0a   \u529f\u80fd \u3002 \u9ed8\u8ba4 \u4e3a   \u5173\u95ed   \u3002   #   rss _ sensor . py   \u4ee3\u7801 \u7247\u6bb5   #   The   carla . RssSensor   is   updated   when   listening   for   a   new   carla . RssResponse   def   _ on _ rss _ response ( weak _ self ,   response ) :   ...   self . timestamp   =   response . timestamp   self . response _ valid   =   response . response _ valid   self . proper _ response   =   response . proper _ response   self . ego _ dynamics _ on _ route   =   response . ego _ dynamics _ on _ route   self . rss _ state _ snapshot   =   response . rss _ state _ snapshot   self . situation _ snapshot   =   response . situation _ snapshot   self . world _ model   =   response . world _ model   \u8b66\u544a   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5b8c\u5168 \u5de5\u4f5c \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e2d \u6ca1\u6709 \u84dd\u56fe \u3002 \u5bf9 \u5c5e\u6027 \u7684 \u66f4\u6539 \u5c06 \u5728 \u8c03\u7528   listen ( )   \u540e   \u751f\u6548 \u3002   \u6b64\u7c7b \u4e2d \u53ef\u7528 \u7684 \u65b9\u6cd5 \u4e0e \u8f66\u8f86 \u7684 \u8def\u7ebf \u6709\u5173 \u3002 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u8ba1\u7b97 \u59cb\u7ec8 \u57fa\u4e8e \u672c\u8f66 \u901a\u8fc7 \u9053\u8def \u7f51\u7edc \u7684 \u8def\u7ebf \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5141\u8bb8 \u901a\u8fc7 \u63d0\u4f9b \u4e00\u4e9b \u5173\u952e \u5173\u952e\u70b9 \u6765 \u63a7\u5236 \u6240 \u8003\u8651 \u7684 \u8def\u7ebf \uff0c \u8fd9\u4e9b \u5173\u952e \u5173\u952e\u70b9 \u53ef\u80fd \u662f   carla . Transform   \u4e2d \u7684   carla . Waypoint   \u3002 \u6700\u597d \u5728 \u4ea4\u53c9 \u4ea4\u53c9\u70b9 \u4e4b\u540e \u9009\u62e9 \u8fd9\u4e9b \u70b9 \uff0c \u4ee5 \u5f3a\u5236 \u8def\u7ebf \u91c7\u53d6 \u6240 \u9700 \u7684 \u8f6c\u5f2f \u3002   carla . RssSensor   \u65b9\u6cd5   \u63cf\u8ff0   routing _ targets   \u83b7\u53d6 \u7528\u4e8e \u8def\u7531 \u7684 \u5f53\u524d \u8def\u7531 \u76ee\u6807 \u5217\u8868 \u3002   append _ routing _ target   \u5c06 \u9644\u52a0 \u4f4d\u7f6e \u9644\u52a0 \u5230 \u5f53\u524d \u8def\u7531 \u76ee\u6807 \u3002   reset _ routing _ targets   \u5220\u9664 \u9644\u52a0 \u7684 \u8def\u7531 \u76ee\u6807 \u3002   drop _ route   \u653e\u5f03 \u5f53\u524d \u8def\u7531 \u5e76 \u521b\u5efa \u4e00\u6761 \u65b0\u8def \u7531 \u3002   register _ actor _ constellation _ callback   \u6ce8\u518c \u56de\u8c03 \u6765\u81ea \u5b9a\u4e49 \u8ba1\u7b97 \u3002   set _ log _ level   \u8bbe\u7f6e \u65e5\u5fd7 \u7ea7\u522b \u3002   set _ map _ log _ level   \u8bbe\u7f6e \u7528\u4e8e \u5730\u56fe \u76f8\u5173 \u65e5\u5fd7 \u7684 \u65e5\u5fd7 \u7ea7\u522b \u3002   #   \u66f4\u65b0 \u5f53\u524d \u8def\u7ebf   self . sensor . reset _ routing _ targets ( )   if   routing _ targets :   for   target   in   routing _ targets :   self . sensor . append _ routing _ target ( target )   \u7b14\u8bb0   \u5982\u679c \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \u8def\u7531 \u76ee\u6807 \uff0c \u5219 \u4f1a \u521b\u5efa \u968f\u673a \u8def\u7531 \u3002   \u8f93\u51fa \u5c5e\u6027   carla . RssResponse   \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   response _ valid   bool   \u54cd\u5e94 \u6570\u636e \u7684 \u6709\u6548 \u6709\u6548\u6027 \u3002   proper _ response   ad . rss . state . ProperResponse   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4e3a \u8f66\u8f86 \u8ba1\u7b97 \u7684 \u6b63\u786e \u54cd\u5e94 \uff0c \u5305\u62ec \u52a0\u901f \u9650\u5236 \u3002   rss _ state _ snapshot   ad . rss . state . RssStateSnapshot   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u72b6\u6001 \u4e3a \u5f53\u524d \u65f6\u95f4 \u70b9 \u3002 \u8fd9\u662f \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u8ba1\u7b97 \u7684 \u8be6\u7ec6 \u7684 \u5355\u72ec \u8f93\u51fa \u3002   situation _ snapshot   ad . rss . situation . SituationSnapshot   \u5f53\u524d \u65f6\u95f4 \u70b9 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u60c5\u51b5 \u3002 \u8fd9\u662f \u7528\u4e8e   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u8ba1\u7b97 \u7684 \u7ecf\u8fc7 \u5904\u7406 \u7684 \u8f93\u5165 \u6570\u636e \u3002   world _ model   ad . rss . world . WorldModel   \u5f53\u524d \u65f6\u95f4 \u70b9 \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u4e16\u754c \u6a21\u578b \u3002 \u8fd9\u662f   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u8ba1\u7b97 \u7684 \u8f93\u5165 \u6570\u636e \u3002   ego _ dynamics _ on _ route   carla . RssEgoDynamicsOnRoute   \u5173\u4e8e \u8def\u7ebf \u7684 \u5f53\u524d \u81ea\u6211 \u8f66\u8f86 \u52a8\u6001 \u3002   \u5982\u679c \u6ce8\u518c \u4e86   actor _ constellation _ callback \uff0c \u5219 \u4f1a \u89e6\u53d1 \u4ee5\u4e0b \u8c03\u7528 \uff1a   \u9ed8\u8ba4 \u8ba1\u7b97   (   actor _ constellation _ data . other _ actor = None   )   \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8ba1\u7b97   #   rss _ sensor . py   \u4ee3\u7801 \u7247\u6bb5   #   \u6ce8\u518c \u8be5 \u51fd\u6570 \u4e3a   actor _ constellation _ callback   def   _ on _ actor _ constellation _ request ( self ,   actor _ constellation _ data ) :   actor _ constellation _ result   =   carla . RssActorConstellationResult ( )   actor _ constellation _ result . rss _ calculation _ mode   =   ad . rss . map . RssMode . NotRelevant   actor _ constellation _ result . restrict _ speed _ limit _ mode   =   ad . rss . map . RssSceneCreation . RestrictSpeedLimitMode . IncreasedSpeedLimit10   actor _ constellation _ result . ego _ vehicle _ dynamics   =   self . current _ vehicle _ parameters   actor _ constellation _ result . actor _ object _ type   =   ad . rss . world . ObjectType . Invalid   actor _ constellation _ result . actor _ dynamics   =   self . current _ vehicle _ parameters   actor _ id   =   - 1   actor _ type _ id   =   \" none \"   if   actor _ constellation _ data . other _ actor   ! =   None :   #   \u4e3a \u7279\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5b9a\u5236   actor _ constellation _ result   ...   else :   #   \u9ed8\u8ba4   ...   return   actor _ constellation _ result   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u84dd\u56fe \uff1a   sensor . lidar . ray _ cast _ semantic   \u8f93\u51fa \uff1a   \u6bcf\u6b65   carla . SemanticLidarMeasurement   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4eff\u771f \u4f7f\u7528 \u5c04\u7ebf \u6295\u5c04 \u5b9e\u73b0 \u7684 \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff0c \u516c\u5f00 \u6709\u5173 \u5c04\u7ebf \u6295\u5c04 \u547d\u4e2d \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u5b83 \u7684 \u884c\u4e3a \u4e0e   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u975e\u5e38 \u76f8\u4f3c \uff0c \u4f46 \u5b83\u4eec \u4e4b\u95f4 \u6709 \u4e24\u4e2a \u4e3b\u8981 \u533a\u522b \u3002   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u68c0\u7d22 \u5230 \u7684 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u6bcf\u4e2a \u70b9 \u5305\u542b \u66f4 \u591a \u6570\u636e \u3002   \u8be5\u70b9 \u7684 \u5750\u6807 \uff08 \u4e0e \u666e\u901a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4e00\u6837 \uff09 \u3002   \u5165\u5c04 \u5c04\u89d2 \u5165\u5c04\u89d2 \u4e0e \u8868\u9762 \u6cd5\u7ebf \u4e4b\u95f4 \u7684 \u4f59\u5f26 \u503c \u3002   \u5b9e\u4f8b \u548c \u8bed\u4e49 \u57fa\u7840 \u4e8b\u5b9e \u3002 \u57fa\u672c \u57fa\u672c\u4e0a \u662f   Carla   \u5bf9\u8c61 \u547d\u4e2d \u7684 \u7d22\u5f15 \u53ca\u5176 \u8bed\u4e49 \u6807\u7b7e \u3002   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u65e2 \u4e0d \u5305\u542b \u5f3a\u5ea6 \u3001 \u8870\u51cf \u4e5f \u4e0d \u5305\u542b \u566a\u58f0 \u6a21\u578b \u5c5e\u6027 \u3002   \u8fd9\u4e9b \u70b9 \u662f \u901a\u8fc7 \u4e3a \u5782\u76f4   FOV   \u4e2d \u5206\u5e03 \u7684 \u6bcf\u4e2a \u901a\u9053 \u6dfb\u52a0 \u6fc0\u5149 \u6765 \u8ba1\u7b97 \u7684 \u3002 \u65cb\u8f6c \u662f \u901a\u8fc7 \u8ba1\u7b97 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5728 \u4e00\u5e27 \u4e2d \u65cb\u8f6c \u7684 \u6c34\u5e73 \u89d2\u5ea6 \u6765 \u4eff\u771f \u7684 \u3002 \u70b9\u4e91 \u662f \u901a\u8fc7 \u5728 \u6bcf\u4e2a \u6b65\u9aa4 \u4e2d \u5bf9 \u6bcf\u4e2a \u6fc0\u5149 \u8fdb\u884c \u5149\u7ebf \u6295\u5c04 \u6765 \u8ba1\u7b97 \u7684 \u3002   points _ per _ channel _ each _ step   =   points _ per _ second   /   ( FPS   *   channels )   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6d4b\u91cf \u5305\u542b \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff0c \u5176\u4e2d \u5305\u542b \u5728 \u67d0\u4e2a \u65f6\u95f4   1 / FPS   \u95f4\u9694 \u5185 \u751f\u6210 \u7684 \u6240\u6709 \u70b9 \u3002 \u5728 \u6b64 \u95f4\u9694 \u671f\u95f4 \uff0c \u7269\u7406 \u4e0d\u4f1a \u66f4\u65b0 \uff0c \u56e0\u6b64 \u6d4b\u91cf \u4e2d \u7684 \u6240\u6709 \u70b9 \u90fd \u53cd\u6620 \u573a\u666f \u7684 \u76f8\u540c \u201c \u9759\u6001 \u56fe\u7247 \u201d \u3002   \u6b64 \u8f93\u51fa \u5305\u542b \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u8bed\u4e49 \u68c0\u6d4b \u4e91 \uff0c \u56e0\u6b64 \uff0c \u53ef\u4ee5 \u5bf9 \u5176 \u8fdb\u884c \u8fed\u4ee3 \u4ee5 \u68c0\u7d22 \u5176 \u5217\u8868   carla . SemanticLidarDetection   \uff1a   for   detection   in   semantic _ lidar _ measurement :   print ( detection )   \u53ef\u4ee5 \u8c03\u6574 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7684 \u65cb\u8f6c \u4ee5 \u8986\u76d6 \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u7684 \u7279\u5b9a \u89d2\u5ea6 \uff08 \u4f7f\u7528   \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f   \uff09 \u3002 \u4f8b\u5982 \uff0c \u6bcf\u6b65 \u65cb\u8f6c \u4e00\u6b21 \uff08 \u6574\u5708 \u8f93\u51fa \uff0c \u5982\u4e0b \u56fe \uff09 \uff0c \u65cb\u8f6c \u9891\u7387 \u548c \u4eff\u771f \u7684 FPS \u5e94\u8be5 \u76f8\u7b49 \u3002   1 .   \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u9891\u7387   sensors _ bp [ ' lidar ' ] [ 0 ] . set _ attribute ( ' rotation _ frequency ' , ' 10 ' )   \u3002   2 .   \u4f7f\u7528   python3   config . py   -- fps = 10   \u8fd0\u884c \u4eff\u771f \u3002   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   channels   int   32   \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6570\u91cf \u3002   range   float   10.0   \u6d4b\u91cf / \u5149\u7ebf \u6295\u5c04 \u7684 \u6700\u5927 \u8ddd\u79bb \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff08 Carla   0.9 . 6   \u6216 \u66f4 \u4f4e\u7248 \u7248\u672c \u4f4e\u7248\u672c \u4e3a \u5398\u7c73 \uff09 \u3002   points _ per _ second   int   56000   \u6240\u6709 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6bcf\u79d2 \u751f\u6210 \u7684 \u70b9 \u3002   rotation _ frequency   float   10.0   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u65cb\u8f6c \u9891\u7387 \u3002   upper _ fov   float   10.0   \u6700\u9ad8 \u6fc0\u5149 \u7684 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   lower _ fov   float   - 30.0   \u6700\u4f4e \u6fc0\u5149 \u7684 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   horizontal _ fov   float   360.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \uff0c 0   -   360 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   horizontal _ angle   float   \u5f53\u524d \u5e27 \u4e2d   LIDAR   \u7684   XY   \u5e73\u9762 \u4e2d \u7684 \u89d2\u5ea6 \uff08 \u5f27\u5ea6 \uff09 \u3002   channels   int   LIDAR   \u7684 \u901a\u9053 \uff08 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \uff09 \u6570\u91cf \u3002   get _ point _ count ( channel )   int   \u5f53\u524d \u5e27 \u4e2d \u6355\u83b7 \u7684 \u6bcf\u4e2a \u901a\u9053 \u7684 \u70b9\u6570 \u3002   raw _ data   bytes   \u5305\u542b \u5177\u6709 \u5b9e\u4f8b \u548c \u8bed\u4e49 \u4fe1\u606f \u7684 \u70b9\u4e91 \u7684 \u6570\u7ec4 \u3002 \u5bf9\u4e8e \u6bcf\u4e2a \u70b9 \uff0c \u5b58\u50a8 \u56db\u4e2a   32   \u4f4d \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \u3002   XYZ   \u5750\u6807 \u3002   \u5165\u5c04 \u5c04\u89d2 \u5165\u5c04\u89d2 \u7684 \u4f59\u5f26 \u3002   Unsigned   int   \u5305\u542b \u547d\u4e2d \u5bf9\u8c61 \u7684 \u7d22\u5f15 \u3002   Unsigned   int   \u5305\u542b \u5bf9\u8c61   it   \u7684 \u8bed\u4e49 \u6807\u7b7e \u3002   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u84dd\u56fe \uff1a   sensor . camera . semantic _ segmentation   \u8f93\u51fa \uff1a   \u6bcf\u6b65   carla . Image   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u8be5 \u6444\u50cf \u6444\u50cf\u673a \u6839\u636e \u5176 \u6807\u7b7e \u4ee5 \u4e0d\u540c \u7684 \u989c\u8272 \u663e\u793a \u5b83 \uff0c \u4ece\u800c \u5bf9 \u53ef\u89c1 \u7684 \u6bcf\u4e2a \u7269\u4f53 \u8fdb\u884c \u5206\u7c7b \uff08 \u4f8b\u5982 \uff0c \u884c\u4eba \u4e0e \u8f66\u8f86 \u7684 \u989c\u8272 \u4e0d\u540c \uff09 \u3002 \u5f53 \u4eff\u771f \u5f00\u59cb \u65f6 \uff0c \u573a\u666f \u4e2d \u7684 \u6bcf\u4e2a \u5143\u7d20 \u90fd \u4f1a \u4f7f\u7528 \u6807\u7b7e \u521b\u5efa \u3002 \u6240\u4ee5 \u5f53 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ea7\u751f \u65f6 \u5c31 \u4f1a \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \u3002 \u5bf9\u8c61 \u6309 \u5176 \u5728 \u9879\u76ee \u4e2d \u7684 \u76f8\u5bf9 \u6587\u4ef6 \u8def\u5f84 \u8fdb\u884c \u5206\u7c7b \u3002 \u4f8b\u5982 \uff0c \u5b58\u50a8 \u5728 \u4e2d \u7684 \u7f51\u683c   Unreal / CarlaUE4 / Content / Static / Pedestrians   \u88ab \u6807\u8bb0 \u4e3a   Pedestrian   \u3002   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u63d0\u4f9b \u7684 \u56fe\u50cf \u7684 \u6807\u7b7e \u4fe1\u606f   \u7f16\u7801 \u5728 \u7ea2\u8272 \u901a\u9053 \u4e2d   \uff1a   \u7ea2\u8272 \u503c\u4e3a   \u7684 \u50cf\u7d20   x   \u5c5e\u4e8e \u5e26\u6709 \u6807\u7b7e \u7684 \u5bf9\u8c61   x   \u3002 \u8fd9\u4e2a \u539f\u59cb \u7684   carla . Image   \u53ef\u4ee5 \u5728   carla . ColorConverter   \u4e2d \u7684   CityScapesPalette   \u7684 \u5e2e\u52a9 \u4e0b \u5b58\u50a8 \u548c \u8f6c\u6362 \uff0c \u4ee5 \u5e94\u7528 \u6807\u7b7e \u4fe1\u606f \u5e76 \u901a\u8fc7 \u8bed\u4e49 \u5206\u5272 \u663e\u793a \u56fe\u7247 \u3002   ...   raw _ image . save _ to _ disk ( \" path / to / save / converted / image \" , carla . cityScapesPalette )   \u76ee\u524d \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u6807\u7b7e \uff08 \u6ce8\u610f \uff1a \u4ece \u7248\u672c 0.9 . 13 \u5230 0.9 . 14 \u6570\u5b57 \u6240 \u5bf9\u5e94 \u7684 \u6807\u7b7e \u53d1\u751f \u4e86 \u5f88\u5927 \u53d8\u5316 \uff09 \uff1a   \u503c   \u6807\u7b7e   \u8f6c\u6362 \u540e \u7684 \u989c\u8272   \u63cf\u8ff0   0   Unlabeled   ( 0 ,   0 ,   0 )   \u8003\u8651 \u5c1a\u672a \u5206\u7c7b \u7684 \u5143\u7d20   Unlabeled   \u3002 \u8be5 \u7c7b\u522b \u5e94\u8be5 \u662f \u7a7a \u7684 \u6216 \u81f3\u5c11 \u5305\u542b \u6ca1\u6709 \u51b2\u7a81 \u7684 \u5143\u7d20 \u3002   1   Roads   ( 128 ,   64 ,   128 )   \u6c7d\u8f66 \u901a\u5e38 \u884c\u9a76 \u7684 \u90e8\u5206 \u5730\u9762 \u3002   \u6bd4\u5982 \uff0c \u4efb\u4f55 \u65b9\u5411 \u7684 \u8f66\u9053 \u548c \u8857\u9053 \u3002   2   SideWalk   ( 244 ,   35 ,   232 )   \u6307\u5b9a \u4f9b \u884c\u4eba \u6216 \u9a91 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u8005 \u4f7f\u7528 \u7684 \u5730\u9762 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u4e0d\u4ec5 \u901a\u8fc7 \u6807\u8bb0 \uff0c \u8fd8 \u901a\u8fc7 \u4e00\u4e9b \u969c\u788d \u969c\u788d\u7269 \uff08 \u4f8b\u5982 \u8def\u7f18 \u77f3 \u6216 \u6746\u5b50 \uff09 \u5c06 \u9053\u8def \u4e0e \u9053\u8def \u5206 \u9694\u5f00 \u3002 \u8be5 \u6807\u7b7e \u5305\u62ec \u53ef\u80fd \u5212\u5b9a \u7684 \u8def\u8fb9 \u3001 \u4ea4\u901a \u4ea4\u901a\u5c9b \uff08 \u6b65\u884c \u90e8\u5206 \uff09 \u548c \u6b65\u884c \u533a \u3002   3   Building   ( 70 ,   70 ,   70 )   \u623f\u5c4b \u3001 \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c \u7b49 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4ee5\u53ca \u9644\u7740 \u5728 \u5176 \u4e0a \u7684 \u5143\u7d20 \u3002   \u4f8b\u5982 \u7a7a\u8c03 \u3001 \u811a\u624b \u811a\u624b\u67b6 \u3001 \u906e\u9633 \u906e\u9633\u7bf7 \u6216 \u68af\u5b50 \u7b49 \u3002   4   Wall   ( 102 ,   102 ,   156 )   \u72ec\u7acb \u7684 \u7acb\u5899 \u3002 \u4e0d\u662f \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   5   Fence   ( 100 ,   40 ,   40 )   \u969c\u788d \u969c\u788d\u7269 \u3001 \u680f\u6746 \u6216 \u5176\u4ed6 \u76f4\u7acb \u7ed3\u6784 \u3002 \u57fa\u672c \u57fa\u672c\u4e0a \u662f \u5305\u56f4 \u5730\u9762 \u533a\u57df \u7684 \u6728\u6750 \u6216 \u7535\u7ebf \u7ec4\u4ef6 \u3002   6   Pole   ( 153 ,   153 ,   153 )   \u4e3b\u8981 \u4e3a \u5782\u76f4 \u65b9\u5411 \u7684 \u5c0f\u578b \u6746 \u3002 \u5982\u679c \u6746\u6709 \u6c34\u5e73 \u90e8\u5206 \uff08 \u901a\u5e38 \u7528\u4e8e \u4ea4\u901a \u4ea4\u901a\u706f \u6746 \uff09 \uff0c \u5219 \u4e5f \u88ab \u89c6\u4e3a \u6746 \u3002   \u4f8b\u5982 \u6807\u5fd7 \u6746 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u6746 \u3002   7   TrafficLight   ( 250 ,   170 ,   30 )   \u6ca1\u6709 \u706f\u6746 \u7684 \u4ea4\u901a \u706f\u7bb1 \u3002   8   TrafficSign   ( 220 ,   220 ,   0 )   \u7531\u5dde / \u5e02 \u5f53\u5c40 \u5b89\u88c5 \u7684 \u6807\u5fd7 \uff0c \u901a\u5e38 \u7528\u4e8e \u4ea4\u901a \u7ba1\u5236 \u4ea4\u901a\u7ba1\u5236 \u3002 \u6b64 \u7c7b\u522b \u4e0d \u5305\u62ec \u9644\u6709 \u6807\u5fd7 \u7684 \u6746 \u3002   \u4f8b\u5982 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3001 \u505c\u8f66 \u6807\u5fd7 \u3001 \u65b9\u5411 \u6807\u5fd7 ...   9   Vegetation   ( 107 ,   142 ,   35 )   \u6811\u6728 \u3001 \u6811\u7bf1 \u3001 \u5404\u79cd \u5782\u76f4 \u690d\u88ab \u3002 \u8003\u8651 \u5730\u9762 \u690d\u88ab   Terrain   \u3002   10   Terrain   ( 145 ,   170 ,   100 )   \u8349 \u3001 \u5730\u9762 \u690d\u88ab \u3001 \u571f\u58e4 \u6216 \u6c99\u5b50 \u3002 \u8fd9\u4e9b \u533a\u57df \u4e0d \u9002\u5408 \u884c\u9a76 \u3002 \u8be5 \u6807\u7b7e \u5305\u62ec \u53ef\u80fd \u7684 \u9650\u5236 \u9650\u5236\u6027 \u8def\u7f18\u77f3 \u3002   11   Sky   ( 70 ,   130 ,   180 )   \u5f00\u9614 \u7684 \u5929\u7a7a \u3002 \u5305\u62ec \u4e91 \u548c \u592a\u9633 \u3002   12   Pedestrian   ( 220 ,   20 ,   60 )   \u6b65\u884c \u6216 \u4e58\u5750 / \u9a7e\u9a76 \u4efb\u4f55 \u7c7b\u578b \u7684 \u8f66\u8f86 \u6216 \u79fb\u52a8 \u7cfb\u7edf \u7684 \u4eba \u3002   \u4f8b\u5982 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u6216 \u8e0f\u677f \u677f\u8f66 \u8e0f\u677f\u8f66 \u3001 \u6ed1\u677f \u3001 \u9a6c \u3001 \u65f1\u51b0 \u51b0\u978b \u65f1\u51b0\u978b \u3001 \u8f6e\u6905 \u7b49 \u3002   13   Rider   ( 0 ,   0 ,   142 )   \u4eba\u7c7b \u4e58\u5750 / \u9a7e\u9a76 \u4efb\u4f55 \u7c7b\u578b \u7684 \u8f66\u8f86 \u6216 \u79fb\u52a8 \u7cfb\u7edf \u3002   \u4f8b\u5982 \uff1a \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u6216 \u8e0f\u677f \u677f\u8f66 \u8e0f\u677f\u8f66 \u3001 \u6ed1\u677f \u3001 \u9a6c \u3001 \u8f6e\u6ed1 \u3001 \u8f6e\u6905 \u7b49 \u3002   14   Car   ( 0 ,   0 ,   142 )   \u6c7d\u8f66 \u3001 \u5927\u84ec \u8d27\u8f66   15   Truck   ( 0 ,   0 ,   70 )   \u5361\u8f66   16   Bus   ( 0 ,   60 ,   100 )   \u516c\u4ea4 \u516c\u4ea4\u8f66   17   Truck   ( 0 ,   80 ,   100 )   \u706b\u8f66   18   Motorcycle   ( 0 ,   0 ,   230 )   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   19   Bicycle   ( 119 ,   11 ,   32 )   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   20   Static   ( 110 ,   190 ,   160 )   \u573a\u666f \u4e2d \u7684 \u5143\u7d20 \u548c \u9053\u5177 \u662f \u4e0d\u53ef \u79fb\u52a8 \u7684 \u3002   \u4f8b\u5982 \u6d88\u9632 \u6d88\u9632\u6813 \u3001 \u56fa\u5b9a \u957f\u51f3 \u3001 \u55b7\u6cc9 \u3001 \u516c\u4ea4 \u8f66\u7ad9 \u516c\u4ea4\u8f66 \u516c\u4ea4\u8f66\u7ad9 \u7b49 \u3002   21   Dynamic   ( 170 ,   120 ,   50 )   \u4f4d\u7f6e \u5bb9\u6613 \u968f \u65f6\u95f4 \u53d8\u5316 \u7684 \u5143\u7d20 \u3002   \u4f8b\u5982 \u53ef \u79fb\u52a8 \u5783\u573e \u5783\u573e\u6876 \u3001 \u624b\u63a8 \u63a8\u8f66 \u624b\u63a8\u8f66 \u3001 \u888b\u5b50 \u3001 \u8f6e\u6905 \u3001 \u52a8\u7269 \u7b49 \u3002   22   Other   ( 55 ,   90 ,   80 )   \u4e00\u5207 \u4e0d \u5c5e\u4e8e \u4efb\u4f55 \u5176\u4ed6 \u7c7b\u522b \u7684 \u4e1c\u897f \u3002   23   Water   ( 45 ,   60 ,   150 )   \u6c34\u5e73 \u6c34\u9762 \u3002   \u4f8b\u5982 \u6e56\u6cca \u3001 \u6d77\u6d0b \u3001 \u6cb3\u6d41 \u3002   24   RoadLine   ( 157 ,   234 ,   50 )   \u9053\u8def \u4e0a \u7684 \u6807\u8bb0 \u3002   25   Ground   ( 81 ,   0 ,   81 )   \u4e0e \u4efb\u4f55 \u5176\u4ed6 \u7c7b\u522b \u4e0d \u5339\u914d \u7684 \u4efb\u4f55 \u6c34\u5e73 \u5730\u9762 \u7ed3\u6784 \u3002 \u4f8b\u5982 \uff0c \u8f66\u8f86 \u548c \u884c\u4eba \u5171\u4eab \u7684 \u533a\u57df \uff0c \u6216 \u901a\u8fc7 \u8def\u7f18 \u4e0e \u9053\u8def \u5206\u9694 \u7684 \u5e73\u5766 \u73af\u5c9b \u3002   26   Bridge   ( 150 ,   100 ,   100 )   \u53ea\u6709 \u6865 \u7684 \u7ed3\u6784 \u3002 \u6805\u680f \u3001 \u4eba \u3001 \u8f66\u8f86 \u4ee5\u53ca \u5176\u4e0a \u7684 \u5176\u4ed6 \u5143\u7d20 \u90fd \u88ab \u5355\u72ec \u6807\u8bb0 \u3002   27   RailTrack   ( 230 ,   150 ,   140 )   \u5404\u79cd \u975e \u6c7d\u8f66 \u884c\u9a76 \u7684 \u94c1\u8f68 \u3002   \u4f8b\u5982 \u5730\u94c1 \u548c \u706b\u8f66 \u94c1\u8f68 \u3002   28   GuardRail   ( 180 ,   165 ,   180 )   \u6240\u6709 \u7c7b\u578b \u7684 \u62a4\u680f / \u9632\u649e \u680f \u3002   \u7b14\u8bb0   \u9605\u8bfb   \u672c   \u6559\u7a0b \u4ee5 \u521b\u5efa \u65b0 \u7684 \u8bed\u4e49 \u6807\u7b7e \u3002   \u76f8\u673a \u57fa\u672c \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   fov   float   90.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ x   int   800   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ y   int   600   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u6ef4\u7b54 \u6ef4\u7b54\u58f0 \uff09 \u3002   \u76f8\u673a \u955c\u5934 \u7578\u53d8 \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   lens _ circle _ falloff   float   5.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ circle _ multiplier   float   0.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ k   float   - 1.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ kcube   float   0.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ x _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   lens _ y _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   fov   float   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   height   int   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   bytes   BGRA   32   \u4f4d \u50cf\u7d20 \u9635\u5217 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   width   int   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   \u5b9e\u4f8b \u5206\u5272 \u76f8\u673a   \u84dd\u56fe \uff1a   sensor . camera . instance _ segmentation   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65 \u4e00\u4e2a   carla . Image   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u8be5 \u76f8\u673a \u6839\u636e \u7c7b\u522b \u548c \u5b9e\u4f8b   ID   \u5bf9 \u89c6\u91ce \u4e2d \u7684 \u6bcf\u4e2a \u5bf9\u8c61 \u8fdb\u884c \u5206\u7c7b \u3002 \u5f53 \u6a21\u62df \u5f00\u59cb \u65f6 \uff0c \u573a\u666f \u4e2d \u7684 \u6bcf\u4e2a \u5143\u7d20 \u90fd \u4f1a \u88ab \u521b\u5efa \u4e3a \u4e00\u4e2a \u6807\u7b7e \u3002 \u56e0\u6b64 \uff0c \u5f53 \u751f\u6210 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \u5c31 \u4f1a \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \u3002 \u5bf9\u8c61 \u6839\u636e \u5176 \u5728 \u9879\u76ee \u4e2d \u7684 \u76f8\u5bf9 \u6587\u4ef6 \u8def\u5f84 \u8fdb\u884c \u5206\u7c7b \u3002 \u4f8b\u5982 \uff0c \u5b58\u50a8 \u5728   Unreal / CarlaUE4 / Content / Static / Pedestrians   \u4e2d \u7684 \u7f51\u683c \u88ab \u6807\u8bb0 \u4e3a \u884c\u4eba   Pedestrian   \u3002   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u63d0\u4f9b \u4e00\u5f20   \u5728 \u7ea2\u8272 \u901a\u9053 \u4e2d \u7f16\u7801 \u4e86   \u6807\u7b7e \u4fe1\u606f \u7684 \u56fe\u50cf \uff1a \u7ea2\u8272 \u503c\u4e3a   x   \u7684 \u50cf\u7d20 \u5c5e\u4e8e \u5e26\u6709 \u6807\u7b7e   x   \u7684 \u5bf9\u8c61 \u3002 \u50cf\u7d20 \u7684 \u7eff\u8272 \u548c \u84dd\u8272 \u503c \u5b9a\u4e49 \u5bf9\u8c61 \u7684 \u552f\u4e00   ID \u3002 \u4f8b\u5982 \uff0c 8   \u4f4d   RGB   \u503c\u4e3a   [ 10 ,   20 ,   55 ]   \u7684 \u50cf\u7d20 \u662f \u4e00\u8f86 \u5177\u6709 \u552f\u4e00 \u5b9e\u4f8b   ID   20 - 55   \u7684 \u8f66\u8f86 \uff08 \u8bed\u4e49 \u6807\u7b7e \u4e3a   10 \uff09 \u3002   \u57fa\u672c \u76f8\u673a \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \u63cf\u8ff0   fov   float   90.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ x   int   800   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ y   int   600   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u6a21\u62df \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   \u76f8\u673a \u955c\u5934 \u7578\u53d8 \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \u63cf\u8ff0   lens _ circle _ falloff   float   5.0   \u8303\u56f4 \uff1a [ 0.0 ,   10.0 ]   lens _ circle _ multiplier   float   0.0   \u8303\u56f4 \uff1a [ 0.0 ,   10.0 ]   lens _ k   float   - 1.0   \u8303\u56f4 \uff1a [ - inf ,   inf ]   lens _ kcube   float   0.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ x _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   lens _ y _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   fov   float   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   frame   int   \u6d4b\u91cf \u53d1\u751f \u65f6 \u7684 \u5e27 \u53f7 \u3002   height   int   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   bytes   BGRA   32   \u4f4d \u50cf\u7d20 \u6570\u7ec4 \u3002   timestamp   double   \u81ea \u60c5\u8282 \u5f00\u59cb \u4ee5\u6765 \u7684 \u6d4b\u91cf \u6a21\u62df \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   width   int   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u76f8\u673a   \u84dd\u56fe \uff1a   sensor . camera . dvs   \u8f93\u51fa \uff1a   \u6bcf\u6b65   carla . DVSEventArray   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \uff08 Dynamic   Vision   Sensor ,   DVS \uff09 \u6216 \u4e8b\u4ef6 \u76f8\u673a \u662f \u4e00\u79cd \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u4f20\u7edf \u76f8\u673a \u4f20\u7edf\u76f8\u673a \u5b8c\u5168 \u4e0d\u540c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u4e8b\u4ef6 \u76f8\u673a \u4e0d\u662f \u4ee5 \u56fa\u5b9a \u901f\u7387 \u6355\u83b7 \u5f3a\u5ea6 \u56fe\u50cf \uff0c \u800c\u662f \u4ee5 \u4e8b\u4ef6 \u6d41 \u7684 \u5f62\u5f0f \u5f02\u6b65 \u6d4b\u91cf \u5f3a\u5ea6 \u53d8\u5316 \uff0c \u5bf9 \u6bcf\u4e2a \u50cf\u7d20 \u7684 \u4eae\u5ea6 \u53d8\u5316 \u8fdb\u884c \u7f16\u7801 \u3002 \u4e0e \u6807\u51c6 \u6444\u50cf \u6444\u50cf\u673a \u76f8\u6bd4 \uff0c \u4e8b\u4ef6 \u6444\u50cf \u6444\u50cf\u673a \u5177\u6709 \u72ec\u7279 \u7684 \u5c5e\u6027 \u3002 \u5b83\u4eec \u5177\u6709 \u975e\u5e38 \u9ad8 \u7684 \u52a8\u6001 \u8303\u56f4 \uff08 140   \u5206\u8d1d \u5bf9   60   \u5206\u8d1d \uff08 dB ,   \u5341\u5206 \u4e4b\u4e00 \u5341\u5206\u4e4b\u4e00   decibel   Bell \uff0c \u8d1d \u8868\u793a \u7684 \u662f \u4e24\u4e2a \u7269\u7406 \u7269\u7406\u91cf \u7684 \u6bd4\u503c \uff0c \u57fa\u51c6 \u57fa\u51c6\u503c \u7528 \u5206\u8d1d \u8868\u793a \u7684\u8bdd \u662f 0dB \uff09 \uff09 \u3001 \u65e0 \u8fd0\u52a8 \u6a21\u7cca \u548c \u9ad8 \u65f6\u95f4 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \uff08 \u5fae\u79d2 \u7ea7 \uff09 \u3002 \u56e0\u6b64 \uff0c \u4e8b\u4ef6 \u76f8\u673a \u662f \u5373\u4f7f \u5728 \u5177\u6709 \u6311\u6218 \u6311\u6218\u6027 \u7684 \u9ad8\u901f \u573a\u666f \u548c \u9ad8 \u52a8\u6001 \u8303\u56f4 \u73af\u5883 \u4e0b \u4e5f \u80fd \u63d0\u4f9b \u9ad8\u8d28 \u8d28\u91cf \u9ad8\u8d28\u91cf \u89c6\u89c9 \u4fe1\u606f \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4e3a \u57fa\u4e8e \u89c6\u89c9 \u7684 \u7b97\u6cd5 \u63d0\u4f9b \u4e86 \u65b0 \u7684 \u5e94\u7528 \u9886\u57df \u5e94\u7528\u9886\u57df \u3002   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6444\u50cf \u6444\u50cf\u673a \u8f93\u51fa \u4e8b\u4ef6 \u6d41 \u3002 \u5f53 \u5bf9\u6570 \u5f3a\u5ea6   L   \u7684 \u53d8\u5316 \u8fbe\u5230 \u9884\u5b9a \u4e49 \u7684 \u6052\u5b9a \u9608\u503c \uff08 \u901a\u5e38 \u5728   15%   \u5230   30%   \u4e4b\u95f4 \uff09 \u65f6 \uff0c \u5728 \u65f6\u95f4 \u6233   t   \u5904 \u7684 \u50cf\u7d20   x   ,   y   \u5904 \u89e6\u53d1 \u4e8b\u4ef6   e = ( x , y , t , pol )   \u3002   L ( x , y , t )   -   L ( x , y ,   t - \\ delta   t )   =   pol   C   t - \\ delta   t   \u662f \u8be5 \u50cf\u7d20 \u4e0a \u6700\u540e \u4e00\u4e2a \u4e8b\u4ef6 \u88ab \u89e6\u53d1 \u7684 \u65f6\u95f4 \uff0c   pol   \u662f \u6839\u636e \u4eae\u5ea6 \u53d8\u5316 \u7684 \u7b26\u53f7 \u6765 \u5224\u65ad \u4e8b\u4ef6 \u7684 \u6781\u6027 ( polarity ) \u3002   + 1   \u5f53 \u4eae\u5ea6 \u589e\u52a0 \u65f6 \u6781\u6027 \u4e3a \u6b63 \uff0c   - 1   \u5f53 \u4eae\u5ea6 \u51cf\u5c11 \u65f6 \u6781\u6027 \u4e3a \u8d1f \u3002 \u5de5\u4f5c \u539f\u7406 \u5982\u4e0b \u56fe \u6240\u793a \u3002 \u6807\u51c6 \u76f8\u673a \u4ee5 \u56fa\u5b9a \u901f\u7387 \u8f93\u51fa \u5e27 \uff0c \u4ece\u800c \u5728 \u573a\u666f \u4e2d \u4e0d \u5b58\u5728 \u8fd0\u52a8 \u65f6 \u53d1\u9001 \u5197\u4f59 \u4fe1\u606f \u3002 \u76f8\u6bd4 \u4e4b\u4e0b \u76f8\u6bd4\u4e4b\u4e0b \uff0c \u4e8b\u4ef6 \u6444\u50cf \u6444\u50cf\u673a \u662f \u6570\u636e \u9a71\u52a8 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u80fd\u591f \u4ee5 \u5fae\u79d2 \u5ef6\u8fdf \u54cd\u5e94 \u4eae\u5ea6 \u53d8\u5316 \u3002 \u5728 \u7ed8\u56fe \u4e2d \uff0c \u53ea\u8981 \uff08 \u7b26\u53f7 \u5e26\u7b26\u53f7 \u7684 \uff09 \u4eae\u5ea6 \u53d8\u5316 \u968f \u65f6\u95f4   t   \u8d85\u8fc7 \u4e00\u7ef4   x   \u7684 \u5bf9\u6bd4 \u5bf9\u6bd4\u5ea6 ( contrast   ) \u9608\u503c   C   \uff0c \u5c31 \u4f1a \u751f\u6210 \u6b63 \uff08 \u6216\u8d1f \uff09 \u4e8b\u4ef6 \uff08 \u84dd\u70b9 \u3001 \u7ea2 \u70b9 \uff09   \u3002 \u89c2\u5bdf \u4fe1\u53f7 \u5feb\u901f \u53d8\u5316 \u65f6 \u4e8b\u4ef6 \u7387 \u5982\u4f55 \u589e\u957f \u3002   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5f53\u524d \u5b9e\u73b0 \u5728 \u4e24\u4e2a \u8fde\u7eed \u540c\u6b65 \u5e27 \u4e4b\u95f4 \u4ee5 \u7edf\u4e00 \u91c7\u6837 \u65b9\u5f0f \u5de5\u4f5c \u3002 \u56e0\u6b64 \uff0c \u4e3a\u4e86 \u4eff\u771f \u771f\u5b9e \u4e8b\u4ef6 \u76f8\u673a \u7684 \u9ad8 \u65f6\u95f4 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \uff08 \u5fae\u79d2 \u7ea7 \uff09 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9700\u8981 \u4ee5 \u9ad8\u9891 \u9891\u7387 \u9ad8\u9891\u7387 \u6267\u884c \uff08 \u6bd4 \u4f20\u7edf \u76f8\u673a \u4f20\u7edf\u76f8\u673a \u7684 \u9891\u7387 \u9ad8\u5f97 \u591a \uff09 \u3002 \u5b9e\u9645 \u5b9e\u9645\u4e0a \uff0c Carla   \u6c7d\u8f66 \u884c\u9a76 \u901f\u5ea6 \u8d8a \u5feb \uff0c \u4e8b\u4ef6 \u6570\u91cf \u5c31 \u4f1a \u589e\u52a0 \u3002 \u56e0\u6b64 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9891\u7387 \u5e94 \u968f\u7740 \u573a\u666f \u7684 \u52a8\u6001 \u800c \u76f8\u5e94 \u589e\u52a0 \u3002 \u7528\u6237 \u5e94\u8be5 \u5728 \u65f6\u95f4 \u7cbe\u5ea6 \u548c \u8ba1\u7b97 \u6210\u672c \u8ba1\u7b97\u6210\u672c \u4e4b\u95f4 \u627e\u5230 \u5e73\u8861 \u3002   \u63d0\u4f9b \u7684 \u811a\u672c   manual _ control . py   \u4f7f\u7528 \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u6765 \u5c55\u793a \u5982\u4f55 \u914d\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u5982\u4f55 \u83b7\u53d6 \u4e8b\u4ef6 \u6d41 \u4ee5\u53ca \u5982\u4f55 \u4ee5 \u56fe\u50cf \u683c\u5f0f \u56fe\u50cf\u683c\u5f0f \uff08 \u901a\u5e38 \u79f0\u4e3a \u4e8b\u4ef6 \u6846\u67b6 \uff09 \u63cf\u8ff0 \u6b64\u7c7b \u4e8b\u4ef6 \u3002   \u8bf7 \u6ce8\u610f \uff0c \u7531\u4e8e \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6444\u50cf \u6444\u50cf\u673a \u7684 \u91c7\u6837 \u65b9\u6cd5 \uff0c \u5982\u679c \u4e24\u4e2a \u8fde\u7eed \u540c\u6b65 \u5e27 \u4e4b\u95f4 \u6ca1\u6709 \u50cf\u7d20 \u5dee\u5f02 \uff0c \u6444\u50cf \u6444\u50cf\u673a \u5c06 \u4e0d\u4f1a \u8fd4\u56de \u56fe\u50cf \u3002 \u8fd9 \u603b\u662f \u53d1\u751f \u5728 \u7b2c\u4e00 \u5e27 \u4e2d \uff0c \u56e0\u4e3a \u6ca1\u6709 \u524d \u4e00\u5e27 \u53ef \u4f9b \u6bd4\u8f83 \uff0c \u5e76\u4e14 \u5728 \u5e27 \u4e4b\u95f4 \u6ca1\u6709 \u79fb\u52a8 \u7684 \u60c5\u51b5 \u4e0b \u4e5f \u662f \u5982\u6b64 \u3002   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f \u4e00\u4e2a \u76f8\u673a \uff0c \u56e0\u6b64 \u5177\u6709   RGB   \u76f8\u673a \u4e2d \u53ef\u7528 \u7684 \u6240\u6709 \u5c5e\u6027 \u3002 \u7136\u800c \uff0c \u4e8b\u4ef6 \u6444\u50cf \u6444\u50cf\u673a \u7684 \u5de5\u4f5c \u539f\u7406 \u51e0\u4e4e \u6ca1\u6709 \u4ec0\u4e48 \u72ec\u6709 \u7684 \u5c5e\u6027 \u3002   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u76f8\u673a \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   positive _ threshold   float   0.3   \u4e0e \u4eae\u5ea6 \u53d8\u5316 \u589e\u91cf \u76f8\u5173 \u7684 \u6b63 \u9608\u503c   C \uff0c \u8303\u56f4 \u4e3a   ( 0 - 1 ) \u3002   negative _ threshold   float   0.3   \u4e0e \u4eae\u5ea6 \u53d8\u5316 \u51cf\u5c11 \u76f8\u5173 \u7684 \u8d1f \u9608\u503c   C \uff0c \u8303\u56f4 \u4e3a ( 0 - 1 ) \u3002   sigma _ positive _ threshold   float   0   \u6b63 \u4e8b\u4ef6 \u7684 \u767d \u566a\u58f0 \u6807\u51c6 \u6807\u51c6\u5dee \uff0c \u8303\u56f4 \u4e3a   ( 0 - 1 ) \u3002   sigma _ negative _ threshold   float   0   \u8d1f \u4e8b\u4ef6 \u7684 \u767d \u566a\u58f0 \u6807\u51c6 \u6807\u51c6\u5dee \uff0c \u8303\u56f4 \u4e3a   ( 0 - 1 ) \u3002   refractory _ period _ ns   int   0.0   \u4e0d\u5e94 \u4e0d\u5e94\u671f \uff08 \u50cf\u7d20 \u5728 \u89e6\u53d1 \u4e8b\u4ef6 \u540e \u65e0\u6cd5 \u89e6\u53d1 \u4e8b\u4ef6 \u7684 \u65f6\u95f4 \uff09 \uff0c \u4ee5 \u7eb3\u79d2 \u4e3a \u5355\u4f4d \u3002 \u5b83 \u9650\u5236 \u4e86 \u89e6\u53d1 \u4e8b\u4ef6 \u7684 \u6700\u9ad8 \u9891\u7387 \u3002   use _ log   bool   true   \u662f\u5426 \u4ee5 \u5bf9\u6570 \u5f3a\u5ea6 \u523b\u5ea6 \u5de5\u4f5c \u3002   log _ eps   float   0.001   \u7528\u4e8e \u5c06 \u56fe\u50cf \u8f6c\u6362 \u4e3a \u5bf9\u6570 \u7684   Epsilon   \u503c \uff1a   L   =   log ( eps   +   I   /   255.0 )   .   \u5176\u4e2d   I   \u662f   RGB   \u56fe\u50cf \u7684 \u7070\u5ea6 \u503c \uff1a   I   =   0.2989 * R   +   0.5870 * G   +   0.1140 * B   .   \u5149\u6d41 \u76f8\u673a   \u5149\u6d41 \u76f8\u673a \u6355\u6349 \u4ece \u76f8\u673a \u7684 \u89d2\u5ea6 \u611f\u77e5 \u7684 \u8fd0\u52a8 \u3002 \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bb0\u5f55 \u7684 \u6bcf\u4e2a \u50cf\u7d20 \u90fd \u5bf9 \u6295\u5f71 \u5230 \u56fe\u50cf \u5e73\u9762 \u7684 \u8be5 \u70b9 \u7684 \u901f\u5ea6 \u8fdb\u884c \u7f16\u7801 \u3002 \u50cf\u7d20 \u7684 \u901f\u5ea6 \u5728   [ - 2 , 2 ]   \u8303\u56f4 \u5185 \u7f16\u7801 \u3002 \u4e3a\u4e86 \u83b7\u5f97 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \u7684 \u8fd0\u52a8 \uff0c \u53ef\u4ee5 \u5c06 \u8be5 \u4fe1\u606f \u4e0e \u56fe\u50cf \u5927\u5c0f \u4e00\u8d77 \u7f29\u653e \u81f3 [ - 2   *   image _ size ,   2   *   image _ size ] \u3002   \u5149\u6d41 \u76f8\u673a \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   image _ size _ x   int   800   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ y   int   600   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   fov   float   90.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   \u5149\u6d41 \u76f8\u673a \u955c\u5934 \u7578\u53d8 \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   lens _ circle _ falloff   float   5.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ circle _ multiplier   float   0.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ k   float   - 1.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ kcube   float   0.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ x _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   lens _ y _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   \u8f93\u51fa \u5c5e\u6027   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   width   int   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   height   int   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   fov   float   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   bytes   \u5305\u542b \u4e24\u4e2a \u6d6e\u70b9 \u503c \u7684   BGRA   64   \u4f4d \u50cf\u7d20 \u6570\u7ec4 \u3002   V2X   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8f66\u8054 \u4e07\u7269   ( Vehicle - to - everything ,   V2X )   \u901a\u4fe1 \u662f \u672a\u6765 \u534f\u4f5c \u667a\u80fd \u4ea4\u901a \u7cfb\u7edf \u4ea4\u901a\u7cfb\u7edf \u5e94\u7528 \u7684 \u4e00\u4e2a \u91cd\u8981 \u65b9\u9762 \u3002 \u5728 \u5b9e\u9645 \u8f66\u8f86 \u4e2d \uff0c \u8fd9 \u9700\u8981 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u4e0a \u90fd \u6709 \u4e00\u4e2a \u4e13\u7528 \u7684 \u8f66\u8f7d \u5355\u5143   ( onboard   unit ,   OBU ) \uff0c \u80fd\u591f \u901a\u8fc7 \u65e0\u7ebf \u4fe1\u9053 \u53d1\u9001 \u548c \u63a5\u6536 \u4fe1\u606f \u3002 \u6839\u636e \u5730\u533a \uff08 \u6b27\u6d32 \u3001 \u4e2d\u56fd \u3001 \u7f8e\u56fd \uff09 \uff0c \u4f7f\u7528 \u4e0d\u540c \u7684 \u7269\u7406 \u6280\u672f \u3001 \u534f\u8bae \u548c \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u6d88\u606f \u683c\u5f0f \u3002   CARLA   \u76ee\u524d \u652f\u6301 \u6a21\u62df \u7b80\u5355 \u7684 \u5e7f\u64ad \u65e0\u7ebf \u4fe1\u9053 \u548c \u4e24\u6761 \u5e94\u7528 \u6d88\u606f \u3002 \u5c1a \u4e0d \u652f\u6301 \u7f51\u7edc \u8bbf\u95ee \u548c \u8f6c\u53d1 \u534f\u8bae \u3002 \u4e24\u6761 \u5b9e\u73b0 \u7684 \u6d88\u606f \u5206\u522b \u662f \u7b26\u5408 \u6b27\u6d32 \u6807\u51c6   ETSI   \u7684   \u534f\u4f5c \u611f\u77e5 \u6d88\u606f   \u548c   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d88\u606f   \u7c7b\u578b \uff0c \u53ef \u7528\u4e8e \u4f20\u8f93 \u4efb\u610f \u5b57\u7b26 \u5b57\u7b26\u4e32 \u6570\u636e \uff08 \u4f8b\u5982   JSON \uff09 \u3002 V2X   \u901a\u4fe1 \u6709 \u4e24\u79cd \u4e0d\u540c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u53ef\u4ee5 \u5355\u72ec \u4f7f\u7528 \uff0c \u6bcf\u79cd \u5e94\u7528 \u6d88\u606f \u7c7b\u578b \u5404 \u4e00\u4e2a \u3002   \u57fa\u672c \u57fa\u672c\u4e0a \uff0c \u65e0\u7ebf \u901a\u9053 \u5305\u542b \u4e24\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4ee5\u4e0b \u8ba1\u7b97 \uff1a   ReceivedPower   =   OtherTransmitPower   +   combined _ antenna _ gain   -   loss   IF   ( ReceivedPower   > =   receiver _ sensitivity )   THEN   message   is   received   \u8981 \u6a21\u62df   V2X   \u901a\u4fe1 \uff0c \u81f3\u5c11 \u9700\u8981 \u751f\u6210 \u4e24\u4e2a \u76f8\u540c \u7c7b\u578b \u7684   V2X   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u81f3\u5c11 \u4e00\u5bf9 \u53d1\u9001 \u53d1\u9001\u5668 - \u63a5\u6536 \u63a5\u6536\u5668 \uff09 \u3002 \u7531\u4e8e \u63a5\u6536 \u529f\u7387 \u662f \u5728 \u63a5\u6536 \u63a5\u6536\u5668 \u7aef   V2X   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e0a \u8ba1\u7b97 \u7684 \uff0c \u56e0\u6b64 \u53ea\u6709 \u63a5\u6536 \u63a5\u6536\u5668 \u7aef \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e0a \u6307\u5b9a \u7684 \u5929\u7ebf \u589e\u76ca \u624d \u4f1a \u7eb3\u5165 \u6b64 \u8ba1\u7b97 \u4e2d \u3002 \u53ef\u4ee5 \u914d\u7f6e \u4f20\u8f93 \u529f\u7387 \u548c \u63a5\u6536 \u63a5\u6536\u5668 \u7075\u654f \u654f\u5ea6 \u7075\u654f\u5ea6 \uff08 \u53c2\u9605 \u8bf7\u53c2\u9605   \u84dd\u56fe \u5c5e\u6027   \uff09 \u3002   \u635f\u8017   \u8ba1\u7b97 \u53d6\u51b3 \u53d6\u51b3\u4e8e   -   \u53d1\u9001 \u65b9 \u548c \u63a5\u6536 \u65b9 \u4e4b\u95f4 \u7684 \u53ef\u89c1 \u6027 \u6761\u4ef6 \uff1a \u89c6\u7ebf \uff08 \u65e0 \u969c\u788d \u969c\u788d\u7269 \uff09 \u3001 \u88ab \u5efa\u7b51 \u5efa\u7b51\u7269 \u906e\u6321 \u7684 \u975e \u89c6\u7ebf \u6216 \u88ab \u8f66\u8f86 \u906e\u6321 \u7684 \u975e \u89c6\u7ebf \uff0c \u4ee5\u53ca   -   \u573a\u666f \uff1a \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3001 \u4e61\u6751 \u6216 \u57ce\u5e02 \u73af\u5883   \u867d\u7136 \u5728   CARLA   \u4e2d \u6a21\u62df \u4e86 \u53ef\u89c1 \u6027 \uff0c \u4f46 \u7528\u6237 \u53ef\u4ee5 \u914d\u7f6e \u573a\u666f \uff08 \u53c2\u89c1   \u84dd\u56fe \u5c5e\u6027   \uff09 \uff0c \u4ee5\u53ca \u65e0\u7ebf \u4fe1\u9053 \u7684 \u5176\u4ed6 \u51e0\u4e2a \u5c5e\u6027 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u5b50 \uff09 \u7c7b\u578b   \u534f\u540c \u611f\u77e5 \u6d88\u606f   \u84dd\u56fe \uff1a   sensor . other . v2x   \u8f93\u51fa \uff1a   carla . CAMData   ,   \u6839\u636e   ETSI   CAM   ( European   Telecommunications   Standards   Institute   ,   Cooperative   Awareness   Message \uff0c \u6b27\u6d32 \u901a\u4fe1 \u6807\u51c6 \u534f\u4f1a \uff0c \u534f\u540c \u8b66\u793a \u6d88\u606f )   \u6807\u51c6 \u89e6\u53d1 \uff0c \u9664\u975e \u53e6\u6709 \u914d\u7f6e   \u6839\u636e   ETSI   \u6807\u51c6 \u7684 \u89e6\u53d1 \u6761\u4ef6 \uff1a   -   \u822a\u5411 \u89d2 \u53d8\u5316   >   $ 4 $ \u00b0   -   \u4f4d\u7f6e \u5dee   >   $ 4 $   m   -   \u901f\u5ea6 \u53d8\u5316   >   $ 5 $   m / s   -   \u7ecf\u8fc7 \u65f6\u95f4   >   CAM   \u751f\u6210 \u65f6\u95f4 \uff08 \u53ef \u914d\u7f6e \uff09   -   \u4f4e\u9891 \u5bb9\u5668 \u7ecf\u8fc7 \u65f6\u95f4   $ >   500 $   ms   \u5bf9\u4e8e   CAM   V2X   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u9002\u7528 \u5176\u4ed6 \u84dd\u56fe \u5c5e\u6027 \uff1a   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \u63cf\u8ff0   \u6d88\u606f \u751f\u6210   gen _ cam _ min   float   $ 0.1 $   \u4e24\u4e2a \u8fde\u7eed   CAM   \u4e4b\u95f4 \u7684 \u6700 \u77ed\u65f6 \u65f6\u95f4 \u77ed\u65f6\u95f4 \u95f4\u9694 \uff08 \u79d2 \uff09   gen _ cam _ max   float   $ 1.0 $   \u4e24\u4e2a \u8fde\u7eed   CAM   \u4e4b\u95f4 \u7684 \u6700\u5927 \u65f6\u95f4 \u95f4\u9694 \uff08 \u79d2 \uff09   fixed _ rate   bool   false   [ true ]   \u5728 \u6bcf\u4e2a   Carla   \u8282\u62cd \u4e2d \u751f\u6210 \u4e00\u4e2a   CAM \uff08 \u4ec5 \u7528\u4e8e \u8c03\u8bd5 \u76ee\u7684 \uff0c \u4f1a \u5bfc\u81f4 \u901f\u5ea6 \u53d8\u6162 \uff09   \u6570\u636e \u751f\u6210   noise _ vel _ stddev _ x   float   0.0   \u566a\u58f0 \u6a21\u578b \u4e2d \u901f\u5ea6 \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \uff08 X   \u8f74 \uff09 \u3002   noise _ accel _ stddev _ x   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 X   \u8f74 \uff09 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ accel _ stddev _ y   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \uff08 Y   \u8f74 \uff09 \u3002   noise _ accel _ stddev _ z   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 Z   \u8f74 \uff09 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ yawrate _ bias   float   0.0   \u566a\u58f0 \u6a21\u578b \u4e2d \u504f\u822a \u901f\u5ea6 \u89d2\u901f\u5ea6 \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ yawrate _ stddev   float   0.0   \u504f\u822a \u901f\u5ea6 \u89d2\u901f\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ alt _ bias   float   0.0   \u566a\u58f0 \u6a21\u578b \u4e2d \u6d77\u62d4 \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ alt _ stddev   float   0.0   \u6d77\u62d4 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ lat _ bias   float   0.0   \u7eac\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ lat _ stddev   float   0.0   \u7eac\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u6807\u51c6\u5dee \u53c2\u6570 \u3002   noise _ lon _ bias   float   0.0   \u566a\u58f0 \u6a21\u578b \u4e2d \u7ecf\u5ea6 \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ lon _ stddev   float   0.0   \u566a\u58f0 \u6a21\u578b \u4e2d \u7ecf\u5ea6 \u7684 \u6807\u51c6 \u6807\u51c6\u5dee \u53c2\u6570 \u3002   noise _ head _ bias   float   0.0   \u822a\u5411 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ head _ stddev   float   0.0   \u822a\u5411 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49   V2X   \u6d88\u606f   \u84dd\u56fe \uff1a   sensor . other . v2x _ custom   \u8f93\u51fa \uff1a   carla . CustomV2XData   \uff0c \u5728 \u8c03\u7528   send ( )   \u540e \u89e6\u53d1 \u4e0b \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f   \u65b9\u6cd5   send   (   self   ,   callback   )   \u7528\u6237 \u6bcf\u6b21 \u53d1\u9001 \u6d88\u606f \u65f6 \u5fc5\u987b \u8c03\u7528 \u7684 \u51fd\u6570 \u3002 \u6b64 \u51fd\u6570 \u9700\u8981 \u4e00\u4e2a \u5305\u542b \u5bf9\u8c61 \u7c7b\u578b   carla . SensorData   \u7684 \u53c2\u6570 \u6765 \u5904\u7406 \u3002   \u53c2\u6570 \uff1a   data   (   function   )   -   \u88ab \u8c03\u7528 \u7684 \u51fd\u6570 \u5e26\u6709 \u4e00\u4e2a \u5305\u542b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u7684 \u53c2\u6570 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49   V2X   \u6d88\u606f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7565\u6709 \u4e0d\u540c \u7565\u6709\u4e0d\u540c \uff0c \u56e0\u4e3a \u5b83 \u9664\u4e86   \u4fa6\u542c   \u51fd\u6570 \u4e4b\u5916 \u8fd8 \u5177\u6709   \u53d1\u9001   \u51fd\u6570 \uff0c \u9700\u8981 \u5148 \u8c03\u7528 \u53d1\u9001 \u51fd\u6570 \uff0c \u7136\u540e \u5176\u4ed6 \u6b64\u7c7b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u624d\u80fd \u63a5\u6536 \u4efb\u4f55 \u5185\u5bb9 \u3002 \u53ea\u6709 \u5728 \u8c03\u7528   \u53d1\u9001   \u65f6\u624d \u4f1a \u89e6\u53d1 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d88\u606f \u7684 \u4f20\u8f93 \u3002 \u53d1\u9001 \u9001\u7ed9 \u53d1\u9001\u7ed9   \u53d1\u9001   \u51fd\u6570 \u7684 \u6bcf\u6761 \u6d88\u606f \u4ec5 \u5411 \u5f53\u524d \u751f\u6210 \u7684 \u6240\u6709 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49   V2X   \u6d88\u606f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f20\u8f93 \u4e00\u6b21 \u3002   \u793a\u4f8b \uff1a   bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . v2x _ custom ' )   sensor   =   world . spawn _ actor ( bp ,   carla . Transform ( ) ,   attach _ to = parent )   sensor . send ( \" Hello   CARLA \" )   V2X   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u84dd\u56fe \u5c5e\u6027   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \u63cf\u8ff0   transmit _ power   float   $ 21.5 $   \u53d1\u9001 \u65b9 \u4f20\u8f93 \u529f\u7387 \uff08 \u5355\u4f4d \uff1a dBm \uff09   receiver _ sensitivity   float   $ - 99 $   \u63a5\u6536 \u63a5\u6536\u5668 \u7075\u654f \u654f\u5ea6 \u7075\u654f\u5ea6 \uff08 \u5355\u4f4d \uff1a dBm \uff09   frequency _ ghz   float   $ 5.9 $   \u4f20\u8f93 \u9891\u7387 \uff08 GHz \uff09 \u3002 5.9   GHz   \u662f \u591a\u4e2a \u7269\u7406 \u4fe1\u9053 \u7684 \u6807\u51c6 \u3002   noise _ seed   int   $ 0 $   \u566a\u58f0 \u521d\u59cb \u521d\u59cb\u5316 \u7684 \u968f\u673a \u53c2\u6570   filter _ distance   float   $ 500 $   \u6700\u5927 \u4f20\u8f93 \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \uff0c \u4e0a\u9762 \u7684 \u8def\u5f84 \u635f\u8017 \u8ba1\u7b97 \u56e0 \u6a21\u62df \u901f\u5ea6 \u800c \u7565\u8fc7   \u8def\u5f84 \u635f\u8017 \u6a21\u578b \u53c2\u6570   combined _ antenna _ gain   float   $ 10.0 $   \u53d1\u5c04 \u53d1\u5c04\u673a \u548c \u63a5\u6536 \u63a5\u6536\u673a \u5929\u7ebf \u7684 \u7ec4\u5408 \u589e\u76ca \uff08 \u4ee5   dBi   \u4e3a \u5355\u4f4d \uff09 \uff0c \u8f90\u5c04 \u6548\u7387 \u8f90\u5c04\u6548\u7387 \u548c \u65b9\u5411 \u5411\u6027 \u65b9\u5411\u6027 \u7684 \u53c2\u6570   d _ ref   float   $   1.0   $   \u5bf9\u6570 \u8ddd\u79bb \u8def\u5f84 \u635f\u8017 \u6a21\u578b \u7684 \u53c2\u8003 \u8ddd\u79bb \uff08 \u5355\u4f4d \uff1a \u7c73 \uff09   path _ loss _ exponent   float   2.7   \u7531\u4e8e \u5efa\u7b51 \u5efa\u7b51\u7269 \u906e\u6321 \u5bfc\u81f4 \u7684 \u975e \u89c6\u8ddd \u635f\u8017 \u53c2\u6570   scenario   string   urban   \u9009\u9879 \uff1a [ urban ,   rustic ,   highly   available ] \uff0c \u5b9a\u4e49 \u8870\u843d \u566a\u58f0 \u53c2\u6570   path _ loss _ model   string   geometric   \u4f7f\u7528 \u7684 \u901a\u7528 \u8def\u5f84 \u635f\u8017 \u6a21\u578b \u3002 \u9009\u9879 \uff1a [ geometric ,   winor ]   use _ etsi _ fading   bool   true   \u4f7f\u7528   ETSI   \u51fa\u7248 \u51fa\u7248\u7269 \u4e2d \u63d0\u5230 \u7684 \u8870\u843d \u53c2\u6570 \uff08 true \uff09 \uff0c \u6216 \u4f7f\u7528 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8870\u843d \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee   custom _ fading _ stddev   float   0.0   \u8870\u51cf \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u503c \uff0c \u4ec5\u5f53   use _ etsi _ fading   \u8bbe\u7f6e \u4e3a   false   \u65f6\u624d \u4f7f\u7528","title":"Ref   sensors"},{"location":"ref_sensors/#_1","text":"\u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u6df1\u5ea6 \u76f8\u673a   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   RGB \u76f8\u673a   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u5b9e\u4f8b \u5206\u5272 \u76f8\u673a   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u76f8\u673a   \u5149\u6d41 \u76f8\u673a   V2X   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u534f\u540c \u611f\u77e5   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d88\u606f   \u91cd\u8981   \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u5750\u6807 \u5750\u6807\u7cfb \uff08   x   -   \u5411\u524d   \uff0c   y   -   \u5411 \u53f3   \uff0c   z   -   \u5411\u4e0a   \uff09 \uff0c \u5e76 \u8fd4\u56de \u672c\u5730 \u7a7a\u95f4 \u4e2d \u7684 \u5750\u6807 \u3002 \u4f7f\u7528 \u4efb\u4f55 \u53ef\u89c6 \u53ef\u89c6\u5316 \u8f6f\u4ef6 \u65f6 \uff0c \u8bf7 \u6ce8\u610f \u5176 \u5750\u6807 \u5750\u6807\u7cfb \u3002 \u8bb8\u591a \u53cd\u8f6c   Y   \u8f74 \uff0c \u56e0\u6b64 \u76f4\u63a5 \u53ef\u89c6 \u53ef\u89c6\u5316 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u955c\u50cf \u8f93\u51fa \u3002","title":"\u4f20\u611f\u5668 \u53c2\u8003"},{"location":"ref_sensors/#_2","text":"\u84dd\u56fe \uff1a   sensor . other . collision   \u8f93\u51fa \uff1a   \u6bcf\u6b21 \u78b0\u649e \u7684   carla . CollisionEvent   \u3002   \u6bcf\u5f53 \u5176\u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e0e \u4e16\u754c \u4e0a \u7684 \u67d0\u4e9b \u7269\u4f53 \u53d1\u751f \u78b0\u649e \u65f6 \uff0c \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u4f1a \u8bb0\u5f55 \u4e00\u4e2a \u4e8b\u4ef6 \u3002 \u6bcf\u4e2a \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6bcf\u5e27 \u6bcf\u6b21 \u78b0\u649e \u90fd \u4f1a \u4ea7\u751f \u4e00\u4e2a \u78b0\u649e \u4e8b\u4ef6 \u3002 \u901a\u8fc7 \u4e0e \u591a\u4e2a \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u78b0\u649e \uff0c \u53ef\u4ee5 \u5728 \u5355\u4e2a \u5e27 \u4e2d \u4ea7\u751f \u591a\u4e2a \u78b0\u649e \u4e8b\u4ef6 \u3002 \u4e3a\u4e86 \u786e\u4fdd \u68c0\u6d4b \u5230 \u4e0e \u4efb\u4f55 \u7c7b\u578b \u7684 \u5bf9\u8c61 \u7684 \u78b0\u649e \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e3a \u5efa\u7b51 \u5efa\u7b51\u7269 \u6216 \u704c\u6728 \u6728\u4e1b \u704c\u6728\u4e1b \u7b49 \u5143\u7d20 \u521b\u5efa \u201c \u5047 \u201d \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u68c0\u7d22 \u8bed\u4e49 \u6807\u7b7e \u6765 \u8bc6\u522b \u5b83 \u3002   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u6ca1\u6709 \u4efb\u4f55 \u53ef \u914d\u7f6e \u7684 \u5c5e\u6027 \u3002","title":"\u78b0\u649e \u68c0\u6d4b\u5668  "},{"location":"ref_sensors/#_3","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   actor   carla . Actor   \u6d4b\u91cf \u78b0\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7236\u7ea7 \uff09 \u3002   other _ actor   carla . Actor   \u4e0e \u7236\u7ea7 \u76f8\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   normal _ impulse   carla . Vector3D   \u78b0\u649e \u7684 \u6b63\u5e38 \u8109\u51b2 \u7ed3\u679c \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_4","text":"\u84dd\u56fe \uff1a   sensor . camera . depth   \u8f93\u51fa \uff1a   \u6bcf\u6b65 \u7684 \u56fe\u50cf   carla . Image   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u76f8\u673a \u63d0\u4f9b \u573a\u666f \u7684 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \uff0c \u7f16\u7801 \u6bcf\u4e2a \u50cf\u7d20 \u5230 \u76f8\u673a \u7684 \u8ddd\u79bb \uff08 \u4e5f \u79f0\u4e3a   \u6df1\u5ea6 \u7f13\u51b2 \u7f13\u51b2\u533a   \u6216   z   \u7f13\u51b2 \u7f13\u51b2\u533a   \uff09 \u4ee5 \u521b\u5efa \u5143\u7d20 \u7684 \u6df1\u5ea6 \u6df1\u5ea6\u56fe \u3002   \u8be5 \u56fe\u50cf \u4f7f\u7528   RGB   \u989c\u8272 \u7a7a\u95f4 \u7684   3   \u4e2a \u901a\u9053 \uff08 \u4ece \u5b57\u8282 \u4f4e\u5b57\u8282 \u5230 \u5b57\u8282 \u9ad8\u5b57\u8282 \uff09 \u5bf9 \u6bcf\u4e2a \u50cf\u7d20 \u7684 \u6df1\u5ea6 \u503c \u8fdb\u884c \u7f16\u7801 \uff1a   R   - >   G   - >   B   \u3002 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \u7684 \u5b9e\u9645 \u8ddd\u79bb \u53ef\u4ee5 \u901a\u8fc7 \u4ee5\u4e0b \u65b9\u5f0f \u89e3\u7801 \uff1a   normalized   =   ( R   +   G   *   256   +   B   *   256   *   256 )   /   ( 256   *   256   *   256   -   1 )   in _ meters   =   1000   *   normalized   \u7136\u540e \uff0c \u5e94 \u4f7f\u7528   carla . colorConverter   \u5c06 \u8f93\u51fa   carla . Image   \u4fdd\u5b58 \u5230 \u78c1\u76d8 \uff0c \u8be5   carla . colorConverter   \u4f1a \u5c06 \u5b58\u50a8 \u5728   RGB   \u901a\u9053 \u4e2d \u7684 \u8ddd\u79bb \u8f6c\u6362 \u4e3a \u5305\u542b \u8be5 \u8ddd\u79bb \u7684   [ 0 , 1 ]   \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \uff0c \u7136\u540e \u5c06 \u5176 \u8f6c\u6362 \u4e3a \u7070\u5ea6 \u3002   carla . colorConverter   \u4e2d\u6709 \u4e24\u4e2a \u9009\u9879 \u53ef \u83b7\u53d6 \u6df1\u5ea6 \u89c6\u56fe \uff1a   Depth   \u548c   Logaritmic   depth   \u3002 \u4e24\u8005 \u7684 \u7cbe\u5ea6 \u90fd \u662f \u6beb\u7c73 \u7ea7 \u7684 \uff0c \u4f46 \u5bf9\u6570 \u65b9\u6cd5 \u53ef\u4ee5 \u4e3a \u66f4 \u8fd1 \u7684 \u7269\u4f53 \u63d0\u4f9b \u66f4\u597d \u7684 \u7ed3\u679c \u3002   ...   raw _ image . save _ to _ disk ( \" path / to / save / converted / image \" , carla . Depth )","title":"\u6df1\u5ea6 \u76f8\u673a  "},{"location":"ref_sensors/#_5","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   image _ size _ x   int   800   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ y   int   600   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   fov   float   90.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002","title":"\u76f8\u673a \u57fa\u672c \u5c5e\u6027"},{"location":"ref_sensors/#_6","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   lens _ circle _ falloff   float   5.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ circle _ multiplier   float   0.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ k   float   - 1.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ kcube   float   0.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ x _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   lens _ y _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]","title":"\u76f8\u673a \u955c\u5934 \u7578\u53d8 \u5c5e\u6027"},{"location":"ref_sensors/#_7","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   width   int   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   height   int   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   fov   float   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   bytes   BGRA   32   \u4f4d \u50cf\u7d20 \u9635\u5217 \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_8","text":"\u84dd\u56fe \uff1a   sensor . other . gnss   Output :   \u6bcf \u4e00\u6b65 \u7684 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u7684 \u6d4b\u91cf   carla . GNSSMeasurement   \uff08   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u62a5\u544a \u5176\u7236 \u5bf9\u8c61 \u7684 \u5f53\u524d   gnss   \u4f4d\u7f6e   \u3002 \u8fd9\u662f \u901a\u8fc7 \u5c06 \u5ea6\u91cf \u4f4d\u7f6e \u6dfb\u52a0 \u5230   OpenDRIVE   \u5730\u56fe \u5b9a\u4e49 \u4e2d \u5b9a\u4e49 \u7684 \u521d\u59cb \u5730\u7406 \u53c2\u8003 \u4f4d\u7f6e \u6765 \u8ba1\u7b97 \u7684 \u3002","title":"\u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f\u5668  "},{"location":"ref_sensors/#_9","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   noise _ alt _ bias   float   0.0   \u6d77\u62d4 \u62d4\u9ad8 \u9ad8\u5ea6 \u6d77\u62d4\u9ad8\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ alt _ stddev   float   0.0   \u6d77\u62d4 \u62d4\u9ad8 \u9ad8\u5ea6 \u6d77\u62d4\u9ad8\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ lat _ bias   float   0.0   \u7eac\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ lat _ stddev   float   0.0   \u7eac\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ lon _ bias   float   0.0   \u7ecf\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ lon _ stddev   float   0.0   \u7ecf\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ seed   int   0   \u4f2a \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u751f\u6210 \u6210\u5668 \u751f\u6210\u5668 \u7684 \u521d\u59cb \u521d\u59cb\u5316 \u7a0b\u5e8f \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002","title":"\u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u5c5e\u6027"},{"location":"ref_sensors/#_10","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   latitude   double   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7eac\u5ea6 \u3002   longitude   double   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u7ecf\u5ea6 \u3002   altitude   double   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6d77\u62d4 \u62d4\u9ad8 \u9ad8\u5ea6 \u6d77\u62d4\u9ad8\u5ea6 \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_11","text":"\u84dd\u56fe \uff1a   sensor . other . imu   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65 \u7684 \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u6d4b\u91cf \u503c   carla . IMUMeasurement   \uff08 \u9664\u975e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8282\u62cd   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u63d0\u4f9b \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \u3001 \u9640\u87ba \u9640\u87ba\u4eea \u548c \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \u5c06 \u4e3a \u7236 \u5bf9\u8c61 \u68c0\u7d22 \u7684 \u6d4b\u91cf \u503c \u3002 \u6570\u636e \u662f\u4ece \u5bf9\u8c61 \u7684 \u5f53\u524d \u72b6\u6001 \u6536\u96c6 \u7684 \u3002","title":"\u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u4f20\u611f\u5668  "},{"location":"ref_sensors/#_12","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   noise _ accel _ stddev _ x   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 X   \u8f74 \uff09 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ accel _ stddev _ y   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 Y   \u8f74 \uff09 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ accel _ stddev _ z   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 Z   \u8f74 \uff09 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ gyro _ bias _ x   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \uff08 X   \u8f74 \uff09 \u3002   noise _ gyro _ bias _ y   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \uff08 Y   \u8f74 \uff09 \u3002   noise _ gyro _ bias _ z   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \uff08 Z   \u8f74 \uff09 \u3002   noise _ gyro _ stddev _ x   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \uff08 X   \u8f74 \uff09 \u3002   noise _ gyro _ stddev _ y   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \uff08 Y   \u8f74 \uff09 \u3002   noise _ gyro _ stddev _ z   float   0.0   \u9640\u87ba \u9640\u87ba\u4eea \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \uff08 Z   \u8f74 \uff09 \u3002   noise _ seed   int   0   \u4f2a \u968f\u673a \u673a\u6570 \u968f\u673a\u6570 \u751f\u6210 \u6210\u5668 \u751f\u6210\u5668 \u7684 \u521d\u59cb \u521d\u59cb\u5316 \u7a0b\u5e8f \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002","title":"\u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u5c5e\u6027"},{"location":"ref_sensors/#_13","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   accelerometer   carla . Vector3D   \u6d4b\u91cf \u7ebf\u6027 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 \u4ee5   m / s ^ 2   \u4e3a \u5355\u4f4d \uff09 \u3002   gyroscope   carla . Vector3D   \u6d4b\u91cf \u901f\u5ea6 \u89d2\u901f\u5ea6 \uff08 \u4ee5   rad / sec   \u4e3a \u5355\u4f4d \uff09 \u3002   compass   float   \u4ee5 \u5f27\u5ea6 \u4e3a \u5355\u4f4d \u7684 \u65b9\u5411 \u3002 \u5317\u662f 0 \u5f27\u5ea6 \u3002   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u8ba1\u7b97 \u65b9\u6cd5 \u8ba1\u7b97\u65b9\u6cd5 \uff1a   $ $   d _ 2   ( i )   =   - 2.0   \\ times   [   {   y _ 1   \\ over   { h _ 1   \\ times   h _ 2   }   }   -   {   y _ 2   \\ over   {   h _ 2   \\ times   ( h _ 1 + h _ 2 )   }   }   -   { y _ 0   \\ over   {   h _ 1   \\ times   ( h _ 1   +   h _ 2 )   } }   ]   . $ $   \u5176\u4e2d \uff0c ( h _ 1 )   \u4e3a \u5f53\u524d \u65f6\u95f4 \u589e\u91cf \uff0c ( h _ 2 ) \u4e3a \u524d \u4e00\u4e2a \u65f6\u95f4 \u589e\u91cf \u3002   \u6ce8\u610f   \u5bf9\u4e8e \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \uff0c \u5317\u4e3a   0   \u5f27\u5ea6 \u3002 \u4e1c\u4e3a   pi   / 2   \u5f27\u5ea6 \uff0c \u5357\u4e3a   pi   \u5f27\u5ea6 \uff0c \u897f\u4e3a   3   pi   / 2   \u5f27\u5ea6 \u3002 \u5728   Carla   \u7684 \u5168\u5c40 \u5750\u6807 \u5750\u6807\u7cfb \u4e2d \uff0c \u5317\u4e3a   Y   \u8f74 \u51cf\u5c0f \u7684 \u65b9\u5411 \u3002 \u4e1c\u4e3a   X   \u8f74 \u589e\u52a0 \u7684 \u65b9\u5411 \u3002 \u8f6c\u6362 \u4e3a \u5ea6\u6570 \u7684 \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \u503c \u7b49\u4e8e   90   -   \u504f\u822a   \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_14","text":"\u84dd\u56fe \uff1a   sensor . other . lane _ invasion   \u8f93\u51fa \uff1a   \u6bcf\u6b21 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u7684   carla . LaneInvasionEvent   \u3002   \u6bcf\u6b21 \u5176\u7236 \u7ea7 \u7a7f\u8fc7 \u8f66\u9053 \u6807\u8bb0 \u65f6 \u90fd \u4f1a \u6ce8\u518c \u4e00\u4e2a \u4e8b\u4ef6 \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f7f\u7528 \u5730\u56fe \u7684   OpenDRIVE   \u63cf\u8ff0 \u63d0\u4f9b \u7684 \u9053\u8def \u6570\u636e \uff0c \u901a\u8fc7 \u8003\u8651 \u8f66\u8f6e \u4e4b\u95f4 \u7684 \u7a7a\u95f4 \u6765 \u786e\u5b9a \u4e3b \u8f66\u8f86 \u662f\u5426 \u6b63\u5728 \u4fb5\u5165 \u53e6 \u4e00 \u8f66\u9053 \u3002 \u7136\u800c \uff0c \u6709 \u4e00\u4e9b \u4e8b\u60c5 \u9700\u8981 \u8003\u8651 \uff1a   OpenDRIVE   \u6587\u4ef6 \u548c \u5730\u56fe \u4e4b\u95f4 \u7684 \u5dee\u5f02 \u5c06 \u5bfc\u81f4 \u89c4\u5219 \u4e0d\u89c4\u5219 \u73b0\u8c61 \uff0c \u4f8b\u5982 \u5728 \u5730\u56fe \u4e2d \u4e0d \u53ef\u89c1 \u7684 \u4ea4\u53c9 \u8f66\u9053 \u3002   \u8f93\u51fa \u68c0\u7d22 \u4ea4\u53c9 \u8f66\u9053 \u6807\u8bb0 \u5217\u8868 \uff1a \u8ba1\u7b97 \u5728   OpenDRIVE   \u4e2d \u5b8c\u6210 \uff0c \u5e76 \u5c06 \u56db\u4e2a \u8f66\u8f6e \u4e4b\u95f4 \u7684 \u6574\u4e2a \u7a7a\u95f4 \u89c6\u4e3a \u4e00\u4e2a \u6574\u4f53 \u3002 \u56e0\u6b64 \uff0c \u53ef\u80fd \u6709 \u4e0d\u6b62 \u4e00\u6761 \u8f66\u9053 \u540c\u65f6 \u7a7f\u8fc7 \u3002   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6ca1\u6709 \u4efb\u4f55 \u53ef \u914d\u7f6e \u5c5e\u6027 \u3002   \u91cd\u8981   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5b8c\u5168 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5de5\u4f5c \u3002","title":"\u538b\u7ebf \u68c0\u6d4b\u5668  "},{"location":"ref_sensors/#_15","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   actor   carla . Actor   \u4fb5\u5165 \u53e6 \u4e00 \u8f66\u9053 \u7684 \u8f66\u8f86 \uff08 \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff09 \u3002   crossed _ lane _ markings   list (   carla . LaneMarking   )   \u5df2 \u7a7f\u8d8a \u7684 \u8f66\u9053 \u6807\u8bb0 \u5217\u8868 \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_16","text":"\u84dd\u56fe \uff1a   sensor . lidar . ray _ cast   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65   carla . LidarMeasurement   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6d4b\u91cf \u5305\u542b \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff0c \u5176\u4e2d \u5305\u542b \u5728 \u67d0\u4e2a \u65f6\u95f4 \u95f4\u9694 \u5185 \u751f\u6210 \u7684 \u6240\u6709 \u70b9 1 / FPS \u3002 \u5728 \u6b64 \u95f4\u9694 \u671f\u95f4 \uff0c \u7269\u7406 \u4e0d\u4f1a \u66f4\u65b0 \uff0c \u56e0\u6b64 \u6d4b\u91cf \u4e2d \u7684 \u6240\u6709 \u70b9 \u90fd \u53cd\u6620 \u573a\u666f \u7684 \u76f8\u540c \u201c \u9759\u6001 \u56fe\u7247 \u201d \u3002   points _ per _ channel _ each _ step   =   points _ per _ second   /   ( FPS   *   channels )   \u6b64 \u8f93\u51fa \u5305\u542b \u4eff\u771f \u70b9\u4e91 \uff0c \u56e0\u6b64 \u53ef\u4ee5 \u5bf9 \u5176 \u8fdb\u884c \u8fed\u4ee3 \u4ee5 \u68c0\u7d22 \u5b83\u4eec \u7684 \u5217\u8868   carla . Location   \uff1a   for   location   in   lidar _ measurement :   print ( location )   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6d4b\u91cf \u7684 \u4fe1\u606f \u88ab \u7f16\u7801 \u4e3a   4D   \u70b9 \u3002 \u524d \u4e09\u4e2a \u662f   xyz   \u5750\u6807 \u4e2d \u7684 \u7a7a\u95f4 \u70b9 \uff0c \u6700\u540e \u4e00\u4e2a \u662f \u65c5\u884c \u8fc7\u7a0b \u4e2d \u7684 \u5f3a\u5ea6 \u635f\u5931 \u3002 \u8be5 \u5f3a\u5ea6 \u901a\u8fc7 \u4ee5\u4e0b \u516c\u5f0f \u8ba1\u7b97 \u3002   a   \u2014   \u8870\u51cf \u7cfb\u6570 \u8870\u51cf\u7cfb\u6570 \u3002 \u8fd9 \u53ef\u80fd \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6ce2\u957f \u548c \u5927\u6c14 \u6761\u4ef6 \u3002 \u53ef\u4ee5 \u4f7f\u7528 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5c5e\u6027 \u5bf9 \u5176 \u8fdb\u884c \u4fee\u6539   atmosphere _ attenuation _ rate   \u3002   d   \u2014   \u4ece \u51fb\u4e2d \u70b9\u5230 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8ddd\u79bb   \u4e3a\u4e86 \u83b7\u5f97 \u66f4\u597d \u7684 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \uff0c \u53ef\u4ee5 \u5220\u9664 \u4e91\u4e2d \u7684 \u70b9 \u3002 \u8fd9\u662f \u4eff\u771f \u5916\u90e8 \u6270\u52a8 \u9020\u6210 \u7684 \u635f\u5931 \u7684 \u7b80\u5355 \u65b9\u6cd5 \u3002 \u8fd9 \u53ef\u4ee5 \u7ed3\u5408 \u4e24\u4e2a \u4e0d\u540c \u7684 \u6765 \u5b8c\u6210 \u3002   General   drop - off   \u2014   \u968f\u673a \u6389\u843d \u7684 \u5206\u6570 \u6bd4\u4f8b \u3002 \u8fd9 \u662f \u5728 \u8ddf\u8e2a \u4e4b\u524d \u5b8c\u6210 \u7684 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u4e0d\u4f1a \u8ba1\u7b97 \u88ab \u4e22\u5f03 \u7684 \u70b9 \uff0c \u4ece\u800c \u63d0\u9ad8 \u6027\u80fd \u3002 \u5982\u679c \u662f   dropoff _ general _ rate   =   0.5   \uff0c \u5219 \u6263\u6389 \u4e00\u534a \u7684 \u5206\u6570 \u3002   Instensity - based   drop - off   \u2014   \u5bf9\u4e8e \u68c0\u6d4b \u5230 \u7684 \u6bcf\u4e2a \u70b9 \uff0c \u6839\u636e \u8ba1\u7b97 \u7684 \u5f3a\u5ea6 \u7684 \u6982\u7387 \u6267\u884c \u989d\u5916 \u7684 \u4e0b\u964d \u3002 \u8be5 \u6982\u7387 \u7531 \u4e24\u4e2a \u53c2\u6570 \u786e\u5b9a \u3002   dropoff _ zero _ intensity   \u662f \u5f3a\u5ea6 \u4e3a \u96f6 \u7684 \u70b9 \u88ab \u4e22\u5f03 \u7684 \u6982\u7387 \u3002   dropoff _ intensity _ limit   \u662f \u9608\u503c \u5f3a\u5ea6 \uff0c \u8d85\u8fc7 \u8be5 \u9608\u503c \u5c06 \u4e0d\u4f1a \u6389\u843d \u4efb\u4f55 \u5206\u6570 \u3002 \u8303\u56f4 \u5185 \u7684 \u70b9 \u88ab \u4e22\u5f03 \u7684 \u6982\u7387 \u662f \u57fa\u4e8e \u8fd9 \u4e24\u4e2a \u53c2\u6570 \u7684 \u7ebf\u6027 \u6bd4\u4f8b \u3002   \u6b64\u5916 \uff0c \u8be5   noise _ stddev   \u5c5e\u6027 \u8fd8 \u4f7f \u566a\u58f0 \u6a21\u578b \u80fd\u591f \u4eff\u771f \u73b0\u5b9e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u51fa\u73b0 \u7684 \u610f\u5916 \u504f\u5dee \u3002 \u5bf9\u4e8e \u6b63\u503c \uff0c \u6bcf\u4e2a \u70b9 \u90fd \u4f1a \u6cbf\u7740 \u6fc0\u5149 \u5c04\u7ebf \u7684 \u77e2\u91cf \u968f\u673a \u6270\u52a8 \u3002 \u7ed3\u679c \u662f \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5177\u6709 \u5b8c\u7f8e \u7684 \u89d2\u5ea6 \u5b9a\u4f4d \uff0c \u4f46 \u8ddd\u79bb \u6d4b\u91cf \u5b58\u5728 \u566a\u97f3 \u3002   \u53ef\u4ee5 \u8c03\u6574 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7684 \u65cb\u8f6c \u4ee5 \u8986\u76d6 \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u7684 \u7279\u5b9a \u89d2\u5ea6 \uff08 \u4f7f\u7528   \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f   \uff09 \u3002 \u4f8b\u5982 \uff0c \u6bcf\u6b65 \u65cb\u8f6c \u4e00\u6b21 \uff08 \u6574\u5708 \u8f93\u51fa \uff0c \u5982\u4e0b \u56fe \uff09 \uff0c \u65cb\u8f6c \u9891\u7387 \u548c \u4eff\u771f \u7684   FPS   \u5e94\u8be5 \u76f8\u7b49 \u3002   1 .   \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u9891\u7387   sensors _ bp [ ' lidar ' ] [ 0 ] . set _ attribute ( ' rotation _ frequency ' , ' 10 ' )   .   2 .   \u4f7f\u7528   python3   config . py   -- fps = 10   \u8fd0\u884c \u4eff\u771f \u3002","title":"\u6fc0\u5149\u96f7\u8fbe \u4f20\u611f\u5668  "},{"location":"ref_sensors/#_17","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   channels   int   32   \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6570\u91cf \u3002   range   float   10.0   \u6d4b\u91cf / \u5149\u7ebf \u6295\u5c04 \u7684 \u6700\u5927 \u8ddd\u79bb \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff08 Carla   0.9 . 6   \u6216 \u66f4 \u4f4e\u7248 \u7248\u672c \u4f4e\u7248\u672c \u4e3a \u5398\u7c73 \uff09 \u3002   points _ per _ second   int   56000   \u6240\u6709 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6bcf\u79d2 \u751f\u6210 \u7684 \u70b9 \u3002   rotation _ frequency   float   10.0   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u65cb\u8f6c \u9891\u7387 \u3002   upper _ fov   float   10.0   \u6700\u9ad8 \u6fc0\u5149 \u7684 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   lower _ fov   float   - 30.0   \u6700\u4f4e \u6fc0\u5149 \u7684 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   horizontal _ fov   float   360.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \uff0c 0   -   360 \u3002   atmosphere _ attenuation _ rate   float   0.004   \u6d4b\u91cf \u6bcf\u7c73 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5f3a\u5ea6 \u635f\u5931 \u7684 \u7cfb\u6570 \u3002 \u68c0\u67e5 \u4e0a\u9762 \u7684 \u5f3a\u5ea6 \u8ba1\u7b97 \u3002   dropoff _ general _ rate   float   0.45   \u968f\u673a \u4e22\u5f03 \u7684 \u70b9 \u7684 \u4e00\u822c \u6bd4\u4f8b \u3002   dropoff _ intensity _ limit   float   0.8   \u5bf9\u4e8e \u57fa\u4e8e \u5f3a\u5ea6 \u7684 \u4e0b\u964d \uff0c \u5f3a\u5ea6 \u9608\u503c \uff0c \u9ad8\u4e8e \u8be5\u503c \u5219 \u4e0d\u4f1a \u4e0b\u964d \u4efb\u4f55 \u70b9 \u3002   dropoff _ zero _ intensity   float   0.4   \u5bf9\u4e8e \u57fa\u4e8e \u5f3a\u5ea6 \u7684 \u4e0b\u964d \uff0c \u6bcf\u4e2a \u5f3a\u5ea6 \u4e3a \u96f6 \u7684 \u70b9 \u88ab \u4e0b\u964d \u7684 \u6982\u7387 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   noise _ stddev   float   0.0   \u566a\u58f0 \u6a21\u578b \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \uff0c \u7528\u4e8e \u5e72\u6270 \u6cbf\u5176 \u5149\u7ebf \u6295\u5c04 \u77e2\u91cf \u7684 \u6bcf\u4e2a \u70b9 \u3002","title":"\u6fc0\u5149\u96f7\u8fbe \u5c5e\u6027"},{"location":"ref_sensors/#_18","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   horizontal _ angle   float   \u5f53\u524d \u5e27 \u4e2d \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7684   XY   \u5e73\u9762 \u4e2d \u7684 \u89d2\u5ea6 \uff08 \u5f27\u5ea6 \uff09 \u3002   channels   int   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7684 \u901a\u9053 \uff08 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \uff09 \u6570\u91cf \u3002   get _ point _ count ( channel )   int   \u6bcf\u4e2a \u901a\u9053 \u6355\u83b7 \u6b64\u5e27 \u7684 \u70b9\u6570 \u3002   raw _ data   bytes   32   \u4f4d \u6d6e\u70b9 \u6570\u7ec4 \uff08 \u6bcf\u4e2a \u70b9 \u7684   XYZI \uff09 \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_19","text":"\u84dd\u56fe \uff1a   sensor . other . obstacle   \u8f93\u51fa \uff1a   \u6bcf\u4e2a \u969c\u788d \u969c\u788d\u7269 \u7684   carla . ObstacleDetectionEvent   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u6bcf\u5f53 \u7236\u7ea7 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u524d\u65b9 \u6709 \u969c\u788d \u65f6 \uff0c \u90fd \u4f1a \u6ce8\u518c \u4e00\u4e2a \u4e8b\u4ef6 \u3002 \u4e3a\u4e86 \u9884\u6d4b \u969c\u788d \u969c\u788d\u7269 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u6bcd\u8f66 \u524d\u65b9 \u521b\u5efa \u4e00\u4e2a \u80f6\u56ca \u5f62\u72b6 \uff0c \u5e76\u7528 \u5b83 \u6765 \u68c0\u67e5 \u78b0\u649e \u3002 \u4e3a\u4e86 \u786e\u4fdd \u68c0\u6d4b \u5230 \u4e0e \u4efb\u4f55 \u7c7b\u578b \u7684 \u5bf9\u8c61 \u7684 \u78b0\u649e \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e3a \u5efa\u7b51 \u5efa\u7b51\u7269 \u6216 \u704c\u6728 \u6728\u4e1b \u704c\u6728\u4e1b \u7b49 \u5143\u7d20 \u521b\u5efa \u201c \u5047 \u201d \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u68c0\u7d22 \u8bed\u4e49 \u6807\u7b7e \u6765 \u8bc6\u522b \u5b83 \u3002   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   distance   float   5   \u8f68\u8ff9 \u8ddd\u79bb \u3002   hit _ radius   float   0.5   \u8f68\u8ff9 \u7684 \u534a\u5f84 \u3002   only _ dynamics   bool   False   \u5982\u679c \u4e3a   true \uff0c \u5219 \u8f68\u8ff9 \u5c06 \u4ec5 \u8003\u8651 \u52a8\u6001 \u5bf9\u8c61 \u3002   debug _ linetrace   bool   False   \u5982\u679c \u4e3a   true \uff0c \u5219 \u8f68\u8ff9 \u5c06 \u53ef\u89c1 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002","title":"\u969c\u788d\u7269 \u68c0\u6d4b\u5668  "},{"location":"ref_sensors/#_20","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u8f66 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   actor   carla . Actor   \u68c0\u6d4b \u5230 \u969c\u788d \u969c\u788d\u7269 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u7236\u7ea7 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff09 \u3002   other _ actor   carla . Actor   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u88ab \u68c0\u6d4b \u4e3a \u969c\u788d \u969c\u788d\u7269 \u3002   distance   float   \u4ece \u53c2\u4e0e \u53c2\u4e0e\u8005   actor   \u5230 \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005   other _ actor   \u7684 \u8ddd\u79bb \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_21","text":"\u84dd\u56fe \uff1a   sensor . other . radar   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65   carla . RadarMeasurement   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u521b\u5efa \u4e00\u4e2a \u5706\u9525 \u89c6\u56fe \uff0c \u8be5 \u89c6\u56fe \u88ab \u8f6c\u6362 \u4e3a \u89c6\u91ce \u4e2d \u7684 \u5143\u7d20 \u53ca\u5176 \u76f8\u5bf9 \u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u901f\u5ea6 \u7684 \u4e8c\u7ef4 \u70b9\u56fe \u3002 \u8fd9 \u53ef \u7528\u4e8e \u5851\u9020 \u5143\u7d20 \u5e76 \u8bc4\u4f30 \u5b83\u4eec \u7684 \u8fd0\u52a8 \u548c \u65b9\u5411 \u3002 \u7531\u4e8e \u4f7f\u7528 \u5750\u6807 \u6781\u5750\u6807 \uff0c \u8fd9\u4e9b \u70b9\u5c06 \u96c6\u4e2d \u5728 \u89c6\u56fe \u4e2d\u5fc3 \u5468\u56f4 \u3002   \u6d4b\u91cf \u7684 \u70b9 \u4f5c\u4e3a   carla . RadarDetection   \u6570\u7ec4 \u5305\u542b \u5728   carla . RadarMeasurement   \u4e2d \uff0c \u8be5 \u6570\u7ec4 \u6307\u5b9a \u5b83\u4eec \u7684 \u5750\u6807 \u6781\u5750\u6807 \u3001 \u8ddd\u79bb \u548c \u901f\u5ea6 \u3002 \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u63d0\u4f9b \u7684 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u53ef\u4ee5 \u8f7b\u677e \u8f6c\u6362 \u4e3a   numpy   \u53ef \u7ba1\u7406 \u7684 \u683c\u5f0f \uff1a   #   \u4e3a\u4e86 \u83b7\u5f97   numpy   [ [ vel ,   azimuth ,   altitude ,   depth ] , ... [ , , , ] ] :   points   =   np . frombuffer ( radar _ data . raw _ data ,   dtype = np . dtype ( ' f4 ' ) )   points   =   np . reshape ( points ,   ( len ( radar _ data ) ,   4 ) )   \u63d0\u4f9b \u7684 \u811a\u672c   manual _ control . py   \u4f7f\u7528 \u6b64 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6765 \u663e\u793a \u6b63\u5728 \u68c0\u6d4b \u7684 \u70b9 \uff0c \u5e76 \u5728 \u9759\u6001 \u65f6 \u5c06 \u5176 \u7ed8\u5236 \u4e3a \u767d\u8272 \uff0c \u5728 \u5411 \u7269\u4f53 \u79fb\u52a8 \u65f6 \u5c06 \u5176 \u7ed8\u5236 \u4e3a \u7ea2\u8272 \uff0c \u5728 \u8fdc\u79bb \u7269\u4f53 \u65f6 \u5c06 \u5176 \u7ed8\u5236 \u4e3a \u84dd\u8272 \uff1a   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   horizontal _ fov   float   30.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   points _ per _ second   int   1500   \u6240\u6709 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6bcf\u79d2 \u751f\u6210 \u7684 \u70b9 \u3002   range   float   100   \u6d4b\u91cf / \u5149\u7ebf \u6295\u5c04 \u7684 \u6700\u5927 \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   vertical _ fov   float   30.0   \u5782\u76f4 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002","title":"\u96f7\u8fbe \u4f20\u611f\u5668  "},{"location":"ref_sensors/#_22","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   raw _ data   carla . RadarDetection   \u68c0\u6d4b \u5230 \u7684 \u70b9 \u5217\u8868 \u3002   RadarDetection   \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   altitude   float   \u4ee5 \u5f27\u5ea6 \u8868\u793a \u7684 \u9ad8\u5ea6 \u89d2 \u3002   azimuth   float   \u65b9\u4f4d \u65b9\u4f4d\u89d2 \uff08 \u4ee5 \u5f27\u5ea6 \u8868\u793a \uff09 \u3002   depth   float   \u8ddd\u79bb \u4ee5\u7c73 \u4e3a \u5355\u4f4d \u3002   velocity   float   \u671d\u5411 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u901f\u5ea6 \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#rgb","text":"\u84dd\u56fe \uff1a   sensor . camera . rgb   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65   carla . Image   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u201c RGB \u201d \u76f8\u673a \u5145\u5f53 \u6355\u83b7 \u573a\u666f \u56fe\u50cf \u7684 \u5e38\u89c4 \u76f8\u673a \u3002   carla . colorConverter   \u5982\u679c   enable _ postprocess _ effects   \u542f\u7528 \uff0c \u4e3a\u4e86 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \uff0c \u4e00\u7ec4 \u5904\u7406 \u540e\u5904\u7406 \u6548\u679c \u5c06 \u5e94\u7528 \u4e8e \u56fe\u50cf \uff1a   Vignette :   \u4f7f \u5c4f\u5e55 \u8fb9\u6846 \u53d8\u6697 \u3002   Grain   jitter :   \u4e3a \u6e32\u67d3 \u6dfb\u52a0 \u4e00\u4e9b \u566a\u70b9 \u3002   Bloom :   \u5f3a\u70c8 \u7684 \u5149\u7ebf \u4f1a \u707c\u70e7 \u5b83\u4eec \u5468\u56f4 \u7684 \u533a\u57df \u3002   Auto   exposure :   \u4fee\u6539 \u56fe\u50cf \u4f3d\u739b\u4ee5 \u4eff\u771f \u773c\u775b \u5bf9 \u8f83 \u6697 \u6216 \u8f83\u4eae \u533a\u57df \u7684 \u9002\u5e94 \u3002   Lens   flares :   \u4eff\u771f \u660e\u4eae \u7269\u4f53 \u5728 \u955c\u5934 \u4e0a \u7684 \u53cd\u5c04 \u3002   Depth   of   field :   \u6a21\u7cca \u9760\u8fd1 \u6216 \u8fdc\u79bb \u76f8\u673a \u7684 \u7269\u4f53 \u3002   sensor _ tick   \u544a\u8bc9 \u6211\u4eec \u5e0c\u671b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u6570\u636e \u7684 \u901f\u5ea6 \u6709 \u591a \u5feb \u3002 \u503c\u4e3a   1.5   \u610f\u5473 \u610f\u5473\u7740 \u6211\u4eec \u5e0c\u671b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6bcf \u534a\u79d2 \u6355\u83b7 \u4e00\u6b21 \u6570\u636e \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u503c   0.0   \u8868\u793a \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5feb \u3002","title":"RGB   \u76f8\u673a  "},{"location":"ref_sensors/#_23","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   bloom _ intensity   float   0.675   \u5149\u6655 \u5904\u7406 \u540e\u5904\u7406 \u6548\u679c \u7684 \u5f3a\u5ea6 \uff0c   0.0   \u7528\u4e8e \u7981\u7528 \u5b83 \u3002   fov   float   90.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   fstop   float   1.4   \u76f8\u673a \u955c\u5934 \u7684 \u6253\u5f00 \u3002 \u5178\u578b \u955c\u5934 \u7684 \u5149\u5708   1 / fstop   \u4e3a   f / 1.2 \uff08 \u66f4\u5927 \u7684 \u5149\u5708 \uff09 \u3002 \u8f83\u5927 \u7684 \u6570\u5b57 \u5c06 \u51cf\u5c11 \u666f\u6df1 \u6548\u679c \u3002   image _ size _ x   int   800   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ y   int   600   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   iso   float   100.0   \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7075\u654f \u654f\u5ea6 \u7075\u654f\u5ea6 \u3002   gamma   float   2.2   \u76f8\u673a \u7684 \u76ee\u6807 \u4f3d\u739b\u503c \u3002   lens _ flare _ intensity   float   0.1   \u955c\u5934 \u7729\u5149 \u5904\u7406 \u540e\u5904\u7406 \u6548\u679c \u7684 \u5f3a\u5ea6 \uff0c   0.0   \u7528\u4e8e \u7981\u7528 \u5b83 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002   shutter _ speed   float   200.0   \u76f8\u673a \u5feb\u95e8 \u901f\u5ea6 \u5feb\u95e8\u901f\u5ea6 \uff0c \u4ee5 \u79d2 \u4e3a \u5355\u4f4d   ( 1.0 / s ) \u3002","title":"\u76f8\u673a \u57fa\u672c \u5c5e\u6027"},{"location":"ref_sensors/#_24","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   lens _ circle _ falloff   float   5.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ circle _ multiplier   float   0.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ k   float   - 1.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ kcube   float   0.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ x _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   lens _ y _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]","title":"\u76f8\u673a \u955c\u5934 \u7578\u53d8 \u5c5e\u6027"},{"location":"ref_sensors/#_25","text":"\u7531\u4e8e \u8fd9\u4e9b \u6548\u679c \u662f \u7531 \u865a\u5e7b \u5f15\u64ce \u63d0\u4f9b \u7684 \uff0c \u8bf7 \u52a1\u5fc5 \u68c0\u67e5 \u4ed6\u4eec \u7684 \u6587\u6863 \uff1a   \u81ea\u52a8 \u66dd\u5149   \u5f71\u89c6 \u7ea7 \u666f\u6df1 \u65b9\u6848   \u989c\u8272 \u5206\u7ea7 \u548c \u7535\u5f71 \u8272\u8c03 \u6620\u5c04 \u5c04\u5668 \u6620\u5c04\u5668   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   min _ fstop   float   1.2   \u6700\u5927 \u5149\u5708 \u3002   blade _ count   int   5   \u6784\u6210 \u9694\u819c \u673a\u6784 \u7684 \u53f6\u7247 \u6570\u91cf \u3002   exposure _ mode   str   histogram   \u53ef\u4ee5 \u662f   manual   \u6216 or   histogram   \u3002 \u66f4 \u591a \u5185\u5bb9 \u8bf7 \u53c2\u89c1   UE4   \u6587\u6863   \u3002   exposure _ compensation   float   Linux :   + 0.75   Windows :   0.0   \u66dd\u5149 \u7684 \u5bf9\u6570 \u8c03\u6574 \u3002 0 \uff1a \u65e0 \u8c03\u6574 \uff0c - 1 \uff1a 2   \u500d \u66f4 \u6697 \uff0c - 2 \uff1a 4   \u66f4\u6697 \uff0c 1 \uff1a 2   \u500d \u66f4\u4eae \uff0c 2 \uff1a 4   \u500d \u66f4\u4eae \u3002   exposure _ min _ bright   float   10.0   \u5728   exposure _ mode :   \" histogram \"   \u3002 \u81ea\u52a8 \u66dd\u5149 \u7684 \u6700\u4f4e \u4eae\u5ea6 \u3002 \u773c\u775b \u80fd \u9002\u5e94 \u7684 \u6700\u4f4e \u9650\u5ea6 \u3002 \u5fc5\u987b \u5927\u4e8e   0   \u4e14 \u5c0f\u4e8e \u6216 \u7b49\u4e8e   exposure _ max _ bright   \u3002   exposure _ max _ bright   float   12.0   \u5728 ` exposure _ mode :   \" histogram \" ` \u4e2d \u3002 \u81ea\u52a8 \u66dd\u5149 \u7684 \u6700\u5927 \u4eae\u5ea6 \u3002 \u773c\u775b \u80fd \u9002\u5e94 \u7684 \u6700\u9ad8 \u9650\u5ea6 \u3002 \u5fc5\u987b \u5927\u4e8e   0   \u4e14 \u5927\u4e8e \u6216 \u7b49\u4e8e   ` exposure _ min _ bright ` \u3002   exposure _ speed _ up   float   3.0   \u5728   exposure _ mode :   \" histogram \"   \u3002 \u3002 \u4ece \u9ed1\u6697 \u73af\u5883 \u5230 \u660e\u4eae \u73af\u5883 \u7684 \u9002\u5e94 \u901f\u5ea6 \u3002   exposure _ speed _ down   float   1.0   \u5728   exposure _ mode :   \" histogram \"   \u3002 \u4ece \u660e\u4eae \u73af\u5883 \u5230 \u9ed1\u6697 \u73af\u5883 \u7684 \u9002\u5e94 \u901f\u5ea6 \u3002   calibration _ constant   float   16.0   18%   \u53cd\u7167 \u53cd\u7167\u7387 \u7684 \u6821\u51c6 \u5e38\u6570 \u3002   focal _ distance   float   1000.0   \u666f\u6df1 \u6548\u679c \u5e94 \u6e05\u6670 \u7684 \u8ddd\u79bb \u3002 \u4ee5 \u5398\u7c73 \uff08 \u865a\u5e7b \u5f15\u64ce \u5355\u4f4d \uff09 \u4e3a \u5355\u4f4d \u6d4b\u91cf \u3002   blur _ amount   float   1.0   \u8fd0\u52a8 \u6a21\u7cca \u7684 \u5f3a\u5ea6 / \u5f3a\u5ea6 \u3002   blur _ radius   float   0.0   1080p   \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u4e0b \u7684 \u534a\u5f84 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \uff0c \u6839\u636e \u8ddd \u76f8\u673a \u7684 \u8ddd\u79bb \u4eff\u771f \u5927\u6c14 \u6563\u5c04 \u3002   motion _ blur _ intensity   float   0.45   \u8fd0\u52a8 \u6a21\u7cca \u7684 \u5f3a\u5ea6   [ 0 , 1 ] \u3002   motion _ blur _ max _ distortion   float   0.35   \u8fd0\u52a8 \u6a21\u7cca \u5f15\u8d77 \u7684 \u6700\u5927 \u5931\u771f \u3002 \u5c4f\u5e55 \u5bbd\u5ea6 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \u3002   motion _ blur _ min _ object _ screen _ size   float   0.1   \u5bf9\u4e8e \u8fd0\u52a8 \u6a21\u7cca \uff0c \u5bf9\u8c61 \u5fc5\u987b \u5177\u6709 \u5c4f\u5e55 \u5bbd\u5ea6 \u7684 \u767e\u5206 \u767e\u5206\u6bd4 \uff0c \u8f83 \u4f4e \u7684 \u503c \u610f\u5473 \u610f\u5473\u7740 \u8f83\u5c11 \u7684 \u7ed8\u5236 \u8c03\u7528 \u3002   slope   float   0.88   \u8272\u8c03 \u6620\u5c04 \u5c04\u5668 \u6620\u5c04\u5668   S   \u66f2\u7ebf \u7684 \u9661\u5ea6 \u3002 \u503c\u8d8a \u5927 \uff0c \u659c\u7387 \u8d8a \u9661 \uff08 \u8d8a\u6697 \uff09 [ 0.0 ,   1.0 ] \u3002   toe   float   0.55   \u8c03\u6574 \u8272\u8c03 \u6620\u5c04 \u5c04\u5668 \u6620\u5c04\u5668 \u4e2d \u7684 \u6df1\u8272   [ 0.0 ,   1.0 ] \u3002   shoulder   float   0.26   \u8c03\u6574 \u8272\u8c03 \u6620\u5c04 \u5c04\u5668 \u6620\u5c04\u5668 \u4e2d \u7684 \u660e\u4eae \u989c\u8272   [ 0.0 ,   1.0 ] \u3002   black _ clip   float   0.0   \u4e0d \u5e94 \u8c03\u6574 \u6b64\u503c \u3002 \u8bbe\u7f6e \u4ea4\u53c9 \u53d1\u751f \u548c \u9ed1\u8272 \u8272\u8c03 \u5f00\u59cb \u5207\u65ad \u5176\u503c \u7684 \u4f4d\u7f6e   [ 0.0 ,   1.0 ] \u3002   white _ clip   float   0.04   \u8bbe\u7f6e \u4ea4\u53c9 \u53d1\u751f \u7684 \u4f4d\u7f6e \uff0c \u5e76\u4e14 \u767d\u8272 \u8272\u8c03 \u5f00\u59cb \u5207\u65ad \u5176\u503c \u3002 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u60c5\u51b5 \u4e0b\u4f1a \u6709 \u7ec6\u5fae \u7684 \u53d8\u5316   [ 0.0 ,   1.0 ] \u3002   temp   float   6500.0   \u5e73\u8861 \u767d\u5e73\u8861 \u4e0e \u573a\u666f \u4e2d \u5149\u7ebf \u7684 \u6e29\u5ea6 \u6709\u5173 \u3002   \u767d\u5149   \uff1a \u5f53 \u4e0e \u5149\u6e29 \u5339\u914d \u65f6 \u3002   \u6696\u5149   \uff1a \u5f53 \u9ad8\u4e8e \u573a\u666f \u4e2d \u7684 \u5149\u7ebf \u65f6 \uff0c \u5448 \u6de1\u9ec4 \u9ec4\u8272 \u6de1\u9ec4\u8272 \u3002   \u51b7\u5149   \uff1a \u4f4e\u4e8e \u5149\u7ebf \u65f6 \u3002 \u84dd\u8272 \u3002   tint   float   0.0   \u5e73\u8861 \u767d\u5e73\u8861 \u6e29\u5ea6 \u8272\u8c03 \u3002 \u8c03\u6574 \u9752\u8272 \u548c \u6d0b\u7ea2 \u7ea2\u8272 \u6d0b\u7ea2\u8272 \u7684 \u989c\u8272 \u8303\u56f4 \u3002 \u8fd9 \u5e94\u8be5 \u4e0e \u5e73\u8861 \u767d\u5e73\u8861 \u6e29\u5ea6 \u5c5e\u6027 \u4e00\u8d77 \u4f7f\u7528 \u4ee5 \u83b7\u5f97 \u51c6\u786e \u7684 \u989c\u8272 \u3002 \u5728 \u67d0\u4e9b \u5149\u6e29 \u4e0b \uff0c \u989c\u8272 \u53ef\u80fd \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u66f4 \u9ec4 \u6216 \u66f4 \u84dd \u3002 \u8fd9 \u53ef \u7528\u4e8e \u5e73\u8861 \u6700\u7ec8 \u7684 \u989c\u8272 \uff0c \u4f7f \u5176 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u66f4 \u81ea\u7136 \u3002   chromatic _ aberration _ intensity   float   0.0   \u7528\u4e8e \u63a7\u5236 \u8272\u5f69 \u504f\u79fb \u7684 \u7f29\u653e \u56e0\u5b50 \uff0c \u5728 \u5c4f\u5e55 \u8fb9\u6846 \u4e0a \u66f4 \u660e\u663e \u3002   chromatic _ aberration _ offset   float   0.0   \u5230 \u53d1\u751f \u6548\u679c \u7684 \u56fe\u50cf \u4e2d\u5fc3 \u7684 \u6b63\u5219 \u5316 \u8ddd\u79bb \u3002   enable _ postprocess _ effects   bool   True   \u5904\u7406 \u540e\u5904\u7406 \u6548\u679c \u6fc0\u6d3b \u3002","title":"\u9ad8\u7ea7 \u76f8\u673a \u5c5e\u6027"},{"location":"ref_sensors/#_26","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   width   int   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   height   int   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   fov   float   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   bytes   BGRA   32   \u4f4d \u50cf\u7d20 \u9635\u5217 \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_27","text":"\u84dd\u56fe \uff1a   sensor . other . rss   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65   carla . RssResponse   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u91cd\u8981   \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u5728 \u9605\u8bfb \u672c\u6587 \u4e4b\u524d \u5148 \u9605\u8bfb \u5177\u4f53 \u7684   \u4efb \u654f\u611f \u5b89\u5168 \u6587\u6863   \u3002   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u96c6\u6210 \u4e86   Carla   \u4e2d \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168   C++   \u5e93   \u3002 \u5b83 \u5728   Carla   \u4e2d \u9ed8\u8ba4 \u88ab \u7981\u7528 \uff0c \u5e76\u4e14 \u5fc5\u987b \u663e\u5f0f \u6784\u5efa \u624d\u80fd \u4f7f\u7528 \u3002   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8ba1\u7b97 \u8f66\u8f86 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u72b6\u6001 \u5e76 \u68c0\u7d22 \u5f53\u524d \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u54cd\u5e94 \u4f5c\u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   carla . RssRestrictor   \u5c06 \u4f7f\u7528 \u6b64 \u6570\u636e \u6765 \u8c03\u6574   carla . VehicleControl   \uff0c \u7136\u540e \u518d \u5c06 \u5176 \u5e94\u7528 \u4e8e \u8f66\u8f86 \u3002   \u8fd9\u4e9b \u63a7\u5236 \u63a7\u5236\u5668 \u53ef\u4ee5 \u901a\u8fc7   \u81ea\u52a8 \u9a7e\u9a76   \u5806\u6808 \u6216 \u7528\u6237 \u8f93\u5165 \u751f\u6210 \u3002 \u4f8b\u5982 \uff0c \u4e0b\u9762 \u6709 \u4e00\u6bb5 \u6765\u81ea   \u7684 \u4ee3\u7801 \u7247\u6bb5   PythonAPI / examples / rss / manual _ control _ rss . py   \uff0c \u5176\u4e2d \u5728 \u5fc5\u8981 \u65f6 \u4f7f\u7528 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4fee\u6539 \u7528\u6237 \u8f93\u5165 \u3002   1 .   \u68c0\u67e5   RssSensor   \u662f\u5426 \u751f\u6210 \u5305\u542b \u9650\u5236 \u7684 \u6709\u6548 \u54cd\u5e94 \u3002   2 .   \u6536\u96c6 \u8f66\u8f86 \u7684 \u5f53\u524d \u52a8\u6001 \u548c \u8f66\u8f86 \u7269\u7406 \u7279\u6027 \u3002   3 .   \u4f7f\u7528   RssSensor   \u7684 \u54cd\u5e94 \u4ee5\u53ca \u8f66\u8f86 \u5f53\u524d \u7684 \u52a8\u6001 \u548c \u7269\u7406 \u7279\u6027 \u5bf9 \u8f66\u8f86 \u63a7\u5236 \u65bd\u52a0 \u9650\u5236 \u3002   rss _ proper _ response   =   self ._ world . rss _ sensor . proper _ response   if   self ._ world . rss _ sensor   and   self ._ world . rss _ sensor . response _ valid   else   None   if   rss _ proper _ response :   ...   vehicle _ control   =   self ._ restrictor . restrict _ vehicle _ control (   vehicle _ control ,   rss _ proper _ response ,   self ._ world . rss _ sensor . ego _ dynamics _ on _ route ,   self ._ vehicle _ physics )","title":"\u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4f20\u611f\u5668  "},{"location":"ref_sensors/#carlarsssensor","text":"\u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u84dd\u56fe \u6ca1\u6709 \u53ef \u4fee\u6539 \u7684 \u5c5e\u6027 \u3002 \u4f46\u662f \uff0c \u5b83 \u5b9e\u4f8b \u5316 \u7684   carla . RssSensor   \u5bf9\u8c61 \u5177\u6709   Python   API   \u53c2\u8003 \u4e2d \u8be6\u7ec6 \u4ecb\u7ecd \u7684 \u5c5e\u6027 \u548c \u65b9\u6cd5 \u3002 \u4ee5\u4e0b \u662f \u5b83\u4eec \u7684 \u6458\u8981 \u3002   carla . RssSensor   \u53d8\u91cf   \u7c7b\u578b   \u63cf\u8ff0   ego _ vehicle _ dynamics   ad . rss . world . RssDynamics   \u5e94\u7528 \u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   other _ vehicle _ dynamics   ad . rss . world . RssDynamics   \u9002\u7528 \u4e8e \u5176\u4ed6 \u8f66\u8f86 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   pedestrian _ dynamics   ad . rss . world . RssDynamics   \u9002\u7528 \u4e8e \u884c\u4eba \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u53c2\u6570   road _ boundaries _ mode   carla . RssRoadBoundariesMode   \u542f\u7528 / \u7981\u7528   \u7559\u5728 \u9053\u8def \u4e0a   \u529f\u80fd \u3002 \u9ed8\u8ba4 \u4e3a   \u5173\u95ed   \u3002   #   rss _ sensor . py   \u4ee3\u7801 \u7247\u6bb5   #   The   carla . RssSensor   is   updated   when   listening   for   a   new   carla . RssResponse   def   _ on _ rss _ response ( weak _ self ,   response ) :   ...   self . timestamp   =   response . timestamp   self . response _ valid   =   response . response _ valid   self . proper _ response   =   response . proper _ response   self . ego _ dynamics _ on _ route   =   response . ego _ dynamics _ on _ route   self . rss _ state _ snapshot   =   response . rss _ state _ snapshot   self . situation _ snapshot   =   response . situation _ snapshot   self . world _ model   =   response . world _ model   \u8b66\u544a   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5b8c\u5168 \u5de5\u4f5c \u3002 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e2d \u6ca1\u6709 \u84dd\u56fe \u3002 \u5bf9 \u5c5e\u6027 \u7684 \u66f4\u6539 \u5c06 \u5728 \u8c03\u7528   listen ( )   \u540e   \u751f\u6548 \u3002   \u6b64\u7c7b \u4e2d \u53ef\u7528 \u7684 \u65b9\u6cd5 \u4e0e \u8f66\u8f86 \u7684 \u8def\u7ebf \u6709\u5173 \u3002 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u8ba1\u7b97 \u59cb\u7ec8 \u57fa\u4e8e \u672c\u8f66 \u901a\u8fc7 \u9053\u8def \u7f51\u7edc \u7684 \u8def\u7ebf \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5141\u8bb8 \u901a\u8fc7 \u63d0\u4f9b \u4e00\u4e9b \u5173\u952e \u5173\u952e\u70b9 \u6765 \u63a7\u5236 \u6240 \u8003\u8651 \u7684 \u8def\u7ebf \uff0c \u8fd9\u4e9b \u5173\u952e \u5173\u952e\u70b9 \u53ef\u80fd \u662f   carla . Transform   \u4e2d \u7684   carla . Waypoint   \u3002 \u6700\u597d \u5728 \u4ea4\u53c9 \u4ea4\u53c9\u70b9 \u4e4b\u540e \u9009\u62e9 \u8fd9\u4e9b \u70b9 \uff0c \u4ee5 \u5f3a\u5236 \u8def\u7ebf \u91c7\u53d6 \u6240 \u9700 \u7684 \u8f6c\u5f2f \u3002   carla . RssSensor   \u65b9\u6cd5   \u63cf\u8ff0   routing _ targets   \u83b7\u53d6 \u7528\u4e8e \u8def\u7531 \u7684 \u5f53\u524d \u8def\u7531 \u76ee\u6807 \u5217\u8868 \u3002   append _ routing _ target   \u5c06 \u9644\u52a0 \u4f4d\u7f6e \u9644\u52a0 \u5230 \u5f53\u524d \u8def\u7531 \u76ee\u6807 \u3002   reset _ routing _ targets   \u5220\u9664 \u9644\u52a0 \u7684 \u8def\u7531 \u76ee\u6807 \u3002   drop _ route   \u653e\u5f03 \u5f53\u524d \u8def\u7531 \u5e76 \u521b\u5efa \u4e00\u6761 \u65b0\u8def \u7531 \u3002   register _ actor _ constellation _ callback   \u6ce8\u518c \u56de\u8c03 \u6765\u81ea \u5b9a\u4e49 \u8ba1\u7b97 \u3002   set _ log _ level   \u8bbe\u7f6e \u65e5\u5fd7 \u7ea7\u522b \u3002   set _ map _ log _ level   \u8bbe\u7f6e \u7528\u4e8e \u5730\u56fe \u76f8\u5173 \u65e5\u5fd7 \u7684 \u65e5\u5fd7 \u7ea7\u522b \u3002   #   \u66f4\u65b0 \u5f53\u524d \u8def\u7ebf   self . sensor . reset _ routing _ targets ( )   if   routing _ targets :   for   target   in   routing _ targets :   self . sensor . append _ routing _ target ( target )   \u7b14\u8bb0   \u5982\u679c \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \u8def\u7531 \u76ee\u6807 \uff0c \u5219 \u4f1a \u521b\u5efa \u968f\u673a \u8def\u7531 \u3002","title":"carla . RssSensor   \u7c7b"},{"location":"ref_sensors/#_28","text":"carla . RssResponse   \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   response _ valid   bool   \u54cd\u5e94 \u6570\u636e \u7684 \u6709\u6548 \u6709\u6548\u6027 \u3002   proper _ response   ad . rss . state . ProperResponse   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u4e3a \u8f66\u8f86 \u8ba1\u7b97 \u7684 \u6b63\u786e \u54cd\u5e94 \uff0c \u5305\u62ec \u52a0\u901f \u9650\u5236 \u3002   rss _ state _ snapshot   ad . rss . state . RssStateSnapshot   \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u72b6\u6001 \u4e3a \u5f53\u524d \u65f6\u95f4 \u70b9 \u3002 \u8fd9\u662f \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u8ba1\u7b97 \u7684 \u8be6\u7ec6 \u7684 \u5355\u72ec \u8f93\u51fa \u3002   situation _ snapshot   ad . rss . situation . SituationSnapshot   \u5f53\u524d \u65f6\u95f4 \u70b9 \u7684 \u8d23\u4efb \u654f\u611f \u5b89\u5168 \u60c5\u51b5 \u3002 \u8fd9\u662f \u7528\u4e8e   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u8ba1\u7b97 \u7684 \u7ecf\u8fc7 \u5904\u7406 \u7684 \u8f93\u5165 \u6570\u636e \u3002   world _ model   ad . rss . world . WorldModel   \u5f53\u524d \u65f6\u95f4 \u70b9 \u7684   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u4e16\u754c \u6a21\u578b \u3002 \u8fd9\u662f   \u8d23\u4efb \u654f\u611f \u5b89\u5168   \u8ba1\u7b97 \u7684 \u8f93\u5165 \u6570\u636e \u3002   ego _ dynamics _ on _ route   carla . RssEgoDynamicsOnRoute   \u5173\u4e8e \u8def\u7ebf \u7684 \u5f53\u524d \u81ea\u6211 \u8f66\u8f86 \u52a8\u6001 \u3002   \u5982\u679c \u6ce8\u518c \u4e86   actor _ constellation _ callback \uff0c \u5219 \u4f1a \u89e6\u53d1 \u4ee5\u4e0b \u8c03\u7528 \uff1a   \u9ed8\u8ba4 \u8ba1\u7b97   (   actor _ constellation _ data . other _ actor = None   )   \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8ba1\u7b97   #   rss _ sensor . py   \u4ee3\u7801 \u7247\u6bb5   #   \u6ce8\u518c \u8be5 \u51fd\u6570 \u4e3a   actor _ constellation _ callback   def   _ on _ actor _ constellation _ request ( self ,   actor _ constellation _ data ) :   actor _ constellation _ result   =   carla . RssActorConstellationResult ( )   actor _ constellation _ result . rss _ calculation _ mode   =   ad . rss . map . RssMode . NotRelevant   actor _ constellation _ result . restrict _ speed _ limit _ mode   =   ad . rss . map . RssSceneCreation . RestrictSpeedLimitMode . IncreasedSpeedLimit10   actor _ constellation _ result . ego _ vehicle _ dynamics   =   self . current _ vehicle _ parameters   actor _ constellation _ result . actor _ object _ type   =   ad . rss . world . ObjectType . Invalid   actor _ constellation _ result . actor _ dynamics   =   self . current _ vehicle _ parameters   actor _ id   =   - 1   actor _ type _ id   =   \" none \"   if   actor _ constellation _ data . other _ actor   ! =   None :   #   \u4e3a \u7279\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5b9a\u5236   actor _ constellation _ result   ...   else :   #   \u9ed8\u8ba4   ...   return   actor _ constellation _ result","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_29","text":"\u84dd\u56fe \uff1a   sensor . lidar . ray _ cast _ semantic   \u8f93\u51fa \uff1a   \u6bcf\u6b65   carla . SemanticLidarMeasurement   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4eff\u771f \u4f7f\u7528 \u5c04\u7ebf \u6295\u5c04 \u5b9e\u73b0 \u7684 \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff0c \u516c\u5f00 \u6709\u5173 \u5c04\u7ebf \u6295\u5c04 \u547d\u4e2d \u7684 \u6240\u6709 \u4fe1\u606f \u3002 \u5b83 \u7684 \u884c\u4e3a \u4e0e   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u975e\u5e38 \u76f8\u4f3c \uff0c \u4f46 \u5b83\u4eec \u4e4b\u95f4 \u6709 \u4e24\u4e2a \u4e3b\u8981 \u533a\u522b \u3002   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u68c0\u7d22 \u5230 \u7684 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u6bcf\u4e2a \u70b9 \u5305\u542b \u66f4 \u591a \u6570\u636e \u3002   \u8be5\u70b9 \u7684 \u5750\u6807 \uff08 \u4e0e \u666e\u901a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4e00\u6837 \uff09 \u3002   \u5165\u5c04 \u5c04\u89d2 \u5165\u5c04\u89d2 \u4e0e \u8868\u9762 \u6cd5\u7ebf \u4e4b\u95f4 \u7684 \u4f59\u5f26 \u503c \u3002   \u5b9e\u4f8b \u548c \u8bed\u4e49 \u57fa\u7840 \u4e8b\u5b9e \u3002 \u57fa\u672c \u57fa\u672c\u4e0a \u662f   Carla   \u5bf9\u8c61 \u547d\u4e2d \u7684 \u7d22\u5f15 \u53ca\u5176 \u8bed\u4e49 \u6807\u7b7e \u3002   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u65e2 \u4e0d \u5305\u542b \u5f3a\u5ea6 \u3001 \u8870\u51cf \u4e5f \u4e0d \u5305\u542b \u566a\u58f0 \u6a21\u578b \u5c5e\u6027 \u3002   \u8fd9\u4e9b \u70b9 \u662f \u901a\u8fc7 \u4e3a \u5782\u76f4   FOV   \u4e2d \u5206\u5e03 \u7684 \u6bcf\u4e2a \u901a\u9053 \u6dfb\u52a0 \u6fc0\u5149 \u6765 \u8ba1\u7b97 \u7684 \u3002 \u65cb\u8f6c \u662f \u901a\u8fc7 \u8ba1\u7b97 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5728 \u4e00\u5e27 \u4e2d \u65cb\u8f6c \u7684 \u6c34\u5e73 \u89d2\u5ea6 \u6765 \u4eff\u771f \u7684 \u3002 \u70b9\u4e91 \u662f \u901a\u8fc7 \u5728 \u6bcf\u4e2a \u6b65\u9aa4 \u4e2d \u5bf9 \u6bcf\u4e2a \u6fc0\u5149 \u8fdb\u884c \u5149\u7ebf \u6295\u5c04 \u6765 \u8ba1\u7b97 \u7684 \u3002   points _ per _ channel _ each _ step   =   points _ per _ second   /   ( FPS   *   channels )   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6d4b\u91cf \u5305\u542b \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff0c \u5176\u4e2d \u5305\u542b \u5728 \u67d0\u4e2a \u65f6\u95f4   1 / FPS   \u95f4\u9694 \u5185 \u751f\u6210 \u7684 \u6240\u6709 \u70b9 \u3002 \u5728 \u6b64 \u95f4\u9694 \u671f\u95f4 \uff0c \u7269\u7406 \u4e0d\u4f1a \u66f4\u65b0 \uff0c \u56e0\u6b64 \u6d4b\u91cf \u4e2d \u7684 \u6240\u6709 \u70b9 \u90fd \u53cd\u6620 \u573a\u666f \u7684 \u76f8\u540c \u201c \u9759\u6001 \u56fe\u7247 \u201d \u3002   \u6b64 \u8f93\u51fa \u5305\u542b \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u8bed\u4e49 \u68c0\u6d4b \u4e91 \uff0c \u56e0\u6b64 \uff0c \u53ef\u4ee5 \u5bf9 \u5176 \u8fdb\u884c \u8fed\u4ee3 \u4ee5 \u68c0\u7d22 \u5176 \u5217\u8868   carla . SemanticLidarDetection   \uff1a   for   detection   in   semantic _ lidar _ measurement :   print ( detection )   \u53ef\u4ee5 \u8c03\u6574 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7684 \u65cb\u8f6c \u4ee5 \u8986\u76d6 \u6bcf\u4e2a \u4eff\u771f \u6b65\u9aa4 \u7684 \u7279\u5b9a \u89d2\u5ea6 \uff08 \u4f7f\u7528   \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f   \uff09 \u3002 \u4f8b\u5982 \uff0c \u6bcf\u6b65 \u65cb\u8f6c \u4e00\u6b21 \uff08 \u6574\u5708 \u8f93\u51fa \uff0c \u5982\u4e0b \u56fe \uff09 \uff0c \u65cb\u8f6c \u9891\u7387 \u548c \u4eff\u771f \u7684 FPS \u5e94\u8be5 \u76f8\u7b49 \u3002   1 .   \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u9891\u7387   sensors _ bp [ ' lidar ' ] [ 0 ] . set _ attribute ( ' rotation _ frequency ' , ' 10 ' )   \u3002   2 .   \u4f7f\u7528   python3   config . py   -- fps = 10   \u8fd0\u884c \u4eff\u771f \u3002","title":"\u8bed\u4e49 \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f\u5668  "},{"location":"ref_sensors/#_30","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   channels   int   32   \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6570\u91cf \u3002   range   float   10.0   \u6d4b\u91cf / \u5149\u7ebf \u6295\u5c04 \u7684 \u6700\u5927 \u8ddd\u79bb \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff08 Carla   0.9 . 6   \u6216 \u66f4 \u4f4e\u7248 \u7248\u672c \u4f4e\u7248\u672c \u4e3a \u5398\u7c73 \uff09 \u3002   points _ per _ second   int   56000   \u6240\u6709 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6bcf\u79d2 \u751f\u6210 \u7684 \u70b9 \u3002   rotation _ frequency   float   10.0   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u65cb\u8f6c \u9891\u7387 \u3002   upper _ fov   float   10.0   \u6700\u9ad8 \u6fc0\u5149 \u7684 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   lower _ fov   float   - 30.0   \u6700\u4f4e \u6fc0\u5149 \u7684 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   horizontal _ fov   float   360.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \uff0c 0   -   360 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002","title":"\u8bed\u4e49 \u6fc0\u5149\u96f7\u8fbe \u5c5e\u6027"},{"location":"ref_sensors/#_31","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   horizontal _ angle   float   \u5f53\u524d \u5e27 \u4e2d   LIDAR   \u7684   XY   \u5e73\u9762 \u4e2d \u7684 \u89d2\u5ea6 \uff08 \u5f27\u5ea6 \uff09 \u3002   channels   int   LIDAR   \u7684 \u901a\u9053 \uff08 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \uff09 \u6570\u91cf \u3002   get _ point _ count ( channel )   int   \u5f53\u524d \u5e27 \u4e2d \u6355\u83b7 \u7684 \u6bcf\u4e2a \u901a\u9053 \u7684 \u70b9\u6570 \u3002   raw _ data   bytes   \u5305\u542b \u5177\u6709 \u5b9e\u4f8b \u548c \u8bed\u4e49 \u4fe1\u606f \u7684 \u70b9\u4e91 \u7684 \u6570\u7ec4 \u3002 \u5bf9\u4e8e \u6bcf\u4e2a \u70b9 \uff0c \u5b58\u50a8 \u56db\u4e2a   32   \u4f4d \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \u3002   XYZ   \u5750\u6807 \u3002   \u5165\u5c04 \u5c04\u89d2 \u5165\u5c04\u89d2 \u7684 \u4f59\u5f26 \u3002   Unsigned   int   \u5305\u542b \u547d\u4e2d \u5bf9\u8c61 \u7684 \u7d22\u5f15 \u3002   Unsigned   int   \u5305\u542b \u5bf9\u8c61   it   \u7684 \u8bed\u4e49 \u6807\u7b7e \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_32","text":"\u84dd\u56fe \uff1a   sensor . camera . semantic _ segmentation   \u8f93\u51fa \uff1a   \u6bcf\u6b65   carla . Image   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u8be5 \u6444\u50cf \u6444\u50cf\u673a \u6839\u636e \u5176 \u6807\u7b7e \u4ee5 \u4e0d\u540c \u7684 \u989c\u8272 \u663e\u793a \u5b83 \uff0c \u4ece\u800c \u5bf9 \u53ef\u89c1 \u7684 \u6bcf\u4e2a \u7269\u4f53 \u8fdb\u884c \u5206\u7c7b \uff08 \u4f8b\u5982 \uff0c \u884c\u4eba \u4e0e \u8f66\u8f86 \u7684 \u989c\u8272 \u4e0d\u540c \uff09 \u3002 \u5f53 \u4eff\u771f \u5f00\u59cb \u65f6 \uff0c \u573a\u666f \u4e2d \u7684 \u6bcf\u4e2a \u5143\u7d20 \u90fd \u4f1a \u4f7f\u7528 \u6807\u7b7e \u521b\u5efa \u3002 \u6240\u4ee5 \u5f53 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4ea7\u751f \u65f6 \u5c31 \u4f1a \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \u3002 \u5bf9\u8c61 \u6309 \u5176 \u5728 \u9879\u76ee \u4e2d \u7684 \u76f8\u5bf9 \u6587\u4ef6 \u8def\u5f84 \u8fdb\u884c \u5206\u7c7b \u3002 \u4f8b\u5982 \uff0c \u5b58\u50a8 \u5728 \u4e2d \u7684 \u7f51\u683c   Unreal / CarlaUE4 / Content / Static / Pedestrians   \u88ab \u6807\u8bb0 \u4e3a   Pedestrian   \u3002   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u63d0\u4f9b \u7684 \u56fe\u50cf \u7684 \u6807\u7b7e \u4fe1\u606f   \u7f16\u7801 \u5728 \u7ea2\u8272 \u901a\u9053 \u4e2d   \uff1a   \u7ea2\u8272 \u503c\u4e3a   \u7684 \u50cf\u7d20   x   \u5c5e\u4e8e \u5e26\u6709 \u6807\u7b7e \u7684 \u5bf9\u8c61   x   \u3002 \u8fd9\u4e2a \u539f\u59cb \u7684   carla . Image   \u53ef\u4ee5 \u5728   carla . ColorConverter   \u4e2d \u7684   CityScapesPalette   \u7684 \u5e2e\u52a9 \u4e0b \u5b58\u50a8 \u548c \u8f6c\u6362 \uff0c \u4ee5 \u5e94\u7528 \u6807\u7b7e \u4fe1\u606f \u5e76 \u901a\u8fc7 \u8bed\u4e49 \u5206\u5272 \u663e\u793a \u56fe\u7247 \u3002   ...   raw _ image . save _ to _ disk ( \" path / to / save / converted / image \" , carla . cityScapesPalette )   \u76ee\u524d \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u6807\u7b7e \uff08 \u6ce8\u610f \uff1a \u4ece \u7248\u672c 0.9 . 13 \u5230 0.9 . 14 \u6570\u5b57 \u6240 \u5bf9\u5e94 \u7684 \u6807\u7b7e \u53d1\u751f \u4e86 \u5f88\u5927 \u53d8\u5316 \uff09 \uff1a   \u503c   \u6807\u7b7e   \u8f6c\u6362 \u540e \u7684 \u989c\u8272   \u63cf\u8ff0   0   Unlabeled   ( 0 ,   0 ,   0 )   \u8003\u8651 \u5c1a\u672a \u5206\u7c7b \u7684 \u5143\u7d20   Unlabeled   \u3002 \u8be5 \u7c7b\u522b \u5e94\u8be5 \u662f \u7a7a \u7684 \u6216 \u81f3\u5c11 \u5305\u542b \u6ca1\u6709 \u51b2\u7a81 \u7684 \u5143\u7d20 \u3002   1   Roads   ( 128 ,   64 ,   128 )   \u6c7d\u8f66 \u901a\u5e38 \u884c\u9a76 \u7684 \u90e8\u5206 \u5730\u9762 \u3002   \u6bd4\u5982 \uff0c \u4efb\u4f55 \u65b9\u5411 \u7684 \u8f66\u9053 \u548c \u8857\u9053 \u3002   2   SideWalk   ( 244 ,   35 ,   232 )   \u6307\u5b9a \u4f9b \u884c\u4eba \u6216 \u9a91 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u8005 \u4f7f\u7528 \u7684 \u5730\u9762 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u4e0d\u4ec5 \u901a\u8fc7 \u6807\u8bb0 \uff0c \u8fd8 \u901a\u8fc7 \u4e00\u4e9b \u969c\u788d \u969c\u788d\u7269 \uff08 \u4f8b\u5982 \u8def\u7f18 \u77f3 \u6216 \u6746\u5b50 \uff09 \u5c06 \u9053\u8def \u4e0e \u9053\u8def \u5206 \u9694\u5f00 \u3002 \u8be5 \u6807\u7b7e \u5305\u62ec \u53ef\u80fd \u5212\u5b9a \u7684 \u8def\u8fb9 \u3001 \u4ea4\u901a \u4ea4\u901a\u5c9b \uff08 \u6b65\u884c \u90e8\u5206 \uff09 \u548c \u6b65\u884c \u533a \u3002   3   Building   ( 70 ,   70 ,   70 )   \u623f\u5c4b \u3001 \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c \u7b49 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4ee5\u53ca \u9644\u7740 \u5728 \u5176 \u4e0a \u7684 \u5143\u7d20 \u3002   \u4f8b\u5982 \u7a7a\u8c03 \u3001 \u811a\u624b \u811a\u624b\u67b6 \u3001 \u906e\u9633 \u906e\u9633\u7bf7 \u6216 \u68af\u5b50 \u7b49 \u3002   4   Wall   ( 102 ,   102 ,   156 )   \u72ec\u7acb \u7684 \u7acb\u5899 \u3002 \u4e0d\u662f \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   5   Fence   ( 100 ,   40 ,   40 )   \u969c\u788d \u969c\u788d\u7269 \u3001 \u680f\u6746 \u6216 \u5176\u4ed6 \u76f4\u7acb \u7ed3\u6784 \u3002 \u57fa\u672c \u57fa\u672c\u4e0a \u662f \u5305\u56f4 \u5730\u9762 \u533a\u57df \u7684 \u6728\u6750 \u6216 \u7535\u7ebf \u7ec4\u4ef6 \u3002   6   Pole   ( 153 ,   153 ,   153 )   \u4e3b\u8981 \u4e3a \u5782\u76f4 \u65b9\u5411 \u7684 \u5c0f\u578b \u6746 \u3002 \u5982\u679c \u6746\u6709 \u6c34\u5e73 \u90e8\u5206 \uff08 \u901a\u5e38 \u7528\u4e8e \u4ea4\u901a \u4ea4\u901a\u706f \u6746 \uff09 \uff0c \u5219 \u4e5f \u88ab \u89c6\u4e3a \u6746 \u3002   \u4f8b\u5982 \u6807\u5fd7 \u6746 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u6746 \u3002   7   TrafficLight   ( 250 ,   170 ,   30 )   \u6ca1\u6709 \u706f\u6746 \u7684 \u4ea4\u901a \u706f\u7bb1 \u3002   8   TrafficSign   ( 220 ,   220 ,   0 )   \u7531\u5dde / \u5e02 \u5f53\u5c40 \u5b89\u88c5 \u7684 \u6807\u5fd7 \uff0c \u901a\u5e38 \u7528\u4e8e \u4ea4\u901a \u7ba1\u5236 \u4ea4\u901a\u7ba1\u5236 \u3002 \u6b64 \u7c7b\u522b \u4e0d \u5305\u62ec \u9644\u6709 \u6807\u5fd7 \u7684 \u6746 \u3002   \u4f8b\u5982 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3001 \u505c\u8f66 \u6807\u5fd7 \u3001 \u65b9\u5411 \u6807\u5fd7 ...   9   Vegetation   ( 107 ,   142 ,   35 )   \u6811\u6728 \u3001 \u6811\u7bf1 \u3001 \u5404\u79cd \u5782\u76f4 \u690d\u88ab \u3002 \u8003\u8651 \u5730\u9762 \u690d\u88ab   Terrain   \u3002   10   Terrain   ( 145 ,   170 ,   100 )   \u8349 \u3001 \u5730\u9762 \u690d\u88ab \u3001 \u571f\u58e4 \u6216 \u6c99\u5b50 \u3002 \u8fd9\u4e9b \u533a\u57df \u4e0d \u9002\u5408 \u884c\u9a76 \u3002 \u8be5 \u6807\u7b7e \u5305\u62ec \u53ef\u80fd \u7684 \u9650\u5236 \u9650\u5236\u6027 \u8def\u7f18\u77f3 \u3002   11   Sky   ( 70 ,   130 ,   180 )   \u5f00\u9614 \u7684 \u5929\u7a7a \u3002 \u5305\u62ec \u4e91 \u548c \u592a\u9633 \u3002   12   Pedestrian   ( 220 ,   20 ,   60 )   \u6b65\u884c \u6216 \u4e58\u5750 / \u9a7e\u9a76 \u4efb\u4f55 \u7c7b\u578b \u7684 \u8f66\u8f86 \u6216 \u79fb\u52a8 \u7cfb\u7edf \u7684 \u4eba \u3002   \u4f8b\u5982 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u6216 \u8e0f\u677f \u677f\u8f66 \u8e0f\u677f\u8f66 \u3001 \u6ed1\u677f \u3001 \u9a6c \u3001 \u65f1\u51b0 \u51b0\u978b \u65f1\u51b0\u978b \u3001 \u8f6e\u6905 \u7b49 \u3002   13   Rider   ( 0 ,   0 ,   142 )   \u4eba\u7c7b \u4e58\u5750 / \u9a7e\u9a76 \u4efb\u4f55 \u7c7b\u578b \u7684 \u8f66\u8f86 \u6216 \u79fb\u52a8 \u7cfb\u7edf \u3002   \u4f8b\u5982 \uff1a \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u6216 \u8e0f\u677f \u677f\u8f66 \u8e0f\u677f\u8f66 \u3001 \u6ed1\u677f \u3001 \u9a6c \u3001 \u8f6e\u6ed1 \u3001 \u8f6e\u6905 \u7b49 \u3002   14   Car   ( 0 ,   0 ,   142 )   \u6c7d\u8f66 \u3001 \u5927\u84ec \u8d27\u8f66   15   Truck   ( 0 ,   0 ,   70 )   \u5361\u8f66   16   Bus   ( 0 ,   60 ,   100 )   \u516c\u4ea4 \u516c\u4ea4\u8f66   17   Truck   ( 0 ,   80 ,   100 )   \u706b\u8f66   18   Motorcycle   ( 0 ,   0 ,   230 )   \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66   19   Bicycle   ( 119 ,   11 ,   32 )   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66   20   Static   ( 110 ,   190 ,   160 )   \u573a\u666f \u4e2d \u7684 \u5143\u7d20 \u548c \u9053\u5177 \u662f \u4e0d\u53ef \u79fb\u52a8 \u7684 \u3002   \u4f8b\u5982 \u6d88\u9632 \u6d88\u9632\u6813 \u3001 \u56fa\u5b9a \u957f\u51f3 \u3001 \u55b7\u6cc9 \u3001 \u516c\u4ea4 \u8f66\u7ad9 \u516c\u4ea4\u8f66 \u516c\u4ea4\u8f66\u7ad9 \u7b49 \u3002   21   Dynamic   ( 170 ,   120 ,   50 )   \u4f4d\u7f6e \u5bb9\u6613 \u968f \u65f6\u95f4 \u53d8\u5316 \u7684 \u5143\u7d20 \u3002   \u4f8b\u5982 \u53ef \u79fb\u52a8 \u5783\u573e \u5783\u573e\u6876 \u3001 \u624b\u63a8 \u63a8\u8f66 \u624b\u63a8\u8f66 \u3001 \u888b\u5b50 \u3001 \u8f6e\u6905 \u3001 \u52a8\u7269 \u7b49 \u3002   22   Other   ( 55 ,   90 ,   80 )   \u4e00\u5207 \u4e0d \u5c5e\u4e8e \u4efb\u4f55 \u5176\u4ed6 \u7c7b\u522b \u7684 \u4e1c\u897f \u3002   23   Water   ( 45 ,   60 ,   150 )   \u6c34\u5e73 \u6c34\u9762 \u3002   \u4f8b\u5982 \u6e56\u6cca \u3001 \u6d77\u6d0b \u3001 \u6cb3\u6d41 \u3002   24   RoadLine   ( 157 ,   234 ,   50 )   \u9053\u8def \u4e0a \u7684 \u6807\u8bb0 \u3002   25   Ground   ( 81 ,   0 ,   81 )   \u4e0e \u4efb\u4f55 \u5176\u4ed6 \u7c7b\u522b \u4e0d \u5339\u914d \u7684 \u4efb\u4f55 \u6c34\u5e73 \u5730\u9762 \u7ed3\u6784 \u3002 \u4f8b\u5982 \uff0c \u8f66\u8f86 \u548c \u884c\u4eba \u5171\u4eab \u7684 \u533a\u57df \uff0c \u6216 \u901a\u8fc7 \u8def\u7f18 \u4e0e \u9053\u8def \u5206\u9694 \u7684 \u5e73\u5766 \u73af\u5c9b \u3002   26   Bridge   ( 150 ,   100 ,   100 )   \u53ea\u6709 \u6865 \u7684 \u7ed3\u6784 \u3002 \u6805\u680f \u3001 \u4eba \u3001 \u8f66\u8f86 \u4ee5\u53ca \u5176\u4e0a \u7684 \u5176\u4ed6 \u5143\u7d20 \u90fd \u88ab \u5355\u72ec \u6807\u8bb0 \u3002   27   RailTrack   ( 230 ,   150 ,   140 )   \u5404\u79cd \u975e \u6c7d\u8f66 \u884c\u9a76 \u7684 \u94c1\u8f68 \u3002   \u4f8b\u5982 \u5730\u94c1 \u548c \u706b\u8f66 \u94c1\u8f68 \u3002   28   GuardRail   ( 180 ,   165 ,   180 )   \u6240\u6709 \u7c7b\u578b \u7684 \u62a4\u680f / \u9632\u649e \u680f \u3002   \u7b14\u8bb0   \u9605\u8bfb   \u672c   \u6559\u7a0b \u4ee5 \u521b\u5efa \u65b0 \u7684 \u8bed\u4e49 \u6807\u7b7e \u3002","title":"\u8bed\u4e49 \u5206\u5272 \u76f8\u673a  "},{"location":"ref_sensors/#_33","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   fov   float   90.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ x   int   800   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ y   int   600   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u6ef4\u7b54 \u6ef4\u7b54\u58f0 \uff09 \u3002","title":"\u76f8\u673a \u57fa\u672c \u5c5e\u6027"},{"location":"ref_sensors/#_34","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   lens _ circle _ falloff   float   5.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ circle _ multiplier   float   0.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ k   float   - 1.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ kcube   float   0.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ x _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   lens _ y _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]","title":"\u76f8\u673a \u955c\u5934 \u7578\u53d8 \u5c5e\u6027"},{"location":"ref_sensors/#_35","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   fov   float   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   height   int   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   bytes   BGRA   32   \u4f4d \u50cf\u7d20 \u9635\u5217 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   width   int   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_36","text":"\u84dd\u56fe \uff1a   sensor . camera . instance _ segmentation   \u8f93\u51fa \uff1a   \u6bcf \u4e00\u6b65 \u4e00\u4e2a   carla . Image   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u8be5 \u76f8\u673a \u6839\u636e \u7c7b\u522b \u548c \u5b9e\u4f8b   ID   \u5bf9 \u89c6\u91ce \u4e2d \u7684 \u6bcf\u4e2a \u5bf9\u8c61 \u8fdb\u884c \u5206\u7c7b \u3002 \u5f53 \u6a21\u62df \u5f00\u59cb \u65f6 \uff0c \u573a\u666f \u4e2d \u7684 \u6bcf\u4e2a \u5143\u7d20 \u90fd \u4f1a \u88ab \u521b\u5efa \u4e3a \u4e00\u4e2a \u6807\u7b7e \u3002 \u56e0\u6b64 \uff0c \u5f53 \u751f\u6210 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \u5c31 \u4f1a \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \u3002 \u5bf9\u8c61 \u6839\u636e \u5176 \u5728 \u9879\u76ee \u4e2d \u7684 \u76f8\u5bf9 \u6587\u4ef6 \u8def\u5f84 \u8fdb\u884c \u5206\u7c7b \u3002 \u4f8b\u5982 \uff0c \u5b58\u50a8 \u5728   Unreal / CarlaUE4 / Content / Static / Pedestrians   \u4e2d \u7684 \u7f51\u683c \u88ab \u6807\u8bb0 \u4e3a \u884c\u4eba   Pedestrian   \u3002   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u63d0\u4f9b \u4e00\u5f20   \u5728 \u7ea2\u8272 \u901a\u9053 \u4e2d \u7f16\u7801 \u4e86   \u6807\u7b7e \u4fe1\u606f \u7684 \u56fe\u50cf \uff1a \u7ea2\u8272 \u503c\u4e3a   x   \u7684 \u50cf\u7d20 \u5c5e\u4e8e \u5e26\u6709 \u6807\u7b7e   x   \u7684 \u5bf9\u8c61 \u3002 \u50cf\u7d20 \u7684 \u7eff\u8272 \u548c \u84dd\u8272 \u503c \u5b9a\u4e49 \u5bf9\u8c61 \u7684 \u552f\u4e00   ID \u3002 \u4f8b\u5982 \uff0c 8   \u4f4d   RGB   \u503c\u4e3a   [ 10 ,   20 ,   55 ]   \u7684 \u50cf\u7d20 \u662f \u4e00\u8f86 \u5177\u6709 \u552f\u4e00 \u5b9e\u4f8b   ID   20 - 55   \u7684 \u8f66\u8f86 \uff08 \u8bed\u4e49 \u6807\u7b7e \u4e3a   10 \uff09 \u3002","title":"\u5b9e\u4f8b \u5206\u5272 \u76f8\u673a  "},{"location":"ref_sensors/#_37","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \u63cf\u8ff0   fov   float   90.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ x   int   800   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ y   int   600   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u6a21\u62df \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002","title":"\u57fa\u672c \u76f8\u673a \u5c5e\u6027"},{"location":"ref_sensors/#_38","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \u63cf\u8ff0   lens _ circle _ falloff   float   5.0   \u8303\u56f4 \uff1a [ 0.0 ,   10.0 ]   lens _ circle _ multiplier   float   0.0   \u8303\u56f4 \uff1a [ 0.0 ,   10.0 ]   lens _ k   float   - 1.0   \u8303\u56f4 \uff1a [ - inf ,   inf ]   lens _ kcube   float   0.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ x _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   lens _ y _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]","title":"\u76f8\u673a \u955c\u5934 \u7578\u53d8 \u5c5e\u6027"},{"location":"ref_sensors/#_39","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   fov   float   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   frame   int   \u6d4b\u91cf \u53d1\u751f \u65f6 \u7684 \u5e27 \u53f7 \u3002   height   int   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   bytes   BGRA   32   \u4f4d \u50cf\u7d20 \u6570\u7ec4 \u3002   timestamp   double   \u81ea \u60c5\u8282 \u5f00\u59cb \u4ee5\u6765 \u7684 \u6d4b\u91cf \u6a21\u62df \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   width   int   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#_40","text":"\u84dd\u56fe \uff1a   sensor . camera . dvs   \u8f93\u51fa \uff1a   \u6bcf\u6b65   carla . DVSEventArray   \uff08 \u9664\u975e   sensor _ tick   \u53e6\u6709 \u8bf4\u660e \uff09 \u3002   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \uff08 Dynamic   Vision   Sensor ,   DVS \uff09 \u6216 \u4e8b\u4ef6 \u76f8\u673a \u662f \u4e00\u79cd \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u4f20\u7edf \u76f8\u673a \u4f20\u7edf\u76f8\u673a \u5b8c\u5168 \u4e0d\u540c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u4e8b\u4ef6 \u76f8\u673a \u4e0d\u662f \u4ee5 \u56fa\u5b9a \u901f\u7387 \u6355\u83b7 \u5f3a\u5ea6 \u56fe\u50cf \uff0c \u800c\u662f \u4ee5 \u4e8b\u4ef6 \u6d41 \u7684 \u5f62\u5f0f \u5f02\u6b65 \u6d4b\u91cf \u5f3a\u5ea6 \u53d8\u5316 \uff0c \u5bf9 \u6bcf\u4e2a \u50cf\u7d20 \u7684 \u4eae\u5ea6 \u53d8\u5316 \u8fdb\u884c \u7f16\u7801 \u3002 \u4e0e \u6807\u51c6 \u6444\u50cf \u6444\u50cf\u673a \u76f8\u6bd4 \uff0c \u4e8b\u4ef6 \u6444\u50cf \u6444\u50cf\u673a \u5177\u6709 \u72ec\u7279 \u7684 \u5c5e\u6027 \u3002 \u5b83\u4eec \u5177\u6709 \u975e\u5e38 \u9ad8 \u7684 \u52a8\u6001 \u8303\u56f4 \uff08 140   \u5206\u8d1d \u5bf9   60   \u5206\u8d1d \uff08 dB ,   \u5341\u5206 \u4e4b\u4e00 \u5341\u5206\u4e4b\u4e00   decibel   Bell \uff0c \u8d1d \u8868\u793a \u7684 \u662f \u4e24\u4e2a \u7269\u7406 \u7269\u7406\u91cf \u7684 \u6bd4\u503c \uff0c \u57fa\u51c6 \u57fa\u51c6\u503c \u7528 \u5206\u8d1d \u8868\u793a \u7684\u8bdd \u662f 0dB \uff09 \uff09 \u3001 \u65e0 \u8fd0\u52a8 \u6a21\u7cca \u548c \u9ad8 \u65f6\u95f4 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \uff08 \u5fae\u79d2 \u7ea7 \uff09 \u3002 \u56e0\u6b64 \uff0c \u4e8b\u4ef6 \u76f8\u673a \u662f \u5373\u4f7f \u5728 \u5177\u6709 \u6311\u6218 \u6311\u6218\u6027 \u7684 \u9ad8\u901f \u573a\u666f \u548c \u9ad8 \u52a8\u6001 \u8303\u56f4 \u73af\u5883 \u4e0b \u4e5f \u80fd \u63d0\u4f9b \u9ad8\u8d28 \u8d28\u91cf \u9ad8\u8d28\u91cf \u89c6\u89c9 \u4fe1\u606f \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4e3a \u57fa\u4e8e \u89c6\u89c9 \u7684 \u7b97\u6cd5 \u63d0\u4f9b \u4e86 \u65b0 \u7684 \u5e94\u7528 \u9886\u57df \u5e94\u7528\u9886\u57df \u3002   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6444\u50cf \u6444\u50cf\u673a \u8f93\u51fa \u4e8b\u4ef6 \u6d41 \u3002 \u5f53 \u5bf9\u6570 \u5f3a\u5ea6   L   \u7684 \u53d8\u5316 \u8fbe\u5230 \u9884\u5b9a \u4e49 \u7684 \u6052\u5b9a \u9608\u503c \uff08 \u901a\u5e38 \u5728   15%   \u5230   30%   \u4e4b\u95f4 \uff09 \u65f6 \uff0c \u5728 \u65f6\u95f4 \u6233   t   \u5904 \u7684 \u50cf\u7d20   x   ,   y   \u5904 \u89e6\u53d1 \u4e8b\u4ef6   e = ( x , y , t , pol )   \u3002   L ( x , y , t )   -   L ( x , y ,   t - \\ delta   t )   =   pol   C   t - \\ delta   t   \u662f \u8be5 \u50cf\u7d20 \u4e0a \u6700\u540e \u4e00\u4e2a \u4e8b\u4ef6 \u88ab \u89e6\u53d1 \u7684 \u65f6\u95f4 \uff0c   pol   \u662f \u6839\u636e \u4eae\u5ea6 \u53d8\u5316 \u7684 \u7b26\u53f7 \u6765 \u5224\u65ad \u4e8b\u4ef6 \u7684 \u6781\u6027 ( polarity ) \u3002   + 1   \u5f53 \u4eae\u5ea6 \u589e\u52a0 \u65f6 \u6781\u6027 \u4e3a \u6b63 \uff0c   - 1   \u5f53 \u4eae\u5ea6 \u51cf\u5c11 \u65f6 \u6781\u6027 \u4e3a \u8d1f \u3002 \u5de5\u4f5c \u539f\u7406 \u5982\u4e0b \u56fe \u6240\u793a \u3002 \u6807\u51c6 \u76f8\u673a \u4ee5 \u56fa\u5b9a \u901f\u7387 \u8f93\u51fa \u5e27 \uff0c \u4ece\u800c \u5728 \u573a\u666f \u4e2d \u4e0d \u5b58\u5728 \u8fd0\u52a8 \u65f6 \u53d1\u9001 \u5197\u4f59 \u4fe1\u606f \u3002 \u76f8\u6bd4 \u4e4b\u4e0b \u76f8\u6bd4\u4e4b\u4e0b \uff0c \u4e8b\u4ef6 \u6444\u50cf \u6444\u50cf\u673a \u662f \u6570\u636e \u9a71\u52a8 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u80fd\u591f \u4ee5 \u5fae\u79d2 \u5ef6\u8fdf \u54cd\u5e94 \u4eae\u5ea6 \u53d8\u5316 \u3002 \u5728 \u7ed8\u56fe \u4e2d \uff0c \u53ea\u8981 \uff08 \u7b26\u53f7 \u5e26\u7b26\u53f7 \u7684 \uff09 \u4eae\u5ea6 \u53d8\u5316 \u968f \u65f6\u95f4   t   \u8d85\u8fc7 \u4e00\u7ef4   x   \u7684 \u5bf9\u6bd4 \u5bf9\u6bd4\u5ea6 ( contrast   ) \u9608\u503c   C   \uff0c \u5c31 \u4f1a \u751f\u6210 \u6b63 \uff08 \u6216\u8d1f \uff09 \u4e8b\u4ef6 \uff08 \u84dd\u70b9 \u3001 \u7ea2 \u70b9 \uff09   \u3002 \u89c2\u5bdf \u4fe1\u53f7 \u5feb\u901f \u53d8\u5316 \u65f6 \u4e8b\u4ef6 \u7387 \u5982\u4f55 \u589e\u957f \u3002   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5f53\u524d \u5b9e\u73b0 \u5728 \u4e24\u4e2a \u8fde\u7eed \u540c\u6b65 \u5e27 \u4e4b\u95f4 \u4ee5 \u7edf\u4e00 \u91c7\u6837 \u65b9\u5f0f \u5de5\u4f5c \u3002 \u56e0\u6b64 \uff0c \u4e3a\u4e86 \u4eff\u771f \u771f\u5b9e \u4e8b\u4ef6 \u76f8\u673a \u7684 \u9ad8 \u65f6\u95f4 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \uff08 \u5fae\u79d2 \u7ea7 \uff09 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9700\u8981 \u4ee5 \u9ad8\u9891 \u9891\u7387 \u9ad8\u9891\u7387 \u6267\u884c \uff08 \u6bd4 \u4f20\u7edf \u76f8\u673a \u4f20\u7edf\u76f8\u673a \u7684 \u9891\u7387 \u9ad8\u5f97 \u591a \uff09 \u3002 \u5b9e\u9645 \u5b9e\u9645\u4e0a \uff0c Carla   \u6c7d\u8f66 \u884c\u9a76 \u901f\u5ea6 \u8d8a \u5feb \uff0c \u4e8b\u4ef6 \u6570\u91cf \u5c31 \u4f1a \u589e\u52a0 \u3002 \u56e0\u6b64 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9891\u7387 \u5e94 \u968f\u7740 \u573a\u666f \u7684 \u52a8\u6001 \u800c \u76f8\u5e94 \u589e\u52a0 \u3002 \u7528\u6237 \u5e94\u8be5 \u5728 \u65f6\u95f4 \u7cbe\u5ea6 \u548c \u8ba1\u7b97 \u6210\u672c \u8ba1\u7b97\u6210\u672c \u4e4b\u95f4 \u627e\u5230 \u5e73\u8861 \u3002   \u63d0\u4f9b \u7684 \u811a\u672c   manual _ control . py   \u4f7f\u7528 \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u6765 \u5c55\u793a \u5982\u4f55 \u914d\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u5982\u4f55 \u83b7\u53d6 \u4e8b\u4ef6 \u6d41 \u4ee5\u53ca \u5982\u4f55 \u4ee5 \u56fe\u50cf \u683c\u5f0f \u56fe\u50cf\u683c\u5f0f \uff08 \u901a\u5e38 \u79f0\u4e3a \u4e8b\u4ef6 \u6846\u67b6 \uff09 \u63cf\u8ff0 \u6b64\u7c7b \u4e8b\u4ef6 \u3002   \u8bf7 \u6ce8\u610f \uff0c \u7531\u4e8e \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6444\u50cf \u6444\u50cf\u673a \u7684 \u91c7\u6837 \u65b9\u6cd5 \uff0c \u5982\u679c \u4e24\u4e2a \u8fde\u7eed \u540c\u6b65 \u5e27 \u4e4b\u95f4 \u6ca1\u6709 \u50cf\u7d20 \u5dee\u5f02 \uff0c \u6444\u50cf \u6444\u50cf\u673a \u5c06 \u4e0d\u4f1a \u8fd4\u56de \u56fe\u50cf \u3002 \u8fd9 \u603b\u662f \u53d1\u751f \u5728 \u7b2c\u4e00 \u5e27 \u4e2d \uff0c \u56e0\u4e3a \u6ca1\u6709 \u524d \u4e00\u5e27 \u53ef \u4f9b \u6bd4\u8f83 \uff0c \u5e76\u4e14 \u5728 \u5e27 \u4e4b\u95f4 \u6ca1\u6709 \u79fb\u52a8 \u7684 \u60c5\u51b5 \u4e0b \u4e5f \u662f \u5982\u6b64 \u3002   \u52a8\u6001 \u89c6\u89c9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f \u4e00\u4e2a \u76f8\u673a \uff0c \u56e0\u6b64 \u5177\u6709   RGB   \u76f8\u673a \u4e2d \u53ef\u7528 \u7684 \u6240\u6709 \u5c5e\u6027 \u3002 \u7136\u800c \uff0c \u4e8b\u4ef6 \u6444\u50cf \u6444\u50cf\u673a \u7684 \u5de5\u4f5c \u539f\u7406 \u51e0\u4e4e \u6ca1\u6709 \u4ec0\u4e48 \u72ec\u6709 \u7684 \u5c5e\u6027 \u3002","title":"\u52a8\u6001 \u89c6\u89c9 \u4f20\u611f\u5668 \u76f8\u673a  "},{"location":"ref_sensors/#_41","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   positive _ threshold   float   0.3   \u4e0e \u4eae\u5ea6 \u53d8\u5316 \u589e\u91cf \u76f8\u5173 \u7684 \u6b63 \u9608\u503c   C \uff0c \u8303\u56f4 \u4e3a   ( 0 - 1 ) \u3002   negative _ threshold   float   0.3   \u4e0e \u4eae\u5ea6 \u53d8\u5316 \u51cf\u5c11 \u76f8\u5173 \u7684 \u8d1f \u9608\u503c   C \uff0c \u8303\u56f4 \u4e3a ( 0 - 1 ) \u3002   sigma _ positive _ threshold   float   0   \u6b63 \u4e8b\u4ef6 \u7684 \u767d \u566a\u58f0 \u6807\u51c6 \u6807\u51c6\u5dee \uff0c \u8303\u56f4 \u4e3a   ( 0 - 1 ) \u3002   sigma _ negative _ threshold   float   0   \u8d1f \u4e8b\u4ef6 \u7684 \u767d \u566a\u58f0 \u6807\u51c6 \u6807\u51c6\u5dee \uff0c \u8303\u56f4 \u4e3a   ( 0 - 1 ) \u3002   refractory _ period _ ns   int   0.0   \u4e0d\u5e94 \u4e0d\u5e94\u671f \uff08 \u50cf\u7d20 \u5728 \u89e6\u53d1 \u4e8b\u4ef6 \u540e \u65e0\u6cd5 \u89e6\u53d1 \u4e8b\u4ef6 \u7684 \u65f6\u95f4 \uff09 \uff0c \u4ee5 \u7eb3\u79d2 \u4e3a \u5355\u4f4d \u3002 \u5b83 \u9650\u5236 \u4e86 \u89e6\u53d1 \u4e8b\u4ef6 \u7684 \u6700\u9ad8 \u9891\u7387 \u3002   use _ log   bool   true   \u662f\u5426 \u4ee5 \u5bf9\u6570 \u5f3a\u5ea6 \u523b\u5ea6 \u5de5\u4f5c \u3002   log _ eps   float   0.001   \u7528\u4e8e \u5c06 \u56fe\u50cf \u8f6c\u6362 \u4e3a \u5bf9\u6570 \u7684   Epsilon   \u503c \uff1a   L   =   log ( eps   +   I   /   255.0 )   .   \u5176\u4e2d   I   \u662f   RGB   \u56fe\u50cf \u7684 \u7070\u5ea6 \u503c \uff1a   I   =   0.2989 * R   +   0.5870 * G   +   0.1140 * B   .","title":"\u52a8\u6001 \u89c6\u89c9 \u4f20\u611f\u5668 \u76f8\u673a \u5c5e\u6027"},{"location":"ref_sensors/#_42","text":"\u5149\u6d41 \u76f8\u673a \u6355\u6349 \u4ece \u76f8\u673a \u7684 \u89d2\u5ea6 \u611f\u77e5 \u7684 \u8fd0\u52a8 \u3002 \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bb0\u5f55 \u7684 \u6bcf\u4e2a \u50cf\u7d20 \u90fd \u5bf9 \u6295\u5f71 \u5230 \u56fe\u50cf \u5e73\u9762 \u7684 \u8be5 \u70b9 \u7684 \u901f\u5ea6 \u8fdb\u884c \u7f16\u7801 \u3002 \u50cf\u7d20 \u7684 \u901f\u5ea6 \u5728   [ - 2 , 2 ]   \u8303\u56f4 \u5185 \u7f16\u7801 \u3002 \u4e3a\u4e86 \u83b7\u5f97 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \u7684 \u8fd0\u52a8 \uff0c \u53ef\u4ee5 \u5c06 \u8be5 \u4fe1\u606f \u4e0e \u56fe\u50cf \u5927\u5c0f \u4e00\u8d77 \u7f29\u653e \u81f3 [ - 2   *   image _ size ,   2   *   image _ size ] \u3002","title":"\u5149\u6d41 \u76f8\u673a  "},{"location":"ref_sensors/#_43","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   image _ size _ x   int   800   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   image _ size _ y   int   600   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   fov   float   90.0   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   sensor _ tick   float   0.0   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u4e4b\u95f4 \u7684 \u4eff\u771f \u79d2\u6570 \uff08 \u8282\u62cd \uff09 \u3002","title":"\u5149\u6d41 \u76f8\u673a \u5c5e\u6027"},{"location":"ref_sensors/#_44","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4   \u63cf\u8ff0   lens _ circle _ falloff   float   5.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ circle _ multiplier   float   0.0   \u8303\u56f4 \uff1a   [ 0.0 ,   10.0 ]   lens _ k   float   - 1.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ kcube   float   0.0   \u8303\u56f4 \uff1a   [ - inf ,   inf ]   lens _ x _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]   lens _ y _ size   float   0.08   \u8303\u56f4 \uff1a   [ 0.0 ,   1.0 ]","title":"\u5149\u6d41 \u76f8\u673a \u955c\u5934 \u7578\u53d8 \u5c5e\u6027"},{"location":"ref_sensors/#_45","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5c5e\u6027   \u7c7b\u578b   \u63cf\u8ff0   frame   int   \u8fdb\u884c \u6d4b\u91cf \u65f6 \u7684 \u5e27 \u7f16\u53f7 \u3002   timestamp   double   \u81ea \u56de\u5408 \u5f00\u59cb \u4ee5\u6765 \u6d4b\u91cf \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002   transform   carla . Transform   \u6d4b\u91cf \u65f6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u3002   width   int   \u56fe\u50cf \u5bbd\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   height   int   \u56fe\u50cf \u9ad8\u5ea6 \uff08 \u4ee5 \u50cf\u7d20 \u4e3a \u5355\u4f4d \uff09 \u3002   fov   float   \u6c34\u5e73 \u89c6\u91ce \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   raw _ data   bytes   \u5305\u542b \u4e24\u4e2a \u6d6e\u70b9 \u503c \u7684   BGRA   64   \u4f4d \u50cf\u7d20 \u6570\u7ec4 \u3002","title":"\u8f93\u51fa \u5c5e\u6027"},{"location":"ref_sensors/#v2x","text":"\u8f66\u8054 \u4e07\u7269   ( Vehicle - to - everything ,   V2X )   \u901a\u4fe1 \u662f \u672a\u6765 \u534f\u4f5c \u667a\u80fd \u4ea4\u901a \u7cfb\u7edf \u4ea4\u901a\u7cfb\u7edf \u5e94\u7528 \u7684 \u4e00\u4e2a \u91cd\u8981 \u65b9\u9762 \u3002 \u5728 \u5b9e\u9645 \u8f66\u8f86 \u4e2d \uff0c \u8fd9 \u9700\u8981 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u4e0a \u90fd \u6709 \u4e00\u4e2a \u4e13\u7528 \u7684 \u8f66\u8f7d \u5355\u5143   ( onboard   unit ,   OBU ) \uff0c \u80fd\u591f \u901a\u8fc7 \u65e0\u7ebf \u4fe1\u9053 \u53d1\u9001 \u548c \u63a5\u6536 \u4fe1\u606f \u3002 \u6839\u636e \u5730\u533a \uff08 \u6b27\u6d32 \u3001 \u4e2d\u56fd \u3001 \u7f8e\u56fd \uff09 \uff0c \u4f7f\u7528 \u4e0d\u540c \u7684 \u7269\u7406 \u6280\u672f \u3001 \u534f\u8bae \u548c \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u6d88\u606f \u683c\u5f0f \u3002   CARLA   \u76ee\u524d \u652f\u6301 \u6a21\u62df \u7b80\u5355 \u7684 \u5e7f\u64ad \u65e0\u7ebf \u4fe1\u9053 \u548c \u4e24\u6761 \u5e94\u7528 \u6d88\u606f \u3002 \u5c1a \u4e0d \u652f\u6301 \u7f51\u7edc \u8bbf\u95ee \u548c \u8f6c\u53d1 \u534f\u8bae \u3002 \u4e24\u6761 \u5b9e\u73b0 \u7684 \u6d88\u606f \u5206\u522b \u662f \u7b26\u5408 \u6b27\u6d32 \u6807\u51c6   ETSI   \u7684   \u534f\u4f5c \u611f\u77e5 \u6d88\u606f   \u548c   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d88\u606f   \u7c7b\u578b \uff0c \u53ef \u7528\u4e8e \u4f20\u8f93 \u4efb\u610f \u5b57\u7b26 \u5b57\u7b26\u4e32 \u6570\u636e \uff08 \u4f8b\u5982   JSON \uff09 \u3002 V2X   \u901a\u4fe1 \u6709 \u4e24\u79cd \u4e0d\u540c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u53ef\u4ee5 \u5355\u72ec \u4f7f\u7528 \uff0c \u6bcf\u79cd \u5e94\u7528 \u6d88\u606f \u7c7b\u578b \u5404 \u4e00\u4e2a \u3002   \u57fa\u672c \u57fa\u672c\u4e0a \uff0c \u65e0\u7ebf \u901a\u9053 \u5305\u542b \u4e24\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4ee5\u4e0b \u8ba1\u7b97 \uff1a   ReceivedPower   =   OtherTransmitPower   +   combined _ antenna _ gain   -   loss   IF   ( ReceivedPower   > =   receiver _ sensitivity )   THEN   message   is   received   \u8981 \u6a21\u62df   V2X   \u901a\u4fe1 \uff0c \u81f3\u5c11 \u9700\u8981 \u751f\u6210 \u4e24\u4e2a \u76f8\u540c \u7c7b\u578b \u7684   V2X   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u81f3\u5c11 \u4e00\u5bf9 \u53d1\u9001 \u53d1\u9001\u5668 - \u63a5\u6536 \u63a5\u6536\u5668 \uff09 \u3002 \u7531\u4e8e \u63a5\u6536 \u529f\u7387 \u662f \u5728 \u63a5\u6536 \u63a5\u6536\u5668 \u7aef   V2X   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e0a \u8ba1\u7b97 \u7684 \uff0c \u56e0\u6b64 \u53ea\u6709 \u63a5\u6536 \u63a5\u6536\u5668 \u7aef \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e0a \u6307\u5b9a \u7684 \u5929\u7ebf \u589e\u76ca \u624d \u4f1a \u7eb3\u5165 \u6b64 \u8ba1\u7b97 \u4e2d \u3002 \u53ef\u4ee5 \u914d\u7f6e \u4f20\u8f93 \u529f\u7387 \u548c \u63a5\u6536 \u63a5\u6536\u5668 \u7075\u654f \u654f\u5ea6 \u7075\u654f\u5ea6 \uff08 \u53c2\u9605 \u8bf7\u53c2\u9605   \u84dd\u56fe \u5c5e\u6027   \uff09 \u3002   \u635f\u8017   \u8ba1\u7b97 \u53d6\u51b3 \u53d6\u51b3\u4e8e   -   \u53d1\u9001 \u65b9 \u548c \u63a5\u6536 \u65b9 \u4e4b\u95f4 \u7684 \u53ef\u89c1 \u6027 \u6761\u4ef6 \uff1a \u89c6\u7ebf \uff08 \u65e0 \u969c\u788d \u969c\u788d\u7269 \uff09 \u3001 \u88ab \u5efa\u7b51 \u5efa\u7b51\u7269 \u906e\u6321 \u7684 \u975e \u89c6\u7ebf \u6216 \u88ab \u8f66\u8f86 \u906e\u6321 \u7684 \u975e \u89c6\u7ebf \uff0c \u4ee5\u53ca   -   \u573a\u666f \uff1a \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3001 \u4e61\u6751 \u6216 \u57ce\u5e02 \u73af\u5883   \u867d\u7136 \u5728   CARLA   \u4e2d \u6a21\u62df \u4e86 \u53ef\u89c1 \u6027 \uff0c \u4f46 \u7528\u6237 \u53ef\u4ee5 \u914d\u7f6e \u573a\u666f \uff08 \u53c2\u89c1   \u84dd\u56fe \u5c5e\u6027   \uff09 \uff0c \u4ee5\u53ca \u65e0\u7ebf \u4fe1\u9053 \u7684 \u5176\u4ed6 \u51e0\u4e2a \u5c5e\u6027 \u3002","title":"V2X   \u4f20\u611f\u5668  "},{"location":"ref_sensors/#_46","text":"","title":"\u4f20\u611f\u5668 \uff08 \u5b50 \uff09 \u7c7b\u578b"},{"location":"ref_sensors/#_47","text":"\u84dd\u56fe \uff1a   sensor . other . v2x   \u8f93\u51fa \uff1a   carla . CAMData   ,   \u6839\u636e   ETSI   CAM   ( European   Telecommunications   Standards   Institute   ,   Cooperative   Awareness   Message \uff0c \u6b27\u6d32 \u901a\u4fe1 \u6807\u51c6 \u534f\u4f1a \uff0c \u534f\u540c \u8b66\u793a \u6d88\u606f )   \u6807\u51c6 \u89e6\u53d1 \uff0c \u9664\u975e \u53e6\u6709 \u914d\u7f6e   \u6839\u636e   ETSI   \u6807\u51c6 \u7684 \u89e6\u53d1 \u6761\u4ef6 \uff1a   -   \u822a\u5411 \u89d2 \u53d8\u5316   >   $ 4 $ \u00b0   -   \u4f4d\u7f6e \u5dee   >   $ 4 $   m   -   \u901f\u5ea6 \u53d8\u5316   >   $ 5 $   m / s   -   \u7ecf\u8fc7 \u65f6\u95f4   >   CAM   \u751f\u6210 \u65f6\u95f4 \uff08 \u53ef \u914d\u7f6e \uff09   -   \u4f4e\u9891 \u5bb9\u5668 \u7ecf\u8fc7 \u65f6\u95f4   $ >   500 $   ms   \u5bf9\u4e8e   CAM   V2X   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u9002\u7528 \u5176\u4ed6 \u84dd\u56fe \u5c5e\u6027 \uff1a   \u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \u63cf\u8ff0   \u6d88\u606f \u751f\u6210   gen _ cam _ min   float   $ 0.1 $   \u4e24\u4e2a \u8fde\u7eed   CAM   \u4e4b\u95f4 \u7684 \u6700 \u77ed\u65f6 \u65f6\u95f4 \u77ed\u65f6\u95f4 \u95f4\u9694 \uff08 \u79d2 \uff09   gen _ cam _ max   float   $ 1.0 $   \u4e24\u4e2a \u8fde\u7eed   CAM   \u4e4b\u95f4 \u7684 \u6700\u5927 \u65f6\u95f4 \u95f4\u9694 \uff08 \u79d2 \uff09   fixed _ rate   bool   false   [ true ]   \u5728 \u6bcf\u4e2a   Carla   \u8282\u62cd \u4e2d \u751f\u6210 \u4e00\u4e2a   CAM \uff08 \u4ec5 \u7528\u4e8e \u8c03\u8bd5 \u76ee\u7684 \uff0c \u4f1a \u5bfc\u81f4 \u901f\u5ea6 \u53d8\u6162 \uff09   \u6570\u636e \u751f\u6210   noise _ vel _ stddev _ x   float   0.0   \u566a\u58f0 \u6a21\u578b \u4e2d \u901f\u5ea6 \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \uff08 X   \u8f74 \uff09 \u3002   noise _ accel _ stddev _ x   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 X   \u8f74 \uff09 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ accel _ stddev _ y   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \uff08 Y   \u8f74 \uff09 \u3002   noise _ accel _ stddev _ z   float   0.0   \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff08 Z   \u8f74 \uff09 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ yawrate _ bias   float   0.0   \u566a\u58f0 \u6a21\u578b \u4e2d \u504f\u822a \u901f\u5ea6 \u89d2\u901f\u5ea6 \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ yawrate _ stddev   float   0.0   \u504f\u822a \u901f\u5ea6 \u89d2\u901f\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ alt _ bias   float   0.0   \u566a\u58f0 \u6a21\u578b \u4e2d \u6d77\u62d4 \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ alt _ stddev   float   0.0   \u6d77\u62d4 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002   noise _ lat _ bias   float   0.0   \u7eac\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ lat _ stddev   float   0.0   \u7eac\u5ea6 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u6807\u51c6\u5dee \u53c2\u6570 \u3002   noise _ lon _ bias   float   0.0   \u566a\u58f0 \u6a21\u578b \u4e2d \u7ecf\u5ea6 \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ lon _ stddev   float   0.0   \u566a\u58f0 \u6a21\u578b \u4e2d \u7ecf\u5ea6 \u7684 \u6807\u51c6 \u6807\u51c6\u5dee \u53c2\u6570 \u3002   noise _ head _ bias   float   0.0   \u822a\u5411 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u53c2\u6570 \u3002   noise _ head _ stddev   float   0.0   \u822a\u5411 \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002","title":"\u534f\u540c \u611f\u77e5 \u6d88\u606f  "},{"location":"ref_sensors/#v2x_1","text":"\u84dd\u56fe \uff1a   sensor . other . v2x _ custom   \u8f93\u51fa \uff1a   carla . CustomV2XData   \uff0c \u5728 \u8c03\u7528   send ( )   \u540e \u89e6\u53d1 \u4e0b \u4e00\u4e2a \u6ef4\u7b54 \u4fe1\u606f","title":"\u81ea\u5b9a\u4e49   V2X   \u6d88\u606f  "},{"location":"ref_sensors/#_48","text":"send   (   self   ,   callback   )   \u7528\u6237 \u6bcf\u6b21 \u53d1\u9001 \u6d88\u606f \u65f6 \u5fc5\u987b \u8c03\u7528 \u7684 \u51fd\u6570 \u3002 \u6b64 \u51fd\u6570 \u9700\u8981 \u4e00\u4e2a \u5305\u542b \u5bf9\u8c61 \u7c7b\u578b   carla . SensorData   \u7684 \u53c2\u6570 \u6765 \u5904\u7406 \u3002   \u53c2\u6570 \uff1a   data   (   function   )   -   \u88ab \u8c03\u7528 \u7684 \u51fd\u6570 \u5e26\u6709 \u4e00\u4e2a \u5305\u542b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u7684 \u53c2\u6570 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49   V2X   \u6d88\u606f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7565\u6709 \u4e0d\u540c \u7565\u6709\u4e0d\u540c \uff0c \u56e0\u4e3a \u5b83 \u9664\u4e86   \u4fa6\u542c   \u51fd\u6570 \u4e4b\u5916 \u8fd8 \u5177\u6709   \u53d1\u9001   \u51fd\u6570 \uff0c \u9700\u8981 \u5148 \u8c03\u7528 \u53d1\u9001 \u51fd\u6570 \uff0c \u7136\u540e \u5176\u4ed6 \u6b64\u7c7b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u624d\u80fd \u63a5\u6536 \u4efb\u4f55 \u5185\u5bb9 \u3002 \u53ea\u6709 \u5728 \u8c03\u7528   \u53d1\u9001   \u65f6\u624d \u4f1a \u89e6\u53d1 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d88\u606f \u7684 \u4f20\u8f93 \u3002 \u53d1\u9001 \u9001\u7ed9 \u53d1\u9001\u7ed9   \u53d1\u9001   \u51fd\u6570 \u7684 \u6bcf\u6761 \u6d88\u606f \u4ec5 \u5411 \u5f53\u524d \u751f\u6210 \u7684 \u6240\u6709 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49   V2X   \u6d88\u606f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f20\u8f93 \u4e00\u6b21 \u3002   \u793a\u4f8b \uff1a   bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . v2x _ custom ' )   sensor   =   world . spawn _ actor ( bp ,   carla . Transform ( ) ,   attach _ to = parent )   sensor . send ( \" Hello   CARLA \" )","title":"\u65b9\u6cd5"},{"location":"ref_sensors/#v2x_2","text":"\u84dd\u56fe \u5c5e\u6027   \u7c7b\u578b   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \u63cf\u8ff0   transmit _ power   float   $ 21.5 $   \u53d1\u9001 \u65b9 \u4f20\u8f93 \u529f\u7387 \uff08 \u5355\u4f4d \uff1a dBm \uff09   receiver _ sensitivity   float   $ - 99 $   \u63a5\u6536 \u63a5\u6536\u5668 \u7075\u654f \u654f\u5ea6 \u7075\u654f\u5ea6 \uff08 \u5355\u4f4d \uff1a dBm \uff09   frequency _ ghz   float   $ 5.9 $   \u4f20\u8f93 \u9891\u7387 \uff08 GHz \uff09 \u3002 5.9   GHz   \u662f \u591a\u4e2a \u7269\u7406 \u4fe1\u9053 \u7684 \u6807\u51c6 \u3002   noise _ seed   int   $ 0 $   \u566a\u58f0 \u521d\u59cb \u521d\u59cb\u5316 \u7684 \u968f\u673a \u53c2\u6570   filter _ distance   float   $ 500 $   \u6700\u5927 \u4f20\u8f93 \u8ddd\u79bb \uff08 \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff09 \uff0c \u4e0a\u9762 \u7684 \u8def\u5f84 \u635f\u8017 \u8ba1\u7b97 \u56e0 \u6a21\u62df \u901f\u5ea6 \u800c \u7565\u8fc7   \u8def\u5f84 \u635f\u8017 \u6a21\u578b \u53c2\u6570   combined _ antenna _ gain   float   $ 10.0 $   \u53d1\u5c04 \u53d1\u5c04\u673a \u548c \u63a5\u6536 \u63a5\u6536\u673a \u5929\u7ebf \u7684 \u7ec4\u5408 \u589e\u76ca \uff08 \u4ee5   dBi   \u4e3a \u5355\u4f4d \uff09 \uff0c \u8f90\u5c04 \u6548\u7387 \u8f90\u5c04\u6548\u7387 \u548c \u65b9\u5411 \u5411\u6027 \u65b9\u5411\u6027 \u7684 \u53c2\u6570   d _ ref   float   $   1.0   $   \u5bf9\u6570 \u8ddd\u79bb \u8def\u5f84 \u635f\u8017 \u6a21\u578b \u7684 \u53c2\u8003 \u8ddd\u79bb \uff08 \u5355\u4f4d \uff1a \u7c73 \uff09   path _ loss _ exponent   float   2.7   \u7531\u4e8e \u5efa\u7b51 \u5efa\u7b51\u7269 \u906e\u6321 \u5bfc\u81f4 \u7684 \u975e \u89c6\u8ddd \u635f\u8017 \u53c2\u6570   scenario   string   urban   \u9009\u9879 \uff1a [ urban ,   rustic ,   highly   available ] \uff0c \u5b9a\u4e49 \u8870\u843d \u566a\u58f0 \u53c2\u6570   path _ loss _ model   string   geometric   \u4f7f\u7528 \u7684 \u901a\u7528 \u8def\u5f84 \u635f\u8017 \u6a21\u578b \u3002 \u9009\u9879 \uff1a [ geometric ,   winor ]   use _ etsi _ fading   bool   true   \u4f7f\u7528   ETSI   \u51fa\u7248 \u51fa\u7248\u7269 \u4e2d \u63d0\u5230 \u7684 \u8870\u843d \u53c2\u6570 \uff08 true \uff09 \uff0c \u6216 \u4f7f\u7528 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8870\u843d \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee   custom _ fading _ stddev   float   0.0   \u8870\u51cf \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u503c \uff0c \u4ec5\u5f53   use _ etsi _ fading   \u8bbe\u7f6e \u4e3a   false   \u65f6\u624d \u4f7f\u7528","title":"V2X   \u4f20\u611f\u5668 \u84dd\u56fe \u5c5e\u6027"},{"location":"release_readme/","text":"Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u611f\u8c22 \u611f\u8c22\u60a8 \u4e0b\u8f7d   Carla \uff01   http : / / carla . org /   \u5982\u4f55 \u8fd0\u884c   Carla   \u5728 \u6b64 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u542f\u52a8 \u7ec8\u7aef \u5e76 \u901a\u8fc7 \u8fd0\u884c \u6765 \u6267\u884c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   . / CarlaUE4 . sh   \u8fd9 \u5c06 \u542f\u52a8 \u4e00\u4e2a \u53ef\u4ee5 \u770b\u5230 \u57ce\u5e02 \u666f\u89c2 \u7684 \u7a97\u53e3 \u3002 \u8fd9\u662f \u201c \u89c2\u5bdf \u89c2\u5bdf\u8005 \u201d \u89c6\u56fe \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u9f20\u6807 \u548c   WASD   \u952e \u5728 \u57ce\u5e02 \u4e2d \u98de\u884c \uff0c \u4f46 \u65e0\u6cd5 \u4e0e \u6b64 \u89c6\u56fe \u4e2d \u7684 \u4e16\u754c \u8fdb\u884c \u4ea4\u4e92 \u3002 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u73b0\u5728 \u4f5c\u4e3a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fd0\u884c \uff0c \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u8fde\u63a5 \u5e76 \u4e0e \u4e16\u754c \u4ea4\u4e92 \u3002   \u8ba9 \u6211\u4eec \u9996\u5148 \u5411 \u57ce\u5e02 \u6dfb\u52a0 \u4e00\u4e9b \u5b9e\u65f6 \u5185\u5bb9 \uff0c \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7684 \u7ec8\u7aef \u7a97\u53e3 \u5e76 \u6267\u884c   . / generate _ traffic . py   - n   80   \u8fd9 \u4f7f\u5f97 \u5168\u7403 \u589e\u52a0 \u4e86   80   \u8f86 \u4ee5 \u201c \u81ea\u52a8 \u9a7e\u9a76 \u201d \u6a21\u5f0f \u884c\u9a76 \u7684 \u8f66\u8f86 \u3002 \u56de\u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7a97\u53e3 \uff0c \u6211\u4eec \u5e94\u8be5 \u770b\u5230 \u8fd9\u4e9b \u8f66\u8f86 \u5728 \u57ce\u5e02 \u4e2d \u884c\u9a76 \u3002 \u4ed6\u4eec \u5c06 \u7ee7\u7eed \u968f\u673a \u9a7e\u9a76 \uff0c \u76f4\u5230 \u6211\u4eec \u505c\u6b62 \u811a\u672c \u3002 \u6211\u4eec \u6682\u65f6 \u628a \u5b83\u4eec \u7559\u5728 \u90a3\u91cc \u5427 \u3002   \u73b0\u5728 \uff0c \u5361\u62c9 \u5929\u6c14 \u6674\u6717 \u5929\u6c14\u6674\u6717 \uff0c \u9633\u5149 \u5149\u660e \u660e\u5a9a \u9633\u5149\u660e\u5a9a \uff0c \u4f46 \u8fd9 \u5e76 \u4e0d\u662f \u4e00\u4e2a \u975e\u5e38 \u6709\u8da3 \u7684 \u9a7e\u9a76 \u6761\u4ef6 \u3002 Carla   \u7684 \u4e00\u9879 \u5f88\u9177 \u7684 \u529f\u80fd \u662f \u60a8 \u53ef\u4ee5 \u63a7\u5236 \u4e16\u754c \u7684 \u5929\u6c14 \u548c \u7167\u660e \u6761\u4ef6 \u3002 \u6211\u4eec \u73b0\u5728 \u5c06 \u542f\u52a8 \u4e00\u4e2a \u52a8\u6001 \u63a7\u5236 \u52a8\u6001\u63a7\u5236 \u4e00\u5929 \u4e2d \u7684 \u5929\u6c14 \u548c \u65f6\u95f4 \u7684 \u811a\u672c \uff0c \u6253\u5f00 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u7a97\u53e3 \u5e76 \u6267\u884c   . / dynamic _ weather . py   \u8fd9\u5ea7 \u57ce\u5e02 \u73b0\u5728 \u5df2\u7ecf \u51c6\u5907 \u597d \u8ba9 \u6211\u4eec \u5f00\u8f66 \u4e86 \uff0c \u6211\u4eec \u7ec8\u4e8e \u53ef\u4ee5 \u8fd0\u884c \u4e86   . / manual _ control . py   \u8fd9 \u5e94\u8be5 \u4f1a \u6253\u5f00 \u4e00\u4e2a \u7a97\u53e3 \u65b0\u7a97\u53e3 \uff0c \u5176\u4e2d \u5305\u542b \u6c7d\u8f66 \u7684 \u7b2c\u4e09 \u4eba\u79f0 \u7b2c\u4e09\u4eba\u79f0 \u89c6\u56fe \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528   WASD / \u7bad\u5934 \u7bad\u5934\u952e   \u9a7e\u9a76 \u8fd9\u8f86 \u8f66 \u3002 \u6309 \u201c h \u201d \u67e5\u770b \u6240\u6709 \u53ef\u7528 \u9009\u9879 \u3002   \u6709\u5173 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u548c \u8fd0\u884c \u9009\u9879 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u6211\u4eec \u7684   \u5728\u7ebf \u6587\u6863   \u3002","title":"Carla   \u4eff\u771f\u5668"},{"location":"release_readme/#carla","text":"\u611f\u8c22 \u611f\u8c22\u60a8 \u4e0b\u8f7d   Carla \uff01   http : / / carla . org /","title":"Carla   \u4eff\u771f\u5668"},{"location":"release_readme/#carla_1","text":"\u5728 \u6b64 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u542f\u52a8 \u7ec8\u7aef \u5e76 \u901a\u8fc7 \u8fd0\u884c \u6765 \u6267\u884c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   . / CarlaUE4 . sh   \u8fd9 \u5c06 \u542f\u52a8 \u4e00\u4e2a \u53ef\u4ee5 \u770b\u5230 \u57ce\u5e02 \u666f\u89c2 \u7684 \u7a97\u53e3 \u3002 \u8fd9\u662f \u201c \u89c2\u5bdf \u89c2\u5bdf\u8005 \u201d \u89c6\u56fe \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u9f20\u6807 \u548c   WASD   \u952e \u5728 \u57ce\u5e02 \u4e2d \u98de\u884c \uff0c \u4f46 \u65e0\u6cd5 \u4e0e \u6b64 \u89c6\u56fe \u4e2d \u7684 \u4e16\u754c \u8fdb\u884c \u4ea4\u4e92 \u3002 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u73b0\u5728 \u4f5c\u4e3a \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8fd0\u884c \uff0c \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u8fde\u63a5 \u5e76 \u4e0e \u4e16\u754c \u4ea4\u4e92 \u3002   \u8ba9 \u6211\u4eec \u9996\u5148 \u5411 \u57ce\u5e02 \u6dfb\u52a0 \u4e00\u4e9b \u5b9e\u65f6 \u5185\u5bb9 \uff0c \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7684 \u7ec8\u7aef \u7a97\u53e3 \u5e76 \u6267\u884c   . / generate _ traffic . py   - n   80   \u8fd9 \u4f7f\u5f97 \u5168\u7403 \u589e\u52a0 \u4e86   80   \u8f86 \u4ee5 \u201c \u81ea\u52a8 \u9a7e\u9a76 \u201d \u6a21\u5f0f \u884c\u9a76 \u7684 \u8f66\u8f86 \u3002 \u56de\u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7a97\u53e3 \uff0c \u6211\u4eec \u5e94\u8be5 \u770b\u5230 \u8fd9\u4e9b \u8f66\u8f86 \u5728 \u57ce\u5e02 \u4e2d \u884c\u9a76 \u3002 \u4ed6\u4eec \u5c06 \u7ee7\u7eed \u968f\u673a \u9a7e\u9a76 \uff0c \u76f4\u5230 \u6211\u4eec \u505c\u6b62 \u811a\u672c \u3002 \u6211\u4eec \u6682\u65f6 \u628a \u5b83\u4eec \u7559\u5728 \u90a3\u91cc \u5427 \u3002   \u73b0\u5728 \uff0c \u5361\u62c9 \u5929\u6c14 \u6674\u6717 \u5929\u6c14\u6674\u6717 \uff0c \u9633\u5149 \u5149\u660e \u660e\u5a9a \u9633\u5149\u660e\u5a9a \uff0c \u4f46 \u8fd9 \u5e76 \u4e0d\u662f \u4e00\u4e2a \u975e\u5e38 \u6709\u8da3 \u7684 \u9a7e\u9a76 \u6761\u4ef6 \u3002 Carla   \u7684 \u4e00\u9879 \u5f88\u9177 \u7684 \u529f\u80fd \u662f \u60a8 \u53ef\u4ee5 \u63a7\u5236 \u4e16\u754c \u7684 \u5929\u6c14 \u548c \u7167\u660e \u6761\u4ef6 \u3002 \u6211\u4eec \u73b0\u5728 \u5c06 \u542f\u52a8 \u4e00\u4e2a \u52a8\u6001 \u63a7\u5236 \u52a8\u6001\u63a7\u5236 \u4e00\u5929 \u4e2d \u7684 \u5929\u6c14 \u548c \u65f6\u95f4 \u7684 \u811a\u672c \uff0c \u6253\u5f00 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u7a97\u53e3 \u5e76 \u6267\u884c   . / dynamic _ weather . py   \u8fd9\u5ea7 \u57ce\u5e02 \u73b0\u5728 \u5df2\u7ecf \u51c6\u5907 \u597d \u8ba9 \u6211\u4eec \u5f00\u8f66 \u4e86 \uff0c \u6211\u4eec \u7ec8\u4e8e \u53ef\u4ee5 \u8fd0\u884c \u4e86   . / manual _ control . py   \u8fd9 \u5e94\u8be5 \u4f1a \u6253\u5f00 \u4e00\u4e2a \u7a97\u53e3 \u65b0\u7a97\u53e3 \uff0c \u5176\u4e2d \u5305\u542b \u6c7d\u8f66 \u7684 \u7b2c\u4e09 \u4eba\u79f0 \u7b2c\u4e09\u4eba\u79f0 \u89c6\u56fe \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528   WASD / \u7bad\u5934 \u7bad\u5934\u952e   \u9a7e\u9a76 \u8fd9\u8f86 \u8f66 \u3002 \u6309 \u201c h \u201d \u67e5\u770b \u6240\u6709 \u53ef\u7528 \u9009\u9879 \u3002   \u6709\u5173 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u548c \u8fd0\u884c \u9009\u9879 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u6211\u4eec \u7684   \u5728\u7ebf \u6587\u6863   \u3002","title":"\u5982\u4f55 \u8fd0\u884c   Carla"},{"location":"ros_compatibility/","text":"ROS   \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u8282\u70b9   ROS   \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u8282\u70b9   \u662f \u4e00\u4e2a \u63a5\u53e3 \uff0c \u5141\u8bb8 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u4e0e   ROS   1   \u548c   ROS   2   \u65e0\u7f1d \u4f7f\u7528 \u3002 \u6839\u636e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   ROS _ VERSION   \uff0c \u76f8\u540c \u7684   API   \u5c06 \u8c03\u7528   ROS   1   \u6216   ROS   2   \u51fd\u6570 \u3002 \u5b83 \u901a\u8fc7 \u521b\u5efa \u7ee7\u627f   CompatibleNode   \u521b\u5efa \u7c7b \u3002   ROS   \u53c2\u6570   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5728   ROS   2   \u4e2d \u8bbe\u7f6e \u6216 \u8bbf\u95ee \u53c2\u6570 \u4e4b\u524d \u9700\u8981 \u58f0\u660e \u53c2\u6570 \u3002 ROS   1   \u4e2d \u5e76\u975e \u5982\u6b64 \u5e76\u975e\u5982\u6b64 \u3002 \u4e3a\u4e86 \u4fdd\u6301   ROS   1   \u548c   ROS   2   \u6a21\u5f0f \u4ee5 \u76f8\u4f3c \u7684 \u65b9\u5f0f \u5de5\u4f5c \uff0c \u5728   ROS   2   \u7684   CompatibleNode   \u7248\u672c \u4e2d\u5c06 \u53c2\u6570   allow _ undeclared _ parameters   \u8bbe\u7f6e \u4e3a   True   \uff0c \u5141\u8bb8 \u4f7f\u7528 \u53c2\u6570   TrueCompatibleNode   \u800c \u65e0\u9700 \u4e8b\u5148 \u58f0\u660e \u3002   \u670d\u52a1   \u5728   ROS   2   \u4e2d \uff0c \u670d\u52a1 \u53ef\u4ee5 \u5f02\u6b65 \u8c03\u7528 \u3002 ROS   1   \u4e2d \u5e76\u975e \u5982\u6b64 \u5e76\u975e\u5982\u6b64 \u3002 \u56e0\u6b64 \uff0c ROS   2   \u7248\u672c \u7684   call _ service ( )   \u65b9\u6cd5 \u5728 \u5f02\u6b65 \u8c03\u7528 \u540e \u4f1a \u7b49\u5f85 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u54cd\u5e94 \uff0c \u4ee5 \u4eff\u771f   ROS   1   \u7684 \u540c\u6b65 \u884c\u4e3a \u3002   \u7b14\u8bb0   \u5728 \u7b49\u5f85 \u54cd\u5e94 \u65f6 \uff0c ROS   2   \u7684   call _ service ( )   \u65b9\u6cd5 \u4f1a \u65cb\u8f6c \u8282\u70b9 \u3002 \u5982\u679c \u53e6 \u4e00\u4e2a \u7ebf\u7a0b \u5e76\u884c \u65cb\u8f6c \u540c\u4e00 \u8282\u70b9 \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u95ee\u9898 \uff08 \u9519\u8bef \u6216 \u6b7b\u9501 \uff09 \u3002","title":"ROS   \u517c\u5bb9\u6027 \u8282\u70b9"},{"location":"ros_compatibility/#ros","text":"ROS   \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u8282\u70b9   \u662f \u4e00\u4e2a \u63a5\u53e3 \uff0c \u5141\u8bb8 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u4e0e   ROS   1   \u548c   ROS   2   \u65e0\u7f1d \u4f7f\u7528 \u3002 \u6839\u636e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   ROS _ VERSION   \uff0c \u76f8\u540c \u7684   API   \u5c06 \u8c03\u7528   ROS   1   \u6216   ROS   2   \u51fd\u6570 \u3002 \u5b83 \u901a\u8fc7 \u521b\u5efa \u7ee7\u627f   CompatibleNode   \u521b\u5efa \u7c7b \u3002","title":"ROS   \u517c\u5bb9\u6027 \u8282\u70b9"},{"location":"ros_compatibility/#ros_1","text":"\u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5728   ROS   2   \u4e2d \u8bbe\u7f6e \u6216 \u8bbf\u95ee \u53c2\u6570 \u4e4b\u524d \u9700\u8981 \u58f0\u660e \u53c2\u6570 \u3002 ROS   1   \u4e2d \u5e76\u975e \u5982\u6b64 \u5e76\u975e\u5982\u6b64 \u3002 \u4e3a\u4e86 \u4fdd\u6301   ROS   1   \u548c   ROS   2   \u6a21\u5f0f \u4ee5 \u76f8\u4f3c \u7684 \u65b9\u5f0f \u5de5\u4f5c \uff0c \u5728   ROS   2   \u7684   CompatibleNode   \u7248\u672c \u4e2d\u5c06 \u53c2\u6570   allow _ undeclared _ parameters   \u8bbe\u7f6e \u4e3a   True   \uff0c \u5141\u8bb8 \u4f7f\u7528 \u53c2\u6570   TrueCompatibleNode   \u800c \u65e0\u9700 \u4e8b\u5148 \u58f0\u660e \u3002","title":"ROS   \u53c2\u6570"},{"location":"ros_compatibility/#_1","text":"\u5728   ROS   2   \u4e2d \uff0c \u670d\u52a1 \u53ef\u4ee5 \u5f02\u6b65 \u8c03\u7528 \u3002 ROS   1   \u4e2d \u5e76\u975e \u5982\u6b64 \u5e76\u975e\u5982\u6b64 \u3002 \u56e0\u6b64 \uff0c ROS   2   \u7248\u672c \u7684   call _ service ( )   \u65b9\u6cd5 \u5728 \u5f02\u6b65 \u8c03\u7528 \u540e \u4f1a \u7b49\u5f85 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u54cd\u5e94 \uff0c \u4ee5 \u4eff\u771f   ROS   1   \u7684 \u540c\u6b65 \u884c\u4e3a \u3002   \u7b14\u8bb0   \u5728 \u7b49\u5f85 \u54cd\u5e94 \u65f6 \uff0c ROS   2   \u7684   call _ service ( )   \u65b9\u6cd5 \u4f1a \u65cb\u8f6c \u8282\u70b9 \u3002 \u5982\u679c \u53e6 \u4e00\u4e2a \u7ebf\u7a0b \u5e76\u884c \u65cb\u8f6c \u540c\u4e00 \u8282\u70b9 \uff0c \u8fd9 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u95ee\u9898 \uff08 \u9519\u8bef \u6216 \u6b7b\u9501 \uff09 \u3002","title":"\u670d\u52a1"},{"location":"ros_documentation/","text":"ROS   \u6865   ROS   \u6865 \u53ef \u5b9e\u73b0   ROS   \u548c   Carla   \u4e4b\u95f4 \u7684 \u53cc\u5411 \u901a\u4fe1 \u53cc\u5411\u901a\u4fe1 \u3002 \u6765\u81ea   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u4fe1\u606f \u88ab \u8f6c\u6362 \u4e3a   ROS   \u4e3b\u9898 \u3002 \u4ee5 \u540c\u6837 \u7684 \u65b9\u5f0f \uff0c ROS   \u4e2d \u7684 \u8282\u70b9 \u4e4b\u95f4 \u53d1\u9001 \u7684 \u6d88\u606f \u88ab \u8f6c\u6362 \u4e3a \u8981 \u5728   Carla   \u4e2d \u5e94\u7528 \u7684 \u547d\u4ee4 \u3002   ROS   \u6865 \u4e0e   ROS   1   \u548c   ROS   2   \u517c\u5bb9 \u3002   ROS   \u6865 \u5177\u6709 \u4ee5\u4e0b \u7279\u70b9 \uff1a   \u4e3a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u76f8\u673a \uff08 \u6df1\u5ea6 \u3001 \u5206\u5272 \u3001 rgb \u3001 dvs \uff09 \u3001 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u3001 \u96f7\u8fbe \u548c \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u63d0\u4f9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u63d0\u4f9b \u5bf9\u8c61 \u6570\u636e \uff0c \u4f8b\u5982 \u53d8\u6362 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u3001 \u53ef\u89c6 \u53ef\u89c6\u5316 \u6807\u8bb0 \u3001 \u78b0\u649e \u548c \u538b\u7ebf \u3002   \u901a\u8fc7 \u8f6c\u5411 \u3001 \u6cb9\u95e8 \u548c \u5236\u52a8 \u63a7\u5236 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u3002   \u63a7\u5236   Carla   \u4eff\u771f \u7684 \u5404\u4e2a \u65b9\u9762 \u5404\u4e2a\u65b9\u9762 \uff0c \u4f8b\u5982 \u540c\u6b65 \u6a21\u5f0f \u3001 \u64ad\u653e \u548c \u6682\u505c \u4eff\u771f \u4ee5\u53ca \u8bbe\u7f6e \u4eff\u771f \u53c2\u6570 \u3002   \u5f00\u59cb \u4f7f\u7528   \u4e3a   ROS   1   \u5b89\u88c5   ROS   \u6865   \u4e3a   ROS   2   \u5b89\u88c5   ROS   \u6865   \u4e86\u89e3 \u4e3b\u8981 \u7684   ROS   \u6865\u63a5 \u5305   Carla   \u7684   ROS   \u6865   -   \u8fd0\u884c   ROS   \u6865 \u6240 \u9700 \u7684 \u4e3b\u5305   ROS   \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u8282\u70b9   -   \u5141\u8bb8 \u76f8\u540c   API   \u8c03\u7528   ROS   1   \u6216   ROS   2   \u51fd\u6570 \u7684 \u63a5\u53e3   \u4e86\u89e3 \u989d\u5916 \u7684   ROS   \u6865\u63a5 \u5305   Carla   \u751f\u6210 \u5bf9\u8c61   -   \u63d0\u4f9b \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901a\u7528 \u65b9\u6cd5   Carla   \u624b\u52a8 \u63a7\u5236   -   \u7528\u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684 \u57fa\u4e8e   ROS   \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u548c \u63a7\u5236 \u5de5\u5177 \uff08 \u7c7b\u4f3c \u4e8e   Carla   \u63d0\u4f9b \u7684   carla _ manual _ control . py   \uff09   Carla   \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236   -   \u4e00\u4e2a \u5c06 \u963f\u514b \u963f\u514b\u66fc \u547d\u4ee4 \u8f6c\u4e3a \u8f6c\u5411 / \u6cb9\u95e8 / \u5239\u8f66 \u7684 \u63a7\u5236 \u63a7\u5236\u5668   Carla   \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   -   \u53d1\u5e03 \u548c \u67e5\u8be2   Carla   \u8def\u5f84 \u70b9   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406   -   \u9075\u5faa \u8def\u7ebf \u3001 \u907f\u514d \u78b0\u649e \u5e76 \u9075\u5b88 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u793a\u4f8b \u4ee3\u7406   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u793a\u4f8b   -   \u4e00\u4e2a \u793a\u4f8b \u5305 \uff0c \u63d0\u4f9b \u4f7f\u7528 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u542f\u52a8   Carla   ROS   \u73af\u5883 \u6240 \u9700 \u7684 \u4e00\u5207   Carla   ROS   Scenario   Runner   -   \u901a\u8fc7   ROS   \u4f7f\u7528   Carla   Scenario   Runner   \u6267\u884c   OpenScenarios   \u7684 \u5305\u88c5 \u5668   Carla   \u626d\u8f6c \u63a7\u5236   -   \u5c06 \u626d\u8f6c \u63a7\u5236 \u8f6c\u6362 \u4e3a   Carla   \u8f66\u8f86 \u63a7\u5236   RVIZ   \u63d2\u4ef6   -   \u7528\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 / \u63a7\u5236   Carla   \u7684   RVIZ   \u63d2\u4ef6   RQT   \u63d2\u4ef6   -   \u7528\u4e8e \u63a7\u5236   Carla   \u7684   RQT   \u63d2\u4ef6   PCL   \u8bb0\u5f55 \u8bb0\u5f55\u5668   -   \u6839\u636e \u4eff\u771f \u6355\u83b7 \u7684 \u6570\u636e \u521b\u5efa \u70b9\u4e91 \u5730\u56fe   \u63a2\u7d22 \u53c2\u8003 \u8d44\u6599 \u53c2\u8003\u8d44\u6599   ROS   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   -   \u4e0d\u540c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u53ef\u7528 \u7684 \u53c2\u8003 \u4e3b\u9898   ROS   \u6d88\u606f   -   Carla   ROS   \u6d88\u606f \u4e2d \u63d0\u4f9b \u7684 \u53c2\u8003 \u53c2\u6570","title":"Ros   documentation"},{"location":"ros_documentation/#ros","text":"ROS   \u6865 \u53ef \u5b9e\u73b0   ROS   \u548c   Carla   \u4e4b\u95f4 \u7684 \u53cc\u5411 \u901a\u4fe1 \u53cc\u5411\u901a\u4fe1 \u3002 \u6765\u81ea   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u4fe1\u606f \u88ab \u8f6c\u6362 \u4e3a   ROS   \u4e3b\u9898 \u3002 \u4ee5 \u540c\u6837 \u7684 \u65b9\u5f0f \uff0c ROS   \u4e2d \u7684 \u8282\u70b9 \u4e4b\u95f4 \u53d1\u9001 \u7684 \u6d88\u606f \u88ab \u8f6c\u6362 \u4e3a \u8981 \u5728   Carla   \u4e2d \u5e94\u7528 \u7684 \u547d\u4ee4 \u3002   ROS   \u6865 \u4e0e   ROS   1   \u548c   ROS   2   \u517c\u5bb9 \u3002   ROS   \u6865 \u5177\u6709 \u4ee5\u4e0b \u7279\u70b9 \uff1a   \u4e3a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u76f8\u673a \uff08 \u6df1\u5ea6 \u3001 \u5206\u5272 \u3001 rgb \u3001 dvs \uff09 \u3001 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u3001 \u96f7\u8fbe \u548c \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u63d0\u4f9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u63d0\u4f9b \u5bf9\u8c61 \u6570\u636e \uff0c \u4f8b\u5982 \u53d8\u6362 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u3001 \u53ef\u89c6 \u53ef\u89c6\u5316 \u6807\u8bb0 \u3001 \u78b0\u649e \u548c \u538b\u7ebf \u3002   \u901a\u8fc7 \u8f6c\u5411 \u3001 \u6cb9\u95e8 \u548c \u5236\u52a8 \u63a7\u5236 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u3002   \u63a7\u5236   Carla   \u4eff\u771f \u7684 \u5404\u4e2a \u65b9\u9762 \u5404\u4e2a\u65b9\u9762 \uff0c \u4f8b\u5982 \u540c\u6b65 \u6a21\u5f0f \u3001 \u64ad\u653e \u548c \u6682\u505c \u4eff\u771f \u4ee5\u53ca \u8bbe\u7f6e \u4eff\u771f \u53c2\u6570 \u3002","title":"ROS   \u6865"},{"location":"ros_documentation/#_1","text":"\u4e3a   ROS   1   \u5b89\u88c5   ROS   \u6865   \u4e3a   ROS   2   \u5b89\u88c5   ROS   \u6865","title":"\u5f00\u59cb \u4f7f\u7528"},{"location":"ros_documentation/#ros_1","text":"Carla   \u7684   ROS   \u6865   -   \u8fd0\u884c   ROS   \u6865 \u6240 \u9700 \u7684 \u4e3b\u5305   ROS   \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u8282\u70b9   -   \u5141\u8bb8 \u76f8\u540c   API   \u8c03\u7528   ROS   1   \u6216   ROS   2   \u51fd\u6570 \u7684 \u63a5\u53e3","title":"\u4e86\u89e3 \u4e3b\u8981 \u7684   ROS   \u6865\u63a5 \u5305"},{"location":"ros_documentation/#ros_2","text":"Carla   \u751f\u6210 \u5bf9\u8c61   -   \u63d0\u4f9b \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901a\u7528 \u65b9\u6cd5   Carla   \u624b\u52a8 \u63a7\u5236   -   \u7528\u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684 \u57fa\u4e8e   ROS   \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u548c \u63a7\u5236 \u5de5\u5177 \uff08 \u7c7b\u4f3c \u4e8e   Carla   \u63d0\u4f9b \u7684   carla _ manual _ control . py   \uff09   Carla   \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236   -   \u4e00\u4e2a \u5c06 \u963f\u514b \u963f\u514b\u66fc \u547d\u4ee4 \u8f6c\u4e3a \u8f6c\u5411 / \u6cb9\u95e8 / \u5239\u8f66 \u7684 \u63a7\u5236 \u63a7\u5236\u5668   Carla   \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   -   \u53d1\u5e03 \u548c \u67e5\u8be2   Carla   \u8def\u5f84 \u70b9   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406   -   \u9075\u5faa \u8def\u7ebf \u3001 \u907f\u514d \u78b0\u649e \u5e76 \u9075\u5b88 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u793a\u4f8b \u4ee3\u7406   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u793a\u4f8b   -   \u4e00\u4e2a \u793a\u4f8b \u5305 \uff0c \u63d0\u4f9b \u4f7f\u7528 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u542f\u52a8   Carla   ROS   \u73af\u5883 \u6240 \u9700 \u7684 \u4e00\u5207   Carla   ROS   Scenario   Runner   -   \u901a\u8fc7   ROS   \u4f7f\u7528   Carla   Scenario   Runner   \u6267\u884c   OpenScenarios   \u7684 \u5305\u88c5 \u5668   Carla   \u626d\u8f6c \u63a7\u5236   -   \u5c06 \u626d\u8f6c \u63a7\u5236 \u8f6c\u6362 \u4e3a   Carla   \u8f66\u8f86 \u63a7\u5236   RVIZ   \u63d2\u4ef6   -   \u7528\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 / \u63a7\u5236   Carla   \u7684   RVIZ   \u63d2\u4ef6   RQT   \u63d2\u4ef6   -   \u7528\u4e8e \u63a7\u5236   Carla   \u7684   RQT   \u63d2\u4ef6   PCL   \u8bb0\u5f55 \u8bb0\u5f55\u5668   -   \u6839\u636e \u4eff\u771f \u6355\u83b7 \u7684 \u6570\u636e \u521b\u5efa \u70b9\u4e91 \u5730\u56fe","title":"\u4e86\u89e3 \u989d\u5916 \u7684   ROS   \u6865\u63a5 \u5305"},{"location":"ros_documentation/#_2","text":"ROS   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   -   \u4e0d\u540c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u53ef\u7528 \u7684 \u53c2\u8003 \u4e3b\u9898   ROS   \u6d88\u606f   -   Carla   ROS   \u6d88\u606f \u4e2d \u63d0\u4f9b \u7684 \u53c2\u8003 \u53c2\u6570","title":"\u63a2\u7d22 \u53c2\u8003\u8d44\u6599"},{"location":"ros_index/","text":"ROS   \u6865 \u6587\u6863   \u8fd9\u662f   ROS   \u6865 \u7684 \u6587\u6863 \uff0c \u5b83 \u5b9e\u73b0 \u4e86   ROS   \u548c   Carla   \u4e4b\u95f4 \u7684 \u53cc\u5411 \u901a\u4fe1 \u53cc\u5411\u901a\u4fe1 \u3002 \u6765\u81ea   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u4fe1\u606f \u88ab \u8f6c\u6362 \u4e3a ROS \u4e3b\u9898 \u3002 \u4ee5 \u540c\u6837 \u7684 \u65b9\u5f0f \uff0c ROS \u4e2d \u8282\u70b9 \u4e4b\u95f4 \u53d1\u9001 \u7684 \u6d88\u606f \u88ab \u8f6c\u6362 \u4e3a   Carla   \u4e2d \u5e94\u7528 \u7684 \u547d\u4ee4 \u3002   ROS \u6865 \u4e0e ROS1 \u548c ROS2 \u90fd \u662f \u76f8\u5bb9 \u7684 \u3002   ROS \u6865 \u5177\u6709 \u4ee5\u4e0b \u7279\u70b9 \uff1a   \u4e3a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u76f8\u673a \uff08 \u6df1\u5ea6 \u3001 \u5206\u5272 \u3001 rgb \u3001 dvs \uff09 \u3001 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u3001 \u96f7\u8fbe \u548c IMU \u63d0\u4f9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u63d0\u4f9b \u5bf9\u8c61 \u6570\u636e \uff0c \u5982 \u53d8\u6362 \u3001 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u72b6\u6001 \u3001 \u53ef\u89c6 \u53ef\u89c6\u5316 \u6807\u8bb0 \u3001 \u78b0\u649e \u548c \u538b\u7ebf \u3002   \u901a\u8fc7 \u8f6c\u5411 \u3001 \u6cb9\u95e8 \u548c \u5236\u52a8 \u5236\u52a8\u5668 \u63a7\u5236 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u3002   \u63a7\u5236   Carla   \u4eff\u771f \u7684 \u5404\u4e2a \u65b9\u9762 \u5404\u4e2a\u65b9\u9762 \uff0c \u5982 \u540c\u6b65 \u6a21\u5f0f \u3001 \u64ad\u653e \u548c \u6682\u505c \u4eff\u771f \u4ee5\u53ca \u8bbe\u7f6e \u4eff\u771f \u53c2\u6570 \u3002   \u5f00\u59cb   \u4e3a ROS   1 \u5b89\u88c5 ROS \u6865   \u4e3a ROS   2 \u5b89\u88c5 ROS \u6865   \u4e86\u89e3 \u4e3b\u8981 \u7684   ROS   \u6865\u63a5 \u5305   CARLA   \u7684   ROS   \u6865   -   \u8fd0\u884c ROS \u6865 \u6240 \u9700 \u7684 \u4e3b \u7a0b\u5e8f \u7a0b\u5e8f\u5305   ROS   \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u8282\u70b9   -   \u5141\u8bb8 \u540c\u4e00   API   \u8c03\u7528   ROS   1   \u6216   ROS   2   \u51fd\u6570 \u7684 \u63a5\u53e3   \u4e86\u89e3 \u5176\u4ed6 ROS \u6865\u63a5 \u5305   Carla   \u751f\u6210 \u5bf9\u8c61   -   \u63d0\u4f9b \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901a\u7528 \u65b9\u6cd5   Carla   \u624b\u52a8 \u63a7\u5236   -   \u7528\u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684 \u57fa\u4e8e   ROS   \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u548c \u63a7\u5236 \u5de5\u5177 \uff08 \u7c7b\u4f3c \u4e8e   Carla   \u63d0\u4f9b \u7684   carla _ manual _ control . py   \uff09   Carla   \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236   -   \u5c06 \u963f\u514b \u963f\u514b\u66fc \u547d\u4ee4 \u8f6c\u6362 \u4e3a   \u8f6c\u5411 / \u6cb9\u95e8 / \u5239\u8f66   \u7684 \u63a7\u5236 \u63a7\u5236\u5668   Carla   \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   -   \u53d1\u5e03 \u548c \u67e5\u8be2   Carla   \u8def\u5f84 \u70b9   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406   -   \u9075\u5faa \u8def\u7ebf \u3001 \u907f\u514d \u78b0\u649e \u5e76 \u9075\u5b88 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u793a\u4f8b \u4ee3\u7406   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u793a\u4f8b   -   \u4e00\u4e2a \u793a\u4f8b \u5305 \uff0c \u63d0\u4f9b \u4e86 \u4f7f\u7528 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u542f\u52a8 Carla   ROS \u73af\u5883 \u6240 \u9700 \u7684 \u4e00\u5207   Carla   ROS   Scenario   Runner   -   \u901a\u8fc7   ROS   \u4e0e   Carla   Scenario   Runner   \u4e00\u8d77 \u6267\u884c   OpenScenarios   \u7684 \u5305\u88c5 \u5668   Carla   \u626d\u66f2 \u63a7\u5236   -   \u5c06 \u626d\u66f2 \u63a7\u5236 \u8f6c\u6362 \u4e3a   Carla   \u8f66\u8f86 \u63a7\u5236   RVIZ   plugin   -   \u53ef\u89c6 \u53ef\u89c6\u5316 / \u63a7\u5236   Carla   \u7684 RVIZ \u63d2\u4ef6   RQT   \u63d2\u4ef6   -   \u63a7\u5236   Carla   \u7684 RQT \u63d2\u4ef6   PCL   \u8bb0\u5f55 \u8bb0\u5f55\u5668   -   \u6839\u636e \u4ece \u4eff\u771f \u4e2d \u6355\u83b7 \u7684 \u6570\u636e \u521b\u5efa \u70b9\u4e91 \u5730\u56fe   \u63a2\u7d22 \u53c2\u8003 \u8d44\u6599 \u53c2\u8003\u8d44\u6599   ROS   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   -   \u4e0d\u540c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u63d0\u4f9b \u7684 \u53c2\u8003 \u4e3b\u9898   ROS   messages   -   Carla   ROS \u6d88\u606f \u4e2d \u63d0\u4f9b \u7684 \u53c2\u8003 \u53c2\u6570","title":"ROS   \u6865 \u6587\u6863"},{"location":"ros_index/#ros","text":"\u8fd9\u662f   ROS   \u6865 \u7684 \u6587\u6863 \uff0c \u5b83 \u5b9e\u73b0 \u4e86   ROS   \u548c   Carla   \u4e4b\u95f4 \u7684 \u53cc\u5411 \u901a\u4fe1 \u53cc\u5411\u901a\u4fe1 \u3002 \u6765\u81ea   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u4fe1\u606f \u88ab \u8f6c\u6362 \u4e3a ROS \u4e3b\u9898 \u3002 \u4ee5 \u540c\u6837 \u7684 \u65b9\u5f0f \uff0c ROS \u4e2d \u8282\u70b9 \u4e4b\u95f4 \u53d1\u9001 \u7684 \u6d88\u606f \u88ab \u8f6c\u6362 \u4e3a   Carla   \u4e2d \u5e94\u7528 \u7684 \u547d\u4ee4 \u3002   ROS \u6865 \u4e0e ROS1 \u548c ROS2 \u90fd \u662f \u76f8\u5bb9 \u7684 \u3002   ROS \u6865 \u5177\u6709 \u4ee5\u4e0b \u7279\u70b9 \uff1a   \u4e3a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u76f8\u673a \uff08 \u6df1\u5ea6 \u3001 \u5206\u5272 \u3001 rgb \u3001 dvs \uff09 \u3001 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u3001 \u96f7\u8fbe \u548c IMU \u63d0\u4f9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u63d0\u4f9b \u5bf9\u8c61 \u6570\u636e \uff0c \u5982 \u53d8\u6362 \u3001 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u72b6\u6001 \u3001 \u53ef\u89c6 \u53ef\u89c6\u5316 \u6807\u8bb0 \u3001 \u78b0\u649e \u548c \u538b\u7ebf \u3002   \u901a\u8fc7 \u8f6c\u5411 \u3001 \u6cb9\u95e8 \u548c \u5236\u52a8 \u5236\u52a8\u5668 \u63a7\u5236 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u3002   \u63a7\u5236   Carla   \u4eff\u771f \u7684 \u5404\u4e2a \u65b9\u9762 \u5404\u4e2a\u65b9\u9762 \uff0c \u5982 \u540c\u6b65 \u6a21\u5f0f \u3001 \u64ad\u653e \u548c \u6682\u505c \u4eff\u771f \u4ee5\u53ca \u8bbe\u7f6e \u4eff\u771f \u53c2\u6570 \u3002","title":"ROS   \u6865 \u6587\u6863"},{"location":"ros_index/#_1","text":"\u4e3a ROS   1 \u5b89\u88c5 ROS \u6865   \u4e3a ROS   2 \u5b89\u88c5 ROS \u6865","title":"\u5f00\u59cb"},{"location":"ros_index/#ros_1","text":"CARLA   \u7684   ROS   \u6865   -   \u8fd0\u884c ROS \u6865 \u6240 \u9700 \u7684 \u4e3b \u7a0b\u5e8f \u7a0b\u5e8f\u5305   ROS   \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u8282\u70b9   -   \u5141\u8bb8 \u540c\u4e00   API   \u8c03\u7528   ROS   1   \u6216   ROS   2   \u51fd\u6570 \u7684 \u63a5\u53e3","title":"\u4e86\u89e3 \u4e3b\u8981 \u7684   ROS   \u6865\u63a5 \u5305"},{"location":"ros_index/#ros_2","text":"Carla   \u751f\u6210 \u5bf9\u8c61   -   \u63d0\u4f9b \u751f\u6210 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901a\u7528 \u65b9\u6cd5   Carla   \u624b\u52a8 \u63a7\u5236   -   \u7528\u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684 \u57fa\u4e8e   ROS   \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u548c \u63a7\u5236 \u5de5\u5177 \uff08 \u7c7b\u4f3c \u4e8e   Carla   \u63d0\u4f9b \u7684   carla _ manual _ control . py   \uff09   Carla   \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236   -   \u5c06 \u963f\u514b \u963f\u514b\u66fc \u547d\u4ee4 \u8f6c\u6362 \u4e3a   \u8f6c\u5411 / \u6cb9\u95e8 / \u5239\u8f66   \u7684 \u63a7\u5236 \u63a7\u5236\u5668   Carla   \u8def\u5f84 \u70b9 \u53d1\u5e03 \u5668   -   \u53d1\u5e03 \u548c \u67e5\u8be2   Carla   \u8def\u5f84 \u70b9   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406   -   \u9075\u5faa \u8def\u7ebf \u3001 \u907f\u514d \u78b0\u649e \u5e76 \u9075\u5b88 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u793a\u4f8b \u4ee3\u7406   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u793a\u4f8b   -   \u4e00\u4e2a \u793a\u4f8b \u5305 \uff0c \u63d0\u4f9b \u4e86 \u4f7f\u7528 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u542f\u52a8 Carla   ROS \u73af\u5883 \u6240 \u9700 \u7684 \u4e00\u5207   Carla   ROS   Scenario   Runner   -   \u901a\u8fc7   ROS   \u4e0e   Carla   Scenario   Runner   \u4e00\u8d77 \u6267\u884c   OpenScenarios   \u7684 \u5305\u88c5 \u5668   Carla   \u626d\u66f2 \u63a7\u5236   -   \u5c06 \u626d\u66f2 \u63a7\u5236 \u8f6c\u6362 \u4e3a   Carla   \u8f66\u8f86 \u63a7\u5236   RVIZ   plugin   -   \u53ef\u89c6 \u53ef\u89c6\u5316 / \u63a7\u5236   Carla   \u7684 RVIZ \u63d2\u4ef6   RQT   \u63d2\u4ef6   -   \u63a7\u5236   Carla   \u7684 RQT \u63d2\u4ef6   PCL   \u8bb0\u5f55 \u8bb0\u5f55\u5668   -   \u6839\u636e \u4ece \u4eff\u771f \u4e2d \u6355\u83b7 \u7684 \u6570\u636e \u521b\u5efa \u70b9\u4e91 \u5730\u56fe","title":"\u4e86\u89e3 \u5176\u4ed6 ROS \u6865\u63a5 \u5305"},{"location":"ros_index/#_2","text":"ROS   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   -   \u4e0d\u540c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u63d0\u4f9b \u7684 \u53c2\u8003 \u4e3b\u9898   ROS   messages   -   Carla   ROS \u6d88\u606f \u4e2d \u63d0\u4f9b \u7684 \u53c2\u8003 \u53c2\u6570","title":"\u63a2\u7d22 \u53c2\u8003\u8d44\u6599"},{"location":"ros_installation_ros1/","text":"ROS   1   \u7684   ROS   \u6865\u63a5 \u5b89\u88c5   \u672c \u8282 \u4ecb\u7ecd \u5982\u4f55 \u5728   Linux   \u4e0a \u5b89\u88c5   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u4ee5 \u4e0e   ROS   1   \u4e00\u8d77 \u4f7f\u7528 \u3002 \u60a8 \u5c06 \u627e\u5230 \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6 \u3001 \u5b89\u88c5 \u6b65\u9aa4 \u3001 \u5982\u4f55 \u8fd0\u884c \u57fa\u672c \u5305\u4ee5 \u786e\u4fdd \u4e00\u5207 \u6b63\u5e38 \u4e00\u5207\u6b63\u5e38 \u8fd0\u884c \u4ee5\u53ca \u8fd0\u884c \u6d4b\u8bd5 \u7684 \u547d\u4ee4 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   ROS   \u6865 \u5b89\u88c5   A .   \u4f7f\u7528   Debian   \u5b58\u50a8 \u5e93   B .   \u4f7f\u7528 \u6e90 \u5b58\u50a8 \u5e93   \u8fd0\u884c   ROS   \u6865   \u6d4b\u8bd5   \u91cd\u8981   ROS   \u6865 \u5c1a\u672a \u5728   Windows   \u4e2d \u8fdb\u884c \u6d4b\u8bd5 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5728 \u4f7f\u7528   ROS   \u6865 \u4e4b\u524d \uff0c \u60a8 \u9700\u8981 \u6ee1\u8db3 \u4ee5\u4e0b \u8f6f\u4ef6 \u8981\u6c42 \uff1a   \u6839\u636e \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u5b89\u88c5   ROS \uff1a   ROS   Melodic   \u2014   \u9002\u7528 \u4e8e   Ubuntu   18.04   ( Bionic )   ROS   Noetic   \u2014   \u9002\u7528 \u4e8e   20.04   ( Focal )   \u6839\u636e \u60a8 \u7684 \u9700\u8981 \uff0c \u53ef\u80fd \u9700\u8981 \u989d\u5916 \u7684   ROS   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u4f7f\u7528   rviz   \u6765 \u53ef\u89c6 \u53ef\u89c6\u5316   ROS   \u6570\u636e \u3002   Carla   0.9 . 7   \u6216 \u66f4 \u9ad8 \u7248\u672c   \u2014   \u4ee5\u524d \u7684 \u7248\u672c \u4e0e   ROS   \u6865 \u4e0d \u517c\u5bb9 \u3002 \u6309\u7167   \u5feb\u901f \u542f\u52a8 \u5b89\u88c5   \u6216 \u9488\u5bf9   Linux   \u8fdb\u884c \u6784\u5efa \u3002 \u5efa\u8bae \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5c06   ROS   \u6865\u63a5 \u7248\u672c \u4e0e   Carla   \u7248\u672c \u5339\u914d \u3002   ROS   \u6865 \u5b89\u88c5   \u6709 \u4e24\u4e2a \u9009\u9879 \u53ef \u7528\u4e8e \u5b89\u88c5   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \uff1a   \u901a\u8fc7   Debian   \u5b58\u50a8 \u5e93\u4e2d \u7684   apt   \u5de5\u5177 \u8fdb\u884c \u5b89\u88c5 \u3002 \u4ec5 \u9002\u7528 \u4e8e   Ubuntu   18.04 \u3002   \u4ece   GitHub   \u4e0a \u7684 \u6e90 \u5b58\u50a8 \u5e93 \u514b\u9686 \u3002   \u4e0b\u9762 \u8be6\u7ec6 \u4ecb\u7ecd \u8fd9 \u4e24\u79cd \u65b9\u6cd5 \u3002   \u91cd\u8981   \u8981 \u5b89\u88c5   0.9 . 10   \u4e4b\u524d \u7684   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u7248\u672c \uff0c \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u65e7\u7248 \u7248\u672c \u65e7\u7248\u672c \u7684   Carla   \u6587\u6863 \u4e2d \u7684 \u8bf4\u660e \u3002 \u4f7f\u7528 \u7a97\u53e3 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u7684 \u9762\u677f \u66f4 \u6539\u4e3a \u9002\u5f53 \u7248\u672c \u7684 \u6587\u6863 \u3002   A .   \u4f7f\u7528   Debian   \u5b58\u50a8 \u5e93   \u7b14\u8bb0   \u6b64 \u5b89\u88c5 \u65b9\u6cd5 \u4ec5 \u9002\u7528 \u4e8e   Ubuntu   18.04 \u3002 \u5bf9\u4e8e \u5176\u4ed6 \u652f\u6301 \u7684 \u53d1\u884c \u53d1\u884c\u7248 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   B   \u90e8\u5206 \uff1a \u4f7f\u7528 \u6e90 \u5b58\u50a8 \u5e93   \u3002   1 .   \u5728 \u60a8 \u7684 \u7cfb\u7edf \u4e2d \u8bbe\u7f6e   Debian   \u5b58\u50a8 \u5e93 \uff1a   sudo   apt - key   adv   -- keyserver   keyserver . ubuntu . com   -- recv - keys   1AF1527DE64CB8D9   sudo   add - apt - repository   \" deb   [ arch = amd64 ]   http : / / dist . carla . org / carla   $ ( lsb _ release   - sc )   main \"   2 .   \u5b89\u88c5 ROS \u6865 \uff1a   \u6700\u65b0 \u7248\u672c \uff1a   sudo   apt - get   update   #   \u66f4\u65b0 Debian \u5305 \u7d22\u5f15   sudo   apt - get   install   carla - ros - bridge   #   \u5b89\u88c5 \u6700\u65b0 \u7684 ROS \u6865\u63a5 \u7248\u672c \uff0c \u6216 \u66f4\u65b0 \u5f53\u524d \u7684 \u5b89\u88c5   \u901a\u8fc7 \u5411 \u547d\u4ee4 \u6dfb\u52a0 \u7248\u672c \u6807\u7b7e \u6765 \u5b89\u88c5 \u7279\u5b9a \u7248\u672c \uff1a   apt - cache   madison   carla - ros - bridge   #   \u5217\u51fa ROS \u6865\u63a5 \u7684 \u53ef\u7528 \u7248\u672c   sudo   apt - get   install   carla - ros - bridge = 0.9 . 10 - 1   #   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u201c 0.9 . 10 \u201d \u6307 \u7684 \u662f ROS \u6865\u63a5 \u7248\u672c \uff0c \u201c 1 \u201d \u6307 \u7684 \u662f Debian \u7248\u672c   3 .   \u68c0\u67e5   / opt /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d ROS \u6865 \u662f\u5426 \u5df2 \u5b89\u88c5 \u6210\u529f \u3002   B .   \u4f7f\u7528 \u6e90 \u5b58\u50a8 \u5e93   1 .   \u521b\u5efa catkin \u5de5\u4f5c \u533a \uff1a   mkdir   - p   ~ / carla - ros - bridge / catkin _ ws / src   2 .   \u514b\u9686   ROS   \u6865 \u5b58\u50a8 \u5e93\u548c\u5b50 \u6a21\u5757 \uff1a   cd   ~ / carla - ros - bridge   git   clone   -- recurse - submodules   https : / / github . com / carla - simulator / ros - bridge . git   catkin _ ws / src / ros - bridge   5 .   \u6839\u636e \u60a8 \u5b89\u88c5 \u7684   ROS   \u7248\u672c \u8bbe\u7f6e   ROS   \u73af\u5883 \uff1a   source   / opt / ros / < melodic / noetic > / setup . bash   6 .   \u5b89\u88c5 \u6240 \u9700 \u7684   ros   \u4f9d\u8d56 \u9879 \uff1a   cd   catkin _ ws   rosdep   update   rosdep   install   -- from - paths   src   -- ignore - src   - r   7 .   \u6784\u5efa ROS \u6865 \uff1a   catkin   build   #   alternatively   catkin _ make   \u8fd0\u884c   ROS   \u6865   1 .   \u6309\u7167 \u5b89\u88c5   Carla   \u65f6 \u4f7f\u7528 \u7684 \u5b89\u88c5 \u65b9\u6cd5 \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff1a   #   \u5305 \u7248\u672c \u5728   carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   . / CarlaUE4 . sh   #   Debian   \u5b89\u88c5 \u5728   ` opt / carla - simulator / `   . / CarlaUE4 . sh   #   \u4ece   carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u7684 \u6e90 \u7248\u672c \u6784\u5efa   make   launch   2 .   \u5c06 \u6b63\u786e \u7684   Carla   \u6a21\u5757 \u6dfb\u52a0 \u5230 \u60a8 \u7684   Python   \u8def\u5f84 \uff1a   export   CARLA _ ROOT = < path - to - carla >   export   PYTHONPATH = $ PYTHONPATH : $ CARLA _ ROOT / PythonAPI / carla / dist / carla - < carla _ version _ and _ arch > . egg : $ CARLA _ ROOT / PythonAPI / carla   3 .   \u6839\u636e   ROS   \u6865 \u7684 \u5b89\u88c5 \u65b9\u6cd5 \u6dfb\u52a0   ROS   \u6865 \u5de5\u4f5c \u7a7a\u95f4 \u7684 \u6e90 \u8def\u5f84 \u3002 \u6bcf\u6b21 \u60a8 \u60f3\u8981 \u8fd0\u884c   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u65f6 \uff0c \u90fd \u5e94\u8be5 \u5728 \u6bcf\u4e2a \u7ec8\u7aef \u4e2d \u5b8c\u6210 \u6b64 \u64cd\u4f5c \uff1a   #   \u7528\u4e8e   debian   \u5b89\u88c5   ROS   \u6865 \u3002 \u6839\u636e \u5df2 \u5b89\u88c5 \u7684   ROS   \u7248\u672c \u66f4\u6539 \u547d\u4ee4 \u3002   source   / opt / carla - ros - bridge / < melodic / noetic > / setup . bash   #   \u4e3a   GitHub   \u5e93 \u5b89\u88c5   ROS   \u6865   source   ~ / carla - ros - bridge / catkin _ ws / devel / setup . bash   \u91cd\u8981   \u6e90 \u8def\u5f84 \u53ef\u4ee5 \u6c38\u4e45 \u8bbe\u7f6e \uff0c \u4f46 \u5728 \u4f7f\u7528 \u5176\u4ed6 \u5de5\u4f5c \u533a\u65f6 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u51b2\u7a81 \u3002   4 .   \u542f\u52a8   ROS   \u6865 \u3002 \u4f7f\u7528 \u4efb\u4f55 \u53ef\u7528 \u7684 \u4e0d\u540c \u542f\u52a8 \u6587\u4ef6 \u6765 \u68c0\u67e5 \u5b89\u88c5 \uff1a   #   \u9009\u9879 1 : \u542f\u52a8   ros   \u6865   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge . launch   #   \u9009\u9879 2 : \u542f\u52a8 ros \u6865 \u548c \u4e00\u4e2a \u793a\u4f8b \u81ea\u6211 \u8f66\u8f86   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch   \u7b14\u8bb0   \u5982\u679c \u60a8 \u6536\u5230 \u9519\u8bef \uff1a   ImportError :   no   module   named   CARLA   \u5219 \u7f3a\u5c11   CARLA   Python   API   \u7684 \u8def\u5f84 \u3002 apt   \u5b89\u88c5 \u4f1a \u81ea\u52a8 \u8bbe\u7f6e \u8def\u5f84 \uff0c \u4f46 \u5176\u4ed6 \u5b89\u88c5 \u53ef\u80fd \u4f1a \u4e22\u5931 \u8be5 \u8def\u5f84 \u3002   \u60a8 \u9700\u8981 \u5c06 \u9002\u5f53 \u7684   . egg   \u6587\u4ef6 \u6dfb\u52a0 \u5230 \u60a8 \u7684   Python   \u8def\u5f84 \u4e2d \u3002 \u60a8 \u5c06 \u5728   / PythonAPI /   \u6216   / PythonAPI / dist /   \u4e2d \u627e\u5230 \u8be5 \u6587\u4ef6 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e   Carla   \u5b89\u88c5 \u3002 \u4f7f\u7528 \u4e0e \u60a8 \u5b89\u88c5 \u7684   Python   \u7248\u672c \u76f8\u5bf9 \u5e94 \u7684   . egg   \u6587\u4ef6 \uff0c \u4f7f\u7528 \u6587\u4ef6 \u7684 \u5b8c\u6574 \u8def\u5f84 \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   export   PYTHONPATH = $ PYTHONPATH : path / to / carla / PythonAPI / < your _ egg _ file >   \u5efa\u8bae \u901a\u8fc7 \u5c06 \u524d \u4e00\u884c \u6dfb\u52a0 \u5230   . bashrc   \u6587\u4ef6 \u4e2d\u6765 \u6c38\u4e45 \u8bbe\u7f6e \u6b64 \u53d8\u91cf \u3002   \u8981 \u68c0\u67e5   Carla   \u5e93 \u662f\u5426 \u53ef\u4ee5 \u6b63\u786e \u5bfc\u5165 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u5e76 \u7b49\u5f85 \u6210\u529f \u6d88\u606f \uff1a   python3   - c   ' import   carla ; print ( \" Success \" ) '   #   python3   or   python   - c   ' import   carla ; print ( \" Success \" ) '   #   python2   \u6d4b\u8bd5   \u4f7f\u7528   catkin   \u6267\u884c \u6d4b\u8bd5 \uff1a   1 .   \u6784\u5efa \u5305 \uff1a   catkin _ make   - DCATKIN _ ENABLE _ TESTING = 0   2 .   \u8fd0\u884c \u6d4b\u8bd5 \uff1a   rostest   carla _ ros _ bridge   ros _ bridge _ client . test","title":"ROS   1   \u7684   ROS   \u6865\u63a5 \u5b89\u88c5"},{"location":"ros_installation_ros1/#ros-1-ros","text":"\u672c \u8282 \u4ecb\u7ecd \u5982\u4f55 \u5728   Linux   \u4e0a \u5b89\u88c5   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u4ee5 \u4e0e   ROS   1   \u4e00\u8d77 \u4f7f\u7528 \u3002 \u60a8 \u5c06 \u627e\u5230 \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6 \u3001 \u5b89\u88c5 \u6b65\u9aa4 \u3001 \u5982\u4f55 \u8fd0\u884c \u57fa\u672c \u5305\u4ee5 \u786e\u4fdd \u4e00\u5207 \u6b63\u5e38 \u4e00\u5207\u6b63\u5e38 \u8fd0\u884c \u4ee5\u53ca \u8fd0\u884c \u6d4b\u8bd5 \u7684 \u547d\u4ee4 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   ROS   \u6865 \u5b89\u88c5   A .   \u4f7f\u7528   Debian   \u5b58\u50a8 \u5e93   B .   \u4f7f\u7528 \u6e90 \u5b58\u50a8 \u5e93   \u8fd0\u884c   ROS   \u6865   \u6d4b\u8bd5   \u91cd\u8981   ROS   \u6865 \u5c1a\u672a \u5728   Windows   \u4e2d \u8fdb\u884c \u6d4b\u8bd5 \u3002","title":"ROS   1   \u7684   ROS   \u6865\u63a5 \u5b89\u88c5"},{"location":"ros_installation_ros1/#_1","text":"\u5728 \u4f7f\u7528   ROS   \u6865 \u4e4b\u524d \uff0c \u60a8 \u9700\u8981 \u6ee1\u8db3 \u4ee5\u4e0b \u8f6f\u4ef6 \u8981\u6c42 \uff1a   \u6839\u636e \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u5b89\u88c5   ROS \uff1a   ROS   Melodic   \u2014   \u9002\u7528 \u4e8e   Ubuntu   18.04   ( Bionic )   ROS   Noetic   \u2014   \u9002\u7528 \u4e8e   20.04   ( Focal )   \u6839\u636e \u60a8 \u7684 \u9700\u8981 \uff0c \u53ef\u80fd \u9700\u8981 \u989d\u5916 \u7684   ROS   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u4f7f\u7528   rviz   \u6765 \u53ef\u89c6 \u53ef\u89c6\u5316   ROS   \u6570\u636e \u3002   Carla   0.9 . 7   \u6216 \u66f4 \u9ad8 \u7248\u672c   \u2014   \u4ee5\u524d \u7684 \u7248\u672c \u4e0e   ROS   \u6865 \u4e0d \u517c\u5bb9 \u3002 \u6309\u7167   \u5feb\u901f \u542f\u52a8 \u5b89\u88c5   \u6216 \u9488\u5bf9   Linux   \u8fdb\u884c \u6784\u5efa \u3002 \u5efa\u8bae \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5c06   ROS   \u6865\u63a5 \u7248\u672c \u4e0e   Carla   \u7248\u672c \u5339\u914d \u3002","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d"},{"location":"ros_installation_ros1/#ros","text":"\u6709 \u4e24\u4e2a \u9009\u9879 \u53ef \u7528\u4e8e \u5b89\u88c5   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \uff1a   \u901a\u8fc7   Debian   \u5b58\u50a8 \u5e93\u4e2d \u7684   apt   \u5de5\u5177 \u8fdb\u884c \u5b89\u88c5 \u3002 \u4ec5 \u9002\u7528 \u4e8e   Ubuntu   18.04 \u3002   \u4ece   GitHub   \u4e0a \u7684 \u6e90 \u5b58\u50a8 \u5e93 \u514b\u9686 \u3002   \u4e0b\u9762 \u8be6\u7ec6 \u4ecb\u7ecd \u8fd9 \u4e24\u79cd \u65b9\u6cd5 \u3002   \u91cd\u8981   \u8981 \u5b89\u88c5   0.9 . 10   \u4e4b\u524d \u7684   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u7248\u672c \uff0c \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u65e7\u7248 \u7248\u672c \u65e7\u7248\u672c \u7684   Carla   \u6587\u6863 \u4e2d \u7684 \u8bf4\u660e \u3002 \u4f7f\u7528 \u7a97\u53e3 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u7684 \u9762\u677f \u66f4 \u6539\u4e3a \u9002\u5f53 \u7248\u672c \u7684 \u6587\u6863 \u3002","title":"ROS   \u6865 \u5b89\u88c5"},{"location":"ros_installation_ros1/#a-debian","text":"\u7b14\u8bb0   \u6b64 \u5b89\u88c5 \u65b9\u6cd5 \u4ec5 \u9002\u7528 \u4e8e   Ubuntu   18.04 \u3002 \u5bf9\u4e8e \u5176\u4ed6 \u652f\u6301 \u7684 \u53d1\u884c \u53d1\u884c\u7248 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   B   \u90e8\u5206 \uff1a \u4f7f\u7528 \u6e90 \u5b58\u50a8 \u5e93   \u3002   1 .   \u5728 \u60a8 \u7684 \u7cfb\u7edf \u4e2d \u8bbe\u7f6e   Debian   \u5b58\u50a8 \u5e93 \uff1a   sudo   apt - key   adv   -- keyserver   keyserver . ubuntu . com   -- recv - keys   1AF1527DE64CB8D9   sudo   add - apt - repository   \" deb   [ arch = amd64 ]   http : / / dist . carla . org / carla   $ ( lsb _ release   - sc )   main \"   2 .   \u5b89\u88c5 ROS \u6865 \uff1a   \u6700\u65b0 \u7248\u672c \uff1a   sudo   apt - get   update   #   \u66f4\u65b0 Debian \u5305 \u7d22\u5f15   sudo   apt - get   install   carla - ros - bridge   #   \u5b89\u88c5 \u6700\u65b0 \u7684 ROS \u6865\u63a5 \u7248\u672c \uff0c \u6216 \u66f4\u65b0 \u5f53\u524d \u7684 \u5b89\u88c5   \u901a\u8fc7 \u5411 \u547d\u4ee4 \u6dfb\u52a0 \u7248\u672c \u6807\u7b7e \u6765 \u5b89\u88c5 \u7279\u5b9a \u7248\u672c \uff1a   apt - cache   madison   carla - ros - bridge   #   \u5217\u51fa ROS \u6865\u63a5 \u7684 \u53ef\u7528 \u7248\u672c   sudo   apt - get   install   carla - ros - bridge = 0.9 . 10 - 1   #   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u201c 0.9 . 10 \u201d \u6307 \u7684 \u662f ROS \u6865\u63a5 \u7248\u672c \uff0c \u201c 1 \u201d \u6307 \u7684 \u662f Debian \u7248\u672c   3 .   \u68c0\u67e5   / opt /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d ROS \u6865 \u662f\u5426 \u5df2 \u5b89\u88c5 \u6210\u529f \u3002","title":"A .   \u4f7f\u7528   Debian   \u5b58\u50a8 \u5e93"},{"location":"ros_installation_ros1/#b","text":"1 .   \u521b\u5efa catkin \u5de5\u4f5c \u533a \uff1a   mkdir   - p   ~ / carla - ros - bridge / catkin _ ws / src   2 .   \u514b\u9686   ROS   \u6865 \u5b58\u50a8 \u5e93\u548c\u5b50 \u6a21\u5757 \uff1a   cd   ~ / carla - ros - bridge   git   clone   -- recurse - submodules   https : / / github . com / carla - simulator / ros - bridge . git   catkin _ ws / src / ros - bridge   5 .   \u6839\u636e \u60a8 \u5b89\u88c5 \u7684   ROS   \u7248\u672c \u8bbe\u7f6e   ROS   \u73af\u5883 \uff1a   source   / opt / ros / < melodic / noetic > / setup . bash   6 .   \u5b89\u88c5 \u6240 \u9700 \u7684   ros   \u4f9d\u8d56 \u9879 \uff1a   cd   catkin _ ws   rosdep   update   rosdep   install   -- from - paths   src   -- ignore - src   - r   7 .   \u6784\u5efa ROS \u6865 \uff1a   catkin   build   #   alternatively   catkin _ make","title":"B .   \u4f7f\u7528 \u6e90 \u5b58\u50a8 \u5e93"},{"location":"ros_installation_ros1/#ros_1","text":"1 .   \u6309\u7167 \u5b89\u88c5   Carla   \u65f6 \u4f7f\u7528 \u7684 \u5b89\u88c5 \u65b9\u6cd5 \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff1a   #   \u5305 \u7248\u672c \u5728   carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   . / CarlaUE4 . sh   #   Debian   \u5b89\u88c5 \u5728   ` opt / carla - simulator / `   . / CarlaUE4 . sh   #   \u4ece   carla   \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u7684 \u6e90 \u7248\u672c \u6784\u5efa   make   launch   2 .   \u5c06 \u6b63\u786e \u7684   Carla   \u6a21\u5757 \u6dfb\u52a0 \u5230 \u60a8 \u7684   Python   \u8def\u5f84 \uff1a   export   CARLA _ ROOT = < path - to - carla >   export   PYTHONPATH = $ PYTHONPATH : $ CARLA _ ROOT / PythonAPI / carla / dist / carla - < carla _ version _ and _ arch > . egg : $ CARLA _ ROOT / PythonAPI / carla   3 .   \u6839\u636e   ROS   \u6865 \u7684 \u5b89\u88c5 \u65b9\u6cd5 \u6dfb\u52a0   ROS   \u6865 \u5de5\u4f5c \u7a7a\u95f4 \u7684 \u6e90 \u8def\u5f84 \u3002 \u6bcf\u6b21 \u60a8 \u60f3\u8981 \u8fd0\u884c   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u65f6 \uff0c \u90fd \u5e94\u8be5 \u5728 \u6bcf\u4e2a \u7ec8\u7aef \u4e2d \u5b8c\u6210 \u6b64 \u64cd\u4f5c \uff1a   #   \u7528\u4e8e   debian   \u5b89\u88c5   ROS   \u6865 \u3002 \u6839\u636e \u5df2 \u5b89\u88c5 \u7684   ROS   \u7248\u672c \u66f4\u6539 \u547d\u4ee4 \u3002   source   / opt / carla - ros - bridge / < melodic / noetic > / setup . bash   #   \u4e3a   GitHub   \u5e93 \u5b89\u88c5   ROS   \u6865   source   ~ / carla - ros - bridge / catkin _ ws / devel / setup . bash   \u91cd\u8981   \u6e90 \u8def\u5f84 \u53ef\u4ee5 \u6c38\u4e45 \u8bbe\u7f6e \uff0c \u4f46 \u5728 \u4f7f\u7528 \u5176\u4ed6 \u5de5\u4f5c \u533a\u65f6 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u51b2\u7a81 \u3002   4 .   \u542f\u52a8   ROS   \u6865 \u3002 \u4f7f\u7528 \u4efb\u4f55 \u53ef\u7528 \u7684 \u4e0d\u540c \u542f\u52a8 \u6587\u4ef6 \u6765 \u68c0\u67e5 \u5b89\u88c5 \uff1a   #   \u9009\u9879 1 : \u542f\u52a8   ros   \u6865   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge . launch   #   \u9009\u9879 2 : \u542f\u52a8 ros \u6865 \u548c \u4e00\u4e2a \u793a\u4f8b \u81ea\u6211 \u8f66\u8f86   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch   \u7b14\u8bb0   \u5982\u679c \u60a8 \u6536\u5230 \u9519\u8bef \uff1a   ImportError :   no   module   named   CARLA   \u5219 \u7f3a\u5c11   CARLA   Python   API   \u7684 \u8def\u5f84 \u3002 apt   \u5b89\u88c5 \u4f1a \u81ea\u52a8 \u8bbe\u7f6e \u8def\u5f84 \uff0c \u4f46 \u5176\u4ed6 \u5b89\u88c5 \u53ef\u80fd \u4f1a \u4e22\u5931 \u8be5 \u8def\u5f84 \u3002   \u60a8 \u9700\u8981 \u5c06 \u9002\u5f53 \u7684   . egg   \u6587\u4ef6 \u6dfb\u52a0 \u5230 \u60a8 \u7684   Python   \u8def\u5f84 \u4e2d \u3002 \u60a8 \u5c06 \u5728   / PythonAPI /   \u6216   / PythonAPI / dist /   \u4e2d \u627e\u5230 \u8be5 \u6587\u4ef6 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e   Carla   \u5b89\u88c5 \u3002 \u4f7f\u7528 \u4e0e \u60a8 \u5b89\u88c5 \u7684   Python   \u7248\u672c \u76f8\u5bf9 \u5e94 \u7684   . egg   \u6587\u4ef6 \uff0c \u4f7f\u7528 \u6587\u4ef6 \u7684 \u5b8c\u6574 \u8def\u5f84 \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   export   PYTHONPATH = $ PYTHONPATH : path / to / carla / PythonAPI / < your _ egg _ file >   \u5efa\u8bae \u901a\u8fc7 \u5c06 \u524d \u4e00\u884c \u6dfb\u52a0 \u5230   . bashrc   \u6587\u4ef6 \u4e2d\u6765 \u6c38\u4e45 \u8bbe\u7f6e \u6b64 \u53d8\u91cf \u3002   \u8981 \u68c0\u67e5   Carla   \u5e93 \u662f\u5426 \u53ef\u4ee5 \u6b63\u786e \u5bfc\u5165 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u5e76 \u7b49\u5f85 \u6210\u529f \u6d88\u606f \uff1a   python3   - c   ' import   carla ; print ( \" Success \" ) '   #   python3   or   python   - c   ' import   carla ; print ( \" Success \" ) '   #   python2","title":"\u8fd0\u884c   ROS   \u6865"},{"location":"ros_installation_ros1/#_2","text":"\u4f7f\u7528   catkin   \u6267\u884c \u6d4b\u8bd5 \uff1a   1 .   \u6784\u5efa \u5305 \uff1a   catkin _ make   - DCATKIN _ ENABLE _ TESTING = 0   2 .   \u8fd0\u884c \u6d4b\u8bd5 \uff1a   rostest   carla _ ros _ bridge   ros _ bridge _ client . test","title":"\u6d4b\u8bd5"},{"location":"ros_installation_ros2/","text":"ROS   2 \u7684 ROS \u6865 \u5b89\u88c5   \u672c\u8282 \u662f \u5173\u4e8e \u5982\u4f55 \u5728   Linux   \u4e0a \u5b89\u88c5   ROS   \u6865\u4ee5 \u4e0e   ROS   2   \u4e00\u8d77 \u4f7f\u7528 \u7684 \u6307\u5357 \u3002 \u60a8 \u5c06 \u627e\u5230 \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6 \u3001 \u5b89\u88c5 \u6b65\u9aa4 \u3001 \u5982\u4f55 \u8fd0\u884c \u57fa\u672c \u5305\u4ee5 \u786e\u4fdd \u4e00\u5207 \u6b63\u5e38 \u4e00\u5207\u6b63\u5e38 \u5de5\u4f5c \u4ee5\u53ca \u8fd0\u884c \u6d4b\u8bd5 \u7684 \u547d\u4ee4 \u3002   \u5f00\u59cb \u4e4b\u524d   ROS \u6865 \u5b89\u88c5   \u8fd0\u884c ROS \u6865   \u6d4b\u8bd5   \u91cd\u8981   \u9002\u7528 \u4e8e Windows   \u7684   ROS \u4ecd \u5728   \u5b9e\u9a8c   \u3002 \u5b83 \u53ea \u5728 Linux \u7cfb\u7edf \u4e0a \u8fdb\u884c \u8fc7 \u6d4b\u8bd5 \u3002   \u5f00\u59cb \u4e4b\u524d   \u5728 \u4f7f\u7528 ROS \u6865 \u4e4b\u524d \uff0c \u60a8 \u9700\u8981 \u6ee1\u8db3 \u4ee5\u4e0b \u8f6f\u4ef6 \u8981\u6c42 \uff1a   \u5b89\u88c5   ROS :   ROS   2   Foxy   \u2014   \u9488\u5bf9   Ubuntu   20.04   ( Focal )   - \u6839\u636e \u60a8 \u7684 \u9700\u8981 \uff0c \u53ef\u80fd \u9700\u8981 \u989d\u5916 \u7684   ROS   \u5305 \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u662f \u7528   rviz   \u5c06 ROS \u6570\u636e \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   CARLA   0.9 . 11 \u6216 \u66f4 \u9ad8 \u7248\u672c \u2014 \u2014 \u4ee5\u524d \u7684 \u7248\u672c \u4e0e ROS \u6865 \u4e0d \u517c\u5bb9 \u3002 \u9075\u5faa   \u5feb\u901f \u542f\u52a8 \u5b89\u88c5   \u6216\u8005 \u4e3a   Linux \u6784\u5efa   \u3002 \u5efa\u8bae \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5c06 ROS \u6865\u63a5 \u7248\u672c \u4e0e CARLA \u7248\u672c \u5339\u914d \u76f8\u5339\u914d \u3002   ROS \u6865 \u5b89\u88c5   \u6ce8\u610f   Debian \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u5b89\u88c5 \u8fd8 \u4e0d\u80fd \u7528\u4e8e ROS   2 \u3002   1 .   \u8bbe\u7f6e \u9879\u76ee \u76ee\u5f55 \u5e76 \u514b\u9686 ROS \u7f51\u6865 \u5b58\u50a8 \u5e93\u548c\u5b50 \u6a21\u5757 \uff1a   mkdir   - p   ~ / carla - ros - bridge   &&   cd   ~ / carla - ros - bridge   git   clone   -- recurse - submodules   https : / / github . com / carla - simulator / ros - bridge . git   src / ros - bridge   2 .   \u8bbe\u7f6e   ROS   \u73af\u5883 \uff1a   source   / opt / ros / foxy / setup . bash   3 .   \u5b89\u88c5   ROS   \u4f9d\u8d56 \uff1a   rosdep   update   rosdep   install   -- from - paths   src   -- ignore - src   - r   4 .   \u4f7f\u7528 colcon \u6784\u5efa ROS \u6865 \u7684 \u5de5\u4f5c \u7a7a\u95f4 \uff1a   colcon   build   \u8fd0\u884c ROS \u6865   1 .   Start   a   CARLA   server   according   to   the   installation   method   used   to   install   CARLA :   #   Package   version   in   carla   root   folder   . / CarlaUE4 . sh   #   Debian   installation   in   ` opt / carla - simulator / `   . / CarlaUE4 . sh   #   Build   from   source   version   in   carla   root   folder   make   launch   2 .   Add   the   correct   CARLA   modules   to   your   Python   path :   export   CARLA _ ROOT = < path - to - carla >   export   PYTHONPATH = $ PYTHONPATH : $ CARLA _ ROOT / PythonAPI / carla / dist / carla - < carla _ version _ and _ arch > . egg : $ CARLA _ ROOT / PythonAPI / carla   3 .   Add   the   source   path   for   the   ROS   bridge   workspace :   source   . / install / setup . bash   4 .   In   another   terminal ,   start   the   ROS   2   bridge .   You   can   run   one   of   the   two   options   below :   #   Option   1 ,   start   the   basic   ROS   bridge   package   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge . launch . py   #   Option   2 ,   start   the   ROS   bridge   with   an   example   ego   vehicle   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch . py   Note   If   you   receive   the   error :   ImportError :   no   module   named   CARLA   then   the   path   to   the   CARLA   Python   API   is   missing .   The   apt   installation   sets   the   path   automatically ,   but   it   may   be   missing   for   other   installations .   You   will   need   to   add   the   appropriate   . egg   file   to   your   Python   path .   You   will   find   the   file   in   either   / PythonAPI /   or   / PythonAPI / dist /   depending   on   the   CARLA   installation .   Execute   the   following   command   with   the   complete   path   to   the   . egg   file ,   using   the   file   that   corresponds   to   your   installed   version   of   Python :   export   PYTHONPATH = $ PYTHONPATH : path / to / carla / PythonAPI / < your _ egg _ file >   It   is   recommended   to   set   this   variable   permanently   by   adding   the   previous   line   to   your   . bashrc   file .   To   check   the   CARLA   library   can   be   imported   correctly ,   run   the   following   command   and   wait   for   a   success   message :   python3   - c   ' import   carla ; print ( \" Success \" ) '   #   python3   or   python   - c   ' import   carla ; print ( \" Success \" ) '   #   python2   \u6d4b\u8bd5   To   execute   tests   using   colcon :   1 .   Build   the   package :   colcon   build   -- packages - up - to   carla _ ros _ bridge   2 .   Run   the   tests :   launch _ test   carla _ ros _ bridge / test / ros _ bridge _ client _ ros2 _ test . py","title":"ROS   2 \u7684 ROS \u6865 \u5b89\u88c5"},{"location":"ros_installation_ros2/#ros-2ros","text":"\u672c\u8282 \u662f \u5173\u4e8e \u5982\u4f55 \u5728   Linux   \u4e0a \u5b89\u88c5   ROS   \u6865\u4ee5 \u4e0e   ROS   2   \u4e00\u8d77 \u4f7f\u7528 \u7684 \u6307\u5357 \u3002 \u60a8 \u5c06 \u627e\u5230 \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6 \u3001 \u5b89\u88c5 \u6b65\u9aa4 \u3001 \u5982\u4f55 \u8fd0\u884c \u57fa\u672c \u5305\u4ee5 \u786e\u4fdd \u4e00\u5207 \u6b63\u5e38 \u4e00\u5207\u6b63\u5e38 \u5de5\u4f5c \u4ee5\u53ca \u8fd0\u884c \u6d4b\u8bd5 \u7684 \u547d\u4ee4 \u3002   \u5f00\u59cb \u4e4b\u524d   ROS \u6865 \u5b89\u88c5   \u8fd0\u884c ROS \u6865   \u6d4b\u8bd5   \u91cd\u8981   \u9002\u7528 \u4e8e Windows   \u7684   ROS \u4ecd \u5728   \u5b9e\u9a8c   \u3002 \u5b83 \u53ea \u5728 Linux \u7cfb\u7edf \u4e0a \u8fdb\u884c \u8fc7 \u6d4b\u8bd5 \u3002","title":"ROS   2 \u7684 ROS \u6865 \u5b89\u88c5"},{"location":"ros_installation_ros2/#_1","text":"\u5728 \u4f7f\u7528 ROS \u6865 \u4e4b\u524d \uff0c \u60a8 \u9700\u8981 \u6ee1\u8db3 \u4ee5\u4e0b \u8f6f\u4ef6 \u8981\u6c42 \uff1a   \u5b89\u88c5   ROS :   ROS   2   Foxy   \u2014   \u9488\u5bf9   Ubuntu   20.04   ( Focal )   - \u6839\u636e \u60a8 \u7684 \u9700\u8981 \uff0c \u53ef\u80fd \u9700\u8981 \u989d\u5916 \u7684   ROS   \u5305 \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u662f \u7528   rviz   \u5c06 ROS \u6570\u636e \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   CARLA   0.9 . 11 \u6216 \u66f4 \u9ad8 \u7248\u672c \u2014 \u2014 \u4ee5\u524d \u7684 \u7248\u672c \u4e0e ROS \u6865 \u4e0d \u517c\u5bb9 \u3002 \u9075\u5faa   \u5feb\u901f \u542f\u52a8 \u5b89\u88c5   \u6216\u8005 \u4e3a   Linux \u6784\u5efa   \u3002 \u5efa\u8bae \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5c06 ROS \u6865\u63a5 \u7248\u672c \u4e0e CARLA \u7248\u672c \u5339\u914d \u76f8\u5339\u914d \u3002","title":"\u5f00\u59cb \u4e4b\u524d"},{"location":"ros_installation_ros2/#ros","text":"\u6ce8\u610f   Debian \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u5b89\u88c5 \u8fd8 \u4e0d\u80fd \u7528\u4e8e ROS   2 \u3002   1 .   \u8bbe\u7f6e \u9879\u76ee \u76ee\u5f55 \u5e76 \u514b\u9686 ROS \u7f51\u6865 \u5b58\u50a8 \u5e93\u548c\u5b50 \u6a21\u5757 \uff1a   mkdir   - p   ~ / carla - ros - bridge   &&   cd   ~ / carla - ros - bridge   git   clone   -- recurse - submodules   https : / / github . com / carla - simulator / ros - bridge . git   src / ros - bridge   2 .   \u8bbe\u7f6e   ROS   \u73af\u5883 \uff1a   source   / opt / ros / foxy / setup . bash   3 .   \u5b89\u88c5   ROS   \u4f9d\u8d56 \uff1a   rosdep   update   rosdep   install   -- from - paths   src   -- ignore - src   - r   4 .   \u4f7f\u7528 colcon \u6784\u5efa ROS \u6865 \u7684 \u5de5\u4f5c \u7a7a\u95f4 \uff1a   colcon   build","title":"ROS \u6865 \u5b89\u88c5"},{"location":"ros_installation_ros2/#ros_1","text":"1 .   Start   a   CARLA   server   according   to   the   installation   method   used   to   install   CARLA :   #   Package   version   in   carla   root   folder   . / CarlaUE4 . sh   #   Debian   installation   in   ` opt / carla - simulator / `   . / CarlaUE4 . sh   #   Build   from   source   version   in   carla   root   folder   make   launch   2 .   Add   the   correct   CARLA   modules   to   your   Python   path :   export   CARLA _ ROOT = < path - to - carla >   export   PYTHONPATH = $ PYTHONPATH : $ CARLA _ ROOT / PythonAPI / carla / dist / carla - < carla _ version _ and _ arch > . egg : $ CARLA _ ROOT / PythonAPI / carla   3 .   Add   the   source   path   for   the   ROS   bridge   workspace :   source   . / install / setup . bash   4 .   In   another   terminal ,   start   the   ROS   2   bridge .   You   can   run   one   of   the   two   options   below :   #   Option   1 ,   start   the   basic   ROS   bridge   package   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge . launch . py   #   Option   2 ,   start   the   ROS   bridge   with   an   example   ego   vehicle   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch . py   Note   If   you   receive   the   error :   ImportError :   no   module   named   CARLA   then   the   path   to   the   CARLA   Python   API   is   missing .   The   apt   installation   sets   the   path   automatically ,   but   it   may   be   missing   for   other   installations .   You   will   need   to   add   the   appropriate   . egg   file   to   your   Python   path .   You   will   find   the   file   in   either   / PythonAPI /   or   / PythonAPI / dist /   depending   on   the   CARLA   installation .   Execute   the   following   command   with   the   complete   path   to   the   . egg   file ,   using   the   file   that   corresponds   to   your   installed   version   of   Python :   export   PYTHONPATH = $ PYTHONPATH : path / to / carla / PythonAPI / < your _ egg _ file >   It   is   recommended   to   set   this   variable   permanently   by   adding   the   previous   line   to   your   . bashrc   file .   To   check   the   CARLA   library   can   be   imported   correctly ,   run   the   following   command   and   wait   for   a   success   message :   python3   - c   ' import   carla ; print ( \" Success \" ) '   #   python3   or   python   - c   ' import   carla ; print ( \" Success \" ) '   #   python2","title":"\u8fd0\u884c ROS \u6865"},{"location":"ros_installation_ros2/#_2","text":"To   execute   tests   using   colcon :   1 .   Build   the   package :   colcon   build   -- packages - up - to   carla _ ros _ bridge   2 .   Run   the   tests :   launch _ test   carla _ ros _ bridge / test / ros _ bridge _ client _ ros2 _ test . py","title":"\u6d4b\u8bd5"},{"location":"ros_msgs/","text":"Carla   \u6d88\u606f \u53c2\u8003   \u4ee5\u4e0b \u53c2\u8003 \u5217\u51fa \u4e86   ROS   \u6865\u4e2d \u53ef\u7528 \u7684 \u6240\u6709   Carla   \u6d88\u606f \u3002   \u5bf9 \u8fd9\u4e9b \u6d88\u606f \u6216   Carla - ROS   \u6865 \u7684 \u4efb\u4f55 \u7591\u95ee \u90fd \u53ef\u4ee5 \u5728 \u8bba\u575b \u4e2d \u89e3\u51b3 \u3002   Carla   \u8bba\u575b   CarlaActorInfo . msg   ROS   \u548c   Carla   \u4e4b\u95f4 \u5171\u4eab \u6709\u5173 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4fe1\u606f \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   id   uint32   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 ID \u3002   parent _ id   uint32   \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002 \u5982\u679c \u6ca1\u6709 \u53ef\u7528 \u7684 \u7236\u7ea7 \uff0c \u5219 \u4e3a ` 0 ` \u3002   type   string   \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240 \u57fa\u4e8e \u7684 \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   rolename   string   \u751f\u6210 \u65f6 \u5206\u914d \u7ed9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u540d\u79f0 \u3002   CarlaActorList . msg   \u5305\u542b   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e00\u4e9b \u57fa\u672c \u4fe1\u606f \u7684 \u6d88\u606f \u5217\u8868 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   actors   CarlaActorInfo   \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4fe1\u606f \u7684 \u6d88\u606f \u5217\u8868 \u3002   CarlaCollisionEvent . msg   \u68c0\u7d22 \u7531 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u6d4b \u5230 \u7684 \u78b0\u649e \u4e8b\u4ef6 \u7684 \u6570\u636e \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   header   Header   \u6d88\u606f \u53d1\u5e03 \u65f6 \u7684 \u65f6\u95f4 \u6233 \u548c \u5e27 ID \u3002   other _ actor _ id   uint32   \u68c0\u6d4b \u5230 \u78b0\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   normal _ impulse   geometry _ msgs / Vector3   \u8868\u793a \u78b0\u649e \u4ea7\u751f \u7684 \u8109\u51b2 \u7684 \u77e2\u91cf \u3002   CarlaControl . msg   \u8fd9\u4e9b \u6d88\u606f \u5728 \u540c\u6b65 \u3001 \u975e \u88ab\u52a8 \u6a21\u5f0f \u88ab\u52a8\u6a21\u5f0f \u4e0b \u63a7\u5236 \u4eff\u771f \u3002 \u5b9a\u4e49 \u7684 \u5e38\u91cf \u88ab \u7ffb\u8bd1 \u4e3a \u6b65\u8fdb \u547d\u4ee4 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   command   int8   \u64ad\u653e   = 0   \u6682\u505c   = 1   STEP _ ONCE   = 2   CarlaEgoVehicleControl . msg   \u53d1\u9001 \u6d88\u606f \u4ee5 \u5728 \u81ea\u52a8 \u9a7e\u9a76 \u548c \u624b\u52a8 \u4e24\u79cd \u6a21\u5f0f \u4e0b \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u63a7\u5236 \u3002 \u8fd9\u4e9b \u5185\u5bb9 \u4ee5 \u5806\u6808 \u5f62\u5f0f \u53d1\u5e03 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   header   Header   \u6d88\u606f \u53d1\u5e03 \u65f6 \u7684 \u65f6\u95f4 \u6233 \u548c \u5e27 ID \u3002   throttle   float32   \u63a7\u5236 \u8f66\u8f86 \u6cb9\u95e8 \u7684 \u6807\u91cf \u503c \uff1a   [ 0.0 ,   1.0 ]   steer   float32   \u63a7\u5236 \u8f66\u8f86 \u8f6c\u5411 \u65b9\u5411 \u7684 \u6807\u91cf \u503c \uff1a   [ - 1.0 ,   1.0 ]   \u6765 \u63a7\u5236 \u8f66\u8f86 \u8f6c\u5411   brake   float32   \u63a7\u5236 \u8f66\u8f86 \u5239\u8f66 \u7684 \u6807\u91cf \u503c \uff1a   [ 0.0 ,   1.0 ]   hand _ brake   bool   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u542f\u7528 \u624b\u5239 \u3002   reverse   bool   \u5982\u679c \u4e3a   True   \uff0c \u8f66\u8f86 \u5c06 \u5411 \u540e \u79fb\u52a8 \u3002   gear   int32   \u8f66\u8f86 \u4e2d \u53ef\u7528 \u6863\u4f4d \u4e4b\u95f4 \u7684 \u53d8\u5316 \u3002   manual _ gear _ shift   bool   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u5c06 \u4f7f\u7528   gear   \u8fdb\u884c \u6362\u6863 \u3002   CarlaEgoVehicleInfo . msg   \u6709\u5173 \u8f66\u8f86 \u7684 \u9759\u6001 \u4fe1\u606f \uff0c \u4e3b\u8981 \u662f \u7528\u4e8e \u5b9a\u4e49 \u8f66\u8f86 \u7269\u7406 \u7279\u6027 \u7684 \u5c5e\u6027 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   id   uint32   \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   type   string   \u8be5 \u8f66\u8f86 \u6240 \u57fa\u4e8e \u7684 \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   type   string   \u8be5 \u8f66\u8f86 \u6240 \u57fa\u4e8e \u7684 \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   rolename   string   \u5206\u914d \u7ed9 \u8f66\u8f86 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   wheels   CarlaEgoVehicleInfoWheel   \u5305\u542b \u6709\u5173 \u8f66\u8f6e \u4fe1\u606f \u7684 \u6d88\u606f \u5217\u8868 \u3002   max _ rpm   float32   \u8f66\u8f86 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7684 \u6700\u5927 \u8f6c\u901f \u3002   moi   float32   \u8f66\u8f86 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7684 \u8f6c\u52a8 \u60ef\u91cf \u8f6c\u52a8\u60ef\u91cf \u3002   damping _ rate _ full _ throttle   float32   \u6cb9\u95e8 \u6700\u5927 \u65f6 \u7684 \u963b\u5c3c \u7387 \u3002   damping _ rate _ zero _ throttle   _ clutch _ engaged   float32   \u5f53 \u79bb\u5408 \u79bb\u5408\u5668 \u63a5\u5408 \u4e14 \u6cb9\u95e8 \u4e3a \u96f6\u65f6 \u7684 \u963b\u5c3c \u7387 \u3002   damping _ rate _ zero _ throttle   _ clutch _ disengaged   float32   \u5f53 \u6cb9\u95e8 \u4e3a \u96f6\u4e14 \u79bb\u5408 \u79bb\u5408\u5668 \u5206\u79bb \u65f6 \u7684 \u963b\u5c3c \u7387 \u3002   use _ gear _ autobox   bool   \u5982\u679c \u4e3a   True   \uff0c \u8f66\u8f86 \u5c06 \u914d\u5907 \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u3002   gear _ switch _ time   float32   \u6863\u4f4d \u4e4b\u95f4 \u7684 \u5207\u6362 \u65f6\u95f4 \u3002   clutch _ strength   float32   \u8f66\u8f86 \u7684 \u79bb\u5408 \u79bb\u5408\u5668 \u5f3a\u5ea6 \u3002 \u4ee5   Kgm ^ 2 / s   \u4e3a \u5355\u4f4d \u6d4b\u91cf \u3002   mass   float32   \u8f66\u8f86 \u7684 \u8d28\u91cf \u4ee5 \u5343\u514b \u4e3a \u5355\u4f4d \u6d4b\u91cf \u3002   drag _ coefficient   float32   \u8f66\u8f86 \u5e95\u76d8 \u7684 \u963b\u529b \u7cfb\u6570 \u3002   center _ of _ mass   geometry _ msgs / Vector3   \u8f66\u8f86 \u7684 \u8d28\u5fc3 \u3002   CarlaEgoVehicleInfoWheel . msg   \u6709\u5173 \u8f66\u8f6e \u7684 \u9759\u6001 \u4fe1\u606f \u5c06 \u6210\u4e3a   CarlaEgoVehicleInfo . msg   \u6d88\u606f \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   tire _ friction   float32   \u8868\u793a \u8f66\u8f6e \u6469\u64e6 \u6469\u64e6\u529b \u7684 \u6807\u91cf \u503c \u3002   damping _ rate   float32   \u8f66\u8f6e \u7684 \u963b\u5c3c \u7387 \u3002   max _ steer _ angle   float32   \u8f66\u8f6e \u53ef\u4ee5 \u8f6c\u5411 \u7684 \u6700\u5927 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   radius   float32   \u8f6e\u5b50 \u7684 \u534a\u5f84 \uff0c \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \u3002   max _ brake _ torque   float32   \u6700\u5927 \u5236\u52a8 \u626d\u77e9 \uff08 Nm \uff09 \u3002   max _ handbrake _ torque   float32   \u6700\u5927 \u624b\u5239 \u626d\u77e9 \uff08 Nm \uff09 \u3002   position   geometry _ msgs / Vector3   \u8f66\u8f6e \u7684 \u4e16\u754c \u4f4d\u7f6e \u3002   CarlaEgoVehicleStatus . msg   \u8f66\u8f86 \u4f5c\u4e3a \u4e16\u754c \u4e0a \u7269\u4f53 \u7684 \u5f53\u524d \u72b6\u6001 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   header   Header   \u6d88\u606f \u53d1\u5e03 \u65f6 \u7684 \u65f6\u95f4 \u6233 \u548c \u5e27 ID \u3002   velocity   float32   \u8f66\u8f86 \u7684 \u5f53\u524d \u901f\u5ea6 \u3002   acceleration   geometry _ msgs / Accel   \u8f66\u8f86 \u5f53\u524d \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   orientation   geometry _ msgs / Quaternion   \u8f66\u8f86 \u7684 \u5f53\u524d \u671d\u5411 \u3002   control   CarlaEgoVehicleControl   Carla   \u62a5\u544a \u7684 \u5f53\u524d \u63a7\u5236 \u503c \u3002   CarlaLaneInvasionEvent . msg   \u8fd9\u4e9b \u6d88\u606f \u53d1\u5e03 \u7531 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u7684 \u538b\u7ebf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u6d4b \u5230 \u7684 \u538b\u7ebf \u3002 \u6700\u540e \u4e00\u6b65 \u4e2d \u68c0\u6d4b \u5230 \u7684 \u5165\u4fb5 \u5c06 \u4f5c\u4e3a \u5177\u6709 \u5e38\u91cf \u5b9a\u4e49 \u7684 \u5217\u8868 \u4f20\u9012 \uff0c \u4ee5 \u8bc6\u522b \u7a7f\u8fc7 \u7684 \u8f66\u9053 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   header   header   \u6d88\u606f \u53d1\u5e03 \u65f6 \u7684 \u65f6\u95f4 \u6233 \u548c \u5e27 ID \u3002   crossed _ lane _ markings   int32 [ ]   LANE _ MARKING _ OTHER   = 0   LANE _ MARKING _ BROKEN   = 1   LANE _ MARKING _ SOLID   = 2   CarlaScenario . msg   \u6d4b\u8bd5 \u573a\u666f \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   name   string   \u573a\u666f \u540d\u79f0 \u3002   scenario _ file   string   \u8be5 \u573a\u666f \u7684 \u6d4b\u8bd5 \u6587\u4ef6 \u3002   destination   geometry _ msgs / Pose   \u573a\u666f \u7684 \u76ee\u6807 \u4f4d\u7f6e \u3002   target _ speed   float64   \u573a\u666f \u671f\u95f4 \u671f\u671b \u7684 \u901f\u5ea6 \u3002   CarlaScenarioList . msg   \u8981 \u5728   ScenarioRunner   \u4e2d \u8fd0\u884c \u7684 \u6d4b\u8bd5 \u573a\u666f \u5217\u8868 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   scenarios   CarlaScenario [ ]   \u573a\u666f \u5217\u8868 \u3002   CarlaScenarioRunnerStatus . msg   ScenarioRunner   \u7684 \u5f53\u524d \u72b6\u6001 \u3002 \u5b83 \u662f \u4f7f\u7528 \u5e38\u91cf \u6765 \u7ba1\u7406 \u7684 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   status   uint8   \u573a\u666f \u7684 \u5f53\u524d \u72b6\u6001 \u4f5c\u4e3a \u679a\u4e3e \uff1a   STOPPED   = 0   STARTING   = 1   RUNNING   = 2   SHUTTINGDOWN   = 3   ERROR   = 4   CarlaStatus . msg   \u5f53\u524d \u4e16\u754c \u7684 \u4eff\u771f \u8bbe\u7f6e \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   frame   uint64   \u5f53\u524d \u5e27 \u53f7 \u3002   fixed _ delta _ seconds   float32   \u6700\u540e \u4e00\u6b65 \u548c \u5f53\u524d \u6b65 \u4e4b\u95f4 \u7684 \u4eff\u771f \u65f6\u95f4 \u3002   synchronous _ mode   bool   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \u3002   synchronous _ mode _ running   bool   \u5f53 \u4eff\u771f \u8fd0\u884c \u65f6\u4e3a   True   \u3002 \u6682\u505c \u65f6\u4e3a   False   \u3002   CarlaTrafficLightStatus . msg   \u5173\u4e8e \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u7684 \u6052\u5b9a \u5b9a\u4e49 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   id   uint32   \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   state   uint8   RED   = 0   YELLOW   = 1   GREEN   = 2   OFF   = 3   UNKNOWN   = 4   CarlaTrafficLightStatusList . msg   \u4ea4\u901a \u4ea4\u901a\u706f \u5217\u8868 \u53ca\u5176 \u72b6\u6001 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   scenarios   CarlaTrafficLightStatus [ ]   \u6c47\u603b \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u6d88\u606f \u5217\u8868 \u3002   CarlaWalkerControl . msg   \u5c06 \u8fd0\u52a8 \u63a7\u5236 \u63a7\u5236\u5668 \u5e94\u7528 \u4e8e \u884c\u4eba \u6240 \u9700 \u7684 \u4fe1\u606f \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   direction   geometry _ msgs / Vector3   \u63a7\u5236 \u884c\u4eba \u65b9\u5411 \u7684 \u5411\u91cf \u3002   speed   float32   \u7528\u4e8e \u63a7\u5236 \u884c\u4eba \u901f\u5ea6 \u7684 \u6807\u91cf \u503c \u3002   jump   bool   \u5982\u679c \u4e3a   True   \uff0c \u884c\u4eba \u4f1a \u8df3\u8dc3 \u3002   CarlaWaypoint . msg   \u8def\u5f84 \u70b9 \u5bf9\u8c61 \u4e2d \u5305\u542b \u7684 \u6570\u636e \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   road _ id   int32   OpenDRIVE   \u9053\u8def \u7684   id \u3002   section _ id   int32   OpenDRIVE   \u90e8\u5206 \u7684   id \uff0c \u57fa\u4e8e \u5b83\u4eec \u6700\u521d \u5b9a\u4e49 \u7684 \u987a\u5e8f \u3002   lane _ id   int32   OpenDRIVE   \u8f66\u9053 \u7684 id \uff0c \u8be5\u503c \u53ef\u4ee5 \u662f \u6b63\u6570 \u6216 \u8d1f\u6570 \uff0c \u8868\u793a \u5f53\u524d \u8f66\u9053 \u76f8\u5bf9 \u4e8e \u9053\u8def \u7684 \u65b9\u5411 \u3002   is _ junction   bool   \u5982\u679c \u5f53\u524d \u8def\u70b9 \u4f4d\u4e8e   OpenDRIVE   \u5b9a\u4e49 \u7684 \u4ea4\u6c47 \u4ea4\u6c47\u70b9 \u4e0a \uff0c \u5219 \u4e3a   True   \u3002   is _ junction   geometry _ msgs / Pose   \u5f53 \u4eff\u771f \u8fd0\u884c \u65f6\u4e3a   True   \u3002 \u6682\u505c \u65f6\u4e3a   False   \u3002   CarlaWorldInfo . msg   \u6709\u5173 \u5f53\u524d   Carla   \u5730\u56fe \u7684 \u4fe1\u606f \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   map _ name   string   \u5f53\u524d \u4e16\u754c \u4e2d \u52a0\u8f7d \u7684   Carla   \u5730\u56fe \u7684 \u540d\u79f0 \u3002   opendrive   string   \u5f53\u524d \u5730\u56fe \u7684   . xodr   OpenDRIVE   \u6587\u4ef6 \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5f62\u5f0f \uff09 \u3002   EgoVehicleControlCurrent . msg   \u8f66\u8f86 \u7684 \u5f53\u524d \u65f6\u95f4 \u3001 \u901f\u5ea6 \u548c \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u503c \u3002 \u7531 \u63a7\u5236 \u63a7\u5236\u5668 \u4f7f\u7528 \u3002 \u5b83 \u662f   Carla _ Ackermann _ Control . EgoVehicleControlInfo . msg   \u6d88\u606f \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   time _ sec   float32   \u5e94\u7528 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5f53\u524d \u65f6\u95f4 \u3002   speed   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u5e94\u7528 \u7684 \u5f53\u524d \u901f\u5ea6 \u3002   speed _ abs   float32   \u4e3a \u7edd\u5bf9 \u7edd\u5bf9\u503c \u7684 \u901f\u5ea6 \u3002   accel   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u5e94\u7528 \u7684 \u5f53\u524d \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   EgoVehicleControlInfo . msg   \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u63a7\u5236\u5668 \u5185 \u7684 \u5f53\u524d \u503c \u3002 \u8fd9\u4e9b \u6d88\u606f \u5bf9\u4e8e \u8c03\u8bd5 \u5f88 \u6709\u7528 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   header   header   \u6d88\u606f \u53d1\u5e03 \u65f6 \u7684 \u65f6\u95f4 \u6233 \u548c \u5e27 ID \u3002   restrictions   EgoVehicleControlMaxima   \u63a7\u5236 \u63a7\u5236\u5668 \u503c \u7684 \u9650\u5236 \u3002   target   EgoVehicleControlTarget   \u63a7\u5236 \u63a7\u5236\u5668 \u503c \u7684 \u9650\u5236 \u3002   current   EgoVehicleControlCurrent   \u63a7\u5236 \u63a7\u5236\u5668 \u503c \u7684 \u9650\u5236 \u3002   status   EgoVehicleControlStatus   \u63a7\u5236 \u63a7\u5236\u5668 \u503c \u7684 \u9650\u5236 \u3002   output   CarlaEgoVehicleControl   \u63a7\u5236 \u63a7\u5236\u5668 \u503c \u7684 \u9650\u5236 \u3002   EgoVehicleControlMaxima . msg   \u63a7\u5236 \u63a7\u5236\u5668 \u9650\u5236 \uff08 \u6781\u9650 \u9650\u503c \u6781\u9650\u503c \uff09 \u3002 \u5b83 \u662f   Carla _ Ackermann _ Control . EgoVehicleControlInfo . msg   \u6d88\u606f \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   max _ steering _ angle   float32   \u8f66\u8f86 \u7684 \u6700\u5927 \u8f6c\u5411 \u89d2 \u3002   max _ speed   float32   \u8f66\u8f86 \u7684 \u6700\u5927 \u901f\u5ea6 \u3002   max _ accel   float32   \u8f66\u8f86 \u7684 \u6700\u5927 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   max _ decel   float32   \u8f66\u8f86 \u7684 \u6700\u5927 \u51cf \u901f\u5ea6 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   8m / s ^ 2   min _ accel   float32   \u8f66\u8f86 \u7684 \u6700\u5c0f \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002 \u5f53 \u963f\u514b \u963f\u514b\u66fc \u76ee\u6807 \u52a0\u901f \u65f6 \u3002 \u8d85\u8fc7 \u6b64\u503c \uff0c \u8f93\u5165 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002 \u88ab \u63a7\u5236 \u3002   max _ pedal   float32   \u6700\u5c0f \u8e0f\u677f \u3002   EgoVehicleControlStatus . msg   \u81ea\u6211 \u8f66\u8f86 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5f53\u524d \u72b6\u6001 \u3002 \u5b83 \u662f   Carla _ Ackermann _ Control . EgoVehicleControlInfo . msg   \u6d88\u606f \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   status   string   \u5f53\u524d \u63a7\u5236 \u72b6\u6001 \u3002   speed _ control _ activation _ count   uint8   \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \u3002   speed _ control _ accel _ delta   float32   \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \u3002   speed _ control _ accel _ target   float32   \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \u3002   accel _ control _ pedal _ delta   float32   \u52a0\u901f \u63a7\u5236 \u63a7\u5236\u5668 \u3002   accel _ control _ pedal _ target   float32   \u52a0\u901f \u63a7\u5236 \u63a7\u5236\u5668 \u3002   brake _ upper _ border   float32   \u6401\u7f6e \u8e0f\u677f \u7684 \u8fb9\u6846 \u3002   throttle _ lower _ border   float32   \u6401\u7f6e \u8e0f\u677f \u7684 \u8fb9\u6846 \u3002   EgoVehicleControlTarget . msg   \u81ea\u6211 \u8f66\u8f86 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u76ee\u6807 \u6807\u503c \u76ee\u6807\u503c \u3002 \u5b83 \u662f   Carla _ Ackermann _ Control . EgoVehicleControlInfo . msg   \u6d88\u606f \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   steering _ angle   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u76ee\u6807 \u8f6c\u5411 \u89d2 \u3002   speed   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u76ee\u6807 \u901f\u5ea6 \u3002   speed _ abs   float32   \u4e3a \u7edd\u5bf9 \u7edd\u5bf9\u503c \u7684 \u901f\u5ea6 \u3002   accel   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u76ee\u6807 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   jerk   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u76ee\u6807 \u6296\u52a8 \u3002","title":"Carla   \u6d88\u606f \u53c2\u8003"},{"location":"ros_msgs/#carla","text":"\u4ee5\u4e0b \u53c2\u8003 \u5217\u51fa \u4e86   ROS   \u6865\u4e2d \u53ef\u7528 \u7684 \u6240\u6709   Carla   \u6d88\u606f \u3002   \u5bf9 \u8fd9\u4e9b \u6d88\u606f \u6216   Carla - ROS   \u6865 \u7684 \u4efb\u4f55 \u7591\u95ee \u90fd \u53ef\u4ee5 \u5728 \u8bba\u575b \u4e2d \u89e3\u51b3 \u3002   Carla   \u8bba\u575b","title":"Carla   \u6d88\u606f \u53c2\u8003"},{"location":"ros_msgs/#carlaactorinfomsg","text":"ROS   \u548c   Carla   \u4e4b\u95f4 \u5171\u4eab \u6709\u5173 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4fe1\u606f \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   id   uint32   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 ID \u3002   parent _ id   uint32   \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002 \u5982\u679c \u6ca1\u6709 \u53ef\u7528 \u7684 \u7236\u7ea7 \uff0c \u5219 \u4e3a ` 0 ` \u3002   type   string   \u8be5 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240 \u57fa\u4e8e \u7684 \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   rolename   string   \u751f\u6210 \u65f6 \u5206\u914d \u7ed9 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u540d\u79f0 \u3002","title":"CarlaActorInfo . msg"},{"location":"ros_msgs/#carlaactorlistmsg","text":"\u5305\u542b   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e00\u4e9b \u57fa\u672c \u4fe1\u606f \u7684 \u6d88\u606f \u5217\u8868 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   actors   CarlaActorInfo   \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4fe1\u606f \u7684 \u6d88\u606f \u5217\u8868 \u3002","title":"CarlaActorList . msg"},{"location":"ros_msgs/#carlacollisioneventmsg","text":"\u68c0\u7d22 \u7531 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u6d4b \u5230 \u7684 \u78b0\u649e \u4e8b\u4ef6 \u7684 \u6570\u636e \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   header   Header   \u6d88\u606f \u53d1\u5e03 \u65f6 \u7684 \u65f6\u95f4 \u6233 \u548c \u5e27 ID \u3002   other _ actor _ id   uint32   \u68c0\u6d4b \u5230 \u78b0\u649e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   normal _ impulse   geometry _ msgs / Vector3   \u8868\u793a \u78b0\u649e \u4ea7\u751f \u7684 \u8109\u51b2 \u7684 \u77e2\u91cf \u3002","title":"CarlaCollisionEvent . msg"},{"location":"ros_msgs/#carlacontrolmsg","text":"\u8fd9\u4e9b \u6d88\u606f \u5728 \u540c\u6b65 \u3001 \u975e \u88ab\u52a8 \u6a21\u5f0f \u88ab\u52a8\u6a21\u5f0f \u4e0b \u63a7\u5236 \u4eff\u771f \u3002 \u5b9a\u4e49 \u7684 \u5e38\u91cf \u88ab \u7ffb\u8bd1 \u4e3a \u6b65\u8fdb \u547d\u4ee4 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   command   int8   \u64ad\u653e   = 0   \u6682\u505c   = 1   STEP _ ONCE   = 2","title":"CarlaControl . msg"},{"location":"ros_msgs/#carlaegovehiclecontrolmsg","text":"\u53d1\u9001 \u6d88\u606f \u4ee5 \u5728 \u81ea\u52a8 \u9a7e\u9a76 \u548c \u624b\u52a8 \u4e24\u79cd \u6a21\u5f0f \u4e0b \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u63a7\u5236 \u3002 \u8fd9\u4e9b \u5185\u5bb9 \u4ee5 \u5806\u6808 \u5f62\u5f0f \u53d1\u5e03 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   header   Header   \u6d88\u606f \u53d1\u5e03 \u65f6 \u7684 \u65f6\u95f4 \u6233 \u548c \u5e27 ID \u3002   throttle   float32   \u63a7\u5236 \u8f66\u8f86 \u6cb9\u95e8 \u7684 \u6807\u91cf \u503c \uff1a   [ 0.0 ,   1.0 ]   steer   float32   \u63a7\u5236 \u8f66\u8f86 \u8f6c\u5411 \u65b9\u5411 \u7684 \u6807\u91cf \u503c \uff1a   [ - 1.0 ,   1.0 ]   \u6765 \u63a7\u5236 \u8f66\u8f86 \u8f6c\u5411   brake   float32   \u63a7\u5236 \u8f66\u8f86 \u5239\u8f66 \u7684 \u6807\u91cf \u503c \uff1a   [ 0.0 ,   1.0 ]   hand _ brake   bool   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u542f\u7528 \u624b\u5239 \u3002   reverse   bool   \u5982\u679c \u4e3a   True   \uff0c \u8f66\u8f86 \u5c06 \u5411 \u540e \u79fb\u52a8 \u3002   gear   int32   \u8f66\u8f86 \u4e2d \u53ef\u7528 \u6863\u4f4d \u4e4b\u95f4 \u7684 \u53d8\u5316 \u3002   manual _ gear _ shift   bool   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u5c06 \u4f7f\u7528   gear   \u8fdb\u884c \u6362\u6863 \u3002","title":"CarlaEgoVehicleControl . msg"},{"location":"ros_msgs/#carlaegovehicleinfomsg","text":"\u6709\u5173 \u8f66\u8f86 \u7684 \u9759\u6001 \u4fe1\u606f \uff0c \u4e3b\u8981 \u662f \u7528\u4e8e \u5b9a\u4e49 \u8f66\u8f86 \u7269\u7406 \u7279\u6027 \u7684 \u5c5e\u6027 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   id   uint32   \u8f66\u8f86 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   type   string   \u8be5 \u8f66\u8f86 \u6240 \u57fa\u4e8e \u7684 \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   type   string   \u8be5 \u8f66\u8f86 \u6240 \u57fa\u4e8e \u7684 \u84dd\u56fe \u7684 \u6807\u8bc6 \u6807\u8bc6\u7b26 \u3002   rolename   string   \u5206\u914d \u7ed9 \u8f66\u8f86 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   wheels   CarlaEgoVehicleInfoWheel   \u5305\u542b \u6709\u5173 \u8f66\u8f6e \u4fe1\u606f \u7684 \u6d88\u606f \u5217\u8868 \u3002   max _ rpm   float32   \u8f66\u8f86 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7684 \u6700\u5927 \u8f6c\u901f \u3002   moi   float32   \u8f66\u8f86 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7684 \u8f6c\u52a8 \u60ef\u91cf \u8f6c\u52a8\u60ef\u91cf \u3002   damping _ rate _ full _ throttle   float32   \u6cb9\u95e8 \u6700\u5927 \u65f6 \u7684 \u963b\u5c3c \u7387 \u3002   damping _ rate _ zero _ throttle   _ clutch _ engaged   float32   \u5f53 \u79bb\u5408 \u79bb\u5408\u5668 \u63a5\u5408 \u4e14 \u6cb9\u95e8 \u4e3a \u96f6\u65f6 \u7684 \u963b\u5c3c \u7387 \u3002   damping _ rate _ zero _ throttle   _ clutch _ disengaged   float32   \u5f53 \u6cb9\u95e8 \u4e3a \u96f6\u4e14 \u79bb\u5408 \u79bb\u5408\u5668 \u5206\u79bb \u65f6 \u7684 \u963b\u5c3c \u7387 \u3002   use _ gear _ autobox   bool   \u5982\u679c \u4e3a   True   \uff0c \u8f66\u8f86 \u5c06 \u914d\u5907 \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u3002   gear _ switch _ time   float32   \u6863\u4f4d \u4e4b\u95f4 \u7684 \u5207\u6362 \u65f6\u95f4 \u3002   clutch _ strength   float32   \u8f66\u8f86 \u7684 \u79bb\u5408 \u79bb\u5408\u5668 \u5f3a\u5ea6 \u3002 \u4ee5   Kgm ^ 2 / s   \u4e3a \u5355\u4f4d \u6d4b\u91cf \u3002   mass   float32   \u8f66\u8f86 \u7684 \u8d28\u91cf \u4ee5 \u5343\u514b \u4e3a \u5355\u4f4d \u6d4b\u91cf \u3002   drag _ coefficient   float32   \u8f66\u8f86 \u5e95\u76d8 \u7684 \u963b\u529b \u7cfb\u6570 \u3002   center _ of _ mass   geometry _ msgs / Vector3   \u8f66\u8f86 \u7684 \u8d28\u5fc3 \u3002","title":"CarlaEgoVehicleInfo . msg"},{"location":"ros_msgs/#carlaegovehicleinfowheelmsg","text":"\u6709\u5173 \u8f66\u8f6e \u7684 \u9759\u6001 \u4fe1\u606f \u5c06 \u6210\u4e3a   CarlaEgoVehicleInfo . msg   \u6d88\u606f \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   tire _ friction   float32   \u8868\u793a \u8f66\u8f6e \u6469\u64e6 \u6469\u64e6\u529b \u7684 \u6807\u91cf \u503c \u3002   damping _ rate   float32   \u8f66\u8f6e \u7684 \u963b\u5c3c \u7387 \u3002   max _ steer _ angle   float32   \u8f66\u8f6e \u53ef\u4ee5 \u8f6c\u5411 \u7684 \u6700\u5927 \u89d2\u5ea6 \uff08 \u4ee5\u5ea6 \u4e3a \u5355\u4f4d \uff09 \u3002   radius   float32   \u8f6e\u5b50 \u7684 \u534a\u5f84 \uff0c \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \u3002   max _ brake _ torque   float32   \u6700\u5927 \u5236\u52a8 \u626d\u77e9 \uff08 Nm \uff09 \u3002   max _ handbrake _ torque   float32   \u6700\u5927 \u624b\u5239 \u626d\u77e9 \uff08 Nm \uff09 \u3002   position   geometry _ msgs / Vector3   \u8f66\u8f6e \u7684 \u4e16\u754c \u4f4d\u7f6e \u3002","title":"CarlaEgoVehicleInfoWheel . msg"},{"location":"ros_msgs/#carlaegovehiclestatusmsg","text":"\u8f66\u8f86 \u4f5c\u4e3a \u4e16\u754c \u4e0a \u7269\u4f53 \u7684 \u5f53\u524d \u72b6\u6001 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   header   Header   \u6d88\u606f \u53d1\u5e03 \u65f6 \u7684 \u65f6\u95f4 \u6233 \u548c \u5e27 ID \u3002   velocity   float32   \u8f66\u8f86 \u7684 \u5f53\u524d \u901f\u5ea6 \u3002   acceleration   geometry _ msgs / Accel   \u8f66\u8f86 \u5f53\u524d \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   orientation   geometry _ msgs / Quaternion   \u8f66\u8f86 \u7684 \u5f53\u524d \u671d\u5411 \u3002   control   CarlaEgoVehicleControl   Carla   \u62a5\u544a \u7684 \u5f53\u524d \u63a7\u5236 \u503c \u3002","title":"CarlaEgoVehicleStatus . msg"},{"location":"ros_msgs/#carlalaneinvasioneventmsg","text":"\u8fd9\u4e9b \u6d88\u606f \u53d1\u5e03 \u7531 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u7684 \u538b\u7ebf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u6d4b \u5230 \u7684 \u538b\u7ebf \u3002 \u6700\u540e \u4e00\u6b65 \u4e2d \u68c0\u6d4b \u5230 \u7684 \u5165\u4fb5 \u5c06 \u4f5c\u4e3a \u5177\u6709 \u5e38\u91cf \u5b9a\u4e49 \u7684 \u5217\u8868 \u4f20\u9012 \uff0c \u4ee5 \u8bc6\u522b \u7a7f\u8fc7 \u7684 \u8f66\u9053 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   header   header   \u6d88\u606f \u53d1\u5e03 \u65f6 \u7684 \u65f6\u95f4 \u6233 \u548c \u5e27 ID \u3002   crossed _ lane _ markings   int32 [ ]   LANE _ MARKING _ OTHER   = 0   LANE _ MARKING _ BROKEN   = 1   LANE _ MARKING _ SOLID   = 2","title":"CarlaLaneInvasionEvent . msg"},{"location":"ros_msgs/#carlascenariomsg","text":"\u6d4b\u8bd5 \u573a\u666f \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   name   string   \u573a\u666f \u540d\u79f0 \u3002   scenario _ file   string   \u8be5 \u573a\u666f \u7684 \u6d4b\u8bd5 \u6587\u4ef6 \u3002   destination   geometry _ msgs / Pose   \u573a\u666f \u7684 \u76ee\u6807 \u4f4d\u7f6e \u3002   target _ speed   float64   \u573a\u666f \u671f\u95f4 \u671f\u671b \u7684 \u901f\u5ea6 \u3002","title":"CarlaScenario . msg"},{"location":"ros_msgs/#carlascenariolistmsg","text":"\u8981 \u5728   ScenarioRunner   \u4e2d \u8fd0\u884c \u7684 \u6d4b\u8bd5 \u573a\u666f \u5217\u8868 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   scenarios   CarlaScenario [ ]   \u573a\u666f \u5217\u8868 \u3002","title":"CarlaScenarioList . msg"},{"location":"ros_msgs/#carlascenariorunnerstatusmsg","text":"ScenarioRunner   \u7684 \u5f53\u524d \u72b6\u6001 \u3002 \u5b83 \u662f \u4f7f\u7528 \u5e38\u91cf \u6765 \u7ba1\u7406 \u7684 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   status   uint8   \u573a\u666f \u7684 \u5f53\u524d \u72b6\u6001 \u4f5c\u4e3a \u679a\u4e3e \uff1a   STOPPED   = 0   STARTING   = 1   RUNNING   = 2   SHUTTINGDOWN   = 3   ERROR   = 4","title":"CarlaScenarioRunnerStatus . msg"},{"location":"ros_msgs/#carlastatusmsg","text":"\u5f53\u524d \u4e16\u754c \u7684 \u4eff\u771f \u8bbe\u7f6e \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   frame   uint64   \u5f53\u524d \u5e27 \u53f7 \u3002   fixed _ delta _ seconds   float32   \u6700\u540e \u4e00\u6b65 \u548c \u5f53\u524d \u6b65 \u4e4b\u95f4 \u7684 \u4eff\u771f \u65f6\u95f4 \u3002   synchronous _ mode   bool   \u5982\u679c \u4e3a   True   \uff0c \u5219 \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \u3002   synchronous _ mode _ running   bool   \u5f53 \u4eff\u771f \u8fd0\u884c \u65f6\u4e3a   True   \u3002 \u6682\u505c \u65f6\u4e3a   False   \u3002","title":"CarlaStatus . msg"},{"location":"ros_msgs/#carlatrafficlightstatusmsg","text":"\u5173\u4e8e \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u7684 \u6052\u5b9a \u5b9a\u4e49 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   id   uint32   \u4ea4\u901a \u4ea4\u901a\u706f \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ID \u3002   state   uint8   RED   = 0   YELLOW   = 1   GREEN   = 2   OFF   = 3   UNKNOWN   = 4","title":"CarlaTrafficLightStatus . msg"},{"location":"ros_msgs/#carlatrafficlightstatuslistmsg","text":"\u4ea4\u901a \u4ea4\u901a\u706f \u5217\u8868 \u53ca\u5176 \u72b6\u6001 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   scenarios   CarlaTrafficLightStatus [ ]   \u6c47\u603b \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u72b6\u6001 \u6d88\u606f \u5217\u8868 \u3002","title":"CarlaTrafficLightStatusList . msg"},{"location":"ros_msgs/#carlawalkercontrolmsg","text":"\u5c06 \u8fd0\u52a8 \u63a7\u5236 \u63a7\u5236\u5668 \u5e94\u7528 \u4e8e \u884c\u4eba \u6240 \u9700 \u7684 \u4fe1\u606f \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   direction   geometry _ msgs / Vector3   \u63a7\u5236 \u884c\u4eba \u65b9\u5411 \u7684 \u5411\u91cf \u3002   speed   float32   \u7528\u4e8e \u63a7\u5236 \u884c\u4eba \u901f\u5ea6 \u7684 \u6807\u91cf \u503c \u3002   jump   bool   \u5982\u679c \u4e3a   True   \uff0c \u884c\u4eba \u4f1a \u8df3\u8dc3 \u3002","title":"CarlaWalkerControl . msg"},{"location":"ros_msgs/#carlawaypointmsg","text":"\u8def\u5f84 \u70b9 \u5bf9\u8c61 \u4e2d \u5305\u542b \u7684 \u6570\u636e \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   road _ id   int32   OpenDRIVE   \u9053\u8def \u7684   id \u3002   section _ id   int32   OpenDRIVE   \u90e8\u5206 \u7684   id \uff0c \u57fa\u4e8e \u5b83\u4eec \u6700\u521d \u5b9a\u4e49 \u7684 \u987a\u5e8f \u3002   lane _ id   int32   OpenDRIVE   \u8f66\u9053 \u7684 id \uff0c \u8be5\u503c \u53ef\u4ee5 \u662f \u6b63\u6570 \u6216 \u8d1f\u6570 \uff0c \u8868\u793a \u5f53\u524d \u8f66\u9053 \u76f8\u5bf9 \u4e8e \u9053\u8def \u7684 \u65b9\u5411 \u3002   is _ junction   bool   \u5982\u679c \u5f53\u524d \u8def\u70b9 \u4f4d\u4e8e   OpenDRIVE   \u5b9a\u4e49 \u7684 \u4ea4\u6c47 \u4ea4\u6c47\u70b9 \u4e0a \uff0c \u5219 \u4e3a   True   \u3002   is _ junction   geometry _ msgs / Pose   \u5f53 \u4eff\u771f \u8fd0\u884c \u65f6\u4e3a   True   \u3002 \u6682\u505c \u65f6\u4e3a   False   \u3002","title":"CarlaWaypoint . msg"},{"location":"ros_msgs/#carlaworldinfomsg","text":"\u6709\u5173 \u5f53\u524d   Carla   \u5730\u56fe \u7684 \u4fe1\u606f \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   map _ name   string   \u5f53\u524d \u4e16\u754c \u4e2d \u52a0\u8f7d \u7684   Carla   \u5730\u56fe \u7684 \u540d\u79f0 \u3002   opendrive   string   \u5f53\u524d \u5730\u56fe \u7684   . xodr   OpenDRIVE   \u6587\u4ef6 \uff08 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5f62\u5f0f \uff09 \u3002","title":"CarlaWorldInfo . msg"},{"location":"ros_msgs/#egovehiclecontrolcurrentmsg","text":"\u8f66\u8f86 \u7684 \u5f53\u524d \u65f6\u95f4 \u3001 \u901f\u5ea6 \u548c \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u503c \u3002 \u7531 \u63a7\u5236 \u63a7\u5236\u5668 \u4f7f\u7528 \u3002 \u5b83 \u662f   Carla _ Ackermann _ Control . EgoVehicleControlInfo . msg   \u6d88\u606f \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   time _ sec   float32   \u5e94\u7528 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5f53\u524d \u65f6\u95f4 \u3002   speed   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u5e94\u7528 \u7684 \u5f53\u524d \u901f\u5ea6 \u3002   speed _ abs   float32   \u4e3a \u7edd\u5bf9 \u7edd\u5bf9\u503c \u7684 \u901f\u5ea6 \u3002   accel   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u5e94\u7528 \u7684 \u5f53\u524d \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002","title":"EgoVehicleControlCurrent . msg"},{"location":"ros_msgs/#egovehiclecontrolinfomsg","text":"\u963f\u514b \u963f\u514b\u66fc \u63a7\u5236 \u63a7\u5236\u5668 \u5185 \u7684 \u5f53\u524d \u503c \u3002 \u8fd9\u4e9b \u6d88\u606f \u5bf9\u4e8e \u8c03\u8bd5 \u5f88 \u6709\u7528 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   header   header   \u6d88\u606f \u53d1\u5e03 \u65f6 \u7684 \u65f6\u95f4 \u6233 \u548c \u5e27 ID \u3002   restrictions   EgoVehicleControlMaxima   \u63a7\u5236 \u63a7\u5236\u5668 \u503c \u7684 \u9650\u5236 \u3002   target   EgoVehicleControlTarget   \u63a7\u5236 \u63a7\u5236\u5668 \u503c \u7684 \u9650\u5236 \u3002   current   EgoVehicleControlCurrent   \u63a7\u5236 \u63a7\u5236\u5668 \u503c \u7684 \u9650\u5236 \u3002   status   EgoVehicleControlStatus   \u63a7\u5236 \u63a7\u5236\u5668 \u503c \u7684 \u9650\u5236 \u3002   output   CarlaEgoVehicleControl   \u63a7\u5236 \u63a7\u5236\u5668 \u503c \u7684 \u9650\u5236 \u3002","title":"EgoVehicleControlInfo . msg"},{"location":"ros_msgs/#egovehiclecontrolmaximamsg","text":"\u63a7\u5236 \u63a7\u5236\u5668 \u9650\u5236 \uff08 \u6781\u9650 \u9650\u503c \u6781\u9650\u503c \uff09 \u3002 \u5b83 \u662f   Carla _ Ackermann _ Control . EgoVehicleControlInfo . msg   \u6d88\u606f \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   max _ steering _ angle   float32   \u8f66\u8f86 \u7684 \u6700\u5927 \u8f6c\u5411 \u89d2 \u3002   max _ speed   float32   \u8f66\u8f86 \u7684 \u6700\u5927 \u901f\u5ea6 \u3002   max _ accel   float32   \u8f66\u8f86 \u7684 \u6700\u5927 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   max _ decel   float32   \u8f66\u8f86 \u7684 \u6700\u5927 \u51cf \u901f\u5ea6 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \uff1a   8m / s ^ 2   min _ accel   float32   \u8f66\u8f86 \u7684 \u6700\u5c0f \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002 \u5f53 \u963f\u514b \u963f\u514b\u66fc \u76ee\u6807 \u52a0\u901f \u65f6 \u3002 \u8d85\u8fc7 \u6b64\u503c \uff0c \u8f93\u5165 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002 \u88ab \u63a7\u5236 \u3002   max _ pedal   float32   \u6700\u5c0f \u8e0f\u677f \u3002","title":"EgoVehicleControlMaxima . msg"},{"location":"ros_msgs/#egovehiclecontrolstatusmsg","text":"\u81ea\u6211 \u8f66\u8f86 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5f53\u524d \u72b6\u6001 \u3002 \u5b83 \u662f   Carla _ Ackermann _ Control . EgoVehicleControlInfo . msg   \u6d88\u606f \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   status   string   \u5f53\u524d \u63a7\u5236 \u72b6\u6001 \u3002   speed _ control _ activation _ count   uint8   \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \u3002   speed _ control _ accel _ delta   float32   \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \u3002   speed _ control _ accel _ target   float32   \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \u3002   accel _ control _ pedal _ delta   float32   \u52a0\u901f \u63a7\u5236 \u63a7\u5236\u5668 \u3002   accel _ control _ pedal _ target   float32   \u52a0\u901f \u63a7\u5236 \u63a7\u5236\u5668 \u3002   brake _ upper _ border   float32   \u6401\u7f6e \u8e0f\u677f \u7684 \u8fb9\u6846 \u3002   throttle _ lower _ border   float32   \u6401\u7f6e \u8e0f\u677f \u7684 \u8fb9\u6846 \u3002","title":"EgoVehicleControlStatus . msg"},{"location":"ros_msgs/#egovehiclecontroltargetmsg","text":"\u81ea\u6211 \u8f66\u8f86 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u76ee\u6807 \u6807\u503c \u76ee\u6807\u503c \u3002 \u5b83 \u662f   Carla _ Ackermann _ Control . EgoVehicleControlInfo . msg   \u6d88\u606f \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u5b57 \u6bb5   \u7c7b\u578b   \u63cf\u8ff0   steering _ angle   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u76ee\u6807 \u8f6c\u5411 \u89d2 \u3002   speed   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u76ee\u6807 \u901f\u5ea6 \u3002   speed _ abs   float32   \u4e3a \u7edd\u5bf9 \u7edd\u5bf9\u503c \u7684 \u901f\u5ea6 \u3002   accel   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u76ee\u6807 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002   jerk   float32   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u76ee\u6807 \u6296\u52a8 \u3002","title":"EgoVehicleControlTarget . msg"},{"location":"ros_sensors/","text":"ROS   \u6865 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u53ef\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   RGB   \u76f8\u673a   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / image   sensor _ msgs / Image   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / camera _ info   sensor _ msgs / CameraInfo   \u6df1\u5ea6 \u76f8\u673a   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / image   sensor _ msgs / Image   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / camera _ info   sensor _ msgs / CameraInfo   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / image   sensor _ msgs / Image   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / camera _ info   sensor _ msgs / CameraInfo   DVS   \u76f8\u673a   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / events   sensor _ msgs / PointCloud2   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / image   sensor _ msgs / Image   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / camera _ info   sensor _ msgs / CameraInfo   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   sensor _ msgs / PointCloud2   \u8bed\u4e49 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   sensor _ msgs / PointCloud2   \u96f7\u8fbe   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   sensor _ msgs / PointCloud2   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   sensor _ msgs / Imu   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   sensor _ msgs / NavSatFix   \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   carla _ msgs / CarlaCollisionEvent   \u538b\u7ebf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   carla _ msgs / CarlaLaneInvasionEvent   \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u53d8\u6362 \uff08 TF \uff09 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u5f53 \u751f\u6210 \u6b64\u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65f6 \uff0c \u5c06 \u53d1\u5e03 \u81ea\u6211 \u8f66\u8f86 \u7684 \u8f6c\u6362 \u6570\u636e \u3002   \u6ce8\u610f \uff1a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u6d4b\u91cf \u5b8c\u6210 \u540e \u53d1\u5e03 \u8f6c\u6362 \u6570\u636e \u3002 child _ frame _ id   \u4e0e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e3b\u9898 \u7684 \u524d\u7f00 \u76f8\u5bf9 \u5e94 \u3002   \u91cc\u7a0b \u91cc\u7a0b\u8ba1 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < PARENT   ROLE   NAME > / < SENSOR   ROLE   NAME >   nav _ msgs / Odometry   \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u91cc\u7a0b \u91cc\u7a0b\u8ba1 \u3002   \u8f66\u901f \u8868 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < PARENT   ROLE   NAME > / < SENSOR   ROLE   NAME >   std _ msgs / Float32   \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u3002 \u5355\u4f4d \uff1a \u7c73 / \u79d2 \u3002   \u5730\u56fe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   std _ msgs / String   \u4ee5 \u9501\u5b9a \u4e3b\u9898 \u4e0a \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5f62\u5f0f \u63d0\u4f9b   OpenDRIVE   \u6620\u5c04 \u3002   \u76ee\u6807 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   derived _ object _ msgs / ObjectArray   \u53d1\u5e03 \u6240\u6709 \u8f66\u8f86 \u548c \u884c\u4eba \u3002 \u5982\u679c \u9644\u52a0 \u5230 \u7236\u7ea7 \uff0c \u5219 \u4e0d \u5305\u542b \u7236\u7ea7 \u3002   \u6807\u8bb0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   visualization _ msgs / Marker   \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316   \u4ea4\u901a \u4ea4\u901a\u706f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / status   carla _ msgs / CarlaTrafficLightStatusList   \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u53ca\u5176 \u72b6\u6001 \u7684 \u5217\u8868 \u3002   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / info   carla _ msgs / CarlaTrafficLightInfoList   \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u9759\u6001 \u4fe1\u606f \uff08 \u4f8b\u5982 \u4f4d\u7f6e \uff09 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   carla _ msgs / CarlaActorList   \u6240\u6709   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5217\u8868 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63a7\u5236 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8be5 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5141\u8bb8 \u901a\u8fc7 \u5728   Pose   \u548c   Twist   \u6570\u636e \u7c7b\u578b \u6570\u636e\u7c7b\u578b \u4e2d \u53d1\u5e03 \u59ff\u52bf \u548c \u901f\u5ea6 \u6765 \u63a7\u5236 \u5176\u6240 \u8fde\u63a5 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u4f8b\u5982   ego _ vehicle \uff09 \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \u3002 \u6ce8\u610f \uff1a \u6b64 \u63a7\u5236 \u65b9\u6cd5 \u4e0d \u8003\u8651 \u8f66\u8f86 \u9650\u5236 \u3002 \u5b83 \u5141\u8bb8 \u73b0\u5b9e \u4e16\u754c \u4e2d \u4e0d \u53ef\u80fd \u7684 \u8fd0\u52a8 \uff0c \u4f8b\u5982 \u98de\u884c \u6216 \u65cb\u8f6c \u3002 \u76ee\u524d \uff0c \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e94\u7528 \u5b8c\u6574 \u7684 \u7ebf\u6027 \u77e2\u91cf \uff0c \u4f46\u4ec5 \u5e94\u7528 \u89d2\u5ea6 \u77e2\u91cf \u7684 \u504f\u822a \u3002   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / set _ transform   geometry _ msgs / Pose   \u8f6c\u6362 \u4ee5 \u5e94\u7528 \u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7236\u7ea7 \u3002   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / set _ target _ velocity   geometry _ msgs / Twist   \u5e94\u7528 \u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7236\u7ea7 \u7684 \u901f\u5ea6 \uff08 \u89d2\u5ea6 \u548c \u7ebf\u6027 \uff09 \u3002","title":"ROS   \u6865 \u4f20\u611f\u5668"},{"location":"ros_sensors/#ros","text":"","title":"ROS   \u6865 \u4f20\u611f\u5668"},{"location":"ros_sensors/#_1","text":"","title":"\u53ef\u7528 \u4f20\u611f\u5668"},{"location":"ros_sensors/#rgb","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / image   sensor _ msgs / Image   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / camera _ info   sensor _ msgs / CameraInfo","title":"RGB   \u76f8\u673a"},{"location":"ros_sensors/#_2","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / image   sensor _ msgs / Image   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / camera _ info   sensor _ msgs / CameraInfo","title":"\u6df1\u5ea6 \u76f8\u673a"},{"location":"ros_sensors/#_3","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / image   sensor _ msgs / Image   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / camera _ info   sensor _ msgs / CameraInfo","title":"\u8bed\u4e49 \u5206\u5272 \u76f8\u673a"},{"location":"ros_sensors/#dvs","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / events   sensor _ msgs / PointCloud2   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / image   sensor _ msgs / Image   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / camera _ info   sensor _ msgs / CameraInfo","title":"DVS   \u76f8\u673a"},{"location":"ros_sensors/#_4","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   sensor _ msgs / PointCloud2","title":"\u6fc0\u5149\u96f7\u8fbe"},{"location":"ros_sensors/#_5","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   sensor _ msgs / PointCloud2","title":"\u8bed\u4e49 \u6fc0\u5149\u96f7\u8fbe"},{"location":"ros_sensors/#_6","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   sensor _ msgs / PointCloud2","title":"\u96f7\u8fbe"},{"location":"ros_sensors/#_7","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   sensor _ msgs / Imu","title":"\u60ef\u6027 \u6d4b\u91cf \u5355\u5143"},{"location":"ros_sensors/#_8","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   sensor _ msgs / NavSatFix","title":"\u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf"},{"location":"ros_sensors/#_9","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   carla _ msgs / CarlaCollisionEvent","title":"\u78b0\u649e \u4f20\u611f\u5668"},{"location":"ros_sensors/#_10","text":"\u4e3b\u9898   \u7c7b\u578b   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   carla _ msgs / CarlaLaneInvasionEvent   \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668","title":"\u538b\u7ebf \u4f20\u611f\u5668"},{"location":"ros_sensors/#tf","text":"\u5f53 \u751f\u6210 \u6b64\u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u65f6 \uff0c \u5c06 \u53d1\u5e03 \u81ea\u6211 \u8f66\u8f86 \u7684 \u8f6c\u6362 \u6570\u636e \u3002   \u6ce8\u610f \uff1a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u6d4b\u91cf \u5b8c\u6210 \u540e \u53d1\u5e03 \u8f6c\u6362 \u6570\u636e \u3002 child _ frame _ id   \u4e0e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e3b\u9898 \u7684 \u524d\u7f00 \u76f8\u5bf9 \u5e94 \u3002","title":"\u53d8\u6362 \uff08 TF \uff09 \u4f20\u611f\u5668"},{"location":"ros_sensors/#_11","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < PARENT   ROLE   NAME > / < SENSOR   ROLE   NAME >   nav _ msgs / Odometry   \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u91cc\u7a0b \u91cc\u7a0b\u8ba1 \u3002","title":"\u91cc\u7a0b\u8ba1 \u4f20\u611f\u5668"},{"location":"ros_sensors/#_12","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / < PARENT   ROLE   NAME > / < SENSOR   ROLE   NAME >   std _ msgs / Float32   \u7236 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u3002 \u5355\u4f4d \uff1a \u7c73 / \u79d2 \u3002","title":"\u8f66\u901f \u8868 \u4f20\u611f\u5668"},{"location":"ros_sensors/#_13","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   std _ msgs / String   \u4ee5 \u9501\u5b9a \u4e3b\u9898 \u4e0a \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5f62\u5f0f \u63d0\u4f9b   OpenDRIVE   \u6620\u5c04 \u3002","title":"\u5730\u56fe \u4f20\u611f\u5668"},{"location":"ros_sensors/#_14","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   derived _ object _ msgs / ObjectArray   \u53d1\u5e03 \u6240\u6709 \u8f66\u8f86 \u548c \u884c\u4eba \u3002 \u5982\u679c \u9644\u52a0 \u5230 \u7236\u7ea7 \uff0c \u5219 \u4e0d \u5305\u542b \u7236\u7ea7 \u3002","title":"\u76ee\u6807 \u4f20\u611f\u5668"},{"location":"ros_sensors/#_15","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   visualization _ msgs / Marker   \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316","title":"\u6807\u8bb0 \u4f20\u611f\u5668"},{"location":"ros_sensors/#_16","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / status   carla _ msgs / CarlaTrafficLightStatusList   \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u53ca\u5176 \u72b6\u6001 \u7684 \u5217\u8868 \u3002   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / info   carla _ msgs / CarlaTrafficLightInfoList   \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u9759\u6001 \u4fe1\u606f \uff08 \u4f8b\u5982 \u4f4d\u7f6e \uff09 \u3002","title":"\u4ea4\u901a\u706f \u4f20\u611f\u5668"},{"location":"ros_sensors/#_17","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME >   carla _ msgs / CarlaActorList   \u6240\u6709   Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5217\u8868 \u3002","title":"\u53c2\u4e0e\u8005 \u5217\u8868 \u4f20\u611f\u5668"},{"location":"ros_sensors/#_18","text":"\u8be5 \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5141\u8bb8 \u901a\u8fc7 \u5728   Pose   \u548c   Twist   \u6570\u636e \u7c7b\u578b \u6570\u636e\u7c7b\u578b \u4e2d \u53d1\u5e03 \u59ff\u52bf \u548c \u901f\u5ea6 \u6765 \u63a7\u5236 \u5176\u6240 \u8fde\u63a5 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff08 \u4f8b\u5982   ego _ vehicle \uff09 \u7684 \u4f4d\u7f6e \u548c \u901f\u5ea6 \u3002 \u6ce8\u610f \uff1a \u6b64 \u63a7\u5236 \u65b9\u6cd5 \u4e0d \u8003\u8651 \u8f66\u8f86 \u9650\u5236 \u3002 \u5b83 \u5141\u8bb8 \u73b0\u5b9e \u4e16\u754c \u4e2d \u4e0d \u53ef\u80fd \u7684 \u8fd0\u52a8 \uff0c \u4f8b\u5982 \u98de\u884c \u6216 \u65cb\u8f6c \u3002 \u76ee\u524d \uff0c \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e94\u7528 \u5b8c\u6574 \u7684 \u7ebf\u6027 \u77e2\u91cf \uff0c \u4f46\u4ec5 \u5e94\u7528 \u89d2\u5ea6 \u77e2\u91cf \u7684 \u504f\u822a \u3002   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / set _ transform   geometry _ msgs / Pose   \u8f6c\u6362 \u4ee5 \u5e94\u7528 \u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7236\u7ea7 \u3002   / carla / [ < PARENT   ROLE   NAME > ] / < SENSOR   ROLE   NAME > / set _ target _ velocity   geometry _ msgs / Twist   \u5e94\u7528 \u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7236\u7ea7 \u7684 \u901f\u5ea6 \uff08 \u89d2\u5ea6 \u548c \u7ebf\u6027 \uff09 \u3002","title":"\u53c2\u4e0e\u8005 \u63a7\u5236 \u4f20\u611f\u5668"},{"location":"rqt_plugin/","text":"RQT   Carla   \u63d2\u4ef6   RQT   \u63d2\u4ef6   \u662f \u4e00\u4e2a \u7b80\u5355 \u7684 \u754c\u9762 \uff0c \u7528\u4e8e \u6682\u505c \u3001 \u64ad\u653e \u548c \u63a7\u5236 \u4eff\u771f \u7684 \u6b65\u9aa4 \u3002 \u8981 \u4f7f\u7528 \u5b83 \uff0c \u8bf7 \u5728   ROS   \u6865\u4ee5 \u540c\u6b65 \u6a21\u5f0f \u8fd0\u884c \u7684 \u60c5\u51b5 \u4e0b \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   rqt   -- standalone   rqt _ carla _ control   \u60a8 \u5c06 \u80fd\u591f \u901a\u8fc7   GUI   \u63a7\u5236 \u6b65\u9aa4 \uff1a","title":"RQT   Carla   \u63d2\u4ef6"},{"location":"rqt_plugin/#rqt-carla","text":"RQT   \u63d2\u4ef6   \u662f \u4e00\u4e2a \u7b80\u5355 \u7684 \u754c\u9762 \uff0c \u7528\u4e8e \u6682\u505c \u3001 \u64ad\u653e \u548c \u63a7\u5236 \u4eff\u771f \u7684 \u6b65\u9aa4 \u3002 \u8981 \u4f7f\u7528 \u5b83 \uff0c \u8bf7 \u5728   ROS   \u6865\u4ee5 \u540c\u6b65 \u6a21\u5f0f \u8fd0\u884c \u7684 \u60c5\u51b5 \u4e0b \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   rqt   -- standalone   rqt _ carla _ control   \u60a8 \u5c06 \u80fd\u591f \u901a\u8fc7   GUI   \u63a7\u5236 \u6b65\u9aa4 \uff1a","title":"RQT   Carla   \u63d2\u4ef6"},{"location":"run_ros/","text":"ROS   \u6865\u5305   carla _ ros _ bridge   \u5305\u662f \u8fd0\u884c \u57fa\u672c   ROS   \u6865\u63a5 \u529f\u80fd \u6240 \u9700 \u7684 \u4e3b\u5305 \u3002 \u5728 \u672c\u8282 \u4e2d \uff0c \u60a8 \u5c06 \u5b66\u4e60 \u5982\u4f55 \u51c6\u5907   ROS   \u73af\u5883 \u3001 \u8fd0\u884c   ROS   \u6865 \u3001 \u5982\u4f55 \u914d\u7f6e \u8bbe\u7f6e \u3001 \u540c\u6b65 \u6a21\u5f0f \u7684 \u4f7f\u7528 \u3001 \u63a7\u5236 \u81ea\u4e3b \u8f66\u8f86 \u4ee5\u53ca \u53ef\u7528 \u7684 \u8ba2\u9605 \u3001 \u53d1\u5e03 \u548c \u670d\u52a1 \u7684 \u6458\u8981 \u3002   \u8bbe\u7f6e   ROS   \u73af\u5883   \u51c6\u5907   ROS   1   \u73af\u5883   \u51c6\u5907   ROS   2   \u73af\u5883   \u8fd0\u884c   ROS   \u6865   \u914d\u7f6e   Carla   \u8bbe\u7f6e   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528   ROS   \u6865   \u81ea\u6211 \u8f66\u8f86 \u63a7\u5236   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u8ba2\u9605   \u53d1\u5e03   \u670d\u52a1   \u8bbe\u7f6e   ROS   \u73af\u5883   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u4f7f\u7528 \u5177\u6709 \u901a\u7528 \u63a5\u53e3 \u7684 \u5355\u72ec \u5b9e\u73b0 \u6765 \u652f\u6301   ROS   1   \u548c   ROS   2 \u3002 \u5f53 \u60a8 \u60f3\u8981 \u8fd0\u884c   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u65f6 \uff0c \u60a8 \u5fc5\u987b \u6839\u636e \u60a8 \u4f7f\u7528 \u7684 \u6bcf\u4e2a \u7ec8\u7aef \u4e2d \u7684   ROS   \u7248\u672c \u8bbe\u7f6e   ROS   \u73af\u5883 \uff1a   \u51c6\u5907   ROS   1   \u73af\u5883 \uff1a   \u8981 \u8fd0\u884c \u7684 \u547d\u4ee4 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u662f \u901a\u8fc7   Debian   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u8fd8\u662f \u901a\u8fc7 \u6e90 \u6784\u5efa \u5b89\u88c5   ROS   \u6865 \u3002 \u60a8 \u8fd8 \u9700\u8981 \u66f4\u6539   Debian   \u9009\u9879 \u8def\u5f84 \u4e2d \u7684   ROS   \u7248\u672c \uff1a   #   \u7528\u4e8e debian \u5b89\u88c5 ROS \u6865 \u3002 \u6839\u636e \u5df2 \u5b89\u88c5 \u7684 ROS \u7248\u672c \u66f4\u6539 \u547d\u4ee4 \u3002   source   / opt / carla - ros - bridge / < melodic / noetic > / setup . bash   #   \u4e3a   GitHub   \u5e93 \u5b89\u88c5   ROS   \u6865   source   ~ / carla - ros - bridge / catkin _ ws / devel / setup . bash   \u51c6\u5907   ROS   2   \u73af\u5883 \uff1a   source   . / install / setup . bash   \u8fd0\u884c   ROS   \u6865   \u8bbe\u7f6e   ROS   \u73af\u5883 \u5e76 \u8fd0\u884c   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \uff0c \u60a8 \u9700\u8981 \u5148 \u542f\u52a8   carla _ ros _ bridge   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff0c \u7136\u540e \u624d\u80fd \u4f7f\u7528 \u4efb\u4f55 \u5176\u4ed6 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002 \u4e3a\u6b64 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   ROS   1   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge . launch   #   ROS   2   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge . launch . py   \u8fd8\u6709 \u5176\u4ed6 \u542f\u52a8 \u6587\u4ef6 \u7ed3\u5408 \u4e86 \u4e0a\u8ff0 \u529f\u80fd \uff0c \u5728 \u542f\u52a8 \u5176\u4ed6 \u5305 \u6216 \u63d2\u4ef6 \u7684 \u540c\u65f6 \u542f\u52a8   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \uff1a   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch   ( ROS   1 )   \u548c   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch . py   ( ROS   2 )   \u6cbf\u7740   carla _ spawn _ objects   \u548c   carla _ manual _ control   \u5305 \u4e00\u8d77 \u542f\u52a8   ROS   \u6865 \u3002   \u914d\u7f6e   Carla   \u8bbe\u7f6e   \u914d\u7f6e \u5e94\u8be5 \u5728 \u542f\u52a8 \u6587\u4ef6 \u4e2d \u8bbe\u7f6e \uff0c \u6216\u8005 \u5728 \u4ece \u547d\u4ee4 \u547d\u4ee4\u884c \u8fd0\u884c \u6587\u4ef6 \u65f6 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \uff0c \u4f8b\u5982 \uff1a   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge . launch   passive : = True   \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u8bbe\u7f6e \uff1a   use _ sim _ time   :   \u5e94 \u8bbe\u7f6e \u4e3a   True   \u4ee5 \u786e\u4fdd   ROS   \u4f7f\u7528 \u4eff\u771f \u65f6\u95f4 \u800c \u4e0d\u662f \u7cfb\u7edf \u65f6\u95f4 \u3002 \u8be5 \u53c2\u6570 \u5c06 \u4f7f   ROS   / clock   \u4e3b\u9898 \u4e0e   Carla   \u4eff\u771f \u65f6\u95f4 \u540c\u6b65 \u3002   host   and   port   :   \u4f7f\u7528   Python   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5230   Carla   \u7684 \u7f51\u7edc \u8bbe\u7f6e \u3002   timeout   :   \u7b49\u5f85 \u6210\u529f \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u65f6\u95f4 \u3002   passive   :   \u88ab\u52a8 \u6a21\u5f0f \u88ab\u52a8\u6a21\u5f0f \u7528\u4e8e \u540c\u6b65 \u6a21\u5f0f \u3002 \u542f\u7528 \u540e \uff0c ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u5c06 \u9000\u5c45 \u6b21\u8981 \u5730\u4f4d \uff0c \u800c \u53e6 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5fc5\u987b   \u4e0e \u4e16\u754c \u4ea4\u9053 \u6253\u4ea4\u9053 \u3002 ROS   \u6865 \u5c06 \u7b49\u5f85 \u63a5\u6536 \u6765\u81ea \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6240\u6709 \u9884\u671f \u6570\u636e \u3002   synchronous _ mode   :   \u5982\u679c \u662f   false   :   \u6570\u636e \u5728 \u6bcf\u4e2a \u8282\u62cd   world . on _ tick ( )   \u548c \u6bcf\u4e2a   sensor . listen ( )   \u56de\u8c03 \u65f6 \u8fdb\u884c \u53d1\u5e03 \u3002   \u5982\u679c \u662f   true   \uff08 \u9ed8\u8ba4 \uff09   :   ROS   \u6865 \u5728 \u4e0b \u4e00\u4e2a \u8282\u62cd \u4e4b\u524d \u7b49\u5f85 \u6240\u6709 \u9884\u671f \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6d88\u606f \u3002 \u8fd9 \u53ef\u80fd \u4f1a \u51cf\u6162 \u6574\u4e2a \u4eff\u771f \u7684 \u901f\u5ea6 \uff0c \u4f46 \u53ef\u4ee5 \u786e\u4fdd \u7ed3\u679c \u7684 \u91cd\u590d \u590d\u6027 \u91cd\u590d\u6027 \u53ef\u91cd\u590d\u6027 \u3002   synchronous _ mode _ wait _ for _ vehicle _ control _ command   :   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u6682\u505c \u8ba1\u65f6 \u76f4\u5230 \u8f66\u8f86 \u63a7\u5236 \u5b8c\u6210 \u3002   fixed _ delta _ seconds   :   \u4eff\u771f \u6b65\u9aa4 \u4e4b\u95f4 \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u589e\u91cf \u79d2 \uff09 \u3002   \u5b83 \u5fc5\u987b \u4f4e\u4e8e   0.1   \u3002 \u67e5\u770b   \u6587\u6863   \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002   ego _ vehicle   :   \u7528\u4e8e \u8bc6\u522b \u81ea\u6211 \u8f66\u8f86 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0 \u3002 \u5c06 \u521b\u5efa \u76f8\u5173 \u4e3b\u9898 \uff0c \u4ee5\u4fbf \u80fd\u591f \u901a\u8fc7   ROS   \u63a7\u5236 \u8fd9\u4e9b \u8f66\u8f86 \u3002   town   :   \u4f7f\u7528 \u53ef\u7528 \u7684   Carla   \u57ce\u9547 \uff08 \u4f8b\u5982 \u201c town01 \u201d \uff09 \u6216   OpenDRIVE   \u6587\u4ef6 \uff08 \u4ee5   . xodr   \u7ed3\u5c3e \uff09 \u3002   register _ all _ sensors   :   \u5982\u679c \u662f   false   :   \u4ec5 \u6ce8\u518c \u6865 \u751f\u6210 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u5982\u679c \u662f   true \uff08 \u9ed8\u8ba4 \uff09   :   \u4eff\u771f \u4e2d \u5b58\u5728 \u7684 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5747 \u5df2 \u6ce8\u518c \u3002   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528   ROS   ROS   \u6865 \u9ed8\u8ba4 \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u8fd0\u884c \u3002 \u5b83 \u5c06 \u7b49\u5f85 \u5f53\u524d \u5e27 \u5185 \u9884\u671f \u7684 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \uff0c \u4ee5 \u786e\u4fdd \u53ef \u91cd\u73b0 \u7684 \u7ed3\u679c \u3002   \u5f53\u4ee5 \u540c\u6b65 \u6a21\u5f0f \u8fd0\u884c \u591a\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u65f6 \uff0c \u53ea \u5141\u8bb8 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u5411 \u4e16\u754c \u53d1 \u8282\u62cd \u3002 \u9664\u975e \u542f\u7528 \u88ab\u52a8 \u6a21\u5f0f \u88ab\u52a8\u6a21\u5f0f \uff0c \u5426\u5219 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u5c06 \u662f \u552f\u4e00 \u5141\u8bb8 \u4e0e \u4e16\u754c \u4ea4\u4e92 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002 \u5728   ros - bridge / carla _ ros _ bridge / config / settings . yaml   \u4e2d \u542f\u7528 \u88ab\u52a8 \u6a21\u5f0f \u88ab\u52a8\u6a21\u5f0f \u5c06 \u4f7f   ROS   \u6865 \u540e\u9000 \u4e00\u6b65 \uff0c \u5e76 \u5141\u8bb8 \u53e6 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u6765 \u64cd\u4f5c \u4e16\u754c \u3002   \u53e6 \u4e00\u4e2a \u5ba2\u6237 \u5fc5\u987b \u5411 \u4e16\u754c \u53d1 \u8282\u62cd \uff0c \u5426\u5219   Carla   \u5c06 \u51bb\u7ed3 \u3002   \u5982\u679c   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u4e0d \u5904\u4e8e \u88ab\u52a8 \u6a21\u5f0f \u88ab\u52a8\u6a21\u5f0f \uff08 ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u662f \u552f\u4e00 \u7684 \uff09 \uff0c \u5219 \u6709 \u4e24\u79cd \u65b9\u6cd5 \u5c06 \u6b65\u8fdb \u63a7\u5236 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff1a   \u7528 \u6d88\u606f \u5411 \u4e3b\u9898   / carla / control   \u53d1\u9001   carla _ msgs . CarlaControl   \u3002   \u4f7f\u7528   \u63a7\u5236   rqt   \u63d2\u4ef6   \u3002 \u8be5 \u63d2\u4ef6 \u542f\u52a8 \u4e00\u4e2a \u5177\u6709 \u7b80\u5355 \u754c\u9762 \u7684 \u7a97\u53e3 \u65b0\u7a97\u53e3 \u3002 \u7136\u540e \u5b83 \u7528\u4e8e \u7ba1\u7406 \u6b65\u9aa4 \u5e76 \u5728   / carla / control   \u4e3b\u9898 \u4e2d \u53d1\u5e03 \u3002 \u8981 \u4f7f\u7528 \u5b83 \uff0c \u8bf7 \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528   Carla   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   rqt   -- standalone   rqt _ carla _ control   \u81ea\u6211 \u8f66\u8f86 \u63a7\u5236   \u6709 \u4e24\u79cd \u63a7\u5236 \u81ea\u6211 \u8f66\u8f86 \u7684 \u6a21\u5f0f \uff1a   \u6b63\u5e38 \u6a21\u5f0f   -   \u4ece   / carla / < ROLE   NAME > / vehicle _ control _ cmd   \u8bfb\u53d6 \u547d\u4ee4   \u624b\u52a8 \u6a21\u5f0f   -   \u4ece   / carla / < ROLE   NAME > / vehicle _ control _ cmd _ manual   \u8bfb\u53d6 \u547d\u4ee4 \u3002 \u8fd9 \u5141\u8bb8 \u624b\u52a8 \u8986\u76d6 \u8f6f\u4ef6 \u5806\u6808 \u53d1\u5e03 \u7684 \u8f66\u8f86 \u63a7\u5236 \u547d\u4ee4 \u3002   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u53d1\u5e03 \u5230   / carla / < ROLE   NAME > / vehicle _ control _ manual _ override   \u6765 \u5728 \u4e24\u79cd \u6a21\u5f0f \u4e4b\u95f4 \u5207\u6362 \u3002 \u6709\u5173 \u4f7f\u7528 \u7684 \u793a\u4f8b \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Carla   \u624b\u52a8 \u63a7\u5236   \u3002   \u8981 \u4ece \u547d\u4ee4 \u547d\u4ee4\u884c \u6d4b\u8bd5 \u8f6c\u5411 \uff1a   1 .   \u4f7f\u7528   ego   \u8f66\u8f86 \u542f\u52a8   ROS   \u6865 \uff1a   #   ROS   1   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch   #   ROS   2   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch . py   2 .   \u5728 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u4e2d \uff0c \u53d1\u5e03 \u5230 \u4e3b\u9898   / carla / < ROLE   NAME > / vehicle _ control _ cmd   #   \u6700\u5927 \u5411\u524d \u6cb9\u95e8 \uff0c \u6700\u5927 \u53f3\u8f6c \u5411\u53f3\u8f6c \u5411   #   \u5bf9\u4e8e   ros1   rostopic   pub   / carla / ego _ vehicle / vehicle _ control _ cmd   carla _ msgs / CarlaEgoVehicleControl   \" { throttle :   1.0 ,   steer :   1.0 } \"   - r   10   #   \u5bf9\u4e8e   ros2   ros2   topic   pub   / carla / ego _ vehicle / vehicle _ control _ cmd   carla _ msgs / CarlaEgoVehicleControl   \" { throttle :   1.0 ,   steer :   1.0 } \"   - r   10   \u5f53\u524d \u8f66\u8f86 \u7684 \u72b6\u6001 \u53ef\u4ee5 \u901a\u8fc7 \u4e3b\u9898   / carla / < ROLE   NAME > / vehicle _ status   \u83b7\u5f97 \u3002 \u6709\u5173 \u8f66\u8f86 \u7684 \u9759\u6001 \u4fe1\u606f \u53ef\u4ee5 \u901a\u8fc7   / carla / < ROLE   NAME > / vehicle _ info   \u63a5\u6536 .   \u53ef\u4ee5 \u4f7f\u7528   AckermannDrive   \u6d88\u606f \u6765 \u63a7\u5236 \u81ea\u6211 \u8f66\u8f86 \u3002 \u8fd9 \u53ef\u4ee5 \u901a\u8fc7 \u4f7f\u7528   Carla   \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236   \u5305\u6765 \u5b9e\u73b0 \u3002   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u8ba2\u9605   \u4e3b\u9898   \u7c7b\u522b   \u63cf\u8ff0   / carla / debug _ marker   \u53ef\u89c6 \u53ef\u89c6\u5316 _ msgs / MarkerArray   \u5728   Carla   \u4e16\u754c \u4e2d \u7ed8\u5236 \u6807\u8bb0 \u3002   / carla / weather _ control   carla _ msgs / CarlaWeatherParameters   \u8bbe\u7f6e   Carla   \u5929\u6c14 \u53c2\u6570   / clock   rosgraph _ msgs / Clock   \u5728   ROS   \u4e2d \u53d1\u5e03 \u4eff\u771f \u65f6\u95f4 \u3002   \u7b14\u8bb0   \u4f7f\u7528   debug _ marker   \u65f6 \uff0c \u8bf7 \u6ce8\u610f \u6807\u8bb0 \u53ef\u80fd \u4f1a \u5f71\u54cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53d1\u5e03 \u7684 \u6570\u636e \u3002 \u652f\u6301 \u7684 \u6807\u8bb0 \u5305\u62ec \uff1a \u7bad\u5934 \uff08 \u7531 \u4e24\u4e2a \u70b9 \u6307\u5b9a \uff09 \u3001 \u70b9 \u3001 \u7acb\u65b9 \u7acb\u65b9\u4f53 \u548c \u7ebf\u6761 \u3002   \u53d1\u5e03   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / status   carla _ msgs / CarlaStatus   \u8bfb\u53d6   Carla   \u7684 \u5f53\u524d \u72b6\u6001   / carla / world _ info   carla _ msgs / CarlaWorldInfo   \u6709\u5173 \u5f53\u524d   Carla   \u5730\u56fe \u7684 \u4fe1\u606f \u3002   / clock   rosgraph _ msgs / Clock   \u5728   ROS   \u4e2d \u53d1\u5e03 \u4eff\u771f \u65f6\u95f4 \u3002   / rosout   rosgraph _ msgs / Log   ROS   \u65e5\u5fd7 \u8bb0\u5f55 \u3002   \u670d\u52a1   \u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / destroy _ object   carla _ msgs / DestroyObject . srv   \u9500\u6bc1 \u4e00\u4e2a \u7269\u4f53   / carla / get _ blueprints   carla _ msgs / GetBlueprints . srv   \u83b7\u53d6 \u84dd\u56fe   / carla / spawn _ object   carla _ msgs / SpawnObject . srv   \u751f\u6210 \u4e00\u4e2a \u5bf9\u8c61","title":"ROS   \u6865\u5305"},{"location":"run_ros/#ros","text":"carla _ ros _ bridge   \u5305\u662f \u8fd0\u884c \u57fa\u672c   ROS   \u6865\u63a5 \u529f\u80fd \u6240 \u9700 \u7684 \u4e3b\u5305 \u3002 \u5728 \u672c\u8282 \u4e2d \uff0c \u60a8 \u5c06 \u5b66\u4e60 \u5982\u4f55 \u51c6\u5907   ROS   \u73af\u5883 \u3001 \u8fd0\u884c   ROS   \u6865 \u3001 \u5982\u4f55 \u914d\u7f6e \u8bbe\u7f6e \u3001 \u540c\u6b65 \u6a21\u5f0f \u7684 \u4f7f\u7528 \u3001 \u63a7\u5236 \u81ea\u4e3b \u8f66\u8f86 \u4ee5\u53ca \u53ef\u7528 \u7684 \u8ba2\u9605 \u3001 \u53d1\u5e03 \u548c \u670d\u52a1 \u7684 \u6458\u8981 \u3002   \u8bbe\u7f6e   ROS   \u73af\u5883   \u51c6\u5907   ROS   1   \u73af\u5883   \u51c6\u5907   ROS   2   \u73af\u5883   \u8fd0\u884c   ROS   \u6865   \u914d\u7f6e   Carla   \u8bbe\u7f6e   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528   ROS   \u6865   \u81ea\u6211 \u8f66\u8f86 \u63a7\u5236   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u8ba2\u9605   \u53d1\u5e03   \u670d\u52a1","title":"ROS   \u6865\u5305"},{"location":"run_ros/#ros_1","text":"ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u4f7f\u7528 \u5177\u6709 \u901a\u7528 \u63a5\u53e3 \u7684 \u5355\u72ec \u5b9e\u73b0 \u6765 \u652f\u6301   ROS   1   \u548c   ROS   2 \u3002 \u5f53 \u60a8 \u60f3\u8981 \u8fd0\u884c   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u65f6 \uff0c \u60a8 \u5fc5\u987b \u6839\u636e \u60a8 \u4f7f\u7528 \u7684 \u6bcf\u4e2a \u7ec8\u7aef \u4e2d \u7684   ROS   \u7248\u672c \u8bbe\u7f6e   ROS   \u73af\u5883 \uff1a","title":"\u8bbe\u7f6e   ROS   \u73af\u5883"},{"location":"run_ros/#ros-1","text":"\u8981 \u8fd0\u884c \u7684 \u547d\u4ee4 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u662f \u901a\u8fc7   Debian   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u8fd8\u662f \u901a\u8fc7 \u6e90 \u6784\u5efa \u5b89\u88c5   ROS   \u6865 \u3002 \u60a8 \u8fd8 \u9700\u8981 \u66f4\u6539   Debian   \u9009\u9879 \u8def\u5f84 \u4e2d \u7684   ROS   \u7248\u672c \uff1a   #   \u7528\u4e8e debian \u5b89\u88c5 ROS \u6865 \u3002 \u6839\u636e \u5df2 \u5b89\u88c5 \u7684 ROS \u7248\u672c \u66f4\u6539 \u547d\u4ee4 \u3002   source   / opt / carla - ros - bridge / < melodic / noetic > / setup . bash   #   \u4e3a   GitHub   \u5e93 \u5b89\u88c5   ROS   \u6865   source   ~ / carla - ros - bridge / catkin _ ws / devel / setup . bash","title":"\u51c6\u5907   ROS   1   \u73af\u5883 \uff1a"},{"location":"run_ros/#ros-2","text":"source   . / install / setup . bash","title":"\u51c6\u5907   ROS   2   \u73af\u5883 \uff1a"},{"location":"run_ros/#ros_2","text":"\u8bbe\u7f6e   ROS   \u73af\u5883 \u5e76 \u8fd0\u884c   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \uff0c \u60a8 \u9700\u8981 \u5148 \u542f\u52a8   carla _ ros _ bridge   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff0c \u7136\u540e \u624d\u80fd \u4f7f\u7528 \u4efb\u4f55 \u5176\u4ed6 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002 \u4e3a\u6b64 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   ROS   1   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge . launch   #   ROS   2   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge . launch . py   \u8fd8\u6709 \u5176\u4ed6 \u542f\u52a8 \u6587\u4ef6 \u7ed3\u5408 \u4e86 \u4e0a\u8ff0 \u529f\u80fd \uff0c \u5728 \u542f\u52a8 \u5176\u4ed6 \u5305 \u6216 \u63d2\u4ef6 \u7684 \u540c\u65f6 \u542f\u52a8   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \uff1a   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch   ( ROS   1 )   \u548c   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch . py   ( ROS   2 )   \u6cbf\u7740   carla _ spawn _ objects   \u548c   carla _ manual _ control   \u5305 \u4e00\u8d77 \u542f\u52a8   ROS   \u6865 \u3002","title":"\u8fd0\u884c   ROS   \u6865"},{"location":"run_ros/#carla","text":"\u914d\u7f6e \u5e94\u8be5 \u5728 \u542f\u52a8 \u6587\u4ef6 \u4e2d \u8bbe\u7f6e \uff0c \u6216\u8005 \u5728 \u4ece \u547d\u4ee4 \u547d\u4ee4\u884c \u8fd0\u884c \u6587\u4ef6 \u65f6 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \uff0c \u4f8b\u5982 \uff1a   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge . launch   passive : = True   \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u8bbe\u7f6e \uff1a   use _ sim _ time   :   \u5e94 \u8bbe\u7f6e \u4e3a   True   \u4ee5 \u786e\u4fdd   ROS   \u4f7f\u7528 \u4eff\u771f \u65f6\u95f4 \u800c \u4e0d\u662f \u7cfb\u7edf \u65f6\u95f4 \u3002 \u8be5 \u53c2\u6570 \u5c06 \u4f7f   ROS   / clock   \u4e3b\u9898 \u4e0e   Carla   \u4eff\u771f \u65f6\u95f4 \u540c\u6b65 \u3002   host   and   port   :   \u4f7f\u7528   Python   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5230   Carla   \u7684 \u7f51\u7edc \u8bbe\u7f6e \u3002   timeout   :   \u7b49\u5f85 \u6210\u529f \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u65f6\u95f4 \u3002   passive   :   \u88ab\u52a8 \u6a21\u5f0f \u88ab\u52a8\u6a21\u5f0f \u7528\u4e8e \u540c\u6b65 \u6a21\u5f0f \u3002 \u542f\u7528 \u540e \uff0c ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u5c06 \u9000\u5c45 \u6b21\u8981 \u5730\u4f4d \uff0c \u800c \u53e6 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5fc5\u987b   \u4e0e \u4e16\u754c \u4ea4\u9053 \u6253\u4ea4\u9053 \u3002 ROS   \u6865 \u5c06 \u7b49\u5f85 \u63a5\u6536 \u6765\u81ea \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6240\u6709 \u9884\u671f \u6570\u636e \u3002   synchronous _ mode   :   \u5982\u679c \u662f   false   :   \u6570\u636e \u5728 \u6bcf\u4e2a \u8282\u62cd   world . on _ tick ( )   \u548c \u6bcf\u4e2a   sensor . listen ( )   \u56de\u8c03 \u65f6 \u8fdb\u884c \u53d1\u5e03 \u3002   \u5982\u679c \u662f   true   \uff08 \u9ed8\u8ba4 \uff09   :   ROS   \u6865 \u5728 \u4e0b \u4e00\u4e2a \u8282\u62cd \u4e4b\u524d \u7b49\u5f85 \u6240\u6709 \u9884\u671f \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6d88\u606f \u3002 \u8fd9 \u53ef\u80fd \u4f1a \u51cf\u6162 \u6574\u4e2a \u4eff\u771f \u7684 \u901f\u5ea6 \uff0c \u4f46 \u53ef\u4ee5 \u786e\u4fdd \u7ed3\u679c \u7684 \u91cd\u590d \u590d\u6027 \u91cd\u590d\u6027 \u53ef\u91cd\u590d\u6027 \u3002   synchronous _ mode _ wait _ for _ vehicle _ control _ command   :   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u6682\u505c \u8ba1\u65f6 \u76f4\u5230 \u8f66\u8f86 \u63a7\u5236 \u5b8c\u6210 \u3002   fixed _ delta _ seconds   :   \u4eff\u771f \u6b65\u9aa4 \u4e4b\u95f4 \u7684 \u4eff\u771f \u65f6\u95f4 \uff08 \u589e\u91cf \u79d2 \uff09 \u3002   \u5b83 \u5fc5\u987b \u4f4e\u4e8e   0.1   \u3002 \u67e5\u770b   \u6587\u6863   \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002   ego _ vehicle   :   \u7528\u4e8e \u8bc6\u522b \u81ea\u6211 \u8f66\u8f86 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0 \u3002 \u5c06 \u521b\u5efa \u76f8\u5173 \u4e3b\u9898 \uff0c \u4ee5\u4fbf \u80fd\u591f \u901a\u8fc7   ROS   \u63a7\u5236 \u8fd9\u4e9b \u8f66\u8f86 \u3002   town   :   \u4f7f\u7528 \u53ef\u7528 \u7684   Carla   \u57ce\u9547 \uff08 \u4f8b\u5982 \u201c town01 \u201d \uff09 \u6216   OpenDRIVE   \u6587\u4ef6 \uff08 \u4ee5   . xodr   \u7ed3\u5c3e \uff09 \u3002   register _ all _ sensors   :   \u5982\u679c \u662f   false   :   \u4ec5 \u6ce8\u518c \u6865 \u751f\u6210 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u5982\u679c \u662f   true \uff08 \u9ed8\u8ba4 \uff09   :   \u4eff\u771f \u4e2d \u5b58\u5728 \u7684 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5747 \u5df2 \u6ce8\u518c \u3002","title":"\u914d\u7f6e   Carla   \u8bbe\u7f6e"},{"location":"run_ros/#ros_3","text":"ROS   \u6865 \u9ed8\u8ba4 \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u8fd0\u884c \u3002 \u5b83 \u5c06 \u7b49\u5f85 \u5f53\u524d \u5e27 \u5185 \u9884\u671f \u7684 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \uff0c \u4ee5 \u786e\u4fdd \u53ef \u91cd\u73b0 \u7684 \u7ed3\u679c \u3002   \u5f53\u4ee5 \u540c\u6b65 \u6a21\u5f0f \u8fd0\u884c \u591a\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u65f6 \uff0c \u53ea \u5141\u8bb8 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u5411 \u4e16\u754c \u53d1 \u8282\u62cd \u3002 \u9664\u975e \u542f\u7528 \u88ab\u52a8 \u6a21\u5f0f \u88ab\u52a8\u6a21\u5f0f \uff0c \u5426\u5219 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u5c06 \u662f \u552f\u4e00 \u5141\u8bb8 \u4e0e \u4e16\u754c \u4ea4\u4e92 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002 \u5728   ros - bridge / carla _ ros _ bridge / config / settings . yaml   \u4e2d \u542f\u7528 \u88ab\u52a8 \u6a21\u5f0f \u88ab\u52a8\u6a21\u5f0f \u5c06 \u4f7f   ROS   \u6865 \u540e\u9000 \u4e00\u6b65 \uff0c \u5e76 \u5141\u8bb8 \u53e6 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u6765 \u64cd\u4f5c \u4e16\u754c \u3002   \u53e6 \u4e00\u4e2a \u5ba2\u6237 \u5fc5\u987b \u5411 \u4e16\u754c \u53d1 \u8282\u62cd \uff0c \u5426\u5219   Carla   \u5c06 \u51bb\u7ed3 \u3002   \u5982\u679c   ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u4e0d \u5904\u4e8e \u88ab\u52a8 \u6a21\u5f0f \u88ab\u52a8\u6a21\u5f0f \uff08 ROS   \u6865\u63a5 \u63a5\u5668 \u6865\u63a5\u5668 \u662f \u552f\u4e00 \u7684 \uff09 \uff0c \u5219 \u6709 \u4e24\u79cd \u65b9\u6cd5 \u5c06 \u6b65\u8fdb \u63a7\u5236 \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff1a   \u7528 \u6d88\u606f \u5411 \u4e3b\u9898   / carla / control   \u53d1\u9001   carla _ msgs . CarlaControl   \u3002   \u4f7f\u7528   \u63a7\u5236   rqt   \u63d2\u4ef6   \u3002 \u8be5 \u63d2\u4ef6 \u542f\u52a8 \u4e00\u4e2a \u5177\u6709 \u7b80\u5355 \u754c\u9762 \u7684 \u7a97\u53e3 \u65b0\u7a97\u53e3 \u3002 \u7136\u540e \u5b83 \u7528\u4e8e \u7ba1\u7406 \u6b65\u9aa4 \u5e76 \u5728   / carla / control   \u4e3b\u9898 \u4e2d \u53d1\u5e03 \u3002 \u8981 \u4f7f\u7528 \u5b83 \uff0c \u8bf7 \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528   Carla   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   rqt   -- standalone   rqt _ carla _ control","title":"\u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u4f7f\u7528   ROS"},{"location":"run_ros/#_1","text":"\u6709 \u4e24\u79cd \u63a7\u5236 \u81ea\u6211 \u8f66\u8f86 \u7684 \u6a21\u5f0f \uff1a   \u6b63\u5e38 \u6a21\u5f0f   -   \u4ece   / carla / < ROLE   NAME > / vehicle _ control _ cmd   \u8bfb\u53d6 \u547d\u4ee4   \u624b\u52a8 \u6a21\u5f0f   -   \u4ece   / carla / < ROLE   NAME > / vehicle _ control _ cmd _ manual   \u8bfb\u53d6 \u547d\u4ee4 \u3002 \u8fd9 \u5141\u8bb8 \u624b\u52a8 \u8986\u76d6 \u8f6f\u4ef6 \u5806\u6808 \u53d1\u5e03 \u7684 \u8f66\u8f86 \u63a7\u5236 \u547d\u4ee4 \u3002   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u53d1\u5e03 \u5230   / carla / < ROLE   NAME > / vehicle _ control _ manual _ override   \u6765 \u5728 \u4e24\u79cd \u6a21\u5f0f \u4e4b\u95f4 \u5207\u6362 \u3002 \u6709\u5173 \u4f7f\u7528 \u7684 \u793a\u4f8b \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Carla   \u624b\u52a8 \u63a7\u5236   \u3002   \u8981 \u4ece \u547d\u4ee4 \u547d\u4ee4\u884c \u6d4b\u8bd5 \u8f6c\u5411 \uff1a   1 .   \u4f7f\u7528   ego   \u8f66\u8f86 \u542f\u52a8   ROS   \u6865 \uff1a   #   ROS   1   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch   #   ROS   2   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge _ with _ example _ ego _ vehicle . launch . py   2 .   \u5728 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u4e2d \uff0c \u53d1\u5e03 \u5230 \u4e3b\u9898   / carla / < ROLE   NAME > / vehicle _ control _ cmd   #   \u6700\u5927 \u5411\u524d \u6cb9\u95e8 \uff0c \u6700\u5927 \u53f3\u8f6c \u5411\u53f3\u8f6c \u5411   #   \u5bf9\u4e8e   ros1   rostopic   pub   / carla / ego _ vehicle / vehicle _ control _ cmd   carla _ msgs / CarlaEgoVehicleControl   \" { throttle :   1.0 ,   steer :   1.0 } \"   - r   10   #   \u5bf9\u4e8e   ros2   ros2   topic   pub   / carla / ego _ vehicle / vehicle _ control _ cmd   carla _ msgs / CarlaEgoVehicleControl   \" { throttle :   1.0 ,   steer :   1.0 } \"   - r   10   \u5f53\u524d \u8f66\u8f86 \u7684 \u72b6\u6001 \u53ef\u4ee5 \u901a\u8fc7 \u4e3b\u9898   / carla / < ROLE   NAME > / vehicle _ status   \u83b7\u5f97 \u3002 \u6709\u5173 \u8f66\u8f86 \u7684 \u9759\u6001 \u4fe1\u606f \u53ef\u4ee5 \u901a\u8fc7   / carla / < ROLE   NAME > / vehicle _ info   \u63a5\u6536 .   \u53ef\u4ee5 \u4f7f\u7528   AckermannDrive   \u6d88\u606f \u6765 \u63a7\u5236 \u81ea\u6211 \u8f66\u8f86 \u3002 \u8fd9 \u53ef\u4ee5 \u901a\u8fc7 \u4f7f\u7528   Carla   \u963f\u514b \u963f\u514b\u66fc \u63a7\u5236   \u5305\u6765 \u5b9e\u73b0 \u3002","title":"\u81ea\u6211 \u8f66\u8f86 \u63a7\u5236"},{"location":"run_ros/#ros_4","text":"","title":"ROS   \u5e94\u7528 \u7a0b\u5e8f\u63a5\u53e3"},{"location":"run_ros/#_2","text":"\u4e3b\u9898   \u7c7b\u522b   \u63cf\u8ff0   / carla / debug _ marker   \u53ef\u89c6 \u53ef\u89c6\u5316 _ msgs / MarkerArray   \u5728   Carla   \u4e16\u754c \u4e2d \u7ed8\u5236 \u6807\u8bb0 \u3002   / carla / weather _ control   carla _ msgs / CarlaWeatherParameters   \u8bbe\u7f6e   Carla   \u5929\u6c14 \u53c2\u6570   / clock   rosgraph _ msgs / Clock   \u5728   ROS   \u4e2d \u53d1\u5e03 \u4eff\u771f \u65f6\u95f4 \u3002   \u7b14\u8bb0   \u4f7f\u7528   debug _ marker   \u65f6 \uff0c \u8bf7 \u6ce8\u610f \u6807\u8bb0 \u53ef\u80fd \u4f1a \u5f71\u54cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53d1\u5e03 \u7684 \u6570\u636e \u3002 \u652f\u6301 \u7684 \u6807\u8bb0 \u5305\u62ec \uff1a \u7bad\u5934 \uff08 \u7531 \u4e24\u4e2a \u70b9 \u6307\u5b9a \uff09 \u3001 \u70b9 \u3001 \u7acb\u65b9 \u7acb\u65b9\u4f53 \u548c \u7ebf\u6761 \u3002","title":"\u8ba2\u9605"},{"location":"run_ros/#_3","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / status   carla _ msgs / CarlaStatus   \u8bfb\u53d6   Carla   \u7684 \u5f53\u524d \u72b6\u6001   / carla / world _ info   carla _ msgs / CarlaWorldInfo   \u6709\u5173 \u5f53\u524d   Carla   \u5730\u56fe \u7684 \u4fe1\u606f \u3002   / clock   rosgraph _ msgs / Clock   \u5728   ROS   \u4e2d \u53d1\u5e03 \u4eff\u771f \u65f6\u95f4 \u3002   / rosout   rosgraph _ msgs / Log   ROS   \u65e5\u5fd7 \u8bb0\u5f55 \u3002","title":"\u53d1\u5e03"},{"location":"run_ros/#_4","text":"\u4e3b\u9898   \u7c7b\u578b   \u63cf\u8ff0   / carla / destroy _ object   carla _ msgs / DestroyObject . srv   \u9500\u6bc1 \u4e00\u4e2a \u7269\u4f53   / carla / get _ blueprints   carla _ msgs / GetBlueprints . srv   \u83b7\u53d6 \u84dd\u56fe   / carla / spawn _ object   carla _ msgs / SpawnObject . srv   \u751f\u6210 \u4e00\u4e2a \u5bf9\u8c61","title":"\u670d\u52a1"},{"location":"rviz_plugin/","text":"RVIZ   Carla   \u63d2\u4ef6   RVIZ   \u63d2\u4ef6   \u63d0\u4f9b \u4e86 \u57fa\u4e8e   RVIZ   ROS \u5305 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u5de5\u5177 \u3002   \u4f7f\u7528   RVIZ   \u8fd0\u884c   ROS   \u6865   RVIZ   \u63d2\u4ef6 \u7684 \u529f\u80fd   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u8ba2\u9605   \u53d1\u5e03   \u670d\u52a1   \u4f7f\u7528   RVIZ   \u8fd0\u884c   ROS   \u6865   RVIZ   \u63d2\u4ef6 \u9700\u8981 \u4e00\u4e2a \u540d\u4e3a   ego _ vehicle   \u7684 \u81ea\u6211 \u8f66\u8f86 \u3002 \u8981 \u67e5\u770b   ROS   \u6865 \u4e0e   RVIZ   \u914d\u5408 \u4f7f\u7528 \u7684 \u793a\u4f8b \uff0c \u8bf7 \u5728 \u8fd0\u884c \u7684   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0a \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   1 .   \u5728 \u542f\u7528   RVIZ   \u7684 \u60c5\u51b5 \u4e0b \u542f\u52a8   ROS   \u6865 \uff1a   #   ROS   1   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge . launch   #   ROS   2   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge . launch . py   2 .   \u542f\u52a8   RVIZ \uff1a   #   ROS   1   rosrun   rviz   rviz   #   ROS   2   ros2   run   rviz2   rviz2   2 .   \u4f7f\u7528   carla _ spawn _ objects   \u5305 \u751f\u6210 \u4e00\u8f86 \u81ea\u6211 \u8f66\u8f86 \uff1a   #   ROS   1   roslaunch   carla _ spawn _ objects   carla _ spawn _ objects . launch   #   ROS   2   ros2   launch   carla _ spawn _ objects   carla _ spawn _ objects . launch . py   3 .   \u4f7f\u7528   carla _ manual _ control   \u5305 \u63a7\u5236 \u81ea\u6211 \u8f66\u8f86 \uff08 \u6309\u4e0b B \u53ef \u542f\u7528 \u624b\u52a8 \u8f6c\u5411 \uff09 \uff1a   #   ROS   1   roslaunch   carla _ manual _ control   carla _ manual _ control . launch   #   ROS   2   ros2   launch   carla _ manual _ control   carla _ manual _ control . launch . py   RVIZ   \u63d2\u4ef6 \u7684 \u529f\u80fd   \u81ea\u6211 \u8f66\u8f86 \u72b6\u6001 \u53ef\u89c6 \u53ef\u89c6\u5316   -   \u53ef\u89c6 \u53ef\u89c6\u5316 \u8f66\u8f86 \u4f4d\u7f6e \u548c \u63a7\u5236 \u3002   \u5411 \u5176\u4ed6 \u8282\u70b9 \u63d0\u4f9b   RVIZ   \u89c6\u56fe \u59ff\u52bf   -   \u8fde\u63a5   actor . pseudo . control   \u5230 \u76f8\u673a \u540e \uff0c \u901a\u8fc7 \u53d1\u5e03 \u59ff\u52bf \u6d88\u606f \u5728   Carla   \u4e16\u754c \u4e2d \u79fb\u52a8 \u76f8\u673a \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u89c6 \u53ef\u89c6\u5316   -   \u53ef\u89c6 \u53ef\u89c6\u5316   RGB \u3001 LIDAR \u3001 \u6df1\u5ea6 \u3001 DVS   \u548c \u8bed\u4e49 \u5206\u5272 \u76f8\u673a \u4fe1\u606f \u3002   \u6267\u884c \u573a\u666f   -   \u4f7f\u7528   carla _ ros _ scenario _ runner   \u5305 \u89e6\u53d1 \u573a\u666f \u3002   \u64ad\u653e / \u6682\u505c \u4eff\u771f   -   \u5982\u679c \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \uff0c \u60a8 \u53ef\u4ee5 \u64ad\u653e \u548c \u6682\u505c \u4eff\u771f \u3002   \u624b\u52a8 \u8986\u76d6 \u81ea\u6211 \u8f66\u8f86 \u63a7\u5236   -   \u4f7f\u7528   RVIZ   Visualization   Tutorials   \u53ef\u89c6 \u53ef\u89c6\u5316 \u6559\u7a0b \u4e2d \u7684 \u9a71\u52a8 \u5c0f \u90e8\u4ef6 \u548c \u4ece \u626d\u66f2 \u8f6c\u6362 \u4e3a \u8f66\u8f86 \u63a7\u5236 \u7684   \u8282\u70b9   \uff0c \u901a\u8fc7 \u9f20\u6807 \u9a7e\u9a76 \u8f66\u8f86 \u3002   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u8ba2\u9605   Topic   Type   Description   / carla / status   carla _ msgs / CarlaStatus   \u8bfb\u53d6   Carla   \u7684 \u5f53\u524d \u72b6\u6001   / carla / ego _ vehicle / vehicle _ status   carla _ msgs / CarlaEgoVehicleStatus   \u663e\u793a \u672c\u8f66 \u5f53\u524d \u72b6\u6001   / carla / ego _ vehicle / odometry   nav _ msgs / Odometry   \u663e\u793a \u81ea\u6211 \u8f66\u8f86 \u7684 \u5f53\u524d \u59ff\u6001   / scenario _ runner / status   carla _ ros _ scenario _ runner _ types / CarlaScenarioRunnerStatus   \u53ef\u89c6 \u53ef\u89c6\u5316 \u573a\u666f \u8fd0\u884c \u72b6\u6001   / carla / available _ scenarios   carla _ ros _ scenario _ runner _ types / CarlaScenarioList   \u63d0\u4f9b \u8981 \u6267\u884c \u7684 \u573a\u666f \u5217\u8868 \uff08 \u5728 \u7ec4\u5408 \u6846\u4e2d \u7981\u7528 \uff09   \u53d1\u5e03   Topic   Type   Description   / carla / control   carla _ msgs / CarlaControl   \u64ad\u653e / \u6682\u505c / \u6b65\u8fdb   Carla   / carla / ego _ vehicle / spectator _ pose   geometry _ msgs / PoseStamped   \u53d1\u5e03   RVIZ   \u76f8\u673a \u89c6\u56fe \u7684 \u5f53\u524d \u59ff\u6001   / carla / ego _ vehicle / vehicle _ control _ manual _ override   std _ msgs / Bool   \u542f\u7528 / \u7981\u7528 \u8f66\u8f86 \u63a7\u5236 \u8986\u76d6   / carla / ego _ vehicle / twist   geometry _ msgs / Twist   \u901a\u8fc7 \u9f20\u6807 \u521b\u5efa \u7684 \u626d\u66f2 \u547d\u4ee4   \u670d\u52a1   Topic   Type   Description   / scenario _ runner / execute _ scenario   carla _ ros _ scenario _ runner _ types / ExecuteScenario   \u6267\u884c \u9009\u5b9a \u7684 \u573a\u666f","title":"RVIZ   Carla   \u63d2\u4ef6"},{"location":"rviz_plugin/#rviz-carla","text":"RVIZ   \u63d2\u4ef6   \u63d0\u4f9b \u4e86 \u57fa\u4e8e   RVIZ   ROS \u5305 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u5de5\u5177 \u3002   \u4f7f\u7528   RVIZ   \u8fd0\u884c   ROS   \u6865   RVIZ   \u63d2\u4ef6 \u7684 \u529f\u80fd   ROS   \u5e94\u7528 \u7a0b\u5e8f \u63a5\u53e3 \u7a0b\u5e8f\u63a5\u53e3   \u8ba2\u9605   \u53d1\u5e03   \u670d\u52a1","title":"RVIZ   Carla   \u63d2\u4ef6"},{"location":"rviz_plugin/#rviz-ros","text":"RVIZ   \u63d2\u4ef6 \u9700\u8981 \u4e00\u4e2a \u540d\u4e3a   ego _ vehicle   \u7684 \u81ea\u6211 \u8f66\u8f86 \u3002 \u8981 \u67e5\u770b   ROS   \u6865 \u4e0e   RVIZ   \u914d\u5408 \u4f7f\u7528 \u7684 \u793a\u4f8b \uff0c \u8bf7 \u5728 \u8fd0\u884c \u7684   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0a \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   1 .   \u5728 \u542f\u7528   RVIZ   \u7684 \u60c5\u51b5 \u4e0b \u542f\u52a8   ROS   \u6865 \uff1a   #   ROS   1   roslaunch   carla _ ros _ bridge   carla _ ros _ bridge . launch   #   ROS   2   ros2   launch   carla _ ros _ bridge   carla _ ros _ bridge . launch . py   2 .   \u542f\u52a8   RVIZ \uff1a   #   ROS   1   rosrun   rviz   rviz   #   ROS   2   ros2   run   rviz2   rviz2   2 .   \u4f7f\u7528   carla _ spawn _ objects   \u5305 \u751f\u6210 \u4e00\u8f86 \u81ea\u6211 \u8f66\u8f86 \uff1a   #   ROS   1   roslaunch   carla _ spawn _ objects   carla _ spawn _ objects . launch   #   ROS   2   ros2   launch   carla _ spawn _ objects   carla _ spawn _ objects . launch . py   3 .   \u4f7f\u7528   carla _ manual _ control   \u5305 \u63a7\u5236 \u81ea\u6211 \u8f66\u8f86 \uff08 \u6309\u4e0b B \u53ef \u542f\u7528 \u624b\u52a8 \u8f6c\u5411 \uff09 \uff1a   #   ROS   1   roslaunch   carla _ manual _ control   carla _ manual _ control . launch   #   ROS   2   ros2   launch   carla _ manual _ control   carla _ manual _ control . launch . py","title":"\u4f7f\u7528   RVIZ   \u8fd0\u884c   ROS   \u6865"},{"location":"rviz_plugin/#rviz","text":"\u81ea\u6211 \u8f66\u8f86 \u72b6\u6001 \u53ef\u89c6 \u53ef\u89c6\u5316   -   \u53ef\u89c6 \u53ef\u89c6\u5316 \u8f66\u8f86 \u4f4d\u7f6e \u548c \u63a7\u5236 \u3002   \u5411 \u5176\u4ed6 \u8282\u70b9 \u63d0\u4f9b   RVIZ   \u89c6\u56fe \u59ff\u52bf   -   \u8fde\u63a5   actor . pseudo . control   \u5230 \u76f8\u673a \u540e \uff0c \u901a\u8fc7 \u53d1\u5e03 \u59ff\u52bf \u6d88\u606f \u5728   Carla   \u4e16\u754c \u4e2d \u79fb\u52a8 \u76f8\u673a \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u89c6 \u53ef\u89c6\u5316   -   \u53ef\u89c6 \u53ef\u89c6\u5316   RGB \u3001 LIDAR \u3001 \u6df1\u5ea6 \u3001 DVS   \u548c \u8bed\u4e49 \u5206\u5272 \u76f8\u673a \u4fe1\u606f \u3002   \u6267\u884c \u573a\u666f   -   \u4f7f\u7528   carla _ ros _ scenario _ runner   \u5305 \u89e6\u53d1 \u573a\u666f \u3002   \u64ad\u653e / \u6682\u505c \u4eff\u771f   -   \u5982\u679c \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \uff0c \u60a8 \u53ef\u4ee5 \u64ad\u653e \u548c \u6682\u505c \u4eff\u771f \u3002   \u624b\u52a8 \u8986\u76d6 \u81ea\u6211 \u8f66\u8f86 \u63a7\u5236   -   \u4f7f\u7528   RVIZ   Visualization   Tutorials   \u53ef\u89c6 \u53ef\u89c6\u5316 \u6559\u7a0b \u4e2d \u7684 \u9a71\u52a8 \u5c0f \u90e8\u4ef6 \u548c \u4ece \u626d\u66f2 \u8f6c\u6362 \u4e3a \u8f66\u8f86 \u63a7\u5236 \u7684   \u8282\u70b9   \uff0c \u901a\u8fc7 \u9f20\u6807 \u9a7e\u9a76 \u8f66\u8f86 \u3002","title":"RVIZ   \u63d2\u4ef6 \u7684 \u529f\u80fd"},{"location":"rviz_plugin/#ros","text":"","title":"ROS   \u5e94\u7528 \u7a0b\u5e8f\u63a5\u53e3"},{"location":"rviz_plugin/#_1","text":"Topic   Type   Description   / carla / status   carla _ msgs / CarlaStatus   \u8bfb\u53d6   Carla   \u7684 \u5f53\u524d \u72b6\u6001   / carla / ego _ vehicle / vehicle _ status   carla _ msgs / CarlaEgoVehicleStatus   \u663e\u793a \u672c\u8f66 \u5f53\u524d \u72b6\u6001   / carla / ego _ vehicle / odometry   nav _ msgs / Odometry   \u663e\u793a \u81ea\u6211 \u8f66\u8f86 \u7684 \u5f53\u524d \u59ff\u6001   / scenario _ runner / status   carla _ ros _ scenario _ runner _ types / CarlaScenarioRunnerStatus   \u53ef\u89c6 \u53ef\u89c6\u5316 \u573a\u666f \u8fd0\u884c \u72b6\u6001   / carla / available _ scenarios   carla _ ros _ scenario _ runner _ types / CarlaScenarioList   \u63d0\u4f9b \u8981 \u6267\u884c \u7684 \u573a\u666f \u5217\u8868 \uff08 \u5728 \u7ec4\u5408 \u6846\u4e2d \u7981\u7528 \uff09","title":"\u8ba2\u9605"},{"location":"rviz_plugin/#_2","text":"Topic   Type   Description   / carla / control   carla _ msgs / CarlaControl   \u64ad\u653e / \u6682\u505c / \u6b65\u8fdb   Carla   / carla / ego _ vehicle / spectator _ pose   geometry _ msgs / PoseStamped   \u53d1\u5e03   RVIZ   \u76f8\u673a \u89c6\u56fe \u7684 \u5f53\u524d \u59ff\u6001   / carla / ego _ vehicle / vehicle _ control _ manual _ override   std _ msgs / Bool   \u542f\u7528 / \u7981\u7528 \u8f66\u8f86 \u63a7\u5236 \u8986\u76d6   / carla / ego _ vehicle / twist   geometry _ msgs / Twist   \u901a\u8fc7 \u9f20\u6807 \u521b\u5efa \u7684 \u626d\u66f2 \u547d\u4ee4","title":"\u53d1\u5e03"},{"location":"rviz_plugin/#_3","text":"Topic   Type   Description   / scenario _ runner / execute _ scenario   carla _ ros _ scenario _ runner _ types / ExecuteScenario   \u6267\u884c \u9009\u5b9a \u7684 \u573a\u666f","title":"\u670d\u52a1"},{"location":"scenario_runner/","text":"Carla   \u7684 \u573a\u666f \u8fd0\u884c \u5668   ScenarioRunner   \u662f \u4e00\u4e2a \u5141\u8bb8   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5b9a\u4e49 \u548c \u6267\u884c \u4ea4\u901a \u573a\u666f \u7684 \u6a21\u5757 \u3002 \u53ef\u4ee5 \u901a\u8fc7   Python   \u63a5\u53e3 \u6216 \u4f7f\u7528   OpenSCENARIO   \u6807\u51c6 \u6765 \u5b9a\u4e49 \u573a\u666f \u3002 \u6700\u65b0 \u7248\u672c \u7684 scenario _ runner   \u8fd8 \u652f\u6301 \u5373\u5c06 \u63a8\u51fa \u7684   OpenSCENARIO   \u6807\u51c6 \u548c   OpenSCENARIO   2.0   \u6807\u51c6 \u3002   ScenarioRunner   \u8fd8 \u53ef \u7528\u4e8e \u901a\u8fc7 \u8f7b\u677e \u521b\u5efa \u590d\u6742 \u7684 \u4ea4\u901a \u573a\u666f \u548c \u4f9b \u4ee3\u7406 \u5bfc\u822a \u7684 \u8def\u7ebf \u6765 \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u7684 \u8bc4\u4f30 \u505a\u597d \u51c6\u5907 \u3002 \u8fd9\u4e9b \u7ed3\u679c \u53ef\u4ee5 \u5728   Carla   \u6392\u884c \u6392\u884c\u699c   \u4e0a \u8fdb\u884c \u9a8c\u8bc1 \u548c \u5171\u4eab \uff0c Carla   \u6392\u884c \u6392\u884c\u699c \u662f \u4e00\u4e2a \u5f00\u653e \u5e73\u53f0 \u5f00\u653e\u5e73\u53f0 \uff0c \u4f9b \u793e\u533a \u516c\u5e73 \u5730 \u6bd4\u8f83 \u4ed6\u4eec \u7684 \u8fdb\u5ea6 \uff0c \u5728 \u73b0\u5b9e \u7684 \u4ea4\u901a \u60c5\u51b5 \u4e0b \u8bc4\u4f30 \u4ee3\u7406 \u3002   Carla   \u8bba\u575b \u6709 \u4e00\u4e2a \u5173\u4e8e   ScenarioRunner   \u7684 \u4e13\u95e8 \u7248\u5757 \uff0c \u4f9b \u7528\u6237 \u53d1\u8868 \u5728 \u9605\u8bfb \u672c \u6587\u6863 \u8fc7\u7a0b \u4e2d \u53ef\u80fd \u51fa\u73b0 \u7684 \u4efb\u4f55 \u7591\u95ee \u6216 \u5efa\u8bae \u3002   Carla   \u8bba\u575b   \u5feb\u901f \u5f00\u59cb   \u5165\u95e8 \u6587\u6863   -   \u6709\u5173 \u5982\u4f55 \u4e0b\u8f7d \u548c \u542f\u52a8   ScenarioRunner   \u7684 \u6559\u7a0b \u3002   \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65   \u2014   \u6709\u5173 \u5982\u4f55 \u8fd0\u884c \u4e0d\u540c \u7c7b\u578b \u573a\u666f \u7684 \u7b80\u8981 \u6559\u7a0b \u3002   \u521b\u5efa \u65b0 \u573a\u666f   \u2014   \u6709\u5173 \u5982\u4f55 \u4f7f\u7528   ScenarioRunner   \u521b\u5efa \u65b0 \u573a\u666f \u7684 \u6559\u7a0b \u3002   \u6307\u6807 \u6a21\u5757   \u2014   \u6307\u6807 \u6a21\u5757 \u7684 \u8bf4\u660e \u3002   \u5e38\u89c1 \u95ee\u9898 \u9898\u89e3 \u89e3\u7b54 \u95ee\u9898\u89e3\u7b54   \u2014   \u4e00\u4e9b \u6700 \u5e38\u89c1 \u7684 \u5b89\u88c5 \u95ee\u9898 \u3002   \u53d1\u884c \u8bf4\u660e   \u2014   \u6bcf\u4e2a \u7248\u672c \u5217\u51fa \u7684 \u529f\u80fd \u3001 \u4fee\u590d \u548c \u5176\u4ed6 \u66f4\u6539 \u3002   \u53c2\u8003   \u573a\u666f \u5217\u8868   \u2014   ScenarioRunner   \u4e2d \u63d0\u4f9b \u7684 \u793a\u4f8b \u573a\u666f \u3002   OpenScenario   \u652f\u6301   \u2014   OpenSCENARIO   \u529f\u80fd \u7684 \u652f\u6301 \u72b6\u6001 \u3002   \u8d21\u732e   \u884c\u4e3a \u4e3a\u51c6 \u51c6\u5219 \u884c\u4e3a\u51c6\u5219   \u2014   \u8d21\u732e \u8d21\u732e\u8005 \u7684 \u6807\u51c6 \u6743\u5229 \u548c \u4e49\u52a1 \u3002   \u7f16\u7801 \u6807\u51c6 \u7f16\u7801\u6807\u51c6   \u2014   \u7f16\u5199 \u6b63\u786e \u4ee3\u7801 \u7684 \u6307\u5357 \u3002   \u8d21\u732e \u6307\u5357   \u2014   \u4e3a   ScenarioRunner   \u505a\u51fa \u8d21\u732e \u7684 \u4e0d\u540c \u65b9\u5f0f \u3002","title":"Scenario   runner"},{"location":"scenario_runner/#carla","text":"ScenarioRunner   \u662f \u4e00\u4e2a \u5141\u8bb8   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5b9a\u4e49 \u548c \u6267\u884c \u4ea4\u901a \u573a\u666f \u7684 \u6a21\u5757 \u3002 \u53ef\u4ee5 \u901a\u8fc7   Python   \u63a5\u53e3 \u6216 \u4f7f\u7528   OpenSCENARIO   \u6807\u51c6 \u6765 \u5b9a\u4e49 \u573a\u666f \u3002 \u6700\u65b0 \u7248\u672c \u7684 scenario _ runner   \u8fd8 \u652f\u6301 \u5373\u5c06 \u63a8\u51fa \u7684   OpenSCENARIO   \u6807\u51c6 \u548c   OpenSCENARIO   2.0   \u6807\u51c6 \u3002   ScenarioRunner   \u8fd8 \u53ef \u7528\u4e8e \u901a\u8fc7 \u8f7b\u677e \u521b\u5efa \u590d\u6742 \u7684 \u4ea4\u901a \u573a\u666f \u548c \u4f9b \u4ee3\u7406 \u5bfc\u822a \u7684 \u8def\u7ebf \u6765 \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u7684 \u8bc4\u4f30 \u505a\u597d \u51c6\u5907 \u3002 \u8fd9\u4e9b \u7ed3\u679c \u53ef\u4ee5 \u5728   Carla   \u6392\u884c \u6392\u884c\u699c   \u4e0a \u8fdb\u884c \u9a8c\u8bc1 \u548c \u5171\u4eab \uff0c Carla   \u6392\u884c \u6392\u884c\u699c \u662f \u4e00\u4e2a \u5f00\u653e \u5e73\u53f0 \u5f00\u653e\u5e73\u53f0 \uff0c \u4f9b \u793e\u533a \u516c\u5e73 \u5730 \u6bd4\u8f83 \u4ed6\u4eec \u7684 \u8fdb\u5ea6 \uff0c \u5728 \u73b0\u5b9e \u7684 \u4ea4\u901a \u60c5\u51b5 \u4e0b \u8bc4\u4f30 \u4ee3\u7406 \u3002   Carla   \u8bba\u575b \u6709 \u4e00\u4e2a \u5173\u4e8e   ScenarioRunner   \u7684 \u4e13\u95e8 \u7248\u5757 \uff0c \u4f9b \u7528\u6237 \u53d1\u8868 \u5728 \u9605\u8bfb \u672c \u6587\u6863 \u8fc7\u7a0b \u4e2d \u53ef\u80fd \u51fa\u73b0 \u7684 \u4efb\u4f55 \u7591\u95ee \u6216 \u5efa\u8bae \u3002   Carla   \u8bba\u575b","title":"Carla   \u7684 \u573a\u666f \u8fd0\u884c \u5668"},{"location":"scenario_runner/#_1","text":"\u5165\u95e8 \u6587\u6863   -   \u6709\u5173 \u5982\u4f55 \u4e0b\u8f7d \u548c \u542f\u52a8   ScenarioRunner   \u7684 \u6559\u7a0b \u3002   \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65   \u2014   \u6709\u5173 \u5982\u4f55 \u8fd0\u884c \u4e0d\u540c \u7c7b\u578b \u573a\u666f \u7684 \u7b80\u8981 \u6559\u7a0b \u3002   \u521b\u5efa \u65b0 \u573a\u666f   \u2014   \u6709\u5173 \u5982\u4f55 \u4f7f\u7528   ScenarioRunner   \u521b\u5efa \u65b0 \u573a\u666f \u7684 \u6559\u7a0b \u3002   \u6307\u6807 \u6a21\u5757   \u2014   \u6307\u6807 \u6a21\u5757 \u7684 \u8bf4\u660e \u3002   \u5e38\u89c1 \u95ee\u9898 \u9898\u89e3 \u89e3\u7b54 \u95ee\u9898\u89e3\u7b54   \u2014   \u4e00\u4e9b \u6700 \u5e38\u89c1 \u7684 \u5b89\u88c5 \u95ee\u9898 \u3002   \u53d1\u884c \u8bf4\u660e   \u2014   \u6bcf\u4e2a \u7248\u672c \u5217\u51fa \u7684 \u529f\u80fd \u3001 \u4fee\u590d \u548c \u5176\u4ed6 \u66f4\u6539 \u3002","title":"\u5feb\u901f \u5f00\u59cb"},{"location":"scenario_runner/#_2","text":"\u573a\u666f \u5217\u8868   \u2014   ScenarioRunner   \u4e2d \u63d0\u4f9b \u7684 \u793a\u4f8b \u573a\u666f \u3002   OpenScenario   \u652f\u6301   \u2014   OpenSCENARIO   \u529f\u80fd \u7684 \u652f\u6301 \u72b6\u6001 \u3002","title":"\u53c2\u8003"},{"location":"scenario_runner/#_3","text":"\u884c\u4e3a \u4e3a\u51c6 \u51c6\u5219 \u884c\u4e3a\u51c6\u5219   \u2014   \u8d21\u732e \u8d21\u732e\u8005 \u7684 \u6807\u51c6 \u6743\u5229 \u548c \u4e49\u52a1 \u3002   \u7f16\u7801 \u6807\u51c6 \u7f16\u7801\u6807\u51c6   \u2014   \u7f16\u5199 \u6b63\u786e \u4ee3\u7801 \u7684 \u6307\u5357 \u3002   \u8d21\u732e \u6307\u5357   \u2014   \u4e3a   ScenarioRunner   \u505a\u51fa \u8d21\u732e \u7684 \u4e0d\u540c \u65b9\u5f0f \u3002","title":"\u8d21\u732e"},{"location":"simulator_keyboard_input/","text":"Carla   \u6a21\u62df \u6a21\u62df\u5668 \u952e\u76d8 \u8f93\u5165 \u952e\u76d8\u8f93\u5165   \u5728 \u6a21\u62df \u6a21\u62df\u5668 \u7a97\u53e3 \u4e2d \u73a9\u6e38 \u6e38\u620f \u73a9\u6e38\u620f \u65f6 \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u6309\u952e \u7ed1\u5b9a \u3002 \u8bf7 \u6ce8\u610f \uff0c \u8f66\u8f86 \u63a7\u5236 \u4ec5 \u5728   \u72ec\u7acb \u6a21\u5f0f   \u4e0b \u8fd0\u884c \u65f6 \u53ef\u7528 \u3002   \u952e   \u52a8\u4f5c   W   \u6cb9\u95e8   S   \u5239\u8f66   A   D   \u65b9\u5411 \u65b9\u5411\u76d8   Q   \u5207\u6362 \u5012 \u6863   Space   \u624b\u5239   P   \u5207\u6362 \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea   \\ leftarrow   \\ rightarrow   \\ uparrow   \\ downarrow   \u79fb\u52a8 \u76f8\u673a   PgUp   PgDn   \u653e\u5927 \u548c \u7f29\u5c0f   \u9f20\u6807 \u6eda\u8f6e   \u653e\u5927 \u548c \u7f29\u5c0f   Tab   \u5207\u6362 \u673a\u8f7d \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934   F11   \u5207\u6362 \u5168\u5c4f   R   \u5f00\u59cb \u8bb0\u5f55 \u6570\u636e   G   \u5207\u6362 \u5934\u663e   C   \u6539\u53d8 \u5929\u6c14 / \u5149\u7167   Enter   \u8df3   F   \u4f7f\u7528 \u529b   F   \u9000\u51fa","title":"Carla   \u6a21\u62df\u5668 \u952e\u76d8\u8f93\u5165"},{"location":"simulator_keyboard_input/#carla","text":"\u5728 \u6a21\u62df \u6a21\u62df\u5668 \u7a97\u53e3 \u4e2d \u73a9\u6e38 \u6e38\u620f \u73a9\u6e38\u620f \u65f6 \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u6309\u952e \u7ed1\u5b9a \u3002 \u8bf7 \u6ce8\u610f \uff0c \u8f66\u8f86 \u63a7\u5236 \u4ec5 \u5728   \u72ec\u7acb \u6a21\u5f0f   \u4e0b \u8fd0\u884c \u65f6 \u53ef\u7528 \u3002   \u952e   \u52a8\u4f5c   W   \u6cb9\u95e8   S   \u5239\u8f66   A   D   \u65b9\u5411 \u65b9\u5411\u76d8   Q   \u5207\u6362 \u5012 \u6863   Space   \u624b\u5239   P   \u5207\u6362 \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea   \\ leftarrow   \\ rightarrow   \\ uparrow   \\ downarrow   \u79fb\u52a8 \u76f8\u673a   PgUp   PgDn   \u653e\u5927 \u548c \u7f29\u5c0f   \u9f20\u6807 \u6eda\u8f6e   \u653e\u5927 \u548c \u7f29\u5c0f   Tab   \u5207\u6362 \u673a\u8f7d \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934   F11   \u5207\u6362 \u5168\u5c4f   R   \u5f00\u59cb \u8bb0\u5f55 \u6570\u636e   G   \u5207\u6362 \u5934\u663e   C   \u6539\u53d8 \u5929\u6c14 / \u5149\u7167   Enter   \u8df3   F   \u4f7f\u7528 \u529b   F   \u9000\u51fa","title":"Carla   \u6a21\u62df\u5668 \u952e\u76d8\u8f93\u5165"},{"location":"start_introduction/","text":"Carla   \u91cd\u8981   \u672c \u6587\u6863 \u53c2\u8003 \u6700\u65b0 \u7248\u672c \u7684   Carla \u3002 \u6709\u5173 \u4ee5\u524d \u7248\u672c \u7684 \u6587\u6863 \uff0c \u8bf7 \u5728 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u770b\u5230 \u6b64 \u6309\u94ae \u7684 \u4f4d\u7f6e \u9009\u62e9 \u6240 \u9700 \u7684 \u7248\u672c \uff1a   Carla   \u662f \u4e00\u6b3e \u5f00\u6e90 \u81ea\u52a8 \u9a7e\u9a76 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002 \u5b83 \u662f \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u6784\u5efa \u7684 \uff0c \u4f5c\u4e3a \u4e00\u4e2a \u6a21\u5757 \u6a21\u5757\u5316 \u4e14 \u7075\u6d3b \u7684   API \uff0c \u53ef\u4ee5 \u89e3\u51b3 \u81ea\u52a8 \u9a7e\u9a76 \u95ee\u9898 \u4e2d \u6d89\u53ca \u7684 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u4efb\u52a1 \u3002 Carla   \u7684 \u4e3b\u8981 \u76ee\u6807 \u4e4b\u4e00 \u662f \u5e2e\u52a9 \u81ea\u52a8 \u9a7e\u9a76 \u7814\u53d1 \u6c11\u4e3b \u6c11\u4e3b\u5316 \uff0c \u6210\u4e3a \u7528\u6237 \u53ef\u4ee5 \u8f7b\u677e \u8bbf\u95ee \u548c \u5b9a\u5236 \u7684 \u5de5\u5177 \u3002 \u4e3a\u6b64 \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5fc5\u987b \u6ee1\u8db3 \u4e00\u822c \u9a7e\u9a76 \u95ee\u9898 \u4e2d \u4e0d\u540c \u7528\u4f8b \u7684 \u8981\u6c42 \uff08 \u4f8b\u5982 \u5b66\u4e60 \u9a7e\u9a76 \u7b56\u7565 \u3001 \u8bad\u7ec3 \u611f\u77e5 \u7b97\u6cd5 \u7b49 \uff09 \u3002 Carla   \u57fa\u4e8e \u865a\u5e7b \u5f15\u64ce \u6765 \u8fd0\u884c \u4eff\u771f \uff0c \u5e76 \u4f7f\u7528   OpenDRIVE   \u6807\u51c6 \uff08 \u76ee\u524d \u4e3a   1.4 \uff09 \u6765 \u5b9a\u4e49 \u9053\u8def \u548c \u57ce\u5e02 \u8bbe\u7f6e \u3002 \u5bf9 \u4eff\u771f \u7684 \u63a7\u5236 \u662f \u901a\u8fc7   Python   \u548c   C++   \u5904\u7406 \u7684   API   \u6388\u4e88 \u7684 \uff0c \u8be5   API   \u968f\u7740 \u9879\u76ee \u7684 \u53d1\u5c55 \u800c \u4e0d\u65ad \u589e\u957f \u3002   \u4e3a\u4e86 \u987a\u5229 \u5f00\u53d1 \u3001 \u8bad\u7ec3 \u548c \u9a8c\u8bc1 \u9a7e\u9a76 \u7cfb\u7edf \u7684 \u8fc7\u7a0b \uff0c Carla   \u53d1\u5c55 \u6210\u4e3a \u4e00\u4e2a \u7531 \u793e\u533a \u56f4\u7ed5 \u4e3b \u5e73\u53f0 \u6784\u5efa \u7684 \u9879\u76ee \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u4e86\u89e3   Carla   \u7684 \u5de5\u4f5c \u539f\u7406 \u975e\u5e38 \u91cd\u8981 \uff0c \u8fd9\u6837 \u624d\u80fd \u5145\u5206 \u7406\u89e3 \u5176 \u529f\u80fd \u3002   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7531 \u53ef \u6269\u5c55 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u67b6\u6784 \u7ec4\u6210 \u3002   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8d1f\u8d23 \u4e0e \u4eff\u771f \u672c\u8eab \u76f8\u5173 \u7684 \u6240\u6709 \u4e8b\u60c5 \uff1a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6e32\u67d3 \u3001 \u7269\u7406 \u8ba1\u7b97 \u3001 \u4e16\u754c \u72b6\u6001 \u53ca\u5176 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u66f4\u65b0 \u7b49 \u3002 \u5305\u62ec   \u865a\u5e7b \u5f15\u64ce \u63d2\u4ef6   \u3001   Libcarla \u670d\u52a1 \u670d\u52a1\u7aef   \u3001 \u8fdc\u7a0b \u8fc7\u7a0b \u8c03\u7528 \u670d\u52a1 \u3002 \u7531\u4e8e \u5b83 \u7684 \u76ee\u6807 \u662f \u5b9e\u9645 \u7ed3\u679c \uff0c \u56e0\u6b64 \u5408\u9002 \u6700\u5408\u9002 \u7684 \u9009\u62e9 \u662f \u4f7f\u7528 \u4e13\u7528   GPU   \u8fd0\u884c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5c24\u5176 \u662f \u5728 \u5904\u7406 \u673a\u5668 \u5b66\u4e60 \u65f6 \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u7531 \u4e00\u7ec4 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6a21\u5757 \u7ec4\u6210 \uff0c \u63a7\u5236 \u573a\u666f \u4e2d \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u903b\u8f91 \u5e76 \u8bbe\u7f6e \u4e16\u754c \u6761\u4ef6 \u3002 Carla \u67b6\u6784 \u7684 \u8bbe\u8ba1 \u8bf7 \u53c2\u8003   \u94fe\u63a5   \u3002 \u8fd9\u662f \u901a\u8fc7 \u5229\u7528   Carla   API \uff08 Python   \u6216   C++   \u8bed\u8a00 \uff09 \u6765 \u5b9e\u73b0 \u7684 \uff0c Carla   API   \u662f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e4b\u95f4 \u7684 \u4e2d\u4ecb \u5c42 \uff0c \u4e0d\u65ad \u53d1\u5c55 \u4ee5 \u63d0\u4f9b \u65b0 \u529f\u80fd \u3002   \u8fd9 \u603b\u7ed3 \u4e86 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u57fa\u672c \u7ed3\u6784 \u3002 \u7136\u800c \uff0c \u4e86\u89e3   Carla   \u7684 \u610f\u4e49 \u4e0d\u6b62 \u8fdc\u4e0d\u6b62 \u4e8e \u6b64 \uff0c \u56e0\u4e3a \u5b83 \u5171\u5b58 \u4e86 \u8bb8\u591a \u4e0d\u540c \u7684 \u529f\u80fd \u548c \u5143\u7d20 \u3002 \u4e0b\u9762 \u5217\u51fa \u4e86 \u5176\u4e2d \u4e00\u4e9b \uff0c \u4ee5\u4fbf \u4e86\u89e3   Carla   \u53ef\u4ee5 \u5b9e\u73b0 \u7684 \u529f\u80fd \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   \u4e00\u79cd \u5185\u7f6e \u7cfb\u7edf \uff0c \u9664\u4e86 \u7528\u4e8e \u5b66\u4e60 \u7684 \u8f66\u8f86 \u5916 \uff0c \u8fd8 \u53ef\u4ee5 \u63a7\u5236 \u8f66\u8f86 \u3002 \u5b83 \u5145\u5f53   Carla   \u63d0\u4f9b \u7684 \u6307\u6325 \uff0c \u4ee5 \u73b0\u5b9e \u7684 \u884c\u4e3a \u91cd\u5efa \u7c7b\u4f3c \u57ce\u5e02 \u7684 \u73af\u5883 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u8f66\u8f86 \u4f9d\u9760 \u5b83\u4eec \u6765 \u5206\u53d1 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u7684 \u4fe1\u606f \u3002 \u5728   Carla   \u4e2d \uff0c \u5b83\u4eec \u662f \u9644\u7740 \u5728 \u8f66\u8f86 \u4e0a \u7684 \u7279\u5b9a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u53ef\u4ee5 \u68c0\u7d22 \u548c \u5b58\u50a8 \u5b83\u4eec \u63a5\u6536 \u5230 \u7684 \u6570\u636e \u4ee5 \u7b80\u5316 \u6d41\u7a0b \u3002 \u76ee\u524d \u8be5 \u9879\u76ee \u652f\u6301 \u4e0d\u540c \u7c7b\u578b \u7684 \u6280\u672f \uff0c \u4ece \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u5230 \u96f7\u8fbe \u3001 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7b49\u7b49 \u3002   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002   \u6b64 \u529f\u80fd \u7528\u4e8e \u4e3a \u4e16\u754c \u4e0a \u7684 \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u9010\u6b65 \u91cd\u6f14 \u4eff\u771f \u3002 \u5b83 \u5141\u8bb8 \u8bbf\u95ee \u4e16\u754c \u4e0a \u4efb\u4f55 \u5730\u65b9 \u7684 \u65f6\u95f4 \u7ebf\u4e2d \u7684 \u4efb\u4f55 \u4f55\u65f6 \u65f6\u523b \u4efb\u4f55\u65f6\u523b \uff0c \u8fd9\u662f \u4e00\u4e2a \u5f88\u68d2 \u7684 \u8ffd\u8e2a \u5de5\u5177 \u3002   \u673a\u5668 \u673a\u5668\u4eba \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u6865\u63a5 \u548c   Autoware   \u5b9e\u73b0 \u3002   \u4f5c\u4e3a \u666e\u904d \u666e\u904d\u5316 \u7684 \u95ee\u9898 \uff0c Carla   \u9879\u76ee \u81f4\u529b \u81f4\u529b\u4e8e \u5c06 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u96c6\u6210 \u5230 \u5176\u4ed6 \u5b66\u4e60 \u73af\u5883 \u4e2d \u3002   \u5f00\u653e \u8d44\u4ea7 \u3002   Carla   \u4e3a \u57ce\u5e02 \u73af\u5883 \u63d0\u4f9b \u4e86 \u4e0d\u540c \u7684 \u5730\u56fe \uff0c \u53ef\u4ee5 \u63a7\u5236 \u5929\u6c14 \u6761\u4ef6 \uff0c \u5e76 \u63d0\u4f9b \u4e00\u4e2a \u5305\u542b \u5927\u91cf \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u84dd \u56fe\u5e93 \u3002 \u7136\u800c \uff0c \u8fd9\u4e9b \u5143\u7d20 \u53ef\u4ee5 \u5b9a\u5236 \uff0c \u5e76\u4e14 \u53ef\u4ee5 \u6309\u7167 \u7b80\u5355 \u7684 \u6307\u5bfc \u539f\u5219 \u751f\u6210 \u65b0\u5143 \u5143\u7d20 \u65b0\u5143\u7d20 \u3002   Scenario   runner .   \u4e3a\u4e86 \u7b80\u5316 \u8f66\u8f86 \u7684 \u5b66\u4e60 \u8fc7\u7a0b \uff0c Carla   \u63d0\u4f9b \u4e86 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u63cf\u8ff0 \u4e0d\u540c \u60c5\u51b5 \u7684 \u8fed\u4ee3 \u8def\u7ebf \u3002 \u8fd9\u4e9b \u4e5f \u4e3a   Carla   \u6311\u6218   \u5960\u5b9a \u4e86 \u57fa\u7840 \uff0c \u6bcf\u4e2a \u4eba \u90fd \u53ef\u4ee5 \u6d4b\u8bd5 \u4ed6\u4eec \u7684 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u5e76 \u8dfb\u8eab \u6392\u884c \u6392\u884c\u699c \u3002   \u8be5 \u9879\u76ee   Carla   \u5feb\u901f \u7a33\u5b9a \u5730 \u53d1\u5c55 \uff0c \u6269\u5927 \u4e86 \u63d0\u4f9b \u7684 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8303\u56f4 \uff0c \u5e76 \u4e3a \u4e0d\u540c \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u65b9\u6cd5 \u5f00\u8f9f \u4e86 \u9053\u8def \u3002 \u5b83 \u5728 \u8fd9\u6837 \u505a \u7684 \u540c\u65f6 \u6c38\u8fdc \u4e0d\u4f1a \u5fd8\u8bb0 \u5176 \u5f00\u6e90 \u6027\u8d28 \u3002 \u8be5 \u9879\u76ee \u662f \u900f\u660e \u7684 \uff0c \u5145\u5f53 \u4e00\u4e2a \u767d\u76d2 \uff0c \u4efb\u4f55 \u4f55\u4eba \u4efb\u4f55\u4eba \u90fd \u53ef\u4ee5 \u8bbf\u95ee \u5de5\u5177 \u548c \u5f00\u53d1 \u793e\u533a \u3002 Carla   \u6b63\u662f \u5728 \u6c11\u4e3b \u6c11\u4e3b\u5316 \u4e2d \u627e\u5230 \u4e86 \u81ea\u5df1 \u7684 \u4ef7\u503c \u3002   \u8c08\u8bba   Carla   \u5982\u4f55 \u6210\u957f \u610f\u5473 \u610f\u5473\u7740 \u8c08\u8bba \u4e00\u4e2a \u5171\u540c \u6df1\u5165 \u7814\u7a76 \u6df1\u5165\u7814\u7a76 \u81ea\u52a8 \u9a7e\u9a76 \u5f7b\u5e95 \u95ee\u9898 \u7684 \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u793e\u533a \u3002 \u6bcf\u4e2a \u4eba \u90fd \u53ef\u4ee5 \u81ea\u7531 \u5730 \u4e0e   Carla   \u4e00\u8d77 \u63a2\u7d22 \uff0c \u627e\u5230 \u81ea\u5df1 \u7684 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c \u7136\u540e \u4e0e \u793e\u533a \u5176\u4ed6 \u6210\u5458 \u5206\u4eab \u4ed6\u4eec \u7684 \u6210\u5c31 \u3002   \u672c \u6587\u6863 \u5c06 \u6210\u4e3a \u60a8 \u4e00\u8def \u8def\u4e0a \u4e00\u8def\u4e0a \u7684 \u4f34\u4fa3 \u3002 \u4e0b \u4e00\u9875 \u5305\u542b   \u5feb\u901f \u5165\u95e8   \u8bf4\u660e \uff0c \u4f9b \u90a3\u4e9b \u6e34\u671b \u5b89\u88c5   Carla   \u7248\u672c \u7684 \u4eba \u4f7f\u7528 \u3002 \u8fd8\u6709 \u9002\u7528 \u4e8e   Linux   \u548c   Windows   \u7684 \u6784\u5efa \u6307\u5357 \u3002 \u8fd9 \u5c06 \u4f7f   Carla   \u4ece \u5b58\u50a8 \u5e93\u4e2d \u51fa\u6765 \uff0c \u5e76 \u5141\u8bb8 \u6df1\u5165 \u4e86\u89e3 \u5176 \u529f\u80fd \u3002   \u6b22\u8fce \u6765\u5230   Carla \u3002   Linux   \u6784\u5efa   Windows   \u6784\u5efa","title":"Start   introduction"},{"location":"start_introduction/#carla","text":"\u91cd\u8981   \u672c \u6587\u6863 \u53c2\u8003 \u6700\u65b0 \u7248\u672c \u7684   Carla \u3002 \u6709\u5173 \u4ee5\u524d \u7248\u672c \u7684 \u6587\u6863 \uff0c \u8bf7 \u5728 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u770b\u5230 \u6b64 \u6309\u94ae \u7684 \u4f4d\u7f6e \u9009\u62e9 \u6240 \u9700 \u7684 \u7248\u672c \uff1a   Carla   \u662f \u4e00\u6b3e \u5f00\u6e90 \u81ea\u52a8 \u9a7e\u9a76 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002 \u5b83 \u662f \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u6784\u5efa \u7684 \uff0c \u4f5c\u4e3a \u4e00\u4e2a \u6a21\u5757 \u6a21\u5757\u5316 \u4e14 \u7075\u6d3b \u7684   API \uff0c \u53ef\u4ee5 \u89e3\u51b3 \u81ea\u52a8 \u9a7e\u9a76 \u95ee\u9898 \u4e2d \u6d89\u53ca \u7684 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u4efb\u52a1 \u3002 Carla   \u7684 \u4e3b\u8981 \u76ee\u6807 \u4e4b\u4e00 \u662f \u5e2e\u52a9 \u81ea\u52a8 \u9a7e\u9a76 \u7814\u53d1 \u6c11\u4e3b \u6c11\u4e3b\u5316 \uff0c \u6210\u4e3a \u7528\u6237 \u53ef\u4ee5 \u8f7b\u677e \u8bbf\u95ee \u548c \u5b9a\u5236 \u7684 \u5de5\u5177 \u3002 \u4e3a\u6b64 \uff0c \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5fc5\u987b \u6ee1\u8db3 \u4e00\u822c \u9a7e\u9a76 \u95ee\u9898 \u4e2d \u4e0d\u540c \u7528\u4f8b \u7684 \u8981\u6c42 \uff08 \u4f8b\u5982 \u5b66\u4e60 \u9a7e\u9a76 \u7b56\u7565 \u3001 \u8bad\u7ec3 \u611f\u77e5 \u7b97\u6cd5 \u7b49 \uff09 \u3002 Carla   \u57fa\u4e8e \u865a\u5e7b \u5f15\u64ce \u6765 \u8fd0\u884c \u4eff\u771f \uff0c \u5e76 \u4f7f\u7528   OpenDRIVE   \u6807\u51c6 \uff08 \u76ee\u524d \u4e3a   1.4 \uff09 \u6765 \u5b9a\u4e49 \u9053\u8def \u548c \u57ce\u5e02 \u8bbe\u7f6e \u3002 \u5bf9 \u4eff\u771f \u7684 \u63a7\u5236 \u662f \u901a\u8fc7   Python   \u548c   C++   \u5904\u7406 \u7684   API   \u6388\u4e88 \u7684 \uff0c \u8be5   API   \u968f\u7740 \u9879\u76ee \u7684 \u53d1\u5c55 \u800c \u4e0d\u65ad \u589e\u957f \u3002   \u4e3a\u4e86 \u987a\u5229 \u5f00\u53d1 \u3001 \u8bad\u7ec3 \u548c \u9a8c\u8bc1 \u9a7e\u9a76 \u7cfb\u7edf \u7684 \u8fc7\u7a0b \uff0c Carla   \u53d1\u5c55 \u6210\u4e3a \u4e00\u4e2a \u7531 \u793e\u533a \u56f4\u7ed5 \u4e3b \u5e73\u53f0 \u6784\u5efa \u7684 \u9879\u76ee \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u4e86\u89e3   Carla   \u7684 \u5de5\u4f5c \u539f\u7406 \u975e\u5e38 \u91cd\u8981 \uff0c \u8fd9\u6837 \u624d\u80fd \u5145\u5206 \u7406\u89e3 \u5176 \u529f\u80fd \u3002","title":"Carla"},{"location":"start_introduction/#_1","text":"Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7531 \u53ef \u6269\u5c55 \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef - \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u67b6\u6784 \u7ec4\u6210 \u3002   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8d1f\u8d23 \u4e0e \u4eff\u771f \u672c\u8eab \u76f8\u5173 \u7684 \u6240\u6709 \u4e8b\u60c5 \uff1a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6e32\u67d3 \u3001 \u7269\u7406 \u8ba1\u7b97 \u3001 \u4e16\u754c \u72b6\u6001 \u53ca\u5176 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u66f4\u65b0 \u7b49 \u3002 \u5305\u62ec   \u865a\u5e7b \u5f15\u64ce \u63d2\u4ef6   \u3001   Libcarla \u670d\u52a1 \u670d\u52a1\u7aef   \u3001 \u8fdc\u7a0b \u8fc7\u7a0b \u8c03\u7528 \u670d\u52a1 \u3002 \u7531\u4e8e \u5b83 \u7684 \u76ee\u6807 \u662f \u5b9e\u9645 \u7ed3\u679c \uff0c \u56e0\u6b64 \u5408\u9002 \u6700\u5408\u9002 \u7684 \u9009\u62e9 \u662f \u4f7f\u7528 \u4e13\u7528   GPU   \u8fd0\u884c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5c24\u5176 \u662f \u5728 \u5904\u7406 \u673a\u5668 \u5b66\u4e60 \u65f6 \u3002   \u5ba2\u6237 \u5ba2\u6237\u7aef \u7531 \u4e00\u7ec4 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6a21\u5757 \u7ec4\u6210 \uff0c \u63a7\u5236 \u573a\u666f \u4e2d \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u903b\u8f91 \u5e76 \u8bbe\u7f6e \u4e16\u754c \u6761\u4ef6 \u3002 Carla \u67b6\u6784 \u7684 \u8bbe\u8ba1 \u8bf7 \u53c2\u8003   \u94fe\u63a5   \u3002 \u8fd9\u662f \u901a\u8fc7 \u5229\u7528   Carla   API \uff08 Python   \u6216   C++   \u8bed\u8a00 \uff09 \u6765 \u5b9e\u73b0 \u7684 \uff0c Carla   API   \u662f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e4b\u95f4 \u7684 \u4e2d\u4ecb \u5c42 \uff0c \u4e0d\u65ad \u53d1\u5c55 \u4ee5 \u63d0\u4f9b \u65b0 \u529f\u80fd \u3002   \u8fd9 \u603b\u7ed3 \u4e86 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u57fa\u672c \u7ed3\u6784 \u3002 \u7136\u800c \uff0c \u4e86\u89e3   Carla   \u7684 \u610f\u4e49 \u4e0d\u6b62 \u8fdc\u4e0d\u6b62 \u4e8e \u6b64 \uff0c \u56e0\u4e3a \u5b83 \u5171\u5b58 \u4e86 \u8bb8\u591a \u4e0d\u540c \u7684 \u529f\u80fd \u548c \u5143\u7d20 \u3002 \u4e0b\u9762 \u5217\u51fa \u4e86 \u5176\u4e2d \u4e00\u4e9b \uff0c \u4ee5\u4fbf \u4e86\u89e3   Carla   \u53ef\u4ee5 \u5b9e\u73b0 \u7684 \u529f\u80fd \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   \u4e00\u79cd \u5185\u7f6e \u7cfb\u7edf \uff0c \u9664\u4e86 \u7528\u4e8e \u5b66\u4e60 \u7684 \u8f66\u8f86 \u5916 \uff0c \u8fd8 \u53ef\u4ee5 \u63a7\u5236 \u8f66\u8f86 \u3002 \u5b83 \u5145\u5f53   Carla   \u63d0\u4f9b \u7684 \u6307\u6325 \uff0c \u4ee5 \u73b0\u5b9e \u7684 \u884c\u4e3a \u91cd\u5efa \u7c7b\u4f3c \u57ce\u5e02 \u7684 \u73af\u5883 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u8f66\u8f86 \u4f9d\u9760 \u5b83\u4eec \u6765 \u5206\u53d1 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u7684 \u4fe1\u606f \u3002 \u5728   Carla   \u4e2d \uff0c \u5b83\u4eec \u662f \u9644\u7740 \u5728 \u8f66\u8f86 \u4e0a \u7684 \u7279\u5b9a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u53ef\u4ee5 \u68c0\u7d22 \u548c \u5b58\u50a8 \u5b83\u4eec \u63a5\u6536 \u5230 \u7684 \u6570\u636e \u4ee5 \u7b80\u5316 \u6d41\u7a0b \u3002 \u76ee\u524d \u8be5 \u9879\u76ee \u652f\u6301 \u4e0d\u540c \u7c7b\u578b \u7684 \u6280\u672f \uff0c \u4ece \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u5230 \u96f7\u8fbe \u3001 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7b49\u7b49 \u3002   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002   \u6b64 \u529f\u80fd \u7528\u4e8e \u4e3a \u4e16\u754c \u4e0a \u7684 \u6bcf\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u9010\u6b65 \u91cd\u6f14 \u4eff\u771f \u3002 \u5b83 \u5141\u8bb8 \u8bbf\u95ee \u4e16\u754c \u4e0a \u4efb\u4f55 \u5730\u65b9 \u7684 \u65f6\u95f4 \u7ebf\u4e2d \u7684 \u4efb\u4f55 \u4f55\u65f6 \u65f6\u523b \u4efb\u4f55\u65f6\u523b \uff0c \u8fd9\u662f \u4e00\u4e2a \u5f88\u68d2 \u7684 \u8ffd\u8e2a \u5de5\u5177 \u3002   \u673a\u5668 \u673a\u5668\u4eba \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u6865\u63a5 \u548c   Autoware   \u5b9e\u73b0 \u3002   \u4f5c\u4e3a \u666e\u904d \u666e\u904d\u5316 \u7684 \u95ee\u9898 \uff0c Carla   \u9879\u76ee \u81f4\u529b \u81f4\u529b\u4e8e \u5c06 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u96c6\u6210 \u5230 \u5176\u4ed6 \u5b66\u4e60 \u73af\u5883 \u4e2d \u3002   \u5f00\u653e \u8d44\u4ea7 \u3002   Carla   \u4e3a \u57ce\u5e02 \u73af\u5883 \u63d0\u4f9b \u4e86 \u4e0d\u540c \u7684 \u5730\u56fe \uff0c \u53ef\u4ee5 \u63a7\u5236 \u5929\u6c14 \u6761\u4ef6 \uff0c \u5e76 \u63d0\u4f9b \u4e00\u4e2a \u5305\u542b \u5927\u91cf \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u84dd \u56fe\u5e93 \u3002 \u7136\u800c \uff0c \u8fd9\u4e9b \u5143\u7d20 \u53ef\u4ee5 \u5b9a\u5236 \uff0c \u5e76\u4e14 \u53ef\u4ee5 \u6309\u7167 \u7b80\u5355 \u7684 \u6307\u5bfc \u539f\u5219 \u751f\u6210 \u65b0\u5143 \u5143\u7d20 \u65b0\u5143\u7d20 \u3002   Scenario   runner .   \u4e3a\u4e86 \u7b80\u5316 \u8f66\u8f86 \u7684 \u5b66\u4e60 \u8fc7\u7a0b \uff0c Carla   \u63d0\u4f9b \u4e86 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u63cf\u8ff0 \u4e0d\u540c \u60c5\u51b5 \u7684 \u8fed\u4ee3 \u8def\u7ebf \u3002 \u8fd9\u4e9b \u4e5f \u4e3a   Carla   \u6311\u6218   \u5960\u5b9a \u4e86 \u57fa\u7840 \uff0c \u6bcf\u4e2a \u4eba \u90fd \u53ef\u4ee5 \u6d4b\u8bd5 \u4ed6\u4eec \u7684 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u5e76 \u8dfb\u8eab \u6392\u884c \u6392\u884c\u699c \u3002","title":"\u4eff\u771f\u5668"},{"location":"start_introduction/#_2","text":"Carla   \u5feb\u901f \u7a33\u5b9a \u5730 \u53d1\u5c55 \uff0c \u6269\u5927 \u4e86 \u63d0\u4f9b \u7684 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8303\u56f4 \uff0c \u5e76 \u4e3a \u4e0d\u540c \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u65b9\u6cd5 \u5f00\u8f9f \u4e86 \u9053\u8def \u3002 \u5b83 \u5728 \u8fd9\u6837 \u505a \u7684 \u540c\u65f6 \u6c38\u8fdc \u4e0d\u4f1a \u5fd8\u8bb0 \u5176 \u5f00\u6e90 \u6027\u8d28 \u3002 \u8be5 \u9879\u76ee \u662f \u900f\u660e \u7684 \uff0c \u5145\u5f53 \u4e00\u4e2a \u767d\u76d2 \uff0c \u4efb\u4f55 \u4f55\u4eba \u4efb\u4f55\u4eba \u90fd \u53ef\u4ee5 \u8bbf\u95ee \u5de5\u5177 \u548c \u5f00\u53d1 \u793e\u533a \u3002 Carla   \u6b63\u662f \u5728 \u6c11\u4e3b \u6c11\u4e3b\u5316 \u4e2d \u627e\u5230 \u4e86 \u81ea\u5df1 \u7684 \u4ef7\u503c \u3002   \u8c08\u8bba   Carla   \u5982\u4f55 \u6210\u957f \u610f\u5473 \u610f\u5473\u7740 \u8c08\u8bba \u4e00\u4e2a \u5171\u540c \u6df1\u5165 \u7814\u7a76 \u6df1\u5165\u7814\u7a76 \u81ea\u52a8 \u9a7e\u9a76 \u5f7b\u5e95 \u95ee\u9898 \u7684 \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u793e\u533a \u3002 \u6bcf\u4e2a \u4eba \u90fd \u53ef\u4ee5 \u81ea\u7531 \u5730 \u4e0e   Carla   \u4e00\u8d77 \u63a2\u7d22 \uff0c \u627e\u5230 \u81ea\u5df1 \u7684 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c \u7136\u540e \u4e0e \u793e\u533a \u5176\u4ed6 \u6210\u5458 \u5206\u4eab \u4ed6\u4eec \u7684 \u6210\u5c31 \u3002   \u672c \u6587\u6863 \u5c06 \u6210\u4e3a \u60a8 \u4e00\u8def \u8def\u4e0a \u4e00\u8def\u4e0a \u7684 \u4f34\u4fa3 \u3002 \u4e0b \u4e00\u9875 \u5305\u542b   \u5feb\u901f \u5165\u95e8   \u8bf4\u660e \uff0c \u4f9b \u90a3\u4e9b \u6e34\u671b \u5b89\u88c5   Carla   \u7248\u672c \u7684 \u4eba \u4f7f\u7528 \u3002 \u8fd8\u6709 \u9002\u7528 \u4e8e   Linux   \u548c   Windows   \u7684 \u6784\u5efa \u6307\u5357 \u3002 \u8fd9 \u5c06 \u4f7f   Carla   \u4ece \u5b58\u50a8 \u5e93\u4e2d \u51fa\u6765 \uff0c \u5e76 \u5141\u8bb8 \u6df1\u5165 \u4e86\u89e3 \u5176 \u529f\u80fd \u3002   \u6b22\u8fce \u6765\u5230   Carla \u3002   Linux   \u6784\u5efa   Windows   \u6784\u5efa","title":"\u8be5 \u9879\u76ee"},{"location":"start_quickstart/","text":"\u5feb\u901f \u542f\u52a8 \u5305 \u5b89\u88c5   \u672c \u6307\u5357 \u4ecb\u7ecd \u5982\u4f55 \u4e0b\u8f7d \u548c \u5b89\u88c5   Carla   \u7684 \u6253\u5305 \u7248\u672c \u3002 \u8be5 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u5305\u62ec   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u4e24\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u9009\u9879 \u3002 \u8fd8 \u53ef\u4ee5 \u4e0b\u8f7d \u5176\u4ed6 \u8d44\u6e90 \u5e76 \u5c06 \u5176 \u5bfc\u5165 \u5bfc\u5165\u5230 \u5305\u4e2d \u3002 \u9700\u8981 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u9ad8\u7ea7 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u548c \u5f00\u53d1 \u9009\u9879 \u4e0d\u53ef \u7528 \uff0c \u4f46 \u53ef\u4ee5 \u901a\u8fc7 \u4f7f\u7528 \u9002\u7528 \u4e8e   Windows   \u6216   Linux   \u7684   Carla   \u6784\u5efa \u7248\u672c \u6765 \u8bbf\u95ee \u8fd9\u4e9b \u9009\u9879 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   Carla   \u5b89\u88c5   A .   Debian   Carla   \u5b89\u88c5   B .   \u5305 \u5b89\u88c5   \u5bfc\u5165 \u989d\u5916 \u8d44\u4ea7   \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93   0.9 . 12   \u4e4b\u524d \u7684   Carla   \u7248\u672c   Carla   0.9 . 12 +   \u8fd0\u884c   Carla   \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879   \u66f4\u65b0   Carla   \u8ddf\u8fdb   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5b89\u88c5   Carla   \u4e4b\u524d \u5e94 \u6ee1\u8db3 \u4ee5\u4e0b \u8981\u6c42 \uff1a   \u7cfb\u7edf \u8981\u6c42 \u3002   Carla   \u662f \u4e3a   Windows   \u548c   Linux   \u7cfb\u7edf \u6784\u5efa \u7684 \u3002   \u8db3\u591f \u7684   GPU \u3002   Carla   \u65e8\u5728 \u5b9e\u73b0 \u771f\u5b9e \u4eff\u771f \uff0c \u56e0\u6b64 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u81f3\u5c11 \u9700\u8981   6   GB   GPU \uff0c \u4f46 \u6211\u4eec \u5efa\u8bae \u4f7f\u7528   8   GB \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u4f7f\u7528 \u4e13\u7528   GPU   \u8fdb\u884c \u673a\u5668 \u5b66\u4e60 \u3002   \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u3002   Carla   \u5c06 \u4f7f\u7528 \u5927\u7ea6   20   GB   \u7684 \u7a7a\u95f4 \u3002   Python .   Python   \u662f   Carla   \u4e2d \u7684 \u4e3b\u8981 \u811a\u672c \u8bed\u8a00 \u811a\u672c\u8bed\u8a00 \u3002 Carla   \u5728   Linux   \u4e0a \u652f\u6301   Python   2.7   \u548c   Python   3 \uff0c \u5728   Windows   \u4e0a \u652f\u6301   Python   3 \u3002   Pip .   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u7684 \u67d0\u4e9b \u5b89\u88c5 \u65b9\u6cd5 \u9700\u8981   pip   \u6216   pip3   \uff08 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684   Python   \u7248\u672c \uff09 \u7248\u672c   20.3   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002 \u8981 \u68c0\u67e5 \u60a8 \u7684   pip   \u7248\u672c \uff1a   #   \u5bf9\u4e8e   Python   3   pip3   - V   #   \u5bf9\u4e8e   Python   2   pip   - V   \u5982\u679c \u60a8 \u9700\u8981 \u5347\u7ea7 \uff1a   #   \u5bf9\u4e8e   Python   3   pip3   install   -- upgrade   pip   #   \u5bf9\u4e8e   Python   2   pip   install   -- upgrade   pip   \u4e24\u4e2a   TCP   \u7aef\u53e3 \u548c \u826f\u597d \u7684 \u4e92\u8054 \u8054\u7f51 \u4e92\u8054\u7f51 \u8fde\u63a5 \u3002   \u9ed8\u8ba4 \u4e3a   2000   \u5e74 \u548c   2001   \u5e74 \u3002 \u786e\u4fdd \u8fd9\u4e9b \u7aef\u53e3 \u672a \u88ab \u9632\u706b \u706b\u5899 \u9632\u706b\u5899 \u6216 \u4efb\u4f55 \u5176\u4ed6 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u963b\u6b62 \u3002   \u5176\u4ed6 \u9700\u6c42 \u3002   Carla   \u9700\u8981 \u4e00\u4e9b   Python   \u4f9d\u8d56 \u9879 \u3002 \u6839\u636e \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u5b89\u88c5 \u4f9d\u8d56 \u9879 \uff1a   Windows   pip3   install   -- user   pygame   numpy   Linux   pip   install   -- user   pygame   numpy   &&   pip3   install   -- user   pygame   numpy   Carla   \u5b89\u88c5   \u6709 \u4e24\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u4e0b\u8f7d \u5e76 \u5b89\u88c5   Carla   \u4f5c\u4e3a \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff1a   A )   \u4e0b\u8f7d   Debian   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002   B )   \u4ece   GitHub   \u4e0b\u8f7d \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002   A .   Debian   Carla   \u5b89\u88c5   Debain   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u9002\u7528 \u4e8e   Ubuntu   18.04   \u548c   Ubuntu   20.04 \uff0c \u4f46   \u5b98\u65b9 \u652f\u6301 \u7684 \u5e73\u53f0 \u662f   Ubuntu   18.04   \u3002   1 .   \u5728 \u7cfb\u7edf \u4e2d \u8bbe\u7f6e Debian \u5b58\u50a8 \u5e93 \uff1a   sudo   apt - key   adv   -- keyserver   keyserver . ubuntu . com   -- recv - keys   1AF1527DE64CB8D9   sudo   add - apt - repository   \" deb   [ arch = amd64 ]   http : / / dist . carla . org / carla   $ ( lsb _ release   - sc )   main \"   2 .   \u5b89\u88c5   Carla   \u5e76 \u68c0\u67e5   / opt /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u662f\u5426 \u6709 \u5b89\u88c5 \uff1a   sudo   apt - get   update   #   Update   the   Debian   package   index   sudo   apt - get   install   carla - simulator   #   Install   the   latest   Carla   version ,   or   update   the   current   installation   cd   / opt / carla - simulator   #   Open   the   folder   where   Carla   is   installed   \u8be5 \u5b58\u50a8 \u5e93 \u5305\u542b   Carla   0.9 . 10   \u53ca \u66f4 \u9ad8 \u7248\u672c \u3002 \u8981 \u5b89\u88c5 \u7279\u5b9a \u7248\u672c \uff0c \u8bf7 \u5c06 \u7248\u672c \u6807\u7b7e \u6dfb\u52a0 \u5230 \u5b89\u88c5 \u547d\u4ee4 \u4e2d \uff1a   apt - cache   madison   carla - simulator   #   List   the   available   versions   of   Carla   sudo   apt - get   install   carla - simulator = 0.9 . 10 - 1   #   In   this   case ,   \" 0.9 . 10 \"   refers   to   a   CARLA   version ,   and   \" 1 \"   to   the   Debian   revision   \u91cd\u8981   \u8981 \u5b89\u88c5   0.9 . 10   \u4e4b\u524d \u7684   Carla   \u7248\u672c \uff0c \u8bf7 \u4f7f\u7528 \u7a97\u53e3 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u7684 \u9762\u677f \u66f4 \u6539\u4e3a \u6587\u6863 \u7684 \u65e9\u671f \u7248\u672c \uff0c \u7136\u540e \u6309\u7167 \u65e7 \u7684 \u8bf4\u660e \u8fdb\u884c \u64cd\u4f5c \u3002   B .   \u5305 \u5b89\u88c5   Carla   \u4ed3\u5e93   \u8be5 \u5b58\u50a8 \u5e93 \u5305\u542b \u4e0d\u540c \u7248\u672c \u7684   Carla \u3002 \u60a8 \u5c06 \u627e\u5230 \u4e0b\u8f7d \u5305\u542b \u6240\u6709 \u6700\u65b0 \u4fee\u590d \u548c \u529f\u80fd \u7684   \u5f53\u524d \u7248\u672c   \u3001 \u4ee5\u524d \u7684 \u7248\u672c \u4ee5\u53ca \u5305\u542b \u6240\u6709 \u5f00\u53d1 \u4fee\u590d \u548c \u529f\u80fd \u7684   \u591c\u95f4 \u6784\u5efa   \uff08 \u591c\u95f4 \u6784\u5efa \u662f   Carla   \u6700 \u4e0d \u7a33\u5b9a \u7684 \u7248\u672c \uff09 \u7684 \u9009\u9879 \u3002   \u8be5 \u5305\u662f \u4e00\u4e2a \u540d\u4e3a   CARLA _ version . number   \u7684 \u538b\u7f29 \u6587\u4ef6 \u538b\u7f29\u6587\u4ef6 \u3002 \u4e0b\u8f7d \u5e76 \u89e3\u538b \u53d1\u5e03 \u6587\u4ef6 \u3002 \u5b83 \u5305\u542b \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u9884 \u7f16\u8bd1 \u7248\u672c \u3001 Python   API   \u6a21\u5757 \u548c \u4e00\u4e9b \u7528\u4f5c \u793a\u4f8b \u7684 \u811a\u672c \u3002   \u5bfc\u5165 \u989d\u5916 \u8d44\u4ea7   \u6bcf\u4e2a \u7248\u672c \u90fd \u6709 \u5176 \u81ea\u5df1 \u7684 \u9644\u52a0 \u8d44\u4ea7 \u548c \u5730\u56fe \u5730\u56fe\u5305 \u3002 \u6b64 \u9644\u52a0 \u5305 \u5305\u62ec \u5730\u56fe   Town06   \u3001   Town07   \u548c   Town10   \u3002 \u5b83\u4eec \u5355\u72ec \u5b58\u50a8 \u4ee5 \u51cf\u5c11 \u6784\u5efa \u7684 \u5927\u5c0f \uff0c \u56e0\u6b64 \u53ea\u80fd \u5728 \u5b89\u88c5 \u4e3b\u5305 \u540e \u624d\u80fd \u5bfc\u5165 \u5b83\u4eec \u3002   1 .   \u4e0b\u8f7d   \u9002\u5408 \u60a8 \u6240 \u9700 \u7248\u672c \u7684   Carla   \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002   2 .   \u89e3\u538b \u89e3\u538b\u5305 \uff1a   \u5728   Linux   \u4e0a   :   \u5c06 \u5305 \u79fb\u52a8 \u5230   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u811a\u672c \u4ee5 \u63d0\u53d6 \u5185\u5bb9 \uff1a   cd   path / to / carla / root   . / ImportAssets . sh   \u5728   Windows   \u4e0a   :   \u76f4\u63a5 \u5c06 \u5185\u5bb9 \u63d0\u53d6 \u5230 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93   0.9 . 12   \u4e4b\u524d \u7684   Carla   \u7248\u672c   \u4ee5\u524d \u7248\u672c \u7684   Carla   \u4e0d \u9700\u8981 \u5b89\u88c5   Python   \u5e93 \uff0c \u5b83\u4eec \u9644\u5e26 \u4e86 \u4e00\u4e2a   . egg   \u5f00\u7bb1 \u5373\u7528 \u7684 \u6587\u4ef6 \u3002   Carla   \u7248\u672c   0.9 . 12 +   \u663e \u7740 \u6539\u53d8 \u4e86 \u8fd9\u79cd \u884c\u4e3a \uff1b \u6709 \u591a\u4e2a \u9009\u9879 \u53ef \u7528\u4e8e \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93   \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   0.9 . 12   \u4e4b\u524d \u7684   Carla   \u7248\u672c \uff0c \u8bf7 \u5728 \u5c4f\u5e55 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u9009\u62e9 \u8be5 \u7248\u672c \u4ee5 \u67e5\u770b \u76f8\u5173 \u6587\u6863 \u3002 \u5426\u5219 \uff0c \u8bf7 \u9605\u8bfb \u4e0b\u9762 \u6709\u5173   Carla   0.9 . 12 +   \u4e2d \u53ef\u7528 \u9009\u9879 \u7684 \u4fe1\u606f \u3002   Carla   0.9 . 12 +   \u6709 \u591a\u4e2a \u9009\u9879 \u53ef \u7528\u4e8e \u5b89\u88c5 \u548c \u4f7f\u7528   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff1a   . egg   \u6587\u4ef6   . whl   \u6587\u4ef6   \u53ef \u4e0b\u8f7d \u7684 Python \u5305   \u5728 \u51b3\u5b9a \u4f7f\u7528 \u54ea \u79cd \u65b9\u6cd5 \u4e4b\u524d \uff0c \u8bf7 \u9605\u8bfb \u4e0b\u9762 \u6709\u5173 \u6bcf\u79cd \u65b9\u6cd5 \u7684 \u8981\u6c42 \u548c \u9650\u5236 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002 \u8bf7 \u6ce8\u610f \uff0c \u6df7\u5408 \u4f7f\u7528 \u4e0d\u540c \u7684 \u65b9\u6cd5 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u4e0d \u517c\u5bb9 \uff0c \u56e0\u6b64 \u8bf7 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u4f7f\u7528 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \uff0c \u6216\u8005 \u5728 \u4f7f\u7528 \u65b0\u5e93 \u4e4b\u524d   \u5378\u8f7d   \u4ee5\u524d \u5b89\u88c5 \u7684 \u5e93 \u3002   A .   . egg   \u6587\u4ef6   Carla   \u63d0\u4f9b \u4e86 \u5728   PythonAPI / carla / dist /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u7684 \u4e0d\u540c   Python   \u7248\u672c   . egg   \u6587\u4ef6 \uff0c \u53ef\u4ee5 \u5f00\u7bb1 \u5373\u7528 \u3002   PythonAPI / examples   \u4e2d \u7684 \u6bcf\u4e2a \u793a\u4f8b \u811a\u672c \u90fd \u5305\u542b \u4e00\u4e2a \u81ea\u52a8 \u67e5\u627e \u6b64 \u6587\u4ef6 \u7684   \u4ee3\u7801 \u7247\u6bb5   \u3002 \u5728   Linux   \u4e2d \uff0c \u60a8 \u53ef\u80fd \u9700\u8981 \u5c06 \u6b64 \u6587\u4ef6 \u6dfb\u52a0 \u5230 \u60a8 \u7684   PYTHONPATH   \u3002 . \u5728   \u6b64\u5904   \u9605\u8bfb \u6709\u5173   Carla   \u4e2d   . egg   \u6587\u4ef6 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u5982\u679c \u60a8 \u4e4b\u524d \u5df2\u7ecf \u5b89\u88c5 \u4e86 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93   pip   \uff0c \u5219 \u8be5\u5e93 \u5c06 \u4f18\u5148 \u4e8e \u8be5   . egg   \u6587\u4ef6   \u3002 \u60a8 \u9700\u8981 \u5148   \u5378\u8f7d   \u4ee5\u524d \u7684 \u5e93 \u3002   B .   . whl   \u6587\u4ef6   Carla   \u63d0\u4f9b \u4e86 \u4e0d\u540c   Python   \u7248\u672c \u7684   . whl   \u6587\u4ef6 \u3002 \u60a8 \u5c06 \u9700\u8981 \u5b89\u88c5 \u8be5 . whl \u6587\u4ef6 \u3002 \u8be5   . whl   \u6587\u4ef6 \u4f4d\u4e8e   PythonAPI / carla / dist /   \u3002 \u6bcf\u4e2a \u53d7 \u652f\u6301 \u7684   Python   \u7248\u672c \u90fd \u6709 \u4e00\u4e2a \u6587\u4ef6 \uff0c \u7531 \u6587\u4ef6 \u6587\u4ef6\u540d \u6307\u793a \uff08 \u4f8b\u5982 \uff0c carla - 0.9 . 12 -   cp36   - cp36m - manylinux _ 2 _ 27 _ x86 _ 64 . whl   \u8868\u793a   Python   3.6 \uff09 \u3002   \u5efa\u8bae \u5728 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u4e2d \u5b89\u88c5   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u4ee5 \u907f\u514d \u5728 \u4f7f\u7528 \u591a\u4e2a \u7248\u672c \u65f6 \u53d1\u751f \u51b2\u7a81 \u53d1\u751f\u51b2\u7a81 \u3002   \u8981 \u5b89\u88c5   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff0c \u9009\u62e9 \u9002\u5408 \u60a8 \u6240 \u9700   Python   \u7248\u672c \u7684 \u6587\u4ef6 \u3002 \u60a8 \u5c06 \u9700\u8981   pip / pip3   \u7248\u672c   20.3   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002 \u6709\u5173 \u5982\u4f55 \u68c0\u67e5 \u7248\u672c \u548c \u5347\u7ea7 pip / pip3 \u7684 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u5f00\u59cb \u4e4b\u524d   \u90e8\u5206 \uff1a   #   Python   3   pip3   install   < wheel - file - name > . whl   #   Python   2   pip   install   < wheel - file - name > . whl   \u5982\u679c \u60a8 \u4e4b\u524d \u5b89\u88c5 \u4e86 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u5219 \u5e94\u5148   \u5378\u8f7d   \u65e7 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u7136\u540e \u518d \u5b89\u88c5 \u65b0 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002   C .   \u53ef \u4e0b\u8f7d \u7684   Python   \u5305   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u53ef\u4ee5 \u4ece   PyPi   \u4e0b\u8f7d \u3002 \u8be5\u5e93 \u4e0e   Python   \u7248\u672c   2.7 \u3001 3.6 \u3001 3.7   \u548c   3.8   \u517c\u5bb9 \u3002 \u8981 \u5b89\u88c5 \u5b83 \uff0c \u60a8 \u9700\u8981   pip / pip3   \u7248\u672c   20.3   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002 \u6709\u5173 \u5982\u4f55 \u68c0\u67e5 \u7248\u672c \u548c \u5347\u7ea7 pip / pip3 \u7684 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u5f00\u59cb \u4e4b\u524d   \u90e8\u5206 \u3002   \u5efa\u8bae \u5728 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u4e2d \u5b89\u88c5   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u4ee5 \u907f\u514d \u5728 \u4f7f\u7528 \u591a\u4e2a \u7248\u672c \u65f6 \u53d1\u751f \u51b2\u7a81 \u53d1\u751f\u51b2\u7a81 \u3002   \u8981 \u4ece   PyPi   \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   Python   3   pip3   install   carla   #   Python   2   pip   install   carla   PyPi   \u4e0b\u8f7d \u4ec5 \u9002\u5408 \u4e0e   Carla   \u5305 \u4e00\u8d77 \u4f7f\u7528 \uff08 \u5373 \u4e0d\u9002 \u7528\u4e8e \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684 \u7248\u672c \uff09 \u3002 \u7531\u4e8e   PyPi   \u4e0b\u8f7d   \u4ec5 \u5305\u542b \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93   \uff0c \u56e0\u6b64 \u5728 \u60a8 \u5c06 \u4e0e \u8fdc\u7a0b   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u4e14 \u4e0d \u9700\u8981 \u4e0b\u8f7d \u5b8c\u6574 \u7684   Carla   \u5305 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u975e\u5e38 \u6709\u7528 \u3002   \u8fd0\u884c   Carla   \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u65b9\u6cd5 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4f7f\u7528 \u7684 \u5b89\u88c5 \u65b9\u6cd5 \u548c \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \uff1a   Debian   \u5b89\u88c5 :   cd   / opt / carla - simulator / bin /   . / CarlaUE4 . sh   Linux   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u5b89\u88c5 \uff1a   cd   path / to / carla / root   . / CarlaUE4 . sh   Windows   \u5305 \u5b89\u88c5 \uff1a   cd   path / to / carla / root   CarlaUE4 . exe   \u5c06 \u5f39\u51fa \u4e00\u4e2a \u5305\u542b \u57ce\u5e02 \u666f\u89c2 \u7684 \u7a97\u53e3 \u3002 \u8fd9\u662f   \u89c2\u5bdf \u89c2\u5bdf\u8005   \u7684 \u770b\u6cd5 \u3002 \u8981 \u5728 \u57ce\u5e02 \u4e2d \u98de\u884c \uff0c \u8bf7 \u4f7f\u7528 \u9f20\u6807 \u548c WASD \u6309\u952e \uff0c \u6309\u4f4f \u9f20\u6807 \u53f3\u952e \u63a7\u5236 \u65b9\u5411 \u3002   \u8fd9\u662f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \uff0c \u5b83 \u73b0\u5728 \u6b63\u5728 \u8fd0\u884c \u5e76 \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5e76 \u4e0e \u4e16\u754c \u4ea4\u4e92 \u3002 \u60a8 \u53ef\u4ee5 \u5c1d\u8bd5 \u4e00\u4e9b \u793a\u4f8b \u811a\u672c \u6765 \u5728 \u57ce\u5e02 \u4e2d \u4ea7\u751f \u751f\u547d \u5e76 \u9a7e\u9a76 \u6c7d\u8f66 \uff1a   #   \u7ec8\u7aef   A   cd   PythonAPI \\ examples   python3   - m   pip   install   - r   requirements . txt   #   Support   for   Python2   is   provided   in   the   CARLA   release   packages   python3   generate _ traffic . py   #   Terminal   B   cd   PythonAPI \\ examples   python3   manual _ control . py   \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879   \u542f\u52a8   Carla   \u65f6\u6709 \u4e00\u4e9b \u53ef\u7528 \u7684 \u914d\u7f6e \u9009\u9879 \uff0c \u53ef\u4ee5 \u6309 \u5982\u4e0b \u65b9\u5f0f \u4f7f\u7528 \u5b83\u4eec \uff1a   . / CarlaUE4 . sh   - carla - rpc - port = 3000   - carla - rpc - port = N   \u4fa6\u542c \u7aef\u53e3   N   \u4e0a \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u3002 \u5a92\u4f53 \u6d41\u5a92\u4f53 \u7aef\u53e3 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e3a   N + 1   \u3002   - carla - streaming - port = N   \u6307\u5b9a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u6570\u636e\u6d41 \u7684 \u7aef\u53e3 \u3002 \u4f7f\u7528   0   \u83b7\u53d6 \u968f\u673a \u672a \u4f7f\u7528 \u7684 \u7aef\u53e3 \u3002 \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u7aef\u53e3 \u5c06 \u81ea\u52a8 \u8bbe\u7f6e \u4e3a   N + 1   \u3002   - quality - level = { Low , Epic }   \u66f4\u6539 \u56fe\u5f62 \u8d28\u91cf \u7ea7\u522b \u3002   \u5728   \u6e32\u67d3 \u9009\u9879   \u4e2d \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u865a\u5e7b \u5f15\u64ce   4   \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u5217\u8868   \u3002   \u3002 \u865a\u5e7b \u5f15\u64ce \u63d0\u4f9b \u4e86 \u5f88\u591a \u9009\u9879 \uff0c \u4f46 \u5e76\u975e \u6240\u6709 \u8fd9\u4e9b \u9009\u9879 \u5728   Carla   \u4e2d \u90fd \u53ef\u7528 \u3002   \u8be5 \u811a\u672c   PythonAPI / util / config . py   \u63d0\u4f9b \u4e86 \u66f4 \u591a \u914d\u7f6e \u9009\u9879 \uff0c \u5e94 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u542f\u52a8 \u65f6 \u8fd0\u884c \uff1a   . / config . py   -- no - rendering   #   \u7981\u7528 \u6e32\u67d3   . / config . py   -- map   Town05   #   \u6539\u53d8 \u5730\u56fe \u3001   . / config . py   -- weather   ClearNoon   #   \u6539\u53d8 \u5929\u6c14   . / config . py   -- help   #   \u68c0\u67e5 \u6240\u6709 \u53ef \u83b7\u5f97 \u7684 \u914d\u7f6e \u9009\u9879   \u66f4\u65b0   Carla   \u65e0\u6cd5 \u66f4\u65b0   Carla   \u7684 \u6253\u5305 \u7248\u672c \u3002 \u5f53\u65b0 \u7248\u672c \u53d1\u5e03 \u65f6 \uff0c \u5b58\u50a8 \u5e93\u4f1a \u66f4\u65b0 \uff0c \u60a8 \u9700\u8981 \u5220\u9664 \u4ee5\u524d \u7684 \u7248\u672c \u5e76 \u5b89\u88c5 \u65b0 \u7248\u672c \u3002   \u5982\u679c \u60a8 \u4f7f\u7528   pip / pip3   \u5b89\u88c5 \u4e86 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u5219 \u5e94 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u5c06 \u5176 \u5378\u8f7d \uff1a   #   Python   3   pip3   uninstall   carla   #   Python   2   pip   uninstall   carla   \u8ddf\u8fdb   \u73b0\u5728 \u60a8 \u5e94\u8be5 \u5df2\u7ecf \u542f\u52a8 \u5e76 \u8fd0\u884c \u4e86   Carla   \u7684 \u6253\u5305 \u7248\u672c \u3002 \u5982\u679c \u60a8 \u5728 \u5b89\u88c5 \u8fc7\u7a0b \u4e2d \u9047\u5230 \u4efb\u4f55 \u56f0\u96be \uff0c \u8bf7 \u968f\u65f6 \u5728   Carla   \u8bba\u575b   \u6216   Discord   \u9891\u9053 \u4e2d \u53d1\u5e16 \u3002   \u4e0b \u4e00\u6b65 \u662f \u8be6\u7ec6 \u4e86\u89e3   Carla   \u7684 \u6838\u5fc3 \u6982\u5ff5 \u3002 \u9605\u8bfb   \u201c \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \u201d   \u90e8\u5206 \u5f00\u59cb \u5b66\u4e60 \u3002 \u60a8 \u8fd8 \u53ef\u4ee5 \u5728   Python   API   \u53c2\u8003 \u4e2d \u627e\u5230 \u6709\u5173   Python   API   \u7c7b \u548c \u65b9\u6cd5 \u7684 \u6240\u6709 \u4fe1\u606f \u3002   \u524d\u5f80 \uff1a \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65","title":"Start   quickstart"},{"location":"start_quickstart/#_1","text":"\u672c \u6307\u5357 \u4ecb\u7ecd \u5982\u4f55 \u4e0b\u8f7d \u548c \u5b89\u88c5   Carla   \u7684 \u6253\u5305 \u7248\u672c \u3002 \u8be5 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u5305\u62ec   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u4e24\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u9009\u9879 \u3002 \u8fd8 \u53ef\u4ee5 \u4e0b\u8f7d \u5176\u4ed6 \u8d44\u6e90 \u5e76 \u5c06 \u5176 \u5bfc\u5165 \u5bfc\u5165\u5230 \u5305\u4e2d \u3002 \u9700\u8981 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u9ad8\u7ea7 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u548c \u5f00\u53d1 \u9009\u9879 \u4e0d\u53ef \u7528 \uff0c \u4f46 \u53ef\u4ee5 \u901a\u8fc7 \u4f7f\u7528 \u9002\u7528 \u4e8e   Windows   \u6216   Linux   \u7684   Carla   \u6784\u5efa \u7248\u672c \u6765 \u8bbf\u95ee \u8fd9\u4e9b \u9009\u9879 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   Carla   \u5b89\u88c5   A .   Debian   Carla   \u5b89\u88c5   B .   \u5305 \u5b89\u88c5   \u5bfc\u5165 \u989d\u5916 \u8d44\u4ea7   \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93   0.9 . 12   \u4e4b\u524d \u7684   Carla   \u7248\u672c   Carla   0.9 . 12 +   \u8fd0\u884c   Carla   \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879   \u66f4\u65b0   Carla   \u8ddf\u8fdb","title":"\u5feb\u901f \u542f\u52a8 \u5305 \u5b89\u88c5"},{"location":"start_quickstart/#_2","text":"\u5b89\u88c5   Carla   \u4e4b\u524d \u5e94 \u6ee1\u8db3 \u4ee5\u4e0b \u8981\u6c42 \uff1a   \u7cfb\u7edf \u8981\u6c42 \u3002   Carla   \u662f \u4e3a   Windows   \u548c   Linux   \u7cfb\u7edf \u6784\u5efa \u7684 \u3002   \u8db3\u591f \u7684   GPU \u3002   Carla   \u65e8\u5728 \u5b9e\u73b0 \u771f\u5b9e \u4eff\u771f \uff0c \u56e0\u6b64 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u81f3\u5c11 \u9700\u8981   6   GB   GPU \uff0c \u4f46 \u6211\u4eec \u5efa\u8bae \u4f7f\u7528   8   GB \u3002 \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u4f7f\u7528 \u4e13\u7528   GPU   \u8fdb\u884c \u673a\u5668 \u5b66\u4e60 \u3002   \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4 \u3002   Carla   \u5c06 \u4f7f\u7528 \u5927\u7ea6   20   GB   \u7684 \u7a7a\u95f4 \u3002   Python .   Python   \u662f   Carla   \u4e2d \u7684 \u4e3b\u8981 \u811a\u672c \u8bed\u8a00 \u811a\u672c\u8bed\u8a00 \u3002 Carla   \u5728   Linux   \u4e0a \u652f\u6301   Python   2.7   \u548c   Python   3 \uff0c \u5728   Windows   \u4e0a \u652f\u6301   Python   3 \u3002   Pip .   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u7684 \u67d0\u4e9b \u5b89\u88c5 \u65b9\u6cd5 \u9700\u8981   pip   \u6216   pip3   \uff08 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684   Python   \u7248\u672c \uff09 \u7248\u672c   20.3   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002 \u8981 \u68c0\u67e5 \u60a8 \u7684   pip   \u7248\u672c \uff1a   #   \u5bf9\u4e8e   Python   3   pip3   - V   #   \u5bf9\u4e8e   Python   2   pip   - V   \u5982\u679c \u60a8 \u9700\u8981 \u5347\u7ea7 \uff1a   #   \u5bf9\u4e8e   Python   3   pip3   install   -- upgrade   pip   #   \u5bf9\u4e8e   Python   2   pip   install   -- upgrade   pip   \u4e24\u4e2a   TCP   \u7aef\u53e3 \u548c \u826f\u597d \u7684 \u4e92\u8054 \u8054\u7f51 \u4e92\u8054\u7f51 \u8fde\u63a5 \u3002   \u9ed8\u8ba4 \u4e3a   2000   \u5e74 \u548c   2001   \u5e74 \u3002 \u786e\u4fdd \u8fd9\u4e9b \u7aef\u53e3 \u672a \u88ab \u9632\u706b \u706b\u5899 \u9632\u706b\u5899 \u6216 \u4efb\u4f55 \u5176\u4ed6 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u963b\u6b62 \u3002   \u5176\u4ed6 \u9700\u6c42 \u3002   Carla   \u9700\u8981 \u4e00\u4e9b   Python   \u4f9d\u8d56 \u9879 \u3002 \u6839\u636e \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u5b89\u88c5 \u4f9d\u8d56 \u9879 \uff1a","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"start_quickstart/#windows","text":"pip3   install   -- user   pygame   numpy","title":"Windows"},{"location":"start_quickstart/#linux","text":"pip   install   -- user   pygame   numpy   &&   pip3   install   -- user   pygame   numpy","title":"Linux"},{"location":"start_quickstart/#carla","text":"\u6709 \u4e24\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u4e0b\u8f7d \u5e76 \u5b89\u88c5   Carla   \u4f5c\u4e3a \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff1a   A )   \u4e0b\u8f7d   Debian   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002   B )   \u4ece   GitHub   \u4e0b\u8f7d \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002","title":"Carla   \u5b89\u88c5  "},{"location":"start_quickstart/#a-debian-carla","text":"Debain   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u9002\u7528 \u4e8e   Ubuntu   18.04   \u548c   Ubuntu   20.04 \uff0c \u4f46   \u5b98\u65b9 \u652f\u6301 \u7684 \u5e73\u53f0 \u662f   Ubuntu   18.04   \u3002   1 .   \u5728 \u7cfb\u7edf \u4e2d \u8bbe\u7f6e Debian \u5b58\u50a8 \u5e93 \uff1a   sudo   apt - key   adv   -- keyserver   keyserver . ubuntu . com   -- recv - keys   1AF1527DE64CB8D9   sudo   add - apt - repository   \" deb   [ arch = amd64 ]   http : / / dist . carla . org / carla   $ ( lsb _ release   - sc )   main \"   2 .   \u5b89\u88c5   Carla   \u5e76 \u68c0\u67e5   / opt /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u662f\u5426 \u6709 \u5b89\u88c5 \uff1a   sudo   apt - get   update   #   Update   the   Debian   package   index   sudo   apt - get   install   carla - simulator   #   Install   the   latest   Carla   version ,   or   update   the   current   installation   cd   / opt / carla - simulator   #   Open   the   folder   where   Carla   is   installed   \u8be5 \u5b58\u50a8 \u5e93 \u5305\u542b   Carla   0.9 . 10   \u53ca \u66f4 \u9ad8 \u7248\u672c \u3002 \u8981 \u5b89\u88c5 \u7279\u5b9a \u7248\u672c \uff0c \u8bf7 \u5c06 \u7248\u672c \u6807\u7b7e \u6dfb\u52a0 \u5230 \u5b89\u88c5 \u547d\u4ee4 \u4e2d \uff1a   apt - cache   madison   carla - simulator   #   List   the   available   versions   of   Carla   sudo   apt - get   install   carla - simulator = 0.9 . 10 - 1   #   In   this   case ,   \" 0.9 . 10 \"   refers   to   a   CARLA   version ,   and   \" 1 \"   to   the   Debian   revision   \u91cd\u8981   \u8981 \u5b89\u88c5   0.9 . 10   \u4e4b\u524d \u7684   Carla   \u7248\u672c \uff0c \u8bf7 \u4f7f\u7528 \u7a97\u53e3 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u7684 \u9762\u677f \u66f4 \u6539\u4e3a \u6587\u6863 \u7684 \u65e9\u671f \u7248\u672c \uff0c \u7136\u540e \u6309\u7167 \u65e7 \u7684 \u8bf4\u660e \u8fdb\u884c \u64cd\u4f5c \u3002","title":"A .   Debian   Carla   \u5b89\u88c5  "},{"location":"start_quickstart/#b","text":"Carla   \u4ed3\u5e93   \u8be5 \u5b58\u50a8 \u5e93 \u5305\u542b \u4e0d\u540c \u7248\u672c \u7684   Carla \u3002 \u60a8 \u5c06 \u627e\u5230 \u4e0b\u8f7d \u5305\u542b \u6240\u6709 \u6700\u65b0 \u4fee\u590d \u548c \u529f\u80fd \u7684   \u5f53\u524d \u7248\u672c   \u3001 \u4ee5\u524d \u7684 \u7248\u672c \u4ee5\u53ca \u5305\u542b \u6240\u6709 \u5f00\u53d1 \u4fee\u590d \u548c \u529f\u80fd \u7684   \u591c\u95f4 \u6784\u5efa   \uff08 \u591c\u95f4 \u6784\u5efa \u662f   Carla   \u6700 \u4e0d \u7a33\u5b9a \u7684 \u7248\u672c \uff09 \u7684 \u9009\u9879 \u3002   \u8be5 \u5305\u662f \u4e00\u4e2a \u540d\u4e3a   CARLA _ version . number   \u7684 \u538b\u7f29 \u6587\u4ef6 \u538b\u7f29\u6587\u4ef6 \u3002 \u4e0b\u8f7d \u5e76 \u89e3\u538b \u53d1\u5e03 \u6587\u4ef6 \u3002 \u5b83 \u5305\u542b \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u9884 \u7f16\u8bd1 \u7248\u672c \u3001 Python   API   \u6a21\u5757 \u548c \u4e00\u4e9b \u7528\u4f5c \u793a\u4f8b \u7684 \u811a\u672c \u3002","title":"B .   \u5305 \u5b89\u88c5  "},{"location":"start_quickstart/#_3","text":"\u6bcf\u4e2a \u7248\u672c \u90fd \u6709 \u5176 \u81ea\u5df1 \u7684 \u9644\u52a0 \u8d44\u4ea7 \u548c \u5730\u56fe \u5730\u56fe\u5305 \u3002 \u6b64 \u9644\u52a0 \u5305 \u5305\u62ec \u5730\u56fe   Town06   \u3001   Town07   \u548c   Town10   \u3002 \u5b83\u4eec \u5355\u72ec \u5b58\u50a8 \u4ee5 \u51cf\u5c11 \u6784\u5efa \u7684 \u5927\u5c0f \uff0c \u56e0\u6b64 \u53ea\u80fd \u5728 \u5b89\u88c5 \u4e3b\u5305 \u540e \u624d\u80fd \u5bfc\u5165 \u5b83\u4eec \u3002   1 .   \u4e0b\u8f7d   \u9002\u5408 \u60a8 \u6240 \u9700 \u7248\u672c \u7684   Carla   \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u3002   2 .   \u89e3\u538b \u89e3\u538b\u5305 \uff1a   \u5728   Linux   \u4e0a   :   \u5c06 \u5305 \u79fb\u52a8 \u5230   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u811a\u672c \u4ee5 \u63d0\u53d6 \u5185\u5bb9 \uff1a   cd   path / to / carla / root   . / ImportAssets . sh   \u5728   Windows   \u4e0a   :   \u76f4\u63a5 \u5c06 \u5185\u5bb9 \u63d0\u53d6 \u5230 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002","title":"\u5bfc\u5165 \u989d\u5916 \u8d44\u4ea7"},{"location":"start_quickstart/#_4","text":"","title":"\u5b89\u88c5 \u5ba2\u6237\u7aef \u5e93  "},{"location":"start_quickstart/#0912-carla","text":"\u4ee5\u524d \u7248\u672c \u7684   Carla   \u4e0d \u9700\u8981 \u5b89\u88c5   Python   \u5e93 \uff0c \u5b83\u4eec \u9644\u5e26 \u4e86 \u4e00\u4e2a   . egg   \u5f00\u7bb1 \u5373\u7528 \u7684 \u6587\u4ef6 \u3002   Carla   \u7248\u672c   0.9 . 12 +   \u663e \u7740 \u6539\u53d8 \u4e86 \u8fd9\u79cd \u884c\u4e3a \uff1b \u6709 \u591a\u4e2a \u9009\u9879 \u53ef \u7528\u4e8e \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93   \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   0.9 . 12   \u4e4b\u524d \u7684   Carla   \u7248\u672c \uff0c \u8bf7 \u5728 \u5c4f\u5e55 \u53f3\u4e0b \u4e0b\u89d2 \u53f3\u4e0b\u89d2 \u9009\u62e9 \u8be5 \u7248\u672c \u4ee5 \u67e5\u770b \u76f8\u5173 \u6587\u6863 \u3002 \u5426\u5219 \uff0c \u8bf7 \u9605\u8bfb \u4e0b\u9762 \u6709\u5173   Carla   0.9 . 12 +   \u4e2d \u53ef\u7528 \u9009\u9879 \u7684 \u4fe1\u606f \u3002","title":"0.9 . 12   \u4e4b\u524d \u7684   Carla   \u7248\u672c  "},{"location":"start_quickstart/#carla-0912","text":"\u6709 \u591a\u4e2a \u9009\u9879 \u53ef \u7528\u4e8e \u5b89\u88c5 \u548c \u4f7f\u7528   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff1a   . egg   \u6587\u4ef6   . whl   \u6587\u4ef6   \u53ef \u4e0b\u8f7d \u7684 Python \u5305   \u5728 \u51b3\u5b9a \u4f7f\u7528 \u54ea \u79cd \u65b9\u6cd5 \u4e4b\u524d \uff0c \u8bf7 \u9605\u8bfb \u4e0b\u9762 \u6709\u5173 \u6bcf\u79cd \u65b9\u6cd5 \u7684 \u8981\u6c42 \u548c \u9650\u5236 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002 \u8bf7 \u6ce8\u610f \uff0c \u6df7\u5408 \u4f7f\u7528 \u4e0d\u540c \u7684 \u65b9\u6cd5 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u4e0d \u517c\u5bb9 \uff0c \u56e0\u6b64 \u8bf7 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u4f7f\u7528 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \uff0c \u6216\u8005 \u5728 \u4f7f\u7528 \u65b0\u5e93 \u4e4b\u524d   \u5378\u8f7d   \u4ee5\u524d \u5b89\u88c5 \u7684 \u5e93 \u3002   A .   . egg   \u6587\u4ef6   Carla   \u63d0\u4f9b \u4e86 \u5728   PythonAPI / carla / dist /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u7684 \u4e0d\u540c   Python   \u7248\u672c   . egg   \u6587\u4ef6 \uff0c \u53ef\u4ee5 \u5f00\u7bb1 \u5373\u7528 \u3002   PythonAPI / examples   \u4e2d \u7684 \u6bcf\u4e2a \u793a\u4f8b \u811a\u672c \u90fd \u5305\u542b \u4e00\u4e2a \u81ea\u52a8 \u67e5\u627e \u6b64 \u6587\u4ef6 \u7684   \u4ee3\u7801 \u7247\u6bb5   \u3002 \u5728   Linux   \u4e2d \uff0c \u60a8 \u53ef\u80fd \u9700\u8981 \u5c06 \u6b64 \u6587\u4ef6 \u6dfb\u52a0 \u5230 \u60a8 \u7684   PYTHONPATH   \u3002 . \u5728   \u6b64\u5904   \u9605\u8bfb \u6709\u5173   Carla   \u4e2d   . egg   \u6587\u4ef6 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u5982\u679c \u60a8 \u4e4b\u524d \u5df2\u7ecf \u5b89\u88c5 \u4e86 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93   pip   \uff0c \u5219 \u8be5\u5e93 \u5c06 \u4f18\u5148 \u4e8e \u8be5   . egg   \u6587\u4ef6   \u3002 \u60a8 \u9700\u8981 \u5148   \u5378\u8f7d   \u4ee5\u524d \u7684 \u5e93 \u3002   B .   . whl   \u6587\u4ef6   Carla   \u63d0\u4f9b \u4e86 \u4e0d\u540c   Python   \u7248\u672c \u7684   . whl   \u6587\u4ef6 \u3002 \u60a8 \u5c06 \u9700\u8981 \u5b89\u88c5 \u8be5 . whl \u6587\u4ef6 \u3002 \u8be5   . whl   \u6587\u4ef6 \u4f4d\u4e8e   PythonAPI / carla / dist /   \u3002 \u6bcf\u4e2a \u53d7 \u652f\u6301 \u7684   Python   \u7248\u672c \u90fd \u6709 \u4e00\u4e2a \u6587\u4ef6 \uff0c \u7531 \u6587\u4ef6 \u6587\u4ef6\u540d \u6307\u793a \uff08 \u4f8b\u5982 \uff0c carla - 0.9 . 12 -   cp36   - cp36m - manylinux _ 2 _ 27 _ x86 _ 64 . whl   \u8868\u793a   Python   3.6 \uff09 \u3002   \u5efa\u8bae \u5728 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u4e2d \u5b89\u88c5   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u4ee5 \u907f\u514d \u5728 \u4f7f\u7528 \u591a\u4e2a \u7248\u672c \u65f6 \u53d1\u751f \u51b2\u7a81 \u53d1\u751f\u51b2\u7a81 \u3002   \u8981 \u5b89\u88c5   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff0c \u9009\u62e9 \u9002\u5408 \u60a8 \u6240 \u9700   Python   \u7248\u672c \u7684 \u6587\u4ef6 \u3002 \u60a8 \u5c06 \u9700\u8981   pip / pip3   \u7248\u672c   20.3   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002 \u6709\u5173 \u5982\u4f55 \u68c0\u67e5 \u7248\u672c \u548c \u5347\u7ea7 pip / pip3 \u7684 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u5f00\u59cb \u4e4b\u524d   \u90e8\u5206 \uff1a   #   Python   3   pip3   install   < wheel - file - name > . whl   #   Python   2   pip   install   < wheel - file - name > . whl   \u5982\u679c \u60a8 \u4e4b\u524d \u5b89\u88c5 \u4e86 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u5219 \u5e94\u5148   \u5378\u8f7d   \u65e7 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u7136\u540e \u518d \u5b89\u88c5 \u65b0 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u3002   C .   \u53ef \u4e0b\u8f7d \u7684   Python   \u5305   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \u53ef\u4ee5 \u4ece   PyPi   \u4e0b\u8f7d \u3002 \u8be5\u5e93 \u4e0e   Python   \u7248\u672c   2.7 \u3001 3.6 \u3001 3.7   \u548c   3.8   \u517c\u5bb9 \u3002 \u8981 \u5b89\u88c5 \u5b83 \uff0c \u60a8 \u9700\u8981   pip / pip3   \u7248\u672c   20.3   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002 \u6709\u5173 \u5982\u4f55 \u68c0\u67e5 \u7248\u672c \u548c \u5347\u7ea7 pip / pip3 \u7684 \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u5f00\u59cb \u4e4b\u524d   \u90e8\u5206 \u3002   \u5efa\u8bae \u5728 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \u4e2d \u5b89\u88c5   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u4ee5 \u907f\u514d \u5728 \u4f7f\u7528 \u591a\u4e2a \u7248\u672c \u65f6 \u53d1\u751f \u51b2\u7a81 \u53d1\u751f\u51b2\u7a81 \u3002   \u8981 \u4ece   PyPi   \u5b89\u88c5 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u8bf7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   #   Python   3   pip3   install   carla   #   Python   2   pip   install   carla   PyPi   \u4e0b\u8f7d \u4ec5 \u9002\u5408 \u4e0e   Carla   \u5305 \u4e00\u8d77 \u4f7f\u7528 \uff08 \u5373 \u4e0d\u9002 \u7528\u4e8e \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684 \u7248\u672c \uff09 \u3002 \u7531\u4e8e   PyPi   \u4e0b\u8f7d   \u4ec5 \u5305\u542b \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93   \uff0c \u56e0\u6b64 \u5728 \u60a8 \u5c06 \u4e0e \u8fdc\u7a0b   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u4fe1 \u4e14 \u4e0d \u9700\u8981 \u4e0b\u8f7d \u5b8c\u6574 \u7684   Carla   \u5305 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u975e\u5e38 \u6709\u7528 \u3002","title":"Carla   0.9 . 12 +  "},{"location":"start_quickstart/#carla_1","text":"\u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u65b9\u6cd5 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4f7f\u7528 \u7684 \u5b89\u88c5 \u65b9\u6cd5 \u548c \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \uff1a   Debian   \u5b89\u88c5 :   cd   / opt / carla - simulator / bin /   . / CarlaUE4 . sh   Linux   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u5b89\u88c5 \uff1a   cd   path / to / carla / root   . / CarlaUE4 . sh   Windows   \u5305 \u5b89\u88c5 \uff1a   cd   path / to / carla / root   CarlaUE4 . exe   \u5c06 \u5f39\u51fa \u4e00\u4e2a \u5305\u542b \u57ce\u5e02 \u666f\u89c2 \u7684 \u7a97\u53e3 \u3002 \u8fd9\u662f   \u89c2\u5bdf \u89c2\u5bdf\u8005   \u7684 \u770b\u6cd5 \u3002 \u8981 \u5728 \u57ce\u5e02 \u4e2d \u98de\u884c \uff0c \u8bf7 \u4f7f\u7528 \u9f20\u6807 \u548c WASD \u6309\u952e \uff0c \u6309\u4f4f \u9f20\u6807 \u53f3\u952e \u63a7\u5236 \u65b9\u5411 \u3002   \u8fd9\u662f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \uff0c \u5b83 \u73b0\u5728 \u6b63\u5728 \u8fd0\u884c \u5e76 \u7b49\u5f85 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5e76 \u4e0e \u4e16\u754c \u4ea4\u4e92 \u3002 \u60a8 \u53ef\u4ee5 \u5c1d\u8bd5 \u4e00\u4e9b \u793a\u4f8b \u811a\u672c \u6765 \u5728 \u57ce\u5e02 \u4e2d \u4ea7\u751f \u751f\u547d \u5e76 \u9a7e\u9a76 \u6c7d\u8f66 \uff1a   #   \u7ec8\u7aef   A   cd   PythonAPI \\ examples   python3   - m   pip   install   - r   requirements . txt   #   Support   for   Python2   is   provided   in   the   CARLA   release   packages   python3   generate _ traffic . py   #   Terminal   B   cd   PythonAPI \\ examples   python3   manual _ control . py","title":"\u8fd0\u884c   Carla  "},{"location":"start_quickstart/#_5","text":"\u542f\u52a8   Carla   \u65f6\u6709 \u4e00\u4e9b \u53ef\u7528 \u7684 \u914d\u7f6e \u9009\u9879 \uff0c \u53ef\u4ee5 \u6309 \u5982\u4e0b \u65b9\u5f0f \u4f7f\u7528 \u5b83\u4eec \uff1a   . / CarlaUE4 . sh   - carla - rpc - port = 3000   - carla - rpc - port = N   \u4fa6\u542c \u7aef\u53e3   N   \u4e0a \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u3002 \u5a92\u4f53 \u6d41\u5a92\u4f53 \u7aef\u53e3 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e3a   N + 1   \u3002   - carla - streaming - port = N   \u6307\u5b9a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u6570\u636e\u6d41 \u7684 \u7aef\u53e3 \u3002 \u4f7f\u7528   0   \u83b7\u53d6 \u968f\u673a \u672a \u4f7f\u7528 \u7684 \u7aef\u53e3 \u3002 \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u7aef\u53e3 \u5c06 \u81ea\u52a8 \u8bbe\u7f6e \u4e3a   N + 1   \u3002   - quality - level = { Low , Epic }   \u66f4\u6539 \u56fe\u5f62 \u8d28\u91cf \u7ea7\u522b \u3002   \u5728   \u6e32\u67d3 \u9009\u9879   \u4e2d \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u865a\u5e7b \u5f15\u64ce   4   \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u5217\u8868   \u3002   \u3002 \u865a\u5e7b \u5f15\u64ce \u63d0\u4f9b \u4e86 \u5f88\u591a \u9009\u9879 \uff0c \u4f46 \u5e76\u975e \u6240\u6709 \u8fd9\u4e9b \u9009\u9879 \u5728   Carla   \u4e2d \u90fd \u53ef\u7528 \u3002   \u8be5 \u811a\u672c   PythonAPI / util / config . py   \u63d0\u4f9b \u4e86 \u66f4 \u591a \u914d\u7f6e \u9009\u9879 \uff0c \u5e94 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u542f\u52a8 \u65f6 \u8fd0\u884c \uff1a   . / config . py   -- no - rendering   #   \u7981\u7528 \u6e32\u67d3   . / config . py   -- map   Town05   #   \u6539\u53d8 \u5730\u56fe \u3001   . / config . py   -- weather   ClearNoon   #   \u6539\u53d8 \u5929\u6c14   . / config . py   -- help   #   \u68c0\u67e5 \u6240\u6709 \u53ef \u83b7\u5f97 \u7684 \u914d\u7f6e \u9009\u9879","title":"\u547d\u4ee4\u884c \u9009\u9879  "},{"location":"start_quickstart/#carla_2","text":"\u65e0\u6cd5 \u66f4\u65b0   Carla   \u7684 \u6253\u5305 \u7248\u672c \u3002 \u5f53\u65b0 \u7248\u672c \u53d1\u5e03 \u65f6 \uff0c \u5b58\u50a8 \u5e93\u4f1a \u66f4\u65b0 \uff0c \u60a8 \u9700\u8981 \u5220\u9664 \u4ee5\u524d \u7684 \u7248\u672c \u5e76 \u5b89\u88c5 \u65b0 \u7248\u672c \u3002   \u5982\u679c \u60a8 \u4f7f\u7528   pip / pip3   \u5b89\u88c5 \u4e86 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e93 \uff0c \u5219 \u5e94 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u5c06 \u5176 \u5378\u8f7d \uff1a   #   Python   3   pip3   uninstall   carla   #   Python   2   pip   uninstall   carla","title":"\u66f4\u65b0   Carla  "},{"location":"start_quickstart/#_6","text":"\u73b0\u5728 \u60a8 \u5e94\u8be5 \u5df2\u7ecf \u542f\u52a8 \u5e76 \u8fd0\u884c \u4e86   Carla   \u7684 \u6253\u5305 \u7248\u672c \u3002 \u5982\u679c \u60a8 \u5728 \u5b89\u88c5 \u8fc7\u7a0b \u4e2d \u9047\u5230 \u4efb\u4f55 \u56f0\u96be \uff0c \u8bf7 \u968f\u65f6 \u5728   Carla   \u8bba\u575b   \u6216   Discord   \u9891\u9053 \u4e2d \u53d1\u5e16 \u3002   \u4e0b \u4e00\u6b65 \u662f \u8be6\u7ec6 \u4e86\u89e3   Carla   \u7684 \u6838\u5fc3 \u6982\u5ff5 \u3002 \u9605\u8bfb   \u201c \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \u201d   \u90e8\u5206 \u5f00\u59cb \u5b66\u4e60 \u3002 \u60a8 \u8fd8 \u53ef\u4ee5 \u5728   Python   API   \u53c2\u8003 \u4e2d \u627e\u5230 \u6709\u5173   Python   API   \u7c7b \u548c \u65b9\u6cd5 \u7684 \u6240\u6709 \u4fe1\u606f \u3002   \u524d\u5f80 \uff1a \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65","title":"\u8ddf\u8fdb  "},{"location":"todo/","text":"\u5f85 \u505a   \u6280\u672f \u6587\u6863   \u4fee\u590d \u9875\u9762 \u5185 \u7684 \u8df3\u8f6c \uff1b   \u5b8c\u5584 \u5bf9\u5e94 \u6587\u6863 \u7684 \u793a\u4f8b \u4ee3\u7801 \uff08 \u505a\u597d \u914d\u7f6e \u8bf4\u660e \uff09 \uff1b   \u6574\u7406   UE5 \u4e2d \u5b9e\u73b0 \u8fdc\u7a0b \u591a\u7528 \u7528\u6237 \u591a\u7528\u6237 \u534f\u4f5c \u7f16\u8f91   \u3001   \u8868\u60c5 \u5efa\u6a21   Epic \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf \u7248\u672c \u63a7\u5236 \u7248\u672c\u63a7\u5236   Carla   \u793e\u533a \u3001 \u6df1\u4fe1 \u79d1\u521b \u3001 \u4e2d\u6587 \u793e\u533a \u7684 \u6587\u6863 \u3001 \u4ee3\u7801   carla   \u793a\u4f8b   awesome   \uff1b   \u6574\u7406   \u795e\u7ecf \u79d1\u5b66 \u795e\u7ecf\u79d1 \u795e\u7ecf\u79d1\u5b66 \u539f\u7406   \u3001   \u524d\u989d \u53f6 \u76ae\u5c42   \u3001 \u5f3a\u5316 \u5b66\u4e60 \u5bfc\u8bba \u5fc3\u7406 \u7406\u5b66 \u5fc3\u7406\u5b66 \u7ae0\u8282 \uff1b   \u6e38\u620f \u5f00\u53d1   \uff1a   \u591a \u73a9\u5bb6   \u3001   \u4e0a\u4e0b \u9009\u62e9 \u5e76 \u56de\u8f66   SUMMIT \uff1a \u5927\u89c4 \u89c4\u6a21 \u5927\u89c4\u6a21 \u6df7\u5408 \u4ea4\u901a \u6761\u4ef6 \u4e0b \u7684 \u57ce\u5e02 \u9a7e\u9a76 \u6a21\u62df \u6a21\u62df\u5668   \u4e00\u53e5 \u8bdd \u751f\u6210 \u60f3\u8981 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u5173\u952e \u573a\u666f   \u7b2c\u4e09 \u4e09\u65b9 \u7b2c\u4e09\u65b9 \u5de5\u5177   Carla \u8c03\u8bd5 \u5de5\u5177   \uff0c \u4e0b\u8f7d   \u94fe\u63a5   \u3002   \u5b66\u672f \u7814\u7a76 \u5b66\u672f\u7814\u7a76   \u611f\u77e5   \u8f66\u8f86 / \u884c\u4eba \uff1a   \u68c0\u6d4b \u3001 \u8ddf\u8e2a \u3001 \u518d \u8bc6\u522b \u3001 \u8bed\u4e49 \u5206\u5272 \u3001 \u884c\u4e3a \u5efa\u6a21 \u3001 \u5bf9\u6297 \u8bad\u7ec3 \u3001 \u591a \u6a21\u6001 \u878d\u5408 \u3001 \u60ef\u89c6 \u878d\u5408 \u7b49 \u3002   \u884c\u4eba \uff1a   \u8fc7 \u9a6c\u8def \u548c \u4e0d\u8fc7 \u9a6c\u8def \u5206\u7c7b \u3001 \u59ff\u6001 \u81ea \u7f16\u7801 \uff08 \u589e\u52a0 \u6240 \u63d0\u53d6 \u9aa8\u67b6 \u7684 \u8d28\u91cf \uff09 \u3001 \u59ff\u6001 \u4f30\u8ba1 \u3001 \u59ff\u6001 \u62ac\u5347 \uff1b \u8fd0\u52a8 \u5b9a\u5411 \u91cd\u5b9a\u5411 \u3001 \u98ce\u683c \u8fc1\u79fb \uff1b   \u89c4\u5212   \u5efa\u56fe \u3001   \u5b9a\u4f4d   \u3001 \u89c4\u5212 \u3001 \u51b3\u7b56 \u3002   \u51b3\u7b56 \u7684 \u4f26\u7406 \u548c \u516c\u5e73 \u3002   \u63a7\u5236   PID \u3001 \u57fa\u4e8e \u6a21\u578b \u7684 \u63a7\u5236 \u3002   \u901a\u8fc7   carla . Walker . set _ bones ( )   \u5bf9 \u884c\u4eba \u9aa8\u9abc \u8fdb\u884c \u53d8\u6362 \u3002   \u573a\u666f   \u4ee3\u7406 \u3001   \u667a\u80fd \u9a7e\u9a76   \u7b49 \u3002   \u63d0\u4f9b \u6570\u636e \u63d0\u4f9b\u6570\u636e \u5b6a\u751f \u5efa\u7b51 \u751f\u6210 \u7684   Python   \u63a5\u53e3 \u3002   \u4ee3\u7406   \u865a\u62df \u62df\u4eba \u865a\u62df\u4eba \u9884\u6d4b \u9a7e\u9a76 \u884c\u4e3a \u7684 \u795e\u7ecf \u6fc0\u6d3b \u7ed3\u6784   CloningDCB   \uff1a   \u57fa\u4e8e \u514b\u9686 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8ba4\u77e5 \u884c\u4e3a \u7684 \u81ea\u52a8 \u9a7e\u9a76   \uff0c   \u6280\u672f \u62a5\u544a   \u3002   \u9a7e\u9a76 \u3001 \u884c\u8d70 \u3001 \u7ad9\u7acb \u3001 \u8dd1\u6b65 \uff1b   \u827a\u672f \u589e\u5f3a   \u573a\u666f \u7684 \u81ea\u52a8 \u81ea\u52a8\u5316 \u5efa\u6a21 \uff08 \u5220\u9664 \uff09 \uff1a \u9053\u8def \u3001   \u5efa\u7b51   \u7b49 \uff1b   \u8d44\u4ea7 \uff1a \u9053\u8def \u3001 \u5efa\u7b51 \u3001   \u884c\u4eba   \u3001 \u8f66\u8f86 \u3001 \u6811\u6728 \u7b49 \uff1b   \u4f53\u79ef \u96fe \u3001 \u96ea \u3001 \u810f   \u7684 \u652f\u6301 \uff1b   \u6e56 \u5de5\u5546 \u3001 \u91d1 \u91b4 \u9ad8\u901f \u573a\u666f   \u5927 \u6587\u4ef6 \u652f\u6301   \uff1b   \u6e56 \u5de5\u5546 \u573a\u666f \u5206\u652f   https : / / bitbucket . org / carla - simulator / carla - content   Unreal / CarlaUE4 / Content / Carla   \u4e2d \u7535 \u8f6f\u4ef6 \u8f6f\u4ef6\u56ed   \u65b0 \u5b89\u88c5 apkpure \uff0c \u518d \u5b89\u88c5 RealityScan   \u884c\u4eba   \u53c2\u8003   \u884c\u4eba \u6784\u5efa \u6d41\u7a0b   \u3002   \u672a \u5b9a\u4f4d \u529f\u80fd \uff1a \u8dd1\u6b65 \uff1b \u672a \u5b9e\u73b0 \u529f\u80fd \uff1a \u4ea4\u8c08 \u3001 \u53eb \u51fa\u79df \u79df\u8f66 \u51fa\u79df\u8f66 \u3001 \u5750\u4e0b \u3002   \u865a\u5e7b \u5f15\u64ce   \u5f15\u64ce \u4f18\u5316 \uff1a   \u6587\u6863   \u672c\u5730 \u672c\u5730\u5316 \u6574\u7406 \u3002   \u52a0\u8f7d \u8fdb\u5ea6   \uff1b   \u6709\u9650 \u6709\u9650\u5143   \u5f00\u6e90 \u591a \u7269\u7406 \u573a \u4eff\u771f \u5f15\u64ce   Chrono   \u5904\u7406 \u78b0\u649e \u3002   \u53ef \u53d8\u5f62 \u8d44\u4ea7   \u8f66\u8f86 \u78b0\u649e   \u58f0\u97f3   \u865a\u5e7b \u97f3\u9891 \u7684 \u58f0\u5b66 \u9879\u76ee   \u3002   \u7528   C++   \u589e\u52a0 \u97f3\u89c6 \u89c6\u9891 \u97f3\u89c6\u9891 \u4e92\u52a8   \u3001   \u5229\u7528 \u84dd\u56fe \u5236\u4f5c \u7acb\u4f53 \u73af\u5883 \u58f0   \u3002","title":"\u5f85 \u505a"},{"location":"todo/#_1","text":"","title":"\u5f85 \u505a"},{"location":"todo/#_2","text":"\u4fee\u590d \u9875\u9762 \u5185 \u7684 \u8df3\u8f6c \uff1b   \u5b8c\u5584 \u5bf9\u5e94 \u6587\u6863 \u7684 \u793a\u4f8b \u4ee3\u7801 \uff08 \u505a\u597d \u914d\u7f6e \u8bf4\u660e \uff09 \uff1b   \u6574\u7406   UE5 \u4e2d \u5b9e\u73b0 \u8fdc\u7a0b \u591a\u7528 \u7528\u6237 \u591a\u7528\u6237 \u534f\u4f5c \u7f16\u8f91   \u3001   \u8868\u60c5 \u5efa\u6a21   Epic \u751f\u6001 \u7cfb\u7edf \u751f\u6001\u7cfb \u751f\u6001\u7cfb\u7edf \u7248\u672c \u63a7\u5236 \u7248\u672c\u63a7\u5236   Carla   \u793e\u533a \u3001 \u6df1\u4fe1 \u79d1\u521b \u3001 \u4e2d\u6587 \u793e\u533a \u7684 \u6587\u6863 \u3001 \u4ee3\u7801   carla   \u793a\u4f8b   awesome   \uff1b   \u6574\u7406   \u795e\u7ecf \u79d1\u5b66 \u795e\u7ecf\u79d1 \u795e\u7ecf\u79d1\u5b66 \u539f\u7406   \u3001   \u524d\u989d \u53f6 \u76ae\u5c42   \u3001 \u5f3a\u5316 \u5b66\u4e60 \u5bfc\u8bba \u5fc3\u7406 \u7406\u5b66 \u5fc3\u7406\u5b66 \u7ae0\u8282 \uff1b   \u6e38\u620f \u5f00\u53d1   \uff1a   \u591a \u73a9\u5bb6   \u3001   \u4e0a\u4e0b \u9009\u62e9 \u5e76 \u56de\u8f66   SUMMIT \uff1a \u5927\u89c4 \u89c4\u6a21 \u5927\u89c4\u6a21 \u6df7\u5408 \u4ea4\u901a \u6761\u4ef6 \u4e0b \u7684 \u57ce\u5e02 \u9a7e\u9a76 \u6a21\u62df \u6a21\u62df\u5668   \u4e00\u53e5 \u8bdd \u751f\u6210 \u60f3\u8981 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u5173\u952e \u573a\u666f","title":"\u6280\u672f \u6587\u6863"},{"location":"todo/#_3","text":"Carla \u8c03\u8bd5 \u5de5\u5177   \uff0c \u4e0b\u8f7d   \u94fe\u63a5   \u3002","title":"\u7b2c\u4e09\u65b9 \u5de5\u5177"},{"location":"todo/#_4","text":"","title":"\u5b66\u672f\u7814\u7a76"},{"location":"todo/#_5","text":"\u8f66\u8f86 / \u884c\u4eba \uff1a   \u68c0\u6d4b \u3001 \u8ddf\u8e2a \u3001 \u518d \u8bc6\u522b \u3001 \u8bed\u4e49 \u5206\u5272 \u3001 \u884c\u4e3a \u5efa\u6a21 \u3001 \u5bf9\u6297 \u8bad\u7ec3 \u3001 \u591a \u6a21\u6001 \u878d\u5408 \u3001 \u60ef\u89c6 \u878d\u5408 \u7b49 \u3002   \u884c\u4eba \uff1a   \u8fc7 \u9a6c\u8def \u548c \u4e0d\u8fc7 \u9a6c\u8def \u5206\u7c7b \u3001 \u59ff\u6001 \u81ea \u7f16\u7801 \uff08 \u589e\u52a0 \u6240 \u63d0\u53d6 \u9aa8\u67b6 \u7684 \u8d28\u91cf \uff09 \u3001 \u59ff\u6001 \u4f30\u8ba1 \u3001 \u59ff\u6001 \u62ac\u5347 \uff1b \u8fd0\u52a8 \u5b9a\u5411 \u91cd\u5b9a\u5411 \u3001 \u98ce\u683c \u8fc1\u79fb \uff1b","title":"\u611f\u77e5"},{"location":"todo/#_6","text":"\u5efa\u56fe \u3001   \u5b9a\u4f4d   \u3001 \u89c4\u5212 \u3001 \u51b3\u7b56 \u3002   \u51b3\u7b56 \u7684 \u4f26\u7406 \u548c \u516c\u5e73 \u3002","title":"\u89c4\u5212"},{"location":"todo/#_7","text":"PID \u3001 \u57fa\u4e8e \u6a21\u578b \u7684 \u63a7\u5236 \u3002   \u901a\u8fc7   carla . Walker . set _ bones ( )   \u5bf9 \u884c\u4eba \u9aa8\u9abc \u8fdb\u884c \u53d8\u6362 \u3002","title":"\u63a7\u5236"},{"location":"todo/#_8","text":"\u4ee3\u7406 \u3001   \u667a\u80fd \u9a7e\u9a76   \u7b49 \u3002   \u63d0\u4f9b \u6570\u636e \u63d0\u4f9b\u6570\u636e \u5b6a\u751f \u5efa\u7b51 \u751f\u6210 \u7684   Python   \u63a5\u53e3 \u3002","title":"\u573a\u666f"},{"location":"todo/#_9","text":"\u865a\u62df \u62df\u4eba \u865a\u62df\u4eba \u9884\u6d4b \u9a7e\u9a76 \u884c\u4e3a \u7684 \u795e\u7ecf \u6fc0\u6d3b \u7ed3\u6784   CloningDCB   \uff1a   \u57fa\u4e8e \u514b\u9686 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8ba4\u77e5 \u884c\u4e3a \u7684 \u81ea\u52a8 \u9a7e\u9a76   \uff0c   \u6280\u672f \u62a5\u544a   \u3002   \u9a7e\u9a76 \u3001 \u884c\u8d70 \u3001 \u7ad9\u7acb \u3001 \u8dd1\u6b65 \uff1b","title":"\u4ee3\u7406"},{"location":"todo/#_10","text":"\u573a\u666f \u7684 \u81ea\u52a8 \u81ea\u52a8\u5316 \u5efa\u6a21 \uff08 \u5220\u9664 \uff09 \uff1a \u9053\u8def \u3001   \u5efa\u7b51   \u7b49 \uff1b   \u8d44\u4ea7 \uff1a \u9053\u8def \u3001 \u5efa\u7b51 \u3001   \u884c\u4eba   \u3001 \u8f66\u8f86 \u3001 \u6811\u6728 \u7b49 \uff1b   \u4f53\u79ef \u96fe \u3001 \u96ea \u3001 \u810f   \u7684 \u652f\u6301 \uff1b   \u6e56 \u5de5\u5546 \u3001 \u91d1 \u91b4 \u9ad8\u901f \u573a\u666f   \u5927 \u6587\u4ef6 \u652f\u6301   \uff1b   \u6e56 \u5de5\u5546 \u573a\u666f \u5206\u652f   https : / / bitbucket . org / carla - simulator / carla - content   Unreal / CarlaUE4 / Content / Carla   \u4e2d \u7535 \u8f6f\u4ef6 \u8f6f\u4ef6\u56ed   \u65b0 \u5b89\u88c5 apkpure \uff0c \u518d \u5b89\u88c5 RealityScan","title":"\u827a\u672f \u589e\u5f3a"},{"location":"todo/#_11","text":"\u53c2\u8003   \u884c\u4eba \u6784\u5efa \u6d41\u7a0b   \u3002   \u672a \u5b9a\u4f4d \u529f\u80fd \uff1a \u8dd1\u6b65 \uff1b \u672a \u5b9e\u73b0 \u529f\u80fd \uff1a \u4ea4\u8c08 \u3001 \u53eb \u51fa\u79df \u79df\u8f66 \u51fa\u79df\u8f66 \u3001 \u5750\u4e0b \u3002","title":"\u884c\u4eba"},{"location":"todo/#_12","text":"\u5f15\u64ce \u4f18\u5316 \uff1a   \u6587\u6863   \u672c\u5730 \u672c\u5730\u5316 \u6574\u7406 \u3002   \u52a0\u8f7d \u8fdb\u5ea6   \uff1b","title":"\u865a\u5e7b \u5f15\u64ce"},{"location":"todo/#_13","text":"\u5f00\u6e90 \u591a \u7269\u7406 \u573a \u4eff\u771f \u5f15\u64ce   Chrono   \u5904\u7406 \u78b0\u649e \u3002   \u53ef \u53d8\u5f62 \u8d44\u4ea7   \u8f66\u8f86 \u78b0\u649e","title":"\u6709\u9650\u5143"},{"location":"todo/#_14","text":"\u865a\u5e7b \u97f3\u9891 \u7684 \u58f0\u5b66 \u9879\u76ee   \u3002   \u7528   C++   \u589e\u52a0 \u97f3\u89c6 \u89c6\u9891 \u97f3\u89c6\u9891 \u4e92\u52a8   \u3001   \u5229\u7528 \u84dd\u56fe \u5236\u4f5c \u7acb\u4f53 \u73af\u5883 \u58f0   \u3002","title":"\u58f0\u97f3"},{"location":"ts_traffic_simulation_overview/","text":"Carla   \u4e2d \u7684 \u4ea4\u901a \u4eff\u771f   \u4ea4\u901a \u4eff\u771f \u662f \u81ea\u52a8 \u9a7e\u9a76 \u5806\u6808 \u51c6\u786e \u9ad8\u6548 \u7684 \u8bad\u7ec3 \u548c \u6d4b\u8bd5 \u4e0d\u53ef \u6216\u7f3a \u4e0d\u53ef\u6216\u7f3a \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 Carla   \u63d0\u4f9b \u4e86 \u8bb8\u591a \u4e0d\u540c \u7684 \u9009\u9879 \u6765 \u4eff\u771f \u4ea4\u901a \u548c \u7279\u5b9a \u7684 \u4ea4\u901a \u573a\u666f \u3002 \u672c \u8282 \u6982\u8ff0 \u4e86 \u53ef\u7528 \u9009\u9879 \uff0c \u53ef \u5e2e\u52a9 \u60a8 \u786e\u5b9a \u6700 \u9002\u5408 \u60a8 \u7684 \u7528\u4f8b \u7684 \u9009\u9879 \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   Scenario   Runner   \u548c   OpenScenario   Scenic   SUMO   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u662f   Carla   \u4e2d \u7684 \u4e00\u4e2a \u6a21\u5757 \uff0c \u7528\u4e8e \u4ece \u5ba2\u6237 \u5ba2\u6237\u7aef \u63a7\u5236 \u4eff\u771f \u4e2d \u7684 \u67d0\u4e9b \u8f66\u8f86 \u3002   carla . Vehicle . set _ autopilot   \u8f66\u8f86 \u901a\u8fc7 \u65b9\u6cd5 \u6216 \u6ce8\u518c \u5230 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 command . SetAutopilot \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u63a7\u5236 \u662f \u901a\u8fc7   \u4e0d\u540c \u9636\u6bb5   \u7684 \u5faa\u73af \u6765 \u7ba1\u7406 \u7684 \uff0c \u6bcf\u4e2a \u9636\u6bb5 \u90fd \u5728 \u4e0d\u540c \u7684 \u7ebf\u7a0b \u4e0a \u8fd0\u884c \u3002   \u7528\u4e8e \uff1a   \u7528 \u771f\u5b9e \u7684 \u57ce\u5e02 \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u586b\u5145 \u4eff\u771f \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4ea4\u901a \u884c\u4e3a   \u4ee5 \u8bbe\u7f6e \u7279\u5b9a \u7684 \u5b66\u4e60 \u73af\u5883 \u3002   \u5f00\u53d1 \u4e0e \u9636\u6bb5 \u76f8\u5173 \u7684 \u529f\u80fd \u548c \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \uff0c \u540c\u65f6 \u63d0\u9ad8 \u8ba1\u7b97 \u6548\u7387 \u3002   \u8f6c \u81f3 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   Scenario   Runner   \u548c   OpenScenario   Scenario   Runner   \u63d0\u4f9b \u5f00\u7bb1 \u5373\u7528 \u7684   \u9884\u5b9a \u4e49 \u4ea4\u901a \u573a\u666f   \uff0c \u8fd8 \u5141\u8bb8 \u7528\u6237 \u4f7f\u7528   Python   \u6216   OpenSCENARIO   1.0   \u6807\u51c6   \u5b9a\u4e49 \u81ea\u5df1   \u7684 \u573a\u666f \u3002   OpenSCENARIO   \u7684 \u4e3b\u8981 \u8981\u7528 \u7528\u9014 \u4e3b\u8981\u7528\u9014 \u662f \u63cf\u8ff0 \u6d89\u53ca \u591a\u8f86 \u8f66 \u7684 \u590d\u6742 \u64cd\u4f5c \u3002 \u7528\u6237 \u53ef\u4ee5 \u5728   \u8fd9\u91cc   \u67e5\u770b   Scenario   Runner   \u652f\u6301   OpenSCENARIO   \u7684 \u54ea\u4e9b \u529f\u80fd \u3002 \u8fd9\u4e9b \u529f\u80fd \u5305\u62ec \u6f14\u4e60 \u3001 \u52a8\u4f5c \u3001 \u6761\u4ef6 \u3001 \u6545\u4e8b \u548c \u6545\u4e8b \u677f \u3002   Scenario   Runner   \u5fc5\u987b \u4e0e \u4e3b   Carla   \u5305   \u5206\u5f00   \u5b89\u88c5 \u3002   \u7528\u4e8e \uff1a   \u521b\u5efa \u590d\u6742 \u7684 \u4ea4\u901a \u573a\u666f \u548c \u8def\u7ebf \uff0c \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u505a\u597d \u51c6\u5907 \uff0c \u4ee5\u4fbf \u5728   Carla   \u6392\u884c \u6392\u884c\u699c   \u4e0a \u8fdb\u884c \u8bc4\u4f30 \u3002   \u5b9a\u4e49 \u53ef \u9488\u5bf9 \u573a\u666f \u4eff\u771f \u7684 \u8bb0\u5f55 \u8fd0\u884c \u7684 \u5b9a\u5236   \u6307\u6807   \uff0c \u4ece\u800c \u65e0\u9700 \u91cd\u590d \u8fd0\u884c \u4eff\u771f \u3002   \u8f6c \u5230   Scenario   Runner   Scenic   Scenic   \u662f \u4e00\u79cd \u7279\u5b9a \u9886\u57df \u7684 \u6982\u7387 \u7f16\u7a0b \u8bed\u8a00 \u7f16\u7a0b\u8bed\u8a00 \uff0c \u7528\u4e8e \u5bf9 \u673a\u5668 \u673a\u5668\u4eba \u548c \u81ea\u52a8 \u9a7e\u9a76 \u6c7d\u8f66 \u7b49 \u7f51\u7edc \u7269\u7406 \u7cfb\u7edf \u7684 \u73af\u5883 \u8fdb\u884c \u5efa\u6a21 \u3002 Scenic   \u63d0\u4f9b \u4e86 \u4e00\u4e2a   \u4e13\u95e8 \u9886\u57df   \u6765 \u4fc3\u8fdb   Scenic   \u811a\u672c \u5728   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e0a \u7684 \u6267\u884c \u3002   Scenic   \u573a\u666f \u5b9a\u4e49 \u6613\u4e8e \u9605\u8bfb \u548c \u6784\u5efa \u3002   \u6b64\u5904   \u63d0\u4f9b \u4e86 \u521b\u5efa \u7b80\u5355 \u573a\u666f \u7684 \u6559\u7a0b \u3002   \u7528\u4e8e \uff1a   \u4f7f\u7528 \u5355\u4e2a \u573a\u666f \u5b9a\u4e49 \u751f\u6210 \u591a\u4e2a \u4e0d\u540c \u7684 \u573a\u666f \u3002   \u4e3a \u52a8\u6001 \u4ee3\u7406 \u5b9a\u4e49 \u6982\u7387 \u7b56\u7565 \uff0c \u4ee5\u4fbf \u968f\u7740 \u65f6\u95f4 \u7684 \u63a8\u79fb \u91c7\u53d6 \u884c\u52a8 \u91c7\u53d6\u884c\u52a8 \u4ee5 \u54cd\u5e94 \u4e16\u754c \u72b6\u51b5 \u3002   \u8f6c \u81f3   Scenic   \u6559\u7a0b   SUMO   SUMO   \u662f \u4e00\u79cd \u5f00\u6e90 \u3001 \u5fae\u89c2 \u3001 \u591a \u6a21\u5f0f \u4ea4\u901a \u4eff\u771f \u3002 \u5728   SUMO   \u4e2d \uff0c \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u7ecf\u8fc7 \u660e\u786e \u5efa\u6a21 \uff0c \u6709 \u81ea\u5df1 \u7684 \u8def\u7ebf \uff0c \u5e76 \u901a\u8fc7 \u7f51\u7edc \u5355\u72ec \u79fb\u52a8 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u662f \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u7684 \uff0c \u4f46 \u6709 \u591a\u79cd \u9009\u9879 \u53ef\u4ee5 \u5f15\u5165 \u968f\u673a \u968f\u673a\u6027 \u3002   Carla   \u63d0\u4f9b \u4e86 \u4e0e   SUMO   \u7684 \u8054\u5408 \u4eff\u771f \u529f\u80fd \uff0c \u5141\u8bb8 \u5728 \u4e24\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e4b\u95f4 \u5206\u914d \u4efb\u52a1 \u5206\u914d\u4efb\u52a1 \u3002 \u8f66\u8f86 \u53ef\u4ee5 \u901a\u8fc7   SUMO   \u5728   Carla   \u4e2d \u4ea7\u751f \uff0c \u5e76 \u7531   SUMO   \u8fdb\u884c \u7ba1\u7406 \uff0c \u5c31 \u50cf \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u6240 \u505a \u7684 \u90a3\u6837 \u3002   \u7528\u4e8e \uff1a   \u5728 \u4e00\u4e2a \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u4e2d \u5229\u7528   Carla   \u548c   SUMO   \u7684 \u529f\u80fd \u3002   \u8f6c \u81f3   SUMO   \u534f\u540c \u4eff\u771f   \u5982\u679c \u60a8 \u5bf9   Carla   \u4e2d \u4eff\u771f \u4ea4\u901a \u7684 \u4e0d\u540c \u9009\u9879 \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u6216   Discord   \u4e2d \u53d1\u5e16 \u3002   Carla   \u8bba\u575b","title":"Ts   traffic   simulation   overview"},{"location":"ts_traffic_simulation_overview/#carla","text":"\u4ea4\u901a \u4eff\u771f \u662f \u81ea\u52a8 \u9a7e\u9a76 \u5806\u6808 \u51c6\u786e \u9ad8\u6548 \u7684 \u8bad\u7ec3 \u548c \u6d4b\u8bd5 \u4e0d\u53ef \u6216\u7f3a \u4e0d\u53ef\u6216\u7f3a \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 Carla   \u63d0\u4f9b \u4e86 \u8bb8\u591a \u4e0d\u540c \u7684 \u9009\u9879 \u6765 \u4eff\u771f \u4ea4\u901a \u548c \u7279\u5b9a \u7684 \u4ea4\u901a \u573a\u666f \u3002 \u672c \u8282 \u6982\u8ff0 \u4e86 \u53ef\u7528 \u9009\u9879 \uff0c \u53ef \u5e2e\u52a9 \u60a8 \u786e\u5b9a \u6700 \u9002\u5408 \u60a8 \u7684 \u7528\u4f8b \u7684 \u9009\u9879 \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   Scenario   Runner   \u548c   OpenScenario   Scenic   SUMO","title":"Carla   \u4e2d \u7684 \u4ea4\u901a \u4eff\u771f"},{"location":"ts_traffic_simulation_overview/#_1","text":"\u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u662f   Carla   \u4e2d \u7684 \u4e00\u4e2a \u6a21\u5757 \uff0c \u7528\u4e8e \u4ece \u5ba2\u6237 \u5ba2\u6237\u7aef \u63a7\u5236 \u4eff\u771f \u4e2d \u7684 \u67d0\u4e9b \u8f66\u8f86 \u3002   carla . Vehicle . set _ autopilot   \u8f66\u8f86 \u901a\u8fc7 \u65b9\u6cd5 \u6216 \u6ce8\u518c \u5230 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 command . SetAutopilot \u3002 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u63a7\u5236 \u662f \u901a\u8fc7   \u4e0d\u540c \u9636\u6bb5   \u7684 \u5faa\u73af \u6765 \u7ba1\u7406 \u7684 \uff0c \u6bcf\u4e2a \u9636\u6bb5 \u90fd \u5728 \u4e0d\u540c \u7684 \u7ebf\u7a0b \u4e0a \u8fd0\u884c \u3002   \u7528\u4e8e \uff1a   \u7528 \u771f\u5b9e \u7684 \u57ce\u5e02 \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u586b\u5145 \u4eff\u771f \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4ea4\u901a \u884c\u4e3a   \u4ee5 \u8bbe\u7f6e \u7279\u5b9a \u7684 \u5b66\u4e60 \u73af\u5883 \u3002   \u5f00\u53d1 \u4e0e \u9636\u6bb5 \u76f8\u5173 \u7684 \u529f\u80fd \u548c \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \uff0c \u540c\u65f6 \u63d0\u9ad8 \u8ba1\u7b97 \u6548\u7387 \u3002   \u8f6c \u81f3 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668","title":"\u4ea4\u901a\u7ba1\u7406 \u5668  "},{"location":"ts_traffic_simulation_overview/#scenario-runner-openscenario","text":"Scenario   Runner   \u63d0\u4f9b \u5f00\u7bb1 \u5373\u7528 \u7684   \u9884\u5b9a \u4e49 \u4ea4\u901a \u573a\u666f   \uff0c \u8fd8 \u5141\u8bb8 \u7528\u6237 \u4f7f\u7528   Python   \u6216   OpenSCENARIO   1.0   \u6807\u51c6   \u5b9a\u4e49 \u81ea\u5df1   \u7684 \u573a\u666f \u3002   OpenSCENARIO   \u7684 \u4e3b\u8981 \u8981\u7528 \u7528\u9014 \u4e3b\u8981\u7528\u9014 \u662f \u63cf\u8ff0 \u6d89\u53ca \u591a\u8f86 \u8f66 \u7684 \u590d\u6742 \u64cd\u4f5c \u3002 \u7528\u6237 \u53ef\u4ee5 \u5728   \u8fd9\u91cc   \u67e5\u770b   Scenario   Runner   \u652f\u6301   OpenSCENARIO   \u7684 \u54ea\u4e9b \u529f\u80fd \u3002 \u8fd9\u4e9b \u529f\u80fd \u5305\u62ec \u6f14\u4e60 \u3001 \u52a8\u4f5c \u3001 \u6761\u4ef6 \u3001 \u6545\u4e8b \u548c \u6545\u4e8b \u677f \u3002   Scenario   Runner   \u5fc5\u987b \u4e0e \u4e3b   Carla   \u5305   \u5206\u5f00   \u5b89\u88c5 \u3002   \u7528\u4e8e \uff1a   \u521b\u5efa \u590d\u6742 \u7684 \u4ea4\u901a \u573a\u666f \u548c \u8def\u7ebf \uff0c \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u505a\u597d \u51c6\u5907 \uff0c \u4ee5\u4fbf \u5728   Carla   \u6392\u884c \u6392\u884c\u699c   \u4e0a \u8fdb\u884c \u8bc4\u4f30 \u3002   \u5b9a\u4e49 \u53ef \u9488\u5bf9 \u573a\u666f \u4eff\u771f \u7684 \u8bb0\u5f55 \u8fd0\u884c \u7684 \u5b9a\u5236   \u6307\u6807   \uff0c \u4ece\u800c \u65e0\u9700 \u91cd\u590d \u8fd0\u884c \u4eff\u771f \u3002   \u8f6c \u5230   Scenario   Runner","title":"Scenario   Runner   \u548c   OpenScenario  "},{"location":"ts_traffic_simulation_overview/#scenic","text":"Scenic   \u662f \u4e00\u79cd \u7279\u5b9a \u9886\u57df \u7684 \u6982\u7387 \u7f16\u7a0b \u8bed\u8a00 \u7f16\u7a0b\u8bed\u8a00 \uff0c \u7528\u4e8e \u5bf9 \u673a\u5668 \u673a\u5668\u4eba \u548c \u81ea\u52a8 \u9a7e\u9a76 \u6c7d\u8f66 \u7b49 \u7f51\u7edc \u7269\u7406 \u7cfb\u7edf \u7684 \u73af\u5883 \u8fdb\u884c \u5efa\u6a21 \u3002 Scenic   \u63d0\u4f9b \u4e86 \u4e00\u4e2a   \u4e13\u95e8 \u9886\u57df   \u6765 \u4fc3\u8fdb   Scenic   \u811a\u672c \u5728   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e0a \u7684 \u6267\u884c \u3002   Scenic   \u573a\u666f \u5b9a\u4e49 \u6613\u4e8e \u9605\u8bfb \u548c \u6784\u5efa \u3002   \u6b64\u5904   \u63d0\u4f9b \u4e86 \u521b\u5efa \u7b80\u5355 \u573a\u666f \u7684 \u6559\u7a0b \u3002   \u7528\u4e8e \uff1a   \u4f7f\u7528 \u5355\u4e2a \u573a\u666f \u5b9a\u4e49 \u751f\u6210 \u591a\u4e2a \u4e0d\u540c \u7684 \u573a\u666f \u3002   \u4e3a \u52a8\u6001 \u4ee3\u7406 \u5b9a\u4e49 \u6982\u7387 \u7b56\u7565 \uff0c \u4ee5\u4fbf \u968f\u7740 \u65f6\u95f4 \u7684 \u63a8\u79fb \u91c7\u53d6 \u884c\u52a8 \u91c7\u53d6\u884c\u52a8 \u4ee5 \u54cd\u5e94 \u4e16\u754c \u72b6\u51b5 \u3002   \u8f6c \u81f3   Scenic   \u6559\u7a0b","title":"Scenic  "},{"location":"ts_traffic_simulation_overview/#sumo","text":"SUMO   \u662f \u4e00\u79cd \u5f00\u6e90 \u3001 \u5fae\u89c2 \u3001 \u591a \u6a21\u5f0f \u4ea4\u901a \u4eff\u771f \u3002 \u5728   SUMO   \u4e2d \uff0c \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u90fd \u7ecf\u8fc7 \u660e\u786e \u5efa\u6a21 \uff0c \u6709 \u81ea\u5df1 \u7684 \u8def\u7ebf \uff0c \u5e76 \u901a\u8fc7 \u7f51\u7edc \u5355\u72ec \u79fb\u52a8 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u662f \u786e\u5b9a \u5b9a\u6027 \u786e\u5b9a\u6027 \u7684 \uff0c \u4f46 \u6709 \u591a\u79cd \u9009\u9879 \u53ef\u4ee5 \u5f15\u5165 \u968f\u673a \u968f\u673a\u6027 \u3002   Carla   \u63d0\u4f9b \u4e86 \u4e0e   SUMO   \u7684 \u8054\u5408 \u4eff\u771f \u529f\u80fd \uff0c \u5141\u8bb8 \u5728 \u4e24\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e4b\u95f4 \u5206\u914d \u4efb\u52a1 \u5206\u914d\u4efb\u52a1 \u3002 \u8f66\u8f86 \u53ef\u4ee5 \u901a\u8fc7   SUMO   \u5728   Carla   \u4e2d \u4ea7\u751f \uff0c \u5e76 \u7531   SUMO   \u8fdb\u884c \u7ba1\u7406 \uff0c \u5c31 \u50cf \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u6240 \u505a \u7684 \u90a3\u6837 \u3002   \u7528\u4e8e \uff1a   \u5728 \u4e00\u4e2a \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u4e2d \u5229\u7528   Carla   \u548c   SUMO   \u7684 \u529f\u80fd \u3002   \u8f6c \u81f3   SUMO   \u534f\u540c \u4eff\u771f   \u5982\u679c \u60a8 \u5bf9   Carla   \u4e2d \u4eff\u771f \u4ea4\u901a \u7684 \u4e0d\u540c \u9009\u9879 \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u6216   Discord   \u4e2d \u53d1\u5e16 \u3002   Carla   \u8bba\u575b","title":"SUMO  "},{"location":"tuto_A_add_props/","text":"\u6dfb\u52a0 \u65b0 \u9053\u5177   \u9664\u4e86 \u5730\u56fe \u548c \u8f66\u8f86 \u4e4b\u5916 \uff0c \u9053\u5177 \u662f \u573a\u666f \u4e2d \u7684 \u8d44\u4ea7 \u3002 \u5176\u4e2d \u5305\u62ec \u8def\u706f \u3001 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u6811\u6728 \u7b49\u7b49 \u3002 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u53ef\u4ee5 \u968f\u65f6 \u901a\u8fc7 \u7b80\u5355 \u7684 \u8fc7\u7a0b \u5bfc\u5165 \u65b0 \u9053\u5177 \u3002 \u8fd9 \u5bf9\u4e8e \u5728 \u5730\u56fe \u4e2d \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u73af\u5883 \u975e\u5e38 \u6709\u7528 \u3002   \u51c6\u5907 \u5305   \u521b\u5efa \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784   \u521b\u5efa   JSON   \u63cf\u8ff0   \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u5305\u4e2d   \u5728 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u4e2d \u5bfc\u5165   \u51c6\u5907 \u5305   \u521b\u5efa \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784   1 .   \u5728   carla / Import   \u91cc\u9762 \u521b\u5efa \u4e00\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   .   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u540d\u79f0 \u4e0d \u76f8\u5173 \u3002   2 .   \u521b\u5efa \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u5e94\u8be5 \u6709 \u4e00\u4e2a \u901a\u7528 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u6765 \u5b58\u653e \u6240\u6709 \u9053\u5177 \uff0c \u5e76\u4e14 \u5728 \u5176\u4e2d \u5305\u542b \u4e0e \u8981 \u5bfc\u5165 \u7684 \u9053\u5177 \u4e00\u6837 \u591a \u7684 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   3 .   \u5c06 \u5404\u4e2a \u9053\u5177 \u7684 \u6587\u4ef6 \u79fb\u52a8 \u5230 \u76f8\u5e94 \u7684 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u9053\u5177 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5c06 \u5305\u542b   . fbx   \u7f51\u683c \u7269\u4f53 \uff0c \u4ee5\u53ca \u5b83 \u6240 \u9700 \u7684 \u7eb9\u7406 \uff08 \u53ef \u9009 \uff09 \u3002   \u4f8b\u5982 \uff0c \u5305\u542b \u4e24\u4e2a \u72ec\u7acb \u5305 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e94 \u5177\u6709 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u7ed3\u6784 \u7684 \u7ed3\u6784 \u3002   Import   \u2502   \u251c \u2500 \u2500   Package01   \u2502   \u251c \u2500 \u2500   Package01 . json   \u2502   \u2514 \u2500 \u2500   Props   \u2502   \u251c \u2500 \u2500   Prop01   \u2502   \u2502   \u251c \u2500 \u2500   Prop01 _ Diff . png   \u2502   \u2502   \u251c \u2500 \u2500   Prop01 _ Norm . png   \u2502   \u2502   \u251c \u2500 \u2500   Prop01 _ Spec . png   \u2502   \u2502   \u2514 \u2500 \u2500   Prop01 . fbx   \u2502   \u2514 \u2500 \u2500   Prop02   \u2502   \u2514 \u2500 \u2500   Prop02 . fbx   \u2514 \u2500 \u2500   Package02   \u251c \u2500 \u2500   Packag02 . json   \u2514 \u2500 \u2500   Props   \u2514 \u2500 \u2500   Prop03   \u2514 \u2500 \u2500   Prop03 . fbx   \u521b\u5efa   JSON   \u63cf\u8ff0   \u5728 \u5305 \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u521b\u5efa \u4e00\u4e2a   . json   \u6587\u4ef6 \u3002 \u5728 \u5305 \u4e4b\u540e \u547d\u540d \u6587\u4ef6 \u3002 \u8bf7 \u6ce8\u610f \uff0c \u8fd9 \u5c06 \u662f \u53d1\u884c \u53d1\u884c\u7248 \u540d\u79f0 \u3002 \u6587\u4ef6 \u7684 \u5185\u5bb9 \u5c06 \u63cf\u8ff0 \u5730\u56fe   maps   \u548c \u9053\u5177   props   \u7684   JSON   \u6570\u7ec4 \uff0c \u4ee5\u53ca \u6bcf\u4e2a \u5730\u56fe \u548c \u9053\u5177 \u7684 \u57fa\u672c \u4fe1\u606f \u3002   Maps   \u4e0d\u662f \u672c \u6559\u7a0b \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u56e0\u6b64 \u8be5 \u5b9a\u4e49 \u5c06 \u4e3a \u7a7a \u3002 \u6709 \u4e00\u4e2a \u5177\u4f53 \u7684 \u6559\u7a0b \u6765   \u6dfb\u52a0 \u65b0 \u5730\u56fe   \u3002   Props   \u9700\u8981 \u4ee5\u4e0b \u53c2\u6570 \u3002   \u9053\u5177 \u7684   name   \u3002 \u8fd9 \u5fc5\u987b \u4e0e   . fbx   \u76f8\u540c \u3002   . fbx   \u7684   source   \u8def\u5f84 \u3002   \u9053\u5177 \u7684   size   \u4f30\u8ba1 \u3002 \u6b64\u5904 \u5217\u51fa \u4e86 \u53ef\u80fd \u7684 \u503c \u3002   tiny   small   medium   big   huge   \u8bed\u4e49 \u5206\u5272 \u7684   tag   \u3002 \u5982\u679c \u6807\u7b7e \u62fc\u5199 \u5199\u9519 \u9519\u8bef \u62fc\u5199\u9519\u8bef \uff0c \u5b83 \u5c06 \u88ab \u8bfb\u53d6 \u4e3a   Unlabeled   .   Bridge   Building   Dynamic   Fence   Ground   GuardRail   Other   Pedestrian   Pole   RailTrack   Road   RoadLine   SideWalk   Sky   Static   Terrain   TrafficLight   TrafficSign   Unlabeled   Vegetation   Vehicles   Wall   Water   \u6700\u540e \uff0c   . json   \u5e94\u8be5 \u4e0e \u4e0b\u9762 \u7684 \u7c7b\u4f3c \u3002   {   \" maps \" :   [   ] ,   \" props \" :   [   {   \" name \" :   \" MyProp01 \" ,   \" size \" :   \" medium \" ,   \" source \" :   \" . / Props / Prop01 / Prop01 . fbx \" ,   \" tag \" :   \" SemanticSegmentationTag01 \"   } ,   {   \" name \" :   \" MyProp02 \" ,   \" size \" :   \" small \" ,   \" source \" :   \" . / Props / Prop02 / Prop02 . fbx \" ,   \" tag \" :   \" SemanticSegmentationTag02 \"   }   ]   }   \u8b66\u544a   \u5177\u6709 \u76f8\u540c \u540d\u79f0 \u7684 \u5305 \u5c06 \u4ea7\u751f \u9519\u8bef \u3002   \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u5305\u4e2d   \u8fd9\u662f \u7528\u4e8e \u5c06 \u9053\u5177 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u5305 \uff08 \u4f8b\u5982   Carla   0.9 . 8 \uff09 \u4e2d \u7684 \u65b9\u6cd5 \u3002   \u5c06 \u521b\u5efa \u865a\u5e7b \u5f15\u64ce \u7684   Docker   \u6620\u50cf \u3002 \u5b83 \u5145\u5f53 \u4e00\u4e2a \u9ed1\u76d2 \u76d2\u5b50 \u9ed1\u76d2\u5b50 \uff0c \u81ea\u52a8 \u5c06 \u5305 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u955c\u50cf \u4e2d \uff0c \u5e76 \u751f\u6210 \u5206\u53d1 \u5305 \u3002 Docker   \u955c\u50cf \u9700\u8981   4   \u5c0f\u65f6 \u548c   400GB   \u624d\u80fd \u6784\u5efa \u3002 \u7136\u800c \uff0c \u8fd9\u4ec5 \u662f \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u9700\u8981 \u3002   1 .   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u7684   Docker   \u955c\u50cf \u3002   \u8bf7 \u6309\u7167   \u4ee5\u4e0b \u8bf4\u660e   \u6784\u5efa \u6620\u50cf \u3002   2 .   \u8fd0\u884c \u811a\u672c \u6765 \u70d8\u57f9 \u9053\u5177 \u3002   ~ / carla / Util / Docker   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d\u6709 \u4e00\u4e2a \u811a\u672c \uff0c \u5b83 \u4e0e \u4e4b\u524d \u521b\u5efa \u7684   Docker   \u6620\u50cf \u8fde\u63a5 \uff0c \u5e76 \u81ea\u52a8 \u8fdb\u884c \u5bfc\u5165 \u3002 \u5b83 \u53ea \u9700\u8981 \u8f93\u5165 \u548c \u8f93\u51fa \u6587\u4ef6 \u7684 \u8def\u5f84 \u4ee5\u53ca \u8981 \u5bfc\u5165 \u7684 \u5305 \u7684 \u540d\u79f0 \u3002   python3   docker _ tools . py   -- input   ~ / path _ to _ package   -- output   ~ / path _ for _ output _ assets   -- package = Package01   3 .   \u5b9a\u4f4d \u5305   \u3002   Docker   \u5e94\u8be5 \u5df2\u7ecf \u5728 \u8f93\u51fa \u8def\u5f84 \u4e2d \u751f\u6210 \u4e86 \u5305   Package01 . tar . gz   \u3002 \u8fd9\u662f \u8d44\u4ea7 \u7684 \u72ec\u7acb \u5305 \u3002   4 .   \u5c06 \u5305 \u5bfc\u5165   Carla \u3002   \u5728   Windows   \u4e0a \uff0c   \u5c06 \u5305 \u89e3\u538b \u5230   WindowsNoEditor   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5728   Linux   \u4e0a \uff0c   \u5c06 \u5305 \u79fb\u52a8 \u5230   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u7136\u540e \u8fd0\u884c \u811a\u672c \u5c06 \u5176 \u5bfc\u5165 \u3002   cd   Util   . / ImportAssets . sh   \u7b14\u8bb0   Linux   \u4e0a \u6709 \u4e00\u4e2a \u66ff\u4ee3 \u65b9\u6848 \u3002 \u5c06 \u5305 \u79fb\u52a8 \u5230   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5e76 \u8fd0\u884c \u811a\u672c   Util / ImportAssets . sh   \u4ee5 \u63d0\u53d6 \u5305 \u3002   \u5728 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u4e2d \u5bfc\u5165   \u8fd9 \u662f\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u5c06 \u9053\u5177 \u5bfc\u5165 \u5bfc\u5165\u5230 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla   \u7684 \u65b9\u6cd5 \u3002   \u5c06 \u8bfb\u53d6   JSON   \u6587\u4ef6 \u4ee5 \u5c06 \u9053\u5177 \u653e\u5165 \u865a\u5e7b \u5f15\u64ce   Content   \u4e2d \u3002 \u6b64\u5916 \uff0c \u5b83 \u5c06 \u5728 \u5305 \u7684   Config   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u521b\u5efa \u4e00\u4e2a   Package1 . Package . json   \u6587\u4ef6 \u3002 \u8fd9 \u5c06 \u7528\u4e8e \u5b9a\u4e49 \u84dd \u56fe\u5e93 \u4e2d \u7684 \u9053\u5177 \uff0c \u5e76 \u5728   Python   API   \u4e2d \u516c\u5f00 \u5b83\u4eec \u3002 \u5982\u679c \u5305 \u4f5c\u4e3a   \u72ec\u7acb \u5305   \u5bfc\u51fa \uff0c \u4e5f \u5c06 \u4f7f\u7528 \u5b83 \u3002   \u4e00\u5207 \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u540e \uff0c \u8fd0\u884c \u547d\u4ee4 \u3002   make   import   \u8b66\u544a   \u786e\u4fdd \u8be5\u5305 \u4f4d\u4e8e   Carla   \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u3002   \u8fd9 \u5c31\u662f \u5173\u4e8e \u5c06 \u65b0 \u9053\u5177 \u5bfc\u5165   Carla   \u7684 \u4e0d\u540c \u65b9\u6cd5 \u7684 \u5168\u90e8 \u4fe1\u606f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"tuto   A   add   props"},{"location":"tuto_A_add_props/#_1","text":"\u9664\u4e86 \u5730\u56fe \u548c \u8f66\u8f86 \u4e4b\u5916 \uff0c \u9053\u5177 \u662f \u573a\u666f \u4e2d \u7684 \u8d44\u4ea7 \u3002 \u5176\u4e2d \u5305\u62ec \u8def\u706f \u3001 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u6811\u6728 \u7b49\u7b49 \u3002 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u53ef\u4ee5 \u968f\u65f6 \u901a\u8fc7 \u7b80\u5355 \u7684 \u8fc7\u7a0b \u5bfc\u5165 \u65b0 \u9053\u5177 \u3002 \u8fd9 \u5bf9\u4e8e \u5728 \u5730\u56fe \u4e2d \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u73af\u5883 \u975e\u5e38 \u6709\u7528 \u3002   \u51c6\u5907 \u5305   \u521b\u5efa \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784   \u521b\u5efa   JSON   \u63cf\u8ff0   \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u5305\u4e2d   \u5728 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u4e2d \u5bfc\u5165","title":"\u6dfb\u52a0 \u65b0 \u9053\u5177"},{"location":"tuto_A_add_props/#_2","text":"","title":"\u51c6\u5907 \u5305  "},{"location":"tuto_A_add_props/#_3","text":"1 .   \u5728   carla / Import   \u91cc\u9762 \u521b\u5efa \u4e00\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   .   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u540d\u79f0 \u4e0d \u76f8\u5173 \u3002   2 .   \u521b\u5efa \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u5e94\u8be5 \u6709 \u4e00\u4e2a \u901a\u7528 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u6765 \u5b58\u653e \u6240\u6709 \u9053\u5177 \uff0c \u5e76\u4e14 \u5728 \u5176\u4e2d \u5305\u542b \u4e0e \u8981 \u5bfc\u5165 \u7684 \u9053\u5177 \u4e00\u6837 \u591a \u7684 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   3 .   \u5c06 \u5404\u4e2a \u9053\u5177 \u7684 \u6587\u4ef6 \u79fb\u52a8 \u5230 \u76f8\u5e94 \u7684 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u9053\u5177 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5c06 \u5305\u542b   . fbx   \u7f51\u683c \u7269\u4f53 \uff0c \u4ee5\u53ca \u5b83 \u6240 \u9700 \u7684 \u7eb9\u7406 \uff08 \u53ef \u9009 \uff09 \u3002   \u4f8b\u5982 \uff0c \u5305\u542b \u4e24\u4e2a \u72ec\u7acb \u5305 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e94 \u5177\u6709 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u7ed3\u6784 \u7684 \u7ed3\u6784 \u3002   Import   \u2502   \u251c \u2500 \u2500   Package01   \u2502   \u251c \u2500 \u2500   Package01 . json   \u2502   \u2514 \u2500 \u2500   Props   \u2502   \u251c \u2500 \u2500   Prop01   \u2502   \u2502   \u251c \u2500 \u2500   Prop01 _ Diff . png   \u2502   \u2502   \u251c \u2500 \u2500   Prop01 _ Norm . png   \u2502   \u2502   \u251c \u2500 \u2500   Prop01 _ Spec . png   \u2502   \u2502   \u2514 \u2500 \u2500   Prop01 . fbx   \u2502   \u2514 \u2500 \u2500   Prop02   \u2502   \u2514 \u2500 \u2500   Prop02 . fbx   \u2514 \u2500 \u2500   Package02   \u251c \u2500 \u2500   Packag02 . json   \u2514 \u2500 \u2500   Props   \u2514 \u2500 \u2500   Prop03   \u2514 \u2500 \u2500   Prop03 . fbx","title":"\u521b\u5efa \u6587\u4ef6\u5939 \u7ed3\u6784  "},{"location":"tuto_A_add_props/#json","text":"\u5728 \u5305 \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u521b\u5efa \u4e00\u4e2a   . json   \u6587\u4ef6 \u3002 \u5728 \u5305 \u4e4b\u540e \u547d\u540d \u6587\u4ef6 \u3002 \u8bf7 \u6ce8\u610f \uff0c \u8fd9 \u5c06 \u662f \u53d1\u884c \u53d1\u884c\u7248 \u540d\u79f0 \u3002 \u6587\u4ef6 \u7684 \u5185\u5bb9 \u5c06 \u63cf\u8ff0 \u5730\u56fe   maps   \u548c \u9053\u5177   props   \u7684   JSON   \u6570\u7ec4 \uff0c \u4ee5\u53ca \u6bcf\u4e2a \u5730\u56fe \u548c \u9053\u5177 \u7684 \u57fa\u672c \u4fe1\u606f \u3002   Maps   \u4e0d\u662f \u672c \u6559\u7a0b \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u56e0\u6b64 \u8be5 \u5b9a\u4e49 \u5c06 \u4e3a \u7a7a \u3002 \u6709 \u4e00\u4e2a \u5177\u4f53 \u7684 \u6559\u7a0b \u6765   \u6dfb\u52a0 \u65b0 \u5730\u56fe   \u3002   Props   \u9700\u8981 \u4ee5\u4e0b \u53c2\u6570 \u3002   \u9053\u5177 \u7684   name   \u3002 \u8fd9 \u5fc5\u987b \u4e0e   . fbx   \u76f8\u540c \u3002   . fbx   \u7684   source   \u8def\u5f84 \u3002   \u9053\u5177 \u7684   size   \u4f30\u8ba1 \u3002 \u6b64\u5904 \u5217\u51fa \u4e86 \u53ef\u80fd \u7684 \u503c \u3002   tiny   small   medium   big   huge   \u8bed\u4e49 \u5206\u5272 \u7684   tag   \u3002 \u5982\u679c \u6807\u7b7e \u62fc\u5199 \u5199\u9519 \u9519\u8bef \u62fc\u5199\u9519\u8bef \uff0c \u5b83 \u5c06 \u88ab \u8bfb\u53d6 \u4e3a   Unlabeled   .   Bridge   Building   Dynamic   Fence   Ground   GuardRail   Other   Pedestrian   Pole   RailTrack   Road   RoadLine   SideWalk   Sky   Static   Terrain   TrafficLight   TrafficSign   Unlabeled   Vegetation   Vehicles   Wall   Water   \u6700\u540e \uff0c   . json   \u5e94\u8be5 \u4e0e \u4e0b\u9762 \u7684 \u7c7b\u4f3c \u3002   {   \" maps \" :   [   ] ,   \" props \" :   [   {   \" name \" :   \" MyProp01 \" ,   \" size \" :   \" medium \" ,   \" source \" :   \" . / Props / Prop01 / Prop01 . fbx \" ,   \" tag \" :   \" SemanticSegmentationTag01 \"   } ,   {   \" name \" :   \" MyProp02 \" ,   \" size \" :   \" small \" ,   \" source \" :   \" . / Props / Prop02 / Prop02 . fbx \" ,   \" tag \" :   \" SemanticSegmentationTag02 \"   }   ]   }   \u8b66\u544a   \u5177\u6709 \u76f8\u540c \u540d\u79f0 \u7684 \u5305 \u5c06 \u4ea7\u751f \u9519\u8bef \u3002","title":"\u521b\u5efa   JSON   \u63cf\u8ff0  "},{"location":"tuto_A_add_props/#carla","text":"\u8fd9\u662f \u7528\u4e8e \u5c06 \u9053\u5177 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u5305 \uff08 \u4f8b\u5982   Carla   0.9 . 8 \uff09 \u4e2d \u7684 \u65b9\u6cd5 \u3002   \u5c06 \u521b\u5efa \u865a\u5e7b \u5f15\u64ce \u7684   Docker   \u6620\u50cf \u3002 \u5b83 \u5145\u5f53 \u4e00\u4e2a \u9ed1\u76d2 \u76d2\u5b50 \u9ed1\u76d2\u5b50 \uff0c \u81ea\u52a8 \u5c06 \u5305 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u955c\u50cf \u4e2d \uff0c \u5e76 \u751f\u6210 \u5206\u53d1 \u5305 \u3002 Docker   \u955c\u50cf \u9700\u8981   4   \u5c0f\u65f6 \u548c   400GB   \u624d\u80fd \u6784\u5efa \u3002 \u7136\u800c \uff0c \u8fd9\u4ec5 \u662f \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u9700\u8981 \u3002   1 .   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u7684   Docker   \u955c\u50cf \u3002   \u8bf7 \u6309\u7167   \u4ee5\u4e0b \u8bf4\u660e   \u6784\u5efa \u6620\u50cf \u3002   2 .   \u8fd0\u884c \u811a\u672c \u6765 \u70d8\u57f9 \u9053\u5177 \u3002   ~ / carla / Util / Docker   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d\u6709 \u4e00\u4e2a \u811a\u672c \uff0c \u5b83 \u4e0e \u4e4b\u524d \u521b\u5efa \u7684   Docker   \u6620\u50cf \u8fde\u63a5 \uff0c \u5e76 \u81ea\u52a8 \u8fdb\u884c \u5bfc\u5165 \u3002 \u5b83 \u53ea \u9700\u8981 \u8f93\u5165 \u548c \u8f93\u51fa \u6587\u4ef6 \u7684 \u8def\u5f84 \u4ee5\u53ca \u8981 \u5bfc\u5165 \u7684 \u5305 \u7684 \u540d\u79f0 \u3002   python3   docker _ tools . py   -- input   ~ / path _ to _ package   -- output   ~ / path _ for _ output _ assets   -- package = Package01   3 .   \u5b9a\u4f4d \u5305   \u3002   Docker   \u5e94\u8be5 \u5df2\u7ecf \u5728 \u8f93\u51fa \u8def\u5f84 \u4e2d \u751f\u6210 \u4e86 \u5305   Package01 . tar . gz   \u3002 \u8fd9\u662f \u8d44\u4ea7 \u7684 \u72ec\u7acb \u5305 \u3002   4 .   \u5c06 \u5305 \u5bfc\u5165   Carla \u3002   \u5728   Windows   \u4e0a \uff0c   \u5c06 \u5305 \u89e3\u538b \u5230   WindowsNoEditor   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5728   Linux   \u4e0a \uff0c   \u5c06 \u5305 \u79fb\u52a8 \u5230   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u7136\u540e \u8fd0\u884c \u811a\u672c \u5c06 \u5176 \u5bfc\u5165 \u3002   cd   Util   . / ImportAssets . sh   \u7b14\u8bb0   Linux   \u4e0a \u6709 \u4e00\u4e2a \u66ff\u4ee3 \u65b9\u6848 \u3002 \u5c06 \u5305 \u79fb\u52a8 \u5230   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5e76 \u8fd0\u884c \u811a\u672c   Util / ImportAssets . sh   \u4ee5 \u63d0\u53d6 \u5305 \u3002","title":"\u5bfc\u5165\u5230   Carla   \u5305\u4e2d  "},{"location":"tuto_A_add_props/#_4","text":"\u8fd9 \u662f\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u5c06 \u9053\u5177 \u5bfc\u5165 \u5bfc\u5165\u5230 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla   \u7684 \u65b9\u6cd5 \u3002   \u5c06 \u8bfb\u53d6   JSON   \u6587\u4ef6 \u4ee5 \u5c06 \u9053\u5177 \u653e\u5165 \u865a\u5e7b \u5f15\u64ce   Content   \u4e2d \u3002 \u6b64\u5916 \uff0c \u5b83 \u5c06 \u5728 \u5305 \u7684   Config   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u521b\u5efa \u4e00\u4e2a   Package1 . Package . json   \u6587\u4ef6 \u3002 \u8fd9 \u5c06 \u7528\u4e8e \u5b9a\u4e49 \u84dd \u56fe\u5e93 \u4e2d \u7684 \u9053\u5177 \uff0c \u5e76 \u5728   Python   API   \u4e2d \u516c\u5f00 \u5b83\u4eec \u3002 \u5982\u679c \u5305 \u4f5c\u4e3a   \u72ec\u7acb \u5305   \u5bfc\u51fa \uff0c \u4e5f \u5c06 \u4f7f\u7528 \u5b83 \u3002   \u4e00\u5207 \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u540e \uff0c \u8fd0\u884c \u547d\u4ee4 \u3002   make   import   \u8b66\u544a   \u786e\u4fdd \u8be5\u5305 \u4f4d\u4e8e   Carla   \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u3002   \u8fd9 \u5c31\u662f \u5173\u4e8e \u5c06 \u65b0 \u9053\u5177 \u5bfc\u5165   Carla   \u7684 \u4e0d\u540c \u65b9\u6cd5 \u7684 \u5168\u90e8 \u4fe1\u606f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"\u5728 \u6e90\u4ee3\u7801 \u6784\u5efa \u4e2d \u5bfc\u5165  "},{"location":"tuto_A_add_vehicle/","text":"\u6dfb\u52a0 \u65b0\u8f66   \u8fd9\u4e2a \u6559\u7a0b \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u5411   Carla   \u6dfb\u52a0 \u65b0 \u7684 \u8f66\u8f86 \u3002 \u6559\u7a0b \u5206\u4e3a \u4e24\u4e2a \u90e8\u5206 \uff0c \u4e00\u4e2a \u7528\u4e8e \u56db\u8f6e \u8f66\u8f86 \uff0c \u53e6 \u4e00\u4e2a \u7528\u4e8e \u4e24\u8f6e \u8f66\u8f86 \u3002 \u6559\u7a0b \u6982\u8ff0 \u4e86 \u5efa\u6a21 \u8f66\u8f86 \u65f6 \u5fc5\u987b \u6ee1\u8db3 \u7684 \u57fa\u672c \u8981\u6c42 \uff0c \u4ee5 \u786e\u4fdd \u8f66\u8f86 \u5728   Carla   \u4e2d \u8fd0\u884c \u826f\u597d \uff0c \u5e76 \u63d0\u4f9b \u4e86 \u5728 \u5c06 \u8f66\u8f86 \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce \u540e \u6240 \u9700 \u7684 \u914d\u7f6e \u8bf4\u660e \u3002   \u6dfb\u52a0   4   \u8f6e \u8f66\u8f86   \u7ed1\u5b9a \u5e76 \u5efa\u6a21 \u8f66\u8f86   \u5bfc\u5165 \u5e76 \u914d\u7f6e \u8f66\u8f86   \u6dfb\u52a0   N   \u8f6e \u8f66\u8f86   \u6dfb\u52a0   2   \u8f6e \u8f66\u8f86   \u91cd\u8981   \u672c \u6559\u7a0b \u4ec5 \u9002\u7528 \u4e8e \u4f7f\u7528 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u5e76 \u6709\u6743 \u8bbf\u95ee \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u7528\u6237 \u3002   \u6dfb\u52a0   4   \u8f6e \u8f66\u8f86   \u6dfb\u52a0 \u5230   Carla   \u7684 \u8f66\u8f86 \u9700\u8981 \u4f7f\u7528 \u53ef \u5728   \u6b64\u5904   \u627e\u5230 \u7684 \u901a\u7528 \u57fa\u7840 \u9aa8\u67b6 \u3002 \u6b64 \u94fe\u63a5 \u5c06 \u4e0b\u8f7d \u4e00\u4e2a \u540d\u4e3a   VehicleSkeleton . rar   \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5176\u4e2d \u5305\u542b \u4e24\u79cd \u4e0d\u540c \u683c\u5f0f \u7684 \u57fa\u672c \u6846\u67b6 \uff0c \u4e00\u79cd \u4e3a   ASCII \uff0c \u53e6 \u4e00\u79cd \u4e3a \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u3002 \u60a8 \u4f7f\u7528 \u7684 \u683c\u5f0f \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684   3D   \u5efa\u6a21 \u8f6f\u4ef6 \u8981\u6c42 \u3002   \u9aa8\u67b6 \u9aa8\u9abc \u7684 \u4f4d\u7f6e \u53ef\u4ee5 \u66f4\u6539 \uff0c \u4f46 \u4efb\u4f55 \u5176\u4ed6 \u64cd\u4f5c \uff08 \u4f8b\u5982 \u65cb\u8f6c \u3001 \u6dfb\u52a0 \u65b0 \u9aa8\u9abc \u6216 \u66f4\u6539 \u5f53\u524d \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \uff09 \u90fd \u4f1a \u5bfc\u81f4 \u9519\u8bef \u3002   \u7ed1\u5b9a \u5e76 \u5efa\u6a21 \u8f66\u8f86   \u672c \u8282 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u8f66\u8f86 \u5efa\u6a21 \u9636\u6bb5 \u7684 \u6700\u4f4e \u8981\u6c42 \uff0c \u4ee5 \u786e\u4fdd \u5176 \u53ef\u4ee5 \u5728   Carla   \u4e2d \u6210\u529f \u4f7f\u7528 \u3002 \u8be5 \u8fc7\u7a0b \u5305\u62ec \u5c06 \u9aa8\u67b6 \u6b63\u786e \u7ed1\u5b9a \u5230 \u8f66\u8f86 \u7684 \u5e95\u5ea7 \u548c \u8f66\u8f6e \u3001 \u521b\u5efa \u7269\u7406 \u8d44\u6e90 \u548c \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7f51\u683c \uff0c \u4ee5\u53ca \u5bfc\u51fa \u4e3a \u6b63\u786e \u7684 \u683c\u5f0f \u3002   1 .   \u5bfc\u5165 \u57fa\u7840 \u9aa8\u67b6 \u3002   \u5c06 \u57fa\u7840 \u9aa8\u67b6 \u5bfc\u5165 \u60a8 \u9996\u9009 \u7684 \u4e09\u7ef4 \u5efa\u6a21 \u8f6f\u4ef6 \u4e2d \u3002 \u5e38\u89c1 \u7684 \u7f16\u8f91 \u7f16\u8f91\u5668 \u5305\u62ec   Maya   \u548c   Blender \u3002   2 .   \u7ed1\u5b9a \u9aa8\u9abc \u3002   \u6839\u636e \u4e0b\u9762 \u7684 \u547d\u540d \u6cd5\u5c06 \u9aa8\u9abc \u7ed1\u5b9a \u5230 \u8f66\u8f86 \u7f51\u683c \u7684 \u76f8\u5e94 \u90e8\u5206 \u3002 \u786e\u4fdd \u8f6e\u5b50 \u7684 \u9aa8\u9abc \u5728 \u7f51\u683c \u5185 \u5c45\u4e2d \u3002   \u5de6 \u524d\u8f6e \uff1a   Wheel _ Front _ Left   \u53f3 \u524d\u8f6e \uff1a   Wheel _ Front _ Right   \u5de6 \u540e\u8f6e \uff1a   Wheel _ Rear _ Left   \u53f3 \u540e\u8f6e \uff1a   Wheel _ Rear _ Right   \u7f51\u683c \u7684 \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \uff1a   VehicleBase   \u8b66\u544a   \u4e0d\u8981 \u5bf9 \u9aa8\u9abc \u540d\u79f0 \u6216 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u8fdb\u884c \u4efb\u4f55 \u66f4\u6539 \uff0c \u4e5f \u4e0d\u8981 \u6dfb\u52a0 \u4efb\u4f55 \u65b0 \u9aa8\u9abc \u3002   3 .   \u4e3a \u60a8 \u7684 \u8f66\u8f86 \u5efa\u6a21 \u3002   \u8f66\u8f86 \u5e94 \u62e5\u6709 \u5927\u7ea6   50 , 000   -   100 , 000   \u4e2a   tris \u3002 \u6211\u4eec \u4f7f\u7528 \u5b9e\u9645 \u6c7d\u8f66 \u7684 \u5c3a\u5bf8 \u548c \u6bd4\u4f8b \u6765 \u5efa\u6a21 \u8f66\u8f86 \u3002   \u6211\u4eec \u5efa\u8bae \u5efa\u8bae\u60a8 \u5c06 \u8f66\u8f86 \u5206\u4e3a \u4ee5\u4e0b \u6750\u8d28 \uff1a   Bodywork   :   \u8f66\u8f86 \u7684 \u91d1\u5c5e \u90e8\u5206 \u3002 \u8be5 \u6750\u8d28 \u5df2 \u66f4 \u6539\u4e3a \u865a\u5e7b \u5f15\u64ce \u6750\u8d28 \u3002 \u53ef\u4ee5 \u6dfb\u52a0 \u5fbd\u6807 \u548c \u7ec6\u8282 \uff0c \u4f46 \u4e3a\u4e86 \u53ef\u89c1 \uff0c \u5fc5\u987b \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684   Alpha   \u901a\u9053 \u5c06 \u5b83\u4eec \u7ed8\u5236 \u4e3a \u4e0d\u540c \u7684 \u989c\u8272 \u3002   Glass _ Ext   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u53ef\u4ee5 \u4ece \u8f66\u8f86 \u5916\u90e8 \u770b\u5230 \u5185\u90e8 \u3002   Glass _ Int   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u8f66\u8f86 \u5185\u90e8 \u5230 \u5916\u90e8 \u7684 \u53ef\u89c1 \u6027 \u3002   Lights   :   \u5934\u706f \u3001 \u6307\u793a \u6307\u793a\u706f \u7b49 \u3002   LightGlass _ Ext   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u5916\u90e8 \u5230 \u5185\u90e8 \u7684 \u706f\u5149 \u53ef\u89c1 \u6027 \u3002   LightGlass _ Int   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u5185\u90e8 \u5230 \u5916\u90e8 \u770b\u5230 \u5149 \u3002   LicensePlate   :   29x12   \u5398\u7c73 \u7684 \u77e9\u5f62 \u5e73\u9762 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528   Carla   \u63d0\u4f9b \u7684   . fbx   \u4ee5 \u83b7\u5f97 \u6700\u4f73 \u83b7\u5f97\u6700\u4f73 \u7ed3\u679c \uff0c \u8bf7 \u5728   \u6b64\u5904   \u4e0b\u8f7d \u3002 \u7eb9\u7406 \u5c06 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u81ea\u52a8 \u5206\u914d \u3002   Interior   :   \u4efb\u4f55 \u5176\u4ed6 \u4e0d \u9002\u5408 \u4e0a\u8ff0 \u90e8\u5206 \u7684 \u7ec6\u8282 \u90fd \u53ef\u4ee5 \u8fdb\u5165   \u5185\u9970   .   \u6750\u6599 \uff08 Material \uff09 \u5e94 \u4f7f\u7528 \u683c\u5f0f   M _ CarPart _ CarName   \u547d\u540d \uff0c \u4f8b\u5982   M _ Bodywork _ Mustang   \u3002   \u7eb9\u7406 \uff08 Textures \uff09 \u5e94 \u4f7f\u7528 \u683c\u5f0f   T _ CarPart _ CarName   \u547d\u540d \uff0c \u4f8b\u5982   T _ Bodywork _ Mustang   \u3002 \u7eb9\u7406 \u7684 \u5927\u5c0f \u5e94\u4e3a   2048x2048 \u3002   \u865a\u5e7b \u5f15\u64ce \u4f1a \u81ea\u52a8 \u521b\u5efa ( Level   of   Details ,   LOD ) \uff0c \u4f46 \u60a8 \u4e5f \u53ef\u4ee5 \u5728   3D   \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u624b\u52a8 \u521b\u5efa \u5b83\u4eec \u3002 Tri   \u8ba1\u6570 \u5982\u4e0b \uff1a   LOD   0   :   100 , 000   tris   LOD   1   :   80 , 000   tris   LOD   2   :   60 , 000   tris   LOD   3   :   30 , 000   tris   4 .   \u521b\u5efa \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u3002   \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u662f \u4e00\u4e2a \u9644\u52a0 \u7f51\u683c \uff0c \u5141\u8bb8 \u865a\u5e7b \u5f15\u64ce \u8ba1\u7b97 \u8f66\u8f86 \u7684 \u7269\u7406 \u7279\u6027 \u3002 \u5b83 \u5e94\u8be5 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u7b80\u5355 \uff0c \u51cf\u5c11 \u591a\u8fb9 \u591a\u8fb9\u5f62 \u6570\u91cf \uff0c \u5e76\u4e14 \u5e94\u8be5 \u8986\u76d6 \u9664 \u8f66\u8f6e \u4e4b\u5916 \u7684 \u6574\u4e2a \u8f66\u8f86 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605 \u4e0b\u56fe \u7684 \u793a\u4f8b \u3002   \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u5e94 \u5bfc\u51fa \u4e3a \u5355\u72ec \u7684   . fbx   \u6587\u4ef6 \u3002 \u6700\u7ec8 \u6587\u4ef6 \u5e94 \u6ee1\u8db3 \u4ee5\u4e0b \u8981\u6c42 \uff1a   \u6709 \u4e00\u4e2a \u57fa\u7840 \u7f51\u683c \u3002 \u8fd9 \u5e94\u8be5 \u662f \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u7684 \u526f\u672c \u3002 \u5b83 \u5e94\u8be5 \u4e0e \u539f\u59cb \u8f66\u8f86 \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \u3002   \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u4f53 \u5fc5\u987b \u4f7f\u7528 \u683c\u5f0f   UCX _ < vehicle _ name > _ < number _ of _ mesh >   \u547d\u540d \uff0c   \u5426\u5219 \u865a\u5e7b \u5f15\u64ce \u5c06 \u65e0\u6cd5 \u8bc6\u522b \u3002   \u7f51\u683c \u4e0d\u5f97 \u8d85\u51fa \u539f\u59cb \u6a21\u578b \u7684 \u8fb9\u754c \u3002   \u7f51\u683c \u5e94 \u4e0e \u539f\u59cb \u6a21\u578b \u5177\u6709 \u76f8\u540c \u7684 \u4f4d\u7f6e \u3002   \u5c06 \u6700\u7ec8   . fbx   \u7f51\u683c \u5bfc\u51fa \u4e3a \u540d\u4e3a   SMC _ < vehicle _ name > . fbx   \u7684 \u6587\u4ef6 \u3002   5 .   \u4e3a \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u521b\u5efa \u7f51\u683c \u3002   \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7f51\u683c \u8bbe\u7f6e \u5c06 \u7531 \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 RADAR \u3001 LiDAR   \u548c   Semantic   LiDAR \uff09 \u68c0\u6d4b \u5230 \u7684 \u8f66\u8f86 \u5f62\u72b6 \u3002 \u8be5 \u7f51\u683c \u5e94\u8be5 \u5177\u6709 \u6bd4 \u7269\u7406 \u8d44\u4ea7 \u7f51\u683c \u7a0d\u5fae \u66f4 \u660e\u786e \u7684 \u51e0\u4f55 \u5f62\u72b6 \uff0c \u4ee5 \u63d0\u9ad8 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4eff\u771f \u7684 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \uff0c \u4f46 \u51fa\u4e8e \u6027\u80fd \u539f\u56e0 \uff0c \u4e0d\u5982 \u6c7d\u8f66 \u7f51\u683c \u90a3\u4e48 \u8be6\u7ec6 \u3002   \u521b\u5efa \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7f51\u683c \u65f6\u8bf7 \u8003\u8651 \u4ee5\u4e0b \u51e0\u70b9 \u4ee5\u4e0b\u51e0\u70b9 \uff1a   \u7f51\u683c \u5e94 \u8986\u76d6 \u8f66\u8f86 \u7684 \u5404\u4e2a \u65b9\u9762 \u5404\u4e2a\u65b9\u9762 \uff0c \u5305\u62ec \u8f66\u8f6e \u3001 \u540e\u89c6 \u540e\u89c6\u955c \u548c \u683c\u6805 \u3002   \u8f6e\u5b50 \u5e94\u4e3a \u4e0d \u8d85\u8fc7   16   \u5708 \u7684 \u5706\u67f1 \u67f1\u4f53 \u5706\u67f1\u4f53 \u3002   \u5982\u679c \u9700\u8981 \uff0c \u53ef\u4ee5 \u5c06 \u5404\u79cd \u7f51\u683c \u8fde\u63a5 \u5728 \u4e00\u8d77 \u3002   \u7f51\u683c \u4e0d\u5f97 \u8d85\u51fa \u539f\u59cb \u6a21\u578b \u7684 \u8fb9\u754c \u3002   \u7f51\u683c \u5e94\u8be5 \u4e0e \u539f\u59cb \u7f51\u683c \u5177\u6709 \u76f8\u540c \u7684 \u4f4d\u7f6e \u3002   \u5c06 \u6700\u7ec8 \u7f51\u683c \u5bfc\u51fa \u540d\u4e3a   SM _ sc _ < vehicle _ name > . fbx   \u7684   . fbx   \u6587\u4ef6 \u3002   5 .   \u5bfc\u51fa \u8f66\u8f86 \u7f51\u683c \u3002   \u9009\u62e9 \u6240\u6709 \u4e3b\u8981 \u8f66\u8f86 \u7f51\u683c \u548c \u9aa8\u67b6 \u5e95\u5ea7 \u5e76 \u5bfc\u51fa \u4e3a   . fbx   \u3002   \u5bfc\u5165 \u5e76 \u914d\u7f6e \u8f66\u8f86   \u672c \u8282 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5c06 \u8f66\u8f86 \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce \u4ee5 \u5728   Carla   \u4e2d \u4f7f\u7528 \u7684 \u8fc7\u7a0b \u3002 \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u6267\u884c \u8fd9\u4e9b \u6b65\u9aa4 \u3002   1 .   \u521b\u5efa \u8f66\u8f86 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u5728   Content / Carla / Static / Vehicles / 4Wheeled   \u91cc \u521b\u5efa \u4e00\u4e2a \u540d\u4e3a   < vehicle _ name >   \u7684 \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   2 .   \u5bfc\u5165   . fbx   \u3002   \u5728 \u65b0 \u7684 \u8f66\u8f86 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u901a\u8fc7 \u5728   Content   Browser   \u4e2d \u53f3\u952e \u5355\u51fb \u5e76 \u9009\u62e9   \u5bfc\u5165 \u5bfc\u5165\u5230   Game / Carla / Static / Vehicles / 4Wheeled / < vehicle _ name >   \u6765 \u5bfc\u5165 \u4e3b \u8f66\u8f86 \u9aa8\u67b6   . fbx   \u3002   \u5728 \u5f39\u51fa \u7684 \u5bf9\u8bdd \u5bf9\u8bdd\u6846 \u4e2d \uff1a   \u5c06 \u5bfc\u5165 \u5185\u5bb9 \u7c7b\u578b   Import   Content   Type   \u8bbe\u7f6e \u4e3a   Geometry   and   Skinning   Weights   \u3002   \u5c06   Normal   Import   Method   \u8bbe\u7f6e \u4e3a   Import   Normals   \u3002   \uff08 \u53ef \u9009 \uff09 \u5c06   Material   Import   Method   \u8bbe\u7f6e \u4e3a   Do   not   create   materials   \u3002 \u53d6\u6d88 \u9009\u4e2d   Import   Textures   \u4ee5 \u907f\u514d \u865a\u5e7b \u5f15\u64ce \u521b\u5efa \u9ed8\u8ba4 \u6750\u8d28 \u3002   \u9aa8\u67b6 \u7f51\u683c \u4f53\u5c06 \u4e0e \u4e24\u4e2a \u65b0 \u6587\u4ef6   < vehicle _ name > _ PhysicsAssets   and   < vehicle _ name > _ Skeleton   \u4e00\u8d77 \u51fa\u73b0 \u3002   \u5c06 \u5176\u4f59   . fbx   \u6587\u4ef6 \u4e0e \u4e3b \u8f66\u8f86 \u9aa8\u67b6   . fbx   \u6587\u4ef6 \u5206\u5f00 \u5bfc\u5165 \u3002   3 .   \u8bbe\u7f6e \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u3002   \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   Content   Browser   < vehicle _ name > _ PhysicsAssets   \u3002   Skeleton   Tree   \u9762\u677f \u4e2d \u53f3\u952e \u5355\u51fb   Vehicle _ Base   \u7684 \u7f51\u683c \u4f53 \uff0c \u7136\u540e \u8f6c \u5230   Copy   Collision   from   StaticMesh   \u3002   \u641c\u7d22 \u5e76 \u9009\u62e9 \u60a8 \u7684   SMC _ < vehicle _ name >   \u6587\u4ef6 \u3002 \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230 \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u7684 \u8f6e\u5ed3 \u51fa\u73b0 \u5728 \u89c6 \u53e3\u4e2d \u3002   \u4ece   Vehicle _ Base   \u4e2d \u5220\u9664 \u9ed8\u8ba4 \u7684 \u80f6\u56ca \u5f62\u72b6 \u3002   \u9009\u62e9 \u6240\u6709 \u8f6e\u5b50 \uff1a   \u8f6c \u5230   Tools   \u9762\u677f \u5e76 \u5c06 \u201c \u57fa\u5143 \u7c7b\u578b   Primitive   Type   \u201d \u66f4 \u6539\u4e3a   Sphere   \u3002   \u8f6c \u5230 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f   Details   \u9762\u677f \u5e76 \u5c06 \u7269\u7406 \u7c7b\u578b   Physics   Type   \u66f4 \u6539\u4e3a   Kinematic   \u3002   \u5c06 \u7ebf\u6027 \u963b\u5c3c   Linear   Damping   \u8bbe\u7f6e \u4e3a   0   \u3002 \u8fd9 \u5c06 \u6d88\u9664 \u8f66\u8f6e \u4e0a \u7684 \u4efb\u4f55 \u989d\u5916 \u6469\u64e6 \u3002   \u4e3a \u6240\u6709 \u7f51\u683c \u542f\u7528   Simulation   Generates   Hit   Event   \u3002   \u5355\u51fb   Re - generate   Bodies   \u3002   \u5c06 \u8f66\u8f6e \u7403\u4f53 \u8c03\u6574 \u81f3 \u8f66\u8f6e \u5c3a\u5bf8 \u3002   \u4fdd\u5b58 \u5e76 \u5173\u95ed \u7a97\u53e3 \u3002   4 .   \u521b\u5efa \u52a8\u753b \u84dd\u56fe \u3002   \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   Content   Browser   \u4e2d \uff0c \u53f3\u952e \u5355\u51fb \u8f66\u8f86 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u9009\u62e9   Animation   - >   Animation   Blueprint   \u3002   \u5728 \u7236\u7c7b   Parent   Class   \u4e2d \u641c\u7d22 \u5e76 \u9009\u62e9   VehicleAnimInstance   \u3002   \u5728 \u76ee\u6807 \u9aa8\u67b6   Target   Skeleton   \u4e2d \u641c\u7d22 \u5e76 \u9009\u62e9   < vehicle _ name > _ Skeleton   \u3002   \u6309   OK   \u5e76 \u5c06 \u84dd\u56fe \u547d\u540d \u91cd\u547d\u540d \u4e3a   AnimBP _ < vehicle _ name >   \u3002   5 .   \u914d\u7f6e \u52a8\u753b \u84dd\u56fe \u3002   \u4e3a\u4e86 \u7b80\u5316 \u914d\u7f6e \u52a8\u753b \u84dd\u56fe \u7684 \u8fc7\u7a0b \uff0c \u6211\u4eec \u5c06 \u4ece \u672c\u5730   Carla   \u8f66\u8f86 \u590d\u5236 \u73b0\u6709 \u7684 \u52a8\u753b \u84dd\u56fe \uff1a   \u8f6c \u5230   Content / Carla / Static / Vehicle   \u5e76 \u9009\u62e9 \u4efb\u4f55   Carla   \u8f66\u8f86 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u6253\u5f00 \u5176 \u52a8\u753b \u84dd\u56fe \u3002   \u5728   My   Blueprint   \u9762\u677f \u4e2d \uff0c \u53cc\u51fb   AnimGraph   \u3002 \u60a8 \u5c06 \u770b\u5230 \u56fe\u8868 \u51fa\u73b0 \u5728 \u89c6 \u53e3\u4e2d \u3002   \u5355\u51fb \u5e76 \u62d6\u52a8 \u4ee5 \u9009\u62e9   Mesh   Space   Ref   Pose   \u3001   Wheel   Handler   \u548c   Component   To   Local   \u7ec4\u4ef6 \u3002 \u53f3\u952e \u5355\u51fb \u5e76 \u9009\u62e9 \u590d\u5236 \u3002   \u8fd4\u56de \u60a8 \u81ea\u5df1 \u7684 \u8f66\u8f86 \u52a8\u753b \u84dd\u56fe \u5e76 \u5c06 \u590d\u5236 \u7684 \u5185\u5bb9 \u7c98\u8d34 \u5230 \u56fe\u5f62 \u533a\u57df \u4e2d \u3002   \u5355\u51fb   Component   To   Local   \u7ec4\u4ef6 \u4e2d \u7684 \u7ad9\u7acb \u4eba\u7269 \u5e76 \u5c06 \u5176 \u62d6\u52a8 \u5230   Output   Pose   \u4e2d \u7684 \u4eba\u7269 \uff0c \u4ee5 \u5c06 \u7ec4\u4ef6 \u8fde\u63a5 \u5728 \u4e00\u8d77 \u3002   \u5355\u51fb \u5de6\u4e0a \u4e0a\u89d2 \u5de6\u4e0a\u89d2 \u7684   Compile   \u3002 \u60a8 \u73b0\u5728 \u5e94\u8be5 \u770b\u5230 \u4e00\u6761 \u8109\u52a8 \u7684 \u7ebf \u6d41\u8fc7 \u6574\u4e2a \u5e8f\u5217 \u3002   \u4fdd\u5b58 \u5e76 \u5173\u95ed \u7a97\u53e3 \u3002   6 .   \u51c6\u5907 \u8f66\u8f86 \u548c \u8f66\u8f6e \u84dd\u56fe \u3002   \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   Content   Browser   \u4e2d \uff0c \u8f6c \u5230   Content / Carla / Blueprints / Vehicles   \u5e76 \u521b\u5efa \u4e00\u4e2a \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   < vehicle _ name >   \u3002   \u5728 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \uff0c \u53f3\u952e \u5355\u51fb \u5e76 \u8f6c\u5230   Blueprint   Class   \u3002 \u5728 \u5f39\u51fa \u7a97\u53e3 \u4e2d \u6253\u5f00   All   Classes   \u90e8\u5206 \u3002   \u641c\u7d22   BaseVehiclePawn   \u5e76 \u6309   Select   \u3002   \u5c06 \u6587\u4ef6 \u547d\u540d \u91cd\u547d\u540d \u4e3a   BP _ < vehicle _ name >   \u3002   \u8f6c \u5230   Carla / Blueprints / Vehicles   \u4e2d \u4efb\u4f55 \u672c\u5730   Carla   \u8f66\u8f86 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   Content   Browser   \u4e2d \uff0c \u5c06 \u56db\u8f6e \u84dd\u56fe \u590d\u5236 \u590d\u5236\u5230 \u60a8 \u81ea\u5df1 \u8f66\u8f86 \u7684 \u84dd\u56fe \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u547d\u540d \u91cd\u547d\u540d \u6587\u4ef6 \u4ee5 \u5c06 \u65e7 \u8f66\u8f86 \u540d\u79f0 \u66ff\u6362 \u4e3a \u60a8 \u81ea\u5df1 \u7684 \u8f66\u8f86 \u540d\u79f0 \u3002   7 .   \u914d\u7f6e \u8f6e\u5b50 \u84dd\u56fe \u3002   \u5728 \u8f66\u8f86 \u84dd\u56fe \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u6253\u5f00 \u6240\u6709 \u56db\u4e2a \u8f66\u8f6e \u84dd\u56fe \u3002   \u5728   Class   Defaults   \u9762\u677f \u4e2d \uff0c \u5c06   Collision   Mesh   \u8bbe\u7f6e \u4e3a   Wheel _ Shape   \u3002   \u7701\u7565 \u6b64 \u6b65\u9aa4 \u5c06 \u5bfc\u81f4 \u8f66\u8f86 \u8f66\u8f6e \u9677\u5165 \u5730\u9762   \u3002   \u6839\u636e \u60a8 \u7684 \u8f66\u8f86 \u89c4\u683c \u8c03\u6574 \u8f66\u8f6e \u5f62\u72b6 \u534a\u5f84 \u3001 \u5bbd\u5ea6 \u3001 \u8d28\u91cf \u548c \u963b\u5c3c \u7387 \u7684 \u503c \u3002   \u5c06 \u8f6e\u80ce \u914d\u7f6e   Tire   Config   \u8bbe\u7f6e \u4e3a   CommonTireConfig   \u3002   \u5728 \u524d\u8f6e \u4e0a \u6839\u636e \u60a8 \u7684 \u559c\u597d \u8bbe\u7f6e \u8f6c\u5411 \u89d2\u5ea6   Steer   Angle   \uff08 \u9ed8\u8ba4 \u4e3a   70   \uff09 \u3002 \u53d6\u6d88 \u9009\u4e2d   Affected   by   Handbrake   \u3002   \u5728 \u540e\u8f6e \u4e0a\u5c06 \u8f6c\u5411 \u89d2\u5ea6   Steer   Angle   \u8bbe\u7f6e \u4e3a   0   \u3002 \u68c0\u67e5   Affected   by   Handbrake   \u3002   \u8bbe\u7f6e \u60ac\u67b6 \u503c\u65f6 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528   \u6b64\u5904   \u7684 \u503c \u4f5c\u4e3a \u6307\u5bfc \u3002   \u7f16\u8bd1 \u5e76 \u4fdd\u5b58 \u3002   8 .   \u914d\u7f6e \u8f66\u8f86 \u84dd\u56fe \u3002   \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   Content   Browser   \u4e2d \uff0c \u6253\u5f00 \u60a8 \u7684   BP _ < vehicle _ name >   \u3002   \u5728   Components   \u9762\u677f \u4e2d \uff0c \u9009\u62e9   Mesh   ( VehicleMesh )   ( Inherited )   \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Skeletal   Mesh   \u5e76 \u641c\u7d22 \u5e76 \u9009\u62e9 \u8f66\u8f86 \u7684 \u57fa\u7840 \u9aa8\u67b6 \u6587\u4ef6 \uff08 \u4f4d\u4e8e   Carla / Static / Vehicles / 4Wheeled / < vehicle _ name >   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff09 \u3002   \u8f6c \u5230   Details   \u9762\u677f \u4e2d \u7684   Anim   Class   \u3002 \u641c\u7d22 \u5e76 \u9009\u62e9 \u60a8 \u7684   AnimBP _ < vehicle _ name >   \u6587\u4ef6 \u3002   \u5728   Components   \u9762\u677f \u4e2d \uff0c \u9009\u62e9   Custom   Collision   ( Inherited )   \u3002   \u5728   Details   \u9762\u677f \u4e2d \u9009\u62e9   Static   Mesh   \u5e76 \u641c\u7d22 \u60a8 \u7684   SM _ sc _ < vehicle _ name >   \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7f51\u683c \u4f53 \u3002   \u5728   Components   \u9762\u677f \u4e2d \uff0c \u9009\u62e9   VehicleMovement   ( MovementComp )   ( Inherited )   \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u641c\u7d22   wheel   \u3002 \u60a8 \u5c06 \u627e\u5230 \u6bcf\u4e2a \u8f6e\u5b50 \u7684 \u8bbe\u7f6e \u3002 \u5bf9\u4e8e \u6bcf \u4e00\u4e2a \uff0c \u5355\u51fb   Wheel   Class   \u5e76 \u641c\u7d22 \u4e0e \u6b63\u786e \u8f66\u8f6e \u4f4d\u7f6e \u76f8\u5bf9 \u5e94 \u7684   BP _ < vehicle _ name > _ < wheel _ name >   \u6587\u4ef6 \u3002   \u5982\u679c \u60a8 \u7684 \u8f66\u8f86 \u6709 \u4efb\u4f55 \u4e0e \u57fa\u7840 \u7f51\u683c \u5206\u5f00 \u7684 \u9644\u52a0 \u7f51\u683c \uff08 \u95e8 \u3001 \u706f \u7b49 \uff09 \uff1a   \u5c06 \u5b83\u4eec \u62d6 \u5230   Components   \u9762\u677f \u4e2d \u7684   Mesh   ( VehicleMesh )   ( Inherited )   \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u3002   \u9009\u62e9 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u7684 \u989d\u5916 \u7f51\u683c \u5e76 \u5728   Details   \u9762\u677f \u4e2d \u641c\u7d22   Collision   \u3002   \u5c06 \u78b0\u649e \u9884\u8bbe   Collision   Presets   \u8bbe\u7f6e \u4e3a   NoCollision   \u3002   \u9009\u62e9 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u7684 \u4efb\u4f55 \u706f\u5149 \u7f51\u683c \u3002 \u5728   Details   \u9762\u677f \u4e2d \u641c\u7d22   Tag   \u5e76 \u6dfb\u52a0 \u6807\u7b7e   emissive   \u3002   \u5355\u51fb   Save   \u5e76   Compile   \u3002   \u6211\u4eec \u8fd8 \u53ef\u4ee5   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u7684 \u8f66\u724c   \u3002   9 .   \u5c06 \u8f66\u8f86 \u6dfb\u52a0 \u5230 \u84dd \u56fe\u5e93 \u4e2d \u3002   .   \u5728   Content / Carla / Blueprint / Vehicle   \u4e2d \uff0c \u6253\u5f00   VehicleFactory   \u6587\u4ef6 \u3002   \u5728   Generate   Definitions   \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u53cc\u51fb   Vehicles   \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u5c55\u5f00   Default   Value   \u90e8\u5206 \u5e76 \u5411 \u8f66\u8f86 \u6570\u7ec4 \u6dfb\u52a0 \u4e00\u4e2a \u65b0\u5143 \u5143\u7d20 \u65b0\u5143\u7d20 \u3002   \u586b\u5199 \u60a8 \u8f66\u8f86 \u7684   Make   \u548c   Model   \u3002   \u4f7f\u7528 \u60a8 \u7684   BP _ < vehicle _ name >   \u6587\u4ef6 \u586b\u5199   Class   \u503c \u3002   \uff08 \u53ef \u9009 \uff09 \u4e3a \u8f66\u8f86 \u63d0\u4f9b \u4e00\u7ec4 \u63a8\u8350 \u989c\u8272 \u3002   \u7f16\u8bd1 \u5e76 \u4fdd\u5b58 \u3002   10 .   \u6d4b\u8bd5 \u8f66\u8f86   \u3002   \u542f\u52a8   Carla \uff0c \u6253\u5f00 \u7ec8\u7aef   PythonAPI / examples   \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   python3   manual _ control . py   -- filter   < model _ name >   #   The   make   or   model   defined   in   step   9   \u7b14\u8bb0   \u5373\u4f7f \u60a8 \u5728 \u54c1\u724c \u548c \u578b\u53f7 \u4e2d \u4f7f\u7528 \u4e86 \u5927\u5199 \u5b57\u7b26 \uff0c \u5b83\u4eec \u5728 \u4f20\u9012 \u7ed9 \u8fc7\u6ee4 \u6ee4\u5668 \u8fc7\u6ee4\u5668 \u65f6 \u4e5f \u9700\u8981 \u8f6c\u6362 \u4e3a \u5c0f\u5199 \u5b57\u7b26 \u3002   \u6dfb\u52a0   N   \u8f6e \u8f66\u8f86   \u6dfb\u52a0   N   \u8f6e \u8f66\u8f86 \u9075\u5faa \u4e0e \u4e0a\u8ff0   4   \u8f6e \u8f66\u8f86 \u76f8\u540c \u7684 \u5bfc\u5165 \u7ba1\u9053 \uff0c \u4f46 \u6709 \u51e0\u4e2a \u6b65\u9aa4 \u4e0d\u540c \u3002   5 .   \u914d\u7f6e   N   \u8f6e \u8f66\u8f86 \u7684 \u52a8\u753b \u84dd\u56fe   \u641c\u7d22   BaseVehiclePawnNW   \u5e76 \u6309   Select   \u3002   6 .   \u51c6\u5907 \u8f66\u8f86 \u548c \u8f66\u8f6e \u84dd\u56fe   \u8f6c \u5230   Carla / Blueprints / Vehicles   \u4e2d \u6240\u6709 \u672c\u5730   Carla   \u8f66\u8f86 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u5c06 \u56db\u8f6e \u84dd\u56fe \u590d\u5236 \u590d\u5236\u5230 \u60a8 \u81ea\u5df1 \u8f66\u8f86 \u7684 \u84dd\u56fe \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u547d\u540d \u91cd\u547d\u540d \u6587\u4ef6 \u4ee5 \u5c06 \u65e7 \u8f66\u8f86 \u540d\u79f0 \u66ff\u6362 \u4e3a \u60a8 \u81ea\u5df1 \u7684 \u8f66\u8f86 \u540d\u79f0 \u3002   \u590d\u5236 \u56db\u4e2a \u8f6e\u5b50 \uff0c \u7136\u540e \u518d\u6b21 \u590d\u5236 \u5176\u4ed6 \u8f6e\u5b50 \u3002 \u5982\u679c \u662f   6   \u8f6e \u8f66\u8f86 \uff0c \u60a8 \u5c06 \u9700\u8981   6   \u4e2a \u4e0d\u540c \u7684 \u8f66\u8f6e \uff1a FLW \u3001 FRW \u3001 MLW \u3001 MRW \u3001 RLW \u3001 RRW \u3002   7 .   \u914d\u7f6e \u8f6e\u5b50 \u84dd\u56fe   \u5bf9\u4e8e   4   \u8f6e \u8f66\u8f86 \uff0c \u8bf7 \u9075\u5faa \u4e0a\u8ff0 \u7b2c   7   \u8282 \u3002   N   \u8f6e \u8f66\u8f86 \u7684 \u4e3b\u8981 \u533a\u522b \u5728\u4e8e \u624b\u5239 \u548c \u8f6c\u5411 \u53c2\u6570 \u7684 \u5f71\u54cd \u3002 \u5728 \u67d0\u4e9b \u8f66\u8f86 \uff08 \u4f8b\u5982 \u957f\u8f74 \u8f74\u8ddd \u957f\u8f74\u8ddd \u5361\u8f66 \uff09 \u4e2d \uff0c \u524d   2   \u5bf9 \u8f66\u8f6e \u5c06 \u8fdb\u884c \u8f6c\u5411 \uff0c \u5176\u4e2d \u4e00\u7ec4 \u53ef\u80fd \u6bd4 \u5176\u4ed6 \u8f66\u8f6e \u8f6c\u5411 \u66f4 \u591a \u3002 \u6700\u540e \u9762 \u7684 \u4e00\u5bf9 \u53ef\u80fd \u4f1a \u53d7\u5230 \u624b\u5239 \u7684 \u5f71\u54cd \uff0c \u5177\u4f53 \u60c5\u51b5 \u5177\u4f53\u60c5\u51b5 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u6b63\u5728 \u5efa\u6a21 \u7684 \u8f66\u8f86 \u3002   8 .   \u914d\u7f6e \u8f66\u8f86 \u84dd\u56fe   \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u201d \u9762\u677f \u4e2d \uff0c \u641c\u7d22   wheel   \u3002 \u60a8 \u5c06 \u627e\u5230 \u6bcf\u4e2a \u8f6e\u5b50 \u7684 \u8bbe\u7f6e \u3002 \u5bf9\u4e8e \u6bcf \u4e00\u4e2a \uff0c \u5355\u51fb \u8f66\u8f6e \u7c7b\u522b \u5e76 \u641c\u7d22   BP _   _   \u5bf9\u5e94 \u4e8e \u6b63\u786e \u8f66\u8f6e \u4f4d\u7f6e \u7684 \u6587\u4ef6 \u3002   \u8fd9\u662f \u6b63\u786e \u7684 \uff0c \u4f46 \u53ea\u662f \u4e3a\u4e86 \u6307\u5b9a \uff0c \u5728   N   \u8f6e \u8f66\u8f86 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u60a8 \u9700\u8981 \u8bbe\u7f6e \u6240\u6709 \u8f66\u8f6e \u3002 \u8fd9\u662f   6   \u8f6e \u8f66\u8f86 \u7684 \u793a\u4f8b \uff1a   \u6700\u540e \uff0c \u4e00\u4e2a \u989d\u5916 \u7684 \u8003\u8651 \u56e0\u7d20 \u662f \u8bbe\u7f6e \u5dee\u901f \u5dee\u901f\u5668 \u3002 \u5bf9\u4e8e   4   \u8f6e \u8f66\u8f86 \uff0c \u6211\u4eec \u6709 \u4e0d\u540c \u7684 \u5dee\u901f \u5dee\u901f\u5668 \u9884\u8bbe \uff08 \u9650\u6ed1 \u3001 \u5f00\u653e   4W   \u7b49 \uff09 \uff0c \u4f46 \u5bf9\u4e8e   N   \u8f6e \u8f66\u8f86 \uff0c \u60a8 \u9700\u8981 \u9009\u62e9 \u8981 \u5728 \u54ea\u4e9b \u8f66\u8f6e \u4e0a \u5e94\u7528 \u626d\u77e9 \u3002 \u672c\u4f8b \u4e2d \u6211\u4eec \u9009\u62e9 \u53ea\u6709 \u4e2d \u540e\u8f6e \u6709 \u626d\u77e9 \uff0c \u524d\u8f6e \u6ca1\u6709 \u626d\u77e9 \uff0c \u60a8 \u53ef\u4ee5 \u6307\u5b9a \u5176\u4ed6 \u914d\u7f6e \u3002 \u8fd9\u4e9b \u6570\u5b57 \u5c06 \u4e0e \u672c\u6587 \u4e0a\u65b9 \u7684 \u56fe\u50cf \u76f8\u540c \uff08 \u4f8b\u5982 \uff0c 0   \u5c06 \u662f \u5de6 \u524d\u8f6e \uff0c \u5982\u4e0a \u6240\u8ff0 \u5982\u4e0a\u6240\u8ff0 \uff09 \u3002   \u6240\u6709 \u5176\u4ed6 \u53c2\u6570 \uff0c \u5982 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u3001 \u53d8\u901f \u53d8\u901f\u7bb1 \u3001 \u8f6c\u5411 \u66f2\u7ebf \uff0c \u5747 \u4e0e \u56db\u8f6e \u8f66\u8f86 \u76f8\u540c \u3002   \u6dfb\u52a0   2   \u8f6e \u8f66\u8f86   \u6dfb\u52a0   2   \u8f6e \u8f66\u8f86 \u4e0e \u6dfb\u52a0   4   \u8f6e \u8f66\u8f86 \u7c7b\u4f3c \uff0c \u4f46 \u7531\u4e8e \u52a8\u753b \u7684 \u590d\u6742 \u590d\u6742\u6027 \uff0c \u60a8 \u9700\u8981 \u8bbe\u7f6e \u989d\u5916 \u7684 \u9aa8\u9abc \u6765 \u5f15\u5bfc \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u52a8\u753b \u3002   \u8fd9   \u662f \u4e24\u8f6e \u8f66\u8f86 \u53c2\u8003 \u9aa8\u67b6 \u7684 \u94fe\u63a5 \u3002   \u4e0e   4   \u8f6e \u8f66\u8f86 \u4e00\u6837 \uff0c \u5c06 \u6a21\u578b \u671d\u5411 \u6b63 \u201c x \u201d \uff0c \u6bcf\u4e2a \u9aa8\u9abc \u8f74 \u671d\u5411 \u6b63   x \uff0c z   \u8f74\u671d \u4e0a \u3002   Bone   Setup :   -   Bike _ Rig :   #   \u7f51\u683c \u7684 \u539f\u70b9 \u3002 \u5c06 \u5176 \u653e\u7f6e \u5728 \u573a\u666f \u7684 0 \u70b9   -   BikeBody :   #   \u6a21\u578b \u8eab\u4f53 \u7684 \u4e2d\u5fc3 \u3002   -   Pedals :   #   \u5982\u679c \u8f66\u8f86 \u662f \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \uff0c \u5c06 \u811a\u8e0f \u8e0f\u677f \u811a\u8e0f\u677f \u7ed1 \u5728 \u8fd9\u5757 \u9aa8\u5934 \u4e0a \uff0c \u5c31 \u4f1a \u968f\u7740 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u800c \u65cb\u8f6c \u3002   -   RightPedal :   #   \u5982\u679c \u8f66\u8f86 \u662f \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \uff0c \u5219 \u8bbe\u7f6e \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u811a\u90e8 \u4f4d\u7f6e \u5e76 \u4e0e \u811a\u8e0f \u8e0f\u677f \u811a\u8e0f\u677f \u4e00\u8d77 \u65cb\u8f6c \u3002   -   LeftPedal :   #   ^   -   RearWheel :   #   \u8f66\u8f86 \u540e\u8f6e   -   Handler :   #   \u4e0e \u8f66\u8f86 \u7684 \u524d\u8f6e \u4e00\u8d77 \u65cb\u8f6c \uff0c \u5c06 \u8f66\u8f86 \u64cd\u7eb5 \u64cd\u7eb5\u5668 \u56fa\u5b9a \u5728 \u5176 \u4e0a \u3002   -   HandlerMidBone :   #   \u5b9a\u4f4d \u5728 \u524d\u8f6e \u9aa8\u67b6 \u4e0a \uff0c \u4ee5 \u786e\u5b9a \u64cd\u7eb5 \u64cd\u7eb5\u5668 \u4e0e \u8f66\u8f6e \u7684 \u65b9\u5411   -   HandlerRight :   #   \u8bbe\u7f6e \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u624b \u7684 \u4f4d\u7f6e \uff0c \u65e0\u9700 \u5c06 \u5176 \u7ed1\u5b9a \u5230 \u4efb\u4f55 \u4e1c\u897f \u3002   -   HandlerLeft :   #   ^   -   Frontwheel :   #   \u8f66\u8f86 \u7684 \u524d\u8f6e \u3002   -   RightHelperRotator :   #   \u8fd9 \u56db\u5757 \u989d\u5916 \u7684 \u9aa8\u5934 \u662f \u4e3a \u4e00\u4e2a \u8fc7\u65f6 \u7684 \u7cfb\u7edf \u63d0\u4f9b \u7684 \uff0c \u8be5 \u7cfb\u7edf \u901a\u8fc7 \u4f7f\u7528 \u4f20\u7edf \u7684 \u9690\u5f62 \u8f66\u8f6e \u4f7f \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7a33\u5b9a   -   RightHelprWheel :   #   ^   -   LeftHelperRotator :   #   ^   -   LeftHelperWheel :   #   ^   -   Seat :   #   \u8bbe\u7f6e \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u9acb\u9aa8 \u7684 \u4f4d\u7f6e \u3002 \u65e0\u9700 \u5c06 \u5176 \u7ed1 \u5728 \u4efb\u4f55 \u4e1c\u897f \u4e0a \uff0c \u53ea \u9700 \u5c0f\u5fc3 \u653e\u7f6e \u5373\u53ef \u3002   1 .   \u5c06   fbx   \u4f5c\u4e3a   Skelletal   Mesh   \u5bfc\u5165 \u5bfc\u5165\u5230 \u5176 \u81ea\u5df1 \u7684   Content / Carla / Static / Vehicles / 2Wheeled   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u5bfc\u5165 \u65f6 \uff0c \u9009\u62e9 \u201c General2WheeledVehicleSkeleton \u201d \u4f5c\u4e3a \u9aa8\u67b6 \uff0c \u5e94 \u81ea\u52a8 \u521b\u5efa \u5e76 \u94fe\u63a5 \u7269\u7406 \u8d44\u6e90 \u3002   2 .   \u8c03\u6574 \u7269\u7406 \u8d44\u6e90 \u3002 \u5220\u9664 \u81ea\u52a8 \u521b\u5efa \u7684 \u6846 \u5e76 \u5411   BikeBody   \u9aa8\u9abc \u6dfb\u52a0 \u6846 \uff0c \u5c1d\u8bd5 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5339\u914d \u5f62\u72b6 \uff0c \u786e\u4fdd \u542f\u7528 \u751f\u6210 \u547d\u4e2d \u4e8b\u4ef6 \u3002 \u4e3a \u6bcf\u4e2a \u8f6e\u5b50 \u6dfb\u52a0 \u4e00\u4e2a \u7403\u4f53 \u5e76 \u5c06 \u5176 \u201c \u7269\u7406 \u7c7b\u578b \u201d \u8bbe\u7f6e \u4e3a \u201c \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u201d \u3002   3 .   \u521b\u5efa   Content / Blueprints / Vehicles / < vehicle - model >   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   4 .   \u5728 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u521b\u5efa \u4e24\u4e2a \u6d3e\u751f \u81ea \u201c VehicleWheel \u201d \u7c7b \u7684 \u84dd\u56fe \u7c7b \u3002 \u8c03\u7528   < vehicle - model > _ FrontWheel   \u548c   < vehicle - model > _ RearWheel   \u3002 \u5c06 \u5176   \" Shape   Radius \"   \u8bbe\u7f6e \u4e3a \u4e0e \u7f51\u683c \u8f6e \u534a\u5f84 \u5b8c\u5168 \u5339\u914d \uff08 \u5c0f\u5fc3 \uff0c \u534a\u5f84 \u4e0d\u662f \u76f4\u5f84 \uff09 \u3002 \u5c06 \u5176 \u201c \u8f6e\u80ce \u914d\u7f6e \u201d \u8bbe\u7f6e \u4e3a \u201c CommonTireConfig \u201d \u3002 \u5728 \u524d\u8f6e \u4e0a \u53d6\u6d88 \u9009\u4e2d \u201c \u53d7 \u624b\u5239 \u5f71\u54cd \u201d \uff0c \u5728 \u540e\u8f6e \u4e0a\u5c06 \u201c \u8f6c\u5411 \u89d2 \u201d \u8bbe\u7f6e \u4e3a \u96f6 \u3002   5 .   \u5728 \u540c\u4e00 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u521b\u5efa \u4e00\u4e2a \u6d3e\u751f   Base2WheeledVehicle   \u7684 \u84dd\u56fe \u7c7b \uff0c \u5e76 \u8c03\u7528 \u5b83   < vehicle - model >   \u3002 \u6253\u5f00 \u5b83 \u8fdb\u884c \u7f16\u8f91 \uff0c \u9009\u62e9 \u7ec4\u4ef6 \u201c Mesh \u201d \uff0c \u5c06 \u201c Skeletal   Mesh \u201d \u548c \u201c Anim   Class \u201d \u8bbe\u7f6e \u4e3a \u76f8\u5e94 \u7684 \u3002 \u7136\u540e \u9009\u62e9   VehicleBounds   \u7ec4\u4ef6 \u5e76 \u8bbe\u7f6e \u5927\u5c0f \u4ee5 \u8986\u76d6 \u8f66\u8f86 \u533a\u57df \uff08 \u5982\u4e0a \u4e0a\u56fe \u5982\u4e0a\u56fe \u6240\u793a \uff09 \u3002   6 .   \u9009\u62e9 \u7ec4\u4ef6 \u201c VehicleMovement \u201d \uff0c \u5728 \u201c Vehicle   Setup \u201d \u4e0b \u5c55\u5f00 \u201c Wheel   Setups \u201d \uff0c \u8bbe\u7f6e \u5404\u4e2a \u8f66\u8f6e \u3002   0 :   \u8f6e\u7c7b =   < vehicle - model > _ FrontWheel   ,   \u9aa8\u9abc \u540d\u79f0 =   FrontWheel   1 :   \u8f6e\u7c7b =   < vehicle - model > _ FrontWheel   ,   \u9aa8\u9abc \u540d\u79f0 =   FrontWheel   2 :   \u8f6e\u7c7b =   < vehicle - model > _ RearWheel   ,   \u9aa8\u9abc \u540d\u79f0 =   RearWheel   3 :   \u8f6e\u7c7b =   < vehicle - model > _ RearWheel   ,   \u9aa8\u9abc \u540d\u79f0 =   RearWheel   \uff08 \u60a8 \u4f1a \u6ce8\u610f \u5230 \uff0c \u6211\u4eec \u57fa\u672c \u57fa\u672c\u4e0a \u5728 \u6bcf\u4e2a \u9aa8\u9abc \u4e2d \u653e\u7f6e \u4e86 \u4e24\u4e2a \u8f6e\u5b50 \u3002 unreal   \u63d0\u4f9b \u7684 \u8f66\u8f86 \u7c7b\u522b \u4e0d \u652f\u6301 \u8f66\u8f6e \u7f16\u53f7 \u4e0d\u540c \u540c\u4e8e \u4e0d\u540c\u4e8e   4   \u7684 \u8f66\u8f86 \uff0c \u56e0\u6b64 \u6211\u4eec \u5fc5\u987b \u8ba9 \u5b83 \u76f8\u4fe1 \u8f66\u8f86 \u5177\u6709 4 \u4e2a \u8f6e\u5b50 \uff09   7 .   \u9009\u62e9 \u53d8\u91cf   \" is   bike \"   \uff0c \u5982\u679c \u60a8 \u7684 \u578b\u53f7 \u662f \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \uff0c \u5219 \u52fe\u9009 \u5b83 \u3002 \u8fd9 \u5c06 \u6fc0\u6d3b \u8e0f\u677f \u65cb\u8f6c \u3002 \u5982\u679c \u60a8 \u8981 \u5b89\u88c5 \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \uff0c \u8bf7 \u4e0d\u8981 \u6807\u8bb0 \u3002   8 .   \u627e\u5230 \u53d8\u91cf   back   Rotation   \u5e76 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u66f4 \u5408\u9002 \u7684 \u4f4d\u7f6e \uff0c \u66f4\u597d \u5730 \u9009\u62e9 \u7ec4\u4ef6   SkeletalMesh \uff08 \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \uff09 \u5e76 \u5c06 \u5176 \u6cbf   x   \u8f74 \u79fb\u52a8 \uff0c \u76f4\u5230 \u5176 \u4f4d\u4e8e \u5ea7\u6905 \u4f4d\u7f6e \u3002   9 .   \u6d4b\u8bd5 \u4e00\u4e0b \uff0c \u8fdb\u5165 CarlaGameMode \u84dd\u56fe \u5e76 \u5c06 \u201c Default   Pawn   Class \u201d \u66f4 \u6539\u4e3a \u65b0\u521b \u521b\u5efa \u65b0\u521b\u5efa \u7684 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u84dd\u56fe \u3002","title":"tuto   A   add   vehicle"},{"location":"tuto_A_add_vehicle/#_1","text":"\u8fd9\u4e2a \u6559\u7a0b \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u5411   Carla   \u6dfb\u52a0 \u65b0 \u7684 \u8f66\u8f86 \u3002 \u6559\u7a0b \u5206\u4e3a \u4e24\u4e2a \u90e8\u5206 \uff0c \u4e00\u4e2a \u7528\u4e8e \u56db\u8f6e \u8f66\u8f86 \uff0c \u53e6 \u4e00\u4e2a \u7528\u4e8e \u4e24\u8f6e \u8f66\u8f86 \u3002 \u6559\u7a0b \u6982\u8ff0 \u4e86 \u5efa\u6a21 \u8f66\u8f86 \u65f6 \u5fc5\u987b \u6ee1\u8db3 \u7684 \u57fa\u672c \u8981\u6c42 \uff0c \u4ee5 \u786e\u4fdd \u8f66\u8f86 \u5728   Carla   \u4e2d \u8fd0\u884c \u826f\u597d \uff0c \u5e76 \u63d0\u4f9b \u4e86 \u5728 \u5c06 \u8f66\u8f86 \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce \u540e \u6240 \u9700 \u7684 \u914d\u7f6e \u8bf4\u660e \u3002   \u6dfb\u52a0   4   \u8f6e \u8f66\u8f86   \u7ed1\u5b9a \u5e76 \u5efa\u6a21 \u8f66\u8f86   \u5bfc\u5165 \u5e76 \u914d\u7f6e \u8f66\u8f86   \u6dfb\u52a0   N   \u8f6e \u8f66\u8f86   \u6dfb\u52a0   2   \u8f6e \u8f66\u8f86   \u91cd\u8981   \u672c \u6559\u7a0b \u4ec5 \u9002\u7528 \u4e8e \u4f7f\u7528 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u5e76 \u6709\u6743 \u8bbf\u95ee \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u7528\u6237 \u3002","title":"\u6dfb\u52a0 \u65b0\u8f66"},{"location":"tuto_A_add_vehicle/#4","text":"\u6dfb\u52a0 \u5230   Carla   \u7684 \u8f66\u8f86 \u9700\u8981 \u4f7f\u7528 \u53ef \u5728   \u6b64\u5904   \u627e\u5230 \u7684 \u901a\u7528 \u57fa\u7840 \u9aa8\u67b6 \u3002 \u6b64 \u94fe\u63a5 \u5c06 \u4e0b\u8f7d \u4e00\u4e2a \u540d\u4e3a   VehicleSkeleton . rar   \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5176\u4e2d \u5305\u542b \u4e24\u79cd \u4e0d\u540c \u683c\u5f0f \u7684 \u57fa\u672c \u6846\u67b6 \uff0c \u4e00\u79cd \u4e3a   ASCII \uff0c \u53e6 \u4e00\u79cd \u4e3a \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u3002 \u60a8 \u4f7f\u7528 \u7684 \u683c\u5f0f \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684   3D   \u5efa\u6a21 \u8f6f\u4ef6 \u8981\u6c42 \u3002   \u9aa8\u67b6 \u9aa8\u9abc \u7684 \u4f4d\u7f6e \u53ef\u4ee5 \u66f4\u6539 \uff0c \u4f46 \u4efb\u4f55 \u5176\u4ed6 \u64cd\u4f5c \uff08 \u4f8b\u5982 \u65cb\u8f6c \u3001 \u6dfb\u52a0 \u65b0 \u9aa8\u9abc \u6216 \u66f4\u6539 \u5f53\u524d \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \uff09 \u90fd \u4f1a \u5bfc\u81f4 \u9519\u8bef \u3002","title":"\u6dfb\u52a0   4   \u8f6e \u8f66\u8f86  "},{"location":"tuto_A_add_vehicle/#_2","text":"\u672c \u8282 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u8f66\u8f86 \u5efa\u6a21 \u9636\u6bb5 \u7684 \u6700\u4f4e \u8981\u6c42 \uff0c \u4ee5 \u786e\u4fdd \u5176 \u53ef\u4ee5 \u5728   Carla   \u4e2d \u6210\u529f \u4f7f\u7528 \u3002 \u8be5 \u8fc7\u7a0b \u5305\u62ec \u5c06 \u9aa8\u67b6 \u6b63\u786e \u7ed1\u5b9a \u5230 \u8f66\u8f86 \u7684 \u5e95\u5ea7 \u548c \u8f66\u8f6e \u3001 \u521b\u5efa \u7269\u7406 \u8d44\u6e90 \u548c \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7f51\u683c \uff0c \u4ee5\u53ca \u5bfc\u51fa \u4e3a \u6b63\u786e \u7684 \u683c\u5f0f \u3002   1 .   \u5bfc\u5165 \u57fa\u7840 \u9aa8\u67b6 \u3002   \u5c06 \u57fa\u7840 \u9aa8\u67b6 \u5bfc\u5165 \u60a8 \u9996\u9009 \u7684 \u4e09\u7ef4 \u5efa\u6a21 \u8f6f\u4ef6 \u4e2d \u3002 \u5e38\u89c1 \u7684 \u7f16\u8f91 \u7f16\u8f91\u5668 \u5305\u62ec   Maya   \u548c   Blender \u3002   2 .   \u7ed1\u5b9a \u9aa8\u9abc \u3002   \u6839\u636e \u4e0b\u9762 \u7684 \u547d\u540d \u6cd5\u5c06 \u9aa8\u9abc \u7ed1\u5b9a \u5230 \u8f66\u8f86 \u7f51\u683c \u7684 \u76f8\u5e94 \u90e8\u5206 \u3002 \u786e\u4fdd \u8f6e\u5b50 \u7684 \u9aa8\u9abc \u5728 \u7f51\u683c \u5185 \u5c45\u4e2d \u3002   \u5de6 \u524d\u8f6e \uff1a   Wheel _ Front _ Left   \u53f3 \u524d\u8f6e \uff1a   Wheel _ Front _ Right   \u5de6 \u540e\u8f6e \uff1a   Wheel _ Rear _ Left   \u53f3 \u540e\u8f6e \uff1a   Wheel _ Rear _ Right   \u7f51\u683c \u7684 \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \uff1a   VehicleBase   \u8b66\u544a   \u4e0d\u8981 \u5bf9 \u9aa8\u9abc \u540d\u79f0 \u6216 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u8fdb\u884c \u4efb\u4f55 \u66f4\u6539 \uff0c \u4e5f \u4e0d\u8981 \u6dfb\u52a0 \u4efb\u4f55 \u65b0 \u9aa8\u9abc \u3002   3 .   \u4e3a \u60a8 \u7684 \u8f66\u8f86 \u5efa\u6a21 \u3002   \u8f66\u8f86 \u5e94 \u62e5\u6709 \u5927\u7ea6   50 , 000   -   100 , 000   \u4e2a   tris \u3002 \u6211\u4eec \u4f7f\u7528 \u5b9e\u9645 \u6c7d\u8f66 \u7684 \u5c3a\u5bf8 \u548c \u6bd4\u4f8b \u6765 \u5efa\u6a21 \u8f66\u8f86 \u3002   \u6211\u4eec \u5efa\u8bae \u5efa\u8bae\u60a8 \u5c06 \u8f66\u8f86 \u5206\u4e3a \u4ee5\u4e0b \u6750\u8d28 \uff1a   Bodywork   :   \u8f66\u8f86 \u7684 \u91d1\u5c5e \u90e8\u5206 \u3002 \u8be5 \u6750\u8d28 \u5df2 \u66f4 \u6539\u4e3a \u865a\u5e7b \u5f15\u64ce \u6750\u8d28 \u3002 \u53ef\u4ee5 \u6dfb\u52a0 \u5fbd\u6807 \u548c \u7ec6\u8282 \uff0c \u4f46 \u4e3a\u4e86 \u53ef\u89c1 \uff0c \u5fc5\u987b \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684   Alpha   \u901a\u9053 \u5c06 \u5b83\u4eec \u7ed8\u5236 \u4e3a \u4e0d\u540c \u7684 \u989c\u8272 \u3002   Glass _ Ext   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u53ef\u4ee5 \u4ece \u8f66\u8f86 \u5916\u90e8 \u770b\u5230 \u5185\u90e8 \u3002   Glass _ Int   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u8f66\u8f86 \u5185\u90e8 \u5230 \u5916\u90e8 \u7684 \u53ef\u89c1 \u6027 \u3002   Lights   :   \u5934\u706f \u3001 \u6307\u793a \u6307\u793a\u706f \u7b49 \u3002   LightGlass _ Ext   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u5916\u90e8 \u5230 \u5185\u90e8 \u7684 \u706f\u5149 \u53ef\u89c1 \u6027 \u3002   LightGlass _ Int   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u5185\u90e8 \u5230 \u5916\u90e8 \u770b\u5230 \u5149 \u3002   LicensePlate   :   29x12   \u5398\u7c73 \u7684 \u77e9\u5f62 \u5e73\u9762 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528   Carla   \u63d0\u4f9b \u7684   . fbx   \u4ee5 \u83b7\u5f97 \u6700\u4f73 \u83b7\u5f97\u6700\u4f73 \u7ed3\u679c \uff0c \u8bf7 \u5728   \u6b64\u5904   \u4e0b\u8f7d \u3002 \u7eb9\u7406 \u5c06 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u81ea\u52a8 \u5206\u914d \u3002   Interior   :   \u4efb\u4f55 \u5176\u4ed6 \u4e0d \u9002\u5408 \u4e0a\u8ff0 \u90e8\u5206 \u7684 \u7ec6\u8282 \u90fd \u53ef\u4ee5 \u8fdb\u5165   \u5185\u9970   .   \u6750\u6599 \uff08 Material \uff09 \u5e94 \u4f7f\u7528 \u683c\u5f0f   M _ CarPart _ CarName   \u547d\u540d \uff0c \u4f8b\u5982   M _ Bodywork _ Mustang   \u3002   \u7eb9\u7406 \uff08 Textures \uff09 \u5e94 \u4f7f\u7528 \u683c\u5f0f   T _ CarPart _ CarName   \u547d\u540d \uff0c \u4f8b\u5982   T _ Bodywork _ Mustang   \u3002 \u7eb9\u7406 \u7684 \u5927\u5c0f \u5e94\u4e3a   2048x2048 \u3002   \u865a\u5e7b \u5f15\u64ce \u4f1a \u81ea\u52a8 \u521b\u5efa ( Level   of   Details ,   LOD ) \uff0c \u4f46 \u60a8 \u4e5f \u53ef\u4ee5 \u5728   3D   \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u624b\u52a8 \u521b\u5efa \u5b83\u4eec \u3002 Tri   \u8ba1\u6570 \u5982\u4e0b \uff1a   LOD   0   :   100 , 000   tris   LOD   1   :   80 , 000   tris   LOD   2   :   60 , 000   tris   LOD   3   :   30 , 000   tris   4 .   \u521b\u5efa \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u3002   \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u662f \u4e00\u4e2a \u9644\u52a0 \u7f51\u683c \uff0c \u5141\u8bb8 \u865a\u5e7b \u5f15\u64ce \u8ba1\u7b97 \u8f66\u8f86 \u7684 \u7269\u7406 \u7279\u6027 \u3002 \u5b83 \u5e94\u8be5 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u7b80\u5355 \uff0c \u51cf\u5c11 \u591a\u8fb9 \u591a\u8fb9\u5f62 \u6570\u91cf \uff0c \u5e76\u4e14 \u5e94\u8be5 \u8986\u76d6 \u9664 \u8f66\u8f6e \u4e4b\u5916 \u7684 \u6574\u4e2a \u8f66\u8f86 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605 \u4e0b\u56fe \u7684 \u793a\u4f8b \u3002   \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u5e94 \u5bfc\u51fa \u4e3a \u5355\u72ec \u7684   . fbx   \u6587\u4ef6 \u3002 \u6700\u7ec8 \u6587\u4ef6 \u5e94 \u6ee1\u8db3 \u4ee5\u4e0b \u8981\u6c42 \uff1a   \u6709 \u4e00\u4e2a \u57fa\u7840 \u7f51\u683c \u3002 \u8fd9 \u5e94\u8be5 \u662f \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u7684 \u526f\u672c \u3002 \u5b83 \u5e94\u8be5 \u4e0e \u539f\u59cb \u8f66\u8f86 \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \u3002   \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u4f53 \u5fc5\u987b \u4f7f\u7528 \u683c\u5f0f   UCX _ < vehicle _ name > _ < number _ of _ mesh >   \u547d\u540d \uff0c   \u5426\u5219 \u865a\u5e7b \u5f15\u64ce \u5c06 \u65e0\u6cd5 \u8bc6\u522b \u3002   \u7f51\u683c \u4e0d\u5f97 \u8d85\u51fa \u539f\u59cb \u6a21\u578b \u7684 \u8fb9\u754c \u3002   \u7f51\u683c \u5e94 \u4e0e \u539f\u59cb \u6a21\u578b \u5177\u6709 \u76f8\u540c \u7684 \u4f4d\u7f6e \u3002   \u5c06 \u6700\u7ec8   . fbx   \u7f51\u683c \u5bfc\u51fa \u4e3a \u540d\u4e3a   SMC _ < vehicle _ name > . fbx   \u7684 \u6587\u4ef6 \u3002   5 .   \u4e3a \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u521b\u5efa \u7f51\u683c \u3002   \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7f51\u683c \u8bbe\u7f6e \u5c06 \u7531 \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 RADAR \u3001 LiDAR   \u548c   Semantic   LiDAR \uff09 \u68c0\u6d4b \u5230 \u7684 \u8f66\u8f86 \u5f62\u72b6 \u3002 \u8be5 \u7f51\u683c \u5e94\u8be5 \u5177\u6709 \u6bd4 \u7269\u7406 \u8d44\u4ea7 \u7f51\u683c \u7a0d\u5fae \u66f4 \u660e\u786e \u7684 \u51e0\u4f55 \u5f62\u72b6 \uff0c \u4ee5 \u63d0\u9ad8 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4eff\u771f \u7684 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \uff0c \u4f46 \u51fa\u4e8e \u6027\u80fd \u539f\u56e0 \uff0c \u4e0d\u5982 \u6c7d\u8f66 \u7f51\u683c \u90a3\u4e48 \u8be6\u7ec6 \u3002   \u521b\u5efa \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7f51\u683c \u65f6\u8bf7 \u8003\u8651 \u4ee5\u4e0b \u51e0\u70b9 \u4ee5\u4e0b\u51e0\u70b9 \uff1a   \u7f51\u683c \u5e94 \u8986\u76d6 \u8f66\u8f86 \u7684 \u5404\u4e2a \u65b9\u9762 \u5404\u4e2a\u65b9\u9762 \uff0c \u5305\u62ec \u8f66\u8f6e \u3001 \u540e\u89c6 \u540e\u89c6\u955c \u548c \u683c\u6805 \u3002   \u8f6e\u5b50 \u5e94\u4e3a \u4e0d \u8d85\u8fc7   16   \u5708 \u7684 \u5706\u67f1 \u67f1\u4f53 \u5706\u67f1\u4f53 \u3002   \u5982\u679c \u9700\u8981 \uff0c \u53ef\u4ee5 \u5c06 \u5404\u79cd \u7f51\u683c \u8fde\u63a5 \u5728 \u4e00\u8d77 \u3002   \u7f51\u683c \u4e0d\u5f97 \u8d85\u51fa \u539f\u59cb \u6a21\u578b \u7684 \u8fb9\u754c \u3002   \u7f51\u683c \u5e94\u8be5 \u4e0e \u539f\u59cb \u7f51\u683c \u5177\u6709 \u76f8\u540c \u7684 \u4f4d\u7f6e \u3002   \u5c06 \u6700\u7ec8 \u7f51\u683c \u5bfc\u51fa \u540d\u4e3a   SM _ sc _ < vehicle _ name > . fbx   \u7684   . fbx   \u6587\u4ef6 \u3002   5 .   \u5bfc\u51fa \u8f66\u8f86 \u7f51\u683c \u3002   \u9009\u62e9 \u6240\u6709 \u4e3b\u8981 \u8f66\u8f86 \u7f51\u683c \u548c \u9aa8\u67b6 \u5e95\u5ea7 \u5e76 \u5bfc\u51fa \u4e3a   . fbx   \u3002","title":"\u7ed1\u5b9a \u5e76 \u5efa\u6a21 \u8f66\u8f86  "},{"location":"tuto_A_add_vehicle/#_3","text":"\u672c \u8282 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5c06 \u8f66\u8f86 \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce \u4ee5 \u5728   Carla   \u4e2d \u4f7f\u7528 \u7684 \u8fc7\u7a0b \u3002 \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u6267\u884c \u8fd9\u4e9b \u6b65\u9aa4 \u3002   1 .   \u521b\u5efa \u8f66\u8f86 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u5728   Content / Carla / Static / Vehicles / 4Wheeled   \u91cc \u521b\u5efa \u4e00\u4e2a \u540d\u4e3a   < vehicle _ name >   \u7684 \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   2 .   \u5bfc\u5165   . fbx   \u3002   \u5728 \u65b0 \u7684 \u8f66\u8f86 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u901a\u8fc7 \u5728   Content   Browser   \u4e2d \u53f3\u952e \u5355\u51fb \u5e76 \u9009\u62e9   \u5bfc\u5165 \u5bfc\u5165\u5230   Game / Carla / Static / Vehicles / 4Wheeled / < vehicle _ name >   \u6765 \u5bfc\u5165 \u4e3b \u8f66\u8f86 \u9aa8\u67b6   . fbx   \u3002   \u5728 \u5f39\u51fa \u7684 \u5bf9\u8bdd \u5bf9\u8bdd\u6846 \u4e2d \uff1a   \u5c06 \u5bfc\u5165 \u5185\u5bb9 \u7c7b\u578b   Import   Content   Type   \u8bbe\u7f6e \u4e3a   Geometry   and   Skinning   Weights   \u3002   \u5c06   Normal   Import   Method   \u8bbe\u7f6e \u4e3a   Import   Normals   \u3002   \uff08 \u53ef \u9009 \uff09 \u5c06   Material   Import   Method   \u8bbe\u7f6e \u4e3a   Do   not   create   materials   \u3002 \u53d6\u6d88 \u9009\u4e2d   Import   Textures   \u4ee5 \u907f\u514d \u865a\u5e7b \u5f15\u64ce \u521b\u5efa \u9ed8\u8ba4 \u6750\u8d28 \u3002   \u9aa8\u67b6 \u7f51\u683c \u4f53\u5c06 \u4e0e \u4e24\u4e2a \u65b0 \u6587\u4ef6   < vehicle _ name > _ PhysicsAssets   and   < vehicle _ name > _ Skeleton   \u4e00\u8d77 \u51fa\u73b0 \u3002   \u5c06 \u5176\u4f59   . fbx   \u6587\u4ef6 \u4e0e \u4e3b \u8f66\u8f86 \u9aa8\u67b6   . fbx   \u6587\u4ef6 \u5206\u5f00 \u5bfc\u5165 \u3002   3 .   \u8bbe\u7f6e \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u3002   \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   Content   Browser   < vehicle _ name > _ PhysicsAssets   \u3002   Skeleton   Tree   \u9762\u677f \u4e2d \u53f3\u952e \u5355\u51fb   Vehicle _ Base   \u7684 \u7f51\u683c \u4f53 \uff0c \u7136\u540e \u8f6c \u5230   Copy   Collision   from   StaticMesh   \u3002   \u641c\u7d22 \u5e76 \u9009\u62e9 \u60a8 \u7684   SMC _ < vehicle _ name >   \u6587\u4ef6 \u3002 \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230 \u7269\u7406 \u8d44\u6e90 \u7f51\u683c \u7684 \u8f6e\u5ed3 \u51fa\u73b0 \u5728 \u89c6 \u53e3\u4e2d \u3002   \u4ece   Vehicle _ Base   \u4e2d \u5220\u9664 \u9ed8\u8ba4 \u7684 \u80f6\u56ca \u5f62\u72b6 \u3002   \u9009\u62e9 \u6240\u6709 \u8f6e\u5b50 \uff1a   \u8f6c \u5230   Tools   \u9762\u677f \u5e76 \u5c06 \u201c \u57fa\u5143 \u7c7b\u578b   Primitive   Type   \u201d \u66f4 \u6539\u4e3a   Sphere   \u3002   \u8f6c \u5230 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f   Details   \u9762\u677f \u5e76 \u5c06 \u7269\u7406 \u7c7b\u578b   Physics   Type   \u66f4 \u6539\u4e3a   Kinematic   \u3002   \u5c06 \u7ebf\u6027 \u963b\u5c3c   Linear   Damping   \u8bbe\u7f6e \u4e3a   0   \u3002 \u8fd9 \u5c06 \u6d88\u9664 \u8f66\u8f6e \u4e0a \u7684 \u4efb\u4f55 \u989d\u5916 \u6469\u64e6 \u3002   \u4e3a \u6240\u6709 \u7f51\u683c \u542f\u7528   Simulation   Generates   Hit   Event   \u3002   \u5355\u51fb   Re - generate   Bodies   \u3002   \u5c06 \u8f66\u8f6e \u7403\u4f53 \u8c03\u6574 \u81f3 \u8f66\u8f6e \u5c3a\u5bf8 \u3002   \u4fdd\u5b58 \u5e76 \u5173\u95ed \u7a97\u53e3 \u3002   4 .   \u521b\u5efa \u52a8\u753b \u84dd\u56fe \u3002   \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   Content   Browser   \u4e2d \uff0c \u53f3\u952e \u5355\u51fb \u8f66\u8f86 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u9009\u62e9   Animation   - >   Animation   Blueprint   \u3002   \u5728 \u7236\u7c7b   Parent   Class   \u4e2d \u641c\u7d22 \u5e76 \u9009\u62e9   VehicleAnimInstance   \u3002   \u5728 \u76ee\u6807 \u9aa8\u67b6   Target   Skeleton   \u4e2d \u641c\u7d22 \u5e76 \u9009\u62e9   < vehicle _ name > _ Skeleton   \u3002   \u6309   OK   \u5e76 \u5c06 \u84dd\u56fe \u547d\u540d \u91cd\u547d\u540d \u4e3a   AnimBP _ < vehicle _ name >   \u3002   5 .   \u914d\u7f6e \u52a8\u753b \u84dd\u56fe \u3002   \u4e3a\u4e86 \u7b80\u5316 \u914d\u7f6e \u52a8\u753b \u84dd\u56fe \u7684 \u8fc7\u7a0b \uff0c \u6211\u4eec \u5c06 \u4ece \u672c\u5730   Carla   \u8f66\u8f86 \u590d\u5236 \u73b0\u6709 \u7684 \u52a8\u753b \u84dd\u56fe \uff1a   \u8f6c \u5230   Content / Carla / Static / Vehicle   \u5e76 \u9009\u62e9 \u4efb\u4f55   Carla   \u8f66\u8f86 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u6253\u5f00 \u5176 \u52a8\u753b \u84dd\u56fe \u3002   \u5728   My   Blueprint   \u9762\u677f \u4e2d \uff0c \u53cc\u51fb   AnimGraph   \u3002 \u60a8 \u5c06 \u770b\u5230 \u56fe\u8868 \u51fa\u73b0 \u5728 \u89c6 \u53e3\u4e2d \u3002   \u5355\u51fb \u5e76 \u62d6\u52a8 \u4ee5 \u9009\u62e9   Mesh   Space   Ref   Pose   \u3001   Wheel   Handler   \u548c   Component   To   Local   \u7ec4\u4ef6 \u3002 \u53f3\u952e \u5355\u51fb \u5e76 \u9009\u62e9 \u590d\u5236 \u3002   \u8fd4\u56de \u60a8 \u81ea\u5df1 \u7684 \u8f66\u8f86 \u52a8\u753b \u84dd\u56fe \u5e76 \u5c06 \u590d\u5236 \u7684 \u5185\u5bb9 \u7c98\u8d34 \u5230 \u56fe\u5f62 \u533a\u57df \u4e2d \u3002   \u5355\u51fb   Component   To   Local   \u7ec4\u4ef6 \u4e2d \u7684 \u7ad9\u7acb \u4eba\u7269 \u5e76 \u5c06 \u5176 \u62d6\u52a8 \u5230   Output   Pose   \u4e2d \u7684 \u4eba\u7269 \uff0c \u4ee5 \u5c06 \u7ec4\u4ef6 \u8fde\u63a5 \u5728 \u4e00\u8d77 \u3002   \u5355\u51fb \u5de6\u4e0a \u4e0a\u89d2 \u5de6\u4e0a\u89d2 \u7684   Compile   \u3002 \u60a8 \u73b0\u5728 \u5e94\u8be5 \u770b\u5230 \u4e00\u6761 \u8109\u52a8 \u7684 \u7ebf \u6d41\u8fc7 \u6574\u4e2a \u5e8f\u5217 \u3002   \u4fdd\u5b58 \u5e76 \u5173\u95ed \u7a97\u53e3 \u3002   6 .   \u51c6\u5907 \u8f66\u8f86 \u548c \u8f66\u8f6e \u84dd\u56fe \u3002   \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   Content   Browser   \u4e2d \uff0c \u8f6c \u5230   Content / Carla / Blueprints / Vehicles   \u5e76 \u521b\u5efa \u4e00\u4e2a \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   < vehicle _ name >   \u3002   \u5728 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \uff0c \u53f3\u952e \u5355\u51fb \u5e76 \u8f6c\u5230   Blueprint   Class   \u3002 \u5728 \u5f39\u51fa \u7a97\u53e3 \u4e2d \u6253\u5f00   All   Classes   \u90e8\u5206 \u3002   \u641c\u7d22   BaseVehiclePawn   \u5e76 \u6309   Select   \u3002   \u5c06 \u6587\u4ef6 \u547d\u540d \u91cd\u547d\u540d \u4e3a   BP _ < vehicle _ name >   \u3002   \u8f6c \u5230   Carla / Blueprints / Vehicles   \u4e2d \u4efb\u4f55 \u672c\u5730   Carla   \u8f66\u8f86 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   Content   Browser   \u4e2d \uff0c \u5c06 \u56db\u8f6e \u84dd\u56fe \u590d\u5236 \u590d\u5236\u5230 \u60a8 \u81ea\u5df1 \u8f66\u8f86 \u7684 \u84dd\u56fe \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u547d\u540d \u91cd\u547d\u540d \u6587\u4ef6 \u4ee5 \u5c06 \u65e7 \u8f66\u8f86 \u540d\u79f0 \u66ff\u6362 \u4e3a \u60a8 \u81ea\u5df1 \u7684 \u8f66\u8f86 \u540d\u79f0 \u3002   7 .   \u914d\u7f6e \u8f6e\u5b50 \u84dd\u56fe \u3002   \u5728 \u8f66\u8f86 \u84dd\u56fe \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u6253\u5f00 \u6240\u6709 \u56db\u4e2a \u8f66\u8f6e \u84dd\u56fe \u3002   \u5728   Class   Defaults   \u9762\u677f \u4e2d \uff0c \u5c06   Collision   Mesh   \u8bbe\u7f6e \u4e3a   Wheel _ Shape   \u3002   \u7701\u7565 \u6b64 \u6b65\u9aa4 \u5c06 \u5bfc\u81f4 \u8f66\u8f86 \u8f66\u8f6e \u9677\u5165 \u5730\u9762   \u3002   \u6839\u636e \u60a8 \u7684 \u8f66\u8f86 \u89c4\u683c \u8c03\u6574 \u8f66\u8f6e \u5f62\u72b6 \u534a\u5f84 \u3001 \u5bbd\u5ea6 \u3001 \u8d28\u91cf \u548c \u963b\u5c3c \u7387 \u7684 \u503c \u3002   \u5c06 \u8f6e\u80ce \u914d\u7f6e   Tire   Config   \u8bbe\u7f6e \u4e3a   CommonTireConfig   \u3002   \u5728 \u524d\u8f6e \u4e0a \u6839\u636e \u60a8 \u7684 \u559c\u597d \u8bbe\u7f6e \u8f6c\u5411 \u89d2\u5ea6   Steer   Angle   \uff08 \u9ed8\u8ba4 \u4e3a   70   \uff09 \u3002 \u53d6\u6d88 \u9009\u4e2d   Affected   by   Handbrake   \u3002   \u5728 \u540e\u8f6e \u4e0a\u5c06 \u8f6c\u5411 \u89d2\u5ea6   Steer   Angle   \u8bbe\u7f6e \u4e3a   0   \u3002 \u68c0\u67e5   Affected   by   Handbrake   \u3002   \u8bbe\u7f6e \u60ac\u67b6 \u503c\u65f6 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528   \u6b64\u5904   \u7684 \u503c \u4f5c\u4e3a \u6307\u5bfc \u3002   \u7f16\u8bd1 \u5e76 \u4fdd\u5b58 \u3002   8 .   \u914d\u7f6e \u8f66\u8f86 \u84dd\u56fe \u3002   \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   Content   Browser   \u4e2d \uff0c \u6253\u5f00 \u60a8 \u7684   BP _ < vehicle _ name >   \u3002   \u5728   Components   \u9762\u677f \u4e2d \uff0c \u9009\u62e9   Mesh   ( VehicleMesh )   ( Inherited )   \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Skeletal   Mesh   \u5e76 \u641c\u7d22 \u5e76 \u9009\u62e9 \u8f66\u8f86 \u7684 \u57fa\u7840 \u9aa8\u67b6 \u6587\u4ef6 \uff08 \u4f4d\u4e8e   Carla / Static / Vehicles / 4Wheeled / < vehicle _ name >   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff09 \u3002   \u8f6c \u5230   Details   \u9762\u677f \u4e2d \u7684   Anim   Class   \u3002 \u641c\u7d22 \u5e76 \u9009\u62e9 \u60a8 \u7684   AnimBP _ < vehicle _ name >   \u6587\u4ef6 \u3002   \u5728   Components   \u9762\u677f \u4e2d \uff0c \u9009\u62e9   Custom   Collision   ( Inherited )   \u3002   \u5728   Details   \u9762\u677f \u4e2d \u9009\u62e9   Static   Mesh   \u5e76 \u641c\u7d22 \u60a8 \u7684   SM _ sc _ < vehicle _ name >   \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7f51\u683c \u4f53 \u3002   \u5728   Components   \u9762\u677f \u4e2d \uff0c \u9009\u62e9   VehicleMovement   ( MovementComp )   ( Inherited )   \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u641c\u7d22   wheel   \u3002 \u60a8 \u5c06 \u627e\u5230 \u6bcf\u4e2a \u8f6e\u5b50 \u7684 \u8bbe\u7f6e \u3002 \u5bf9\u4e8e \u6bcf \u4e00\u4e2a \uff0c \u5355\u51fb   Wheel   Class   \u5e76 \u641c\u7d22 \u4e0e \u6b63\u786e \u8f66\u8f6e \u4f4d\u7f6e \u76f8\u5bf9 \u5e94 \u7684   BP _ < vehicle _ name > _ < wheel _ name >   \u6587\u4ef6 \u3002   \u5982\u679c \u60a8 \u7684 \u8f66\u8f86 \u6709 \u4efb\u4f55 \u4e0e \u57fa\u7840 \u7f51\u683c \u5206\u5f00 \u7684 \u9644\u52a0 \u7f51\u683c \uff08 \u95e8 \u3001 \u706f \u7b49 \uff09 \uff1a   \u5c06 \u5b83\u4eec \u62d6 \u5230   Components   \u9762\u677f \u4e2d \u7684   Mesh   ( VehicleMesh )   ( Inherited )   \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u3002   \u9009\u62e9 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u7684 \u989d\u5916 \u7f51\u683c \u5e76 \u5728   Details   \u9762\u677f \u4e2d \u641c\u7d22   Collision   \u3002   \u5c06 \u78b0\u649e \u9884\u8bbe   Collision   Presets   \u8bbe\u7f6e \u4e3a   NoCollision   \u3002   \u9009\u62e9 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u7684 \u4efb\u4f55 \u706f\u5149 \u7f51\u683c \u3002 \u5728   Details   \u9762\u677f \u4e2d \u641c\u7d22   Tag   \u5e76 \u6dfb\u52a0 \u6807\u7b7e   emissive   \u3002   \u5355\u51fb   Save   \u5e76   Compile   \u3002   \u6211\u4eec \u8fd8 \u53ef\u4ee5   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u7684 \u8f66\u724c   \u3002   9 .   \u5c06 \u8f66\u8f86 \u6dfb\u52a0 \u5230 \u84dd \u56fe\u5e93 \u4e2d \u3002   .   \u5728   Content / Carla / Blueprint / Vehicle   \u4e2d \uff0c \u6253\u5f00   VehicleFactory   \u6587\u4ef6 \u3002   \u5728   Generate   Definitions   \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u53cc\u51fb   Vehicles   \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u5c55\u5f00   Default   Value   \u90e8\u5206 \u5e76 \u5411 \u8f66\u8f86 \u6570\u7ec4 \u6dfb\u52a0 \u4e00\u4e2a \u65b0\u5143 \u5143\u7d20 \u65b0\u5143\u7d20 \u3002   \u586b\u5199 \u60a8 \u8f66\u8f86 \u7684   Make   \u548c   Model   \u3002   \u4f7f\u7528 \u60a8 \u7684   BP _ < vehicle _ name >   \u6587\u4ef6 \u586b\u5199   Class   \u503c \u3002   \uff08 \u53ef \u9009 \uff09 \u4e3a \u8f66\u8f86 \u63d0\u4f9b \u4e00\u7ec4 \u63a8\u8350 \u989c\u8272 \u3002   \u7f16\u8bd1 \u5e76 \u4fdd\u5b58 \u3002   10 .   \u6d4b\u8bd5 \u8f66\u8f86   \u3002   \u542f\u52a8   Carla \uff0c \u6253\u5f00 \u7ec8\u7aef   PythonAPI / examples   \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   python3   manual _ control . py   -- filter   < model _ name >   #   The   make   or   model   defined   in   step   9   \u7b14\u8bb0   \u5373\u4f7f \u60a8 \u5728 \u54c1\u724c \u548c \u578b\u53f7 \u4e2d \u4f7f\u7528 \u4e86 \u5927\u5199 \u5b57\u7b26 \uff0c \u5b83\u4eec \u5728 \u4f20\u9012 \u7ed9 \u8fc7\u6ee4 \u6ee4\u5668 \u8fc7\u6ee4\u5668 \u65f6 \u4e5f \u9700\u8981 \u8f6c\u6362 \u4e3a \u5c0f\u5199 \u5b57\u7b26 \u3002","title":"\u5bfc\u5165 \u5e76 \u914d\u7f6e \u8f66\u8f86  "},{"location":"tuto_A_add_vehicle/#n","text":"\u6dfb\u52a0   N   \u8f6e \u8f66\u8f86 \u9075\u5faa \u4e0e \u4e0a\u8ff0   4   \u8f6e \u8f66\u8f86 \u76f8\u540c \u7684 \u5bfc\u5165 \u7ba1\u9053 \uff0c \u4f46 \u6709 \u51e0\u4e2a \u6b65\u9aa4 \u4e0d\u540c \u3002   5 .   \u914d\u7f6e   N   \u8f6e \u8f66\u8f86 \u7684 \u52a8\u753b \u84dd\u56fe   \u641c\u7d22   BaseVehiclePawnNW   \u5e76 \u6309   Select   \u3002   6 .   \u51c6\u5907 \u8f66\u8f86 \u548c \u8f66\u8f6e \u84dd\u56fe   \u8f6c \u5230   Carla / Blueprints / Vehicles   \u4e2d \u6240\u6709 \u672c\u5730   Carla   \u8f66\u8f86 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u5c06 \u56db\u8f6e \u84dd\u56fe \u590d\u5236 \u590d\u5236\u5230 \u60a8 \u81ea\u5df1 \u8f66\u8f86 \u7684 \u84dd\u56fe \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u547d\u540d \u91cd\u547d\u540d \u6587\u4ef6 \u4ee5 \u5c06 \u65e7 \u8f66\u8f86 \u540d\u79f0 \u66ff\u6362 \u4e3a \u60a8 \u81ea\u5df1 \u7684 \u8f66\u8f86 \u540d\u79f0 \u3002   \u590d\u5236 \u56db\u4e2a \u8f6e\u5b50 \uff0c \u7136\u540e \u518d\u6b21 \u590d\u5236 \u5176\u4ed6 \u8f6e\u5b50 \u3002 \u5982\u679c \u662f   6   \u8f6e \u8f66\u8f86 \uff0c \u60a8 \u5c06 \u9700\u8981   6   \u4e2a \u4e0d\u540c \u7684 \u8f66\u8f6e \uff1a FLW \u3001 FRW \u3001 MLW \u3001 MRW \u3001 RLW \u3001 RRW \u3002   7 .   \u914d\u7f6e \u8f6e\u5b50 \u84dd\u56fe   \u5bf9\u4e8e   4   \u8f6e \u8f66\u8f86 \uff0c \u8bf7 \u9075\u5faa \u4e0a\u8ff0 \u7b2c   7   \u8282 \u3002   N   \u8f6e \u8f66\u8f86 \u7684 \u4e3b\u8981 \u533a\u522b \u5728\u4e8e \u624b\u5239 \u548c \u8f6c\u5411 \u53c2\u6570 \u7684 \u5f71\u54cd \u3002 \u5728 \u67d0\u4e9b \u8f66\u8f86 \uff08 \u4f8b\u5982 \u957f\u8f74 \u8f74\u8ddd \u957f\u8f74\u8ddd \u5361\u8f66 \uff09 \u4e2d \uff0c \u524d   2   \u5bf9 \u8f66\u8f6e \u5c06 \u8fdb\u884c \u8f6c\u5411 \uff0c \u5176\u4e2d \u4e00\u7ec4 \u53ef\u80fd \u6bd4 \u5176\u4ed6 \u8f66\u8f6e \u8f6c\u5411 \u66f4 \u591a \u3002 \u6700\u540e \u9762 \u7684 \u4e00\u5bf9 \u53ef\u80fd \u4f1a \u53d7\u5230 \u624b\u5239 \u7684 \u5f71\u54cd \uff0c \u5177\u4f53 \u60c5\u51b5 \u5177\u4f53\u60c5\u51b5 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u6b63\u5728 \u5efa\u6a21 \u7684 \u8f66\u8f86 \u3002   8 .   \u914d\u7f6e \u8f66\u8f86 \u84dd\u56fe   \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u201d \u9762\u677f \u4e2d \uff0c \u641c\u7d22   wheel   \u3002 \u60a8 \u5c06 \u627e\u5230 \u6bcf\u4e2a \u8f6e\u5b50 \u7684 \u8bbe\u7f6e \u3002 \u5bf9\u4e8e \u6bcf \u4e00\u4e2a \uff0c \u5355\u51fb \u8f66\u8f6e \u7c7b\u522b \u5e76 \u641c\u7d22   BP _   _   \u5bf9\u5e94 \u4e8e \u6b63\u786e \u8f66\u8f6e \u4f4d\u7f6e \u7684 \u6587\u4ef6 \u3002   \u8fd9\u662f \u6b63\u786e \u7684 \uff0c \u4f46 \u53ea\u662f \u4e3a\u4e86 \u6307\u5b9a \uff0c \u5728   N   \u8f6e \u8f66\u8f86 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u60a8 \u9700\u8981 \u8bbe\u7f6e \u6240\u6709 \u8f66\u8f6e \u3002 \u8fd9\u662f   6   \u8f6e \u8f66\u8f86 \u7684 \u793a\u4f8b \uff1a   \u6700\u540e \uff0c \u4e00\u4e2a \u989d\u5916 \u7684 \u8003\u8651 \u56e0\u7d20 \u662f \u8bbe\u7f6e \u5dee\u901f \u5dee\u901f\u5668 \u3002 \u5bf9\u4e8e   4   \u8f6e \u8f66\u8f86 \uff0c \u6211\u4eec \u6709 \u4e0d\u540c \u7684 \u5dee\u901f \u5dee\u901f\u5668 \u9884\u8bbe \uff08 \u9650\u6ed1 \u3001 \u5f00\u653e   4W   \u7b49 \uff09 \uff0c \u4f46 \u5bf9\u4e8e   N   \u8f6e \u8f66\u8f86 \uff0c \u60a8 \u9700\u8981 \u9009\u62e9 \u8981 \u5728 \u54ea\u4e9b \u8f66\u8f6e \u4e0a \u5e94\u7528 \u626d\u77e9 \u3002 \u672c\u4f8b \u4e2d \u6211\u4eec \u9009\u62e9 \u53ea\u6709 \u4e2d \u540e\u8f6e \u6709 \u626d\u77e9 \uff0c \u524d\u8f6e \u6ca1\u6709 \u626d\u77e9 \uff0c \u60a8 \u53ef\u4ee5 \u6307\u5b9a \u5176\u4ed6 \u914d\u7f6e \u3002 \u8fd9\u4e9b \u6570\u5b57 \u5c06 \u4e0e \u672c\u6587 \u4e0a\u65b9 \u7684 \u56fe\u50cf \u76f8\u540c \uff08 \u4f8b\u5982 \uff0c 0   \u5c06 \u662f \u5de6 \u524d\u8f6e \uff0c \u5982\u4e0a \u6240\u8ff0 \u5982\u4e0a\u6240\u8ff0 \uff09 \u3002   \u6240\u6709 \u5176\u4ed6 \u53c2\u6570 \uff0c \u5982 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u3001 \u53d8\u901f \u53d8\u901f\u7bb1 \u3001 \u8f6c\u5411 \u66f2\u7ebf \uff0c \u5747 \u4e0e \u56db\u8f6e \u8f66\u8f86 \u76f8\u540c \u3002","title":"\u6dfb\u52a0   N   \u8f6e \u8f66\u8f86  "},{"location":"tuto_A_add_vehicle/#2","text":"\u6dfb\u52a0   2   \u8f6e \u8f66\u8f86 \u4e0e \u6dfb\u52a0   4   \u8f6e \u8f66\u8f86 \u7c7b\u4f3c \uff0c \u4f46 \u7531\u4e8e \u52a8\u753b \u7684 \u590d\u6742 \u590d\u6742\u6027 \uff0c \u60a8 \u9700\u8981 \u8bbe\u7f6e \u989d\u5916 \u7684 \u9aa8\u9abc \u6765 \u5f15\u5bfc \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u52a8\u753b \u3002   \u8fd9   \u662f \u4e24\u8f6e \u8f66\u8f86 \u53c2\u8003 \u9aa8\u67b6 \u7684 \u94fe\u63a5 \u3002   \u4e0e   4   \u8f6e \u8f66\u8f86 \u4e00\u6837 \uff0c \u5c06 \u6a21\u578b \u671d\u5411 \u6b63 \u201c x \u201d \uff0c \u6bcf\u4e2a \u9aa8\u9abc \u8f74 \u671d\u5411 \u6b63   x \uff0c z   \u8f74\u671d \u4e0a \u3002   Bone   Setup :   -   Bike _ Rig :   #   \u7f51\u683c \u7684 \u539f\u70b9 \u3002 \u5c06 \u5176 \u653e\u7f6e \u5728 \u573a\u666f \u7684 0 \u70b9   -   BikeBody :   #   \u6a21\u578b \u8eab\u4f53 \u7684 \u4e2d\u5fc3 \u3002   -   Pedals :   #   \u5982\u679c \u8f66\u8f86 \u662f \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \uff0c \u5c06 \u811a\u8e0f \u8e0f\u677f \u811a\u8e0f\u677f \u7ed1 \u5728 \u8fd9\u5757 \u9aa8\u5934 \u4e0a \uff0c \u5c31 \u4f1a \u968f\u7740 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u800c \u65cb\u8f6c \u3002   -   RightPedal :   #   \u5982\u679c \u8f66\u8f86 \u662f \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \uff0c \u5219 \u8bbe\u7f6e \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u811a\u90e8 \u4f4d\u7f6e \u5e76 \u4e0e \u811a\u8e0f \u8e0f\u677f \u811a\u8e0f\u677f \u4e00\u8d77 \u65cb\u8f6c \u3002   -   LeftPedal :   #   ^   -   RearWheel :   #   \u8f66\u8f86 \u540e\u8f6e   -   Handler :   #   \u4e0e \u8f66\u8f86 \u7684 \u524d\u8f6e \u4e00\u8d77 \u65cb\u8f6c \uff0c \u5c06 \u8f66\u8f86 \u64cd\u7eb5 \u64cd\u7eb5\u5668 \u56fa\u5b9a \u5728 \u5176 \u4e0a \u3002   -   HandlerMidBone :   #   \u5b9a\u4f4d \u5728 \u524d\u8f6e \u9aa8\u67b6 \u4e0a \uff0c \u4ee5 \u786e\u5b9a \u64cd\u7eb5 \u64cd\u7eb5\u5668 \u4e0e \u8f66\u8f6e \u7684 \u65b9\u5411   -   HandlerRight :   #   \u8bbe\u7f6e \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u624b \u7684 \u4f4d\u7f6e \uff0c \u65e0\u9700 \u5c06 \u5176 \u7ed1\u5b9a \u5230 \u4efb\u4f55 \u4e1c\u897f \u3002   -   HandlerLeft :   #   ^   -   Frontwheel :   #   \u8f66\u8f86 \u7684 \u524d\u8f6e \u3002   -   RightHelperRotator :   #   \u8fd9 \u56db\u5757 \u989d\u5916 \u7684 \u9aa8\u5934 \u662f \u4e3a \u4e00\u4e2a \u8fc7\u65f6 \u7684 \u7cfb\u7edf \u63d0\u4f9b \u7684 \uff0c \u8be5 \u7cfb\u7edf \u901a\u8fc7 \u4f7f\u7528 \u4f20\u7edf \u7684 \u9690\u5f62 \u8f66\u8f6e \u4f7f \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7a33\u5b9a   -   RightHelprWheel :   #   ^   -   LeftHelperRotator :   #   ^   -   LeftHelperWheel :   #   ^   -   Seat :   #   \u8bbe\u7f6e \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u9acb\u9aa8 \u7684 \u4f4d\u7f6e \u3002 \u65e0\u9700 \u5c06 \u5176 \u7ed1 \u5728 \u4efb\u4f55 \u4e1c\u897f \u4e0a \uff0c \u53ea \u9700 \u5c0f\u5fc3 \u653e\u7f6e \u5373\u53ef \u3002   1 .   \u5c06   fbx   \u4f5c\u4e3a   Skelletal   Mesh   \u5bfc\u5165 \u5bfc\u5165\u5230 \u5176 \u81ea\u5df1 \u7684   Content / Carla / Static / Vehicles / 2Wheeled   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u5bfc\u5165 \u65f6 \uff0c \u9009\u62e9 \u201c General2WheeledVehicleSkeleton \u201d \u4f5c\u4e3a \u9aa8\u67b6 \uff0c \u5e94 \u81ea\u52a8 \u521b\u5efa \u5e76 \u94fe\u63a5 \u7269\u7406 \u8d44\u6e90 \u3002   2 .   \u8c03\u6574 \u7269\u7406 \u8d44\u6e90 \u3002 \u5220\u9664 \u81ea\u52a8 \u521b\u5efa \u7684 \u6846 \u5e76 \u5411   BikeBody   \u9aa8\u9abc \u6dfb\u52a0 \u6846 \uff0c \u5c1d\u8bd5 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u5339\u914d \u5f62\u72b6 \uff0c \u786e\u4fdd \u542f\u7528 \u751f\u6210 \u547d\u4e2d \u4e8b\u4ef6 \u3002 \u4e3a \u6bcf\u4e2a \u8f6e\u5b50 \u6dfb\u52a0 \u4e00\u4e2a \u7403\u4f53 \u5e76 \u5c06 \u5176 \u201c \u7269\u7406 \u7c7b\u578b \u201d \u8bbe\u7f6e \u4e3a \u201c \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u201d \u3002   3 .   \u521b\u5efa   Content / Blueprints / Vehicles / < vehicle - model >   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   4 .   \u5728 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u521b\u5efa \u4e24\u4e2a \u6d3e\u751f \u81ea \u201c VehicleWheel \u201d \u7c7b \u7684 \u84dd\u56fe \u7c7b \u3002 \u8c03\u7528   < vehicle - model > _ FrontWheel   \u548c   < vehicle - model > _ RearWheel   \u3002 \u5c06 \u5176   \" Shape   Radius \"   \u8bbe\u7f6e \u4e3a \u4e0e \u7f51\u683c \u8f6e \u534a\u5f84 \u5b8c\u5168 \u5339\u914d \uff08 \u5c0f\u5fc3 \uff0c \u534a\u5f84 \u4e0d\u662f \u76f4\u5f84 \uff09 \u3002 \u5c06 \u5176 \u201c \u8f6e\u80ce \u914d\u7f6e \u201d \u8bbe\u7f6e \u4e3a \u201c CommonTireConfig \u201d \u3002 \u5728 \u524d\u8f6e \u4e0a \u53d6\u6d88 \u9009\u4e2d \u201c \u53d7 \u624b\u5239 \u5f71\u54cd \u201d \uff0c \u5728 \u540e\u8f6e \u4e0a\u5c06 \u201c \u8f6c\u5411 \u89d2 \u201d \u8bbe\u7f6e \u4e3a \u96f6 \u3002   5 .   \u5728 \u540c\u4e00 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u521b\u5efa \u4e00\u4e2a \u6d3e\u751f   Base2WheeledVehicle   \u7684 \u84dd\u56fe \u7c7b \uff0c \u5e76 \u8c03\u7528 \u5b83   < vehicle - model >   \u3002 \u6253\u5f00 \u5b83 \u8fdb\u884c \u7f16\u8f91 \uff0c \u9009\u62e9 \u7ec4\u4ef6 \u201c Mesh \u201d \uff0c \u5c06 \u201c Skeletal   Mesh \u201d \u548c \u201c Anim   Class \u201d \u8bbe\u7f6e \u4e3a \u76f8\u5e94 \u7684 \u3002 \u7136\u540e \u9009\u62e9   VehicleBounds   \u7ec4\u4ef6 \u5e76 \u8bbe\u7f6e \u5927\u5c0f \u4ee5 \u8986\u76d6 \u8f66\u8f86 \u533a\u57df \uff08 \u5982\u4e0a \u4e0a\u56fe \u5982\u4e0a\u56fe \u6240\u793a \uff09 \u3002   6 .   \u9009\u62e9 \u7ec4\u4ef6 \u201c VehicleMovement \u201d \uff0c \u5728 \u201c Vehicle   Setup \u201d \u4e0b \u5c55\u5f00 \u201c Wheel   Setups \u201d \uff0c \u8bbe\u7f6e \u5404\u4e2a \u8f66\u8f6e \u3002   0 :   \u8f6e\u7c7b =   < vehicle - model > _ FrontWheel   ,   \u9aa8\u9abc \u540d\u79f0 =   FrontWheel   1 :   \u8f6e\u7c7b =   < vehicle - model > _ FrontWheel   ,   \u9aa8\u9abc \u540d\u79f0 =   FrontWheel   2 :   \u8f6e\u7c7b =   < vehicle - model > _ RearWheel   ,   \u9aa8\u9abc \u540d\u79f0 =   RearWheel   3 :   \u8f6e\u7c7b =   < vehicle - model > _ RearWheel   ,   \u9aa8\u9abc \u540d\u79f0 =   RearWheel   \uff08 \u60a8 \u4f1a \u6ce8\u610f \u5230 \uff0c \u6211\u4eec \u57fa\u672c \u57fa\u672c\u4e0a \u5728 \u6bcf\u4e2a \u9aa8\u9abc \u4e2d \u653e\u7f6e \u4e86 \u4e24\u4e2a \u8f6e\u5b50 \u3002 unreal   \u63d0\u4f9b \u7684 \u8f66\u8f86 \u7c7b\u522b \u4e0d \u652f\u6301 \u8f66\u8f6e \u7f16\u53f7 \u4e0d\u540c \u540c\u4e8e \u4e0d\u540c\u4e8e   4   \u7684 \u8f66\u8f86 \uff0c \u56e0\u6b64 \u6211\u4eec \u5fc5\u987b \u8ba9 \u5b83 \u76f8\u4fe1 \u8f66\u8f86 \u5177\u6709 4 \u4e2a \u8f6e\u5b50 \uff09   7 .   \u9009\u62e9 \u53d8\u91cf   \" is   bike \"   \uff0c \u5982\u679c \u60a8 \u7684 \u578b\u53f7 \u662f \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \uff0c \u5219 \u52fe\u9009 \u5b83 \u3002 \u8fd9 \u5c06 \u6fc0\u6d3b \u8e0f\u677f \u65cb\u8f6c \u3002 \u5982\u679c \u60a8 \u8981 \u5b89\u88c5 \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \uff0c \u8bf7 \u4e0d\u8981 \u6807\u8bb0 \u3002   8 .   \u627e\u5230 \u53d8\u91cf   back   Rotation   \u5e76 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u66f4 \u5408\u9002 \u7684 \u4f4d\u7f6e \uff0c \u66f4\u597d \u5730 \u9009\u62e9 \u7ec4\u4ef6   SkeletalMesh \uff08 \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \uff09 \u5e76 \u5c06 \u5176 \u6cbf   x   \u8f74 \u79fb\u52a8 \uff0c \u76f4\u5230 \u5176 \u4f4d\u4e8e \u5ea7\u6905 \u4f4d\u7f6e \u3002   9 .   \u6d4b\u8bd5 \u4e00\u4e0b \uff0c \u8fdb\u5165 CarlaGameMode \u84dd\u56fe \u5e76 \u5c06 \u201c Default   Pawn   Class \u201d \u66f4 \u6539\u4e3a \u65b0\u521b \u521b\u5efa \u65b0\u521b\u5efa \u7684 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u84dd\u56fe \u3002","title":"\u6dfb\u52a0   2   \u8f6e \u8f66\u8f86  "},{"location":"tuto_A_create_standalone/","text":"\u521b\u5efa \u8d44\u4ea7 \u53d1\u884c \u5305   \u4f7f\u7528 \u72ec\u7acb \u5305 \u7ba1\u7406 \u8d44\u4ea7 \u662f   Carla   \u7684 \u5e38\u89c1 \u505a\u6cd5 \u3002 \u5c06 \u5b83\u4eec \u653e\u5728 \u4e00\u8fb9 \u53ef\u4ee5 \u51cf\u5c11 \u6784\u5efa \u7684 \u5927\u5c0f \u3002 \u8fd9\u4e9b \u8d44\u6e90 \u5305 \u53ef\u4ee5 \u968f\u65f6 \u8f7b\u677e \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u5305\u4e2d \u3002 \u5b83\u4eec \u5bf9\u4e8e \u4ee5\u6709 \u7ec4\u7ec7 \u7684 \u65b9\u5f0f \u8f7b\u677e \u5206\u914d \u8d44\u4ea7 \u4e5f \u975e\u5e38 \u6709\u7528 \u3002   \u5728 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u51fa \u5305   \u4f7f\u7528   Docker   \u5bfc\u51fa \u5305   \u5c06 \u8d44\u6e90 \u5bfc\u5165   Carla   \u5305   \u5728 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u51fa \u5305   \u5c06 \u8d44\u4ea7 \u5bfc\u5165 \u865a\u5e7b \u540e \uff0c \u7528\u6237 \u53ef\u4ee5 \u4e3a \u5176 \u751f\u6210   \u72ec\u7acb \u7684 \u5305   \u3002 \u8fd9 \u5c06 \u7528\u4e8e \u5c06 \u5185\u5bb9 \u5206\u53d1 \u5230   Carla   \u5305 \uff0c \u4f8b\u5982   0.9 . 8 \u3002   \u8981 \u5bfc\u51fa \u5305 \uff0c \u53ea \u9700 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u5373\u53ef \u3002   make   package   ARGS = \" -- packages = Package1 , Package2 \"   \u8fd9 \u5c06 \u4e3a \u5217\u51fa \u7684 \u6bcf\u4e2a \u5305 \u521b\u5efa \u4e00\u4e2a \u538b\u7f29 \u5728   . tar . gz   \u6587\u4ef6 \u4e2d \u7684 \u72ec\u7acb \u5305 \u3002 \u5728   Linux   \u4e0a \u6587\u4ef6 \u5c06 \u4fdd\u5b58 \u5728   Dist   \uff0c \u5728   Windows   \u4e0a \u6587\u4ef6 \u4fdd\u5b58 \u5728   / Build / UE4Carla /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u3002   \u4f7f\u7528   Docker   \u5bfc\u51fa \u5305   \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u53ef\u4ee5 \u6784\u5efa \u5728   Docker   \u6620\u50cf \u4e2d \uff0c \u7136\u540e \u53ef\u4ee5 \u4f7f\u7528 \u8be5 \u6620\u50cf \u521b\u5efa \u5305 \u6216 \u5bfc\u51fa \u8d44\u6e90 \u4ee5 \u5728 \u5305\u4e2d \u4f7f\u7528 \u3002   \u8981 \u521b\u5efa   Docker   \u6620\u50cf \uff0c \u8bf7 \u6309\u7167   \u6b64\u5904   \u7684 \u6559\u7a0b \u8fdb\u884c \u64cd\u4f5c \u3002   \u51c6\u5907 \u597d \u955c\u50cf \u540e \uff1a   \u5bfc\u822a \u81f3   Util / Docker   \u3002   \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4e4b\u4e00 \u521b\u5efa   Carla   \u5305 \u6216 \u51c6\u5907 \u5728 \u5305\u4e2d \u4f7f\u7528 \u7684 \u8d44\u6e90 \uff1a   #   \u521b\u5efa \u72ec\u7acb \u7684 \u5305   . / docker _ tools . py   -- output   / output / path   #   \u70d8\u57f9 \u5728   Carla   \u5305\u4e2d \u4f7f\u7528 \u7684 \u8d44\u4ea7   . / docker _ tools . py   -- input   / assets / to / import / path   -- output   / output / path   -- packages   PkgeName1 , PkgeName2   \u5c06 \u8d44\u6e90 \u5bfc\u5165   Carla   \u5305   \u72ec\u7acb \u5305 \u5305\u542b \u5728   . tar . gz   \u6587\u4ef6 \u4e2d \u3002 \u63d0\u53d6 \u65b9\u5f0f \u53d6\u51b3 \u53d6\u51b3\u4e8e \u5e73\u53f0 \u3002   \u5728   Windows   \u4e0a \uff0c   \u5c06 \u538b\u7f29 \u6587\u4ef6 \u538b\u7f29\u6587\u4ef6 \u89e3\u538b \u5230 \u4e3b\u6839   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5728   Linux   \u4e0a \uff0c   \u5c06 \u538b\u7f29 \u6587\u4ef6 \u538b\u7f29\u6587\u4ef6 \u79fb\u81f3   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u811a\u672c \u3002   cd   Import   . / ImportAssets . sh   \u7b14\u8bb0   \u72ec\u7acb \u5305 \u65e0\u6cd5 \u76f4\u63a5 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u6784\u5efa \u4e2d \u3002 \u6309\u7167 \u6559\u7a0b \u5bfc\u5165   \u9053\u5177   \u3001   \u5730\u56fe   \u6216   \u8f66\u8f86   \u3002   \u8fd9 \u603b\u7ed3 \u4e86 \u5982\u4f55 \u5728   Carla   \u4e2d \u521b\u5efa \u548c \u4f7f\u7528 \u72ec\u7acb \u5305 \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u610f\u5916 \u95ee\u9898 \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e16 \u3002   Carla   \u8bba\u575b","title":"tuto   A   create   standalone"},{"location":"tuto_A_create_standalone/#_1","text":"\u4f7f\u7528 \u72ec\u7acb \u5305 \u7ba1\u7406 \u8d44\u4ea7 \u662f   Carla   \u7684 \u5e38\u89c1 \u505a\u6cd5 \u3002 \u5c06 \u5b83\u4eec \u653e\u5728 \u4e00\u8fb9 \u53ef\u4ee5 \u51cf\u5c11 \u6784\u5efa \u7684 \u5927\u5c0f \u3002 \u8fd9\u4e9b \u8d44\u6e90 \u5305 \u53ef\u4ee5 \u968f\u65f6 \u8f7b\u677e \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u5305\u4e2d \u3002 \u5b83\u4eec \u5bf9\u4e8e \u4ee5\u6709 \u7ec4\u7ec7 \u7684 \u65b9\u5f0f \u8f7b\u677e \u5206\u914d \u8d44\u4ea7 \u4e5f \u975e\u5e38 \u6709\u7528 \u3002   \u5728 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u51fa \u5305   \u4f7f\u7528   Docker   \u5bfc\u51fa \u5305   \u5c06 \u8d44\u6e90 \u5bfc\u5165   Carla   \u5305","title":"\u521b\u5efa \u8d44\u4ea7 \u53d1\u884c \u5305"},{"location":"tuto_A_create_standalone/#carla","text":"\u5c06 \u8d44\u4ea7 \u5bfc\u5165 \u865a\u5e7b \u540e \uff0c \u7528\u6237 \u53ef\u4ee5 \u4e3a \u5176 \u751f\u6210   \u72ec\u7acb \u7684 \u5305   \u3002 \u8fd9 \u5c06 \u7528\u4e8e \u5c06 \u5185\u5bb9 \u5206\u53d1 \u5230   Carla   \u5305 \uff0c \u4f8b\u5982   0.9 . 8 \u3002   \u8981 \u5bfc\u51fa \u5305 \uff0c \u53ea \u9700 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u5373\u53ef \u3002   make   package   ARGS = \" -- packages = Package1 , Package2 \"   \u8fd9 \u5c06 \u4e3a \u5217\u51fa \u7684 \u6bcf\u4e2a \u5305 \u521b\u5efa \u4e00\u4e2a \u538b\u7f29 \u5728   . tar . gz   \u6587\u4ef6 \u4e2d \u7684 \u72ec\u7acb \u5305 \u3002 \u5728   Linux   \u4e0a \u6587\u4ef6 \u5c06 \u4fdd\u5b58 \u5728   Dist   \uff0c \u5728   Windows   \u4e0a \u6587\u4ef6 \u4fdd\u5b58 \u5728   / Build / UE4Carla /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u3002","title":"\u5728 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u51fa \u5305  "},{"location":"tuto_A_create_standalone/#docker","text":"\u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u53ef\u4ee5 \u6784\u5efa \u5728   Docker   \u6620\u50cf \u4e2d \uff0c \u7136\u540e \u53ef\u4ee5 \u4f7f\u7528 \u8be5 \u6620\u50cf \u521b\u5efa \u5305 \u6216 \u5bfc\u51fa \u8d44\u6e90 \u4ee5 \u5728 \u5305\u4e2d \u4f7f\u7528 \u3002   \u8981 \u521b\u5efa   Docker   \u6620\u50cf \uff0c \u8bf7 \u6309\u7167   \u6b64\u5904   \u7684 \u6559\u7a0b \u8fdb\u884c \u64cd\u4f5c \u3002   \u51c6\u5907 \u597d \u955c\u50cf \u540e \uff1a   \u5bfc\u822a \u81f3   Util / Docker   \u3002   \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4e4b\u4e00 \u521b\u5efa   Carla   \u5305 \u6216 \u51c6\u5907 \u5728 \u5305\u4e2d \u4f7f\u7528 \u7684 \u8d44\u6e90 \uff1a   #   \u521b\u5efa \u72ec\u7acb \u7684 \u5305   . / docker _ tools . py   -- output   / output / path   #   \u70d8\u57f9 \u5728   Carla   \u5305\u4e2d \u4f7f\u7528 \u7684 \u8d44\u4ea7   . / docker _ tools . py   -- input   / assets / to / import / path   -- output   / output / path   -- packages   PkgeName1 , PkgeName2","title":"\u4f7f\u7528   Docker   \u5bfc\u51fa \u5305  "},{"location":"tuto_A_create_standalone/#carla_1","text":"\u72ec\u7acb \u5305 \u5305\u542b \u5728   . tar . gz   \u6587\u4ef6 \u4e2d \u3002 \u63d0\u53d6 \u65b9\u5f0f \u53d6\u51b3 \u53d6\u51b3\u4e8e \u5e73\u53f0 \u3002   \u5728   Windows   \u4e0a \uff0c   \u5c06 \u538b\u7f29 \u6587\u4ef6 \u538b\u7f29\u6587\u4ef6 \u89e3\u538b \u5230 \u4e3b\u6839   Carla   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5728   Linux   \u4e0a \uff0c   \u5c06 \u538b\u7f29 \u6587\u4ef6 \u538b\u7f29\u6587\u4ef6 \u79fb\u81f3   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u8fd0\u884c \u4ee5\u4e0b \u811a\u672c \u3002   cd   Import   . / ImportAssets . sh   \u7b14\u8bb0   \u72ec\u7acb \u5305 \u65e0\u6cd5 \u76f4\u63a5 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u6784\u5efa \u4e2d \u3002 \u6309\u7167 \u6559\u7a0b \u5bfc\u5165   \u9053\u5177   \u3001   \u5730\u56fe   \u6216   \u8f66\u8f86   \u3002   \u8fd9 \u603b\u7ed3 \u4e86 \u5982\u4f55 \u5728   Carla   \u4e2d \u521b\u5efa \u548c \u4f7f\u7528 \u72ec\u7acb \u5305 \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u610f\u5916 \u95ee\u9898 \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e16 \u3002   Carla   \u8bba\u575b","title":"\u5c06 \u8d44\u6e90 \u5bfc\u5165   Carla   \u5305  "},{"location":"tuto_A_material_customization/","text":"\u6750\u8d28 \u5b9a\u5236   Carla   \u56e2\u961f \u51c6\u5907 \u6bcf\u4e2a \u8d44\u4ea7 \u5728 \u67d0\u4e9b \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e0b \u8fd0\u884c \u3002 \u4f46\u662f \uff0c \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684 \u7528\u6237 \u53ef\u4ee5 \u4fee\u6539 \u8fd9\u4e9b \u5185\u5bb9 \u4ee5 \u6700 \u9002\u5408 \u4ed6\u4eec \u7684 \u9700\u6c42 \u3002   \u6c7d\u8f66 \u6750\u8d28   \u5b9a\u5236 \u6c7d\u8f66 \u6750\u8d28   \u5916\u89c2 \u7279\u6027   \u5efa\u7b51 \u6750\u8d28   \u5b9a\u5236 \u5efa\u7b51 \u6750\u6599 \u5efa\u7b51\u6750\u6599   \u91cd\u8981   \u672c \u6559\u7a0b \u4ec5 \u9002\u7528 \u4e8e \u4f7f\u7528 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u5e76 \u6709\u6743 \u8bbf\u95ee \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u7528\u6237 \u3002   \u6c7d\u8f66 \u6750\u8d28   \u5728   Carla   \u4e2d \uff0c \u6709 \u4e00\u7ec4 \u4e3b \u6750\u6599 \u7528\u4f5c \u8f66\u8f86 \u4e0d\u540c \u90e8\u4ef6 \u7684 \u6a21\u677f \u3002 \u4e3a \u6bcf\u4e2a \u8f66\u8f86 \u6a21\u578b \u521b\u5efa \u4e00\u4e2a \u5b9e\u4f8b \uff0c \u7136\u540e \u66f4 \u6539\u4e3a \u6240 \u9700 \u7684 \u7ed3\u679c \u3002 \u4e3b\u8981 \u6750\u8d28 \u53ef\u4ee5 \u5728   Content / Carla / Static / GenericMaterials / Vehicles   \uff08 \u4f4d\u4e8e \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7684   Unreal / CarlaUE4   \u76ee\u5f55 \u4e2d \uff09 \u4e2d \u627e\u5230 \uff0c \u5982\u4e0b \u6240\u793a \u3002   \u9002\u7528 \u4e8e \u6c7d\u8f66 \u7684 \u4e3b \u6750\u6599 \u3002   M _ CarExterior _ Master   \u2014   \u5e94\u7528 \u4e8e \u8f66\u8eab \u7684 \u6750\u8d28 \u3002   M _ CarInterior _ Master   \u2014   \u5e94\u7528 \u4e8e \u6c7d\u8f66 \u5185\u90e8 \u7684 \u6750\u8d28 \u3002   M _ CarLightsGlass _ Master   \u2014   \u5e94\u7528 \u4e8e \u8986\u76d6 \u8f66\u706f \u7684 \u73bb\u7483 \u7684 \u6750\u8d28 \u3002   M _ CarWindows _ Master   \u2014   \u5e94\u7528 \u4e8e \u7a97\u6237 \u7684 \u6750\u8d28 \u3002   M _ CarLicensePlate _ Master   \u2014   \u5e94\u7528 \u4e8e \u8f66\u724c \u7684 \u6750\u8d28 \u3002   M _ VehicleLights _ Master   \u2014   \u4f5c\u4e3a \u53d1\u5c04 \u7eb9\u7406 \u5e94\u7528 \u4e8e \u6c7d\u8f66 \u8f66\u706f \u6c7d\u8f66\u706f \u7684 \u6750\u8d28 \u3002   M _ VehicleLights _ Sirens _ Master   \u2014   \u5e94\u7528 \u4e8e \u8b66\u62a5 \u8b66\u62a5\u5668 \u7684 \u6750\u8d28 \uff08 \u5982\u679c \u9002\u7528 \uff09 \u3002   \u5b9a\u5236 \u6c7d\u8f66 \u6750\u8d28   \u521b\u5efa \u4e3b \u6750\u6599 \u7684 \u5b9e\u4f8b \u5e76 \u5c06 \u5b83\u4eec \u5b58\u50a8 \u5728 \u65b0 \u6a21\u578b \u7684 \u76f8\u5e94 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u4ee5\u4e0b \u662f \u84dd \u56fe\u5e93 \u4e2d\u4e3a \u8b66\u8f66 \u521b\u5efa \u7684 \u5b9e\u4f8b \uff0c   vehicle . dodge _ charger . police   \u3002   \u8b66\u8f66 \u84dd\u56fe \u7684 \u5b9e\u4f8b \u6750\u6599 \u3002   \u6750\u6599 \u7684 \u901a\u7528 \u6587\u6863 \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528 \u5b83\u4eec \u53ef\u4ee5 \u5728   \u865a\u5e7b \u5f15\u64ce \u6587\u6863   \u4e2d \u627e\u5230 \u3002 \u6240\u6709 \u6750\u6599 \u90fd \u53ef\u4ee5 \u8fdb\u884c \u5f88\u5927 \u7a0b\u5ea6 \u7684 \u4fee\u6539 \uff0c \u4f46 \u53ea\u6709 \u5916\u89c2 \u6750\u6599 \u7684 \u6027\u80fd \u503c\u5f97 \u503c\u5f97\u4e00\u63d0 \u3002 \u5176\u4ed6 \u6750\u6599 \u5177\u6709 \u67d0\u4e9b \u53ef\u4ee5 \u66f4\u6539 \u7684 \u5c5e\u6027 \uff0c \u4f8b\u5982 \u73bb\u7483 \u6750\u6599 \u7684 \u4e0d \u900f\u660e \u660e\u5ea6 \u900f\u660e\u5ea6 \u548c \u989c\u8272 \uff0c \u4f46 \u4e0d \u5efa\u8bae \u8fd9\u6837 \u505a \uff0c \u9664\u975e \u6709 \u7279\u5b9a \u7528\u9014 \u3002   \u5916\u89c2 \u7279\u6027   \u5916\u89c2 \u6750\u6599 \u5e94\u7528 \u4e8e \u8f66\u8eab \uff0c \u662f \u6700 \u53ef \u5b9a\u5236 \u7684 \u4e00\u79cd \uff08 \u53cc\u51fb   M _ CarExterior _ Master   \uff0c \u8fdb\u5165   \u53c2\u6570 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \u9009\u9879 \u9009\u9879\u5361 \uff09 \u3002   Base   color   \u2014   \u8f66\u8eab \u7684 \u57fa\u8272 \u3002   Tint   shade   \u2014   \u8272\u8c03 \u7684 \u53ef\u89c1 \u53ef\u89c1\u5ea6 \u6839\u636e \u53ef\u89c6 \u89d2\u5ea6 \u800c \u53d8\u5316 \u3002   \u5e26\u6709 \u7c89\u7ea2 \u7ea2\u8272 \u7c89\u7ea2\u8272 \u8c03 \u7684 \u7ea2\u8272 \u6c7d\u8f66 \u3002 \u5de6\u4fa7 \uff0c \u8272\u8c03 \u5df2 \u7981\u7528 \uff0c \u53f3\u4fa7 \uff0c \u8272\u8c03 \u5df2 \u542f\u7528 \u3002   Global   Dust   \u2014   \u6d82 \u5728 \u6c7d\u8f66 \u4e0a \u7684 \u6c61\u57a2 \u7eb9\u7406 \u3002 \u7070\u5c18 \u4f1a \u5806\u79ef \u5728 \u51e0\u4f55 \u51e0\u4f55\u4f53 \u7684 \u9876\u90e8 \uff0c \u800c \u5728 \u5e95\u90e8 \u51e0\u4e4e \u4e0d\u4f1a \u88ab \u6ce8\u610f \u5230 \u3002 \u5982\u679c \u65cb\u8f6c \u51e0\u4f55 \u51e0\u4f55\u4f53 \uff0c \u7070\u5c18 \u5c06 \u51fa\u73b0 \u5728 \u8f66\u8f86 \u9876\u90e8 \u7684 \u90e8\u4ef6 \u4e0a \u3002   Dust _ Amount   \u2014   \u7eb9\u7406 \u7684 \u4e0d \u900f\u660e \u660e\u5ea6 \u900f\u660e\u5ea6 \u3002   DustColor   \u2014   \u7070\u5c18 \u7eb9\u7406 \u7684 \u57fa\u8272 \u3002   Tiling   \u2014   \u7070\u5c18 \u7eb9\u7406 \u56fe\u6848 \u7684 \u5927\u5c0f \u548c \u91cd\u590d \u3002   Thickness   \u2014   \u7070\u5c18 \u7684 \u5bc6\u5ea6 \u3002   Roughness   \u2014   \u7531\u4e8e \u7070\u5c18 \u800c \u51cf\u5c11 \u6c7d\u8f66 \u7684 \u91d1\u5c5e \u53cd\u5c04 \u3002   \u6c7d\u8f66 \u6750\u6599 \u4e2d \u7684 \u7070\u5c18 \u7279\u6027 \u3002   Global   Flakes   \u2014   \u6c7d\u8f66 \u91d1\u5c5e \u91d1\u5c5e\u6f06 \u4e0a \u95ea\u95ea \u53d1\u5149 \u95ea\u95ea\u53d1\u5149 \u7684 \u8584\u7247 \u3002   Flakes   On / Off   \u2014   \u542f\u7528 \u6216 \u7981\u7528 \u8be5 \u529f\u80fd \u3002   Flake   Scale   \u2014   \u8584\u7247 \u7684 \u5927\u5c0f \u3002   Flake   Brightness   \u2014   \u95ea\u5149 \u7684 \u5f3a\u5ea6 \u3002   Flakes   Color   \u2014   \u7c92\u5b50 \u7684 \u57fa\u8272 \u3002   \u6c7d\u8f66 \u6750\u6599 \u4e2d \u7684 \u8584\u7247 \u7279\u6027 \u3002   Global   Gain   \u2014   \u6c7d\u8f66 \u5e95\u6f06 \u7684 \u566a\u97f3 \u3002   Gain   On / Off   \u2014   \u542f\u7528 \u6216 \u7981\u7528 \u8be5 \u529f\u80fd \u3002   Scale   \u2014   \u589e\u76ca \u7684 \u5927\u5c0f \u3002   Color   \u2014   \u589e\u76ca \u7684 \u57fa\u8272 \u3002   \u6c7d\u8f66 \u6750\u8d28 \u4e2d \u7684 \u589e\u76ca \u5c5e\u6027 \u3002   Global   Mud   \u2014   \u6d82 \u5728 \u6c7d\u8f66 \u4e0a \u7684 \u6ce5\u6d46 \u7eb9\u7406 \u3002 \u6ce5\u6d46 \u4ece\u8f66 \u7684 \u5e95\u90e8 \u5230 \u9876\u90e8 \u51fa\u73b0 \u3002   Height   \u2014   \u6c7d\u8f66 \u51fa\u73b0 \u6ce5\u6d46 \u7684 \u90e8\u5206 \u3002   Mud _ Color   \u2014   \u6ce5\u6d46 \u7eb9\u7406 \u7684 \u5e95\u8272 \u3002   Mud _ Tiling   \u2014   \u6ce5\u6d46 \u7eb9\u7406 \u56fe\u6848 \u7684 \u5927\u5c0f \u548c \u91cd\u590d \u3002   Mud _ Thickness   \u2014   \u6ce5\u6d46 \u7684 \u5bc6\u5ea6 \u3002   \u6c7d\u8f66 \u6750\u8d28 \u4e2d \u7684 \u6ce5\u6d46 \u7279\u6027 \u3002   Global   Noise   \u2014   \u5e94\u7528 \u4e8e \u6750\u8d28 \u6cd5\u7ebf \u7684 \u566a\u58f0 \u3002 \u6253\u9020 \u6a59\u76ae \u6548\u679c \u3002   Noise   On / Off   \u2014   \u542f\u7528 \u6216 \u7981\u7528 \u8be5 \u529f\u80fd \u3002   Noise   Scale   \u2014   \u901a\u8fc7 \u66f4\u6539 \u6cd5\u7ebf \u8d34\u56fe \u521b\u5efa \u7684 \u51f9\u51f8 \u5927\u5c0f \u3002   \u6c7d\u8f66 \u6750\u8d28 \u7684 \u566a\u58f0 \u7279\u6027 \u3002   Global   Surface   \u2014   \u6d82 \u5728 \u8f66\u8f86 \u6cb9\u6f06 \u4e0a \u7684 \u5149\u6cfd \u548c \u900f\u660e \u6d82\u5c42 \u3002 \u8fd9\u662f   \u6c7d\u8f66 \u55b7\u6f06   \u7684 \u6700\u540e \u4e00\u6b65 \u3002   Clear   Coat   \u2014   \u6d82\u5c42 \u7684 \u4e0d \u900f\u660e \u660e\u5ea6 \u900f\u660e\u5ea6 \u3002   Clear   Coat   Roughness   \u2014   \u6240\u5f97 \u6750\u8d28 \u7684 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \uff08 \u5149\u6cfd \u5149\u6cfd\u5ea6 \uff09 \u3002   Metallic   \u2014   \u6240\u5f97 \u6750\u8d28 \u7684 \u53cd\u5c04 \u3002   \u5e94\u7528 \u4e8e \u6750\u8d28 \u8868\u9762 \u6d82\u5c42 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u5efa\u7b51 \u6750\u8d28   \u5e94\u7528 \u4e8e \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u6750\u8d28 \u7531 \u56db\u79cd \u57fa\u672c \u7eb9\u7406 \u7ec4\u6210 \uff0c \u8fd9\u4e9b \u7eb9\u7406 \u7ec4\u5408 \u5728 \u4e00\u8d77 \u786e\u5b9a \u6750\u8d28 \u7684 \u57fa\u672c \u5c5e\u6027 \uff08 \u4f8b\u5982 \u6253\u5f00   Content / Carla / Static / Building / SM _ Apartment01 _ 1   \uff09 \u3002   Diffuse   \u2014   \u5305\u542b \u6750\u8d28 \u7684 \u57fa\u672c \u7ed8\u753b \u3002   RGB   \u2014   \u5e26\u6709 \u57fa\u8272 \u7684 \u901a\u9053 \u3002   Alpha   \u2014   \u6b64 \u901a\u9053 \u5b9a\u4e49 \u4e00\u4e2a \u63a9\u819c \uff0c \u5141\u8bb8 \u4fee\u6539 \u767d\u8272 \u90e8\u5206 \u7684 \u989c\u8272 \u3002 \u8fd9 \u5bf9\u4e8e \u4ece \u76f8\u540c \u6750\u6599 \u521b\u5efa \u4e00\u4e9b \u53d8\u4f53 \u975e\u5e38 \u6709\u7528 \u3002   ORME   \u2014   \u4f7f\u7528 \u7279\u5b9a \u901a\u9053 \u6620\u5c04 \u6750\u8d28 \u7684 \u4e0d\u540c \u5c5e\u6027 \u3002   Ambient   occlusion   \u2014   \u5305\u542b \u5728   R   \u901a\u9053 \u4e2d \u3002   Roughness   \u2014   \u5305\u542b \u5728   G   \u901a\u9053 \u4e2d \u3002   Metallic   map   \u2014   \u5305\u542b \u5728   B   \u901a\u9053 \u4e2d \u3002   Emissive   mask   \u2014   \u5305\u542b \u5728   Alpha   \u901a\u9053 \u4e2d \u3002 \u8be5 \u63a9\u6a21 \u5141\u8bb8 \u6539\u53d8 \u767d\u8272 \u90e8\u5206 \u7684 \u53d1\u5c04 \u989c\u8272 \u548c \u5f3a\u5ea6 \u3002   Normal   \u2014   \u5305\u542b \u6750\u8d28 \u7684 \u6cd5\u7ebf \u8d34\u56fe \u3002   RGB   \u2014   \u6cd5\u7ebf \u8d34\u56fe \u4fe1\u606f \u3002   Emissive   \u2014   \u5982\u679c \u9002\u7528 \uff0c \u6b64 \u7eb9\u7406 \u7528\u4e8e \u8bbe\u7f6e \u7eb9\u7406 \u7684 \u81ea \u53d1\u5149 \u57fa\u8272 \u3002   RGB   \u2014   \u7eb9\u7406 \u4e2d \u53d1\u5c04 \u5143\u7d20 \u7684 \u989c\u8272 \u4fe1\u606f \u3002   \u5b9a\u5236 \u5efa\u7b51 \u6750\u6599 \u5efa\u7b51\u6750\u6599   \u4e0e \u6c7d\u8f66 \u6750\u6599 \u7c7b\u4f3c \uff0c \u5982\u679c \u9700\u8981 \uff0c \u5efa\u7b51 \u6750\u6599 \u5efa\u7b51\u6750\u6599 \u53ef\u4ee5 \u8fdb\u884c \u5f88\u5927 \u7684 \u6539\u53d8 \uff0c \u4f46 \u4ec5 \u5f53 \u7528\u6237 \u5177\u6709 \u865a\u5e7b \u5f15\u64ce \u65b9\u9762 \u7684 \u4e00\u4e9b \u4e13\u4e1a \u77e5\u8bc6 \u4e13\u4e1a\u77e5\u8bc6 \u65f6\u624d \u5efa\u8bae \u8fd9\u6837 \u505a \u3002 \u4f46\u662f \uff0c \u5efa\u7b51 \u5efa\u7b51\u7269 \u4f7f\u7528 \u7684 \u4e24\u4e2a \u4e3b\u8981 \u7740\u8272 \u7740\u8272\u5668 \u53ef\u4ee5 \u8fdb\u884c \u4e00\u4e9b \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \uff08 \u4f8b\u5982 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \u6253\u5f00   Content / Carla / Static / GenericMaterials / 00 _ MasterOpt / M _ GlassMaster   \uff09 \u3002   \u73bb\u7483 \u7740\u8272 \u7740\u8272\u5668   \u2014   M _ GlassMaster   .   Opacity   \u2014   \u5728 \u767d\u8272 \u533a\u57df \u53cd\u5c04 \u6f2b\u53cd\u5c04   Diffuse   Alpha   \u7eb9\u7406 \u4e0a \u542f\u7528 \u989c\u8272 \u6539\u53d8 \u3002   Color   \u2014   \u57fa\u4e8e \u767d\u8272 \u533a\u57df \u53cd\u5c04 \u6f2b\u53cd\u5c04   Diffuse   Alpha   \u7eb9\u7406 \u5e94\u7528 \u8272\u8c03 \u3002   \u5efa\u7b51 \u7740\u8272 \u7740\u8272\u5668   \u2014   M _ MaterialMaster   Global   2 .   Color   Variation / Change   Color   \u2014   \u5728 \u767d\u8272 \u533a\u57df \u53cd\u5c04 \u6f2b\u53cd\u5c04 (   Diffuse   )   \u7684   Alpha   \u7eb9\u7406 \u4e0a \u542f\u7528 \u989c\u8272 \u6539\u53d8 \u3002   Global   2 .   Color   Variation / Color   \u2014   \u57fa\u4e8e \u767d\u8272 \u533a\u57df \u53cd\u5c04 \u6f2b\u53cd\u5c04   Diffuse   Alpha   \u7eb9\u7406 \u5e94\u7528 \u8272\u8c03 \u3002   Global   3 .   Emissive / Emissive   Texture   \u2014   \u542f\u7528   \u81ea \u53d1\u5149 ( Emissive )   \u7eb9\u7406 \u7684 \u4f7f\u7528 \u3002   Global   3 .   Emissive / EmissiveColor   \u2014   \u57fa\u4e8e   ORME   Emissive   mask   \u7684 \u767d\u8272 \u533a\u57df \u5e94\u7528 \u8272\u8c03 \u3002   Global   3 .   Emissive / Emissive   attenuance   \u2014   BP _ Lights   \u4e2d \u9664\u4ee5 \u5f3a\u5ea6 \u56e0\u5b50 \u4ee5 \u83b7\u5f97 \u9002\u5f53 \u7684 \u53d1\u5c04 \u503c \u3002   Global   4 .   Corrections / RoughnessCorrection   \u2014   \u66f4\u6539 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u8d34\u56fe \u7684 \u5f3a\u5ea6 \u3002   Global   4 .   Corrections / MetallicCorrection   \u2014   \u66f4\u6539 \u91d1\u5c5e \u8d34\u56fe \u7684 \u5f3a\u5ea6 \u3002   NormalFlatness   \u2014   \u66f4\u6539 \u6cd5\u7ebf \u8d34\u56fe \u7684 \u5f3a\u5ea6 \u3002   \u8fd9\u662f \u7528\u6237 \u5b9a\u5236 \u8f66\u8f86 \u548c \u5efa\u7b51 \u5efa\u7b51\u7269 \u6750\u6599 \u7684 \u6700\u663e \u7740 \u65b9\u5f0f \u7684 \u603b\u7ed3 \u3002   \u4efb\u4f55 \u53ef\u80fd \u51fa\u73b0 \u7684 \u7591\u95ee \u90fd \u975e\u5e38 \u6b22\u8fce \u5728 \u8bba\u575b \u4e2d \u63d0\u51fa \u3002   Carla   \u8bba\u575b","title":"\u6750\u8d28 \u5b9a\u5236"},{"location":"tuto_A_material_customization/#_1","text":"Carla   \u56e2\u961f \u51c6\u5907 \u6bcf\u4e2a \u8d44\u4ea7 \u5728 \u67d0\u4e9b \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e0b \u8fd0\u884c \u3002 \u4f46\u662f \uff0c \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684 \u7528\u6237 \u53ef\u4ee5 \u4fee\u6539 \u8fd9\u4e9b \u5185\u5bb9 \u4ee5 \u6700 \u9002\u5408 \u4ed6\u4eec \u7684 \u9700\u6c42 \u3002   \u6c7d\u8f66 \u6750\u8d28   \u5b9a\u5236 \u6c7d\u8f66 \u6750\u8d28   \u5916\u89c2 \u7279\u6027   \u5efa\u7b51 \u6750\u8d28   \u5b9a\u5236 \u5efa\u7b51 \u6750\u6599 \u5efa\u7b51\u6750\u6599   \u91cd\u8981   \u672c \u6559\u7a0b \u4ec5 \u9002\u7528 \u4e8e \u4f7f\u7528 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u5e76 \u6709\u6743 \u8bbf\u95ee \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u7528\u6237 \u3002","title":"\u6750\u8d28 \u5b9a\u5236"},{"location":"tuto_A_material_customization/#_2","text":"\u5728   Carla   \u4e2d \uff0c \u6709 \u4e00\u7ec4 \u4e3b \u6750\u6599 \u7528\u4f5c \u8f66\u8f86 \u4e0d\u540c \u90e8\u4ef6 \u7684 \u6a21\u677f \u3002 \u4e3a \u6bcf\u4e2a \u8f66\u8f86 \u6a21\u578b \u521b\u5efa \u4e00\u4e2a \u5b9e\u4f8b \uff0c \u7136\u540e \u66f4 \u6539\u4e3a \u6240 \u9700 \u7684 \u7ed3\u679c \u3002 \u4e3b\u8981 \u6750\u8d28 \u53ef\u4ee5 \u5728   Content / Carla / Static / GenericMaterials / Vehicles   \uff08 \u4f4d\u4e8e \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7684   Unreal / CarlaUE4   \u76ee\u5f55 \u4e2d \uff09 \u4e2d \u627e\u5230 \uff0c \u5982\u4e0b \u6240\u793a \u3002   \u9002\u7528 \u4e8e \u6c7d\u8f66 \u7684 \u4e3b \u6750\u6599 \u3002   M _ CarExterior _ Master   \u2014   \u5e94\u7528 \u4e8e \u8f66\u8eab \u7684 \u6750\u8d28 \u3002   M _ CarInterior _ Master   \u2014   \u5e94\u7528 \u4e8e \u6c7d\u8f66 \u5185\u90e8 \u7684 \u6750\u8d28 \u3002   M _ CarLightsGlass _ Master   \u2014   \u5e94\u7528 \u4e8e \u8986\u76d6 \u8f66\u706f \u7684 \u73bb\u7483 \u7684 \u6750\u8d28 \u3002   M _ CarWindows _ Master   \u2014   \u5e94\u7528 \u4e8e \u7a97\u6237 \u7684 \u6750\u8d28 \u3002   M _ CarLicensePlate _ Master   \u2014   \u5e94\u7528 \u4e8e \u8f66\u724c \u7684 \u6750\u8d28 \u3002   M _ VehicleLights _ Master   \u2014   \u4f5c\u4e3a \u53d1\u5c04 \u7eb9\u7406 \u5e94\u7528 \u4e8e \u6c7d\u8f66 \u8f66\u706f \u6c7d\u8f66\u706f \u7684 \u6750\u8d28 \u3002   M _ VehicleLights _ Sirens _ Master   \u2014   \u5e94\u7528 \u4e8e \u8b66\u62a5 \u8b66\u62a5\u5668 \u7684 \u6750\u8d28 \uff08 \u5982\u679c \u9002\u7528 \uff09 \u3002","title":"\u6c7d\u8f66 \u6750\u8d28  "},{"location":"tuto_A_material_customization/#_3","text":"\u521b\u5efa \u4e3b \u6750\u6599 \u7684 \u5b9e\u4f8b \u5e76 \u5c06 \u5b83\u4eec \u5b58\u50a8 \u5728 \u65b0 \u6a21\u578b \u7684 \u76f8\u5e94 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u4ee5\u4e0b \u662f \u84dd \u56fe\u5e93 \u4e2d\u4e3a \u8b66\u8f66 \u521b\u5efa \u7684 \u5b9e\u4f8b \uff0c   vehicle . dodge _ charger . police   \u3002   \u8b66\u8f66 \u84dd\u56fe \u7684 \u5b9e\u4f8b \u6750\u6599 \u3002   \u6750\u6599 \u7684 \u901a\u7528 \u6587\u6863 \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528 \u5b83\u4eec \u53ef\u4ee5 \u5728   \u865a\u5e7b \u5f15\u64ce \u6587\u6863   \u4e2d \u627e\u5230 \u3002 \u6240\u6709 \u6750\u6599 \u90fd \u53ef\u4ee5 \u8fdb\u884c \u5f88\u5927 \u7a0b\u5ea6 \u7684 \u4fee\u6539 \uff0c \u4f46 \u53ea\u6709 \u5916\u89c2 \u6750\u6599 \u7684 \u6027\u80fd \u503c\u5f97 \u503c\u5f97\u4e00\u63d0 \u3002 \u5176\u4ed6 \u6750\u6599 \u5177\u6709 \u67d0\u4e9b \u53ef\u4ee5 \u66f4\u6539 \u7684 \u5c5e\u6027 \uff0c \u4f8b\u5982 \u73bb\u7483 \u6750\u6599 \u7684 \u4e0d \u900f\u660e \u660e\u5ea6 \u900f\u660e\u5ea6 \u548c \u989c\u8272 \uff0c \u4f46 \u4e0d \u5efa\u8bae \u8fd9\u6837 \u505a \uff0c \u9664\u975e \u6709 \u7279\u5b9a \u7528\u9014 \u3002","title":"\u5b9a\u5236 \u6c7d\u8f66 \u6750\u8d28  "},{"location":"tuto_A_material_customization/#_4","text":"\u5916\u89c2 \u6750\u6599 \u5e94\u7528 \u4e8e \u8f66\u8eab \uff0c \u662f \u6700 \u53ef \u5b9a\u5236 \u7684 \u4e00\u79cd \uff08 \u53cc\u51fb   M _ CarExterior _ Master   \uff0c \u8fdb\u5165   \u53c2\u6570 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \u9009\u9879 \u9009\u9879\u5361 \uff09 \u3002   Base   color   \u2014   \u8f66\u8eab \u7684 \u57fa\u8272 \u3002   Tint   shade   \u2014   \u8272\u8c03 \u7684 \u53ef\u89c1 \u53ef\u89c1\u5ea6 \u6839\u636e \u53ef\u89c6 \u89d2\u5ea6 \u800c \u53d8\u5316 \u3002   \u5e26\u6709 \u7c89\u7ea2 \u7ea2\u8272 \u7c89\u7ea2\u8272 \u8c03 \u7684 \u7ea2\u8272 \u6c7d\u8f66 \u3002 \u5de6\u4fa7 \uff0c \u8272\u8c03 \u5df2 \u7981\u7528 \uff0c \u53f3\u4fa7 \uff0c \u8272\u8c03 \u5df2 \u542f\u7528 \u3002   Global   Dust   \u2014   \u6d82 \u5728 \u6c7d\u8f66 \u4e0a \u7684 \u6c61\u57a2 \u7eb9\u7406 \u3002 \u7070\u5c18 \u4f1a \u5806\u79ef \u5728 \u51e0\u4f55 \u51e0\u4f55\u4f53 \u7684 \u9876\u90e8 \uff0c \u800c \u5728 \u5e95\u90e8 \u51e0\u4e4e \u4e0d\u4f1a \u88ab \u6ce8\u610f \u5230 \u3002 \u5982\u679c \u65cb\u8f6c \u51e0\u4f55 \u51e0\u4f55\u4f53 \uff0c \u7070\u5c18 \u5c06 \u51fa\u73b0 \u5728 \u8f66\u8f86 \u9876\u90e8 \u7684 \u90e8\u4ef6 \u4e0a \u3002   Dust _ Amount   \u2014   \u7eb9\u7406 \u7684 \u4e0d \u900f\u660e \u660e\u5ea6 \u900f\u660e\u5ea6 \u3002   DustColor   \u2014   \u7070\u5c18 \u7eb9\u7406 \u7684 \u57fa\u8272 \u3002   Tiling   \u2014   \u7070\u5c18 \u7eb9\u7406 \u56fe\u6848 \u7684 \u5927\u5c0f \u548c \u91cd\u590d \u3002   Thickness   \u2014   \u7070\u5c18 \u7684 \u5bc6\u5ea6 \u3002   Roughness   \u2014   \u7531\u4e8e \u7070\u5c18 \u800c \u51cf\u5c11 \u6c7d\u8f66 \u7684 \u91d1\u5c5e \u53cd\u5c04 \u3002   \u6c7d\u8f66 \u6750\u6599 \u4e2d \u7684 \u7070\u5c18 \u7279\u6027 \u3002   Global   Flakes   \u2014   \u6c7d\u8f66 \u91d1\u5c5e \u91d1\u5c5e\u6f06 \u4e0a \u95ea\u95ea \u53d1\u5149 \u95ea\u95ea\u53d1\u5149 \u7684 \u8584\u7247 \u3002   Flakes   On / Off   \u2014   \u542f\u7528 \u6216 \u7981\u7528 \u8be5 \u529f\u80fd \u3002   Flake   Scale   \u2014   \u8584\u7247 \u7684 \u5927\u5c0f \u3002   Flake   Brightness   \u2014   \u95ea\u5149 \u7684 \u5f3a\u5ea6 \u3002   Flakes   Color   \u2014   \u7c92\u5b50 \u7684 \u57fa\u8272 \u3002   \u6c7d\u8f66 \u6750\u6599 \u4e2d \u7684 \u8584\u7247 \u7279\u6027 \u3002   Global   Gain   \u2014   \u6c7d\u8f66 \u5e95\u6f06 \u7684 \u566a\u97f3 \u3002   Gain   On / Off   \u2014   \u542f\u7528 \u6216 \u7981\u7528 \u8be5 \u529f\u80fd \u3002   Scale   \u2014   \u589e\u76ca \u7684 \u5927\u5c0f \u3002   Color   \u2014   \u589e\u76ca \u7684 \u57fa\u8272 \u3002   \u6c7d\u8f66 \u6750\u8d28 \u4e2d \u7684 \u589e\u76ca \u5c5e\u6027 \u3002   Global   Mud   \u2014   \u6d82 \u5728 \u6c7d\u8f66 \u4e0a \u7684 \u6ce5\u6d46 \u7eb9\u7406 \u3002 \u6ce5\u6d46 \u4ece\u8f66 \u7684 \u5e95\u90e8 \u5230 \u9876\u90e8 \u51fa\u73b0 \u3002   Height   \u2014   \u6c7d\u8f66 \u51fa\u73b0 \u6ce5\u6d46 \u7684 \u90e8\u5206 \u3002   Mud _ Color   \u2014   \u6ce5\u6d46 \u7eb9\u7406 \u7684 \u5e95\u8272 \u3002   Mud _ Tiling   \u2014   \u6ce5\u6d46 \u7eb9\u7406 \u56fe\u6848 \u7684 \u5927\u5c0f \u548c \u91cd\u590d \u3002   Mud _ Thickness   \u2014   \u6ce5\u6d46 \u7684 \u5bc6\u5ea6 \u3002   \u6c7d\u8f66 \u6750\u8d28 \u4e2d \u7684 \u6ce5\u6d46 \u7279\u6027 \u3002   Global   Noise   \u2014   \u5e94\u7528 \u4e8e \u6750\u8d28 \u6cd5\u7ebf \u7684 \u566a\u58f0 \u3002 \u6253\u9020 \u6a59\u76ae \u6548\u679c \u3002   Noise   On / Off   \u2014   \u542f\u7528 \u6216 \u7981\u7528 \u8be5 \u529f\u80fd \u3002   Noise   Scale   \u2014   \u901a\u8fc7 \u66f4\u6539 \u6cd5\u7ebf \u8d34\u56fe \u521b\u5efa \u7684 \u51f9\u51f8 \u5927\u5c0f \u3002   \u6c7d\u8f66 \u6750\u8d28 \u7684 \u566a\u58f0 \u7279\u6027 \u3002   Global   Surface   \u2014   \u6d82 \u5728 \u8f66\u8f86 \u6cb9\u6f06 \u4e0a \u7684 \u5149\u6cfd \u548c \u900f\u660e \u6d82\u5c42 \u3002 \u8fd9\u662f   \u6c7d\u8f66 \u55b7\u6f06   \u7684 \u6700\u540e \u4e00\u6b65 \u3002   Clear   Coat   \u2014   \u6d82\u5c42 \u7684 \u4e0d \u900f\u660e \u660e\u5ea6 \u900f\u660e\u5ea6 \u3002   Clear   Coat   Roughness   \u2014   \u6240\u5f97 \u6750\u8d28 \u7684 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \uff08 \u5149\u6cfd \u5149\u6cfd\u5ea6 \uff09 \u3002   Metallic   \u2014   \u6240\u5f97 \u6750\u8d28 \u7684 \u53cd\u5c04 \u3002   \u5e94\u7528 \u4e8e \u6750\u8d28 \u8868\u9762 \u6d82\u5c42 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002","title":"\u5916\u89c2 \u7279\u6027  "},{"location":"tuto_A_material_customization/#_5","text":"\u5e94\u7528 \u4e8e \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u6750\u8d28 \u7531 \u56db\u79cd \u57fa\u672c \u7eb9\u7406 \u7ec4\u6210 \uff0c \u8fd9\u4e9b \u7eb9\u7406 \u7ec4\u5408 \u5728 \u4e00\u8d77 \u786e\u5b9a \u6750\u8d28 \u7684 \u57fa\u672c \u5c5e\u6027 \uff08 \u4f8b\u5982 \u6253\u5f00   Content / Carla / Static / Building / SM _ Apartment01 _ 1   \uff09 \u3002   Diffuse   \u2014   \u5305\u542b \u6750\u8d28 \u7684 \u57fa\u672c \u7ed8\u753b \u3002   RGB   \u2014   \u5e26\u6709 \u57fa\u8272 \u7684 \u901a\u9053 \u3002   Alpha   \u2014   \u6b64 \u901a\u9053 \u5b9a\u4e49 \u4e00\u4e2a \u63a9\u819c \uff0c \u5141\u8bb8 \u4fee\u6539 \u767d\u8272 \u90e8\u5206 \u7684 \u989c\u8272 \u3002 \u8fd9 \u5bf9\u4e8e \u4ece \u76f8\u540c \u6750\u6599 \u521b\u5efa \u4e00\u4e9b \u53d8\u4f53 \u975e\u5e38 \u6709\u7528 \u3002   ORME   \u2014   \u4f7f\u7528 \u7279\u5b9a \u901a\u9053 \u6620\u5c04 \u6750\u8d28 \u7684 \u4e0d\u540c \u5c5e\u6027 \u3002   Ambient   occlusion   \u2014   \u5305\u542b \u5728   R   \u901a\u9053 \u4e2d \u3002   Roughness   \u2014   \u5305\u542b \u5728   G   \u901a\u9053 \u4e2d \u3002   Metallic   map   \u2014   \u5305\u542b \u5728   B   \u901a\u9053 \u4e2d \u3002   Emissive   mask   \u2014   \u5305\u542b \u5728   Alpha   \u901a\u9053 \u4e2d \u3002 \u8be5 \u63a9\u6a21 \u5141\u8bb8 \u6539\u53d8 \u767d\u8272 \u90e8\u5206 \u7684 \u53d1\u5c04 \u989c\u8272 \u548c \u5f3a\u5ea6 \u3002   Normal   \u2014   \u5305\u542b \u6750\u8d28 \u7684 \u6cd5\u7ebf \u8d34\u56fe \u3002   RGB   \u2014   \u6cd5\u7ebf \u8d34\u56fe \u4fe1\u606f \u3002   Emissive   \u2014   \u5982\u679c \u9002\u7528 \uff0c \u6b64 \u7eb9\u7406 \u7528\u4e8e \u8bbe\u7f6e \u7eb9\u7406 \u7684 \u81ea \u53d1\u5149 \u57fa\u8272 \u3002   RGB   \u2014   \u7eb9\u7406 \u4e2d \u53d1\u5c04 \u5143\u7d20 \u7684 \u989c\u8272 \u4fe1\u606f \u3002","title":"\u5efa\u7b51 \u6750\u8d28  "},{"location":"tuto_A_material_customization/#_6","text":"\u4e0e \u6c7d\u8f66 \u6750\u6599 \u7c7b\u4f3c \uff0c \u5982\u679c \u9700\u8981 \uff0c \u5efa\u7b51 \u6750\u6599 \u5efa\u7b51\u6750\u6599 \u53ef\u4ee5 \u8fdb\u884c \u5f88\u5927 \u7684 \u6539\u53d8 \uff0c \u4f46 \u4ec5 \u5f53 \u7528\u6237 \u5177\u6709 \u865a\u5e7b \u5f15\u64ce \u65b9\u9762 \u7684 \u4e00\u4e9b \u4e13\u4e1a \u77e5\u8bc6 \u4e13\u4e1a\u77e5\u8bc6 \u65f6\u624d \u5efa\u8bae \u8fd9\u6837 \u505a \u3002 \u4f46\u662f \uff0c \u5efa\u7b51 \u5efa\u7b51\u7269 \u4f7f\u7528 \u7684 \u4e24\u4e2a \u4e3b\u8981 \u7740\u8272 \u7740\u8272\u5668 \u53ef\u4ee5 \u8fdb\u884c \u4e00\u4e9b \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \uff08 \u4f8b\u5982 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \u6253\u5f00   Content / Carla / Static / GenericMaterials / 00 _ MasterOpt / M _ GlassMaster   \uff09 \u3002   \u73bb\u7483 \u7740\u8272 \u7740\u8272\u5668   \u2014   M _ GlassMaster   .   Opacity   \u2014   \u5728 \u767d\u8272 \u533a\u57df \u53cd\u5c04 \u6f2b\u53cd\u5c04   Diffuse   Alpha   \u7eb9\u7406 \u4e0a \u542f\u7528 \u989c\u8272 \u6539\u53d8 \u3002   Color   \u2014   \u57fa\u4e8e \u767d\u8272 \u533a\u57df \u53cd\u5c04 \u6f2b\u53cd\u5c04   Diffuse   Alpha   \u7eb9\u7406 \u5e94\u7528 \u8272\u8c03 \u3002   \u5efa\u7b51 \u7740\u8272 \u7740\u8272\u5668   \u2014   M _ MaterialMaster   Global   2 .   Color   Variation / Change   Color   \u2014   \u5728 \u767d\u8272 \u533a\u57df \u53cd\u5c04 \u6f2b\u53cd\u5c04 (   Diffuse   )   \u7684   Alpha   \u7eb9\u7406 \u4e0a \u542f\u7528 \u989c\u8272 \u6539\u53d8 \u3002   Global   2 .   Color   Variation / Color   \u2014   \u57fa\u4e8e \u767d\u8272 \u533a\u57df \u53cd\u5c04 \u6f2b\u53cd\u5c04   Diffuse   Alpha   \u7eb9\u7406 \u5e94\u7528 \u8272\u8c03 \u3002   Global   3 .   Emissive / Emissive   Texture   \u2014   \u542f\u7528   \u81ea \u53d1\u5149 ( Emissive )   \u7eb9\u7406 \u7684 \u4f7f\u7528 \u3002   Global   3 .   Emissive / EmissiveColor   \u2014   \u57fa\u4e8e   ORME   Emissive   mask   \u7684 \u767d\u8272 \u533a\u57df \u5e94\u7528 \u8272\u8c03 \u3002   Global   3 .   Emissive / Emissive   attenuance   \u2014   BP _ Lights   \u4e2d \u9664\u4ee5 \u5f3a\u5ea6 \u56e0\u5b50 \u4ee5 \u83b7\u5f97 \u9002\u5f53 \u7684 \u53d1\u5c04 \u503c \u3002   Global   4 .   Corrections / RoughnessCorrection   \u2014   \u66f4\u6539 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u8d34\u56fe \u7684 \u5f3a\u5ea6 \u3002   Global   4 .   Corrections / MetallicCorrection   \u2014   \u66f4\u6539 \u91d1\u5c5e \u8d34\u56fe \u7684 \u5f3a\u5ea6 \u3002   NormalFlatness   \u2014   \u66f4\u6539 \u6cd5\u7ebf \u8d34\u56fe \u7684 \u5f3a\u5ea6 \u3002   \u8fd9\u662f \u7528\u6237 \u5b9a\u5236 \u8f66\u8f86 \u548c \u5efa\u7b51 \u5efa\u7b51\u7269 \u6750\u6599 \u7684 \u6700\u663e \u7740 \u65b9\u5f0f \u7684 \u603b\u7ed3 \u3002   \u4efb\u4f55 \u53ef\u80fd \u51fa\u73b0 \u7684 \u7591\u95ee \u90fd \u975e\u5e38 \u6b22\u8fce \u5728 \u8bba\u575b \u4e2d \u63d0\u51fa \u3002   Carla   \u8bba\u575b","title":"\u5b9a\u5236 \u5efa\u7b51\u6750\u6599  "},{"location":"tuto_D_bat/","text":"\u5904\u7406 \u6279\u5904\u7406 \u811a\u672c   % ~ dp0   ~   \u662f \u6269\u5c55 \u7684 \u610f\u601d \uff0c \u53d8\u91cf \u6269\u5145 ( \u4e0b\u9762 \u8be6\u7ec6 \u4ecb\u7ecd ) \uff0c \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e \u628a \u4e00\u4e2a \u76f8\u5bf9 \u8def\u5f84 \u76f8\u5bf9\u8def\u5f84 \u8f6c\u6362 \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84   % 0   \u4ee3\u6307 \u5904\u7406 \u6279\u5904\u7406 \u6587\u4ef6 \u81ea\u8eab \uff08 \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84   \" D : \\ test \\ bat \\ test . bat \" \uff0c \u6ce8\u610f \u6709 \u5f15\u53f7 \u53cc\u5f15\u53f7 \uff09   % ~ d0   \u662f \u6307 \u5904\u7406 \u6279\u5904\u7406 \u6240\u5728 \u7684 \u76d8\u7b26 \uff0c \u5176\u4e2d d \u4ee3\u8868   drive   \u3002 ( \u6269\u5145 \u5230 \u76d8\u7b26   D :   )   % ~ p0   \u662f \u6307 \u5904\u7406 \u6279\u5904\u7406 \u6240\u5728 \u7684 \u76ee\u5f55 \uff0c \u5176\u4e2d p \u4ee3\u8868   path   \u3002 ( \u6269\u5145 \u5230 \u8def\u5f84   \\ test \\ bat \\   \uff0c \u6ce8\u610f \u6700\u540e \u6709\u4e2a   \\   \uff09   % ~ dp0   \u662f \u5904\u7406 \u6279\u5904\u7406 \u6240\u5728 \u7684 \u76d8\u7b26 \u52a0 \u8def\u5f84 \u3002 \uff08 \u6269\u5145 \u5230 \u76d8\u7b26 \u548c \u8def\u5f84   \uff1a D : \\ test \\ bat \\ \uff09","title":"tuto   D   bat"},{"location":"tuto_D_bat/#_1","text":"% ~ dp0   ~   \u662f \u6269\u5c55 \u7684 \u610f\u601d \uff0c \u53d8\u91cf \u6269\u5145 ( \u4e0b\u9762 \u8be6\u7ec6 \u4ecb\u7ecd ) \uff0c \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e \u628a \u4e00\u4e2a \u76f8\u5bf9 \u8def\u5f84 \u76f8\u5bf9\u8def\u5f84 \u8f6c\u6362 \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84   % 0   \u4ee3\u6307 \u5904\u7406 \u6279\u5904\u7406 \u6587\u4ef6 \u81ea\u8eab \uff08 \u7edd\u5bf9 \u8def\u5f84 \u7edd\u5bf9\u8def\u5f84   \" D : \\ test \\ bat \\ test . bat \" \uff0c \u6ce8\u610f \u6709 \u5f15\u53f7 \u53cc\u5f15\u53f7 \uff09   % ~ d0   \u662f \u6307 \u5904\u7406 \u6279\u5904\u7406 \u6240\u5728 \u7684 \u76d8\u7b26 \uff0c \u5176\u4e2d d \u4ee3\u8868   drive   \u3002 ( \u6269\u5145 \u5230 \u76d8\u7b26   D :   )   % ~ p0   \u662f \u6307 \u5904\u7406 \u6279\u5904\u7406 \u6240\u5728 \u7684 \u76ee\u5f55 \uff0c \u5176\u4e2d p \u4ee3\u8868   path   \u3002 ( \u6269\u5145 \u5230 \u8def\u5f84   \\ test \\ bat \\   \uff0c \u6ce8\u610f \u6700\u540e \u6709\u4e2a   \\   \uff09   % ~ dp0   \u662f \u5904\u7406 \u6279\u5904\u7406 \u6240\u5728 \u7684 \u76d8\u7b26 \u52a0 \u8def\u5f84 \u3002 \uff08 \u6269\u5145 \u5230 \u76d8\u7b26 \u548c \u8def\u5f84   \uff1a D : \\ test \\ bat \\ \uff09","title":"\u6279\u5904\u7406 \u811a\u672c"},{"location":"tuto_D_cmake/","text":"CMake \u547d\u4ee4 \u4ecb\u7ecd   \u53c2\u8003   \u6559\u7a0b   \u3002   \u53c2\u6570 \u89e3\u91ca   \u89e3\u91ca \u5728   Util / BuildTools / *   \u76ee\u5f55 \u4e0b \u6240 \u4f7f\u7528 \u5230 \u7684 \u5404\u4e2a \u811a\u672c \uff1a   \u53c2\u6570   \u542b\u4e49   - G   % GENERATOR%   % PLATFORM%   \u6307\u5b9a \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u7248\u672c \u3001 \u5e73\u53f0   - DCMAKE _ BUILD _ TYPE = Client   \u6307\u5b9a \u6784\u5efa \u7c7b\u578b   - DCMAKE _ CXX _ FLAGS _ RELEASE = \" / MD   / MP \"   \u4e3a   / MD   / MP   \u6784\u5efa \u8bbe\u7f6e C++ \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u4f18\u5316 \u7ea7\u522b   - DCMAKE _ INSTALL _ PREFIX   \u6307\u5b9a \u8fd9\u4e9b \u6587\u4ef6 \u5e94\u8be5 \u62f7\u8d1d \u62f7\u8d1d\u5230 \u54ea\u4e2a \u76ee\u5f55 \u6839\u76ee\u5f55 \uff08 PythonAPI \u91cc \uff09   -- build   .   \u5bf9 \u751f\u6210 \u597d \u7684 \u9879\u76ee \u8fdb\u884c \u7f16\u8bd1 \u6784\u5efa \uff0c   .   \u6307 \u7684 \u662f \u751f\u6210 \u597d \u7684 build   tree \u7684 \u8def\u5f84   -- config   Release   \u6784\u5efa \u540e\u4f1a \u6309 install \u89c4\u5219 \u5b89\u88c5 \u4e00\u4efd \uff0c \u540c\u65f6 \u5728   - DCMAKE _ INSTALL _ PREFIX   \u6307\u5b9a \u7684 \u8def\u5f84 \u4e0b \u4e5f \u4f1a \u5b89\u88c5 \u4e00\u4efd \u3002   findstr   / V   \" Up - to - date : \"   \u5bf9 \u6253\u5370 \u5370\u4e0d \u5305\u542b \u76f8\u7b26 \u9879\u76ee \u7684 \u884c \u3002","title":"tuto   D   cmake"},{"location":"tuto_D_cmake/#cmake","text":"\u53c2\u8003   \u6559\u7a0b   \u3002","title":"CMake \u547d\u4ee4 \u4ecb\u7ecd"},{"location":"tuto_D_cmake/#_1","text":"\u89e3\u91ca \u5728   Util / BuildTools / *   \u76ee\u5f55 \u4e0b \u6240 \u4f7f\u7528 \u5230 \u7684 \u5404\u4e2a \u811a\u672c \uff1a   \u53c2\u6570   \u542b\u4e49   - G   % GENERATOR%   % PLATFORM%   \u6307\u5b9a \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u7248\u672c \u3001 \u5e73\u53f0   - DCMAKE _ BUILD _ TYPE = Client   \u6307\u5b9a \u6784\u5efa \u7c7b\u578b   - DCMAKE _ CXX _ FLAGS _ RELEASE = \" / MD   / MP \"   \u4e3a   / MD   / MP   \u6784\u5efa \u8bbe\u7f6e C++ \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u4f18\u5316 \u7ea7\u522b   - DCMAKE _ INSTALL _ PREFIX   \u6307\u5b9a \u8fd9\u4e9b \u6587\u4ef6 \u5e94\u8be5 \u62f7\u8d1d \u62f7\u8d1d\u5230 \u54ea\u4e2a \u76ee\u5f55 \u6839\u76ee\u5f55 \uff08 PythonAPI \u91cc \uff09   -- build   .   \u5bf9 \u751f\u6210 \u597d \u7684 \u9879\u76ee \u8fdb\u884c \u7f16\u8bd1 \u6784\u5efa \uff0c   .   \u6307 \u7684 \u662f \u751f\u6210 \u597d \u7684 build   tree \u7684 \u8def\u5f84   -- config   Release   \u6784\u5efa \u540e\u4f1a \u6309 install \u89c4\u5219 \u5b89\u88c5 \u4e00\u4efd \uff0c \u540c\u65f6 \u5728   - DCMAKE _ INSTALL _ PREFIX   \u6307\u5b9a \u7684 \u8def\u5f84 \u4e0b \u4e5f \u4f1a \u5b89\u88c5 \u4e00\u4efd \u3002   findstr   / V   \" Up - to - date : \"   \u5bf9 \u6253\u5370 \u5370\u4e0d \u5305\u542b \u76f8\u7b26 \u9879\u76ee \u7684 \u884c \u3002","title":"\u53c2\u6570 \u89e3\u91ca"},{"location":"tuto_D_contribute_assets/","text":"\u5982\u4f55 \u5347\u7ea7 \u5185\u5bb9   \u6211\u4eec \u7684 \u5185\u5bb9 \u9a7b\u7559 \u5728 \u5355\u72ec \u7684   Git   LFS   \u4ed3\u5e93   \u4e2d \u3002 \u4f5c\u4e3a \u6784\u5efa \u7cfb\u7edf \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u6211\u4eec \u751f\u6210 \u5e76 \u4e0a\u4f20 \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff0c \u5176\u4e2d \u5305\u542b \u5e26\u6709 \u5f53\u524d \u65e5\u671f \u548c \u63d0\u4ea4 \u6807\u8bb0 \u7684 \u8be5 \u5185\u5bb9 \u7684 \u6700\u65b0 \u7248\u672c \u3002 \u6211\u4eec \u5b9a\u671f \u5347\u7ea7   Carla   \u4ed3\u5e93   \uff0c \u5e76 \u63d0\u4f9b \u6700\u65b0 \u7248\u672c \u5185\u5bb9 \u5305 \u7684 \u94fe\u63a5 \u3002 \u672c \u6587\u6863 \u5305\u542b \u5c06 \u6b64 \u94fe\u63a5 \u66f4\u65b0 \u5230 \u6700\u65b0 \u7248\u672c \u6240 \u9700 \u7684 \u624b\u52a8 \u6b65\u9aa4 \u3002   \u590d\u5236 \u60a8 \u8981 \u94fe\u63a5 \u7684 \u5185\u5bb9 \u5305 \u7684 \u6807\u7b7e \u3002   \u53ef\u4ee5 \u901a\u8fc7 \u67e5\u770b \u6700\u65b0   Jenkins   \u6784\u5efa   \u7684   \u5de5\u4ef6 \u90e8\u5206 \u4e2d \u751f\u6210 \u7684 \u5305 \u540d\u79f0 \u6765 \u627e\u5230 \u6b64 \u6807\u7b7e \uff0c \u4f8b\u5982   20190617 _ 086f97f . tar . gz   \u3002   \u5c06 \u6807\u8bb0 \u7c98\u8d34 \u5230   ContentVersions . txt   \u4e2d \u3002   \u901a\u8fc7 \u5c06 \u6807\u8bb0 \u7c98\u8d34 \u5230 \u6587\u4ef6 \u672b\u5c3e \u6765   \u7f16\u8f91   Edit   ContentVersions . txt   \uff0c   \u4f8b\u5982   Latest :   20190617 _ 086f97f   ( \u4e0d \u5305\u62ec   . tar . gz   \u90e8\u5206 \uff09 \u3002   \u6253\u5f00 \u62c9\u53d6 \u8bf7\u6c42 \u3002   \u63d0\u4ea4 \u66f4\u6539 \u5e76 \u6253\u5f00 \u65b0 \u7684 \u62c9\u53d6 \u8bf7\u6c42 \u3002","title":"\u5982\u4f55 \u5347\u7ea7 \u5185\u5bb9"},{"location":"tuto_D_contribute_assets/#_1","text":"\u6211\u4eec \u7684 \u5185\u5bb9 \u9a7b\u7559 \u5728 \u5355\u72ec \u7684   Git   LFS   \u4ed3\u5e93   \u4e2d \u3002 \u4f5c\u4e3a \u6784\u5efa \u7cfb\u7edf \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u6211\u4eec \u751f\u6210 \u5e76 \u4e0a\u4f20 \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff0c \u5176\u4e2d \u5305\u542b \u5e26\u6709 \u5f53\u524d \u65e5\u671f \u548c \u63d0\u4ea4 \u6807\u8bb0 \u7684 \u8be5 \u5185\u5bb9 \u7684 \u6700\u65b0 \u7248\u672c \u3002 \u6211\u4eec \u5b9a\u671f \u5347\u7ea7   Carla   \u4ed3\u5e93   \uff0c \u5e76 \u63d0\u4f9b \u6700\u65b0 \u7248\u672c \u5185\u5bb9 \u5305 \u7684 \u94fe\u63a5 \u3002 \u672c \u6587\u6863 \u5305\u542b \u5c06 \u6b64 \u94fe\u63a5 \u66f4\u65b0 \u5230 \u6700\u65b0 \u7248\u672c \u6240 \u9700 \u7684 \u624b\u52a8 \u6b65\u9aa4 \u3002   \u590d\u5236 \u60a8 \u8981 \u94fe\u63a5 \u7684 \u5185\u5bb9 \u5305 \u7684 \u6807\u7b7e \u3002   \u53ef\u4ee5 \u901a\u8fc7 \u67e5\u770b \u6700\u65b0   Jenkins   \u6784\u5efa   \u7684   \u5de5\u4ef6 \u90e8\u5206 \u4e2d \u751f\u6210 \u7684 \u5305 \u540d\u79f0 \u6765 \u627e\u5230 \u6b64 \u6807\u7b7e \uff0c \u4f8b\u5982   20190617 _ 086f97f . tar . gz   \u3002   \u5c06 \u6807\u8bb0 \u7c98\u8d34 \u5230   ContentVersions . txt   \u4e2d \u3002   \u901a\u8fc7 \u5c06 \u6807\u8bb0 \u7c98\u8d34 \u5230 \u6587\u4ef6 \u672b\u5c3e \u6765   \u7f16\u8f91   Edit   ContentVersions . txt   \uff0c   \u4f8b\u5982   Latest :   20190617 _ 086f97f   ( \u4e0d \u5305\u62ec   . tar . gz   \u90e8\u5206 \uff09 \u3002   \u6253\u5f00 \u62c9\u53d6 \u8bf7\u6c42 \u3002   \u63d0\u4ea4 \u66f4\u6539 \u5e76 \u6253\u5f00 \u65b0 \u7684 \u62c9\u53d6 \u8bf7\u6c42 \u3002","title":"\u5982\u4f55 \u5347\u7ea7 \u5185\u5bb9"},{"location":"tuto_D_create_semantic_tags/","text":"\u521b\u5efa \u8bed\u4e49 \u6807\u7b7e   \u4e86\u89e3 \u5982\u4f55 \u5b9a\u4e49 \u8bed\u4e49 \u5206\u5272 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6807\u7b7e \u3002 \u8fd9\u4e9b \u8fd8 \u53ef\u4ee5 \u6dfb\u52a0 \u5230   carla . CityObjectLabel   \u4ee5 \u8fc7\u6ee4   carla . World   \u68c0\u7d22 \u7684 \u8fb9\u754c \u6846 \u3002   \u521b\u5efa \u65b0 \u7684 \u8bed\u4e49 \u6807\u7b7e   1 .   \u521b\u5efa \u6807\u7b7e   ID   2 .   \u521b\u5efa \u8d44\u4ea7 \u7684 \u865a\u5e7b \u5f15\u64ce \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   3 .   \u521b\u5efa \u865a\u5e7b \u5f15\u64ce \u4e0e \u4ee3\u7801 \u6807\u7b7e \u7684 \u53cc\u5411 \u5bf9\u5e94 \u5173\u7cfb   4 .   \u5b9a\u4e49 \u989c\u8272 \u4ee3\u7801 \u989c\u8272\u4ee3\u7801   5 .   \u6dfb\u52a0 \u6807\u8bb0 \u5143\u7d20   \u5c06 \u6807\u7b7e \u6dfb\u52a0 \u5230   carla . CityObjectLabel   \u521b\u5efa \u65b0 \u7684 \u8bed\u4e49 \u6807\u7b7e   1 .   \u521b\u5efa \u6807\u7b7e   ID   \u6253\u5f00   LibCarla / source / carla / rpc   \u4e2d \u7684   ObjectLabel . h   \u3002 \u4f7f\u7528 \u4e0e \u5176\u4f59 \u6807\u7b7e \u76f8\u540c \u7684 \u683c\u5f0f \u5728 \u679a\u4e3e \u672b\u5c3e \u6dfb\u52a0 \u65b0 \u6807\u7b7e \u3002   \u7b14\u8bb0   \u6807\u7b7e \u4e0d\u5fc5 \u6309 \u987a\u5e8f \u51fa\u73b0 \u3002 \u4f46\u662f \uff0c \u6309 \u987a\u5e8f \u5217\u51fa \u5b83\u4eec \u662f \u4e00\u4e2a \u5f88 \u597d \u7684 \u505a\u6cd5 \u3002   2 .   \u521b\u5efa \u8d44\u4ea7 \u7684 \u865a\u5e7b \u5f15\u64ce \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u6253\u5f00 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668   \u5e76 \u8f6c\u5230   Carla / Static   \u3002 \u521b\u5efa \u4e00\u4e2a \u540d\u4e3a \u60a8 \u7684 \u6807\u7b7e \u7684 \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u7b14\u8bb0   \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u548c \u6807\u7b7e \u4e0d\u5fc5 \u547d\u540d \u76f8\u540c \u3002 \u7136\u800c \uff0c \u8fd9\u6837 \u505a \u662f \u4e00\u4e2a \u5f88 \u597d \u7684 \u505a\u6cd5 \u3002   3 .   \u521b\u5efa \u865a\u5e7b \u5f15\u64ce \u4e0e \u4ee3\u7801 \u6807\u7b7e \u7684 \u53cc\u5411 \u5bf9\u5e94 \u5173\u7cfb   3.1 .   \u6253\u5f00   Unreal / CarlaUE4 / Plugins / Carla / Source / Carla / Game   \u4e2d \u7684   Tagger . cpp   \u3002 \u8f6c \u5230   GetLabelByFolderName   \u5217\u8868 \u672b\u5c3e \u6dfb\u52a0 \u60a8 \u7684 \u6807\u7b7e \u3002 \u88ab \u6bd4\u8f83 \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u662f   2 .   \u4e2d \u4f7f\u7528 \u7684 \u865a\u5e7b \u5f15\u64ce \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u540d\u79f0 \uff0c \u56e0\u6b64 \u8fd9\u91cc \u4f7f\u7528 \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u7684 \u540d\u79f0 \u3002   3.2 .   \u5728 \u76f8\u540c \u7684   Tagger . cpp   \u8f6c \u5230   GetTagAsString   \u3002   \u5728 \u5f00\u5173 \u672b\u5c3e \u6dfb\u52a0 \u65b0 \u6807\u7b7e \u3002   4 .   \u5b9a\u4e49 \u989c\u8272 \u4ee3\u7801 \u989c\u8272\u4ee3\u7801   \u5728   LibCarla / source / carla / image   \u4e2d \u6253\u5f00   CityScapesPalette . h   \u3002 \u5728 \u6570\u7ec4 \u672b\u5c3e \u6dfb\u52a0 \u65b0 \u6807\u7b7e \u7684 \u989c\u8272 \u4ee3\u7801 \u989c\u8272\u4ee3\u7801 \u3002   \u7b14\u8bb0   \u6570\u7ec4 \u4e2d \u7684 \u4f4d\u7f6e \u5fc5\u987b \u4e0e \u6807\u7b7e   ID   \u76f8\u5bf9 \u5e94 \uff0c \u5728 \u672c\u4f8b \u4e2d\u4e3a   23u   .   5 .   \u6dfb\u52a0 \u6807\u8bb0 \u7f51\u683c   \u65b0 \u7684 \u8bed\u4e49 \u6807\u7b7e \u5df2 \u53ef\u4f9b \u4f7f\u7528 \u53ef\u4f9b\u4f7f\u7528 \u3002 \u53ea\u6709 \u5b58\u50a8 \u5728 \u6807\u7b7e \u7684 \u865a\u5e7b \u5f15\u64ce \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u7684 \u7f51\u683c \u624d \u4f1a \u88ab \u6807\u8bb0 \u4e3a \u6b64\u7c7b \u3002 \u5c06 \u76f8\u5e94 \u7684 \u7f51\u683c \u79fb\u52a8 \u6216 \u5bfc\u5165 \u5bfc\u5165\u5230 \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u4ee5\u4fbf \u6b63\u786e \u6807\u8bb0 \u3002   \u5c06 \u6807\u7b7e \u6dfb\u52a0 \u5230   carla . CityObjectLabel   \u8fd9 \u4e00\u6b65 \u4e0e \u8bed\u4e49 \u5206\u5272 \u6ca1\u6709 \u76f4\u63a5 \u5173\u7cfb \u3002 \u4f46\u662f \uff0c \u8fd9\u4e9b \u6807\u7b7e \u53ef \u7528\u4e8e \u8fc7\u6ee4   carla . World   \u4e2d \u7684 \u8fb9\u754c \u6846 \u67e5\u8be2 \u3002 \u4e3a\u6b64 \uff0c \u5fc5\u987b \u5c06 \u6807\u7b7e \u6dfb\u52a0 \u5230 PythonAPI   \u4e2d \u7684   carla . CityObjectLabel   \u679a\u4e3e \u4e2d \u3002   \u5728   carla / PythonAPI / carla / source / libcarla   \u4e2d \u6253\u5f00   World . cpp   \u5e76 \u5728 \u679a\u4e3e \u672b\u5c3e \u6dfb\u52a0 \u65b0 \u6807\u7b7e \u3002   \u5982\u679c \u6709 \u4efb\u4f55 \u95ee\u9898 \u3001 \u7591\u95ee \u6216 \u5efa\u8bae \uff0c \u8bf7 \u9605\u8bfb   \u5e38\u89c1 \u95ee\u9898 \u9898\u89e3 \u89e3\u7b54 \u95ee\u9898\u89e3\u7b54   \u9875\u9762 \u6216 \u5728   Carla   \u8bba\u575b   \u4e2d \u53d1\u5e16 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u6dfb\u52a0 \u65b0 \u9053\u5177","title":"\u521b\u5efa \u8bed\u4e49 \u6807\u7b7e"},{"location":"tuto_D_create_semantic_tags/#_1","text":"\u4e86\u89e3 \u5982\u4f55 \u5b9a\u4e49 \u8bed\u4e49 \u5206\u5272 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6807\u7b7e \u3002 \u8fd9\u4e9b \u8fd8 \u53ef\u4ee5 \u6dfb\u52a0 \u5230   carla . CityObjectLabel   \u4ee5 \u8fc7\u6ee4   carla . World   \u68c0\u7d22 \u7684 \u8fb9\u754c \u6846 \u3002   \u521b\u5efa \u65b0 \u7684 \u8bed\u4e49 \u6807\u7b7e   1 .   \u521b\u5efa \u6807\u7b7e   ID   2 .   \u521b\u5efa \u8d44\u4ea7 \u7684 \u865a\u5e7b \u5f15\u64ce \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   3 .   \u521b\u5efa \u865a\u5e7b \u5f15\u64ce \u4e0e \u4ee3\u7801 \u6807\u7b7e \u7684 \u53cc\u5411 \u5bf9\u5e94 \u5173\u7cfb   4 .   \u5b9a\u4e49 \u989c\u8272 \u4ee3\u7801 \u989c\u8272\u4ee3\u7801   5 .   \u6dfb\u52a0 \u6807\u8bb0 \u5143\u7d20   \u5c06 \u6807\u7b7e \u6dfb\u52a0 \u5230   carla . CityObjectLabel","title":"\u521b\u5efa \u8bed\u4e49 \u6807\u7b7e"},{"location":"tuto_D_create_semantic_tags/#_2","text":"","title":"\u521b\u5efa \u65b0 \u7684 \u8bed\u4e49 \u6807\u7b7e  "},{"location":"tuto_D_create_semantic_tags/#1-id","text":"\u6253\u5f00   LibCarla / source / carla / rpc   \u4e2d \u7684   ObjectLabel . h   \u3002 \u4f7f\u7528 \u4e0e \u5176\u4f59 \u6807\u7b7e \u76f8\u540c \u7684 \u683c\u5f0f \u5728 \u679a\u4e3e \u672b\u5c3e \u6dfb\u52a0 \u65b0 \u6807\u7b7e \u3002   \u7b14\u8bb0   \u6807\u7b7e \u4e0d\u5fc5 \u6309 \u987a\u5e8f \u51fa\u73b0 \u3002 \u4f46\u662f \uff0c \u6309 \u987a\u5e8f \u5217\u51fa \u5b83\u4eec \u662f \u4e00\u4e2a \u5f88 \u597d \u7684 \u505a\u6cd5 \u3002","title":"1 .   \u521b\u5efa \u6807\u7b7e   ID  "},{"location":"tuto_D_create_semantic_tags/#2","text":"\u6253\u5f00 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668   \u5e76 \u8f6c\u5230   Carla / Static   \u3002 \u521b\u5efa \u4e00\u4e2a \u540d\u4e3a \u60a8 \u7684 \u6807\u7b7e \u7684 \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u7b14\u8bb0   \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u548c \u6807\u7b7e \u4e0d\u5fc5 \u547d\u540d \u76f8\u540c \u3002 \u7136\u800c \uff0c \u8fd9\u6837 \u505a \u662f \u4e00\u4e2a \u5f88 \u597d \u7684 \u505a\u6cd5 \u3002","title":"2 .   \u521b\u5efa \u8d44\u4ea7 \u7684 \u865a\u5e7b \u5f15\u64ce \u6587\u4ef6\u5939  "},{"location":"tuto_D_create_semantic_tags/#3","text":"3.1 .   \u6253\u5f00   Unreal / CarlaUE4 / Plugins / Carla / Source / Carla / Game   \u4e2d \u7684   Tagger . cpp   \u3002 \u8f6c \u5230   GetLabelByFolderName   \u5217\u8868 \u672b\u5c3e \u6dfb\u52a0 \u60a8 \u7684 \u6807\u7b7e \u3002 \u88ab \u6bd4\u8f83 \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u662f   2 .   \u4e2d \u4f7f\u7528 \u7684 \u865a\u5e7b \u5f15\u64ce \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u540d\u79f0 \uff0c \u56e0\u6b64 \u8fd9\u91cc \u4f7f\u7528 \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u7684 \u540d\u79f0 \u3002   3.2 .   \u5728 \u76f8\u540c \u7684   Tagger . cpp   \u8f6c \u5230   GetTagAsString   \u3002   \u5728 \u5f00\u5173 \u672b\u5c3e \u6dfb\u52a0 \u65b0 \u6807\u7b7e \u3002","title":"3 .   \u521b\u5efa \u865a\u5e7b \u5f15\u64ce \u4e0e \u4ee3\u7801 \u6807\u7b7e \u7684 \u53cc\u5411 \u5bf9\u5e94 \u5173\u7cfb  "},{"location":"tuto_D_create_semantic_tags/#4","text":"\u5728   LibCarla / source / carla / image   \u4e2d \u6253\u5f00   CityScapesPalette . h   \u3002 \u5728 \u6570\u7ec4 \u672b\u5c3e \u6dfb\u52a0 \u65b0 \u6807\u7b7e \u7684 \u989c\u8272 \u4ee3\u7801 \u989c\u8272\u4ee3\u7801 \u3002   \u7b14\u8bb0   \u6570\u7ec4 \u4e2d \u7684 \u4f4d\u7f6e \u5fc5\u987b \u4e0e \u6807\u7b7e   ID   \u76f8\u5bf9 \u5e94 \uff0c \u5728 \u672c\u4f8b \u4e2d\u4e3a   23u   .","title":"4 .   \u5b9a\u4e49 \u989c\u8272\u4ee3\u7801  "},{"location":"tuto_D_create_semantic_tags/#5","text":"\u65b0 \u7684 \u8bed\u4e49 \u6807\u7b7e \u5df2 \u53ef\u4f9b \u4f7f\u7528 \u53ef\u4f9b\u4f7f\u7528 \u3002 \u53ea\u6709 \u5b58\u50a8 \u5728 \u6807\u7b7e \u7684 \u865a\u5e7b \u5f15\u64ce \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5185 \u7684 \u7f51\u683c \u624d \u4f1a \u88ab \u6807\u8bb0 \u4e3a \u6b64\u7c7b \u3002 \u5c06 \u76f8\u5e94 \u7684 \u7f51\u683c \u79fb\u52a8 \u6216 \u5bfc\u5165 \u5bfc\u5165\u5230 \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u4ee5\u4fbf \u6b63\u786e \u6807\u8bb0 \u3002","title":"5 .   \u6dfb\u52a0 \u6807\u8bb0 \u7f51\u683c  "},{"location":"tuto_D_create_semantic_tags/#carlacityobjectlabel","text":"\u8fd9 \u4e00\u6b65 \u4e0e \u8bed\u4e49 \u5206\u5272 \u6ca1\u6709 \u76f4\u63a5 \u5173\u7cfb \u3002 \u4f46\u662f \uff0c \u8fd9\u4e9b \u6807\u7b7e \u53ef \u7528\u4e8e \u8fc7\u6ee4   carla . World   \u4e2d \u7684 \u8fb9\u754c \u6846 \u67e5\u8be2 \u3002 \u4e3a\u6b64 \uff0c \u5fc5\u987b \u5c06 \u6807\u7b7e \u6dfb\u52a0 \u5230 PythonAPI   \u4e2d \u7684   carla . CityObjectLabel   \u679a\u4e3e \u4e2d \u3002   \u5728   carla / PythonAPI / carla / source / libcarla   \u4e2d \u6253\u5f00   World . cpp   \u5e76 \u5728 \u679a\u4e3e \u672b\u5c3e \u6dfb\u52a0 \u65b0 \u6807\u7b7e \u3002   \u5982\u679c \u6709 \u4efb\u4f55 \u95ee\u9898 \u3001 \u7591\u95ee \u6216 \u5efa\u8bae \uff0c \u8bf7 \u9605\u8bfb   \u5e38\u89c1 \u95ee\u9898 \u9898\u89e3 \u89e3\u7b54 \u95ee\u9898\u89e3\u7b54   \u9875\u9762 \u6216 \u5728   Carla   \u8bba\u575b   \u4e2d \u53d1\u5e16 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u8003   \u6dfb\u52a0 \u65b0 \u9053\u5177","title":"\u5c06 \u6807\u7b7e \u6dfb\u52a0 \u5230   carla . CityObjectLabel  "},{"location":"tuto_D_create_sensor/","text":"\u5982\u4f55 \u6dfb\u52a0 \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u672c \u6559\u7a0b \u4ecb\u7ecd \u4e86 \u5411   Carla   \u6dfb\u52a0 \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6 \u3002 \u5b83 \u63d0\u4f9b \u4e86 \u5728 \u865a\u5e7b \u5f15\u64ce   4   \u4e2d \u5b9e\u73b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e76 \u901a\u8fc7   Carla   \u7684   Python   API   \u516c\u5f00 \u5176 \u6570\u636e \u7684 \u5fc5\u8981 \u6b65\u9aa4 \u3002 \u6211\u4eec \u5c06 \u901a\u8fc7 \u521b\u5efa \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f5c\u4e3a \u793a\u4f8b \u6765 \u9075\u5faa \u6240\u6709 \u6b65\u9aa4 \u3002   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u4ecb\u7ecd   \u521b\u5efa \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   1 -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u4e0e \u53c2\u4e0e\u8005   2 -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u4e32\u884c \u5668   3 -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5bf9\u8c61   4 -   \u6ce8\u518c \u60a8 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   5 -   \u4f7f\u7528 \u793a\u4f8b   \u9644\u5f55   \u91cd\u7528 \u7f13\u51b2 \u7f13\u51b2\u533a   \u5f02\u6b65 \u53d1\u9001 \u6570\u636e \u53d1\u9001\u6570\u636e   \u5ba2\u6237 \u5ba2\u6237\u7aef \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u4e3a\u4e86 \u5b9e\u73b0 \u65b0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u60a8 \u9700\u8981 \u7f16\u8bd1   Carla   \u4ee3\u7801 \u6e90\u4ee3\u7801 \uff0c \u6709\u5173 \u5982\u4f55 \u5b9e\u73b0 \u6b64 \u76ee\u7684 \u7684 \u8be6\u7ec6 \u8bf4\u660e \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   \u3002   \u672c \u6559\u7a0b \u8fd8 \u5047\u8bbe \u8bfb\u8005 \u7cbe\u901a   C++   \u7f16\u7a0b \u3002   \u4ecb\u7ecd   Carla   \u4e2d \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f \u4e00\u79cd \u7279\u6b8a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u53ef\u4ee5 \u4ea7\u751f \u6570\u636e \u6570\u636e\u6d41 \u3002 \u6709\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6bcf\u6b21 \u66f4\u65b0 \u65f6 \u90fd \u4f1a \u8fde\u7eed \u4ea7\u751f \u6570\u636e \uff0c \u800c \u53e6 \u4e00\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ec5 \u5728 \u67d0\u4e9b \u4e8b\u4ef6 \u53d1\u751f \u540e \u624d \u4ea7\u751f \u6570\u636e \u3002 \u4f8b\u5982 \uff0c \u76f8\u673a \u5728 \u6bcf\u6b21 \u66f4\u65b0 \u65f6 \u90fd \u4f1a \u751f\u6210 \u56fe\u50cf \uff0c \u4f46 \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ec5 \u5728 \u53d1\u751f \u78b0\u649e \u65f6\u624d \u4f1a \u89e6\u53d1 \u3002   \u5c3d\u7ba1 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \uff08 \u865a\u5e7b \u5f15\u64ce   4 \uff09 \u4e2d \u8ba1\u7b97 \u6d4b\u91cf \u7ed3\u679c \uff0c \u4f46 \u503c\u5f97 \u6ce8\u610f \u503c\u5f97\u6ce8\u610f \u7684 \u662f \uff0c \u67d0\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ec5 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e2d \u8fd0\u884c \u3002 \u6b64\u7c7b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4e00\u4e2a \u4f8b\u5b50 \u662f   LaneInvasion \uff0c \u6bcf\u6b21 \u8d8a\u8fc7 \u8f66\u9053 \u6807\u8bb0 \u65f6 \u5b83 \u90fd \u4f1a \u53d1\u51fa \u901a\u77e5 \u53d1\u51fa\u901a\u77e5 \u3002 \u6709\u5173 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u9644\u5f55 \uff1a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u91cd\u70b9 \u5173\u6ce8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u4e3a\u4e86 \u8ba9 \u865a\u5e7b \u5f15\u64ce   4   \u5185 \u8fd0\u884c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u6570\u636e \u4e00\u8def \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   Python   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u6211\u4eec \u9700\u8981 \u8986\u76d6 \u6574\u4e2a \u901a\u4fe1 \u7ba1\u9053 \u3002   \u56e0\u6b64 \uff0c \u6211\u4eec \u9700\u8981 \u4ee5\u4e0b \u7c7b\u6765 \u6db5\u76d6 \u7ba1\u9053 \u7684 \u4e0d\u540c \u6b65\u9aa4   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u8d1f\u8d23 \u6d4b\u91cf \u548c / \u6216 \u4eff\u771f \u6570\u636e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   4 \u6846\u67b6 \u5728   Carla   \u63d2\u4ef6 \u4e2d \u8fd0\u884c \u3002 \u7528\u6237 \u53ef\u4ee5 \u4f5c\u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8bbf\u95ee \u3002   \u4e32\u884c \u5668   \u5bf9\u8c61 \u5305\u542b \u7528\u4e8e \u5e8f\u5217 \u5e8f\u5217\u5316 \u548c \u53cd \u5e8f\u5217 \u5e8f\u5217\u5316 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u751f\u6210 \u7684 \u6570\u636e \u7684 \u65b9\u6cd5 \u3002 \u5728   LibCarla   \u4e2d \u8fd0\u884c \uff0c \u5305\u62ec \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e   \u8868\u793a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u751f\u6210 \u7684 \u6570\u636e \u7684 \u5bf9\u8c61 \u3002 \u8fd9 \u662f \u5c06 \u5728   C++   \u548c   Python   API   \u4e2d \u4f20\u9012 \u7ed9 \u6700\u7ec8 \u7528\u6237 \u6700\u7ec8\u7528\u6237 \u7684 \u5bf9\u8c61 \u3002   \u7b14\u8bb0   \u4e3a\u4e86 \u786e\u4fdd \u6700\u4f73 \u6027\u80fd \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f7f\u7528 \u57fa\u4e8e \u6a21\u677f \u5143 \u7f16\u7a0b \u7684 \u201c \u7f16\u8bd1 \u65f6 \u63d2\u4ef6 \u7cfb\u7edf \u201d \u8fdb\u884c \u6ce8\u518c \u548c \u8c03\u5ea6 \u3002 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\uff0c \u6211\u4eec \u4e0d\u4f1a \u8003\u8651 \u6240\u6709 \u7684 \u8fb9\u7f18 \u60c5\u51b5 \uff0c \u4e5f \u4e0d\u4f1a \u4ee5 \u6700 \u6709\u6548 \u7684 \u65b9\u5f0f \u5b9e\u73b0 \u3002 \u8fd9 \u53ea\u662f \u4e00\u4e2a \u8bf4\u660e \u660e\u6027 \u8bf4\u660e\u6027 \u793a\u4f8b \u3002   1 -   \u521b\u5efa \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8fd9\u662f \u6211\u4eec \u8981 \u521b\u5efa \u7684 \u6700 \u590d\u6742 \u7684 \u7c7b \u3002 \u8fd9\u91cc \u6211\u4eec \u5728 \u865a\u5e7b \u5f15\u64ce \u6846\u67b6 \u5185 \u8fd0\u884c \uff0c \u865a\u5e7b \u5f15\u64ce   4   API   \u7684 \u77e5\u8bc6 \u5c06 \u975e\u5e38 \u6709 \u5e2e\u52a9 \uff0c \u4f46 \u4e0d\u662f \u4e0d\u53ef \u5fc5\u4e0d\u53ef\u5c11 \u7684 \uff0c \u6211\u4eec \u5047\u8bbe \u8bfb\u8005 \u4ee5\u524d \u4ece\u672a \u4f7f\u7528 \u8fc7 \u865a\u5e7b \u5f15\u64ce   4 \u3002   \u5728   UE4   \u5185\u90e8 \uff0c \u6211\u4eec \u6709 \u4e00\u4e2a \u4e0e \u5ba2\u6237 \u5ba2\u6237\u7aef \u7c7b\u4f3c \u7684 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \uff0c   ASensor   \u6d3e\u751f \u81ea   AActor   \uff0c \u800c   Actor   \u5927\u81f4 \u662f \u53ef\u4ee5 \u653e\u5165 \u4e16\u754c \u4e2d \u7684 \u4efb\u4f55 \u5bf9\u8c61 \u3002   AActor   \u6709 \u4e00\u4e2a \u540d\u4e3a \u7684 \u865a\u62df \u51fd\u6570   Tick   \uff0c \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u5b83 \u5728 \u6bcf\u6b21 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u66f4\u65b0 \u65f6 \u66f4\u65b0 \u6211\u4eec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u5728 \u66f4 \u9ad8 \u7684 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d   UObject   \uff0c \u6211\u4eec \u6709 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u865a\u5e7b \u5f15\u64ce   4   \u7c7b \u7684 \u57fa\u7c7b \u3002 \u91cd\u8981 \u7684 \u662f \u8981 \u77e5\u9053 \u6d3e\u751f \u7684 \u5bf9\u8c61   UObject   \u662f \u901a\u8fc7 \u6307\u9488 \u8fdb\u884c \u5904\u7406 \u7684 \uff0c \u5e76\u4e14 \u5f53 \u5b83\u4eec \u4e0d\u518d \u88ab \u5f15\u7528 \u65f6\u4f1a \u88ab \u5783\u573e \u6536\u96c6 \u3002 \u6307\u5411   UObjects   \u7684 \u7c7b \u6210\u5458 \u9700\u8981 \u7528\u5b8f   UPROPERTY   \u8fdb\u884c \u6807\u8bb0 \uff0c \u5426\u5219 \u5b83\u4eec \u5c06 \u88ab \u5783\u573e \u6536\u96c6 \u3002   \u5f00\u59cb \u5427 \u3002   \u8be5\u7c7b \u5fc5\u987b \u4f4d\u4e8e   Carla   \u63d2\u4ef6 \u5185 \uff0c \u6211\u4eec \u5c06 \u4e3a \u65b0 \u7684   C++   \u7c7b \u521b\u5efa \u4e24\u4e2a \u6587\u4ef6   Unreal / CarlaUE4 / Plugins / Carla / Source / Carla / Sensor / SafeDistanceSensor . h   Unreal / CarlaUE4 / Plugins / Carla / Source / Carla / Sensor / SafeDistanceSensor . cpp   \u8d77\u7801 \u6700\u8d77\u7801 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9700\u8981 \u7ee7\u627f   ASensor   \uff0c \u5e76 \u63d0\u4f9b \u9759\u6001 \u65b9\u6cd5 \u9759\u6001\u65b9\u6cd5   GetSensorDefinition   \uff1b \u4f46 \u6211\u4eec \u8fd8 \u5c06 \u91cd\u5199   Set   \u3001   SetOwner   \u3001   \u548c   Tick   \u65b9\u6cd5 \u3002 \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fd8 \u9700\u8981 \u4e00\u4e2a \u89e6\u53d1 \u76d2\u6765 \u68c0\u6d4b \u6211\u4eec \u5468\u56f4 \u7684 \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u6709 \u4e86 \u8fd9\u4e2a \u548c \u4e00\u4e9b \u5fc5\u9700 \u7684 \u865a\u5e7b \u5f15\u64ce 4   \u6837\u677f \u4ee3\u7801 \uff0c \u6587\u4ef6 \u5934\u6587\u4ef6 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u50cf   # pragma   once   # include   \" Carla / Sensor / Sensor . h \"   # include   \" Carla / Actor / ActorDefinition . h \"   # include   \" Carla / Actor / ActorDescription . h \"   # include   \" Components / BoxComponent . h \"   # include   \" SafeDistanceSensor . generated . h \"   UCLASS ( )   class   CARLA _ API   ASafeDistanceSensor   :   public   ASensor   {   GENERATED _ BODY ( )   public :   ASafeDistanceSensor ( const   FObjectInitializer   & ObjectInitializer ) ;   static   FActorDefinition   GetSensorDefinition ( ) ;   void   Set ( const   FActorDescription   & ActorDescription )   override ;   void   SetOwner ( AActor   * Owner )   override ;   void   Tick ( float   DeltaSeconds )   override ;   private :   UPROPERTY ( )   UBoxComponent   * Box   =   nullptr ;   } ;   \u5728   cpp   \u6587\u4ef6 \u4e2d \uff0c \u9996\u5148 \u6211\u4eec \u9700\u8981 \u4e00\u4e9b \u5305\u542b   # include   \" Carla . h \"   # include   \" Carla / Sensor / SafeDistanceSensor . h \"   # include   \" Carla / Actor / ActorBlueprintFunctionLibrary . h \"   # include   \" Carla / Game / CarlaEpisode . h \"   # include   \" Carla / Util / BoundingBoxCalculator . h \"   # include   \" Carla / Vehicle / CarlaWheeledVehicle . h \"   \u7136\u540e \u6211\u4eec \u5c31 \u53ef\u4ee5 \u7ee7\u7eed \u5b9e\u73b0 \u8be5 \u529f\u80fd \u4e86 \u3002 \u6784\u9020 \u51fd\u6570 \u6784\u9020\u51fd\u6570 \u5c06 \u521b\u5efa \u89e6\u53d1 \u6846 \uff0c \u5e76 \u544a\u8bc9 \u865a\u5e7b \u5f15\u64ce 4   \u6211\u4eec \u5e0c\u671b \u8c03\u7528 \u6211\u4eec \u7684 \u52fe\u9009 \u51fd\u6570 \u3002 \u5982\u679c \u6211\u4eec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6ca1\u6709 \u4f7f\u7528 \u523b\u5ea6 \u529f\u80fd \uff0c \u6211\u4eec \u53ef\u4ee5 \u5728 \u6b64\u5904 \u7981\u7528 \u5b83 \u4ee5 \u907f\u514d \u4e0d\u5fc5 \u5fc5\u8981 \u4e0d\u5fc5\u8981 \u7684 \u523b\u5ea6   ASafeDistanceSensor : : ASafeDistanceSensor ( const   FObjectInitializer   & ObjectInitializer )   :   Super ( ObjectInitializer )   {   Box   =   CreateDefaultSubobject < UBoxComponent > ( TEXT ( \" BoxOverlap \" ) ) ;   Box - > SetupAttachment ( RootComponent ) ;   Box - > SetHiddenInGame ( true ) ;   / /   Disable   for   debugging .   Box - > SetCollisionProfileName ( FName ( \" OverlapAll \" ) ) ;   PrimaryActorTick . bCanEverTick   =   true ;   }   \u73b0\u5728 \u6211\u4eec \u9700\u8981 \u544a\u8bc9   Carla   \u8fd9\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6709 \u4ec0\u4e48 \u5c5e\u6027 \uff0c \u8fd9 \u5c06 \u7528\u4e8e \u5728 \u6211\u4eec \u7684 \u84dd \u56fe\u5e93 \u4e2d \u521b\u5efa \u4e00\u4e2a \u65b0 \u7684 \u84dd\u56fe \uff0c \u7528\u6237 \u53ef\u4ee5 \u4f7f\u7528 \u8fd9\u4e2a \u84dd\u56fe \u6765 \u914d\u7f6e \u548c \u751f\u6210 \u8fd9\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u6211\u4eec \u5c06 \u5728 \u8fd9\u91cc \u5b9a\u4e49 \u89e6\u53d1 \u6846 \u7684 \u5c5e\u6027 \uff0c \u5728 \u672c\u4f8b \u4e2d \u6211\u4eec \u5c06 \u4ec5 \u516c\u5f00   X   \u548c   Y   \u5b89\u5168 \u8ddd\u79bb   FActorDefinition   ASafeDistanceSensor : : GetSensorDefinition ( )   {   auto   Definition   =   UActorBlueprintFunctionLibrary : : MakeGenericSensorDefinition (   TEXT ( \" other \" ) ,   TEXT ( \" safe _ distance \" ) ) ;   FActorVariation   Front ;   Front . Id   =   TEXT ( \" safe _ distance _ front \" ) ;   Front . Type   =   EActorAttributeType : : Float ;   Front . RecommendedValues   =   {   TEXT ( \" 1.0 \" )   } ;   Front . bRestrictToRecommended   =   false ;   FActorVariation   Back ;   Back . Id   =   TEXT ( \" safe _ distance _ back \" ) ;   Back . Type   =   EActorAttributeType : : Float ;   Back . RecommendedValues   =   {   TEXT ( \" 0.5 \" )   } ;   Back . bRestrictToRecommended   =   false ;   FActorVariation   Lateral ;   Lateral . Id   =   TEXT ( \" safe _ distance _ lateral \" ) ;   Lateral . Type   =   EActorAttributeType : : Float ;   Lateral . RecommendedValues   =   {   TEXT ( \" 0.5 \" )   } ;   Lateral . bRestrictToRecommended   =   false ;   Definition . Variations . Append ( {   Front ,   Back ,   Lateral   } ) ;   return   Definition ;   }   \u8fd9\u6837 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5de5\u5382 \u5c31 \u80fd\u591f \u6839\u636e \u7528\u6237 \u9700\u6c42 \u521b\u5efa \u5b89\u5168 \u8ddd\u79bb \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u521b\u5efa \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u540e \uff0c \u7acb\u5373 \u4f7f\u7528 \u7528\u6237 \u8bf7\u6c42 \u7684 \u53c2\u6570 \u8c03\u7528 \u8be5   Set   \u51fd\u6570   void   ASafeDistanceSensor : : Set ( const   FActorDescription   & Description )   {   Super : : Set ( Description ) ;   float   Front   =   UActorBlueprintFunctionLibrary : : RetrieveActorAttributeToFloat (   \" safe _ distance _ front \" ,   Description . Variations ,   1.0 f ) ;   float   Back   =   UActorBlueprintFunctionLibrary : : RetrieveActorAttributeToFloat (   \" safe _ distance _ back \" ,   Description . Variations ,   0.5 f ) ;   float   Lateral   =   UActorBlueprintFunctionLibrary : : RetrieveActorAttributeToFloat (   \" safe _ distance _ lateral \" ,   Description . Variations ,   0.5 f ) ;   constexpr   float   M _ TO _ CM   =   100.0 f ;   / /   Unit   conversion .   float   LocationX   =   M _ TO _ CM   *   ( Front   -   Back )   /   2.0 f ;   float   ExtentX   =   M _ TO _ CM   *   ( Front   +   Back )   /   2.0 f ;   float   ExtentY   =   M _ TO _ CM   *   Lateral ;   Box - > SetRelativeLocation ( FVector { LocationX ,   0.0 f ,   0.0 f } ) ;   Box - > SetBoxExtent ( FVector { ExtentX ,   ExtentY ,   0.0 f } ) ;   }   \u8bf7 \u6ce8\u610f \uff0c set   \u51fd\u6570 \u662f \u5728 \u865a\u5e7b \u5f15\u64ce   4   \u4e4b\u524d \u8c03\u7528 \u7684   BeginPlay   \uff0c \u6211\u4eec \u8fd9\u91cc \u4e0d\u4f1a \u4f7f\u7528 \u8fd9\u4e2a \u865a\u62df \u51fd\u6570 \uff0c \u4f46 \u5b83 \u5bf9\u4e8e \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5f88 \u91cd\u8981 \u3002   \u73b0\u5728 \u6211\u4eec \u5c06 \u6839\u636e \u6211\u4eec \u6240 \u9644\u52a0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8fb9\u754c \u6846\u6765 \u6269\u5c55 \u76d2\u5b50 \u4f53\u79ef \u3002 \u4e3a\u6b64 \uff0c \u6700 \u65b9\u4fbf \u7684 \u65b9\u6cd5 \u662f \u4f7f\u7528   SetOwner   \u865a \u51fd\u6570 \u3002 \u5f53 \u6211\u4eec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fde\u63a5 \u5230 \u53e6 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \uff0c \u4f1a \u8c03\u7528 \u6b64 \u51fd\u6570 \u3002   void   ASafeDistanceSensor : : SetOwner ( AActor   * Owner )   {   Super : : SetOwner ( Owner ) ;   auto   BoundingBox   =   UBoundingBoxCalculator : : GetActorBoundingBox ( Owner ) ;   Box - > SetBoxExtent ( BoundingBox . Extent   +   Box - > GetUnscaledBoxExtent ( ) ) ;   }   \u552f\u4e00 \u8981 \u505a \u7684 \u5c31\u662f \u5b9e\u9645 \u6d4b\u91cf \uff0c \u56e0\u4e3a \u6211\u4eec \u5c06 \u4f7f\u7528 \u8be5   Tick   \u51fd\u6570 \u3002 \u6211\u4eec \u5c06 \u67e5\u627e \u5f53\u524d \u4e0e \u6211\u4eec \u7684 \u76d2\u5b50 \u91cd\u53e0 \u7684 \u6240\u6709 \u8f66\u8f86 \uff0c \u5e76 \u5c06 \u6b64 \u5217\u8868 \u53d1\u9001 \u9001\u7ed9 \u53d1\u9001\u7ed9 \u5ba2\u6237   void   ASafeDistanceSensor : : Tick ( float   DeltaSeconds )   {   Super : : Tick ( DeltaSeconds ) ;   TSet < AActor   * >   DetectedActors ;   Box - > GetOverlappingActors ( DetectedActors ,   ACarlaWheeledVehicle : : StaticClass ( ) ) ;   DetectedActors . Remove ( GetOwner ( ) ) ;   if   ( DetectedActors . Num ( )   >   0 )   {   auto   Stream   =   GetDataStream ( * this ) ;   Stream . Send ( * this ,   GetEpisode ( ) ,   DetectedActors ) ;   }   }   \u7b14\u8bb0   \u5728 \u53ef \u6295\u5165 \u751f\u4ea7 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \uff0c \u8be5   Tick   \u51fd\u6570 \u5e94\u8be5 \u975e\u5e38 \u4f18\u5316 \uff0c \u7279\u522b \u662f \u5f53 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53d1\u9001 \u5927\u91cf \u6570\u636e \u65f6 \u3002 \u6e38\u620f \u7ebf\u7a0b \u4e2d \u7684 \u6bcf\u6b21 \u66f4\u65b0 \u90fd \u4f1a \u8c03\u7528 \u6b64 \u51fd\u6570 \uff0c \u56e0\u6b64 \u4f1a\u663e \u7740 \u5f71\u54cd \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u6027\u80fd \u3002   \u597d \u5427 \uff0c \u8fd9\u91cc \u53d1\u751f \u4e86 \u4e00\u4e9b \u6211\u4eec \u8fd8 \u6ca1\u6709 \u63d0\u5230 \u7684 \u4e8b\u60c5 \uff0c \u8fd9\u4e2a \u6d41\u662f \u4ec0\u4e48 \uff1f   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u6709 \u4e00\u4e2a \u5173\u8054 \u7684 \u6570\u636e \u6570\u636e\u6d41 \u3002 \u8be5\u6d41 \u7528\u4e8e \u5c06 \u6570\u636e \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u8fd9 \u662f \u60a8 \u5728   Python   API   \u4e2d \u4f7f\u7528   sensor . listen ( callback )   \u65b9\u6cd5 \u65f6 \u8ba2\u9605 \u7684 \u6d41 \u3002 \u6bcf\u6b21 \u5411 \u8fd9\u91cc \u53d1\u9001 \u4e00\u4e9b \u6570\u636e \u65f6 \uff0c \u90fd \u4f1a \u89e6\u53d1 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u56de\u8c03 \u3002 \u4f46 \u4e4b\u524d \u5728\u6b64\u4e4b\u524d \uff0c \u6570\u636e \u5c06 \u7ecf\u8fc7 \u591a\u4e2a \u5c42 \u3002 \u9996\u5148 \u662f \u6211\u4eec \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u8981 \u521b\u5efa \u7684 \u5e8f\u5217 \u5e8f\u5217\u5316 \u5668 \u3002 \u4e00\u65e6 \u6211\u4eec \u5b8c\u6210 \u4e86 \u4e0b \u4e00\u8282 \u7684   Serialize   \u529f\u80fd \uff0c \u6211\u4eec \u5c31 \u4f1a \u5b8c\u5168 \u7406\u89e3 \u8fd9 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   2 -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u4e32\u884c \u5668   \u8fd9\u4e2a \u7c7b \u5176\u5b9e \u6bd4\u8f83 \u7b80\u5355 \u6bd4\u8f83\u7b80\u5355 \uff0c \u53ea \u9700\u8981 \u6709 \u4e24\u4e2a \u9759\u6001 \u65b9\u6cd5 \u9759\u6001\u65b9\u6cd5 \uff0c   Serialize   \u548c   Deserialize   \u3002 \u6211\u4eec \u5c06 \u4e3a \u5b83 \u6dfb\u52a0 \u4e24\u4e2a \u6587\u4ef6 \uff0c \u8fd9\u6b21 \u662f   LibCarla   LibCarla / source / carla / sensor / s11n / SafeDistanceSerializer . h   LibCarla / source / carla / sensor / s11n / SafeDistanceSerializer . cpp   \u8ba9 \u6211\u4eec \u4ece   Serialize   \u51fd\u6570 \u5f00\u59cb \u3002 \u8be5 \u51fd\u6570 \u5c06 \u63a5\u6536 \u6211\u4eec \u4f20\u9012 \u7ed9   Stream . Send ( ... )   \u51fd\u6570 \u7684 \u4efb\u4f55 \u5185\u5bb9 \u4f5c\u4e3a \u53c2\u6570 \uff0c \u552f\u4e00 \u7684 \u6761\u4ef6 \u662f \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u53c2\u6570 \u5fc5\u987b \u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e76\u4e14 \u5b83 \u5fc5\u987b \u8fd4\u56de \u4e00\u4e2a \u7f13\u51b2 \u7f13\u51b2\u533a \u3002   static   Buffer   Serialize ( const   Sensor   & ,   ... ) ;   carla : : Buffer   \u53ea\u662f \u4e00\u5757 \u52a8\u6001 \u5206\u914d \u52a8\u6001\u5206\u914d \u7684 \u539f\u59cb \u5185\u5b58 \uff0c \u5177\u6709 \u4e00\u4e9b \u65b9\u4fbf \u7684 \u529f\u80fd \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528 \u5b83 \u5411 \u5ba2\u6237 \u5ba2\u6237\u7aef \u53d1\u9001 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u3002   \u5728 \u6b64 \u793a\u4f8b \u4e2d \uff0c \u6211\u4eec \u9700\u8981 \u4ee5 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6709 \u610f\u4e49 \u7684 \u65b9\u5f0f \u5c06 \u68c0\u6d4b \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \u5199\u5165 \u7f13\u51b2 \u7f13\u51b2\u533a \u3002 \u8fd9 \u5c31\u662f \u6211\u4eec \u5c06 \u5267\u96c6 \u5bf9\u8c61 \u4f20\u9012 \u7ed9 \u6b64 \u51fd\u6570 \u7684 \u539f\u56e0 \u3002   UCarlaEpisode   \u7c7b \u8868\u793a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u8fd0\u884c \u7684 \u5f53\u524d   \u60c5\u8282   \uff0c \u5373 \u81ea \u4e0a\u6b21 \u52a0\u8f7d \u5730\u56fe \u4ee5\u6765 \u7684 \u4eff\u771f \u72b6\u6001 \u3002 \u5b83 \u5305\u542b \u4e0e   Carla   \u76f8\u5173 \u7684 \u6240\u6709 \u4fe1\u606f \uff0c \u9664 \u5176\u4ed6 \u5916 \uff0c \u5b83 \u8fd8 \u5141\u8bb8 \u641c\u7d22 \u53c2\u4e0e \u53c2\u4e0e\u8005   ID \u3002 \u6211\u4eec \u53ef\u4ee5 \u5c06 \u8fd9\u4e9b   ID   \u53d1\u9001 \u9001\u7ed9 \u53d1\u9001\u7ed9 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06 \u80fd\u591f \u5c06 \u8fd9\u4e9b   ID   \u8bc6\u522b \u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005   template   < typename   SensorT ,   typename   EpisodeT ,   typename   ActorListT >   static   Buffer   Serialize (   const   SensorT   & ,   const   EpisodeT   & episode ,   const   ActorListT   & detected _ actors )   {   const   uint32 _ t   size _ in _ bytes   =   sizeof ( ActorId )   *   detected _ actors . Num ( ) ;   Buffer   buffer { size _ in _ bytes } ;   unsigned   char   * it   =   buffer . data ( ) ;   for   ( auto   * actor   :   detected _ actors )   {   ActorId   id   =   episode . FindActor ( actor ) . GetActorId ( ) ;   std : : memcpy ( it ,   & id ,   sizeof ( ActorId ) ) ;   it   + =   sizeof ( ActorId ) ;   }   return   buffer ;   }   \u6ce8\u610f \uff1a \u6211\u4eec \u5bf9 \u865a\u5e7b \u5f15\u64ce   4   \u7c7b \u8fdb\u884c \u6a21\u677f \u5316\u4ee5 \u907f\u514d \u5728   LibCarla   \u4e2d \u5305\u542b \u8fd9\u4e9b \u6587\u4ef6 \u3002   \u6211\u4eec \u8981 \u8fd4\u56de \u7684 \u8fd9\u4e2a \u7f13\u51b2 \u7f13\u51b2\u533a \u5c06\u4f1a \u8fd4\u56de \u7ed9 \u6211\u4eec \uff0c \u4e0d\u8fc7 \u53ea\u4e0d\u8fc7 \u8fd9\u6b21 \u662f \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5728 \u5c01\u88c5 \u5728   RawData   \u5bf9\u8c61 \u4e2d \u7684   Deserialize   \u51fd\u6570 \u4e2d   static   SharedPtr < SensorData >   Deserialize ( RawData   && data ) ;   \u6211\u4eec \u5728   cpp   \u6587\u4ef6 \u4e2d \u5b9e\u73b0 \u8fd9\u4e2a \u65b9\u6cd5 \uff0c \u6bd4\u8f83 \u7b80\u5355 \u6bd4\u8f83\u7b80\u5355   SharedPtr < SensorData >   SafeDistanceSerializer : : Deserialize ( RawData   && data )   {   return   SharedPtr < SensorData > ( new   data : : SafeDistanceEvent ( std : : move ( data ) ) ) ;   }   \u9664\u4e86 \u6211\u4eec \u8fd8 \u6ca1\u6709 \u5b9a\u4e49 \u4ec0\u4e48 \u662f   SafeDistanceEvent \u3002   3 -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5bf9\u8c61   \u6211\u4eec \u9700\u8981 \u4e3a \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7528\u6237 \u521b\u5efa \u4e00\u4e2a \u6570\u636e \u5bf9\u8c61 \uff0c \u8868\u793a   \u5b89\u5168 \u8ddd\u79bb \u4e8b\u4ef6   \u7684 \u6570\u636e \u3002 \u6211\u4eec \u5c06 \u6b64 \u6587\u4ef6 \u6dfb\u52a0 \u5230   LibCarla / source / carla / sensor / data / SafeDistanceEvent . h   \u8be5 \u5bf9\u8c61 \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005   ID   \u5217\u8868 \u3002 \u4e3a\u6b64 \uff0c \u6211\u4eec \u5c06 \u4ece   Array   \u6a21\u677f \u6d3e\u751f   # pragma   once   # include   \" carla / rpc / ActorId . h \"   # include   \" carla / sensor / data / Array . h \"   namespace   carla   {   namespace   sensor   {   namespace   data   {   class   SafeDistanceEvent   :   public   Array < rpc : : ActorId >   {   public :   explicit   SafeDistanceEvent ( RawData   && data )   :   Array < rpc : : ActorId > ( std : : move ( data ) )   { }   } ;   }   / /   namespace   data   }   / /   namespace   sensor   }   / /   namespace   carla   \u6570\u7ec4 \u6a21\u677f \u5c06 \u628a \u6211\u4eec \u5728   Serialize   \u65b9\u6cd5 \u4e2d \u521b\u5efa \u7684 \u7f13\u51b2 \u7f13\u51b2\u533a \u91cd\u65b0 \u89e3\u91ca \u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005   ID   \u6570\u7ec4 \uff0c \u5e76\u4e14 \u5b83 \u80fd\u591f \u76f4\u63a5 \u4ece \u6211\u4eec \u6536\u5230 \u7684 \u7f13\u51b2 \u7f13\u51b2\u533a \u4e2d \u6267\u884c \u6b64 \u64cd\u4f5c \uff0c \u800c \u65e0\u9700 \u5206\u914d \u4efb\u4f55 \u65b0 \u5185\u5b58 \u3002 \u867d\u7136 \u5bf9\u4e8e \u8fd9\u4e2a \u5c0f \u4f8b\u5b50 \u6765\u8bf4 \u53ef\u80fd \u6709\u70b9 \u5927\u6750\u5c0f\u7528 \uff0c \u4f46 \u8fd9\u79cd \u673a\u5236 \u4e5f \u9002\u7528 \u4e8e \u5927 \u6570\u636e \u5757 \uff1b \u60f3\u8c61 \u4e00\u4e0b \u6211\u4eec \u6b63\u5728 \u53d1\u9001 \u9ad8\u6e05 \u56fe\u50cf \uff0c \u6211\u4eec \u901a\u8fc7 \u91cd\u7528 \u539f\u59cb \u5185\u5b58 \u8282\u7701 \u4e86 \u5f88\u591a \u3002   \u73b0\u5728 \u6211\u4eec \u9700\u8981 \u5c06 \u6b64\u7c7b \u516c\u5f00 \u7ed9   Python \u3002 \u5728 \u6211\u4eec \u7684 \u793a\u4f8b \u4e2d \uff0c \u6211\u4eec \u6ca1\u6709 \u6dfb\u52a0 \u4efb\u4f55 \u989d\u5916 \u7684 \u65b9\u6cd5 \uff0c \u56e0\u6b64 \u6211\u4eec \u53ea \u516c\u5f00 \u4e0e   Array   \u76f8\u5173 \u7684 \u65b9\u6cd5 \u3002 \u6211\u4eec \u901a\u8fc7 \u4f7f\u7528   Boost . Python   \u7ed1\u5b9a \u6765 \u5b9e\u73b0 \u6b64 \u76ee\u7684 \uff0c \u5c06 \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u6dfb\u52a0 \u5230   PythonAPI / carla / source / libcarla / SensorData . cpp   \u3002   class _ <   csd : : SafeDistanceEvent ,   / /   actual   type .   bases < cs : : SensorData > ,   / /   parent   type .   boost : : noncopyable ,   / /   disable   copy .   boost : : shared _ ptr < csd : : SafeDistanceEvent >   / /   use   as   shared _ ptr .   > ( \" SafeDistanceEvent \" ,   no _ init )   / /   name ,   and   disable   construction .   . def ( \" __ len __ \" ,   & csd : : SafeDistanceEvent : : size )   . def ( \" __ iter __ \" ,   iterator < csd : : SafeDistanceEvent > ( ) )   . def ( \" __ getitem __ \" ,   + [ ] ( const   csd : : SafeDistanceEvent   & self ,   size _ t   pos )   - >   cr : : ActorId   {   return   self . at ( pos ) ;   } )   ;   \u6ce8\u610f \uff1a   csd   \u662f \u540d\u79f0 \u7a7a\u95f4   carla : : sensor : : data   \u7684 \u522b\u540d \u3002   \u6211\u4eec \u5728 \u8fd9\u91cc \u6240 \u505a \u7684 \u662f \u5728   Python   \u4e2d \u516c\u5f00 \u4e00\u4e9b   C++   \u65b9\u6cd5 \u3002 \u8fd9\u6837 \uff0c Python   API   \u5c06 \u80fd\u591f \u8bc6\u522b \u6211\u4eec \u7684 \u65b0 \u4e8b\u4ef6 \uff0c \u5e76\u4e14 \u5176 \u884c\u4e3a \u7c7b\u4f3c \u4e8e   Python   \u4e2d \u7684 \u6570\u7ec4 \uff0c \u53ea\u662f \u4e0d\u80fd \u4fee\u6539 \u3002   4 -   \u6ce8\u518c \u60a8 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u73b0\u5728 \u7ba1\u9053 \u5df2 \u5b8c\u6210 \uff0c \u6211\u4eec \u5df2 \u51c6\u5907 \u597d \u6ce8\u518c \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u6211\u4eec \u5728   LibCarla / source / carla / sensor / SensorRegistry . h   \u4e2d \u8fd9\u6837 \u505a \u3002 \u6309\u7167 \u6b64 \u6587\u4ef6 \u5934\u6587\u4ef6 \u4e2d \u7684 \u8bf4\u660e \u6dfb\u52a0 \u4e0d\u540c \u7684 \u5305\u542b \u548c \u524d \u5411 \u58f0\u660e \uff0c \u5e76 \u5c06 \u4ee5\u4e0b \u5bf9 \u6dfb\u52a0 \u5230 \u6ce8\u518c \u6ce8\u518c\u8868 \u4e2d   std : : pair < ASafeDistanceSensor   * ,   s11n : : SafeDistanceSerializer >   \u6709 \u4e86 \u8fd9\u4e2a \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6ce8\u518c \u6ce8\u518c\u8868 \u73b0\u5728 \u53ef\u4ee5 \u53d1\u6325 \u5176 \u9b54\u529b \uff0c \u5c06 \u6b63\u786e \u7684 \u6570\u636e \u5206\u6d3e \u5230 \u6b63\u786e \u7684 \u5e8f\u5217 \u5e8f\u5217\u5316 \u5668 \u3002   \u73b0\u5728 \u91cd\u65b0 \u7f16\u8bd1   Carla \uff0c \u5e0c\u671b \u4e00\u5207 \u987a\u5229 \u4e00\u5207\u987a\u5229 \u5e76\u4e14 \u6ca1\u6709 \u9519\u8bef \u3002 \u4e0d\u5e78 \u7684 \u662f \uff0c \u8fd9\u91cc \u7684 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u9519\u8bef \u90fd \u4e0e \u6a21\u677f \u6709\u5173 \uff0c \u5e76\u4e14 \u9519\u8bef \u6d88\u606f \u53ef\u80fd \u6709\u70b9 \u795e\u79d8 \u3002   make   rebuild   5 -   \u4f7f\u7528 \u793a\u4f8b   \u6700\u540e \uff0c \u6211\u4eec \u5df2\u7ecf \u5305\u542b \u4e86 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5e76\u4e14 \u5df2\u7ecf \u5b8c\u6210 \u4e86 \u91cd\u65b0 \u7f16\u8bd1 \uff0c \u73b0\u5728 \u6211\u4eec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e94\u8be5 \u53ef\u4ee5 \u5728   Python   \u4e2d \u4f7f\u7528 \u3002   \u8981 \u751f\u6210 \u8fd9\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u6211\u4eec \u53ea \u9700 \u5728 \u84dd \u56fe\u5e93 \u4e2d \u627e\u5230 \u5b83 \uff0c \u5982\u679c \u4e00\u5207 \u987a\u5229 \u4e00\u5207\u987a\u5229 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5de5\u5382 \u5e94\u8be5 \u5df2 \u5c06 \u6211\u4eec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6dfb\u52a0 \u5230\u5e93 \u4e2d   blueprint   =   blueprint _ library . find ( ' sensor . other . safe _ distance ' )   sensor   =   world . spawn _ actor ( blueprint ,   carla . Transform ( ) ,   attach _ to = vehicle )   \u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u901a\u8fc7 \u6ce8\u518c \u56de\u8c03 \u51fd\u6570 \u6765 \u5f00\u59cb \u76d1\u542c \u4e8b\u4ef6   world _ ref   =   weakref . ref ( world )   def   callback ( event ) :   for   actor _ id   in   event :   vehicle   =   world _ ref ( ) . get _ actor ( actor _ id )   print ( ' Vehicle   too   close :   % s '   %   vehicle . type _ id )   sensor . listen ( callback )   \u6b64 \u56de\u8c03 \u5c06 \u6267\u884c \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u5728 \u6211\u4eec \u7684 \u5b89\u5168 \u8ddd\u79bb \u6846\u4e2d \u7684 \u6bcf\u6b21 \u66f4\u65b0 \uff0c \u4f8b\u5982   Vehicle   too   close :   vehicle . audi . a2   Vehicle   too   close :   vehicle . mercedes - benz . coupe   \u5c31\u662f \u8fd9\u6837 \uff0c \u6211\u4eec \u6709 \u4e00\u4e2a \u65b0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6b63\u5728 \u5de5\u4f5c \uff01   \u9644\u5f55   \u91cd\u7528 \u7f13\u51b2 \u7f13\u51b2\u533a   \u4e3a\u4e86 \u4f18\u5316 \u5185\u5b58 \u4f7f\u7528 \uff0c \u6211\u4eec \u53ef\u4ee5 \u5229\u7528 \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53d1\u9001 \u76f8\u4f3c \u5927\u5c0f \u7684 \u7f13\u51b2 \u7f13\u51b2\u533a \u7684 \u4e8b\u5b9e \uff1b \u7279\u522b \u662f \uff0c \u5728 \u76f8\u673a \u7684 \u60c5\u51b5 \u4e0b \uff0c \u56fe\u50cf \u7684 \u5927\u5c0f \u5728 \u6267\u884c \u671f\u95f4 \u662f \u6052\u5b9a \u7684 \u3002 \u5728 \u8fd9\u4e9b \u60c5\u51b5 \u4e0b \uff0c \u6211\u4eec \u53ef\u4ee5 \u901a\u8fc7 \u91cd\u7528 \u5e27 \u4e4b\u95f4 \u5206\u914d \u7684 \u5185\u5b58 \u6765 \u8282\u7701 \u5927\u91cf \u8d44\u6e90 \u3002   \u6bcf\u4e2a \u6d41\u90fd \u5305\u542b \u4e00\u4e2a   \u7f13\u51b2 \u6c60   \uff0c \u53ef \u7528\u4e8e \u907f\u514d \u4e0d\u5fc5 \u5fc5\u8981 \u4e0d\u5fc5\u8981 \u7684 \u5185\u5b58 \u5206\u914d \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u6709 \u4e00\u4e2a \u5173\u8054 \u7684 \u6d41 \uff0c \u56e0\u6b64 \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u6709 \u81ea\u5df1 \u7684 \u7f13\u51b2 \u6c60 \u3002   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u4ece\u6c60 \u4e2d \u68c0\u7d22 \u7f13\u51b2 \u7f13\u51b2\u533a   auto   Buffer   =   Stream . PopBufferFromPool ( ) ;   \u5982\u679c \u6c60\u4e3a \u7a7a \uff0c \u5219 \u8fd4\u56de \u4e00\u4e2a \u7a7a \u7f13\u51b2 \u7f13\u51b2\u533a \uff0c \u5373 \u6ca1\u6709 \u5206\u914d \u5185\u5b58 \u5206\u914d\u5185\u5b58 \u7684 \u7f13\u51b2 \u7f13\u51b2\u533a \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u5f53 \u60a8 \u8c03\u6574 \u7f13\u51b2 \u7f13\u51b2\u533a \u5927 \u5c0f\u65f6 \uff0c \u5c06 \u5206\u914d \u65b0 \u7684 \u5185\u5b58 \u3002 \u5728 \u7b2c\u4e00 \u5e27 \u671f\u95f4 \uff0c \u8fd9\u79cd \u60c5\u51b5 \u4f1a \u53d1\u751f \u51e0\u6b21 \u3002 \u4f46\u662f \uff0c \u5982\u679c \u4ece\u6c60 \u4e2d \u68c0\u7d22 \u7f13\u51b2 \u7f13\u51b2\u533a \uff0c \u5219 \u4e00\u65e6 \u7f13\u51b2 \u7f13\u51b2\u533a \u8d85\u51fa \u8303\u56f4 \u8d85\u51fa\u8303\u56f4 \uff0c \u5176 \u5185\u5b58 \u5c06 \u8fd4\u56de \u5230 \u6c60\u4e2d \u3002 \u4e0b\u6b21 \u4ece\u6c60 \u4e2d \u83b7\u53d6 \u53e6 \u4e00\u4e2a \u7f13\u51b2 \u7f13\u51b2\u533a \u65f6 \uff0c \u5b83 \u5c06 \u5305\u542b \u4ece\u524d \u4e00\u4e2a \u7f13\u51b2 \u7f13\u51b2\u533a \u5206\u914d \u7684 \u5185\u5b58 \u3002 \u6b63\u5982 \u60a8 \u6240 \u770b\u5230 \u7684 \uff0c \u7f13\u51b2 \u7f13\u51b2\u533a \u5bf9\u8c61 \u5b9e\u9645 \u5b9e\u9645\u4e0a \u5145\u5f53 \u6307\u5411 \u8fde\u7eed \u539f\u59cb \u5185\u5b58 \u7684 \u667a\u80fd \u6307\u9488 \u3002 \u53ea\u8981 \u60a8 \u8bf7\u6c42 \u7684 \u5185\u5b58 \u4e0d \u8d85\u8fc7 \u5f53\u524d \u5206\u914d \u7684 \u5185\u5b58 \uff0c \u7f13\u51b2 \u7f13\u51b2\u533a \u5c31 \u4f1a \u91cd\u7528 \u8be5 \u5185\u5b58 \u3002 \u5982\u679c \u60a8 \u8bf7\u6c42 \u66f4 \u591a \uff0c \u5219 \u5fc5\u987b \u5220\u9664 \u5f53\u524d \u5185\u5b58 \u5e76 \u5206\u914d \u66f4\u5927 \u7684 \u5757 \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u7247\u6bb5 \u8bf4\u660e \u4e86 \u7f13\u51b2 \u7f13\u51b2\u533a \u7684 \u5de5\u4f5c \u539f\u7406   Buffer   buffer ;   buffer . reset ( 1024u ) ;   / /   ( size   1024   bytes ,   capacity   1024   bytes )   - >   allocates   buffer . reset ( 512u ) ;   / /   ( size   512   bytes ,   capacity   1024   bytes )   buffer . reset ( 2048u ) ;   / /   ( size   2048   bytes ,   capacity   2048   bytes )   - >   allocates   \u5f02\u6b65 \u53d1\u9001 \u6570\u636e \u53d1\u9001\u6570\u636e   \u67d0\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u80fd \u9700\u8981 \u5f02\u6b65 \u53d1\u9001 \u6570\u636e \u53d1\u9001\u6570\u636e \uff0c \u8981\u4e48 \u662f \u4e3a\u4e86 \u6027\u80fd \uff0c \u8981\u4e48 \u56e0\u4e3a \u662f\u56e0\u4e3a \u6570\u636e \u662f \u5728 \u4e0d\u540c \u7684 \u7ebf\u7a0b \u4e2d \u751f\u6210 \u7684 \uff0c \u4f8b\u5982 \uff0c \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ece \u6e32\u67d3 \u7ebf\u7a0b \u53d1\u9001 \u56fe\u50cf \u3002   \u5f02\u6b65 \u4f7f\u7528 \u6570\u636e \u6570\u636e\u6d41 \u662f \u5b8c\u5168 \u53ef\u4ee5 \u7684 \uff0c \u53ea\u8981 \u6570\u636e \u6570\u636e\u6d41 \u672c\u8eab \u662f \u5728 \u6e38\u620f \u7ebf\u7a0b \u4e2d \u521b\u5efa \u7684 \u3002 \u4f8b\u5982   void   MySensor : : Tick ( float   DeltaSeconds )   {   Super : : Tick ( DeltaSeconds ) ;   auto   Stream   =   GetDataStream ( * this ) ;   std : : async ( std : : launch : : async ,   [ Stream = std : : move ( Stream ) ] ( )   {   auto   Data   =   ComputeData ( ) ;   Stream . Send ( * this ,   Data ) ;   } ) ;   }   \u5ba2\u6237 \u5ba2\u6237\u7aef \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6709\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e0d \u9700\u8981 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fdb\u884c \u6d4b\u91cf \uff0c \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u4ee5 \u5b8c\u5168 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd0\u884c \uff0c \u4ece\u800c \u4f7f \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u514d\u4e8e \u989d\u5916 \u7684 \u8ba1\u7b97 \u3002 \u6b64\u7c7b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u793a\u4f8b \u662f   LaneInvasion   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u901a\u5e38 \u7684 \u65b9\u6cd5 \u662f \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u521b\u5efa \u4e00\u4e2a \u201c \u865a\u62df \u201d \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4ee5\u4fbf \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u77e5\u9053 \u8fd9\u6837 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5b58\u5728 \u3002 \u7136\u800c \uff0c \u8fd9\u4e2a \u865a\u62df \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e0d\u4f1a \u53d1\u51fa \u8282\u62cd \uff0c \u4e5f \u4e0d\u4f1a \u53d1\u9001 \u4efb\u4f55 \u7c7b\u578b \u7684 \u6570\u636e \u3002 \u7136\u800c \uff0c \u5b83 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u5bf9\u5e94 \u90e8\u5206 \u6ce8\u518c \u4e86 \u4e00\u4e2a \u201c on   tick \u201d \u56de\u8c03 \uff0c \u4ee5\u4fbf \u5728 \u6bcf\u6b21 \u65b0 \u66f4\u65b0 \u65f6 \u6267\u884c \u4e00\u4e9b \u4ee3\u7801 \u3002 \u4f8b\u5982 \uff0c LaneInvasion   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f1a \u6ce8\u518c \u4e00\u4e2a \u56de\u8c03 \uff0c \u6bcf\u6b21 \u8d8a\u8fc7 \u8f66\u9053 \u6807\u8bb0 \u65f6 \u90fd \u4f1a \u53d1\u51fa \u901a\u77e5 \u53d1\u51fa\u901a\u77e5 \u3002   \u8003\u8651 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u201c on   tick \u201d \u56de\u8c03 \u662f \u5e76\u53d1 \u6267\u884c \u7684 \uff0c \u5373 \u76f8\u540c \u7684 \u65b9\u6cd5 \u53ef\u80fd \u7531 \u4e0d\u540c \u7684 \u7ebf\u7a0b \u540c\u65f6 \u6267\u884c \uff0c \u8fd9 \u4e00\u70b9 \u975e\u5e38 \u91cd\u8981 \u3002 \u8bbf\u95ee \u7684 \u4efb\u4f55 \u6570\u636e \u90fd \u5fc5\u987b \u6b63\u786e \u540c\u6b65 \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u4e92\u65a5 \u4f53 \u3001 \u4f7f\u7528 \u539f\u5b50 \uff0c \u6216\u8005 \u66f4\u597d \u5730 \u786e\u4fdd \u6240\u6709 \u8bbf\u95ee \u7684 \u6210\u5458 \u4fdd\u6301 \u4e0d\u53d8 \u3002","title":"\u5982\u4f55 \u6dfb\u52a0 \u65b0 \u4f20\u611f\u5668"},{"location":"tuto_D_create_sensor/#_1","text":"\u672c \u6559\u7a0b \u4ecb\u7ecd \u4e86 \u5411   Carla   \u6dfb\u52a0 \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6 \u3002 \u5b83 \u63d0\u4f9b \u4e86 \u5728 \u865a\u5e7b \u5f15\u64ce   4   \u4e2d \u5b9e\u73b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e76 \u901a\u8fc7   Carla   \u7684   Python   API   \u516c\u5f00 \u5176 \u6570\u636e \u7684 \u5fc5\u8981 \u6b65\u9aa4 \u3002 \u6211\u4eec \u5c06 \u901a\u8fc7 \u521b\u5efa \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f5c\u4e3a \u793a\u4f8b \u6765 \u9075\u5faa \u6240\u6709 \u6b65\u9aa4 \u3002   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u4ecb\u7ecd   \u521b\u5efa \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   1 -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u4e0e \u53c2\u4e0e\u8005   2 -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u4e32\u884c \u5668   3 -   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u5bf9\u8c61   4 -   \u6ce8\u518c \u60a8 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   5 -   \u4f7f\u7528 \u793a\u4f8b   \u9644\u5f55   \u91cd\u7528 \u7f13\u51b2 \u7f13\u51b2\u533a   \u5f02\u6b65 \u53d1\u9001 \u6570\u636e \u53d1\u9001\u6570\u636e   \u5ba2\u6237 \u5ba2\u6237\u7aef \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668","title":"\u5982\u4f55 \u6dfb\u52a0 \u65b0 \u4f20\u611f\u5668"},{"location":"tuto_D_create_sensor/#_2","text":"\u4e3a\u4e86 \u5b9e\u73b0 \u65b0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u60a8 \u9700\u8981 \u7f16\u8bd1   Carla   \u4ee3\u7801 \u6e90\u4ee3\u7801 \uff0c \u6709\u5173 \u5982\u4f55 \u5b9e\u73b0 \u6b64 \u76ee\u7684 \u7684 \u8be6\u7ec6 \u8bf4\u660e \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   \u3002   \u672c \u6559\u7a0b \u8fd8 \u5047\u8bbe \u8bfb\u8005 \u7cbe\u901a   C++   \u7f16\u7a0b \u3002","title":"\u5148\u51b3\u6761\u4ef6  "},{"location":"tuto_D_create_sensor/#_3","text":"Carla   \u4e2d \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u662f \u4e00\u79cd \u7279\u6b8a \u7c7b\u578b \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u53ef\u4ee5 \u4ea7\u751f \u6570\u636e \u6570\u636e\u6d41 \u3002 \u6709\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6bcf\u6b21 \u66f4\u65b0 \u65f6 \u90fd \u4f1a \u8fde\u7eed \u4ea7\u751f \u6570\u636e \uff0c \u800c \u53e6 \u4e00\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ec5 \u5728 \u67d0\u4e9b \u4e8b\u4ef6 \u53d1\u751f \u540e \u624d \u4ea7\u751f \u6570\u636e \u3002 \u4f8b\u5982 \uff0c \u76f8\u673a \u5728 \u6bcf\u6b21 \u66f4\u65b0 \u65f6 \u90fd \u4f1a \u751f\u6210 \u56fe\u50cf \uff0c \u4f46 \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ec5 \u5728 \u53d1\u751f \u78b0\u649e \u65f6\u624d \u4f1a \u89e6\u53d1 \u3002   \u5c3d\u7ba1 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \uff08 \u865a\u5e7b \u5f15\u64ce   4 \uff09 \u4e2d \u8ba1\u7b97 \u6d4b\u91cf \u7ed3\u679c \uff0c \u4f46 \u503c\u5f97 \u6ce8\u610f \u503c\u5f97\u6ce8\u610f \u7684 \u662f \uff0c \u67d0\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ec5 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e2d \u8fd0\u884c \u3002 \u6b64\u7c7b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4e00\u4e2a \u4f8b\u5b50 \u662f   LaneInvasion \uff0c \u6bcf\u6b21 \u8d8a\u8fc7 \u8f66\u9053 \u6807\u8bb0 \u65f6 \u5b83 \u90fd \u4f1a \u53d1\u51fa \u901a\u77e5 \u53d1\u51fa\u901a\u77e5 \u3002 \u6709\u5173 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   \u9644\u5f55 \uff1a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u91cd\u70b9 \u5173\u6ce8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u4e3a\u4e86 \u8ba9 \u865a\u5e7b \u5f15\u64ce   4   \u5185 \u8fd0\u884c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u6570\u636e \u4e00\u8def \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230   Python   \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u6211\u4eec \u9700\u8981 \u8986\u76d6 \u6574\u4e2a \u901a\u4fe1 \u7ba1\u9053 \u3002   \u56e0\u6b64 \uff0c \u6211\u4eec \u9700\u8981 \u4ee5\u4e0b \u7c7b\u6765 \u6db5\u76d6 \u7ba1\u9053 \u7684 \u4e0d\u540c \u6b65\u9aa4   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u8d1f\u8d23 \u6d4b\u91cf \u548c / \u6216 \u4eff\u771f \u6570\u636e \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce   4 \u6846\u67b6 \u5728   Carla   \u63d2\u4ef6 \u4e2d \u8fd0\u884c \u3002 \u7528\u6237 \u53ef\u4ee5 \u4f5c\u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8bbf\u95ee \u3002   \u4e32\u884c \u5668   \u5bf9\u8c61 \u5305\u542b \u7528\u4e8e \u5e8f\u5217 \u5e8f\u5217\u5316 \u548c \u53cd \u5e8f\u5217 \u5e8f\u5217\u5316 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u751f\u6210 \u7684 \u6570\u636e \u7684 \u65b9\u6cd5 \u3002 \u5728   LibCarla   \u4e2d \u8fd0\u884c \uff0c \u5305\u62ec \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e   \u8868\u793a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u751f\u6210 \u7684 \u6570\u636e \u7684 \u5bf9\u8c61 \u3002 \u8fd9 \u662f \u5c06 \u5728   C++   \u548c   Python   API   \u4e2d \u4f20\u9012 \u7ed9 \u6700\u7ec8 \u7528\u6237 \u6700\u7ec8\u7528\u6237 \u7684 \u5bf9\u8c61 \u3002   \u7b14\u8bb0   \u4e3a\u4e86 \u786e\u4fdd \u6700\u4f73 \u6027\u80fd \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f7f\u7528 \u57fa\u4e8e \u6a21\u677f \u5143 \u7f16\u7a0b \u7684 \u201c \u7f16\u8bd1 \u65f6 \u63d2\u4ef6 \u7cfb\u7edf \u201d \u8fdb\u884c \u6ce8\u518c \u548c \u8c03\u5ea6 \u3002 \u6700\u6709 \u53ef\u80fd \u7684 \u662f \uff0c \u5728 \u6240\u6709 \u90e8\u5206 \u90fd \u5b58\u5728 \u4e4b\u524d \uff0c \u4ee3\u7801 \u4e0d\u4f1a \u7f16\u8bd1 \u3002","title":"\u4ecb\u7ecd  "},{"location":"tuto_D_create_sensor/#_4","text":"\u5b8c\u6574 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u5728 \u8fd9\u91cc \u3002   \u6211\u4eec \u5c06 \u521b\u5efa \u4e00\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6765 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\u8981 \u521b\u5efa \u7684 \u6700 \u590d\u6742 \u7684 \u7c7b \u3002 \u8fd9\u91cc \u6211\u4eec \u5728 \u865a\u5e7b \u5f15\u64ce \u6846\u67b6 \u5185 \u8fd0\u884c \uff0c \u865a\u5e7b \u5f15\u64ce   4   API   \u7684 \u77e5\u8bc6 \u5c06 \u975e\u5e38 \u6709 \u5e2e\u52a9 \uff0c \u4f46 \u4e0d\u662f \u4e0d\u53ef \u5fc5\u4e0d\u53ef\u5c11 \u7684 \uff0c \u6211\u4eec \u5047\u8bbe \u8bfb\u8005 \u4ee5\u524d \u4ece\u672a \u4f7f\u7528 \u8fc7 \u865a\u5e7b \u5f15\u64ce   4 \u3002   \u5728   UE4   \u5185\u90e8 \uff0c \u6211\u4eec \u6709 \u4e00\u4e2a \u4e0e \u5ba2\u6237 \u5ba2\u6237\u7aef \u7c7b\u4f3c \u7684 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \uff0c   ASensor   \u6d3e\u751f \u81ea   AActor   \uff0c \u800c   Actor   \u5927\u81f4 \u662f \u53ef\u4ee5 \u653e\u5165 \u4e16\u754c \u4e2d \u7684 \u4efb\u4f55 \u5bf9\u8c61 \u3002   AActor   \u6709 \u4e00\u4e2a \u540d\u4e3a \u7684 \u865a\u62df \u51fd\u6570   Tick   \uff0c \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u5b83 \u5728 \u6bcf\u6b21 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u66f4\u65b0 \u65f6 \u66f4\u65b0 \u6211\u4eec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u5728 \u66f4 \u9ad8 \u7684 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d   UObject   \uff0c \u6211\u4eec \u6709 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u865a\u5e7b \u5f15\u64ce   4   \u7c7b \u7684 \u57fa\u7c7b \u3002 \u91cd\u8981 \u7684 \u662f \u8981 \u77e5\u9053 \u6d3e\u751f \u7684 \u5bf9\u8c61   UObject   \u662f \u901a\u8fc7 \u6307\u9488 \u8fdb\u884c \u5904\u7406 \u7684 \uff0c \u5e76\u4e14 \u5f53 \u5b83\u4eec \u4e0d\u518d \u88ab \u5f15\u7528 \u65f6\u4f1a \u88ab \u5783\u573e \u6536\u96c6 \u3002 \u6307\u5411   UObjects   \u7684 \u7c7b \u6210\u5458 \u9700\u8981 \u7528\u5b8f   UPROPERTY   \u8fdb\u884c \u6807\u8bb0 \uff0c \u5426\u5219 \u5b83\u4eec \u5c06 \u88ab \u5783\u573e \u6536\u96c6 \u3002   \u5f00\u59cb \u5427 \u3002   \u8be5\u7c7b \u5fc5\u987b \u4f4d\u4e8e   Carla   \u63d2\u4ef6 \u5185 \uff0c \u6211\u4eec \u5c06 \u4e3a \u65b0 \u7684   C++   \u7c7b \u521b\u5efa \u4e24\u4e2a \u6587\u4ef6   Unreal / CarlaUE4 / Plugins / Carla / Source / Carla / Sensor / SafeDistanceSensor . h   Unreal / CarlaUE4 / Plugins / Carla / Source / Carla / Sensor / SafeDistanceSensor . cpp   \u8d77\u7801 \u6700\u8d77\u7801 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9700\u8981 \u7ee7\u627f   ASensor   \uff0c \u5e76 \u63d0\u4f9b \u9759\u6001 \u65b9\u6cd5 \u9759\u6001\u65b9\u6cd5   GetSensorDefinition   \uff1b \u4f46 \u6211\u4eec \u8fd8 \u5c06 \u91cd\u5199   Set   \u3001   SetOwner   \u3001   \u548c   Tick   \u65b9\u6cd5 \u3002 \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fd8 \u9700\u8981 \u4e00\u4e2a \u89e6\u53d1 \u76d2\u6765 \u68c0\u6d4b \u6211\u4eec \u5468\u56f4 \u7684 \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u6709 \u4e86 \u8fd9\u4e2a \u548c \u4e00\u4e9b \u5fc5\u9700 \u7684 \u865a\u5e7b \u5f15\u64ce 4   \u6837\u677f \u4ee3\u7801 \uff0c \u6587\u4ef6 \u5934\u6587\u4ef6 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u50cf   # pragma   once   # include   \" Carla / Sensor / Sensor . h \"   # include   \" Carla / Actor / ActorDefinition . h \"   # include   \" Carla / Actor / ActorDescription . h \"   # include   \" Components / BoxComponent . h \"   # include   \" SafeDistanceSensor . generated . h \"   UCLASS ( )   class   CARLA _ API   ASafeDistanceSensor   :   public   ASensor   {   GENERATED _ BODY ( )   public :   ASafeDistanceSensor ( const   FObjectInitializer   & ObjectInitializer ) ;   static   FActorDefinition   GetSensorDefinition ( ) ;   void   Set ( const   FActorDescription   & ActorDescription )   override ;   void   SetOwner ( AActor   * Owner )   override ;   void   Tick ( float   DeltaSeconds )   override ;   private :   UPROPERTY ( )   UBoxComponent   * Box   =   nullptr ;   } ;   \u5728   cpp   \u6587\u4ef6 \u4e2d \uff0c \u9996\u5148 \u6211\u4eec \u9700\u8981 \u4e00\u4e9b \u5305\u542b   # include   \" Carla . h \"   # include   \" Carla / Sensor / SafeDistanceSensor . h \"   # include   \" Carla / Actor / ActorBlueprintFunctionLibrary . h \"   # include   \" Carla / Game / CarlaEpisode . h \"   # include   \" Carla / Util / BoundingBoxCalculator . h \"   # include   \" Carla / Vehicle / CarlaWheeledVehicle . h \"   \u7136\u540e \u6211\u4eec \u5c31 \u53ef\u4ee5 \u7ee7\u7eed \u5b9e\u73b0 \u8be5 \u529f\u80fd \u4e86 \u3002 \u6784\u9020 \u51fd\u6570 \u6784\u9020\u51fd\u6570 \u5c06 \u521b\u5efa \u89e6\u53d1 \u6846 \uff0c \u5e76 \u544a\u8bc9 \u865a\u5e7b \u5f15\u64ce 4   \u6211\u4eec \u5e0c\u671b \u8c03\u7528 \u6211\u4eec \u7684 \u52fe\u9009 \u51fd\u6570 \u3002 \u5982\u679c \u6211\u4eec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6ca1\u6709 \u4f7f\u7528 \u523b\u5ea6 \u529f\u80fd \uff0c \u6211\u4eec \u53ef\u4ee5 \u5728 \u6b64\u5904 \u7981\u7528 \u5b83 \u4ee5 \u907f\u514d \u4e0d\u5fc5 \u5fc5\u8981 \u4e0d\u5fc5\u8981 \u7684 \u523b\u5ea6   ASafeDistanceSensor : : ASafeDistanceSensor ( const   FObjectInitializer   & ObjectInitializer )   :   Super ( ObjectInitializer )   {   Box   =   CreateDefaultSubobject < UBoxComponent > ( TEXT ( \" BoxOverlap \" ) ) ;   Box - > SetupAttachment ( RootComponent ) ;   Box - > SetHiddenInGame ( true ) ;   / /   Disable   for   debugging .   Box - > SetCollisionProfileName ( FName ( \" OverlapAll \" ) ) ;   PrimaryActorTick . bCanEverTick   =   true ;   }   \u73b0\u5728 \u6211\u4eec \u9700\u8981 \u544a\u8bc9   Carla   \u8fd9\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6709 \u4ec0\u4e48 \u5c5e\u6027 \uff0c \u8fd9 \u5c06 \u7528\u4e8e \u5728 \u6211\u4eec \u7684 \u84dd \u56fe\u5e93 \u4e2d \u521b\u5efa \u4e00\u4e2a \u65b0 \u7684 \u84dd\u56fe \uff0c \u7528\u6237 \u53ef\u4ee5 \u4f7f\u7528 \u8fd9\u4e2a \u84dd\u56fe \u6765 \u914d\u7f6e \u548c \u751f\u6210 \u8fd9\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u6211\u4eec \u5c06 \u5728 \u8fd9\u91cc \u5b9a\u4e49 \u89e6\u53d1 \u6846 \u7684 \u5c5e\u6027 \uff0c \u5728 \u672c\u4f8b \u4e2d \u6211\u4eec \u5c06 \u4ec5 \u516c\u5f00   X   \u548c   Y   \u5b89\u5168 \u8ddd\u79bb   FActorDefinition   ASafeDistanceSensor : : GetSensorDefinition ( )   {   auto   Definition   =   UActorBlueprintFunctionLibrary : : MakeGenericSensorDefinition (   TEXT ( \" other \" ) ,   TEXT ( \" safe _ distance \" ) ) ;   FActorVariation   Front ;   Front . Id   =   TEXT ( \" safe _ distance _ front \" ) ;   Front . Type   =   EActorAttributeType : : Float ;   Front . RecommendedValues   =   {   TEXT ( \" 1.0 \" )   } ;   Front . bRestrictToRecommended   =   false ;   FActorVariation   Back ;   Back . Id   =   TEXT ( \" safe _ distance _ back \" ) ;   Back . Type   =   EActorAttributeType : : Float ;   Back . RecommendedValues   =   {   TEXT ( \" 0.5 \" )   } ;   Back . bRestrictToRecommended   =   false ;   FActorVariation   Lateral ;   Lateral . Id   =   TEXT ( \" safe _ distance _ lateral \" ) ;   Lateral . Type   =   EActorAttributeType : : Float ;   Lateral . RecommendedValues   =   {   TEXT ( \" 0.5 \" )   } ;   Lateral . bRestrictToRecommended   =   false ;   Definition . Variations . Append ( {   Front ,   Back ,   Lateral   } ) ;   return   Definition ;   }   \u8fd9\u6837 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5de5\u5382 \u5c31 \u80fd\u591f \u6839\u636e \u7528\u6237 \u9700\u6c42 \u521b\u5efa \u5b89\u5168 \u8ddd\u79bb \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u521b\u5efa \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u540e \uff0c \u7acb\u5373 \u4f7f\u7528 \u7528\u6237 \u8bf7\u6c42 \u7684 \u53c2\u6570 \u8c03\u7528 \u8be5   Set   \u51fd\u6570   void   ASafeDistanceSensor : : Set ( const   FActorDescription   & Description )   {   Super : : Set ( Description ) ;   float   Front   =   UActorBlueprintFunctionLibrary : : RetrieveActorAttributeToFloat (   \" safe _ distance _ front \" ,   Description . Variations ,   1.0 f ) ;   float   Back   =   UActorBlueprintFunctionLibrary : : RetrieveActorAttributeToFloat (   \" safe _ distance _ back \" ,   Description . Variations ,   0.5 f ) ;   float   Lateral   =   UActorBlueprintFunctionLibrary : : RetrieveActorAttributeToFloat (   \" safe _ distance _ lateral \" ,   Description . Variations ,   0.5 f ) ;   constexpr   float   M _ TO _ CM   =   100.0 f ;   / /   Unit   conversion .   float   LocationX   =   M _ TO _ CM   *   ( Front   -   Back )   /   2.0 f ;   float   ExtentX   =   M _ TO _ CM   *   ( Front   +   Back )   /   2.0 f ;   float   ExtentY   =   M _ TO _ CM   *   Lateral ;   Box - > SetRelativeLocation ( FVector { LocationX ,   0.0 f ,   0.0 f } ) ;   Box - > SetBoxExtent ( FVector { ExtentX ,   ExtentY ,   0.0 f } ) ;   }   \u8bf7 \u6ce8\u610f \uff0c set   \u51fd\u6570 \u662f \u5728 \u865a\u5e7b \u5f15\u64ce   4   \u4e4b\u524d \u8c03\u7528 \u7684   BeginPlay   \uff0c \u6211\u4eec \u8fd9\u91cc \u4e0d\u4f1a \u4f7f\u7528 \u8fd9\u4e2a \u865a\u62df \u51fd\u6570 \uff0c \u4f46 \u5b83 \u5bf9\u4e8e \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5f88 \u91cd\u8981 \u3002   \u73b0\u5728 \u6211\u4eec \u5c06 \u6839\u636e \u6211\u4eec \u6240 \u9644\u52a0 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8fb9\u754c \u6846\u6765 \u6269\u5c55 \u76d2\u5b50 \u4f53\u79ef \u3002 \u4e3a\u6b64 \uff0c \u6700 \u65b9\u4fbf \u7684 \u65b9\u6cd5 \u662f \u4f7f\u7528   SetOwner   \u865a \u51fd\u6570 \u3002 \u5f53 \u6211\u4eec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fde\u63a5 \u5230 \u53e6 \u4e00\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u65f6 \uff0c \u4f1a \u8c03\u7528 \u6b64 \u51fd\u6570 \u3002   void   ASafeDistanceSensor : : SetOwner ( AActor   * Owner )   {   Super : : SetOwner ( Owner ) ;   auto   BoundingBox   =   UBoundingBoxCalculator : : GetActorBoundingBox ( Owner ) ;   Box - > SetBoxExtent ( BoundingBox . Extent   +   Box - > GetUnscaledBoxExtent ( ) ) ;   }   \u552f\u4e00 \u8981 \u505a \u7684 \u5c31\u662f \u5b9e\u9645 \u6d4b\u91cf \uff0c \u56e0\u4e3a \u6211\u4eec \u5c06 \u4f7f\u7528 \u8be5   Tick   \u51fd\u6570 \u3002 \u6211\u4eec \u5c06 \u67e5\u627e \u5f53\u524d \u4e0e \u6211\u4eec \u7684 \u76d2\u5b50 \u91cd\u53e0 \u7684 \u6240\u6709 \u8f66\u8f86 \uff0c \u5e76 \u5c06 \u6b64 \u5217\u8868 \u53d1\u9001 \u9001\u7ed9 \u53d1\u9001\u7ed9 \u5ba2\u6237   void   ASafeDistanceSensor : : Tick ( float   DeltaSeconds )   {   Super : : Tick ( DeltaSeconds ) ;   TSet < AActor   * >   DetectedActors ;   Box - > GetOverlappingActors ( DetectedActors ,   ACarlaWheeledVehicle : : StaticClass ( ) ) ;   DetectedActors . Remove ( GetOwner ( ) ) ;   if   ( DetectedActors . Num ( )   >   0 )   {   auto   Stream   =   GetDataStream ( * this ) ;   Stream . Send ( * this ,   GetEpisode ( ) ,   DetectedActors ) ;   }   }   \u7b14\u8bb0   \u5728 \u53ef \u6295\u5165 \u751f\u4ea7 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \uff0c \u8be5   Tick   \u51fd\u6570 \u5e94\u8be5 \u975e\u5e38 \u4f18\u5316 \uff0c \u7279\u522b \u662f \u5f53 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53d1\u9001 \u5927\u91cf \u6570\u636e \u65f6 \u3002 \u6e38\u620f \u7ebf\u7a0b \u4e2d \u7684 \u6bcf\u6b21 \u66f4\u65b0 \u90fd \u4f1a \u8c03\u7528 \u6b64 \u51fd\u6570 \uff0c \u56e0\u6b64 \u4f1a\u663e \u7740 \u5f71\u54cd \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u6027\u80fd \u3002   \u597d \u5427 \uff0c \u8fd9\u91cc \u53d1\u751f \u4e86 \u4e00\u4e9b \u6211\u4eec \u8fd8 \u6ca1\u6709 \u63d0\u5230 \u7684 \u4e8b\u60c5 \uff0c \u8fd9\u4e2a \u6d41\u662f \u4ec0\u4e48 \uff1f   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u6709 \u4e00\u4e2a \u5173\u8054 \u7684 \u6570\u636e \u6570\u636e\u6d41 \u3002 \u8be5\u6d41 \u7528\u4e8e \u5c06 \u6570\u636e \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u8fd9 \u662f \u60a8 \u5728   Python   API   \u4e2d \u4f7f\u7528   sensor . listen ( callback )   \u65b9\u6cd5 \u65f6 \u8ba2\u9605 \u7684 \u6d41 \u3002 \u6bcf\u6b21 \u5411 \u8fd9\u91cc \u53d1\u9001 \u4e00\u4e9b \u6570\u636e \u65f6 \uff0c \u90fd \u4f1a \u89e6\u53d1 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u56de\u8c03 \u3002 \u4f46 \u4e4b\u524d \u5728\u6b64\u4e4b\u524d \uff0c \u6570\u636e \u5c06 \u7ecf\u8fc7 \u591a\u4e2a \u5c42 \u3002 \u9996\u5148 \u662f \u6211\u4eec \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u8981 \u521b\u5efa \u7684 \u5e8f\u5217 \u5e8f\u5217\u5316 \u5668 \u3002 \u4e00\u65e6 \u6211\u4eec \u5b8c\u6210 \u4e86 \u4e0b \u4e00\u8282 \u7684   Serialize   \u529f\u80fd \uff0c \u6211\u4eec \u5c31 \u4f1a \u5b8c\u5168 \u7406\u89e3 \u8fd9 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002","title":"1 -   \u521b\u5efa \u65b0 \u4f20\u611f\u5668  "},{"location":"tuto_D_create_sensor/#2-","text":"\u8fd9\u4e2a \u7c7b \u5176\u5b9e \u6bd4\u8f83 \u7b80\u5355 \u6bd4\u8f83\u7b80\u5355 \uff0c \u53ea \u9700\u8981 \u6709 \u4e24\u4e2a \u9759\u6001 \u65b9\u6cd5 \u9759\u6001\u65b9\u6cd5 \uff0c   Serialize   \u548c   Deserialize   \u3002 \u6211\u4eec \u5c06 \u4e3a \u5b83 \u6dfb\u52a0 \u4e24\u4e2a \u6587\u4ef6 \uff0c \u8fd9\u6b21 \u662f   LibCarla   LibCarla / source / carla / sensor / s11n / SafeDistanceSerializer . h   LibCarla / source / carla / sensor / s11n / SafeDistanceSerializer . cpp   \u8ba9 \u6211\u4eec \u4ece   Serialize   \u51fd\u6570 \u5f00\u59cb \u3002 \u8be5 \u51fd\u6570 \u5c06 \u63a5\u6536 \u6211\u4eec \u4f20\u9012 \u7ed9   Stream . Send ( ... )   \u51fd\u6570 \u7684 \u4efb\u4f55 \u5185\u5bb9 \u4f5c\u4e3a \u53c2\u6570 \uff0c \u552f\u4e00 \u7684 \u6761\u4ef6 \u662f \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u53c2\u6570 \u5fc5\u987b \u662f \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e76\u4e14 \u5b83 \u5fc5\u987b \u8fd4\u56de \u4e00\u4e2a \u7f13\u51b2 \u7f13\u51b2\u533a \u3002   static   Buffer   Serialize ( const   Sensor   & ,   ... ) ;   carla : : Buffer   \u53ea\u662f \u4e00\u5757 \u52a8\u6001 \u5206\u914d \u52a8\u6001\u5206\u914d \u7684 \u539f\u59cb \u5185\u5b58 \uff0c \u5177\u6709 \u4e00\u4e9b \u65b9\u4fbf \u7684 \u529f\u80fd \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528 \u5b83 \u5411 \u5ba2\u6237 \u5ba2\u6237\u7aef \u53d1\u9001 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u3002   \u5728 \u6b64 \u793a\u4f8b \u4e2d \uff0c \u6211\u4eec \u9700\u8981 \u4ee5 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u6709 \u610f\u4e49 \u7684 \u65b9\u5f0f \u5c06 \u68c0\u6d4b \u5230 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5217\u8868 \u5199\u5165 \u7f13\u51b2 \u7f13\u51b2\u533a \u3002 \u8fd9 \u5c31\u662f \u6211\u4eec \u5c06 \u5267\u96c6 \u5bf9\u8c61 \u4f20\u9012 \u7ed9 \u6b64 \u51fd\u6570 \u7684 \u539f\u56e0 \u3002   UCarlaEpisode   \u7c7b \u8868\u793a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u8fd0\u884c \u7684 \u5f53\u524d   \u60c5\u8282   \uff0c \u5373 \u81ea \u4e0a\u6b21 \u52a0\u8f7d \u5730\u56fe \u4ee5\u6765 \u7684 \u4eff\u771f \u72b6\u6001 \u3002 \u5b83 \u5305\u542b \u4e0e   Carla   \u76f8\u5173 \u7684 \u6240\u6709 \u4fe1\u606f \uff0c \u9664 \u5176\u4ed6 \u5916 \uff0c \u5b83 \u8fd8 \u5141\u8bb8 \u641c\u7d22 \u53c2\u4e0e \u53c2\u4e0e\u8005   ID \u3002 \u6211\u4eec \u53ef\u4ee5 \u5c06 \u8fd9\u4e9b   ID   \u53d1\u9001 \u9001\u7ed9 \u53d1\u9001\u7ed9 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5ba2\u6237 \u5ba2\u6237\u7aef \u5c06 \u80fd\u591f \u5c06 \u8fd9\u4e9b   ID   \u8bc6\u522b \u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005   template   < typename   SensorT ,   typename   EpisodeT ,   typename   ActorListT >   static   Buffer   Serialize (   const   SensorT   & ,   const   EpisodeT   & episode ,   const   ActorListT   & detected _ actors )   {   const   uint32 _ t   size _ in _ bytes   =   sizeof ( ActorId )   *   detected _ actors . Num ( ) ;   Buffer   buffer { size _ in _ bytes } ;   unsigned   char   * it   =   buffer . data ( ) ;   for   ( auto   * actor   :   detected _ actors )   {   ActorId   id   =   episode . FindActor ( actor ) . GetActorId ( ) ;   std : : memcpy ( it ,   & id ,   sizeof ( ActorId ) ) ;   it   + =   sizeof ( ActorId ) ;   }   return   buffer ;   }   \u6ce8\u610f \uff1a \u6211\u4eec \u5bf9 \u865a\u5e7b \u5f15\u64ce   4   \u7c7b \u8fdb\u884c \u6a21\u677f \u5316\u4ee5 \u907f\u514d \u5728   LibCarla   \u4e2d \u5305\u542b \u8fd9\u4e9b \u6587\u4ef6 \u3002   \u6211\u4eec \u8981 \u8fd4\u56de \u7684 \u8fd9\u4e2a \u7f13\u51b2 \u7f13\u51b2\u533a \u5c06\u4f1a \u8fd4\u56de \u7ed9 \u6211\u4eec \uff0c \u4e0d\u8fc7 \u53ea\u4e0d\u8fc7 \u8fd9\u6b21 \u662f \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5728 \u5c01\u88c5 \u5728   RawData   \u5bf9\u8c61 \u4e2d \u7684   Deserialize   \u51fd\u6570 \u4e2d   static   SharedPtr < SensorData >   Deserialize ( RawData   && data ) ;   \u6211\u4eec \u5728   cpp   \u6587\u4ef6 \u4e2d \u5b9e\u73b0 \u8fd9\u4e2a \u65b9\u6cd5 \uff0c \u6bd4\u8f83 \u7b80\u5355 \u6bd4\u8f83\u7b80\u5355   SharedPtr < SensorData >   SafeDistanceSerializer : : Deserialize ( RawData   && data )   {   return   SharedPtr < SensorData > ( new   data : : SafeDistanceEvent ( std : : move ( data ) ) ) ;   }   \u9664\u4e86 \u6211\u4eec \u8fd8 \u6ca1\u6709 \u5b9a\u4e49 \u4ec0\u4e48 \u662f   SafeDistanceEvent \u3002","title":"2 -   \u4f20\u611f\u5668 \u6570\u636e \u4e32\u884c \u5668  "},{"location":"tuto_D_create_sensor/#3-","text":"\u6211\u4eec \u9700\u8981 \u4e3a \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7528\u6237 \u521b\u5efa \u4e00\u4e2a \u6570\u636e \u5bf9\u8c61 \uff0c \u8868\u793a   \u5b89\u5168 \u8ddd\u79bb \u4e8b\u4ef6   \u7684 \u6570\u636e \u3002 \u6211\u4eec \u5c06 \u6b64 \u6587\u4ef6 \u6dfb\u52a0 \u5230   LibCarla / source / carla / sensor / data / SafeDistanceEvent . h   \u8be5 \u5bf9\u8c61 \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005   ID   \u5217\u8868 \u3002 \u4e3a\u6b64 \uff0c \u6211\u4eec \u5c06 \u4ece   Array   \u6a21\u677f \u6d3e\u751f   # pragma   once   # include   \" carla / rpc / ActorId . h \"   # include   \" carla / sensor / data / Array . h \"   namespace   carla   {   namespace   sensor   {   namespace   data   {   class   SafeDistanceEvent   :   public   Array < rpc : : ActorId >   {   public :   explicit   SafeDistanceEvent ( RawData   && data )   :   Array < rpc : : ActorId > ( std : : move ( data ) )   { }   } ;   }   / /   namespace   data   }   / /   namespace   sensor   }   / /   namespace   carla   \u6570\u7ec4 \u6a21\u677f \u5c06 \u628a \u6211\u4eec \u5728   Serialize   \u65b9\u6cd5 \u4e2d \u521b\u5efa \u7684 \u7f13\u51b2 \u7f13\u51b2\u533a \u91cd\u65b0 \u89e3\u91ca \u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005   ID   \u6570\u7ec4 \uff0c \u5e76\u4e14 \u5b83 \u80fd\u591f \u76f4\u63a5 \u4ece \u6211\u4eec \u6536\u5230 \u7684 \u7f13\u51b2 \u7f13\u51b2\u533a \u4e2d \u6267\u884c \u6b64 \u64cd\u4f5c \uff0c \u800c \u65e0\u9700 \u5206\u914d \u4efb\u4f55 \u65b0 \u5185\u5b58 \u3002 \u867d\u7136 \u5bf9\u4e8e \u8fd9\u4e2a \u5c0f \u4f8b\u5b50 \u6765\u8bf4 \u53ef\u80fd \u6709\u70b9 \u5927\u6750\u5c0f\u7528 \uff0c \u4f46 \u8fd9\u79cd \u673a\u5236 \u4e5f \u9002\u7528 \u4e8e \u5927 \u6570\u636e \u5757 \uff1b \u60f3\u8c61 \u4e00\u4e0b \u6211\u4eec \u6b63\u5728 \u53d1\u9001 \u9ad8\u6e05 \u56fe\u50cf \uff0c \u6211\u4eec \u901a\u8fc7 \u91cd\u7528 \u539f\u59cb \u5185\u5b58 \u8282\u7701 \u4e86 \u5f88\u591a \u3002   \u73b0\u5728 \u6211\u4eec \u9700\u8981 \u5c06 \u6b64\u7c7b \u516c\u5f00 \u7ed9   Python \u3002 \u5728 \u6211\u4eec \u7684 \u793a\u4f8b \u4e2d \uff0c \u6211\u4eec \u6ca1\u6709 \u6dfb\u52a0 \u4efb\u4f55 \u989d\u5916 \u7684 \u65b9\u6cd5 \uff0c \u56e0\u6b64 \u6211\u4eec \u53ea \u516c\u5f00 \u4e0e   Array   \u76f8\u5173 \u7684 \u65b9\u6cd5 \u3002 \u6211\u4eec \u901a\u8fc7 \u4f7f\u7528   Boost . Python   \u7ed1\u5b9a \u6765 \u5b9e\u73b0 \u6b64 \u76ee\u7684 \uff0c \u5c06 \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u6dfb\u52a0 \u5230   PythonAPI / carla / source / libcarla / SensorData . cpp   \u3002   class _ <   csd : : SafeDistanceEvent ,   / /   actual   type .   bases < cs : : SensorData > ,   / /   parent   type .   boost : : noncopyable ,   / /   disable   copy .   boost : : shared _ ptr < csd : : SafeDistanceEvent >   / /   use   as   shared _ ptr .   > ( \" SafeDistanceEvent \" ,   no _ init )   / /   name ,   and   disable   construction .   . def ( \" __ len __ \" ,   & csd : : SafeDistanceEvent : : size )   . def ( \" __ iter __ \" ,   iterator < csd : : SafeDistanceEvent > ( ) )   . def ( \" __ getitem __ \" ,   + [ ] ( const   csd : : SafeDistanceEvent   & self ,   size _ t   pos )   - >   cr : : ActorId   {   return   self . at ( pos ) ;   } )   ;   \u6ce8\u610f \uff1a   csd   \u662f \u540d\u79f0 \u7a7a\u95f4   carla : : sensor : : data   \u7684 \u522b\u540d \u3002   \u6211\u4eec \u5728 \u8fd9\u91cc \u6240 \u505a \u7684 \u662f \u5728   Python   \u4e2d \u516c\u5f00 \u4e00\u4e9b   C++   \u65b9\u6cd5 \u3002 \u8fd9\u6837 \uff0c Python   API   \u5c06 \u80fd\u591f \u8bc6\u522b \u6211\u4eec \u7684 \u65b0 \u4e8b\u4ef6 \uff0c \u5e76\u4e14 \u5176 \u884c\u4e3a \u7c7b\u4f3c \u4e8e   Python   \u4e2d \u7684 \u6570\u7ec4 \uff0c \u53ea\u662f \u4e0d\u80fd \u4fee\u6539 \u3002","title":"3 -   \u4f20\u611f\u5668 \u6570\u636e \u5bf9\u8c61  "},{"location":"tuto_D_create_sensor/#4-","text":"\u73b0\u5728 \u7ba1\u9053 \u5df2 \u5b8c\u6210 \uff0c \u6211\u4eec \u5df2 \u51c6\u5907 \u597d \u6ce8\u518c \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u6211\u4eec \u5728   LibCarla / source / carla / sensor / SensorRegistry . h   \u4e2d \u8fd9\u6837 \u505a \u3002 \u6309\u7167 \u6b64 \u6587\u4ef6 \u5934\u6587\u4ef6 \u4e2d \u7684 \u8bf4\u660e \u6dfb\u52a0 \u4e0d\u540c \u7684 \u5305\u542b \u548c \u524d \u5411 \u58f0\u660e \uff0c \u5e76 \u5c06 \u4ee5\u4e0b \u5bf9 \u6dfb\u52a0 \u5230 \u6ce8\u518c \u6ce8\u518c\u8868 \u4e2d   std : : pair < ASafeDistanceSensor   * ,   s11n : : SafeDistanceSerializer >   \u6709 \u4e86 \u8fd9\u4e2a \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6ce8\u518c \u6ce8\u518c\u8868 \u73b0\u5728 \u53ef\u4ee5 \u53d1\u6325 \u5176 \u9b54\u529b \uff0c \u5c06 \u6b63\u786e \u7684 \u6570\u636e \u5206\u6d3e \u5230 \u6b63\u786e \u7684 \u5e8f\u5217 \u5e8f\u5217\u5316 \u5668 \u3002   \u73b0\u5728 \u91cd\u65b0 \u7f16\u8bd1   Carla \uff0c \u5e0c\u671b \u4e00\u5207 \u987a\u5229 \u4e00\u5207\u987a\u5229 \u5e76\u4e14 \u6ca1\u6709 \u9519\u8bef \u3002 \u4e0d\u5e78 \u7684 \u662f \uff0c \u8fd9\u91cc \u7684 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u9519\u8bef \u90fd \u4e0e \u6a21\u677f \u6709\u5173 \uff0c \u5e76\u4e14 \u9519\u8bef \u6d88\u606f \u53ef\u80fd \u6709\u70b9 \u795e\u79d8 \u3002   make   rebuild","title":"4 -   \u6ce8\u518c \u60a8 \u7684 \u4f20\u611f\u5668  "},{"location":"tuto_D_create_sensor/#5-","text":"\u6700\u540e \uff0c \u6211\u4eec \u5df2\u7ecf \u5305\u542b \u4e86 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5e76\u4e14 \u5df2\u7ecf \u5b8c\u6210 \u4e86 \u91cd\u65b0 \u7f16\u8bd1 \uff0c \u73b0\u5728 \u6211\u4eec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e94\u8be5 \u53ef\u4ee5 \u5728   Python   \u4e2d \u4f7f\u7528 \u3002   \u8981 \u751f\u6210 \u8fd9\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u6211\u4eec \u53ea \u9700 \u5728 \u84dd \u56fe\u5e93 \u4e2d \u627e\u5230 \u5b83 \uff0c \u5982\u679c \u4e00\u5207 \u987a\u5229 \u4e00\u5207\u987a\u5229 \uff0c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5de5\u5382 \u5e94\u8be5 \u5df2 \u5c06 \u6211\u4eec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6dfb\u52a0 \u5230\u5e93 \u4e2d   blueprint   =   blueprint _ library . find ( ' sensor . other . safe _ distance ' )   sensor   =   world . spawn _ actor ( blueprint ,   carla . Transform ( ) ,   attach _ to = vehicle )   \u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u901a\u8fc7 \u6ce8\u518c \u56de\u8c03 \u51fd\u6570 \u6765 \u5f00\u59cb \u76d1\u542c \u4e8b\u4ef6   world _ ref   =   weakref . ref ( world )   def   callback ( event ) :   for   actor _ id   in   event :   vehicle   =   world _ ref ( ) . get _ actor ( actor _ id )   print ( ' Vehicle   too   close :   % s '   %   vehicle . type _ id )   sensor . listen ( callback )   \u6b64 \u56de\u8c03 \u5c06 \u6267\u884c \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u5728 \u6211\u4eec \u7684 \u5b89\u5168 \u8ddd\u79bb \u6846\u4e2d \u7684 \u6bcf\u6b21 \u66f4\u65b0 \uff0c \u4f8b\u5982   Vehicle   too   close :   vehicle . audi . a2   Vehicle   too   close :   vehicle . mercedes - benz . coupe   \u5c31\u662f \u8fd9\u6837 \uff0c \u6211\u4eec \u6709 \u4e00\u4e2a \u65b0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6b63\u5728 \u5de5\u4f5c \uff01","title":"5 -   \u4f7f\u7528 \u793a\u4f8b  "},{"location":"tuto_D_create_sensor/#_5","text":"","title":"\u9644\u5f55  "},{"location":"tuto_D_create_sensor/#_6","text":"\u4e3a\u4e86 \u4f18\u5316 \u5185\u5b58 \u4f7f\u7528 \uff0c \u6211\u4eec \u53ef\u4ee5 \u5229\u7528 \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53d1\u9001 \u76f8\u4f3c \u5927\u5c0f \u7684 \u7f13\u51b2 \u7f13\u51b2\u533a \u7684 \u4e8b\u5b9e \uff1b \u7279\u522b \u662f \uff0c \u5728 \u76f8\u673a \u7684 \u60c5\u51b5 \u4e0b \uff0c \u56fe\u50cf \u7684 \u5927\u5c0f \u5728 \u6267\u884c \u671f\u95f4 \u662f \u6052\u5b9a \u7684 \u3002 \u5728 \u8fd9\u4e9b \u60c5\u51b5 \u4e0b \uff0c \u6211\u4eec \u53ef\u4ee5 \u901a\u8fc7 \u91cd\u7528 \u5e27 \u4e4b\u95f4 \u5206\u914d \u7684 \u5185\u5b58 \u6765 \u8282\u7701 \u5927\u91cf \u8d44\u6e90 \u3002   \u6bcf\u4e2a \u6d41\u90fd \u5305\u542b \u4e00\u4e2a   \u7f13\u51b2 \u6c60   \uff0c \u53ef \u7528\u4e8e \u907f\u514d \u4e0d\u5fc5 \u5fc5\u8981 \u4e0d\u5fc5\u8981 \u7684 \u5185\u5b58 \u5206\u914d \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u6709 \u4e00\u4e2a \u5173\u8054 \u7684 \u6d41 \uff0c \u56e0\u6b64 \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u6709 \u81ea\u5df1 \u7684 \u7f13\u51b2 \u6c60 \u3002   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u4ece\u6c60 \u4e2d \u68c0\u7d22 \u7f13\u51b2 \u7f13\u51b2\u533a   auto   Buffer   =   Stream . PopBufferFromPool ( ) ;   \u5982\u679c \u6c60\u4e3a \u7a7a \uff0c \u5219 \u8fd4\u56de \u4e00\u4e2a \u7a7a \u7f13\u51b2 \u7f13\u51b2\u533a \uff0c \u5373 \u6ca1\u6709 \u5206\u914d \u5185\u5b58 \u5206\u914d\u5185\u5b58 \u7684 \u7f13\u51b2 \u7f13\u51b2\u533a \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u5f53 \u60a8 \u8c03\u6574 \u7f13\u51b2 \u7f13\u51b2\u533a \u5927 \u5c0f\u65f6 \uff0c \u5c06 \u5206\u914d \u65b0 \u7684 \u5185\u5b58 \u3002 \u5728 \u7b2c\u4e00 \u5e27 \u671f\u95f4 \uff0c \u8fd9\u79cd \u60c5\u51b5 \u4f1a \u53d1\u751f \u51e0\u6b21 \u3002 \u4f46\u662f \uff0c \u5982\u679c \u4ece\u6c60 \u4e2d \u68c0\u7d22 \u7f13\u51b2 \u7f13\u51b2\u533a \uff0c \u5219 \u4e00\u65e6 \u7f13\u51b2 \u7f13\u51b2\u533a \u8d85\u51fa \u8303\u56f4 \u8d85\u51fa\u8303\u56f4 \uff0c \u5176 \u5185\u5b58 \u5c06 \u8fd4\u56de \u5230 \u6c60\u4e2d \u3002 \u4e0b\u6b21 \u4ece\u6c60 \u4e2d \u83b7\u53d6 \u53e6 \u4e00\u4e2a \u7f13\u51b2 \u7f13\u51b2\u533a \u65f6 \uff0c \u5b83 \u5c06 \u5305\u542b \u4ece\u524d \u4e00\u4e2a \u7f13\u51b2 \u7f13\u51b2\u533a \u5206\u914d \u7684 \u5185\u5b58 \u3002 \u6b63\u5982 \u60a8 \u6240 \u770b\u5230 \u7684 \uff0c \u7f13\u51b2 \u7f13\u51b2\u533a \u5bf9\u8c61 \u5b9e\u9645 \u5b9e\u9645\u4e0a \u5145\u5f53 \u6307\u5411 \u8fde\u7eed \u539f\u59cb \u5185\u5b58 \u7684 \u667a\u80fd \u6307\u9488 \u3002 \u53ea\u8981 \u60a8 \u8bf7\u6c42 \u7684 \u5185\u5b58 \u4e0d \u8d85\u8fc7 \u5f53\u524d \u5206\u914d \u7684 \u5185\u5b58 \uff0c \u7f13\u51b2 \u7f13\u51b2\u533a \u5c31 \u4f1a \u91cd\u7528 \u8be5 \u5185\u5b58 \u3002 \u5982\u679c \u60a8 \u8bf7\u6c42 \u66f4 \u591a \uff0c \u5219 \u5fc5\u987b \u5220\u9664 \u5f53\u524d \u5185\u5b58 \u5e76 \u5206\u914d \u66f4\u5927 \u7684 \u5757 \u3002   \u4ee5\u4e0b \u4ee3\u7801 \u7247\u6bb5 \u8bf4\u660e \u4e86 \u7f13\u51b2 \u7f13\u51b2\u533a \u7684 \u5de5\u4f5c \u539f\u7406   Buffer   buffer ;   buffer . reset ( 1024u ) ;   / /   ( size   1024   bytes ,   capacity   1024   bytes )   - >   allocates   buffer . reset ( 512u ) ;   / /   ( size   512   bytes ,   capacity   1024   bytes )   buffer . reset ( 2048u ) ;   / /   ( size   2048   bytes ,   capacity   2048   bytes )   - >   allocates","title":"\u91cd\u7528 \u7f13\u51b2\u533a  "},{"location":"tuto_D_create_sensor/#_7","text":"\u67d0\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u80fd \u9700\u8981 \u5f02\u6b65 \u53d1\u9001 \u6570\u636e \u53d1\u9001\u6570\u636e \uff0c \u8981\u4e48 \u662f \u4e3a\u4e86 \u6027\u80fd \uff0c \u8981\u4e48 \u56e0\u4e3a \u662f\u56e0\u4e3a \u6570\u636e \u662f \u5728 \u4e0d\u540c \u7684 \u7ebf\u7a0b \u4e2d \u751f\u6210 \u7684 \uff0c \u4f8b\u5982 \uff0c \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ece \u6e32\u67d3 \u7ebf\u7a0b \u53d1\u9001 \u56fe\u50cf \u3002   \u5f02\u6b65 \u4f7f\u7528 \u6570\u636e \u6570\u636e\u6d41 \u662f \u5b8c\u5168 \u53ef\u4ee5 \u7684 \uff0c \u53ea\u8981 \u6570\u636e \u6570\u636e\u6d41 \u672c\u8eab \u662f \u5728 \u6e38\u620f \u7ebf\u7a0b \u4e2d \u521b\u5efa \u7684 \u3002 \u4f8b\u5982   void   MySensor : : Tick ( float   DeltaSeconds )   {   Super : : Tick ( DeltaSeconds ) ;   auto   Stream   =   GetDataStream ( * this ) ;   std : : async ( std : : launch : : async ,   [ Stream = std : : move ( Stream ) ] ( )   {   auto   Data   =   ComputeData ( ) ;   Stream . Send ( * this ,   Data ) ;   } ) ;   }","title":"\u5f02\u6b65 \u53d1\u9001\u6570\u636e  "},{"location":"tuto_D_create_sensor/#_8","text":"\u6709\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e0d \u9700\u8981 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fdb\u884c \u6d4b\u91cf \uff0c \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u4ee5 \u5b8c\u5168 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fd0\u884c \uff0c \u4ece\u800c \u4f7f \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u514d\u4e8e \u989d\u5916 \u7684 \u8ba1\u7b97 \u3002 \u6b64\u7c7b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u793a\u4f8b \u662f   LaneInvasion   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u901a\u5e38 \u7684 \u65b9\u6cd5 \u662f \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u7aef \u521b\u5efa \u4e00\u4e2a \u201c \u865a\u62df \u201d \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4ee5\u4fbf \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u77e5\u9053 \u8fd9\u6837 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5b58\u5728 \u3002 \u7136\u800c \uff0c \u8fd9\u4e2a \u865a\u62df \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e0d\u4f1a \u53d1\u51fa \u8282\u62cd \uff0c \u4e5f \u4e0d\u4f1a \u53d1\u9001 \u4efb\u4f55 \u7c7b\u578b \u7684 \u6570\u636e \u3002 \u7136\u800c \uff0c \u5b83 \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u5bf9\u5e94 \u90e8\u5206 \u6ce8\u518c \u4e86 \u4e00\u4e2a \u201c on   tick \u201d \u56de\u8c03 \uff0c \u4ee5\u4fbf \u5728 \u6bcf\u6b21 \u65b0 \u66f4\u65b0 \u65f6 \u6267\u884c \u4e00\u4e9b \u4ee3\u7801 \u3002 \u4f8b\u5982 \uff0c LaneInvasion   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f1a \u6ce8\u518c \u4e00\u4e2a \u56de\u8c03 \uff0c \u6bcf\u6b21 \u8d8a\u8fc7 \u8f66\u9053 \u6807\u8bb0 \u65f6 \u90fd \u4f1a \u53d1\u51fa \u901a\u77e5 \u53d1\u51fa\u901a\u77e5 \u3002   \u8003\u8651 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u7684 \u201c on   tick \u201d \u56de\u8c03 \u662f \u5e76\u53d1 \u6267\u884c \u7684 \uff0c \u5373 \u76f8\u540c \u7684 \u65b9\u6cd5 \u53ef\u80fd \u7531 \u4e0d\u540c \u7684 \u7ebf\u7a0b \u540c\u65f6 \u6267\u884c \uff0c \u8fd9 \u4e00\u70b9 \u975e\u5e38 \u91cd\u8981 \u3002 \u8bbf\u95ee \u7684 \u4efb\u4f55 \u6570\u636e \u90fd \u5fc5\u987b \u6b63\u786e \u540c\u6b65 \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u4e92\u65a5 \u4f53 \u3001 \u4f7f\u7528 \u539f\u5b50 \uff0c \u6216\u8005 \u66f4\u597d \u5730 \u786e\u4fdd \u6240\u6709 \u8bbf\u95ee \u7684 \u6210\u5458 \u4fdd\u6301 \u4e0d\u53d8 \u3002","title":"\u5ba2\u6237\u7aef \u4f20\u611f\u5668  "},{"location":"tuto_D_customize_vehicle_suspension/","text":"\u5b9a\u5236 \u8f66\u8f86 \u60ac\u67b6   \u672c \u6559\u7a0b \u4ecb\u7ecd \u4e86   Carla   \u8f66\u8f86 \u60ac\u67b6 \u7cfb\u7edf \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6 \uff0c \u4ee5\u53ca \u5982\u4f55 \u9488\u5bf9 \u4e0d\u540c \u7684 \u53ef\u7528 \u8f66\u8f86 \u5b9e\u65bd \u8fd9\u4e9b \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6 \u3002 \u4f7f\u7528 \u6b64 \u4fe1\u606f \u53ef\u4ee5 \u8bbf\u95ee \u865a\u5e7b \u5f15\u64ce \u4e2d \u8f66\u8f86 \u7684 \u60ac\u67b6 \u53c2\u6570 \uff0c \u5e76 \u968f\u610f \u5bf9 \u5176 \u8fdb\u884c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u3002   \u60ac\u67b6 \u7cfb\u7edf \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6   \u60ac\u67b6 \u7ec4   \u8f7f \u8dd1\u8f66   \u8d8a\u91ce   \u5361\u8f66   \u57ce\u5e02 \u8f66   \u8d27\u8f66   \u60ac\u67b6 \u7cfb\u7edf \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6   \u8f66\u8f86 \u7684 \u60ac\u67b6 \u7cfb\u7edf \u7531 \u6240\u8ff0 \u8f66\u8f86 \u7684 \u8f66\u8f6e \u9650\u5b9a \u3002 \u6bcf\u4e2a \u8f66\u8f6e \u90fd \u6709 \u4e00\u4e2a \u5e26\u6709 \u4e00\u4e9b \u53c2\u6570 \u5316 \u7684 \u72ec\u7acb \u84dd\u56fe \uff0c \u5176\u4e2d \u5305\u62ec \u60ac\u67b6 \u7cfb\u7edf \u3002   \u8fd9\u4e9b \u84dd\u56fe \u53ef\u4ee5 \u5728   Content / Carla / Blueprints / Vehicles / < vehicle _ name >   \u4e2d \u627e\u5230 \u3002 \u5b83\u4eec \u7684 \u540d\u79f0 \u5982\u4e0b \uff1a   BP _ < vehicle _ name > _ < F / R > < R / L > W   \u3002   F   \u6216   R   \u76f8\u5e94 \u5730 \u7528\u4e8e \u524d\u8f6e \u6216 \u540e\u8f6e \u3002   R   \u6216   L   \u5e94\u5730 \u7528\u4e8e \u53f3\u8f6e \u6216 \u5de6\u8f6e \u3002   \u5728 \u672c\u4f8b \u4e2d \uff0c \u5965\u8fea A2 \u5de6 \u524d\u8f6e \u7684 \u84dd\u56fe \u547d\u540d \u4e3a   BP _ AudiA2 _ FLW   .   shape _ radius   \u8ba9 \u8f66\u8f6e \u505c \u5728 \u8def\u9762 \u4e0a \uff0c \u65e2 \u4e0d \u60ac\u505c \u4e5f \u4e0d \u5728 \u8def\u9762 \u5185\u90e8 \u3002   \u5728 \u84dd\u56fe \u4e2d \uff0c \u6709 \u4e00\u4e2a \u90e8\u5206 \u5305\u542b \u6709\u5173 \u8f66\u8f6e \u60ac\u67b6 \u7684 \u4e00\u4e9b \u53c2\u6570 \u5316 \u3002 \u4ee5\u4e0b \u662f \u865a\u5e7b \u5f15\u64ce \u4e2d \u63cf\u8ff0 \u7684 \u5b83\u4eec \u7684 \u5b9a\u4e49 \u3002   Suspension   Force   Offset   \u2014   \u8ddd \u65bd\u52a0 \u60ac\u6302 \u529b \u7684 \u4f4d\u7f6e \u7684 \u5782\u76f4 \u504f\u79fb \uff08 \u6cbf   Z   \u8f74 \uff09 \u3002   Suspension   Max   Raise   \u2014   \u8f66\u8f6e \u53ef\u4ee5 \u8d85\u51fa \u9759\u6b62 \u4f4d\u7f6e \u591a\u8fdc \u3002   Suspension   Max   Drop   \u2014   \u8f66\u8f6e \u53ef\u4ee5 \u4e0b\u964d \u5230 \u9759\u6b62 \u4f4d\u7f6e \u4ee5\u4e0b \u591a\u8fdc \u3002   Suspension   Natural   Frequency   \u2014   \u60ac\u67b6 \u7684 \u632f\u8361 \u9891\u7387 \u3002 \u6807\u51c6 \u6c7d\u8f66 \u7684 \u503c \u4ecb\u4e8e   5   \u548c \u4e4b\u95f4   10   \u3002   Suspension   Damping   Ratio   \u2014   \u80fd\u91cf \u4ece \u5f39\u7c27 \u8017\u6563 \u7684 \u901f\u7387 \u3002 \u6807\u51c6 \u6c7d\u8f66 \u7684 \u503c \u4ecb\u4e8e   0.8   \u548c   1.2   \u4e4b\u95f4 \u3002 \u503c   < 1   \u66f4\u52a0 \u8fdf\u7f13 \uff0c \u503c   > 1   \u66f4\u52a0 \u52a8\u8361 \u3002   Sweep   Type   \u2014   \u8f66\u8f6e \u60ac\u67b6 \u662f\u5426 \u8003\u8651 \u7b80\u5355 \u3001 \u590d\u6742 \u6216 \u4e24\u8005 \u800c\u6709 \u517c\u800c\u6709\u4e4b \u3002   \u8f66\u8f6e \u84dd\u56fe \u4e2d \u7684 \u60ac\u67b6 \u9762\u677f \u3002   \u7b14\u8bb0   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8f66\u8f86 \u7684 \u6240\u6709 \u8f66\u8f6e \u5728   Carla   \u4e2d \u5177\u6709 \u76f8\u540c \u7684 \u53c2\u6570 \u5316 \u3002 \u4ee5\u4e0b \u89e3\u91ca \u5c06 \u6309 \u8f66\u8f86 \u800c \u4e0d\u662f \u6309 \u8f66\u8f6e \u8fdb\u884c \u4ecb\u7ecd \u3002   \u60ac\u67b6 \u7ec4   \u6839\u636e \u5176 \u7cfb\u7edf \u60ac\u67b6 \uff0c Carla   \u4e2d \u7684 \u8f66\u8f86 \u53ef \u5206\u4e3a \u4e94\u7ec4 \u3002 \u7ec4\u4e2d \u7684 \u6240\u6709 \u8f66\u8f86 \u90fd \u5177\u6709 \u76f8\u540c \u7684 \u53c2\u6570 \u5316 \uff0c \u56e0\u4e3a \u5b83\u4eec \u9884\u8ba1 \u5728 \u9053\u8def \u4e0a \u5177\u6709 \u76f8\u4f3c \u7684 \u884c\u4e3a \u3002 \u8f66\u8f86 \u7684 \u60ac\u67b6 \u53ef\u4ee5 \u968f\u610f \u4fee\u6539 \uff0c \u4e0d\u53d7 \u8fd9 \u4e94\u7ec4 \u7684 \u9650\u5236 \u3002 \u7136\u800c \uff0c \u4e86\u89e3 \u8fd9\u4e9b \u5e76 \u89c2\u5bdf \u5b83\u4eec \u5728 \u4eff\u771f \u4e2d \u7684 \u884c\u4e3a \u5bf9\u4e8e \u5b9a\u4e49 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60ac\u67b6 \u975e\u5e38 \u6709\u7528 \u3002   \u8fd9 \u4e94\u4e2a \u7ec4\u662f \uff1a   \u8f7f \u8dd1\u8f66   \u3001   \u8d8a\u91ce \u8d8a\u91ce\u8f66   \u3001   \u5361\u8f66   \u3001   \u57ce\u5e02 \u8f66   \u548c   \u8d27\u8f66   \u3002 \u901a\u8fc7 \u4ed4\u7ec6 \u7ec6\u89c2 \u89c2\u5bdf \u4ed4\u7ec6\u89c2\u5bdf \uff0c \u8fd9\u4e9b \u7ec4 \u7684 \u53c2\u6570 \u5316 \u9075\u5faa \u7279\u5b9a \u7684 \u6a21\u5f0f \u3002   \u521a\u6027 \u60ac\u67b6   \u8f7f \u8dd1\u8f66   \u57ce\u5e02 \u8f66   \u8d27\u8f66   \u8d8a\u91ce   \u5361\u8f66   \u8f6f \u60ac\u67b6   \u5f53 \u4ece \u8f6f \u60ac\u67b6 \u8f6c\u5411 \u786c \u60ac\u67b6 \u65f6 \uff0c \u53c2\u6570 \u5316\u6709 \u4e00\u4e9b \u660e\u663e \u7684 \u8d8b\u52bf \u3002   Suspension   Max   Raise   \u548c   Suspension   Max   Drop   \u7684   \u51cf\u5c11   \u2014   \u521a\u6027 \u8f66\u8f86 \u5e94 \u5728 \u5e73\u5766 \u7684 \u9053\u8def \u4e0a \u884c\u9a76 \u4e14 \u6ca1\u6709 \u98a0\u7c38 \u3002 \u51fa\u4e8e \u7a7a\u6c14 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u7684 \u8003\u8651 \uff0c \u5e95\u76d8 \u4e0d \u5e94 \u5927\u5e45 \u79fb\u52a8 \uff0c \u800c\u5e94 \u59cb\u7ec8 \u4fdd\u6301 \u59cb\u7ec8\u4fdd\u6301 \u9760\u8fd1 \u5730\u9762 \u3002   Suspension   Damping   Ratio   \u7684   \u589e\u52a0   \u2014   \u5bf9\u4e8e \u521a\u6027 \u8f66\u8f86 \u6765\u8bf4 \uff0c \u51cf\u9707 \u51cf\u9707\u5668 \u5438\u6536 \u7684 \u5f39\u8df3 \u66f4\u5927 \u3002   \u8f7f \u8dd1\u8f66   \u5177\u6709 \u6700 \u786c \u60ac\u67b6 \u7684 \u8f66\u8f86 \u3002   \u53c2\u6570 \u5316   \u6c7d\u8f66   Suspension   Force   Offset   \u2014   0.0   Suspension   Max   Raise   \u2014   7.5   Suspension   Max   Drop   \u2014   7.5   Suspension   Natural   Frequency   \u2014   9.5   Suspension   Damping   Ratio   \u2014   1.0   Sweep   Type   \u2014   SimpleAndComplex   vehicle . audi . tt   vehicle . lincoln . mkz2017   vehicle . mercedes - benz . coupe   vehicle . seat . leon   vehicle . tesla . model3   \u8d8a\u91ce   \u914d\u5907 \u8f6f \u60ac\u67b6 \u7684 \u8f66\u8f86 \u3002   \u53c2\u6570 \u5316   \u6c7d\u8f66   Suspension   Force   Offset   \u2014   0.0   Suspension   Max   Raise   \u2014   15.0   Suspension   Max   Drop   \u2014   15.0   Suspension   Natural   Frequency   \u2014   7.0   Suspension   Damping   Ratio   \u2014   0.5   Sweep   Type   \u2014   SimpleAndComplex   vehicle . audi . etron   vehicle . jeep . wrangler _ rubicon   vehicle . nissan . patrol   vehicle . tesla . cybertruck   \u5361\u8f66   \u5177\u6709 \u6700\u8f6f \u60ac\u67b6 \u7684 \u8f66\u8f86 \u3002   \u53c2\u6570 \u5316   \u6c7d\u8f66   Suspension   Force   Offset   \u2014   0.0   Suspension   Max   Raise   \u2014   17.0   Suspension   Max   Drop   \u2014   17.0   Suspension   Natural   Frequency   \u2014   6.0   Suspension   Damping   Ratio   \u2014   0.4   Sweep   Type   \u2014   SimpleAndComplex   vehicle . carlamotors . carlacola   \u57ce\u5e02 \u8f66   \u914d\u5907 \u8f6f \u60ac\u67b6 \u7684 \u8f66\u8f86 \u3002   \u53c2\u6570 \u5316   \u6c7d\u8f66   Suspension   Force   Offset   \u2014   0.0   Suspension   Max   Raise   \u2014   8.0   Suspension   Max   Drop   \u2014   8.0   Suspension   Natural   Frequency   \u2014   9.0   Suspension   Damping   Ratio   \u2014   0.8   Sweep   Type   \u2014   SimpleAndComplex   vehicle . audi . a2   vehicle . bmw . grandtourer   vehicle . chevrolet . impala   vehicle . citroen . c3   vehicle . dodge _ charger . police   vehicle . mini . cooperst   vehicle . mustang . mustang   vehicle . nissan . micra   vehicle . toyota . prius   \u8d27\u8f66   \u5177\u6709 \u4e2d \u5730 \u60ac\u67b6 \u7684 \u8f66\u8f86 \u3002   \u53c2\u6570 \u5316   \u6c7d\u8f66   Suspension   Force   Offset   \u2014   0.0   Suspension   Max   Raise   \u2014   9.0   Suspension   Max   Drop   \u2014   9.0   Suspension   Natural   Frequency   \u2014   8.0   Suspension   Damping   Ratio   \u2014   0.8   Sweep   Type   \u2014   SimpleAndComplex   vehicle . volkswagen . t2   \u4f7f\u7528 \u8bba\u575b \u53d1\u5e03 \u6709\u5173 \u6b64 \u4e3b\u9898 \u7684 \u4efb\u4f55 \u7591\u95ee \u3001 \u95ee\u9898 \u6216 \u5efa\u8bae \u3002   Carla   \u8bba\u575b   \u4ee5\u4e0b \u662f \u672c\u6587 \u4e4b\u540e \u7684 \u4e00\u4e9b \u5efa\u8bae \u8bfb\u7269 \u3002   \u63a7\u5236 \u8f66\u8f86 \u7269\u7406   \u6dfb\u52a0 \u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668   \u751f\u6210 \u8be6\u7ec6 \u7684 \u78b0\u649e","title":"\u5b9a\u5236 \u8f66\u8f86 \u60ac\u67b6"},{"location":"tuto_D_customize_vehicle_suspension/#_1","text":"\u672c \u6559\u7a0b \u4ecb\u7ecd \u4e86   Carla   \u8f66\u8f86 \u60ac\u67b6 \u7cfb\u7edf \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6 \uff0c \u4ee5\u53ca \u5982\u4f55 \u9488\u5bf9 \u4e0d\u540c \u7684 \u53ef\u7528 \u8f66\u8f86 \u5b9e\u65bd \u8fd9\u4e9b \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6 \u3002 \u4f7f\u7528 \u6b64 \u4fe1\u606f \u53ef\u4ee5 \u8bbf\u95ee \u865a\u5e7b \u5f15\u64ce \u4e2d \u8f66\u8f86 \u7684 \u60ac\u67b6 \u53c2\u6570 \uff0c \u5e76 \u968f\u610f \u5bf9 \u5176 \u8fdb\u884c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u3002   \u60ac\u67b6 \u7cfb\u7edf \u7684 \u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6   \u60ac\u67b6 \u7ec4   \u8f7f \u8dd1\u8f66   \u8d8a\u91ce   \u5361\u8f66   \u57ce\u5e02 \u8f66   \u8d27\u8f66","title":"\u5b9a\u5236 \u8f66\u8f86 \u60ac\u67b6"},{"location":"tuto_D_customize_vehicle_suspension/#_2","text":"\u8f66\u8f86 \u7684 \u60ac\u67b6 \u7cfb\u7edf \u7531 \u6240\u8ff0 \u8f66\u8f86 \u7684 \u8f66\u8f6e \u9650\u5b9a \u3002 \u6bcf\u4e2a \u8f66\u8f6e \u90fd \u6709 \u4e00\u4e2a \u5e26\u6709 \u4e00\u4e9b \u53c2\u6570 \u5316 \u7684 \u72ec\u7acb \u84dd\u56fe \uff0c \u5176\u4e2d \u5305\u62ec \u60ac\u67b6 \u7cfb\u7edf \u3002   \u8fd9\u4e9b \u84dd\u56fe \u53ef\u4ee5 \u5728   Content / Carla / Blueprints / Vehicles / < vehicle _ name >   \u4e2d \u627e\u5230 \u3002 \u5b83\u4eec \u7684 \u540d\u79f0 \u5982\u4e0b \uff1a   BP _ < vehicle _ name > _ < F / R > < R / L > W   \u3002   F   \u6216   R   \u76f8\u5e94 \u5730 \u7528\u4e8e \u524d\u8f6e \u6216 \u540e\u8f6e \u3002   R   \u6216   L   \u5e94\u5730 \u7528\u4e8e \u53f3\u8f6e \u6216 \u5de6\u8f6e \u3002   \u5728 \u672c\u4f8b \u4e2d \uff0c \u5965\u8fea A2 \u5de6 \u524d\u8f6e \u7684 \u84dd\u56fe \u547d\u540d \u4e3a   BP _ AudiA2 _ FLW   .   shape _ radius   \u8ba9 \u8f66\u8f6e \u505c \u5728 \u8def\u9762 \u4e0a \uff0c \u65e2 \u4e0d \u60ac\u505c \u4e5f \u4e0d \u5728 \u8def\u9762 \u5185\u90e8 \u3002   \u5728 \u84dd\u56fe \u4e2d \uff0c \u6709 \u4e00\u4e2a \u90e8\u5206 \u5305\u542b \u6709\u5173 \u8f66\u8f6e \u60ac\u67b6 \u7684 \u4e00\u4e9b \u53c2\u6570 \u5316 \u3002 \u4ee5\u4e0b \u662f \u865a\u5e7b \u5f15\u64ce \u4e2d \u63cf\u8ff0 \u7684 \u5b83\u4eec \u7684 \u5b9a\u4e49 \u3002   Suspension   Force   Offset   \u2014   \u8ddd \u65bd\u52a0 \u60ac\u6302 \u529b \u7684 \u4f4d\u7f6e \u7684 \u5782\u76f4 \u504f\u79fb \uff08 \u6cbf   Z   \u8f74 \uff09 \u3002   Suspension   Max   Raise   \u2014   \u8f66\u8f6e \u53ef\u4ee5 \u8d85\u51fa \u9759\u6b62 \u4f4d\u7f6e \u591a\u8fdc \u3002   Suspension   Max   Drop   \u2014   \u8f66\u8f6e \u53ef\u4ee5 \u4e0b\u964d \u5230 \u9759\u6b62 \u4f4d\u7f6e \u4ee5\u4e0b \u591a\u8fdc \u3002   Suspension   Natural   Frequency   \u2014   \u60ac\u67b6 \u7684 \u632f\u8361 \u9891\u7387 \u3002 \u6807\u51c6 \u6c7d\u8f66 \u7684 \u503c \u4ecb\u4e8e   5   \u548c \u4e4b\u95f4   10   \u3002   Suspension   Damping   Ratio   \u2014   \u80fd\u91cf \u4ece \u5f39\u7c27 \u8017\u6563 \u7684 \u901f\u7387 \u3002 \u6807\u51c6 \u6c7d\u8f66 \u7684 \u503c \u4ecb\u4e8e   0.8   \u548c   1.2   \u4e4b\u95f4 \u3002 \u503c   < 1   \u66f4\u52a0 \u8fdf\u7f13 \uff0c \u503c   > 1   \u66f4\u52a0 \u52a8\u8361 \u3002   Sweep   Type   \u2014   \u8f66\u8f6e \u60ac\u67b6 \u662f\u5426 \u8003\u8651 \u7b80\u5355 \u3001 \u590d\u6742 \u6216 \u4e24\u8005 \u800c\u6709 \u517c\u800c\u6709\u4e4b \u3002   \u8f66\u8f6e \u84dd\u56fe \u4e2d \u7684 \u60ac\u67b6 \u9762\u677f \u3002   \u7b14\u8bb0   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8f66\u8f86 \u7684 \u6240\u6709 \u8f66\u8f6e \u5728   Carla   \u4e2d \u5177\u6709 \u76f8\u540c \u7684 \u53c2\u6570 \u5316 \u3002 \u4ee5\u4e0b \u89e3\u91ca \u5c06 \u6309 \u8f66\u8f86 \u800c \u4e0d\u662f \u6309 \u8f66\u8f6e \u8fdb\u884c \u4ecb\u7ecd \u3002","title":"\u60ac\u67b6 \u7cfb\u7edf \u7684 \u57fa\u7840\u77e5\u8bc6  "},{"location":"tuto_D_customize_vehicle_suspension/#_3","text":"\u6839\u636e \u5176 \u7cfb\u7edf \u60ac\u67b6 \uff0c Carla   \u4e2d \u7684 \u8f66\u8f86 \u53ef \u5206\u4e3a \u4e94\u7ec4 \u3002 \u7ec4\u4e2d \u7684 \u6240\u6709 \u8f66\u8f86 \u90fd \u5177\u6709 \u76f8\u540c \u7684 \u53c2\u6570 \u5316 \uff0c \u56e0\u4e3a \u5b83\u4eec \u9884\u8ba1 \u5728 \u9053\u8def \u4e0a \u5177\u6709 \u76f8\u4f3c \u7684 \u884c\u4e3a \u3002 \u8f66\u8f86 \u7684 \u60ac\u67b6 \u53ef\u4ee5 \u968f\u610f \u4fee\u6539 \uff0c \u4e0d\u53d7 \u8fd9 \u4e94\u7ec4 \u7684 \u9650\u5236 \u3002 \u7136\u800c \uff0c \u4e86\u89e3 \u8fd9\u4e9b \u5e76 \u89c2\u5bdf \u5b83\u4eec \u5728 \u4eff\u771f \u4e2d \u7684 \u884c\u4e3a \u5bf9\u4e8e \u5b9a\u4e49 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60ac\u67b6 \u975e\u5e38 \u6709\u7528 \u3002   \u8fd9 \u4e94\u4e2a \u7ec4\u662f \uff1a   \u8f7f \u8dd1\u8f66   \u3001   \u8d8a\u91ce \u8d8a\u91ce\u8f66   \u3001   \u5361\u8f66   \u3001   \u57ce\u5e02 \u8f66   \u548c   \u8d27\u8f66   \u3002 \u901a\u8fc7 \u4ed4\u7ec6 \u7ec6\u89c2 \u89c2\u5bdf \u4ed4\u7ec6\u89c2\u5bdf \uff0c \u8fd9\u4e9b \u7ec4 \u7684 \u53c2\u6570 \u5316 \u9075\u5faa \u7279\u5b9a \u7684 \u6a21\u5f0f \u3002   \u521a\u6027 \u60ac\u67b6   \u8f7f \u8dd1\u8f66   \u57ce\u5e02 \u8f66   \u8d27\u8f66   \u8d8a\u91ce   \u5361\u8f66   \u8f6f \u60ac\u67b6   \u5f53 \u4ece \u8f6f \u60ac\u67b6 \u8f6c\u5411 \u786c \u60ac\u67b6 \u65f6 \uff0c \u53c2\u6570 \u5316\u6709 \u4e00\u4e9b \u660e\u663e \u7684 \u8d8b\u52bf \u3002   Suspension   Max   Raise   \u548c   Suspension   Max   Drop   \u7684   \u51cf\u5c11   \u2014   \u521a\u6027 \u8f66\u8f86 \u5e94 \u5728 \u5e73\u5766 \u7684 \u9053\u8def \u4e0a \u884c\u9a76 \u4e14 \u6ca1\u6709 \u98a0\u7c38 \u3002 \u51fa\u4e8e \u7a7a\u6c14 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u7684 \u8003\u8651 \uff0c \u5e95\u76d8 \u4e0d \u5e94 \u5927\u5e45 \u79fb\u52a8 \uff0c \u800c\u5e94 \u59cb\u7ec8 \u4fdd\u6301 \u59cb\u7ec8\u4fdd\u6301 \u9760\u8fd1 \u5730\u9762 \u3002   Suspension   Damping   Ratio   \u7684   \u589e\u52a0   \u2014   \u5bf9\u4e8e \u521a\u6027 \u8f66\u8f86 \u6765\u8bf4 \uff0c \u51cf\u9707 \u51cf\u9707\u5668 \u5438\u6536 \u7684 \u5f39\u8df3 \u66f4\u5927 \u3002","title":"\u60ac\u67b6 \u7ec4  "},{"location":"tuto_D_customize_vehicle_suspension/#_4","text":"\u5177\u6709 \u6700 \u786c \u60ac\u67b6 \u7684 \u8f66\u8f86 \u3002   \u53c2\u6570 \u5316   \u6c7d\u8f66   Suspension   Force   Offset   \u2014   0.0   Suspension   Max   Raise   \u2014   7.5   Suspension   Max   Drop   \u2014   7.5   Suspension   Natural   Frequency   \u2014   9.5   Suspension   Damping   Ratio   \u2014   1.0   Sweep   Type   \u2014   SimpleAndComplex   vehicle . audi . tt   vehicle . lincoln . mkz2017   vehicle . mercedes - benz . coupe   vehicle . seat . leon   vehicle . tesla . model3","title":"\u8f7f \u8dd1\u8f66  "},{"location":"tuto_D_customize_vehicle_suspension/#_5","text":"\u914d\u5907 \u8f6f \u60ac\u67b6 \u7684 \u8f66\u8f86 \u3002   \u53c2\u6570 \u5316   \u6c7d\u8f66   Suspension   Force   Offset   \u2014   0.0   Suspension   Max   Raise   \u2014   15.0   Suspension   Max   Drop   \u2014   15.0   Suspension   Natural   Frequency   \u2014   7.0   Suspension   Damping   Ratio   \u2014   0.5   Sweep   Type   \u2014   SimpleAndComplex   vehicle . audi . etron   vehicle . jeep . wrangler _ rubicon   vehicle . nissan . patrol   vehicle . tesla . cybertruck","title":"\u8d8a\u91ce  "},{"location":"tuto_D_customize_vehicle_suspension/#_6","text":"\u5177\u6709 \u6700\u8f6f \u60ac\u67b6 \u7684 \u8f66\u8f86 \u3002   \u53c2\u6570 \u5316   \u6c7d\u8f66   Suspension   Force   Offset   \u2014   0.0   Suspension   Max   Raise   \u2014   17.0   Suspension   Max   Drop   \u2014   17.0   Suspension   Natural   Frequency   \u2014   6.0   Suspension   Damping   Ratio   \u2014   0.4   Sweep   Type   \u2014   SimpleAndComplex   vehicle . carlamotors . carlacola","title":"\u5361\u8f66  "},{"location":"tuto_D_customize_vehicle_suspension/#_7","text":"\u914d\u5907 \u8f6f \u60ac\u67b6 \u7684 \u8f66\u8f86 \u3002   \u53c2\u6570 \u5316   \u6c7d\u8f66   Suspension   Force   Offset   \u2014   0.0   Suspension   Max   Raise   \u2014   8.0   Suspension   Max   Drop   \u2014   8.0   Suspension   Natural   Frequency   \u2014   9.0   Suspension   Damping   Ratio   \u2014   0.8   Sweep   Type   \u2014   SimpleAndComplex   vehicle . audi . a2   vehicle . bmw . grandtourer   vehicle . chevrolet . impala   vehicle . citroen . c3   vehicle . dodge _ charger . police   vehicle . mini . cooperst   vehicle . mustang . mustang   vehicle . nissan . micra   vehicle . toyota . prius","title":"\u57ce\u5e02 \u8f66  "},{"location":"tuto_D_customize_vehicle_suspension/#_8","text":"\u5177\u6709 \u4e2d \u5730 \u60ac\u67b6 \u7684 \u8f66\u8f86 \u3002   \u53c2\u6570 \u5316   \u6c7d\u8f66   Suspension   Force   Offset   \u2014   0.0   Suspension   Max   Raise   \u2014   9.0   Suspension   Max   Drop   \u2014   9.0   Suspension   Natural   Frequency   \u2014   8.0   Suspension   Damping   Ratio   \u2014   0.8   Sweep   Type   \u2014   SimpleAndComplex   vehicle . volkswagen . t2   \u4f7f\u7528 \u8bba\u575b \u53d1\u5e03 \u6709\u5173 \u6b64 \u4e3b\u9898 \u7684 \u4efb\u4f55 \u7591\u95ee \u3001 \u95ee\u9898 \u6216 \u5efa\u8bae \u3002   Carla   \u8bba\u575b   \u4ee5\u4e0b \u662f \u672c\u6587 \u4e4b\u540e \u7684 \u4e00\u4e9b \u5efa\u8bae \u8bfb\u7269 \u3002   \u63a7\u5236 \u8f66\u8f86 \u7269\u7406   \u6dfb\u52a0 \u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668   \u751f\u6210 \u8be6\u7ec6 \u7684 \u78b0\u649e","title":"\u8d27\u8f66  "},{"location":"tuto_D_generate_colliders/","text":"\u751f\u6210 \u8be6\u7ec6 \u7684 \u78b0\u649e \u4f53   \u672c \u6559\u7a0b \u4ecb\u7ecd \u5982\u4f55 \u4e3a \u8f66\u8f86 \u521b\u5efa \u66f4 \u51c6\u786e \u7684 \u78b0\u649e \u8fb9\u754c \uff08 \u76f8\u5bf9 \u4e8e \u5bf9\u8c61 \u7684 \u539f\u59cb \u5f62\u72b6 \uff09 \u3002 \u5b83\u4eec \u53ef\u4ee5 \u7528\u4f5c \u7269\u7406 \u78b0\u649e \u4f53 \uff0c \u4e0e \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u517c\u5bb9 \uff0c \u4e5f \u53ef\u4ee5 \u7528\u4f5c \u57fa\u4e8e \u5149\u7ebf \u6295\u5c04 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u4f8b\u5982 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff09 \u7684 \u8f85\u52a9 \u78b0\u649e \u4f53 \uff0c \u4ee5 \u68c0\u7d22 \u66f4 \u51c6\u786e \u7684 \u6570\u636e \u3002 \u65b0 \u7684 \u78b0\u649e \u673a \u53ef\u4ee5 \u96c6\u6210 \u5230   Carla   \u4e2d \uff0c \u4ee5\u4fbf \u6240\u6709 \u793e\u533a \u90fd \u80fd \u4ece\u4e2d \u53d7\u76ca \u3002 \u5728   \u6b64\u5904   \u4e86\u89e3 \u6709\u5173 \u5982\u4f55 \u4e3a \u5185\u5bb9 \u5b58\u50a8 \u5e93 \u505a\u51fa \u8d21\u732e \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u6709 \u4e24\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u521b\u5efa \u65b0 \u7684 \u78b0\u649e \u4f53 \uff0c \u4f46 \u5b83\u4eec \u5e76 \u4e0d \u5b8c\u5168 \u7b49\u6548 \u3002   \u5149\u7ebf \u6295\u5c04 \u78b0\u649e \u4f53   \u2014   \u8fd9\u79cd \u65b9\u6cd5 \u9700\u8981 \u4e00\u4e9b \u57fa\u672c \u7684 \u4e09\u7ef4 \u5efa\u6a21 \u6280\u80fd \u3002 \u8f66\u8f86 \u4e2d \u6dfb\u52a0 \u4e86 \u8f85\u52a9 \u78b0\u649e \u4f53 \uff0c \u4ee5\u4fbf \u57fa\u4e8e \u5149\u7ebf \u6295\u5c04 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u4f8b\u5982 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff09 \u68c0\u7d22 \u66f4 \u7cbe\u786e \u7684 \u6570\u636e \u3002   \u7269\u7406 \u78b0\u649e \u4f53   \u2014   \u8fd9\u79cd \u65b9\u6cd5 \u9075\u5faa \u8d21\u732e \u8d21\u732e\u8005   Yan   Kaganovsky   /   yankagan   \u521b\u5efa \u7684   \u6559\u7a0b   \uff0c \u65e0\u9700 \u624b\u52a8 \u5efa\u6a21 \u5373\u53ef \u521b\u5efa \u7f51\u683c \u3002 \u7136\u540e \uff0c \u8be5 \u7f51\u683c \u7528\u4f5c \u8f66\u8f86 \u7684 \u4e3b \u78b0\u649e \u4f53 \uff0c \u7528\u4e8e \u7269\u7406 \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u6d4b \uff08 \u9664\u975e \u6dfb\u52a0 \u8f85\u52a9 \u78b0\u649e \u4f53 \uff09 \u3002   \u5149\u7ebf \u6295\u5c04 \u78b0\u649e \u4f53   1 - \u5bfc\u51fa \u8f66\u8f86   FBX   2 - \u751f\u6210 \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u7f51\u683c   3 - \u5c06 \u7f51\u683c \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce   4 - \u6dfb\u52a0 \u7f51\u683c \u4f5c\u4e3a \u78b0\u649e \u4f53   \u7269\u7406 \u78b0\u649e \u4f53   0 - \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   1 - \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5b9a\u4e49 \u8f6e\u5b50 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e   2 - \u5c06 \u8f66\u8f86 \u5bfc\u51fa \u4e3a   FBX   3   \u5230   4 - \u5bfc\u5165 \u5bfc\u5165\u5230   Blender   \u5e76 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8fb9\u754c   5 - \u4ece   Blender   \u5bfc\u51fa \u5230   FBX   6   \u5230   8 - \u5bfc\u5165 \u78b0\u649e \u4f53 \u5e76 \u5b9a\u4e49 \u7269\u7406   \u5149\u7ebf \u6295\u5c04 \u78b0\u649e \u4f53   1 - \u5bfc\u51fa \u8f66\u8f86   FBX   \u9996\u5148 \u9700\u8981 \u4ee5 \u8f66\u8f86 \u7684 \u539f\u59cb \u7f51\u683c \u4f5c\u4e3a \u53c2\u8003 \u3002 \u51fa\u4e8e \u5b66\u4e60 \u76ee\u7684 \uff0c \u672c \u6559\u7a0b \u5bfc\u51fa   Carla   \u8f66\u8f86 \u7684 \u7f51\u683c \u3002   1.1   \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6253\u5f00   Carla   \u5e76 \u8f6c\u5230   Content / Carla / Static / Vehicles / 4Wheeled / < model _ of _ vehicle >   \u3002   1.2   \u5728   SM _ < model _ of _ vehicle >   \u70b9\u51fb   right - click   \u5c06 \u8f66\u8f86 \u7f51\u683c \u5bfc\u51fa \u4e3a   FBX \u3002   2 - \u751f\u6210 \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u7f51\u683c   2.1   \u6253\u5f00 \u4e09\u7ef4 \u5efa\u6a21 \u8f6f\u4ef6 \uff0c \u5e76 \u4f7f\u7528 \u539f\u59cb \u7f51\u683c \u4f5c\u4e3a \u53c2\u8003 \uff0c \u5efa\u6a21 \u4e00\u4e2a \u4e0e \u539f\u59cb \u7f51\u683c \u4fdd\u6301 \u53ef\u9760 \u7684 \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u7f51\u683c \u3002   2.2   \u5c06 \u65b0 \u7f51\u683c \u4fdd\u5b58 \u4e3a FBX \u3002 \u5c06 \u7f51\u683c \u547d\u540d \u4e3a   sm _ sc _ < model _ of _ vehicle > . fbx   \u3002 \u4f8b\u5982   sm _ sc _ audiTT . fbx   .   \u7b14\u8bb0   \u81f3\u4e8e \u8f66\u8f6e \u548c \u9644\u52a0 \u5143\u4ef6 \uff08 \u4f8b\u5982 \u8f66\u9876 \u3001 \u6321\u6ce5 \u6ce5\u677f \u6321\u6ce5\u677f \u7b49 \uff09 \uff0c \u65b0 \u7f51\u683c \u5e94\u8be5 \u975e\u5e38 \u51c6\u786e \u5730 \u9075\u5faa \u51e0\u4f55 \u5f62\u72b6 \u3002 \u653e\u7f6e \u7b80\u5355 \u7684 \u7acb\u65b9 \u7acb\u65b9\u4f53 \u662f \u4e0d\u884c \u7684 \u3002   3 - \u5c06 \u7f51\u683c \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce   3.1   \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6253\u5f00   Carla   \u5e76 \u8f6c\u5230   Content / Carla / Static / Vehicles / 4Wheeled / < model _ of _ vehicle >   .   3.2   \u70b9\u51fb   right - click   \u5bfc\u5165 \u65b0 \u7f51\u683c   SM _ sc _ < model _ of _ vehicle > . fbx   \u3002   4 - \u6dfb\u52a0 \u7f51\u683c \u4f5c\u4e3a \u78b0\u649e \u4f53   4.1   \u8fdb\u5165   Content / Carla / Blueprints / Vehicles / < model _ of _ vehicle >   \u5e76 \u6253\u5f00 \u540d\u4e3a   BP _ < model _ of _ vehicle >   \u7684 \u8f66\u8f86 \u7684 \u84dd\u56fe \u3002   4.2   \u9009\u62e9   CustomCollision   \u5143\u7d20 \u5e76 \u5728   Static   mesh   \u5c5e\u6027 \u4e2d \u6dfb\u52a0   SM _ sc _ < model _ of _ vehicle > . fbx   \u3002   4.3   \u70b9\u51fb \u4e0a\u65b9 \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u7684   Compile   \u5e76 \u4fdd\u5b58 \u66f4\u6539 \u3002   \u7b14\u8bb0   \u5bf9\u4e8e \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \u548c \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7b49 \u8f66\u8f86 \uff0c \u4f7f\u7528 \u76f8\u540c \u7684 \u7ec4\u4ef6   CustomCollision   \u66f4\u6539 \u8f66\u8f86 \u672c\u8eab \u7684 \u78b0\u649e \u4f53 \u7f51\u683c \u3002   \u7269\u7406 \u78b0\u649e \u4f53   \u91cd\u8981   \u672c \u6559\u7a0b \u57fa\u4e8e   yankagan   \u7684   \u8d21\u732e   \uff01 \u8d21\u732e \u8d21\u732e\u8005 \u8fd8 \u5e0c\u671b \u611f\u8c22   Francisco   E   \u5173\u4e8e   \u5982\u4f55 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u5bfc\u5165 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e   \u7684 \u6559\u7a0b \u3002   \u8be5 \u89c6\u9891   \u5c55\u793a \u4e86 \u9075\u5faa \u672c \u6559\u7a0b \u540e \u6240 \u53d6\u5f97 \u7684 \u7ed3\u679c \u3002   0 - \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u5728   Linux   \u6216   Windows   \u4e0a   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla   \u3002   \u53ef \u4ece   \u5b98\u65b9 \u7f51\u7ad9 \u5b98\u65b9\u7f51 \u5b98\u65b9\u7f51\u7ad9   \u514d\u8d39 \u83b7\u53d6   Blender   2.80   \u6216 \u66f4\u65b0 \u7248\u672c   \uff08 \u5f00\u6e90   3D   \u5efa\u6a21 \u8f6f\u4ef6 \uff09 \u3002   \u6309\u7167   \u6b64\u5904   \u7684 \u8bf4\u660e \u4f7f\u7528   Blender   \u7684   VHACD   \u63d2\u4ef6   \u3002 \u8be5 \u63d2\u4ef6 \u4f7f\u7528 \u51f8\u5305 \u96c6\u5408 \u81ea\u52a8 \u521b\u5efa \u9009\u5b9a \u5bf9\u8c61 \u7684 \u8fd1\u4f3c \u8fd1\u4f3c\u503c \u3002   \u9605\u8bfb \u66f4 \u591a   \u3002   \u7b14\u8bb0   \u8fd9\u4e2a   \u7cfb\u5217   \u548c   Udemy   \u8bfe\u7a0b   \u5bf9\u4e8e \u65b0\u624b \u6765\u8bf4 \u53ef\u80fd \u662f \u4e00\u4e2a \u5f88 \u597d \u7684   Blender   \u5165\u95e8 \u6559\u7a0b \u5165\u95e8\u6559\u7a0b \u3002   1 - \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5b9a\u4e49 \u8f6e\u5b50 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e   \u7b2c   1   \u6b65 .   ( \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d )   \u2014   \u6dfb\u52a0 \u8f66\u8f6e \u7684 \u78b0\u649e \u8fb9\u754c \u3002 \u4ee5\u4e0b \u89c6\u9891 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u8fd9\u4e9b \u6b65\u9aa4 \u3002   2 - \u5c06 \u8f66\u8f86 \u5bfc\u51fa \u4e3a   FBX   \u7b2c   2   \u6b65 .   ( \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d )   \u2014   \u5c06 \u8f66\u8f86 \u7684 \u9aa8\u67b6 \u7f51\u683c \u7269\u4f53 \u5bfc\u51fa \u5230   FBX   \u6587\u4ef6 \u3002   2.1   \u8f6c \u5230   Content / Carla / Static / Vehicles / 4Wheeled / < model _ of _ vehicle >   \u3002   2.2   \u5728   SM _ < model _ of _ vehicle >   \u70b9\u51fb   right - click   \uff0c \u5c06 \u8f66\u8f86 \u7f51\u683c \u5bfc\u51fa \u4e3a   FBX \u3002   3   \u5230   4 - \u5bfc\u5165 \u5bfc\u5165\u5230   Blender   \u5e76 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8fb9\u754c   \u7b2c   3   \u6b65 .   ( \u5728   Blender   \u4e2d )   \u2014   \u5c06   FBX   \u6587\u4ef6 \u5bfc\u5165   Blender \u3002   \u7b2c   4   \u6b65 .   ( \u5728   Blender   \u4e2d )   \u2014   \u6dfb\u52a0 \u51f8\u5305 \u7f51\u683c \u4ee5 \u5f62\u6210 \u65b0 \u7684 \u78b0\u649e \u8fb9\u754c \uff08 \u865a\u5e7b \u5f15\u64ce \u5bf9 \u8ba1\u7b97 \u6548\u7387 \u7684 \u8981\u6c42 \uff09 \u3002 \u8fd9\u662f \u6700\u96be \u7684 \u4e00\u6b65 \u3002 \u5982\u679c \u9009\u62e9 \u6574\u8f86 \u8f66 \uff0c VHACD   \u521b\u5efa \u7684 \u78b0\u649e \u8fb9\u754c \u5c06 \u4e0d \u7cbe\u786e \u4e14 \u6df7\u4e71 \u3002 \u5b83 \u5c06 \u5305\u542b \u950b\u5229 \u7684 \u8fb9\u7f18 \uff0c \u8fd9\u4f1a \u6270\u4e71 \u9053\u8def \u4e0a \u7684 \u884c\u9a76 \u3002 \u8f6e\u5b50 \u5468\u56f4 \u8981 \u6709 \u5149\u6ed1 \u7684 \u8fb9\u754c \uff0c \u8fd9 \u4e00\u70b9 \u5f88 \u91cd\u8981 \u3002 \u5728 \u8f66 \u8eab\u4e0a \u4f7f\u7528 \u51f8 \u5206\u89e3 \uff0c \u540e\u89c6 \u540e\u89c6\u955c \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u4ecd\u7136 \u4e0d \u6b63\u786e \u3002 \u5bf9\u4e8e \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u6765\u8bf4 \uff0c \u8f66\u8f86 \u7684 \u7ec6\u8282 \u975e\u5e38 \u91cd\u8981 \u3002 \u7531\u4e8e \u4e0a\u8ff0 \u539f\u56e0 \uff0c \u8fd9\u4e9b \u6b65\u9aa4 \u88ab \u5206\u4e3a \u4e24\u4e2a \u90e8\u5206 \u3002   4.1   \u4f7f\u7528   VHACD   \u5de5\u5177 \u5207 \u51fa \u8f66\u8f6e \u7684 \u5e95\u90e8 \u3001 \u4fa7\u89c6 \u955c \u548c \u8f66\u8eab \u7684 \u9876\u90e8 \uff0c \u4ee5 \u521b\u5efa \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8fb9\u754c \u3002 \u4f7f\u7528   VHACD   \u5de5\u5177 \u526a\u6389 \u6c7d\u8f66 \u7684 \u4e0b \u534a \u90e8\u5206 \u4ee5 \u521b\u5efa \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u8fb9\u754c \uff08 \u6c7d\u8f66 \u7684 \u9876\u90e8 \uff09 \u3002   4.2   \u4f7f\u7528   VHACD   \u5de5\u5177 \u4e3a \u540e\u89c6 \u540e\u89c6\u955c \u521b\u5efa \u5355\u72ec \u7684 \u8fb9\u754c \u3002   \u8b66\u544a   \u547d\u540d \u5bf9\u8c61 \u65f6\u8981 \u975e\u5e38 \u5c0f\u5fc3 \u3002 \u6bcf\u4e2a \u8fb9\u754c \u5e94 \u4ee5   UCX _   \u5f00\u5934 \uff0c \u5176\u4f59 \u540d\u79f0 \u5fc5\u987b \u4e0e \u539f\u59cb \u7f51\u683c   \u5b8c\u5168   \u76f8\u540c   \u3002   5 - \u4ece   Blender   \u5bfc\u51fa \u5230   FBX   \u7b2c   5   \u6b65 .   ( \u5728   Blender   \u4e2d )   \u2014   \u5c06 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e \u8fb9\u754c \u5bfc\u51fa \u5230   FBX   \u6587\u4ef6 \u4e2d \u3002   5.1   \u4ec5 \u9009\u62e9 \u539f\u59cb \u8f66\u8f86 \u548c \u6240\u6709 \u65b0 \u6dfb\u52a0 \u7684 \u7269\u4f53 \u8fdb\u884c \u78b0\u649e \u3002   5.2   \u5728 \u5bfc\u51fa \u83dc\u5355 \u4e2d \uff0c \u9009\u4e2d   selected   objects   \u5e76 \u4ec5 \u9009\u62e9 \u201c Mesh \u201d \u3002   6   \u5230   8 - \u5bfc\u5165 \u78b0\u649e \u4f53 \u5e76 \u5b9a\u4e49 \u7269\u7406   \u7b2c   6   \u6b65 .   ( \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d )   \u2014   \u5c06 \u65b0   FBX   \u4f5c\u4e3a \u865a\u5e7b \u8d44\u6e90 \u6587\u4ef6 \uff08 \u9759\u6001 \u7f51\u683c \u7269\u4f53 \uff09 \u5bfc\u5165   Carla \u3002   \u7b2c   7   \u6b65 .   ( \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d )   \u2014   \u5c06 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e \u4f53 \u5bfc\u5165 \u5bfc\u5165\u5230 \u7279\u5b9a \u8f66\u8f86 \u7684 \u7269\u7406 \u8d44\u6e90 \u4e2d \uff0c \u4ee5\u4fbf \u5c06 \u5176 \u7528\u4e8e \u8ba1\u7b97 \u3002   \u7b2c   8   \u6b65 .   ( \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d )   \u2014   \u521b\u5efa \u8fde\u63a5 \u4e0d\u540c \u5173\u8282 \u7684 \u7ea6\u675f \u5e76 \u5b9a\u4e49 \u6240\u6709 \u90e8\u4ef6 \u7684 \u7269\u7406 \u7279\u6027 \u3002   \u8fd9\u662f \u5173\u4e8e \u5982\u4f55 \u66f4\u6539   Carla   \u4e2d \u8f66\u8f86 \u7684 \u9ed8\u8ba4 \u78b0\u649e \u4f53 \u7684 \u603b\u7ed3 \u3002   \u6253\u5f00   Carla   \u5e76 \u95f2\u901b \u4e00\u4f1a \u4f1a\u513f \u4e00\u4f1a\u513f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"\u751f\u6210 \u8be6\u7ec6 \u7684 \u78b0\u649e \u4f53"},{"location":"tuto_D_generate_colliders/#_1","text":"\u672c \u6559\u7a0b \u4ecb\u7ecd \u5982\u4f55 \u4e3a \u8f66\u8f86 \u521b\u5efa \u66f4 \u51c6\u786e \u7684 \u78b0\u649e \u8fb9\u754c \uff08 \u76f8\u5bf9 \u4e8e \u5bf9\u8c61 \u7684 \u539f\u59cb \u5f62\u72b6 \uff09 \u3002 \u5b83\u4eec \u53ef\u4ee5 \u7528\u4f5c \u7269\u7406 \u78b0\u649e \u4f53 \uff0c \u4e0e \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u517c\u5bb9 \uff0c \u4e5f \u53ef\u4ee5 \u7528\u4f5c \u57fa\u4e8e \u5149\u7ebf \u6295\u5c04 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u4f8b\u5982 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff09 \u7684 \u8f85\u52a9 \u78b0\u649e \u4f53 \uff0c \u4ee5 \u68c0\u7d22 \u66f4 \u51c6\u786e \u7684 \u6570\u636e \u3002 \u65b0 \u7684 \u78b0\u649e \u673a \u53ef\u4ee5 \u96c6\u6210 \u5230   Carla   \u4e2d \uff0c \u4ee5\u4fbf \u6240\u6709 \u793e\u533a \u90fd \u80fd \u4ece\u4e2d \u53d7\u76ca \u3002 \u5728   \u6b64\u5904   \u4e86\u89e3 \u6709\u5173 \u5982\u4f55 \u4e3a \u5185\u5bb9 \u5b58\u50a8 \u5e93 \u505a\u51fa \u8d21\u732e \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u6709 \u4e24\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u521b\u5efa \u65b0 \u7684 \u78b0\u649e \u4f53 \uff0c \u4f46 \u5b83\u4eec \u5e76 \u4e0d \u5b8c\u5168 \u7b49\u6548 \u3002   \u5149\u7ebf \u6295\u5c04 \u78b0\u649e \u4f53   \u2014   \u8fd9\u79cd \u65b9\u6cd5 \u9700\u8981 \u4e00\u4e9b \u57fa\u672c \u7684 \u4e09\u7ef4 \u5efa\u6a21 \u6280\u80fd \u3002 \u8f66\u8f86 \u4e2d \u6dfb\u52a0 \u4e86 \u8f85\u52a9 \u78b0\u649e \u4f53 \uff0c \u4ee5\u4fbf \u57fa\u4e8e \u5149\u7ebf \u6295\u5c04 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff08 \u4f8b\u5982 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff09 \u68c0\u7d22 \u66f4 \u7cbe\u786e \u7684 \u6570\u636e \u3002   \u7269\u7406 \u78b0\u649e \u4f53   \u2014   \u8fd9\u79cd \u65b9\u6cd5 \u9075\u5faa \u8d21\u732e \u8d21\u732e\u8005   Yan   Kaganovsky   /   yankagan   \u521b\u5efa \u7684   \u6559\u7a0b   \uff0c \u65e0\u9700 \u624b\u52a8 \u5efa\u6a21 \u5373\u53ef \u521b\u5efa \u7f51\u683c \u3002 \u7136\u540e \uff0c \u8be5 \u7f51\u683c \u7528\u4f5c \u8f66\u8f86 \u7684 \u4e3b \u78b0\u649e \u4f53 \uff0c \u7528\u4e8e \u7269\u7406 \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u68c0\u6d4b \uff08 \u9664\u975e \u6dfb\u52a0 \u8f85\u52a9 \u78b0\u649e \u4f53 \uff09 \u3002   \u5149\u7ebf \u6295\u5c04 \u78b0\u649e \u4f53   1 - \u5bfc\u51fa \u8f66\u8f86   FBX   2 - \u751f\u6210 \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u7f51\u683c   3 - \u5c06 \u7f51\u683c \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce   4 - \u6dfb\u52a0 \u7f51\u683c \u4f5c\u4e3a \u78b0\u649e \u4f53   \u7269\u7406 \u78b0\u649e \u4f53   0 - \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   1 - \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5b9a\u4e49 \u8f6e\u5b50 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e   2 - \u5c06 \u8f66\u8f86 \u5bfc\u51fa \u4e3a   FBX   3   \u5230   4 - \u5bfc\u5165 \u5bfc\u5165\u5230   Blender   \u5e76 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8fb9\u754c   5 - \u4ece   Blender   \u5bfc\u51fa \u5230   FBX   6   \u5230   8 - \u5bfc\u5165 \u78b0\u649e \u4f53 \u5e76 \u5b9a\u4e49 \u7269\u7406","title":"\u751f\u6210 \u8be6\u7ec6 \u7684 \u78b0\u649e \u4f53"},{"location":"tuto_D_generate_colliders/#_2","text":"","title":"\u5149\u7ebf \u6295\u5c04 \u78b0\u649e \u4f53  "},{"location":"tuto_D_generate_colliders/#1-fbx","text":"\u9996\u5148 \u9700\u8981 \u4ee5 \u8f66\u8f86 \u7684 \u539f\u59cb \u7f51\u683c \u4f5c\u4e3a \u53c2\u8003 \u3002 \u51fa\u4e8e \u5b66\u4e60 \u76ee\u7684 \uff0c \u672c \u6559\u7a0b \u5bfc\u51fa   Carla   \u8f66\u8f86 \u7684 \u7f51\u683c \u3002   1.1   \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6253\u5f00   Carla   \u5e76 \u8f6c\u5230   Content / Carla / Static / Vehicles / 4Wheeled / < model _ of _ vehicle >   \u3002   1.2   \u5728   SM _ < model _ of _ vehicle >   \u70b9\u51fb   right - click   \u5c06 \u8f66\u8f86 \u7f51\u683c \u5bfc\u51fa \u4e3a   FBX \u3002","title":"1 - \u5bfc\u51fa \u8f66\u8f86   FBX  "},{"location":"tuto_D_generate_colliders/#2-","text":"2.1   \u6253\u5f00 \u4e09\u7ef4 \u5efa\u6a21 \u8f6f\u4ef6 \uff0c \u5e76 \u4f7f\u7528 \u539f\u59cb \u7f51\u683c \u4f5c\u4e3a \u53c2\u8003 \uff0c \u5efa\u6a21 \u4e00\u4e2a \u4e0e \u539f\u59cb \u7f51\u683c \u4fdd\u6301 \u53ef\u9760 \u7684 \u5bc6\u5ea6 \u4f4e\u5bc6\u5ea6 \u7f51\u683c \u3002   2.2   \u5c06 \u65b0 \u7f51\u683c \u4fdd\u5b58 \u4e3a FBX \u3002 \u5c06 \u7f51\u683c \u547d\u540d \u4e3a   sm _ sc _ < model _ of _ vehicle > . fbx   \u3002 \u4f8b\u5982   sm _ sc _ audiTT . fbx   .   \u7b14\u8bb0   \u81f3\u4e8e \u8f66\u8f6e \u548c \u9644\u52a0 \u5143\u4ef6 \uff08 \u4f8b\u5982 \u8f66\u9876 \u3001 \u6321\u6ce5 \u6ce5\u677f \u6321\u6ce5\u677f \u7b49 \uff09 \uff0c \u65b0 \u7f51\u683c \u5e94\u8be5 \u975e\u5e38 \u51c6\u786e \u5730 \u9075\u5faa \u51e0\u4f55 \u5f62\u72b6 \u3002 \u653e\u7f6e \u7b80\u5355 \u7684 \u7acb\u65b9 \u7acb\u65b9\u4f53 \u662f \u4e0d\u884c \u7684 \u3002","title":"2 - \u751f\u6210 \u4f4e\u5bc6\u5ea6 \u7f51\u683c  "},{"location":"tuto_D_generate_colliders/#3-","text":"3.1   \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6253\u5f00   Carla   \u5e76 \u8f6c\u5230   Content / Carla / Static / Vehicles / 4Wheeled / < model _ of _ vehicle >   .   3.2   \u70b9\u51fb   right - click   \u5bfc\u5165 \u65b0 \u7f51\u683c   SM _ sc _ < model _ of _ vehicle > . fbx   \u3002","title":"3 - \u5c06 \u7f51\u683c \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce  "},{"location":"tuto_D_generate_colliders/#4-","text":"4.1   \u8fdb\u5165   Content / Carla / Blueprints / Vehicles / < model _ of _ vehicle >   \u5e76 \u6253\u5f00 \u540d\u4e3a   BP _ < model _ of _ vehicle >   \u7684 \u8f66\u8f86 \u7684 \u84dd\u56fe \u3002   4.2   \u9009\u62e9   CustomCollision   \u5143\u7d20 \u5e76 \u5728   Static   mesh   \u5c5e\u6027 \u4e2d \u6dfb\u52a0   SM _ sc _ < model _ of _ vehicle > . fbx   \u3002   4.3   \u70b9\u51fb \u4e0a\u65b9 \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u7684   Compile   \u5e76 \u4fdd\u5b58 \u66f4\u6539 \u3002   \u7b14\u8bb0   \u5bf9\u4e8e \u6469\u6258 \u6258\u8f66 \u6469\u6258\u8f66 \u548c \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7b49 \u8f66\u8f86 \uff0c \u4f7f\u7528 \u76f8\u540c \u7684 \u7ec4\u4ef6   CustomCollision   \u66f4\u6539 \u8f66\u8f86 \u672c\u8eab \u7684 \u78b0\u649e \u4f53 \u7f51\u683c \u3002","title":"4 - \u6dfb\u52a0 \u7f51\u683c \u4f5c\u4e3a \u78b0\u649e \u4f53  "},{"location":"tuto_D_generate_colliders/#_3","text":"\u91cd\u8981   \u672c \u6559\u7a0b \u57fa\u4e8e   yankagan   \u7684   \u8d21\u732e   \uff01 \u8d21\u732e \u8d21\u732e\u8005 \u8fd8 \u5e0c\u671b \u611f\u8c22   Francisco   E   \u5173\u4e8e   \u5982\u4f55 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u5bfc\u5165 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e   \u7684 \u6559\u7a0b \u3002   \u8be5 \u89c6\u9891   \u5c55\u793a \u4e86 \u9075\u5faa \u672c \u6559\u7a0b \u540e \u6240 \u53d6\u5f97 \u7684 \u7ed3\u679c \u3002","title":"\u7269\u7406 \u78b0\u649e \u4f53  "},{"location":"tuto_D_generate_colliders/#0-","text":"\u5728   Linux   \u6216   Windows   \u4e0a   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla   \u3002   \u53ef \u4ece   \u5b98\u65b9 \u7f51\u7ad9 \u5b98\u65b9\u7f51 \u5b98\u65b9\u7f51\u7ad9   \u514d\u8d39 \u83b7\u53d6   Blender   2.80   \u6216 \u66f4\u65b0 \u7248\u672c   \uff08 \u5f00\u6e90   3D   \u5efa\u6a21 \u8f6f\u4ef6 \uff09 \u3002   \u6309\u7167   \u6b64\u5904   \u7684 \u8bf4\u660e \u4f7f\u7528   Blender   \u7684   VHACD   \u63d2\u4ef6   \u3002 \u8be5 \u63d2\u4ef6 \u4f7f\u7528 \u51f8\u5305 \u96c6\u5408 \u81ea\u52a8 \u521b\u5efa \u9009\u5b9a \u5bf9\u8c61 \u7684 \u8fd1\u4f3c \u8fd1\u4f3c\u503c \u3002   \u9605\u8bfb \u66f4 \u591a   \u3002   \u7b14\u8bb0   \u8fd9\u4e2a   \u7cfb\u5217   \u548c   Udemy   \u8bfe\u7a0b   \u5bf9\u4e8e \u65b0\u624b \u6765\u8bf4 \u53ef\u80fd \u662f \u4e00\u4e2a \u5f88 \u597d \u7684   Blender   \u5165\u95e8 \u6559\u7a0b \u5165\u95e8\u6559\u7a0b \u3002","title":"0 - \u5148\u51b3\u6761\u4ef6  "},{"location":"tuto_D_generate_colliders/#1-","text":"\u7b2c   1   \u6b65 .   ( \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d )   \u2014   \u6dfb\u52a0 \u8f66\u8f6e \u7684 \u78b0\u649e \u8fb9\u754c \u3002 \u4ee5\u4e0b \u89c6\u9891 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u8fd9\u4e9b \u6b65\u9aa4 \u3002","title":"1 - \u5728 \u865a\u5e7b \u7f16\u8f91\u5668 \u4e2d \u5b9a\u4e49 \u8f6e\u5b50 \u7684 \u81ea\u5b9a\u4e49 \u78b0\u649e  "},{"location":"tuto_D_generate_colliders/#2-fbx","text":"\u7b2c   2   \u6b65 .   ( \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d )   \u2014   \u5c06 \u8f66\u8f86 \u7684 \u9aa8\u67b6 \u7f51\u683c \u7269\u4f53 \u5bfc\u51fa \u5230   FBX   \u6587\u4ef6 \u3002   2.1   \u8f6c \u5230   Content / Carla / Static / Vehicles / 4Wheeled / < model _ of _ vehicle >   \u3002   2.2   \u5728   SM _ < model _ of _ vehicle >   \u70b9\u51fb   right - click   \uff0c \u5c06 \u8f66\u8f86 \u7f51\u683c \u5bfc\u51fa \u4e3a   FBX \u3002","title":"2 - \u5c06 \u8f66\u8f86 \u5bfc\u51fa \u4e3a   FBX  "},{"location":"tuto_D_generate_colliders/#3-4-blender","text":"\u7b2c   3   \u6b65 .   ( \u5728   Blender   \u4e2d )   \u2014   \u5c06   FBX   \u6587\u4ef6 \u5bfc\u5165   Blender \u3002   \u7b2c   4   \u6b65 .   ( \u5728   Blender   \u4e2d )   \u2014   \u6dfb\u52a0 \u51f8\u5305 \u7f51\u683c \u4ee5 \u5f62\u6210 \u65b0 \u7684 \u78b0\u649e \u8fb9\u754c \uff08 \u865a\u5e7b \u5f15\u64ce \u5bf9 \u8ba1\u7b97 \u6548\u7387 \u7684 \u8981\u6c42 \uff09 \u3002 \u8fd9\u662f \u6700\u96be \u7684 \u4e00\u6b65 \u3002 \u5982\u679c \u9009\u62e9 \u6574\u8f86 \u8f66 \uff0c VHACD   \u521b\u5efa \u7684 \u78b0\u649e \u8fb9\u754c \u5c06 \u4e0d \u7cbe\u786e \u4e14 \u6df7\u4e71 \u3002 \u5b83 \u5c06 \u5305\u542b \u950b\u5229 \u7684 \u8fb9\u7f18 \uff0c \u8fd9\u4f1a \u6270\u4e71 \u9053\u8def \u4e0a \u7684 \u884c\u9a76 \u3002 \u8f6e\u5b50 \u5468\u56f4 \u8981 \u6709 \u5149\u6ed1 \u7684 \u8fb9\u754c \uff0c \u8fd9 \u4e00\u70b9 \u5f88 \u91cd\u8981 \u3002 \u5728 \u8f66 \u8eab\u4e0a \u4f7f\u7528 \u51f8 \u5206\u89e3 \uff0c \u540e\u89c6 \u540e\u89c6\u955c \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u4ecd\u7136 \u4e0d \u6b63\u786e \u3002 \u5bf9\u4e8e \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u6765\u8bf4 \uff0c \u8f66\u8f86 \u7684 \u7ec6\u8282 \u975e\u5e38 \u91cd\u8981 \u3002 \u7531\u4e8e \u4e0a\u8ff0 \u539f\u56e0 \uff0c \u8fd9\u4e9b \u6b65\u9aa4 \u88ab \u5206\u4e3a \u4e24\u4e2a \u90e8\u5206 \u3002   4.1   \u4f7f\u7528   VHACD   \u5de5\u5177 \u5207 \u51fa \u8f66\u8f6e \u7684 \u5e95\u90e8 \u3001 \u4fa7\u89c6 \u955c \u548c \u8f66\u8eab \u7684 \u9876\u90e8 \uff0c \u4ee5 \u521b\u5efa \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8fb9\u754c \u3002 \u4f7f\u7528   VHACD   \u5de5\u5177 \u526a\u6389 \u6c7d\u8f66 \u7684 \u4e0b \u534a \u90e8\u5206 \u4ee5 \u521b\u5efa \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u8fb9\u754c \uff08 \u6c7d\u8f66 \u7684 \u9876\u90e8 \uff09 \u3002   4.2   \u4f7f\u7528   VHACD   \u5de5\u5177 \u4e3a \u540e\u89c6 \u540e\u89c6\u955c \u521b\u5efa \u5355\u72ec \u7684 \u8fb9\u754c \u3002   \u8b66\u544a   \u547d\u540d \u5bf9\u8c61 \u65f6\u8981 \u975e\u5e38 \u5c0f\u5fc3 \u3002 \u6bcf\u4e2a \u8fb9\u754c \u5e94 \u4ee5   UCX _   \u5f00\u5934 \uff0c \u5176\u4f59 \u540d\u79f0 \u5fc5\u987b \u4e0e \u539f\u59cb \u7f51\u683c   \u5b8c\u5168   \u76f8\u540c   \u3002","title":"3   \u5230   4 - \u5bfc\u5165\u5230   Blender   \u5e76 \u521b\u5efa \u81ea\u5b9a\u4e49 \u8fb9\u754c  "},{"location":"tuto_D_generate_colliders/#5-blender-fbx","text":"\u7b2c   5   \u6b65 .   ( \u5728   Blender   \u4e2d )   \u2014   \u5c06 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e \u8fb9\u754c \u5bfc\u51fa \u5230   FBX   \u6587\u4ef6 \u4e2d \u3002   5.1   \u4ec5 \u9009\u62e9 \u539f\u59cb \u8f66\u8f86 \u548c \u6240\u6709 \u65b0 \u6dfb\u52a0 \u7684 \u7269\u4f53 \u8fdb\u884c \u78b0\u649e \u3002   5.2   \u5728 \u5bfc\u51fa \u83dc\u5355 \u4e2d \uff0c \u9009\u4e2d   selected   objects   \u5e76 \u4ec5 \u9009\u62e9 \u201c Mesh \u201d \u3002","title":"5 - \u4ece   Blender   \u5bfc\u51fa \u5230   FBX  "},{"location":"tuto_D_generate_colliders/#6-8-","text":"\u7b2c   6   \u6b65 .   ( \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d )   \u2014   \u5c06 \u65b0   FBX   \u4f5c\u4e3a \u865a\u5e7b \u8d44\u6e90 \u6587\u4ef6 \uff08 \u9759\u6001 \u7f51\u683c \u7269\u4f53 \uff09 \u5bfc\u5165   Carla \u3002   \u7b2c   7   \u6b65 .   ( \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d )   \u2014   \u5c06 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e \u4f53 \u5bfc\u5165 \u5bfc\u5165\u5230 \u7279\u5b9a \u8f66\u8f86 \u7684 \u7269\u7406 \u8d44\u6e90 \u4e2d \uff0c \u4ee5\u4fbf \u5c06 \u5176 \u7528\u4e8e \u8ba1\u7b97 \u3002   \u7b2c   8   \u6b65 .   ( \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d )   \u2014   \u521b\u5efa \u8fde\u63a5 \u4e0d\u540c \u5173\u8282 \u7684 \u7ea6\u675f \u5e76 \u5b9a\u4e49 \u6240\u6709 \u90e8\u4ef6 \u7684 \u7269\u7406 \u7279\u6027 \u3002   \u8fd9\u662f \u5173\u4e8e \u5982\u4f55 \u66f4\u6539   Carla   \u4e2d \u8f66\u8f86 \u7684 \u9ed8\u8ba4 \u78b0\u649e \u4f53 \u7684 \u603b\u7ed3 \u3002   \u6253\u5f00   Carla   \u5e76 \u95f2\u901b \u4e00\u4f1a \u4f1a\u513f \u4e00\u4f1a\u513f \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"6   \u5230   8 - \u5bfc\u5165 \u78b0\u649e \u4f53 \u5e76 \u5b9a\u4e49 \u7269\u7406  "},{"location":"tuto_D_linux_debug/","text":"Linux   \u4e0a \u7684 \u8c03\u8bd5   Python   \u7a0b\u5e8f \u8c03\u8bd5 \u7a0b\u5e8f\u8c03\u8bd5   VScode   \u6309   Ctrl + Shift + P   \uff0c \u8f93\u5165   Python : Select   Interpreter   \u5e76 \u9009\u62e9 \uff1b   \u9009\u62e9 \u6216 \u521b\u5efa \u6240 \u9700 \u7684 Python \u89e3\u91ca \u91ca\u5668 \u89e3\u91ca\u5668 \uff1b   \u5355\u51fb \u884c\u53f7 \u5de6\u4fa7 \u8bbe\u7f6e \u65ad\u70b9 \uff1b   \u70b9\u51fb \u53f3\u4e0a \u4e0a\u89d2 \u53f3\u4e0a\u89d2 \u4e09\u89d2 \u7bad\u5934 \uff0c \u9009\u62e9   Python   Debugger :   Debug   Python   File   \uff1b   shell   wget   - O   - O   :   ( output )   \u4ee5 \u6307\u5b9a \u7684 \u6587\u4ef6 \u6587\u4ef6\u540d \u4fdd\u5b58   cut   - d   \"   \"   - f   1   - d :   \u6307\u5b9a \u5b57\u6bb5 \u7684 \u5206\u9694 \u5206\u9694\u7b26 \uff0c \u9ed8\u8ba4 \u7684 \u5b57 \u6bb5 \u5206\u9694 \u5206\u9694\u7b26 \u4e3a \u201c TAB \u201d \uff1b   - f :   \u663e\u793a \u6307\u5b9a \u5b57\u6bb5 \u7684 \u5185\u5bb9 \uff1b   \u67e5\u770b \u5df2\u6709 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \uff1a   shell   script   conda   env   list   Git   \u975e \u5546\u7528 \u73af\u5883 \u4e0b \u7684 Git   \u56fe\u5f62 \u754c\u9762 \u56fe\u5f62\u754c\u9762 \u5de5\u5177   SmartGit   \u3002","title":"tuto   D   linux   debug"},{"location":"tuto_D_linux_debug/#linux","text":"","title":"Linux   \u4e0a \u7684 \u8c03\u8bd5"},{"location":"tuto_D_linux_debug/#python","text":"","title":"Python   \u7a0b\u5e8f\u8c03\u8bd5"},{"location":"tuto_D_linux_debug/#vscode","text":"\u6309   Ctrl + Shift + P   \uff0c \u8f93\u5165   Python : Select   Interpreter   \u5e76 \u9009\u62e9 \uff1b   \u9009\u62e9 \u6216 \u521b\u5efa \u6240 \u9700 \u7684 Python \u89e3\u91ca \u91ca\u5668 \u89e3\u91ca\u5668 \uff1b   \u5355\u51fb \u884c\u53f7 \u5de6\u4fa7 \u8bbe\u7f6e \u65ad\u70b9 \uff1b   \u70b9\u51fb \u53f3\u4e0a \u4e0a\u89d2 \u53f3\u4e0a\u89d2 \u4e09\u89d2 \u7bad\u5934 \uff0c \u9009\u62e9   Python   Debugger :   Debug   Python   File   \uff1b","title":"VScode"},{"location":"tuto_D_linux_debug/#shell","text":"wget   - O   - O   :   ( output )   \u4ee5 \u6307\u5b9a \u7684 \u6587\u4ef6 \u6587\u4ef6\u540d \u4fdd\u5b58   cut   - d   \"   \"   - f   1   - d :   \u6307\u5b9a \u5b57\u6bb5 \u7684 \u5206\u9694 \u5206\u9694\u7b26 \uff0c \u9ed8\u8ba4 \u7684 \u5b57 \u6bb5 \u5206\u9694 \u5206\u9694\u7b26 \u4e3a \u201c TAB \u201d \uff1b   - f :   \u663e\u793a \u6307\u5b9a \u5b57\u6bb5 \u7684 \u5185\u5bb9 \uff1b   \u67e5\u770b \u5df2\u6709 \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883 \uff1a   shell   script   conda   env   list","title":"shell"},{"location":"tuto_D_linux_debug/#git","text":"\u975e \u5546\u7528 \u73af\u5883 \u4e0b \u7684 Git   \u56fe\u5f62 \u754c\u9762 \u56fe\u5f62\u754c\u9762 \u5de5\u5177   SmartGit   \u3002","title":"Git"},{"location":"tuto_D_make_release/","text":"\u5982\u4f55 \u53d1\u5e03   \u672c \u6587\u6863 \u9002\u7528 \u4e8e \u60f3\u8981 \u53d1\u5e03 \u65b0 \u7248\u672c \u7684 \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u3002   \u786e\u4fdd \u5185\u5bb9 \u662f \u6700\u65b0 \u7684 \u3002   \u53c2\u9605 \u8bf7\u53c2\u9605   \u5347\u7ea7 \u5185\u5bb9   \u3002   \u5fc5\u8981 \u65f6 \u589e\u52a0   Carla   \u7248\u672c \u3002   \u589e\u52a0 \u4ee5\u4e0b \u6587\u4ef6 \u4e2d \u7684 \u7248\u672c \uff1a   DefaultGame . ini   ,   Carla . uplugin   ,   setup . py   ,   ContentVersions . txt   \u3002 Grep   \u67e5\u770b \u5f53\u524d \u7248\u672c \uff0c \u4ee5 \u786e\u4fdd \u786e\u4fdd\u60a8 \u4e0d\u4f1a \u9519\u8fc7 \u4efb\u4f55 \u53c2\u8003 \u3002   \u6e05\u9664   CHANGELOG . md \u3002   \u786e\u4fdd \u53d8\u66f4 \u65e5\u5fd7 \u662f \u6700\u65b0 \u7684 \uff0c \u5fc5\u8981 \u65f6 \u91cd\u5199 \u5e76 \u91cd\u65b0 \u7ec4\u7ec7 \uff1b \u8003\u8651 \u54ea\u4e9b \u9879\u76ee \u54ea\u4e9b\u9879\u76ee \u5bf9 \u7528\u6237 \u6765\u8bf4 \u66f4 \u91cd\u8981 \u3002   \u63d0\u4ea4 \u66f4\u6539 \u5e76 \u6dfb\u52a0 \u65b0 \u6807\u7b7e \u3002   \u63d0\u4ea4 \u6240\u6709 \u66f4\u6539 \u540e \uff0c \u6dfb\u52a0 \u4e00\u4e2a \u65b0 \u6807\u7b7e   git   tag   - a   X . X . X   \uff08 \u7528 \u6700\u65b0 \u7248\u672c \u66ff\u6362   X . X . X   \uff09 \u3002   \u6dfb\u52a0 \u6b64 \u7248\u672c \u7684 \u53d8\u66f4 \u65e5\u5fd7 \u4f5c\u4e3a \u6807\u7b7e \u6d88\u606f \u3002   \u6807\u7b7e \u5185\u5bb9 \u4ed3\u5e93 \u3002   \u5728 \u786e\u5207 \u7684 \u63d0\u4ea4 \u5904 \u5c06 \u7c7b\u4f3c \u7684 \u6807\u7b7e \u6dfb\u52a0 \u5230 \u5185\u5bb9 \u5b58\u50a8 \u5e93 \uff0c \u5982   ContentVersions . txt   \u4e2d \u3002   \u63a8\u9001 \u66f4\u6539 \u3002   \u5c06 \u6240\u6709 \u66f4\u6539 \u63a8\u9001 \u5230 \u4e24\u4e2a \u5b58\u50a8 \u5e93 \uff0c \u4ee5 \u63a8\u9001 \u60a8 \u53ef\u80fd \u9700\u8981 \u4f7f\u7528   git   push   -- tags   \u7684 \u6807\u7b7e \u3002 \u5982 \u6709 \u5fc5\u8981 \uff0c \u521b\u5efa \u62c9\u53d6 \u8bf7\u6c42 \u3002   \u7f16\u8f91   GitHub   \u7248\u672c \u3002   \u8f6c \u5230   GitHub   \u53d1\u5e03   \u5e76 \u5728 \u65b0\u521b \u521b\u5efa \u65b0\u521b\u5efa \u7684 \u6807\u7b7e \u4e4b\u4e0a \u521b\u5efa \u4e00\u4e2a \u65b0 \u7248\u672c \u3002 \u7b49\u5230   Jenkins   \u5b8c\u6210 \u53d1\u5e03 \u6700\u65b0 \u7248\u672c \u7684 \u6784\u5efa \uff0c \u5e76 \u5c06 \u4e0b\u8f7d \u94fe\u63a5 \u6dfb\u52a0 \u5230 \u65b0\u521b \u521b\u5efa \u65b0\u521b\u5efa \u7684 \u7248\u672c \u3002   \u53d1\u5e03 \u53ef \u6267\u884c \u6e38\u620f   \u5b89\u88c5   pyinstaller   \uff1a   pip   install   pyinstaller   \u6216 \u5b89\u88c5 \u56fe\u5f62 \u7a97\u53e3 \u6253\u5305 \u5de5\u5177 \uff1a   pip   install   auto - py - to - exe   \u7136\u540e \u8fd0\u884c   auto - py - to - exe   \u3002   \u8bbe\u8ba1   \u53c2\u8003   BeamNG   \u95ee\u9898   \u70b9\u51fb \u6253\u5305 \u540e \u7684 \u6587\u4ef6 \u51fa\u73b0 \u9519\u8bef \uff1a   TypeError :   expected   str ,   bytes   or   os . PathLike   object ,   not   _ io . BytesIO   \u89e3\u51b3 \uff1a   pygame . font . Font ( pygame . font . get _ default _ font ( ) ,   20 )   \u83b7\u5f97 \u7684 \u5b57\u4f53 \u6587\u4ef6 \u4e3a   freesansbold . ttf   \uff0c \u6700\u540e \u5c06 \u5b57\u4f53 \u6587\u4ef6 \u62f7\u8d1d \u62f7\u8d1d\u5230 \u548c exe \u6587\u4ef6 \u76f8\u540c \u7684 \u8def\u5f84 \uff0c \u7136\u540e \u6267\u884c \u5373\u53ef \u3002","title":"\u5982\u4f55 \u53d1\u5e03"},{"location":"tuto_D_make_release/#_1","text":"\u672c \u6587\u6863 \u9002\u7528 \u4e8e \u60f3\u8981 \u53d1\u5e03 \u65b0 \u7248\u672c \u7684 \u5f00\u53d1 \u53d1\u4eba \u4eba\u5458 \u5f00\u53d1\u4eba\u5458 \u3002   \u786e\u4fdd \u5185\u5bb9 \u662f \u6700\u65b0 \u7684 \u3002   \u53c2\u9605 \u8bf7\u53c2\u9605   \u5347\u7ea7 \u5185\u5bb9   \u3002   \u5fc5\u8981 \u65f6 \u589e\u52a0   Carla   \u7248\u672c \u3002   \u589e\u52a0 \u4ee5\u4e0b \u6587\u4ef6 \u4e2d \u7684 \u7248\u672c \uff1a   DefaultGame . ini   ,   Carla . uplugin   ,   setup . py   ,   ContentVersions . txt   \u3002 Grep   \u67e5\u770b \u5f53\u524d \u7248\u672c \uff0c \u4ee5 \u786e\u4fdd \u786e\u4fdd\u60a8 \u4e0d\u4f1a \u9519\u8fc7 \u4efb\u4f55 \u53c2\u8003 \u3002   \u6e05\u9664   CHANGELOG . md \u3002   \u786e\u4fdd \u53d8\u66f4 \u65e5\u5fd7 \u662f \u6700\u65b0 \u7684 \uff0c \u5fc5\u8981 \u65f6 \u91cd\u5199 \u5e76 \u91cd\u65b0 \u7ec4\u7ec7 \uff1b \u8003\u8651 \u54ea\u4e9b \u9879\u76ee \u54ea\u4e9b\u9879\u76ee \u5bf9 \u7528\u6237 \u6765\u8bf4 \u66f4 \u91cd\u8981 \u3002   \u63d0\u4ea4 \u66f4\u6539 \u5e76 \u6dfb\u52a0 \u65b0 \u6807\u7b7e \u3002   \u63d0\u4ea4 \u6240\u6709 \u66f4\u6539 \u540e \uff0c \u6dfb\u52a0 \u4e00\u4e2a \u65b0 \u6807\u7b7e   git   tag   - a   X . X . X   \uff08 \u7528 \u6700\u65b0 \u7248\u672c \u66ff\u6362   X . X . X   \uff09 \u3002   \u6dfb\u52a0 \u6b64 \u7248\u672c \u7684 \u53d8\u66f4 \u65e5\u5fd7 \u4f5c\u4e3a \u6807\u7b7e \u6d88\u606f \u3002   \u6807\u7b7e \u5185\u5bb9 \u4ed3\u5e93 \u3002   \u5728 \u786e\u5207 \u7684 \u63d0\u4ea4 \u5904 \u5c06 \u7c7b\u4f3c \u7684 \u6807\u7b7e \u6dfb\u52a0 \u5230 \u5185\u5bb9 \u5b58\u50a8 \u5e93 \uff0c \u5982   ContentVersions . txt   \u4e2d \u3002   \u63a8\u9001 \u66f4\u6539 \u3002   \u5c06 \u6240\u6709 \u66f4\u6539 \u63a8\u9001 \u5230 \u4e24\u4e2a \u5b58\u50a8 \u5e93 \uff0c \u4ee5 \u63a8\u9001 \u60a8 \u53ef\u80fd \u9700\u8981 \u4f7f\u7528   git   push   -- tags   \u7684 \u6807\u7b7e \u3002 \u5982 \u6709 \u5fc5\u8981 \uff0c \u521b\u5efa \u62c9\u53d6 \u8bf7\u6c42 \u3002   \u7f16\u8f91   GitHub   \u7248\u672c \u3002   \u8f6c \u5230   GitHub   \u53d1\u5e03   \u5e76 \u5728 \u65b0\u521b \u521b\u5efa \u65b0\u521b\u5efa \u7684 \u6807\u7b7e \u4e4b\u4e0a \u521b\u5efa \u4e00\u4e2a \u65b0 \u7248\u672c \u3002 \u7b49\u5230   Jenkins   \u5b8c\u6210 \u53d1\u5e03 \u6700\u65b0 \u7248\u672c \u7684 \u6784\u5efa \uff0c \u5e76 \u5c06 \u4e0b\u8f7d \u94fe\u63a5 \u6dfb\u52a0 \u5230 \u65b0\u521b \u521b\u5efa \u65b0\u521b\u5efa \u7684 \u7248\u672c \u3002","title":"\u5982\u4f55 \u53d1\u5e03"},{"location":"tuto_D_make_release/#_2","text":"\u5b89\u88c5   pyinstaller   \uff1a   pip   install   pyinstaller   \u6216 \u5b89\u88c5 \u56fe\u5f62 \u7a97\u53e3 \u6253\u5305 \u5de5\u5177 \uff1a   pip   install   auto - py - to - exe   \u7136\u540e \u8fd0\u884c   auto - py - to - exe   \u3002","title":"\u53d1\u5e03 \u53ef \u6267\u884c \u6e38\u620f"},{"location":"tuto_D_make_release/#_3","text":"\u53c2\u8003   BeamNG","title":"\u8bbe\u8ba1"},{"location":"tuto_D_make_release/#_4","text":"\u70b9\u51fb \u6253\u5305 \u540e \u7684 \u6587\u4ef6 \u51fa\u73b0 \u9519\u8bef \uff1a   TypeError :   expected   str ,   bytes   or   os . PathLike   object ,   not   _ io . BytesIO   \u89e3\u51b3 \uff1a   pygame . font . Font ( pygame . font . get _ default _ font ( ) ,   20 )   \u83b7\u5f97 \u7684 \u5b57\u4f53 \u6587\u4ef6 \u4e3a   freesansbold . ttf   \uff0c \u6700\u540e \u5c06 \u5b57\u4f53 \u6587\u4ef6 \u62f7\u8d1d \u62f7\u8d1d\u5230 \u548c exe \u6587\u4ef6 \u76f8\u540c \u7684 \u8def\u5f84 \uff0c \u7136\u540e \u6267\u884c \u5373\u53ef \u3002","title":"\u95ee\u9898"},{"location":"tuto_D_python_api/","text":"\u89e3\u8bfb   setup . py   \u5916\u90e8 \u94fe\u63a5 \u94fe\u63a5\u5e93   \u542b\u4e49   shlwapi . lib   \u5305\u542b \u4e86 \u5927\u91cf \u7684 Windows \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5904\u7406 \u65b9\u6cd5   Advapi32 . lib   \u5305\u542b \u7684 \u51fd\u6570 \u4e0e \u5bf9\u8c61 \u7684 \u5b89\u5168 \u5b89\u5168\u6027 \uff0c \u6ce8\u518c \u6ce8\u518c\u8868 \u7684 \u64cd\u63a7 \u4ee5\u53ca \u4e8b\u4ef6 \u65e5\u5fd7 \u6709\u5173   ole32 . lib   \u4e00\u822c \u662f \u9700\u8981 \u751f\u6210 \u4e00\u4e2a \u552f\u4e00 \u7684 uuid \u65f6 \u7528\u5230   shell32 . lib   \u5305\u542b \u4e86 \u4e00\u4e9b \u4e0e Shel \u76f8\u5173 \u7684 \u51fd\u6570 \u548c \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u7684 \u5b9a\u4e49 \u3002 \u8fd9\u4e9b \u51fd\u6570 \u548c \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u53ef\u4ee5 \u7528\u4e8e \u521b\u5efa \u548c \u7ba1\u7406 windows \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668\u4e2d \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3001 \u6587\u4ef6 \u3001 \u5feb\u6377 \u65b9\u5f0f \u5feb\u6377\u65b9\u5f0f \u7b49 \u5bf9\u8c61 \uff0c \u4ee5\u53ca \u5b9e\u73b0 \u4e00\u4e9b \u4e0e Shel \u76f8\u5173 \u7684 \u529f\u80fd \uff0c \u5982 \u62d6\u653e \u3001 \u526a\u8d34 \u8d34\u677f \u526a\u8d34\u677f \u64cd\u4f5c \u3001 \u6587\u4ef6 \u5173\u8054 \u7b49 \u3002   ole32 . lib   \u4e00\u822c \u662f \u9700\u8981 \u751f\u6210 \u4e00\u4e2a \u552f\u4e00 \u7684 uuid \u65f6 \u7528\u5230   libboost _ python37 - vc142 - mt - x64 - 1 _ 80 . lib   python \u8c03\u7528 c++ \u7684 \u63a5\u53e3   libboost _ filesystem - vc142 - mt - x64 - 1 _ 80 . lib   boost \u7684 \u6587\u4ef6 \u7cfb\u7edf \u6587\u4ef6\u7cfb\u7edf \u5e93   rpc . lib   \u8fdc\u7a0b \u8fc7\u7a0b \u8c03\u7528 \u5e93 \uff0c \u63d0\u4f9b \u4e86 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u5b9e\u73b0 \u3002   carla _ client . lib   LibCarla \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5b9e\u73b0   libpng . lib   \u56fe\u7247 \u5904\u7406 \u5e93   zlib . lib   \u89e3\u538b \u538b\u7f29 \u89e3\u538b\u7f29 \u5e93   Recast . lib   \u8981 \u529f\u80fd \u662f \u5c06 \u573a\u666f \u7f51\u683c \u6a21\u578b \u751f\u6210 \u7528\u4e8e \u5bfb\u8def \u7684 \u7f51\u683c \u6a21\u578b \uff08 Navigation   Mesh \uff0c \u4fd7\u79f0   \u884c\u8d70 \u9762   \uff0c \u6807\u8bb0 \u54ea\u4e9b \u5730\u65b9 \u54ea\u4e9b\u5730\u65b9 \u53ef \u884c\u8d70 \u7684 \u591a\u8fb9 \u591a\u8fb9\u5f62 \u7f51\u683c \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \uff09 \u3002   Detour . lib   \u4e3b\u8981 \u529f\u80fd \u662f \u5229\u7528 \u4e0a \u4e00\u6b65 \u6240 \u751f\u6210 \u7684 Navigation   Mesh \u8fdb\u884c   \u5bfb\u8def   \u3002   DetourCrowd . lib   \u63d0\u4f9b \u4e86   \u7fa4\u4f53   \u5bfb\u8def \u884c\u4e3a \u7684 \u529f\u80fd \u3002   xerces - c _ 3 . lib   XML \u6587\u6863 \u89e3\u6790 \u5f00\u6e90 \u9879\u76ee \u3002   sqlite3 . lib   \u5d4c\u5165 \u5d4c\u5165\u5f0f \u6570\u636e \u636e\u5e93 \u6570\u636e\u5e93 \u3002   proj . lib   \u901a\u7528 \u5750\u6807 \u8f6c\u6362 \u5e93 \u3002   osm2odr . lib   OpenStreetMap \u8f6c OpenDrive \u5e93 \u3002","title":"tuto   D   python   api"},{"location":"tuto_D_python_api/#setuppy","text":"\u5916\u90e8 \u94fe\u63a5 \u94fe\u63a5\u5e93   \u542b\u4e49   shlwapi . lib   \u5305\u542b \u4e86 \u5927\u91cf \u7684 Windows \u5b57\u7b26 \u5b57\u7b26\u4e32 \u5904\u7406 \u65b9\u6cd5   Advapi32 . lib   \u5305\u542b \u7684 \u51fd\u6570 \u4e0e \u5bf9\u8c61 \u7684 \u5b89\u5168 \u5b89\u5168\u6027 \uff0c \u6ce8\u518c \u6ce8\u518c\u8868 \u7684 \u64cd\u63a7 \u4ee5\u53ca \u4e8b\u4ef6 \u65e5\u5fd7 \u6709\u5173   ole32 . lib   \u4e00\u822c \u662f \u9700\u8981 \u751f\u6210 \u4e00\u4e2a \u552f\u4e00 \u7684 uuid \u65f6 \u7528\u5230   shell32 . lib   \u5305\u542b \u4e86 \u4e00\u4e9b \u4e0e Shel \u76f8\u5173 \u7684 \u51fd\u6570 \u548c \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u7684 \u5b9a\u4e49 \u3002 \u8fd9\u4e9b \u51fd\u6570 \u548c \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u53ef\u4ee5 \u7528\u4e8e \u521b\u5efa \u548c \u7ba1\u7406 windows \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668\u4e2d \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3001 \u6587\u4ef6 \u3001 \u5feb\u6377 \u65b9\u5f0f \u5feb\u6377\u65b9\u5f0f \u7b49 \u5bf9\u8c61 \uff0c \u4ee5\u53ca \u5b9e\u73b0 \u4e00\u4e9b \u4e0e Shel \u76f8\u5173 \u7684 \u529f\u80fd \uff0c \u5982 \u62d6\u653e \u3001 \u526a\u8d34 \u8d34\u677f \u526a\u8d34\u677f \u64cd\u4f5c \u3001 \u6587\u4ef6 \u5173\u8054 \u7b49 \u3002   ole32 . lib   \u4e00\u822c \u662f \u9700\u8981 \u751f\u6210 \u4e00\u4e2a \u552f\u4e00 \u7684 uuid \u65f6 \u7528\u5230   libboost _ python37 - vc142 - mt - x64 - 1 _ 80 . lib   python \u8c03\u7528 c++ \u7684 \u63a5\u53e3   libboost _ filesystem - vc142 - mt - x64 - 1 _ 80 . lib   boost \u7684 \u6587\u4ef6 \u7cfb\u7edf \u6587\u4ef6\u7cfb\u7edf \u5e93   rpc . lib   \u8fdc\u7a0b \u8fc7\u7a0b \u8c03\u7528 \u5e93 \uff0c \u63d0\u4f9b \u4e86 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u5b9e\u73b0 \u3002   carla _ client . lib   LibCarla \u7684 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5b9e\u73b0   libpng . lib   \u56fe\u7247 \u5904\u7406 \u5e93   zlib . lib   \u89e3\u538b \u538b\u7f29 \u89e3\u538b\u7f29 \u5e93   Recast . lib   \u8981 \u529f\u80fd \u662f \u5c06 \u573a\u666f \u7f51\u683c \u6a21\u578b \u751f\u6210 \u7528\u4e8e \u5bfb\u8def \u7684 \u7f51\u683c \u6a21\u578b \uff08 Navigation   Mesh \uff0c \u4fd7\u79f0   \u884c\u8d70 \u9762   \uff0c \u6807\u8bb0 \u54ea\u4e9b \u5730\u65b9 \u54ea\u4e9b\u5730\u65b9 \u53ef \u884c\u8d70 \u7684 \u591a\u8fb9 \u591a\u8fb9\u5f62 \u7f51\u683c \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \uff09 \u3002   Detour . lib   \u4e3b\u8981 \u529f\u80fd \u662f \u5229\u7528 \u4e0a \u4e00\u6b65 \u6240 \u751f\u6210 \u7684 Navigation   Mesh \u8fdb\u884c   \u5bfb\u8def   \u3002   DetourCrowd . lib   \u63d0\u4f9b \u4e86   \u7fa4\u4f53   \u5bfb\u8def \u884c\u4e3a \u7684 \u529f\u80fd \u3002   xerces - c _ 3 . lib   XML \u6587\u6863 \u89e3\u6790 \u5f00\u6e90 \u9879\u76ee \u3002   sqlite3 . lib   \u5d4c\u5165 \u5d4c\u5165\u5f0f \u6570\u636e \u636e\u5e93 \u6570\u636e\u5e93 \u3002   proj . lib   \u901a\u7528 \u5750\u6807 \u8f6c\u6362 \u5e93 \u3002   osm2odr . lib   OpenStreetMap \u8f6c OpenDrive \u5e93 \u3002","title":"\u89e3\u8bfb   setup . py"},{"location":"tuto_D_windows_debug/","text":"\u5728   Windows   \u4e0a \u8fdb\u884c   Carla   \u7684 \u8c03\u8bd5   \u865a\u5e7b \u5f15\u64ce Carla \u63d2\u4ef6 \u7684 \u8c03\u8bd5   \u8c03\u8bd5 LibCarla   Python   \u6269\u5c55 \u6a21\u5757   \u8c03\u8bd5 PythonAPI   \u6784\u5efa \u8c03\u8bd5 \u7248\u672c   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u8c03\u8bd5   \u5176\u4ed6   \u68c0\u67e5 \u6240 \u4f9d\u8d56 dll \u5e93 \u7684 \u7b26\u53f7 \u662f\u5426 \u52a0\u8f7d   VS2019   \u6253\u5f00   CarlaUE4   \u7684   Cmake   \u5de5\u7a0b   \u5bfc\u5165 \u5d29\u6e83 \u95ee\u9898   VS   \u8c03\u8bd5   UE   \u9879\u76ee   \u95ee\u9898   \u6280\u5de7   \u5b66\u4e60   \u7a0b\u5e8f \u8c03\u7528 \u6d41\u7a0b \uff1a Python \u3001 libcarla . cp37 - win _ amd64 . pyd \u3001 LibCarla \u3001 CarlaUE4 \u3002   \u865a\u5e7b \u5f15\u64ce Carla \u63d2\u4ef6 \u7684 \u8c03\u8bd5   \u8fdb\u5165 \u76ee\u5f55   carla / Unreal / CarlaUE4 /   \uff0c \u53f3\u952e \u6587\u4ef6   CarlaUE4 . uproject   \uff0c \u9009\u62e9 \u8fd0\u884c   Generate   Visual   Studio   project   files   \uff0c \u5728 \u5f53\u524d \u76ee\u5f55 \u5f53\u524d\u76ee\u5f55 \u4e2d\u5c06 \u4f1a \u751f\u6210 VS \u7684 \u5de5\u7a0b \u6587\u4ef6 \uff0c \u53cc\u51fb \u6253\u5f00   CarlaUE4 . sln   \u3002   \u7b14\u8bb0   \u5982\u679c \u53f3\u952e \u83dc\u5355 \u4e2d\u672a \u51fa\u73b0   Generate   Visual   Studio   project   files   \u9009\u9879 \uff0c \u5219 \u5230 \u865a\u5e7b \u5f15\u64ce \u7684 \u76ee\u5f55 \u4e2d\u8fd0 \u53cc\u51fb \u6267\u884c   engine \\ Engine \\ Binaries \\ Win64 \\ UnrealVersionSelector . exe   \uff0c \u5c06 \u865a\u5e7b \u5f15\u64ce \u8f6f\u4ef6 \u6ce8\u518c \u5230 \u7cfb\u7edf \u4e2d \u3002 \u5982\u679c \u62a5\u9519 \uff1a   \uff08 \u8c03\u8bd5 \u6570\u5b57 \u5b6a\u751f \u5de5\u5177 \uff09 \u5728   \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848   \u4e2d \u5c55\u5f00   Games - > CarlaUE4   \uff0c \u5728 \u60f3\u8981 \u67e5\u770b \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u884c \u7684 \u6700 \u5de6\u4fa7 \u5355\u51fb \u589e\u52a0 \u65ad\u70b9 \uff08 \u6bd4\u5982 \uff1a   CarlaUE4 - > Plugins - > CarlaTools - > Source - > CarlaTools - > Private   \u7684   OpenDriveToMap . cpp   \u7684   GenerateTileStandalone ( )   \uff09 \uff0c \u5728 \u83dc\u5355 \u8fd0\u884c   \u8c03\u8bd5 ( D ) - > \u5f00\u59cb \u8c03\u8bd5 ( S )   \uff0c \u7a0b\u5e8f \u5c06 \u5728 \u65ad\u70b9 \u51fa \u6682\u505c \u3002 \u901a\u8fc7   \u8c03\u5f0f ( D ) - > \u7a97\u53e3 ( W ) - > \u76d1\u89c6 ( W ) - > \u76d1\u89c6   1   \u6253\u5f00 \u53d8\u91cf \u76d1\u89c6 \u7a97\u53e3 \uff0c \u67e5\u770b \u53d8\u91cf \u91cf\u503c \u53d8\u91cf\u503c \u662f\u5426 \u5f02\u5e38 \u3002   \u8c03\u8bd5   Carla \u670d\u52a1 \u670d\u52a1\u7aef   \uff1a \u65ad\u70b9 \u6253 \u5728   Carla / Game / CarlaEngine . cpp   \u7684 \u7b2c 87 \u884c \uff0c \u7136\u540e \u5f00\u59cb \u8c03\u5f0f \uff0c \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u70b9\u51fb   \u8fd0\u884c   \u5219 \u4f1a \u5728 \u65ad\u70b9 \u5904 \u505c\u6b62 \u3002   \u914d\u7f6e \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \u5305\u62ec \uff1a   Debug   :   \u6e38\u620f \u548c \u5f15\u64ce \u5168\u90fd \u53ef\u4ee5 \u8c03\u8bd5 \uff0c \u65e0 \u4f18\u5316 \uff0c \u901f\u5ea6 \u901f\u5ea6\u6162 \uff0c \u6ca1\u6709 Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \uff0c \u8d44\u6e90 \u9700\u8981 Cook \u3002   Debug   Editor   \uff1a \u6e38\u620f \u548c \u5f15\u64ce \u5168\u90e8 \u53ef\u4ee5 \u8c03\u8bd5 \uff0c \u65e0 \u4f18\u5316 \uff0c \u53ef\u4ee5 \u4f7f\u7528 Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \uff0c \u8d44\u6e90 \u4e0d \u9700\u8981 Cook \uff0c \u53ef \u76f4\u63a5 \u542f\u52a8 \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \uff08 \u7528   generate _ traffic . py   \u8c03\u8bd5 \u4f1a \u5d29\u6e83 \uff0c   manual _ control . py   \u53ef\u4ee5 \uff09   DebugGame   \uff1a \u6e38\u620f \u4ee3\u7801 \u53ef \u8c03\u8bd5 \u65e0 \u4f18\u5316 \uff0c Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \u4e0d\u53ef \u4f7f\u7528 \uff0c \u5f15\u64ce \u4e0d\u53ef \u8c03\u8bd5 \uff0c \u8d44\u6e90 \u9700\u8981 Cook \u3002   DebugGame   Editor   \uff1a \u6e38\u620f \u4ee3\u7801 \u53ef \u8c03\u8bd5 \u65e0 \u4f18\u5316 \uff0c \u53ef\u4ee5 \u4f7f\u7528 Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \uff0c \u5f15\u64ce \u4e0d\u53ef \u8c03\u8bd5 \uff0c \u8d44\u6e90 \u4e0d \u9700\u8981 Cook \u3002   Development   \uff1a \u6e38\u620f \u3001 \u7f16\u8f91 \u7f16\u8f91\u5668 \u3001 \u5f15\u64ce \u90fd \u4e0d\u53ef \u8c03\u8bd5 \uff0c Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \u4e0d\u53ef \u4f7f\u7528 \uff0c \u8d44\u6e90 \u9700\u8981 Cook \u3002 \uff08 The   global   shader   cache   file   ' D : / work / workspace / engine / Engine / GlobalshaderCache - PCD3D _ M5 . bin '   is   missing . \uff09   Development   Editor   \uff1a \u6e38\u620f \u3001 \u7f16\u8f91 \u7f16\u8f91\u5668 \u3001 \u5f15\u64ce \u90fd \u4e0d\u53ef \u8c03\u8bd5 \uff0c Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \u53ef \u4f7f\u7528 \uff0c \u8d44\u6e90 \u4e0d \u9700\u8981 Cook \u3002 \uff08 \u9ed8\u8ba4 \uff09   Shipping   \uff1a \u53d1\u884c \u53d1\u884c\u7248 \uff0c \u6781\u81f4 \u4f18\u5316 \uff0c \u4f30\u8ba1 \u8c03\u8bd5 \u4fe1\u606f \u8c03\u8bd5\u4fe1\u606f \u90fd \u6ca1 \u4e86 \u3002   Test   \uff1a \u5305\u542b \u989d\u5916 \u7684 \u6d4b\u8bd5 \u4ee3\u7801 \u6d4b\u8bd5\u4ee3\u7801 \u3002   \u8c03\u8bd5 LibCarla   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5411 \u670d\u52a1 \u670d\u52a1\u7aef \u8c03\u7528 \u5b9e\u73b0 \u7684 \u529f\u80fd \u3002   *   \u811a\u672c   BuildLibCarla . bat   \u8c03\u7528   cmake   \u547d\u4ee4 \u8fdb\u884c \u6784\u5efa \uff1a   cmake   - G   % GENERATOR%   % PLATFORM% ^   - DCMAKE _ BUILD _ TYPE = Server ^   - DCMAKE _ CXX _ FLAGS _ RELEASE = \" / MD   / MP \" ^   - DCMAKE _ INSTALL _ PREFIX = \" % LIBCARLA _ SERVER _ INSTALL _ PATH : \\ = / % \" ^   \" % ROOT _ PATH% \"   \u5176\u4e2d \uff0c   - G   \u8868\u793a \u6307\u5b9a \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u7248\u672c \uff08   set   GENERATOR = \" Visual   Studio   16   2019 \"   \u3001   set   PLATFORM = - A   x64   \uff09 \uff1b   - DCMAKE _ BUILD _ TYPE   \u7684 \u53ef\u9009 \u9009\u9879 \u53ef\u9009\u9879 \u5305\u62ec \uff1a   Client   ,   Server   ,   Pytorch   ,   ros2   \uff1b   - D   CMAKE _ BUILD _ TYPE = \" Debug \"   \u53ef\u9009 \u53ef\u9009\u503c \u5305\u62ec \uff1a   Debug   ,   Release   ,   RelWithDebInfo   ,   MinSizeRel   \u3002   CMAKE _ CXX _ FLAGS _ RELEASE   \u8bbe\u7f6e \u7f16\u8bd1 \u7c7b\u578b   Release   \u65f6 \u7684 \u7f16\u8bd1 \u9009\u9879 \uff1b   \u8c03\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u5728   Build   \u76ee\u5f55 \u4e0b \u751f\u6210   Makefile   \u6587\u4ef6 \uff1a   cmake   -- build   .   -- config   Release   -- target   install   |   findstr   / V   \" Up - to - date : \"   \u4f7f\u7528 VS \u6253\u5f00   Build \\ libcarla - visualstudio \\ CARLA . sln   \u3002 \u4f7f\u7528 \u547d\u4ee4   make   client   \u6253\u5f00 \u7684 \u5c31\u662f   LibCarla \\ cmake \\ client \\ CMakeLists . txt   \u5bf9\u5e94 \u7684 \u9879\u76ee \u3002 \uff08 \u4f7f\u7528   make   server   \u6253\u5f00 \u7684 \u5219 \u662f   LibCarla \\ cmake \\ server \\ CMakeLists . txt   \u5bf9\u5e94 \u7684 \u9879\u76ee \uff09   \uff08   Build   \u76ee\u5f55 \u4e0b \u8fd8 \u5305\u62ec   osm2odr - visualstudio / SUMO . sln   \u7684 VS \u5de5\u7a0b \uff09 \u3002   \u53f3\u952e   carla _ client _ debug   \u5c06 \u5176   \u8bbe \u4e3a \u542f\u52a8 \u9879\u76ee   \u3002   \u9644\u7740 \u5230   Python   \u7a0b\u5e8f \u542f\u52a8 \u8c03\u8bd5 \u540e \uff0c \u51fa\u73b0   \u5f53\u524d \u4e0d\u4f1a \u547d \u4e2d\u65ad \u65ad\u70b9 \u4e2d\u65ad\u70b9   \u8fd8 \u6ca1\u6709 \u4e3a \u8be5 \u6587\u6863 \u52a0\u8f7d \u4efb\u4f55 \u7b26\u53f7   \u7684 \u8b66\u544a \u3002   \u89e3\u51b3   \u5728   BuildLibCarla . bat   \u4e2d \uff0c \u5c06   -- config   \u53c2\u6570 \u4ece   Release   \u4fee\u6539 \u4e3a   Debug   \u3002   \u6ce8\u610f   \u5728 vs2019 \u4e2d \u751f\u6210   carla _ client _ debug   \u7684 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u65f6 \u51fa\u73b0   fatal   error   C1189 :   # error   :   \" Incompatible   build   options \"   \u9519\u8bef \uff0c \u56e0\u4e3a   \u5728 \u4e0d \u6307\u5b9a \u8c03\u8bd5 \u8fd0\u884c \u65f6 \u7684 \u60c5\u51b5 \u4e0b \u4f7f\u7528 / RTC \u9009\u9879 \u5c06 \u5bfc\u81f4 \u94fe\u63a5 \u5668 \u9519\u8bef   \uff0c \u5219 \u9700\u8981 \u5c06 \u201c \u9879\u76ee \u5c5e\u6027   -- >   C++   -- >   \u57fa\u672c \u8fd0\u884c \u65f6 \u68c0\u67e5 \u201d   \u6539\u4e3a   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \uff0c \u7136\u540e \u91cd\u65b0 \u751f\u6210 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u3002 \u6216\u8005 \u53f3\u952e   carla _ client _ debug   \u9879\u76ee \u8fdb\u884c \u751f\u6210 \u3002   \u6ce8\u610f   \u53f3\u952e   carla _ client _ debug   \uff0c \u9009\u62e9   \u8c03\u8bd5   - >   \u542f\u52a8 \u65b0 \u5b9e\u4f8b   \u3002   \u4e14 \u9700\u8981 \u5728 \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u4e2d \u65b0\u5efa Python \u9879\u76ee \u7528\u4e8e \u6d4b\u8bd5 \u3002   \u53c2\u8003   vs \u8c03\u8bd5 C++   \u3002   \u8c03\u8bd5   carla _ client   \u65f6 \uff0c vs \u62a5\u9519 \uff1a   boost : : python : : error _ already _ set   \uff0c \u5c1d\u8bd5   \u6355\u83b7 \u5177\u4f53 \u5f02\u5e38   \u3002   Python   \u6269\u5c55 \u6a21\u5757   LibCarla \u7f16\u8bd1 \u540e \u751f\u6210   Python37 / Lib / site - packages / carla / libcarla . cp37 - win _ amd64 . pyd   \u7ed9 Python \u8fdb\u884c \u8c03\u7528 \u3002 \u4e3a\u4e86 \u63d0\u9ad8 \u8fd0\u884c \u901f\u5ea6 \uff0c \u5c06 \u5f53\u524d \u76ee\u5f55 \u5f53\u524d\u76ee\u5f55 \u4e2d \u7684   __ init __. py   \u548c   command . py   \u7f16\u8bd1 \u4e3a   __ pycache __   \u76ee\u5f55 \u4e2d \u7684   byte   code ( \u5b57\u8282 \u7801 )   \u3002   \u8c03\u8bd5 PythonAPI   boost _ python \u5e93 \u6240\u5728 \u7684 \u76ee\u5f55 \u4e3a \uff1a   carla \\ Build \\ boost - 1.80 . 0 - install \\ lib \\ libboost _ python37 - vc142 - mt - x64 - 1 _ 80 . lib   \uff0c   mt - x64   \u4e4b\u95f4 \u5e26\u6709   gd   \u7684 \u662f \u5bf9\u5e94 \u7684 \u8c03\u8bd5 \u7248\u672c \u3002 \u793a\u4f8b \u53c2\u8003   \u94fe\u63a5   \u3002   \u5217\u51fa \u6240\u6709 \u53ef\u7528 \u7684 \u547d\u4ee4 \uff1a   python   setup . py   -- help - commands   \u6784\u5efa \u547d\u4ee4 \uff1a   python   setup . py   build   \u6784\u5efa \u8c03\u8bd5 \u7248\u672c   \u53f3\u952e   CARLA   \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c   \u6dfb\u52a0   - >   \u65b0\u5efa \u9879\u76ee   - >   Python \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f   \uff1b   \u5c06   manual _ control . py   \u6587\u4ef6 \u5185\u5bb9 \u590d\u5236 \u590d\u5236\u5230 \u65b0\u5efa \u5de5\u7a0b \u7684   PythonApplication . py   \u6587\u4ef6 \u4e2d \uff1b   \u5728 . py \u6587\u4ef6 \u7684 \u5f00\u59cb \u5904 \u589e\u52a0   input ( )   \u4ee3\u7801 \uff1b   \u53f3\u952e . py \u6587\u4ef6 \uff0c \u70b9\u51fb   \u5f00\u59cb \u6267\u884c \uff08 \u8c03\u8bd5 \uff09   \uff0c \u4f1a\u5f39 \u51fa \u547d\u4ee4 \u547d\u4ee4\u884c \u754c\u9762 \uff1b   \u53f3\u952e   carla _ client _ debug   \u9879\u76ee - >   \u8c03\u8bd5   - >   \u542f\u52a8 \u65b0 \u5b9e\u4f8b   \uff1b   \u5728 \u7b2c 4 \u6b65\u5f39 \u51fa \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u754c\u9762 \u4e2d \u6572 \u56de\u8f66 \uff1b   \u53c2\u8003   \u94fe\u63a5   \uff0c \u6548\u679c \u672a\u77e5 \u3002   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u8c03\u8bd5   \u9519\u8bef   LNK2038   \u68c0\u6d4b \u5230 \u201c _ ITERATOR _ DEBUG _ LEVEL \u201d \u7684 \u4e0d \u5339\u914d \u9879 :   \u503c \u201c 0 \u201d \u4e0d \u5339\u914d \u503c \u201c 2 \u201d   \u9519\u8bef   LNK2038   \u68c0\u6d4b \u5230 \u201c RuntimeLibrary \u201d \u7684 \u4e0d \u5339\u914d \u9879 :   \u503c \u201c MD _ DynamicRelease \u201d \u4e0d \u5339\u914d \u503c \u201c MDd _ DynamicDebug \u201d   \u5f53\u524d \u5de5\u7a0b \u662f Debug \u7248\u672c \uff08 0 \uff09 \uff0c \u800c \u5f15\u7528 \u7684 \u5e93 \u6587\u4ef6 \u65f6 Release \u7248\u672c \uff08 2 \uff09 \u3002   \u9700\u8981 \u5c06 \u5176\u4ed6 \u7684 . lib \u6587\u4ef6 \u7f16\u8bd1 \u4e3a debug \u6a21\u5f0f \uff1a   1 . \u5207\u6362 \u5230 \u76ee\u5f55   Util \\ InstallersWin   \uff0c \u5c06   install _ boost . bat   \u5185 \u7684 b2 \u8fd0\u884c \u53c2\u6570 \u6539\u4e3a   variant = debug   \uff0c \uff08 \u6839\u636e   Setup . bat   \uff09 \u8fd0\u884c   install _ boost . bat   \uff1a   install _ boost . bat   -- build - dir   D : \\ work \\ buffer   -- toolset   msvc - 14.2   -- version   1.80 . 0   - j   4   \u4f1a \u81ea\u52a8 \u5c06 boost \u7684 \u5e93 \u548c \u6587\u4ef6 \u5934\u6587\u4ef6 \u5b89\u88c5 \u5230 \u76ee\u5f55   D : \\ work \\ buffer \\ boost - 1.80 . 0 - install   \u91cc\u9762 \u3002   \u5c06   install _ recast . bat   \u4e2d \u7684   Relase   \u6539\u4e3a   Debug   \u3002   \u5c06   - DCMAKE _ CXX _ FLAGS _ RELASE = \" / MD   / MP \"   \u6539\u4e3a \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b \u8c03\u8bd5 DLL   - DCMAKE _ CXX _ FLAGS _ DEBUG = \" / MDd   / MP \"   \uff0c \u8fd0\u884c   install _ recast . bat   \u3002   install _ recast . bat   -- build - dir   D : \\ work \\ buffer   -- generator   \" Visual   Studio   16   2019 \"   \u5c06   install _ rpclib . bat   \u4e2d \u7684   Relase   \u6539\u4e3a   Debug   \uff0c \u8fd0\u884c   install _ rpclib . bat   \u3002   \u5c06   - DCMAKE _ CXX _ FLAGS _ RELASE = \" / MD   / MP \"   \u6539\u4e3a \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b \u8c03\u8bd5 DLL   - DCMAKE _ CXX _ FLAGS _ DEBUG = \" / MDd   / MP \"   \u3002   install _ rpclib . bat   -- build - dir   D : \\ work \\ buffer   -- generator   \" Visual   Studio   16   2019 \"   2 . \u5c06 \u7b2c 1 \u6b65 \u751f\u6210 \u7684 \u5b89\u88c5 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55 \u914d\u7f6e \u5230   Examples \\ CppClient \\ CMakeLists . txt   \u4e2d \uff0c \u5bf9\u5e94 \u7684 \u6587\u4ef6 \u5934\u6587\u4ef6 \u548c \u5e93 \u6587\u4ef6 \u90fd \u6539\u4e3a Debug \u7248\u672c \uff1b   3 . \u5728   main . cpp   \u4e2d \u589e\u52a0 \u65ad\u70b9 \uff0c \u5e76 \u5f00\u59cb \u8c03\u8bd5 \uff1b   auto   world   =   client . LoadWorld ( \" town _ name \" ) ;   \u6539\u4e3a \uff1a   auto   world   =   client . LoadWorld ( \" Town10HD _ Opt \" ) ;   4 . \u7a0b\u5e8f \u5728 \u65ad\u70b9 \u505c\u6b62 \u540e \u6309 F10 \u8fd0\u884c \u4e0b \u4e00\u6b65 \uff0c \u6309 F11 \u8fdb\u5165 LibCarla \u4e2d \u7684 \u51fd\u6570 \u5b9e\u73b0 \u3002   \u5176\u4ed6   \u68c0\u67e5 \u6240 \u4f9d\u8d56 dll \u5e93 \u7684 \u7b26\u53f7 \u662f\u5426 \u52a0\u8f7d   \u4e0b \u65ad\u70b9 \uff0c F5 \u8c03\u8bd5 \u3002 \u7136\u540e \u201c \u8c03\u8bd5   -   \u7a97\u53e3   -   \u6a21\u5757 \u201d \u6253\u5f00 \u6a21\u5757 \u7a97\u53e3 \u3002   VS2019   \u6253\u5f00   CarlaUE4   \u7684   Cmake   \u5de5\u7a0b   windows \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u4e0b \u901a\u8fc7 vs2019 \u6253\u5f00 \u5e76 \u7f16\u8bd1 carla \uff1a   \u5f00 Carla \u7684 CMake \u9879\u76ee \uff08 \u53c2\u8003   CMake   \u5165\u95e8 \u6559\u7a0b \u5165\u95e8\u6559\u7a0b   \uff09 \uff1a   \u4ece   VS   \u7684 \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   File -- > Open -- > CMake   ,   \u5728 \u5bf9\u8bdd \u5bf9\u8bdd\u6846 \u4e2d \u627e\u5230   Carla   \u6240\u5728 \u7684 \u672c\u5730 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff08 \u5305\u542b CMakeLists \uff09 \uff0c \u9009\u62e9 CMakeLists . txt \u6587\u4ef6 \uff0c \u6253\u5f00 \uff0c Visual   studio   \u4f1a \u81ea\u52a8 \u52a0\u8f7d \u6b64 \u4ed3\u5e93 \uff0c \u89e3\u6790   CMakeLists . txt   \u6587\u4ef6 \uff0c \u5e76 \u63d0\u53d6 \u5176 \u914d\u7f6e \u548c \u53d8\u91cf \u4fe1\u606f \u3002 \u89e3\u6790 \u5b8c\u6210 \uff08 \u9700\u8981 \u4f1a\u513f \u7b49\u4f1a\u513f \u6216\u8005 \u91cd\u542f \uff09 \u4f1a \u4ece   \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668   \u4e2d \u770b\u5230   . cpp   \u6587\u4ef6 \u3002   \u4fee\u6539 \u914d\u7f6e \uff1a   \u70b9\u51fb   x64 - Debug   \u4e0b\u62c9 \u83dc\u5355 \u4e0b\u62c9\u83dc\u5355 \u4e2d \u7684   \u7ba1\u7406 \u914d\u7f6e   \uff0c \u5e76 \u5728 \u5f39\u51fa \u7684 \u754c\u9762 \u70b9\u51fb   \u7f16\u8f91 JSON   \uff08 \u8be5 \u8fc7\u7a0b \u5728 \u5de5\u7a0b \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e0b \u751f\u6210   CMakeSettings . json   \uff09 \uff0c \u5c06 \u6240 \u9700\u8981 \u6784\u5efa \u7684 \u7c7b\u578b \u6539\u4e3a \u60f3 \u7f16\u8bd1 \u7684 \u7c7b\u578b \uff0c \u6bd4\u5982   Client   \u3002   \u751f\u6210 \uff1a   \u70b9\u51fb \u83dc\u5355 \u83dc\u5355\u680f   \u751f\u6210   -   \u5168\u90e8 \u751f\u6210   \u6216   \u90e8\u5206 \u751f\u6210   \u5373\u53ef \u3002   \u5bfc\u5165 \u5d29\u6e83 \u95ee\u9898   \u4f8b\u5982 \uff0c \u5bfc\u5165 \u6d4b\u8bd5 \u94fe\u63a5 \uff1a   \u5c0f \u5730\u56fe \uff1a   https : / / overpass - api . de / api / map ? bbox = 112.9088 , 28.2221 , 112.9172 , 28.2290   \u5927 \u5730\u56fe \uff1a   https : / / overpass - api . de / api / map ? bbox = 112.8553 , 28.1931 , 112.9396 , 28.2504   \u91d1 \u91b4 \u9ad8\u901f \uff1a   https : / / overpass - api . de / api / map ? bbox = 113.5293 , 27.6893 , 113.5516 , 27.7074   CarlaUE4 - > Plugins - > CarlaTools - > Source - > CarlaTools - > Private   \u7684   OpenDriveToMap . cpp   463 \u884c   GenerateTileStandalone ( )   \uff0c \u7136\u540e \u8c03\u7528   ExecuteTileCommandlet ( )   :   UCommandlet \u662f   Unreal   Engine   \u4e2d \u7528\u4e8e \u5b9e\u73b0 \u547d\u4ee4 \u547d\u4ee4\u884c \u64cd\u4f5c \u7684 \u57fa\u7c7b \u3002 \u5b83 \u5141\u8bb8 \u5f00\u53d1 \u5f00\u53d1\u8005 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u547d\u4ee4 \uff0c \u5e76 \u5728 \u5f15\u64ce \u542f\u52a8 \u65f6 \u6267\u884c \u8fd9\u4e9b \u547d\u4ee4 \u3002 \u8fd9\u4e2a \u7c7b \u4e3b\u8981 \u7528\u4e8e \u6269\u5c55 \u5f15\u64ce \u529f\u80fd \uff0c \u63d0\u4f9b \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u5de5\u5177 \u3002   ExecuteTileCommandlet ( )   \u8c03\u7528 \u7684 \u662f   carla \\ Unreal \\ CarlaUE4 \\ Plugins \\ CarlaTools \\ Intermediate \\ Build \\ Win64 \\ UE4Editor \\ Inc \\ CarlaTools \\ OpenDriveToMap . gen . cpp   \uff08 \u53cd\u5c04 \u6587\u4ef6 gen \uff09 194 \u884c \u7684   static   FName   NAME _ UOpenDriveToMap _ ExecuteTileCommandlet   =   FName ( TEXT ( \" ExecuteTileCommandlet \" ) ) ;   void   UOpenDriveToMap : : ExecuteTileCommandlet ( )   {   ProcessEvent ( FindFunctionChecked ( NAME _ UOpenDriveToMap _ ExecuteTileCommandlet ) , NULL ) ;   }   \u627e\u5230 \u540d\u4e3a \u201c ExecuteTileCommandlet \u201d \u7684   UFunction   \u5bf9\u8c61 \uff1b   \u6267\u884c \u201c ProcessEvent \u201d \u51fd\u6570 \uff0c \u7136\u540e \u4ece \u5168\u5c40 \u51fd\u6570 \u6620\u5c04 \u8868 \u627e\u5230 \u5bf9\u5e94 \u7684 \u51fd\u6570 \u6307\u9488 \u51fd\u6570\u6307\u9488 \u6267\u884c \uff08 \u5229\u7528 \u51fd\u6570 \u540d \u8c03\u7528 UFUNCTION \u51fd\u6570 \uff09 \u3002   \u84dd\u56fe \u7684 \u5b57\u8282 \u7801   \uff1a \u5728   engine \\ Engine \\ Source \\ Runtime \\ CoreUObject \\ Public \\ UObject \\ Script . h   \u8fd9\u4e2a \u6587\u4ef6 \u4e2d\u6709 \u4e00\u4e2a   enum   EExprToken   \uff0c \u8fd9\u4e2a \u679a\u4e3e \u5c31\u662f \u84dd\u56fe \u7684 \u5b57\u8282 \u7801 \u5b9a\u4e49 \u3002 \u5f15\u64ce \u4e2d \u4f7f\u7528 \u4e00\u4e2a \u5168\u5c40 \u67e5\u627e \u8868 \uff0c \u628a \u4e0a\u8ff0 \u5b57\u8282 \u7801 \u6620\u5c04 \u5230 \u51fd\u6570 \u6307\u9488 \u51fd\u6570\u6307\u9488 \u3002 \u5728 \u8fd0\u884c \u65f6 \uff0c \u4ece \u4e00\u4e2a \u5b57\u8282 \u7801 \u6570\u7ec4 \u4e2d \u9010\u4e2a \u53d6\u51fa \u5b57\u8282 \u7801 \uff0c \u5e76 \u67e5\u627e \u51fd\u6570 \u6307\u9488 \u51fd\u6570\u6307\u9488 \uff0c \u8fdb\u884c \u8c03\u7528 \uff0c \u4e5f \u5c31 \u5b8c\u6210 \u4e86 \u6240\u8c13 \u7684 \u201c \u5b57\u8282 \u7801 \u89e3\u91ca \u6267\u884c \u201d \u7684 \u8fc7\u7a0b \u3002   \u6539\u4e3a   void   UOpenDriveToMap : : GenerateTileStandalone ( ) {   UE _ LOG ( LogCarlaToolsMapGenerator ,   Log ,   TEXT ( \" UOpenDriveToMap : : GenerateTileStandalone   Function   called \" ) ) ;   / /   ExecuteTileCommandlet ( ) ;   GenerateTile ( ) ;   UEditorLoadingAndSavingUtils : : SaveDirtyPackages ( true ,   true ) ;   UEditorLevelLibrary : : SaveCurrentLevel ( ) ;   }   \u6ce8\u610f \uff1a \u5927 \u5730\u56fe \u4e5f \u53ea\u80fd \u751f\u6210 \u4e00\u5c0f \u5c0f\u7247 \u4e00\u5c0f\u7247 \u5730\u56fe \u3002   \u62a5\u9519 \u4fe1\u606f \uff1a   D : \\ work \\ workspace \\ engine / Engine / Binanes \\ Win64 \\ UE4Editor   .. / .. / .. / .. / carla / Unreal / CaraUE4 / CaraUE4 . uproject   - run = GenerateTileCommandlet   \"   \"   - FilePath =   .. / .. / .. / .. / carla / Unreal / CarlaUE4 / Content / Custo   [ 2024.04 . 30 - 06.58 . 10 : 090 ] [   0 ] LogInit :   Executing   Class   / Script / CarlaTools . GenerateTileCommandlet   [ 2024.04 . 30 - 06.58 . 10 : 090 ] [   0 ] LogOutputDevice :   Warning :   ( 0   frames )   \u5d29\u6e83 \u65e5\u5fd7 \uff1a   LoginId : bc22576a452b36c1831fe8942b55e57a   EpicAccountId : 77cf3795af004e58a037e9c9d4a5aa0d   Assertion   failed :   Pair   ! =   nullptr   [ File : D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Core \\ Public \\ Containers / Map . h ]   [ Line :   621 ]   UE4Editor _ Core ! AssertFailedImplV ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Core \\ Private \\ Misc \\ AssertionMacros . cpp : 104 ]   UE4Editor _ Core ! FDebug : : CheckVerifyFailedImpl ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Core \\ Private \\ Misc \\ AssertionMacros . cpp : 461 ]   UE4Editor _ CarlaTools ! UGenerateTileCommandlet : : Main ( )   [ D : \\ work \\ workspace \\ carla \\ Unreal \\ CarlaUE4 \\ Plugins \\ CarlaTools \\ Source \\ CarlaTools \\ Private \\ Commandlet \\ GenerateTileCommandlet . cpp : 75 ]   UE4Editor ! FEngineLoop : : PreInitPostStartupScreen ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Launch \\ Private \\ LaunchEngineLoop . cpp : 3369 ]   UE4Editor ! GuardedMain ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Launch \\ Private \\ Launch . cpp : 127 ]   UE4Editor ! GuardedMainWrapper ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Launch \\ Private \\ Windows \\ LaunchWindows . cpp : 137 ]   UE4Editor ! WinMain ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Launch \\ Private \\ Windows \\ LaunchWindows . cpp : 268 ]   UE4Editor ! __ scrt _ common _ main _ seh ( )   [ d : \\ agent \\ _ work \\ 2 \\ s \\ src \\ vctools \\ crt \\ vcstartup \\ src \\ startup \\ exe _ common . inl : 288 ]   kernel32   ntdll   \u53ef\u77e5 \uff1a   OpenDriveMap - > FilePath   =   ParamsMap [ \" FilePath \" ] ;   \u62a5 \u7684 \u9519 \uff0c \u5e94\u8be5 \u662f \u8def\u5f84 \u4e0b . xodr \u6587\u4ef6 \u4e0d \u5b58\u5728 \u3002   \u5d29\u6e83 \u65e5\u5fd7 \u4f4d\u4e8e \uff1a   engine \\ Engine \\ Binaries \\ Win64 \\ CommandletParameters . txt   \u627e\u5230 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u8fd0\u884c \u53c2\u6570 \u4e3a \uff1a   - run = GenerateTileCommandlet   \"   \"   -   F   i   l   e   P   a   t   h   =   .   .   /   .   .   /   .   .   /   .   .   /   c   a   r   l   a   /   U   n   r   e   a   l   /   C   a   r   l   a   U   E   4   /   C   o   n   t   e   n   t   /   C   u   s   t   o   m   M   a   p   s   /   t   e   s   t   _   3   7   /   O   p   e   n   D   r   i   v   e   /   t   e   s   t   _   3   7   .   x   o   d   r   \"   \"   -   B   a   s   e   L   e   v   e   l   N   a   m   e   =   /   G   a   m   e   /   C   u   s   t   o   m   M   a   p   s   /   t   e   s   t   _   3   7   /   t   e   s   t   _   3   7   \"   \"   -   G   e   o   C   o   o   r   d   s   X   =   2   7   .   6   8   9   3   0   1   \"   \"   -   G   e   o   C   o   o   r   d   s   Y   =   1   1   3   .   5   2   9   2   9   7   \"   \"   -   C   T   i   l   e   X   =   4   \"   \"   -   C   T   i   l   e   Y   =   0   \"   \"   -   A   l   l   o   w   C   o   m   m   a   n   d   l   e   t   R   e   n   d   e   r   i   n   g   \u53c2\u6570 \u591a \u4e86 \u5f88\u591a \u7a7a\u683c   \u6b63\u786e \u5e94\u8be5 \u4e3a \uff1a   D : \\ work \\ workspace \\ engine \\ Engine \\ Binaries \\ Win64 \\ UE4Editor   .. / .. / .. / .. / carla / Unreal / CarlaUE4 / CarlaUE4 . uproject   - run = GenerateTileCommandlet   - FilePath = .. / .. / .. / .. / carla / Unreal / CarlaUE4 / Content / CustomMaps / test _ 37 / OpenDrive / test _ 37 . xodr   - BaseLevelName = / Game / CustomMaps / test _ 37 / test _ 37   - GeoCoordsX = 27.689301   - GeoCoordsY = 113.529297   - CTileX = 4   - CTileY = 0   - AllowCommandletRendering   D : \\ work \\ workspace \\ engine \\ Engine \\ Binaries \\ Win64 \\ UE4Editor - Cmd   D : / work / workspace / carla / Unreal / CarlaUE4 / CarlaUE4 . uproject   - run = GenerateTileCommandlet   - FilePath = D : / work / workspace / carla / Unreal / CarlaUE4 / Content / CustomMaps / test _ 37 / OpenDrive / test _ 37 . xodr   - BaseLevelName = / Game / CustomMaps / test _ 37 / test _ 37   - GeoCoordsX = 27.689301   - GeoCoordsY = 113.529297   - CTileX = 4   - CTileY = 0   - AllowCommandletRendering   \u76f4\u63a5 \u547d\u4ee4 \u547d\u4ee4\u884c \u8fd0\u884c \u62a5\u9519 \uff08 \u5fc5\u987b \u786e\u4fdd \u4e0d\u662f Commandlet \u542f\u52a8 \uff0c \u800c \u5fc5\u987b \u662f Editor \u542f\u52a8 \uff09 \uff1a   LogWindows :   Error :   Assertion   failed :   ! IsRunningCommandlet ( )   [ File : D : / work / workspace / engine / Engine / Plugins / Developer / RenderDocPlugin / Source / RenderDocPlugin / Private / SRenderDocPluginEditorExtension . cpp ]   [ Line :   107 ]   VS   \u8c03\u8bd5   UE   \u9879\u76ee   \u53d8\u91cf \u5df2 \u88ab \u4f18\u5316 \u6389 \uff0c \u56e0\u800c \u4e0d\u53ef \u7528 \u3002   VS \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   DebugGammingEditor   \uff0c \u7136\u540e \u5f00\u59cb \u8c03\u8bd5 \uff0c \u5c31 \u53ef\u4ee5 \u6dfb\u52a0 \u8981 \u76d1\u89c6 \u7684 \u9879 \u3002   \u95ee\u9898   \u5d29\u6e83 \u4e8e   engine \\ Engine \\ Source \\ Runtime \\ CoreUObject \\ Private \\ UObject \\ ScriptCore . cpp   1990 \u884c   Function - > Invoke ( this ,   NewStack ,   ReturnValueAddress ) ;   \u5f39 \u51fa \u62a5\u9519 \u4fe1\u606f \u6846 \uff1a   Failed   to   open   descriptor   file   . / .. / .. / .. / carla / Unreal / CarlaUE4 / CarlaUE4 . uproject   VS \u8df3\u8f6c \u4ee3\u7801 \u592a\u6162   \u5728 VS \u4e2d \u70b9\u51fb \u8c03\u8bd5 \u6216 \u8fd0\u884c \u65f6\u62a5 \u9519 \uff1a   \u9519\u8bef   C4067   \u9884 \u5904\u7406 \u7406\u5668 \u5904\u7406\u5668 \u6307\u4ee4 \u540e \u6709 \u610f\u5916 \u6807\u8bb0   -   \u5e94 \u8f93\u5165 \u6362\u884c \u6362\u884c\u7b26   \u548c   \u9519\u8bef   C1012   \u62ec\u53f7 \u4e0d \u5339\u914d :   \u7f3a\u5c11 \u201c ) \u201d   \u89e3\u51b3 \uff1a \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u4f7f\u7528   make   launch   ARGS = ' -- chrono '   \u8fdb\u884c \u91cd\u65b0 \u7f16\u8bd1 \u540e \uff0c \u7136\u540e \u518d\u7528 VS \u542f\u52a8 \u8c03\u8bd5 \u3002   \u6267\u884c \u201c make   launch \u201d \u65f6 \u51fa\u9519 \uff0c ' Renderer / Public / GBufferView . h '   \u8868\u73b0 \u4e3a \u6253\u5f00   CarlaUE4 . sln   \u540e \u6ca1\u6709   UnrealBuildTool   \u9009\u9879 \u3002   \u56e0\u4e3a \u672a \u5728   STOCK   UNREAL   ENGINE   \u4e2d \u627e\u5230 \u5b83 \u3002 \u5b83 \u662f \u6dfb\u52a0 \u5230   CARLA   \u5206\u652f \u4e2d \u7684 \u5185\u5bb9 \u3002 \u5982\u679c \u60a8 \u5728 \u4e24\u4e2a \u7248\u672c \u7684   Unreal   \u548c   Carla   \u4e4b\u95f4 \u6267\u884c   git   diff \uff0c \u60a8 \u5c06 \u770b\u5230 \u53ea\u6709 \u5c11\u91cf \u66f4\u6539 \uff0c \u5e76\u4e14 \u6dfb\u52a0 \u4e86   GBuffer   \u89c6\u56fe \u3002   \u89e3\u51b3 \uff1a \u53f3\u952e \u6587\u4ef6   CarlaUE4 . uproject   \uff0c \u9009\u62e9   Switch   Unreal   Engine   version   \uff0c \u5e76 \u9009\u62e9 \u9700\u8981 \u4f7f\u7528 \u7684 \u865a\u5e7b \u5f15\u64ce \u7248\u672c \uff08 \u5982\u679c \u6ca1\u6709 \u751f\u6210 \u65b0 \u7684   CarlaUE4 . sln   \uff0c \u5219 \u9700\u8981 \u5148 \u5220\u9664 \u518d \u91cd\u65b0 \u751f\u6210   CarlaUE4 . sln   \uff09 \u3002 \u8fd8\u6709 \u53ef\u80fd \u62a5\u9519 \uff1a   \u9884 \u5904\u7406 \u7406\u5668 \u5904\u7406\u5668 \u6307\u4ee4 \u540e \u6709 \u610f\u5916 \u6807\u8bb0   -   \u5e94 \u8f93\u5165 \u6362\u884c \u6362\u884c\u7b26   \uff0c \u9700\u8981 \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u4e2d\u5148 \u8fd0\u884c   make   launch   \u6216\u8005   make   launch   ARGS = \" -- chrono \"   \u7136\u540e \u518d \u5728 vs \u4e2d \u8fd0\u884c \u3002   \u4f9d\u8d56   boost - 1.80 . 0   Python \u5c01\u88c5 C++ \u5e93 \u8c03\u8bd5   \u3002   \u53d1\u5e03   \u5305\u542b \u6240\u6709 \u8f6f\u4ef6 \u4f9d\u8d56 \uff0c \u53cc\u51fb   launch . bat   \u542f\u52a8 \u8f6f\u4ef6 \u3002   VS2019 \u793e\u533a \u7248 \u5b89\u88c5   \u89e3\u538b \u5b89\u88c5 \u5b89\u88c5\u5305 \uff1a   7z   x   filename . zip   - o .   \u65b0 \u7535\u8111 \u8fd0\u884c   NativeDesktop . exe   \u51fa\u73b0   \u6b64 \u7248\u672c \u7684 Windows \u4e0d \u652f\u6301 \u6b64 \u4ea7\u54c1 \uff0c \u8bf7 \u5c1d\u8bd5 \u5347\u7ea7 Windows \u3002   \u6280\u5de7   \u8fdb\u884c \u51fd\u6570 \u8df3\u8f6c \u65f6 \uff0c vs \u4e00\u81f4 \u51fa\u73b0   \u6b63\u5728 \u8fdb\u884c IntelliSense   \uff1a   \u9009\u62e9 \u201c \u5de5\u5177 \u201d \u83dc\u5355 \u83dc\u5355\u680f \u4e0b \u7684 \u201c \u9009\u9879 \u201d \u6309\u94ae \u6253\u5f00 \u9009\u9879 \u9875\u9762 \uff0c \u627e\u5230   \u6587\u672c \u7f16\u8f91 \u6587\u672c\u7f16\u8f91 \u5668 - > C / C++ - > \u9ad8\u7ea7 , \u5728 \u53f3\u4fa7 \u7684 \u7981\u7528 IntelliSense \u4e2d \u6539\u4e3a True   \u68c0\u67e5 \u7b26\u53f7 \u662f\u5426 \u52a0\u8f7d   \u542f\u52a8 \u8c03\u5f0f \u5e76 \u5728 \u65ad\u70b9 \u505c\u4e0b \uff0c \u7136\u540e \u201c \u8c03\u8bd5   -   \u7a97\u53e3   -   \u6a21\u5757 \u201d \u6253\u5f00 \u6a21\u5757 \u7a97\u53e3 \u3002   \u627e\u5230 \u7b2c\u4e09 \u4e09\u65b9 \u7b2c\u4e09\u65b9 dll \u7684 \u540d\u5b57 \uff0c \u770b \u201c \u7b26\u53f7 \u6587\u4ef6 \u201d \u4e00\u680f \u662f \u7a7a \u7684 \u3002 \u8bf4\u660e \u8fd9\u4e2a dll \u7684 \u7b26\u53f7 \u6587\u4ef6 \u6ca1\u6709 \u52a0\u8f7d \u3002   \u628a . pdb \u548c . dll \u653e\u5728 \u4e00\u8d77 \u3002 \u518d\u6b21 \u8c03\u8bd5 \u3002 \u53ef\u4ee5 \u770b\u5230 \u7b26\u53f7 \u6587\u4ef6 \u5df2\u7ecf \u52a0\u8f7d \u4e86 \u3002   \u6539\u53d8 ubuntu \u7ec8\u7aef \u663e\u793a \u8bed\u8a00 \uff08 \u684c\u9762 \u7cfb\u7edf \u4e2d\u6587 \uff0c \u7ec8\u7aef \u63d0\u793a \u82f1\u6587 \uff09   vim   ~ / . bashrc   export   LANGUAGE = en _ US   export   LANG = en _ US . UTF - 8   source   ~ / . bashrc   \u65e5\u5fd7 \u8bb0\u5f55   UE _ LOG   \u51fd\u6570 \u8bb0\u5f55 \u7684 \u65e5\u5fd7 \u4f4d\u4e8e   carla \\ Unreal \\ CarlaUE4 \\ Saved \\ Logs \\ CarlaUE4 . log   \u6587\u4ef6 \u4e2d \u3002   \u5de5\u5177   VScode \u8c03\u8bd5 shell   bash \u811a\u672c   \u5728 VScode \u4e2d \u5b89\u88c5   Bash   Debug   \uff0c   \u5b66\u4e60   bat \u811a\u672c   LibCarla   \u8bf4\u660e   CarlaUE4   \u8bf4\u660e","title":"\u5728   Windows   \u4e0a \u8fdb\u884c   Carla   \u7684 \u8c03\u8bd5"},{"location":"tuto_D_windows_debug/#windows-carla","text":"\u865a\u5e7b \u5f15\u64ce Carla \u63d2\u4ef6 \u7684 \u8c03\u8bd5   \u8c03\u8bd5 LibCarla   Python   \u6269\u5c55 \u6a21\u5757   \u8c03\u8bd5 PythonAPI   \u6784\u5efa \u8c03\u8bd5 \u7248\u672c   C++ \u5ba2\u6237 \u5ba2\u6237\u7aef \u8c03\u8bd5   \u5176\u4ed6   \u68c0\u67e5 \u6240 \u4f9d\u8d56 dll \u5e93 \u7684 \u7b26\u53f7 \u662f\u5426 \u52a0\u8f7d   VS2019   \u6253\u5f00   CarlaUE4   \u7684   Cmake   \u5de5\u7a0b   \u5bfc\u5165 \u5d29\u6e83 \u95ee\u9898   VS   \u8c03\u8bd5   UE   \u9879\u76ee   \u95ee\u9898   \u6280\u5de7   \u5b66\u4e60   \u7a0b\u5e8f \u8c03\u7528 \u6d41\u7a0b \uff1a Python \u3001 libcarla . cp37 - win _ amd64 . pyd \u3001 LibCarla \u3001 CarlaUE4 \u3002","title":"\u5728   Windows   \u4e0a \u8fdb\u884c   Carla   \u7684 \u8c03\u8bd5"},{"location":"tuto_D_windows_debug/#carla","text":"\u8fdb\u5165 \u76ee\u5f55   carla / Unreal / CarlaUE4 /   \uff0c \u53f3\u952e \u6587\u4ef6   CarlaUE4 . uproject   \uff0c \u9009\u62e9 \u8fd0\u884c   Generate   Visual   Studio   project   files   \uff0c \u5728 \u5f53\u524d \u76ee\u5f55 \u5f53\u524d\u76ee\u5f55 \u4e2d\u5c06 \u4f1a \u751f\u6210 VS \u7684 \u5de5\u7a0b \u6587\u4ef6 \uff0c \u53cc\u51fb \u6253\u5f00   CarlaUE4 . sln   \u3002   \u7b14\u8bb0   \u5982\u679c \u53f3\u952e \u83dc\u5355 \u4e2d\u672a \u51fa\u73b0   Generate   Visual   Studio   project   files   \u9009\u9879 \uff0c \u5219 \u5230 \u865a\u5e7b \u5f15\u64ce \u7684 \u76ee\u5f55 \u4e2d\u8fd0 \u53cc\u51fb \u6267\u884c   engine \\ Engine \\ Binaries \\ Win64 \\ UnrealVersionSelector . exe   \uff0c \u5c06 \u865a\u5e7b \u5f15\u64ce \u8f6f\u4ef6 \u6ce8\u518c \u5230 \u7cfb\u7edf \u4e2d \u3002 \u5982\u679c \u62a5\u9519 \uff1a   \uff08 \u8c03\u8bd5 \u6570\u5b57 \u5b6a\u751f \u5de5\u5177 \uff09 \u5728   \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848   \u4e2d \u5c55\u5f00   Games - > CarlaUE4   \uff0c \u5728 \u60f3\u8981 \u67e5\u770b \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u884c \u7684 \u6700 \u5de6\u4fa7 \u5355\u51fb \u589e\u52a0 \u65ad\u70b9 \uff08 \u6bd4\u5982 \uff1a   CarlaUE4 - > Plugins - > CarlaTools - > Source - > CarlaTools - > Private   \u7684   OpenDriveToMap . cpp   \u7684   GenerateTileStandalone ( )   \uff09 \uff0c \u5728 \u83dc\u5355 \u8fd0\u884c   \u8c03\u8bd5 ( D ) - > \u5f00\u59cb \u8c03\u8bd5 ( S )   \uff0c \u7a0b\u5e8f \u5c06 \u5728 \u65ad\u70b9 \u51fa \u6682\u505c \u3002 \u901a\u8fc7   \u8c03\u5f0f ( D ) - > \u7a97\u53e3 ( W ) - > \u76d1\u89c6 ( W ) - > \u76d1\u89c6   1   \u6253\u5f00 \u53d8\u91cf \u76d1\u89c6 \u7a97\u53e3 \uff0c \u67e5\u770b \u53d8\u91cf \u91cf\u503c \u53d8\u91cf\u503c \u662f\u5426 \u5f02\u5e38 \u3002   \u8c03\u8bd5   Carla \u670d\u52a1 \u670d\u52a1\u7aef   \uff1a \u65ad\u70b9 \u6253 \u5728   Carla / Game / CarlaEngine . cpp   \u7684 \u7b2c 87 \u884c \uff0c \u7136\u540e \u5f00\u59cb \u8c03\u5f0f \uff0c \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u70b9\u51fb   \u8fd0\u884c   \u5219 \u4f1a \u5728 \u65ad\u70b9 \u5904 \u505c\u6b62 \u3002   \u914d\u7f6e \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \u5305\u62ec \uff1a   Debug   :   \u6e38\u620f \u548c \u5f15\u64ce \u5168\u90fd \u53ef\u4ee5 \u8c03\u8bd5 \uff0c \u65e0 \u4f18\u5316 \uff0c \u901f\u5ea6 \u901f\u5ea6\u6162 \uff0c \u6ca1\u6709 Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \uff0c \u8d44\u6e90 \u9700\u8981 Cook \u3002   Debug   Editor   \uff1a \u6e38\u620f \u548c \u5f15\u64ce \u5168\u90e8 \u53ef\u4ee5 \u8c03\u8bd5 \uff0c \u65e0 \u4f18\u5316 \uff0c \u53ef\u4ee5 \u4f7f\u7528 Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \uff0c \u8d44\u6e90 \u4e0d \u9700\u8981 Cook \uff0c \u53ef \u76f4\u63a5 \u542f\u52a8 \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \uff08 \u7528   generate _ traffic . py   \u8c03\u8bd5 \u4f1a \u5d29\u6e83 \uff0c   manual _ control . py   \u53ef\u4ee5 \uff09   DebugGame   \uff1a \u6e38\u620f \u4ee3\u7801 \u53ef \u8c03\u8bd5 \u65e0 \u4f18\u5316 \uff0c Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \u4e0d\u53ef \u4f7f\u7528 \uff0c \u5f15\u64ce \u4e0d\u53ef \u8c03\u8bd5 \uff0c \u8d44\u6e90 \u9700\u8981 Cook \u3002   DebugGame   Editor   \uff1a \u6e38\u620f \u4ee3\u7801 \u53ef \u8c03\u8bd5 \u65e0 \u4f18\u5316 \uff0c \u53ef\u4ee5 \u4f7f\u7528 Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \uff0c \u5f15\u64ce \u4e0d\u53ef \u8c03\u8bd5 \uff0c \u8d44\u6e90 \u4e0d \u9700\u8981 Cook \u3002   Development   \uff1a \u6e38\u620f \u3001 \u7f16\u8f91 \u7f16\u8f91\u5668 \u3001 \u5f15\u64ce \u90fd \u4e0d\u53ef \u8c03\u8bd5 \uff0c Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \u4e0d\u53ef \u4f7f\u7528 \uff0c \u8d44\u6e90 \u9700\u8981 Cook \u3002 \uff08 The   global   shader   cache   file   ' D : / work / workspace / engine / Engine / GlobalshaderCache - PCD3D _ M5 . bin '   is   missing . \uff09   Development   Editor   \uff1a \u6e38\u620f \u3001 \u7f16\u8f91 \u7f16\u8f91\u5668 \u3001 \u5f15\u64ce \u90fd \u4e0d\u53ef \u8c03\u8bd5 \uff0c Editor \u76f8\u5173 \u4ee3\u7801 \u529f\u80fd \u53ef \u4f7f\u7528 \uff0c \u8d44\u6e90 \u4e0d \u9700\u8981 Cook \u3002 \uff08 \u9ed8\u8ba4 \uff09   Shipping   \uff1a \u53d1\u884c \u53d1\u884c\u7248 \uff0c \u6781\u81f4 \u4f18\u5316 \uff0c \u4f30\u8ba1 \u8c03\u8bd5 \u4fe1\u606f \u8c03\u8bd5\u4fe1\u606f \u90fd \u6ca1 \u4e86 \u3002   Test   \uff1a \u5305\u542b \u989d\u5916 \u7684 \u6d4b\u8bd5 \u4ee3\u7801 \u6d4b\u8bd5\u4ee3\u7801 \u3002","title":"\u865a\u5e7b \u5f15\u64ce Carla \u63d2\u4ef6 \u7684 \u8c03\u8bd5  "},{"location":"tuto_D_windows_debug/#libcarla","text":"\u5ba2\u6237 \u5ba2\u6237\u7aef   \u5411 \u670d\u52a1 \u670d\u52a1\u7aef \u8c03\u7528 \u5b9e\u73b0 \u7684 \u529f\u80fd \u3002   *   \u811a\u672c   BuildLibCarla . bat   \u8c03\u7528   cmake   \u547d\u4ee4 \u8fdb\u884c \u6784\u5efa \uff1a   cmake   - G   % GENERATOR%   % PLATFORM% ^   - DCMAKE _ BUILD _ TYPE = Server ^   - DCMAKE _ CXX _ FLAGS _ RELEASE = \" / MD   / MP \" ^   - DCMAKE _ INSTALL _ PREFIX = \" % LIBCARLA _ SERVER _ INSTALL _ PATH : \\ = / % \" ^   \" % ROOT _ PATH% \"   \u5176\u4e2d \uff0c   - G   \u8868\u793a \u6307\u5b9a \u7f16\u8bd1 \u7f16\u8bd1\u5668 \u7248\u672c \uff08   set   GENERATOR = \" Visual   Studio   16   2019 \"   \u3001   set   PLATFORM = - A   x64   \uff09 \uff1b   - DCMAKE _ BUILD _ TYPE   \u7684 \u53ef\u9009 \u9009\u9879 \u53ef\u9009\u9879 \u5305\u62ec \uff1a   Client   ,   Server   ,   Pytorch   ,   ros2   \uff1b   - D   CMAKE _ BUILD _ TYPE = \" Debug \"   \u53ef\u9009 \u53ef\u9009\u503c \u5305\u62ec \uff1a   Debug   ,   Release   ,   RelWithDebInfo   ,   MinSizeRel   \u3002   CMAKE _ CXX _ FLAGS _ RELEASE   \u8bbe\u7f6e \u7f16\u8bd1 \u7c7b\u578b   Release   \u65f6 \u7684 \u7f16\u8bd1 \u9009\u9879 \uff1b   \u8c03\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u5728   Build   \u76ee\u5f55 \u4e0b \u751f\u6210   Makefile   \u6587\u4ef6 \uff1a   cmake   -- build   .   -- config   Release   -- target   install   |   findstr   / V   \" Up - to - date : \"   \u4f7f\u7528 VS \u6253\u5f00   Build \\ libcarla - visualstudio \\ CARLA . sln   \u3002 \u4f7f\u7528 \u547d\u4ee4   make   client   \u6253\u5f00 \u7684 \u5c31\u662f   LibCarla \\ cmake \\ client \\ CMakeLists . txt   \u5bf9\u5e94 \u7684 \u9879\u76ee \u3002 \uff08 \u4f7f\u7528   make   server   \u6253\u5f00 \u7684 \u5219 \u662f   LibCarla \\ cmake \\ server \\ CMakeLists . txt   \u5bf9\u5e94 \u7684 \u9879\u76ee \uff09   \uff08   Build   \u76ee\u5f55 \u4e0b \u8fd8 \u5305\u62ec   osm2odr - visualstudio / SUMO . sln   \u7684 VS \u5de5\u7a0b \uff09 \u3002   \u53f3\u952e   carla _ client _ debug   \u5c06 \u5176   \u8bbe \u4e3a \u542f\u52a8 \u9879\u76ee   \u3002   \u9644\u7740 \u5230   Python   \u7a0b\u5e8f \u542f\u52a8 \u8c03\u8bd5 \u540e \uff0c \u51fa\u73b0   \u5f53\u524d \u4e0d\u4f1a \u547d \u4e2d\u65ad \u65ad\u70b9 \u4e2d\u65ad\u70b9   \u8fd8 \u6ca1\u6709 \u4e3a \u8be5 \u6587\u6863 \u52a0\u8f7d \u4efb\u4f55 \u7b26\u53f7   \u7684 \u8b66\u544a \u3002   \u89e3\u51b3   \u5728   BuildLibCarla . bat   \u4e2d \uff0c \u5c06   -- config   \u53c2\u6570 \u4ece   Release   \u4fee\u6539 \u4e3a   Debug   \u3002   \u6ce8\u610f   \u5728 vs2019 \u4e2d \u751f\u6210   carla _ client _ debug   \u7684 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u65f6 \u51fa\u73b0   fatal   error   C1189 :   # error   :   \" Incompatible   build   options \"   \u9519\u8bef \uff0c \u56e0\u4e3a   \u5728 \u4e0d \u6307\u5b9a \u8c03\u8bd5 \u8fd0\u884c \u65f6 \u7684 \u60c5\u51b5 \u4e0b \u4f7f\u7528 / RTC \u9009\u9879 \u5c06 \u5bfc\u81f4 \u94fe\u63a5 \u5668 \u9519\u8bef   \uff0c \u5219 \u9700\u8981 \u5c06 \u201c \u9879\u76ee \u5c5e\u6027   -- >   C++   -- >   \u57fa\u672c \u8fd0\u884c \u65f6 \u68c0\u67e5 \u201d   \u6539\u4e3a   \u9ed8\u8ba4 \u9ed8\u8ba4\u503c   \uff0c \u7136\u540e \u91cd\u65b0 \u751f\u6210 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u3002 \u6216\u8005 \u53f3\u952e   carla _ client _ debug   \u9879\u76ee \u8fdb\u884c \u751f\u6210 \u3002   \u6ce8\u610f   \u53f3\u952e   carla _ client _ debug   \uff0c \u9009\u62e9   \u8c03\u8bd5   - >   \u542f\u52a8 \u65b0 \u5b9e\u4f8b   \u3002   \u4e14 \u9700\u8981 \u5728 \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u4e2d \u65b0\u5efa Python \u9879\u76ee \u7528\u4e8e \u6d4b\u8bd5 \u3002   \u53c2\u8003   vs \u8c03\u8bd5 C++   \u3002   \u8c03\u8bd5   carla _ client   \u65f6 \uff0c vs \u62a5\u9519 \uff1a   boost : : python : : error _ already _ set   \uff0c \u5c1d\u8bd5   \u6355\u83b7 \u5177\u4f53 \u5f02\u5e38   \u3002","title":"\u8c03\u8bd5 LibCarla  "},{"location":"tuto_D_windows_debug/#python","text":"LibCarla \u7f16\u8bd1 \u540e \u751f\u6210   Python37 / Lib / site - packages / carla / libcarla . cp37 - win _ amd64 . pyd   \u7ed9 Python \u8fdb\u884c \u8c03\u7528 \u3002 \u4e3a\u4e86 \u63d0\u9ad8 \u8fd0\u884c \u901f\u5ea6 \uff0c \u5c06 \u5f53\u524d \u76ee\u5f55 \u5f53\u524d\u76ee\u5f55 \u4e2d \u7684   __ init __. py   \u548c   command . py   \u7f16\u8bd1 \u4e3a   __ pycache __   \u76ee\u5f55 \u4e2d \u7684   byte   code ( \u5b57\u8282 \u7801 )   \u3002","title":"Python   \u6269\u5c55 \u6a21\u5757  "},{"location":"tuto_D_windows_debug/#pythonapi","text":"boost _ python \u5e93 \u6240\u5728 \u7684 \u76ee\u5f55 \u4e3a \uff1a   carla \\ Build \\ boost - 1.80 . 0 - install \\ lib \\ libboost _ python37 - vc142 - mt - x64 - 1 _ 80 . lib   \uff0c   mt - x64   \u4e4b\u95f4 \u5e26\u6709   gd   \u7684 \u662f \u5bf9\u5e94 \u7684 \u8c03\u8bd5 \u7248\u672c \u3002 \u793a\u4f8b \u53c2\u8003   \u94fe\u63a5   \u3002   \u5217\u51fa \u6240\u6709 \u53ef\u7528 \u7684 \u547d\u4ee4 \uff1a   python   setup . py   -- help - commands   \u6784\u5efa \u547d\u4ee4 \uff1a   python   setup . py   build","title":"\u8c03\u8bd5 PythonAPI  "},{"location":"tuto_D_windows_debug/#_1","text":"\u53f3\u952e   CARLA   \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c   \u6dfb\u52a0   - >   \u65b0\u5efa \u9879\u76ee   - >   Python \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f   \uff1b   \u5c06   manual _ control . py   \u6587\u4ef6 \u5185\u5bb9 \u590d\u5236 \u590d\u5236\u5230 \u65b0\u5efa \u5de5\u7a0b \u7684   PythonApplication . py   \u6587\u4ef6 \u4e2d \uff1b   \u5728 . py \u6587\u4ef6 \u7684 \u5f00\u59cb \u5904 \u589e\u52a0   input ( )   \u4ee3\u7801 \uff1b   \u53f3\u952e . py \u6587\u4ef6 \uff0c \u70b9\u51fb   \u5f00\u59cb \u6267\u884c \uff08 \u8c03\u8bd5 \uff09   \uff0c \u4f1a\u5f39 \u51fa \u547d\u4ee4 \u547d\u4ee4\u884c \u754c\u9762 \uff1b   \u53f3\u952e   carla _ client _ debug   \u9879\u76ee - >   \u8c03\u8bd5   - >   \u542f\u52a8 \u65b0 \u5b9e\u4f8b   \uff1b   \u5728 \u7b2c 4 \u6b65\u5f39 \u51fa \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u754c\u9762 \u4e2d \u6572 \u56de\u8f66 \uff1b   \u53c2\u8003   \u94fe\u63a5   \uff0c \u6548\u679c \u672a\u77e5 \u3002","title":"\u6784\u5efa \u8c03\u8bd5 \u7248\u672c  "},{"location":"tuto_D_windows_debug/#c","text":"\u9519\u8bef   LNK2038   \u68c0\u6d4b \u5230 \u201c _ ITERATOR _ DEBUG _ LEVEL \u201d \u7684 \u4e0d \u5339\u914d \u9879 :   \u503c \u201c 0 \u201d \u4e0d \u5339\u914d \u503c \u201c 2 \u201d   \u9519\u8bef   LNK2038   \u68c0\u6d4b \u5230 \u201c RuntimeLibrary \u201d \u7684 \u4e0d \u5339\u914d \u9879 :   \u503c \u201c MD _ DynamicRelease \u201d \u4e0d \u5339\u914d \u503c \u201c MDd _ DynamicDebug \u201d   \u5f53\u524d \u5de5\u7a0b \u662f Debug \u7248\u672c \uff08 0 \uff09 \uff0c \u800c \u5f15\u7528 \u7684 \u5e93 \u6587\u4ef6 \u65f6 Release \u7248\u672c \uff08 2 \uff09 \u3002   \u9700\u8981 \u5c06 \u5176\u4ed6 \u7684 . lib \u6587\u4ef6 \u7f16\u8bd1 \u4e3a debug \u6a21\u5f0f \uff1a   1 . \u5207\u6362 \u5230 \u76ee\u5f55   Util \\ InstallersWin   \uff0c \u5c06   install _ boost . bat   \u5185 \u7684 b2 \u8fd0\u884c \u53c2\u6570 \u6539\u4e3a   variant = debug   \uff0c \uff08 \u6839\u636e   Setup . bat   \uff09 \u8fd0\u884c   install _ boost . bat   \uff1a   install _ boost . bat   -- build - dir   D : \\ work \\ buffer   -- toolset   msvc - 14.2   -- version   1.80 . 0   - j   4   \u4f1a \u81ea\u52a8 \u5c06 boost \u7684 \u5e93 \u548c \u6587\u4ef6 \u5934\u6587\u4ef6 \u5b89\u88c5 \u5230 \u76ee\u5f55   D : \\ work \\ buffer \\ boost - 1.80 . 0 - install   \u91cc\u9762 \u3002   \u5c06   install _ recast . bat   \u4e2d \u7684   Relase   \u6539\u4e3a   Debug   \u3002   \u5c06   - DCMAKE _ CXX _ FLAGS _ RELASE = \" / MD   / MP \"   \u6539\u4e3a \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b \u8c03\u8bd5 DLL   - DCMAKE _ CXX _ FLAGS _ DEBUG = \" / MDd   / MP \"   \uff0c \u8fd0\u884c   install _ recast . bat   \u3002   install _ recast . bat   -- build - dir   D : \\ work \\ buffer   -- generator   \" Visual   Studio   16   2019 \"   \u5c06   install _ rpclib . bat   \u4e2d \u7684   Relase   \u6539\u4e3a   Debug   \uff0c \u8fd0\u884c   install _ rpclib . bat   \u3002   \u5c06   - DCMAKE _ CXX _ FLAGS _ RELASE = \" / MD   / MP \"   \u6539\u4e3a \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b \u8c03\u8bd5 DLL   - DCMAKE _ CXX _ FLAGS _ DEBUG = \" / MDd   / MP \"   \u3002   install _ rpclib . bat   -- build - dir   D : \\ work \\ buffer   -- generator   \" Visual   Studio   16   2019 \"   2 . \u5c06 \u7b2c 1 \u6b65 \u751f\u6210 \u7684 \u5b89\u88c5 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55 \u914d\u7f6e \u5230   Examples \\ CppClient \\ CMakeLists . txt   \u4e2d \uff0c \u5bf9\u5e94 \u7684 \u6587\u4ef6 \u5934\u6587\u4ef6 \u548c \u5e93 \u6587\u4ef6 \u90fd \u6539\u4e3a Debug \u7248\u672c \uff1b   3 . \u5728   main . cpp   \u4e2d \u589e\u52a0 \u65ad\u70b9 \uff0c \u5e76 \u5f00\u59cb \u8c03\u8bd5 \uff1b   auto   world   =   client . LoadWorld ( \" town _ name \" ) ;   \u6539\u4e3a \uff1a   auto   world   =   client . LoadWorld ( \" Town10HD _ Opt \" ) ;   4 . \u7a0b\u5e8f \u5728 \u65ad\u70b9 \u505c\u6b62 \u540e \u6309 F10 \u8fd0\u884c \u4e0b \u4e00\u6b65 \uff0c \u6309 F11 \u8fdb\u5165 LibCarla \u4e2d \u7684 \u51fd\u6570 \u5b9e\u73b0 \u3002","title":"C++ \u5ba2\u6237\u7aef \u8c03\u8bd5  "},{"location":"tuto_D_windows_debug/#_2","text":"","title":"\u5176\u4ed6  "},{"location":"tuto_D_windows_debug/#dll","text":"\u4e0b \u65ad\u70b9 \uff0c F5 \u8c03\u8bd5 \u3002 \u7136\u540e \u201c \u8c03\u8bd5   -   \u7a97\u53e3   -   \u6a21\u5757 \u201d \u6253\u5f00 \u6a21\u5757 \u7a97\u53e3 \u3002","title":"\u68c0\u67e5 \u6240 \u4f9d\u8d56 dll \u5e93 \u7684 \u7b26\u53f7 \u662f\u5426 \u52a0\u8f7d  "},{"location":"tuto_D_windows_debug/#vs2019-carlaue4-cmake","text":"windows \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u4e0b \u901a\u8fc7 vs2019 \u6253\u5f00 \u5e76 \u7f16\u8bd1 carla \uff1a   \u5f00 Carla \u7684 CMake \u9879\u76ee \uff08 \u53c2\u8003   CMake   \u5165\u95e8 \u6559\u7a0b \u5165\u95e8\u6559\u7a0b   \uff09 \uff1a   \u4ece   VS   \u7684 \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   File -- > Open -- > CMake   ,   \u5728 \u5bf9\u8bdd \u5bf9\u8bdd\u6846 \u4e2d \u627e\u5230   Carla   \u6240\u5728 \u7684 \u672c\u5730 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff08 \u5305\u542b CMakeLists \uff09 \uff0c \u9009\u62e9 CMakeLists . txt \u6587\u4ef6 \uff0c \u6253\u5f00 \uff0c Visual   studio   \u4f1a \u81ea\u52a8 \u52a0\u8f7d \u6b64 \u4ed3\u5e93 \uff0c \u89e3\u6790   CMakeLists . txt   \u6587\u4ef6 \uff0c \u5e76 \u63d0\u53d6 \u5176 \u914d\u7f6e \u548c \u53d8\u91cf \u4fe1\u606f \u3002 \u89e3\u6790 \u5b8c\u6210 \uff08 \u9700\u8981 \u4f1a\u513f \u7b49\u4f1a\u513f \u6216\u8005 \u91cd\u542f \uff09 \u4f1a \u4ece   \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668   \u4e2d \u770b\u5230   . cpp   \u6587\u4ef6 \u3002   \u4fee\u6539 \u914d\u7f6e \uff1a   \u70b9\u51fb   x64 - Debug   \u4e0b\u62c9 \u83dc\u5355 \u4e0b\u62c9\u83dc\u5355 \u4e2d \u7684   \u7ba1\u7406 \u914d\u7f6e   \uff0c \u5e76 \u5728 \u5f39\u51fa \u7684 \u754c\u9762 \u70b9\u51fb   \u7f16\u8f91 JSON   \uff08 \u8be5 \u8fc7\u7a0b \u5728 \u5de5\u7a0b \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e0b \u751f\u6210   CMakeSettings . json   \uff09 \uff0c \u5c06 \u6240 \u9700\u8981 \u6784\u5efa \u7684 \u7c7b\u578b \u6539\u4e3a \u60f3 \u7f16\u8bd1 \u7684 \u7c7b\u578b \uff0c \u6bd4\u5982   Client   \u3002   \u751f\u6210 \uff1a   \u70b9\u51fb \u83dc\u5355 \u83dc\u5355\u680f   \u751f\u6210   -   \u5168\u90e8 \u751f\u6210   \u6216   \u90e8\u5206 \u751f\u6210   \u5373\u53ef \u3002","title":"VS2019   \u6253\u5f00   CarlaUE4   \u7684   Cmake   \u5de5\u7a0b  "},{"location":"tuto_D_windows_debug/#_3","text":"\u4f8b\u5982 \uff0c \u5bfc\u5165 \u6d4b\u8bd5 \u94fe\u63a5 \uff1a   \u5c0f \u5730\u56fe \uff1a   https : / / overpass - api . de / api / map ? bbox = 112.9088 , 28.2221 , 112.9172 , 28.2290   \u5927 \u5730\u56fe \uff1a   https : / / overpass - api . de / api / map ? bbox = 112.8553 , 28.1931 , 112.9396 , 28.2504   \u91d1 \u91b4 \u9ad8\u901f \uff1a   https : / / overpass - api . de / api / map ? bbox = 113.5293 , 27.6893 , 113.5516 , 27.7074   CarlaUE4 - > Plugins - > CarlaTools - > Source - > CarlaTools - > Private   \u7684   OpenDriveToMap . cpp   463 \u884c   GenerateTileStandalone ( )   \uff0c \u7136\u540e \u8c03\u7528   ExecuteTileCommandlet ( )   :   UCommandlet \u662f   Unreal   Engine   \u4e2d \u7528\u4e8e \u5b9e\u73b0 \u547d\u4ee4 \u547d\u4ee4\u884c \u64cd\u4f5c \u7684 \u57fa\u7c7b \u3002 \u5b83 \u5141\u8bb8 \u5f00\u53d1 \u5f00\u53d1\u8005 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u547d\u4ee4 \uff0c \u5e76 \u5728 \u5f15\u64ce \u542f\u52a8 \u65f6 \u6267\u884c \u8fd9\u4e9b \u547d\u4ee4 \u3002 \u8fd9\u4e2a \u7c7b \u4e3b\u8981 \u7528\u4e8e \u6269\u5c55 \u5f15\u64ce \u529f\u80fd \uff0c \u63d0\u4f9b \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u5de5\u5177 \u3002   ExecuteTileCommandlet ( )   \u8c03\u7528 \u7684 \u662f   carla \\ Unreal \\ CarlaUE4 \\ Plugins \\ CarlaTools \\ Intermediate \\ Build \\ Win64 \\ UE4Editor \\ Inc \\ CarlaTools \\ OpenDriveToMap . gen . cpp   \uff08 \u53cd\u5c04 \u6587\u4ef6 gen \uff09 194 \u884c \u7684   static   FName   NAME _ UOpenDriveToMap _ ExecuteTileCommandlet   =   FName ( TEXT ( \" ExecuteTileCommandlet \" ) ) ;   void   UOpenDriveToMap : : ExecuteTileCommandlet ( )   {   ProcessEvent ( FindFunctionChecked ( NAME _ UOpenDriveToMap _ ExecuteTileCommandlet ) , NULL ) ;   }   \u627e\u5230 \u540d\u4e3a \u201c ExecuteTileCommandlet \u201d \u7684   UFunction   \u5bf9\u8c61 \uff1b   \u6267\u884c \u201c ProcessEvent \u201d \u51fd\u6570 \uff0c \u7136\u540e \u4ece \u5168\u5c40 \u51fd\u6570 \u6620\u5c04 \u8868 \u627e\u5230 \u5bf9\u5e94 \u7684 \u51fd\u6570 \u6307\u9488 \u51fd\u6570\u6307\u9488 \u6267\u884c \uff08 \u5229\u7528 \u51fd\u6570 \u540d \u8c03\u7528 UFUNCTION \u51fd\u6570 \uff09 \u3002   \u84dd\u56fe \u7684 \u5b57\u8282 \u7801   \uff1a \u5728   engine \\ Engine \\ Source \\ Runtime \\ CoreUObject \\ Public \\ UObject \\ Script . h   \u8fd9\u4e2a \u6587\u4ef6 \u4e2d\u6709 \u4e00\u4e2a   enum   EExprToken   \uff0c \u8fd9\u4e2a \u679a\u4e3e \u5c31\u662f \u84dd\u56fe \u7684 \u5b57\u8282 \u7801 \u5b9a\u4e49 \u3002 \u5f15\u64ce \u4e2d \u4f7f\u7528 \u4e00\u4e2a \u5168\u5c40 \u67e5\u627e \u8868 \uff0c \u628a \u4e0a\u8ff0 \u5b57\u8282 \u7801 \u6620\u5c04 \u5230 \u51fd\u6570 \u6307\u9488 \u51fd\u6570\u6307\u9488 \u3002 \u5728 \u8fd0\u884c \u65f6 \uff0c \u4ece \u4e00\u4e2a \u5b57\u8282 \u7801 \u6570\u7ec4 \u4e2d \u9010\u4e2a \u53d6\u51fa \u5b57\u8282 \u7801 \uff0c \u5e76 \u67e5\u627e \u51fd\u6570 \u6307\u9488 \u51fd\u6570\u6307\u9488 \uff0c \u8fdb\u884c \u8c03\u7528 \uff0c \u4e5f \u5c31 \u5b8c\u6210 \u4e86 \u6240\u8c13 \u7684 \u201c \u5b57\u8282 \u7801 \u89e3\u91ca \u6267\u884c \u201d \u7684 \u8fc7\u7a0b \u3002   \u6539\u4e3a   void   UOpenDriveToMap : : GenerateTileStandalone ( ) {   UE _ LOG ( LogCarlaToolsMapGenerator ,   Log ,   TEXT ( \" UOpenDriveToMap : : GenerateTileStandalone   Function   called \" ) ) ;   / /   ExecuteTileCommandlet ( ) ;   GenerateTile ( ) ;   UEditorLoadingAndSavingUtils : : SaveDirtyPackages ( true ,   true ) ;   UEditorLevelLibrary : : SaveCurrentLevel ( ) ;   }   \u6ce8\u610f \uff1a \u5927 \u5730\u56fe \u4e5f \u53ea\u80fd \u751f\u6210 \u4e00\u5c0f \u5c0f\u7247 \u4e00\u5c0f\u7247 \u5730\u56fe \u3002   \u62a5\u9519 \u4fe1\u606f \uff1a   D : \\ work \\ workspace \\ engine / Engine / Binanes \\ Win64 \\ UE4Editor   .. / .. / .. / .. / carla / Unreal / CaraUE4 / CaraUE4 . uproject   - run = GenerateTileCommandlet   \"   \"   - FilePath =   .. / .. / .. / .. / carla / Unreal / CarlaUE4 / Content / Custo   [ 2024.04 . 30 - 06.58 . 10 : 090 ] [   0 ] LogInit :   Executing   Class   / Script / CarlaTools . GenerateTileCommandlet   [ 2024.04 . 30 - 06.58 . 10 : 090 ] [   0 ] LogOutputDevice :   Warning :   ( 0   frames )   \u5d29\u6e83 \u65e5\u5fd7 \uff1a   LoginId : bc22576a452b36c1831fe8942b55e57a   EpicAccountId : 77cf3795af004e58a037e9c9d4a5aa0d   Assertion   failed :   Pair   ! =   nullptr   [ File : D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Core \\ Public \\ Containers / Map . h ]   [ Line :   621 ]   UE4Editor _ Core ! AssertFailedImplV ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Core \\ Private \\ Misc \\ AssertionMacros . cpp : 104 ]   UE4Editor _ Core ! FDebug : : CheckVerifyFailedImpl ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Core \\ Private \\ Misc \\ AssertionMacros . cpp : 461 ]   UE4Editor _ CarlaTools ! UGenerateTileCommandlet : : Main ( )   [ D : \\ work \\ workspace \\ carla \\ Unreal \\ CarlaUE4 \\ Plugins \\ CarlaTools \\ Source \\ CarlaTools \\ Private \\ Commandlet \\ GenerateTileCommandlet . cpp : 75 ]   UE4Editor ! FEngineLoop : : PreInitPostStartupScreen ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Launch \\ Private \\ LaunchEngineLoop . cpp : 3369 ]   UE4Editor ! GuardedMain ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Launch \\ Private \\ Launch . cpp : 127 ]   UE4Editor ! GuardedMainWrapper ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Launch \\ Private \\ Windows \\ LaunchWindows . cpp : 137 ]   UE4Editor ! WinMain ( )   [ D : \\ work \\ workspace \\ engine \\ Engine \\ Source \\ Runtime \\ Launch \\ Private \\ Windows \\ LaunchWindows . cpp : 268 ]   UE4Editor ! __ scrt _ common _ main _ seh ( )   [ d : \\ agent \\ _ work \\ 2 \\ s \\ src \\ vctools \\ crt \\ vcstartup \\ src \\ startup \\ exe _ common . inl : 288 ]   kernel32   ntdll   \u53ef\u77e5 \uff1a   OpenDriveMap - > FilePath   =   ParamsMap [ \" FilePath \" ] ;   \u62a5 \u7684 \u9519 \uff0c \u5e94\u8be5 \u662f \u8def\u5f84 \u4e0b . xodr \u6587\u4ef6 \u4e0d \u5b58\u5728 \u3002   \u5d29\u6e83 \u65e5\u5fd7 \u4f4d\u4e8e \uff1a   engine \\ Engine \\ Binaries \\ Win64 \\ CommandletParameters . txt   \u627e\u5230 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u8fd0\u884c \u53c2\u6570 \u4e3a \uff1a   - run = GenerateTileCommandlet   \"   \"   -   F   i   l   e   P   a   t   h   =   .   .   /   .   .   /   .   .   /   .   .   /   c   a   r   l   a   /   U   n   r   e   a   l   /   C   a   r   l   a   U   E   4   /   C   o   n   t   e   n   t   /   C   u   s   t   o   m   M   a   p   s   /   t   e   s   t   _   3   7   /   O   p   e   n   D   r   i   v   e   /   t   e   s   t   _   3   7   .   x   o   d   r   \"   \"   -   B   a   s   e   L   e   v   e   l   N   a   m   e   =   /   G   a   m   e   /   C   u   s   t   o   m   M   a   p   s   /   t   e   s   t   _   3   7   /   t   e   s   t   _   3   7   \"   \"   -   G   e   o   C   o   o   r   d   s   X   =   2   7   .   6   8   9   3   0   1   \"   \"   -   G   e   o   C   o   o   r   d   s   Y   =   1   1   3   .   5   2   9   2   9   7   \"   \"   -   C   T   i   l   e   X   =   4   \"   \"   -   C   T   i   l   e   Y   =   0   \"   \"   -   A   l   l   o   w   C   o   m   m   a   n   d   l   e   t   R   e   n   d   e   r   i   n   g   \u53c2\u6570 \u591a \u4e86 \u5f88\u591a \u7a7a\u683c   \u6b63\u786e \u5e94\u8be5 \u4e3a \uff1a   D : \\ work \\ workspace \\ engine \\ Engine \\ Binaries \\ Win64 \\ UE4Editor   .. / .. / .. / .. / carla / Unreal / CarlaUE4 / CarlaUE4 . uproject   - run = GenerateTileCommandlet   - FilePath = .. / .. / .. / .. / carla / Unreal / CarlaUE4 / Content / CustomMaps / test _ 37 / OpenDrive / test _ 37 . xodr   - BaseLevelName = / Game / CustomMaps / test _ 37 / test _ 37   - GeoCoordsX = 27.689301   - GeoCoordsY = 113.529297   - CTileX = 4   - CTileY = 0   - AllowCommandletRendering   D : \\ work \\ workspace \\ engine \\ Engine \\ Binaries \\ Win64 \\ UE4Editor - Cmd   D : / work / workspace / carla / Unreal / CarlaUE4 / CarlaUE4 . uproject   - run = GenerateTileCommandlet   - FilePath = D : / work / workspace / carla / Unreal / CarlaUE4 / Content / CustomMaps / test _ 37 / OpenDrive / test _ 37 . xodr   - BaseLevelName = / Game / CustomMaps / test _ 37 / test _ 37   - GeoCoordsX = 27.689301   - GeoCoordsY = 113.529297   - CTileX = 4   - CTileY = 0   - AllowCommandletRendering   \u76f4\u63a5 \u547d\u4ee4 \u547d\u4ee4\u884c \u8fd0\u884c \u62a5\u9519 \uff08 \u5fc5\u987b \u786e\u4fdd \u4e0d\u662f Commandlet \u542f\u52a8 \uff0c \u800c \u5fc5\u987b \u662f Editor \u542f\u52a8 \uff09 \uff1a   LogWindows :   Error :   Assertion   failed :   ! IsRunningCommandlet ( )   [ File : D : / work / workspace / engine / Engine / Plugins / Developer / RenderDocPlugin / Source / RenderDocPlugin / Private / SRenderDocPluginEditorExtension . cpp ]   [ Line :   107 ]","title":"\u5bfc\u5165 \u5d29\u6e83 \u95ee\u9898  "},{"location":"tuto_D_windows_debug/#vs-ue","text":"\u53d8\u91cf \u5df2 \u88ab \u4f18\u5316 \u6389 \uff0c \u56e0\u800c \u4e0d\u53ef \u7528 \u3002   VS \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   DebugGammingEditor   \uff0c \u7136\u540e \u5f00\u59cb \u8c03\u8bd5 \uff0c \u5c31 \u53ef\u4ee5 \u6dfb\u52a0 \u8981 \u76d1\u89c6 \u7684 \u9879 \u3002","title":"VS   \u8c03\u8bd5   UE   \u9879\u76ee    "},{"location":"tuto_D_windows_debug/#_4","text":"\u5d29\u6e83 \u4e8e   engine \\ Engine \\ Source \\ Runtime \\ CoreUObject \\ Private \\ UObject \\ ScriptCore . cpp   1990 \u884c   Function - > Invoke ( this ,   NewStack ,   ReturnValueAddress ) ;   \u5f39 \u51fa \u62a5\u9519 \u4fe1\u606f \u6846 \uff1a   Failed   to   open   descriptor   file   . / .. / .. / .. / carla / Unreal / CarlaUE4 / CarlaUE4 . uproject   VS \u8df3\u8f6c \u4ee3\u7801 \u592a\u6162   \u5728 VS \u4e2d \u70b9\u51fb \u8c03\u8bd5 \u6216 \u8fd0\u884c \u65f6\u62a5 \u9519 \uff1a   \u9519\u8bef   C4067   \u9884 \u5904\u7406 \u7406\u5668 \u5904\u7406\u5668 \u6307\u4ee4 \u540e \u6709 \u610f\u5916 \u6807\u8bb0   -   \u5e94 \u8f93\u5165 \u6362\u884c \u6362\u884c\u7b26   \u548c   \u9519\u8bef   C1012   \u62ec\u53f7 \u4e0d \u5339\u914d :   \u7f3a\u5c11 \u201c ) \u201d   \u89e3\u51b3 \uff1a \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u4f7f\u7528   make   launch   ARGS = ' -- chrono '   \u8fdb\u884c \u91cd\u65b0 \u7f16\u8bd1 \u540e \uff0c \u7136\u540e \u518d\u7528 VS \u542f\u52a8 \u8c03\u8bd5 \u3002   \u6267\u884c \u201c make   launch \u201d \u65f6 \u51fa\u9519 \uff0c ' Renderer / Public / GBufferView . h '   \u8868\u73b0 \u4e3a \u6253\u5f00   CarlaUE4 . sln   \u540e \u6ca1\u6709   UnrealBuildTool   \u9009\u9879 \u3002   \u56e0\u4e3a \u672a \u5728   STOCK   UNREAL   ENGINE   \u4e2d \u627e\u5230 \u5b83 \u3002 \u5b83 \u662f \u6dfb\u52a0 \u5230   CARLA   \u5206\u652f \u4e2d \u7684 \u5185\u5bb9 \u3002 \u5982\u679c \u60a8 \u5728 \u4e24\u4e2a \u7248\u672c \u7684   Unreal   \u548c   Carla   \u4e4b\u95f4 \u6267\u884c   git   diff \uff0c \u60a8 \u5c06 \u770b\u5230 \u53ea\u6709 \u5c11\u91cf \u66f4\u6539 \uff0c \u5e76\u4e14 \u6dfb\u52a0 \u4e86   GBuffer   \u89c6\u56fe \u3002   \u89e3\u51b3 \uff1a \u53f3\u952e \u6587\u4ef6   CarlaUE4 . uproject   \uff0c \u9009\u62e9   Switch   Unreal   Engine   version   \uff0c \u5e76 \u9009\u62e9 \u9700\u8981 \u4f7f\u7528 \u7684 \u865a\u5e7b \u5f15\u64ce \u7248\u672c \uff08 \u5982\u679c \u6ca1\u6709 \u751f\u6210 \u65b0 \u7684   CarlaUE4 . sln   \uff0c \u5219 \u9700\u8981 \u5148 \u5220\u9664 \u518d \u91cd\u65b0 \u751f\u6210   CarlaUE4 . sln   \uff09 \u3002 \u8fd8\u6709 \u53ef\u80fd \u62a5\u9519 \uff1a   \u9884 \u5904\u7406 \u7406\u5668 \u5904\u7406\u5668 \u6307\u4ee4 \u540e \u6709 \u610f\u5916 \u6807\u8bb0   -   \u5e94 \u8f93\u5165 \u6362\u884c \u6362\u884c\u7b26   \uff0c \u9700\u8981 \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u4e2d\u5148 \u8fd0\u884c   make   launch   \u6216\u8005   make   launch   ARGS = \" -- chrono \"   \u7136\u540e \u518d \u5728 vs \u4e2d \u8fd0\u884c \u3002","title":"\u95ee\u9898  "},{"location":"tuto_D_windows_debug/#_5","text":"","title":"\u4f9d\u8d56  "},{"location":"tuto_D_windows_debug/#boost-1800","text":"Python \u5c01\u88c5 C++ \u5e93 \u8c03\u8bd5   \u3002","title":"boost - 1.80 . 0"},{"location":"tuto_D_windows_debug/#_6","text":"\u5305\u542b \u6240\u6709 \u8f6f\u4ef6 \u4f9d\u8d56 \uff0c \u53cc\u51fb   launch . bat   \u542f\u52a8 \u8f6f\u4ef6 \u3002","title":"\u53d1\u5e03  "},{"location":"tuto_D_windows_debug/#vs2019","text":"\u89e3\u538b \u5b89\u88c5 \u5b89\u88c5\u5305 \uff1a   7z   x   filename . zip   - o .   \u65b0 \u7535\u8111 \u8fd0\u884c   NativeDesktop . exe   \u51fa\u73b0   \u6b64 \u7248\u672c \u7684 Windows \u4e0d \u652f\u6301 \u6b64 \u4ea7\u54c1 \uff0c \u8bf7 \u5c1d\u8bd5 \u5347\u7ea7 Windows \u3002","title":"VS2019 \u793e\u533a \u7248 \u5b89\u88c5"},{"location":"tuto_D_windows_debug/#_7","text":"\u8fdb\u884c \u51fd\u6570 \u8df3\u8f6c \u65f6 \uff0c vs \u4e00\u81f4 \u51fa\u73b0   \u6b63\u5728 \u8fdb\u884c IntelliSense   \uff1a   \u9009\u62e9 \u201c \u5de5\u5177 \u201d \u83dc\u5355 \u83dc\u5355\u680f \u4e0b \u7684 \u201c \u9009\u9879 \u201d \u6309\u94ae \u6253\u5f00 \u9009\u9879 \u9875\u9762 \uff0c \u627e\u5230   \u6587\u672c \u7f16\u8f91 \u6587\u672c\u7f16\u8f91 \u5668 - > C / C++ - > \u9ad8\u7ea7 , \u5728 \u53f3\u4fa7 \u7684 \u7981\u7528 IntelliSense \u4e2d \u6539\u4e3a True   \u68c0\u67e5 \u7b26\u53f7 \u662f\u5426 \u52a0\u8f7d   \u542f\u52a8 \u8c03\u5f0f \u5e76 \u5728 \u65ad\u70b9 \u505c\u4e0b \uff0c \u7136\u540e \u201c \u8c03\u8bd5   -   \u7a97\u53e3   -   \u6a21\u5757 \u201d \u6253\u5f00 \u6a21\u5757 \u7a97\u53e3 \u3002   \u627e\u5230 \u7b2c\u4e09 \u4e09\u65b9 \u7b2c\u4e09\u65b9 dll \u7684 \u540d\u5b57 \uff0c \u770b \u201c \u7b26\u53f7 \u6587\u4ef6 \u201d \u4e00\u680f \u662f \u7a7a \u7684 \u3002 \u8bf4\u660e \u8fd9\u4e2a dll \u7684 \u7b26\u53f7 \u6587\u4ef6 \u6ca1\u6709 \u52a0\u8f7d \u3002   \u628a . pdb \u548c . dll \u653e\u5728 \u4e00\u8d77 \u3002 \u518d\u6b21 \u8c03\u8bd5 \u3002 \u53ef\u4ee5 \u770b\u5230 \u7b26\u53f7 \u6587\u4ef6 \u5df2\u7ecf \u52a0\u8f7d \u4e86 \u3002   \u6539\u53d8 ubuntu \u7ec8\u7aef \u663e\u793a \u8bed\u8a00 \uff08 \u684c\u9762 \u7cfb\u7edf \u4e2d\u6587 \uff0c \u7ec8\u7aef \u63d0\u793a \u82f1\u6587 \uff09   vim   ~ / . bashrc   export   LANGUAGE = en _ US   export   LANG = en _ US . UTF - 8   source   ~ / . bashrc   \u65e5\u5fd7 \u8bb0\u5f55   UE _ LOG   \u51fd\u6570 \u8bb0\u5f55 \u7684 \u65e5\u5fd7 \u4f4d\u4e8e   carla \\ Unreal \\ CarlaUE4 \\ Saved \\ Logs \\ CarlaUE4 . log   \u6587\u4ef6 \u4e2d \u3002","title":"\u6280\u5de7  "},{"location":"tuto_D_windows_debug/#_8","text":"VScode \u8c03\u8bd5 shell   bash \u811a\u672c   \u5728 VScode \u4e2d \u5b89\u88c5   Bash   Debug   \uff0c","title":"\u5de5\u5177"},{"location":"tuto_D_windows_debug/#_9","text":"bat \u811a\u672c   LibCarla   \u8bf4\u660e   CarlaUE4   \u8bf4\u660e","title":"\u5b66\u4e60  "},{"location":"tuto_E_gallery/","text":"\u57fa\u672c \u793a\u4f8b   \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u914d\u7f6e \u548c \u4f7f\u7528   \u6d41\u91cf \u9884\u6d4b   Carla   \u6559\u7a0b   ( Python   API )   \u8bf7 \u4f7f\u7528   0.9 . 14   \u7248\u672c \u6216\u8005 \u5176\u4ed6 \u517c\u5bb9   API   \u7684   Carla   \u7248\u672c \u3002   #   \u5f00\u59cb   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   . / CarlaUE4 . sh   - quality - level = epic   - resx = 800   - resy = 600   #   \u5982\u679c \u60a8 \u6ca1\u6709 \u5f3a\u5927 \u7684   GPU   . / CarlaUE4 . sh   - quality - level = low   - resx = 800   - resy = 600   #   \u8fd0\u884c \u793a\u4f8b   python   01 _ get _ started . py   python   02 _ sync _ mode . py   python   03 _ RGB _ camera . py   python   04 _ more _ cameras . py   python   05 _ open3d _ library . py   python   06 _ trafic _ manager . py   python   07 _ 3d _ bounding _ boxes . py   python   08 _ draw _ waypoints . py   python   09 _ basic _ navigation . py   python   10 _ manual _ control . py   Gallery   \u793a\u4f8b   01 :   \u5f00\u59cb   ( \u5f02\u6b65 \uff1a \u8f66\u8f86 \u4f1a \u6709 \u6296\u52a8 \u611f \uff09   \u793a\u4f8b   02 :   \u540c\u6b65   \u793a\u4f8b   03 :   RGB   \u76f8\u673a   \u793a\u4f8b   04 :   \u66f4 \u591a \u76f8\u673a   \u793a\u4f8b   05 :   Open3D   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe   \u793a\u4f8b   06 :   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u793a\u4f8b   07 :   3D   \u8fb9\u754c \u6846   \u793a\u4f8b   08 :   \u7ed8\u5236 \u8def\u5f84 \u70b9   \u793a\u4f8b   09 :   \u57fa\u672c \u5bfc\u822a   \u793a\u4f8b   10 :   \u624b\u52a8 \u63a7\u5236","title":"tuto   E   gallery"},{"location":"tuto_E_gallery/#_1","text":"\u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u914d\u7f6e \u548c \u4f7f\u7528   \u6d41\u91cf \u9884\u6d4b","title":"\u57fa\u672c \u793a\u4f8b"},{"location":"tuto_E_gallery/#carla-python-api","text":"\u8bf7 \u4f7f\u7528   0.9 . 14   \u7248\u672c \u6216\u8005 \u5176\u4ed6 \u517c\u5bb9   API   \u7684   Carla   \u7248\u672c \u3002   #   \u5f00\u59cb   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   . / CarlaUE4 . sh   - quality - level = epic   - resx = 800   - resy = 600   #   \u5982\u679c \u60a8 \u6ca1\u6709 \u5f3a\u5927 \u7684   GPU   . / CarlaUE4 . sh   - quality - level = low   - resx = 800   - resy = 600   #   \u8fd0\u884c \u793a\u4f8b   python   01 _ get _ started . py   python   02 _ sync _ mode . py   python   03 _ RGB _ camera . py   python   04 _ more _ cameras . py   python   05 _ open3d _ library . py   python   06 _ trafic _ manager . py   python   07 _ 3d _ bounding _ boxes . py   python   08 _ draw _ waypoints . py   python   09 _ basic _ navigation . py   python   10 _ manual _ control . py","title":"Carla   \u6559\u7a0b   ( Python   API )"},{"location":"tuto_E_gallery/#gallery","text":"\u793a\u4f8b   01 :   \u5f00\u59cb   ( \u5f02\u6b65 \uff1a \u8f66\u8f86 \u4f1a \u6709 \u6296\u52a8 \u611f \uff09   \u793a\u4f8b   02 :   \u540c\u6b65   \u793a\u4f8b   03 :   RGB   \u76f8\u673a   \u793a\u4f8b   04 :   \u66f4 \u591a \u76f8\u673a   \u793a\u4f8b   05 :   Open3D   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe   \u793a\u4f8b   06 :   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u793a\u4f8b   07 :   3D   \u8fb9\u754c \u6846   \u793a\u4f8b   08 :   \u7ed8\u5236 \u8def\u5f84 \u70b9   \u793a\u4f8b   09 :   \u57fa\u672c \u5bfc\u822a   \u793a\u4f8b   10 :   \u624b\u52a8 \u63a7\u5236","title":"Gallery"},{"location":"tuto_G_G29_windows/","text":"carla   \u4e0e \u7f57\u6280   G29   \u65b9\u5411 \u65b9\u5411\u76d8 \u7684 \u53cd\u9988 \u529b\u53cd\u9988   ubuntu   \u73af\u5883 \u4e0b \u4f7f\u7528   jstest - gtk \u3001 ROS   \u8fdb\u884c \u65b9\u5411 \u65b9\u5411\u76d8 \u63a7\u5236 \u53c2\u8003   \u94fe\u63a5   \u3002   \u672c \u6559\u7a0b \u5728 windows \u73af\u5883 \u4e0b \u8054\u8c03 \uff0c \u539f\u5148 \u7684 \u60f3\u6cd5 \u662f \u5728 windows \u73af\u5883 \u4e0b \u5b89\u88c5 ros2 \uff0c \u901a\u8fc7 \u7f57\u6280 \u7684 sdk \u6765 \u66ff\u6362 jstest - gtk \uff0c \u91cd\u5199 ros2 \u8282\u70b9 \u6765 \u5b9e\u73b0 \u3002 \u7f57\u6280 g29sdk \u53ef \u53c2\u8003   \u94fe\u63a5   \u3002   \u4f46 \u7531\u4e8e C++ \u7684 g29   sdk \u5f3a\u5236 \u8981\u6c42 \u754c\u9762 \uff0c carla \u5728 \u63a7\u5236 \u65b9\u5411 \u65b9\u5411\u76d8 \u65f6 \u4e5f \u8981\u6c42 \u6307\u5b9a   pygame   \u754c\u9762 \uff0c   G29python \u4ee3\u7801   \u7528 \u7684 C#   dll \u4fee\u6539 \uff0c \u521d\u59cb \u521d\u59cb\u5316 \u8fc7\u7a0b \u4e0d \u9700\u8981 \u754c\u9762 \u3002 \u540c\u65f6 \u7531\u4e8e \u662f   python   \u5199 \u7684 \uff0c \u53ef\u4ee5 \u7ed5\u5f00 ros2 \u8fd9\u4e2a \u8fc7\u7a0b \uff0c \u51cf\u5c11 \u975e\u5e38 \u591a \u7684 \u5b66\u4e60 \u91cf \u3002   \u5177\u4f53 \u8054\u8c03 \u8fc7\u7a0b \uff1a   \u73af\u5883 \uff1a python3.7 \u3001 carla0.9 . 14 \u3001 \u7f57\u6280 G - hub \u9a71\u52a8 \u3001 G29 \u65b9\u5411 \u65b9\u5411\u76d8 \u3002   \u9996\u5148 \u53bb   \u7f57\u6280 \u5b98\u7f51   \u5b89\u88c5 \u65b9\u5411 \u65b9\u5411\u76d8 \u9a71\u52a8 \u542f\u52a8 \uff0c \u5b89\u88c5 \u597d\u540e \u9a71\u52a8 \u754c\u9762 \u663e\u793a \u754c\u9762\u663e\u793a G29 \u65b9\u5411 \u65b9\u5411\u76d8 \uff0c \u540c\u65f6 \u65b9\u5411 \u65b9\u5411\u76d8 \u8f6c\u52a8 \u81ea\u68c0 \u3002   python \u73af\u5883 \u4e2d \u5b89\u88c5   Carla   \u4e0e logidrivepy   pip   install   carla   pip   install   logidrivepy   \u8fd9\u91cc \u8981 \u521b\u5efa \u4e00\u4e2a ini \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3002   wheel _ config . ini   [ G29   Racing   Wheel ]   steering _ wheel   =   0   throttle   =   2   brake   =   3   reverse   =   5   handbrake   =   4   \u5176\u4e2d \u6570\u5b57 \u53ef\u80fd \u9700\u8981 \u81ea\u5df1 \u8bd5 \u8fd9\u91cc   steering _ wheel   \u8868\u793a \u65b9\u5411 \u65b9\u5411\u76d8 \u65b9\u5411 \u3001   throttle   \u8868\u793a \u6cb9\u95e8 \u548c   brake   \u5239\u8f66 \u5df2\u7ecf \u662f \u6b63\u786e \u7684 \u8bbe\u7f6e \u4e86 \u3002 \u8981 \u4fdd\u8bc1 \u8fd9\u4e2a \u8bbe\u7f6e \u548c   . py   \u6587\u4ef6 \u5728 \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u76ee\u5f55 \u4e0b \u5426\u5219 \u4f1a \u62a5\u9519 \u3002   \u4e0b\u8f7d carla - API \u540e \uff0c \u8fd0\u884c carla \u670d\u52a1 \u670d\u52a1\u7aef \uff1a   \u968f\u540e \u8fd0\u884c   PythonAPI / examples / manual _ control _ steeringwheel . py   \u6587\u4ef6 \u3002   \u6b64\u65f6 \u5373\u53ef \u5f00\u542f \u8f66\u8f86 \u3002   \u81ea\u52a8 \u9a7e\u9a76 \u53cd\u9988 \u529b\u53cd\u9988   \u53e6\u542f \u4e00\u4e2a \u6587\u4ef6 \uff0c \u590d\u5236 \u4ee5\u4e0b \u4ee3\u7801   import   sys   import   carla   sys . path . append ( ' .. / logidrivepy ' )   from   logidrivepy   import   LogitechController   import   time   class   SimpleController :   def   __ init __ ( self ,   k ) :   #   k   \u662f \u6bd4\u4f8b \u589e\u76ca \uff0c \u7528\u4e8e \u8c03\u6574 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u54cd\u5e94 \u901f\u5ea6 \u54cd\u5e94\u901f\u5ea6   self . k   =   k   def   control ( self ,   aim ,   now ) :   #   \u8ba1\u7b97 \u4f4d\u7f6e \u5dee\u503c   error   =   now   -   aim   #   \u8ba1\u7b97 \u8f93\u51fa \u529b   force   =   self . k   *   error   return   force   class   ForceFeedback :   def   __ init __ ( self ) :   self . position   =   None   self . torque   =   None   class   Node ( ) :   def   __ init __ ( self ,   client ) :   self . client   =   client   self . world   =   client . get _ world ( )   self . actor   =   self . get _ hero ( )   def   get _ hero ( self ) :   for   actor   in   self . world . get _ actors ( ) :   if   actor . attributes . get ( \" role _ name \" )   in   [ \" hero \" ,   \" ego _ vehicle \" ] :   return   actor   def   timer _ cb ( self ) :   out _ msg   =   ForceFeedback ( )   steering _ angle   =   self . actor . get _ control ( ) . steer   out _ msg . position   =   steering _ angle   out _ msg . torque   =   0.8   def   get _ position ( self ) :   steering _ angle   =   self . actor . get _ control ( ) . steer   position   =   steering _ angle   return   position   def   main ( args = None ) :   controller   =   LogitechController ( )   controller . steering _ initialize ( )   print ( \" \\ n --- Logitech   Spin   Test --- \" )   client   =   carla . Client ( \" 127.0 . 0.1 \" ,   2000 )   client . set _ timeout ( 2.0 )   carla _ car   =   Node ( client )   #   \u521b\u5efa \u4e00\u4e2a PID \u63a7\u5236 \u63a7\u5236\u5668   sc   =   SimpleController ( k = 1 )   #   \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u4e2d \uff0c \u66f4\u65b0 \u63a7\u5236 \u63a7\u5236\u5668 \u5e76 \u4f7f\u7528 \u65b0 \u7684 \u529b   while   True :   aim   =   carla _ car . get _ position ( )   *   150   now   =   ( controller . LogiGetStateENGINES ( 0 ) . contents . lX )   /   327.50   if   ( abs ( aim ) < 1 ) :   controller . LogiPlaySoftstopForce ( 0 , 0 )   controller . logi _ update ( )   time . sleep ( 0.1 )   controller . LogiStopSoftstopForce ( 0 )   controller . logi _ update ( )   print ( \" Target :   { } ,   Current   State :   { } \" . format ( aim ,   now ) )   else :   force   =   sc . control ( now ,   aim )   controller . LogiPlayConstantForce ( 0 ,   - int ( force ) * 2 )   controller . logi _ update ( )   print ( \" Force :   { } ,   Target :   { } ,   Current   State :   { } \" . format ( force ,   aim ,   now ) )   time . sleep ( 0.1 )   controller . steering _ shutdown ( )   if   __ name __   = =   \" __ main __ \" :   main ( )   \u5728   pygame   \u754c\u9762 \u6309 \u952e\u76d8   P   \u5f00\u542f \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u6b64\u65f6 \u65b9\u5411 \u65b9\u5411\u76d8 \u4f1a \u968f\u7740 \u8f66\u8f86 \u81ea\u884c \u8f6c\u52a8 \u3002   \u8fd9\u4e2a \u4ee3\u7801 \u662f \u6d4b\u8bd5 \u7528 \u7684 \u6548\u679c \u4e0d\u592a\u597d \uff0c \u6709 \u66f4\u597d \u6548\u679c \u9700\u6c42 \u5f97\u6362 \u66f4\u597d \u7684 \u63a7\u5236 \u4ee3\u7801 \u63a7\u5236\u4ee3\u7801 \u4e86 \u3002","title":"carla   \u4e0e \u7f57\u6280   G29   \u65b9\u5411\u76d8 \u7684 \u529b\u53cd\u9988"},{"location":"tuto_G_G29_windows/#carla-g29","text":"ubuntu   \u73af\u5883 \u4e0b \u4f7f\u7528   jstest - gtk \u3001 ROS   \u8fdb\u884c \u65b9\u5411 \u65b9\u5411\u76d8 \u63a7\u5236 \u53c2\u8003   \u94fe\u63a5   \u3002   \u672c \u6559\u7a0b \u5728 windows \u73af\u5883 \u4e0b \u8054\u8c03 \uff0c \u539f\u5148 \u7684 \u60f3\u6cd5 \u662f \u5728 windows \u73af\u5883 \u4e0b \u5b89\u88c5 ros2 \uff0c \u901a\u8fc7 \u7f57\u6280 \u7684 sdk \u6765 \u66ff\u6362 jstest - gtk \uff0c \u91cd\u5199 ros2 \u8282\u70b9 \u6765 \u5b9e\u73b0 \u3002 \u7f57\u6280 g29sdk \u53ef \u53c2\u8003   \u94fe\u63a5   \u3002   \u4f46 \u7531\u4e8e C++ \u7684 g29   sdk \u5f3a\u5236 \u8981\u6c42 \u754c\u9762 \uff0c carla \u5728 \u63a7\u5236 \u65b9\u5411 \u65b9\u5411\u76d8 \u65f6 \u4e5f \u8981\u6c42 \u6307\u5b9a   pygame   \u754c\u9762 \uff0c   G29python \u4ee3\u7801   \u7528 \u7684 C#   dll \u4fee\u6539 \uff0c \u521d\u59cb \u521d\u59cb\u5316 \u8fc7\u7a0b \u4e0d \u9700\u8981 \u754c\u9762 \u3002 \u540c\u65f6 \u7531\u4e8e \u662f   python   \u5199 \u7684 \uff0c \u53ef\u4ee5 \u7ed5\u5f00 ros2 \u8fd9\u4e2a \u8fc7\u7a0b \uff0c \u51cf\u5c11 \u975e\u5e38 \u591a \u7684 \u5b66\u4e60 \u91cf \u3002   \u5177\u4f53 \u8054\u8c03 \u8fc7\u7a0b \uff1a   \u73af\u5883 \uff1a python3.7 \u3001 carla0.9 . 14 \u3001 \u7f57\u6280 G - hub \u9a71\u52a8 \u3001 G29 \u65b9\u5411 \u65b9\u5411\u76d8 \u3002   \u9996\u5148 \u53bb   \u7f57\u6280 \u5b98\u7f51   \u5b89\u88c5 \u65b9\u5411 \u65b9\u5411\u76d8 \u9a71\u52a8 \u542f\u52a8 \uff0c \u5b89\u88c5 \u597d\u540e \u9a71\u52a8 \u754c\u9762 \u663e\u793a \u754c\u9762\u663e\u793a G29 \u65b9\u5411 \u65b9\u5411\u76d8 \uff0c \u540c\u65f6 \u65b9\u5411 \u65b9\u5411\u76d8 \u8f6c\u52a8 \u81ea\u68c0 \u3002   python \u73af\u5883 \u4e2d \u5b89\u88c5   Carla   \u4e0e logidrivepy   pip   install   carla   pip   install   logidrivepy   \u8fd9\u91cc \u8981 \u521b\u5efa \u4e00\u4e2a ini \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3002   wheel _ config . ini   [ G29   Racing   Wheel ]   steering _ wheel   =   0   throttle   =   2   brake   =   3   reverse   =   5   handbrake   =   4   \u5176\u4e2d \u6570\u5b57 \u53ef\u80fd \u9700\u8981 \u81ea\u5df1 \u8bd5 \u8fd9\u91cc   steering _ wheel   \u8868\u793a \u65b9\u5411 \u65b9\u5411\u76d8 \u65b9\u5411 \u3001   throttle   \u8868\u793a \u6cb9\u95e8 \u548c   brake   \u5239\u8f66 \u5df2\u7ecf \u662f \u6b63\u786e \u7684 \u8bbe\u7f6e \u4e86 \u3002 \u8981 \u4fdd\u8bc1 \u8fd9\u4e2a \u8bbe\u7f6e \u548c   . py   \u6587\u4ef6 \u5728 \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u76ee\u5f55 \u4e0b \u5426\u5219 \u4f1a \u62a5\u9519 \u3002   \u4e0b\u8f7d carla - API \u540e \uff0c \u8fd0\u884c carla \u670d\u52a1 \u670d\u52a1\u7aef \uff1a   \u968f\u540e \u8fd0\u884c   PythonAPI / examples / manual _ control _ steeringwheel . py   \u6587\u4ef6 \u3002   \u6b64\u65f6 \u5373\u53ef \u5f00\u542f \u8f66\u8f86 \u3002","title":"carla   \u4e0e \u7f57\u6280   G29   \u65b9\u5411\u76d8 \u7684 \u529b\u53cd\u9988"},{"location":"tuto_G_G29_windows/#_1","text":"\u53e6\u542f \u4e00\u4e2a \u6587\u4ef6 \uff0c \u590d\u5236 \u4ee5\u4e0b \u4ee3\u7801   import   sys   import   carla   sys . path . append ( ' .. / logidrivepy ' )   from   logidrivepy   import   LogitechController   import   time   class   SimpleController :   def   __ init __ ( self ,   k ) :   #   k   \u662f \u6bd4\u4f8b \u589e\u76ca \uff0c \u7528\u4e8e \u8c03\u6574 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u54cd\u5e94 \u901f\u5ea6 \u54cd\u5e94\u901f\u5ea6   self . k   =   k   def   control ( self ,   aim ,   now ) :   #   \u8ba1\u7b97 \u4f4d\u7f6e \u5dee\u503c   error   =   now   -   aim   #   \u8ba1\u7b97 \u8f93\u51fa \u529b   force   =   self . k   *   error   return   force   class   ForceFeedback :   def   __ init __ ( self ) :   self . position   =   None   self . torque   =   None   class   Node ( ) :   def   __ init __ ( self ,   client ) :   self . client   =   client   self . world   =   client . get _ world ( )   self . actor   =   self . get _ hero ( )   def   get _ hero ( self ) :   for   actor   in   self . world . get _ actors ( ) :   if   actor . attributes . get ( \" role _ name \" )   in   [ \" hero \" ,   \" ego _ vehicle \" ] :   return   actor   def   timer _ cb ( self ) :   out _ msg   =   ForceFeedback ( )   steering _ angle   =   self . actor . get _ control ( ) . steer   out _ msg . position   =   steering _ angle   out _ msg . torque   =   0.8   def   get _ position ( self ) :   steering _ angle   =   self . actor . get _ control ( ) . steer   position   =   steering _ angle   return   position   def   main ( args = None ) :   controller   =   LogitechController ( )   controller . steering _ initialize ( )   print ( \" \\ n --- Logitech   Spin   Test --- \" )   client   =   carla . Client ( \" 127.0 . 0.1 \" ,   2000 )   client . set _ timeout ( 2.0 )   carla _ car   =   Node ( client )   #   \u521b\u5efa \u4e00\u4e2a PID \u63a7\u5236 \u63a7\u5236\u5668   sc   =   SimpleController ( k = 1 )   #   \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u4e2d \uff0c \u66f4\u65b0 \u63a7\u5236 \u63a7\u5236\u5668 \u5e76 \u4f7f\u7528 \u65b0 \u7684 \u529b   while   True :   aim   =   carla _ car . get _ position ( )   *   150   now   =   ( controller . LogiGetStateENGINES ( 0 ) . contents . lX )   /   327.50   if   ( abs ( aim ) < 1 ) :   controller . LogiPlaySoftstopForce ( 0 , 0 )   controller . logi _ update ( )   time . sleep ( 0.1 )   controller . LogiStopSoftstopForce ( 0 )   controller . logi _ update ( )   print ( \" Target :   { } ,   Current   State :   { } \" . format ( aim ,   now ) )   else :   force   =   sc . control ( now ,   aim )   controller . LogiPlayConstantForce ( 0 ,   - int ( force ) * 2 )   controller . logi _ update ( )   print ( \" Force :   { } ,   Target :   { } ,   Current   State :   { } \" . format ( force ,   aim ,   now ) )   time . sleep ( 0.1 )   controller . steering _ shutdown ( )   if   __ name __   = =   \" __ main __ \" :   main ( )   \u5728   pygame   \u754c\u9762 \u6309 \u952e\u76d8   P   \u5f00\u542f \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u6b64\u65f6 \u65b9\u5411 \u65b9\u5411\u76d8 \u4f1a \u968f\u7740 \u8f66\u8f86 \u81ea\u884c \u8f6c\u52a8 \u3002   \u8fd9\u4e2a \u4ee3\u7801 \u662f \u6d4b\u8bd5 \u7528 \u7684 \u6548\u679c \u4e0d\u592a\u597d \uff0c \u6709 \u66f4\u597d \u6548\u679c \u9700\u6c42 \u5f97\u6362 \u66f4\u597d \u7684 \u63a7\u5236 \u4ee3\u7801 \u63a7\u5236\u4ee3\u7801 \u4e86 \u3002","title":"\u81ea\u52a8 \u9a7e\u9a76 \u529b\u53cd\u9988"},{"location":"tuto_G_add_friction_triggers/","text":"\u5982\u4f55 \u6dfb\u52a0 \u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668   \u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 (   Friction   Triggers   )   \u662f \u53ef\u4ee5 \u5728 \u8fd0\u884c \u65f6 \u6dfb\u52a0 \u7684 \u6846 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \uff0c \u8ba9 \u7528\u6237 \u5728 \u5904\u4e8e \u8fd9\u4e9b \u7c7b\u578b \u7684 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \u5185\u65f6 \u5b9a\u4e49 \u8f66\u8f86 \u8f66\u8f6e \u7684 \u4e0d\u540c \u6469\u64e6 \u6469\u64e6\u529b \u3002 \u4f8b\u5982 \uff0c \u8fd9 \u5bf9\u4e8e \u52a8\u6001 \u5730 \u5728 \u5730\u56fe \u7684 \u67d0\u4e9b \u533a\u57df \u4e2d \u5236\u4f5c \u5149\u6ed1 \u7684 \u8868\u9762 \u53ef\u80fd \u5f88 \u6709\u7528 \u3002   \u4e3a\u4e86 \u4f7f\u7528   PythonAPI   \u751f\u6210 \u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \uff0c \u7528\u6237 \u5fc5\u987b \u9996\u5148 \u83b7\u53d6   static . trigger . friction   \u84dd\u56fe \u5b9a\u4e49 \uff0c \u7136\u540e \u4e3a \u8be5 \u84dd\u56fe \u5b9a\u4e49 \u8bbe\u7f6e \u4ee5\u4e0b \u5fc5\u8981 \u5c5e\u6027 \uff1a   friction   :   \u5f53 \u8f66\u8f86 \u4f4d\u4e8e \u89e6\u53d1 \u76d2\u5185 \u65f6 \uff0c \u89e6\u53d1 \u76d2 \u7684 \u6469\u64e6 \u6469\u64e6\u529b \u3002   extent _ x   :   X   \u5750\u6807 \u4e2d \u8fb9\u754c \u6846 \u7684 \u8303\u56f4 \uff08 \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   extent _ y   :   Y   \u5750\u6807 \u4e2d \u8fb9\u754c \u6846 \u7684 \u8303\u56f4 \uff08 \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   extent _ z   :   Z   \u5750\u6807 \u4e2d \u8fb9\u754c \u6846 \u7684 \u8303\u56f4 \uff08 \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   \u5b8c\u6210 \u6b64 \u64cd\u4f5c \u540e \uff0c \u5b9a\u4e49 \u4e00\u4e2a \u53d8\u6362 \u6765 \u6307\u5b9a \u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u5e76 \u751f\u6210 \u5b83 \u3002   \u4f8b\u5b50   import   carla   def   main ( ) :   #   \u8fde\u63a5 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef   client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   client . set _ timeout ( 2.0 )   #   \u83b7\u53d6 \u4e8b\u4ef6 \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005   world   =   client . get _ world ( )   actors   =   world . get _ actors ( )   #   Find   Trigger   Friction   Blueprint   friction _ bp   =   world . get _ blueprint _ library ( ) . find ( ' static . trigger . friction ' )   extent   =   carla . Location ( 700.0 ,   700.0 ,   700.0 )   friction _ bp . set _ attribute ( ' friction ' ,   str ( 0.0 ) )   friction _ bp . set _ attribute ( ' extent _ x ' ,   str ( extent . x ) )   friction _ bp . set _ attribute ( ' extent _ y ' ,   str ( extent . y ) )   friction _ bp . set _ attribute ( ' extent _ z ' ,   str ( extent . z ) )   #   Spawn   Trigger   Friction   transform   =   carla . Transform ( )   transform . location   =   carla . Location ( 100.0 ,   0.0 ,   0.0 )   world . spawn _ actor ( friction _ bp ,   transform )   #   Optional   for   visualizing   trigger   world . debug . draw _ box ( box = carla . BoundingBox ( transform . location ,   extent   *   1e - 2 ) ,   rotation = transform . rotation ,   life _ time = 100 ,   thickness = 0.5 ,   color = carla . Color ( r = 255 , g = 0 , b = 0 ) )   if   __ name __   = =   ' __ main __ ' :   main ( )","title":"\u5982\u4f55 \u6dfb\u52a0 \u6469\u64e6 \u89e6\u53d1\u5668"},{"location":"tuto_G_add_friction_triggers/#_1","text":"\u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 (   Friction   Triggers   )   \u662f \u53ef\u4ee5 \u5728 \u8fd0\u884c \u65f6 \u6dfb\u52a0 \u7684 \u6846 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \uff0c \u8ba9 \u7528\u6237 \u5728 \u5904\u4e8e \u8fd9\u4e9b \u7c7b\u578b \u7684 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \u5185\u65f6 \u5b9a\u4e49 \u8f66\u8f86 \u8f66\u8f6e \u7684 \u4e0d\u540c \u6469\u64e6 \u6469\u64e6\u529b \u3002 \u4f8b\u5982 \uff0c \u8fd9 \u5bf9\u4e8e \u52a8\u6001 \u5730 \u5728 \u5730\u56fe \u7684 \u67d0\u4e9b \u533a\u57df \u4e2d \u5236\u4f5c \u5149\u6ed1 \u7684 \u8868\u9762 \u53ef\u80fd \u5f88 \u6709\u7528 \u3002   \u4e3a\u4e86 \u4f7f\u7528   PythonAPI   \u751f\u6210 \u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \uff0c \u7528\u6237 \u5fc5\u987b \u9996\u5148 \u83b7\u53d6   static . trigger . friction   \u84dd\u56fe \u5b9a\u4e49 \uff0c \u7136\u540e \u4e3a \u8be5 \u84dd\u56fe \u5b9a\u4e49 \u8bbe\u7f6e \u4ee5\u4e0b \u5fc5\u8981 \u5c5e\u6027 \uff1a   friction   :   \u5f53 \u8f66\u8f86 \u4f4d\u4e8e \u89e6\u53d1 \u76d2\u5185 \u65f6 \uff0c \u89e6\u53d1 \u76d2 \u7684 \u6469\u64e6 \u6469\u64e6\u529b \u3002   extent _ x   :   X   \u5750\u6807 \u4e2d \u8fb9\u754c \u6846 \u7684 \u8303\u56f4 \uff08 \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   extent _ y   :   Y   \u5750\u6807 \u4e2d \u8fb9\u754c \u6846 \u7684 \u8303\u56f4 \uff08 \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   extent _ z   :   Z   \u5750\u6807 \u4e2d \u8fb9\u754c \u6846 \u7684 \u8303\u56f4 \uff08 \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \uff09 \u3002   \u5b8c\u6210 \u6b64 \u64cd\u4f5c \u540e \uff0c \u5b9a\u4e49 \u4e00\u4e2a \u53d8\u6362 \u6765 \u6307\u5b9a \u6469\u64e6 \u89e6\u53d1 \u53d1\u5668 \u89e6\u53d1\u5668 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u5e76 \u751f\u6210 \u5b83 \u3002","title":"\u5982\u4f55 \u6dfb\u52a0 \u6469\u64e6 \u89e6\u53d1\u5668"},{"location":"tuto_G_add_friction_triggers/#_2","text":"import   carla   def   main ( ) :   #   \u8fde\u63a5 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef   client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   client . set _ timeout ( 2.0 )   #   \u83b7\u53d6 \u4e8b\u4ef6 \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005   world   =   client . get _ world ( )   actors   =   world . get _ actors ( )   #   Find   Trigger   Friction   Blueprint   friction _ bp   =   world . get _ blueprint _ library ( ) . find ( ' static . trigger . friction ' )   extent   =   carla . Location ( 700.0 ,   700.0 ,   700.0 )   friction _ bp . set _ attribute ( ' friction ' ,   str ( 0.0 ) )   friction _ bp . set _ attribute ( ' extent _ x ' ,   str ( extent . x ) )   friction _ bp . set _ attribute ( ' extent _ y ' ,   str ( extent . y ) )   friction _ bp . set _ attribute ( ' extent _ z ' ,   str ( extent . z ) )   #   Spawn   Trigger   Friction   transform   =   carla . Transform ( )   transform . location   =   carla . Location ( 100.0 ,   0.0 ,   0.0 )   world . spawn _ actor ( friction _ bp ,   transform )   #   Optional   for   visualizing   trigger   world . debug . draw _ box ( box = carla . BoundingBox ( transform . location ,   extent   *   1e - 2 ) ,   rotation = transform . rotation ,   life _ time = 100 ,   thickness = 0.5 ,   color = carla . Color ( r = 255 , g = 0 , b = 0 ) )   if   __ name __   = =   ' __ main __ ' :   main ( )","title":"\u4f8b\u5b50"},{"location":"tuto_G_bounding_boxes/","text":"\u8fb9\u754c \u6846   \u4f7f \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u4e86\u89e3 \u5176 \u73af\u5883 \u7684 \u4e00\u4e2a \u91cd\u8981 \u56e0\u7d20 \u5728\u4e8e \u4f30\u8ba1 \u8f66\u8f86 \u5468\u56f4 \u7269\u4f53 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002 \u4e3a\u6b64 \uff0c \u6709 \u5fc5\u8981 \u63a8\u65ad \u5bf9\u8c61 \u8fb9\u754c \u6846 \u7684 \u4f4d\u7f6e \u3002   Carla   \u4eff\u771f \u4e2d \u7684 \u5bf9\u8c61 \u90fd \u6709 \u4e00\u4e2a \u8fb9\u754c \u6846 \uff0c \u5e76\u4e14   Carla   Python   API   \u63d0\u4f9b \u4e86 \u8bbf\u95ee \u6bcf\u4e2a \u5bf9\u8c61 \u7684 \u8fb9\u754c \u6846 \u7684 \u51fd\u6570 \u3002 \u672c \u6559\u7a0b \u5c55\u793a \u5982\u4f55 \u8bbf\u95ee \u8fb9\u754c \u6846 \uff0c \u7136\u540e \u5c06 \u5b83\u4eec \u6295\u5f71 \u5230 \u76f8\u673a \u5e73\u9762 \u4e2d \u3002   \u8bbe\u7f6e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u8ba9 \u6211\u4eec \u7f16\u5199 \u6807\u51c6   Carla   \u6837\u677f \u4ee3\u7801 \uff0c \u8bbe\u7f6e \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u4e16\u754c \u5bf9\u8c61 \uff0c \u751f\u6210 \u8f66\u8f86 \u5e76 \u4e3a \u5176 \u9644\u52a0 \u76f8\u673a \uff1a   import   carla   import   math   import   random   import   time   import   queue   import   numpy   as   np   import   cv2   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   bp _ lib   =   world . get _ blueprint _ library ( )   #   \u751f\u6210 \u8f66\u8f86   vehicle _ bp   = bp _ lib . find ( ' vehicle . lincoln . mkz _ 2020 ' )   vehicle   =   world . try _ spawn _ actor ( vehicle _ bp ,   random . choice ( spawn _ points ) )   #   \u751f\u6210 \u76f8\u673a   camera _ bp   =   bp _ lib . find ( ' sensor . camera . rgb ' )   camera _ init _ trans   =   carla . Transform ( carla . Location ( z = 2 ) )   camera   =   world . spawn _ actor ( camera _ bp ,   camera _ init _ trans ,   attach _ to = vehicle )   vehicle . set _ autopilot ( True )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u8bbe\u7f6e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   Enables   synchronous   mode   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   #   \u83b7\u53d6 \u5730\u56fe \u7684 \u751f\u6210 \u70b9   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   #   \u521b\u5efa \u4e00\u4e2a \u961f\u5217 \u6765 \u5b58\u50a8 \u548c \u68c0\u7d22 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e   image _ queue   =   queue . Queue ( )   camera . listen ( image _ queue . put )   \u51e0\u4f55 \u53d8\u6362 \u51e0\u4f55\u53d8\u6362   \u6211\u4eec \u60f3\u8981 \u4ece \u4eff\u771f \u4e2d \u83b7\u53d6 \u4e09\u7ef4 \u70b9 \u5e76 \u5c06 \u5b83\u4eec \u6295\u5f71 \u5230 \u76f8\u673a \u7684 \u4e8c\u7ef4 \u5e73\u9762 \u4e2d \u3002 \u9996\u5148 \uff0c \u6211\u4eec \u9700\u8981 \u6784\u9020 \u76f8\u673a \u6295\u5f71 \u77e9\u9635 \uff1a   def   build _ projection _ matrix ( w ,   h ,   fov ) :   focal   =   w   /   ( 2.0   *   np . tan ( fov   *   np . pi   /   360.0 ) )   K   =   np . identity ( 3 )   K [ 0 ,   0 ]   =   K [ 1 ,   1 ]   =   focal   K [ 0 ,   2 ]   =   w   /   2.0   K [ 1 ,   2 ]   =   h   /   2.0   return   K   \u6211\u4eec \u60f3\u8981 \u4f7f\u7528 \u76f8\u673a \u6295\u5f71 \u77e9\u9635 \u5c06 \u4e09\u7ef4 \u70b9 \u6295\u5f71 \u5230 \u4e8c\u7ef4 \u70b9 \u3002 \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \u662f \u4f7f\u7528 \u53ef \u901a\u8fc7   camera . get _ transform ( ) . get _ inverse _ matrix ( )   \u68c0\u7d22 \u7684 \u9006 \u76f8\u673a \u53d8\u6362 \uff0c \u5c06 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4e09\u7ef4 \u5750\u6807 \u53d8\u6362 \u4e3a \u76f8\u673a \u5750\u6807 \u3002 \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u6211\u4eec \u4f7f\u7528 \u76f8\u673a \u6295\u5f71 \u77e9\u9635 \u5c06 \u76f8\u673a \u5750\u6807 \u4e2d \u7684 \u4e09\u7ef4 \u70b9 \u6295\u5f71 \u5230 \u4e8c\u7ef4 \u76f8\u673a \u5e73\u9762 \u4e2d \uff1a   def   get _ image _ point ( loc ,   K ,   w2c ) :   #   \u8ba1\u7b97 \u4e09\u7ef4 \u5750\u6807 \u7684 \u4e8c\u7ef4 \u6295\u5f71   #   \u8bbe\u7f6e \u8f93\u5165 \u5750\u6807 \u7684 \u683c\u5f0f \uff08 loc \u662f \u4e00\u4e2a carla . Position \u5bf9\u8c61 \uff09   point   =   np . array ( [ loc . x ,   loc . y ,   loc . z ,   1 ] )   #   \u53d8\u6362 \u5230 \u76f8\u673a \u5750\u6807   point _ camera   =   np . dot ( w2c ,   point )   #   \u65b0 \u7684 \uff0c \u6211\u4eec \u5fc5\u987b \u4ece UE4 \u7684 \u5750\u6807 \u5750\u6807\u7cfb \u66f4 \u6539\u4e3a \u201c standard \u201d   #   ( x ,   y   , z )   - >   ( y ,   - z ,   x )   #   \u6211\u4eec \u8fd8 \u53bb\u6389 \u4e86 \u7b2c\u56db \u56db\u4e2a \u7b2c\u56db\u4e2a \u6210\u5206   point _ camera   =   [ point _ camera [ 1 ] ,   - point _ camera [ 2 ] ,   point _ camera [ 0 ] ]   #   \u73b0\u5728 \u4f7f\u7528 \u76f8\u673a \u77e9\u9635 \u6295\u5f71 3D - > 2D   point _ img   =   np . dot ( K ,   point _ camera )   #   \u6b63\u5219 \u5316   point _ img [ 0 ]   / =   point _ img [ 2 ]   point _ img [ 1 ]   / =   point _ img [ 2 ]   return   point _ img [ 0 : 2 ]   \u73b0\u5728 \u6211\u4eec \u6709 \u4e86 \u6295\u5f71   3D   - >   2D   \u7684 \u529f\u80fd \uff0c \u6211\u4eec \u53ef\u4ee5 \u68c0\u7d22 \u76f8\u673a \u89c4\u683c \uff1a   #   \u83b7\u53d6 \u4e16\u754c \u7684 \u76f8\u673a \u77e9\u9635   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   #   Get   the   attributes   from   the   camera   image _ w   =   camera _ bp . get _ attribute ( \" image _ size _ x \" ) . as _ int ( )   image _ h   =   camera _ bp . get _ attribute ( \" image _ size _ y \" ) . as _ int ( )   fov   =   camera _ bp . get _ attribute ( \" fov \" ) . as _ float ( )   #   Calculate   the   camera   projection   matrix   to   project   from   3D   - >   2D   K   =   build _ projection _ matrix ( image _ w ,   image _ h ,   fov )   \u8fb9\u754c \u6846   Carla   \u5bf9\u8c61 \u90fd \u6709 \u4e00\u4e2a \u5173\u8054 \u7684 \u8fb9\u754c \u6846 \u3002 Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005   \u6709 \u4e00\u4e2a   bounding _ box   \u5c5e\u6027 \uff0c \u8be5 \u5c5e\u6027 \u5177\u6709   carla . BoundingBox   \u5bf9\u8c61 \u7c7b\u578b \u3002 \u8fb9\u754c \u6846 \u7684 \u9876\u70b9 \u53ef\u4ee5 \u901a\u8fc7   getter   \u51fd\u6570   . get _ world _ vertices ( )   \u6216   get _ local _ vertices ( )   \u4e4b\u4e00 \u68c0\u7d22 \u3002   \u9700\u8981 \u6ce8\u610f \u7684 \u662f \uff0c \u8981 \u83b7\u53d6 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u8fb9\u754c \u6846 \u7684 \u4e09\u7ef4 \u5750\u6807 \uff0c \u60a8 \u9700\u8981 \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u53d8\u6362 \u4f5c\u4e3a \u8be5   get _ world _ vertices ( )   \u65b9\u6cd5 \u7684 \u53c2\u6570 \uff0c \u5982\u4e0b \u6240\u793a \uff1a   actor . get _ world _ vertices ( actor . get _ transform ( ) )   \u5bf9\u4e8e \u5730\u56fe \u4e2d \u7684 \u7269\u4f53 \uff0c \u5982 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u8def\u6807 \uff0c \u53ef\u4ee5 \u901a\u8fc7   carla . World   \u65b9\u6cd5   get _ level _ bbs ( )   \u68c0\u7d22 \u8fb9\u754c \u6846 get _ level _ bbs ( ) \u3002   carla . CityObjectLabel   \u53ef\u4ee5 \u7528\u4f5c \u53c2\u6570 \u6765 \u5c06 \u8fb9\u754c \u6846 \u5217\u8868 \u8fc7\u6ee4 \u5230 \u76f8\u5173 \u5bf9\u8c61 \uff1a   #   Retrieve   all   bounding   boxes   for   traffic   lights   within   the   level   bounding _ box _ set   =   world . get _ level _ bbs ( carla . CityObjectLabel . TrafficLight )   #   Filter   the   list   to   extract   bounding   boxes   within   a   50m   radius   nearby _ bboxes   =   [ ]   for   bbox   in   bounding _ box _ set :   if   bbox . location . distance ( actor . get _ transform ( ) . location )   <   50 :   nearby _ bboxes   \u53ef\u4ee5 \u4f7f\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f4d\u7f6e \u6765 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u8fc7\u6ee4 \u8be5 \u5217\u8868 \uff0c \u4ee5 \u8bc6\u522b \u9644\u8fd1 \u7684 \u5bf9\u8c61 \uff0c \u56e0\u6b64 \u53ef\u80fd \u4f4d\u4e8e \u8fde\u63a5 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u76f8\u673a \u7684 \u89c6\u91ce \u5185 \u3002   \u4e3a\u4e86 \u5728 \u76f8\u673a \u56fe\u50cf \u4e0a \u7ed8\u5236 \u8fb9\u754c \u6846 \uff0c \u6211\u4eec \u9700\u8981 \u4ee5 \u9002\u5f53 \u7684 \u987a\u5e8f \u8fde\u63a5 \u9876\u70b9 \u4ee5 \u521b\u5efa \u8fb9\u7f18 \u3002 \u4e3a\u4e86 \u5b9e\u73b0 \u8fd9 \u4e00\u70b9 \uff0c \u6211\u4eec \u9700\u8981 \u4ee5\u4e0b \u8fb9 \u5bf9 \u5217\u8868 \uff1a   edges   =   [ [ 0 , 1 ] ,   [ 1 , 3 ] ,   [ 3 , 2 ] ,   [ 2 , 0 ] ,   [ 0 , 4 ] ,   [ 4 , 5 ] ,   [ 5 , 1 ] ,   [ 5 , 7 ] ,   [ 7 , 6 ] ,   [ 6 , 4 ] ,   [ 6 , 2 ] ,   [ 7 , 3 ] ]   \u6e32\u67d3 \u8fb9\u754c \u6846   \u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u8bbe\u7f6e \u4e86 \u51e0\u4f55 \u6295\u5f71 \u548c \u4eff\u771f \uff0c \u6211\u4eec \u53ef\u4ee5 \u7ee7\u7eed \u521b\u5efa \u6e38\u620f \u5faa\u73af \u5e76 \u5c06 \u8fb9\u754c \u6846 \u6e32\u67d3 \u5230 \u573a\u666f \u4e2d \u3002   #   Set   up   the   set   of   bounding   boxes   from   the   level   #   We   filter   for   traffic   lights   and   traffic   signs   bounding _ box _ set   =   world . get _ level _ bbs ( carla . CityObjectLabel . TrafficLight )   bounding _ box _ set . extend ( world . get _ level _ bbs ( carla . CityObjectLabel . TrafficSigns ) )   #   Remember   the   edge   pairs   edges   =   [ [ 0 , 1 ] ,   [ 1 , 3 ] ,   [ 3 , 2 ] ,   [ 2 , 0 ] ,   [ 0 , 4 ] ,   [ 4 , 5 ] ,   [ 5 , 1 ] ,   [ 5 , 7 ] ,   [ 7 , 6 ] ,   [ 6 , 4 ] ,   [ 6 , 2 ] ,   [ 7 , 3 ] ]   \u4e3a\u4e86 \u67e5\u770b \u8fb9\u754c \u6846 \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528   OpenCV   \u7a97\u53e3 \u6765 \u663e\u793a \u76f8\u673a \u8f93\u51fa \u3002   #   Retrieve   the   first   image   world . tick ( )   image   =   image _ queue . get ( )   #   Reshape   the   raw   data   into   an   RGB   array   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   Display   the   image   in   an   OpenCV   display   window   cv2 . namedWindow ( ' ImageWindowName ' ,   cv2 . WINDOW _ AUTOSIZE )   cv2 . imshow ( ' ImageWindowName ' , img )   cv2 . waitKey ( 1 )   \u73b0\u5728 \u6211\u4eec \u5c06 \u5f00\u59cb \u6e38\u620f \u5faa\u73af \uff1a   while   True :   #   Retrieve   and   reshape   the   image   world . tick ( )   image   =   image _ queue . get ( )   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   Get   the   camera   matrix   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   for   bb   in   bounding _ box _ set :   #   Filter   for   distance   from   ego   vehicle   if   bb . location . distance ( vehicle . get _ transform ( ) . location )   <   50 :   #   Calculate   the   dot   product   between   the   forward   vector   #   of   the   vehicle   and   the   vector   between   the   vehicle   #   and   the   bounding   box .   We   threshold   this   dot   product   #   to   limit   to   drawing   bounding   boxes   IN   FRONT   OF   THE   CAMERA   forward _ vec   =   vehicle . get _ transform ( ) . get _ forward _ vector ( )   ray   =   bb . location   -   vehicle . get _ transform ( ) . location   if   forward _ vec . dot ( ray )   >   1 :   #   Cycle   through   the   vertices   verts   =   [ v   for   v   in   bb . get _ world _ vertices ( carla . Transform ( ) ) ]   for   edge   in   edges :   #   Join   the   vertices   into   edges   p1   =   get _ image _ point ( verts [ edge [ 0 ] ] ,   K ,   world _ 2 _ camera )   p2   =   get _ image _ point ( verts [ edge [ 1 ] ] ,   K ,   world _ 2 _ camera )   #   Draw   the   edges   into   the   camera   output   cv2 . line ( img ,   ( int ( p1 [ 0 ] ) , int ( p1 [ 1 ] ) ) ,   ( int ( p2 [ 0 ] ) , int ( p2 [ 1 ] ) ) ,   ( 0 , 0 , 255 ,   255 ) ,   1 )   #   Now   draw   the   image   into   the   OpenCV   display   window   cv2 . imshow ( ' ImageWindowName ' , img )   #   Break   the   loop   if   the   user   presses   the   Q   key   if   cv2 . waitKey ( 1 )   = =   ord ( ' q ' ) :   break   #   Close   the   OpenCV   display   window   when   the   game   loop   stops   cv2 . destroyAllWindows ( )   \u73b0\u5728 \u6211\u4eec \u5c06 \u4e09\u7ef4 \u8fb9\u754c \u6846 \u6e32\u67d3 \u5230 \u56fe\u50cf \u4e2d \uff0c \u4ee5\u4fbf \u6211\u4eec \u53ef\u4ee5 \u5728 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa \u4e2d \u89c2\u5bdf \u5b83\u4eec \u3002   \u8f66\u8f86 \u8fb9\u754c \u6846   \u6211\u4eec \u53ef\u80fd \u8fd8 \u60f3 \u6e32\u67d3 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8fb9\u754c \u6846 \uff0c \u7279\u522b \u662f \u8f66\u8f86 \u7684 \u8fb9\u754c \u6846 \u3002   \u9996\u5148 \uff0c \u8ba9 \u6211\u4eec \u5728 \u4eff\u771f \u4e2d \u6dfb\u52a0 \u4e00\u4e9b \u5176\u4ed6 \u8f66\u8f86 \uff1a   for   i   in   range ( 50 ) :   vehicle _ bp   =   random . choice ( bp _ lib . filter ( ' vehicle ' ) )   npc   =   world . try _ spawn _ actor ( vehicle _ bp ,   random . choice ( spawn _ points ) )   if   npc :   npc . set _ autopilot ( True )   \u68c0\u7d22 \u7b2c\u4e00 \u4e00\u5f20 \u7b2c\u4e00\u5f20 \u56fe\u50cf \u5e76 \u50cf \u4ee5\u524d \u4e00\u6837 \u8bbe\u7f6e   OpenCV   \u663e\u793a \u7a97\u53e3 \uff1a   #   Retrieve   the   first   image   world . tick ( )   image   =   image _ queue . get ( )   #   Reshape   the   raw   data   into   an   RGB   array   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   Display   the   image   in   an   OpenCV   display   window   cv2 . namedWindow ( ' ImageWindowName ' ,   cv2 . WINDOW _ AUTOSIZE )   cv2 . imshow ( ' ImageWindowName ' , img )   cv2 . waitKey ( 1 )   \u73b0\u5728 \u6211\u4eec \u4f7f\u7528 \u4fee\u6539 \u540e \u7684 \u6e38\u620f \u5faa\u73af \u6765 \u7ed8\u5236 \u8f66\u8f86 \u8fb9\u754c \u6846 \uff1a   while   True :   #   Retrieve   and   reshape   the   image   world . tick ( )   image   =   image _ queue . get ( )   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   Get   the   camera   matrix   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   for   npc   in   world . get _ actors ( ) . filter ( ' * vehicle * ' ) :   #   Filter   out   the   ego   vehicle   if   npc . id   ! =   vehicle . id :   bb   =   npc . bounding _ box   dist   =   npc . get _ transform ( ) . location . distance ( vehicle . get _ transform ( ) . location )   #   Filter   for   the   vehicles   within   50m   if   dist   <   50 :   #   Calculate   the   dot   product   between   the   forward   vector   #   of   the   vehicle   and   the   vector   between   the   vehicle   #   and   the   other   vehicle .   We   threshold   this   dot   product   #   to   limit   to   drawing   bounding   boxes   IN   FRONT   OF   THE   CAMERA   forward _ vec   =   vehicle . get _ transform ( ) . get _ forward _ vector ( )   ray   =   npc . get _ transform ( ) . location   -   vehicle . get _ transform ( ) . location   if   forward _ vec . dot ( ray )   >   1 :   p1   =   get _ image _ point ( bb . location ,   K ,   world _ 2 _ camera )   verts   =   [ v   for   v   in   bb . get _ world _ vertices ( npc . get _ transform ( ) ) ]   for   edge   in   edges :   p1   =   get _ image _ point ( verts [ edge [ 0 ] ] ,   K ,   world _ 2 _ camera )   p2   =   get _ image _ point ( verts [ edge [ 1 ] ] ,   K ,   world _ 2 _ camera )   cv2 . line ( img ,   ( int ( p1 [ 0 ] ) , int ( p1 [ 1 ] ) ) ,   ( int ( p2 [ 0 ] ) , int ( p2 [ 1 ] ) ) ,   ( 255 , 0 , 0 ,   255 ) ,   1 )   cv2 . imshow ( ' ImageWindowName ' , img )   if   cv2 . waitKey ( 1 )   = =   ord ( ' q ' ) :   break   cv2 . destroyAllWindows ( )   \u4e8c\u7ef4 \u8fb9\u754c \u6846   \u8bad\u7ec3 \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u6765 \u68c0\u6d4b \u4e8c\u7ef4 \u8fb9\u754c \u6846\u800c \u4e0d\u662f \u4e0a\u9762 \u6f14\u793a \u7684 \u4e09\u7ef4 \u8fb9\u754c \u6846\u662f \u5f88 \u5e38\u89c1 \u7684 \u3002 \u524d\u9762 \u7684 \u811a\u672c \u53ef\u4ee5 \u8f7b\u677e \u6269\u5c55 \u4ee5 \u751f\u6210 \u4e8c\u7ef4 \u8fb9\u754c \u6846 \u3002 \u6211\u4eec \u53ea \u9700\u8981 \u4f7f\u7528 \u4e09\u7ef4 \u8fb9\u754c \u6846 \u7684 \u672b\u7aef \u5373\u53ef \u3002 \u5bf9\u4e8e \u6e32\u67d3 \u7684 \u6bcf\u4e2a \u8fb9\u754c \u6846 \uff0c \u6211\u4eec \u627e\u5230 \u56fe\u50cf \u5750\u6807 \u4e2d \u6700 \u5de6\u8fb9 \u3001 \u6700 \u53f3\u8fb9 \u3001 \u6700\u9ad8 \u548c \u6700\u4f4e \u7684 \u6295\u5f71 \u9876\u70b9 \u3002   while   True :   #   Retrieve   and   reshape   the   image   world . tick ( )   image   =   image _ queue . get ( )   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   Get   the   camera   matrix   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   for   npc   in   world . get _ actors ( ) . filter ( ' * vehicle * ' ) :   #   Filter   out   the   ego   vehicle   if   npc . id   ! =   vehicle . id :   bb   =   npc . bounding _ box   dist   =   npc . get _ transform ( ) . location . distance ( vehicle . get _ transform ( ) . location )   #   Filter   for   the   vehicles   within   50m   if   dist   <   50 :   #   Calculate   the   dot   product   between   the   forward   vector   #   of   the   vehicle   and   the   vector   between   the   vehicle   #   and   the   other   vehicle .   We   threshold   this   dot   product   #   to   limit   to   drawing   bounding   boxes   IN   FRONT   OF   THE   CAMERA   forward _ vec   =   vehicle . get _ transform ( ) . get _ forward _ vector ( )   ray   =   npc . get _ transform ( ) . location   -   vehicle . get _ transform ( ) . location   if   forward _ vec . dot ( ray )   >   1 :   p1   =   get _ image _ point ( bb . location ,   K ,   world _ 2 _ camera ) http : / / host . robots . ox . ac . uk / pascal / VOC /   verts   =   [ v   for   v   in   bb . get _ world _ vertices ( npc . get _ transform ( ) ) ]   x _ max   =   - 10000   x _ min   =   10000   y _ max   =   - 10000   y _ min   =   10000   for   vert   in   verts :   p   =   get _ image _ point ( vert ,   K ,   world _ 2 _ camera )   #   Find   the   rightmost   vertex   if   p [ 0 ]   >   x _ max :   x _ max   =   p [ 0 ]   #   Find   the   leftmost   vertex   if   p [ 0 ]   <   x _ min :   x _ min   =   p [ 0 ]   #   Find   the   highest   vertex   if   p [ 1 ]   >   y _ max :   y _ max   =   p [ 1 ]   #   Find   the   lowest   vertex   if   p [ 1 ]   <   y _ min :   y _ min   =   p [ 1 ]   cv2 . line ( img ,   ( int ( x _ min ) , int ( y _ min ) ) ,   ( int ( x _ max ) , int ( y _ min ) ) ,   ( 0 , 0 , 255 ,   255 ) ,   1 )   cv2 . line ( img ,   ( int ( x _ min ) , int ( y _ max ) ) ,   ( int ( x _ max ) , int ( y _ max ) ) ,   ( 0 , 0 , 255 ,   255 ) ,   1 )   cv2 . line ( img ,   ( int ( x _ min ) , int ( y _ min ) ) ,   ( int ( x _ min ) , int ( y _ max ) ) ,   ( 0 , 0 , 255 ,   255 ) ,   1 )   cv2 . line ( img ,   ( int ( x _ max ) , int ( y _ min ) ) ,   ( int ( x _ max ) , int ( y _ max ) ) ,   ( 0 , 0 , 255 ,   255 ) ,   1 )   cv2 . imshow ( ' ImageWindowName ' , img )   if   cv2 . waitKey ( 1 )   = =   ord ( ' q ' ) :   break   cv2 . destroyAllWindows ( )   \u5bfc\u51fa \u8fb9\u754c \u6846   \u6e32\u67d3 \u8fb9\u754c \u6846 \u5bf9\u4e8e \u6211\u4eec \u786e\u4fdd \u8fb9\u754c \u6846 \u5bf9\u4e8e \u8c03\u8bd5 \u76ee\u7684 \u662f \u6b63\u786e \u7684 \u5f88 \u6709\u7528 \u3002 \u7136\u800c \uff0c \u5982\u679c \u6211\u4eec \u60f3 \u5728 \u8bad\u7ec3 \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u65f6 \u5b9e\u9645 \u4f7f\u7528 \u5b83\u4eec \uff0c \u6211\u4eec \u5c06 \u9700\u8981 \u5bfc\u51fa \u5b83\u4eec \u3002 \u7528\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u548c \u7269\u4f53 \u68c0\u6d4b \u7684 \u5e38\u89c1 \u6570\u636e \u5b58\u50a8 \u5e93 \u4f7f\u7528 \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7684 \u683c\u5f0f \uff0c \u4f8b\u5982   KITTI   \u6216   PASCAL   VOC   \u6216   MicroSoft   COCO   \u3002   Pascal   VOC   \u683c\u5f0f   \u8fd9\u4e9b \u6570\u636e \u96c6 \u901a\u5e38 \u4f7f\u7528   JSON   \u6216   XML   \u683c\u5f0f \u6765 \u5b58\u50a8 \u6ce8\u91ca \u3002 PASCAL   VOC   \u683c\u5f0f \u6709 \u4e00\u4e2a \u65b9\u4fbf \u7684   Python   \u5e93 \u3002   from   pascal _ voc _ writer   import   Writer   ...   ...   ...   while   True :   #   Retrieve   the   image   world . tick ( )   image   =   image _ queue . get ( )   #   Get   the   camera   matrix   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   frame _ path   =   ' output / % 06d '   %   image . frame   #   Save   the   image   image . save _ to _ disk ( frame _ path   +   ' . png ' )   #   Initialize   the   exporter   writer   =   Writer ( frame _ path   +   ' . png ' ,   image _ w ,   image _ h )   for   npc   in   world . get _ actors ( ) . filter ( ' * vehicle * ' ) :   if   npc . id   ! =   vehicle . id :   bb   =   npc . bounding _ box   dist   =   npc . get _ transform ( ) . location . distance ( vehicle . get _ transform ( ) . location )   if   dist   <   50 :   forward _ vec   =   vehicle . get _ transform ( ) . get _ forward _ vector ( )   ray   =   npc . get _ transform ( ) . location   -   vehicle . get _ transform ( ) . location   if   forward _ vec . dot ( ray )   >   1 :   p1   =   get _ image _ point ( bb . location ,   K ,   world _ 2 _ camera )   verts   =   [ v   for   v   in   bb . get _ world _ vertices ( npc . get _ transform ( ) ) ]   x _ max   =   - 10000   x _ min   =   10000   y _ max   =   - 10000   y _ min   =   10000   for   vert   in   verts :   p   =   get _ image _ point ( vert ,   K ,   world _ 2 _ camera )   if   p [ 0 ]   >   x _ max :   x _ max   =   p [ 0 ]   if   p [ 0 ]   <   x _ min :   x _ min   =   p [ 0 ]   if   p [ 1 ]   >   y _ max :   y _ max   =   p [ 1 ]   if   p [ 1 ]   <   y _ min :   y _ min   =   p [ 1 ]   #   Add   the   object   to   the   frame   ( ensure   it   is   inside   the   image )   if   x _ min   >   0   and   x _ max   <   image _ w   and   y _ min   >   0   and   y _ max   <   image _ h :   writer . addObject ( ' vehicle ' ,   x _ min ,   y _ min ,   x _ max ,   y _ max )   #   Save   the   bounding   boxes   in   the   scene   writer . save ( frame _ path   +   ' . xml ' )   \u5bf9\u4e8e \u4eff\u771f \u7684 \u6bcf\u4e2a \u6e32\u67d3 \u5e27 \uff0c \u60a8 \u73b0\u5728 \u5c06 \u5bfc\u51fa \u4e00\u4e2a \u968f\u9644 \u7684   XML   \u6587\u4ef6 \uff0c \u5176\u4e2d \u5305\u542b \u5e27 \u4e2d \u8fb9\u754c \u6846 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u5728   PASCAL   VOC   \u683c\u5f0f \u4e2d \uff0c XML   \u6587\u4ef6 \u5305\u542b \u6d89\u53ca \u968f\u9644 \u56fe\u50cf \u6587\u4ef6 \u56fe\u50cf\u6587\u4ef6 \u3001 \u56fe\u50cf \u5c3a\u5bf8 \u7684 \u4fe1\u606f \uff0c \u5982\u679c \u9700\u8981 \uff0c \u8fd8 \u53ef\u4ee5 \u5305\u62ec \u8f66\u8f86 \u7c7b\u578b \u7b49 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   < ! --   Example   PASCAL   VOC   format   file -- >   < annotation >   < folder > output < / folder >   < filename > 023235 . png < / filename >   < path > / home / matt / Documents / temp / output / 023235 . png < / path >   < source >   < database > Unknown < / database >   < / source >   < size >   < width > 800 < / width >   < height > 600 < / height >   < depth > 3 < / depth >   < / size >   < segmented > 0 < / segmented >   < object >   < name > vehicle < / name >   < pose > Unspecified < / pose >   < truncated > 0 < / truncated >   < difficult > 0 < / difficult >   < bndbox >   < xmin > 503 < / xmin >   < ymin > 310 < / ymin >   < xmax > 511 < / xmax >   < ymax > 321 < / ymax >   < / bndbox >   < / object >   < object >   < name > vehicle < / name >   < pose > Unspecified < / pose >   < truncated > 0 < / truncated >   < difficult > 0 < / difficult >   < bndbox >   < xmin > 490 < / xmin >   < ymin > 310 < / ymin >   < xmax > 498 < / xmax >   < ymax > 321 < / ymax >   < / bndbox >   < / object >   < / annotation >   \u5fae\u8f6f   COCO   \u683c\u5f0f   \u53e6 \u4e00\u79cd \u6d41\u884c \u7684 \u5bfc\u51fa \u683c\u5f0f \u662f   MicroSoft   COCO   \u3002 COCO   \u683c\u5f0f \u4f7f\u7528   JSON   \u6587\u4ef6 \u6765 \u4fdd\u5b58 \u5bf9 \u56fe\u50cf \u548c \u6ce8\u91ca \u7684 \u5f15\u7528 \u3002 \u8be5 \u683c\u5f0f \u5305\u62ec \u5355\u4e2a   JSON   \u6587\u4ef6 \u5b57\u6bb5 \u4e2d \u7684 \u56fe\u50cf \u548c \u6ce8\u91ca \uff0c \u4ee5\u53ca \u6709\u5173 \u6570\u636e \u96c6 \u548c \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u7684 \u4fe1\u606f \u3002 \u4e0e \u67d0\u4e9b \u5176\u4ed6 \u683c\u5f0f \u76f8\u6bd4 \uff0c \u5bf9 \u6240\u6709 \u6536\u96c6 \u7684 \u56fe\u50cf \u548c \u6240\u6709 \u76f8\u5173 \u6ce8\u91ca \u7684 \u5f15\u7528 \u90fd \u4f4d\u4e8e \u540c\u4e00 \u6587\u4ef6 \u4e2d \u3002   \u60a8 \u5e94\u8be5 \u521b\u5efa \u4e00\u4e2a \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u793a\u4f8b \u7684   JSON   \u5b57\u5178 \uff1a   simulation _ dataset   =   {   \" info \" :   { } ,   \" licenses \" :   [   {   \" url \" :   \" http : / / creativecommons . org / licenses / by - nc - sa / 2.0 / \" ,   \" id \" :   1 ,   \" name \" :   \" Attribution - NonCommercial - ShareAlike   License \"   } ] ,   \" images \" :   [ ... ,   {   \" license \" :   1 ,   \" file _ name \" :   \" 023235 . png \" ,   \" height \" :   600 ,   \" width \" :   800 ,   \" date _ captured \" :   \" 2022 - 04 - 14   17 : 02 : 52 \" ,   \" id \" :   23235   } ,   ...   ] ,   \" categories \" :   [ ...   { \" supercategory \" :   \" vehicle \" ,   \" id \" :   10 ,   \" name \" :   \" vehicle \"   } ,   ... ] ,   \" annotations \" :   [   ... ,   {   \" segmentation \" :   [ ] ,   \" area \" :   9262.89 ,   \" iscrowd \" :   0 ,   \" image _ id \" :   23235 ,   \" bbox \" :   [ 503.3 ,   310.4 ,   118.3 ,   78.3 ]   } ,   ...   ]   }   \u4fe1\u606f \u548c \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u90e8\u5206 \u5e94 \u76f8\u5e94 \u586b\u5199 \u6216 \u7559\u7a7a \u3002 \u4eff\u771f \u4e2d \u7684 \u56fe\u50cf \u5e94 \u5b58\u50a8 \u5728   images   \u5b57\u5178 \u5b57\u6bb5 \u4e2d \u7684 \u6570\u7ec4 \u4e2d \u3002 \u8fb9\u754c \u6846\u5e94 \u5b58\u50a8 \u5728 \u5177\u6709 \u5339\u914d   image _ id   \u7684   annotations   \u5b57\u5178 \u5b57\u6bb5 \u4e2d \u3002 \u8fb9\u754c \u6846 \u5b58\u50a8 \u4e3a   [ x _ min ,   y _ min ,   width ,   height ]   \u3002   \u7136\u540e \u53ef\u4ee5 \u4f7f\u7528   Python   JSON   \u5e93 \u5c06 \u5b57\u5178 \u4fdd\u5b58 \u4e3a   JSON   \u6587\u4ef6 \uff1a   import   json   with   open ( ' simulation _ data . json ' ,   ' w ' )   as   json _ file :   json . dump ( simulation _ dataset ,   json _ file )   \u6709\u5173   COCO   \u6570\u636e \u683c\u5f0f \u6570\u636e\u683c\u5f0f \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8bf7 \u53c2\u89c1   \u6b64\u5904   \u3002   \u5e94\u8be5 \u6ce8\u610f \u7684 \u662f \uff0c \u5728 \u672c \u6559\u7a0b \u4e2d \u6211\u4eec \u6ca1\u6709 \u8003\u8651 \u91cd\u53e0 \u7684 \u8fb9\u754c \u6846 \u3002 \u4e3a\u4e86 \u5728 \u91cd\u53e0 \u7684 \u60c5\u51b5 \u4e0b \u8bc6\u522b \u524d\u666f \u8fb9\u754c \u6846 \uff0c \u9700\u8981 \u8fdb\u884c \u989d\u5916 \u7684 \u5de5\u4f5c \u3002","title":"\u8fb9\u754c \u6846"},{"location":"tuto_G_bounding_boxes/#_1","text":"\u4f7f \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u4e86\u89e3 \u5176 \u73af\u5883 \u7684 \u4e00\u4e2a \u91cd\u8981 \u56e0\u7d20 \u5728\u4e8e \u4f30\u8ba1 \u8f66\u8f86 \u5468\u56f4 \u7269\u4f53 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \u3002 \u4e3a\u6b64 \uff0c \u6709 \u5fc5\u8981 \u63a8\u65ad \u5bf9\u8c61 \u8fb9\u754c \u6846 \u7684 \u4f4d\u7f6e \u3002   Carla   \u4eff\u771f \u4e2d \u7684 \u5bf9\u8c61 \u90fd \u6709 \u4e00\u4e2a \u8fb9\u754c \u6846 \uff0c \u5e76\u4e14   Carla   Python   API   \u63d0\u4f9b \u4e86 \u8bbf\u95ee \u6bcf\u4e2a \u5bf9\u8c61 \u7684 \u8fb9\u754c \u6846 \u7684 \u51fd\u6570 \u3002 \u672c \u6559\u7a0b \u5c55\u793a \u5982\u4f55 \u8bbf\u95ee \u8fb9\u754c \u6846 \uff0c \u7136\u540e \u5c06 \u5b83\u4eec \u6295\u5f71 \u5230 \u76f8\u673a \u5e73\u9762 \u4e2d \u3002","title":"\u8fb9\u754c \u6846"},{"location":"tuto_G_bounding_boxes/#_2","text":"\u8ba9 \u6211\u4eec \u7f16\u5199 \u6807\u51c6   Carla   \u6837\u677f \u4ee3\u7801 \uff0c \u8bbe\u7f6e \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u4e16\u754c \u5bf9\u8c61 \uff0c \u751f\u6210 \u8f66\u8f86 \u5e76 \u4e3a \u5176 \u9644\u52a0 \u76f8\u673a \uff1a   import   carla   import   math   import   random   import   time   import   queue   import   numpy   as   np   import   cv2   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   bp _ lib   =   world . get _ blueprint _ library ( )   #   \u751f\u6210 \u8f66\u8f86   vehicle _ bp   = bp _ lib . find ( ' vehicle . lincoln . mkz _ 2020 ' )   vehicle   =   world . try _ spawn _ actor ( vehicle _ bp ,   random . choice ( spawn _ points ) )   #   \u751f\u6210 \u76f8\u673a   camera _ bp   =   bp _ lib . find ( ' sensor . camera . rgb ' )   camera _ init _ trans   =   carla . Transform ( carla . Location ( z = 2 ) )   camera   =   world . spawn _ actor ( camera _ bp ,   camera _ init _ trans ,   attach _ to = vehicle )   vehicle . set _ autopilot ( True )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u8bbe\u7f6e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   Enables   synchronous   mode   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   #   \u83b7\u53d6 \u5730\u56fe \u7684 \u751f\u6210 \u70b9   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   #   \u521b\u5efa \u4e00\u4e2a \u961f\u5217 \u6765 \u5b58\u50a8 \u548c \u68c0\u7d22 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e   image _ queue   =   queue . Queue ( )   camera . listen ( image _ queue . put )","title":"\u8bbe\u7f6e \u4eff\u771f\u5668"},{"location":"tuto_G_bounding_boxes/#_3","text":"\u6211\u4eec \u60f3\u8981 \u4ece \u4eff\u771f \u4e2d \u83b7\u53d6 \u4e09\u7ef4 \u70b9 \u5e76 \u5c06 \u5b83\u4eec \u6295\u5f71 \u5230 \u76f8\u673a \u7684 \u4e8c\u7ef4 \u5e73\u9762 \u4e2d \u3002 \u9996\u5148 \uff0c \u6211\u4eec \u9700\u8981 \u6784\u9020 \u76f8\u673a \u6295\u5f71 \u77e9\u9635 \uff1a   def   build _ projection _ matrix ( w ,   h ,   fov ) :   focal   =   w   /   ( 2.0   *   np . tan ( fov   *   np . pi   /   360.0 ) )   K   =   np . identity ( 3 )   K [ 0 ,   0 ]   =   K [ 1 ,   1 ]   =   focal   K [ 0 ,   2 ]   =   w   /   2.0   K [ 1 ,   2 ]   =   h   /   2.0   return   K   \u6211\u4eec \u60f3\u8981 \u4f7f\u7528 \u76f8\u673a \u6295\u5f71 \u77e9\u9635 \u5c06 \u4e09\u7ef4 \u70b9 \u6295\u5f71 \u5230 \u4e8c\u7ef4 \u70b9 \u3002 \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \u662f \u4f7f\u7528 \u53ef \u901a\u8fc7   camera . get _ transform ( ) . get _ inverse _ matrix ( )   \u68c0\u7d22 \u7684 \u9006 \u76f8\u673a \u53d8\u6362 \uff0c \u5c06 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u7684 \u4e09\u7ef4 \u5750\u6807 \u53d8\u6362 \u4e3a \u76f8\u673a \u5750\u6807 \u3002 \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u6211\u4eec \u4f7f\u7528 \u76f8\u673a \u6295\u5f71 \u77e9\u9635 \u5c06 \u76f8\u673a \u5750\u6807 \u4e2d \u7684 \u4e09\u7ef4 \u70b9 \u6295\u5f71 \u5230 \u4e8c\u7ef4 \u76f8\u673a \u5e73\u9762 \u4e2d \uff1a   def   get _ image _ point ( loc ,   K ,   w2c ) :   #   \u8ba1\u7b97 \u4e09\u7ef4 \u5750\u6807 \u7684 \u4e8c\u7ef4 \u6295\u5f71   #   \u8bbe\u7f6e \u8f93\u5165 \u5750\u6807 \u7684 \u683c\u5f0f \uff08 loc \u662f \u4e00\u4e2a carla . Position \u5bf9\u8c61 \uff09   point   =   np . array ( [ loc . x ,   loc . y ,   loc . z ,   1 ] )   #   \u53d8\u6362 \u5230 \u76f8\u673a \u5750\u6807   point _ camera   =   np . dot ( w2c ,   point )   #   \u65b0 \u7684 \uff0c \u6211\u4eec \u5fc5\u987b \u4ece UE4 \u7684 \u5750\u6807 \u5750\u6807\u7cfb \u66f4 \u6539\u4e3a \u201c standard \u201d   #   ( x ,   y   , z )   - >   ( y ,   - z ,   x )   #   \u6211\u4eec \u8fd8 \u53bb\u6389 \u4e86 \u7b2c\u56db \u56db\u4e2a \u7b2c\u56db\u4e2a \u6210\u5206   point _ camera   =   [ point _ camera [ 1 ] ,   - point _ camera [ 2 ] ,   point _ camera [ 0 ] ]   #   \u73b0\u5728 \u4f7f\u7528 \u76f8\u673a \u77e9\u9635 \u6295\u5f71 3D - > 2D   point _ img   =   np . dot ( K ,   point _ camera )   #   \u6b63\u5219 \u5316   point _ img [ 0 ]   / =   point _ img [ 2 ]   point _ img [ 1 ]   / =   point _ img [ 2 ]   return   point _ img [ 0 : 2 ]   \u73b0\u5728 \u6211\u4eec \u6709 \u4e86 \u6295\u5f71   3D   - >   2D   \u7684 \u529f\u80fd \uff0c \u6211\u4eec \u53ef\u4ee5 \u68c0\u7d22 \u76f8\u673a \u89c4\u683c \uff1a   #   \u83b7\u53d6 \u4e16\u754c \u7684 \u76f8\u673a \u77e9\u9635   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   #   Get   the   attributes   from   the   camera   image _ w   =   camera _ bp . get _ attribute ( \" image _ size _ x \" ) . as _ int ( )   image _ h   =   camera _ bp . get _ attribute ( \" image _ size _ y \" ) . as _ int ( )   fov   =   camera _ bp . get _ attribute ( \" fov \" ) . as _ float ( )   #   Calculate   the   camera   projection   matrix   to   project   from   3D   - >   2D   K   =   build _ projection _ matrix ( image _ w ,   image _ h ,   fov )","title":"\u51e0\u4f55\u53d8\u6362"},{"location":"tuto_G_bounding_boxes/#_4","text":"Carla   \u5bf9\u8c61 \u90fd \u6709 \u4e00\u4e2a \u5173\u8054 \u7684 \u8fb9\u754c \u6846 \u3002 Carla   \u53c2\u4e0e \u53c2\u4e0e\u8005   \u6709 \u4e00\u4e2a   bounding _ box   \u5c5e\u6027 \uff0c \u8be5 \u5c5e\u6027 \u5177\u6709   carla . BoundingBox   \u5bf9\u8c61 \u7c7b\u578b \u3002 \u8fb9\u754c \u6846 \u7684 \u9876\u70b9 \u53ef\u4ee5 \u901a\u8fc7   getter   \u51fd\u6570   . get _ world _ vertices ( )   \u6216   get _ local _ vertices ( )   \u4e4b\u4e00 \u68c0\u7d22 \u3002   \u9700\u8981 \u6ce8\u610f \u7684 \u662f \uff0c \u8981 \u83b7\u53d6 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u4e2d \u8fb9\u754c \u6846 \u7684 \u4e09\u7ef4 \u5750\u6807 \uff0c \u60a8 \u9700\u8981 \u5c06 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u53d8\u6362 \u4f5c\u4e3a \u8be5   get _ world _ vertices ( )   \u65b9\u6cd5 \u7684 \u53c2\u6570 \uff0c \u5982\u4e0b \u6240\u793a \uff1a   actor . get _ world _ vertices ( actor . get _ transform ( ) )   \u5bf9\u4e8e \u5730\u56fe \u4e2d \u7684 \u7269\u4f53 \uff0c \u5982 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u8def\u6807 \uff0c \u53ef\u4ee5 \u901a\u8fc7   carla . World   \u65b9\u6cd5   get _ level _ bbs ( )   \u68c0\u7d22 \u8fb9\u754c \u6846 get _ level _ bbs ( ) \u3002   carla . CityObjectLabel   \u53ef\u4ee5 \u7528\u4f5c \u53c2\u6570 \u6765 \u5c06 \u8fb9\u754c \u6846 \u5217\u8868 \u8fc7\u6ee4 \u5230 \u76f8\u5173 \u5bf9\u8c61 \uff1a   #   Retrieve   all   bounding   boxes   for   traffic   lights   within   the   level   bounding _ box _ set   =   world . get _ level _ bbs ( carla . CityObjectLabel . TrafficLight )   #   Filter   the   list   to   extract   bounding   boxes   within   a   50m   radius   nearby _ bboxes   =   [ ]   for   bbox   in   bounding _ box _ set :   if   bbox . location . distance ( actor . get _ transform ( ) . location )   <   50 :   nearby _ bboxes   \u53ef\u4ee5 \u4f7f\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4f4d\u7f6e \u6765 \u4e00\u6b65 \u8fdb\u4e00\u6b65 \u8fc7\u6ee4 \u8be5 \u5217\u8868 \uff0c \u4ee5 \u8bc6\u522b \u9644\u8fd1 \u7684 \u5bf9\u8c61 \uff0c \u56e0\u6b64 \u53ef\u80fd \u4f4d\u4e8e \u8fde\u63a5 \u5230 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u76f8\u673a \u7684 \u89c6\u91ce \u5185 \u3002   \u4e3a\u4e86 \u5728 \u76f8\u673a \u56fe\u50cf \u4e0a \u7ed8\u5236 \u8fb9\u754c \u6846 \uff0c \u6211\u4eec \u9700\u8981 \u4ee5 \u9002\u5f53 \u7684 \u987a\u5e8f \u8fde\u63a5 \u9876\u70b9 \u4ee5 \u521b\u5efa \u8fb9\u7f18 \u3002 \u4e3a\u4e86 \u5b9e\u73b0 \u8fd9 \u4e00\u70b9 \uff0c \u6211\u4eec \u9700\u8981 \u4ee5\u4e0b \u8fb9 \u5bf9 \u5217\u8868 \uff1a   edges   =   [ [ 0 , 1 ] ,   [ 1 , 3 ] ,   [ 3 , 2 ] ,   [ 2 , 0 ] ,   [ 0 , 4 ] ,   [ 4 , 5 ] ,   [ 5 , 1 ] ,   [ 5 , 7 ] ,   [ 7 , 6 ] ,   [ 6 , 4 ] ,   [ 6 , 2 ] ,   [ 7 , 3 ] ]","title":"\u8fb9\u754c \u6846"},{"location":"tuto_G_bounding_boxes/#_5","text":"\u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u8bbe\u7f6e \u4e86 \u51e0\u4f55 \u6295\u5f71 \u548c \u4eff\u771f \uff0c \u6211\u4eec \u53ef\u4ee5 \u7ee7\u7eed \u521b\u5efa \u6e38\u620f \u5faa\u73af \u5e76 \u5c06 \u8fb9\u754c \u6846 \u6e32\u67d3 \u5230 \u573a\u666f \u4e2d \u3002   #   Set   up   the   set   of   bounding   boxes   from   the   level   #   We   filter   for   traffic   lights   and   traffic   signs   bounding _ box _ set   =   world . get _ level _ bbs ( carla . CityObjectLabel . TrafficLight )   bounding _ box _ set . extend ( world . get _ level _ bbs ( carla . CityObjectLabel . TrafficSigns ) )   #   Remember   the   edge   pairs   edges   =   [ [ 0 , 1 ] ,   [ 1 , 3 ] ,   [ 3 , 2 ] ,   [ 2 , 0 ] ,   [ 0 , 4 ] ,   [ 4 , 5 ] ,   [ 5 , 1 ] ,   [ 5 , 7 ] ,   [ 7 , 6 ] ,   [ 6 , 4 ] ,   [ 6 , 2 ] ,   [ 7 , 3 ] ]   \u4e3a\u4e86 \u67e5\u770b \u8fb9\u754c \u6846 \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528   OpenCV   \u7a97\u53e3 \u6765 \u663e\u793a \u76f8\u673a \u8f93\u51fa \u3002   #   Retrieve   the   first   image   world . tick ( )   image   =   image _ queue . get ( )   #   Reshape   the   raw   data   into   an   RGB   array   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   Display   the   image   in   an   OpenCV   display   window   cv2 . namedWindow ( ' ImageWindowName ' ,   cv2 . WINDOW _ AUTOSIZE )   cv2 . imshow ( ' ImageWindowName ' , img )   cv2 . waitKey ( 1 )   \u73b0\u5728 \u6211\u4eec \u5c06 \u5f00\u59cb \u6e38\u620f \u5faa\u73af \uff1a   while   True :   #   Retrieve   and   reshape   the   image   world . tick ( )   image   =   image _ queue . get ( )   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   Get   the   camera   matrix   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   for   bb   in   bounding _ box _ set :   #   Filter   for   distance   from   ego   vehicle   if   bb . location . distance ( vehicle . get _ transform ( ) . location )   <   50 :   #   Calculate   the   dot   product   between   the   forward   vector   #   of   the   vehicle   and   the   vector   between   the   vehicle   #   and   the   bounding   box .   We   threshold   this   dot   product   #   to   limit   to   drawing   bounding   boxes   IN   FRONT   OF   THE   CAMERA   forward _ vec   =   vehicle . get _ transform ( ) . get _ forward _ vector ( )   ray   =   bb . location   -   vehicle . get _ transform ( ) . location   if   forward _ vec . dot ( ray )   >   1 :   #   Cycle   through   the   vertices   verts   =   [ v   for   v   in   bb . get _ world _ vertices ( carla . Transform ( ) ) ]   for   edge   in   edges :   #   Join   the   vertices   into   edges   p1   =   get _ image _ point ( verts [ edge [ 0 ] ] ,   K ,   world _ 2 _ camera )   p2   =   get _ image _ point ( verts [ edge [ 1 ] ] ,   K ,   world _ 2 _ camera )   #   Draw   the   edges   into   the   camera   output   cv2 . line ( img ,   ( int ( p1 [ 0 ] ) , int ( p1 [ 1 ] ) ) ,   ( int ( p2 [ 0 ] ) , int ( p2 [ 1 ] ) ) ,   ( 0 , 0 , 255 ,   255 ) ,   1 )   #   Now   draw   the   image   into   the   OpenCV   display   window   cv2 . imshow ( ' ImageWindowName ' , img )   #   Break   the   loop   if   the   user   presses   the   Q   key   if   cv2 . waitKey ( 1 )   = =   ord ( ' q ' ) :   break   #   Close   the   OpenCV   display   window   when   the   game   loop   stops   cv2 . destroyAllWindows ( )   \u73b0\u5728 \u6211\u4eec \u5c06 \u4e09\u7ef4 \u8fb9\u754c \u6846 \u6e32\u67d3 \u5230 \u56fe\u50cf \u4e2d \uff0c \u4ee5\u4fbf \u6211\u4eec \u53ef\u4ee5 \u5728 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa \u4e2d \u89c2\u5bdf \u5b83\u4eec \u3002","title":"\u6e32\u67d3 \u8fb9\u754c \u6846"},{"location":"tuto_G_bounding_boxes/#_6","text":"\u6211\u4eec \u53ef\u80fd \u8fd8 \u60f3 \u6e32\u67d3 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8fb9\u754c \u6846 \uff0c \u7279\u522b \u662f \u8f66\u8f86 \u7684 \u8fb9\u754c \u6846 \u3002   \u9996\u5148 \uff0c \u8ba9 \u6211\u4eec \u5728 \u4eff\u771f \u4e2d \u6dfb\u52a0 \u4e00\u4e9b \u5176\u4ed6 \u8f66\u8f86 \uff1a   for   i   in   range ( 50 ) :   vehicle _ bp   =   random . choice ( bp _ lib . filter ( ' vehicle ' ) )   npc   =   world . try _ spawn _ actor ( vehicle _ bp ,   random . choice ( spawn _ points ) )   if   npc :   npc . set _ autopilot ( True )   \u68c0\u7d22 \u7b2c\u4e00 \u4e00\u5f20 \u7b2c\u4e00\u5f20 \u56fe\u50cf \u5e76 \u50cf \u4ee5\u524d \u4e00\u6837 \u8bbe\u7f6e   OpenCV   \u663e\u793a \u7a97\u53e3 \uff1a   #   Retrieve   the   first   image   world . tick ( )   image   =   image _ queue . get ( )   #   Reshape   the   raw   data   into   an   RGB   array   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   Display   the   image   in   an   OpenCV   display   window   cv2 . namedWindow ( ' ImageWindowName ' ,   cv2 . WINDOW _ AUTOSIZE )   cv2 . imshow ( ' ImageWindowName ' , img )   cv2 . waitKey ( 1 )   \u73b0\u5728 \u6211\u4eec \u4f7f\u7528 \u4fee\u6539 \u540e \u7684 \u6e38\u620f \u5faa\u73af \u6765 \u7ed8\u5236 \u8f66\u8f86 \u8fb9\u754c \u6846 \uff1a   while   True :   #   Retrieve   and   reshape   the   image   world . tick ( )   image   =   image _ queue . get ( )   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   Get   the   camera   matrix   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   for   npc   in   world . get _ actors ( ) . filter ( ' * vehicle * ' ) :   #   Filter   out   the   ego   vehicle   if   npc . id   ! =   vehicle . id :   bb   =   npc . bounding _ box   dist   =   npc . get _ transform ( ) . location . distance ( vehicle . get _ transform ( ) . location )   #   Filter   for   the   vehicles   within   50m   if   dist   <   50 :   #   Calculate   the   dot   product   between   the   forward   vector   #   of   the   vehicle   and   the   vector   between   the   vehicle   #   and   the   other   vehicle .   We   threshold   this   dot   product   #   to   limit   to   drawing   bounding   boxes   IN   FRONT   OF   THE   CAMERA   forward _ vec   =   vehicle . get _ transform ( ) . get _ forward _ vector ( )   ray   =   npc . get _ transform ( ) . location   -   vehicle . get _ transform ( ) . location   if   forward _ vec . dot ( ray )   >   1 :   p1   =   get _ image _ point ( bb . location ,   K ,   world _ 2 _ camera )   verts   =   [ v   for   v   in   bb . get _ world _ vertices ( npc . get _ transform ( ) ) ]   for   edge   in   edges :   p1   =   get _ image _ point ( verts [ edge [ 0 ] ] ,   K ,   world _ 2 _ camera )   p2   =   get _ image _ point ( verts [ edge [ 1 ] ] ,   K ,   world _ 2 _ camera )   cv2 . line ( img ,   ( int ( p1 [ 0 ] ) , int ( p1 [ 1 ] ) ) ,   ( int ( p2 [ 0 ] ) , int ( p2 [ 1 ] ) ) ,   ( 255 , 0 , 0 ,   255 ) ,   1 )   cv2 . imshow ( ' ImageWindowName ' , img )   if   cv2 . waitKey ( 1 )   = =   ord ( ' q ' ) :   break   cv2 . destroyAllWindows ( )","title":"\u8f66\u8f86 \u8fb9\u754c \u6846"},{"location":"tuto_G_bounding_boxes/#_7","text":"\u8bad\u7ec3 \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u6765 \u68c0\u6d4b \u4e8c\u7ef4 \u8fb9\u754c \u6846\u800c \u4e0d\u662f \u4e0a\u9762 \u6f14\u793a \u7684 \u4e09\u7ef4 \u8fb9\u754c \u6846\u662f \u5f88 \u5e38\u89c1 \u7684 \u3002 \u524d\u9762 \u7684 \u811a\u672c \u53ef\u4ee5 \u8f7b\u677e \u6269\u5c55 \u4ee5 \u751f\u6210 \u4e8c\u7ef4 \u8fb9\u754c \u6846 \u3002 \u6211\u4eec \u53ea \u9700\u8981 \u4f7f\u7528 \u4e09\u7ef4 \u8fb9\u754c \u6846 \u7684 \u672b\u7aef \u5373\u53ef \u3002 \u5bf9\u4e8e \u6e32\u67d3 \u7684 \u6bcf\u4e2a \u8fb9\u754c \u6846 \uff0c \u6211\u4eec \u627e\u5230 \u56fe\u50cf \u5750\u6807 \u4e2d \u6700 \u5de6\u8fb9 \u3001 \u6700 \u53f3\u8fb9 \u3001 \u6700\u9ad8 \u548c \u6700\u4f4e \u7684 \u6295\u5f71 \u9876\u70b9 \u3002   while   True :   #   Retrieve   and   reshape   the   image   world . tick ( )   image   =   image _ queue . get ( )   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   Get   the   camera   matrix   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   for   npc   in   world . get _ actors ( ) . filter ( ' * vehicle * ' ) :   #   Filter   out   the   ego   vehicle   if   npc . id   ! =   vehicle . id :   bb   =   npc . bounding _ box   dist   =   npc . get _ transform ( ) . location . distance ( vehicle . get _ transform ( ) . location )   #   Filter   for   the   vehicles   within   50m   if   dist   <   50 :   #   Calculate   the   dot   product   between   the   forward   vector   #   of   the   vehicle   and   the   vector   between   the   vehicle   #   and   the   other   vehicle .   We   threshold   this   dot   product   #   to   limit   to   drawing   bounding   boxes   IN   FRONT   OF   THE   CAMERA   forward _ vec   =   vehicle . get _ transform ( ) . get _ forward _ vector ( )   ray   =   npc . get _ transform ( ) . location   -   vehicle . get _ transform ( ) . location   if   forward _ vec . dot ( ray )   >   1 :   p1   =   get _ image _ point ( bb . location ,   K ,   world _ 2 _ camera ) http : / / host . robots . ox . ac . uk / pascal / VOC /   verts   =   [ v   for   v   in   bb . get _ world _ vertices ( npc . get _ transform ( ) ) ]   x _ max   =   - 10000   x _ min   =   10000   y _ max   =   - 10000   y _ min   =   10000   for   vert   in   verts :   p   =   get _ image _ point ( vert ,   K ,   world _ 2 _ camera )   #   Find   the   rightmost   vertex   if   p [ 0 ]   >   x _ max :   x _ max   =   p [ 0 ]   #   Find   the   leftmost   vertex   if   p [ 0 ]   <   x _ min :   x _ min   =   p [ 0 ]   #   Find   the   highest   vertex   if   p [ 1 ]   >   y _ max :   y _ max   =   p [ 1 ]   #   Find   the   lowest   vertex   if   p [ 1 ]   <   y _ min :   y _ min   =   p [ 1 ]   cv2 . line ( img ,   ( int ( x _ min ) , int ( y _ min ) ) ,   ( int ( x _ max ) , int ( y _ min ) ) ,   ( 0 , 0 , 255 ,   255 ) ,   1 )   cv2 . line ( img ,   ( int ( x _ min ) , int ( y _ max ) ) ,   ( int ( x _ max ) , int ( y _ max ) ) ,   ( 0 , 0 , 255 ,   255 ) ,   1 )   cv2 . line ( img ,   ( int ( x _ min ) , int ( y _ min ) ) ,   ( int ( x _ min ) , int ( y _ max ) ) ,   ( 0 , 0 , 255 ,   255 ) ,   1 )   cv2 . line ( img ,   ( int ( x _ max ) , int ( y _ min ) ) ,   ( int ( x _ max ) , int ( y _ max ) ) ,   ( 0 , 0 , 255 ,   255 ) ,   1 )   cv2 . imshow ( ' ImageWindowName ' , img )   if   cv2 . waitKey ( 1 )   = =   ord ( ' q ' ) :   break   cv2 . destroyAllWindows ( )","title":"\u4e8c\u7ef4 \u8fb9\u754c \u6846"},{"location":"tuto_G_bounding_boxes/#_8","text":"\u6e32\u67d3 \u8fb9\u754c \u6846 \u5bf9\u4e8e \u6211\u4eec \u786e\u4fdd \u8fb9\u754c \u6846 \u5bf9\u4e8e \u8c03\u8bd5 \u76ee\u7684 \u662f \u6b63\u786e \u7684 \u5f88 \u6709\u7528 \u3002 \u7136\u800c \uff0c \u5982\u679c \u6211\u4eec \u60f3 \u5728 \u8bad\u7ec3 \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u65f6 \u5b9e\u9645 \u4f7f\u7528 \u5b83\u4eec \uff0c \u6211\u4eec \u5c06 \u9700\u8981 \u5bfc\u51fa \u5b83\u4eec \u3002 \u7528\u4e8e \u81ea\u52a8 \u9a7e\u9a76 \u548c \u7269\u4f53 \u68c0\u6d4b \u7684 \u5e38\u89c1 \u6570\u636e \u5b58\u50a8 \u5e93 \u4f7f\u7528 \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7684 \u683c\u5f0f \uff0c \u4f8b\u5982   KITTI   \u6216   PASCAL   VOC   \u6216   MicroSoft   COCO   \u3002","title":"\u5bfc\u51fa \u8fb9\u754c \u6846"},{"location":"tuto_G_bounding_boxes/#pascal-voc","text":"\u8fd9\u4e9b \u6570\u636e \u96c6 \u901a\u5e38 \u4f7f\u7528   JSON   \u6216   XML   \u683c\u5f0f \u6765 \u5b58\u50a8 \u6ce8\u91ca \u3002 PASCAL   VOC   \u683c\u5f0f \u6709 \u4e00\u4e2a \u65b9\u4fbf \u7684   Python   \u5e93 \u3002   from   pascal _ voc _ writer   import   Writer   ...   ...   ...   while   True :   #   Retrieve   the   image   world . tick ( )   image   =   image _ queue . get ( )   #   Get   the   camera   matrix   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   frame _ path   =   ' output / % 06d '   %   image . frame   #   Save   the   image   image . save _ to _ disk ( frame _ path   +   ' . png ' )   #   Initialize   the   exporter   writer   =   Writer ( frame _ path   +   ' . png ' ,   image _ w ,   image _ h )   for   npc   in   world . get _ actors ( ) . filter ( ' * vehicle * ' ) :   if   npc . id   ! =   vehicle . id :   bb   =   npc . bounding _ box   dist   =   npc . get _ transform ( ) . location . distance ( vehicle . get _ transform ( ) . location )   if   dist   <   50 :   forward _ vec   =   vehicle . get _ transform ( ) . get _ forward _ vector ( )   ray   =   npc . get _ transform ( ) . location   -   vehicle . get _ transform ( ) . location   if   forward _ vec . dot ( ray )   >   1 :   p1   =   get _ image _ point ( bb . location ,   K ,   world _ 2 _ camera )   verts   =   [ v   for   v   in   bb . get _ world _ vertices ( npc . get _ transform ( ) ) ]   x _ max   =   - 10000   x _ min   =   10000   y _ max   =   - 10000   y _ min   =   10000   for   vert   in   verts :   p   =   get _ image _ point ( vert ,   K ,   world _ 2 _ camera )   if   p [ 0 ]   >   x _ max :   x _ max   =   p [ 0 ]   if   p [ 0 ]   <   x _ min :   x _ min   =   p [ 0 ]   if   p [ 1 ]   >   y _ max :   y _ max   =   p [ 1 ]   if   p [ 1 ]   <   y _ min :   y _ min   =   p [ 1 ]   #   Add   the   object   to   the   frame   ( ensure   it   is   inside   the   image )   if   x _ min   >   0   and   x _ max   <   image _ w   and   y _ min   >   0   and   y _ max   <   image _ h :   writer . addObject ( ' vehicle ' ,   x _ min ,   y _ min ,   x _ max ,   y _ max )   #   Save   the   bounding   boxes   in   the   scene   writer . save ( frame _ path   +   ' . xml ' )   \u5bf9\u4e8e \u4eff\u771f \u7684 \u6bcf\u4e2a \u6e32\u67d3 \u5e27 \uff0c \u60a8 \u73b0\u5728 \u5c06 \u5bfc\u51fa \u4e00\u4e2a \u968f\u9644 \u7684   XML   \u6587\u4ef6 \uff0c \u5176\u4e2d \u5305\u542b \u5e27 \u4e2d \u8fb9\u754c \u6846 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u5728   PASCAL   VOC   \u683c\u5f0f \u4e2d \uff0c XML   \u6587\u4ef6 \u5305\u542b \u6d89\u53ca \u968f\u9644 \u56fe\u50cf \u6587\u4ef6 \u56fe\u50cf\u6587\u4ef6 \u3001 \u56fe\u50cf \u5c3a\u5bf8 \u7684 \u4fe1\u606f \uff0c \u5982\u679c \u9700\u8981 \uff0c \u8fd8 \u53ef\u4ee5 \u5305\u62ec \u8f66\u8f86 \u7c7b\u578b \u7b49 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   < ! --   Example   PASCAL   VOC   format   file -- >   < annotation >   < folder > output < / folder >   < filename > 023235 . png < / filename >   < path > / home / matt / Documents / temp / output / 023235 . png < / path >   < source >   < database > Unknown < / database >   < / source >   < size >   < width > 800 < / width >   < height > 600 < / height >   < depth > 3 < / depth >   < / size >   < segmented > 0 < / segmented >   < object >   < name > vehicle < / name >   < pose > Unspecified < / pose >   < truncated > 0 < / truncated >   < difficult > 0 < / difficult >   < bndbox >   < xmin > 503 < / xmin >   < ymin > 310 < / ymin >   < xmax > 511 < / xmax >   < ymax > 321 < / ymax >   < / bndbox >   < / object >   < object >   < name > vehicle < / name >   < pose > Unspecified < / pose >   < truncated > 0 < / truncated >   < difficult > 0 < / difficult >   < bndbox >   < xmin > 490 < / xmin >   < ymin > 310 < / ymin >   < xmax > 498 < / xmax >   < ymax > 321 < / ymax >   < / bndbox >   < / object >   < / annotation >","title":"Pascal   VOC   \u683c\u5f0f"},{"location":"tuto_G_bounding_boxes/#coco","text":"\u53e6 \u4e00\u79cd \u6d41\u884c \u7684 \u5bfc\u51fa \u683c\u5f0f \u662f   MicroSoft   COCO   \u3002 COCO   \u683c\u5f0f \u4f7f\u7528   JSON   \u6587\u4ef6 \u6765 \u4fdd\u5b58 \u5bf9 \u56fe\u50cf \u548c \u6ce8\u91ca \u7684 \u5f15\u7528 \u3002 \u8be5 \u683c\u5f0f \u5305\u62ec \u5355\u4e2a   JSON   \u6587\u4ef6 \u5b57\u6bb5 \u4e2d \u7684 \u56fe\u50cf \u548c \u6ce8\u91ca \uff0c \u4ee5\u53ca \u6709\u5173 \u6570\u636e \u96c6 \u548c \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u7684 \u4fe1\u606f \u3002 \u4e0e \u67d0\u4e9b \u5176\u4ed6 \u683c\u5f0f \u76f8\u6bd4 \uff0c \u5bf9 \u6240\u6709 \u6536\u96c6 \u7684 \u56fe\u50cf \u548c \u6240\u6709 \u76f8\u5173 \u6ce8\u91ca \u7684 \u5f15\u7528 \u90fd \u4f4d\u4e8e \u540c\u4e00 \u6587\u4ef6 \u4e2d \u3002   \u60a8 \u5e94\u8be5 \u521b\u5efa \u4e00\u4e2a \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u793a\u4f8b \u7684   JSON   \u5b57\u5178 \uff1a   simulation _ dataset   =   {   \" info \" :   { } ,   \" licenses \" :   [   {   \" url \" :   \" http : / / creativecommons . org / licenses / by - nc - sa / 2.0 / \" ,   \" id \" :   1 ,   \" name \" :   \" Attribution - NonCommercial - ShareAlike   License \"   } ] ,   \" images \" :   [ ... ,   {   \" license \" :   1 ,   \" file _ name \" :   \" 023235 . png \" ,   \" height \" :   600 ,   \" width \" :   800 ,   \" date _ captured \" :   \" 2022 - 04 - 14   17 : 02 : 52 \" ,   \" id \" :   23235   } ,   ...   ] ,   \" categories \" :   [ ...   { \" supercategory \" :   \" vehicle \" ,   \" id \" :   10 ,   \" name \" :   \" vehicle \"   } ,   ... ] ,   \" annotations \" :   [   ... ,   {   \" segmentation \" :   [ ] ,   \" area \" :   9262.89 ,   \" iscrowd \" :   0 ,   \" image _ id \" :   23235 ,   \" bbox \" :   [ 503.3 ,   310.4 ,   118.3 ,   78.3 ]   } ,   ...   ]   }   \u4fe1\u606f \u548c \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u90e8\u5206 \u5e94 \u76f8\u5e94 \u586b\u5199 \u6216 \u7559\u7a7a \u3002 \u4eff\u771f \u4e2d \u7684 \u56fe\u50cf \u5e94 \u5b58\u50a8 \u5728   images   \u5b57\u5178 \u5b57\u6bb5 \u4e2d \u7684 \u6570\u7ec4 \u4e2d \u3002 \u8fb9\u754c \u6846\u5e94 \u5b58\u50a8 \u5728 \u5177\u6709 \u5339\u914d   image _ id   \u7684   annotations   \u5b57\u5178 \u5b57\u6bb5 \u4e2d \u3002 \u8fb9\u754c \u6846 \u5b58\u50a8 \u4e3a   [ x _ min ,   y _ min ,   width ,   height ]   \u3002   \u7136\u540e \u53ef\u4ee5 \u4f7f\u7528   Python   JSON   \u5e93 \u5c06 \u5b57\u5178 \u4fdd\u5b58 \u4e3a   JSON   \u6587\u4ef6 \uff1a   import   json   with   open ( ' simulation _ data . json ' ,   ' w ' )   as   json _ file :   json . dump ( simulation _ dataset ,   json _ file )   \u6709\u5173   COCO   \u6570\u636e \u683c\u5f0f \u6570\u636e\u683c\u5f0f \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8bf7 \u53c2\u89c1   \u6b64\u5904   \u3002   \u5e94\u8be5 \u6ce8\u610f \u7684 \u662f \uff0c \u5728 \u672c \u6559\u7a0b \u4e2d \u6211\u4eec \u6ca1\u6709 \u8003\u8651 \u91cd\u53e0 \u7684 \u8fb9\u754c \u6846 \u3002 \u4e3a\u4e86 \u5728 \u91cd\u53e0 \u7684 \u60c5\u51b5 \u4e0b \u8bc6\u522b \u524d\u666f \u8fb9\u754c \u6846 \uff0c \u9700\u8981 \u8fdb\u884c \u989d\u5916 \u7684 \u5de5\u4f5c \u3002","title":"\u5fae\u8f6f   COCO   \u683c\u5f0f"},{"location":"tuto_G_carsim_integration/","text":"CarSim   \u96c6\u6210   Carla   \u4e0e   CarSim   \u7684 \u96c6\u6210 \u5141\u8bb8 \u5c06   Carla   \u4e2d \u7684 \u8f66\u8f86 \u63a7\u5236 \u8f6c\u53d1 \u5230   CarSim \u3002 CarSim   \u5c06 \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u6240\u6709 \u5fc5\u9700 \u7684 \u7269\u7406 \u8ba1\u7b97 \uff0c \u5e76 \u5c06 \u65b0 \u72b6\u6001 \u8fd4\u56de \u7ed9   Carla \u3002   \u672c\u9875 \u5411 \u60a8 \u5c55\u793a \u5982\u4f55 \u751f\u6210   . sim   \u6587\u4ef6 \uff0c \u89e3\u91ca   Carla   \u548c   CarSim   \u4e4b\u95f4 \u7684 \u8f66\u8f86 \u5c3a\u5bf8 \u5982\u4f55 \u5173\u8054 \uff0c \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528   CarSim   \u96c6\u6210 \u5728   Carla   \u4e0a \u8fd0\u884c \u4eff\u771f \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u8bbe\u7f6e   CarSim   \u751f\u6210   . sim   \u6587\u4ef6   \u5728   Windows   \u4e0a   \u5728   Ubuntu   \u4e0a   \u8f66\u8f86 \u5c3a\u5bf8   \u8fd0\u884c \u4eff\u771f   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u60a8 \u9700\u8981   CarSim   \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u624d\u80fd \u542f\u52a8 \u5e76 \u8fd0\u884c \u8f6f\u4ef6 \u8be5\u8f6f\u4ef6 \u3002 \u5982\u679c \u60a8 \u76ee\u524d \u6ca1\u6709   CarSim   \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \uff0c \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u8054\u7cfb \u56e2\u961f \u4ee5 \u83b7\u53d6 \u53d6\u4fe1 \u4fe1\u606f \u83b7\u53d6\u4fe1\u606f \u3002   \u8981 \u5141\u8bb8 \u4e0e \u865a\u5e7b \u5f15\u64ce \u901a\u4fe1 \uff0c \u60a8 \u9700\u8981 \u5b89\u88c5 \u9002\u7528 \u4e8e \u865a\u5e7b \u5f15\u64ce   4.24   \u7684   VehicleSim   Dynamics   \u63d2\u4ef6 \uff08 \u7248\u672c   2020.0 \uff09 \u3002 \u6709\u5173 \u67e5\u627e \u63d2\u4ef6 \u7279\u5b9a \u7248\u672c \u7684 \u4fe1\u606f \uff0c \u8bf7 \u68c0\u67e5 \u6b64   \u94fe\u63a5   \u3002 \u63d2\u4ef6 \u7684 \u5b89\u88c5 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \uff1a   \u5bf9\u4e8e   Windows   :   \u5728   \u8fd9\u91cc   \u83b7\u53d6 \u63d2\u4ef6 \u3002   \u5bf9\u4e8e   Ubuntu   :   \u5728   \u8fd9\u91cc   \u4e0b\u8f7d \u63d2\u4ef6 \u3002   \u5c06 \u6587\u4ef6   CarSim . Build . cs   \u66ff\u6362 \u4e3a   \u6b64\u5904   \u627e\u5230 \u7684 \u6587\u4ef6 \uff0c \u4ee5\u4fbf \u4e3a   Ubuntu   \u4f7f\u7528 \u6b63\u786e \u7684 \u6c42\u89e3 \u5668 \u3002   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u7684 \u6253\u5305 \u7248\u672c \uff0c \u5219 \u53ef\u4ee5 \u8df3\u8fc7 \u6b64 \u6b65\u9aa4 \u3002 \u6253\u5305 \u7248\u672c \u5df2 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \u7f16\u8bd1 \uff0c \u4f46 \u5982\u679c \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \uff0c \u5219 \u9700\u8981 \u4f7f\u7528   -- carsim   \u6807\u5fd7 \u7f16\u8bd1 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   \u5982\u679c \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \uff0c \u8bf7 \u5728 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4ee5 \u4f7f\u7528   -- carsim   \u6807\u5fd7 \u7f16\u8bd1 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff1a   make   launch   ARGS = \" -- carsim \"   \u8bbe\u7f6e   CarSim   \u4ee5\u4e0b \u90e8\u5206 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u751f\u6210 \u8fd0\u884c \u4eff\u771f \u6240 \u9700 \u7684   . sim   \u6587\u4ef6 \u3002 \u8fd8\u6709 \u5173\u4e8e   Carla   \u548c   CarSim   \u4e4b\u95f4 \u8f66\u8f86 \u5c3a\u5bf8 \u5173\u7cfb \u7684 \u8be6\u7ec6 \u91cd\u8981 \u4fe1\u606f \u3002   \u751f\u6210 . sim   \u6587\u4ef6   \u8be5   . sim   \u6587\u4ef6 \u63cf\u8ff0 \u4e86 \u8981 \u5728   Carla   \u548c   CarSim   \u4e2d \u8fd0\u884c \u7684 \u4eff\u771f \u3002 \u63d2\u4ef6 \u9700\u8981 \u6b64 \u6587\u4ef6 \u624d\u80fd \u8fd0\u884c \u4eff\u771f \u3002 \u76ee\u524d \u65e0\u6cd5 \u5728   Ubuntu   \u4e0a \u751f\u6210 \u6b64 \u6587\u4ef6 \uff0c \u4f46\u662f \u6211\u4eec \u5c06 \u5728 \u4e0b\u9762 \u4ecb\u7ecd \u5982\u4f55 \u4f7f\u7528 \u4e4b\u524d \u751f\u6210 \u7684 \u6587\u4ef6 \u5728   Ubuntu   \u4e0a \u8fd0\u884c \u4eff\u771f \u3002   \u5728   Windows   \u4e0a   \u5728   CarSim   \u4e0a \u914d\u7f6e \u5b8c \u6240\u6709 \u53c2\u6570 \u540e \uff0c \u4f7f\u7528   GUI   \u751f\u6210   . sim   \u6587\u4ef6 \uff0c \u5982\u4e0b \u6240\u793a \uff1a   \u751f\u6210 \u7684   . sim   \u6587\u4ef6 \u5e94 \u5982\u4e0b \u6240\u793a \uff1a   SIMFILE   SET _ MACRO   $ ( ROOT _ FILE _ NAME ) $   Run _ dd7a828d - 4b14 - 4c77 - 9d09 - 1974401d6b25   SET _ MACRO   $ ( OUTPUT _ PATH ) $   D : \\ carsim \\ Data \\ Results   SET _ MACRO   $ ( WORK _ DIR ) $   D : \\ carsim \\ Data \\   SET _ MACRO   $ ( OUTPUT _ FILE _ PREFIX ) $   $ ( WORK _ DIR ) $ Results \\ Run _ dd7a828d - 4b14 - 4c77 - 9d09 - 1974401d6b25 \\ LastRun   FILEBASE   $ ( OUTPUT _ FILE _ PREFIX ) $   INPUT   $ ( WORK _ DIR ) $ Results \\ $ ( ROOT _ FILE _ NAME ) $ \\ Run _ all . par   INPUTARCHIVE   $ ( OUTPUT _ FILE _ PREFIX ) $ _ all . par   ECHO   $ ( OUTPUT _ FILE _ PREFIX ) $ _ echo . par   FINAL   $ ( OUTPUT _ FILE _ PREFIX ) $ _ end . par   LOGFILE   $ ( OUTPUT _ FILE _ PREFIX ) $ _ log . txt   ERDFILE   $ ( OUTPUT _ FILE _ PREFIX ) $ . vs   PROGDIR   D : \\ carsim \\   DATADIR   D : \\ carsim \\ Data \\   GUI _ REFRESH _ V   CarSim _ RefreshEvent _ 7760   RESOURCEDIR   D : \\ carsim \\ \\ Resources \\   PRODUCT _ ID   CarSim   PRODUCT _ VER   2020.0   ANIFILE   D : \\ carsim \\ Data \\ runs \\ animator . par   VEHICLE _ CODE   i _ i   EXT _ MODEL _ STEP   0.00050000   PORTS _ IMP   0   PORTS _ EXP   0   DLLFILE   D : \\ carsim \\ Programs \\ solvers \\ carsim _ 64 . dll   END   \u5728 Ubuntu \u4e0a   \u65e0\u6cd5 \u5728   Ubuntu   \u4e0a \u901a\u8fc7   GUI   \u521b\u5efa   . sim   \u6587\u4ef6 \u3002 \u4e3a\u4e86 \u7ee7\u7eed \uff0c \u60a8 \u9700\u8981 \u6267\u884c \u4ee5\u4e0b \u6b65\u9aa4 \uff1a   \u5728   Windows   \u4e2d \u751f\u6210   . sim   \u6587\u4ef6 \u6216 \u4f7f\u7528 \u4e0b\u9762 \u7684 \u6587\u4ef6 \u6a21\u677f \u3002   \u4fee\u6539 \u8be5   . sim   \u6587\u4ef6 \uff0c \u4f7f \u53d8\u91cf   INPUT   ,   INPUTARCHIVE   ,   LOGFILE   \u7b49 \u6307\u5411   Ubuntu   \u7cfb\u7edf \u4e2d \u7684 \u76f8\u5e94 \u6587\u4ef6 \u3002   \u66ff\u6362   DLLFILE   \u884c\u4ee5 \u6307\u5411   CarSim   \u89e3 \u7b97\u5668 \uff0c \u5728 \u9ed8\u8ba4 \u5b89\u88c5 \u4e2d \uff0c \u8be5\u89e3 \u7b97\u5668 \u5c06 \u4e3a   SOFILE   / opt / carsim _ 2020.0 / lib64 / libcarsim . so.2020 . 0   .   \u751f\u6210 \u7684 \u6587\u4ef6 \u5e94 \u4e0e \u6b64 \u7c7b\u4f3c \uff1a   SIMFILE   FILEBASE   / path / to / LastRun   INPUT   / path / to / Run _ all . par   INPUTARCHIVE   / path / to / LastRun _ all . par   ECHO   / path / to / LastRun _ echo . par   FINAL   / path / to / LastRun _ end . par   LOGFILE   / path / to / LastRun _ log . txt   ERDFILE   / path / to / LastRun . vs   PROGDIR   / opt / carsim _ 2020.0 / lib64 /   DATADIR   .   PRODUCT _ ID   CarSim   PRODUCT _ VER   2020.0   VEHICLE _ CODE   i _ i   SOFILE   / opt / carsim _ 2020.0 / lib64 / libcarsim . so.2020 . 0   END   \u8f66\u8f86 \u5c3a\u5bf8   \u5c3d\u7ba1   CarSim   \u5141\u8bb8 \u60a8 \u6307\u5b9a \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u7684 \u8f66\u8f86 \u5c3a\u5bf8 \uff0c \u4f46 \u76ee\u524d   CarSim   \u8f66\u8f86 \u548c   Carla   \u8f66\u8f86 \u4e4b\u95f4 \u6ca1\u6709 \u5173\u8054 \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u4e24\u4e2a \u9879\u76ee \u4e2d \u7684 \u8f66\u8f86 \u5c06 \u5177\u6709 \u4e0d\u540c \u7684 \u5c3a\u5bf8 \u3002 Carla   \u8f66\u8f86 \u7684 \u4f5c\u7528 \u53ea\u662f \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u5145\u5f53 \u5360\u4f4d \u7b26 \u3002   \u7b14\u8bb0   Carla   \u548c   CarSim   \u4e2d \u7684 \u8f66\u8f86 \u5c3a\u5bf8 \u4e4b\u95f4 \u6ca1\u6709 \u76f8\u5173 \u76f8\u5173\u6027 \u3002 Carla   \u8f66\u8f86 \u53ea\u662f \u4e00\u4e2a \u4eff\u771f \u5360\u4f4d \u7b26 \u3002   \u8fd0\u884c \u4eff\u771f   \u8fd0\u884c \u4eff\u771f \u65f6\u6240 \u9700\u8981 \u505a \u7684 \u5c31\u662f \u5728 \u751f\u6210 \u8f66\u8f86 \u65f6 \u542f\u7528   CarSim \u3002 \u8fd9 \u53ef\u4ee5 \u901a\u8fc7 \u5c06   . sim   \u6587\u4ef6 \u8def\u5f84 \u4f20\u9012 \u7ed9 Python   API   \u7684   \u65b9\u6cd5   \u6765 \u5b8c\u6210 \uff1a   vehicle . enable _ carsim ( < path _ to _ ue4simfile . sim > )   \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u8f66\u8f86 \u7684 \u6240\u6709 \u8f93\u5165 \u63a7\u4ef6 \u90fd \u5c06 \u8f6c\u53d1 \u5230   CarSim \u3002 CarSim   \u5c06 \u66f4\u65b0 \u7269\u7406 \u5e76 \u5c06 \u8f66\u8f86 \u72b6\u6001 \uff08 \u53d8\u6362 \uff09 \u53d1\u9001 \u56de   Carla   \u8f66\u8f86 \u3002   \u4eff\u771f \u5b8c\u6210 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u50cf \u5f80\u5e38 \u4e00\u6837 \u5206\u6790   CarSim   \u4e2d \u7684 \u6240\u6709 \u6570\u636e \u3002","title":"CarSim   \u96c6\u6210"},{"location":"tuto_G_carsim_integration/#carsim","text":"Carla   \u4e0e   CarSim   \u7684 \u96c6\u6210 \u5141\u8bb8 \u5c06   Carla   \u4e2d \u7684 \u8f66\u8f86 \u63a7\u5236 \u8f6c\u53d1 \u5230   CarSim \u3002 CarSim   \u5c06 \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u6240\u6709 \u5fc5\u9700 \u7684 \u7269\u7406 \u8ba1\u7b97 \uff0c \u5e76 \u5c06 \u65b0 \u72b6\u6001 \u8fd4\u56de \u7ed9   Carla \u3002   \u672c\u9875 \u5411 \u60a8 \u5c55\u793a \u5982\u4f55 \u751f\u6210   . sim   \u6587\u4ef6 \uff0c \u89e3\u91ca   Carla   \u548c   CarSim   \u4e4b\u95f4 \u7684 \u8f66\u8f86 \u5c3a\u5bf8 \u5982\u4f55 \u5173\u8054 \uff0c \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528   CarSim   \u96c6\u6210 \u5728   Carla   \u4e0a \u8fd0\u884c \u4eff\u771f \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u8bbe\u7f6e   CarSim   \u751f\u6210   . sim   \u6587\u4ef6   \u5728   Windows   \u4e0a   \u5728   Ubuntu   \u4e0a   \u8f66\u8f86 \u5c3a\u5bf8   \u8fd0\u884c \u4eff\u771f","title":"CarSim   \u96c6\u6210"},{"location":"tuto_G_carsim_integration/#_1","text":"\u60a8 \u9700\u8981   CarSim   \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u624d\u80fd \u542f\u52a8 \u5e76 \u8fd0\u884c \u8f6f\u4ef6 \u8be5\u8f6f\u4ef6 \u3002 \u5982\u679c \u60a8 \u76ee\u524d \u6ca1\u6709   CarSim   \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \uff0c \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u8054\u7cfb \u56e2\u961f \u4ee5 \u83b7\u53d6 \u53d6\u4fe1 \u4fe1\u606f \u83b7\u53d6\u4fe1\u606f \u3002   \u8981 \u5141\u8bb8 \u4e0e \u865a\u5e7b \u5f15\u64ce \u901a\u4fe1 \uff0c \u60a8 \u9700\u8981 \u5b89\u88c5 \u9002\u7528 \u4e8e \u865a\u5e7b \u5f15\u64ce   4.24   \u7684   VehicleSim   Dynamics   \u63d2\u4ef6 \uff08 \u7248\u672c   2020.0 \uff09 \u3002 \u6709\u5173 \u67e5\u627e \u63d2\u4ef6 \u7279\u5b9a \u7248\u672c \u7684 \u4fe1\u606f \uff0c \u8bf7 \u68c0\u67e5 \u6b64   \u94fe\u63a5   \u3002 \u63d2\u4ef6 \u7684 \u5b89\u88c5 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \uff1a   \u5bf9\u4e8e   Windows   :   \u5728   \u8fd9\u91cc   \u83b7\u53d6 \u63d2\u4ef6 \u3002   \u5bf9\u4e8e   Ubuntu   :   \u5728   \u8fd9\u91cc   \u4e0b\u8f7d \u63d2\u4ef6 \u3002   \u5c06 \u6587\u4ef6   CarSim . Build . cs   \u66ff\u6362 \u4e3a   \u6b64\u5904   \u627e\u5230 \u7684 \u6587\u4ef6 \uff0c \u4ee5\u4fbf \u4e3a   Ubuntu   \u4f7f\u7528 \u6b63\u786e \u7684 \u6c42\u89e3 \u5668 \u3002   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u7684 \u6253\u5305 \u7248\u672c \uff0c \u5219 \u53ef\u4ee5 \u8df3\u8fc7 \u6b64 \u6b65\u9aa4 \u3002 \u6253\u5305 \u7248\u672c \u5df2 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \u7f16\u8bd1 \uff0c \u4f46 \u5982\u679c \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \uff0c \u5219 \u9700\u8981 \u4f7f\u7528   -- carsim   \u6807\u5fd7 \u7f16\u8bd1 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   \u5982\u679c \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \uff0c \u8bf7 \u5728 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u4ee5 \u4f7f\u7528   -- carsim   \u6807\u5fd7 \u7f16\u8bd1 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff1a   make   launch   ARGS = \" -- carsim \"","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"tuto_G_carsim_integration/#carsim_1","text":"\u4ee5\u4e0b \u90e8\u5206 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u751f\u6210 \u8fd0\u884c \u4eff\u771f \u6240 \u9700 \u7684   . sim   \u6587\u4ef6 \u3002 \u8fd8\u6709 \u5173\u4e8e   Carla   \u548c   CarSim   \u4e4b\u95f4 \u8f66\u8f86 \u5c3a\u5bf8 \u5173\u7cfb \u7684 \u8be6\u7ec6 \u91cd\u8981 \u4fe1\u606f \u3002","title":"\u8bbe\u7f6e   CarSim  "},{"location":"tuto_G_carsim_integration/#sim","text":"\u8be5   . sim   \u6587\u4ef6 \u63cf\u8ff0 \u4e86 \u8981 \u5728   Carla   \u548c   CarSim   \u4e2d \u8fd0\u884c \u7684 \u4eff\u771f \u3002 \u63d2\u4ef6 \u9700\u8981 \u6b64 \u6587\u4ef6 \u624d\u80fd \u8fd0\u884c \u4eff\u771f \u3002 \u76ee\u524d \u65e0\u6cd5 \u5728   Ubuntu   \u4e0a \u751f\u6210 \u6b64 \u6587\u4ef6 \uff0c \u4f46\u662f \u6211\u4eec \u5c06 \u5728 \u4e0b\u9762 \u4ecb\u7ecd \u5982\u4f55 \u4f7f\u7528 \u4e4b\u524d \u751f\u6210 \u7684 \u6587\u4ef6 \u5728   Ubuntu   \u4e0a \u8fd0\u884c \u4eff\u771f \u3002","title":"\u751f\u6210 . sim   \u6587\u4ef6  "},{"location":"tuto_G_carsim_integration/#windows","text":"\u5728   CarSim   \u4e0a \u914d\u7f6e \u5b8c \u6240\u6709 \u53c2\u6570 \u540e \uff0c \u4f7f\u7528   GUI   \u751f\u6210   . sim   \u6587\u4ef6 \uff0c \u5982\u4e0b \u6240\u793a \uff1a   \u751f\u6210 \u7684   . sim   \u6587\u4ef6 \u5e94 \u5982\u4e0b \u6240\u793a \uff1a   SIMFILE   SET _ MACRO   $ ( ROOT _ FILE _ NAME ) $   Run _ dd7a828d - 4b14 - 4c77 - 9d09 - 1974401d6b25   SET _ MACRO   $ ( OUTPUT _ PATH ) $   D : \\ carsim \\ Data \\ Results   SET _ MACRO   $ ( WORK _ DIR ) $   D : \\ carsim \\ Data \\   SET _ MACRO   $ ( OUTPUT _ FILE _ PREFIX ) $   $ ( WORK _ DIR ) $ Results \\ Run _ dd7a828d - 4b14 - 4c77 - 9d09 - 1974401d6b25 \\ LastRun   FILEBASE   $ ( OUTPUT _ FILE _ PREFIX ) $   INPUT   $ ( WORK _ DIR ) $ Results \\ $ ( ROOT _ FILE _ NAME ) $ \\ Run _ all . par   INPUTARCHIVE   $ ( OUTPUT _ FILE _ PREFIX ) $ _ all . par   ECHO   $ ( OUTPUT _ FILE _ PREFIX ) $ _ echo . par   FINAL   $ ( OUTPUT _ FILE _ PREFIX ) $ _ end . par   LOGFILE   $ ( OUTPUT _ FILE _ PREFIX ) $ _ log . txt   ERDFILE   $ ( OUTPUT _ FILE _ PREFIX ) $ . vs   PROGDIR   D : \\ carsim \\   DATADIR   D : \\ carsim \\ Data \\   GUI _ REFRESH _ V   CarSim _ RefreshEvent _ 7760   RESOURCEDIR   D : \\ carsim \\ \\ Resources \\   PRODUCT _ ID   CarSim   PRODUCT _ VER   2020.0   ANIFILE   D : \\ carsim \\ Data \\ runs \\ animator . par   VEHICLE _ CODE   i _ i   EXT _ MODEL _ STEP   0.00050000   PORTS _ IMP   0   PORTS _ EXP   0   DLLFILE   D : \\ carsim \\ Programs \\ solvers \\ carsim _ 64 . dll   END","title":"\u5728   Windows   \u4e0a  "},{"location":"tuto_G_carsim_integration/#ubuntu","text":"\u65e0\u6cd5 \u5728   Ubuntu   \u4e0a \u901a\u8fc7   GUI   \u521b\u5efa   . sim   \u6587\u4ef6 \u3002 \u4e3a\u4e86 \u7ee7\u7eed \uff0c \u60a8 \u9700\u8981 \u6267\u884c \u4ee5\u4e0b \u6b65\u9aa4 \uff1a   \u5728   Windows   \u4e2d \u751f\u6210   . sim   \u6587\u4ef6 \u6216 \u4f7f\u7528 \u4e0b\u9762 \u7684 \u6587\u4ef6 \u6a21\u677f \u3002   \u4fee\u6539 \u8be5   . sim   \u6587\u4ef6 \uff0c \u4f7f \u53d8\u91cf   INPUT   ,   INPUTARCHIVE   ,   LOGFILE   \u7b49 \u6307\u5411   Ubuntu   \u7cfb\u7edf \u4e2d \u7684 \u76f8\u5e94 \u6587\u4ef6 \u3002   \u66ff\u6362   DLLFILE   \u884c\u4ee5 \u6307\u5411   CarSim   \u89e3 \u7b97\u5668 \uff0c \u5728 \u9ed8\u8ba4 \u5b89\u88c5 \u4e2d \uff0c \u8be5\u89e3 \u7b97\u5668 \u5c06 \u4e3a   SOFILE   / opt / carsim _ 2020.0 / lib64 / libcarsim . so.2020 . 0   .   \u751f\u6210 \u7684 \u6587\u4ef6 \u5e94 \u4e0e \u6b64 \u7c7b\u4f3c \uff1a   SIMFILE   FILEBASE   / path / to / LastRun   INPUT   / path / to / Run _ all . par   INPUTARCHIVE   / path / to / LastRun _ all . par   ECHO   / path / to / LastRun _ echo . par   FINAL   / path / to / LastRun _ end . par   LOGFILE   / path / to / LastRun _ log . txt   ERDFILE   / path / to / LastRun . vs   PROGDIR   / opt / carsim _ 2020.0 / lib64 /   DATADIR   .   PRODUCT _ ID   CarSim   PRODUCT _ VER   2020.0   VEHICLE _ CODE   i _ i   SOFILE   / opt / carsim _ 2020.0 / lib64 / libcarsim . so.2020 . 0   END","title":"\u5728 Ubuntu \u4e0a  "},{"location":"tuto_G_carsim_integration/#_2","text":"\u5c3d\u7ba1   CarSim   \u5141\u8bb8 \u60a8 \u6307\u5b9a \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u7684 \u8f66\u8f86 \u5c3a\u5bf8 \uff0c \u4f46 \u76ee\u524d   CarSim   \u8f66\u8f86 \u548c   Carla   \u8f66\u8f86 \u4e4b\u95f4 \u6ca1\u6709 \u5173\u8054 \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u4e24\u4e2a \u9879\u76ee \u4e2d \u7684 \u8f66\u8f86 \u5c06 \u5177\u6709 \u4e0d\u540c \u7684 \u5c3a\u5bf8 \u3002 Carla   \u8f66\u8f86 \u7684 \u4f5c\u7528 \u53ea\u662f \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u5145\u5f53 \u5360\u4f4d \u7b26 \u3002   \u7b14\u8bb0   Carla   \u548c   CarSim   \u4e2d \u7684 \u8f66\u8f86 \u5c3a\u5bf8 \u4e4b\u95f4 \u6ca1\u6709 \u76f8\u5173 \u76f8\u5173\u6027 \u3002 Carla   \u8f66\u8f86 \u53ea\u662f \u4e00\u4e2a \u4eff\u771f \u5360\u4f4d \u7b26 \u3002","title":"\u8f66\u8f86 \u5c3a\u5bf8  "},{"location":"tuto_G_carsim_integration/#_3","text":"\u8fd0\u884c \u4eff\u771f \u65f6\u6240 \u9700\u8981 \u505a \u7684 \u5c31\u662f \u5728 \u751f\u6210 \u8f66\u8f86 \u65f6 \u542f\u7528   CarSim \u3002 \u8fd9 \u53ef\u4ee5 \u901a\u8fc7 \u5c06   . sim   \u6587\u4ef6 \u8def\u5f84 \u4f20\u9012 \u7ed9 Python   API   \u7684   \u65b9\u6cd5   \u6765 \u5b8c\u6210 \uff1a   vehicle . enable _ carsim ( < path _ to _ ue4simfile . sim > )   \u53d1\u9001 \u9001\u5230 \u53d1\u9001\u5230 \u8f66\u8f86 \u7684 \u6240\u6709 \u8f93\u5165 \u63a7\u4ef6 \u90fd \u5c06 \u8f6c\u53d1 \u5230   CarSim \u3002 CarSim   \u5c06 \u66f4\u65b0 \u7269\u7406 \u5e76 \u5c06 \u8f66\u8f86 \u72b6\u6001 \uff08 \u53d8\u6362 \uff09 \u53d1\u9001 \u56de   Carla   \u8f66\u8f86 \u3002   \u4eff\u771f \u5b8c\u6210 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u50cf \u5f80\u5e38 \u4e00\u6837 \u5206\u6790   CarSim   \u4e2d \u7684 \u6240\u6709 \u6570\u636e \u3002","title":"\u8fd0\u884c \u4eff\u771f  "},{"location":"tuto_G_chrono/","text":"Chrono   \u96c6\u6210   \u672c \u6307\u5357 \u6982\u8ff0 \u4e86   Chrono   \u662f \u4ec0\u4e48 \u3001 \u5982\u4f55 \u5728   Carla   \u4e2d \u4f7f\u7528 \u5b83 \u4ee5\u53ca \u96c6\u6210 \u4e2d \u6d89\u53ca \u7684 \u9650\u5236 \u3002   Chrono   \u9879\u76ee   \u5728   Carla   \u4e0a \u4f7f\u7528   Chrono   \u914d\u7f6e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u542f\u7528   Chrono   \u7269\u7406   \u5c40\u9650 \u9650\u6027 \u5c40\u9650\u6027   Chrono   \u9879\u76ee   Project   Chrono   \u662f \u4e00\u6b3e \u5f00\u6e90 \u591a \u7269\u7406 \u573a \u4eff\u771f \u5f15\u64ce \uff0c \u5b83 \u4f7f\u7528 \u57fa\u4e8e \u6a21\u677f \u7684 \u65b9\u6cd5 \u63d0\u4f9b \u9ad8\u5ea6 \u771f\u5b9e \u7684 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3002 Carla   \u4e2d \u7684 \u96c6\u6210 \u5141\u8bb8 \u7528\u6237 \u5728 \u5bfc\u822a \u5730\u56fe \u65f6 \u5229\u7528   Chrono   \u6a21\u677f \u6765 \u4eff\u771f \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3002   \u5728   Carla   \u4e0a \u4f7f\u7528   Chrono   \u8981 \u4f7f\u7528   Chrono   \u96c6\u6210 \uff0c \u60a8 \u5fc5\u987b \u9996\u5148 \u5728 \u542f\u52a8 \u65f6 \u4f7f\u7528 \u6807\u7b7e \u914d\u7f6e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u7136\u540e \u4f7f\u7528   PythonAPI   \u5728 \u751f\u6210 \u7684 \u8f66\u8f86 \u4e0a \u542f\u7528 \u5b83 \u3002 \u8bf7 \u9605\u8bfb \u4ee5 \u83b7\u5f97 \u66f4 \u591a \u8be6\u60c5 \u3002   \u914d\u7f6e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u4ec5\u5f53   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f7f\u7528   Chrono   \u6807\u7b7e \u7f16\u8bd1 \u65f6 \uff0c Chrono   \u624d \u4f1a \u5de5\u4f5c \u3002   \u5728 \u4ece   Carla   \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7248\u672c \u4e2d   \uff0c \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff1a   make   launch   ARGS = \" -- chrono \"   \u6ce8\u610f   \u4f7f\u7528 \u4e0a\u8ff0 \u547d\u4ee4 \u7f16\u8bd1 \u540e \uff0c \u518d \u8fd0\u884c   make   launch   \u3001   make   package   \u5219 \u7f16\u8bd1 \u62a5\u9519 \uff1a   Unreal \\ CarlaUE4 \\ Plugins \\ Carla \\ CarlaDependencies \\ include \\ Eigen \\ src / Core / util / ForwardDeclarations . h ( 58 ) :   error   C4067 :   \u9884 \u5904\u7406 \u7406\u5668 \u5904\u7406\u5668 \u6307\u4ee4 \u540e \u6709 \u610f\u5916 \u6807\u8bb0   -   \u5e94 \u8f93\u5165 \u6362\u884c \u6362\u884c\u7b26   \uff0c \u539f\u56e0 \u4e0d\u660e \u3002   \u542f\u7528   Chrono   \u7269\u7406   Chrono   \u7269\u7406 \u662f \u901a\u8fc7   Actor   \u7c7b \u63d0\u4f9b \u7684   enable _ chrono _ physics   \u65b9\u6cd5 \u542f\u7528 \u7684 \u3002 \u9664\u4e86 \u5b50 \u6b65\u9aa4 \u548c\u5b50 \u6b65\u9aa4 \u589e\u91cf \u65f6\u95f4 \u7684 \u503c \u4e4b\u5916 \uff0c \u5b83 \u8fd8 \u9700\u8981 \u4e09\u4e2a \u6a21\u677f \u6587\u4ef6 \u548c \u4e00\u4e2a \u57fa\u672c \u8def\u5f84 \u6765 \u5b9a\u4f4d \u8fd9\u4e9b \u6587\u4ef6 \uff1a   base _ path   :   \u5305\u542b \u6a21\u677f \u6587\u4ef6 \u7684 \u76ee\u5f55 \u8def\u5f84 \u3002 \u8fd9 \u5bf9\u4e8e \u786e\u4fdd \u4ece \u6a21\u677f \u6587\u4ef6 \u5f15\u7528 \u7684 \u8f85\u52a9 \u6587\u4ef6 \u5177\u6709 \u7528\u4e8e \u641c\u7d22 \u7684 \u516c\u5171 \u57fa\u672c \u8def\u5f84 \u662f \u5fc5\u8981 \u7684 \u3002   vehicle _ json   :   \u76f8\u5bf9 \u4e8e   base _ path   \u7684 \u8f66\u8f86 \u6a21\u677f \u6587\u4ef6   .   tire _ json   :   \u76f8\u5bf9 \u4e8e   base _ path   \u7684 \u8f6e\u80ce \u6a21\u677f \u6587\u4ef6 \u3002   powertrain _ json   :   \u76f8\u5bf9 \u4e8e   base _ path   \u52a8\u529b \u603b\u6210 \u6a21\u677f \u6587\u4ef6 \u3002   \u91cd\u8981   \u4ed4\u7ec6 \u68c0\u67e5 \u4ed4\u7ec6\u68c0\u67e5 \u60a8 \u7684 \u8def\u5f84 \u3002 \u4e0d \u6b63\u786e \u6216 \u7f3a\u5931 \u7684 \u8def\u5f84 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u865a\u5e7b \u5f15\u64ce \u5d29\u6e83 \u3002   Build / chrono - install / share / chrono / data / vehicle   \u4e2d \u63d0\u4f9b \u4e86 \u9002\u7528 \u4e8e \u4e0d\u540c \u8f66\u8f86 \u7684 \u5404\u79cd \u793a\u4f8b \u6a21\u677f \u6587\u4ef6 \u3002 \u9605\u8bfb   Chrono   \u5de5\u7a0b \u7684   \u6587\u6863   \uff08 \u6216 \u53c2\u8003   \u4e2d\u6587 \u6587\u6863   \uff09 \uff0c \u4e86\u89e3 \u6709\u5173 \u5176 \u8f66\u8f86 \u793a\u4f8b \u4ee5\u53ca \u5982\u4f55 \u521b\u5efa \u6a21\u677f \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u53c2\u9605 \u8bf7\u53c2\u9605 \u4e0b\u9762 \u7684 \u793a\u4f8b \uff0c \u4e86\u89e3 \u5982\u4f55 \u542f\u7528   Chrono   \u7269\u7406 \uff1a   #   \u751f\u6210 \u8f66\u8f86   vehicle   =   world . spawn _ actor ( bp ,   spawn _ point )   #   \u8bbe\u7f6e \u57fa\u7840 \u8def\u5f84   base _ path   =   \" D : / work / workspace / carla / Build / chrono - install / data / vehicle / \"   #   \u8bbe\u7f6e \u6a21\u677f \u6587\u4ef6   vehicle _ json   =   \" sedan / vehicle / Sedan _ Vehicle . json \"   powertrain _ json   =   \" sedan / powertrain / Sedan _ SimpleMapPowertrain . json \"   tire _ json   =   \" sedan / tire / Sedan _ TMeasyTire . json \"   #   \u542f\u7528   Chrono   \u7269\u7406 \u7279\u6027   vehicle . enable _ chrono _ physics ( 5000 ,   0.002 ,   vehicle _ json ,   powertrain _ json ,   tire _ json ,   base _ path )   \u60a8 \u53ef\u4ee5 \u4f7f\u7528   PythonAPI / examples   \u4e2d \u7684 \u793a\u4f8b \u811a\u672c   manual _ control _ chrono . py   \u5c1d\u8bd5   Chrono   \u7269\u7406 \u96c6\u6210 \u3002 \u8fd0\u884c \u811a\u672c \u540e \uff0c \u6309   Ctrl   +   o   \u542f\u7528   Chrono \u3002   \u5c40\u9650 \u9650\u6027 \u5c40\u9650\u6027   \u6b64 \u96c6\u6210 \u4e0d \u652f\u6301 \u78b0\u649e \u3002   \u5f53 \u53d1\u751f \u78b0\u649e \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u6062\u590d \u4e3a   Carla   \u9ed8\u8ba4 \u7269\u7406 \u72b6\u6001 \u3002","title":"Chrono   \u96c6\u6210"},{"location":"tuto_G_chrono/#chrono","text":"\u672c \u6307\u5357 \u6982\u8ff0 \u4e86   Chrono   \u662f \u4ec0\u4e48 \u3001 \u5982\u4f55 \u5728   Carla   \u4e2d \u4f7f\u7528 \u5b83 \u4ee5\u53ca \u96c6\u6210 \u4e2d \u6d89\u53ca \u7684 \u9650\u5236 \u3002   Chrono   \u9879\u76ee   \u5728   Carla   \u4e0a \u4f7f\u7528   Chrono   \u914d\u7f6e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \u542f\u7528   Chrono   \u7269\u7406   \u5c40\u9650 \u9650\u6027 \u5c40\u9650\u6027","title":"Chrono   \u96c6\u6210"},{"location":"tuto_G_chrono/#chrono_1","text":"Project   Chrono   \u662f \u4e00\u6b3e \u5f00\u6e90 \u591a \u7269\u7406 \u573a \u4eff\u771f \u5f15\u64ce \uff0c \u5b83 \u4f7f\u7528 \u57fa\u4e8e \u6a21\u677f \u7684 \u65b9\u6cd5 \u63d0\u4f9b \u9ad8\u5ea6 \u771f\u5b9e \u7684 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3002 Carla   \u4e2d \u7684 \u96c6\u6210 \u5141\u8bb8 \u7528\u6237 \u5728 \u5bfc\u822a \u5730\u56fe \u65f6 \u5229\u7528   Chrono   \u6a21\u677f \u6765 \u4eff\u771f \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3002","title":"Chrono   \u9879\u76ee  "},{"location":"tuto_G_chrono/#carla-chrono","text":"\u8981 \u4f7f\u7528   Chrono   \u96c6\u6210 \uff0c \u60a8 \u5fc5\u987b \u9996\u5148 \u5728 \u542f\u52a8 \u65f6 \u4f7f\u7528 \u6807\u7b7e \u914d\u7f6e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u7136\u540e \u4f7f\u7528   PythonAPI   \u5728 \u751f\u6210 \u7684 \u8f66\u8f86 \u4e0a \u542f\u7528 \u5b83 \u3002 \u8bf7 \u9605\u8bfb \u4ee5 \u83b7\u5f97 \u66f4 \u591a \u8be6\u60c5 \u3002","title":"\u5728   Carla   \u4e0a \u4f7f\u7528   Chrono  "},{"location":"tuto_G_chrono/#_1","text":"\u4ec5\u5f53   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4f7f\u7528   Chrono   \u6807\u7b7e \u7f16\u8bd1 \u65f6 \uff0c Chrono   \u624d \u4f1a \u5de5\u4f5c \u3002   \u5728 \u4ece   Carla   \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7248\u672c \u4e2d   \uff0c \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff1a   make   launch   ARGS = \" -- chrono \"   \u6ce8\u610f   \u4f7f\u7528 \u4e0a\u8ff0 \u547d\u4ee4 \u7f16\u8bd1 \u540e \uff0c \u518d \u8fd0\u884c   make   launch   \u3001   make   package   \u5219 \u7f16\u8bd1 \u62a5\u9519 \uff1a   Unreal \\ CarlaUE4 \\ Plugins \\ Carla \\ CarlaDependencies \\ include \\ Eigen \\ src / Core / util / ForwardDeclarations . h ( 58 ) :   error   C4067 :   \u9884 \u5904\u7406 \u7406\u5668 \u5904\u7406\u5668 \u6307\u4ee4 \u540e \u6709 \u610f\u5916 \u6807\u8bb0   -   \u5e94 \u8f93\u5165 \u6362\u884c \u6362\u884c\u7b26   \uff0c \u539f\u56e0 \u4e0d\u660e \u3002","title":"\u914d\u7f6e \u670d\u52a1\u5668  "},{"location":"tuto_G_chrono/#chrono_2","text":"Chrono   \u7269\u7406 \u662f \u901a\u8fc7   Actor   \u7c7b \u63d0\u4f9b \u7684   enable _ chrono _ physics   \u65b9\u6cd5 \u542f\u7528 \u7684 \u3002 \u9664\u4e86 \u5b50 \u6b65\u9aa4 \u548c\u5b50 \u6b65\u9aa4 \u589e\u91cf \u65f6\u95f4 \u7684 \u503c \u4e4b\u5916 \uff0c \u5b83 \u8fd8 \u9700\u8981 \u4e09\u4e2a \u6a21\u677f \u6587\u4ef6 \u548c \u4e00\u4e2a \u57fa\u672c \u8def\u5f84 \u6765 \u5b9a\u4f4d \u8fd9\u4e9b \u6587\u4ef6 \uff1a   base _ path   :   \u5305\u542b \u6a21\u677f \u6587\u4ef6 \u7684 \u76ee\u5f55 \u8def\u5f84 \u3002 \u8fd9 \u5bf9\u4e8e \u786e\u4fdd \u4ece \u6a21\u677f \u6587\u4ef6 \u5f15\u7528 \u7684 \u8f85\u52a9 \u6587\u4ef6 \u5177\u6709 \u7528\u4e8e \u641c\u7d22 \u7684 \u516c\u5171 \u57fa\u672c \u8def\u5f84 \u662f \u5fc5\u8981 \u7684 \u3002   vehicle _ json   :   \u76f8\u5bf9 \u4e8e   base _ path   \u7684 \u8f66\u8f86 \u6a21\u677f \u6587\u4ef6   .   tire _ json   :   \u76f8\u5bf9 \u4e8e   base _ path   \u7684 \u8f6e\u80ce \u6a21\u677f \u6587\u4ef6 \u3002   powertrain _ json   :   \u76f8\u5bf9 \u4e8e   base _ path   \u52a8\u529b \u603b\u6210 \u6a21\u677f \u6587\u4ef6 \u3002   \u91cd\u8981   \u4ed4\u7ec6 \u68c0\u67e5 \u4ed4\u7ec6\u68c0\u67e5 \u60a8 \u7684 \u8def\u5f84 \u3002 \u4e0d \u6b63\u786e \u6216 \u7f3a\u5931 \u7684 \u8def\u5f84 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u865a\u5e7b \u5f15\u64ce \u5d29\u6e83 \u3002   Build / chrono - install / share / chrono / data / vehicle   \u4e2d \u63d0\u4f9b \u4e86 \u9002\u7528 \u4e8e \u4e0d\u540c \u8f66\u8f86 \u7684 \u5404\u79cd \u793a\u4f8b \u6a21\u677f \u6587\u4ef6 \u3002 \u9605\u8bfb   Chrono   \u5de5\u7a0b \u7684   \u6587\u6863   \uff08 \u6216 \u53c2\u8003   \u4e2d\u6587 \u6587\u6863   \uff09 \uff0c \u4e86\u89e3 \u6709\u5173 \u5176 \u8f66\u8f86 \u793a\u4f8b \u4ee5\u53ca \u5982\u4f55 \u521b\u5efa \u6a21\u677f \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u53c2\u9605 \u8bf7\u53c2\u9605 \u4e0b\u9762 \u7684 \u793a\u4f8b \uff0c \u4e86\u89e3 \u5982\u4f55 \u542f\u7528   Chrono   \u7269\u7406 \uff1a   #   \u751f\u6210 \u8f66\u8f86   vehicle   =   world . spawn _ actor ( bp ,   spawn _ point )   #   \u8bbe\u7f6e \u57fa\u7840 \u8def\u5f84   base _ path   =   \" D : / work / workspace / carla / Build / chrono - install / data / vehicle / \"   #   \u8bbe\u7f6e \u6a21\u677f \u6587\u4ef6   vehicle _ json   =   \" sedan / vehicle / Sedan _ Vehicle . json \"   powertrain _ json   =   \" sedan / powertrain / Sedan _ SimpleMapPowertrain . json \"   tire _ json   =   \" sedan / tire / Sedan _ TMeasyTire . json \"   #   \u542f\u7528   Chrono   \u7269\u7406 \u7279\u6027   vehicle . enable _ chrono _ physics ( 5000 ,   0.002 ,   vehicle _ json ,   powertrain _ json ,   tire _ json ,   base _ path )   \u60a8 \u53ef\u4ee5 \u4f7f\u7528   PythonAPI / examples   \u4e2d \u7684 \u793a\u4f8b \u811a\u672c   manual _ control _ chrono . py   \u5c1d\u8bd5   Chrono   \u7269\u7406 \u96c6\u6210 \u3002 \u8fd0\u884c \u811a\u672c \u540e \uff0c \u6309   Ctrl   +   o   \u542f\u7528   Chrono \u3002","title":"\u542f\u7528   Chrono   \u7269\u7406  "},{"location":"tuto_G_chrono/#_2","text":"\u6b64 \u96c6\u6210 \u4e0d \u652f\u6301 \u78b0\u649e \u3002   \u5f53 \u53d1\u751f \u78b0\u649e \u65f6 \uff0c \u8f66\u8f86 \u5c06 \u6062\u590d \u4e3a   Carla   \u9ed8\u8ba4 \u7269\u7406 \u72b6\u6001 \u3002","title":"\u5c40\u9650\u6027  "},{"location":"tuto_G_control_vehicle_physics/","text":"\u63a7\u5236 \u548c \u76d1\u63a7 \u8f66\u8f86 \u7269\u7406 \u7279\u6027   \u53ef\u4ee5 \u8c03\u6574 \u8f66\u8f86 \u53ca\u5176 \u8f66\u8f6e \u7684 \u7269\u7406 \u5c5e\u6027 \u3002 \u8fd9\u4e9b \u66f4\u6539   \u4ec5   \u5e94\u7528 \u4e8e \u8fd0\u884c \u65f6 \uff0c \u5e76\u4e14 \u5728 \u6267\u884c \u7ed3\u675f \u65f6\u5c06\u503c \u8bbe\u7f6e \u56de \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002   \u8fd9\u4e9b \u5c5e\u6027 \u901a\u8fc7   carla . VehiclePhysicsControl   \u5bf9\u8c61 \u8fdb\u884c \u63a7\u5236   \uff0c \u8be5 \u5bf9\u8c61 \u8fd8 \u901a\u8fc7   carla . WheelPhysicsControl   \u5bf9\u8c61 \u63d0\u4f9b \u5bf9 \u6bcf\u4e2a \u8f66\u8f6e \u7269\u7406 \u7279\u6027 \u7684 \u63a7\u5236   \u3002   \u8f66\u8f86 \u63a7\u5236 \u4ee3\u7801 \u63a7\u5236\u4ee3\u7801 \u793a\u4f8b   \u67e5\u770b \u8f66\u8f86 \u9065\u6d4b \u6570\u636e   \u8f66\u8f86 \u63a7\u5236 \u4ee3\u7801 \u63a7\u5236\u4ee3\u7801 \u793a\u4f8b   import   carla   import   random   def   main ( ) :   #   \u8fde\u63a5 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef   client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   client . set _ timeout ( 2.0 )   #   \u83b7\u5f97 \u4e16\u754c \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005   world   =   client . get _ world ( )   actors   =   world . get _ actors ( )   #   \u4ece \u4e16\u754c \u83b7\u5f97 \u4e00\u8f86 \u968f\u673a \u8f66\u8f86 \uff08 \u5e94\u8be5 \u81f3\u5c11 \u6709 \u4e00\u8f86 \uff09   vehicle   =   random . choice ( [ actor   for   actor   in   actors   if   ' vehicle '   in   actor . type _ id ] )   #   \u521b\u5efa \u8f66\u8f6e \u7269\u7406 \u63a7\u5236   front _ left _ wheel   =   carla . WheelPhysicsControl ( tire _ friction = 2.0 ,   damping _ rate = 1.5 ,   max _ steer _ angle = 70.0 ,   long _ stiff _ value = 1000 )   front _ right _ wheel   =   carla . WheelPhysicsControl ( tire _ friction = 2.0 ,   damping _ rate = 1.5 ,   max _ steer _ angle = 70.0 ,   long _ stiff _ value = 1000 )   rear _ left _ wheel   =   carla . WheelPhysicsControl ( tire _ friction = 3.0 ,   damping _ rate = 1.5 ,   max _ steer _ angle = 0.0 ,   long _ stiff _ value = 1000 )   rear _ right _ wheel   =   carla . WheelPhysicsControl ( tire _ friction = 3.0 ,   damping _ rate = 1.5 ,   max _ steer _ angle = 0.0 ,   long _ stiff _ value = 1000 )   wheels   =   [ front _ left _ wheel ,   front _ right _ wheel ,   rear _ left _ wheel ,   rear _ right _ wheel ]   #   \u6539\u53d8 \u8f66\u8f86 \u7684 \u8f66\u8f86 \u7269\u7406 \u63a7\u5236 \u53c2\u6570 \u63a7\u5236\u53c2\u6570   physics _ control   =   vehicle . get _ physics _ control ( )   physics _ control . torque _ curve   =   [ carla . Vector2D ( x = 0 ,   y = 400 ) ,   carla . Vector2D ( x = 1300 ,   y = 600 ) ]   physics _ control . max _ rpm   =   10000   physics _ control . moi   =   1.0   physics _ control . damping _ rate _ full _ throttle   =   0.0   physics _ control . use _ gear _ autobox   =   True   physics _ control . gear _ switch _ time   =   0.5   physics _ control . clutch _ strength   =   10   physics _ control . mass   =   10000   physics _ control . drag _ coefficient   =   0.25   physics _ control . steering _ curve   =   [ carla . Vector2D ( x = 0 ,   y = 1 ) ,   carla . Vector2D ( x = 100 ,   y = 1 ) ,   carla . Vector2D ( x = 300 ,   y = 1 ) ]   physics _ control . use _ sweep _ wheel _ collision   =   True   physics _ control . wheels   =   wheels   #   \u5bf9 \u8f66\u8f86 \u5e94\u7528 \u8f66\u8f86 \u7269\u7406 \u63a7\u5236   vehicle . apply _ physics _ control ( physics _ control )   print ( physics _ control )   if   __ name __   = =   ' __ main __ ' :   main ( )   \u67e5\u770b \u8f66\u8f86 \u9065\u6d4b \u6570\u636e   \u901a\u8fc7 \u8c03\u7528   Actor . enable _ debug _ telemetry   \u65b9\u6cd5 \u53ef\u4ee5 \u5b9e\u73b0 \u8f66\u8f86 \u9065\u6d4b \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002 \u8fd9 \u5c06 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7a97\u53e3 \u4e0a \u63d0\u4f9b \u591a\u4e2a \u6307\u6807 \u7684 \u56fe\u5f62 \u89c6\u56fe \u4ee5\u53ca \u4eff\u771f \u7a97\u53e3 \u4e0a \u7684 \u8f66\u8f86 \u53c2\u8003 \u8003\u70b9 \u53c2\u8003\u70b9 \u3002   \u60a8 \u53ef\u4ee5 \u5c1d\u8bd5 \u4f4d\u4e8e   PythonAPI / examples   \u4e2d \u7684 \u793a\u4f8b \u811a\u672c \u4e2d \u7684 \u9065\u6d4b \u53ef\u89c6 \u53ef\u89c6\u5316 \u5de5\u5177   manual _ control . py   \u3002 \u6309   T   \u6fc0\u6d3b \u9065\u6d4b \u89c6\u56fe \u3002","title":"\u63a7\u5236 \u548c \u76d1\u63a7 \u8f66\u8f86 \u7269\u7406 \u7279\u6027"},{"location":"tuto_G_control_vehicle_physics/#_1","text":"\u53ef\u4ee5 \u8c03\u6574 \u8f66\u8f86 \u53ca\u5176 \u8f66\u8f6e \u7684 \u7269\u7406 \u5c5e\u6027 \u3002 \u8fd9\u4e9b \u66f4\u6539   \u4ec5   \u5e94\u7528 \u4e8e \u8fd0\u884c \u65f6 \uff0c \u5e76\u4e14 \u5728 \u6267\u884c \u7ed3\u675f \u65f6\u5c06\u503c \u8bbe\u7f6e \u56de \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002   \u8fd9\u4e9b \u5c5e\u6027 \u901a\u8fc7   carla . VehiclePhysicsControl   \u5bf9\u8c61 \u8fdb\u884c \u63a7\u5236   \uff0c \u8be5 \u5bf9\u8c61 \u8fd8 \u901a\u8fc7   carla . WheelPhysicsControl   \u5bf9\u8c61 \u63d0\u4f9b \u5bf9 \u6bcf\u4e2a \u8f66\u8f6e \u7269\u7406 \u7279\u6027 \u7684 \u63a7\u5236   \u3002   \u8f66\u8f86 \u63a7\u5236 \u4ee3\u7801 \u63a7\u5236\u4ee3\u7801 \u793a\u4f8b   \u67e5\u770b \u8f66\u8f86 \u9065\u6d4b \u6570\u636e","title":"\u63a7\u5236 \u548c \u76d1\u63a7 \u8f66\u8f86 \u7269\u7406 \u7279\u6027"},{"location":"tuto_G_control_vehicle_physics/#_2","text":"import   carla   import   random   def   main ( ) :   #   \u8fde\u63a5 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef   client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   client . set _ timeout ( 2.0 )   #   \u83b7\u5f97 \u4e16\u754c \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005   world   =   client . get _ world ( )   actors   =   world . get _ actors ( )   #   \u4ece \u4e16\u754c \u83b7\u5f97 \u4e00\u8f86 \u968f\u673a \u8f66\u8f86 \uff08 \u5e94\u8be5 \u81f3\u5c11 \u6709 \u4e00\u8f86 \uff09   vehicle   =   random . choice ( [ actor   for   actor   in   actors   if   ' vehicle '   in   actor . type _ id ] )   #   \u521b\u5efa \u8f66\u8f6e \u7269\u7406 \u63a7\u5236   front _ left _ wheel   =   carla . WheelPhysicsControl ( tire _ friction = 2.0 ,   damping _ rate = 1.5 ,   max _ steer _ angle = 70.0 ,   long _ stiff _ value = 1000 )   front _ right _ wheel   =   carla . WheelPhysicsControl ( tire _ friction = 2.0 ,   damping _ rate = 1.5 ,   max _ steer _ angle = 70.0 ,   long _ stiff _ value = 1000 )   rear _ left _ wheel   =   carla . WheelPhysicsControl ( tire _ friction = 3.0 ,   damping _ rate = 1.5 ,   max _ steer _ angle = 0.0 ,   long _ stiff _ value = 1000 )   rear _ right _ wheel   =   carla . WheelPhysicsControl ( tire _ friction = 3.0 ,   damping _ rate = 1.5 ,   max _ steer _ angle = 0.0 ,   long _ stiff _ value = 1000 )   wheels   =   [ front _ left _ wheel ,   front _ right _ wheel ,   rear _ left _ wheel ,   rear _ right _ wheel ]   #   \u6539\u53d8 \u8f66\u8f86 \u7684 \u8f66\u8f86 \u7269\u7406 \u63a7\u5236 \u53c2\u6570 \u63a7\u5236\u53c2\u6570   physics _ control   =   vehicle . get _ physics _ control ( )   physics _ control . torque _ curve   =   [ carla . Vector2D ( x = 0 ,   y = 400 ) ,   carla . Vector2D ( x = 1300 ,   y = 600 ) ]   physics _ control . max _ rpm   =   10000   physics _ control . moi   =   1.0   physics _ control . damping _ rate _ full _ throttle   =   0.0   physics _ control . use _ gear _ autobox   =   True   physics _ control . gear _ switch _ time   =   0.5   physics _ control . clutch _ strength   =   10   physics _ control . mass   =   10000   physics _ control . drag _ coefficient   =   0.25   physics _ control . steering _ curve   =   [ carla . Vector2D ( x = 0 ,   y = 1 ) ,   carla . Vector2D ( x = 100 ,   y = 1 ) ,   carla . Vector2D ( x = 300 ,   y = 1 ) ]   physics _ control . use _ sweep _ wheel _ collision   =   True   physics _ control . wheels   =   wheels   #   \u5bf9 \u8f66\u8f86 \u5e94\u7528 \u8f66\u8f86 \u7269\u7406 \u63a7\u5236   vehicle . apply _ physics _ control ( physics _ control )   print ( physics _ control )   if   __ name __   = =   ' __ main __ ' :   main ( )","title":"\u8f66\u8f86 \u63a7\u5236\u4ee3\u7801 \u793a\u4f8b  "},{"location":"tuto_G_control_vehicle_physics/#_3","text":"\u901a\u8fc7 \u8c03\u7528   Actor . enable _ debug _ telemetry   \u65b9\u6cd5 \u53ef\u4ee5 \u5b9e\u73b0 \u8f66\u8f86 \u9065\u6d4b \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002 \u8fd9 \u5c06 \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7a97\u53e3 \u4e0a \u63d0\u4f9b \u591a\u4e2a \u6307\u6807 \u7684 \u56fe\u5f62 \u89c6\u56fe \u4ee5\u53ca \u4eff\u771f \u7a97\u53e3 \u4e0a \u7684 \u8f66\u8f86 \u53c2\u8003 \u8003\u70b9 \u53c2\u8003\u70b9 \u3002   \u60a8 \u53ef\u4ee5 \u5c1d\u8bd5 \u4f4d\u4e8e   PythonAPI / examples   \u4e2d \u7684 \u793a\u4f8b \u811a\u672c \u4e2d \u7684 \u9065\u6d4b \u53ef\u89c6 \u53ef\u89c6\u5316 \u5de5\u5177   manual _ control . py   \u3002 \u6309   T   \u6fc0\u6d3b \u9065\u6d4b \u89c6\u56fe \u3002","title":"\u67e5\u770b \u8f66\u8f86 \u9065\u6d4b \u6570\u636e  "},{"location":"tuto_G_control_walker_skeletons/","text":"\u884c\u4eba \u9aa8\u9abc \u63a7\u5236   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u4ecb\u7ecd \u5982\u4f55 \u901a\u8fc7   Carla   Python   API   \u624b\u52a8 \u63a7\u5236 \u884c\u4eba \u7684 \u9aa8\u9abc \u5e76 \u4e3a \u5176 \u8bbe\u7f6e \u52a8\u753b \u3002 \u6240\u6709 \u53ef\u7528 \u7c7b \u548c \u65b9\u6cd5 \u7684 \u53c2\u8003 \u53ef\u4ee5 \u5728   Python   API   \u53c2\u8003   \u4e2d \u627e\u5230   \u3002   \u884c\u4eba \u9aa8\u9abc \u7ed3\u6784   \u624b\u52a8 \u63a7\u5236 \u884c\u4eba \u9aa8\u9abc   \u8fde\u63a5 \u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u751f\u6210 \u884c\u4eba   \u63a7\u5236 \u884c\u4eba \u9aa8\u9abc   \u7b14\u8bb0   \u672c \u6587\u6863 \u5047\u8bbe \u7528\u6237 \u719f\u6089   Python   API \u3002   \u3002   \u7528\u6237 \u5728 \u9605\u8bfb \u672c \u6587\u6863 \u4e4b\u524d \u5e94 \u9605\u8bfb \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \u6559\u7a0b \uff1a   \u6838\u5fc3 \u6982\u5ff5   \u3002 \u8fdb\u884c \u884c\u4eba \u5efa\u6a21 \u8bf7 \u53c2\u8003   \u94fe\u63a5   \u3002   \u884c\u4eba \u9aa8\u9abc \u7ed3\u6784   \u6240\u6709 \u884c\u4eba \u90fd \u5177\u6709 \u76f8\u540c \u7684 \u9aa8\u9abc \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u548c \u9aa8\u9abc \u540d\u79f0 \u3002 \u4e0b\u9762 \u662f \u9aa8\u67b6 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u7684 \u56fe\u50cf \u3002 \u9aa8\u9abc \u7684 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u56fe \u53c2\u8003   \u94fe\u63a5   \u3002   crl _ root   \u2514 \u2500 \u2500   crl _ hips __ C   \u251c \u2500 \u2500   crl _ spine __ C   \u2502   \u2514 \u2500 \u2500   crl _ spine01 __ C   \u2502   \u251c \u2500 \u2500   ctrl _ shoulder __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ arm __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ foreArm __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ hand __ L   \u2502   \u2502   \u251c \u2500 \u2500   crl _ handThumb __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumb01 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumb02 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumbEnd __ L   \u2502   \u2502   \u251c \u2500 \u2500   crl _ handIndex __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndex01 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndex02 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndexEnd __ L   \u2502   \u2502   \u251c \u2500 \u2500   crl _ handMiddle _ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddle01 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddle02 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddleEnd __ L   \u2502   \u2502   \u251c \u2500 \u2500   crl _ handRing _ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRing01 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRing02 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRingEnd __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handPinky _ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handPinky01 __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handPinky02 __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handPinkyEnd __ L   \u2502   \u251c \u2500 \u2500   crl _ neck __ C   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ Head __ C   \u2502   \u2502   \u251c \u2500 \u2500   crl _ eye __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ eye __ R   \u2502   \u2514 \u2500 \u2500   crl _ shoulder __ R   \u2502   \u2514 \u2500 \u2500   crl _ arm __ R   \u2502   \u2514 \u2500 \u2500   crl _ foreArm __ R   \u2502   \u2514 \u2500 \u2500   crl _ hand __ R   \u2502   \u251c \u2500 \u2500   crl _ handThumb __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumb01 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumb02 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumbEnd __ R   \u2502   \u251c \u2500 \u2500   crl _ handIndex __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndex01 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndex02 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndexEnd __ R   \u2502   \u251c \u2500 \u2500   crl _ handMiddle _ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddle01 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddle02 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddleEnd __ R   \u2502   \u251c \u2500 \u2500   crl _ handRing _ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRing01 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRing02 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRingEnd __ R   \u2502   \u2514 \u2500 \u2500   crl _ handPinky _ R   \u2502   \u2514 \u2500 \u2500   crl _ handPinky01 __ R   \u2502   \u2514 \u2500 \u2500   crl _ handPinky02 __ R   \u2502   \u2514 \u2500 \u2500   crl _ handPinkyEnd __ R   \u251c \u2500 \u2500   crl _ thigh __ L   \u2502   \u2514 \u2500 \u2500   crl _ leg __ L   \u2502   \u2514 \u2500 \u2500   crl _ foot __ L   \u2502   \u2514 \u2500 \u2500   crl _ toe __ L   \u2502   \u2514 \u2500 \u2500   crl _ toeEnd __ L   \u2514 \u2500 \u2500   crl _ thigh __ R   \u2514 \u2500 \u2500   crl _ leg __ R   \u2514 \u2500 \u2500   crl _ foot __ R   \u2514 \u2500 \u2500   crl _ toe __ R   \u2514 \u2500 \u2500   crl _ toeEnd __ R   \u624b\u52a8 \u63a7\u5236 \u884c\u4eba \u9aa8\u9abc   \u4ee5\u4e0b \u662f \u5982\u4f55 \u901a\u8fc7   Carla   Python   API   \u66f4\u6539 \u884c\u4eba \u9aa8\u9abc \u53d8\u6362 \u7684 \u8be6\u7ec6 \u5206\u6b65 \u793a\u4f8b \u3002   \u8fde\u63a5 \u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u5bfc\u5165 \u672c\u4f8b \u4e2d \u4f7f\u7528 \u7684 \u5fc5\u8981 \u5e93   import   carla   import   random   \u521d\u59cb \u521d\u59cb\u5316   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef   client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   client . set _ timeout ( 2.0 )   \u751f\u6210 \u884c\u4eba   \u5728 \u5730\u56fe \u7684 \u4e00\u4e2a \u751f\u6210 \u70b9 \u751f\u6210 \u4e00\u4e2a \u968f\u673a \u884c\u4eba \u3002   world   =   client . get _ world ( )   blueprint   =   random . choice ( self . world . get _ blueprint _ library ( ) . filter ( ' walker . * ' ) )   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   spawn _ point   =   random . choice ( spawn _ points )   if   spawn _ points   else   carla . Transform ( )   world . try _ spawn _ actor ( blueprint ,   spawn _ point )   \u63a7\u5236 \u884c\u4eba \u9aa8\u9abc   \u53ef\u4ee5 \u901a\u8fc7 \u5c06   WalkerBoneControl   \u7c7b \u7684 \u5b9e\u4f8b \u4f20\u9012 \u7ed9 \u884c\u4eba \u7684   apply _ control   \u51fd\u6570 \u6765 \u4fee\u6539 \u884c\u4eba \u7684 \u9aa8\u67b6 \u3002   WalkerBoneControl   \u7c7b \u5305\u542b \u8981 \u4fee\u6539 \u7684 \u9aa8\u9abc \u7684 \u53d8\u6362 \u3002 \u5b83 \u7684   bone _ transforms   \u6210\u5458 \u662f \u6210 \u5bf9\u503c \u5143\u7ec4 \u7684 \u5217\u8868 \uff0c \u5176\u4e2d \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u503c \u662f \u9aa8\u9abc \u540d\u79f0 \uff0c \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u503c \u662f \u9aa8\u9abc \u53d8\u6362 \u3002 \u53ef\u4ee5 \u5728 \u6bcf\u4e2a \u523b\u5ea6 \u4e0a \u8c03\u7528   apply _ control   \u51fd\u6570 \u6765 \u4e3a \u884c\u4eba \u7684 \u9aa8\u9abc \u8bbe\u7f6e \u52a8\u753b \u3002 \u6bcf\u4e2a \u53d8\u6362 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u90fd \u662f \u76f8\u5bf9 \u4e8e \u5176\u7236 \u53d8\u6362 \u7684 \u3002 \u56e0\u6b64 \uff0c \u5f53 \u4fee\u6539 \u7236 \u9aa8\u9abc \u7684 \u53d8\u6362 \u65f6 \uff0c \u5b50 \u9aa8\u9abc \u5728 \u6a21\u578b \u7a7a\u95f4 \u4e2d \u7684 \u53d8\u6362 \u4e5f \u4f1a \u76f8\u5bf9 \u6539\u53d8 \u3002   \u5728 \u4e0b\u9762 \u7684 \u793a\u4f8b \u4e2d \uff0c \u884c\u4eba \u7684 \u624b \u8bbe\u7f6e \u4e3a \u56f4\u7ed5 \u524d\u8f74 \u65cb\u8f6c   90   \u5ea6 \uff0c \u5e76\u4e14 \u4f4d\u7f6e \u8bbe\u7f6e \u4e3a \u539f\u70b9 \u3002   control   =   carla . WalkerBoneControl ( )   first _ tuple   =   ( ' crl _ hand __ R ' ,   carla . Transform ( rotation = carla . Rotation ( roll = 90 ) ) )   second _ tuple   =   ( ' crl _ hand __ L ' ,   carla . Transform ( rotation = carla . Rotation ( roll = 90 ) ) )   control . bone _ transforms   =   [ first _ tuple ,   second _ tuple ]   world . player . apply _ control ( control )","title":"\u884c\u4eba \u9aa8\u9abc \u63a7\u5236"},{"location":"tuto_G_control_walker_skeletons/#_1","text":"\u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u4ecb\u7ecd \u5982\u4f55 \u901a\u8fc7   Carla   Python   API   \u624b\u52a8 \u63a7\u5236 \u884c\u4eba \u7684 \u9aa8\u9abc \u5e76 \u4e3a \u5176 \u8bbe\u7f6e \u52a8\u753b \u3002 \u6240\u6709 \u53ef\u7528 \u7c7b \u548c \u65b9\u6cd5 \u7684 \u53c2\u8003 \u53ef\u4ee5 \u5728   Python   API   \u53c2\u8003   \u4e2d \u627e\u5230   \u3002   \u884c\u4eba \u9aa8\u9abc \u7ed3\u6784   \u624b\u52a8 \u63a7\u5236 \u884c\u4eba \u9aa8\u9abc   \u8fde\u63a5 \u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u751f\u6210 \u884c\u4eba   \u63a7\u5236 \u884c\u4eba \u9aa8\u9abc   \u7b14\u8bb0   \u672c \u6587\u6863 \u5047\u8bbe \u7528\u6237 \u719f\u6089   Python   API \u3002   \u3002   \u7528\u6237 \u5728 \u9605\u8bfb \u672c \u6587\u6863 \u4e4b\u524d \u5e94 \u9605\u8bfb \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65 \u6559\u7a0b \uff1a   \u6838\u5fc3 \u6982\u5ff5   \u3002 \u8fdb\u884c \u884c\u4eba \u5efa\u6a21 \u8bf7 \u53c2\u8003   \u94fe\u63a5   \u3002","title":"\u884c\u4eba \u9aa8\u9abc \u63a7\u5236"},{"location":"tuto_G_control_walker_skeletons/#_2","text":"\u6240\u6709 \u884c\u4eba \u90fd \u5177\u6709 \u76f8\u540c \u7684 \u9aa8\u9abc \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u548c \u9aa8\u9abc \u540d\u79f0 \u3002 \u4e0b\u9762 \u662f \u9aa8\u67b6 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u7684 \u56fe\u50cf \u3002 \u9aa8\u9abc \u7684 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u56fe \u53c2\u8003   \u94fe\u63a5   \u3002   crl _ root   \u2514 \u2500 \u2500   crl _ hips __ C   \u251c \u2500 \u2500   crl _ spine __ C   \u2502   \u2514 \u2500 \u2500   crl _ spine01 __ C   \u2502   \u251c \u2500 \u2500   ctrl _ shoulder __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ arm __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ foreArm __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ hand __ L   \u2502   \u2502   \u251c \u2500 \u2500   crl _ handThumb __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumb01 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumb02 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumbEnd __ L   \u2502   \u2502   \u251c \u2500 \u2500   crl _ handIndex __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndex01 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndex02 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndexEnd __ L   \u2502   \u2502   \u251c \u2500 \u2500   crl _ handMiddle _ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddle01 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddle02 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddleEnd __ L   \u2502   \u2502   \u251c \u2500 \u2500   crl _ handRing _ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRing01 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRing02 __ L   \u2502   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRingEnd __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handPinky _ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handPinky01 __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handPinky02 __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handPinkyEnd __ L   \u2502   \u251c \u2500 \u2500   crl _ neck __ C   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ Head __ C   \u2502   \u2502   \u251c \u2500 \u2500   crl _ eye __ L   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ eye __ R   \u2502   \u2514 \u2500 \u2500   crl _ shoulder __ R   \u2502   \u2514 \u2500 \u2500   crl _ arm __ R   \u2502   \u2514 \u2500 \u2500   crl _ foreArm __ R   \u2502   \u2514 \u2500 \u2500   crl _ hand __ R   \u2502   \u251c \u2500 \u2500   crl _ handThumb __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumb01 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumb02 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handThumbEnd __ R   \u2502   \u251c \u2500 \u2500   crl _ handIndex __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndex01 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndex02 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handIndexEnd __ R   \u2502   \u251c \u2500 \u2500   crl _ handMiddle _ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddle01 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddle02 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handMiddleEnd __ R   \u2502   \u251c \u2500 \u2500   crl _ handRing _ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRing01 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRing02 __ R   \u2502   \u2502   \u2514 \u2500 \u2500   crl _ handRingEnd __ R   \u2502   \u2514 \u2500 \u2500   crl _ handPinky _ R   \u2502   \u2514 \u2500 \u2500   crl _ handPinky01 __ R   \u2502   \u2514 \u2500 \u2500   crl _ handPinky02 __ R   \u2502   \u2514 \u2500 \u2500   crl _ handPinkyEnd __ R   \u251c \u2500 \u2500   crl _ thigh __ L   \u2502   \u2514 \u2500 \u2500   crl _ leg __ L   \u2502   \u2514 \u2500 \u2500   crl _ foot __ L   \u2502   \u2514 \u2500 \u2500   crl _ toe __ L   \u2502   \u2514 \u2500 \u2500   crl _ toeEnd __ L   \u2514 \u2500 \u2500   crl _ thigh __ R   \u2514 \u2500 \u2500   crl _ leg __ R   \u2514 \u2500 \u2500   crl _ foot __ R   \u2514 \u2500 \u2500   crl _ toe __ R   \u2514 \u2500 \u2500   crl _ toeEnd __ R","title":"\u884c\u4eba \u9aa8\u9abc \u7ed3\u6784    "},{"location":"tuto_G_control_walker_skeletons/#_3","text":"\u4ee5\u4e0b \u662f \u5982\u4f55 \u901a\u8fc7   Carla   Python   API   \u66f4\u6539 \u884c\u4eba \u9aa8\u9abc \u53d8\u6362 \u7684 \u8be6\u7ec6 \u5206\u6b65 \u793a\u4f8b \u3002","title":"\u624b\u52a8 \u63a7\u5236 \u884c\u4eba \u9aa8\u9abc  "},{"location":"tuto_G_control_walker_skeletons/#_4","text":"\u5bfc\u5165 \u672c\u4f8b \u4e2d \u4f7f\u7528 \u7684 \u5fc5\u8981 \u5e93   import   carla   import   random   \u521d\u59cb \u521d\u59cb\u5316   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef   client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   client . set _ timeout ( 2.0 )","title":"\u8fde\u63a5 \u5230 \u4eff\u771f\u5668  "},{"location":"tuto_G_control_walker_skeletons/#_5","text":"\u5728 \u5730\u56fe \u7684 \u4e00\u4e2a \u751f\u6210 \u70b9 \u751f\u6210 \u4e00\u4e2a \u968f\u673a \u884c\u4eba \u3002   world   =   client . get _ world ( )   blueprint   =   random . choice ( self . world . get _ blueprint _ library ( ) . filter ( ' walker . * ' ) )   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   spawn _ point   =   random . choice ( spawn _ points )   if   spawn _ points   else   carla . Transform ( )   world . try _ spawn _ actor ( blueprint ,   spawn _ point )","title":"\u751f\u6210 \u884c\u4eba    "},{"location":"tuto_G_control_walker_skeletons/#_6","text":"\u53ef\u4ee5 \u901a\u8fc7 \u5c06   WalkerBoneControl   \u7c7b \u7684 \u5b9e\u4f8b \u4f20\u9012 \u7ed9 \u884c\u4eba \u7684   apply _ control   \u51fd\u6570 \u6765 \u4fee\u6539 \u884c\u4eba \u7684 \u9aa8\u67b6 \u3002   WalkerBoneControl   \u7c7b \u5305\u542b \u8981 \u4fee\u6539 \u7684 \u9aa8\u9abc \u7684 \u53d8\u6362 \u3002 \u5b83 \u7684   bone _ transforms   \u6210\u5458 \u662f \u6210 \u5bf9\u503c \u5143\u7ec4 \u7684 \u5217\u8868 \uff0c \u5176\u4e2d \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u503c \u662f \u9aa8\u9abc \u540d\u79f0 \uff0c \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u503c \u662f \u9aa8\u9abc \u53d8\u6362 \u3002 \u53ef\u4ee5 \u5728 \u6bcf\u4e2a \u523b\u5ea6 \u4e0a \u8c03\u7528   apply _ control   \u51fd\u6570 \u6765 \u4e3a \u884c\u4eba \u7684 \u9aa8\u9abc \u8bbe\u7f6e \u52a8\u753b \u3002 \u6bcf\u4e2a \u53d8\u6362 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c \u90fd \u662f \u76f8\u5bf9 \u4e8e \u5176\u7236 \u53d8\u6362 \u7684 \u3002 \u56e0\u6b64 \uff0c \u5f53 \u4fee\u6539 \u7236 \u9aa8\u9abc \u7684 \u53d8\u6362 \u65f6 \uff0c \u5b50 \u9aa8\u9abc \u5728 \u6a21\u578b \u7a7a\u95f4 \u4e2d \u7684 \u53d8\u6362 \u4e5f \u4f1a \u76f8\u5bf9 \u6539\u53d8 \u3002   \u5728 \u4e0b\u9762 \u7684 \u793a\u4f8b \u4e2d \uff0c \u884c\u4eba \u7684 \u624b \u8bbe\u7f6e \u4e3a \u56f4\u7ed5 \u524d\u8f74 \u65cb\u8f6c   90   \u5ea6 \uff0c \u5e76\u4e14 \u4f4d\u7f6e \u8bbe\u7f6e \u4e3a \u539f\u70b9 \u3002   control   =   carla . WalkerBoneControl ( )   first _ tuple   =   ( ' crl _ hand __ R ' ,   carla . Transform ( rotation = carla . Rotation ( roll = 90 ) ) )   second _ tuple   =   ( ' crl _ hand __ L ' ,   carla . Transform ( rotation = carla . Rotation ( roll = 90 ) ) )   control . bone _ transforms   =   [ first _ tuple ,   second _ tuple ]   world . player . apply _ control ( control )","title":"\u63a7\u5236 \u884c\u4eba \u9aa8\u9abc    "},{"location":"tuto_G_esmini/","text":"esmini   \u4e0b\u8f7d   \u4e0b\u8f7d   esmini \u548c esmini - demo _ windows   \u3002   \u8fd0\u884c   esmini \\ bin > esmini   -- window   60   60   800   400   -- osc   . / esmini - demo / resources / xosc / cut - in . xosc","title":"tuto   G   esmini"},{"location":"tuto_G_esmini/#esmini","text":"\u4e0b\u8f7d   \u4e0b\u8f7d   esmini \u548c esmini - demo _ windows   \u3002   \u8fd0\u884c   esmini \\ bin > esmini   -- window   60   60   800   400   -- osc   . / esmini - demo / resources / xosc / cut - in . xosc","title":"esmini"},{"location":"tuto_G_instance_segmentation_sensor/","text":"\u5b9e\u4f8b \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u5b9e\u4f8b \u5206\u5272 ( Instance   segmentation )   \u662f \u4e00\u79cd \u65b0\u578b \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u53ef \u4e3a \u573a\u666f \u4e2d \u7684 \u6bcf\u4e2a \u5bf9\u8c61 \u751f\u6210 \u552f\u4e00 \u7684 \u50cf\u7d20 \u503c \u3002 \u8fd9 \u4e0e \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5f62\u6210 \u5bf9\u6bd4 \uff0c \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5bf9\u4e8e \u76f8\u540c \u5bf9\u8c61 \u7c7b \u7684 \u5b9e\u4f8b \uff08 \u4f8b\u5982 \u8f66\u8f86 \uff09 \u5177\u6709 \u76f8\u540c \u7684   ID \u3002   \u8981 \u751f\u6210 \u8bed\u4e49 \u5206\u5272 \u76f8\u673a \uff0c \u6211\u4eec \u9700\u8981   sensor . camera . instance _ segmentation   \u84dd\u56fe \uff1a   instance _ camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . instance _ segmentation ' )   \u793a\u4f8b   \u6211\u4eec \u5c06 \u9996\u5148 \u8bbe\u7f6e \u4e00\u4e2a \u5e26\u6709 \u5b9e\u4f8b \u5206\u5272 \u76f8\u673a \u7684 \u4e16\u754c \uff0c \u5e76 \u5728 \u573a\u666f \u4e2d \u751f\u6210 \u5927\u91cf \u8f66\u8f86 \u3002   \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5e76 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002   import   carla   import   random   import   time   import   queue   #   \u8fde\u63a5 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e76 \u5c06 Carla \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   world . apply _ settings ( settings )   \u8bbe\u7f6e \u5b9e\u4f8b \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e76 \u5c06 \u5176 \u751f\u6210 \u5728 \u6240 \u9700 \u7684 \u5730\u56fe \u4f4d\u7f6e \u3002   #   \u83b7\u5f97 \u5730\u56fe \u7684 \u751f\u6210 \u70b9 \u548c \u89c2\u5bdf \u89c2\u5bdf\u8005   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   spectator   =   world . get _ spectator ( )   #   \u5728 \u5730\u56fe \u4e0a \u67d0\u4e9b \u4f4d\u7f6e \u8bbe\u7f6e \u76f8\u673a   cam _ location   =   carla . Location ( x = - 46 . ,   y = 152 ,   z = 18 )   cam _ rotation   =   carla . Rotation ( pitch = - 21 ,   yaw = - 93.4 ,   roll = 0 )   camera _ transform   =   carla . Transform ( location = cam _ location ,   rotation = cam _ rotation )   spectator . set _ transform ( camera _ transform )   #   \u83b7\u53d6 \u8bed\u4e49 \u76f8\u673a \u84dd\u56fe \u548c \u751f\u6210 \u76f8\u673a   instance _ camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . instance _ segmentation ' )   instance _ camera   =   world . try _ spawn _ actor ( instance _ camera _ bp ,   camera _ transform )   \u5728 \u6444\u50cf \u6444\u50cf\u673a \u5468\u56f4 \u751f\u6210 \u8f66\u8f86 \uff0c \u7528 \u5927\u91cf \u5bf9\u8c61 \u5b9e\u4f8b \u586b\u5145 \u573a\u666f \u3002   #   \u5728 \u76f8\u673a \u5468\u56f4 80 \u7c73 \u5185 \u751f\u6210 \u8f66\u8f86   vehicle _ bp _ library   =   world . get _ blueprint _ library ( ) . filter ( ' * vehicle * ' )   radius   =   80   for   spawn _ point   in   spawn _ points :   vec   =   [ spawn _ point . location . x   -   cam _ location . x ,   spawn _ point . location . y   -   cam _ location . y ]   if   vec [ 0 ] * vec [ 0 ]   +   vec [ 1 ] * vec [ 1 ]   <   radius * radius :   world . try _ spawn _ actor ( random . choice ( vehicle _ bp _ library ) ,   spawn _ point )   world . tick ( )   \u73b0\u5728 \u751f\u6210 \u56fe\u50cf \u3002   #   \u5c06 \u56fe\u7247 \u4fdd\u5b58 \u5230 \u78c1\u76d8   instance _ image _ queue   =   queue . Queue ( )   instance _ camera . listen ( instance _ image _ queue . put )   world . tick ( )   instance _ image = instance _ image _ queue . get ( )   instance _ image . save _ to _ disk ( ' instance _ segmentation . png ' )   \u56fe\u50cf \u8f93\u51fa   \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u7684 \u5b9e\u4f8b \u5206\u5272 \u56fe\u50cf \u7684 \u5b9e\u4f8b   ID   \u7f16\u7801 \u5728   RGB   \u56fe\u50cf \u6587\u4ef6 \u56fe\u50cf\u6587\u4ef6 \u7684   G   \u548c   B   \u901a\u9053 \u4e2d \u3002 R \u901a\u9053 \u5305\u542b \u6807\u51c6 \u8bed\u4e49 ID \u3002","title":"\u5b9e\u4f8b \u5206\u5272 \u4f20\u611f\u5668"},{"location":"tuto_G_instance_segmentation_sensor/#_1","text":"\u5b9e\u4f8b \u5206\u5272 ( Instance   segmentation )   \u662f \u4e00\u79cd \u65b0\u578b \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u53ef \u4e3a \u573a\u666f \u4e2d \u7684 \u6bcf\u4e2a \u5bf9\u8c61 \u751f\u6210 \u552f\u4e00 \u7684 \u50cf\u7d20 \u503c \u3002 \u8fd9 \u4e0e \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5f62\u6210 \u5bf9\u6bd4 \uff0c \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5bf9\u4e8e \u76f8\u540c \u5bf9\u8c61 \u7c7b \u7684 \u5b9e\u4f8b \uff08 \u4f8b\u5982 \u8f66\u8f86 \uff09 \u5177\u6709 \u76f8\u540c \u7684   ID \u3002   \u8981 \u751f\u6210 \u8bed\u4e49 \u5206\u5272 \u76f8\u673a \uff0c \u6211\u4eec \u9700\u8981   sensor . camera . instance _ segmentation   \u84dd\u56fe \uff1a   instance _ camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . instance _ segmentation ' )","title":"\u5b9e\u4f8b \u5206\u5272 \u4f20\u611f\u5668"},{"location":"tuto_G_instance_segmentation_sensor/#_2","text":"\u6211\u4eec \u5c06 \u9996\u5148 \u8bbe\u7f6e \u4e00\u4e2a \u5e26\u6709 \u5b9e\u4f8b \u5206\u5272 \u76f8\u673a \u7684 \u4e16\u754c \uff0c \u5e76 \u5728 \u573a\u666f \u4e2d \u751f\u6210 \u5927\u91cf \u8f66\u8f86 \u3002   \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5e76 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f \u3002   import   carla   import   random   import   time   import   queue   #   \u8fde\u63a5 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e76 \u5c06 Carla \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u8bbe\u7f6e \u4e3a \u540c\u6b65 \u6a21\u5f0f   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   world . apply _ settings ( settings )   \u8bbe\u7f6e \u5b9e\u4f8b \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e76 \u5c06 \u5176 \u751f\u6210 \u5728 \u6240 \u9700 \u7684 \u5730\u56fe \u4f4d\u7f6e \u3002   #   \u83b7\u5f97 \u5730\u56fe \u7684 \u751f\u6210 \u70b9 \u548c \u89c2\u5bdf \u89c2\u5bdf\u8005   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   spectator   =   world . get _ spectator ( )   #   \u5728 \u5730\u56fe \u4e0a \u67d0\u4e9b \u4f4d\u7f6e \u8bbe\u7f6e \u76f8\u673a   cam _ location   =   carla . Location ( x = - 46 . ,   y = 152 ,   z = 18 )   cam _ rotation   =   carla . Rotation ( pitch = - 21 ,   yaw = - 93.4 ,   roll = 0 )   camera _ transform   =   carla . Transform ( location = cam _ location ,   rotation = cam _ rotation )   spectator . set _ transform ( camera _ transform )   #   \u83b7\u53d6 \u8bed\u4e49 \u76f8\u673a \u84dd\u56fe \u548c \u751f\u6210 \u76f8\u673a   instance _ camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . instance _ segmentation ' )   instance _ camera   =   world . try _ spawn _ actor ( instance _ camera _ bp ,   camera _ transform )   \u5728 \u6444\u50cf \u6444\u50cf\u673a \u5468\u56f4 \u751f\u6210 \u8f66\u8f86 \uff0c \u7528 \u5927\u91cf \u5bf9\u8c61 \u5b9e\u4f8b \u586b\u5145 \u573a\u666f \u3002   #   \u5728 \u76f8\u673a \u5468\u56f4 80 \u7c73 \u5185 \u751f\u6210 \u8f66\u8f86   vehicle _ bp _ library   =   world . get _ blueprint _ library ( ) . filter ( ' * vehicle * ' )   radius   =   80   for   spawn _ point   in   spawn _ points :   vec   =   [ spawn _ point . location . x   -   cam _ location . x ,   spawn _ point . location . y   -   cam _ location . y ]   if   vec [ 0 ] * vec [ 0 ]   +   vec [ 1 ] * vec [ 1 ]   <   radius * radius :   world . try _ spawn _ actor ( random . choice ( vehicle _ bp _ library ) ,   spawn _ point )   world . tick ( )   \u73b0\u5728 \u751f\u6210 \u56fe\u50cf \u3002   #   \u5c06 \u56fe\u7247 \u4fdd\u5b58 \u5230 \u78c1\u76d8   instance _ image _ queue   =   queue . Queue ( )   instance _ camera . listen ( instance _ image _ queue . put )   world . tick ( )   instance _ image = instance _ image _ queue . get ( )   instance _ image . save _ to _ disk ( ' instance _ segmentation . png ' )","title":"\u793a\u4f8b"},{"location":"tuto_G_instance_segmentation_sensor/#_3","text":"\u4fdd\u5b58 \u5230 \u78c1\u76d8 \u7684 \u5b9e\u4f8b \u5206\u5272 \u56fe\u50cf \u7684 \u5b9e\u4f8b   ID   \u7f16\u7801 \u5728   RGB   \u56fe\u50cf \u6587\u4ef6 \u56fe\u50cf\u6587\u4ef6 \u7684   G   \u548c   B   \u901a\u9053 \u4e2d \u3002 R \u901a\u9053 \u5305\u542b \u6807\u51c6 \u8bed\u4e49 ID \u3002","title":"\u56fe\u50cf \u8f93\u51fa"},{"location":"tuto_G_lfs/","text":"\u5927 \u6587\u4ef6 \u652f\u6301   \u53c2\u8003   \u6559\u7a0b   \u3002","title":"tuto   G   lfs"},{"location":"tuto_G_lfs/#_1","text":"\u53c2\u8003   \u6559\u7a0b   \u3002","title":"\u5927 \u6587\u4ef6 \u652f\u6301"},{"location":"tuto_G_openstreetmap/","text":"\u4f7f\u7528   OpenStreetMap   \u751f\u6210 \u5730\u56fe   \u5728 \u672c \u6307\u5357 \u4e2d \uff0c \u60a8 \u5c06 \u5b66\u4e60 \uff1a   \u5982\u4f55 \u4ece   OpenStreetMaps   \u5bfc\u51fa \u5730\u56fe \u3002   Carla   \u4e2d \u53ef\u4ee5 \u4f7f\u7528 \u7684 \u4e0d\u540c \u683c\u5f0f \u7684 \u5730\u56fe \u4ee5\u53ca \u6bcf\u79cd \u683c\u5f0f \u7684 \u9650\u5236 \u3002   \u5982\u4f55 \u5c06 \u672c\u673a   . osm   \u683c\u5f0f \u8f6c\u6362 \u4e3a   . xodr   \u3002   \u5982\u4f55 \u5728   . xodr   \u6587\u4ef6 \u4e2d \u5305\u542b \u4ea4\u901a \u4ea4\u901a\u706f \u4fe1\u606f \u3002   \u5982\u4f55 \u5728   Carla   \u4eff\u771f \u4e2d \u8fd0\u884c \u6700\u7ec8 \u5730\u56fe \u3002   OpenStreetMap   \u662f \u7531 \u6570\u5343 \u5343\u540d \u6570\u5343\u540d \u8d21\u732e \u8d21\u732e\u8005 \u5f00\u53d1 \u7684 \u5f00\u653e \u6570\u636e \u4e16\u754c \u5730\u56fe \u4e16\u754c\u5730\u56fe \uff0c \u5e76 \u6839\u636e   Open   Data   Commons   Open   Database   License   \u83b7\u5f97 \u8bb8\u53ef \u3002 \u5730\u56fe \u7684 \u5404\u4e2a \u90e8\u5206 \u53ef\u4ee5 \u5bfc\u51fa \u4e3a   XML   \u683c\u5f0f \u7684   . osm   \u6587\u4ef6 \u3002 Carla   \u53ef\u4ee5 \u5c06 \u6b64 \u6587\u4ef6 \u8f6c\u6362 \u4e3a   OpenDRIVE   \u683c\u5f0f \u5e76 \u4f7f\u7528   OpenDRIVE   Standalone   Mode   \u5bfc\u5165 \u5b83 \u3002   \u4f7f\u7528   OpenStreetMap   \u5bfc\u51fa \u5730\u56fe   \u5728   Carla   \u4e2d \u4f7f\u7528   OpenStreetMaps   \u5c06   OpenStreetMap   \u683c\u5f0f \u8f6c\u6362 \u4e3a   OpenDRIVE   \u683c\u5f0f   Linux   Windows   \u751f\u6210 \u4ea4\u901a \u4ea4\u901a\u706f   \u5bfc\u5165   Carla   \u4f7f\u7528   OpenStreetMap   \u5bfc\u51fa \u5730\u56fe   \u672c \u8282 \u4ecb\u7ecd \u5982\u4f55 \u4ece   Open   Street   Map   \u5bfc\u51fa \u6240 \u9700 \u7684 \u5730\u56fe \u4fe1\u606f \u5730\u56fe\u4fe1\u606f \uff1a   1 .   \u5bfc\u822a \u81f3   Open   Street   Map   \u7f51\u7ad9   \u3002 \u60a8 \u5c06 \u5728 \u7a97\u53e3 \u53f3\u4fa7 \u770b\u5230 \u5730\u56fe \u89c6\u56fe \u548c \u4e00\u4e2a \u9762\u677f \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u5176\u4e2d \u914d\u7f6e \u4e0d\u540c \u7684 \u5730\u56fe \u56fe\u5c42 \u3001 \u67e5\u8be2 \u4e0d\u540c \u7684 \u8981\u7d20 \u3001 \u5207\u6362 \u56fe\u4f8b \u7b49 \u3002   2 .   \u641c\u7d22 \u60a8 \u60f3\u8981 \u7684 \u4f4d\u7f6e \u5e76 \u653e\u5927 \u5230 \u7279\u5b9a \u533a\u57df \u3002   \u7b14\u8bb0   \u5982\u679c \u60a8 \u60f3 \u4f7f\u7528 \u5927 \u8303\u56f4 \u7684 \u5730\u56fe \uff0c \u4f8b\u5982 \u5df4\u9ece \uff0c \u60a8 \u53ef\u4ee5 \u8003\u8651 \u4f7f\u7528   Carla   \u7684   \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd   \u3002   3 .   \u5355\u51fb \u7a97\u53e3 \u5de6\u4e0a \u4e0a\u89d2 \u5de6\u4e0a\u89d2 \u7684 \u201c \u5bfc\u51fa (   Export   ) \u201d \u4ee5 \u6253\u5f00 \u201c \u5bfc\u51fa (   Export   ) \u201d \u9762\u677f \u3002   4 .   \u5355\u51fb \u201c   \u5bfc\u51fa   \u201d \u9762\u677f \u4e2d \u7684 \u201c _ \u624b\u52a8 _ \u9009\u62e9 \u4e0d\u540c \u533a\u57df \u201d \u3002   5 .   \u901a\u8fc7 \u62d6\u52a8 \u89c6 \u53e3\u4e2d \u65b9\u5f62 \u533a\u57df \u7684 \u89d2\u6765 \u9009\u62e9 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u533a\u57df \u3002   6 .   \u5355\u51fb \u5bfc\u51fa \u9762\u677f \u4e2d \u7684   \u5bfc\u51fa   \u6309\u94ae \uff0c \u5c06 \u6240\u9009 \u533a\u57df \u7684 \u5730\u56fe \u4fe1\u606f \u5730\u56fe\u4fe1\u606f \u4fdd\u5b58 \u4e3a   . osm   \u6587\u4ef6 \u3002   \u5728   Carla   \u4e2d \u4f7f\u7528   OpenStreetMaps   \u5f00\u653e \u8857\u9053 \u5730\u56fe \u6570\u636e \u53ef\u4ee5 \u901a\u8fc7 \u4e09\u79cd \u4e0d\u540c \u7684 \u65b9\u6cd5 \u5728   Carla   \u4e2d \u4f7f\u7528 \u3002 \u60a8 \u4f7f\u7528 \u7684 \u65b9\u6cd5 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u6570\u636e \u662f\u5426 \u4e3a \u539f\u59cb \u683c\u5f0f \uff0c \u6216\u8005 \u60a8 \u662f\u5426 \u4f7f\u7528 \u4ee5\u4e0b \u90e8\u5206 \u4e2d \u8bf4\u660e \u7684 \u8f6c\u6362 \u65b9\u6cd5 \u8f6c\u6362\u65b9\u6cd5 \u6765 \u8f6c\u6362   . osm   \u6587\u4ef6 \u3002   . osm   \u4fdd\u7559 \u6587\u4ef6 \u662f \u6700 \u53d7\u9650 \u9650\u5236 \u53d7\u9650\u5236 \u7684 \u65b9\u6cd5 \uff0c \u56e0\u4e3a \u5b83 \u4e0d \u5141\u8bb8 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8bbe\u7f6e \u3002   \u53ef\u7528   . xodr   \u683c\u5f0f \u9009\u9879 \uff1a   \u5728 \u60a8 \u81ea\u5df1 \u7684 \u811a\u672c \u4e2d \u751f\u6210 \u5730\u56fe \u3002   \u8be5 \u65b9\u6cd5 \u5141\u8bb8 \u53c2\u6570 \u5316 \u3002   \u5c06 \u6587\u4ef6 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9   Carla   \u7684   config . py   \u3002   \u6b64 \u65b9\u6cd5 \u4e0d \u5141\u8bb8 \u53c2\u6570 \u5316 \u3002   \u53ef\u7528   . osm   \u683c\u5f0f \u9009\u9879 \uff1a   \u5c06 \u6587\u4ef6 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9   Carla   \u7684   config . py   \u3002   \u6b64 \u65b9\u6cd5 \u4e0d \u5141\u8bb8 \u53c2\u6570 \u5316 \u3002   \u4ee5\u4e0b \u90e8\u5206 \u5c06 \u63d0\u4f9b \u6709\u5173 \u4e0a\u9762 \u5217\u51fa \u7684 \u9009\u9879 \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u5c06   OpenStreetMap   \u683c\u5f0f \u8f6c\u6362 \u4e3a   OpenDRIVE   \u683c\u5f0f   \u672c \u8282 \u6f14\u793a \u5982\u4f55 \u4f7f\u7528   Python   API   \u5c06 \u6211\u4eec \u5728 \u4e0a \u4e00\u8282 \u4e2d \u5bfc\u51fa \u7684   . osm   \u6587\u4ef6 \u8f6c\u6362 \u4e3a   . xodr   \u683c\u5f0f \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u5728   Carla   \u4e2d \u4f7f\u7528 \u3002   carla . Osm2OdrSettings   \u7c7b \u7528\u4e8e \u914d\u7f6e \u8f6c\u6362 \u8bbe\u7f6e \uff0c \u4f8b\u5982 \u504f\u79fb \u503c \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u751f\u6210 \u3001 \u539f\u70b9 \u5750\u6807 \u7b49 \u3002 \u53ef \u914d\u7f6e \u53c2\u6570 \u7684 \u5b8c\u6574 \u5217\u8868 \u53ef\u4ee5 \u5728   Python   API   \u6587\u6863   \u4e2d \u627e\u5230 \u3002   carla . Osm2Odr   \u7c7b \u4f7f\u7528 \u8fd9\u4e9b \u8bbe\u7f6e \u6765 \u89e3\u6790   . osm   \u6570\u636e \u5e76 \u4ee5   . xodr   \u683c\u5f0f \u8f93\u51fa \u3002   \u5728   Windows   \u4e2d \uff0c   . osm   \u6587\u4ef6 \u5fc5\u987b \u7f16\u7801 \u4e3a   UTF - 8   .   \u8fd9 \u5728   Linux   \u4e2d\u662f \u4e0d\u5fc5 \u5fc5\u8981 \u4e0d\u5fc5\u8981 \u7684 \u3002 \u4ee5\u4e0b \u662f \u793a\u4f8b \u4ee3\u7801 \u7247\u6bb5 \uff0c \u663e\u793a \u5982\u4f55 \u6839\u636e \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u6267\u884c \u6587\u4ef6 \u8f6c\u6362 \uff1a   Linux   #   \u8bfb\u53d6   . osm   \u6570\u636e   f   =   open ( \" path / to / osm / file \" ,   ' r ' )   osm _ data   =   f . read ( )   f . close ( )   #   \u5b9a\u4e49 \u60f3\u8981 \u7684 \u8bbe\u7f6e \u3002 \u5728 \u8be5 \u6848\u4f8b \u4e2d\u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002 values .   settings   =   carla . Osm2OdrSettings ( )   #   \u8bbe\u7f6e \u5bfc\u51fa \u5230   OpenDRIVE   \u7684   OSM   \u9053\u8def \u7c7b\u578b \u3002   settings . set _ osm _ way _ types ( [ \" motorway \" ,   \" motorway _ link \" ,   \" trunk \" ,   \" trunk _ link \" ,   \" primary \" ,   \" primary _ link \" ,   \" secondary \" ,   \" secondary _ link \" ,   \" tertiary \" ,   \" tertiary _ link \" ,   \" unclassified \" ,   \" residential \" ] )   #   \u8f6c\u4e3a   . xodr   xodr _ data   =   carla . Osm2Odr . convert ( osm _ data ,   settings )   #   \u4fdd\u5b58 \u4e3a   opendrive   \u6587\u4ef6   f   =   open ( \" path / to / output / file \" ,   ' w ' )   f . write ( xodr _ data )   f . close ( )   Windows   import   io   #   \u8bfb\u53d6   . osm   \u6570\u636e   f   =   io . open ( \" test \" ,   mode = \" r \" ,   encoding = \" utf - 8 \" )   osm _ data   =   f . read ( )   f . close ( )   #   \u5b9a\u4e49 \u60f3\u8981 \u7684 \u8bbe\u7f6e \u3002 \u5728 \u8be5 \u6848\u4f8b \u4e2d\u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002   settings   =   carla . Osm2OdrSettings ( )   #   \u8bbe\u7f6e \u5bfc\u51fa \u6210   OpenDRIVE   \u7684   OSM   \u9053\u8def \u7c7b\u578b   settings . set _ osm _ way _ types ( [ \" motorway \" ,   \" motorway _ link \" ,   \" trunk \" ,   \" trunk _ link \" ,   \" primary \" ,   \" primary _ link \" ,   \" secondary \" ,   \" secondary _ link \" ,   \" tertiary \" ,   \" tertiary _ link \" ,   \" unclassified \" ,   \" residential \" ] )   #   \u8f6c\u4e3a   . xodr   xodr _ data   =   carla . Osm2Odr . convert ( osm _ data ,   settings )   #   \u4fdd\u5b58 \u6210   opendrive   \u6587\u4ef6   f   =   open ( \" path / to / output / file \" ,   ' w ' )   f . write ( xodr _ data )   f . close ( )   \u751f\u6210 \u4ea4\u901a \u4ea4\u901a\u706f   Open   Street   Map   \u6570\u636e \u53ef\u4ee5 \u5b9a\u4e49 \u54ea\u4e9b \u8def\u53e3 \u53d7 \u4ea4\u901a \u4ea4\u901a\u706f \u63a7\u5236 \u3002 \u8981 \u5728   Carla   \u4e2d \u4f7f\u7528 \u6b64 \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u636e \uff0c \u60a8 \u9700\u8981 \u5728 \u5c06   . osm   \u6587\u4ef6 \u8f6c\u6362 \u4e3a   . xodr   \u683c\u5f0f \u4e4b\u524d \u901a\u8fc7   Python   API   \u5728   OSM   \u5730\u56fe \u8bbe\u7f6e \u4e2d \u542f\u7528 \u5b83 \uff1a   #   \u5b9a\u4e49 \u60f3\u8981 \u7684 \u8bbe\u7f6e \u3002 \u5728 \u8be5 \u6848\u4f8b \u4e2d\u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002   settings   =   carla . Osm2OdrSettings ( )   #   \u542f\u7528 \u4ece   OSM   \u6570\u636e \u4e2d \u751f\u6210 \u4ea4\u901a \u4ea4\u901a\u706f   settings . generate _ traffic _ lights   =   True   #   \u8f6c\u4e3a   . xodr   xodr _ data   =   carla . Osm2Odr . convert ( osm _ data ,   settings )   \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u636e \u8d28\u91cf \u53ef\u80fd \u56e0 \u63d0\u53d6 \u6570\u636e \u7684 \u533a\u57df \u800c\u5f02 \u3002 \u4e00\u4e9b \u4ea4\u901a \u4ea4\u901a\u706f \u4fe1\u606f \u53ef\u80fd \u5b8c\u5168 \u4e22\u5931 \u3002 \u8981 \u514b\u670d \u8fd9\u4e9b \u9650\u5236 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528   Python   API   \u5c06 \u6240\u6709 \u8def\u53e3 \u914d\u7f6e \u4e3a \u7531 \u4ea4\u901a \u4ea4\u901a\u706f \u63a7\u5236 \uff1a   settings . all _ junctions _ with _ traffic _ lights   =   True   \u60a8 \u8fd8 \u53ef\u4ee5 \u6392\u9664 \u67d0\u4e9b \u9053\u8def \uff08 \u4f8b\u5982 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u94fe\u63a5 \uff09 \u751f\u6210 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \uff1a   settings . set _ traffic _ light _ excluded _ way _ types ( [ \" motorway _ link \" ] )   \u5bfc\u5165   Carla   \u672c \u8282 \u4ecb\u7ecd \u5982\u4f55 \u4f7f\u7528 \u53ef\u7528 \u7684 \u4e0d\u540c \u9009\u9879 \uff0c \u901a\u8fc7   OpenDRIVE   \u72ec\u7acb \u6a21\u5f0f   \u5c06   Open   Street   Map   \u4fe1\u606f \u63d0\u53d6 \u4fe1\u606f\u63d0\u53d6 \u5230   Carla   \u4e2d \u3002   \u6709 \u4ee5\u4e0b \u4e09\u4e2a \u9009\u9879 \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \uff1a   A )   \u4f7f\u7528 \u60a8 \u81ea\u5df1 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49   Python   \u811a\u672c \u4e2d \u7684 \u8f6c\u6362   . xodr   \u6587\u4ef6   \u751f\u6210 \u5730\u56fe \u8be5 \u65b9\u6cd5 \u5141\u8bb8 \u53c2\u6570 \u5316   \u3002   B )   \u5c06 \u8f6c\u6362 \u540e \u7684   . xodr   \u6587\u4ef6 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9   Carla   config . py   \u811a\u672c \u3002   \u6b64 \u65b9\u6cd5 \u4e0d \u5141\u8bb8 \u53c2\u6570 \u5316 \u3002   C )   \u5c06 \u539f\u59cb   . osm   \u6587\u4ef6 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9   Carla   config . py   \u811a\u672c \u3002   \u6b64 \u65b9\u6cd5 \u4e0d \u5141\u8bb8 \u53c2\u6570 \u5316 \u3002   A )   \u4f7f\u7528 \u60a8 \u81ea\u5df1 \u7684 \u811a\u672c   \u751f\u6210 \u65b0 \u5730\u56fe \u5e76 \u963b\u6b62 \u4eff\u771f \uff0c \u76f4\u5230 \u901a\u8fc7 \u8c03\u7528   client . generate _ opendrive _ world ( )   \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u3002 \u4f7f\u7528   carla . OpendriveGenerationParameters   \u7c7b \u914d\u7f6e \u7f51\u683c \u751f\u6210 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605 \u4e0b\u9762 \u7684 \u793a\u4f8b \uff1a   vertex _ distance   =   2.0   #   \u4ee5\u7c73 \u4e3a \u5355\u4f4d   max _ road _ length   =   500.0   #   \u4ee5\u7c73 \u4e3a \u5355\u4f4d   wall _ height   =   0.0   #   \u4ee5\u7c73 \u4e3a \u5355\u4f4d   extra _ width   =   0.6   #   \u4ee5\u7c73 \u4e3a \u5355\u4f4d   world   =   client . generate _ opendrive _ world (   xodr _ xml ,   carla . OpendriveGenerationParameters (   vertex _ distance = vertex _ distance ,   max _ road _ length = max _ road _ length ,   wall _ height = wall _ height ,   additional _ width = extra _ width ,   smooth _ junctions = True ,   enable _ mesh _ visibility = True ) )   \u7b14\u8bb0   \u5f3a\u70c8 \u63a8\u8350 \u5f3a\u70c8\u63a8\u8350   wall _ height   =   0.0   \u3002 OpenStreetMap   \u5c06 \u76f8\u53cd \u65b9\u5411 \u7684 \u8f66\u9053 \u5b9a\u4e49 \u4e3a \u4e0d\u540c \u7684 \u9053\u8def \u3002 \u5982\u679c \u751f\u6210 \u5899\u58c1 \uff0c \u8fd9 \u5c06 \u5bfc\u81f4 \u5899\u58c1 \u91cd\u53e0 \u548c \u610f\u5916 \u7684 \u78b0\u649e \u3002   B )   \u5c06   . xodr   \u4f20\u9012 \u7ed9   config . py   \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \uff0c \u5728 \u5355\u72ec \u7684 \u7ec8\u7aef \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u52a0\u8f7d   Open   Street   Map \uff1a   cd   PythonAPI / util   python3   config . py   - x = / path / to / xodr / file   \u5c06 \u4f7f\u7528   \u9ed8\u8ba4 \u53c2\u6570   \u3002   C )   \u5c06   . osm   \u4f20\u9012 \u7ed9   config . py   \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \uff0c \u5728 \u5355\u72ec \u7684 \u7ec8\u7aef \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u52a0\u8f7d   Open   Street   Map \uff1a   cd   PythonAPI / util   python3   config . py   -- osm - path = / path / to / OSM / file   \u5c06 \u4f7f\u7528   \u9ed8\u8ba4 \u53c2\u6570   \u3002   \u65e0\u8bba \u4f7f\u7528 \u54ea \u79cd \u65b9\u6cd5 \uff0c \u5730\u56fe \u90fd \u5c06 \u88ab \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u4e2d \uff0c \u7ed3\u679c \u5e94 \u7c7b\u4f3c \u4e8e \u4e0b\u56fe \uff1a   \u4f7f\u7528   OpenStreetMap   \u751f\u6210   Carla   \u5730\u56fe \u7684 \u7ed3\u679c \u3002   \u8b66\u544a   \u751f\u6210 \u7684 \u9053\u8def \u5728 \u5730\u56fe \u7684 \u8fb9\u754c \u5904 \u7a81\u7136 \u7ed3\u675f \u3002 \u5f53 \u8f66\u8f86 \u65e0\u6cd5 \u627e\u5230 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9\u65f6 \uff0c \u8fd9 \u5c06 \u5bfc\u81f4 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5d29\u6e83 \u3002 \u4e3a\u4e86 \u907f\u514d \u8fd9\u79cd \u60c5\u51b5 \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u4e2d \u7684   OSM   \u6a21\u5f0f \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e3a True   (   set _ osm _ mode ( )   ) \u3002 \u8fd9 \u5c06 \u5728 \u5fc5\u8981 \u65f6 \u663e\u793a \u8b66\u544a \u5e76 \u9500\u6bc1 \u8f66\u8f86 \u3002   \u4e0e \u6b64 \u4e3b\u9898 \u76f8\u5173 \u7684 \u4efb\u4f55 \u95ee\u9898 \u548c \u7591\u95ee \u90fd \u53ef\u4ee5 \u5728   Carla   \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"\u4f7f\u7528   OpenStreetMap   \u751f\u6210 \u5730\u56fe"},{"location":"tuto_G_openstreetmap/#openstreetmap","text":"\u5728 \u672c \u6307\u5357 \u4e2d \uff0c \u60a8 \u5c06 \u5b66\u4e60 \uff1a   \u5982\u4f55 \u4ece   OpenStreetMaps   \u5bfc\u51fa \u5730\u56fe \u3002   Carla   \u4e2d \u53ef\u4ee5 \u4f7f\u7528 \u7684 \u4e0d\u540c \u683c\u5f0f \u7684 \u5730\u56fe \u4ee5\u53ca \u6bcf\u79cd \u683c\u5f0f \u7684 \u9650\u5236 \u3002   \u5982\u4f55 \u5c06 \u672c\u673a   . osm   \u683c\u5f0f \u8f6c\u6362 \u4e3a   . xodr   \u3002   \u5982\u4f55 \u5728   . xodr   \u6587\u4ef6 \u4e2d \u5305\u542b \u4ea4\u901a \u4ea4\u901a\u706f \u4fe1\u606f \u3002   \u5982\u4f55 \u5728   Carla   \u4eff\u771f \u4e2d \u8fd0\u884c \u6700\u7ec8 \u5730\u56fe \u3002   OpenStreetMap   \u662f \u7531 \u6570\u5343 \u5343\u540d \u6570\u5343\u540d \u8d21\u732e \u8d21\u732e\u8005 \u5f00\u53d1 \u7684 \u5f00\u653e \u6570\u636e \u4e16\u754c \u5730\u56fe \u4e16\u754c\u5730\u56fe \uff0c \u5e76 \u6839\u636e   Open   Data   Commons   Open   Database   License   \u83b7\u5f97 \u8bb8\u53ef \u3002 \u5730\u56fe \u7684 \u5404\u4e2a \u90e8\u5206 \u53ef\u4ee5 \u5bfc\u51fa \u4e3a   XML   \u683c\u5f0f \u7684   . osm   \u6587\u4ef6 \u3002 Carla   \u53ef\u4ee5 \u5c06 \u6b64 \u6587\u4ef6 \u8f6c\u6362 \u4e3a   OpenDRIVE   \u683c\u5f0f \u5e76 \u4f7f\u7528   OpenDRIVE   Standalone   Mode   \u5bfc\u5165 \u5b83 \u3002   \u4f7f\u7528   OpenStreetMap   \u5bfc\u51fa \u5730\u56fe   \u5728   Carla   \u4e2d \u4f7f\u7528   OpenStreetMaps   \u5c06   OpenStreetMap   \u683c\u5f0f \u8f6c\u6362 \u4e3a   OpenDRIVE   \u683c\u5f0f   Linux   Windows   \u751f\u6210 \u4ea4\u901a \u4ea4\u901a\u706f   \u5bfc\u5165   Carla","title":"\u4f7f\u7528   OpenStreetMap   \u751f\u6210 \u5730\u56fe"},{"location":"tuto_G_openstreetmap/#openstreetmap_1","text":"\u672c \u8282 \u4ecb\u7ecd \u5982\u4f55 \u4ece   Open   Street   Map   \u5bfc\u51fa \u6240 \u9700 \u7684 \u5730\u56fe \u4fe1\u606f \u5730\u56fe\u4fe1\u606f \uff1a   1 .   \u5bfc\u822a \u81f3   Open   Street   Map   \u7f51\u7ad9   \u3002 \u60a8 \u5c06 \u5728 \u7a97\u53e3 \u53f3\u4fa7 \u770b\u5230 \u5730\u56fe \u89c6\u56fe \u548c \u4e00\u4e2a \u9762\u677f \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u5176\u4e2d \u914d\u7f6e \u4e0d\u540c \u7684 \u5730\u56fe \u56fe\u5c42 \u3001 \u67e5\u8be2 \u4e0d\u540c \u7684 \u8981\u7d20 \u3001 \u5207\u6362 \u56fe\u4f8b \u7b49 \u3002   2 .   \u641c\u7d22 \u60a8 \u60f3\u8981 \u7684 \u4f4d\u7f6e \u5e76 \u653e\u5927 \u5230 \u7279\u5b9a \u533a\u57df \u3002   \u7b14\u8bb0   \u5982\u679c \u60a8 \u60f3 \u4f7f\u7528 \u5927 \u8303\u56f4 \u7684 \u5730\u56fe \uff0c \u4f8b\u5982 \u5df4\u9ece \uff0c \u60a8 \u53ef\u4ee5 \u8003\u8651 \u4f7f\u7528   Carla   \u7684   \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd   \u3002   3 .   \u5355\u51fb \u7a97\u53e3 \u5de6\u4e0a \u4e0a\u89d2 \u5de6\u4e0a\u89d2 \u7684 \u201c \u5bfc\u51fa (   Export   ) \u201d \u4ee5 \u6253\u5f00 \u201c \u5bfc\u51fa (   Export   ) \u201d \u9762\u677f \u3002   4 .   \u5355\u51fb \u201c   \u5bfc\u51fa   \u201d \u9762\u677f \u4e2d \u7684 \u201c _ \u624b\u52a8 _ \u9009\u62e9 \u4e0d\u540c \u533a\u57df \u201d \u3002   5 .   \u901a\u8fc7 \u62d6\u52a8 \u89c6 \u53e3\u4e2d \u65b9\u5f62 \u533a\u57df \u7684 \u89d2\u6765 \u9009\u62e9 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u533a\u57df \u3002   6 .   \u5355\u51fb \u5bfc\u51fa \u9762\u677f \u4e2d \u7684   \u5bfc\u51fa   \u6309\u94ae \uff0c \u5c06 \u6240\u9009 \u533a\u57df \u7684 \u5730\u56fe \u4fe1\u606f \u5730\u56fe\u4fe1\u606f \u4fdd\u5b58 \u4e3a   . osm   \u6587\u4ef6 \u3002","title":"\u4f7f\u7528   OpenStreetMap   \u5bfc\u51fa \u5730\u56fe  "},{"location":"tuto_G_openstreetmap/#carla-openstreetmaps","text":"\u5f00\u653e \u8857\u9053 \u5730\u56fe \u6570\u636e \u53ef\u4ee5 \u901a\u8fc7 \u4e09\u79cd \u4e0d\u540c \u7684 \u65b9\u6cd5 \u5728   Carla   \u4e2d \u4f7f\u7528 \u3002 \u60a8 \u4f7f\u7528 \u7684 \u65b9\u6cd5 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u6570\u636e \u662f\u5426 \u4e3a \u539f\u59cb \u683c\u5f0f \uff0c \u6216\u8005 \u60a8 \u662f\u5426 \u4f7f\u7528 \u4ee5\u4e0b \u90e8\u5206 \u4e2d \u8bf4\u660e \u7684 \u8f6c\u6362 \u65b9\u6cd5 \u8f6c\u6362\u65b9\u6cd5 \u6765 \u8f6c\u6362   . osm   \u6587\u4ef6 \u3002   . osm   \u4fdd\u7559 \u6587\u4ef6 \u662f \u6700 \u53d7\u9650 \u9650\u5236 \u53d7\u9650\u5236 \u7684 \u65b9\u6cd5 \uff0c \u56e0\u4e3a \u5b83 \u4e0d \u5141\u8bb8 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8bbe\u7f6e \u3002   \u53ef\u7528   . xodr   \u683c\u5f0f \u9009\u9879 \uff1a   \u5728 \u60a8 \u81ea\u5df1 \u7684 \u811a\u672c \u4e2d \u751f\u6210 \u5730\u56fe \u3002   \u8be5 \u65b9\u6cd5 \u5141\u8bb8 \u53c2\u6570 \u5316 \u3002   \u5c06 \u6587\u4ef6 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9   Carla   \u7684   config . py   \u3002   \u6b64 \u65b9\u6cd5 \u4e0d \u5141\u8bb8 \u53c2\u6570 \u5316 \u3002   \u53ef\u7528   . osm   \u683c\u5f0f \u9009\u9879 \uff1a   \u5c06 \u6587\u4ef6 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9   Carla   \u7684   config . py   \u3002   \u6b64 \u65b9\u6cd5 \u4e0d \u5141\u8bb8 \u53c2\u6570 \u5316 \u3002   \u4ee5\u4e0b \u90e8\u5206 \u5c06 \u63d0\u4f9b \u6709\u5173 \u4e0a\u9762 \u5217\u51fa \u7684 \u9009\u9879 \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002","title":"\u5728   Carla   \u4e2d \u4f7f\u7528   OpenStreetMaps  "},{"location":"tuto_G_openstreetmap/#openstreetmap-opendrive","text":"\u672c \u8282 \u6f14\u793a \u5982\u4f55 \u4f7f\u7528   Python   API   \u5c06 \u6211\u4eec \u5728 \u4e0a \u4e00\u8282 \u4e2d \u5bfc\u51fa \u7684   . osm   \u6587\u4ef6 \u8f6c\u6362 \u4e3a   . xodr   \u683c\u5f0f \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u5728   Carla   \u4e2d \u4f7f\u7528 \u3002   carla . Osm2OdrSettings   \u7c7b \u7528\u4e8e \u914d\u7f6e \u8f6c\u6362 \u8bbe\u7f6e \uff0c \u4f8b\u5982 \u504f\u79fb \u503c \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u751f\u6210 \u3001 \u539f\u70b9 \u5750\u6807 \u7b49 \u3002 \u53ef \u914d\u7f6e \u53c2\u6570 \u7684 \u5b8c\u6574 \u5217\u8868 \u53ef\u4ee5 \u5728   Python   API   \u6587\u6863   \u4e2d \u627e\u5230 \u3002   carla . Osm2Odr   \u7c7b \u4f7f\u7528 \u8fd9\u4e9b \u8bbe\u7f6e \u6765 \u89e3\u6790   . osm   \u6570\u636e \u5e76 \u4ee5   . xodr   \u683c\u5f0f \u8f93\u51fa \u3002   \u5728   Windows   \u4e2d \uff0c   . osm   \u6587\u4ef6 \u5fc5\u987b \u7f16\u7801 \u4e3a   UTF - 8   .   \u8fd9 \u5728   Linux   \u4e2d\u662f \u4e0d\u5fc5 \u5fc5\u8981 \u4e0d\u5fc5\u8981 \u7684 \u3002 \u4ee5\u4e0b \u662f \u793a\u4f8b \u4ee3\u7801 \u7247\u6bb5 \uff0c \u663e\u793a \u5982\u4f55 \u6839\u636e \u60a8 \u7684 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u6267\u884c \u6587\u4ef6 \u8f6c\u6362 \uff1a","title":"\u5c06   OpenStreetMap   \u683c\u5f0f \u8f6c\u6362 \u4e3a   OpenDRIVE   \u683c\u5f0f  "},{"location":"tuto_G_openstreetmap/#linux","text":"#   \u8bfb\u53d6   . osm   \u6570\u636e   f   =   open ( \" path / to / osm / file \" ,   ' r ' )   osm _ data   =   f . read ( )   f . close ( )   #   \u5b9a\u4e49 \u60f3\u8981 \u7684 \u8bbe\u7f6e \u3002 \u5728 \u8be5 \u6848\u4f8b \u4e2d\u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002 values .   settings   =   carla . Osm2OdrSettings ( )   #   \u8bbe\u7f6e \u5bfc\u51fa \u5230   OpenDRIVE   \u7684   OSM   \u9053\u8def \u7c7b\u578b \u3002   settings . set _ osm _ way _ types ( [ \" motorway \" ,   \" motorway _ link \" ,   \" trunk \" ,   \" trunk _ link \" ,   \" primary \" ,   \" primary _ link \" ,   \" secondary \" ,   \" secondary _ link \" ,   \" tertiary \" ,   \" tertiary _ link \" ,   \" unclassified \" ,   \" residential \" ] )   #   \u8f6c\u4e3a   . xodr   xodr _ data   =   carla . Osm2Odr . convert ( osm _ data ,   settings )   #   \u4fdd\u5b58 \u4e3a   opendrive   \u6587\u4ef6   f   =   open ( \" path / to / output / file \" ,   ' w ' )   f . write ( xodr _ data )   f . close ( )","title":"Linux  "},{"location":"tuto_G_openstreetmap/#windows","text":"import   io   #   \u8bfb\u53d6   . osm   \u6570\u636e   f   =   io . open ( \" test \" ,   mode = \" r \" ,   encoding = \" utf - 8 \" )   osm _ data   =   f . read ( )   f . close ( )   #   \u5b9a\u4e49 \u60f3\u8981 \u7684 \u8bbe\u7f6e \u3002 \u5728 \u8be5 \u6848\u4f8b \u4e2d\u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002   settings   =   carla . Osm2OdrSettings ( )   #   \u8bbe\u7f6e \u5bfc\u51fa \u6210   OpenDRIVE   \u7684   OSM   \u9053\u8def \u7c7b\u578b   settings . set _ osm _ way _ types ( [ \" motorway \" ,   \" motorway _ link \" ,   \" trunk \" ,   \" trunk _ link \" ,   \" primary \" ,   \" primary _ link \" ,   \" secondary \" ,   \" secondary _ link \" ,   \" tertiary \" ,   \" tertiary _ link \" ,   \" unclassified \" ,   \" residential \" ] )   #   \u8f6c\u4e3a   . xodr   xodr _ data   =   carla . Osm2Odr . convert ( osm _ data ,   settings )   #   \u4fdd\u5b58 \u6210   opendrive   \u6587\u4ef6   f   =   open ( \" path / to / output / file \" ,   ' w ' )   f . write ( xodr _ data )   f . close ( )","title":"Windows  "},{"location":"tuto_G_openstreetmap/#_1","text":"Open   Street   Map   \u6570\u636e \u53ef\u4ee5 \u5b9a\u4e49 \u54ea\u4e9b \u8def\u53e3 \u53d7 \u4ea4\u901a \u4ea4\u901a\u706f \u63a7\u5236 \u3002 \u8981 \u5728   Carla   \u4e2d \u4f7f\u7528 \u6b64 \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u636e \uff0c \u60a8 \u9700\u8981 \u5728 \u5c06   . osm   \u6587\u4ef6 \u8f6c\u6362 \u4e3a   . xodr   \u683c\u5f0f \u4e4b\u524d \u901a\u8fc7   Python   API   \u5728   OSM   \u5730\u56fe \u8bbe\u7f6e \u4e2d \u542f\u7528 \u5b83 \uff1a   #   \u5b9a\u4e49 \u60f3\u8981 \u7684 \u8bbe\u7f6e \u3002 \u5728 \u8be5 \u6848\u4f8b \u4e2d\u4e3a \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002   settings   =   carla . Osm2OdrSettings ( )   #   \u542f\u7528 \u4ece   OSM   \u6570\u636e \u4e2d \u751f\u6210 \u4ea4\u901a \u4ea4\u901a\u706f   settings . generate _ traffic _ lights   =   True   #   \u8f6c\u4e3a   . xodr   xodr _ data   =   carla . Osm2Odr . convert ( osm _ data ,   settings )   \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u636e \u8d28\u91cf \u53ef\u80fd \u56e0 \u63d0\u53d6 \u6570\u636e \u7684 \u533a\u57df \u800c\u5f02 \u3002 \u4e00\u4e9b \u4ea4\u901a \u4ea4\u901a\u706f \u4fe1\u606f \u53ef\u80fd \u5b8c\u5168 \u4e22\u5931 \u3002 \u8981 \u514b\u670d \u8fd9\u4e9b \u9650\u5236 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528   Python   API   \u5c06 \u6240\u6709 \u8def\u53e3 \u914d\u7f6e \u4e3a \u7531 \u4ea4\u901a \u4ea4\u901a\u706f \u63a7\u5236 \uff1a   settings . all _ junctions _ with _ traffic _ lights   =   True   \u60a8 \u8fd8 \u53ef\u4ee5 \u6392\u9664 \u67d0\u4e9b \u9053\u8def \uff08 \u4f8b\u5982 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u94fe\u63a5 \uff09 \u751f\u6210 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \uff1a   settings . set _ traffic _ light _ excluded _ way _ types ( [ \" motorway _ link \" ] )","title":"\u751f\u6210 \u4ea4\u901a\u706f  "},{"location":"tuto_G_openstreetmap/#carla","text":"\u672c \u8282 \u4ecb\u7ecd \u5982\u4f55 \u4f7f\u7528 \u53ef\u7528 \u7684 \u4e0d\u540c \u9009\u9879 \uff0c \u901a\u8fc7   OpenDRIVE   \u72ec\u7acb \u6a21\u5f0f   \u5c06   Open   Street   Map   \u4fe1\u606f \u63d0\u53d6 \u4fe1\u606f\u63d0\u53d6 \u5230   Carla   \u4e2d \u3002   \u6709 \u4ee5\u4e0b \u4e09\u4e2a \u9009\u9879 \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \uff1a   A )   \u4f7f\u7528 \u60a8 \u81ea\u5df1 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49   Python   \u811a\u672c \u4e2d \u7684 \u8f6c\u6362   . xodr   \u6587\u4ef6   \u751f\u6210 \u5730\u56fe \u8be5 \u65b9\u6cd5 \u5141\u8bb8 \u53c2\u6570 \u5316   \u3002   B )   \u5c06 \u8f6c\u6362 \u540e \u7684   . xodr   \u6587\u4ef6 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9   Carla   config . py   \u811a\u672c \u3002   \u6b64 \u65b9\u6cd5 \u4e0d \u5141\u8bb8 \u53c2\u6570 \u5316 \u3002   C )   \u5c06 \u539f\u59cb   . osm   \u6587\u4ef6 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u7ed9   Carla   config . py   \u811a\u672c \u3002   \u6b64 \u65b9\u6cd5 \u4e0d \u5141\u8bb8 \u53c2\u6570 \u5316 \u3002","title":"\u5bfc\u5165   Carla  "},{"location":"tuto_G_openstreetmap/#a","text":"\u751f\u6210 \u65b0 \u5730\u56fe \u5e76 \u963b\u6b62 \u4eff\u771f \uff0c \u76f4\u5230 \u901a\u8fc7 \u8c03\u7528   client . generate _ opendrive _ world ( )   \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u3002 \u4f7f\u7528   carla . OpendriveGenerationParameters   \u7c7b \u914d\u7f6e \u7f51\u683c \u751f\u6210 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605 \u4e0b\u9762 \u7684 \u793a\u4f8b \uff1a   vertex _ distance   =   2.0   #   \u4ee5\u7c73 \u4e3a \u5355\u4f4d   max _ road _ length   =   500.0   #   \u4ee5\u7c73 \u4e3a \u5355\u4f4d   wall _ height   =   0.0   #   \u4ee5\u7c73 \u4e3a \u5355\u4f4d   extra _ width   =   0.6   #   \u4ee5\u7c73 \u4e3a \u5355\u4f4d   world   =   client . generate _ opendrive _ world (   xodr _ xml ,   carla . OpendriveGenerationParameters (   vertex _ distance = vertex _ distance ,   max _ road _ length = max _ road _ length ,   wall _ height = wall _ height ,   additional _ width = extra _ width ,   smooth _ junctions = True ,   enable _ mesh _ visibility = True ) )   \u7b14\u8bb0   \u5f3a\u70c8 \u63a8\u8350 \u5f3a\u70c8\u63a8\u8350   wall _ height   =   0.0   \u3002 OpenStreetMap   \u5c06 \u76f8\u53cd \u65b9\u5411 \u7684 \u8f66\u9053 \u5b9a\u4e49 \u4e3a \u4e0d\u540c \u7684 \u9053\u8def \u3002 \u5982\u679c \u751f\u6210 \u5899\u58c1 \uff0c \u8fd9 \u5c06 \u5bfc\u81f4 \u5899\u58c1 \u91cd\u53e0 \u548c \u610f\u5916 \u7684 \u78b0\u649e \u3002","title":"A )   \u4f7f\u7528 \u60a8 \u81ea\u5df1 \u7684 \u811a\u672c"},{"location":"tuto_G_openstreetmap/#b-xodr-configpy","text":"\u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \uff0c \u5728 \u5355\u72ec \u7684 \u7ec8\u7aef \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u52a0\u8f7d   Open   Street   Map \uff1a   cd   PythonAPI / util   python3   config . py   - x = / path / to / xodr / file   \u5c06 \u4f7f\u7528   \u9ed8\u8ba4 \u53c2\u6570   \u3002","title":"B )   \u5c06   . xodr   \u4f20\u9012 \u7ed9   config . py"},{"location":"tuto_G_openstreetmap/#c-osm-configpy","text":"\u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u540e \uff0c \u5728 \u5355\u72ec \u7684 \u7ec8\u7aef \u4e2d \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u52a0\u8f7d   Open   Street   Map \uff1a   cd   PythonAPI / util   python3   config . py   -- osm - path = / path / to / OSM / file   \u5c06 \u4f7f\u7528   \u9ed8\u8ba4 \u53c2\u6570   \u3002   \u65e0\u8bba \u4f7f\u7528 \u54ea \u79cd \u65b9\u6cd5 \uff0c \u5730\u56fe \u90fd \u5c06 \u88ab \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u4e2d \uff0c \u7ed3\u679c \u5e94 \u7c7b\u4f3c \u4e8e \u4e0b\u56fe \uff1a   \u4f7f\u7528   OpenStreetMap   \u751f\u6210   Carla   \u5730\u56fe \u7684 \u7ed3\u679c \u3002   \u8b66\u544a   \u751f\u6210 \u7684 \u9053\u8def \u5728 \u5730\u56fe \u7684 \u8fb9\u754c \u5904 \u7a81\u7136 \u7ed3\u675f \u3002 \u5f53 \u8f66\u8f86 \u65e0\u6cd5 \u627e\u5230 \u4e0b \u4e00\u4e2a \u8def\u5f84 \u70b9\u65f6 \uff0c \u8fd9 \u5c06 \u5bfc\u81f4 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5d29\u6e83 \u3002 \u4e3a\u4e86 \u907f\u514d \u8fd9\u79cd \u60c5\u51b5 \uff0c \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u4e2d \u7684   OSM   \u6a21\u5f0f \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e3a True   (   set _ osm _ mode ( )   ) \u3002 \u8fd9 \u5c06 \u5728 \u5fc5\u8981 \u65f6 \u663e\u793a \u8b66\u544a \u5e76 \u9500\u6bc1 \u8f66\u8f86 \u3002   \u4e0e \u6b64 \u4e3b\u9898 \u76f8\u5173 \u7684 \u4efb\u4f55 \u95ee\u9898 \u548c \u7591\u95ee \u90fd \u53ef\u4ee5 \u5728   Carla   \u8bba\u575b \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"C )   \u5c06   . osm   \u4f20\u9012 \u7ed9   config . py"},{"location":"tuto_G_pedestrian_navigation/","text":"\u901a\u8fc7   API   \u83b7\u53d6 \u884c\u4eba \u771f\u5b9e \u9aa8\u9abc   \u4e3a\u4e86 \u8bad\u7ec3 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \uff0c \u5fc5\u987b \u786e\u4fdd \u5b83\u4eec \u4e0d\u4ec5 \u80fd\u591f \u8bc6\u522b \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u9053\u8def \u548c \u6c7d\u8f66 \uff0c \u8fd8 \u80fd\u591f \u8bc6\u522b \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u548c \u8fc7 \u9a6c\u8def \u7684 \u884c\u4eba \uff0c \u4ee5 \u786e\u4fdd \u6240\u6709 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u7684 \u5b89\u5168 \u3002 Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u63d0\u4f9b \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u7684 \u884c\u4eba \uff0c \u4ee5 \u4eba\u4f53 \u5f62\u6001 \u586b\u5145 \u60a8 \u7684 \u4eff\u771f \u548c \u8bad\u7ec3 \u6570\u636e \u3002 \u5728 \u8bb8\u591a \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u5e94\u7528 \u4e2d \uff0c \u4eba\u4f53 \u59ff\u6001 \u4f30\u8ba1 \u662f \u4e00\u4e2a \u91cd\u8981 \u56e0\u7d20 \uff0c \u5305\u62ec \u81ea\u52a8 \u9a7e\u9a76 \u3001 \u5b89\u5168 \u3001 \u4eba\u7fa4 \u63a7\u5236 \u548c \u591a\u4e2a \u673a\u5668 \u673a\u5668\u4eba \u5e94\u7528 \u3002   Carla   \u7684   API   \u63d0\u4f9b \u4e86 \u4ece \u4eff\u771f \u4e2d \u7684 \u884c\u4eba \u83b7\u53d6 \u771f\u5b9e \u9aa8\u67b6 \u7684 \u529f\u80fd \u3002 \u9aa8\u67b6 \u7531 \u4e00\u7ec4 \u9aa8\u9abc \u7ec4\u6210 \uff0c \u6bcf\u4e2a \u9aa8\u9abc \u90fd \u6709 \u4e00\u4e2a \u6839 \u8282\u70b9 \u6216 \u9876\u70b9 \u4ee5\u53ca \u4e00\u4e2a \u5b9a\u4e49 \u9aa8\u9abc \u59ff\u52bf \uff08 \u6216 \u65b9\u5411 \uff09 \u7684 \u5411\u91cf \u3002 \u8fd9\u4e9b \u9aa8\u9abc \u63a7\u5236 \u4eff\u771f \u884c\u4eba \u7684 \u56db\u80a2 \u548c \u8eab\u4f53 \u7684 \u8fd0\u52a8 \u3002 \u901a\u8fc7 \u5c06 \u5404\u4e2a \u9aa8\u9abc \u7684 \u96c6\u5408 \u6536\u96c6 \u5728 \u4e00\u8d77 \uff0c \u53ef\u4ee5 \u6784\u5efa \u865a\u62df \u62df\u4eba \u865a\u62df\u4eba \u59ff\u52bf \u7684 \u6a21\u578b \uff0c \u8be5 \u6a21\u578b \u53ef \u7528\u4e8e \u4e0e \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u4f30\u8ba1 \u7684 \u59ff\u52bf \u6a21\u578b \u8fdb\u884c \u6bd4\u8f83 \uff0c \u751a\u81f3 \u7528\u4e8e \u8bad\u7ec3 \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u8fdb\u884c \u59ff\u52bf \u4f30\u8ba1 \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u5b8c\u6210 \u5728 \u5730\u56fe \u4e2d \u751f\u6210 \u884c\u4eba \u3001 \u8bbe\u7f6e   AI   \u63a7\u5236 \u63a7\u5236\u5668 \u6765 \u79fb\u52a8 \u884c\u4eba \u3001 \u7136\u540e \u83b7\u53d6 \u771f\u5b9e \u9aa8\u67b6 \u5e76 \u5c06 \u9aa8\u9abc \u6295\u5f71 \u5230   2D   \u76f8\u673a \u6355\u83b7 \u4e0a \u7684 \u6b65\u9aa4 \u3002   \u8bbe\u7f6e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u5728   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u751f\u6210 \u884c\u4eba   AI   \u63a7\u5236 \u63a7\u5236\u5668 \u5f15\u5bfc \u884c\u4eba \u5728 \u5730\u56fe \u4e0a \u884c\u8d70   \u76f8\u673a \u51e0\u4f55   \u6784\u5efa \u9aa8\u67b6   \u603b\u7ed3   \u8bbe\u7f6e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u9996\u5148 \uff0c \u6309\u7167 \u60a8 \u7684 \u6807\u51c6 \u5de5\u4f5c \u6d41\u7a0b \u542f\u52a8   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \uff0c \u65e0\u8bba \u65e0\u8bba\u662f \u5728 \u72ec\u7acb \u6a21\u5f0f \u4e0b \u8fd8\u662f \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u3002 \u6211\u4eec \u5c06 \u5bfc\u5165 \u51e0\u4e2a \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f \u5e93\u4ee5 \u7528\u4e8e \u6570\u5b66 \u548c \u7ed8\u56fe \u3002 \u4e3a\u4e86 \u8ba9 \u6211\u4eec \u66f4\u597d \u5730 \u63a7\u5236 \u4eff\u771f \uff0c \u6211\u4eec \u5c06 \u5728 \u672c \u6559\u7a0b \u4e2d \u4f7f\u7528   \u540c\u6b65 \u6a21\u5f0f   \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u6211\u4eec \u7684   Python   \u5ba2\u6237 \u5ba2\u6237\u7aef \u63a7\u5236 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u65f6\u95f4 \u8fdb\u7a0b \u3002   import   carla   import   random   import   numpy   as   np   import   math   import   queue   import   cv2   # OpenCV   to   manipulate   and   save   the   images   #   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5e76 \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \u4eff\u771f   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   #   \u6211\u4eec \u4e5f \u4f1a \u8bbe\u7f6e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4ee5\u4fbf \u6211\u4eec \u80fd \u770b\u5230 \u6211\u4eec \u6240 \u505a \u7684   spectator   =   world . get _ spectator ( )   \u5728   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u751f\u6210 \u884c\u4eba   \u9996\u5148 \uff0c \u6211\u4eec \u60f3 \u5728 \u4eff\u771f \u4e2d \u751f\u6210 \u4e00\u4e2a \u884c\u4eba \u3002 \u8fd9 \u53ef\u4ee5 \u4f7f\u7528   world . get _ random _ location _ from _ navigation ( )   \u5728 \u968f\u673a \u4f4d\u7f6e \u5b8c\u6210 \uff0c \u4e5f \u53ef\u4ee5 \u4f7f\u7528 \u4ece \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u6536\u96c6 \u7684 \u5750\u6807 \u6765 \u9009\u62e9 \u3002 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \uff0c \u5c06 \u4e00\u4e2a \u7a7a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6dfb\u52a0 \u5230 \u8981 \u751f\u6210 \u884c\u4eba \u7684 \u4f4d\u7f6e \uff0c \u7136\u540e \u4f7f\u7528 \u53f3\u4fa7 \u7684 \u68c0\u67e5 \u5668 \u67e5\u8be2 \u5750\u6807 \u3002   \u7b14\u8bb0   \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \uff0c \u800c   Carla   \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff0c \u56e0\u6b64 \u5fc5\u987b \u8f6c\u6362 \u5355\u4f4d \u3002 \u5728   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u4f7f\u7528 \u4e4b\u524d \uff0c \u8bf7 \u786e\u4fdd \u5c06 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5750\u6807 \u9664\u4ee5   100 \u3002   \u4e00\u65e6 \u4f60 \u9009\u62e9 \u4e86 \u5750\u6807 \uff0c \u4f60 \u5c31 \u53ef\u4ee5 \u751f\u6210 \u884c\u4eba \u3002 \u6211\u4eec \u8fd8 \u5c06 \u751f\u6210 \u4e00\u4e2a \u76f8\u673a \u6765 \u6536\u96c6 \u56fe\u50cf \u3002 \u6211\u4eec \u8fd8 \u9700\u8981 \u4e00\u4e2a \u961f\u5217   Queue   \u5bf9\u8c61 \u6765 \u5141\u8bb8 \u6211\u4eec \u8f7b\u677e \u8bbf\u95ee \u6765\u81ea \u76f8\u673a \u7684 \u6570\u636e \uff08 \u56e0\u4e3a \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u5176 \u81ea\u5df1 \u7684 \u7ebf\u7a0b \u4e0a \u8fd0\u884c \uff0c \u4e0e \u8fd0\u884c \u811a\u672c \u7684 \u4e3b   Python   \u7ebf\u7a0b \u5206\u5f00 \uff09 \u3002   \u4e3a\u4e86 \u770b\u5230 \u6211\u4eec \u7684 \u884c\u4eba \uff0c \u6211\u4eec \u9700\u8981 \u53d8\u6362 \u76f8\u673a \uff0c \u4f7f \u5176 \u6307\u5411 \u6211\u4eec \u751f\u6210 \u7684 \u884c\u4eba \u3002 \u4e3a\u6b64 \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528 \u4e00\u4e2a \u51fd\u6570 \u6765 \u8ba1\u7b97 \u4f7f \u76f8\u673a \u5c45\u4e2d \u6240 \u9700 \u7684 \u5e73\u79fb \u548c \u65cb\u8f6c \uff1a   def   center _ camera ( ped ,   rot _ offset = 0 ) :   #   \u65cb\u8f6c \u76f8\u673a \u4ee5 \u9762\u5411 \u884c\u4eba \u5e76 \u5e94\u7528 \u504f\u79fb   trans   =   ped . get _ transform ( )   offset _ radians   =   2   *   math . pi   *   rot _ offset / 360   x   =   math . cos ( offset _ radians )   *   - 2   y   =   math . sin ( offset _ radians )   *   2   trans . location . x   + =   x   trans . location . y   + =   y   trans . location . z   =   2   trans . rotation . pitch   =   - 16   trans . rotation . roll   =   0   trans . rotation . yaw   =   - rot _ offset   spectator . set _ transform ( trans )   return   trans   \u73b0\u5728 \u6211\u4eec \u5c06 \u751f\u6210 \u884c\u4eba \u3001 \u6444\u50cf \u6444\u50cf\u673a \u3001 \u63a7\u5236 \u63a7\u5236\u5668 \u5e76 \u79fb\u52a8 \u89c2\u5bdf \u89c2\u5bdf\u8005 \uff0c \u4ee5\u4fbf \u6211\u4eec \u53ef\u4ee5 \u770b\u5230 \u6211\u4eec \u6240 \u505a \u7684 \u4e8b\u60c5 \uff1a   #   \u83b7\u53d6 \u884c\u4eba \u84dd\u56fe \u5e76 \u751f\u6210 \u5b83   pedestrian _ bp   =   random . choice ( world . get _ blueprint _ library ( ) . filter ( ' * walker . pedestrian * ' ) )   transform   =   carla . Transform ( carla . Location ( x = - 134 , y = 78.1 , z = 1.18 ) )   pedestrian   =   world . try _ spawn _ actor ( pedestrian _ bp ,   transform )   #   \u751f\u6210 \u4e00\u4e2a   RGB   \u76f8\u673a   camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   camera   =   world . spawn _ actor ( camera _ bp ,   transform )   #   \u521b\u5efa \u4e00\u4e2a \u961f\u5217 \u6765 \u5b58\u50a8 \u5e76 \u83b7\u53d6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e   image _ queue   =   queue . Queue ( )   camera . listen ( image _ queue . put )   world . tick ( )   image _ queue . get ( )   #   \u6bcf\u6b21 \u8c03\u7528   world . tick ( )   \u65f6 \uff0c \u6211\u4eec \u5fc5\u987b \u8c03\u7528   image _ queue . get ( )   \u4ee5 \u786e\u4fdd \u65f6\u95f4 \u6b65\u957f \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u4fdd\u6301 \u540c\u6b65   #   \u73b0\u5728 \uff0c \u6211\u4eec \u5c06 \u65cb\u8f6c \u76f8\u673a \u4ee5 \u9762\u5411 \u884c\u4eba   camera . set _ transform ( center _ camera ( pedestrian ) )   #   \u79fb\u52a8 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4ee5 \u67e5\u770b \u7ed3\u679c   spectator . set _ transform ( camera . get _ transform ( ) )   #   \u4e3a \u884c\u4eba \u8bbe\u7f6e AI \u63a7\u5236 \u63a7\u5236\u5668   controller _ bp   =   world . get _ blueprint _ library ( ) . find ( ' controller . ai . walker ' )   controller   =   world . spawn _ actor ( controller _ bp ,   pedestrian . get _ transform ( ) ,   pedestrian )   #   \u542f\u52a8 \u63a7\u5236 \u63a7\u5236\u5668 \u5e76 \u7ed9 \u5b83 \u4e00\u4e2a \u968f\u673a \u4f4d\u7f6e   controller . start ( )   controller . go _ to _ location ( world . get _ random _ location _ from _ navigation ( ) )   #   \u5c06 \u4e16\u754c \u79fb\u52a8 \u51e0\u5e27 \uff0c \u8ba9 \u884c\u4eba \u751f\u6210   for   frame   in   range ( 0 , 5 ) :   world . tick ( )   trash   =   image _ queue . get ( )   AI   \u63a7\u5236 \u63a7\u5236\u5668 \u5f15\u5bfc \u884c\u4eba \u5728 \u5730\u56fe \u4e0a \u884c\u8d70   \u4e0a \u4e00\u6b65 \u6211\u4eec \u8fd8 \u521d\u59cb \u521d\u59cb\u5316 \u4e86 \u4e00\u4e2a   AI   \u63a7\u5236 \u63a7\u5236\u5668 \u6765 \u5e2e\u52a9 \u884c\u4eba \u5728 \u5730\u56fe \u4e0a \u667a\u80fd \u79fb\u52a8 \uff0c \u4ee3\u7801 \u5982\u4e0b \uff08 \u65e0\u9700 \u91cd\u590d \uff09 \uff1a   controller _ bp   =   world . get _ blueprint _ library ( ) . find ( ' controller . ai . walker ' )   controller   =   world . spawn _ actor ( controller _ bp ,   pedestrian . get _ transform ( ) ,   pedestrian )   controller . start ( )   controller . go _ to _ location ( world . get _ random _ location _ from _ navigation ( ) )   \u73b0\u5728 \uff0c \u884c\u4eba \u5c06 \u968f\u7740 \u4eff\u771f \u7684 \u6bcf\u6b21 \u63a8\u8fdb   (   world . tick ( )   )   \u81ea\u4e3b \u79fb\u52a8 \u3002   \u76f8\u673a \u51e0\u4f55   \u73b0\u5728 \u6211\u4eec \u9700\u8981 \u6267\u884c \u4e00\u4e9b \u51e0\u4f55 \u8ba1\u7b97 \u3002 \u9996\u5148 \uff0c \u6211\u4eec \u60f3\u8981 \u5c06 \u9aa8\u9abc \u7684 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u8f6c\u6362 \u4e3a \u76f8\u673a \u5750\u6807 \uff0c \u6211\u4eec \u4f7f\u7528 \u76f8\u673a \u53d8\u6362 \u7684 \u9006\u53d8 \u53d8\u6362 \u9006\u53d8\u6362 \u6765 \u5b9e\u73b0 \u8fd9 \u4e00\u70b9 \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u5750\u6807 \u5c06 \u8f6c\u6362 \u4e3a \u76f8\u5bf9 \u4e8e \u4f4d\u4e8e \u539f\u70b9 \u3001 \u9762\u5411   x   \u6b63 \u65b9\u5411 \u7684 \u76f8\u673a \u3002   #   \u83b7\u53d6 4x4 \u77e9\u9635 \u4ee5 \u5c06 \u70b9 \u4ece \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u8f6c\u6362 \u4e3a \u76f8\u673a \u5750\u6807   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   \u7136\u540e \uff0c \u6211\u4eec \u9700\u8981 \u4f7f\u7528 \u76f8\u673a \u77e9\u9635 \u6216 \u6295\u5f71 \u77e9\u9635 \u5c06 \u4e09\u7ef4 \u70b9 \u6295\u5f71 \u5230 \u76f8\u673a \u7684 \u4e8c\u7ef4 \u89c6\u573a   ( FOV ,   field   of   view )   \u4e0a \uff0c \u5c06 \u5b83\u4eec \u53e0\u52a0 \u5728 \u8f93\u51fa \u56fe\u50cf \u4e0a \u3002 \u4ee5\u4e0b \u51fd\u6570 \u751f\u6210 \u6b64 \u4e09\u7ef4 \u5230 \u4e8c\u7ef4 \u8f6c\u6362 \u6240 \u9700 \u7684   \u76f8\u673a \u77e9\u9635   \u3002   def   build _ projection _ matrix ( w ,   h ,   fov ) :   focal   =   w   /   ( 2.0   *   np . tan ( fov   *   np . pi   /   360.0 ) )   K   =   np . identity ( 3 )   K [ 0 ,   0 ]   =   K [ 1 ,   1 ]   =   focal   K [ 0 ,   2 ]   =   w   /   2.0   K [ 1 ,   2 ]   =   h   /   2.0   return   K   \u6784\u5efa \u9aa8\u67b6   \u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u5c06 \u6d3b\u52a8 \u90e8\u4ef6 \u7ec4\u88c5 \u5728 \u4e00\u8d77 \u3002 \u9996\u5148 \uff0c \u4f7f\u7528   pedestrian . get _ bones ( )   \u4ece \u4eff\u771f \u4e2d \u6536\u96c6 \u9aa8\u9abc \u5750\u6807 \uff0c \u7136\u540e \u5c06 \u9aa8\u9abc \u7ec4\u5408 \u5728 \u4e00\u8d77 \u5e76 \u5c06 \u5176 \u6295\u5f71 \u5230 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4e8c\u7ef4 \u6210\u50cf \u5e73\u9762 \u4e0a \u3002 \u4f7f\u7528 skeletal . txt \u4e2d \u5b9a\u4e49 \u7684 \u5bf9 \u5c06 \u9aa8\u9abc \u8fde\u63a5 \u8fde\u63a5\u6210 \u5b8c\u6574 \u7684 \u9aa8\u67b6 \uff0c \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u4e0b\u8f7d \u8be5 \u6587\u4ef6 \u3002   \u6211\u4eec \u9700\u8981 \u4e00\u4e2a \u51fd\u6570 \u6765 \u8fed\u4ee3   sculpture . txt   \u4e2d \u5b9a\u4e49 \u7684 \u9aa8\u9abc \u5bf9 \uff0c \u5e76 \u5c06 \u9aa8\u9abc \u5750\u6807 \u8fde\u63a5 \u5230 \u53ef\u4ee5 \u8986\u76d6 \u5230 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u56fe\u50cf \u4e0a \u7684 \u7ebf \u4e2d \u3002   def   get _ image _ point ( bone _ trans ) :   #   \u8ba1\u7b97 \u9aa8\u9abc \u5750\u6807 \u7684 \u4e8c\u7ef4 \u6295\u5f71   #   \u83b7\u53d6 \u9aa8\u6839 \u7684 \u4e16\u754c \u4f4d\u7f6e   loc   =   bone _ trans . world . location   bone   =   np . array ( [ loc . x ,   loc . y ,   loc . z ,   1 ] )   #   \u8f6c\u6362 \u4e3a \u76f8\u673a \u5750\u6807   point _ camera   =   np . dot ( world _ 2 _ camera ,   bone )   #   \u6211\u4eec \u5fc5\u987b \u4ece UE4 \u7684 \u5750\u6807 \u5750\u6807\u7cfb \u66f4 \u6539\u4e3a \u201c \u6807\u51c6 \u201d \u5750\u6807 \u5750\u6807\u7cfb   #   ( x ,   y   , z )   - >   ( y ,   - z ,   x )   #   \u6211\u4eec \u8fd8 \u5220\u9664 \u4e86 \u7b2c\u56db \u56db\u4e2a \u7b2c\u56db\u4e2a \u7ec4\u4ef6   point _ camera   =   [ point _ camera [ 1 ] ,   - point _ camera [ 2 ] ,   point _ camera [ 0 ] ]   #   \u73b0\u5728 \u4f7f\u7528 \u6444\u5f71 \u6444\u5f71\u673a \u77e9\u9635 \u6295\u5f71 3D - > 2D   point _ img   =   np . dot ( K ,   point _ camera )   #   \u6b63\u5219 \u5316   point _ img [ 0 ]   / =   point _ img [ 2 ]   point _ img [ 1 ]   / =   point _ img [ 2 ]   return   point _ img [ 0 : 2 ]   def   build _ skeleton ( ped ,   sk _ links ,   K ) :   ########   \u83b7\u53d6 \u884c\u4eba \u9aa8\u67b6   #########   bones   =   ped . get _ bones ( )   #   \u5217\u51fa \u5c06 \u6295\u5f71 \u5230 \u76f8\u673a \u8f93\u51fa \u4e0a\u884c \u7684 \u5b58\u50a8 \u4f4d\u7f6e   lines   =   [ ]   #   \u5728   skeleton . txt   \u4e2d \u904d\u5386 \u9aa8\u9abc \u5bf9 \u5e76 \u83b7\u53d6 \u5173\u8282 \u4f4d\u7f6e   for   link   in   sk _ links [ 1 : ] :   #   \u5c06 \u4e24\u5757 \u9aa8\u5934 \u7684 \u6839\u90e8 \u8fde\u63a5 \u63a5\u8d77 \u8d77\u6765 \u8fde\u63a5\u8d77\u6765   bone _ transform _ 1   =   next ( filter ( lambda   b :   b . name   = =   link [ 0 ] ,   bones . bone _ transforms ) ,   None )   bone _ transform _ 2   =   next ( filter ( lambda   b :   b . name   = =   link [ 1 ] ,   bones . bone _ transforms ) ,   None )   #   \u67d0\u4e9b \u9aa8\u9abc \u540d\u79f0 \u4e0d \u5339\u914d   if   bone _ transform _ 1   is   not   None   and   bone _ transform _ 2   is   not   None :   #   \u8ba1\u7b97 \u4e09\u7ef4 \u9aa8\u9abc \u5750\u6807 \u7684 \u4e8c\u7ef4 \u6295\u5f71   point _ image   =   get _ image _ point ( bone _ transform _ 1 )   #   \u5c06\u884c \u5f00\u59cb \u9644\u52a0 \u5230\u884c \u5217\u8868   lines . append ( [ point _ image [ 0 ] ,   point _ image [ 1 ] ,   0 ,   0 ] )   #   \u8ba1\u7b97 \u4e09\u7ef4 \u9aa8\u9abc \u5750\u6807 \u7684 \u4e8c\u7ef4 \u6295\u5f71   point _ image   =   get _ image _ point ( bone _ transform _ 2 )   #   \u5c06 \u884c\u5c3e \u9644\u52a0 \u5230\u884c \u5217\u8868   lines [ - 1 ] [ 2 ]   =   point _ image [ 0 ]   lines [ - 1 ] [ 3 ]   =   point _ image [ 1 ]   return   lines   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u8ba9 \u6211\u4eec \u4ece   sculpture . txt   \u4e2d \u8bfb\u53d6 \u9aa8\u9abc \u5bf9 \uff1a   skeleton _ links   =   [ ]   with   open ( ' skeleton . txt ' )   as   f :   while   True :   line   =   f . readline ( )   if   not   line :   break   stripped   =   list ( map ( str . strip ,   line . strip ( ) . split ( ' , ' ) ) )   skeleton _ links . append ( stripped )   world . tick ( )   trash   =   image _ queue . get ( )   \u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u8fed\u4ee3 \u51e0\u5e27 \uff0c \u5728 \u6bcf \u5e27 \u4e2d \u6784\u5efa \u9aa8\u67b6 \uff0c \u5e76 \u5c06 \u9aa8\u67b6 \u6295\u5f71 \u5230 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa \u4e0a \u3002 \u6211\u4eec \u4f7f\u7528   OpenCV   \u5c06 \u9aa8\u67b6 \u7ed8\u5236 \u5230 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa \u4e0a \u5e76 \u4fdd\u5b58 \u56fe\u50cf \uff1a   \u7b14\u8bb0   \u786e\u4fdd \u5df2 \u5728 \u5de5\u4f5c \u76ee\u5f55 \u4e2d \u521b\u5efa \u540d\u4e3a   out /   \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u6765 \u5b58\u50a8 \u56fe\u50cf   for   frame   in   range ( 0 , 360 ) :   #   \u5728 \u884c\u4eba \u5468\u56f4 \u79fb\u52a8 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934   camera . set _ transform ( center _ camera ( pedestrian ,   frame   +   200 ) )   #   \u63a8\u8fdb \u5e27 \u5e76 \u83b7\u53d6 \u56fe\u50cf   world . tick ( )   #   \u4ece \u961f\u5217 \u4e2d \u83b7\u53d6 \u5e27   image   =   image _ queue . get ( )   #   \u83b7\u53d6 4x4 \u77e9\u9635 \u4ee5 \u5c06 \u70b9 \u4ece \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u8f6c\u6362 \u4e3a \u76f8\u673a \u5750\u6807   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   #   \u4ece \u76f8\u673a \u83b7\u53d6 \u4e00\u4e9b \u5c5e\u6027   image _ w   =   camera _ bp . get _ attribute ( \" image _ size _ x \" ) . as _ int ( )   image _ h   =   camera _ bp . get _ attribute ( \" image _ size _ y \" ) . as _ int ( )   fov   =   camera _ bp . get _ attribute ( \" fov \" ) . as _ float ( )   #   \u8ba1\u7b97 \u8981 \u4ece 3D - > 2D \u6295\u5f71 \u7684 \u76f8\u673a \u77e9\u9635   K   =   build _ projection _ matrix ( image _ w ,   image _ h ,   fov )   #   \u6784\u5efa \u5c06 \u663e\u793a \u9aa8\u67b6 \u7684 \u7ebf \u5217\u8868   lines   =   build _ skeleton ( pedestrian ,   skeleton _ links ,   K )   #   \u5c06 \u6570\u636e \u91cd\u5851 \u4e3a 2D   RBGA   \u77e9\u9635   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   \u4f7f\u7528   OpenCV   \u5c06 \u7ebf\u6761 \u7ed8\u5236 \u5230 \u56fe\u50cf \u4e2d   for   line   in   lines :   l   =   [ int ( x )   for   x   in   line ]   cv2 . line ( img ,   ( l [ 0 ] , l [ 1 ] ) ,   ( l [ 2 ] , l [ 3 ] ) ,   ( 255 , 0 , 0 ,   255 ) ,   2 )   #   \u4fdd\u5b58 \u56fe\u50cf   cv2 . imwrite ( ' out / skeleton% 04d . png '   %   frame ,   img )   \u5728   out /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u60a8 \u73b0\u5728 \u5e94\u8be5 \u6709 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5e27 \uff0c \u5176\u4e2d \u9aa8\u67b6 \u8986\u76d6 \u5728 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa \u4e0a \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u5c06 \u5e27 \u52a0\u5165 \u89c6\u9891 \u6765 \u91cd\u5efa \u4ee5\u4e0b \u52a8\u753b \uff1a   \u603b\u7ed3   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u60a8 \u5b66\u4e60 \u4e86 \u5982\u4f55 \u4f7f\u7528   AI   \u63a7\u5236 \u63a7\u5236\u5668 \u751f\u6210 \u884c\u4eba \uff0c \u6062\u590d \u884c\u4eba \u9aa8\u9abc \u7684 \u771f\u5b9e \u4e09\u7ef4 \u5750\u6807 \uff0c \u5e76 \u5c06 \u8fd9\u4e9b \u9aa8\u9abc \u6295\u5f71 \u5230 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u7684 \u4e8c\u7ef4 \u56fe\u50cf \u4e0a \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u672c \u6559\u7a0b \u4e2d\u5b66 \u5230 \u7684 \u6280\u672f \uff0c \u4f7f\u7528   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e3a \u4eba\u4f53 \u59ff\u52bf \u4f30\u8ba1 \u6846\u67b6 \u8bbe\u7f6e \u8bad\u7ec3 \u548c \u9a8c\u8bc1 \uff0c \u5b8c\u6574 \u4ee3\u7801   \u94fe\u63a5   \u3002","title":"\u901a\u8fc7   API   \u83b7\u53d6 \u884c\u4eba \u771f\u5b9e \u9aa8\u9abc"},{"location":"tuto_G_pedestrian_navigation/#api","text":"\u4e3a\u4e86 \u8bad\u7ec3 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \uff0c \u5fc5\u987b \u786e\u4fdd \u5b83\u4eec \u4e0d\u4ec5 \u80fd\u591f \u8bc6\u522b \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u9053\u8def \u548c \u6c7d\u8f66 \uff0c \u8fd8 \u80fd\u591f \u8bc6\u522b \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u548c \u8fc7 \u9a6c\u8def \u7684 \u884c\u4eba \uff0c \u4ee5 \u786e\u4fdd \u6240\u6709 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u7684 \u5b89\u5168 \u3002 Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u63d0\u4f9b \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u7684 \u884c\u4eba \uff0c \u4ee5 \u4eba\u4f53 \u5f62\u6001 \u586b\u5145 \u60a8 \u7684 \u4eff\u771f \u548c \u8bad\u7ec3 \u6570\u636e \u3002 \u5728 \u8bb8\u591a \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u5e94\u7528 \u4e2d \uff0c \u4eba\u4f53 \u59ff\u6001 \u4f30\u8ba1 \u662f \u4e00\u4e2a \u91cd\u8981 \u56e0\u7d20 \uff0c \u5305\u62ec \u81ea\u52a8 \u9a7e\u9a76 \u3001 \u5b89\u5168 \u3001 \u4eba\u7fa4 \u63a7\u5236 \u548c \u591a\u4e2a \u673a\u5668 \u673a\u5668\u4eba \u5e94\u7528 \u3002   Carla   \u7684   API   \u63d0\u4f9b \u4e86 \u4ece \u4eff\u771f \u4e2d \u7684 \u884c\u4eba \u83b7\u53d6 \u771f\u5b9e \u9aa8\u67b6 \u7684 \u529f\u80fd \u3002 \u9aa8\u67b6 \u7531 \u4e00\u7ec4 \u9aa8\u9abc \u7ec4\u6210 \uff0c \u6bcf\u4e2a \u9aa8\u9abc \u90fd \u6709 \u4e00\u4e2a \u6839 \u8282\u70b9 \u6216 \u9876\u70b9 \u4ee5\u53ca \u4e00\u4e2a \u5b9a\u4e49 \u9aa8\u9abc \u59ff\u52bf \uff08 \u6216 \u65b9\u5411 \uff09 \u7684 \u5411\u91cf \u3002 \u8fd9\u4e9b \u9aa8\u9abc \u63a7\u5236 \u4eff\u771f \u884c\u4eba \u7684 \u56db\u80a2 \u548c \u8eab\u4f53 \u7684 \u8fd0\u52a8 \u3002 \u901a\u8fc7 \u5c06 \u5404\u4e2a \u9aa8\u9abc \u7684 \u96c6\u5408 \u6536\u96c6 \u5728 \u4e00\u8d77 \uff0c \u53ef\u4ee5 \u6784\u5efa \u865a\u62df \u62df\u4eba \u865a\u62df\u4eba \u59ff\u52bf \u7684 \u6a21\u578b \uff0c \u8be5 \u6a21\u578b \u53ef \u7528\u4e8e \u4e0e \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u4f30\u8ba1 \u7684 \u59ff\u52bf \u6a21\u578b \u8fdb\u884c \u6bd4\u8f83 \uff0c \u751a\u81f3 \u7528\u4e8e \u8bad\u7ec3 \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u8fdb\u884c \u59ff\u52bf \u4f30\u8ba1 \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u5b8c\u6210 \u5728 \u5730\u56fe \u4e2d \u751f\u6210 \u884c\u4eba \u3001 \u8bbe\u7f6e   AI   \u63a7\u5236 \u63a7\u5236\u5668 \u6765 \u79fb\u52a8 \u884c\u4eba \u3001 \u7136\u540e \u83b7\u53d6 \u771f\u5b9e \u9aa8\u67b6 \u5e76 \u5c06 \u9aa8\u9abc \u6295\u5f71 \u5230   2D   \u76f8\u673a \u6355\u83b7 \u4e0a \u7684 \u6b65\u9aa4 \u3002   \u8bbe\u7f6e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   \u5728   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u751f\u6210 \u884c\u4eba   AI   \u63a7\u5236 \u63a7\u5236\u5668 \u5f15\u5bfc \u884c\u4eba \u5728 \u5730\u56fe \u4e0a \u884c\u8d70   \u76f8\u673a \u51e0\u4f55   \u6784\u5efa \u9aa8\u67b6   \u603b\u7ed3","title":"\u901a\u8fc7   API   \u83b7\u53d6 \u884c\u4eba \u771f\u5b9e \u9aa8\u9abc"},{"location":"tuto_G_pedestrian_navigation/#_1","text":"\u9996\u5148 \uff0c \u6309\u7167 \u60a8 \u7684 \u6807\u51c6 \u5de5\u4f5c \u6d41\u7a0b \u542f\u52a8   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \uff0c \u65e0\u8bba \u65e0\u8bba\u662f \u5728 \u72ec\u7acb \u6a21\u5f0f \u4e0b \u8fd8\u662f \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u3002 \u6211\u4eec \u5c06 \u5bfc\u5165 \u51e0\u4e2a \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f \u5e93\u4ee5 \u7528\u4e8e \u6570\u5b66 \u548c \u7ed8\u56fe \u3002 \u4e3a\u4e86 \u8ba9 \u6211\u4eec \u66f4\u597d \u5730 \u63a7\u5236 \u4eff\u771f \uff0c \u6211\u4eec \u5c06 \u5728 \u672c \u6559\u7a0b \u4e2d \u4f7f\u7528   \u540c\u6b65 \u6a21\u5f0f   \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u6211\u4eec \u7684   Python   \u5ba2\u6237 \u5ba2\u6237\u7aef \u63a7\u5236 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u65f6\u95f4 \u8fdb\u7a0b \u3002   import   carla   import   random   import   numpy   as   np   import   math   import   queue   import   cv2   # OpenCV   to   manipulate   and   save   the   images   #   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5e76 \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \u4eff\u771f   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   #   \u6211\u4eec \u4e5f \u4f1a \u8bbe\u7f6e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4ee5\u4fbf \u6211\u4eec \u80fd \u770b\u5230 \u6211\u4eec \u6240 \u505a \u7684   spectator   =   world . get _ spectator ( )","title":"\u8bbe\u7f6e \u4eff\u771f\u5668  "},{"location":"tuto_G_pedestrian_navigation/#carla","text":"\u9996\u5148 \uff0c \u6211\u4eec \u60f3 \u5728 \u4eff\u771f \u4e2d \u751f\u6210 \u4e00\u4e2a \u884c\u4eba \u3002 \u8fd9 \u53ef\u4ee5 \u4f7f\u7528   world . get _ random _ location _ from _ navigation ( )   \u5728 \u968f\u673a \u4f4d\u7f6e \u5b8c\u6210 \uff0c \u4e5f \u53ef\u4ee5 \u4f7f\u7528 \u4ece \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u6536\u96c6 \u7684 \u5750\u6807 \u6765 \u9009\u62e9 \u3002 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \uff0c \u5c06 \u4e00\u4e2a \u7a7a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6dfb\u52a0 \u5230 \u8981 \u751f\u6210 \u884c\u4eba \u7684 \u4f4d\u7f6e \uff0c \u7136\u540e \u4f7f\u7528 \u53f3\u4fa7 \u7684 \u68c0\u67e5 \u5668 \u67e5\u8be2 \u5750\u6807 \u3002   \u7b14\u8bb0   \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \uff0c \u800c   Carla   \u4ee5\u7c73 \u4e3a \u5355\u4f4d \uff0c \u56e0\u6b64 \u5fc5\u987b \u8f6c\u6362 \u5355\u4f4d \u3002 \u5728   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u4f7f\u7528 \u4e4b\u524d \uff0c \u8bf7 \u786e\u4fdd \u5c06 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5750\u6807 \u9664\u4ee5   100 \u3002   \u4e00\u65e6 \u4f60 \u9009\u62e9 \u4e86 \u5750\u6807 \uff0c \u4f60 \u5c31 \u53ef\u4ee5 \u751f\u6210 \u884c\u4eba \u3002 \u6211\u4eec \u8fd8 \u5c06 \u751f\u6210 \u4e00\u4e2a \u76f8\u673a \u6765 \u6536\u96c6 \u56fe\u50cf \u3002 \u6211\u4eec \u8fd8 \u9700\u8981 \u4e00\u4e2a \u961f\u5217   Queue   \u5bf9\u8c61 \u6765 \u5141\u8bb8 \u6211\u4eec \u8f7b\u677e \u8bbf\u95ee \u6765\u81ea \u76f8\u673a \u7684 \u6570\u636e \uff08 \u56e0\u4e3a \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5728 \u5176 \u81ea\u5df1 \u7684 \u7ebf\u7a0b \u4e0a \u8fd0\u884c \uff0c \u4e0e \u8fd0\u884c \u811a\u672c \u7684 \u4e3b   Python   \u7ebf\u7a0b \u5206\u5f00 \uff09 \u3002   \u4e3a\u4e86 \u770b\u5230 \u6211\u4eec \u7684 \u884c\u4eba \uff0c \u6211\u4eec \u9700\u8981 \u53d8\u6362 \u76f8\u673a \uff0c \u4f7f \u5176 \u6307\u5411 \u6211\u4eec \u751f\u6210 \u7684 \u884c\u4eba \u3002 \u4e3a\u6b64 \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528 \u4e00\u4e2a \u51fd\u6570 \u6765 \u8ba1\u7b97 \u4f7f \u76f8\u673a \u5c45\u4e2d \u6240 \u9700 \u7684 \u5e73\u79fb \u548c \u65cb\u8f6c \uff1a   def   center _ camera ( ped ,   rot _ offset = 0 ) :   #   \u65cb\u8f6c \u76f8\u673a \u4ee5 \u9762\u5411 \u884c\u4eba \u5e76 \u5e94\u7528 \u504f\u79fb   trans   =   ped . get _ transform ( )   offset _ radians   =   2   *   math . pi   *   rot _ offset / 360   x   =   math . cos ( offset _ radians )   *   - 2   y   =   math . sin ( offset _ radians )   *   2   trans . location . x   + =   x   trans . location . y   + =   y   trans . location . z   =   2   trans . rotation . pitch   =   - 16   trans . rotation . roll   =   0   trans . rotation . yaw   =   - rot _ offset   spectator . set _ transform ( trans )   return   trans   \u73b0\u5728 \u6211\u4eec \u5c06 \u751f\u6210 \u884c\u4eba \u3001 \u6444\u50cf \u6444\u50cf\u673a \u3001 \u63a7\u5236 \u63a7\u5236\u5668 \u5e76 \u79fb\u52a8 \u89c2\u5bdf \u89c2\u5bdf\u8005 \uff0c \u4ee5\u4fbf \u6211\u4eec \u53ef\u4ee5 \u770b\u5230 \u6211\u4eec \u6240 \u505a \u7684 \u4e8b\u60c5 \uff1a   #   \u83b7\u53d6 \u884c\u4eba \u84dd\u56fe \u5e76 \u751f\u6210 \u5b83   pedestrian _ bp   =   random . choice ( world . get _ blueprint _ library ( ) . filter ( ' * walker . pedestrian * ' ) )   transform   =   carla . Transform ( carla . Location ( x = - 134 , y = 78.1 , z = 1.18 ) )   pedestrian   =   world . try _ spawn _ actor ( pedestrian _ bp ,   transform )   #   \u751f\u6210 \u4e00\u4e2a   RGB   \u76f8\u673a   camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   camera   =   world . spawn _ actor ( camera _ bp ,   transform )   #   \u521b\u5efa \u4e00\u4e2a \u961f\u5217 \u6765 \u5b58\u50a8 \u5e76 \u83b7\u53d6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e   image _ queue   =   queue . Queue ( )   camera . listen ( image _ queue . put )   world . tick ( )   image _ queue . get ( )   #   \u6bcf\u6b21 \u8c03\u7528   world . tick ( )   \u65f6 \uff0c \u6211\u4eec \u5fc5\u987b \u8c03\u7528   image _ queue . get ( )   \u4ee5 \u786e\u4fdd \u65f6\u95f4 \u6b65\u957f \u548c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u4fdd\u6301 \u540c\u6b65   #   \u73b0\u5728 \uff0c \u6211\u4eec \u5c06 \u65cb\u8f6c \u76f8\u673a \u4ee5 \u9762\u5411 \u884c\u4eba   camera . set _ transform ( center _ camera ( pedestrian ) )   #   \u79fb\u52a8 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4ee5 \u67e5\u770b \u7ed3\u679c   spectator . set _ transform ( camera . get _ transform ( ) )   #   \u4e3a \u884c\u4eba \u8bbe\u7f6e AI \u63a7\u5236 \u63a7\u5236\u5668   controller _ bp   =   world . get _ blueprint _ library ( ) . find ( ' controller . ai . walker ' )   controller   =   world . spawn _ actor ( controller _ bp ,   pedestrian . get _ transform ( ) ,   pedestrian )   #   \u542f\u52a8 \u63a7\u5236 \u63a7\u5236\u5668 \u5e76 \u7ed9 \u5b83 \u4e00\u4e2a \u968f\u673a \u4f4d\u7f6e   controller . start ( )   controller . go _ to _ location ( world . get _ random _ location _ from _ navigation ( ) )   #   \u5c06 \u4e16\u754c \u79fb\u52a8 \u51e0\u5e27 \uff0c \u8ba9 \u884c\u4eba \u751f\u6210   for   frame   in   range ( 0 , 5 ) :   world . tick ( )   trash   =   image _ queue . get ( )","title":"\u5728   Carla   \u4eff\u771f\u5668 \u4e2d \u751f\u6210 \u884c\u4eba  "},{"location":"tuto_G_pedestrian_navigation/#ai","text":"\u4e0a \u4e00\u6b65 \u6211\u4eec \u8fd8 \u521d\u59cb \u521d\u59cb\u5316 \u4e86 \u4e00\u4e2a   AI   \u63a7\u5236 \u63a7\u5236\u5668 \u6765 \u5e2e\u52a9 \u884c\u4eba \u5728 \u5730\u56fe \u4e0a \u667a\u80fd \u79fb\u52a8 \uff0c \u4ee3\u7801 \u5982\u4e0b \uff08 \u65e0\u9700 \u91cd\u590d \uff09 \uff1a   controller _ bp   =   world . get _ blueprint _ library ( ) . find ( ' controller . ai . walker ' )   controller   =   world . spawn _ actor ( controller _ bp ,   pedestrian . get _ transform ( ) ,   pedestrian )   controller . start ( )   controller . go _ to _ location ( world . get _ random _ location _ from _ navigation ( ) )   \u73b0\u5728 \uff0c \u884c\u4eba \u5c06 \u968f\u7740 \u4eff\u771f \u7684 \u6bcf\u6b21 \u63a8\u8fdb   (   world . tick ( )   )   \u81ea\u4e3b \u79fb\u52a8 \u3002","title":"AI   \u63a7\u5236\u5668 \u5f15\u5bfc \u884c\u4eba \u5728 \u5730\u56fe \u4e0a \u884c\u8d70  "},{"location":"tuto_G_pedestrian_navigation/#_2","text":"\u73b0\u5728 \u6211\u4eec \u9700\u8981 \u6267\u884c \u4e00\u4e9b \u51e0\u4f55 \u8ba1\u7b97 \u3002 \u9996\u5148 \uff0c \u6211\u4eec \u60f3\u8981 \u5c06 \u9aa8\u9abc \u7684 \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u8f6c\u6362 \u4e3a \u76f8\u673a \u5750\u6807 \uff0c \u6211\u4eec \u4f7f\u7528 \u76f8\u673a \u53d8\u6362 \u7684 \u9006\u53d8 \u53d8\u6362 \u9006\u53d8\u6362 \u6765 \u5b9e\u73b0 \u8fd9 \u4e00\u70b9 \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u5750\u6807 \u5c06 \u8f6c\u6362 \u4e3a \u76f8\u5bf9 \u4e8e \u4f4d\u4e8e \u539f\u70b9 \u3001 \u9762\u5411   x   \u6b63 \u65b9\u5411 \u7684 \u76f8\u673a \u3002   #   \u83b7\u53d6 4x4 \u77e9\u9635 \u4ee5 \u5c06 \u70b9 \u4ece \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u8f6c\u6362 \u4e3a \u76f8\u673a \u5750\u6807   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   \u7136\u540e \uff0c \u6211\u4eec \u9700\u8981 \u4f7f\u7528 \u76f8\u673a \u77e9\u9635 \u6216 \u6295\u5f71 \u77e9\u9635 \u5c06 \u4e09\u7ef4 \u70b9 \u6295\u5f71 \u5230 \u76f8\u673a \u7684 \u4e8c\u7ef4 \u89c6\u573a   ( FOV ,   field   of   view )   \u4e0a \uff0c \u5c06 \u5b83\u4eec \u53e0\u52a0 \u5728 \u8f93\u51fa \u56fe\u50cf \u4e0a \u3002 \u4ee5\u4e0b \u51fd\u6570 \u751f\u6210 \u6b64 \u4e09\u7ef4 \u5230 \u4e8c\u7ef4 \u8f6c\u6362 \u6240 \u9700 \u7684   \u76f8\u673a \u77e9\u9635   \u3002   def   build _ projection _ matrix ( w ,   h ,   fov ) :   focal   =   w   /   ( 2.0   *   np . tan ( fov   *   np . pi   /   360.0 ) )   K   =   np . identity ( 3 )   K [ 0 ,   0 ]   =   K [ 1 ,   1 ]   =   focal   K [ 0 ,   2 ]   =   w   /   2.0   K [ 1 ,   2 ]   =   h   /   2.0   return   K","title":"\u76f8\u673a \u51e0\u4f55  "},{"location":"tuto_G_pedestrian_navigation/#_3","text":"\u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u5c06 \u6d3b\u52a8 \u90e8\u4ef6 \u7ec4\u88c5 \u5728 \u4e00\u8d77 \u3002 \u9996\u5148 \uff0c \u4f7f\u7528   pedestrian . get _ bones ( )   \u4ece \u4eff\u771f \u4e2d \u6536\u96c6 \u9aa8\u9abc \u5750\u6807 \uff0c \u7136\u540e \u5c06 \u9aa8\u9abc \u7ec4\u5408 \u5728 \u4e00\u8d77 \u5e76 \u5c06 \u5176 \u6295\u5f71 \u5230 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4e8c\u7ef4 \u6210\u50cf \u5e73\u9762 \u4e0a \u3002 \u4f7f\u7528 skeletal . txt \u4e2d \u5b9a\u4e49 \u7684 \u5bf9 \u5c06 \u9aa8\u9abc \u8fde\u63a5 \u8fde\u63a5\u6210 \u5b8c\u6574 \u7684 \u9aa8\u67b6 \uff0c \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u4e0b\u8f7d \u8be5 \u6587\u4ef6 \u3002   \u6211\u4eec \u9700\u8981 \u4e00\u4e2a \u51fd\u6570 \u6765 \u8fed\u4ee3   sculpture . txt   \u4e2d \u5b9a\u4e49 \u7684 \u9aa8\u9abc \u5bf9 \uff0c \u5e76 \u5c06 \u9aa8\u9abc \u5750\u6807 \u8fde\u63a5 \u5230 \u53ef\u4ee5 \u8986\u76d6 \u5230 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u56fe\u50cf \u4e0a \u7684 \u7ebf \u4e2d \u3002   def   get _ image _ point ( bone _ trans ) :   #   \u8ba1\u7b97 \u9aa8\u9abc \u5750\u6807 \u7684 \u4e8c\u7ef4 \u6295\u5f71   #   \u83b7\u53d6 \u9aa8\u6839 \u7684 \u4e16\u754c \u4f4d\u7f6e   loc   =   bone _ trans . world . location   bone   =   np . array ( [ loc . x ,   loc . y ,   loc . z ,   1 ] )   #   \u8f6c\u6362 \u4e3a \u76f8\u673a \u5750\u6807   point _ camera   =   np . dot ( world _ 2 _ camera ,   bone )   #   \u6211\u4eec \u5fc5\u987b \u4ece UE4 \u7684 \u5750\u6807 \u5750\u6807\u7cfb \u66f4 \u6539\u4e3a \u201c \u6807\u51c6 \u201d \u5750\u6807 \u5750\u6807\u7cfb   #   ( x ,   y   , z )   - >   ( y ,   - z ,   x )   #   \u6211\u4eec \u8fd8 \u5220\u9664 \u4e86 \u7b2c\u56db \u56db\u4e2a \u7b2c\u56db\u4e2a \u7ec4\u4ef6   point _ camera   =   [ point _ camera [ 1 ] ,   - point _ camera [ 2 ] ,   point _ camera [ 0 ] ]   #   \u73b0\u5728 \u4f7f\u7528 \u6444\u5f71 \u6444\u5f71\u673a \u77e9\u9635 \u6295\u5f71 3D - > 2D   point _ img   =   np . dot ( K ,   point _ camera )   #   \u6b63\u5219 \u5316   point _ img [ 0 ]   / =   point _ img [ 2 ]   point _ img [ 1 ]   / =   point _ img [ 2 ]   return   point _ img [ 0 : 2 ]   def   build _ skeleton ( ped ,   sk _ links ,   K ) :   ########   \u83b7\u53d6 \u884c\u4eba \u9aa8\u67b6   #########   bones   =   ped . get _ bones ( )   #   \u5217\u51fa \u5c06 \u6295\u5f71 \u5230 \u76f8\u673a \u8f93\u51fa \u4e0a\u884c \u7684 \u5b58\u50a8 \u4f4d\u7f6e   lines   =   [ ]   #   \u5728   skeleton . txt   \u4e2d \u904d\u5386 \u9aa8\u9abc \u5bf9 \u5e76 \u83b7\u53d6 \u5173\u8282 \u4f4d\u7f6e   for   link   in   sk _ links [ 1 : ] :   #   \u5c06 \u4e24\u5757 \u9aa8\u5934 \u7684 \u6839\u90e8 \u8fde\u63a5 \u63a5\u8d77 \u8d77\u6765 \u8fde\u63a5\u8d77\u6765   bone _ transform _ 1   =   next ( filter ( lambda   b :   b . name   = =   link [ 0 ] ,   bones . bone _ transforms ) ,   None )   bone _ transform _ 2   =   next ( filter ( lambda   b :   b . name   = =   link [ 1 ] ,   bones . bone _ transforms ) ,   None )   #   \u67d0\u4e9b \u9aa8\u9abc \u540d\u79f0 \u4e0d \u5339\u914d   if   bone _ transform _ 1   is   not   None   and   bone _ transform _ 2   is   not   None :   #   \u8ba1\u7b97 \u4e09\u7ef4 \u9aa8\u9abc \u5750\u6807 \u7684 \u4e8c\u7ef4 \u6295\u5f71   point _ image   =   get _ image _ point ( bone _ transform _ 1 )   #   \u5c06\u884c \u5f00\u59cb \u9644\u52a0 \u5230\u884c \u5217\u8868   lines . append ( [ point _ image [ 0 ] ,   point _ image [ 1 ] ,   0 ,   0 ] )   #   \u8ba1\u7b97 \u4e09\u7ef4 \u9aa8\u9abc \u5750\u6807 \u7684 \u4e8c\u7ef4 \u6295\u5f71   point _ image   =   get _ image _ point ( bone _ transform _ 2 )   #   \u5c06 \u884c\u5c3e \u9644\u52a0 \u5230\u884c \u5217\u8868   lines [ - 1 ] [ 2 ]   =   point _ image [ 0 ]   lines [ - 1 ] [ 3 ]   =   point _ image [ 1 ]   return   lines   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u8ba9 \u6211\u4eec \u4ece   sculpture . txt   \u4e2d \u8bfb\u53d6 \u9aa8\u9abc \u5bf9 \uff1a   skeleton _ links   =   [ ]   with   open ( ' skeleton . txt ' )   as   f :   while   True :   line   =   f . readline ( )   if   not   line :   break   stripped   =   list ( map ( str . strip ,   line . strip ( ) . split ( ' , ' ) ) )   skeleton _ links . append ( stripped )   world . tick ( )   trash   =   image _ queue . get ( )   \u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u8fed\u4ee3 \u51e0\u5e27 \uff0c \u5728 \u6bcf \u5e27 \u4e2d \u6784\u5efa \u9aa8\u67b6 \uff0c \u5e76 \u5c06 \u9aa8\u67b6 \u6295\u5f71 \u5230 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa \u4e0a \u3002 \u6211\u4eec \u4f7f\u7528   OpenCV   \u5c06 \u9aa8\u67b6 \u7ed8\u5236 \u5230 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa \u4e0a \u5e76 \u4fdd\u5b58 \u56fe\u50cf \uff1a   \u7b14\u8bb0   \u786e\u4fdd \u5df2 \u5728 \u5de5\u4f5c \u76ee\u5f55 \u4e2d \u521b\u5efa \u540d\u4e3a   out /   \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u6765 \u5b58\u50a8 \u56fe\u50cf   for   frame   in   range ( 0 , 360 ) :   #   \u5728 \u884c\u4eba \u5468\u56f4 \u79fb\u52a8 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934   camera . set _ transform ( center _ camera ( pedestrian ,   frame   +   200 ) )   #   \u63a8\u8fdb \u5e27 \u5e76 \u83b7\u53d6 \u56fe\u50cf   world . tick ( )   #   \u4ece \u961f\u5217 \u4e2d \u83b7\u53d6 \u5e27   image   =   image _ queue . get ( )   #   \u83b7\u53d6 4x4 \u77e9\u9635 \u4ee5 \u5c06 \u70b9 \u4ece \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u8f6c\u6362 \u4e3a \u76f8\u673a \u5750\u6807   world _ 2 _ camera   =   np . array ( camera . get _ transform ( ) . get _ inverse _ matrix ( ) )   #   \u4ece \u76f8\u673a \u83b7\u53d6 \u4e00\u4e9b \u5c5e\u6027   image _ w   =   camera _ bp . get _ attribute ( \" image _ size _ x \" ) . as _ int ( )   image _ h   =   camera _ bp . get _ attribute ( \" image _ size _ y \" ) . as _ int ( )   fov   =   camera _ bp . get _ attribute ( \" fov \" ) . as _ float ( )   #   \u8ba1\u7b97 \u8981 \u4ece 3D - > 2D \u6295\u5f71 \u7684 \u76f8\u673a \u77e9\u9635   K   =   build _ projection _ matrix ( image _ w ,   image _ h ,   fov )   #   \u6784\u5efa \u5c06 \u663e\u793a \u9aa8\u67b6 \u7684 \u7ebf \u5217\u8868   lines   =   build _ skeleton ( pedestrian ,   skeleton _ links ,   K )   #   \u5c06 \u6570\u636e \u91cd\u5851 \u4e3a 2D   RBGA   \u77e9\u9635   img   =   np . reshape ( np . copy ( image . raw _ data ) ,   ( image . height ,   image . width ,   4 ) )   #   \u4f7f\u7528   OpenCV   \u5c06 \u7ebf\u6761 \u7ed8\u5236 \u5230 \u56fe\u50cf \u4e2d   for   line   in   lines :   l   =   [ int ( x )   for   x   in   line ]   cv2 . line ( img ,   ( l [ 0 ] , l [ 1 ] ) ,   ( l [ 2 ] , l [ 3 ] ) ,   ( 255 , 0 , 0 ,   255 ) ,   2 )   #   \u4fdd\u5b58 \u56fe\u50cf   cv2 . imwrite ( ' out / skeleton% 04d . png '   %   frame ,   img )   \u5728   out /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u60a8 \u73b0\u5728 \u5e94\u8be5 \u6709 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5e27 \uff0c \u5176\u4e2d \u9aa8\u67b6 \u8986\u76d6 \u5728 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa \u4e0a \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u5c06 \u5e27 \u52a0\u5165 \u89c6\u9891 \u6765 \u91cd\u5efa \u4ee5\u4e0b \u52a8\u753b \uff1a","title":"\u6784\u5efa \u9aa8\u67b6  "},{"location":"tuto_G_pedestrian_navigation/#_4","text":"\u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u60a8 \u5b66\u4e60 \u4e86 \u5982\u4f55 \u4f7f\u7528   AI   \u63a7\u5236 \u63a7\u5236\u5668 \u751f\u6210 \u884c\u4eba \uff0c \u6062\u590d \u884c\u4eba \u9aa8\u9abc \u7684 \u771f\u5b9e \u4e09\u7ef4 \u5750\u6807 \uff0c \u5e76 \u5c06 \u8fd9\u4e9b \u9aa8\u9abc \u6295\u5f71 \u5230 \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6355\u83b7 \u7684 \u4e8c\u7ef4 \u56fe\u50cf \u4e0a \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u672c \u6559\u7a0b \u4e2d\u5b66 \u5230 \u7684 \u6280\u672f \uff0c \u4f7f\u7528   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e3a \u4eba\u4f53 \u59ff\u52bf \u4f30\u8ba1 \u6846\u67b6 \u8bbe\u7f6e \u8bad\u7ec3 \u548c \u9a8c\u8bc1 \uff0c \u5b8c\u6574 \u4ee3\u7801   \u94fe\u63a5   \u3002","title":"\u603b\u7ed3  "},{"location":"tuto_G_pedestrian_visual/","text":"\u83b7\u53d6 \u884c\u4eba \u89c6\u91ce   \u884c\u4eba \u63a7\u5236   \u654f\u6377 \u7684 \u884c\u4e3a \u6a21\u4eff \uff1a \u8df3\u821e   \u57fa\u4e8e \u7269\u7406 \u7684 \u4eba\u5f62 \u63a7\u5236 \u63a7\u5236\u5668 \uff1a \u610f\u5916 \u8dcc\u5012   \u5bfc\u822a   \u5728 \u6ca1\u6709 \u5730\u56fe \u7684 \u57ce\u5e02 \u5bfc\u822a","title":"tuto   G   pedestrian   visual"},{"location":"tuto_G_pedestrian_visual/#_1","text":"","title":"\u83b7\u53d6 \u884c\u4eba \u89c6\u91ce"},{"location":"tuto_G_pedestrian_visual/#_2","text":"\u654f\u6377 \u7684 \u884c\u4e3a \u6a21\u4eff \uff1a \u8df3\u821e   \u57fa\u4e8e \u7269\u7406 \u7684 \u4eba\u5f62 \u63a7\u5236 \u63a7\u5236\u5668 \uff1a \u610f\u5916 \u8dcc\u5012","title":"\u884c\u4eba \u63a7\u5236"},{"location":"tuto_G_pedestrian_visual/#_3","text":"\u5728 \u6ca1\u6709 \u5730\u56fe \u7684 \u57ce\u5e02 \u5bfc\u822a","title":"\u5bfc\u822a"},{"location":"tuto_G_pygame/","text":"Pygame   \u7528\u4e8e \u8f66\u8f86 \u63a7\u5236   PyGame   \u662f \u4e00\u7ec4 \u5e73\u53f0 \u8de8\u5e73\u53f0 \u7684   Python   \u6a21\u5757 \uff0c \u53ef \u7528\u4e8e \u7f16\u5199 \u89c6\u9891 \u6e38\u620f \u3002 \u5b83 \u63d0\u4f9b \u4e86 \u4e00\u79cd \u6e32\u67d3   Carla   \u5b9e\u65f6 \u89c6\u89c9 \u8f93\u51fa \u7684 \u6709\u7528 \u65b9\u6cd5 \uff0c \u4ee5\u4fbf \u76d1\u89c6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa \uff0c \u4f8b\u5982 \u6444\u50cf \u6444\u50cf\u673a \u3002 PyGame   \u8fd8 \u53ef\u4ee5 \u6355\u83b7 \u952e\u76d8 \u4e8b\u4ef6 \uff0c \u56e0\u6b64 \u5b83 \u662f \u63a7\u5236 \u8f66\u8f86 \u7b49 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u597d \u65b9\u6cd5 \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u5b66\u4e60 \u5982\u4f55 \u8bbe\u7f6e \u4e00\u4e2a \u7b80\u5355 \u7684   PyGame   \u754c\u9762 \uff0c \u8be5 \u754c\u9762 \u4f7f \u6211\u4eec \u80fd\u591f \u76d1\u63a7 \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u5730\u56fe \u5468\u56f4 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u4ea4\u901a \uff0c \u7136\u540e \u4f7f\u7528 \u952e\u76d8 \u624b\u52a8 \u63a7\u5236 \u4efb\u4f55 \u8f66\u8f86 \u3002   \u8bbe\u7f6e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5e76 \u521d\u59cb \u521d\u59cb\u5316 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u9996\u5148 \uff0c \u6211\u4eec \u5c06 \u521d\u59cb \u521d\u59cb\u5316 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5e76 \u521b\u5efa \u4e00\u4e9b \u968f\u673a \u5206\u5e03 \u5728 \u57ce\u5e02 \u5468\u56f4 \u7684 \u6d41\u91cf \u3002   import   carla   import   random   import   pygame   import   numpy   as   np   #   \u8fde\u63a5 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e76 \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \u6a21\u62df \u6a21\u62df\u5668   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   Enables   synchronous   mode   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   traffic _ manager   =   client . get _ trafficmanager ( )   traffic _ manager . set _ synchronous _ mode ( True )   #   \u5982\u679c \u6709 \u590d\u73b0 \u7684 \u5fc5\u8981 \uff0c \u53ef\u4ee5 \u8bbe\u7f6e \u968f\u673a \u79cd\u5b50   traffic _ manager . set _ random _ device _ seed ( 0 )   random . seed ( 0 )   #   \u6211\u4eec \u4e5f \u4f1a \u542f\u52a8 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4ee5\u4fbf \u80fd \u770b\u5230 \u6211\u4eec \u6240 \u505a \u7684   spectator   =   world . get _ spectator ( )   \u751f\u6210 \u8f66\u8f86   \u6211\u4eec \u60f3\u8981 \u521b\u5efa \u4e00\u4e2a \u5728 \u6574\u4e2a \u57ce\u5e02 \u4e2d \u4ea7\u751f \u7684 \u8f66\u8f86 \u96c6\u5408 \uff0c \u5e76 \u8ba9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u5b83\u4eec \u3002   #   \u83b7\u53d6 \u5730\u56fe \u7684 \u751f\u6210 \u70b9   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   #   \u4ece \u84dd \u56fe\u5e93 \u4e2d \u9009\u62e9 \u4e00\u4e9b \u6a21\u578b   models   =   [ ' dodge ' ,   ' audi ' ,   ' model3 ' ,   ' mini ' ,   ' mustang ' ,   ' lincoln ' ,   ' prius ' ,   ' nissan ' ,   ' crown ' ,   ' impala ' ]   blueprints   =   [ ]   for   vehicle   in   world . get _ blueprint _ library ( ) . filter ( ' * vehicle * ' ) :   if   any ( model   in   vehicle . id   for   model   in   models ) :   blueprints . append ( vehicle )   #   \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u6700\u5927 \u6570\u76ee \uff0c \u5e76 \u51c6\u5907 \u6211\u4eec \u751f\u6210 \u7684 \u5217\u8868   max _ vehicles   =   50   max _ vehicles   =   min ( [ max _ vehicles ,   len ( spawn _ points ) ] )   vehicles   =   [ ]   #   \u968f\u673a \u9009\u53d6 \u751f\u6210 \u70b9 \u7684 \u6837\u672c \u5e76 \u751f\u6210 \u8f66\u8f86   for   i ,   spawn _ point   in   enumerate ( random . sample ( spawn _ points ,   max _ vehicles ) ) :   temp   =   world . try _ spawn _ actor ( random . choice ( blueprints ) ,   spawn _ point )   if   temp   is   not   None :   vehicles . append ( temp )   #   \u89e3\u6790 \u751f\u6210 \u8f66\u8f86 \u7684 \u5217\u8868 \uff0c \u5e76 \u901a\u8fc7   set _ autopilot ( )   \u7ed9\u4e88 \u63a7\u5236   for   vehicle   in   vehicles :   vehicle . set _ autopilot ( True )   #   Randomly   set   the   probability   that   a   vehicle   will   ignore   traffic   lights   traffic _ manager . ignore _ lights _ percentage ( vehicle ,   random . randint ( 0 , 50 ) )   \u4f7f\u7528   PyGame   \u6e32\u67d3 \u76f8\u673a \u8f93\u51fa \u5e76 \u63a7\u5236 \u8f66\u8f86   \u73b0\u5728 \u6211\u4eec \u6709 \u4e00\u4e2a \u4ea4\u901a \u62e5\u6324 \u7684 \u57ce\u5e02 \uff0c \u6211\u4eec \u53ef\u4ee5 \u8bbe\u7f6e \u4e00\u4e2a \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u6765 \u8ddf\u8e2a \u5176\u4e2d \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \uff0c \u5e76 \u8bbe\u7f6e \u4e00\u4e2a \u63a7\u5236 \u754c\u9762 \u6765 \u901a\u8fc7 \u952e\u76d8 \u8f93\u5165 \u952e\u76d8\u8f93\u5165 \u63a5\u7ba1 \u5b83 \u3002   \u9996\u5148 \uff0c \u6211\u4eec \u9700\u8981 \u4e3a   camera . listen ( ... )   \u5b9a\u4e49 \u4e00\u4e2a \u56de\u8c03 \u51fd\u6570 \uff0c \u7528\u4e8e \u5c06 \u50cf\u7d20 \u6570\u636e \u6e32\u67d3 \u5230   PyGame   \u63a5\u53e3 \u3002 PyGame   \u5c06 \u6570\u636e \u6e32\u67d3 \u5230 \u8868\u9762 \uff0c \u7136\u540e \u6e32\u67d3 \u5230 \u5c4f\u5e55 \uff0c \u56e0\u6b64 \u5728 \u56de\u8c03 \u4e2d \uff0c \u6211\u4eec \u586b\u5145 \u5b58\u50a8 \u5728 \u4f20\u9012 \u7ed9 \u56de\u8c03 \u51fd\u6570 \u7684 \u5bf9\u8c61 \u4e2d \u7684 \u8868\u9762 \u3002   #   \u6e32\u67d3 \u5bf9\u8c61 \u4ee5 \u4fdd\u6301 \u5e76 \u4f20\u9012   PyGame   \u8868\u9762   class   RenderObject ( object ) :   def   __ init __ ( self ,   width ,   height ) :   init _ image   =   np . random . randint ( 0 , 255 , ( height , width , 3 ) , dtype = ' uint8 ' )   #   \u521b\u5efa \u4e0e \u9635\u5217 \u4e0a \u7684 \u6570\u636e \u548c \u683c\u5f0f \u6700 \u76f8\u4f3c \u7684 \u65b0 \u66f2\u9762   self . surface   =   pygame . surfarray . make _ surface ( init _ image . swapaxes ( 0 , 1 ) )   #   \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u56de\u8c03 \uff0c \u5c06 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u7684 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u91cd\u5851 \u4e3a \u4e8c\u7ef4   RGB \uff0c \u5e76 \u5e94\u7528 \u4e8e   PyGame \u66f2\u9762   def   pygame _ callback ( data ,   obj ) :   img   =   np . reshape ( np . copy ( data . raw _ data ) ,   ( data . height ,   data . width ,   4 ) )   img   =   img [ : , : , : 3 ]   img   =   img [ : ,   : ,   : : - 1 ]   obj . surface   =   pygame . surfarray . make _ surface ( img . swapaxes ( 0 , 1 ) )   \u73b0\u5728 \u6211\u4eec \u5c06 \u521b\u5efa \u4e00\u4e2a \u5bf9\u8c61 \u6765 \u5904\u7406 \u63a7\u5236 \u903b\u8f91 \u3002 \u8fd9 \u901a\u5e38 \u9700\u8981 \u8fdb\u884c \u4e00\u4e9b \u8c03\u6574 \u624d\u80fd \u6ee1\u8db3 \u7279\u5b9a \u9700\u6c42 \uff0c \u4f46 \u8fd9 \u6982\u8ff0 \u4e86 \u4e00\u4e2a \u57fa\u672c \u754c\u9762 \u3002 \u5f53 \u63a7\u5236 \u8f66\u8f86 \u65f6 \uff0c \u8be5 \u63a7\u5236 \u754c\u9762 \u5141\u8bb8 \u901a\u8fc7 \u4efb\u4f55 \u6807\u51c6 \u952e\u76d8 \u4e0a \u7684 \u7bad\u5934 \u7bad\u5934\u952e \u8fdb\u884c \u63a7\u5236 \u3002 \u5411\u524d \u7bad\u5934 \u52a0\u901f \uff0c \u5411 \u540e \u7bad\u5934 \u5236\u52a8 \uff0c \u5de6\u53f3 \u7bad\u5934 \u8f6c\u52a8 \u8f66\u8f86 \u3002 \u5982\u679c \u5728 \u8f66\u8f86 \u9759\u6b62 \u6216 \u505c\u6b62 \u65f6 \u6309\u4f4f \u5411\u4e0b \u7bad\u5934 \uff0c \u5b83 \u5c06 \u63a5\u5408 \u5012 \u6863 \u5e76 \u5f00\u59cb \u5411 \u540e \u79fb\u52a8 \u3002   #   Control   object   to   manage   vehicle   controls   class   ControlObject ( object ) :   def   __ init __ ( self ,   veh ) :   #   Conrol   parameters   to   store   the   control   state   self ._ vehicle   =   veh   self ._ steer   =   0   self ._ throttle   =   False   self ._ brake   =   False   self ._ steer   =   None   self ._ steer _ cache   =   0   #   A   carla . VehicleControl   object   is   needed   to   alter   the   #   vehicle ' s   control   state   self ._ control   =   carla . VehicleControl ( )   #   Check   for   key   press   events   in   the   PyGame   window   #   and   define   the   control   state   def   parse _ control ( self ,   event ) :   if   event . type   = =   pygame . KEYDOWN :   if   event . key   = =   pygame . K _ RETURN :   self ._ vehicle . set _ autopilot ( False )   if   event . key   = =   pygame . K _ UP :   self ._ throttle   =   True   if   event . key   = =   pygame . K _ DOWN :   self ._ brake   =   True   if   event . key   = =   pygame . K _ RIGHT :   self ._ steer   =   1   if   event . key   = =   pygame . K _ LEFT :   self ._ steer   =   - 1   if   event . type   = =   pygame . KEYUP :   if   event . key   = =   pygame . K _ UP :   self ._ throttle   =   False   if   event . key   = =   pygame . K _ DOWN :   self ._ brake   =   False   self ._ control . reverse   =   False   if   event . key   = =   pygame . K _ RIGHT :   self ._ steer   =   None   if   event . key   = =   pygame . K _ LEFT :   self ._ steer   =   None   #   \u5904\u7406 \u5f53\u524d \u63a7\u5236 \u72b6\u6001 \uff0c \u66f4\u6539 \u63a7\u5236 \u53c2\u6570 \u63a7\u5236\u53c2\u6570   #   if   the   key   remains   pressed   def   process _ control ( self ) :   if   self ._ throttle :   self ._ control . throttle   =   min ( self ._ control . throttle   +   0.01 ,   1 )   self ._ control . gear   =   1   self ._ control . brake   =   False   elif   not   self ._ brake :   self ._ control . throttle   =   0.0   if   self ._ brake :   #   If   the   down   arrow   is   held   down   when   the   car   is   stationary ,   switch   to   reverse   if   self ._ vehicle . get _ velocity ( ) . length ( )   <   0.01   and   not   self ._ control . reverse :   self ._ control . brake   =   0.0   self ._ control . gear   =   1   self ._ control . reverse   =   True   self ._ control . throttle   =   min ( self ._ control . throttle   +   0.1 ,   1 )   elif   self ._ control . reverse :   self ._ control . throttle   =   min ( self ._ control . throttle   +   0.1 ,   1 )   else :   self ._ control . throttle   =   0.0   self ._ control . brake   =   min ( self ._ control . brake   +   0.3 ,   1 )   else :   self ._ control . brake   =   0.0   if   self ._ steer   is   not   None :   if   self ._ steer   = =   1 :   self ._ steer _ cache   + =   0.03   if   self ._ steer   = =   - 1 :   self ._ steer _ cache   - =   0.03   min ( 0.7 ,   max ( - 0.7 ,   self ._ steer _ cache ) )   self ._ control . steer   =   round ( self ._ steer _ cache , 1 )   else :   if   self ._ steer _ cache   >   0.0 :   self ._ steer _ cache   * =   0.2   if   self ._ steer _ cache   <   0.0 :   self ._ steer _ cache   * =   0.2   if   0.01   >   self ._ steer _ cache   >   - 0.01 :   self ._ steer _ cache   =   0.0   self ._ control . steer   =   round ( self ._ steer _ cache , 1 )   #   \u00c1 pply   the   control   parameters   to   the   ego   vehicle   self ._ vehicle . apply _ control ( self ._ control )   \u73b0\u5728 \u6211\u4eec \u5c06 \u521d\u59cb \u521d\u59cb\u5316 \u8f66\u8f86 \u548c \u76f8\u673a \u3002   #   Randomly   select   a   vehicle   to   follow   with   the   camera   ego _ vehicle   =   random . choice ( vehicles )   #   Initialise   the   camera   floating   behind   the   vehicle   camera _ init _ trans   =   carla . Transform ( carla . Location ( x = - 5 ,   z = 3 ) ,   carla . Rotation ( pitch = - 20 ) )   camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   camera   =   world . spawn _ actor ( camera _ bp ,   camera _ init _ trans ,   attach _ to = ego _ vehicle )   #   Start   camera   with   PyGame   callback   camera . listen ( lambda   image :   pygame _ callback ( image ,   renderObject ) )   #   Get   camera   dimensions   image _ w   =   camera _ bp . get _ attribute ( \" image _ size _ x \" ) . as _ int ( )   image _ h   =   camera _ bp . get _ attribute ( \" image _ size _ y \" ) . as _ int ( )   #   Instantiate   objects   for   rendering   and   vehicle   control   renderObject   =   RenderObject ( image _ w ,   image _ h )   controlObject   =   ControlObject ( ego _ vehicle )   \u521d\u59cb \u521d\u59cb\u5316   PyGame   \u63a5\u53e3 \u3002 \u8fd9 \u5c06 \u8c03\u7528   PyGame   \u7684 \u7a97\u53e3 \u65b0\u7a97\u53e3 \u3002   #   Initialise   the   display   pygame . init ( )   gameDisplay   =   pygame . display . set _ mode ( ( image _ w , image _ h ) ,   pygame . HWSURFACE   |   pygame . DOUBLEBUF )   #   Draw   black   to   the   display   gameDisplay . fill ( ( 0 , 0 , 0 ) )   gameDisplay . blit ( renderObject . surface ,   ( 0 , 0 ) )   pygame . display . flip ( )   \u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u5f00\u59cb \u6e38\u620f \u5faa\u73af \u4e86 \u3002 \u8be5 \u89c6\u56fe \u53ef\u4ee5 \u5728 \u5730\u56fe \u4e2d \u7684 \u4e0d\u540c \u8f66\u8f86 \u4e4b\u95f4 \u968f\u673a \u5faa\u73af \uff0c \u5e76 \u5728 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u4e0b \u53ef\u89c6 \u53ef\u89c6\u5316 \u5b83\u4eec \u5728 \u4ea4\u901a \u4e2d \u7684 \u65c5\u7a0b \u3002 \u6309   TAB   \u952e \u5207\u6362 \u5230 \u968f\u673a \u9009\u62e9 \u7684 \u65b0 \u8f66\u8f86 \uff0c \u6309 \u56de\u8f66 \u56de\u8f66\u952e \u53ef\u4ee5 \u901a\u8fc7 \u952e\u76d8 \u4e0a \u7684 \u7bad\u5934 \u7bad\u5934\u952e \u624b\u52a8 \u63a7\u5236 \u8f66\u8f86 \u3002 \u4f8b\u5982 \uff0c \u5982\u679c \u9700\u8981 \u6311\u6218 \u9a7e\u9a76 \u884c\u4e3a \u4e0d \u7a33\u5b9a \u7684 \u4ee3\u7406 \uff0c \u8fd9\u79cd \u8bbe\u7f6e \u53ef\u80fd \u4f1a \u5f88 \u6709\u7528 \u3002 \u53ef\u4ee5 \u8c03\u6574 \u9009\u62e9 \u903b\u8f91 \u4ee5 \u9009\u62e9 \u4e0e \u4ee3\u7406 \u9a7e\u9a76 \u7684 \u8f66\u8f86 \u63a5\u8fd1 \u7684 \u8f66\u8f86 \u3002   #   Game   loop   crashed   =   False   while   not   crashed :   #   Advance   the   simulation   time   world . tick ( )   #   Update   the   display   gameDisplay . blit ( renderObject . surface ,   ( 0 , 0 ) )   pygame . display . flip ( )   #   Process   the   current   control   state   controlObject . process _ control ( )   #   Collect   key   press   events   for   event   in   pygame . event . get ( ) :   #   If   the   window   is   closed ,   break   the   while   loop   if   event . type   = =   pygame . QUIT :   crashed   =   True   #   Parse   effect   of   key   press   event   on   control   state   controlObject . parse _ control ( event )   if   event . type   = =   pygame . KEYUP :   #   TAB   key   switches   vehicle   if   event . key   = =   pygame . K _ TAB :   ego _ vehicle . set _ autopilot ( True )   ego _ vehicle   =   random . choice ( vehicles )   #   Ensure   vehicle   is   still   alive   ( might   have   been   destroyed )   if   ego _ vehicle . is _ alive :   #   Stop   and   remove   the   camera   camera . stop ( )   camera . destroy ( )   #   Spawn   new   camera   and   attach   to   new   vehicle   controlObject   =   ControlObject ( ego _ vehicle )   camera   =   world . spawn _ actor ( camera _ bp ,   camera _ init _ trans ,   attach _ to = ego _ vehicle )   camera . listen ( lambda   image :   pygame _ callback ( image ,   renderObject ) )   #   Update   PyGame   window   gameDisplay . fill ( ( 0 , 0 , 0 ) )   gameDisplay . blit ( renderObject . surface ,   ( 0 , 0 ) )   pygame . display . flip ( )   #   Stop   camera   and   quit   PyGame   after   exiting   game   loop   camera . stop ( )   pygame . quit ( )","title":"Pygame   \u7528\u4e8e \u8f66\u8f86 \u63a7\u5236"},{"location":"tuto_G_pygame/#pygame","text":"PyGame   \u662f \u4e00\u7ec4 \u5e73\u53f0 \u8de8\u5e73\u53f0 \u7684   Python   \u6a21\u5757 \uff0c \u53ef \u7528\u4e8e \u7f16\u5199 \u89c6\u9891 \u6e38\u620f \u3002 \u5b83 \u63d0\u4f9b \u4e86 \u4e00\u79cd \u6e32\u67d3   Carla   \u5b9e\u65f6 \u89c6\u89c9 \u8f93\u51fa \u7684 \u6709\u7528 \u65b9\u6cd5 \uff0c \u4ee5\u4fbf \u76d1\u89c6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa \uff0c \u4f8b\u5982 \u6444\u50cf \u6444\u50cf\u673a \u3002 PyGame   \u8fd8 \u53ef\u4ee5 \u6355\u83b7 \u952e\u76d8 \u4e8b\u4ef6 \uff0c \u56e0\u6b64 \u5b83 \u662f \u63a7\u5236 \u8f66\u8f86 \u7b49 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u597d \u65b9\u6cd5 \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u5b66\u4e60 \u5982\u4f55 \u8bbe\u7f6e \u4e00\u4e2a \u7b80\u5355 \u7684   PyGame   \u754c\u9762 \uff0c \u8be5 \u754c\u9762 \u4f7f \u6211\u4eec \u80fd\u591f \u76d1\u63a7 \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u5730\u56fe \u5468\u56f4 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u4ea4\u901a \uff0c \u7136\u540e \u4f7f\u7528 \u952e\u76d8 \u624b\u52a8 \u63a7\u5236 \u4efb\u4f55 \u8f66\u8f86 \u3002","title":"Pygame   \u7528\u4e8e \u8f66\u8f86 \u63a7\u5236"},{"location":"tuto_G_pygame/#_1","text":"\u9996\u5148 \uff0c \u6211\u4eec \u5c06 \u521d\u59cb \u521d\u59cb\u5316 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5e76 \u521b\u5efa \u4e00\u4e9b \u968f\u673a \u5206\u5e03 \u5728 \u57ce\u5e02 \u5468\u56f4 \u7684 \u6d41\u91cf \u3002   import   carla   import   random   import   pygame   import   numpy   as   np   #   \u8fde\u63a5 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e76 \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \u6a21\u62df \u6a21\u62df\u5668   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   Enables   synchronous   mode   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   traffic _ manager   =   client . get _ trafficmanager ( )   traffic _ manager . set _ synchronous _ mode ( True )   #   \u5982\u679c \u6709 \u590d\u73b0 \u7684 \u5fc5\u8981 \uff0c \u53ef\u4ee5 \u8bbe\u7f6e \u968f\u673a \u79cd\u5b50   traffic _ manager . set _ random _ device _ seed ( 0 )   random . seed ( 0 )   #   \u6211\u4eec \u4e5f \u4f1a \u542f\u52a8 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4ee5\u4fbf \u80fd \u770b\u5230 \u6211\u4eec \u6240 \u505a \u7684   spectator   =   world . get _ spectator ( )","title":"\u8bbe\u7f6e \u4eff\u771f\u5668 \u5e76 \u521d\u59cb\u5316 \u4ea4\u901a\u7ba1\u7406 \u5668"},{"location":"tuto_G_pygame/#_2","text":"\u6211\u4eec \u60f3\u8981 \u521b\u5efa \u4e00\u4e2a \u5728 \u6574\u4e2a \u57ce\u5e02 \u4e2d \u4ea7\u751f \u7684 \u8f66\u8f86 \u96c6\u5408 \uff0c \u5e76 \u8ba9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u5b83\u4eec \u3002   #   \u83b7\u53d6 \u5730\u56fe \u7684 \u751f\u6210 \u70b9   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   #   \u4ece \u84dd \u56fe\u5e93 \u4e2d \u9009\u62e9 \u4e00\u4e9b \u6a21\u578b   models   =   [ ' dodge ' ,   ' audi ' ,   ' model3 ' ,   ' mini ' ,   ' mustang ' ,   ' lincoln ' ,   ' prius ' ,   ' nissan ' ,   ' crown ' ,   ' impala ' ]   blueprints   =   [ ]   for   vehicle   in   world . get _ blueprint _ library ( ) . filter ( ' * vehicle * ' ) :   if   any ( model   in   vehicle . id   for   model   in   models ) :   blueprints . append ( vehicle )   #   \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u6700\u5927 \u6570\u76ee \uff0c \u5e76 \u51c6\u5907 \u6211\u4eec \u751f\u6210 \u7684 \u5217\u8868   max _ vehicles   =   50   max _ vehicles   =   min ( [ max _ vehicles ,   len ( spawn _ points ) ] )   vehicles   =   [ ]   #   \u968f\u673a \u9009\u53d6 \u751f\u6210 \u70b9 \u7684 \u6837\u672c \u5e76 \u751f\u6210 \u8f66\u8f86   for   i ,   spawn _ point   in   enumerate ( random . sample ( spawn _ points ,   max _ vehicles ) ) :   temp   =   world . try _ spawn _ actor ( random . choice ( blueprints ) ,   spawn _ point )   if   temp   is   not   None :   vehicles . append ( temp )   #   \u89e3\u6790 \u751f\u6210 \u8f66\u8f86 \u7684 \u5217\u8868 \uff0c \u5e76 \u901a\u8fc7   set _ autopilot ( )   \u7ed9\u4e88 \u63a7\u5236   for   vehicle   in   vehicles :   vehicle . set _ autopilot ( True )   #   Randomly   set   the   probability   that   a   vehicle   will   ignore   traffic   lights   traffic _ manager . ignore _ lights _ percentage ( vehicle ,   random . randint ( 0 , 50 ) )","title":"\u751f\u6210 \u8f66\u8f86"},{"location":"tuto_G_pygame/#pygame_1","text":"\u73b0\u5728 \u6211\u4eec \u6709 \u4e00\u4e2a \u4ea4\u901a \u62e5\u6324 \u7684 \u57ce\u5e02 \uff0c \u6211\u4eec \u53ef\u4ee5 \u8bbe\u7f6e \u4e00\u4e2a \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u6765 \u8ddf\u8e2a \u5176\u4e2d \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \uff0c \u5e76 \u8bbe\u7f6e \u4e00\u4e2a \u63a7\u5236 \u754c\u9762 \u6765 \u901a\u8fc7 \u952e\u76d8 \u8f93\u5165 \u952e\u76d8\u8f93\u5165 \u63a5\u7ba1 \u5b83 \u3002   \u9996\u5148 \uff0c \u6211\u4eec \u9700\u8981 \u4e3a   camera . listen ( ... )   \u5b9a\u4e49 \u4e00\u4e2a \u56de\u8c03 \u51fd\u6570 \uff0c \u7528\u4e8e \u5c06 \u50cf\u7d20 \u6570\u636e \u6e32\u67d3 \u5230   PyGame   \u63a5\u53e3 \u3002 PyGame   \u5c06 \u6570\u636e \u6e32\u67d3 \u5230 \u8868\u9762 \uff0c \u7136\u540e \u6e32\u67d3 \u5230 \u5c4f\u5e55 \uff0c \u56e0\u6b64 \u5728 \u56de\u8c03 \u4e2d \uff0c \u6211\u4eec \u586b\u5145 \u5b58\u50a8 \u5728 \u4f20\u9012 \u7ed9 \u56de\u8c03 \u51fd\u6570 \u7684 \u5bf9\u8c61 \u4e2d \u7684 \u8868\u9762 \u3002   #   \u6e32\u67d3 \u5bf9\u8c61 \u4ee5 \u4fdd\u6301 \u5e76 \u4f20\u9012   PyGame   \u8868\u9762   class   RenderObject ( object ) :   def   __ init __ ( self ,   width ,   height ) :   init _ image   =   np . random . randint ( 0 , 255 , ( height , width , 3 ) , dtype = ' uint8 ' )   #   \u521b\u5efa \u4e0e \u9635\u5217 \u4e0a \u7684 \u6570\u636e \u548c \u683c\u5f0f \u6700 \u76f8\u4f3c \u7684 \u65b0 \u66f2\u9762   self . surface   =   pygame . surfarray . make _ surface ( init _ image . swapaxes ( 0 , 1 ) )   #   \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u56de\u8c03 \uff0c \u5c06 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u7684 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u91cd\u5851 \u4e3a \u4e8c\u7ef4   RGB \uff0c \u5e76 \u5e94\u7528 \u4e8e   PyGame \u66f2\u9762   def   pygame _ callback ( data ,   obj ) :   img   =   np . reshape ( np . copy ( data . raw _ data ) ,   ( data . height ,   data . width ,   4 ) )   img   =   img [ : , : , : 3 ]   img   =   img [ : ,   : ,   : : - 1 ]   obj . surface   =   pygame . surfarray . make _ surface ( img . swapaxes ( 0 , 1 ) )   \u73b0\u5728 \u6211\u4eec \u5c06 \u521b\u5efa \u4e00\u4e2a \u5bf9\u8c61 \u6765 \u5904\u7406 \u63a7\u5236 \u903b\u8f91 \u3002 \u8fd9 \u901a\u5e38 \u9700\u8981 \u8fdb\u884c \u4e00\u4e9b \u8c03\u6574 \u624d\u80fd \u6ee1\u8db3 \u7279\u5b9a \u9700\u6c42 \uff0c \u4f46 \u8fd9 \u6982\u8ff0 \u4e86 \u4e00\u4e2a \u57fa\u672c \u754c\u9762 \u3002 \u5f53 \u63a7\u5236 \u8f66\u8f86 \u65f6 \uff0c \u8be5 \u63a7\u5236 \u754c\u9762 \u5141\u8bb8 \u901a\u8fc7 \u4efb\u4f55 \u6807\u51c6 \u952e\u76d8 \u4e0a \u7684 \u7bad\u5934 \u7bad\u5934\u952e \u8fdb\u884c \u63a7\u5236 \u3002 \u5411\u524d \u7bad\u5934 \u52a0\u901f \uff0c \u5411 \u540e \u7bad\u5934 \u5236\u52a8 \uff0c \u5de6\u53f3 \u7bad\u5934 \u8f6c\u52a8 \u8f66\u8f86 \u3002 \u5982\u679c \u5728 \u8f66\u8f86 \u9759\u6b62 \u6216 \u505c\u6b62 \u65f6 \u6309\u4f4f \u5411\u4e0b \u7bad\u5934 \uff0c \u5b83 \u5c06 \u63a5\u5408 \u5012 \u6863 \u5e76 \u5f00\u59cb \u5411 \u540e \u79fb\u52a8 \u3002   #   Control   object   to   manage   vehicle   controls   class   ControlObject ( object ) :   def   __ init __ ( self ,   veh ) :   #   Conrol   parameters   to   store   the   control   state   self ._ vehicle   =   veh   self ._ steer   =   0   self ._ throttle   =   False   self ._ brake   =   False   self ._ steer   =   None   self ._ steer _ cache   =   0   #   A   carla . VehicleControl   object   is   needed   to   alter   the   #   vehicle ' s   control   state   self ._ control   =   carla . VehicleControl ( )   #   Check   for   key   press   events   in   the   PyGame   window   #   and   define   the   control   state   def   parse _ control ( self ,   event ) :   if   event . type   = =   pygame . KEYDOWN :   if   event . key   = =   pygame . K _ RETURN :   self ._ vehicle . set _ autopilot ( False )   if   event . key   = =   pygame . K _ UP :   self ._ throttle   =   True   if   event . key   = =   pygame . K _ DOWN :   self ._ brake   =   True   if   event . key   = =   pygame . K _ RIGHT :   self ._ steer   =   1   if   event . key   = =   pygame . K _ LEFT :   self ._ steer   =   - 1   if   event . type   = =   pygame . KEYUP :   if   event . key   = =   pygame . K _ UP :   self ._ throttle   =   False   if   event . key   = =   pygame . K _ DOWN :   self ._ brake   =   False   self ._ control . reverse   =   False   if   event . key   = =   pygame . K _ RIGHT :   self ._ steer   =   None   if   event . key   = =   pygame . K _ LEFT :   self ._ steer   =   None   #   \u5904\u7406 \u5f53\u524d \u63a7\u5236 \u72b6\u6001 \uff0c \u66f4\u6539 \u63a7\u5236 \u53c2\u6570 \u63a7\u5236\u53c2\u6570   #   if   the   key   remains   pressed   def   process _ control ( self ) :   if   self ._ throttle :   self ._ control . throttle   =   min ( self ._ control . throttle   +   0.01 ,   1 )   self ._ control . gear   =   1   self ._ control . brake   =   False   elif   not   self ._ brake :   self ._ control . throttle   =   0.0   if   self ._ brake :   #   If   the   down   arrow   is   held   down   when   the   car   is   stationary ,   switch   to   reverse   if   self ._ vehicle . get _ velocity ( ) . length ( )   <   0.01   and   not   self ._ control . reverse :   self ._ control . brake   =   0.0   self ._ control . gear   =   1   self ._ control . reverse   =   True   self ._ control . throttle   =   min ( self ._ control . throttle   +   0.1 ,   1 )   elif   self ._ control . reverse :   self ._ control . throttle   =   min ( self ._ control . throttle   +   0.1 ,   1 )   else :   self ._ control . throttle   =   0.0   self ._ control . brake   =   min ( self ._ control . brake   +   0.3 ,   1 )   else :   self ._ control . brake   =   0.0   if   self ._ steer   is   not   None :   if   self ._ steer   = =   1 :   self ._ steer _ cache   + =   0.03   if   self ._ steer   = =   - 1 :   self ._ steer _ cache   - =   0.03   min ( 0.7 ,   max ( - 0.7 ,   self ._ steer _ cache ) )   self ._ control . steer   =   round ( self ._ steer _ cache , 1 )   else :   if   self ._ steer _ cache   >   0.0 :   self ._ steer _ cache   * =   0.2   if   self ._ steer _ cache   <   0.0 :   self ._ steer _ cache   * =   0.2   if   0.01   >   self ._ steer _ cache   >   - 0.01 :   self ._ steer _ cache   =   0.0   self ._ control . steer   =   round ( self ._ steer _ cache , 1 )   #   \u00c1 pply   the   control   parameters   to   the   ego   vehicle   self ._ vehicle . apply _ control ( self ._ control )   \u73b0\u5728 \u6211\u4eec \u5c06 \u521d\u59cb \u521d\u59cb\u5316 \u8f66\u8f86 \u548c \u76f8\u673a \u3002   #   Randomly   select   a   vehicle   to   follow   with   the   camera   ego _ vehicle   =   random . choice ( vehicles )   #   Initialise   the   camera   floating   behind   the   vehicle   camera _ init _ trans   =   carla . Transform ( carla . Location ( x = - 5 ,   z = 3 ) ,   carla . Rotation ( pitch = - 20 ) )   camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   camera   =   world . spawn _ actor ( camera _ bp ,   camera _ init _ trans ,   attach _ to = ego _ vehicle )   #   Start   camera   with   PyGame   callback   camera . listen ( lambda   image :   pygame _ callback ( image ,   renderObject ) )   #   Get   camera   dimensions   image _ w   =   camera _ bp . get _ attribute ( \" image _ size _ x \" ) . as _ int ( )   image _ h   =   camera _ bp . get _ attribute ( \" image _ size _ y \" ) . as _ int ( )   #   Instantiate   objects   for   rendering   and   vehicle   control   renderObject   =   RenderObject ( image _ w ,   image _ h )   controlObject   =   ControlObject ( ego _ vehicle )   \u521d\u59cb \u521d\u59cb\u5316   PyGame   \u63a5\u53e3 \u3002 \u8fd9 \u5c06 \u8c03\u7528   PyGame   \u7684 \u7a97\u53e3 \u65b0\u7a97\u53e3 \u3002   #   Initialise   the   display   pygame . init ( )   gameDisplay   =   pygame . display . set _ mode ( ( image _ w , image _ h ) ,   pygame . HWSURFACE   |   pygame . DOUBLEBUF )   #   Draw   black   to   the   display   gameDisplay . fill ( ( 0 , 0 , 0 ) )   gameDisplay . blit ( renderObject . surface ,   ( 0 , 0 ) )   pygame . display . flip ( )   \u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u5f00\u59cb \u6e38\u620f \u5faa\u73af \u4e86 \u3002 \u8be5 \u89c6\u56fe \u53ef\u4ee5 \u5728 \u5730\u56fe \u4e2d \u7684 \u4e0d\u540c \u8f66\u8f86 \u4e4b\u95f4 \u968f\u673a \u5faa\u73af \uff0c \u5e76 \u5728 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u4e0b \u53ef\u89c6 \u53ef\u89c6\u5316 \u5b83\u4eec \u5728 \u4ea4\u901a \u4e2d \u7684 \u65c5\u7a0b \u3002 \u6309   TAB   \u952e \u5207\u6362 \u5230 \u968f\u673a \u9009\u62e9 \u7684 \u65b0 \u8f66\u8f86 \uff0c \u6309 \u56de\u8f66 \u56de\u8f66\u952e \u53ef\u4ee5 \u901a\u8fc7 \u952e\u76d8 \u4e0a \u7684 \u7bad\u5934 \u7bad\u5934\u952e \u624b\u52a8 \u63a7\u5236 \u8f66\u8f86 \u3002 \u4f8b\u5982 \uff0c \u5982\u679c \u9700\u8981 \u6311\u6218 \u9a7e\u9a76 \u884c\u4e3a \u4e0d \u7a33\u5b9a \u7684 \u4ee3\u7406 \uff0c \u8fd9\u79cd \u8bbe\u7f6e \u53ef\u80fd \u4f1a \u5f88 \u6709\u7528 \u3002 \u53ef\u4ee5 \u8c03\u6574 \u9009\u62e9 \u903b\u8f91 \u4ee5 \u9009\u62e9 \u4e0e \u4ee3\u7406 \u9a7e\u9a76 \u7684 \u8f66\u8f86 \u63a5\u8fd1 \u7684 \u8f66\u8f86 \u3002   #   Game   loop   crashed   =   False   while   not   crashed :   #   Advance   the   simulation   time   world . tick ( )   #   Update   the   display   gameDisplay . blit ( renderObject . surface ,   ( 0 , 0 ) )   pygame . display . flip ( )   #   Process   the   current   control   state   controlObject . process _ control ( )   #   Collect   key   press   events   for   event   in   pygame . event . get ( ) :   #   If   the   window   is   closed ,   break   the   while   loop   if   event . type   = =   pygame . QUIT :   crashed   =   True   #   Parse   effect   of   key   press   event   on   control   state   controlObject . parse _ control ( event )   if   event . type   = =   pygame . KEYUP :   #   TAB   key   switches   vehicle   if   event . key   = =   pygame . K _ TAB :   ego _ vehicle . set _ autopilot ( True )   ego _ vehicle   =   random . choice ( vehicles )   #   Ensure   vehicle   is   still   alive   ( might   have   been   destroyed )   if   ego _ vehicle . is _ alive :   #   Stop   and   remove   the   camera   camera . stop ( )   camera . destroy ( )   #   Spawn   new   camera   and   attach   to   new   vehicle   controlObject   =   ControlObject ( ego _ vehicle )   camera   =   world . spawn _ actor ( camera _ bp ,   camera _ init _ trans ,   attach _ to = ego _ vehicle )   camera . listen ( lambda   image :   pygame _ callback ( image ,   renderObject ) )   #   Update   PyGame   window   gameDisplay . fill ( ( 0 , 0 , 0 ) )   gameDisplay . blit ( renderObject . surface ,   ( 0 , 0 ) )   pygame . display . flip ( )   #   Stop   camera   and   quit   PyGame   after   exiting   game   loop   camera . stop ( )   pygame . quit ( )","title":"\u4f7f\u7528   PyGame   \u6e32\u67d3 \u76f8\u673a \u8f93\u51fa \u5e76 \u63a7\u5236 \u8f66\u8f86"},{"location":"tuto_G_retrieve_data/","text":"\u68c0\u7d22 \u4eff\u771f \u6570\u636e   \u5728   Carla   \u4e2d \uff0c \u5b66\u4e60 \u4e00\u79cd \u6709\u6548 \u7684 \u65b9\u6cd5 \u6765 \u68c0\u7d22 \u4eff\u771f \u6570\u636e \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002 \u8fd9\u4e2a \u6574\u4f53 \u6559\u7a0b \u9002\u5408 \u65b0\u624b \u548c \u7ecf\u9a8c \u4e30\u5bcc \u7ecf\u9a8c\u4e30\u5bcc \u7684 \u7528\u6237 \u3002 \u5b83 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \uff0c \u9010\u6e10 \u6df1\u5165 \u63a2\u8ba8 \u6df1\u5165\u63a2\u8ba8   Carla   \u4e2d \u53ef\u7528 \u7684 \u8bb8\u591a \u9009\u9879 \u3002   \u9996\u5148 \uff0c \u4f7f\u7528 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8bbe\u7f6e \u548c \u6d41\u91cf \u521d\u59cb \u521d\u59cb\u5316 \u4eff\u771f \u3002 \u4e00\u8f86 \u81ea\u6211 \u8f66\u8f86 \u5c06 \u5728 \u57ce\u5e02 \u4e2d \u6f2b\u6e38 \uff0c \u53ef\u9009 \u53ef\u9009\u5730 \u914d\u5907 \u4e00\u4e9b \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u8bb0\u5f55 \u4eff\u771f \uff0c \u4ee5\u4fbf \u4ee5\u540e \u67e5\u8be2 \u4ee5 \u627e\u5230 \u4eae\u70b9 \u3002 \u4e4b\u540e \uff0c \u539f\u59cb \u4eff\u771f \u88ab \u56de\u653e \uff0c \u5e76 \u88ab \u5229\u7528 \u5230 \u6781\u9650 \u3002 \u53ef\u4ee5 \u6dfb\u52a0 \u65b0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6765 \u68c0\u7d22 \u4e00\u81f4 \u7684 \u6570\u636e \u3002 \u5929\u6c14 \u6761\u4ef6 \u662f \u53ef\u4ee5 \u6539\u53d8 \u7684 \u3002 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u751a\u81f3 \u53ef\u4ee5 \u7528\u4e8e \u6d4b\u8bd5 \u5177\u6709 \u4e0d\u540c \u8f93\u51fa \u7684 \u7279\u5b9a \u573a\u666f \u3002   \u6982\u8ff0   \u8bbe\u7f6e \u4eff\u771f   \u5730\u56fe \u8bbe\u7f6e   \u5929\u6c14 \u8bbe\u7f6e   \u8bbe\u7f6e \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf   Carla   \u4ea4\u901a \u548c \u884c\u4eba   SUMO   \u534f\u540c \u4eff\u771f \u4ea4\u901a   \u8bbe\u7f6e \u81ea\u6211 \u8f66\u8f86   \u751f\u6210 \u81ea\u6211 \u8f66\u8f86   \u653e\u7f6e \u89c2\u5bdf \u89c2\u5bdf\u8005   \u8bbe\u7f6e \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   RGB   \u76f8\u673a   \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8bbe\u7f6e \u9ad8\u7ea7 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6df1\u5ea6 \u76f8\u673a   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u975e \u6e32\u67d3 \u6a21\u5f0f   \u5feb\u901f \u4eff\u771f   \u65e0\u9700 \u6e32\u67d3 \u7684 \u624b\u52a8 \u63a7\u5236   \u8bb0\u5f55 \u548c \u68c0\u7d22 \u6570\u636e   \u5f00\u59cb \u8bb0\u5f55   \u6355\u83b7 \u5e76 \u8bb0\u5f55   \u505c\u6b62 \u8bb0\u5f55   \u5229\u7528 \u8bb0\u5f55   \u67e5\u8be2 \u4e8b\u4ef6   \u9009\u62e9 \u4e00\u4e2a \u7247\u6bb5   \u68c0\u7d22 \u66f4 \u591a \u6570\u636e   \u6539\u53d8 \u5929\u6c14   \u5c1d\u8bd5 \u65b0 \u7684 \u7ed3\u679c   \u6559\u7a0b \u811a\u672c   \u6982\u8ff0   \u5728 \u68c0\u7d22 \u4eff\u771f \u6570\u636e \u7684 \u8fc7\u7a0b \u4e2d \u5b58\u5728 \u4e00\u4e9b \u5e38\u89c1 \u9519\u8bef \u3002 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u5145\u65a5 \u7740 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u5b58\u50a8 \u65e0\u7528 \u7684 \u6570\u636e \u6216 \u52aa\u529b \u5bfb\u627e \u7279\u5b9a \u4e8b\u4ef6 \u90fd \u662f \u4e00\u4e9b \u4f8b\u5b50 \u3002 \u7136\u800c \uff0c \u53ef\u4ee5 \u63d0\u4f9b \u8be5 \u8fc7\u7a0b \u7684 \u4e00\u4e9b \u6982\u8981 \u3002 \u76ee\u6807 \u662f \u786e\u4fdd \u6570\u636e \u53ef\u4ee5 \u68c0\u7d22 \u548c \u590d\u5236 \uff0c \u5e76\u4e14 \u53ef\u4ee5 \u968f\u610f \u68c0\u67e5 \u68c0\u67e5\u548c \u66f4\u6539 \u4eff\u771f \u3002   \u7b14\u8bb0   \u672c \u6559\u7a0b \u4f7f\u7528   Carla   0.9 . 8   deb   \u5305   \u3002 \u6839\u636e \u60a8 \u7684   Carla   \u7248\u672c \u548c \u5b89\u88c5 \uff0c \u53ef\u80fd \u4f1a \u6709 \u7ec6\u5fae \u7684 \u53d8\u5316 \uff0c \u7279\u522b \u662f \u5728 \u8def\u5f84 \u65b9\u9762 \u3002   \u672c \u6559\u7a0b \u4e3a \u4e0d\u540c \u6b65\u9aa4 \u63d0\u4f9b \u4e86 \u591a\u79cd \u9009\u9879 \u3002 \u4e00\u76f4 \u4ee5\u6765 \uff0c \u90fd \u4f1a \u63d0\u5230 \u4e0d\u540c \u7684 \u811a\u672c \u3002 \u5e76 \u4e0d\u662f \u6240\u6709 \u7684 \u90fd \u4f1a \u88ab \u4f7f\u7528 \uff0c \u8fd9 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u5177\u4f53 \u7684 \u7528\u4f8b \u3002 \u5176\u4e2d \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u5df2 \u5728   Carla   \u4e2d \u63d0\u4f9b \u7528\u4e8e \u901a\u7528 \u76ee\u7684 \u3002   config . py   \u66f4\u6539 \u4eff\u771f \u8bbe\u7f6e \u3002 \u5730\u56fe \u3001 \u6e32\u67d3 \u9009\u9879 \u3001 \u8bbe\u7f6e \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f ...   carla / PythonAPI / util / config . py   dynamic _ weather . py   \u521b\u5efa \u6709\u8da3 \u7684 \u5929\u6c14 \u6761\u4ef6 \u3002   carla / PythonAPI / examples / dynamic _ weather . py   spawn _ npc . py   spawn _ npc . py \u751f\u6210 \u4e00\u4e9b \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u7684 \u8f66\u8f86 \u548c \u884c\u4eba \u3002   carla / PythonAPI / examples / spawn _ npc . py   manual _ control . py   \u751f\u6210 \u4e00\u4e2a \u81ea\u6211 \u8f66\u8f86 \uff0c \u5e76 \u63d0\u4f9b \u5bf9 \u5176 \u7684 \u63a7\u5236 \u3002   carla / PythonAPI / examples / manual _ control . py   \u4f46\u662f \uff0c \u6559\u7a0b \u4e2d \u63d0\u5230 \u7684 \u4e24\u4e2a \u811a\u672c \u5728   Carla   \u4e2d \u627e \u4e0d\u5230 \u3002 \u5b83\u4eec \u5305\u542b \u5f15\u7528 \u7684 \u4ee3\u7801 \u7247\u6bb5 \u3002 \u8fd9\u6709 \u53cc\u91cd \u76ee\u7684 \u3002 \u9996\u5148 \uff0c \u9f13\u52b1 \u7528\u6237 \u6784\u5efa \u81ea\u5df1 \u7684 \u811a\u672c \u3002 \u5145\u5206 \u7406\u89e3 \u4ee3\u7801 \u7684 \u4f5c\u7528 \u975e\u5e38 \u91cd\u8981 \u3002 \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u672c \u6559\u7a0b \u53ea\u662f \u4e00\u4e2a \u5927\u7eb2 \uff0c \u53ef\u80fd \u800c\u4e14 \u5e94\u8be5 \u6839\u636e \u7528\u6237 \u7684 \u559c\u597d \u800c \u6709 \u5f88\u5927 \u7684 \u4e0d\u540c \u3002 \u8fd9 \u4e24\u4e2a \u811a\u672c \u53ea\u662f \u4e00\u4e2a \u793a\u4f8b \u3002   tutorial _ ego . py   \u751f\u6210 \u5e26\u6709 \u4e00\u4e9b \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u81ea\u6211 \u8f66\u8f86 \uff0c \u5e76 \u542f\u7528 \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u3002 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u88ab \u653e\u7f6e \u5728 \u751f\u6210 \u4f4d\u7f6e \u3002 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u4ece \u4e00 \u5f00\u59cb \u5c31 \u542f\u52a8 \uff0c \u5e76 \u5728 \u811a\u672c \u5b8c\u6210 \u65f6 \u505c\u6b62 \u3002   tutorial _ replay . py   \u91cd\u65b0 \u6267\u884c   tutorial _ ego . py   \u8bb0\u5f55 \u7684 \u4eff\u771f \u3002 \u6709 \u4e0d\u540c \u7684 \u4ee3\u7801 \u7247\u6bb5 \u53ef\u4ee5 \u67e5\u8be2 \u8bb0\u5f55 \u3001 \u751f\u6210 \u4e00\u4e9b \u9ad8\u7ea7 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u6539\u53d8 \u5929\u6c14 \u6761\u4ef6 \u4ee5\u53ca \u91cd\u65b0 \u6267\u884c \u8bb0\u5f55 \u8bb0\u5f55\u7247 \u6bb5 \u3002   \u5b8c\u6574 \u7684 \u4ee3\u7801 \u53ef\u4ee5 \u5728 \u6559\u7a0b \u7684 \u6700\u540e \u90e8\u5206 \u627e\u5230 \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u8fd9\u4e9b \u5e76 \u4e0d \u4e25\u683c \uff0c \u800c\u662f \u53ef\u4ee5 \u5b9a\u5236 \u7684 \u3002 \u5728   Carla   \u4e2d \u68c0\u7d22 \u6570\u636e \u7684 \u529f\u80fd \u6b63\u5982 \u7528\u6237 \u6240 \u5e0c\u671b \u7684 \u90a3\u6837 \u5f3a\u5927 \u3002   \u91cd\u8981   \u672c \u6559\u7a0b \u9700\u8981 \u4e00\u4e9b   Python   \u77e5\u8bc6 \u3002   \u8bbe\u7f6e \u4eff\u771f   \u8981 \u505a \u7684 \u7b2c\u4e00 \u4e00\u4ef6 \u7b2c\u4e00\u4ef6 \u4e8b\u662f \u5c06 \u4eff\u771f \u8bbe\u7f6e \u4e3a \u6240 \u9700 \u7684 \u73af\u5883 \u3002   \u8fd0\u884c   Carla \u3002   cd   / opt / carla / bin   . / CarlaUE . sh   \u5730\u56fe \u8bbe\u7f6e   \u9009\u62e9 \u8981 \u8fd0\u884c \u4eff\u771f \u7684 \u5730\u56fe \u3002 \u67e5\u770b   \u5730\u56fe \u6587\u6863   \u4ee5 \u4e86\u89e3 \u6709\u5173 \u5176 \u7279\u5b9a \u5c5e\u6027 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002 \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u9009\u62e9   Town07   \u3002   \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \u3002 \u4f7f\u7528   config . py   \u811a\u672c \u66f4\u6539 \u5730\u56fe \u3002   cd   / opt / carla / PythonAPI / utils   python3   config . py   -- map   Town01   \u8be5 \u811a\u672c \u53ef\u4ee5 \u542f\u7528 \u4e0d\u540c \u7684 \u8bbe\u7f6e \u3002 \u5176\u4e2d \u4e00\u4e9b \u5c06 \u5728 \u6559\u7a0b \u4e2d \u63d0\u53ca \uff0c \u53e6 \u4e00\u4e9b \u4e00\u4e9b\u5219 \u4e0d\u4f1a \u3002 \u4e0b\u9762 \u6709 \u4e00\u4e2a \u7b80\u77ed \u7684 \u603b\u7ed3 \u3002   config . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   -- host   H   IP   of   the   host   Carla   Simulator   ( default :   localhost )   - p   P ,   -- port   P   TCP   port   of   Carla   Simulator   ( default :   2000 )   - d ,   -- default   set   default   settings   - m   MAP ,   -- map   MAP   load   a   new   map ,   use   -- list   to   see   available   maps   - r ,   -- reload - map   reload   current   map   -- delta - seconds   S   set   fixed   delta   seconds ,   zero   for   variable   frame   rate   -- fps   N   set   fixed   FPS ,   zero   for   variable   FPS   ( similar   to   -- delta - seconds )   -- rendering   enable   rendering   -- no - rendering   disable   rendering   -- no - sync   disable   synchronous   mode   -- weather   WEATHER   set   weather   preset ,   use   -- list   to   see   available   presets   - i ,   -- inspect   inspect   simulation   - l ,   -- list   list   available   options   - b   FILTER ,   -- list - blueprints   FILTER   list   available   blueprints   matching   FILTER   ( use   ' * '   to   list   them   all )   - x   XODR _ FILE _ PATH ,   -- xodr - path   XODR _ FILE _ PATH   load   a   new   map   with   a   minimum   physical   road   representation   of   the   provided   OpenDRIVE   Town07   \u7684 \u7a7a\u4e2d \u89c6\u89d2   \u5929\u6c14 \u8bbe\u7f6e   \u6bcf\u4e2a \u57ce\u9547 \u90fd \u6709 \u9002\u5408 \u5b83 \u7684 \u7279\u5b9a \u5929\u6c14 \uff0c \u4f46\u662f \u53ef\u4ee5 \u968f\u610f \u8bbe\u7f6e \u3002 \u6709 \u4e24\u4e2a \u811a\u672c \u63d0\u4f9b \u4e86 \u89e3\u51b3 \u6b64 \u95ee\u9898 \u7684 \u4e0d\u540c \u65b9\u6cd5 \u3002 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8bbe\u7f6e \u4e86 \u52a8\u6001 \u5929\u6c14 \uff0c \u968f\u7740 \u65f6\u95f4 \u7684 \u63a8\u79fb \uff0c \u60c5\u51b5 \u4f1a \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002 \u53e6 \u4e00\u4e2a \u8bbe\u7f6e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14 \u6761\u4ef6 \u3002 \u8fd8 \u53ef\u4ee5 \u5bf9 \u5929\u6c14 \u6761\u4ef6 \u8fdb\u884c \u7f16\u7801 \u3002 \u7a0d\u540e   \u5929\u6c14 \u6761\u4ef6 \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316   \u65f6 \u5c06 \u5bf9\u6b64 \u8fdb\u884c \u4ecb\u7ecd \u3002   \u8bbe\u7f6e \u52a8\u6001 \u5929\u6c14   \u3002 \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \u5e76 \u8fd0\u884c   dynamic _ weather . py   \u3002 \u8be5 \u811a\u672c \u5141\u8bb8 \u8bbe\u7f6e \u5929\u6c14 \u53d8\u5316 \u7684 \u6bd4\u7387 \uff0c \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u662f   1.0   \u3002   cd   / opt / carla / PythonAPI / examples   python3   dynamic _ weather . py   -- speed   1.0   \u8bbe\u7f6e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6761\u4ef6   \u4f7f\u7528 \u811a\u672c   environment . py   \u3002 \u6709 \u5f88\u591a \u53ef\u80fd \u7684 \u8bbe\u7f6e \u3002 \u67e5\u770b \u53ef \u9009 \u53c2\u6570 \u4ee5\u53ca   carla . WeatherParameters   \u7684 \u6587\u6863 \u3002   cd   / opt / carla / PythonAPI / util   python3   environment . py   -- clouds   100   -- rain   80   -- wetness   100   -- puddles   60   -- wind   80   -- fog   50   environment . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   -- host   H   IP   of   the   host   server   ( default :   127.0 . 0.1 )   - p   P ,   -- port   P   TCP   port   to   listen   to   ( default :   2000 )   -- sun   SUN   Sun   position   presets   [ sunset   |   day   |   night ]   -- weather   WEATHER   Weather   condition   presets   [ clear   |   overcast   |   rain ]   -- altitude   A ,   - alt   A   Sun   altitude   [ - 90.0 ,   90.0 ]   -- azimuth   A ,   - azm   A   Sun   azimuth   [ 0.0 ,   360.0 ]   -- clouds   C ,   - c   C   Clouds   amount   [ 0.0 ,   100.0 ]   -- rain   R ,   - r   R   Rain   amount   [ 0.0 ,   100.0 ]   -- puddles   Pd ,   - pd   Pd   Puddles   amount   [ 0.0 ,   100.0 ]   -- wind   W ,   - w   W   Wind   intensity   [ 0.0 ,   100.0 ]   -- fog   F ,   - f   F   Fog   intensity   [ 0.0 ,   100.0 ]   -- fogdist   Fd ,   - fd   Fd   Fog   Distance   [ 0.0 ,   inf )   -- wetness   Wet ,   - wet   Wet   Wetness   intensity   [ 0.0 ,   100.0 ]   \u4f7f\u7528 \u5929\u6c14 \u6539\u53d8   \u8bbe\u7f6e \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf   \u4eff\u771f \u4ea4\u901a \u662f \u8ba9 \u5730\u56fe \u6829\u6829 \u6829\u6829\u5982\u751f \u7684 \u6700\u4f73 \u65b9\u6cd5 \u4e4b\u4e00 \u3002 \u8fd8 \u9700\u8981 \u68c0\u7d22 \u57ce\u5e02 \u73af\u5883 \u7684 \u6570\u636e \u3002 \u5728   Carla   \u4e2d\u6709 \u4e0d\u540c \u7684 \u9009\u62e9 \u53ef\u4ee5 \u5b9e\u73b0 \u8fd9 \u4e00\u70b9 \u3002   Carla   \u4ea4\u901a \u548c \u884c\u4eba   Carla   \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u7531   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u6a21\u5757 \u7ba1\u7406 \u3002 \u81f3\u4e8e \u884c\u4eba \uff0c \u4ed6\u4eec \u6bcf\u4e2a \u4eba \u90fd \u6709 \u81ea\u5df1 \u7684   carla . WalkerAIController   \u3002   \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \uff0c \u7136\u540e \u8fd0\u884c   spawn _ npc . py   \u6765 \u751f\u6210 \u8f66\u8f86 \u548c \u884c\u4eba \u3002 \u8ba9 \u6211\u4eec \u751f\u6210   50   \u8f86\u8f66 \u548c \u76f8\u540c \u6570\u91cf \u7684 \u884c\u4eba \u3002   cd   / opt / carla / PythonAPI / examples   python3   spawn _ npc . py   - n   50   - w   50   -- safe   spawn _ npc . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   -- host   H   IP   of   the   host   server   ( default :   127.0 . 0.1 )   - p   P ,   -- port   P   TCP   port   to   listen   to   ( default :   2000 )   - n   N ,   -- number - of - vehicles   N   number   of   vehicles   ( default :   10 )   - w   W ,   -- number - of - walkers   W   number   of   walkers   ( default :   50 )   -- safe   avoid   spawning   vehicles   prone   to   accidents   -- filterv   PATTERN   vehicles   filter   ( default :   \" vehicle . * \" )   -- filterw   PATTERN   pedestrians   filter   ( default :   \" walker . pedestrian . * \" )   - tm _ p   P ,   -- tm - port   P   port   to   communicate   with   TM   ( default :   8000 )   -- async   Asynchronous   mode   execution   \u751f\u6210 \u8f66\u8f86 \u4ee5 \u4eff\u771f \u4ea4\u901a \u3002   SUMO   \u534f\u540c \u4eff\u771f \u4ea4\u901a   Carla   \u53ef\u4ee5 \u4e0e   SUMO   \u8fd0\u884c \u8054\u5408 \u4eff\u771f \u3002 \u8fd9 \u5141\u8bb8 \u5728   SUMO   \u4e2d \u521b\u5efa \u5c06 \u4f20\u64ad \u5230   Carla   \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3002 \u8fd9\u79cd \u8054\u5408 \u4eff\u771f \u662f \u53cc\u5411 \u7684 \u3002 \u5728   Carla   \u4e2d \u751f\u6210 \u7684 \u8f66\u8f86 \u5c06 \u5728   SUMO   \u4e2d \u751f\u6210 \u3002 \u6709\u5173 \u6b64 \u529f\u80fd \u7684 \u5177\u4f53 \u6587\u6863 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u3002   \u6b64 \u529f\u80fd \u9002\u7528 \u4e8e   Carla   0.9 . 8   \u53ca \u66f4 \u9ad8 \u7248\u672c \u7684   Town01   \u3001   Town04   \u548c   Town05   \u3002 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u662f \u6700 \u7a33\u5b9a \u7684 \u3002   \u7b14\u8bb0   \u8054\u5408 \u4eff\u771f \u5c06 \u5728   Carla   \u4e2d \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \u3002 \u9605\u8bfb   \u6587\u6863   \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002   \u9996\u5148 \uff0c \u5b89\u88c5 SUMO \u3002   sudo   add - apt - repository   ppa : sumo / stable   sudo   apt - get   update   sudo   apt - get   install   sumo   sumo - tools   sumo - doc   \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   SUMO _ HOME \u3002   echo   \" export   SUMO _ HOME = / usr / share / sumo \"   > >   ~ / . bashrc   &&   source   ~ / . bashrc   \u5728   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6253\u5f00 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u8fd0\u884c   SUMO - Carla   \u540c\u6b65 \u811a\u672c   \u3002   cd   ~ / carla / Co - Simulation / Sumo   python3   run _ synchronization . py   examples / Town01 . sumocfg   -- sumo - gui   SUMO   \u7a97\u53e3 \u5e94\u8be5 \u5df2 \u6253\u5f00 \u3002   \u6309 \u201c \u8fd0\u884c \u201d   \u4ee5 \u5728 \u4e24\u4e2a \u4eff\u771f \u4e2d \u542f\u52a8 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3002   >   \" Play \"   on   SUMO   window .   \u8be5 \u811a\u672c \u751f\u6210 \u7684 \u6d41\u91cf \u662f   Carla   \u56e2\u961f \u521b\u5efa \u7684 \u793a\u4f8b \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83\u4f1a \u6cbf\u7740 \u76f8\u540c \u7684 \u8def\u7ebf \u751f\u6210 \u76f8\u540c \u7684 \u8f66\u8f86 \u3002 \u7528\u6237 \u53ef\u4ee5 \u5728   SUMO   \u4e2d \u66f4\u6539 \u8fd9\u4e9b \u5185\u5bb9 \u3002   SUMO   \u548c   Carla   \u534f\u540c \u4eff\u771f \u4ea4\u901a \u3002   \u8b66\u544a   \u76ee\u524d \uff0c SUMO   \u8054\u5408 \u4eff\u771f \u8fd8\u662f \u6d4b\u8bd5 \u6d4b\u8bd5\u7248 \u529f\u80fd \u3002 \u8f66\u8f86 \u6ca1\u6709 \u7269\u7406 \u7279\u6027 \uff0c \u4e5f \u4e0d \u8003\u8651   Carla   \u4ea4\u901a \u4ea4\u901a\u706f \u3002   \u8bbe\u7f6e \u81ea\u6211 \u8f66\u8f86   \u4ece \u73b0\u5728 \u5230 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u505c\u6b62 \u7684 \u4e00\u523b \u90a3\u4e00\u523b \uff0c \u5c06\u4f1a \u6709 \u4e00\u4e9b \u5c5e\u4e8e   tutorial _ ego . py   \u7684 \u4ee3\u7801 \u7247\u6bb5 \u3002 \u8be5 \u811a\u672c \u751f\u6210 \u81ea\u6211 \u8f66\u8f86 \uff0c \u53ef \u9009 \u4e00\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5e76 \u8bb0\u5f55 \u4eff\u771f \uff0c \u76f4\u5230 \u7528\u6237 \u5b8c\u6210 \u811a\u672c \u3002   \u751f\u6210 \u81ea\u6211 \u8f66\u8f86   \u7528\u6237 \u63a7\u5236 \u7684 \u8f66\u8f86 \u5728   Carla   \u4e2d \u901a\u5e38 \u901a\u8fc7 \u5c06 \u5c5e\u6027   role _ name   \u8bbe\u7f6e \u4e3a   ego   \u6765 \u533a\u5206 \u3002 \u53ef\u4ee5 \u8bbe\u7f6e \u5176\u4ed6 \u5c5e\u6027 \uff0c \u5176\u4e2d \u4e00\u4e9b \u5177\u6709 \u63a8\u8350 \u63a8\u8350\u503c \u3002   \u4e0b\u9762 \uff0c \u4ece   \u84dd \u56fe\u5e93   \u4e2d \u68c0\u7d22 \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9 \u6a21\u578b \uff0c \u5e76 \u4f7f\u7528 \u968f\u673a \u63a8\u8350 \u7684 \u989c\u8272 \u751f\u6210 \u3002 \u9009\u62e9 \u5730\u56fe \u63a8\u8350 \u7684 \u751f\u6210 \u70b9 \u4e4b\u4e00 \u6765 \u653e\u7f6e \u81ea\u6211 \u8f66\u8f86 \u3002   #   --------------   #   Spawn   ego   vehicle   #   --------------   ego _ bp   =   world . get _ blueprint _ library ( ) . find ( ' vehicle . tesla . model3 ' )   ego _ bp . set _ attribute ( ' role _ name ' , ' ego ' )   print ( ' \\ nEgo   role _ name   is   set ' )   ego _ color   =   random . choice ( ego _ bp . get _ attribute ( ' color ' ) . recommended _ values )   ego _ bp . set _ attribute ( ' color ' , ego _ color )   print ( ' \\ nEgo   color   is   set ' )   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   number _ of _ spawn _ points   =   len ( spawn _ points )   if   0   <   number _ of _ spawn _ points :   random . shuffle ( spawn _ points )   ego _ transform   =   spawn _ points [ 0 ]   ego _ vehicle   =   world . spawn _ actor ( ego _ bp , ego _ transform )   print ( ' \\ nEgo   is   spawned ' )   else :   logging . warning ( ' Could   not   found   any   spawn   points ' )   \u653e\u7f6e \u89c2\u5bdf \u89c2\u5bdf\u8005   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63a7\u5236 \u4eff\u771f \u89c6\u56fe \u3002 \u901a\u8fc7 \u811a\u672c \u79fb\u52a8 \u5b83 \u662f \u53ef\u9009 \u7684 \uff0c \u4f46 \u5b83 \u53ef\u80fd \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u627e\u5230 \u81ea\u6211 \u8f66\u8f86 \u3002   #   --------------   #   \u81ea\u6211 \u8f66\u8f86 \u4f4d\u7f6e \u7684 \u89c2\u5bdf \u89c2\u5bdf\u8005   #   --------------   spectator   =   world . get _ spectator ( )   world _ snapshot   =   world . wait _ for _ tick ( )   spectator . set _ transform ( ego _ vehicle . get _ transform ( ) )   \u8bbe\u7f6e \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u751f\u6210 \u4efb\u4f55 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8fc7\u7a0b \u90fd \u975e\u5e38 \u76f8\u4f3c \u3002   1 .   \u4f7f\u7528 \u5e93 \u67e5\u627e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u84dd\u56fe \u3002   2 .   \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7279\u5b9a \u5c5e\u6027 \u3002 \u8fd9 \u4e00\u70b9 \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002 \u5c5e\u6027 \u5c06 \u5851\u9020 \u68c0\u7d22 \u5230 \u7684 \u6570\u636e \u3002   3 .   \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fde\u63a5 \u81f3 \u81ea\u6211 \u8f66\u8f86 \u3002 \u8be5 \u53d8\u6362 \u662f \u76f8\u5bf9 \u4e8e \u5176\u7236 \u7ea7 \u7684 \u3002   carla . AttachmentType   \u5c06 \u786e\u5b9a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f4d\u7f6e \u7684 \u66f4\u65b0 \u65b9\u5f0f \u3002   4 .   \u6dfb\u52a0   listen ( )   \u65b9\u6cd5 \u3002 \u8fd9\u662f \u5173\u952e \u8981\u7d20 \u3002 \u6bcf\u6b21 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4fa6\u542c \u6570\u636e \u65f6 \u90fd \u4f1a \u8c03\u7528 \u7684   lambda   \u65b9\u6cd5 \u3002 \u53c2\u6570 \u662f \u68c0\u7d22 \u5230 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u7262\u8bb0 \u8fd9\u4e00 \u57fa\u672c \u51c6\u5219 \u57fa\u672c\u51c6\u5219 \uff0c \u8ba9 \u6211\u4eec \u4e3a \u81ea\u6211 \u8f66\u8f86 \u8bbe\u7f6e \u4e00\u4e9b \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   RGB   \u76f8\u673a   RGB   \u76f8\u673a   \u751f\u6210 \u903c\u771f \u7684 \u573a\u666f \u56fe\u7247 \u3002 \u5b83 \u662f \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u53ef \u8bbe\u7f6e \u5c5e\u6027 \u8f83 \u591a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4f46 \u5b83 \u4e5f \u662f \u4e00\u4e2a \u57fa\u672c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u5b83 \u5e94\u8be5 \u88ab \u7406\u89e3 \u4e3a \u4e00\u4e2a \u771f\u6b63 \u7684 \u76f8\u673a \uff0c \u5177\u6709 \u8bf8\u5982   focal _ distance   \u3001   shutter _ speed   \u6216   gamma   \u786e\u5b9a \u5176 \u5185\u90e8 \u5982\u4f55 \u5de5\u4f5c \u7684 \u5c5e\u6027 \u3002 \u8fd8\u6709 \u4e00\u7ec4 \u7279\u5b9a \u7684 \u5c5e\u6027 \u6765 \u5b9a\u4e49 \u955c\u5934 \u7578\u53d8 \uff0c \u4ee5\u53ca \u8bb8\u591a \u9ad8\u7ea7 \u5c5e\u6027 \u3002 \u4f8b\u5982 \uff0c   lens _ circle _ multiplier   \u53ef\u4ee5 \u7528\u6765 \u5b9e\u73b0 \u7c7b\u4f3c \u4e8e \u773c\u775b \u9c7c \u955c\u5934 \u7684 \u6548\u679c \u3002 \u5728 \u6587\u6863 \u4e2d \u4e86\u89e3 \u6709\u5173 \u5b83\u4eec \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u4e3a\u4e86 \u7b80\u5355 \u8d77 \u89c1 \uff0c \u811a\u672c \u4ec5 \u8bbe\u7f6e \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6700 \u5e38\u7528 \u7684 \u5c5e\u6027 \u3002   image _ size _ x   \u548c   image _ size _ y   \u5c06 \u6539\u53d8 \u8f93\u51fa \u56fe\u50cf \u7684 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u3002   fov   \u662f \u76f8\u673a \u7684 \u6c34\u5e73 \u89c6\u91ce \u3002   \u8bbe\u7f6e \u5c5e\u6027 \u540e \uff0c \u5c31 \u53ef\u4ee5 \u751f\u6210 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e86 \u3002 \u811a\u672c \u5c06 \u6444\u50cf \u6444\u50cf\u673a \u653e\u7f6e \u5728 \u6c7d\u8f66 \u5f15\u64ce \u5f15\u64ce\u76d6 \u4e2d \uff0c \u5e76 \u6307\u5411 \u524d\u65b9 \u3002 \u5b83 \u5c06 \u6355\u6349 \u6c7d\u8f66 \u7684 \u524d \u89c6\u56fe \u3002   \u6bcf \u4e00\u6b65 \u90fd \u4f1a \u4ee5   carla . Image   \u7684 \u5f62\u5f0f \u68c0\u7d22 \u6570\u636e \u3002 Listen   \u65b9\u6cd5 \u5c06 \u5b83\u4eec \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002 \u8def\u5f84 \u53ef\u4ee5 \u968f\u610f \u6539\u53d8 \u3002 \u6bcf\u5f20 \u56fe\u50cf \u7684 \u540d\u79f0 \u5747 \u6839\u636e \u62cd\u6444 \u955c\u5934 \u7684 \u4eff\u771f \u5e27 \u8fdb\u884c \u7f16\u7801 \u3002   #   --------------   #   Spawn   attached   RGB   camera   #   --------------   cam _ bp   =   None   cam _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   cam _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   cam _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   cam _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   cam _ location   =   carla . Location ( 2 , 0 , 1 )   cam _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   cam _ transform   =   carla . Transform ( cam _ location , cam _ rotation )   ego _ cam   =   world . spawn _ actor ( cam _ bp , cam _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   ego _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' tutorial / output / %. 6d . jpg '   %   image . frame ) )   RGB   camera   output   \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u5f53 \u5b83\u4eec \u6240 \u9644\u52a0 \u7684 \u5bf9\u8c61 \u6ce8\u518c \u7279\u5b9a \u4e8b\u4ef6 \u65f6 \uff0c \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f1a \u68c0\u7d22 \u6570\u636e \u3002 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5206\u4e3a \u4e09\u79cd \u7c7b\u578b \uff0c \u6bcf\u79cd \u90fd \u63cf\u8ff0 \u4e00\u79cd \u7c7b\u578b \u7684 \u4e8b\u4ef6 \u3002   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u3002   \u68c0\u7d22 \u5176\u7236 \u7ea7 \u4e0e \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u95f4 \u7684 \u78b0\u649e \u3002   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u3002   \u5f53 \u5176\u7236 \u7ea7 \u7a7f\u8fc7 \u8f66\u9053 \u6807\u8bb0 \u65f6 \u8fdb\u884c \u6ce8\u518c \u3002   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u3002   \u68c0\u6d4b \u5176\u7236 \u7ea7 \u524d\u65b9 \u53ef\u80fd \u5b58\u5728 \u7684 \u969c\u788d \u969c\u788d\u7269 \u3002   \u4ed6\u4eec \u68c0\u7d22 \u5230 \u7684 \u6570\u636e \u5c06 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u7a0d\u540e \u51b3\u5b9a \u8981 \u91cd\u65b0 \u6267\u884c \u4eff\u771f \u7684 \u54ea \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u4e8b\u5b9e \u4e8b\u5b9e\u4e0a \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u663e\u5f0f \u67e5\u8be2 \u51b2\u7a81 \u3002 \u8fd9\u662f \u51c6\u5907 \u6253\u5370 \u7684 \u3002   \u53ea\u6709 \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u84dd\u56fe \u6709 \u9700\u8981 \u8bbe\u7f6e \u7684 \u5c5e\u6027 \u3002 \u4ee5\u4e0b \u662f \u4e00\u4e9b \u91cd\u8981 \u7684 \u5185\u5bb9 \u3002   sensor _ tick   \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ec5 \u5728   x   \u79d2\u949f \u540e \u68c0\u7d22 \u6570\u636e \u3002 \u8fd9\u662f \u68c0\u7d22 \u6bcf \u4e00\u6b65 \u6570\u636e \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5e38\u89c1 \u5c5e\u6027 \u3002   distance   \u548c   hit - radius   \u5851\u9020 \u7528\u4e8e \u68c0\u6d4b \u524d\u65b9 \u969c\u788d \u969c\u788d\u7269 \u7684 \u8c03\u8bd5 \u7ebf \u3002   only _ dynamics   \u786e\u5b9a \u662f\u5426 \u5e94 \u8003\u8651 \u9759\u6001 \u5bf9\u8c61 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4efb\u4f55 \u5bf9\u8c61 \u90fd \u4f1a \u88ab \u8003\u8651 \u3002   \u8be5 \u811a\u672c \u5c06 \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u8bbe\u7f6e \u4e3a \u4ec5 \u8003\u8651 \u52a8\u6001 \u5bf9\u8c61 \u3002 \u5982\u679c \u8f66\u8f86 \u4e0e \u4efb\u4f55 \u9759\u6001 \u7269\u4f53 \u53d1\u751f \u78b0\u649e \uff0c \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u4f1a \u68c0\u6d4b \u5230 \u3002   #   --------------   #   Add   collision   sensor   to   ego   vehicle .   #   --------------   col _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . collision ' )   col _ location   =   carla . Location ( 0 , 0 , 0 )   col _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   col _ transform   =   carla . Transform ( col _ location , col _ rotation )   ego _ col   =   world . spawn _ actor ( col _ bp , col _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   col _ callback ( colli ) :   print ( \" Collision   detected : \\ n \" + str ( colli ) + ' \\ n ' )   ego _ col . listen ( lambda   colli :   col _ callback ( colli ) )   #   --------------   #   Add   Lane   invasion   sensor   to   ego   vehicle .   #   --------------   lane _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . lane _ invasion ' )   lane _ location   =   carla . Location ( 0 , 0 , 0 )   lane _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   lane _ transform   =   carla . Transform ( lane _ location , lane _ rotation )   ego _ lane   =   world . spawn _ actor ( lane _ bp , lane _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   lane _ callback ( lane ) :   print ( \" Lane   invasion   detected : \\ n \" + str ( lane ) + ' \\ n ' )   ego _ lane . listen ( lambda   lane :   lane _ callback ( lane ) )   #   --------------   #   Add   Obstacle   sensor   to   ego   vehicle .   #   --------------   obs _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . obstacle ' )   obs _ bp . set _ attribute ( \" only _ dynamics \" , str ( True ) )   obs _ location   =   carla . Location ( 0 , 0 , 0 )   obs _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   obs _ transform   =   carla . Transform ( obs _ location , obs _ rotation )   ego _ obs   =   world . spawn _ actor ( obs _ bp , obs _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   obs _ callback ( obs ) :   print ( \" Obstacle   detected : \\ n \" + str ( obs ) + ' \\ n ' )   ego _ obs . listen ( lambda   obs :   obs _ callback ( obs ) )   Output   for   detector   sensors   \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6682\u65f6 \u53ea \u8003\u8651 \u8be5\u7c7b \u522b\u7684 \u4e24\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u68c0\u7d22 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5730\u7406 \u4f4d\u7f6e \u5730\u7406\u4f4d\u7f6e \u3002   IMU   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u5305\u62ec \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \u3001 \u9640\u87ba \u9640\u87ba\u4eea \u548c \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \u3002   \u4e3a\u4e86 \u83b7\u5f97 \u8f66\u8f86 \u5bf9\u8c61 \u7684 \u4e00\u822c \u6d4b\u91cf \u503c \uff0c \u8fd9 \u4e24\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ee5 \u8f66\u8f86 \u5bf9\u8c61 \u4e3a \u4e2d\u5fc3 \u751f\u6210 \u3002   \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u7528 \u7684 \u5c5e\u6027 \u4e3b\u8981 \u8bbe\u7f6e \u6d4b\u91cf \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u5747\u503c \u5e73\u5747\u503c \u6216 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002 \u8fd9 \u5bf9\u4e8e \u83b7\u5f97 \u66f4 \u73b0\u5b9e \u7684 \u63aa\u65bd \u5f88 \u6709\u7528 \u3002 \u7136\u800c \uff0c \u5728   tutorial _ ego . py   \u4e2d \u53ea \u8bbe\u7f6e \u4e86 \u4e00\u4e2a \u5c5e\u6027 \u3002   sensor _ tick   .   \u7531\u4e8e \u6b64 \u6d4b\u91cf \u503c \u5728 \u6b65\u9aa4 \u4e4b\u95f4 \u4e0d \u5e94\u6709 \u663e \u7740 \u53d8\u5316 \uff0c \u56e0\u6b64 \u53ef\u4ee5 \u7ecf\u5e38 \u68c0\u7d22 \u6570\u636e \u3002 \u5728 \u672c\u4f8b \u4e2d \uff0c \u8bbe\u7f6e \u4e3a \u6bcf \u4e09\u79d2 \u6253\u5370 \u4e00\u6b21 \u3002   #   --------------   #   \u7ed9 \u81ea\u6211 \u8f66\u8f86 \u6dfb\u52a0 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   #   --------------   gnss _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . gnss ' )   gnss _ location   =   carla . Location ( 0 , 0 , 0 )   gnss _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   gnss _ transform   =   carla . Transform ( gnss _ location , gnss _ rotation )   gnss _ bp . set _ attribute ( \" sensor _ tick \" , str ( 3.0 ) )   ego _ gnss   =   world . spawn _ actor ( gnss _ bp , gnss _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   gnss _ callback ( gnss ) :   print ( \" GNSS   measure : \\ n \" + str ( gnss ) + ' \\ n ' )   ego _ gnss . listen ( lambda   gnss :   gnss _ callback ( gnss ) )   #   --------------   #   Add   IMU   sensor   to   ego   vehicle .   #   --------------   imu _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . imu ' )   imu _ location   =   carla . Location ( 0 , 0 , 0 )   imu _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   imu _ transform   =   carla . Transform ( imu _ location , imu _ rotation )   imu _ bp . set _ attribute ( \" sensor _ tick \" , str ( 3.0 ) )   ego _ imu   =   world . spawn _ actor ( imu _ bp , imu _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   imu _ callback ( imu ) :   print ( \" IMU   measure : \\ n \" + str ( imu ) + ' \\ n ' )   ego _ imu . listen ( lambda   imu :   imu _ callback ( imu ) )   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u548c \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa   \u8bbe\u7f6e \u9ad8\u7ea7 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u811a\u672c   tutorial _ replay . py   \u9664 \u5176\u4ed6 \u5916 \u8fd8 \u5305\u542b \u66f4 \u591a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5b9a\u4e49 \u3002 \u5b83\u4eec \u7684 \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u57fa\u672c \u7684 \u76f8\u540c \uff0c \u4f46 \u7406\u89e3 \u53ef\u80fd \u6709\u70b9 \u56f0\u96be \u3002   \u6df1\u5ea6 \u76f8\u673a   \u6df1\u5ea6 \u76f8\u673a   \u751f\u6210 \u573a\u666f \u7684 \u56fe\u7247 \uff0c \u5c06 \u6bcf\u4e2a \u50cf\u7d20 \u6620\u5c04 \u5230 \u7070\u5ea6 \u6df1\u5ea6 \u6df1\u5ea6\u56fe \u4e2d \u3002 \u7136\u800c \uff0c \u8f93\u51fa \u5e76 \u4e0d \u7b80\u5355 \u3002 \u76f8\u673a \u7684 \u6df1\u5ea6 \u7f13\u51b2 \u7f13\u51b2\u533a \u4f7f\u7528   RGB   \u989c\u8272 \u7a7a\u95f4 \u8fdb\u884c \u6620\u5c04 \u3002 \u5fc5\u987b \u5c06 \u5176 \u8f6c\u6362 \u4e3a \u7070\u5ea6 \u624d\u80fd \u7406\u89e3 \u3002   \u4e3a\u6b64 \uff0c \u53ea \u9700 \u5c06 \u56fe\u50cf \u4fdd\u5b58 \u4e3a   RGB   \u76f8\u673a \u7684 \u56fe\u50cf \uff0c \u4f46 \u5bf9 \u5176 \u5e94\u7528   carla . ColorConverter   \u5373\u53ef \u3002 \u6df1\u5ea6 \u76f8\u673a \u6709 \u4e24\u79cd \u53ef\u7528 \u7684 \u8f6c\u6362 \u3002   carla . ColorConverter . Depth   \u4ee5 \u6beb\u7c73 \u7ea7 \u7cbe\u5ea6 \u8f6c\u6362 \u539f\u59cb \u6df1\u5ea6 \u3002   carla . ColorConverter . LogarithmicDepth   \u4e5f \u5177\u6709 \u6beb\u7c73 \u7ea7 \u7c92\u5ea6 \uff0c \u4f46 \u5728 \u8fd1\u8ddd \u8ddd\u79bb \u8fd1\u8ddd\u79bb \u5185 \u63d0\u4f9b \u66f4\u597d \u7684 \u7ed3\u679c \uff0c \u800c \u5bf9\u4e8e \u8f83\u8fdc \u7684 \u5143\u7d20 \u5219 \u7a0d\u5dee \u4e00\u4e9b \u3002   \u6df1\u5ea6 \u76f8\u673a \u7684 \u5c5e\u6027 \u4ec5 \u8bbe\u7f6e \u4e4b\u524d \u5728   RGB   \u76f8\u673a \u4e2d \u6240\u8ff0 \u7684 \u5143\u7d20 \uff1a   fov   \u3001   image _ size _ x   \u3001   image _ size _ y   \u548c   sensor _ tick   \u3002 \u8be5 \u811a\u672c \u5c06 \u6b64 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e \u4e3a \u4e0e \u4e4b\u524d \u4f7f\u7528 \u7684   RGB   \u76f8\u673a \u5339\u914d \u76f8\u5339\u914d \u3002   #   --------------   #   Add   a   Depth   camera   to   ego   vehicle .   #   --------------   depth _ cam   =   None   depth _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . depth ' )   depth _ location   =   carla . Location ( 2 , 0 , 1 )   depth _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   depth _ transform   =   carla . Transform ( depth _ location , depth _ rotation )   depth _ cam   =   world . spawn _ actor ( depth _ bp , depth _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   #   This   time ,   a   color   converter   is   applied   to   the   image ,   to   get   the   semantic   segmentation   view   depth _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' tutorial / new _ depth _ output / %. 6d . jpg '   %   image . frame , carla . ColorConverter . LogarithmicDepth ) )   Depth   camera   output .   Simple   conversion   on   the   left ,   logarithmic   on   the   right .   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u6839\u636e \u5143\u7d20 \u7684 \u6807\u8bb0 \u65b9\u5f0f \u5c06 \u573a\u666f \u4e2d \u7684 \u5143\u7d20 \u6e32\u67d3 \u4e3a \u4e0d\u540c \u7684 \u989c\u8272 \u3002 \u6807\u7b7e \u7531 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6839\u636e \u7528\u4e8e \u751f\u6210 \u7684 \u8d44\u6e90 \u7684 \u8def\u5f84 \u521b\u5efa \u3002 \u4f8b\u5982 \uff0c \u6807\u8bb0 \u4e3a   Pedestrians   \u7684 \u7f51\u683c \u4f53\u662f \u4f7f\u7528 \u5b58\u50a8 \u5728   Unreal / CarlaUE4 / Content / Static / Pedestrians   \u4e2d \u7684 \u5185\u5bb9 \u751f\u6210 \u7684 \u3002   \u4e0e \u4efb\u4f55 \u76f8\u673a \u4e00\u6837 \uff0c \u8f93\u51fa \u662f \u56fe\u50cf \uff0c \u4f46 \u6bcf\u4e2a \u50cf\u7d20 \u90fd \u5305\u542b \u5728 \u7ea2\u8272 \u901a\u9053 \u4e2d \u7f16\u7801 \u7684 \u6807\u7b7e \u3002 \u5fc5\u987b \u4f7f\u7528   ColorConverter . CityScapesPalette   \u8f6c\u6362 \u6b64 \u539f\u59cb \u56fe\u50cf \u3002 \u53ef\u4ee5 \u521b\u5efa \u65b0 \u6807\u7b7e \uff0c \u8bf7 \u9605\u8bfb   \u6587\u6863   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u8be5 \u76f8\u673a \u53ef\u7528 \u7684 \u5c5e\u6027 \u4e0e \u6df1\u5ea6 \u76f8\u673a \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u3002 \u8be5 \u811a\u672c \u8fd8 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u4e0e \u539f\u59cb   RGB   \u76f8\u673a \u5339\u914d \u76f8\u5339\u914d \u3002   #   --------------   #   Add   a   new   semantic   segmentation   camera   to   my   ego   #   --------------   sem _ cam   =   None   sem _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . semantic _ segmentation ' )   sem _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   sem _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   sem _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   sem _ location   =   carla . Location ( 2 , 0 , 1 )   sem _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   sem _ transform   =   carla . Transform ( sem _ location , sem _ rotation )   sem _ cam   =   world . spawn _ actor ( sem _ bp , sem _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   #   This   time ,   a   color   converter   is   applied   to   the   image ,   to   get   the   semantic   segmentation   view   sem _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' tutorial / new _ sem _ output / %. 6d . jpg '   %   image . frame , carla . ColorConverter . CityScapesPalette ) )   Semantic   segmentation   camera   output   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4eff\u771f \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002 \u5b83 \u521b\u5efa \u4e86 \u4e00\u4e2a \u4ee5 \u4e09\u7ef4 \u5f62\u5f0f \u6620\u5c04 \u573a\u666f \u7684 \u70b9\u4e91 \u3002 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5305\u542b \u4e00\u7ec4 \u4ee5 \u7279\u5b9a \u9891\u7387 \u65cb\u8f6c \u7684 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u3002 \u6fc0\u5149 \u6295\u5c04 \u649e\u51fb \u8ddd\u79bb \uff0c \u5e76 \u5c06 \u6bcf\u6b21 \u5c04\u51fb \u5b58\u50a8 \u4e3a \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u3002   \u53ef\u4ee5 \u4f7f\u7528 \u4e0d\u540c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c5e\u6027 \u6765 \u8bbe\u7f6e \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u9635\u5217 \u7684 \u5e03\u7f6e \u65b9\u5f0f \u3002   upper _ fov   \u548c   lower _ fov   \u5206\u522b \u662f \u6700\u9ad8 \u548c \u6700\u4f4e \u6fc0\u5149 \u7684 \u89d2\u5ea6 \u3002   channels   \u8bbe\u7f6e \u8981 \u4f7f\u7528 \u7684 \u6fc0\u5149 \u6570\u91cf \u3002 \u8fd9\u4e9b \u6cbf\u7740 \u6240 \u9700 \u7684   fov   \u5206\u5e03 \u3002   \u5176\u4ed6 \u5c5e\u6027 \u8bbe\u7f6e \u8be5\u70b9 \u7684 \u8ba1\u7b97 \u65b9\u5f0f \u3002 \u5b83\u4eec \u786e\u5b9a \u6bcf\u4e2a \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6bcf \u4e00\u6b65 \u8ba1\u7b97 \u7684 \u70b9\u6570 \uff1a   points _ per _ second   /   ( FPS   *   channels )   .   range   \u662f \u6355\u83b7 \u7684 \u6700\u5927 \u8ddd\u79bb \u3002   points _ per _ second   \u662f \u6bcf\u79d2 \u83b7\u5f97 \u7684 \u70b9\u6570 \u3002 \u8be5 \u6570\u91cf \u9664\u4ee5   channels   \u7684 \u6570\u91cf \u3002   rotation _ frequency   \u662f \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6bcf\u79d2 \u65cb\u8f6c \u7684 \u6b21\u6570 \u3002   \u70b9\u4e91 \u8f93\u51fa \u88ab \u63cf\u8ff0 \u4e3a   [ carla . LidarMeasurement ] \u3002 \u5b83 \u53ef\u4ee5 \u4f5c\u4e3a   [ carla . Location ]   \u5217\u8868 \u8fdb\u884c \u8fed\u4ee3 \u6216 \u4fdd\u5b58 \u4e3a   . ply   \u6807\u51c6 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u3002   #   --------------   #   Add   a   new   LIDAR   sensor   to   my   ego   #   --------------   lidar _ cam   =   None   lidar _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . lidar . ray _ cast ' )   lidar _ bp . set _ attribute ( ' channels ' , str ( 32 ) )   lidar _ bp . set _ attribute ( ' points _ per _ second ' , str ( 90000 ) )   lidar _ bp . set _ attribute ( ' rotation _ frequency ' , str ( 40 ) )   lidar _ bp . set _ attribute ( ' range ' , str ( 20 ) )   lidar _ location   =   carla . Location ( 0 , 0 , 2 )   lidar _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   lidar _ transform   =   carla . Transform ( lidar _ location , lidar _ rotation )   lidar _ sen   =   world . spawn _ actor ( lidar _ bp , lidar _ transform , attach _ to = ego _ vehicle )   lidar _ sen . listen ( lambda   point _ cloud :   point _ cloud . save _ to _ disk ( ' tutorial / new _ lidar _ output / %. 6d . ply '   %   point _ cloud . frame ) )   . ply   \u8f93\u51fa \u53ef\u4ee5 \u4f7f\u7528   Meshlab   \u8fdb\u884c \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   1 .   \u5b89\u88c5   Meshlab   \u3002   sudo   apt - get   update   - y   sudo   apt - get   install   - y   meshlab   2 .   \u6253\u5f00   Meshlab   \u3002   meshlab   3 .   \u6253\u5f00 \u5176\u4e2d \u4e00\u4e2a   . ply   \u6587\u4ef6 \u3002   File   >   Import   mesh ...   \u7ecf\u8fc7 Meshlab \u5904\u7406 \u540e \u7684 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u8f93\u51fa \u3002   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e0e   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7c7b\u4f3c \u3002 \u5b83 \u521b\u5efa \u4e00\u4e2a \u5706\u9525 \u89c6\u56fe \uff0c \u5e76 \u5411 \u5185\u90e8 \u53d1\u5c04 \u6fc0\u5149 \u4ee5 \u5c04\u7ebf \u6295\u5c04 \u5176 \u5f71\u54cd \u3002 \u8f93\u51fa \u662f   carla . RadarMeasurement   \u3002 \u5b83 \u5305\u542b \u7531 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u68c0\u7d22 \u5230 \u7684   carla . RadarDetection   \u7684 \u5217\u8868 \u3002 \u8fd9\u4e9b \u4e0d\u662f \u7a7a\u95f4 \u4e2d \u7684 \u70b9 \uff0c \u800c\u662f \u4f7f\u7528 \u6709\u5173 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6570\u636e \u8fdb\u884c \u7684 \u68c0\u6d4b \uff1a   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5c5e\u6027 \u4e3b\u8981 \u51b3\u5b9a \u4e86 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u7684 \u5b9a\u4f4d \u65b9\u5f0f \u3002   horizontal _ fov   \u548c   vertical _ fov   \u786e\u5b9a \u5706\u9525 \u89c6\u56fe \u7684 \u632f\u5e45 \u3002   channels   \u7f6e \u8981 \u4f7f\u7528 \u7684 \u6fc0\u5149 \u6570\u91cf \u3002 \u8fd9\u4e9b \u6cbf\u7740 \u6240 \u9700   fov   \u7684 \u5206\u5e03 \u3002   range   \u662f \u6fc0\u5149 \u5149\u7ebf \u6295\u5c04 \u7684 \u6700\u5927 \u8ddd\u79bb \u3002   points _ per _ second   \u8bbe\u7f6e \u8981 \u6355\u83b7 \u7684 \u70b9 \u7684 \u6570\u91cf \uff0c \u8fd9\u4e9b \u70b9\u5c06 \u5728 \u6307\u5b9a \u7684 \u901a\u9053 \u4e4b\u95f4 \u5206\u914d \u3002   \u8be5 \u811a\u672c \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u653e\u7f6e \u5728 \u6c7d\u8f66 \u5f15\u64ce \u5f15\u64ce\u76d6 \u4e0a \uff0c \u5e76 \u5411\u4e0a \u65cb\u8f6c \u4e00\u70b9 \u3002 \u8fd9\u6837 \uff0c \u8f93\u51fa \u5c06 \u6620\u5c04 \u6c7d\u8f66 \u7684 \u524d \u89c6\u56fe \u3002   horizontal _ fov   \u662f \u589e\u52a0 \u7684 \uff0c   vertical _ fov   \u662f \u51cf\u5c11 \u7684 \u3002 \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u7684 \u533a\u57df \u7279\u522b \u662f \u8f66\u8f86 \u548c \u884c\u4eba \u901a\u5e38 \u79fb\u52a8 \u7684 \u9ad8\u5ea6 \u3002 \u8ddd\u79bb   range   \u4e5f \u4ece   100m   \u66f4 \u6539\u4e3a   10m \uff0c \u4ee5\u4fbf \u4ec5 \u68c0\u7d22 \u8f66\u8f86 \u6b63\u524d \u524d\u65b9 \u6b63\u524d\u65b9 \u7684 \u6570\u636e \u3002   \u8fd9\u6b21 \u7684 \u56de\u8c03 \u6709\u70b9 \u590d\u6742 \uff0c \u663e\u793a \u4e86 \u5b83 \u7684 \u66f4 \u529f\u80fd \u591a\u529f\u80fd \u3002 \u5b83 \u5c06 \u5b9e\u65f6 \u7ed8\u5236 \u96f7\u8fbe \u6355\u83b7 \u7684 \u70b9 \u3002 \u8fd9\u4e9b \u70b9\u5c06 \u6839\u636e \u5b83\u4eec \u76f8\u5bf9 \u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u800c \u7740\u8272 \u3002   Blue   \u8868\u793a \u63a5\u8fd1 \u8f66\u8f86 \u7684 \u70b9 \u3002   Red   \u8868\u793a \u8fdc\u79bb \u63a5\u8fd1 \u8f66\u8f86 \u7684 \u70b9 \u3002   White   \u4ee3\u8868 \u5173\u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684 \u9759\u6001 \u70b9 \u3002   #   --------------   #   Add   a   new   radar   sensor   to   my   ego   #   --------------   rad _ cam   =   None   rad _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . radar ' )   rad _ bp . set _ attribute ( ' horizontal _ fov ' ,   str ( 35 ) )   rad _ bp . set _ attribute ( ' vertical _ fov ' ,   str ( 20 ) )   rad _ bp . set _ attribute ( ' range ' ,   str ( 20 ) )   rad _ location   =   carla . Location ( x = 2.0 ,   z = 1.0 )   rad _ rotation   =   carla . Rotation ( pitch = 5 )   rad _ transform   =   carla . Transform ( rad _ location , rad _ rotation )   rad _ ego   =   world . spawn _ actor ( rad _ bp , rad _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   rad _ callback ( radar _ data ) :   velocity _ range   =   7.5   #   m / s   current _ rot   =   radar _ data . transform . rotation   for   detect   in   radar _ data :   azi   =   math . degrees ( detect . azimuth )   alt   =   math . degrees ( detect . altitude )   #   The   0.25   adjusts   a   bit   the   distance   so   the   dots   can   #   be   properly   seen   fw _ vec   =   carla . Vector3D ( x = detect . depth   -   0.25 )   carla . Transform (   carla . Location ( ) ,   carla . Rotation (   pitch = current _ rot . pitch   +   alt ,   yaw = current _ rot . yaw   +   azi ,   roll = current _ rot . roll ) ) . transform ( fw _ vec )   def   clamp ( min _ v ,   max _ v ,   value ) :   return   max ( min _ v ,   min ( value ,   max _ v ) )   norm _ velocity   =   detect . velocity   /   velocity _ range   #   range   [ - 1 ,   1 ]   r   =   int ( clamp ( 0.0 ,   1.0 ,   1.0   -   norm _ velocity )   *   255.0 )   g   =   int ( clamp ( 0.0 ,   1.0 ,   1.0   -   abs ( norm _ velocity ) )   *   255.0 )   b   =   int ( abs ( clamp ( -   1.0 ,   0.0 ,   -   1.0   -   norm _ velocity ) )   *   255.0 )   world . debug . draw _ point (   radar _ data . transform . location   +   fw _ vec ,   size = 0.075 ,   life _ time = 0.06 ,   persistent _ lines = False ,   color = carla . Color ( r ,   g ,   b ) )   rad _ ego . listen ( lambda   radar _ data :   rad _ callback ( radar _ data ) )   \u96f7\u8fbe \u8f93\u51fa \u3002 \u8f66\u8f86 \u505c \u5728 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5904 \uff0c \u56e0\u6b64 \u5176 \u524d\u9762 \u7684 \u9759\u6001 \u5143\u7d20 \u663e\u793a \u4e3a \u767d\u8272 \u3002   \u975e \u6e32\u67d3 \u6a21\u5f0f   \u65e0 \u6e32\u67d3 \u6a21\u5f0f   \u5bf9\u4e8e \u8fd0\u884c \u521d\u59cb \u4eff\u771f \u975e\u5e38 \u6709\u7528 \uff0c \u7a0d\u540e \u5c06 \u518d\u6b21 \u64ad\u653e \u8be5 \u4eff\u771f \u4ee5 \u68c0\u7d22 \u6570\u636e \u3002 \u7279\u522b \u662f \u5982\u679c \u8be5 \u4eff\u771f \u5b58\u5728 \u4e00\u4e9b \u6781\u7aef \u6761\u4ef6 \uff0c \u4f8b\u5982 \u4ea4\u901a \u5bc6\u96c6 \u3002   \u5feb\u901f \u4eff\u771f   \u7981\u7528 \u6e32\u67d3 \u5c06 \u4e3a \u4eff\u771f \u8282\u7701 \u5927\u91cf \u5de5\u4f5c \u3002 \u7531\u4e8e \u4e0d \u4f7f\u7528   GPU \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53ef\u4ee5 \u5168\u901f \u5de5\u4f5c \u3002 \u8fd9 \u5bf9\u4e8e \u5feb\u901f \u4eff\u771f \u590d\u6742 \u7684 \u6761\u4ef6 \u5f88 \u6709\u7528 \u3002 \u6700\u597d \u7684 \u65b9\u6cd5 \u662f \u8bbe\u7f6e \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u3002 \u4ee5 \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f \u8fd0\u884c \u5f02\u6b65 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5e76\u4e14 \u4e0d \u8fdb\u884c \u6e32\u67d3 \uff0c \u4eff\u771f \u7684 \u552f\u4e00 \u9650\u5236 \u662f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u5185\u90e8 \u903b\u8f91 \u3002   \u76f8\u540c \u7684   config . py   \u7528\u4e8e   \u8bbe\u7f6e \u5730\u56fe   \u53ef\u4ee5 \u7981\u7528 \u6e32\u67d3 \uff0c \u5e76 \u8bbe\u7f6e \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u3002   cd   / opt / carla / PythonAPI / utils   python3   config . py   -- no - rendering   -- delta - seconds   0.05   #   Never   greater   than   0.1 s   \u8b66\u544a   \u5728 \u4f7f\u7528 \u540c\u6b65 \u548c \u65f6\u95f4 \u6b65 \u4e4b\u524d \uff0c \u8bf7 \u5148 \u9605\u8bfb   \u6587\u6863   \u3002   \u65e0\u9700 \u6e32\u67d3 \u7684 \u624b\u52a8 \u63a7\u5236   \u811a\u672c   PythonAPI / examples / no _ rendering _ mode . py   \u63d0\u4f9b \u4e86 \u4eff\u771f \u7684 \u6982\u8ff0 \u3002 \u5b83 \u4f7f\u7528   Pygame   \u521b\u5efa \u4e86 \u4e00\u4e2a \u7b80\u7ea6 \u7684 \u9e1f\u77b0 \u9e1f\u77b0\u56fe \uff0c \u5b83 \u5c06 \u8ddf\u968f \u81ea\u6211 \u8f66\u8f86 \u3002 \u8fd9 \u53ef\u4ee5 \u4e0e   manual _ control . py   \u4e00\u8d77 \u4f7f\u7528 \u6765 \u751f\u6210 \u4e00\u6761 \u51e0\u4e4e \u6ca1\u6709 \u6210\u672c \u7684 \u8def\u7ebf \uff0c \u8bb0\u5f55 \u5b83 \uff0c \u7136\u540e \u56de\u653e \u5e76 \u5229\u7528 \u5b83 \u6765 \u6536\u96c6 \u6570\u636e \u3002   cd   / opt / carla / PythonAPI / examples   python3   manual _ control . py   cd   / opt / carla / PythonAPI / examples   python3   no _ rendering _ mode . py   -- no - rendering   no _ rendering _ mode . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   - v ,   -- verbose   print   debug   information   -- host   H   IP   of   the   host   server   ( default :   127.0 . 0.1 )   - p   P ,   -- port   P   TCP   port   to   listen   to   ( default :   2000 )   -- res   WIDTHxHEIGHT   window   resolution   ( default :   1280x720 )   -- filter   PATTERN   actor   filter   ( default :   \" vehicle . * \" )   -- map   TOWN   start   a   new   episode   at   the   given   TOWN   -- no - rendering   switch   off   server   rendering   -- show - triggers   show   trigger   boxes   of   traffic   signs   -- show - connections   show   waypoint   connections   -- show - spawn - points   show   recommended   spawn   points   no _ rendering _ mode . py   working   in   Town07   \u7b14\u8bb0   \u5728 \u6b64 \u6a21\u5f0f \u4e0b \uff0c \u57fa\u4e8e   GPU   \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u68c0\u7d22 \u7a7a \u6570\u636e \u3002 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u6ca1\u7528 \uff0c \u4f46 \u63a2\u6d4b \u6d4b\u5668 \u63a2\u6d4b\u5668 \u7b49 \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u4ee5 \u6b63\u5e38 \u5de5\u4f5c \u3002   \u8bb0\u5f55 \u548c \u68c0\u7d22 \u6570\u636e   \u5f00\u59cb \u8bb0\u5f55   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u53ef\u4ee5 \u968f\u65f6 \u542f\u52a8 \u3002 \u811a\u672c \u4ece \u4e00 \u5f00\u59cb \u5c31 \u8fd9\u6837 \u505a \uff0c \u4ee5\u4fbf \u6355\u6349 \u4e00\u5207 \uff0c \u5305\u62ec \u7b2c\u4e00 \u4e00\u6279 \u7b2c\u4e00\u6279 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4ea7\u751f \u3002 \u5982\u679c \u6ca1\u6709 \u8be6\u7ec6 \u8def\u5f84 \uff0c \u65e5\u5fd7 \u5c06 \u4fdd\u5b58 \u5230   CarlaUE4 / Saved   \u3002   #   --------------   #   \u5f00\u59cb \u8bb0\u5f55   #   --------------   client . start _ recorder ( ' ~ / tutorial / recorder / recording01 . log ' )   \u6355\u83b7 \u5e76 \u8bb0\u5f55   \u6709 \u8bb8\u591a \u4e0d\u540c \u7684 \u65b9\u6cd5 \u53ef\u4ee5 \u505a\u5230 \u8fd9 \u4e00\u70b9 \u3002 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u60c5\u51b5 \u4e0b \uff0c \u5b83\u4f1a \u56e0\u4e3a \u8ba9 \u5b83 \u56db\u5904 \u6f2b\u6e38 \u6216 \u624b\u52a8 \u63a7\u5236 \u800c \u51fa\u73b0 \u6545\u969c \u3002 \u4ea7\u751f \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6570\u636e \u5c06 \u88ab \u5373\u65f6 \u68c0\u7d22 \u3002 \u8bf7 \u52a1\u5fc5 \u5728 \u8bb0\u5f55 \u65f6 \u8fdb\u884c \u68c0\u67e5 \uff0c \u4ee5 \u786e\u4fdd \u4e00\u5207 \u8bbe\u7f6e \u6b63\u786e \u3002   \u542f\u7528 \u81ea\u52a8 \u9a7e\u9a76 \u3002   \u8fd9\u4f1a \u5c06 \u8f66\u8f86 \u6ce8\u518c \u5230   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u3002 \u5b83 \u5c06 \u65e0\u4f11 \u4f11\u6b62 \u65e0\u4f11\u6b62 \u5730 \u5728 \u57ce\u5e02 \u4e2d \u6f2b\u6e38 \u3002 \u8be5 \u811a\u672c \u6267\u884c \u6b64 \u64cd\u4f5c \uff0c \u5e76 \u521b\u5efa \u4e00\u4e2a \u5faa\u73af \u4ee5 \u963b\u6b62 \u811a\u672c \u5b8c\u6210 \u3002 \u5f55\u5236 \u5c06 \u7ee7\u7eed \u8fdb\u884c \uff0c \u76f4\u5230 \u7528\u6237 \u5b8c\u6210 \u811a\u672c \u3002 \u6216\u8005 \uff0c \u53ef\u4ee5 \u8bbe\u7f6e \u8ba1\u65f6 \u8ba1\u65f6\u5668 \u4ee5 \u5728 \u7279\u5b9a \u65f6\u95f4 \u540e \u5b8c\u6210 \u811a\u672c \u3002   #   --------------   #   \u6355\u83b7 \u6570\u636e   #   --------------   ego _ vehicle . set _ autopilot ( True )   print ( ' \\ nEgo   autopilot   enabled ' )   while   True :   world _ snapshot   =   world . wait _ for _ tick ( )   \u624b\u52a8 \u63a7\u5236 \u3002   \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e2d \u8fd0\u884c \u811a\u672c   PythonAPI / examples / manual _ control . py   \uff0c \u5728 \u53e6 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e2d \u8fd0\u884c \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002 \u9a7e\u9a76 \u81ea\u6211 \u8f66\u8f86 \u6765 \u521b\u5efa \u6240 \u9700 \u7684 \u8def\u7ebf \uff0c \u5e76 \u5728 \u5b8c\u6210 \u540e \u505c\u6b62 \u8bb0\u5f55 \u8bb0\u5f55\u4eea \u3002   tutorial _ ego . py   \u811a\u672c \u53ef \u7528\u4e8e \u7ba1\u7406 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \uff0c \u4f46 \u8bf7 \u786e\u4fdd \u6ce8\u91ca \u5176\u4ed6 \u4ee3\u7801 \u7247\u6bb5 \u3002   cd   / opt / carla / PythonAPI / examples   python3   manual _ control . py   \u7b14\u8bb0   \u4e3a\u4e86 \u907f\u514d \u6e32\u67d3 \u5e76 \u8282\u7701 \u8ba1\u7b97 \u6210\u672c \u8ba1\u7b97\u6210\u672c \uff0c \u8bf7 \u542f\u7528   [   \u65e0 \u6e32\u67d3 \u6a21\u5f0f   ]   \u3002 \u8be5 \u811a\u672c   / PythonAPI / examples / no _ rendering _ mode . py   \u5728 \u521b\u5efa \u7b80\u5355 \u7684 \u9e1f\u77b0 \u9e1f\u77b0\u56fe \u65f6 \u6267\u884c \u6b64 \u64cd\u4f5c \u3002   \u505c\u6b62 \u8bb0\u5f55   \u505c\u6b62 \u8c03\u7528 \u751a\u81f3 \u6bd4 \u5f00\u59cb \u8c03\u7528 \u66f4 \u7b80\u5355 \u3002 \u8bb0\u5f55 \u5b8c\u6210 \u540e \uff0c \u8bb0\u5f55 \u5c06 \u4fdd\u5b58 \u5728 \u524d\u9762 \u6307\u5b9a \u7684 \u8def\u5f84 \u4e2d \u3002   #   --------------   #   \u505c\u6b62 \u8bb0\u5f55   #   --------------   client . stop _ recorder ( )   \u5229\u7528 \u8bb0\u5f55   \u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u4eff\u771f \u5df2\u7ecf \u88ab \u8bb0\u5f55 \u5f55\u4e0b \u4e0b\u6765 \u5f55\u4e0b\u6765 \u8bb0\u5f55\u4e0b\u6765 \u3002 \u73b0\u5728 \uff0c \u662f \u65f6\u5019 \u68c0\u67e5 \u8bb0\u5f55 \uff0c \u627e\u5230 \u6700 \u5f15\u4eba \u6ce8\u76ee \u5f15\u4eba\u6ce8\u76ee \u7684 \u65f6\u523b \uff0c \u5e76 \u5229\u7528 \u5b83\u4eec \u3002 \u8fd9\u4e9b \u6b65\u9aa4 \u96c6\u4e2d \u5728 \u811a\u672c   tutorial _ replay . py   \u4e2d \u3002 \u8be5 \u5927\u7eb2 \u7531 \u6ce8\u91ca \u7684 \u4e0d\u540c \u4ee3\u7801 \u4ee3\u7801\u6bb5 \u6784\u6210 \u3002   \u73b0\u5728 \u662f \u8fd0\u884c \u65b0 \u4eff\u771f \u7684 \u65f6\u5019 \u4e86 \u3002   . / CarlaUE4 . sh   \u8981 \u91cd\u65b0 \u8fdb\u884c \u4eff\u771f \uff0c \u8bf7   \u9009\u62e9 \u4e00\u4e2a \u7247\u6bb5   \u5e76 \u8fd0\u884c \u5305\u542b \u64ad\u653e \u4ee3\u7801 \u7684 \u811a\u672c \u3002   python3   tuto _ replay . py   \u67e5\u8be2 \u4e8b\u4ef6   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u6863   \u4e2d \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u4e0d\u540c \u7684 \u67e5\u8be2 \u3002 \u603b\u4e4b \uff0c \u5b83\u4eec \u68c0\u7d22 \u7279\u5b9a \u4e8b\u4ef6 \u6216 \u5e27 \u7684 \u6570\u636e \u3002 \u4f7f\u7528 \u67e5\u8be2 \u6765 \u7814\u7a76 \u8bb0\u5f55 \u3002 \u627e\u5230 \u805a\u5149 \u5149\u706f \u805a\u5149\u706f \u65f6\u523b \uff0c \u8ffd\u8e2a \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u7684 \u5185\u5bb9 \u3002   #   --------------   #   Query   the   recording   #   --------------   #   Show   only   the   most   important   events   in   the   recording .   print ( client . show _ recorder _ file _ info ( \" ~ / tutorial / recorder / recording01 . log \" , False ) )   #   Show   actors   not   moving   1   meter   in   10   seconds .   print ( client . show _ recorder _ actors _ blocked ( \" ~ / tutorial / recorder / recording01 . log \" , 10 , 1 ) )   #   Filter   collisions   between   vehicles   ' v '   and   ' a '   any   other   type   of   actor .   print ( client . show _ recorder _ collisions ( \" ~ / tutorial / recorder / recording01 . log \" , ' v ' , ' a ' ) )   \u7b14\u8bb0   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u4e0d \u9700\u8981 \u6253\u5f00 \u5373\u53ef \u8fdb\u884c \u67e5\u8be2 \u3002   \u663e\u793a \u91cd\u8981 \u4e8b\u4ef6 \u7684 \u67e5\u8be2 \u3002 \u8fd9\u662f \u81ea\u6211 \u8f66\u8f86 \u4ea7\u751f \u7684 \u6846\u67b6 \u3002   \u67e5\u8be2 \u663e\u793a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u88ab \u963b\u6b62 \u3002 \u5728 \u6b64 \u4eff\u771f \u4e2d \uff0c \u81ea\u6211 \u8f66\u8f86 \u4fdd\u6301 \u963b\u585e \u72b6\u6001 \u963b\u585e\u72b6\u6001   100   \u79d2 \u3002   \u663e\u793a \u81ea\u6211 \u8f66\u8f86 \u4e0e \u201c \u5176\u4ed6 \u201d \u7c7b\u578b \u7684 \u5bf9\u8c61 \u4e4b\u95f4 \u7684 \u78b0\u649e \u7684 \u67e5\u8be2 \u3002   \u7b14\u8bb0   \u83b7\u53d6 \u6bcf \u4e00\u5e27 \u7684 \u8be6\u7ec6 \u6587\u4ef6 \u4fe1\u606f \u53ef\u80fd \u4f1a \u8ba9 \u4eba \u4e0d\u77e5 \u4e0d\u77e5\u6240\u63aa \u3002 \u5728 \u5176\u4ed6 \u67e5\u8be2 \u4e4b\u540e \u4f7f\u7528 \u5b83 \u6765 \u4e86\u89e3 \u8981 \u67e5\u770b \u7684 \u4f4d\u7f6e \u3002   \u9009\u62e9 \u4e00\u4e2a \u7247\u6bb5   \u67e5\u8be2 \u4e4b\u540e \uff0c \u5728 \u4e71\u641e \u4e4b\u524d \u56de\u653e \u4e00\u4e9b \u4eff\u771f \u7247\u6bb5 \u53ef\u80fd \u662f \u4e2a \u597d \u4e3b\u610f \u3002 \u8fd9\u6837 \u505a \u975e\u5e38 \u7b80\u5355 \u975e\u5e38\u7b80\u5355 \uff0c \u800c\u4e14 \u975e\u5e38 \u6709 \u5e2e\u52a9 \u3002 \u4e86\u89e3 \u6709\u5173 \u4eff\u771f \u7684 \u66f4 \u591a \u4fe1\u606f \u3002 \u8fd9\u662f \u4ee5\u540e \u8282\u7701 \u65f6\u95f4 \u8282\u7701\u65f6\u95f4 \u7684 \u6700\u4f73 \u65b9\u6cd5 \u3002   \u8be5 \u65b9\u6cd5 \u5141\u8bb8 \u9009\u62e9 \u64ad\u653e \u7684 \u5f00\u59cb \u70b9 \u548c \u7ed3\u675f \u70b9 \u4ee5\u53ca \u8981 \u8ddf\u968f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   #   --------------   #   Reenact   a   fragment   of   the   recording   #   --------------   client . replay _ file ( \" ~ / tutorial / recorder / recording01 . log \" , 45 , 10 , 0 )   \u4ee5\u4e0b \u662f \u73b0\u5728 \u53ef\u4ee5 \u505a \u7684 \u4e8b\u60c5 \u7684 \u5217\u8868 \u3002   \u4f7f\u7528 \u67e5\u8be2 \u4e2d \u7684 \u4fe1\u606f \u3002   \u627e\u51fa \u4e8b\u4ef6 \u4e2d \u6d89\u53ca \u7684 \u65f6\u523b \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u7136\u540e \u518d\u6b21 \u64ad\u653e \u3002 \u5728 \u4e8b\u4ef6 \u53d1\u751f \u524d \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u542f\u52a8 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002   \u8ddf\u968f \u4e0d\u540c \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u4e0d\u540c \u7684 \u89c6\u89d2 \u5c06 \u663e\u793a \u67e5\u8be2 \u4e2d\u672a \u5305\u542b \u7684 \u65b0 \u4e8b\u4ef6 \u3002   \u81ea\u7531 \u5730 \u89c2\u5bdf \u5468\u56f4 \u7684 \u60c5\u51b5 \u3002   \u5c06   actor _ id   \u8bbe \u4e3a   0   \uff0c \u5e76 \u83b7\u5f97 \u4eff\u771f \u7684 \u603b\u4f53 \u89c6\u56fe \u3002 \u501f\u52a9 \u8bb0\u5f55 \uff0c \u60a8 \u53ef\u4ee5 \u968f\u65f6 \u968f\u5730 \u968f\u65f6\u968f\u5730 \u3002   \u7b14\u8bb0   \u5f53 \u8bb0\u5f55 \u505c\u6b62 \u65f6 \uff0c \u4eff\u771f \u4e0d\u4f1a \u505c\u6b62 \u3002 \u884c\u4eba \u5c06 \u9759\u6b62 \u4e0d\u52a8 \u9759\u6b62\u4e0d\u52a8 \uff0c \u8f66\u8f86 \u5c06 \u7ee7\u7eed \u884c\u9a76 \u3002 \u5982\u679c \u65e5\u5fd7 \u7ed3\u675f \u6216 \u64ad\u653e \u5230\u8fbe \u6307\u5b9a \u7684 \u7ed3\u675f \u70b9 \uff0c \u5219 \u53ef\u80fd \u4f1a \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \u3002   \u68c0\u7d22 \u66f4 \u591a \u6570\u636e   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5c06 \u5728 \u6b64 \u4eff\u771f \u4e2d \u91cd\u65b0 \u521b\u5efa \u4e0e \u539f\u59cb \u6761\u4ef6 \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u7684 \u6761\u4ef6 \u3002 \u8fd9 \u786e\u4fdd \u4e86 \u4e0d\u540c \u64ad\u653e \u4e2d \u7684 \u6570\u636e \u4e00\u81f4 \u3002   \u6536\u96c6 \u91cd\u8981 \u65f6\u523b \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u4e8b\u4ef6 \u7684 \u5217\u8868 \u3002 \u9700\u8981 \u65f6 \u6dfb\u52a0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e76 \u56de\u653e \u4eff\u771f \u3002 \u8be5 \u8fc7\u7a0b \u4e0e \u4e4b\u524d \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u3002 \u811a\u672c   tutorial _ replay . py   \u63d0\u4f9b \u4e86 \u4e0d\u540c \u7684 \u793a\u4f8b \uff0c \u8fd9\u4e9b \u793a\u4f8b \u5df2 \u5728   \u201c \u8bbe\u7f6e \u9ad8\u7ea7 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u201d   \u90e8\u5206 \u4e2d \u8fdb\u884c \u4e86 \u5f7b\u5e95 \u89e3\u91ca \u3002 \u5176\u4ed6 \u5df2 \u5728   \u8bbe\u7f6e \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u90e8\u5206 \u4e2d \u8fdb\u884c \u4e86 \u89e3\u91ca \u3002   \u6839\u636e \u9700\u8981 \u6dfb\u52a0 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u591a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u6839\u636e \u9700\u8981 \u591a\u6b21 \u56de\u653e \u4eff\u771f \u5e76 \u68c0\u7d22 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u591a \u7684 \u6570\u636e \u3002   \u6539\u53d8 \u5929\u6c14   \u8bb0\u5f55 \u5c06 \u91cd\u73b0 \u539f\u59cb \u7684 \u5929\u6c14 \u72b6\u51b5 \u5929\u6c14\u72b6\u51b5 \u3002 \u7136\u800c \uff0c \u8fd9\u4e9b \u53ef\u4ee5 \u968f\u610f \u6539\u53d8 \u3002 \u5728 \u4fdd\u6301 \u5176\u4f59 \u4e8b\u4ef6 \u76f8\u540c \u7684 \u60c5\u51b5 \u4e0b \uff0c \u6bd4\u8f83 \u5b83 \u5982\u4f55 \u5f71\u54cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u80fd \u4f1a \u5f88 \u6709\u8da3 \u3002   \u83b7\u53d6 \u5f53\u524d \u5929\u6c14 \u5e76 \u81ea\u7531 \u4fee\u6539 \u3002 \u8bf7 \u8bb0\u4f4f \uff0c   carla . WeatherParameters   \u6709 \u4e00\u4e9b \u53ef\u7528 \u7684 \u9884\u8bbe \u3002 \u8be5 \u811a\u672c \u4f1a \u5c06 \u73af\u5883 \u66f4 \u6539\u4e3a \u6709\u96fe \u7684 \u65e5\u843d \u3002   #   --------------   #   \u4e3a \u56de\u653e \u6539\u53d8 \u5929\u6c14   #   --------------   weather   =   world . get _ weather ( )   weather . sun _ altitude _ angle   =   - 30   weather . fog _ density   =   65   weather . fog _ distance   =   10   world . set _ weather ( weather )   \u5c1d\u8bd5 \u65b0 \u7684 \u7ed3\u679c   \u65b0 \u7684 \u4eff\u771f \u4e0e \u8bb0\u5f55 \u6ca1\u6709 \u4e25\u683c \u7684 \u8054\u7cfb \u3002 \u5b83 \u53ef\u4ee5 \u968f\u65f6 \u4fee\u6539 \uff0c \u5373\u4f7f \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u505c\u6b62 \uff0c \u4eff\u771f \u4e5f \u4f1a \u7ee7\u7eed \u3002   \u8fd9 \u5bf9\u4e8e \u7528\u6237 \u6765\u8bf4 \u662f \u6709\u5229 \u53ef\u56fe \u5229\u53ef\u56fe \u6709\u5229\u53ef\u56fe \u7684 \u3002 \u4f8b\u5982 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u56de\u653e \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u524d \u7684 \u4eff\u771f \u5e76 \u751f\u6210 \u6216 \u9500\u6bc1 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6765 \u5f3a\u5236 \u6216 \u907f\u514d \u78b0\u649e \u3002 \u5728 \u7279\u5b9a \u65f6\u523b \u7ed3\u675f \u8bb0\u5f55 \u4e5f \u5f88 \u6709\u7528 \u3002 \u8fd9\u6837 \u505a \uff0c \u8f66\u8f86 \u53ef\u80fd \u4f1a \u91c7\u53d6 \u4e0d\u540c \u7684 \u8def\u5f84 \u3002   \u6539\u53d8 \u6761\u4ef6 \u5e76 \u6270\u4e71 \u4eff\u771f \u3002 \u6ca1\u6709 \u4ec0\u4e48 \u53ef \u5931\u53bb \u7684 \uff0c \u56e0\u4e3a \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5141\u8bb8 \u521d\u59cb \u4eff\u771f \u59cb\u7ec8 \u53ef\u4ee5 \u91cd\u65b0 \u8fdb\u884c \u3002 \u8fd9\u662f \u5145\u5206 \u5206\u53d1 \u53d1\u6325 \u5145\u5206\u53d1\u6325   Carla   \u6f5c\u529b \u7684 \u5173\u952e \u3002   \u6559\u7a0b \u811a\u672c   \u4e0b\u9762 \u662f \u6536\u96c6 \u672c \u6559\u7a0b \u4ee3\u7801 \u7247\u6bb5 \u7684 \u4e24\u4e2a \u811a\u672c \u3002 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4ee3\u7801 \u90fd \u5e26\u6709 \u6ce8\u91ca \uff0c \u56e0\u4e3a \u9700\u8981 \u5bf9 \u5176 \u8fdb\u884c \u4fee\u6539 \u4ee5 \u9002\u5e94 \u7279\u5b9a \u76ee\u7684 \u3002   tutorial _ ego . py   import   glob   import   os   import   sys   import   time   try :   sys . path . append ( glob . glob ( ' .. / carla / dist / carla - * % d .% d -% s . egg '   %   (   sys . version _ info . major ,   sys . version _ info . minor ,   ' win - amd64 '   if   os . name   = =   ' nt '   else   ' linux - x86 _ 64 ' ) ) [ 0 ] )   except   IndexError :   pass   import   carla   import   argparse   import   logging   import   random   def   main ( ) :   argparser   =   argparse . ArgumentParser (   description = __ doc __ )   argparser . add _ argument (   ' -- host ' ,   metavar = ' H ' ,   default = ' 127.0 . 0.1 ' ,   help = ' IP   of   the   host   server   ( default :   127.0 . 0.1 ) ' )   argparser . add _ argument (   ' - p ' ,   ' -- port ' ,   metavar = ' P ' ,   default = 2000 ,   type = int ,   help = ' TCP   port   to   listen   to   ( default :   2000 ) ' )   args   =   argparser . parse _ args ( )   logging . basicConfig ( format = ' % ( levelname ) s :   % ( message ) s ' ,   level = logging . INFO )   client   =   carla . Client ( args . host ,   args . port )   client . set _ timeout ( 10.0 )   try :   world   =   client . get _ world ( )   ego _ vehicle   =   None   ego _ cam   =   None   ego _ col   =   None   ego _ lane   =   None   ego _ obs   =   None   ego _ gnss   =   None   ego _ imu   =   None   #   --------------   #   Start   recording   #   --------------   \" \" \"   client . start _ recorder ( ' ~ / tutorial / recorder / recording01 . log ' )   \" \" \"   #   --------------   #   Spawn   ego   vehicle   #   --------------   \" \" \"   ego _ bp   =   world . get _ blueprint _ library ( ) . find ( ' vehicle . tesla . model3 ' )   ego _ bp . set _ attribute ( ' role _ name ' , ' ego ' )   print ( ' \\ nEgo   role _ name   is   set ' )   ego _ color   =   random . choice ( ego _ bp . get _ attribute ( ' color ' ) . recommended _ values )   ego _ bp . set _ attribute ( ' color ' , ego _ color )   print ( ' \\ nEgo   color   is   set ' )   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   number _ of _ spawn _ points   =   len ( spawn _ points )   if   0   <   number _ of _ spawn _ points :   random . shuffle ( spawn _ points )   ego _ transform   =   spawn _ points [ 0 ]   ego _ vehicle   =   world . spawn _ actor ( ego _ bp , ego _ transform )   print ( ' \\ nEgo   is   spawned ' )   else :   logging . warning ( ' Could   not   found   any   spawn   points ' )   \" \" \"   #   --------------   #   Add   a   RGB   camera   sensor   to   ego   vehicle .   #   --------------   \" \" \"   cam _ bp   =   None   cam _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   cam _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   cam _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   cam _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   cam _ location   =   carla . Location ( 2 , 0 , 1 )   cam _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   cam _ transform   =   carla . Transform ( cam _ location , cam _ rotation )   ego _ cam   =   world . spawn _ actor ( cam _ bp , cam _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   ego _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' ~ / tutorial / output / %. 6d . jpg '   %   image . frame ) )   \" \" \"   #   --------------   #   Add   collision   sensor   to   ego   vehicle .   #   --------------   \" \" \"   col _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . collision ' )   col _ location   =   carla . Location ( 0 , 0 , 0 )   col _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   col _ transform   =   carla . Transform ( col _ location , col _ rotation )   ego _ col   =   world . spawn _ actor ( col _ bp , col _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   col _ callback ( colli ) :   print ( \" Collision   detected : \\ n \" + str ( colli ) + ' \\ n ' )   ego _ col . listen ( lambda   colli :   col _ callback ( colli ) )   \" \" \"   #   --------------   #   Add   Lane   invasion   sensor   to   ego   vehicle .   #   --------------   \" \" \"   lane _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . lane _ invasion ' )   lane _ location   =   carla . Location ( 0 , 0 , 0 )   lane _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   lane _ transform   =   carla . Transform ( lane _ location , lane _ rotation )   ego _ lane   =   world . spawn _ actor ( lane _ bp , lane _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   lane _ callback ( lane ) :   print ( \" Lane   invasion   detected : \\ n \" + str ( lane ) + ' \\ n ' )   ego _ lane . listen ( lambda   lane :   lane _ callback ( lane ) )   \" \" \"   #   --------------   #   Add   Obstacle   sensor   to   ego   vehicle .   #   --------------   \" \" \"   obs _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . obstacle ' )   obs _ bp . set _ attribute ( \" only _ dynamics \" , str ( True ) )   obs _ location   =   carla . Location ( 0 , 0 , 0 )   obs _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   obs _ transform   =   carla . Transform ( obs _ location , obs _ rotation )   ego _ obs   =   world . spawn _ actor ( obs _ bp , obs _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   obs _ callback ( obs ) :   print ( \" Obstacle   detected : \\ n \" + str ( obs ) + ' \\ n ' )   ego _ obs . listen ( lambda   obs :   obs _ callback ( obs ) )   \" \" \"   #   --------------   #   \u7ed9 \u81ea\u6211 \u8f66\u8f86 \u6dfb\u52a0 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   #   --------------   \" \" \"   gnss _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . gnss ' )   gnss _ location   =   carla . Location ( 0 , 0 , 0 )   gnss _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   gnss _ transform   =   carla . Transform ( gnss _ location , gnss _ rotation )   gnss _ bp . set _ attribute ( \" sensor _ tick \" , str ( 3.0 ) )   ego _ gnss   =   world . spawn _ actor ( gnss _ bp , gnss _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   gnss _ callback ( gnss ) :   print ( \" GNSS   measure : \\ n \" + str ( gnss ) + ' \\ n ' )   ego _ gnss . listen ( lambda   gnss :   gnss _ callback ( gnss ) )   \" \" \"   #   --------------   #   Add   IMU   sensor   to   ego   vehicle .   #   --------------   \" \" \"   imu _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . imu ' )   imu _ location   =   carla . Location ( 0 , 0 , 0 )   imu _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   imu _ transform   =   carla . Transform ( imu _ location , imu _ rotation )   imu _ bp . set _ attribute ( \" sensor _ tick \" , str ( 3.0 ) )   ego _ imu   =   world . spawn _ actor ( imu _ bp , imu _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   imu _ callback ( imu ) :   print ( \" IMU   measure : \\ n \" + str ( imu ) + ' \\ n ' )   ego _ imu . listen ( lambda   imu :   imu _ callback ( imu ) )   \" \" \"   #   --------------   #   Place   spectator   on   ego   spawning   #   --------------   \" \" \"   spectator   =   world . get _ spectator ( )   world _ snapshot   =   world . wait _ for _ tick ( )   spectator . set _ transform ( ego _ vehicle . get _ transform ( ) )   \" \" \"   #   --------------   #   Enable   autopilot   for   ego   vehicle   #   --------------   \" \" \"   ego _ vehicle . set _ autopilot ( True )   \" \" \"   #   --------------   #   Game   loop .   Prevents   the   script   from   finishing .   #   --------------   while   True :   world _ snapshot   =   world . wait _ for _ tick ( )   finally :   #   --------------   #   Stop   recording   and   destroy   actors   #   --------------   client . stop _ recorder ( )   if   ego _ vehicle   is   not   None :   if   ego _ cam   is   not   None :   ego _ cam . stop ( )   ego _ cam . destroy ( )   if   ego _ col   is   not   None :   ego _ col . stop ( )   ego _ col . destroy ( )   if   ego _ lane   is   not   None :   ego _ lane . stop ( )   ego _ lane . destroy ( )   if   ego _ obs   is   not   None :   ego _ obs . stop ( )   ego _ obs . destroy ( )   if   ego _ gnss   is   not   None :   ego _ gnss . stop ( )   ego _ gnss . destroy ( )   if   ego _ imu   is   not   None :   ego _ imu . stop ( )   ego _ imu . destroy ( )   ego _ vehicle . destroy ( )   if   __ name __   = =   ' __ main __ ' :   try :   main ( )   except   KeyboardInterrupt :   pass   finally :   print ( ' \\ nDone   with   tutorial _ ego . ' )   tutorial _ replay . py   import   glob   import   os   import   sys   import   time   import   math   import   weakref   try :   sys . path . append ( glob . glob ( ' .. / carla / dist / carla - * % d .% d -% s . egg '   %   (   sys . version _ info . major ,   sys . version _ info . minor ,   ' win - amd64 '   if   os . name   = =   ' nt '   else   ' linux - x86 _ 64 ' ) ) [ 0 ] )   except   IndexError :   pass   import   carla   import   argparse   import   logging   import   random   def   main ( ) :   client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   client . set _ timeout ( 10.0 )   try :   world   =   client . get _ world ( )   ego _ vehicle   =   None   ego _ cam   =   None   depth _ cam   =   None   depth _ cam02   =   None   sem _ cam   =   None   rad _ ego   =   None   lidar _ sen   =   None   #   --------------   #   Query   the   recording   #   --------------   \" \" \"   #   Show   the   most   important   events   in   the   recording .   print ( client . show _ recorder _ file _ info ( \" ~ / tutorial / recorder / recording05 . log \" , False ) )   #   Show   actors   not   moving   1   meter   in   10   seconds .   # print ( client . show _ recorder _ actors _ blocked ( \" ~ / tutorial / recorder / recording04 . log \" , 10 , 1 ) )   #   Show   collisions   between   any   type   of   actor .   # print ( client . show _ recorder _ collisions ( \" ~ / tutorial / recorder / recording04 . log \" , ' v ' , ' a ' ) )   \" \" \"   #   --------------   #   Reenact   a   fragment   of   the   recording   #   --------------   \" \" \"   client . replay _ file ( \" ~ / tutorial / recorder / recording03 . log \" , 0 , 30 , 0 )   \" \" \"   #   --------------   #   Set   playback   simulation   conditions   #   --------------   \" \" \"   ego _ vehicle   =   world . get _ actor ( 322 )   # Store   the   ID   from   the   simulation   or   query   the   recording   to   find   out   \" \" \"   #   --------------   #   Place   spectator   on   ego   spawning   #   --------------   \" \" \"   spectator   =   world . get _ spectator ( )   world _ snapshot   =   world . wait _ for _ tick ( )   spectator . set _ transform ( ego _ vehicle . get _ transform ( ) )   \" \" \"   #   --------------   #   Change   weather   conditions   #   --------------   \" \" \"   weather   =   world . get _ weather ( )   weather . sun _ altitude _ angle   =   - 30   weather . fog _ density   =   65   weather . fog _ distance   =   10   world . set _ weather ( weather )   \" \" \"   #   --------------   #   Add   a   RGB   camera   to   ego   vehicle .   #   --------------   \" \" \"   cam _ bp   =   None   cam _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   cam _ location   =   carla . Location ( 2 , 0 , 1 )   cam _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   cam _ transform   =   carla . Transform ( cam _ location , cam _ rotation )   cam _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   cam _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   cam _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   ego _ cam   =   world . spawn _ actor ( cam _ bp , cam _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   ego _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' ~ / tutorial / new _ rgb _ output / %. 6d . jpg '   %   image . frame ) )   \" \" \"   #   --------------   #   Add   a   Logarithmic   Depth   camera   to   ego   vehicle .   #   --------------   \" \" \"   depth _ cam   =   None   depth _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . depth ' )   depth _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   depth _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   depth _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   depth _ location   =   carla . Location ( 2 , 0 , 1 )   depth _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   depth _ transform   =   carla . Transform ( depth _ location , depth _ rotation )   depth _ cam   =   world . spawn _ actor ( depth _ bp , depth _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   #   This   time ,   a   color   converter   is   applied   to   the   image ,   to   get   the   semantic   segmentation   view   depth _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' ~ / tutorial / de _ log / %. 6d . jpg '   %   image . frame , carla . ColorConverter . LogarithmicDepth ) )   \" \" \"   #   --------------   #   Add   a   Depth   camera   to   ego   vehicle .   #   --------------   \" \" \"   depth _ cam02   =   None   depth _ bp02   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . depth ' )   depth _ bp02 . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   depth _ bp02 . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   depth _ bp02 . set _ attribute ( \" fov \" , str ( 105 ) )   depth _ location02   =   carla . Location ( 2 , 0 , 1 )   depth _ rotation02   =   carla . Rotation ( 0 , 180 , 0 )   depth _ transform02   =   carla . Transform ( depth _ location02 , depth _ rotation02 )   depth _ cam02   =   world . spawn _ actor ( depth _ bp02 , depth _ transform02 , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   #   This   time ,   a   color   converter   is   applied   to   the   image ,   to   get   the   semantic   segmentation   view   depth _ cam02 . listen ( lambda   image :   image . save _ to _ disk ( ' ~ / tutorial / de / %. 6d . jpg '   %   image . frame , carla . ColorConverter . Depth ) )   \" \" \"   #   --------------   #   Add   a   new   semantic   segmentation   camera   to   ego   vehicle   #   --------------   \" \" \"   sem _ cam   =   None   sem _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . semantic _ segmentation ' )   sem _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   sem _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   sem _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   sem _ location   =   carla . Location ( 2 , 0 , 1 )   sem _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   sem _ transform   =   carla . Transform ( sem _ location , sem _ rotation )   sem _ cam   =   world . spawn _ actor ( sem _ bp , sem _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   #   This   time ,   a   color   converter   is   applied   to   the   image ,   to   get   the   semantic   segmentation   view   sem _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' ~ / tutorial / new _ sem _ output / %. 6d . jpg '   %   image . frame , carla . ColorConverter . CityScapesPalette ) )   \" \" \"   #   --------------   #   Add   a   new   radar   sensor   to   ego   vehicle   #   --------------   \" \" \"   rad _ cam   =   None   rad _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . radar ' )   rad _ bp . set _ attribute ( ' horizontal _ fov ' ,   str ( 35 ) )   rad _ bp . set _ attribute ( ' vertical _ fov ' ,   str ( 20 ) )   rad _ bp . set _ attribute ( ' range ' ,   str ( 20 ) )   rad _ location   =   carla . Location ( x = 2.8 ,   z = 1.0 )   rad _ rotation   =   carla . Rotation ( pitch = 5 )   rad _ transform   =   carla . Transform ( rad _ location , rad _ rotation )   rad _ ego   =   world . spawn _ actor ( rad _ bp , rad _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   rad _ callback ( radar _ data ) :   velocity _ range   =   7.5   #   m / s   current _ rot   =   radar _ data . transform . rotation   for   detect   in   radar _ data :   azi   =   math . degrees ( detect . azimuth )   alt   =   math . degrees ( detect . altitude )   #   The   0.25   adjusts   a   bit   the   distance   so   the   dots   can   #   be   properly   seen   fw _ vec   =   carla . Vector3D ( x = detect . depth   -   0.25 )   carla . Transform (   carla . Location ( ) ,   carla . Rotation (   pitch = current _ rot . pitch   +   alt ,   yaw = current _ rot . yaw   +   azi ,   roll = current _ rot . roll ) ) . transform ( fw _ vec )   def   clamp ( min _ v ,   max _ v ,   value ) :   return   max ( min _ v ,   min ( value ,   max _ v ) )   norm _ velocity   =   detect . velocity   /   velocity _ range   #   range   [ - 1 ,   1 ]   r   =   int ( clamp ( 0.0 ,   1.0 ,   1.0   -   norm _ velocity )   *   255.0 )   g   =   int ( clamp ( 0.0 ,   1.0 ,   1.0   -   abs ( norm _ velocity ) )   *   255.0 )   b   =   int ( abs ( clamp ( -   1.0 ,   0.0 ,   -   1.0   -   norm _ velocity ) )   *   255.0 )   world . debug . draw _ point (   radar _ data . transform . location   +   fw _ vec ,   size = 0.075 ,   life _ time = 0.06 ,   persistent _ lines = False ,   color = carla . Color ( r ,   g ,   b ) )   rad _ ego . listen ( lambda   radar _ data :   rad _ callback ( radar _ data ) )   \" \" \"   #   --------------   #   Add   a   new   LIDAR   sensor   to   ego   vehicle   #   --------------   \" \" \"   lidar _ cam   =   None   lidar _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . lidar . ray _ cast ' )   lidar _ bp . set _ attribute ( ' channels ' , str ( 32 ) )   lidar _ bp . set _ attribute ( ' points _ per _ second ' , str ( 90000 ) )   lidar _ bp . set _ attribute ( ' rotation _ frequency ' , str ( 40 ) )   lidar _ bp . set _ attribute ( ' range ' , str ( 20 ) )   lidar _ location   =   carla . Location ( 0 , 0 , 2 )   lidar _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   lidar _ transform   =   carla . Transform ( lidar _ location , lidar _ rotation )   lidar _ sen   =   world . spawn _ actor ( lidar _ bp , lidar _ transform , attach _ to = ego _ vehicle , attachment _ type = carla . AttachmentType . Rigid )   lidar _ sen . listen ( lambda   point _ cloud :   point _ cloud . save _ to _ disk ( ' / home / adas / Desktop / tutorial / new _ lidar _ output / %. 6d . ply '   %   point _ cloud . frame ) )   \" \" \"   #   --------------   #   Game   loop .   Prevents   the   script   from   finishing .   #   --------------   while   True :   world _ snapshot   =   world . wait _ for _ tick ( )   finally :   #   --------------   #   Destroy   actors   #   --------------   if   ego _ vehicle   is   not   None :   if   ego _ cam   is   not   None :   ego _ cam . stop ( )   ego _ cam . destroy ( )   if   depth _ cam   is   not   None :   depth _ cam . stop ( )   depth _ cam . destroy ( )   if   sem _ cam   is   not   None :   sem _ cam . stop ( )   sem _ cam . destroy ( )   if   rad _ ego   is   not   None :   rad _ ego . stop ( )   rad _ ego . destroy ( )   if   lidar _ sen   is   not   None :   lidar _ sen . stop ( )   lidar _ sen . destroy ( )   ego _ vehicle . destroy ( )   print ( ' \\ nNothing   to   be   done . ' )   if   __ name __   = =   ' __ main __ ' :   try :   main ( )   except   KeyboardInterrupt :   pass   finally :   print ( ' \\ nDone   with   tutorial _ replay . ' )   \u8fd9\u662f \u5173\u4e8e \u5982\u4f55 \u4ece \u4eff\u771f \u4e2d \u6b63\u786e \u68c0\u7d22 \u6570\u636e \u7684 \u603b\u7ed3 \u3002 \u786e\u4fdd \u5c1d\u8bd5 \u4e00\u4e0b \uff0c \u6539\u53d8 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u6761\u4ef6 \uff0c \u5c1d\u8bd5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e \u3002 \u53ef\u80fd \u53ef\u80fd\u6027 \u662f \u6b62\u5883 \u65e0\u6b62\u5883 \u3002   \u8bf7 \u8bbf\u95ee \u8bba\u575b \uff0c \u53d1\u8868 \u5728 \u9605\u8bfb \u8fc7\u7a0b \u4e2d \u60f3\u5230 \u7684 \u4efb\u4f55 \u7591\u95ee \u6216 \u5efa\u8bae \u3002   Carla   \u8bba\u575b","title":"\u68c0\u7d22 \u4eff\u771f \u6570\u636e"},{"location":"tuto_G_retrieve_data/#_1","text":"\u5728   Carla   \u4e2d \uff0c \u5b66\u4e60 \u4e00\u79cd \u6709\u6548 \u7684 \u65b9\u6cd5 \u6765 \u68c0\u7d22 \u4eff\u771f \u6570\u636e \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002 \u8fd9\u4e2a \u6574\u4f53 \u6559\u7a0b \u9002\u5408 \u65b0\u624b \u548c \u7ecf\u9a8c \u4e30\u5bcc \u7ecf\u9a8c\u4e30\u5bcc \u7684 \u7528\u6237 \u3002 \u5b83 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \uff0c \u9010\u6e10 \u6df1\u5165 \u63a2\u8ba8 \u6df1\u5165\u63a2\u8ba8   Carla   \u4e2d \u53ef\u7528 \u7684 \u8bb8\u591a \u9009\u9879 \u3002   \u9996\u5148 \uff0c \u4f7f\u7528 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8bbe\u7f6e \u548c \u6d41\u91cf \u521d\u59cb \u521d\u59cb\u5316 \u4eff\u771f \u3002 \u4e00\u8f86 \u81ea\u6211 \u8f66\u8f86 \u5c06 \u5728 \u57ce\u5e02 \u4e2d \u6f2b\u6e38 \uff0c \u53ef\u9009 \u53ef\u9009\u5730 \u914d\u5907 \u4e00\u4e9b \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u8bb0\u5f55 \u4eff\u771f \uff0c \u4ee5\u4fbf \u4ee5\u540e \u67e5\u8be2 \u4ee5 \u627e\u5230 \u4eae\u70b9 \u3002 \u4e4b\u540e \uff0c \u539f\u59cb \u4eff\u771f \u88ab \u56de\u653e \uff0c \u5e76 \u88ab \u5229\u7528 \u5230 \u6781\u9650 \u3002 \u53ef\u4ee5 \u6dfb\u52a0 \u65b0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6765 \u68c0\u7d22 \u4e00\u81f4 \u7684 \u6570\u636e \u3002 \u5929\u6c14 \u6761\u4ef6 \u662f \u53ef\u4ee5 \u6539\u53d8 \u7684 \u3002 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u751a\u81f3 \u53ef\u4ee5 \u7528\u4e8e \u6d4b\u8bd5 \u5177\u6709 \u4e0d\u540c \u8f93\u51fa \u7684 \u7279\u5b9a \u573a\u666f \u3002   \u6982\u8ff0   \u8bbe\u7f6e \u4eff\u771f   \u5730\u56fe \u8bbe\u7f6e   \u5929\u6c14 \u8bbe\u7f6e   \u8bbe\u7f6e \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf   Carla   \u4ea4\u901a \u548c \u884c\u4eba   SUMO   \u534f\u540c \u4eff\u771f \u4ea4\u901a   \u8bbe\u7f6e \u81ea\u6211 \u8f66\u8f86   \u751f\u6210 \u81ea\u6211 \u8f66\u8f86   \u653e\u7f6e \u89c2\u5bdf \u89c2\u5bdf\u8005   \u8bbe\u7f6e \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   RGB   \u76f8\u673a   \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668   \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u8bbe\u7f6e \u9ad8\u7ea7 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u6df1\u5ea6 \u76f8\u673a   \u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5149\u7ebf \u6295\u5c04 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u975e \u6e32\u67d3 \u6a21\u5f0f   \u5feb\u901f \u4eff\u771f   \u65e0\u9700 \u6e32\u67d3 \u7684 \u624b\u52a8 \u63a7\u5236   \u8bb0\u5f55 \u548c \u68c0\u7d22 \u6570\u636e   \u5f00\u59cb \u8bb0\u5f55   \u6355\u83b7 \u5e76 \u8bb0\u5f55   \u505c\u6b62 \u8bb0\u5f55   \u5229\u7528 \u8bb0\u5f55   \u67e5\u8be2 \u4e8b\u4ef6   \u9009\u62e9 \u4e00\u4e2a \u7247\u6bb5   \u68c0\u7d22 \u66f4 \u591a \u6570\u636e   \u6539\u53d8 \u5929\u6c14   \u5c1d\u8bd5 \u65b0 \u7684 \u7ed3\u679c   \u6559\u7a0b \u811a\u672c","title":"\u68c0\u7d22 \u4eff\u771f \u6570\u636e"},{"location":"tuto_G_retrieve_data/#_2","text":"\u5728 \u68c0\u7d22 \u4eff\u771f \u6570\u636e \u7684 \u8fc7\u7a0b \u4e2d \u5b58\u5728 \u4e00\u4e9b \u5e38\u89c1 \u9519\u8bef \u3002 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e2d \u5145\u65a5 \u7740 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u5b58\u50a8 \u65e0\u7528 \u7684 \u6570\u636e \u6216 \u52aa\u529b \u5bfb\u627e \u7279\u5b9a \u4e8b\u4ef6 \u90fd \u662f \u4e00\u4e9b \u4f8b\u5b50 \u3002 \u7136\u800c \uff0c \u53ef\u4ee5 \u63d0\u4f9b \u8be5 \u8fc7\u7a0b \u7684 \u4e00\u4e9b \u6982\u8981 \u3002 \u76ee\u6807 \u662f \u786e\u4fdd \u6570\u636e \u53ef\u4ee5 \u68c0\u7d22 \u548c \u590d\u5236 \uff0c \u5e76\u4e14 \u53ef\u4ee5 \u968f\u610f \u68c0\u67e5 \u68c0\u67e5\u548c \u66f4\u6539 \u4eff\u771f \u3002   \u7b14\u8bb0   \u672c \u6559\u7a0b \u4f7f\u7528   Carla   0.9 . 8   deb   \u5305   \u3002 \u6839\u636e \u60a8 \u7684   Carla   \u7248\u672c \u548c \u5b89\u88c5 \uff0c \u53ef\u80fd \u4f1a \u6709 \u7ec6\u5fae \u7684 \u53d8\u5316 \uff0c \u7279\u522b \u662f \u5728 \u8def\u5f84 \u65b9\u9762 \u3002   \u672c \u6559\u7a0b \u4e3a \u4e0d\u540c \u6b65\u9aa4 \u63d0\u4f9b \u4e86 \u591a\u79cd \u9009\u9879 \u3002 \u4e00\u76f4 \u4ee5\u6765 \uff0c \u90fd \u4f1a \u63d0\u5230 \u4e0d\u540c \u7684 \u811a\u672c \u3002 \u5e76 \u4e0d\u662f \u6240\u6709 \u7684 \u90fd \u4f1a \u88ab \u4f7f\u7528 \uff0c \u8fd9 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u5177\u4f53 \u7684 \u7528\u4f8b \u3002 \u5176\u4e2d \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u5df2 \u5728   Carla   \u4e2d \u63d0\u4f9b \u7528\u4e8e \u901a\u7528 \u76ee\u7684 \u3002   config . py   \u66f4\u6539 \u4eff\u771f \u8bbe\u7f6e \u3002 \u5730\u56fe \u3001 \u6e32\u67d3 \u9009\u9879 \u3001 \u8bbe\u7f6e \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f ...   carla / PythonAPI / util / config . py   dynamic _ weather . py   \u521b\u5efa \u6709\u8da3 \u7684 \u5929\u6c14 \u6761\u4ef6 \u3002   carla / PythonAPI / examples / dynamic _ weather . py   spawn _ npc . py   spawn _ npc . py \u751f\u6210 \u4e00\u4e9b \u4eba\u5de5 \u667a\u80fd \u4eba\u5de5\u667a\u80fd \u63a7\u5236 \u7684 \u8f66\u8f86 \u548c \u884c\u4eba \u3002   carla / PythonAPI / examples / spawn _ npc . py   manual _ control . py   \u751f\u6210 \u4e00\u4e2a \u81ea\u6211 \u8f66\u8f86 \uff0c \u5e76 \u63d0\u4f9b \u5bf9 \u5176 \u7684 \u63a7\u5236 \u3002   carla / PythonAPI / examples / manual _ control . py   \u4f46\u662f \uff0c \u6559\u7a0b \u4e2d \u63d0\u5230 \u7684 \u4e24\u4e2a \u811a\u672c \u5728   Carla   \u4e2d \u627e \u4e0d\u5230 \u3002 \u5b83\u4eec \u5305\u542b \u5f15\u7528 \u7684 \u4ee3\u7801 \u7247\u6bb5 \u3002 \u8fd9\u6709 \u53cc\u91cd \u76ee\u7684 \u3002 \u9996\u5148 \uff0c \u9f13\u52b1 \u7528\u6237 \u6784\u5efa \u81ea\u5df1 \u7684 \u811a\u672c \u3002 \u5145\u5206 \u7406\u89e3 \u4ee3\u7801 \u7684 \u4f5c\u7528 \u975e\u5e38 \u91cd\u8981 \u3002 \u9664\u6b64 \u4e4b\u5916 \u9664\u6b64\u4e4b\u5916 \uff0c \u672c \u6559\u7a0b \u53ea\u662f \u4e00\u4e2a \u5927\u7eb2 \uff0c \u53ef\u80fd \u800c\u4e14 \u5e94\u8be5 \u6839\u636e \u7528\u6237 \u7684 \u559c\u597d \u800c \u6709 \u5f88\u5927 \u7684 \u4e0d\u540c \u3002 \u8fd9 \u4e24\u4e2a \u811a\u672c \u53ea\u662f \u4e00\u4e2a \u793a\u4f8b \u3002   tutorial _ ego . py   \u751f\u6210 \u5e26\u6709 \u4e00\u4e9b \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u81ea\u6211 \u8f66\u8f86 \uff0c \u5e76 \u542f\u7528 \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u3002 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u88ab \u653e\u7f6e \u5728 \u751f\u6210 \u4f4d\u7f6e \u3002 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u4ece \u4e00 \u5f00\u59cb \u5c31 \u542f\u52a8 \uff0c \u5e76 \u5728 \u811a\u672c \u5b8c\u6210 \u65f6 \u505c\u6b62 \u3002   tutorial _ replay . py   \u91cd\u65b0 \u6267\u884c   tutorial _ ego . py   \u8bb0\u5f55 \u7684 \u4eff\u771f \u3002 \u6709 \u4e0d\u540c \u7684 \u4ee3\u7801 \u7247\u6bb5 \u53ef\u4ee5 \u67e5\u8be2 \u8bb0\u5f55 \u3001 \u751f\u6210 \u4e00\u4e9b \u9ad8\u7ea7 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3001 \u6539\u53d8 \u5929\u6c14 \u6761\u4ef6 \u4ee5\u53ca \u91cd\u65b0 \u6267\u884c \u8bb0\u5f55 \u8bb0\u5f55\u7247 \u6bb5 \u3002   \u5b8c\u6574 \u7684 \u4ee3\u7801 \u53ef\u4ee5 \u5728 \u6559\u7a0b \u7684 \u6700\u540e \u90e8\u5206 \u627e\u5230 \u3002 \u8bf7 \u8bb0\u4f4f \uff0c \u8fd9\u4e9b \u5e76 \u4e0d \u4e25\u683c \uff0c \u800c\u662f \u53ef\u4ee5 \u5b9a\u5236 \u7684 \u3002 \u5728   Carla   \u4e2d \u68c0\u7d22 \u6570\u636e \u7684 \u529f\u80fd \u6b63\u5982 \u7528\u6237 \u6240 \u5e0c\u671b \u7684 \u90a3\u6837 \u5f3a\u5927 \u3002   \u91cd\u8981   \u672c \u6559\u7a0b \u9700\u8981 \u4e00\u4e9b   Python   \u77e5\u8bc6 \u3002","title":"\u6982\u8ff0  "},{"location":"tuto_G_retrieve_data/#_3","text":"\u8981 \u505a \u7684 \u7b2c\u4e00 \u4e00\u4ef6 \u7b2c\u4e00\u4ef6 \u4e8b\u662f \u5c06 \u4eff\u771f \u8bbe\u7f6e \u4e3a \u6240 \u9700 \u7684 \u73af\u5883 \u3002   \u8fd0\u884c   Carla \u3002   cd   / opt / carla / bin   . / CarlaUE . sh","title":"\u8bbe\u7f6e \u4eff\u771f  "},{"location":"tuto_G_retrieve_data/#_4","text":"\u9009\u62e9 \u8981 \u8fd0\u884c \u4eff\u771f \u7684 \u5730\u56fe \u3002 \u67e5\u770b   \u5730\u56fe \u6587\u6863   \u4ee5 \u4e86\u89e3 \u6709\u5173 \u5176 \u7279\u5b9a \u5c5e\u6027 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002 \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u9009\u62e9   Town07   \u3002   \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \u3002 \u4f7f\u7528   config . py   \u811a\u672c \u66f4\u6539 \u5730\u56fe \u3002   cd   / opt / carla / PythonAPI / utils   python3   config . py   -- map   Town01   \u8be5 \u811a\u672c \u53ef\u4ee5 \u542f\u7528 \u4e0d\u540c \u7684 \u8bbe\u7f6e \u3002 \u5176\u4e2d \u4e00\u4e9b \u5c06 \u5728 \u6559\u7a0b \u4e2d \u63d0\u53ca \uff0c \u53e6 \u4e00\u4e9b \u4e00\u4e9b\u5219 \u4e0d\u4f1a \u3002 \u4e0b\u9762 \u6709 \u4e00\u4e2a \u7b80\u77ed \u7684 \u603b\u7ed3 \u3002   config . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   -- host   H   IP   of   the   host   Carla   Simulator   ( default :   localhost )   - p   P ,   -- port   P   TCP   port   of   Carla   Simulator   ( default :   2000 )   - d ,   -- default   set   default   settings   - m   MAP ,   -- map   MAP   load   a   new   map ,   use   -- list   to   see   available   maps   - r ,   -- reload - map   reload   current   map   -- delta - seconds   S   set   fixed   delta   seconds ,   zero   for   variable   frame   rate   -- fps   N   set   fixed   FPS ,   zero   for   variable   FPS   ( similar   to   -- delta - seconds )   -- rendering   enable   rendering   -- no - rendering   disable   rendering   -- no - sync   disable   synchronous   mode   -- weather   WEATHER   set   weather   preset ,   use   -- list   to   see   available   presets   - i ,   -- inspect   inspect   simulation   - l ,   -- list   list   available   options   - b   FILTER ,   -- list - blueprints   FILTER   list   available   blueprints   matching   FILTER   ( use   ' * '   to   list   them   all )   - x   XODR _ FILE _ PATH ,   -- xodr - path   XODR _ FILE _ PATH   load   a   new   map   with   a   minimum   physical   road   representation   of   the   provided   OpenDRIVE   Town07   \u7684 \u7a7a\u4e2d \u89c6\u89d2","title":"\u5730\u56fe \u8bbe\u7f6e  "},{"location":"tuto_G_retrieve_data/#_5","text":"\u6bcf\u4e2a \u57ce\u9547 \u90fd \u6709 \u9002\u5408 \u5b83 \u7684 \u7279\u5b9a \u5929\u6c14 \uff0c \u4f46\u662f \u53ef\u4ee5 \u968f\u610f \u8bbe\u7f6e \u3002 \u6709 \u4e24\u4e2a \u811a\u672c \u63d0\u4f9b \u4e86 \u89e3\u51b3 \u6b64 \u95ee\u9898 \u7684 \u4e0d\u540c \u65b9\u6cd5 \u3002 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u8bbe\u7f6e \u4e86 \u52a8\u6001 \u5929\u6c14 \uff0c \u968f\u7740 \u65f6\u95f4 \u7684 \u63a8\u79fb \uff0c \u60c5\u51b5 \u4f1a \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002 \u53e6 \u4e00\u4e2a \u8bbe\u7f6e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14 \u6761\u4ef6 \u3002 \u8fd8 \u53ef\u4ee5 \u5bf9 \u5929\u6c14 \u6761\u4ef6 \u8fdb\u884c \u7f16\u7801 \u3002 \u7a0d\u540e   \u5929\u6c14 \u6761\u4ef6 \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316   \u65f6 \u5c06 \u5bf9\u6b64 \u8fdb\u884c \u4ecb\u7ecd \u3002   \u8bbe\u7f6e \u52a8\u6001 \u5929\u6c14   \u3002 \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \u5e76 \u8fd0\u884c   dynamic _ weather . py   \u3002 \u8be5 \u811a\u672c \u5141\u8bb8 \u8bbe\u7f6e \u5929\u6c14 \u53d8\u5316 \u7684 \u6bd4\u7387 \uff0c \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u662f   1.0   \u3002   cd   / opt / carla / PythonAPI / examples   python3   dynamic _ weather . py   -- speed   1.0   \u8bbe\u7f6e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6761\u4ef6   \u4f7f\u7528 \u811a\u672c   environment . py   \u3002 \u6709 \u5f88\u591a \u53ef\u80fd \u7684 \u8bbe\u7f6e \u3002 \u67e5\u770b \u53ef \u9009 \u53c2\u6570 \u4ee5\u53ca   carla . WeatherParameters   \u7684 \u6587\u6863 \u3002   cd   / opt / carla / PythonAPI / util   python3   environment . py   -- clouds   100   -- rain   80   -- wetness   100   -- puddles   60   -- wind   80   -- fog   50   environment . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   -- host   H   IP   of   the   host   server   ( default :   127.0 . 0.1 )   - p   P ,   -- port   P   TCP   port   to   listen   to   ( default :   2000 )   -- sun   SUN   Sun   position   presets   [ sunset   |   day   |   night ]   -- weather   WEATHER   Weather   condition   presets   [ clear   |   overcast   |   rain ]   -- altitude   A ,   - alt   A   Sun   altitude   [ - 90.0 ,   90.0 ]   -- azimuth   A ,   - azm   A   Sun   azimuth   [ 0.0 ,   360.0 ]   -- clouds   C ,   - c   C   Clouds   amount   [ 0.0 ,   100.0 ]   -- rain   R ,   - r   R   Rain   amount   [ 0.0 ,   100.0 ]   -- puddles   Pd ,   - pd   Pd   Puddles   amount   [ 0.0 ,   100.0 ]   -- wind   W ,   - w   W   Wind   intensity   [ 0.0 ,   100.0 ]   -- fog   F ,   - f   F   Fog   intensity   [ 0.0 ,   100.0 ]   -- fogdist   Fd ,   - fd   Fd   Fog   Distance   [ 0.0 ,   inf )   -- wetness   Wet ,   - wet   Wet   Wetness   intensity   [ 0.0 ,   100.0 ]   \u4f7f\u7528 \u5929\u6c14 \u6539\u53d8","title":"\u5929\u6c14 \u8bbe\u7f6e  "},{"location":"tuto_G_retrieve_data/#_6","text":"\u4eff\u771f \u4ea4\u901a \u662f \u8ba9 \u5730\u56fe \u6829\u6829 \u6829\u6829\u5982\u751f \u7684 \u6700\u4f73 \u65b9\u6cd5 \u4e4b\u4e00 \u3002 \u8fd8 \u9700\u8981 \u68c0\u7d22 \u57ce\u5e02 \u73af\u5883 \u7684 \u6570\u636e \u3002 \u5728   Carla   \u4e2d\u6709 \u4e0d\u540c \u7684 \u9009\u62e9 \u53ef\u4ee5 \u5b9e\u73b0 \u8fd9 \u4e00\u70b9 \u3002","title":"\u8bbe\u7f6e \u4ea4\u901a\u6d41\u91cf  "},{"location":"tuto_G_retrieve_data/#carla","text":"Carla   \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u7531   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u6a21\u5757 \u7ba1\u7406 \u3002 \u81f3\u4e8e \u884c\u4eba \uff0c \u4ed6\u4eec \u6bcf\u4e2a \u4eba \u90fd \u6709 \u81ea\u5df1 \u7684   carla . WalkerAIController   \u3002   \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \uff0c \u7136\u540e \u8fd0\u884c   spawn _ npc . py   \u6765 \u751f\u6210 \u8f66\u8f86 \u548c \u884c\u4eba \u3002 \u8ba9 \u6211\u4eec \u751f\u6210   50   \u8f86\u8f66 \u548c \u76f8\u540c \u6570\u91cf \u7684 \u884c\u4eba \u3002   cd   / opt / carla / PythonAPI / examples   python3   spawn _ npc . py   - n   50   - w   50   -- safe   spawn _ npc . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   -- host   H   IP   of   the   host   server   ( default :   127.0 . 0.1 )   - p   P ,   -- port   P   TCP   port   to   listen   to   ( default :   2000 )   - n   N ,   -- number - of - vehicles   N   number   of   vehicles   ( default :   10 )   - w   W ,   -- number - of - walkers   W   number   of   walkers   ( default :   50 )   -- safe   avoid   spawning   vehicles   prone   to   accidents   -- filterv   PATTERN   vehicles   filter   ( default :   \" vehicle . * \" )   -- filterw   PATTERN   pedestrians   filter   ( default :   \" walker . pedestrian . * \" )   - tm _ p   P ,   -- tm - port   P   port   to   communicate   with   TM   ( default :   8000 )   -- async   Asynchronous   mode   execution   \u751f\u6210 \u8f66\u8f86 \u4ee5 \u4eff\u771f \u4ea4\u901a \u3002","title":"Carla   \u4ea4\u901a \u548c \u884c\u4eba  "},{"location":"tuto_G_retrieve_data/#sumo","text":"Carla   \u53ef\u4ee5 \u4e0e   SUMO   \u8fd0\u884c \u8054\u5408 \u4eff\u771f \u3002 \u8fd9 \u5141\u8bb8 \u5728   SUMO   \u4e2d \u521b\u5efa \u5c06 \u4f20\u64ad \u5230   Carla   \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3002 \u8fd9\u79cd \u8054\u5408 \u4eff\u771f \u662f \u53cc\u5411 \u7684 \u3002 \u5728   Carla   \u4e2d \u751f\u6210 \u7684 \u8f66\u8f86 \u5c06 \u5728   SUMO   \u4e2d \u751f\u6210 \u3002 \u6709\u5173 \u6b64 \u529f\u80fd \u7684 \u5177\u4f53 \u6587\u6863 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u3002   \u6b64 \u529f\u80fd \u9002\u7528 \u4e8e   Carla   0.9 . 8   \u53ca \u66f4 \u9ad8 \u7248\u672c \u7684   Town01   \u3001   Town04   \u548c   Town05   \u3002 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u662f \u6700 \u7a33\u5b9a \u7684 \u3002   \u7b14\u8bb0   \u8054\u5408 \u4eff\u771f \u5c06 \u5728   Carla   \u4e2d \u542f\u7528 \u540c\u6b65 \u6a21\u5f0f \u3002 \u9605\u8bfb   \u6587\u6863   \u4ee5 \u4e86\u89e3 \u66f4 \u591a \u76f8\u5173 \u4fe1\u606f \u3002   \u9996\u5148 \uff0c \u5b89\u88c5 SUMO \u3002   sudo   add - apt - repository   ppa : sumo / stable   sudo   apt - get   update   sudo   apt - get   install   sumo   sumo - tools   sumo - doc   \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   SUMO _ HOME \u3002   echo   \" export   SUMO _ HOME = / usr / share / sumo \"   > >   ~ / . bashrc   &&   source   ~ / . bashrc   \u5728   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u6253\u5f00 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u8fd0\u884c   SUMO - Carla   \u540c\u6b65 \u811a\u672c   \u3002   cd   ~ / carla / Co - Simulation / Sumo   python3   run _ synchronization . py   examples / Town01 . sumocfg   -- sumo - gui   SUMO   \u7a97\u53e3 \u5e94\u8be5 \u5df2 \u6253\u5f00 \u3002   \u6309 \u201c \u8fd0\u884c \u201d   \u4ee5 \u5728 \u4e24\u4e2a \u4eff\u771f \u4e2d \u542f\u52a8 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3002   >   \" Play \"   on   SUMO   window .   \u8be5 \u811a\u672c \u751f\u6210 \u7684 \u6d41\u91cf \u662f   Carla   \u56e2\u961f \u521b\u5efa \u7684 \u793a\u4f8b \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83\u4f1a \u6cbf\u7740 \u76f8\u540c \u7684 \u8def\u7ebf \u751f\u6210 \u76f8\u540c \u7684 \u8f66\u8f86 \u3002 \u7528\u6237 \u53ef\u4ee5 \u5728   SUMO   \u4e2d \u66f4\u6539 \u8fd9\u4e9b \u5185\u5bb9 \u3002   SUMO   \u548c   Carla   \u534f\u540c \u4eff\u771f \u4ea4\u901a \u3002   \u8b66\u544a   \u76ee\u524d \uff0c SUMO   \u8054\u5408 \u4eff\u771f \u8fd8\u662f \u6d4b\u8bd5 \u6d4b\u8bd5\u7248 \u529f\u80fd \u3002 \u8f66\u8f86 \u6ca1\u6709 \u7269\u7406 \u7279\u6027 \uff0c \u4e5f \u4e0d \u8003\u8651   Carla   \u4ea4\u901a \u4ea4\u901a\u706f \u3002","title":"SUMO   \u534f\u540c \u4eff\u771f \u4ea4\u901a  "},{"location":"tuto_G_retrieve_data/#_7","text":"\u4ece \u73b0\u5728 \u5230 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u505c\u6b62 \u7684 \u4e00\u523b \u90a3\u4e00\u523b \uff0c \u5c06\u4f1a \u6709 \u4e00\u4e9b \u5c5e\u4e8e   tutorial _ ego . py   \u7684 \u4ee3\u7801 \u7247\u6bb5 \u3002 \u8be5 \u811a\u672c \u751f\u6210 \u81ea\u6211 \u8f66\u8f86 \uff0c \u53ef \u9009 \u4e00\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u5e76 \u8bb0\u5f55 \u4eff\u771f \uff0c \u76f4\u5230 \u7528\u6237 \u5b8c\u6210 \u811a\u672c \u3002","title":"\u8bbe\u7f6e \u81ea\u6211 \u8f66\u8f86  "},{"location":"tuto_G_retrieve_data/#_8","text":"\u7528\u6237 \u63a7\u5236 \u7684 \u8f66\u8f86 \u5728   Carla   \u4e2d \u901a\u5e38 \u901a\u8fc7 \u5c06 \u5c5e\u6027   role _ name   \u8bbe\u7f6e \u4e3a   ego   \u6765 \u533a\u5206 \u3002 \u53ef\u4ee5 \u8bbe\u7f6e \u5176\u4ed6 \u5c5e\u6027 \uff0c \u5176\u4e2d \u4e00\u4e9b \u5177\u6709 \u63a8\u8350 \u63a8\u8350\u503c \u3002   \u4e0b\u9762 \uff0c \u4ece   \u84dd \u56fe\u5e93   \u4e2d \u68c0\u7d22 \u7279\u65af \u65af\u62c9 \u7279\u65af\u62c9 \u6a21\u578b \uff0c \u5e76 \u4f7f\u7528 \u968f\u673a \u63a8\u8350 \u7684 \u989c\u8272 \u751f\u6210 \u3002 \u9009\u62e9 \u5730\u56fe \u63a8\u8350 \u7684 \u751f\u6210 \u70b9 \u4e4b\u4e00 \u6765 \u653e\u7f6e \u81ea\u6211 \u8f66\u8f86 \u3002   #   --------------   #   Spawn   ego   vehicle   #   --------------   ego _ bp   =   world . get _ blueprint _ library ( ) . find ( ' vehicle . tesla . model3 ' )   ego _ bp . set _ attribute ( ' role _ name ' , ' ego ' )   print ( ' \\ nEgo   role _ name   is   set ' )   ego _ color   =   random . choice ( ego _ bp . get _ attribute ( ' color ' ) . recommended _ values )   ego _ bp . set _ attribute ( ' color ' , ego _ color )   print ( ' \\ nEgo   color   is   set ' )   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   number _ of _ spawn _ points   =   len ( spawn _ points )   if   0   <   number _ of _ spawn _ points :   random . shuffle ( spawn _ points )   ego _ transform   =   spawn _ points [ 0 ]   ego _ vehicle   =   world . spawn _ actor ( ego _ bp , ego _ transform )   print ( ' \\ nEgo   is   spawned ' )   else :   logging . warning ( ' Could   not   found   any   spawn   points ' )","title":"\u751f\u6210 \u81ea\u6211 \u8f66\u8f86  "},{"location":"tuto_G_retrieve_data/#_9","text":"\u89c2\u5bdf \u89c2\u5bdf\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63a7\u5236 \u4eff\u771f \u89c6\u56fe \u3002 \u901a\u8fc7 \u811a\u672c \u79fb\u52a8 \u5b83 \u662f \u53ef\u9009 \u7684 \uff0c \u4f46 \u5b83 \u53ef\u80fd \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u627e\u5230 \u81ea\u6211 \u8f66\u8f86 \u3002   #   --------------   #   \u81ea\u6211 \u8f66\u8f86 \u4f4d\u7f6e \u7684 \u89c2\u5bdf \u89c2\u5bdf\u8005   #   --------------   spectator   =   world . get _ spectator ( )   world _ snapshot   =   world . wait _ for _ tick ( )   spectator . set _ transform ( ego _ vehicle . get _ transform ( ) )","title":"\u653e\u7f6e \u89c2\u5bdf\u8005  "},{"location":"tuto_G_retrieve_data/#_10","text":"\u751f\u6210 \u4efb\u4f55 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8fc7\u7a0b \u90fd \u975e\u5e38 \u76f8\u4f3c \u3002   1 .   \u4f7f\u7528 \u5e93 \u67e5\u627e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u84dd\u56fe \u3002   2 .   \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u7279\u5b9a \u5c5e\u6027 \u3002 \u8fd9 \u4e00\u70b9 \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002 \u5c5e\u6027 \u5c06 \u5851\u9020 \u68c0\u7d22 \u5230 \u7684 \u6570\u636e \u3002   3 .   \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8fde\u63a5 \u81f3 \u81ea\u6211 \u8f66\u8f86 \u3002 \u8be5 \u53d8\u6362 \u662f \u76f8\u5bf9 \u4e8e \u5176\u7236 \u7ea7 \u7684 \u3002   carla . AttachmentType   \u5c06 \u786e\u5b9a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f4d\u7f6e \u7684 \u66f4\u65b0 \u65b9\u5f0f \u3002   4 .   \u6dfb\u52a0   listen ( )   \u65b9\u6cd5 \u3002 \u8fd9\u662f \u5173\u952e \u8981\u7d20 \u3002 \u6bcf\u6b21 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4fa6\u542c \u6570\u636e \u65f6 \u90fd \u4f1a \u8c03\u7528 \u7684   lambda   \u65b9\u6cd5 \u3002 \u53c2\u6570 \u662f \u68c0\u7d22 \u5230 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u3002   \u7262\u8bb0 \u8fd9\u4e00 \u57fa\u672c \u51c6\u5219 \u57fa\u672c\u51c6\u5219 \uff0c \u8ba9 \u6211\u4eec \u4e3a \u81ea\u6211 \u8f66\u8f86 \u8bbe\u7f6e \u4e00\u4e9b \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002","title":"\u8bbe\u7f6e \u57fa\u672c \u4f20\u611f\u5668  "},{"location":"tuto_G_retrieve_data/#rgb","text":"RGB   \u76f8\u673a   \u751f\u6210 \u903c\u771f \u7684 \u573a\u666f \u56fe\u7247 \u3002 \u5b83 \u662f \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e2d \u53ef \u8bbe\u7f6e \u5c5e\u6027 \u8f83 \u591a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4f46 \u5b83 \u4e5f \u662f \u4e00\u4e2a \u57fa\u672c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u5b83 \u5e94\u8be5 \u88ab \u7406\u89e3 \u4e3a \u4e00\u4e2a \u771f\u6b63 \u7684 \u76f8\u673a \uff0c \u5177\u6709 \u8bf8\u5982   focal _ distance   \u3001   shutter _ speed   \u6216   gamma   \u786e\u5b9a \u5176 \u5185\u90e8 \u5982\u4f55 \u5de5\u4f5c \u7684 \u5c5e\u6027 \u3002 \u8fd8\u6709 \u4e00\u7ec4 \u7279\u5b9a \u7684 \u5c5e\u6027 \u6765 \u5b9a\u4e49 \u955c\u5934 \u7578\u53d8 \uff0c \u4ee5\u53ca \u8bb8\u591a \u9ad8\u7ea7 \u5c5e\u6027 \u3002 \u4f8b\u5982 \uff0c   lens _ circle _ multiplier   \u53ef\u4ee5 \u7528\u6765 \u5b9e\u73b0 \u7c7b\u4f3c \u4e8e \u773c\u775b \u9c7c \u955c\u5934 \u7684 \u6548\u679c \u3002 \u5728 \u6587\u6863 \u4e2d \u4e86\u89e3 \u6709\u5173 \u5b83\u4eec \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u4e3a\u4e86 \u7b80\u5355 \u8d77 \u89c1 \uff0c \u811a\u672c \u4ec5 \u8bbe\u7f6e \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6700 \u5e38\u7528 \u7684 \u5c5e\u6027 \u3002   image _ size _ x   \u548c   image _ size _ y   \u5c06 \u6539\u53d8 \u8f93\u51fa \u56fe\u50cf \u7684 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u3002   fov   \u662f \u76f8\u673a \u7684 \u6c34\u5e73 \u89c6\u91ce \u3002   \u8bbe\u7f6e \u5c5e\u6027 \u540e \uff0c \u5c31 \u53ef\u4ee5 \u751f\u6210 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4e86 \u3002 \u811a\u672c \u5c06 \u6444\u50cf \u6444\u50cf\u673a \u653e\u7f6e \u5728 \u6c7d\u8f66 \u5f15\u64ce \u5f15\u64ce\u76d6 \u4e2d \uff0c \u5e76 \u6307\u5411 \u524d\u65b9 \u3002 \u5b83 \u5c06 \u6355\u6349 \u6c7d\u8f66 \u7684 \u524d \u89c6\u56fe \u3002   \u6bcf \u4e00\u6b65 \u90fd \u4f1a \u4ee5   carla . Image   \u7684 \u5f62\u5f0f \u68c0\u7d22 \u6570\u636e \u3002 Listen   \u65b9\u6cd5 \u5c06 \u5b83\u4eec \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002 \u8def\u5f84 \u53ef\u4ee5 \u968f\u610f \u6539\u53d8 \u3002 \u6bcf\u5f20 \u56fe\u50cf \u7684 \u540d\u79f0 \u5747 \u6839\u636e \u62cd\u6444 \u955c\u5934 \u7684 \u4eff\u771f \u5e27 \u8fdb\u884c \u7f16\u7801 \u3002   #   --------------   #   Spawn   attached   RGB   camera   #   --------------   cam _ bp   =   None   cam _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   cam _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   cam _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   cam _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   cam _ location   =   carla . Location ( 2 , 0 , 1 )   cam _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   cam _ transform   =   carla . Transform ( cam _ location , cam _ rotation )   ego _ cam   =   world . spawn _ actor ( cam _ bp , cam _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   ego _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' tutorial / output / %. 6d . jpg '   %   image . frame ) )   RGB   camera   output","title":"RGB   \u76f8\u673a  "},{"location":"tuto_G_retrieve_data/#_11","text":"\u5f53 \u5b83\u4eec \u6240 \u9644\u52a0 \u7684 \u5bf9\u8c61 \u6ce8\u518c \u7279\u5b9a \u4e8b\u4ef6 \u65f6 \uff0c \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f1a \u68c0\u7d22 \u6570\u636e \u3002 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5206\u4e3a \u4e09\u79cd \u7c7b\u578b \uff0c \u6bcf\u79cd \u90fd \u63cf\u8ff0 \u4e00\u79cd \u7c7b\u578b \u7684 \u4e8b\u4ef6 \u3002   \u78b0\u649e \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u3002   \u68c0\u7d22 \u5176\u7236 \u7ea7 \u4e0e \u5176\u4ed6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u4e4b\u95f4 \u7684 \u78b0\u649e \u3002   \u538b\u7ebf \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u3002   \u5f53 \u5176\u7236 \u7ea7 \u7a7f\u8fc7 \u8f66\u9053 \u6807\u8bb0 \u65f6 \u8fdb\u884c \u6ce8\u518c \u3002   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u3002   \u68c0\u6d4b \u5176\u7236 \u7ea7 \u524d\u65b9 \u53ef\u80fd \u5b58\u5728 \u7684 \u969c\u788d \u969c\u788d\u7269 \u3002   \u4ed6\u4eec \u68c0\u7d22 \u5230 \u7684 \u6570\u636e \u5c06 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u7a0d\u540e \u51b3\u5b9a \u8981 \u91cd\u65b0 \u6267\u884c \u4eff\u771f \u7684 \u54ea \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u4e8b\u5b9e \u4e8b\u5b9e\u4e0a \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u663e\u5f0f \u67e5\u8be2 \u51b2\u7a81 \u3002 \u8fd9\u662f \u51c6\u5907 \u6253\u5370 \u7684 \u3002   \u53ea\u6709 \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u84dd\u56fe \u6709 \u9700\u8981 \u8bbe\u7f6e \u7684 \u5c5e\u6027 \u3002 \u4ee5\u4e0b \u662f \u4e00\u4e9b \u91cd\u8981 \u7684 \u5185\u5bb9 \u3002   sensor _ tick   \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ec5 \u5728   x   \u79d2\u949f \u540e \u68c0\u7d22 \u6570\u636e \u3002 \u8fd9\u662f \u68c0\u7d22 \u6bcf \u4e00\u6b65 \u6570\u636e \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5e38\u89c1 \u5c5e\u6027 \u3002   distance   \u548c   hit - radius   \u5851\u9020 \u7528\u4e8e \u68c0\u6d4b \u524d\u65b9 \u969c\u788d \u969c\u788d\u7269 \u7684 \u8c03\u8bd5 \u7ebf \u3002   only _ dynamics   \u786e\u5b9a \u662f\u5426 \u5e94 \u8003\u8651 \u9759\u6001 \u5bf9\u8c61 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4efb\u4f55 \u5bf9\u8c61 \u90fd \u4f1a \u88ab \u8003\u8651 \u3002   \u8be5 \u811a\u672c \u5c06 \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b \u6d4b\u5668 \u68c0\u6d4b\u5668 \u8bbe\u7f6e \u4e3a \u4ec5 \u8003\u8651 \u52a8\u6001 \u5bf9\u8c61 \u3002 \u5982\u679c \u8f66\u8f86 \u4e0e \u4efb\u4f55 \u9759\u6001 \u7269\u4f53 \u53d1\u751f \u78b0\u649e \uff0c \u78b0\u649e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u4f1a \u68c0\u6d4b \u5230 \u3002   #   --------------   #   Add   collision   sensor   to   ego   vehicle .   #   --------------   col _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . collision ' )   col _ location   =   carla . Location ( 0 , 0 , 0 )   col _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   col _ transform   =   carla . Transform ( col _ location , col _ rotation )   ego _ col   =   world . spawn _ actor ( col _ bp , col _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   col _ callback ( colli ) :   print ( \" Collision   detected : \\ n \" + str ( colli ) + ' \\ n ' )   ego _ col . listen ( lambda   colli :   col _ callback ( colli ) )   #   --------------   #   Add   Lane   invasion   sensor   to   ego   vehicle .   #   --------------   lane _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . lane _ invasion ' )   lane _ location   =   carla . Location ( 0 , 0 , 0 )   lane _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   lane _ transform   =   carla . Transform ( lane _ location , lane _ rotation )   ego _ lane   =   world . spawn _ actor ( lane _ bp , lane _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   lane _ callback ( lane ) :   print ( \" Lane   invasion   detected : \\ n \" + str ( lane ) + ' \\ n ' )   ego _ lane . listen ( lambda   lane :   lane _ callback ( lane ) )   #   --------------   #   Add   Obstacle   sensor   to   ego   vehicle .   #   --------------   obs _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . obstacle ' )   obs _ bp . set _ attribute ( \" only _ dynamics \" , str ( True ) )   obs _ location   =   carla . Location ( 0 , 0 , 0 )   obs _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   obs _ transform   =   carla . Transform ( obs _ location , obs _ rotation )   ego _ obs   =   world . spawn _ actor ( obs _ bp , obs _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   obs _ callback ( obs ) :   print ( \" Obstacle   detected : \\ n \" + str ( obs ) + ' \\ n ' )   ego _ obs . listen ( lambda   obs :   obs _ callback ( obs ) )   Output   for   detector   sensors","title":"\u68c0\u6d4b\u5668  "},{"location":"tuto_G_retrieve_data/#_12","text":"\u6682\u65f6 \u53ea \u8003\u8651 \u8be5\u7c7b \u522b\u7684 \u4e24\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u68c0\u7d22 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5730\u7406 \u4f4d\u7f6e \u5730\u7406\u4f4d\u7f6e \u3002   IMU   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u5305\u62ec \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \u3001 \u9640\u87ba \u9640\u87ba\u4eea \u548c \u6307\u5357 \u5357\u9488 \u6307\u5357\u9488 \u3002   \u4e3a\u4e86 \u83b7\u5f97 \u8f66\u8f86 \u5bf9\u8c61 \u7684 \u4e00\u822c \u6d4b\u91cf \u503c \uff0c \u8fd9 \u4e24\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ee5 \u8f66\u8f86 \u5bf9\u8c61 \u4e3a \u4e2d\u5fc3 \u751f\u6210 \u3002   \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u7528 \u7684 \u5c5e\u6027 \u4e3b\u8981 \u8bbe\u7f6e \u6d4b\u91cf \u566a\u58f0 \u6a21\u578b \u4e2d \u7684 \u5e73\u5747 \u5747\u503c \u5e73\u5747\u503c \u6216 \u6807\u51c6 \u504f\u5dee \u6807\u51c6\u504f\u5dee \u53c2\u6570 \u3002 \u8fd9 \u5bf9\u4e8e \u83b7\u5f97 \u66f4 \u73b0\u5b9e \u7684 \u63aa\u65bd \u5f88 \u6709\u7528 \u3002 \u7136\u800c \uff0c \u5728   tutorial _ ego . py   \u4e2d \u53ea \u8bbe\u7f6e \u4e86 \u4e00\u4e2a \u5c5e\u6027 \u3002   sensor _ tick   .   \u7531\u4e8e \u6b64 \u6d4b\u91cf \u503c \u5728 \u6b65\u9aa4 \u4e4b\u95f4 \u4e0d \u5e94\u6709 \u663e \u7740 \u53d8\u5316 \uff0c \u56e0\u6b64 \u53ef\u4ee5 \u7ecf\u5e38 \u68c0\u7d22 \u6570\u636e \u3002 \u5728 \u672c\u4f8b \u4e2d \uff0c \u8bbe\u7f6e \u4e3a \u6bcf \u4e09\u79d2 \u6253\u5370 \u4e00\u6b21 \u3002   #   --------------   #   \u7ed9 \u81ea\u6211 \u8f66\u8f86 \u6dfb\u52a0 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   #   --------------   gnss _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . gnss ' )   gnss _ location   =   carla . Location ( 0 , 0 , 0 )   gnss _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   gnss _ transform   =   carla . Transform ( gnss _ location , gnss _ rotation )   gnss _ bp . set _ attribute ( \" sensor _ tick \" , str ( 3.0 ) )   ego _ gnss   =   world . spawn _ actor ( gnss _ bp , gnss _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   gnss _ callback ( gnss ) :   print ( \" GNSS   measure : \\ n \" + str ( gnss ) + ' \\ n ' )   ego _ gnss . listen ( lambda   gnss :   gnss _ callback ( gnss ) )   #   --------------   #   Add   IMU   sensor   to   ego   vehicle .   #   --------------   imu _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . imu ' )   imu _ location   =   carla . Location ( 0 , 0 , 0 )   imu _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   imu _ transform   =   carla . Transform ( imu _ location , imu _ rotation )   imu _ bp . set _ attribute ( \" sensor _ tick \" , str ( 3.0 ) )   ego _ imu   =   world . spawn _ actor ( imu _ bp , imu _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   imu _ callback ( imu ) :   print ( \" IMU   measure : \\ n \" + str ( imu ) + ' \\ n ' )   ego _ imu . listen ( lambda   imu :   imu _ callback ( imu ) )   \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u548c \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8f93\u51fa","title":"\u5176\u4ed6 \u4f20\u611f\u5668  "},{"location":"tuto_G_retrieve_data/#_13","text":"\u811a\u672c   tutorial _ replay . py   \u9664 \u5176\u4ed6 \u5916 \u8fd8 \u5305\u542b \u66f4 \u591a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5b9a\u4e49 \u3002 \u5b83\u4eec \u7684 \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u57fa\u672c \u7684 \u76f8\u540c \uff0c \u4f46 \u7406\u89e3 \u53ef\u80fd \u6709\u70b9 \u56f0\u96be \u3002","title":"\u8bbe\u7f6e \u9ad8\u7ea7 \u4f20\u611f\u5668  "},{"location":"tuto_G_retrieve_data/#_14","text":"\u6df1\u5ea6 \u76f8\u673a   \u751f\u6210 \u573a\u666f \u7684 \u56fe\u7247 \uff0c \u5c06 \u6bcf\u4e2a \u50cf\u7d20 \u6620\u5c04 \u5230 \u7070\u5ea6 \u6df1\u5ea6 \u6df1\u5ea6\u56fe \u4e2d \u3002 \u7136\u800c \uff0c \u8f93\u51fa \u5e76 \u4e0d \u7b80\u5355 \u3002 \u76f8\u673a \u7684 \u6df1\u5ea6 \u7f13\u51b2 \u7f13\u51b2\u533a \u4f7f\u7528   RGB   \u989c\u8272 \u7a7a\u95f4 \u8fdb\u884c \u6620\u5c04 \u3002 \u5fc5\u987b \u5c06 \u5176 \u8f6c\u6362 \u4e3a \u7070\u5ea6 \u624d\u80fd \u7406\u89e3 \u3002   \u4e3a\u6b64 \uff0c \u53ea \u9700 \u5c06 \u56fe\u50cf \u4fdd\u5b58 \u4e3a   RGB   \u76f8\u673a \u7684 \u56fe\u50cf \uff0c \u4f46 \u5bf9 \u5176 \u5e94\u7528   carla . ColorConverter   \u5373\u53ef \u3002 \u6df1\u5ea6 \u76f8\u673a \u6709 \u4e24\u79cd \u53ef\u7528 \u7684 \u8f6c\u6362 \u3002   carla . ColorConverter . Depth   \u4ee5 \u6beb\u7c73 \u7ea7 \u7cbe\u5ea6 \u8f6c\u6362 \u539f\u59cb \u6df1\u5ea6 \u3002   carla . ColorConverter . LogarithmicDepth   \u4e5f \u5177\u6709 \u6beb\u7c73 \u7ea7 \u7c92\u5ea6 \uff0c \u4f46 \u5728 \u8fd1\u8ddd \u8ddd\u79bb \u8fd1\u8ddd\u79bb \u5185 \u63d0\u4f9b \u66f4\u597d \u7684 \u7ed3\u679c \uff0c \u800c \u5bf9\u4e8e \u8f83\u8fdc \u7684 \u5143\u7d20 \u5219 \u7a0d\u5dee \u4e00\u4e9b \u3002   \u6df1\u5ea6 \u76f8\u673a \u7684 \u5c5e\u6027 \u4ec5 \u8bbe\u7f6e \u4e4b\u524d \u5728   RGB   \u76f8\u673a \u4e2d \u6240\u8ff0 \u7684 \u5143\u7d20 \uff1a   fov   \u3001   image _ size _ x   \u3001   image _ size _ y   \u548c   sensor _ tick   \u3002 \u8be5 \u811a\u672c \u5c06 \u6b64 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e \u4e3a \u4e0e \u4e4b\u524d \u4f7f\u7528 \u7684   RGB   \u76f8\u673a \u5339\u914d \u76f8\u5339\u914d \u3002   #   --------------   #   Add   a   Depth   camera   to   ego   vehicle .   #   --------------   depth _ cam   =   None   depth _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . depth ' )   depth _ location   =   carla . Location ( 2 , 0 , 1 )   depth _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   depth _ transform   =   carla . Transform ( depth _ location , depth _ rotation )   depth _ cam   =   world . spawn _ actor ( depth _ bp , depth _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   #   This   time ,   a   color   converter   is   applied   to   the   image ,   to   get   the   semantic   segmentation   view   depth _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' tutorial / new _ depth _ output / %. 6d . jpg '   %   image . frame , carla . ColorConverter . LogarithmicDepth ) )   Depth   camera   output .   Simple   conversion   on   the   left ,   logarithmic   on   the   right .","title":"\u6df1\u5ea6 \u76f8\u673a  "},{"location":"tuto_G_retrieve_data/#_15","text":"\u8bed\u4e49 \u5206\u5272 \u76f8\u673a   \u6839\u636e \u5143\u7d20 \u7684 \u6807\u8bb0 \u65b9\u5f0f \u5c06 \u573a\u666f \u4e2d \u7684 \u5143\u7d20 \u6e32\u67d3 \u4e3a \u4e0d\u540c \u7684 \u989c\u8272 \u3002 \u6807\u7b7e \u7531 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6839\u636e \u7528\u4e8e \u751f\u6210 \u7684 \u8d44\u6e90 \u7684 \u8def\u5f84 \u521b\u5efa \u3002 \u4f8b\u5982 \uff0c \u6807\u8bb0 \u4e3a   Pedestrians   \u7684 \u7f51\u683c \u4f53\u662f \u4f7f\u7528 \u5b58\u50a8 \u5728   Unreal / CarlaUE4 / Content / Static / Pedestrians   \u4e2d \u7684 \u5185\u5bb9 \u751f\u6210 \u7684 \u3002   \u4e0e \u4efb\u4f55 \u76f8\u673a \u4e00\u6837 \uff0c \u8f93\u51fa \u662f \u56fe\u50cf \uff0c \u4f46 \u6bcf\u4e2a \u50cf\u7d20 \u90fd \u5305\u542b \u5728 \u7ea2\u8272 \u901a\u9053 \u4e2d \u7f16\u7801 \u7684 \u6807\u7b7e \u3002 \u5fc5\u987b \u4f7f\u7528   ColorConverter . CityScapesPalette   \u8f6c\u6362 \u6b64 \u539f\u59cb \u56fe\u50cf \u3002 \u53ef\u4ee5 \u521b\u5efa \u65b0 \u6807\u7b7e \uff0c \u8bf7 \u9605\u8bfb   \u6587\u6863   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u8be5 \u76f8\u673a \u53ef\u7528 \u7684 \u5c5e\u6027 \u4e0e \u6df1\u5ea6 \u76f8\u673a \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u3002 \u8be5 \u811a\u672c \u8fd8 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u4e0e \u539f\u59cb   RGB   \u76f8\u673a \u5339\u914d \u76f8\u5339\u914d \u3002   #   --------------   #   Add   a   new   semantic   segmentation   camera   to   my   ego   #   --------------   sem _ cam   =   None   sem _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . semantic _ segmentation ' )   sem _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   sem _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   sem _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   sem _ location   =   carla . Location ( 2 , 0 , 1 )   sem _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   sem _ transform   =   carla . Transform ( sem _ location , sem _ rotation )   sem _ cam   =   world . spawn _ actor ( sem _ bp , sem _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   #   This   time ,   a   color   converter   is   applied   to   the   image ,   to   get   the   semantic   segmentation   view   sem _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' tutorial / new _ sem _ output / %. 6d . jpg '   %   image . frame , carla . ColorConverter . CityScapesPalette ) )   Semantic   segmentation   camera   output","title":"\u8bed\u4e49 \u5206\u5272 \u76f8\u673a  "},{"location":"tuto_G_retrieve_data/#_16","text":"\u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4eff\u771f \u65cb\u8f6c \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002 \u5b83 \u521b\u5efa \u4e86 \u4e00\u4e2a \u4ee5 \u4e09\u7ef4 \u5f62\u5f0f \u6620\u5c04 \u573a\u666f \u7684 \u70b9\u4e91 \u3002 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u5305\u542b \u4e00\u7ec4 \u4ee5 \u7279\u5b9a \u9891\u7387 \u65cb\u8f6c \u7684 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u3002 \u6fc0\u5149 \u6295\u5c04 \u649e\u51fb \u8ddd\u79bb \uff0c \u5e76 \u5c06 \u6bcf\u6b21 \u5c04\u51fb \u5b58\u50a8 \u4e3a \u4e00\u4e2a \u4e00\u4e2a\u70b9 \u3002   \u53ef\u4ee5 \u4f7f\u7528 \u4e0d\u540c \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c5e\u6027 \u6765 \u8bbe\u7f6e \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u9635\u5217 \u7684 \u5e03\u7f6e \u65b9\u5f0f \u3002   upper _ fov   \u548c   lower _ fov   \u5206\u522b \u662f \u6700\u9ad8 \u548c \u6700\u4f4e \u6fc0\u5149 \u7684 \u89d2\u5ea6 \u3002   channels   \u8bbe\u7f6e \u8981 \u4f7f\u7528 \u7684 \u6fc0\u5149 \u6570\u91cf \u3002 \u8fd9\u4e9b \u6cbf\u7740 \u6240 \u9700 \u7684   fov   \u5206\u5e03 \u3002   \u5176\u4ed6 \u5c5e\u6027 \u8bbe\u7f6e \u8be5\u70b9 \u7684 \u8ba1\u7b97 \u65b9\u5f0f \u3002 \u5b83\u4eec \u786e\u5b9a \u6bcf\u4e2a \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u6bcf \u4e00\u6b65 \u8ba1\u7b97 \u7684 \u70b9\u6570 \uff1a   points _ per _ second   /   ( FPS   *   channels )   .   range   \u662f \u6355\u83b7 \u7684 \u6700\u5927 \u8ddd\u79bb \u3002   points _ per _ second   \u662f \u6bcf\u79d2 \u83b7\u5f97 \u7684 \u70b9\u6570 \u3002 \u8be5 \u6570\u91cf \u9664\u4ee5   channels   \u7684 \u6570\u91cf \u3002   rotation _ frequency   \u662f \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6bcf\u79d2 \u65cb\u8f6c \u7684 \u6b21\u6570 \u3002   \u70b9\u4e91 \u8f93\u51fa \u88ab \u63cf\u8ff0 \u4e3a   [ carla . LidarMeasurement ] \u3002 \u5b83 \u53ef\u4ee5 \u4f5c\u4e3a   [ carla . Location ]   \u5217\u8868 \u8fdb\u884c \u8fed\u4ee3 \u6216 \u4fdd\u5b58 \u4e3a   . ply   \u6807\u51c6 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u3002   #   --------------   #   Add   a   new   LIDAR   sensor   to   my   ego   #   --------------   lidar _ cam   =   None   lidar _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . lidar . ray _ cast ' )   lidar _ bp . set _ attribute ( ' channels ' , str ( 32 ) )   lidar _ bp . set _ attribute ( ' points _ per _ second ' , str ( 90000 ) )   lidar _ bp . set _ attribute ( ' rotation _ frequency ' , str ( 40 ) )   lidar _ bp . set _ attribute ( ' range ' , str ( 20 ) )   lidar _ location   =   carla . Location ( 0 , 0 , 2 )   lidar _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   lidar _ transform   =   carla . Transform ( lidar _ location , lidar _ rotation )   lidar _ sen   =   world . spawn _ actor ( lidar _ bp , lidar _ transform , attach _ to = ego _ vehicle )   lidar _ sen . listen ( lambda   point _ cloud :   point _ cloud . save _ to _ disk ( ' tutorial / new _ lidar _ output / %. 6d . ply '   %   point _ cloud . frame ) )   . ply   \u8f93\u51fa \u53ef\u4ee5 \u4f7f\u7528   Meshlab   \u8fdb\u884c \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   1 .   \u5b89\u88c5   Meshlab   \u3002   sudo   apt - get   update   - y   sudo   apt - get   install   - y   meshlab   2 .   \u6253\u5f00   Meshlab   \u3002   meshlab   3 .   \u6253\u5f00 \u5176\u4e2d \u4e00\u4e2a   . ply   \u6587\u4ef6 \u3002   File   >   Import   mesh ...   \u7ecf\u8fc7 Meshlab \u5904\u7406 \u540e \u7684 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u8f93\u51fa \u3002","title":"\u6fc0\u5149\u96f7\u8fbe \u5149\u7ebf \u6295\u5c04 \u4f20\u611f\u5668  "},{"location":"tuto_G_retrieve_data/#_17","text":"\u96f7\u8fbe \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e0e   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u7c7b\u4f3c \u3002 \u5b83 \u521b\u5efa \u4e00\u4e2a \u5706\u9525 \u89c6\u56fe \uff0c \u5e76 \u5411 \u5185\u90e8 \u53d1\u5c04 \u6fc0\u5149 \u4ee5 \u5c04\u7ebf \u6295\u5c04 \u5176 \u5f71\u54cd \u3002 \u8f93\u51fa \u662f   carla . RadarMeasurement   \u3002 \u5b83 \u5305\u542b \u7531 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u68c0\u7d22 \u5230 \u7684   carla . RadarDetection   \u7684 \u5217\u8868 \u3002 \u8fd9\u4e9b \u4e0d\u662f \u7a7a\u95f4 \u4e2d \u7684 \u70b9 \uff0c \u800c\u662f \u4f7f\u7528 \u6709\u5173 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6570\u636e \u8fdb\u884c \u7684 \u68c0\u6d4b \uff1a   \u8be5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u5c5e\u6027 \u4e3b\u8981 \u51b3\u5b9a \u4e86 \u6fc0\u5149 \u5149\u5668 \u6fc0\u5149\u5668 \u7684 \u5b9a\u4f4d \u65b9\u5f0f \u3002   horizontal _ fov   \u548c   vertical _ fov   \u786e\u5b9a \u5706\u9525 \u89c6\u56fe \u7684 \u632f\u5e45 \u3002   channels   \u7f6e \u8981 \u4f7f\u7528 \u7684 \u6fc0\u5149 \u6570\u91cf \u3002 \u8fd9\u4e9b \u6cbf\u7740 \u6240 \u9700   fov   \u7684 \u5206\u5e03 \u3002   range   \u662f \u6fc0\u5149 \u5149\u7ebf \u6295\u5c04 \u7684 \u6700\u5927 \u8ddd\u79bb \u3002   points _ per _ second   \u8bbe\u7f6e \u8981 \u6355\u83b7 \u7684 \u70b9 \u7684 \u6570\u91cf \uff0c \u8fd9\u4e9b \u70b9\u5c06 \u5728 \u6307\u5b9a \u7684 \u901a\u9053 \u4e4b\u95f4 \u5206\u914d \u3002   \u8be5 \u811a\u672c \u5c06 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u653e\u7f6e \u5728 \u6c7d\u8f66 \u5f15\u64ce \u5f15\u64ce\u76d6 \u4e0a \uff0c \u5e76 \u5411\u4e0a \u65cb\u8f6c \u4e00\u70b9 \u3002 \u8fd9\u6837 \uff0c \u8f93\u51fa \u5c06 \u6620\u5c04 \u6c7d\u8f66 \u7684 \u524d \u89c6\u56fe \u3002   horizontal _ fov   \u662f \u589e\u52a0 \u7684 \uff0c   vertical _ fov   \u662f \u51cf\u5c11 \u7684 \u3002 \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u7684 \u533a\u57df \u7279\u522b \u662f \u8f66\u8f86 \u548c \u884c\u4eba \u901a\u5e38 \u79fb\u52a8 \u7684 \u9ad8\u5ea6 \u3002 \u8ddd\u79bb   range   \u4e5f \u4ece   100m   \u66f4 \u6539\u4e3a   10m \uff0c \u4ee5\u4fbf \u4ec5 \u68c0\u7d22 \u8f66\u8f86 \u6b63\u524d \u524d\u65b9 \u6b63\u524d\u65b9 \u7684 \u6570\u636e \u3002   \u8fd9\u6b21 \u7684 \u56de\u8c03 \u6709\u70b9 \u590d\u6742 \uff0c \u663e\u793a \u4e86 \u5b83 \u7684 \u66f4 \u529f\u80fd \u591a\u529f\u80fd \u3002 \u5b83 \u5c06 \u5b9e\u65f6 \u7ed8\u5236 \u96f7\u8fbe \u6355\u83b7 \u7684 \u70b9 \u3002 \u8fd9\u4e9b \u70b9\u5c06 \u6839\u636e \u5b83\u4eec \u76f8\u5bf9 \u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u800c \u7740\u8272 \u3002   Blue   \u8868\u793a \u63a5\u8fd1 \u8f66\u8f86 \u7684 \u70b9 \u3002   Red   \u8868\u793a \u8fdc\u79bb \u63a5\u8fd1 \u8f66\u8f86 \u7684 \u70b9 \u3002   White   \u4ee3\u8868 \u5173\u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684 \u9759\u6001 \u70b9 \u3002   #   --------------   #   Add   a   new   radar   sensor   to   my   ego   #   --------------   rad _ cam   =   None   rad _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . radar ' )   rad _ bp . set _ attribute ( ' horizontal _ fov ' ,   str ( 35 ) )   rad _ bp . set _ attribute ( ' vertical _ fov ' ,   str ( 20 ) )   rad _ bp . set _ attribute ( ' range ' ,   str ( 20 ) )   rad _ location   =   carla . Location ( x = 2.0 ,   z = 1.0 )   rad _ rotation   =   carla . Rotation ( pitch = 5 )   rad _ transform   =   carla . Transform ( rad _ location , rad _ rotation )   rad _ ego   =   world . spawn _ actor ( rad _ bp , rad _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   rad _ callback ( radar _ data ) :   velocity _ range   =   7.5   #   m / s   current _ rot   =   radar _ data . transform . rotation   for   detect   in   radar _ data :   azi   =   math . degrees ( detect . azimuth )   alt   =   math . degrees ( detect . altitude )   #   The   0.25   adjusts   a   bit   the   distance   so   the   dots   can   #   be   properly   seen   fw _ vec   =   carla . Vector3D ( x = detect . depth   -   0.25 )   carla . Transform (   carla . Location ( ) ,   carla . Rotation (   pitch = current _ rot . pitch   +   alt ,   yaw = current _ rot . yaw   +   azi ,   roll = current _ rot . roll ) ) . transform ( fw _ vec )   def   clamp ( min _ v ,   max _ v ,   value ) :   return   max ( min _ v ,   min ( value ,   max _ v ) )   norm _ velocity   =   detect . velocity   /   velocity _ range   #   range   [ - 1 ,   1 ]   r   =   int ( clamp ( 0.0 ,   1.0 ,   1.0   -   norm _ velocity )   *   255.0 )   g   =   int ( clamp ( 0.0 ,   1.0 ,   1.0   -   abs ( norm _ velocity ) )   *   255.0 )   b   =   int ( abs ( clamp ( -   1.0 ,   0.0 ,   -   1.0   -   norm _ velocity ) )   *   255.0 )   world . debug . draw _ point (   radar _ data . transform . location   +   fw _ vec ,   size = 0.075 ,   life _ time = 0.06 ,   persistent _ lines = False ,   color = carla . Color ( r ,   g ,   b ) )   rad _ ego . listen ( lambda   radar _ data :   rad _ callback ( radar _ data ) )   \u96f7\u8fbe \u8f93\u51fa \u3002 \u8f66\u8f86 \u505c \u5728 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5904 \uff0c \u56e0\u6b64 \u5176 \u524d\u9762 \u7684 \u9759\u6001 \u5143\u7d20 \u663e\u793a \u4e3a \u767d\u8272 \u3002","title":"\u96f7\u8fbe \u4f20\u611f\u5668  "},{"location":"tuto_G_retrieve_data/#_18","text":"\u65e0 \u6e32\u67d3 \u6a21\u5f0f   \u5bf9\u4e8e \u8fd0\u884c \u521d\u59cb \u4eff\u771f \u975e\u5e38 \u6709\u7528 \uff0c \u7a0d\u540e \u5c06 \u518d\u6b21 \u64ad\u653e \u8be5 \u4eff\u771f \u4ee5 \u68c0\u7d22 \u6570\u636e \u3002 \u7279\u522b \u662f \u5982\u679c \u8be5 \u4eff\u771f \u5b58\u5728 \u4e00\u4e9b \u6781\u7aef \u6761\u4ef6 \uff0c \u4f8b\u5982 \u4ea4\u901a \u5bc6\u96c6 \u3002","title":"\u975e \u6e32\u67d3 \u6a21\u5f0f  "},{"location":"tuto_G_retrieve_data/#_19","text":"\u7981\u7528 \u6e32\u67d3 \u5c06 \u4e3a \u4eff\u771f \u8282\u7701 \u5927\u91cf \u5de5\u4f5c \u3002 \u7531\u4e8e \u4e0d \u4f7f\u7528   GPU \uff0c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53ef\u4ee5 \u5168\u901f \u5de5\u4f5c \u3002 \u8fd9 \u5bf9\u4e8e \u5feb\u901f \u4eff\u771f \u590d\u6742 \u7684 \u6761\u4ef6 \u5f88 \u6709\u7528 \u3002 \u6700\u597d \u7684 \u65b9\u6cd5 \u662f \u8bbe\u7f6e \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u3002 \u4ee5 \u56fa\u5b9a \u65f6\u95f4 \u6b65\u957f \u8fd0\u884c \u5f02\u6b65 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5e76\u4e14 \u4e0d \u8fdb\u884c \u6e32\u67d3 \uff0c \u4eff\u771f \u7684 \u552f\u4e00 \u9650\u5236 \u662f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u5185\u90e8 \u903b\u8f91 \u3002   \u76f8\u540c \u7684   config . py   \u7528\u4e8e   \u8bbe\u7f6e \u5730\u56fe   \u53ef\u4ee5 \u7981\u7528 \u6e32\u67d3 \uff0c \u5e76 \u8bbe\u7f6e \u56fa\u5b9a \u7684 \u65f6\u95f4 \u6b65\u957f \u3002   cd   / opt / carla / PythonAPI / utils   python3   config . py   -- no - rendering   -- delta - seconds   0.05   #   Never   greater   than   0.1 s   \u8b66\u544a   \u5728 \u4f7f\u7528 \u540c\u6b65 \u548c \u65f6\u95f4 \u6b65 \u4e4b\u524d \uff0c \u8bf7 \u5148 \u9605\u8bfb   \u6587\u6863   \u3002","title":"\u5feb\u901f \u4eff\u771f  "},{"location":"tuto_G_retrieve_data/#_20","text":"\u811a\u672c   PythonAPI / examples / no _ rendering _ mode . py   \u63d0\u4f9b \u4e86 \u4eff\u771f \u7684 \u6982\u8ff0 \u3002 \u5b83 \u4f7f\u7528   Pygame   \u521b\u5efa \u4e86 \u4e00\u4e2a \u7b80\u7ea6 \u7684 \u9e1f\u77b0 \u9e1f\u77b0\u56fe \uff0c \u5b83 \u5c06 \u8ddf\u968f \u81ea\u6211 \u8f66\u8f86 \u3002 \u8fd9 \u53ef\u4ee5 \u4e0e   manual _ control . py   \u4e00\u8d77 \u4f7f\u7528 \u6765 \u751f\u6210 \u4e00\u6761 \u51e0\u4e4e \u6ca1\u6709 \u6210\u672c \u7684 \u8def\u7ebf \uff0c \u8bb0\u5f55 \u5b83 \uff0c \u7136\u540e \u56de\u653e \u5e76 \u5229\u7528 \u5b83 \u6765 \u6536\u96c6 \u6570\u636e \u3002   cd   / opt / carla / PythonAPI / examples   python3   manual _ control . py   cd   / opt / carla / PythonAPI / examples   python3   no _ rendering _ mode . py   -- no - rendering   no _ rendering _ mode . py   \u4e2d \u7684 \u53ef\u9009 \u53c2\u6570   - h ,   -- help   show   this   help   message   and   exit   - v ,   -- verbose   print   debug   information   -- host   H   IP   of   the   host   server   ( default :   127.0 . 0.1 )   - p   P ,   -- port   P   TCP   port   to   listen   to   ( default :   2000 )   -- res   WIDTHxHEIGHT   window   resolution   ( default :   1280x720 )   -- filter   PATTERN   actor   filter   ( default :   \" vehicle . * \" )   -- map   TOWN   start   a   new   episode   at   the   given   TOWN   -- no - rendering   switch   off   server   rendering   -- show - triggers   show   trigger   boxes   of   traffic   signs   -- show - connections   show   waypoint   connections   -- show - spawn - points   show   recommended   spawn   points   no _ rendering _ mode . py   working   in   Town07   \u7b14\u8bb0   \u5728 \u6b64 \u6a21\u5f0f \u4e0b \uff0c \u57fa\u4e8e   GPU   \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5c06 \u68c0\u7d22 \u7a7a \u6570\u636e \u3002 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u6ca1\u7528 \uff0c \u4f46 \u63a2\u6d4b \u6d4b\u5668 \u63a2\u6d4b\u5668 \u7b49 \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u4ee5 \u6b63\u5e38 \u5de5\u4f5c \u3002","title":"\u65e0\u9700 \u6e32\u67d3 \u7684 \u624b\u52a8 \u63a7\u5236  "},{"location":"tuto_G_retrieve_data/#_21","text":"","title":"\u8bb0\u5f55 \u548c \u68c0\u7d22 \u6570\u636e  "},{"location":"tuto_G_retrieve_data/#_22","text":"\u8bb0\u5f55 \u8bb0\u5f55\u5668   \u53ef\u4ee5 \u968f\u65f6 \u542f\u52a8 \u3002 \u811a\u672c \u4ece \u4e00 \u5f00\u59cb \u5c31 \u8fd9\u6837 \u505a \uff0c \u4ee5\u4fbf \u6355\u6349 \u4e00\u5207 \uff0c \u5305\u62ec \u7b2c\u4e00 \u4e00\u6279 \u7b2c\u4e00\u6279 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u4ea7\u751f \u3002 \u5982\u679c \u6ca1\u6709 \u8be6\u7ec6 \u8def\u5f84 \uff0c \u65e5\u5fd7 \u5c06 \u4fdd\u5b58 \u5230   CarlaUE4 / Saved   \u3002   #   --------------   #   \u5f00\u59cb \u8bb0\u5f55   #   --------------   client . start _ recorder ( ' ~ / tutorial / recorder / recording01 . log ' )","title":"\u5f00\u59cb \u8bb0\u5f55  "},{"location":"tuto_G_retrieve_data/#_23","text":"\u6709 \u8bb8\u591a \u4e0d\u540c \u7684 \u65b9\u6cd5 \u53ef\u4ee5 \u505a\u5230 \u8fd9 \u4e00\u70b9 \u3002 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u60c5\u51b5 \u4e0b \uff0c \u5b83\u4f1a \u56e0\u4e3a \u8ba9 \u5b83 \u56db\u5904 \u6f2b\u6e38 \u6216 \u624b\u52a8 \u63a7\u5236 \u800c \u51fa\u73b0 \u6545\u969c \u3002 \u4ea7\u751f \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6570\u636e \u5c06 \u88ab \u5373\u65f6 \u68c0\u7d22 \u3002 \u8bf7 \u52a1\u5fc5 \u5728 \u8bb0\u5f55 \u65f6 \u8fdb\u884c \u68c0\u67e5 \uff0c \u4ee5 \u786e\u4fdd \u4e00\u5207 \u8bbe\u7f6e \u6b63\u786e \u3002   \u542f\u7528 \u81ea\u52a8 \u9a7e\u9a76 \u3002   \u8fd9\u4f1a \u5c06 \u8f66\u8f86 \u6ce8\u518c \u5230   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u3002 \u5b83 \u5c06 \u65e0\u4f11 \u4f11\u6b62 \u65e0\u4f11\u6b62 \u5730 \u5728 \u57ce\u5e02 \u4e2d \u6f2b\u6e38 \u3002 \u8be5 \u811a\u672c \u6267\u884c \u6b64 \u64cd\u4f5c \uff0c \u5e76 \u521b\u5efa \u4e00\u4e2a \u5faa\u73af \u4ee5 \u963b\u6b62 \u811a\u672c \u5b8c\u6210 \u3002 \u5f55\u5236 \u5c06 \u7ee7\u7eed \u8fdb\u884c \uff0c \u76f4\u5230 \u7528\u6237 \u5b8c\u6210 \u811a\u672c \u3002 \u6216\u8005 \uff0c \u53ef\u4ee5 \u8bbe\u7f6e \u8ba1\u65f6 \u8ba1\u65f6\u5668 \u4ee5 \u5728 \u7279\u5b9a \u65f6\u95f4 \u540e \u5b8c\u6210 \u811a\u672c \u3002   #   --------------   #   \u6355\u83b7 \u6570\u636e   #   --------------   ego _ vehicle . set _ autopilot ( True )   print ( ' \\ nEgo   autopilot   enabled ' )   while   True :   world _ snapshot   =   world . wait _ for _ tick ( )   \u624b\u52a8 \u63a7\u5236 \u3002   \u5728 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e2d \u8fd0\u884c \u811a\u672c   PythonAPI / examples / manual _ control . py   \uff0c \u5728 \u53e6 \u4e00\u4e2a \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e2d \u8fd0\u884c \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002 \u9a7e\u9a76 \u81ea\u6211 \u8f66\u8f86 \u6765 \u521b\u5efa \u6240 \u9700 \u7684 \u8def\u7ebf \uff0c \u5e76 \u5728 \u5b8c\u6210 \u540e \u505c\u6b62 \u8bb0\u5f55 \u8bb0\u5f55\u4eea \u3002   tutorial _ ego . py   \u811a\u672c \u53ef \u7528\u4e8e \u7ba1\u7406 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \uff0c \u4f46 \u8bf7 \u786e\u4fdd \u6ce8\u91ca \u5176\u4ed6 \u4ee3\u7801 \u7247\u6bb5 \u3002   cd   / opt / carla / PythonAPI / examples   python3   manual _ control . py   \u7b14\u8bb0   \u4e3a\u4e86 \u907f\u514d \u6e32\u67d3 \u5e76 \u8282\u7701 \u8ba1\u7b97 \u6210\u672c \u8ba1\u7b97\u6210\u672c \uff0c \u8bf7 \u542f\u7528   [   \u65e0 \u6e32\u67d3 \u6a21\u5f0f   ]   \u3002 \u8be5 \u811a\u672c   / PythonAPI / examples / no _ rendering _ mode . py   \u5728 \u521b\u5efa \u7b80\u5355 \u7684 \u9e1f\u77b0 \u9e1f\u77b0\u56fe \u65f6 \u6267\u884c \u6b64 \u64cd\u4f5c \u3002","title":"\u6355\u83b7 \u5e76 \u8bb0\u5f55  "},{"location":"tuto_G_retrieve_data/#_24","text":"\u505c\u6b62 \u8c03\u7528 \u751a\u81f3 \u6bd4 \u5f00\u59cb \u8c03\u7528 \u66f4 \u7b80\u5355 \u3002 \u8bb0\u5f55 \u5b8c\u6210 \u540e \uff0c \u8bb0\u5f55 \u5c06 \u4fdd\u5b58 \u5728 \u524d\u9762 \u6307\u5b9a \u7684 \u8def\u5f84 \u4e2d \u3002   #   --------------   #   \u505c\u6b62 \u8bb0\u5f55   #   --------------   client . stop _ recorder ( )","title":"\u505c\u6b62 \u8bb0\u5f55    "},{"location":"tuto_G_retrieve_data/#_25","text":"\u5230 \u76ee\u524d \u524d\u4e3a \u4e3a\u6b62 \u76ee\u524d\u4e3a\u6b62 \uff0c \u4eff\u771f \u5df2\u7ecf \u88ab \u8bb0\u5f55 \u5f55\u4e0b \u4e0b\u6765 \u5f55\u4e0b\u6765 \u8bb0\u5f55\u4e0b\u6765 \u3002 \u73b0\u5728 \uff0c \u662f \u65f6\u5019 \u68c0\u67e5 \u8bb0\u5f55 \uff0c \u627e\u5230 \u6700 \u5f15\u4eba \u6ce8\u76ee \u5f15\u4eba\u6ce8\u76ee \u7684 \u65f6\u523b \uff0c \u5e76 \u5229\u7528 \u5b83\u4eec \u3002 \u8fd9\u4e9b \u6b65\u9aa4 \u96c6\u4e2d \u5728 \u811a\u672c   tutorial _ replay . py   \u4e2d \u3002 \u8be5 \u5927\u7eb2 \u7531 \u6ce8\u91ca \u7684 \u4e0d\u540c \u4ee3\u7801 \u4ee3\u7801\u6bb5 \u6784\u6210 \u3002   \u73b0\u5728 \u662f \u8fd0\u884c \u65b0 \u4eff\u771f \u7684 \u65f6\u5019 \u4e86 \u3002   . / CarlaUE4 . sh   \u8981 \u91cd\u65b0 \u8fdb\u884c \u4eff\u771f \uff0c \u8bf7   \u9009\u62e9 \u4e00\u4e2a \u7247\u6bb5   \u5e76 \u8fd0\u884c \u5305\u542b \u64ad\u653e \u4ee3\u7801 \u7684 \u811a\u672c \u3002   python3   tuto _ replay . py","title":"\u5229\u7528 \u8bb0\u5f55  "},{"location":"tuto_G_retrieve_data/#_26","text":"\u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u6863   \u4e2d \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u4e0d\u540c \u7684 \u67e5\u8be2 \u3002 \u603b\u4e4b \uff0c \u5b83\u4eec \u68c0\u7d22 \u7279\u5b9a \u4e8b\u4ef6 \u6216 \u5e27 \u7684 \u6570\u636e \u3002 \u4f7f\u7528 \u67e5\u8be2 \u6765 \u7814\u7a76 \u8bb0\u5f55 \u3002 \u627e\u5230 \u805a\u5149 \u5149\u706f \u805a\u5149\u706f \u65f6\u523b \uff0c \u8ffd\u8e2a \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u7684 \u5185\u5bb9 \u3002   #   --------------   #   Query   the   recording   #   --------------   #   Show   only   the   most   important   events   in   the   recording .   print ( client . show _ recorder _ file _ info ( \" ~ / tutorial / recorder / recording01 . log \" , False ) )   #   Show   actors   not   moving   1   meter   in   10   seconds .   print ( client . show _ recorder _ actors _ blocked ( \" ~ / tutorial / recorder / recording01 . log \" , 10 , 1 ) )   #   Filter   collisions   between   vehicles   ' v '   and   ' a '   any   other   type   of   actor .   print ( client . show _ recorder _ collisions ( \" ~ / tutorial / recorder / recording01 . log \" , ' v ' , ' a ' ) )   \u7b14\u8bb0   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u4e0d \u9700\u8981 \u6253\u5f00 \u5373\u53ef \u8fdb\u884c \u67e5\u8be2 \u3002   \u663e\u793a \u91cd\u8981 \u4e8b\u4ef6 \u7684 \u67e5\u8be2 \u3002 \u8fd9\u662f \u81ea\u6211 \u8f66\u8f86 \u4ea7\u751f \u7684 \u6846\u67b6 \u3002   \u67e5\u8be2 \u663e\u793a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u88ab \u963b\u6b62 \u3002 \u5728 \u6b64 \u4eff\u771f \u4e2d \uff0c \u81ea\u6211 \u8f66\u8f86 \u4fdd\u6301 \u963b\u585e \u72b6\u6001 \u963b\u585e\u72b6\u6001   100   \u79d2 \u3002   \u663e\u793a \u81ea\u6211 \u8f66\u8f86 \u4e0e \u201c \u5176\u4ed6 \u201d \u7c7b\u578b \u7684 \u5bf9\u8c61 \u4e4b\u95f4 \u7684 \u78b0\u649e \u7684 \u67e5\u8be2 \u3002   \u7b14\u8bb0   \u83b7\u53d6 \u6bcf \u4e00\u5e27 \u7684 \u8be6\u7ec6 \u6587\u4ef6 \u4fe1\u606f \u53ef\u80fd \u4f1a \u8ba9 \u4eba \u4e0d\u77e5 \u4e0d\u77e5\u6240\u63aa \u3002 \u5728 \u5176\u4ed6 \u67e5\u8be2 \u4e4b\u540e \u4f7f\u7528 \u5b83 \u6765 \u4e86\u89e3 \u8981 \u67e5\u770b \u7684 \u4f4d\u7f6e \u3002","title":"\u67e5\u8be2 \u4e8b\u4ef6  "},{"location":"tuto_G_retrieve_data/#_27","text":"\u67e5\u8be2 \u4e4b\u540e \uff0c \u5728 \u4e71\u641e \u4e4b\u524d \u56de\u653e \u4e00\u4e9b \u4eff\u771f \u7247\u6bb5 \u53ef\u80fd \u662f \u4e2a \u597d \u4e3b\u610f \u3002 \u8fd9\u6837 \u505a \u975e\u5e38 \u7b80\u5355 \u975e\u5e38\u7b80\u5355 \uff0c \u800c\u4e14 \u975e\u5e38 \u6709 \u5e2e\u52a9 \u3002 \u4e86\u89e3 \u6709\u5173 \u4eff\u771f \u7684 \u66f4 \u591a \u4fe1\u606f \u3002 \u8fd9\u662f \u4ee5\u540e \u8282\u7701 \u65f6\u95f4 \u8282\u7701\u65f6\u95f4 \u7684 \u6700\u4f73 \u65b9\u6cd5 \u3002   \u8be5 \u65b9\u6cd5 \u5141\u8bb8 \u9009\u62e9 \u64ad\u653e \u7684 \u5f00\u59cb \u70b9 \u548c \u7ed3\u675f \u70b9 \u4ee5\u53ca \u8981 \u8ddf\u968f \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   #   --------------   #   Reenact   a   fragment   of   the   recording   #   --------------   client . replay _ file ( \" ~ / tutorial / recorder / recording01 . log \" , 45 , 10 , 0 )   \u4ee5\u4e0b \u662f \u73b0\u5728 \u53ef\u4ee5 \u505a \u7684 \u4e8b\u60c5 \u7684 \u5217\u8868 \u3002   \u4f7f\u7528 \u67e5\u8be2 \u4e2d \u7684 \u4fe1\u606f \u3002   \u627e\u51fa \u4e8b\u4ef6 \u4e2d \u6d89\u53ca \u7684 \u65f6\u523b \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u7136\u540e \u518d\u6b21 \u64ad\u653e \u3002 \u5728 \u4e8b\u4ef6 \u53d1\u751f \u524d \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u542f\u52a8 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002   \u8ddf\u968f \u4e0d\u540c \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u4e0d\u540c \u7684 \u89c6\u89d2 \u5c06 \u663e\u793a \u67e5\u8be2 \u4e2d\u672a \u5305\u542b \u7684 \u65b0 \u4e8b\u4ef6 \u3002   \u81ea\u7531 \u5730 \u89c2\u5bdf \u5468\u56f4 \u7684 \u60c5\u51b5 \u3002   \u5c06   actor _ id   \u8bbe \u4e3a   0   \uff0c \u5e76 \u83b7\u5f97 \u4eff\u771f \u7684 \u603b\u4f53 \u89c6\u56fe \u3002 \u501f\u52a9 \u8bb0\u5f55 \uff0c \u60a8 \u53ef\u4ee5 \u968f\u65f6 \u968f\u5730 \u968f\u65f6\u968f\u5730 \u3002   \u7b14\u8bb0   \u5f53 \u8bb0\u5f55 \u505c\u6b62 \u65f6 \uff0c \u4eff\u771f \u4e0d\u4f1a \u505c\u6b62 \u3002 \u884c\u4eba \u5c06 \u9759\u6b62 \u4e0d\u52a8 \u9759\u6b62\u4e0d\u52a8 \uff0c \u8f66\u8f86 \u5c06 \u7ee7\u7eed \u884c\u9a76 \u3002 \u5982\u679c \u65e5\u5fd7 \u7ed3\u675f \u6216 \u64ad\u653e \u5230\u8fbe \u6307\u5b9a \u7684 \u7ed3\u675f \u70b9 \uff0c \u5219 \u53ef\u80fd \u4f1a \u53d1\u751f \u8fd9\u79cd \u60c5\u51b5 \u3002","title":"\u9009\u62e9 \u4e00\u4e2a \u7247\u6bb5  "},{"location":"tuto_G_retrieve_data/#_28","text":"\u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5c06 \u5728 \u6b64 \u4eff\u771f \u4e2d \u91cd\u65b0 \u521b\u5efa \u4e0e \u539f\u59cb \u6761\u4ef6 \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u7684 \u6761\u4ef6 \u3002 \u8fd9 \u786e\u4fdd \u4e86 \u4e0d\u540c \u64ad\u653e \u4e2d \u7684 \u6570\u636e \u4e00\u81f4 \u3002   \u6536\u96c6 \u91cd\u8981 \u65f6\u523b \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u548c \u4e8b\u4ef6 \u7684 \u5217\u8868 \u3002 \u9700\u8981 \u65f6 \u6dfb\u52a0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5e76 \u56de\u653e \u4eff\u771f \u3002 \u8be5 \u8fc7\u7a0b \u4e0e \u4e4b\u524d \u5b8c\u5168 \u76f8\u540c \u5b8c\u5168\u76f8\u540c \u3002 \u811a\u672c   tutorial _ replay . py   \u63d0\u4f9b \u4e86 \u4e0d\u540c \u7684 \u793a\u4f8b \uff0c \u8fd9\u4e9b \u793a\u4f8b \u5df2 \u5728   \u201c \u8bbe\u7f6e \u9ad8\u7ea7 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u201d   \u90e8\u5206 \u4e2d \u8fdb\u884c \u4e86 \u5f7b\u5e95 \u89e3\u91ca \u3002 \u5176\u4ed6 \u5df2 \u5728   \u8bbe\u7f6e \u57fa\u672c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u90e8\u5206 \u4e2d \u8fdb\u884c \u4e86 \u89e3\u91ca \u3002   \u6839\u636e \u9700\u8981 \u6dfb\u52a0 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u591a \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u6839\u636e \u9700\u8981 \u591a\u6b21 \u56de\u653e \u4eff\u771f \u5e76 \u68c0\u7d22 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u591a \u7684 \u6570\u636e \u3002","title":"\u68c0\u7d22 \u66f4 \u591a \u6570\u636e  "},{"location":"tuto_G_retrieve_data/#_29","text":"\u8bb0\u5f55 \u5c06 \u91cd\u73b0 \u539f\u59cb \u7684 \u5929\u6c14 \u72b6\u51b5 \u5929\u6c14\u72b6\u51b5 \u3002 \u7136\u800c \uff0c \u8fd9\u4e9b \u53ef\u4ee5 \u968f\u610f \u6539\u53d8 \u3002 \u5728 \u4fdd\u6301 \u5176\u4f59 \u4e8b\u4ef6 \u76f8\u540c \u7684 \u60c5\u51b5 \u4e0b \uff0c \u6bd4\u8f83 \u5b83 \u5982\u4f55 \u5f71\u54cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u80fd \u4f1a \u5f88 \u6709\u8da3 \u3002   \u83b7\u53d6 \u5f53\u524d \u5929\u6c14 \u5e76 \u81ea\u7531 \u4fee\u6539 \u3002 \u8bf7 \u8bb0\u4f4f \uff0c   carla . WeatherParameters   \u6709 \u4e00\u4e9b \u53ef\u7528 \u7684 \u9884\u8bbe \u3002 \u8be5 \u811a\u672c \u4f1a \u5c06 \u73af\u5883 \u66f4 \u6539\u4e3a \u6709\u96fe \u7684 \u65e5\u843d \u3002   #   --------------   #   \u4e3a \u56de\u653e \u6539\u53d8 \u5929\u6c14   #   --------------   weather   =   world . get _ weather ( )   weather . sun _ altitude _ angle   =   - 30   weather . fog _ density   =   65   weather . fog _ distance   =   10   world . set _ weather ( weather )","title":"\u6539\u53d8 \u5929\u6c14  "},{"location":"tuto_G_retrieve_data/#_30","text":"\u65b0 \u7684 \u4eff\u771f \u4e0e \u8bb0\u5f55 \u6ca1\u6709 \u4e25\u683c \u7684 \u8054\u7cfb \u3002 \u5b83 \u53ef\u4ee5 \u968f\u65f6 \u4fee\u6539 \uff0c \u5373\u4f7f \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u505c\u6b62 \uff0c \u4eff\u771f \u4e5f \u4f1a \u7ee7\u7eed \u3002   \u8fd9 \u5bf9\u4e8e \u7528\u6237 \u6765\u8bf4 \u662f \u6709\u5229 \u53ef\u56fe \u5229\u53ef\u56fe \u6709\u5229\u53ef\u56fe \u7684 \u3002 \u4f8b\u5982 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u56de\u653e \u51e0\u79d2 \u79d2\u949f \u51e0\u79d2\u949f \u524d \u7684 \u4eff\u771f \u5e76 \u751f\u6210 \u6216 \u9500\u6bc1 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6765 \u5f3a\u5236 \u6216 \u907f\u514d \u78b0\u649e \u3002 \u5728 \u7279\u5b9a \u65f6\u523b \u7ed3\u675f \u8bb0\u5f55 \u4e5f \u5f88 \u6709\u7528 \u3002 \u8fd9\u6837 \u505a \uff0c \u8f66\u8f86 \u53ef\u80fd \u4f1a \u91c7\u53d6 \u4e0d\u540c \u7684 \u8def\u5f84 \u3002   \u6539\u53d8 \u6761\u4ef6 \u5e76 \u6270\u4e71 \u4eff\u771f \u3002 \u6ca1\u6709 \u4ec0\u4e48 \u53ef \u5931\u53bb \u7684 \uff0c \u56e0\u4e3a \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5141\u8bb8 \u521d\u59cb \u4eff\u771f \u59cb\u7ec8 \u53ef\u4ee5 \u91cd\u65b0 \u8fdb\u884c \u3002 \u8fd9\u662f \u5145\u5206 \u5206\u53d1 \u53d1\u6325 \u5145\u5206\u53d1\u6325   Carla   \u6f5c\u529b \u7684 \u5173\u952e \u3002","title":"\u5c1d\u8bd5 \u65b0 \u7684 \u7ed3\u679c  "},{"location":"tuto_G_retrieve_data/#_31","text":"\u4e0b\u9762 \u662f \u6536\u96c6 \u672c \u6559\u7a0b \u4ee3\u7801 \u7247\u6bb5 \u7684 \u4e24\u4e2a \u811a\u672c \u3002 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u4ee3\u7801 \u90fd \u5e26\u6709 \u6ce8\u91ca \uff0c \u56e0\u4e3a \u9700\u8981 \u5bf9 \u5176 \u8fdb\u884c \u4fee\u6539 \u4ee5 \u9002\u5e94 \u7279\u5b9a \u76ee\u7684 \u3002   tutorial _ ego . py   import   glob   import   os   import   sys   import   time   try :   sys . path . append ( glob . glob ( ' .. / carla / dist / carla - * % d .% d -% s . egg '   %   (   sys . version _ info . major ,   sys . version _ info . minor ,   ' win - amd64 '   if   os . name   = =   ' nt '   else   ' linux - x86 _ 64 ' ) ) [ 0 ] )   except   IndexError :   pass   import   carla   import   argparse   import   logging   import   random   def   main ( ) :   argparser   =   argparse . ArgumentParser (   description = __ doc __ )   argparser . add _ argument (   ' -- host ' ,   metavar = ' H ' ,   default = ' 127.0 . 0.1 ' ,   help = ' IP   of   the   host   server   ( default :   127.0 . 0.1 ) ' )   argparser . add _ argument (   ' - p ' ,   ' -- port ' ,   metavar = ' P ' ,   default = 2000 ,   type = int ,   help = ' TCP   port   to   listen   to   ( default :   2000 ) ' )   args   =   argparser . parse _ args ( )   logging . basicConfig ( format = ' % ( levelname ) s :   % ( message ) s ' ,   level = logging . INFO )   client   =   carla . Client ( args . host ,   args . port )   client . set _ timeout ( 10.0 )   try :   world   =   client . get _ world ( )   ego _ vehicle   =   None   ego _ cam   =   None   ego _ col   =   None   ego _ lane   =   None   ego _ obs   =   None   ego _ gnss   =   None   ego _ imu   =   None   #   --------------   #   Start   recording   #   --------------   \" \" \"   client . start _ recorder ( ' ~ / tutorial / recorder / recording01 . log ' )   \" \" \"   #   --------------   #   Spawn   ego   vehicle   #   --------------   \" \" \"   ego _ bp   =   world . get _ blueprint _ library ( ) . find ( ' vehicle . tesla . model3 ' )   ego _ bp . set _ attribute ( ' role _ name ' , ' ego ' )   print ( ' \\ nEgo   role _ name   is   set ' )   ego _ color   =   random . choice ( ego _ bp . get _ attribute ( ' color ' ) . recommended _ values )   ego _ bp . set _ attribute ( ' color ' , ego _ color )   print ( ' \\ nEgo   color   is   set ' )   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   number _ of _ spawn _ points   =   len ( spawn _ points )   if   0   <   number _ of _ spawn _ points :   random . shuffle ( spawn _ points )   ego _ transform   =   spawn _ points [ 0 ]   ego _ vehicle   =   world . spawn _ actor ( ego _ bp , ego _ transform )   print ( ' \\ nEgo   is   spawned ' )   else :   logging . warning ( ' Could   not   found   any   spawn   points ' )   \" \" \"   #   --------------   #   Add   a   RGB   camera   sensor   to   ego   vehicle .   #   --------------   \" \" \"   cam _ bp   =   None   cam _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   cam _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   cam _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   cam _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   cam _ location   =   carla . Location ( 2 , 0 , 1 )   cam _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   cam _ transform   =   carla . Transform ( cam _ location , cam _ rotation )   ego _ cam   =   world . spawn _ actor ( cam _ bp , cam _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   ego _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' ~ / tutorial / output / %. 6d . jpg '   %   image . frame ) )   \" \" \"   #   --------------   #   Add   collision   sensor   to   ego   vehicle .   #   --------------   \" \" \"   col _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . collision ' )   col _ location   =   carla . Location ( 0 , 0 , 0 )   col _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   col _ transform   =   carla . Transform ( col _ location , col _ rotation )   ego _ col   =   world . spawn _ actor ( col _ bp , col _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   col _ callback ( colli ) :   print ( \" Collision   detected : \\ n \" + str ( colli ) + ' \\ n ' )   ego _ col . listen ( lambda   colli :   col _ callback ( colli ) )   \" \" \"   #   --------------   #   Add   Lane   invasion   sensor   to   ego   vehicle .   #   --------------   \" \" \"   lane _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . lane _ invasion ' )   lane _ location   =   carla . Location ( 0 , 0 , 0 )   lane _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   lane _ transform   =   carla . Transform ( lane _ location , lane _ rotation )   ego _ lane   =   world . spawn _ actor ( lane _ bp , lane _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   lane _ callback ( lane ) :   print ( \" Lane   invasion   detected : \\ n \" + str ( lane ) + ' \\ n ' )   ego _ lane . listen ( lambda   lane :   lane _ callback ( lane ) )   \" \" \"   #   --------------   #   Add   Obstacle   sensor   to   ego   vehicle .   #   --------------   \" \" \"   obs _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . obstacle ' )   obs _ bp . set _ attribute ( \" only _ dynamics \" , str ( True ) )   obs _ location   =   carla . Location ( 0 , 0 , 0 )   obs _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   obs _ transform   =   carla . Transform ( obs _ location , obs _ rotation )   ego _ obs   =   world . spawn _ actor ( obs _ bp , obs _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   obs _ callback ( obs ) :   print ( \" Obstacle   detected : \\ n \" + str ( obs ) + ' \\ n ' )   ego _ obs . listen ( lambda   obs :   obs _ callback ( obs ) )   \" \" \"   #   --------------   #   \u7ed9 \u81ea\u6211 \u8f66\u8f86 \u6dfb\u52a0 \u5168\u7403 \u5bfc\u822a \u536b\u661f \u7cfb\u7edf \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   #   --------------   \" \" \"   gnss _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . gnss ' )   gnss _ location   =   carla . Location ( 0 , 0 , 0 )   gnss _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   gnss _ transform   =   carla . Transform ( gnss _ location , gnss _ rotation )   gnss _ bp . set _ attribute ( \" sensor _ tick \" , str ( 3.0 ) )   ego _ gnss   =   world . spawn _ actor ( gnss _ bp , gnss _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   gnss _ callback ( gnss ) :   print ( \" GNSS   measure : \\ n \" + str ( gnss ) + ' \\ n ' )   ego _ gnss . listen ( lambda   gnss :   gnss _ callback ( gnss ) )   \" \" \"   #   --------------   #   Add   IMU   sensor   to   ego   vehicle .   #   --------------   \" \" \"   imu _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . imu ' )   imu _ location   =   carla . Location ( 0 , 0 , 0 )   imu _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   imu _ transform   =   carla . Transform ( imu _ location , imu _ rotation )   imu _ bp . set _ attribute ( \" sensor _ tick \" , str ( 3.0 ) )   ego _ imu   =   world . spawn _ actor ( imu _ bp , imu _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   imu _ callback ( imu ) :   print ( \" IMU   measure : \\ n \" + str ( imu ) + ' \\ n ' )   ego _ imu . listen ( lambda   imu :   imu _ callback ( imu ) )   \" \" \"   #   --------------   #   Place   spectator   on   ego   spawning   #   --------------   \" \" \"   spectator   =   world . get _ spectator ( )   world _ snapshot   =   world . wait _ for _ tick ( )   spectator . set _ transform ( ego _ vehicle . get _ transform ( ) )   \" \" \"   #   --------------   #   Enable   autopilot   for   ego   vehicle   #   --------------   \" \" \"   ego _ vehicle . set _ autopilot ( True )   \" \" \"   #   --------------   #   Game   loop .   Prevents   the   script   from   finishing .   #   --------------   while   True :   world _ snapshot   =   world . wait _ for _ tick ( )   finally :   #   --------------   #   Stop   recording   and   destroy   actors   #   --------------   client . stop _ recorder ( )   if   ego _ vehicle   is   not   None :   if   ego _ cam   is   not   None :   ego _ cam . stop ( )   ego _ cam . destroy ( )   if   ego _ col   is   not   None :   ego _ col . stop ( )   ego _ col . destroy ( )   if   ego _ lane   is   not   None :   ego _ lane . stop ( )   ego _ lane . destroy ( )   if   ego _ obs   is   not   None :   ego _ obs . stop ( )   ego _ obs . destroy ( )   if   ego _ gnss   is   not   None :   ego _ gnss . stop ( )   ego _ gnss . destroy ( )   if   ego _ imu   is   not   None :   ego _ imu . stop ( )   ego _ imu . destroy ( )   ego _ vehicle . destroy ( )   if   __ name __   = =   ' __ main __ ' :   try :   main ( )   except   KeyboardInterrupt :   pass   finally :   print ( ' \\ nDone   with   tutorial _ ego . ' )   tutorial _ replay . py   import   glob   import   os   import   sys   import   time   import   math   import   weakref   try :   sys . path . append ( glob . glob ( ' .. / carla / dist / carla - * % d .% d -% s . egg '   %   (   sys . version _ info . major ,   sys . version _ info . minor ,   ' win - amd64 '   if   os . name   = =   ' nt '   else   ' linux - x86 _ 64 ' ) ) [ 0 ] )   except   IndexError :   pass   import   carla   import   argparse   import   logging   import   random   def   main ( ) :   client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   client . set _ timeout ( 10.0 )   try :   world   =   client . get _ world ( )   ego _ vehicle   =   None   ego _ cam   =   None   depth _ cam   =   None   depth _ cam02   =   None   sem _ cam   =   None   rad _ ego   =   None   lidar _ sen   =   None   #   --------------   #   Query   the   recording   #   --------------   \" \" \"   #   Show   the   most   important   events   in   the   recording .   print ( client . show _ recorder _ file _ info ( \" ~ / tutorial / recorder / recording05 . log \" , False ) )   #   Show   actors   not   moving   1   meter   in   10   seconds .   # print ( client . show _ recorder _ actors _ blocked ( \" ~ / tutorial / recorder / recording04 . log \" , 10 , 1 ) )   #   Show   collisions   between   any   type   of   actor .   # print ( client . show _ recorder _ collisions ( \" ~ / tutorial / recorder / recording04 . log \" , ' v ' , ' a ' ) )   \" \" \"   #   --------------   #   Reenact   a   fragment   of   the   recording   #   --------------   \" \" \"   client . replay _ file ( \" ~ / tutorial / recorder / recording03 . log \" , 0 , 30 , 0 )   \" \" \"   #   --------------   #   Set   playback   simulation   conditions   #   --------------   \" \" \"   ego _ vehicle   =   world . get _ actor ( 322 )   # Store   the   ID   from   the   simulation   or   query   the   recording   to   find   out   \" \" \"   #   --------------   #   Place   spectator   on   ego   spawning   #   --------------   \" \" \"   spectator   =   world . get _ spectator ( )   world _ snapshot   =   world . wait _ for _ tick ( )   spectator . set _ transform ( ego _ vehicle . get _ transform ( ) )   \" \" \"   #   --------------   #   Change   weather   conditions   #   --------------   \" \" \"   weather   =   world . get _ weather ( )   weather . sun _ altitude _ angle   =   - 30   weather . fog _ density   =   65   weather . fog _ distance   =   10   world . set _ weather ( weather )   \" \" \"   #   --------------   #   Add   a   RGB   camera   to   ego   vehicle .   #   --------------   \" \" \"   cam _ bp   =   None   cam _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   cam _ location   =   carla . Location ( 2 , 0 , 1 )   cam _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   cam _ transform   =   carla . Transform ( cam _ location , cam _ rotation )   cam _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   cam _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   cam _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   ego _ cam   =   world . spawn _ actor ( cam _ bp , cam _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   ego _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' ~ / tutorial / new _ rgb _ output / %. 6d . jpg '   %   image . frame ) )   \" \" \"   #   --------------   #   Add   a   Logarithmic   Depth   camera   to   ego   vehicle .   #   --------------   \" \" \"   depth _ cam   =   None   depth _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . depth ' )   depth _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   depth _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   depth _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   depth _ location   =   carla . Location ( 2 , 0 , 1 )   depth _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   depth _ transform   =   carla . Transform ( depth _ location , depth _ rotation )   depth _ cam   =   world . spawn _ actor ( depth _ bp , depth _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   #   This   time ,   a   color   converter   is   applied   to   the   image ,   to   get   the   semantic   segmentation   view   depth _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' ~ / tutorial / de _ log / %. 6d . jpg '   %   image . frame , carla . ColorConverter . LogarithmicDepth ) )   \" \" \"   #   --------------   #   Add   a   Depth   camera   to   ego   vehicle .   #   --------------   \" \" \"   depth _ cam02   =   None   depth _ bp02   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . depth ' )   depth _ bp02 . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   depth _ bp02 . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   depth _ bp02 . set _ attribute ( \" fov \" , str ( 105 ) )   depth _ location02   =   carla . Location ( 2 , 0 , 1 )   depth _ rotation02   =   carla . Rotation ( 0 , 180 , 0 )   depth _ transform02   =   carla . Transform ( depth _ location02 , depth _ rotation02 )   depth _ cam02   =   world . spawn _ actor ( depth _ bp02 , depth _ transform02 , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   #   This   time ,   a   color   converter   is   applied   to   the   image ,   to   get   the   semantic   segmentation   view   depth _ cam02 . listen ( lambda   image :   image . save _ to _ disk ( ' ~ / tutorial / de / %. 6d . jpg '   %   image . frame , carla . ColorConverter . Depth ) )   \" \" \"   #   --------------   #   Add   a   new   semantic   segmentation   camera   to   ego   vehicle   #   --------------   \" \" \"   sem _ cam   =   None   sem _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . semantic _ segmentation ' )   sem _ bp . set _ attribute ( \" image _ size _ x \" , str ( 1920 ) )   sem _ bp . set _ attribute ( \" image _ size _ y \" , str ( 1080 ) )   sem _ bp . set _ attribute ( \" fov \" , str ( 105 ) )   sem _ location   =   carla . Location ( 2 , 0 , 1 )   sem _ rotation   =   carla . Rotation ( 0 , 180 , 0 )   sem _ transform   =   carla . Transform ( sem _ location , sem _ rotation )   sem _ cam   =   world . spawn _ actor ( sem _ bp , sem _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   #   This   time ,   a   color   converter   is   applied   to   the   image ,   to   get   the   semantic   segmentation   view   sem _ cam . listen ( lambda   image :   image . save _ to _ disk ( ' ~ / tutorial / new _ sem _ output / %. 6d . jpg '   %   image . frame , carla . ColorConverter . CityScapesPalette ) )   \" \" \"   #   --------------   #   Add   a   new   radar   sensor   to   ego   vehicle   #   --------------   \" \" \"   rad _ cam   =   None   rad _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . other . radar ' )   rad _ bp . set _ attribute ( ' horizontal _ fov ' ,   str ( 35 ) )   rad _ bp . set _ attribute ( ' vertical _ fov ' ,   str ( 20 ) )   rad _ bp . set _ attribute ( ' range ' ,   str ( 20 ) )   rad _ location   =   carla . Location ( x = 2.8 ,   z = 1.0 )   rad _ rotation   =   carla . Rotation ( pitch = 5 )   rad _ transform   =   carla . Transform ( rad _ location , rad _ rotation )   rad _ ego   =   world . spawn _ actor ( rad _ bp , rad _ transform , attach _ to = ego _ vehicle ,   attachment _ type = carla . AttachmentType . Rigid )   def   rad _ callback ( radar _ data ) :   velocity _ range   =   7.5   #   m / s   current _ rot   =   radar _ data . transform . rotation   for   detect   in   radar _ data :   azi   =   math . degrees ( detect . azimuth )   alt   =   math . degrees ( detect . altitude )   #   The   0.25   adjusts   a   bit   the   distance   so   the   dots   can   #   be   properly   seen   fw _ vec   =   carla . Vector3D ( x = detect . depth   -   0.25 )   carla . Transform (   carla . Location ( ) ,   carla . Rotation (   pitch = current _ rot . pitch   +   alt ,   yaw = current _ rot . yaw   +   azi ,   roll = current _ rot . roll ) ) . transform ( fw _ vec )   def   clamp ( min _ v ,   max _ v ,   value ) :   return   max ( min _ v ,   min ( value ,   max _ v ) )   norm _ velocity   =   detect . velocity   /   velocity _ range   #   range   [ - 1 ,   1 ]   r   =   int ( clamp ( 0.0 ,   1.0 ,   1.0   -   norm _ velocity )   *   255.0 )   g   =   int ( clamp ( 0.0 ,   1.0 ,   1.0   -   abs ( norm _ velocity ) )   *   255.0 )   b   =   int ( abs ( clamp ( -   1.0 ,   0.0 ,   -   1.0   -   norm _ velocity ) )   *   255.0 )   world . debug . draw _ point (   radar _ data . transform . location   +   fw _ vec ,   size = 0.075 ,   life _ time = 0.06 ,   persistent _ lines = False ,   color = carla . Color ( r ,   g ,   b ) )   rad _ ego . listen ( lambda   radar _ data :   rad _ callback ( radar _ data ) )   \" \" \"   #   --------------   #   Add   a   new   LIDAR   sensor   to   ego   vehicle   #   --------------   \" \" \"   lidar _ cam   =   None   lidar _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . lidar . ray _ cast ' )   lidar _ bp . set _ attribute ( ' channels ' , str ( 32 ) )   lidar _ bp . set _ attribute ( ' points _ per _ second ' , str ( 90000 ) )   lidar _ bp . set _ attribute ( ' rotation _ frequency ' , str ( 40 ) )   lidar _ bp . set _ attribute ( ' range ' , str ( 20 ) )   lidar _ location   =   carla . Location ( 0 , 0 , 2 )   lidar _ rotation   =   carla . Rotation ( 0 , 0 , 0 )   lidar _ transform   =   carla . Transform ( lidar _ location , lidar _ rotation )   lidar _ sen   =   world . spawn _ actor ( lidar _ bp , lidar _ transform , attach _ to = ego _ vehicle , attachment _ type = carla . AttachmentType . Rigid )   lidar _ sen . listen ( lambda   point _ cloud :   point _ cloud . save _ to _ disk ( ' / home / adas / Desktop / tutorial / new _ lidar _ output / %. 6d . ply '   %   point _ cloud . frame ) )   \" \" \"   #   --------------   #   Game   loop .   Prevents   the   script   from   finishing .   #   --------------   while   True :   world _ snapshot   =   world . wait _ for _ tick ( )   finally :   #   --------------   #   Destroy   actors   #   --------------   if   ego _ vehicle   is   not   None :   if   ego _ cam   is   not   None :   ego _ cam . stop ( )   ego _ cam . destroy ( )   if   depth _ cam   is   not   None :   depth _ cam . stop ( )   depth _ cam . destroy ( )   if   sem _ cam   is   not   None :   sem _ cam . stop ( )   sem _ cam . destroy ( )   if   rad _ ego   is   not   None :   rad _ ego . stop ( )   rad _ ego . destroy ( )   if   lidar _ sen   is   not   None :   lidar _ sen . stop ( )   lidar _ sen . destroy ( )   ego _ vehicle . destroy ( )   print ( ' \\ nNothing   to   be   done . ' )   if   __ name __   = =   ' __ main __ ' :   try :   main ( )   except   KeyboardInterrupt :   pass   finally :   print ( ' \\ nDone   with   tutorial _ replay . ' )   \u8fd9\u662f \u5173\u4e8e \u5982\u4f55 \u4ece \u4eff\u771f \u4e2d \u6b63\u786e \u68c0\u7d22 \u6570\u636e \u7684 \u603b\u7ed3 \u3002 \u786e\u4fdd \u5c1d\u8bd5 \u4e00\u4e0b \uff0c \u6539\u53d8 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u6761\u4ef6 \uff0c \u5c1d\u8bd5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e \u3002 \u53ef\u80fd \u53ef\u80fd\u6027 \u662f \u6b62\u5883 \u65e0\u6b62\u5883 \u3002   \u8bf7 \u8bbf\u95ee \u8bba\u575b \uff0c \u53d1\u8868 \u5728 \u9605\u8bfb \u8fc7\u7a0b \u4e2d \u60f3\u5230 \u7684 \u4efb\u4f55 \u7591\u95ee \u6216 \u5efa\u8bae \u3002   Carla   \u8bba\u575b","title":"\u6559\u7a0b \u811a\u672c  "},{"location":"tuto_G_rllib_integration/","text":"RLlib   \u96c6\u6210   RLlib   \u96c6\u6210 \u5e26\u6765 \u4e86   Ray / RLlib   \u5e93 \u548c   Carla   \u4e4b\u95f4 \u7684 \u652f\u6301 \uff0c \u5141\u8bb8 \u8f7b\u677e \u4f7f\u7528   Carla   \u73af\u5883 \u8fdb\u884c \u8bad\u7ec3 \u548c \u63a8\u7406 \u3002 Ray   \u662f \u4e00\u4e2a \u5f00\u6e90 \u6846\u67b6 \uff0c \u4e3a \u6784\u5efa \u5206\u5e03 \u5e03\u5f0f \u5e94\u7528 \u5206\u5e03\u5f0f \u5206\u5e03\u5f0f\u5e94\u7528 \u7a0b\u5e8f \u63d0\u4f9b \u4e86 \u7b80\u5355 \u3001 \u901a\u7528 \u7684   API \u3002 Ray   \u4e0e   RLlib \uff08 \u4e00\u4e2a \u53ef \u6269\u5c55 \u7684 \u5f3a\u5316 \u5b66\u4e60 \u5e93 \uff09 \u548c   Tune \uff08 \u4e00\u4e2a \u53ef \u6269\u5c55 \u7684 \u8d85 \u53c2\u6570 \u8c03\u6574 \u5e93 \uff09 \u6253\u5305 \u5728 \u4e00\u8d77 \u3002   RLlib   \u96c6\u6210 \u5141\u8bb8 \u7528\u6237 \u521b\u5efa \u548c \u4f7f\u7528   Carla   \u4f5c\u4e3a   Ray   \u7684 \u73af\u5883 \uff0c \u5e76 \u5c06 \u8be5 \u73af\u5883 \u7528\u4e8e \u8bad\u7ec3 \u548c \u63a8\u7406 \u76ee\u7684 \u3002 \u8be5 \u96c6\u6210 \u53ef\u4ee5 \u5728 \u672c\u5730 \u4f7f\u7528 \uff0c \u4e5f \u53ef\u4ee5 \u901a\u8fc7   AWS   \u5728 \u4e91\u4e2d \u4f7f\u7528 \u3002   \u5728 \u672c \u6307\u5357 \u4e2d \uff0c \u6211\u4eec \u5c06 \u6982\u8ff0 \u5728 \u672c\u5730 \u548c   AWS   \u4e0a \u8fd0\u884c   RLlib   \u96c6\u6210 \u6240 \u9700 \u7684 \u8981\u6c42 \u3001 \u96c6\u6210 \u5b58\u50a8 \u5e93 \u7684 \u7ed3\u6784 \u3001 \u5982\u4f55 \u4f7f\u7528 \u8be5\u5e93 \u7684 \u6982\u8ff0 \uff0c \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528   Carla   \u8bbe\u7f6e   Ray   \u5b9e\u9a8c \u7684 \u793a\u4f8b \u4e00\u4e2a \u73af\u5883 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u672c\u5730 \u8fd0\u884c \u7684 \u8981\u6c42   \u5728   AWS   \u4e91\u4e0a \u8fd0\u884c \u7684 \u8981\u6c42   RLlib   \u4ed3\u5e93 \u7ed3\u6784   \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c   \u5b9e\u9a8c \u7c7b   \u73af\u5883 \u914d\u7f6e   \u8bad\u7ec3 \u548c \u63a8\u7406 \u811a\u672c   DQN   \u793a\u4f8b   \u5728   AWS   \u4e0a \u8fd0\u884c   \u914d\u7f6e   AWS   \u521b\u5efa \u8bad\u7ec3   AMI   \u914d\u7f6e \u96c6\u7fa4   \u8fd0\u884c \u8bad\u7ec3   \u5728   AWS   \u4e0a \u8fd0\u884c   DQN   \u793a\u4f8b   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u4ece   GitHub   \u4e0b\u8f7d   RLlib   \u96c6\u6210 \u6216 \u76f4\u63a5 \u514b\u9686 \u4ed3\u5e93 \uff1a   git   clone   https : / / github . com / carla - simulator / rllib - integration . git   \u8981\u6c42 \u4f1a \u6709\u6240 \u4e0d\u540c \u6709\u6240\u4e0d\u540c \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u662f \u5728 \u672c\u5730 \u8fd0\u884c \u8fd8\u662f \u5728   AWS   \u4e0a \u8fd0\u884c \uff1a   \u672c\u5730 \u8fd0\u884c \u7684 \u8981\u6c42   \u5b89\u88c5   Carla   \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u7248\u672c   \u5e76 \u5bfc\u5165   \u9644\u52a0 \u8d44\u6e90   \u3002   \u63a8\u8350 \u7684 \u7248\u672c \u662f   Carla   0.9 . 11   \uff0c \u56e0\u4e3a \u96c6\u6210 \u662f \u4f7f\u7528 \u6b64 \u7248\u672c \u8bbe\u8ba1 \u548c \u6d4b\u8bd5 \u7684 \u3002 \u5176\u4ed6 \u7248\u672c \u53ef\u80fd \u517c\u5bb9 \uff0c \u4f46 \u5c1a\u672a \u7ecf\u8fc7 \u5145\u5206 \u6d4b\u8bd5 \uff0c \u56e0\u6b64 \u8bf7 \u81ea\u884c \u51b3\u5b9a \u81ea\u884c\u51b3\u5b9a \u4f7f\u7528 \u8fd9\u4e9b \u7248\u672c \u3002   \u5bfc\u822a \u5230   RLlib   \u96c6\u6210 \u5b58\u50a8 \u5e93 \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u5b89\u88c5   Python   \u8981\u6c42 \uff1a   pip3   install   - r   requirements . txt   \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u4ee5 \u67e5\u627e   Carla   \u5305 \u6216 \u6dfb\u52a0   CARLA _ ROOT = path / to / carla   \u5230 \u60a8 \u7684   . bashrc   \u6587\u4ef6 \u4e2d \uff1a   export   CARLA _ ROOT = path / to / carla   \u5728   AWS   \u4e91\u4e0a \u8fd0\u884c \u7684 \u8981\u6c42   \u5728   RLlib   \u96c6\u6210 \u5b58\u50a8 \u5e93\u4e2d \u627e\u5230 \u7684 \u5b89\u88c5 \u811a\u672c \u4e2d \u4f1a \u81ea\u52a8 \u6ee1\u8db3 \u5728   AWS   \u4e0a \u8fd0\u884c \u7684 \u8981\u6c42 \u3002   \u5728 \u201c \u5728   AWS   \u4e0a \u8fd0\u884c \u201d   \u90e8\u5206 \u4e2d \u67e5\u627e \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   RLlib   \u5b58\u50a8 \u5e93 \u7ed3\u6784   \u5b58\u50a8 \u5e93 \u5206\u4e3a \u4e09\u4e2a \u76ee\u5f55 \uff1a   rllib _ integration   \u5305\u542b \u4e0e   Carla   \u76f8\u5173 \u7684 \u6240\u6709 \u57fa\u7840 \u8bbe\u65bd \u57fa\u7840\u8bbe\u65bd \u4ee5\u53ca \u5982\u4f55 \u8bbe\u7f6e   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3001 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u8fd9 \u63d0\u4f9b \u4e86 \u6240\u6709 \u8bad\u7ec3 \u548c \u6d4b\u8bd5 \u5b9e\u9a8c \u5fc5\u987b \u9075\u5faa \u7684 \u57fa\u672c \u7ed3\u6784 \u3002   aws   \u5177\u6709 \u5728   AWS   \u5b9e\u4f8b \u4e2d \u8fd0\u884c \u6240 \u9700 \u7684 \u6587\u4ef6 \u3002   aws _ helper . py   \u63d0\u4f9b \u4e86 \u591a\u79cd \u7b80\u5316 \u53ef\u7b80\u5316   EC2   \u5b9e\u4f8b \u7ba1\u7406 \u7684 \u529f\u80fd \uff0c \u5305\u62ec \u5b9e\u4f8b \u521b\u5efa \u4ee5\u53ca \u53d1\u9001 \u548c \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \u3002   \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e2d \u7684   dqn _ example   \u548c   dqn _ *   \u6587\u4ef6 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u6613\u4e8e \u7406\u89e3 \u7684 \u793a\u4f8b \uff0c \u8bf4\u660e \u5982\u4f55 \u4f7f\u7528   Carla   \u4f5c\u4e3a \u73af\u5883 \u6765 \u8bbe\u7f6e   Ray   \u5b9e\u9a8c \u3002   \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c   \u672c \u8282 \u6982\u8ff0 \u4e86 \u5982\u4f55 \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c \u3002 \u66f4 \u5177\u4f53 \u7684 \u793a\u4f8b \u8bf7 \u53c2\u89c1 \u4e0b \u4e00\u8282   \u201c DQN   \u793a\u4f8b \u201d   \u3002   \u60a8 \u5c06 \u9700\u8981 \u521b\u5efa \u81f3\u5c11 \u56db\u4e2a \u6587\u4ef6 \uff1a   \u5b9e\u9a8c \u7c7b   \u73af\u5883 \u914d\u7f6e   \u8bad\u7ec3 \u548c \u63a8\u7406 \u811a\u672c   1 .   \u5b9e\u9a8c \u7c7b   \u8981 \u4f7f\u7528   Carla   \u73af\u5883 \uff0c \u60a8 \u9700\u8981 \u5b9a\u4e49 \u8bad\u7ec3 \u5b9e\u9a8c \u3002 Ray   \u8981\u6c42 \u73af\u5883 \u8fd4\u56de \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7279\u5b9a \u4fe1\u606f \u3002 \u60a8 \u53ef\u4ee5 \u5728   rllib - integration / rllib _ integration / carla _ env . py   \u4e2d \u67e5\u770b \u6709\u5173   Carla   \u73af\u5883 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   Ray   \u6240 \u9700 \u7684 \u4fe1\u606f \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684 \u5177\u4f53 \u5b9e\u9a8c \uff0c \u56e0\u6b64 \u6240\u6709 \u5b9e\u9a8c \u90fd \u5e94 \u7ee7\u627f \u81ea   BaseExperiment   \u3002 \u6b64\u7c7b \u5305\u542b \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c \u9700\u8981 \u8986\u76d6 \u7684 \u6240\u6709 \u51fd\u6570 \u3002 \u8fd9\u4e9b \u90fd \u662f \u4e0e \u8bad\u7ec3 \u7684 \u884c\u52a8 \u3001 \u89c2\u5bdf \u548c \u5956\u52b1 \u76f8\u5173 \u7684 \u529f\u80fd \u3002   2 .   \u73af\u5883 \u914d\u7f6e   \u5b9e\u9a8c \u5e94\u8be5 \u901a\u8fc7   . yaml   \u6587\u4ef6 \u8fdb\u884c \u914d\u7f6e \u3002 \u901a\u8fc7 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u4f20\u9012 \u7684 \u4efb\u4f55 \u8bbe\u7f6e \u90fd \u5c06 \u8986\u76d6 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u3002 \u4e0b\u9762 \u89e3\u91ca \u4e86 \u4e0d\u540c \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u7684 \u4f4d\u7f6e \u3002   \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u6709 \u4e09\u4e2a \u4e3b\u8981 \u8981\u7528 \u7528\u9014 \u4e3b\u8981\u7528\u9014 \uff1a   \u8bbe\u7f6e \u5927\u90e8 \u90e8\u5206 \u5927\u90e8\u5206   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bbe\u7f6e \uff0c \u4f8b\u5982 \u8d85\u65f6 \u6216 \u5730\u56fe \u8d28\u91cf \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u6b64\u5904   \u7684 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002   \u8bbe\u7f6e \u7279\u5b9a \u4e8e \u60a8 \u7684 \u5b9e\u9a8c \u7684 \u53d8\u91cf \uff0c \u4ee5\u53ca \u6307\u5b9a \u57ce\u9547 \u6761\u4ef6 \u4ee5\u53ca \u81ea\u6211 \u8f66\u8f86 \u53ca\u5176 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u751f\u6210 \u3002 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u53ef \u5728   \u6b64\u5904   \u627e\u5230 \uff0c \u5e76 \u63d0\u4f9b \u5982\u4f55 \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u793a\u4f8b \u3002   \u914d\u7f6e \u7279\u5b9a \u4e8e   Ray   \u7684 \u8bad\u7ec3   \u8bbe\u7f6e \u3002 \u8fd9\u4e9b \u8bbe\u7f6e \u4e0e \u6240 \u4f7f\u7528 \u7684 \u7279\u5b9a \u8bad\u7ec3 \u8bad\u7ec3\u5668 \u76f8\u5173 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f \u5185\u7f6e \u6a21\u578b \uff0c \u5219 \u53ef\u4ee5 \u5728 \u6b64\u5904 \u5e94\u7528 \u5176 \u8bbe\u7f6e \u3002   3 .   \u8bad\u7ec3 \u548c \u63a8\u7406 \u811a\u672c   \u6700\u540e \u4e00\u6b65 \u662f \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u8bad\u7ec3 \u548c \u63a8\u7406 \u811a\u672c \u3002 \u8fd9\u90e8 \u90e8\u5206 \u8fd9\u90e8\u5206 \u5b8c\u5168 \u7531 \u60a8 \u51b3\u5b9a \uff0c \u5e76\u4e14 \u4f9d\u8d56 \u8d56\u4e8e \u4f9d\u8d56\u4e8e   Ray   API \u3002 \u5982\u679c \u60a8 \u60f3 \u521b\u5efa \u81ea\u5df1 \u7684 \u7279\u5b9a \u6a21\u578b \uff0c \u8bf7 \u67e5\u770b   Ray   \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6a21\u578b \u6587\u6863   \u3002   DQN   \u793a\u4f8b   \u672c \u8282 \u4ee5\u4e0a \u4e00\u8282 \u4e3a \u57fa\u7840 \uff0c \u5c55\u793a \u5982\u4f55 \u4f7f\u7528   BirdView   pseudosensor   \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c   Ray   \u7684   DQNTrainer   \u8fdb\u884c   RLlib   \u96c6\u6210 \u7684 \u5177\u4f53 \u793a\u4f8b \u3002   DQN \u793a\u4f8b \u7684 \u7ed3\u6784 \u5982\u4e0b \uff1a   \u5b9e\u9a8c \u7c7b   :   DQNExperiment   \uff0c \u8986\u76d6   BaseExperiment   \u7c7b \u7684 \u65b9\u6cd5 \u3002   \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6   :   dqn _ example / dqn _ config . yaml   \u8bad\u7ec3 \u6587\u4ef6   :   dqn _ train . py   \u63a8\u7406 \u6587\u4ef6   :   \u6709   Ray   :   dqn _ inference _ ray . py   \u6ca1\u6709   Ray   :   dqn _ inference . py   \u8981 \u5728 \u672c\u5730 \u8fd0\u884c \u8be5 \u793a\u4f8b \uff1a   \u5b89\u88c5   pytorch :   pip3   install   - r   dqn _ example / dqn _ requirements . txt   \u8fd0\u884c \u8bad\u7ec3 \u6587\u4ef6 \uff1a   python3   dqn _ train . py   dqn _ example / dqn _ config . yaml   -- name   dqn   \u7b14\u8bb0   \u9ed8\u8ba4 \u914d\u7f6e \u4f7f\u7528   1   \u4e2a   GPU   \u548c   12   \u4e2a   CPU \uff0c \u56e0\u6b64 \u5982\u679c \u60a8 \u7684 \u672c\u5730 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u6ca1\u6709 \u8be5 \u5bb9\u91cf \uff0c \u8bf7 \u51cf\u5c0f   \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6   \u4e2d \u7684 \u6570\u5b57 \u3002   \u5982\u679c \u9047\u5230 \u5185\u5b58 \u4e0d\u8db3 \u5185\u5b58\u4e0d\u8db3 \u95ee\u9898 \uff0c \u8bf7 \u8003\u8651 \u51cf\u5c11 \u8be5   buffer _ size   \u53c2\u6570 \u3002   \u5728   AWS   \u4e0a \u8fd0\u884c   \u672c \u8282 \u4ecb\u7ecd \u5982\u4f55 \u4f7f\u7528   RLlib   \u96c6\u6210 \u5728   AWS   EC2   \u5b9e\u4f8b \u4e0a \u81ea\u52a8 \u8fd0\u884c \u8bad\u7ec3 \u548c \u63a8\u7406 \u3002 \u4e3a\u4e86 \u5904\u7406 \u5b9e\u4f8b \u7684 \u7f29\u653e \uff0c \u6211\u4eec \u4f7f\u7528   Ray   autoscaler   API   \u3002   \u914d\u7f6e   AWS   \u60a8 \u9700\u8981 \u6b63\u786e \u914d\u7f6e   boto3   \u73af\u5883 \u3002 \u8bf7 \u70b9\u51fb   \u6b64\u5904   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u521b\u5efa \u8bad\u7ec3   AMI   \u4f7f\u7528 \u63d0\u4f9b \u7684   aws _ helper . py   \u811a\u672c \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u81ea\u52a8 \u521b\u5efa \u8bad\u7ec3 \u6240 \u9700 \u7684 \u6620\u50cf \uff0c \u5e76 \u4f20\u5165 \u57fa\u7840 \u6620\u50cf \u7684 \u540d\u79f0 \u548c   install . sh   \u5728 \u4ee5\u4e0b \u4f4d\u7f6e   rllib - integration / aws / install   \u627e\u5230 \u7684 \u5b89\u88c5 \u811a\u672c \uff1a   python3   aws _ helper . py   create - image   -- name   < AMI - name >   -- installation - scripts   < installation - scripts >   -- instance - type   < instance - type >   -- volume - size   < volume - size >   \u914d\u7f6e \u96c6\u7fa4   \u521b\u5efa \u56fe\u50cf \u540e \uff0c \u5c06\u4f1a \u8f93\u51fa \u5e26\u6709 \u56fe\u50cf \u4fe1\u606f \u7684 \u8f93\u51fa \u3002 \u8981 \u4f7f\u7528   Ray   \u81ea\u52a8 \u7f29\u653e \u5668 \uff0c \u8bf7 \u4f7f\u7528 \u8f93\u51fa \u4e2d \u7684 \u4fe1\u606f \u66f4\u65b0   autoscaler   configuration   file   \u4e2d \u7684   < ImageId >   \u548c   < SecurityGroupIds >   \u8bbe\u7f6e \u3002   \u8fd0\u884c \u8bad\u7ec3   \u521b\u5efa \u955c\u50cf \u540e \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528   Ray   \u7684   API   \u5728 \u96c6\u7fa4 \u4e0a \u8fd0\u884c \u8bad\u7ec3 \uff1a   \u521d\u59cb \u521d\u59cb\u5316 \u96c6\u7fa4 \uff1a   ray   up   < autoscaler _ configuration _ file >   \uff08 \u53ef \u9009 \uff09 \u5982\u679c \u96c6\u7fa4 \u521d\u59cb \u521d\u59cb\u5316 \u540e \u672c\u5730 \u4ee3\u7801 \u88ab \u4fee\u6539 \uff0c \u8bf7 \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \u66f4\u65b0 \uff1a   ray   rsync - up   < autoscaler _ configuration _ file >   < path _ to _ local _ folder >   < path _ to _ remote _ folder >   \u8fd0\u884c \u8bad\u7ec3 \uff1a   ray   submit   < autoscaler _ configuration _ file >   < training _ file >   \uff08 \u53ef \u9009 \uff09 \u76d1\u63a7 \u96c6\u7fa4 \u72b6\u6001 \uff1a   ray   attach   < autoscaler _ configuration _ file >   watch   - n   1   ray   status   \u5173\u95ed \u96c6\u7fa4 \uff1a   ray   down   < autoscaler _ configuration _ file >   \u5728   AWS   \u4e0a \u8fd0\u884c   DQN   \u793a\u4f8b   \u8981 \u5728   AWS   \u4e0a \u8fd0\u884c   DQN   \u793a\u4f8b \uff1a   \u901a\u8fc7 \u5c06   dqn _ example / dqn _ autoscaler . yaml   \u914d\u7f6e \u4f20\u9012 \u7ed9 \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u521b\u5efa \u6620\u50cf \uff1a   python3   aws _ helper . py   create - image   -- name   < AMI - name >   -- installation - scripts   install / install . sh   -- instance - type   < instance - type >   -- volume - size   < volume - size >   \u4f7f\u7528 \u4e0a \u4e00\u4e2a \u547d\u4ee4   dqn _ autoscaler . yaml   \u63d0\u4f9b \u7684 \u4fe1\u606f \u66f4\u65b0   < ImageId >   \u548c   < SecurityGroupIds >   \u8bbe\u7f6e \u3002   \u521d\u59cb \u521d\u59cb\u5316 \u96c6\u7fa4 \uff1a   ray   up   dqn _ example / dqn _ autoscaler . yaml   \uff08 \u53ef \u9009 \uff09 \u4f7f\u7528 \u672c\u5730 \u66f4\u6539 \u66f4\u65b0 \u8fdc\u7a0b \u6587\u4ef6 \uff1a   ray   rsync - up   dqn _ example / dqn _ autoscaler . yaml   dqn _ example   .   ray   rsync - up   dqn _ example / dqn _ autoscaler . yaml   rllib _ integration   .   \u8fd0\u884c \u8bad\u7ec3 \uff1a   ray   submit   dqn _ example / dqn _ autoscaler . yaml   dqn _ train . py   --   dqn _ example / dqn _ config . yaml   -- auto   6 . \uff08 \u53ef \u9009 \uff09 \u76d1\u63a7 \u96c6\u7fa4 \u72b6\u6001 \uff1a   ray   attach   dqn _ example / dqn _ autoscaler . yaml   watch   - n   1   ray   status   \u5173\u95ed \u96c6\u7fa4 \uff1a   ray   down   dqn _ example / dqn _ autoscaler . yaml   \u672c \u6307\u5357 \u6982\u8ff0 \u4e86 \u5982\u4f55 \u5728   AWS   \u548c \u672c\u5730 \u8ba1\u7b97 \u7b97\u673a \u673a\u4e0a \u5b89\u88c5 \u8ba1\u7b97\u673a \u8ba1\u7b97\u673a\u4e0a\u5b89\u88c5 \u548c \u8fd0\u884c   RLlib   \u96c6\u6210 \u3002 \u5982\u679c \u60a8 \u5bf9 \u672c \u6307\u5357 \u6709 \u4efb\u4f55 \u7591\u95ee \u6216 \u9047\u5230 \u4efb\u4f55 \u95ee\u9898 \uff0c \u8bf7 \u968f\u65f6 \u5728   \u8bba\u575b   \u4e2d \u53d1\u5e16 \u6216 \u5728   GitHub   \u4e0a \u63d0\u51fa \u95ee\u9898 \u3002","title":"RLlib   \u96c6\u6210"},{"location":"tuto_G_rllib_integration/#rllib","text":"RLlib   \u96c6\u6210 \u5e26\u6765 \u4e86   Ray / RLlib   \u5e93 \u548c   Carla   \u4e4b\u95f4 \u7684 \u652f\u6301 \uff0c \u5141\u8bb8 \u8f7b\u677e \u4f7f\u7528   Carla   \u73af\u5883 \u8fdb\u884c \u8bad\u7ec3 \u548c \u63a8\u7406 \u3002 Ray   \u662f \u4e00\u4e2a \u5f00\u6e90 \u6846\u67b6 \uff0c \u4e3a \u6784\u5efa \u5206\u5e03 \u5e03\u5f0f \u5e94\u7528 \u5206\u5e03\u5f0f \u5206\u5e03\u5f0f\u5e94\u7528 \u7a0b\u5e8f \u63d0\u4f9b \u4e86 \u7b80\u5355 \u3001 \u901a\u7528 \u7684   API \u3002 Ray   \u4e0e   RLlib \uff08 \u4e00\u4e2a \u53ef \u6269\u5c55 \u7684 \u5f3a\u5316 \u5b66\u4e60 \u5e93 \uff09 \u548c   Tune \uff08 \u4e00\u4e2a \u53ef \u6269\u5c55 \u7684 \u8d85 \u53c2\u6570 \u8c03\u6574 \u5e93 \uff09 \u6253\u5305 \u5728 \u4e00\u8d77 \u3002   RLlib   \u96c6\u6210 \u5141\u8bb8 \u7528\u6237 \u521b\u5efa \u548c \u4f7f\u7528   Carla   \u4f5c\u4e3a   Ray   \u7684 \u73af\u5883 \uff0c \u5e76 \u5c06 \u8be5 \u73af\u5883 \u7528\u4e8e \u8bad\u7ec3 \u548c \u63a8\u7406 \u76ee\u7684 \u3002 \u8be5 \u96c6\u6210 \u53ef\u4ee5 \u5728 \u672c\u5730 \u4f7f\u7528 \uff0c \u4e5f \u53ef\u4ee5 \u901a\u8fc7   AWS   \u5728 \u4e91\u4e2d \u4f7f\u7528 \u3002   \u5728 \u672c \u6307\u5357 \u4e2d \uff0c \u6211\u4eec \u5c06 \u6982\u8ff0 \u5728 \u672c\u5730 \u548c   AWS   \u4e0a \u8fd0\u884c   RLlib   \u96c6\u6210 \u6240 \u9700 \u7684 \u8981\u6c42 \u3001 \u96c6\u6210 \u5b58\u50a8 \u5e93 \u7684 \u7ed3\u6784 \u3001 \u5982\u4f55 \u4f7f\u7528 \u8be5\u5e93 \u7684 \u6982\u8ff0 \uff0c \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528   Carla   \u8bbe\u7f6e   Ray   \u5b9e\u9a8c \u7684 \u793a\u4f8b \u4e00\u4e2a \u73af\u5883 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u672c\u5730 \u8fd0\u884c \u7684 \u8981\u6c42   \u5728   AWS   \u4e91\u4e0a \u8fd0\u884c \u7684 \u8981\u6c42   RLlib   \u4ed3\u5e93 \u7ed3\u6784   \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c   \u5b9e\u9a8c \u7c7b   \u73af\u5883 \u914d\u7f6e   \u8bad\u7ec3 \u548c \u63a8\u7406 \u811a\u672c   DQN   \u793a\u4f8b   \u5728   AWS   \u4e0a \u8fd0\u884c   \u914d\u7f6e   AWS   \u521b\u5efa \u8bad\u7ec3   AMI   \u914d\u7f6e \u96c6\u7fa4   \u8fd0\u884c \u8bad\u7ec3   \u5728   AWS   \u4e0a \u8fd0\u884c   DQN   \u793a\u4f8b","title":"RLlib   \u96c6\u6210"},{"location":"tuto_G_rllib_integration/#_1","text":"\u4ece   GitHub   \u4e0b\u8f7d   RLlib   \u96c6\u6210 \u6216 \u76f4\u63a5 \u514b\u9686 \u4ed3\u5e93 \uff1a   git   clone   https : / / github . com / carla - simulator / rllib - integration . git   \u8981\u6c42 \u4f1a \u6709\u6240 \u4e0d\u540c \u6709\u6240\u4e0d\u540c \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u662f \u5728 \u672c\u5730 \u8fd0\u884c \u8fd8\u662f \u5728   AWS   \u4e0a \u8fd0\u884c \uff1a","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"tuto_G_rllib_integration/#_2","text":"\u5b89\u88c5   Carla   \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u7248\u672c   \u5e76 \u5bfc\u5165   \u9644\u52a0 \u8d44\u6e90   \u3002   \u63a8\u8350 \u7684 \u7248\u672c \u662f   Carla   0.9 . 11   \uff0c \u56e0\u4e3a \u96c6\u6210 \u662f \u4f7f\u7528 \u6b64 \u7248\u672c \u8bbe\u8ba1 \u548c \u6d4b\u8bd5 \u7684 \u3002 \u5176\u4ed6 \u7248\u672c \u53ef\u80fd \u517c\u5bb9 \uff0c \u4f46 \u5c1a\u672a \u7ecf\u8fc7 \u5145\u5206 \u6d4b\u8bd5 \uff0c \u56e0\u6b64 \u8bf7 \u81ea\u884c \u51b3\u5b9a \u81ea\u884c\u51b3\u5b9a \u4f7f\u7528 \u8fd9\u4e9b \u7248\u672c \u3002   \u5bfc\u822a \u5230   RLlib   \u96c6\u6210 \u5b58\u50a8 \u5e93 \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u5b89\u88c5   Python   \u8981\u6c42 \uff1a   pip3   install   - r   requirements . txt   \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u4ee5 \u67e5\u627e   Carla   \u5305 \u6216 \u6dfb\u52a0   CARLA _ ROOT = path / to / carla   \u5230 \u60a8 \u7684   . bashrc   \u6587\u4ef6 \u4e2d \uff1a   export   CARLA _ ROOT = path / to / carla","title":"\u672c\u5730 \u8fd0\u884c \u7684 \u8981\u6c42  "},{"location":"tuto_G_rllib_integration/#aws","text":"\u5728   RLlib   \u96c6\u6210 \u5b58\u50a8 \u5e93\u4e2d \u627e\u5230 \u7684 \u5b89\u88c5 \u811a\u672c \u4e2d \u4f1a \u81ea\u52a8 \u6ee1\u8db3 \u5728   AWS   \u4e0a \u8fd0\u884c \u7684 \u8981\u6c42 \u3002   \u5728 \u201c \u5728   AWS   \u4e0a \u8fd0\u884c \u201d   \u90e8\u5206 \u4e2d \u67e5\u627e \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002","title":"\u5728   AWS   \u4e91\u4e0a \u8fd0\u884c \u7684 \u8981\u6c42  "},{"location":"tuto_G_rllib_integration/#rllib_1","text":"\u5b58\u50a8 \u5e93 \u5206\u4e3a \u4e09\u4e2a \u76ee\u5f55 \uff1a   rllib _ integration   \u5305\u542b \u4e0e   Carla   \u76f8\u5173 \u7684 \u6240\u6709 \u57fa\u7840 \u8bbe\u65bd \u57fa\u7840\u8bbe\u65bd \u4ee5\u53ca \u5982\u4f55 \u8bbe\u7f6e   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3001 \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002 \u8fd9 \u63d0\u4f9b \u4e86 \u6240\u6709 \u8bad\u7ec3 \u548c \u6d4b\u8bd5 \u5b9e\u9a8c \u5fc5\u987b \u9075\u5faa \u7684 \u57fa\u672c \u7ed3\u6784 \u3002   aws   \u5177\u6709 \u5728   AWS   \u5b9e\u4f8b \u4e2d \u8fd0\u884c \u6240 \u9700 \u7684 \u6587\u4ef6 \u3002   aws _ helper . py   \u63d0\u4f9b \u4e86 \u591a\u79cd \u7b80\u5316 \u53ef\u7b80\u5316   EC2   \u5b9e\u4f8b \u7ba1\u7406 \u7684 \u529f\u80fd \uff0c \u5305\u62ec \u5b9e\u4f8b \u521b\u5efa \u4ee5\u53ca \u53d1\u9001 \u548c \u63a5\u6536 \u6570\u636e \u63a5\u6536\u6570\u636e \u3002   \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e2d \u7684   dqn _ example   \u548c   dqn _ *   \u6587\u4ef6 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u6613\u4e8e \u7406\u89e3 \u7684 \u793a\u4f8b \uff0c \u8bf4\u660e \u5982\u4f55 \u4f7f\u7528   Carla   \u4f5c\u4e3a \u73af\u5883 \u6765 \u8bbe\u7f6e   Ray   \u5b9e\u9a8c \u3002","title":"RLlib   \u5b58\u50a8 \u5e93 \u7ed3\u6784  "},{"location":"tuto_G_rllib_integration/#_3","text":"\u672c \u8282 \u6982\u8ff0 \u4e86 \u5982\u4f55 \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c \u3002 \u66f4 \u5177\u4f53 \u7684 \u793a\u4f8b \u8bf7 \u53c2\u89c1 \u4e0b \u4e00\u8282   \u201c DQN   \u793a\u4f8b \u201d   \u3002   \u60a8 \u5c06 \u9700\u8981 \u521b\u5efa \u81f3\u5c11 \u56db\u4e2a \u6587\u4ef6 \uff1a   \u5b9e\u9a8c \u7c7b   \u73af\u5883 \u914d\u7f6e   \u8bad\u7ec3 \u548c \u63a8\u7406 \u811a\u672c","title":"\u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c  "},{"location":"tuto_G_rllib_integration/#1","text":"\u8981 \u4f7f\u7528   Carla   \u73af\u5883 \uff0c \u60a8 \u9700\u8981 \u5b9a\u4e49 \u8bad\u7ec3 \u5b9e\u9a8c \u3002 Ray   \u8981\u6c42 \u73af\u5883 \u8fd4\u56de \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7279\u5b9a \u4fe1\u606f \u3002 \u60a8 \u53ef\u4ee5 \u5728   rllib - integration / rllib _ integration / carla _ env . py   \u4e2d \u67e5\u770b \u6709\u5173   Carla   \u73af\u5883 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   Ray   \u6240 \u9700 \u7684 \u4fe1\u606f \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u7684 \u5177\u4f53 \u5b9e\u9a8c \uff0c \u56e0\u6b64 \u6240\u6709 \u5b9e\u9a8c \u90fd \u5e94 \u7ee7\u627f \u81ea   BaseExperiment   \u3002 \u6b64\u7c7b \u5305\u542b \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c \u9700\u8981 \u8986\u76d6 \u7684 \u6240\u6709 \u51fd\u6570 \u3002 \u8fd9\u4e9b \u90fd \u662f \u4e0e \u8bad\u7ec3 \u7684 \u884c\u52a8 \u3001 \u89c2\u5bdf \u548c \u5956\u52b1 \u76f8\u5173 \u7684 \u529f\u80fd \u3002","title":"1 .   \u5b9e\u9a8c \u7c7b  "},{"location":"tuto_G_rllib_integration/#2","text":"\u5b9e\u9a8c \u5e94\u8be5 \u901a\u8fc7   . yaml   \u6587\u4ef6 \u8fdb\u884c \u914d\u7f6e \u3002 \u901a\u8fc7 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u4f20\u9012 \u7684 \u4efb\u4f55 \u8bbe\u7f6e \u90fd \u5c06 \u8986\u76d6 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u3002 \u4e0b\u9762 \u89e3\u91ca \u4e86 \u4e0d\u540c \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u7684 \u4f4d\u7f6e \u3002   \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u6709 \u4e09\u4e2a \u4e3b\u8981 \u8981\u7528 \u7528\u9014 \u4e3b\u8981\u7528\u9014 \uff1a   \u8bbe\u7f6e \u5927\u90e8 \u90e8\u5206 \u5927\u90e8\u5206   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8bbe\u7f6e \uff0c \u4f8b\u5982 \u8d85\u65f6 \u6216 \u5730\u56fe \u8d28\u91cf \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u6b64\u5904   \u7684 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u3002   \u8bbe\u7f6e \u7279\u5b9a \u4e8e \u60a8 \u7684 \u5b9e\u9a8c \u7684 \u53d8\u91cf \uff0c \u4ee5\u53ca \u6307\u5b9a \u57ce\u9547 \u6761\u4ef6 \u4ee5\u53ca \u81ea\u6211 \u8f66\u8f86 \u53ca\u5176 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u751f\u6210 \u3002 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u53ef \u5728   \u6b64\u5904   \u627e\u5230 \uff0c \u5e76 \u63d0\u4f9b \u5982\u4f55 \u8bbe\u7f6e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u793a\u4f8b \u3002   \u914d\u7f6e \u7279\u5b9a \u4e8e   Ray   \u7684 \u8bad\u7ec3   \u8bbe\u7f6e \u3002 \u8fd9\u4e9b \u8bbe\u7f6e \u4e0e \u6240 \u4f7f\u7528 \u7684 \u7279\u5b9a \u8bad\u7ec3 \u8bad\u7ec3\u5668 \u76f8\u5173 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f \u5185\u7f6e \u6a21\u578b \uff0c \u5219 \u53ef\u4ee5 \u5728 \u6b64\u5904 \u5e94\u7528 \u5176 \u8bbe\u7f6e \u3002","title":"2 .   \u73af\u5883 \u914d\u7f6e  "},{"location":"tuto_G_rllib_integration/#3","text":"\u6700\u540e \u4e00\u6b65 \u662f \u521b\u5efa \u60a8 \u81ea\u5df1 \u7684 \u8bad\u7ec3 \u548c \u63a8\u7406 \u811a\u672c \u3002 \u8fd9\u90e8 \u90e8\u5206 \u8fd9\u90e8\u5206 \u5b8c\u5168 \u7531 \u60a8 \u51b3\u5b9a \uff0c \u5e76\u4e14 \u4f9d\u8d56 \u8d56\u4e8e \u4f9d\u8d56\u4e8e   Ray   API \u3002 \u5982\u679c \u60a8 \u60f3 \u521b\u5efa \u81ea\u5df1 \u7684 \u7279\u5b9a \u6a21\u578b \uff0c \u8bf7 \u67e5\u770b   Ray   \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6a21\u578b \u6587\u6863   \u3002","title":"3 .   \u8bad\u7ec3 \u548c \u63a8\u7406 \u811a\u672c  "},{"location":"tuto_G_rllib_integration/#dqn","text":"\u672c \u8282 \u4ee5\u4e0a \u4e00\u8282 \u4e3a \u57fa\u7840 \uff0c \u5c55\u793a \u5982\u4f55 \u4f7f\u7528   BirdView   pseudosensor   \u4f2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c   Ray   \u7684   DQNTrainer   \u8fdb\u884c   RLlib   \u96c6\u6210 \u7684 \u5177\u4f53 \u793a\u4f8b \u3002   DQN \u793a\u4f8b \u7684 \u7ed3\u6784 \u5982\u4e0b \uff1a   \u5b9e\u9a8c \u7c7b   :   DQNExperiment   \uff0c \u8986\u76d6   BaseExperiment   \u7c7b \u7684 \u65b9\u6cd5 \u3002   \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6   :   dqn _ example / dqn _ config . yaml   \u8bad\u7ec3 \u6587\u4ef6   :   dqn _ train . py   \u63a8\u7406 \u6587\u4ef6   :   \u6709   Ray   :   dqn _ inference _ ray . py   \u6ca1\u6709   Ray   :   dqn _ inference . py   \u8981 \u5728 \u672c\u5730 \u8fd0\u884c \u8be5 \u793a\u4f8b \uff1a   \u5b89\u88c5   pytorch :   pip3   install   - r   dqn _ example / dqn _ requirements . txt   \u8fd0\u884c \u8bad\u7ec3 \u6587\u4ef6 \uff1a   python3   dqn _ train . py   dqn _ example / dqn _ config . yaml   -- name   dqn   \u7b14\u8bb0   \u9ed8\u8ba4 \u914d\u7f6e \u4f7f\u7528   1   \u4e2a   GPU   \u548c   12   \u4e2a   CPU \uff0c \u56e0\u6b64 \u5982\u679c \u60a8 \u7684 \u672c\u5730 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u6ca1\u6709 \u8be5 \u5bb9\u91cf \uff0c \u8bf7 \u51cf\u5c0f   \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6   \u4e2d \u7684 \u6570\u5b57 \u3002   \u5982\u679c \u9047\u5230 \u5185\u5b58 \u4e0d\u8db3 \u5185\u5b58\u4e0d\u8db3 \u95ee\u9898 \uff0c \u8bf7 \u8003\u8651 \u51cf\u5c11 \u8be5   buffer _ size   \u53c2\u6570 \u3002","title":"DQN   \u793a\u4f8b  "},{"location":"tuto_G_rllib_integration/#aws_1","text":"\u672c \u8282 \u4ecb\u7ecd \u5982\u4f55 \u4f7f\u7528   RLlib   \u96c6\u6210 \u5728   AWS   EC2   \u5b9e\u4f8b \u4e0a \u81ea\u52a8 \u8fd0\u884c \u8bad\u7ec3 \u548c \u63a8\u7406 \u3002 \u4e3a\u4e86 \u5904\u7406 \u5b9e\u4f8b \u7684 \u7f29\u653e \uff0c \u6211\u4eec \u4f7f\u7528   Ray   autoscaler   API   \u3002","title":"\u5728   AWS   \u4e0a \u8fd0\u884c  "},{"location":"tuto_G_rllib_integration/#aws_2","text":"\u60a8 \u9700\u8981 \u6b63\u786e \u914d\u7f6e   boto3   \u73af\u5883 \u3002 \u8bf7 \u70b9\u51fb   \u6b64\u5904   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u914d\u7f6e   AWS  "},{"location":"tuto_G_rllib_integration/#ami","text":"\u4f7f\u7528 \u63d0\u4f9b \u7684   aws _ helper . py   \u811a\u672c \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u81ea\u52a8 \u521b\u5efa \u8bad\u7ec3 \u6240 \u9700 \u7684 \u6620\u50cf \uff0c \u5e76 \u4f20\u5165 \u57fa\u7840 \u6620\u50cf \u7684 \u540d\u79f0 \u548c   install . sh   \u5728 \u4ee5\u4e0b \u4f4d\u7f6e   rllib - integration / aws / install   \u627e\u5230 \u7684 \u5b89\u88c5 \u811a\u672c \uff1a   python3   aws _ helper . py   create - image   -- name   < AMI - name >   -- installation - scripts   < installation - scripts >   -- instance - type   < instance - type >   -- volume - size   < volume - size >","title":"\u521b\u5efa \u8bad\u7ec3   AMI  "},{"location":"tuto_G_rllib_integration/#_4","text":"\u521b\u5efa \u56fe\u50cf \u540e \uff0c \u5c06\u4f1a \u8f93\u51fa \u5e26\u6709 \u56fe\u50cf \u4fe1\u606f \u7684 \u8f93\u51fa \u3002 \u8981 \u4f7f\u7528   Ray   \u81ea\u52a8 \u7f29\u653e \u5668 \uff0c \u8bf7 \u4f7f\u7528 \u8f93\u51fa \u4e2d \u7684 \u4fe1\u606f \u66f4\u65b0   autoscaler   configuration   file   \u4e2d \u7684   < ImageId >   \u548c   < SecurityGroupIds >   \u8bbe\u7f6e \u3002","title":"\u914d\u7f6e \u96c6\u7fa4  "},{"location":"tuto_G_rllib_integration/#_5","text":"\u521b\u5efa \u955c\u50cf \u540e \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528   Ray   \u7684   API   \u5728 \u96c6\u7fa4 \u4e0a \u8fd0\u884c \u8bad\u7ec3 \uff1a   \u521d\u59cb \u521d\u59cb\u5316 \u96c6\u7fa4 \uff1a   ray   up   < autoscaler _ configuration _ file >   \uff08 \u53ef \u9009 \uff09 \u5982\u679c \u96c6\u7fa4 \u521d\u59cb \u521d\u59cb\u5316 \u540e \u672c\u5730 \u4ee3\u7801 \u88ab \u4fee\u6539 \uff0c \u8bf7 \u6267\u884c \u4ee5\u4e0b \u547d\u4ee4 \u66f4\u65b0 \uff1a   ray   rsync - up   < autoscaler _ configuration _ file >   < path _ to _ local _ folder >   < path _ to _ remote _ folder >   \u8fd0\u884c \u8bad\u7ec3 \uff1a   ray   submit   < autoscaler _ configuration _ file >   < training _ file >   \uff08 \u53ef \u9009 \uff09 \u76d1\u63a7 \u96c6\u7fa4 \u72b6\u6001 \uff1a   ray   attach   < autoscaler _ configuration _ file >   watch   - n   1   ray   status   \u5173\u95ed \u96c6\u7fa4 \uff1a   ray   down   < autoscaler _ configuration _ file >","title":"\u8fd0\u884c \u8bad\u7ec3  "},{"location":"tuto_G_rllib_integration/#aws-dqn","text":"\u8981 \u5728   AWS   \u4e0a \u8fd0\u884c   DQN   \u793a\u4f8b \uff1a   \u901a\u8fc7 \u5c06   dqn _ example / dqn _ autoscaler . yaml   \u914d\u7f6e \u4f20\u9012 \u7ed9 \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u521b\u5efa \u6620\u50cf \uff1a   python3   aws _ helper . py   create - image   -- name   < AMI - name >   -- installation - scripts   install / install . sh   -- instance - type   < instance - type >   -- volume - size   < volume - size >   \u4f7f\u7528 \u4e0a \u4e00\u4e2a \u547d\u4ee4   dqn _ autoscaler . yaml   \u63d0\u4f9b \u7684 \u4fe1\u606f \u66f4\u65b0   < ImageId >   \u548c   < SecurityGroupIds >   \u8bbe\u7f6e \u3002   \u521d\u59cb \u521d\u59cb\u5316 \u96c6\u7fa4 \uff1a   ray   up   dqn _ example / dqn _ autoscaler . yaml   \uff08 \u53ef \u9009 \uff09 \u4f7f\u7528 \u672c\u5730 \u66f4\u6539 \u66f4\u65b0 \u8fdc\u7a0b \u6587\u4ef6 \uff1a   ray   rsync - up   dqn _ example / dqn _ autoscaler . yaml   dqn _ example   .   ray   rsync - up   dqn _ example / dqn _ autoscaler . yaml   rllib _ integration   .   \u8fd0\u884c \u8bad\u7ec3 \uff1a   ray   submit   dqn _ example / dqn _ autoscaler . yaml   dqn _ train . py   --   dqn _ example / dqn _ config . yaml   -- auto   6 . \uff08 \u53ef \u9009 \uff09 \u76d1\u63a7 \u96c6\u7fa4 \u72b6\u6001 \uff1a   ray   attach   dqn _ example / dqn _ autoscaler . yaml   watch   - n   1   ray   status   \u5173\u95ed \u96c6\u7fa4 \uff1a   ray   down   dqn _ example / dqn _ autoscaler . yaml   \u672c \u6307\u5357 \u6982\u8ff0 \u4e86 \u5982\u4f55 \u5728   AWS   \u548c \u672c\u5730 \u8ba1\u7b97 \u7b97\u673a \u673a\u4e0a \u5b89\u88c5 \u8ba1\u7b97\u673a \u8ba1\u7b97\u673a\u4e0a\u5b89\u88c5 \u548c \u8fd0\u884c   RLlib   \u96c6\u6210 \u3002 \u5982\u679c \u60a8 \u5bf9 \u672c \u6307\u5357 \u6709 \u4efb\u4f55 \u7591\u95ee \u6216 \u9047\u5230 \u4efb\u4f55 \u95ee\u9898 \uff0c \u8bf7 \u968f\u65f6 \u5728   \u8bba\u575b   \u4e2d \u53d1\u5e16 \u6216 \u5728   GitHub   \u4e0a \u63d0\u51fa \u95ee\u9898 \u3002","title":"\u5728   AWS   \u4e0a \u8fd0\u884c   DQN   \u793a\u4f8b  "},{"location":"tuto_G_scenic/","text":"Scenic   \u672c \u6307\u5357 \u6982\u8ff0 \u4e86 \u5982\u4f55 \u5c06   Scenic   \u4e0e   Carla   \u7ed3\u5408 \u4f7f\u7528 \uff0c \u901a\u8fc7 \u5355\u4e2a \u573a\u666f \u5b9a\u4e49 \u751f\u6210 \u591a\u4e2a \u4e0d\u540c \u7684 \u573a\u666f \u3002 \u5b83 \u5047\u8bbe \u7528\u6237 \u4e8b\u5148 \u4e86\u89e3 \u573a\u666f \u8bed\u6cd5 \u3002 \u5982\u679c \u60a8 \u9700\u8981 \u4e86\u89e3 \u6709\u5173   Scenic   \u7684 \u66f4 \u591a \u4fe1\u606f \uff0c \u8bf7 \u9605\u8bfb \u4ed6\u4eec \u7684   \u201c Scenic   \u5165\u95e8 \u201d   \u6307\u5357 \uff0c \u5e76 \u67e5\u770b \u4ed6\u4eec \u6709\u5173 \u521b\u5efa   \u9759\u6001   \u548c   \u52a8\u6001   \u573a\u666f \u7684 \u6559\u7a0b \u3002   \u5728 \u672c \u6307\u5357 \u7ed3\u675f \u65f6 \uff0c \u60a8 \u5c06 \u4e86\u89e3 \uff1a   \u5728   Carla   \u4e0a \u8fd0\u884c   Scenic   \u811a\u672c \u6240 \u9700 \u7684 \u6700\u4f4e \u8981\u6c42 \u3002   \u5982\u4f55 \u7f16\u5199 \u7b80\u5355 \u7684 \u573a\u666f \u5b9a\u4e49 \u6765 \u751f\u6210 \u5927\u91cf \u573a\u666f \u4eff\u771f \u3002   \u5982\u4f55 \u5728   Carla   \u4e0a \u8fd0\u884c   Scenic   \u811a\u672c \u3002   \u7528\u4e8e \u5728   Carla   \u4e0a \u914d\u7f6e \u573a\u666f \u4eff\u771f \u7684 \u53c2\u6570 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   Scenic   \u57df   \u521b\u5efa \u4e0e   Carla   \u4e00\u8d77 \u4f7f\u7528 \u7684   Scenic   \u573a\u666f   \u8fd0\u884c \u573a\u666f   \u9644\u52a0 \u53c2\u6570   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5728 \u5c06   Scenic   \u4e0e   Carla   \u7ed3\u5408 \u4f7f\u7528 \u4e4b\u524d \uff0c \u60a8 \u9700\u8981 \u6ee1\u8db3 \u4ee5\u4e0b \u8981\u6c42 \uff1a   \u5b89\u88c5   Python   3.8   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002   \u5b89\u88c5   Scenic   \u3002   Scenic   \u57df   Scenic   \u6709 \u4e00\u4e2a \u901a\u7528 \u9a7e\u9a76 \u57df \uff0c \u5141\u8bb8 \u7528\u6237 \u5b9a\u4e49 \u53ef\u4ee5 \u5728 \u4efb\u4f55 \u9a7e\u9a76 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e0a \u8fd0\u884c \u7684 \u573a\u666f \u3002 \u6b64\u5916 \uff0c \u5b83 \u8fd8\u6709 \u7279\u5b9a \u4e8e \u6bcf\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u5176\u4ed6 \u57df \u3002 \u8bf7 \u5728   \u6b64\u5904   \u67e5\u770b \u6709\u5173   Scenic   \u57df \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u6bcf\u4e2a \u9886\u57df \u4e2d \u7279\u522b \u91cd\u8981 \u7684 \u662f \u884c\u4e3a \u548c \u52a8\u4f5c \u7684 \u5b9a\u4e49 \u3002 \u68c0\u67e5 \u4ee5\u4e0b \u94fe\u63a5 \uff0c \u83b7\u53d6 \u6709\u5173   Scenic   \u9a7e\u9a76 \u57df \u548c   Carla   \u57df \u7684 \u884c\u4e3a \u548c \u64cd\u4f5c \u7684 \u53c2\u8003 \u6750\u6599 \uff1a   the   Scenic   \u9a7e\u9a76 \u9886\u57df \u7684 \u884c\u4e3a   Carla   \u57df \u4e2d \u7684 \u884c\u4e3a   Scenic   \u9a7e\u9a76 \u57df \u7684 \u52a8\u4f5c   Carla   \u57df \u4e2d \u7684 \u52a8\u4f5c   \u521b\u5efa \u4e0e   Carla   \u4e00\u8d77 \u4f7f\u7528 \u7684   Scenic   \u573a\u666f   \u672c\u8282 \u5c06 \u4ecb\u7ecd \u5982\u4f55 \u7f16\u5199 \u57fa\u672c \u7684 \u573a\u666f \u811a\u672c \uff0c \u5176\u4e2d \u9886\u5934 \u8f66\u8f86 \u7531\u4e8e \u9053\u8def \u4e0a \u7684 \u969c\u788d \u969c\u788d\u7269 \u800c \u7a81\u7136 \u51cf\u901f \u3002 \u7136\u540e \uff0c \u672c\u8f66 \u9700\u8981 \u7a81\u7136 \u5236\u52a8 \u4ee5 \u907f\u514d \u4e0e \u524d\u8f66 \u53d1\u751f \u78b0\u649e \u3002   \u5b8c\u6574 \u7684 \u811a\u672c   \u4ee5\u53ca \u6d89\u53ca \u66f4 \u590d\u6742 \u9053\u8def \u7f51\u7edc \u7684 \u5176\u4ed6 \u793a\u4f8b \u53ef\u4ee5 \u5728   Scenic   \u5b58\u50a8 \u5e93\u4e2d \u627e\u5230 \u3002   1 .   \u8bbe\u7f6e \u5730\u56fe \u53c2\u6570 \u5e76 \u58f0\u660e \u573a\u666f \u4f7f\u7528 \u7684 \u6a21\u578b \uff1a   \u5e94 \u5c06   . xodr   \u6587\u4ef6 \u8bbe\u7f6e \u4e3a   map   \u53c2\u6570 \u6570\u503c \u53c2\u6570\u503c \uff0c \u7a0d\u540e \u5c06 \u4f7f\u7528 \u8be5 \u6587\u4ef6 \u751f\u6210 \u9053\u8def \u7f51\u7edc \u4fe1\u606f \u3002   \u53c2\u6570   carla _ map   \u662f \u6307 \u60a8 \u60f3\u8981 \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u7684   Carla   \u5730\u56fe \u7684 \u540d\u79f0 \u3002 \u5982\u679c \u5df2 \u5b9a\u4e49 \uff0c \u5219   Scenic   \u5c06 \u52a0\u8f7d \u5730\u56fe \u7684 \u6240\u6709 \u8d44\u4ea7 \uff08 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u6811\u6728 \u7b49 \uff09 \uff0c \u5982\u679c \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \uff0c \u5219 \u5c06 \u4f7f\u7528   OpenDRIVE   \u72ec\u7acb \u6a21\u5f0f   \u3002   \u8be5 \u6a21\u578b \u5305\u62ec \u7279\u5b9a \u4e8e   Carla   \u4e0a \u8fd0\u884c \u573a\u666f \u7684 \u6240\u6709 \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f \u3002 \u8fd9 \u5e94\u8be5 \u5728 \u60a8 \u60f3\u8981 \u5728   Carla   \u4e0a \u8fd0\u884c \u7684 \u6240\u6709 \u811a\u672c \u4e2d \u5b9a\u4e49 \u3002   ##   SET   MAP   AND   MODEL   param   map   =   localPath ( ' .. / .. / .. / tests / formats / opendrive / maps / CARLA / Town01 . xodr ' )   param   carla _ map   =   ' Town01 '   model   scenic . simulators . carla . model   2 .   \u5b9a\u4e49 \u573a\u666f \u4e2d\u8981 \u4f7f\u7528 \u7684 \u5e38\u91cf \uff1a   \u8be5 \u573a\u666f \u6d89\u53ca \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \uff0c \u9886\u5934 \u8f66\u8f86 \u548c \u81ea\u6211 \u8f66\u8f86 \u3002 \u6211\u4eec \u5c06 \u5b9a\u4e49 \u81ea\u6211 \u8f66\u8f86 \u6a21\u578b \u3001 \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \u7684 \u901f\u5ea6 \u3001 \u5236\u52a8 \u8ddd\u79bb \u9608\u503c \u4ee5\u53ca \u5236 \u52a8\u91cf \u3002   ##   CONSTANTS   EGO _ MODEL   =   \" vehicle . lincoln . mkz _ 2017 \"   EGO _ SPEED   =   10   EGO _ BRAKING _ THRESHOLD   =   12   LEAD _ CAR _ SPEED   =   10   LEADCAR _ BRAKING _ THRESHOLD   =   10   BRAKE _ ACTION   =   1.0   3   .   \u5b9a\u4e49 \u573a\u666f \u884c\u4e3a \uff1a   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528   Scenic   \u884c\u4e3a \u5e93   \u6765 \u6307\u793a \u81ea\u6211 \u8f66\u8f86 \u4ee5 \u9884\u5b9a \u4e49 \u7684 \u901f\u5ea6 \u6cbf\u7740 \u8f66\u9053 \u884c\u9a76 \uff0c \u7136\u540e \u5728 \u4e0e \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u76f8\u8ddd \u4e00\u5b9a \u8ddd\u79bb \u65f6 \u7d27\u6025 \u5236\u52a8 \u7d27\u6025\u5236\u52a8 \u3002 \u9886\u5148 \u7684 \u8f66\u8f86 \u4e5f \u4f1a \u4ee5 \u9884\u5b9a \u7684 \u901f\u5ea6 \u6cbf\u7740 \u8f66\u9053 \u884c\u9a76 \uff0c \u5e76 \u5728 \u8ddd\u79bb \u4efb\u4f55 \u7269\u4f53 \u4e00\u5b9a \u8ddd\u79bb \u5185 \u7d27\u6025 \u5236\u52a8 \u7d27\u6025\u5236\u52a8 \uff1a   ##   DEFINING   BEHAVIORS   #   EGO   BEHAVIOR :   Follow   lane ,   and   brake   after   passing   a   threshold   distance   to   the   leading   car   behavior   EgoBehavior ( speed = 10 ) :   try :   do   FollowLaneBehavior ( speed )   interrupt   when   withinDistanceToAnyCars ( self ,   EGO _ BRAKING _ THRESHOLD ) :   take   SetBrakeAction ( BRAKE _ ACTION )   #   LEAD   CAR   BEHAVIOR :   Follow   lane ,   and   brake   after   passing   a   threshold   distance   to   obstacle   behavior   LeadingCarBehavior ( speed = 10 ) :   try :   do   FollowLaneBehavior ( speed )   interrupt   when   withinDistanceToAnyObjs ( self ,   LEADCAR _ BRAKING _ THRESHOLD ) :   take   SetBrakeAction ( BRAKE _ ACTION )   4 .   \u751f\u6210 \u8def\u7f51 \uff1a   Scenic   \u9053\u8def \u5e93   \u7528\u4e8e \u751f\u6210 \u9053\u8def \u7f51\u7edc \u51e0\u4f55 \u5f62\u72b6 \u548c \u4ea4\u901a \u4fe1\u606f \u3002 \u9053\u8def \u7f51\u7edc \u7531   Network   \u7c7b \u7684 \u5b9e\u4f8b \u8868\u793a \uff0c \u5e76 \u7531 \u811a\u672c \u5f00\u5934 \u5b9a\u4e49 \u7684 \u6587\u4ef6 \u751f\u6210 \u3002   ##   DEFINING   SPATIAL   RELATIONS   #   make   sure   to   put   ' * '   to   uniformly   randomly   select   from   all   elements   of   the   list ,   ' lanes '   lane   =   Uniform ( * network . lanes )   5 .   \u8bbe\u7f6e \u573a\u666f \uff1a   \u6211\u4eec \u73b0\u5728 \u5c06 \u5b9a\u4e49 \u8f66\u8f86 \u7684 \u8d77\u59cb \u4f4d\u7f6e \u548c \u7269\u4f53 \u7684 \u653e\u7f6e \u3002   \u5728 \u8f66\u9053 \u4e2d\u95f4 \u653e\u7f6e \u5783\u573e \u5783\u573e\u6876 \uff1a   obstacle   =   Trash   on   lane . centerline   \u5c06 \u9886\u5148 \u8f66\u8f86 \u4ee5 \u9884\u5b9a \u901f\u5ea6 \u6cbf \u9053\u8def \u884c\u9a76 \uff0c \u8ddd\u79bb \u969c\u788d \u969c\u788d\u7269 \u540e\u65b9   50   \u81f3   30   \u7c73 \uff1a   leadCar   =   Car   following   roadDirection   from   obstacle   for   Range ( - 50 ,   - 30 ) ,   with   behavior   LeadingCarBehavior ( LEAD _ CAR _ SPEED )   \u5c06 \u672c\u8f66 \u4ee5 \u9884\u5b9a \u901f\u5ea6 \u6cbf\u7740 \u9053\u8def \u884c\u9a76 \uff0c \u8ddd\u79bb \u524d \u8f66   15   \u5230   10   \u7c73 \uff1a   ego   =   Car   following   roadDirection   from   leadCar   for   Range ( - 15 ,   - 10 ) ,   with   blueprint   EGO _ MODEL ,   with   behavior   EgoBehavior ( EGO _ SPEED )   \u8981\u6c42 \u573a\u666f \u53d1\u751f \u5728 \u8ddd \u8def\u53e3   80   \u7c73 \u4ee5\u4e0a \u7684 \u4f4d\u7f6e \uff1a   require   ( distance   to   intersection )   >   80   6 .   \u8bbe\u7f6e \u7ed3\u675f \u70b9 \uff0c \u4ee5\u4fbf \u811a\u672c \u77e5\u9053 \u573a\u666f \u4f55\u65f6 \u5b8c\u6210 \uff1a   \u5f53 \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u4f4e\u4e8e \u6bcf\u79d2   0.1   \u7c73 \u5e76\u4e14 \u8ddd\u79bb \u969c\u788d \u969c\u788d\u7269 \u4e0d\u5230   30   \u7c73 \u65f6 \uff0c \u8be5 \u573a\u666f \u5c06 \u7ed3\u675f \u3002   terminate   when   ego . speed   <   0.1   and   ( distance   to   obstacle )   <   30   \u8fd0\u884c \u573a\u666f   \u8981 \u8fd0\u884c   Scenic   \u573a\u666f \uff1a   1 .   \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   2 .   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   scenic   path / to / scenic / script . scenic   -- simulate   \u5c06 \u51fa\u73b0 \u4e00\u4e2a   pygame   \u7a97\u53e3 \uff0c \u5e76\u4e14 \u573a\u666f \u5c06 \u91cd\u590d \u64ad\u653e \uff0c \u6bcf\u6b21 \u90fd \u4f1a \u5728 \u811a\u672c \u4e2d \u8bbe\u7f6e \u7684 \u9650\u5236 \u8303\u56f4 \u5185 \u751f\u6210 \u4e00\u4e2a \u72ec\u7279 \u7684 \u573a\u666f \u3002 \u8981 \u505c\u6b62 \u573a\u666f \u751f\u6210 \uff0c \u8bf7 \u5728 \u7ec8\u7aef \u4e2d \u6309   ctrl   +   C   \u3002   \u9644\u52a0 \u53c2\u6570   Carla   \u6a21\u578b \u63d0\u4f9b \u4e86 \u51e0\u4e2a \u5168\u5c40 \u53c2\u6570 \uff0c \u53ef\u4ee5 \u5728 \u4f7f\u7528   param   \u8bed\u53e5   \u6216 \u901a\u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u4f7f\u7528   -- param   option   \u9009\u9879 \u7684 \u573a\u666f \u4e2d \u8986\u76d6 \u8fd9\u4e9b \u53c2\u6570 \u3002   \u4e0b\u9762 \u662f   Carla   \u6a21\u578b \u4e2d \u7684 \u53ef \u914d\u7f6e \u53c2\u6570 \u6570\u8868 \u53c2\u6570\u8868 \uff1a   \u540d\u79f0   \u503c   \u63cf\u8ff0   carla _ map   str   \u8981 \u4f7f\u7528 \u7684   Carla   \u5730\u56fe \u7684 \u540d\u79f0 \uff08 \u4f8b\u5982 \u201c Town01 \u201d \uff09 \u3002 \u5982\u679c \u8bbe\u7f6e \u4e3a   None   \uff0c Carla   \u5c06 \u5c1d\u8bd5 \u4f7f\u7528   map   \u53c2\u6570 \u4e2d \u5b9a\u4e49 \u7684   . xodr   \u6587\u4ef6 \u5728   OpenDRIVE   \u72ec\u7acb \u6a21\u5f0f \u4e0b \u521b\u5efa \u4e16\u754c \u3002   timestep   float   \u7528\u4e8e \u4eff\u771f \u7684 \u65f6\u95f4 \u6b65\u957f \uff08 Scenic   \u4e2d\u65ad   Carla   \u8fd0\u884c \u884c\u4e3a \u3001 \u68c0\u67e5 \u9700\u6c42 \u7b49 \u7684 \u9891\u7387 \uff09 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.1   \u79d2 \u3002   weather   str   \u6216   dict   \u7528\u4e8e \u5929\u6c14 \u7684 \u4eff\u771f \u3002 \u53ef\u4ee5 \u662f \u6807\u8bc6   Carla   \u5929\u6c14 \u9884\u8bbe \u4e4b\u4e00 \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff08 \u4f8b\u5982 \u201c ClearSunset \u201d \uff09 \uff0c \u4e5f \u53ef\u4ee5 \u662f \u6307\u5b9a \u6240\u6709   \u5929\u6c14 \u53c2\u6570   \u7684 \u5b57\u5178 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u662f \u6240\u6709 \u5929\u6c14 \u9884\u8bbe \u7684 \u5747\u5300 \u5206\u5e03 \u5747\u5300\u5206\u5e03 \u3002   address   str   \u8fde\u63a5 \u5230   Carla   \u7684   IP   \u5730\u5740 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a \u672c\u5730 \u4e3b\u673a   ( 127.0 . 0.1 ) \u3002   port   int   \u8fde\u63a5 \u81f3   Carla   \u7684 \u7aef\u53e3 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   2000 \u3002   timeout   float   \u5c1d\u8bd5 \u8fde\u63a5 \u5230   Carla   \u65f6 \u7b49\u5f85 \u7684 \u6700\u957f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   10 \u3002   render   int   \u662f\u5426 \u8ba9   Carla   \u521b\u5efa \u4e00\u4e2a \u7a97\u53e3 \uff0c \u4ece \u81ea\u6211 \u5ba2\u4f53 \u7684 \u89d2\u5ea6 \u663e\u793a \u4eff\u771f \uff1a   1   \u662f \uff0c   0   \u5426 \u3002 \u9ed8\u8ba4   1   \u3002   record   str   \u5982\u679c \u975e\u7a7a \uff0c \u5219 \u4fdd\u5b58 \u7528\u4e8e \u91cd \u653e \u4eff\u771f \u7684   Carla   \u8bb0\u5f55 \u6587\u4ef6 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002","title":"Scenic"},{"location":"tuto_G_scenic/#scenic","text":"\u672c \u6307\u5357 \u6982\u8ff0 \u4e86 \u5982\u4f55 \u5c06   Scenic   \u4e0e   Carla   \u7ed3\u5408 \u4f7f\u7528 \uff0c \u901a\u8fc7 \u5355\u4e2a \u573a\u666f \u5b9a\u4e49 \u751f\u6210 \u591a\u4e2a \u4e0d\u540c \u7684 \u573a\u666f \u3002 \u5b83 \u5047\u8bbe \u7528\u6237 \u4e8b\u5148 \u4e86\u89e3 \u573a\u666f \u8bed\u6cd5 \u3002 \u5982\u679c \u60a8 \u9700\u8981 \u4e86\u89e3 \u6709\u5173   Scenic   \u7684 \u66f4 \u591a \u4fe1\u606f \uff0c \u8bf7 \u9605\u8bfb \u4ed6\u4eec \u7684   \u201c Scenic   \u5165\u95e8 \u201d   \u6307\u5357 \uff0c \u5e76 \u67e5\u770b \u4ed6\u4eec \u6709\u5173 \u521b\u5efa   \u9759\u6001   \u548c   \u52a8\u6001   \u573a\u666f \u7684 \u6559\u7a0b \u3002   \u5728 \u672c \u6307\u5357 \u7ed3\u675f \u65f6 \uff0c \u60a8 \u5c06 \u4e86\u89e3 \uff1a   \u5728   Carla   \u4e0a \u8fd0\u884c   Scenic   \u811a\u672c \u6240 \u9700 \u7684 \u6700\u4f4e \u8981\u6c42 \u3002   \u5982\u4f55 \u7f16\u5199 \u7b80\u5355 \u7684 \u573a\u666f \u5b9a\u4e49 \u6765 \u751f\u6210 \u5927\u91cf \u573a\u666f \u4eff\u771f \u3002   \u5982\u4f55 \u5728   Carla   \u4e0a \u8fd0\u884c   Scenic   \u811a\u672c \u3002   \u7528\u4e8e \u5728   Carla   \u4e0a \u914d\u7f6e \u573a\u666f \u4eff\u771f \u7684 \u53c2\u6570 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   Scenic   \u57df   \u521b\u5efa \u4e0e   Carla   \u4e00\u8d77 \u4f7f\u7528 \u7684   Scenic   \u573a\u666f   \u8fd0\u884c \u573a\u666f   \u9644\u52a0 \u53c2\u6570","title":"Scenic"},{"location":"tuto_G_scenic/#_1","text":"\u5728 \u5c06   Scenic   \u4e0e   Carla   \u7ed3\u5408 \u4f7f\u7528 \u4e4b\u524d \uff0c \u60a8 \u9700\u8981 \u6ee1\u8db3 \u4ee5\u4e0b \u8981\u6c42 \uff1a   \u5b89\u88c5   Python   3.8   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002   \u5b89\u88c5   Scenic   \u3002","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"tuto_G_scenic/#scenic_1","text":"Scenic   \u6709 \u4e00\u4e2a \u901a\u7528 \u9a7e\u9a76 \u57df \uff0c \u5141\u8bb8 \u7528\u6237 \u5b9a\u4e49 \u53ef\u4ee5 \u5728 \u4efb\u4f55 \u9a7e\u9a76 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u4e0a \u8fd0\u884c \u7684 \u573a\u666f \u3002 \u6b64\u5916 \uff0c \u5b83 \u8fd8\u6709 \u7279\u5b9a \u4e8e \u6bcf\u4e2a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u5176\u4ed6 \u57df \u3002 \u8bf7 \u5728   \u6b64\u5904   \u67e5\u770b \u6709\u5173   Scenic   \u57df \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u6bcf\u4e2a \u9886\u57df \u4e2d \u7279\u522b \u91cd\u8981 \u7684 \u662f \u884c\u4e3a \u548c \u52a8\u4f5c \u7684 \u5b9a\u4e49 \u3002 \u68c0\u67e5 \u4ee5\u4e0b \u94fe\u63a5 \uff0c \u83b7\u53d6 \u6709\u5173   Scenic   \u9a7e\u9a76 \u57df \u548c   Carla   \u57df \u7684 \u884c\u4e3a \u548c \u64cd\u4f5c \u7684 \u53c2\u8003 \u6750\u6599 \uff1a   the   Scenic   \u9a7e\u9a76 \u9886\u57df \u7684 \u884c\u4e3a   Carla   \u57df \u4e2d \u7684 \u884c\u4e3a   Scenic   \u9a7e\u9a76 \u57df \u7684 \u52a8\u4f5c   Carla   \u57df \u4e2d \u7684 \u52a8\u4f5c","title":"Scenic   \u57df  "},{"location":"tuto_G_scenic/#carla-scenic","text":"\u672c\u8282 \u5c06 \u4ecb\u7ecd \u5982\u4f55 \u7f16\u5199 \u57fa\u672c \u7684 \u573a\u666f \u811a\u672c \uff0c \u5176\u4e2d \u9886\u5934 \u8f66\u8f86 \u7531\u4e8e \u9053\u8def \u4e0a \u7684 \u969c\u788d \u969c\u788d\u7269 \u800c \u7a81\u7136 \u51cf\u901f \u3002 \u7136\u540e \uff0c \u672c\u8f66 \u9700\u8981 \u7a81\u7136 \u5236\u52a8 \u4ee5 \u907f\u514d \u4e0e \u524d\u8f66 \u53d1\u751f \u78b0\u649e \u3002   \u5b8c\u6574 \u7684 \u811a\u672c   \u4ee5\u53ca \u6d89\u53ca \u66f4 \u590d\u6742 \u9053\u8def \u7f51\u7edc \u7684 \u5176\u4ed6 \u793a\u4f8b \u53ef\u4ee5 \u5728   Scenic   \u5b58\u50a8 \u5e93\u4e2d \u627e\u5230 \u3002   1 .   \u8bbe\u7f6e \u5730\u56fe \u53c2\u6570 \u5e76 \u58f0\u660e \u573a\u666f \u4f7f\u7528 \u7684 \u6a21\u578b \uff1a   \u5e94 \u5c06   . xodr   \u6587\u4ef6 \u8bbe\u7f6e \u4e3a   map   \u53c2\u6570 \u6570\u503c \u53c2\u6570\u503c \uff0c \u7a0d\u540e \u5c06 \u4f7f\u7528 \u8be5 \u6587\u4ef6 \u751f\u6210 \u9053\u8def \u7f51\u7edc \u4fe1\u606f \u3002   \u53c2\u6570   carla _ map   \u662f \u6307 \u60a8 \u60f3\u8981 \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u7684   Carla   \u5730\u56fe \u7684 \u540d\u79f0 \u3002 \u5982\u679c \u5df2 \u5b9a\u4e49 \uff0c \u5219   Scenic   \u5c06 \u52a0\u8f7d \u5730\u56fe \u7684 \u6240\u6709 \u8d44\u4ea7 \uff08 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u6811\u6728 \u7b49 \uff09 \uff0c \u5982\u679c \u672a\u5b9a \u5b9a\u4e49 \u672a\u5b9a\u4e49 \uff0c \u5219 \u5c06 \u4f7f\u7528   OpenDRIVE   \u72ec\u7acb \u6a21\u5f0f   \u3002   \u8be5 \u6a21\u578b \u5305\u62ec \u7279\u5b9a \u4e8e   Carla   \u4e0a \u8fd0\u884c \u573a\u666f \u7684 \u6240\u6709 \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f \u3002 \u8fd9 \u5e94\u8be5 \u5728 \u60a8 \u60f3\u8981 \u5728   Carla   \u4e0a \u8fd0\u884c \u7684 \u6240\u6709 \u811a\u672c \u4e2d \u5b9a\u4e49 \u3002   ##   SET   MAP   AND   MODEL   param   map   =   localPath ( ' .. / .. / .. / tests / formats / opendrive / maps / CARLA / Town01 . xodr ' )   param   carla _ map   =   ' Town01 '   model   scenic . simulators . carla . model   2 .   \u5b9a\u4e49 \u573a\u666f \u4e2d\u8981 \u4f7f\u7528 \u7684 \u5e38\u91cf \uff1a   \u8be5 \u573a\u666f \u6d89\u53ca \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \uff0c \u9886\u5934 \u8f66\u8f86 \u548c \u81ea\u6211 \u8f66\u8f86 \u3002 \u6211\u4eec \u5c06 \u5b9a\u4e49 \u81ea\u6211 \u8f66\u8f86 \u6a21\u578b \u3001 \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \u7684 \u901f\u5ea6 \u3001 \u5236\u52a8 \u8ddd\u79bb \u9608\u503c \u4ee5\u53ca \u5236 \u52a8\u91cf \u3002   ##   CONSTANTS   EGO _ MODEL   =   \" vehicle . lincoln . mkz _ 2017 \"   EGO _ SPEED   =   10   EGO _ BRAKING _ THRESHOLD   =   12   LEAD _ CAR _ SPEED   =   10   LEADCAR _ BRAKING _ THRESHOLD   =   10   BRAKE _ ACTION   =   1.0   3   .   \u5b9a\u4e49 \u573a\u666f \u884c\u4e3a \uff1a   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528   Scenic   \u884c\u4e3a \u5e93   \u6765 \u6307\u793a \u81ea\u6211 \u8f66\u8f86 \u4ee5 \u9884\u5b9a \u4e49 \u7684 \u901f\u5ea6 \u6cbf\u7740 \u8f66\u9053 \u884c\u9a76 \uff0c \u7136\u540e \u5728 \u4e0e \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u76f8\u8ddd \u4e00\u5b9a \u8ddd\u79bb \u65f6 \u7d27\u6025 \u5236\u52a8 \u7d27\u6025\u5236\u52a8 \u3002 \u9886\u5148 \u7684 \u8f66\u8f86 \u4e5f \u4f1a \u4ee5 \u9884\u5b9a \u7684 \u901f\u5ea6 \u6cbf\u7740 \u8f66\u9053 \u884c\u9a76 \uff0c \u5e76 \u5728 \u8ddd\u79bb \u4efb\u4f55 \u7269\u4f53 \u4e00\u5b9a \u8ddd\u79bb \u5185 \u7d27\u6025 \u5236\u52a8 \u7d27\u6025\u5236\u52a8 \uff1a   ##   DEFINING   BEHAVIORS   #   EGO   BEHAVIOR :   Follow   lane ,   and   brake   after   passing   a   threshold   distance   to   the   leading   car   behavior   EgoBehavior ( speed = 10 ) :   try :   do   FollowLaneBehavior ( speed )   interrupt   when   withinDistanceToAnyCars ( self ,   EGO _ BRAKING _ THRESHOLD ) :   take   SetBrakeAction ( BRAKE _ ACTION )   #   LEAD   CAR   BEHAVIOR :   Follow   lane ,   and   brake   after   passing   a   threshold   distance   to   obstacle   behavior   LeadingCarBehavior ( speed = 10 ) :   try :   do   FollowLaneBehavior ( speed )   interrupt   when   withinDistanceToAnyObjs ( self ,   LEADCAR _ BRAKING _ THRESHOLD ) :   take   SetBrakeAction ( BRAKE _ ACTION )   4 .   \u751f\u6210 \u8def\u7f51 \uff1a   Scenic   \u9053\u8def \u5e93   \u7528\u4e8e \u751f\u6210 \u9053\u8def \u7f51\u7edc \u51e0\u4f55 \u5f62\u72b6 \u548c \u4ea4\u901a \u4fe1\u606f \u3002 \u9053\u8def \u7f51\u7edc \u7531   Network   \u7c7b \u7684 \u5b9e\u4f8b \u8868\u793a \uff0c \u5e76 \u7531 \u811a\u672c \u5f00\u5934 \u5b9a\u4e49 \u7684 \u6587\u4ef6 \u751f\u6210 \u3002   ##   DEFINING   SPATIAL   RELATIONS   #   make   sure   to   put   ' * '   to   uniformly   randomly   select   from   all   elements   of   the   list ,   ' lanes '   lane   =   Uniform ( * network . lanes )   5 .   \u8bbe\u7f6e \u573a\u666f \uff1a   \u6211\u4eec \u73b0\u5728 \u5c06 \u5b9a\u4e49 \u8f66\u8f86 \u7684 \u8d77\u59cb \u4f4d\u7f6e \u548c \u7269\u4f53 \u7684 \u653e\u7f6e \u3002   \u5728 \u8f66\u9053 \u4e2d\u95f4 \u653e\u7f6e \u5783\u573e \u5783\u573e\u6876 \uff1a   obstacle   =   Trash   on   lane . centerline   \u5c06 \u9886\u5148 \u8f66\u8f86 \u4ee5 \u9884\u5b9a \u901f\u5ea6 \u6cbf \u9053\u8def \u884c\u9a76 \uff0c \u8ddd\u79bb \u969c\u788d \u969c\u788d\u7269 \u540e\u65b9   50   \u81f3   30   \u7c73 \uff1a   leadCar   =   Car   following   roadDirection   from   obstacle   for   Range ( - 50 ,   - 30 ) ,   with   behavior   LeadingCarBehavior ( LEAD _ CAR _ SPEED )   \u5c06 \u672c\u8f66 \u4ee5 \u9884\u5b9a \u901f\u5ea6 \u6cbf\u7740 \u9053\u8def \u884c\u9a76 \uff0c \u8ddd\u79bb \u524d \u8f66   15   \u5230   10   \u7c73 \uff1a   ego   =   Car   following   roadDirection   from   leadCar   for   Range ( - 15 ,   - 10 ) ,   with   blueprint   EGO _ MODEL ,   with   behavior   EgoBehavior ( EGO _ SPEED )   \u8981\u6c42 \u573a\u666f \u53d1\u751f \u5728 \u8ddd \u8def\u53e3   80   \u7c73 \u4ee5\u4e0a \u7684 \u4f4d\u7f6e \uff1a   require   ( distance   to   intersection )   >   80   6 .   \u8bbe\u7f6e \u7ed3\u675f \u70b9 \uff0c \u4ee5\u4fbf \u811a\u672c \u77e5\u9053 \u573a\u666f \u4f55\u65f6 \u5b8c\u6210 \uff1a   \u5f53 \u81ea\u6211 \u8f66\u8f86 \u7684 \u901f\u5ea6 \u4f4e\u4e8e \u6bcf\u79d2   0.1   \u7c73 \u5e76\u4e14 \u8ddd\u79bb \u969c\u788d \u969c\u788d\u7269 \u4e0d\u5230   30   \u7c73 \u65f6 \uff0c \u8be5 \u573a\u666f \u5c06 \u7ed3\u675f \u3002   terminate   when   ego . speed   <   0.1   and   ( distance   to   obstacle )   <   30","title":"\u521b\u5efa \u4e0e   Carla   \u4e00\u8d77 \u4f7f\u7528 \u7684   Scenic   \u573a\u666f  "},{"location":"tuto_G_scenic/#_2","text":"\u8981 \u8fd0\u884c   Scenic   \u573a\u666f \uff1a   1 .   \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   2 .   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   scenic   path / to / scenic / script . scenic   -- simulate   \u5c06 \u51fa\u73b0 \u4e00\u4e2a   pygame   \u7a97\u53e3 \uff0c \u5e76\u4e14 \u573a\u666f \u5c06 \u91cd\u590d \u64ad\u653e \uff0c \u6bcf\u6b21 \u90fd \u4f1a \u5728 \u811a\u672c \u4e2d \u8bbe\u7f6e \u7684 \u9650\u5236 \u8303\u56f4 \u5185 \u751f\u6210 \u4e00\u4e2a \u72ec\u7279 \u7684 \u573a\u666f \u3002 \u8981 \u505c\u6b62 \u573a\u666f \u751f\u6210 \uff0c \u8bf7 \u5728 \u7ec8\u7aef \u4e2d \u6309   ctrl   +   C   \u3002","title":"\u8fd0\u884c \u573a\u666f  "},{"location":"tuto_G_scenic/#_3","text":"Carla   \u6a21\u578b \u63d0\u4f9b \u4e86 \u51e0\u4e2a \u5168\u5c40 \u53c2\u6570 \uff0c \u53ef\u4ee5 \u5728 \u4f7f\u7528   param   \u8bed\u53e5   \u6216 \u901a\u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u4f7f\u7528   -- param   option   \u9009\u9879 \u7684 \u573a\u666f \u4e2d \u8986\u76d6 \u8fd9\u4e9b \u53c2\u6570 \u3002   \u4e0b\u9762 \u662f   Carla   \u6a21\u578b \u4e2d \u7684 \u53ef \u914d\u7f6e \u53c2\u6570 \u6570\u8868 \u53c2\u6570\u8868 \uff1a   \u540d\u79f0   \u503c   \u63cf\u8ff0   carla _ map   str   \u8981 \u4f7f\u7528 \u7684   Carla   \u5730\u56fe \u7684 \u540d\u79f0 \uff08 \u4f8b\u5982 \u201c Town01 \u201d \uff09 \u3002 \u5982\u679c \u8bbe\u7f6e \u4e3a   None   \uff0c Carla   \u5c06 \u5c1d\u8bd5 \u4f7f\u7528   map   \u53c2\u6570 \u4e2d \u5b9a\u4e49 \u7684   . xodr   \u6587\u4ef6 \u5728   OpenDRIVE   \u72ec\u7acb \u6a21\u5f0f \u4e0b \u521b\u5efa \u4e16\u754c \u3002   timestep   float   \u7528\u4e8e \u4eff\u771f \u7684 \u65f6\u95f4 \u6b65\u957f \uff08 Scenic   \u4e2d\u65ad   Carla   \u8fd0\u884c \u884c\u4e3a \u3001 \u68c0\u67e5 \u9700\u6c42 \u7b49 \u7684 \u9891\u7387 \uff09 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   0.1   \u79d2 \u3002   weather   str   \u6216   dict   \u7528\u4e8e \u5929\u6c14 \u7684 \u4eff\u771f \u3002 \u53ef\u4ee5 \u662f \u6807\u8bc6   Carla   \u5929\u6c14 \u9884\u8bbe \u4e4b\u4e00 \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \uff08 \u4f8b\u5982 \u201c ClearSunset \u201d \uff09 \uff0c \u4e5f \u53ef\u4ee5 \u662f \u6307\u5b9a \u6240\u6709   \u5929\u6c14 \u53c2\u6570   \u7684 \u5b57\u5178 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u662f \u6240\u6709 \u5929\u6c14 \u9884\u8bbe \u7684 \u5747\u5300 \u5206\u5e03 \u5747\u5300\u5206\u5e03 \u3002   address   str   \u8fde\u63a5 \u5230   Carla   \u7684   IP   \u5730\u5740 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a \u672c\u5730 \u4e3b\u673a   ( 127.0 . 0.1 ) \u3002   port   int   \u8fde\u63a5 \u81f3   Carla   \u7684 \u7aef\u53e3 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   2000 \u3002   timeout   float   \u5c1d\u8bd5 \u8fde\u63a5 \u5230   Carla   \u65f6 \u7b49\u5f85 \u7684 \u6700\u957f \u65f6\u95f4 \uff08 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \uff09 \u3002 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u4e3a   10 \u3002   render   int   \u662f\u5426 \u8ba9   Carla   \u521b\u5efa \u4e00\u4e2a \u7a97\u53e3 \uff0c \u4ece \u81ea\u6211 \u5ba2\u4f53 \u7684 \u89d2\u5ea6 \u663e\u793a \u4eff\u771f \uff1a   1   \u662f \uff0c   0   \u5426 \u3002 \u9ed8\u8ba4   1   \u3002   record   str   \u5982\u679c \u975e\u7a7a \uff0c \u5219 \u4fdd\u5b58 \u7528\u4e8e \u91cd \u653e \u4eff\u771f \u7684   Carla   \u8bb0\u5f55 \u6587\u4ef6 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002","title":"\u9644\u52a0 \u53c2\u6570  "},{"location":"tuto_G_texture_streaming/","text":"\u901a\u8fc7   API   \u66f4\u6539 \u7eb9\u7406   Carla   API   \u53ef \u7528\u4e8e \u5728 \u8fd0\u884c \u65f6 \u4fee\u6539 \u8d44\u6e90 \u7eb9\u7406 \u3002 \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u5b66\u4e60 \u5982\u4f55 \u9009\u62e9 \u8d44\u6e90 \uff0c \u7136\u540e \u5728   Carla   \u4eff\u771f \u8fd0\u884c \u65f6 \u4fee\u6539 \u5176 \u7eb9\u7406 \u3002   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u9009\u62e9 \u4e00\u4e2a \u8d44\u6e90   \u9996\u5148 \uff0c \u6211\u4eec \u9700\u8981 \u52a0\u8f7d \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5e76 \u52a0\u8f7d   Carla   \u5730\u56fe \uff0c \u6309\u7167   Linux   \u6216   Windows   \u7684 \u8bf4\u660e \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \uff0c \u7136\u540e \u6784\u5efa \u5e76 \u542f\u52a8 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \u8ba9 \u6211\u4eec \u6253\u5f00 \u52a0\u8f7d \u4e86   Town   10 \uff08 \u9ed8\u8ba4 \u57ce\u9547 \uff09 \u7684 \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u7136\u540e \u9009\u62e9 \u8981 \u4f7f\u7528 \u7684 \u5efa\u7b51 \u5efa\u7b51\u7269 \uff1a   \u6211\u4eec \u9009\u62e9   BP _ Apartment04 _ v05 _ Opt   \u8fdb\u884c \u7eb9\u7406 \u64cd\u4f5c \uff0c \u540d\u79f0 \u53ef\u4ee5 \u5728 \u201c \u4e16\u754c \u5927\u7eb2 \u89c6\u56fe ( World   Outliner ) \u201d \u9762\u677f \u4e2d \u770b\u5230 \u3002 \u786e\u4fdd \u5c06 \u9f20\u6807 \u60ac\u505c \u9f20\u6807\u60ac\u505c \u5728 \u4e16\u754c \u5927\u7eb2 \u89c6\u56fe \u4e2d \u7684 \u540d\u79f0 \u4e0a \u5e76 \u4f7f\u7528 \u5de5\u5177 \u63d0\u793a \u4e2d \u5b9a\u4e49 \u7684 \u540d\u79f0 \u3002 \u5185\u90e8 \u540d\u79f0 \u53ef\u80fd \u4e0e \u5217\u8868 \u4e2d \u663e\u793a \u7684 \u6807\u9898 \u4e0d\u540c \u3002 \u5728 \u672c\u4f8b \u4e2d \uff0c \u5185\u90e8 \u540d\u79f0 \u5b9e\u9645 \u5b9e\u9645\u4e0a \u662f   BP _ Apartment04 _ v05 _ Opt _ 2   \u3002   \u5bfc\u51fa \u7eb9\u7406 \u4ee5\u4f9b \u4f7f\u7528   \u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u9009\u62e9 \u4e86 \u5efa\u7b51 \u5efa\u7b51\u7269 \uff0c \u6211\u4eec \u53ef\u4ee5 \u4fee\u6539 \u7528\u4e8e \u63a7\u5236 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5916\u89c2 \u7684 \u7eb9\u7406 \u3002 \u9009\u62e9 \u5efa\u7b51 \u5efa\u7b51\u7269 \u540e \uff0c \u5728 \u201c \u7ec6\u8282 \u201d \u9762\u677f \u4e2d \uff0c \u60a8 \u5c06 \u770b\u5230 \u8d44\u4ea7 \u7684 \u4e00\u4e9b \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u4f8b\u5982 \u4f4d\u7f6e \u3001 \u65cb\u8f6c \u548c \u7f29\u653e \u3002 \u5355\u51fb \u201c StaticMesh \uff08 \u7ee7\u627f \uff09 \u201d \u4ee5 \u6253\u5f00 \u7f51\u683c \u4f53 \u5c5e\u6027 \uff0c \u7136\u540e \u5728 \u9762\u677f \u7684 \u201c \u9759\u6001 \u7f51\u683c \u4f53 \u201d \u90e8\u5206 \u4e2d \u5355\u51fb \u653e\u5927 \u653e\u5927\u955c \u56fe\u6807 \u3002 \u8fd9\u4f1a \u5c06 \u5c5e\u4e8e \u8d44\u6e90 \u7684 \u6750\u8d28 \u548c \u7eb9\u7406 \u7f6e\u4e8e \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u7684 \u7126\u70b9 \u3002 \u5728 \u672c\u4f8b \u4e2d \uff0c \u6211\u4eec \u8981 \u68c0\u67e5   T _ Apartment04 _ D _ Opt   \u7eb9\u7406 \u3002 \u5982\u679c \u53cc\u51fb \u7eb9\u7406 \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u68c0\u67e5 \u5b83 \uff0c \u4f46\u662f \uff0c \u5728 \u672c\u4f8b \u4e2d \u6211\u4eec \u60f3\u8981 \u5bfc\u51fa \u5b83 \uff0c \u4ee5\u4fbf \u6211\u4eec \u53ef\u4ee5 \u4fee\u6539 \u5b83 \u3002 \u5355\u51fb   T _ Apartment04 _ D _ Opt   \u5e76 \u53f3\u952e \u9009\u62e9   \u8d44\u4ea7 \u64cd\u4f5c   >   \u5bfc\u51fa   \u3002 \u4ee5 \u9002\u5f53 \u7684 \u683c\u5f0f \u4fdd\u5b58 \u6587\u4ef6 \uff08 \u6211\u4eec \u5728 \u8fd9\u91cc \u9009\u62e9   TGA   \u683c\u5f0f \uff09 \u3002   \u5728 \u60a8 \u559c\u6b22 \u7684 \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406 \u8f6f\u4ef6 \u4e2d \u6253\u5f00 \u5bfc\u51fa \u7684 \u7eb9\u7406 \uff0c \u5e76 \u6839\u636e \u9700\u8981 \u7f16\u8f91 \u7eb9\u7406 \u3002 \u5728 \u4e0b\u56fe \u4e2d \uff0c \u4e0a\u534a \u90e8\u5206 \u53ef\u4ee5 \u770b\u5230 \u539f\u59cb \u7eb9\u7406 \uff0c \u4e0b \u534a \u90e8\u5206 \u663e\u793a \u4fee\u6539 \u540e \u7684 \u7eb9\u7406 \u3002   \u5c06 \u4fee\u6539 \u540e \u7684 \u7eb9\u7406 \u5bfc\u51fa \u5230 \u9002\u5f53 \u7684 \u4f4d\u7f6e \uff0c \u7136\u540e \u6253\u5f00 \u4ee3\u7801 \u7f16\u8f91 \u7f16\u8f91\u5668 \u8fd0\u884c \u4e00\u4e9b   Python   \u6765 \u66f4\u65b0 \u6b63\u5728 \u8fd0\u884c \u7684   Carla   \u4eff\u771f \u4e2d \u7684 \u7eb9\u7406 \u3002   \u901a\u8fc7 API \u66f4\u65b0 \u7eb9\u7406   \u5982\u679c \u5c1a\u672a \u542f\u52a8 \uff0c \u8bf7 \u4ece \u547d\u4ee4 \u547d\u4ee4\u884c \u542f\u52a8   Carla   \u4eff\u771f \uff0c \u6216 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u542f\u52a8 \u4eff\u771f \u3002 \u6211\u4eec \u5c06 \u4f7f\u7528   Python   \u56fe\u50cf \u5e93   ( PIL )   \u4ece \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406 \u8f6f\u4ef6 \u5bfc\u51fa \u7684 \u56fe\u50cf \u6587\u4ef6 \u56fe\u50cf\u6587\u4ef6 \u4e2d \u8bfb\u53d6 \u7eb9\u7406 \u3002   \u8fde\u63a5 \u5230 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   import   carla   from   PIL   import   Image   #   Connect   to   client   client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   client . set _ timeout ( 2.0 )   \u66f4\u65b0 \u7eb9\u7406   \u52a0\u8f7d \u4fee\u6539 \u540e \u7684 \u56fe\u50cf \u540e \uff0c \u5b9e\u4f8b \u5316   carla . TextureColor   \u5bf9\u8c61 \u5e76 \u586b\u5145 \u52a0\u8f7d \u56fe\u50cf \u4e2d \u7684 \u50cf\u7d20 \u6570\u636e \u3002   \u4f7f\u7528   carla . World   \u5bf9\u8c61 \u7684   apply _ color _ texture _ to _ object ( ... )   \u65b9\u6cd5 \u6765 \u66f4\u65b0 \u7eb9\u7406 \u3002 \u60a8 \u5e94\u8be5 \u5728   UE4   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u89c6\u56fe \u4e2d \u770b\u5230 \u7eb9\u7406 \u66f4\u65b0 \u3002   #   Load   the   modified   texture   image   =   Image . open ( ' BP _ Apartment04 _ v05 _ modified . tga ' )   height   =   image . size [ 1 ]   width   =   image . size [ 0 ]   #   Instantiate   a   carla . TextureColor   object   and   populate   #   the   pixels   with   data   from   the   modified   image   texture   =   carla . TextureColor ( width   , height )   for   x   in   range ( 0 , width ) :   for   y   in   range ( 0 , height ) :   color   =   image . getpixel ( ( x , y ) )   r   =   int ( color [ 0 ] )   g   =   int ( color [ 1 ] )   b   =   int ( color [ 2 ] )   a   =   255   texture . set ( x ,   y ,   carla . Color ( r , g , b , a ) )   #   Now   apply   the   texture   to   the   building   asset   world . apply _ color _ texture _ to _ object ( ' BP _ Apartment04 _ v05 _ Opt _ 2 ' ,   carla . MaterialParameter . Diffuse ,   texture )   \u901a\u8fc7   API   \u67e5\u627e \u5bf9\u8c61 \u540d\u79f0   \u8981 \u5728 \u4e0d \u4f9d\u8d56 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u60c5\u51b5 \u4e0b \u67e5\u627e \u5bf9\u8c61 \uff0c \u60a8 \u8fd8 \u53ef\u4ee5 \u4f7f\u7528   world . get _ names _ of _ all _ objects ( )   \u67e5\u8be2 \u5bf9\u8c61 \u540d\u79f0 \u3002 \u901a\u8fc7 \u4f7f\u7528   Python   \u7684 \u5185\u7f6e   filter ( ... )   \u65b9\u6cd5 \uff0c \u60a8 \u53ef\u4ee5 \u5c06 \u76ee\u6807 \u5bf9\u8c61 \u5f52\u96f6 \u3002   #   Filter   world   objects   for   those   with   ' Apartment '   in   the   name   list ( filter ( lambda   k :   ' Apartment '   in   k ,   world . get _ names _ of _ all _ objects ( ) ) )","title":"\u901a\u8fc7   API   \u66f4\u6539 \u7eb9\u7406"},{"location":"tuto_G_texture_streaming/#api","text":"Carla   API   \u53ef \u7528\u4e8e \u5728 \u8fd0\u884c \u65f6 \u4fee\u6539 \u8d44\u6e90 \u7eb9\u7406 \u3002 \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u5b66\u4e60 \u5982\u4f55 \u9009\u62e9 \u8d44\u6e90 \uff0c \u7136\u540e \u5728   Carla   \u4eff\u771f \u8fd0\u884c \u65f6 \u4fee\u6539 \u5176 \u7eb9\u7406 \u3002","title":"\u901a\u8fc7   API   \u66f4\u6539 \u7eb9\u7406"},{"location":"tuto_G_texture_streaming/#_1","text":"\u9996\u5148 \uff0c \u6211\u4eec \u9700\u8981 \u52a0\u8f7d \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5e76 \u52a0\u8f7d   Carla   \u5730\u56fe \uff0c \u6309\u7167   Linux   \u6216   Windows   \u7684 \u8bf4\u660e \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \uff0c \u7136\u540e \u6784\u5efa \u5e76 \u542f\u52a8 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \u8ba9 \u6211\u4eec \u6253\u5f00 \u52a0\u8f7d \u4e86   Town   10 \uff08 \u9ed8\u8ba4 \u57ce\u9547 \uff09 \u7684 \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u7136\u540e \u9009\u62e9 \u8981 \u4f7f\u7528 \u7684 \u5efa\u7b51 \u5efa\u7b51\u7269 \uff1a   \u6211\u4eec \u9009\u62e9   BP _ Apartment04 _ v05 _ Opt   \u8fdb\u884c \u7eb9\u7406 \u64cd\u4f5c \uff0c \u540d\u79f0 \u53ef\u4ee5 \u5728 \u201c \u4e16\u754c \u5927\u7eb2 \u89c6\u56fe ( World   Outliner ) \u201d \u9762\u677f \u4e2d \u770b\u5230 \u3002 \u786e\u4fdd \u5c06 \u9f20\u6807 \u60ac\u505c \u9f20\u6807\u60ac\u505c \u5728 \u4e16\u754c \u5927\u7eb2 \u89c6\u56fe \u4e2d \u7684 \u540d\u79f0 \u4e0a \u5e76 \u4f7f\u7528 \u5de5\u5177 \u63d0\u793a \u4e2d \u5b9a\u4e49 \u7684 \u540d\u79f0 \u3002 \u5185\u90e8 \u540d\u79f0 \u53ef\u80fd \u4e0e \u5217\u8868 \u4e2d \u663e\u793a \u7684 \u6807\u9898 \u4e0d\u540c \u3002 \u5728 \u672c\u4f8b \u4e2d \uff0c \u5185\u90e8 \u540d\u79f0 \u5b9e\u9645 \u5b9e\u9645\u4e0a \u662f   BP _ Apartment04 _ v05 _ Opt _ 2   \u3002","title":"\u5728 \u865a\u5e7b \u7f16\u8f91\u5668 \u4e2d \u9009\u62e9 \u4e00\u4e2a \u8d44\u6e90"},{"location":"tuto_G_texture_streaming/#_2","text":"\u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u9009\u62e9 \u4e86 \u5efa\u7b51 \u5efa\u7b51\u7269 \uff0c \u6211\u4eec \u53ef\u4ee5 \u4fee\u6539 \u7528\u4e8e \u63a7\u5236 \u5efa\u7b51 \u5efa\u7b51\u7269 \u5916\u89c2 \u7684 \u7eb9\u7406 \u3002 \u9009\u62e9 \u5efa\u7b51 \u5efa\u7b51\u7269 \u540e \uff0c \u5728 \u201c \u7ec6\u8282 \u201d \u9762\u677f \u4e2d \uff0c \u60a8 \u5c06 \u770b\u5230 \u8d44\u4ea7 \u7684 \u4e00\u4e9b \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u4f8b\u5982 \u4f4d\u7f6e \u3001 \u65cb\u8f6c \u548c \u7f29\u653e \u3002 \u5355\u51fb \u201c StaticMesh \uff08 \u7ee7\u627f \uff09 \u201d \u4ee5 \u6253\u5f00 \u7f51\u683c \u4f53 \u5c5e\u6027 \uff0c \u7136\u540e \u5728 \u9762\u677f \u7684 \u201c \u9759\u6001 \u7f51\u683c \u4f53 \u201d \u90e8\u5206 \u4e2d \u5355\u51fb \u653e\u5927 \u653e\u5927\u955c \u56fe\u6807 \u3002 \u8fd9\u4f1a \u5c06 \u5c5e\u4e8e \u8d44\u6e90 \u7684 \u6750\u8d28 \u548c \u7eb9\u7406 \u7f6e\u4e8e \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u7684 \u7126\u70b9 \u3002 \u5728 \u672c\u4f8b \u4e2d \uff0c \u6211\u4eec \u8981 \u68c0\u67e5   T _ Apartment04 _ D _ Opt   \u7eb9\u7406 \u3002 \u5982\u679c \u53cc\u51fb \u7eb9\u7406 \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u68c0\u67e5 \u5b83 \uff0c \u4f46\u662f \uff0c \u5728 \u672c\u4f8b \u4e2d \u6211\u4eec \u60f3\u8981 \u5bfc\u51fa \u5b83 \uff0c \u4ee5\u4fbf \u6211\u4eec \u53ef\u4ee5 \u4fee\u6539 \u5b83 \u3002 \u5355\u51fb   T _ Apartment04 _ D _ Opt   \u5e76 \u53f3\u952e \u9009\u62e9   \u8d44\u4ea7 \u64cd\u4f5c   >   \u5bfc\u51fa   \u3002 \u4ee5 \u9002\u5f53 \u7684 \u683c\u5f0f \u4fdd\u5b58 \u6587\u4ef6 \uff08 \u6211\u4eec \u5728 \u8fd9\u91cc \u9009\u62e9   TGA   \u683c\u5f0f \uff09 \u3002   \u5728 \u60a8 \u559c\u6b22 \u7684 \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406 \u8f6f\u4ef6 \u4e2d \u6253\u5f00 \u5bfc\u51fa \u7684 \u7eb9\u7406 \uff0c \u5e76 \u6839\u636e \u9700\u8981 \u7f16\u8f91 \u7eb9\u7406 \u3002 \u5728 \u4e0b\u56fe \u4e2d \uff0c \u4e0a\u534a \u90e8\u5206 \u53ef\u4ee5 \u770b\u5230 \u539f\u59cb \u7eb9\u7406 \uff0c \u4e0b \u534a \u90e8\u5206 \u663e\u793a \u4fee\u6539 \u540e \u7684 \u7eb9\u7406 \u3002   \u5c06 \u4fee\u6539 \u540e \u7684 \u7eb9\u7406 \u5bfc\u51fa \u5230 \u9002\u5f53 \u7684 \u4f4d\u7f6e \uff0c \u7136\u540e \u6253\u5f00 \u4ee3\u7801 \u7f16\u8f91 \u7f16\u8f91\u5668 \u8fd0\u884c \u4e00\u4e9b   Python   \u6765 \u66f4\u65b0 \u6b63\u5728 \u8fd0\u884c \u7684   Carla   \u4eff\u771f \u4e2d \u7684 \u7eb9\u7406 \u3002","title":"\u5bfc\u51fa \u7eb9\u7406 \u4ee5\u4f9b \u4f7f\u7528"},{"location":"tuto_G_texture_streaming/#api_1","text":"\u5982\u679c \u5c1a\u672a \u542f\u52a8 \uff0c \u8bf7 \u4ece \u547d\u4ee4 \u547d\u4ee4\u884c \u542f\u52a8   Carla   \u4eff\u771f \uff0c \u6216 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u542f\u52a8 \u4eff\u771f \u3002 \u6211\u4eec \u5c06 \u4f7f\u7528   Python   \u56fe\u50cf \u5e93   ( PIL )   \u4ece \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406 \u8f6f\u4ef6 \u5bfc\u51fa \u7684 \u56fe\u50cf \u6587\u4ef6 \u56fe\u50cf\u6587\u4ef6 \u4e2d \u8bfb\u53d6 \u7eb9\u7406 \u3002","title":"\u901a\u8fc7 API \u66f4\u65b0 \u7eb9\u7406"},{"location":"tuto_G_texture_streaming/#_3","text":"import   carla   from   PIL   import   Image   #   Connect   to   client   client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   client . set _ timeout ( 2.0 )","title":"\u8fde\u63a5 \u5230 \u4eff\u771f\u5668"},{"location":"tuto_G_texture_streaming/#_4","text":"\u52a0\u8f7d \u4fee\u6539 \u540e \u7684 \u56fe\u50cf \u540e \uff0c \u5b9e\u4f8b \u5316   carla . TextureColor   \u5bf9\u8c61 \u5e76 \u586b\u5145 \u52a0\u8f7d \u56fe\u50cf \u4e2d \u7684 \u50cf\u7d20 \u6570\u636e \u3002   \u4f7f\u7528   carla . World   \u5bf9\u8c61 \u7684   apply _ color _ texture _ to _ object ( ... )   \u65b9\u6cd5 \u6765 \u66f4\u65b0 \u7eb9\u7406 \u3002 \u60a8 \u5e94\u8be5 \u5728   UE4   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u89c6\u56fe \u4e2d \u770b\u5230 \u7eb9\u7406 \u66f4\u65b0 \u3002   #   Load   the   modified   texture   image   =   Image . open ( ' BP _ Apartment04 _ v05 _ modified . tga ' )   height   =   image . size [ 1 ]   width   =   image . size [ 0 ]   #   Instantiate   a   carla . TextureColor   object   and   populate   #   the   pixels   with   data   from   the   modified   image   texture   =   carla . TextureColor ( width   , height )   for   x   in   range ( 0 , width ) :   for   y   in   range ( 0 , height ) :   color   =   image . getpixel ( ( x , y ) )   r   =   int ( color [ 0 ] )   g   =   int ( color [ 1 ] )   b   =   int ( color [ 2 ] )   a   =   255   texture . set ( x ,   y ,   carla . Color ( r , g , b , a ) )   #   Now   apply   the   texture   to   the   building   asset   world . apply _ color _ texture _ to _ object ( ' BP _ Apartment04 _ v05 _ Opt _ 2 ' ,   carla . MaterialParameter . Diffuse ,   texture )","title":"\u66f4\u65b0 \u7eb9\u7406"},{"location":"tuto_G_texture_streaming/#api_2","text":"\u8981 \u5728 \u4e0d \u4f9d\u8d56 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u60c5\u51b5 \u4e0b \u67e5\u627e \u5bf9\u8c61 \uff0c \u60a8 \u8fd8 \u53ef\u4ee5 \u4f7f\u7528   world . get _ names _ of _ all _ objects ( )   \u67e5\u8be2 \u5bf9\u8c61 \u540d\u79f0 \u3002 \u901a\u8fc7 \u4f7f\u7528   Python   \u7684 \u5185\u7f6e   filter ( ... )   \u65b9\u6cd5 \uff0c \u60a8 \u53ef\u4ee5 \u5c06 \u76ee\u6807 \u5bf9\u8c61 \u5f52\u96f6 \u3002   #   Filter   world   objects   for   those   with   ' Apartment '   in   the   name   list ( filter ( lambda   k :   ' Apartment '   in   k ,   world . get _ names _ of _ all _ objects ( ) ) )","title":"\u901a\u8fc7   API   \u67e5\u627e \u5bf9\u8c61 \u540d\u79f0"},{"location":"tuto_G_traffic_light/","text":"\u4ea4\u901a \u4ea4\u901a\u706f \u914d\u7f6e \u548c \u4f7f\u7528 \uff08 get _ traffic _ light \uff09   \u4ea4\u901a \u4ea4\u901a\u706f \u5728 Carla \u4e2d \u7684 \u7b80\u5355 \u914d\u7f6e   \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u9009\u62e9   Carla   >   Static   >   TrafficLight   >   StreetLights _ 01   \u4e0b \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u84dd\u56fe \u3002   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u62d6 \u5230 \u573a\u666f \u4e2d \uff0c \u8fdb\u884c \u4f4d\u7f6e \u8c03\u6574 \u3002   \u4e0e \u4ea4\u901a \u4ea4\u901a\u706f \u76f8\u8fde \u8fde\u63a5 \u76f8\u8fde\u63a5 \u7684 \u6709 \u4e00\u4e2a   \u7acb\u65b9 \u7acb\u65b9\u4f53 \u7ec4\u4ef6   \uff0c \u901a\u8fc7 \u62d6 \u5230 \u8fd9\u4e2a \u7acb\u65b9 \u7acb\u65b9\u4f53 \u7684 \u4f4d\u7f6e \u548c \u6539\u53d8 \u957f\u5ea6 \u6765 \u51b3\u5b9a \u5bf9\u5e94 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u5f71\u54cd \u8303\u56f4 \u3002   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u5206\u914d \u7ed9 \u8def\u53e3 \u4ea4\u901a \u4ea4\u901a\u706f \u7ec4 \uff1a \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u9009\u62e9   Carla   >   Static   >   TrafficLight   >   StreetLights _ 01   \u4e0b \u9009\u62e9   BP _ TrafficLightGroup   \u62d6\u52a8 \u5230 \u8def\u53e3 \uff0c \u5e76 \u5728 \u8be5 \u5bf9\u8c61 \u7684 \u7ec6\u8282 \u9762\u677f \u4e0b \u627e\u5230   Traffic   Light   \uff0c \u5c06 \u9700\u8981 \u6dfb\u52a0 \u5230 \u8be5 \u8def\u53e3 \u7ec4 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u8bbe\u7f6e \u3002   \u53c2\u8003 \u94fe\u63a5 \uff1a   \u5185\u5bb9 \u521b\u4f5c   -   \u5730\u56fe   -   \u4ea4\u901a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6587\u6863   ( openhutb . github . io )   \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u90e8\u5206   \u4f7f\u7528 python \u811a\u672c \u7b80\u5355 \u4f7f\u7528 \u4ea4\u901a \u4ea4\u901a\u706f   \u521b\u5efa \u4e0e carla \u7684 \u8fde\u63a5   client   =   carla . Client ( args . host ,   args . port )   client . set _ timeout ( 10.0 )   #   \u8bbe\u7f6e \u8d85\u65f6   world   =   client . get _ world ( )   #   \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   \u83b7\u53d6 \u573a\u666f \u4e2d \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5bf9\u8c61   traffic _ lights   =   world . get _ actors ( ) . filter ( ' traffic . traffic _ light ' )   1 \u3001 \u83b7\u53d6 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u4f4d\u7f6e \u4fe1\u606f   def   get _ light _ location ( world , traffic _ lights ) :   #   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u4f4d\u7f6e \u4fe1\u606f \u5b58\u50a8   traffic _ lights _ location   =   { }   for   traffic _ light   in   traffic _ lights :   location   =   traffic _ light . get _ location ( )   # status   =   traffic _ light . get _ state ( )   position   =   ( location . x ,   location . y ,   location . z )   #   status _ str   =   str ( status ) . split ( ' . ' ) [ - 1 ]   #   traffic _ lights _ data [ traffic _ light . id ]   =   { ' position ' :   position ,   ' status ' :   status _ str }   traffic _ lights _ location [ traffic _ light . id ]   =   { ' position ' :   position }   #   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u5728 carla \u4e2d \u6807\u793a \u51fa\u6765 \uff0c \u4ee5 traffic _ light . id   world . debug . draw _ string ( location ,   str ( traffic _ light . id )   ,   life _ time = 6000 ,   color = carla . Color ( 255 ,   0 ,   0 ) )   return   traffic _ lights _ location   print ( traffic _ lights _ location )   2 \u3001 \u83b7\u53d6 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u5f53\u524d \u914d\u65f6 \u65b9\u6848   def   get _ light _ time ( traffic _ lights ) :   # \u83b7\u53d6 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u914d\u65f6 \u4fe1\u606f   #   \u521b\u5efa \u4e00\u4e2a \u7a7a \u7684 \u5b57\u5178 \uff0c \u7528\u4e8e \u5b58\u50a8 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u4fe1\u606f   traffic _ lights _ time   =   { }   #   \u904d\u5386 \u6240\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f   for   traffic _ light   in   traffic _ lights :   #   \u83b7\u53d6 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 ID   traffic _ light _ id   =   traffic _ light . id   #   \u83b7\u53d6 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u5f53\u524d \u72b6\u6001   status   =   traffic _ light . get _ state ( )   status _ str   =   str ( status ) . split ( ' . ' ) [ - 1 ]   #   \u83b7\u53d6 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6\u95f4   red _ time   =   traffic _ light . get _ red _ time ( )   green _ time   =   traffic _ light . get _ green _ time ( )   yellow _ time   =   traffic _ light . get _ yellow _ time ( )   #   \u5c06 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u4fe1\u606f \u6dfb\u52a0 \u5230 \u5b57\u5178 \u4e2d   traffic _ lights _ time [ traffic _ light _ id ]   =   { ' status ' :   status _ str ,   ' red _ time ' :   red _ time ,   ' green _ time ' :   green _ time ,   ' yellow _ time ' :   yellow _ time }   print ( traffic _ lights _ time )   return   traffic _ lights _ time   3 \u3001 \u4fee\u6539 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u914d\u65f6 \u65b9\u6848   def   change _ light _ time ( traffic _ lights , traffic _ light _ id , red _ time , yellow _ time , green _ time , world ) :   #   \u904d\u5386 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u627e\u5230 \u5bf9\u5e94 \u8def\u706f   for   traffic _ light   in   traffic _ lights :   if   traffic _ light . id   = =   traffic _ light _ id :   # \u5c55\u793a \u539f\u59cb \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u914d\u65f6 \u65b9\u6848   redtime   =   traffic _ light . get _ red _ time ( )   greentime   =   traffic _ light . get _ green _ time ( )   yellowtime   =   traffic _ light . get _ yellow _ time ( )   print ( \" \u7f16\u53f7 \u4e3a { } \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u7ea2\u706f \u65f6\u95f4 \u4e3a { } \uff0c \u9ec4\u706f \u65f6\u95f4 \u4e3a { } \uff0c \u7eff\u706f \u65f6\u95f4 \u4e3a { } \" . format ( traffic _ light _ id ,   redtime ,   yellowtime ,   greentime ) )   #   \u4fee\u6539 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6 \u957f   traffic _ light . set _ red _ time ( float ( red _ time ) )   traffic _ light . set _ yellow _ time ( float ( yellow _ time ) )   traffic _ light . set _ green _ time ( float ( green _ time ) )   print ( \" \u5df2 \u4fee\u6539 \u7f16\u53f7 \u4e3a { } \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u7ea2\u706f \u65f6\u95f4 \u4e3a { } \uff0c \u9ec4\u706f \u65f6\u95f4 \u4e3a { } \uff0c \u7eff\u706f \u65f6\u95f4 \u4e3a { } \" . format ( traffic _ light _ id ,   red _ time ,   yellow _ time ,   green _ time ) )   world . tick ( )   # \u66f4\u65b0 Carla \u4e16\u754c \u7684 \u72b6\u6001 \uff0c \u4f7f\u5f97 \u4fee\u6539 \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65b9\u6848 \u7acb\u5373 \u751f\u6548 \u3002   4 \u3001 \u6839\u636e \u8def\u53e3 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u8c03\u6574 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u914d\u65f6 \u65b9\u6848   4.1 \u3001 \u83b7\u53d6 \u6307\u5b9a \u8def\u53e3 \u7684 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf   def   get _ traffic _ flow ( world ) :   #   \u83b7\u53d6 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684 \u8f66\u8f86 \u5217\u8868   vehicle _ list   =   world . get _ actors ( ) . filter ( ' vehicle . * ' )   #   \u521b\u5efa \u4e00\u4e2a \u7a7a \u7684 \u5b57\u5178 , \u5b58\u50a8 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u4fe1\u606f   # vehicle _ positions   =   { }   #   \u521b\u5efa \u4e24\u4e2a \u7a7a \u5217\u8868 \uff0c \u7528\u4e8e \u5b58\u50a8 \u65f6\u523b \u548c \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u6570\u636e   # timestamps   =   [ ]   traffic _ flow   =   [ ]   #   \u5faa\u73af \u63a8\u8fdb \u4eff\u771f \u65f6\u95f4 \u5e76 \u7edf\u8ba1 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf   for   t   in   range ( 1000 ) :   #   \u5047\u8bbe \u4eff\u771f 1000 \u4e2a \u65f6\u95f4 \u6b65   #   \u63a8\u8fdb \u4eff\u771f \u65f6\u95f4   world . tick ( )   #   \u91cd\u7f6e \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u8ba1\u6570   count   =   0   #   \u904d\u5386 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684 \u8f66\u8f86   for   vehicle   in   vehicle _ list :   #   \u83b7\u53d6 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u4fe1\u606f   location   =   vehicle . get _ location ( )   x   =   location . x   y   =   location . y   z   =   location . z   # \u6682\u65f6 \u91c7\u7528 xmin , xmax , ymin , ymax \u6765 \u6307\u5b9a \u533a\u57df \u8def\u53e3   if   x   < =   xmax   and   x   > =   xmin   and   y   < =   ymax   and   y   > =   ymin :   count   + =   1   # vehicle _ positions [ vehicle . id ]   =   ( x ,   y ,   z )   #   \u5c06 \u65f6\u95f4 \u548c \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u6570\u636e \u6dfb\u52a0 \u5230 \u76f8\u5e94 \u7684 \u5217\u8868 \u4e2d   #   timestamps . append ( t )   traffic _ flow . append ( count )   # \u91c7\u7528 1000 \u4e2a \u65f6\u95f4 \u6b65 \u7684 \u8def\u53e3 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u7684 \u5747\u503c \u4f5c\u4e3a \u8fd9 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u7684 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf   return   int ( np . mean ( traffic _ flow ) )   4.2 \u3001 \u8c03\u6574 \u914d\u65f6 \u65b9\u6848   def   traffic _ signal ( traffic _ lights , traffic _ flow , world ) :   # \u6839\u636e \u8def\u53e3 \u7684 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u53bb \u4f18\u5316 \u8def\u53e3 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u914d\u65f6 \u65b9\u6848 \u7b80\u5355 \u793a\u4f8b   # \u8be5 \u793a\u4f8b \u4e2d \u8bbe\u7f6e \u7684 \u8f66\u8f86 \u603b\u6570 \u4e3a 70 \u8f86 \uff0c \u5206\u4e3a \u9ad8 \u6d41\u91cf \uff1a \u8def\u53e3 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf > 7 , \u4e2d \u6d41\u91cf \uff1a \u8def\u53e3 \u8f66\u8f86 \u5728 4 \u2014 7 \uff0c \u4f4e \u6d41\u91cf \uff1a \u8def\u53e3 \u8f66\u8f86 < 4   print ( ' \u8def\u53e3 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u4e3a { } ' . format ( traffic _ flow ) )   #   \u904d\u5386 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f   for   traffic _ light   in   traffic _ lights :   # \u83b7\u5f97 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u4f4d\u7f6e \u4fe1\u606f   location   =   traffic _ light . get _ location ( )   # \u627e\u5230 \u4f4d\u4e8e \u8be5 \u8def\u53e3 \u8303\u56f4 \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f   if   location . x > = xmin   and   location . x < = xmax   and   location . y > = ymin   and   location . y < = ymax :   #   \u83b7\u53d6 \u4ea4\u901a \u4ea4\u901a\u706f ID   traffic _ light _ id   =   traffic _ light . id   #   \u83b7\u53d6 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u914d\u65f6 \u65b9\u6848   red _ time   =   traffic _ light . get _ red _ time ( )   green _ time   =   traffic _ light . get _ green _ time ( )   yellow _ time   =   traffic _ light . get _ yellow _ time ( )   #   \u6839\u636e \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6 \u957f   if   traffic _ flow   < =   4 :   #   \u4f4e \u6d41\u91cf \uff0c \u589e\u52a0 \u7ea2\u706f \u706f \u65f6\u95f4   red _ time   =   red _ time + 5   elif   traffic _ flow   > 4   and   traffic _ flow   < 7 :   #   \u4e2d\u7b49 \u6d41\u91cf \uff0c \u5e73\u8861 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6 \u957f   red _ time   = red _ time + 3   yellow _ time   =   yellow _ time + 2   green _ time   =   green _ time + 2   else :   #   \u9ad8 \u6d41\u91cf \uff0c \u589e\u52a0 \u7eff\u706f \u65f6\u95f4   red _ time   =   red _ time + 1   yellow _ time = yellow _ time + 1   green _ time   =   green _ time + 5   # \u4fee\u6539 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u914d\u65f6 \u65b9\u6848   change _ light _ time ( traffic _ lights , traffic _ light _ id , red _ time , yellow _ time , green _ time , world )","title":"\u4ea4\u901a\u706f \u914d\u7f6e \u548c \u4f7f\u7528 \uff08 get _ traffic _ light \uff09"},{"location":"tuto_G_traffic_light/#get_traffic_light","text":"","title":"\u4ea4\u901a\u706f \u914d\u7f6e \u548c \u4f7f\u7528 \uff08 get _ traffic _ light \uff09"},{"location":"tuto_G_traffic_light/#carla","text":"\u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u9009\u62e9   Carla   >   Static   >   TrafficLight   >   StreetLights _ 01   \u4e0b \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u84dd\u56fe \u3002   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u62d6 \u5230 \u573a\u666f \u4e2d \uff0c \u8fdb\u884c \u4f4d\u7f6e \u8c03\u6574 \u3002   \u4e0e \u4ea4\u901a \u4ea4\u901a\u706f \u76f8\u8fde \u8fde\u63a5 \u76f8\u8fde\u63a5 \u7684 \u6709 \u4e00\u4e2a   \u7acb\u65b9 \u7acb\u65b9\u4f53 \u7ec4\u4ef6   \uff0c \u901a\u8fc7 \u62d6 \u5230 \u8fd9\u4e2a \u7acb\u65b9 \u7acb\u65b9\u4f53 \u7684 \u4f4d\u7f6e \u548c \u6539\u53d8 \u957f\u5ea6 \u6765 \u51b3\u5b9a \u5bf9\u5e94 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u5f71\u54cd \u8303\u56f4 \u3002   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u5206\u914d \u7ed9 \u8def\u53e3 \u4ea4\u901a \u4ea4\u901a\u706f \u7ec4 \uff1a \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u9009\u62e9   Carla   >   Static   >   TrafficLight   >   StreetLights _ 01   \u4e0b \u9009\u62e9   BP _ TrafficLightGroup   \u62d6\u52a8 \u5230 \u8def\u53e3 \uff0c \u5e76 \u5728 \u8be5 \u5bf9\u8c61 \u7684 \u7ec6\u8282 \u9762\u677f \u4e0b \u627e\u5230   Traffic   Light   \uff0c \u5c06 \u9700\u8981 \u6dfb\u52a0 \u5230 \u8be5 \u8def\u53e3 \u7ec4 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u8bbe\u7f6e \u3002   \u53c2\u8003 \u94fe\u63a5 \uff1a   \u5185\u5bb9 \u521b\u4f5c   -   \u5730\u56fe   -   \u4ea4\u901a \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6587\u6863   ( openhutb . github . io )   \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u90e8\u5206","title":"\u4ea4\u901a\u706f \u5728 Carla \u4e2d \u7684 \u7b80\u5355 \u914d\u7f6e"},{"location":"tuto_G_traffic_light/#python","text":"","title":"\u4f7f\u7528 python \u811a\u672c \u7b80\u5355 \u4f7f\u7528 \u4ea4\u901a\u706f"},{"location":"tuto_G_traffic_light/#carla_1","text":"client   =   carla . Client ( args . host ,   args . port )   client . set _ timeout ( 10.0 )   #   \u8bbe\u7f6e \u8d85\u65f6   world   =   client . get _ world ( )   #   \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )","title":"\u521b\u5efa \u4e0e carla \u7684 \u8fde\u63a5"},{"location":"tuto_G_traffic_light/#_1","text":"traffic _ lights   =   world . get _ actors ( ) . filter ( ' traffic . traffic _ light ' )","title":"\u83b7\u53d6 \u573a\u666f \u4e2d \u7684 \u7ea2\u7eff\u706f \u5bf9\u8c61"},{"location":"tuto_G_traffic_light/#1","text":"def   get _ light _ location ( world , traffic _ lights ) :   #   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u4f4d\u7f6e \u4fe1\u606f \u5b58\u50a8   traffic _ lights _ location   =   { }   for   traffic _ light   in   traffic _ lights :   location   =   traffic _ light . get _ location ( )   # status   =   traffic _ light . get _ state ( )   position   =   ( location . x ,   location . y ,   location . z )   #   status _ str   =   str ( status ) . split ( ' . ' ) [ - 1 ]   #   traffic _ lights _ data [ traffic _ light . id ]   =   { ' position ' :   position ,   ' status ' :   status _ str }   traffic _ lights _ location [ traffic _ light . id ]   =   { ' position ' :   position }   #   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u5728 carla \u4e2d \u6807\u793a \u51fa\u6765 \uff0c \u4ee5 traffic _ light . id   world . debug . draw _ string ( location ,   str ( traffic _ light . id )   ,   life _ time = 6000 ,   color = carla . Color ( 255 ,   0 ,   0 ) )   return   traffic _ lights _ location   print ( traffic _ lights _ location )","title":"1 \u3001 \u83b7\u53d6 \u7ea2\u7eff\u706f \u7684 \u4f4d\u7f6e \u4fe1\u606f"},{"location":"tuto_G_traffic_light/#2","text":"def   get _ light _ time ( traffic _ lights ) :   # \u83b7\u53d6 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u914d\u65f6 \u4fe1\u606f   #   \u521b\u5efa \u4e00\u4e2a \u7a7a \u7684 \u5b57\u5178 \uff0c \u7528\u4e8e \u5b58\u50a8 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u4fe1\u606f   traffic _ lights _ time   =   { }   #   \u904d\u5386 \u6240\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f   for   traffic _ light   in   traffic _ lights :   #   \u83b7\u53d6 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 ID   traffic _ light _ id   =   traffic _ light . id   #   \u83b7\u53d6 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u5f53\u524d \u72b6\u6001   status   =   traffic _ light . get _ state ( )   status _ str   =   str ( status ) . split ( ' . ' ) [ - 1 ]   #   \u83b7\u53d6 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6\u95f4   red _ time   =   traffic _ light . get _ red _ time ( )   green _ time   =   traffic _ light . get _ green _ time ( )   yellow _ time   =   traffic _ light . get _ yellow _ time ( )   #   \u5c06 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u4fe1\u606f \u6dfb\u52a0 \u5230 \u5b57\u5178 \u4e2d   traffic _ lights _ time [ traffic _ light _ id ]   =   { ' status ' :   status _ str ,   ' red _ time ' :   red _ time ,   ' green _ time ' :   green _ time ,   ' yellow _ time ' :   yellow _ time }   print ( traffic _ lights _ time )   return   traffic _ lights _ time","title":"2 \u3001 \u83b7\u53d6 \u7ea2\u7eff\u706f \u7684 \u5f53\u524d \u914d\u65f6 \u65b9\u6848"},{"location":"tuto_G_traffic_light/#3","text":"def   change _ light _ time ( traffic _ lights , traffic _ light _ id , red _ time , yellow _ time , green _ time , world ) :   #   \u904d\u5386 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u627e\u5230 \u5bf9\u5e94 \u8def\u706f   for   traffic _ light   in   traffic _ lights :   if   traffic _ light . id   = =   traffic _ light _ id :   # \u5c55\u793a \u539f\u59cb \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u914d\u65f6 \u65b9\u6848   redtime   =   traffic _ light . get _ red _ time ( )   greentime   =   traffic _ light . get _ green _ time ( )   yellowtime   =   traffic _ light . get _ yellow _ time ( )   print ( \" \u7f16\u53f7 \u4e3a { } \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u7ea2\u706f \u65f6\u95f4 \u4e3a { } \uff0c \u9ec4\u706f \u65f6\u95f4 \u4e3a { } \uff0c \u7eff\u706f \u65f6\u95f4 \u4e3a { } \" . format ( traffic _ light _ id ,   redtime ,   yellowtime ,   greentime ) )   #   \u4fee\u6539 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6 \u957f   traffic _ light . set _ red _ time ( float ( red _ time ) )   traffic _ light . set _ yellow _ time ( float ( yellow _ time ) )   traffic _ light . set _ green _ time ( float ( green _ time ) )   print ( \" \u5df2 \u4fee\u6539 \u7f16\u53f7 \u4e3a { } \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u7ea2\u706f \u65f6\u95f4 \u4e3a { } \uff0c \u9ec4\u706f \u65f6\u95f4 \u4e3a { } \uff0c \u7eff\u706f \u65f6\u95f4 \u4e3a { } \" . format ( traffic _ light _ id ,   red _ time ,   yellow _ time ,   green _ time ) )   world . tick ( )   # \u66f4\u65b0 Carla \u4e16\u754c \u7684 \u72b6\u6001 \uff0c \u4f7f\u5f97 \u4fee\u6539 \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65b9\u6848 \u7acb\u5373 \u751f\u6548 \u3002","title":"3 \u3001 \u4fee\u6539 \u7ea2\u7eff\u706f \u7684 \u914d\u65f6 \u65b9\u6848"},{"location":"tuto_G_traffic_light/#4","text":"","title":"4 \u3001 \u6839\u636e \u8def\u53e3 \u8f66\u6d41\u91cf \u8c03\u6574 \u4ea4\u901a\u706f \u7684 \u7ea2\u7eff\u706f \u914d\u65f6 \u65b9\u6848"},{"location":"tuto_G_traffic_light/#41","text":"def   get _ traffic _ flow ( world ) :   #   \u83b7\u53d6 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684 \u8f66\u8f86 \u5217\u8868   vehicle _ list   =   world . get _ actors ( ) . filter ( ' vehicle . * ' )   #   \u521b\u5efa \u4e00\u4e2a \u7a7a \u7684 \u5b57\u5178 , \u5b58\u50a8 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u4fe1\u606f   # vehicle _ positions   =   { }   #   \u521b\u5efa \u4e24\u4e2a \u7a7a \u5217\u8868 \uff0c \u7528\u4e8e \u5b58\u50a8 \u65f6\u523b \u548c \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u6570\u636e   # timestamps   =   [ ]   traffic _ flow   =   [ ]   #   \u5faa\u73af \u63a8\u8fdb \u4eff\u771f \u65f6\u95f4 \u5e76 \u7edf\u8ba1 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf   for   t   in   range ( 1000 ) :   #   \u5047\u8bbe \u4eff\u771f 1000 \u4e2a \u65f6\u95f4 \u6b65   #   \u63a8\u8fdb \u4eff\u771f \u65f6\u95f4   world . tick ( )   #   \u91cd\u7f6e \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u8ba1\u6570   count   =   0   #   \u904d\u5386 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684 \u8f66\u8f86   for   vehicle   in   vehicle _ list :   #   \u83b7\u53d6 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u4fe1\u606f   location   =   vehicle . get _ location ( )   x   =   location . x   y   =   location . y   z   =   location . z   # \u6682\u65f6 \u91c7\u7528 xmin , xmax , ymin , ymax \u6765 \u6307\u5b9a \u533a\u57df \u8def\u53e3   if   x   < =   xmax   and   x   > =   xmin   and   y   < =   ymax   and   y   > =   ymin :   count   + =   1   # vehicle _ positions [ vehicle . id ]   =   ( x ,   y ,   z )   #   \u5c06 \u65f6\u95f4 \u548c \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u6570\u636e \u6dfb\u52a0 \u5230 \u76f8\u5e94 \u7684 \u5217\u8868 \u4e2d   #   timestamps . append ( t )   traffic _ flow . append ( count )   # \u91c7\u7528 1000 \u4e2a \u65f6\u95f4 \u6b65 \u7684 \u8def\u53e3 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u7684 \u5747\u503c \u4f5c\u4e3a \u8fd9 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u7684 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf   return   int ( np . mean ( traffic _ flow ) )","title":"4.1 \u3001 \u83b7\u53d6 \u6307\u5b9a \u8def\u53e3 \u7684 \u8f66\u6d41\u91cf"},{"location":"tuto_G_traffic_light/#42","text":"def   traffic _ signal ( traffic _ lights , traffic _ flow , world ) :   # \u6839\u636e \u8def\u53e3 \u7684 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u53bb \u4f18\u5316 \u8def\u53e3 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u914d\u65f6 \u65b9\u6848 \u7b80\u5355 \u793a\u4f8b   # \u8be5 \u793a\u4f8b \u4e2d \u8bbe\u7f6e \u7684 \u8f66\u8f86 \u603b\u6570 \u4e3a 70 \u8f86 \uff0c \u5206\u4e3a \u9ad8 \u6d41\u91cf \uff1a \u8def\u53e3 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf > 7 , \u4e2d \u6d41\u91cf \uff1a \u8def\u53e3 \u8f66\u8f86 \u5728 4 \u2014 7 \uff0c \u4f4e \u6d41\u91cf \uff1a \u8def\u53e3 \u8f66\u8f86 < 4   print ( ' \u8def\u53e3 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u4e3a { } ' . format ( traffic _ flow ) )   #   \u904d\u5386 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f   for   traffic _ light   in   traffic _ lights :   # \u83b7\u5f97 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u4f4d\u7f6e \u4fe1\u606f   location   =   traffic _ light . get _ location ( )   # \u627e\u5230 \u4f4d\u4e8e \u8be5 \u8def\u53e3 \u8303\u56f4 \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f   if   location . x > = xmin   and   location . x < = xmax   and   location . y > = ymin   and   location . y < = ymax :   #   \u83b7\u53d6 \u4ea4\u901a \u4ea4\u901a\u706f ID   traffic _ light _ id   =   traffic _ light . id   #   \u83b7\u53d6 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u914d\u65f6 \u65b9\u6848   red _ time   =   traffic _ light . get _ red _ time ( )   green _ time   =   traffic _ light . get _ green _ time ( )   yellow _ time   =   traffic _ light . get _ yellow _ time ( )   #   \u6839\u636e \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6 \u957f   if   traffic _ flow   < =   4 :   #   \u4f4e \u6d41\u91cf \uff0c \u589e\u52a0 \u7ea2\u706f \u706f \u65f6\u95f4   red _ time   =   red _ time + 5   elif   traffic _ flow   > 4   and   traffic _ flow   < 7 :   #   \u4e2d\u7b49 \u6d41\u91cf \uff0c \u5e73\u8861 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6 \u957f   red _ time   = red _ time + 3   yellow _ time   =   yellow _ time + 2   green _ time   =   green _ time + 2   else :   #   \u9ad8 \u6d41\u91cf \uff0c \u589e\u52a0 \u7eff\u706f \u65f6\u95f4   red _ time   =   red _ time + 1   yellow _ time = yellow _ time + 1   green _ time   =   green _ time + 5   # \u4fee\u6539 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u914d\u65f6 \u65b9\u6848   change _ light _ time ( traffic _ lights , traffic _ light _ id , red _ time , yellow _ time , green _ time , world )","title":"4.2 \u3001 \u8c03\u6574 \u914d\u65f6 \u65b9\u6848"},{"location":"tuto_G_traffic_manager/","text":"\u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u5f53 \u6211\u4eec \u8bad\u7ec3 \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u6765 \u63a7\u5236 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u65f6 \uff0c \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u5fc5\u987b \u5e94\u5bf9 \u7684 \u5173\u952e \u6311\u6218 \u4e4b\u4e00 \u662f \u5176\u4ed6 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u3002 \u9664\u4e86 \u8bc6\u522b \u548c \u5bfc\u822a \u9053\u8def \u7f51\u7edc \u62d3\u6251 \u7f51\u7edc\u62d3\u6251 \u4ee5\u53ca \u7ef4\u62a4 \u8f66\u9053 \u89c4\u5219 \u7684 \u4efb\u52a1 \u4e4b\u5916 \uff0c \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u8fd8 \u5fc5\u987b \u8bc6\u522b \u5176\u4ed6 \u8f66\u8f86 \u5e76 \u9884\u6d4b \u5bf9 \u5176 \u8ba1\u5212 \u884c\u52a8 \u65b9\u6848 \u7684 \u5f71\u54cd \u3002 Carla   \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u80fd\u591f \u7ba1\u7406 \u901a\u8fc7 \u4eff\u771f \u5bfc\u822a \u7684 \u8f66\u8f86 \u7fa4 \uff0c \u5e76 \u4e3a \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u7684 \u8f66\u8f86 \uff08 \u5373 \u6211\u4eec \u6b63\u5728 \u8bad\u7ec3 \u6216 \u63a7\u5236 \u7684 \u8f66\u8f86 \uff09 \u8bbe\u7f6e \u969c\u788d \u8bbe\u7f6e\u969c\u788d \u548c \u6311\u6218 \u3002 \u5728   Carla   \u6587\u732e \u4e2d \uff0c \u6211\u4eec \u5c06 \u8fd9\u79cd \u8f66\u8f86 \u79f0\u4e3a \u201c \u81ea\u6211 \u8f66\u8f86 \u201d \u4ee5\u793a \u533a\u522b \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7ba1\u7406 \u5730\u56fe \u5185\u975e \u73a9\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8f66\u8f86 \u7684 \u884c\u4e3a \u548c \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \uff0c \u7528 \u8f66\u8f86 \u586b\u5145 \u4eff\u771f \uff0c \u5176 \u884c\u4e3a \u4e0e \u5176\u4ed6 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u5728 \u771f\u5b9e \u9053\u8def \u7f51\u7edc \u4e0a \u7684 \u884c\u4e3a \u76f8\u540c \u3002 \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u4ecb\u7ecd \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u4e00\u4e9b \u529f\u80fd \u4ee5\u53ca \u5982\u4f55 \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u5b83 \u6765 \u521b\u5efa \u548c \u63a7\u5236 \u975e \u73a9\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8bbe\u7f6e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u5e76 \u521d\u59cb \u521d\u59cb\u5316 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u9996\u5148 \uff0c \u6211\u4eec \u5c06 \u521d\u59cb \u521d\u59cb\u5316 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5e76 \u521b\u5efa \u4e00\u4e9b \u968f\u673a \u5206\u5e03 \u5728 \u57ce\u5e02 \u5468\u56f4 \u7684 \u6d41\u91cf \u3002   import   carla   import   random   #   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5e76 \u83b7\u53d6 \u65f6\u95f4 \u5bf9\u8c61   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   Enables   synchronous   mode   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   traffic _ manager   =   client . get _ trafficmanager ( )   traffic _ manager . set _ synchronous _ mode ( True )   #   \u5982\u679c \u6709 \u5fc5\u8981 \u8bbe\u7f6e \u4e00\u4e2a \u79cd\u5b50 \uff0c \u4ee5\u4fbf \u80fd\u591f \u91cd\u73b0 \u884c\u4e3a   traffic _ manager . set _ random _ device _ seed ( 0 )   random . seed ( 0 )   #   \u542f\u52a8 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4ee5\u4fbf \u80fd \u5f00\u5230 \u6240 \u505a \u7684 \u4e8b   spectator   =   world . get _ spectator ( )   \u751f\u6210 \u8f66\u8f86   \u5f53 \u6211\u4eec \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8f66\u8f86 \u65f6 \uff0c \u5b83\u4eec \u9700\u8981 \u4e00\u4e2a \u751f\u6210 \u7684 \u5730\u56fe \u4f4d\u7f6e \u3002 \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u81ea\u5df1 \u9009\u62e9 \u7684 \u5730\u56fe \u5750\u6807 \u81ea\u884c \u5b9a\u4e49 \u8fd9\u4e9b \u3002 \u7136\u800c \uff0c \u4e3a\u4e86 \u89e3\u51b3 \u8fd9\u4e2a \u95ee\u9898 \uff0c \u6bcf\u4e2a   Carla   \u5730\u56fe \u90fd \u6709 \u4e00\u7ec4 \u9884\u5b9a \u4e49 \u7684 \u751f\u6210 \u70b9 \uff0c \u5747\u5300 \u5206\u5e03 \u5747\u5300\u5206\u5e03 \u5728 \u6574\u4e2a \u9053\u8def \u7f51\u7edc \u4e2d \u3002 \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u8fd9\u4e9b \u751f\u6210 \u70b9\u6765 \u751f\u6210 \u6211\u4eec \u7684 \u8f66\u8f86 \u3002   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528   Carla   \u7684 \u8c03\u8bd5 \u529f\u80fd \u6765 \u67e5\u770b \u751f\u6210 \u70b9 \u5728 \u54ea\u91cc \u3002 \u8fd0\u884c \u4ee5\u4e0b \u4ee3\u7801 \uff0c \u7136\u540e \u98de\u8fc7 \u5730\u56fe \u5e76 \u68c0\u67e5 \u751f\u6210 \u70b9 \u7684 \u4f4d\u7f6e \u3002 \u5f53 \u6211\u4eec \u60f3\u8981 \u9009\u62e9 \u66f4 \u5177\u4f53 \u7684 \u70b9 \u7528\u4e8e \u751f\u6210 \u6216 \u5f15\u5bfc \u8f66\u8f86 \u65f6 \uff0c \u8fd9\u4f1a \u7528\u573a \u6d3e\u4e0a\u7528\u573a \u3002   #   \u5728 \u5730\u56fe \u4e0a\u4ee5 \u6570\u5b57 \u7ed8\u5236 \u751f\u6210 \u70b9 \u7684 \u4f4d\u7f6e   for   i ,   spawn _ point   in   enumerate ( spawn _ points ) :   world . debug . draw _ string ( spawn _ point . location ,   str ( i ) ,   life _ time = 10 )   #   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u6211\u4eec \u9700\u8981 \u8fd0\u884c \u4eff\u771f \u6765 \u98de\u884c \u89c2\u5bdf \u5219 \u4f1a   while   True :   world . tick ( )   \u73b0\u5728 \u8ba9 \u6211\u4eec \u751f\u6210 \u4e00\u4e9b \u8f66\u8f86 \u3002   #   \u4ece \u84dd \u56fe\u5e93 \u4e2d \u9009\u62e9 \u4e00\u4e9b \u6a21\u578b   models   =   [ ' dodge ' ,   ' audi ' ,   ' model3 ' ,   ' mini ' ,   ' mustang ' ,   ' lincoln ' ,   ' prius ' ,   ' nissan ' ,   ' crown ' ,   ' impala ' ]   blueprints   =   [ ]   for   vehicle   in   world . get _ blueprint _ library ( ) . filter ( ' * vehicle * ' ) :   if   any ( model   in   vehicle . id   for   model   in   models ) :   blueprints . append ( vehicle )   #   \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u6700\u5927 \u6570\u76ee \u5e76 \u51c6\u5907 \u6211\u4eec \u751f\u6210 \u7684 \u4e00\u4e2a \u5217\u8868   max _ vehicles   =   50   max _ vehicles   =   min ( [ max _ vehicles ,   len ( spawn _ points ) ] )   vehicles   =   [ ]   #   \u5bf9 \u751f\u6210 \u70b9 \u8fdb\u884c \u968f\u673a \u91c7\u6837 \u5e76 \u751f\u6210 \u4e00\u4e9b \u8f66\u8f86 \u3002   for   i ,   spawn _ point   in   enumerate ( random . sample ( spawn _ points ,   max _ vehicles ) ) :   temp   =   world . try _ spawn _ actor ( random . choice ( blueprints ) ,   spawn _ point )   if   temp   is   not   None :   vehicles . append ( temp )   #   \u8fd0\u884c \u4eff\u771f \u4ee5\u4fbf \u6211\u4eec \u80fd \u67e5\u770b \u89c2\u5bdf \u89c2\u5bdf\u8005 \u7684 \u7ed3\u679c   while   True :   world . tick ( )   \u5982\u679c \u60a8 \u73b0\u5728 \u4e0e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4e00\u8d77 \u98de\u8fc7 \u5730\u56fe \uff0c \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230 \u9759\u6b62 \u7684 \u8f66\u8f86 \u5360\u636e \u5730\u56fe \u4e2d \u7684 \u9053\u8def \u3002   \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u8f66\u8f86   \u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u8ba9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u6211\u4eec \u7684 \u8f66\u8f86 \u5e76 \u8ba9 \u4eff\u771f \u8fd0\u884c \u3002 \u4e00\u65e6 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u4e86 \u8f66\u8f86 \uff0c \u5b83\u4eec \u5c31 \u4f1a \u5728 \u9053\u8def \u4e0a \u81ea\u4e3b \u79fb\u52a8 \uff0c \u9075\u5faa \u9053\u8def \u7f51\u7edc \u7684 \u7279\u5f81 \uff0c \u5982 \u8f66\u9053 \u548c \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff0c \u5e76 \u907f\u514d \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u53d1\u751f \u78b0\u649e \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u5177 \u6709 \u8bb8\u591a \u529f\u80fd \uff0c \u5141\u8bb8 \u4fee\u6539 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u7279\u5b9a \u884c\u4e3a \u3002 \u5728 \u4e0b\u9762 \u7684 \u4f8b\u5b50 \u4e2d \uff0c \u6211\u4eec \u4e3a \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u8bbe\u7f6e \u4e86 \u5ffd\u7565 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u968f\u673a \u6982\u7387 \uff0c \u56e0\u6b64 \u6709\u4e9b \u8f66\u8f86 \u4f1a \u503e\u5411 \u4e8e \u5ffd\u7565 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff0c \u800c \u53e6 \u4e00\u4e9b \u8f66\u8f86 \u5219 \u4f1a \u9075\u5b88 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u3002 \u53ef\u4ee5 \u8bbe\u7f6e \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7684 \u884c\u4e3a \uff0c \u6709\u5173 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Python   API   \u53c2\u8003 \u3002   #   \u89e3\u6790 \u6240 \u751f\u6210 \u8f66\u8f86 \u7684 \u5217\u8868 \u5e76 \u901a\u8fc7 set _ autopilot ( ) \u5c06 \u63a7\u5236 \u63a7\u5236\u6743 \u4ea4\u7ed9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   for   vehicle   in   vehicles :   vehicle . set _ autopilot ( True )   #   Randomly   set   the   probability   that   a   vehicle   will   ignore   traffic   lights   traffic _ manager . ignore _ lights _ percentage ( vehicle ,   random . randint ( 0 , 50 ) )   while   True :   world . tick ( )   \u5982\u679c \u60a8 \u73b0\u5728 \u4e0e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4e00\u8d77 \u98de\u8fc7 \u5730\u56fe \uff0c \u60a8 \u5c06 \u770b\u5230 \u8f66\u8f86 \u5728 \u5730\u56fe \u4e0a \u81ea\u52a8 \u884c\u9a76 \u3002   \u6307\u5b9a \u8f66\u8f86 \u884c\u9a76 \u8def\u7ebf \u884c\u9a76\u8def\u7ebf   \u5728 \u524d\u9762 \u7684 \u6b65\u9aa4 \u4e2d \uff0c \u6211\u4eec \u4e86\u89e3 \u4e86 \u5982\u4f55 \u5728 \u5730\u56fe \u4e2d \u751f\u6210 \u4e00\u7ec4 \u8f66\u8f86 \uff0c \u7136\u540e \u5c06 \u5b83\u4eec \u7684 \u63a7\u5236 \u63a7\u5236\u6743 \u4ea4\u7ed9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u4ee5 \u521b\u5efa \u4e00\u4e2a \u5145\u6ee1 \u79fb\u52a8 \u4ea4\u901a \u7684 \u7e41\u5fd9 \u57ce\u9547 \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u5177 \u6709 \u66f4 \u6df1\u5165 \u7684 \u529f\u80fd \uff0c \u53ef\u4ee5 \u66f4 \u7d27\u5bc6 \u5730 \u63a7\u5236 \u8f66\u8f86 \u7684 \u884c\u4e3a \u3002   \u6211\u4eec \u73b0\u5728 \u5c06 \u4f7f\u7528   traffic _ manager . set _ path ( )   \u529f\u80fd \u5f15\u5bfc \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8f66\u8f86 \u6cbf\u7740 \u7279\u5b9a \u8def\u5f84 \u884c\u9a76 \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u6211\u4eec \u5c06 \u521b\u5efa \u4e24\u6761 \u6c47\u805a \u7684 \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \uff0c \u5b83\u4eec \u5c06 \u5728 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u6c47\u805a \u5e76 \u9020\u6210 \u62e5\u5835 \u3002   \u9996\u5148 \uff0c \u6211\u4eec \u5c06 \u9009\u62e9 \u4e00\u4e9b \u8def\u5f84 \u70b9\u6765 \u6784\u5efa \u6211\u4eec \u7684 \u8def\u5f84 \u3002 \u751f\u6210 \u70b9 \u662f \u65b9\u4fbf \u7684 \u8def\u5f84 \u70b9 \uff0c \u4e0e \u4e4b\u524d \u4e00\u6837 \uff0c \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528   Carla   \u7684 \u8c03\u8bd5 \u5de5\u5177 \u5728 \u5730\u56fe \u4e0a \u7ed8\u5236 \u751f\u6210 \u70b9 \u7684 \u4f4d\u7f6e \u3002 \u901a\u8fc7 \u4e0e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4e00\u8d77 \u98de\u8fc7 \u5730\u56fe \uff0c \u6211\u4eec \u53ef\u4ee5 \u9009\u62e9 \u8981 \u7528\u4e8e \u8def\u5f84 \u7684 \u751f\u6210 \u70b9 \u7684 \u7d22\u5f15 \u3002 \u8be5 \u51fd\u6570 \u4f7f\u7528 \u6307\u5b9a \u4e3a   carla . Locations   \u7684 \u5750\u6807 \u5217\u8868 \u3002   #   \u5728 \u5730\u56fe \u4e0a \u4f7f\u7528 \u6570\u5b57 \u7ed8\u5236 \u751f\u6210 \u70b9 \u7684 \u4f4d\u7f6e   for   i ,   spawn _ point   in   enumerate ( spawn _ points ) :   world . debug . draw _ string ( spawn _ point . location ,   str ( i ) ,   life _ time = 10 )   #   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u6211\u4eec \u9700\u8981 \u8fd0\u884c \u4eff\u771f \u4f7f \u89c2\u5bdf \u89c2\u5bdf\u8005 \u98de\u8fc7 \u573a\u666f   while   True :   world . tick ( )   \u6211\u4eec \u9009\u62e9 \u751f\u6210 \u70b9 \u548c \u8def\u5f84 \u70b9\u6765 \u57ce\u9547 \u5728\u57ce\u9547 \u5185 \u521b\u5efa \u4e24\u6761 \u6c47\u805a \u7684 \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \uff0c \u4ece\u800c \u9020\u6210 \u62e5\u5835 \uff0c \u8fd9 \u53ef\u80fd \u662f \u5411 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u5c55\u793a \u7684 \u4e00\u4e2a \u6709\u8da3 \u7684 \u573a\u666f \u3002   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   #   \u8def\u7ebf   1   spawn _ point _ 1   =   spawn _ points [ 32 ]   #   \u4ece \u6240 \u9009\u62e9 \u7684 \u751f\u6210 \u70b9\u4e2d \u521b\u5efa \u8def\u7ebf   1   route _ 1 _ indices   =   [ 129 ,   28 ,   124 ,   33 ,   97 ,   119 ,   58 ,   154 ,   147 ]   route _ 1   =   [ ]   for   ind   in   route _ 1 _ indices :   route _ 1 . append ( spawn _ points [ ind ] . location )   #   \u8def\u7ebf   2   spawn _ point _ 2   =   spawn _ points [ 149 ]   #   \u4ece \u6240 \u9009\u62e9 \u7684 \u751f\u6210 \u70b9\u4e2d \u521b\u5efa \u8def\u7ebf   2   route _ 2 _ indices   =   [ 21 ,   76 ,   38 ,   34 ,   90 ,   3 ]   route _ 2   =   [ ]   for   ind   in   route _ 2 _ indices :   route _ 2 . append ( spawn _ points [ ind ] . location )   #   \u73b0\u5728 \u8ba9 \u6211\u4eec \u5728 \u5730\u56fe \u4e0a \u6253\u5370 \u51fa \u5b83\u4eec \uff0c \u4ee5\u4fbf \u6211\u4eec \u80fd \u770b\u5230 \u6211\u4eec \u7684 \u8def\u5f84   world . debug . draw _ string ( spawn _ point _ 1 . location ,   ' Spawn   point   1 ' ,   life _ time = 30 ,   color = carla . Color ( 255 , 0 , 0 ) )   world . debug . draw _ string ( spawn _ point _ 2 . location ,   ' Spawn   point   2 ' ,   life _ time = 30 ,   color = carla . Color ( 0 , 0 , 255 ) )   for   ind   in   route _ 1 _ indices :   spawn _ points [ ind ] . location   world . debug . draw _ string ( spawn _ points [ ind ] . location ,   str ( ind ) ,   life _ time = 60 ,   color = carla . Color ( 255 , 0 , 0 ) )   for   ind   in   route _ 2 _ indices :   spawn _ points [ ind ] . location   world . debug . draw _ string ( spawn _ points [ ind ] . location ,   str ( ind ) ,   life _ time = 60 ,   color = carla . Color ( 0 , 0 , 255 ) )   while   True :   world . tick ( )   \u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u9009\u62e9 \u4e86 \u751f\u6210 \u70b9 \u548c \u8def\u5f84 \u70b9 \uff0c \u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u5f00\u59cb \u751f\u6210 \u4ea4\u901a \u5e76 \u5c06 \u751f\u6210 \u7684 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u9075\u5faa \u6211\u4eec \u7684 \u8def\u5f84 \u70b9 \u5217\u8868 \u3002   #   \u5728 \u751f\u6210 \u65f6\u95f4 \u4e4b\u95f4 \u8bbe\u7f6e \u5ef6\u8fdf \u4ee5 \u521b\u5efa \u7a7a\u9699   spawn _ delay   =   20   counter   =   spawn _ delay   #   \u8bbe\u7f6e \u6700\u5927 \u8f66\u8f86 \uff08 \u4e3a \u66f4 \u4f4e \u7684 \u786c\u4ef6 \u8bbe\u7f6e \u66f4 \u5c0f \u7684 \u503c \uff09   max _ vehicles   =   200   #   \u5728 \u751f\u6210 \u70b9 \u4e4b\u95f4 \u8f6e\u6d41   alt   =   False   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   while   True :   world . tick ( )   n _ vehicles   =   len ( world . get _ actors ( ) . filter ( ' * vehicle * ' ) )   vehicle _ bp   =   random . choice ( blueprints )   #   \u4ec5 \u5728 \u5ef6\u8fdf \u4e4b\u540e \u751f\u6210 \u8f66\u8f86   if   counter   = =   spawn _ delay   and   n _ vehicles   <   max _ vehicles :   #   Alternate   spawn   points   if   alt :   vehicle   =   world . try _ spawn _ actor ( vehicle _ bp ,   spawn _ point _ 1 )   else :   vehicle   =   world . try _ spawn _ actor ( vehicle _ bp ,   spawn _ point _ 2 )   if   vehicle :   #   \u5982\u679c \u8f66\u8f86 \u6210\u529f \u751f\u6210   vehicle . set _ autopilot ( True )   #   \u5c06 \u8f66\u8f86 \u7684 \u63a7\u5236 \u5168 \u4ea4\u7ed9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   #   \u8bbe\u7f6e \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8f66\u8f86 \u63a7\u5236 \u7684 \u53c2\u6570 \uff0c \u6211\u4eec \u4e0d\u60f3 \u53d8\u9053   traffic _ manager . update _ vehicle _ lights ( vehicle ,   True )   traffic _ manager . random _ left _ lanechange _ percentage ( vehicle ,   0 )   traffic _ manager . random _ right _ lanechange _ percentage ( vehicle ,   0 )   traffic _ manager . auto _ lane _ change ( vehicle ,   False )   #   \u5728 \u751f\u6210 \u70b9 \u4e4b\u95f4 \u8f6e\u6d41   if   alt :   traffic _ manager . set _ path ( vehicle ,   route _ 1 )   alt   =   False   else :   traffic _ manager . set _ path ( vehicle ,   route _ 2 )   alt   =   True   vehicle   =   None   counter   - =   1   elif   counter   >   0 :   counter   - =   1   elif   counter   = =   0 :   counter   =   spawn _ delay   \u901a\u8fc7 \u4e0a\u9762 \u7684 \u4ee3\u7801 \uff0c \u6211\u4eec \u5728 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   set _ path ( )   \u529f\u80fd \u7684 \u5f15\u5bfc \u4e0b \u521b\u5efa \u4e86 \u6765\u81ea \u5730\u56fe \u4e24\u4fa7 \u7684 \u4e24\u4e2a \u6c47\u805a \u7684 \u6d41\u91cf \u6d41 \u3002 \u8fd9 \u5bfc\u81f4 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u9053\u8def \u62e5\u5835 \u3002 \u8fd9\u79cd \u6280\u672f \u53ef\u4ee5 \u66f4 \u5927\u89c4 \u89c4\u6a21 \u5927\u89c4\u6a21 \u5730 \u7528\u4e8e \u4eff\u771f \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u7684 \u591a\u79cd \u68d8\u624b \u60c5\u51b5 \uff0c \u4f8b\u5982 \u7e41\u5fd9 \u7684 \u73af\u5c9b \u6216 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u3002","title":"\u4ea4\u901a\u7ba1\u7406 \u5668"},{"location":"tuto_G_traffic_manager/#_1","text":"\u5f53 \u6211\u4eec \u8bad\u7ec3 \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u6765 \u63a7\u5236 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u65f6 \uff0c \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u5fc5\u987b \u5e94\u5bf9 \u7684 \u5173\u952e \u6311\u6218 \u4e4b\u4e00 \u662f \u5176\u4ed6 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u3002 \u9664\u4e86 \u8bc6\u522b \u548c \u5bfc\u822a \u9053\u8def \u7f51\u7edc \u62d3\u6251 \u7f51\u7edc\u62d3\u6251 \u4ee5\u53ca \u7ef4\u62a4 \u8f66\u9053 \u89c4\u5219 \u7684 \u4efb\u52a1 \u4e4b\u5916 \uff0c \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u8fd8 \u5fc5\u987b \u8bc6\u522b \u5176\u4ed6 \u8f66\u8f86 \u5e76 \u9884\u6d4b \u5bf9 \u5176 \u8ba1\u5212 \u884c\u52a8 \u65b9\u6848 \u7684 \u5f71\u54cd \u3002 Carla   \u7684 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u80fd\u591f \u7ba1\u7406 \u901a\u8fc7 \u4eff\u771f \u5bfc\u822a \u7684 \u8f66\u8f86 \u7fa4 \uff0c \u5e76 \u4e3a \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u7684 \u8f66\u8f86 \uff08 \u5373 \u6211\u4eec \u6b63\u5728 \u8bad\u7ec3 \u6216 \u63a7\u5236 \u7684 \u8f66\u8f86 \uff09 \u8bbe\u7f6e \u969c\u788d \u8bbe\u7f6e\u969c\u788d \u548c \u6311\u6218 \u3002 \u5728   Carla   \u6587\u732e \u4e2d \uff0c \u6211\u4eec \u5c06 \u8fd9\u79cd \u8f66\u8f86 \u79f0\u4e3a \u201c \u81ea\u6211 \u8f66\u8f86 \u201d \u4ee5\u793a \u533a\u522b \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7ba1\u7406 \u5730\u56fe \u5185\u975e \u73a9\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8f66\u8f86 \u7684 \u884c\u4e3a \u548c \u751f\u547d \u5468\u671f \u751f\u547d\u5468\u671f \uff0c \u7528 \u8f66\u8f86 \u586b\u5145 \u4eff\u771f \uff0c \u5176 \u884c\u4e3a \u4e0e \u5176\u4ed6 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u5728 \u771f\u5b9e \u9053\u8def \u7f51\u7edc \u4e0a \u7684 \u884c\u4e3a \u76f8\u540c \u3002 \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u4ecb\u7ecd \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u7684 \u4e00\u4e9b \u529f\u80fd \u4ee5\u53ca \u5982\u4f55 \u5728 \u4eff\u771f \u4e2d \u4f7f\u7528 \u5b83 \u6765 \u521b\u5efa \u548c \u63a7\u5236 \u975e \u73a9\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002","title":"\u4ea4\u901a\u7ba1\u7406 \u5668"},{"location":"tuto_G_traffic_manager/#_2","text":"\u9996\u5148 \uff0c \u6211\u4eec \u5c06 \u521d\u59cb \u521d\u59cb\u5316 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5e76 \u521b\u5efa \u4e00\u4e9b \u968f\u673a \u5206\u5e03 \u5728 \u57ce\u5e02 \u5468\u56f4 \u7684 \u6d41\u91cf \u3002   import   carla   import   random   #   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5e76 \u83b7\u53d6 \u65f6\u95f4 \u5bf9\u8c61   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   #   Enables   synchronous   mode   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   #   \u4ee5 \u540c\u6b65 \u6a21\u5f0f \u542f\u52a8 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   traffic _ manager   =   client . get _ trafficmanager ( )   traffic _ manager . set _ synchronous _ mode ( True )   #   \u5982\u679c \u6709 \u5fc5\u8981 \u8bbe\u7f6e \u4e00\u4e2a \u79cd\u5b50 \uff0c \u4ee5\u4fbf \u80fd\u591f \u91cd\u73b0 \u884c\u4e3a   traffic _ manager . set _ random _ device _ seed ( 0 )   random . seed ( 0 )   #   \u542f\u52a8 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4ee5\u4fbf \u80fd \u5f00\u5230 \u6240 \u505a \u7684 \u4e8b   spectator   =   world . get _ spectator ( )","title":"\u8bbe\u7f6e \u4eff\u771f\u5668 \u5e76 \u521d\u59cb\u5316 \u4ea4\u901a\u7ba1\u7406 \u5668"},{"location":"tuto_G_traffic_manager/#_3","text":"\u5f53 \u6211\u4eec \u521b\u5efa \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8f66\u8f86 \u65f6 \uff0c \u5b83\u4eec \u9700\u8981 \u4e00\u4e2a \u751f\u6210 \u7684 \u5730\u56fe \u4f4d\u7f6e \u3002 \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u81ea\u5df1 \u9009\u62e9 \u7684 \u5730\u56fe \u5750\u6807 \u81ea\u884c \u5b9a\u4e49 \u8fd9\u4e9b \u3002 \u7136\u800c \uff0c \u4e3a\u4e86 \u89e3\u51b3 \u8fd9\u4e2a \u95ee\u9898 \uff0c \u6bcf\u4e2a   Carla   \u5730\u56fe \u90fd \u6709 \u4e00\u7ec4 \u9884\u5b9a \u4e49 \u7684 \u751f\u6210 \u70b9 \uff0c \u5747\u5300 \u5206\u5e03 \u5747\u5300\u5206\u5e03 \u5728 \u6574\u4e2a \u9053\u8def \u7f51\u7edc \u4e2d \u3002 \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u8fd9\u4e9b \u751f\u6210 \u70b9\u6765 \u751f\u6210 \u6211\u4eec \u7684 \u8f66\u8f86 \u3002   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528   Carla   \u7684 \u8c03\u8bd5 \u529f\u80fd \u6765 \u67e5\u770b \u751f\u6210 \u70b9 \u5728 \u54ea\u91cc \u3002 \u8fd0\u884c \u4ee5\u4e0b \u4ee3\u7801 \uff0c \u7136\u540e \u98de\u8fc7 \u5730\u56fe \u5e76 \u68c0\u67e5 \u751f\u6210 \u70b9 \u7684 \u4f4d\u7f6e \u3002 \u5f53 \u6211\u4eec \u60f3\u8981 \u9009\u62e9 \u66f4 \u5177\u4f53 \u7684 \u70b9 \u7528\u4e8e \u751f\u6210 \u6216 \u5f15\u5bfc \u8f66\u8f86 \u65f6 \uff0c \u8fd9\u4f1a \u7528\u573a \u6d3e\u4e0a\u7528\u573a \u3002   #   \u5728 \u5730\u56fe \u4e0a\u4ee5 \u6570\u5b57 \u7ed8\u5236 \u751f\u6210 \u70b9 \u7684 \u4f4d\u7f6e   for   i ,   spawn _ point   in   enumerate ( spawn _ points ) :   world . debug . draw _ string ( spawn _ point . location ,   str ( i ) ,   life _ time = 10 )   #   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u6211\u4eec \u9700\u8981 \u8fd0\u884c \u4eff\u771f \u6765 \u98de\u884c \u89c2\u5bdf \u5219 \u4f1a   while   True :   world . tick ( )   \u73b0\u5728 \u8ba9 \u6211\u4eec \u751f\u6210 \u4e00\u4e9b \u8f66\u8f86 \u3002   #   \u4ece \u84dd \u56fe\u5e93 \u4e2d \u9009\u62e9 \u4e00\u4e9b \u6a21\u578b   models   =   [ ' dodge ' ,   ' audi ' ,   ' model3 ' ,   ' mini ' ,   ' mustang ' ,   ' lincoln ' ,   ' prius ' ,   ' nissan ' ,   ' crown ' ,   ' impala ' ]   blueprints   =   [ ]   for   vehicle   in   world . get _ blueprint _ library ( ) . filter ( ' * vehicle * ' ) :   if   any ( model   in   vehicle . id   for   model   in   models ) :   blueprints . append ( vehicle )   #   \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u6700\u5927 \u6570\u76ee \u5e76 \u51c6\u5907 \u6211\u4eec \u751f\u6210 \u7684 \u4e00\u4e2a \u5217\u8868   max _ vehicles   =   50   max _ vehicles   =   min ( [ max _ vehicles ,   len ( spawn _ points ) ] )   vehicles   =   [ ]   #   \u5bf9 \u751f\u6210 \u70b9 \u8fdb\u884c \u968f\u673a \u91c7\u6837 \u5e76 \u751f\u6210 \u4e00\u4e9b \u8f66\u8f86 \u3002   for   i ,   spawn _ point   in   enumerate ( random . sample ( spawn _ points ,   max _ vehicles ) ) :   temp   =   world . try _ spawn _ actor ( random . choice ( blueprints ) ,   spawn _ point )   if   temp   is   not   None :   vehicles . append ( temp )   #   \u8fd0\u884c \u4eff\u771f \u4ee5\u4fbf \u6211\u4eec \u80fd \u67e5\u770b \u89c2\u5bdf \u89c2\u5bdf\u8005 \u7684 \u7ed3\u679c   while   True :   world . tick ( )   \u5982\u679c \u60a8 \u73b0\u5728 \u4e0e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4e00\u8d77 \u98de\u8fc7 \u5730\u56fe \uff0c \u60a8 \u5e94\u8be5 \u4f1a \u770b\u5230 \u9759\u6b62 \u7684 \u8f66\u8f86 \u5360\u636e \u5730\u56fe \u4e2d \u7684 \u9053\u8def \u3002","title":"\u751f\u6210 \u8f66\u8f86"},{"location":"tuto_G_traffic_manager/#_4","text":"\u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u8ba9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u6211\u4eec \u7684 \u8f66\u8f86 \u5e76 \u8ba9 \u4eff\u771f \u8fd0\u884c \u3002 \u4e00\u65e6 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u4e86 \u8f66\u8f86 \uff0c \u5b83\u4eec \u5c31 \u4f1a \u5728 \u9053\u8def \u4e0a \u81ea\u4e3b \u79fb\u52a8 \uff0c \u9075\u5faa \u9053\u8def \u7f51\u7edc \u7684 \u7279\u5f81 \uff0c \u5982 \u8f66\u9053 \u548c \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff0c \u5e76 \u907f\u514d \u4e0e \u5176\u4ed6 \u8f66\u8f86 \u53d1\u751f \u78b0\u649e \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u5177 \u6709 \u8bb8\u591a \u529f\u80fd \uff0c \u5141\u8bb8 \u4fee\u6539 \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u7684 \u7279\u5b9a \u884c\u4e3a \u3002 \u5728 \u4e0b\u9762 \u7684 \u4f8b\u5b50 \u4e2d \uff0c \u6211\u4eec \u4e3a \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u8bbe\u7f6e \u4e86 \u5ffd\u7565 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u968f\u673a \u6982\u7387 \uff0c \u56e0\u6b64 \u6709\u4e9b \u8f66\u8f86 \u4f1a \u503e\u5411 \u4e8e \u5ffd\u7565 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff0c \u800c \u53e6 \u4e00\u4e9b \u8f66\u8f86 \u5219 \u4f1a \u9075\u5b88 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u3002 \u53ef\u4ee5 \u8bbe\u7f6e \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7684 \u884c\u4e3a \uff0c \u6709\u5173 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Python   API   \u53c2\u8003 \u3002   #   \u89e3\u6790 \u6240 \u751f\u6210 \u8f66\u8f86 \u7684 \u5217\u8868 \u5e76 \u901a\u8fc7 set _ autopilot ( ) \u5c06 \u63a7\u5236 \u63a7\u5236\u6743 \u4ea4\u7ed9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   for   vehicle   in   vehicles :   vehicle . set _ autopilot ( True )   #   Randomly   set   the   probability   that   a   vehicle   will   ignore   traffic   lights   traffic _ manager . ignore _ lights _ percentage ( vehicle ,   random . randint ( 0 , 50 ) )   while   True :   world . tick ( )   \u5982\u679c \u60a8 \u73b0\u5728 \u4e0e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4e00\u8d77 \u98de\u8fc7 \u5730\u56fe \uff0c \u60a8 \u5c06 \u770b\u5230 \u8f66\u8f86 \u5728 \u5730\u56fe \u4e0a \u81ea\u52a8 \u884c\u9a76 \u3002","title":"\u4f7f\u7528 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u8f66\u8f86"},{"location":"tuto_G_traffic_manager/#_5","text":"\u5728 \u524d\u9762 \u7684 \u6b65\u9aa4 \u4e2d \uff0c \u6211\u4eec \u4e86\u89e3 \u4e86 \u5982\u4f55 \u5728 \u5730\u56fe \u4e2d \u751f\u6210 \u4e00\u7ec4 \u8f66\u8f86 \uff0c \u7136\u540e \u5c06 \u5b83\u4eec \u7684 \u63a7\u5236 \u63a7\u5236\u6743 \u4ea4\u7ed9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \uff0c \u4ee5 \u521b\u5efa \u4e00\u4e2a \u5145\u6ee1 \u79fb\u52a8 \u4ea4\u901a \u7684 \u7e41\u5fd9 \u57ce\u9547 \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u5177 \u6709 \u66f4 \u6df1\u5165 \u7684 \u529f\u80fd \uff0c \u53ef\u4ee5 \u66f4 \u7d27\u5bc6 \u5730 \u63a7\u5236 \u8f66\u8f86 \u7684 \u884c\u4e3a \u3002   \u6211\u4eec \u73b0\u5728 \u5c06 \u4f7f\u7528   traffic _ manager . set _ path ( )   \u529f\u80fd \u5f15\u5bfc \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8f66\u8f86 \u6cbf\u7740 \u7279\u5b9a \u8def\u5f84 \u884c\u9a76 \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u6211\u4eec \u5c06 \u521b\u5efa \u4e24\u6761 \u6c47\u805a \u7684 \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \uff0c \u5b83\u4eec \u5c06 \u5728 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u6c47\u805a \u5e76 \u9020\u6210 \u62e5\u5835 \u3002   \u9996\u5148 \uff0c \u6211\u4eec \u5c06 \u9009\u62e9 \u4e00\u4e9b \u8def\u5f84 \u70b9\u6765 \u6784\u5efa \u6211\u4eec \u7684 \u8def\u5f84 \u3002 \u751f\u6210 \u70b9 \u662f \u65b9\u4fbf \u7684 \u8def\u5f84 \u70b9 \uff0c \u4e0e \u4e4b\u524d \u4e00\u6837 \uff0c \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528   Carla   \u7684 \u8c03\u8bd5 \u5de5\u5177 \u5728 \u5730\u56fe \u4e0a \u7ed8\u5236 \u751f\u6210 \u70b9 \u7684 \u4f4d\u7f6e \u3002 \u901a\u8fc7 \u4e0e \u89c2\u5bdf \u89c2\u5bdf\u8005 \u4e00\u8d77 \u98de\u8fc7 \u5730\u56fe \uff0c \u6211\u4eec \u53ef\u4ee5 \u9009\u62e9 \u8981 \u7528\u4e8e \u8def\u5f84 \u7684 \u751f\u6210 \u70b9 \u7684 \u7d22\u5f15 \u3002 \u8be5 \u51fd\u6570 \u4f7f\u7528 \u6307\u5b9a \u4e3a   carla . Locations   \u7684 \u5750\u6807 \u5217\u8868 \u3002   #   \u5728 \u5730\u56fe \u4e0a \u4f7f\u7528 \u6570\u5b57 \u7ed8\u5236 \u751f\u6210 \u70b9 \u7684 \u4f4d\u7f6e   for   i ,   spawn _ point   in   enumerate ( spawn _ points ) :   world . debug . draw _ string ( spawn _ point . location ,   str ( i ) ,   life _ time = 10 )   #   \u5728 \u540c\u6b65 \u6a21\u5f0f \u4e0b \uff0c \u6211\u4eec \u9700\u8981 \u8fd0\u884c \u4eff\u771f \u4f7f \u89c2\u5bdf \u89c2\u5bdf\u8005 \u98de\u8fc7 \u573a\u666f   while   True :   world . tick ( )   \u6211\u4eec \u9009\u62e9 \u751f\u6210 \u70b9 \u548c \u8def\u5f84 \u70b9\u6765 \u57ce\u9547 \u5728\u57ce\u9547 \u5185 \u521b\u5efa \u4e24\u6761 \u6c47\u805a \u7684 \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \uff0c \u4ece\u800c \u9020\u6210 \u62e5\u5835 \uff0c \u8fd9 \u53ef\u80fd \u662f \u5411 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u5c55\u793a \u7684 \u4e00\u4e2a \u6709\u8da3 \u7684 \u573a\u666f \u3002   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   #   \u8def\u7ebf   1   spawn _ point _ 1   =   spawn _ points [ 32 ]   #   \u4ece \u6240 \u9009\u62e9 \u7684 \u751f\u6210 \u70b9\u4e2d \u521b\u5efa \u8def\u7ebf   1   route _ 1 _ indices   =   [ 129 ,   28 ,   124 ,   33 ,   97 ,   119 ,   58 ,   154 ,   147 ]   route _ 1   =   [ ]   for   ind   in   route _ 1 _ indices :   route _ 1 . append ( spawn _ points [ ind ] . location )   #   \u8def\u7ebf   2   spawn _ point _ 2   =   spawn _ points [ 149 ]   #   \u4ece \u6240 \u9009\u62e9 \u7684 \u751f\u6210 \u70b9\u4e2d \u521b\u5efa \u8def\u7ebf   2   route _ 2 _ indices   =   [ 21 ,   76 ,   38 ,   34 ,   90 ,   3 ]   route _ 2   =   [ ]   for   ind   in   route _ 2 _ indices :   route _ 2 . append ( spawn _ points [ ind ] . location )   #   \u73b0\u5728 \u8ba9 \u6211\u4eec \u5728 \u5730\u56fe \u4e0a \u6253\u5370 \u51fa \u5b83\u4eec \uff0c \u4ee5\u4fbf \u6211\u4eec \u80fd \u770b\u5230 \u6211\u4eec \u7684 \u8def\u5f84   world . debug . draw _ string ( spawn _ point _ 1 . location ,   ' Spawn   point   1 ' ,   life _ time = 30 ,   color = carla . Color ( 255 , 0 , 0 ) )   world . debug . draw _ string ( spawn _ point _ 2 . location ,   ' Spawn   point   2 ' ,   life _ time = 30 ,   color = carla . Color ( 0 , 0 , 255 ) )   for   ind   in   route _ 1 _ indices :   spawn _ points [ ind ] . location   world . debug . draw _ string ( spawn _ points [ ind ] . location ,   str ( ind ) ,   life _ time = 60 ,   color = carla . Color ( 255 , 0 , 0 ) )   for   ind   in   route _ 2 _ indices :   spawn _ points [ ind ] . location   world . debug . draw _ string ( spawn _ points [ ind ] . location ,   str ( ind ) ,   life _ time = 60 ,   color = carla . Color ( 0 , 0 , 255 ) )   while   True :   world . tick ( )   \u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u9009\u62e9 \u4e86 \u751f\u6210 \u70b9 \u548c \u8def\u5f84 \u70b9 \uff0c \u73b0\u5728 \u6211\u4eec \u53ef\u4ee5 \u5f00\u59cb \u751f\u6210 \u4ea4\u901a \u5e76 \u5c06 \u751f\u6210 \u7684 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u9075\u5faa \u6211\u4eec \u7684 \u8def\u5f84 \u70b9 \u5217\u8868 \u3002   #   \u5728 \u751f\u6210 \u65f6\u95f4 \u4e4b\u95f4 \u8bbe\u7f6e \u5ef6\u8fdf \u4ee5 \u521b\u5efa \u7a7a\u9699   spawn _ delay   =   20   counter   =   spawn _ delay   #   \u8bbe\u7f6e \u6700\u5927 \u8f66\u8f86 \uff08 \u4e3a \u66f4 \u4f4e \u7684 \u786c\u4ef6 \u8bbe\u7f6e \u66f4 \u5c0f \u7684 \u503c \uff09   max _ vehicles   =   200   #   \u5728 \u751f\u6210 \u70b9 \u4e4b\u95f4 \u8f6e\u6d41   alt   =   False   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   while   True :   world . tick ( )   n _ vehicles   =   len ( world . get _ actors ( ) . filter ( ' * vehicle * ' ) )   vehicle _ bp   =   random . choice ( blueprints )   #   \u4ec5 \u5728 \u5ef6\u8fdf \u4e4b\u540e \u751f\u6210 \u8f66\u8f86   if   counter   = =   spawn _ delay   and   n _ vehicles   <   max _ vehicles :   #   Alternate   spawn   points   if   alt :   vehicle   =   world . try _ spawn _ actor ( vehicle _ bp ,   spawn _ point _ 1 )   else :   vehicle   =   world . try _ spawn _ actor ( vehicle _ bp ,   spawn _ point _ 2 )   if   vehicle :   #   \u5982\u679c \u8f66\u8f86 \u6210\u529f \u751f\u6210   vehicle . set _ autopilot ( True )   #   \u5c06 \u8f66\u8f86 \u7684 \u63a7\u5236 \u5168 \u4ea4\u7ed9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   #   \u8bbe\u7f6e \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u8f66\u8f86 \u63a7\u5236 \u7684 \u53c2\u6570 \uff0c \u6211\u4eec \u4e0d\u60f3 \u53d8\u9053   traffic _ manager . update _ vehicle _ lights ( vehicle ,   True )   traffic _ manager . random _ left _ lanechange _ percentage ( vehicle ,   0 )   traffic _ manager . random _ right _ lanechange _ percentage ( vehicle ,   0 )   traffic _ manager . auto _ lane _ change ( vehicle ,   False )   #   \u5728 \u751f\u6210 \u70b9 \u4e4b\u95f4 \u8f6e\u6d41   if   alt :   traffic _ manager . set _ path ( vehicle ,   route _ 1 )   alt   =   False   else :   traffic _ manager . set _ path ( vehicle ,   route _ 2 )   alt   =   True   vehicle   =   None   counter   - =   1   elif   counter   >   0 :   counter   - =   1   elif   counter   = =   0 :   counter   =   spawn _ delay   \u901a\u8fc7 \u4e0a\u9762 \u7684 \u4ee3\u7801 \uff0c \u6211\u4eec \u5728 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   set _ path ( )   \u529f\u80fd \u7684 \u5f15\u5bfc \u4e0b \u521b\u5efa \u4e86 \u6765\u81ea \u5730\u56fe \u4e24\u4fa7 \u7684 \u4e24\u4e2a \u6c47\u805a \u7684 \u6d41\u91cf \u6d41 \u3002 \u8fd9 \u5bfc\u81f4 \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u9053\u8def \u62e5\u5835 \u3002 \u8fd9\u79cd \u6280\u672f \u53ef\u4ee5 \u66f4 \u5927\u89c4 \u89c4\u6a21 \u5927\u89c4\u6a21 \u5730 \u7528\u4e8e \u4eff\u771f \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u7684 \u591a\u79cd \u68d8\u624b \u60c5\u51b5 \uff0c \u4f8b\u5982 \u7e41\u5fd9 \u7684 \u73af\u5c9b \u6216 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u3002","title":"\u6307\u5b9a \u8f66\u8f86 \u884c\u9a76\u8def\u7ebf"},{"location":"tuto_G_traffic_prediction/","text":"\u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u9884\u6d4b   \u6ce8\u610f   \u8fd0\u884c \u8be5 \u811a\u672c \u4e4b\u524d \uff0c \u5e94\u5148 \u8fd0\u884c generate _ traffic . py \u5e76 \u786e\u4fdd \u5728 town10 \u4e2d \u6210\u529f \u653e\u7f6e \u8f66\u8f86 \u3002   main \u51fd\u6570 \u4e2d \u9996\u5148 \u5b9a\u4e49 \u4e86 argparser \u548c carla \u6a21\u5757 \uff0c \u5176\u4e2d \uff0c argparse \u6a21\u5757 \u7528\u4e8e \u89e3\u6790 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \uff0c \u5305\u62ec host \uff08 \u4e3b\u673a \u5730\u5740 IP\u5730\u5740 \uff09 \u3001 port \uff08 TCP \u7aef\u53e3 \u53e3\u53f7 \u7aef\u53e3\u53f7 \uff09 \u3001 traffic _ id \uff08 \u4ea4\u901a \u4ea4\u901a\u706f ID \uff09 \u3001 color _ id \uff08 \u4ea4\u901a \u4ea4\u901a\u706f \u989c\u8272 ID \uff09 \u548c color _ time \uff08 \u4ea4\u901a \u4ea4\u901a\u706f \u65f6\u95f4 \uff09 \u3002   args =   argparser . parse _ arg ( )   argparser   =   argparse . ArgumentParser ( description = __ doc __ )   argparser . add _ argument ( ' -- host ' ,   metavar = ' H ' ,   default = ' 127.0 . 0.1 ' ,   help = ' IP   of   the   host   server   ( default :   127.0 . 0.1 ) ' )   argparser . add _ argument ( ' - p ' ,   ' -- port ' ,   metavar = ' P ' ,   default = 2000 ,   type = int ,   help = ' TCP   port   to   listen   to   ( default :   2000 ) ' )   argparser . add _ argument ( ' -- traffic _ id ' ,   metavar = ' I ' ,   default = 1 ,   type = int ,   help = ' traffic   light   id ' )   argparser . add _ argument ( ' -- color _ id ' ,   metavar = ' C ' ,   default = 1 ,   type = int ,   help = ' traffic   light   color   id ' )   argparser . add _ argument ( ' -- color _ time ' ,   metavar = ' T ' ,   default = 20 ,   type = int ,   help = ' set   traffic   light   time ' )   \u4f7f\u7528 \u6307\u5b9a \u7684 \u4e3b\u673a \u5730\u5740 IP\u5730\u5740 \u548c \u7aef\u53e3 \u53e3\u53f7 \u7aef\u53e3\u53f7 \u8fde\u63a5 \u5230 Carla \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002 \u540c\u65f6 \uff0c \u8bbe\u7f6e \u4e0e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u901a\u4fe1 \u7684 \u8d85\u65f6 \u65f6\u95f4 \u3002 \u6700\u540e \uff0c \u4ee3\u7801 \u901a\u8fc7 \u83b7\u53d6 Carla \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u4e16\u754c \u5bf9\u8c61 \uff0c \u53ef\u4ee5 \u5728 \u4eff\u771f \u73af\u5883 \u4e2d \u8fdb\u884c \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u64cd\u4f5c \u548c \u63a7\u5236 \u3002   client   =   carla . Client ( args . host ,   args . port )   client . set _ timeout ( 10.0 )   world   =   client . get _ world ( )   \u4f7f\u7528 world . get _ settings ( ) \u65b9\u6cd5 \u83b7\u53d6 Carla \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u5f53\u524d \u8bbe\u7f6e \u3002 \u5c06 Carla \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u8bbe\u7f6e \u66f4 \u6539\u4e3a \u540c\u6b65 \u6a21\u5f0f \uff0c \u5e76 \u5c06 \u65f6\u95f4 \u6b65\u957f \u8bbe\u7f6e \u4e3a 0.05 \u79d2 \uff0c \u4ee5\u4fbf \u4ee5 \u56fa\u5b9a \u7684 \u65f6\u95f4 \u95f4\u9694 \u8fdb\u884c \u4eff\u771f \uff0c \u63a7\u5236 \u4eff\u771f \u7684 \u901f\u5ea6 \u548c \u7cbe\u786e \u7cbe\u786e\u5ea6 \u3002   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   settings . fixed _ delta _ seconds   =   0.05   # \u4eff\u771f \u73af\u5883 \u4f1a\u4ee5 0.05 \u79d2 \u7684 \u65f6\u95f4 \u524d\u8fdb \u3002   world . apply _ settings ( settings )   \u83b7\u53d6 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684   \u8f66\u8f86 \u5217\u8868   vehicle _ list   =   world . get _ actors ( ) . filter ( ' vehicle . * ' )   \u5212\u5b9a   \u8def\u53e3 \u8303\u56f4   xmax   =   - 11   xmin   =   - 77   ymax   =   57   ymin   =   - 13   \u521b\u5efa \u591a\u4e2a \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \uff0c \u5176\u4e2d vehicle _ positions \u7528\u4e8e \u5b58\u50a8 \u8f66\u8f86 \u5b9e\u65f6 \u4f4d\u7f6e \uff0c traffic _ data \u7528\u4e8e \u5b58\u50a8 \u8def\u53e3 \u5b9e\u65f6 \u7684 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u6570\u636e \uff0c timestamps \u7528\u4e8e \u5b58\u50a8 \u65f6\u95f4 \u6233 \uff0c traffic _ flow \u7528\u4e8e \u7edf\u8ba1 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u3002   vehicle _ positions   =   { }   traffic _ data   =   [ ]   timestamps   =   [ ]   traffic _ flow   =   [ ]   \u7edf\u8ba1 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u6570\u636e   \u3002 \u5047\u8bbe \u4eff\u771f \u65f6\u95f4 \u6b65 \u4e00\u5171 \u4e3a 1000 \u3002 \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u4e2d \uff0c \u904d\u5386 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684 \u8f66\u8f86 \u3002 \u5bf9\u4e8e \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u8f86 \uff0c \u83b7\u53d6 \u5176 \u4f4d\u7f6e \u4fe1\u606f \uff0c \u5e76 \u5224\u65ad \u5176 \u662f\u5426 \u5728 \u76ee\u6807 \u8def\u53e3 \u7684 \u533a\u57df \u5185 \u3002 \u5982\u679c \u8f66\u8f86 \u5728 \u533a\u57df \u5185 \uff0c \u5c06 \u8ba1\u6570 \u8ba1\u6570\u5668 \u52a0 1 \uff0c \u5e76 \u5c06 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u4fe1\u606f \u5b58\u50a8 \u5230 \u5b57\u5178 vehicle _ positions \u4e2d \u3002   for   t   in   range ( 1000 ) :   world . tick ( )   count   =   0   for   vehicle   in   vehicle _ list \uff1a   location   =   vehicle . get _ location ( )   x   =   location . x   y   =   location . y   z   =   location . z   if   x   < =   xmax   and   x   > =   xmin   and   y   < =   ymax   and   y   > =   ymin :   count   + =   1   vehicle _ positions [ vehicle . id ]   =   ( x ,   y ,   z )   \u5bf9\u5e94 \u7684 \u65f6\u95f4 \u6233 \u548c \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u6570\u636e \u5206\u522b \u5b58\u5165 timestamps \u3001 traffic _ flow \uff0c   \u800c traffic _ data \u5305\u62ec \u8fd9 \u4e24\u79cd \u6570\u636e \u3002   traffic _ data . append ( ( t ,   count ) )   timestamps . append ( t )   traffic _ flow . append ( count )   traffic _ data \u5199\u5165 csv \u6587\u4ef6   filename   =   \" traffic _ data . csv \"   with   open ( filename ,   \" w \" ,   newline = ' ' ,   encoding = ' utf - 8 ' )   as   file :   writer   =   csv . writer ( file )   writer . writerow ( [ \" head \" ,   \" value \" ] )   #   \u5199\u5165 \u8868\u5934   for   data   in   traffic _ data :   writer . writerow ( [ data [ 0 ] ,   data [ 1 ] ] )   #   \u5199\u5165 \u6570\u636e   data   =   load _ data ( ' traffic _ data . csv ' ,   200 ) # \u8bfb\u53d6 \u6570\u636e \u8bfb\u53d6\u6570\u636e   \u4ece \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u6587\u4ef6 \u4e2d \u52a0\u8f7d   \u6570\u636e   \u5e76 \u8fdb\u884c   \u5904\u7406 \u9884\u5904\u7406   \u3002 \u9996\u5148 \u5c06 \u6570\u636e \u8bfb\u53d6 \u4e3a DataFrame \u5bf9\u8c61 \uff0c \u5e76 \u7ed8\u5236 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u7684 \u6298\u7ebf \u7ebf\u56fe \u6298\u7ebf\u56fe \u3002 \u901a\u8fc7 \u6307\u5b9a \u7684 \u65f6\u95f4 \u6b65 \u5927\u5c0f \u5bf9 \u6570\u636e \u8fdb\u884c \u5207\u7247 \uff0c \u5f62\u6210 \u8bad\u7ec3 \u6837\u672c \u8bad\u7ec3\u6837\u672c \u5e76 \u8fd4\u56de \u3002   def   load _ data ( filename ,   time _ step ) :   df   =   pd . read _ csv ( filename )   data   =   df . value   plt . title ( ' original   data ' )   plt . plot ( data )   plt . show ( )   result   =   [ ]   for   index   in   range ( len ( data )   -   time _ step ) :   result . append ( data [ index : index   +   time _ step   +   1 ] )   return   np . array ( result )   \u4f7f\u7528 MinMaxScaler \u5bf9 \u6570\u636e \u8fdb\u884c   * \u5f52\u4e00\u5316   \u5904\u7406 \uff0c \u7136\u540e \u6309\u7167 7 \uff1a 3 \u7684 \u6bd4\u4f8b \u5c06 \u6570\u636e \u96c6 \u5212\u5206 \u4e3a \u8bad\u7ec3 \u96c6 \u548c \u6d4b\u8bd5 \u96c6 \u3002   scaler   =   MinMaxScaler ( feature _ range = ( 0 ,   1 ) )   dataset   =   scaler . fit _ transform ( data )   train _ count   =   int ( 0.7   *   len ( dataset ) )   x _ train _ set ,   x _ test _ set   =   dataset [ : train _ count ,   : - 1 ] ,   dataset [ train _ count : ,   : - 1 ]   y _ train _ set ,   y _ test _ set   =   dataset [ : train _ count ,   - 1 ] ,   dataset [ train _ count : ,   - 1 ]   \u5bf9 \u8bad\u7ec3 \u96c6 \u548c \u6d4b\u8bd5 \u96c6 \u7684 \u8f93\u5165 \u548c \u8f93\u51fa \u6570\u636e \u8fdb\u884c \u7ef4\u5ea6 \u8c03\u6574 \uff0c \u5176\u4e2d \u8f93\u5165 \u6570\u636e x _ train _ set \u3001 x _ test _ set   \u4e3a \u4e09\u7ef4 \uff0c \u5982 ( \u6837\u672c \u6570\u91cf ,   \u65f6\u95f4 \u6b65\u6570 ,   \u7279\u5f81 \u6570\u91cf \uff09 \uff0c \u8f93\u51fa \u6570\u636e y _ train _ set \u3001 y _ test _ set \u4e3a \u4e8c\u7ef4 \uff0c \u5982 ( \u6837\u672c \u6570\u91cf ,   1 ) \u3002 \u4ee5 \u6ee1\u8db3 LSTM \u6a21\u578b \u7684 \u8f93\u5165 \u8981\u6c42 \u3002   x _ train _ set   =   x _ train _ set . reshape ( x _ train _ set . shape [ 0 ] ,   1 ,   x _ train _ set . shape [ 1 ] )   x _ test _ set   =   x _ test _ set . reshape ( x _ test _ set . shape [ 0 ] ,   1 ,   x _ test _ set . shape [ 1 ] )   y _ train _ set   =   y _ train _ set . reshape ( y _ train _ set . shape [ 0 ] ,   1 )   y _ test _ set   =   y _ test _ set . reshape ( y _ test _ set . shape [ 0 ] ,   1 )   \u5b9a\u4e49 \u5e76 \u521b\u5efa \u4e86 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e3a [ 200 , 500 , 500 , 1 ] LSTM \u6a21\u578b \uff0c \u5176\u4e2d 200 \uff0c 500 \uff0c 500 \uff0c 1 \u5206\u522b \u8868\u793a \u6a21\u578b \u7684 \u4e09\u4e2a \u9690 \u5c42\u5c42 \u7684 \u795e\u7ecf \u795e\u7ecf\u5143 \u6570\u91cf \uff0c 1 \u4e3a \u8f93\u51fa \u5c42 \u7684 \u795e\u7ecf \u795e\u7ecf\u5143 \u6570\u91cf \u3002   layer   =   [ 200 ,   500 ,   500 ,   1 ]   model   =   build _ lstm _ model ( layer )   \u6784\u5efa LST \u6a21\u578b   \u3002 \u8be5 \u51fd\u6570 \u521b\u5efa Sequential \u6a21\u578b \u5bf9\u8c61 \uff0c \u7528\u4e8e \u6309 \u987a\u5e8f \u5806\u53e0 \u795e\u7ecf \u7f51\u7edc \u7f51\u7edc\u5c42 \u3002 \u6dfb\u52a0 LSTM \u5c42 \u3001 Dropout \u5c42 \u548c Dense \u5168 \u8fde\u63a5 \u5c42 \uff0c \u4ee5\u53ca \u8bbe\u7f6e \u635f\u5931 \u51fd\u6570 \u548c \u4f18\u5316 \u5668 \uff0c \u63d0\u4f9b \u4e00\u4e2a \u7b80\u6d01 \u7684 \u65b9\u5f0f \u6765 \u521b\u5efa \u548c \u7f16\u8bd1 LSTM \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u6a21\u578b \uff0c \u4ee5\u4fbf \u8fdb\u884c \u540e\u7eed \u7684 \u8bad\u7ec3 \u548c \u9884\u6d4b \u64cd\u4f5c \u3002   def   build _ lstm _ model ( layer ) :   model   =   Sequential ( )   model . add ( LSTM (   input _ shape = ( 1 ,   layer [ 0 ] ) ,   units = layer [ 1 ] ,   return _ sequences = True ) )   model . add ( Dropout ( 0.2 ) )   model . add ( LSTM (   units = layer [ 2 ] ,   return _ sequences = False ) )   model . add ( Dropout ( 0.2 ) )   model . add ( Dense ( units = layer [ 3 ] ,   activation = ' linear ' ) )   model . compile ( loss = ' mse ' ,   optimizer = ' adam ' )   return   model   \u8bad\u7ec3 \u6a21\u578b   \u3002 \u5c06 \u51c6\u5907 \u597d \u7684 \u8bad\u7ec3 \u96c6 \u6570\u636e x _ train _ set \u548c \u5bf9\u5e94 \u7684 \u76ee\u6807 \u6807\u503c \u76ee\u6807\u503c y _ train _ set \uff0c \u5bf9 \u6784\u5efa \u597d \u7684 \u6a21\u578b \u8fdb\u884c \u8bad\u7ec3 \u3002 \u5176\u4e2d \uff0c batch _ size \u4e3a \u6bcf\u6b21 \u8fed\u4ee3 \u4f7f\u7528 \u7684 \u6837\u672c \u6570\u91cf \uff0c epochs \u4e3a \u8bad\u7ec3 \u7684 \u8fed\u4ee3 \u6b21\u6570   \uff0c validation _ split :   \u9a8c\u8bc1 \u96c6 \u7684 \u6bd4\u4f8b \u3002   model . fit ( x _ train _ set ,   y _ train _ set ,   batch _ size = 100 ,   epochs = 25 ,   validation _ split = 0.2 )   \u9884\u6d4b \u672a\u6765 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf   \u3002 \u4f7f\u7528 \u8bad\u7ec3 \u597d \u7684 \u6a21\u578b \u5bf9 \u6d4b\u8bd5 \u96c6 \u6570\u636e x _ test _ set \u8fdb\u884c \u9884\u6d4b \uff0c \u5f97\u5230 \u9884\u6d4b \u7ed3\u679c y _ predicted \u3002   y _ predicted   =   model . predict ( x _ test _ set )   \u7ed8\u5236 \u66f2\u7ebf   \uff0c \u9996\u5148 \u8fdb\u884c \u4e86 \u6570\u636e \u7684 \u586b\u5145 \u548c \u9006 \u6807\u51c6 \u6807\u51c6\u5316 \u5904\u7406 \uff0c \u5c06 \u5176 \u8f6c\u6362 \u56de \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u7684 \u8303\u56f4 \uff0c \u7136\u540e \u8c03\u7528 plot _ curve \u51fd\u6570 \u8fdb\u884c \u66f2\u7ebf \u7ed8\u5236 \uff0c \u4ee5\u4fbf \u53ef\u89c6 \u53ef\u89c6\u5316 \u5bf9\u6bd4 \u6a21\u578b \u7684 \u9884\u6d4b \u7ed3\u679c \u548c \u771f\u5b9e \u7684 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \uff0c \u4ee5\u4fbf \u8fdb\u884c \u7ed3\u679c \u8bc4\u4f30 \u548c \u5206\u6790 \u3002   temp   =   np . zeros ( ( len ( y _ test _ set ) ,   200 ) )   origin _ temp   =   np . hstack ( ( temp ,   y _ test _ set ) )   predict _ temp   =   np . hstack ( ( temp ,   y _ predicted ) )   origin _ test   =   scaler . inverse _ transform ( origin _ temp )   predict _ test   =   scaler . inverse _ transform ( predict _ temp )   predict _ test   =   np . round ( predict _ test ) . astype ( int )   plot _ curve ( origin _ test [ : ,   - 1 ] ,   predict _ test [ : ,   - 1 ] )   \u5b9a\u4e49 plot _ curve \u51fd\u6570 \u7528\u4e8e \u7ed8\u5236 \u771f\u5b9e \u6570\u636e \u548c \u9884\u6d4b \u6570\u636e \u7684 \u66f2\u7ebf \u7ebf\u56fe \u66f2\u7ebf\u56fe \u3002 \u4e0b\u56fe \u57fa\u4e8e 200 \u79d2 \u4e4b\u524d \u7684 \u5386\u53f2 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u6570\u636e \uff0c \u5bf9 \u672a\u6765 \u65f6\u95f4 \u5e8f\u5217 \u7684 \u6d41\u91cf \u9884\u6d4b \u3002   def   plot _ curve ( true _ data ,   predicted _ data ) :   fig ,   ax   =   plt . subplots ( )   ax . plot ( true _ data ,   label = ' True   data ' )   ax . plot ( predicted _ data ,   label = ' Predicted   data ' )   ax . legend ( )   #   \u8bbe\u7f6e y \u8f74 \u7684 \u683c\u5f0f \u683c\u5f0f\u5316 \u4e3a \u6574\u6570   ax . yaxis . set _ major _ formatter ( ticker . ScalarFormatter ( useOffset = False ,   useMathText = True ) )   ax . yaxis . set _ major _ locator ( ticker . MaxNLocator ( integer = True ) )   plt . show ( )   \u4e0b\u56fe \u57fa\u4e8e 200 \u79d2 \u7684 \u5386\u53f2 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u6570\u636e \uff0c \u5bf9 \u672a\u6765 \u65f6\u95f4 \u5e8f\u5217 \u7684 \u6d41\u91cf \u9884\u6d4b \u3002","title":"\u4ea4\u901a\u6d41\u91cf \u9884\u6d4b"},{"location":"tuto_G_traffic_prediction/#_1","text":"\u6ce8\u610f   \u8fd0\u884c \u8be5 \u811a\u672c \u4e4b\u524d \uff0c \u5e94\u5148 \u8fd0\u884c generate _ traffic . py \u5e76 \u786e\u4fdd \u5728 town10 \u4e2d \u6210\u529f \u653e\u7f6e \u8f66\u8f86 \u3002   main \u51fd\u6570 \u4e2d \u9996\u5148 \u5b9a\u4e49 \u4e86 argparser \u548c carla \u6a21\u5757 \uff0c \u5176\u4e2d \uff0c argparse \u6a21\u5757 \u7528\u4e8e \u89e3\u6790 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \uff0c \u5305\u62ec host \uff08 \u4e3b\u673a \u5730\u5740 IP\u5730\u5740 \uff09 \u3001 port \uff08 TCP \u7aef\u53e3 \u53e3\u53f7 \u7aef\u53e3\u53f7 \uff09 \u3001 traffic _ id \uff08 \u4ea4\u901a \u4ea4\u901a\u706f ID \uff09 \u3001 color _ id \uff08 \u4ea4\u901a \u4ea4\u901a\u706f \u989c\u8272 ID \uff09 \u548c color _ time \uff08 \u4ea4\u901a \u4ea4\u901a\u706f \u65f6\u95f4 \uff09 \u3002   args =   argparser . parse _ arg ( )   argparser   =   argparse . ArgumentParser ( description = __ doc __ )   argparser . add _ argument ( ' -- host ' ,   metavar = ' H ' ,   default = ' 127.0 . 0.1 ' ,   help = ' IP   of   the   host   server   ( default :   127.0 . 0.1 ) ' )   argparser . add _ argument ( ' - p ' ,   ' -- port ' ,   metavar = ' P ' ,   default = 2000 ,   type = int ,   help = ' TCP   port   to   listen   to   ( default :   2000 ) ' )   argparser . add _ argument ( ' -- traffic _ id ' ,   metavar = ' I ' ,   default = 1 ,   type = int ,   help = ' traffic   light   id ' )   argparser . add _ argument ( ' -- color _ id ' ,   metavar = ' C ' ,   default = 1 ,   type = int ,   help = ' traffic   light   color   id ' )   argparser . add _ argument ( ' -- color _ time ' ,   metavar = ' T ' ,   default = 20 ,   type = int ,   help = ' set   traffic   light   time ' )   \u4f7f\u7528 \u6307\u5b9a \u7684 \u4e3b\u673a \u5730\u5740 IP\u5730\u5740 \u548c \u7aef\u53e3 \u53e3\u53f7 \u7aef\u53e3\u53f7 \u8fde\u63a5 \u5230 Carla \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u3002 \u540c\u65f6 \uff0c \u8bbe\u7f6e \u4e0e \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u901a\u4fe1 \u7684 \u8d85\u65f6 \u65f6\u95f4 \u3002 \u6700\u540e \uff0c \u4ee3\u7801 \u901a\u8fc7 \u83b7\u53d6 Carla \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u4e16\u754c \u5bf9\u8c61 \uff0c \u53ef\u4ee5 \u5728 \u4eff\u771f \u73af\u5883 \u4e2d \u8fdb\u884c \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u64cd\u4f5c \u548c \u63a7\u5236 \u3002   client   =   carla . Client ( args . host ,   args . port )   client . set _ timeout ( 10.0 )   world   =   client . get _ world ( )   \u4f7f\u7528 world . get _ settings ( ) \u65b9\u6cd5 \u83b7\u53d6 Carla \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u5f53\u524d \u8bbe\u7f6e \u3002 \u5c06 Carla \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684 \u8bbe\u7f6e \u66f4 \u6539\u4e3a \u540c\u6b65 \u6a21\u5f0f \uff0c \u5e76 \u5c06 \u65f6\u95f4 \u6b65\u957f \u8bbe\u7f6e \u4e3a 0.05 \u79d2 \uff0c \u4ee5\u4fbf \u4ee5 \u56fa\u5b9a \u7684 \u65f6\u95f4 \u95f4\u9694 \u8fdb\u884c \u4eff\u771f \uff0c \u63a7\u5236 \u4eff\u771f \u7684 \u901f\u5ea6 \u548c \u7cbe\u786e \u7cbe\u786e\u5ea6 \u3002   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   settings . fixed _ delta _ seconds   =   0.05   # \u4eff\u771f \u73af\u5883 \u4f1a\u4ee5 0.05 \u79d2 \u7684 \u65f6\u95f4 \u524d\u8fdb \u3002   world . apply _ settings ( settings )   \u83b7\u53d6 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684   \u8f66\u8f86 \u5217\u8868   vehicle _ list   =   world . get _ actors ( ) . filter ( ' vehicle . * ' )   \u5212\u5b9a   \u8def\u53e3 \u8303\u56f4   xmax   =   - 11   xmin   =   - 77   ymax   =   57   ymin   =   - 13   \u521b\u5efa \u591a\u4e2a \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \uff0c \u5176\u4e2d vehicle _ positions \u7528\u4e8e \u5b58\u50a8 \u8f66\u8f86 \u5b9e\u65f6 \u4f4d\u7f6e \uff0c traffic _ data \u7528\u4e8e \u5b58\u50a8 \u8def\u53e3 \u5b9e\u65f6 \u7684 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u6570\u636e \uff0c timestamps \u7528\u4e8e \u5b58\u50a8 \u65f6\u95f4 \u6233 \uff0c traffic _ flow \u7528\u4e8e \u7edf\u8ba1 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u3002   vehicle _ positions   =   { }   traffic _ data   =   [ ]   timestamps   =   [ ]   traffic _ flow   =   [ ]   \u7edf\u8ba1 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u6570\u636e   \u3002 \u5047\u8bbe \u4eff\u771f \u65f6\u95f4 \u6b65 \u4e00\u5171 \u4e3a 1000 \u3002 \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u4e2d \uff0c \u904d\u5386 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684 \u8f66\u8f86 \u3002 \u5bf9\u4e8e \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u8f86 \uff0c \u83b7\u53d6 \u5176 \u4f4d\u7f6e \u4fe1\u606f \uff0c \u5e76 \u5224\u65ad \u5176 \u662f\u5426 \u5728 \u76ee\u6807 \u8def\u53e3 \u7684 \u533a\u57df \u5185 \u3002 \u5982\u679c \u8f66\u8f86 \u5728 \u533a\u57df \u5185 \uff0c \u5c06 \u8ba1\u6570 \u8ba1\u6570\u5668 \u52a0 1 \uff0c \u5e76 \u5c06 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u4fe1\u606f \u5b58\u50a8 \u5230 \u5b57\u5178 vehicle _ positions \u4e2d \u3002   for   t   in   range ( 1000 ) :   world . tick ( )   count   =   0   for   vehicle   in   vehicle _ list \uff1a   location   =   vehicle . get _ location ( )   x   =   location . x   y   =   location . y   z   =   location . z   if   x   < =   xmax   and   x   > =   xmin   and   y   < =   ymax   and   y   > =   ymin :   count   + =   1   vehicle _ positions [ vehicle . id ]   =   ( x ,   y ,   z )   \u5bf9\u5e94 \u7684 \u65f6\u95f4 \u6233 \u548c \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u6570\u636e \u5206\u522b \u5b58\u5165 timestamps \u3001 traffic _ flow \uff0c   \u800c traffic _ data \u5305\u62ec \u8fd9 \u4e24\u79cd \u6570\u636e \u3002   traffic _ data . append ( ( t ,   count ) )   timestamps . append ( t )   traffic _ flow . append ( count )   traffic _ data \u5199\u5165 csv \u6587\u4ef6   filename   =   \" traffic _ data . csv \"   with   open ( filename ,   \" w \" ,   newline = ' ' ,   encoding = ' utf - 8 ' )   as   file :   writer   =   csv . writer ( file )   writer . writerow ( [ \" head \" ,   \" value \" ] )   #   \u5199\u5165 \u8868\u5934   for   data   in   traffic _ data :   writer . writerow ( [ data [ 0 ] ,   data [ 1 ] ] )   #   \u5199\u5165 \u6570\u636e   data   =   load _ data ( ' traffic _ data . csv ' ,   200 ) # \u8bfb\u53d6 \u6570\u636e \u8bfb\u53d6\u6570\u636e   \u4ece \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u6587\u4ef6 \u4e2d \u52a0\u8f7d   \u6570\u636e   \u5e76 \u8fdb\u884c   \u5904\u7406 \u9884\u5904\u7406   \u3002 \u9996\u5148 \u5c06 \u6570\u636e \u8bfb\u53d6 \u4e3a DataFrame \u5bf9\u8c61 \uff0c \u5e76 \u7ed8\u5236 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u7684 \u6298\u7ebf \u7ebf\u56fe \u6298\u7ebf\u56fe \u3002 \u901a\u8fc7 \u6307\u5b9a \u7684 \u65f6\u95f4 \u6b65 \u5927\u5c0f \u5bf9 \u6570\u636e \u8fdb\u884c \u5207\u7247 \uff0c \u5f62\u6210 \u8bad\u7ec3 \u6837\u672c \u8bad\u7ec3\u6837\u672c \u5e76 \u8fd4\u56de \u3002   def   load _ data ( filename ,   time _ step ) :   df   =   pd . read _ csv ( filename )   data   =   df . value   plt . title ( ' original   data ' )   plt . plot ( data )   plt . show ( )   result   =   [ ]   for   index   in   range ( len ( data )   -   time _ step ) :   result . append ( data [ index : index   +   time _ step   +   1 ] )   return   np . array ( result )   \u4f7f\u7528 MinMaxScaler \u5bf9 \u6570\u636e \u8fdb\u884c   * \u5f52\u4e00\u5316   \u5904\u7406 \uff0c \u7136\u540e \u6309\u7167 7 \uff1a 3 \u7684 \u6bd4\u4f8b \u5c06 \u6570\u636e \u96c6 \u5212\u5206 \u4e3a \u8bad\u7ec3 \u96c6 \u548c \u6d4b\u8bd5 \u96c6 \u3002   scaler   =   MinMaxScaler ( feature _ range = ( 0 ,   1 ) )   dataset   =   scaler . fit _ transform ( data )   train _ count   =   int ( 0.7   *   len ( dataset ) )   x _ train _ set ,   x _ test _ set   =   dataset [ : train _ count ,   : - 1 ] ,   dataset [ train _ count : ,   : - 1 ]   y _ train _ set ,   y _ test _ set   =   dataset [ : train _ count ,   - 1 ] ,   dataset [ train _ count : ,   - 1 ]   \u5bf9 \u8bad\u7ec3 \u96c6 \u548c \u6d4b\u8bd5 \u96c6 \u7684 \u8f93\u5165 \u548c \u8f93\u51fa \u6570\u636e \u8fdb\u884c \u7ef4\u5ea6 \u8c03\u6574 \uff0c \u5176\u4e2d \u8f93\u5165 \u6570\u636e x _ train _ set \u3001 x _ test _ set   \u4e3a \u4e09\u7ef4 \uff0c \u5982 ( \u6837\u672c \u6570\u91cf ,   \u65f6\u95f4 \u6b65\u6570 ,   \u7279\u5f81 \u6570\u91cf \uff09 \uff0c \u8f93\u51fa \u6570\u636e y _ train _ set \u3001 y _ test _ set \u4e3a \u4e8c\u7ef4 \uff0c \u5982 ( \u6837\u672c \u6570\u91cf ,   1 ) \u3002 \u4ee5 \u6ee1\u8db3 LSTM \u6a21\u578b \u7684 \u8f93\u5165 \u8981\u6c42 \u3002   x _ train _ set   =   x _ train _ set . reshape ( x _ train _ set . shape [ 0 ] ,   1 ,   x _ train _ set . shape [ 1 ] )   x _ test _ set   =   x _ test _ set . reshape ( x _ test _ set . shape [ 0 ] ,   1 ,   x _ test _ set . shape [ 1 ] )   y _ train _ set   =   y _ train _ set . reshape ( y _ train _ set . shape [ 0 ] ,   1 )   y _ test _ set   =   y _ test _ set . reshape ( y _ test _ set . shape [ 0 ] ,   1 )   \u5b9a\u4e49 \u5e76 \u521b\u5efa \u4e86 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e3a [ 200 , 500 , 500 , 1 ] LSTM \u6a21\u578b \uff0c \u5176\u4e2d 200 \uff0c 500 \uff0c 500 \uff0c 1 \u5206\u522b \u8868\u793a \u6a21\u578b \u7684 \u4e09\u4e2a \u9690 \u5c42\u5c42 \u7684 \u795e\u7ecf \u795e\u7ecf\u5143 \u6570\u91cf \uff0c 1 \u4e3a \u8f93\u51fa \u5c42 \u7684 \u795e\u7ecf \u795e\u7ecf\u5143 \u6570\u91cf \u3002   layer   =   [ 200 ,   500 ,   500 ,   1 ]   model   =   build _ lstm _ model ( layer )   \u6784\u5efa LST \u6a21\u578b   \u3002 \u8be5 \u51fd\u6570 \u521b\u5efa Sequential \u6a21\u578b \u5bf9\u8c61 \uff0c \u7528\u4e8e \u6309 \u987a\u5e8f \u5806\u53e0 \u795e\u7ecf \u7f51\u7edc \u7f51\u7edc\u5c42 \u3002 \u6dfb\u52a0 LSTM \u5c42 \u3001 Dropout \u5c42 \u548c Dense \u5168 \u8fde\u63a5 \u5c42 \uff0c \u4ee5\u53ca \u8bbe\u7f6e \u635f\u5931 \u51fd\u6570 \u548c \u4f18\u5316 \u5668 \uff0c \u63d0\u4f9b \u4e00\u4e2a \u7b80\u6d01 \u7684 \u65b9\u5f0f \u6765 \u521b\u5efa \u548c \u7f16\u8bd1 LSTM \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u6a21\u578b \uff0c \u4ee5\u4fbf \u8fdb\u884c \u540e\u7eed \u7684 \u8bad\u7ec3 \u548c \u9884\u6d4b \u64cd\u4f5c \u3002   def   build _ lstm _ model ( layer ) :   model   =   Sequential ( )   model . add ( LSTM (   input _ shape = ( 1 ,   layer [ 0 ] ) ,   units = layer [ 1 ] ,   return _ sequences = True ) )   model . add ( Dropout ( 0.2 ) )   model . add ( LSTM (   units = layer [ 2 ] ,   return _ sequences = False ) )   model . add ( Dropout ( 0.2 ) )   model . add ( Dense ( units = layer [ 3 ] ,   activation = ' linear ' ) )   model . compile ( loss = ' mse ' ,   optimizer = ' adam ' )   return   model   \u8bad\u7ec3 \u6a21\u578b   \u3002 \u5c06 \u51c6\u5907 \u597d \u7684 \u8bad\u7ec3 \u96c6 \u6570\u636e x _ train _ set \u548c \u5bf9\u5e94 \u7684 \u76ee\u6807 \u6807\u503c \u76ee\u6807\u503c y _ train _ set \uff0c \u5bf9 \u6784\u5efa \u597d \u7684 \u6a21\u578b \u8fdb\u884c \u8bad\u7ec3 \u3002 \u5176\u4e2d \uff0c batch _ size \u4e3a \u6bcf\u6b21 \u8fed\u4ee3 \u4f7f\u7528 \u7684 \u6837\u672c \u6570\u91cf \uff0c epochs \u4e3a \u8bad\u7ec3 \u7684 \u8fed\u4ee3 \u6b21\u6570   \uff0c validation _ split :   \u9a8c\u8bc1 \u96c6 \u7684 \u6bd4\u4f8b \u3002   model . fit ( x _ train _ set ,   y _ train _ set ,   batch _ size = 100 ,   epochs = 25 ,   validation _ split = 0.2 )   \u9884\u6d4b \u672a\u6765 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf   \u3002 \u4f7f\u7528 \u8bad\u7ec3 \u597d \u7684 \u6a21\u578b \u5bf9 \u6d4b\u8bd5 \u96c6 \u6570\u636e x _ test _ set \u8fdb\u884c \u9884\u6d4b \uff0c \u5f97\u5230 \u9884\u6d4b \u7ed3\u679c y _ predicted \u3002   y _ predicted   =   model . predict ( x _ test _ set )   \u7ed8\u5236 \u66f2\u7ebf   \uff0c \u9996\u5148 \u8fdb\u884c \u4e86 \u6570\u636e \u7684 \u586b\u5145 \u548c \u9006 \u6807\u51c6 \u6807\u51c6\u5316 \u5904\u7406 \uff0c \u5c06 \u5176 \u8f6c\u6362 \u56de \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u7684 \u8303\u56f4 \uff0c \u7136\u540e \u8c03\u7528 plot _ curve \u51fd\u6570 \u8fdb\u884c \u66f2\u7ebf \u7ed8\u5236 \uff0c \u4ee5\u4fbf \u53ef\u89c6 \u53ef\u89c6\u5316 \u5bf9\u6bd4 \u6a21\u578b \u7684 \u9884\u6d4b \u7ed3\u679c \u548c \u771f\u5b9e \u7684 \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \uff0c \u4ee5\u4fbf \u8fdb\u884c \u7ed3\u679c \u8bc4\u4f30 \u548c \u5206\u6790 \u3002   temp   =   np . zeros ( ( len ( y _ test _ set ) ,   200 ) )   origin _ temp   =   np . hstack ( ( temp ,   y _ test _ set ) )   predict _ temp   =   np . hstack ( ( temp ,   y _ predicted ) )   origin _ test   =   scaler . inverse _ transform ( origin _ temp )   predict _ test   =   scaler . inverse _ transform ( predict _ temp )   predict _ test   =   np . round ( predict _ test ) . astype ( int )   plot _ curve ( origin _ test [ : ,   - 1 ] ,   predict _ test [ : ,   - 1 ] )   \u5b9a\u4e49 plot _ curve \u51fd\u6570 \u7528\u4e8e \u7ed8\u5236 \u771f\u5b9e \u6570\u636e \u548c \u9884\u6d4b \u6570\u636e \u7684 \u66f2\u7ebf \u7ebf\u56fe \u66f2\u7ebf\u56fe \u3002 \u4e0b\u56fe \u57fa\u4e8e 200 \u79d2 \u4e4b\u524d \u7684 \u5386\u53f2 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u6570\u636e \uff0c \u5bf9 \u672a\u6765 \u65f6\u95f4 \u5e8f\u5217 \u7684 \u6d41\u91cf \u9884\u6d4b \u3002   def   plot _ curve ( true _ data ,   predicted _ data ) :   fig ,   ax   =   plt . subplots ( )   ax . plot ( true _ data ,   label = ' True   data ' )   ax . plot ( predicted _ data ,   label = ' Predicted   data ' )   ax . legend ( )   #   \u8bbe\u7f6e y \u8f74 \u7684 \u683c\u5f0f \u683c\u5f0f\u5316 \u4e3a \u6574\u6570   ax . yaxis . set _ major _ formatter ( ticker . ScalarFormatter ( useOffset = False ,   useMathText = True ) )   ax . yaxis . set _ major _ locator ( ticker . MaxNLocator ( integer = True ) )   plt . show ( )   \u4e0b\u56fe \u57fa\u4e8e 200 \u79d2 \u7684 \u5386\u53f2 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u6570\u636e \uff0c \u5bf9 \u672a\u6765 \u65f6\u95f4 \u5e8f\u5217 \u7684 \u6d41\u91cf \u9884\u6d4b \u3002","title":"\u4ea4\u901a\u6d41\u91cf \u9884\u6d4b"},{"location":"tuto_G_unreal/","text":"\u63a7\u5236 \u63a7\u5236\u53f0 \u547d\u4ee4   \u542f\u52a8 \u4eff\u771f \u540e \uff0c \u8f93\u5165   ~   \u952e \u8c03\u7528 \u63a7\u5236 \u63a7\u5236\u53f0 \u547d\u4ee4 \u3002   stat   rhi   :   Rendering   Hardware   Interface \uff0c \u663e\u793a RHI \u5185\u5b58 \u548c \u6027\u80fd \u7edf\u8ba1 \u8ba1\u6570 \u6570\u636e \u7edf\u8ba1\u6570\u636e \u3002   HighResShot   3840x2160   \u2014 \u2014   \u6307\u5b9a \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u622a\u56fe \uff08 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \uff09 \uff0c \u56fe\u7247 \u5b58\u50a8 \u4f4d\u7f6e \uff1a   \\ Saved \\ Screenshots \\   \u3002   \u6e32\u67d3 \u7ba1\u7ebf   \u52a8\u753b \u6a21\u62df   \u5149\u7ebf \u4f20\u64ad   \u51e0\u4f55 \u8868\u793a   \u5149\u6805 \u5316   \u7ed8\u5236 \u8c03\u7528 \uff08 draw   call \uff09 \uff1a \u5728 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u56fe\u5f62 \u5f62\u5b66 \u56fe\u5f62\u5b66 \u4e2d \uff0c \u6307\u5411 \u56fe\u5f62 \u5904\u7406 \u7406\u5668 \u5904\u7406\u5668 \u53d1\u9001 \u6307\u4ee4 \u4ee5 \u7ed8\u5236 \u56fe\u5f62 \u7684 \u8fc7\u7a0b \u3002   \u5149\u6805 \u5316 \uff1a \u627e\u51fa \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u6240 \u8986\u76d6 \u5230 \u7684 \u50cf\u7d20 \uff1b   Git   \u7248\u672c \u7ba1\u7406   \u6e90\u7801 \u63a7\u5236 - > \u8fde\u63a5 \u5230 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7ba1\u7406 - > Git \uff1b   Git \u8def\u5f84 \u9009\u62e9 Git \u5b89\u88c5 \u540e bin \u6587\u4ef6 \u4e2d \u7684 \u542f\u52a8 \u7a0b\u5e8f \uff1b \u9009\u62e9   \u63a5\u6536 \u8bbe\u7f6e   \u5176\u4ed6   \u865a\u5e7b \u5f15\u64ce \u4e2d\u6587 \u6587\u6863   \u865a\u5e7b \u5f15\u64ce \u5b98\u65b9 \u4e2d\u6587 \u6587\u6863","title":"tuto   G   unreal"},{"location":"tuto_G_unreal/#_1","text":"\u542f\u52a8 \u4eff\u771f \u540e \uff0c \u8f93\u5165   ~   \u952e \u8c03\u7528 \u63a7\u5236 \u63a7\u5236\u53f0 \u547d\u4ee4 \u3002   stat   rhi   :   Rendering   Hardware   Interface \uff0c \u663e\u793a RHI \u5185\u5b58 \u548c \u6027\u80fd \u7edf\u8ba1 \u8ba1\u6570 \u6570\u636e \u7edf\u8ba1\u6570\u636e \u3002   HighResShot   3840x2160   \u2014 \u2014   \u6307\u5b9a \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u622a\u56fe \uff08 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \uff09 \uff0c \u56fe\u7247 \u5b58\u50a8 \u4f4d\u7f6e \uff1a   \\ Saved \\ Screenshots \\   \u3002","title":"\u63a7\u5236\u53f0 \u547d\u4ee4"},{"location":"tuto_G_unreal/#_2","text":"\u52a8\u753b \u6a21\u62df   \u5149\u7ebf \u4f20\u64ad   \u51e0\u4f55 \u8868\u793a   \u5149\u6805 \u5316   \u7ed8\u5236 \u8c03\u7528 \uff08 draw   call \uff09 \uff1a \u5728 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u56fe\u5f62 \u5f62\u5b66 \u56fe\u5f62\u5b66 \u4e2d \uff0c \u6307\u5411 \u56fe\u5f62 \u5904\u7406 \u7406\u5668 \u5904\u7406\u5668 \u53d1\u9001 \u6307\u4ee4 \u4ee5 \u7ed8\u5236 \u56fe\u5f62 \u7684 \u8fc7\u7a0b \u3002   \u5149\u6805 \u5316 \uff1a \u627e\u51fa \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u6240 \u8986\u76d6 \u5230 \u7684 \u50cf\u7d20 \uff1b","title":"\u6e32\u67d3 \u7ba1\u7ebf"},{"location":"tuto_G_unreal/#git","text":"\u6e90\u7801 \u63a7\u5236 - > \u8fde\u63a5 \u5230 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7ba1\u7406 - > Git \uff1b   Git \u8def\u5f84 \u9009\u62e9 Git \u5b89\u88c5 \u540e bin \u6587\u4ef6 \u4e2d \u7684 \u542f\u52a8 \u7a0b\u5e8f \uff1b \u9009\u62e9   \u63a5\u6536 \u8bbe\u7f6e","title":"Git   \u7248\u672c \u7ba1\u7406"},{"location":"tuto_G_unreal/#_3","text":"\u865a\u5e7b \u5f15\u64ce \u4e2d\u6587 \u6587\u6863   \u865a\u5e7b \u5f15\u64ce \u5b98\u65b9 \u4e2d\u6587 \u6587\u6863","title":"\u5176\u4ed6"},{"location":"tuto_M_add_map_alternative/","text":"\u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5   \u672c \u6307\u5357 \u4ecb\u7ecd \u4e86 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla   \u7684 \u66ff\u4ee3 \u65b9\u6cd5 \u3002 \u8fd9\u4e9b \u65b9\u6cd5 \u6d89\u53ca \u6bd4   \u5305   \u548c   \u4ee3\u7801 \u6e90\u4ee3\u7801   \u5bfc\u5165 \u6307\u5357 \u4e2d \u63cf\u8ff0 \u7684 \u8fc7\u7a0b \u66f4 \u591a \u7684 \u624b\u52a8 \u6b65\u9aa4 \u3002 \u9996\u5148 \u6211\u4eec \u5c06 \u4ecb\u7ecd   RoadRuner   \u63d2\u4ef6 \uff0c \u7136\u540e \u4ecb\u7ecd \u624b\u52a8 \u5bfc\u5165 \u65b9\u6cd5 \u3002   RoadRunner   \u63d2\u4ef6 \u5bfc\u5165   \u63d2\u4ef6 \u5b89\u88c5   \u5bfc\u5165 \u5730\u56fe   \u624b\u52a8 \u5bfc\u5165   \u4e0b \u4e00\u6b65   RoadRunner   \u63d2\u4ef6 \u5bfc\u5165   MathWorks   \u7684   RoadRunner   \u8f6f\u4ef6 \u63d0\u4f9b \u4e86 \u865a\u5e7b \u5f15\u64ce \u63d2\u4ef6 \uff0c \u4ee5 \u5e2e\u52a9 \u7b80\u5316 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla   \u7684 \u8fc7\u7a0b \u3002   \u63d2\u4ef6 \u5b89\u88c5   1 .   \u63d2\u4ef6 \u53ef \u4ece   MathWorks   \u7f51\u7ad9   \u4e0b\u8f7d \u3002 MathWorks   \u8fd8\u6709 \u4e00\u4e2a   \u5b8c\u6574 \u7684 \u6559\u7a0b   \uff0c \u4e0e \u6b64 \u7c7b\u4f3c \uff0c \u4ecb\u7ecd \u5982\u4f55 \u4f7f\u7528 \u63d2\u4ef6 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla \u3002   2 .   \u89e3\u538b \u4e0b\u8f7d \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u5185\u5bb9 \u5e76 \u5c06   RoadRunnerImporter   \u548c   RoadRunnerMaterials   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u79fb\u52a8 \u5230   < carla > / Unreal / CarlaUE4 / Plugins /   \u3002   3 .   \u6309\u7167 \u4ee5\u4e0b \u8bf4\u660e \u91cd\u5efa \u63d2\u4ef6 \uff1a   \u5728   Windows   \u4e0a \u3002   \u53f3\u952e \u5355\u51fb   < carla > / Unreal / CarlaUE4   \u4e2d \u7684   . uproject   \u6587\u4ef6 \uff0c \u5e76 \u9009\u62e9   Generate   Visual   Studio   project   files   \u3002   \u5728   Carla   \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u8fd0\u884c \u547d\u4ee4 \uff1a   make   launch   \u5728   Linux   \u4e0a \u3002   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   UE4 _ ROOT / GenerateProjectFiles . sh   - project = \" carla / Unreal / CarlaUE4 / CarlaUE4 . uproject \"   - game   - engine   4 .   \u5728 \u865a\u5e7b \u5f15\u64ce \u7a97\u53e3 \u4e2d \uff0c \u786e\u4fdd \u9009\u4e2d \u4e24\u4e2a \u63d2\u4ef6 \u7684 \u590d\u9009 \u9009\u6846 \u590d\u9009\u6846   Edit   >   Plugins   \u9009\u4e2d \u3002   \u5bfc\u5165 \u5730\u56fe   1 .   \u4f7f\u7528   Import   \u6309\u94ae \u5c06   < mapName > . fbx   \u6587\u4ef6 \u5bfc\u5165 \u5bfc\u5165\u5230   / Content / Carla / Maps   \u4e0b\u9762 \u7684 \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   2 .   \u5c06   Scene   >   Hierarchy   Type   \u8bbe\u7f6e \u4e3a   Create   One   Blueprint   Asset   \uff08 \u9ed8\u8ba4 \u9009\u62e9 \uff09 \u3002   3 .   \u5c06   Static   Meshes   >   Normal   Import   Method   \u8bbe\u7f6e \u4e3a   Import   Normals   \u3002   4 .   \u70b9\u51fb   Import   \u3002   5 .   \u4fdd\u5b58 \u5f53\u524d \u5173\u5361   File   - >   Save   Current   As ...   - >   < mapname >   \u3002   \u65b0 \u5730\u56fe \u73b0\u5728 \u5e94\u8be5 \u51fa\u73b0 \u5728 \u865a\u5e7b \u5f15\u64ce   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \u5176\u4ed6 \u5730\u56fe \u7684 \u65c1\u8fb9 \u3002   \u7b14\u8bb0   \u8bed\u4e49 \u5206\u5272 \u7684 \u6807\u7b7e \u5c06 \u6839\u636e \u8d44\u4ea7 \u540d\u79f0 \u5206\u914d \u3002 \u8be5 \u8d44\u6e90 \u5c06 \u88ab \u79fb\u52a8 \u5230   Content / Carla / PackageName / Static   \u4e2d \u7684 \u76f8\u5e94 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u8981 \u66f4\u6539 \u8fd9\u4e9b \uff0c \u8bf7 \u5728 \u5bfc\u5165 \u540e \u624b\u52a8 \u79fb\u52a8 \u5b83\u4eec \u3002   \u624b\u52a8 \u5bfc\u5165   \u8fd9\u79cd \u5bfc\u5165 \u5730\u56fe \u7684 \u65b9\u6cd5 \u53ef\u4ee5 \u4e0e \u901a\u7528   . fbx   \u548c   . xodr   \u6587\u4ef6 \u4e00\u8d77 \u4f7f\u7528 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528   RoadRunner \uff0c \u5219 \u5e94 \u4f7f\u7528   Firebox   ( . fbx )   \u3001   OpenDRIVE   ( . xodr )   \u6216   Unreal   ( . fbx   +   . xml )   \u5bfc\u51fa \u65b9\u6cd5 \u3002 \u4e0d\u8981 \u4f7f\u7528 \u8be5   Carla   Exporter   \u9009\u9879 \uff0c \u56e0\u4e3a \u60a8 \u5c06 \u9047\u5230   . fbx   \u6587\u4ef6 \u7684 \u517c\u5bb9 \u5bb9\u6027 \u95ee\u9898 \u517c\u5bb9\u6027 \u517c\u5bb9\u6027\u95ee\u9898 \u3002   \u8981 \u5c06 \u5730\u56fe \u624b\u52a8 \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce \uff1a   1 .   \u5728 \u7cfb\u7edf \u7684 \u6587\u4ef6 \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668\u4e2d \uff0c \u5c06   . xodr   \u6587\u4ef6 \u590d\u5236 \u590d\u5236\u5230   < carla - root > / Unreal / CarlaUE4 / Content / Carla / Maps / OpenDrive   \u3002   2 .   \u901a\u8fc7 \u5728   carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e2d \u8fd0\u884c   make   launch   \u6765 \u6253\u5f00 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u5230   Content / Carla / Maps / BaseMap   \u5e76 \u590d\u5236   BaseMap   \u3002 \u8fd9 \u5c06 \u63d0\u4f9b \u5e26\u6709 \u9ed8\u8ba4 \u5929\u7a7a \u548c \u7167\u660e \u5bf9\u8c61 \u7684 \u7a7a\u767d \u5730\u56fe \u3002   3 .   \u5728 \u76ee\u5f55   Content / Carla / Maps   \u4e2d \u521b\u5efa \u4e00\u4e2a \u4ee5 \u60a8 \u7684 \u5730\u56fe \u5730\u56fe\u5305 \u540d\u79f0 \u547d\u540d \u7684 \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5e76 \u4ee5 \u4e0e \u60a8 \u7684   . fbx   \u548c   . xodr   \u6587\u4ef6 \u76f8\u540c \u7684 \u540d\u79f0 \u4fdd\u5b58 \u590d\u5236 \u7684 \u5730\u56fe \u3002   4 .   \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u56de   Content / Carla / Maps   \u3002 \u53f3\u952e \u5355\u51fb \u7070\u8272 \u533a\u57df \u5e76 \u5728 \u6807\u9898   Import   Asset   \u4e0b \u9009\u62e9   Import   to   / Game / Carla / Maps ...   \u3002   5 .   \u5728 \u5f39\u51fa \u7684 \u914d\u7f6e \u7a97\u53e3 \u4e2d \uff0c \u786e\u4fdd \uff1a   \u8fd9\u4e9b \u9009\u9879 \u672a \u9009\u4e2d \uff1a   \u81ea\u52a8 \u751f\u6210 \u78b0\u649e ( Auto   Generate   Collision )   \u7ec4\u5408 \u7f51\u683c ( Combine   Meshes )   Force   Front   xAxis   \u5728 \u4ee5\u4e0b \u4e0b \u62c9 \u5217\u8868 \u4e2d \uff0c \u9009\u62e9 \u76f8\u5e94 \u7684 \u9009\u9879 \uff1a   \u6cd5\u7ebf \u5bfc\u5165 \u65b9\u6cd5   -   Import   Normals   \u6750\u8d28 \u5bfc\u5165 \u65b9\u6cd5   -   Create   New   Materials   \u68c0\u67e5 \u8fd9\u4e9b \u9009\u9879 \uff1a   Convert   Scene   Unit   Import   Textures   6 .   \u5355\u51fb   Import   \u3002   7 .   \u7f51\u683c \u5c06 \u51fa\u73b0 \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \u3002 \u9009\u62e9 \u7f51\u683c \u5e76 \u5c06 \u5b83\u4eec \u62d6 \u5230 \u573a\u666f \u4e2d \u3002   8 .   \u5c06 \u7f51\u683c \u7f6e\u4e8e   0 , 0 , 0   \u4e2d\u5fc3 \u3002   9 .   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u9009\u62e9 \u6240\u6709 \u9700\u8981 \u6709 \u78b0\u649e \u4f53 \u7684 \u7f51\u683c \u4f53 \u3002 \u8fd9 \u662f \u6307 \u4e0e \u884c\u4eba \u6216 \u8f66\u8f86 \u4ea4\u4e92 \u7684 \u4efb\u4f55 \u7f51\u683c \u3002 \u78b0\u649e \u4f53 \u9632\u6b62 \u4ed6\u4eec \u6389\u5165 \u6df1\u6e0a \u3002 \u53f3\u952e \u5355\u51fb \u9009\u5b9a \u7684 \u7f51\u683c \u5e76 \u9009\u62e9   Asset   Actions   >   Bulk   Edit   via   Property   Matrix ...   \u3002   10 .   \u5728 \u641c\u7d22 \u6846\u4e2d \u641c\u7d22   \u78b0\u649e ( collision )   \u3002   11 .   \u5c06   Collision   Complexity   \u4ece   Project   Default   \u6539\u4e3a   Use   Complex   Collision   As   Simple   \u5e76 \u5173\u95ed \u7a97\u53e3 \u3002   12 .   \u6309   Alt   +   c   \u786e\u8ba4 \u78b0\u649e \u8bbe\u7f6e \u5df2 \u6b63\u786e \u5e94\u7528 \u3002 \u60a8 \u4f1a \u5728 \u7f51\u683c \u4e0a \u770b\u5230 \u9ed1\u8272 \u7684 \u7f51 \u3002   13 .   \u8981 \u4e3a \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u521b\u5efa \u771f\u5b9e \u6570\u636e \uff0c \u8bf7 \u5c06 \u9759\u6001 \u7f51\u683c \u7269\u4f53 \u79fb\u52a8 \u5230   Carla / Static / < segment >   \u9075\u5faa \u4ee5\u4e0b \u7ed3\u6784 \u7684 \u76f8\u5e94 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff1a   Content   \u2514 \u2500 \u2500   Carla   \u251c \u2500 \u2500   Blueprints   \u251c \u2500 \u2500   Config   \u251c \u2500 \u2500   Exported   Maps   \u251c \u2500 \u2500   HDMaps   \u251c \u2500 \u2500   Maps   \u2514 \u2500 \u2500   Static   \u251c \u2500 \u2500   Terrain   \u2502   \u2514 \u2500 \u2500   mapname   \u2502   \u2514 \u2500 \u2500   Static   Meshes   \u2502   \u251c \u2500 \u2500   Road   \u2502   \u2514 \u2500 \u2500   mapname   \u2502   \u2514 \u2500 \u2500   Static   Meshes   \u2502   \u251c \u2500 \u2500   RoadLines   |   \u2514 \u2500 \u2500   mapname   |   \u2514 \u2500 \u2500   Static   Meshes   \u2514 \u2500 \u2500   Sidewalks   \u2514 \u2500 \u2500   mapname   \u2514 \u2500 \u2500   Static   Meshes   14 .   \u5728   \u201c \u6a21\u5f0f ( Modes ) \u201d   \u9762\u677f \u4e2d \uff0c \u641c\u7d22   Open   Drive   Actor   \u5e76 \u5c06 \u5176 \u62d6 \u5230 \u573a\u666f \u4e2d \u3002   15 .   \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \uff0c \u9009\u4e2d   Add   Spawners   \u5e76 \u5355\u51fb   Generate   Routes   \u65c1\u8fb9 \u7684 \u6846 \u3002 \u8fd9 \u5c06 \u5728   < carla - root > / Unreal / CarlaUE4 / Content / Carla / Maps / OpenDrive   \u76ee\u5f55 \u4e2d \u627e\u5230 \u5177\u6709 \u76f8\u540c \u5730\u56fe \u540d\u79f0 \u7684   . xodr   \u6587\u4ef6 \uff0c \u5e76 \u4f7f\u7528 \u5b83 \u6765 \u751f\u6210 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217   RoutePlanner   \u548c   VehicleSpawnPoint   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u4e0b \u4e00\u6b65   \u60a8 \u73b0\u5728 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u6253\u5f00 \u5730\u56fe \u5e76 \u8fd0\u884c \u4eff\u771f \u3002 \u4ece \u8fd9\u91cc \uff0c \u60a8 \u5c06 \u80fd\u591f \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u5e76 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u6570\u636e \u3002 \u6211\u4eec \u5efa\u8bae \u5728 \u6240\u6709 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5b8c\u6210 \u540e \u751f\u6210 \u884c\u4eba \u5bfc\u822a \uff0c \u8fd9\u6837 \u5c31 \u4e0d\u4f1a \u6709 \u969c\u788d \u969c\u788d\u7269 \u963b\u6321 \u884c\u4eba \u8def\u5f84 \u3002   Carla   \u63d0\u4f9b \u4e86 \u591a\u79cd \u5de5\u5177 \u548c \u6307\u5357 \u6765 \u5e2e\u52a9 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u5173\u5361 \u3002   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5efa\u8bae \u4f7f\u7528   Carla   \u5305   \u548c   Carla   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   \u6307\u5357 \u4e2d \u8be6\u7ec6 \u4ecb\u7ecd \u7684 \u81ea\u52a8 \u81ea\u52a8\u5316 \u6d41\u7a0b \u6765 \u5bfc\u5165 \u5730\u56fe \uff0c \u4f46\u662f \u5982\u679c \u9700\u8981 \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u672c\u8282 \u4e2d \u5217\u51fa \u7684 \u65b9\u6cd5 \u3002 \u5982\u679c \u60a8 \u5728 \u4f7f\u7528 \u5176\u4ed6 \u65b9\u6cd5 \u65f6 \u9047\u5230 \u4efb\u4f55 \u95ee\u9898 \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e16 \u3002","title":"\u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5"},{"location":"tuto_M_add_map_alternative/#_1","text":"\u672c \u6307\u5357 \u4ecb\u7ecd \u4e86 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla   \u7684 \u66ff\u4ee3 \u65b9\u6cd5 \u3002 \u8fd9\u4e9b \u65b9\u6cd5 \u6d89\u53ca \u6bd4   \u5305   \u548c   \u4ee3\u7801 \u6e90\u4ee3\u7801   \u5bfc\u5165 \u6307\u5357 \u4e2d \u63cf\u8ff0 \u7684 \u8fc7\u7a0b \u66f4 \u591a \u7684 \u624b\u52a8 \u6b65\u9aa4 \u3002 \u9996\u5148 \u6211\u4eec \u5c06 \u4ecb\u7ecd   RoadRuner   \u63d2\u4ef6 \uff0c \u7136\u540e \u4ecb\u7ecd \u624b\u52a8 \u5bfc\u5165 \u65b9\u6cd5 \u3002   RoadRunner   \u63d2\u4ef6 \u5bfc\u5165   \u63d2\u4ef6 \u5b89\u88c5   \u5bfc\u5165 \u5730\u56fe   \u624b\u52a8 \u5bfc\u5165   \u4e0b \u4e00\u6b65","title":"\u5bfc\u5165 \u5730\u56fe \u7684 \u66ff\u4ee3 \u65b9\u6cd5"},{"location":"tuto_M_add_map_alternative/#roadrunner","text":"MathWorks   \u7684   RoadRunner   \u8f6f\u4ef6 \u63d0\u4f9b \u4e86 \u865a\u5e7b \u5f15\u64ce \u63d2\u4ef6 \uff0c \u4ee5 \u5e2e\u52a9 \u7b80\u5316 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla   \u7684 \u8fc7\u7a0b \u3002","title":"RoadRunner   \u63d2\u4ef6 \u5bfc\u5165  "},{"location":"tuto_M_add_map_alternative/#_2","text":"1 .   \u63d2\u4ef6 \u53ef \u4ece   MathWorks   \u7f51\u7ad9   \u4e0b\u8f7d \u3002 MathWorks   \u8fd8\u6709 \u4e00\u4e2a   \u5b8c\u6574 \u7684 \u6559\u7a0b   \uff0c \u4e0e \u6b64 \u7c7b\u4f3c \uff0c \u4ecb\u7ecd \u5982\u4f55 \u4f7f\u7528 \u63d2\u4ef6 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla \u3002   2 .   \u89e3\u538b \u4e0b\u8f7d \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u5185\u5bb9 \u5e76 \u5c06   RoadRunnerImporter   \u548c   RoadRunnerMaterials   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u79fb\u52a8 \u5230   < carla > / Unreal / CarlaUE4 / Plugins /   \u3002   3 .   \u6309\u7167 \u4ee5\u4e0b \u8bf4\u660e \u91cd\u5efa \u63d2\u4ef6 \uff1a   \u5728   Windows   \u4e0a \u3002   \u53f3\u952e \u5355\u51fb   < carla > / Unreal / CarlaUE4   \u4e2d \u7684   . uproject   \u6587\u4ef6 \uff0c \u5e76 \u9009\u62e9   Generate   Visual   Studio   project   files   \u3002   \u5728   Carla   \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u8fd0\u884c \u547d\u4ee4 \uff1a   make   launch   \u5728   Linux   \u4e0a \u3002   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \uff1a   UE4 _ ROOT / GenerateProjectFiles . sh   - project = \" carla / Unreal / CarlaUE4 / CarlaUE4 . uproject \"   - game   - engine   4 .   \u5728 \u865a\u5e7b \u5f15\u64ce \u7a97\u53e3 \u4e2d \uff0c \u786e\u4fdd \u9009\u4e2d \u4e24\u4e2a \u63d2\u4ef6 \u7684 \u590d\u9009 \u9009\u6846 \u590d\u9009\u6846   Edit   >   Plugins   \u9009\u4e2d \u3002","title":"\u63d2\u4ef6 \u5b89\u88c5  "},{"location":"tuto_M_add_map_alternative/#_3","text":"1 .   \u4f7f\u7528   Import   \u6309\u94ae \u5c06   < mapName > . fbx   \u6587\u4ef6 \u5bfc\u5165 \u5bfc\u5165\u5230   / Content / Carla / Maps   \u4e0b\u9762 \u7684 \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   2 .   \u5c06   Scene   >   Hierarchy   Type   \u8bbe\u7f6e \u4e3a   Create   One   Blueprint   Asset   \uff08 \u9ed8\u8ba4 \u9009\u62e9 \uff09 \u3002   3 .   \u5c06   Static   Meshes   >   Normal   Import   Method   \u8bbe\u7f6e \u4e3a   Import   Normals   \u3002   4 .   \u70b9\u51fb   Import   \u3002   5 .   \u4fdd\u5b58 \u5f53\u524d \u5173\u5361   File   - >   Save   Current   As ...   - >   < mapname >   \u3002   \u65b0 \u5730\u56fe \u73b0\u5728 \u5e94\u8be5 \u51fa\u73b0 \u5728 \u865a\u5e7b \u5f15\u64ce   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \u5176\u4ed6 \u5730\u56fe \u7684 \u65c1\u8fb9 \u3002   \u7b14\u8bb0   \u8bed\u4e49 \u5206\u5272 \u7684 \u6807\u7b7e \u5c06 \u6839\u636e \u8d44\u4ea7 \u540d\u79f0 \u5206\u914d \u3002 \u8be5 \u8d44\u6e90 \u5c06 \u88ab \u79fb\u52a8 \u5230   Content / Carla / PackageName / Static   \u4e2d \u7684 \u76f8\u5e94 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u8981 \u66f4\u6539 \u8fd9\u4e9b \uff0c \u8bf7 \u5728 \u5bfc\u5165 \u540e \u624b\u52a8 \u79fb\u52a8 \u5b83\u4eec \u3002","title":"\u5bfc\u5165 \u5730\u56fe  "},{"location":"tuto_M_add_map_alternative/#_4","text":"\u8fd9\u79cd \u5bfc\u5165 \u5730\u56fe \u7684 \u65b9\u6cd5 \u53ef\u4ee5 \u4e0e \u901a\u7528   . fbx   \u548c   . xodr   \u6587\u4ef6 \u4e00\u8d77 \u4f7f\u7528 \u3002 \u5982\u679c \u60a8 \u4f7f\u7528   RoadRunner \uff0c \u5219 \u5e94 \u4f7f\u7528   Firebox   ( . fbx )   \u3001   OpenDRIVE   ( . xodr )   \u6216   Unreal   ( . fbx   +   . xml )   \u5bfc\u51fa \u65b9\u6cd5 \u3002 \u4e0d\u8981 \u4f7f\u7528 \u8be5   Carla   Exporter   \u9009\u9879 \uff0c \u56e0\u4e3a \u60a8 \u5c06 \u9047\u5230   . fbx   \u6587\u4ef6 \u7684 \u517c\u5bb9 \u5bb9\u6027 \u95ee\u9898 \u517c\u5bb9\u6027 \u517c\u5bb9\u6027\u95ee\u9898 \u3002   \u8981 \u5c06 \u5730\u56fe \u624b\u52a8 \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce \uff1a   1 .   \u5728 \u7cfb\u7edf \u7684 \u6587\u4ef6 \u8d44\u6e90 \u7ba1\u7406 \u8d44\u6e90\u7ba1\u7406 \u5668\u4e2d \uff0c \u5c06   . xodr   \u6587\u4ef6 \u590d\u5236 \u590d\u5236\u5230   < carla - root > / Unreal / CarlaUE4 / Content / Carla / Maps / OpenDrive   \u3002   2 .   \u901a\u8fc7 \u5728   carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e2d \u8fd0\u884c   make   launch   \u6765 \u6253\u5f00 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u5230   Content / Carla / Maps / BaseMap   \u5e76 \u590d\u5236   BaseMap   \u3002 \u8fd9 \u5c06 \u63d0\u4f9b \u5e26\u6709 \u9ed8\u8ba4 \u5929\u7a7a \u548c \u7167\u660e \u5bf9\u8c61 \u7684 \u7a7a\u767d \u5730\u56fe \u3002   3 .   \u5728 \u76ee\u5f55   Content / Carla / Maps   \u4e2d \u521b\u5efa \u4e00\u4e2a \u4ee5 \u60a8 \u7684 \u5730\u56fe \u5730\u56fe\u5305 \u540d\u79f0 \u547d\u540d \u7684 \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u5e76 \u4ee5 \u4e0e \u60a8 \u7684   . fbx   \u548c   . xodr   \u6587\u4ef6 \u76f8\u540c \u7684 \u540d\u79f0 \u4fdd\u5b58 \u590d\u5236 \u7684 \u5730\u56fe \u3002   4 .   \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u56de   Content / Carla / Maps   \u3002 \u53f3\u952e \u5355\u51fb \u7070\u8272 \u533a\u57df \u5e76 \u5728 \u6807\u9898   Import   Asset   \u4e0b \u9009\u62e9   Import   to   / Game / Carla / Maps ...   \u3002   5 .   \u5728 \u5f39\u51fa \u7684 \u914d\u7f6e \u7a97\u53e3 \u4e2d \uff0c \u786e\u4fdd \uff1a   \u8fd9\u4e9b \u9009\u9879 \u672a \u9009\u4e2d \uff1a   \u81ea\u52a8 \u751f\u6210 \u78b0\u649e ( Auto   Generate   Collision )   \u7ec4\u5408 \u7f51\u683c ( Combine   Meshes )   Force   Front   xAxis   \u5728 \u4ee5\u4e0b \u4e0b \u62c9 \u5217\u8868 \u4e2d \uff0c \u9009\u62e9 \u76f8\u5e94 \u7684 \u9009\u9879 \uff1a   \u6cd5\u7ebf \u5bfc\u5165 \u65b9\u6cd5   -   Import   Normals   \u6750\u8d28 \u5bfc\u5165 \u65b9\u6cd5   -   Create   New   Materials   \u68c0\u67e5 \u8fd9\u4e9b \u9009\u9879 \uff1a   Convert   Scene   Unit   Import   Textures   6 .   \u5355\u51fb   Import   \u3002   7 .   \u7f51\u683c \u5c06 \u51fa\u73b0 \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \u3002 \u9009\u62e9 \u7f51\u683c \u5e76 \u5c06 \u5b83\u4eec \u62d6 \u5230 \u573a\u666f \u4e2d \u3002   8 .   \u5c06 \u7f51\u683c \u7f6e\u4e8e   0 , 0 , 0   \u4e2d\u5fc3 \u3002   9 .   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u9009\u62e9 \u6240\u6709 \u9700\u8981 \u6709 \u78b0\u649e \u4f53 \u7684 \u7f51\u683c \u4f53 \u3002 \u8fd9 \u662f \u6307 \u4e0e \u884c\u4eba \u6216 \u8f66\u8f86 \u4ea4\u4e92 \u7684 \u4efb\u4f55 \u7f51\u683c \u3002 \u78b0\u649e \u4f53 \u9632\u6b62 \u4ed6\u4eec \u6389\u5165 \u6df1\u6e0a \u3002 \u53f3\u952e \u5355\u51fb \u9009\u5b9a \u7684 \u7f51\u683c \u5e76 \u9009\u62e9   Asset   Actions   >   Bulk   Edit   via   Property   Matrix ...   \u3002   10 .   \u5728 \u641c\u7d22 \u6846\u4e2d \u641c\u7d22   \u78b0\u649e ( collision )   \u3002   11 .   \u5c06   Collision   Complexity   \u4ece   Project   Default   \u6539\u4e3a   Use   Complex   Collision   As   Simple   \u5e76 \u5173\u95ed \u7a97\u53e3 \u3002   12 .   \u6309   Alt   +   c   \u786e\u8ba4 \u78b0\u649e \u8bbe\u7f6e \u5df2 \u6b63\u786e \u5e94\u7528 \u3002 \u60a8 \u4f1a \u5728 \u7f51\u683c \u4e0a \u770b\u5230 \u9ed1\u8272 \u7684 \u7f51 \u3002   13 .   \u8981 \u4e3a \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u521b\u5efa \u771f\u5b9e \u6570\u636e \uff0c \u8bf7 \u5c06 \u9759\u6001 \u7f51\u683c \u7269\u4f53 \u79fb\u52a8 \u5230   Carla / Static / < segment >   \u9075\u5faa \u4ee5\u4e0b \u7ed3\u6784 \u7684 \u76f8\u5e94 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff1a   Content   \u2514 \u2500 \u2500   Carla   \u251c \u2500 \u2500   Blueprints   \u251c \u2500 \u2500   Config   \u251c \u2500 \u2500   Exported   Maps   \u251c \u2500 \u2500   HDMaps   \u251c \u2500 \u2500   Maps   \u2514 \u2500 \u2500   Static   \u251c \u2500 \u2500   Terrain   \u2502   \u2514 \u2500 \u2500   mapname   \u2502   \u2514 \u2500 \u2500   Static   Meshes   \u2502   \u251c \u2500 \u2500   Road   \u2502   \u2514 \u2500 \u2500   mapname   \u2502   \u2514 \u2500 \u2500   Static   Meshes   \u2502   \u251c \u2500 \u2500   RoadLines   |   \u2514 \u2500 \u2500   mapname   |   \u2514 \u2500 \u2500   Static   Meshes   \u2514 \u2500 \u2500   Sidewalks   \u2514 \u2500 \u2500   mapname   \u2514 \u2500 \u2500   Static   Meshes   14 .   \u5728   \u201c \u6a21\u5f0f ( Modes ) \u201d   \u9762\u677f \u4e2d \uff0c \u641c\u7d22   Open   Drive   Actor   \u5e76 \u5c06 \u5176 \u62d6 \u5230 \u573a\u666f \u4e2d \u3002   15 .   \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \uff0c \u9009\u4e2d   Add   Spawners   \u5e76 \u5355\u51fb   Generate   Routes   \u65c1\u8fb9 \u7684 \u6846 \u3002 \u8fd9 \u5c06 \u5728   < carla - root > / Unreal / CarlaUE4 / Content / Carla / Maps / OpenDrive   \u76ee\u5f55 \u4e2d \u627e\u5230 \u5177\u6709 \u76f8\u540c \u5730\u56fe \u540d\u79f0 \u7684   . xodr   \u6587\u4ef6 \uff0c \u5e76 \u4f7f\u7528 \u5b83 \u6765 \u751f\u6210 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217   RoutePlanner   \u548c   VehicleSpawnPoint   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002","title":"\u624b\u52a8 \u5bfc\u5165  "},{"location":"tuto_M_add_map_alternative/#_5","text":"\u60a8 \u73b0\u5728 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u6253\u5f00 \u5730\u56fe \u5e76 \u8fd0\u884c \u4eff\u771f \u3002 \u4ece \u8fd9\u91cc \uff0c \u60a8 \u5c06 \u80fd\u591f \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u5e76 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u6570\u636e \u3002 \u6211\u4eec \u5efa\u8bae \u5728 \u6240\u6709 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5b8c\u6210 \u540e \u751f\u6210 \u884c\u4eba \u5bfc\u822a \uff0c \u8fd9\u6837 \u5c31 \u4e0d\u4f1a \u6709 \u969c\u788d \u969c\u788d\u7269 \u963b\u6321 \u884c\u4eba \u8def\u5f84 \u3002   Carla   \u63d0\u4f9b \u4e86 \u591a\u79cd \u5de5\u5177 \u548c \u6307\u5357 \u6765 \u5e2e\u52a9 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u5173\u5361 \u3002   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5efa\u8bae \u4f7f\u7528   Carla   \u5305   \u548c   Carla   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   \u6307\u5357 \u4e2d \u8be6\u7ec6 \u4ecb\u7ecd \u7684 \u81ea\u52a8 \u81ea\u52a8\u5316 \u6d41\u7a0b \u6765 \u5bfc\u5165 \u5730\u56fe \uff0c \u4f46\u662f \u5982\u679c \u9700\u8981 \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u672c\u8282 \u4e2d \u5217\u51fa \u7684 \u65b9\u6cd5 \u3002 \u5982\u679c \u60a8 \u5728 \u4f7f\u7528 \u5176\u4ed6 \u65b9\u6cd5 \u65f6 \u9047\u5230 \u4efb\u4f55 \u95ee\u9898 \uff0c \u8bf7 \u968f\u65f6 \u5728 \u8bba\u575b \u4e2d \u53d1\u5e16 \u3002","title":"\u4e0b \u4e00\u6b65  "},{"location":"tuto_M_add_map_package/","text":"\u5728   Carla   \u5305\u4e2d \u5bfc\u5165 \u5730\u56fe   \u672c \u8282 \u4ecb\u7ecd \u5c06 \u5730\u56fe \u5f15\u5165   Carla   \u5305 \uff08 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \uff09 \u7248\u672c   \u7684 \u8fc7\u7a0b \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u7248\u672c \u6765 \u5bfc\u5165 \u5730\u56fe \uff0c \u8bf7 \u9075\u5faa   \u6b64\u5904   \u7684 \u6307\u5357 \u3002   \u6b64 \u8fc7\u7a0b \u4ec5 \u9002\u7528 \u4e8e   Linux   \u7cfb\u7edf \u3002 \u5bfc\u5165 \u8fc7\u7a0b \u6d89\u53ca \u8fd0\u884c \u865a\u5e7b \u5f15\u64ce \u7684   Docker   \u6620\u50cf \u6765 \u5bfc\u5165 \u76f8\u5173 \u6587\u4ef6 \uff0c \u7136\u540e \u5c06 \u5b83\u4eec \u5bfc\u51fa \u4e3a \u72ec\u7acb \u5305 \uff0c \u7136\u540e \u53ef\u4ee5 \u5c06 \u5176 \u914d\u7f6e \u4e3a \u5728   Carla   \u4e2d \u4f7f\u7528 \u3002 \u6784\u5efa   Docker   \u955c\u50cf \u5927\u7ea6 \u9700\u8981   4   \u5c0f\u65f6 \u548c   600 - 700   GB   \u7684 \u65f6\u95f4 \u3002 \u4ec5 \u5728 \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u6784\u5efa \u6620\u50cf \u65f6\u624d \u9700\u8981 \u8fd9\u6837 \u505a \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   Carla   \u5305\u4e2d \u7684 \u5730\u56fe \u5bfc\u5165   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u60a8 \u9700\u8981 \u6ee1\u8db3 \u4ee5\u4e0b \u7cfb\u7edf \u8981\u6c42 \uff1a   Ubuntu   16.04 +   \u4e2d \u7684   64   \u4f4d \u7248\u672c   Docker   \u81f3\u5c11   8GB   RAM   \u7528\u4e8e \u6784\u5efa \u5bb9\u5668 \u6620\u50cf \u7684 \u81f3\u5c11   700   GB   \u53ef\u7528 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4   Git   \u7248\u672c \u63a7\u5236 \u7248\u672c\u63a7\u5236   \u786e\u4fdd \u786e\u4fdd\u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff08 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \uff09 \u7248\u672c \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u7248\u672c \u5bfc\u5165 \u5730\u56fe \uff0c \u8bf7 \u9075\u5faa   \u6b64\u5904   \u7684 \u6307\u5357 \u3002   \u60a8 \u5e94\u8be5 \u81f3\u5c11 \u4f7f\u7528 \u5730\u56fe \u7f16\u8f91 \u7f16\u8f91\u5668 \uff08 \u4f8b\u5982   RoadRunner \uff09 \u5df2   \u751f\u6210   \u7684 \u4e24\u4e2a \u6587\u4ef6   < mapName > . xodr   \u548c   < mapName > . fbx   \u3002   \u8fd9\u4e9b \u6587\u4ef6 \u5e94 \u5177\u6709 \u76f8\u540c \u7684   < mapName >   \u503c \uff0c \u4ee5\u4fbf \u88ab \u8bc6\u522b \u4e3a \u540c\u4e00 \u5730\u56fe \u3002   Carla   \u5305\u4e2d \u7684 \u5730\u56fe \u5bfc\u5165   1 .   Carla   \u63d0\u4f9b \u4e86 \u5728   Docker   \u6620\u50cf \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u4ee5\u53ca \u4f7f\u7528 \u8be5 \u6620\u50cf \u7f16\u8bd1   Carla   \u7684 \u6240\u6709 \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f \u3002 \u8fd9\u4e9b \u5de5\u5177 \u53ef\u4ee5 \u5728   GitHub   \u4e0a \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u4e2d \u627e\u5230 \u3002 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u514b\u9686 \u5b58\u50a8 \u5e93 \uff1a   git   clone   https : / / github . com / carla - simulator / carla   2 .   \u6309\u7167   \u8fd9\u4e9b \u8bf4\u660e   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u7684   Docker   \u6620\u50cf \u3002   3 .   \u521b\u5efa   input _ folder   \u3002 \u8fd9 \u662f \u60a8 \u653e\u7f6e \u8981 \u5bfc\u5165 \u7684 \u6587\u4ef6 \u7684 \u4f4d\u7f6e \u3002   Docker   \u4f1a \u81ea\u52a8 \u521b\u5efa \u4e00\u4e2a   . json   \u6587\u4ef6 \u6765 \u63cf\u8ff0 \u5305 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784 \u3002 \u66f4\u6539   input _ folder   \u7684 \u6743\u9650 \u624d\u80fd \u6210\u529f \u521b\u5efa \uff1a   # Go   to   the   parent   folder ,   where   the   input   folder   is   contained   chmod   777   input _ folder   \u7b14\u8bb0   \u5982\u679c \u5305\u662f   \u624b\u52a8 \u51c6\u5907 \u7684   \uff0c \u5e76\u4e14 \u5df2 \u5305\u542b   . json   \u6587\u4ef6 \uff0c \u5219 \u65e0\u9700 \u6267\u884c \u6b64 \u64cd\u4f5c \u3002   4 .   \u521b\u5efa   output _ folder   \u3002 \u8fd9\u662f   Docker   \u955c\u50cf \u5728 \u70d8\u7119 \u5730\u56fe \u540e \u5199\u5165 \u8f93\u51fa \u6587\u4ef6 \u7684 \u5730\u65b9 \u3002   5 .   \u5bfc\u822a \u81f3   ~ / carla / Util / Docker   \u3002 \u8fd9\u662f \u5bfc\u5165 \u811a\u672c \u6240\u5728 \u7684 \u4f4d\u7f6e \u3002 \u8be5 \u811a\u672c \u9700\u8981   input _ folder   \u548c   output _ folder   \u7684 \u8def\u5f84 \u4ee5\u53ca \u8981 \u5bfc\u5165 \u5305 \u7684 \u540d\u79f0 \u3002 \u5982\u679c \u63d0\u4f9b \u4e86   . json   \u6587\u4ef6 \uff0c \u5219 \u8be5 \u6587\u4ef6 \u7684 \u540d\u79f0 \u662f \u5305 \u540d\u79f0 \uff0c \u5982\u679c \u672a \u63d0\u4f9b   . json   \uff0c \u5219 \u540d\u79f0 \u5fc5\u987b \u4e3a   map _ package   \uff1a   python3   docker _ tools . py   -- input   ~ / path _ to _ input _ folder   -- output   ~ / path _ to _ output _ folder   -- packages   map _ package   \u7b14\u8bb0   \u5982\u679c \u672a \u63d0\u4f9b \u53c2\u6570   -- packages   map _ package   \uff0c Docker   \u955c\u50cf \u5c06 \u5236\u4f5c   Carla   \u5305 \u3002   6 .   \u5305\u5c06 \u5728   output _ folder   \u4e2d \u751f \u6210\u4e3a   < map _ package > . tar . gz   .   \u3002 \u8fd9\u662f \u72ec\u7acb \u5305 \uff0c \u73b0\u5728 \u53ef\u4ee5 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u4e2d \u3002 \u5c06 \u5305 \u79fb\u52a8 \u5230   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \uff08 \u60a8 \u5c06 \u5728 \u5176\u4e2d \u4f7f\u7528 \u5730\u56fe \u7684 \u5305 / \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c \uff09 \u4e2d \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u7136\u540e \u4ece \u76ee\u5f55 \u6839\u76ee\u5f55 \u8fd0\u884c \u4ee5\u4e0b \u811a\u672c \u5c06 \u5176 \u5bfc\u5165 \uff1a   . / ImportAssets . sh   7 .   \u8981 \u4f7f\u7528 \u65b0 \u5730\u56fe \u8fd0\u884c \u4eff\u771f \uff0c \u8bf7 \u8fd0\u884c   Carla \uff0c \u7136\u540e \u4f7f\u7528   config . py   \u6587\u4ef6 \u66f4\u6539 \u5730\u56fe \uff1a   cd   PythonAPI / util   python3   config . py   -- map   < mapName >   \u60a8 \u7684 \u5730\u56fe \u73b0\u5728 \u53ef\u4ee5 \u5728   Carla   \u8fd0\u884c \u4eff\u771f \u4e86 \u3002 \u5982\u679c \u4f60 \u5bf9 \u8fd9\u4e2a \u8fc7\u7a0b \u6709 \u4efb\u4f55 \u95ee\u9898 \uff0c \u4f60 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e0a \u63d0\u95ee \uff0c \u3002 \u4e5f \u53ef\u4ee5 \u5c1d\u8bd5 \u5728 \u4f60 \u7684 \u65b0 \u5730\u56fe \u4e0a \u8fd0\u884c \u6211\u4eec \u7684 \u4e00\u4e9b   \u793a\u4f8b \u811a\u672c   \u6765 \u6d4b\u8bd5 \u5b83 \u3002","title":"\u5728   Carla   \u5305\u4e2d \u5bfc\u5165 \u5730\u56fe"},{"location":"tuto_M_add_map_package/#carla","text":"\u672c \u8282 \u4ecb\u7ecd \u5c06 \u5730\u56fe \u5f15\u5165   Carla   \u5305 \uff08 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \uff09 \u7248\u672c   \u7684 \u8fc7\u7a0b \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u7248\u672c \u6765 \u5bfc\u5165 \u5730\u56fe \uff0c \u8bf7 \u9075\u5faa   \u6b64\u5904   \u7684 \u6307\u5357 \u3002   \u6b64 \u8fc7\u7a0b \u4ec5 \u9002\u7528 \u4e8e   Linux   \u7cfb\u7edf \u3002 \u5bfc\u5165 \u8fc7\u7a0b \u6d89\u53ca \u8fd0\u884c \u865a\u5e7b \u5f15\u64ce \u7684   Docker   \u6620\u50cf \u6765 \u5bfc\u5165 \u76f8\u5173 \u6587\u4ef6 \uff0c \u7136\u540e \u5c06 \u5b83\u4eec \u5bfc\u51fa \u4e3a \u72ec\u7acb \u5305 \uff0c \u7136\u540e \u53ef\u4ee5 \u5c06 \u5176 \u914d\u7f6e \u4e3a \u5728   Carla   \u4e2d \u4f7f\u7528 \u3002 \u6784\u5efa   Docker   \u955c\u50cf \u5927\u7ea6 \u9700\u8981   4   \u5c0f\u65f6 \u548c   600 - 700   GB   \u7684 \u65f6\u95f4 \u3002 \u4ec5 \u5728 \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u6784\u5efa \u6620\u50cf \u65f6\u624d \u9700\u8981 \u8fd9\u6837 \u505a \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   Carla   \u5305\u4e2d \u7684 \u5730\u56fe \u5bfc\u5165","title":"\u5728   Carla   \u5305\u4e2d \u5bfc\u5165 \u5730\u56fe"},{"location":"tuto_M_add_map_package/#_1","text":"\u60a8 \u9700\u8981 \u6ee1\u8db3 \u4ee5\u4e0b \u7cfb\u7edf \u8981\u6c42 \uff1a   Ubuntu   16.04 +   \u4e2d \u7684   64   \u4f4d \u7248\u672c   Docker   \u81f3\u5c11   8GB   RAM   \u7528\u4e8e \u6784\u5efa \u5bb9\u5668 \u6620\u50cf \u7684 \u81f3\u5c11   700   GB   \u53ef\u7528 \u78c1\u76d8 \u7a7a\u95f4 \u78c1\u76d8\u7a7a\u95f4   Git   \u7248\u672c \u63a7\u5236 \u7248\u672c\u63a7\u5236   \u786e\u4fdd \u786e\u4fdd\u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff08 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \uff09 \u7248\u672c \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u7248\u672c \u5bfc\u5165 \u5730\u56fe \uff0c \u8bf7 \u9075\u5faa   \u6b64\u5904   \u7684 \u6307\u5357 \u3002   \u60a8 \u5e94\u8be5 \u81f3\u5c11 \u4f7f\u7528 \u5730\u56fe \u7f16\u8f91 \u7f16\u8f91\u5668 \uff08 \u4f8b\u5982   RoadRunner \uff09 \u5df2   \u751f\u6210   \u7684 \u4e24\u4e2a \u6587\u4ef6   < mapName > . xodr   \u548c   < mapName > . fbx   \u3002   \u8fd9\u4e9b \u6587\u4ef6 \u5e94 \u5177\u6709 \u76f8\u540c \u7684   < mapName >   \u503c \uff0c \u4ee5\u4fbf \u88ab \u8bc6\u522b \u4e3a \u540c\u4e00 \u5730\u56fe \u3002","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"tuto_M_add_map_package/#carla_1","text":"1 .   Carla   \u63d0\u4f9b \u4e86 \u5728   Docker   \u6620\u50cf \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u4ee5\u53ca \u4f7f\u7528 \u8be5 \u6620\u50cf \u7f16\u8bd1   Carla   \u7684 \u6240\u6709 \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f \u3002 \u8fd9\u4e9b \u5de5\u5177 \u53ef\u4ee5 \u5728   GitHub   \u4e0a \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u4e2d \u627e\u5230 \u3002 \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u514b\u9686 \u5b58\u50a8 \u5e93 \uff1a   git   clone   https : / / github . com / carla - simulator / carla   2 .   \u6309\u7167   \u8fd9\u4e9b \u8bf4\u660e   \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u7684   Docker   \u6620\u50cf \u3002   3 .   \u521b\u5efa   input _ folder   \u3002 \u8fd9 \u662f \u60a8 \u653e\u7f6e \u8981 \u5bfc\u5165 \u7684 \u6587\u4ef6 \u7684 \u4f4d\u7f6e \u3002   Docker   \u4f1a \u81ea\u52a8 \u521b\u5efa \u4e00\u4e2a   . json   \u6587\u4ef6 \u6765 \u63cf\u8ff0 \u5305 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784 \u3002 \u66f4\u6539   input _ folder   \u7684 \u6743\u9650 \u624d\u80fd \u6210\u529f \u521b\u5efa \uff1a   # Go   to   the   parent   folder ,   where   the   input   folder   is   contained   chmod   777   input _ folder   \u7b14\u8bb0   \u5982\u679c \u5305\u662f   \u624b\u52a8 \u51c6\u5907 \u7684   \uff0c \u5e76\u4e14 \u5df2 \u5305\u542b   . json   \u6587\u4ef6 \uff0c \u5219 \u65e0\u9700 \u6267\u884c \u6b64 \u64cd\u4f5c \u3002   4 .   \u521b\u5efa   output _ folder   \u3002 \u8fd9\u662f   Docker   \u955c\u50cf \u5728 \u70d8\u7119 \u5730\u56fe \u540e \u5199\u5165 \u8f93\u51fa \u6587\u4ef6 \u7684 \u5730\u65b9 \u3002   5 .   \u5bfc\u822a \u81f3   ~ / carla / Util / Docker   \u3002 \u8fd9\u662f \u5bfc\u5165 \u811a\u672c \u6240\u5728 \u7684 \u4f4d\u7f6e \u3002 \u8be5 \u811a\u672c \u9700\u8981   input _ folder   \u548c   output _ folder   \u7684 \u8def\u5f84 \u4ee5\u53ca \u8981 \u5bfc\u5165 \u5305 \u7684 \u540d\u79f0 \u3002 \u5982\u679c \u63d0\u4f9b \u4e86   . json   \u6587\u4ef6 \uff0c \u5219 \u8be5 \u6587\u4ef6 \u7684 \u540d\u79f0 \u662f \u5305 \u540d\u79f0 \uff0c \u5982\u679c \u672a \u63d0\u4f9b   . json   \uff0c \u5219 \u540d\u79f0 \u5fc5\u987b \u4e3a   map _ package   \uff1a   python3   docker _ tools . py   -- input   ~ / path _ to _ input _ folder   -- output   ~ / path _ to _ output _ folder   -- packages   map _ package   \u7b14\u8bb0   \u5982\u679c \u672a \u63d0\u4f9b \u53c2\u6570   -- packages   map _ package   \uff0c Docker   \u955c\u50cf \u5c06 \u5236\u4f5c   Carla   \u5305 \u3002   6 .   \u5305\u5c06 \u5728   output _ folder   \u4e2d \u751f \u6210\u4e3a   < map _ package > . tar . gz   .   \u3002 \u8fd9\u662f \u72ec\u7acb \u5305 \uff0c \u73b0\u5728 \u53ef\u4ee5 \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u4e2d \u3002 \u5c06 \u5305 \u79fb\u52a8 \u5230   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \uff08 \u60a8 \u5c06 \u5728 \u5176\u4e2d \u4f7f\u7528 \u5730\u56fe \u7684 \u5305 / \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u7248\u672c \uff09 \u4e2d \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff0c \u7136\u540e \u4ece \u76ee\u5f55 \u6839\u76ee\u5f55 \u8fd0\u884c \u4ee5\u4e0b \u811a\u672c \u5c06 \u5176 \u5bfc\u5165 \uff1a   . / ImportAssets . sh   7 .   \u8981 \u4f7f\u7528 \u65b0 \u5730\u56fe \u8fd0\u884c \u4eff\u771f \uff0c \u8bf7 \u8fd0\u884c   Carla \uff0c \u7136\u540e \u4f7f\u7528   config . py   \u6587\u4ef6 \u66f4\u6539 \u5730\u56fe \uff1a   cd   PythonAPI / util   python3   config . py   -- map   < mapName >   \u60a8 \u7684 \u5730\u56fe \u73b0\u5728 \u53ef\u4ee5 \u5728   Carla   \u8fd0\u884c \u4eff\u771f \u4e86 \u3002 \u5982\u679c \u4f60 \u5bf9 \u8fd9\u4e2a \u8fc7\u7a0b \u6709 \u4efb\u4f55 \u95ee\u9898 \uff0c \u4f60 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e0a \u63d0\u95ee \uff0c \u3002 \u4e5f \u53ef\u4ee5 \u5c1d\u8bd5 \u5728 \u4f60 \u7684 \u65b0 \u5730\u56fe \u4e0a \u8fd0\u884c \u6211\u4eec \u7684 \u4e00\u4e9b   \u793a\u4f8b \u811a\u672c   \u6765 \u6d4b\u8bd5 \u5b83 \u3002","title":"Carla   \u5305\u4e2d \u7684 \u5730\u56fe \u5bfc\u5165  "},{"location":"tuto_M_add_map_source/","text":"\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u5165 \u5730\u56fe   \u672c \u8282 \u63cf\u8ff0 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u5165 \u5730\u56fe \u7684 \u8fc7\u7a0b \u3002 \u5982\u679c \u60a8 \u4f7f\u7528   Carla   \u7684 \u5305 \uff08 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \uff09 \u7248\u672c \u6765 \u5bfc\u5165 \u5730\u56fe \uff0c \u8bf7 \u6309\u7167   \u6b64\u5904   \u7684 \u6307\u5357 \u8fdb\u884c \u64cd\u4f5c \u3002   \u5bfc\u5165 \u8fc7\u7a0b \u6d89\u53ca \u901a\u8fc7 \u5c06 \u76f8\u5173 \u5730\u56fe \u6587\u4ef6 \u7f16\u8bd1 \u5230 \u5305\u4e2d\u6765 \u5bfc\u5165 \u5b83\u4eec \u3002 \u7136\u540e \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u6253\u5f00 \u8be5\u5305 \u5e76 \u8fdb\u884c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \uff0c \u7136\u540e \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u6587\u4ef6 \u5e76 \u6700\u7ec8 \u5c06 \u5176 \u6dfb\u52a0 \u5230 \u5305\u4e2d \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5730\u56fe \u5bfc\u5165   \u4e0b \u4e00\u6b65   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u786e\u4fdd \u786e\u4fdd\u60a8 \u4f7f\u7528 \u7684 \u662f\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u7248\u672c \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u7684 \u6253\u5305 \uff08 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \uff09 \u7248\u672c \uff0c \u8bf7 \u6309\u7167   \u6b64\u5904   \u7684 \u6559\u7a0b \u8fdb\u884c \u64cd\u4f5c \u3002   \u60a8 \u5e94\u8be5 \u81f3\u5c11 \u6709 \u4e24\u4e2a \u6587\u4ef6 \uff0c   < mapName > . xodr   \u548c   < mapName > . fbx   \uff0c \u662f \u7531 \u5730\u56fe \u7f16\u8f91 \u7f16\u8f91\u5668 \uff08 \u4f8b\u5982   RoadRunner \uff09 \u751f\u6210 \u7684 \u3002   \u8fd9\u4e9b \u6587\u4ef6 \u5e94 \u5177\u6709 \u76f8\u540c \u7684 \u503c   < mapName >   \uff0c \u4ee5\u4fbf \u88ab \u8bc6\u522b \u4e3a \u76f8\u540c \u7684 \u5730\u56fe \u3002   \u60a8 \u53ef\u4ee5 \u5c06 \u591a\u4e2a \u5730\u56fe \u63d0\u53d6 \u5230 \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u5305\u4e2d \u3002 \u6bcf\u5f20 \u5730\u56fe \u90fd \u5e94\u8be5 \u6709 \u4e00\u4e2a \u552f\u4e00 \u7684 \u540d\u79f0 \u3002   \u5730\u56fe \u5bfc\u5165   1 .   \u5c06 \u9700\u8981 \u5bfc\u5165 \u7684 \u5730\u56fe \u6587\u4ef6 \u653e\u5165   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e0b \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   2 .   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u63d0\u53d6 \u6587\u4ef6 \uff1a   make   import   \u8bf7 \u6ce8\u610f \uff0c \u53ef\u4ee5 \u8bbe\u7f6e \u4e24\u4e2a \u53ef \u9009 \u53c2\u6570 \u6807\u5fd7   :   -- package = < package _ name >   \u6307\u5b9a \u5305 \u7684 \u540d\u79f0 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u6b64\u9879 \u8bbe\u7f6e \u4e3a   map _ package   \u3002 \u4e24\u4e2a \u5305 \u4e0d\u80fd \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \uff0c \u56e0\u6b64 \u4f7f\u7528 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u5c06 \u5bfc\u81f4 \u540e\u7eed \u6444\u53d6 \u65f6 \u51fa\u9519 \u3002   \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u66f4\u6539 \u5305 \u7684 \u540d\u79f0   \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- package = < package _ name > \"   -- no - carla - materials   \u6307\u5b9a \u60a8 \u4e0d\u60f3 \u4f7f\u7528 \u9ed8\u8ba4 \u7684   Carla   \u6750\u8d28 \uff08 \u9053\u8def \u7eb9\u7406 \u7b49 \uff09 \u3002 \u60a8 \u5c06 \u6539\u7528   RoadRunner   \u6750\u6599 \u3002   \u4ec5 \u5f53 \u60a8 \u4e0d \u63d0\u4f9b   \u81ea\u5df1 \u7684   . json   \u6587\u4ef6   \u65f6\u624d \u9700\u8981 \u6b64 \u6807\u5fd7 \u3002   . json   \u6587\u4ef6 \u4e2d \u7684 \u4efb\u4f55 \u503c \u90fd \u5c06 \u8986\u76d6 \u6b64 \u6807\u5fd7 \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- no - carla - materials \"   \u5c06 \u4f7f\u7528 \u5730\u56fe \u5730\u56fe\u5305 \u7684 \u540d\u79f0 \u521b\u5efa \u4e00\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   Unreal / CarlaUE4 / Content   \u3002 \u5b83 \u5c06 \u5305\u542b \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3001 \u8d85\u901f \u6321 \u3001 \u9759\u6001 \u8d44\u4ea7 \u4fe1\u606f \u548c \u5bfc\u822a \u4fe1\u606f \u3002   \u4e0b \u4e00\u6b65   \u60a8 \u73b0\u5728 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u6253\u5f00 \u5730\u56fe \u5e76 \u8fd0\u884c \u4eff\u771f \u3002 \u4ece \u8fd9\u91cc \uff0c \u60a8 \u5c06 \u80fd\u591f \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u5e76 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u6570\u636e \u3002 \u6211\u4eec \u5efa\u8bae \u5728 \u6240\u6709 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5b8c\u6210 \u540e \u751f\u6210 \u884c\u4eba \u5bfc\u822a \uff0c \u8fd9\u6837 \u5c31 \u4e0d\u4f1a \u6709 \u969c\u788d \u969c\u788d\u7269 \u963b\u6321 \u884c\u4eba \u8def\u5f84 \u3002   Carla   \u63d0\u4f9b \u4e86 \u591a\u79cd \u5de5\u5177 \u548c \u6307\u5357 \u6765 \u5e2e\u52a9 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u5173\u5361 \u3002   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002","title":"\u4ece \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u5165 \u5730\u56fe"},{"location":"tuto_M_add_map_source/#carla","text":"\u672c \u8282 \u63cf\u8ff0 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u5165 \u5730\u56fe \u7684 \u8fc7\u7a0b \u3002 \u5982\u679c \u60a8 \u4f7f\u7528   Carla   \u7684 \u5305 \uff08 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \uff09 \u7248\u672c \u6765 \u5bfc\u5165 \u5730\u56fe \uff0c \u8bf7 \u6309\u7167   \u6b64\u5904   \u7684 \u6307\u5357 \u8fdb\u884c \u64cd\u4f5c \u3002   \u5bfc\u5165 \u8fc7\u7a0b \u6d89\u53ca \u901a\u8fc7 \u5c06 \u76f8\u5173 \u5730\u56fe \u6587\u4ef6 \u7f16\u8bd1 \u5230 \u5305\u4e2d\u6765 \u5bfc\u5165 \u5b83\u4eec \u3002 \u7136\u540e \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u6253\u5f00 \u8be5\u5305 \u5e76 \u8fdb\u884c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \uff0c \u7136\u540e \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u6587\u4ef6 \u5e76 \u6700\u7ec8 \u5c06 \u5176 \u6dfb\u52a0 \u5230 \u5305\u4e2d \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5730\u56fe \u5bfc\u5165   \u4e0b \u4e00\u6b65","title":"\u4ece \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u4e2d \u5bfc\u5165 \u5730\u56fe"},{"location":"tuto_M_add_map_source/#_1","text":"\u786e\u4fdd \u786e\u4fdd\u60a8 \u4f7f\u7528 \u7684 \u662f\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u7248\u672c \u3002 \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u7684 \u6253\u5305 \uff08 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \uff09 \u7248\u672c \uff0c \u8bf7 \u6309\u7167   \u6b64\u5904   \u7684 \u6559\u7a0b \u8fdb\u884c \u64cd\u4f5c \u3002   \u60a8 \u5e94\u8be5 \u81f3\u5c11 \u6709 \u4e24\u4e2a \u6587\u4ef6 \uff0c   < mapName > . xodr   \u548c   < mapName > . fbx   \uff0c \u662f \u7531 \u5730\u56fe \u7f16\u8f91 \u7f16\u8f91\u5668 \uff08 \u4f8b\u5982   RoadRunner \uff09 \u751f\u6210 \u7684 \u3002   \u8fd9\u4e9b \u6587\u4ef6 \u5e94 \u5177\u6709 \u76f8\u540c \u7684 \u503c   < mapName >   \uff0c \u4ee5\u4fbf \u88ab \u8bc6\u522b \u4e3a \u76f8\u540c \u7684 \u5730\u56fe \u3002   \u60a8 \u53ef\u4ee5 \u5c06 \u591a\u4e2a \u5730\u56fe \u63d0\u53d6 \u5230 \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u5305\u4e2d \u3002 \u6bcf\u5f20 \u5730\u56fe \u90fd \u5e94\u8be5 \u6709 \u4e00\u4e2a \u552f\u4e00 \u7684 \u540d\u79f0 \u3002","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"tuto_M_add_map_source/#_2","text":"1 .   \u5c06 \u9700\u8981 \u5bfc\u5165 \u7684 \u5730\u56fe \u6587\u4ef6 \u653e\u5165   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e0b \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   2 .   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u63d0\u53d6 \u6587\u4ef6 \uff1a   make   import   \u8bf7 \u6ce8\u610f \uff0c \u53ef\u4ee5 \u8bbe\u7f6e \u4e24\u4e2a \u53ef \u9009 \u53c2\u6570 \u6807\u5fd7   :   -- package = < package _ name >   \u6307\u5b9a \u5305 \u7684 \u540d\u79f0 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u6b64\u9879 \u8bbe\u7f6e \u4e3a   map _ package   \u3002 \u4e24\u4e2a \u5305 \u4e0d\u80fd \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \uff0c \u56e0\u6b64 \u4f7f\u7528 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u5c06 \u5bfc\u81f4 \u540e\u7eed \u6444\u53d6 \u65f6 \u51fa\u9519 \u3002   \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u66f4\u6539 \u5305 \u7684 \u540d\u79f0   \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- package = < package _ name > \"   -- no - carla - materials   \u6307\u5b9a \u60a8 \u4e0d\u60f3 \u4f7f\u7528 \u9ed8\u8ba4 \u7684   Carla   \u6750\u8d28 \uff08 \u9053\u8def \u7eb9\u7406 \u7b49 \uff09 \u3002 \u60a8 \u5c06 \u6539\u7528   RoadRunner   \u6750\u6599 \u3002   \u4ec5 \u5f53 \u60a8 \u4e0d \u63d0\u4f9b   \u81ea\u5df1 \u7684   . json   \u6587\u4ef6   \u65f6\u624d \u9700\u8981 \u6b64 \u6807\u5fd7 \u3002   . json   \u6587\u4ef6 \u4e2d \u7684 \u4efb\u4f55 \u503c \u90fd \u5c06 \u8986\u76d6 \u6b64 \u6807\u5fd7 \u3002 \u901a\u8fc7 \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u6765 \u4f7f\u7528 \u6b64 \u6807\u5fd7 \uff1a   make   import   ARGS = \" -- no - carla - materials \"   \u5c06 \u4f7f\u7528 \u5730\u56fe \u5730\u56fe\u5305 \u7684 \u540d\u79f0 \u521b\u5efa \u4e00\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   Unreal / CarlaUE4 / Content   \u3002 \u5b83 \u5c06 \u5305\u542b \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3001 \u8d85\u901f \u6321 \u3001 \u9759\u6001 \u8d44\u4ea7 \u4fe1\u606f \u548c \u5bfc\u822a \u4fe1\u606f \u3002","title":"\u5730\u56fe \u5bfc\u5165  "},{"location":"tuto_M_add_map_source/#_3","text":"\u60a8 \u73b0\u5728 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u6253\u5f00 \u5730\u56fe \u5e76 \u8fd0\u884c \u4eff\u771f \u3002 \u4ece \u8fd9\u91cc \uff0c \u60a8 \u5c06 \u80fd\u591f \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u5e76 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u6570\u636e \u3002 \u6211\u4eec \u5efa\u8bae \u5728 \u6240\u6709 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5b8c\u6210 \u540e \u751f\u6210 \u884c\u4eba \u5bfc\u822a \uff0c \u8fd9\u6837 \u5c31 \u4e0d\u4f1a \u6709 \u969c\u788d \u969c\u788d\u7269 \u963b\u6321 \u884c\u4eba \u8def\u5f84 \u3002   Carla   \u63d0\u4f9b \u4e86 \u591a\u79cd \u5de5\u5177 \u548c \u6307\u5357 \u6765 \u5e2e\u52a9 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u5173\u5361 \u3002   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002","title":"\u4e0b \u4e00\u6b65  "},{"location":"tuto_M_custom_add_tl/","text":"\u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7   \u672c \u6307\u5357 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u6dfb\u52a0 \u5230 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u3001 \u914d\u7f6e \u6bcf\u4e2a \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u7684 \u5f71\u54cd \u533a\u57df \uff0c \u4ee5\u53ca \u5982\u4f55 \u5728 \u8def\u53e3 \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u914d\u7f6e \u4e3a \u4e00\u7ec4 \u3002 \u6b64 \u9009\u9879 \u4ec5 \u9002\u7528 \u4e8e \u6709\u6743 \u8bbf\u95ee \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u7528\u6237 \u3002   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7   \u4e0b \u4e00\u6b65   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f   \u8981 \u5c06 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u6dfb\u52a0 \u5230 \u65b0 \u5730\u56fe \uff1a   1 .   \u4ece   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \uff0c \u5bfc\u822a \u81f3   Content / Carla / Static / TrafficLight / StreetLights _ 01   \u3002 \u60a8 \u4f1a \u53d1\u73b0 \u51e0\u79cd \u4e0d\u540c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u84dd\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002   2 .   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u62d6 \u5230 \u573a\u666f \u4e2d \u5e76 \u5c06 \u5176 \u653e\u7f6e \u5728 \u6240 \u9700 \u4f4d\u7f6e \u3002 \u6309 \u952e\u76d8 \u4e0a \u7684 \u7a7a\u683c \u7a7a\u683c\u952e \u53ef \u5728 \u5b9a\u4f4d \u3001 \u65cb\u8f6c \u548c \u7f29\u653e \u5de5\u5177 \u4e4b\u95f4 \u5207\u6362 \u3002   3 .   \u901a\u8fc7 \u5728   Details   \u9762\u677f \u4e2d \u9009\u62e9   BoxTrigger   \u7ec4\u4ef6 \u5e76 \u8c03\u6574   Transform   \u90e8\u5206 \u4e2d \u7684 \u503c \uff0c \u8c03\u6574 \u6bcf\u4e2a \u4ea4\u901a \u4ea4\u901a\u706f \u7684   trigger   volume   \u3002 \u8fd9 \u5c06 \u786e\u5b9a \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5f71\u54cd \u533a\u57df \u3002   4 .   \u5bf9\u4e8e \u8fde\u63a5 \u63a5\u70b9 \u8fde\u63a5\u70b9 \uff0c \u5c06   BP _ TrafficLightGroup   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u62d6\u5165 \u5173\u5361 \u4e2d \u3002 \u901a\u8fc7 \u5c06 \u4ea4\u6c47 \u4ea4\u6c47\u5904 \u7684 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u6dfb\u52a0 \u5230 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u201d \u9762\u677f \u4e2d \u7684 \u201c \u4ea4\u901a \u4ea4\u901a\u706f \u201d \u6570\u7ec4 \uff0c \u5c06 \u5b83\u4eec \u5206\u914d \u7ed9 \u4ea4\u901a \u4ea4\u901a\u706f \u7ec4 \u3002   5 .   \u4ea4\u901a \u4ea4\u901a\u706f \u8ba1\u65f6 \u53ea\u80fd \u901a\u8fc7   Python   API   \u8fdb\u884c \u914d\u7f6e \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u6b64\u5904   \u7684 \u6587\u6863 \u4ee5 \u83b7\u53d6 \u66f4 \u591a \u4fe1\u606f \u3002   \u4f8b\u5982 \uff1a \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3001 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u548c \u8f6c\u5f2f \u505c\u8f66 \u3002   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u6807\u5fd7   \u8981 \u5c06 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u6dfb\u52a0 \u5230 \u65b0 \u5730\u56fe \uff1a   1 .   \u4ece   Content   Browser   \uff0c \u5bfc\u822a \u81f3   Content / Carla / Static / TrafficSign   \u3002 \u60a8 \u4f1a \u53d1\u73b0 \u51e0\u79cd \u4e0d\u540c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u84dd\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002   2 .   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u62d6 \u5230 \u573a\u666f \u4e2d \u5e76 \u5c06 \u5176 \u653e\u7f6e \u5728 \u6240 \u9700 \u4f4d\u7f6e \u3002 \u6309 \u952e\u76d8 \u4e0a \u7684 \u7a7a\u683c \u7a7a\u683c\u952e \u53ef \u5728 \u5b9a\u4f4d \u3001 \u65cb\u8f6c \u548c \u7f29\u653e \u5de5\u5177 \u4e4b\u95f4 \u5207\u6362 \u3002   3 .   \u901a\u8fc7 \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u201d \u9762\u677f \u4e2d \u9009\u62e9   BoxTrigger   \u7ec4\u4ef6 \u5e76 \u8c03\u6574   Transform   \u90e8\u5206 \u4e2d \u7684 \u503c \uff0c \u8c03\u6574   trigger   volume   \u6bcf\u4e2a \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u7684 \u3002 \u8fd9 \u5c06 \u786e\u5b9a \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5f71\u54cd \u533a\u57df \u3002 \u5e76\u975e \u6240\u6709 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u90fd \u6709 \u89e6\u53d1 \u97f3\u91cf \u3002 \u6b64\u7c7b \u6807\u5fd7 \u5305\u62ec \u8ba9 \u884c \u6807\u5fd7 \u3001 \u505c\u8f66 \u6807\u5fd7 \u548c \u9650\u901f \u6807\u5fd7 \u3002   \u4e0b \u4e00\u6b65   \u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u5173\u5361 \u3002   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u751f\u6210   \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u4ea4\u901a\u706f \u548c \u6807\u5fd7"},{"location":"tuto_M_custom_add_tl/#_1","text":"\u672c \u6307\u5357 \u4ecb\u7ecd \u4e86 \u5982\u4f55 \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u6dfb\u52a0 \u5230 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u3001 \u914d\u7f6e \u6bcf\u4e2a \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u7684 \u5f71\u54cd \u533a\u57df \uff0c \u4ee5\u53ca \u5982\u4f55 \u5728 \u8def\u53e3 \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u914d\u7f6e \u4e3a \u4e00\u7ec4 \u3002 \u6b64 \u9009\u9879 \u4ec5 \u9002\u7528 \u4e8e \u6709\u6743 \u8bbf\u95ee \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u7528\u6237 \u3002   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7   \u4e0b \u4e00\u6b65","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u4ea4\u901a\u706f \u548c \u6807\u5fd7"},{"location":"tuto_M_custom_add_tl/#_2","text":"\u8981 \u5c06 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u6dfb\u52a0 \u5230 \u65b0 \u5730\u56fe \uff1a   1 .   \u4ece   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \uff0c \u5bfc\u822a \u81f3   Content / Carla / Static / TrafficLight / StreetLights _ 01   \u3002 \u60a8 \u4f1a \u53d1\u73b0 \u51e0\u79cd \u4e0d\u540c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u84dd\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002   2 .   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u62d6 \u5230 \u573a\u666f \u4e2d \u5e76 \u5c06 \u5176 \u653e\u7f6e \u5728 \u6240 \u9700 \u4f4d\u7f6e \u3002 \u6309 \u952e\u76d8 \u4e0a \u7684 \u7a7a\u683c \u7a7a\u683c\u952e \u53ef \u5728 \u5b9a\u4f4d \u3001 \u65cb\u8f6c \u548c \u7f29\u653e \u5de5\u5177 \u4e4b\u95f4 \u5207\u6362 \u3002   3 .   \u901a\u8fc7 \u5728   Details   \u9762\u677f \u4e2d \u9009\u62e9   BoxTrigger   \u7ec4\u4ef6 \u5e76 \u8c03\u6574   Transform   \u90e8\u5206 \u4e2d \u7684 \u503c \uff0c \u8c03\u6574 \u6bcf\u4e2a \u4ea4\u901a \u4ea4\u901a\u706f \u7684   trigger   volume   \u3002 \u8fd9 \u5c06 \u786e\u5b9a \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5f71\u54cd \u533a\u57df \u3002   4 .   \u5bf9\u4e8e \u8fde\u63a5 \u63a5\u70b9 \u8fde\u63a5\u70b9 \uff0c \u5c06   BP _ TrafficLightGroup   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u62d6\u5165 \u5173\u5361 \u4e2d \u3002 \u901a\u8fc7 \u5c06 \u4ea4\u6c47 \u4ea4\u6c47\u5904 \u7684 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u6dfb\u52a0 \u5230 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u201d \u9762\u677f \u4e2d \u7684 \u201c \u4ea4\u901a \u4ea4\u901a\u706f \u201d \u6570\u7ec4 \uff0c \u5c06 \u5b83\u4eec \u5206\u914d \u7ed9 \u4ea4\u901a \u4ea4\u901a\u706f \u7ec4 \u3002   5 .   \u4ea4\u901a \u4ea4\u901a\u706f \u8ba1\u65f6 \u53ea\u80fd \u901a\u8fc7   Python   API   \u8fdb\u884c \u914d\u7f6e \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u6b64\u5904   \u7684 \u6587\u6863 \u4ee5 \u83b7\u53d6 \u66f4 \u591a \u4fe1\u606f \u3002   \u4f8b\u5982 \uff1a \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3001 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u548c \u8f6c\u5f2f \u505c\u8f66 \u3002","title":"\u7ea2\u7eff\u706f  "},{"location":"tuto_M_custom_add_tl/#_3","text":"\u8981 \u5c06 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u6dfb\u52a0 \u5230 \u65b0 \u5730\u56fe \uff1a   1 .   \u4ece   Content   Browser   \uff0c \u5bfc\u822a \u81f3   Content / Carla / Static / TrafficSign   \u3002 \u60a8 \u4f1a \u53d1\u73b0 \u51e0\u79cd \u4e0d\u540c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u84dd\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002   2 .   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u62d6 \u5230 \u573a\u666f \u4e2d \u5e76 \u5c06 \u5176 \u653e\u7f6e \u5728 \u6240 \u9700 \u4f4d\u7f6e \u3002 \u6309 \u952e\u76d8 \u4e0a \u7684 \u7a7a\u683c \u7a7a\u683c\u952e \u53ef \u5728 \u5b9a\u4f4d \u3001 \u65cb\u8f6c \u548c \u7f29\u653e \u5de5\u5177 \u4e4b\u95f4 \u5207\u6362 \u3002   3 .   \u901a\u8fc7 \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u201d \u9762\u677f \u4e2d \u9009\u62e9   BoxTrigger   \u7ec4\u4ef6 \u5e76 \u8c03\u6574   Transform   \u90e8\u5206 \u4e2d \u7684 \u503c \uff0c \u8c03\u6574   trigger   volume   \u6bcf\u4e2a \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u7684 \u3002 \u8fd9 \u5c06 \u786e\u5b9a \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5f71\u54cd \u533a\u57df \u3002 \u5e76\u975e \u6240\u6709 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u90fd \u6709 \u89e6\u53d1 \u97f3\u91cf \u3002 \u6b64\u7c7b \u6807\u5fd7 \u5305\u62ec \u8ba9 \u884c \u6807\u5fd7 \u3001 \u505c\u8f66 \u6807\u5fd7 \u548c \u9650\u901f \u6807\u5fd7 \u3002","title":"\u7ea2\u7eff\u706f \u6807\u5fd7  "},{"location":"tuto_M_custom_add_tl/#_4","text":"\u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u5173\u5361 \u3002   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u751f\u6210   \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002","title":"\u4e0b \u4e00\u6b65  "},{"location":"tuto_M_custom_buildings/","text":"\u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51   \u5efa\u7b51 \u7ed3\u6784   \u7ed3\u6784 \u4fee\u6539   \u4e0b \u4e00\u6b65   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51   \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177 \u5141\u8bb8 \u60a8 \u521b\u5efa \u7531 \u4e0d\u540c \u697c\u5c42 \u7ec4\u6210 \u7684 \u77e9\u5f62 \u5efa\u7b51 \u3002 \u6bcf\u4e2a \u7ea7\u522b \u90fd \u662f \u4f7f\u7528 \u53ef \u914d\u7f6e \u7684 \u7f51\u683c \u9635\u5217 \u6216 \u5355\u4e2a \u84dd\u56fe \u6784\u5efa \u7684 \u3002 \u5982\u679c \u4f7f\u7528 \u7f51\u683c \u9635\u5217 \uff0c \u5219 \u6bcf\u4e2a \u7f51\u683c \u5c06 \u6cbf \u5173\u5361 \u968f\u673a \u91cd\u590d \u4ee5 \u63d0\u4f9b \u591a\u6837 \u591a\u6837\u6027 \u3002 \u7f51\u683c \u4f53 \u521b\u5efa \u4e00\u6b21 \uff0c \u6bcf\u4e2a \u91cd\u590d \u90fd \u5c06 \u662f \u8be5 \u7f51\u683c \u4f53 \u7684 \u4e00\u4e2a \u5b9e\u4f8b \u3002 \u8fd9 \u53ef\u4ee5 \u63d0\u9ad8 \u5730\u56fe \u7684 \u6027\u80fd \u3002   \u5efa\u7b51 \u7ed3\u6784   \u8981 \u5f00\u59cb \u5efa\u9020 \u60a8 \u7684 \u5efa\u7b51 \uff1a   \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Content / Carla / Blueprints / LevelDesign   \u3002   \u5c06   BP _ Procedural _ Building   \u62d6\u5165 \u573a\u666f \u4e2d \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u60a8 \u5c06 \u770b\u5230 \u53ef \u7528\u4e8e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u6240\u6709 \u9009\u9879 \u3002 \u6bcf\u6b21 \u5728 \u6b64\u5904 \u8fdb\u884c \u66f4\u6539 \u65f6 \uff0c \u968f\u7740 \u5173\u952e \u7f51\u683c \u4f53 \u7684 \u66f4\u65b0 \uff0c \u5efa\u7b51 \u5efa\u7b51\u7269 \u5c06 \u4ece \u573a\u666f \u89c6\u56fe \u4e2d \u6d88\u5931 \u3002 \u5355\u51fb   Create   Building   \u4ee5 \u67e5\u770b \u65b0 \u7ed3\u679c \uff0c \u6216 \u542f\u7528 \u81ea\u52a8 \u521b\u5efa \u4ee5 \u907f\u514d \u91cd\u590d \u6b64 \u6b65\u9aa4 \u3002   \u5173\u952e \u7f51\u683c \u662f \u5efa\u7b51 \u5efa\u7b51\u7269 \u7ed3\u6784 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u5b83\u4eec \u5206\u4e3a \u56db\u7c7b \uff1a   Base :   \u5e95\u5c42 \u3002   Body :   \u4e2d\u5c42 \u3002   Top :   \u6700\u9ad8 \u9ad8\u5c42 \u6700\u9ad8\u5c42 \u3002   Roof :   \u8986\u76d6 \u9876\u5c42 \u7684 \u5c4b\u9876 \u3002   \u5bf9\u4e8e \u6bcf\u4e2a \u6a21\u578b \uff0c \u9664\u4e86 \u5c4b\u9876   Roof   \u4e4b\u5916 \uff0c \u90fd \u6709 \u4e00\u4e2a \u7f51\u683c \u4f53 \u586b\u5145 \u5730\u677f \u7684 \u4e2d\u5fc3 \uff0c \u8fd8\u6709 \u4e00\u4e2a   Corner   \u7f51\u683c \u4f53\u5c06 \u653e\u7f6e \u5728 \u5730\u677f \u7684 \u4e24\u4fa7 \u3002 \u4e0b\u56fe \u4ee3\u8868 \u4e86 \u5168\u5c40 \u7ed3\u6784 \u3002   \u5efa\u7b51 \u7ed3\u6784 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570   Base   parameters   \u8bbe\u7f6e \u5c3a\u5bf8 \u3002   \u697c\u5c42 \u6570 \uff1a   \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u697c\u5c42 \u6570 \u3002 \u8eab\u4f53 \u7f51\u683c   Body   \u7684 \u91cd\u590d \u3002   \u957f\u5ea6   X   \u548c   \u957f\u5ea6   Y \uff1a   \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u957f\u5ea6 \u548c \u5bbd\u5ea6 \u3002 \u5efa\u7b51 \u5efa\u7b51\u7269 \u6bcf \u4e00\u4fa7 \u7684 \u4e2d\u592e \u7f51\u683c \u91cd\u590d \u3002   BP _ Procedural _ Building   \u793a\u4f8b \u3002   \u7ed3\u6784 \u4fee\u6539   \u8fd8\u6709 \u4e00\u4e9b \u989d\u5916 \u7684 \u9009\u9879 \u53ef\u4ee5 \u4fee\u6539 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u603b\u4f53 \u7ed3\u6784 \u3002   Disable   corners :   \u5982\u679c \u9009\u62e9 \uff0c \u5c06 \u4e0d \u4f7f\u7528 \u89d2 \u7f51\u683c \u3002   Use   full   blocks :   \u5982\u679c \u9009\u62e9 \u6b64 \u9009\u9879 \uff0c \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u7ed3\u6784 \u6bcf\u5c42 \u5c06 \u4ec5 \u4f7f\u7528 \u4e00\u4e2a \u7f51\u683c \u3002 \u6bcf \u5c42\u697c \u4e0d\u4f1a \u51fa\u73b0 \u4efb\u4f55 \u89d2\u843d \u6216 \u91cd\u590d \u3002   Doors :   \u51fa\u73b0 \u5728 \u5e95\u5c42 \u3001 \u4f4d\u4e8e \u4e2d\u592e \u7f51\u683c \u7269\u4f53 \u6b63\u524d \u524d\u65b9 \u6b63\u524d\u65b9 \u7684 \u7f51\u683c \u7269\u4f53 \u3002 \u95e8 \u7684 \u6570\u91cf \u53ca\u5176 \u4f4d\u7f6e \u53ef\u4ee5 \u8bbe\u7f6e \u3002   0   \u662f \u521d\u59cb \u4f4d\u7f6e \u3001   1   \u662f \u4e0b \u4e00\u4e2a \u5e95\u5c42 \u91cd\u590d \u7b49 \u3002   Walls :   \u66ff\u4ee3 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e00\u4fa7 \u6216\u591a\u4fa7 \u7684 \u7f51\u683c \u3002 \u4f8b\u5982 \uff0c \u5e73\u9762 \u7f51\u683c \u53ef \u7528\u4e8e \u7ed8\u5236 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u4e00\u4fa7 \u3002   \u5de6\u8fb9 \u662f \u4e00\u5ea7 \u6ca1\u6709 \u89d2 \u3001 \u53ea\u6709 \u4e00\u6247 \u6247\u95e8 \u4e00\u6247\u95e8 \u7684 \u5efa\u7b51 \u3002   \u53f3\u4fa7 \u662f \u4e00\u5ea7 \u5efa\u7b51 \u5efa\u7b51\u7269 \uff0c \u5176 \u4e00\u4fa7 \u5e94\u7528 \u4e86 \u5899\u58c1 \u3002 \u5899\u58c1 \u662f \u6ca1\u6709 \u9632\u706b \u901a\u9053 \u7684 \u7eb9\u7406 \u3002   \u4e0b \u4e00\u6b65   \u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u84dd\u56fe \u3002   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u7a0b\u5e8f\u5316 \u5efa\u7b51"},{"location":"tuto_M_custom_buildings/#_1","text":"\u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51   \u5efa\u7b51 \u7ed3\u6784   \u7ed3\u6784 \u4fee\u6539   \u4e0b \u4e00\u6b65","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u7a0b\u5e8f\u5316 \u5efa\u7b51"},{"location":"tuto_M_custom_buildings/#_2","text":"\u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5de5\u5177 \u5141\u8bb8 \u60a8 \u521b\u5efa \u7531 \u4e0d\u540c \u697c\u5c42 \u7ec4\u6210 \u7684 \u77e9\u5f62 \u5efa\u7b51 \u3002 \u6bcf\u4e2a \u7ea7\u522b \u90fd \u662f \u4f7f\u7528 \u53ef \u914d\u7f6e \u7684 \u7f51\u683c \u9635\u5217 \u6216 \u5355\u4e2a \u84dd\u56fe \u6784\u5efa \u7684 \u3002 \u5982\u679c \u4f7f\u7528 \u7f51\u683c \u9635\u5217 \uff0c \u5219 \u6bcf\u4e2a \u7f51\u683c \u5c06 \u6cbf \u5173\u5361 \u968f\u673a \u91cd\u590d \u4ee5 \u63d0\u4f9b \u591a\u6837 \u591a\u6837\u6027 \u3002 \u7f51\u683c \u4f53 \u521b\u5efa \u4e00\u6b21 \uff0c \u6bcf\u4e2a \u91cd\u590d \u90fd \u5c06 \u662f \u8be5 \u7f51\u683c \u4f53 \u7684 \u4e00\u4e2a \u5b9e\u4f8b \u3002 \u8fd9 \u53ef\u4ee5 \u63d0\u9ad8 \u5730\u56fe \u7684 \u6027\u80fd \u3002","title":"\u7a0b\u5e8f\u5316 \u5efa\u7b51  "},{"location":"tuto_M_custom_buildings/#_3","text":"\u8981 \u5f00\u59cb \u5efa\u9020 \u60a8 \u7684 \u5efa\u7b51 \uff1a   \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Content / Carla / Blueprints / LevelDesign   \u3002   \u5c06   BP _ Procedural _ Building   \u62d6\u5165 \u573a\u666f \u4e2d \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u60a8 \u5c06 \u770b\u5230 \u53ef \u7528\u4e8e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u6240\u6709 \u9009\u9879 \u3002 \u6bcf\u6b21 \u5728 \u6b64\u5904 \u8fdb\u884c \u66f4\u6539 \u65f6 \uff0c \u968f\u7740 \u5173\u952e \u7f51\u683c \u4f53 \u7684 \u66f4\u65b0 \uff0c \u5efa\u7b51 \u5efa\u7b51\u7269 \u5c06 \u4ece \u573a\u666f \u89c6\u56fe \u4e2d \u6d88\u5931 \u3002 \u5355\u51fb   Create   Building   \u4ee5 \u67e5\u770b \u65b0 \u7ed3\u679c \uff0c \u6216 \u542f\u7528 \u81ea\u52a8 \u521b\u5efa \u4ee5 \u907f\u514d \u91cd\u590d \u6b64 \u6b65\u9aa4 \u3002   \u5173\u952e \u7f51\u683c \u662f \u5efa\u7b51 \u5efa\u7b51\u7269 \u7ed3\u6784 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u5b83\u4eec \u5206\u4e3a \u56db\u7c7b \uff1a   Base :   \u5e95\u5c42 \u3002   Body :   \u4e2d\u5c42 \u3002   Top :   \u6700\u9ad8 \u9ad8\u5c42 \u6700\u9ad8\u5c42 \u3002   Roof :   \u8986\u76d6 \u9876\u5c42 \u7684 \u5c4b\u9876 \u3002   \u5bf9\u4e8e \u6bcf\u4e2a \u6a21\u578b \uff0c \u9664\u4e86 \u5c4b\u9876   Roof   \u4e4b\u5916 \uff0c \u90fd \u6709 \u4e00\u4e2a \u7f51\u683c \u4f53 \u586b\u5145 \u5730\u677f \u7684 \u4e2d\u5fc3 \uff0c \u8fd8\u6709 \u4e00\u4e2a   Corner   \u7f51\u683c \u4f53\u5c06 \u653e\u7f6e \u5728 \u5730\u677f \u7684 \u4e24\u4fa7 \u3002 \u4e0b\u56fe \u4ee3\u8868 \u4e86 \u5168\u5c40 \u7ed3\u6784 \u3002   \u5efa\u7b51 \u7ed3\u6784 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u57fa\u672c \u672c\u53c2 \u53c2\u6570 \u57fa\u672c\u53c2\u6570   Base   parameters   \u8bbe\u7f6e \u5c3a\u5bf8 \u3002   \u697c\u5c42 \u6570 \uff1a   \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u697c\u5c42 \u6570 \u3002 \u8eab\u4f53 \u7f51\u683c   Body   \u7684 \u91cd\u590d \u3002   \u957f\u5ea6   X   \u548c   \u957f\u5ea6   Y \uff1a   \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u957f\u5ea6 \u548c \u5bbd\u5ea6 \u3002 \u5efa\u7b51 \u5efa\u7b51\u7269 \u6bcf \u4e00\u4fa7 \u7684 \u4e2d\u592e \u7f51\u683c \u91cd\u590d \u3002   BP _ Procedural _ Building   \u793a\u4f8b \u3002","title":"\u5efa\u7b51 \u7ed3\u6784  "},{"location":"tuto_M_custom_buildings/#_4","text":"\u8fd8\u6709 \u4e00\u4e9b \u989d\u5916 \u7684 \u9009\u9879 \u53ef\u4ee5 \u4fee\u6539 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u603b\u4f53 \u7ed3\u6784 \u3002   Disable   corners :   \u5982\u679c \u9009\u62e9 \uff0c \u5c06 \u4e0d \u4f7f\u7528 \u89d2 \u7f51\u683c \u3002   Use   full   blocks :   \u5982\u679c \u9009\u62e9 \u6b64 \u9009\u9879 \uff0c \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u7ed3\u6784 \u6bcf\u5c42 \u5c06 \u4ec5 \u4f7f\u7528 \u4e00\u4e2a \u7f51\u683c \u3002 \u6bcf \u5c42\u697c \u4e0d\u4f1a \u51fa\u73b0 \u4efb\u4f55 \u89d2\u843d \u6216 \u91cd\u590d \u3002   Doors :   \u51fa\u73b0 \u5728 \u5e95\u5c42 \u3001 \u4f4d\u4e8e \u4e2d\u592e \u7f51\u683c \u7269\u4f53 \u6b63\u524d \u524d\u65b9 \u6b63\u524d\u65b9 \u7684 \u7f51\u683c \u7269\u4f53 \u3002 \u95e8 \u7684 \u6570\u91cf \u53ca\u5176 \u4f4d\u7f6e \u53ef\u4ee5 \u8bbe\u7f6e \u3002   0   \u662f \u521d\u59cb \u4f4d\u7f6e \u3001   1   \u662f \u4e0b \u4e00\u4e2a \u5e95\u5c42 \u91cd\u590d \u7b49 \u3002   Walls :   \u66ff\u4ee3 \u5efa\u7b51 \u5efa\u7b51\u7269 \u4e00\u4fa7 \u6216\u591a\u4fa7 \u7684 \u7f51\u683c \u3002 \u4f8b\u5982 \uff0c \u5e73\u9762 \u7f51\u683c \u53ef \u7528\u4e8e \u7ed8\u5236 \u5efa\u7b51 \u5efa\u7b51\u7269 \u7684 \u4e00\u4fa7 \u3002   \u5de6\u8fb9 \u662f \u4e00\u5ea7 \u6ca1\u6709 \u89d2 \u3001 \u53ea\u6709 \u4e00\u6247 \u6247\u95e8 \u4e00\u6247\u95e8 \u7684 \u5efa\u7b51 \u3002   \u53f3\u4fa7 \u662f \u4e00\u5ea7 \u5efa\u7b51 \u5efa\u7b51\u7269 \uff0c \u5176 \u4e00\u4fa7 \u5e94\u7528 \u4e86 \u5899\u58c1 \u3002 \u5899\u58c1 \u662f \u6ca1\u6709 \u9632\u706b \u901a\u9053 \u7684 \u7eb9\u7406 \u3002","title":"\u7ed3\u6784 \u4fee\u6539  "},{"location":"tuto_M_custom_buildings/#_5","text":"\u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u84dd\u56fe \u3002   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u4e0b \u4e00\u6b65  "},{"location":"tuto_M_custom_layers/","text":"\u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5206\u5c42 \u5730\u56fe   \u5229\u7528 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u4e2d \u7684 \u7ea7\u522b \u53ef\u4ee5 \u8ba9 \u591a \u4eba \u540c\u65f6 \u5728 \u4e00\u5f20 \u5730\u56fe \u4e0a \u5de5\u4f5c \u3002 \u5b83 \u8fd8 \u5141\u8bb8 \u60a8 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d \u4f7f\u7528   Python   API   \u5728 \u5730\u56fe \u4e0a \u52a0\u8f7d \u548c \u5378\u8f7d \u56fe\u5c42 \uff0c \u5c31 \u50cf   \u5206\u5c42 \u7684   Carla   \u5730\u56fe   \u4e00\u6837 \u3002   \u672c \u6307\u5357 \u5c06 \u89e3\u91ca \u5982\u4f55 \u6dfb\u52a0 \u65b0 \u5173\u5361 \u3001 \u5982\u4f55 \u5411 \u5173\u5361 \u6dfb\u52a0 \u8d44\u6e90 \u4ee5\u53ca \u5982\u4f55 \u5c06 \u5173\u5361 \u914d\u7f6e \u4e3a \u59cb\u7ec8 \u52a0\u8f7d \u6216 \u4e0d 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\u5173\u5361 \u4fdd\u5b58 \u5728   Content / Carla / Maps / Sublevels / < map _ name > /   \u3002   \u8981 \u5c06 \u5173\u5361 \u4e0e   Carla   Python   API   \u96c6\u6210 \uff0c \u8bf7 \u4f7f\u7528 \u547d\u540d \u7ea6\u5b9a   < map _ name > _ < layer _ name >   \uff0c \u6bd4\u5982 ,   TutorialMap _ Buildings   \u3002 \u6709\u5173 \u53ef\u7528 \u5173\u5361 \u7684 \u5217\u8868 \uff0c \u8bf7 \u67e5\u770b   \u6b64\u5904   \u3002   \u5c06 \u8d44\u4ea7 \u6dfb\u52a0 \u5230 \u5173\u5361   1 .   \u9009\u62e9 \u60a8 \u8981 \u5c06 \u8d44\u4ea7 \u6dfb\u52a0 \u5230 \u7684 \u5173\u5361   \u3002   \u5728 \u201c \u5173\u5361 \u201d \u9762\u677f \u4e2d \uff0c \u53cc\u51fb \u8981 \u6dfb\u52a0 \u8d44\u6e90 \u7684 \u201c \u5173\u5361 \u201d \u3002 \u901a\u8fc7 \u5207\u6362 \u9501 \u56fe\u6807 \u786e\u4fdd \u5173\u5361 \u5df2 \u89e3\u9501 \u3002   2 .   \u9009\u62e9 \u8981 \u6dfb\u52a0 \u7684 \u8d44\u4ea7 \u3002   \u9009\u62e9 \u60a8 \u60f3\u8981 \u6dfb\u52a0 \u5230 \u5173\u5361 \u7684 \u6240\u6709 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\u6709 \u4e00\u4e2a \u94c5\u7b14 \u56fe\u6807 \u3002 \u5355\u51fb \u6b64 \u6309\u94ae \u4fdd\u5b58 \u66f4\u6539 \u3002","title":"\u5c06 \u8d44\u4ea7 \u6dfb\u52a0 \u5230 \u5173\u5361  "},{"location":"tuto_M_custom_layers/#_4","text":"\u5173\u5361 \u53ef\u4ee5 \u914d\u7f6e \u4e3a \u80fd\u591f \u5207\u6362 \u6216 \u59cb\u7ec8 \u52a0\u8f7d \u3002 \u8981 \u914d\u7f6e \u4efb\u4e00 \u9009\u9879 \u7684 \u7ea7\u522b \uff1a   \u53f3\u952e \u5355\u51fb \u201c \u5173\u5361 \u201d \u9762\u677f \u4e2d \u7684 \u5173\u5361 \uff0c \u7136\u540e \u8f6c \u5230 \u201c \u4fee\u6539 \u6d41\u9001 \u65b9\u6cd5 \u201d \u3002   \u9009\u62e9 \u6240 \u9700 \u7684 \u8bbe\u7f6e \uff1a   \u56fa\u5b9a \u52a0\u8f7d   \uff1a   \u65e0\u6cd5   \u901a\u8fc7   Python   API   \u5207\u6362 \u5173\u5361 \u3002   \u84dd\u56fe   :   \u53ef\u4ee5   \u901a\u8fc7   Python   API   \u5207\u6362 \u5173\u5361 \u3002 \u5173\u5361 \u540d\u79f0 \u65c1\u8fb9 \u4f1a \u51fa\u73b0 \u4e00\u4e2a \u84dd\u70b9 \u3002   \u65e0\u8bba \u8bbe\u7f6e \u5982\u4f55 \uff0c \u60a8 \u4ecd\u7136 \u53ef\u4ee5 \u901a\u8fc7 \u6309 \u773c\u775b \u56fe\u6807 \u6765 \u5207\u6362 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684 \u84dd\u56fe \u3002","title":"\u914d\u7f6e \u5173\u5361 \u52a0\u8f7d \u9009\u9879  "},{"location":"tuto_M_custom_layers/#_5","text":"\u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   A \u4f7f\u7528 \u7a0b\u5e8f \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u8fde\u7eed \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u4e0b \u4e00\u6b65  "},{"location":"tuto_M_custom_map_overview/","text":"\u6dfb\u52a0 \u65b0 \u5730\u56fe   Carla   \u7684 \u7528\u6237 \u53ef\u4ee5 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u5e76 \u4f7f\u7528 \u5b83\u4eec \u6765 \u8fd0\u884c \u4eff\u771f \u3002 \u5728   Carla   \u4e2d \u5bfc\u5165 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u7684 \u65b9\u6cd5 \u6709 \u591a\u79cd \u3002 \u8981 \u4f7f\u7528 \u7684 \u65b9\u6cd5 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u7684 \u6253\u5305 \u7248\u672c \u8fd8\u662f \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684 \u7248\u672c \u3002 \u672c \u8282 \u6982\u8ff0 \u4e86 \u542f\u52a8 \u8be5 \u6d41\u7a0b \u6240 \u9700 \u7684 \u5185\u5bb9 \u3001 \u53ef \u7528\u4e8e \u5bfc\u5165 \u7684 \u4e0d\u540c \u9009\u9879 \u4ee5\u53ca \u53ef\u7528 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u548c \u884c\u4eba \u5bfc\u822a \u5de5\u5177 \u3002   \u6982\u8ff0   \u751f\u6210   \u5bfc\u5165   \u5b9a\u5236   \u751f\u6210 \u884c\u4eba \u5bfc\u822a   \u6982\u8ff0   \u5728   Carla   \u4e2d \u4f7f\u7528 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u6d89\u53ca \u56db\u4e2a \u4e3b\u8981 \u8fc7\u7a0b \uff1a   \u751f\u6210   \u5bfc\u5165   \u5b9a\u5236   \u884c\u4eba \u5bfc\u822a   \u8bf7 \u7ee7\u7eed \u9605\u8bfb \uff0c \u4e86\u89e3 \u6709\u5173 \u6bcf\u4e2a \u6d41\u7a0b \u7684 \u5176\u4ed6 \u4e00\u822c \u4fe1\u606f \u3002   \u751f\u6210   Carla   \u9700\u8981   . fbx   \u683c\u5f0f \u7684 \u5730\u56fe \u51e0\u4f55 \u4fe1\u606f \u548c   . xodr   \u683c\u5f0f \u7684   OpenDRIVE   \u4fe1\u606f \u3002 \u76ee\u524d \u63a8\u8350 \u7684 \u751f\u6210 \u8fd9\u4e9b \u6587\u4ef6 \u7684 \u8f6f\u4ef6 \u662f   RoadRunner \u3002   \u672c \u6307\u5357   \u8bf4\u660e \u5982\u4f55 \u4f7f\u7528   RoadRunner   \u751f\u6210 \u5730\u56fe \u4fe1\u606f \u5730\u56fe\u4fe1\u606f \u3002   \u5bfc\u5165   \u6709 \u591a\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla \u3002   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u7248\u672c   \uff0c \u60a8 \u5c06 \u4f7f\u7528   Docker   \u5bfc\u5165 \u5730\u56fe \u3002 \u6b64 \u9009\u9879 \u4ec5 \u5728   Linux   \u4e2d \u53ef\u7528 \uff0c \u5e76\u4e14 \u60a8 \u5c06 \u65e0\u6cd5 \u4f7f\u7528 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   \u7248\u672c \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u4e09\u79cd \u65b9\u6cd5 \u5bfc\u5165 \u5730\u56fe \uff1a   \u4f7f\u7528 \u81ea\u52a8   make   import   \u6d41\u7a0b \uff08 \u63a8\u8350 \uff09 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u4f7f\u7528   RoadRunner   \u63d2\u4ef6 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u624b\u52a8 \u5c06 \u5730\u56fe \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce \u4e2d \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u4ee5\u4e0b \u89c6\u9891 \u4ecb\u7ecd \u4e86 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla   \u7684 \u4e00\u4e9b \u53ef\u7528 \u65b9\u6cd5 \uff1a   \u5b9a\u5236   \u9664\u4e86 \u6570\u767e \u767e\u4e2a \u6570\u767e\u4e2a \u51c6\u5907 \u6dfb\u52a0 \u5230 \u666f\u89c2 \u4e2d \u7684 \u9759\u6001 \u7f51\u683c \u7269\u4f53 \u5916 \uff0c Carla   \u8fd8 \u63d0\u4f9b \u4e86 \u591a\u79cd \u5de5\u5177 \u548c \u6307\u5357 \u6765 \u5e2e\u52a9 \u60a8 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a   \u6dfb\u52a0 \u5b50 \u5173\u5361 \uff1a   \u5b50 \u5173\u5361 \u5c06 \u5141\u8bb8 \u591a\u4eba \u540c\u65f6 \u5728 \u540c \u4e00\u5f20 \u5730\u56fe \u4e0a \u5de5\u4f5c \u3002 \u5b83\u4eec \u8fd8 \u5141\u8bb8 \u60a8 \u4f7f\u7528   Python   API   \u5207\u6362 \u5730\u56fe \u7684 \u56fe\u5c42 \uff0c \u5c31 \u50cf   Carla   \u5206\u5c42 \u5730\u56fe \u4e00\u6837 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u8bbe\u7f6e \u9ed8\u8ba4 \u5929\u6c14 \uff1a   \u5c1d\u8bd5 \u4e0d\u540c \u7684 \u5929\u6c14 \u9884\u8bbe \uff0c \u627e\u5230 \u6b63\u786e \u7684 \u7ec4\u5408 \u540e \uff0c \u4e3a \u60a8 \u7684 \u5730\u56fe \u8bbe\u7f6e \u9ed8\u8ba4 \u5929\u6c14 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u586b\u5145 \u666f\u89c2 \uff1a   \u4f7f\u7528 \u84dd\u56fe \u901a\u8fc7 \u91cd\u590d \u7f51\u683c \uff08 \u4f8b\u5982 \u8def\u706f \u3001 \u7535\u7ebf \u548c \u5899\u58c1 \uff09 \u586b\u5145 \u666f\u89c2 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u7ed8\u5236 \u9053\u8def \uff1a   \u4f7f\u7528 \u6df7\u5408 \u4e0d\u540c \u7eb9\u7406 \u7684 \u4e3b \u6750\u8d28 \u7ed8\u5236 \u9053\u8def \u3002 \u6dfb\u52a0 \u8d34\u82b1 \u548c \u7f51\u683c \uff0c \u4f8b\u5982 \u843d\u53f6 \u3001 \u88c2\u7f1d \u6216 \u6c99\u4e95 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u6dfb\u52a0 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5efa\u7b51\u7269 \uff1a   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u84dd\u56fe \u6dfb\u52a0 \u5177\u6709 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5c3a\u5bf8 \u3001 \u697c\u5c42 \u6570\u91cf \u548c \u53ef\u53d8 \u7f51\u683c \u7ec4\u5408 \u7684 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u6dfb\u52a0 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \uff1a   \u6dfb\u52a0 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u5e76 \u914d\u7f6e \u5176 \u5f71\u54cd \u533a\u57df \u3002 \u8def\u53e3 \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7ec4 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u751f\u6210 \u884c\u4eba \u5bfc\u822a   \u4e3a\u4e86 \u751f\u6210 \u884c\u4eba \u5e76 \u5728 \u5730\u56fe \u4e0a \u5bfc\u822a \uff0c \u60a8 \u9700\u8981 \u4f7f\u7528   Carla   \u63d0\u4f9b \u7684 \u5de5\u5177 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f \u3002 \u884c\u4eba \u5bfc\u822a \u5e94 \u5728 \u5b8c\u6210 \u5730\u56fe \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u540e \u751f\u6210 \uff0c \u4ee5\u4fbf \u4e0d\u4f1a \u5728 \u5bfc\u822a \u8def\u5f84 \u4e0a\u65b9 \u521b\u5efa \u969c\u788d \u969c\u788d\u7269 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u5982\u679c \u60a8 \u5bf9 \u4e0a\u8ff0 \u8fc7\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u8bf7 \u968f\u65f6 \u5728   \u8bba\u575b   \u4e2d \u53d1\u5e03 \u3002   Carla   \u8bba\u575b","title":"tuto   M   custom   map   overview"},{"location":"tuto_M_custom_map_overview/#_1","text":"Carla   \u7684 \u7528\u6237 \u53ef\u4ee5 \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u5e76 \u4f7f\u7528 \u5b83\u4eec \u6765 \u8fd0\u884c \u4eff\u771f \u3002 \u5728   Carla   \u4e2d \u5bfc\u5165 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u7684 \u65b9\u6cd5 \u6709 \u591a\u79cd \u3002 \u8981 \u4f7f\u7528 \u7684 \u65b9\u6cd5 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u7684 \u6253\u5305 \u7248\u672c \u8fd8\u662f \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684 \u7248\u672c \u3002 \u672c \u8282 \u6982\u8ff0 \u4e86 \u542f\u52a8 \u8be5 \u6d41\u7a0b \u6240 \u9700 \u7684 \u5185\u5bb9 \u3001 \u53ef \u7528\u4e8e \u5bfc\u5165 \u7684 \u4e0d\u540c \u9009\u9879 \u4ee5\u53ca \u53ef\u7528 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u548c \u884c\u4eba \u5bfc\u822a \u5de5\u5177 \u3002   \u6982\u8ff0   \u751f\u6210   \u5bfc\u5165   \u5b9a\u5236   \u751f\u6210 \u884c\u4eba \u5bfc\u822a","title":"\u6dfb\u52a0 \u65b0 \u5730\u56fe"},{"location":"tuto_M_custom_map_overview/#_2","text":"\u5728   Carla   \u4e2d \u4f7f\u7528 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u6d89\u53ca \u56db\u4e2a \u4e3b\u8981 \u8fc7\u7a0b \uff1a   \u751f\u6210   \u5bfc\u5165   \u5b9a\u5236   \u884c\u4eba \u5bfc\u822a   \u8bf7 \u7ee7\u7eed \u9605\u8bfb \uff0c \u4e86\u89e3 \u6709\u5173 \u6bcf\u4e2a \u6d41\u7a0b \u7684 \u5176\u4ed6 \u4e00\u822c \u4fe1\u606f \u3002","title":"\u6982\u8ff0  "},{"location":"tuto_M_custom_map_overview/#_3","text":"Carla   \u9700\u8981   . fbx   \u683c\u5f0f \u7684 \u5730\u56fe \u51e0\u4f55 \u4fe1\u606f \u548c   . xodr   \u683c\u5f0f \u7684   OpenDRIVE   \u4fe1\u606f \u3002 \u76ee\u524d \u63a8\u8350 \u7684 \u751f\u6210 \u8fd9\u4e9b \u6587\u4ef6 \u7684 \u8f6f\u4ef6 \u662f   RoadRunner \u3002   \u672c \u6307\u5357   \u8bf4\u660e \u5982\u4f55 \u4f7f\u7528   RoadRunner   \u751f\u6210 \u5730\u56fe \u4fe1\u606f \u5730\u56fe\u4fe1\u606f \u3002","title":"\u751f\u6210  "},{"location":"tuto_M_custom_map_overview/#_4","text":"\u6709 \u591a\u79cd \u65b9\u6cd5 \u53ef\u4ee5 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla \u3002   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u7248\u672c   \uff0c \u60a8 \u5c06 \u4f7f\u7528   Docker   \u5bfc\u5165 \u5730\u56fe \u3002 \u6b64 \u9009\u9879 \u4ec5 \u5728   Linux   \u4e2d \u53ef\u7528 \uff0c \u5e76\u4e14 \u60a8 \u5c06 \u65e0\u6cd5 \u4f7f\u7528 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f   Carla   \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   \u7248\u672c \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u4e09\u79cd \u65b9\u6cd5 \u5bfc\u5165 \u5730\u56fe \uff1a   \u4f7f\u7528 \u81ea\u52a8   make   import   \u6d41\u7a0b \uff08 \u63a8\u8350 \uff09 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u4f7f\u7528   RoadRunner   \u63d2\u4ef6 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u624b\u52a8 \u5c06 \u5730\u56fe \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce \u4e2d \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u4ee5\u4e0b \u89c6\u9891 \u4ecb\u7ecd \u4e86 \u5c06 \u5730\u56fe \u5bfc\u5165   Carla   \u7684 \u4e00\u4e9b \u53ef\u7528 \u65b9\u6cd5 \uff1a","title":"\u5bfc\u5165  "},{"location":"tuto_M_custom_map_overview/#_5","text":"\u9664\u4e86 \u6570\u767e \u767e\u4e2a \u6570\u767e\u4e2a \u51c6\u5907 \u6dfb\u52a0 \u5230 \u666f\u89c2 \u4e2d \u7684 \u9759\u6001 \u7f51\u683c \u7269\u4f53 \u5916 \uff0c Carla   \u8fd8 \u63d0\u4f9b \u4e86 \u591a\u79cd \u5de5\u5177 \u548c \u6307\u5357 \u6765 \u5e2e\u52a9 \u60a8 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a   \u6dfb\u52a0 \u5b50 \u5173\u5361 \uff1a   \u5b50 \u5173\u5361 \u5c06 \u5141\u8bb8 \u591a\u4eba \u540c\u65f6 \u5728 \u540c \u4e00\u5f20 \u5730\u56fe \u4e0a \u5de5\u4f5c \u3002 \u5b83\u4eec \u8fd8 \u5141\u8bb8 \u60a8 \u4f7f\u7528   Python   API   \u5207\u6362 \u5730\u56fe \u7684 \u56fe\u5c42 \uff0c \u5c31 \u50cf   Carla   \u5206\u5c42 \u5730\u56fe \u4e00\u6837 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u8bbe\u7f6e \u9ed8\u8ba4 \u5929\u6c14 \uff1a   \u5c1d\u8bd5 \u4e0d\u540c \u7684 \u5929\u6c14 \u9884\u8bbe \uff0c \u627e\u5230 \u6b63\u786e \u7684 \u7ec4\u5408 \u540e \uff0c \u4e3a \u60a8 \u7684 \u5730\u56fe \u8bbe\u7f6e \u9ed8\u8ba4 \u5929\u6c14 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u586b\u5145 \u666f\u89c2 \uff1a   \u4f7f\u7528 \u84dd\u56fe \u901a\u8fc7 \u91cd\u590d \u7f51\u683c \uff08 \u4f8b\u5982 \u8def\u706f \u3001 \u7535\u7ebf \u548c \u5899\u58c1 \uff09 \u586b\u5145 \u666f\u89c2 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u7ed8\u5236 \u9053\u8def \uff1a   \u4f7f\u7528 \u6df7\u5408 \u4e0d\u540c \u7eb9\u7406 \u7684 \u4e3b \u6750\u8d28 \u7ed8\u5236 \u9053\u8def \u3002 \u6dfb\u52a0 \u8d34\u82b1 \u548c \u7f51\u683c \uff0c \u4f8b\u5982 \u843d\u53f6 \u3001 \u88c2\u7f1d \u6216 \u6c99\u4e95 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u6dfb\u52a0 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u5efa\u7b51\u7269 \uff1a   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5efa\u7b51 \u84dd\u56fe \u6dfb\u52a0 \u5177\u6709 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5c3a\u5bf8 \u3001 \u697c\u5c42 \u6570\u91cf \u548c \u53ef\u53d8 \u7f51\u683c \u7ec4\u5408 \u7684 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002   \u6dfb\u52a0 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \uff1a   \u6dfb\u52a0 \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u5e76 \u914d\u7f6e \u5176 \u5f71\u54cd \u533a\u57df \u3002 \u8def\u53e3 \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7ec4 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 \u6307\u5357 \u3002","title":"\u5b9a\u5236  "},{"location":"tuto_M_custom_map_overview/#_6","text":"\u4e3a\u4e86 \u751f\u6210 \u884c\u4eba \u5e76 \u5728 \u5730\u56fe \u4e0a \u5bfc\u822a \uff0c \u60a8 \u9700\u8981 \u4f7f\u7528   Carla   \u63d0\u4f9b \u7684 \u5de5\u5177 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f \u3002 \u884c\u4eba \u5bfc\u822a \u5e94 \u5728 \u5b8c\u6210 \u5730\u56fe \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u540e \u751f\u6210 \uff0c \u4ee5\u4fbf \u4e0d\u4f1a \u5728 \u5bfc\u822a \u8def\u5f84 \u4e0a\u65b9 \u521b\u5efa \u969c\u788d \u969c\u788d\u7269 \u3002   \u60a8 \u53ef\u4ee5 \u5728   \u6b64\u5904   \u627e\u5230 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\u3001 \u638c\u63e1 \u6750\u8d28 \u548c \u6e32\u67d3 \u76ee\u6807   \u51c6\u5907 \u4e3b \u6750\u8d28   \u63cf\u7ed8 \u9053\u8def   \u66f4\u65b0 \u8f66\u9053 \u7ebf \u7684 \u5916\u89c2   \u4e0b \u4e00\u6b65   \u4ec0\u4e48 \u662f \u9053\u8def \u753b\u5bb6 \uff1f   \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u662f \u4e00\u4e2a \u4f7f\u7528   OpenDRIVE   \u4fe1\u606f \u5feb\u901f \u7ed8\u5236 \u9053\u8def \u7684 \u84dd\u56fe \u3002 \u5b83 \u91c7\u7528 \u4e3b \u6750\u8d28 \u5e76 \u5c06 \u5176 \u5e94\u7528 \u5230 \u9053\u8def \u7684 \u6e32\u67d3 \u76ee\u6807 \u4ee5 \u7528\u4f5c \u753b\u5e03 \u3002 \u4e3b \u6750\u8d28 \u7531 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u6750\u8d28 \u7ec4\u6210 \uff0c \u8fd9\u4e9b \u6750\u8d28 \u53ef\u4ee5 \u4f7f\u7528 \u753b\u7b14 \u6df7\u5408 \u5e76 \u7528\u4f5c \u8499\u7248 \u3002 \u65e0\u9700 \u5e94\u7528 \u5149\u5ea6 \u6d4b\u5b9a \u6280\u672f \uff0c \u4e5f \u65e0\u9700 \u8003\u8651 \u51e0\u4f55 \u51e0\u4f55\u4f53 \u7684   UV \u3002   \u5728 \u4f60 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\u5e76 \u9009\u62e9   Duplicate   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ RenderTarget   \u3002   3 .   \u521b\u5efa \u4e3b \u6750\u8d28 \u5b9e\u4f8b \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Game / Carla / Static / GenericMaterials / RoadPainterMaterials   \u3002   \u53f3\u952e \u5355\u51fb   M _ RoadMaster   \u5e76 \u9009\u62e9   Create   Material   Instance   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ RoadMaster   \u3002   4 .   \u91cd\u65b0 \u6821\u51c6   Map   Size   ( Cm )   \uff0c \u4f7f \u5176 \u7b49\u4e8e \u5730\u56fe \u7684 \u5b9e\u9645 \u5c3a\u5bf8 \u3002   \u9009\u62e9   RoadPainter   \u573a\u666f \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8f6c \u5230   Details   \u9762\u677f \u5e76 \u6309   Z - Size   \u6309\u94ae \u3002 \u60a8 \u5c06 \u770b\u5230   Map   Size   ( Cm )   \u4e2d \u7684 \u503c \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002   5 .   \u540c\u6b65   RoadPainter   \u548c   Tutorial _ RoadMaster   \u4e4b\u95f4 \u7684 \u5730\u56fe \u5c3a\u5bf8 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u6253\u5f00   Tutorial _ RoadMaster   \u3002   \u590d\u5236 \u4e0a \u4e00\u6b65 \u4e2d   Map   Size   ( Cm )   \u7684 \u503c \uff0c \u5e76 \u5c06 \u5176 \u7c98\u8d34 \u5230   Tutorial _ RoadMaster   \u7a97\u53e3 \u4e2d \u7684   Global   Scalar   Parameter   Values   - >   Map   units   ( CM )   \u3002   \u70b9\u51fb \u4fdd\u5b58 \u3002   6 .   \u521b\u5efa \u9053\u8def \u753b\u5bb6 \u548c \u4e3b \u6750\u8d28 \u4e4b\u95f4 \u7684 \u901a\u4fe1 \u94fe\u63a5 \u3002   Tutorial _ RenderTarget   \u5c06 \u662f \u9053\u8def \u753b\u5bb6 \u548c   Tutorial _ RoadMaster   \u4e4b\u95f4 \u7684 \u901a\u4fe1 \u7ebd\u5e26 \u3002   \u5728   Tutorial _ RoadMaster   \u7a97\u53e3 \u4e2d \uff0c \u5c06   Tutorial _ RenderTarget   \u5e94\u7528 \u4e8e   Global   Texture   Parameter   Values   - >   Texture   Mask   \u3002   \u4fdd\u5b58 \u5e76 \u5173\u95ed \u3002   \u5728 \u4e3b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \uff0c \u9009\u62e9 \u9053\u8def \u753b\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8f6c \u5230   Details   \u9762\u677f \u5e76 \u5c06   Tutorial _ RenderTarget   \u5e94\u7528 \u5230   Paint   - >   Render   Target   \u3002   \u51c6\u5907 \u4e3b \u6750\u8d28   \u60a8 \u521b\u5efa \u7684   Tutorial _ RoadMaster   \u6750\u8d28 \uff0c \u5305\u542b \u57fa\u7840 \u6750\u8d28 \u3001 \u989d\u5916 \u6750\u8d28 \u4fe1\u606f \u4ee5\u53ca \u5c06 \u901a\u8fc7 \u60a8 \u7684   Tutorial _ RenderTarget   \u3002 \u60a8 \u53ef\u4ee5 \u914d\u7f6e \u4e00\u79cd \u57fa\u7840 \u6750\u6599 \u548c \u6700 \u591a \u4e09\u79cd \u9644\u52a0 \u6750\u6599 \u3002   \u8981 \u914d\u7f6e \u6750\u6599 \uff0c \u8bf7 \u53cc\u51fb   Tutorial _ RoadMaster   \u6587\u4ef6 \u3002 \u5728 \u51fa\u73b0 \u7684 \u7a97\u53e3 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u6839\u636e \u9700\u8981 \u4e3a \u6bcf\u79cd \u6750\u6599 \u9009\u62e9 \u548c \u8c03\u6574 \u4ee5\u4e0b \u503c \uff1a   \u4eae\u5ea6 ( Brightness )   \u8272\u8c03 ( Hue )   \u9971\u548c \u9971\u548c\u5ea6 ( Saturation )   AO   Intensity   \u6cd5\u7ebf \u8d34\u56fe \u5f3a\u5ea6 ( NormalMap   Intensity )   \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u5bf9\u6bd4 ( Roughness   Contrast )   \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u5f3a\u5ea6 ( Roughness   Intensity )   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u9009\u62e9 \u4ee5\u4e0b \u503c \u5e76 \u5728 \u641c\u7d22 \u6846\u4e2d \u641c\u7d22 \u7eb9\u7406 \u6765 \u66f4\u6539 \u6bcf\u79cd \u6750\u8d28 \u7684 \u7eb9\u7406 \uff1a   Diffuse   Normal   ORMH   \u63a2\u7d22   Game / Carla / Static / GenericMaterials / Asphalt / Textures   \u4e2d \u53ef\u7528 \u7684 \u4e00\u4e9b   Carla   \u7eb9\u7406 \u3002   \u63cf\u7ed8 \u9053\u8def   1 .   \u5728 \u9053\u8def \u753b\u5bb6 \u548c \u9053\u8def \u4e4b\u95f4 \u521b\u5efa \u94fe\u63a5 \u3002   \u5728 \u4e3b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \uff0c \u5728   World   Outliner   \u641c\u7d22 \u6846\u4e2d \u8fdb\u884c   Road _ Road   \u641c\u7d22 \u3002   \u6309   Ctrl   +   A   \u9009\u62e9 \u6240\u6709 \u9053\u8def \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Materials   \u90e8\u5206 \u5e76 \u5e94\u7528   Tutorial _ RoadMaster   \u5230   Element   0   \u3001   Element   1   \u3001   Element   2   \u548c   Element   3   \u3002   2 .   \u9009\u62e9 \u8981 \u5b9a\u5236 \u7684 \u6750\u8d28 \u3002   \u6211\u4eec \u6dfb\u52a0 \u7684   Tutorial _ RoadMaster   \u5355\u72ec \u5e94\u7528 \u4e8e \u9053\u8def \uff0c \u5e76 \u4f7f\u7528 \u753b\u7b14 \u5de5\u5177 \u914d\u7f6e \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u3002 \u8981 \u5e94\u7528 \u548c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6750\u8d28 \uff1a   \u9009\u62e9 \u9053\u8def \u6cb9\u753b \u753b\u5bb6 \u6cb9\u753b\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u5728   Mask   Color   \u4e0b\u62c9 \u83dc\u5355 \u4e0b\u62c9\u83dc\u5355 \u4e2d \u9009\u62e9 \u8981 \u4f7f\u7528 \u7684 \u6750\u8d28 \u3002   3 .   \u8bbe\u7f6e \u753b\u7b14 \u548c \u6a21\u677f \u53c2\u6570 \u3002   \u5728   GenericMaterials / RoadStencil / Alphas   \u4e2d\u6709 \u591a\u79cd \u6a21\u677f \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002 \u6a21\u677f \u7528\u4e8e \u6839\u636e \u60a8 \u7684 \u9700\u8981 \u7ed8\u5236 \u9053\u8def \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u503c \u8fdb\u884c \u8c03\u6574 \uff1a   Stencil   size   \u2014   \u753b\u7b14 \u7684 \u5c3a\u5bf8 \u3002   Brush   strength   \u2014   \u8f6e\u5ed3 \u7684 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u3002   Spacebeween   Brushes   \u2014   \u7b14\u5212 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   Max   Jitter   \u2014   \u7b14\u5212 \u4e4b\u95f4 \u753b\u7b14 \u7684 \u5927\u5c0f \u53d8\u5316 \u3002   Stencil   \u2014   \u8981 \u4f7f\u7528 \u7684 \u753b\u7b14 \u3002   Rotation   \u2014   \u5e94\u7528 \u4e8e \u7b14\u753b \u7684 \u65cb\u8f6c \u3002   Brush   panel .   Different   types   of   brushes .   4 .   \u5c06 \u6bcf\u79cd \u6750\u6599 \u6d82\u62b9 \u5230 \u9053\u8def \u7684 \u6240 \u9700 \u90e8\u5206 \u3002   \u901a\u8fc7   Details   \u9762\u677f \u7684   Default   \u90e8\u5206 \u4e2d \u7684 \u6309\u94ae \u9009\u62e9 \u5e94\u7528 \u6240 \u9009 \u6750\u8d28 \u7684 \u4f4d\u7f6e \uff1a   Paint   all   roads   \u2014   \u7c89\u5237 \u6240\u6709 \u9053\u8def \u3002   Paint   by   actor   \u2014   \u7ed8\u753b \u7279\u5b9a \u7684 \u3001 \u9009\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Paint   over   circle   \u2014   \u4f7f\u7528 \u5706\u5f62 \u56fe\u6848 \u8fdb\u884c \u7ed8\u5236 \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63d0\u4f9b \u53d8\u5316 \u3002   Paint   over   square   \u2014   \u4f7f\u7528 \u6b63\u65b9 \u65b9\u5f62 \u6b63\u65b9\u5f62 \u56fe\u6848 \u8fdb\u884c \u7ed8\u5236 \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63d0\u4f9b \u53d8\u5316 \u3002   \u6b64 \u90e8\u5206 \u8fd8 \u5305\u542b \u7528\u4e8e \u5220\u9664 \u5df2 \u5e94\u7528 \u66f4\u6539 \u7684 \u9009\u9879 \u3002   Clear   all   \u2014   \u64e6\u9664 \u6240\u6709 \u7ed8\u5236 \u7684 \u6750\u8d28 \u3002   Clear   materials   \u2014   \u5220\u9664 \u5f53\u524d \u6d3b\u52a8 \u7684 \u6750\u6599 \u3002   Clear   material   by   actor   \u2014   \u5220\u9664 \u6700 \u63a5\u8fd1 \u6240 \u9009 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6750\u8d28 \u3002   Different   painting   and   erasing   options .   5 .   \u6dfb\u52a0 \u8d34\u82b1 \u548c \u7f51\u683c \u3002   \u60a8 \u53ef\u4ee5 \u5728   Content / Carla / Static / Decals   \u548c   Content / Carla / Static   \u4e2d \u63a2\u7d22 \u53ef\u7528 \u7684 \u8d34\u82b1 \u548c \u7f51\u683c \u3002 \u901a\u8fc7 \u6269\u5c55 \u5e76 \u6dfb\u52a0 \u5230   Decals   Spawn   \u548c   Meshes   Spawn   \u6570\u7ec4 \uff0c \u5c06 \u5b83\u4eec \u6dfb\u52a0 \u5230 \u9053\u8def \u7ed8\u5236 \u5668\u4e2d \u3002 \u5bf9\u4e8e \u4e00\u9879 \u6bcf\u4e00\u9879 \uff0c \u60a8 \u90fd \u53ef\u4ee5 \u914d\u7f6e \u4ee5\u4e0b \u53c2\u6570 \uff1a   Number   of   Decals / Meshes   -   \u8981 \u7ed8\u5236 \u7684 \u6bcf\u4e2a \u8d34\u82b1 \u6216 \u7f51\u683c \u7684 \u6570\u91cf \u3002   Decal / Mesh   Scale   \u2014   \u6bcf\u4e2a \u8f74 \u7684 \u8d34\u82b1 / \u7f51\u683c \u6bd4\u4f8b \u3002   Fixed   Decal / Mesh   Offset   \u2014   \u6bcf\u4e2a \u8f74 \u4e0e \u8f66\u9053 \u4e2d\u5fc3 \u7684 \u504f\u5dee \u3002   Random   Offset   \u2014   \u6bcf\u4e2a \u8f74 \u4e0e \u8f66\u9053 \u4e2d\u5fc3 \u7684 \u6700\u5927 \u504f\u5dee \u3002   Decal / Mesh   Random   Yaw   \u2014   \u6700\u5927 \u968f\u673a \u504f\u822a \u65cb\u8f6c \u3002   Decal / Mesh   Min   Scale   \u2014   \u5e94\u7528 \u4e8e \u8d34\u82b1 / \u7f51\u683c \u7684 \u6700\u5c0f \u968f\u673a \u6bd4\u4f8b \u3002   Decal / Mesh   Max   Scale   \u2014   \u5e94\u7528 \u4e8e \u8d34\u82b1 / \u7f51\u683c \u7684 \u6700\u5927 \u968f\u673a \u6bd4\u4f8b \u3002   \u8d34\u82b1 \u548c \u7f51\u683c \u9762\u677f \u3002   \u914d\u7f6e \u597d \u7f51\u683c \u548c \u8d34\u82b1 \u540e \uff0c \u901a\u8fc7 \u6309   Spawn   decals   \u548c \u751f\u6210 \u5b83\u4eec   Spawn   meshes   \u3002   \u7b14\u8bb0   \u786e\u4fdd \u7f51\u683c \u548c \u8d34\u82b1 \u6ca1\u6709 \u542f\u7528 \u78b0\u649e \uff0c \u4ee5\u514d \u5e72\u6270 \u9053\u8def \u4e0a \u7684 \u6c7d\u8f66 \u5e76 \u5c06 \u4efb\u4f55 \u8fb9\u754c \u6846 \u964d\u4f4e \u5230 \u9053\u8def \u6c34\u5e73 \u3002   7 .   \u5c1d\u8bd5 \u83b7\u5f97 \u60a8 \u60f3\u8981 \u7684 \u5916\u89c2 \u3002   \u5c1d\u8bd5 \u4e0d\u540c \u7684 \u6750\u8d28 \u3001 \u7eb9\u7406 \u3001 \u8bbe\u7f6e \u3001 \u8d34\u82b1 \u548c \u7f51\u683c \u4ee5 \u83b7\u5f97 \u60a8 \u60f3\u8981 \u7684 \u5916\u89c2 \u3002 \u4e0b\u9762 \u662f \u4e00\u4e9b \u793a\u4f8b \u56fe\u50cf \uff0c \u663e\u793a \u4e86 \u5728 \u7ed8\u5236 \u6bcf\u79cd \u6750\u8d28 \u7684 \u8fc7\u7a0b \u4e2d \u9053\u8def \u5916\u89c2 \u5982\u4f55 \u53d8\u5316 \u3002   \u57fa\u7840 \u9053\u8def \u6750\u6599 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   1   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   2   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   3   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u8d34\u82b1 \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u7f51\u683c \u540e \u7684 \u793a\u4f8b \u3002   \u66f4\u65b0 \u8f66\u9053 \u7ebf \u7684 \u5916\u89c2   \u7ed8\u5236 \u9053\u8def \u540e \uff0c \u60a8 \u53ef\u4ee5 \u6309\u7167 \u4ee5\u4e0b \u6b65\u9aa4 \u66f4\u65b0 \u9053\u8def \u6807\u8bb0 \u7684 \u5916\u89c2 \uff1a   1 .   \u590d\u5236 \u4e3b \u6750\u6599 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \uff0c \u5bfc\u822a \u81f3   Game / Carla / Static / GenericMaterials / RoadPainterMaterials   \u3002   \u53f3\u952e \u5355\u51fb   Tutorial _ RoadMaster   \u5e76 \u9009\u62e9   Create   Material   Instance   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ LaneMarkings   \u3002   2 .   \u914d\u7f6e \u8f66\u9053 \u7ebf \u6750\u8d28 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \uff0c \u53cc\u51fb   Tutorial _ LaneMarkings   \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Global   Static   Switch   Parameter   Values   \u90e8\u5206 \uff0c \u7136\u540e \u9009\u4e2d   LaneMark   \u5de6\u4fa7 \u548c \u53f3\u4fa7 \u7684 \u6846 \u3002   \u8f6c \u5230   Texture   \u90e8\u5206 \u5e76 \u9009\u4e2d   LaneColor   \u548c   Uv   Size   \u590d\u9009 \u9009\u6846 \u590d\u9009\u6846 \u3002   \u5728   LaneColor   \u4e2d \u9009\u62e9 \u60a8 \u559c\u6b22 \u7684 \u8f66\u9053 \u6807\u8bb0 \u989c\u8272 \u3002   \u4fdd\u5b58   \u5e76 \u5173\u95ed \u3002   3 .   \u9009\u62e9 \u8f66\u9053 \u7ebf \u7f51\u683c \u3002   \u5c06 \u6750\u6599 \u62d6\u5230 \u60a8 \u60f3\u8981 \u7740\u8272 \u7684 \u8f66\u9053 \u7ebf\u4e0a \u3002 \u5982\u679c \u9700\u8981 \uff0c \u5bf9 \u4e0d\u540c \u989c\u8272 \u7684 \u8f66\u9053 \u7ebf \u91cd\u590d \u6574\u4e2a \u8fc7\u7a0b \u3002   \u4e0b \u4e00\u6b65   \u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u5173\u5361 \u3002   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u9053\u8def \u753b\u5bb6"},{"location":"tuto_M_custom_road_painter/#_1","text":"\u672c \u6307\u5357 \u89e3\u91ca \u4e86 \u4ec0\u4e48 \u662f \u9053\u8def \u7ed8\u5236 \u5de5\u5177 \uff0c \u5982\u4f55 \u4f7f\u7528 \u5b83 \u901a\u8fc7 \u7ec4\u5408 \u4e0d\u540c \u7684 \u7eb9\u7406 \u6765\u81ea \u5b9a\u4e49 \u9053\u8def \u7684 \u5916\u89c2 \uff0c \u5982\u4f55 \u6dfb\u52a0 \u8d34\u82b1 \u548c \u7f51\u683c \u4ee5\u53ca \u5982\u4f55 \u6839\u636e \u9053\u8def \u7eb9\u7406 \u66f4\u65b0 \u8f66\u9053 \u6807\u8bb0 \u7684 \u5916\u89c2 \u3002   \u4ec0\u4e48 \u662f \u9053\u8def \u753b\u5bb6 \uff1f   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5efa\u7acb \u9053\u8def \u753b\u5bb6 \u3001 \u638c\u63e1 \u6750\u8d28 \u548c \u6e32\u67d3 \u76ee\u6807   \u51c6\u5907 \u4e3b \u6750\u8d28   \u63cf\u7ed8 \u9053\u8def   \u66f4\u65b0 \u8f66\u9053 \u7ebf \u7684 \u5916\u89c2   \u4e0b \u4e00\u6b65","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u9053\u8def \u753b\u5bb6"},{"location":"tuto_M_custom_road_painter/#_2","text":"\u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u662f \u4e00\u4e2a \u4f7f\u7528   OpenDRIVE   \u4fe1\u606f \u5feb\u901f \u7ed8\u5236 \u9053\u8def \u7684 \u84dd\u56fe \u3002 \u5b83 \u91c7\u7528 \u4e3b \u6750\u8d28 \u5e76 \u5c06 \u5176 \u5e94\u7528 \u5230 \u9053\u8def \u7684 \u6e32\u67d3 \u76ee\u6807 \u4ee5 \u7528\u4f5c \u753b\u5e03 \u3002 \u4e3b \u6750\u8d28 \u7531 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u6750\u8d28 \u7ec4\u6210 \uff0c \u8fd9\u4e9b \u6750\u8d28 \u53ef\u4ee5 \u4f7f\u7528 \u753b\u7b14 \u6df7\u5408 \u5e76 \u7528\u4f5c \u8499\u7248 \u3002 \u65e0\u9700 \u5e94\u7528 \u5149\u5ea6 \u6d4b\u5b9a \u6280\u672f \uff0c \u4e5f \u65e0\u9700 \u8003\u8651 \u51e0\u4f55 \u51e0\u4f55\u4f53 \u7684   UV \u3002","title":"\u4ec0\u4e48 \u662f \u9053\u8def \u753b\u5bb6 \uff1f  "},{"location":"tuto_M_custom_road_painter/#_3","text":"\u9053\u8def \u6cb9\u6f06 \u6f06\u5de5 \u6cb9\u6f06\u5de5 \u4f7f\u7528   OpenDRIVE   \u4fe1\u606f \u6765 \u6cb9\u6f06 \u9053\u8def \u3002 \u786e\u4fdd \u786e\u4fdd\u60a8 \u7684   . xodr   \u6587\u4ef6 \u4e0e \u5730\u56fe \u540c\u540d \uff0c \u8fd9\u6837 \u624d\u80fd \u6b63\u5e38 \u5de5\u4f5c \u3002","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"tuto_M_custom_road_painter/#_4","text":"1 .   \u521b\u5efa   RoadPainter   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Content / Carla / Blueprints / LevelDesign   \u3002   \u5c06   RoadPainter   \u62d6\u5165 \u573a\u666f \u4e2d \u3002   2 .   \u521b\u5efa \u6e32\u67d3 \u76ee\u6807 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Content / Carla / Blueprints / LevelDesign / RoadPainterAssets   \u3002   \u53f3\u952e \u5355\u51fb   RenderTarget   \u6587\u4ef6 \u5e76 \u9009\u62e9   Duplicate   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ RenderTarget   \u3002   3 .   \u521b\u5efa \u4e3b \u6750\u8d28 \u5b9e\u4f8b \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Game / Carla / Static / GenericMaterials / RoadPainterMaterials   \u3002   \u53f3\u952e \u5355\u51fb   M _ RoadMaster   \u5e76 \u9009\u62e9   Create   Material   Instance   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ RoadMaster   \u3002   4 .   \u91cd\u65b0 \u6821\u51c6   Map   Size   ( Cm )   \uff0c \u4f7f \u5176 \u7b49\u4e8e \u5730\u56fe \u7684 \u5b9e\u9645 \u5c3a\u5bf8 \u3002   \u9009\u62e9   RoadPainter   \u573a\u666f \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8f6c \u5230   Details   \u9762\u677f \u5e76 \u6309   Z - Size   \u6309\u94ae \u3002 \u60a8 \u5c06 \u770b\u5230   Map   Size   ( Cm )   \u4e2d \u7684 \u503c \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002   5 .   \u540c\u6b65   RoadPainter   \u548c   Tutorial _ RoadMaster   \u4e4b\u95f4 \u7684 \u5730\u56fe \u5c3a\u5bf8 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u6253\u5f00   Tutorial _ RoadMaster   \u3002   \u590d\u5236 \u4e0a \u4e00\u6b65 \u4e2d   Map   Size   ( Cm )   \u7684 \u503c \uff0c \u5e76 \u5c06 \u5176 \u7c98\u8d34 \u5230   Tutorial _ RoadMaster   \u7a97\u53e3 \u4e2d \u7684   Global   Scalar   Parameter   Values   - >   Map   units   ( CM )   \u3002   \u70b9\u51fb \u4fdd\u5b58 \u3002   6 .   \u521b\u5efa \u9053\u8def \u753b\u5bb6 \u548c \u4e3b \u6750\u8d28 \u4e4b\u95f4 \u7684 \u901a\u4fe1 \u94fe\u63a5 \u3002   Tutorial _ RenderTarget   \u5c06 \u662f \u9053\u8def \u753b\u5bb6 \u548c   Tutorial _ RoadMaster   \u4e4b\u95f4 \u7684 \u901a\u4fe1 \u7ebd\u5e26 \u3002   \u5728   Tutorial _ RoadMaster   \u7a97\u53e3 \u4e2d \uff0c \u5c06   Tutorial _ RenderTarget   \u5e94\u7528 \u4e8e   Global   Texture   Parameter   Values   - >   Texture   Mask   \u3002   \u4fdd\u5b58 \u5e76 \u5173\u95ed \u3002   \u5728 \u4e3b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \uff0c \u9009\u62e9 \u9053\u8def \u753b\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8f6c \u5230   Details   \u9762\u677f \u5e76 \u5c06   Tutorial _ RenderTarget   \u5e94\u7528 \u5230   Paint   - >   Render   Target   \u3002","title":"\u5efa\u7acb \u9053\u8def \u753b\u5bb6 \u3001 \u638c\u63e1 \u6750\u8d28 \u548c \u6e32\u67d3 \u76ee\u6807  "},{"location":"tuto_M_custom_road_painter/#_5","text":"\u60a8 \u521b\u5efa \u7684   Tutorial _ RoadMaster   \u6750\u8d28 \uff0c \u5305\u542b \u57fa\u7840 \u6750\u8d28 \u3001 \u989d\u5916 \u6750\u8d28 \u4fe1\u606f \u4ee5\u53ca \u5c06 \u901a\u8fc7 \u60a8 \u7684   Tutorial _ RenderTarget   \u3002 \u60a8 \u53ef\u4ee5 \u914d\u7f6e \u4e00\u79cd \u57fa\u7840 \u6750\u6599 \u548c \u6700 \u591a \u4e09\u79cd \u9644\u52a0 \u6750\u6599 \u3002   \u8981 \u914d\u7f6e \u6750\u6599 \uff0c \u8bf7 \u53cc\u51fb   Tutorial _ RoadMaster   \u6587\u4ef6 \u3002 \u5728 \u51fa\u73b0 \u7684 \u7a97\u53e3 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u6839\u636e \u9700\u8981 \u4e3a \u6bcf\u79cd \u6750\u6599 \u9009\u62e9 \u548c \u8c03\u6574 \u4ee5\u4e0b \u503c \uff1a   \u4eae\u5ea6 ( Brightness )   \u8272\u8c03 ( Hue )   \u9971\u548c \u9971\u548c\u5ea6 ( Saturation )   AO   Intensity   \u6cd5\u7ebf \u8d34\u56fe \u5f3a\u5ea6 ( NormalMap   Intensity )   \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u5bf9\u6bd4 ( Roughness   Contrast )   \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u5f3a\u5ea6 ( Roughness   Intensity )   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u9009\u62e9 \u4ee5\u4e0b \u503c \u5e76 \u5728 \u641c\u7d22 \u6846\u4e2d \u641c\u7d22 \u7eb9\u7406 \u6765 \u66f4\u6539 \u6bcf\u79cd \u6750\u8d28 \u7684 \u7eb9\u7406 \uff1a   Diffuse   Normal   ORMH   \u63a2\u7d22   Game / Carla / Static / GenericMaterials / Asphalt / Textures   \u4e2d \u53ef\u7528 \u7684 \u4e00\u4e9b   Carla   \u7eb9\u7406 \u3002","title":"\u51c6\u5907 \u4e3b \u6750\u8d28  "},{"location":"tuto_M_custom_road_painter/#_6","text":"1 .   \u5728 \u9053\u8def \u753b\u5bb6 \u548c \u9053\u8def \u4e4b\u95f4 \u521b\u5efa \u94fe\u63a5 \u3002   \u5728 \u4e3b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \uff0c \u5728   World   Outliner   \u641c\u7d22 \u6846\u4e2d \u8fdb\u884c   Road _ Road   \u641c\u7d22 \u3002   \u6309   Ctrl   +   A   \u9009\u62e9 \u6240\u6709 \u9053\u8def \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Materials   \u90e8\u5206 \u5e76 \u5e94\u7528   Tutorial _ RoadMaster   \u5230   Element   0   \u3001   Element   1   \u3001   Element   2   \u548c   Element   3   \u3002   2 .   \u9009\u62e9 \u8981 \u5b9a\u5236 \u7684 \u6750\u8d28 \u3002   \u6211\u4eec \u6dfb\u52a0 \u7684   Tutorial _ RoadMaster   \u5355\u72ec \u5e94\u7528 \u4e8e \u9053\u8def \uff0c \u5e76 \u4f7f\u7528 \u753b\u7b14 \u5de5\u5177 \u914d\u7f6e \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u3002 \u8981 \u5e94\u7528 \u548c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6750\u8d28 \uff1a   \u9009\u62e9 \u9053\u8def \u6cb9\u753b \u753b\u5bb6 \u6cb9\u753b\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u5728   Mask   Color   \u4e0b\u62c9 \u83dc\u5355 \u4e0b\u62c9\u83dc\u5355 \u4e2d \u9009\u62e9 \u8981 \u4f7f\u7528 \u7684 \u6750\u8d28 \u3002   3 .   \u8bbe\u7f6e \u753b\u7b14 \u548c \u6a21\u677f \u53c2\u6570 \u3002   \u5728   GenericMaterials / RoadStencil / Alphas   \u4e2d\u6709 \u591a\u79cd \u6a21\u677f \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002 \u6a21\u677f \u7528\u4e8e \u6839\u636e \u60a8 \u7684 \u9700\u8981 \u7ed8\u5236 \u9053\u8def \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u503c \u8fdb\u884c \u8c03\u6574 \uff1a   Stencil   size   \u2014   \u753b\u7b14 \u7684 \u5c3a\u5bf8 \u3002   Brush   strength   \u2014   \u8f6e\u5ed3 \u7684 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u3002   Spacebeween   Brushes   \u2014   \u7b14\u5212 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   Max   Jitter   \u2014   \u7b14\u5212 \u4e4b\u95f4 \u753b\u7b14 \u7684 \u5927\u5c0f \u53d8\u5316 \u3002   Stencil   \u2014   \u8981 \u4f7f\u7528 \u7684 \u753b\u7b14 \u3002   Rotation   \u2014   \u5e94\u7528 \u4e8e \u7b14\u753b \u7684 \u65cb\u8f6c \u3002   Brush   panel .   Different   types   of   brushes .   4 .   \u5c06 \u6bcf\u79cd \u6750\u6599 \u6d82\u62b9 \u5230 \u9053\u8def \u7684 \u6240 \u9700 \u90e8\u5206 \u3002   \u901a\u8fc7   Details   \u9762\u677f \u7684   Default   \u90e8\u5206 \u4e2d \u7684 \u6309\u94ae \u9009\u62e9 \u5e94\u7528 \u6240 \u9009 \u6750\u8d28 \u7684 \u4f4d\u7f6e \uff1a   Paint   all   roads   \u2014   \u7c89\u5237 \u6240\u6709 \u9053\u8def \u3002   Paint   by   actor   \u2014   \u7ed8\u753b \u7279\u5b9a \u7684 \u3001 \u9009\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Paint   over   circle   \u2014   \u4f7f\u7528 \u5706\u5f62 \u56fe\u6848 \u8fdb\u884c \u7ed8\u5236 \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63d0\u4f9b \u53d8\u5316 \u3002   Paint   over   square   \u2014   \u4f7f\u7528 \u6b63\u65b9 \u65b9\u5f62 \u6b63\u65b9\u5f62 \u56fe\u6848 \u8fdb\u884c \u7ed8\u5236 \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63d0\u4f9b \u53d8\u5316 \u3002   \u6b64 \u90e8\u5206 \u8fd8 \u5305\u542b \u7528\u4e8e \u5220\u9664 \u5df2 \u5e94\u7528 \u66f4\u6539 \u7684 \u9009\u9879 \u3002   Clear   all   \u2014   \u64e6\u9664 \u6240\u6709 \u7ed8\u5236 \u7684 \u6750\u8d28 \u3002   Clear   materials   \u2014   \u5220\u9664 \u5f53\u524d \u6d3b\u52a8 \u7684 \u6750\u6599 \u3002   Clear   material   by   actor   \u2014   \u5220\u9664 \u6700 \u63a5\u8fd1 \u6240 \u9009 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6750\u8d28 \u3002   Different   painting   and   erasing   options .   5 .   \u6dfb\u52a0 \u8d34\u82b1 \u548c \u7f51\u683c \u3002   \u60a8 \u53ef\u4ee5 \u5728   Content / Carla / Static / Decals   \u548c   Content / Carla / Static   \u4e2d \u63a2\u7d22 \u53ef\u7528 \u7684 \u8d34\u82b1 \u548c \u7f51\u683c \u3002 \u901a\u8fc7 \u6269\u5c55 \u5e76 \u6dfb\u52a0 \u5230   Decals   Spawn   \u548c   Meshes   Spawn   \u6570\u7ec4 \uff0c \u5c06 \u5b83\u4eec \u6dfb\u52a0 \u5230 \u9053\u8def \u7ed8\u5236 \u5668\u4e2d \u3002 \u5bf9\u4e8e \u4e00\u9879 \u6bcf\u4e00\u9879 \uff0c \u60a8 \u90fd \u53ef\u4ee5 \u914d\u7f6e \u4ee5\u4e0b \u53c2\u6570 \uff1a   Number   of   Decals / Meshes   -   \u8981 \u7ed8\u5236 \u7684 \u6bcf\u4e2a \u8d34\u82b1 \u6216 \u7f51\u683c \u7684 \u6570\u91cf \u3002   Decal / Mesh   Scale   \u2014   \u6bcf\u4e2a \u8f74 \u7684 \u8d34\u82b1 / \u7f51\u683c \u6bd4\u4f8b \u3002   Fixed   Decal / Mesh   Offset   \u2014   \u6bcf\u4e2a \u8f74 \u4e0e \u8f66\u9053 \u4e2d\u5fc3 \u7684 \u504f\u5dee \u3002   Random   Offset   \u2014   \u6bcf\u4e2a \u8f74 \u4e0e \u8f66\u9053 \u4e2d\u5fc3 \u7684 \u6700\u5927 \u504f\u5dee \u3002   Decal / Mesh   Random   Yaw   \u2014   \u6700\u5927 \u968f\u673a \u504f\u822a \u65cb\u8f6c \u3002   Decal / Mesh   Min   Scale   \u2014   \u5e94\u7528 \u4e8e \u8d34\u82b1 / \u7f51\u683c \u7684 \u6700\u5c0f \u968f\u673a \u6bd4\u4f8b \u3002   Decal / Mesh   Max   Scale   \u2014   \u5e94\u7528 \u4e8e \u8d34\u82b1 / \u7f51\u683c \u7684 \u6700\u5927 \u968f\u673a \u6bd4\u4f8b \u3002   \u8d34\u82b1 \u548c \u7f51\u683c \u9762\u677f \u3002   \u914d\u7f6e \u597d \u7f51\u683c \u548c \u8d34\u82b1 \u540e \uff0c \u901a\u8fc7 \u6309   Spawn   decals   \u548c \u751f\u6210 \u5b83\u4eec   Spawn   meshes   \u3002   \u7b14\u8bb0   \u786e\u4fdd \u7f51\u683c \u548c \u8d34\u82b1 \u6ca1\u6709 \u542f\u7528 \u78b0\u649e \uff0c \u4ee5\u514d \u5e72\u6270 \u9053\u8def \u4e0a \u7684 \u6c7d\u8f66 \u5e76 \u5c06 \u4efb\u4f55 \u8fb9\u754c \u6846 \u964d\u4f4e \u5230 \u9053\u8def \u6c34\u5e73 \u3002   7 .   \u5c1d\u8bd5 \u83b7\u5f97 \u60a8 \u60f3\u8981 \u7684 \u5916\u89c2 \u3002   \u5c1d\u8bd5 \u4e0d\u540c \u7684 \u6750\u8d28 \u3001 \u7eb9\u7406 \u3001 \u8bbe\u7f6e \u3001 \u8d34\u82b1 \u548c \u7f51\u683c \u4ee5 \u83b7\u5f97 \u60a8 \u60f3\u8981 \u7684 \u5916\u89c2 \u3002 \u4e0b\u9762 \u662f \u4e00\u4e9b \u793a\u4f8b \u56fe\u50cf \uff0c \u663e\u793a \u4e86 \u5728 \u7ed8\u5236 \u6bcf\u79cd \u6750\u8d28 \u7684 \u8fc7\u7a0b \u4e2d \u9053\u8def \u5916\u89c2 \u5982\u4f55 \u53d8\u5316 \u3002   \u57fa\u7840 \u9053\u8def \u6750\u6599 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   1   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   2   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   3   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u8d34\u82b1 \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u7f51\u683c \u540e \u7684 \u793a\u4f8b \u3002","title":"\u63cf\u7ed8 \u9053\u8def  "},{"location":"tuto_M_custom_road_painter/#_7","text":"\u7ed8\u5236 \u9053\u8def \u540e \uff0c \u60a8 \u53ef\u4ee5 \u6309\u7167 \u4ee5\u4e0b \u6b65\u9aa4 \u66f4\u65b0 \u9053\u8def \u6807\u8bb0 \u7684 \u5916\u89c2 \uff1a   1 .   \u590d\u5236 \u4e3b \u6750\u6599 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \uff0c \u5bfc\u822a \u81f3   Game / Carla / Static / GenericMaterials / RoadPainterMaterials   \u3002   \u53f3\u952e \u5355\u51fb   Tutorial _ RoadMaster   \u5e76 \u9009\u62e9   Create   Material   Instance   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ LaneMarkings   \u3002   2 .   \u914d\u7f6e \u8f66\u9053 \u7ebf \u6750\u8d28 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \uff0c \u53cc\u51fb   Tutorial _ LaneMarkings   \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Global   Static   Switch   Parameter   Values   \u90e8\u5206 \uff0c \u7136\u540e \u9009\u4e2d   LaneMark   \u5de6\u4fa7 \u548c \u53f3\u4fa7 \u7684 \u6846 \u3002   \u8f6c \u5230   Texture   \u90e8\u5206 \u5e76 \u9009\u4e2d   LaneColor   \u548c   Uv   Size   \u590d\u9009 \u9009\u6846 \u590d\u9009\u6846 \u3002   \u5728   LaneColor   \u4e2d \u9009\u62e9 \u60a8 \u559c\u6b22 \u7684 \u8f66\u9053 \u6807\u8bb0 \u989c\u8272 \u3002   \u4fdd\u5b58   \u5e76 \u5173\u95ed \u3002   3 .   \u9009\u62e9 \u8f66\u9053 \u7ebf \u7f51\u683c \u3002   \u5c06 \u6750\u6599 \u62d6\u5230 \u60a8 \u60f3\u8981 \u7740\u8272 \u7684 \u8f66\u9053 \u7ebf\u4e0a \u3002 \u5982\u679c \u9700\u8981 \uff0c \u5bf9 \u4e0d\u540c \u989c\u8272 \u7684 \u8f66\u9053 \u7ebf \u91cd\u590d \u6574\u4e2a \u8fc7\u7a0b \u3002","title":"\u66f4\u65b0 \u8f66\u9053 \u7ebf \u7684 \u5916\u89c2  "},{"location":"tuto_M_custom_road_painter/#_8","text":"\u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u5173\u5361 \u3002   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u4e0b \u4e00\u6b65  "},{"location":"tuto_M_custom_weather_landscape/","text":"\u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5929\u6c14 \u548c \u666f\u89c2   Carla   \u63d0\u4f9b \u4e86 \u591a\u4e2a \u84dd\u56fe \uff0c \u53ef \u5e2e\u52a9 \u60a8 \u8f7b\u677e \u521b\u5efa \u5730\u56fe \u7684 \u9ed8\u8ba4 \u5929\u6c14 \u8bbe\u7f6e \uff0c \u5e76 \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \uff08 \u4f8b\u5982 \u8def\u706f \u3001 \u7535\u7ebf \u7b49 \uff09 \u586b\u5145 \u666f\u89c2 \u3002   \u672c \u6307\u5357 \u5c06 \u89e3\u91ca \u6bcf\u4e2a \u84dd\u56fe \u7684 \u4f4d\u7f6e \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528 \u548c \u914d\u7f6e \u5b83\u4eec \u3002   \u5929\u6c14 \u5b9a\u5236   BP _ Sky   BP _ Weather   \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c   BP _ RepSpline   BP _ Spline   BP _ Wall   BP _ SplinePoweLine   \u4e0b \u4e00\u6b65   \u91cd\u8981   \u672c \u6559\u7a0b \u4ec5 \u9002\u7528 \u4e8e \u4f7f\u7528 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u5e76 \u6709\u6743 \u8bbf\u95ee \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u7528\u6237 \u3002   \u5929\u6c14 \u5b9a\u5236   \u672c \u8282 \u4ecb\u7ecd \u5982\u4f55 \u5728 \u8bbe\u7f6e \u5730\u56fe \u7684 \u9ed8\u8ba4 \u5929\u6c14 \u4e4b\u524d \u5c1d\u8bd5 \u4e0d\u540c \u7684 \u5929\u6c14 \u53c2\u6570 \uff0c \u4ee5\u53ca \u5728 \u5bf9 \u8bbe\u7f6e \u611f\u5230 \u6ee1\u610f \u540e \u5982\u4f55 \u4e3a \u5730\u56fe \u914d\u7f6e \u9ed8\u8ba4 \u5929\u6c14 \u53c2\u6570 \u3002   BP _ Sky   \u84dd\u56fe   BP _ Sky   \u5bf9\u4e8e \u4e3a \u5730\u56fe \u5e26\u6765 \u5149\u7ebf \u548c \u5929\u6c14 \u662f \u5fc5\u8981 \u7684 \u3002 \u5728 \u51b3\u5b9a \u9ed8\u8ba4 \u5929\u6c14 \u53c2\u6570 \u4e4b\u524d \uff0c \u5b83 \u8fd8 \u53ef\u4ee5 \u7528\u4e8e \u6d4b\u8bd5 \u4e0d\u540c \u7684 \u5929\u6c14 \u914d\u7f6e \u3002   BP _ Sky   \u84dd\u56fe \u53ef\u80fd \u5df2\u7ecf \u52a0\u8f7d \u5230 \u60a8 \u7684 \u5730\u56fe \u4e2d \u3002 \u5982\u679c \u6ca1\u6709 \uff0c \u60a8 \u53ef\u4ee5 \u901a\u8fc7   Content / Carla / Blueprints / Weather   \u5c06 \u5176 \u62d6 \u5230 \u573a\u666f \u4e2d\u6765 \u6dfb\u52a0 \u5b83 \u3002   \u8981 \u5c1d\u8bd5 \u4e0d\u540c \u7684 \u5929\u6c14 \u53c2\u6570 \uff0c \u8bf7 \u8f6c\u5230   BP _ Sky   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   Details   \u9762\u677f \uff0c \u7136\u540e \u4f7f\u7528   Parameters   \u90e8\u5206 \u4e2d \u7684 \u503c \u3002   \u91cd\u8981   \u5982\u679c \u573a\u666f \u4e2d \u52a0\u8f7d \u4e86 \u591a\u4e2a   BP _ Sky   \u84dd\u56fe \uff0c \u5929\u6c14 \u5c06\u4f1a \u91cd\u590d \uff0c \u4ece\u800c \u4ea7\u751f \u4e0d\u826f \u7ed3\u679c \uff0c \u4f8b\u5982 \uff0c \u6709 \u4e24\u4e2a \u592a\u9633 \u3002   BP _ Weather   \u5730\u56fe \u7684 \u9ed8\u8ba4 \u5929\u6c14 \u5728   BP _ Weather   \u84dd\u56fe \u4e2d \u5b9a\u4e49 \u3002 \u6b64 \u84dd\u56fe \u5141\u8bb8 \u60a8 \u8bbe\u7f6e \u4e0e \u901a\u8fc7   Python   API   \u63d0\u4f9b \u7684 \u53c2\u6570 \u76f8\u540c \u7684 \u53c2\u6570 \u3002   \u6b64\u5904   \u63cf\u8ff0 \u4e86 \u8fd9\u4e9b \u53c2\u6570 \u3002   \u8981 \u8bbe\u7f6e \u5730\u56fe \u7684 \u9ed8\u8ba4 \u5929\u6c14 \uff1a   1 .   \u6253\u5f00   BP _ Weather   \u84dd\u56fe \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Content / Carla / Blueprints / Weather   \u5e76 \u53cc\u51fb   BP _ Weather   \u3002   2 .   \u6dfb\u52a0 \u60a8 \u7684 \u57ce\u9547 \u3002   \u5728   BP _ Weather   \u7a97\u53e3 \u7684   Details   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Weather   \u90e8\u5206 \u5e76 \u5c06 \u60a8 \u7684 \u57ce\u9547 \u6dfb\u52a0 \u5230   Default   Weathers   \u6570\u7ec4 \u4e2d \u3002   3 .   \u914d\u7f6e \u9ed8\u8ba4 \u5929\u6c14 \u53c2\u6570 \u3002   \u5bf9\u4e8e \u6bcf\u4e2a \u5929\u6c14 \u53c2\u6570 \uff0c \u8bbe\u7f6e \u60a8 \u60f3\u8981 \u7684 \u503c \u3002 \u5b8c\u6210 \u540e \uff0c \u6309   Compile   \uff0c \u7136\u540e \u6309   Save   \u5e76 \u5173\u95ed \u3002   \u5305\u542b \u6bcf\u4e2a   Carla   \u5730\u56fe \u7684 \u9ed8\u8ba4 \u5929\u6c14 \u53c2\u6570 \u7684 \u6570\u7ec4 \u3002 Town01   \u6253\u5f00 \u3002   \u6dfb\u52a0 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c   \u6709 \u56db\u79cd \u84dd\u56fe \u53ef \u7528\u4e8e \u6dfb\u52a0 \u6cbf \u4e00\u4e2a \u65b9\u5411 \u5bf9\u9f50 \u7684 \u9053\u5177 \uff0c \u4f8b\u5982 \u5899\u58c1 \u3001 \u7535\u7ebf \u3001 \u8def\u706f \u3002 \u8fd9\u4e9b \u84dd\u56fe \u4f7f\u7528 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u6cbf \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u5206\u5e03 \u7684 \u7f51\u683c \u3002 \u6bcf \u4e00\u4e2a \u90fd \u4ee5 \u76f8\u540c \u7684 \u65b9\u5f0f \u521d\u59cb \u521d\u59cb\u5316 \uff1a   1 .   \u521d\u59cb \u521d\u59cb\u5316 \u5e8f\u5217 \u3002   \u5c06 \u84dd\u56fe \u62d6 \u5230 \u573a\u666f \u4e2d \u3002 \u60a8 \u5c06 \u770b\u5230 \u4e00\u4e2a \u5143\u7d20 \u4f4d\u4e8e \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u7684 \u8d77\u70b9 \uff0c \u5e76 \u6709 \u4e24\u4e2a \u8282\u70b9 \u6807\u8bb0 \u5f00\u59cb \u548c \u7ed3\u675f \u3002   2 .   \u5b9a\u4e49 \u8def\u5f84 \u3002   \u9009\u62e9 \u5143\u7d20 \u7684 \u65b9\u5411 \u7bad\u5934 \u65b9\u5411\u7bad\u5934 \uff0c \u7136\u540e \u6309   Alt   \u952e \uff0c \u540c\u65f6 \u5c06 \u5143\u7d20 \u5411 \u60a8 \u60f3\u8981 \u79fb\u52a8 \u7684 \u65b9\u5411 \u62d6\u52a8 \u3002 \u8fd9 \u5c06 \u521b\u5efa \u4e00\u4e2a \u53ef \u7528\u4e8e \u5b9a\u4e49 \u66f2\u7ebf \u7684 \u65b0\u5143 \u5143\u7d20 \u65b0\u5143\u7d20 \u3002 \u62d6\u52a8 \u65f6 \uff0c \u66f2\u7ebf \u7684 \u6bcf\u4e2a \u8282\u70b9 \u4e0a \u6216 \u6bcf\u6b21   Alt   \u62d6\u52a8 \u65f6 \u6309 \u4e0b \u65f6 \u90fd \u4f1a \u51fa\u73b0 \u4e00\u4e2a \u65b0 \u7f51\u683c \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u84dd\u56fe \u3002   3 .   \u5b9a\u5236 \u56fe\u6848 \u3002   \u4ee5\u4e0b \u90e8\u5206 \u5c06 \u63cf\u8ff0 \u6bcf\u4e2a \u84dd\u56fe \u53ef\u7528 \u7684 \u4e0d\u540c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u53c2\u6570 \u3002   BP _ RepSpline   \u84dd\u56fe   BP _ RepSpline   \u53ef \u5728   Carla / Blueprints / LevelDesign   \u4e2d \u627e\u5230 \u3002 \u5b83 \u7528\u4e8e \u6cbf\u7740 \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u5b9a\u4e49 \u7684 \u8def\u5f84 \u6dfb\u52a0   \u5355\u4e2a   \u5143\u7d20 \u3002   \u5e8f\u5217 \u5e8f\u5217\u5316 \u662f \u901a\u8fc7 \u4ee5\u4e0b \u503c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \uff1a   Distance   between   \u2014   \u8bbe\u7f6e \u5143\u7d20 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   Offset   rotation   \u2014   \u4e3a \u4e0d\u540c \u8f74 \u8bbe\u7f6e \u56fa\u5b9a \u65cb\u8f6c \u3002   Random   rotation   \u2014   \u8bbe\u7f6e \u4e0d\u540c \u8f74 \u7684 \u968f\u673a \u65cb\u8f6c \u8303\u56f4 \u3002   Offset   translation   \u2014   \u8bbe\u7f6e \u6cbf \u4e0d\u540c \u8f74 \u7684 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u968f\u673a \u4f4d\u7f6e \u3002   Max   Number   of   Meshes   \u2014   \u8bbe\u7f6e \u5c06 \u653e\u7f6e \u5728 \u66f2\u7ebf \u8282\u70b9 \u4e4b\u95f4 \u7684 \u5143\u7d20 \u7684 \u6700\u5927 \u6570\u91cf \u3002   World   aligned   ZY   \u2014   \u5982\u679c \u9009\u62e9 \u6b64 \u9009\u9879 \uff0c \u5143\u7d20 \u5c06 \u76f8\u5bf9 \u4e8e \u4e16\u754c \u8f74 \u5782\u76f4 \u5bf9\u9f50 \u3002   EndPoint   \u2014   \u5982\u679c \u9009\u62e9 \u6b64 \u9009\u9879 \uff0c \u5c06 \u5728 \u66f2\u7ebf \u7684 \u7ec8\u70b9 \u8282\u70b9 \u6dfb\u52a0 \u4e00\u4e2a \u5143\u7d20 \u3002   Collision   enabled   \u2014   \u8bbe\u7f6e \u4e3a \u7f51\u683c \u542f\u7528 \u7684 \u78b0\u649e \u7c7b\u578b \u3002   BP _ RepSpline   \u793a\u4f8b \u3002   BP _ Spline   \u84dd\u56fe   BP _ Spline   \u53ef \u5728   Carla / Blueprints / LevelDesign   \u4e2d \u627e\u5230 \u3002 \u5b83 \u6dfb\u52a0 \u4e25\u683c \u9075\u5faa \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u5b9a\u4e49 \u7684 \u8def\u5f84 \u7684 \u8fde\u63a5 \u5143\u7d20 \u3002 \u7f51\u683c \u5c06 \u626d\u66f2 \u4ee5 \u9002\u5e94 \u521b\u5efa \u7684 \u8def\u5f84 \u3002   \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u503c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u84dd\u56fe \uff1a   Gap   distance   \u2014   \u5728 \u5143\u7d20 \u4e4b\u95f4 \u6dfb\u52a0 \u95f4\u9694 \u3002   BP _ Spline   example .   BP _ Wall   \u84dd\u56fe   BP _ Wall   \u53ef \u5728   Carla / Blueprints / LevelDesign   \u4e2d \u627e\u5230 \u3002 \u5b83 \u6cbf\u7740 \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u5b9a\u4e49 \u7684 \u8def\u5f84 \u6dfb\u52a0 \u8fde\u63a5 \u7684 \u5143\u7d20 \u3002 \u7f51\u683c \u4e0d\u4f1a \u626d\u66f2 \u4ee5 \u9002\u5e94 \u66f2\u7ebf \uff0c \u4f46\u4f1a \u8003\u8651 \u8282\u70b9 \u3002   Distance   between   \u2014   \u8bbe\u7f6e \u5143\u7d20 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   Vertically   aligned   \u2014   \u5982\u679c \u9009\u62e9 \u6b64 \u9009\u9879 \uff0c \u5143\u7d20 \u5c06 \u76f8\u5bf9 \u4e8e \u4e16\u754c \u8f74 \u5782\u76f4 \u5bf9\u9f50 \u3002   Scale   offset   \u2014   \u7f29\u653e \u7f51\u683c \u7684 \u957f\u5ea6 \u4ee5 \u5b8c\u5584 \u5143\u7d20 \u4e4b\u95f4 \u7684 \u8fde\u63a5 \u3002   BP _ Wall   \u5b9e\u4f8b \u3002   BP _ SplinePoweLine   BP _ SplinePoweLine   \u84dd\u56fe \u53ef \u5728   Carla / Static / Pole / PoweLine   \u4e2d \u627e\u5230 \u3002 \u5b83 \u6cbf\u7740 \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u5b9a\u4e49 \u7684 \u8def\u5f84 \u6dfb\u52a0   \u7535\u7ebf \u7535\u7ebf\u6746 ( electricity   poles )   \uff0c \u5e76 \u5c06 \u5b83\u4eec   \u4e0e \u7535\u7ebf \u8fde\u63a5 \u63a5\u8d77 \u8d77\u6765 \u8fde\u63a5\u8d77\u6765   \u3002   \u4e3a\u4e86 \u63d0\u4f9b \u591a\u6837 \u591a\u6837\u6027 \uff0c \u60a8 \u53ef\u4ee5 \u4e3a \u84dd\u56fe \u63d0\u4f9b \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7535\u529b \u7535\u529b\u7ebf \u7f51\u683c \u6765 \u586b\u5145 \u8def\u5f84 \u3002 \u53bb \u505a \u8fd9\u4e2a \uff1a   \u5728   Content   Browser   \u4e2d \u53cc\u51fb   BP _ SplinePoweLine   \u84dd\u56fe \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Default   \u90e8\u5206 \u3002   \u5c55\u5f00   Array   Meshes   \u5e76 \u6839\u636e \u60a8 \u7684 \u9700\u8981 \u6dfb\u52a0 \u6216 \u66f4\u6539 \u5b83 \u3002   \u70b9\u51fb   Compile   \uff0c \u7136\u540e \u4fdd\u5b58 \u5e76 \u5173\u95ed \u7a97\u53e3 \u3002   BP _ SplinePowerLine   example .   \u8981 \u6539\u53d8 \u7535\u6e90 \u7535\u6e90\u7ebf \u7684 \u7ebf \u5f20\u529b \uff1a   \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u573a\u666f \u4e2d \u9009\u62e9 \u84dd\u56fe \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u7136\u540e \u8f6c \u5230   Details   \u9762\u677f \u3002   \u8f6c \u5230   Default   \u90e8\u5206 \u3002   \u8c03\u6574 \u5f20\u529b   Tension   \u4e2d \u7684 \u503c \u3002   0   \u8868\u793a \u7ebf\u6761 \u5c06 \u662f \u76f4 \u7684 \u3002   \u589e\u52a0 \u7535\u7ebf \u6570\u91cf \uff1a   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u53cc\u51fb \u5176\u4e2d \u4e00\u4e2a \u6746 \u7f51\u683c \u3002   \u8f6c \u5230   Socket   Manager   \u9762\u677f \u3002   \u914d\u7f6e \u73b0\u6709 \u5957 \u63a5\u5b57 \u6216 \u901a\u8fc7 \u5355\u51fb   Create   Socket   \u6dfb\u52a0 \u65b0\u5957 \u63a5\u5b57 \u3002 \u63d2\u5ea7 \u662f \u4ee3\u8868 \u7535\u6e90 \u7535\u6e90\u7ebf \u8fde\u63a5 \u63a5\u70b9 \u8fde\u63a5\u70b9 \u7684 \u7a7a \u7f51\u683c \u3002 \u5728 \u4e24\u6781 \u4e4b\u95f4 \u4ece \u63d2\u5ea7 \u5230 \u63d2\u5ea7 \u521b\u5efa \u7535\u7ebf \u3002   BP _ SplinePowerLine   \u5957 \u63a5\u5b57 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u91cd\u8981   \u5404\u6781 \u4e4b\u95f4 \u7684 \u63d2\u5ea7 \u6570\u91cf \u53ca \u540d\u79f0 \u5e94 \u4e00\u81f4 \u3002 \u5426\u5219 \uff0c \u53ef\u80fd \u4f1a \u51fa\u73b0 \u53ef\u89c6 \u53ef\u89c6\u5316 \u95ee\u9898 \u3002   \u4e0b \u4e00\u6b65   \u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u5173\u5361 \u3002   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5929\u6c14 \u548c \u666f\u89c2"},{"location":"tuto_M_custom_weather_landscape/#_1","text":"Carla   \u63d0\u4f9b \u4e86 \u591a\u4e2a \u84dd\u56fe \uff0c \u53ef \u5e2e\u52a9 \u60a8 \u8f7b\u677e \u521b\u5efa \u5730\u56fe \u7684 \u9ed8\u8ba4 \u5929\u6c14 \u8bbe\u7f6e \uff0c \u5e76 \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \uff08 \u4f8b\u5982 \u8def\u706f \u3001 \u7535\u7ebf \u7b49 \uff09 \u586b\u5145 \u666f\u89c2 \u3002   \u672c \u6307\u5357 \u5c06 \u89e3\u91ca \u6bcf\u4e2a \u84dd\u56fe \u7684 \u4f4d\u7f6e \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528 \u548c \u914d\u7f6e \u5b83\u4eec \u3002   \u5929\u6c14 \u5b9a\u5236   BP _ Sky   BP _ Weather   \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c   BP _ RepSpline   BP _ Spline   BP _ Wall   BP _ SplinePoweLine   \u4e0b \u4e00\u6b65   \u91cd\u8981   \u672c \u6559\u7a0b \u4ec5 \u9002\u7528 \u4e8e \u4f7f\u7528 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u5e76 \u6709\u6743 \u8bbf\u95ee \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7684 \u7528\u6237 \u3002","title":"\u81ea\u5b9a\u4e49 \u5730\u56fe \uff1a \u5929\u6c14 \u548c \u666f\u89c2"},{"location":"tuto_M_custom_weather_landscape/#_2","text":"\u672c \u8282 \u4ecb\u7ecd \u5982\u4f55 \u5728 \u8bbe\u7f6e \u5730\u56fe \u7684 \u9ed8\u8ba4 \u5929\u6c14 \u4e4b\u524d \u5c1d\u8bd5 \u4e0d\u540c \u7684 \u5929\u6c14 \u53c2\u6570 \uff0c \u4ee5\u53ca \u5728 \u5bf9 \u8bbe\u7f6e \u611f\u5230 \u6ee1\u610f \u540e \u5982\u4f55 \u4e3a \u5730\u56fe \u914d\u7f6e \u9ed8\u8ba4 \u5929\u6c14 \u53c2\u6570 \u3002","title":"\u5929\u6c14 \u5b9a\u5236  "},{"location":"tuto_M_custom_weather_landscape/#bp_sky","text":"\u84dd\u56fe   BP _ Sky   \u5bf9\u4e8e \u4e3a \u5730\u56fe \u5e26\u6765 \u5149\u7ebf \u548c \u5929\u6c14 \u662f \u5fc5\u8981 \u7684 \u3002 \u5728 \u51b3\u5b9a \u9ed8\u8ba4 \u5929\u6c14 \u53c2\u6570 \u4e4b\u524d \uff0c \u5b83 \u8fd8 \u53ef\u4ee5 \u7528\u4e8e \u6d4b\u8bd5 \u4e0d\u540c \u7684 \u5929\u6c14 \u914d\u7f6e \u3002   BP _ Sky   \u84dd\u56fe \u53ef\u80fd \u5df2\u7ecf \u52a0\u8f7d \u5230 \u60a8 \u7684 \u5730\u56fe \u4e2d \u3002 \u5982\u679c \u6ca1\u6709 \uff0c \u60a8 \u53ef\u4ee5 \u901a\u8fc7   Content / Carla / Blueprints / Weather   \u5c06 \u5176 \u62d6 \u5230 \u573a\u666f \u4e2d\u6765 \u6dfb\u52a0 \u5b83 \u3002   \u8981 \u5c1d\u8bd5 \u4e0d\u540c \u7684 \u5929\u6c14 \u53c2\u6570 \uff0c \u8bf7 \u8f6c\u5230   BP _ Sky   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   Details   \u9762\u677f \uff0c \u7136\u540e \u4f7f\u7528   Parameters   \u90e8\u5206 \u4e2d \u7684 \u503c \u3002   \u91cd\u8981   \u5982\u679c \u573a\u666f \u4e2d \u52a0\u8f7d \u4e86 \u591a\u4e2a   BP _ Sky   \u84dd\u56fe \uff0c \u5929\u6c14 \u5c06\u4f1a \u91cd\u590d \uff0c \u4ece\u800c \u4ea7\u751f \u4e0d\u826f \u7ed3\u679c \uff0c \u4f8b\u5982 \uff0c \u6709 \u4e24\u4e2a \u592a\u9633 \u3002","title":"BP _ Sky  "},{"location":"tuto_M_custom_weather_landscape/#bp_weather","text":"\u5730\u56fe \u7684 \u9ed8\u8ba4 \u5929\u6c14 \u5728   BP _ Weather   \u84dd\u56fe \u4e2d \u5b9a\u4e49 \u3002 \u6b64 \u84dd\u56fe \u5141\u8bb8 \u60a8 \u8bbe\u7f6e \u4e0e \u901a\u8fc7   Python   API   \u63d0\u4f9b \u7684 \u53c2\u6570 \u76f8\u540c \u7684 \u53c2\u6570 \u3002   \u6b64\u5904   \u63cf\u8ff0 \u4e86 \u8fd9\u4e9b \u53c2\u6570 \u3002   \u8981 \u8bbe\u7f6e \u5730\u56fe \u7684 \u9ed8\u8ba4 \u5929\u6c14 \uff1a   1 .   \u6253\u5f00   BP _ Weather   \u84dd\u56fe \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Content / Carla / Blueprints / Weather   \u5e76 \u53cc\u51fb   BP _ Weather   \u3002   2 .   \u6dfb\u52a0 \u60a8 \u7684 \u57ce\u9547 \u3002   \u5728   BP _ Weather   \u7a97\u53e3 \u7684   Details   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Weather   \u90e8\u5206 \u5e76 \u5c06 \u60a8 \u7684 \u57ce\u9547 \u6dfb\u52a0 \u5230   Default   Weathers   \u6570\u7ec4 \u4e2d \u3002   3 .   \u914d\u7f6e \u9ed8\u8ba4 \u5929\u6c14 \u53c2\u6570 \u3002   \u5bf9\u4e8e \u6bcf\u4e2a \u5929\u6c14 \u53c2\u6570 \uff0c \u8bbe\u7f6e \u60a8 \u60f3\u8981 \u7684 \u503c \u3002 \u5b8c\u6210 \u540e \uff0c \u6309   Compile   \uff0c \u7136\u540e \u6309   Save   \u5e76 \u5173\u95ed \u3002   \u5305\u542b \u6bcf\u4e2a   Carla   \u5730\u56fe \u7684 \u9ed8\u8ba4 \u5929\u6c14 \u53c2\u6570 \u7684 \u6570\u7ec4 \u3002 Town01   \u6253\u5f00 \u3002","title":"BP _ Weather  "},{"location":"tuto_M_custom_weather_landscape/#_3","text":"\u6709 \u56db\u79cd \u84dd\u56fe \u53ef \u7528\u4e8e \u6dfb\u52a0 \u6cbf \u4e00\u4e2a \u65b9\u5411 \u5bf9\u9f50 \u7684 \u9053\u5177 \uff0c \u4f8b\u5982 \u5899\u58c1 \u3001 \u7535\u7ebf \u3001 \u8def\u706f \u3002 \u8fd9\u4e9b \u84dd\u56fe \u4f7f\u7528 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u6cbf \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u5206\u5e03 \u7684 \u7f51\u683c \u3002 \u6bcf \u4e00\u4e2a \u90fd \u4ee5 \u76f8\u540c \u7684 \u65b9\u5f0f \u521d\u59cb \u521d\u59cb\u5316 \uff1a   1 .   \u521d\u59cb \u521d\u59cb\u5316 \u5e8f\u5217 \u3002   \u5c06 \u84dd\u56fe \u62d6 \u5230 \u573a\u666f \u4e2d \u3002 \u60a8 \u5c06 \u770b\u5230 \u4e00\u4e2a \u5143\u7d20 \u4f4d\u4e8e \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u7684 \u8d77\u70b9 \uff0c \u5e76 \u6709 \u4e24\u4e2a \u8282\u70b9 \u6807\u8bb0 \u5f00\u59cb \u548c \u7ed3\u675f \u3002   2 .   \u5b9a\u4e49 \u8def\u5f84 \u3002   \u9009\u62e9 \u5143\u7d20 \u7684 \u65b9\u5411 \u7bad\u5934 \u65b9\u5411\u7bad\u5934 \uff0c \u7136\u540e \u6309   Alt   \u952e \uff0c \u540c\u65f6 \u5c06 \u5143\u7d20 \u5411 \u60a8 \u60f3\u8981 \u79fb\u52a8 \u7684 \u65b9\u5411 \u62d6\u52a8 \u3002 \u8fd9 \u5c06 \u521b\u5efa \u4e00\u4e2a \u53ef \u7528\u4e8e \u5b9a\u4e49 \u66f2\u7ebf \u7684 \u65b0\u5143 \u5143\u7d20 \u65b0\u5143\u7d20 \u3002 \u62d6\u52a8 \u65f6 \uff0c \u66f2\u7ebf \u7684 \u6bcf\u4e2a \u8282\u70b9 \u4e0a \u6216 \u6bcf\u6b21   Alt   \u62d6\u52a8 \u65f6 \u6309 \u4e0b \u65f6 \u90fd \u4f1a \u51fa\u73b0 \u4e00\u4e2a \u65b0 \u7f51\u683c \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u84dd\u56fe \u3002   3 .   \u5b9a\u5236 \u56fe\u6848 \u3002   \u4ee5\u4e0b \u90e8\u5206 \u5c06 \u63cf\u8ff0 \u6bcf\u4e2a \u84dd\u56fe \u53ef\u7528 \u7684 \u4e0d\u540c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u53c2\u6570 \u3002","title":"\u6dfb\u52a0 \u5e8f\u5217\u5316 \u7f51\u683c  "},{"location":"tuto_M_custom_weather_landscape/#bp_repspline","text":"\u84dd\u56fe   BP _ RepSpline   \u53ef \u5728   Carla / Blueprints / LevelDesign   \u4e2d \u627e\u5230 \u3002 \u5b83 \u7528\u4e8e \u6cbf\u7740 \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u5b9a\u4e49 \u7684 \u8def\u5f84 \u6dfb\u52a0   \u5355\u4e2a   \u5143\u7d20 \u3002   \u5e8f\u5217 \u5e8f\u5217\u5316 \u662f \u901a\u8fc7 \u4ee5\u4e0b \u503c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \uff1a   Distance   between   \u2014   \u8bbe\u7f6e \u5143\u7d20 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   Offset   rotation   \u2014   \u4e3a \u4e0d\u540c \u8f74 \u8bbe\u7f6e \u56fa\u5b9a \u65cb\u8f6c \u3002   Random   rotation   \u2014   \u8bbe\u7f6e \u4e0d\u540c \u8f74 \u7684 \u968f\u673a \u65cb\u8f6c \u8303\u56f4 \u3002   Offset   translation   \u2014   \u8bbe\u7f6e \u6cbf \u4e0d\u540c \u8f74 \u7684 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u968f\u673a \u4f4d\u7f6e \u3002   Max   Number   of   Meshes   \u2014   \u8bbe\u7f6e \u5c06 \u653e\u7f6e \u5728 \u66f2\u7ebf \u8282\u70b9 \u4e4b\u95f4 \u7684 \u5143\u7d20 \u7684 \u6700\u5927 \u6570\u91cf \u3002   World   aligned   ZY   \u2014   \u5982\u679c \u9009\u62e9 \u6b64 \u9009\u9879 \uff0c \u5143\u7d20 \u5c06 \u76f8\u5bf9 \u4e8e \u4e16\u754c \u8f74 \u5782\u76f4 \u5bf9\u9f50 \u3002   EndPoint   \u2014   \u5982\u679c \u9009\u62e9 \u6b64 \u9009\u9879 \uff0c \u5c06 \u5728 \u66f2\u7ebf \u7684 \u7ec8\u70b9 \u8282\u70b9 \u6dfb\u52a0 \u4e00\u4e2a \u5143\u7d20 \u3002   Collision   enabled   \u2014   \u8bbe\u7f6e \u4e3a \u7f51\u683c \u542f\u7528 \u7684 \u78b0\u649e \u7c7b\u578b \u3002   BP _ RepSpline   \u793a\u4f8b \u3002","title":"BP _ RepSpline  "},{"location":"tuto_M_custom_weather_landscape/#bp_spline","text":"\u84dd\u56fe   BP _ Spline   \u53ef \u5728   Carla / Blueprints / LevelDesign   \u4e2d \u627e\u5230 \u3002 \u5b83 \u6dfb\u52a0 \u4e25\u683c \u9075\u5faa \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u5b9a\u4e49 \u7684 \u8def\u5f84 \u7684 \u8fde\u63a5 \u5143\u7d20 \u3002 \u7f51\u683c \u5c06 \u626d\u66f2 \u4ee5 \u9002\u5e94 \u521b\u5efa \u7684 \u8def\u5f84 \u3002   \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u503c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u84dd\u56fe \uff1a   Gap   distance   \u2014   \u5728 \u5143\u7d20 \u4e4b\u95f4 \u6dfb\u52a0 \u95f4\u9694 \u3002   BP _ Spline   example .","title":"BP _ Spline  "},{"location":"tuto_M_custom_weather_landscape/#bp_wall","text":"\u84dd\u56fe   BP _ Wall   \u53ef \u5728   Carla / Blueprints / LevelDesign   \u4e2d \u627e\u5230 \u3002 \u5b83 \u6cbf\u7740 \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u5b9a\u4e49 \u7684 \u8def\u5f84 \u6dfb\u52a0 \u8fde\u63a5 \u7684 \u5143\u7d20 \u3002 \u7f51\u683c \u4e0d\u4f1a \u626d\u66f2 \u4ee5 \u9002\u5e94 \u66f2\u7ebf \uff0c \u4f46\u4f1a \u8003\u8651 \u8282\u70b9 \u3002   Distance   between   \u2014   \u8bbe\u7f6e \u5143\u7d20 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   Vertically   aligned   \u2014   \u5982\u679c \u9009\u62e9 \u6b64 \u9009\u9879 \uff0c \u5143\u7d20 \u5c06 \u76f8\u5bf9 \u4e8e \u4e16\u754c \u8f74 \u5782\u76f4 \u5bf9\u9f50 \u3002   Scale   offset   \u2014   \u7f29\u653e \u7f51\u683c \u7684 \u957f\u5ea6 \u4ee5 \u5b8c\u5584 \u5143\u7d20 \u4e4b\u95f4 \u7684 \u8fde\u63a5 \u3002   BP _ Wall   \u5b9e\u4f8b \u3002","title":"BP _ Wall  "},{"location":"tuto_M_custom_weather_landscape/#bp_splinepoweline","text":"BP _ SplinePoweLine   \u84dd\u56fe \u53ef \u5728   Carla / Static / Pole / PoweLine   \u4e2d \u627e\u5230 \u3002 \u5b83 \u6cbf\u7740 \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u5b9a\u4e49 \u7684 \u8def\u5f84 \u6dfb\u52a0   \u7535\u7ebf \u7535\u7ebf\u6746 ( electricity   poles )   \uff0c \u5e76 \u5c06 \u5b83\u4eec   \u4e0e \u7535\u7ebf \u8fde\u63a5 \u63a5\u8d77 \u8d77\u6765 \u8fde\u63a5\u8d77\u6765   \u3002   \u4e3a\u4e86 \u63d0\u4f9b \u591a\u6837 \u591a\u6837\u6027 \uff0c \u60a8 \u53ef\u4ee5 \u4e3a \u84dd\u56fe \u63d0\u4f9b \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u7535\u529b \u7535\u529b\u7ebf \u7f51\u683c \u6765 \u586b\u5145 \u8def\u5f84 \u3002 \u53bb \u505a \u8fd9\u4e2a \uff1a   \u5728   Content   Browser   \u4e2d \u53cc\u51fb   BP _ SplinePoweLine   \u84dd\u56fe \u3002   \u5728   Details   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Default   \u90e8\u5206 \u3002   \u5c55\u5f00   Array   Meshes   \u5e76 \u6839\u636e \u60a8 \u7684 \u9700\u8981 \u6dfb\u52a0 \u6216 \u66f4\u6539 \u5b83 \u3002   \u70b9\u51fb   Compile   \uff0c \u7136\u540e \u4fdd\u5b58 \u5e76 \u5173\u95ed \u7a97\u53e3 \u3002   BP _ SplinePowerLine   example .   \u8981 \u6539\u53d8 \u7535\u6e90 \u7535\u6e90\u7ebf \u7684 \u7ebf \u5f20\u529b \uff1a   \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u573a\u666f \u4e2d \u9009\u62e9 \u84dd\u56fe \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u7136\u540e \u8f6c \u5230   Details   \u9762\u677f \u3002   \u8f6c \u5230   Default   \u90e8\u5206 \u3002   \u8c03\u6574 \u5f20\u529b   Tension   \u4e2d \u7684 \u503c \u3002   0   \u8868\u793a \u7ebf\u6761 \u5c06 \u662f \u76f4 \u7684 \u3002   \u589e\u52a0 \u7535\u7ebf \u6570\u91cf \uff1a   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u53cc\u51fb \u5176\u4e2d \u4e00\u4e2a \u6746 \u7f51\u683c \u3002   \u8f6c \u5230   Socket   Manager   \u9762\u677f \u3002   \u914d\u7f6e \u73b0\u6709 \u5957 \u63a5\u5b57 \u6216 \u901a\u8fc7 \u5355\u51fb   Create   Socket   \u6dfb\u52a0 \u65b0\u5957 \u63a5\u5b57 \u3002 \u63d2\u5ea7 \u662f \u4ee3\u8868 \u7535\u6e90 \u7535\u6e90\u7ebf \u8fde\u63a5 \u63a5\u70b9 \u8fde\u63a5\u70b9 \u7684 \u7a7a \u7f51\u683c \u3002 \u5728 \u4e24\u6781 \u4e4b\u95f4 \u4ece \u63d2\u5ea7 \u5230 \u63d2\u5ea7 \u521b\u5efa \u7535\u7ebf \u3002   BP _ SplinePowerLine   \u5957 \u63a5\u5b57 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u91cd\u8981   \u5404\u6781 \u4e4b\u95f4 \u7684 \u63d2\u5ea7 \u6570\u91cf \u53ca \u540d\u79f0 \u5e94 \u4e00\u81f4 \u3002 \u5426\u5219 \uff0c \u53ef\u80fd \u4f1a \u51fa\u73b0 \u53ef\u89c6 \u53ef\u89c6\u5316 \u95ee\u9898 \u3002","title":"BP _ SplinePoweLine  "},{"location":"tuto_M_custom_weather_landscape/#_4","text":"\u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u73b0 \u5b50 \u5173\u5361 \u3002   \u6dfb\u52a0 \u548c \u914d\u7f6e \u4ea4\u901a \u4ea4\u901a\u706f \u548c \u6807\u5fd7 \u3002   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u4f7f\u7528 \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u3002   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u4e0b \u4e00\u6b65    "},{"location":"tuto_M_generate_map/","text":"\u5728   RoadRunner   \u4e2d \u751f\u6210 \u5730\u56fe   RoadRunner   \u662f \u63a8\u8350 \u7684 \u8f6f\u4ef6 \uff0c \u7528\u4e8e \u521b\u5efa \u8981 \u5bfc\u5165   Carla   \u7684 \u5730\u56fe \u3002 \u672c \u6307\u5357 \u6982\u8ff0 \u4e86   RoadRunner   \u662f \u4ec0\u4e48 \u3001 \u6784\u5efa \u5730\u56fe \u65f6 \u9700\u8981 \u8003\u8651 \u7684 \u4e8b\u9879 \u4ee5\u53ca \u5982\u4f55 \u5bfc\u51fa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u4ee5 \u51c6\u5907 \u5bfc\u5165   Carla \u3002   RoadRunner   \u7b80\u4ecb   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5728   RoadRunner   \u4e2d \u6784\u5efa \u5730\u56fe   \u5728   RoadRunner   \u4e2d \u5bfc\u51fa \u5730\u56fe   \u4e0b \u4e00\u6b65   RoadRunner   \u7b80\u4ecb   RoadRunner   \u662f \u4e00\u6b3e \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u53ef \u8ba9 \u60a8 \u8bbe\u8ba1 \u7528\u4e8e \u4eff\u771f \u548c \u6d4b\u8bd5 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u7684   3D   \u573a\u666f \u3002 \u5b83 \u53ef \u7528\u4e8e \u521b\u5efa \u9053\u8def \u5e03\u5c40 \u4ee5\u53ca \u968f\u9644 \u7684   OpenDRIVE   \u548c \u51e0\u4f55 \u4fe1\u606f \u3002   \u5728   \u6b64\u5904   \u80fd \u4e86\u89e3 \u5230 \u66f4 \u591a   RoadRunner   \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   RoadRunner   \u662f   MATLAB   Campus - Wide   License   \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u56e0\u6b64 \u8bb8\u591a \u5927\u5b66 \u90fd \u53ef\u4ee5 \u63d0\u4f9b \u65e0 \u9650\u5236 \u7684 \u5b66\u672f \u8bbf\u95ee \u3002   \u68c0\u67e5   \u60a8 \u7684 \u5927\u5b66 \u662f\u5426 \u6709\u6743 \u8bbf\u95ee \u3002 \u5982\u679c \u60a8 \u5bf9 \u8f85\u52a9 \u529f\u80fd \u6709 \u4efb\u4f55 \u7591\u95ee \u6216 \u56f0\u96be \uff0c \u8bf7 \u8054\u7cfb   automated - driving @ mathworks . com   \u3002   \u8fd8\u6709   \u8bd5\u7528 \u8bd5\u7528\u7248   \u53ef\u7528 \u3002   \u53c2\u52a0   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u6bcf\u4e2a \u4eba \u90fd \u53ef\u4ee5 \u83b7\u5f97   RoadRunner   \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u3002 \u70b9\u51fb   \u6b64\u5904   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u60a8 \u9700\u8981 \u5b89\u88c5   RoadRunner \u3002 \u60a8 \u53ef\u4ee5 \u6309\u7167   Mathworks   \u7f51\u7ad9 \u4e0a \u7684   \u5b89\u88c5 \u6307\u5357   \u8fdb\u884c \u64cd\u4f5c \u3002   \u5728   RoadRunner   \u4e2d \u6784\u5efa \u5730\u56fe   \u5173\u4e8e \u5982\u4f55 \u5728 RoadRunner \u4e2d \u6784\u5efa \u5730\u56fe \u7684 \u7ec6\u8282 \u8d85\u51fa \u4e86 \u672c \u6307\u5357 \u7684 \u8303\u56f4 \uff0c \u4f46\u662f \uff0c   RoadRuner \u6587\u6863   \u4e2d \u63d0\u4f9b \u4e86 \u89c6\u9891 \u6559\u7a0b \u89c6\u9891\u6559\u7a0b \u3002   \u8bf7 \u8bb0\u4f4f \uff0c \u5305\u542b \u5927\u91cf \u9053\u5177 \u7684 \u5730\u56fe \u4f1a\u663e \u7740 \u51cf\u6162 \u5bfc\u5165 \u8fc7\u7a0b \u3002   \u8fd9 \u56e0\u4e3a \u662f\u56e0\u4e3a \u865a\u5e7b \u5f15\u64ce \u9700\u8981 \u5c06 \u6bcf\u4e2a \u7f51\u683c \u7269\u4f53 \u8f6c\u6362 \u4e3a \u865a\u5e7b \u8d44\u6e90 \u3002 \u5982\u679c \u60a8 \u8ba1\u5212 \u5c06 \u5730\u56fe \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u7684 \u6e90 \u6784\u5efa \u7248\u672c \u4e2d \uff0c \u6211\u4eec \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u60a8 \u4ec5 \u5728   RoadRunner   \u4e2d \u521b\u5efa \u9053\u8def \u5e03\u5c40 \uff0c \u5e76 \u5728 \u5c06 \u5730\u56fe \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce \u4e4b\u524d \u4fdd\u7559 \u4efb\u4f55 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8bbe\u7f6e \u3002   Carla   \u63d0\u4f9b \u4e86 \u591a\u79cd \u5de5\u5177 \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u4f7f\u7528 \u8fd9\u4e9b \u5de5\u5177 \u6765 \u7b80\u5316 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8fc7\u7a0b \u3002   \u5728   RoadRunner   \u4e2d \u5bfc\u51fa \u5730\u56fe   \u4ee5\u4e0b \u662f\u4ece   RoadRunner   \u5bfc\u51fa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u7684 \u57fa\u672c \u6307\u5357 \u3002 \u60a8 \u53ef\u4ee5 \u5728   MathWorks   \u6587\u6863   \u4e2d \u627e\u5230 \u6709\u5173 \u5982\u4f55 \u5bfc\u51fa \u5230   Carla   \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u5728   RoadRunner   \u4e2d \u5236\u4f5c \u5730\u56fe \u540e \uff0c \u60a8 \u5c31 \u53ef\u4ee5 \u5c06 \u5176 \u5bfc\u51fa \u3002 \u8bf7 \u6ce8\u610f \uff0c   \u9053\u8def \u5e03\u5c40 \u5bfc\u51fa \u540e \u65e0\u6cd5 \u4fee\u6539 \u3002   \u5bfc\u51fa \u524d \uff0c \u8bf7 \u786e\u4fdd \uff1a   \u5730\u56fe \u4ee5   ( 0 , 0 )   \u4e3a \u4e2d\u5fc3 \uff0c \u4ee5 \u786e\u4fdd \u5730\u56fe \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6b63\u786e \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u5730\u56fe \u5b9a\u4e49 \u662f \u6b63\u786e \u7684 \u3002   \u5730\u56fe \u9a8c\u8bc1 \u662f \u6b63\u786e \u7684 \uff0c \u5bc6\u5207 \u5173\u6ce8 \u8fde\u63a5 \u548c \u51e0\u4f55 \u5f62\u72b6 \u3002   \u5730\u56fe \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u540e \uff0c \u5355\u51fb   OpenDRIVE   Preview   Tool   \u6309\u94ae \u5373\u53ef \u53ef\u89c6 \u53ef\u89c6\u5316   OpenDRIVE   \u9053\u8def \u7f51\u7edc \u5e76 \u5bf9 \u6240\u6709 \u5185\u5bb9 \u8fdb\u884c \u6700\u540e \u4e00\u6b21 \u68c0\u67e5 \u3002   \u7b14\u8bb0   OpenDrive   Preview   Tool   \u53ef\u4ee5 \u66f4 \u8f7b\u677e \u5730 \u6d4b\u8bd5 \u5730\u56fe \u7684 \u5b8c\u6574 \u5b8c\u6574\u6027 \u3002 \u5982\u679c \u8fde\u63a5 \u6709 \u4efb\u4f55 \u9519\u8bef \uff0c \u5355\u51fb \u8bf7\u5355\u51fb   Maneuver   Tool   \u548c   Rebuild   Maneuver   Roads   \u3002   \u5f53 \u60a8 \u51c6\u5907 \u597d \u5bfc\u51fa \u65f6 \uff1a   1 .   \u4f7f\u7528   Carla   \u9009\u9879 \u5bfc\u51fa \u573a\u666f \uff1a   \u5728 \u4e3b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \uff0c \u9009\u62e9   File   - >   Export   - >   CARLA   ( . fbx ,   . xodr ,   . rrdata . xml )   2 .   \u5728 \u5f39\u51fa \u7684 \u7a97\u53e3 \u4e2d \uff1a   C \u68c0\u67e5 \u4ee5\u4e0b \u9009\u9879 \uff1a   Split   by   Segmentation   :   \u901a\u8fc7 \u8bed\u4e49 \u5206\u5272 \u6765 \u5212\u5206 \u7f51\u683c \u3002   Power   of   Two   Texture   Dimensions   :   \u63d0\u9ad8 \u6027\u80fd \u3002   Embed   Textures   :   \u786e\u4fdd \u7eb9\u7406 \u5d4c\u5165 \u5230 \u7f51\u683c \u4e2d \u3002   Export   to   Tiles   :   \u9009\u62e9 \u56fe\u5757 \u7684 \u5927\u5c0f \u6216\u4ec5 \u4fdd\u7559 \u4e00\u5757 \u4e0d \u9009\u4e2d \u3002   Leave   unchecked :   \u5bfc\u51fa \u5355\u4e2a \u56fe\u5757   :   \u751f\u6210 \u4e00\u4e2a \u5305\u542b \u6240\u6709 \u5730 \u56fe\u7247 \u6bb5 \u7684   . fbx   \u6587\u4ef6 \u3002   3 .   \u9009\u62e9 \u8981 \u5c06 \u6587\u4ef6 \u5bfc\u51fa \u5230 \u7684 \u76ee\u5f55 \uff0c \u7136\u540e \u5355\u51fb   Export   \u3002 \u8fd9 \u5c06 \u751f\u6210   < mapName > . fbx   \u548c   < mapName > . xodr   \u6587\u4ef6 \u7b49 \u3002   \u7b14\u8bb0   \u786e\u4fdd   . xodr   \u548c   . fbx   \u6587\u4ef6 \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \u3002   \u4e0b \u4e00\u6b65   \u60a8 \u73b0\u5728 \u5df2 \u51c6\u5907 \u597d \u5c06 \u5730\u56fe \u5bfc\u5165   Carla \u3002 \u4e0b \u4e00\u6b65 \u5c06 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4f7f\u7528 \u7684   Carla   \u5b89\u88c5 \u7c7b\u578b \uff1a   \u5bf9\u4e8e \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u7528\u6237   \uff0c \u8bf7 \u6309\u7167   \u6b64\u5904   \u7684 \u6307\u5357 \u8fdb\u884c \u64cd\u4f5c \u3002   \u5bf9\u4e8e   Carla   \u6253\u5305 \uff08 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \uff09 \u7248\u672c \u7684 \u7528\u6237   \uff0c \u8bf7 \u6309\u7167   \u6b64\u5904   \u7684 \u6307\u5357 \u8fdb\u884c \u64cd\u4f5c \u3002   \u5982\u679c \u60a8 \u5bf9\u6b64 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u5728   RoadRunner   \u4e2d \u751f\u6210 \u5730\u56fe"},{"location":"tuto_M_generate_map/#roadrunner","text":"RoadRunner   \u662f \u63a8\u8350 \u7684 \u8f6f\u4ef6 \uff0c \u7528\u4e8e \u521b\u5efa \u8981 \u5bfc\u5165   Carla   \u7684 \u5730\u56fe \u3002 \u672c \u6307\u5357 \u6982\u8ff0 \u4e86   RoadRunner   \u662f \u4ec0\u4e48 \u3001 \u6784\u5efa \u5730\u56fe \u65f6 \u9700\u8981 \u8003\u8651 \u7684 \u4e8b\u9879 \u4ee5\u53ca \u5982\u4f55 \u5bfc\u51fa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u4ee5 \u51c6\u5907 \u5bfc\u5165   Carla \u3002   RoadRunner   \u7b80\u4ecb   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5728   RoadRunner   \u4e2d \u6784\u5efa \u5730\u56fe   \u5728   RoadRunner   \u4e2d \u5bfc\u51fa \u5730\u56fe   \u4e0b \u4e00\u6b65","title":"\u5728   RoadRunner   \u4e2d \u751f\u6210 \u5730\u56fe"},{"location":"tuto_M_generate_map/#roadrunner_1","text":"RoadRunner   \u662f \u4e00\u6b3e \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u53ef \u8ba9 \u60a8 \u8bbe\u8ba1 \u7528\u4e8e \u4eff\u771f \u548c \u6d4b\u8bd5 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u7684   3D   \u573a\u666f \u3002 \u5b83 \u53ef \u7528\u4e8e \u521b\u5efa \u9053\u8def \u5e03\u5c40 \u4ee5\u53ca \u968f\u9644 \u7684   OpenDRIVE   \u548c \u51e0\u4f55 \u4fe1\u606f \u3002   \u5728   \u6b64\u5904   \u80fd \u4e86\u89e3 \u5230 \u66f4 \u591a   RoadRunner   \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   RoadRunner   \u662f   MATLAB   Campus - Wide   License   \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u56e0\u6b64 \u8bb8\u591a \u5927\u5b66 \u90fd \u53ef\u4ee5 \u63d0\u4f9b \u65e0 \u9650\u5236 \u7684 \u5b66\u672f \u8bbf\u95ee \u3002   \u68c0\u67e5   \u60a8 \u7684 \u5927\u5b66 \u662f\u5426 \u6709\u6743 \u8bbf\u95ee \u3002 \u5982\u679c \u60a8 \u5bf9 \u8f85\u52a9 \u529f\u80fd \u6709 \u4efb\u4f55 \u7591\u95ee \u6216 \u56f0\u96be \uff0c \u8bf7 \u8054\u7cfb   automated - driving @ mathworks . com   \u3002   \u8fd8\u6709   \u8bd5\u7528 \u8bd5\u7528\u7248   \u53ef\u7528 \u3002   \u53c2\u52a0   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u6bcf\u4e2a \u4eba \u90fd \u53ef\u4ee5 \u83b7\u5f97   RoadRunner   \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u3002 \u70b9\u51fb   \u6b64\u5904   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002","title":"RoadRunner   \u7b80\u4ecb  "},{"location":"tuto_M_generate_map/#_1","text":"\u60a8 \u9700\u8981 \u5b89\u88c5   RoadRunner \u3002 \u60a8 \u53ef\u4ee5 \u6309\u7167   Mathworks   \u7f51\u7ad9 \u4e0a \u7684   \u5b89\u88c5 \u6307\u5357   \u8fdb\u884c \u64cd\u4f5c \u3002","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d  "},{"location":"tuto_M_generate_map/#roadrunner_2","text":"\u5173\u4e8e \u5982\u4f55 \u5728 RoadRunner \u4e2d \u6784\u5efa \u5730\u56fe \u7684 \u7ec6\u8282 \u8d85\u51fa \u4e86 \u672c \u6307\u5357 \u7684 \u8303\u56f4 \uff0c \u4f46\u662f \uff0c   RoadRuner \u6587\u6863   \u4e2d \u63d0\u4f9b \u4e86 \u89c6\u9891 \u6559\u7a0b \u89c6\u9891\u6559\u7a0b \u3002   \u8bf7 \u8bb0\u4f4f \uff0c \u5305\u542b \u5927\u91cf \u9053\u5177 \u7684 \u5730\u56fe \u4f1a\u663e \u7740 \u51cf\u6162 \u5bfc\u5165 \u8fc7\u7a0b \u3002   \u8fd9 \u56e0\u4e3a \u662f\u56e0\u4e3a \u865a\u5e7b \u5f15\u64ce \u9700\u8981 \u5c06 \u6bcf\u4e2a \u7f51\u683c \u7269\u4f53 \u8f6c\u6362 \u4e3a \u865a\u5e7b \u8d44\u6e90 \u3002 \u5982\u679c \u60a8 \u8ba1\u5212 \u5c06 \u5730\u56fe \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u7684 \u6e90 \u6784\u5efa \u7248\u672c \u4e2d \uff0c \u6211\u4eec \u5f3a\u70c8 \u5efa\u8bae \u5f3a\u70c8\u5efa\u8bae \u60a8 \u4ec5 \u5728   RoadRunner   \u4e2d \u521b\u5efa \u9053\u8def \u5e03\u5c40 \uff0c \u5e76 \u5728 \u5c06 \u5730\u56fe \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce \u4e4b\u524d \u4fdd\u7559 \u4efb\u4f55 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8bbe\u7f6e \u3002   Carla   \u63d0\u4f9b \u4e86 \u591a\u79cd \u5de5\u5177 \uff0c \u60a8 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u4f7f\u7528 \u8fd9\u4e9b \u5de5\u5177 \u6765 \u7b80\u5316 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8fc7\u7a0b \u3002","title":"\u5728   RoadRunner   \u4e2d \u6784\u5efa \u5730\u56fe  "},{"location":"tuto_M_generate_map/#roadrunner_3","text":"\u4ee5\u4e0b \u662f\u4ece   RoadRunner   \u5bfc\u51fa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u7684 \u57fa\u672c \u6307\u5357 \u3002 \u60a8 \u53ef\u4ee5 \u5728   MathWorks   \u6587\u6863   \u4e2d \u627e\u5230 \u6709\u5173 \u5982\u4f55 \u5bfc\u51fa \u5230   Carla   \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u3002   \u5728   RoadRunner   \u4e2d \u5236\u4f5c \u5730\u56fe \u540e \uff0c \u60a8 \u5c31 \u53ef\u4ee5 \u5c06 \u5176 \u5bfc\u51fa \u3002 \u8bf7 \u6ce8\u610f \uff0c   \u9053\u8def \u5e03\u5c40 \u5bfc\u51fa \u540e \u65e0\u6cd5 \u4fee\u6539 \u3002   \u5bfc\u51fa \u524d \uff0c \u8bf7 \u786e\u4fdd \uff1a   \u5730\u56fe \u4ee5   ( 0 , 0 )   \u4e3a \u4e2d\u5fc3 \uff0c \u4ee5 \u786e\u4fdd \u5730\u56fe \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6b63\u786e \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u5730\u56fe \u5b9a\u4e49 \u662f \u6b63\u786e \u7684 \u3002   \u5730\u56fe \u9a8c\u8bc1 \u662f \u6b63\u786e \u7684 \uff0c \u5bc6\u5207 \u5173\u6ce8 \u8fde\u63a5 \u548c \u51e0\u4f55 \u5f62\u72b6 \u3002   \u5730\u56fe \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \u540e \uff0c \u5355\u51fb   OpenDRIVE   Preview   Tool   \u6309\u94ae \u5373\u53ef \u53ef\u89c6 \u53ef\u89c6\u5316   OpenDRIVE   \u9053\u8def \u7f51\u7edc \u5e76 \u5bf9 \u6240\u6709 \u5185\u5bb9 \u8fdb\u884c \u6700\u540e \u4e00\u6b21 \u68c0\u67e5 \u3002   \u7b14\u8bb0   OpenDrive   Preview   Tool   \u53ef\u4ee5 \u66f4 \u8f7b\u677e \u5730 \u6d4b\u8bd5 \u5730\u56fe \u7684 \u5b8c\u6574 \u5b8c\u6574\u6027 \u3002 \u5982\u679c \u8fde\u63a5 \u6709 \u4efb\u4f55 \u9519\u8bef \uff0c \u5355\u51fb \u8bf7\u5355\u51fb   Maneuver   Tool   \u548c   Rebuild   Maneuver   Roads   \u3002   \u5f53 \u60a8 \u51c6\u5907 \u597d \u5bfc\u51fa \u65f6 \uff1a   1 .   \u4f7f\u7528   Carla   \u9009\u9879 \u5bfc\u51fa \u573a\u666f \uff1a   \u5728 \u4e3b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \uff0c \u9009\u62e9   File   - >   Export   - >   CARLA   ( . fbx ,   . xodr ,   . rrdata . xml )   2 .   \u5728 \u5f39\u51fa \u7684 \u7a97\u53e3 \u4e2d \uff1a   C \u68c0\u67e5 \u4ee5\u4e0b \u9009\u9879 \uff1a   Split   by   Segmentation   :   \u901a\u8fc7 \u8bed\u4e49 \u5206\u5272 \u6765 \u5212\u5206 \u7f51\u683c \u3002   Power   of   Two   Texture   Dimensions   :   \u63d0\u9ad8 \u6027\u80fd \u3002   Embed   Textures   :   \u786e\u4fdd \u7eb9\u7406 \u5d4c\u5165 \u5230 \u7f51\u683c \u4e2d \u3002   Export   to   Tiles   :   \u9009\u62e9 \u56fe\u5757 \u7684 \u5927\u5c0f \u6216\u4ec5 \u4fdd\u7559 \u4e00\u5757 \u4e0d \u9009\u4e2d \u3002   Leave   unchecked :   \u5bfc\u51fa \u5355\u4e2a \u56fe\u5757   :   \u751f\u6210 \u4e00\u4e2a \u5305\u542b \u6240\u6709 \u5730 \u56fe\u7247 \u6bb5 \u7684   . fbx   \u6587\u4ef6 \u3002   3 .   \u9009\u62e9 \u8981 \u5c06 \u6587\u4ef6 \u5bfc\u51fa \u5230 \u7684 \u76ee\u5f55 \uff0c \u7136\u540e \u5355\u51fb   Export   \u3002 \u8fd9 \u5c06 \u751f\u6210   < mapName > . fbx   \u548c   < mapName > . xodr   \u6587\u4ef6 \u7b49 \u3002   \u7b14\u8bb0   \u786e\u4fdd   . xodr   \u548c   . fbx   \u6587\u4ef6 \u5177\u6709 \u76f8\u540c \u7684 \u540d\u79f0 \u3002","title":"\u5728   RoadRunner   \u4e2d \u5bfc\u51fa \u5730\u56fe  "},{"location":"tuto_M_generate_map/#_2","text":"\u60a8 \u73b0\u5728 \u5df2 \u51c6\u5907 \u597d \u5c06 \u5730\u56fe \u5bfc\u5165   Carla \u3002 \u4e0b \u4e00\u6b65 \u5c06 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u60a8 \u4f7f\u7528 \u7684   Carla   \u5b89\u88c5 \u7c7b\u578b \uff1a   \u5bf9\u4e8e \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u7528\u6237   \uff0c \u8bf7 \u6309\u7167   \u6b64\u5904   \u7684 \u6307\u5357 \u8fdb\u884c \u64cd\u4f5c \u3002   \u5bf9\u4e8e   Carla   \u6253\u5305 \uff08 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \uff09 \u7248\u672c \u7684 \u7528\u6237   \uff0c \u8bf7 \u6309\u7167   \u6b64\u5904   \u7684 \u6307\u5357 \u8fdb\u884c \u64cd\u4f5c \u3002   \u5982\u679c \u60a8 \u5bf9\u6b64 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u4e0b \u4e00\u6b65  "},{"location":"tuto_M_generate_pedestrian_navigation/","text":"\u751f\u6210 \u884c\u4eba \u5bfc\u822a   \u4e3a\u4e86 \u5141\u8bb8 \u884c\u4eba \u5bfc\u822a \u5730\u56fe \uff0c \u60a8 \u9700\u8981 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u6587\u4ef6 \u3002 \u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u8981 \u4f7f\u7528 \u7684 \u7f51\u683c \u4ee5\u53ca \u5982\u4f55 \u751f\u6210 \u6587\u4ef6 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u884c\u4eba \u5bfc\u822a \u7f51\u683c   \u53ef\u9009 \u7684 \u884c\u4eba \u5bfc\u822a \u9009\u9879   \u751f\u6210 \u884c\u4eba \u5bfc\u822a   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u5730\u56fe \u5b9a\u5236 \uff08 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u7ed8\u5236 \u9053\u8def \u3001 \u6dfb\u52a0 \u666f\u89c2 \u7279\u5f81 \u7b49 \uff09 \u5e94 \u5728 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4e4b\u524d \u5b8c\u6210 \uff0c \u4ee5 \u907f\u514d \u4e24\u8005 \u4e4b\u95f4 \u4e24\u8005\u4e4b\u95f4 \u53d1\u751f \u5e72\u6270 \u6216 \u78b0\u649e \uff0c \u5bfc\u81f4 \u9700\u8981 \u518d\u6b21 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u3002   \u884c\u4eba \u5bfc\u822a \u7f51\u683c   \u884c\u4eba \u53ea\u80fd \u5bfc\u822a \u7279\u5b9a \u7684 \u7f51\u683c \u3002 \u60a8 \u9700\u8981 \u6839\u636e \u4e0b\u8868\u4e2d \u7684 \u672f\u8bed \u547d\u540d \u8981 \u5305\u542b \u5728 \u884c\u4eba \u5bfc\u822a \u4e2d \u7684 \u7f51\u683c \uff1a   \u7c7b\u578b   \u5305\u542b \u7684 \u540d\u79f0   \u63cf\u8ff0   \u5730\u9762   Road _ Sidewalk   \u6216   Roads _ Sidewalk   \u884c\u4eba \u53ef\u4ee5 \u81ea\u7531 \u5730 \u5728 \u8fd9\u4e9b \u7f51\u683c \u4e0a \u884c\u8d70 \u3002   \u4eba\u884c \u4eba\u884c\u6a2a\u9053   Road _ Crosswalk   \u6216   Roads _ Crosswalk   \u5982\u679c \u627e \u4e0d\u5230 \u5730\u9762 \uff0c \u884c\u4eba \u5c06 \u5728 \u8fd9\u4e9b \u7f51\u683c \u4e0a \u884c\u8d70 \u4f5c\u4e3a \u7b2c\u4e8c \u4e8c\u79cd \u7b2c\u4e8c\u79cd \u9009\u62e9 \u3002   \u8349\u5730   Road _ Grass   \u6216   Roads _ Grass   \u884c\u4eba \u4e0d\u4f1a \u5728 \u6b64 \u7f51\u683c \u4e0a \u884c\u8d70 \uff0c \u9664\u975e \u60a8 \u6307\u5b9a \u4e00\u5b9a \u6bd4\u4f8b \u7684 \u884c\u4eba \u8fd9\u6837 \u505a \u3002   \u9a6c\u8def   Road _ Road   \u6216   Roads _ Road   Road _ Curb   \u6216   Roads _ Curb   Road _ Gutter   \u6216   Roads _ Gutter   Road _ Marking   \u6216   Roads _ Marking   \u884c\u4eba \u53ea\u80fd \u901a\u8fc7 \u8fd9\u4e9b \u7f51\u683c \u8fc7 \u9a6c\u8def \u3002   \u53ef\u9009 \u7684 \u884c\u4eba \u5bfc\u822a \u9009\u9879   \u4ee5\u4e0b \u6b65\u9aa4 \u5bf9\u4e8e \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4e0d\u662f \u5fc5\u9700 \u7684 \uff0c \u4f46 \u5141\u8bb8 \u60a8 \u5728 \u4e00\u5b9a \u7a0b\u5ea6 \u4e0a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u884c\u4eba \u6d3b\u52a8 \u3002   \u751f\u6210 \u65b0 \u7684 \u4eba\u884c \u4eba\u884c\u6a2a\u9053   \u3002   \u5982\u679c \u5df2 \u5728   . xodr   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \u4eba\u884c \u4eba\u884c\u6a2a\u9053 \uff0c \u8bf7 \u907f\u514d \u6267\u884c \u6b64 \u64cd\u4f5c \uff0c \u56e0\u4e3a \u8fd9\u4f1a \u5bfc\u81f4 \u91cd\u590d \uff1a   \u521b\u5efa \u4e00\u4e2a \u5e73\u9762 \u7f51\u683c \uff08 plane   mesh \uff0c \u5982\u679c \u4e0d\u5230 \u770b\u4e0d\u5230 \uff0c \u9700\u8981 \u5728 \u201c \u89c6\u56fe \u9009\u9879 \u201d \u4e2d \u9009\u4e2d \u201c \u663e\u793a \u5f15\u64ce \u5185\u5bb9 \u201d \uff09 \uff0c \u7a0d\u5fae \u5ef6\u4f38 \u5230 \u8981 \u8fde\u63a5 \u7684 \u4e24\u6761 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u4e0a \u3002   \u5c06 \u7f51\u683c \u653e\u7f6e \u5728 \u5730\u9762 \u4e0a \u5e76 \u7981\u7528 \u5176 \u7269\u7406 \u548c \u6e32\u67d3 \u3002   \u5c06 \u7f51\u683c \u540d\u79f0 \u66f4 \u6539\u4e3a   Road _ Crosswalk   \u6216   Roads _ Crosswalk   \u3002   \u751f\u6210 \u884c\u4eba \u5bfc\u822a   1 .   \u8981 \u9632\u6b62 \u5730\u56fe \u592a\u5927 \u592a\u5927\u800c \u65e0\u6cd5 \u5bfc\u51fa \uff0c \u8bf7 \u9009\u62e9   BP _ Sky   \u5bf9\u8c61   \u5e76 \u6dfb\u52a0 \u4e00\u4e2a   NoExport   \u6807\u7b7e \u3002 \u5982\u679c \u60a8 \u6709 \u4efb\u4f55 \u5176\u4ed6 \u4e0d \u53c2\u4e0e \u884c\u4eba \u5bfc\u822a \u7684 \u7279\u522b \u5927 \u7684 \u7f51\u683c \uff0c \u4e5f \u8bf7 \u5411 \u5b83\u4eec \u6dfb\u52a0   NoExport   \u6807\u8bb0 \u3002   2 .   \u4ed4\u7ec6 \u68c0\u67e5 \u4ed4\u7ec6\u68c0\u67e5 \u60a8 \u7684 \u7f51\u683c \u540d\u79f0 \u3002 \u7f51\u683c \u540d\u79f0 \u5e94 \u4ee5 \u4e0b\u9762 \u5217\u51fa \u7684 \u4efb\u4f55 \u9002\u5f53 \u683c\u5f0f \u5f00\u5934 \uff0c \u4ee5\u4fbf \u88ab \u8bc6\u522b \u4e3a \u884c\u4eba \u53ef\u4ee5 \u884c\u8d70 \u7684 \u533a\u57df \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u884c\u4eba \u5c06 \u80fd\u591f \u5728 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u4eba\u884c \u4eba\u884c\u6a2a\u9053 \u548c \u8349\u5730 \u4e0a \u884c\u8d70 \uff08 \u5bf9 \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \u5f71\u54cd \u8f83 \u5c0f \uff09 \uff1a   \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053   =   Road _ Sidewalk   \u6216   Roads _ Sidewalk   \u4eba\u884c \u4eba\u884c\u6a2a\u9053   =   Road _ Crosswalk   \u6216   Roads _ Crosswalk   \u8349\u5730   =   Road _ Grass   \u6216   Roads _ Grass   3 .   \u6309   ctrl   +   A   \u9009\u62e9 \u6240\u6709 \u5185\u5bb9 \uff08 \u62a5\u9519 \u5219 \u53ea \u9009\u62e9 \u548c \u884c\u4eba \u76f8\u5173 \u7684 \u7f51\u683c \uff09 \u5e76 \u901a\u8fc7 \u9009\u62e9   File   - >   Carla   Exporter   \u5bfc\u51fa \u5730\u56fe \u3002 \u5c06 \u5728   Unreal / CarlaUE4 / Saved   \u4e2d \u521b\u5efa   < mapName > . obj   \u6587\u4ef6 \u3002   4 .   \u5c06   < mapName > . obj   \u548c   < mapName > . xodr   \u79fb\u52a8 \u5230   Util / DockerUtils / dist   \u3002   5 .   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u751f\u6210 \u5bfc\u822a \u6587\u4ef6 \uff1a   Windows   build . bat   < mapName >   #   < mapName >   \u6ca1\u6709 \u6269\u5c55 \u6269\u5c55\u540d   Linux   . / build . sh   < mapName >   #   < mapName >   \u6ca1\u6709 \u6269\u5c55 \u6269\u5c55\u540d   6 .   \u5c06 \u521b\u5efa \u4e00\u4e2a   < mapName > . bin   \u6587\u4ef6 \u3002 \u6b64 \u6587\u4ef6 \u5305\u542b \u5730\u56fe \u4e0a \u7684 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f \u3002 \u5c06 \u6b64 \u6587\u4ef6 \u79fb\u52a8 \u5230 \u5305\u542b \u5730\u56fe \u7684 \u5305 \u7684   Nav   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   7 .   \u901a\u8fc7 \u542f\u52a8 \u4eff\u771f \u5e76 \u8fd0\u884c   PythonAPI / examples   \u4e2d \u7684 \u793a\u4f8b \u811a\u672c   generate _ traffic . py   \u6765 \u6d4b\u8bd5 \u884c\u4eba \u5bfc\u822a \u3002   \u7b14\u8bb0   \u5982\u679c \u66f4\u65b0 \u5730\u56fe \u540e \u9700\u8981 \u91cd\u5efa \u884c\u4eba \u5bfc\u822a   \uff0c \u8bf7 \u786e\u4fdd \u5220\u9664   Carla   \u7f13\u5b58 \u3002 \u8fd9 \u901a\u5e38 \u53ef\u4ee5 \u5728   Ubuntu   \u7684 \u76ee\u5f55 \u4e3b\u76ee\u5f55 \uff08 \u5373   cd   ~   \uff09 \u4e2d \u627e\u5230 \uff0c \u6216\u8005 \u5728 Windows \u7684 \u7528\u6237 \u76ee\u5f55 \uff08 \u5206\u914d \u7ed9 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   USERPROFILE   \u7684 \u76ee\u5f55 \uff09 \u4e2d \uff0c \u5220\u9664 \u540d\u4e3a   carlaCache   \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u53ca\u5176 \u6240\u6709 \u5185\u5bb9 \uff0c \u5b83 \u53ef\u80fd \u5f88\u5927 \u3002   \u5982\u679c \u5173\u4e8e \u6d41\u7a0b \u6709 \u4efb\u4f55 \u95ee\u9898 \uff0c \u60a8 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u751f\u6210 \u884c\u4eba \u5bfc\u822a"},{"location":"tuto_M_generate_pedestrian_navigation/#_1","text":"\u4e3a\u4e86 \u5141\u8bb8 \u884c\u4eba \u5bfc\u822a \u5730\u56fe \uff0c \u60a8 \u9700\u8981 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u6587\u4ef6 \u3002 \u672c \u6307\u5357 \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u8981 \u4f7f\u7528 \u7684 \u7f51\u683c \u4ee5\u53ca \u5982\u4f55 \u751f\u6210 \u6587\u4ef6 \u3002   \u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d   \u884c\u4eba \u5bfc\u822a \u7f51\u683c   \u53ef\u9009 \u7684 \u884c\u4eba \u5bfc\u822a \u9009\u9879   \u751f\u6210 \u884c\u4eba \u5bfc\u822a","title":"\u751f\u6210 \u884c\u4eba \u5bfc\u822a"},{"location":"tuto_M_generate_pedestrian_navigation/#_2","text":"\u5730\u56fe \u5b9a\u5236 \uff08 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u7ed8\u5236 \u9053\u8def \u3001 \u6dfb\u52a0 \u666f\u89c2 \u7279\u5f81 \u7b49 \uff09 \u5e94 \u5728 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4e4b\u524d \u5b8c\u6210 \uff0c \u4ee5 \u907f\u514d \u4e24\u8005 \u4e4b\u95f4 \u4e24\u8005\u4e4b\u95f4 \u53d1\u751f \u5e72\u6270 \u6216 \u78b0\u649e \uff0c \u5bfc\u81f4 \u9700\u8981 \u518d\u6b21 \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u3002","title":"\u5728 \u4f60 \u5f00\u59cb \u4e4b\u524d"},{"location":"tuto_M_generate_pedestrian_navigation/#_3","text":"\u884c\u4eba \u53ea\u80fd \u5bfc\u822a \u7279\u5b9a \u7684 \u7f51\u683c \u3002 \u60a8 \u9700\u8981 \u6839\u636e \u4e0b\u8868\u4e2d \u7684 \u672f\u8bed \u547d\u540d \u8981 \u5305\u542b \u5728 \u884c\u4eba \u5bfc\u822a \u4e2d \u7684 \u7f51\u683c \uff1a   \u7c7b\u578b   \u5305\u542b \u7684 \u540d\u79f0   \u63cf\u8ff0   \u5730\u9762   Road _ Sidewalk   \u6216   Roads _ Sidewalk   \u884c\u4eba \u53ef\u4ee5 \u81ea\u7531 \u5730 \u5728 \u8fd9\u4e9b \u7f51\u683c \u4e0a \u884c\u8d70 \u3002   \u4eba\u884c \u4eba\u884c\u6a2a\u9053   Road _ Crosswalk   \u6216   Roads _ Crosswalk   \u5982\u679c \u627e \u4e0d\u5230 \u5730\u9762 \uff0c \u884c\u4eba \u5c06 \u5728 \u8fd9\u4e9b \u7f51\u683c \u4e0a \u884c\u8d70 \u4f5c\u4e3a \u7b2c\u4e8c \u4e8c\u79cd \u7b2c\u4e8c\u79cd \u9009\u62e9 \u3002   \u8349\u5730   Road _ Grass   \u6216   Roads _ Grass   \u884c\u4eba \u4e0d\u4f1a \u5728 \u6b64 \u7f51\u683c \u4e0a \u884c\u8d70 \uff0c \u9664\u975e \u60a8 \u6307\u5b9a \u4e00\u5b9a \u6bd4\u4f8b \u7684 \u884c\u4eba \u8fd9\u6837 \u505a \u3002   \u9a6c\u8def   Road _ Road   \u6216   Roads _ Road   Road _ Curb   \u6216   Roads _ Curb   Road _ Gutter   \u6216   Roads _ Gutter   Road _ Marking   \u6216   Roads _ Marking   \u884c\u4eba \u53ea\u80fd \u901a\u8fc7 \u8fd9\u4e9b \u7f51\u683c \u8fc7 \u9a6c\u8def \u3002","title":"\u884c\u4eba \u5bfc\u822a \u7f51\u683c"},{"location":"tuto_M_generate_pedestrian_navigation/#_4","text":"\u4ee5\u4e0b \u6b65\u9aa4 \u5bf9\u4e8e \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4e0d\u662f \u5fc5\u9700 \u7684 \uff0c \u4f46 \u5141\u8bb8 \u60a8 \u5728 \u4e00\u5b9a \u7a0b\u5ea6 \u4e0a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u884c\u4eba \u6d3b\u52a8 \u3002   \u751f\u6210 \u65b0 \u7684 \u4eba\u884c \u4eba\u884c\u6a2a\u9053   \u3002   \u5982\u679c \u5df2 \u5728   . xodr   \u6587\u4ef6 \u4e2d \u5b9a\u4e49 \u4eba\u884c \u4eba\u884c\u6a2a\u9053 \uff0c \u8bf7 \u907f\u514d \u6267\u884c \u6b64 \u64cd\u4f5c \uff0c \u56e0\u4e3a \u8fd9\u4f1a \u5bfc\u81f4 \u91cd\u590d \uff1a   \u521b\u5efa \u4e00\u4e2a \u5e73\u9762 \u7f51\u683c \uff08 plane   mesh \uff0c \u5982\u679c \u4e0d\u5230 \u770b\u4e0d\u5230 \uff0c \u9700\u8981 \u5728 \u201c \u89c6\u56fe \u9009\u9879 \u201d \u4e2d \u9009\u4e2d \u201c \u663e\u793a \u5f15\u64ce \u5185\u5bb9 \u201d \uff09 \uff0c \u7a0d\u5fae \u5ef6\u4f38 \u5230 \u8981 \u8fde\u63a5 \u7684 \u4e24\u6761 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u4e0a \u3002   \u5c06 \u7f51\u683c \u653e\u7f6e \u5728 \u5730\u9762 \u4e0a \u5e76 \u7981\u7528 \u5176 \u7269\u7406 \u548c \u6e32\u67d3 \u3002   \u5c06 \u7f51\u683c \u540d\u79f0 \u66f4 \u6539\u4e3a   Road _ Crosswalk   \u6216   Roads _ Crosswalk   \u3002","title":"\u53ef\u9009 \u7684 \u884c\u4eba \u5bfc\u822a \u9009\u9879"},{"location":"tuto_M_generate_pedestrian_navigation/#_5","text":"1 .   \u8981 \u9632\u6b62 \u5730\u56fe \u592a\u5927 \u592a\u5927\u800c \u65e0\u6cd5 \u5bfc\u51fa \uff0c \u8bf7 \u9009\u62e9   BP _ Sky   \u5bf9\u8c61   \u5e76 \u6dfb\u52a0 \u4e00\u4e2a   NoExport   \u6807\u7b7e \u3002 \u5982\u679c \u60a8 \u6709 \u4efb\u4f55 \u5176\u4ed6 \u4e0d \u53c2\u4e0e \u884c\u4eba \u5bfc\u822a \u7684 \u7279\u522b \u5927 \u7684 \u7f51\u683c \uff0c \u4e5f \u8bf7 \u5411 \u5b83\u4eec \u6dfb\u52a0   NoExport   \u6807\u8bb0 \u3002   2 .   \u4ed4\u7ec6 \u68c0\u67e5 \u4ed4\u7ec6\u68c0\u67e5 \u60a8 \u7684 \u7f51\u683c \u540d\u79f0 \u3002 \u7f51\u683c \u540d\u79f0 \u5e94 \u4ee5 \u4e0b\u9762 \u5217\u51fa \u7684 \u4efb\u4f55 \u9002\u5f53 \u683c\u5f0f \u5f00\u5934 \uff0c \u4ee5\u4fbf \u88ab \u8bc6\u522b \u4e3a \u884c\u4eba \u53ef\u4ee5 \u884c\u8d70 \u7684 \u533a\u57df \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u884c\u4eba \u5c06 \u80fd\u591f \u5728 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u4eba\u884c \u4eba\u884c\u6a2a\u9053 \u548c \u8349\u5730 \u4e0a \u884c\u8d70 \uff08 \u5bf9 \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \u5f71\u54cd \u8f83 \u5c0f \uff09 \uff1a   \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053   =   Road _ Sidewalk   \u6216   Roads _ Sidewalk   \u4eba\u884c \u4eba\u884c\u6a2a\u9053   =   Road _ Crosswalk   \u6216   Roads _ Crosswalk   \u8349\u5730   =   Road _ Grass   \u6216   Roads _ Grass   3 .   \u6309   ctrl   +   A   \u9009\u62e9 \u6240\u6709 \u5185\u5bb9 \uff08 \u62a5\u9519 \u5219 \u53ea \u9009\u62e9 \u548c \u884c\u4eba \u76f8\u5173 \u7684 \u7f51\u683c \uff09 \u5e76 \u901a\u8fc7 \u9009\u62e9   File   - >   Carla   Exporter   \u5bfc\u51fa \u5730\u56fe \u3002 \u5c06 \u5728   Unreal / CarlaUE4 / Saved   \u4e2d \u521b\u5efa   < mapName > . obj   \u6587\u4ef6 \u3002   4 .   \u5c06   < mapName > . obj   \u548c   < mapName > . xodr   \u79fb\u52a8 \u5230   Util / DockerUtils / dist   \u3002   5 .   \u8fd0\u884c \u4ee5\u4e0b \u547d\u4ee4 \u751f\u6210 \u5bfc\u822a \u6587\u4ef6 \uff1a   Windows   build . bat   < mapName >   #   < mapName >   \u6ca1\u6709 \u6269\u5c55 \u6269\u5c55\u540d   Linux   . / build . sh   < mapName >   #   < mapName >   \u6ca1\u6709 \u6269\u5c55 \u6269\u5c55\u540d   6 .   \u5c06 \u521b\u5efa \u4e00\u4e2a   < mapName > . bin   \u6587\u4ef6 \u3002 \u6b64 \u6587\u4ef6 \u5305\u542b \u5730\u56fe \u4e0a \u7684 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f \u3002 \u5c06 \u6b64 \u6587\u4ef6 \u79fb\u52a8 \u5230 \u5305\u542b \u5730\u56fe \u7684 \u5305 \u7684   Nav   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   7 .   \u901a\u8fc7 \u542f\u52a8 \u4eff\u771f \u5e76 \u8fd0\u884c   PythonAPI / examples   \u4e2d \u7684 \u793a\u4f8b \u811a\u672c   generate _ traffic . py   \u6765 \u6d4b\u8bd5 \u884c\u4eba \u5bfc\u822a \u3002   \u7b14\u8bb0   \u5982\u679c \u66f4\u65b0 \u5730\u56fe \u540e \u9700\u8981 \u91cd\u5efa \u884c\u4eba \u5bfc\u822a   \uff0c \u8bf7 \u786e\u4fdd \u5220\u9664   Carla   \u7f13\u5b58 \u3002 \u8fd9 \u901a\u5e38 \u53ef\u4ee5 \u5728   Ubuntu   \u7684 \u76ee\u5f55 \u4e3b\u76ee\u5f55 \uff08 \u5373   cd   ~   \uff09 \u4e2d \u627e\u5230 \uff0c \u6216\u8005 \u5728 Windows \u7684 \u7528\u6237 \u76ee\u5f55 \uff08 \u5206\u914d \u7ed9 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   USERPROFILE   \u7684 \u76ee\u5f55 \uff09 \u4e2d \uff0c \u5220\u9664 \u540d\u4e3a   carlaCache   \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u53ca\u5176 \u6240\u6709 \u5185\u5bb9 \uff0c \u5b83 \u53ef\u80fd \u5f88\u5927 \u3002   \u5982\u679c \u5173\u4e8e \u6d41\u7a0b \u6709 \u4efb\u4f55 \u95ee\u9898 \uff0c \u60a8 \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u751f\u6210 \u884c\u4eba \u5bfc\u822a"},{"location":"tuto_M_manual_map_package/","text":"\u624b\u52a8 \u5305 \u51c6\u5907   \u5730\u56fe \u5730\u56fe\u5305 \u9075\u5faa \u7279\u5b9a \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784 \uff0c \u5e76\u4e14 \u5fc5\u987b \u5305\u542b \u63cf\u8ff0 \u8be5 \u7ed3\u6784 \u7684   . json   \u6587\u4ef6 \u3002 \u6211\u4eec \u7684 \u81ea\u52a8 \u5730\u56fe \u5bfc\u5165 \u6d41\u7a0b \u4f1a \u81ea\u52a8 \u521b\u5efa \u6b64   . json   \u6587\u4ef6 \uff0c \u4f46 \u60a8 \u4e5f \u53ef\u4ee5 \u9009\u62e9 \u81ea\u884c \u51c6\u5907 \u3002 \u5305\u542b \u60a8 \u81ea\u5df1 \u7684   . json   \u6587\u4ef6 \u5c06 \u8986\u76d6 \u4f20\u9012 \u7ed9   make   import   \u547d\u4ee4 \u7684 \u4efb\u4f55 \u53c2\u6570 \u3002   \u6807\u51c6 \u5730\u56fe   \u4e3a \u6807\u51c6 \u5730\u56fe \u521b\u5efa \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784   \u4e3a \u6807\u51c6 \u5730\u56fe \u521b\u5efa   JSON   \u63cf\u8ff0   \u5927 \u5730\u56fe   \u4e3a \u5927 \u5730\u56fe \u521b\u5efa \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784   \u4e3a \u5927 \u5730\u56fe \u521b\u5efa   JSON   \u63cf\u8ff0   \u6807\u51c6 \u5730\u56fe   \u4e3a \u6807\u51c6 \u5730\u56fe \u521b\u5efa \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784   \u5728   carla / Import   \u91cc\u9762 \u521b\u5efa \u4e00\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u540d\u79f0 \u5e76 \u4e0d \u91cd\u8981 \u3002   \u4e3a \u6bcf\u4e2a \u8981 \u5bfc\u5165 \u7684 \u5730\u56fe   \u521b\u5efa \u4e0d\u540c \u7684 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u3002   \u5c06 \u6bcf\u4e2a \u5730\u56fe \u7684 \u6587\u4ef6 \u79fb\u52a8 \u5230 \u76f8\u5e94 \u7684 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5c06 \u5305\u542b \u4e00\u7ec4 \u7279\u5b9a \u7684 \u5143\u7d20 \uff1a   . fbx   \u6587\u4ef6 \u4e2d \u5730\u56fe \u7684 \u7f51\u683c \u3002   . xodr   \u6587\u4ef6 \u4e2d \u7684   OpenDRIVE   \u5b9a\u4e49 \u3002   \uff08 \u53ef \u9009 \uff09 \u8d44\u4ea7 \u6240 \u9700 \u7684 \u7eb9\u7406 \u3002   \u4f8b\u5982 \uff0c \u4e00\u4e2a \u5305\u542b \u4e24\u4e2a \u5730\u56fe \u7684 \u5305 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e94 \u5177\u6709 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u7ed3\u6784 \u7684 \u7ed3\u6784 \u3002   Import   \u2502   \u2514 \u2500 \u2500   Package01   \u251c \u2500 \u2500   Package01 . json   \u251c \u2500 \u2500   Map01   \u2502   \u251c \u2500 \u2500   Asphalt1 _ Diff . jpg   \u2502   \u251c \u2500 \u2500   Asphalt1 _ Norm . jpg   \u2502   \u251c \u2500 \u2500   Asphalt1 _ Spec . jpg   \u2502   \u251c \u2500 \u2500   Grass1 _ Diff . jpg   \u2502   \u251c \u2500 \u2500   Grass1 _ Norm . jpg   \u2502   \u251c \u2500 \u2500   Grass1 _ Spec . jpg   \u2502   \u251c \u2500 \u2500   LaneMarking1 _ Diff . jpg   \u2502   \u251c \u2500 \u2500   LaneMarking1 _ Norm . jpg   \u2502   \u251c \u2500 \u2500   LaneMarking1 _ Spec . jpg   \u2502   \u251c \u2500 \u2500   Map01 . fbx   \u2502   \u2514 \u2500 \u2500   Map01 . xodr   \u2514 \u2500 \u2500   Map02   \u2514 \u2500 \u2500   Map02 . fbx   \u4e3a \u6807\u51c6 \u5730\u56fe \u521b\u5efa   JSON   \u63cf\u8ff0   \u5728 \u5305 \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u521b\u5efa \u4e00\u4e2a   . json   \u6587\u4ef6 \u3002 \u5728 \u5305 \u4e4b\u540e \u547d\u540d \u6587\u4ef6 \u3002   \u8bf7 \u6ce8\u610f \uff0c \u8fd9 \u5c06 \u662f \u53d1\u884c \u53d1\u884c\u7248 \u540d\u79f0 \u3002 \u6587\u4ef6 \u7684 \u5185\u5bb9 \u5c06 \u63cf\u8ff0   \u5730\u56fe   \u548c   \u9053\u5177   \u7684   JSON   \u6570\u7ec4 \uff0c \u4ee5\u53ca \u6bcf\u4e2a \u5730\u56fe \u548c \u9053\u5177 \u7684 \u57fa\u672c \u4fe1\u606f \u3002   \u5730\u56fe   \u9700\u8981 \u4ee5\u4e0b \u53c2\u6570 \uff1a   \u5730\u56fe \u7684   name   \u3002 \u8fd9 \u5fc5\u987b \u548c   . fbx   \u548c   . xodr   \u6587\u4ef6 \u76f8\u540c \u3002   . fbx   \u6587\u4ef6 \u7684   source   \u8def\u5f84 \u3002   use _ carla _ materials   .   \u5982\u679c \u4e3a   True   \uff0c \u5730\u56fe \u5c06 \u4f7f\u7528   Carla   \u6750\u8d28 \u3002 \u5426\u5219 \uff0c \u5b83 \u5c06 \u4f7f\u7528   RoadRunner   \u6750\u8d28 \u3002   xodr   . xodr   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   Props   \u4e0d \u5c5e\u4e8e \u672c \u6559\u6750 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u8be5\u5b57 \u6bb5 \u5c06 \u7559\u7a7a \u3002 \u8fd8\u6709 \u53e6 \u4e00\u4e2a \u5173\u4e8e \u5982\u4f55   \u6dfb\u52a0 \u65b0 \u9053\u5177   \u7684 \u6559\u7a0b \u3002   \u751f\u6210 \u7684   . json   \u6587\u4ef6 \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   {   \" maps \" :   [   {   \" name \" :   \" Map01 \" ,   \" source \" :   \" . / Map01 / Map01 . fbx \" ,   \" use _ carla _ materials \" :   true ,   \" xodr \" :   \" . / Map01 / Map01 . xodr \"   } ,   {   \" name \" :   \" Map02 \" ,   \" source \" :   \" . / Map02 / Map02 . fbx \" ,   \" use _ carla _ materials \" :   false ,   \" xodr \" :   \" . / Map02 / Map02 . xodr \"   }   ] ,   \" props \" :   [   ]   }   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u624b\u52a8 \u5305 \u51c6\u5907"},{"location":"tuto_M_manual_map_package/#_1","text":"\u5730\u56fe \u5730\u56fe\u5305 \u9075\u5faa \u7279\u5b9a \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784 \uff0c \u5e76\u4e14 \u5fc5\u987b \u5305\u542b \u63cf\u8ff0 \u8be5 \u7ed3\u6784 \u7684   . json   \u6587\u4ef6 \u3002 \u6211\u4eec \u7684 \u81ea\u52a8 \u5730\u56fe \u5bfc\u5165 \u6d41\u7a0b \u4f1a \u81ea\u52a8 \u521b\u5efa \u6b64   . json   \u6587\u4ef6 \uff0c \u4f46 \u60a8 \u4e5f \u53ef\u4ee5 \u9009\u62e9 \u81ea\u884c \u51c6\u5907 \u3002 \u5305\u542b \u60a8 \u81ea\u5df1 \u7684   . json   \u6587\u4ef6 \u5c06 \u8986\u76d6 \u4f20\u9012 \u7ed9   make   import   \u547d\u4ee4 \u7684 \u4efb\u4f55 \u53c2\u6570 \u3002   \u6807\u51c6 \u5730\u56fe   \u4e3a \u6807\u51c6 \u5730\u56fe \u521b\u5efa \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784   \u4e3a \u6807\u51c6 \u5730\u56fe \u521b\u5efa   JSON   \u63cf\u8ff0   \u5927 \u5730\u56fe   \u4e3a \u5927 \u5730\u56fe \u521b\u5efa \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784   \u4e3a \u5927 \u5730\u56fe \u521b\u5efa   JSON   \u63cf\u8ff0","title":"\u624b\u52a8 \u5305 \u51c6\u5907"},{"location":"tuto_M_manual_map_package/#_2","text":"","title":"\u6807\u51c6 \u5730\u56fe  "},{"location":"tuto_M_manual_map_package/#_3","text":"\u5728   carla / Import   \u91cc\u9762 \u521b\u5efa \u4e00\u4e2a \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7684 \u540d\u79f0 \u5e76 \u4e0d \u91cd\u8981 \u3002   \u4e3a \u6bcf\u4e2a \u8981 \u5bfc\u5165 \u7684 \u5730\u56fe   \u521b\u5efa \u4e0d\u540c \u7684 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939   \u3002   \u5c06 \u6bcf\u4e2a \u5730\u56fe \u7684 \u6587\u4ef6 \u79fb\u52a8 \u5230 \u76f8\u5e94 \u7684 \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5c06 \u5305\u542b \u4e00\u7ec4 \u7279\u5b9a \u7684 \u5143\u7d20 \uff1a   . fbx   \u6587\u4ef6 \u4e2d \u5730\u56fe \u7684 \u7f51\u683c \u3002   . xodr   \u6587\u4ef6 \u4e2d \u7684   OpenDRIVE   \u5b9a\u4e49 \u3002   \uff08 \u53ef \u9009 \uff09 \u8d44\u4ea7 \u6240 \u9700 \u7684 \u7eb9\u7406 \u3002   \u4f8b\u5982 \uff0c \u4e00\u4e2a \u5305\u542b \u4e24\u4e2a \u5730\u56fe \u7684 \u5305 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e94 \u5177\u6709 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u7ed3\u6784 \u7684 \u7ed3\u6784 \u3002   Import   \u2502   \u2514 \u2500 \u2500   Package01   \u251c \u2500 \u2500   Package01 . json   \u251c \u2500 \u2500   Map01   \u2502   \u251c \u2500 \u2500   Asphalt1 _ Diff . jpg   \u2502   \u251c \u2500 \u2500   Asphalt1 _ Norm . jpg   \u2502   \u251c \u2500 \u2500   Asphalt1 _ Spec . jpg   \u2502   \u251c \u2500 \u2500   Grass1 _ Diff . jpg   \u2502   \u251c \u2500 \u2500   Grass1 _ Norm . jpg   \u2502   \u251c \u2500 \u2500   Grass1 _ Spec . jpg   \u2502   \u251c \u2500 \u2500   LaneMarking1 _ Diff . jpg   \u2502   \u251c \u2500 \u2500   LaneMarking1 _ Norm . jpg   \u2502   \u251c \u2500 \u2500   LaneMarking1 _ Spec . jpg   \u2502   \u251c \u2500 \u2500   Map01 . fbx   \u2502   \u2514 \u2500 \u2500   Map01 . xodr   \u2514 \u2500 \u2500   Map02   \u2514 \u2500 \u2500   Map02 . fbx","title":"\u4e3a \u6807\u51c6 \u5730\u56fe \u521b\u5efa \u6587\u4ef6\u5939 \u7ed3\u6784  "},{"location":"tuto_M_manual_map_package/#json","text":"\u5728 \u5305 \u7684 \u6839 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u521b\u5efa \u4e00\u4e2a   . json   \u6587\u4ef6 \u3002 \u5728 \u5305 \u4e4b\u540e \u547d\u540d \u6587\u4ef6 \u3002   \u8bf7 \u6ce8\u610f \uff0c \u8fd9 \u5c06 \u662f \u53d1\u884c \u53d1\u884c\u7248 \u540d\u79f0 \u3002 \u6587\u4ef6 \u7684 \u5185\u5bb9 \u5c06 \u63cf\u8ff0   \u5730\u56fe   \u548c   \u9053\u5177   \u7684   JSON   \u6570\u7ec4 \uff0c \u4ee5\u53ca \u6bcf\u4e2a \u5730\u56fe \u548c \u9053\u5177 \u7684 \u57fa\u672c \u4fe1\u606f \u3002   \u5730\u56fe   \u9700\u8981 \u4ee5\u4e0b \u53c2\u6570 \uff1a   \u5730\u56fe \u7684   name   \u3002 \u8fd9 \u5fc5\u987b \u548c   . fbx   \u548c   . xodr   \u6587\u4ef6 \u76f8\u540c \u3002   . fbx   \u6587\u4ef6 \u7684   source   \u8def\u5f84 \u3002   use _ carla _ materials   .   \u5982\u679c \u4e3a   True   \uff0c \u5730\u56fe \u5c06 \u4f7f\u7528   Carla   \u6750\u8d28 \u3002 \u5426\u5219 \uff0c \u5b83 \u5c06 \u4f7f\u7528   RoadRunner   \u6750\u8d28 \u3002   xodr   . xodr   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   Props   \u4e0d \u5c5e\u4e8e \u672c \u6559\u6750 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002 \u8be5\u5b57 \u6bb5 \u5c06 \u7559\u7a7a \u3002 \u8fd8\u6709 \u53e6 \u4e00\u4e2a \u5173\u4e8e \u5982\u4f55   \u6dfb\u52a0 \u65b0 \u9053\u5177   \u7684 \u6559\u7a0b \u3002   \u751f\u6210 \u7684   . json   \u6587\u4ef6 \u5e94 \u7c7b\u4f3c \u4e8e \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   {   \" maps \" :   [   {   \" name \" :   \" Map01 \" ,   \" source \" :   \" . / Map01 / Map01 . fbx \" ,   \" use _ carla _ materials \" :   true ,   \" xodr \" :   \" . / Map01 / Map01 . xodr \"   } ,   {   \" name \" :   \" Map02 \" ,   \" source \" :   \" . / Map02 / Map02 . fbx \" ,   \" use _ carla _ materials \" :   false ,   \" xodr \" :   \" . / Map02 / Map02 . xodr \"   }   ] ,   \" props \" :   [   ]   }   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u4e3a \u6807\u51c6 \u5730\u56fe \u521b\u5efa   JSON   \u63cf\u8ff0  "},{"location":"tuto_content_authoring_maps/","text":"\u5185\u5bb9 \u521b\u4f5c   -   \u5730\u56fe   Carla   \u63d0\u4f9b \u4e86 \u5927\u91cf \u7684 \u8d44\u6e90 \uff0c \u53ef \u7528\u4e8e \u521b\u5efa \u5f00\u7bb1 \u5373\u7528 \u7684 \u9a7e\u9a76 \u4eff\u771f \u3002 \u7136\u800c \uff0c Carla   \u7684 \u771f\u6b63 \u529b\u91cf \u5728\u4e8e \u5176 \u5168\u9762 \u7684 \u6269\u5c55 \u5c55\u6027 \u6269\u5c55\u6027 \u53ef\u6269\u5c55\u6027 \uff0c \u5141\u8bb8 \u7528\u6237 \u521b\u5efa \u5b8c\u5168 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u73af\u5883 \uff0c \u5176\u4e2d \u5305\u542b \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u957f\u51f3 \u3001 \u5783\u573e \u5783\u573e\u6876 \u3001 \u96d5\u50cf \u3001 \u8def\u706f \u548c \u516c\u4ea4 \u8f66\u7ad9 \u516c\u4ea4\u8f66 \u516c\u4ea4\u8f66\u7ad9 \u7b49 \u5b9a\u5236 \u8d44\u4ea7 \u3002 \u4e4b\u524d \u7a33\u5b9a \u7684   \u5730\u56fe \u5b9a\u5236 \u65b9\u6cd5   \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u4ecb\u7ecd \u521b\u5efa \u4e0e   Carla   \u4e00\u8d77 \u4f7f\u7528 \u7684 \u7b80\u5355 \u5730\u56fe \u7684 \u8fc7\u7a0b \u3002 \u6211\u4eec \u5c06 \u4f7f\u7528 \u4e24\u4e2a \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u6765 \u521b\u5efa \u5730\u56fe \u7684 \u5404\u4e2a \u90e8\u5206 \u3002 \u6211\u4eec \u5c06 \u4f7f\u7528   RoadRunner   \u521b\u5efa \u9053\u8def \u7f51\u7edc \uff0c \u7136\u540e \u901a\u8fc7   \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668   \u5c06 \u8d44\u6e90 \u6dfb\u52a0 \u5230 \u5730\u56fe \u4e2d \u3002   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u5927 \u5730\u56fe   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177   \u4f7f\u7528   RoadRunner   \u521b\u5efa \u8def\u7f51   \u5c06 \u8def\u7f51 \u5bfc\u5165   Carla   \u5bfc\u5165 \u8d44\u4ea7 \u5e76 \u5c06 \u5b83\u4eec \u6dfb\u52a0 \u5230 \u5730\u56fe   \u4ea4\u901a \u4ea4\u901a\u706f   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7   \u6750\u8d28   \u9053\u8def \u753b\u5bb6   \u4ec0\u4e48 \u662f \u9053\u8def \u753b\u5bb6 \uff1f   \u9053\u8def \u753b\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3001 \u4e3b \u6750\u8d28 \u548c \u6e32\u67d3 \u5bf9\u8c61   \u51c6\u5907 \u4e3b \u6750\u6599   \u63cf\u7ed8 \u9053\u8def   \u66f4\u65b0 \u8f66\u9053 \u7ebf \u5916\u89c2   \u6811\u6728 \u548c \u690d\u88ab   \u6811\u53f6 \u5de5\u5177   \u4e0b \u4e00\u6b65   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u8981 \u9075\u5faa \u672c \u6307\u5357 \uff0c \u60a8 \u9700\u8981 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \uff0c \u4ee5\u4fbf \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \u8bf7 \u9075\u5faa \u76f8\u5173 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u7684   \u6784\u5efa \u8bf4\u660e   \u3002 \u60a8 \u8fd8 \u9700\u8981   RoadRunner   \u7684 \u8bb8\u53ef \u526f\u672c \u3002 \u60a8 \u53ef\u80fd \u8fd8 \u9700\u8981   Maya \u3001 3DS   Max   \u6216   Blender   \u7b49 \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u6765 \u4e3a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u521b\u5efa \u4e09\u7ef4 \u8d44\u4ea7 \u3002 \u60a8 \u5e94\u8be5 \u786e\u4fdd \u5df2 \u5b8c\u6210 \u6784\u5efa   Carla   \u7684 \u6240\u6709 \u6b65\u9aa4 \u5e76 \u786e\u4fdd \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u6b63\u5728 \u8fd0\u884c \uff0c \u8fd9 \u53ef\u80fd \u9700\u8981 \u4e00\u4e9b \u65f6\u95f4 \u6765 \u6784\u5efa \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u3002 \u5982\u679c \u60a8 \u60f3 \u4e3a \u5730\u56fe \u521b\u5efa \u4e09\u7ef4 \u8d44\u4ea7 \uff0c \u5219 \u5e94 \u4f7f\u7528 \u9002\u5f53 \u7684 \u4e09\u7ef4 \u8bbe\u8ba1 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff0c \u4f8b\u5982   Blender \u3001 Maya \u3001 3DsMax   \u6216   Modo \u3002   \u5927 \u5730\u56fe   \u4ee5\u4e0b \u6587\u672c \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u521b\u5efa \u548c \u88c5\u9970 \u6807\u51c6 \u5730\u56fe \u7684 \u8fc7\u7a0b \u3002 \u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u5177\u6709 \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd \u3002 \u5927 \u5730\u56fe \u7684 \u6bd4\u4f8b \u6bd4 \u6807\u51c6 \u5730\u56fe \u66f4\u5927 \uff0c \u6700\u5927 \u53ef \u8fbe   100   km   2   \u3002 \u7531\u4e8e \u786c\u4ef6 \u9650\u5236 \uff0c \u5927 \u5730\u56fe \u7684 \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u6807\u51c6 \u5730\u56fe \u7565\u6709 \u4e0d\u540c \u7565\u6709\u4e0d\u540c \uff0c \u5373\u4f7f \u5728 \u9ad8\u7aef \u663e\u5361 \u4e2d \u4e5f \u662f \u5982\u6b64 \u3002 \u5927 \u5730\u56fe \u88ab \u5206\u5272 \u6210 \u56fe\u5757 \uff0c \u5e76\u4e14 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d\u4ec5 \u52a0\u8f7d \u7acb\u5373 \u9700\u8981 \u7684 \u56fe\u5757 \uff08 \u5373 \u6700 \u63a5\u8fd1 \u81ea\u6211 \u8f66\u8f86 \u7684 \u56fe\u5757 \uff09 \u3002 \u5176\u4ed6 \u56fe\u5757 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \uff0c \u76f4\u5230 \u9700\u8981 \u6570\u636e \u4e3a\u6b62 \u3002 \u8fd9 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u5b9e\u73b0   Carla   \u4eff\u771f \u7684 \u6700\u9ad8 \u6027\u80fd \u3002 \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u7684 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u7ec6\u8282 \u4e0e \u6784\u5efa \u5927 \u5730\u56fe \u65f6 \u7c7b\u4f3c \uff0c \u4f46 \u8fd8\u6709 \u4e00\u4e9b \u989d\u5916 \u7684 \u6b65\u9aa4 \u3002 \u8bf7 \u6309\u7167   \u672c \u6307\u5357   \u4e3a   Carla   \u6784\u5efa \u5927 \u5730\u56fe \u3002   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177   Carla   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5730\u56fe \u751f\u6210 \u5de5\u5177 \uff0c \u5b83 \u4ece   OpenStreetMap   \u83b7\u53d6 \u9053\u8def \u7f51\u7edc \u6570\u636e \uff0c \u5e76\u7528 \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u690d\u88ab \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5730 \u88c5\u9970 \u5730\u56fe \u3002 \u8bf7 \u5728   \u6b64\u5904   \u9605\u8bfb \u6709\u5173 \u5982\u4f55 \u4f7f\u7528 \u8be5 \u5de5\u5177 \u7684 \u4fe1\u606f \u3002   \u4f7f\u7528   RoadRunner   \u521b\u5efa \u8def\u7f51   \u6253\u5f00   RoadRunner   \u5e76 \u521b\u5efa \u4e00\u4e2a \u65b0 \u573a\u666f \u3002 \u9009\u62e9 \u9053\u8def \u89c4\u5212 \u5de5\u5177 ( Road   Plan   Tool ) \u5e76 \u5728 \u5de5\u4f5c \u533a\u4e2d   \u53f3\u952e   \u5355\u51fb \u4ee5 \u653e\u7f6e \u9053\u8def \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u63a7\u5236 \u63a7\u5236\u70b9 \u548c \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u63a7\u5236 \u63a7\u5236\u70b9 \u3002 \u5355\u51fb \u5e76 \u62d6\u52a8 \u9053\u8def \u5c3d\u5934 \u7684 \u7ea2\u70b9 \u4ee5 \u79fb\u52a8 \u548c \u5ef6\u957f \u9053\u8def \u3002   \u51fa\u4e8e \u672c \u6559\u7a0b \u7684 \u76ee\u7684 \uff0c \u6211\u4eec \u4f7f\u7528 \u4e2d\u95f4 \u6709 \u4e00\u4e2a \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u7684 \u7b80\u5355 \u692d\u5706 \u5706\u5f62 \u692d\u5706\u5f62 \u9053\u8def \u3002 \u8981 \u6784\u5efa \u66f4 \u9ad8\u7ea7 \u7684 \u7f51\u7edc \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Roadrunner   \u6587\u6863   \u3002   \u5728   RoadRunner   \u4e2d \u5236\u4f5c \u5730\u56fe \u540e \uff0c \u60a8 \u5c31 \u53ef\u4ee5 \u5c06 \u5176 \u5bfc\u51fa \u3002 \u8bf7 \u6ce8\u610f \uff0c   \u9053\u8def \u5e03\u5c40 \u5bfc\u51fa \u540e \u65e0\u6cd5 \u4fee\u6539   \u3002 \u5bfc\u51fa \u4e4b\u524d \uff0c \u8bf7 \u786e\u4fdd \uff1a   \u5730\u56fe \u4ee5   ( 0 , 0 )   \u4e3a \u4e2d\u5fc3 \uff0c \u4ee5 \u786e\u4fdd \u5730\u56fe \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6b63\u786e \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u5730\u56fe \u5b9a\u4e49 \u662f \u6b63\u786e \u7684 \u3002   \u5730\u56fe \u9a8c\u8bc1 \u662f \u6b63\u786e \u7684 \uff0c \u5bc6\u5207 \u5173\u6ce8 \u8fde\u63a5 \u548c \u51e0\u4f55 \u5f62\u72b6 \u3002   \u5730\u56fe \u51c6\u5907 \u597d\u540e \uff0c \u5355\u51fb   OpenDRIVE   Preview   Tool   \u6309\u94ae \u5373\u53ef \u53ef\u89c6 \u53ef\u89c6\u5316   OpenDRIVE   \u9053\u8def \u7f51\u7edc \u5e76 \u5bf9 \u6240\u6709 \u5185\u5bb9 \u8fdb\u884c \u6700\u540e \u4e00\u6b21 \u68c0\u67e5 \u3002   \u7b14\u8bb0   OpenDrive   Preview   Tool   \u53ef\u4ee5 \u66f4 \u8f7b\u677e \u5730 \u6d4b\u8bd5 \u5730\u56fe \u7684 \u5b8c\u6574 \u5b8c\u6574\u6027 \u3002 \u5982\u679c \u8fde\u63a5 \u6709 \u4efb\u4f55 \u9519\u8bef \uff0c \u5355\u51fb \u8bf7\u5355\u51fb   Maneuver   Tool   \u548c   Rebuild   Maneuver   Roads   \u3002   \u521b\u5efa \u6240 \u9700 \u7684 \u9053\u8def \u7f51\u7edc \u540e \uff0c \u5728   RoadRunner   \u83dc\u5355 \u83dc\u5355\u680f \u4e2d \u9009\u62e9   File   >   Export   >   Carla   Filmbox   ( . fbx ,   . xodr ,   . rrdata . xml )   \u5e76 \u5bfc\u51fa \u5230 \u9002\u5f53 \u7684 \u4f4d\u7f6e \u3002   RoadRunner   \u662f \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u7684 \u6700\u4f73 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u3002 \u8fd8\u6709 \u4e00\u4e9b \u66ff\u4ee3 \u65b9\u6848 \uff0c \u4f8b\u5982   OpenStreetMap   \uff0c \u4e13\u6ce8 \u4e8e \u4ece \u771f\u5b9e \u7684 \u9053\u8def \u5730\u56fe \u751f\u6210 \u5730\u56fe \u3002   TrueVision   \u8bbe\u8ba1 \u5668   RoadRunner   \u662f \u4e00\u6b3e \u9700\u8981   MATLAB   \u7684 \u4e13\u6709 \u8f6f\u4ef6 \u3002 \u5927\u5b66 \u7b49 \u4e00\u4e9b \u673a\u6784 \u53ef\u80fd \u4e0e   MathWorks   \u8fbe\u6210 \u4e86 \u534f\u8bae \uff0c \u4ee5\u4fbf \u67d0\u4e9b \u7528\u6237 \u53ef\u4ee5 \u83b7\u5f97   RoadRunner   \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u3002 \u5982\u679c \u60a8 \u6ca1\u6709 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u9884\u7b97 \uff0c RoadRunner   \u7684 \u4e00\u4e2a \u65b9\u4fbf \u7684 \u5f00\u6e90 \u66ff\u4ee3 \u65b9\u6848 \u662f   TrueVision   Designer   \u3002 \u6b64 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u5177\u6709 \u8bb8\u591a \u4e0e   RoadRunner   \u76f8\u540c \u7684 \u529f\u80fd \uff0c \u5982\u679c \u60a8 \u65e0\u6cd5 \u83b7\u5f97   RoadRunner   \u7684 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \uff0c \u8be5 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4f1a \u975e\u5e38 \u6709\u7528 \u3002   \u5c06 \u8def\u7f51 \u5bfc\u5165   Carla   Carla   \u9700\u8981 \u7684 \u91cd\u8981 \u5bfc\u51fa \u6587\u4ef6 \u662f   . xodr   \u6587\u4ef6 \u548c   . fbx   \u6587\u4ef6 \u3002 \u5c06 \u8fd9\u4e9b \u6587\u4ef6 \u590d\u5236 \u6216 \u79fb\u52a8 \u5230 \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u5b58\u50a8 \u5e93 \u76ee\u5f55 \u6839\u76ee\u5f55 \u5185 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u73b0\u5728 \u5728   Carla   \u76ee\u5f55 \u6e90\u76ee\u5f55 \u7684 \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e2d \u6253\u5f00 \u4e00\u4e2a \u7ec8\u7aef \u5e76 \u8fd0\u884c   make   import   .   \u8fd9\u4f1a \u5c06 \u9053\u8def \u7f51\u7edc \u5bfc\u5165   Carla \u3002   \u60a8 \u73b0\u5728 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u770b\u5230 \u65b0 \u5730\u56fe \u3002 \u5728   Carla   \u76ee\u5f55 \u6e90\u76ee\u5f55 \u7684 \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e0b \u8fd0\u884c   make   launch   \u4ee5 \u542f\u52a8 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \u60a8 \u73b0\u5728 \u5c06 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u770b\u5230 \u4e00\u4e2a \u540d\u4e3a   map _ package   \u7684 \u65b0 \u76ee\u5f55 \u3002 \u5728 \u6b64 \u76ee\u5f55   Content   >   map _ package   >   Maps   >   tutorial   \u4e2d \uff0c \u60a8 \u73b0\u5728 \u5c06 \u627e\u5230 \u60a8 \u7684 \u65b0 \u5730\u56fe \u3002   \u7b14\u8bb0   \u53ef\u4ee5 \u53c2\u8003   \u94fe\u63a5   \u901a\u8fc7 \u9f20\u6807 \u53f3\u952e \u7684 \u65b9\u5f0f \u76f4\u63a5 \u5bfc\u5165 \u3002   \u60a8 \u73b0\u5728 \u5df2\u7ecf \u521b\u5efa \u4e86 \u9053\u8def \u7f51\u7edc \uff0c \u8fd9\u662f \u5730\u56fe \u7684 \u57fa\u7840 \u3002   \u5bfc\u5165 \u8d44\u4ea7 \u5e76 \u5c06 \u5b83\u4eec \u6dfb\u52a0 \u5230 \u5730\u56fe   \u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u6709 \u4e86 \u9053\u8def \u7f51\u7edc \u4f5c\u4e3a \u5730\u56fe \u7684 \u57fa\u7840 \uff0c \u6211\u4eec \u73b0\u5728 \u60f3\u8981 \u4e3a \u5730\u56fe \u521b\u5efa \u4e00\u4e9b \u5185\u5bb9 \uff0c \u4f8b\u5982 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002 \u8fd9\u4e9b \u8d44\u6e90 \u53ef\u4ee5 \u4f7f\u7528 \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff08 \u4f8b\u5982   Autodesk   Maya \u3001 3DS   Max \u3001 Blender   \u6216 \u5177\u6709 \u9002\u5f53 \u5bfc\u51fa \u9009\u9879 \u7684 \u4efb\u4f55 \u5176\u4ed6 \u4e09\u7ef4 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff09 \u521b\u5efa \u3002 \u91cd\u8981 \u7684 \u662f \uff0c \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u81f3\u5c11 \u80fd\u591f \u5bfc\u51fa   . fbx   \u3002   \u5728   Carla   \u4e2d \u521b\u5efa \u8d44\u4ea7 \u9700\u8981 \u51e0\u4e2a \u5143\u7d20 \uff1a   \u7f51\u683c   -   \u4e00\u7ec4   3D   \u5750\u6807 \u9876\u70b9 \u548c \u5173\u8054 \u7684 \u8fde\u63a5 \u8fb9 \u3002   UV   \u8d34\u56fe   -   \u5c06 \u4e09\u7ef4 \u9876\u70b9 \u548c \u8fb9 \u6620\u5c04 \u5230 \u4e8c\u7ef4 \u7eb9\u7406 \u7a7a\u95f4 \uff0c \u4ee5 \u5c06 \u7eb9\u7406 \u4e0e \u4e09\u7ef4 \u4f4d\u7f6e \u8fdb\u884c \u5339\u914d \u3002   \u7eb9\u7406   -   \u5b9a\u4e49 \u4e09\u7ef4 \u5bf9\u8c61 \u8868\u9762 \u4e0a \u663e\u793a \u7684 \u989c\u8272 \u548c \u56fe\u6848 \u7684 \u4e8c\u7ef4 \u56fe\u50cf \u3002   \u6cd5\u7ebf \u8d34\u56fe   -   \u5b9a\u4e49 \u76ee\u6807 \u8868\u9762 \u6cd5\u7ebf \u65b9\u5411 \u7684 \u4e8c\u7ef4 \u56fe\u50cf \uff0c \u4ee5\u5411 \u76ee\u6807 \u8868\u9762 \u6dfb\u52a0 \u4e09\u7ef4 \u53d8\u5316 \u3002   ORM   \u8d34\u56fe   -   \u5b9a\u4e49 \u91d1\u5c5e \u5ea6 ( Metallicity ) \u3001 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 ( Roughness ) \u548c \u73af\u5883 \u73af\u5883\u5149 \u906e\u6321 ( Occlusion ) \u533a\u57df \u7684 \u8d34\u56fe   ORM   \u8d34\u56fe \u5229\u7528 \u6807\u51c6   RGBA   \u7f16\u7801 \u56fe\u50cf \u7684 \u901a\u9053 \u5bf9 \u91d1\u5c5e \u533a\u57df \u3001 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u548c \u73af\u5883 \u906e\u6321 \u7684 \u8d34\u56fe \u8fdb\u884c \u7f16\u7801 \u3002 \u5f53 \u6211\u4eec \u5728 \u8fd9\u91cc \u5b9a\u4e49 \u8d34\u56fe \u65f6 \uff0c \u7ea2\u8272 \u901a\u9053 \u5b9a\u4e49 \u91d1\u5c5e \u8d34\u56fe \uff0c \u7eff\u8272 \u901a\u9053 \u7eff\u8272\u901a\u9053 \u5b9a\u4e49 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \uff0c \u84dd\u8272 \u901a\u9053 \u5b9a\u4e49 \u73af\u5883 \u73af\u5883\u5149 \u906e\u6321 \u3002 \u8fd9\u4e9b \u8d34\u56fe \uff08 \u4ee5\u53ca \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u8d34\u56fe \u548c \u6cd5\u7ebf \u8d34\u56fe \uff09 \u53ef\u4ee5 \u4f7f\u7528   Adobe   Substance   3D   painter   \u7b49 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u521b\u5efa \u3002   \u4f7f\u7528 \u865a\u5e7b \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5728 \u67d0\u4e2a \u9002\u5f53 \u7684 \u4f4d\u7f6e \u521b\u5efa \u4e00\u4e2a \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u5728 \u6b64 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u53f3\u952e \u5355\u51fb \u5e76   Import   to   PATH / TO / FOLDER   \u5728 \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u83dc\u5355 \u9876\u90e8 \u9644\u8fd1 \u8fdb\u884c \u9009\u62e9 \uff0c \u4e5f \u53ef\u4ee5 \u5c06 \u6587\u4ef6 \u76f4\u63a5 \u62d6 \u653e\u5230 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u3002   \u6211\u4eec \u5c06 \u5bfc\u5165 \u4e00\u4e2a \u5305\u542b \u4ece   Blender   \u5bfc\u51fa \u7684 \u57fa\u7840 \u7f51\u683c \u548c   UV   \u8d34\u56fe \u7684   FBX   \u6587\u4ef6 \u3002   \u5728 \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u83dc\u5355 \u4e2d \uff0c \u5bf9\u4e8e   Normal   Import   Method   \u786e\u4fdd \u201c \u7f51\u683c \u201d \u90e8\u5206 \u9009\u62e9 \u4e86 \u201c \u5bfc\u5165 \u6cd5\u7ebf (   Import   Normals   ) \uff0c \u5e76\u4e14 \u5728 \u201c \u6750\u8d28 (   Material   ) \u201d \u90e8\u5206 \u4e2d \u9009\u62e9 \u4e86   Do   Not   Create   Material   \u3002 \u5728 \u201c \u6750\u8d28 \u201d \u90e8\u5206 \u4e2d \u53d6\u6d88 \u9009\u62e9 \uff0c \u56e0\u4e3a \u6211\u4eec \u5c06 \u624b\u52a8 \u5bfc\u5165 \u5b83\u4eec \u3002 \u5982\u679c \u60a8 \u60f3 \u4f7f\u7528   FBX   \u6587\u4ef6 \u4e2d \u5df2 \u5d4c\u5165 \u7684 \u67d0\u4e9b \u7eb9\u7406 \uff0c \u8fd9\u4e9b \u9009\u62e9 \u5c06\u4f1a \u6709\u6240 \u4e0d\u540c \u6709\u6240\u4e0d\u540c \u3002   \u9009\u62e9   Import   All   \u3002 \u5bfc\u5165 \u5b8c\u6210 \u540e \uff0c \u53cc\u51fb \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u663e\u793a \u7684 \u5bfc\u5165 \u8d44\u6e90 \u8fdb\u884c \u7f16\u8f91 \u3002   \u6211\u4eec \u73b0\u5728 \u5e94\u8be5 \u5bfc\u5165 \u7eb9\u7406 \u3001 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u989c\u8272 \u7684 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u7eb9\u7406 \u3001 \u6cd5\u7ebf \u8d34\u56fe \u548c   ORM   \u8d34\u56fe \u3002   \u901a\u8fc7 \u53cc\u51fb \u6253\u5f00   ORM   \u8d34\u56fe \u5e76 \u53d6\u6d88 \u9009\u62e9   sRGB   \u9009\u9879 \uff0c \u4ee5 \u786e\u4fdd \u6b63\u786e \u5e94\u7528 \u7eb9\u7406 \u3002   \u53f3\u952e \u5355\u51fb \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5e76 \u4ece \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   Material   \u3002 \u5c06 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u521b\u5efa \u65b0 \u6750\u6599 \u3002 \u53cc\u51fb \u8fdb\u884c \u7f16\u8f91 \u3002 \u6309\u4f4f   Shift   \u952e \u9009\u62e9 \u5bfc\u5165 \u7684 \u7eb9\u7406 \u5e76 \u5c06 \u5176 \u62d6 \u5230 \u6750\u8d28 \u7f16\u8f91 \u7a97\u53e3 \u4e2d \uff0c \u73b0\u5728 \u60a8 \u5c06 \u5728 \u6750\u8d28 \u8282\u70b9 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u83b7\u5f97   3   \u4e2a \u65b0 \u8282\u70b9 \u3002   \u73b0\u5728 \u6839\u636e \u4ee5\u4e0b \u89c4\u5219 \u8fde\u63a5 \u8282\u70b9 \uff1a   Diffuse   RGB   -- >   Base   Color   Normal   RGB   -- >   Normal   ORM   R   -- >   Ambient   occlusion   ORM   G   -- >   Roughness   ORM   B   -- >   Metallic   \u60a8 \u7684 \u6750\u8d28 \u8282\u70b9 \u56fe \u73b0\u5728 \u5e94\u8be5 \u4e0e \u6b64 \u7c7b\u4f3c \uff1a   \u4fdd\u5b58 \u6750\u8d28 \uff0c \u7136\u540e \u518d\u6b21 \u6253\u5f00 \u8d44\u6e90 \u5e76 \u5c06 \u6750\u8d28 \u62d6\u5165 \u6750\u8d28 \u69fd \u4e2d \u3002 \u60a8 \u7684 \u8d44\u6e90 \u73b0\u5728 \u5e94\u8be5 \u5df2 \u5b8c\u5168 \u7eb9\u7406 \u5316 \u3002   \u73b0\u5728 \u4fdd\u5b58 \u8d44\u4ea7 \uff0c \u5373\u53ef \u5728 \u5730\u56fe \u4e2d \u4f7f\u7528 \u3002 \u60a8 \u73b0\u5728 \u53ef\u4ee5 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u62d6\u52a8 \u8d44\u6e90 \u5e76 \u5c06 \u5176 \u653e\u5165 \u5730\u56fe \u4e2d \uff1a   \u73b0\u5728 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u5de5\u4f5c \u533a \u5de6\u4e0a \u4e0a\u89d2 \u5de6\u4e0a\u89d2 \u7684 \u201c \u4fdd\u5b58 \u5f53\u524d \u201d \u9009\u9879 \u4fdd\u5b58 \u5730\u56fe \uff0c \u5373\u53ef \u4f7f\u7528 \u3002 \u5f00\u59cb \u4eff\u771f \u3002   \u5730\u56fe \u4f5c\u8005 \u6307\u5357 \u7ed3\u675f \u5230\u6b64\u7ed3\u675f \u3002 \u73b0\u5728 \u60a8 \u77e5\u9053 \u5982\u4f55 \u521b\u5efa \u9053\u8def \u7f51\u7edc \u5e76 \u5bfc\u5165 \u4e09\u7ef4 \u8d44\u4ea7 \u4ee5 \u5728   Carla   \u4e2d \u4f7f\u7528 \u3002 \u60a8 \u73b0\u5728 \u53ef\u4ee5 \u9605\u8bfb \u5982\u4f55   \u6253\u5305 \u5730\u56fe \u4ee5 \u5728   Carla   \u72ec\u7acb \u7248\u672c \u4e2d \u4f7f\u7528   \u3002   \u4ea4\u901a \u4ea4\u901a\u706f   \u8981 \u5c06 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u6dfb\u52a0 \u5230 \u65b0 \u5730\u56fe \uff1a   1 .   \u4ece   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   ,   \u5bfc\u822a \u81f3   Content   >   Carla   >   Static   >   TrafficLight   >   StreetLights _ 01   \u3002 \u60a8 \u4f1a \u53d1\u73b0 \u51e0\u79cd \u4e0d\u540c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u84dd\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002   2 .   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u62d6 \u5230 \u573a\u666f \u4e2d \u5e76 \u5c06 \u5176 \u653e\u7f6e \u5728 \u6240 \u9700 \u4f4d\u7f6e \u3002 \u6309 \u952e\u76d8 \u4e0a \u7684 \u7a7a\u683c \u7a7a\u683c\u952e \u53ef \u5728 \u5b9a\u4f4d \u3001 \u65cb\u8f6c \u548c \u7f29\u653e \u5de5\u5177 \u4e4b\u95f4 \u5207\u6362 \u3002   3 .   \u901a\u8fc7 \u9009\u62e9 \u201c \u8be6\u7ec6 (   Details   ) \u201d   \u9762\u677f \u4e2d \u7684   BoxTrigger   \u7ec4\u4ef6 \u5e76 \u8c03\u6574   Transform   \u90e8\u5206 \u7684 \u503c \uff0c \u4e3a \u6bcf\u4e2a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u8c03\u6574   trigger   volume   \u3002 \u8fd9 \u5c06 \u786e\u5b9a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u5f71\u54cd \u8303\u56f4 \u3002   4 .   \u5bf9\u4e8e \u8def\u53e3 \uff0c \u5c06   BP _ TrafficLightGroup   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u62d6\u5165 \u5173\u5361 \u4e2d \u3002 \u901a\u8fc7 \u5c06 \u8def\u53e3 \u8def\u53e3\u5904 \u7684 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u6dfb\u52a0 \u5230 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \u7684 \u201c \u4ea4\u901a \u4ea4\u901a\u706f (   Traffic   Lights   ) \u201d \u6570\u7ec4 \uff0c \u5c06 \u5b83\u4eec \u5206\u914d \u7ed9 \u4ea4\u901a \u4ea4\u901a\u706f \u7ec4 \u3002   5 .   \u4ea4\u901a \u4ea4\u901a\u706f \u8ba1\u65f6 \u53ea\u80fd \u901a\u8fc7 Python   API   \u8fdb\u884c \u914d\u7f6e \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u6b64\u5904   \u7684 \u6587\u6863 \u4ee5 \u83b7\u53d6 \u66f4 \u591a \u4fe1\u606f \u3002   \u4f8b\u5982 \uff1a \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3001 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u548c \u8f6c\u5f2f \u505c\u8f66 \u3002   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7   \u8981 \u5c06 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u6dfb\u52a0 \u5230 \u65b0 \u5730\u56fe \uff1a   1 .   \u4ece   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \uff0c \u5bfc\u822a \u81f3   Content   >   Carla   >   Static   >   TrafficSign   \u3002 \u60a8 \u4f1a \u53d1\u73b0 \u51e0\u79cd \u4e0d\u540c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u84dd\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002   2 .   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u62d6 \u5230 \u573a\u666f \u4e2d \u5e76 \u5c06 \u5176 \u653e\u7f6e \u5728 \u6240 \u9700 \u4f4d\u7f6e \u3002 \u6309 \u952e\u76d8 \u4e0a \u7684 \u7a7a\u683c \u7a7a\u683c\u952e \u53ef \u5728 \u5b9a\u4f4d \u3001 \u65cb\u8f6c \u548c \u7f29\u653e \u5de5\u5177 \u4e4b\u95f4 \u5207\u6362 \u3002   3 .   \u901a\u8fc7 \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \u9009\u62e9   BoxTrigger   \u7ec4\u4ef6 \u5e76 \u8c03\u6574 \u201c \u53d8\u6362 (   Transform   ) \u201d \u90e8\u5206 \u4e2d \u7684 \u503c \uff0c \u8c03\u6574 \u6bcf\u4e2a \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u7684   trigger   volume   \u3002 \u8fd9 \u5c06 \u786e\u5b9a \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5f71\u54cd \u533a\u57df \u3002 \u5e76\u975e \u6240\u6709 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u90fd \u6709 \u89e6\u53d1 \u97f3\u91cf \u3002 \u6b64\u7c7b \u6807\u5fd7 \u5305\u62ec \u8ba9 \u884c \u6807\u5fd7 \u3001 \u505c\u8f66 \u6807\u5fd7 \u548c \u9650\u901f \u6807\u5fd7 \u3002   \u6750\u8d28   Carla   \u5185\u5bb9 \u5e93 \u62e5\u6709 \u5927\u91cf \u6709\u7528 \u7684 \u6750\u6599 \uff0c \u53ef \u968f\u65f6 \u7528\u4e8e \u66f4\u6539 \u5730\u56fe \u7684 \u5916\u89c2 \u3002 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u5bfc\u822a \u81f3   Carla   >   Static   >   GenericMaterials   \u3002 \u5728 \u8fd9\u91cc \u60a8 \u4f1a \u53d1\u73b0 \u8bb8\u591a \u53ef \u7528\u4e8e \u6539\u53d8 \u5730\u56fe \u5916\u89c2 \u7684 \u6750\u6599 \u3002   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u62d6 \u653e\u5230 \u5730\u56fe \u5143\u7d20 \u4e0a\u6765 \u5feb\u901f \u6d4b\u8bd5 \u6750\u8d28 \uff1a   \u9053\u8def \u753b\u5bb6   \u9053\u8def \u753b\u5bb6 \u662f \u4e00\u79cd \u53ef \u7528\u4e8e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u5916\u89c2 \u7684 \u5de5\u5177 \uff0c \u901a\u8fc7 \u9644\u52a0 \u7eb9\u7406 \u3001 \u8d34\u82b1 \u548c \u7f51\u683c \u6dfb\u52a0 \u989d\u5916 \u7684 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \u3002   \u4ec0\u4e48 \u662f \u9053\u8def \u753b\u5bb6 \uff1f   \u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u662f \u4e00\u4e2a \u4f7f\u7528   OpenDRIVE   \u4fe1\u606f \u5feb\u901f \u7ed8\u5236 \u9053\u8def \u7684 \u84dd\u56fe \u3002 \u5b83 \u91c7\u7528 \u4e3b \u6750\u8d28 \u5e76 \u5c06 \u5176 \u5e94\u7528 \u5230 \u9053\u8def \u7684 \u6e32\u67d3 \u76ee\u6807 \u4ee5 \u7528\u4f5c \u753b\u5e03 \u3002 \u4e3b \u6750\u8d28 \u7531 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u6750\u8d28 \u7ec4\u6210 \uff0c \u8fd9\u4e9b \u6750\u8d28 \u53ef\u4ee5 \u4f7f\u7528 \u753b\u7b14 \u6df7\u5408 \u5e76 \u7528\u4f5c \u8499\u7248 \u3002 \u65e0\u9700 \u5e94\u7528 \u5149\u5ea6 \u6d4b\u5b9a \u6280\u672f \uff0c \u4e5f \u65e0\u9700 \u8003\u8651 \u51e0\u4f55 \u51e0\u4f55\u4f53 \u7684   UV \u3002   \u9053\u8def \u753b\u5bb6 \u4f7f\u7528   OpenDRIVE   \u4fe1\u606f \u6765 \u6cb9\u6f06 \u9053\u8def \u3002 \u786e\u4fdd \u786e\u4fdd\u60a8 \u7684   . xodr   \u6587\u4ef6 \u4e0e \u5730\u56fe \u540c\u540d \uff0c \u8fd9\u6837 \u624d\u80fd \u6b63\u5e38 \u5de5\u4f5c \u3002   \u5efa\u7acb \u9053\u8def \u753b\u5bb6 \u3001 \u638c\u63e1 \u6750\u8d28 \u548c \u6e32\u67d3 \u5bf9\u8c61   1 .   \u521b\u5efa   RoadPainter   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Content   >   Carla   >   Blueprints   >   LevelDesign   \u3002   \u5c06   RoadPainter   \u62d6\u5165 \u573a\u666f \u4e2d \u3002   2 .   \u521b\u5efa \u6e32\u67d3 \u76ee\u6807 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \uff0c \u5bfc\u822a \u81f3   Content   >   Carla   >   Blueprints   >   LevelDesign   >   RoadPainterAssets   .   \u53f3\u952e \u5355\u51fb   RenderTarget   \u6587\u4ef6 \u5e76 \u9009\u62e9   Duplicate   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ RenderTarget   \u3002   3 .   \u521b\u5efa \u4e3b \u6750\u8d28 \u5b9e\u4f8b \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Game   >   Carla   >   Static   >   GenericMaterials   >   RoadPainterMaterials   .   \u53f3\u952e \u5355\u51fb   M _ RoadMaster   \u5e76 \u9009\u62e9   Create   Material   Instance   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ RoadMaster   \u3002   4 .   \u91cd\u65b0 \u6821\u51c6 \u201c \u5730\u56fe \u5c3a\u5bf8 \u201d (   Map   Size   ( Cm )   )   \uff0c \u4f7f \u5176 \u7b49\u4e8e \u5730\u56fe \u7684 \u5b9e\u9645 \u5c3a\u5bf8 \u3002   \u9009\u62e9   RoadPainter   \u573a\u666f \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8f6c \u5230 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d   \u9762\u677f \u5e76 \u6309   Z - Size   \u6309\u94ae \u3002   \u60a8 \u5c06 \u770b\u5230 \u201d \u5730\u56fe \u5c3a\u5bf8   ( Cm ) (   Map   Size   ( Cm )   ) \u201c \u4e2d \u7684 \u503c \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002   5 .   \u540c\u6b65   RoadPainter   \u548c   Tutorial _ RoadMaster   \u4e4b\u95f4 \u7684 \u5730\u56fe \u5c3a\u5bf8 \u3002   \u5728   _ \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 _ \u4e2d \uff0c \u6253\u5f00   Tutorial _ RoadMaster   \u3002   \u590d\u5236 \u4e0a \u4e00\u6b65 \u4e2d   Map   Size   ( Cm )   \u7684 \u503c \uff0c \u5e76 \u5c06 \u5176 \u7c98\u8d34 \u5230   Tutorial _ RoadMaster   \u7a97\u53e3 \u4e2d \u7684   Global   Scalar   Parameter   Values   - >   Map   units   ( CM )   \u3002   \u70b9\u51fb \u4fdd\u5b58 \u3002   6 .   \u521b\u5efa \u9053\u8def \u753b\u5bb6 \u548c \u4e3b \u6750\u8d28 \u4e4b\u95f4 \u7684 \u901a\u4fe1 \u94fe\u63a5 \u3002   Tutorial _ RenderTarget   \u5c06 \u662f \u9053\u8def \u753b\u5bb6 \u548c   Tutorial _ RoadMaster   \u4e4b\u95f4 \u7684 \u901a\u4fe1 \u7ebd\u5e26 \u3002   \u5728   Tutorial _ RoadMaster   \u7a97\u53e3 \u4e2d \uff0c \u5c06   Tutorial _ RenderTarget   \u5e94\u7528 \u4e8e   Global   Texture   Parameter   Values   - >   Texture   Mask   \u3002   \u4fdd\u5b58 \u5e76 \u5173\u95ed \u3002   \u5728 \u4e3b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \uff0c \u9009\u62e9 \u9053\u8def \u753b\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8f6c \u5230 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u5e76 \u5c06   Tutorial _ RenderTarget   \u5e94\u7528 _ Paint   - >   Render   Target _   \u3002   \u51c6\u5907 \u4e3b \u6750\u8d28   \u60a8 \u521b\u5efa \u7684   Tutorial _ RoadMaster   \u6750\u8d28 \u5305\u542b \u57fa\u7840 \u6750\u8d28 \u3001 \u989d\u5916 \u6750\u8d28 \u4fe1\u606f \u4ee5\u53ca \u5c06 \u901a\u8fc7 \u60a8 \u7684   Tutorial _ RenderTarget   \u3002 \u60a8 \u53ef\u4ee5 \u914d\u7f6e \u4e00\u79cd \u57fa\u7840 \u6750\u8d28 \u548c \u6700 \u591a \u4e09\u79cd \u9644\u52a0 \u6750\u8d28 \u3002   \u8981 \u914d\u7f6e \u6750\u6599 \uff0c \u8bf7 \u53cc\u51fb \u8be5   Tutorial _ RoadMaster   \u6587\u4ef6 \u3002 \u5728 \u51fa\u73b0 \u7684 \u7a97\u53e3 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u6839\u636e \u9700\u8981 \u4e3a \u6bcf\u79cd \u6750\u6599 \u9009\u62e9 \u548c \u8c03\u6574 \u4ee5\u4e0b \u503c \uff1a   \u4eae\u5ea6 ( Brightness )   \u8272\u8c03 ( Hue )   \u9971\u548c \u9971\u548c\u5ea6 ( Saturation )   AO   \u5f3a\u5ea6 ( Intensity )   \u6cd5\u7ebf \u8d34\u56fe \u5f3a\u5ea6 ( NormalMap   Intensity )   \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u5bf9\u6bd4 ( Roughness   Contrast )   \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u5f3a\u5ea6 ( Roughness   Intensity )   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u9009\u62e9 \u4ee5\u4e0b \u503c \u5e76 \u5728 \u641c\u7d22 \u6846\u4e2d \u641c\u7d22 \u7eb9\u7406 \u6765 \u66f4\u6539 \u6bcf\u79cd \u6750\u8d28 \u7684 \u7eb9\u7406 \uff1a   Diffuse   Normal   ORMH   \u63a2\u7d22   Game   >   Carla   >   Static   >   GenericMaterials   >   Asphalt   >   Textures   \u4e2d \u53ef\u7528 \u7684 \u4e00\u4e9b   Carla   \u7eb9\u7406 \u3002   \u63cf\u7ed8 \u9053\u8def   1 .   \u5728 \u9053\u8def \u753b\u5bb6 \u548c \u9053\u8def \u4e4b\u95f4 \u521b\u5efa \u94fe\u63a5 \u3002   \u5728 \u4e3b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \uff0c \u5728   World   Outliner   \u641c\u7d22 \u6846\u4e2d \u8fdb\u884c   Road _ Road   \u7684 \u641c\u7d22 \u3002   \u6309   Ctrl   +   A   \u9009\u62e9 \u6240\u6709 \u9053\u8def \u3002   \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Materials   \u90e8\u5206 \u5e76 \u7ed9   Element   0   \u3001   Element   1   \u3001   Element   2   \u548c   Element   3   \u5e94\u7528   Tutorial _ RoadMaster   \u3002   2 .   \u9009\u62e9 \u8981 \u5b9a\u5236 \u7684 \u6750\u8d28 \u3002   \u6211\u4eec \u6dfb\u52a0 \u7684 \u6bcf\u79cd \u6750\u8d28   Tutorial _ RoadMaster   \u90fd \u5355\u72ec \u5e94\u7528 \u4e8e \u9053\u8def \uff0c \u5e76 \u4f7f\u7528 \u753b\u7b14 \u5de5\u5177 \u914d\u7f6e \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u3002 \u8981 \u5e94\u7528 \u548c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6750\u8d28 \uff1a   \u9009\u62e9 \u9053\u8def \u753b\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d   \u9762\u677f \u4e2d \uff0c \u5728   Mask   Color   \u4e0b\u62c9 \u83dc\u5355 \u4e0b\u62c9\u83dc\u5355 \u4e2d \u9009\u62e9 \u8981 \u4f7f\u7528 \u7684 \u6750\u8d28 \u3002   3 .   \u8bbe\u7f6e \u753b\u7b14 \u548c \u6a21\u677f \u53c2\u6570 \u3002   GenericMaterials / RoadStencil / Alphas   \u4e2d\u6709 \u591a\u79cd \u6a21\u677f \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002 \u6a21\u677f \u7528\u4e8e \u6839\u636e \u60a8 \u7684 \u9700\u8981 \u7ed8\u5236 \u9053\u8def \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u503c \u8fdb\u884c \u8c03\u6574 \uff1a   Stencil   size   \u2014   \u753b\u7b14 \u7684 \u5c3a\u5bf8 \u3002   Brush   strength   \u2014   \u8f6e\u5ed3 \u7684 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u3002   Spacebeween   Brushes   \u2014   \u7b14\u5212 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   Max   Jitter   \u2014   \u7b14\u5212 \u4e4b\u95f4 \u753b\u7b14 \u7684 \u5927\u5c0f \u53d8\u5316 \u3002   Stencil   \u2014   \u8981 \u4f7f\u7528 \u7684 \u753b\u7b14 \u3002   Rotation   \u2014   \u5e94\u7528 \u4e8e \u7b14\u753b \u7684 \u65cb\u8f6c \u3002   \u5237\u5b50 \u9762\u677f \u3002   \u4e0d\u540c \u7c7b\u578b \u7684 \u5237\u5b50 \u3002   4 .   \u5c06 \u6bcf\u79cd \u6750\u8d28 \u6d82\u62b9 \u5230 \u9053\u8def \u7684 \u6240 \u9700 \u90e8\u5206 \u3002   \u901a\u8fc7 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u7684 \u201c \u9ed8\u8ba4 (   Default   ) \u201d \u90e8\u5206 \u4e2d \u7684 \u6309\u94ae \u9009\u62e9 \u5e94\u7528 \u6240 \u9009 \u6750\u8d28 \u7684 \u4f4d\u7f6e \uff1a   Paint   all   roads   \u2014   \u7c89\u5237 \u6240\u6709 \u9053\u8def \u3002   Paint   by   actor   \u2014   \u7ed8\u753b \u7279\u5b9a \u7684 \u3001 \u9009\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Paint   over   circle   \u2014   \u4f7f\u7528 \u5706\u5f62 \u56fe\u6848 \u8fdb\u884c \u7ed8\u5236 \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63d0\u4f9b \u53d8\u5316 \u3002   Paint   over   square   \u2014   \u4f7f\u7528 \u6b63\u65b9 \u65b9\u5f62 \u6b63\u65b9\u5f62 \u56fe\u6848 \u8fdb\u884c \u7ed8\u5236 \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63d0\u4f9b \u53d8\u5316 \u3002   \u6b64 \u90e8\u5206 \u8fd8 \u5305\u542b \u7528\u4e8e \u5220\u9664 \u5df2 \u5e94\u7528 \u66f4\u6539 \u7684 \u9009\u9879 \u3002   Clear   all   \u2014   \u64e6\u9664 \u6240\u6709 \u7ed8\u5236 \u7684 \u6750\u8d28 \u3002   Clear   materials   \u2014   \u5220\u9664 \u5f53\u524d \u6d3b\u52a8 \u7684 \u6750\u8d28 \u3002   Clear   material   by   actor   \u2014   \u5220\u9664 \u6700 \u63a5\u8fd1 \u6240 \u9009 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6750\u8d28 \u3002   Different   painting   and   erasing   options .   5 . \u6dfb\u52a0 \u8d34\u82b1 \u548c \u7f51\u683c \u3002   \u60a8 \u53ef\u4ee5 \u5728   Content   >   Carla   Static   >   Decals   \u548c   Content   >   Carla   >   Static   \u4e2d \u63a2\u7d22 \u53ef\u7528 \u7684 \u8d34\u82b1 \u548c \u7f51\u683c \u3002 \u901a\u8fc7 \u6269\u5c55 \u5e76 \u6dfb\u52a0 \u5230   Decals   Spawn   \u548c   Meshes   Spawn   \u6570\u7ec4 \uff0c \u5c06 \u5b83\u4eec \u6dfb\u52a0 \u5230 \u9053\u8def \u7ed8\u5236 \u5668\u4e2d \u3002 \u5bf9\u4e8e \u4e00\u9879 \u6bcf\u4e00\u9879 \uff0c \u60a8 \u90fd \u53ef\u4ee5 \u914d\u7f6e \u4ee5\u4e0b \u53c2\u6570 \uff1a   Number   of   Decals / Meshes   -   \u8981 \u7ed8\u5236 \u7684 \u6bcf\u4e2a \u8d34\u82b1 \u6216 \u7f51\u683c \u7684 \u6570\u91cf \u3002   Decal / Mesh   Scale   \u2014   \u6bcf\u4e2a \u8f74 \u7684 \u8d34\u82b1 / \u7f51\u683c \u6bd4\u4f8b \u3002   Fixed   Decal / Mesh   Offset   \u2014   \u6bcf\u4e2a \u8f74 \u4e0e \u8f66\u9053 \u4e2d\u5fc3 \u7684 \u504f\u5dee \u3002   Random   Offset   \u2014   \u6bcf\u4e2a \u8f74 \u4e0e \u8f66\u9053 \u4e2d\u5fc3 \u7684 \u6700\u5927 \u504f\u5dee \u3002   Decal / Mesh   Random   Yaw   \u2014   \u6700\u5927 \u968f\u673a \u504f\u822a \u65cb\u8f6c \u3002   Decal / Mesh   Min   Scale   \u2014   \u5e94\u7528 \u4e8e \u8d34\u82b1 / \u7f51\u683c \u7684 \u6700\u5c0f \u968f\u673a \u6bd4\u4f8b \u3002   Decal / Mesh   Max   Scale   \u2014   \u5e94\u7528 \u4e8e \u8d34\u82b1 / \u7f51\u683c \u7684 \u6700\u5927 \u968f\u673a \u6bd4\u4f8b \u3002   \u8d34\u82b1 \u548c \u7f51\u683c \u9762\u677f \u3002   \u914d\u7f6e \u597d \u7f51\u683c \u548c \u8d34\u82b1 \u540e \uff0c \u901a\u8fc7 \u6309   Spawn   decals   \u548c\u751f   Spawn   meshes   \u3002   \u7b14\u8bb0   \u786e\u4fdd \u7f51\u683c \u548c \u8d34\u82b1 \u6ca1\u6709 \u542f\u7528 \u78b0\u649e \uff0c \u4ee5\u514d \u5e72\u6270 \u9053\u8def \u4e0a \u7684 \u6c7d\u8f66 \u5e76 \u5c06 \u4efb\u4f55 \u8fb9\u754c \u6846 \u964d\u4f4e \u5230 \u9053\u8def \u6c34\u5e73 \u3002   7 .   \u5c1d\u8bd5 \u83b7\u5f97 \u60a8 \u60f3\u8981 \u7684 \u5916\u89c2 \u3002   \u5c1d\u8bd5 \u4e0d\u540c \u7684 \u6750\u8d28 \u3001 \u7eb9\u7406 \u3001 \u8bbe\u7f6e \u3001 \u8d34\u82b1 \u548c \u7f51\u683c \u4ee5 \u83b7\u5f97 \u60a8 \u60f3\u8981 \u7684 \u5916\u89c2 \u3002 \u4e0b\u9762 \u662f \u4e00\u4e9b \u793a\u4f8b \u56fe\u50cf \uff0c \u663e\u793a \u4e86 \u5728 \u7ed8\u5236 \u6bcf\u79cd \u6750\u8d28 \u7684 \u8fc7\u7a0b \u4e2d \u9053\u8def \u5916\u89c2 \u5982\u4f55 \u53d8\u5316 \u3002   \u57fa\u7840 \u9053\u8def \u6750\u6599 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   1   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   2   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   3   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u8d34\u82b1 \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u7f51\u683c \u540e \u7684 \u793a\u4f8b \u3002   \u66f4\u65b0 \u8f66\u9053 \u7ebf \u5916\u89c2   \u7ed8\u5236 \u9053\u8def \u540e \uff0c \u60a8 \u53ef\u4ee5 \u6309\u7167 \u4ee5\u4e0b \u6b65\u9aa4 \u66f4\u65b0 \u8f66\u9053 \u7ebf \u7684 \u5916\u89c2 \uff1a   1 .   \u590d\u5236 \u4e3b \u6750\u6599 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Game   >   Carla   >   Static   >   GenericMaterials   >   RoadPainterMaterials   \u3002   \u53f3\u952e \u5355\u51fb   Tutorial _ RoadMaster   \u5e76 \u9009\u62e9   Create   Material   Instance   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ LaneMarkings   \u3002   2 .   \u914d\u7f6e \u8f66\u9053 \u7ebf \u6750\u8d28 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u53cc\u51fb   Tutorial _ LaneMarkings   \u3002   \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Global   Static   Switch   Parameter   Values   \u5206 \uff0c \u7136\u540e \u9009\u4e2d   LaneMark   \u5de6\u4fa7 \u548c \u53f3\u4fa7 \u7684 \u6846 \u3002   \u8f6c \u5230   Texture   \u90e8\u5206 \u5e76 \u9009\u4e2d   LaneColor   \u548c   Uv   Size   \u590d\u9009 \u9009\u6846 \u590d\u9009\u6846 \u3002   \u5728   LaneColor   \u4e2d \u9009\u62e9 \u60a8 \u559c\u6b22 \u7684 \u8f66\u9053 \u6807\u8bb0 \u989c\u8272 \u3002   Save   \u5e76 \u5173\u95ed \u3002   3 .   \u9009\u62e9 \u8f66\u9053 \u7ebf \u7f51\u683c \u3002   \u5c06 \u6750\u6599 \u62d6\u5230 \u60a8 \u60f3\u8981 \u7740\u8272 \u7684 \u8f66\u9053 \u7ebf\u4e0a \u3002 \u5982\u679c \u9700\u8981 \uff0c \u5bf9 \u4e0d\u540c \u989c\u8272 \u7684 \u8f66\u9053 \u7ebf \u91cd\u590d \u6574\u4e2a \u8fc7\u7a0b \u3002   \u6811\u6728 \u548c \u690d\u88ab   Carla   \u5185\u5bb9 \u5e93 \u62e5\u6709 \u4e00\u5957 \u5168\u9762 \u7684 \u690d\u88ab \u84dd\u56fe \uff0c \u4f9b \u60a8 \u4e3a \u5730\u56fe \u7684 \u8d8a\u91ce \u533a\u57df \uff08 \u5982 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u516c\u56ed \u3001 \u5c71\u5761 \u3001 \u7530\u91ce \u548c \u68ee\u6797 \uff09 \u589e\u6dfb \u66f4 \u591a \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \u3002   \u5bfc\u822a \u5230   Carla   \u5185\u5bb9 \u5e93\u4e2d \u7684 \u690d\u88ab \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff1a   Carla   >   Static   >   Visitation   \u3002 \u60a8 \u4f1a \u627e\u5230 \u591a\u79cd \u6811\u6728 \u3001 \u704c\u6728 \u6728\u4e1b \u704c\u6728\u4e1b \u7684 \u84dd\u56fe \u3002 \u60a8 \u53ef\u4ee5 \u5c06 \u8fd9\u4e9b \u5143\u7d20 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u62d6 \u5230 \u5730\u56fe \u4e2d \u3002   \u6811\u53f6 \u5de5\u5177   \u5bf9\u4e8e \u6811\u6728 \u548c \u690d\u88ab \u6765\u8bf4 \uff0c \u4e00\u4e2a \u6709\u7528 \u7684 \u5de5\u5177 \u662f   \u865a\u5e7b \u5f15\u64ce \u6811\u53f6 \u5de5\u5177   \u3002 \u901a\u8fc7 \u4ece \u5de5\u5177 \u5de5\u5177\u680f \u7684   mode   \u4e0b \u62c9 \u5217\u8868 \u4e2d \u9009\u62e9 \u6765 \u6fc0\u6d3b \u8be5 \u5de5\u5177 \u3002   \u5c06 \u6240 \u9700 \u7684 \u6811\u53f6 \u9879\u76ee \u62d6 \u5230 \u6807\u6709   +   Drop   Foliage   Here   \u7684 \u6846\u4e2d \u3002 \u5728 \u5bc6\u5ea6 \u5b57\u6bb5 \u4e2d \u8bbe\u7f6e \u9002\u5f53 \u7684 \u5bc6\u5ea6 \uff0c \u7136\u540e \u4f7f\u7528 \u6811\u53f6 \u9879\u76ee \u7ed8\u5236 \u5230 \u5730\u56fe \u4e0a \u3002   \u4e0b \u4e00\u6b65   \u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u65bd \u5b50 \u5173\u5361 \u3002 .   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u5185\u5bb9 \u521b\u4f5c   -   \u5730\u56fe"},{"location":"tuto_content_authoring_maps/#-","text":"Carla   \u63d0\u4f9b \u4e86 \u5927\u91cf \u7684 \u8d44\u6e90 \uff0c \u53ef \u7528\u4e8e \u521b\u5efa \u5f00\u7bb1 \u5373\u7528 \u7684 \u9a7e\u9a76 \u4eff\u771f \u3002 \u7136\u800c \uff0c Carla   \u7684 \u771f\u6b63 \u529b\u91cf \u5728\u4e8e \u5176 \u5168\u9762 \u7684 \u6269\u5c55 \u5c55\u6027 \u6269\u5c55\u6027 \u53ef\u6269\u5c55\u6027 \uff0c \u5141\u8bb8 \u7528\u6237 \u521b\u5efa \u5b8c\u5168 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u73af\u5883 \uff0c \u5176\u4e2d \u5305\u542b \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u957f\u51f3 \u3001 \u5783\u573e \u5783\u573e\u6876 \u3001 \u96d5\u50cf \u3001 \u8def\u706f \u548c \u516c\u4ea4 \u8f66\u7ad9 \u516c\u4ea4\u8f66 \u516c\u4ea4\u8f66\u7ad9 \u7b49 \u5b9a\u5236 \u8d44\u4ea7 \u3002 \u4e4b\u524d \u7a33\u5b9a \u7684   \u5730\u56fe \u5b9a\u5236 \u65b9\u6cd5   \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u4ecb\u7ecd \u521b\u5efa \u4e0e   Carla   \u4e00\u8d77 \u4f7f\u7528 \u7684 \u7b80\u5355 \u5730\u56fe \u7684 \u8fc7\u7a0b \u3002 \u6211\u4eec \u5c06 \u4f7f\u7528 \u4e24\u4e2a \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \u6765 \u521b\u5efa \u5730\u56fe \u7684 \u5404\u4e2a \u90e8\u5206 \u3002 \u6211\u4eec \u5c06 \u4f7f\u7528   RoadRunner   \u521b\u5efa \u9053\u8def \u7f51\u7edc \uff0c \u7136\u540e \u901a\u8fc7   \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668   \u5c06 \u8d44\u6e90 \u6dfb\u52a0 \u5230 \u5730\u56fe \u4e2d \u3002   \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u5927 \u5730\u56fe   \u6570\u5b57 \u5b6a\u751f \u5de5\u5177   \u4f7f\u7528   RoadRunner   \u521b\u5efa \u8def\u7f51   \u5c06 \u8def\u7f51 \u5bfc\u5165   Carla   \u5bfc\u5165 \u8d44\u4ea7 \u5e76 \u5c06 \u5b83\u4eec \u6dfb\u52a0 \u5230 \u5730\u56fe   \u4ea4\u901a \u4ea4\u901a\u706f   \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7   \u6750\u8d28   \u9053\u8def \u753b\u5bb6   \u4ec0\u4e48 \u662f \u9053\u8def \u753b\u5bb6 \uff1f   \u9053\u8def \u753b\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3001 \u4e3b \u6750\u8d28 \u548c \u6e32\u67d3 \u5bf9\u8c61   \u51c6\u5907 \u4e3b \u6750\u6599   \u63cf\u7ed8 \u9053\u8def   \u66f4\u65b0 \u8f66\u9053 \u7ebf \u5916\u89c2   \u6811\u6728 \u548c \u690d\u88ab   \u6811\u53f6 \u5de5\u5177   \u4e0b \u4e00\u6b65","title":"\u5185\u5bb9 \u521b\u4f5c   -   \u5730\u56fe"},{"location":"tuto_content_authoring_maps/#_1","text":"\u8981 \u9075\u5faa \u672c \u6307\u5357 \uff0c \u60a8 \u9700\u8981 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla \uff0c \u4ee5\u4fbf \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \u8bf7 \u9075\u5faa \u76f8\u5173 \u64cd\u4f5c \u7cfb\u7edf \u64cd\u4f5c\u7cfb\u7edf \u7684   \u6784\u5efa \u8bf4\u660e   \u3002 \u60a8 \u8fd8 \u9700\u8981   RoadRunner   \u7684 \u8bb8\u53ef \u526f\u672c \u3002 \u60a8 \u53ef\u80fd \u8fd8 \u9700\u8981   Maya \u3001 3DS   Max   \u6216   Blender   \u7b49 \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u6765 \u4e3a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u521b\u5efa \u4e09\u7ef4 \u8d44\u4ea7 \u3002 \u60a8 \u5e94\u8be5 \u786e\u4fdd \u5df2 \u5b8c\u6210 \u6784\u5efa   Carla   \u7684 \u6240\u6709 \u6b65\u9aa4 \u5e76 \u786e\u4fdd \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u6b63\u5728 \u8fd0\u884c \uff0c \u8fd9 \u53ef\u80fd \u9700\u8981 \u4e00\u4e9b \u65f6\u95f4 \u6765 \u6784\u5efa \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u3002 \u5982\u679c \u60a8 \u60f3 \u4e3a \u5730\u56fe \u521b\u5efa \u4e09\u7ef4 \u8d44\u4ea7 \uff0c \u5219 \u5e94 \u4f7f\u7528 \u9002\u5f53 \u7684 \u4e09\u7ef4 \u8bbe\u8ba1 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff0c \u4f8b\u5982   Blender \u3001 Maya \u3001 3DsMax   \u6216   Modo \u3002","title":"\u5148\u51b3\u6761\u4ef6  "},{"location":"tuto_content_authoring_maps/#_2","text":"\u4ee5\u4e0b \u6587\u672c \u8be6\u7ec6 \u4ecb\u7ecd \u4e86 \u521b\u5efa \u548c \u88c5\u9970 \u6807\u51c6 \u5730\u56fe \u7684 \u8fc7\u7a0b \u3002 \u4ece \u7248\u672c   0.9 . 12   \u5f00\u59cb \uff0c Carla   \u5177\u6709 \u5927 \u5730\u56fe \u529f\u80fd \u5730\u56fe\u529f\u80fd \u3002 \u5927 \u5730\u56fe \u7684 \u6bd4\u4f8b \u6bd4 \u6807\u51c6 \u5730\u56fe \u66f4\u5927 \uff0c \u6700\u5927 \u53ef \u8fbe   100   km   2   \u3002 \u7531\u4e8e \u786c\u4ef6 \u9650\u5236 \uff0c \u5927 \u5730\u56fe \u7684 \u5de5\u4f5c \u65b9\u5f0f \u4e0e \u6807\u51c6 \u5730\u56fe \u7565\u6709 \u4e0d\u540c \u7565\u6709\u4e0d\u540c \uff0c \u5373\u4f7f \u5728 \u9ad8\u7aef \u663e\u5361 \u4e2d \u4e5f \u662f \u5982\u6b64 \u3002 \u5927 \u5730\u56fe \u88ab \u5206\u5272 \u6210 \u56fe\u5757 \uff0c \u5e76\u4e14 \u5728 \u4eff\u771f \u8fc7\u7a0b \u4e2d\u4ec5 \u52a0\u8f7d \u7acb\u5373 \u9700\u8981 \u7684 \u56fe\u5757 \uff08 \u5373 \u6700 \u63a5\u8fd1 \u81ea\u6211 \u8f66\u8f86 \u7684 \u56fe\u5757 \uff09 \u3002 \u5176\u4ed6 \u56fe\u5757 \u5904\u4e8e \u4f11\u7720 \u72b6\u6001 \u4f11\u7720\u72b6\u6001 \uff0c \u76f4\u5230 \u9700\u8981 \u6570\u636e \u4e3a\u6b62 \u3002 \u8fd9 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u5b9e\u73b0   Carla   \u4eff\u771f \u7684 \u6700\u9ad8 \u6027\u80fd \u3002 \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u7684 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u7ec6\u8282 \u4e0e \u6784\u5efa \u5927 \u5730\u56fe \u65f6 \u7c7b\u4f3c \uff0c \u4f46 \u8fd8\u6709 \u4e00\u4e9b \u989d\u5916 \u7684 \u6b65\u9aa4 \u3002 \u8bf7 \u6309\u7167   \u672c \u6307\u5357   \u4e3a   Carla   \u6784\u5efa \u5927 \u5730\u56fe \u3002","title":"\u5927 \u5730\u56fe  "},{"location":"tuto_content_authoring_maps/#_3","text":"Carla   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5730\u56fe \u751f\u6210 \u5de5\u5177 \uff0c \u5b83 \u4ece   OpenStreetMap   \u83b7\u53d6 \u9053\u8def \u7f51\u7edc \u6570\u636e \uff0c \u5e76\u7528 \u5efa\u7b51 \u5efa\u7b51\u7269 \u548c \u690d\u88ab \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5730 \u88c5\u9970 \u5730\u56fe \u3002 \u8bf7 \u5728   \u6b64\u5904   \u9605\u8bfb \u6709\u5173 \u5982\u4f55 \u4f7f\u7528 \u8be5 \u5de5\u5177 \u7684 \u4fe1\u606f \u3002","title":"\u6570\u5b57 \u5b6a\u751f \u5de5\u5177  "},{"location":"tuto_content_authoring_maps/#roadrunner","text":"\u6253\u5f00   RoadRunner   \u5e76 \u521b\u5efa \u4e00\u4e2a \u65b0 \u573a\u666f \u3002 \u9009\u62e9 \u9053\u8def \u89c4\u5212 \u5de5\u5177 ( Road   Plan   Tool ) \u5e76 \u5728 \u5de5\u4f5c \u533a\u4e2d   \u53f3\u952e   \u5355\u51fb \u4ee5 \u653e\u7f6e \u9053\u8def \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u63a7\u5236 \u63a7\u5236\u70b9 \u548c \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u63a7\u5236 \u63a7\u5236\u70b9 \u3002 \u5355\u51fb \u5e76 \u62d6\u52a8 \u9053\u8def \u5c3d\u5934 \u7684 \u7ea2\u70b9 \u4ee5 \u79fb\u52a8 \u548c \u5ef6\u957f \u9053\u8def \u3002   \u51fa\u4e8e \u672c \u6559\u7a0b \u7684 \u76ee\u7684 \uff0c \u6211\u4eec \u4f7f\u7528 \u4e2d\u95f4 \u6709 \u4e00\u4e2a \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u7684 \u7b80\u5355 \u692d\u5706 \u5706\u5f62 \u692d\u5706\u5f62 \u9053\u8def \u3002 \u8981 \u6784\u5efa \u66f4 \u9ad8\u7ea7 \u7684 \u7f51\u7edc \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Roadrunner   \u6587\u6863   \u3002   \u5728   RoadRunner   \u4e2d \u5236\u4f5c \u5730\u56fe \u540e \uff0c \u60a8 \u5c31 \u53ef\u4ee5 \u5c06 \u5176 \u5bfc\u51fa \u3002 \u8bf7 \u6ce8\u610f \uff0c   \u9053\u8def \u5e03\u5c40 \u5bfc\u51fa \u540e \u65e0\u6cd5 \u4fee\u6539   \u3002 \u5bfc\u51fa \u4e4b\u524d \uff0c \u8bf7 \u786e\u4fdd \uff1a   \u5730\u56fe \u4ee5   ( 0 , 0 )   \u4e3a \u4e2d\u5fc3 \uff0c \u4ee5 \u786e\u4fdd \u5730\u56fe \u53ef\u4ee5 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6b63\u786e \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u5730\u56fe \u5b9a\u4e49 \u662f \u6b63\u786e \u7684 \u3002   \u5730\u56fe \u9a8c\u8bc1 \u662f \u6b63\u786e \u7684 \uff0c \u5bc6\u5207 \u5173\u6ce8 \u8fde\u63a5 \u548c \u51e0\u4f55 \u5f62\u72b6 \u3002   \u5730\u56fe \u51c6\u5907 \u597d\u540e \uff0c \u5355\u51fb   OpenDRIVE   Preview   Tool   \u6309\u94ae \u5373\u53ef \u53ef\u89c6 \u53ef\u89c6\u5316   OpenDRIVE   \u9053\u8def \u7f51\u7edc \u5e76 \u5bf9 \u6240\u6709 \u5185\u5bb9 \u8fdb\u884c \u6700\u540e \u4e00\u6b21 \u68c0\u67e5 \u3002   \u7b14\u8bb0   OpenDrive   Preview   Tool   \u53ef\u4ee5 \u66f4 \u8f7b\u677e \u5730 \u6d4b\u8bd5 \u5730\u56fe \u7684 \u5b8c\u6574 \u5b8c\u6574\u6027 \u3002 \u5982\u679c \u8fde\u63a5 \u6709 \u4efb\u4f55 \u9519\u8bef \uff0c \u5355\u51fb \u8bf7\u5355\u51fb   Maneuver   Tool   \u548c   Rebuild   Maneuver   Roads   \u3002   \u521b\u5efa \u6240 \u9700 \u7684 \u9053\u8def \u7f51\u7edc \u540e \uff0c \u5728   RoadRunner   \u83dc\u5355 \u83dc\u5355\u680f \u4e2d \u9009\u62e9   File   >   Export   >   Carla   Filmbox   ( . fbx ,   . xodr ,   . rrdata . xml )   \u5e76 \u5bfc\u51fa \u5230 \u9002\u5f53 \u7684 \u4f4d\u7f6e \u3002   RoadRunner   \u662f \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5730\u56fe \u7684 \u6700\u4f73 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u3002 \u8fd8\u6709 \u4e00\u4e9b \u66ff\u4ee3 \u65b9\u6848 \uff0c \u4f8b\u5982   OpenStreetMap   \uff0c \u4e13\u6ce8 \u4e8e \u4ece \u771f\u5b9e \u7684 \u9053\u8def \u5730\u56fe \u751f\u6210 \u5730\u56fe \u3002","title":"\u4f7f\u7528   RoadRunner   \u521b\u5efa \u8def\u7f51  "},{"location":"tuto_content_authoring_maps/#truevision","text":"RoadRunner   \u662f \u4e00\u6b3e \u9700\u8981   MATLAB   \u7684 \u4e13\u6709 \u8f6f\u4ef6 \u3002 \u5927\u5b66 \u7b49 \u4e00\u4e9b \u673a\u6784 \u53ef\u80fd \u4e0e   MathWorks   \u8fbe\u6210 \u4e86 \u534f\u8bae \uff0c \u4ee5\u4fbf \u67d0\u4e9b \u7528\u6237 \u53ef\u4ee5 \u83b7\u5f97   RoadRunner   \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u3002 \u5982\u679c \u60a8 \u6ca1\u6709 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u9884\u7b97 \uff0c RoadRunner   \u7684 \u4e00\u4e2a \u65b9\u4fbf \u7684 \u5f00\u6e90 \u66ff\u4ee3 \u65b9\u6848 \u662f   TrueVision   Designer   \u3002 \u6b64 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u5177\u6709 \u8bb8\u591a \u4e0e   RoadRunner   \u76f8\u540c \u7684 \u529f\u80fd \uff0c \u5982\u679c \u60a8 \u65e0\u6cd5 \u83b7\u5f97   RoadRunner   \u7684 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \uff0c \u8be5 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4f1a \u975e\u5e38 \u6709\u7528 \u3002","title":"TrueVision   \u8bbe\u8ba1 \u5668  "},{"location":"tuto_content_authoring_maps/#carla","text":"Carla   \u9700\u8981 \u7684 \u91cd\u8981 \u5bfc\u51fa \u6587\u4ef6 \u662f   . xodr   \u6587\u4ef6 \u548c   . fbx   \u6587\u4ef6 \u3002 \u5c06 \u8fd9\u4e9b \u6587\u4ef6 \u590d\u5236 \u6216 \u79fb\u52a8 \u5230 \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684   Carla   \u5b58\u50a8 \u5e93 \u76ee\u5f55 \u6839\u76ee\u5f55 \u5185 \u7684   Import   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u73b0\u5728 \u5728   Carla   \u76ee\u5f55 \u6e90\u76ee\u5f55 \u7684 \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e2d \u6253\u5f00 \u4e00\u4e2a \u7ec8\u7aef \u5e76 \u8fd0\u884c   make   import   .   \u8fd9\u4f1a \u5c06 \u9053\u8def \u7f51\u7edc \u5bfc\u5165   Carla \u3002   \u60a8 \u73b0\u5728 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u770b\u5230 \u65b0 \u5730\u56fe \u3002 \u5728   Carla   \u76ee\u5f55 \u6e90\u76ee\u5f55 \u7684 \u76ee\u5f55 \u6839\u76ee\u5f55 \u4e0b \u8fd0\u884c   make   launch   \u4ee5 \u542f\u52a8 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \u60a8 \u73b0\u5728 \u5c06 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u770b\u5230 \u4e00\u4e2a \u540d\u4e3a   map _ package   \u7684 \u65b0 \u76ee\u5f55 \u3002 \u5728 \u6b64 \u76ee\u5f55   Content   >   map _ package   >   Maps   >   tutorial   \u4e2d \uff0c \u60a8 \u73b0\u5728 \u5c06 \u627e\u5230 \u60a8 \u7684 \u65b0 \u5730\u56fe \u3002   \u7b14\u8bb0   \u53ef\u4ee5 \u53c2\u8003   \u94fe\u63a5   \u901a\u8fc7 \u9f20\u6807 \u53f3\u952e \u7684 \u65b9\u5f0f \u76f4\u63a5 \u5bfc\u5165 \u3002   \u60a8 \u73b0\u5728 \u5df2\u7ecf \u521b\u5efa \u4e86 \u9053\u8def \u7f51\u7edc \uff0c \u8fd9\u662f \u5730\u56fe \u7684 \u57fa\u7840 \u3002","title":"\u5c06 \u8def\u7f51 \u5bfc\u5165   Carla  "},{"location":"tuto_content_authoring_maps/#_4","text":"\u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u6709 \u4e86 \u9053\u8def \u7f51\u7edc \u4f5c\u4e3a \u5730\u56fe \u7684 \u57fa\u7840 \uff0c \u6211\u4eec \u73b0\u5728 \u60f3\u8981 \u4e3a \u5730\u56fe \u521b\u5efa \u4e00\u4e9b \u5185\u5bb9 \uff0c \u4f8b\u5982 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002 \u8fd9\u4e9b \u8d44\u6e90 \u53ef\u4ee5 \u4f7f\u7528 \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff08 \u4f8b\u5982   Autodesk   Maya \u3001 3DS   Max \u3001 Blender   \u6216 \u5177\u6709 \u9002\u5f53 \u5bfc\u51fa \u9009\u9879 \u7684 \u4efb\u4f55 \u5176\u4ed6 \u4e09\u7ef4 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff09 \u521b\u5efa \u3002 \u91cd\u8981 \u7684 \u662f \uff0c \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u81f3\u5c11 \u80fd\u591f \u5bfc\u51fa   . fbx   \u3002   \u5728   Carla   \u4e2d \u521b\u5efa \u8d44\u4ea7 \u9700\u8981 \u51e0\u4e2a \u5143\u7d20 \uff1a   \u7f51\u683c   -   \u4e00\u7ec4   3D   \u5750\u6807 \u9876\u70b9 \u548c \u5173\u8054 \u7684 \u8fde\u63a5 \u8fb9 \u3002   UV   \u8d34\u56fe   -   \u5c06 \u4e09\u7ef4 \u9876\u70b9 \u548c \u8fb9 \u6620\u5c04 \u5230 \u4e8c\u7ef4 \u7eb9\u7406 \u7a7a\u95f4 \uff0c \u4ee5 \u5c06 \u7eb9\u7406 \u4e0e \u4e09\u7ef4 \u4f4d\u7f6e \u8fdb\u884c \u5339\u914d \u3002   \u7eb9\u7406   -   \u5b9a\u4e49 \u4e09\u7ef4 \u5bf9\u8c61 \u8868\u9762 \u4e0a \u663e\u793a \u7684 \u989c\u8272 \u548c \u56fe\u6848 \u7684 \u4e8c\u7ef4 \u56fe\u50cf \u3002   \u6cd5\u7ebf \u8d34\u56fe   -   \u5b9a\u4e49 \u76ee\u6807 \u8868\u9762 \u6cd5\u7ebf \u65b9\u5411 \u7684 \u4e8c\u7ef4 \u56fe\u50cf \uff0c \u4ee5\u5411 \u76ee\u6807 \u8868\u9762 \u6dfb\u52a0 \u4e09\u7ef4 \u53d8\u5316 \u3002   ORM   \u8d34\u56fe   -   \u5b9a\u4e49 \u91d1\u5c5e \u5ea6 ( Metallicity ) \u3001 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 ( Roughness ) \u548c \u73af\u5883 \u73af\u5883\u5149 \u906e\u6321 ( Occlusion ) \u533a\u57df \u7684 \u8d34\u56fe   ORM   \u8d34\u56fe \u5229\u7528 \u6807\u51c6   RGBA   \u7f16\u7801 \u56fe\u50cf \u7684 \u901a\u9053 \u5bf9 \u91d1\u5c5e \u533a\u57df \u3001 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u548c \u73af\u5883 \u906e\u6321 \u7684 \u8d34\u56fe \u8fdb\u884c \u7f16\u7801 \u3002 \u5f53 \u6211\u4eec \u5728 \u8fd9\u91cc \u5b9a\u4e49 \u8d34\u56fe \u65f6 \uff0c \u7ea2\u8272 \u901a\u9053 \u5b9a\u4e49 \u91d1\u5c5e \u8d34\u56fe \uff0c \u7eff\u8272 \u901a\u9053 \u7eff\u8272\u901a\u9053 \u5b9a\u4e49 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \uff0c \u84dd\u8272 \u901a\u9053 \u5b9a\u4e49 \u73af\u5883 \u73af\u5883\u5149 \u906e\u6321 \u3002 \u8fd9\u4e9b \u8d34\u56fe \uff08 \u4ee5\u53ca \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u8d34\u56fe \u548c \u6cd5\u7ebf \u8d34\u56fe \uff09 \u53ef\u4ee5 \u4f7f\u7528   Adobe   Substance   3D   painter   \u7b49 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u521b\u5efa \u3002   \u4f7f\u7528 \u865a\u5e7b \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5728 \u67d0\u4e2a \u9002\u5f53 \u7684 \u4f4d\u7f6e \u521b\u5efa \u4e00\u4e2a \u65b0 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002 \u5728 \u6b64 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u53f3\u952e \u5355\u51fb \u5e76   Import   to   PATH / TO / FOLDER   \u5728 \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u83dc\u5355 \u9876\u90e8 \u9644\u8fd1 \u8fdb\u884c \u9009\u62e9 \uff0c \u4e5f \u53ef\u4ee5 \u5c06 \u6587\u4ef6 \u76f4\u63a5 \u62d6 \u653e\u5230 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u3002   \u6211\u4eec \u5c06 \u5bfc\u5165 \u4e00\u4e2a \u5305\u542b \u4ece   Blender   \u5bfc\u51fa \u7684 \u57fa\u7840 \u7f51\u683c \u548c   UV   \u8d34\u56fe \u7684   FBX   \u6587\u4ef6 \u3002   \u5728 \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u83dc\u5355 \u4e2d \uff0c \u5bf9\u4e8e   Normal   Import   Method   \u786e\u4fdd \u201c \u7f51\u683c \u201d \u90e8\u5206 \u9009\u62e9 \u4e86 \u201c \u5bfc\u5165 \u6cd5\u7ebf (   Import   Normals   ) \uff0c \u5e76\u4e14 \u5728 \u201c \u6750\u8d28 (   Material   ) \u201d \u90e8\u5206 \u4e2d \u9009\u62e9 \u4e86   Do   Not   Create   Material   \u3002 \u5728 \u201c \u6750\u8d28 \u201d \u90e8\u5206 \u4e2d \u53d6\u6d88 \u9009\u62e9 \uff0c \u56e0\u4e3a \u6211\u4eec \u5c06 \u624b\u52a8 \u5bfc\u5165 \u5b83\u4eec \u3002 \u5982\u679c \u60a8 \u60f3 \u4f7f\u7528   FBX   \u6587\u4ef6 \u4e2d \u5df2 \u5d4c\u5165 \u7684 \u67d0\u4e9b \u7eb9\u7406 \uff0c \u8fd9\u4e9b \u9009\u62e9 \u5c06\u4f1a \u6709\u6240 \u4e0d\u540c \u6709\u6240\u4e0d\u540c \u3002   \u9009\u62e9   Import   All   \u3002 \u5bfc\u5165 \u5b8c\u6210 \u540e \uff0c \u53cc\u51fb \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u663e\u793a \u7684 \u5bfc\u5165 \u8d44\u6e90 \u8fdb\u884c \u7f16\u8f91 \u3002   \u6211\u4eec \u73b0\u5728 \u5e94\u8be5 \u5bfc\u5165 \u7eb9\u7406 \u3001 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u989c\u8272 \u7684 \u53cd\u5c04 \u6f2b\u53cd\u5c04 \u7eb9\u7406 \u3001 \u6cd5\u7ebf \u8d34\u56fe \u548c   ORM   \u8d34\u56fe \u3002   \u901a\u8fc7 \u53cc\u51fb \u6253\u5f00   ORM   \u8d34\u56fe \u5e76 \u53d6\u6d88 \u9009\u62e9   sRGB   \u9009\u9879 \uff0c \u4ee5 \u786e\u4fdd \u6b63\u786e \u5e94\u7528 \u7eb9\u7406 \u3002   \u53f3\u952e \u5355\u51fb \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5e76 \u4ece \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   Material   \u3002 \u5c06 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u521b\u5efa \u65b0 \u6750\u6599 \u3002 \u53cc\u51fb \u8fdb\u884c \u7f16\u8f91 \u3002 \u6309\u4f4f   Shift   \u952e \u9009\u62e9 \u5bfc\u5165 \u7684 \u7eb9\u7406 \u5e76 \u5c06 \u5176 \u62d6 \u5230 \u6750\u8d28 \u7f16\u8f91 \u7a97\u53e3 \u4e2d \uff0c \u73b0\u5728 \u60a8 \u5c06 \u5728 \u6750\u8d28 \u8282\u70b9 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u83b7\u5f97   3   \u4e2a \u65b0 \u8282\u70b9 \u3002   \u73b0\u5728 \u6839\u636e \u4ee5\u4e0b \u89c4\u5219 \u8fde\u63a5 \u8282\u70b9 \uff1a   Diffuse   RGB   -- >   Base   Color   Normal   RGB   -- >   Normal   ORM   R   -- >   Ambient   occlusion   ORM   G   -- >   Roughness   ORM   B   -- >   Metallic   \u60a8 \u7684 \u6750\u8d28 \u8282\u70b9 \u56fe \u73b0\u5728 \u5e94\u8be5 \u4e0e \u6b64 \u7c7b\u4f3c \uff1a   \u4fdd\u5b58 \u6750\u8d28 \uff0c \u7136\u540e \u518d\u6b21 \u6253\u5f00 \u8d44\u6e90 \u5e76 \u5c06 \u6750\u8d28 \u62d6\u5165 \u6750\u8d28 \u69fd \u4e2d \u3002 \u60a8 \u7684 \u8d44\u6e90 \u73b0\u5728 \u5e94\u8be5 \u5df2 \u5b8c\u5168 \u7eb9\u7406 \u5316 \u3002   \u73b0\u5728 \u4fdd\u5b58 \u8d44\u4ea7 \uff0c \u5373\u53ef \u5728 \u5730\u56fe \u4e2d \u4f7f\u7528 \u3002 \u60a8 \u73b0\u5728 \u53ef\u4ee5 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u62d6\u52a8 \u8d44\u6e90 \u5e76 \u5c06 \u5176 \u653e\u5165 \u5730\u56fe \u4e2d \uff1a   \u73b0\u5728 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u5de5\u4f5c \u533a \u5de6\u4e0a \u4e0a\u89d2 \u5de6\u4e0a\u89d2 \u7684 \u201c \u4fdd\u5b58 \u5f53\u524d \u201d \u9009\u9879 \u4fdd\u5b58 \u5730\u56fe \uff0c \u5373\u53ef \u4f7f\u7528 \u3002 \u5f00\u59cb \u4eff\u771f \u3002   \u5730\u56fe \u4f5c\u8005 \u6307\u5357 \u7ed3\u675f \u5230\u6b64\u7ed3\u675f \u3002 \u73b0\u5728 \u60a8 \u77e5\u9053 \u5982\u4f55 \u521b\u5efa \u9053\u8def \u7f51\u7edc \u5e76 \u5bfc\u5165 \u4e09\u7ef4 \u8d44\u4ea7 \u4ee5 \u5728   Carla   \u4e2d \u4f7f\u7528 \u3002 \u60a8 \u73b0\u5728 \u53ef\u4ee5 \u9605\u8bfb \u5982\u4f55   \u6253\u5305 \u5730\u56fe \u4ee5 \u5728   Carla   \u72ec\u7acb \u7248\u672c \u4e2d \u4f7f\u7528   \u3002","title":"\u5bfc\u5165 \u8d44\u4ea7 \u5e76 \u5c06 \u5b83\u4eec \u6dfb\u52a0 \u5230 \u5730\u56fe  "},{"location":"tuto_content_authoring_maps/#_5","text":"\u8981 \u5c06 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u6dfb\u52a0 \u5230 \u65b0 \u5730\u56fe \uff1a   1 .   \u4ece   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   ,   \u5bfc\u822a \u81f3   Content   >   Carla   >   Static   >   TrafficLight   >   StreetLights _ 01   \u3002 \u60a8 \u4f1a \u53d1\u73b0 \u51e0\u79cd \u4e0d\u540c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u84dd\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002   2 .   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u62d6 \u5230 \u573a\u666f \u4e2d \u5e76 \u5c06 \u5176 \u653e\u7f6e \u5728 \u6240 \u9700 \u4f4d\u7f6e \u3002 \u6309 \u952e\u76d8 \u4e0a \u7684 \u7a7a\u683c \u7a7a\u683c\u952e \u53ef \u5728 \u5b9a\u4f4d \u3001 \u65cb\u8f6c \u548c \u7f29\u653e \u5de5\u5177 \u4e4b\u95f4 \u5207\u6362 \u3002   3 .   \u901a\u8fc7 \u9009\u62e9 \u201c \u8be6\u7ec6 (   Details   ) \u201d   \u9762\u677f \u4e2d \u7684   BoxTrigger   \u7ec4\u4ef6 \u5e76 \u8c03\u6574   Transform   \u90e8\u5206 \u7684 \u503c \uff0c \u4e3a \u6bcf\u4e2a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u8c03\u6574   trigger   volume   \u3002 \u8fd9 \u5c06 \u786e\u5b9a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u5f71\u54cd \u8303\u56f4 \u3002   4 .   \u5bf9\u4e8e \u8def\u53e3 \uff0c \u5c06   BP _ TrafficLightGroup   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u62d6\u5165 \u5173\u5361 \u4e2d \u3002 \u901a\u8fc7 \u5c06 \u8def\u53e3 \u8def\u53e3\u5904 \u7684 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u6dfb\u52a0 \u5230 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \u7684 \u201c \u4ea4\u901a \u4ea4\u901a\u706f (   Traffic   Lights   ) \u201d \u6570\u7ec4 \uff0c \u5c06 \u5b83\u4eec \u5206\u914d \u7ed9 \u4ea4\u901a \u4ea4\u901a\u706f \u7ec4 \u3002   5 .   \u4ea4\u901a \u4ea4\u901a\u706f \u8ba1\u65f6 \u53ea\u80fd \u901a\u8fc7 Python   API   \u8fdb\u884c \u914d\u7f6e \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u6b64\u5904   \u7684 \u6587\u6863 \u4ee5 \u83b7\u53d6 \u66f4 \u591a \u4fe1\u606f \u3002   \u4f8b\u5982 \uff1a \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u3001 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u548c \u8f6c\u5f2f \u505c\u8f66 \u3002","title":"\u4ea4\u901a\u706f  "},{"location":"tuto_content_authoring_maps/#_6","text":"\u8981 \u5c06 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u6dfb\u52a0 \u5230 \u65b0 \u5730\u56fe \uff1a   1 .   \u4ece   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \uff0c \u5bfc\u822a \u81f3   Content   >   Carla   >   Static   >   TrafficSign   \u3002 \u60a8 \u4f1a \u53d1\u73b0 \u51e0\u79cd \u4e0d\u540c \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u84dd\u56fe \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002   2 .   \u5c06 \u4ea4\u901a \u4ea4\u901a\u706f \u62d6 \u5230 \u573a\u666f \u4e2d \u5e76 \u5c06 \u5176 \u653e\u7f6e \u5728 \u6240 \u9700 \u4f4d\u7f6e \u3002 \u6309 \u952e\u76d8 \u4e0a \u7684 \u7a7a\u683c \u7a7a\u683c\u952e \u53ef \u5728 \u5b9a\u4f4d \u3001 \u65cb\u8f6c \u548c \u7f29\u653e \u5de5\u5177 \u4e4b\u95f4 \u5207\u6362 \u3002   3 .   \u901a\u8fc7 \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \u9009\u62e9   BoxTrigger   \u7ec4\u4ef6 \u5e76 \u8c03\u6574 \u201c \u53d8\u6362 (   Transform   ) \u201d \u90e8\u5206 \u4e2d \u7684 \u503c \uff0c \u8c03\u6574 \u6bcf\u4e2a \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u7684   trigger   volume   \u3002 \u8fd9 \u5c06 \u786e\u5b9a \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u5f71\u54cd \u533a\u57df \u3002 \u5e76\u975e \u6240\u6709 \u4ea4\u901a \u6807\u5fd7 \u4ea4\u901a\u6807\u5fd7 \u90fd \u6709 \u89e6\u53d1 \u97f3\u91cf \u3002 \u6b64\u7c7b \u6807\u5fd7 \u5305\u62ec \u8ba9 \u884c \u6807\u5fd7 \u3001 \u505c\u8f66 \u6807\u5fd7 \u548c \u9650\u901f \u6807\u5fd7 \u3002","title":"\u4ea4\u901a\u6807\u5fd7  "},{"location":"tuto_content_authoring_maps/#_7","text":"Carla   \u5185\u5bb9 \u5e93 \u62e5\u6709 \u5927\u91cf \u6709\u7528 \u7684 \u6750\u6599 \uff0c \u53ef \u968f\u65f6 \u7528\u4e8e \u66f4\u6539 \u5730\u56fe \u7684 \u5916\u89c2 \u3002 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u5bfc\u822a \u81f3   Carla   >   Static   >   GenericMaterials   \u3002 \u5728 \u8fd9\u91cc \u60a8 \u4f1a \u53d1\u73b0 \u8bb8\u591a \u53ef \u7528\u4e8e \u6539\u53d8 \u5730\u56fe \u5916\u89c2 \u7684 \u6750\u6599 \u3002   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u62d6 \u653e\u5230 \u5730\u56fe \u5143\u7d20 \u4e0a\u6765 \u5feb\u901f \u6d4b\u8bd5 \u6750\u8d28 \uff1a","title":"\u6750\u8d28  "},{"location":"tuto_content_authoring_maps/#_8","text":"\u9053\u8def \u753b\u5bb6 \u662f \u4e00\u79cd \u53ef \u7528\u4e8e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u5916\u89c2 \u7684 \u5de5\u5177 \uff0c \u901a\u8fc7 \u9644\u52a0 \u7eb9\u7406 \u3001 \u8d34\u82b1 \u548c \u7f51\u683c \u6dfb\u52a0 \u989d\u5916 \u7684 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \u3002","title":"\u9053\u8def \u753b\u5bb6  "},{"location":"tuto_content_authoring_maps/#_9","text":"\u9053\u8def \u753b\u5bb6 \u5de5\u5177 \u662f \u4e00\u4e2a \u4f7f\u7528   OpenDRIVE   \u4fe1\u606f \u5feb\u901f \u7ed8\u5236 \u9053\u8def \u7684 \u84dd\u56fe \u3002 \u5b83 \u91c7\u7528 \u4e3b \u6750\u8d28 \u5e76 \u5c06 \u5176 \u5e94\u7528 \u5230 \u9053\u8def \u7684 \u6e32\u67d3 \u76ee\u6807 \u4ee5 \u7528\u4f5c \u753b\u5e03 \u3002 \u4e3b \u6750\u8d28 \u7531 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u6750\u8d28 \u7ec4\u6210 \uff0c \u8fd9\u4e9b \u6750\u8d28 \u53ef\u4ee5 \u4f7f\u7528 \u753b\u7b14 \u6df7\u5408 \u5e76 \u7528\u4f5c \u8499\u7248 \u3002 \u65e0\u9700 \u5e94\u7528 \u5149\u5ea6 \u6d4b\u5b9a \u6280\u672f \uff0c \u4e5f \u65e0\u9700 \u8003\u8651 \u51e0\u4f55 \u51e0\u4f55\u4f53 \u7684   UV \u3002   \u9053\u8def \u753b\u5bb6 \u4f7f\u7528   OpenDRIVE   \u4fe1\u606f \u6765 \u6cb9\u6f06 \u9053\u8def \u3002 \u786e\u4fdd \u786e\u4fdd\u60a8 \u7684   . xodr   \u6587\u4ef6 \u4e0e \u5730\u56fe \u540c\u540d \uff0c \u8fd9\u6837 \u624d\u80fd \u6b63\u5e38 \u5de5\u4f5c \u3002","title":"\u4ec0\u4e48 \u662f \u9053\u8def \u753b\u5bb6 \uff1f  "},{"location":"tuto_content_authoring_maps/#_10","text":"1 .   \u521b\u5efa   RoadPainter   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Content   >   Carla   >   Blueprints   >   LevelDesign   \u3002   \u5c06   RoadPainter   \u62d6\u5165 \u573a\u666f \u4e2d \u3002   2 .   \u521b\u5efa \u6e32\u67d3 \u76ee\u6807 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \uff0c \u5bfc\u822a \u81f3   Content   >   Carla   >   Blueprints   >   LevelDesign   >   RoadPainterAssets   .   \u53f3\u952e \u5355\u51fb   RenderTarget   \u6587\u4ef6 \u5e76 \u9009\u62e9   Duplicate   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ RenderTarget   \u3002   3 .   \u521b\u5efa \u4e3b \u6750\u8d28 \u5b9e\u4f8b \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Game   >   Carla   >   Static   >   GenericMaterials   >   RoadPainterMaterials   .   \u53f3\u952e \u5355\u51fb   M _ RoadMaster   \u5e76 \u9009\u62e9   Create   Material   Instance   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ RoadMaster   \u3002   4 .   \u91cd\u65b0 \u6821\u51c6 \u201c \u5730\u56fe \u5c3a\u5bf8 \u201d (   Map   Size   ( Cm )   )   \uff0c \u4f7f \u5176 \u7b49\u4e8e \u5730\u56fe \u7684 \u5b9e\u9645 \u5c3a\u5bf8 \u3002   \u9009\u62e9   RoadPainter   \u573a\u666f \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   \u8f6c \u5230 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d   \u9762\u677f \u5e76 \u6309   Z - Size   \u6309\u94ae \u3002   \u60a8 \u5c06 \u770b\u5230 \u201d \u5730\u56fe \u5c3a\u5bf8   ( Cm ) (   Map   Size   ( Cm )   ) \u201c \u4e2d \u7684 \u503c \u53d1\u751f \u751f\u53d8 \u53d8\u5316 \u53d1\u751f\u53d8\u5316 \u3002   5 .   \u540c\u6b65   RoadPainter   \u548c   Tutorial _ RoadMaster   \u4e4b\u95f4 \u7684 \u5730\u56fe \u5c3a\u5bf8 \u3002   \u5728   _ \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 _ \u4e2d \uff0c \u6253\u5f00   Tutorial _ RoadMaster   \u3002   \u590d\u5236 \u4e0a \u4e00\u6b65 \u4e2d   Map   Size   ( Cm )   \u7684 \u503c \uff0c \u5e76 \u5c06 \u5176 \u7c98\u8d34 \u5230   Tutorial _ RoadMaster   \u7a97\u53e3 \u4e2d \u7684   Global   Scalar   Parameter   Values   - >   Map   units   ( CM )   \u3002   \u70b9\u51fb \u4fdd\u5b58 \u3002   6 .   \u521b\u5efa \u9053\u8def \u753b\u5bb6 \u548c \u4e3b \u6750\u8d28 \u4e4b\u95f4 \u7684 \u901a\u4fe1 \u94fe\u63a5 \u3002   Tutorial _ RenderTarget   \u5c06 \u662f \u9053\u8def \u753b\u5bb6 \u548c   Tutorial _ RoadMaster   \u4e4b\u95f4 \u7684 \u901a\u4fe1 \u7ebd\u5e26 \u3002   \u5728   Tutorial _ RoadMaster   \u7a97\u53e3 \u4e2d \uff0c \u5c06   Tutorial _ RenderTarget   \u5e94\u7528 \u4e8e   Global   Texture   Parameter   Values   - >   Texture   Mask   \u3002   \u4fdd\u5b58 \u5e76 \u5173\u95ed \u3002   \u5728 \u4e3b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \uff0c \u9009\u62e9 \u9053\u8def \u753b\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8f6c \u5230 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u5e76 \u5c06   Tutorial _ RenderTarget   \u5e94\u7528 _ Paint   - >   Render   Target _   \u3002","title":"\u5efa\u7acb \u9053\u8def \u753b\u5bb6 \u3001 \u638c\u63e1 \u6750\u8d28 \u548c \u6e32\u67d3 \u5bf9\u8c61  "},{"location":"tuto_content_authoring_maps/#_11","text":"\u60a8 \u521b\u5efa \u7684   Tutorial _ RoadMaster   \u6750\u8d28 \u5305\u542b \u57fa\u7840 \u6750\u8d28 \u3001 \u989d\u5916 \u6750\u8d28 \u4fe1\u606f \u4ee5\u53ca \u5c06 \u901a\u8fc7 \u60a8 \u7684   Tutorial _ RenderTarget   \u3002 \u60a8 \u53ef\u4ee5 \u914d\u7f6e \u4e00\u79cd \u57fa\u7840 \u6750\u8d28 \u548c \u6700 \u591a \u4e09\u79cd \u9644\u52a0 \u6750\u8d28 \u3002   \u8981 \u914d\u7f6e \u6750\u6599 \uff0c \u8bf7 \u53cc\u51fb \u8be5   Tutorial _ RoadMaster   \u6587\u4ef6 \u3002 \u5728 \u51fa\u73b0 \u7684 \u7a97\u53e3 \u4e2d \uff0c \u60a8 \u53ef\u4ee5 \u6839\u636e \u9700\u8981 \u4e3a \u6bcf\u79cd \u6750\u6599 \u9009\u62e9 \u548c \u8c03\u6574 \u4ee5\u4e0b \u503c \uff1a   \u4eae\u5ea6 ( Brightness )   \u8272\u8c03 ( Hue )   \u9971\u548c \u9971\u548c\u5ea6 ( Saturation )   AO   \u5f3a\u5ea6 ( Intensity )   \u6cd5\u7ebf \u8d34\u56fe \u5f3a\u5ea6 ( NormalMap   Intensity )   \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u5bf9\u6bd4 ( Roughness   Contrast )   \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u5f3a\u5ea6 ( Roughness   Intensity )   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u9009\u62e9 \u4ee5\u4e0b \u503c \u5e76 \u5728 \u641c\u7d22 \u6846\u4e2d \u641c\u7d22 \u7eb9\u7406 \u6765 \u66f4\u6539 \u6bcf\u79cd \u6750\u8d28 \u7684 \u7eb9\u7406 \uff1a   Diffuse   Normal   ORMH   \u63a2\u7d22   Game   >   Carla   >   Static   >   GenericMaterials   >   Asphalt   >   Textures   \u4e2d \u53ef\u7528 \u7684 \u4e00\u4e9b   Carla   \u7eb9\u7406 \u3002","title":"\u51c6\u5907 \u4e3b \u6750\u8d28  "},{"location":"tuto_content_authoring_maps/#_12","text":"1 .   \u5728 \u9053\u8def \u753b\u5bb6 \u548c \u9053\u8def \u4e4b\u95f4 \u521b\u5efa \u94fe\u63a5 \u3002   \u5728 \u4e3b \u7f16\u8f91 \u7f16\u8f91\u5668 \u7a97\u53e3 \u4e2d \uff0c \u5728   World   Outliner   \u641c\u7d22 \u6846\u4e2d \u8fdb\u884c   Road _ Road   \u7684 \u641c\u7d22 \u3002   \u6309   Ctrl   +   A   \u9009\u62e9 \u6240\u6709 \u9053\u8def \u3002   \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d   \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Materials   \u90e8\u5206 \u5e76 \u7ed9   Element   0   \u3001   Element   1   \u3001   Element   2   \u548c   Element   3   \u5e94\u7528   Tutorial _ RoadMaster   \u3002   2 .   \u9009\u62e9 \u8981 \u5b9a\u5236 \u7684 \u6750\u8d28 \u3002   \u6211\u4eec \u6dfb\u52a0 \u7684 \u6bcf\u79cd \u6750\u8d28   Tutorial _ RoadMaster   \u90fd \u5355\u72ec \u5e94\u7528 \u4e8e \u9053\u8def \uff0c \u5e76 \u4f7f\u7528 \u753b\u7b14 \u5de5\u5177 \u914d\u7f6e \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u3002 \u8981 \u5e94\u7528 \u548c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6750\u8d28 \uff1a   \u9009\u62e9 \u9053\u8def \u753b\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d   \u9762\u677f \u4e2d \uff0c \u5728   Mask   Color   \u4e0b\u62c9 \u83dc\u5355 \u4e0b\u62c9\u83dc\u5355 \u4e2d \u9009\u62e9 \u8981 \u4f7f\u7528 \u7684 \u6750\u8d28 \u3002   3 .   \u8bbe\u7f6e \u753b\u7b14 \u548c \u6a21\u677f \u53c2\u6570 \u3002   GenericMaterials / RoadStencil / Alphas   \u4e2d\u6709 \u591a\u79cd \u6a21\u677f \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002 \u6a21\u677f \u7528\u4e8e \u6839\u636e \u60a8 \u7684 \u9700\u8981 \u7ed8\u5236 \u9053\u8def \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u4ee5\u4e0b \u503c \u8fdb\u884c \u8c03\u6574 \uff1a   Stencil   size   \u2014   \u753b\u7b14 \u7684 \u5c3a\u5bf8 \u3002   Brush   strength   \u2014   \u8f6e\u5ed3 \u7684 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u3002   Spacebeween   Brushes   \u2014   \u7b14\u5212 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002   Max   Jitter   \u2014   \u7b14\u5212 \u4e4b\u95f4 \u753b\u7b14 \u7684 \u5927\u5c0f \u53d8\u5316 \u3002   Stencil   \u2014   \u8981 \u4f7f\u7528 \u7684 \u753b\u7b14 \u3002   Rotation   \u2014   \u5e94\u7528 \u4e8e \u7b14\u753b \u7684 \u65cb\u8f6c \u3002   \u5237\u5b50 \u9762\u677f \u3002   \u4e0d\u540c \u7c7b\u578b \u7684 \u5237\u5b50 \u3002   4 .   \u5c06 \u6bcf\u79cd \u6750\u8d28 \u6d82\u62b9 \u5230 \u9053\u8def \u7684 \u6240 \u9700 \u90e8\u5206 \u3002   \u901a\u8fc7 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u7684 \u201c \u9ed8\u8ba4 (   Default   ) \u201d \u90e8\u5206 \u4e2d \u7684 \u6309\u94ae \u9009\u62e9 \u5e94\u7528 \u6240 \u9009 \u6750\u8d28 \u7684 \u4f4d\u7f6e \uff1a   Paint   all   roads   \u2014   \u7c89\u5237 \u6240\u6709 \u9053\u8def \u3002   Paint   by   actor   \u2014   \u7ed8\u753b \u7279\u5b9a \u7684 \u3001 \u9009\u5b9a \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Paint   over   circle   \u2014   \u4f7f\u7528 \u5706\u5f62 \u56fe\u6848 \u8fdb\u884c \u7ed8\u5236 \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63d0\u4f9b \u53d8\u5316 \u3002   Paint   over   square   \u2014   \u4f7f\u7528 \u6b63\u65b9 \u65b9\u5f62 \u6b63\u65b9\u5f62 \u56fe\u6848 \u8fdb\u884c \u7ed8\u5236 \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63d0\u4f9b \u53d8\u5316 \u3002   \u6b64 \u90e8\u5206 \u8fd8 \u5305\u542b \u7528\u4e8e \u5220\u9664 \u5df2 \u5e94\u7528 \u66f4\u6539 \u7684 \u9009\u9879 \u3002   Clear   all   \u2014   \u64e6\u9664 \u6240\u6709 \u7ed8\u5236 \u7684 \u6750\u8d28 \u3002   Clear   materials   \u2014   \u5220\u9664 \u5f53\u524d \u6d3b\u52a8 \u7684 \u6750\u8d28 \u3002   Clear   material   by   actor   \u2014   \u5220\u9664 \u6700 \u63a5\u8fd1 \u6240 \u9009 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u6750\u8d28 \u3002   Different   painting   and   erasing   options .   5 . \u6dfb\u52a0 \u8d34\u82b1 \u548c \u7f51\u683c \u3002   \u60a8 \u53ef\u4ee5 \u5728   Content   >   Carla   Static   >   Decals   \u548c   Content   >   Carla   >   Static   \u4e2d \u63a2\u7d22 \u53ef\u7528 \u7684 \u8d34\u82b1 \u548c \u7f51\u683c \u3002 \u901a\u8fc7 \u6269\u5c55 \u5e76 \u6dfb\u52a0 \u5230   Decals   Spawn   \u548c   Meshes   Spawn   \u6570\u7ec4 \uff0c \u5c06 \u5b83\u4eec \u6dfb\u52a0 \u5230 \u9053\u8def \u7ed8\u5236 \u5668\u4e2d \u3002 \u5bf9\u4e8e \u4e00\u9879 \u6bcf\u4e00\u9879 \uff0c \u60a8 \u90fd \u53ef\u4ee5 \u914d\u7f6e \u4ee5\u4e0b \u53c2\u6570 \uff1a   Number   of   Decals / Meshes   -   \u8981 \u7ed8\u5236 \u7684 \u6bcf\u4e2a \u8d34\u82b1 \u6216 \u7f51\u683c \u7684 \u6570\u91cf \u3002   Decal / Mesh   Scale   \u2014   \u6bcf\u4e2a \u8f74 \u7684 \u8d34\u82b1 / \u7f51\u683c \u6bd4\u4f8b \u3002   Fixed   Decal / Mesh   Offset   \u2014   \u6bcf\u4e2a \u8f74 \u4e0e \u8f66\u9053 \u4e2d\u5fc3 \u7684 \u504f\u5dee \u3002   Random   Offset   \u2014   \u6bcf\u4e2a \u8f74 \u4e0e \u8f66\u9053 \u4e2d\u5fc3 \u7684 \u6700\u5927 \u504f\u5dee \u3002   Decal / Mesh   Random   Yaw   \u2014   \u6700\u5927 \u968f\u673a \u504f\u822a \u65cb\u8f6c \u3002   Decal / Mesh   Min   Scale   \u2014   \u5e94\u7528 \u4e8e \u8d34\u82b1 / \u7f51\u683c \u7684 \u6700\u5c0f \u968f\u673a \u6bd4\u4f8b \u3002   Decal / Mesh   Max   Scale   \u2014   \u5e94\u7528 \u4e8e \u8d34\u82b1 / \u7f51\u683c \u7684 \u6700\u5927 \u968f\u673a \u6bd4\u4f8b \u3002   \u8d34\u82b1 \u548c \u7f51\u683c \u9762\u677f \u3002   \u914d\u7f6e \u597d \u7f51\u683c \u548c \u8d34\u82b1 \u540e \uff0c \u901a\u8fc7 \u6309   Spawn   decals   \u548c\u751f   Spawn   meshes   \u3002   \u7b14\u8bb0   \u786e\u4fdd \u7f51\u683c \u548c \u8d34\u82b1 \u6ca1\u6709 \u542f\u7528 \u78b0\u649e \uff0c \u4ee5\u514d \u5e72\u6270 \u9053\u8def \u4e0a \u7684 \u6c7d\u8f66 \u5e76 \u5c06 \u4efb\u4f55 \u8fb9\u754c \u6846 \u964d\u4f4e \u5230 \u9053\u8def \u6c34\u5e73 \u3002   7 .   \u5c1d\u8bd5 \u83b7\u5f97 \u60a8 \u60f3\u8981 \u7684 \u5916\u89c2 \u3002   \u5c1d\u8bd5 \u4e0d\u540c \u7684 \u6750\u8d28 \u3001 \u7eb9\u7406 \u3001 \u8bbe\u7f6e \u3001 \u8d34\u82b1 \u548c \u7f51\u683c \u4ee5 \u83b7\u5f97 \u60a8 \u60f3\u8981 \u7684 \u5916\u89c2 \u3002 \u4e0b\u9762 \u662f \u4e00\u4e9b \u793a\u4f8b \u56fe\u50cf \uff0c \u663e\u793a \u4e86 \u5728 \u7ed8\u5236 \u6bcf\u79cd \u6750\u8d28 \u7684 \u8fc7\u7a0b \u4e2d \u9053\u8def \u5916\u89c2 \u5982\u4f55 \u53d8\u5316 \u3002   \u57fa\u7840 \u9053\u8def \u6750\u6599 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   1   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   2   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u6750\u6599   3   \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u8d34\u82b1 \u540e \u7684 \u793a\u4f8b \u3002   \u5e94\u7528 \u7f51\u683c \u540e \u7684 \u793a\u4f8b \u3002","title":"\u63cf\u7ed8 \u9053\u8def  "},{"location":"tuto_content_authoring_maps/#_13","text":"\u7ed8\u5236 \u9053\u8def \u540e \uff0c \u60a8 \u53ef\u4ee5 \u6309\u7167 \u4ee5\u4e0b \u6b65\u9aa4 \u66f4\u65b0 \u8f66\u9053 \u7ebf \u7684 \u5916\u89c2 \uff1a   1 .   \u590d\u5236 \u4e3b \u6750\u6599 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u5bfc\u822a \u81f3   Game   >   Carla   >   Static   >   GenericMaterials   >   RoadPainterMaterials   \u3002   \u53f3\u952e \u5355\u51fb   Tutorial _ RoadMaster   \u5e76 \u9009\u62e9   Create   Material   Instance   \u3002   \u547d\u540d \u91cd\u547d\u540d \u4e3a   Tutorial _ LaneMarkings   \u3002   2 .   \u914d\u7f6e \u8f66\u9053 \u7ebf \u6750\u8d28 \u3002   \u5728   \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668   \u4e2d \uff0c \u53cc\u51fb   Tutorial _ LaneMarkings   \u3002   \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \uff0c \u8f6c \u5230   Global   Static   Switch   Parameter   Values   \u5206 \uff0c \u7136\u540e \u9009\u4e2d   LaneMark   \u5de6\u4fa7 \u548c \u53f3\u4fa7 \u7684 \u6846 \u3002   \u8f6c \u5230   Texture   \u90e8\u5206 \u5e76 \u9009\u4e2d   LaneColor   \u548c   Uv   Size   \u590d\u9009 \u9009\u6846 \u590d\u9009\u6846 \u3002   \u5728   LaneColor   \u4e2d \u9009\u62e9 \u60a8 \u559c\u6b22 \u7684 \u8f66\u9053 \u6807\u8bb0 \u989c\u8272 \u3002   Save   \u5e76 \u5173\u95ed \u3002   3 .   \u9009\u62e9 \u8f66\u9053 \u7ebf \u7f51\u683c \u3002   \u5c06 \u6750\u6599 \u62d6\u5230 \u60a8 \u60f3\u8981 \u7740\u8272 \u7684 \u8f66\u9053 \u7ebf\u4e0a \u3002 \u5982\u679c \u9700\u8981 \uff0c \u5bf9 \u4e0d\u540c \u989c\u8272 \u7684 \u8f66\u9053 \u7ebf \u91cd\u590d \u6574\u4e2a \u8fc7\u7a0b \u3002","title":"\u66f4\u65b0 \u8f66\u9053 \u7ebf \u5916\u89c2  "},{"location":"tuto_content_authoring_maps/#_14","text":"Carla   \u5185\u5bb9 \u5e93 \u62e5\u6709 \u4e00\u5957 \u5168\u9762 \u7684 \u690d\u88ab \u84dd\u56fe \uff0c \u4f9b \u60a8 \u4e3a \u5730\u56fe \u7684 \u8d8a\u91ce \u533a\u57df \uff08 \u5982 \u4eba\u884c \u884c\u9053 \u4eba\u884c\u9053 \u3001 \u516c\u56ed \u3001 \u5c71\u5761 \u3001 \u7530\u91ce \u548c \u68ee\u6797 \uff09 \u589e\u6dfb \u66f4 \u591a \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \u3002   \u5bfc\u822a \u5230   Carla   \u5185\u5bb9 \u5e93\u4e2d \u7684 \u690d\u88ab \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \uff1a   Carla   >   Static   >   Visitation   \u3002 \u60a8 \u4f1a \u627e\u5230 \u591a\u79cd \u6811\u6728 \u3001 \u704c\u6728 \u6728\u4e1b \u704c\u6728\u4e1b \u7684 \u84dd\u56fe \u3002 \u60a8 \u53ef\u4ee5 \u5c06 \u8fd9\u4e9b \u5143\u7d20 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u62d6 \u5230 \u5730\u56fe \u4e2d \u3002","title":"\u6811\u6728 \u548c \u690d\u88ab  "},{"location":"tuto_content_authoring_maps/#_15","text":"\u5bf9\u4e8e \u6811\u6728 \u548c \u690d\u88ab \u6765\u8bf4 \uff0c \u4e00\u4e2a \u6709\u7528 \u7684 \u5de5\u5177 \u662f   \u865a\u5e7b \u5f15\u64ce \u6811\u53f6 \u5de5\u5177   \u3002 \u901a\u8fc7 \u4ece \u5de5\u5177 \u5de5\u5177\u680f \u7684   mode   \u4e0b \u62c9 \u5217\u8868 \u4e2d \u9009\u62e9 \u6765 \u6fc0\u6d3b \u8be5 \u5de5\u5177 \u3002   \u5c06 \u6240 \u9700 \u7684 \u6811\u53f6 \u9879\u76ee \u62d6 \u5230 \u6807\u6709   +   Drop   Foliage   Here   \u7684 \u6846\u4e2d \u3002 \u5728 \u5bc6\u5ea6 \u5b57\u6bb5 \u4e2d \u8bbe\u7f6e \u9002\u5f53 \u7684 \u5bc6\u5ea6 \uff0c \u7136\u540e \u4f7f\u7528 \u6811\u53f6 \u9879\u76ee \u7ed8\u5236 \u5230 \u5730\u56fe \u4e0a \u3002","title":"\u6811\u53f6 \u5de5\u5177  "},{"location":"tuto_content_authoring_maps/#_16","text":"\u4f7f\u7528 \u4ee5\u4e0b \u5de5\u5177 \u548c \u6307\u5357 \u7ee7\u7eed \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60a8 \u7684 \u5730\u56fe \uff1a   \u5728 \u5730\u56fe \u4e2d \u5b9e\u65bd \u5b50 \u5173\u5361 \u3002 .   \u4f7f\u7528 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u6784\u5efa \u5de5\u5177 \u6dfb\u52a0 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3002   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5929\u6c14   \u4f7f\u7528 \u5e8f\u5217 \u5e8f\u5217\u5316 \u7f51\u683c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u666f\u89c2 \u3002   \u5b8c\u6210 \u5b9a\u5236 \u540e \uff0c \u60a8 \u53ef\u4ee5   \u751f\u6210 \u884c\u4eba \u5bfc\u822a \u4fe1\u606f   \u3002   \u5982\u679c \u60a8 \u5bf9 \u6d41\u7a0b \u6709 \u4efb\u4f55 \u7591\u95ee \uff0c \u53ef\u4ee5 \u5728   \u8bba\u575b   \u4e2d \u63d0\u95ee \u3002   Carla   \u8bba\u575b","title":"\u4e0b \u4e00\u6b65  "},{"location":"tuto_content_authoring_pedestrians/","text":"\u5185\u5bb9 \u521b\u4f5c   -   \u884c\u4eba   Carla   \u5728   WalkerFactory   \u84dd\u56fe \u4e2d \u63d0\u4f9b \u4e86 \u4e00\u5957 \u5168\u9762 \u5f00\u7bb1 \u5373\u7528 \u7684 \u884c\u4eba \u3002 \u7528\u6237 \u53ef\u4ee5 \u901a\u8fc7 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u884c\u4eba \u8fdb\u884c \u6269\u5c55 \u3002 \u4e3a 3D \u52a8\u753b \u5efa\u6a21 \u4eba\u4f53 \u89e3\u5256 \u89e3\u5256\u5b66 \u975e\u5e38 \u590d\u6742 \u975e\u5e38\u590d\u6742 \uff0c \u8d85\u51fa \u4e86 \u672c \u6587\u6863 \u7684 \u8303\u56f4 \u3002 \u56e0\u6b64 \uff0c \u6211\u4eec \u5411 \u7528\u6237 \u63a8\u8350 \u66ff\u4ee3 \u8d44\u6e90 \uff0c \u4ee5 \u5b66\u4e60 \u5982\u4f55 \u5728 3D \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \u5bf9 \u4eba \u8fdb\u884c \u5efa\u6a21 \u3002 \u672c \u6307\u5357 \u4ecb\u7ecd \u5982\u4f55 \u5bfc\u5165 \u548c \u914d\u7f6e \u4e00\u4e2a \u5b8c\u6574 \u7684 \u4e09\u7ef4 \u4eba\u4f53 \u6a21\u578b \u4eba\u4f53\u6a21\u578b \uff0c \u4ee5\u4fbf \u5728   Carla   \u4f7f\u7528 \u884c\u4eba \u3002   \u5efa\u6a21   \u547d\u540d \u7ea6\u5b9a   \u52a8\u753b \u7ed1\u5b9a   \u5bfc\u5165   Armature   Parenting   \u5206\u914d   Blender   \u63d2\u4ef6   Export   \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce   \u7269\u7406 \u8d44\u4ea7   \u52a8\u753b   \u84dd\u56fe   \u6750\u8d28   \u5e94\u7528 \u6750\u8d28   \u989c\u8272   \u900f\u660e \u6d82\u5c42   \u6a59\u76ae \u7eb9\u8def   \u9cde\u7247   \u7070\u5c18   \u73bb\u7483   \u73bb\u7483 \u7f51\u683c   \u73bb\u7483 \u6750\u8d28   \u5355\u5c42 \u73bb\u7483   Wheels   \u8f66\u8f6e \u84dd\u56fe   \u78b0\u649e \u7f51\u683c   \u8f6e\u80ce \u914d\u7f6e   \u8f66\u8f6e \u5c3a\u5bf8   \u5149\u7167   UV   \u8d34\u56fe   \u5bfc\u5165   \u5efa\u6a21   \u884c\u4eba \u662f \u7ed1\u5b9a \u5230 \u5173\u8282 \u548c \u9aa8\u9abc \u7684 \u9aa8\u9abc \u5c42\u6b21 \u7684 \u51e0\u4f55 \u51e0\u4f55\u4f53 \u7684 \u7ec4\u5408 \u3002 \u5b83\u4eec \u5e94\u8be5 \u4f5c\u4e3a   \u9aa8\u67b6 \u7f51\u683c   \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce \u4e2d \u3002 \u7f51\u683c \u5c06 \u7ed1\u5b9a \u5230 \u9aa8\u67b6 \u5b9a\u4e49 \u3002 \u6709\u5173 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\u7684 \u51e0\u4f55 \u5f62\u72b6 \u5e76 \u5c06 \u5176 \u7ed1\u5b9a \u5230 \u9aa8\u67b6 \u540e \uff0c \u60a8 \u5e94\u8be5 \u5c06 \u5176 \u4ece   3D   \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d\u4ee5   FBX   \u683c\u5f0f \u5bfc\u51fa \u3002 \u5b8c\u6210 \u5bfc\u51fa \u540e \uff0c \u5728   Carla   \u5185\u5bb9 \u5e93\u4e2d \u627e\u5230 \u5408\u9002 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4f4d\u7f6e \uff0c \u7136\u540e \u5c06   FBX   \u62d6 \u653e\u5230 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u3002 \u60a8 \u53ef\u80fd \u5e0c\u671b \u5c06 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u884c\u4eba \u653e\u7f6e \u5728 \u73b0\u6709 \u884c\u4eba   Content   >   Carla   >   Static   >   Pedestrians   \u65c1\u8fb9 \u3002   \u5728 \u5bfc\u5165 \u9009\u9879 \u5f39 \u51fa \u5bf9\u8bdd \u5bf9\u8bdd\u6846 \u4e2d \uff0c \u786e\u4fdd \u9009\u62e9 \u4e86   Skeletal   Mesh   \u548c   Import   Mesh   \uff0c \u5e76\u4e14   Import   Content   Type   \u8bbe\u7f6e \u4e3a   Geometry   and   Skinning   Weights   \u3002 \u5728   Skeleton   \u90e8\u5206 \uff0c \u9009\u62e9   Carla   \u7684 \u9884 \u751f\u6210 \u9aa8\u67b6 \u5b9a\u4e49   Skel _ GEN3   \u3002 \u7136\u540e \u6309   Import   All   \u3002   Skel _ GEN3   \u5b9a\u4e49 \u5df2 \u6307\u5b9a \u884c\u4eba \u52a8\u753b \u3002   \u901a\u8fc7   Python   API   \u8ba9 \u4f60 \u7684 \u65b0 \u884c\u4eba \u53ef\u4ee5 \u8bbf\u95ee   \u6210\u529f \u5c06 \u884c\u4eba \u5bfc\u5165   Carla   \u7684 \u5185\u5bb9 \u5e93\u540e \uff0c \u60a8 \u73b0\u5728 \u5fc5\u987b \u901a\u8fc7   API   \u4f7f \u884c\u4eba \u53ef\u7528 \u3002   \u5bfc\u822a \u5230 \u73b0\u6709 \u884c\u4eba \u84dd\u56fe \u7684 \u4f4d\u7f6e   Content   >   Carla   >   Blueprints   >   Walkers   \u3002 \u590d\u5236   GEN3   \u84dd\u56fe \uff0c \u4f8b\u5982   BP _ Walker _ AB001 _ G3   \u5e76\u91cd \u547d\u540d \u3002   \u53cc\u51fb \u590d\u5236 \u7684 \u84dd\u56fe \u4ee5 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u6253\u5f00 \u5b83 \u3002 \u60a8 \u9700\u8981 \u5c06 \u84dd\u56fe \u7684   Mesh   \u7ec4\u4ef6 \u66f4 \u6539\u4e3a \u65b0 \u7684 \u884c\u4eba \u6a21\u578b \u3002 \u5c06 \u521a\u521a \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5bfc\u5165 \u7684 \u9aa8\u67b6 \u7f51\u683c \u62d6 \u653e\u5230   Skeletal   Mesh   \u63d2\u69fd \u4e2d \u3002   \u5176\u4ed6   UE5 + iphone + MetaHuman \u6570\u5b57 \u4eba \u6d41\u7a0b   \u52a8\u4f5c \u6355\u6349 \u548c \u9762\u90e8 \u6355\u6349 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8c03\u7814","title":"Tuto   content   authoring   pedestrians"},{"location":"tuto_content_authoring_pedestrians/#-","text":"Carla   \u5728   WalkerFactory   \u84dd\u56fe \u4e2d \u63d0\u4f9b \u4e86 \u4e00\u5957 \u5168\u9762 \u5f00\u7bb1 \u5373\u7528 \u7684 \u884c\u4eba \u3002 \u7528\u6237 \u53ef\u4ee5 \u901a\u8fc7 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u884c\u4eba \u8fdb\u884c \u6269\u5c55 \u3002 \u4e3a 3D \u52a8\u753b \u5efa\u6a21 \u4eba\u4f53 \u89e3\u5256 \u89e3\u5256\u5b66 \u975e\u5e38 \u590d\u6742 \u975e\u5e38\u590d\u6742 \uff0c \u8d85\u51fa \u4e86 \u672c \u6587\u6863 \u7684 \u8303\u56f4 \u3002 \u56e0\u6b64 \uff0c \u6211\u4eec \u5411 \u7528\u6237 \u63a8\u8350 \u66ff\u4ee3 \u8d44\u6e90 \uff0c \u4ee5 \u5b66\u4e60 \u5982\u4f55 \u5728 3D \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \u5bf9 \u4eba \u8fdb\u884c \u5efa\u6a21 \u3002 \u672c \u6307\u5357 \u4ecb\u7ecd \u5982\u4f55 \u5bfc\u5165 \u548c \u914d\u7f6e \u4e00\u4e2a \u5b8c\u6574 \u7684 \u4e09\u7ef4 \u4eba\u4f53 \u6a21\u578b \u4eba\u4f53\u6a21\u578b \uff0c \u4ee5\u4fbf \u5728   Carla   \u4f7f\u7528 \u884c\u4eba \u3002   \u5efa\u6a21   \u547d\u540d \u7ea6\u5b9a   \u52a8\u753b \u7ed1\u5b9a   \u5bfc\u5165   Armature   Parenting   \u5206\u914d   Blender   \u63d2\u4ef6   Export   \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce   \u7269\u7406 \u8d44\u4ea7   \u52a8\u753b   \u84dd\u56fe   \u6750\u8d28   \u5e94\u7528 \u6750\u8d28   \u989c\u8272   \u900f\u660e \u6d82\u5c42   \u6a59\u76ae \u7eb9\u8def   \u9cde\u7247   \u7070\u5c18   \u73bb\u7483   \u73bb\u7483 \u7f51\u683c   \u73bb\u7483 \u6750\u8d28   \u5355\u5c42 \u73bb\u7483   Wheels   \u8f66\u8f6e \u84dd\u56fe   \u78b0\u649e \u7f51\u683c   \u8f6e\u80ce \u914d\u7f6e   \u8f66\u8f6e \u5c3a\u5bf8   \u5149\u7167   UV   \u8d34\u56fe   \u5bfc\u5165","title":"\u5185\u5bb9 \u521b\u4f5c   -   \u884c\u4eba"},{"location":"tuto_content_authoring_pedestrians/#_1","text":"\u884c\u4eba \u662f \u7ed1\u5b9a \u5230 \u5173\u8282 \u548c \u9aa8\u9abc \u7684 \u9aa8\u9abc \u5c42\u6b21 \u7684 \u51e0\u4f55 \u51e0\u4f55\u4f53 \u7684 \u7ec4\u5408 \u3002 \u5b83\u4eec \u5e94\u8be5 \u4f5c\u4e3a   \u9aa8\u67b6 \u7f51\u683c   \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce \u4e2d \u3002 \u7f51\u683c \u5c06 \u7ed1\u5b9a \u5230 \u9aa8\u67b6 \u5b9a\u4e49 \u3002 \u6709\u5173 \u9aa8\u9abc \u5b9a\u4e49 \u7684 \u4fe1\u606f \u53ef\u4ee5 \u5c01\u88c5 \u5728 \u4ece 3D \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u5bfc\u51fa \u7684 FBX \u6587\u4ef6 \u4e2d \u3002   \u51e0\u4f55   \u884c\u4eba \u5e94\u8be5 \u6709 30000 \u5230 50000 \u4e2a\u9762 \u3002 \u8fd9 \u5e94\u8be5 \u5305\u62ec \u6240\u6709 \u7684 \u89e3\u5256 \u548c \u8863\u670d \u3002 \u7406\u60f3 \u60c5\u51b5 \u4e0b \uff0c \u6a21\u578b \u5e94\u8be5 \u5177\u6709 \u4eba\u4f53 \u5c3a\u5bf8 \uff0c \u5982\u679c \u9700\u8981 \uff0c \u53ef\u4ee5 \u5728 \u5bfc\u5165 \u540e \u91cd\u65b0 \u7f29\u653e \u3002   \u6ce8\u610f   \u8bf7 \u4ed4\u7ec6 \u6ce8\u610f 3D \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u7684 \u5355\u4f4d \u3002 \u4e00\u4e9b \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4ee5\u7c73 \u4e3a \u5355\u4f4d \u5de5\u4f5c \uff0c \u800c \u53e6 \u4e00\u4e9b \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4ee5 \u5398\u7c73 \u6216 \u4efb\u610f \u5355\u4f4d \u5de5\u4f5c \u3002   \u9aa8\u9abc \u5c42\u6b21   \u9aa8\u9abc \u5c42\u6b21 \u5e94 \u9075\u5faa   Carla   \u7684   GEN3   \u9aa8\u9abc \u5c42\u6b21 \uff0c   \u4e0b\u8f7d \u6a21\u677f   \u4ee5 \u4e0e \u60a8 \u81ea\u5df1 \u7684 \u6a21\u578b \u4e00\u8d77 \u4f7f\u7528 \u3002 \u60a8 \u53ef\u4ee5 \u5220\u9664 \u4eba\u4f53 \u51e0\u4f55 \u56fe\u5f62 \u51e0\u4f55\u56fe\u5f62 \u5e76 \u5c06 \u5176 \u66ff\u6362 \u4e3a \u60a8 \u81ea\u5df1 \u7684 \u3002 \u8fd9 \u5c06 \u4e0e \u865a\u5e7b \u5f15\u64ce \u4e2d   Carla   \u7684 \u9884 \u751f\u6210 \u9aa8\u9abc \u5b9a\u4e49 \u5339\u914d \u76f8\u5339\u914d \u3002   \u8499\u76ae \u548c \u6743\u91cd \u7ed8\u5236   \u51c6\u5907   3D   \u6a21\u578b \u4ee5\u4f7f \u5176 \u6b63\u786e \u79fb\u52a8 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u662f \u786e\u4fdd \u6a21\u578b \u7684 \u5404\u4e2a \u9876\u70b9 \u4ee5 \u6b63\u786e \u7684 \u65b9\u5f0f \u53d7\u5230 \u9aa8\u67b6 \u4e2d \u6bcf\u6839 \u9aa8\u9abc \u7684 \u5f71\u54cd \u3002 \u4f8b\u5982 \uff0c \u63a7\u5236 \u4e09\u7ef4 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u624b\u8155 \u7684 \u9aa8\u9abc \u5e94\u8be5 \u63a7\u5236 \u624b \u548c \u624b\u8155 \u7684 \u9876\u70b9 \u3002 \u5b83 \u5e94\u8be5 \u5bf9 \u524d\u81c2 \u7a0d\u8fdc \u7684 \u9876\u70b9 \u4ea7\u751f \u8f7b\u5fae \u5f71\u54cd \uff0c \u4f46 \u4e0d \u5e94\u8be5 \u5f71\u54cd \u8098\u90e8 \u9644\u8fd1 \u7684 \u4efb\u4f55 \u9876\u70b9 \u3002 \u56e0\u6b64 \uff0c \u60a8 \u5e94\u8be5 \u4f7f\u7528   3D   \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u7684 \u6743\u91cd \u7ed8\u5236 \u5de5\u5177 \u6765 \u5fae\u8c03 \u6bcf\u6839 \u9aa8\u9abc \u5bf9 \u7f51\u683c \u7684 \u5f71\u54cd \u3002 \u8fd9\u662f \u4e00\u4e2a \u590d\u6742 \u7684 \u8fc7\u7a0b \uff0c \u6211\u4eec \u5efa\u8bae \u7528\u6237 \u53c2\u8003 \u5176\u4ed6 \u8d44\u6e90 \u4ee5 \u4e86\u89e3 \u6709\u5173 \u4eba\u7c7b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u8499\u76ae \u548c \u6743\u91cd \u7ed8\u5236 \u7684 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u5efa\u6a21"},{"location":"tuto_content_authoring_pedestrians/#carla","text":"\u5b8c\u6210 \u7f51\u683c \u7684 \u51e0\u4f55 \u5f62\u72b6 \u5e76 \u5c06 \u5176 \u7ed1\u5b9a \u5230 \u9aa8\u67b6 \u540e \uff0c \u60a8 \u5e94\u8be5 \u5c06 \u5176 \u4ece   3D   \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d\u4ee5   FBX   \u683c\u5f0f \u5bfc\u51fa \u3002 \u5b8c\u6210 \u5bfc\u51fa \u540e \uff0c \u5728   Carla   \u5185\u5bb9 \u5e93\u4e2d \u627e\u5230 \u5408\u9002 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4f4d\u7f6e \uff0c \u7136\u540e \u5c06   FBX   \u62d6 \u653e\u5230 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u3002 \u60a8 \u53ef\u80fd \u5e0c\u671b \u5c06 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u884c\u4eba \u653e\u7f6e \u5728 \u73b0\u6709 \u884c\u4eba   Content   >   Carla   >   Static   >   Pedestrians   \u65c1\u8fb9 \u3002   \u5728 \u5bfc\u5165 \u9009\u9879 \u5f39 \u51fa \u5bf9\u8bdd \u5bf9\u8bdd\u6846 \u4e2d \uff0c \u786e\u4fdd \u9009\u62e9 \u4e86   Skeletal   Mesh   \u548c   Import   Mesh   \uff0c \u5e76\u4e14   Import   Content   Type   \u8bbe\u7f6e \u4e3a   Geometry   and   Skinning   Weights   \u3002 \u5728   Skeleton   \u90e8\u5206 \uff0c \u9009\u62e9   Carla   \u7684 \u9884 \u751f\u6210 \u9aa8\u67b6 \u5b9a\u4e49   Skel _ GEN3   \u3002 \u7136\u540e \u6309   Import   All   \u3002   Skel _ GEN3   \u5b9a\u4e49 \u5df2 \u6307\u5b9a \u884c\u4eba \u52a8\u753b \u3002","title":"\u5c06 \u884c\u4eba \u5bfc\u5165   Carla"},{"location":"tuto_content_authoring_pedestrians/#python-api","text":"\u6210\u529f \u5c06 \u884c\u4eba \u5bfc\u5165   Carla   \u7684 \u5185\u5bb9 \u5e93\u540e \uff0c \u60a8 \u73b0\u5728 \u5fc5\u987b \u901a\u8fc7   API   \u4f7f \u884c\u4eba \u53ef\u7528 \u3002   \u5bfc\u822a \u5230 \u73b0\u6709 \u884c\u4eba \u84dd\u56fe \u7684 \u4f4d\u7f6e   Content   >   Carla   >   Blueprints   >   Walkers   \u3002 \u590d\u5236   GEN3   \u84dd\u56fe \uff0c \u4f8b\u5982   BP _ Walker _ AB001 _ G3   \u5e76\u91cd \u547d\u540d \u3002   \u53cc\u51fb \u590d\u5236 \u7684 \u84dd\u56fe \u4ee5 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u6253\u5f00 \u5b83 \u3002 \u60a8 \u9700\u8981 \u5c06 \u84dd\u56fe \u7684   Mesh   \u7ec4\u4ef6 \u66f4 \u6539\u4e3a \u65b0 \u7684 \u884c\u4eba \u6a21\u578b \u3002 \u5c06 \u521a\u521a \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5bfc\u5165 \u7684 \u9aa8\u67b6 \u7f51\u683c \u62d6 \u653e\u5230   Skeletal   Mesh   \u63d2\u69fd \u4e2d \u3002","title":"\u901a\u8fc7   Python   API   \u8ba9 \u4f60 \u7684 \u65b0 \u884c\u4eba \u53ef\u4ee5 \u8bbf\u95ee"},{"location":"tuto_content_authoring_pedestrians/#_2","text":"UE5 + iphone + MetaHuman \u6570\u5b57 \u4eba \u6d41\u7a0b   \u52a8\u4f5c \u6355\u6349 \u548c \u9762\u90e8 \u6355\u6349 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \u8c03\u7814","title":"\u5176\u4ed6"},{"location":"tuto_content_authoring_vehicles/","text":"\u5185\u5bb9 \u521b\u4f5c   -   \u8f66\u8f86   Carla   \u5728 \u84dd \u56fe\u5e93 \u4e2d \u63d0\u4f9b \u4e86 \u4e00\u5957 \u5f00\u7bb1 \u5373\u7528 \u7684 \u5168\u9762 \u8f66\u8f86 \u3002 Carla   \u5141\u8bb8 \u7528\u6237 \u4f7f\u7528 \u5b9a\u5236 \u8f66\u8f86 \u5bf9\u6b64 \u8fdb\u884c \u6269\u5c55 \uff0c \u4ee5 \u5b9e\u73b0 \u6700\u5927 \u7684 \u6269\u5c55 \u5c55\u6027 \u6269\u5c55\u6027 \u53ef\u6269\u5c55\u6027 \u3002   \u8be6\u7ec6 \u8f66\u8f86 \u7684 \u4e09\u7ef4 \u5efa\u6a21 \u975e\u5e38 \u590d\u6742 \u975e\u5e38\u590d\u6742 \uff0c \u9700\u8981 \u5f88 \u9ad8 \u7684 \u6280\u80fd \u3002 \u56e0\u6b64 \uff0c \u6211\u4eec \u5efa\u8bae \u8bfb\u8005 \u53c2\u8003 \u6709\u5173 \u4e09\u7ef4 \u5efa\u6a21 \u7684 \u5176\u4ed6 \u6587\u6863 \u6765\u6e90 \uff0c \u56e0\u4e3a \u8fd9 \u8d85\u51fa \u4e86 \u672c \u6307\u5357 \u7684 \u8303\u56f4 \u3002 \u7136\u800c \uff0c \u514d\u8d39 \u548c \u4e13\u6709 \u7684 \u5728\u7ebf \u5b58\u50a8 \u5e93\u4e2d \u6709 \u5927\u91cf \u7684 \u8f66\u8f86 \u6a21\u578b \u6765\u6e90 \u3002 \u56e0\u6b64 \uff0c \u7528\u6237 \u6709 \u591a\u79cd \u9009\u62e9 \u6765 \u521b\u5efa \u7528\u4e8e   Carla   \u7684 \u5b9a\u5236 \u8f66\u8f86 \u3002   \u4e3a   Carla   \u51c6\u5907 \u5b9a\u5236 \u8f66\u8f86 \u7684 \u5173\u952e \u56e0\u7d20 \u5173\u952e\u56e0\u7d20 \u5728\u4e8e \u88c5\u914d \u8f66\u8f86 \u9aa8\u67b6 \uff0c \u7136\u540e \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce \u4e2d \u3002 \u88c5\u914d \u548c \u5bfc\u5165 \u540e \uff0c \u9700\u8981 \u4e3a \u6c7d\u8f66 \u548c \u8f66\u8f6e \u8bbe\u7f6e \u84dd\u56fe \u3002 \u7136\u540e \u5e94\u7528 \u6750\u6599 \u5e76 \u6dfb\u52a0 \u8f66\u8f86 \u7684 \u73bb\u7483 \u90e8\u4ef6 \u3002 \u6211\u4eec \u5c06 \u5728 \u4ee5\u4e0b \u6307\u5357 \u4e2d \u4ecb\u7ecd \u8fd9\u4e9b \u6b65\u9aa4 \u3002   \u5efa\u6a21   \u547d\u540d \u7ea6\u5b9a   \u4f7f\u7528 \u7535\u67a2 \u88c5\u914d \u8f66\u8f86   \u5bfc\u5165   \u6dfb\u52a0 \u7535\u67a2   \u8bbe\u7f6e \u7236\u7ea7   \u5c06 \u6c7d\u8f66 \u96f6\u4ef6 \u6c7d\u8f66\u96f6\u4ef6 \u5206\u914d \u7ed9 \u9aa8\u9abc   Blender   \u7684 \u865a\u5e7b \u5f15\u64ce   4   \u8f66\u8f86 \u88c5\u914d \u63d2\u4ef6   \u5bfc\u51fa   \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce   \u8bbe\u7f6e \u7269\u7406 \u8d44\u4ea7   \u521b\u5efa \u52a8\u753b   \u521b\u5efa \u84dd\u56fe   \u6750\u8d28   \u7ed9 \u8f66\u8f86 \u5e94\u7528 \u6750\u8d28   \u989c\u8272   \u900f\u660e \u6d82\u5c42   \u7c92\u72b6 \u8868\u9762   \u8584\u7247   \u7070\u5c18   \u73bb\u7483   \u73bb\u7483 \u7f51\u683c   \u73bb\u7483 \u6750\u8d28   \u5355\u5c42 \u73bb\u7483   \u8f66\u8f6e   \u8f66\u8f6e \u84dd\u56fe   \u78b0\u649e \u7f51\u683c   \u8f6e\u80ce \u914d\u7f6e   \u8f66\u8f6e \u5c3a\u5bf8   \u60ac\u67b6 \u7279\u6027   \u706f   UV   \u8d34\u56fe   \u5bfc\u5165   \u5efa\u6a21   \u8f66\u8f86 \u5e94\u6709   5   \u4e07\u5230   10   \u4e07\u4e2a \u9762\u7247 \u3002 \u4f5c\u4e3a \u6700\u4f73 \u5b9e\u8df5 \uff0c \u6211\u4eec \u5efa\u8bae \u5728 \u5bfc\u51fa \u4e4b\u524d \u6a21\u578b \u5bf9\u6a21\u578b \u8fdb\u884c \u4e09\u89d2 \u6d4b\u91cf \u4e09\u89d2\u6d4b\u91cf \u3002 Carla   \u8f66\u8f86 \u662f \u53c2\u8003 \u5b9e\u9645 \u6c7d\u8f66 \u7684 \u5c3a\u5bf8 \u548c \u6bd4\u4f8b \u8fdb\u884c \u5efa\u6a21 \u7684 \u3002 \u8bf7 \u786e\u4fdd \u786e\u4fdd\u60a8 \u7279\u522b \u6ce8\u610f \u4e09\u7ef4 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u7684 \u5355\u4f4d \u3002 \u6709\u4e9b \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \uff0c \u6709\u4e9b \u5219 \u4ee5 \u7c73 \u4e3a \u5355\u4f4d \u3002   \u547d\u540d \u7ea6\u5b9a   \u4e3a\u4e86 \u65b9\u4fbf \u548c \u4e00\u81f4 \uff0c \u6211\u4eec \u5efa\u8bae \u5efa\u8bae\u60a8 \u5c06 \u8f66\u8f86 \u5206\u4e3a \u4ee5\u4e0b \u90e8\u5206 \u5e76 \u76f8\u5e94 \u547d\u540d \u3002 \u73bb\u7483 \u548c \u706f \u7684 \u5177\u4f53 \u7ec6\u8282 \u5c06 \u5728 \u540e\u9762 \u7684 \u90e8\u5206 \u4e2d \u4ecb\u7ecd \uff1a   \u8f66\u8eab ( Bodywork )   :   \u8f66\u8f86 \u7684 \u91d1\u5c5e \u90e8\u5206 \u3002 \u8be5 \u6750\u8d28 \u5df2 \u66f4 \u6539\u4e3a \u865a\u5e7b \u5f15\u64ce \u6750\u8d28 \u3002 \u53ef\u4ee5 \u6dfb\u52a0 \u5fbd\u6807 \u548c \u7ec6\u8282 \uff0c \u4f46 \u4e3a\u4e86 \u53ef\u89c1 \uff0c \u5fc5\u987b \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684   Alpha   \u901a\u9053 \u5c06 \u5b83\u4eec \u7ed8\u5236 \u4e3a \u4e0d\u540c \u7684 \u989c\u8272 \u3002   Glass _ Ext   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u53ef\u4ee5 \u4ece \u8f66\u8f86 \u5916\u90e8 \u770b\u5230 \u5185\u90e8 \u3002   Glass _ Int   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u8f66\u8f86 \u5185\u90e8 \u5230 \u5916\u90e8 \u7684 \u53ef\u89c1 \u6027 \u3002   Lights   :   \u5934\u706f \u3001 \u6307\u793a \u6307\u793a\u706f \u7b49   LightGlass _ Ext   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u5916\u90e8 \u5230 \u5185\u90e8 \u7684 \u706f\u5149 \u53ef\u89c1 \u6027 \u3002   LightGlass _ Int   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u5185\u90e8 \u5230 \u5916\u90e8 \u770b\u5230 \u5149 \u3002   LicensePlate   :   29x12   \u5398\u7c73 \u7684 \u77e9\u5f62 \u5e73\u9762 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u63d0\u4f9b \u7684   Carla   \u4ee5 \u83b7\u5f97 \u6700\u4f73 \u83b7\u5f97\u6700\u4f73 \u7ed3\u679c \uff0c \u8bf7 \u5728   \u6b64\u5904   \u4e0b\u8f7d   . fbx   \u3002 \u7eb9\u7406 \u5c06 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u81ea\u52a8 \u5206\u914d \u3002   \u5185\u9970 ( Interior )   :   \u4efb\u4f55 \u5176\u4ed6 \u4e0d \u9002\u5408 \u4e0a\u8ff0 \u90e8\u5206 \u7684 \u7ec6\u8282 \u90fd \u53ef\u4ee5 \u8fdb\u5165   \u5185\u9970   \u3002   \u6750\u8d28 ( Material ) \u5e94 \u4f7f\u7528 \u683c\u5f0f   M _ CarPart _ CarName   \u547d\u540d \uff0c \u4f8b\u5982 ,   M _ Bodywork _ Mustang   \u3002 \u7eb9\u7406 \u7684 \u5927\u5c0f \u5e94\u4e3a   2048x2048 \u3002   \u4f7f\u7528 \u7535\u67a2 \u88c5\u914d \u8f66\u8f86   \u4e3a\u4e86 \u5728 \u4eff\u771f \u4e2d \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u66f4 \u771f\u5b9e \uff0c \u6c7d\u8f66 \u9700\u8981 \u6709 \u65cb\u8f6c \u8f6e\u5b50 \uff0c \u524d \u4e00\u5bf9 \u8f6e\u5b50 \u53ef\u4ee5 \u968f\u7740 \u8f6c\u5411 \u8f93\u5165 \u800c \u8f6c\u52a8 \u3002 \u56e0\u6b64 \uff0c \u8981 \u4e3a   Carla   \u51c6\u5907 \u8f66\u8f86 \uff0c \u9700\u8981 \u5728 \u6c7d\u8f66 \u4e0a \u5b89\u88c5 \u7535\u67a2 \u4ee5 \u8bc6\u522b \u8f66\u8f6e \u5e76 \u5141\u8bb8 \u5176 \u79fb\u52a8 \u3002   \u5bfc\u5165   \u5728 \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \u5bfc\u5165 \u6216 \u5efa\u6a21 \u8f66\u8f86 \u6a21\u578b \u7f51\u683c \u3002 \u5728 \u672c \u6307\u5357 \u4e2d \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528   Blender   3D \u3002 \u786e\u4fdd \u8f6e\u5b50 \u4e0e \u4e3b\u4f53 \u5206\u79bb \u3002 \u6bcf\u4e2a \u8f6e\u5b50 \u5fc5\u987b \u53ef\u4ee5 \u4f5c\u4e3a \u4e00\u4e2a \u4e0d\u540c \u7684 \u5bf9\u8c61 \u8fdb\u884c \u8bbf\u95ee \u3002   \u786e\u4fdd \u8f66\u8f86 \u9762\u5411 \u6b63   X   \u65b9\u5411 \u975e\u5e38 \u91cd\u8981 \uff0c \u56e0\u6b64 \u5f15\u64ce \u5f15\u64ce\u76d6 \u548c \u6321\u98ce \u73bb\u7483 \u6321\u98ce\u73bb\u7483 \u5e94 \u9762\u5411 \u6b63   X   \u65b9\u5411 \u3002 \u6c7d\u8f66 \u7684 \u65b9\u5411 \u8fd8 \u5e94 \u4f7f \u5730\u677f \u5230 \u8f66\u9876 \u65b9\u5411 \u5904\u4e8e \u6b63   Z   \u65b9\u5411 \u3002 \u8f66\u8f6e \u5e94\u8be5 \u6b63\u597d \u64e6 \u8fc7   XY   \u5e73\u9762 \uff0c \u5e76\u4e14 \u539f\u70b9 \u5e94\u8be5 \u4f4d\u4e8e \u60a8 \u671f\u671b \u8f66\u8f86 \u8d28\u5fc3 \u4f4d\u4e8e   XY   \u5e73\u9762 \uff08 \u4f46 \u4e0d\u662f   Z   \u5e73\u9762 \uff09 \u7684 \u4f4d\u7f6e \u3002   \u6dfb\u52a0 \u7535\u67a2   \u73b0\u5728 \u5728 \u8f66\u8f86 \u7684 \u4e2d\u5fc3 \u6dfb\u52a0 \u4e00\u4e2a \u9aa8\u67b6 \uff0c \u786e\u4fdd \u7269\u4f53 \u6b63\u786e \u5c45\u4e2d \uff0c \u9aa8\u67b6 \u9aa8\u9abc \u7684 \u6839\u90e8 \u5e94 \u8bbe\u7f6e \u5728 \u539f\u70b9 \u3002 \u5207\u6362 \u5230 \u7f16\u8f91 \u6a21\u5f0f \u5e76 \u5c06 \u9aa8\u67b6 \u7ed5   x   \u8f74 \u65cb\u8f6c   90   \u5ea6 \u3002   \u73b0\u5728 \u9009\u62e9 \u9aa8\u67b6 \u5e76 \u6dfb\u52a0   4   \u4e2a \u9aa8\u9abc \u3002 \u8fd9\u4e9b \u9aa8\u9abc \u4e2d \u7684 \u6bcf \u4e00\u4e2a \u90fd \u9700\u8981 \u5b9a\u4f4d \uff0c \u4f7f\u5f97 \u9aa8\u9abc \u7684 \u6839\u90e8 \u4e0e \u6bcf\u4e2a \u8f6e\u5b50 \u7684 \u4e2d\u5fc3 \u91cd\u5408 \u3002 \u8fd9 \u53ef\u4ee5 \u901a\u8fc7 \u5728 \u7f16\u8f91 \u6a21\u5f0f \u4e0b \u5c06 \u4e09\u7ef4 \u5149\u6807 \u5b9a\u4f4d \u5728 \u6bcf\u4e2a \u6eda\u8f6e \u7684 \u4e2d\u5fc3 \u6765 \u5b9e\u73b0 \u3002 \u5728 \u5bf9\u8c61 \u6a21\u5f0f \u4e0b \u9009\u62e9 \u5176\u4e2d \u4e00\u4e2a \u8f6e\u5b50 \uff0c \u9009\u62e9 \u4e00\u4e2a \u9876\u70b9 \uff0c \u6309   A   \u9009\u62e9 \u6240\u6709 \u9876\u70b9 \uff0c \u7136\u540e   Shift + S   \u9009\u62e9   Cursor   to   selected   \u3002 \u8fd9\u4f1a \u5c06 \u5149\u6807 \u5b9a\u4f4d \u5728 \u6eda\u8f6e \u7684 \u4e2d\u5fc3 \u3002 \u7136\u540e \uff0c \u5728 \u5bf9\u8c61 \u6a21\u5f0f \u4e0b \uff0c \u9009\u62e9 \u9aa8\u67b6 \uff0c \u5207\u6362 \u5230 \u7f16\u8f91 \u6a21\u5f0f \uff0c \u9009\u62e9 \u9aa8\u9abc \u5e76 \u9009\u62e9   Selection   to   cursor   \u3002 \u60a8 \u7684 \u9aa8\u9abc \u73b0\u5728 \u5c06 \u4e0e \u8f6e\u5b50 \u91cd\u5408 \u3002 \u65cb\u8f6c \u6bcf\u4e2a \u9aa8\u9abc \uff0c \u4f7f \u5176 \u4e0e \u9aa8\u67b6 \u5e95\u90e8 \u5bf9\u9f50 \u3002   \u5bf9\u4e8e \u6bcf\u4e2a \u8f6e\u5b50 \uff0c \u5efa\u8bae \u6839\u636e \u9700\u8981 \u8026\u5408 \u7684 \u8f6e\u5b50 \u6765 \u547d\u540d \u9aa8\u9abc \uff0c \u8fd9 \u5c06 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u7a0d\u540e \u5728 \u9700\u8981 \u4e3a \u6bcf\u4e2a \u9aa8\u9abc \u5206\u914d \u9876\u70b9 \u7ec4\u65f6 \u8fdb\u884c \u8bc6\u522b \u3002   \u8bbe\u7f6e \u7236\u7ea7   \u73b0\u5728 \u5728 \u9879\u76ee \u5927\u7eb2 \u4e2d \u4f7f\u7528   shift   \u6216   control   \u9009\u62e9 \u8eab\u4f53 \u7684 \u6240\u6709 \u90e8\u5206 \u548c \u6240\u6709 4 \u4e2a \u8f6e\u5b50 \uff0c \u7136\u540e \u63a7\u5236 \u9009\u62e9 \u60a8 \u521b\u5efa \u7684 \u9aa8\u67b6 \uff08 \u8fd9\u4e2a \u987a\u5e8f \u5f88 \u91cd\u8981 \uff0c \u5982\u679c \u60a8 \u4ee5 \u76f8\u53cd \u7684 \u987a\u5e8f \u9009\u62e9 \u5b83\u4eec \u5c06 \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \uff09 \u3002 \u6309   Ctrl + p   \u5e76 \u9009\u62e9   With   empty   groups   \u5c06 \u7f51\u683c \u7ed1\u5b9a \u5230 \u9aa8\u67b6 \u3002   \u73b0\u5728 \u60a8 \u5df2 \u5c06 \u7f51\u683c \u4f53 \u8bbe\u7f6e \u4e3a \u9aa8\u67b6 \u7684 \u7236\u7ea7 \uff0c \u73b0\u5728 \u9700\u8981 \u5c06 \u6bcf\u4e2a \u8f6e\u5b50 \u5206\u914d \u7ed9 \u5176 \u5404\u81ea \u7684 \u9aa8\u9abc \u3002 \u5728 \u5927\u7eb2 \u89c6\u56fe \u6216 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u9009\u62e9 \u4e00\u4e2a \u8f6e\u5b50 \u3002 \u5207\u6362 \u5230 \u7f16\u8f91 \u6a21\u5f0f \uff0c \u7136\u540e \u9009\u62e9 \u8f6e\u5b50 \u7684 \u6240\u6709 \u9876\u70b9 \uff08 \u5feb\u6377 \u5feb\u6377\u952e   -   a \uff09 \u3002   \u5c06 \u6c7d\u8f66 \u96f6\u4ef6 \u6c7d\u8f66\u96f6\u4ef6 \u5206\u914d \u7ed9 \u9aa8\u9abc   \u9009\u62e9 \u5c5e\u6027 \u7684 \u7f51\u683c \u9009\u9879 \u9009\u9879\u5361 \uff08 \u7eff\u8272 \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \uff09 \u3002 \u5728 \u7f51\u683c \u5c5e\u6027 \u9762\u677f \u7684 \u9876\u70b9 \u7ec4 \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u60a8 \u73b0\u5728 \u5e94\u8be5 \u770b\u5230 \u9aa8\u67b6 \u7684 \u9aa8\u9abc \u3002 \u9009\u62e9 \u4e0e \u60a8 \u6b63\u5728 \u7f16\u8f91 \u7684 \u8f6e\u5b50 \u5bf9\u5e94 \u7684 \u9aa8\u9abc \uff0c \u7136\u540e \u9009\u62e9   Assign   \u3002 \u5b89\u88c5 \u597d \u8f66\u8f6e \u540e \uff0c \u5c06 \u8f66\u8f86 \u7684 \u6240\u6709 \u5176\u4ed6 \u90e8\u4ef6 \u5b89\u88c5 \u5230 \u57fa\u9aa8 \u4e0a \u3002   \u5c06 \u6240\u6709 \u7f51\u683c \u90e8\u4ef6 \u5206\u914d \u7ed9 \u9aa8\u67b6 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u9009\u62e9 \u9aa8\u67b6 \u5e76 \u79fb\u52a8 \u5230 \u59ff\u52bf \u6a21\u5f0f \u5e76 \u79fb\u52a8 \u76f8\u5173 \u9aa8\u9abc \u6765 \u6d4b\u8bd5 \u5b83 \u662f\u5426 \u6709\u6548 \u3002 \u8f66\u8f86 \u57fa\u9aa8\u5e94 \u79fb\u52a8 \u6574\u4e2a \u8f66\u8f86 \uff0c \u800c\u8f6e \u9aa8\u5e94 \u5206\u522b \u79fb\u52a8 \u5e76 \u65cb\u8f6c \u5404\u81ea \u7684 \u8f66\u8f6e \u3002   Ctrl + Z   \u786e\u4fdd \u64a4\u6d88 \u60a8 \u53ef\u80fd \u505a\u51fa \u7684 \u4efb\u4f55 \u59ff\u52bf \u3002   Blender   \u7684 \u865a\u5e7b \u5f15\u64ce   4   \u8f66\u8f86 \u88c5\u914d \u63d2\u4ef6   Blender   \u6709 \u4e00\u4e2a \u975e\u5e38 \u6709\u7528 \u7684 \u63d2\u4ef6 \uff0c \u7528\u4e8e \u88c5\u914d \u8f66\u8f86 \u4ee5 \u5bfc\u5165   Carla \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u7b80\u5316 \u4e0a\u8ff0 \u6b65\u9aa4 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u63d2\u4ef6 \u7f51\u9875   \u4ee5 \u83b7\u53d6 \u8bf4\u660e \u3002   \u5bfc\u51fa   \u73b0\u5728 \uff0c \u6211\u4eec \u5c06 \u88c5\u914d \u6a21\u578b \u5bfc\u51fa \u4e3a   FBX   \u683c\u5f0f \uff0c \u4ee5\u4fbf \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce \u4e2d \u3002 \u4ece \u201c \u6587\u4ef6 \u201d \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   Export   >   FBX   ( . fbx )   \u3002 \u5728   Include   \u9762\u677f \u7684   Object   Types   \u90e8\u5206 \u4e2d \uff0c \u6309\u4f4f   Shift   \u952e \u9009\u62e9   Armature   \u548c   Mesh   \u9009\u9879 \u3002   \u5728   Transform   \u9762\u677f \u4e2d \u3002 \u66f4\u6539   Forward   \u4e3a   X   Forward   \uff0c \u5e76 \u66f4\u6539   Up   \u4e3a   Z   Up   .   \u8fd9 \u5bf9\u4e8e \u786e\u4fdd \u8f66\u8f86 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6b63\u786e \u5b9a\u5411 \u975e\u5e38 \u91cd\u8981 \u3002   \u5728   Armature   \u90e8\u5206 \u4e2d \u53d6\u6d88   Add   Leaf   Bones   \u9009\u4e2d \u5e76 \u53d6\u6d88   Bake   Animation   \u9009\u4e2d \u3002   \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce   \u4ece   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \uff08 \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla   \u7684 \u76ee\u5f55 \uff09 \u4e2d \u4f7f\u7528   make   launch   \u547d\u4ee4 \u542f\u52a8 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \u6253\u5f00 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \uff0c \u8bbe\u7f6e \u9002\u5f53 \u7684 \u76ee\u5f55 \uff0c \u7136\u540e \u53f3\u952e \u5355\u51fb \u5e76 \u9009\u62e9   Import   to   ....   \u3002 \u9009\u62e9 \u60a8 \u4e4b\u524d \u4ece   Blender \uff08 \u6216 \u5176\u4ed6 \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff09 \u5bfc\u51fa \u7684   FBX   \u6587\u4ef6 \u3002 \u4f7f\u7528 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u5bfc\u5165 \u3002   \u8bbe\u7f6e \u7269\u7406 \u8d44\u4ea7   \u73b0\u5728 \uff0c \u60a8 \u7684 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u76ee\u5f55 \u4e2d\u5c06 \u5305\u542b   3   \u4e2a \u5185\u5bb9 \uff1a \u7f51\u683c \u3001 \u9aa8\u67b6 \u548c \u7269\u7406 \u8d44\u6e90 \u3002 \u53cc\u51fb \u7269\u7406 \u8d44\u6e90 \u8fdb\u884c \u8c03\u6574 \u3002   \u9996\u5148 \uff0c \u9009\u62e9 \u8f66\u4f53 \uff0c \u5728 \u53f3\u4fa7   Details   \u83dc\u5355 \u4e2d \uff0c \u5c06   Physics   \u90e8\u5206 \u4e2d \u7684   Linear   Damping   \u66f4 \u6539\u4e3a   0.0 \uff0c \u68c0\u67e5   Collision   \u90e8\u5206 \u7684   Simulation   Generates   Hit   Events   \uff0c \u5728   Body   Creation   \u90e8\u5206 \u5c06   Primitive   Type   \u4ece   Capsule   \u6539\u4e3a   Box   \u3002 \u7136\u540e \u6309   Regenerate   bodies   \u3002 \u80f6\u56ca \u73b0\u5728 \u5c06 \u53d8\u6210 \u4e00\u4e2a \u77e9\u5f62 \u76d2\u5b50 \u3002 \u7136\u540e \u9009\u62e9 \u8f6e\u5b50 \u3002   \u73b0\u5728 \u9009\u62e9 \u6240\u6709 \u8f6e\u5b50 \uff08 \u5728   Skeleton   Tree   \u5de6\u4fa7 \u90e8\u5206 \uff09 \u3002   \u5c06   Linear   Damping   \u6539\u4e3a   0.0 \uff0c \u5c06   Physics   Type   \u8bbe\u7f6e \u4e3a   Kinematic   \uff0c \u5c06   Collision   Response   \u8bbe\u7f6e \u4e3a   Disabled   \uff0c \u5e76 \u9009\u62e9   Primitive   Type   \u4f5c\u4e3a   Sphere   \u3002 \u518d \u6309   Re - generate   Bodies   \u4e00\u6b21 \u3002   \u521b\u5efa \u52a8\u753b   \u5728 \u60a8 \u62e5\u6709 \u65b0 \u8f66\u8f86 \u8d44\u4ea7 \u7684 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u76ee\u5f55 \u4e2d \uff0c \u53f3\u952e \u5355\u51fb \u5e76 \u9009\u62e9   Animation   >   Animation   Blueprint   \u3002 \u5728 \u6253\u5f00 \u7684 \u5f39\u51fa \u7a97\u53e3 \u4e2d \uff0c \u5728   Parent   Class   \u90e8\u5206 \u4e2d \u641c\u7d22   VehicleAnimInstance   \uff0c \u7136\u540e \u641c\u7d22   Target   Skeleton   \u4e0e \u60a8 \u7684 \u65b0\u8f66 \u76f8\u5bf9 \u5e94 \u7684 \u9aa8\u67b6 \uff0c \u60a8 \u5e94\u8be5 \u80fd\u591f \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u770b\u5230 \u8be5 \u540d\u79f0 \u3002 \u9009\u62e9 \u4e24\u9879 \u8fd9\u4e24\u9879 \u540e \u6309 \u786e\u5b9a \u3002 \u8fd9 \u5c06 \u4e3a \u60a8 \u7684 \u8f66\u8f86 \u521b\u5efa \u4e00\u4e2a \u65b0 \u7684 \u52a8\u753b \u84dd\u56fe \u3002   \u4e3a\u4e86 \u7b80\u5316 \u4e8b\u60c5 \uff0c \u6211\u4eec \u53ef\u4ee5 \u4ece \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u590d\u5236 \u52a8\u753b \u3002 \u5728 \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u6253\u5f00   Content   >   Carla   >   Static   >   Vehicles   >   4Wheeled   \u5e76 \u9009\u62e9 \u4efb\u610f \u8f66\u8f86 \u3002 \u6253\u5f00 \u6240 \u9009 \u8f66\u8f86 \u7684 \u52a8\u753b \u84dd\u56fe \uff0c \u7136\u540e \u5c06 \u9664 \u6b64 \u8282\u70b9 \u4e4b\u5916 \u7684 \u6240\u6709 \u8282\u70b9 \u590d\u5236   Output   pose   \u5230 \u65b0 \u7684 \u52a8\u753b \u84dd\u56fe \u4e2d \u3002 \u901a\u8fc7 \u62d6\u52a8 \u6700\u7ec8 \u8282\u70b9 \u4e0e \u8f93\u51fa \u8282\u70b9 \u4e4b\u95f4 \u7684 \u65b0 \u8fde\u63a5 \u6765 \u8fde\u63a5 \u8282\u70b9 \u3002 \u6309 \u7f16\u8bd1 \uff0c \u52a8\u753b \u84dd\u56fe \u73b0\u5df2 \u8bbe\u7f6e \u3002   \u521b\u5efa \u84dd\u56fe   \u4f7f\u7528 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5bfc\u822a \u5230   Content   >   Carla   >   Blueprints   >   Vehicles   >   LincolnMKZ2017   \u6216 \u7c7b\u4f3c \u7684 \u8f66\u8f86 \u3002 \u5728 \u8fd9\u91cc \u60a8 \u5c06 \u627e\u5230 \u4e00\u7ec4 \u4e3a   4   \u4e2a \u8f6e\u5b50 \u8bbe\u7f6e \u7684 \u84dd\u56fe \u3002 \u5c06 \u5b83\u4eec \u590d\u5236 \u590d\u5236\u5230 \u5305\u542b \u60a8 \u81ea\u5df1 \u7684 \u8f66\u8f86 \u7684 \u76ee\u5f55 \u4e2d \u5e76\u91cd \u547d\u540d \u5b83\u4eec \u4ee5 \u786e\u4fdd \u786e\u4fdd\u60a8 \u4ee5\u540e \u53ef\u4ee5 \u533a\u5206 \u5b83\u4eec \u3002 \u5982\u679c \u60a8 \u613f\u610f \uff0c \u60a8 \u53ef\u4ee5 \u8bbe\u7f6e \u81ea\u5df1 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f6e\u5b50 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u540e\u9762 \u7684   \u8f6e\u5b50 \u90e8\u5206   \u3002   \u53f3\u952e \u5355\u51fb \u65b0 \u8f66\u8f86 \u8d44\u4ea7 \u6240\u5728 \u7684 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u76ee\u5f55 \u5e76 \u9009\u62e9   Blueprint   Class   \u3002 \u5728   All   Classes   \u83dc\u5355 \u4e2d \u641c\u7d22   BaseVehiclePawn   \u5e76 \u9009\u62e9 \u6b64\u7c7b \u3002 \u4e3a \u84dd\u56fe \u547d\u540d \u5e76 \u6253\u5f00 \u5b83 \u3002 \u5728 \u5de6\u4fa7   Components   \u9009\u9879 \u9009\u9879\u5361 \u4e2d \u8fdb\u884c   Mesh   \u9009\u62e9 \uff0c \u7136\u540e \u5c06 \u8f66\u8f86 \u7f51\u683c \u62d6\u52a8 \u5230 \u53f3\u4fa7 \u7684 \u201c \u7f51\u683c \u201d \u90e8\u5206 \u4e2d \u3002   \u5728   Anim   Class   \u641c\u7d22 \u4e0e \u60a8 \u5728 \u4e0a \u4e00\u6b65 \u4e2d \u8bbe\u7f6e \u7684 \u65b0\u8f66 \u76f8\u5bf9 \u5e94 \u7684 \u52a8\u753b \u3002   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u5728 \u84dd\u56fe \u7c7b \u7684   Components   \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   Vehicle   Movement   \uff0c \u7136\u540e \u5728 \u53f3\u4fa7   Details   \u83dc\u5355 \u4e2d \u5bfc\u822a \u5230 \u8be5   Vehicle   Setup   \u90e8\u5206 \u3002 \u73b0\u5728 \uff0c \u5bf9\u4e8e \u6bcf\u4e2a \u8f66\u8f6e \uff0c \u627e\u5230 \u60a8 \u4e4b\u524d \u4e3a   Wheel   Class   \u5c5e\u6027 \u590d\u5236 \u5e76\u91cd \u547d\u540d \u7684 \u76f8\u5173 \u8f66\u8f6e \u84dd\u56fe \u3002 \u5bf9 \u6bcf\u4e2a \u8f6e\u5b50 \u6267\u884c \u76f8\u540c \u7684 \u64cd\u4f5c \u3002 \u7f16\u8bd1 \u5e76 \u4fdd\u5b58 \u3002   \u73b0\u5728 \u5bfc\u822a \u5230   Content   >   Carla   >   Blueprints   >   Vehicles   >   VehicleFactory   \u5e76 \u53cc\u51fb \u5b83 \u4ee5 \u6253\u5f00 \u8f66\u8f86 \u5de5\u5382 \u3002   \u9009\u62e9   Vehicles   \u8282\u70b9 \u5e76 \u5c55\u5f00 \u53f3\u4fa7   Default   value   \u90e8\u5206 \u4e2d \u7684   Vehicles   \u9879 \u3002   \u6309 \u52a0\u53f7 \u56fe\u6807 \u6dfb\u52a0 \u60a8 \u7684 \u65b0\u8f66 \u3002 \u5411\u4e0b \u6eda\u52a8 \u5230 \u6700\u540e \u4e00\u4e2a \u6761\u76ee \u5e76 \u5c06 \u5176 \u5c55\u5f00 \uff0c \u5b83 \u5e94\u8be5 \u662f \u7a7a \u7684 \u3002 \u547d\u540d \u60a8 \u7684 \u8f66\u8f86 \u7684 \u54c1\u724c \u548c \u578b\u53f7 \uff0c \u7136\u540e \u5728 \u7c7b \u90e8\u5206 \u4e0b \u627e\u5230 \u60a8 \u5728 \u4e0a \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u4e2d \u521b\u5efa \u7684 \u84dd\u56fe \u7c7b \u3002 \u5c06 \u8f6e\u5b50 \u6570\u91cf \u4fdd\u7559 \u4e3a   4 \uff0c \u5e76 \u5c06 \u4e16\u4ee3 \u8bbe\u7f6e \u4e3a   2 \u3002 \u7f16\u8bd1 \u5e76 \u4fdd\u5b58 \u3002 \u4e3a\u4e86 \u5b89\u5168 \u8d77 \u89c1 \uff0c \u8fdb\u884c \u5168\u5c40 \u4fdd\u5b58 \uff0c \u60a8 \u73b0\u5728 ...... \u51c6\u5907 \u5728 \u4eff\u771f \u4e2d \u8fd0\u884c \u60a8 \u7684 \u8f66\u8f86 \u3002   \u6309 \u865a\u5e7b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u7684 \u201c \u8fd0\u884c \u201d \u6765 \u8fdb\u884c \u4eff\u771f \u3002 \u8fd0\u884c \u540e \uff0c \u6253\u5f00 \u7ec8\u7aef \u5e76 \u4f7f\u7528 \u8fc7\u6ee4 \u6ee4\u5668 \u8fc7\u6ee4\u5668 \u9009\u9879 \u8fd0\u884c \u811a\u672c   manual _ control . py   \u6765 \u6307\u5b9a \u60a8 \u7684 \u65b0 \u8f66\u8f86 \u578b\u53f7 \uff1a   python   manual _ control . py   -- filter   my _ vehicle _ make   \u4e8b\u5b9e \u4e8b\u5b9e\u4e0a \uff0c \u8f66\u8f86 \u76ee\u524d \u6ca1\u6709 \u5e94\u7528 \u7eb9\u7406 \u6216 \u989c\u8272 \u3002 \u4e0b \u4e00\u6b65 \u662f \u5e94\u7528 \u6750\u6599 \uff0c \u4f7f \u60a8 \u7684 \u8f66\u8f86 \u5177\u6709 \u50cf \u771f\u6b63 \u7684 \u516c\u8def \u8f66\u8f86 \u4e00\u6837 \u7684 \u5916\u89c2 \u3002   \u6750\u8d28   \u5c06 \u8f66\u8f86 \u4f5c\u4e3a \u57fa\u672c \u8d44\u4ea7 \u5bfc\u5165 \u5e76 \u5e03\u7f6e \u597d \u7f51\u683c \u548c \u84dd\u56fe \u540e \uff0c \u60a8 \u73b0\u5728 \u9700\u8981 \u5411 \u8f66\u8f86 \u6dfb\u52a0 \u6750\u8d28 \uff0c \u4ee5 \u4fc3\u8fdb \u865a\u5e7b \u5f15\u64ce \u4e2d \u7684 \u7167\u7247 \u7ea7 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \u6e32\u67d3 \uff0c \u4ece\u800c \u5b9e\u73b0 \u673a\u5668 \u5b66\u4e60 \u8bad\u7ec3 \u6570\u636e \u7684 \u6700\u5927 \u4fdd\u771f \u771f\u5ea6 \u4fdd\u771f\u5ea6 \u3002   \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u62e5\u6709 \u5168\u9762 \u7684 \u6750\u8d28 \u5de5\u4f5c \u6d41\u7a0b \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u521b\u5efa \u9ad8\u5ea6 \u903c\u771f \u7684 \u6750\u8d28 \u3002 \u7136\u800c \uff0c \u8fd9 \u786e\u5b9e \u663e \u7740 \u589e\u52a0 \u4e86 \u8be5 \u8fc7\u7a0b \u7684 \u590d\u6742 \u590d\u6742\u6027 \u3002 \u56e0\u6b64 \uff0c Carla   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5927\u578b \u6750\u6599 \u539f\u578b \u5e93\u4f9b \u60a8 \u4f7f\u7528 \uff0c \u800c \u65e0\u9700 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u3002   \u7ed9 \u8f66\u8f86 \u5e94\u7528 \u6750\u8d28   Carla   \u63d0\u4f9b \u4e86 \u4e00\u79cd \u7528\u4e8e \u590d\u5236 \u8f66\u8f86 \u5149\u6cfd \u8868\u9762 \u7684 \u539f\u578b \u6750\u6599 \uff0c \u53ef\u4ee5 \u4eff\u771f \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7c7b\u578b \u7684 \u8f66\u8f86 \u55b7\u6f06 \u5de5\u4f5c \u548c \u529f\u80fd \u3002 \u6253\u5f00 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5e76 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u627e\u5230   Content   >   Carla   >   Static   >   GenericMaterials   >   00 _ MastersOpt   \u3002 \u57fa\u672c \u6750\u6599 \u79f0\u4e3a   M _ CarPaint _ Master   \u3002 \u53f3\u952e \u5355\u51fb \u8be5 \u6750\u6599 \u5e76 \u4ece \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u6750\u8d28 \u4e2d \u9009\u62e9   Create   Material   Instance   \u3002 \u4e3a \u5176 \u547d\u540d \u5e76 \u5c06 \u5176 \u79fb\u52a8 \u5230 \u5b58\u50a8 \u65b0 \u8f66\u8f86 \u5185\u5bb9 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \uff0c \u5c06 \u89c2\u5bdf \u5219 \u4f1a \u79fb\u52a8 \u5230 \u9760\u8fd1 \u5730\u677f \u7684 \u4e00\u70b9 \uff0c \u7136\u540e \u5c06 \u8f66\u8f86 \u7684 \u9aa8\u67b6 \u7f51\u683c \u7269\u4f53 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u62d6 \u5230 \u573a\u666f \u4e2d \uff0c \u8f66\u8f86 \u7684 \u8f66\u8eab \u73b0\u5728 \u5c06 \u51fa\u73b0 \u5728 \u90a3\u91cc \u3002   \u73b0\u5728 \uff0c \u5728 \u53f3\u4fa7 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u9762\u677f \u4e2d \uff0c \u5c06 \u65b0 \u6750\u8d28 \u5b9e\u4f8b \u62d6\u52a8 \u5230   Materials   \u90e8\u5206 \u7684   Element   0   \u4f4d\u7f6e \u3002 \u60a8 \u5c06 \u770b\u5230 \u8f66\u8eab \u5448\u73b0 \u73b0\u51fa \u5448\u73b0\u51fa \u4e00\u79cd \u65b0 \u7684 \u7070\u8272 \u3001 \u6709 \u5149\u6cfd \u7684 \u6750\u6599 \u7279\u6027 \u3002   \u53cc\u51fb \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u7684 \u6750\u8d28 \uff0c \u6211\u4eec \u5c31 \u53ef\u4ee5 \u5f00\u59cb \u7f16\u8f91 \u53c2\u6570 \u4e86 \u3002 \u8fd9\u91cc \u6709 \u8bb8\u591a \u53c2\u6570 \u53ef\u4ee5 \u6539\u53d8 \u5404\u79cd \u5c5e\u6027 \uff0c \u8fd9\u4e9b \u5c5e\u6027 \u5bf9\u4e8e \u4eff\u771f \u73b0\u5b9e \u4e16\u754c \u7684 \u6c7d\u8f66 \u55b7\u6f06 \u5de5\u4f5c \u975e\u5e38 \u91cd\u8981 \u3002 \u6700 \u91cd\u8981 \u7684 \u53c2\u6570 \u5982\u4e0b \uff1a   \u989c\u8272 ( Color )   \u989c\u8272 \u8bbe\u7f6e \u51b3\u5b9a \u6c7d\u8f66 \u7684 \u6574\u4f53 \u989c\u8272 \u3002 \u57fa\u8272 \u53ea\u662f \u6c7d\u8f66 \u7684 \u4e3b\u8981 \u989c\u8272 \uff0c \u5b83 \u5c06 \u63a7\u5236 \u6574\u4f53 \u989c\u8272 \uff1a   \u900f\u660e \u6d82\u5c42 ( Clear   coat )   \u900f\u660e \u6d82\u5c42 \u8bbe\u7f6e \u51b3\u5b9a \u9970\u9762 \u7684 \u5916\u89c2 \u53ca\u5176 \u5bf9\u5149 \u7684 \u53cd\u5e94 \u3002 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u4f7f\u7528 \u7eb9\u7406 \u5c06 \u7f3a\u9677 \u5e94\u7528 \u5230 \u8f66\u8f86 \u8868\u9762 \uff0c \u4ee5 \u66f4 \u9ad8 \u7684 \u503c \u6563\u5c04 \u66f4 \u591a \u7684 \u5149 \uff0c \u4ee5 \u521b\u5efa \u54d1\u5149 \u5916\u89c2 \u3002 \u5efa\u8bae \u8fdb\u884c \u5fae\u5999 \u7684 \u8c03\u6574 \u548c \u8f83 \u4f4e \u7684 \u503c \u4ee5 \u83b7\u5f97 \u903c\u771f \u7684 \u5916\u89c2 \u3002 \u4e00\u822c \u6765\u8bf4 \u4e00\u822c\u6765\u8bf4 \uff0c \u6c7d\u8f66 \u55b7\u6f06 \u4f5c\u4e1a \u662f \u5149\u6ed1 \u4e14 \u53cd\u5149 \u7684 \uff0c \u4f46\u662f \uff0c \u8fd9\u79cd \u6548\u679c \u53ef\u80fd \u66f4 \u5e7f\u6cdb \u5730 \u7528\u4e8e \u5bf9 \u5b9a\u5236 \u55b7\u6f06 \u4f5c\u4e1a \u7684 \u4e13\u4e1a \u54d1\u5149 \u9970\u9762 \u8fdb\u884c \u5efa\u6a21 \u3002   \u63a7\u5236 \u6c7d\u8f66 \u201c \u5149\u6cfd \u5149\u6cfd\u5ea6 \u7684 \u4e00\u4e2a \u91cd\u8981 \u53c2\u6570 \u662f   Clear   Coat   Intensity   \u3002 \u63a5\u8fd1   1   \u7684 \u9ad8\u503c \u5c06 \u4f7f \u6d82\u5c42 \u95ea\u4eae \u4e14 \u6709 \u5149\u6cfd \u3002   \u7c92\u72b6 \u8868\u9762 ( Orange   peel )   \u771f\u5b9e \u6c7d\u8f66 \u7684 \u9970\u9762 \uff08 \u7279\u522b \u662f \u9762\u5411 \u4e00\u822c \u5e02\u573a \u7684 \u6279\u91cf \u751f\u4ea7 \u6279\u91cf\u751f\u4ea7 \u7684 \u6c7d\u8f66 \uff09 \u5f80\u5f80 \u5b58\u5728 \u7f3a\u9677 \uff0c \u8868\u73b0 \u4e3a \u6cb9\u6f06 \u4e0a \u7684 \u8f7b\u5fae \u6ce2\u7eb9 \u3002 \u7c92\u72b6 \u8868\u9762 \u4eff\u771f \u4e86 \u8fd9 \u4e00\u70b9 \uff0c \u4f7f \u6c7d\u8f66 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u66f4 \u771f\u5b9e \u3002   \u8584\u7247 ( Flakes )   \u6709\u4e9b \u6c7d\u8f66 \u7684 \u6cb9\u6f06 \u5de5\u4f5c \u4e2d \u5305\u542b \u5176\u4ed6 \u6750\u6599 \u7684 \u8584\u7247 \uff0c \u4f8b\u5982 \u91d1\u5c5e \u6216 \u9676\u74f7 \uff0c \u4ee5 \u8d4b\u4e88 \u6c7d\u8f66   metallic   \u6216   pearlescant   \u5916\u89c2 \uff0c \u589e\u52a0 \u989d\u5916 \u7684 \u95ea\u5149 \u548c \u53cd\u5c04 \uff0c \u4ee5\u6709 \u5438\u5f15 \u5f15\u529b \u5438\u5f15\u529b \u7684 \u65b9\u5f0f \u4e0e \u5149\u7ebf \u53cd\u5e94 \u3002 \u8584\u7247 \u53c2\u6570 \u5141\u8bb8   Carla   \u4eff\u771f \u8fd9 \u4e00\u70b9 \u3002 \u4e3a\u4e86 \u4eff\u771f \u91d1\u5c5e \u9970\u9762 \uff0c \u5b83\u4f1a \u662f   \u7070\u5c18 ( Dust )   \u6c7d\u8f66 \u8f66 \u8eab\u4e0a \u7ecf\u5e38 \u4f1a \u79ef\u805a \u6cb9\u8102 \u548c \u7070\u5c18 \uff0c \u8fd9\u4f1a \u589e\u52a0 \u8f66\u6f06 \u7684 \u8d28\u611f \uff0c \u5f71\u54cd \u5176 \u53cd\u5c04 \u5149\u7ebf \u7684 \u65b9\u5f0f \u3002 \u7070\u5c18 \u53c2\u6570 \u5141\u8bb8 \u60a8 \u5728 \u6d82\u5c42 \u4e0a \u6dfb\u52a0 \u7834\u574f \u5757 \uff0c \u4ee5 \u4eff\u771f \u7c98\u9644 \u5728 \u6cb9\u6f06 \u4e0a \u7684 \u5f02\u7269 \u3002   \u73bb\u7483   \u5728   Carla   \u4e2d \u521b\u5efa \u903c\u771f \u7684 \u73bb\u7483 \u9700\u8981 \u4e00\u4e9b \u6280\u5de7 \u6765 \u6355\u6349 \u673a\u52a8 \u52a8\u8f66 \u8f66\u8f86 \u673a\u52a8\u8f66 \u673a\u52a8\u8f66\u8f86 \u4e2d \u4f7f\u7528 \u7684 \u73bb\u7483 \u7684 \u771f\u5b9e \u6298\u5c04 \u548c \u53cd\u5c04 \u884c\u4e3a \u3002 Carla   \u8f66\u5e93 \u8f66\u8f86 \u6709   4   \u5c42 \u73bb\u7483 \u7f51\u683c \uff0c \u91c7\u7528   2   \u79cd \u4e0d\u540c \u7684 \u6750\u6599 \u3002 \u5404\u5c42 \u4e4b\u95f4 \u95f4\u9694 \u6beb\u7c73 \u51e0\u6beb\u7c73 \uff0c \u5185\u90e8 \u548c \u5916\u90e8 \u73bb\u7483 \u5c42 \u91c7\u7528 \u4e0d\u540c \u7684 \u6750\u6599 \uff0c \u4ee5 \u786e\u4fdd \u73bb\u7483 \u4ece \u8f66\u8f86 \u5185\u90e8 \u548c \u5916\u90e8 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u90fd \u5f88 \u903c\u771f \u3002   \u4ece \u8f66\u8f86 \u5916\u90e8 \u770b \u6709   2   \u5c42 \u73bb\u7483 \uff0c \u4ece \u8f66\u8f86 \u5185\u90e8 \u770b \u6709   2   \u5c42 \u73bb\u7483 \u3002 \u73bb\u7483 \u6240\u4ee5 \u4e4b\u6240\u4ee5 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u50cf \u73bb\u7483 \uff0c \u56e0\u4e3a \u662f\u56e0\u4e3a \u6765\u81ea \u73bb\u7483 \u4e24\u4e2a \u8868\u9762 \u7684 \u53cd\u5c04 \u4f7f\u5f97 \u53cd\u5c04 \u975e\u5e38 \u5fae\u5999 \u5730 \u52a0\u500d \u3002   \u73bb\u7483 \u7f51\u683c   \u5728 \u8fd9\u91cc \uff0c \u6211\u4eec \u770b\u5230 \u8fde\u63a5 \u5230 \u6797\u80af \u4e3b\u4f53 \u8f66\u8eab \uff08 \u4e0d\u662f \u8f66\u95e8 \u6216 \u5176\u4ed6 \u6d3b\u52a8 \u90e8\u4ef6 \uff09 \u7684 \u73bb\u7483 \u90e8\u4ef6 \u3002   \u5982\u679c \u6211\u4eec \u5c06 \u7ec4\u6210 \u7684 \u7f51\u683c \u90e8\u5206 \u5206\u5f00 \uff0c \u6211\u4eec \u53ef\u4ee5 \u770b\u5230 \u73bb\u7483 \u8f6e\u5ed3 \u88ab \u5206\u4e3a   4   \u4e2a \u4e0d\u540c \u7684 \u5c42 \u3002   \u8fd9   4   \u4e2a\u5c42 \u5206\u4e3a   2   \u7ec4 \uff1a \u5916\u90e8 \u5c42 \uff08 \u6cd5\u7ebf \u9762\u5411 \u8f66\u8f86 \u5916\u90e8 \uff09 \u548c \u5185\u90e8 \u5c42 \uff08 \u7f51\u683c \u683c\u6cd5 \u7f51\u683c\u6cd5 \u7ebf \u9762\u5411 \u8f66\u8f86 \u5185\u90e8 \uff09 \u3002 \u4e0b\u56fe \u6f14\u793a \u4e86   \u521b\u5efa \u7f51\u683c \u56fe\u5c42 \u540e \uff0c \u5c06 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u7684 \u5b83\u4eec \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5b58\u50a8 \u8f66\u8f86 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u6309\u4f4f   Shift   \u952e \u9009\u62e9   4   \u4e2a \u73bb\u7483 \u5c42 \u5e76 \u5c06 \u5b83\u4eec \u62d6 \u5230 \u5730\u56fe \u4e2d \u4ee5\u4fbf \u60a8 \u53ef\u4ee5 \u770b\u5230 \u5b83\u4eec \u3002   \u73bb\u7483 \u6750\u8d28   \u53cc\u51fb \u73bb\u7483 \u7684 \u5916\u5c42 \uff0c \u7136\u540e \u5728 \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u7a97\u53e3 \u4e2d \u5bfc\u822a \u5230   Content   >   Carla   >   Static   >   Vehicles   >   GeneralMaterials   \u5e76 \u627e\u5230 \u8be5   Glass   \u6750\u8d28 \u3002 \u5c06 \u73bb\u7483 \u6750\u8d28 \u62d6\u81f3 \u7f51\u683c \u7269\u4f53 \u7684 \u6750\u8d28 \u69fd \u4e2d \u3002 \u5bf9 \u73bb\u7483 \u7684 \u6bcf \u4e00\u5c42 \u91cd\u590d \u6b64 \u8fc7\u7a0b \u3002   \u73bb\u7483 \u73b0\u5728 \u5c06 \u662f \u900f\u660e \u7684 \uff0c \u4f46 \u5177\u6709 \u53cd\u5c04 \u9644\u8fd1 \u7269\u4f53 \u548c \u5149\u6e90 \u7684 \u53cd\u5c04 \u53cd\u5c04\u7387 \u3002 \u60a8 \u8fd8 \u5e94\u8be5 \u68c0\u67e5 \u5185\u90e8 \u73bb\u7483 \uff0c \u786e\u4fdd \u90a3\u91cc \u6709 \u9002\u5f53 \u7684 \u73bb\u7483 \u6548\u679c \u3002   \u5355\u5c42 \u73bb\u7483   \u4e3a\u4e86 \u66f4\u5feb \u5730 \u751f\u4ea7 \u8f66\u8f86 \u73bb\u7483 \u90e8\u4ef6 \uff0c \u552f\u4e00 \u7684 \u5173\u952e \u90e8\u4ef6 \u5173\u952e\u90e8\u4ef6 \u662f \u6700 \u5916\u5c42 \u7684 \u73bb\u7483 \u5c42 \u3002 \u60a8 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d\u5c06 \u73bb\u7483 \u6750\u8d28 \u5e94\u7528 \u4e8e \u6b64 \uff0c \u5e76 \u83b7\u5f97 \u53ef\u80fd \u9002\u5408 \u60a8 \u9700\u6c42 \u7684 \u7ed3\u679c \uff0c \u4f46\u662f \uff0c \u4ece\u8f66 \u5185 \u67e5\u770b \u7684 \u89c6\u56fe \uff08 \u5373 \uff0c \u5982\u679c \u60a8 \u5728 \u4eea\u8868 \u4eea\u8868\u677f \u4e0a \u6216 \u65b9\u5411 \u65b9\u5411\u76d8 \u540e\u9762 \u5b9e\u4f8b \u5316 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \uff09 \u4f3c\u4e4e \u5177\u6709 \u65e0 \u73bb\u7483 \uff08 \u65e0 \u6298\u5c04 \u6216 \u53cd\u5c04 \uff09 \u3002 \u6211\u4eec \u5efa\u8bae \u91c7\u7528 \u4e0a\u8ff0 \u5de5\u827a \u6765 \u751f\u4ea7 \u6700 \u771f\u5b9e \u7684 \u73bb\u7483 \u3002   \u73b0\u5728 \u60a8 \u5df2\u7ecf \u521b\u5efa \u4e86 \u84dd\u56fe \uff0c \u6dfb\u52a0 \u4e86 \u7f51\u683c \uff0c \u5b8c\u6210 \u4e86 \u88c5\u914d \uff0c \u521b\u5efa \u4e86 \u6cb9\u6f06 \u9970\u9762 \u548c \u73bb\u7483 \u7684 \u6750\u6599 \uff0c \u60a8 \u5e94\u8be5 \u62e5\u6709 \u4e00\u8f86 \u5916\u89c2 \u975e\u5e38 \u903c\u771f \u7684 \u8f66\u8f86 \u3002   \u8f66\u8f6e   \u5982\u679c \u60a8 \u5728   \u521b\u5efa \u84dd\u56fe \u65f6   \u590d\u5236 \u4e86 \u8f66\u8f6e \uff0c \u5e76\u4e14 \u60a8 \u7684 \u8f66\u8f86 \u4e0e   Carla   \u5e93\u4e2d \u5df2\u6709 \u7684 \u8f66\u8f86 \u975e\u5e38 \u76f8\u4f3c \uff0c \u90a3\u4e48 \u8fd9 \u53ef\u80fd \u9002\u5408 \u60a8 \u7684 \u76ee\u7684 \u3002 \u4f46\u662f \uff0c \u5982\u679c \u60a8 \u7684 \u8f66\u8f86 \u5177\u6709 \u975e\u6807 \u6807\u51c6 \u975e\u6807\u51c6 \u8f66\u8f6e \u5c3a\u5bf8 \u6216 \u6293 \u5730\u529b \u7279\u6027 \uff0c \u5219 \u5e94 \u6309\u7167 \u672c \u8282 \u8bbe\u7f6e \u8f66\u8f6e \u84dd\u56fe \uff0c \u4ee5 \u6700\u597d \u5730 \u5339\u914d \u8f66\u8f86 \u8f66\u8f6e \u7684 \u7269\u7406 \u7279\u6027 \u3002   \u5bf9\u4e8e   Carla   \u8f66\u8f86 \u7684 \u8f66\u8f6e \uff0c \u6211\u4eec \u9700\u8981 \u4e3a \u6bcf\u4e2a \u8f66\u8f6e \u5efa\u7acb \u4e00\u4e2a \u84dd\u56fe \u7c7b\u6765 \u5904\u7406 \u529b\u5b66 \u548c \u78b0\u649e \u5c5e\u6027 \u3002 \u60a8 \u5c06 \u8bbe\u7f6e   4   \u4e2a \u84dd\u56fe \u7c7b \uff0c \u6211\u4eec \u5efa\u8bae \u4f7f\u7528 \u4ee5\u4e0b \u524d\u7f00 \u6216 \u540e\u7f00 \u6765 \u8bc6\u522b \u8f6e\u5b50 \uff1a   RRW   -   R   ear   R   ight   W   heel   RLW   -   R   ear   L   eft   W   heel   FRW   -   F   ront   R   ight   W   heel   FLW   -   F   ront   L   eft   W   heel   \u8f66\u8f6e \u84dd\u56fe   \u5728 \u60a8 \u62e5\u6709 \u65b0\u8f66 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u53f3\u952e \u5355\u51fb \u5e76 \u9009\u62e9 \u521b\u5efa \u4e00\u4e2a \u65b0 \u7684 \u84dd\u56fe \u7c7b \u3002 \u641c\u7d22   \u53cc\u51fb \u84dd\u56fe \u8fdb\u884c \u8c03\u6574 \uff1a   \u78b0\u649e \u7f51\u683c   \u9996\u5148 \uff0c \u7528\u4e8e \u78b0\u649e \u7f51\u683c \u7684 \u9ed8\u8ba4 \u5706\u67f1 \u67f1\u4f53 \u5706\u67f1\u4f53 \u5177\u6709 \u9ad8 \u591a\u8fb9 \u591a\u8fb9\u5f62 \u6570\u91cf \uff0c \u56e0\u6b64 \u6211\u4eec \u5e94\u8be5 \u5c06 \u5176 \u66ff\u6362 \u4e3a \u4f4e \u591a\u8fb9 \u591a\u8fb9\u5f62 \u7248\u672c \u3002 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u627e\u5230   Content   >   Carla   >   Blueprints   >   Vehicles   \u5185 \u7684   CollisionWheel   \u7f51\u683c \u3002 \u84dd\u56fe \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u9762\u677f \u4e2d \u7684 \u63d2\u69fd \u4e0a \u3002 \u8fd9 \u5c06 \u63d0\u9ad8 \u6027\u80fd \uff0c \u800c \u4e0d\u4f1a \u5bfc\u81f4 \u7269\u7406 \u4eff\u771f \u51fa\u73b0 \u4efb\u4f55 \u660e\u663e \u7684 \u7f3a\u9677 \u3002   \u8f6e\u80ce \u914d\u7f6e   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u6211\u4eec \u8bbe\u7f6e \u8f6e\u80ce \u914d\u7f6e \u3002 \u5728   Content   >   Carla   >   Blueprints   >   Vehicles   \u5185 \u627e\u5230   CommonTireConfig   \u914d\u7f6e \u5e76 \u5c06 \u5176 \u62d6 \u5230   Tire   Config   \u84dd\u56fe \u7684 \u90e8\u5206 \u4e0a \u3002 \u5982\u679c \u53cc\u51fb \u84dd\u56fe \u4e2d \u7684 \u8f6e\u80ce \u914d\u7f6e \uff0c \u53ef\u4ee5 \u8c03\u6574 \u6469\u64e6 \u6bd4\u4f8b \uff0c \u53ef\u4ee5 \u4fee\u6539 \u8f66\u8f86 \u7684 \u9053\u8def \u64cd\u63a7 \u884c\u4e3a \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u8bbe\u7f6e \u4e3a   3.5 \uff0c \u8be5\u503c \u9002\u5408 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u8f66\u8f86 \u4f7f\u7528 \u60c5\u51b5 \u3002 \u4f46\u662f \uff0c \u5982\u679c \u60a8 \u5e0c\u671b \u5bf9 \u5e26\u6709 \u5149\u5934 \u8f6e\u80ce \u7684 \u8d5b\u8f66 \u8fdb\u884c \u5efa\u6a21 \uff0c \u5219 \u8fd9 \u5c06 \u662f \u9700\u8981 \u8c03\u6574 \u7684 \u9002\u5f53 \u53c2\u6570 \u3002   \u8f66\u8f6e \u5c3a\u5bf8   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u5728 \u4e09\u7ef4 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \u6d4b\u91cf \u8f66\u8f6e \u7684 \u76f4\u5f84 \u3002 \u5728   Blender   \u4e2d \uff0c \u53ef\u4ee5 \u5728 \u5bf9\u8c61 \u6a21\u5f0f \u4e0b \u6309   n   \u6253\u5f00 \u7684 \u5c5e\u6027 \u9762\u677f \u4e2d \u67e5\u770b \u5c3a\u5bf8 \u3002   \u73b0\u5728 \u5c06 \u8fd9\u4e9b \u6570\u5b57 \u63d2\u5165 \u5230   Wheel   \u84dd\u56fe \u7684 \u90e8\u5206 \u4e2d \u3002 \u8bf7 \u6ce8\u610f \u534a\u5f84 \u4e3a \u76f4\u5f84 \u7684 \u4e00\u534a \uff0c \u5e76\u4e14 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \u3002 \u5bf9\u4e8e \u8f66\u8f6e \u8d28\u91cf \uff0c \u6211\u4eec \u5efa\u8bae \u5728 \u4e92\u8054 \u8054\u7f51 \u4e92\u8054\u7f51 \u4e0a \u67e5\u627e \u89c4\u683c \uff0c \u627e\u5230 \u6b63\u786e \u7684 \u8f6e\u80ce \u578b\u53f7 \u6216 \u7c7b\u4f3c \u7684 \u8f6e\u80ce \u578b\u53f7 \u6765 \u4f30\u8ba1 \u6b63\u786e \u7684 \u8d28\u91cf \uff08 \u4ee5 \u5343\u514b \u4e3a \u5355\u4f4d \uff09 \u3002   Affected   by   handbrake   \u5e94 \u68c0\u67e5 \u4e24\u4e2a \u540e\u8f6e \u3002   Steer   angle   \u5bf9\u4e8e \u4e24\u4e2a \u524d\u8f6e \u5e94 \u8bbe\u7f6e \u4e3a \u6700\u5927 \u9884\u671f \u8f6c\u5411 \u89d2 \uff0c \u5bf9\u4e8e \u4e24\u4e2a \u540e\u8f6e \u5e94 \u8bbe\u7f6e \u4e3a \u96f6 \u3002   \u60ac\u67b6 \u7279\u6027   \u8fd9\u91cc \u7684 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5408\u7406 \u7684 \u8d77\u70b9 \u3002 \u67e5\u770b   \u672c \u6307\u5357   \u4ee5 \u8bbe\u7f6e \u9002\u5408 \u60a8 \u8f66\u8f86 \u7c7b\u578b \u7684 \u60ac\u67b6 \u7279\u6027 \u3002   \u706f   \u5b8c\u6210   Carla   \u771f\u5b9e \u8f66\u8f86 \u7684 \u6700\u540e \u4e00\u4e2a \u5143\u7d20 \u662f \u706f \u3001 \u524d\u706f \u3001 \u5239\u8f66 \u8f66\u706f \u5239\u8f66\u706f \u3001 \u95ea\u5149 \u5149\u706f \u95ea\u5149\u706f \u7b49 \u3002 \u5728 \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \uff0c \u60a8 \u5e94\u8be5 \u5bf9 \u4e00\u4e9b \u7c7b\u4f3c \u4e8e \u60a8 \u8981 \u590d\u5236 \u7684 \u8f66\u8f86 \u706f \u7684 \u5f62\u72b6 \u8fdb\u884c \u5efa\u6a21 \u3002 \u5bf9\u4e8e \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u8f66\u5934 \u5934\u706f \u8f66\u5934\u706f \u6765\u8bf4 \uff0c \u8fd9 \u5c06 \u662f \u6241\u5e73 \u5706\u76d8 \u6216 \u6241\u5e73 \u957f\u65b9 \u957f\u65b9\u4f53 \u7ed3\u6784 \u3002 \u6709\u4e9b \u8f66\u8f86 \u53ef\u80fd \u8fd8 \u914d\u6709   LED   \u706f\u6761 \u3002   UV   \u8d34\u56fe   \u4e0d\u540c \u7c7b\u578b \u7684 \u706f \uff08 \u524d\u706f \u3001 \u95ea\u5149 \u5149\u706f \u95ea\u5149\u706f \u3001 \u5239\u8f66 \u8f66\u706f \u5239\u8f66\u706f \u7b49 \uff09 \u4f7f\u7528 \u7eb9\u7406 \u6765 \u533a\u5206 \u3002 \u60a8 \u9700\u8981 \u5728   \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \u521b\u5efa   UV   \u8d34\u56fe \uff0c \u5e76 \u5b9a\u4f4d \u706f\u5149 \u4ee5 \u4e0e \u7eb9\u7406 \u7684 \u76f8\u5173 \u533a\u57df \u5339\u914d \u76f8\u5339\u914d \u3002   \u5bfc\u5165   \u5c06 \u706f\u5149 \u7f51\u683c \u5bfc\u5165 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668   -   \u5bfc\u5165 \u706f\u5149 \u7f51\u683c \u540e \uff1a   \u5c06 \u7f51\u683c \u7269\u4f53 \u62d6\u52a8 \u5230   Components   \u9762\u677f \u4e2d \u7684   Mesh   ( VehicleMesh )   ( Inherited )   \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u3002   \u9009\u62e9 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u7684 \u989d\u5916 \u7f51\u683c \u5e76 \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \u641c\u7d22   Collision   \u3002   \u5c06 \u78b0\u649e \u9884\u8bbe (   Collision   Presets   ) \u8bbe\u7f6e \u4e3a   NoCollision   \u3002   \u9009\u62e9 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u7684 \u4efb\u4f55 \u706f\u5149 \u7f51\u683c \u3002 \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \u641c\u7d22   Tag   \u5e76 \u6dfb\u52a0   emissive   \u6807\u7b7e \u3002","title":"\u5185\u5bb9 \u521b\u4f5c   -   \u8f66\u8f86"},{"location":"tuto_content_authoring_vehicles/#-","text":"Carla   \u5728 \u84dd \u56fe\u5e93 \u4e2d \u63d0\u4f9b \u4e86 \u4e00\u5957 \u5f00\u7bb1 \u5373\u7528 \u7684 \u5168\u9762 \u8f66\u8f86 \u3002 Carla   \u5141\u8bb8 \u7528\u6237 \u4f7f\u7528 \u5b9a\u5236 \u8f66\u8f86 \u5bf9\u6b64 \u8fdb\u884c \u6269\u5c55 \uff0c \u4ee5 \u5b9e\u73b0 \u6700\u5927 \u7684 \u6269\u5c55 \u5c55\u6027 \u6269\u5c55\u6027 \u53ef\u6269\u5c55\u6027 \u3002   \u8be6\u7ec6 \u8f66\u8f86 \u7684 \u4e09\u7ef4 \u5efa\u6a21 \u975e\u5e38 \u590d\u6742 \u975e\u5e38\u590d\u6742 \uff0c \u9700\u8981 \u5f88 \u9ad8 \u7684 \u6280\u80fd \u3002 \u56e0\u6b64 \uff0c \u6211\u4eec \u5efa\u8bae \u8bfb\u8005 \u53c2\u8003 \u6709\u5173 \u4e09\u7ef4 \u5efa\u6a21 \u7684 \u5176\u4ed6 \u6587\u6863 \u6765\u6e90 \uff0c \u56e0\u4e3a \u8fd9 \u8d85\u51fa \u4e86 \u672c \u6307\u5357 \u7684 \u8303\u56f4 \u3002 \u7136\u800c \uff0c \u514d\u8d39 \u548c \u4e13\u6709 \u7684 \u5728\u7ebf \u5b58\u50a8 \u5e93\u4e2d \u6709 \u5927\u91cf \u7684 \u8f66\u8f86 \u6a21\u578b \u6765\u6e90 \u3002 \u56e0\u6b64 \uff0c \u7528\u6237 \u6709 \u591a\u79cd \u9009\u62e9 \u6765 \u521b\u5efa \u7528\u4e8e   Carla   \u7684 \u5b9a\u5236 \u8f66\u8f86 \u3002   \u4e3a   Carla   \u51c6\u5907 \u5b9a\u5236 \u8f66\u8f86 \u7684 \u5173\u952e \u56e0\u7d20 \u5173\u952e\u56e0\u7d20 \u5728\u4e8e \u88c5\u914d \u8f66\u8f86 \u9aa8\u67b6 \uff0c \u7136\u540e \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce \u4e2d \u3002 \u88c5\u914d \u548c \u5bfc\u5165 \u540e \uff0c \u9700\u8981 \u4e3a \u6c7d\u8f66 \u548c \u8f66\u8f6e \u8bbe\u7f6e \u84dd\u56fe \u3002 \u7136\u540e \u5e94\u7528 \u6750\u6599 \u5e76 \u6dfb\u52a0 \u8f66\u8f86 \u7684 \u73bb\u7483 \u90e8\u4ef6 \u3002 \u6211\u4eec \u5c06 \u5728 \u4ee5\u4e0b \u6307\u5357 \u4e2d \u4ecb\u7ecd \u8fd9\u4e9b \u6b65\u9aa4 \u3002   \u5efa\u6a21   \u547d\u540d \u7ea6\u5b9a   \u4f7f\u7528 \u7535\u67a2 \u88c5\u914d \u8f66\u8f86   \u5bfc\u5165   \u6dfb\u52a0 \u7535\u67a2   \u8bbe\u7f6e \u7236\u7ea7   \u5c06 \u6c7d\u8f66 \u96f6\u4ef6 \u6c7d\u8f66\u96f6\u4ef6 \u5206\u914d \u7ed9 \u9aa8\u9abc   Blender   \u7684 \u865a\u5e7b \u5f15\u64ce   4   \u8f66\u8f86 \u88c5\u914d \u63d2\u4ef6   \u5bfc\u51fa   \u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce   \u8bbe\u7f6e \u7269\u7406 \u8d44\u4ea7   \u521b\u5efa \u52a8\u753b   \u521b\u5efa \u84dd\u56fe   \u6750\u8d28   \u7ed9 \u8f66\u8f86 \u5e94\u7528 \u6750\u8d28   \u989c\u8272   \u900f\u660e \u6d82\u5c42   \u7c92\u72b6 \u8868\u9762   \u8584\u7247   \u7070\u5c18   \u73bb\u7483   \u73bb\u7483 \u7f51\u683c   \u73bb\u7483 \u6750\u8d28   \u5355\u5c42 \u73bb\u7483   \u8f66\u8f6e   \u8f66\u8f6e \u84dd\u56fe   \u78b0\u649e \u7f51\u683c   \u8f6e\u80ce \u914d\u7f6e   \u8f66\u8f6e \u5c3a\u5bf8   \u60ac\u67b6 \u7279\u6027   \u706f   UV   \u8d34\u56fe   \u5bfc\u5165","title":"\u5185\u5bb9 \u521b\u4f5c   -   \u8f66\u8f86"},{"location":"tuto_content_authoring_vehicles/#_1","text":"\u8f66\u8f86 \u5e94\u6709   5   \u4e07\u5230   10   \u4e07\u4e2a \u9762\u7247 \u3002 \u4f5c\u4e3a \u6700\u4f73 \u5b9e\u8df5 \uff0c \u6211\u4eec \u5efa\u8bae \u5728 \u5bfc\u51fa \u4e4b\u524d \u6a21\u578b \u5bf9\u6a21\u578b \u8fdb\u884c \u4e09\u89d2 \u6d4b\u91cf \u4e09\u89d2\u6d4b\u91cf \u3002 Carla   \u8f66\u8f86 \u662f \u53c2\u8003 \u5b9e\u9645 \u6c7d\u8f66 \u7684 \u5c3a\u5bf8 \u548c \u6bd4\u4f8b \u8fdb\u884c \u5efa\u6a21 \u7684 \u3002 \u8bf7 \u786e\u4fdd \u786e\u4fdd\u60a8 \u7279\u522b \u6ce8\u610f \u4e09\u7ef4 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u7684 \u5355\u4f4d \u3002 \u6709\u4e9b \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \uff0c \u6709\u4e9b \u5219 \u4ee5 \u7c73 \u4e3a \u5355\u4f4d \u3002","title":"\u5efa\u6a21  "},{"location":"tuto_content_authoring_vehicles/#_2","text":"\u4e3a\u4e86 \u65b9\u4fbf \u548c \u4e00\u81f4 \uff0c \u6211\u4eec \u5efa\u8bae \u5efa\u8bae\u60a8 \u5c06 \u8f66\u8f86 \u5206\u4e3a \u4ee5\u4e0b \u90e8\u5206 \u5e76 \u76f8\u5e94 \u547d\u540d \u3002 \u73bb\u7483 \u548c \u706f \u7684 \u5177\u4f53 \u7ec6\u8282 \u5c06 \u5728 \u540e\u9762 \u7684 \u90e8\u5206 \u4e2d \u4ecb\u7ecd \uff1a   \u8f66\u8eab ( Bodywork )   :   \u8f66\u8f86 \u7684 \u91d1\u5c5e \u90e8\u5206 \u3002 \u8be5 \u6750\u8d28 \u5df2 \u66f4 \u6539\u4e3a \u865a\u5e7b \u5f15\u64ce \u6750\u8d28 \u3002 \u53ef\u4ee5 \u6dfb\u52a0 \u5fbd\u6807 \u548c \u7ec6\u8282 \uff0c \u4f46 \u4e3a\u4e86 \u53ef\u89c1 \uff0c \u5fc5\u987b \u4f7f\u7528 \u865a\u5e7b \u5f15\u64ce \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u7684   Alpha   \u901a\u9053 \u5c06 \u5b83\u4eec \u7ed8\u5236 \u4e3a \u4e0d\u540c \u7684 \u989c\u8272 \u3002   Glass _ Ext   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u53ef\u4ee5 \u4ece \u8f66\u8f86 \u5916\u90e8 \u770b\u5230 \u5185\u90e8 \u3002   Glass _ Int   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u8f66\u8f86 \u5185\u90e8 \u5230 \u5916\u90e8 \u7684 \u53ef\u89c1 \u6027 \u3002   Lights   :   \u5934\u706f \u3001 \u6307\u793a \u6307\u793a\u706f \u7b49   LightGlass _ Ext   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u5916\u90e8 \u5230 \u5185\u90e8 \u7684 \u706f\u5149 \u53ef\u89c1 \u6027 \u3002   LightGlass _ Int   :   \u4e00\u5c42 \u73bb\u7483 \uff0c \u5141\u8bb8 \u4ece \u5185\u90e8 \u5230 \u5916\u90e8 \u770b\u5230 \u5149 \u3002   LicensePlate   :   29x12   \u5398\u7c73 \u7684 \u77e9\u5f62 \u5e73\u9762 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u63d0\u4f9b \u7684   Carla   \u4ee5 \u83b7\u5f97 \u6700\u4f73 \u83b7\u5f97\u6700\u4f73 \u7ed3\u679c \uff0c \u8bf7 \u5728   \u6b64\u5904   \u4e0b\u8f7d   . fbx   \u3002 \u7eb9\u7406 \u5c06 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u81ea\u52a8 \u5206\u914d \u3002   \u5185\u9970 ( Interior )   :   \u4efb\u4f55 \u5176\u4ed6 \u4e0d \u9002\u5408 \u4e0a\u8ff0 \u90e8\u5206 \u7684 \u7ec6\u8282 \u90fd \u53ef\u4ee5 \u8fdb\u5165   \u5185\u9970   \u3002   \u6750\u8d28 ( Material ) \u5e94 \u4f7f\u7528 \u683c\u5f0f   M _ CarPart _ CarName   \u547d\u540d \uff0c \u4f8b\u5982 ,   M _ Bodywork _ Mustang   \u3002 \u7eb9\u7406 \u7684 \u5927\u5c0f \u5e94\u4e3a   2048x2048 \u3002","title":"\u547d\u540d \u7ea6\u5b9a  "},{"location":"tuto_content_authoring_vehicles/#_3","text":"\u4e3a\u4e86 \u5728 \u4eff\u771f \u4e2d \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u66f4 \u771f\u5b9e \uff0c \u6c7d\u8f66 \u9700\u8981 \u6709 \u65cb\u8f6c \u8f6e\u5b50 \uff0c \u524d \u4e00\u5bf9 \u8f6e\u5b50 \u53ef\u4ee5 \u968f\u7740 \u8f6c\u5411 \u8f93\u5165 \u800c \u8f6c\u52a8 \u3002 \u56e0\u6b64 \uff0c \u8981 \u4e3a   Carla   \u51c6\u5907 \u8f66\u8f86 \uff0c \u9700\u8981 \u5728 \u6c7d\u8f66 \u4e0a \u5b89\u88c5 \u7535\u67a2 \u4ee5 \u8bc6\u522b \u8f66\u8f6e \u5e76 \u5141\u8bb8 \u5176 \u79fb\u52a8 \u3002","title":"\u4f7f\u7528 \u7535\u67a2 \u88c5\u914d \u8f66\u8f86  "},{"location":"tuto_content_authoring_vehicles/#_4","text":"\u5728 \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \u5bfc\u5165 \u6216 \u5efa\u6a21 \u8f66\u8f86 \u6a21\u578b \u7f51\u683c \u3002 \u5728 \u672c \u6307\u5357 \u4e2d \uff0c \u6211\u4eec \u5c06 \u4f7f\u7528   Blender   3D \u3002 \u786e\u4fdd \u8f6e\u5b50 \u4e0e \u4e3b\u4f53 \u5206\u79bb \u3002 \u6bcf\u4e2a \u8f6e\u5b50 \u5fc5\u987b \u53ef\u4ee5 \u4f5c\u4e3a \u4e00\u4e2a \u4e0d\u540c \u7684 \u5bf9\u8c61 \u8fdb\u884c \u8bbf\u95ee \u3002   \u786e\u4fdd \u8f66\u8f86 \u9762\u5411 \u6b63   X   \u65b9\u5411 \u975e\u5e38 \u91cd\u8981 \uff0c \u56e0\u6b64 \u5f15\u64ce \u5f15\u64ce\u76d6 \u548c \u6321\u98ce \u73bb\u7483 \u6321\u98ce\u73bb\u7483 \u5e94 \u9762\u5411 \u6b63   X   \u65b9\u5411 \u3002 \u6c7d\u8f66 \u7684 \u65b9\u5411 \u8fd8 \u5e94 \u4f7f \u5730\u677f \u5230 \u8f66\u9876 \u65b9\u5411 \u5904\u4e8e \u6b63   Z   \u65b9\u5411 \u3002 \u8f66\u8f6e \u5e94\u8be5 \u6b63\u597d \u64e6 \u8fc7   XY   \u5e73\u9762 \uff0c \u5e76\u4e14 \u539f\u70b9 \u5e94\u8be5 \u4f4d\u4e8e \u60a8 \u671f\u671b \u8f66\u8f86 \u8d28\u5fc3 \u4f4d\u4e8e   XY   \u5e73\u9762 \uff08 \u4f46 \u4e0d\u662f   Z   \u5e73\u9762 \uff09 \u7684 \u4f4d\u7f6e \u3002","title":"\u5bfc\u5165    "},{"location":"tuto_content_authoring_vehicles/#_5","text":"\u73b0\u5728 \u5728 \u8f66\u8f86 \u7684 \u4e2d\u5fc3 \u6dfb\u52a0 \u4e00\u4e2a \u9aa8\u67b6 \uff0c \u786e\u4fdd \u7269\u4f53 \u6b63\u786e \u5c45\u4e2d \uff0c \u9aa8\u67b6 \u9aa8\u9abc \u7684 \u6839\u90e8 \u5e94 \u8bbe\u7f6e \u5728 \u539f\u70b9 \u3002 \u5207\u6362 \u5230 \u7f16\u8f91 \u6a21\u5f0f \u5e76 \u5c06 \u9aa8\u67b6 \u7ed5   x   \u8f74 \u65cb\u8f6c   90   \u5ea6 \u3002   \u73b0\u5728 \u9009\u62e9 \u9aa8\u67b6 \u5e76 \u6dfb\u52a0   4   \u4e2a \u9aa8\u9abc \u3002 \u8fd9\u4e9b \u9aa8\u9abc \u4e2d \u7684 \u6bcf \u4e00\u4e2a \u90fd \u9700\u8981 \u5b9a\u4f4d \uff0c \u4f7f\u5f97 \u9aa8\u9abc \u7684 \u6839\u90e8 \u4e0e \u6bcf\u4e2a \u8f6e\u5b50 \u7684 \u4e2d\u5fc3 \u91cd\u5408 \u3002 \u8fd9 \u53ef\u4ee5 \u901a\u8fc7 \u5728 \u7f16\u8f91 \u6a21\u5f0f \u4e0b \u5c06 \u4e09\u7ef4 \u5149\u6807 \u5b9a\u4f4d \u5728 \u6bcf\u4e2a \u6eda\u8f6e \u7684 \u4e2d\u5fc3 \u6765 \u5b9e\u73b0 \u3002 \u5728 \u5bf9\u8c61 \u6a21\u5f0f \u4e0b \u9009\u62e9 \u5176\u4e2d \u4e00\u4e2a \u8f6e\u5b50 \uff0c \u9009\u62e9 \u4e00\u4e2a \u9876\u70b9 \uff0c \u6309   A   \u9009\u62e9 \u6240\u6709 \u9876\u70b9 \uff0c \u7136\u540e   Shift + S   \u9009\u62e9   Cursor   to   selected   \u3002 \u8fd9\u4f1a \u5c06 \u5149\u6807 \u5b9a\u4f4d \u5728 \u6eda\u8f6e \u7684 \u4e2d\u5fc3 \u3002 \u7136\u540e \uff0c \u5728 \u5bf9\u8c61 \u6a21\u5f0f \u4e0b \uff0c \u9009\u62e9 \u9aa8\u67b6 \uff0c \u5207\u6362 \u5230 \u7f16\u8f91 \u6a21\u5f0f \uff0c \u9009\u62e9 \u9aa8\u9abc \u5e76 \u9009\u62e9   Selection   to   cursor   \u3002 \u60a8 \u7684 \u9aa8\u9abc \u73b0\u5728 \u5c06 \u4e0e \u8f6e\u5b50 \u91cd\u5408 \u3002 \u65cb\u8f6c \u6bcf\u4e2a \u9aa8\u9abc \uff0c \u4f7f \u5176 \u4e0e \u9aa8\u67b6 \u5e95\u90e8 \u5bf9\u9f50 \u3002   \u5bf9\u4e8e \u6bcf\u4e2a \u8f6e\u5b50 \uff0c \u5efa\u8bae \u6839\u636e \u9700\u8981 \u8026\u5408 \u7684 \u8f6e\u5b50 \u6765 \u547d\u540d \u9aa8\u9abc \uff0c \u8fd9 \u5c06 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u7a0d\u540e \u5728 \u9700\u8981 \u4e3a \u6bcf\u4e2a \u9aa8\u9abc \u5206\u914d \u9876\u70b9 \u7ec4\u65f6 \u8fdb\u884c \u8bc6\u522b \u3002","title":"\u6dfb\u52a0 \u7535\u67a2  "},{"location":"tuto_content_authoring_vehicles/#_6","text":"\u73b0\u5728 \u5728 \u9879\u76ee \u5927\u7eb2 \u4e2d \u4f7f\u7528   shift   \u6216   control   \u9009\u62e9 \u8eab\u4f53 \u7684 \u6240\u6709 \u90e8\u5206 \u548c \u6240\u6709 4 \u4e2a \u8f6e\u5b50 \uff0c \u7136\u540e \u63a7\u5236 \u9009\u62e9 \u60a8 \u521b\u5efa \u7684 \u9aa8\u67b6 \uff08 \u8fd9\u4e2a \u987a\u5e8f \u5f88 \u91cd\u8981 \uff0c \u5982\u679c \u60a8 \u4ee5 \u76f8\u53cd \u7684 \u987a\u5e8f \u9009\u62e9 \u5b83\u4eec \u5c06 \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \uff09 \u3002 \u6309   Ctrl + p   \u5e76 \u9009\u62e9   With   empty   groups   \u5c06 \u7f51\u683c \u7ed1\u5b9a \u5230 \u9aa8\u67b6 \u3002   \u73b0\u5728 \u60a8 \u5df2 \u5c06 \u7f51\u683c \u4f53 \u8bbe\u7f6e \u4e3a \u9aa8\u67b6 \u7684 \u7236\u7ea7 \uff0c \u73b0\u5728 \u9700\u8981 \u5c06 \u6bcf\u4e2a \u8f6e\u5b50 \u5206\u914d \u7ed9 \u5176 \u5404\u81ea \u7684 \u9aa8\u9abc \u3002 \u5728 \u5927\u7eb2 \u89c6\u56fe \u6216 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u9009\u62e9 \u4e00\u4e2a \u8f6e\u5b50 \u3002 \u5207\u6362 \u5230 \u7f16\u8f91 \u6a21\u5f0f \uff0c \u7136\u540e \u9009\u62e9 \u8f6e\u5b50 \u7684 \u6240\u6709 \u9876\u70b9 \uff08 \u5feb\u6377 \u5feb\u6377\u952e   -   a \uff09 \u3002","title":"\u8bbe\u7f6e \u7236\u7ea7    "},{"location":"tuto_content_authoring_vehicles/#_7","text":"\u9009\u62e9 \u5c5e\u6027 \u7684 \u7f51\u683c \u9009\u9879 \u9009\u9879\u5361 \uff08 \u7eff\u8272 \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \uff09 \u3002 \u5728 \u7f51\u683c \u5c5e\u6027 \u9762\u677f \u7684 \u9876\u70b9 \u7ec4 \u9009\u9879 \u9009\u9879\u5361 \u4e2d \uff0c \u60a8 \u73b0\u5728 \u5e94\u8be5 \u770b\u5230 \u9aa8\u67b6 \u7684 \u9aa8\u9abc \u3002 \u9009\u62e9 \u4e0e \u60a8 \u6b63\u5728 \u7f16\u8f91 \u7684 \u8f6e\u5b50 \u5bf9\u5e94 \u7684 \u9aa8\u9abc \uff0c \u7136\u540e \u9009\u62e9   Assign   \u3002 \u5b89\u88c5 \u597d \u8f66\u8f6e \u540e \uff0c \u5c06 \u8f66\u8f86 \u7684 \u6240\u6709 \u5176\u4ed6 \u90e8\u4ef6 \u5b89\u88c5 \u5230 \u57fa\u9aa8 \u4e0a \u3002   \u5c06 \u6240\u6709 \u7f51\u683c \u90e8\u4ef6 \u5206\u914d \u7ed9 \u9aa8\u67b6 \u540e \uff0c \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u9009\u62e9 \u9aa8\u67b6 \u5e76 \u79fb\u52a8 \u5230 \u59ff\u52bf \u6a21\u5f0f \u5e76 \u79fb\u52a8 \u76f8\u5173 \u9aa8\u9abc \u6765 \u6d4b\u8bd5 \u5b83 \u662f\u5426 \u6709\u6548 \u3002 \u8f66\u8f86 \u57fa\u9aa8\u5e94 \u79fb\u52a8 \u6574\u4e2a \u8f66\u8f86 \uff0c \u800c\u8f6e \u9aa8\u5e94 \u5206\u522b \u79fb\u52a8 \u5e76 \u65cb\u8f6c \u5404\u81ea \u7684 \u8f66\u8f6e \u3002   Ctrl + Z   \u786e\u4fdd \u64a4\u6d88 \u60a8 \u53ef\u80fd \u505a\u51fa \u7684 \u4efb\u4f55 \u59ff\u52bf \u3002","title":"\u5c06 \u6c7d\u8f66\u96f6\u4ef6 \u5206\u914d \u7ed9 \u9aa8\u9abc  "},{"location":"tuto_content_authoring_vehicles/#blender-4","text":"Blender   \u6709 \u4e00\u4e2a \u975e\u5e38 \u6709\u7528 \u7684 \u63d2\u4ef6 \uff0c \u7528\u4e8e \u88c5\u914d \u8f66\u8f86 \u4ee5 \u5bfc\u5165   Carla \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u7b80\u5316 \u4e0a\u8ff0 \u6b65\u9aa4 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   \u63d2\u4ef6 \u7f51\u9875   \u4ee5 \u83b7\u53d6 \u8bf4\u660e \u3002","title":"Blender   \u7684 \u865a\u5e7b \u5f15\u64ce   4   \u8f66\u8f86 \u88c5\u914d \u63d2\u4ef6  "},{"location":"tuto_content_authoring_vehicles/#_8","text":"\u73b0\u5728 \uff0c \u6211\u4eec \u5c06 \u88c5\u914d \u6a21\u578b \u5bfc\u51fa \u4e3a   FBX   \u683c\u5f0f \uff0c \u4ee5\u4fbf \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce \u4e2d \u3002 \u4ece \u201c \u6587\u4ef6 \u201d \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   Export   >   FBX   ( . fbx )   \u3002 \u5728   Include   \u9762\u677f \u7684   Object   Types   \u90e8\u5206 \u4e2d \uff0c \u6309\u4f4f   Shift   \u952e \u9009\u62e9   Armature   \u548c   Mesh   \u9009\u9879 \u3002   \u5728   Transform   \u9762\u677f \u4e2d \u3002 \u66f4\u6539   Forward   \u4e3a   X   Forward   \uff0c \u5e76 \u66f4\u6539   Up   \u4e3a   Z   Up   .   \u8fd9 \u5bf9\u4e8e \u786e\u4fdd \u8f66\u8f86 \u5728 \u865a\u5e7b \u5f15\u64ce \u4e2d \u6b63\u786e \u5b9a\u5411 \u975e\u5e38 \u91cd\u8981 \u3002   \u5728   Armature   \u90e8\u5206 \u4e2d \u53d6\u6d88   Add   Leaf   Bones   \u9009\u4e2d \u5e76 \u53d6\u6d88   Bake   Animation   \u9009\u4e2d \u3002","title":"\u5bfc\u51fa  "},{"location":"tuto_content_authoring_vehicles/#_9","text":"\u4ece   Carla   \u76ee\u5f55 \u6839\u76ee\u5f55 \uff08 \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   Carla   \u7684 \u76ee\u5f55 \uff09 \u4e2d \u4f7f\u7528   make   launch   \u547d\u4ee4 \u542f\u52a8 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u3002 \u6253\u5f00 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \uff0c \u8bbe\u7f6e \u9002\u5f53 \u7684 \u76ee\u5f55 \uff0c \u7136\u540e \u53f3\u952e \u5355\u51fb \u5e76 \u9009\u62e9   Import   to   ....   \u3002 \u9009\u62e9 \u60a8 \u4e4b\u524d \u4ece   Blender \uff08 \u6216 \u5176\u4ed6 \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff09 \u5bfc\u51fa \u7684   FBX   \u6587\u4ef6 \u3002 \u4f7f\u7528 \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u5bfc\u5165 \u3002","title":"\u5bfc\u5165 \u865a\u5e7b \u5f15\u64ce  "},{"location":"tuto_content_authoring_vehicles/#_10","text":"\u73b0\u5728 \uff0c \u60a8 \u7684 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u76ee\u5f55 \u4e2d\u5c06 \u5305\u542b   3   \u4e2a \u5185\u5bb9 \uff1a \u7f51\u683c \u3001 \u9aa8\u67b6 \u548c \u7269\u7406 \u8d44\u6e90 \u3002 \u53cc\u51fb \u7269\u7406 \u8d44\u6e90 \u8fdb\u884c \u8c03\u6574 \u3002   \u9996\u5148 \uff0c \u9009\u62e9 \u8f66\u4f53 \uff0c \u5728 \u53f3\u4fa7   Details   \u83dc\u5355 \u4e2d \uff0c \u5c06   Physics   \u90e8\u5206 \u4e2d \u7684   Linear   Damping   \u66f4 \u6539\u4e3a   0.0 \uff0c \u68c0\u67e5   Collision   \u90e8\u5206 \u7684   Simulation   Generates   Hit   Events   \uff0c \u5728   Body   Creation   \u90e8\u5206 \u5c06   Primitive   Type   \u4ece   Capsule   \u6539\u4e3a   Box   \u3002 \u7136\u540e \u6309   Regenerate   bodies   \u3002 \u80f6\u56ca \u73b0\u5728 \u5c06 \u53d8\u6210 \u4e00\u4e2a \u77e9\u5f62 \u76d2\u5b50 \u3002 \u7136\u540e \u9009\u62e9 \u8f6e\u5b50 \u3002   \u73b0\u5728 \u9009\u62e9 \u6240\u6709 \u8f6e\u5b50 \uff08 \u5728   Skeleton   Tree   \u5de6\u4fa7 \u90e8\u5206 \uff09 \u3002   \u5c06   Linear   Damping   \u6539\u4e3a   0.0 \uff0c \u5c06   Physics   Type   \u8bbe\u7f6e \u4e3a   Kinematic   \uff0c \u5c06   Collision   Response   \u8bbe\u7f6e \u4e3a   Disabled   \uff0c \u5e76 \u9009\u62e9   Primitive   Type   \u4f5c\u4e3a   Sphere   \u3002 \u518d \u6309   Re - generate   Bodies   \u4e00\u6b21 \u3002","title":"\u8bbe\u7f6e \u7269\u7406 \u8d44\u4ea7  "},{"location":"tuto_content_authoring_vehicles/#_11","text":"\u5728 \u60a8 \u62e5\u6709 \u65b0 \u8f66\u8f86 \u8d44\u4ea7 \u7684 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u76ee\u5f55 \u4e2d \uff0c \u53f3\u952e \u5355\u51fb \u5e76 \u9009\u62e9   Animation   >   Animation   Blueprint   \u3002 \u5728 \u6253\u5f00 \u7684 \u5f39\u51fa \u7a97\u53e3 \u4e2d \uff0c \u5728   Parent   Class   \u90e8\u5206 \u4e2d \u641c\u7d22   VehicleAnimInstance   \uff0c \u7136\u540e \u641c\u7d22   Target   Skeleton   \u4e0e \u60a8 \u7684 \u65b0\u8f66 \u76f8\u5bf9 \u5e94 \u7684 \u9aa8\u67b6 \uff0c \u60a8 \u5e94\u8be5 \u80fd\u591f \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u770b\u5230 \u8be5 \u540d\u79f0 \u3002 \u9009\u62e9 \u4e24\u9879 \u8fd9\u4e24\u9879 \u540e \u6309 \u786e\u5b9a \u3002 \u8fd9 \u5c06 \u4e3a \u60a8 \u7684 \u8f66\u8f86 \u521b\u5efa \u4e00\u4e2a \u65b0 \u7684 \u52a8\u753b \u84dd\u56fe \u3002   \u4e3a\u4e86 \u7b80\u5316 \u4e8b\u60c5 \uff0c \u6211\u4eec \u53ef\u4ee5 \u4ece \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u590d\u5236 \u52a8\u753b \u3002 \u5728 \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u6253\u5f00   Content   >   Carla   >   Static   >   Vehicles   >   4Wheeled   \u5e76 \u9009\u62e9 \u4efb\u610f \u8f66\u8f86 \u3002 \u6253\u5f00 \u6240 \u9009 \u8f66\u8f86 \u7684 \u52a8\u753b \u84dd\u56fe \uff0c \u7136\u540e \u5c06 \u9664 \u6b64 \u8282\u70b9 \u4e4b\u5916 \u7684 \u6240\u6709 \u8282\u70b9 \u590d\u5236   Output   pose   \u5230 \u65b0 \u7684 \u52a8\u753b \u84dd\u56fe \u4e2d \u3002 \u901a\u8fc7 \u62d6\u52a8 \u6700\u7ec8 \u8282\u70b9 \u4e0e \u8f93\u51fa \u8282\u70b9 \u4e4b\u95f4 \u7684 \u65b0 \u8fde\u63a5 \u6765 \u8fde\u63a5 \u8282\u70b9 \u3002 \u6309 \u7f16\u8bd1 \uff0c \u52a8\u753b \u84dd\u56fe \u73b0\u5df2 \u8bbe\u7f6e \u3002","title":"\u521b\u5efa \u52a8\u753b  "},{"location":"tuto_content_authoring_vehicles/#_12","text":"\u4f7f\u7528 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u5bfc\u822a \u5230   Content   >   Carla   >   Blueprints   >   Vehicles   >   LincolnMKZ2017   \u6216 \u7c7b\u4f3c \u7684 \u8f66\u8f86 \u3002 \u5728 \u8fd9\u91cc \u60a8 \u5c06 \u627e\u5230 \u4e00\u7ec4 \u4e3a   4   \u4e2a \u8f6e\u5b50 \u8bbe\u7f6e \u7684 \u84dd\u56fe \u3002 \u5c06 \u5b83\u4eec \u590d\u5236 \u590d\u5236\u5230 \u5305\u542b \u60a8 \u81ea\u5df1 \u7684 \u8f66\u8f86 \u7684 \u76ee\u5f55 \u4e2d \u5e76\u91cd \u547d\u540d \u5b83\u4eec \u4ee5 \u786e\u4fdd \u786e\u4fdd\u60a8 \u4ee5\u540e \u53ef\u4ee5 \u533a\u5206 \u5b83\u4eec \u3002 \u5982\u679c \u60a8 \u613f\u610f \uff0c \u60a8 \u53ef\u4ee5 \u8bbe\u7f6e \u81ea\u5df1 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f6e\u5b50 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 \u540e\u9762 \u7684   \u8f6e\u5b50 \u90e8\u5206   \u3002   \u53f3\u952e \u5355\u51fb \u65b0 \u8f66\u8f86 \u8d44\u4ea7 \u6240\u5728 \u7684 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u76ee\u5f55 \u5e76 \u9009\u62e9   Blueprint   Class   \u3002 \u5728   All   Classes   \u83dc\u5355 \u4e2d \u641c\u7d22   BaseVehiclePawn   \u5e76 \u9009\u62e9 \u6b64\u7c7b \u3002 \u4e3a \u84dd\u56fe \u547d\u540d \u5e76 \u6253\u5f00 \u5b83 \u3002 \u5728 \u5de6\u4fa7   Components   \u9009\u9879 \u9009\u9879\u5361 \u4e2d \u8fdb\u884c   Mesh   \u9009\u62e9 \uff0c \u7136\u540e \u5c06 \u8f66\u8f86 \u7f51\u683c \u62d6\u52a8 \u5230 \u53f3\u4fa7 \u7684 \u201c \u7f51\u683c \u201d \u90e8\u5206 \u4e2d \u3002   \u5728   Anim   Class   \u641c\u7d22 \u4e0e \u60a8 \u5728 \u4e0a \u4e00\u6b65 \u4e2d \u8bbe\u7f6e \u7684 \u65b0\u8f66 \u76f8\u5bf9 \u5e94 \u7684 \u52a8\u753b \u3002   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \uff0c \u5728 \u84dd\u56fe \u7c7b \u7684   Components   \u83dc\u5355 \u4e2d\u9009 \u9009\u62e9 \u83dc\u5355\u4e2d\u9009\u62e9   Vehicle   Movement   \uff0c \u7136\u540e \u5728 \u53f3\u4fa7   Details   \u83dc\u5355 \u4e2d \u5bfc\u822a \u5230 \u8be5   Vehicle   Setup   \u90e8\u5206 \u3002 \u73b0\u5728 \uff0c \u5bf9\u4e8e \u6bcf\u4e2a \u8f66\u8f6e \uff0c \u627e\u5230 \u60a8 \u4e4b\u524d \u4e3a   Wheel   Class   \u5c5e\u6027 \u590d\u5236 \u5e76\u91cd \u547d\u540d \u7684 \u76f8\u5173 \u8f66\u8f6e \u84dd\u56fe \u3002 \u5bf9 \u6bcf\u4e2a \u8f6e\u5b50 \u6267\u884c \u76f8\u540c \u7684 \u64cd\u4f5c \u3002 \u7f16\u8bd1 \u5e76 \u4fdd\u5b58 \u3002   \u73b0\u5728 \u5bfc\u822a \u5230   Content   >   Carla   >   Blueprints   >   Vehicles   >   VehicleFactory   \u5e76 \u53cc\u51fb \u5b83 \u4ee5 \u6253\u5f00 \u8f66\u8f86 \u5de5\u5382 \u3002   \u9009\u62e9   Vehicles   \u8282\u70b9 \u5e76 \u5c55\u5f00 \u53f3\u4fa7   Default   value   \u90e8\u5206 \u4e2d \u7684   Vehicles   \u9879 \u3002   \u6309 \u52a0\u53f7 \u56fe\u6807 \u6dfb\u52a0 \u60a8 \u7684 \u65b0\u8f66 \u3002 \u5411\u4e0b \u6eda\u52a8 \u5230 \u6700\u540e \u4e00\u4e2a \u6761\u76ee \u5e76 \u5c06 \u5176 \u5c55\u5f00 \uff0c \u5b83 \u5e94\u8be5 \u662f \u7a7a \u7684 \u3002 \u547d\u540d \u60a8 \u7684 \u8f66\u8f86 \u7684 \u54c1\u724c \u548c \u578b\u53f7 \uff0c \u7136\u540e \u5728 \u7c7b \u90e8\u5206 \u4e0b \u627e\u5230 \u60a8 \u5728 \u4e0a \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u4e2d \u521b\u5efa \u7684 \u84dd\u56fe \u7c7b \u3002 \u5c06 \u8f6e\u5b50 \u6570\u91cf \u4fdd\u7559 \u4e3a   4 \uff0c \u5e76 \u5c06 \u4e16\u4ee3 \u8bbe\u7f6e \u4e3a   2 \u3002 \u7f16\u8bd1 \u5e76 \u4fdd\u5b58 \u3002 \u4e3a\u4e86 \u5b89\u5168 \u8d77 \u89c1 \uff0c \u8fdb\u884c \u5168\u5c40 \u4fdd\u5b58 \uff0c \u60a8 \u73b0\u5728 ...... \u51c6\u5907 \u5728 \u4eff\u771f \u4e2d \u8fd0\u884c \u60a8 \u7684 \u8f66\u8f86 \u3002   \u6309 \u865a\u5e7b \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u7684 \u201c \u8fd0\u884c \u201d \u6765 \u8fdb\u884c \u4eff\u771f \u3002 \u8fd0\u884c \u540e \uff0c \u6253\u5f00 \u7ec8\u7aef \u5e76 \u4f7f\u7528 \u8fc7\u6ee4 \u6ee4\u5668 \u8fc7\u6ee4\u5668 \u9009\u9879 \u8fd0\u884c \u811a\u672c   manual _ control . py   \u6765 \u6307\u5b9a \u60a8 \u7684 \u65b0 \u8f66\u8f86 \u578b\u53f7 \uff1a   python   manual _ control . py   -- filter   my _ vehicle _ make   \u4e8b\u5b9e \u4e8b\u5b9e\u4e0a \uff0c \u8f66\u8f86 \u76ee\u524d \u6ca1\u6709 \u5e94\u7528 \u7eb9\u7406 \u6216 \u989c\u8272 \u3002 \u4e0b \u4e00\u6b65 \u662f \u5e94\u7528 \u6750\u6599 \uff0c \u4f7f \u60a8 \u7684 \u8f66\u8f86 \u5177\u6709 \u50cf \u771f\u6b63 \u7684 \u516c\u8def \u8f66\u8f86 \u4e00\u6837 \u7684 \u5916\u89c2 \u3002","title":"\u521b\u5efa \u84dd\u56fe  "},{"location":"tuto_content_authoring_vehicles/#_13","text":"\u5c06 \u8f66\u8f86 \u4f5c\u4e3a \u57fa\u672c \u8d44\u4ea7 \u5bfc\u5165 \u5e76 \u5e03\u7f6e \u597d \u7f51\u683c \u548c \u84dd\u56fe \u540e \uff0c \u60a8 \u73b0\u5728 \u9700\u8981 \u5411 \u8f66\u8f86 \u6dfb\u52a0 \u6750\u8d28 \uff0c \u4ee5 \u4fc3\u8fdb \u865a\u5e7b \u5f15\u64ce \u4e2d \u7684 \u7167\u7247 \u7ea7 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \u6e32\u67d3 \uff0c \u4ece\u800c \u5b9e\u73b0 \u673a\u5668 \u5b66\u4e60 \u8bad\u7ec3 \u6570\u636e \u7684 \u6700\u5927 \u4fdd\u771f \u771f\u5ea6 \u4fdd\u771f\u5ea6 \u3002   \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u62e5\u6709 \u5168\u9762 \u7684 \u6750\u8d28 \u5de5\u4f5c \u6d41\u7a0b \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u521b\u5efa \u9ad8\u5ea6 \u903c\u771f \u7684 \u6750\u8d28 \u3002 \u7136\u800c \uff0c \u8fd9 \u786e\u5b9e \u663e \u7740 \u589e\u52a0 \u4e86 \u8be5 \u8fc7\u7a0b \u7684 \u590d\u6742 \u590d\u6742\u6027 \u3002 \u56e0\u6b64 \uff0c Carla   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5927\u578b \u6750\u6599 \u539f\u578b \u5e93\u4f9b \u60a8 \u4f7f\u7528 \uff0c \u800c \u65e0\u9700 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u3002","title":"\u6750\u8d28  "},{"location":"tuto_content_authoring_vehicles/#_14","text":"Carla   \u63d0\u4f9b \u4e86 \u4e00\u79cd \u7528\u4e8e \u590d\u5236 \u8f66\u8f86 \u5149\u6cfd \u8868\u9762 \u7684 \u539f\u578b \u6750\u6599 \uff0c \u53ef\u4ee5 \u4eff\u771f \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7c7b\u578b \u7684 \u8f66\u8f86 \u55b7\u6f06 \u5de5\u4f5c \u548c \u529f\u80fd \u3002 \u6253\u5f00 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5e76 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u627e\u5230   Content   >   Carla   >   Static   >   GenericMaterials   >   00 _ MastersOpt   \u3002 \u57fa\u672c \u6750\u6599 \u79f0\u4e3a   M _ CarPaint _ Master   \u3002 \u53f3\u952e \u5355\u51fb \u8be5 \u6750\u6599 \u5e76 \u4ece \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u6750\u8d28 \u4e2d \u9009\u62e9   Create   Material   Instance   \u3002 \u4e3a \u5176 \u547d\u540d \u5e76 \u5c06 \u5176 \u79fb\u52a8 \u5230 \u5b58\u50a8 \u65b0 \u8f66\u8f86 \u5185\u5bb9 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \uff0c \u5c06 \u89c2\u5bdf \u5219 \u4f1a \u79fb\u52a8 \u5230 \u9760\u8fd1 \u5730\u677f \u7684 \u4e00\u70b9 \uff0c \u7136\u540e \u5c06 \u8f66\u8f86 \u7684 \u9aa8\u67b6 \u7f51\u683c \u7269\u4f53 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u62d6 \u5230 \u573a\u666f \u4e2d \uff0c \u8f66\u8f86 \u7684 \u8f66\u8eab \u73b0\u5728 \u5c06 \u51fa\u73b0 \u5728 \u90a3\u91cc \u3002   \u73b0\u5728 \uff0c \u5728 \u53f3\u4fa7 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u9762\u677f \u4e2d \uff0c \u5c06 \u65b0 \u6750\u8d28 \u5b9e\u4f8b \u62d6\u52a8 \u5230   Materials   \u90e8\u5206 \u7684   Element   0   \u4f4d\u7f6e \u3002 \u60a8 \u5c06 \u770b\u5230 \u8f66\u8eab \u5448\u73b0 \u73b0\u51fa \u5448\u73b0\u51fa \u4e00\u79cd \u65b0 \u7684 \u7070\u8272 \u3001 \u6709 \u5149\u6cfd \u7684 \u6750\u6599 \u7279\u6027 \u3002   \u53cc\u51fb \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u7684 \u6750\u8d28 \uff0c \u6211\u4eec \u5c31 \u53ef\u4ee5 \u5f00\u59cb \u7f16\u8f91 \u53c2\u6570 \u4e86 \u3002 \u8fd9\u91cc \u6709 \u8bb8\u591a \u53c2\u6570 \u53ef\u4ee5 \u6539\u53d8 \u5404\u79cd \u5c5e\u6027 \uff0c \u8fd9\u4e9b \u5c5e\u6027 \u5bf9\u4e8e \u4eff\u771f \u73b0\u5b9e \u4e16\u754c \u7684 \u6c7d\u8f66 \u55b7\u6f06 \u5de5\u4f5c \u975e\u5e38 \u91cd\u8981 \u3002 \u6700 \u91cd\u8981 \u7684 \u53c2\u6570 \u5982\u4e0b \uff1a","title":"\u7ed9 \u8f66\u8f86 \u5e94\u7528 \u6750\u8d28  "},{"location":"tuto_content_authoring_vehicles/#color","text":"\u989c\u8272 \u8bbe\u7f6e \u51b3\u5b9a \u6c7d\u8f66 \u7684 \u6574\u4f53 \u989c\u8272 \u3002 \u57fa\u8272 \u53ea\u662f \u6c7d\u8f66 \u7684 \u4e3b\u8981 \u989c\u8272 \uff0c \u5b83 \u5c06 \u63a7\u5236 \u6574\u4f53 \u989c\u8272 \uff1a","title":"\u989c\u8272 ( Color )  "},{"location":"tuto_content_authoring_vehicles/#clear-coat","text":"\u900f\u660e \u6d82\u5c42 \u8bbe\u7f6e \u51b3\u5b9a \u9970\u9762 \u7684 \u5916\u89c2 \u53ca\u5176 \u5bf9\u5149 \u7684 \u53cd\u5e94 \u3002 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u4f7f\u7528 \u7eb9\u7406 \u5c06 \u7f3a\u9677 \u5e94\u7528 \u5230 \u8f66\u8f86 \u8868\u9762 \uff0c \u4ee5 \u66f4 \u9ad8 \u7684 \u503c \u6563\u5c04 \u66f4 \u591a \u7684 \u5149 \uff0c \u4ee5 \u521b\u5efa \u54d1\u5149 \u5916\u89c2 \u3002 \u5efa\u8bae \u8fdb\u884c \u5fae\u5999 \u7684 \u8c03\u6574 \u548c \u8f83 \u4f4e \u7684 \u503c \u4ee5 \u83b7\u5f97 \u903c\u771f \u7684 \u5916\u89c2 \u3002 \u4e00\u822c \u6765\u8bf4 \u4e00\u822c\u6765\u8bf4 \uff0c \u6c7d\u8f66 \u55b7\u6f06 \u4f5c\u4e1a \u662f \u5149\u6ed1 \u4e14 \u53cd\u5149 \u7684 \uff0c \u4f46\u662f \uff0c \u8fd9\u79cd \u6548\u679c \u53ef\u80fd \u66f4 \u5e7f\u6cdb \u5730 \u7528\u4e8e \u5bf9 \u5b9a\u5236 \u55b7\u6f06 \u4f5c\u4e1a \u7684 \u4e13\u4e1a \u54d1\u5149 \u9970\u9762 \u8fdb\u884c \u5efa\u6a21 \u3002   \u63a7\u5236 \u6c7d\u8f66 \u201c \u5149\u6cfd \u5149\u6cfd\u5ea6 \u7684 \u4e00\u4e2a \u91cd\u8981 \u53c2\u6570 \u662f   Clear   Coat   Intensity   \u3002 \u63a5\u8fd1   1   \u7684 \u9ad8\u503c \u5c06 \u4f7f \u6d82\u5c42 \u95ea\u4eae \u4e14 \u6709 \u5149\u6cfd \u3002","title":"\u900f\u660e \u6d82\u5c42 ( Clear   coat )    "},{"location":"tuto_content_authoring_vehicles/#orange-peel","text":"\u771f\u5b9e \u6c7d\u8f66 \u7684 \u9970\u9762 \uff08 \u7279\u522b \u662f \u9762\u5411 \u4e00\u822c \u5e02\u573a \u7684 \u6279\u91cf \u751f\u4ea7 \u6279\u91cf\u751f\u4ea7 \u7684 \u6c7d\u8f66 \uff09 \u5f80\u5f80 \u5b58\u5728 \u7f3a\u9677 \uff0c \u8868\u73b0 \u4e3a \u6cb9\u6f06 \u4e0a \u7684 \u8f7b\u5fae \u6ce2\u7eb9 \u3002 \u7c92\u72b6 \u8868\u9762 \u4eff\u771f \u4e86 \u8fd9 \u4e00\u70b9 \uff0c \u4f7f \u6c7d\u8f66 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u66f4 \u771f\u5b9e \u3002","title":"\u7c92\u72b6 \u8868\u9762 ( Orange   peel )    "},{"location":"tuto_content_authoring_vehicles/#flakes","text":"\u6709\u4e9b \u6c7d\u8f66 \u7684 \u6cb9\u6f06 \u5de5\u4f5c \u4e2d \u5305\u542b \u5176\u4ed6 \u6750\u6599 \u7684 \u8584\u7247 \uff0c \u4f8b\u5982 \u91d1\u5c5e \u6216 \u9676\u74f7 \uff0c \u4ee5 \u8d4b\u4e88 \u6c7d\u8f66   metallic   \u6216   pearlescant   \u5916\u89c2 \uff0c \u589e\u52a0 \u989d\u5916 \u7684 \u95ea\u5149 \u548c \u53cd\u5c04 \uff0c \u4ee5\u6709 \u5438\u5f15 \u5f15\u529b \u5438\u5f15\u529b \u7684 \u65b9\u5f0f \u4e0e \u5149\u7ebf \u53cd\u5e94 \u3002 \u8584\u7247 \u53c2\u6570 \u5141\u8bb8   Carla   \u4eff\u771f \u8fd9 \u4e00\u70b9 \u3002 \u4e3a\u4e86 \u4eff\u771f \u91d1\u5c5e \u9970\u9762 \uff0c \u5b83\u4f1a \u662f","title":"\u8584\u7247 ( Flakes )  "},{"location":"tuto_content_authoring_vehicles/#dust","text":"\u6c7d\u8f66 \u8f66 \u8eab\u4e0a \u7ecf\u5e38 \u4f1a \u79ef\u805a \u6cb9\u8102 \u548c \u7070\u5c18 \uff0c \u8fd9\u4f1a \u589e\u52a0 \u8f66\u6f06 \u7684 \u8d28\u611f \uff0c \u5f71\u54cd \u5176 \u53cd\u5c04 \u5149\u7ebf \u7684 \u65b9\u5f0f \u3002 \u7070\u5c18 \u53c2\u6570 \u5141\u8bb8 \u60a8 \u5728 \u6d82\u5c42 \u4e0a \u6dfb\u52a0 \u7834\u574f \u5757 \uff0c \u4ee5 \u4eff\u771f \u7c98\u9644 \u5728 \u6cb9\u6f06 \u4e0a \u7684 \u5f02\u7269 \u3002","title":"\u7070\u5c18 ( Dust )  "},{"location":"tuto_content_authoring_vehicles/#_15","text":"\u5728   Carla   \u4e2d \u521b\u5efa \u903c\u771f \u7684 \u73bb\u7483 \u9700\u8981 \u4e00\u4e9b \u6280\u5de7 \u6765 \u6355\u6349 \u673a\u52a8 \u52a8\u8f66 \u8f66\u8f86 \u673a\u52a8\u8f66 \u673a\u52a8\u8f66\u8f86 \u4e2d \u4f7f\u7528 \u7684 \u73bb\u7483 \u7684 \u771f\u5b9e \u6298\u5c04 \u548c \u53cd\u5c04 \u884c\u4e3a \u3002 Carla   \u8f66\u5e93 \u8f66\u8f86 \u6709   4   \u5c42 \u73bb\u7483 \u7f51\u683c \uff0c \u91c7\u7528   2   \u79cd \u4e0d\u540c \u7684 \u6750\u6599 \u3002 \u5404\u5c42 \u4e4b\u95f4 \u95f4\u9694 \u6beb\u7c73 \u51e0\u6beb\u7c73 \uff0c \u5185\u90e8 \u548c \u5916\u90e8 \u73bb\u7483 \u5c42 \u91c7\u7528 \u4e0d\u540c \u7684 \u6750\u6599 \uff0c \u4ee5 \u786e\u4fdd \u73bb\u7483 \u4ece \u8f66\u8f86 \u5185\u90e8 \u548c \u5916\u90e8 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u90fd \u5f88 \u903c\u771f \u3002   \u4ece \u8f66\u8f86 \u5916\u90e8 \u770b \u6709   2   \u5c42 \u73bb\u7483 \uff0c \u4ece \u8f66\u8f86 \u5185\u90e8 \u770b \u6709   2   \u5c42 \u73bb\u7483 \u3002 \u73bb\u7483 \u6240\u4ee5 \u4e4b\u6240\u4ee5 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u50cf \u73bb\u7483 \uff0c \u56e0\u4e3a \u662f\u56e0\u4e3a \u6765\u81ea \u73bb\u7483 \u4e24\u4e2a \u8868\u9762 \u7684 \u53cd\u5c04 \u4f7f\u5f97 \u53cd\u5c04 \u975e\u5e38 \u5fae\u5999 \u5730 \u52a0\u500d \u3002","title":"\u73bb\u7483  "},{"location":"tuto_content_authoring_vehicles/#_16","text":"\u5728 \u8fd9\u91cc \uff0c \u6211\u4eec \u770b\u5230 \u8fde\u63a5 \u5230 \u6797\u80af \u4e3b\u4f53 \u8f66\u8eab \uff08 \u4e0d\u662f \u8f66\u95e8 \u6216 \u5176\u4ed6 \u6d3b\u52a8 \u90e8\u4ef6 \uff09 \u7684 \u73bb\u7483 \u90e8\u4ef6 \u3002   \u5982\u679c \u6211\u4eec \u5c06 \u7ec4\u6210 \u7684 \u7f51\u683c \u90e8\u5206 \u5206\u5f00 \uff0c \u6211\u4eec \u53ef\u4ee5 \u770b\u5230 \u73bb\u7483 \u8f6e\u5ed3 \u88ab \u5206\u4e3a   4   \u4e2a \u4e0d\u540c \u7684 \u5c42 \u3002   \u8fd9   4   \u4e2a\u5c42 \u5206\u4e3a   2   \u7ec4 \uff1a \u5916\u90e8 \u5c42 \uff08 \u6cd5\u7ebf \u9762\u5411 \u8f66\u8f86 \u5916\u90e8 \uff09 \u548c \u5185\u90e8 \u5c42 \uff08 \u7f51\u683c \u683c\u6cd5 \u7f51\u683c\u6cd5 \u7ebf \u9762\u5411 \u8f66\u8f86 \u5185\u90e8 \uff09 \u3002 \u4e0b\u56fe \u6f14\u793a \u4e86   \u521b\u5efa \u7f51\u683c \u56fe\u5c42 \u540e \uff0c \u5c06 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u7684 \u5b83\u4eec \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5b58\u50a8 \u8f66\u8f86 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u6309\u4f4f   Shift   \u952e \u9009\u62e9   4   \u4e2a \u73bb\u7483 \u5c42 \u5e76 \u5c06 \u5b83\u4eec \u62d6 \u5230 \u5730\u56fe \u4e2d \u4ee5\u4fbf \u60a8 \u53ef\u4ee5 \u770b\u5230 \u5b83\u4eec \u3002","title":"\u73bb\u7483 \u7f51\u683c  "},{"location":"tuto_content_authoring_vehicles/#_17","text":"\u53cc\u51fb \u73bb\u7483 \u7684 \u5916\u5c42 \uff0c \u7136\u540e \u5728 \u7b2c\u4e8c \u4e8c\u4e2a \u7b2c\u4e8c\u4e2a \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u7a97\u53e3 \u4e2d \u5bfc\u822a \u5230   Content   >   Carla   >   Static   >   Vehicles   >   GeneralMaterials   \u5e76 \u627e\u5230 \u8be5   Glass   \u6750\u8d28 \u3002 \u5c06 \u73bb\u7483 \u6750\u8d28 \u62d6\u81f3 \u7f51\u683c \u7269\u4f53 \u7684 \u6750\u8d28 \u69fd \u4e2d \u3002 \u5bf9 \u73bb\u7483 \u7684 \u6bcf \u4e00\u5c42 \u91cd\u590d \u6b64 \u8fc7\u7a0b \u3002   \u73bb\u7483 \u73b0\u5728 \u5c06 \u662f \u900f\u660e \u7684 \uff0c \u4f46 \u5177\u6709 \u53cd\u5c04 \u9644\u8fd1 \u7269\u4f53 \u548c \u5149\u6e90 \u7684 \u53cd\u5c04 \u53cd\u5c04\u7387 \u3002 \u60a8 \u8fd8 \u5e94\u8be5 \u68c0\u67e5 \u5185\u90e8 \u73bb\u7483 \uff0c \u786e\u4fdd \u90a3\u91cc \u6709 \u9002\u5f53 \u7684 \u73bb\u7483 \u6548\u679c \u3002","title":"\u73bb\u7483 \u6750\u8d28  "},{"location":"tuto_content_authoring_vehicles/#_18","text":"\u4e3a\u4e86 \u66f4\u5feb \u5730 \u751f\u4ea7 \u8f66\u8f86 \u73bb\u7483 \u90e8\u4ef6 \uff0c \u552f\u4e00 \u7684 \u5173\u952e \u90e8\u4ef6 \u5173\u952e\u90e8\u4ef6 \u662f \u6700 \u5916\u5c42 \u7684 \u73bb\u7483 \u5c42 \u3002 \u60a8 \u53ef\u4ee5 \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d\u5c06 \u73bb\u7483 \u6750\u8d28 \u5e94\u7528 \u4e8e \u6b64 \uff0c \u5e76 \u83b7\u5f97 \u53ef\u80fd \u9002\u5408 \u60a8 \u9700\u6c42 \u7684 \u7ed3\u679c \uff0c \u4f46\u662f \uff0c \u4ece\u8f66 \u5185 \u67e5\u770b \u7684 \u89c6\u56fe \uff08 \u5373 \uff0c \u5982\u679c \u60a8 \u5728 \u4eea\u8868 \u4eea\u8868\u677f \u4e0a \u6216 \u65b9\u5411 \u65b9\u5411\u76d8 \u540e\u9762 \u5b9e\u4f8b \u5316 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \uff09 \u4f3c\u4e4e \u5177\u6709 \u65e0 \u73bb\u7483 \uff08 \u65e0 \u6298\u5c04 \u6216 \u53cd\u5c04 \uff09 \u3002 \u6211\u4eec \u5efa\u8bae \u91c7\u7528 \u4e0a\u8ff0 \u5de5\u827a \u6765 \u751f\u4ea7 \u6700 \u771f\u5b9e \u7684 \u73bb\u7483 \u3002   \u73b0\u5728 \u60a8 \u5df2\u7ecf \u521b\u5efa \u4e86 \u84dd\u56fe \uff0c \u6dfb\u52a0 \u4e86 \u7f51\u683c \uff0c \u5b8c\u6210 \u4e86 \u88c5\u914d \uff0c \u521b\u5efa \u4e86 \u6cb9\u6f06 \u9970\u9762 \u548c \u73bb\u7483 \u7684 \u6750\u6599 \uff0c \u60a8 \u5e94\u8be5 \u62e5\u6709 \u4e00\u8f86 \u5916\u89c2 \u975e\u5e38 \u903c\u771f \u7684 \u8f66\u8f86 \u3002","title":"\u5355\u5c42 \u73bb\u7483  "},{"location":"tuto_content_authoring_vehicles/#_19","text":"\u5982\u679c \u60a8 \u5728   \u521b\u5efa \u84dd\u56fe \u65f6   \u590d\u5236 \u4e86 \u8f66\u8f6e \uff0c \u5e76\u4e14 \u60a8 \u7684 \u8f66\u8f86 \u4e0e   Carla   \u5e93\u4e2d \u5df2\u6709 \u7684 \u8f66\u8f86 \u975e\u5e38 \u76f8\u4f3c \uff0c \u90a3\u4e48 \u8fd9 \u53ef\u80fd \u9002\u5408 \u60a8 \u7684 \u76ee\u7684 \u3002 \u4f46\u662f \uff0c \u5982\u679c \u60a8 \u7684 \u8f66\u8f86 \u5177\u6709 \u975e\u6807 \u6807\u51c6 \u975e\u6807\u51c6 \u8f66\u8f6e \u5c3a\u5bf8 \u6216 \u6293 \u5730\u529b \u7279\u6027 \uff0c \u5219 \u5e94 \u6309\u7167 \u672c \u8282 \u8bbe\u7f6e \u8f66\u8f6e \u84dd\u56fe \uff0c \u4ee5 \u6700\u597d \u5730 \u5339\u914d \u8f66\u8f86 \u8f66\u8f6e \u7684 \u7269\u7406 \u7279\u6027 \u3002   \u5bf9\u4e8e   Carla   \u8f66\u8f86 \u7684 \u8f66\u8f6e \uff0c \u6211\u4eec \u9700\u8981 \u4e3a \u6bcf\u4e2a \u8f66\u8f6e \u5efa\u7acb \u4e00\u4e2a \u84dd\u56fe \u7c7b\u6765 \u5904\u7406 \u529b\u5b66 \u548c \u78b0\u649e \u5c5e\u6027 \u3002 \u60a8 \u5c06 \u8bbe\u7f6e   4   \u4e2a \u84dd\u56fe \u7c7b \uff0c \u6211\u4eec \u5efa\u8bae \u4f7f\u7528 \u4ee5\u4e0b \u524d\u7f00 \u6216 \u540e\u7f00 \u6765 \u8bc6\u522b \u8f6e\u5b50 \uff1a   RRW   -   R   ear   R   ight   W   heel   RLW   -   R   ear   L   eft   W   heel   FRW   -   F   ront   R   ight   W   heel   FLW   -   F   ront   L   eft   W   heel","title":"\u8f66\u8f6e  "},{"location":"tuto_content_authoring_vehicles/#_20","text":"\u5728 \u60a8 \u62e5\u6709 \u65b0\u8f66 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \uff0c \u53f3\u952e \u5355\u51fb \u5e76 \u9009\u62e9 \u521b\u5efa \u4e00\u4e2a \u65b0 \u7684 \u84dd\u56fe \u7c7b \u3002 \u641c\u7d22   \u53cc\u51fb \u84dd\u56fe \u8fdb\u884c \u8c03\u6574 \uff1a","title":"\u8f66\u8f6e \u84dd\u56fe  "},{"location":"tuto_content_authoring_vehicles/#_21","text":"\u9996\u5148 \uff0c \u7528\u4e8e \u78b0\u649e \u7f51\u683c \u7684 \u9ed8\u8ba4 \u5706\u67f1 \u67f1\u4f53 \u5706\u67f1\u4f53 \u5177\u6709 \u9ad8 \u591a\u8fb9 \u591a\u8fb9\u5f62 \u6570\u91cf \uff0c \u56e0\u6b64 \u6211\u4eec \u5e94\u8be5 \u5c06 \u5176 \u66ff\u6362 \u4e3a \u4f4e \u591a\u8fb9 \u591a\u8fb9\u5f62 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\u7684 \u5c5e\u6027 \u9762\u677f \u4e2d \u67e5\u770b \u5c3a\u5bf8 \u3002   \u73b0\u5728 \u5c06 \u8fd9\u4e9b \u6570\u5b57 \u63d2\u5165 \u5230   Wheel   \u84dd\u56fe \u7684 \u90e8\u5206 \u4e2d \u3002 \u8bf7 \u6ce8\u610f \u534a\u5f84 \u4e3a \u76f4\u5f84 \u7684 \u4e00\u534a \uff0c \u5e76\u4e14 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4ee5 \u5398\u7c73 \u4e3a \u5355\u4f4d \u3002 \u5bf9\u4e8e \u8f66\u8f6e \u8d28\u91cf \uff0c \u6211\u4eec \u5efa\u8bae \u5728 \u4e92\u8054 \u8054\u7f51 \u4e92\u8054\u7f51 \u4e0a \u67e5\u627e \u89c4\u683c \uff0c \u627e\u5230 \u6b63\u786e \u7684 \u8f6e\u80ce \u578b\u53f7 \u6216 \u7c7b\u4f3c \u7684 \u8f6e\u80ce \u578b\u53f7 \u6765 \u4f30\u8ba1 \u6b63\u786e \u7684 \u8d28\u91cf \uff08 \u4ee5 \u5343\u514b \u4e3a \u5355\u4f4d \uff09 \u3002   Affected   by   handbrake   \u5e94 \u68c0\u67e5 \u4e24\u4e2a \u540e\u8f6e \u3002   Steer   angle   \u5bf9\u4e8e \u4e24\u4e2a \u524d\u8f6e \u5e94 \u8bbe\u7f6e \u4e3a \u6700\u5927 \u9884\u671f \u8f6c\u5411 \u89d2 \uff0c \u5bf9\u4e8e \u4e24\u4e2a \u540e\u8f6e \u5e94 \u8bbe\u7f6e \u4e3a \u96f6 \u3002","title":"\u8f66\u8f6e \u5c3a\u5bf8  "},{"location":"tuto_content_authoring_vehicles/#_24","text":"\u8fd9\u91cc \u7684 \u9ed8\u8ba4 \u9ed8\u8ba4\u503c \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5408\u7406 \u7684 \u8d77\u70b9 \u3002 \u67e5\u770b   \u672c \u6307\u5357   \u4ee5 \u8bbe\u7f6e \u9002\u5408 \u60a8 \u8f66\u8f86 \u7c7b\u578b \u7684 \u60ac\u67b6 \u7279\u6027 \u3002","title":"\u60ac\u67b6 \u7279\u6027  "},{"location":"tuto_content_authoring_vehicles/#_25","text":"\u5b8c\u6210   Carla   \u771f\u5b9e \u8f66\u8f86 \u7684 \u6700\u540e \u4e00\u4e2a \u5143\u7d20 \u662f \u706f \u3001 \u524d\u706f \u3001 \u5239\u8f66 \u8f66\u706f \u5239\u8f66\u706f \u3001 \u95ea\u5149 \u5149\u706f \u95ea\u5149\u706f \u7b49 \u3002 \u5728 \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \uff0c \u60a8 \u5e94\u8be5 \u5bf9 \u4e00\u4e9b \u7c7b\u4f3c \u4e8e \u60a8 \u8981 \u590d\u5236 \u7684 \u8f66\u8f86 \u706f \u7684 \u5f62\u72b6 \u8fdb\u884c \u5efa\u6a21 \u3002 \u5bf9\u4e8e \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u8f66\u5934 \u5934\u706f \u8f66\u5934\u706f \u6765\u8bf4 \uff0c \u8fd9 \u5c06 \u662f \u6241\u5e73 \u5706\u76d8 \u6216 \u6241\u5e73 \u957f\u65b9 \u957f\u65b9\u4f53 \u7ed3\u6784 \u3002 \u6709\u4e9b \u8f66\u8f86 \u53ef\u80fd \u8fd8 \u914d\u6709   LED   \u706f\u6761 \u3002","title":"\u706f  "},{"location":"tuto_content_authoring_vehicles/#uv","text":"\u4e0d\u540c \u7c7b\u578b \u7684 \u706f \uff08 \u524d\u706f \u3001 \u95ea\u5149 \u5149\u706f \u95ea\u5149\u706f \u3001 \u5239\u8f66 \u8f66\u706f \u5239\u8f66\u706f \u7b49 \uff09 \u4f7f\u7528 \u7eb9\u7406 \u6765 \u533a\u5206 \u3002 \u60a8 \u9700\u8981 \u5728   \u4e09\u7ef4 \u5efa\u6a21 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4e2d \u521b\u5efa   UV   \u8d34\u56fe \uff0c \u5e76 \u5b9a\u4f4d \u706f\u5149 \u4ee5 \u4e0e \u7eb9\u7406 \u7684 \u76f8\u5173 \u533a\u57df \u5339\u914d \u76f8\u5339\u914d \u3002","title":"UV   \u8d34\u56fe  "},{"location":"tuto_content_authoring_vehicles/#_26","text":"\u5c06 \u706f\u5149 \u7f51\u683c \u5bfc\u5165 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668   -   \u5bfc\u5165 \u706f\u5149 \u7f51\u683c \u540e \uff1a   \u5c06 \u7f51\u683c \u7269\u4f53 \u62d6\u52a8 \u5230   Components   \u9762\u677f \u4e2d \u7684   Mesh   ( VehicleMesh )   ( Inherited )   \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u3002   \u9009\u62e9 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u7684 \u989d\u5916 \u7f51\u683c \u5e76 \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \u641c\u7d22   Collision   \u3002   \u5c06 \u78b0\u649e \u9884\u8bbe (   Collision   Presets   ) \u8bbe\u7f6e \u4e3a   NoCollision   \u3002   \u9009\u62e9 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u4e2d \u7684 \u4efb\u4f55 \u706f\u5149 \u7f51\u683c \u3002 \u5728 \u201c \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f (   Details   ) \u201d \u9762\u677f \u4e2d \u641c\u7d22   Tag   \u5e76 \u6dfb\u52a0   emissive   \u6807\u7b7e \u3002","title":"\u5bfc\u5165  "},{"location":"tuto_content_authoring_vehicles_materials/","text":"\u5185\u5bb9 \u521b\u4f5c   -   \u8f66\u8f86 \u6750\u6599   \u5c06 \u8f66\u8f86 \u4f5c\u4e3a \u57fa\u672c \u8d44\u4ea7 \u5bfc\u5165 \u5e76 \u5e03\u7f6e \u597d \u7f51\u683c \u548c \u84dd\u56fe \u540e \uff0c \u60a8 \u73b0\u5728 \u9700\u8981 \u5411 \u8f66\u8f86 \u6dfb\u52a0 \u6750\u8d28 \uff0c \u4ee5 \u4fc3\u8fdb \u865a\u5e7b \u5f15\u64ce \u4e2d \u7684 \u7167\u7247 \u7ea7 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \u6e32\u67d3 \uff0c \u4ece\u800c \u5b9e\u73b0 \u673a\u5668 \u5b66\u4e60 \u8bad\u7ec3 \u6570\u636e \u7684 \u6700\u5927 \u4fdd\u771f \u771f\u5ea6 \u4fdd\u771f\u5ea6 \u3002   \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u62e5\u6709 \u5168\u9762 \u7684 \u6750\u8d28 \u5de5\u4f5c \u6d41\u7a0b \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u521b\u5efa \u9ad8\u5ea6 \u903c\u771f \u7684 \u6750\u8d28 \u3002 \u7136\u800c \uff0c \u8fd9 \u786e\u5b9e \u663e \u7740 \u589e\u52a0 \u4e86 \u8be5 \u8fc7\u7a0b \u7684 \u590d\u6742 \u590d\u6742\u6027 \u3002 \u56e0\u6b64 \uff0c Carla   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5927\u578b \u6750\u6599 \u539f\u578b \u5e93\u4f9b \u60a8 \u4f7f\u7528 \uff0c \u800c \u65e0\u9700 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u3002   \u5c06 \u6750\u6599 \u5e94\u7528 \u5230 \u60a8 \u7684 \u8f66\u8f86 \u4e0a   Carla   \u63d0\u4f9b \u4e86 \u4e00\u79cd \u7528\u4e8e \u590d\u5236 \u8f66\u8f86 \u5149\u6cfd \u8868\u9762 \u7684 \u539f\u578b \u6750\u6599 \uff0c \u53ef\u4ee5 \u4eff\u771f \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7c7b\u578b \u7684 \u8f66\u8f86 \u55b7\u6f06 \u5de5\u4f5c \u548c \u529f\u80fd \u3002 \u6253\u5f00 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5e76 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u627e\u5230   Content   >   Carla   >   Static   >   GenericMaterials   >   00 _ MastersOpt   \u3002 \u57fa\u672c \u6750\u8d28 \u79f0\u4e3a   M _ CarPaint _ Master   \u3002 \u53f3\u952e \u5355\u51fb \u8be5 \u6750\u8d28 \u5e76 \u4ece \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u6750\u8d28 \u4e2d \u9009\u62e9   Create   Material   Instance   \u3002 \u4e3a \u5176 \u547d\u540d \u5e76 \u5c06 \u5176 \u79fb\u52a8 \u5230 \u5b58\u50a8 \u65b0 \u8f66\u8f86 \u5185\u5bb9 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \uff0c \u5c06 \u89c2\u5bdf \u5219 \u4f1a \u79fb\u52a8 \u5230 \u9760\u8fd1 \u5730\u677f \u7684 \u4e00\u70b9 \uff0c \u7136\u540e \u5c06 \u8f66\u8f86 \u7684 \u9aa8\u67b6 \u7f51\u683c \u7269\u4f53 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u62d6 \u5230 \u573a\u666f \u4e2d \uff0c \u8f66\u8f86 \u7684 \u8f66\u8eab \u73b0\u5728 \u5c06 \u51fa\u73b0 \u5728 \u90a3\u91cc \u3002   \u73b0\u5728 \uff0c \u5728 \u53f3\u4fa7 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u9762\u677f \u4e2d \uff0c \u5c06 \u65b0 \u6750\u8d28 \u5b9e\u4f8b \u62d6\u52a8 \u5230   Materials   \u90e8\u5206 \u7684   Element   0   \u4f4d\u7f6e \u3002 \u60a8 \u5c06 \u770b\u5230 \u8f66\u8eab \u5448\u73b0 \u73b0\u51fa \u5448\u73b0\u51fa \u4e00\u79cd \u65b0 \u7684 \u7070\u8272 \u3001 \u6709 \u5149\u6cfd \u7684 \u6750\u6599 \u7279\u6027 \u3002   \u53cc\u51fb \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u7684 \u6750\u8d28 \uff0c \u6211\u4eec \u5c31 \u53ef\u4ee5 \u5f00\u59cb \u7f16\u8f91 \u53c2\u6570 \u4e86 \u3002 \u8fd9\u91cc \u6709 \u8bb8\u591a \u53c2\u6570 \u53ef\u4ee5 \u6539\u53d8 \u5404\u79cd \u5c5e\u6027 \uff0c \u8fd9\u4e9b \u5c5e\u6027 \u5bf9\u4e8e \u4eff\u771f \u73b0\u5b9e \u4e16\u754c \u7684 \u6c7d\u8f66 \u55b7\u6f06 \u5de5\u4f5c \u975e\u5e38 \u91cd\u8981 \u3002 \u6700 \u91cd\u8981 \u7684 \u53c2\u6570 \u5982\u4e0b \u3002   \u989c\u8272 ( Color )   -   \u989c\u8272 \u8bbe\u7f6e \u63a7\u5236 \u6c7d\u8f66 \u7684 \u6574\u4f53 \u989c\u8272 \u3002 \u57fa\u8272 \u53ea\u662f \u6c7d\u8f66 \u7684 \u4e3b\u8981 \u989c\u8272 \uff0c \u5b83 \u5c06 \u63a7\u5236 \u6574\u4f53 \u989c\u8272 \uff1a   \u900f\u660e \u6d82\u5c42 ( Clear   coat )   -   \u900f\u660e \u6d82\u5c42 \u8bbe\u7f6e \u63a7\u5236 \u9970\u9762 \u7684 \u5916\u89c2 \u53ca\u5176 \u5bf9\u5149 \u7684 \u53cd\u5e94 \u3002 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u4f7f\u7528 \u7eb9\u7406 \u5c06 \u7f3a\u9677 \u5e94\u7528 \u5230 \u8f66\u8f86 \u8868\u9762 \uff0c \u4ee5 \u66f4 \u9ad8 \u7684 \u503c \u6563\u5c04 \u66f4 \u591a \u7684 \u5149 \uff0c \u4ee5 \u521b\u5efa \u54d1\u5149 \u5916\u89c2 \u3002 \u5efa\u8bae \u8fdb\u884c \u5fae\u5999 \u7684 \u8c03\u6574 \u548c \u8f83 \u4f4e \u7684 \u503c \u4ee5 \u83b7\u5f97 \u903c\u771f \u7684 \u5916\u89c2 \u3002 \u4e00\u822c \u6765\u8bf4 \u4e00\u822c\u6765\u8bf4 \uff0c \u6c7d\u8f66 \u55b7\u6f06 \u4f5c\u4e1a \u662f \u5149\u6ed1 \u4e14 \u53cd\u5149 \u7684 \uff0c \u4f46\u662f \uff0c \u8fd9\u79cd \u6548\u679c \u53ef\u80fd \u66f4 \u5e7f\u6cdb \u5730 \u7528\u4e8e \u5bf9 \u5b9a\u5236 \u55b7\u6f06 \u4f5c\u4e1a \u7684 \u4e13\u4e1a \u54d1\u5149 \u9970\u9762 \u8fdb\u884c \u5efa\u6a21 \u3002   \u63a7\u5236 \u6c7d\u8f66 \u201c \u5149\u6cfd \u5149\u6cfd\u5ea6 \u201d \u7684 \u4e00\u4e2a \u91cd\u8981 \u53c2\u6570 \u662f \u900f\u660e \u6d82\u5c42 \u5f3a\u5ea6 (   Clear   Coat   Intensity   ) \u3002 \u63a5\u8fd1   1   \u7684 \u9ad8\u503c \u5c06 \u4f7f \u6d82\u5c42 \u95ea\u4eae \u4e14 \u6709 \u5149\u6cfd \u3002   \u7c92\u72b6 \u8868\u9762 ( Orange   peel )   -   \u771f\u5b9e \u6c7d\u8f66 \u7684 \u9970\u9762 \uff08 \u7279\u522b \u662f \u9762\u5411 \u4e00\u822c \u5e02\u573a \u7684 \u6279\u91cf \u751f\u4ea7 \u6279\u91cf\u751f\u4ea7 \u7684 \u6c7d\u8f66 \uff09 \u5f80\u5f80 \u5b58\u5728 \u7f3a\u9677 \uff0c \u8868\u73b0 \u4e3a \u6cb9\u6f06 \u4e2d \u7684 \u8f7b\u5fae \u6ce2\u7eb9 \u3002 \u6a59\u76ae \u6548\u679c \u4eff\u771f \u4e86 \u8fd9 \u4e00\u70b9 \uff0c \u4f7f \u6c7d\u8f66 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u66f4 \u771f\u5b9e \u3002   \u8584\u7247 ( Flakes )   -   \u6709\u4e9b \u6c7d\u8f66 \u7684 \u6cb9\u6f06 \u5de5\u4f5c \u4e2d \u5305\u542b \u5176\u4ed6 \u6750\u6599 \u7684 \u8584\u7247 \uff0c \u4f8b\u5982 \u91d1\u5c5e \u6216 \u9676\u74f7 \uff0c \u4ee5 \u4f7f \u6c7d\u8f66 \u5177\u6709   metallic   \u6216   pearlescant   \u5916\u89c2 \uff0c \u589e\u52a0 \u989d\u5916 \u7684 \u95ea\u5149 \u548c \u53cd\u5c04 \uff0c \u4ee5\u6709 \u5438\u5f15 \u5f15\u529b \u5438\u5f15\u529b \u7684 \u65b9\u5f0f \u4e0e \u53cd\u5e94 \u5149\u53cd\u5e94 \u3002 \u8584\u7247 \u53c2\u6570 \u5141\u8bb8   Carla   \u4eff\u771f \u8fd9 \u4e00\u70b9 \u3002 \u4e3a\u4e86 \u4eff\u771f \u91d1\u5c5e \u9970\u9762 \uff0c \u5b83\u4f1a \u662f   \u7070\u5c18 ( Dust )   -   \u6c7d\u8f66 \u7684 \u8f66 \u8eab\u4e0a \u7ecf\u5e38 \u4f1a \u79ef\u805a \u6cb9\u8102 \u548c \u7070\u5c18 \uff0c \u4ece\u800c \u589e\u52a0 \u6cb9\u6f06 \u7684 \u8d28\u611f \uff0c \u5f71\u54cd \u5176 \u53cd\u5c04 \u5149\u7ebf \u7684 \u65b9\u5f0f \u3002 \u7070\u5c18 \u53c2\u6570 \u5141\u8bb8 \u60a8 \u5728 \u6d82\u5c42 \u4e0a \u6dfb\u52a0 \u7834\u574f \u5757 \uff0c \u4ee5 \u4eff\u771f \u7c98\u9644 \u5728 \u6cb9\u6f06 \u4e0a \u7684 \u5f02\u7269 \u3002","title":"Tuto   content   authoring   vehicles   materials"},{"location":"tuto_content_authoring_vehicles_materials/#-","text":"\u5c06 \u8f66\u8f86 \u4f5c\u4e3a \u57fa\u672c \u8d44\u4ea7 \u5bfc\u5165 \u5e76 \u5e03\u7f6e \u597d \u7f51\u683c \u548c \u84dd\u56fe \u540e \uff0c \u60a8 \u73b0\u5728 \u9700\u8981 \u5411 \u8f66\u8f86 \u6dfb\u52a0 \u6750\u8d28 \uff0c \u4ee5 \u4fc3\u8fdb \u865a\u5e7b \u5f15\u64ce \u4e2d \u7684 \u7167\u7247 \u7ea7 \u771f\u5b9e \u5b9e\u611f \u771f\u5b9e\u611f \u6e32\u67d3 \uff0c \u4ece\u800c \u5b9e\u73b0 \u673a\u5668 \u5b66\u4e60 \u8bad\u7ec3 \u6570\u636e \u7684 \u6700\u5927 \u4fdd\u771f \u771f\u5ea6 \u4fdd\u771f\u5ea6 \u3002   \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u62e5\u6709 \u5168\u9762 \u7684 \u6750\u8d28 \u5de5\u4f5c \u6d41\u7a0b \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u521b\u5efa \u9ad8\u5ea6 \u903c\u771f \u7684 \u6750\u8d28 \u3002 \u7136\u800c \uff0c \u8fd9 \u786e\u5b9e \u663e \u7740 \u589e\u52a0 \u4e86 \u8be5 \u8fc7\u7a0b \u7684 \u590d\u6742 \u590d\u6742\u6027 \u3002 \u56e0\u6b64 \uff0c Carla   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5927\u578b \u6750\u6599 \u539f\u578b \u5e93\u4f9b \u60a8 \u4f7f\u7528 \uff0c \u800c \u65e0\u9700 \u4ece\u5934 \u5f00\u59cb \u4ece\u5934\u5f00\u59cb \u3002","title":"\u5185\u5bb9 \u521b\u4f5c   -   \u8f66\u8f86 \u6750\u6599"},{"location":"tuto_content_authoring_vehicles_materials/#_1","text":"Carla   \u63d0\u4f9b \u4e86 \u4e00\u79cd \u7528\u4e8e \u590d\u5236 \u8f66\u8f86 \u5149\u6cfd \u8868\u9762 \u7684 \u539f\u578b \u6750\u6599 \uff0c \u53ef\u4ee5 \u4eff\u771f \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7c7b\u578b \u7684 \u8f66\u8f86 \u55b7\u6f06 \u5de5\u4f5c \u548c \u529f\u80fd \u3002 \u6253\u5f00 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u5e76 \u5728 \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \uff0c \u627e\u5230   Content   >   Carla   >   Static   >   GenericMaterials   >   00 _ MastersOpt   \u3002 \u57fa\u672c \u6750\u8d28 \u79f0\u4e3a   M _ CarPaint _ Master   \u3002 \u53f3\u952e \u5355\u51fb \u8be5 \u6750\u8d28 \u5e76 \u4ece \u4e0a\u4e0b \u4e0b\u6587 \u4e0a\u4e0b\u6587 \u6750\u8d28 \u4e2d \u9009\u62e9   Create   Material   Instance   \u3002 \u4e3a \u5176 \u547d\u540d \u5e76 \u5c06 \u5176 \u79fb\u52a8 \u5230 \u5b58\u50a8 \u65b0 \u8f66\u8f86 \u5185\u5bb9 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u5728 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \uff0c \u5c06 \u89c2\u5bdf \u5219 \u4f1a \u79fb\u52a8 \u5230 \u9760\u8fd1 \u5730\u677f \u7684 \u4e00\u70b9 \uff0c \u7136\u540e \u5c06 \u8f66\u8f86 \u7684 \u9aa8\u67b6 \u7f51\u683c \u7269\u4f53 \u4ece \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u62d6 \u5230 \u573a\u666f \u4e2d \uff0c \u8f66\u8f86 \u7684 \u8f66\u8eab \u73b0\u5728 \u5c06 \u51fa\u73b0 \u5728 \u90a3\u91cc \u3002   \u73b0\u5728 \uff0c \u5728 \u53f3\u4fa7 \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \u9762\u677f \u4e2d \uff0c \u5c06 \u65b0 \u6750\u8d28 \u5b9e\u4f8b \u62d6\u52a8 \u5230   Materials   \u90e8\u5206 \u7684   Element   0   \u4f4d\u7f6e \u3002 \u60a8 \u5c06 \u770b\u5230 \u8f66\u8eab \u5448\u73b0 \u73b0\u51fa \u5448\u73b0\u51fa \u4e00\u79cd \u65b0 \u7684 \u7070\u8272 \u3001 \u6709 \u5149\u6cfd \u7684 \u6750\u6599 \u7279\u6027 \u3002   \u53cc\u51fb \u5185\u5bb9 \u6d4f\u89c8 \u6d4f\u89c8\u5668 \u4e2d \u7684 \u6750\u8d28 \uff0c \u6211\u4eec \u5c31 \u53ef\u4ee5 \u5f00\u59cb \u7f16\u8f91 \u53c2\u6570 \u4e86 \u3002 \u8fd9\u91cc \u6709 \u8bb8\u591a \u53c2\u6570 \u53ef\u4ee5 \u6539\u53d8 \u5404\u79cd \u5c5e\u6027 \uff0c \u8fd9\u4e9b \u5c5e\u6027 \u5bf9\u4e8e \u4eff\u771f \u73b0\u5b9e \u4e16\u754c \u7684 \u6c7d\u8f66 \u55b7\u6f06 \u5de5\u4f5c \u975e\u5e38 \u91cd\u8981 \u3002 \u6700 \u91cd\u8981 \u7684 \u53c2\u6570 \u5982\u4e0b \u3002   \u989c\u8272 ( Color )   -   \u989c\u8272 \u8bbe\u7f6e \u63a7\u5236 \u6c7d\u8f66 \u7684 \u6574\u4f53 \u989c\u8272 \u3002 \u57fa\u8272 \u53ea\u662f \u6c7d\u8f66 \u7684 \u4e3b\u8981 \u989c\u8272 \uff0c \u5b83 \u5c06 \u63a7\u5236 \u6574\u4f53 \u989c\u8272 \uff1a   \u900f\u660e \u6d82\u5c42 ( Clear   coat )   -   \u900f\u660e \u6d82\u5c42 \u8bbe\u7f6e \u63a7\u5236 \u9970\u9762 \u7684 \u5916\u89c2 \u53ca\u5176 \u5bf9\u5149 \u7684 \u53cd\u5e94 \u3002 \u7c97\u7cd9 \u7c97\u7cd9\u5ea6 \u4f7f\u7528 \u7eb9\u7406 \u5c06 \u7f3a\u9677 \u5e94\u7528 \u5230 \u8f66\u8f86 \u8868\u9762 \uff0c \u4ee5 \u66f4 \u9ad8 \u7684 \u503c \u6563\u5c04 \u66f4 \u591a \u7684 \u5149 \uff0c \u4ee5 \u521b\u5efa \u54d1\u5149 \u5916\u89c2 \u3002 \u5efa\u8bae \u8fdb\u884c \u5fae\u5999 \u7684 \u8c03\u6574 \u548c \u8f83 \u4f4e \u7684 \u503c \u4ee5 \u83b7\u5f97 \u903c\u771f \u7684 \u5916\u89c2 \u3002 \u4e00\u822c \u6765\u8bf4 \u4e00\u822c\u6765\u8bf4 \uff0c \u6c7d\u8f66 \u55b7\u6f06 \u4f5c\u4e1a \u662f \u5149\u6ed1 \u4e14 \u53cd\u5149 \u7684 \uff0c \u4f46\u662f \uff0c \u8fd9\u79cd \u6548\u679c \u53ef\u80fd \u66f4 \u5e7f\u6cdb \u5730 \u7528\u4e8e \u5bf9 \u5b9a\u5236 \u55b7\u6f06 \u4f5c\u4e1a \u7684 \u4e13\u4e1a \u54d1\u5149 \u9970\u9762 \u8fdb\u884c \u5efa\u6a21 \u3002   \u63a7\u5236 \u6c7d\u8f66 \u201c \u5149\u6cfd \u5149\u6cfd\u5ea6 \u201d \u7684 \u4e00\u4e2a \u91cd\u8981 \u53c2\u6570 \u662f \u900f\u660e \u6d82\u5c42 \u5f3a\u5ea6 (   Clear   Coat   Intensity   ) \u3002 \u63a5\u8fd1   1   \u7684 \u9ad8\u503c \u5c06 \u4f7f \u6d82\u5c42 \u95ea\u4eae \u4e14 \u6709 \u5149\u6cfd \u3002   \u7c92\u72b6 \u8868\u9762 ( Orange   peel )   -   \u771f\u5b9e \u6c7d\u8f66 \u7684 \u9970\u9762 \uff08 \u7279\u522b \u662f \u9762\u5411 \u4e00\u822c \u5e02\u573a \u7684 \u6279\u91cf \u751f\u4ea7 \u6279\u91cf\u751f\u4ea7 \u7684 \u6c7d\u8f66 \uff09 \u5f80\u5f80 \u5b58\u5728 \u7f3a\u9677 \uff0c \u8868\u73b0 \u4e3a \u6cb9\u6f06 \u4e2d \u7684 \u8f7b\u5fae \u6ce2\u7eb9 \u3002 \u6a59\u76ae \u6548\u679c \u4eff\u771f \u4e86 \u8fd9 \u4e00\u70b9 \uff0c \u4f7f \u6c7d\u8f66 \u770b\u8d77 \u8d77\u6765 \u770b\u8d77\u6765 \u66f4 \u771f\u5b9e \u3002   \u8584\u7247 ( Flakes )   -   \u6709\u4e9b \u6c7d\u8f66 \u7684 \u6cb9\u6f06 \u5de5\u4f5c \u4e2d \u5305\u542b \u5176\u4ed6 \u6750\u6599 \u7684 \u8584\u7247 \uff0c \u4f8b\u5982 \u91d1\u5c5e \u6216 \u9676\u74f7 \uff0c \u4ee5 \u4f7f \u6c7d\u8f66 \u5177\u6709   metallic   \u6216   pearlescant   \u5916\u89c2 \uff0c \u589e\u52a0 \u989d\u5916 \u7684 \u95ea\u5149 \u548c \u53cd\u5c04 \uff0c \u4ee5\u6709 \u5438\u5f15 \u5f15\u529b \u5438\u5f15\u529b \u7684 \u65b9\u5f0f \u4e0e \u53cd\u5e94 \u5149\u53cd\u5e94 \u3002 \u8584\u7247 \u53c2\u6570 \u5141\u8bb8   Carla   \u4eff\u771f \u8fd9 \u4e00\u70b9 \u3002 \u4e3a\u4e86 \u4eff\u771f \u91d1\u5c5e \u9970\u9762 \uff0c \u5b83\u4f1a \u662f   \u7070\u5c18 ( Dust )   -   \u6c7d\u8f66 \u7684 \u8f66 \u8eab\u4e0a \u7ecf\u5e38 \u4f1a \u79ef\u805a \u6cb9\u8102 \u548c \u7070\u5c18 \uff0c \u4ece\u800c \u589e\u52a0 \u6cb9\u6f06 \u7684 \u8d28\u611f \uff0c \u5f71\u54cd \u5176 \u53cd\u5c04 \u5149\u7ebf \u7684 \u65b9\u5f0f \u3002 \u7070\u5c18 \u53c2\u6570 \u5141\u8bb8 \u60a8 \u5728 \u6d82\u5c42 \u4e0a \u6dfb\u52a0 \u7834\u574f \u5757 \uff0c \u4ee5 \u4eff\u771f \u7c98\u9644 \u5728 \u6cb9\u6f06 \u4e0a \u7684 \u5f02\u7269 \u3002","title":"\u5c06 \u6750\u6599 \u5e94\u7528 \u5230 \u60a8 \u7684 \u8f66\u8f86 \u4e0a"},{"location":"tuto_first_steps/","text":"\u5b66\u4e60   Carla   \u7684 \u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u662f \u4e00\u4e2a \u7efc\u5408 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c \u7528\u4e8e \u4e3a \u81ea\u52a8 \u9a7e\u9a76   ( Autonomous   Driving ,   AD )   \u548c \u5176\u4ed6 \u673a\u5668 \u673a\u5668\u4eba \u5e94\u7528 \u751f\u6210 \u5408\u6210 \u8bad\u7ec3 \u6570\u636e \u3002 Carla   \u4eff\u771f \u9ad8\u5ea6 \u771f\u5b9e \u7684 \u73af\u5883 \uff0c \u4eff\u771f \u73b0\u5b9e \u4e16\u754c \u4e2d \u7684 \u57ce\u9547 \u3001 \u57ce\u5e02 \u548c \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u4ee5\u53ca \u5360\u636e \u8fd9\u4e9b \u9a7e\u9a76 \u7a7a\u95f4 \u7684 \u8f66\u8f86 \u548c \u5176\u4ed6 \u7269\u4f53 \u3002   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fd8 \u53ef \u7528\u4f5c \u8bc4\u4f30 \u548c \u6d4b\u8bd5 \u73af\u5883 \u6d4b\u8bd5\u73af\u5883 \u3002 \u60a8 \u53ef\u4ee5 \u90e8\u7f72 \u5728 \u4eff\u771f \u4e2d \u8bad\u7ec3 \u8fc7 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u6765 \u6d4b\u8bd5 \u548c \u8bc4\u4f30 \u5176 \u6027\u80fd \u548c \u5b89\u5168 \u5b89\u5168\u6027 \uff0c \u6240\u6709 \u8fd9\u4e9b \u90fd \u5728 \u4eff\u771f \u73af\u5883 \u7684 \u5b89\u5168 \u8303\u56f4 \u5185 \uff0c \u4e0d\u4f1a \u5bf9 \u786c\u4ef6 \u6216 \u5176\u4ed6 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u9020\u6210 \u98ce\u9669 \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u4ecb\u7ecd   Carla   \u4e2d \u7684 \u6807\u51c6 \u5de5\u4f5c \u6d41\u7a0b \uff0c \u4ece \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u8fde\u63a5 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5230 \u6dfb\u52a0 \u8f66\u8f86 \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u751f\u6210 \u7528\u4e8e \u673a\u5668 \u5b66\u4e60 \u7684 \u8bad\u7ec3 \u6570\u636e \u3002 \u672c \u6559\u7a0b \u65e8\u5728 \u91cd\u70b9 \u4ecb\u7ecd \u7ec6\u8282 \uff0c \u5e76 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u9ad8\u6548 \u5730 \u4ecb\u7ecd \u4f7f\u7528   Carla   \u751f\u6210 \u673a\u5668 \u5b66\u4e60 \u8bad\u7ec3 \u6570\u636e \u7684 \u5173\u952e \u6b65\u9aa4 \u5173\u952e\u6b65\u9aa4 \u3002 \u6709\u5173 \u5de5\u4f5c \u6d41\u7a0b \u6bcf\u4e2a \u90e8\u5206 \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u4f8b\u5982 \u84dd \u56fe\u5e93 \u4e2d \u53ef\u7528 \u7684 \u591a\u79cd \u8f66\u8f86 \u6216 \u53ef\u7528 \u7684 \u66ff\u4ee3 \u7c7b\u578b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u8bf7 \u67e5\u9605 \u6587\u672c \u4e2d \u7684 \u94fe\u63a5 \u6216 \u6d4f\u89c8 \u5de6\u4fa7 \u83dc\u5355 \u3002   \u542f\u52a8   Carla   \u5e76 \u8fdb\u884c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5   \u52a0\u8f7d \u5730\u56fe   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u5bfc\u822a   \u6dfb\u52a0 \u975e \u73a9\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u6dfb\u52a0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4eff\u771f \u8f66\u8f86   \u5c06 \u8f66\u8f86 \u5206\u914d \u4e3a \u81ea\u6211 \u8f66\u8f86   \u9009\u62e9 \u4f60 \u7684 \u5730\u56fe   \u9009\u62e9 \u4f60 \u7684 \u8f66\u8f86   \u542f\u52a8   Carla   \u5e76 \u8fdb\u884c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5   \u53ef\u4ee5 \u4f7f\u7528   Windows   \u4e2d \u7684 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u6216   Linux   \u4e2d \u7684   shell   \u811a\u672c \u901a\u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u542f\u52a8   Carla \u3002 \u6309\u7167   Linux   \u548c   Windows   \u7684 \u5b89\u88c5 \u8bf4\u660e \u8fdb\u884c \u64cd\u4f5c \uff0c \u7136\u540e \u4ece \u547d\u4ee4 \u547d\u4ee4\u884c   \u542f\u52a8   Carla   \uff1a   cd   / carla / root   . / CarlaUE4 . sh   \u8981 \u901a\u8fc7   Python   API   \u64cd\u4f5c   Carla \uff0c \u6211\u4eec \u9700\u8981 \u901a\u8fc7 \u5f00\u653e \u7aef\u53e3 \u5c06 Python   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u901a\u8fc7   \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u4e16\u754c \u5bf9\u8c61   \u63a7\u5236 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6253\u5f00 \u4e00\u4e2a   Python   \u7b14\u8bb0 \u7b14\u8bb0\u672c \u6216 \u521b\u5efa \u4e00\u4e2a \u65b0 \u811a\u672c \uff0c \u7136\u540e \u5c06 \u4ee5\u4e0b \u4ee3\u7801 \u6dfb\u52a0 \u5230 \u811a\u672c \u7684 \u5f00\u5934 \u6216   main   \u51fd\u6570 \u4e2d \uff1a   import   carla   import   random   #   \u94fe\u63a5 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e76 \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5bf9\u8c61 \u7528\u4e8e \u7ef4\u62a4 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u8fde\u63a5 \uff0c \u5e76 \u5177\u6709 \u8bb8\u591a \u7528\u4e8e \u5e94\u7528 \u547d\u4ee4 \u4ee5\u53ca \u52a0\u8f7d \u6216 \u5bfc\u51fa \u6570\u636e \u7684 \u529f\u80fd \u3002 \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u52a0\u8f7d \u66ff\u4ee3 \u5730\u56fe \u6216 \u91cd\u65b0 \u52a0\u8f7d \u5f53\u524d \u5730\u56fe \uff08 \u91cd\u7f6e \u4e3a \u521d\u59cb \u72b6\u6001 \u521d\u59cb\u72b6\u6001 \uff09 \u3002   \u7aef\u53e3 \u53ef\u4ee5 \u9009\u62e9 \u4efb\u4f55 \u53ef\u7528 \u7684 \u7aef\u53e3 \uff0c \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e3a   2000 \uff0c \u60a8 \u4e5f \u53ef\u4ee5 \u4f7f\u7528 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u7684   IP   \u5730\u5740 \u9009\u62e9 \u4e0e   localhost   \u4e0d\u540c \u7684 \u4e3b\u673a \u3002 \u8fd9\u6837 \uff0c Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53ef\u4ee5 \u5728 \u8054\u7f51 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u8fd0\u884c \uff0c \u800c   python   \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u4ece \u4e2a\u4eba \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u8fd0\u884c \u3002 \u8fd9 \u5bf9\u4e8e \u533a\u5206 \u7528\u4e8e \u8fd0\u884c   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684   GPU   \u548c \u7528\u4e8e \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u8bad\u7ec3 \u7684   GPU   \u7279\u522b \u6709\u7528 \uff0c \u8fd9 \u4e24\u8005 \u5bf9 \u56fe\u5f62 \u786c\u4ef6 \u7684 \u8981\u6c42 \u90fd \u5f88 \u9ad8 \u3002   \u7b14\u8bb0   \u4ee5\u4e0b \u5047\u8bbe   Carla   \u5728 \u9ed8\u8ba4 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \u8fd0\u884c \u3002 \u5982\u679c \u60a8 \u4f7f\u7528   \u540c\u6b65   \u6a21\u5f0f \uff0c \u4ee5\u4e0b \u90e8\u5206 \u4e2d \u7684 \u67d0\u4e9b \u4ee3\u7801 \u53ef\u80fd \u65e0\u6cd5 \u6309 \u9884\u671f \u5de5\u4f5c \u3002   \u52a0\u8f7d \u5730\u56fe   \u5728   Carla   API   \u4e2d \uff0c   \u4e16\u754c   \u5bf9\u8c61 \u63d0\u4f9b \u5bf9 \u4eff\u771f \u7684 \u6240\u6709 \u5143\u7d20 \u7684 \u8bbf\u95ee \uff0c \u5305\u62ec \u5730\u56fe \u3001 \u5730\u56fe \u5185 \u7684 \u5bf9\u8c61 \uff0c \u4f8b\u5982 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u3001 \u8f66\u8f86 \u548c \u884c\u4eba \u3002 Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u5e38 \u52a0\u8f7d \u9ed8\u8ba4 \u5730\u56fe \uff08 \u901a\u5e38 \u4e3a   Town10 \uff09 \u3002 \u5982\u679c \u60a8 \u60f3 \u4f7f\u7528 \u5907\u7528 \u5730\u56fe \u542f\u52a8   Carla \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b   config . py   \u811a\u672c \uff1a   . / config . py   -- map   Town05   \u6211\u4eec \u8fd8 \u53ef\u4ee5 \u4f7f\u7528   world   \u5bf9\u8c61 \u4ece \u5ba2\u6237 \u5ba2\u6237\u7aef \u52a0\u8f7d \u5730\u56fe \uff1a   client . load _ world ( ' Town05 ' )   \u8bf7 \u5728   \u6b64\u5904   \u67e5\u627e \u6709\u5173   Carla   \u5730\u56fe \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u5bfc\u822a   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u662f \u4eff\u771f \u7684 \u89c6\u56fe \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5f53 \u60a8 \u5728 \u8fde\u63a5 \u5c4f\u5e55 \u7684 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u8fd0\u884c   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u65f6 \uff0c \u89c2\u4f17 \u4f1a \u5728 \u7a97\u53e3 \u65b0\u7a97\u53e3 \u4e2d \u6253\u5f00 \uff0c \u9664\u975e \u60a8 \u6307\u5b9a   - RenderOffScreen   \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879 \u3002   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 \u60a8 \u7684 \u4eff\u771f \u3002 \u4f7f\u7528 \u89c2\u5bdf \u89c2\u5bdf\u8005 \uff0c \u60a8 \u53ef\u4ee5 \u719f\u6089 \u5df2 \u52a0\u8f7d \u7684 \u5730\u56fe \uff0c \u5e76 \u67e5\u770b \u6240 \u505a \u7684 \u4efb\u4f55 \u66f4\u6539 \u7684 \u7ed3\u679c \uff0c \u4f8b\u5982 \u6dfb\u52a0 \u8f66\u8f86 \u3001 \u66f4\u6539 \u5929\u6c14 \u3001 \u6253\u5f00 / \u5173\u95ed \u5730\u56fe \u7684 \u5404\u4e2a \u56fe\u5c42 \u4ee5\u53ca \u7528\u4e8e \u8c03\u8bd5 \u76ee\u7684 \u3002   \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u9f20\u6807 \u63a7\u5236 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u89c6\u56fe \u7684 \u4fef\u4ef0 \u548c \u504f\u822a \uff0c \u5e76 \u4f7f\u7528   QWE - ASD   \u952e \u79fb\u52a8 \u89c2\u4f17 \uff0c \u8ba9 \u89c2\u4f17 \u98de \u5230 \u4e16\u754c \u5404\u5730 \u4e16\u754c\u5404\u5730 \uff1a   Q   -   \u5411\u4e0a \u79fb\u52a8 \uff08 \u671d\u5411 \u7a97\u53e3 \u7684 \u9876\u90e8 \u8fb9\u7f18 \uff09   E   -   \u5411\u4e0b \u79fb\u52a8 \uff08 \u671d\u5411 \u7a97\u53e3 \u7684 \u4e0b \u8fb9\u7f18 \uff09   W   -   \u5411\u524d \u79fb\u52a8   S   -   \u5411 \u540e \u79fb\u52a8   A   -   \u5411 \u5de6 \u79fb\u52a8   D   -   \u5411 \u53f3 \u79fb\u52a8   \u5de6\u952e \u5355\u51fb \u5e76 \u5728 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u7a97\u53e3 \u4e2d \u4e0a\u4e0b \u62d6\u52a8 \u9f20\u6807 \u6765 \u63a7\u5236 \u4fef\u4ef0 \uff0c \u5de6\u53f3 \u62d6\u52a8 \u9f20\u6807 \u6765 \u63a7\u5236 \u504f\u822a \u3002   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u53ca\u5176 \u5c5e\u6027 \u53ef\u4ee5 \u901a\u8fc7   Python   API   \u8bbf\u95ee \u548c \u64cd\u4f5c \uff1a   #   \u83b7\u53d6 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u5bf9\u8c61   spectator   =   world . get _ spectator ( )   #   \u901a\u8fc7 \u53d8\u6362 \u83b7\u5f97 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c   transform   =   spectator . get _ transform ( )   location   =   transform . location   rotation   =   transform . rotation   #   \u7528\u7a7a \u53d8\u6362 \u8bbe\u7f6e \u89c2\u5bdf \u89c2\u5bdf\u8005   spectator . set _ transform ( carla . Transform ( ) )   #   \u8fd9 \u5c06 \u8bbe\u7f6e \u89c2\u4f17 \u5728 \u5730\u56fe \u7684 \u539f\u70b9 \uff0c 0 \u5ea6 \u4fef\u4ef0 \uff0c \u504f\u822a \u548c \u6eda\u52a8 - \u4e00\u4e2a \u5f88 \u597d \u7684 \u65b9\u5f0f \u6765 \u5b9a\u4f4d \u81ea\u5df1 \u5728 \u5730\u56fe \u4e0a   \u6dfb\u52a0 \u975e \u73a9\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u52a0\u8f7d \u4e86 \u5730\u56fe \u5e76\u4e14 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5df2 \u542f\u52a8 \u5e76 \u8fd0\u884c \uff0c \u6211\u4eec \u73b0\u5728 \u9700\u8981 \u7528 \u4e00\u4e9b \u8f66\u8f86 \u586b\u5145 \u6211\u4eec \u7684 \u4eff\u771f \uff0c \u4ee5 \u4eff\u771f \u5177\u6709 \u4ea4\u901a \u548c \u5176\u4ed6 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u6216\u975e \u73a9\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u771f\u5b9e \u73af\u5883 \u3002   \u8981 \u751f\u6210 \u8f66\u8f86 \uff0c \u9996\u5148 \uff0c \u6211\u4eec \u9700\u8981 \u4ece \u84dd \u56fe\u5e93 \u4e2d \u9009\u62e9 \u6211\u4eec \u60f3\u8981 \u7684 \u8f66\u8f86 \u3002   #   \u83b7\u53d6 \u84dd \u56fe\u5e93 \u548c \u8f66\u8f86 \u84dd\u56fe \u8fc7\u6ee4 \u6ee4\u5668 \u8fc7\u6ee4\u5668   vehicle _ blueprints   =   world . get _ blueprint _ library ( ) . filter ( ' * vehicle * ' )   \u73b0\u5728 \u6211\u4eec \u6709 \u4e86 \u84dd\u56fe \uff0c \u6211\u4eec \u9700\u8981 \u5728 \u5730\u56fe \u4e0a \u627e\u5230 \u4e00\u4e9b \u5408\u9002 \u7684 \u5730\u70b9 \u6765 \u751f\u6210 \u6211\u4eec \u7684 \u8f66\u8f86 \u3002 \u4e3a\u6b64 \uff0c \u6bcf\u4e2a   Carla   \u5730\u56fe \u90fd \u63d0\u4f9b \u4e86 \u9884\u5b9a \u4e49 \u7684 \u751f\u6210 \u70b9 \uff0c \u5747\u5300 \u5206\u5e03 \u5747\u5300\u5206\u5e03 \u5728 \u6574\u4e2a \u5730\u56fe \u7684 \u9053\u8def \u4e0a \u3002   #   \u83b7\u5f97 \u5730\u56fe \u7684 \u751f\u6210 \u70b9   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   #   \u5728 \u6bcf\u4e2a \u751f\u6210 \u70b9 \u968f\u673a \u751f\u6210 50 \u8f86\u8f66 \uff0c \u6211\u4eec \u4ece \u84dd \u56fe\u5e93 \u4e2d \u968f\u673a \u9009\u62e9 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66   for   i   in   range ( 0 , 50 ) :   world . try _ spawn _ actor ( random . choice ( vehicle _ blueprints ) ,   random . choice ( spawn _ points ) )   \u73b0\u5728 \u6211\u4eec \u8fd8 \u5e94\u8be5 \u6dfb\u52a0 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u4f5c\u4e3a \u4eff\u771f \u7684 \u4e2d\u5fc3 \u4e2d\u5fc3\u70b9 \u3002 \u4e3a\u4e86 \u8bad\u7ec3 \u81ea\u4e3b \u4ee3\u7406 \uff0c \u6211\u4eec \u9700\u8981 \u4eff\u771f \u81ea\u4e3b \u4ee3\u7406 \u5c06 \u63a7\u5236 \u7684 \u8f66\u8f86 \u3002 \u7528   Carla   \u7684 \u8bf4\u6cd5 \uff0c \u6211\u4eec \u7ecf\u5e38 \u5c06 \u8fd9\u79cd \u8f66\u8f86 \u79f0\u4e3a \u201c \u81ea\u6211 \u8f66\u8f86 \u201d \u3002   ego _ vehicle   =   world . spawn _ actor ( random . choice ( vehicle _ blueprints ) ,   random . choice ( spawn _ points ) )   \u9664\u4e86 \u8f66\u8f86 \u4e4b\u5916 \uff0c Carla   \u8fd8 \u63d0\u4f9b \u884c\u4eba \u6dfb\u52a0 \u5230 \u4eff\u771f \u4e2d \uff0c \u4ee5 \u4eff\u771f \u771f\u5b9e \u7684 \u9a7e\u9a76 \u573a\u666f \u3002 \u5728   Carla   \u672f\u8bed \u4e2d \uff0c \u8f66\u8f86 \u548c \u884c\u4eba \u88ab \u79f0\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8bf7 \u5728   \u6b64\u5904   \u4e86\u89e3 \u6709\u5173 \u5b83\u4eec \u7684 \u66f4 \u591a \u4fe1\u606f \u3002   \u6dfb\u52a0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u73b0\u4ee3 \u81ea\u52a8 \u9a7e\u9a76 \u6c7d\u8f66 \u901a\u8fc7 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u9644\u52a0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6765 \u7406\u89e3 \u548c \u89e3\u91ca \u5176 \u73af\u5883 \u3002 \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5305\u62ec \u5149\u5b66 \u6444\u50cf \u6444\u50cf\u673a \u3001 \u5149\u6d41 \u6444\u50cf \u6444\u50cf\u673a \u3001 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u96f7\u8fbe \u548c \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \u7b49 \u3002 Carla   \u5185\u7f6e \u4e86 \u591a\u79cd \u79cd\u7c7b \u7c7b\u578b \u591a\u79cd\u7c7b\u578b \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6a21\u578b \uff0c \u7528\u4e8e \u521b\u5efa \u673a\u5668 \u5b66\u4e60 \u7684 \u8bad\u7ec3 \u6570\u636e \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u4ee5 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u4e0a \uff0c \u4e5f \u53ef\u4ee5 \u8fde\u63a5 \u5230 \u56fa\u5b9a \u5b9a\u70b9 \u56fa\u5b9a\u70b9 \u6765 \u5efa\u6a21 \uff0c \u4f8b\u5982 \u95ed\u8def \u7535\u89c6 \u95ed\u8def\u7535\u89c6 \u6444\u50cf \u6444\u50cf\u673a \u3002   \u5728 \u8fd9\u91cc \uff0c \u6211\u4eec \u5c06 \u5728 \u81ea\u6211 \u8f66\u8f86 \u4e0a \u5b89\u88c5 \u4e00\u4e2a \u6807\u51c6 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6765 \u8bb0\u5f55 \u4e00\u4e9b \u89c6\u9891 \u6570\u636e \uff1a   #   \u521b\u5efa \u4e00\u4e2a \u53d8\u6362 \uff0c \u5c06 \u6444\u50cf \u6444\u50cf\u673a \u653e\u7f6e \u5728 \u8f66\u8f86 \u7684 \u9876\u90e8   camera _ init _ trans   =   carla . Transform ( carla . Location ( z = 1.5 ) )   #   \u901a\u8fc7 \u5b9a\u4e49 \u5176 \u5c5e\u6027 \u7684 \u84dd\u56fe \u6765 \u521b\u5efa \u76f8\u673a   camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   #   \u751f\u6210 \u76f8\u673a \u5e76 \u5c06 \u5176 \u8fde\u63a5 \u5230 \u6211\u4eec \u7684 \u81ea\u6211 \u8f66\u8f86 \u4e0a   camera   =   world . spawn _ actor ( camera _ bp ,   camera _ init _ trans ,   attach _ to = ego _ vehicle )   \u4e00\u65e6 \u6211\u4eec \u751f\u6210 \u4e86 \u76f8\u673a \uff0c \u6211\u4eec \u9700\u8981 \u901a\u8fc7   listen ( )   \u65b9\u6cd5 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u5f55\u5236 \u3002 Listen   \u65b9\u6cd5 \u5c06 \u5b9a\u4e49 \u5982\u4f55 \u5904\u7406 \u6570\u636e \u7684 \u56de\u8c03 \u4f5c\u4e3a \u53c2\u6570 \u3002 \u60a8 \u53ef\u4ee5 \u5c06 \u5176 \u6d41\u5f0f \u4f20\u8f93 \u5230 \u53e6 \u4e00\u4e2a \u7a0b\u5e8f \u6216 \u5c06 \u5176 \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002   \u6211\u4eec \u5c06 \u4f7f\u7528   lambda   \u51fd\u6570 \u4f5c\u4e3a \u56de\u8c03 \u5c06 \u6570\u636e \u4fdd\u5b58 \u5230 \u78c1\u76d8 \uff1a   #   \u7528   PyGame   \u56de\u8c03 \u542f\u52a8 \u76f8\u673a   camera . listen ( lambda   image :   image . save _ to _ disk ( ' out / % 06d . png '   %   image . frame ) )   \u8fd9\u4f1a \u5c06 \u6570\u636e \u4f5c\u4e3a \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u6839\u636e \u4eff\u771f \u5e27 \u7f16\u53f7 \u547d\u540d \u7684   PNG   \u56fe\u50cf \u6587\u4ef6 \u56fe\u50cf\u6587\u4ef6 \u4fdd\u5b58 \u5230   out /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u6709 \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7c7b\u578b \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002 \u5728   \u8fd9\u91cc   \u60a8 \u53ef\u4ee5 \u66f4 \u6df1\u5165 \u5730 \u7814\u7a76 \u53ef\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9635\u5217 \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528 \u5b83\u4eec \u3002   \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4eff\u771f \u8f66\u8f86   \u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u5c06 \u4ea4\u901a \u548c \u81ea\u6211 \u8f66\u8f86 \u6dfb\u52a0 \u5230 \u4eff\u771f \u4e2d \u5e76 \u5f00\u59cb \u8bb0\u5f55 \u6444\u50cf \u6444\u50cf\u673a \u6570\u636e \uff0c \u73b0\u5728 \u6211\u4eec \u9700\u8981 \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u8fd0\u52a8 \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u662f   Carla   \u7684 \u4e00\u4e2a \u7ec4\u4ef6 \uff0c \u5b83 \u63a7\u5236 \u8f66\u8f86 \u5728 \u4eff\u771f \u5185 \u7684 \u5730\u56fe \u9053\u8def \u4e0a \u81ea\u52a8 \u79fb\u52a8 \uff0c \u9075\u5faa \u9053\u8def \u60ef\u4f8b \u5e76 \u8868\u73b0 \u5f97 \u50cf \u771f\u6b63 \u7684 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u3002   \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528   world . get _ actors ( )   \u65b9\u6cd5 \u627e\u5230 \u4eff\u771f \u4e2d \u7684 \u6240\u6709 \u8f66\u8f86 \uff0c \u5bf9 \u6240\u6709 \u8f66\u8f86 \u8fdb\u884c \u8fc7\u6ee4 \u3002 \u7136\u540e \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u8be5   set _ autopilot ( )   \u65b9\u6cd5 \u5c06 \u8f66\u8f86 \u7684 \u63a7\u5236 \u63a7\u5236\u6743 \u79fb\u4ea4 \u7ed9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   for   vehicle   in   world . get _ actors ( ) . filter ( ' * vehicle * ' ) :   vehicle . set _ autopilot ( True )   \u73b0\u5728 \u60a8 \u7684 \u4eff\u771f \u6b63\u5728 \u8fd0\u884c \uff0c \u6709 \u8bb8\u591a \u8f66\u8f86 \u5728 \u5730\u56fe \u4e0a \u884c\u9a76 \uff0c \u5e76\u4e14 \u6444\u50cf \u6444\u50cf\u673a \u8bb0\u5f55 \u5176\u4e2d \u4e00\u8f86 \u8f66\u8f86 \u7684 \u6570\u636e \u3002 \u7136\u540e \uff0c \u8be5 \u6570\u636e \u53ef \u7528\u4e8e \u63d0\u4f9b \u673a\u5668 \u5b66\u4e60 \u7b97\u6cd5 \u6765 \u8bad\u7ec3 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u5177 \u6709 \u8bb8\u591a \u7528\u4e8e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d41\u91cf \u884c\u4e3a \u7684 \u529f\u80fd \uff0c \u8bf7 \u5728   \u6b64\u5904   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u8fd9\u662f \u4eff\u771f \u7684 \u6700 \u57fa\u672c \u53ef\u80fd \u8bbe\u7f6e \uff0c \u73b0\u5728 \u60a8 \u53ef\u4ee5 \u66f4 \u6df1\u5165 \u5730 \u4e86\u89e3 \u6709\u5173 \u53ef \u7528\u4e8e \u751f\u6210 \u6570\u636e \u7684 \u8bb8\u591a \u989d\u5916 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6587\u6863 \uff0c \u4ee5\u53ca   Carla   \u7684 \u8bb8\u591a \u5176\u4ed6 \u529f\u80fd \uff0c \u8fd9\u4e9b \u529f\u80fd \u53ef\u4ee5 \u4f7f \u60a8 \u7684 \u4eff\u771f \u66f4\u52a0 \u8be6\u7ec6 \u548c \u66f4 \u591a \u5b9e\u9645 \u7684 \u3002   \u5c06 \u8f66\u8f86 \u5206\u914d \u4e3a \u81ea\u6211 \u8f66\u8f86   \u81ea\u6211 \u8f66\u8f86   \u662f \u4f7f\u7528   Carla   \u65f6 \u9700\u8981 \u7262\u8bb0 \u7684 \u4e00\u4e2a \u91cd\u8981 \u6982\u5ff5 \u3002 \u81ea\u6211 \u8f66\u8f86 \u662f \u6307 \u5c06 \u6210\u4e3a \u4eff\u771f \u7126\u70b9 \u7684 \u8f66\u8f86 \u3002 \u5728 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570   CARLA   \u7528\u4f8b \u4e2d \uff0c \u5b83 \u53ef\u80fd \u662f \u60a8 \u5c06 \u8fde\u63a5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8f66\u8f86 \u548c / \u6216 \u60a8 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u673a\u5668 \u5b66\u4e60 \u5806\u6808 \u5c06 \u63a7\u5236 \u7684 \u8f66\u8f86 \u3002 \u5b83 \u5f88 \u91cd\u8981 \uff0c \u56e0\u4e3a \u5b83 \u662f \u4e00\u4e9b \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63d0\u9ad8 \u4eff\u771f \u6548\u7387 \u7684 \u4eff\u771f \u64cd\u4f5c \u7684 \u57fa\u7840 \uff0c \u4f8b\u5982 \uff1a   \u52a0\u8f7d \u5927\u578b \u5730\u56fe \u7684 \u5730\u56fe \u56fe\u5757   :   \u5927\u578b \u5730\u56fe \uff08 \u5982   Town   12 \uff09 \u7531 \u56fe\u5757 \u7ec4\u6210 \uff0c \u4ec5 \u5728 \u9700\u8981 \u63d0\u9ad8   Carla   \u6027\u80fd \u65f6\u624d \u52a0\u8f7d \u3002 \u81ea\u6211 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u51b3\u5b9a \u4e86 \u4f7f\u7528 \u54ea\u4e9b \u56fe\u5757 \u3002 \u53ea\u6709 \u9760\u8fd1 \u6700\u9760\u8fd1 \u81ea\u6211 \u8f66\u8f86 \u7684 \u56fe\u5757 \u624d \u4f1a \u88ab \u52a0\u8f7d \u3002   \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f   :   \u5982\u679c \u60a8 \u7684 \u4eff\u771f \u5305\u542b \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u5927\u91cf \u8f66\u8f86 \uff0c \u5219 \u8ba1\u7b97 \u6240\u6709 \u8fd9\u4e9b \u8f66\u8f86 \u7684 \u7269\u7406 \u7269\u7406\u91cf \u5728 \u8ba1\u7b97 \u4e0a \u975e\u5e38 \u6602\u8d35 \u3002   \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f   \u4f7f \u7269\u7406 \u8ba1\u7b97 \u4ec5\u9650 \u9650\u4e8e \u4ec5\u9650\u4e8e \u81ea\u6211 \u8f66\u8f86 \u9644\u8fd1 \u7684 \u8f66\u8f86 \uff0c \u4ece\u800c \u8282\u7701 \u8ba1\u7b97 \u8d44\u6e90 \u8ba1\u7b97\u8d44\u6e90 \u3002   \u8981 \u5b9a\u4e49 \u81ea\u6211 \u8f66\u8f86 \uff0c \u60a8 \u5e94\u8be5 \u5728 \u751f\u6210 \u81ea\u6211 \u8f66\u8f86 \u65f6 \u8bbe\u7f6e   role _ name   \u8f66\u8f86   carla . Actor   \u5bf9\u8c61   \u84dd\u56fe   \u7684 \u5c5e\u6027 \uff1a   ego _ bp   =   world . get _ blueprint _ library ( ) . find ( ' vehicle . lincoln . mkz _ 2020 ' )   ego _ bp . set _ attribute ( ' role _ name ' ,   ' hero ' )   ego _ vehicle   =   world . spawn _ actor ( ego _ bp ,   random . choice ( spawn _ points ) )   \u9009\u62e9 \u4f60 \u7684 \u5730\u56fe   Carla   \u9644\u5e26 \u4e86 \u51e0\u5f20 \u9884\u5236 \u5730\u56fe \uff0c \u4e13\u6ce8 \u4e8e \u63d0\u4f9b \u591a\u79cd \u529f\u80fd \u3002 \u8fd9\u4e9b \u5730\u56fe \u5448\u73b0 \u4e86 \u57ce\u5e02 \u3001 \u4e61\u6751 \u548c \u4f4f\u5b85 \u7b49 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u73af\u5883 \u3002 \u8fd8\u6709 \u4e0d\u540c \u7684 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u548c \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7684 \u9053\u8def \u5e03\u5c40 \uff0c \u4ece \u65e0 \u6807\u8bb0 \u7684 \u4e61\u6751 \u9053\u8def \u5230 \u591a \u8f66\u9053 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3002 \u6d4f\u89c8   \u76ee\u5f55   \u6216 \u4e0b\u8868\u4e2d \u7684 \u5730\u56fe \u6307\u5357 \u3002   \u57ce\u9547   \u6982\u62ec   \u57ce\u9547 01   \u4e00\u4e2a \u7b80\u5355 \u7684 \u5c0f\u9547 \uff0c \u6709 \u4e00\u6761 \u6cb3\u6d41 \u548c \u51e0\u5ea7 \u6865\u6881 \u3002   \u57ce\u9547 02   \u4e00\u4e2a \u7b80\u5355 \u7684 \u5c0f\u9547 \uff0c \u4f4f\u5b85 \u548c \u5546\u4e1a \u5efa\u7b51 \u6df7\u5408 \u5728 \u4e00\u8d77 \u3002   \u57ce\u9547 03   \u66f4\u5927 \u7684 \u57ce\u5e02 \u5e02\u5730 \u5730\u56fe \u57ce\u5e02\u5730\u56fe \uff0c \u5e26\u6709 \u73af\u5c9b \u548c \u5927\u578b \u8def\u53e3 \u3002   \u57ce\u9547 04   \u4e00\u5ea7 \u9576\u5d4c \u5728 \u7fa4\u5c71 \u4e4b\u4e2d \u7684 \u5c0f\u9547 \uff0c \u6709 \u4e00\u6761 \u7279\u6b8a \u7684 \u201c 8 \u5b57\u5f62 \u201d   \u65e0\u9650   \u516c\u8def \u3002   \u57ce\u9547 05   \u65b9\u5f62 \u7f51\u683c \u57ce\u9547 \uff0c \u6709 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u548c \u4e00\u5ea7 \u6865\u6881 \u3002 \u6bcf\u4e2a \u65b9\u5411 \u6709 \u591a\u4e2a \u8f66\u9053 \u3002 \u5bf9\u4e8e \u6267\u884c \u53d8\u9053 \u5f88 \u6709\u7528 \u3002   \u57ce\u9547 06   \u957f \u7684 \u591a \u8f66\u9053 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \uff0c \u6709 \u8bb8\u591a \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u5165\u53e3 \u548c \u51fa\u53e3 \u3002 \u5b83 \u8fd8\u6709 \u4e00\u4e2a   \u5bc6\u6b47\u6839 \u5de6\u7ffc   \u3002   \u57ce\u9547 07   \u4e61\u6751 \u73af\u5883 \uff0c \u9053\u8def \u72ed\u7a84 \uff0c \u6709 \u7389\u7c73 \u3001 \u8c37\u4ed3 \uff0c \u51e0\u4e4e \u6ca1\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u3002   \u57ce\u9547 08   \u7528\u4e8e   \u6392\u884c \u6392\u884c\u699c   \u6311\u6218 \u7684 \u79d8\u5bc6 \u201c \u4e0d\u89c1 \u770b\u4e0d\u89c1 \u201d \u5c0f\u9547   \u57ce\u9547 09   \u7528\u4e8e   \u6392\u884c \u6392\u884c\u699c   \u6311\u6218 \u7684 \u79d8\u5bc6 \u201c \u4e0d\u89c1 \u770b\u4e0d\u89c1 \u201d \u5c0f\u9547   \u57ce\u9547 10   \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u7684 \u57ce\u5e02 \u73af\u5883 \uff0c \u62e5\u6709 \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u697c \u548c \u6d77\u6ee8 \u957f\u5eca \u3002   \u57ce\u9547 11   \u672a \u88c5\u9970 \u7684 \u5927 \u5730\u56fe \u3002   \u57ce\u9547 12   \u4e00\u5f20 \u5305\u542b \u8bb8\u591a \u4e0d\u540c \u533a\u57df \u7684 \u5927 \u5730\u56fe \uff0c \u5305\u62ec \u9ad8\u5c42 \u5efa\u7b51 \u9ad8\u5c42\u5efa\u7b51 \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u73af\u5883 \u3002   \u57ce\u9547 13   \u4e00\u5f20 \u4e0e   12   \u53f7 \u9547 \u89c4\u6a21 \u76f8\u4f3c \u7684 \u5927 \u5730\u56fe \uff0c \u4f46 \u5177\u6709 \u9c9c\u660e \u7684 \u7279\u8272 \u3002   \u57ce\u9547 15   \u57fa\u4e8e \u5df4\u585e \u585e\u7f57 \u7f57\u90a3 \u5df4\u585e\u7f57\u90a3 \u81ea\u6cbb \u5927\u5b66 \u9053\u8def \u5e03\u5c40 \u7684 \u5730\u56fe \u3002   HUTB   \u57fa\u4e8e \u6e56\u5357 \u5de5\u5546 \u5546\u5927 \u5927\u5b66 \u5de5\u5546\u5927\u5b66 \u9053\u8def \u5e03\u5c40 \u7684 \u5730\u56fe \u3002   \u60a8 \u53ef\u4ee5 \u6d4f\u89c8   Carla   \u5b89\u88c5 \u4e2d \u7684 \u53ef\u7528 \u5730\u56fe \uff1a   client . get _ available _ maps ( )   \u8fd9 \u5c06 \u5305\u62ec \u60a8 \u81ea\u5df1 \u6784\u5efa \u6216 \u5bfc\u5165 \u7684 \u5730\u56fe \u3002   \u5f53 \u60a8 \u9009\u62e9 \u5730\u56fe \u65f6 \uff0c \u8bf7 \u50cf \u8fd9\u6837 \u52a0\u8f7d \u5b83 \uff1a   client . load _ world ( ' Town03 _ Opt ' )   \u9009\u62e9 \u4f60 \u7684 \u8f66\u8f86   Carla   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u8f66\u8f86 \u5e93 \uff0c \u53ef\u4ee5 \u8ba9 \u60a8 \u7684 \u4eff\u771f \u5145\u6ee1 \u4ea4\u901a \u3002 \u6d4f\u89c8   Carla   \u8f66\u8f86 \u76ee\u5f55   \u4e2d \u7684 \u8f66\u8f86 \u578b\u53f7 \u3002   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u8fc7\u6ee4 \u84dd \u56fe\u5e93 \u6765 \u67e5\u770b \u6240\u6709 \u53ef\u7528 \u7684 \u8f66\u8f86 \u84dd\u56fe \u3002   for   bp   in   world . get _ blueprint _ library ( ) . filter ( ' vehicle ' ) :   print ( bp . id )","title":"\u5b66\u4e60   Carla   \u7684 \u7b2c\u4e00\u6b65"},{"location":"tuto_first_steps/#carla","text":"Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u662f \u4e00\u4e2a \u7efc\u5408 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c \u7528\u4e8e \u4e3a \u81ea\u52a8 \u9a7e\u9a76   ( Autonomous   Driving ,   AD )   \u548c \u5176\u4ed6 \u673a\u5668 \u673a\u5668\u4eba \u5e94\u7528 \u751f\u6210 \u5408\u6210 \u8bad\u7ec3 \u6570\u636e \u3002 Carla   \u4eff\u771f \u9ad8\u5ea6 \u771f\u5b9e \u7684 \u73af\u5883 \uff0c \u4eff\u771f \u73b0\u5b9e \u4e16\u754c \u4e2d \u7684 \u57ce\u9547 \u3001 \u57ce\u5e02 \u548c \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u4ee5\u53ca \u5360\u636e \u8fd9\u4e9b \u9a7e\u9a76 \u7a7a\u95f4 \u7684 \u8f66\u8f86 \u548c \u5176\u4ed6 \u7269\u4f53 \u3002   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u8fd8 \u53ef \u7528\u4f5c \u8bc4\u4f30 \u548c \u6d4b\u8bd5 \u73af\u5883 \u6d4b\u8bd5\u73af\u5883 \u3002 \u60a8 \u53ef\u4ee5 \u90e8\u7f72 \u5728 \u4eff\u771f \u4e2d \u8bad\u7ec3 \u8fc7 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u6765 \u6d4b\u8bd5 \u548c \u8bc4\u4f30 \u5176 \u6027\u80fd \u548c \u5b89\u5168 \u5b89\u5168\u6027 \uff0c \u6240\u6709 \u8fd9\u4e9b \u90fd \u5728 \u4eff\u771f \u73af\u5883 \u7684 \u5b89\u5168 \u8303\u56f4 \u5185 \uff0c \u4e0d\u4f1a \u5bf9 \u786c\u4ef6 \u6216 \u5176\u4ed6 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u9020\u6210 \u98ce\u9669 \u3002   \u5728 \u672c \u6559\u7a0b \u4e2d \uff0c \u6211\u4eec \u5c06 \u4ecb\u7ecd   Carla   \u4e2d \u7684 \u6807\u51c6 \u5de5\u4f5c \u6d41\u7a0b \uff0c \u4ece \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u548c \u8fde\u63a5 \u5ba2\u6237 \u5ba2\u6237\u7aef \uff0c \u5230 \u6dfb\u52a0 \u8f66\u8f86 \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u751f\u6210 \u7528\u4e8e \u673a\u5668 \u5b66\u4e60 \u7684 \u8bad\u7ec3 \u6570\u636e \u3002 \u672c \u6559\u7a0b \u65e8\u5728 \u91cd\u70b9 \u4ecb\u7ecd \u7ec6\u8282 \uff0c \u5e76 \u5c3d\u53ef \u53ef\u80fd \u5c3d\u53ef\u80fd \u9ad8\u6548 \u5730 \u4ecb\u7ecd \u4f7f\u7528   Carla   \u751f\u6210 \u673a\u5668 \u5b66\u4e60 \u8bad\u7ec3 \u6570\u636e \u7684 \u5173\u952e \u6b65\u9aa4 \u5173\u952e\u6b65\u9aa4 \u3002 \u6709\u5173 \u5de5\u4f5c \u6d41\u7a0b \u6bcf\u4e2a \u90e8\u5206 \u7684 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u4f8b\u5982 \u84dd \u56fe\u5e93 \u4e2d \u53ef\u7528 \u7684 \u591a\u79cd \u8f66\u8f86 \u6216 \u53ef\u7528 \u7684 \u66ff\u4ee3 \u7c7b\u578b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u8bf7 \u67e5\u9605 \u6587\u672c \u4e2d \u7684 \u94fe\u63a5 \u6216 \u6d4f\u89c8 \u5de6\u4fa7 \u83dc\u5355 \u3002   \u542f\u52a8   Carla   \u5e76 \u8fdb\u884c \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5   \u52a0\u8f7d \u5730\u56fe   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u5bfc\u822a   \u6dfb\u52a0 \u975e \u73a9\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005   \u6dfb\u52a0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4eff\u771f \u8f66\u8f86   \u5c06 \u8f66\u8f86 \u5206\u914d \u4e3a \u81ea\u6211 \u8f66\u8f86   \u9009\u62e9 \u4f60 \u7684 \u5730\u56fe   \u9009\u62e9 \u4f60 \u7684 \u8f66\u8f86","title":"\u5b66\u4e60   Carla   \u7684 \u7b2c\u4e00\u6b65"},{"location":"tuto_first_steps/#carla_1","text":"\u53ef\u4ee5 \u4f7f\u7528   Windows   \u4e2d \u7684 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u6216   Linux   \u4e2d \u7684   shell   \u811a\u672c \u901a\u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u542f\u52a8   Carla \u3002 \u6309\u7167   Linux   \u548c   Windows   \u7684 \u5b89\u88c5 \u8bf4\u660e \u8fdb\u884c \u64cd\u4f5c \uff0c \u7136\u540e \u4ece \u547d\u4ee4 \u547d\u4ee4\u884c   \u542f\u52a8   Carla   \uff1a   cd   / carla / root   . / CarlaUE4 . sh   \u8981 \u901a\u8fc7   Python   API   \u64cd\u4f5c   Carla \uff0c \u6211\u4eec \u9700\u8981 \u901a\u8fc7 \u5f00\u653e \u7aef\u53e3 \u5c06 Python   \u5ba2\u6237 \u5ba2\u6237\u7aef \u8fde\u63a5 \u5230 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002 \u5ba2\u6237 \u5ba2\u6237\u7aef \u901a\u8fc7   \u5ba2\u6237 \u5ba2\u6237\u7aef \u548c \u4e16\u754c \u5bf9\u8c61   \u63a7\u5236 \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u6253\u5f00 \u4e00\u4e2a   Python   \u7b14\u8bb0 \u7b14\u8bb0\u672c \u6216 \u521b\u5efa \u4e00\u4e2a \u65b0 \u811a\u672c \uff0c \u7136\u540e \u5c06 \u4ee5\u4e0b \u4ee3\u7801 \u6dfb\u52a0 \u5230 \u811a\u672c \u7684 \u5f00\u5934 \u6216   main   \u51fd\u6570 \u4e2d \uff1a   import   carla   import   random   #   \u94fe\u63a5 \u5230 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5e76 \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   client   =   carla . Client ( ' localhost ' ,   2000 )   world   =   client . get _ world ( )   \u5ba2\u6237 \u5ba2\u6237\u7aef   \u5bf9\u8c61 \u7528\u4e8e \u7ef4\u62a4 \u5ba2\u6237 \u5ba2\u6237\u7aef \u4e0e \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u7684 \u8fde\u63a5 \uff0c \u5e76 \u5177\u6709 \u8bb8\u591a \u7528\u4e8e \u5e94\u7528 \u547d\u4ee4 \u4ee5\u53ca \u52a0\u8f7d \u6216 \u5bfc\u51fa \u6570\u636e \u7684 \u529f\u80fd \u3002 \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u5ba2\u6237 \u5ba2\u6237\u7aef \u5bf9\u8c61 \u52a0\u8f7d \u66ff\u4ee3 \u5730\u56fe \u6216 \u91cd\u65b0 \u52a0\u8f7d \u5f53\u524d \u5730\u56fe \uff08 \u91cd\u7f6e \u4e3a \u521d\u59cb \u72b6\u6001 \u521d\u59cb\u72b6\u6001 \uff09 \u3002   \u7aef\u53e3 \u53ef\u4ee5 \u9009\u62e9 \u4efb\u4f55 \u53ef\u7528 \u7684 \u7aef\u53e3 \uff0c \u9ed8\u8ba4 \u8bbe\u7f6e \u9ed8\u8ba4\u8bbe\u7f6e \u4e3a   2000 \uff0c \u60a8 \u4e5f \u53ef\u4ee5 \u4f7f\u7528 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u7684   IP   \u5730\u5740 \u9009\u62e9 \u4e0e   localhost   \u4e0d\u540c \u7684 \u4e3b\u673a \u3002 \u8fd9\u6837 \uff0c Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u53ef\u4ee5 \u5728 \u8054\u7f51 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u8fd0\u884c \uff0c \u800c   python   \u5ba2\u6237 \u5ba2\u6237\u7aef \u53ef\u4ee5 \u4ece \u4e2a\u4eba \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u8fd0\u884c \u3002 \u8fd9 \u5bf9\u4e8e \u533a\u5206 \u7528\u4e8e \u8fd0\u884c   Carla   \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668 \u7684   GPU   \u548c \u7528\u4e8e \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u8bad\u7ec3 \u7684   GPU   \u7279\u522b \u6709\u7528 \uff0c \u8fd9 \u4e24\u8005 \u5bf9 \u56fe\u5f62 \u786c\u4ef6 \u7684 \u8981\u6c42 \u90fd \u5f88 \u9ad8 \u3002   \u7b14\u8bb0   \u4ee5\u4e0b \u5047\u8bbe   Carla   \u5728 \u9ed8\u8ba4 \u5f02\u6b65 \u6a21\u5f0f \u4e0b \u8fd0\u884c \u3002 \u5982\u679c \u60a8 \u4f7f\u7528   \u540c\u6b65   \u6a21\u5f0f \uff0c \u4ee5\u4e0b \u90e8\u5206 \u4e2d \u7684 \u67d0\u4e9b \u4ee3\u7801 \u53ef\u80fd \u65e0\u6cd5 \u6309 \u9884\u671f \u5de5\u4f5c \u3002","title":"\u542f\u52a8   Carla   \u5e76 \u8fdb\u884c \u5ba2\u6237\u7aef \u8fde\u63a5  "},{"location":"tuto_first_steps/#_1","text":"\u5728   Carla   API   \u4e2d \uff0c   \u4e16\u754c   \u5bf9\u8c61 \u63d0\u4f9b \u5bf9 \u4eff\u771f \u7684 \u6240\u6709 \u5143\u7d20 \u7684 \u8bbf\u95ee \uff0c \u5305\u62ec \u5730\u56fe \u3001 \u5730\u56fe \u5185 \u7684 \u5bf9\u8c61 \uff0c \u4f8b\u5982 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u3001 \u8f66\u8f86 \u548c \u884c\u4eba \u3002 Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u901a\u5e38 \u52a0\u8f7d \u9ed8\u8ba4 \u5730\u56fe \uff08 \u901a\u5e38 \u4e3a   Town10 \uff09 \u3002 \u5982\u679c \u60a8 \u60f3 \u4f7f\u7528 \u5907\u7528 \u5730\u56fe \u542f\u52a8   Carla \uff0c \u8bf7 \u4f7f\u7528 \u4ee5\u4e0b   config . py   \u811a\u672c \uff1a   . / config . py   -- map   Town05   \u6211\u4eec \u8fd8 \u53ef\u4ee5 \u4f7f\u7528   world   \u5bf9\u8c61 \u4ece \u5ba2\u6237 \u5ba2\u6237\u7aef \u52a0\u8f7d \u5730\u56fe \uff1a   client . load _ world ( ' Town05 ' )   \u8bf7 \u5728   \u6b64\u5904   \u67e5\u627e \u6709\u5173   Carla   \u5730\u56fe \u7684 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u52a0\u8f7d \u5730\u56fe    "},{"location":"tuto_first_steps/#_2","text":"\u89c2\u5bdf \u89c2\u5bdf\u8005 \u662f \u4eff\u771f \u7684 \u89c6\u56fe \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5f53 \u60a8 \u5728 \u8fde\u63a5 \u5c4f\u5e55 \u7684 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u4e0a \u8fd0\u884c   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u65f6 \uff0c \u89c2\u4f17 \u4f1a \u5728 \u7a97\u53e3 \u65b0\u7a97\u53e3 \u4e2d \u6253\u5f00 \uff0c \u9664\u975e \u60a8 \u6307\u5b9a   - RenderOffScreen   \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879 \u3002   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 \u60a8 \u7684 \u4eff\u771f \u3002 \u4f7f\u7528 \u89c2\u5bdf \u89c2\u5bdf\u8005 \uff0c \u60a8 \u53ef\u4ee5 \u719f\u6089 \u5df2 \u52a0\u8f7d \u7684 \u5730\u56fe \uff0c \u5e76 \u67e5\u770b \u6240 \u505a \u7684 \u4efb\u4f55 \u66f4\u6539 \u7684 \u7ed3\u679c \uff0c \u4f8b\u5982 \u6dfb\u52a0 \u8f66\u8f86 \u3001 \u66f4\u6539 \u5929\u6c14 \u3001 \u6253\u5f00 / \u5173\u95ed \u5730\u56fe \u7684 \u5404\u4e2a \u56fe\u5c42 \u4ee5\u53ca \u7528\u4e8e \u8c03\u8bd5 \u76ee\u7684 \u3002   \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u9f20\u6807 \u63a7\u5236 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u89c6\u56fe \u7684 \u4fef\u4ef0 \u548c \u504f\u822a \uff0c \u5e76 \u4f7f\u7528   QWE - ASD   \u952e \u79fb\u52a8 \u89c2\u4f17 \uff0c \u8ba9 \u89c2\u4f17 \u98de \u5230 \u4e16\u754c \u5404\u5730 \u4e16\u754c\u5404\u5730 \uff1a   Q   -   \u5411\u4e0a \u79fb\u52a8 \uff08 \u671d\u5411 \u7a97\u53e3 \u7684 \u9876\u90e8 \u8fb9\u7f18 \uff09   E   -   \u5411\u4e0b \u79fb\u52a8 \uff08 \u671d\u5411 \u7a97\u53e3 \u7684 \u4e0b \u8fb9\u7f18 \uff09   W   -   \u5411\u524d \u79fb\u52a8   S   -   \u5411 \u540e \u79fb\u52a8   A   -   \u5411 \u5de6 \u79fb\u52a8   D   -   \u5411 \u53f3 \u79fb\u52a8   \u5de6\u952e \u5355\u51fb \u5e76 \u5728 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u7a97\u53e3 \u4e2d \u4e0a\u4e0b \u62d6\u52a8 \u9f20\u6807 \u6765 \u63a7\u5236 \u4fef\u4ef0 \uff0c \u5de6\u53f3 \u62d6\u52a8 \u9f20\u6807 \u6765 \u63a7\u5236 \u504f\u822a \u3002   \u89c2\u5bdf \u89c2\u5bdf\u8005 \u53ca\u5176 \u5c5e\u6027 \u53ef\u4ee5 \u901a\u8fc7   Python   API   \u8bbf\u95ee \u548c \u64cd\u4f5c \uff1a   #   \u83b7\u53d6 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u5bf9\u8c61   spectator   =   world . get _ spectator ( )   #   \u901a\u8fc7 \u53d8\u6362 \u83b7\u5f97 \u89c2\u5bdf \u89c2\u5bdf\u8005 \u7684 \u4f4d\u7f6e \u548c \u65cb\u8f6c   transform   =   spectator . get _ transform ( )   location   =   transform . location   rotation   =   transform . rotation   #   \u7528\u7a7a \u53d8\u6362 \u8bbe\u7f6e \u89c2\u5bdf \u89c2\u5bdf\u8005   spectator . set _ transform ( carla . Transform ( ) )   #   \u8fd9 \u5c06 \u8bbe\u7f6e \u89c2\u4f17 \u5728 \u5730\u56fe \u7684 \u539f\u70b9 \uff0c 0 \u5ea6 \u4fef\u4ef0 \uff0c \u504f\u822a \u548c \u6eda\u52a8 - \u4e00\u4e2a \u5f88 \u597d \u7684 \u65b9\u5f0f \u6765 \u5b9a\u4f4d \u81ea\u5df1 \u5728 \u5730\u56fe \u4e0a","title":"\u89c2\u5bdf\u8005 \u5bfc\u822a  "},{"location":"tuto_first_steps/#_3","text":"\u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u52a0\u8f7d \u4e86 \u5730\u56fe \u5e76\u4e14 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5df2 \u542f\u52a8 \u5e76 \u8fd0\u884c \uff0c \u6211\u4eec \u73b0\u5728 \u9700\u8981 \u7528 \u4e00\u4e9b \u8f66\u8f86 \u586b\u5145 \u6211\u4eec \u7684 \u4eff\u771f \uff0c \u4ee5 \u4eff\u771f \u5177\u6709 \u4ea4\u901a \u548c \u5176\u4ed6 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u6216\u975e \u73a9\u5bb6 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u771f\u5b9e \u73af\u5883 \u3002   \u8981 \u751f\u6210 \u8f66\u8f86 \uff0c \u9996\u5148 \uff0c \u6211\u4eec \u9700\u8981 \u4ece \u84dd \u56fe\u5e93 \u4e2d \u9009\u62e9 \u6211\u4eec \u60f3\u8981 \u7684 \u8f66\u8f86 \u3002   #   \u83b7\u53d6 \u84dd \u56fe\u5e93 \u548c \u8f66\u8f86 \u84dd\u56fe \u8fc7\u6ee4 \u6ee4\u5668 \u8fc7\u6ee4\u5668   vehicle _ blueprints   =   world . get _ blueprint _ library ( ) . filter ( ' * vehicle * ' )   \u73b0\u5728 \u6211\u4eec \u6709 \u4e86 \u84dd\u56fe \uff0c \u6211\u4eec \u9700\u8981 \u5728 \u5730\u56fe \u4e0a \u627e\u5230 \u4e00\u4e9b \u5408\u9002 \u7684 \u5730\u70b9 \u6765 \u751f\u6210 \u6211\u4eec \u7684 \u8f66\u8f86 \u3002 \u4e3a\u6b64 \uff0c \u6bcf\u4e2a   Carla   \u5730\u56fe \u90fd \u63d0\u4f9b \u4e86 \u9884\u5b9a \u4e49 \u7684 \u751f\u6210 \u70b9 \uff0c \u5747\u5300 \u5206\u5e03 \u5747\u5300\u5206\u5e03 \u5728 \u6574\u4e2a \u5730\u56fe \u7684 \u9053\u8def \u4e0a \u3002   #   \u83b7\u5f97 \u5730\u56fe \u7684 \u751f\u6210 \u70b9   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   #   \u5728 \u6bcf\u4e2a \u751f\u6210 \u70b9 \u968f\u673a \u751f\u6210 50 \u8f86\u8f66 \uff0c \u6211\u4eec \u4ece \u84dd \u56fe\u5e93 \u4e2d \u968f\u673a \u9009\u62e9 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66   for   i   in   range ( 0 , 50 ) :   world . try _ spawn _ actor ( random . choice ( vehicle _ blueprints ) ,   random . choice ( spawn _ points ) )   \u73b0\u5728 \u6211\u4eec \u8fd8 \u5e94\u8be5 \u6dfb\u52a0 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u4f5c\u4e3a \u4eff\u771f \u7684 \u4e2d\u5fc3 \u4e2d\u5fc3\u70b9 \u3002 \u4e3a\u4e86 \u8bad\u7ec3 \u81ea\u4e3b \u4ee3\u7406 \uff0c \u6211\u4eec \u9700\u8981 \u4eff\u771f \u81ea\u4e3b \u4ee3\u7406 \u5c06 \u63a7\u5236 \u7684 \u8f66\u8f86 \u3002 \u7528   Carla   \u7684 \u8bf4\u6cd5 \uff0c \u6211\u4eec \u7ecf\u5e38 \u5c06 \u8fd9\u79cd \u8f66\u8f86 \u79f0\u4e3a \u201c \u81ea\u6211 \u8f66\u8f86 \u201d \u3002   ego _ vehicle   =   world . spawn _ actor ( random . choice ( vehicle _ blueprints ) ,   random . choice ( spawn _ points ) )   \u9664\u4e86 \u8f66\u8f86 \u4e4b\u5916 \uff0c Carla   \u8fd8 \u63d0\u4f9b \u884c\u4eba \u6dfb\u52a0 \u5230 \u4eff\u771f \u4e2d \uff0c \u4ee5 \u4eff\u771f \u771f\u5b9e \u7684 \u9a7e\u9a76 \u573a\u666f \u3002 \u5728   Carla   \u672f\u8bed \u4e2d \uff0c \u8f66\u8f86 \u548c \u884c\u4eba \u88ab \u79f0\u4e3a \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u8bf7 \u5728   \u6b64\u5904   \u4e86\u89e3 \u6709\u5173 \u5b83\u4eec \u7684 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u6dfb\u52a0 \u975e \u73a9\u5bb6 \u53c2\u4e0e\u8005  "},{"location":"tuto_first_steps/#_4","text":"\u73b0\u4ee3 \u81ea\u52a8 \u9a7e\u9a76 \u6c7d\u8f66 \u901a\u8fc7 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u9644\u52a0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6765 \u7406\u89e3 \u548c \u89e3\u91ca \u5176 \u73af\u5883 \u3002 \u8fd9\u4e9b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5305\u62ec \u5149\u5b66 \u6444\u50cf \u6444\u50cf\u673a \u3001 \u5149\u6d41 \u6444\u50cf \u6444\u50cf\u673a \u3001 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u96f7\u8fbe \u548c \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u901f\u5ea6\u8ba1 \u52a0\u901f\u5ea6\u8ba1 \u7b49 \u3002 Carla   \u5185\u7f6e \u4e86 \u591a\u79cd \u79cd\u7c7b \u7c7b\u578b \u591a\u79cd\u7c7b\u578b \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6a21\u578b \uff0c \u7528\u4e8e \u521b\u5efa \u673a\u5668 \u5b66\u4e60 \u7684 \u8bad\u7ec3 \u6570\u636e \u3002 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef\u4ee5 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u4e0a \uff0c \u4e5f \u53ef\u4ee5 \u8fde\u63a5 \u5230 \u56fa\u5b9a \u5b9a\u70b9 \u56fa\u5b9a\u70b9 \u6765 \u5efa\u6a21 \uff0c \u4f8b\u5982 \u95ed\u8def \u7535\u89c6 \u95ed\u8def\u7535\u89c6 \u6444\u50cf \u6444\u50cf\u673a \u3002   \u5728 \u8fd9\u91cc \uff0c \u6211\u4eec \u5c06 \u5728 \u81ea\u6211 \u8f66\u8f86 \u4e0a \u5b89\u88c5 \u4e00\u4e2a \u6807\u51c6 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6765 \u8bb0\u5f55 \u4e00\u4e9b \u89c6\u9891 \u6570\u636e \uff1a   #   \u521b\u5efa \u4e00\u4e2a \u53d8\u6362 \uff0c \u5c06 \u6444\u50cf \u6444\u50cf\u673a \u653e\u7f6e \u5728 \u8f66\u8f86 \u7684 \u9876\u90e8   camera _ init _ trans   =   carla . Transform ( carla . Location ( z = 1.5 ) )   #   \u901a\u8fc7 \u5b9a\u4e49 \u5176 \u5c5e\u6027 \u7684 \u84dd\u56fe \u6765 \u521b\u5efa \u76f8\u673a   camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   #   \u751f\u6210 \u76f8\u673a \u5e76 \u5c06 \u5176 \u8fde\u63a5 \u5230 \u6211\u4eec \u7684 \u81ea\u6211 \u8f66\u8f86 \u4e0a   camera   =   world . spawn _ actor ( camera _ bp ,   camera _ init _ trans ,   attach _ to = ego _ vehicle )   \u4e00\u65e6 \u6211\u4eec \u751f\u6210 \u4e86 \u76f8\u673a \uff0c \u6211\u4eec \u9700\u8981 \u901a\u8fc7   listen ( )   \u65b9\u6cd5 \u5c06 \u5176 \u8bbe\u7f6e \u4e3a \u5f55\u5236 \u3002 Listen   \u65b9\u6cd5 \u5c06 \u5b9a\u4e49 \u5982\u4f55 \u5904\u7406 \u6570\u636e \u7684 \u56de\u8c03 \u4f5c\u4e3a \u53c2\u6570 \u3002 \u60a8 \u53ef\u4ee5 \u5c06 \u5176 \u6d41\u5f0f \u4f20\u8f93 \u5230 \u53e6 \u4e00\u4e2a \u7a0b\u5e8f \u6216 \u5c06 \u5176 \u4fdd\u5b58 \u5230 \u78c1\u76d8 \u3002   \u6211\u4eec \u5c06 \u4f7f\u7528   lambda   \u51fd\u6570 \u4f5c\u4e3a \u56de\u8c03 \u5c06 \u6570\u636e \u4fdd\u5b58 \u5230 \u78c1\u76d8 \uff1a   #   \u7528   PyGame   \u56de\u8c03 \u542f\u52a8 \u76f8\u673a   camera . listen ( lambda   image :   image . save _ to _ disk ( ' out / % 06d . png '   %   image . frame ) )   \u8fd9\u4f1a \u5c06 \u6570\u636e \u4f5c\u4e3a \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u6839\u636e \u4eff\u771f \u5e27 \u7f16\u53f7 \u547d\u540d \u7684   PNG   \u56fe\u50cf \u6587\u4ef6 \u56fe\u50cf\u6587\u4ef6 \u4fdd\u5b58 \u5230   out /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u6709 \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7c7b\u578b \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \u3002 \u5728   \u8fd9\u91cc   \u60a8 \u53ef\u4ee5 \u66f4 \u6df1\u5165 \u5730 \u7814\u7a76 \u53ef\u7528 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u9635\u5217 \u4ee5\u53ca \u5982\u4f55 \u4f7f\u7528 \u5b83\u4eec \u3002","title":"\u6dfb\u52a0 \u4f20\u611f\u5668  "},{"location":"tuto_first_steps/#_5","text":"\u73b0\u5728 \u6211\u4eec \u5df2\u7ecf \u5c06 \u4ea4\u901a \u548c \u81ea\u6211 \u8f66\u8f86 \u6dfb\u52a0 \u5230 \u4eff\u771f \u4e2d \u5e76 \u5f00\u59cb \u8bb0\u5f55 \u6444\u50cf \u6444\u50cf\u673a \u6570\u636e \uff0c \u73b0\u5728 \u6211\u4eec \u9700\u8981 \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u5c06 \u8f66\u8f86 \u8bbe\u7f6e \u4e3a \u8fd0\u52a8 \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u662f   Carla   \u7684 \u4e00\u4e2a \u7ec4\u4ef6 \uff0c \u5b83 \u63a7\u5236 \u8f66\u8f86 \u5728 \u4eff\u771f \u5185 \u7684 \u5730\u56fe \u9053\u8def \u4e0a \u81ea\u52a8 \u79fb\u52a8 \uff0c \u9075\u5faa \u9053\u8def \u60ef\u4f8b \u5e76 \u8868\u73b0 \u5f97 \u50cf \u771f\u6b63 \u7684 \u9053\u8def \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u3002   \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528   world . get _ actors ( )   \u65b9\u6cd5 \u627e\u5230 \u4eff\u771f \u4e2d \u7684 \u6240\u6709 \u8f66\u8f86 \uff0c \u5bf9 \u6240\u6709 \u8f66\u8f86 \u8fdb\u884c \u8fc7\u6ee4 \u3002 \u7136\u540e \u6211\u4eec \u53ef\u4ee5 \u4f7f\u7528 \u8be5   set _ autopilot ( )   \u65b9\u6cd5 \u5c06 \u8f66\u8f86 \u7684 \u63a7\u5236 \u63a7\u5236\u6743 \u79fb\u4ea4 \u7ed9 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u3002   for   vehicle   in   world . get _ actors ( ) . filter ( ' * vehicle * ' ) :   vehicle . set _ autopilot ( True )   \u73b0\u5728 \u60a8 \u7684 \u4eff\u771f \u6b63\u5728 \u8fd0\u884c \uff0c \u6709 \u8bb8\u591a \u8f66\u8f86 \u5728 \u5730\u56fe \u4e0a \u884c\u9a76 \uff0c \u5e76\u4e14 \u6444\u50cf \u6444\u50cf\u673a \u8bb0\u5f55 \u5176\u4e2d \u4e00\u8f86 \u8f66\u8f86 \u7684 \u6570\u636e \u3002 \u7136\u540e \uff0c \u8be5 \u6570\u636e \u53ef \u7528\u4e8e \u63d0\u4f9b \u673a\u5668 \u5b66\u4e60 \u7b97\u6cd5 \u6765 \u8bad\u7ec3 \u81ea\u52a8 \u9a7e\u9a76 \u4ee3\u7406 \u3002 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u5177 \u6709 \u8bb8\u591a \u7528\u4e8e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d41\u91cf \u884c\u4e3a \u7684 \u529f\u80fd \uff0c \u8bf7 \u5728   \u6b64\u5904   \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \u3002   \u8fd9\u662f \u4eff\u771f \u7684 \u6700 \u57fa\u672c \u53ef\u80fd \u8bbe\u7f6e \uff0c \u73b0\u5728 \u60a8 \u53ef\u4ee5 \u66f4 \u6df1\u5165 \u5730 \u4e86\u89e3 \u6709\u5173 \u53ef \u7528\u4e8e \u751f\u6210 \u6570\u636e \u7684 \u8bb8\u591a \u989d\u5916 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u6587\u6863 \uff0c \u4ee5\u53ca   Carla   \u7684 \u8bb8\u591a \u5176\u4ed6 \u529f\u80fd \uff0c \u8fd9\u4e9b \u529f\u80fd \u53ef\u4ee5 \u4f7f \u60a8 \u7684 \u4eff\u771f \u66f4\u52a0 \u8be6\u7ec6 \u548c \u66f4 \u591a \u5b9e\u9645 \u7684 \u3002","title":"\u4f7f\u7528 \u4ea4\u901a\u7ba1\u7406 \u5668 \u4eff\u771f \u8f66\u8f86  "},{"location":"tuto_first_steps/#_6","text":"\u81ea\u6211 \u8f66\u8f86   \u662f \u4f7f\u7528   Carla   \u65f6 \u9700\u8981 \u7262\u8bb0 \u7684 \u4e00\u4e2a \u91cd\u8981 \u6982\u5ff5 \u3002 \u81ea\u6211 \u8f66\u8f86 \u662f \u6307 \u5c06 \u6210\u4e3a \u4eff\u771f \u7126\u70b9 \u7684 \u8f66\u8f86 \u3002 \u5728 \u5927\u591a \u591a\u6570 \u5927\u591a\u6570   CARLA   \u7528\u4f8b \u4e2d \uff0c \u5b83 \u53ef\u80fd \u662f \u60a8 \u5c06 \u8fde\u63a5 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8f66\u8f86 \u548c / \u6216 \u60a8 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u673a\u5668 \u5b66\u4e60 \u5806\u6808 \u5c06 \u63a7\u5236 \u7684 \u8f66\u8f86 \u3002 \u5b83 \u5f88 \u91cd\u8981 \uff0c \u56e0\u4e3a \u5b83 \u662f \u4e00\u4e9b \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u63d0\u9ad8 \u4eff\u771f \u6548\u7387 \u7684 \u4eff\u771f \u64cd\u4f5c \u7684 \u57fa\u7840 \uff0c \u4f8b\u5982 \uff1a   \u52a0\u8f7d \u5927\u578b \u5730\u56fe \u7684 \u5730\u56fe \u56fe\u5757   :   \u5927\u578b \u5730\u56fe \uff08 \u5982   Town   12 \uff09 \u7531 \u56fe\u5757 \u7ec4\u6210 \uff0c \u4ec5 \u5728 \u9700\u8981 \u63d0\u9ad8   Carla   \u6027\u80fd \u65f6\u624d \u52a0\u8f7d \u3002 \u81ea\u6211 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u51b3\u5b9a \u4e86 \u4f7f\u7528 \u54ea\u4e9b \u56fe\u5757 \u3002 \u53ea\u6709 \u9760\u8fd1 \u6700\u9760\u8fd1 \u81ea\u6211 \u8f66\u8f86 \u7684 \u56fe\u5757 \u624d \u4f1a \u88ab \u52a0\u8f7d \u3002   \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f   :   \u5982\u679c \u60a8 \u7684 \u4eff\u771f \u5305\u542b \u7531 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668 \u63a7\u5236 \u7684 \u5927\u91cf \u8f66\u8f86 \uff0c \u5219 \u8ba1\u7b97 \u6240\u6709 \u8fd9\u4e9b \u8f66\u8f86 \u7684 \u7269\u7406 \u7269\u7406\u91cf \u5728 \u8ba1\u7b97 \u4e0a \u975e\u5e38 \u6602\u8d35 \u3002   \u6df7\u5408 \u7269\u7406 \u6a21\u5f0f \u7269\u7406\u6a21\u5f0f   \u4f7f \u7269\u7406 \u8ba1\u7b97 \u4ec5\u9650 \u9650\u4e8e \u4ec5\u9650\u4e8e \u81ea\u6211 \u8f66\u8f86 \u9644\u8fd1 \u7684 \u8f66\u8f86 \uff0c \u4ece\u800c \u8282\u7701 \u8ba1\u7b97 \u8d44\u6e90 \u8ba1\u7b97\u8d44\u6e90 \u3002   \u8981 \u5b9a\u4e49 \u81ea\u6211 \u8f66\u8f86 \uff0c \u60a8 \u5e94\u8be5 \u5728 \u751f\u6210 \u81ea\u6211 \u8f66\u8f86 \u65f6 \u8bbe\u7f6e   role _ name   \u8f66\u8f86   carla . Actor   \u5bf9\u8c61   \u84dd\u56fe   \u7684 \u5c5e\u6027 \uff1a   ego _ bp   =   world . get _ blueprint _ library ( ) . find ( ' vehicle . lincoln . mkz _ 2020 ' )   ego _ bp . set _ attribute ( ' role _ name ' ,   ' hero ' )   ego _ vehicle   =   world . spawn _ actor ( ego _ bp ,   random . choice ( spawn _ points ) )","title":"\u5c06 \u8f66\u8f86 \u5206\u914d \u4e3a \u81ea\u6211 \u8f66\u8f86  "},{"location":"tuto_first_steps/#_7","text":"Carla   \u9644\u5e26 \u4e86 \u51e0\u5f20 \u9884\u5236 \u5730\u56fe \uff0c \u4e13\u6ce8 \u4e8e \u63d0\u4f9b \u591a\u79cd \u529f\u80fd \u3002 \u8fd9\u4e9b \u5730\u56fe \u5448\u73b0 \u4e86 \u57ce\u5e02 \u3001 \u4e61\u6751 \u548c \u4f4f\u5b85 \u7b49 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u73af\u5883 \u3002 \u8fd8\u6709 \u4e0d\u540c \u7684 \u5efa\u7b51 \u98ce\u683c \u5efa\u7b51\u98ce\u683c \u548c \u591a\u79cd \u4e0d\u540c \u591a\u79cd\u4e0d\u540c \u7684 \u9053\u8def \u5e03\u5c40 \uff0c \u4ece \u65e0 \u6807\u8bb0 \u7684 \u4e61\u6751 \u9053\u8def \u5230 \u591a \u8f66\u9053 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3002 \u6d4f\u89c8   \u76ee\u5f55   \u6216 \u4e0b\u8868\u4e2d \u7684 \u5730\u56fe \u6307\u5357 \u3002   \u57ce\u9547   \u6982\u62ec   \u57ce\u9547 01   \u4e00\u4e2a \u7b80\u5355 \u7684 \u5c0f\u9547 \uff0c \u6709 \u4e00\u6761 \u6cb3\u6d41 \u548c \u51e0\u5ea7 \u6865\u6881 \u3002   \u57ce\u9547 02   \u4e00\u4e2a \u7b80\u5355 \u7684 \u5c0f\u9547 \uff0c \u4f4f\u5b85 \u548c \u5546\u4e1a \u5efa\u7b51 \u6df7\u5408 \u5728 \u4e00\u8d77 \u3002   \u57ce\u9547 03   \u66f4\u5927 \u7684 \u57ce\u5e02 \u5e02\u5730 \u5730\u56fe \u57ce\u5e02\u5730\u56fe \uff0c \u5e26\u6709 \u73af\u5c9b \u548c \u5927\u578b \u8def\u53e3 \u3002   \u57ce\u9547 04   \u4e00\u5ea7 \u9576\u5d4c \u5728 \u7fa4\u5c71 \u4e4b\u4e2d \u7684 \u5c0f\u9547 \uff0c \u6709 \u4e00\u6761 \u7279\u6b8a \u7684 \u201c 8 \u5b57\u5f62 \u201d   \u65e0\u9650   \u516c\u8def \u3002   \u57ce\u9547 05   \u65b9\u5f62 \u7f51\u683c \u57ce\u9547 \uff0c \u6709 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u548c \u4e00\u5ea7 \u6865\u6881 \u3002 \u6bcf\u4e2a \u65b9\u5411 \u6709 \u591a\u4e2a \u8f66\u9053 \u3002 \u5bf9\u4e8e \u6267\u884c \u53d8\u9053 \u5f88 \u6709\u7528 \u3002   \u57ce\u9547 06   \u957f \u7684 \u591a \u8f66\u9053 \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \uff0c \u6709 \u8bb8\u591a \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u5165\u53e3 \u548c \u51fa\u53e3 \u3002 \u5b83 \u8fd8\u6709 \u4e00\u4e2a   \u5bc6\u6b47\u6839 \u5de6\u7ffc   \u3002   \u57ce\u9547 07   \u4e61\u6751 \u73af\u5883 \uff0c \u9053\u8def \u72ed\u7a84 \uff0c \u6709 \u7389\u7c73 \u3001 \u8c37\u4ed3 \uff0c \u51e0\u4e4e \u6ca1\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u3002   \u57ce\u9547 08   \u7528\u4e8e   \u6392\u884c \u6392\u884c\u699c   \u6311\u6218 \u7684 \u79d8\u5bc6 \u201c \u4e0d\u89c1 \u770b\u4e0d\u89c1 \u201d \u5c0f\u9547   \u57ce\u9547 09   \u7528\u4e8e   \u6392\u884c \u6392\u884c\u699c   \u6311\u6218 \u7684 \u79d8\u5bc6 \u201c \u4e0d\u89c1 \u770b\u4e0d\u89c1 \u201d \u5c0f\u9547   \u57ce\u9547 10   \u4e2d\u5fc3 \u5e02\u4e2d\u5fc3 \u7684 \u57ce\u5e02 \u73af\u5883 \uff0c \u62e5\u6709 \u6469\u5929 \u5929\u5927 \u5927\u697c \u6469\u5929\u5927\u697c \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u697c \u548c \u6d77\u6ee8 \u957f\u5eca \u3002   \u57ce\u9547 11   \u672a \u88c5\u9970 \u7684 \u5927 \u5730\u56fe \u3002   \u57ce\u9547 12   \u4e00\u5f20 \u5305\u542b \u8bb8\u591a \u4e0d\u540c \u533a\u57df \u7684 \u5927 \u5730\u56fe \uff0c \u5305\u62ec \u9ad8\u5c42 \u5efa\u7b51 \u9ad8\u5c42\u5efa\u7b51 \u3001 \u4f4f\u5b85 \u4f4f\u5b85\u533a \u548c \u4e61\u6751 \u73af\u5883 \u3002   \u57ce\u9547 13   \u4e00\u5f20 \u4e0e   12   \u53f7 \u9547 \u89c4\u6a21 \u76f8\u4f3c \u7684 \u5927 \u5730\u56fe \uff0c \u4f46 \u5177\u6709 \u9c9c\u660e \u7684 \u7279\u8272 \u3002   \u57ce\u9547 15   \u57fa\u4e8e \u5df4\u585e \u585e\u7f57 \u7f57\u90a3 \u5df4\u585e\u7f57\u90a3 \u81ea\u6cbb \u5927\u5b66 \u9053\u8def \u5e03\u5c40 \u7684 \u5730\u56fe \u3002   HUTB   \u57fa\u4e8e \u6e56\u5357 \u5de5\u5546 \u5546\u5927 \u5927\u5b66 \u5de5\u5546\u5927\u5b66 \u9053\u8def \u5e03\u5c40 \u7684 \u5730\u56fe \u3002   \u60a8 \u53ef\u4ee5 \u6d4f\u89c8   Carla   \u5b89\u88c5 \u4e2d \u7684 \u53ef\u7528 \u5730\u56fe \uff1a   client . get _ available _ maps ( )   \u8fd9 \u5c06 \u5305\u62ec \u60a8 \u81ea\u5df1 \u6784\u5efa \u6216 \u5bfc\u5165 \u7684 \u5730\u56fe \u3002   \u5f53 \u60a8 \u9009\u62e9 \u5730\u56fe \u65f6 \uff0c \u8bf7 \u50cf \u8fd9\u6837 \u52a0\u8f7d \u5b83 \uff1a   client . load _ world ( ' Town03 _ Opt ' )","title":"\u9009\u62e9 \u4f60 \u7684 \u5730\u56fe  "},{"location":"tuto_first_steps/#_8","text":"Carla   \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u8f66\u8f86 \u5e93 \uff0c \u53ef\u4ee5 \u8ba9 \u60a8 \u7684 \u4eff\u771f \u5145\u6ee1 \u4ea4\u901a \u3002 \u6d4f\u89c8   Carla   \u8f66\u8f86 \u76ee\u5f55   \u4e2d \u7684 \u8f66\u8f86 \u578b\u53f7 \u3002   \u60a8 \u53ef\u4ee5 \u901a\u8fc7 \u8fc7\u6ee4 \u84dd \u56fe\u5e93 \u6765 \u67e5\u770b \u6240\u6709 \u53ef\u7528 \u7684 \u8f66\u8f86 \u84dd\u56fe \u3002   for   bp   in   world . get _ blueprint _ library ( ) . filter ( ' vehicle ' ) :   print ( bp . id )","title":"\u9009\u62e9 \u4f60 \u7684 \u8f66\u8f86  "},{"location":"tutorials/","text":"\u6559\u7a0b   \u5728 \u8fd9\u91cc \u60a8 \u5c06 \u627e\u5230 \u5927\u91cf \u6559\u7a0b \uff0c \u5e2e\u52a9 \u60a8 \u4e86\u89e3 \u5982\u4f55 \u4f7f\u7528   Carla   \u7684 \u4f17\u591a \u529f\u80fd \u3002   \u4e00\u822c   \u4ea4\u901a \u4eff\u771f \u7cfb\u7edf   \u672c \u7cfb\u7edf \u57fa\u4e8e \u5f00\u6e90 \u865a\u5e7b \u5f15\u64ce \u6846\u67b6 \uff0c \u6784\u5efa \u5168 \u9053\u8def \u573a\u666f \u4eff\u771f \u548c \u667a\u80fd \u4ea4\u901a \u7cfb\u7edf \u4ea4\u901a\u7cfb\u7edf \u4eff\u771f \u7cfb\u7edf \uff0c \u6ee1\u8db3 \u6211\u56fd \u7279\u5b9a \u4ea4\u901a \u8def\u51b5 \u591a\u6837 \u591a\u6837\u5316 \u9700\u6c42 \uff0c \u4e3a \u667a\u6167 \u4ea4\u901a \u7b97\u6cd5 \u7684 \u6559\u5b66 \u4e0e \u5e94\u7528 \u63d0\u4f9b \u7684 \u6570\u636e \u5e95\u5ea7 \u3002   \u4ea4\u901a \u6570\u636e \u5bfc\u5165 \u548c \u7f16\u8f91 \u652f\u6301 \u4ece \u516c\u5f00 \u9053\u8def \u5730\u56fe \u5bfc\u5165 \u6216 \u521b\u5efa \u751f\u6210 \u9053\u8def \u7f51\u7edc   \uff0c \u652f\u6301 \u6dfb\u52a0 \u8f66\u8f86 \u5230 \u9053\u8def \u7f51\u7edc \u5e76 \u5b9a\u4e49 \u5176 \u8f68\u8ff9 \u4ee5 \u5408\u6210 \u9a7e\u9a76 \u573a\u666f \uff0c   \u652f\u6301 \u5b9a\u4e49 \u8f66\u9053 \u6570\u91cf \u548c \u8f66\u9053 \u957f \u5bbd\u5ea6 \uff0c \u652f\u6301 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u9053\u8def \u7f16\u8f91   \u3002   \u8f66\u8f86 \u8fd0\u52a8 \u652f\u6301 \u5b9a\u4e49 \u8f66\u8f86 \u8fd0\u52a8 \u8d77\u70b9 \u548c \u76ee\u6807 \u4f4d\u7f6e   \uff0c   \u4e3a \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u6307\u5b9a \u968f\u673a \u901f\u5ea6 \u503c   \uff0c   \u751f\u6210 \u8f66\u8f86 \u8f68\u8ff9   \u3002 \u652f\u6301 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u7684 \u901f\u5ea6 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\u5efa\u6a21 \u548c \u53ef\u89c6 \u53ef\u89c6\u5316 \u5c55\u793a \uff0c \u4ee5\u53ca \u8bbe\u8ba1 \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u6f14\u793a \u754c\u9762 \uff0c \u5448\u73b0 \u4eff\u771f \u7ed3\u679c \u548c \u5b9e\u9a8c \u6548\u679c \u3002","title":"\u8bfe\u7a0b \u4e00 \uff1a \u4ea4\u901a \u4eff\u771f \u4e0e \u573a\u666f \u5efa\u6a21"},{"location":"tutorials/#_6","text":"\u4ea4\u901a \u573a\u666f \u611f\u77e5 \u4e0e \u5206\u6790 \u5b66\u751f \u5b66\u4e60 \u5982\u4f55 \u5229\u7528 \u7cfb\u7edf \u8fdb\u884c   \u76ee\u6807 \u68c0\u6d4b   \u3001   \u8ddf\u8e2a   \u548c   \u518d \u8bc6\u522b   \uff0c \u8fdb\u884c \u4ea4\u901a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5206\u6790 \u548c \u7edf\u8ba1 \uff0c \u5bf9 \u4ea4\u901a \u8fdb\u884c \u6001\u52bf \u611f\u77e5 \uff0c \u4e3a \u540e\u9762 \u7684 \u7b97\u6cd5 \u5b9e\u73b0 \u63d0\u4f9b \u57fa\u7840 \u3002   \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u9884\u6d4b \u6a21\u578b   \u5efa\u7acb \u5b66\u751f \u5b66\u4e60 \u5982\u4f55 \u4f7f\u7528 \u7cfb\u7edf \u63d0\u4f9b \u7684 \u4ea4\u901a \u6570\u636e \uff0c \u5efa\u7acb \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u9884\u6d4b \u6a21\u578b \uff0c \u4ee5 \u9884\u6d4b \u672a\u6765 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u60c5\u51b5 \uff0c \u5e76 \u8bc4\u4f30 \u6a21\u578b \u7684 \u51c6\u786e \u51c6\u786e\u6027 \u548c \u6548\u679c \u3002   \u4ea4\u901a \u7f51\u7edc \u4ea4\u901a\u7f51 \u4ea4\u901a\u7f51\u7edc \u4f18\u5316 \u7b56\u7565 \u8bbe\u8ba1 \u5b66\u751f \u5b66\u4e60 \u5982\u4f55 \u4f7f\u7528 \u7cfb\u7edf \u63d0\u4f9b \u7684 \u4ea4\u901a \u7f51\u7edc \u4ea4\u901a\u7f51 \u4ea4\u901a\u7f51\u7edc \u6570\u636e \uff0c \u8bbe\u8ba1 \u4ea4\u901a \u7f51\u7edc \u4ea4\u901a\u7f51 \u4ea4\u901a\u7f51\u7edc \u4f18\u5316 \u7b56\u7565 \uff0c \u901a\u8fc7 \u8c03\u6574   \u8def\u7ebf \u89c4\u5212   \u3001   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u914d\u65f6   \u7b49 \u53c2\u6570 \uff0c \u63d0\u5347 \u6574\u4f53 \u4ea4\u901a \u6548\u7387 \u3002   \u667a\u80fd \u4fe1\u53f7 \u63a7\u5236   \u7b97\u6cd5 \u5b9e\u73b0 \u5b66\u751f \u5b66\u4e60 \u5982\u4f55 \u4f7f\u7528 \u7cfb\u7edf \u63d0\u4f9b \u7684 \u4fe1\u53f7 \u63a7\u5236 \u529f\u80fd \uff0c \u5b9e\u73b0 \u667a\u80fd \u4fe1\u53f7 \u63a7\u5236 \u7b97\u6cd5 \u63a7\u5236\u7b97\u6cd5 \uff0c \u4f18\u5316 \u4ea4\u901a \u901a\u4fe1 \u4fe1\u53f7 \u4ea4\u901a\u4fe1\u53f7 \u7684 \u914d\u65f6 \u65b9\u6848 \uff0c \u63d0\u9ad8 \u4ea4\u901a \u6d41\u7545 \u5ea6 \u548c \u51cf\u5c11 \u62e5\u5835 \u3002   \u4ea4\u901a \u6570\u636e \u53ef\u89c6 \u53ef\u89c6\u5316   \u4e0e \u5206\u6790 \u5b66\u751f \u5b66\u4e60 \u5982\u4f55 \u4f7f\u7528 \u7cfb\u7edf \u63d0\u4f9b \u7684 \u6570\u636e \u53ef\u89c6 \u53ef\u89c6\u5316 \u5de5\u5177 \uff0c \u5bf9 \u4ea4\u901a \u6570\u636e \u8fdb\u884c \u53ef\u89c6 \u53ef\u89c6\u5316 \u5206\u6790 \uff0c \u63a2\u7d22 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3001 \u62e5\u5835 \u72b6\u51b5 \u7b49 \u8d8b\u52bf \u548c \u89c4\u5f8b \u3002   \u4ea4\u901a \u573a\u666f \u4f18\u5316 \u4e0e \u4eff\u771f \u5b9e\u9a8c \u5b66\u751f \u5b66\u4e60 \u5982\u4f55 \u6839\u636e \u5b9e\u9645 \u4ea4\u901a \u95ee\u9898 \uff0c \u8fdb\u884c \u573a\u666f \u4f18\u5316 \u548c \u4eff\u771f \u5b9e\u9a8c \uff0c \u8bc4\u4f30 \u4f18\u5316 \u7b56\u7565 \u7684 \u6548\u679c \uff0c \u63d0\u51fa \u6539\u8fdb \u65b9\u6848 \u5e76 \u8fdb\u884c \u9a8c\u8bc1 \u3002","title":"\u8bfe\u7a0b \u4e8c \uff1a \u667a\u80fd \u4ea4\u901a \u7b97\u6cd5 \u4e0e \u4f18\u5316"},{"location":"tutorials/#carla","text":"\u68c0\u7d22 \u4eff\u771f \u6570\u636e   \u2014   \u4f7f\u7528 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6b63\u786e \u6536\u96c6 \u6570\u636e \u7684 \u5206\u6b65 \u6307\u5357 \u3002   \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668   \u2014   \u5982\u4f55 \u4f7f\u7528 \u4ea4\u901a \u7ba1\u7406 \u4ea4\u901a\u7ba1\u7406 \u5668\u6765 \u5f15\u5bfc \u57ce\u9547 \u5468\u56f4 \u7684 \u4ea4\u901a \u3002   \u7eb9\u7406 \u6d41   \u2014   \u5b9e\u65f6 \u4fee\u6539 \u5730\u56fe \u5bf9\u8c61 \u7684 \u7eb9\u7406 \u4ee5 \u6dfb\u52a0 \u53d8\u5316 \u3002   \u5b9e\u4f8b \u5206\u5272 \u76f8\u673a   \u2014   \u4f7f\u7528 \u5b9e\u4f8b \u5206\u5272 \u76f8\u673a \u6765 \u533a\u5206 \u540c \u4e00\u7c7b \u7684 \u5bf9\u8c61 \u3002   \u8fb9\u754c \u6846   \u2014   \u5c06   Carla   \u5bf9\u8c61 \u7684 \u8fb9\u754c \u6846 \u6295\u5f71 \u5230 \u76f8\u673a \u4e2d \u3002   \u884c\u4eba \u5bfc\u822a   \u2014   \u5c06 \u884c\u4eba \u9aa8\u9abc \u6295\u5f71 \u5230 \u76f8\u673a \u5e73\u9762 \u4e2d \u3002   \u63a7\u5236 \u884c\u4eba \u9aa8\u9abc   \u2014   \u4f7f\u7528 \u9aa8\u9abc \u4e3a \u884c\u4eba \u5236\u4f5c \u52a8\u753b \u3002","title":"Carla   \u7279\u70b9"},{"location":"tutorials/#_7","text":"\u5728   Docker   \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla   \u2014   \u5728   Docker   \u4e2d \u6784\u5efa \u865a\u5e7b \u5f15\u64ce \u548c   Carla \u3002   CarSim   \u96c6\u6210   \u2014   \u6709\u5173 \u5982\u4f55 \u4f7f\u7528   CarSim   \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u5f15\u64ce \u8fd0\u884c \u4eff\u771f \u7684 \u6559\u7a0b \u3002   RLlib   \u96c6\u6210   \u2014   \u4e86\u89e3 \u5982\u4f55 \u4f7f\u7528   RLlib   \u5e93 \u8fd0\u884c \u60a8 \u81ea\u5df1 \u7684 \u5b9e\u9a8c \u3002   Chrono   \u96c6\u6210   \u2014   \u4f7f\u7528   Chrono   \u96c6\u6210 \u6765 \u4eff\u771f \u7269\u7406 \u3002   PyGame   \u63a7\u5236   \u2014   \u4f7f\u7528   PyGame   \u663e\u793a \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u8f93\u51fa \u3002","title":"\u6784\u5efa \u4e0e \u96c6\u6210"},{"location":"tutorials/#_8","text":"\u4f7f\u7528   OpenStreetMap   \u751f\u6210 \u5730\u56fe   \u2014   \u4f7f\u7528   OpenStreetMap   \u751f\u6210 \u7528\u4e8e \u4eff\u771f \u7684 \u5730\u56fe \u3002   \u6dfb\u52a0 \u65b0 \u8f66\u8f86   \u2014   \u51c6\u5907 \u8981 \u5728   Carla   \u4e2d \u4f7f\u7528 \u7684 \u8f66\u8f86 \u3002   \u6dfb\u52a0 \u65b0 \u9053\u5177   \u2014   \u5c06 \u5176\u4ed6 \u9053\u5177 \u5bfc\u5165   Carla \u3002   \u521b\u5efa \u72ec\u7acb \u5305   \u2014   \u751f\u6210 \u5e76 \u5904\u7406 \u8d44\u4ea7 \u7684 \u72ec\u7acb \u5305 \u3002   \u6750\u6599 \u5b9a\u5236   \u2014   \u7f16\u8f91 \u8f66\u8f86 \u548c \u5efa\u7b51 \u6750\u6599 \u5efa\u7b51\u6750\u6599 \u3002","title":"\u8d44\u4ea7 \u548c \u5730\u56fe"},{"location":"tutorials/#_9","text":"\u5982\u4f55 \u5347\u7ea7 \u5185\u5bb9   \u2014   \u5411   Carla   \u6dfb\u52a0 \u65b0 \u5185\u5bb9 \u3002   \u521b\u5efa \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u2014   \u5f00\u53d1 \u4e00\u79cd \u7528\u4e8e   Carla   \u7684 \u65b0 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u521b\u5efa \u8bed\u4e49 \u6807\u7b7e   \u2014   \u5b9a\u4e49 \u7528\u4e8e \u8bed\u4e49 \u5206\u5272 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6807\u7b7e \u3002   \u5b9a\u5236 \u8f66\u8f86 \u60ac\u67b6   \u2014   \u4fee\u6539 \u8f66\u8f86 \u7684 \u60ac\u67b6 \u7cfb\u7edf \u3002   \u751f\u6210 \u8be6\u7ec6 \u7684 \u78b0\u649e \u4f53   \u2014   \u4e3a \u8f66\u8f86 \u521b\u5efa \u8be6\u7ec6 \u7684 \u78b0\u649e \u4f53 \u3002   \u53d1\u5e03 \u7248\u672c   \u2014   \u5982\u4f55 \u53d1\u5e03   Carla \u3002","title":"\u5f00\u53d1\u8005"},{"location":"tutorials/#_10","text":"\u57fa\u7840 \u77e5\u8bc6 \u57fa\u7840\u77e5\u8bc6   \u2014   \u4e86\u89e3   Carla   \u7684 \u57fa\u672c \u6982\u5ff5 \u57fa\u672c\u6982\u5ff5 \u5e76 \u5f00\u59cb \u60a8 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u811a\u672c \u3002   \u4ee3\u7801   \u6df1\u5165 \u4e86\u89e3   Carla   \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u2014   \u6df1\u5165 \u4e86\u89e3   Carla   \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u53ca\u5176 \u4f7f\u7528 \u65b9\u6cd5 \u3002   \u4ee3\u7801","title":"\u89c6\u9891\u6559\u7a0b"},{"location":"ue_commandlet/","text":"Commandlet   \u4ec0\u4e48 \u662f   Commandlet   UE   \u7684   Commandlet   \u662f \u4e00\u79cd \u53ef\u4ee5 \u7528 \u547d\u4ee4 \u547d\u4ee4\u884c \u7684 \u65b9\u5f0f \u53bb \u9a71\u52a8 \u5f15\u64ce \u7684 \u673a\u5236 \uff0c \u5982 \u4f20\u7edf \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u7a0b\u5e8f \uff1a   int   main ( int   argc , char *   agrv [ ] ) {   for   ( int   i   =   0 ;   i   <   argc ;   i ++ ) {   cout   < <   argv [ i ]   < <   endl ;   }   }   \u5219 \u53ef\u4ee5 \u901a\u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u7684 \u5f62\u5f0f \u8c03\u7528 \uff0c \u5e76 \u4f20\u9012 \u53c2\u6570 \uff1a   . / arg _ printer   - test1   - test2   Commandlet   \u4e5f \u662f \u63d0\u4f9b \u7684 \u8fd9\u6837 \u7684 \u8c03\u7528 \u5f62\u5f0f \u3002 \u4e0d\u8fc7 \uff0c \u9700\u8981 \u8c03\u7528 \u7684 \u7a0b\u5e8f \u662f \u5f15\u64ce \uff0c \u5e76\u4e14 \u8981 \u4f20\u9012   uproject   \u6587\u4ef6 \u8def\u5f84 \u3001 \u5176\u4ed6 \u7684 \u53c2\u6570 \u7b49 \u3002   \u4ee5   Cook   \u7684   Commandlet   \u4e3a\u4f8b \uff1a   UE4Editor - cmd . exe   D : \\ Client \\ FGame . uproject   - run = cook   \u901a\u8fc7 \u8fd9\u6837 \u7684 \u5f62\u5f0f \u542f\u52a8 \u547d\u4ee4 \u547d\u4ee4\u884c \u5f15\u64ce \uff0c \u4e0d\u4f1a \u542f\u52a8 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u800c\u662f \u6267\u884c \u6240 \u5b9a\u4e49 \u7684 \u884c\u4e3a \u3002   \u521b\u5efa   Commandlet   \u4e3a \u9879\u76ee \u6216 \u63d2\u4ef6 \u521b\u5efa   Commandlet \uff0c \u901a\u5e38 \u4f1a \u5728 \u6a21\u5757 \u7c7b\u578b \u4e3a   Editor   \u7684   Module   \u4e2d \u6dfb\u52a0 \uff0c \u56e0\u4e3a \u6267\u884c   Commandlet   \u7684 \u903b\u8f91 \uff0c \u5f88\u5c11 \u4f1a \u6d89\u53ca \u5230 \u8fd0\u884c \u65f6 \uff0c \u90fd \u662f \u5728 \u5f15\u64ce \u73af\u5883 \u4e0b \u6267\u884c \u7684 \u3002   \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684   Commandlet \uff0c \u9700\u8981 \u521b\u5efa \u4e00\u4e2a \u7ee7\u627f \u81ea   UCommandlet   \u7684   UObject   \u7c7b \uff1a   UGenerateTileCommandlet : : UGenerateTileCommandlet ( )   int32   UGenerateTileCommandlet : : Main ( const   FString   & Params )   \u5176\u4e2d \u7684   Main   \u51fd\u6570 \uff0c \u5c31\u662f \u5f53 \u901a\u8fc7   - run =   \u547d\u4ee4 \u542f\u52a8 \u8be5   Commandlet   \u65f6 \uff0c \u4f1a \u6267\u884c \u5230 \u7684 \u903b\u8f91 \uff0c \u5c31 \u50cf \u524d\u9762 \u7eaf   C++   \u7684   main   \u51fd\u6570 \u4e00\u6837 \u3002   \u4e0d\u8fc7 \uff0c \u9700\u8981 \u6ce8\u610f \u7684 \u662f \uff0c \u56e0\u4e3a   Commandlet   \u5176\u5b9e \u662f \u5b8c\u6574 \u7684 \u5f15\u64ce \u73af\u5883 \uff0c \u6240\u4ee5 \u6267\u884c \u65f6\u4f1a \u62c9\u8d77 \u5df2 \u6ce8\u518c \u6a21\u5757 \u7684 \u542f\u52a8 \uff0c \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e \u6709 \u5f88\u591a \u7684 \u524d\u7f6e \u903b\u8f91 \u9700\u8981 \u6267\u884c \uff0c \u7b49 \u6267\u884c \u5230   Main   \u51fd\u6570 \u65f6 \uff0c \u5c31\u662f \u5b8c\u6574 \u7684 \u5f15\u64ce \u72b6\u6001 \u4e86 \u3002   \u53ef\u4ee5 \u5728 \u8fd9\u4e2a \u51fd\u6570 \u4e4b\u5185 \u505a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u64cd\u4f5c \uff0c \u6b64\u65f6 \u5b83 \u5177\u6709 \u5b8c\u6574 \u7684 \u5f15\u64ce \u73af\u5883 \uff0c \u53ef\u4ee5 \u6839\u636e \u81ea\u5df1 \u7684 \u9700\u8981 \u8fdb\u884c \u6570\u636e \u5bfc\u51fa \u6216 \u8d44\u6e90 \u5904\u7406 \u3002   \u8fd0\u884c   Commandlet   \u524d\u9762 \u5df2\u7ecf \u63d0\u5230 \u4e86 \uff0c \u8fd0\u884c \u4e00\u4e2a   Commandlet   \u9700\u8981 \u7528 \u4ee5\u4e0b \u7684 \u547d\u4ee4 \u5f62\u5f0f \uff1a   UE4Editor - cmd . exe   PROJECT _ NAME . uproject   - run = CMDLET _ NAME   \u542f\u52a8 \u9879\u76ee \u4e2d \u7684   Commandlet   \u65f6 \uff0c \u5fc5\u987b \u8981 \u6307\u5b9a \u9879\u76ee \u8def\u5f84 \uff0c \u56e0\u4e3a \u8981 \u53bb \u52a0\u8f7d \u5de5\u7a0b \u53ca \u63d2\u4ef6 \u4e2d \u7684 \u6a21\u5757 \u3002   \u53c2\u6570   - run =   \uff0c \u6307\u5b9a \u7684 \u662f \u8981 \u6267\u884c \u7684   Commandlet   \u7684 \u540d\u5b57 \uff0c \u8fd9\u4e2a \u540d\u5b57 \u548c \u524d\u9762 \u521b\u5efa \u7684 \u7ee7\u627f \u81ea   UCommandlet   \u7c7b \u540d\u5b57 \u76f4\u63a5 \u76f8\u5173 \uff1a \u5982   UResScannerCommandlet   \u5b83 \u7684   Commandlet   \u7684 \u540d\u5b57 \u5c31 \u4e3a   ResScanner   \uff0c \u89c4\u5219 \u5c31\u662f \u53bb\u6389 \u5934\u90e8 \u7684   U   \u4ee5\u53ca \u5c3e\u90e8 \u7684   Commandlet   \u3002   \u5f15\u64ce \u5185 \u63a5\u6536 \u5230   - run =   \u7684 \u53c2\u6570 \uff0c \u4f1a \u53bb \u67e5\u627e   UClass \uff0c \u5e76\u4f1a \u81ea\u52a8 \u62fc\u63a5   Commandlet   \u540e\u7f00 \uff1a   / /   Token   --   XXXXCommandlet   CommandletClass   =   FindObject < UClass > ( ANY _ PACKAGE , * Token , false ) ;   \u62ff\u5230   UClass   \u4e4b\u540e \uff0c \u521b\u5efa \u4e00\u4e2a \u5b9e\u4f8b \uff0c \u7136\u540e \u8c03\u7528 \u5b83 \u7684   Main   \u51fd\u6570 \uff1a   Unreal \\ CarlaUE4 \\ Plugins \\ CarlaTools \\ Source \\ CarlaTools \\ Private \\ Commandlet \\ GenerateTileCommandlet . cpp   OpenDriveMap   =   NewObject < UOpenDriveToMap > ( this ,   OpenDriveClass ) ;   OpenDriveMap - > FilePath   =   ParamsMap [ \" FilePath \" ] ;   OpenDriveMap - > BaseLevelName   =   ParamsMap [ \" BaseLevelName \" ] ;   OpenDriveMap - > OriginGeoCoordinates   =   FVector2D ( FCString : : Atof ( * ParamsMap [ \" GeoCoordsX \" ] ) , FCString : : Atof ( * ParamsMap [ \" GeoCoordsY \" ] ) ) ;   OpenDriveMap - > CurrentTilesInXY   =   FIntVector ( FCString : : Atof ( * ParamsMap [ \" CTileX \" ] ) , FCString : : Atof ( * ParamsMap [ \" CTileY \" ] ) ,   0 ) ;   / /   Parse   Params   OpenDriveMap - > GenerateTile ( ) ;   \u6ce8\u610f   \u662f \u542f\u52a8 \u4e86 \u6240\u6709 \u6a21\u5757 \u4e4b\u540e \u624d \u4f1a \u8fdb\u5165 \u5230   Commandlet   \u7684   Main   \u4e2d \uff0c \u610f\u5473 \u610f\u5473\u7740 \u6a21\u5757 \u7684   StartupModule   \u5728   Main   \u4e4b\u524d \u3002   \u5f15\u64ce \u6267\u884c   Commandlet   Main   \u51fd\u6570 \u7684 \u8c03\u7528 \u6808 \uff1a   \u68c0\u6d4b   Commandlet   \u6839\u636e \u4e0a\u9762 \u7684 \u5185\u5bb9 \uff0c \u9700\u8981 \u8bb0\u4f4f \u4ee5\u4e0b \u4e24\u4e2a \u5173\u952e \u5173\u952e\u70b9 \uff1a   Commandlet   \u4f4d\u4e8e   Editor   \u6a21\u5757 \u5185   Commandlet   \u8fdb\u5165 \u5230   Main   \u4e4b\u540e \u5c31\u662f \u5b8c\u6574 \u7684 \u5f15\u64ce \u73af\u5883   \u56e0\u4e3a   Commandlet   \u662f \u4f4d\u4e8e   Editor   \u6a21\u5757 \u5185 \u7684 \uff0c \u6709 \u53ef\u80fd \u4f1a \u8c03\u7528 \u5230 \u6a21\u5757 \u5185 \u7684 \u5176\u4ed6 \u51fd\u6570 \uff0c \u4e3a\u4e86 \u533a\u5206   Editor   \u542f\u52a8 \u8fd8\u662f   Commandlet   \u542f\u52a8 \uff0c \u53ef\u4ee5 \u7528 \u4ee5\u4e0b \u51fd\u6570 \u8fdb\u884c \u68c0\u6d4b \uff1a   if ( : : IsRunningCommandlet ( ) )   {   / /   do   something   }   \u4f20\u9012 \u8fdb\u6765 \u7684 \u662f \u4e0d \u5305\u542b \u5f15\u64ce \u8def\u5f84 \u548c \u9879\u76ee \u8def\u5f84 \u7684 \u53c2\u6570 \u3002   \u5982 \uff0c \u8fd0\u884c \u547d\u4ee4 \uff1a   UE4Editor - cmd . exe   G : \\ Client \\ FGame . uproject   - skipcompile   - run = HotChunker   - TargetPlatform = IOS   \u5219 \u63a5\u6536 \u5230 \u7684 \u53c2\u6570 \u4e3a \uff1a   - skipcompile   - run = HotChunker   - TargetPlatform = IOS   \u53ef\u4ee5 \u901a\u8fc7 \u89e3\u6790 \u8be5 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \uff0c \u5728   Commandlet   \u6267\u884c \u7279\u6b8a \u884c\u4e3a \u3002 \u4ee5   HotPatcher   \u4e3a\u4f8b \uff0c \u53ef\u4ee5 \u901a\u8fc7   - config =   \u6307\u5b9a \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \uff0c \u5728   Commandlet   \u4e2d \u5c31 \u4f1a \u8bfb\u53d6 \u5e76 \u6839\u636e \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u6267\u884c \u3002   \u9a71\u52a8   Tick   Commandlet   \u9ed8\u8ba4 \u662f \u4e00\u4e2a \u72ec\u7acb \u8fc7\u7a0b \u884c\u4e3a \uff0c \u4e0d\u4f1a \u9a71\u52a8 \u5f15\u64ce   Tick \uff0c \u5c31 \u50cf \u4e00\u4e2a \u666e\u901a \u7684 \u51fd\u6570 \uff0c \u6240\u6709 \u4ee3\u7801 \u6267\u884c \u4ee3\u7801\u6267\u884c \u5b8c\u6bd5 \u4e4b\u540e \uff0c \u79bb\u5f00 \u5f53\u524d \u7684 \u4f5c\u7528 \u4f5c\u7528\u57df \uff0c \u5c31 \u8bf7\u6c42 \u9000\u51fa \u5f15\u64ce \u4e86 \u3002   \u4ecb\u5165 \u5230 \u67d0\u4e2a   Cmdlet   \u6d41\u7a0b   \u4ee5   Cook   \u4e3a\u4f8b \uff0c \u5b83 \u662f \u62c9 \u8d77\u6765 \u4e86 \u4e00\u4e2a   CookCommandlet   \u53bb \u6267\u884c \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5f15\u64ce \u5e76 \u6ca1\u6709 \u7ed9 \u6211\u4eec \u7559 \u53e3\u5b50 \uff0c \u53bb \u4ecb\u5165 \u5230   Cook   \u7684 \u5404\u4e2a \u9636\u6bb5 \uff0c \u5982\u679c \u60f3\u8981 \u5728 \u6253\u5305 \u7684 \u8fc7\u7a0b \u4e2d\u53bb \u505a \u4e00\u4e9b \u64cd\u4f5c \uff0c \u5c31 \u9700\u8981 \u81ea\u5df1 \u64cd\u7eb5   UAT   \u628a \u6784\u5efa \u8fc7\u7a0b \u62c6\u5f00 \uff0c \u81ea\u5df1 \u7ef4\u62a4 \u5404\u4e2a \u6d41\u7a0b \u3002   \u4f46 \u8fd9\u4e48 \u505a \u7684 \u4ee3\u4ef7 \u6bd4\u8f83 \u9ad8 \uff0c \u8003\u8651 \u4ee5\u4e0b \u8fd9\u4e9b \u9700\u6c42 \uff1a   \u5728   Cook   \u5b8c\u6bd5 \u4e4b\u540e \u53bb \u8bad\u7ec3   Shader   \u7684 \u5b57\u5178 \uff0c \u5e76 \u628a \u7528 \u5b57\u5178 \u538b\u7f29 \u7684   ShaderLibrary   \u66ff\u6362 \u539f\u59cb \u7684 \u3002   \u5728 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8981 \u5b9e\u73b0 \u5b83 \uff0c \u5c31 \u9700\u8981 \u628a \u6253\u5305 \u8fc7\u7a0b \u5728   Cook   \u4e4b\u540e \u505c\u6389 \uff0c \u5904\u7406 \u5b8c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d41\u7a0b \u4e4b\u540e \uff0c \u518d \u8fdb\u5165 \u7684   UnrealPak   \u9636\u6bb5 \uff0c \u63a5\u7740 \u6267\u884c \u3002   \u6574\u4e2a \u8fc7\u7a0b \u90fd \u6bd4\u8f83 \u7684 \u7e41\u7410 \uff0c \u5982\u679c \u6211\u4eec \u60f3\u8981 \u5728   Cook   \u4e4b\u540e \u81ea\u52a8 \u6267\u884c \uff0c \u8fd8 \u53ef\u4ee5 \u7528 \u53e6 \u4e00\u79cd \u65b9\u5f0f \uff0c \u4ecb\u5165 \u5230   Commandlet   \u7684 \u6267\u884c \u8fdb\u7a0b \u4e2d \u3002   \u6839\u636e \u524d\u6587 \u7684 \u4ecb\u7ecd \u6211\u4eec \u77e5\u9053 \uff0c Commandlet   \u5728 \u6267\u884c \u4e2d \uff0c \u4e5f \u662f \u4f1a \u6267\u884c \u6a21\u5757 \u7684   StartupModule   \u53ca   ShutdownModule   \u7684 \uff0c \u800c \u6211\u4eec \u60f3\u8981 \u4ecb\u5165 \u5230   Cmdlet   \u4e2d \u6267\u884c \uff0c \u5c31\u662f \u8981 \u5229\u7528 \u8fd9\u4e2a \u7279\u6027 \u3002   \u540c\u6837 \u4ee5   Cook   \u4e4b\u540e \uff0c \u8ba9 \u5f15\u64ce \u62c9 \u8d77 \u6211\u4eec \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5904\u7406 \u6d41\u7a0b \u4e3a\u4f8b \uff0c \u53ef\u4ee5 \u62c6\u89e3 \u8fd9\u4e2a \u9700\u6c42 \uff1a   \u786e\u5b9a \u662f\u5426 \u8fd0\u884c \u5728   CookCommandlet   \u4e2d   \u5728   Cook   \u6267\u884c \u5b8c\u6bd5 \u540e \uff0c \u5f15\u64ce \u9000\u51fa \u4e4b\u524d \u7684 \u65f6\u673a \u6267\u884c   \u5173\u4e8e \u7b2c\u4e00 \u4e00\u70b9 \u7b2c\u4e00\u70b9 \uff0c \u6211\u4eec \u53ef\u4ee5 \u89e3\u6790 \u542f\u52a8 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \uff0c \u5e76 \u68c0\u67e5   - run =   \u7684   Token   \u4e0d\u662f \u662f\u4e0d\u662f   Cook   \uff0c \u5c31 \u80fd \u786e\u5b9a \u662f\u5426 \u662f\u5426\u662f \u5728   CookCommandlet   \u4e2d \uff1a","title":"Ue   commandlet"},{"location":"ue_commandlet/#commandlet","text":"","title":"Commandlet"},{"location":"ue_commandlet/#commandlet_1","text":"UE   \u7684   Commandlet   \u662f \u4e00\u79cd \u53ef\u4ee5 \u7528 \u547d\u4ee4 \u547d\u4ee4\u884c \u7684 \u65b9\u5f0f \u53bb \u9a71\u52a8 \u5f15\u64ce \u7684 \u673a\u5236 \uff0c \u5982 \u4f20\u7edf \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u7a0b\u5e8f \uff1a   int   main ( int   argc , char *   agrv [ ] ) {   for   ( int   i   =   0 ;   i   <   argc ;   i ++ ) {   cout   < <   argv [ i ]   < <   endl ;   }   }   \u5219 \u53ef\u4ee5 \u901a\u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u7684 \u5f62\u5f0f \u8c03\u7528 \uff0c \u5e76 \u4f20\u9012 \u53c2\u6570 \uff1a   . / arg _ printer   - test1   - test2   Commandlet   \u4e5f \u662f \u63d0\u4f9b \u7684 \u8fd9\u6837 \u7684 \u8c03\u7528 \u5f62\u5f0f \u3002 \u4e0d\u8fc7 \uff0c \u9700\u8981 \u8c03\u7528 \u7684 \u7a0b\u5e8f \u662f \u5f15\u64ce \uff0c \u5e76\u4e14 \u8981 \u4f20\u9012   uproject   \u6587\u4ef6 \u8def\u5f84 \u3001 \u5176\u4ed6 \u7684 \u53c2\u6570 \u7b49 \u3002   \u4ee5   Cook   \u7684   Commandlet   \u4e3a\u4f8b \uff1a   UE4Editor - cmd . exe   D : \\ Client \\ FGame . uproject   - run = cook   \u901a\u8fc7 \u8fd9\u6837 \u7684 \u5f62\u5f0f \u542f\u52a8 \u547d\u4ee4 \u547d\u4ee4\u884c \u5f15\u64ce \uff0c \u4e0d\u4f1a \u542f\u52a8 \u865a\u5e7b \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u800c\u662f \u6267\u884c \u6240 \u5b9a\u4e49 \u7684 \u884c\u4e3a \u3002","title":"\u4ec0\u4e48 \u662f   Commandlet"},{"location":"ue_commandlet/#commandlet_2","text":"\u4e3a \u9879\u76ee \u6216 \u63d2\u4ef6 \u521b\u5efa   Commandlet \uff0c \u901a\u5e38 \u4f1a \u5728 \u6a21\u5757 \u7c7b\u578b \u4e3a   Editor   \u7684   Module   \u4e2d \u6dfb\u52a0 \uff0c \u56e0\u4e3a \u6267\u884c   Commandlet   \u7684 \u903b\u8f91 \uff0c \u5f88\u5c11 \u4f1a \u6d89\u53ca \u5230 \u8fd0\u884c \u65f6 \uff0c \u90fd \u662f \u5728 \u5f15\u64ce \u73af\u5883 \u4e0b \u6267\u884c \u7684 \u3002   \u521b\u5efa \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684   Commandlet \uff0c \u9700\u8981 \u521b\u5efa \u4e00\u4e2a \u7ee7\u627f \u81ea   UCommandlet   \u7684   UObject   \u7c7b \uff1a   UGenerateTileCommandlet : : UGenerateTileCommandlet ( )   int32   UGenerateTileCommandlet : : Main ( const   FString   & Params )   \u5176\u4e2d \u7684   Main   \u51fd\u6570 \uff0c \u5c31\u662f \u5f53 \u901a\u8fc7   - run =   \u547d\u4ee4 \u542f\u52a8 \u8be5   Commandlet   \u65f6 \uff0c \u4f1a \u6267\u884c \u5230 \u7684 \u903b\u8f91 \uff0c \u5c31 \u50cf \u524d\u9762 \u7eaf   C++   \u7684   main   \u51fd\u6570 \u4e00\u6837 \u3002   \u4e0d\u8fc7 \uff0c \u9700\u8981 \u6ce8\u610f \u7684 \u662f \uff0c \u56e0\u4e3a   Commandlet   \u5176\u5b9e \u662f \u5b8c\u6574 \u7684 \u5f15\u64ce \u73af\u5883 \uff0c \u6240\u4ee5 \u6267\u884c \u65f6\u4f1a \u62c9\u8d77 \u5df2 \u6ce8\u518c \u6a21\u5757 \u7684 \u542f\u52a8 \uff0c \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e \u6709 \u5f88\u591a \u7684 \u524d\u7f6e \u903b\u8f91 \u9700\u8981 \u6267\u884c \uff0c \u7b49 \u6267\u884c \u5230   Main   \u51fd\u6570 \u65f6 \uff0c \u5c31\u662f \u5b8c\u6574 \u7684 \u5f15\u64ce \u72b6\u6001 \u4e86 \u3002   \u53ef\u4ee5 \u5728 \u8fd9\u4e2a \u51fd\u6570 \u4e4b\u5185 \u505a \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7684 \u64cd\u4f5c \uff0c \u6b64\u65f6 \u5b83 \u5177\u6709 \u5b8c\u6574 \u7684 \u5f15\u64ce \u73af\u5883 \uff0c \u53ef\u4ee5 \u6839\u636e \u81ea\u5df1 \u7684 \u9700\u8981 \u8fdb\u884c \u6570\u636e \u5bfc\u51fa \u6216 \u8d44\u6e90 \u5904\u7406 \u3002","title":"\u521b\u5efa   Commandlet"},{"location":"ue_commandlet/#commandlet_3","text":"\u524d\u9762 \u5df2\u7ecf \u63d0\u5230 \u4e86 \uff0c \u8fd0\u884c \u4e00\u4e2a   Commandlet   \u9700\u8981 \u7528 \u4ee5\u4e0b \u7684 \u547d\u4ee4 \u5f62\u5f0f \uff1a   UE4Editor - cmd . exe   PROJECT _ NAME . uproject   - run = CMDLET _ NAME   \u542f\u52a8 \u9879\u76ee \u4e2d \u7684   Commandlet   \u65f6 \uff0c \u5fc5\u987b \u8981 \u6307\u5b9a \u9879\u76ee \u8def\u5f84 \uff0c \u56e0\u4e3a \u8981 \u53bb \u52a0\u8f7d \u5de5\u7a0b \u53ca \u63d2\u4ef6 \u4e2d \u7684 \u6a21\u5757 \u3002   \u53c2\u6570   - run =   \uff0c \u6307\u5b9a \u7684 \u662f \u8981 \u6267\u884c \u7684   Commandlet   \u7684 \u540d\u5b57 \uff0c \u8fd9\u4e2a \u540d\u5b57 \u548c \u524d\u9762 \u521b\u5efa \u7684 \u7ee7\u627f \u81ea   UCommandlet   \u7c7b \u540d\u5b57 \u76f4\u63a5 \u76f8\u5173 \uff1a \u5982   UResScannerCommandlet   \u5b83 \u7684   Commandlet   \u7684 \u540d\u5b57 \u5c31 \u4e3a   ResScanner   \uff0c \u89c4\u5219 \u5c31\u662f \u53bb\u6389 \u5934\u90e8 \u7684   U   \u4ee5\u53ca \u5c3e\u90e8 \u7684   Commandlet   \u3002   \u5f15\u64ce \u5185 \u63a5\u6536 \u5230   - run =   \u7684 \u53c2\u6570 \uff0c \u4f1a \u53bb \u67e5\u627e   UClass \uff0c \u5e76\u4f1a \u81ea\u52a8 \u62fc\u63a5   Commandlet   \u540e\u7f00 \uff1a   / /   Token   --   XXXXCommandlet   CommandletClass   =   FindObject < UClass > ( ANY _ PACKAGE , * Token , false ) ;   \u62ff\u5230   UClass   \u4e4b\u540e \uff0c \u521b\u5efa \u4e00\u4e2a \u5b9e\u4f8b \uff0c \u7136\u540e \u8c03\u7528 \u5b83 \u7684   Main   \u51fd\u6570 \uff1a   Unreal \\ CarlaUE4 \\ Plugins \\ CarlaTools \\ Source \\ CarlaTools \\ Private \\ Commandlet \\ GenerateTileCommandlet . cpp   OpenDriveMap   =   NewObject < UOpenDriveToMap > ( this ,   OpenDriveClass ) ;   OpenDriveMap - > FilePath   =   ParamsMap [ \" FilePath \" ] ;   OpenDriveMap - > BaseLevelName   =   ParamsMap [ \" BaseLevelName \" ] ;   OpenDriveMap - > OriginGeoCoordinates   =   FVector2D ( FCString : : Atof ( * ParamsMap [ \" GeoCoordsX \" ] ) , FCString : : Atof ( * ParamsMap [ \" GeoCoordsY \" ] ) ) ;   OpenDriveMap - > CurrentTilesInXY   =   FIntVector ( FCString : : Atof ( * ParamsMap [ \" CTileX \" ] ) , FCString : : Atof ( * ParamsMap [ \" CTileY \" ] ) ,   0 ) ;   / /   Parse   Params   OpenDriveMap - > GenerateTile ( ) ;   \u6ce8\u610f   \u662f \u542f\u52a8 \u4e86 \u6240\u6709 \u6a21\u5757 \u4e4b\u540e \u624d \u4f1a \u8fdb\u5165 \u5230   Commandlet   \u7684   Main   \u4e2d \uff0c \u610f\u5473 \u610f\u5473\u7740 \u6a21\u5757 \u7684   StartupModule   \u5728   Main   \u4e4b\u524d \u3002   \u5f15\u64ce \u6267\u884c   Commandlet   Main   \u51fd\u6570 \u7684 \u8c03\u7528 \u6808 \uff1a","title":"\u8fd0\u884c   Commandlet"},{"location":"ue_commandlet/#commandlet_4","text":"\u6839\u636e \u4e0a\u9762 \u7684 \u5185\u5bb9 \uff0c \u9700\u8981 \u8bb0\u4f4f \u4ee5\u4e0b \u4e24\u4e2a \u5173\u952e \u5173\u952e\u70b9 \uff1a   Commandlet   \u4f4d\u4e8e   Editor   \u6a21\u5757 \u5185   Commandlet   \u8fdb\u5165 \u5230   Main   \u4e4b\u540e \u5c31\u662f \u5b8c\u6574 \u7684 \u5f15\u64ce \u73af\u5883   \u56e0\u4e3a   Commandlet   \u662f \u4f4d\u4e8e   Editor   \u6a21\u5757 \u5185 \u7684 \uff0c \u6709 \u53ef\u80fd \u4f1a \u8c03\u7528 \u5230 \u6a21\u5757 \u5185 \u7684 \u5176\u4ed6 \u51fd\u6570 \uff0c \u4e3a\u4e86 \u533a\u5206   Editor   \u542f\u52a8 \u8fd8\u662f   Commandlet   \u542f\u52a8 \uff0c \u53ef\u4ee5 \u7528 \u4ee5\u4e0b \u51fd\u6570 \u8fdb\u884c \u68c0\u6d4b \uff1a   if ( : : IsRunningCommandlet ( ) )   {   / /   do   something   }   \u4f20\u9012 \u8fdb\u6765 \u7684 \u662f \u4e0d \u5305\u542b \u5f15\u64ce \u8def\u5f84 \u548c \u9879\u76ee \u8def\u5f84 \u7684 \u53c2\u6570 \u3002   \u5982 \uff0c \u8fd0\u884c \u547d\u4ee4 \uff1a   UE4Editor - cmd . exe   G : \\ Client \\ FGame . uproject   - skipcompile   - run = HotChunker   - TargetPlatform = IOS   \u5219 \u63a5\u6536 \u5230 \u7684 \u53c2\u6570 \u4e3a \uff1a   - skipcompile   - run = HotChunker   - TargetPlatform = IOS   \u53ef\u4ee5 \u901a\u8fc7 \u89e3\u6790 \u8be5 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \uff0c \u5728   Commandlet   \u6267\u884c \u7279\u6b8a \u884c\u4e3a \u3002 \u4ee5   HotPatcher   \u4e3a\u4f8b \uff0c \u53ef\u4ee5 \u901a\u8fc7   - config =   \u6307\u5b9a \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \uff0c \u5728   Commandlet   \u4e2d \u5c31 \u4f1a \u8bfb\u53d6 \u5e76 \u6839\u636e \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u6267\u884c \u3002","title":"\u68c0\u6d4b   Commandlet"},{"location":"ue_commandlet/#tick","text":"Commandlet   \u9ed8\u8ba4 \u662f \u4e00\u4e2a \u72ec\u7acb \u8fc7\u7a0b \u884c\u4e3a \uff0c \u4e0d\u4f1a \u9a71\u52a8 \u5f15\u64ce   Tick \uff0c \u5c31 \u50cf \u4e00\u4e2a \u666e\u901a \u7684 \u51fd\u6570 \uff0c \u6240\u6709 \u4ee3\u7801 \u6267\u884c \u4ee3\u7801\u6267\u884c \u5b8c\u6bd5 \u4e4b\u540e \uff0c \u79bb\u5f00 \u5f53\u524d \u7684 \u4f5c\u7528 \u4f5c\u7528\u57df \uff0c \u5c31 \u8bf7\u6c42 \u9000\u51fa \u5f15\u64ce \u4e86 \u3002","title":"\u9a71\u52a8   Tick"},{"location":"ue_commandlet/#cmdlet","text":"\u4ee5   Cook   \u4e3a\u4f8b \uff0c \u5b83 \u662f \u62c9 \u8d77\u6765 \u4e86 \u4e00\u4e2a   CookCommandlet   \u53bb \u6267\u884c \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5f15\u64ce \u5e76 \u6ca1\u6709 \u7ed9 \u6211\u4eec \u7559 \u53e3\u5b50 \uff0c \u53bb \u4ecb\u5165 \u5230   Cook   \u7684 \u5404\u4e2a \u9636\u6bb5 \uff0c \u5982\u679c \u60f3\u8981 \u5728 \u6253\u5305 \u7684 \u8fc7\u7a0b \u4e2d\u53bb \u505a \u4e00\u4e9b \u64cd\u4f5c \uff0c \u5c31 \u9700\u8981 \u81ea\u5df1 \u64cd\u7eb5   UAT   \u628a \u6784\u5efa \u8fc7\u7a0b \u62c6\u5f00 \uff0c \u81ea\u5df1 \u7ef4\u62a4 \u5404\u4e2a \u6d41\u7a0b \u3002   \u4f46 \u8fd9\u4e48 \u505a \u7684 \u4ee3\u4ef7 \u6bd4\u8f83 \u9ad8 \uff0c \u8003\u8651 \u4ee5\u4e0b \u8fd9\u4e9b \u9700\u6c42 \uff1a   \u5728   Cook   \u5b8c\u6bd5 \u4e4b\u540e \u53bb \u8bad\u7ec3   Shader   \u7684 \u5b57\u5178 \uff0c \u5e76 \u628a \u7528 \u5b57\u5178 \u538b\u7f29 \u7684   ShaderLibrary   \u66ff\u6362 \u539f\u59cb \u7684 \u3002   \u5728 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8981 \u5b9e\u73b0 \u5b83 \uff0c \u5c31 \u9700\u8981 \u628a \u6253\u5305 \u8fc7\u7a0b \u5728   Cook   \u4e4b\u540e \u505c\u6389 \uff0c \u5904\u7406 \u5b8c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6d41\u7a0b \u4e4b\u540e \uff0c \u518d \u8fdb\u5165 \u7684   UnrealPak   \u9636\u6bb5 \uff0c \u63a5\u7740 \u6267\u884c \u3002   \u6574\u4e2a \u8fc7\u7a0b \u90fd \u6bd4\u8f83 \u7684 \u7e41\u7410 \uff0c \u5982\u679c \u6211\u4eec \u60f3\u8981 \u5728   Cook   \u4e4b\u540e \u81ea\u52a8 \u6267\u884c \uff0c \u8fd8 \u53ef\u4ee5 \u7528 \u53e6 \u4e00\u79cd \u65b9\u5f0f \uff0c \u4ecb\u5165 \u5230   Commandlet   \u7684 \u6267\u884c \u8fdb\u7a0b \u4e2d \u3002   \u6839\u636e \u524d\u6587 \u7684 \u4ecb\u7ecd \u6211\u4eec \u77e5\u9053 \uff0c Commandlet   \u5728 \u6267\u884c \u4e2d \uff0c \u4e5f \u662f \u4f1a \u6267\u884c \u6a21\u5757 \u7684   StartupModule   \u53ca   ShutdownModule   \u7684 \uff0c \u800c \u6211\u4eec \u60f3\u8981 \u4ecb\u5165 \u5230   Cmdlet   \u4e2d \u6267\u884c \uff0c \u5c31\u662f \u8981 \u5229\u7528 \u8fd9\u4e2a \u7279\u6027 \u3002   \u540c\u6837 \u4ee5   Cook   \u4e4b\u540e \uff0c \u8ba9 \u5f15\u64ce \u62c9 \u8d77 \u6211\u4eec \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5904\u7406 \u6d41\u7a0b \u4e3a\u4f8b \uff0c \u53ef\u4ee5 \u62c6\u89e3 \u8fd9\u4e2a \u9700\u6c42 \uff1a   \u786e\u5b9a \u662f\u5426 \u8fd0\u884c \u5728   CookCommandlet   \u4e2d   \u5728   Cook   \u6267\u884c \u5b8c\u6bd5 \u540e \uff0c \u5f15\u64ce \u9000\u51fa \u4e4b\u524d \u7684 \u65f6\u673a \u6267\u884c   \u5173\u4e8e \u7b2c\u4e00 \u4e00\u70b9 \u7b2c\u4e00\u70b9 \uff0c \u6211\u4eec \u53ef\u4ee5 \u89e3\u6790 \u542f\u52a8 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \uff0c \u5e76 \u68c0\u67e5   - run =   \u7684   Token   \u4e0d\u662f \u662f\u4e0d\u662f   Cook   \uff0c \u5c31 \u80fd \u786e\u5b9a \u662f\u5426 \u662f\u5426\u662f \u5728   CookCommandlet   \u4e2d \uff1a","title":"\u4ecb\u5165 \u5230 \u67d0\u4e2a   Cmdlet   \u6d41\u7a0b"},{"location":"ue_pipeline/","text":"\u865a\u5e7b \u5f15\u64ce \u7ba1\u7ebf   \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 \u9700\u8981 \u4fee\u6539 \u7ba1\u7ebf   \u53ea\u6709 \u4fee\u6539 \u4e86 \u7ba1\u7ebf \u624d \u53ef\u4ee5 \u8ba9   SDF \uff0c SShairShadow \uff0c VirtualShadowMap \uff0c SelfShadowMap \u5b8c\u7f8e \u878d\u5408 \uff0c \u548c \u5f15\u64ce \u7684 \u539f\u88c5 \u903b\u8f91 \u5b8c\u7f8e \u5951\u5408 \u3002   \u4e3b\u8981 \u8fd8\u662f \u6027\u80fd \u95ee\u9898 \uff0c \u6bd4\u5982 \u6bd4\u5982\u8bf4 \u5e38\u89c1 \u7684 \u5904\u7406 \u540e\u5904\u7406 \u5361\u901a \u6e32\u67d3 \u4e3a\u4e86 \u5904\u7406 \u540e\u5904\u7406 \u9636\u6bb5 \u62ff\u5230 \u66f4 \u591a \u53c2\u6570 \uff0c \u5411   Gbuffer   \u91cc \u4f20\u503c \uff0c Shading   Mode   \u5c31 \u5f97 \u7528   Default   Lit \uff0c \u5728 \u5904\u7406 \u540e\u5904\u7406 \u9636\u6bb5 \u53c8 \u5f97 \u628a   PBR   \u5149\u7167 \u8ba1\u7b97 \u7ed3\u679c \u8ba1\u7b97\u7ed3\u679c \u7528\u5361 \u6e32 \u6548\u679c \u518d \u8986\u76d6 \u6389 \uff0c \u4e00\u5806 \u65e0 \u610f\u4e49 \u7684 \u6027\u80fd \u5f00\u9500 \uff0c \u53ea\u80fd \u8bf4 \u505c\u7559 \u5728 demo \u9636\u6bb5 \uff0c \u6216\u8005 \u5f53 \u6750\u8d28 \u7ec3\u4e60 \u3002","title":"Ue   pipeline"},{"location":"ue_pipeline/#_1","text":"","title":"\u865a\u5e7b \u5f15\u64ce \u7ba1\u7ebf"},{"location":"ue_pipeline/#_2","text":"\u53ea\u6709 \u4fee\u6539 \u4e86 \u7ba1\u7ebf \u624d \u53ef\u4ee5 \u8ba9   SDF \uff0c SShairShadow \uff0c VirtualShadowMap \uff0c SelfShadowMap \u5b8c\u7f8e \u878d\u5408 \uff0c \u548c \u5f15\u64ce \u7684 \u539f\u88c5 \u903b\u8f91 \u5b8c\u7f8e \u5951\u5408 \u3002   \u4e3b\u8981 \u8fd8\u662f \u6027\u80fd \u95ee\u9898 \uff0c \u6bd4\u5982 \u6bd4\u5982\u8bf4 \u5e38\u89c1 \u7684 \u5904\u7406 \u540e\u5904\u7406 \u5361\u901a \u6e32\u67d3 \u4e3a\u4e86 \u5904\u7406 \u540e\u5904\u7406 \u9636\u6bb5 \u62ff\u5230 \u66f4 \u591a \u53c2\u6570 \uff0c \u5411   Gbuffer   \u91cc \u4f20\u503c \uff0c Shading   Mode   \u5c31 \u5f97 \u7528   Default   Lit \uff0c \u5728 \u5904\u7406 \u540e\u5904\u7406 \u9636\u6bb5 \u53c8 \u5f97 \u628a   PBR   \u5149\u7167 \u8ba1\u7b97 \u7ed3\u679c \u8ba1\u7b97\u7ed3\u679c \u7528\u5361 \u6e32 \u6548\u679c \u518d \u8986\u76d6 \u6389 \uff0c \u4e00\u5806 \u65e0 \u610f\u4e49 \u7684 \u6027\u80fd \u5f00\u9500 \uff0c \u53ea\u80fd \u8bf4 \u505c\u7559 \u5728 demo \u9636\u6bb5 \uff0c \u6216\u8005 \u5f53 \u6750\u8d28 \u7ec3\u4e60 \u3002","title":"\u4e3a\u4ec0\u4e48 \u9700\u8981 \u4fee\u6539 \u7ba1\u7ebf"},{"location":"OpenRadioss/FEniCS%20%E5%AE%89%E8%A3%85%E4%B8%8E%E4%BD%BF%E7%94%A8/","text":"FEniCS   \u5b89\u88c5 \u4e0e \u4f7f\u7528   \u5b89\u88c5 \u8fdb\u5236 \u4e8c\u8fdb\u5236   add - apt - repository   ppa : fenics - packages / fenics   apt   update   apt   install   fenicsx   \u5b89\u88c5 \u53ef\u89c6 \u53ef\u89c6\u5316   apt   install   libgl1 - mesa - glx   xvfb   \u5b89\u88c5 conda   \u4e0b\u8f7d   Anaconda   wget   https : / / mirrors . bfsu . edu . cn / anaconda / archive / Anaconda3 - 2022.10 - Linux - x86 _ 64 . sh   -- no - check - certificate   \u5b89\u88c5   bash   Anaconda3xxxxxxx . sh   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   source   ~ / . bashrc   \u5347\u7ea7 \uff08 \u53ef \u9009 \uff09   conda   update   - n   base   - c   defaults   conda   \u521b\u5efa \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883   conda   creat   - n   fenicsx - env   conda   activate   fenicsx - env   conda   install   - c   conda - forge   fenics - dolfinx   mpich   pyvista   \u4f7f\u7528 \u8be5 \u73af\u5883 \u8fd0\u884c \u4ee3\u7801 \uff0c \u6bd4\u5982   \u5b98\u7f51 \u4f8b\u5b50   \u6216   test . ipynb","title":"FEniCS   \u5b89\u88c5 \u4e0e \u4f7f\u7528"},{"location":"OpenRadioss/FEniCS%20%E5%AE%89%E8%A3%85%E4%B8%8E%E4%BD%BF%E7%94%A8/#fenics","text":"","title":"FEniCS   \u5b89\u88c5 \u4e0e \u4f7f\u7528"},{"location":"OpenRadioss/FEniCS%20%E5%AE%89%E8%A3%85%E4%B8%8E%E4%BD%BF%E7%94%A8/#_1","text":"add - apt - repository   ppa : fenics - packages / fenics   apt   update   apt   install   fenicsx","title":"\u5b89\u88c5 \u4e8c\u8fdb\u5236"},{"location":"OpenRadioss/FEniCS%20%E5%AE%89%E8%A3%85%E4%B8%8E%E4%BD%BF%E7%94%A8/#_2","text":"apt   install   libgl1 - mesa - glx   xvfb","title":"\u5b89\u88c5 \u53ef\u89c6\u5316"},{"location":"OpenRadioss/FEniCS%20%E5%AE%89%E8%A3%85%E4%B8%8E%E4%BD%BF%E7%94%A8/#conda","text":"\u4e0b\u8f7d   Anaconda   wget   https : / / mirrors . bfsu . edu . cn / anaconda / archive / Anaconda3 - 2022.10 - Linux - x86 _ 64 . sh   -- no - check - certificate   \u5b89\u88c5   bash   Anaconda3xxxxxxx . sh   \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   source   ~ / . bashrc   \u5347\u7ea7 \uff08 \u53ef \u9009 \uff09   conda   update   - n   base   - c   defaults   conda   \u521b\u5efa \u865a\u62df \u73af\u5883 \u865a\u62df\u73af\u5883   conda   creat   - n   fenicsx - env   conda   activate   fenicsx - env   conda   install   - c   conda - forge   fenics - dolfinx   mpich   pyvista   \u4f7f\u7528 \u8be5 \u73af\u5883 \u8fd0\u884c \u4ee3\u7801 \uff0c \u6bd4\u5982   \u5b98\u7f51 \u4f8b\u5b50   \u6216   test . ipynb","title":"\u5b89\u88c5 conda"},{"location":"OpenRadioss/FEniCSBuildFromSource/","text":"\u73af\u5883   C++   compiler   ( supporting   the   C++ 20   standard )   apt   install   build - essential   Boost ,   with   the   following   compiled   Boost   components   apt   install   libboost - all - dev   CMake   [ build   dependency ]   / /   \u5b89\u88c5 \u7279\u5b9a \u7248\u672c   sudo   wget   https : / / cmake . org / files / v3.27 / cmake - 3.27 . 0 . tar . gz   sudo   tar   - zxvf   cmake - 3.27 . 0 . tar . gz   cd   cmake - 3.27 . 0   sudo   . / configure   sudo   make   sudo   make   install   / /   \u67e5\u770b \u7248\u672c   cmake   -- version   pkg - config   apt   install   pkgconf   Basix   / /   \u5efa\u8bae \u4f7f\u7528   conda   \u521b\u5efa \u65b0 \u73af\u5883 \u4e4b\u540e \u5b89\u88c5   / /   \u4e0d \u4f7f\u7528 pip   install   fenics - basix \u56e0\u4e3a \u662f\u56e0\u4e3a \u4ece \u6e90\u7801 \u7f16\u8bd1 \u9700\u8981 \u4f7f\u7528 0.7 \u7248\u672c \uff0c \u800c \u4e0a\u8ff0 \u547d\u4ee4 \u662f 0.6 \u7248\u672c   pip   install   git + https : / / github . com / FEniCS / basix . git   pugixml   apt   install   pugixml - doc   UFCx   [ ufcx . h ,   provided   by   FFCx ]   pip   \u5b89\u88c5   pip   install   fenics - ffcx   \u6b64\u65f6 \u5b89\u88c5 \u7684 \u662f 0.6 \u7248\u672c \u3002 \u4ece \u6e90\u7801 \u7f16\u8bd1 \u9700\u8981 0.7 \u7248\u672c   \u4ece \u6e90\u7801 \u5b89\u88c5   git   clone   https : / / github . com / FEniCS / ffcx . git   pip   install   .   \u6b64\u65f6 \u7f16\u8bd1 \u5931\u8d25 = \u2026 =   MPI   sudo   apt - get   install   openmpi - bin   openmpi - doc   libopenmpi - dev   HDF5   ( with   MPI   support   enabled )   apt   install   libhdf5 - mpi - dev   PETSc   git   clone   - b   release   https : / / gitlab . com / petsc / petsc . git   petsc   . / configure   / /   . / configure   \u540e \u4f1a \u63d0\u793a \u5982\u4f55 make   make   PETSC _ DIR = \u5b89\u88c5 \u4f4d\u7f6e   PETSC _ ARCH = arch - linux - c - debug   all   / /   \u4e4b\u540e \u6309 \u63d0\u793a check   make   PETSC _ DIR = \u5b89\u88c5 \u4f4d\u7f6e   PETSC _ ARCH = arch - linux - c - debug   check   / /   \u5b89\u88c5 \u5916\u90e8 \u5305 mumps \u3001   apt   install   bison   . / configure   -- download - mumps   -- download - scalapack   -- download - parmetis   -- download - metis   -- download - ptscotch   / /   . / configure \u5b8c \u63d0\u793a make   make   PETSC _ DIR = \u5b89\u88c5 \u4f4d\u7f6e   PETSC _ ARCH = arch - linux - c - debug   all   At   least   one   of   ParMETIS ,   KaHIP   or   PT - SCOTCH   apt   install   libparmetis - dev","title":"FEniCSBuildFromSource"},{"location":"OpenRadioss/FEniCSBuildFromSource/#_1","text":"C++   compiler   ( supporting   the   C++ 20   standard )   apt   install   build - essential   Boost ,   with   the   following   compiled   Boost   components   apt   install   libboost - all - dev   CMake   [ build   dependency ]   / /   \u5b89\u88c5 \u7279\u5b9a \u7248\u672c   sudo   wget   https : / / cmake . org / files / v3.27 / cmake - 3.27 . 0 . tar . gz   sudo   tar   - zxvf   cmake - 3.27 . 0 . tar . gz   cd   cmake - 3.27 . 0   sudo   . / configure   sudo   make   sudo   make   install   / /   \u67e5\u770b \u7248\u672c   cmake   -- version   pkg - config   apt   install   pkgconf   Basix   / /   \u5efa\u8bae \u4f7f\u7528   conda   \u521b\u5efa \u65b0 \u73af\u5883 \u4e4b\u540e \u5b89\u88c5   / /   \u4e0d \u4f7f\u7528 pip   install   fenics - basix \u56e0\u4e3a \u662f\u56e0\u4e3a \u4ece \u6e90\u7801 \u7f16\u8bd1 \u9700\u8981 \u4f7f\u7528 0.7 \u7248\u672c \uff0c \u800c \u4e0a\u8ff0 \u547d\u4ee4 \u662f 0.6 \u7248\u672c   pip   install   git + https : / / github . com / FEniCS / basix . git   pugixml   apt   install   pugixml - doc   UFCx   [ ufcx . h ,   provided   by   FFCx ]   pip   \u5b89\u88c5   pip   install   fenics - ffcx   \u6b64\u65f6 \u5b89\u88c5 \u7684 \u662f 0.6 \u7248\u672c \u3002 \u4ece \u6e90\u7801 \u7f16\u8bd1 \u9700\u8981 0.7 \u7248\u672c   \u4ece \u6e90\u7801 \u5b89\u88c5   git   clone   https : / / github . com / FEniCS / ffcx . git   pip   install   .   \u6b64\u65f6 \u7f16\u8bd1 \u5931\u8d25 = \u2026 =   MPI   sudo   apt - get   install   openmpi - bin   openmpi - doc   libopenmpi - dev   HDF5   ( with   MPI   support   enabled )   apt   install   libhdf5 - mpi - dev   PETSc   git   clone   - b   release   https : / / gitlab . com / petsc / petsc . git   petsc   . / configure   / /   . / configure   \u540e \u4f1a \u63d0\u793a \u5982\u4f55 make   make   PETSC _ DIR = \u5b89\u88c5 \u4f4d\u7f6e   PETSC _ ARCH = arch - linux - c - debug   all   / /   \u4e4b\u540e \u6309 \u63d0\u793a check   make   PETSC _ DIR = \u5b89\u88c5 \u4f4d\u7f6e   PETSC _ ARCH = arch - linux - c - debug   check   / /   \u5b89\u88c5 \u5916\u90e8 \u5305 mumps \u3001   apt   install   bison   . / configure   -- download - mumps   -- download - scalapack   -- download - parmetis   -- download - metis   -- download - ptscotch   / /   . / configure \u5b8c \u63d0\u793a make   make   PETSC _ DIR = \u5b89\u88c5 \u4f4d\u7f6e   PETSC _ ARCH = arch - linux - c - debug   all   At   least   one   of   ParMETIS ,   KaHIP   or   PT - SCOTCH   apt   install   libparmetis - dev","title":"\u73af\u5883"},{"location":"OpenRadioss/demo_models/","text":"\u793a\u4f8b \u6a21\u578b   Yaris   \u4ee5   40   \u516c\u91cc / \u5c0f\u65f6 \u7684 \u901f\u5ea6 \u649e\u51fb \u6746\u5b50   \u8f66\u8f86 \u649e\u5899 \u4eff\u771f   \uff0c \u5305\u62ec   \u798f\u7279 \u91d1\u725b \u91d1\u725b\u5ea7   1000   \u4e07 \u5143\u7d20   HPC   \u57fa\u51c6 \u6d4b\u8bd5   \u3001   \u514b\u83b1 \u83b1\u65af \u514b\u83b1\u65af \u514b\u83b1\u65af\u52d2   Neon   100   \u4e07 \u5143\u7d20   HPC   \u57fa\u51c6 \u6d4b\u8bd5   \u3002   \u4fdd\u9669 \u4fdd\u9669\u6760 \u6a2a\u6881   LS - DYNA \u00ae   \u683c\u5f0f \u7684 \u51ef\u7f8e\u745e \u51b2\u51fb \u6a21\u578b   LS - DYNA \u00ae   \u683c\u5f0f \u7684   Yaris   \u51b2\u51fb \u6a21\u578b","title":"Demo   models"},{"location":"OpenRadioss/demo_models/#_1","text":"Yaris   \u4ee5   40   \u516c\u91cc / \u5c0f\u65f6 \u7684 \u901f\u5ea6 \u649e\u51fb \u6746\u5b50   \u8f66\u8f86 \u649e\u5899 \u4eff\u771f   \uff0c \u5305\u62ec   \u798f\u7279 \u91d1\u725b \u91d1\u725b\u5ea7   1000   \u4e07 \u5143\u7d20   HPC   \u57fa\u51c6 \u6d4b\u8bd5   \u3001   \u514b\u83b1 \u83b1\u65af \u514b\u83b1\u65af \u514b\u83b1\u65af\u52d2   Neon   100   \u4e07 \u5143\u7d20   HPC   \u57fa\u51c6 \u6d4b\u8bd5   \u3002   \u4fdd\u9669 \u4fdd\u9669\u6760 \u6a2a\u6881   LS - DYNA \u00ae   \u683c\u5f0f \u7684 \u51ef\u7f8e\u745e \u51b2\u51fb \u6a21\u578b   LS - DYNA \u00ae   \u683c\u5f0f \u7684   Yaris   \u51b2\u51fb \u6a21\u578b","title":"\u793a\u4f8b \u6a21\u578b"},{"location":"OpenRadioss/use_OpenRadioss_linux/","text":"Linux   \u4e0b   OpenRadioss   \u7684 \u7f16\u8bd1   \u73af\u5883   Ubuntu   20.0 . 4   or   higher   apt - get   update   apt - get   upgrade   apt - get   install   build - essential   apt - get   install   gfortran   apt - get   install   cmake   apt - get   install   perl   apt - get   install   python3   apt - get   install   python - is - python3   apt - get   install   git - lfs   apt - get   install   openmpi - bin   openmpi - doc   libopenmpi - dev   apt - get   install   paraview   \u63a8\u8350 \u7248\u672c \u4e3a gcc - 11 ,   g ++- 11 ,   gfortran - 11 \u3002 paraview   \u7528\u4e8e \u540e\u671f \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u7f16\u8bd1 \u6307\u4ee4   \u83b7\u53d6 \u6e90\u7801   LFS :   git   lfs   install   \u8fd0\u884c ( \u8fd9\u91cc \u9700\u8981 \u5148 \u7ed1\u5b9a SSH   key )   git   clone   git @ github . com : OpenRadioss / OpenRadioss . git   .   OpenRadioss   Starter   \u8fdb\u5165   OpenRadioss / starter   \u76ee\u5f55   cd   OpenRadioss / starter   \u8fd0\u884c   build _ script . sh   . / build _ script . sh   - arch = linux64 _ gf   . / build _ script . sh   \u53c2\u6570 :   [ ] $   . / build _ script . sh   build _ script   ------------   Use   with   arguments   :   - arch = [ build   architecture ]   - arch = linux64 _ gf   ( SMP   executable   /   Gfortran   compiler )   - prec = [ dp | sp ]   :   set   precision   -   dp   ( default )   | sp   - static - link   :   Fortran ,   C   &   C++   runtime   are   linked   in   binary   - debug = [ 0 | 1 ]   :   debug   version   0   no   debug   flags   ( default ) ,   1   usual   debug   flag   - addflag = \" list   of   additionnal   flags \"   :   add   compiler   flags   to   usual   set   Execution   control   - nt = [ threads ]   :   number   of   threads   for   build   - verbose   :   Verbose   build   - clean   :   clean   build   directory   OpenRadioss   Engine   \u8fdb\u5165   OpenRadioss / engine   \u76ee\u5f55   \u8fd0\u884c   build _ script . sh   . / build _ script . sh   - arch = linux64 _ gf   - mpi = ompi   . / build _ script . sh   \u53c2\u6570 :   [ ] $   . / build _ script . sh   build _ script   ------------   Use   with   arguments   :   - arch = [ build   architecture ]   - arch = linux64 _ gf   ( SMP   executable   /   Gfortran   compiler )   - arch = linux64 _ gf   - mpi = ompi   ( OpenMPI   executable   /   Gfortran   compiler )   MPI   libraries   - mpi = [ mpi ]   not   set   :   SMP   ( default )   - mpi = ompi   :   OpenMPI   Controling   MPI   Libraries   -   if   need   choose   one   of   the   3   Option   Set   If   no   options   set ,   recommended   OpenMPI   directories   are   uses   ( default )   1 .   - mpi - os   :   link   with   default   MPI   version   installed   on   system   libraries   are   in   default   installation   2 .   - mpi - root = [ directory ]   :   set   rootname   to   link   with   specific   MPI   installation   3 .   - mpi - include = [ directory ]   :   set   include   directory   where   to   find   mpif . h   and   mpi . h   - mpi - libdir = [ directory ]   :   set   library   directory   where   to   find   mpi   libraries   Other   control   - prec = [ dp | sp ]   :   set   precision   -   dp   ( default )   | sp   - static - link   :   Fortran ,   C   &   C++   runtime   are   linked   in   binary   - debug = [ 0 | 1 ]   :   debug   version   0   no   debug   flags   ( default ) ,   1   usual   debug   flag   - addflag = \" list   of   additionnal   flags \"   :   add   compiler   flags   to   usual   set   Build   control   - nt = [ threads ]   :   number   of   threads   for   build   - verbose   :   Verbose   build   - clean   :   clean   build   directory   MUMPS   linear   solver :   available   only   for   dp ,   with   mpi \"   - mumps _ root = [ path _ to _ mumps ]   :   path _ to _ mumps / lib / libdmumps . a   must   exist   - scalapack _ root = [ path   to   scalapack ]   :   path _ to _ scalapack / libscalapack . a   must   exist   - lapack _ root = [ path   to   lapack ]   :   path _ to _ lapack / liblapack . a   must   exist   \u81ea\u52a8 \u81ea\u52a8\u5316 \u811a\u672c \uff08 \u5f85\u5b9a \uff09   cd   starter   . / build _ script . sh   - arch = linux64 _ gf   cd   .. / engine   . / build _ script . sh   - arch = linux64 _ gf   - mpi = ompi   OpenRadioss   \u7684 \u4f7f\u7528   \u524d \u5904\u7406   gmsh   \u4f7f\u7528   Gmsh   \u7684 \u7ba1\u5b50 \u63a5\u89e6 \u6559\u7a0b   \u4f7f\u7528   Gmsh   \u7684 \u62c9\u4f38 \u6d4b\u8bd5 \u793a\u4f8b \u6559\u7a0b   Hypermesh   lsprepost   ( * )   \u8ba1\u7b97   \u5904\u7406 \u540e\u5904\u7406   ParaView   vtk \u8f6c fbx   \uff0c \u7136\u540e \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u4e2d \u3002   \u4f7f\u7528   LSDYNA   \u683c\u5f0f \u8f93\u5165   \u6d4b\u8bd5 \u5b9e\u4f8b   \u6d4b\u8bd5 \u4f8b\u5b50 \u662f   \u62c9\u4f38 \u4eff\u771f   \u3002   bash   \u811a\u672c   myjobname = $ ( echo   \" $ 1 \"   )   echo   $ myjobname   \" running   in   OpenRadioss \"   export   OMP _ STACKSIZE = 400m   export   OMP _ NUM _ THREADS = 8   . / starter _ linux64 _ gf   - i   \" .. / source / \" $ myjobname \" . k \"   - np   $ 2   - outfile = \" .. / output \"   #. / starter _ linux64 _ gf   - i   $ myjobname \" . k \"   - np   $ 2   - nt   4   #   \u8fd9\u91cc \u662f \u627e\u5230 source \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u7684 \uff0c LS - DYNA   \u683c\u5f0f \u6587\u4ef6 \u683c\u5f0f\u6587\u4ef6 \uff08 . k \uff09 \u5e76 \u5c06 \u5176 \u4f20\u9012 \u7ed9 starter   \u8fdb\u884c \u8ba1\u7b97 \u3002   mpiexec   - n   $ 2   -- map - by   socket : PE = $ OMP _ NUM _ THREADS   -- bind - to   core   . / engine _ linux64 _ gf _ ompi   - i   \" .. / bin / \" $ myjobname \" _ 0001 . rad \"   - outfile = \" .. / output \"   # mpiexec   - n   $ 2   . engine _ linux64 _ gf _ ompi   - i   $ myjobname \" _ 0001 . rad \"   - nt   1   #   \u5728 \u5904\u7406 . k \u6587\u4ef6 \u65f6 \uff0c starter   \u4f1a \u5728 \u5176 \u76ee\u5f55 \u4e0b \u751f\u6210 \" _ 0001 . rad \" \u6587\u4ef6 \uff0c \u9700\u8981 \u5c06 \u5176 \u4f20\u9012 \u7ed9   engine   BASEDIR = $ ( dirname   \" $ 0 \" )   for   file   in   .. / output / * ;   do   if   [   - n   \" $ { file :   - 3 } \"   ]   &&   [   \" $ { file :   - 3 } \"   - eq   \" $ { file :   - 3 } \"   ]   2 > / dev / null   &&   [ [   \" $ { file :   - 4 : 1 } \"   = =   \" A \"   ] ] ;   then   . / anim _ to _ vtk _ linux64 _ gf   $ file   >   \" $ file . vtk \"   echo   \" $ file   is   converted \"   #   anim   \u6587\u4ef6 \u8f6c\u5316 \u4e3a   vtk   \u6587\u4ef6   elif   [ [   \" $ { file :   - 3 } \"   = =   \" T01 \"   ] ]   ; then   . / th _ to _ csv _ linux64 _ gf   $ file   CSV = \" $ file . csv \"   #   T01   \u6587\u4ef6 \u8f6c\u5316 \u4e3a   csv   \u6587\u4ef6   fi   done   cd   .. / output /   # paraview   $ myjobname \" A .. vtk \"   $ CSV   paraview   $ myjobname \" A .. vtk \"   $ CSV   exit   \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u8f93\u5165   bash   process _ k . sh   zug _ test3 _ RS   1   \u5373\u53ef \u3002 \u5176\u4e2d   process _ k . sh   \u662f \u811a\u672c \u540d\u5b57 \uff0c   zug _ test3 _ RS   \u662f \u6a21\u578b \u540d\u5b57 \uff0c   1   \u662f \u5e76\u884c \u8fdb\u7a0b \u6570 \u3002   \u8fd0\u884c \u7ed3\u679c   \u603b\u7ed3   \u5728 \u4f7f\u7528 Openadioss   \u5904\u7406 LS - DYNA   \u683c\u5f0f \u7684 \u6587\u4ef6 \u65f6 \uff0c \u9700\u8981   . k   \u6587\u4ef6 \u3002 \u8fd9\u4e2a \u6587\u4ef6 \u5176\u5b9e \u662f \u53ef\u4ee5 \u76f4\u63a5 \u653e\u5728 LS - DYNA   \u4e0a \u8fdb\u884c \u8ba1\u7b97 \u7684 \u3002 \u8fd9\u91cc \u63d0\u4f9b \u4e86 \u4e00\u79cd \u5176\u4ed6 \u7684 \u8ba1\u7b97 \u65b9\u5f0f \u2014 \u2014 \u4f7f\u7528 OpenRadioss \u3002   To   Do   \u9700\u8981 \u9a8c\u8bc1 \u8ba1\u7b97 \u7684 \u6b63\u786e \u6b63\u786e\u6027 \uff1a \u4e5f \u5c31\u662f \u4f7f\u7528 LS - DYNA \u8ba1\u7b97 \u540c\u6837 \u7684 \u4f8b\u5b50 \uff0c \u89c2\u5bdf \u8ba1\u7b97 \u7ed3\u679c \u8ba1\u7b97\u7ed3\u679c \u662f\u5426 \u6709 \u51fa\u5165 \u3002   LS - DYNA   \u662f \u5546\u4e1a \u8f6f\u4ef6 \u5546\u4e1a\u8f6f\u4ef6 \uff0c \u80fd \u627e\u5230 \u7684 \u8f6f\u4ef6 \u4e0d \u652f\u6301   Ubuntu   \u7cfb\u7edf \u3002   \u53ef\u4ee5 \u5728 windows   \u4e0b \u4eff\u771f \uff0c \u5c06 \u7ed3\u679c \u548c \u8fdb\u884c \u5bf9\u6bd4 \u3002   \u5982\u4f55 \u8861\u91cf \u8bef\u5dee   \u8fd9 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u6709 \u5f88\u591a \u9700\u8981 \u8003\u8651 \u7684 \uff0c \u6bd4\u5982 \u6bc1\u4f24 \u9762\u79ef \u3001 \u6bc1\u4f24 \u6df1\u5ea6 \u3002   \u5728 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u4e0a \u8fd0\u884c   OpenRadioss   \u6ca1\u6709 \u6743\u9650 \u3002 \u3002 \u3002   =   =   OpenRadioss   \u4e8c\u6b21 \u5f00\u53d1 \u4e8c\u6b21\u5f00\u53d1   READ _ MATERIAL _ MODELS . F   \u8fd9 \u6bb5 \u4ee3\u7801 \u5b9a\u4e49 \u4e86 \u4e00\u4e2a   Fortran   \u7684 \u7a0b\u5e8f \u5b50\u7a0b\u5e8f   READ _ MATERIAL _ MODELS \uff0c \u5176 \u4e3b\u8981 \u529f\u80fd \u662f \u7ba1\u7406 \u4e0e \u6750\u6599 \u6a21\u578b \u76f8\u5173 \u7684 \u8bfb\u53d6 \u8bfb\u53d6\u5668 \uff0c \u5305\u62ec \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   \u6750\u6599 \u672c\u6784 \u5b9a\u5f8b \uff08 Constitutive   Laws \uff09 \uff1a / MAT   \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \uff08 Equations   of   State \uff09 \uff1a / EOS   \u5931\u6548 \u6a21\u578b \uff08 Failure   models \uff09 \uff1a / FAIL   \u7c98\u6027 \u6a21\u578b \uff08 Viscosity \uff09 \uff1a / VISC   \u70ed \u53c2\u6570 \uff08 Thermal   parameters \uff09 \uff1a / HEAT   \u8be5 \u7a0b\u5e8f \u5b50\u7a0b\u5e8f \u7684 \u8f93\u5165 \u5305\u62ec \uff1a   MAT _ ELEM \uff1a \u6750\u6599 \u5143\u7d20 \u7684 \u53c2\u6570   MLAW _ TAG \uff1a \u6750\u6599 \u672c\u6784 \u5b9a\u5f8b \u7684 \u6807\u7b7e   FAIL _ TAG \uff1a \u5931\u6548 \u6a21\u578b \u7684 \u6807\u7b7e   VISC _ TAG \uff1a \u7c98\u6027 \u6a21\u578b \u7684 \u6807\u7b7e   EOS _ TAG \uff1a \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \u7684 \u6807\u7b7e   BUFMAT \uff1a \u6750\u6599 \u6570\u636e \u7684 \u7f13\u5b58 \u533a   BUFLEN \uff1a \u7f13\u5b58 \u533a \u7684 \u957f\u5ea6   IPM \uff1a \u6750\u6599 \u53c2\u6570 \u7684 \u6574\u578b \u6570\u7ec4   PM \uff1a \u6750\u6599 \u53c2\u6570 \u7684 \u5b9e\u578b \u6570\u7ec4   UNITAB \uff1a \u5355\u4f4d \u5236\u8868   MULTI _ FVM \uff1a \u591a\u91cd \u6709\u9650 \u4f53\u79ef \u6cd5 \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784   MAXEOS \uff1a \u6700\u5927 \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \u6570   FAILWAVE \uff1a \u5931\u6548 \u6ce2 \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784   NLOC _ DMG \uff1a \u975e \u5c40\u90e8 \u635f\u4f24 \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784   LSUBMODEL \uff1a \u5b50 \u6a21\u578b \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784   TABLE \uff1a \u8868 \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784   NPC \uff1a \u6570\u7ec4   NPC   \u8be5 \u7a0b\u5e8f \u5b50\u7a0b\u5e8f \u7684 \u8f93\u51fa \u5305\u62ec \uff1a   MAT _ ELEM \uff1a \u6750\u6599 \u5143\u7d20 \u7684 \u53c2\u6570   MLAW _ TAG \uff1a \u6750\u6599 \u672c\u6784 \u5b9a\u5f8b \u7684 \u6807\u7b7e   FAIL _ TAG \uff1a \u5931\u6548 \u6a21\u578b \u7684 \u6807\u7b7e   VISC _ TAG \uff1a \u7c98\u6027 \u6a21\u578b \u7684 \u6807\u7b7e   EOS _ TAG \uff1a \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \u7684 \u6807\u7b7e   \u8be5 \u7a0b\u5e8f \u5b50\u7a0b\u5e8f \u8fd8 \u8c03\u7528 \u4e86 \u5176\u4ed6 \u4e00\u4e9b \u7a0b\u5e8f \u5b50\u7a0b\u5e8f \uff0c \u4f8b\u5982   HM _ READ _ MAT \u3001 HM _ READ _ EOS \u3001 HM _ READ _ FAIL \u3001 HM _ READ _ VISC \u3001 HM _ READ _ LEAK \u3001 READ _ ALE _ MAT \u3001 READ _ EULER _ MAT \u3001 FILL _ BUFFER _ 51 _ 0 \u3001 HM _ READ _ THERM \u3001 HM _ READ _ THERM _ STRESS   \u548c   HM _ READ _ NONLOCAL   \u7b49 \uff0c \u7528\u4e8e \u8bfb\u53d6 \u4e0d\u540c \u7c7b\u578b \u7684 \u6750\u6599 \u6a21\u578b \u6570\u636e \u3002   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u8003\u8651 \u5206\u6790   HM _ READ _ MAT   \u7a0b\u5e8f \uff0c \u5206\u6790 \u8f6f\u4ef6 \u662f \u5982\u4f55 \u4f5c \u7684 \u3002   HM _ READ _ MAT . F   \u8fd9\u662f \u7528\u4e8e \u8bfb\u53d6 \u6709\u9650 \u6709\u9650\u5143 \u5206\u6790 \u8f6f\u4ef6 \u4e2d \u7684 \u6750\u6599 \u6a21\u578b \u5b9a\u4e49 \u7684 \u4ee3\u7801 \u3002   \u5b83 \u5b9a\u4e49 \u4e86 \u9605\u8bfb \u6750\u6599 \u6a21\u578b \u6240 \u9700 \u7684 \u5404\u79cd \u6a21\u5757 \u3001 \u53c2\u6570 \u548c \u516c\u5171 \u5757 \u3002 \u5176\u4e2d \u5305\u62ec \u6750\u6599 \u5b9a\u5f8b \u6807\u7b7e \u3001 \u6750\u6599 \u53c2\u6570 \u3001 \u5355\u4f4d \u7b49 \u3002   \u4e3b \u4f8b\u7a0b \u662f HM _ READ _ MAT \u3002 \u5b83 \u5faa\u73af \u904d\u5386 \u6a21\u578b \u4e2d \u5b9a\u4e49 \u7684 \u6bcf\u79cd \u6750\u6599   ( HM _ NUMMAT ) \u3002   \u5bf9\u4e8e \u6bcf\u79cd \u6750\u6599 \uff0c \u5b83 \u6839\u636e \u6750\u6599 \u5b9a\u5f8b \u5173\u952e \u5173\u952e\u5b57 \uff08 MAT00 \u3001 MAT01   \u7b49 \uff09 \u8c03\u7528 \u7279\u5b9a \u7684 \u8bfb\u53d6 \u4f8b\u7a0b \u3002 \u8fd9\u4e9b \u8bfb\u53d6 \u4f8b\u7a0b \u4f4d\u4e8e   mat   \u5b50\u76ee \u76ee\u5f55 \u5b50\u76ee\u5f55 \u4e2d \u7684 \u5355\u72ec \u6587\u4ef6 \u4e2d \u3002   \u8bfb\u53d6 \u4f8b\u7a0b \u89e3\u6790 \u8f93\u5165 \u3001 \u586b\u5145 \u6750\u6599 \u53c2\u6570 \u6570\u7ec4 \u3001 \u8bbe\u7f6e \u6750\u6599 \u6240 \u9700 \u6570\u636e \u7684 \u6807\u5fd7 \uff0c \u5e76 \u5b58\u50a8 \u6750\u6599   ID \u3001 \u5b9a\u5f8b \u7c7b\u578b \u3001 \u5e94\u53d8 \u7387 \u8bbe\u7f6e \u7b49 \u5185\u5bb9 \u3002   \u8bfb\u53d6 \u6750\u6599 \u540e \uff0c \u5b83\u4f1a \u8fdb\u884c \u4e00\u4e9b \u5904\u7406 \u540e\u5904\u7406 \uff0c \u4f8b\u5982 \u8ba1\u7b97 \u6d3e\u751f \u503c \uff08 \u526a\u5207 \u6a21\u91cf \u526a\u5207\u6a21\u91cf \uff09 \u3001 \u68c0\u67e5 \u91cd\u590d   ID   \u4ee5\u53ca \u8ba1\u7b97 \u8f93\u51fa \u6240 \u9700 \u6570\u91cf \u7684 \u5e73\u65b9 \u65b9\u6839 \u5e73\u65b9\u6839 \u3002   \u6bcf\u79cd \u6750\u6599 \u7684 \u5c5e\u6027 \u5b58\u50a8 \u5728   MAT _ PARAM   \u6570\u7ec4 \u548c \u5404\u79cd \u5176\u4ed6 \u516c\u5171 \u5757 \u4e2d \u3002   \u603b\u4e4b \uff0c \u5b83 \u5faa\u73af \u904d\u5386 \u6750\u6599 \uff0c \u8c03\u7528 \u7279\u5b9a \u4e8e \u5b9a\u5f8b \u7684 \u8bfb\u53d6 \u8bfb\u53d6\u5668 \uff0c \u5e76 \u5c06 \u6240\u6709 \u6750\u6599 \u6570\u636e \u6536\u96c6 \u5230 \u53c2\u6570 \u6570\u7ec4 \u548c \u901a\u7528 \u5757 \u4e2d \uff0c \u4ee5\u4fbf \u7a0d\u540e \u5728   FEA   \u5206\u6790 \u4e2d \u4f7f\u7528 \u3002 \u5173\u952e \u90e8\u5206 \u662f \u6a21\u5757 \u6a21\u5757\u5316 \u6cd5\u5219 \u8bfb\u53d6 \u8bfb\u53d6\u5668 \u548c \u7528\u4e8e \u4fdd\u5b58 \u6750\u6599 \u9053\u5177 \u7684 \u4e2d\u592e   MAT _ PARAM   \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u3002   \u56e0\u6b64 \uff0c \u60f3\u8981 \u5b9a\u4e49 \u5168\u65b0 \u7684 \u6750\u6599 \uff0c \u6240\u8981 \u505a \u7684 \u4e8b\u60c5 \u662f \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 MATxxx \u6587\u4ef6 \u3002   Radioss   \u4e2d \u6750\u6599 \u672c\u6784   \u540c\u6027 \u5404\u5411\u540c\u6027 \u5f39\u6027   Description   Model   Name   Keyword / MAT   Law #   \u7a7a \u6750\u6599   Void   / VOID   0   \u7ebf \u5f39\u6027   Elastic   ( Hooke )   / ELAST   1   \u8d85 \u5f39\u6027   Tabulated   Hyperelastic   n / a   69   \u8d85 \u5f39\u6027   Ogden   Formulation   n / a   82   ####   \u5404\u9879 \u540c\u6027 \u5851\u6027 \u5f39\u5851\u6027   LAW   2   /   36   ####   \u5176\u4ed6   ####   \u7206\u70b8   Description   Model   Name   Keyword / MAT   Law #   -----------   -----------   ---   ---   Detonation   driven   Jones   Wilkins   Lee   / JEL   5   Hydrodynamics   Lee - Tarver   / LEE - TARVER   41   Multi - materials   Soild ,   liquid , gas   and   explosives   / MULTIMAT   51   ####   \u5931\u6548 \u6a21\u578b \u2014 \u2014 / FAIL   / Tuler - Butcher   \u9ad8\u901f \u78b0\u649e \u5931\u6548   ###   \u4f8b\u5b50 \u2014 \u2014 / MAT / LAW1 \u6216 / MAT / ELAST :   \u5f39\u6027 \u6750\u6599   *   LAW1   \u4f7f\u7528 \u80e1\u514b \u5b9a\u5f8b \u80e1\u514b\u5b9a\u5f8b \u5bf9 \u540c\u6027 \u5404\u5411\u540c\u6027 \uff0c \u7ebf \u5f39\u6027 \u6750\u6599 \u8fdb\u884c \u5efa\u6a21   *   \u53ef \u7528\u4e8e \u6746 \uff0c \u6881 \uff0c \u58f3 \u4ee5\u53ca \u5b9e\u4f53 solids   *   \u9002\u7528 \u4e8e \u8fde\u63a5 \u521a\u4f53   *   \u4e0d \u9002\u7528 \u5f62\u53d8 \u5927 \u7684 \u6784\u4ef6   \u5851\u6027 \u5f39\u5851\u6027 \u5e94\u529b \u2014 \u2014 \u5e94\u53d8 \u66f2\u7ebf   \u771f\u5b9e \u5e94\u529b \u5f62\u53d8   *   \u771f\u5b9e \u5e94\u529b \uff1a \u8003\u8651 \u5f53\u524d \u6216 \u771f\u5b9e \u622a\u9762 \u6a2a\u622a\u9762 \u79ef $ A _ { true } $ \u7684 \u5e94\u529b   $ $ \\ sigma _ { true } = \\ frac { P _ x } { A _ { true } } $ $   *   \u5728 \u5851\u6027 \u53d8\u5f62 \u5851\u6027\u53d8\u5f62 \u8303\u56f4 \u5185 \uff0c \u5851\u6027 \u53d8\u5f62 \u5851\u6027\u53d8\u5f62 \u622a\u9762 \u6a2a\u622a\u9762 \u79ef \u6c38\u4e45 \u51cf\u5c0f   *   \u7ee7\u7eed \u4f7f\u7528 \u5de5\u7a0b \u5e94\u529b \u4e0d\u518d \u51c6\u786e   ####   MAT1   \u5b9a\u4e49 \u65b9\u5f0f   \u8fd9\u4e2a \u5173\u952e \u5173\u952e\u8bcd \u7528 \u80e1\u514b \u5b9a\u5f8b \u80e1\u514b\u5b9a\u5f8b \u5b9a\u4e49 \u4e86 \u4e00\u79cd \u540c\u6027 \u5404\u5411\u540c\u6027 \u7684 \u7ebf \u5f39\u6027 \u6750\u6599 \u3002 \u8fd9\u4e2a \u5b9a\u5f8b \u8868\u793a \u5e94\u529b \u548c \u5e94\u53d8 \u4e4b\u95f4 \u7684 \u7ebf\u6027 \u5173\u7cfb \u6027\u5173\u7cfb \u7ebf\u6027\u5173\u7cfb \u3002 \u5b83 \u53ef \u7528\u4e8e \u6841\u67b6 \uff0c \u6881 ( \u4ec5 3 \u578b ) \uff0c \u58f3 \u548c \u5b9e\u4f53 \u5143\u4ef6 \u3002   \u683c\u5f0f   \u5b9a\u4e49   \u4f8b\u5b50   \u539f\u7406 \uff1a   \u8be5 \u6750\u6599 \u9002\u7528 \u4e8e \u7eaf\u7cb9 \u7684 \u5f39\u6027 \u6750\u6599 \u3002 \u6750\u6599 \u7684 \u6027\u80fd \u53ea \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4e24\u4e2a \u56e0\u7d20 \uff1a   \u6a21\u91cf \u6768\u6c0f\u6a21 \u6768\u6c0f\u6a21\u91cf :   $ E $   \u6cca\u677e\u6bd4 :   $ \\ nu $   \u526a\u5207 \u6a21\u91cf \u526a\u5207\u6a21\u91cf :   ( \u53ef \u8ba1\u7b97 )   $ $ G = \\ frac { E } { 2 ( 1 + \\ nu ) } $ $   \u5e94\u529b \u5e94\u53d8 \u5173\u7cfb   $ $ \\ begin { bmatrix }   \\ epsilon _ { 11 } \\   \\ epsilon _ { 22 } \\   \\ epsilon _ { 33 } \\   \\ gamma _ { 23 } \\   \\ gamma _ { 31 } \\   \\ gamma _ { 12 }   \\ end { bmatrix } = \\ frac { 1 } { E }   \\ begin { bmatrix }   1 &- \\ nu &- \\ nu & 0 & 0 & 0 \\   - \\ nu & 1 &- \\ nu & 0 & 0 & 0 \\   - \\ nu &- \\ nu & 1 & 0 & 0 & 0 \\   0 & 0 & 0 & 2 ( 1 + \\ nu ) & 0 & 0 \\   0 & 0 & 0 & 0 & 2 ( 1 + \\ nu ) & 0 \\   0 & 0 & 0 & 0 & 0 & 2 ( 1 + \\ nu )   \\ end { bmatrix }   \\ begin { bmatrix }   \\ sigma _ { 11 } \\   \\ sigma _ { 22 } \\   \\ sigma _ { 33 } \\   \\ sigma _ { 23 } \\   \\ sigma _ { 31 } \\   \\ sigma _ { 12 }   \\ end { bmatrix } $ $   \u5bc6\u5ea6 \u503c \u901a\u5e38 \u7528\u4e8e \u663e\u5f0f \u4eff\u771f \uff0c \u4e5f \u53ef\u4ee5 \u7528\u4e8e \u9759\u6001 \u9690\u5f0f \u4eff\u771f \uff0c \u4ee5\u4fbf \u5728 \u62df \u9759\u6001 \u5206\u6790 \u4e2d \u8fbe\u5230 \u66f4\u597d \u7684 \u6536\u655b \u6536\u655b\u6027 \u3002   \u5f53 \u901a\u8fc7 \u58f3\u4f53 \u539a\u5ea6 \u7684 \u79ef\u5206 \u70b9 \u4e2a\u6570 \u4e0d\u540c \u540c\u4e8e \u4e0d\u540c\u4e8e NP = 1 ( \u819c ) \u65f6 \uff0c \u5bf9 LAW1 \u548c \u58f3 \u5355\u5143 ( / PROP / TYPE1   ( shell ) ) \u91c7\u7528 \u5168\u5c40 \u79ef\u5206 \u5206\u6cd5 \u79ef\u5206\u6cd5 \u3002   \u5931\u6548 \u6a21\u578b \u5728 \u5168\u5c40 \u96c6\u6210 \u7684 \u60c5\u51b5 \u4e0b \u4e0d\u53ef \u7528 \u3002 \u5728 \u8fd9\u4e9b \u60c5\u51b5 \u4e0b \uff0c \u5177\u6709 \u5f88 \u9ad8 \u5c48\u670d \u5e94\u529b \u5c48\u670d\u5e94\u529b \u7684 LAW2 \u548c LAW27 \u53ef\u4ee5 \u4f5c\u4e3a LAW1 \u7684 \u66ff\u4ee3 \u66ff\u4ee3\u54c1 \u3002   ####   MAT1   \u4ee3\u7801 \u89e3\u8bfb   \u603b\u4f53 \u6846\u67b6 \u662f   \u83b7\u53d6 \u8f93\u5165   CALL   HM _ OPTION _ IS _ ENCRYPTED ( IS _ ENCRYPTED )   CALL   HM _ GET _ FLOATV ( ' MAT _ RHO ' ,   RHO0   , IS _ AVAILABLE , LSUBMODEL , UNITAB )   CALL   HM _ GET _ FLOATV ( ' Refer _ Rho ' , RHOR   , IS _ AVAILABLE , LSUBMODEL , UNITAB )   CALL   HM _ GET _ FLOATV ( ' MAT _ E ' ,   YOUNG   , IS _ AVAILABLE , LSUBMODEL , UNITAB )   CALL   HM _ GET _ FLOATV ( ' MAT _ NU ' ,   ANU   , IS _ AVAILABLE , LSUBMODEL , UNITAB )   \u8ba1\u7b97 \u53c2\u6570   IF ( RHOR   = =   ZERO   )   RHOR = RHO0   C   IF   ( YOUNG < = ZERO )   THEN   CALL   ANCMSG ( MSGID = 683 ,   .   MSGTYPE = MSGERROR ,   .   ANMODE = ANINFO ,   .   I1 = ID ,   .   C1 = TITR ,   .   C2 = ' YOUNG ' ' S   MODULUS ' )   ENDIF   IF ( ANU = = HALF ) ANU = ZEP499   C   G = YOUNG / ( TWO   ( ONE + ANU ) )   C0 = ZERO   C1 = YOUNG / ( THREE   ( ONE - TWO   ANU ) )   E0 = ZERO   E1MN2 = YOUNG / ( ONE - ANU   2 )   EN1N2 = ANU   E1MN2   SDSP   = SQRT ( YOUNG / MAX ( RHOR , EM20 ) )   ISRATE   =   0   *   \u4fdd\u5b58 \u53c2\u6570   PM ( 1 )   = RHOR   PM ( 20 ) = YOUNG   PM ( 21 ) = ANU   PM ( 22 ) = G   PM ( 23 ) = E0   PM ( 24 ) = E1MN2   PM ( 25 ) = EN1N2   PM ( 26 ) = FIVE _ OVER _ 6   PM ( 27 ) = SDSP   PM ( 31 ) = C0   PM ( 32 ) = C1   PM ( 89 )   = RHO0   \u5f02\u5e38 \u5904\u7406   c -----------------   CALL   INIT _ MAT _ KEYWORD ( MATPARAM , \" TOTAL \" )   IF   ( ANU   >   0.49 )   THEN   CALL   INIT _ MAT _ KEYWORD ( MATPARAM , \" INCOMPRESSIBLE \" )   ELSE   CALL   INIT _ MAT _ KEYWORD ( MATPARAM , \" COMPRESSIBLE \" )   END   IF   CALL   INIT _ MAT _ KEYWORD ( MATPARAM , \" HOOK \" )   c -----------------   WRITE ( IOUT , 1001 )   TRIM ( TITR ) , ID , 01   WRITE ( IOUT , 1000 )   IF ( IS _ ENCRYPTED ) THEN   WRITE ( IOUT , ' ( 5X , A , / / ) ' ) ' CONFIDENTIAL   DATA '   ELSE   WRITE ( IOUT , 1100 ) RHO0   WRITE ( IOUT , 1300 ) YOUNG , ANU , G   ENDIF   C   IPM ( 252 ) =   2   PM ( 105 )   =   TWO * G / ( C1 + FOUR _ OVER _ 3 * G )   C -----------   \u63a7\u5236 \u8f93\u51fa   C -----------   RETURN   1000   FORMAT (   &   5X , '   ELASTIC   MATERIAL   ( / MAT / LAW01 ) ' , / ,   &   5X , '   ----------------------------- ' )   1001   FORMAT (   &   5X , A , / ,   &   5X , ' MATERIAL   NUMBER   .   .   .   .   .   .   .   .   .   .   .   . = ' , I10 / ,   &   5X , ' MATERIAL   LAW .   .   .   .   .   .   .   .   .   .   .   .   .   . = ' , I10 / )   1100   FORMAT (   &   5X , ' INITIAL   DENSITY   .   .   .   .   .   .   .   .   .   .   .   . = ' , 1PG20.13 / )   1300   FORMAT (   &   5X , ' YOUNG ' ' S   MODULUS   .   .   .   .   .   .   .   .   .   .   .   . = ' , E12.4 / ,   &   5X , ' POISSON ' ' S   RATIO   .   .   .   .   .   .   .   .   .   .   .   . = ' , E12.4 / ,   &   5X , ' SHEAR   MODULUS   .   .   .   .   .   .   .   .   .   .   .   .   . = ' , E12.4 / / )   \u5728 \u6570\u636e \u91cc \u6700 \u91cd\u8981 \u7684 \u662f   PM   \u4ee5\u53ca   IPM   \uff0c \u5206\u522b \u5b58\u50a8 \u4e86 \u6750\u6599 \u53c2\u6570 \u548c \u6750\u6599   ID \u3002 \u4f46\u662f \u6682\u65f6 \u6ca1\u6709 \u76f8\u5173 \u6587\u6863 \u8bf4\u660e \u5176 \u5177\u4f53 \u4f53\u5185 \u5185\u5bb9 \u5177\u4f53\u5185\u5bb9 \u3002 \u63d0\u53d6   mat   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u6240\u6709   PM   \u53d8\u91cf \u7684 \u4fe1\u606f \u6c47\u603b \u5982\u4e0b :   PM ( 1 )   =   RHO0   PM ( 1 )   =   RHOR   PM ( 1 )   =   RHOR   PM ( 01 )   =   RHOR   PM ( 1 )   =   RHOR   PM ( 01 )   =   RHO0   PM ( 01 ) = RHOR   PM ( 1 )   =   RHO0   !   RHOR   PM ( 1 )   =   RHO0   PM ( 1 ) = RHOR   PM ( 1 )   = RHOR   PM ( 1 )   =   RHO0   PM ( 2 )   =   GS   PM ( 8 )   = ISRATE   PM ( 9 )   =   TWO * PI   * FCUT   PM ( 9 )   = FCUT * TWO * PI   PM ( 9 )   =   FCUT * TWO * PI   PM ( 9 )   =   ASRATE   PM ( 12 )   =   SQRT ( MAX ( ZERO ,   G0 ) )   ! done   by   default   in   lecmuser . F   for   law34   PM ( 17 )   =   MU   PM ( 17 )   =   AMU   PM ( 20 ) =   MAX ( E11 , E22 ) / DETC   PM ( 20 )   =   MW   PM ( 20 )   =   STIFF   !   Stiffness   contact   PM ( 20 ) =   CMAX   /   TWO   PM ( 20 )   =   YMC   PM ( 20 ) = NMAT + EM01   PM ( 20 ) =   YOUNG   PM ( 20 )   =   NBMAT   +   EM01   PM ( 20 ) =   MAX ( E11 , E22 , E33 )   PM ( 20 ) = YOUNG   PM ( 20 ) = E   PM ( 20 )   =   MAX ( E11 , E22 ) / DETC   PM ( 20 )   =   YOUNG   PM ( 21 )   =   ANUC   PM ( 21 )   =   ZERO   !   NU   PM ( 21 ) = NU   PM ( 21 ) =   ANU   PM ( 21 ) = ANU   PM ( 21 ) =   NU   PM ( 21 )   =   SQRT ( N12 * N21 )   PM ( 21 )   =   NUG   PM ( 21 )   =   NU   PM ( 21 )   =   CPA   PM ( 21 ) =   THIRD * ( N12 + N31 + N23 )   PM ( 22 )   =   G0   PM ( 22 )   =   YMC / ( TWO * ( ONE + ANUC ) )   PM ( 22 )   =   GS   ! !   TWO * G   PM ( 22 ) = G   PM ( 22 ) =   G   PM ( 22 )   =   STIFF * HALF   !   GMAX   PM ( 22 )   =   CPB   PM ( 22 )   =   G   PM ( 22 ) =   THIRD * ( G12 + G23 + G31 )   PM ( 22 )   =   GS   PM ( 22 )   =   MAX ( G12 , G23 , G31 )   PM ( 23 )   =   YOUNG   PM ( 23 ) =   E0   PM ( 23 )   =   CPC   PM ( 23 )   =   EM01 * STIFFAVG   !   Hourglass   stiffness   for   QEPH   PM ( 23 )   =   E0   PM ( 23 )   =   ZERO   !   E0   PM ( 23 )   =   E0   PM ( 23 ) = E0   PM ( 24 ) =   PM ( 20 )   PM ( 24 )   =   NU   *   YOUNG   /   ( ONE - NU * NU )   PM ( 24 )   =   YOUNG / ( ONE   -   NU * * 2 )   PM ( 24 ) =   CMAX / ( ONE   -   NU * * 2 )   /   TWO   PM ( 24 )   =   PM ( 25 )   +   TWO * PM ( 22 )   PM ( 24 )   =   E1MN2   PM ( 24 )   =   STIFF   !   Stiffness   for   time   step   computation   PM ( 24 ) = D2   PM ( 24 )   =   YOUNG / ( ONE   -   NUG * * 2 )   PM ( 24 ) = E1MN2   PM ( 24 ) = VIS   PM ( 24 )   =   PM ( 20 )   PM ( 24 )   =   CPD   PM ( 25 )   =   GAM   PM ( 25 ) = D3   PM ( 25 ) = NR   PM ( 25 ) = EN1N2   PM ( 25 )   =   CPE   PM ( 25 )   =   YMC * ANUC / ( ONE + ANUC ) / ( ONE - TWO * ANUC )   PM ( 25 ) =   1 .   PM ( 25 )   =   EN1N2   PM ( 25 )   =   PM ( 21 ) * PM ( 24 )   PM ( 26 ) = FIVE   PM ( 26 )   =   FIVE _ OVER _ 6   PM ( 26 )   =   CPF   PM ( 26 ) = PM ( 26 ) * ONE _ OVER _ 6   PM ( 26 ) = NT   PM ( 26 ) = THET   PM ( 26 ) = FIVE _ OVER _ 6   PM ( 26 ) =   CB   PM ( 26 )   =   MAX ( ZERO , DSUP1 )   PM ( 27 )   =   SQRT ( A11 / RHO0 )   !   sound   speed   estimation   PM ( 27 )   =   SQRT ( YOUNG / RHO0 )   !   Sound   speed   PM ( 27 ) = D   PM ( 27 )   =   SSP   PM ( 27 )   =   SDSP   PM ( 27 ) = SDSP   PM ( 27 ) =   CN   PM ( 27 )   =   SQRT ( A1 / RHO0 )   !   sound   speed   estimation   PM ( 27 ) =   SSP   PM ( 27 )   =   VCRT2   PM ( 27 )   =   SQRT ( E / MAX ( RHOR , EM20 ) )   PM ( 27 ) = APY   PM ( 27 )   =   SQRT ( ( BULK   +   FOUR _ OVER _ 3 * G ) / RHO0 )   !   sound   speed   estimation   PM ( 27 )   =   MAXVAL ( SSP ( 1 : 4 ) )   PM ( 27 ) = IDF   PM ( 27 )   =   R _ IGC1   PM ( 27 ) =   SQRT ( E / RHO0 )   !   Sound   speed   for   beam   elements   PM ( 27 )   =   VMAX   PM ( 27 )   =   D   PM ( 28 )   =   MAX ( ONEP0001 , FMAX )   PM ( 28 )   =   ONE / YOUNG   PM ( 28 )   =   GAMRP   PM ( 28 )   =   ONE - HT / YMC   PM ( 28 ) = VB   PM ( 28 )   =   MAX ( ONEP0001 , ( SIGMX / CA ) * * 2 )   PM ( 28 ) = ONE / YOUNG   PM ( 28 ) = NR   PM ( 29 ) = - ANU * PM ( 28 )   PM ( 29 )   =   - NU * PM ( 28 )   PM ( 29 )   =   GAM1   PM ( 29 )   =   ROK   PM ( 29 ) = NT   PM ( 29 ) = TM0   PM ( 30 ) = ONE / G   PM ( 30 ) = IDF   PM ( 30 )   =   ONE / G   PM ( 30 ) = E00   PM ( 30 )   =   RO0   PM ( 31 ) = ZERO   PM ( 31 )   =   - PSH   +   C0 + C1 * MU +   C3 * MU * * 3 + ( C4 + C5 * MU ) * E0   PM ( 31 )   =   ZERO   !   C0   PM ( 31 ) =   C0   PM ( 31 ) =   ZERO   PM ( 31 )   =   - PSH   +   C0 + C1 * MU + C2 * MU * * 2 + C3 * MU * * 3 + ( C4 + C5 * MU ) * E0   PM ( 31 ) = C0   PM ( 31 )   =   P0 + PSHIFT   PM ( 31 ) = P0   PM ( 31 )   =   C0 - PSH   PM ( 31 )   =   P0   PM ( 31 ) =   C0 - PSH   PM ( 32 )   =   C1   PM ( 32 ) =   RBULK   PM ( 32 ) =   RHOR * C * * 2   PM ( 32 ) = C1   PM ( 32 )   =   RBULK   PM ( 32 )   =   BULK   PM ( 32 ) = BULK   PM ( 32 ) =   C1   PM ( 32 )   =   GS   PM ( 32 )   =   C1   PM ( 33 ) = ZERO   PM ( 33 ) =   C2   PM ( 33 )   =   E11   PM ( 33 ) =   SIGT1   PM ( 33 ) = E11   PM ( 33 ) = C   PM ( 33 ) = C2   PM ( 33 )   =   A   PM ( 33 )   =   FC   PM ( 33 )   =   RE0 / RHO0   PM ( 34 ) = E22   PM ( 34 )   =   E22   PM ( 34 ) =   SIGT2   PM ( 34 ) = ZERO   PM ( 34 )   =   B   PM ( 34 )   =   - HALF * SSP2 / CARL * * 2   PM ( 34 ) = C3   PM ( 34 ) = S   PM ( 34 ) =   C3   PM ( 34 )   =   RT   PM ( 35 ) = PCC   PM ( 35 )   =   RC   PM ( 35 ) = N12   PM ( 35 )   =   N12   PM ( 35 ) = C4   PM ( 35 ) = BUNL   PM ( 35 ) =   C4   PM ( 35 ) = XKL   PM ( 35 )   =   R1   PM ( 35 ) =   SIGT3   PM ( 35 ) = ZERO   PM ( 36 ) = XMUMX   PM ( 36 ) = ZERO   PM ( 36 )   =   N21   PM ( 36 ) =   C5   PM ( 36 ) = N21   PM ( 36 ) = GAM0   PM ( 36 ) = C5   PM ( 36 )   =   RT * ( TWO * RC - RT )   PM ( 36 )   =   R2   PM ( 36 ) = XLAMB   PM ( 36 ) =   EFIB   PM ( 37 ) = - INFINITY   PM ( 37 )   =   G12   PM ( 37 ) =   EPSFT   PM ( 37 )   =   - PSH   PM ( 37 ) =   PMIN   PM ( 37 ) = PMIN   PM ( 37 )   =   ( RC - RT ) * * 2   PM ( 37 )   =   EF   PM ( 37 ) = G12   PM ( 37 )   =   PMIN   PM ( 37 ) = ATOM   PM ( 38 )   =   UPARAM ( 42 )   ! VDET   PM ( 38 ) = G23   PM ( 38 )   =   AA   PM ( 38 )   =   CA   PM ( 38 ) =   EPSFC   PM ( 38 ) = CA   PM ( 38 )   =   D   PM ( 38 ) = A0   PM ( 38 ) =   CA   PM ( 38 )   =   D   PM ( 38 )   =   G23   PM ( 38 ) =   EFIB   PM ( 38 ) = VDET   PM ( 38 )   =   SIG0   PM ( 39 ) = CB   PM ( 39 ) =   ALPHA   PM ( 39 )   =   CB   PM ( 39 ) = G31   PM ( 39 ) = A1   PM ( 39 ) =   CB   PM ( 39 )   =   BC   PM ( 39 )   =   G31   PM ( 39 ) = CE   PM ( 39 )   =   PCJ   PM ( 40 ) = A2   PM ( 40 )   =   BT   PM ( 40 )   =   ONE / TSCAL   PM ( 40 )   =   CN   PM ( 40 )   =   PM ( 1 ) * D * * 2 / PCJ   PM ( 40 )   =   IFLAG   PM ( 40 ) = CN   PM ( 40 ) =   CN   PM ( 40 ) =   D11   PM ( 41 )   =   EPSM   PM ( 41 ) =   D12   PM ( 41 )   =   IBFRAC   PM ( 41 )   =   TIMESCAL   PM ( 41 ) =   EPSM   PM ( 41 ) = AMX   PM ( 41 )   =   AC   PM ( 41 )   =   EP20   !   EPSM   PM ( 41 )   =   WPLAMX   PM ( 41 ) = EPSM   PM ( 41 ) = WPLAMX   PM ( 42 )   =   QOPT   PM ( 42 ) = IOFF   PM ( 42 ) = SIGM   PM ( 42 ) =   D13   PM ( 42 )   =   IOFF   PM ( 42 )   =   TSCAL   PM ( 42 ) = FAC _ Y   PM ( 42 )   =   SIGM   PM ( 42 )   =   FT * FC / YMC   PM ( 42 ) =   SIGM   PM ( 43 ) = CC   PM ( 43 ) = CM   PM ( 43 )   =   HBP   PM ( 43 )   =   C0   PM ( 43 ) =   CC   PM ( 43 ) =   D22   PM ( 43 )   =   CB1   PM ( 43 )   =   CC   PM ( 43 ) = PEXT   PM ( 43 )   =   ESCAL   PM ( 44 ) = EPS0   PM ( 44 )   =   DE   PM ( 44 ) = PSTAR   PM ( 44 )   =   EPS0   PM ( 44 ) =   D23   PM ( 44 )   =   CB2   PM ( 44 ) = DE   PM ( 44 )   =   KSCAL   PM ( 44 )   =   BULK   PM ( 44 )   =   RCOMP   PM ( 44 )   =   ALI   PM ( 44 ) =   EPS0   PM ( 45 )   =   W   PM ( 45 )   =   ALF   PM ( 45 )   =   CH   PM ( 45 ) = BUNL   PM ( 45 ) =   CM   PM ( 45 ) =   D33   PM ( 45 ) = EPSL   PM ( 45 ) = CM   PM ( 45 ) = A11   PM ( 46 )   =   TMELT   PM ( 46 ) = CB   PM ( 46 ) = SSL   PM ( 46 ) = XMUMX   PM ( 46 ) =   G12   PM ( 46 ) = A22   PM ( 46 ) = TMELT   PM ( 46 ) =   TMELT   PM ( 46 )   =   CB   PM ( 46 )   =   VKY   PM ( 46 ) = HL   PM ( 47 ) = TMAX   PM ( 47 ) = A * AK   PM ( 47 ) = CN   PM ( 47 ) = ZERO   !   MUMIN   PM ( 47 )   =   CN   PM ( 47 )   =   EPSMAX   PM ( 47 ) =   TMAX   PM ( 47 ) = YLDL   PM ( 47 ) = A1122   PM ( 47 ) =   G23   PM ( 48 ) = E   PM ( 48 ) = A   PM ( 48 ) =   G31   PM ( 48 ) = A12   PM ( 48 ) = IFORM   PM ( 48 ) = NR   PM ( 48 ) = CS   PM ( 48 ) = EL   PM ( 48 )   =   HV0   PM ( 49 ) = A   PM ( 49 )   =   EXPO   PM ( 49 ) = FMAX   PM ( 49 ) = GAM0M   PM ( 49 )   =   ICC   PM ( 49 ) = ICC   PM ( 49 ) =   SSP   PM ( 49 )   =   FMAX   PM ( 49 ) = C0   PM ( 49 ) = NT   PM ( 50 ) = AM   PM ( 50 ) = B   PM ( 50 ) = ZERO   PM ( 50 )   =   YMS   PM ( 50 ) = IDF   PM ( 50 ) = CC   PM ( 50 )   =   ITYP   PM ( 50 ) = ONE   PM ( 51 ) = SIG   PM ( 51 ) = MT   PM ( 51 ) = EPS0   PM ( 51 )   =   Y0S   PM ( 51 )   =   INOD   !   USR2SYS   APRES   FSDCOD ,   IF ( IFORM8 = = 2 )   INOD = USR2SYS ( INOD , ITABM1 , MESS )   PM ( 51 ) = GAME   PM ( 51 ) = C3   PM ( 51 ) = YP1   PM ( 52 ) = GP   PM ( 52 ) = ONEP414 * PM ( 17 ) * PM ( 1 ) * SSP   PM ( 52 ) = ICC   PM ( 52 ) = C4   PM ( 52 ) = TM   PM ( 52 ) = XKMAX   PM ( 52 )   =   ONEP414 * MU * PM ( 1 ) * SDSP   PM ( 52 ) = ONEP414 * AMU * PM ( 1 ) * SDSP   PM ( 52 )   =   ETS   PM ( 53 ) = ICC   PM ( 53 ) = F1   PM ( 53 ) = ONE / CP   PM ( 53 ) = DSP   PM ( 53 )   =   ARM1   PM ( 53 )   =   AREAMIN1   PM ( 53 ) = ZERO   PM ( 54 ) = E0H   PM ( 54 ) = F2   PM ( 54 )   =   ARM2   PM ( 54 )   =   ZERO   PM ( 54 ) = F1   PM ( 54 )   =   ONE   /   ( AREAMIN2 - AREAMIN1 )   PM ( 54 ) = TI   PM ( 55 ) = FISOKIN   PM ( 55 ) = RP3   PM ( 55 ) = F3   PM ( 55 ) = F2   PM ( 55 )   =   ARM3   PM ( 56 ) = F4   PM ( 56 )   =   ONE   !   PM ( 56 )   =   POROSITY   PM ( 56 ) = VJ   PM ( 56 ) = F11   PM ( 57 ) = F5   PM ( 57 ) = C1   PM ( 57 )   =   ICAP + EM01   PM ( 57 ) = F22   PM ( 58 ) = C2   PM ( 58 ) = F33   PM ( 58 ) = F6   PM ( 58 )   =   ONE - HVFAC   PM ( 59 ) = F11   PM ( 59 )   =   ZERO   !   PM ( 59 ) = F12   PM ( 59 ) = F1   PM ( 59 ) = C3   PM ( 59 ) = ALPHA   PM ( 60 ) = F22   PM ( 60 ) =   BETA   PM ( 60 ) = EPST1   PM ( 60 ) = D1   PM ( 60 )   =   EPST1   PM ( 60 ) = F2   PM ( 61 ) =   TMAX   PM ( 61 ) = ALPHAP   PM ( 61 )   =   EPST2   PM ( 61 ) = EPST2   PM ( 61 ) = F33   PM ( 61 ) = F4   PM ( 62 ) = F5   PM ( 62 ) = F44   PM ( 62 ) = EPSM1   PM ( 62 )   =   EPSM1   PM ( 63 ) = F11   PM ( 63 ) = EPSM2   PM ( 63 ) = F55   PM ( 63 )   =   EPSM2   PM ( 64 )   =   DMAX1   PM ( 64 ) = F22   PM ( 64 ) = DMAX   PM ( 64 ) = F66   PM ( 65 ) = SHRDAM   PM ( 65 )   =   DMAX2   PM ( 65 ) = F12   PM ( 65 ) = F44   PM ( 66 )   =   EPSF1   PM ( 66 ) =   F23   PM ( 66 ) = SHRMAX   PM ( 66 ) = F55   PM ( 67 ) =   F13   PM ( 67 ) = SHRDMAX   PM ( 67 ) = F12   PM ( 67 )   =   EPSF2   PM ( 68 ) = WPLAREF   PM ( 68 ) = F23   PM ( 69 ) = SPH   PM ( 69 )   =   SPH   PM ( 69 )   =   RCP   PM ( 69 ) = C11   PM ( 70 ) = ZERO   PM ( 71 )   =   JTHE + EM01   PM ( 72 )   =   ZERO   PM ( 72 ) = ZERO   PM ( 73 ) = C22   PM ( 73 ) = C11   PM ( 74 ) = C33   PM ( 74 ) = C22   PM ( 75 )   =   AS   PM ( 75 ) = C12   PM ( 75 ) = C33   PM ( 76 ) = C23   PM ( 76 )   =   BS   PM ( 76 ) = C12   PM ( 77 ) = C13   PM ( 77 ) = C23   PM ( 77 )   =   CF   PM ( 78 )   =   T0   PM ( 78 ) = C13   PM ( 78 ) = DELTA   PM ( 79 )   =   T0   PM ( 79 )   =   T0   PM ( 79 ) = T0   PM ( 79 ) = DELTA   PM ( 79 ) = THREE100   PM ( 80 )   =   TMELT   PM ( 80 ) = INFINITY   PM ( 80 )   =   INFINITY   PM ( 80 ) = TMELT   PM ( 80 ) =   TMELT   PM ( 80 )   =   EP30   PM ( 81 )   =   CTM   PM ( 81 ) = CTM   PM ( 81 ) =   SIGT1   PM ( 82 ) =   SIGT2   PM ( 82 ) = CT1   PM ( 83 ) = CT2   PM ( 83 ) =   SIGT3   PM ( 84 ) = CT3   PM ( 84 ) =   EPSFT   PM ( 85 )   =   SK   PM ( 85 ) =   EPSFC   PM ( 85 ) = SK   PM ( 86 ) = SE   PM ( 86 )   =   SE   PM ( 87 )   =   RK0 / RHO0   PM ( 87 ) = RK0 / RHO0   PM ( 88 ) =   ZERO   PM ( 88 )   =   PSH   PM ( 88 ) = PSH   PM ( 88 ) =   PSH   PM ( 89 ) = RHO0   PM ( 89 )   =   RHO0   PM ( 89 )   =   RHO0   PM ( 89 )   = RHO0   PM ( 89 )   =   RHO0   PM ( 89 ) =   RHO0   PM ( 91 )   =   RHO10   PM ( 91 ) = MAXVAL ( RHO0 _ ( 1 : 4 ) )   PM ( 95 ) = RPR   PM ( 95 )   =   RPR   PM ( 97 )   =   RHOC   PM ( 98 )   =   ALP0   PM ( 98 ) = EPSF1   PM ( 98 ) = WPLAREF   PM ( 99 )   =   DC + ONE   PM ( 99 ) = EPSF2   PM ( 100 )   =   BULK   PM ( 100 )   =   RBULK   PM ( 100 )   =   RBULK   ! PARMAT ( 1 )   PM ( 100 ) =   E   PM ( 100 ) =   C1   PM ( 100 )   =   PARMAT ( 1 )   PM ( 100 ) =   PARMAT ( 1 )   PM ( 100 ) =   BULK   PM ( 104 )   =   P0 + PSHIFT   PM ( 104 ) = C0   -   PSH   PM ( 104 ) = C0   PM ( 104 ) = P0   PM ( 104 )   =   C0 - PSH   PM ( 105 )   =   GS / ( BULK   +   TWO _ THIRD * GS )   PM ( 105 )   =   GS / ( RBULK   +   TWO _ THIRD * G )   PM ( 105 )   =   DMIN / DMAX / DMAX   PM ( 105 )   =   ( ONE   - TWO * ANU ) / ( ONE   -   ANU )   PM ( 105 )   =   (   ONE   - TWO * ANU ) / ( ONE   -   ANU )   PM ( 105 )   = DMIN / C1 * * 2   PM ( 105 ) =   TWO * PM ( 22 ) / ( BULK + FOUR _ OVER _ 3 * PM ( 22 ) )   !   = ( 1 - 2 * Nuc ) / ( 1 - Nuc )   PM ( 105 )   =   TWO * G / ( C1 + FOUR _ OVER _ 3 * G )   !   = ( 1 - 2 * Nu ) / ( 1 - Nu )   PM ( 105 )   =   ( ONE   - TWO * ANU ) / ( ONE   -   ANU )   PM ( 105 )   =   TWO * G0 / ( BULK + FOUR _ OVER _ 3 * G0 )   !   = ( 1 - 2 * Nu ) / ( 1 - Nu )   PM ( 105 )   =   ( ONE   - TWO * ANU ) / ( ONE   -   ANU )   !   TWO * G / ( BULK   +   FOUR _ OVER _ 3 * G )   PM ( 105 )   =   TWO * G / ( C1 + FOUR _ OVER _ 3 * G )   PM ( 105 )   =   TWO * GS / ( RBULK   +   FOUR _ OVER _ 3 * GS )   PM ( 105 )   = MIN ( D11 * D22 - D12 * * 2 , D22 * D33 - D23 * * 2 , D11 * D33 - D13 * * 2 ) / C1 * * 2   PM ( 141 ) = SIGYT1   PM ( 141 ) =   SIGYT1   PM ( 142 ) = CBT1   PM ( 142 ) =   SIGYT2   PM ( 143 ) =   SIGYC1   PM ( 143 ) = CNT1   PM ( 144 ) =   SIGYC2   PM ( 144 ) = SIGMXT1   PM ( 145 ) =   SIGYT12   PM ( 145 ) = CCT1   PM ( 146 ) =   SIGYC12   PM ( 146 ) = SIGYT2   PM ( 147 )   =   IFLAG   PM ( 147 ) = CBT2   PM ( 148 )   =   S1   PM ( 148 ) = CNT2   PM ( 149 ) = SIGMXT2   PM ( 149 )   =   S2   PM ( 150 )   =   C11   PM ( 150 ) = CCT2   PM ( 151 ) = SIGYC1   PM ( 151 )   =   C22   PM ( 152 ) = CBC1   PM ( 152 )   = S12   PM ( 153 ) = CNC1   PM ( 154 ) = SIGMXC1   PM ( 155 ) = CCC1   PM ( 156 ) = SIGYC2   PM ( 157 ) = CBC2   PM ( 158 ) = CNC2   PM ( 159 ) = SIGMXC2   PM ( 160 ) = CCC2   PM ( 160 )   =   EADD   PM ( 161 ) = SIGYT12   PM ( 161 )   =   TBEGIN   PM ( 162 ) = CBT12   PM ( 162 )   =   TEND   PM ( 163 )   =   REACTION _ RATE   PM ( 163 ) = CNT12   PM ( 164 ) = SIGMXT12   PM ( 164 )   =   A _ MIL   PM ( 165 ) = CCT12   PM ( 165 )   =   M _ MIL   PM ( 166 ) = EPS1T1   PM ( 166 )   =   N _ MIL   PM ( 167 ) = EPS2T1   PM ( 167 )   =   REACTION _ RATE2   PM ( 168 ) = SIGRST1   PM ( 168 )   =   ALPHA _ UNIT   PM ( 169 ) = WPLAMXT1   PM ( 170 ) = EPS1T2   PM ( 171 ) = EPS2T2   PM ( 172 ) = SIGRST2   PM ( 173 ) = WPLAMXT2   PM ( 174 ) = EPS1C1   PM ( 175 ) = EPS2C1   PM ( 176 ) = SIGRSC1   PM ( 177 ) = WPLAMXC1   PM ( 178 ) = EPS1C2   PM ( 179 ) = EPS2C2   PM ( 180 ) = SIGRSC2   PM ( 181 ) = WPLAMXC2   PM ( 182 ) = EPS1T12   PM ( 183 ) = EPS2T12   PM ( 184 ) = SIGRST12   PM ( 185 ) = WPLAMXT12   PM ( 186 )   =   E33   PM ( 187 )   =   IYEILD   PM ( 188 )   =   RATIO   PM ( 189 )   =   IMODWP   PM ( 191 )   =   XK   PM ( 192 )   =   XK   PM ( 192 )   =   RHOA   PM ( 193 )   =   FRAC   PM ( 193 )   =   XK   PM ( 194 )   =   AA   PM ( 195 )   =   BB   PM ( 196 )   =   TAUX   PM ( 197 )   =   KK   PM ( 198 )   =   ICLOS   PM ( 199 )   =   RHOEXT   PM ( 200 )   =   EINT _ EXT   PM ( 201 )   =   INCGAS","title":"use   OpenRadioss   linux"},{"location":"OpenRadioss/use_OpenRadioss_linux/#linux-openradioss","text":"","title":"Linux   \u4e0b   OpenRadioss   \u7684 \u7f16\u8bd1"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_1","text":"Ubuntu   20.0 . 4   or   higher   apt - get   update   apt - get   upgrade   apt - get   install   build - essential   apt - get   install   gfortran   apt - get   install   cmake   apt - get   install   perl   apt - get   install   python3   apt - get   install   python - is - python3   apt - get   install   git - lfs   apt - get   install   openmpi - bin   openmpi - doc   libopenmpi - dev   apt - get   install   paraview   \u63a8\u8350 \u7248\u672c \u4e3a gcc - 11 ,   g ++- 11 ,   gfortran - 11 \u3002 paraview   \u7528\u4e8e \u540e\u671f \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002","title":"\u73af\u5883"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_2","text":"","title":"\u7f16\u8bd1 \u6307\u4ee4"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_3","text":"LFS :   git   lfs   install   \u8fd0\u884c ( \u8fd9\u91cc \u9700\u8981 \u5148 \u7ed1\u5b9a SSH   key )   git   clone   git @ github . com : OpenRadioss / OpenRadioss . git   .","title":"\u83b7\u53d6 \u6e90\u7801"},{"location":"OpenRadioss/use_OpenRadioss_linux/#openradioss-starter","text":"\u8fdb\u5165   OpenRadioss / starter   \u76ee\u5f55   cd   OpenRadioss / starter   \u8fd0\u884c   build _ script . sh   . / build _ script . sh   - arch = linux64 _ gf   . / build _ script . sh   \u53c2\u6570 :   [ ] $   . / build _ script . sh   build _ script   ------------   Use   with   arguments   :   - arch = [ build   architecture ]   - arch = linux64 _ gf   ( SMP   executable   /   Gfortran   compiler )   - prec = [ dp | sp ]   :   set   precision   -   dp   ( default )   | sp   - static - link   :   Fortran ,   C   &   C++   runtime   are   linked   in   binary   - debug = [ 0 | 1 ]   :   debug   version   0   no   debug   flags   ( default ) ,   1   usual   debug   flag   - addflag = \" list   of   additionnal   flags \"   :   add   compiler   flags   to   usual   set   Execution   control   - nt = [ threads ]   :   number   of   threads   for   build   - verbose   :   Verbose   build   - clean   :   clean   build   directory","title":"OpenRadioss   Starter"},{"location":"OpenRadioss/use_OpenRadioss_linux/#openradioss-engine","text":"\u8fdb\u5165   OpenRadioss / engine   \u76ee\u5f55   \u8fd0\u884c   build _ script . sh   . / build _ script . sh   - arch = linux64 _ gf   - mpi = ompi   . / build _ script . sh   \u53c2\u6570 :   [ ] $   . / build _ script . sh   build _ script   ------------   Use   with   arguments   :   - arch = [ build   architecture ]   - arch = linux64 _ gf   ( SMP   executable   /   Gfortran   compiler )   - arch = linux64 _ gf   - mpi = ompi   ( OpenMPI   executable   /   Gfortran   compiler )   MPI   libraries   - mpi = [ mpi ]   not   set   :   SMP   ( default )   - mpi = ompi   :   OpenMPI   Controling   MPI   Libraries   -   if   need   choose   one   of   the   3   Option   Set   If   no   options   set ,   recommended   OpenMPI   directories   are   uses   ( default )   1 .   - mpi - os   :   link   with   default   MPI   version   installed   on   system   libraries   are   in   default   installation   2 .   - mpi - root = [ directory ]   :   set   rootname   to   link   with   specific   MPI   installation   3 .   - mpi - include = [ directory ]   :   set   include   directory   where   to   find   mpif . h   and   mpi . h   - mpi - libdir = [ directory ]   :   set   library   directory   where   to   find   mpi   libraries   Other   control   - prec = [ dp | sp ]   :   set   precision   -   dp   ( default )   | sp   - static - link   :   Fortran ,   C   &   C++   runtime   are   linked   in   binary   - debug = [ 0 | 1 ]   :   debug   version   0   no   debug   flags   ( default ) ,   1   usual   debug   flag   - addflag = \" list   of   additionnal   flags \"   :   add   compiler   flags   to   usual   set   Build   control   - nt = [ threads ]   :   number   of   threads   for   build   - verbose   :   Verbose   build   - clean   :   clean   build   directory   MUMPS   linear   solver :   available   only   for   dp ,   with   mpi \"   - mumps _ root = [ path _ to _ mumps ]   :   path _ to _ mumps / lib / libdmumps . a   must   exist   - scalapack _ root = [ path   to   scalapack ]   :   path _ to _ scalapack / libscalapack . a   must   exist   - lapack _ root = [ path   to   lapack ]   :   path _ to _ lapack / liblapack . a   must   exist","title":"OpenRadioss   Engine"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_4","text":"cd   starter   . / build _ script . sh   - arch = linux64 _ gf   cd   .. / engine   . / build _ script . sh   - arch = linux64 _ gf   - mpi = ompi","title":"\u81ea\u52a8\u5316 \u811a\u672c \uff08 \u5f85\u5b9a \uff09"},{"location":"OpenRadioss/use_OpenRadioss_linux/#openradioss","text":"","title":"OpenRadioss   \u7684 \u4f7f\u7528"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_5","text":"gmsh   \u4f7f\u7528   Gmsh   \u7684 \u7ba1\u5b50 \u63a5\u89e6 \u6559\u7a0b   \u4f7f\u7528   Gmsh   \u7684 \u62c9\u4f38 \u6d4b\u8bd5 \u793a\u4f8b \u6559\u7a0b   Hypermesh   lsprepost   ( * )","title":"\u524d \u5904\u7406"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_6","text":"","title":"\u8ba1\u7b97"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_7","text":"ParaView   vtk \u8f6c fbx   \uff0c \u7136\u540e \u5bfc\u5165 \u5bfc\u5165\u5230   Carla   \u4e2d \u3002","title":"\u540e\u5904\u7406"},{"location":"OpenRadioss/use_OpenRadioss_linux/#lsdyna","text":"","title":"\u4f7f\u7528   LSDYNA   \u683c\u5f0f \u8f93\u5165"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_8","text":"\u6d4b\u8bd5 \u4f8b\u5b50 \u662f   \u62c9\u4f38 \u4eff\u771f   \u3002","title":"\u6d4b\u8bd5 \u5b9e\u4f8b"},{"location":"OpenRadioss/use_OpenRadioss_linux/#bash","text":"myjobname = $ ( echo   \" $ 1 \"   )   echo   $ myjobname   \" running   in   OpenRadioss \"   export   OMP _ STACKSIZE = 400m   export   OMP _ NUM _ THREADS = 8   . / starter _ linux64 _ gf   - i   \" .. / source / \" $ myjobname \" . k \"   - np   $ 2   - outfile = \" .. / output \"   #. / starter _ linux64 _ gf   - i   $ myjobname \" . k \"   - np   $ 2   - nt   4   #   \u8fd9\u91cc \u662f \u627e\u5230 source \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u7684 \uff0c LS - DYNA   \u683c\u5f0f \u6587\u4ef6 \u683c\u5f0f\u6587\u4ef6 \uff08 . k \uff09 \u5e76 \u5c06 \u5176 \u4f20\u9012 \u7ed9 starter   \u8fdb\u884c \u8ba1\u7b97 \u3002   mpiexec   - n   $ 2   -- map - by   socket : PE = $ OMP _ NUM _ THREADS   -- bind - to   core   . / engine _ linux64 _ gf _ ompi   - i   \" .. / bin / \" $ myjobname \" _ 0001 . rad \"   - outfile = \" .. / output \"   # mpiexec   - n   $ 2   . engine _ linux64 _ gf _ ompi   - i   $ myjobname \" _ 0001 . rad \"   - nt   1   #   \u5728 \u5904\u7406 . k \u6587\u4ef6 \u65f6 \uff0c starter   \u4f1a \u5728 \u5176 \u76ee\u5f55 \u4e0b \u751f\u6210 \" _ 0001 . rad \" \u6587\u4ef6 \uff0c \u9700\u8981 \u5c06 \u5176 \u4f20\u9012 \u7ed9   engine   BASEDIR = $ ( dirname   \" $ 0 \" )   for   file   in   .. / output / * ;   do   if   [   - n   \" $ { file :   - 3 } \"   ]   &&   [   \" $ { file :   - 3 } \"   - eq   \" $ { file :   - 3 } \"   ]   2 > / dev / null   &&   [ [   \" $ { file :   - 4 : 1 } \"   = =   \" A \"   ] ] ;   then   . / anim _ to _ vtk _ linux64 _ gf   $ file   >   \" $ file . vtk \"   echo   \" $ file   is   converted \"   #   anim   \u6587\u4ef6 \u8f6c\u5316 \u4e3a   vtk   \u6587\u4ef6   elif   [ [   \" $ { file :   - 3 } \"   = =   \" T01 \"   ] ]   ; then   . / th _ to _ csv _ linux64 _ gf   $ file   CSV = \" $ file . csv \"   #   T01   \u6587\u4ef6 \u8f6c\u5316 \u4e3a   csv   \u6587\u4ef6   fi   done   cd   .. / output /   # paraview   $ myjobname \" A .. vtk \"   $ CSV   paraview   $ myjobname \" A .. vtk \"   $ CSV   exit   \u5728 \u547d\u4ee4 \u547d\u4ee4\u884c \u8f93\u5165   bash   process _ k . sh   zug _ test3 _ RS   1   \u5373\u53ef \u3002 \u5176\u4e2d   process _ k . sh   \u662f \u811a\u672c \u540d\u5b57 \uff0c   zug _ test3 _ RS   \u662f \u6a21\u578b \u540d\u5b57 \uff0c   1   \u662f \u5e76\u884c \u8fdb\u7a0b \u6570 \u3002","title":"bash   \u811a\u672c"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_9","text":"","title":"\u8fd0\u884c \u7ed3\u679c"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_10","text":"\u5728 \u4f7f\u7528 Openadioss   \u5904\u7406 LS - DYNA   \u683c\u5f0f \u7684 \u6587\u4ef6 \u65f6 \uff0c \u9700\u8981   . k   \u6587\u4ef6 \u3002 \u8fd9\u4e2a \u6587\u4ef6 \u5176\u5b9e \u662f \u53ef\u4ee5 \u76f4\u63a5 \u653e\u5728 LS - DYNA   \u4e0a \u8fdb\u884c \u8ba1\u7b97 \u7684 \u3002 \u8fd9\u91cc \u63d0\u4f9b \u4e86 \u4e00\u79cd \u5176\u4ed6 \u7684 \u8ba1\u7b97 \u65b9\u5f0f \u2014 \u2014 \u4f7f\u7528 OpenRadioss \u3002","title":"\u603b\u7ed3"},{"location":"OpenRadioss/use_OpenRadioss_linux/#to-do","text":"\u9700\u8981 \u9a8c\u8bc1 \u8ba1\u7b97 \u7684 \u6b63\u786e \u6b63\u786e\u6027 \uff1a \u4e5f \u5c31\u662f \u4f7f\u7528 LS - DYNA \u8ba1\u7b97 \u540c\u6837 \u7684 \u4f8b\u5b50 \uff0c \u89c2\u5bdf \u8ba1\u7b97 \u7ed3\u679c \u8ba1\u7b97\u7ed3\u679c \u662f\u5426 \u6709 \u51fa\u5165 \u3002   LS - DYNA   \u662f \u5546\u4e1a \u8f6f\u4ef6 \u5546\u4e1a\u8f6f\u4ef6 \uff0c \u80fd \u627e\u5230 \u7684 \u8f6f\u4ef6 \u4e0d \u652f\u6301   Ubuntu   \u7cfb\u7edf \u3002   \u53ef\u4ee5 \u5728 windows   \u4e0b \u4eff\u771f \uff0c \u5c06 \u7ed3\u679c \u548c \u8fdb\u884c \u5bf9\u6bd4 \u3002   \u5982\u4f55 \u8861\u91cf \u8bef\u5dee   \u8fd9 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u6709 \u5f88\u591a \u9700\u8981 \u8003\u8651 \u7684 \uff0c \u6bd4\u5982 \u6bc1\u4f24 \u9762\u79ef \u3001 \u6bc1\u4f24 \u6df1\u5ea6 \u3002","title":"To   Do"},{"location":"OpenRadioss/use_OpenRadioss_linux/#openradioss_1","text":"\u6ca1\u6709 \u6743\u9650 \u3002 \u3002 \u3002   =   =","title":"\u5728 \u670d\u52a1\u5668 \u4e0a \u8fd0\u884c   OpenRadioss"},{"location":"OpenRadioss/use_OpenRadioss_linux/#openradioss_2","text":"","title":"OpenRadioss   \u4e8c\u6b21\u5f00\u53d1"},{"location":"OpenRadioss/use_OpenRadioss_linux/#read_material_modelsf","text":"\u8fd9 \u6bb5 \u4ee3\u7801 \u5b9a\u4e49 \u4e86 \u4e00\u4e2a   Fortran   \u7684 \u7a0b\u5e8f \u5b50\u7a0b\u5e8f   READ _ MATERIAL _ MODELS \uff0c \u5176 \u4e3b\u8981 \u529f\u80fd \u662f \u7ba1\u7406 \u4e0e \u6750\u6599 \u6a21\u578b \u76f8\u5173 \u7684 \u8bfb\u53d6 \u8bfb\u53d6\u5668 \uff0c \u5305\u62ec \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   \u6750\u6599 \u672c\u6784 \u5b9a\u5f8b \uff08 Constitutive   Laws \uff09 \uff1a / MAT   \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \uff08 Equations   of   State \uff09 \uff1a / EOS   \u5931\u6548 \u6a21\u578b \uff08 Failure   models \uff09 \uff1a / FAIL   \u7c98\u6027 \u6a21\u578b \uff08 Viscosity \uff09 \uff1a / VISC   \u70ed \u53c2\u6570 \uff08 Thermal   parameters \uff09 \uff1a / HEAT   \u8be5 \u7a0b\u5e8f \u5b50\u7a0b\u5e8f \u7684 \u8f93\u5165 \u5305\u62ec \uff1a   MAT _ ELEM \uff1a \u6750\u6599 \u5143\u7d20 \u7684 \u53c2\u6570   MLAW _ TAG \uff1a \u6750\u6599 \u672c\u6784 \u5b9a\u5f8b \u7684 \u6807\u7b7e   FAIL _ TAG \uff1a \u5931\u6548 \u6a21\u578b \u7684 \u6807\u7b7e   VISC _ TAG \uff1a \u7c98\u6027 \u6a21\u578b \u7684 \u6807\u7b7e   EOS _ TAG \uff1a \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \u7684 \u6807\u7b7e   BUFMAT \uff1a \u6750\u6599 \u6570\u636e \u7684 \u7f13\u5b58 \u533a   BUFLEN \uff1a \u7f13\u5b58 \u533a \u7684 \u957f\u5ea6   IPM \uff1a \u6750\u6599 \u53c2\u6570 \u7684 \u6574\u578b \u6570\u7ec4   PM \uff1a \u6750\u6599 \u53c2\u6570 \u7684 \u5b9e\u578b \u6570\u7ec4   UNITAB \uff1a \u5355\u4f4d \u5236\u8868   MULTI _ FVM \uff1a \u591a\u91cd \u6709\u9650 \u4f53\u79ef \u6cd5 \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784   MAXEOS \uff1a \u6700\u5927 \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \u6570   FAILWAVE \uff1a \u5931\u6548 \u6ce2 \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784   NLOC _ DMG \uff1a \u975e \u5c40\u90e8 \u635f\u4f24 \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784   LSUBMODEL \uff1a \u5b50 \u6a21\u578b \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784   TABLE \uff1a \u8868 \u7684 \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784   NPC \uff1a \u6570\u7ec4   NPC   \u8be5 \u7a0b\u5e8f \u5b50\u7a0b\u5e8f \u7684 \u8f93\u51fa \u5305\u62ec \uff1a   MAT _ ELEM \uff1a \u6750\u6599 \u5143\u7d20 \u7684 \u53c2\u6570   MLAW _ TAG \uff1a \u6750\u6599 \u672c\u6784 \u5b9a\u5f8b \u7684 \u6807\u7b7e   FAIL _ TAG \uff1a \u5931\u6548 \u6a21\u578b \u7684 \u6807\u7b7e   VISC _ TAG \uff1a \u7c98\u6027 \u6a21\u578b \u7684 \u6807\u7b7e   EOS _ TAG \uff1a \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \u7684 \u6807\u7b7e   \u8be5 \u7a0b\u5e8f \u5b50\u7a0b\u5e8f \u8fd8 \u8c03\u7528 \u4e86 \u5176\u4ed6 \u4e00\u4e9b \u7a0b\u5e8f \u5b50\u7a0b\u5e8f \uff0c \u4f8b\u5982   HM _ READ _ MAT \u3001 HM _ READ _ EOS \u3001 HM _ READ _ FAIL \u3001 HM _ READ _ VISC \u3001 HM _ READ _ LEAK \u3001 READ _ ALE _ MAT \u3001 READ _ EULER _ MAT \u3001 FILL _ BUFFER _ 51 _ 0 \u3001 HM _ READ _ THERM \u3001 HM _ READ _ THERM _ STRESS   \u548c   HM _ READ _ NONLOCAL   \u7b49 \uff0c \u7528\u4e8e \u8bfb\u53d6 \u4e0d\u540c \u7c7b\u578b \u7684 \u6750\u6599 \u6a21\u578b \u6570\u636e \u3002   \u63a5\u4e0b \u4e0b\u6765 \u63a5\u4e0b\u6765 \u8003\u8651 \u5206\u6790   HM _ READ _ MAT   \u7a0b\u5e8f \uff0c \u5206\u6790 \u8f6f\u4ef6 \u662f \u5982\u4f55 \u4f5c \u7684 \u3002","title":"READ _ MATERIAL _ MODELS . F"},{"location":"OpenRadioss/use_OpenRadioss_linux/#hm_read_matf","text":"\u8fd9\u662f \u7528\u4e8e \u8bfb\u53d6 \u6709\u9650 \u6709\u9650\u5143 \u5206\u6790 \u8f6f\u4ef6 \u4e2d \u7684 \u6750\u6599 \u6a21\u578b \u5b9a\u4e49 \u7684 \u4ee3\u7801 \u3002   \u5b83 \u5b9a\u4e49 \u4e86 \u9605\u8bfb \u6750\u6599 \u6a21\u578b \u6240 \u9700 \u7684 \u5404\u79cd \u6a21\u5757 \u3001 \u53c2\u6570 \u548c \u516c\u5171 \u5757 \u3002 \u5176\u4e2d \u5305\u62ec \u6750\u6599 \u5b9a\u5f8b \u6807\u7b7e \u3001 \u6750\u6599 \u53c2\u6570 \u3001 \u5355\u4f4d \u7b49 \u3002   \u4e3b \u4f8b\u7a0b \u662f HM _ READ _ MAT \u3002 \u5b83 \u5faa\u73af \u904d\u5386 \u6a21\u578b \u4e2d \u5b9a\u4e49 \u7684 \u6bcf\u79cd \u6750\u6599   ( HM _ NUMMAT ) \u3002   \u5bf9\u4e8e \u6bcf\u79cd \u6750\u6599 \uff0c \u5b83 \u6839\u636e \u6750\u6599 \u5b9a\u5f8b \u5173\u952e \u5173\u952e\u5b57 \uff08 MAT00 \u3001 MAT01   \u7b49 \uff09 \u8c03\u7528 \u7279\u5b9a \u7684 \u8bfb\u53d6 \u4f8b\u7a0b \u3002 \u8fd9\u4e9b \u8bfb\u53d6 \u4f8b\u7a0b \u4f4d\u4e8e   mat   \u5b50\u76ee \u76ee\u5f55 \u5b50\u76ee\u5f55 \u4e2d \u7684 \u5355\u72ec \u6587\u4ef6 \u4e2d \u3002   \u8bfb\u53d6 \u4f8b\u7a0b \u89e3\u6790 \u8f93\u5165 \u3001 \u586b\u5145 \u6750\u6599 \u53c2\u6570 \u6570\u7ec4 \u3001 \u8bbe\u7f6e \u6750\u6599 \u6240 \u9700 \u6570\u636e \u7684 \u6807\u5fd7 \uff0c \u5e76 \u5b58\u50a8 \u6750\u6599   ID \u3001 \u5b9a\u5f8b \u7c7b\u578b \u3001 \u5e94\u53d8 \u7387 \u8bbe\u7f6e \u7b49 \u5185\u5bb9 \u3002   \u8bfb\u53d6 \u6750\u6599 \u540e \uff0c \u5b83\u4f1a \u8fdb\u884c \u4e00\u4e9b \u5904\u7406 \u540e\u5904\u7406 \uff0c \u4f8b\u5982 \u8ba1\u7b97 \u6d3e\u751f \u503c \uff08 \u526a\u5207 \u6a21\u91cf \u526a\u5207\u6a21\u91cf \uff09 \u3001 \u68c0\u67e5 \u91cd\u590d   ID   \u4ee5\u53ca \u8ba1\u7b97 \u8f93\u51fa \u6240 \u9700 \u6570\u91cf \u7684 \u5e73\u65b9 \u65b9\u6839 \u5e73\u65b9\u6839 \u3002   \u6bcf\u79cd \u6750\u6599 \u7684 \u5c5e\u6027 \u5b58\u50a8 \u5728   MAT _ PARAM   \u6570\u7ec4 \u548c \u5404\u79cd \u5176\u4ed6 \u516c\u5171 \u5757 \u4e2d \u3002   \u603b\u4e4b \uff0c \u5b83 \u5faa\u73af \u904d\u5386 \u6750\u6599 \uff0c \u8c03\u7528 \u7279\u5b9a \u4e8e \u5b9a\u5f8b \u7684 \u8bfb\u53d6 \u8bfb\u53d6\u5668 \uff0c \u5e76 \u5c06 \u6240\u6709 \u6750\u6599 \u6570\u636e \u6536\u96c6 \u5230 \u53c2\u6570 \u6570\u7ec4 \u548c \u901a\u7528 \u5757 \u4e2d \uff0c \u4ee5\u4fbf \u7a0d\u540e \u5728   FEA   \u5206\u6790 \u4e2d \u4f7f\u7528 \u3002 \u5173\u952e \u90e8\u5206 \u662f \u6a21\u5757 \u6a21\u5757\u5316 \u6cd5\u5219 \u8bfb\u53d6 \u8bfb\u53d6\u5668 \u548c \u7528\u4e8e \u4fdd\u5b58 \u6750\u6599 \u9053\u5177 \u7684 \u4e2d\u592e   MAT _ PARAM   \u6570\u636e \u7ed3\u6784 \u6570\u636e\u7ed3\u6784 \u3002   \u56e0\u6b64 \uff0c \u60f3\u8981 \u5b9a\u4e49 \u5168\u65b0 \u7684 \u6750\u6599 \uff0c \u6240\u8981 \u505a \u7684 \u4e8b\u60c5 \u662f \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 MATxxx \u6587\u4ef6 \u3002","title":"HM _ READ _ MAT . F"},{"location":"OpenRadioss/use_OpenRadioss_linux/#radioss","text":"","title":"Radioss   \u4e2d \u6750\u6599 \u672c\u6784"},{"location":"OpenRadioss/use_OpenRadioss_linux/#_11","text":"Description   Model   Name   Keyword / MAT   Law #   \u7a7a \u6750\u6599   Void   / VOID   0   \u7ebf \u5f39\u6027   Elastic   ( Hooke )   / ELAST   1   \u8d85 \u5f39\u6027   Tabulated   Hyperelastic   n / a   69   \u8d85 \u5f39\u6027   Ogden   Formulation   n / a   82   ####   \u5404\u9879 \u540c\u6027 \u5851\u6027 \u5f39\u5851\u6027   LAW   2   /   36   ####   \u5176\u4ed6   ####   \u7206\u70b8   Description   Model   Name   Keyword / MAT   Law #   -----------   -----------   ---   ---   Detonation   driven   Jones   Wilkins   Lee   / JEL   5   Hydrodynamics   Lee - Tarver   / LEE - TARVER   41   Multi - materials   Soild ,   liquid , gas   and   explosives   / MULTIMAT   51   ####   \u5931\u6548 \u6a21\u578b \u2014 \u2014 / FAIL   / Tuler - Butcher   \u9ad8\u901f \u78b0\u649e \u5931\u6548   ###   \u4f8b\u5b50 \u2014 \u2014 / MAT / LAW1 \u6216 / MAT / ELAST :   \u5f39\u6027 \u6750\u6599   *   LAW1   \u4f7f\u7528 \u80e1\u514b \u5b9a\u5f8b \u80e1\u514b\u5b9a\u5f8b \u5bf9 \u540c\u6027 \u5404\u5411\u540c\u6027 \uff0c \u7ebf \u5f39\u6027 \u6750\u6599 \u8fdb\u884c \u5efa\u6a21   *   \u53ef \u7528\u4e8e \u6746 \uff0c \u6881 \uff0c \u58f3 \u4ee5\u53ca \u5b9e\u4f53 solids   *   \u9002\u7528 \u4e8e \u8fde\u63a5 \u521a\u4f53   *   \u4e0d \u9002\u7528 \u5f62\u53d8 \u5927 \u7684 \u6784\u4ef6   \u5851\u6027 \u5f39\u5851\u6027 \u5e94\u529b \u2014 \u2014 \u5e94\u53d8 \u66f2\u7ebf   \u771f\u5b9e \u5e94\u529b \u5f62\u53d8   *   \u771f\u5b9e \u5e94\u529b \uff1a \u8003\u8651 \u5f53\u524d \u6216 \u771f\u5b9e \u622a\u9762 \u6a2a\u622a\u9762 \u79ef $ A _ { true } $ \u7684 \u5e94\u529b   $ $ \\ sigma _ { true } = \\ frac { P _ x } { A _ { true } } $ $   *   \u5728 \u5851\u6027 \u53d8\u5f62 \u5851\u6027\u53d8\u5f62 \u8303\u56f4 \u5185 \uff0c \u5851\u6027 \u53d8\u5f62 \u5851\u6027\u53d8\u5f62 \u622a\u9762 \u6a2a\u622a\u9762 \u79ef \u6c38\u4e45 \u51cf\u5c0f   *   \u7ee7\u7eed \u4f7f\u7528 \u5de5\u7a0b \u5e94\u529b \u4e0d\u518d \u51c6\u786e   ####   MAT1   \u5b9a\u4e49 \u65b9\u5f0f   \u8fd9\u4e2a \u5173\u952e \u5173\u952e\u8bcd \u7528 \u80e1\u514b \u5b9a\u5f8b \u80e1\u514b\u5b9a\u5f8b \u5b9a\u4e49 \u4e86 \u4e00\u79cd \u540c\u6027 \u5404\u5411\u540c\u6027 \u7684 \u7ebf \u5f39\u6027 \u6750\u6599 \u3002 \u8fd9\u4e2a \u5b9a\u5f8b \u8868\u793a \u5e94\u529b \u548c \u5e94\u53d8 \u4e4b\u95f4 \u7684 \u7ebf\u6027 \u5173\u7cfb \u6027\u5173\u7cfb \u7ebf\u6027\u5173\u7cfb \u3002 \u5b83 \u53ef \u7528\u4e8e \u6841\u67b6 \uff0c \u6881 ( \u4ec5 3 \u578b ) \uff0c \u58f3 \u548c \u5b9e\u4f53 \u5143\u4ef6 \u3002   \u683c\u5f0f   \u5b9a\u4e49   \u4f8b\u5b50   \u539f\u7406 \uff1a   \u8be5 \u6750\u6599 \u9002\u7528 \u4e8e \u7eaf\u7cb9 \u7684 \u5f39\u6027 \u6750\u6599 \u3002 \u6750\u6599 \u7684 \u6027\u80fd \u53ea \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4e24\u4e2a \u56e0\u7d20 \uff1a   \u6a21\u91cf \u6768\u6c0f\u6a21 \u6768\u6c0f\u6a21\u91cf :   $ E $   \u6cca\u677e\u6bd4 :   $ \\ nu $   \u526a\u5207 \u6a21\u91cf \u526a\u5207\u6a21\u91cf :   ( \u53ef \u8ba1\u7b97 )   $ $ G = \\ frac { E } { 2 ( 1 + \\ nu ) } $ $   \u5e94\u529b \u5e94\u53d8 \u5173\u7cfb   $ $ \\ begin { bmatrix }   \\ epsilon _ { 11 } \\   \\ epsilon _ { 22 } \\   \\ epsilon _ { 33 } \\   \\ gamma _ { 23 } \\   \\ gamma _ { 31 } \\   \\ gamma _ { 12 }   \\ end { bmatrix } = \\ frac { 1 } { E }   \\ begin { bmatrix }   1 &- \\ nu &- \\ nu & 0 & 0 & 0 \\   - \\ nu & 1 &- \\ nu & 0 & 0 & 0 \\   - \\ nu &- \\ nu & 1 & 0 & 0 & 0 \\   0 & 0 & 0 & 2 ( 1 + \\ nu ) & 0 & 0 \\   0 & 0 & 0 & 0 & 2 ( 1 + \\ nu ) & 0 \\   0 & 0 & 0 & 0 & 0 & 2 ( 1 + \\ nu )   \\ end { bmatrix }   \\ begin { bmatrix }   \\ sigma _ { 11 } \\   \\ sigma _ { 22 } \\   \\ sigma _ { 33 } \\   \\ sigma _ { 23 } \\   \\ sigma _ { 31 } \\   \\ sigma _ { 12 }   \\ end { bmatrix } $ $   \u5bc6\u5ea6 \u503c \u901a\u5e38 \u7528\u4e8e \u663e\u5f0f \u4eff\u771f \uff0c \u4e5f \u53ef\u4ee5 \u7528\u4e8e \u9759\u6001 \u9690\u5f0f \u4eff\u771f \uff0c \u4ee5\u4fbf \u5728 \u62df \u9759\u6001 \u5206\u6790 \u4e2d \u8fbe\u5230 \u66f4\u597d \u7684 \u6536\u655b \u6536\u655b\u6027 \u3002   \u5f53 \u901a\u8fc7 \u58f3\u4f53 \u539a\u5ea6 \u7684 \u79ef\u5206 \u70b9 \u4e2a\u6570 \u4e0d\u540c \u540c\u4e8e \u4e0d\u540c\u4e8e NP = 1 ( \u819c ) \u65f6 \uff0c \u5bf9 LAW1 \u548c \u58f3 \u5355\u5143 ( / PROP / TYPE1   ( shell ) ) \u91c7\u7528 \u5168\u5c40 \u79ef\u5206 \u5206\u6cd5 \u79ef\u5206\u6cd5 \u3002   \u5931\u6548 \u6a21\u578b \u5728 \u5168\u5c40 \u96c6\u6210 \u7684 \u60c5\u51b5 \u4e0b \u4e0d\u53ef \u7528 \u3002 \u5728 \u8fd9\u4e9b \u60c5\u51b5 \u4e0b \uff0c \u5177\u6709 \u5f88 \u9ad8 \u5c48\u670d \u5e94\u529b \u5c48\u670d\u5e94\u529b \u7684 LAW2 \u548c LAW27 \u53ef\u4ee5 \u4f5c\u4e3a LAW1 \u7684 \u66ff\u4ee3 \u66ff\u4ee3\u54c1 \u3002   ####   MAT1   \u4ee3\u7801 \u89e3\u8bfb   \u603b\u4f53 \u6846\u67b6 \u662f   \u83b7\u53d6 \u8f93\u5165   CALL   HM _ OPTION _ IS _ ENCRYPTED ( IS _ ENCRYPTED )   CALL   HM _ GET _ FLOATV ( ' MAT _ RHO ' ,   RHO0   , IS _ AVAILABLE , LSUBMODEL , UNITAB )   CALL   HM _ GET _ FLOATV ( ' Refer _ Rho ' , RHOR   , IS _ AVAILABLE , LSUBMODEL , UNITAB )   CALL   HM _ GET _ FLOATV ( ' MAT _ E ' ,   YOUNG   , IS _ AVAILABLE , LSUBMODEL , UNITAB )   CALL   HM _ GET _ FLOATV ( ' MAT _ NU ' ,   ANU   , IS _ AVAILABLE , LSUBMODEL , UNITAB )   \u8ba1\u7b97 \u53c2\u6570   IF ( RHOR   = =   ZERO   )   RHOR = RHO0   C   IF   ( YOUNG < = ZERO )   THEN   CALL   ANCMSG ( MSGID = 683 ,   .   MSGTYPE = MSGERROR ,   .   ANMODE = ANINFO ,   .   I1 = ID ,   .   C1 = TITR ,   .   C2 = ' YOUNG ' ' S   MODULUS ' )   ENDIF   IF ( ANU = = HALF ) ANU = ZEP499   C   G = YOUNG / ( TWO   ( ONE + ANU ) )   C0 = ZERO   C1 = YOUNG / ( THREE   ( ONE - TWO   ANU ) )   E0 = ZERO   E1MN2 = YOUNG / ( ONE - ANU   2 )   EN1N2 = ANU   E1MN2   SDSP   = SQRT ( YOUNG / MAX ( RHOR , EM20 ) )   ISRATE   =   0   *   \u4fdd\u5b58 \u53c2\u6570   PM ( 1 )   = RHOR   PM ( 20 ) = YOUNG   PM ( 21 ) = ANU   PM ( 22 ) = G   PM ( 23 ) = E0   PM ( 24 ) = E1MN2   PM ( 25 ) = EN1N2   PM ( 26 ) = FIVE _ OVER _ 6   PM ( 27 ) = SDSP   PM ( 31 ) = C0   PM ( 32 ) = C1   PM ( 89 )   = RHO0   \u5f02\u5e38 \u5904\u7406   c -----------------   CALL   INIT _ MAT _ KEYWORD ( MATPARAM , \" TOTAL \" )   IF   ( ANU   >   0.49 )   THEN   CALL   INIT _ MAT _ KEYWORD ( MATPARAM , \" INCOMPRESSIBLE \" )   ELSE   CALL   INIT _ MAT _ KEYWORD ( MATPARAM , \" COMPRESSIBLE \" )   END   IF   CALL   INIT _ MAT _ KEYWORD ( MATPARAM , \" HOOK \" )   c -----------------   WRITE ( IOUT , 1001 )   TRIM ( TITR ) , ID , 01   WRITE ( IOUT , 1000 )   IF ( IS _ ENCRYPTED ) THEN   WRITE ( IOUT , ' ( 5X , A , / / ) ' ) ' CONFIDENTIAL   DATA '   ELSE   WRITE ( IOUT , 1100 ) RHO0   WRITE ( IOUT , 1300 ) YOUNG , ANU , G   ENDIF   C   IPM ( 252 ) =   2   PM ( 105 )   =   TWO * G / ( C1 + FOUR _ OVER _ 3 * G )   C -----------   \u63a7\u5236 \u8f93\u51fa   C -----------   RETURN   1000   FORMAT (   &   5X , '   ELASTIC   MATERIAL   ( / MAT / LAW01 ) ' , / ,   &   5X , '   ----------------------------- ' )   1001   FORMAT (   &   5X , A , / ,   &   5X , ' MATERIAL   NUMBER   .   .   .   .   .   .   .   .   .   .   .   . = ' , I10 / ,   &   5X , ' MATERIAL   LAW .   .   .   .   .   .   .   .   .   .   .   .   .   . = ' , I10 / )   1100   FORMAT (   &   5X , ' INITIAL   DENSITY   .   .   .   .   .   .   .   .   .   .   .   . = ' , 1PG20.13 / )   1300   FORMAT (   &   5X , ' YOUNG ' ' S   MODULUS   .   .   .   .   .   .   .   .   .   .   .   . = ' , E12.4 / ,   &   5X , ' POISSON ' ' S   RATIO   .   .   .   .   .   .   .   .   .   .   .   . = ' , E12.4 / ,   &   5X , ' SHEAR   MODULUS   .   .   .   .   .   .   .   .   .   .   .   .   . = ' , E12.4 / / )   \u5728 \u6570\u636e \u91cc \u6700 \u91cd\u8981 \u7684 \u662f   PM   \u4ee5\u53ca   IPM   \uff0c \u5206\u522b \u5b58\u50a8 \u4e86 \u6750\u6599 \u53c2\u6570 \u548c \u6750\u6599   ID \u3002 \u4f46\u662f \u6682\u65f6 \u6ca1\u6709 \u76f8\u5173 \u6587\u6863 \u8bf4\u660e \u5176 \u5177\u4f53 \u4f53\u5185 \u5185\u5bb9 \u5177\u4f53\u5185\u5bb9 \u3002 \u63d0\u53d6   mat   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \u6240\u6709   PM   \u53d8\u91cf \u7684 \u4fe1\u606f \u6c47\u603b \u5982\u4e0b :   PM ( 1 )   =   RHO0   PM ( 1 )   =   RHOR   PM ( 1 )   =   RHOR   PM ( 01 )   =   RHOR   PM ( 1 )   =   RHOR   PM ( 01 )   =   RHO0   PM ( 01 ) = RHOR   PM ( 1 )   =   RHO0   !   RHOR   PM ( 1 )   =   RHO0   PM ( 1 ) = RHOR   PM ( 1 )   = RHOR   PM ( 1 )   =   RHO0   PM ( 2 )   =   GS   PM ( 8 )   = ISRATE   PM ( 9 )   =   TWO * PI   * FCUT   PM ( 9 )   = FCUT * TWO * PI   PM ( 9 )   =   FCUT * TWO * PI   PM ( 9 )   =   ASRATE   PM ( 12 )   =   SQRT ( MAX ( ZERO ,   G0 ) )   ! done   by   default   in   lecmuser . F   for   law34   PM ( 17 )   =   MU   PM ( 17 )   =   AMU   PM ( 20 ) =   MAX ( E11 , E22 ) / DETC   PM ( 20 )   =   MW   PM ( 20 )   =   STIFF   !   Stiffness   contact   PM ( 20 ) =   CMAX   /   TWO   PM ( 20 )   =   YMC   PM ( 20 ) = NMAT + EM01   PM ( 20 ) =   YOUNG   PM ( 20 )   =   NBMAT   +   EM01   PM ( 20 ) =   MAX ( E11 , E22 , E33 )   PM ( 20 ) = YOUNG   PM ( 20 ) = E   PM ( 20 )   =   MAX ( E11 , E22 ) / DETC   PM ( 20 )   =   YOUNG   PM ( 21 )   =   ANUC   PM ( 21 )   =   ZERO   !   NU   PM ( 21 ) = NU   PM ( 21 ) =   ANU   PM ( 21 ) = ANU   PM ( 21 ) =   NU   PM ( 21 )   =   SQRT ( N12 * N21 )   PM ( 21 )   =   NUG   PM ( 21 )   =   NU   PM ( 21 )   =   CPA   PM ( 21 ) =   THIRD * ( N12 + N31 + N23 )   PM ( 22 )   =   G0   PM ( 22 )   =   YMC / ( TWO * ( ONE + ANUC ) )   PM ( 22 )   =   GS   ! !   TWO * G   PM ( 22 ) = G   PM ( 22 ) =   G   PM ( 22 )   =   STIFF * HALF   !   GMAX   PM ( 22 )   =   CPB   PM ( 22 )   =   G   PM ( 22 ) =   THIRD * ( G12 + G23 + G31 )   PM ( 22 )   =   GS   PM ( 22 )   =   MAX ( G12 , G23 , G31 )   PM ( 23 )   =   YOUNG   PM ( 23 ) =   E0   PM ( 23 )   =   CPC   PM ( 23 )   =   EM01 * STIFFAVG   !   Hourglass   stiffness   for   QEPH   PM ( 23 )   =   E0   PM ( 23 )   =   ZERO   !   E0   PM ( 23 )   =   E0   PM ( 23 ) = E0   PM ( 24 ) =   PM ( 20 )   PM ( 24 )   =   NU   *   YOUNG   /   ( ONE - NU * NU )   PM ( 24 )   =   YOUNG / ( ONE   -   NU * * 2 )   PM ( 24 ) =   CMAX / ( ONE   -   NU * * 2 )   /   TWO   PM ( 24 )   =   PM ( 25 )   +   TWO * PM ( 22 )   PM ( 24 )   =   E1MN2   PM ( 24 )   =   STIFF   !   Stiffness   for   time   step   computation   PM ( 24 ) = D2   PM ( 24 )   =   YOUNG / ( ONE   -   NUG * * 2 )   PM ( 24 ) = E1MN2   PM ( 24 ) = VIS   PM ( 24 )   =   PM ( 20 )   PM ( 24 )   =   CPD   PM ( 25 )   =   GAM   PM ( 25 ) = D3   PM ( 25 ) = NR   PM ( 25 ) = EN1N2   PM ( 25 )   =   CPE   PM ( 25 )   =   YMC * ANUC / ( ONE + ANUC ) / ( ONE - TWO * ANUC )   PM ( 25 ) =   1 .   PM ( 25 )   =   EN1N2   PM ( 25 )   =   PM ( 21 ) * PM ( 24 )   PM ( 26 ) = FIVE   PM ( 26 )   =   FIVE _ OVER _ 6   PM ( 26 )   =   CPF   PM ( 26 ) = PM ( 26 ) * ONE _ OVER _ 6   PM ( 26 ) = NT   PM ( 26 ) = THET   PM ( 26 ) = FIVE _ OVER _ 6   PM ( 26 ) =   CB   PM ( 26 )   =   MAX ( ZERO , DSUP1 )   PM ( 27 )   =   SQRT ( A11 / RHO0 )   !   sound   speed   estimation   PM ( 27 )   =   SQRT ( YOUNG / RHO0 )   !   Sound   speed   PM ( 27 ) = D   PM ( 27 )   =   SSP   PM ( 27 )   =   SDSP   PM ( 27 ) = SDSP   PM ( 27 ) =   CN   PM ( 27 )   =   SQRT ( A1 / RHO0 )   !   sound   speed   estimation   PM ( 27 ) =   SSP   PM ( 27 )   =   VCRT2   PM ( 27 )   =   SQRT ( E / MAX ( RHOR , EM20 ) )   PM ( 27 ) = APY   PM ( 27 )   =   SQRT ( ( BULK   +   FOUR _ OVER _ 3 * G ) / RHO0 )   !   sound   speed   estimation   PM ( 27 )   =   MAXVAL ( SSP ( 1 : 4 ) )   PM ( 27 ) = IDF   PM ( 27 )   =   R _ IGC1   PM ( 27 ) =   SQRT ( E / RHO0 )   !   Sound   speed   for   beam   elements   PM ( 27 )   =   VMAX   PM ( 27 )   =   D   PM ( 28 )   =   MAX ( ONEP0001 , FMAX )   PM ( 28 )   =   ONE / YOUNG   PM ( 28 )   =   GAMRP   PM ( 28 )   =   ONE - HT / YMC   PM ( 28 ) = VB   PM ( 28 )   =   MAX ( ONEP0001 , ( SIGMX / CA ) * * 2 )   PM ( 28 ) = ONE / YOUNG   PM ( 28 ) = NR   PM ( 29 ) = - ANU * PM ( 28 )   PM ( 29 )   =   - NU * PM ( 28 )   PM ( 29 )   =   GAM1   PM ( 29 )   =   ROK   PM ( 29 ) = NT   PM ( 29 ) = TM0   PM ( 30 ) = ONE / G   PM ( 30 ) = IDF   PM ( 30 )   =   ONE / G   PM ( 30 ) = E00   PM ( 30 )   =   RO0   PM ( 31 ) = ZERO   PM ( 31 )   =   - PSH   +   C0 + C1 * MU +   C3 * MU * * 3 + ( C4 + C5 * MU ) * E0   PM ( 31 )   =   ZERO   !   C0   PM ( 31 ) =   C0   PM ( 31 ) =   ZERO   PM ( 31 )   =   - PSH   +   C0 + C1 * MU + C2 * MU * * 2 + C3 * MU * * 3 + ( C4 + C5 * MU ) * E0   PM ( 31 ) = C0   PM ( 31 )   =   P0 + PSHIFT   PM ( 31 ) = P0   PM ( 31 )   =   C0 - PSH   PM ( 31 )   =   P0   PM ( 31 ) =   C0 - PSH   PM ( 32 )   =   C1   PM ( 32 ) =   RBULK   PM ( 32 ) =   RHOR * C * * 2   PM ( 32 ) = C1   PM ( 32 )   =   RBULK   PM ( 32 )   =   BULK   PM ( 32 ) = BULK   PM ( 32 ) =   C1   PM ( 32 )   =   GS   PM ( 32 )   =   C1   PM ( 33 ) = ZERO   PM ( 33 ) =   C2   PM ( 33 )   =   E11   PM ( 33 ) =   SIGT1   PM ( 33 ) = E11   PM ( 33 ) = C   PM ( 33 ) = C2   PM ( 33 )   =   A   PM ( 33 )   =   FC   PM ( 33 )   =   RE0 / RHO0   PM ( 34 ) = E22   PM ( 34 )   =   E22   PM ( 34 ) =   SIGT2   PM ( 34 ) = ZERO   PM ( 34 )   =   B   PM ( 34 )   =   - HALF * SSP2 / CARL * * 2   PM ( 34 ) = C3   PM ( 34 ) = S   PM ( 34 ) =   C3   PM ( 34 )   =   RT   PM ( 35 ) = PCC   PM ( 35 )   =   RC   PM ( 35 ) = N12   PM ( 35 )   =   N12   PM ( 35 ) = C4   PM ( 35 ) = BUNL   PM ( 35 ) =   C4   PM ( 35 ) = XKL   PM ( 35 )   =   R1   PM ( 35 ) =   SIGT3   PM ( 35 ) = ZERO   PM ( 36 ) = XMUMX   PM ( 36 ) = ZERO   PM ( 36 )   =   N21   PM ( 36 ) =   C5   PM ( 36 ) = N21   PM ( 36 ) = GAM0   PM ( 36 ) = C5   PM ( 36 )   =   RT * ( TWO * RC - RT )   PM ( 36 )   =   R2   PM ( 36 ) = XLAMB   PM ( 36 ) =   EFIB   PM ( 37 ) = - INFINITY   PM ( 37 )   =   G12   PM ( 37 ) =   EPSFT   PM ( 37 )   =   - PSH   PM ( 37 ) =   PMIN   PM ( 37 ) = PMIN   PM ( 37 )   =   ( RC - RT ) * * 2   PM ( 37 )   =   EF   PM ( 37 ) = G12   PM ( 37 )   =   PMIN   PM ( 37 ) = ATOM   PM ( 38 )   =   UPARAM ( 42 )   ! VDET   PM ( 38 ) = G23   PM ( 38 )   =   AA   PM ( 38 )   =   CA   PM ( 38 ) =   EPSFC   PM ( 38 ) = CA   PM ( 38 )   =   D   PM ( 38 ) = A0   PM ( 38 ) =   CA   PM ( 38 )   =   D   PM ( 38 )   =   G23   PM ( 38 ) =   EFIB   PM ( 38 ) = VDET   PM ( 38 )   =   SIG0   PM ( 39 ) = CB   PM ( 39 ) =   ALPHA   PM ( 39 )   =   CB   PM ( 39 ) = G31   PM ( 39 ) = A1   PM ( 39 ) =   CB   PM ( 39 )   =   BC   PM ( 39 )   =   G31   PM ( 39 ) = CE   PM ( 39 )   =   PCJ   PM ( 40 ) = A2   PM ( 40 )   =   BT   PM ( 40 )   =   ONE / TSCAL   PM ( 40 )   =   CN   PM ( 40 )   =   PM ( 1 ) * D * * 2 / PCJ   PM ( 40 )   =   IFLAG   PM ( 40 ) = CN   PM ( 40 ) =   CN   PM ( 40 ) =   D11   PM ( 41 )   =   EPSM   PM ( 41 ) =   D12   PM ( 41 )   =   IBFRAC   PM ( 41 )   =   TIMESCAL   PM ( 41 ) =   EPSM   PM ( 41 ) = AMX   PM ( 41 )   =   AC   PM ( 41 )   =   EP20   !   EPSM   PM ( 41 )   =   WPLAMX   PM ( 41 ) = EPSM   PM ( 41 ) = WPLAMX   PM ( 42 )   =   QOPT   PM ( 42 ) = IOFF   PM ( 42 ) = SIGM   PM ( 42 ) =   D13   PM ( 42 )   =   IOFF   PM ( 42 )   =   TSCAL   PM ( 42 ) = FAC _ Y   PM ( 42 )   =   SIGM   PM ( 42 )   =   FT * FC / YMC   PM ( 42 ) =   SIGM   PM ( 43 ) = CC   PM ( 43 ) = CM   PM ( 43 )   =   HBP   PM ( 43 )   =   C0   PM ( 43 ) =   CC   PM ( 43 ) =   D22   PM ( 43 )   =   CB1   PM ( 43 )   =   CC   PM ( 43 ) = PEXT   PM ( 43 )   =   ESCAL   PM ( 44 ) = EPS0   PM ( 44 )   =   DE   PM ( 44 ) = PSTAR   PM ( 44 )   =   EPS0   PM ( 44 ) =   D23   PM ( 44 )   =   CB2   PM ( 44 ) = DE   PM ( 44 )   =   KSCAL   PM ( 44 )   =   BULK   PM ( 44 )   =   RCOMP   PM ( 44 )   =   ALI   PM ( 44 ) =   EPS0   PM ( 45 )   =   W   PM ( 45 )   =   ALF   PM ( 45 )   =   CH   PM ( 45 ) = BUNL   PM ( 45 ) =   CM   PM ( 45 ) =   D33   PM ( 45 ) = EPSL   PM ( 45 ) = CM   PM ( 45 ) = A11   PM ( 46 )   =   TMELT   PM ( 46 ) = CB   PM ( 46 ) = SSL   PM ( 46 ) = XMUMX   PM ( 46 ) =   G12   PM ( 46 ) = A22   PM ( 46 ) = TMELT   PM ( 46 ) =   TMELT   PM ( 46 )   =   CB   PM ( 46 )   =   VKY   PM ( 46 ) = HL   PM ( 47 ) = TMAX   PM ( 47 ) = A * AK   PM ( 47 ) = CN   PM ( 47 ) = ZERO   !   MUMIN   PM ( 47 )   =   CN   PM ( 47 )   =   EPSMAX   PM ( 47 ) =   TMAX   PM ( 47 ) = YLDL   PM ( 47 ) = A1122   PM ( 47 ) =   G23   PM ( 48 ) = E   PM ( 48 ) = A   PM ( 48 ) =   G31   PM ( 48 ) = A12   PM ( 48 ) = IFORM   PM ( 48 ) = NR   PM ( 48 ) = CS   PM ( 48 ) = EL   PM ( 48 )   =   HV0   PM ( 49 ) = A   PM ( 49 )   =   EXPO   PM ( 49 ) = FMAX   PM ( 49 ) = GAM0M   PM ( 49 )   =   ICC   PM ( 49 ) = ICC   PM ( 49 ) =   SSP   PM ( 49 )   =   FMAX   PM ( 49 ) = C0   PM ( 49 ) = NT   PM ( 50 ) = AM   PM ( 50 ) = B   PM ( 50 ) = ZERO   PM ( 50 )   =   YMS   PM ( 50 ) = IDF   PM ( 50 ) = CC   PM ( 50 )   =   ITYP   PM ( 50 ) = ONE   PM ( 51 ) = SIG   PM ( 51 ) = MT   PM ( 51 ) = EPS0   PM ( 51 )   =   Y0S   PM ( 51 )   =   INOD   !   USR2SYS   APRES   FSDCOD ,   IF ( IFORM8 = = 2 )   INOD = USR2SYS ( INOD , ITABM1 , MESS )   PM ( 51 ) = GAME   PM ( 51 ) = C3   PM ( 51 ) = YP1   PM ( 52 ) = GP   PM ( 52 ) = ONEP414 * PM ( 17 ) * PM ( 1 ) * SSP   PM ( 52 ) = ICC   PM ( 52 ) = C4   PM ( 52 ) = TM   PM ( 52 ) = XKMAX   PM ( 52 )   =   ONEP414 * MU * PM ( 1 ) * SDSP   PM ( 52 ) = ONEP414 * AMU * PM ( 1 ) * SDSP   PM ( 52 )   =   ETS   PM ( 53 ) = ICC   PM ( 53 ) = F1   PM ( 53 ) = ONE / CP   PM ( 53 ) = DSP   PM ( 53 )   =   ARM1   PM ( 53 )   =   AREAMIN1   PM ( 53 ) = ZERO   PM ( 54 ) = E0H   PM ( 54 ) = F2   PM ( 54 )   =   ARM2   PM ( 54 )   =   ZERO   PM ( 54 ) = F1   PM ( 54 )   =   ONE   /   ( AREAMIN2 - AREAMIN1 )   PM ( 54 ) = TI   PM ( 55 ) = FISOKIN   PM ( 55 ) = RP3   PM ( 55 ) = F3   PM ( 55 ) = F2   PM ( 55 )   =   ARM3   PM ( 56 ) = F4   PM ( 56 )   =   ONE   !   PM ( 56 )   =   POROSITY   PM ( 56 ) = VJ   PM ( 56 ) = F11   PM ( 57 ) = F5   PM ( 57 ) = C1   PM ( 57 )   =   ICAP + EM01   PM ( 57 ) = F22   PM ( 58 ) = C2   PM ( 58 ) = F33   PM ( 58 ) = F6   PM ( 58 )   =   ONE - HVFAC   PM ( 59 ) = F11   PM ( 59 )   =   ZERO   !   PM ( 59 ) = F12   PM ( 59 ) = F1   PM ( 59 ) = C3   PM ( 59 ) = ALPHA   PM ( 60 ) = F22   PM ( 60 ) =   BETA   PM ( 60 ) = EPST1   PM ( 60 ) = D1   PM ( 60 )   =   EPST1   PM ( 60 ) = F2   PM ( 61 ) =   TMAX   PM ( 61 ) = ALPHAP   PM ( 61 )   =   EPST2   PM ( 61 ) = EPST2   PM ( 61 ) = F33   PM ( 61 ) = F4   PM ( 62 ) = F5   PM ( 62 ) = F44   PM ( 62 ) = EPSM1   PM ( 62 )   =   EPSM1   PM ( 63 ) = F11   PM ( 63 ) = EPSM2   PM ( 63 ) = F55   PM ( 63 )   =   EPSM2   PM ( 64 )   =   DMAX1   PM ( 64 ) = F22   PM ( 64 ) = DMAX   PM ( 64 ) = F66   PM ( 65 ) = SHRDAM   PM ( 65 )   =   DMAX2   PM ( 65 ) = F12   PM ( 65 ) = F44   PM ( 66 )   =   EPSF1   PM ( 66 ) =   F23   PM ( 66 ) = SHRMAX   PM ( 66 ) = F55   PM ( 67 ) =   F13   PM ( 67 ) = SHRDMAX   PM ( 67 ) = F12   PM ( 67 )   =   EPSF2   PM ( 68 ) = WPLAREF   PM ( 68 ) = F23   PM ( 69 ) = SPH   PM ( 69 )   =   SPH   PM ( 69 )   =   RCP   PM ( 69 ) = C11   PM ( 70 ) = ZERO   PM ( 71 )   =   JTHE + EM01   PM ( 72 )   =   ZERO   PM ( 72 ) = ZERO   PM ( 73 ) = C22   PM ( 73 ) = C11   PM ( 74 ) = C33   PM ( 74 ) = C22   PM ( 75 )   =   AS   PM ( 75 ) = C12   PM ( 75 ) = C33   PM ( 76 ) = C23   PM ( 76 )   =   BS   PM ( 76 ) = C12   PM ( 77 ) = C13   PM ( 77 ) = C23   PM ( 77 )   =   CF   PM ( 78 )   =   T0   PM ( 78 ) = C13   PM ( 78 ) = DELTA   PM ( 79 )   =   T0   PM ( 79 )   =   T0   PM ( 79 ) = T0   PM ( 79 ) = DELTA   PM ( 79 ) = THREE100   PM ( 80 )   =   TMELT   PM ( 80 ) = INFINITY   PM ( 80 )   =   INFINITY   PM ( 80 ) = TMELT   PM ( 80 ) =   TMELT   PM ( 80 )   =   EP30   PM ( 81 )   =   CTM   PM ( 81 ) = CTM   PM ( 81 ) =   SIGT1   PM ( 82 ) =   SIGT2   PM ( 82 ) = CT1   PM ( 83 ) = CT2   PM ( 83 ) =   SIGT3   PM ( 84 ) = CT3   PM ( 84 ) =   EPSFT   PM ( 85 )   =   SK   PM ( 85 ) =   EPSFC   PM ( 85 ) = SK   PM ( 86 ) = SE   PM ( 86 )   =   SE   PM ( 87 )   =   RK0 / RHO0   PM ( 87 ) = RK0 / RHO0   PM ( 88 ) =   ZERO   PM ( 88 )   =   PSH   PM ( 88 ) = PSH   PM ( 88 ) =   PSH   PM ( 89 ) = RHO0   PM ( 89 )   =   RHO0   PM ( 89 )   =   RHO0   PM ( 89 )   = RHO0   PM ( 89 )   =   RHO0   PM ( 89 ) =   RHO0   PM ( 91 )   =   RHO10   PM ( 91 ) = MAXVAL ( RHO0 _ ( 1 : 4 ) )   PM ( 95 ) = RPR   PM ( 95 )   =   RPR   PM ( 97 )   =   RHOC   PM ( 98 )   =   ALP0   PM ( 98 ) = EPSF1   PM ( 98 ) = WPLAREF   PM ( 99 )   =   DC + ONE   PM ( 99 ) = EPSF2   PM ( 100 )   =   BULK   PM ( 100 )   =   RBULK   PM ( 100 )   =   RBULK   ! PARMAT ( 1 )   PM ( 100 ) =   E   PM ( 100 ) =   C1   PM ( 100 )   =   PARMAT ( 1 )   PM ( 100 ) =   PARMAT ( 1 )   PM ( 100 ) =   BULK   PM ( 104 )   =   P0 + PSHIFT   PM ( 104 ) = C0   -   PSH   PM ( 104 ) = C0   PM ( 104 ) = P0   PM ( 104 )   =   C0 - PSH   PM ( 105 )   =   GS / ( BULK   +   TWO _ THIRD * GS )   PM ( 105 )   =   GS / ( RBULK   +   TWO _ THIRD * G )   PM ( 105 )   =   DMIN / DMAX / DMAX   PM ( 105 )   =   ( ONE   - TWO * ANU ) / ( ONE   -   ANU )   PM ( 105 )   =   (   ONE   - TWO * ANU ) / ( ONE   -   ANU )   PM ( 105 )   = DMIN / C1 * * 2   PM ( 105 ) =   TWO * PM ( 22 ) / ( BULK + FOUR _ OVER _ 3 * PM ( 22 ) )   !   = ( 1 - 2 * Nuc ) / ( 1 - Nuc )   PM ( 105 )   =   TWO * G / ( C1 + FOUR _ OVER _ 3 * G )   !   = ( 1 - 2 * Nu ) / ( 1 - Nu )   PM ( 105 )   =   ( ONE   - TWO * ANU ) / ( ONE   -   ANU )   PM ( 105 )   =   TWO * G0 / ( BULK + FOUR _ OVER _ 3 * G0 )   !   = ( 1 - 2 * Nu ) / ( 1 - Nu )   PM ( 105 )   =   ( ONE   - TWO * ANU ) / ( ONE   -   ANU )   !   TWO * G / ( BULK   +   FOUR _ OVER _ 3 * G )   PM ( 105 )   =   TWO * G / ( C1 + FOUR _ OVER _ 3 * G )   PM ( 105 )   =   TWO * GS / ( RBULK   +   FOUR _ OVER _ 3 * GS )   PM ( 105 )   = MIN ( D11 * D22 - D12 * * 2 , D22 * D33 - D23 * * 2 , D11 * D33 - D13 * * 2 ) / C1 * * 2   PM ( 141 ) = SIGYT1   PM ( 141 ) =   SIGYT1   PM ( 142 ) = CBT1   PM ( 142 ) =   SIGYT2   PM ( 143 ) =   SIGYC1   PM ( 143 ) = CNT1   PM ( 144 ) =   SIGYC2   PM ( 144 ) = SIGMXT1   PM ( 145 ) =   SIGYT12   PM ( 145 ) = CCT1   PM ( 146 ) =   SIGYC12   PM ( 146 ) = SIGYT2   PM ( 147 )   =   IFLAG   PM ( 147 ) = CBT2   PM ( 148 )   =   S1   PM ( 148 ) = CNT2   PM ( 149 ) = SIGMXT2   PM ( 149 )   =   S2   PM ( 150 )   =   C11   PM ( 150 ) = CCT2   PM ( 151 ) = SIGYC1   PM ( 151 )   =   C22   PM ( 152 ) = CBC1   PM ( 152 )   = S12   PM ( 153 ) = CNC1   PM ( 154 ) = SIGMXC1   PM ( 155 ) = CCC1   PM ( 156 ) = SIGYC2   PM ( 157 ) = CBC2   PM ( 158 ) = CNC2   PM ( 159 ) = SIGMXC2   PM ( 160 ) = CCC2   PM ( 160 )   =   EADD   PM ( 161 ) = SIGYT12   PM ( 161 )   =   TBEGIN   PM ( 162 ) = CBT12   PM ( 162 )   =   TEND   PM ( 163 )   =   REACTION _ RATE   PM ( 163 ) = CNT12   PM ( 164 ) = SIGMXT12   PM ( 164 )   =   A _ MIL   PM ( 165 ) = CCT12   PM ( 165 )   =   M _ MIL   PM ( 166 ) = EPS1T1   PM ( 166 )   =   N _ MIL   PM ( 167 ) = EPS2T1   PM ( 167 )   =   REACTION _ RATE2   PM ( 168 ) = SIGRST1   PM ( 168 )   =   ALPHA _ UNIT   PM ( 169 ) = WPLAMXT1   PM ( 170 ) = EPS1T2   PM ( 171 ) = EPS2T2   PM ( 172 ) = SIGRST2   PM ( 173 ) = WPLAMXT2   PM ( 174 ) = EPS1C1   PM ( 175 ) = EPS2C1   PM ( 176 ) = SIGRSC1   PM ( 177 ) = WPLAMXC1   PM ( 178 ) = EPS1C2   PM ( 179 ) = EPS2C2   PM ( 180 ) = SIGRSC2   PM ( 181 ) = WPLAMXC2   PM ( 182 ) = EPS1T12   PM ( 183 ) = EPS2T12   PM ( 184 ) = SIGRST12   PM ( 185 ) = WPLAMXT12   PM ( 186 )   =   E33   PM ( 187 )   =   IYEILD   PM ( 188 )   =   RATIO   PM ( 189 )   =   IMODWP   PM ( 191 )   =   XK   PM ( 192 )   =   XK   PM ( 192 )   =   RHOA   PM ( 193 )   =   FRAC   PM ( 193 )   =   XK   PM ( 194 )   =   AA   PM ( 195 )   =   BB   PM ( 196 )   =   TAUX   PM ( 197 )   =   KK   PM ( 198 )   =   ICLOS   PM ( 199 )   =   RHOEXT   PM ( 200 )   =   EINT _ EXT   PM ( 201 )   =   INCGAS","title":"\u5404\u5411\u540c\u6027 \u5f39\u6027"},{"location":"OpenRadioss/use_OpenRadioss_windows/","text":"Windows   \u4e0b   OpenRadioss   \u7684 \u4f7f\u7528   \u6d4b\u8bd5 \u5b9e\u4f8b   \u6d4b\u8bd5 \u4f8b\u5b50 \u662f   \u8f66\u8f86 \u649e\u5899 \u4eff\u771f   \u7684   \u6a21\u578b \u6587\u4ef6   \u3002   \u5904\u7406 \u6b65\u9aa4   \u6a21\u578b \u521d\u59cb \u521d\u59cb\u5316   starter _ win64 _ sp . exe   - i   NEON1M11 _ 0000 . rad   - nt   8   \u5f15\u64ce \u6c42\u89e3   engine _ win64 _ sp . exe   - i   NEON1M11 _ 0001 . rad   - nt   8   \u8f93\u51fa \u6587\u4ef6 \uff1a NEON1M11A00 { 1 - 17 } \u3002   \u5c06 \u8f93\u51fa \u8f6c\u5316 \u4e3a \u53ef\u89c6 \u53ef\u89c6\u5316 \u6a21\u578b \u6587\u4ef6   anim _ to _ vtk _ win64 . exe   NEON1M11A017   >   view . vtk   \u4f7f\u7528   paraview   \u53ef\u89c6 \u53ef\u89c6\u5316 \u6a21\u578b \u6587\u4ef6   paraview   view . vtk   \u5e76 \u70b9\u51fb \u5de6\u4e0b \u4e0b\u89d2 \u5de6\u4e0b\u89d2   Properties   \u4e2d \u7684   Apply   \u3002   \u8fd0\u884c \u7ed3\u679c","title":"use   OpenRadioss   windows"},{"location":"OpenRadioss/use_OpenRadioss_windows/#windows-openradioss","text":"","title":"Windows   \u4e0b   OpenRadioss   \u7684 \u4f7f\u7528"},{"location":"OpenRadioss/use_OpenRadioss_windows/#_1","text":"\u6d4b\u8bd5 \u4f8b\u5b50 \u662f   \u8f66\u8f86 \u649e\u5899 \u4eff\u771f   \u7684   \u6a21\u578b \u6587\u4ef6   \u3002","title":"\u6d4b\u8bd5 \u5b9e\u4f8b"},{"location":"OpenRadioss/use_OpenRadioss_windows/#_2","text":"\u6a21\u578b \u521d\u59cb \u521d\u59cb\u5316   starter _ win64 _ sp . exe   - i   NEON1M11 _ 0000 . rad   - nt   8   \u5f15\u64ce \u6c42\u89e3   engine _ win64 _ sp . exe   - i   NEON1M11 _ 0001 . rad   - nt   8   \u8f93\u51fa \u6587\u4ef6 \uff1a NEON1M11A00 { 1 - 17 } \u3002   \u5c06 \u8f93\u51fa \u8f6c\u5316 \u4e3a \u53ef\u89c6 \u53ef\u89c6\u5316 \u6a21\u578b \u6587\u4ef6   anim _ to _ vtk _ win64 . exe   NEON1M11A017   >   view . vtk   \u4f7f\u7528   paraview   \u53ef\u89c6 \u53ef\u89c6\u5316 \u6a21\u578b \u6587\u4ef6   paraview   view . vtk   \u5e76 \u70b9\u51fb \u5de6\u4e0b \u4e0b\u89d2 \u5de6\u4e0b\u89d2   Properties   \u4e2d \u7684   Apply   \u3002","title":"\u5904\u7406 \u6b65\u9aa4"},{"location":"OpenRadioss/use_OpenRadioss_windows/#_3","text":"","title":"\u8fd0\u884c \u7ed3\u679c"},{"location":"algorithms/control/","text":"\u63a7\u5236   \u63a7\u5236 \u6a21\u5757 \u7b80\u4ecb   \u63a7\u5236 \u6a21\u5757 \u8d1f\u8d23 \u751f\u6210 \u63a7\u5236 \u547d\u4ee4 \u6765 \u9a7e\u9a76 \u8f66\u8f86 \u5e76 \u4fdd\u6301 \u5176\u6240 \u9700 \u7684 \u8f68\u8ff9   [ 1 ]   \u3002 \u5728 \u672c \u6587\u6863 \u4e2d \uff0c \u6211\u4eec \u6982\u8ff0 \u4e86 \u5f53\u524d \u7684 \u65b9\u6cd5 \uff0c \u4ece \u7b80\u5355 \u7684   PID   \u63a7\u5236 \u63a7\u5236\u5668   \u5230 \u66f4 \u5148\u8fdb \u7684   \u6a21\u578b \u9884\u6d4b \u63a7\u5236   ( Model   Predictive   Control ,   MPC )   \u3002   \u7528\u4e8e \u8def\u5f84 \u70b9 \u8ddf\u8e2a \u7684   PID   \u63a7\u5236 \u63a7\u5236\u5668   \u6982\u8ff0 \uff1a   PID \u63a7\u5236 \u63a7\u5236\u5668 \u662f \u6211\u4eec \u81ea\u52a8 \u9a7e\u9a76 \u6d41\u7a0b \u4e2d \u7684 \u57fa\u672c \u63a7\u5236 \u7b97\u6cd5 \u63a7\u5236\u7b97\u6cd5 \u4e4b\u4e00 \u3002 \u5b83 \u8fde\u7eed \u8ba1\u7b97 \u201c \u8bef\u5dee \u201d \u503c \u4f5c\u4e3a \u6240 \u9700 \u8bbe\u5b9a \u70b9 \uff08 \u5728 \u672c\u4f8b \u4e2d\u4e3a \u8def\u5f84 \u70b9 \uff09 \u4e0e \u5f53\u524d \u8f66\u8f86 \u4f4d\u7f6e \u4e4b\u95f4 \u7684 \u5dee\u5f02 \u3002   \u7ec4\u4ef6 \uff1a   \u987e\u540d \u987e\u540d\u601d\u4e49 \uff0c PID   \u63a7\u5236 \u63a7\u5236\u5668 \u5305\u62ec \u4e09\u4e2a \u7ec4\u4ef6 \uff1a   \u6bd4\u4f8b \uff08 Proportional ,   P \uff09   \uff1a \u63d0\u4f9b \u63a7\u5236 \u8f93\u51fa \u4ee5 \u6821\u6b63 \u5f53\u524d \u4f4d\u7f6e \u8bef\u5dee \u3002   \u79ef\u5206   ( Integral ,   I )   \uff1a \u7ea0\u6b63 \u8fc7\u53bb \u7d2f\u79ef \u7684 \u9519\u8bef \u3002   \u5fae\u5206 \uff08 Derivative , D )   \uff1a \u6839\u636e \u5f53\u524d \u7684 \u53d8\u5316 \u53d8\u5316\u7387 \u6765 \u9884\u6d4b \u548c \u5bf9\u6297 \u672a\u6765 \u7684 \u8bef\u5dee \u8d8b\u52bf \u3002   \u5e94\u7528 \uff1a   \u6211\u4eec \u4f7f\u7528   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u4e3b\u8981 \u7528\u4e8e \u8def\u70b9 \u8ddf\u8e2a \u3001 \u4fdd\u6301 \u8f66\u9053 \u4f4d\u7f6e \u5e76 \u786e\u4fdd \u8f66\u8f86 \u9075\u5faa \u9884\u5b9a \u8def\u5f84 \u4e14 \u504f\u5dee \u6700\u5c0f \u3002   \u7528\u4e8e \u8f68\u8ff9 \u8ddf\u8e2a \u7684 \u6a21\u578b \u9884\u6d4b \u63a7\u5236   \u6982\u8ff0 \uff1a   \u6a21\u578b \u9884\u6d4b \u63a7\u5236   ( MPC )   [ 2 ]   \u662f \u4e00\u79cd \u5148\u8fdb \u7684 \u63a7\u5236 \u6280\u672f \u63a7\u5236\u6280\u672f \uff0c \u5b83 \u4f7f\u7528 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u6a21\u578b \u6765 \u9884\u6d4b \u5176 \u5728 \u5b9a\u4e49 \u8303\u56f4 \u5185 \u7684 \u672a\u6765 \u72b6\u6001 \u3002 \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65 \uff0c MPC   \u7b97\u6cd5 \u90fd \u4f1a \u8003\u8651 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3001 \u7ea6\u675f \u548c \u6240 \u9700 \u8f68\u8ff9 \uff0c \u89e3\u51b3 \u4f18\u5316 \u95ee\u9898 \u4ee5 \u627e\u5230 \u6700\u4f73 \u63a7\u5236 \u8f93\u5165 \u3002   \u4e3b\u8981 \u7279\u5f81 \uff1a   MPC   \u63a7\u5236 \u63a7\u5236\u5668 \u6d89\u53ca \u4e09\u4e2a \u5173\u952e \u529f\u80fd \u6765 \u51b3\u5b9a \u6267\u884c \u54ea\u4e9b \u64cd\u4f5c \u6765 \u63a7\u5236 \u8f66\u8f86 \u7684 \u8fd0\u52a8 \uff1a   \u9884\u6d4b \u6a21\u578b   \uff1a \u6839\u636e \u8f66\u8f86 \u7684 \u5f53\u524d \u72b6\u6001 \u548c \u6f5c\u5728 \u7684 \u63a7\u5236 \u8f93\u5165 \u6765 \u9884\u6d4b \u8f66\u8f86 \u7684 \u672a\u6765 \u72b6\u6001 \u3002   \u4f18\u5316   \uff1a \u4e0d\u65ad \u89e3\u51b3 \u4f18\u5316 \u95ee\u9898 \uff0c \u4ee5 \u786e\u5b9a \u9884\u6d4b \u8303\u56f4 \u5185 \u7684 \u6700\u4f73 \u63a7\u5236 \u64cd\u4f5c \u3002   \u6eda\u52a8 \u4f18\u5316 \u673a\u5236   \uff1a \u4ec5 \u5b9e\u65bd \u4f18\u5316 \u5e8f\u5217 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u63a7\u5236 \u52a8\u4f5c \uff0c \u5e76 \u5728 \u4e0b \u4e00\u4e2a \u65f6\u95f4 \u6b65 \u91cd\u65b0 \u8bc4\u4f30 \uff0c \u4ee5 \u9002\u5e94 \u4e0d\u65ad \u53d8\u5316 \u7684 \u6761\u4ef6 \u3002   \u5e94\u7528 \uff1a   MPC   \u63a7\u5236 \u63a7\u5236\u5668 \u5728 \u9700\u8981 \u7cbe\u786e \u8f68\u8ff9 \u8ddf\u8e2a \u7684 \u573a\u666f \u4e2d\u5c06 \u53d1\u6325 \u91cd\u8981 \u4f5c\u7528 \uff0c \u7279\u522b \u662f \u5728 \u5177\u6709 \u52a8\u6001 \u969c\u788d \u969c\u788d\u7269 \u3001 \u6025\u8f6c \u8f6c\u5f2f \u6025\u8f6c\u5f2f \u548c \u53d8\u5316 \u7684 \u8def\u51b5 \u7684 \u590d\u6742 \u9a7e\u9a76 \u73af\u5883 \u4e2d \u3002 \u901a\u8fc7 \u9884\u6d4b \u672a\u6765 \u72b6\u6001 \u548c \u7ea6\u675f \uff0c \u4e0e \u4f20\u7edf \u63a7\u5236 \u63a7\u5236\u5668 \u76f8\u6bd4 \uff0c MPC   \u63d0\u4f9b \u4e86 \u589e\u5f3a \u7684 \u8def\u5f84 \u8ddf\u8e2a \u7cbe\u5ea6 \u548c \u9c81\u68d2\u6027 \u3002   \u5b9e\u65bd \u8def\u7ebf \u7ebf\u56fe \u8def\u7ebf\u56fe \uff1a   \u7ef4\u62a4 \u548c \u5fae\u8c03 \u73b0\u6709 \u7684   PID   \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u4ee5 \u786e\u4fdd \u57fa\u672c \u7684 \u8def\u5f84 \u70b9 \u8ddf\u8e2a \u529f\u80fd \u3002   \u5f00\u53d1 \u4ee3\u8868 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u7684 \u6570\u5b66 \u6a21\u578b \u6570\u5b66\u6a21\u578b \u3002   \u96c6\u6210 \u4e0e \u6211\u4eec \u7684   MPC   \u7cfb\u7edf \u67b6\u6784 \u517c\u5bb9 \u7684 \u4f18\u5316 \u6c42\u89e3 \u5668 \u3002   \u8bbe\u8ba1 \u548c \u5b9e\u73b0   MPC   \u6846\u67b6 \uff0c \u786e\u4fdd \u5176 \u8003\u8651 \u8f66\u8f86 \u7ea6\u675f \u3002   \u5728 \u5404\u79cd \u573a\u666f \u7684 \u4eff\u771f \u4e2d \u6d4b\u8bd5   MPC \uff0c \u5e76 \u7ec6\u5316 \u6a21\u578b \u548c \u63a7\u5236 \u63a7\u5236\u5668 \u53c2\u6570 \u3002 \u5728 \u5404\u79cd \u573a\u666f \u7684 \u4eff\u771f \u4e2d \u6d4b\u8bd5   MPC \uff0c \u5e76 \u7ec6\u5316 \u6a21\u578b \u548c \u63a7\u5236 \u63a7\u5236\u5668 \u53c2\u6570 \u3002   \u5728 \u5b9e\u9645 \u6d4b\u8bd5 \u4e2d \u9010\u6b65 \u90e8\u7f72 \u548c \u8bc4\u4f30   MPC \uff0c \u4ece \u4f4e \u590d\u6742 \u590d\u6742\u6027 \u73af\u5883 \u5f00\u59cb \uff0c \u9010\u6b65 \u5347\u7ea7 \u5230 \u66f4\u5177 \u6311\u6218 \u6311\u6218\u6027 \u7684 \u573a\u666f \u3002   \u53c2\u8003 \u6587\u732e \u53c2\u8003\u6587\u732e   Paden ,   Brian ,   et   al .   \" A   survey   of   motion   planning   and   control   techniques   for   self - driving   urban   vehicles . \"   IEEE   Transactions   on   intelligent   vehicles   1.1   ( 2016 ) :   33 - 55 .   Rajamani ,   Rajesh .   \" Vehicle   dynamics   and   control . \"   Springer   Science   &   Business   Media ,   2011 .","title":"\u63a7\u5236"},{"location":"algorithms/control/#_1","text":"","title":"\u63a7\u5236"},{"location":"algorithms/control/#_2","text":"\u63a7\u5236 \u6a21\u5757 \u8d1f\u8d23 \u751f\u6210 \u63a7\u5236 \u547d\u4ee4 \u6765 \u9a7e\u9a76 \u8f66\u8f86 \u5e76 \u4fdd\u6301 \u5176\u6240 \u9700 \u7684 \u8f68\u8ff9   [ 1 ]   \u3002 \u5728 \u672c \u6587\u6863 \u4e2d \uff0c \u6211\u4eec \u6982\u8ff0 \u4e86 \u5f53\u524d \u7684 \u65b9\u6cd5 \uff0c \u4ece \u7b80\u5355 \u7684   PID   \u63a7\u5236 \u63a7\u5236\u5668   \u5230 \u66f4 \u5148\u8fdb \u7684   \u6a21\u578b \u9884\u6d4b \u63a7\u5236   ( Model   Predictive   Control ,   MPC )   \u3002","title":"\u63a7\u5236 \u6a21\u5757 \u7b80\u4ecb"},{"location":"algorithms/control/#pid","text":"","title":"\u7528\u4e8e \u8def\u5f84 \u70b9 \u8ddf\u8e2a \u7684   PID   \u63a7\u5236\u5668"},{"location":"algorithms/control/#_3","text":"PID \u63a7\u5236 \u63a7\u5236\u5668 \u662f \u6211\u4eec \u81ea\u52a8 \u9a7e\u9a76 \u6d41\u7a0b \u4e2d \u7684 \u57fa\u672c \u63a7\u5236 \u7b97\u6cd5 \u63a7\u5236\u7b97\u6cd5 \u4e4b\u4e00 \u3002 \u5b83 \u8fde\u7eed \u8ba1\u7b97 \u201c \u8bef\u5dee \u201d \u503c \u4f5c\u4e3a \u6240 \u9700 \u8bbe\u5b9a \u70b9 \uff08 \u5728 \u672c\u4f8b \u4e2d\u4e3a \u8def\u5f84 \u70b9 \uff09 \u4e0e \u5f53\u524d \u8f66\u8f86 \u4f4d\u7f6e \u4e4b\u95f4 \u7684 \u5dee\u5f02 \u3002","title":"\u6982\u8ff0 \uff1a"},{"location":"algorithms/control/#_4","text":"\u987e\u540d \u987e\u540d\u601d\u4e49 \uff0c PID   \u63a7\u5236 \u63a7\u5236\u5668 \u5305\u62ec \u4e09\u4e2a \u7ec4\u4ef6 \uff1a   \u6bd4\u4f8b \uff08 Proportional ,   P \uff09   \uff1a \u63d0\u4f9b \u63a7\u5236 \u8f93\u51fa \u4ee5 \u6821\u6b63 \u5f53\u524d \u4f4d\u7f6e \u8bef\u5dee \u3002   \u79ef\u5206   ( Integral ,   I )   \uff1a \u7ea0\u6b63 \u8fc7\u53bb \u7d2f\u79ef \u7684 \u9519\u8bef \u3002   \u5fae\u5206 \uff08 Derivative , D )   \uff1a \u6839\u636e \u5f53\u524d \u7684 \u53d8\u5316 \u53d8\u5316\u7387 \u6765 \u9884\u6d4b \u548c \u5bf9\u6297 \u672a\u6765 \u7684 \u8bef\u5dee \u8d8b\u52bf \u3002","title":"\u7ec4\u4ef6 \uff1a"},{"location":"algorithms/control/#_5","text":"\u6211\u4eec \u4f7f\u7528   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u4e3b\u8981 \u7528\u4e8e \u8def\u70b9 \u8ddf\u8e2a \u3001 \u4fdd\u6301 \u8f66\u9053 \u4f4d\u7f6e \u5e76 \u786e\u4fdd \u8f66\u8f86 \u9075\u5faa \u9884\u5b9a \u8def\u5f84 \u4e14 \u504f\u5dee \u6700\u5c0f \u3002","title":"\u5e94\u7528 \uff1a"},{"location":"algorithms/control/#_6","text":"","title":"\u7528\u4e8e \u8f68\u8ff9 \u8ddf\u8e2a \u7684 \u6a21\u578b \u9884\u6d4b \u63a7\u5236"},{"location":"algorithms/control/#_7","text":"\u6a21\u578b \u9884\u6d4b \u63a7\u5236   ( MPC )   [ 2 ]   \u662f \u4e00\u79cd \u5148\u8fdb \u7684 \u63a7\u5236 \u6280\u672f \u63a7\u5236\u6280\u672f \uff0c \u5b83 \u4f7f\u7528 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u6a21\u578b \u6765 \u9884\u6d4b \u5176 \u5728 \u5b9a\u4e49 \u8303\u56f4 \u5185 \u7684 \u672a\u6765 \u72b6\u6001 \u3002 \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65 \uff0c MPC   \u7b97\u6cd5 \u90fd \u4f1a \u8003\u8651 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3001 \u7ea6\u675f \u548c \u6240 \u9700 \u8f68\u8ff9 \uff0c \u89e3\u51b3 \u4f18\u5316 \u95ee\u9898 \u4ee5 \u627e\u5230 \u6700\u4f73 \u63a7\u5236 \u8f93\u5165 \u3002","title":"\u6982\u8ff0 \uff1a"},{"location":"algorithms/control/#_8","text":"MPC   \u63a7\u5236 \u63a7\u5236\u5668 \u6d89\u53ca \u4e09\u4e2a \u5173\u952e \u529f\u80fd \u6765 \u51b3\u5b9a \u6267\u884c \u54ea\u4e9b \u64cd\u4f5c \u6765 \u63a7\u5236 \u8f66\u8f86 \u7684 \u8fd0\u52a8 \uff1a   \u9884\u6d4b \u6a21\u578b   \uff1a \u6839\u636e \u8f66\u8f86 \u7684 \u5f53\u524d \u72b6\u6001 \u548c \u6f5c\u5728 \u7684 \u63a7\u5236 \u8f93\u5165 \u6765 \u9884\u6d4b \u8f66\u8f86 \u7684 \u672a\u6765 \u72b6\u6001 \u3002   \u4f18\u5316   \uff1a \u4e0d\u65ad \u89e3\u51b3 \u4f18\u5316 \u95ee\u9898 \uff0c \u4ee5 \u786e\u5b9a \u9884\u6d4b \u8303\u56f4 \u5185 \u7684 \u6700\u4f73 \u63a7\u5236 \u64cd\u4f5c \u3002   \u6eda\u52a8 \u4f18\u5316 \u673a\u5236   \uff1a \u4ec5 \u5b9e\u65bd \u4f18\u5316 \u5e8f\u5217 \u7684 \u7b2c\u4e00 \u4e00\u4e2a \u7b2c\u4e00\u4e2a \u63a7\u5236 \u52a8\u4f5c \uff0c \u5e76 \u5728 \u4e0b \u4e00\u4e2a \u65f6\u95f4 \u6b65 \u91cd\u65b0 \u8bc4\u4f30 \uff0c \u4ee5 \u9002\u5e94 \u4e0d\u65ad \u53d8\u5316 \u7684 \u6761\u4ef6 \u3002","title":"\u4e3b\u8981 \u7279\u5f81 \uff1a"},{"location":"algorithms/control/#_9","text":"MPC   \u63a7\u5236 \u63a7\u5236\u5668 \u5728 \u9700\u8981 \u7cbe\u786e \u8f68\u8ff9 \u8ddf\u8e2a \u7684 \u573a\u666f \u4e2d\u5c06 \u53d1\u6325 \u91cd\u8981 \u4f5c\u7528 \uff0c \u7279\u522b \u662f \u5728 \u5177\u6709 \u52a8\u6001 \u969c\u788d \u969c\u788d\u7269 \u3001 \u6025\u8f6c \u8f6c\u5f2f \u6025\u8f6c\u5f2f \u548c \u53d8\u5316 \u7684 \u8def\u51b5 \u7684 \u590d\u6742 \u9a7e\u9a76 \u73af\u5883 \u4e2d \u3002 \u901a\u8fc7 \u9884\u6d4b \u672a\u6765 \u72b6\u6001 \u548c \u7ea6\u675f \uff0c \u4e0e \u4f20\u7edf \u63a7\u5236 \u63a7\u5236\u5668 \u76f8\u6bd4 \uff0c MPC   \u63d0\u4f9b \u4e86 \u589e\u5f3a \u7684 \u8def\u5f84 \u8ddf\u8e2a \u7cbe\u5ea6 \u548c \u9c81\u68d2\u6027 \u3002","title":"\u5e94\u7528 \uff1a"},{"location":"algorithms/control/#_10","text":"\u7ef4\u62a4 \u548c \u5fae\u8c03 \u73b0\u6709 \u7684   PID   \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u4ee5 \u786e\u4fdd \u57fa\u672c \u7684 \u8def\u5f84 \u70b9 \u8ddf\u8e2a \u529f\u80fd \u3002   \u5f00\u53d1 \u4ee3\u8868 \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u7684 \u6570\u5b66 \u6a21\u578b \u6570\u5b66\u6a21\u578b \u3002   \u96c6\u6210 \u4e0e \u6211\u4eec \u7684   MPC   \u7cfb\u7edf \u67b6\u6784 \u517c\u5bb9 \u7684 \u4f18\u5316 \u6c42\u89e3 \u5668 \u3002   \u8bbe\u8ba1 \u548c \u5b9e\u73b0   MPC   \u6846\u67b6 \uff0c \u786e\u4fdd \u5176 \u8003\u8651 \u8f66\u8f86 \u7ea6\u675f \u3002   \u5728 \u5404\u79cd \u573a\u666f \u7684 \u4eff\u771f \u4e2d \u6d4b\u8bd5   MPC \uff0c \u5e76 \u7ec6\u5316 \u6a21\u578b \u548c \u63a7\u5236 \u63a7\u5236\u5668 \u53c2\u6570 \u3002 \u5728 \u5404\u79cd \u573a\u666f \u7684 \u4eff\u771f \u4e2d \u6d4b\u8bd5   MPC \uff0c \u5e76 \u7ec6\u5316 \u6a21\u578b \u548c \u63a7\u5236 \u63a7\u5236\u5668 \u53c2\u6570 \u3002   \u5728 \u5b9e\u9645 \u6d4b\u8bd5 \u4e2d \u9010\u6b65 \u90e8\u7f72 \u548c \u8bc4\u4f30   MPC \uff0c \u4ece \u4f4e \u590d\u6742 \u590d\u6742\u6027 \u73af\u5883 \u5f00\u59cb \uff0c \u9010\u6b65 \u5347\u7ea7 \u5230 \u66f4\u5177 \u6311\u6218 \u6311\u6218\u6027 \u7684 \u573a\u666f \u3002","title":"\u5b9e\u65bd \u8def\u7ebf\u56fe \uff1a"},{"location":"algorithms/control/#_11","text":"Paden ,   Brian ,   et   al .   \" A   survey   of   motion   planning   and   control   techniques   for   self - driving   urban   vehicles . \"   IEEE   Transactions   on   intelligent   vehicles   1.1   ( 2016 ) :   33 - 55 .   Rajamani ,   Rajesh .   \" Vehicle   dynamics   and   control . \"   Springer   Science   &   Business   Media ,   2011 .","title":"\u53c2\u8003\u6587\u732e"},{"location":"algorithms/localization/","text":"\u5b9a\u4f4d   \u5b9a\u4f4d \u6a21\u5757 \u4ecb\u7ecd   ISS   \u5b9a\u4f4d \u6a21\u5757 \u786e\u4fdd \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u4e0d\u4ec5 \u4e86\u89e3 \u5176 \u5728 \u5e7f\u9614 \u7684 \u9053\u8def \u548c \u73af\u5883 \u4e2d \u7684 \u4f4d\u7f6e \uff0c \u800c\u4e14 \u5177\u6709 \u4f26\u6bd4 \u65e0\u4e0e\u4f26\u6bd4 \u7684 \u51c6\u786e \u51c6\u786e\u6027 \u3002 \u5728 \u672c \u6587\u6863 \u4e2d \uff0c \u6211\u4eec \u6982\u8ff0 \u4e86 \u5f53\u524d \u7684 \u6d41\u7a0b \uff0c \u4ece \u5355\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5230 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u878d\u5408 \u7b97\u6cd5 \u3002   \u5355\u72ec \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u4e3a\u4e86 \u5b9e\u73b0 \u7cbe\u786e \u786e\u5b9a \u5b9a\u4f4d \u7cbe\u786e\u5b9a\u4f4d \uff0c \u91c7\u7528 \u4e86 \u4f7f\u7528 \u5404\u79cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u7b97\u6cd5 \u7684 \u591a\u65b9 \u65b9\u9762 \u591a\u65b9\u9762 \u65b9\u6cd5 \uff1a   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe   \uff1a   \u8fed\u4ee3 \u6700\u8fd1 \u70b9 ( Iterative   Closest   Point ,   ICP )   [ 1 ]   \uff1a \u8be5 \u7b97\u6cd5 \u5bf9\u9f50 \u4e24\u4e2a \u70b9\u4e91\u4ee5 \u786e\u5b9a \u5bf9\u9f50 \u5b83\u4eec \u7684 \u6700\u4f73 \u62df\u5408 \u53d8\u6362 \u3002   \u5206\u5e03 \u6b63\u6001\u5206\u5e03 \u53d8\u6362 ( Normal   Distributions   Transform ,   NDT )   [ 2 ]   :   \u8fd9\u79cd \u5148\u8fdb \u7684 \u65b9\u6cd5 \u4f7f\u7528 \u5206\u5e03 \u6b63\u6001\u5206\u5e03 \u8868\u793a \u70b9\u4e91 \u6570\u636e \uff0c \u63d0\u4f9b \u4e86 \u4e00\u79cd \u5f3a\u5927 \u800c \u6709\u6548 \u7684 \u914d\u51c6 \u65b9\u6cd5 \u3002   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 ( Inertial   Measurement   Unit ,   IMU )   :   \u822a\u4f4d \u63a8\u7b97   \uff1a \u901a\u8fc7 \u5229\u7528 \u8fd0\u52a8 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \uff0c \u822a\u4f4d \u63a8\u7b97 \u53ef\u4ee5 \u8fde\u7eed \u4f30\u8ba1 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u3002 \u7136\u800c \uff0c \u968f\u7740 \u65f6\u95f4 \u7684 \u63a8\u79fb \uff0c \u5176 \u51c6\u786e \u51c6\u786e\u6027 \u4f1a \u964d\u4f4e \uff0c \u9700\u8981 \u8865\u5145 \u6570\u636e \u8fdb\u884c \u6821\u6b63 \u3002   \u5168\u7403 \u5b9a\u4f4d \u7cfb\u7edf \u5168\u7403\u5b9a\u4f4d\u7cfb\u7edf ( Global   Positioning   System ,   GPS )   :   \u867d\u7136   GPS   \u4e3a \u5b9a\u4f4d \u63d0\u4f9b \u4e86 \u5168\u7403 \u53c2\u8003 \uff0c \u4f46 \u5176 \u7cbe\u5ea6 \u53ef\u80fd \u4e0d\u8db3 \u8db3\u4ee5 \u4e0d\u8db3\u4ee5 \u6ee1\u8db3 \u81ea\u52a8 \u9a7e\u9a76 \u7684 \u4e25\u683c \u516c\u5dee \u8981\u6c42 \u3002 \u56e0\u6b64 \uff0c GPS   \u6570\u636e \u901a\u5e38 \u4e0e \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u878d\u5408 \u4ee5 \u63d0\u9ad8 \u51c6\u786e \u51c6\u786e\u6027 \u3002   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u878d\u5408   \u5b8c\u7f8e \u5b9a\u4f4d \u7684 \u5173\u952e \u4e0d\u4ec5 \u5728\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4e2a\u4f53 \u80fd\u529b \uff0c \u8fd8 \u5728\u4e8e \u5b83\u4eec \u7684 \u534f\u4f5c \u80fd\u529b \uff1a   \u57fa\u4e8e \u6ee4\u6ce2 \u6ee4\u6ce2\u5668 \u7684 \u65b9\u6cd5   :   \u9012\u5f52 \u7b97\u6cd5 \uff0c \u4f8b\u5982   \u5361\u5c14 \u6ee4\u6ce2 \u5361\u5c14\u66fc \u5361\u5c14\u66fc\u6ee4\u6ce2 \u5668   \u548c   \u7c92\u5b50 \u6ee4\u6ce2 \u6ee4\u6ce2\u5668   [ 3 ]   \uff0c \u5bf9\u4e8e \u5b9e\u65f6 \u72b6\u6001 \u4f30\u8ba1 \u548c \u9884\u6d4b \u662f \u4e0d\u53ef \u5fc5\u4e0d\u53ef\u5c11 \u7684 \u3002   \u57fa\u4e8e \u4f18\u5316 \u7684 \u65b9\u6cd5   :   GraphSLAM   [ 4 ]   \u7b49 \u6574\u4f53 \u65b9\u6cd5 \u53ef\u4ee5 \u8c03\u6574 \u548c \u7ec6\u5316 \u6574\u4e2a \u8f68\u8ff9 \u6216 \u5730\u56fe \uff0c \u786e\u4fdd \u5904\u7406 \u540e\u5904\u7406 \u573a\u666f \u4e2d \u7684 \u6700\u9ad8 \u51c6\u786e \u51c6\u786e\u6027 \u3002   \u5b9e\u65bd \u8def\u7ebf \u7ebf\u56fe \u8def\u7ebf\u56fe   \u7ef4\u62a4 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff08 \u8fed\u4ee3 \u6700\u8fd1 \u70b9 \u3001 \u6b63\u592a \u5206\u5e03 \u53d8\u6362 \uff09 \u3001 \u60ef\u6027 \u6d4b\u91cf \u5355\u4f4d \uff08 \u822a\u4f4d \u63a8\u6d4b \uff09 \u3001 \u5168\u7403 \u5b9a\u4f4d \u7cfb\u7edf \u5168\u7403\u5b9a\u4f4d\u7cfb\u7edf \u548c \u57fa\u4e8e \u6ee4\u6ce2 \u6ee4\u6ce2\u5668 \u7684 \u878d\u5408 \u3002   \u7814\u7a76 \u57fa\u4e8e \u4f18\u5316 \u7684 \u878d\u5408 \uff1a GraphSLAM \u3001 \u7ed1\u5b9a \u8c03\u6574 \u3001 \u4f4d\u59ff\u56fe \u4f18\u5316 \u3002   \u6536\u96c6 \u548c \u5904\u7406 \u4f18\u5316 \u65b9\u6cd5 \u7684 \u6570\u636e \u96c6 \u3002   \u5c06 \u57fa\u4e8e \u4f18\u5316 \u7684 \u878d\u5408 \u96c6\u6210 \u5230 \u5f53\u524d \u7684 \u7ba1\u9053 \u4e2d \u3002   \u53c2\u8003 \u6587\u732e \u53c2\u8003\u6587\u732e   Besl   P   J ,   McKay   N   D .   Method   for   registration   of   3 - D   shapes .   In   Sensor   fusion   IV :   control   paradigms   and   data   structures   .   Spie ,   1992 ,   1611 :   586 - 606 .   Biber   P ,   Stra \u00df er   W .   The   normal   distributions   transform :   A   new   approach   to   laser   scan   matching .   In   Proceedings   2003   IEEE / RSJ   International   Conference   on   Intelligent   Robots   and   Systems   ( IROS   2003 )   .   IEEE ,   2003 ,   3 :   2743 - 2748 .   Thrun   S .   Probabilistic   robotics .   In   Communications   of   the   ACM   ,   2002 ,   45 ( 3 ) :   52 - 57 .   Shan   T ,   Englot   B ,   Meyers   D ,   et   al .   Lio - sam :   Tightly - coupled   LiDAR   inertial   odometry   via   smoothing   and   mapping .   In   2020   IEEE / RSJ   international   conference   on   intelligent   robots   and   systems   ( IROS )   .   IEEE ,   2020 :   5135 - 5142 .","title":"\u5b9a\u4f4d"},{"location":"algorithms/localization/#_1","text":"","title":"\u5b9a\u4f4d"},{"location":"algorithms/localization/#_2","text":"ISS   \u5b9a\u4f4d \u6a21\u5757 \u786e\u4fdd \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u4e0d\u4ec5 \u4e86\u89e3 \u5176 \u5728 \u5e7f\u9614 \u7684 \u9053\u8def \u548c \u73af\u5883 \u4e2d \u7684 \u4f4d\u7f6e \uff0c \u800c\u4e14 \u5177\u6709 \u4f26\u6bd4 \u65e0\u4e0e\u4f26\u6bd4 \u7684 \u51c6\u786e \u51c6\u786e\u6027 \u3002 \u5728 \u672c \u6587\u6863 \u4e2d \uff0c \u6211\u4eec \u6982\u8ff0 \u4e86 \u5f53\u524d \u7684 \u6d41\u7a0b \uff0c \u4ece \u5355\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5230 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u878d\u5408 \u7b97\u6cd5 \u3002","title":"\u5b9a\u4f4d \u6a21\u5757 \u4ecb\u7ecd"},{"location":"algorithms/localization/#_3","text":"\u4e3a\u4e86 \u5b9e\u73b0 \u7cbe\u786e \u786e\u5b9a \u5b9a\u4f4d \u7cbe\u786e\u5b9a\u4f4d \uff0c \u91c7\u7528 \u4e86 \u4f7f\u7528 \u5404\u79cd \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u548c \u7b97\u6cd5 \u7684 \u591a\u65b9 \u65b9\u9762 \u591a\u65b9\u9762 \u65b9\u6cd5 \uff1a   \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe   \uff1a   \u8fed\u4ee3 \u6700\u8fd1 \u70b9 ( Iterative   Closest   Point ,   ICP )   [ 1 ]   \uff1a \u8be5 \u7b97\u6cd5 \u5bf9\u9f50 \u4e24\u4e2a \u70b9\u4e91\u4ee5 \u786e\u5b9a \u5bf9\u9f50 \u5b83\u4eec \u7684 \u6700\u4f73 \u62df\u5408 \u53d8\u6362 \u3002   \u5206\u5e03 \u6b63\u6001\u5206\u5e03 \u53d8\u6362 ( Normal   Distributions   Transform ,   NDT )   [ 2 ]   :   \u8fd9\u79cd \u5148\u8fdb \u7684 \u65b9\u6cd5 \u4f7f\u7528 \u5206\u5e03 \u6b63\u6001\u5206\u5e03 \u8868\u793a \u70b9\u4e91 \u6570\u636e \uff0c \u63d0\u4f9b \u4e86 \u4e00\u79cd \u5f3a\u5927 \u800c \u6709\u6548 \u7684 \u914d\u51c6 \u65b9\u6cd5 \u3002   \u60ef\u6027 \u6d4b\u91cf \u5355\u5143 ( Inertial   Measurement   Unit ,   IMU )   :   \u822a\u4f4d \u63a8\u7b97   \uff1a \u901a\u8fc7 \u5229\u7528 \u8fd0\u52a8 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \uff0c \u822a\u4f4d \u63a8\u7b97 \u53ef\u4ee5 \u8fde\u7eed \u4f30\u8ba1 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u3002 \u7136\u800c \uff0c \u968f\u7740 \u65f6\u95f4 \u7684 \u63a8\u79fb \uff0c \u5176 \u51c6\u786e \u51c6\u786e\u6027 \u4f1a \u964d\u4f4e \uff0c \u9700\u8981 \u8865\u5145 \u6570\u636e \u8fdb\u884c \u6821\u6b63 \u3002   \u5168\u7403 \u5b9a\u4f4d \u7cfb\u7edf \u5168\u7403\u5b9a\u4f4d\u7cfb\u7edf ( Global   Positioning   System ,   GPS )   :   \u867d\u7136   GPS   \u4e3a \u5b9a\u4f4d \u63d0\u4f9b \u4e86 \u5168\u7403 \u53c2\u8003 \uff0c \u4f46 \u5176 \u7cbe\u5ea6 \u53ef\u80fd \u4e0d\u8db3 \u8db3\u4ee5 \u4e0d\u8db3\u4ee5 \u6ee1\u8db3 \u81ea\u52a8 \u9a7e\u9a76 \u7684 \u4e25\u683c \u516c\u5dee \u8981\u6c42 \u3002 \u56e0\u6b64 \uff0c GPS   \u6570\u636e \u901a\u5e38 \u4e0e \u5176\u4ed6 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u878d\u5408 \u4ee5 \u63d0\u9ad8 \u51c6\u786e \u51c6\u786e\u6027 \u3002","title":"\u5355\u72ec \u7684 \u4f20\u611f\u5668"},{"location":"algorithms/localization/#_4","text":"\u5b8c\u7f8e \u5b9a\u4f4d \u7684 \u5173\u952e \u4e0d\u4ec5 \u5728\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4e2a\u4f53 \u80fd\u529b \uff0c \u8fd8 \u5728\u4e8e \u5b83\u4eec \u7684 \u534f\u4f5c \u80fd\u529b \uff1a   \u57fa\u4e8e \u6ee4\u6ce2 \u6ee4\u6ce2\u5668 \u7684 \u65b9\u6cd5   :   \u9012\u5f52 \u7b97\u6cd5 \uff0c \u4f8b\u5982   \u5361\u5c14 \u6ee4\u6ce2 \u5361\u5c14\u66fc \u5361\u5c14\u66fc\u6ee4\u6ce2 \u5668   \u548c   \u7c92\u5b50 \u6ee4\u6ce2 \u6ee4\u6ce2\u5668   [ 3 ]   \uff0c \u5bf9\u4e8e \u5b9e\u65f6 \u72b6\u6001 \u4f30\u8ba1 \u548c \u9884\u6d4b \u662f \u4e0d\u53ef \u5fc5\u4e0d\u53ef\u5c11 \u7684 \u3002   \u57fa\u4e8e \u4f18\u5316 \u7684 \u65b9\u6cd5   :   GraphSLAM   [ 4 ]   \u7b49 \u6574\u4f53 \u65b9\u6cd5 \u53ef\u4ee5 \u8c03\u6574 \u548c \u7ec6\u5316 \u6574\u4e2a \u8f68\u8ff9 \u6216 \u5730\u56fe \uff0c \u786e\u4fdd \u5904\u7406 \u540e\u5904\u7406 \u573a\u666f \u4e2d \u7684 \u6700\u9ad8 \u51c6\u786e \u51c6\u786e\u6027 \u3002","title":"\u4f20\u611f\u5668 \u878d\u5408"},{"location":"algorithms/localization/#_5","text":"\u7ef4\u62a4 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \uff08 \u8fed\u4ee3 \u6700\u8fd1 \u70b9 \u3001 \u6b63\u592a \u5206\u5e03 \u53d8\u6362 \uff09 \u3001 \u60ef\u6027 \u6d4b\u91cf \u5355\u4f4d \uff08 \u822a\u4f4d \u63a8\u6d4b \uff09 \u3001 \u5168\u7403 \u5b9a\u4f4d \u7cfb\u7edf \u5168\u7403\u5b9a\u4f4d\u7cfb\u7edf \u548c \u57fa\u4e8e \u6ee4\u6ce2 \u6ee4\u6ce2\u5668 \u7684 \u878d\u5408 \u3002   \u7814\u7a76 \u57fa\u4e8e \u4f18\u5316 \u7684 \u878d\u5408 \uff1a GraphSLAM \u3001 \u7ed1\u5b9a \u8c03\u6574 \u3001 \u4f4d\u59ff\u56fe \u4f18\u5316 \u3002   \u6536\u96c6 \u548c \u5904\u7406 \u4f18\u5316 \u65b9\u6cd5 \u7684 \u6570\u636e \u96c6 \u3002   \u5c06 \u57fa\u4e8e \u4f18\u5316 \u7684 \u878d\u5408 \u96c6\u6210 \u5230 \u5f53\u524d \u7684 \u7ba1\u9053 \u4e2d \u3002","title":"\u5b9e\u65bd \u8def\u7ebf\u56fe"},{"location":"algorithms/localization/#_6","text":"Besl   P   J ,   McKay   N   D .   Method   for   registration   of   3 - D   shapes .   In   Sensor   fusion   IV :   control   paradigms   and   data   structures   .   Spie ,   1992 ,   1611 :   586 - 606 .   Biber   P ,   Stra \u00df er   W .   The   normal   distributions   transform :   A   new   approach   to   laser   scan   matching .   In   Proceedings   2003   IEEE / RSJ   International   Conference   on   Intelligent   Robots   and   Systems   ( IROS   2003 )   .   IEEE ,   2003 ,   3 :   2743 - 2748 .   Thrun   S .   Probabilistic   robotics .   In   Communications   of   the   ACM   ,   2002 ,   45 ( 3 ) :   52 - 57 .   Shan   T ,   Englot   B ,   Meyers   D ,   et   al .   Lio - sam :   Tightly - coupled   LiDAR   inertial   odometry   via   smoothing   and   mapping .   In   2020   IEEE / RSJ   international   conference   on   intelligent   robots   and   systems   ( IROS )   .   IEEE ,   2020 :   5135 - 5142 .","title":"\u53c2\u8003\u6587\u732e"},{"location":"algorithms/perception/","text":"\u611f\u77e5   \u611f\u77e5 \u6a21\u5757 \u7b80\u4ecb   ISS \u611f\u77e5 \u6a21\u5757 \u4e3a \u591a\u79cd \u611f\u77e5 \u4efb\u52a1 \u63d0\u4f9b \u652f\u6301 \uff0c \u4f8b\u5982 3D \u969c\u788d \u969c\u788d\u7269 \u611f\u77e5 \u3001 2D \u7269\u4f53 \u8bc6\u522b \u3001 2D \u8bed\u4e49 \u5206\u5272 \u548c \u57fa\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u9e1f\u77b0 \u9e1f\u77b0\u56fe \uff08 Bird ' s   Eye   View ,   BEV \uff09 \u5730\u56fe \u751f\u6210 \u3002 \u6211\u4eec \u7684 \u56e2\u961f \u4e13\u6ce8 \u4e8e \u5f00\u53d1 \u548c \u5b8c\u5584 \u8fd9\u4e9b \u5173\u952e \u7684 \u611f\u77e5 \u4efb\u52a1 \u3002 \u8fd9\u4e9b \u4efb\u52a1 \u662f \u4f7f \u6211\u4eec \u7684 \u8f66\u8f86 \u80fd\u591f \u5b89\u5168 \u3001 \u7cbe\u786e \u5730 \u5728 \u590d\u6742 \u73af\u5883 \u4e2d \u884c\u9a76 \u7684 \u57fa\u7840 \u3002   \u4efb\u52a1   ISS   \u611f\u77e5 \u6a21\u5757 \u652f\u6301 \u7684 \u4e0d\u540c \u4efb\u52a1 \u4f7f \u6211\u4eec \u7684 \u8f66\u8f86 \u80fd\u591f \u4e86\u89e3 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u53ca\u5176 \u5143\u7d20 \u7684 \u7279\u5b9a \u5c5e\u6027 \u3002   3D   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b   \uff1a \u6211\u4eec \u7684 \u7cfb\u7edf \u91c7\u7528 \u5148\u8fdb \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6280\u672f \u6765 \u5b9e\u65f6 \u68c0\u6d4b \u548c \u5206\u6790 \u4e09\u7ef4 \u969c\u788d \u969c\u788d\u7269 \u3002 \u5373\u4f7f \u5728 \u52a8\u6001 \u548c \u5177\u6709 \u6311\u6218 \u6311\u6218\u6027 \u7684 \u573a\u666f \u4e2d \uff0c \u8fd9\u79cd \u529f\u80fd \u4e5f \u4f7f \u6211\u4eec \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u80fd\u591f \u505a\u51fa \u660e\u667a \u7684 \u51b3\u7b56 \u5e76 \u786e\u4fdd \u4fdd\u5b89 \u5b89\u5168 \u786e\u4fdd\u5b89\u5168 \u5bfc\u822a \u3002   2D   \u7269\u4f53 \u68c0\u6d4b   \uff1a \u8bc6\u522b \u548c \u8bc6\u522b \u8f66\u8f86 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u4e2d \u7684 \u7269\u4f53 \u5bf9\u4e8e \u5b89\u5168 \u5bfc\u822a \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002 \u6211\u4eec \u7684 \u6846\u67b6 \u5229\u7528 \u5c16\u7aef \u7b97\u6cd5 \u6765 \u8bc6\u522b \u548c \u5206\u7c7b \u5404\u79cd \u5bf9\u8c61 \uff0c \u4f8b\u5982 \u884c\u4eba \u3001 \u8f66\u8f86 \u548c \u6807\u724c \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u589e\u5f3a \u6001\u52bf \u611f\u77e5 \u3002   3D   \u969c\u788d \u969c\u788d\u7269 \u611f\u77e5 \u548c   2D   \u7269\u4f53 \u68c0\u6d4b   2D   \u8bed\u4e49 \u5206\u5272   \uff1a \u8bed\u4e49 \u5206\u5272 \u662f \u8be6\u7ec6 \u4e86\u89e3 \u73af\u5883 \u7684 \u4e00\u9879 \u91cd\u8981 \u4efb\u52a1 \u3002 \u6211\u4eec \u5229\u7528 \u6700 \u5148\u8fdb \u7684 \u6280\u672f \u5c06 \u573a\u666f \u5212\u5206 \u4e3a \u6709 \u610f\u4e49 \u7684 \u90e8\u5206 \uff0c \u4f7f \u6211\u4eec \u7684 \u8f66\u8f86 \u80fd\u591f \u7406\u89e3 \u9053\u8def \u5e03\u5c40 \u5e76 \u66f4\u597d \u5730 \u54cd\u5e94 \u590d\u6742 \u7684 \u57ce\u5e02 \u666f\u89c2 \u3002   \u57fa\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684   BEV   \u5730\u56fe \u751f\u6210   \uff1a \u6211\u4eec \u7684 \u7cfb\u7edf \u4f7f\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u751f\u6210 \u9e1f\u77b0 \u9e1f\u77b0\u56fe   ( BEV )   \u5730\u56fe \uff0c \u63d0\u4f9b \u8f66\u8f86 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u7684 \u6574\u4f53 \u89c6\u56fe \u3002 \u8be5 \u5730\u56fe \u662f \u8def\u5f84 \u89c4\u5212 \u548c \u51b3\u7b56 \u7684 \u5b9d\u8d35 \u5de5\u5177 \uff0c \u53ef \u589e\u5f3a \u8f66\u8f86 \u9ad8\u6548 \u3001 \u5b89\u5168 \u5bfc\u822a \u7684 \u80fd\u529b \u3002   \u76ee\u524d \uff0c \u6211\u4eec \u6b63\u5728 \u52aa\u529b \u5f00\u53d1 \u8fd9\u4e9b \u6a21\u5757 \uff0c \u6211\u4eec \u5f88 \u9ad8\u5174 \u5730 \u544a\u8bc9 \u5927\u5bb6 \uff0c \u6211\u4eec \u5df2\u7ecf \u4e3a \u524d \u4e09\u4e2a \u4efb\u52a1 \u5f00\u53d1 \u4e86 \u521d\u59cb \u6a21\u578b \u521d\u59cb\u6a21\u578b \u3002 \u7136\u800c \uff0c \u503c\u5f97 \u6ce8\u610f \u503c\u5f97\u6ce8\u610f \u7684 \u662f \uff0c \u8fd9\u4e9b \u6a21\u578b \u4ecd \u5728 \u4e0d\u65ad \u5b8c\u5584 \u4e0d\u65ad\u5b8c\u5584 \uff0c \u4ee5 \u63d0\u9ad8 \u5176 \u6027\u80fd \u548c \u53ef\u9760 \u53ef\u9760\u6027 \u3002   \u6211\u4eec \u8fd8 \u63d0\u4f9b \u4e86 \u6709\u5173   ISS   \u751f\u6210 \u7684 \u7269\u4f53 \u68c0\u6d4b \u7684   \u6570\u636e \u96c6   \u3002 \u4ecd \u5728 \u66f4\u65b0 \u3002   git \u4ed3\u5e93   \u76ee\u6807 \u68c0\u6d4b   \u5728   Carla   \u4e2d \u4f7f\u7528   YOLOv3   \u68c0\u6d4b \u76ee\u6807 \u3002   \u5b89\u88c5   pip   install   - r   requirements . txt   \u5982\u679c \u9700\u8981   GPU   \u8ba1\u7b97 ,   \u5b89\u88c5   nvidia - cuda - toolkit \u3002   \u521b\u5efa   conda   \u73af\u5883 \uff1a   conda   create   - n   yolo   python = 3.7   conda   activate   yolo   \u6ce8\u610f \uff1a \u8fd0\u884c \u811a\u672c \u7684 \u65f6\u5019 \u4f1a \u63d0\u793a \u5b89\u88c5 \u5b89\u88c5\u5305 \uff01 \u9664 Carla   Client   API \u4e3a 0.9 . 12 \u4e0e Carla \u5bf9\u5e94 \uff0c \u5176\u4ed6 \u5b89\u88c5 \u6700\u65b0 \u7684 \u3002   weights \u6587\u4ef6 \u94fe\u63a5 \uff1a https : / / pan . baidu . com / s / 184hR _ PQZttYeAz9QE4XOQg   \u63d0\u53d6 \u7801 \uff1a hyus   \u5c06 weight \u6587\u4ef6 \u653e\u5728 weights \u76ee\u5f55 \u4e0b \u3002   \u8fd0\u884c   1 . \u8fde\u63a5 Carla \u670d\u52a1 \u670d\u52a1\u7aef   . / CarlaUE4 . sh   2 . \u8fd0\u884c \u811a\u672c \u751f\u6210 \u8f66\u8f86 \u548c \u884c\u4eba   python3   spawn _ npc . py   - n   80   \u6ce8\u610f :   spawn _ npc . py   \u5728   PythonAPI / examples   \uff0c \u8be5 \u6d4b\u8bd5 \u662f \u5728 Carla - 0.9 . 12 \uff0c \u6700\u65b0 \u65b0\u7248 \u6700\u65b0\u7248 Carla \u6ca1\u6709 spawn _ npc . py , \u4f46\u662f \u4f1a \u51fa\u73b0 \u884c\u4eba \u5012 \u7740 \u8d70 \u7684 \u95ee\u9898 \uff0c \u4e0d\u59a8 \u4f7f\u7528 generate _ trrafic . py \u3002   3 . \u884c   python3   object _ detection . py   \u7528 gpu \u6267\u884c   pip   install   yolo34py - gpu   python3   object _ detection _ gpu . py","title":"\u611f\u77e5"},{"location":"algorithms/perception/#_1","text":"","title":"\u611f\u77e5"},{"location":"algorithms/perception/#_2","text":"ISS \u611f\u77e5 \u6a21\u5757 \u4e3a \u591a\u79cd \u611f\u77e5 \u4efb\u52a1 \u63d0\u4f9b \u652f\u6301 \uff0c \u4f8b\u5982 3D \u969c\u788d \u969c\u788d\u7269 \u611f\u77e5 \u3001 2D \u7269\u4f53 \u8bc6\u522b \u3001 2D \u8bed\u4e49 \u5206\u5272 \u548c \u57fa\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u9e1f\u77b0 \u9e1f\u77b0\u56fe \uff08 Bird ' s   Eye   View ,   BEV \uff09 \u5730\u56fe \u751f\u6210 \u3002 \u6211\u4eec \u7684 \u56e2\u961f \u4e13\u6ce8 \u4e8e \u5f00\u53d1 \u548c \u5b8c\u5584 \u8fd9\u4e9b \u5173\u952e \u7684 \u611f\u77e5 \u4efb\u52a1 \u3002 \u8fd9\u4e9b \u4efb\u52a1 \u662f \u4f7f \u6211\u4eec \u7684 \u8f66\u8f86 \u80fd\u591f \u5b89\u5168 \u3001 \u7cbe\u786e \u5730 \u5728 \u590d\u6742 \u73af\u5883 \u4e2d \u884c\u9a76 \u7684 \u57fa\u7840 \u3002","title":"\u611f\u77e5 \u6a21\u5757 \u7b80\u4ecb"},{"location":"algorithms/perception/#_3","text":"ISS   \u611f\u77e5 \u6a21\u5757 \u652f\u6301 \u7684 \u4e0d\u540c \u4efb\u52a1 \u4f7f \u6211\u4eec \u7684 \u8f66\u8f86 \u80fd\u591f \u4e86\u89e3 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u53ca\u5176 \u5143\u7d20 \u7684 \u7279\u5b9a \u5c5e\u6027 \u3002   3D   \u969c\u788d \u969c\u788d\u7269 \u68c0\u6d4b   \uff1a \u6211\u4eec \u7684 \u7cfb\u7edf \u91c7\u7528 \u5148\u8fdb \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6280\u672f \u6765 \u5b9e\u65f6 \u68c0\u6d4b \u548c \u5206\u6790 \u4e09\u7ef4 \u969c\u788d \u969c\u788d\u7269 \u3002 \u5373\u4f7f \u5728 \u52a8\u6001 \u548c \u5177\u6709 \u6311\u6218 \u6311\u6218\u6027 \u7684 \u573a\u666f \u4e2d \uff0c \u8fd9\u79cd \u529f\u80fd \u4e5f \u4f7f \u6211\u4eec \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u80fd\u591f \u505a\u51fa \u660e\u667a \u7684 \u51b3\u7b56 \u5e76 \u786e\u4fdd \u4fdd\u5b89 \u5b89\u5168 \u786e\u4fdd\u5b89\u5168 \u5bfc\u822a \u3002   2D   \u7269\u4f53 \u68c0\u6d4b   \uff1a \u8bc6\u522b \u548c \u8bc6\u522b \u8f66\u8f86 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u4e2d \u7684 \u7269\u4f53 \u5bf9\u4e8e \u5b89\u5168 \u5bfc\u822a \u81f3\u5173 \u91cd\u8981 \u81f3\u5173\u91cd\u8981 \u3002 \u6211\u4eec \u7684 \u6846\u67b6 \u5229\u7528 \u5c16\u7aef \u7b97\u6cd5 \u6765 \u8bc6\u522b \u548c \u5206\u7c7b \u5404\u79cd \u5bf9\u8c61 \uff0c \u4f8b\u5982 \u884c\u4eba \u3001 \u8f66\u8f86 \u548c \u6807\u724c \uff0c \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u589e\u5f3a \u6001\u52bf \u611f\u77e5 \u3002   3D   \u969c\u788d \u969c\u788d\u7269 \u611f\u77e5 \u548c   2D   \u7269\u4f53 \u68c0\u6d4b   2D   \u8bed\u4e49 \u5206\u5272   \uff1a \u8bed\u4e49 \u5206\u5272 \u662f \u8be6\u7ec6 \u4e86\u89e3 \u73af\u5883 \u7684 \u4e00\u9879 \u91cd\u8981 \u4efb\u52a1 \u3002 \u6211\u4eec \u5229\u7528 \u6700 \u5148\u8fdb \u7684 \u6280\u672f \u5c06 \u573a\u666f \u5212\u5206 \u4e3a \u6709 \u610f\u4e49 \u7684 \u90e8\u5206 \uff0c \u4f7f \u6211\u4eec \u7684 \u8f66\u8f86 \u80fd\u591f \u7406\u89e3 \u9053\u8def \u5e03\u5c40 \u5e76 \u66f4\u597d \u5730 \u54cd\u5e94 \u590d\u6742 \u7684 \u57ce\u5e02 \u666f\u89c2 \u3002   \u57fa\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684   BEV   \u5730\u56fe \u751f\u6210   \uff1a \u6211\u4eec \u7684 \u7cfb\u7edf \u4f7f\u7528 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e \u751f\u6210 \u9e1f\u77b0 \u9e1f\u77b0\u56fe   ( BEV )   \u5730\u56fe \uff0c \u63d0\u4f9b \u8f66\u8f86 \u5468\u56f4 \u73af\u5883 \u5468\u56f4\u73af\u5883 \u7684 \u6574\u4f53 \u89c6\u56fe \u3002 \u8be5 \u5730\u56fe \u662f \u8def\u5f84 \u89c4\u5212 \u548c \u51b3\u7b56 \u7684 \u5b9d\u8d35 \u5de5\u5177 \uff0c \u53ef \u589e\u5f3a \u8f66\u8f86 \u9ad8\u6548 \u3001 \u5b89\u5168 \u5bfc\u822a \u7684 \u80fd\u529b \u3002   \u76ee\u524d \uff0c \u6211\u4eec \u6b63\u5728 \u52aa\u529b \u5f00\u53d1 \u8fd9\u4e9b \u6a21\u5757 \uff0c \u6211\u4eec \u5f88 \u9ad8\u5174 \u5730 \u544a\u8bc9 \u5927\u5bb6 \uff0c \u6211\u4eec \u5df2\u7ecf \u4e3a \u524d \u4e09\u4e2a \u4efb\u52a1 \u5f00\u53d1 \u4e86 \u521d\u59cb \u6a21\u578b \u521d\u59cb\u6a21\u578b \u3002 \u7136\u800c \uff0c \u503c\u5f97 \u6ce8\u610f \u503c\u5f97\u6ce8\u610f \u7684 \u662f \uff0c \u8fd9\u4e9b \u6a21\u578b \u4ecd \u5728 \u4e0d\u65ad \u5b8c\u5584 \u4e0d\u65ad\u5b8c\u5584 \uff0c \u4ee5 \u63d0\u9ad8 \u5176 \u6027\u80fd \u548c \u53ef\u9760 \u53ef\u9760\u6027 \u3002   \u6211\u4eec \u8fd8 \u63d0\u4f9b \u4e86 \u6709\u5173   ISS   \u751f\u6210 \u7684 \u7269\u4f53 \u68c0\u6d4b \u7684   \u6570\u636e \u96c6   \u3002 \u4ecd \u5728 \u66f4\u65b0 \u3002   git \u4ed3\u5e93","title":"\u4efb\u52a1"},{"location":"algorithms/perception/#_4","text":"\u5728   Carla   \u4e2d \u4f7f\u7528   YOLOv3   \u68c0\u6d4b \u76ee\u6807 \u3002","title":"\u76ee\u6807 \u68c0\u6d4b"},{"location":"algorithms/perception/#_5","text":"pip   install   - r   requirements . txt   \u5982\u679c \u9700\u8981   GPU   \u8ba1\u7b97 ,   \u5b89\u88c5   nvidia - cuda - toolkit \u3002   \u521b\u5efa   conda   \u73af\u5883 \uff1a   conda   create   - n   yolo   python = 3.7   conda   activate   yolo   \u6ce8\u610f \uff1a \u8fd0\u884c \u811a\u672c \u7684 \u65f6\u5019 \u4f1a \u63d0\u793a \u5b89\u88c5 \u5b89\u88c5\u5305 \uff01 \u9664 Carla   Client   API \u4e3a 0.9 . 12 \u4e0e Carla \u5bf9\u5e94 \uff0c \u5176\u4ed6 \u5b89\u88c5 \u6700\u65b0 \u7684 \u3002   weights \u6587\u4ef6 \u94fe\u63a5 \uff1a https : / / pan . baidu . com / s / 184hR _ PQZttYeAz9QE4XOQg   \u63d0\u53d6 \u7801 \uff1a hyus   \u5c06 weight \u6587\u4ef6 \u653e\u5728 weights \u76ee\u5f55 \u4e0b \u3002","title":"\u5b89\u88c5"},{"location":"algorithms/perception/#_6","text":"1 . \u8fde\u63a5 Carla \u670d\u52a1 \u670d\u52a1\u7aef   . / CarlaUE4 . sh   2 . \u8fd0\u884c \u811a\u672c \u751f\u6210 \u8f66\u8f86 \u548c \u884c\u4eba   python3   spawn _ npc . py   - n   80   \u6ce8\u610f :   spawn _ npc . py   \u5728   PythonAPI / examples   \uff0c \u8be5 \u6d4b\u8bd5 \u662f \u5728 Carla - 0.9 . 12 \uff0c \u6700\u65b0 \u65b0\u7248 \u6700\u65b0\u7248 Carla \u6ca1\u6709 spawn _ npc . py , \u4f46\u662f \u4f1a \u51fa\u73b0 \u884c\u4eba \u5012 \u7740 \u8d70 \u7684 \u95ee\u9898 \uff0c \u4e0d\u59a8 \u4f7f\u7528 generate _ trrafic . py \u3002   3 . \u884c   python3   object _ detection . py   \u7528 gpu \u6267\u884c   pip   install   yolo34py - gpu   python3   object _ detection _ gpu . py","title":"\u8fd0\u884c"},{"location":"algorithms/planning/","text":"\u89c4\u5212   \u89c4\u5212 \u6a21\u5757 \u7b80\u4ecb   \u81ea\u52a8 \u9a7e\u9a76 \u7ba1\u9053 \u5305\u542b \u4ece \u611f\u77e5 \u5230 \u63a7\u5236 \u7684 \u591a\u4e2a \u7ec4\u4ef6 \u3002 \u8be5 \u7ba1\u9053 \u7684 \u6838\u5fc3 \u662f \u201c \u89c4\u5212 \u6a21\u5757 \u201d \uff0c \u8d1f\u8d23 \u5236\u5b9a \u6709\u5173 \u8f66\u8f86 \u8fd0\u52a8 \u7684 \u6218\u7565 \u548c \u6218\u672f \u51b3\u7b56 \u3002 \u8be5 \u6a21\u5757 \u5206\u4e3a \u4e09\u4e2a \u5173\u952e \u9636\u6bb5 \uff1a \u8def\u7ebf \u89c4\u5212 \u3001 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\u89c4\u6a21 \u5927\u89c4\u6a21 \u7684 \u6700\u4f73 \u8def\u7ebf   [ 1 ]   \u3002 \u5982\u9700 \u66f4 \u5168\u9762 \u7684 \u8c03\u67e5 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Bast   \u7b49 \u4eba \u7684 \u8bba\u6587   [ 2 ]   \u3002   \u8f93\u5165   \u8def\u7ebf \u89c4\u5212 \u9636\u6bb5 \u5c06 \u6709\u5173 \u4e16\u754c \u7684 \u9ad8\u7ea7 \u4fe1\u606f \u4f5c\u4e3a \u8f93\u5165 \uff0c \u4f8b\u5982 \uff1a   \u8d77\u70b9 \u548c \u7ec8\u70b9 \u7684 \u5750\u6807 \uff1b   \u9053\u8def \u7f51\u7edc \u7684 \u62d3\u6251 \u7ed3\u6784 \uff1b   \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \uff1b   \u53ef\u80fd \u7684 \u6c38\u4e45 \u6c38\u4e45\u6027 \u969c\u788d \u3002   \u8f93\u51fa   \u8def\u7ebf \u89c4\u5212 \u9636\u6bb5 \u751f\u6210 \u4e00\u6761 \u8def\u5f84 \u6216 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u8fde\u63a5 \u8d77\u70b9 \u548c \u76ee\u7684 \u76ee\u7684\u5730 \u7684 \u8def\u5f84 \u70b9 \u4f5c\u4e3a \u8f93\u51fa \uff0c \u540c\u65f6 \u907f\u5f00 \u4efb\u4f55 \u6c38\u4e45 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\u8f66\u8f86 \u5728 \u6307\u5b9a \u65f6\u95f4 \u8303\u56f4 \u5185 \u7684 \u72b6\u6001 \u3002   \u6311\u6218   \u4e3a\u4e86 \u4ea7\u751f \u8fd9\u6837 \u4e00\u4e2a \u4f18\u5316 \u7684 \u8f68\u8ff9 \uff0c \u8fd0\u52a8 \u89c4\u5212 \u9762\u4e34 \u7740 \u591a\u91cd \u6311\u6218 \uff0c \u4f8b\u5982   \u5236\u5b9a \u907f\u514d \u78b0\u649e \u4e14 \u7cbe\u7b80 \u7684 \u8f68\u8ff9 \uff1b   \u7ba1\u7406 \u6765\u81ea \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u566a\u58f0 \u548c \u4e0d \u786e\u5b9a \u6570\u636e \uff1b   \u5b9e\u65f6 \u8f68\u8ff9 \u6620\u5c04 \u3002   \u53c2\u8003 \u6587\u732e \u53c2\u8003\u6587\u732e   Paden ,   Brian ,   et   al .   \" A   survey   of   motion   planning   and   control   techniques   for   self - driving   urban   vehicles . \"   IEEE   Transactions   on   intelligent   vehicles   1.1   ( 2016 ) :   33 - 55 .   Bast ,   Hannah ,   et   al .   \" Route   planning   in   transportation   networks . \"   Algorithm   engineering :   Selected   results   and   surveys   ( 2016 ) :   19 - 80 .   Ding ,   Wenchao ,   et   al .   \" Epsilon :   An   efficient   planning   system   for   automated   vehicles   in   highly   interactive   environments . \"   IEEE   Transactions   on   Robotics   38.2   ( 2021 ) :   1118 - 1138 .","title":"Planning"},{"location":"algorithms/planning/#_1","text":"","title":"\u89c4\u5212"},{"location":"algorithms/planning/#_2","text":"\u81ea\u52a8 \u9a7e\u9a76 \u7ba1\u9053 \u5305\u542b \u4ece \u611f\u77e5 \u5230 \u63a7\u5236 \u7684 \u591a\u4e2a \u7ec4\u4ef6 \u3002 \u8be5 \u7ba1\u9053 \u7684 \u6838\u5fc3 \u662f \u201c \u89c4\u5212 \u6a21\u5757 \u201d \uff0c \u8d1f\u8d23 \u5236\u5b9a \u6709\u5173 \u8f66\u8f86 \u8fd0\u52a8 \u7684 \u6218\u7565 \u548c \u6218\u672f \u51b3\u7b56 \u3002 \u8be5 \u6a21\u5757 \u5206\u4e3a \u4e09\u4e2a \u5173\u952e \u9636\u6bb5 \uff1a \u8def\u7ebf \u89c4\u5212 \u3001 \u884c\u4e3a \u89c4\u5212 \u548c \u8fd0\u52a8 \u89c4\u5212 \uff0c \u4ee5 \u4e0d\u540c \u7684 \u7c92\u5ea6 \u548c \u7cbe\u5ea6 \u6c34\u5e73 \u89c4\u5212 \u8f66\u8f86 \u7684 \u8fd0\u52a8 \u3002 \u5728 \u8fd9 \u6587\u7ae0 \u7bc7\u6587\u7ae0 \u4e2d \uff0c \u6211\u4eec \u5c06 \u6df1\u5165 \u63a2\u8ba8 \u6df1\u5165\u63a2\u8ba8 \u6bcf\u4e2a \u9636\u6bb5 \u3002   \u89c4\u5212 \u548c \u63a7\u5236 \u6d41\u7a0b","title":"\u89c4\u5212 \u6a21\u5757 \u7b80\u4ecb"},{"location":"algorithms/planning/#_3","text":"","title":"\u8def\u7ebf \u89c4\u5212  "},{"location":"algorithms/planning/#_4","text":"\u8def\u7ebf \u89c4\u5212 \u9636\u6bb5 \u7684 \u4efb\u52a1 \u662f \u627e\u5230 \u4ece \u5f53\u524d \u4f4d\u7f6e \u5230 \u6240 \u9700 \u76ee\u7684 \u76ee\u7684\u5730 \u7684 \u6700 \u6709\u6548 \u8def\u7ebf \uff0c \u5c31 \u50cf \u4f20\u7edf   GPS   \u5bfc\u822a \u7cfb\u7edf \u5bfc\u822a\u7cfb\u7edf \u7684 \u64cd\u4f5c \u65b9\u5f0f \u4e00\u6837 \u3002 \u73b0\u4ee3 \u8def\u7ebf \u89c4\u5212 \u7b97\u6cd5 \u80fd\u591f \u5728 \u4e00\u6b21 \u4e00\u6b21\u6027 \u5904\u7406 \u9884\u5904\u7406 \u6b65\u9aa4 \u540e \u5b9e\u65f6 \u8fd4\u56de \u5927\u89c4 \u89c4\u6a21 \u5927\u89c4\u6a21 \u7684 \u6700\u4f73 \u8def\u7ebf   [ 1 ]   \u3002 \u5982\u9700 \u66f4 \u5168\u9762 \u7684 \u8c03\u67e5 \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   Bast   \u7b49 \u4eba \u7684 \u8bba\u6587   [ 2 ]   \u3002","title":"\u76ee\u6807"},{"location":"algorithms/planning/#_5","text":"\u8def\u7ebf \u89c4\u5212 \u9636\u6bb5 \u5c06 \u6709\u5173 \u4e16\u754c \u7684 \u9ad8\u7ea7 \u4fe1\u606f \u4f5c\u4e3a \u8f93\u5165 \uff0c \u4f8b\u5982 \uff1a   \u8d77\u70b9 \u548c \u7ec8\u70b9 \u7684 \u5750\u6807 \uff1b   \u9053\u8def \u7f51\u7edc \u7684 \u62d3\u6251 \u7ed3\u6784 \uff1b   \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \uff1b   \u53ef\u80fd \u7684 \u6c38\u4e45 \u6c38\u4e45\u6027 \u969c\u788d \u3002","title":"\u8f93\u5165"},{"location":"algorithms/planning/#_6","text":"\u8def\u7ebf \u89c4\u5212 \u9636\u6bb5 \u751f\u6210 \u4e00\u6761 \u8def\u5f84 \u6216 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u8fde\u63a5 \u8d77\u70b9 \u548c \u76ee\u7684 \u76ee\u7684\u5730 \u7684 \u8def\u5f84 \u70b9 \u4f5c\u4e3a \u8f93\u51fa \uff0c \u540c\u65f6 \u907f\u5f00 \u4efb\u4f55 \u6c38\u4e45 \u6c38\u4e45\u6027 \u969c\u788d \u3002","title":"\u8f93\u51fa"},{"location":"algorithms/planning/#_7","text":"\u9053\u8def \u89c4\u5212 \u6a21\u5757 \u5728 \u8ba1\u7b97 \u6700 \u6709\u6548 \u7684 \u8def\u7ebf \u65f6 \u5fc5\u987b \u8003\u8651 \u8bb8\u591a \u6311\u6218 \uff0c \u4f8b\u5982   \u9002\u5e94 \u4e0d\u65ad \u53d8\u5316 \u7684 \u9053\u8def \u72b6\u51b5 \uff1b   \u7eb3\u5165 \u5b9e\u65f6 \u4ea4\u901a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff1b   \u786e\u4fdd \u6240 \u9009 \u8def\u7ebf \u65e2 \u5b89\u5168 \u53c8 \u9ad8\u6548 \u3002","title":"\u6311\u6218"},{"location":"algorithms/planning/#_8","text":"","title":"\u884c\u4e3a \u89c4\u5212"},{"location":"algorithms/planning/#_9","text":"\u884c\u4e3a \u89c4\u5212 \u9636\u6bb5 \u7684 \u4e3b\u8981 \u4efb\u52a1 \u662f \u89c4\u5b9a \u8f66\u8f86 \u7684 \u603b\u4f53 \u884c\u4e3a \uff0c \u4ece \u8f66\u9053 \u53d8\u6362 \u3001 \u8d85\u8f66 \u3001 \u8ba9\u8def \u5230 \u8f6c\u5f2f \u7684 \u51b3\u7b56 \u3002 \u5982\u4eca \uff0c \u884c\u4e3a \u89c4\u5212 \u6a21\u5757 \u901a\u5e38 \u5305\u542b \u81ea\u6211 \u8f66\u8f86 \u4e0e \u9053\u8def \u4e0a \u5176\u4ed6 \u4ee3\u7406 \uff08 \u4f8b\u5982 \u5176\u4ed6 \u8f66\u8f86 \uff09 \u4e4b\u95f4 \u7684 \u4ea4\u4e92   [ 3 ]   \u3002","title":"\u76ee\u6807"},{"location":"algorithms/planning/#_10","text":"\u4e3a\u4e86 \u5b9e\u73b0 \u5176 \u76ee\u6807 \uff0c \u884c\u4e3a \u89c4\u5212 \u9636\u6bb5 \u4f7f\u7528 \u6765\u81ea \u591a\u4e2a \u6765\u6e90 \u7684 \u4fe1\u606f \uff0c \u4f8b\u5982   \u6839\u636e \u8def\u7ebf \u89c4\u5212 \u5f97\u5230 \u7684 \u6307\u5b9a \u8def\u7ebf \uff1b   \u6709\u5173 \u90bb\u8fd1 \u8f66\u8f86 \u548c \u884c\u4eba \u7684 \u6570\u636e \uff08 \u6765\u81ea \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3001 \u96f7\u8fbe \u3001 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u7b49 \uff09 \uff1b   \u4ea4\u901a \u4ea4\u901a\u706f \u4fe1\u606f \uff1b   \u5176\u4ed6 \u76f8\u5173 \u73af\u5883 \u6570\u636e \u3002","title":"\u8f93\u5165"},{"location":"algorithms/planning/#_11","text":"\u884c\u4e3a \u89c4\u5212 \u7684 \u8f93\u51fa \u5305\u62ec \u5b8f\u89c2 \u6307\u4ee4 \uff0c \u4f8b\u5982 \u201c \u79fb\u81f3 \u5de6 \u8f66\u9053 \u201d \u3001 \u201c \u8ddf\u8e2a \u524d\u65b9 \u8f66\u8f86 \u201d \u6216 \u201c \u51c6\u5907 \u53f3\u8f6c \u201d \u4ee5\u53ca \u53cd\u6620 \u8fd9\u4e9b \u6307\u4ee4 \u7684 \u7c97\u7565 \u8f68\u8ff9 \u3002","title":"\u8f93\u51fa"},{"location":"algorithms/planning/#_12","text":"\u5728 \u505a\u51fa \u51b3\u7b56 \u65f6 \uff0c \u884c\u4e3a \u89c4\u5212 \u9636\u6bb5 \u9700\u8981 \u89e3\u51b3 \u591a\u4e2a \u95ee\u9898 \uff0c \u4f8b\u5982   \u9884\u6d4b \u5468\u56f4 \u53f8\u673a \u548c \u884c\u4eba \u7684 \u610f\u56fe \u548c \u5373\u5c06 \u91c7\u53d6 \u7684 \u884c\u52a8 \uff1b   \u5728 \u590d\u6742 \u7684 \u573a\u666f \u4e2d \u91c7\u7528 \u5b89\u5168 \u7684 \u51b3\u7b56 \u5236\u5b9a \u51b3\u7b56\u5236\u5b9a \uff1b   \u5904\u7406 \u4e0d \u5e38\u89c1 \u7684 \u8fb9\u7f18 \u60c5\u51b5 \u3002","title":"\u6311\u6218"},{"location":"algorithms/planning/#_13","text":"","title":"\u8fd0\u52a8 \u89c4\u5212"},{"location":"algorithms/planning/#_14","text":"\u89c4\u5212 \u6a21\u5757 \u5de5\u4f5c \u6d41\u7a0b \u7684 \u6700\u540e \u4e00\u4e2a \u9636\u6bb5 \u662f \u8fd0\u52a8 \u89c4\u5212 \uff0c \u5176 \u76ee\u7684 \u662f \u7ed8\u5236 \u4e00\u6761 \u5bf9 \u8f66\u8f86 \u6765\u8bf4 \u65e2 \u5b89\u5168 \u53c8 \u4e00\u81f4 \u7684 \u8f68\u8ff9 \uff0c \u53cd\u6620 \u884c\u4e3a \u76ee\u6807 \u5e76 \u4fdd\u6301 \u5728 \u8f66\u8f86 \u7684 \u52a8\u6001 \u548c \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u7ea6\u675f \u8303\u56f4 \u5185   [ 1 ]   \u3002","title":"\u76ee\u6807"},{"location":"algorithms/planning/#_15","text":"\u4e3a\u4e86 \u4f7f \u8f66\u8f86 \u4ea7\u751f \u5e73\u6ed1 \u7684 \u8f68\u8ff9 \uff0c \u8fd0\u52a8 \u89c4\u5212 \u9700\u8981 \u591a\u79cd \u79cd\u7c7b \u7c7b\u578b \u591a\u79cd\u7c7b\u578b \u7684 \u6570\u636e \uff0c \u4f8b\u5982   \u884c\u4e3a \u89c4\u5212 \u6240 \u786e\u7acb \u7684 \u9884\u671f \u884c\u4e3a \uff1b   \u5f53\u524d \u8f66\u8f86 \u72b6\u6001 \uff08 \u5982 \u4f4d\u7f6e \u3001 \u901f\u5ea6 \u3001 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff09 \uff1b   \u9053\u8def \u5730\u56fe \u7684 \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff1b   \u6709\u5173 \u52a8\u6001 \u969c\u788d \u969c\u788d\u7269 \u7684 \u6570\u636e \u3002","title":"\u8f93\u5165"},{"location":"algorithms/planning/#_16","text":"\u8fd0\u52a8 \u89c4\u5212 \u9636\u6bb5 \u7684 \u7ed3\u679c \u662f \u4f18\u5316 \u7684 \u8f68\u8ff9 \uff0c \u8be6\u7ec6 \u8bf4\u660e \u4e86 \u8f66\u8f86 \u5728 \u6307\u5b9a \u65f6\u95f4 \u8303\u56f4 \u5185 \u7684 \u72b6\u6001 \u3002","title":"\u8f93\u51fa"},{"location":"algorithms/planning/#_17","text":"\u4e3a\u4e86 \u4ea7\u751f \u8fd9\u6837 \u4e00\u4e2a \u4f18\u5316 \u7684 \u8f68\u8ff9 \uff0c \u8fd0\u52a8 \u89c4\u5212 \u9762\u4e34 \u7740 \u591a\u91cd \u6311\u6218 \uff0c \u4f8b\u5982   \u5236\u5b9a \u907f\u514d \u78b0\u649e \u4e14 \u7cbe\u7b80 \u7684 \u8f68\u8ff9 \uff1b   \u7ba1\u7406 \u6765\u81ea \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u566a\u58f0 \u548c \u4e0d \u786e\u5b9a \u6570\u636e \uff1b   \u5b9e\u65f6 \u8f68\u8ff9 \u6620\u5c04 \u3002","title":"\u6311\u6218"},{"location":"algorithms/planning/#_18","text":"Paden ,   Brian ,   et   al .   \" A   survey   of   motion   planning   and   control   techniques   for   self - driving   urban   vehicles . \"   IEEE   Transactions   on   intelligent   vehicles   1.1   ( 2016 ) :   33 - 55 .   Bast ,   Hannah ,   et   al .   \" Route   planning   in   transportation   networks . \"   Algorithm   engineering :   Selected   results   and   surveys   ( 2016 ) :   19 - 80 .   Ding ,   Wenchao ,   et   al .   \" Epsilon :   An   efficient   planning   system   for   automated   vehicles   in   highly   interactive   environments . \"   IEEE   Transactions   on   Robotics   38.2   ( 2021 ) :   1118 - 1138 .","title":"\u53c2\u8003\u6587\u732e"},{"location":"algorithms/prediction/","text":"\u9884\u6d4b   \u9884\u6d4b \u6a21\u5757 \u4ecb\u7ecd   \u9884\u6d4b \u5728 \u81ea\u52a8 \u9a7e\u9a76 \u4e2d \u53d1\u6325 \u7740 \u5173\u952e \u4f5c\u7528 \u5173\u952e\u4f5c\u7528 \uff0c \u53ef\u4ee5 \u786e\u5b9a \u9053\u8def \u4ee3\u7406 \u53ef\u80fd \u91c7\u53d6 \u7684 \u884c\u52a8 \u4ee5 \u786e\u4fdd \u4fdd\u5b89 \u5b89\u5168 \u786e\u4fdd\u5b89\u5168 \u5bfc\u822a \u3002 \u5728 \u672c \u6587\u6863 \u4e2d \uff0c \u6211\u4eec \u6982\u8ff0 \u4e86 \u5f53\u524d \u7684 \u65b9\u6cd5 \uff0c \u4ece \u7b80\u5355 \u7684   \u6052\u901f \u8fd0\u52a8   \u9884\u6d4b \u6d4b\u5668 \u9884\u6d4b\u5668 \u5230 \u66f4 \u5148\u8fdb \u7684 \u8fd0\u52a8 \u53d8\u6362 \u53d8\u6362\u5668   Motion   Transformer   \u3002   \u6052\u901f \u8fd0\u52a8 \u9884\u6d4b \u6d4b\u5668 \u9884\u6d4b\u5668   \u6982\u8ff0   \u7b49\u901f \u6a21\u578b \u662f \u6700 \u57fa\u672c \u4f46 \u6709\u6548 \u7684 \u9884\u6d4b \u65b9\u6cd5   [ 1 ]   \uff0c \u5047\u8bbe \u5b9e\u4f53 \u4ee5 \u6052\u5b9a \u901f\u5ea6 \u7ee7\u7eed \u5176 \u5f53\u524d \u8f68\u8ff9 \u3002 \u5728 \u8fd9\u91cc \uff0c \u6211\u4eec \u901a\u8fc7   Runge - Kutta   4   ( RK4 )   \u79ef\u5206 \u5bf9 \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u6a21\u578b \u8fdb\u884c \u6b63\u5411 \u4eff\u771f \uff0c \u5047\u8bbe \u6ca1\u6709 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u548c \u8f6c\u5411 \u89d2 \u3002   \u9002\u7528 \u9002\u7528\u6027 \u548c \u5c40\u9650 \u9650\u6027 \u5c40\u9650\u6027   \u9002\u7528 \u9002\u7528\u6027   \uff1a \u975e\u5e38 \u9002\u5408 \u975e\u5e38\u9002\u5408 \u8fd0\u52a8 \u76f8\u5bf9 \u7ebf\u6027 \u7684 \u9ad8\u901f \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3002   \u5c40\u9650 \u9650\u6027 \u5c40\u9650\u6027   :   \uff1a \u5728 \u57ce\u5e02 \u6216 \u62e5\u6324 \u7684 \u5730\u533a \uff0c \u8be5 \u6a21\u578b \u53ef\u80fd \u65e0\u6cd5 \u6355\u83b7 \u4ee3\u7406 \u7684 \u4e0d \u7a33\u5b9a \u8fd0\u52a8 \u3002   \u6570\u5b66 \u6a21\u578b \u6570\u5b66\u6a21\u578b   \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u8fd0\u52a8 \u6a21\u578b   \u63a7\u5236 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u8fd0\u52a8 \u6a21\u578b \u7684 \u4e3b\u8981 \u65b9\u7a0b \u662f \uff1a   \u4f4d\u7f6e \u66f4\u65b0   :   \u8f66\u8f86 \u540e\u8f6e \u7684 \u7a7a\u95f4 \u5750\u6807 \u968f \u65f6\u95f4 \u66f4\u65b0   ( t )   \u5230 \u65f6\u95f4   ( t   +   1 )   \u4f5c\u4e3a   $ $   x ( t + 1 )   =   x ( t )   +   v ( t )   \\ cos ( \\ theta ( t ) )   \\ Delta   t   $ $   $ $   y ( t + 1 )   =   y ( t )   +   v ( t )   \\ sin ( \\ theta ( t ) )   \\ Delta   t   $ $   \u822a\u5411 \u66f4\u65b0   \uff1a \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u822a\u5411 \u66f4 \u6539\u4e3a   \u8fd9\u91cc   ( ( x ,   y ) )   \u4ee3\u8868 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \uff1b   ( \\ theta )   \u662f \u8f66\u8f86 \u7684 \u822a\u5411 \uff1b   ( v )   \u8868\u793a \u8f66\u8f86 \u7684 \u901f\u5ea6 \uff1b   (   \\ delta   )   \u662f \u524d\u8f6e \u7684 \u8f6c\u5411 \u89d2 \uff1b   (   l _ { wb }   )   \u4e3a \u8f74\u8ddd \uff0c \u5373 \u524d\u540e \u8f74 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \uff1b   (   \\ Delta   t   )   \u662f \u65f6\u95f4 \u6b65\u957f \u3002   \u7136\u540e \u5e94\u7528 RK4 \u65b9\u6cd5 \u8fdb\u884c \u524d\u5411 \u4eff\u771f \uff0c \u4ee5 \u63d0\u9ad8 \u77ed\u671f \u671f\u5185 \u77ed\u671f\u5185 \u7684 \u9884\u6d4b \u7cbe\u5ea6 \u3002   \u793a\u4f8b \u7528\u4f8b   \u516c\u8def \u548c \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3002   \u969c\u788d \u969c\u788d\u7269 \u6700\u5c11 \u7684 \u5f00\u653e \u533a\u57df \u3002   \u5728   ISS   \u4e2d \uff0c \u91c7\u7528 \u7b49\u901f \u6a21\u578b \u6765 \u9884\u6d4b \u7ed3\u6784 \u7ed3\u6784\u5316 \u9053\u8def \u73af\u5883 \u4e2d \u7684 \u8fd0\u52a8 \u3002   Motion   Transformer   \u6982\u8ff0   Motion   Transformer   [ 2 ]   \u662f \u4e00\u79cd \u6700 \u5148\u8fdb \u7684 \u6a21\u578b \uff0c \u5b83 \u8003\u8651 \u5386\u53f2 \u6570\u636e \u5386\u53f2\u6570\u636e \u6765 \u9884\u6d4b \u672a\u6765 \u7684 \u8f68\u8ff9 \u3002 \u8be5 \u6846\u67b6 \u5c06 \u8fd0\u52a8 \u9884\u6d4b \u5efa\u6a21 \u4e3a \u5168\u5c40 \u610f\u56fe \u5b9a\u4f4d \u548c \u5c40\u90e8 \u8fd0\u52a8 \u7ec6\u5316 \u7684 \u8054\u5408 \u4f18\u5316 \u3002 \u9664\u4e86 \u8003\u8651 \u9053\u8def \u7ed3\u6784 \u7684 \u5168\u5c40 \u4fe1\u606f \u4e4b\u5916 \uff0c \u8be5 \u65b9\u6cd5 \u8fd8 \u901a\u8fc7 \u9002\u5e94 \u53ef \u5b66\u4e60 \u7684 \u8fd0\u52a8 \u67e5\u8be2 \u6765 \u5408\u5e76 \u4e0d\u540c \u7684 \u8fd0\u52a8 \u6a21\u5f0f \u3002 Motion   Transformer \u7684 \u6574\u4f53 \u7ed3\u6784 \u5982\u4e0b \u56fe \u6240\u793a \u3002   motion   transformer   \u7684 \u7ed3\u6784   [ 2 ]   \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 \u9009\u62e9   Motion   Transformer ?   \u8f83 \u7b80\u5355 \u7684 \u6a21\u578b \u7f3a\u4e4f \u590d\u6742 \u73af\u5883 \u6240 \u9700 \u7684 \u7ec6\u5fae \u5fae\u5dee \u5dee\u522b \u7ec6\u5fae\u5dee\u522b \u3002 \u8fd0\u52a8 \u53d8\u6362 \u53d8\u6362\u5668 \u8003\u8651 \u4e86 \u5386\u53f2 \u8f68\u8ff9 \uff0c \u4f7f \u5176 \u5728 \u590d\u6742 \u7684 \u573a\u666f \u4e2d \u5177\u6709 \u4f18\u52bf \u3002   \u67b6\u6784 \u548c \u7ec4\u4ef6   \u6ce8\u610f \u6ce8\u610f\u529b \u673a\u5236   \uff1a \u6743\u8861 \u4e0d\u540c \u5386\u53f2 \u6570\u636e \u5386\u53f2\u6570\u636e \u70b9 \u7684 \u91cd\u8981 \u91cd\u8981\u6027 \u3002   \u7f16\u7801 \u7801\u5668 \u7f16\u7801\u5668 - \u89e3\u7801 \u7801\u5668 \u89e3\u7801\u5668 \u7ed3\u6784   \uff1a \u7f16\u7801 \u7801\u5668 \u7f16\u7801\u5668 \u5904\u7406 \u8f93\u5165 \u5e8f\u5217 \uff0c \u800c \u89e3\u7801 \u7801\u5668 \u89e3\u7801\u5668 \u4ea7\u751f \u9884\u6d4b \u8f68\u8ff9 \u3002   \u8f93\u5165 / \u8f93\u51fa \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f   \u8f93\u5165   \uff1a \u5386\u53f2 \u8f68\u8ff9 \u6570\u636e \u3002   \u8f93\u51fa   \uff1a \u7528 \u7f6e\u4fe1 \u4fe1\u533a \u533a\u95f4 \u7f6e\u4fe1\u533a\u95f4 \u9884\u6d4b \u672a\u6765 \u8f68\u8ff9 \u3002   \u5b9e\u65bd \u8def\u7ebf \u7ebf\u56fe \u8def\u7ebf\u56fe   \u7ef4\u62a4 \u73b0\u6709 \u7684 \u7b49\u901f \u8fd0\u52a8 \u7b49\u901f\u8fd0\u52a8 \u9884\u6d4b \u6d4b\u5668 \u9884\u6d4b\u5668 \u4ee5 \u786e\u4fdd \u57fa\u672c \u529f\u80fd \u57fa\u672c\u529f \u57fa\u672c\u529f\u80fd \u3002   \u4e86\u89e3 \u5e76 \u8bbe\u7f6e   Motion   Transformer   \u7684 \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u3002   \u6536\u96c6 \u548c \u5904\u7406 \u6570\u636e \u96c6 \u5e76 \u8fdb\u884c \u8bad\u7ec3 \u548c \u4eff\u771f \u6d4b\u8bd5 \u3002   \u96c6\u6210 \u5230 \u5f53\u524d \u7684 \u7ba1\u9053 \u4e2d \u5e76 \u786e\u4fdd \u6301\u7eed \u7684 \u6a21\u578b \u4f18\u5316 \u3002   \u53c2\u8003 \u6587\u732e \u53c2\u8003\u6587\u732e   Sch \u00f6 ller   C ,   Aravantinos   V ,   Lay   F ,   et   al .   \" What   the   constant   velocity   model   can   teach   us   about   pedestrian   motion   prediction . \"   In   IEEE   Robotics   and   Automation   Letters ,   2020 ,   5 ( 2 ) :   1696 - 1703 .   Shi   S ,   Jiang   L ,   Dai   D ,   et   al .   \" Motion   transformer   with   global   intention   localization   and   local   movement   refinement . \"   In   Advances   in   Neural   Information   Processing   Systems ,   2022 ,   35 :   6531 - 6543 .","title":"Prediction"},{"location":"algorithms/prediction/#_1","text":"","title":"\u9884\u6d4b"},{"location":"algorithms/prediction/#_2","text":"\u9884\u6d4b \u5728 \u81ea\u52a8 \u9a7e\u9a76 \u4e2d \u53d1\u6325 \u7740 \u5173\u952e \u4f5c\u7528 \u5173\u952e\u4f5c\u7528 \uff0c \u53ef\u4ee5 \u786e\u5b9a \u9053\u8def \u4ee3\u7406 \u53ef\u80fd \u91c7\u53d6 \u7684 \u884c\u52a8 \u4ee5 \u786e\u4fdd \u4fdd\u5b89 \u5b89\u5168 \u786e\u4fdd\u5b89\u5168 \u5bfc\u822a \u3002 \u5728 \u672c \u6587\u6863 \u4e2d \uff0c \u6211\u4eec \u6982\u8ff0 \u4e86 \u5f53\u524d \u7684 \u65b9\u6cd5 \uff0c \u4ece \u7b80\u5355 \u7684   \u6052\u901f \u8fd0\u52a8   \u9884\u6d4b \u6d4b\u5668 \u9884\u6d4b\u5668 \u5230 \u66f4 \u5148\u8fdb \u7684 \u8fd0\u52a8 \u53d8\u6362 \u53d8\u6362\u5668   Motion   Transformer   \u3002","title":"\u9884\u6d4b \u6a21\u5757 \u4ecb\u7ecd"},{"location":"algorithms/prediction/#_3","text":"","title":"\u6052\u901f \u8fd0\u52a8 \u9884\u6d4b\u5668"},{"location":"algorithms/prediction/#_4","text":"\u7b49\u901f \u6a21\u578b \u662f \u6700 \u57fa\u672c \u4f46 \u6709\u6548 \u7684 \u9884\u6d4b \u65b9\u6cd5   [ 1 ]   \uff0c \u5047\u8bbe \u5b9e\u4f53 \u4ee5 \u6052\u5b9a \u901f\u5ea6 \u7ee7\u7eed \u5176 \u5f53\u524d \u8f68\u8ff9 \u3002 \u5728 \u8fd9\u91cc \uff0c \u6211\u4eec \u901a\u8fc7   Runge - Kutta   4   ( RK4 )   \u79ef\u5206 \u5bf9 \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u6a21\u578b \u8fdb\u884c \u6b63\u5411 \u4eff\u771f \uff0c \u5047\u8bbe \u6ca1\u6709 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u548c \u8f6c\u5411 \u89d2 \u3002","title":"\u6982\u8ff0"},{"location":"algorithms/prediction/#_5","text":"\u9002\u7528 \u9002\u7528\u6027   \uff1a \u975e\u5e38 \u9002\u5408 \u975e\u5e38\u9002\u5408 \u8fd0\u52a8 \u76f8\u5bf9 \u7ebf\u6027 \u7684 \u9ad8\u901f \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3002   \u5c40\u9650 \u9650\u6027 \u5c40\u9650\u6027   :   \uff1a \u5728 \u57ce\u5e02 \u6216 \u62e5\u6324 \u7684 \u5730\u533a \uff0c \u8be5 \u6a21\u578b \u53ef\u80fd \u65e0\u6cd5 \u6355\u83b7 \u4ee3\u7406 \u7684 \u4e0d \u7a33\u5b9a \u8fd0\u52a8 \u3002","title":"\u9002\u7528\u6027 \u548c \u5c40\u9650\u6027"},{"location":"algorithms/prediction/#_6","text":"\u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u8fd0\u52a8 \u6a21\u578b   \u63a7\u5236 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u8fd0\u52a8 \u6a21\u578b \u7684 \u4e3b\u8981 \u65b9\u7a0b \u662f \uff1a   \u4f4d\u7f6e \u66f4\u65b0   :   \u8f66\u8f86 \u540e\u8f6e \u7684 \u7a7a\u95f4 \u5750\u6807 \u968f \u65f6\u95f4 \u66f4\u65b0   ( t )   \u5230 \u65f6\u95f4   ( t   +   1 )   \u4f5c\u4e3a   $ $   x ( t + 1 )   =   x ( t )   +   v ( t )   \\ cos ( \\ theta ( t ) )   \\ Delta   t   $ $   $ $   y ( t + 1 )   =   y ( t )   +   v ( t )   \\ sin ( \\ theta ( t ) )   \\ Delta   t   $ $   \u822a\u5411 \u66f4\u65b0   \uff1a \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u822a\u5411 \u66f4 \u6539\u4e3a   \u8fd9\u91cc   ( ( x ,   y ) )   \u4ee3\u8868 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \uff1b   ( \\ theta )   \u662f \u8f66\u8f86 \u7684 \u822a\u5411 \uff1b   ( v )   \u8868\u793a \u8f66\u8f86 \u7684 \u901f\u5ea6 \uff1b   (   \\ delta   )   \u662f \u524d\u8f6e \u7684 \u8f6c\u5411 \u89d2 \uff1b   (   l _ { wb }   )   \u4e3a \u8f74\u8ddd \uff0c \u5373 \u524d\u540e \u8f74 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \uff1b   (   \\ Delta   t   )   \u662f \u65f6\u95f4 \u6b65\u957f \u3002   \u7136\u540e \u5e94\u7528 RK4 \u65b9\u6cd5 \u8fdb\u884c \u524d\u5411 \u4eff\u771f \uff0c \u4ee5 \u63d0\u9ad8 \u77ed\u671f \u671f\u5185 \u77ed\u671f\u5185 \u7684 \u9884\u6d4b \u7cbe\u5ea6 \u3002","title":"\u6570\u5b66\u6a21\u578b"},{"location":"algorithms/prediction/#_7","text":"\u516c\u8def \u548c \u9ad8\u901f \u516c\u8def \u9ad8\u901f\u516c\u8def \u3002   \u969c\u788d \u969c\u788d\u7269 \u6700\u5c11 \u7684 \u5f00\u653e \u533a\u57df \u3002   \u5728   ISS   \u4e2d \uff0c \u91c7\u7528 \u7b49\u901f \u6a21\u578b \u6765 \u9884\u6d4b \u7ed3\u6784 \u7ed3\u6784\u5316 \u9053\u8def \u73af\u5883 \u4e2d \u7684 \u8fd0\u52a8 \u3002","title":"\u793a\u4f8b \u7528\u4f8b"},{"location":"algorithms/prediction/#motion-transformer","text":"","title":"Motion   Transformer"},{"location":"algorithms/prediction/#_8","text":"Motion   Transformer   [ 2 ]   \u662f \u4e00\u79cd \u6700 \u5148\u8fdb \u7684 \u6a21\u578b \uff0c \u5b83 \u8003\u8651 \u5386\u53f2 \u6570\u636e \u5386\u53f2\u6570\u636e \u6765 \u9884\u6d4b \u672a\u6765 \u7684 \u8f68\u8ff9 \u3002 \u8be5 \u6846\u67b6 \u5c06 \u8fd0\u52a8 \u9884\u6d4b \u5efa\u6a21 \u4e3a \u5168\u5c40 \u610f\u56fe \u5b9a\u4f4d \u548c \u5c40\u90e8 \u8fd0\u52a8 \u7ec6\u5316 \u7684 \u8054\u5408 \u4f18\u5316 \u3002 \u9664\u4e86 \u8003\u8651 \u9053\u8def \u7ed3\u6784 \u7684 \u5168\u5c40 \u4fe1\u606f \u4e4b\u5916 \uff0c \u8be5 \u65b9\u6cd5 \u8fd8 \u901a\u8fc7 \u9002\u5e94 \u53ef \u5b66\u4e60 \u7684 \u8fd0\u52a8 \u67e5\u8be2 \u6765 \u5408\u5e76 \u4e0d\u540c \u7684 \u8fd0\u52a8 \u6a21\u5f0f \u3002 Motion   Transformer \u7684 \u6574\u4f53 \u7ed3\u6784 \u5982\u4e0b \u56fe \u6240\u793a \u3002   motion   transformer   \u7684 \u7ed3\u6784   [ 2 ]","title":"\u6982\u8ff0"},{"location":"algorithms/prediction/#motion-transformer_1","text":"\u8f83 \u7b80\u5355 \u7684 \u6a21\u578b \u7f3a\u4e4f \u590d\u6742 \u73af\u5883 \u6240 \u9700 \u7684 \u7ec6\u5fae \u5fae\u5dee \u5dee\u522b \u7ec6\u5fae\u5dee\u522b \u3002 \u8fd0\u52a8 \u53d8\u6362 \u53d8\u6362\u5668 \u8003\u8651 \u4e86 \u5386\u53f2 \u8f68\u8ff9 \uff0c \u4f7f \u5176 \u5728 \u590d\u6742 \u7684 \u573a\u666f \u4e2d \u5177\u6709 \u4f18\u52bf \u3002","title":"\u4e3a\u4ec0\u4e48 \u9009\u62e9   Motion   Transformer ?"},{"location":"algorithms/prediction/#_9","text":"\u6ce8\u610f \u6ce8\u610f\u529b \u673a\u5236   \uff1a \u6743\u8861 \u4e0d\u540c \u5386\u53f2 \u6570\u636e \u5386\u53f2\u6570\u636e \u70b9 \u7684 \u91cd\u8981 \u91cd\u8981\u6027 \u3002   \u7f16\u7801 \u7801\u5668 \u7f16\u7801\u5668 - \u89e3\u7801 \u7801\u5668 \u89e3\u7801\u5668 \u7ed3\u6784   \uff1a \u7f16\u7801 \u7801\u5668 \u7f16\u7801\u5668 \u5904\u7406 \u8f93\u5165 \u5e8f\u5217 \uff0c \u800c \u89e3\u7801 \u7801\u5668 \u89e3\u7801\u5668 \u4ea7\u751f \u9884\u6d4b \u8f68\u8ff9 \u3002","title":"\u67b6\u6784 \u548c \u7ec4\u4ef6"},{"location":"algorithms/prediction/#_10","text":"\u8f93\u5165   \uff1a \u5386\u53f2 \u8f68\u8ff9 \u6570\u636e \u3002   \u8f93\u51fa   \uff1a \u7528 \u7f6e\u4fe1 \u4fe1\u533a \u533a\u95f4 \u7f6e\u4fe1\u533a\u95f4 \u9884\u6d4b \u672a\u6765 \u8f68\u8ff9 \u3002","title":"\u8f93\u5165 / \u8f93\u51fa \u8be6\u7ec6\u4fe1\u606f"},{"location":"algorithms/prediction/#_11","text":"\u7ef4\u62a4 \u73b0\u6709 \u7684 \u7b49\u901f \u8fd0\u52a8 \u7b49\u901f\u8fd0\u52a8 \u9884\u6d4b \u6d4b\u5668 \u9884\u6d4b\u5668 \u4ee5 \u786e\u4fdd \u57fa\u672c \u529f\u80fd \u57fa\u672c\u529f \u57fa\u672c\u529f\u80fd \u3002   \u4e86\u89e3 \u5e76 \u8bbe\u7f6e   Motion   Transformer   \u7684 \u795e\u7ecf \u7f51\u7edc \u795e\u7ecf\u7f51 \u795e\u7ecf\u7f51\u7edc \u3002   \u6536\u96c6 \u548c \u5904\u7406 \u6570\u636e \u96c6 \u5e76 \u8fdb\u884c \u8bad\u7ec3 \u548c \u4eff\u771f \u6d4b\u8bd5 \u3002   \u96c6\u6210 \u5230 \u5f53\u524d \u7684 \u7ba1\u9053 \u4e2d \u5e76 \u786e\u4fdd \u6301\u7eed \u7684 \u6a21\u578b \u4f18\u5316 \u3002","title":"\u5b9e\u65bd \u8def\u7ebf\u56fe"},{"location":"algorithms/prediction/#_12","text":"Sch \u00f6 ller   C ,   Aravantinos   V ,   Lay   F ,   et   al .   \" What   the   constant   velocity   model   can   teach   us   about   pedestrian   motion   prediction . \"   In   IEEE   Robotics   and   Automation   Letters ,   2020 ,   5 ( 2 ) :   1696 - 1703 .   Shi   S ,   Jiang   L ,   Dai   D ,   et   al .   \" Motion   transformer   with   global   intention   localization   and   local   movement   refinement . \"   In   Advances   in   Neural   Information   Processing   Systems ,   2022 ,   35 :   6531 - 6543 .","title":"\u53c2\u8003\u6587\u732e"},{"location":"algorithms/Control_/","text":"Control   Introduction   to   the   Control   Module   The   Control   module   is   responsible   for   generating   control   commands   to   steer   the   vehicle   and   maintain   its   desired   trajectory .   [ 1 ]   In   this   documentation ,   we   outline   our   current   methodologies ,   from   the   simple   PID   controller   to   the   more   advanced   Model   Predictive   Control   ( MPC )   .   PID   Controller   for   Waypoint   Tracking   Overview :   The   PID   controller   is   one   of   the   fundamental   control   algorithms   in   our   autonomous   driving   pipeline .   It   continuously   calculates   an   \" error \"   value   as   the   difference   between   a   desired   setpoint   ( in   this   case ,   waypoints )   and   the   current   vehicle   position .   Components :   The   PID   controller   include   three   components ,   as   its   name   suggests :   -   Proportional   ( P )   :   provides   a   control   output   to   correct   the   current   position   error .   -   Integral   ( I )   :   Corrects   the   accumulation   of   past   errors .   -   Derivative   ( D )   :   predicts   and   counters   the   future   error   trend   based   on   its   current   rate   of   change .   Application :   We   use   the   PID   controller   primarily   for   waypoint   tracking ,   maintaining   lane   position ,   and   ensuring   the   vehicle   follows   a   predefined   path   with   minimal   deviation .   Model   Predictive   Control   ( MPC )   for   Trajectory   Tracking   Overview :   Model   Predictive   Control   ( MPC )   [ 2 ]   is   an   advanced   control   technique   that   uses   a   model   of   the   vehicle ' s   dynamics   to   predict   its   future   states   over   a   defined   horizon .   At   each   time   step ,   the   MPC   algorithm   solves   an   optimization   problem   to   find   the   optimal   control   inputs ,   considering   vehicle   dynamics ,   constraints ,   and   the   desired   trajectory .   Key   Features :   The   MPC   controller   involves   three   key   features   to   decide   what   actions   to   perform   to   control   the   vehicle ' s   movement :   -   Prediction   Model   :   predicts   future   states   of   the   vehicle   based   on   its   current   state   and   potential   control   inputs .   -   Optimization   :   continuously   solves   an   optimization   problem   to   determine   the   best   control   actions   over   the   prediction   horizon .   -   Receding   Horizon   Strategy   :   implements   only   the   first   control   action   of   the   optimized   sequence   and   re - evaluates   at   the   next   time   step ,   adapting   to   changing   conditions .   Application :   The   MPC   controller   will   be   instrumental   in   scenarios   where   precise   trajectory   tracking   is   essential ,   especially   in   complex   driving   environments   with   dynamic   obstacles ,   tight   curves ,   and   varying   road   conditions .   By   anticipating   future   states   and   constraints ,   MPC   offers   enhanced   path   following   accuracy   and   robustness   compared   to   traditional   controllers .   Implementation   Roadmap :   Maintain   and   fine - tune   the   existing   PID   controller   to   ensure   basic   waypoint   tracking   functionality .   Develop   a   mathematical   model   representing   the   vehicle ' s   dynamics .   Integrate   optimization   solvers   compatible   with   our   system   architecture   for   MPC .   Design   and   implement   the   MPC   framework ,   ensuring   it   considers   vehicle   constraints .   Test   the   MPC   in   simulation   for   various   scenarios   and   refine   the   model   and   controller   parameters .   Gradually   deploy   and   evaluate   the   MPC   in   real - world   tests ,   starting   with   low - complexity   environments   and   escalating   to   more   challenging   scenarios .   References   Paden ,   Brian ,   et   al .   \" A   survey   of   motion   planning   and   control   techniques   for   self - driving   urban   vehicles . \"   IEEE   Transactions   on   intelligent   vehicles   1.1   ( 2016 ) :   33 - 55 .   Rajamani ,   Rajesh .   \" Vehicle   dynamics   and   control . \"   Springer   Science   &   Business   Media ,   2011 .","title":"Control"},{"location":"algorithms/Control_/#control","text":"","title":"Control"},{"location":"algorithms/Control_/#introduction-to-the-control-module","text":"The   Control   module   is   responsible   for   generating   control   commands   to   steer   the   vehicle   and   maintain   its   desired   trajectory .   [ 1 ]   In   this   documentation ,   we   outline   our   current   methodologies ,   from   the   simple   PID   controller   to   the   more   advanced   Model   Predictive   Control   ( MPC )   .","title":"Introduction   to   the   Control   Module"},{"location":"algorithms/Control_/#pid-controller-for-waypoint-tracking","text":"","title":"PID   Controller   for   Waypoint   Tracking"},{"location":"algorithms/Control_/#overview","text":"The   PID   controller   is   one   of   the   fundamental   control   algorithms   in   our   autonomous   driving   pipeline .   It   continuously   calculates   an   \" error \"   value   as   the   difference   between   a   desired   setpoint   ( in   this   case ,   waypoints )   and   the   current   vehicle   position .","title":"Overview :"},{"location":"algorithms/Control_/#components","text":"The   PID   controller   include   three   components ,   as   its   name   suggests :   -   Proportional   ( P )   :   provides   a   control   output   to   correct   the   current   position   error .   -   Integral   ( I )   :   Corrects   the   accumulation   of   past   errors .   -   Derivative   ( D )   :   predicts   and   counters   the   future   error   trend   based   on   its   current   rate   of   change .","title":"Components :"},{"location":"algorithms/Control_/#application","text":"We   use   the   PID   controller   primarily   for   waypoint   tracking ,   maintaining   lane   position ,   and   ensuring   the   vehicle   follows   a   predefined   path   with   minimal   deviation .","title":"Application :"},{"location":"algorithms/Control_/#model-predictive-control-mpc-for-trajectory-tracking","text":"","title":"Model   Predictive   Control   ( MPC )   for   Trajectory   Tracking"},{"location":"algorithms/Control_/#overview_1","text":"Model   Predictive   Control   ( MPC )   [ 2 ]   is   an   advanced   control   technique   that   uses   a   model   of   the   vehicle ' s   dynamics   to   predict   its   future   states   over   a   defined   horizon .   At   each   time   step ,   the   MPC   algorithm   solves   an   optimization   problem   to   find   the   optimal   control   inputs ,   considering   vehicle   dynamics ,   constraints ,   and   the   desired   trajectory .","title":"Overview :"},{"location":"algorithms/Control_/#key-features","text":"The   MPC   controller   involves   three   key   features   to   decide   what   actions   to   perform   to   control   the   vehicle ' s   movement :   -   Prediction   Model   :   predicts   future   states   of   the   vehicle   based   on   its   current   state   and   potential   control   inputs .   -   Optimization   :   continuously   solves   an   optimization   problem   to   determine   the   best   control   actions   over   the   prediction   horizon .   -   Receding   Horizon   Strategy   :   implements   only   the   first   control   action   of   the   optimized   sequence   and   re - evaluates   at   the   next   time   step ,   adapting   to   changing   conditions .","title":"Key   Features :"},{"location":"algorithms/Control_/#application_1","text":"The   MPC   controller   will   be   instrumental   in   scenarios   where   precise   trajectory   tracking   is   essential ,   especially   in   complex   driving   environments   with   dynamic   obstacles ,   tight   curves ,   and   varying   road   conditions .   By   anticipating   future   states   and   constraints ,   MPC   offers   enhanced   path   following   accuracy   and   robustness   compared   to   traditional   controllers .","title":"Application :"},{"location":"algorithms/Control_/#implementation-roadmap","text":"Maintain   and   fine - tune   the   existing   PID   controller   to   ensure   basic   waypoint   tracking   functionality .   Develop   a   mathematical   model   representing   the   vehicle ' s   dynamics .   Integrate   optimization   solvers   compatible   with   our   system   architecture   for   MPC .   Design   and   implement   the   MPC   framework ,   ensuring   it   considers   vehicle   constraints .   Test   the   MPC   in   simulation   for   various   scenarios   and   refine   the   model   and   controller   parameters .   Gradually   deploy   and   evaluate   the   MPC   in   real - world   tests ,   starting   with   low - complexity   environments   and   escalating   to   more   challenging   scenarios .","title":"Implementation   Roadmap :"},{"location":"algorithms/Control_/#references","text":"Paden ,   Brian ,   et   al .   \" A   survey   of   motion   planning   and   control   techniques   for   self - driving   urban   vehicles . \"   IEEE   Transactions   on   intelligent   vehicles   1.1   ( 2016 ) :   33 - 55 .   Rajamani ,   Rajesh .   \" Vehicle   dynamics   and   control . \"   Springer   Science   &   Business   Media ,   2011 .","title":"References"},{"location":"algorithms/Control_/pid/","text":"To - DO !","title":"PID   Controller"},{"location":"algorithms/DRL/_index/","text":"Deep   Reinforcement   Learning   Deep   Reinforcement   Learning   ( DRL )   is   an   area   of   machine   learning   that   focuses   on   training   agents   to   make   sequences   of   decisions   by   interacting   with   an   environment .   The   agent   seeks   to   learn   the   best   strategy ,   or   policy ,   to   achieve   the   maximum   cumulative   reward   over   time .   DRL   has   shown   impressive   results   in   various   domains ,   from   game   playing   to   robotic   control .   { :   . center - image   width = \" 70% \" }   Reinforcement   Learning   Pipeline   { :   . text - center }   Our   Plan   1 .   Problem   Formulation   Define   the   specific   navigation   tasks   we   want   the   robot   to   accomplish   such   as   waypoint   following ,   obstacle   avoidance ,   etc .   We   will   then   set   up   the   reward   structure   to   encourage   these   desired   behaviors .   2 .   Simulator   Setup   We   will   be   using   an   appropriate   simulator   for   Ackermann   robots ,   possibly   Gazebo ,   Webots ,   or   even   a   custom   simulator .   The   goal   is   to   model   the   robot ' s   dynamics   and   sensory   inputs   as   accurately   as   possible .   3 .   Baseline   DRL   Algorithm   Selection   Our   starting   point   will   be   popular   reinforcement   learning   algorithms   like   Proximal   Policy   Optimization   ( PPO ) ,   Deep   Q - Network   ( DQN ) ,   or   Twin   Delayed   Deep   Deterministic   Policy   Gradient   ( TD3 ) .   We   are   going   to   use   Stable   Baselines3   for   our   DRL   algorithms .   Stable   Baselines3   is   a   set   of   improved   implementations   of   reinforcement   learning   algorithms   in   PyTorch .   4 .   Training   in   Simulation   Starting   with   a   basic   environment   ( few   obstacles ,   clear   paths ) ,   we   will   progress   to   more   intricate   scenarios .   We   will   monitor   the   agent ' s   training   progress   and   tune   hyperparameters   for   optimal   performance .   A   few   simulators   we   are   considering   are   listed   below :   Simulator   Strengths   Weaknesses   Gazebo   ( ROS )   -   Easy   sim - to - real   experiments .   -   Integrates   well   with   the   ROS   ecosystem .   -   Slow   simulation   speeds .   -   Requires   proficiency   in   ROS .   Isaac   Sim   ( NVIDIA )   -   GPU   acceleration   for   fast   training .   -   High - quality   graphics .   -   Steeper   learning   curve .   -   May   require   advanced   hardware .   Carla   -   Complex   sensor   data .   -   Real   vehicle   physics .   -   Slow   simulations .   -   High   computational   resource   needs .   SMARTS   ( Huawei )   -   Great   visualization .   -   Broad   action   space   for   RL   in   driving .   -   Might   be   challenging   for   newcomers .   -   Specific   environment   understanding   required .   5 .   Transfer   Learning   and   Domain   Adaptation   Given   the   known   challenges   of   the   sim - to - real   gap ,   we   will   implement   techniques   like   domain   randomization   in   the   simulator   and   consider   fine - tuning   on   the   real   robot .   6 .   Safety   Precautions   Safety   is   paramount .   When   transitioning   to   a   real   robot ,   we ' ll   ensure   protocols   are   in   place   to   protect   both   the   robot   and   its   surroundings .   7 .   Evaluation   We   will   set   up   evaluation   metrics   to   gauge   the   performance   of   our   agent   in   real - world   settings ,   comparing   different   algorithms   to   identify   the   most   suitable   one .   8 .   Iterate   and   Improve   Using   feedback   from   real - world   testing ,   we ' ll   refine   our   simulation ,   reward   designs ,   and   DRL   algorithms   to   continually   enhance   performance .","title":"Reinforcement   Learning"},{"location":"algorithms/DRL/_index/#deep-reinforcement-learning","text":"Deep   Reinforcement   Learning   ( DRL )   is   an   area   of   machine   learning   that   focuses   on   training   agents   to   make   sequences   of   decisions   by   interacting   with   an   environment .   The   agent   seeks   to   learn   the   best   strategy ,   or   policy ,   to   achieve   the   maximum   cumulative   reward   over   time .   DRL   has   shown   impressive   results   in   various   domains ,   from   game   playing   to   robotic   control .   { :   . center - image   width = \" 70% \" }   Reinforcement   Learning   Pipeline   { :   . text - center }","title":"Deep   Reinforcement   Learning"},{"location":"algorithms/DRL/_index/#our-plan","text":"","title":"Our   Plan"},{"location":"algorithms/DRL/_index/#1-problem-formulation","text":"Define   the   specific   navigation   tasks   we   want   the   robot   to   accomplish   such   as   waypoint   following ,   obstacle   avoidance ,   etc .   We   will   then   set   up   the   reward   structure   to   encourage   these   desired   behaviors .","title":"1 .   Problem   Formulation"},{"location":"algorithms/DRL/_index/#2-simulator-setup","text":"We   will   be   using   an   appropriate   simulator   for   Ackermann   robots ,   possibly   Gazebo ,   Webots ,   or   even   a   custom   simulator .   The   goal   is   to   model   the   robot ' s   dynamics   and   sensory   inputs   as   accurately   as   possible .","title":"2 .   Simulator   Setup"},{"location":"algorithms/DRL/_index/#3-baseline-drl-algorithm-selection","text":"Our   starting   point   will   be   popular   reinforcement   learning   algorithms   like   Proximal   Policy   Optimization   ( PPO ) ,   Deep   Q - Network   ( DQN ) ,   or   Twin   Delayed   Deep   Deterministic   Policy   Gradient   ( TD3 ) .   We   are   going   to   use   Stable   Baselines3   for   our   DRL   algorithms .   Stable   Baselines3   is   a   set   of   improved   implementations   of   reinforcement   learning   algorithms   in   PyTorch .","title":"3 .   Baseline   DRL   Algorithm   Selection"},{"location":"algorithms/DRL/_index/#4-training-in-simulation","text":"Starting   with   a   basic   environment   ( few   obstacles ,   clear   paths ) ,   we   will   progress   to   more   intricate   scenarios .   We   will   monitor   the   agent ' s   training   progress   and   tune   hyperparameters   for   optimal   performance .   A   few   simulators   we   are   considering   are   listed   below :   Simulator   Strengths   Weaknesses   Gazebo   ( ROS )   -   Easy   sim - to - real   experiments .   -   Integrates   well   with   the   ROS   ecosystem .   -   Slow   simulation   speeds .   -   Requires   proficiency   in   ROS .   Isaac   Sim   ( NVIDIA )   -   GPU   acceleration   for   fast   training .   -   High - quality   graphics .   -   Steeper   learning   curve .   -   May   require   advanced   hardware .   Carla   -   Complex   sensor   data .   -   Real   vehicle   physics .   -   Slow   simulations .   -   High   computational   resource   needs .   SMARTS   ( Huawei )   -   Great   visualization .   -   Broad   action   space   for   RL   in   driving .   -   Might   be   challenging   for   newcomers .   -   Specific   environment   understanding   required .","title":"4 .   Training   in   Simulation"},{"location":"algorithms/DRL/_index/#5-transfer-learning-and-domain-adaptation","text":"Given   the   known   challenges   of   the   sim - to - real   gap ,   we   will   implement   techniques   like   domain   randomization   in   the   simulator   and   consider   fine - tuning   on   the   real   robot .","title":"5 .   Transfer   Learning   and   Domain   Adaptation"},{"location":"algorithms/DRL/_index/#6-safety-precautions","text":"Safety   is   paramount .   When   transitioning   to   a   real   robot ,   we ' ll   ensure   protocols   are   in   place   to   protect   both   the   robot   and   its   surroundings .","title":"6 .   Safety   Precautions"},{"location":"algorithms/DRL/_index/#7-evaluation","text":"We   will   set   up   evaluation   metrics   to   gauge   the   performance   of   our   agent   in   real - world   settings ,   comparing   different   algorithms   to   identify   the   most   suitable   one .","title":"7 .   Evaluation"},{"location":"algorithms/DRL/_index/#8-iterate-and-improve","text":"Using   feedback   from   real - world   testing ,   we ' ll   refine   our   simulation ,   reward   designs ,   and   DRL   algorithms   to   continually   enhance   performance .","title":"8 .   Iterate   and   Improve"},{"location":"algorithms/Mapping/","text":"To - DO ! !","title":"Mapping"},{"location":"algorithms/Planning_/","text":"Planning   Introduction   to   the   Planning   Module   The   autonomous   driving   pipeline   encompasses   a   multitude   of   components ,   from   perception   to   control .   Central   to   this   pipeline   is   the   \" Planning   module \" ,   responsible   for   making   strategic   and   tactical   decisions   about   the   vehicle ' s   movement .   This   module   breaks   down   into   three   key   stages :   Route   Planning ,   Behavior   Planning ,   and   Motion   Planning ,   planning   the   movement   of   the   vehicle   at   different   levels   of   granularity   and   accuracy .   In   this   post ,   we   will   explore   each   stage   in - depth .   { :   . center - image   width = \" 100% \" }   Pipeline   of   planning   and   control   { :   . text - center }   Route   Planning   Objective   The   task   of   route   planning   stage   is   to   find   the   most   effective   course   from   the   current   location   to   the   desired   destination ,   much   like   how   conventional   GPS   navigation   systems   operate .   Modern   route   planning   algorithms   are   able   to   return   an   optimal   route   on   large   scale   in   real   time ,   after   a   one - time   pre - processing   step   [ 1 ]   .   For   a   more   comprehensive   survey ,   refer   to   the   paper   by   Bast   et   al   [ 2 ]   .   Inputs   The   route   planning   stage   takes   as   input   high - level   information   about   the   world ,   such   as :   -   the   coordinates   of   the   start   point   and   of   the   end   point ;   -   the   topology   of   the   road   network ;   -   the   traffic   conditions ;   and   -   possible   permanent   obstacles .   Outputs   The   route   planning   stage   generates   as   output   a   path   or   a   series   of   waypoints   bridging   the   start   and   destination ,   while   sidestepping   any   permanent   obstacles .   Challenges   There   are   many   challenges   the   road   planning   module   has   to   take   into   consideration   when   computing   the   most   effective   course ,   such   as   -   adapting   to   changing   road   situations ;   -   incorporating   real - time   traffic   details ;   and   -   ensuring   the   chosen   route   is   both   safe   and   efficient .   Behavior   Planning   Objective   The   main   task   of   the   behavior   planning   stage   is   to   dictate   the   vehicle ' s   overarching   behavior ,   from   decisions   about   lane   switches ,   overtaking ,   yielding ,   to   making   turns .   Nowadays ,   the   behavior   planning   modules   often   incorporate   the   interaction   between   the   ego   vehicle   and   other   agents   on   the   road ,   such   as   other   vehicles   [ 3 ]   .   Inputs   To   achieve   its   goal ,   the   behavior   planning   stage   uses   information   from   multiple   sources ,   such   as   -   the   designated   route   obtained   from   the   route   planning ;   -   data   about   neighboring   vehicles   and   pedestrians   ( sourced   from   LiDAR ,   radar ,   cameras ,   etc . ) ;   -   traffic   light   information ;   and   -   other   pertinent   environmental   data .   Outputs   The   output   of   the   behavior   planning   consists   of   macro - level   directives   like   \" shift   to   the   left   lane \" ,   \" trail   the   vehicle   in   front \" ,   or   \" get   ready   to   turn   right \"   as   well   as   coarse   trajectories   that   reflect   these   directives .   Challenges   In   making   its   decisions ,   the   behavior   planning   stage   needs   to   address   multiple   issues ,   such   as   -   anticipating   the   intentions   and   forthcoming   actions   of   surrounding   drivers   and   pedestrians ;   -   adopting   a   safe   decision   formulation   in   intricate   scenarios ;   and   -   navigating   uncommon   edge   cases .   Motion   Planning   Objective   The   last   stage   of   the   planning   module   workflow   is   motion   planning ,   whose   aim   is   to   chart   a   trajectory   that   is   both   safe   and   consistent   for   the   vehicle ,   reflecting   the   behavior   objectives   and   staying   within   the   vehicle ' s   dynamic   and   kinematic   constraints   [ 1 ]   .   Inputs   To   produce   a   smooth   trajectory   for   the   vehicle ,   the   motion   planning   needs   multiple   types   of   data ,   like   -   the   intended   behavior   established   by   the   behavior   planning ;   -   the   present   vehicle   state   ( such   as   position ,   speed ,   and   acceleration ) ;   -   the   road   map   details ;   and   -   data   about   dynamic   obstructions .   Outputs   The   outcome   of   the   motion   planning   stage   is   an   optimized   trajectory ,   detailing   the   vehicle ' s   state   over   a   specified   time   frame .   Challenges   To   produce   such   an   optimized   trajectory ,   the   motion   planning   faces   multiple   challenges ,   such   as   -   crafting   trajectories   that   avoid   collisions   and   are   streamlined ;   -   managing   noisy   and   uncertain   data   from   sensors ;   and   -   real - time   trajectory   mapping .   References   Paden ,   Brian ,   et   al .   \" A   survey   of   motion   planning   and   control   techniques   for   self - driving   urban   vehicles . \"   IEEE   Transactions   on   intelligent   vehicles   1.1   ( 2016 ) :   33 - 55 .   Bast ,   Hannah ,   et   al .   \" Route   planning   in   transportation   networks . \"   Algorithm   engineering :   Selected   results   and   surveys   ( 2016 ) :   19 - 80 .   Ding ,   Wenchao ,   et   al .   \" Epsilon :   An   efficient   planning   system   for   automated   vehicles   in   highly   interactive   environments . \"   IEEE   Transactions   on   Robotics   38.2   ( 2021 ) :   1118 - 1138 .","title":"Planning"},{"location":"algorithms/Planning_/#planning","text":"","title":"Planning"},{"location":"algorithms/Planning_/#introduction-to-the-planning-module","text":"The   autonomous   driving   pipeline   encompasses   a   multitude   of   components ,   from   perception   to   control .   Central   to   this   pipeline   is   the   \" Planning   module \" ,   responsible   for   making   strategic   and   tactical   decisions   about   the   vehicle ' s   movement .   This   module   breaks   down   into   three   key   stages :   Route   Planning ,   Behavior   Planning ,   and   Motion   Planning ,   planning   the   movement   of   the   vehicle   at   different   levels   of   granularity   and   accuracy .   In   this   post ,   we   will   explore   each   stage   in - depth .   { :   . center - image   width = \" 100% \" }   Pipeline   of   planning   and   control   { :   . text - center }","title":"Introduction   to   the   Planning   Module"},{"location":"algorithms/Planning_/#route-planning","text":"","title":"Route   Planning"},{"location":"algorithms/Planning_/#objective","text":"The   task   of   route   planning   stage   is   to   find   the   most   effective   course   from   the   current   location   to   the   desired   destination ,   much   like   how   conventional   GPS   navigation   systems   operate .   Modern   route   planning   algorithms   are   able   to   return   an   optimal   route   on   large   scale   in   real   time ,   after   a   one - time   pre - processing   step   [ 1 ]   .   For   a   more   comprehensive   survey ,   refer   to   the   paper   by   Bast   et   al   [ 2 ]   .","title":"Objective"},{"location":"algorithms/Planning_/#inputs","text":"The   route   planning   stage   takes   as   input   high - level   information   about   the   world ,   such   as :   -   the   coordinates   of   the   start   point   and   of   the   end   point ;   -   the   topology   of   the   road   network ;   -   the   traffic   conditions ;   and   -   possible   permanent   obstacles .","title":"Inputs"},{"location":"algorithms/Planning_/#outputs","text":"The   route   planning   stage   generates   as   output   a   path   or   a   series   of   waypoints   bridging   the   start   and   destination ,   while   sidestepping   any   permanent   obstacles .","title":"Outputs"},{"location":"algorithms/Planning_/#challenges","text":"There   are   many   challenges   the   road   planning   module   has   to   take   into   consideration   when   computing   the   most   effective   course ,   such   as   -   adapting   to   changing   road   situations ;   -   incorporating   real - time   traffic   details ;   and   -   ensuring   the   chosen   route   is   both   safe   and   efficient .","title":"Challenges"},{"location":"algorithms/Planning_/#behavior-planning","text":"","title":"Behavior   Planning"},{"location":"algorithms/Planning_/#objective_1","text":"The   main   task   of   the   behavior   planning   stage   is   to   dictate   the   vehicle ' s   overarching   behavior ,   from   decisions   about   lane   switches ,   overtaking ,   yielding ,   to   making   turns .   Nowadays ,   the   behavior   planning   modules   often   incorporate   the   interaction   between   the   ego   vehicle   and   other   agents   on   the   road ,   such   as   other   vehicles   [ 3 ]   .","title":"Objective"},{"location":"algorithms/Planning_/#inputs_1","text":"To   achieve   its   goal ,   the   behavior   planning   stage   uses   information   from   multiple   sources ,   such   as   -   the   designated   route   obtained   from   the   route   planning ;   -   data   about   neighboring   vehicles   and   pedestrians   ( sourced   from   LiDAR ,   radar ,   cameras ,   etc . ) ;   -   traffic   light   information ;   and   -   other   pertinent   environmental   data .","title":"Inputs"},{"location":"algorithms/Planning_/#outputs_1","text":"The   output   of   the   behavior   planning   consists   of   macro - level   directives   like   \" shift   to   the   left   lane \" ,   \" trail   the   vehicle   in   front \" ,   or   \" get   ready   to   turn   right \"   as   well   as   coarse   trajectories   that   reflect   these   directives .","title":"Outputs"},{"location":"algorithms/Planning_/#challenges_1","text":"In   making   its   decisions ,   the   behavior   planning   stage   needs   to   address   multiple   issues ,   such   as   -   anticipating   the   intentions   and   forthcoming   actions   of   surrounding   drivers   and   pedestrians ;   -   adopting   a   safe   decision   formulation   in   intricate   scenarios ;   and   -   navigating   uncommon   edge   cases .","title":"Challenges"},{"location":"algorithms/Planning_/#motion-planning","text":"","title":"Motion   Planning"},{"location":"algorithms/Planning_/#objective_2","text":"The   last   stage   of   the   planning   module   workflow   is   motion   planning ,   whose   aim   is   to   chart   a   trajectory   that   is   both   safe   and   consistent   for   the   vehicle ,   reflecting   the   behavior   objectives   and   staying   within   the   vehicle ' s   dynamic   and   kinematic   constraints   [ 1 ]   .","title":"Objective"},{"location":"algorithms/Planning_/#inputs_2","text":"To   produce   a   smooth   trajectory   for   the   vehicle ,   the   motion   planning   needs   multiple   types   of   data ,   like   -   the   intended   behavior   established   by   the   behavior   planning ;   -   the   present   vehicle   state   ( such   as   position ,   speed ,   and   acceleration ) ;   -   the   road   map   details ;   and   -   data   about   dynamic   obstructions .","title":"Inputs"},{"location":"algorithms/Planning_/#outputs_2","text":"The   outcome   of   the   motion   planning   stage   is   an   optimized   trajectory ,   detailing   the   vehicle ' s   state   over   a   specified   time   frame .","title":"Outputs"},{"location":"algorithms/Planning_/#challenges_2","text":"To   produce   such   an   optimized   trajectory ,   the   motion   planning   faces   multiple   challenges ,   such   as   -   crafting   trajectories   that   avoid   collisions   and   are   streamlined ;   -   managing   noisy   and   uncertain   data   from   sensors ;   and   -   real - time   trajectory   mapping .","title":"Challenges"},{"location":"algorithms/Planning_/#references","text":"Paden ,   Brian ,   et   al .   \" A   survey   of   motion   planning   and   control   techniques   for   self - driving   urban   vehicles . \"   IEEE   Transactions   on   intelligent   vehicles   1.1   ( 2016 ) :   33 - 55 .   Bast ,   Hannah ,   et   al .   \" Route   planning   in   transportation   networks . \"   Algorithm   engineering :   Selected   results   and   surveys   ( 2016 ) :   19 - 80 .   Ding ,   Wenchao ,   et   al .   \" Epsilon :   An   efficient   planning   system   for   automated   vehicles   in   highly   interactive   environments . \"   IEEE   Transactions   on   Robotics   38.2   ( 2021 ) :   1118 - 1138 .","title":"References"},{"location":"algorithms/Planning_/frenet_lattice/","text":"frenet _ lattice   The   frenet _ lattice   planner   is   a   lattice   local   planner   that   implements   the   trajectory   generation   algorithm   proposed   in   the   paper   Optimal   Trajectory   Generation   for   Dynamic   Street   Scenarios   in   a   Fren \u00e9 t   Frame   .   In   the   frenet _ lattice   planner ,   you   can   just   use   LatticePlanner . run _ step   to   get   trajectory   with   inputs ,   such   as   current   Cartesian   state ,   etc .   Inputs   The   inputs   of   frenet _ lattice   planner   can   come   from   the   Carla   simulator   or   from   physical   environments ;   they   include   several   types   of   data ,   such   as   a   map   providing   the   road   network   related   information   to   the   frenet _ lattice   planner   such   as   the   lane   width   of   the   different   roads ,   traffic   light   positions ,   standard   speed   limits ,   etc .   The   most   common   types   of   maps   are :   lanelet ,   OpenDRIVE ,   etc . ;   the   path   generated   by   the   global   route   planner   ,   providing   a   reference   course   leading   to   the   desired   destination ;   some   obstacle   information   about   obstacles   on   the   current   road ,   such   as   their   position ,   yaw ,   bounding   box ,   etc . ;   the   decision   generated   by   behavior   planner   on   how   to   control   the   vehicle ,   such   as   the   velocity   to   keep ,   Following ,   Merging ,   Stopping ,   etc .   Outputs   The   output   of   frenet _ lattice   is   a   trajectory   which   contains   position   and   speed   of   the   vehicle .   Such   a   trajectory   must   be   dynamically   feasible   for   the   vehicle ,   comfortable   for   the   passenger ,   and   avoid   collisions   with   obstacles   detected   by   the   on - board   sensors .   In   practice ,   the   output   consists   of   the   trajectory   to   follow ,   including   information   about   speed ,   position ,   and   its   cost .   FrenetPath   (   class   )   Store   the   trajectories ( paths )   which   are   generated   by   frenet _ lattice   planner .   This   class   not   only   contain   Frenet   coordinate   [ s ,   s _ d ,   s _ dd ,   s _ ddd ,   d ,   d _ dd ,   d _ ddd ]   and   Cartesian   coordinate   [ x ,   y ,   yaw ,   ds ,   c ]   ,   but   also   cost   of   trajectory .   Instance   Variables   t   (   list ( float   -   seconds   )   )   Time   of   each   Frenet   point   in   Frenet   path .   s   (   list ( float   -   meters   )   )   Frenet   longitudinal   movement .   Also   represents   the   arc   length ,   indicates   the   distance   a   vehicle   has   traveled   along   the   road   centerline .   The   value   of   s   can   be   used   to   denote   the   vehicle ' s   position .   d   (   list ( float   -   meters   )   )   Frenet   lateral   offset .   Indicates   the   lateral   distance   of   the   vehicle   relative   to   the   road   centerline .   The   value   of   d   can   be   used   to   represent   the   vehicle ' s   lateral   position .   A   positive   value   indicates   the   vehicle   is   on   the   right   side   of   the   road ,   while   a   negative   value   indicates   the   left   side .   s _ d   (   list ( float   -   m / s   )   )   Frenet   longitudinal   velocity .   Indicates   the   speed   of   the   vehicle   in   the   direction   along   the   road   centerline .   d _ d   (   list ( float   -   m / s   )   )   Frenet   longitudinal   velocity . Represents   the   derivative   of   lateral   offset   d   with   respect   to   time .   It   denotes   the   rate   of   change   of   lateral   offset ,   indicating   how   rapidly   the   vehicle   is   changing   its   lateral   position .   s _ dd   (   list ( float   -   m / s   2   )   )   Frenet   longitudinal   acceleration .   Represents   the   rate   of   change   of   longitudinal   velocity .   It   quantifies   how   quickly   the   vehicle   is   speeding   up   or   slowing   down   along   the   road .   d _ dd   (   list ( float   -   m / s   2   )   )   Frenet   lateral   acceleration . Represents   the   rate   of   change   of   lateral   velocity .   It   quantifies   how   quickly   the   lateral   speed   of   the   vehicle   changes   over   time .   s _ ddd   (   list ( float   -   m / s   3   )   )   Frenet   longitudinal   jerk .   Represents   the   rate   of   change   of   longitudinal   acceleration .   It   is   related   to   driving   comfort .   d _ ddd   (   list ( float   -   m / s   3   )   )   Frenet   lateral   jerk . Represents   the   rate   of   change   of   lateral   acceleration .   It   is   related   to   driving   comfort .   x   (   list ( float   -   seconds   )   )   Cartesian   horizontal   coordinate   x - axis .   It   measures   the   horizontal   distance   of   an   object   relative   to   a   coordinate   origin   point .   y   (   list ( float   -   meters   )   )   Cartesian   vertical   coordinate   y - axis .   It   measures   the   vertical   distance   of   an   object   relative   to   a   coordinate   origin   point .   yaw   (   list ( float   -   radians   )   )   Cartesian   yaw   angle .   It   is   the   orientation   angle   of   the   object .   ds   (   list ( float   -   meters   )   )   Cartesian   arc   length .   It   is   the   distance   between   two   trajectories '   points .   c   (   list ( float   -   1 / radian   )   )   Cartesian   curvature .   It   describes   the   degree   of   curvature   of   trajectories .   cv   (   float   )   Frenet   longitudinal   s ( velocity )   Cost   of   this   trajectory .   Initial   with   zero .   cd   (   float   )   Frenet   lateral   d   Cost   of   this   trajectory .   Initial   with   zero .   cf   (   float   )   Final   Cost   of   this   trajectory .   It   is   the   sum   of   longitudinal   and   lateral   Cost .   Initial   with   zero .   LatticePlanner   (   class   )   LatticePlanner   is   a   local   planner   which   generate   the   best   trajectory ,   so   called   FrenetPath   with   inputs ,   including   map ,   global   waypoints ,   etc .   Instance   Variables   route _ graph   (   DataType = Unkown   )   A   graph   that   represents   the   road   network   based   on   a   lanelet   map   and   traffic   rules .   In   FrenetPlanner ,   it ' s   used   to   get   left / right   lane   for   lateral   planning .   waypoints _ xy   (   list ( list ( float , float ) )   )   The   list   of   xy   coordinate   which   is   the   outputs   of   global   planner   which   is   so   called   global   waypoints .   For   instance ,   [ [ x   0   ,   y   0   ] ,   [ x   1   ,   y   1   ] ,   ... ]   .   state _ cartesian   (   list   )   Current   cartesian   state ,   defined   as   [ x ,   y ,   yaw ,   v ,   a ]   ,   where   x   y   is   xy   coordinates ,   yaw   refers   to   rotation   around   the   vertical   axis ,   v   is   velocity ,   a   is   acceleration .   state _ cartesian   is   measured   in   [ meters ,   meters ,   radians ,   m / s ,   m / s   2   ]   .   state _ frenet   (   list   )   Current   frenet   state ,   defined   as   [ s ,   s _ d ,   s _ dd ,   d ,   d _ d ,   d _ dd ]   .   Where ,   s   s _ d   and   s _ dd   represents   Frenet   longitudinal   coordinate   velocity   and   acceleration ,   d ,   d _ d   and   d _ dd   represents   lateral   coordinate   velocity   and   acceleration .   state _ frenet   is   measured   in   [ meters ,   m / s ,   m / s   2   ,   meters ,   m / s ,   m / s   2   ]   .   best _ path   (   FrenetPath   )   The   best   trajectory ( path )   of   FrenetPlanner   based   on   current   state _ frenet .   road _ detector   (   Sensor   )   Detect   road .   Return   road   line   position .   obstacle _ detector   (   Sensor   )   Detect   obstacle .   Return   True   when   obstacle   is   nearby   the   trajectory .   Methods   _ generate _ target _ course   (   self   )   Generates   smooth   reference   line   based   on   global   waypoints   by   using   cubic   spline   .   Return :   rx   ,   ry   ,   ryaw   ,   rk   ,   csp   _ calc _ frenet _ paths   (   self   )   Generates   all   frenet   paths   which   just   contain   Frenet   coordinate   and   cost   but   not   Cartesian   coordinate   by   sampling   time   Ti   ,   lateral   d   lat _ qp   and   longitudinal   s   lon _ qp   .   Return :   frenet _ paths   (   list ( FrenetPath )   )   _ calc _ frenet _ paths   (   self   ,   fplist   )   Gets   Cartesian   coordinate   of   frenet _ paths .   Parameters :   fplist   (   list ( FrenetPath )   )   -   frenet   paths   which   just   contain   Frenet   coordinate   and   cost   but   not   Cartesian   coordinate .   Return :   filtered _ fplist   (   list ( FrenetPath )   )   -   which   contain   Cartesian   coordinate ,   Frenet   coordinate   and   cost .   _ check _ paths   (   self   ,   fplist   )   Gets   comfortable ,   kinematically   feasible   trajectories .   Parameters :   fplist   (   list ( FrenetPath )   )   -   frenet   paths   which   contain   Cartesian   coordinate ,   Frenet   coordinate   and   cost .   Return :   fplist   (   list ( FrenetPath )   )   -   which   is   comfortable   and   kinematically   feasible .   frenet _ optimal _ planning   (   self   )   Gets   best   trajectory .   First   generates   all   trajectories   which   is   not   containing   Cartesian   coordinate   by   using   methods   LatticePlanner ._ generate _ target _ course   .   Then   gets   Cartesian   coordinate   trajectories   by   using   method   LatticePlanner ._ calc _ frenet _ paths   and   filters   not   kinematically   feasible   trajectories   by   using   LatticePlanner ._ check _ paths   .   Finally ,   gets   best   trajectory   by   minimizing   the   cost .   Return :   best _ path   (   FrenetPath   )   -   Trajectory   with   minimum   cost .   run _ step   (   self   ,   state _ cartesian   )   Main   method   of   LatticePlanner   which   calls   method   frenet _ optimal _ planning   to   get   a   best   trajectory .   Parameters :   state _ cartesian   (   [ x ,   y ,   yaw ,   ds ,   c ]   )   -   Currenet   Cartesian   coordinate   of   ego   vehicle .   Return :   Trajectory ( waypoints ,   speeds )   ( _ Trajectory   )   -   which   is   the   list   of   waypoint   [ x , y ]   _   and   speed .","title":"Frenet   Optimal   Trajectory"},{"location":"algorithms/Planning_/frenet_lattice/#frenet_lattice","text":"The   frenet _ lattice   planner   is   a   lattice   local   planner   that   implements   the   trajectory   generation   algorithm   proposed   in   the   paper   Optimal   Trajectory   Generation   for   Dynamic   Street   Scenarios   in   a   Fren \u00e9 t   Frame   .   In   the   frenet _ lattice   planner ,   you   can   just   use   LatticePlanner . run _ step   to   get   trajectory   with   inputs ,   such   as   current   Cartesian   state ,   etc .","title":"frenet _ lattice"},{"location":"algorithms/Planning_/frenet_lattice/#inputs","text":"The   inputs   of   frenet _ lattice   planner   can   come   from   the   Carla   simulator   or   from   physical   environments ;   they   include   several   types   of   data ,   such   as   a   map   providing   the   road   network   related   information   to   the   frenet _ lattice   planner   such   as   the   lane   width   of   the   different   roads ,   traffic   light   positions ,   standard   speed   limits ,   etc .   The   most   common   types   of   maps   are :   lanelet ,   OpenDRIVE ,   etc . ;   the   path   generated   by   the   global   route   planner   ,   providing   a   reference   course   leading   to   the   desired   destination ;   some   obstacle   information   about   obstacles   on   the   current   road ,   such   as   their   position ,   yaw ,   bounding   box ,   etc . ;   the   decision   generated   by   behavior   planner   on   how   to   control   the   vehicle ,   such   as   the   velocity   to   keep ,   Following ,   Merging ,   Stopping ,   etc .","title":"Inputs"},{"location":"algorithms/Planning_/frenet_lattice/#outputs","text":"The   output   of   frenet _ lattice   is   a   trajectory   which   contains   position   and   speed   of   the   vehicle .   Such   a   trajectory   must   be   dynamically   feasible   for   the   vehicle ,   comfortable   for   the   passenger ,   and   avoid   collisions   with   obstacles   detected   by   the   on - board   sensors .   In   practice ,   the   output   consists   of   the   trajectory   to   follow ,   including   information   about   speed ,   position ,   and   its   cost .","title":"Outputs"},{"location":"algorithms/Planning_/frenet_lattice/#frenetpath-class","text":"Store   the   trajectories ( paths )   which   are   generated   by   frenet _ lattice   planner .   This   class   not   only   contain   Frenet   coordinate   [ s ,   s _ d ,   s _ dd ,   s _ ddd ,   d ,   d _ dd ,   d _ ddd ]   and   Cartesian   coordinate   [ x ,   y ,   yaw ,   ds ,   c ]   ,   but   also   cost   of   trajectory .","title":"FrenetPath     ( class )"},{"location":"algorithms/Planning_/frenet_lattice/#instance-variables","text":"t   (   list ( float   -   seconds   )   )   Time   of   each   Frenet   point   in   Frenet   path .   s   (   list ( float   -   meters   )   )   Frenet   longitudinal   movement .   Also   represents   the   arc   length ,   indicates   the   distance   a   vehicle   has   traveled   along   the   road   centerline .   The   value   of   s   can   be   used   to   denote   the   vehicle ' s   position .   d   (   list ( float   -   meters   )   )   Frenet   lateral   offset .   Indicates   the   lateral   distance   of   the   vehicle   relative   to   the   road   centerline .   The   value   of   d   can   be   used   to   represent   the   vehicle ' s   lateral   position .   A   positive   value   indicates   the   vehicle   is   on   the   right   side   of   the   road ,   while   a   negative   value   indicates   the   left   side .   s _ d   (   list ( float   -   m / s   )   )   Frenet   longitudinal   velocity .   Indicates   the   speed   of   the   vehicle   in   the   direction   along   the   road   centerline .   d _ d   (   list ( float   -   m / s   )   )   Frenet   longitudinal   velocity . Represents   the   derivative   of   lateral   offset   d   with   respect   to   time .   It   denotes   the   rate   of   change   of   lateral   offset ,   indicating   how   rapidly   the   vehicle   is   changing   its   lateral   position .   s _ dd   (   list ( float   -   m / s   2   )   )   Frenet   longitudinal   acceleration .   Represents   the   rate   of   change   of   longitudinal   velocity .   It   quantifies   how   quickly   the   vehicle   is   speeding   up   or   slowing   down   along   the   road .   d _ dd   (   list ( float   -   m / s   2   )   )   Frenet   lateral   acceleration . Represents   the   rate   of   change   of   lateral   velocity .   It   quantifies   how   quickly   the   lateral   speed   of   the   vehicle   changes   over   time .   s _ ddd   (   list ( float   -   m / s   3   )   )   Frenet   longitudinal   jerk .   Represents   the   rate   of   change   of   longitudinal   acceleration .   It   is   related   to   driving   comfort .   d _ ddd   (   list ( float   -   m / s   3   )   )   Frenet   lateral   jerk . Represents   the   rate   of   change   of   lateral   acceleration .   It   is   related   to   driving   comfort .   x   (   list ( float   -   seconds   )   )   Cartesian   horizontal   coordinate   x - axis .   It   measures   the   horizontal   distance   of   an   object   relative   to   a   coordinate   origin   point .   y   (   list ( float   -   meters   )   )   Cartesian   vertical   coordinate   y - axis .   It   measures   the   vertical   distance   of   an   object   relative   to   a   coordinate   origin   point .   yaw   (   list ( float   -   radians   )   )   Cartesian   yaw   angle .   It   is   the   orientation   angle   of   the   object .   ds   (   list ( float   -   meters   )   )   Cartesian   arc   length .   It   is   the   distance   between   two   trajectories '   points .   c   (   list ( float   -   1 / radian   )   )   Cartesian   curvature .   It   describes   the   degree   of   curvature   of   trajectories .   cv   (   float   )   Frenet   longitudinal   s ( velocity )   Cost   of   this   trajectory .   Initial   with   zero .   cd   (   float   )   Frenet   lateral   d   Cost   of   this   trajectory .   Initial   with   zero .   cf   (   float   )   Final   Cost   of   this   trajectory .   It   is   the   sum   of   longitudinal   and   lateral   Cost .   Initial   with   zero .","title":"Instance   Variables"},{"location":"algorithms/Planning_/frenet_lattice/#latticeplanner-class","text":"LatticePlanner   is   a   local   planner   which   generate   the   best   trajectory ,   so   called   FrenetPath   with   inputs ,   including   map ,   global   waypoints ,   etc .","title":"LatticePlanner     ( class )"},{"location":"algorithms/Planning_/frenet_lattice/#instance-variables_1","text":"route _ graph   (   DataType = Unkown   )   A   graph   that   represents   the   road   network   based   on   a   lanelet   map   and   traffic   rules .   In   FrenetPlanner ,   it ' s   used   to   get   left / right   lane   for   lateral   planning .   waypoints _ xy   (   list ( list ( float , float ) )   )   The   list   of   xy   coordinate   which   is   the   outputs   of   global   planner   which   is   so   called   global   waypoints .   For   instance ,   [ [ x   0   ,   y   0   ] ,   [ x   1   ,   y   1   ] ,   ... ]   .   state _ cartesian   (   list   )   Current   cartesian   state ,   defined   as   [ x ,   y ,   yaw ,   v ,   a ]   ,   where   x   y   is   xy   coordinates ,   yaw   refers   to   rotation   around   the   vertical   axis ,   v   is   velocity ,   a   is   acceleration .   state _ cartesian   is   measured   in   [ meters ,   meters ,   radians ,   m / s ,   m / s   2   ]   .   state _ frenet   (   list   )   Current   frenet   state ,   defined   as   [ s ,   s _ d ,   s _ dd ,   d ,   d _ d ,   d _ dd ]   .   Where ,   s   s _ d   and   s _ dd   represents   Frenet   longitudinal   coordinate   velocity   and   acceleration ,   d ,   d _ d   and   d _ dd   represents   lateral   coordinate   velocity   and   acceleration .   state _ frenet   is   measured   in   [ meters ,   m / s ,   m / s   2   ,   meters ,   m / s ,   m / s   2   ]   .   best _ path   (   FrenetPath   )   The   best   trajectory ( path )   of   FrenetPlanner   based   on   current   state _ frenet .   road _ detector   (   Sensor   )   Detect   road .   Return   road   line   position .   obstacle _ detector   (   Sensor   )   Detect   obstacle .   Return   True   when   obstacle   is   nearby   the   trajectory .","title":"Instance   Variables"},{"location":"algorithms/Planning_/frenet_lattice/#methods","text":"_ generate _ target _ course   (   self   )   Generates   smooth   reference   line   based   on   global   waypoints   by   using   cubic   spline   .   Return :   rx   ,   ry   ,   ryaw   ,   rk   ,   csp   _ calc _ frenet _ paths   (   self   )   Generates   all   frenet   paths   which   just   contain   Frenet   coordinate   and   cost   but   not   Cartesian   coordinate   by   sampling   time   Ti   ,   lateral   d   lat _ qp   and   longitudinal   s   lon _ qp   .   Return :   frenet _ paths   (   list ( FrenetPath )   )   _ calc _ frenet _ paths   (   self   ,   fplist   )   Gets   Cartesian   coordinate   of   frenet _ paths .   Parameters :   fplist   (   list ( FrenetPath )   )   -   frenet   paths   which   just   contain   Frenet   coordinate   and   cost   but   not   Cartesian   coordinate .   Return :   filtered _ fplist   (   list ( FrenetPath )   )   -   which   contain   Cartesian   coordinate ,   Frenet   coordinate   and   cost .   _ check _ paths   (   self   ,   fplist   )   Gets   comfortable ,   kinematically   feasible   trajectories .   Parameters :   fplist   (   list ( FrenetPath )   )   -   frenet   paths   which   contain   Cartesian   coordinate ,   Frenet   coordinate   and   cost .   Return :   fplist   (   list ( FrenetPath )   )   -   which   is   comfortable   and   kinematically   feasible .   frenet _ optimal _ planning   (   self   )   Gets   best   trajectory .   First   generates   all   trajectories   which   is   not   containing   Cartesian   coordinate   by   using   methods   LatticePlanner ._ generate _ target _ course   .   Then   gets   Cartesian   coordinate   trajectories   by   using   method   LatticePlanner ._ calc _ frenet _ paths   and   filters   not   kinematically   feasible   trajectories   by   using   LatticePlanner ._ check _ paths   .   Finally ,   gets   best   trajectory   by   minimizing   the   cost .   Return :   best _ path   (   FrenetPath   )   -   Trajectory   with   minimum   cost .   run _ step   (   self   ,   state _ cartesian   )   Main   method   of   LatticePlanner   which   calls   method   frenet _ optimal _ planning   to   get   a   best   trajectory .   Parameters :   state _ cartesian   (   [ x ,   y ,   yaw ,   ds ,   c ]   )   -   Currenet   Cartesian   coordinate   of   ego   vehicle .   Return :   Trajectory ( waypoints ,   speeds )   ( _ Trajectory   )   -   which   is   the   list   of   waypoint   [ x , y ]   _   and   speed .","title":"Methods"},{"location":"algorithms/Planning_/lanelet_planner/","text":"Lanelet2Planner   A   global   trajectory   planner   based   on   Lanelet2   HD - Map .   The   implementation   relies   on   the   Lanelet2   Python   API   .   Currently ,   the   global   planner   will   find   the   closest   lanelets   for   both   the   start   point   and   the   end   point .   Then ,   it   will   use   the   Lanelet2   routing   module   to   generate   a   submap   containing   all   possible   lanelets   from   the   start   lanelet   to   the   end   lanelet .   A   trajectory   will   then   be   generated   using   the   modified   flood - fill   algorithm   so   that   it   will   connect   the   start   point   to   the   end   point :   Start   point   - >   Start   lanelet   - >   End   lanelet   - >   End   point .   { :   . note   }   The   ISS   global   planner   module   currently   uses   the   Lanelet2   HDMap   format .   Since   the   Lanelet2   Python   API   only   supports   Linux   systems ,   this   module   may   not   work   properly   in   other   platforms .   We   will   separate   the   mapping   and   the   planning   module   apart   in   a   future   release   and   support   more   HDMap   formats   ( e . g .   OpenDrive ) .   Instance   Variables   lanelet _ map   (   lanelet2 . core . LaneletMap   )   The   lanelet2   HDMap   for   current   location .   traffic _ rules   (   lanelet2 . traffic _ rule   )   The   lanelet2   definition   of   traffic   rules   of   current   map .   collision _ detector   (   utils . vehicleutils . CollisionChecker   )   The   collision   checker   of   solid   road   line .   reverse _ y   (   boolean   )   When   True   the   y - coordinate   will   be   reversed .   ( Left - hand   to   Right - hand   coordinates ,   vice   versa )","title":"Lanelet2   Global   Planner"},{"location":"algorithms/Planning_/lanelet_planner/#lanelet2planner","text":"A   global   trajectory   planner   based   on   Lanelet2   HD - Map .   The   implementation   relies   on   the   Lanelet2   Python   API   .   Currently ,   the   global   planner   will   find   the   closest   lanelets   for   both   the   start   point   and   the   end   point .   Then ,   it   will   use   the   Lanelet2   routing   module   to   generate   a   submap   containing   all   possible   lanelets   from   the   start   lanelet   to   the   end   lanelet .   A   trajectory   will   then   be   generated   using   the   modified   flood - fill   algorithm   so   that   it   will   connect   the   start   point   to   the   end   point :   Start   point   - >   Start   lanelet   - >   End   lanelet   - >   End   point .   { :   . note   }   The   ISS   global   planner   module   currently   uses   the   Lanelet2   HDMap   format .   Since   the   Lanelet2   Python   API   only   supports   Linux   systems ,   this   module   may   not   work   properly   in   other   platforms .   We   will   separate   the   mapping   and   the   planning   module   apart   in   a   future   release   and   support   more   HDMap   formats   ( e . g .   OpenDrive ) .","title":"Lanelet2Planner"},{"location":"algorithms/Planning_/lanelet_planner/#instance-variables","text":"lanelet _ map   (   lanelet2 . core . LaneletMap   )   The   lanelet2   HDMap   for   current   location .   traffic _ rules   (   lanelet2 . traffic _ rule   )   The   lanelet2   definition   of   traffic   rules   of   current   map .   collision _ detector   (   utils . vehicleutils . CollisionChecker   )   The   collision   checker   of   solid   road   line .   reverse _ y   (   boolean   )   When   True   the   y - coordinate   will   be   reversed .   ( Left - hand   to   Right - hand   coordinates ,   vice   versa )","title":"Instance   Variables"},{"location":"algorithms/Sensors/_BeamNG/","text":"Sensors   for   interaction   between   ISS   and   BeamNG .   BeamNG   Sensors   { :   . d - inline - block   }   ( WIP )   { :   . label   . label - blue }   BeamNG   sensor   is   currently   WIP .","title":"BeamNG   Sensors"},{"location":"algorithms/Sensors/_BeamNG/#beamng-sensors","text":"{ :   . d - inline - block   }   ( WIP )   { :   . label   . label - blue }   BeamNG   sensor   is   currently   WIP .","title":"BeamNG   Sensors"},{"location":"algorithms/Sensors/_CARLA/","text":"Sensors   in   CARLA   Sensors   in   CARLA   compound   a   specific   family   of   actors   that   are   quite   diverse   and   unique   from   the   other   CARLA   actors ;   they   model   different   sensing   capabilities   that   can   be   used   in   self - driving   systems .   Sensors   are   represented   by   CARLA   actors   that   are   normally   spawned   as   attachment / sons   of   a   vehicle .   Sensors   are   thoroughly   designed   to   retrieve   different   types   of   data   that   they   are   listening   to .   Most   sensors   can   be   divided   in   two   groups :   those   receiving   data   on   every   tick   ( cameras ,   point   clouds   and   some   other   specific   sensors )   and   those   who   only   receive   under   certain   circumstances   ( trigger   detectors ) .   CARLA   provides   a   specific   set   of   sensors   and   their   blueprint   can   be   found   in   carla . BlueprintLibrary   .   Instance   Variables   is _ listening   (   boolean   )   When   True   the   sensor   will   be   waiting   for   data .   Methods   listen   (   self   ,   callback   )   snippet   \u2192   The   function   the   sensor   will   be   calling   to   every   time   a   new   measurement   is   received .   This   function   needs   for   an   argument   containing   an   object   type   carla . SensorData   to   work   with .   Parameters :   callback   (   function   )   -   The   called   function   with   one   argument   containing   the   sensor   data .   stop   (   self   )   Commands   the   sensor   to   stop   listening   for   data .   CarlaCamera   The   \" RGB \"   camera   acts   as   a   regular   camera   capturing   images   from   the   scene .   A   CARLA   camera   can   be   tuned   with   respect   to   multiple   parameters ,   such   as   sensor _ tick   and   enable _ postprocess _ effects   .   The   numeric   sensor _ tick   parameter   controls   how   fast   we   want   the   sensor   to   capture   the   scene :   for   example ,   a   value   of   1.5   means   that   we   want   the   sensor   to   capture   an   image   each   second   and   a   half .   The   value   0.0   is   used   as   default   and   it   instructs   the   camera   to   capture   images   as   fast   as   possible .   The   enable _ postprocess _ effects   parameters   allows   the   user   to   increase   the   realism   of   the   captured   images ,   by   applying   the   corresponding   set   of   post - process   effects :   Vignette :   darkens   the   border   of   the   screen .   Grain   jitter :   adds   some   noise   to   the   render .   Bloom :   intense   lights   burn   the   area   around   them .   Auto   exposure :   modifies   the   image   gamma   to   simulate   the   eye   adaptation   to   darker   or   brighter   areas .   Lens   flares :   simulates   the   reflection   of   bright   objects   on   the   lens .   Depth   of   field :   blurs   objects   near   or   very   far   away   from   the   camera .   CarlaLiDAR   This   sensor   simulates   a   rotating   LiDAR   implemented   using   ray - casting .   The   points   are   computed   by   adding   a   laser   beam   for   each   channel   distributed   in   the   vertical   FOV .   The   rotation   is   simulated   by   computing   the   horizontal   angle   corresponding   to   how   much   the   LiDAR   rotated   between   two   consecutive   frames   taken   with   frequency   FPS   ,   that   is ,   the   LiDAR   rotation   angle   in   1 / FPS   seconds .   The   point   cloud   is   calculated   by   doing   a   ray - cast   for   each   laser   beam   in   every   step .   points _ per _ channel _ each _ step   =   points _ per _ second   /   ( FPS   *   channels )   A   LIDAR   measurement   contains   a   package   with   all   the   points   generated   during   an   interval   of   length   1 / FPS   .   During   this   interval   the   physics   of   the   world   are   not   updated   so   all   points   in   the   measurement   reflect   the   same   \" static   picture \"   of   the   scene .   This   output   contains   a   cloud   of   simulation   points   and   thus ,   it   can   be   iterated   to   retrieve   a   list   of   their   carla . Location   :   for   location   in   lidar _ measurement :   print ( location )   The   information   of   the   LiDAR   measurement   is   encoded   by   means   of   4D   points .   The   first   three   dimensions   represent   the   space   points   in   the   usual   XYZ   spatial   coordinates ;   the   last   one   stands   for   the   intensity   loss   during   the   travel .   This   intensity   is   computed   by   the   following   formula .   a   \u2014   Attenuation   coefficient .   This   may   depend   on   the   sensor ' s   wavelength ,   and   the   conditions   of   the   atmosphere .   It   can   be   modified   with   the   LiDAR   attribute   atmosphere _ attenuation _ rate   .   d   \u2014   Distance   from   the   hit   point   to   the   sensor .   For   a   better   realism ,   points   in   the   cloud   can   be   dropped   off .   This   is   an   easy   way   to   simulate   loss   due   to   external   perturbations .   This   can   done   combining   two   different   parameters .   General   drop - off   \u2014   Proportion   of   points   that   are   dropped   off   randomly .   This   is   done   before   the   tracing ,   meaning   the   points   being   dropped   are   not   calculated ,   thus   improving   the   performance .   If   dropoff _ general _ rate   =   0.5   ,   half   of   the   points   will   be   dropped .   Intensity - based   drop - off   \u2014   For   each   point   detected ,   and   extra   drop - off   is   performed   with   a   probability   based   in   the   computed   intensity .   This   probability   is   determined   by   two   parameters :   dropoff _ zero _ intensity   and   dropoff _ intensity _ limit   ,   where   is   the   probability   of   points   with   zero   intensity   to   be   dropped   while   dropoff _ intensity _ limit   is   a   threshold   intensity   above   which   no   points   will   be   dropped .   The   probability   of   a   point   within   the   range   to   be   dropped   is   a   linear   proportion   based   on   these   two   parameters .   Additionally ,   the   noise _ stddev   attribute   makes   for   a   noise   model   to   simulate   unexpected   deviations   that   appear   in   real - life   sensors .   For   positive   values ,   each   point   is   randomly   perturbed   along   the   vector   of   the   laser   beam .   The   result   is   a   LiDAR   sensor   with   perfect   angular   positioning ,   but   noisy   distance   measurement .   The   rotation   of   the   LiDAR   can   be   tuned   to   cover   a   specific   angle   on   every   simulation   step   ( using   a   fixed   time - step   ) .   For   example ,   to   rotate   once   per   step   ( full   circle   output ,   as   in   the   picture   below ) ,   the   rotation   frequency   and   the   simulated   FPS   should   be   the   same ;   this   can   be   obtained   by   1 .   Setting   the   sensor ' s   rotation _ frequency   attribute   sensors _ bp [ ' lidar ' ] [ 0 ] . set _ attribute ( ' rotation _ frequency ' , ' 10 ' )   .   2 .   Running   the   simulation   using   the   option   -- fps = N   ,   e . g . ,   python3   config . py   -- fps = 10   .   CarlaGNSS   Blueprint :   sensor . other . gnss   Output :   carla . GNSSMeasurement   per   step   ( unless   sensor _ tick   says   otherwise ) .   This   sensors   models   a   GPS   receiver   and   it   provides   the   current   GNSS   position   of   the   vehicle   the   sensor   is   attached   to .   The   current   coordinates   are   calculated   by   adding   the   metric   position   to   an   initial   geo   reference   location   defined   within   the   OpenDRIVE   map   definition .   GNSS   attributes   Blueprint   attribute   Type   Default   Description   noise _ alt _ bias   float   0.0   Mean   parameter   in   the   noise   model   for   altitude .   noise _ alt _ stddev   float   0.0   Standard   deviation   parameter   in   the   noise   model   for   altitude .   noise _ lat _ bias   float   0.0   Mean   parameter   in   the   noise   model   for   latitude .   noise _ lat _ stddev   float   0.0   Standard   deviation   parameter   in   the   noise   model   for   latitude .   noise _ lon _ bias   float   0.0   Mean   parameter   in   the   noise   model   for   longitude .   noise _ lon _ stddev   float   0.0   Standard   deviation   parameter   in   the   noise   model   for   longitude .   noise _ seed   int   0   Initializer   for   a   pseudorandom   number   generator .   sensor _ tick   float   0.0   Simulation   seconds   between   sensor   captures   ( ticks ) .   Output   attributes   Sensor   data   attribute   Type   Description   frame   int   Frame   number   when   the   measurement   took   place .   timestamp   double   Simulation   time   of   the   measurement   in   seconds   since   the   beginning   of   the   episode .   transform   carla . Transform   Location   and   rotation   in   world   coordinates   of   the   sensor   at   the   time   of   the   measurement .   latitude   double   Latitude   of   the   actor .   longitude   double   Longitude   of   the   actor .   altitude   double   Altitude   of   the   actor .","title":"CARLA   Sensors"},{"location":"algorithms/Sensors/_CARLA/#sensors-in-carla","text":"Sensors   in   CARLA   compound   a   specific   family   of   actors   that   are   quite   diverse   and   unique   from   the   other   CARLA   actors ;   they   model   different   sensing   capabilities   that   can   be   used   in   self - driving   systems .   Sensors   are   represented   by   CARLA   actors   that   are   normally   spawned   as   attachment / sons   of   a   vehicle .   Sensors   are   thoroughly   designed   to   retrieve   different   types   of   data   that   they   are   listening   to .   Most   sensors   can   be   divided   in   two   groups :   those   receiving   data   on   every   tick   ( cameras ,   point   clouds   and   some   other   specific   sensors )   and   those   who   only   receive   under   certain   circumstances   ( trigger   detectors ) .   CARLA   provides   a   specific   set   of   sensors   and   their   blueprint   can   be   found   in   carla . BlueprintLibrary   .","title":"Sensors   in   CARLA"},{"location":"algorithms/Sensors/_CARLA/#instance-variables","text":"is _ listening   (   boolean   )   When   True   the   sensor   will   be   waiting   for   data .","title":"Instance   Variables"},{"location":"algorithms/Sensors/_CARLA/#methods","text":"listen   (   self   ,   callback   )   snippet   \u2192   The   function   the   sensor   will   be   calling   to   every   time   a   new   measurement   is   received .   This   function   needs   for   an   argument   containing   an   object   type   carla . SensorData   to   work   with .   Parameters :   callback   (   function   )   -   The   called   function   with   one   argument   containing   the   sensor   data .   stop   (   self   )   Commands   the   sensor   to   stop   listening   for   data .","title":"Methods"},{"location":"algorithms/Sensors/_CARLA/#carlacamera","text":"The   \" RGB \"   camera   acts   as   a   regular   camera   capturing   images   from   the   scene .   A   CARLA   camera   can   be   tuned   with   respect   to   multiple   parameters ,   such   as   sensor _ tick   and   enable _ postprocess _ effects   .   The   numeric   sensor _ tick   parameter   controls   how   fast   we   want   the   sensor   to   capture   the   scene :   for   example ,   a   value   of   1.5   means   that   we   want   the   sensor   to   capture   an   image   each   second   and   a   half .   The   value   0.0   is   used   as   default   and   it   instructs   the   camera   to   capture   images   as   fast   as   possible .   The   enable _ postprocess _ effects   parameters   allows   the   user   to   increase   the   realism   of   the   captured   images ,   by   applying   the   corresponding   set   of   post - process   effects :   Vignette :   darkens   the   border   of   the   screen .   Grain   jitter :   adds   some   noise   to   the   render .   Bloom :   intense   lights   burn   the   area   around   them .   Auto   exposure :   modifies   the   image   gamma   to   simulate   the   eye   adaptation   to   darker   or   brighter   areas .   Lens   flares :   simulates   the   reflection   of   bright   objects   on   the   lens .   Depth   of   field :   blurs   objects   near   or   very   far   away   from   the   camera .","title":"CarlaCamera"},{"location":"algorithms/Sensors/_CARLA/#carlalidar","text":"This   sensor   simulates   a   rotating   LiDAR   implemented   using   ray - casting .   The   points   are   computed   by   adding   a   laser   beam   for   each   channel   distributed   in   the   vertical   FOV .   The   rotation   is   simulated   by   computing   the   horizontal   angle   corresponding   to   how   much   the   LiDAR   rotated   between   two   consecutive   frames   taken   with   frequency   FPS   ,   that   is ,   the   LiDAR   rotation   angle   in   1 / FPS   seconds .   The   point   cloud   is   calculated   by   doing   a   ray - cast   for   each   laser   beam   in   every   step .   points _ per _ channel _ each _ step   =   points _ per _ second   /   ( FPS   *   channels )   A   LIDAR   measurement   contains   a   package   with   all   the   points   generated   during   an   interval   of   length   1 / FPS   .   During   this   interval   the   physics   of   the   world   are   not   updated   so   all   points   in   the   measurement   reflect   the   same   \" static   picture \"   of   the   scene .   This   output   contains   a   cloud   of   simulation   points   and   thus ,   it   can   be   iterated   to   retrieve   a   list   of   their   carla . Location   :   for   location   in   lidar _ measurement :   print ( location )   The   information   of   the   LiDAR   measurement   is   encoded   by   means   of   4D   points .   The   first   three   dimensions   represent   the   space   points   in   the   usual   XYZ   spatial   coordinates ;   the   last   one   stands   for   the   intensity   loss   during   the   travel .   This   intensity   is   computed   by   the   following   formula .   a   \u2014   Attenuation   coefficient .   This   may   depend   on   the   sensor ' s   wavelength ,   and   the   conditions   of   the   atmosphere .   It   can   be   modified   with   the   LiDAR   attribute   atmosphere _ attenuation _ rate   .   d   \u2014   Distance   from   the   hit   point   to   the   sensor .   For   a   better   realism ,   points   in   the   cloud   can   be   dropped   off .   This   is   an   easy   way   to   simulate   loss   due   to   external   perturbations .   This   can   done   combining   two   different   parameters .   General   drop - off   \u2014   Proportion   of   points   that   are   dropped   off   randomly .   This   is   done   before   the   tracing ,   meaning   the   points   being   dropped   are   not   calculated ,   thus   improving   the   performance .   If   dropoff _ general _ rate   =   0.5   ,   half   of   the   points   will   be   dropped .   Intensity - based   drop - off   \u2014   For   each   point   detected ,   and   extra   drop - off   is   performed   with   a   probability   based   in   the   computed   intensity .   This   probability   is   determined   by   two   parameters :   dropoff _ zero _ intensity   and   dropoff _ intensity _ limit   ,   where   is   the   probability   of   points   with   zero   intensity   to   be   dropped   while   dropoff _ intensity _ limit   is   a   threshold   intensity   above   which   no   points   will   be   dropped .   The   probability   of   a   point   within   the   range   to   be   dropped   is   a   linear   proportion   based   on   these   two   parameters .   Additionally ,   the   noise _ stddev   attribute   makes   for   a   noise   model   to   simulate   unexpected   deviations   that   appear   in   real - life   sensors .   For   positive   values ,   each   point   is   randomly   perturbed   along   the   vector   of   the   laser   beam .   The   result   is   a   LiDAR   sensor   with   perfect   angular   positioning ,   but   noisy   distance   measurement .   The   rotation   of   the   LiDAR   can   be   tuned   to   cover   a   specific   angle   on   every   simulation   step   ( using   a   fixed   time - step   ) .   For   example ,   to   rotate   once   per   step   ( full   circle   output ,   as   in   the   picture   below ) ,   the   rotation   frequency   and   the   simulated   FPS   should   be   the   same ;   this   can   be   obtained   by   1 .   Setting   the   sensor ' s   rotation _ frequency   attribute   sensors _ bp [ ' lidar ' ] [ 0 ] . set _ attribute ( ' rotation _ frequency ' , ' 10 ' )   .   2 .   Running   the   simulation   using   the   option   -- fps = N   ,   e . g . ,   python3   config . py   -- fps = 10   .","title":"CarlaLiDAR"},{"location":"algorithms/Sensors/_CARLA/#carlagnss","text":"Blueprint :   sensor . other . gnss   Output :   carla . GNSSMeasurement   per   step   ( unless   sensor _ tick   says   otherwise ) .   This   sensors   models   a   GPS   receiver   and   it   provides   the   current   GNSS   position   of   the   vehicle   the   sensor   is   attached   to .   The   current   coordinates   are   calculated   by   adding   the   metric   position   to   an   initial   geo   reference   location   defined   within   the   OpenDRIVE   map   definition .","title":"CarlaGNSS"},{"location":"algorithms/Sensors/_CARLA/#gnss-attributes","text":"Blueprint   attribute   Type   Default   Description   noise _ alt _ bias   float   0.0   Mean   parameter   in   the   noise   model   for   altitude .   noise _ alt _ stddev   float   0.0   Standard   deviation   parameter   in   the   noise   model   for   altitude .   noise _ lat _ bias   float   0.0   Mean   parameter   in   the   noise   model   for   latitude .   noise _ lat _ stddev   float   0.0   Standard   deviation   parameter   in   the   noise   model   for   latitude .   noise _ lon _ bias   float   0.0   Mean   parameter   in   the   noise   model   for   longitude .   noise _ lon _ stddev   float   0.0   Standard   deviation   parameter   in   the   noise   model   for   longitude .   noise _ seed   int   0   Initializer   for   a   pseudorandom   number   generator .   sensor _ tick   float   0.0   Simulation   seconds   between   sensor   captures   ( ticks ) .","title":"GNSS   attributes"},{"location":"algorithms/Sensors/_CARLA/#output-attributes","text":"Sensor   data   attribute   Type   Description   frame   int   Frame   number   when   the   measurement   took   place .   timestamp   double   Simulation   time   of   the   measurement   in   seconds   since   the   beginning   of   the   episode .   transform   carla . Transform   Location   and   rotation   in   world   coordinates   of   the   sensor   at   the   time   of   the   measurement .   latitude   double   Latitude   of   the   actor .   longitude   double   Longitude   of   the   actor .   altitude   double   Altitude   of   the   actor .","title":"Output   attributes"},{"location":"algorithms/Sensors/_index/","text":"Sensors   in   Self - driving   Systems   Sensor   classes   based   on   the   data   source ,   such   as   simulators   like   CARLA   and   BeamNG   and   real   vehicles ,   play   a   pivotal   role   in   the   development   and   testing   of   autonomous   driving   systems .   These   sensors   serve   as   the   eyes   and   ears   of   self - driving   vehicles ,   providing   crucial   data   for   navigation ,   perception ,   and   decision - making   algorithms .   In   this   context ,   sensor   simulation   becomes   a   critical   component   of   the   development   process ,   allowing   engineers   to   assess   the   system ' s   performance   in   a   controlled   environment   before   deploying   it   in   the   real   world .   Simulators   like   CARLA   and   BeamNG   are   powerful   tools   for   sensor   simulation ,   offering   a   range   of   sensor   classes   that   mimic   the   behavior   of   real - world   sensors .   These   simulators   generate   synthetic   data ,   replicating   the   sensory   input   that   an   autonomous   vehicle   would   receive   while   driving .   The   sensors   commonly   simulated   in   these   environments   include :   LiDAR   ( Light   Detection   and   Ranging )   :   Simulated   LiDAR   sensors   emit   laser   beams   and   measure   their   reflection   from   surrounding   objects ,   providing   detailed   3D   point   clouds .   These   simulators   replicate   the   physics   of   LiDAR ,   including   beam   divergence   and   range   accuracy ,   allowing   developers   to   evaluate   their   algorithms '   performance   in   various   scenarios .   { :   . center - image   width = \" 480 \" }   Radar   :   Radar   sensors   use   radio   waves   to   detect   objects   and   their   relative   speed .   Simulated   radar   sensors   emulate   the   radar   signal ' s   propagation   and   reflection ,   including   effects   like   interference   and   attenuation ,   to   generate   realistic   sensor   data .   { :   . center - image   width = \" 480 \" }   Camera   :   Simulated   cameras   replicate   the   behavior   of   vision   sensors ,   including   factors   such   as   lens   distortion ,   exposure ,   and   image   noise .   These   simulations   enable   the   testing   of   computer   vision   algorithms   for   tasks   like   object   detection ,   lane   tracking ,   and   traffic   sign   recognition .   { :   . center - image   width = \" 480 \" }   GPS   and   IMU   ( Inertial   Measurement   Unit )   :   Simulated   GPS   and   IMU   sensors   provide   vehicle   localization   and   orientation   data .   These   sensors   simulate   satellite   signals   and   vehicle   movements ,   allowing   developers   to   assess   GPS - based   localization   and   sensor   fusion   algorithms .   Ultrasonic   Sensors   :   Simulated   ultrasonic   sensors   model   the   way   ultrasonic   waves   bounce   off   objects   to   measure   distances .   They   are   crucial   for   detecting   nearby   obstacles   during   parking   and   low - speed   maneuvers .   Wheel   Odometry   :   Simulated   wheel   odometry   sensors   estimate   the   vehicle ' s   motion   based   on   wheel   rotations .   These   sensors   aid   in   dead   reckoning   and   can   be   used   for   localization   when   GPS   signals   are   weak   or   unavailable .   Data   generated   by   these   simulated   sensors   is   typically   provided   in   formats   that   mimic   real - world   sensor   outputs ,   such   as   point   clouds   for   LiDAR ,   radar   sweeps   for   radar ,   and   image   frames   for   cameras .   Developers   can   configure   the   sensor   properties   and   environmental   conditions   within   the   simulators   to   create   diverse   testing   scenarios ,   including   different   weather   conditions ,   traffic   patterns ,   and   road   types .   In   summary ,   sensor   simulation   in   autonomous   driving   development ,   whether   its   data   is   produced   by   simulators   like   CARLA   and   BeamNG   or   collected   by   using   real   vehicles ,   is   indispensable   for   verifying   and   fine - tuning   perception   and   control   algorithms .   It   allows   developers   to   evaluate   the   robustness   and   reliability   of   these   systems   under   various   conditions ,   ultimately   contributing   to   the   safe   deployment   of   autonomous   vehicles   on   our   roads .","title":"Sensors"},{"location":"algorithms/Sensors/_index/#sensors-in-self-driving-systems","text":"Sensor   classes   based   on   the   data   source ,   such   as   simulators   like   CARLA   and   BeamNG   and   real   vehicles ,   play   a   pivotal   role   in   the   development   and   testing   of   autonomous   driving   systems .   These   sensors   serve   as   the   eyes   and   ears   of   self - driving   vehicles ,   providing   crucial   data   for   navigation ,   perception ,   and   decision - making   algorithms .   In   this   context ,   sensor   simulation   becomes   a   critical   component   of   the   development   process ,   allowing   engineers   to   assess   the   system ' s   performance   in   a   controlled   environment   before   deploying   it   in   the   real   world .   Simulators   like   CARLA   and   BeamNG   are   powerful   tools   for   sensor   simulation ,   offering   a   range   of   sensor   classes   that   mimic   the   behavior   of   real - world   sensors .   These   simulators   generate   synthetic   data ,   replicating   the   sensory   input   that   an   autonomous   vehicle   would   receive   while   driving .   The   sensors   commonly   simulated   in   these   environments   include :   LiDAR   ( Light   Detection   and   Ranging )   :   Simulated   LiDAR   sensors   emit   laser   beams   and   measure   their   reflection   from   surrounding   objects ,   providing   detailed   3D   point   clouds .   These   simulators   replicate   the   physics   of   LiDAR ,   including   beam   divergence   and   range   accuracy ,   allowing   developers   to   evaluate   their   algorithms '   performance   in   various   scenarios .   { :   . center - image   width = \" 480 \" }   Radar   :   Radar   sensors   use   radio   waves   to   detect   objects   and   their   relative   speed .   Simulated   radar   sensors   emulate   the   radar   signal ' s   propagation   and   reflection ,   including   effects   like   interference   and   attenuation ,   to   generate   realistic   sensor   data .   { :   . center - image   width = \" 480 \" }   Camera   :   Simulated   cameras   replicate   the   behavior   of   vision   sensors ,   including   factors   such   as   lens   distortion ,   exposure ,   and   image   noise .   These   simulations   enable   the   testing   of   computer   vision   algorithms   for   tasks   like   object   detection ,   lane   tracking ,   and   traffic   sign   recognition .   { :   . center - image   width = \" 480 \" }   GPS   and   IMU   ( Inertial   Measurement   Unit )   :   Simulated   GPS   and   IMU   sensors   provide   vehicle   localization   and   orientation   data .   These   sensors   simulate   satellite   signals   and   vehicle   movements ,   allowing   developers   to   assess   GPS - based   localization   and   sensor   fusion   algorithms .   Ultrasonic   Sensors   :   Simulated   ultrasonic   sensors   model   the   way   ultrasonic   waves   bounce   off   objects   to   measure   distances .   They   are   crucial   for   detecting   nearby   obstacles   during   parking   and   low - speed   maneuvers .   Wheel   Odometry   :   Simulated   wheel   odometry   sensors   estimate   the   vehicle ' s   motion   based   on   wheel   rotations .   These   sensors   aid   in   dead   reckoning   and   can   be   used   for   localization   when   GPS   signals   are   weak   or   unavailable .   Data   generated   by   these   simulated   sensors   is   typically   provided   in   formats   that   mimic   real - world   sensor   outputs ,   such   as   point   clouds   for   LiDAR ,   radar   sweeps   for   radar ,   and   image   frames   for   cameras .   Developers   can   configure   the   sensor   properties   and   environmental   conditions   within   the   simulators   to   create   diverse   testing   scenarios ,   including   different   weather   conditions ,   traffic   patterns ,   and   road   types .   In   summary ,   sensor   simulation   in   autonomous   driving   development ,   whether   its   data   is   produced   by   simulators   like   CARLA   and   BeamNG   or   collected   by   using   real   vehicles ,   is   indispensable   for   verifying   and   fine - tuning   perception   and   control   algorithms .   It   allows   developers   to   evaluate   the   robustness   and   reliability   of   these   systems   under   various   conditions ,   ultimately   contributing   to   the   safe   deployment   of   autonomous   vehicles   on   our   roads .","title":"Sensors   in   Self - driving   Systems"},{"location":"algorithms/perception_/","text":"Perception   { :   . d - inline - block   }   Introduction   to   the   Perception   Module   The   ISS   perception   module   provides   support   to   multiple   perception   tasks ,   such   as   3D   obstacle   perception ,   2D   object   recognition ,   2D   semantic   segmentation ,   and   sensor - based   Bird ' s   Eye   View   ( BEV )   map   generation .   Our   team   is   focused   on   developing   and   refining   these   critical   perception   tasks .   These   tasks   serve   as   the   foundation   for   enabling   our   vehicles   to   navigate   complex   environments   with   safety   and   precision .   Tasks   The   different   tasks   supported   by   the   ISS   perception   module   allow   our   vehicles   to   learn   specific   properties   of   the   surrounding   environment   and   its   elements .   3D   Obstacle   Detection   :   Our   system   employs   advanced   sensor   technologies   to   detect   and   analyze   three - dimensional   obstacles   in   real - time .   This   capability   allows   our   autonomous   vehicles   to   make   informed   decisions   and   ensure   safe   navigation ,   even   in   dynamic   and   challenging   scenarios .   2D   Object   Detection   :   Recognizing   and   identifying   objects   in   the   vehicle ' s   surroundings   is   crucial   for   safe   navigation .   Our   framework   utilizes   cutting - edge   algorithms   to   identify   and   classify   various   objects ,   such   as   pedestrians ,   vehicles ,   and   signage ,   contributing   to   enhanced   situational   awareness .   { :   . center - image   }   3D   Obstacle   Perception   and   2D   Object   Detection   { :   . text - center }   2D   Semantic   Segmentation   :   Semantic   segmentation   is   an   essential   task   for   understanding   the   environment   in   detail .   We   leverage   state - of - the - art   techniques   to   partition   the   scene   into   meaningful   segments ,   enabling   our   vehicles   to   comprehend   the   road   layout   and   better   respond   to   complex   urban   landscapes .   { :   . center - image   }   Sensor - Based   BEV   Map   Generation   :   Our   system   generates   a   Bird ' s   Eye   View   ( BEV )   map   using   sensor   data ,   providing   a   holistic   view   of   the   vehicle ' s   surroundings .   This   map   serves   as   a   valuable   tool   for   path   planning   and   decision - making ,   enhancing   the   vehicle ' s   ability   to   navigate   efficiently   and   safely .   At   present ,   we   are   diligently   working   on   these   modules ,   and   we   are   pleased   to   share   that   we   have   developed   initial   models   for   the   first   three   tasks .   However ,   it ' s   important   to   note   that   these   models   are   still   undergoing   refinement   to   enhance   their   performance   and   reliability .   We   also   provide   a   dataset   about   the   object   detection   generated   by   ISS .   Still   updating .","title":"Perception"},{"location":"algorithms/perception_/#perception","text":"{ :   . d - inline - block   }","title":"Perception"},{"location":"algorithms/perception_/#introduction-to-the-perception-module","text":"The   ISS   perception   module   provides   support   to   multiple   perception   tasks ,   such   as   3D   obstacle   perception ,   2D   object   recognition ,   2D   semantic   segmentation ,   and   sensor - based   Bird ' s   Eye   View   ( BEV )   map   generation .   Our   team   is   focused   on   developing   and   refining   these   critical   perception   tasks .   These   tasks   serve   as   the   foundation   for   enabling   our   vehicles   to   navigate   complex   environments   with   safety   and   precision .","title":"Introduction   to   the   Perception   Module"},{"location":"algorithms/perception_/#tasks","text":"The   different   tasks   supported   by   the   ISS   perception   module   allow   our   vehicles   to   learn   specific   properties   of   the   surrounding   environment   and   its   elements .   3D   Obstacle   Detection   :   Our   system   employs   advanced   sensor   technologies   to   detect   and   analyze   three - dimensional   obstacles   in   real - time .   This   capability   allows   our   autonomous   vehicles   to   make   informed   decisions   and   ensure   safe   navigation ,   even   in   dynamic   and   challenging   scenarios .   2D   Object   Detection   :   Recognizing   and   identifying   objects   in   the   vehicle ' s   surroundings   is   crucial   for   safe   navigation .   Our   framework   utilizes   cutting - edge   algorithms   to   identify   and   classify   various   objects ,   such   as   pedestrians ,   vehicles ,   and   signage ,   contributing   to   enhanced   situational   awareness .   { :   . center - image   }   3D   Obstacle   Perception   and   2D   Object   Detection   { :   . text - center }   2D   Semantic   Segmentation   :   Semantic   segmentation   is   an   essential   task   for   understanding   the   environment   in   detail .   We   leverage   state - of - the - art   techniques   to   partition   the   scene   into   meaningful   segments ,   enabling   our   vehicles   to   comprehend   the   road   layout   and   better   respond   to   complex   urban   landscapes .   { :   . center - image   }   Sensor - Based   BEV   Map   Generation   :   Our   system   generates   a   Bird ' s   Eye   View   ( BEV )   map   using   sensor   data ,   providing   a   holistic   view   of   the   vehicle ' s   surroundings .   This   map   serves   as   a   valuable   tool   for   path   planning   and   decision - making ,   enhancing   the   vehicle ' s   ability   to   navigate   efficiently   and   safely .   At   present ,   we   are   diligently   working   on   these   modules ,   and   we   are   pleased   to   share   that   we   have   developed   initial   models   for   the   first   three   tasks .   However ,   it ' s   important   to   note   that   these   models   are   still   undergoing   refinement   to   enhance   their   performance   and   reliability .   We   also   provide   a   dataset   about   the   object   detection   generated   by   ISS .   Still   updating .","title":"Tasks"},{"location":"chrono/manual_vehicle/","text":"Chrono : : Vehicle   \u53c2\u8003 \u624b\u518c \u53c2\u8003\u624b\u518c   \u5b89\u88c5 \u5e76 \u6784\u5efa   Chrono : : Vehicle   \u8f66\u8f86 \u5efa\u6a21 \u4e0e \u4eff\u771f \u6982\u8ff0   \u53c2\u8003 \u6846\u67b6   \u6a21\u62df \u5faa\u73af   \u8f66\u8f86 \u5e95\u76d8   \u8f6e\u5f0f \u8f66\u8f86   \u60ac\u6302 \u6a21\u578b   \u8f6c\u5411 \u673a\u6784 \u6a21\u578b   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b   \u8f6e\u80ce \u6a21\u578b   \u6d4b\u8bd5 \u53f0\u67b6   \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b   \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b   \u9a71\u52a8 \u7cfb\u7edf \u5b50\u7cfb\u7edf   \u53ef\u89c6 \u53ef\u89c6\u5316   \u8f66\u8f86 \u6a21\u578b   \u5176\u4ed6 \u6587\u6863 \u9875\u9762   Chrono   Core   \u7528\u6237 \u624b\u518c \u7528\u6237\u624b\u518c   PyChrono   Chrono : : Vehicle   \u6559\u7a0b","title":"Chrono : : Vehicle   \u53c2\u8003\u624b\u518c"},{"location":"chrono/manual_vehicle/#chronovehicle","text":"\u5b89\u88c5 \u5e76 \u6784\u5efa   Chrono : : Vehicle   \u8f66\u8f86 \u5efa\u6a21 \u4e0e \u4eff\u771f \u6982\u8ff0   \u53c2\u8003 \u6846\u67b6   \u6a21\u62df \u5faa\u73af   \u8f66\u8f86 \u5e95\u76d8   \u8f6e\u5f0f \u8f66\u8f86   \u60ac\u6302 \u6a21\u578b   \u8f6c\u5411 \u673a\u6784 \u6a21\u578b   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b   \u8f6e\u80ce \u6a21\u578b   \u6d4b\u8bd5 \u53f0\u67b6   \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b   \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b   \u9a71\u52a8 \u7cfb\u7edf \u5b50\u7cfb\u7edf   \u53ef\u89c6 \u53ef\u89c6\u5316   \u8f66\u8f86 \u6a21\u578b","title":"Chrono : : Vehicle   \u53c2\u8003\u624b\u518c"},{"location":"chrono/manual_vehicle/#_1","text":"Chrono   Core   \u7528\u6237 \u624b\u518c \u7528\u6237\u624b\u518c   PyChrono   Chrono : : Vehicle   \u6559\u7a0b","title":"\u5176\u4ed6 \u6587\u6863 \u9875\u9762"},{"location":"chrono/module_vehicle_installation/","text":"\u5b89\u88c5   VEHICLE   \u6a21\u5757   \u8fd9\u662f \u4e00\u4e2a \u53ef \u9009 \u6a21\u5757 \uff0c \u53ef \u5728   Chrono   \u5185 \u5b9e\u73b0 \u57fa\u4e8e \u6a21\u677f \u7684 \u5730\u9762 \u8f66\u8f86 \u5efa\u6a21 \u548c \u6a21\u62df \u3002   \u9605\u8bfb   \u6a21\u5757 \u4ecb\u7ecd   \uff0c \u4e86\u89e3   Chrono   \u9879\u76ee \u6a21\u5757 \u6a21\u5757\u5316 \u7684 \u6280\u672f \u80cc\u666f \u3002   \u7279\u70b9   VEHICLE   \u6a21\u5757 \u5141\u8bb8 \u7528\u6237 \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u5efa\u6a21 \u548c \u6a21\u62df \u3002   \u6709\u5173 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8bf7 \u9605\u8bfb \u53c2\u8003 \u624b\u518c \u53c2\u8003\u624b\u518c \u7684   Chrono : : Vehicle   \u90e8\u5206 \u3002   \u4f9d\u8d56 \u9879   \u6b64 \u6a21\u5757 \u6ca1\u6709 \u5176\u4ed6 \u4f9d\u8d56 \u9879   \u4f7f\u7528   CRGTerrain   \u529f\u80fd \u9700\u8981   OpenCRG   \u5e93 \uff08 \u5b9a\u4e49 \u4e86 \u4e00\u79cd \u7528\u4e8e \u63cf\u8ff0 \u8def\u9762 \u7684 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u3002 \u5b83 \u6700\u521d \u662f \u4e3a\u4e86 \u5b58\u50a8 \u8def\u9762 \u626b\u63cf \u7684 \u7cbe\u5ea6 \u9ad8\u7cbe\u5ea6 \u9ad8\u7a0b \u6570\u636e \u800c \u5f00\u53d1 \u7684 \u3002 \u8fd9\u4e9b \u6570\u636e \u4e3b\u8981 \u7528\u4e8e \u8f6e\u80ce \u3001 \u632f\u52a8 \u6216 \u9a7e\u9a76 \u6a21\u62df \u3002 \u7cbe\u786e \u7684 \u9ad8\u7a0b \u6570\u636e \u53ef\u4ee5 \u5bf9 \u8f66\u8f86 \u90e8\u4ef6 \u6216 \u6574\u4e2a \u8f66\u8f86 \u8fdb\u884c \u903c\u771f \u7684 \u8010\u4e45 \u8010\u4e45\u6027 \u6a21\u62df \u3002 \uff09 \u3002   \u5bf9\u4e8e \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \uff0c \u5efa\u8bae \u542f\u7528 \u5e76 \u5b89\u88c5   Chrono : : VSG   \u6a21\u5757 \u548c / \u6216   Chrono : : Irrlicht   \u6a21\u5757 \u3002   \u6784\u5efa \u548c \u5b89\u88c5 \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   Chrono : : Vehicle   \u5305\u542b \u4f7f\u7528   OpenCRG   \u89c4\u8303 \u6307\u5b9a \u5730\u5f62 \u7684 \u9009\u9879 \u3002 \u652f\u6301 \u53ef\u9009 \u6b64\u53ef\u9009 \u529f\u80fd \u9700\u8981   OpenCRG   \u5e93   \u3002   \u6784\u5efa \u548c \u5b89\u88c5   OpenCRG   \u5e93 \u7684 \u6700 \u7b80\u5355 \u65b9\u6cd5 \u662f \u4f7f\u7528   Chrono   \u53d1\u884c \u53d1\u884c\u7248 \u63d0\u4f9b \u7684 \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f \u811a\u672c \u3002 \u8fd9\u4e9b \u811a\u672c \uff08   buildOpenCRG . bat   \u5206\u522b   buildOpenCRG . sh   \u7528\u4e8e   Windows   \u548c   Linux \uff09 \u4f4d\u4e8e   Chrono   \u5b58\u50a8 \u5e93   contrib / build - scripts / opencrg   \u76ee\u5f55 \u4e2d \u3002   \u590d\u5236 \u9002\u5f53 \u7684 \u811a\u672c \u5e76 \u653e\u7f6e \u5728 \u4efb\u610f \u4e34\u65f6 \u76ee\u5f55 \u4e2d \u3002   \u6309\u7167 \u811a\u672c \u9876\u90e8 \u6ce8\u91ca \u4e2d \u7684 \u8bf4\u660e \u7f16\u8f91 \u811a\u672c \u3002   \u4ece \u811a\u672c \u526f\u672c \u7684 \u4f4d\u7f6e \u8fd0\u884c \u811a\u672c \uff08   . \\ buildOpenCRG . bat   \u6216   sh   buildOpenCRG . sh   \uff0c \u89c6 \u60c5\u51b5 \u800c\u5b9a \uff09 \u3002 \u8fd9 \u5c06 \u521b\u5efa \u4e00\u4e2a \u4e34\u65f6 \u76ee\u5f55 \uff0c \u6240\u6709 \u6e90 \u5b58\u50a8 \u5e93 \u90fd \u5c06 \u88ab \u514b\u9686 \u5230 \u8be5 \u76ee\u5f55 \uff0c \u4ee5\u53ca \u4e00\u7ec4 \u76ee\u5f55 \uff0c \u5404\u4e2a   URDF   \u4f9d\u8d56 \u9879 \u5c06 \u5728 \u5176\u4e2d \u6784\u5efa \u3002   \u5b89\u88c5 \u76ee\u5f55 \u5c06 \u5305\u542b \u914d\u7f6e   Chrono : : Vehicle   \u4e0e   OpenCRG   \u652f\u6301 \u6240 \u9700 \u7684 \u5fc5\u8981 \u6587\u4ef6 \u5934\u6587\u4ef6 \u548c \u5e93 \u6587\u4ef6 \u3002   \u642d\u5efa \u8bf4\u660e   \u91cd\u590d   \u5b8c\u6574 \u5b89\u88c5   \u7684 \u8bf4\u660e \uff0c \u4f46\u662f \u5f53 \u60a8 \u770b\u5230   CMake   \u7a97\u53e3 \u65f6 \uff0c \u5fc5\u987b \u6dfb\u52a0 \u4ee5\u4e0b \u6b65\u9aa4 \uff1a   \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   ENABLE _ MODULE _ VEHICLE   \u201c \u5f00 \u201d \uff0c \u7136\u540e \u6309 \u201c \u914d\u7f6e \u201d \uff08 \u5237\u65b0 \u53d8\u91cf \u5217\u8868 \uff09   \u518d\u6b21 \u6309 \u201c \u914d\u7f6e \u201d \uff0c \u7136\u540e \u6309 \u201c \u751f\u6210 \u201d \uff0c \u5e76 \u6309\u7167 \u5b89\u88c5 \u8bf4\u660e \u8fdb\u884c \u64cd\u4f5c \u3002   \u5982\u679c \u542f\u7528   OpenCRG   \u652f\u6301   (   ENABLE _ OPENCRG   ) \uff0c \u7cfb\u7edf \u5c06 \u63d0\u793a \u60a8 \u63d0\u4f9b   OpenCRG   \u672c\u5730 \u5b89\u88c5 \u7684 \u4f4d\u7f6e \uff0c \u5305\u62ec \u6807\u5934 \u3001 \u5e93 \u7684 \u4f4d\u7f6e \u4ee5\u53ca \uff08 \u4ec5\u9650   Windows \uff09 OpenCRG   DLL   \u7684 \u4f4d\u7f6e \u3002   \u5982\u4f55 \u4f7f\u7528 \u5b83   \u67e5\u9605   \u53c2\u8003 \u624b\u518c \u53c2\u8003\u624b\u518c   \u3002   \u67e5\u770b \u6b64 \u6a21\u5757 \u7684   API   \u90e8\u5206   \u4ee5 \u83b7\u53d6 \u6709\u5173 \u7c7b \u548c \u51fd\u6570 \u7684 \u6587\u6863 \u3002   \u67e5\u770b   \u6f14\u793a   \u7684   C++ \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6765 \u4e86\u89e3 \u5982\u4f55 \u4f7f\u7528 \u8be5 \u6a21\u5757 \u7684 \u529f\u80fd \u3002","title":"\u5b89\u88c5   VEHICLE   \u6a21\u5757"},{"location":"chrono/module_vehicle_installation/#vehicle","text":"\u8fd9\u662f \u4e00\u4e2a \u53ef \u9009 \u6a21\u5757 \uff0c \u53ef \u5728   Chrono   \u5185 \u5b9e\u73b0 \u57fa\u4e8e \u6a21\u677f \u7684 \u5730\u9762 \u8f66\u8f86 \u5efa\u6a21 \u548c \u6a21\u62df \u3002   \u9605\u8bfb   \u6a21\u5757 \u4ecb\u7ecd   \uff0c \u4e86\u89e3   Chrono   \u9879\u76ee \u6a21\u5757 \u6a21\u5757\u5316 \u7684 \u6280\u672f \u80cc\u666f \u3002","title":"\u5b89\u88c5   VEHICLE   \u6a21\u5757"},{"location":"chrono/module_vehicle_installation/#_1","text":"VEHICLE   \u6a21\u5757 \u5141\u8bb8 \u7528\u6237 \u5bf9 \u8f66\u8f86 \u8fdb\u884c \u5efa\u6a21 \u548c \u6a21\u62df \u3002   \u6709\u5173 \u66f4 \u591a \u8be6\u7ec6 \u4fe1\u606f \u8be6\u7ec6\u4fe1\u606f \uff0c \u8bf7 \u9605\u8bfb \u53c2\u8003 \u624b\u518c \u53c2\u8003\u624b\u518c \u7684   Chrono : : Vehicle   \u90e8\u5206 \u3002","title":"\u7279\u70b9"},{"location":"chrono/module_vehicle_installation/#_2","text":"\u6b64 \u6a21\u5757 \u6ca1\u6709 \u5176\u4ed6 \u4f9d\u8d56 \u9879   \u4f7f\u7528   CRGTerrain   \u529f\u80fd \u9700\u8981   OpenCRG   \u5e93 \uff08 \u5b9a\u4e49 \u4e86 \u4e00\u79cd \u7528\u4e8e \u63cf\u8ff0 \u8def\u9762 \u7684 \u6587\u4ef6 \u683c\u5f0f \u6587\u4ef6\u683c\u5f0f \u3002 \u5b83 \u6700\u521d \u662f \u4e3a\u4e86 \u5b58\u50a8 \u8def\u9762 \u626b\u63cf \u7684 \u7cbe\u5ea6 \u9ad8\u7cbe\u5ea6 \u9ad8\u7a0b \u6570\u636e \u800c \u5f00\u53d1 \u7684 \u3002 \u8fd9\u4e9b \u6570\u636e \u4e3b\u8981 \u7528\u4e8e \u8f6e\u80ce \u3001 \u632f\u52a8 \u6216 \u9a7e\u9a76 \u6a21\u62df \u3002 \u7cbe\u786e \u7684 \u9ad8\u7a0b \u6570\u636e \u53ef\u4ee5 \u5bf9 \u8f66\u8f86 \u90e8\u4ef6 \u6216 \u6574\u4e2a \u8f66\u8f86 \u8fdb\u884c \u903c\u771f \u7684 \u8010\u4e45 \u8010\u4e45\u6027 \u6a21\u62df \u3002 \uff09 \u3002   \u5bf9\u4e8e \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \uff0c \u5efa\u8bae \u542f\u7528 \u5e76 \u5b89\u88c5   Chrono : : VSG   \u6a21\u5757 \u548c / \u6216   Chrono : : Irrlicht   \u6a21\u5757 \u3002","title":"\u4f9d\u8d56 \u9879"},{"location":"chrono/module_vehicle_installation/#_3","text":"Chrono : : Vehicle   \u5305\u542b \u4f7f\u7528   OpenCRG   \u89c4\u8303 \u6307\u5b9a \u5730\u5f62 \u7684 \u9009\u9879 \u3002 \u652f\u6301 \u53ef\u9009 \u6b64\u53ef\u9009 \u529f\u80fd \u9700\u8981   OpenCRG   \u5e93   \u3002   \u6784\u5efa \u548c \u5b89\u88c5   OpenCRG   \u5e93 \u7684 \u6700 \u7b80\u5355 \u65b9\u6cd5 \u662f \u4f7f\u7528   Chrono   \u53d1\u884c \u53d1\u884c\u7248 \u63d0\u4f9b \u7684 \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f \u811a\u672c \u3002 \u8fd9\u4e9b \u811a\u672c \uff08   buildOpenCRG . bat   \u5206\u522b   buildOpenCRG . sh   \u7528\u4e8e   Windows   \u548c   Linux \uff09 \u4f4d\u4e8e   Chrono   \u5b58\u50a8 \u5e93   contrib / build - scripts / opencrg   \u76ee\u5f55 \u4e2d \u3002   \u590d\u5236 \u9002\u5f53 \u7684 \u811a\u672c \u5e76 \u653e\u7f6e \u5728 \u4efb\u610f \u4e34\u65f6 \u76ee\u5f55 \u4e2d \u3002   \u6309\u7167 \u811a\u672c \u9876\u90e8 \u6ce8\u91ca \u4e2d \u7684 \u8bf4\u660e \u7f16\u8f91 \u811a\u672c \u3002   \u4ece \u811a\u672c \u526f\u672c \u7684 \u4f4d\u7f6e \u8fd0\u884c \u811a\u672c \uff08   . \\ buildOpenCRG . bat   \u6216   sh   buildOpenCRG . sh   \uff0c \u89c6 \u60c5\u51b5 \u800c\u5b9a \uff09 \u3002 \u8fd9 \u5c06 \u521b\u5efa \u4e00\u4e2a \u4e34\u65f6 \u76ee\u5f55 \uff0c \u6240\u6709 \u6e90 \u5b58\u50a8 \u5e93 \u90fd \u5c06 \u88ab \u514b\u9686 \u5230 \u8be5 \u76ee\u5f55 \uff0c \u4ee5\u53ca \u4e00\u7ec4 \u76ee\u5f55 \uff0c \u5404\u4e2a   URDF   \u4f9d\u8d56 \u9879 \u5c06 \u5728 \u5176\u4e2d \u6784\u5efa \u3002   \u5b89\u88c5 \u76ee\u5f55 \u5c06 \u5305\u542b \u914d\u7f6e   Chrono : : Vehicle   \u4e0e   OpenCRG   \u652f\u6301 \u6240 \u9700 \u7684 \u5fc5\u8981 \u6587\u4ef6 \u5934\u6587\u4ef6 \u548c \u5e93 \u6587\u4ef6 \u3002","title":"\u6784\u5efa \u548c \u5b89\u88c5 \u5148\u51b3\u6761\u4ef6"},{"location":"chrono/module_vehicle_installation/#_4","text":"\u91cd\u590d   \u5b8c\u6574 \u5b89\u88c5   \u7684 \u8bf4\u660e \uff0c \u4f46\u662f \u5f53 \u60a8 \u770b\u5230   CMake   \u7a97\u53e3 \u65f6 \uff0c \u5fc5\u987b \u6dfb\u52a0 \u4ee5\u4e0b \u6b65\u9aa4 \uff1a   \u5c06 \u5176 \u8bbe\u7f6e \u4e3a   ENABLE _ MODULE _ VEHICLE   \u201c \u5f00 \u201d \uff0c \u7136\u540e \u6309 \u201c \u914d\u7f6e \u201d \uff08 \u5237\u65b0 \u53d8\u91cf \u5217\u8868 \uff09   \u518d\u6b21 \u6309 \u201c \u914d\u7f6e \u201d \uff0c \u7136\u540e \u6309 \u201c \u751f\u6210 \u201d \uff0c \u5e76 \u6309\u7167 \u5b89\u88c5 \u8bf4\u660e \u8fdb\u884c \u64cd\u4f5c \u3002   \u5982\u679c \u542f\u7528   OpenCRG   \u652f\u6301   (   ENABLE _ OPENCRG   ) \uff0c \u7cfb\u7edf \u5c06 \u63d0\u793a \u60a8 \u63d0\u4f9b   OpenCRG   \u672c\u5730 \u5b89\u88c5 \u7684 \u4f4d\u7f6e \uff0c \u5305\u62ec \u6807\u5934 \u3001 \u5e93 \u7684 \u4f4d\u7f6e \u4ee5\u53ca \uff08 \u4ec5\u9650   Windows \uff09 OpenCRG   DLL   \u7684 \u4f4d\u7f6e \u3002","title":"\u642d\u5efa \u8bf4\u660e"},{"location":"chrono/module_vehicle_installation/#_5","text":"\u67e5\u9605   \u53c2\u8003 \u624b\u518c \u53c2\u8003\u624b\u518c   \u3002   \u67e5\u770b \u6b64 \u6a21\u5757 \u7684   API   \u90e8\u5206   \u4ee5 \u83b7\u53d6 \u6709\u5173 \u7c7b \u548c \u51fd\u6570 \u7684 \u6587\u6863 \u3002   \u67e5\u770b   \u6f14\u793a   \u7684   C++ \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6765 \u4e86\u89e3 \u5982\u4f55 \u4f7f\u7528 \u8be5 \u6a21\u5757 \u7684 \u529f\u80fd \u3002","title":"\u5982\u4f55 \u4f7f\u7528 \u5b83"},{"location":"chrono/vehicle_chassis/","text":"\u8f66\u8f86 \u5e95\u76d8   \u4efb\u4f55 \u8f66\u8f86 \u7cfb\u7edf \u90fd \u5fc5\u987b \u5305\u542b \u5e95\u76d8 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u3002 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u3001 \u65b9\u5411 \u3001 \u901f\u5ea6 \u548c \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5747 \u5b9a\u4e49 \u4e3a \u5e95\u76d8 \u53c2\u8003 \u53c2\u8003\u7cfb \u3002 \u6240\u6709 \u5176\u4ed6 \u8f66\u8f86 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u5747 \u76f8\u5bf9 \u4e8e \u8f66\u8f86 \u5e95\u76d8 \u8fdb\u884c \u521d\u59cb \u521d\u59cb\u5316 \u3002   \u76ee\u524d \u4ec5 \u63d0\u4f9b \u4e00\u4e2a \u5e95\u76d8 \u6a21\u677f \uff1a   ChRigidChassis   \uff0c \u7531 \u5355\u4e2a \u521a\u4f53 \u7ec4\u6210 \u3002   \u4e3a\u4e86 \u5bf9 \u5177\u6709 \u4e0d\u540c \u62d3\u6251 \u7ed3\u6784 \uff08 \u4f8b\u5982 \u94f0\u63a5 \u94f0\u63a5\u5f0f \u5e95\u76d8 \uff09 \u3001 \u5177\u6709 \u626d\u8f6c \u67d4\u987a \u6027 \u7684 \u5e95\u76d8 \u4ee5\u53ca \u62d6\u8f66 \u7cfb\u7edf \u8fdb\u884c \u5efa\u6a21 \uff0c Chrono : : Vehicle   \u8fd8 \u5305\u62ec \u6240\u8c13 \u7684 \u201c \u540e \u5e95\u76d8 \u201d \uff08 \u57fa\u7c7b   ChChassisRear   \uff0c \u521a\u4f53 \u6a21\u677f   ChRigidChassisRear   \uff09 \uff0c \u5b83 \u53ef\u4ee5 \u4f7f\u7528 \u4e13\u95e8 \u7684 \u201c \u5e95\u76d8 \u8fde\u63a5 \u63a5\u5668 \u8fde\u63a5\u5668 \u201d \u8fde\u63a5 \u5230 \u524d \u5e95\u76d8 \u3002   \u6709 \u4ee5\u4e0b \u4e09\u79cd \u7c7b\u578b \u7684 \u5e95\u76d8 \u8fde\u63a5 \u63a5\u5668 \u8fde\u63a5\u5668 \u6a21\u677f \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \uff1a   ChChassisConnectorArticulated   \u5141\u8bb8 \u5c06 \u524d\u540e \u5e95\u76d8 \u4e0e \u9a71\u52a8 \u65cb\u8f6c \u8f6c\u5173 \u5173\u8282 \u65cb\u8f6c\u5173\u8282 \u8fde\u63a5 \u63a5\u8d77 \u8d77\u6765 \u8fde\u63a5\u8d77\u6765 \uff0c \u8be5 \u65cb\u8f6c \u8f6c\u5173 \u5173\u8282 \u65cb\u8f6c\u5173\u8282 \u7531 \u8f6c\u5411 \u9a71\u52a8 \u9a71\u52a8\u5668 \u8f93\u5165 \u63a7\u5236   ChChassisConnectorTorsion   \u5141\u8bb8 \u4f7f\u7528 \u5177\u6709 \u6307\u5b9a \u626d\u8f6c \u521a\u5ea6 \u7684 \u7eb5\u5411 \u65cb\u8f6c \u8f6c\u5173 \u5173\u8282 \u65cb\u8f6c\u5173\u8282 \u8fde\u63a5 \u524d\u540e \u5e95\u76d8   ChChassisConnectorHitch   \u6a21\u62df \u62d6\u8f66 \u6302\u94a9 \u8fde\u63a5 \uff08 \u4f7f\u7528 \u7403\u5f62 \u63a5\u5934 \uff09","title":"\u8f66\u8f86 \u5e95\u76d8"},{"location":"chrono/vehicle_chassis/#_1","text":"\u4efb\u4f55 \u8f66\u8f86 \u7cfb\u7edf \u90fd \u5fc5\u987b \u5305\u542b \u5e95\u76d8 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u3002 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u3001 \u65b9\u5411 \u3001 \u901f\u5ea6 \u548c \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u5747 \u5b9a\u4e49 \u4e3a \u5e95\u76d8 \u53c2\u8003 \u53c2\u8003\u7cfb \u3002 \u6240\u6709 \u5176\u4ed6 \u8f66\u8f86 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u5747 \u76f8\u5bf9 \u4e8e \u8f66\u8f86 \u5e95\u76d8 \u8fdb\u884c \u521d\u59cb \u521d\u59cb\u5316 \u3002   \u76ee\u524d \u4ec5 \u63d0\u4f9b \u4e00\u4e2a \u5e95\u76d8 \u6a21\u677f \uff1a   ChRigidChassis   \uff0c \u7531 \u5355\u4e2a \u521a\u4f53 \u7ec4\u6210 \u3002   \u4e3a\u4e86 \u5bf9 \u5177\u6709 \u4e0d\u540c \u62d3\u6251 \u7ed3\u6784 \uff08 \u4f8b\u5982 \u94f0\u63a5 \u94f0\u63a5\u5f0f \u5e95\u76d8 \uff09 \u3001 \u5177\u6709 \u626d\u8f6c \u67d4\u987a \u6027 \u7684 \u5e95\u76d8 \u4ee5\u53ca \u62d6\u8f66 \u7cfb\u7edf \u8fdb\u884c \u5efa\u6a21 \uff0c Chrono : : Vehicle   \u8fd8 \u5305\u62ec \u6240\u8c13 \u7684 \u201c \u540e \u5e95\u76d8 \u201d \uff08 \u57fa\u7c7b   ChChassisRear   \uff0c \u521a\u4f53 \u6a21\u677f   ChRigidChassisRear   \uff09 \uff0c \u5b83 \u53ef\u4ee5 \u4f7f\u7528 \u4e13\u95e8 \u7684 \u201c \u5e95\u76d8 \u8fde\u63a5 \u63a5\u5668 \u8fde\u63a5\u5668 \u201d \u8fde\u63a5 \u5230 \u524d \u5e95\u76d8 \u3002   \u6709 \u4ee5\u4e0b \u4e09\u79cd \u7c7b\u578b \u7684 \u5e95\u76d8 \u8fde\u63a5 \u63a5\u5668 \u8fde\u63a5\u5668 \u6a21\u677f \u53ef \u9009\u62e9 \u4f9b\u9009\u62e9 \uff1a   ChChassisConnectorArticulated   \u5141\u8bb8 \u5c06 \u524d\u540e \u5e95\u76d8 \u4e0e \u9a71\u52a8 \u65cb\u8f6c \u8f6c\u5173 \u5173\u8282 \u65cb\u8f6c\u5173\u8282 \u8fde\u63a5 \u63a5\u8d77 \u8d77\u6765 \u8fde\u63a5\u8d77\u6765 \uff0c \u8be5 \u65cb\u8f6c \u8f6c\u5173 \u5173\u8282 \u65cb\u8f6c\u5173\u8282 \u7531 \u8f6c\u5411 \u9a71\u52a8 \u9a71\u52a8\u5668 \u8f93\u5165 \u63a7\u5236   ChChassisConnectorTorsion   \u5141\u8bb8 \u4f7f\u7528 \u5177\u6709 \u6307\u5b9a \u626d\u8f6c \u521a\u5ea6 \u7684 \u7eb5\u5411 \u65cb\u8f6c \u8f6c\u5173 \u5173\u8282 \u65cb\u8f6c\u5173\u8282 \u8fde\u63a5 \u524d\u540e \u5e95\u76d8   ChChassisConnectorHitch   \u6a21\u62df \u62d6\u8f66 \u6302\u94a9 \u8fde\u63a5 \uff08 \u4f7f\u7528 \u7403\u5f62 \u63a5\u5934 \uff09","title":"\u8f66\u8f86 \u5e95\u76d8"},{"location":"chrono/vehicle_driver/","text":"\u9a71\u52a8 \u7cfb\u7edf \u5b50\u7cfb\u7edf   \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f   \u57fa\u4e8e \u6570\u636e \uff08 \u5f00\u73af \uff09 \u7684 \u9a71\u52a8 \u9a71\u52a8\u5668   \u95ed\u73af \u9a71\u52a8 \u6a21\u578b   \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f93\u5165 \uff08 \u8f6c\u5411 \u3001 \u6cb9\u95e8 \u548c \u5239\u8f66 \uff09 \u7531 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u63d0\u4f9b \uff0c Chrono : : Vehicle   \u4e2d \u63d0\u4f9b \u9009\u9879 \uff0c \u5305\u62ec \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u3001 \u6570\u636e \u9a71\u52a8 \u548c \u95ed\u73af \u5f0f \uff08 \u4f8b\u5982 \u57fa\u4e8e   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u8def\u5f84 \u8ddf\u8e2a \uff09 \u3002   \u9a71\u52a8 \u7cfb\u7edf \u7684 \u57fa\u7c7b   ChDriver   \u5bf9 \u9a71\u52a8 \u7cfb\u7edf \u6a21\u677f \u63d0\u51fa \u4e86 \u6700\u4f4e \u8981\u6c42 \uff0c \u7279\u522b \u662f \u8fd4\u56de \u6cb9\u95e8 \u8f93\u5165 \u7684 \u80fd\u529b \uff08 \u5728 [   0   ,   1   ] \u8303\u56f4 \uff09 \u3001 \u8f6c\u5411 \u8f93\u5165 \uff08 \u6807\u51c6 \u6807\u51c6\u5316 [   \u2212   1   ,   +   1   ] \u8303\u56f4 \uff0c \u8d1f\u503c \u8868\u793a \u5de6\u8f6c \u5411\u5de6\u8f6c \u5411 \uff09 \uff0c \u4ee5\u53ca \u5236\u52a8 \u8f93\u5165 \uff08 \u5728 [   0   ,   1   ] \u8303\u56f4 \uff09 \u3002 \u6b64\u5916 \uff0c \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u53ef\u4ee5 \u901a\u8fc7 \u5176   Synchronize   \u65b9\u6cd5 \u4ece \u4efb\u4f55 \u5176\u4ed6 \u7cfb\u7edf \u63a5\u6536 \u4fe1\u606f \uff08 \u4f8b\u5982 \uff0c \u8f66\u8f86 \u72b6\u6001 \uff09 \uff0c \u5e76\u4e14 \u53ef\u80fd \u5177\u6709 \u5185\u90e8 \u52a8\u6001 \uff08 \u5728 \u5176   Advance   \u65b9\u6cd5 \u4e2d \u5b9e\u73b0 \uff09 \u3002 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u7684 \u7279\u5b9a \u6a21\u677f \u53ef\u4ee5 \u6269\u5c55 \u751f\u6210 \u7684 \u8f66\u8f86 \u8f93\u5165 \u96c6 \uff0c \u4f8b\u5982 \u5305\u62ec \u5f53\u524d \u9009\u62e9 \u7684 \u624b\u52a8 \u53d8\u901f \u53d8\u901f\u5668 \u6863\u4f4d \u3001 \u542f\u7528 / \u7981\u7528 \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7684 \u4ea4\u53c9 \u9a71\u52a8 \u80fd\u529b \u7b49 \u3002   Chrono : : Vehicle   \u5305\u542b \u591a\u4e2a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u6a21\u677f \u3002 \u5bf9\u4e8e \u4ee5\u8f6f \u5b9e\u65f6 \u65b9\u5f0f \u8fd0\u884c \u7684 \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u6a21\u62df \uff0c \u5b83 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u6a21\u677f \uff0c \u8be5 \u7cfb\u7edf \u6839\u636e \u7528\u6237 \u63a7\u5236 \uff08 \u952e\u76d8 \u548c \u9f20\u6807 \u6216 \u6e38\u620f \u63a7\u5236 \u63a7\u5236\u5668 \uff09 \u4ea7\u751f \u8f66\u8f86 \u8f93\u5165 \u3002   \u5bf9\u4e8e \u5b9e\u9a8c \u6a21\u62df \u8bbe\u8ba1 \uff0c \u5b83 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u57fa\u4e8e \u901a\u8fc7 \u6587\u672c \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u63d0\u4f9b \u7684 \u8f93\u5165 \u7684 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u6a21\u677f \uff0c \u5176\u4e2d \u8f66\u8f86 \u8f93\u5165 \u901a\u8fc7 \u7ebf\u6027 \u63d2\u503c \u7ebf\u6027\u63d2\u503c \u83b7\u5f97 \u3002 \u6b64\u7c7b \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u4e5f \u53ef\u4ee5 \u901a\u8fc7 \u4ea4\u4e92 \u8fd0\u884c \u671f\u95f4 \u6536\u96c6 \u7684 \u6570\u636e \u81ea\u52a8 \u751f\u6210 \u3002   \u6700\u540e \uff0c Chrono : : Vehicle   \u5305\u542b \u51e0\u4e2a \u95ed\u73af \u9a71\u52a8 \u7cfb\u7edf \u6a21\u578b \uff0c \u57fa\u4e8e \u5bf9   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5e95\u5c42 \u652f\u6301 \u3002 \u8fd9\u4e9b \u6a21\u578b \u5305\u62ec \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \uff08 \u53ef \u540c\u65f6 \u8c03\u8282 \u6cb9\u95e8 \u548c \u5236\u52a8 \u8f93\u5165 \u4ee5 \u4fdd\u6301 \u6052\u5b9a \u7684 \u8f66\u901f \uff09 \u548c \u8def\u5f84 \u8ddf\u968f \u63a7\u5236 \u63a7\u5236\u5668 \u3002 \u540e\u8005 \u53ef \u8c03\u6574 \u8f6c\u5411 \u8f93\u5165 \uff0c \u4f7f \u8f66\u8f86 \u9075\u5faa \u7528\u6237 \u5b9a\u4e49 \u7684 \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u8def\u5f84 \u3002   \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f   \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f   ChInteractiveDriverIRR   \uff08 \u7528\u4e8e \u57fa\u4e8e   Irrlicht   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7cfb\u7edf \uff09 \u548c   ChInteractiveDriverVSG   \uff08 \u7528\u4e8e \u57fa\u4e8e   VSG   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7cfb\u7edf \uff09 \u53ef\u4ee5 \u901a\u8fc7 \u7528\u6237 \u8f93\u5165 \u63a7\u5236 \uff08 \u8f6c\u5411 / \u52a0\u901f / \u5236\u52a8 \uff09 \u6a21\u62df \u8f66\u8f86 \u3002 \u8fd9\u4e9b \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u4f9d\u8d56 \u8d56\u4e8e \u4f9d\u8d56\u4e8e \u5404\u81ea \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7cfb\u7edf \u7684 \u952e\u76d8 \u548c \u63a7\u5236 \u63a7\u5236\u5668 \u4e8b\u4ef6 \u5904\u7406 \u7a0b\u5e8f \u5904\u7406\u7a0b\u5e8f \u3002   \u8be5 \u9a71\u52a8 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u6a21\u578b \u7684 \u5176\u4ed6 \u7279\u6027 \u5305\u62ec \uff1a   \u5b9e\u9a8c \u5b9e\u9a8c\u6027 \u63a7\u5236 \u63a7\u5236\u5668 \u652f\u6301   \u80fd\u591f \u9501\u5b9a / \u89e3\u9501 \u9a71\u52a8 \u9a71\u52a8\u5668 \u8f93\u5165 \u4e3a \u5176 \u5f53\u524d \u503c \uff08 \u901a\u8fc7 \u952e \u63a7\u5236   J   \uff09   \u8bb0\u5f55 \u548c \u56de\u653e \u7528\u6237 \u8f93\u5165 \u7684 \u80fd\u529b \uff08 \u4f7f\u7528 \u5d4c\u5165 \u5d4c\u5165\u5f0f \u57fa\u4e8e \u6570\u636e \u7684 \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \uff1b \u4e0b\u6587 \u89c1\u4e0b\u6587 \uff09   \u952e\u76d8 \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f   \u952e   A   \u589e\u52a0 \u5de6\u8f6c \u65b9\u5411 \u65b9\u5411\u76d8 \u89d2\u5ea6   \u952e   D   \u589e\u52a0 \u53f3\u8f6c \u65b9\u5411 \u65b9\u5411\u76d8 \u89d2\u5ea6   \u952e   W   \u52a0\u901f   \u952e   S   \u51cf\u901f   \u6cb9\u95e8 \u548c \u5239\u8f66 \u63a7\u5236 \u662f \u8026\u5408 \u7684 \uff0c \u5373 \u52a0\u901f \u65f6 \u9996\u5148 \u5c06 \u5239\u8f66 \u964d\u81f3 \u96f6 \uff0c \u7136\u540e \u518d \u589e\u52a0 \u6cb9\u95e8 \u8f93\u5165 \uff08 \u51cf\u901f \u51cf\u901f\u65f6 \u53cd\u4e4b \u4ea6\u7136 \u53cd\u4e4b\u4ea6\u7136 \uff09 \u3002   \u63a7\u5236 \u9a71\u52a8 \u63a7\u5236\u5668 \u63a7\u5236\u5668\u9a71\u52a8 \u7a0b\u5e8f   \u73b0\u4ee3 \u6a21\u62df \u6a21\u62df\u5668 \u901a\u5e38 \u6709 \u591a\u4e2a \uff08 USB \uff09 \u8bbe\u5907 \u7528\u4e8e \u63a7\u5236 \u6c7d\u8f66 \u4e2d \u7684 \u6240\u6709 \u4e0d\u540c \u63a7\u5236 \u5143\u4ef6 \u63a7\u5236\u5143\u4ef6 \u3002 \u5b83\u4eec \u914d\u6709 \u8e0f\u677f \u3001 \u65b9\u5411 \u65b9\u5411\u76d8 \u3001 H   \u578b \u6362\u6321 \u5668 \u3001 \u987a\u5e8f \u6362\u6321 \u5668 \u3001 \u624b\u5239 \u548c \u6309\u94ae \u76d2 \uff08 \u5e26\u6709 \u5927\u91cf \u6309\u94ae \u6765 \u66f4\u6539 \u8f66\u8f7d \u7cfb\u7edf \uff09 \u7684 \u8bbe\u5907 \u3002 Chrono   \u652f\u6301 \u8fd9 \u4e00\u70b9 \uff0c \u56e0\u4e3a \u5b83 \u80fd\u591f \u5c06 \u63a7\u5236 \u63a7\u5236\u5668 \u8f74 \u548c \u6309\u94ae \u5206\u914d \u7ed9 \u8fde\u63a5 \u7684 \u591a\u4e2a \u8bbe\u5907 \u3002 \u8f74 \u4e5f \u53ef\u4ee5 \u6821\u51c6 \uff0c \u8bbe\u7f6e \u8be5 \u8f74 \u7684 \u6700\u5c0f \u548c \u6700\u5927 \uff08 \u539f\u59cb \uff09 \u503c \u4ee5\u53ca \u9884\u671f \uff08 \u7f29\u653e \uff09 \u8f93\u51fa \u503c \u3002   \u6620\u5c04 \u548c \u6821\u51c6 \u662f \u4f7f\u7528 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u7684 \u201c controller . json \u201d \u6587\u4ef6 \u5b8c\u6210 \u7684 \uff0c   data / vehicles   \u8be5 \u6587\u4ef6 \u5141\u8bb8 \u60a8 \u5c06 \u63a7\u4ef6 \u5206\u914d \u7ed9 \u8fd9\u4e9b \u201c \u63a7\u5236 \u63a7\u5236\u5668 \u201d \u7684 \u8f74 \u548c \u6309\u94ae \u3002 \u6211\u4eec \u63d0\u4f9b \u4e86 \u51e0\u4e2a \u6b64\u7c7b \u6587\u4ef6 \u7684 \u793a\u4f8b \uff0c \u4f46 \u901a\u5e38 \u60a8 \u9700\u8981 \u6839\u636e \u81ea\u5df1 \u7684 \u8bbe\u7f6e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6b64 \u6587\u4ef6 \uff1a   controller _ XboxOneForWindows . json   \u662f \u4e00\u79cd \u76f8\u5f53 \u6807\u51c6 \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u8bbe\u7f6e \uff0c \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u7528\u6237 \u5e94\u8be5 \u5f88 \u5bb9\u6613 \u9002\u5e94 \uff0c \u5b83 \u6620\u5c04 \u6240\u6709 \u8f74 \u5e76 \u5305\u62ec \u987a\u5e8f \u53d8\u901f \u53d8\u901f\u5668 \u8bbe\u7f6e \u4ee5\u53ca \u5728 \u81ea\u52a8 \u548c \u624b\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u4e4b\u95f4 \u5207\u6362 \u7684 \u65b9\u5f0f \u3002   controller _ WheelPedalsAndShifters . json   \u662f \u4e00\u4e2a \u66f4 \u590d\u6742 \u7684 \u591a \u63a7\u5236 \u63a7\u5236\u5668 \u8bbe\u7f6e \u7684 \u793a\u4f8b \uff0c \u5177\u6709 \u65b9\u5411 \u65b9\u5411\u76d8 \u3001 \u4e09\u4e2a \u8e0f\u677f \u4ee5\u53ca \u987a\u5e8f \u548c   H   \u578b \u6362\u6863 \u5668 \u8bbe\u7f6e \u3002 \u5982\u679c \u60a8 \u60f3 \u4f7f\u7528 \u6b64 \u793a\u4f8b \uff0c \u53ef\u80fd \u9700\u8981 \u8fdb\u884c \u5927\u91cf \u4fee\u6539 \uff0c \u4f46 \u5b83 \u5c55\u793a \u4e86 \u5982\u4f55 \u4f7f\u7528 \u4e0d\u540c \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u3002   \u793a\u4f8b \u63a7\u5236 \u63a7\u5236\u5668 \u6587\u4ef6   {   \" steering \" :   {   \" name \" :   \" Steering   Wheel \" ,   \" axis \" :   0 ,   \" min \" :   - 32768 ,   \" max \" :   32767 ,   \" scaled _ min \" :   1 ,   \" scaled _ max \" :   - 1   } ,   \" throttle \" :   {   \" name \" :   \" Pedal   Box \" ,   \" axis \" :   2 ,   \" min \" :   - 1 ,   \" max \" :   - 32767 ,   \" scaled _ min \" :   0 ,   \" scaled _ max \" :   1   } ,   \" brake \" :   {   \" name \" :   \" Pedal   Box \" ,   \" axis \" :   2 ,   \" min \" :   0 ,   \" max \" :   32767 ,   \" scaled _ min \" :   0 ,   \" scaled _ max \" :   1   } ,   \" clutch \" :   {   \" name \" :   \" Pedal   Box \" ,   \" axis \" :   4 ,   \" min \" :   0 ,   \" max \" :   32767 ,   \" scaled _ min \" :   0 ,   \" scaled _ max \" :   1   } ,   \" gearReverse \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   0   } ,   \" gear1 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   1   } ,   \" gear2 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   2   } ,   \" gear3 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   3   } ,   \" gear4 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   4   } ,   \" gear5 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   5   } ,   \" gear6 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   6   } ,   \" gear7 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   7   } ,   \" gear8 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   8   } ,   \" gear9 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   9   } ,   \" shiftUp \" :   {   \" name \" :   \" Steering   Wheel \" ,   \" button \" :   4   } ,   \" shiftDown \" :   {   \" name \" :   \" Steering   Wheel \" ,   \" button \" :   5   } ,   \" toggleManualGearbox \" :   {   \" name \" :   \" Button   Box \" ,   \" button \" :   2   }   }   \u5728 \u6587\u4ef6 \u7684 \u9876\u5c42 \uff0c \u6211\u4eec \u6709 \u4e00\u7ec4 \u63a7\u5236 \u63a7\u5236\u5668 \u51fd\u6570 \uff08 \uff0c \uff0c \uff0c   steering   ...   \uff09 \uff0c \u5bf9\u4e8e \u6bcf\u4e2a \u51fd\u6570 \uff0c \u6211\u4eec \u53ef\u4ee5 \u6307\u5b9a \u4e00\u4e2a \u8f74 \u6216 \u6309\u94ae \u5b9a\u4e49 \u4ee5\u53ca \u6240\u6709 \u6620\u5c04 \u7ec6\u8282 \uff1a   throttleshiftUp   \u8f74 \uff1a   steering   \uff0c   throttle   \uff0c   brake   \uff0c   clutch   \u5177\u6709 \u4ee5\u4e0b \u5c5e\u6027 \uff1a   name   \u662f \u7cfb\u7edf \u4e0a \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u540d\u79f0 \uff1b   axis   \u662f \u60a8 \u60f3\u8981 \u6620\u5c04 \u5230 \u7684 \u8f74 \u7684 \u7f16\u53f7 \uff1b   min   \u548c   max   \u662f \u8be5 \u8f74 \u7684 \u539f\u59cb \u6700\u5c0f \u6700\u5c0f\u503c \u548c \u6700\u5927 \u5927\u503c \u6700\u5927\u503c \uff1b   scaled _ min   \u548c   scaled _ max   \u662f \u8be5 \u8f74 \u7684 \u8f93\u51fa \u6700\u5c0f \u6700\u5c0f\u503c \u548c \u6700\u5927 \u5927\u503c \u6700\u5927\u503c \uff1b   \u6309\u94ae \uff1a   shiftUp   \uff0c   shiftDown   \uff0c   gearReverse   \uff0c   gear1   \uff0c   gear2   ...   \uff0c   gear9   \u5177\u6709   toggleManualGearbox   \u4ee5\u4e0b \u5c5e\u6027 \uff1a   name \u662f \u7cfb\u7edf \u4e0a \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u540d\u79f0 \uff1b   button \u662f \u60a8 \u60f3\u8981 \u6620\u5c04 \u7684 \u6309\u94ae \u7684 \u7f16\u53f7 \uff1b   \u5173\u4e8e \u63a7\u5236 \u53d8\u901f \u53d8\u901f\u7bb1 \u7684 \u4e00\u53e5 \u8bdd \uff1a   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f \u624b\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \uff0c \u5219 \u652f\u6301 \u987a\u5e8f \u6362\u6863 \u5668 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u53e6 \u4e00\u4e2a \u6309\u94ae \u5728 \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u548c \u624b\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u4e4b\u95f4 \u5207\u6362 \u3002   \u8fd8\u6709   H - shifter   \u652f\u6301 \u3002 \u4ee3\u7801 \u6700 \u591a \u652f\u6301   9   \u4e2a \u524d\u8fdb \u6863 \uff0c \u5e76 \u652f\u6301 \u6362\u6863 \uff08 \u53ea\u8981 \u60a8 \u5b8c\u5168 \u8e29\u4e0b \u79bb\u5408 \u79bb\u5408\u5668 \uff09 \u3002   \u8fd8\u6709 \u4e00\u4e2a \u8c03\u8bd5 \u6a21\u5f0f \u8c03\u8bd5\u6a21\u5f0f \uff0c \u6bcf\u79d2 \u4e24\u6b21 \u6253\u5370 \u6240\u6709 \u8fde\u63a5 \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u8f74 \u548c \u6309\u94ae \u7684 \u6240\u6709 \u503c \u3002 \u8fd9 \u5728 \u5b9a\u4e49 \u6587\u4ef6 \u65f6 \u975e\u5e38 \u6709\u7528 \uff0c \u5426\u5219 \u53ef\u80fd \u5e94\u8be5 \u7981\u7528 \u3002   \u5f53\u524d \u5b9e\u65bd \u7684 \u5c40\u9650 \u9650\u6027 \u5c40\u9650\u6027   \u6240\u6709 \u63a7\u5236 \u63a7\u5236\u5668 \u5904\u7406 \u90fd \u4e0e   IrrLicht   \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u60a8 \u9700\u8981 \u4f7f\u7528 \u5b83 \u6765 \u5b9e\u73b0 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002 \u8fd9 \u4e5f \u610f\u5473 \u610f\u5473\u7740 \u6211\u4eec \u7ee7\u627f \u4e86   IrrLicht   \u5904\u7406 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u6240\u6709 \u9650\u5236 \u3002 \u8fd9 \u4e3b\u8981 \u53cd\u6620 \u5728 \u6bcf\u4e2a \u63a7\u5236 \u63a7\u5236\u5668 \u652f\u6301 \u7684 \u6309\u94ae \u6570\u91cf \u4e0a \uff0c \u4f46 \u4e5f \u53ef\u80fd \u5b58\u5728 \u5176\u4ed6 \u9650\u5236 \u3002   \u57fa\u4e8e \u6570\u636e \uff08 \u5f00\u73af \uff09 \u7684 \u9a71\u52a8 \u9a71\u52a8\u5668   \u4e00\u4e9b \u91cd\u8981 \u7684 \u8f66\u8f86 \u6d4b\u8bd5 \u64cd\u4f5c \u57fa\u4e8e \u65f6\u95f4 \u76f8\u5173 \u7684 \u8f6c\u5411 / \u6cb9\u95e8 / \u5236\u52a8 \u4fe1\u53f7 \u3002 \u4e0d \u8003\u8651 \u4efb\u4f55 \u7c7b\u578b \u7684 \u53cd\u9988 \u3002 \u6b64 \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u6a21\u578b \u5728   ChDataDriver   \u4e2d \u5b9e\u73b0 \u3002   \u5e26\u6709 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f93\u5165 \u7684   ASCII   \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u5305\u542b \u56db\u5217 \uff0c \u5206\u522b \u4e3a \u65f6\u95f4 \uff08 s \uff09 \u3001 \u8f6c\u5411 \u8f93\u5165 \uff08 \u65e0\u91cf \u7eb2\u91cf \uff0c \u5355\u4f4d \u4e3a [   \u2212   1   ,   1   ] \uff0c   \u548c \u2212   1 \u8868\u793a \u5411 \u5de6 \u5b8c\u5168 \u8f6c\u5411 \uff09 \u3001 \u6cb9\u95e8 \u8f93\u5165 \uff08 \u65e0\u91cf \u7eb2\u91cf [   0   ,   1   ] \uff0c   \u548c 1 \u8868\u793a \u5168 \u6cb9\u95e8 \uff09 \u548c \u5236\u52a8 \uff08 \u65e0\u91cf \u7eb2\u91cf \u4ecb\u4e8e [   0   ,   1   ] \uff0c   \u548c 1 \u8868\u793a \u6700\u5927 \u5236 \u52a8\u529b \uff09 \u3002   \u4e0b\u9762 \u5217\u51fa \u4e86 \u793a\u4f8b \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6   0.0   0.0   0.0   0.0   0.0   0.5   0.0   0.5   0.0   0.0   3.0   0.0   0.5   0.0   0.0   5.0   0.5   0.4   0.0   0.0   9.0   0.0   0.0   1.0   0.0   \u5728 \u4efb\u4f55 \u7ed9\u5b9a \u65f6\u95f4 \uff0c \u5f53\u524d \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f93\u5165 \uff08 \u8f6c\u5411 \u3001 \u6cb9\u95e8 \u548c \u5236\u52a8 \uff09 \u90fd \u662f \u901a\u8fc7 \u5bf9 \u63d0\u4f9b \u7684 \u6570\u636e \u8fdb\u884c \u5206\u6bb5 \u7ebf\u6027 \u63d2\u503c \u7ebf\u6027\u63d2\u503c \u83b7\u5f97 \u7684 \u3002 \u9664\u4e86 \u6700\u540e \u4e00\u6b21 \u8f93\u5165 \u4e4b\u5916 \uff0c \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f93\u5165 \u5c06 \u4fdd\u6301 \u4e3a \u5176 \u6700\u540e \u4e00\u4e2a \u503c \u3002   \u95ed\u73af \u9a71\u52a8 \u6a21\u578b   \u95ed\u73af \u9a71\u52a8 \u9a71\u52a8\u5668 \u6a21\u578b \u9700\u8981 \u63a7\u5236 \u7b56\u7565 \u63a7\u5236\u7b56\u7565 \u5e76 \u8003\u8651 \u53cd\u9988 \u3002 \u53cd\u9988 \u53ef\u80fd \u5bfc\u81f4 \u4e0d \u7a33\u5b9a \u7684 \u884c\u4e3a \uff0c \u56e0\u6b64 \u5fc5\u987b \u660e\u667a \u660e\u667a\u5730 \u9009\u62e9 \u63a7\u5236 \u63a7\u5236\u5668 \u53c2\u6570 \u3002 \u793a\u4f8b \u53c2\u6570 \u5df2 \u5728 \u5e7f\u6cdb \u7684 \u7528\u9014 \u4e2d \u53d1\u6325 \u4f5c\u7528 \u53d1\u6325\u4f5c\u7528 \u3002 \u7528\u6237 \u5e94\u4ece \u7ed9\u5b9a \u7684 \u793a\u4f8b \u53c2\u6570 \u96c6 \u4e4b\u4e00 \u5f00\u59cb \uff0c \u5e76 \u4ec5 \u5728 \u5fc5\u8981 \u65f6 \u8fdb\u884c \u4fee\u6539 \u3002   \u8def\u5f84 \u8ddf\u968f \u63a7\u5236 \u63a7\u5236\u5668   \u4e3a\u4e86 \u4f7f \u8f66\u8f86 \u9075\u5faa \u7ed9\u5b9a \u7684 \u8def\u5f84 \uff0c \u5fc5\u987b \u6d4b\u91cf \u6a2a\u5411 \u8def\u5f84 \u504f\u5dee \u5e76 \u751f\u6210 \u4f7f \u504f\u5dee \u6700\u5c0f \u6700\u5c0f\u5316 \u7684 \u65b9\u5411 \u65b9\u5411\u76d8 \u89d2\u5ea6 \u3002 \u89e3\u51b3 \u6b64 \u95ee\u9898 \u7684 \u4e00\u4e2a \u5468\u77e5 \u4f17\u6240\u5468\u77e5 \u7684 \u65b9\u6cd5 \u662f   PID   \u63a7\u5236 \u63a7\u5236\u5668 \uff08 P = \u6bd4\u4f8b \u3001 I = \u79ef\u5206 \u3001 D = \u5fae\u5206 \uff09 \u3002 \u91c7\u7528 \u7eaf   P   \u53d8\u91cf \uff0c \u53ea \u9700 \u8bbe\u7f6e   P   \u589e\u76ca \u3002 \u8fd9 \u5728 \u8bb8\u591a \u60c5\u51b5 \u4e0b \u90fd \u6709\u6548 \uff0c \u4f46\u7eaf   P   \u63a7\u5236 \u63a7\u5236\u5668 \u6c38\u8fdc \u65e0\u6cd5 \u5c06 \u6a2a\u5411 \u504f\u5dee \u964d\u81f3 \u96f6 \u3002 \u6b8b\u4f59 \u504f\u5dee \u968f   P   \u589e\u76ca \u7684 \u589e\u52a0 \u800c \u51cf\u5c0f \u3002 \u5982\u679c   P   \u589e\u76ca \u592a \u5927 \uff0c \u8f66\u8f86 \u5c06 \u5f00\u59cb \u56f4\u7ed5 \u6240 \u9700 \u7684 \u8f66\u8f86 \u8def\u5f84 \u632f\u8361 \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u5c06   I   \u589e\u76ca \u8bbe\u7f6e \u4e3a   P   \u589e\u76ca \u7684   5%   \u5230   10%   \u5de6\u53f3 \u7684 \u503c\u6765 \u6d88\u9664 \u6b8b\u4f59 \u8def\u5f84 \u504f\u5dee \u3002 \u901a\u8fc7 \u8bbe\u7f6e   D   \u589e\u76ca \uff0c \u5982\u679c \u53d1\u751f \u8def\u5f84 \u632f\u8361 \uff0c \u53ef\u4ee5 \u65bd\u52a0 \u963b\u5c3c \u3002 \u5982\u679c \u4f7f\u7528   I   \u589e\u76ca \uff0c \u6a21\u62df \u64cd\u4f5c \u4e0d \u5e94 \u8d85\u8fc7 \u7ea6   2   \u5206\u949f \u3002 \u5982\u679c \u9700\u8981 \u66f4 \u591a \u65f6\u95f4 \uff0c \u5219 \u5e94 \u6bcf   2   \u5206\u949f \u91cd\u7f6e \u4e00\u6b21 \u63a7\u5236 \u63a7\u5236\u5668 \u72b6\u6001 \u4ee5 \u907f\u514d \u4e0d \u7a33\u5b9a \u3002   \u4e0b\u56fe \uff08 \u7ef4\u57fa \u767e\u79d1 \u7ef4\u57fa\u767e \u7ef4\u57fa\u767e\u79d1 \uff09 \u5c55\u793a \u4e86   Chrono   \u5982\u4f55 \u5b9e\u73b0   PID   \u63a7\u5236 \u63a7\u5236\u5668 \uff1a   r ( t )   =   \u6240 \u9700 \u8def\u5f84 \u4fe1\u53f7   e ( t )   =   \u6a2a\u5411 \u8def\u5f84 \u504f\u5dee   y ( t )   =   \u5b9e\u9645 \u8def\u5f84 \u4fe1\u53f7   u ( t )   =   \u8f6c\u5411 \u4fe1\u53f7   \u6b64 \u56fe\u8868 \uff08 \u7ef4\u57fa \u767e\u79d1 \u7ef4\u57fa\u767e \u7ef4\u57fa\u767e\u79d1 \uff09 \u663e\u793a \u4e86 \u589e\u76ca \u56e0\u7d20 \u7684 \u5f71\u54cd \uff1a   \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u4e0d\u4ec5 \u4f1a \u5bf9 \u504f\u5dee \u53d8\u5316 \u505a\u51fa \u53cd\u5e94 \uff0c \u8fd8 \u80fd \u8fdb\u884c \u9884\u6d4b \u3002 \u5728   Chrono   \u4e2d \uff0c \u8fd9\u79cd \u80fd\u529b \u662f \u901a\u8fc7 \u5728 \u8f66\u8eab \u524d\u65b9 \u8bbe\u7f6e \u4e00\u4e2a \u53c2\u8003 \u8003\u70b9 \u53c2\u8003\u70b9 \u6765 \u6d4b\u91cf \u504f\u5dee \u6765 \u6a21\u62df \u7684 \u3002 \u53c2\u8003 \u8003\u70b9 \u53c2\u8003\u70b9 \u4e0e \u8f66\u8f86 \u53c2\u8003 \u7cfb\u7edf \u7684 \u8ddd\u79bb \u79f0\u4e3a \u524d\u89c6 \u8ddd\u79bb \uff0c \u662f \u91cd\u8981 \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u8f93\u5165 \u53c2\u6570 \u3002   \u671f\u671b \u8def\u5f84 \u4ee5 \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u6307\u5b9a \uff08 \u53c2\u89c1   ChBezierCurve   \uff09 \u3002 \u8bef\u5dee \u5b9a\u4e49 \u4e3a \u201c \u54e8\u5175 \u70b9 \u201d \uff08 \u4f4d\u4e8e \u8f66\u8f86 \u524d\u8fdb \u65b9\u5411 \u524d\u8fdb\u65b9\u5411 \u524d\u89c6 \u8ddd\u79bb \u8ddd\u79bb\u5904 \u7684 \u70b9 \uff09 \u4e0e \u201c \u76ee\u6807 \u70b9 \u201d \uff08 \u54e8\u5175 \u70b9 \u5728 \u671f\u671b \u8def\u5f84 \u4e0a \u7684 \u6295\u5f71 \uff09 \u4e4b\u95f4 \u7684 \u504f\u5dee \u3002   \u6052\u901f \u63a7\u5236 \u63a7\u5236\u5668   \u4e3a\u4e86 \u4fdd\u6301 \u7ed9\u5b9a \u7684 \u8f66\u901f \uff0c \u53ef\u4ee5 \u4f7f\u7528   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u3002 \u4e0e \u8def\u5f84 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u4e0d\u540c \u4e4b\u5904 \u4e0d\u540c\u4e4b\u5904 \u5728\u4e8e \uff0c \u5b83 \u4f7f\u7528 \u901f\u5ea6 \u504f\u5dee \u800c \u4e0d\u662f \u6a2a\u5411 \u8def\u5f84 \u504f\u5dee \u3002   r ( t )   =   \u6240 \u9700 \u901f\u5ea6 \u4fe1\u53f7   e ( t )   =   \u901f\u5ea6 \u504f\u5dee   y ( t )   =   \u5b9e\u9645 \u901f\u5ea6 \u4fe1\u53f7   u ( t )   =   \u6cb9\u95e8 / \u5239\u8f66 \u4fe1\u53f7   ChPathFollowerDriver   \u7c7b \u5b9e\u73b0 \u4e86   PID   \u6a2a\u5411 \u63a7\u5236 \u63a7\u5236\u5668 \u4e0e   PID   \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u7ed3\u5408 \u3002 \u5b83 \u5728 \u53cc \u8f66\u9053 \u53d8\u6362 \u7b49 \u6781\u7aef \u64cd\u4f5c \u4e2d \u6548\u679c \u5f88 \u597d \u3002   \u6807\u51c6 \u9053\u8def \u9a7e\u9a76 \u64cd\u4f5c \u7684 \u4e00\u4e2a \u6709\u8da3 \u66ff\u4ee3 \u65b9\u6848 \u662f   ChPathFollowerDriverSR   \u3002 \u5b83 \u6709 \u4e00\u4e2a   PID   \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u4f46 \u91c7\u7528 \u8003\u8651 \u4eba \u548c \u8f66\u8f86 \u7279\u6027 \u7684 \u6a2a\u5411 \u63a7\u5236 \u7b56\u7565 \u63a7\u5236\u7b56\u7565 \u3002 \u9884\u6d4b \u4f7f\u7528 \u524d\u77bb \u65f6\u95f4 \u800c \u4e0d\u662f \u524d\u77bb \u8ddd\u79bb \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u6709\u6548 \u524d\u77bb \u8ddd\u79bb \u968f \u901f\u5ea6 \u800c \u53d8\u5316 \u3002   \u6700\u4f73 \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668   \u6052\u901f \u63a7\u5236 \u63a7\u5236\u5668 \u9002\u7528 \u4e8e \u8bb8\u591a \u6807\u51c6 \u9a7e\u9a76 \u64cd\u4f5c \u3002 \u5bf9\u4e8e \u5728 \u957f \u800c \u5f2f\u66f2 \u7684 \u9053\u8def \u4e0a \u884c\u9a76 \uff0c \u8f66\u8f86 \u5728 \u6574\u4e2a \u8fc7\u7a0b \u4e2d \u884c\u9a76 \u7684 \u901f\u5ea6 \u4ee4\u4eba \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u3002 \u9488\u5bf9 \u8fd9\u79cd \u60c5\u51b5 \uff0c \u5df2\u7ecf \u5f00\u53d1 \u4e86   ChHumanDriver   \u7c7b \u3002 \u6a2a\u5411 \u63a7\u5236 \u63a7\u5236\u5668 \u548c \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \u90fd \u4f7f\u7528 \u4eba\u7c7b \u884c\u4e3a \u3001 \u8f66\u8f86 \u5c5e\u6027 \u548c \u9884\u671f \u4ee5\u53ca \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u89c6\u91ce \u3002 \u6a2a\u5411 \u63a7\u5236 \u63a7\u5236\u5668 \u4e0e   ChPathFollowerDriverSR   \u4e2d \u5b9e\u73b0 \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u76f8\u540c \u3002","title":"\u9a71\u52a8 \u5b50\u7cfb\u7edf"},{"location":"chrono/vehicle_driver/#_1","text":"\u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f   \u57fa\u4e8e \u6570\u636e \uff08 \u5f00\u73af \uff09 \u7684 \u9a71\u52a8 \u9a71\u52a8\u5668   \u95ed\u73af \u9a71\u52a8 \u6a21\u578b   \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f93\u5165 \uff08 \u8f6c\u5411 \u3001 \u6cb9\u95e8 \u548c \u5239\u8f66 \uff09 \u7531 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u63d0\u4f9b \uff0c Chrono : : Vehicle   \u4e2d \u63d0\u4f9b \u9009\u9879 \uff0c \u5305\u62ec \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u3001 \u6570\u636e \u9a71\u52a8 \u548c \u95ed\u73af \u5f0f \uff08 \u4f8b\u5982 \u57fa\u4e8e   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u8def\u5f84 \u8ddf\u8e2a \uff09 \u3002   \u9a71\u52a8 \u7cfb\u7edf \u7684 \u57fa\u7c7b   ChDriver   \u5bf9 \u9a71\u52a8 \u7cfb\u7edf \u6a21\u677f \u63d0\u51fa \u4e86 \u6700\u4f4e \u8981\u6c42 \uff0c \u7279\u522b \u662f \u8fd4\u56de \u6cb9\u95e8 \u8f93\u5165 \u7684 \u80fd\u529b \uff08 \u5728 [   0   ,   1   ] \u8303\u56f4 \uff09 \u3001 \u8f6c\u5411 \u8f93\u5165 \uff08 \u6807\u51c6 \u6807\u51c6\u5316 [   \u2212   1   ,   +   1   ] \u8303\u56f4 \uff0c \u8d1f\u503c \u8868\u793a \u5de6\u8f6c \u5411\u5de6\u8f6c \u5411 \uff09 \uff0c \u4ee5\u53ca \u5236\u52a8 \u8f93\u5165 \uff08 \u5728 [   0   ,   1   ] \u8303\u56f4 \uff09 \u3002 \u6b64\u5916 \uff0c \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u53ef\u4ee5 \u901a\u8fc7 \u5176   Synchronize   \u65b9\u6cd5 \u4ece \u4efb\u4f55 \u5176\u4ed6 \u7cfb\u7edf \u63a5\u6536 \u4fe1\u606f \uff08 \u4f8b\u5982 \uff0c \u8f66\u8f86 \u72b6\u6001 \uff09 \uff0c \u5e76\u4e14 \u53ef\u80fd \u5177\u6709 \u5185\u90e8 \u52a8\u6001 \uff08 \u5728 \u5176   Advance   \u65b9\u6cd5 \u4e2d \u5b9e\u73b0 \uff09 \u3002 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u7684 \u7279\u5b9a \u6a21\u677f \u53ef\u4ee5 \u6269\u5c55 \u751f\u6210 \u7684 \u8f66\u8f86 \u8f93\u5165 \u96c6 \uff0c \u4f8b\u5982 \u5305\u62ec \u5f53\u524d \u9009\u62e9 \u7684 \u624b\u52a8 \u53d8\u901f \u53d8\u901f\u5668 \u6863\u4f4d \u3001 \u542f\u7528 / \u7981\u7528 \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7684 \u4ea4\u53c9 \u9a71\u52a8 \u80fd\u529b \u7b49 \u3002   Chrono : : Vehicle   \u5305\u542b \u591a\u4e2a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u6a21\u677f \u3002 \u5bf9\u4e8e \u4ee5\u8f6f \u5b9e\u65f6 \u65b9\u5f0f \u8fd0\u884c \u7684 \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u6a21\u62df \uff0c \u5b83 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u6a21\u677f \uff0c \u8be5 \u7cfb\u7edf \u6839\u636e \u7528\u6237 \u63a7\u5236 \uff08 \u952e\u76d8 \u548c \u9f20\u6807 \u6216 \u6e38\u620f \u63a7\u5236 \u63a7\u5236\u5668 \uff09 \u4ea7\u751f \u8f66\u8f86 \u8f93\u5165 \u3002   \u5bf9\u4e8e \u5b9e\u9a8c \u6a21\u62df \u8bbe\u8ba1 \uff0c \u5b83 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u57fa\u4e8e \u901a\u8fc7 \u6587\u672c \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u63d0\u4f9b \u7684 \u8f93\u5165 \u7684 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u6a21\u677f \uff0c \u5176\u4e2d \u8f66\u8f86 \u8f93\u5165 \u901a\u8fc7 \u7ebf\u6027 \u63d2\u503c \u7ebf\u6027\u63d2\u503c \u83b7\u5f97 \u3002 \u6b64\u7c7b \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u4e5f \u53ef\u4ee5 \u901a\u8fc7 \u4ea4\u4e92 \u8fd0\u884c \u671f\u95f4 \u6536\u96c6 \u7684 \u6570\u636e \u81ea\u52a8 \u751f\u6210 \u3002   \u6700\u540e \uff0c Chrono : : Vehicle   \u5305\u542b \u51e0\u4e2a \u95ed\u73af \u9a71\u52a8 \u7cfb\u7edf \u6a21\u578b \uff0c \u57fa\u4e8e \u5bf9   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u5e95\u5c42 \u652f\u6301 \u3002 \u8fd9\u4e9b \u6a21\u578b \u5305\u62ec \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \uff08 \u53ef \u540c\u65f6 \u8c03\u8282 \u6cb9\u95e8 \u548c \u5236\u52a8 \u8f93\u5165 \u4ee5 \u4fdd\u6301 \u6052\u5b9a \u7684 \u8f66\u901f \uff09 \u548c \u8def\u5f84 \u8ddf\u968f \u63a7\u5236 \u63a7\u5236\u5668 \u3002 \u540e\u8005 \u53ef \u8c03\u6574 \u8f6c\u5411 \u8f93\u5165 \uff0c \u4f7f \u8f66\u8f86 \u9075\u5faa \u7528\u6237 \u5b9a\u4e49 \u7684 \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u8def\u5f84 \u3002","title":"\u9a71\u52a8 \u5b50\u7cfb\u7edf"},{"location":"chrono/vehicle_driver/#_2","text":"\u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f   ChInteractiveDriverIRR   \uff08 \u7528\u4e8e \u57fa\u4e8e   Irrlicht   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7cfb\u7edf \uff09 \u548c   ChInteractiveDriverVSG   \uff08 \u7528\u4e8e \u57fa\u4e8e   VSG   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7cfb\u7edf \uff09 \u53ef\u4ee5 \u901a\u8fc7 \u7528\u6237 \u8f93\u5165 \u63a7\u5236 \uff08 \u8f6c\u5411 / \u52a0\u901f / \u5236\u52a8 \uff09 \u6a21\u62df \u8f66\u8f86 \u3002 \u8fd9\u4e9b \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u4f9d\u8d56 \u8d56\u4e8e \u4f9d\u8d56\u4e8e \u5404\u81ea \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7cfb\u7edf \u7684 \u952e\u76d8 \u548c \u63a7\u5236 \u63a7\u5236\u5668 \u4e8b\u4ef6 \u5904\u7406 \u7a0b\u5e8f \u5904\u7406\u7a0b\u5e8f \u3002   \u8be5 \u9a71\u52a8 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u6a21\u578b \u7684 \u5176\u4ed6 \u7279\u6027 \u5305\u62ec \uff1a   \u5b9e\u9a8c \u5b9e\u9a8c\u6027 \u63a7\u5236 \u63a7\u5236\u5668 \u652f\u6301   \u80fd\u591f \u9501\u5b9a / \u89e3\u9501 \u9a71\u52a8 \u9a71\u52a8\u5668 \u8f93\u5165 \u4e3a \u5176 \u5f53\u524d \u503c \uff08 \u901a\u8fc7 \u952e \u63a7\u5236   J   \uff09   \u8bb0\u5f55 \u548c \u56de\u653e \u7528\u6237 \u8f93\u5165 \u7684 \u80fd\u529b \uff08 \u4f7f\u7528 \u5d4c\u5165 \u5d4c\u5165\u5f0f \u57fa\u4e8e \u6570\u636e \u7684 \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \uff1b \u4e0b\u6587 \u89c1\u4e0b\u6587 \uff09","title":"\u4ea4\u4e92\u5f0f \u9a71\u52a8\u7a0b\u5e8f"},{"location":"chrono/vehicle_driver/#_3","text":"\u952e   A   \u589e\u52a0 \u5de6\u8f6c \u65b9\u5411 \u65b9\u5411\u76d8 \u89d2\u5ea6   \u952e   D   \u589e\u52a0 \u53f3\u8f6c \u65b9\u5411 \u65b9\u5411\u76d8 \u89d2\u5ea6   \u952e   W   \u52a0\u901f   \u952e   S   \u51cf\u901f   \u6cb9\u95e8 \u548c \u5239\u8f66 \u63a7\u5236 \u662f \u8026\u5408 \u7684 \uff0c \u5373 \u52a0\u901f \u65f6 \u9996\u5148 \u5c06 \u5239\u8f66 \u964d\u81f3 \u96f6 \uff0c \u7136\u540e \u518d \u589e\u52a0 \u6cb9\u95e8 \u8f93\u5165 \uff08 \u51cf\u901f \u51cf\u901f\u65f6 \u53cd\u4e4b \u4ea6\u7136 \u53cd\u4e4b\u4ea6\u7136 \uff09 \u3002","title":"\u952e\u76d8 \u9a71\u52a8\u7a0b\u5e8f"},{"location":"chrono/vehicle_driver/#_4","text":"\u73b0\u4ee3 \u6a21\u62df \u6a21\u62df\u5668 \u901a\u5e38 \u6709 \u591a\u4e2a \uff08 USB \uff09 \u8bbe\u5907 \u7528\u4e8e \u63a7\u5236 \u6c7d\u8f66 \u4e2d \u7684 \u6240\u6709 \u4e0d\u540c \u63a7\u5236 \u5143\u4ef6 \u63a7\u5236\u5143\u4ef6 \u3002 \u5b83\u4eec \u914d\u6709 \u8e0f\u677f \u3001 \u65b9\u5411 \u65b9\u5411\u76d8 \u3001 H   \u578b \u6362\u6321 \u5668 \u3001 \u987a\u5e8f \u6362\u6321 \u5668 \u3001 \u624b\u5239 \u548c \u6309\u94ae \u76d2 \uff08 \u5e26\u6709 \u5927\u91cf \u6309\u94ae \u6765 \u66f4\u6539 \u8f66\u8f7d \u7cfb\u7edf \uff09 \u7684 \u8bbe\u5907 \u3002 Chrono   \u652f\u6301 \u8fd9 \u4e00\u70b9 \uff0c \u56e0\u4e3a \u5b83 \u80fd\u591f \u5c06 \u63a7\u5236 \u63a7\u5236\u5668 \u8f74 \u548c \u6309\u94ae \u5206\u914d \u7ed9 \u8fde\u63a5 \u7684 \u591a\u4e2a \u8bbe\u5907 \u3002 \u8f74 \u4e5f \u53ef\u4ee5 \u6821\u51c6 \uff0c \u8bbe\u7f6e \u8be5 \u8f74 \u7684 \u6700\u5c0f \u548c \u6700\u5927 \uff08 \u539f\u59cb \uff09 \u503c \u4ee5\u53ca \u9884\u671f \uff08 \u7f29\u653e \uff09 \u8f93\u51fa \u503c \u3002   \u6620\u5c04 \u548c \u6821\u51c6 \u662f \u4f7f\u7528 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u7684 \u201c controller . json \u201d \u6587\u4ef6 \u5b8c\u6210 \u7684 \uff0c   data / vehicles   \u8be5 \u6587\u4ef6 \u5141\u8bb8 \u60a8 \u5c06 \u63a7\u4ef6 \u5206\u914d \u7ed9 \u8fd9\u4e9b \u201c \u63a7\u5236 \u63a7\u5236\u5668 \u201d \u7684 \u8f74 \u548c \u6309\u94ae \u3002 \u6211\u4eec \u63d0\u4f9b \u4e86 \u51e0\u4e2a \u6b64\u7c7b \u6587\u4ef6 \u7684 \u793a\u4f8b \uff0c \u4f46 \u901a\u5e38 \u60a8 \u9700\u8981 \u6839\u636e \u81ea\u5df1 \u7684 \u8bbe\u7f6e \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6b64 \u6587\u4ef6 \uff1a   controller _ XboxOneForWindows . json   \u662f \u4e00\u79cd \u76f8\u5f53 \u6807\u51c6 \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u8bbe\u7f6e \uff0c \u5927\u591a \u591a\u6570 \u5927\u591a\u6570 \u7528\u6237 \u5e94\u8be5 \u5f88 \u5bb9\u6613 \u9002\u5e94 \uff0c \u5b83 \u6620\u5c04 \u6240\u6709 \u8f74 \u5e76 \u5305\u62ec \u987a\u5e8f \u53d8\u901f \u53d8\u901f\u5668 \u8bbe\u7f6e \u4ee5\u53ca \u5728 \u81ea\u52a8 \u548c \u624b\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u4e4b\u95f4 \u5207\u6362 \u7684 \u65b9\u5f0f \u3002   controller _ WheelPedalsAndShifters . json   \u662f \u4e00\u4e2a \u66f4 \u590d\u6742 \u7684 \u591a \u63a7\u5236 \u63a7\u5236\u5668 \u8bbe\u7f6e \u7684 \u793a\u4f8b \uff0c \u5177\u6709 \u65b9\u5411 \u65b9\u5411\u76d8 \u3001 \u4e09\u4e2a \u8e0f\u677f \u4ee5\u53ca \u987a\u5e8f \u548c   H   \u578b \u6362\u6863 \u5668 \u8bbe\u7f6e \u3002 \u5982\u679c \u60a8 \u60f3 \u4f7f\u7528 \u6b64 \u793a\u4f8b \uff0c \u53ef\u80fd \u9700\u8981 \u8fdb\u884c \u5927\u91cf \u4fee\u6539 \uff0c \u4f46 \u5b83 \u5c55\u793a \u4e86 \u5982\u4f55 \u4f7f\u7528 \u4e0d\u540c \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u3002","title":"\u63a7\u5236\u5668\u9a71\u52a8 \u7a0b\u5e8f"},{"location":"chrono/vehicle_driver/#_5","text":"{   \" steering \" :   {   \" name \" :   \" Steering   Wheel \" ,   \" axis \" :   0 ,   \" min \" :   - 32768 ,   \" max \" :   32767 ,   \" scaled _ min \" :   1 ,   \" scaled _ max \" :   - 1   } ,   \" throttle \" :   {   \" name \" :   \" Pedal   Box \" ,   \" axis \" :   2 ,   \" min \" :   - 1 ,   \" max \" :   - 32767 ,   \" scaled _ min \" :   0 ,   \" scaled _ max \" :   1   } ,   \" brake \" :   {   \" name \" :   \" Pedal   Box \" ,   \" axis \" :   2 ,   \" min \" :   0 ,   \" max \" :   32767 ,   \" scaled _ min \" :   0 ,   \" scaled _ max \" :   1   } ,   \" clutch \" :   {   \" name \" :   \" Pedal   Box \" ,   \" axis \" :   4 ,   \" min \" :   0 ,   \" max \" :   32767 ,   \" scaled _ min \" :   0 ,   \" scaled _ max \" :   1   } ,   \" gearReverse \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   0   } ,   \" gear1 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   1   } ,   \" gear2 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   2   } ,   \" gear3 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   3   } ,   \" gear4 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   4   } ,   \" gear5 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   5   } ,   \" gear6 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   6   } ,   \" gear7 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   7   } ,   \" gear8 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   8   } ,   \" gear9 \" :   {   \" name \" :   \" H - Shifter \" ,   \" button \" :   9   } ,   \" shiftUp \" :   {   \" name \" :   \" Steering   Wheel \" ,   \" button \" :   4   } ,   \" shiftDown \" :   {   \" name \" :   \" Steering   Wheel \" ,   \" button \" :   5   } ,   \" toggleManualGearbox \" :   {   \" name \" :   \" Button   Box \" ,   \" button \" :   2   }   }   \u5728 \u6587\u4ef6 \u7684 \u9876\u5c42 \uff0c \u6211\u4eec \u6709 \u4e00\u7ec4 \u63a7\u5236 \u63a7\u5236\u5668 \u51fd\u6570 \uff08 \uff0c \uff0c \uff0c   steering   ...   \uff09 \uff0c \u5bf9\u4e8e \u6bcf\u4e2a \u51fd\u6570 \uff0c \u6211\u4eec \u53ef\u4ee5 \u6307\u5b9a \u4e00\u4e2a \u8f74 \u6216 \u6309\u94ae \u5b9a\u4e49 \u4ee5\u53ca \u6240\u6709 \u6620\u5c04 \u7ec6\u8282 \uff1a   throttleshiftUp   \u8f74 \uff1a   steering   \uff0c   throttle   \uff0c   brake   \uff0c   clutch   \u5177\u6709 \u4ee5\u4e0b \u5c5e\u6027 \uff1a   name   \u662f \u7cfb\u7edf \u4e0a \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u540d\u79f0 \uff1b   axis   \u662f \u60a8 \u60f3\u8981 \u6620\u5c04 \u5230 \u7684 \u8f74 \u7684 \u7f16\u53f7 \uff1b   min   \u548c   max   \u662f \u8be5 \u8f74 \u7684 \u539f\u59cb \u6700\u5c0f \u6700\u5c0f\u503c \u548c \u6700\u5927 \u5927\u503c \u6700\u5927\u503c \uff1b   scaled _ min   \u548c   scaled _ max   \u662f \u8be5 \u8f74 \u7684 \u8f93\u51fa \u6700\u5c0f \u6700\u5c0f\u503c \u548c \u6700\u5927 \u5927\u503c \u6700\u5927\u503c \uff1b   \u6309\u94ae \uff1a   shiftUp   \uff0c   shiftDown   \uff0c   gearReverse   \uff0c   gear1   \uff0c   gear2   ...   \uff0c   gear9   \u5177\u6709   toggleManualGearbox   \u4ee5\u4e0b \u5c5e\u6027 \uff1a   name \u662f \u7cfb\u7edf \u4e0a \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u540d\u79f0 \uff1b   button \u662f \u60a8 \u60f3\u8981 \u6620\u5c04 \u7684 \u6309\u94ae \u7684 \u7f16\u53f7 \uff1b   \u5173\u4e8e \u63a7\u5236 \u53d8\u901f \u53d8\u901f\u7bb1 \u7684 \u4e00\u53e5 \u8bdd \uff1a   \u5982\u679c \u60a8 \u4f7f\u7528 \u7684 \u662f \u624b\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \uff0c \u5219 \u652f\u6301 \u987a\u5e8f \u6362\u6863 \u5668 \u3002 \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u53e6 \u4e00\u4e2a \u6309\u94ae \u5728 \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u548c \u624b\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u4e4b\u95f4 \u5207\u6362 \u3002   \u8fd8\u6709   H - shifter   \u652f\u6301 \u3002 \u4ee3\u7801 \u6700 \u591a \u652f\u6301   9   \u4e2a \u524d\u8fdb \u6863 \uff0c \u5e76 \u652f\u6301 \u6362\u6863 \uff08 \u53ea\u8981 \u60a8 \u5b8c\u5168 \u8e29\u4e0b \u79bb\u5408 \u79bb\u5408\u5668 \uff09 \u3002   \u8fd8\u6709 \u4e00\u4e2a \u8c03\u8bd5 \u6a21\u5f0f \u8c03\u8bd5\u6a21\u5f0f \uff0c \u6bcf\u79d2 \u4e24\u6b21 \u6253\u5370 \u6240\u6709 \u8fde\u63a5 \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u8f74 \u548c \u6309\u94ae \u7684 \u6240\u6709 \u503c \u3002 \u8fd9 \u5728 \u5b9a\u4e49 \u6587\u4ef6 \u65f6 \u975e\u5e38 \u6709\u7528 \uff0c \u5426\u5219 \u53ef\u80fd \u5e94\u8be5 \u7981\u7528 \u3002","title":"\u793a\u4f8b \u63a7\u5236\u5668 \u6587\u4ef6"},{"location":"chrono/vehicle_driver/#_6","text":"\u6240\u6709 \u63a7\u5236 \u63a7\u5236\u5668 \u5904\u7406 \u90fd \u4e0e   IrrLicht   \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u60a8 \u9700\u8981 \u4f7f\u7528 \u5b83 \u6765 \u5b9e\u73b0 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002 \u8fd9 \u4e5f \u610f\u5473 \u610f\u5473\u7740 \u6211\u4eec \u7ee7\u627f \u4e86   IrrLicht   \u5904\u7406 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u6240\u6709 \u9650\u5236 \u3002 \u8fd9 \u4e3b\u8981 \u53cd\u6620 \u5728 \u6bcf\u4e2a \u63a7\u5236 \u63a7\u5236\u5668 \u652f\u6301 \u7684 \u6309\u94ae \u6570\u91cf \u4e0a \uff0c \u4f46 \u4e5f \u53ef\u80fd \u5b58\u5728 \u5176\u4ed6 \u9650\u5236 \u3002","title":"\u5f53\u524d \u5b9e\u65bd \u7684 \u5c40\u9650\u6027"},{"location":"chrono/vehicle_driver/#_7","text":"\u4e00\u4e9b \u91cd\u8981 \u7684 \u8f66\u8f86 \u6d4b\u8bd5 \u64cd\u4f5c \u57fa\u4e8e \u65f6\u95f4 \u76f8\u5173 \u7684 \u8f6c\u5411 / \u6cb9\u95e8 / \u5236\u52a8 \u4fe1\u53f7 \u3002 \u4e0d \u8003\u8651 \u4efb\u4f55 \u7c7b\u578b \u7684 \u53cd\u9988 \u3002 \u6b64 \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u6a21\u578b \u5728   ChDataDriver   \u4e2d \u5b9e\u73b0 \u3002   \u5e26\u6709 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f93\u5165 \u7684   ASCII   \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u5305\u542b \u56db\u5217 \uff0c \u5206\u522b \u4e3a \u65f6\u95f4 \uff08 s \uff09 \u3001 \u8f6c\u5411 \u8f93\u5165 \uff08 \u65e0\u91cf \u7eb2\u91cf \uff0c \u5355\u4f4d \u4e3a [   \u2212   1   ,   1   ] \uff0c   \u548c \u2212   1 \u8868\u793a \u5411 \u5de6 \u5b8c\u5168 \u8f6c\u5411 \uff09 \u3001 \u6cb9\u95e8 \u8f93\u5165 \uff08 \u65e0\u91cf \u7eb2\u91cf [   0   ,   1   ] \uff0c   \u548c 1 \u8868\u793a \u5168 \u6cb9\u95e8 \uff09 \u548c \u5236\u52a8 \uff08 \u65e0\u91cf \u7eb2\u91cf \u4ecb\u4e8e [   0   ,   1   ] \uff0c   \u548c 1 \u8868\u793a \u6700\u5927 \u5236 \u52a8\u529b \uff09 \u3002   \u4e0b\u9762 \u5217\u51fa \u4e86 \u793a\u4f8b \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6   0.0   0.0   0.0   0.0   0.0   0.5   0.0   0.5   0.0   0.0   3.0   0.0   0.5   0.0   0.0   5.0   0.5   0.4   0.0   0.0   9.0   0.0   0.0   1.0   0.0   \u5728 \u4efb\u4f55 \u7ed9\u5b9a \u65f6\u95f4 \uff0c \u5f53\u524d \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f93\u5165 \uff08 \u8f6c\u5411 \u3001 \u6cb9\u95e8 \u548c \u5236\u52a8 \uff09 \u90fd \u662f \u901a\u8fc7 \u5bf9 \u63d0\u4f9b \u7684 \u6570\u636e \u8fdb\u884c \u5206\u6bb5 \u7ebf\u6027 \u63d2\u503c \u7ebf\u6027\u63d2\u503c \u83b7\u5f97 \u7684 \u3002 \u9664\u4e86 \u6700\u540e \u4e00\u6b21 \u8f93\u5165 \u4e4b\u5916 \uff0c \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f93\u5165 \u5c06 \u4fdd\u6301 \u4e3a \u5176 \u6700\u540e \u4e00\u4e2a \u503c \u3002","title":"\u57fa\u4e8e \u6570\u636e \uff08 \u5f00\u73af \uff09 \u7684 \u9a71\u52a8\u5668"},{"location":"chrono/vehicle_driver/#_8","text":"\u95ed\u73af \u9a71\u52a8 \u9a71\u52a8\u5668 \u6a21\u578b \u9700\u8981 \u63a7\u5236 \u7b56\u7565 \u63a7\u5236\u7b56\u7565 \u5e76 \u8003\u8651 \u53cd\u9988 \u3002 \u53cd\u9988 \u53ef\u80fd \u5bfc\u81f4 \u4e0d \u7a33\u5b9a \u7684 \u884c\u4e3a \uff0c \u56e0\u6b64 \u5fc5\u987b \u660e\u667a \u660e\u667a\u5730 \u9009\u62e9 \u63a7\u5236 \u63a7\u5236\u5668 \u53c2\u6570 \u3002 \u793a\u4f8b \u53c2\u6570 \u5df2 \u5728 \u5e7f\u6cdb \u7684 \u7528\u9014 \u4e2d \u53d1\u6325 \u4f5c\u7528 \u53d1\u6325\u4f5c\u7528 \u3002 \u7528\u6237 \u5e94\u4ece \u7ed9\u5b9a \u7684 \u793a\u4f8b \u53c2\u6570 \u96c6 \u4e4b\u4e00 \u5f00\u59cb \uff0c \u5e76 \u4ec5 \u5728 \u5fc5\u8981 \u65f6 \u8fdb\u884c \u4fee\u6539 \u3002","title":"\u95ed\u73af \u9a71\u52a8 \u6a21\u578b"},{"location":"chrono/vehicle_driver/#_9","text":"\u4e3a\u4e86 \u4f7f \u8f66\u8f86 \u9075\u5faa \u7ed9\u5b9a \u7684 \u8def\u5f84 \uff0c \u5fc5\u987b \u6d4b\u91cf \u6a2a\u5411 \u8def\u5f84 \u504f\u5dee \u5e76 \u751f\u6210 \u4f7f \u504f\u5dee \u6700\u5c0f \u6700\u5c0f\u5316 \u7684 \u65b9\u5411 \u65b9\u5411\u76d8 \u89d2\u5ea6 \u3002 \u89e3\u51b3 \u6b64 \u95ee\u9898 \u7684 \u4e00\u4e2a \u5468\u77e5 \u4f17\u6240\u5468\u77e5 \u7684 \u65b9\u6cd5 \u662f   PID   \u63a7\u5236 \u63a7\u5236\u5668 \uff08 P = \u6bd4\u4f8b \u3001 I = \u79ef\u5206 \u3001 D = \u5fae\u5206 \uff09 \u3002 \u91c7\u7528 \u7eaf   P   \u53d8\u91cf \uff0c \u53ea \u9700 \u8bbe\u7f6e   P   \u589e\u76ca \u3002 \u8fd9 \u5728 \u8bb8\u591a \u60c5\u51b5 \u4e0b \u90fd \u6709\u6548 \uff0c \u4f46\u7eaf   P   \u63a7\u5236 \u63a7\u5236\u5668 \u6c38\u8fdc \u65e0\u6cd5 \u5c06 \u6a2a\u5411 \u504f\u5dee \u964d\u81f3 \u96f6 \u3002 \u6b8b\u4f59 \u504f\u5dee \u968f   P   \u589e\u76ca \u7684 \u589e\u52a0 \u800c \u51cf\u5c0f \u3002 \u5982\u679c   P   \u589e\u76ca \u592a \u5927 \uff0c \u8f66\u8f86 \u5c06 \u5f00\u59cb \u56f4\u7ed5 \u6240 \u9700 \u7684 \u8f66\u8f86 \u8def\u5f84 \u632f\u8361 \u3002 \u53ef\u4ee5 \u901a\u8fc7 \u5c06   I   \u589e\u76ca \u8bbe\u7f6e \u4e3a   P   \u589e\u76ca \u7684   5%   \u5230   10%   \u5de6\u53f3 \u7684 \u503c\u6765 \u6d88\u9664 \u6b8b\u4f59 \u8def\u5f84 \u504f\u5dee \u3002 \u901a\u8fc7 \u8bbe\u7f6e   D   \u589e\u76ca \uff0c \u5982\u679c \u53d1\u751f \u8def\u5f84 \u632f\u8361 \uff0c \u53ef\u4ee5 \u65bd\u52a0 \u963b\u5c3c \u3002 \u5982\u679c \u4f7f\u7528   I   \u589e\u76ca \uff0c \u6a21\u62df \u64cd\u4f5c \u4e0d \u5e94 \u8d85\u8fc7 \u7ea6   2   \u5206\u949f \u3002 \u5982\u679c \u9700\u8981 \u66f4 \u591a \u65f6\u95f4 \uff0c \u5219 \u5e94 \u6bcf   2   \u5206\u949f \u91cd\u7f6e \u4e00\u6b21 \u63a7\u5236 \u63a7\u5236\u5668 \u72b6\u6001 \u4ee5 \u907f\u514d \u4e0d \u7a33\u5b9a \u3002   \u4e0b\u56fe \uff08 \u7ef4\u57fa \u767e\u79d1 \u7ef4\u57fa\u767e \u7ef4\u57fa\u767e\u79d1 \uff09 \u5c55\u793a \u4e86   Chrono   \u5982\u4f55 \u5b9e\u73b0   PID   \u63a7\u5236 \u63a7\u5236\u5668 \uff1a   r ( t )   =   \u6240 \u9700 \u8def\u5f84 \u4fe1\u53f7   e ( t )   =   \u6a2a\u5411 \u8def\u5f84 \u504f\u5dee   y ( t )   =   \u5b9e\u9645 \u8def\u5f84 \u4fe1\u53f7   u ( t )   =   \u8f6c\u5411 \u4fe1\u53f7   \u6b64 \u56fe\u8868 \uff08 \u7ef4\u57fa \u767e\u79d1 \u7ef4\u57fa\u767e \u7ef4\u57fa\u767e\u79d1 \uff09 \u663e\u793a \u4e86 \u589e\u76ca \u56e0\u7d20 \u7684 \u5f71\u54cd \uff1a   \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u4e0d\u4ec5 \u4f1a \u5bf9 \u504f\u5dee \u53d8\u5316 \u505a\u51fa \u53cd\u5e94 \uff0c \u8fd8 \u80fd \u8fdb\u884c \u9884\u6d4b \u3002 \u5728   Chrono   \u4e2d \uff0c \u8fd9\u79cd \u80fd\u529b \u662f \u901a\u8fc7 \u5728 \u8f66\u8eab \u524d\u65b9 \u8bbe\u7f6e \u4e00\u4e2a \u53c2\u8003 \u8003\u70b9 \u53c2\u8003\u70b9 \u6765 \u6d4b\u91cf \u504f\u5dee \u6765 \u6a21\u62df \u7684 \u3002 \u53c2\u8003 \u8003\u70b9 \u53c2\u8003\u70b9 \u4e0e \u8f66\u8f86 \u53c2\u8003 \u7cfb\u7edf \u7684 \u8ddd\u79bb \u79f0\u4e3a \u524d\u89c6 \u8ddd\u79bb \uff0c \u662f \u91cd\u8981 \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u8f93\u5165 \u53c2\u6570 \u3002   \u671f\u671b \u8def\u5f84 \u4ee5 \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \u6307\u5b9a \uff08 \u53c2\u89c1   ChBezierCurve   \uff09 \u3002 \u8bef\u5dee \u5b9a\u4e49 \u4e3a \u201c \u54e8\u5175 \u70b9 \u201d \uff08 \u4f4d\u4e8e \u8f66\u8f86 \u524d\u8fdb \u65b9\u5411 \u524d\u8fdb\u65b9\u5411 \u524d\u89c6 \u8ddd\u79bb \u8ddd\u79bb\u5904 \u7684 \u70b9 \uff09 \u4e0e \u201c \u76ee\u6807 \u70b9 \u201d \uff08 \u54e8\u5175 \u70b9 \u5728 \u671f\u671b \u8def\u5f84 \u4e0a \u7684 \u6295\u5f71 \uff09 \u4e4b\u95f4 \u7684 \u504f\u5dee \u3002","title":"\u8def\u5f84 \u8ddf\u968f \u63a7\u5236\u5668"},{"location":"chrono/vehicle_driver/#_10","text":"\u4e3a\u4e86 \u4fdd\u6301 \u7ed9\u5b9a \u7684 \u8f66\u901f \uff0c \u53ef\u4ee5 \u4f7f\u7528   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u3002 \u4e0e \u8def\u5f84 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u4e0d\u540c \u4e4b\u5904 \u4e0d\u540c\u4e4b\u5904 \u5728\u4e8e \uff0c \u5b83 \u4f7f\u7528 \u901f\u5ea6 \u504f\u5dee \u800c \u4e0d\u662f \u6a2a\u5411 \u8def\u5f84 \u504f\u5dee \u3002   r ( t )   =   \u6240 \u9700 \u901f\u5ea6 \u4fe1\u53f7   e ( t )   =   \u901f\u5ea6 \u504f\u5dee   y ( t )   =   \u5b9e\u9645 \u901f\u5ea6 \u4fe1\u53f7   u ( t )   =   \u6cb9\u95e8 / \u5239\u8f66 \u4fe1\u53f7   ChPathFollowerDriver   \u7c7b \u5b9e\u73b0 \u4e86   PID   \u6a2a\u5411 \u63a7\u5236 \u63a7\u5236\u5668 \u4e0e   PID   \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u7ed3\u5408 \u3002 \u5b83 \u5728 \u53cc \u8f66\u9053 \u53d8\u6362 \u7b49 \u6781\u7aef \u64cd\u4f5c \u4e2d \u6548\u679c \u5f88 \u597d \u3002   \u6807\u51c6 \u9053\u8def \u9a7e\u9a76 \u64cd\u4f5c \u7684 \u4e00\u4e2a \u6709\u8da3 \u66ff\u4ee3 \u65b9\u6848 \u662f   ChPathFollowerDriverSR   \u3002 \u5b83 \u6709 \u4e00\u4e2a   PID   \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u4f46 \u91c7\u7528 \u8003\u8651 \u4eba \u548c \u8f66\u8f86 \u7279\u6027 \u7684 \u6a2a\u5411 \u63a7\u5236 \u7b56\u7565 \u63a7\u5236\u7b56\u7565 \u3002 \u9884\u6d4b \u4f7f\u7528 \u524d\u77bb \u65f6\u95f4 \u800c \u4e0d\u662f \u524d\u77bb \u8ddd\u79bb \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u6709\u6548 \u524d\u77bb \u8ddd\u79bb \u968f \u901f\u5ea6 \u800c \u53d8\u5316 \u3002","title":"\u6052\u901f \u63a7\u5236\u5668"},{"location":"chrono/vehicle_driver/#_11","text":"\u6052\u901f \u63a7\u5236 \u63a7\u5236\u5668 \u9002\u7528 \u4e8e \u8bb8\u591a \u6807\u51c6 \u9a7e\u9a76 \u64cd\u4f5c \u3002 \u5bf9\u4e8e \u5728 \u957f \u800c \u5f2f\u66f2 \u7684 \u9053\u8def \u4e0a \u884c\u9a76 \uff0c \u8f66\u8f86 \u5728 \u6574\u4e2a \u8fc7\u7a0b \u4e2d \u884c\u9a76 \u7684 \u901f\u5ea6 \u4ee4\u4eba \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u3002 \u9488\u5bf9 \u8fd9\u79cd \u60c5\u51b5 \uff0c \u5df2\u7ecf \u5f00\u53d1 \u4e86   ChHumanDriver   \u7c7b \u3002 \u6a2a\u5411 \u63a7\u5236 \u63a7\u5236\u5668 \u548c \u901f\u5ea6 \u63a7\u5236 \u63a7\u5236\u5668 \u90fd \u4f7f\u7528 \u4eba\u7c7b \u884c\u4e3a \u3001 \u8f66\u8f86 \u5c5e\u6027 \u548c \u9884\u671f \u4ee5\u53ca \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u89c6\u91ce \u3002 \u6a2a\u5411 \u63a7\u5236 \u63a7\u5236\u5668 \u4e0e   ChPathFollowerDriverSR   \u4e2d \u5b9e\u73b0 \u7684 \u63a7\u5236 \u63a7\u5236\u5668 \u76f8\u540c \u3002","title":"\u6700\u4f73 \u901f\u5ea6 \u63a7\u5236\u5668"},{"location":"chrono/vehicle_models/","text":"\u8f66\u8f86 \u6a21\u578b   \u8f6e\u5f0f \u8f66\u8f86 \u6a21\u578b   \u608d\u9a6c   HMMWV   \u4ee3\u8868 \u9ad8 \u673a\u52a8 \u673a\u52a8\u6027 \u591a\u7528 \u7528\u9014 \u591a\u7528\u9014 \u8f6e\u5f0f \u8f66\u8f86 \u7cfb\u5217 \u3002 Chrono   \u793a\u4f8b \u5c55\u793a \u4e86   M966   \u90e8\u961f \u8fd0\u8f93 \u8fd0\u8f93\u8f66 \u3002 \u4e0e \u771f\u5b9e \u8f66\u8f86 \u4e00\u6837 \uff0c \u5b83 \u5728 \u4e24\u4e2a \u8f66\u8f74 \u4e0a \u90fd \u91c7\u7528 \u53cc\u53c9\u81c2 \u60ac\u67b6 \uff0c \u6240\u6709 \u8f66\u8f6e \u90fd \u53ef\u4ee5 \u9a71\u52a8 \u3002 \u5b83 \u6709 \u4e00\u4e2a \u5e26 \u53d8\u77e9\u5668 \u7684 \u4e09\u6863 \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u548c \u4e00\u4e2a \u903c\u771f \u7684 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7cfb\u7edf \u5b50\u7cfb\u7edf \u3002 \u5b83 \u91c7\u7528 \u8f6c\u5411 \u81c2 \u8f6c\u5411 \u3002 \u8be5 \u6a21\u578b \u53ef\u4ee5 \u4f7f\u7528   Chrono   \u63d0\u4f9b \u7684 \u6240\u6709 \u7c7b\u578b \u7684 \u8f6e\u80ce \u3002   \u8054\u90a6 \u5f00\u53d1 \u5f00\u53d1\u7f72   FED   ALPHA   \u662f \u4e00\u6b3e \u7531 \u5de5\u7a0b \u516c\u53f8 \u91cc\u5361 \u5361\u591a \u91cc\u5361\u591a \u4e0e \u7f8e\u56fd \u519b\u65b9 \u5408\u4f5c \u5f00\u53d1 \u5408\u4f5c\u5f00\u53d1 \u7684 \u6982\u5ff5 \u6982\u5ff5\u8f66 \u3002   Chrono : : Vehicle   FEDA   \u662f \u4e00\u6b3e   4WD   \u8f66\u578b \uff0c \u914d\u5907 \u53cc\u53c9\u81c2 \u524d\u540e \u60ac\u67b6 \u3001 \u9632\u503e\u6746 \u548c \u8f6c\u5411 \u81c2 \u8f6c\u5411 \u673a\u6784 \u3002 \u76ee\u524d \u4ec5 \u5b9e\u65bd   Pacejka   2002   \u548c \u521a\u6027 \u8f6e\u80ce \u8f66\u578b \u3002   \u8f7f\u8f66   \u8f7f\u8f66 \u793a\u4f8b \u5c55\u793a \u4e86 \u4e00\u6b3e \u666e\u901a \u7684 \u7528\u8f66 \u4e58\u7528\u8f66 \u3002 \u5b83 \u5728 \u524d\u8f74 \u4e0a \u91c7\u7528 \u53cc\u53c9\u81c2 \u60ac\u67b6 \uff0c \u5728 \u540e\u8f74 \u4e0a \u91c7\u7528 \u591a \u8fde\u6746 \u60ac\u67b6 \u3002 \u8f6c\u5411 \u7cfb\u7edf \u4e3a \u9f7f\u6761 \u9f7f\u8f6e \u5f0f \u3002   \u57ce\u5e02 \u5df4\u58eb   \u987e\u540d \u987e\u540d\u601d\u4e49 \uff0c Citybus   \u662f \u4e00\u6b3e \u5178\u578b \u7684 \u5df4\u58eb \uff0c \u5728 \u4e16\u754c \u6bcf\u4e2a \u57ce\u5e02 \u90fd \u80fd \u627e\u5230 \u3002 \u4e0e \u6240\u6709 \u91cd\u578b \u8f66\u8f86 \u4e00\u6837 \uff0c \u5b83 \u4f7f\u7528 \u677f\u7c27 \u5b9e\u5fc3 \u8f74 \u3002 Chrono   \u677f\u7c27 \u8f74 \u57fa\u4e8e \u529f\u80fd \u65b9\u6cd5 \u3002 \u56e0\u6b64 \u4e0d\u5230 \u770b\u4e0d\u5230 \u677f\u7c27 \u3002 \u524d\u8f6e \u7531 \u65cb\u8f6c \u81c2 \u8f6c\u5411 \uff0c \u8fd9\u79cd \u7ec4\u5408 \u4e5f \u79f0\u4e3a \u524d\u675f \u8f6c\u5411 \u3002 \u8be5 \u6a21\u578b \u8fd8 \u5c55\u793a \u4e86 \u53cc\u8f6e \u7684 \u4f7f\u7528 \u3002   \u8c03\u9891 \u7535\u89c6   \u4e2d\u578b \u6218\u672f \u8f66\u8f86 \u7cfb\u5217   ( FMTV )   \u662f \u5965\u4ec0 \u79d1\u4ec0 \u516c\u53f8 \u76ee\u524d \u751f\u4ea7 \u7684 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5361\u8f66 \u3002   Chrono   \u8f66\u8f86 \u6a21\u578b \u6a21\u578b\u5e93 \u4e3a \u8fd9\u4e9b \u8f66\u8f86 \u7684 \u4e24\u79cd \u53d8\u4f53 \u63d0\u4f9b \u4e86 \u6a21\u578b \uff1a   LMTV \uff08 \u8f7b\u578b \u4e2d\u578b \u6218\u672f \u8f66\u8f86 \uff09 \uff0c \u4e00\u8f86   2.5   \u5428\u91cd \u7684   4x4   \u5361\u8f66   MTV \uff08 \u4e2d\u578b \u6218\u672f \u8f66\u8f86 \uff09 \uff0c \u4e00\u8f86   5   \u5428 \u3001 6x4   \u5361\u8f66   \u4e24\u79cd \u8f66\u578b \u5747 \u91c7\u7528 \u677f\u7c27 \u540e\u8f74 \u548c \u5e26 \u8dbe \u6746 \u8f6c\u5411 \u7684 \u677f\u7c27 \u524d\u8f74 \uff0c \u5e76 \u5305\u62ec \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u548c \u8d27\u7269 \u4e4b\u95f4 \u7684 \u626d\u8f6c \u67d4\u987a \u6027 \u6a21\u578b \u3002 MTV   \u8f66\u578b \u91c7\u7528 \u5e73\u8861 \u6881\u540e \u8f6c\u5411 \u8f6c\u5411\u67b6 \u3002   \u7537\u4eba   MAN \uff08 \u5965\u683c \u683c\u65af \u5965\u683c\u65af\u5821 \u7ebd\u4f26\u5821 \u673a\u68b0 \u5236\u9020 \u5236\u9020\u5382 \uff09 Kat   1   \u5361\u8f66 \u7cfb\u5217 \u4e13 \u4e3a \u6218\u672f \u8d8a\u91ce \u4f7f\u7528 \u800c \u8bbe\u8ba1 \u3002 \u6240\u6709 \u7cfb\u5217 \u6210\u5458 \u5747 \u91c7\u7528 \u7531 \u8fde\u6746 \u5f15\u5bfc \u7684 \u87ba\u65cb \u5f39\u7c27 \u87ba\u65cb\u5f39\u7c27 \u5b9e\u5fc3 \u8f74 \u7cfb\u7edf \u3002 \u8fd9\u79cd \u8bbe\u8ba1 \u5141\u8bb8 \u975e\u5e38 \u9ad8 \u7684 \u8f66\u8f6e \u884c\u7a0b \u3002 \u8f66\u8f86 \u6846\u67b6 \u4e3a \u7bb1\u5f62 \uff0c \u56e0\u6b64 \u6a21\u578b \u53ef\u4ee5 \u4f7f\u7528 \u521a\u6027 \u5e95\u76d8 \u65b9\u6cd5 \uff0c \u56e0\u4e3a \u5728 \u771f\u5b9e \u8f66\u8f86 \u4e2d \u51e0\u4e4e \u6ca1\u6709 \u8f66\u67b6 \u626d\u8f6c \u3002 \u6240\u6709 \u8f6c\u5411 \u8f74 \u90fd \u914d\u6709 \u6447\u81c2 / \u65cb\u8f6c \u81c2 \u673a\u6784 \u3002 \u6240\u6709 \u8f66\u8f6e \u5747 \u7531 \u9a71\u52a8 \u3002   \u5b83 \u6700\u521d \u662f \u4e3a \u5fb7\u56fd \u56fd\u8054 \u8054\u90a6 \u5fb7\u56fd\u8054\u90a6 \u56fd\u9632 \u9632\u519b \u56fd\u9632\u519b \u8bbe\u8ba1 \u7684 \uff0c \u4eca\u5929 \u5728\u4e16 \u4e16\u754c \u5728\u4e16\u754c\u4e0a \u7684 \u8bb8\u591a \u519b\u961f \u4e2d \u90fd \u53ef\u4ee5 \u627e\u5230 \u5b83 \uff0c \u4f8b\u5982 \u5728 \u7f8e\u56fd \u9646\u519b \u56fd\u9646\u519b \u7f8e\u56fd\u9646\u519b \u4e2d \u4f5c\u4e3a   M1001   \u52a8\u673a \u539f\u52a8\u673a \u6216   M1002   \u56de\u6536 \u8f66 \u3002   5t \uff08 \u8f7d\u91cd \u91cd\u91cf \u8f7d\u91cd\u91cf \uff09 \u5361\u8f66 \u662f \u8be5 \u5bb6\u65cf \u4e2d \u6700\u5c0f \u7684 \u6210\u5458 \u3002   7t   \u5361\u8f66 \u662f \u914d\u7f6e \u6700 \u591a\u6837 \u591a\u6837\u5316 \u7684 \u5361\u8f66 \uff0c \u53ef \u7528\u4e8e \u8fd0\u8f7d \u7279\u6b8a \u8bbe\u5907 \u6216 \u4f5c\u4e3a \u81ea\u5378 \u5378\u8f66 \u81ea\u5378\u8f66 \u3002 \u5728   Chrono   \u4e2d \uff0c \u5b83 \u53ea\u6709 \u4e00\u4e2a \u8f7d\u8d27 \u5e8a \u3002   10t \u5361\u8f66 \u662f 70 \u5e74\u4ee3 \u672b \u6295\u5165 \u4f7f\u7528 \u6295\u5165\u4f7f\u7528 \u7684 \u6700\u65e9 \u7684 \u8f66\u578b \u3002 \u5b83\u4eec \u5927\u591a \u7528\u4f5c \u8fd0\u8f93 \u5361\u8f66 \uff0c \u4e00\u4e9b \u8fd8 \u914d\u5907 \u4e86 \u88c5\u8f7d \u8d77\u91cd \u91cd\u673a \u8d77\u91cd\u673a \u3002   \u514b\u5170 \u4e4c\u514b\u5170 \u963f\u65af   UAZ   \u4ee3\u8868 \u4e4c\u91cc \u8bfa\u592b \u4e4c\u91cc\u626c\u8bfa\u592b \u65af\u57fa \u6c7d\u8f66 \u5236\u9020 \u5236\u9020\u5382 \u3002 UAZ   452   \u578b \u5ba2\u8f66 / \u53a2\u5f0f \u8d27\u8f66 / \u5361\u8f66 \u81ea   1965   \u5e74 \u4ee5\u6765 \u5728 \u7f57\u65af \u4fc4\u7f57\u65af \u4e00\u76f4 \u5f88 \u6b22\u8fce \u53d7\u6b22\u8fce \u3002 \u5b83 \u91c7\u7528 \u5168\u8f6e \u9a71\u52a8 \uff0c \u914d\u6709 \u4e24\u4e2a \u677f\u7c27 \u8f66\u8f74 \u3002 \u524d\u8f74 \u914d\u6709 \u524d\u675f \u8f6c\u5411 \u673a\u6784 \u3002   UAZ   469   \u5409\u666e \u5409\u666e\u8f66 \u81ea   1965   \u5e74 \u4ee5\u6765 \u4e00\u76f4 \u670d\u5f79 \u4e8e \u82cf\u8054 \u519b\u961f \u3002 \u5b83 \u4e0e   UAZ   452   \u5171\u4eab \u8bb8\u591a \u90e8\u4ef6 \uff08 \u8f66\u8f74 \u3001 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \uff09 \u3002 \u8f6c\u5411 \u7cfb\u7edf \u4e5f \u662f \u524d\u675f / \u65cb\u8f6c \u81c2\u5f0f \uff0c \u4f46 \u914d\u7f6e \u7565\u6709 \u4e0d\u540c \u7565\u6709\u4e0d\u540c \u3002   \u9cc4\u9c7c   Tha   Gator   \u662f \u4e00\u6b3e \u914d\u5907 \u81ea\u52a8 \u9a7e\u9a76 \u529f\u80fd \u7684   John   Deere   \u7535\u52a8 \u591a\u7528 \u7528\u9014 \u591a\u7528\u9014 \u8f66 \u3002 Gator   \u8f66\u578b \u524d\u90e8 \u91c7\u7528 \u5355\u53c9\u81c2 \u60ac\u67b6 \uff0c \u540e\u90e8 \u91c7\u7528 \u521a\u6027 \u8f74 \u3002 \u5b83 \u91c7\u7528 \u9f7f\u6761 \u9f7f\u8f6e \u8f6c\u5411 \u673a\u6784 \uff0c \u4ec5 \u5728 \u540e\u8f6e \u4e0a \u5236\u52a8 \u3002 \u7535\u52a8 \u52a8\u673a \u7535\u52a8\u673a \u901a\u8fc7 \u5dee\u901f \u5dee\u901f\u5668 \u8fde\u63a5 \u5230 \u540e\u8f6e \u3002   \u514b\u62c9 \u5179   \u8be5\u8f66 \u578b \u57fa\u4e8e \u514b\u5170 \u4e4c\u514b\u5170   Kraz   64431 \uff0c \u662f \u4e00\u6b3e \u534a\u6302 \u5361\u8f66 \u3002 \u7275\u5f15 \u7275\u5f15\u8f66 \u91c7\u7528 \u524d\u53c9 \u677f\u7c27 \u5f0f \u60ac\u67b6 \uff0c \u901a\u8fc7 \u65cb\u8f6c \u81c2 \u673a\u6784 \u8f6c\u5411 \uff0c \u540e \u60ac\u67b6 \u4e3a \u4e24\u4e2a \u677f\u7c27 \u5f0f \u3002 \u7275\u5f15 \u7275\u5f15\u8f66 \u4e3a   6x4   \u914d\u7f6e \uff0c \u4e24\u4e2a \u540e\u8f74 \u9a71\u52a8 \u3002 \u62d6\u8f66 \u901a\u8fc7 \u6302\u94a9 \u4e0e \u7275\u5f15 \u7275\u5f15\u8f66 \u76f8\u8fde \uff0c \u6709 \u4e09\u4e2a \u8f74 \uff0c \u5747 \u4e3a \u677f\u7c27 \u5f0f \u3002   \u9065\u63a7 \u9065\u63a7\u8f66   \u8fd9\u662f \u4e00\u4e2a \u5c0f\u578b \u9065\u63a7 \u56db\u8f6e \u9a71\u52a8 \u56db\u8f6e\u9a71\u52a8 \u8f66 \u7684 \u6a21\u578b \u3002   \u901a\u7528 \u8f6e\u5f0f \u8f66\u8f86   \u901a\u7528 \u8f6e\u5f0f \u8f66\u8f86 \u6a21\u578b \u662f \u7528\u4e8e \u6d4b\u8bd5 \u5404\u79cd \u6a21\u677f \u548c \u8bbe\u7f6e \u7684 \u6c99\u7bb1 \u3002 \u5b83 \u4e0d \u4ee3\u8868 \u4efb\u4f55 \u7279\u5b9a \u8f66\u8f86 \uff0c \u5e76\u4e14 \u4e3a\u6b64 \u6a21\u578b \u63d0\u4f9b \u7684 \u6240\u6709 \u5177\u4f53 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u4e0d \u4e00\u5b9a \u5f7c\u6b64 \u4e00\u81f4 \u3002","title":"\u8f66\u8f86 \u6a21\u578b"},{"location":"chrono/vehicle_models/#_1","text":"","title":"\u8f66\u8f86 \u6a21\u578b"},{"location":"chrono/vehicle_models/#_2","text":"","title":"\u8f6e\u5f0f \u8f66\u8f86 \u6a21\u578b"},{"location":"chrono/vehicle_models/#_3","text":"HMMWV   \u4ee3\u8868 \u9ad8 \u673a\u52a8 \u673a\u52a8\u6027 \u591a\u7528 \u7528\u9014 \u591a\u7528\u9014 \u8f6e\u5f0f \u8f66\u8f86 \u7cfb\u5217 \u3002 Chrono   \u793a\u4f8b \u5c55\u793a \u4e86   M966   \u90e8\u961f \u8fd0\u8f93 \u8fd0\u8f93\u8f66 \u3002 \u4e0e \u771f\u5b9e \u8f66\u8f86 \u4e00\u6837 \uff0c \u5b83 \u5728 \u4e24\u4e2a \u8f66\u8f74 \u4e0a \u90fd \u91c7\u7528 \u53cc\u53c9\u81c2 \u60ac\u67b6 \uff0c \u6240\u6709 \u8f66\u8f6e \u90fd \u53ef\u4ee5 \u9a71\u52a8 \u3002 \u5b83 \u6709 \u4e00\u4e2a \u5e26 \u53d8\u77e9\u5668 \u7684 \u4e09\u6863 \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u7bb1 \u548c \u4e00\u4e2a \u903c\u771f \u7684 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u7cfb\u7edf \u5b50\u7cfb\u7edf \u3002 \u5b83 \u91c7\u7528 \u8f6c\u5411 \u81c2 \u8f6c\u5411 \u3002 \u8be5 \u6a21\u578b \u53ef\u4ee5 \u4f7f\u7528   Chrono   \u63d0\u4f9b \u7684 \u6240\u6709 \u7c7b\u578b \u7684 \u8f6e\u80ce \u3002","title":"\u608d\u9a6c"},{"location":"chrono/vehicle_models/#_4","text":"FED   ALPHA   \u662f \u4e00\u6b3e \u7531 \u5de5\u7a0b \u516c\u53f8 \u91cc\u5361 \u5361\u591a \u91cc\u5361\u591a \u4e0e \u7f8e\u56fd \u519b\u65b9 \u5408\u4f5c \u5f00\u53d1 \u5408\u4f5c\u5f00\u53d1 \u7684 \u6982\u5ff5 \u6982\u5ff5\u8f66 \u3002   Chrono : : Vehicle   FEDA   \u662f \u4e00\u6b3e   4WD   \u8f66\u578b \uff0c \u914d\u5907 \u53cc\u53c9\u81c2 \u524d\u540e \u60ac\u67b6 \u3001 \u9632\u503e\u6746 \u548c \u8f6c\u5411 \u81c2 \u8f6c\u5411 \u673a\u6784 \u3002 \u76ee\u524d \u4ec5 \u5b9e\u65bd   Pacejka   2002   \u548c \u521a\u6027 \u8f6e\u80ce \u8f66\u578b \u3002","title":"\u8054\u90a6 \u5f00\u53d1\u7f72"},{"location":"chrono/vehicle_models/#_5","text":"\u8f7f\u8f66 \u793a\u4f8b \u5c55\u793a \u4e86 \u4e00\u6b3e \u666e\u901a \u7684 \u7528\u8f66 \u4e58\u7528\u8f66 \u3002 \u5b83 \u5728 \u524d\u8f74 \u4e0a \u91c7\u7528 \u53cc\u53c9\u81c2 \u60ac\u67b6 \uff0c \u5728 \u540e\u8f74 \u4e0a \u91c7\u7528 \u591a \u8fde\u6746 \u60ac\u67b6 \u3002 \u8f6c\u5411 \u7cfb\u7edf \u4e3a \u9f7f\u6761 \u9f7f\u8f6e \u5f0f \u3002","title":"\u8f7f\u8f66"},{"location":"chrono/vehicle_models/#_6","text":"\u987e\u540d \u987e\u540d\u601d\u4e49 \uff0c Citybus   \u662f \u4e00\u6b3e \u5178\u578b \u7684 \u5df4\u58eb \uff0c \u5728 \u4e16\u754c \u6bcf\u4e2a \u57ce\u5e02 \u90fd \u80fd \u627e\u5230 \u3002 \u4e0e \u6240\u6709 \u91cd\u578b \u8f66\u8f86 \u4e00\u6837 \uff0c \u5b83 \u4f7f\u7528 \u677f\u7c27 \u5b9e\u5fc3 \u8f74 \u3002 Chrono   \u677f\u7c27 \u8f74 \u57fa\u4e8e \u529f\u80fd \u65b9\u6cd5 \u3002 \u56e0\u6b64 \u4e0d\u5230 \u770b\u4e0d\u5230 \u677f\u7c27 \u3002 \u524d\u8f6e \u7531 \u65cb\u8f6c \u81c2 \u8f6c\u5411 \uff0c \u8fd9\u79cd \u7ec4\u5408 \u4e5f \u79f0\u4e3a \u524d\u675f \u8f6c\u5411 \u3002 \u8be5 \u6a21\u578b \u8fd8 \u5c55\u793a \u4e86 \u53cc\u8f6e \u7684 \u4f7f\u7528 \u3002","title":"\u57ce\u5e02 \u5df4\u58eb"},{"location":"chrono/vehicle_models/#_7","text":"\u4e2d\u578b \u6218\u672f \u8f66\u8f86 \u7cfb\u5217   ( FMTV )   \u662f \u5965\u4ec0 \u79d1\u4ec0 \u516c\u53f8 \u76ee\u524d \u751f\u4ea7 \u7684 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5361\u8f66 \u3002   Chrono   \u8f66\u8f86 \u6a21\u578b \u6a21\u578b\u5e93 \u4e3a \u8fd9\u4e9b \u8f66\u8f86 \u7684 \u4e24\u79cd \u53d8\u4f53 \u63d0\u4f9b \u4e86 \u6a21\u578b \uff1a   LMTV \uff08 \u8f7b\u578b \u4e2d\u578b \u6218\u672f \u8f66\u8f86 \uff09 \uff0c \u4e00\u8f86   2.5   \u5428\u91cd \u7684   4x4   \u5361\u8f66   MTV \uff08 \u4e2d\u578b \u6218\u672f \u8f66\u8f86 \uff09 \uff0c \u4e00\u8f86   5   \u5428 \u3001 6x4   \u5361\u8f66   \u4e24\u79cd \u8f66\u578b \u5747 \u91c7\u7528 \u677f\u7c27 \u540e\u8f74 \u548c \u5e26 \u8dbe \u6746 \u8f6c\u5411 \u7684 \u677f\u7c27 \u524d\u8f74 \uff0c \u5e76 \u5305\u62ec \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u548c \u8d27\u7269 \u4e4b\u95f4 \u7684 \u626d\u8f6c \u67d4\u987a \u6027 \u6a21\u578b \u3002 MTV   \u8f66\u578b \u91c7\u7528 \u5e73\u8861 \u6881\u540e \u8f6c\u5411 \u8f6c\u5411\u67b6 \u3002","title":"\u8c03\u9891 \u7535\u89c6"},{"location":"chrono/vehicle_models/#_8","text":"MAN \uff08 \u5965\u683c \u683c\u65af \u5965\u683c\u65af\u5821 \u7ebd\u4f26\u5821 \u673a\u68b0 \u5236\u9020 \u5236\u9020\u5382 \uff09 Kat   1   \u5361\u8f66 \u7cfb\u5217 \u4e13 \u4e3a \u6218\u672f \u8d8a\u91ce \u4f7f\u7528 \u800c \u8bbe\u8ba1 \u3002 \u6240\u6709 \u7cfb\u5217 \u6210\u5458 \u5747 \u91c7\u7528 \u7531 \u8fde\u6746 \u5f15\u5bfc \u7684 \u87ba\u65cb \u5f39\u7c27 \u87ba\u65cb\u5f39\u7c27 \u5b9e\u5fc3 \u8f74 \u7cfb\u7edf \u3002 \u8fd9\u79cd \u8bbe\u8ba1 \u5141\u8bb8 \u975e\u5e38 \u9ad8 \u7684 \u8f66\u8f6e \u884c\u7a0b \u3002 \u8f66\u8f86 \u6846\u67b6 \u4e3a \u7bb1\u5f62 \uff0c \u56e0\u6b64 \u6a21\u578b \u53ef\u4ee5 \u4f7f\u7528 \u521a\u6027 \u5e95\u76d8 \u65b9\u6cd5 \uff0c \u56e0\u4e3a \u5728 \u771f\u5b9e \u8f66\u8f86 \u4e2d \u51e0\u4e4e \u6ca1\u6709 \u8f66\u67b6 \u626d\u8f6c \u3002 \u6240\u6709 \u8f6c\u5411 \u8f74 \u90fd \u914d\u6709 \u6447\u81c2 / \u65cb\u8f6c \u81c2 \u673a\u6784 \u3002 \u6240\u6709 \u8f66\u8f6e \u5747 \u7531 \u9a71\u52a8 \u3002   \u5b83 \u6700\u521d \u662f \u4e3a \u5fb7\u56fd \u56fd\u8054 \u8054\u90a6 \u5fb7\u56fd\u8054\u90a6 \u56fd\u9632 \u9632\u519b \u56fd\u9632\u519b \u8bbe\u8ba1 \u7684 \uff0c \u4eca\u5929 \u5728\u4e16 \u4e16\u754c \u5728\u4e16\u754c\u4e0a \u7684 \u8bb8\u591a \u519b\u961f \u4e2d \u90fd \u53ef\u4ee5 \u627e\u5230 \u5b83 \uff0c \u4f8b\u5982 \u5728 \u7f8e\u56fd \u9646\u519b \u56fd\u9646\u519b \u7f8e\u56fd\u9646\u519b \u4e2d \u4f5c\u4e3a   M1001   \u52a8\u673a \u539f\u52a8\u673a \u6216   M1002   \u56de\u6536 \u8f66 \u3002   5t \uff08 \u8f7d\u91cd \u91cd\u91cf \u8f7d\u91cd\u91cf \uff09 \u5361\u8f66 \u662f \u8be5 \u5bb6\u65cf \u4e2d \u6700\u5c0f \u7684 \u6210\u5458 \u3002   7t   \u5361\u8f66 \u662f \u914d\u7f6e \u6700 \u591a\u6837 \u591a\u6837\u5316 \u7684 \u5361\u8f66 \uff0c \u53ef \u7528\u4e8e \u8fd0\u8f7d \u7279\u6b8a \u8bbe\u5907 \u6216 \u4f5c\u4e3a \u81ea\u5378 \u5378\u8f66 \u81ea\u5378\u8f66 \u3002 \u5728   Chrono   \u4e2d \uff0c \u5b83 \u53ea\u6709 \u4e00\u4e2a \u8f7d\u8d27 \u5e8a \u3002   10t \u5361\u8f66 \u662f 70 \u5e74\u4ee3 \u672b \u6295\u5165 \u4f7f\u7528 \u6295\u5165\u4f7f\u7528 \u7684 \u6700\u65e9 \u7684 \u8f66\u578b \u3002 \u5b83\u4eec \u5927\u591a \u7528\u4f5c \u8fd0\u8f93 \u5361\u8f66 \uff0c \u4e00\u4e9b \u8fd8 \u914d\u5907 \u4e86 \u88c5\u8f7d \u8d77\u91cd \u91cd\u673a \u8d77\u91cd\u673a \u3002","title":"\u7537\u4eba"},{"location":"chrono/vehicle_models/#_9","text":"UAZ   \u4ee3\u8868 \u4e4c\u91cc \u8bfa\u592b \u4e4c\u91cc\u626c\u8bfa\u592b \u65af\u57fa \u6c7d\u8f66 \u5236\u9020 \u5236\u9020\u5382 \u3002 UAZ   452   \u578b \u5ba2\u8f66 / \u53a2\u5f0f \u8d27\u8f66 / \u5361\u8f66 \u81ea   1965   \u5e74 \u4ee5\u6765 \u5728 \u7f57\u65af \u4fc4\u7f57\u65af \u4e00\u76f4 \u5f88 \u6b22\u8fce \u53d7\u6b22\u8fce \u3002 \u5b83 \u91c7\u7528 \u5168\u8f6e \u9a71\u52a8 \uff0c \u914d\u6709 \u4e24\u4e2a \u677f\u7c27 \u8f66\u8f74 \u3002 \u524d\u8f74 \u914d\u6709 \u524d\u675f \u8f6c\u5411 \u673a\u6784 \u3002   UAZ   469   \u5409\u666e \u5409\u666e\u8f66 \u81ea   1965   \u5e74 \u4ee5\u6765 \u4e00\u76f4 \u670d\u5f79 \u4e8e \u82cf\u8054 \u519b\u961f \u3002 \u5b83 \u4e0e   UAZ   452   \u5171\u4eab \u8bb8\u591a \u90e8\u4ef6 \uff08 \u8f66\u8f74 \u3001 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \uff09 \u3002 \u8f6c\u5411 \u7cfb\u7edf \u4e5f \u662f \u524d\u675f / \u65cb\u8f6c \u81c2\u5f0f \uff0c \u4f46 \u914d\u7f6e \u7565\u6709 \u4e0d\u540c \u7565\u6709\u4e0d\u540c \u3002","title":"\u4e4c\u514b\u5170 \u963f\u65af"},{"location":"chrono/vehicle_models/#_10","text":"Tha   Gator   \u662f \u4e00\u6b3e \u914d\u5907 \u81ea\u52a8 \u9a7e\u9a76 \u529f\u80fd \u7684   John   Deere   \u7535\u52a8 \u591a\u7528 \u7528\u9014 \u591a\u7528\u9014 \u8f66 \u3002 Gator   \u8f66\u578b \u524d\u90e8 \u91c7\u7528 \u5355\u53c9\u81c2 \u60ac\u67b6 \uff0c \u540e\u90e8 \u91c7\u7528 \u521a\u6027 \u8f74 \u3002 \u5b83 \u91c7\u7528 \u9f7f\u6761 \u9f7f\u8f6e \u8f6c\u5411 \u673a\u6784 \uff0c \u4ec5 \u5728 \u540e\u8f6e \u4e0a \u5236\u52a8 \u3002 \u7535\u52a8 \u52a8\u673a \u7535\u52a8\u673a \u901a\u8fc7 \u5dee\u901f \u5dee\u901f\u5668 \u8fde\u63a5 \u5230 \u540e\u8f6e \u3002","title":"\u9cc4\u9c7c"},{"location":"chrono/vehicle_models/#_11","text":"\u8be5\u8f66 \u578b \u57fa\u4e8e \u514b\u5170 \u4e4c\u514b\u5170   Kraz   64431 \uff0c \u662f \u4e00\u6b3e \u534a\u6302 \u5361\u8f66 \u3002 \u7275\u5f15 \u7275\u5f15\u8f66 \u91c7\u7528 \u524d\u53c9 \u677f\u7c27 \u5f0f \u60ac\u67b6 \uff0c \u901a\u8fc7 \u65cb\u8f6c \u81c2 \u673a\u6784 \u8f6c\u5411 \uff0c \u540e \u60ac\u67b6 \u4e3a \u4e24\u4e2a \u677f\u7c27 \u5f0f \u3002 \u7275\u5f15 \u7275\u5f15\u8f66 \u4e3a   6x4   \u914d\u7f6e \uff0c \u4e24\u4e2a \u540e\u8f74 \u9a71\u52a8 \u3002 \u62d6\u8f66 \u901a\u8fc7 \u6302\u94a9 \u4e0e \u7275\u5f15 \u7275\u5f15\u8f66 \u76f8\u8fde \uff0c \u6709 \u4e09\u4e2a \u8f74 \uff0c \u5747 \u4e3a \u677f\u7c27 \u5f0f \u3002","title":"\u514b\u62c9 \u5179"},{"location":"chrono/vehicle_models/#_12","text":"\u8fd9\u662f \u4e00\u4e2a \u5c0f\u578b \u9065\u63a7 \u56db\u8f6e \u9a71\u52a8 \u56db\u8f6e\u9a71\u52a8 \u8f66 \u7684 \u6a21\u578b \u3002","title":"\u9065\u63a7\u8f66"},{"location":"chrono/vehicle_models/#_13","text":"\u901a\u7528 \u8f6e\u5f0f \u8f66\u8f86 \u6a21\u578b \u662f \u7528\u4e8e \u6d4b\u8bd5 \u5404\u79cd \u6a21\u677f \u548c \u8bbe\u7f6e \u7684 \u6c99\u7bb1 \u3002 \u5b83 \u4e0d \u4ee3\u8868 \u4efb\u4f55 \u7279\u5b9a \u8f66\u8f86 \uff0c \u5e76\u4e14 \u4e3a\u6b64 \u6a21\u578b \u63d0\u4f9b \u7684 \u6240\u6709 \u5177\u4f53 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u4e0d \u4e00\u5b9a \u5f7c\u6b64 \u4e00\u81f4 \u3002","title":"\u901a\u7528 \u8f6e\u5f0f \u8f66\u8f86"},{"location":"chrono/vehicle_overview/","text":"\u8f66\u8f86 \u5efa\u6a21 \u4e0e \u4eff\u771f \u6982\u8ff0   Chrono : : Vehicle   \u6a21\u5757 \u63d0\u4f9b \u4e86 \u9002\u7528 \u4e8e \u8f6e\u5f0f \u548c \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u5404\u79cd \u62d3\u6251 \u7ed3\u6784 \u7684 \u6a21\u677f \u96c6\u5408 \uff0c \u652f\u6301 \u5bf9 \u521a\u6027 \u3001 \u67d4\u6027 \u548c \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u5730\u5f62 \u8fdb\u884c \u5efa\u6a21 \uff0c \u652f\u6301 \u95ed\u73af \u548c \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u9a71\u52a8 \u6a21\u578b \uff0c \u4ee5\u53ca \u6a21\u62df \u7ed3\u679c \u7684 \u8fd0\u884c \u65f6 \u548c \u79bb\u7ebf \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u8f66\u8f86 \u7cfb\u7edf \u7684 \u5efa\u6a21 \u91c7\u7528 \u6a21\u5757 \u6a21\u5757\u5316 \u65b9\u5f0f \uff0c \u8f66\u8f86 \u5b9a\u4e49 \u4e3a \u5404\u79cd \u7cfb\u7edf \u5b50\u7cfb\u7edf \uff08 \u60ac\u67b6 \u3001 \u8f6c\u5411 \u3001 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u7b49 \uff09 \u5b9e\u4f8b \u7684 \u96c6\u5408 \u3002 \u91c7\u7528 \u57fa\u4e8e \u6a21\u677f \u7684 \u8bbe\u8ba1 \u53ef \u5b9e\u73b0 \u5efa\u6a21 \u7684 \u7075\u6d3b \u6d3b\u6027 \u7075\u6d3b\u6027 \u3002 \u5728   Chrono : : Vehicle   \u4e2d \uff0c \u6a21\u677f \u662f \u53c2\u6570 \u5316 \u6a21\u578b \uff0c \u7528\u4e8e \u5b9a\u4e49 \u8f66\u8f86 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u7279\u5b9a \u5b9e\u73b0 \u3002 \u56e0\u6b64 \uff0c \u6a21\u677f \u5b9a\u4e49 \u57fa\u672c \u5efa\u6a21 \u5143\u7d20 \uff08 \u8f66\u8eab \u3001 \u5173\u8282 \u3001 \u529b \u5143\u7d20 \uff09 \uff0c \u5f3a\u52a0 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u62d3\u6251 \uff0c \u89c4\u5b9a \u8bbe\u8ba1 \u53c2\u6570 \uff0c \u5e76 \u5b9e\u73b0 \u7279\u5b9a \u4e8e \u7279\u5b9a \u6a21\u677f \uff08 \u4f8b\u5982 \u53cc\u53c9\u81c2 \uff09 \u7684 \u7279\u5b9a \u7c7b\u578b \u7cfb\u7edf \u5b50\u7cfb\u7edf \uff08 \u4f8b\u5982 \u60ac\u67b6 \uff09 \u7684 \u901a\u7528 \u529f\u80fd \u3002 \u6700\u540e \uff0c \u901a\u8fc7 \u4e3a \u5177\u4f53 \u8f66\u8f86 \uff08 \u4f8b\u5982   HMMWV   \u60ac\u67b6 \u524d\u60ac\u67b6 \uff09 \u6307\u5b9a \u6a21\u677f \u53c2\u6570 \uff08 \u786c\u70b9 \u3001 \u5173\u8282 \u65b9\u5411 \u3001 \u60ef\u6027 \u5c5e\u6027 \u3001 \u63a5\u89e6 \u6750\u6599 \u5c5e\u6027 \u7b49 \uff09 \u6765 \u83b7\u5f97 \u6b64\u7c7b \u6a21\u677f \u7684 \u5b9e\u4f8b \u3002   Chrono : : Vehicle   \u4e2d \u7684 \u6838\u5fc3 \u6a21\u677f \u662f \u8f66\u8f86 \u5b50 \u90e8\u4ef6 \u7684 \u53c2\u6570 \u5316 \u6a21\u578b \u3002 \u4f46\u662f \uff0c \u5b8c\u6574 \u7684 \u8f66\u8f86 \u79fb\u52a8 \u6a21\u62df \u8fd8 \u9700\u8981 \u8f66\u8f86 \u672c\u8eab \u4e4b\u5916 \u7684 \u8f85\u52a9 \u7cfb\u7edf \uff0c \u4f8b\u5982 \u63d0\u4f9b \u8f93\u5165 \u63a7\u5236 \uff08 \u4f8b\u5982 \u8f6c\u5411 \u3001 \u6cb9\u95e8 \u3001 \u5236\u52a8 \uff09 \u7684 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u3001 \u5c01\u88c5 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u548c \u53d8\u901f \u53d8\u901f\u7bb1 \u5e76 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u7684 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u4ee5\u53ca \u5730\u5f62 \u7cfb\u7edf \u3002   \u5bf9\u4e8e \u8f6e\u5f0f \u8f66\u8f86 \u7cfb\u7edf \uff0c \u63d0\u4f9b \u4e86 \u4ee5\u4e0b \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u6a21\u677f \uff1a   \u60ac\u67b6 \uff08 \u53cc\u53c9\u81c2 \u3001 \u5229\u7528 \u8ddd\u79bb \u7ea6\u675f \u7f29\u77ed \u7684 \u53cc\u53c9\u81c2 \u3001 \u591a \u8fde\u6746 \u3001 \u5b9e\u5fc3 \u8f74 \u3001 \u9ea6\u5f17\u900a\u5f0f \u652f\u67f1 \u3001 \u534a \u62d6\u66f3 \u81c2 \u2026 \u2026 \uff09   \u8f6c\u5411 \uff08 \u8f6c\u5411 \u81c2 \u3001 \u9f7f\u6761 \u9f7f\u8f6e \uff09   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \uff08 2WD   \u548c   4WD   \u8f74 \u91c7\u7528 \u4e13\u95e8 \u7684   Chrono   \u5efa\u6a21 \u5143\u7d20 \uff0c \u7b80\u5316 \u7684 \u8fd0\u52a8 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \uff09   \u8f66\u8f6e \uff08 \u7b80\u5355 \u5730\u8bf4 \uff0c \u662f \u9644\u52a0 \u5728 \u60ac\u67b6 \u4e3b\u8f74 \u4e0a \u7684 \u989d\u5916 \u8d28\u91cf \u548c \u60ef\u6027 \u7684 \u8f7d\u4f53 \uff09   \u5236\u52a8 \u5236\u52a8\u5668 \uff08 \u7b80\u5355 \u6a21\u578b \uff0c \u4f7f\u7528 \u7531 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u5236\u52a8 \u8f93\u5165 \u8c03\u8282 \u7684 \u6052\u5b9a \u626d\u77e9 \uff09   Chrono : : Vehicle   \u63d0\u4f9b \u5404\u79cd \u8f6e\u80ce \u6a21\u578b \u548c \u76f8\u5173 \u6a21\u677f \uff0c \u4ece \u521a\u6027 \u8f6e\u80ce \u5230 \u534a \u7ecf\u9a8c \u6a21\u578b \uff08 \u5982   Pacejka   \u548c   Fiala \uff09 \uff0c \u518d \u5230 \u7528 \u6709\u9650 \u6709\u9650\u5143 \u5efa\u6a21 \u7684 \u5b8c\u5168 \u53ef \u53d8\u5f62 \u8f6e\u80ce \uff08 \u4f7f\u7528 \u7edd\u5bf9 \u8282\u70b9 \u5750\u6807 \u516c\u5f0f \u6216 \u5171 \u65cb\u8f6c \u516c\u5f0f \uff09 \u3002   \u5c65\u5e26 \u677f \uff08 \u5355\u9500\u5f0f \u548c \u53cc\u9500\u5f0f \uff09 \uff1a \u5355\u9500\u5f0f \u5c31\u662f \u4e24\u4e2a \u5c65\u5e26 \u5757 \u76f8\u4e92 \u7ed3\u5408 \u4e4b\u540e \u4ee5 \u4e00\u6839 \u957f \u94a2\u9489 \u8fde\u7ed3 \uff0c \u4e24\u7aef \u56fa\u5b9a \u597d \uff1b \u53cc\u9500\u5f0f \u5c31\u662f \u4e24\u4e2a \u5c65\u5e26 \u5757 \u76f4\u63a5 \u5728 \u4e24\u7aef \u56fa\u5b9a \u63a5\u5408 \u3002   \u76f8\u5173 \u94fe\u8f6e \u6a21\u677f \uff08 \u5e26\u6709 \u76f8\u5e94 \u7684 \u9f7f\u8f6e \u8f6e\u5ed3 \uff09   \u60ac\u67b6 \uff08 \u5e26 \u7ebf\u6027 \u6216 \u65cb\u8f6c \u963b\u5c3c \u963b\u5c3c\u5668 \u7684 \u626d\u8f6c \u5f39\u7c27 \uff0c \u6db2\u538b \uff09   \u60f0\u8f6e \uff08 \u5e26 \u5f20\u7d27 \u673a\u6784 \uff09   \u6eda\u7b52   \u4f5c\u4e3a \u4e2d\u95f4 \u4e2d\u95f4\u4ef6 \u5e93 \uff0c   Chrono : : Vehicle   \u8981\u6c42 \u7528\u6237 \u63d0\u4f9b   C++   \u7c7b\u6765 \u5177\u4f53 \u5b9e\u4f8b \u5316 \u7279\u5b9a \u6a21\u677f \u3002 \u53ef\u9009 \u7684   Chrono   \u5e93\u4e3a \u4e00\u4e9b \u5730\u9762 \u8f66\u8f86 \uff08 \u5305\u62ec \u8f6e\u5f0f \u548c \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \uff09 \u63d0\u4f9b \u4e86 \u5b8c\u6574 \u7684 \u6b64\u7c7b \u5177\u4f53   C++   \u7c7b\u96c6 \uff0c \u53ef \u4f5c\u4e3a \u5176\u4ed6 \u7279\u5b9a \u8f66\u8f86 \u6a21\u578b \u7684 \u793a\u4f8b \u3002 \u867d\u7136 \u6b64\u7c7b \u7c7b \u901a\u5e38 \u975e\u5e38 \u8f7b\u91cf \uff0c \u4f46 \u8fd9 \u9700\u8981 \u4e00\u5b9a \u7684 \u7f16\u7a0b \u7ecf\u9a8c \u3002 \u4e3a\u4e86 \u89e3\u51b3 \u8fd9\u4e2a \u95ee\u9898 \uff0c \u6211\u4eec \u63d0\u4f9b \u4e86 \u4e00\u79cd \u66ff\u4ee3 \u673a\u5236 \u6765 \u5b9a\u4e49 \u8f66\u8f86 \u7cfb\u7edf \u548c \u7cfb\u7edf \u5b50\u7cfb\u7edf \u6a21\u677f \u7684 \u5177\u4f53 \u5b9e\u4f8b \uff0c \u8be5 \u673a\u5236 \u57fa\u4e8e   JSON   \u683c\u5f0f \u7684 \u8f93\u5165 \u89c4\u8303 \u6587\u4ef6 \u3002   \u6839\u636e \u7ed9\u5b9a \u7c7b\u578b \uff08 \u8f6e\u5f0f \u6216 \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \uff09 \u7684 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u6a21\u677f \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u6307\u5b9a \u5177\u4f53 \u6a21\u677f \u53c2\u6570 \u7684 \u76f8\u5e94   JSON   \u6587\u4ef6 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u6765 \u5b8c\u6574 \u5b9a\u4e49 \u8f66\u8f86 \uff0c \u5426\u5219 \u5c06 \u63a8\u8fdf \u5230\u5b50 \u7ec4\u4ef6 \u7684 \u4e00\u6b65 \u8fdb\u4e00\u6b65   JSON   \u89c4\u8303 \u6587\u4ef6 \u3002 \u4ee5\u4e0b \u662f \u8f6e\u5f0f \u8f66\u8f86 \u7684 \u9876\u7ea7   JSON   \u89c4\u8303 \u6587\u4ef6 \u7684 \u793a\u4f8b \u3002 \u8fde\u540c \u5b83 \u5f15\u7528 \u7684 \u6240\u6709 \u5176\u4ed6 \u8f93\u5165 \u6587\u4ef6 \uff0c \u6b64   JSON   \u6587\u4ef6 \u5b8c\u6574 \u63cf\u8ff0 \u4e86 \u5177\u6709 \u4e24\u4e2a \u8f74 \u7684 \u5177\u4f53 \u8f6e\u5f0f \u8f66\u8f86 \uff0c \u524d\u540e \u5747 \u4f7f\u7528 \u53cc\u53c9\u81c2 \u60ac\u67b6 \uff0c \u524d\u8f74 \u4e0a \u5b89\u88c5 \u6709 \u8f6c\u5411 \u81c2 \u8f6c\u5411 \u673a\u6784 \uff0c \u540e\u8f6e \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u3002   {   \" Name \" :   \" Test   vehicle   -   Double   Wishbone \" ,   \" Type \" :   \" Vehicle \" ,   \" Template \" :   \" WheeledVehicle \" ,   \" Chassis \" :   {   \" Input   File \" :   \" generic / chassis / Chassis . json \"   } ,   \" Axles \" :   [   {   \" Suspension   Input   File \" :   \" generic / suspension / DoubleWishbone . json \" ,   \" Suspension   Location \" :   [ 1.25 ,   0 ,   - 0.21 ] ,   \" Steering   Index \" :   0 ,   \" Left   Wheel   Input   File \" :   \" generic / wheel / WheelSimple . json \" ,   \" Right   Wheel   Input   File \" :   \" generic / wheel / WheelSimple . json \" ,   \" Left   Brake   Input   File \" :   \" generic / brake / BrakeSimple . json \" ,   \" Right   Brake   Input   File \" :   \" generic / brake / BrakeSimple . json \"   } ,   {   \" Suspension   Input   File \" :   \" generic / suspension / DoubleWishbone . json \" ,   \" Suspension   Location \" :   [ - 1.25 ,   0 ,   - 0.21 ] ,   \" Left   Wheel   Input   File \" :   \" generic / wheel / WheelSimple . json \" ,   \" Right   Wheel   Input   File \" :   \" generic / wheel / WheelSimple . json \" ,   \" Left   Brake   Input   File \" :   \" generic / brake / BrakeSimple . json \" ,   \" Right   Brake   Input   File \" :   \" generic / brake / BrakeSimple . json \"   }   ] ,   \" Steering   Subsystems \" :   [   {   \" Input   File \" :   \" generic / steering / PitmanArm . json \" ,   \" Location \" :   [ 1.1 ,   0 ,   - 0.4 ] ,   \" Orientation \" :   [ 0.98699637 ,   0 ,   0.16074256 ,   0 ]   }   ] ,   \" Driveline \" :   {   \" Input   File \" :   \" generic / driveline / Driveline2WD . json \" ,   \" Suspension   Indexes \" :   [ 1 ]   }   }   \u53c2\u8003 \u6846\u67b6   \u6bcf\u4e2a \u8f66\u8f86 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u90fd \u662f \u6839\u636e \u5176 \u81ea\u5df1 \u7684 \u53c2\u8003 \u53c2\u8003\u7cfb \u5b9a\u4e49 \u7684 \uff1b \u6362\u53e5 \u6362\u53e5\u8bdd \u6362\u53e5\u8bdd\u8bf4 \uff0c \u8f66\u8f86 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u6a21\u677f \u4e2d \u7684 \u6240\u6709 \u53d7\u529b \u70b9 \u4f4d\u7f6e \u90fd \u5fc5\u987b \u6839\u636e \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u53c2\u8003 \u53c2\u8003\u7cfb \u63d0\u4f9b \u3002 \u7136\u540e \uff0c \u8f66\u8f86 \u7cfb\u7edf \uff08 \u65e0\u8bba \u65e0\u8bba\u662f \u8f6e\u5f0f \u8fd8\u662f \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \uff09 \u88ab \u6784\u5efa \u4e3a \u5176 \u7ec4\u6210 \u90e8\u4ef6 \u7684 \u5177\u4f53 \u6a21\u677f \u5b9e\u4f8b \u96c6\u5408 \uff0c \u65b9\u6cd5 \u662f \u6307\u5b9a \u5b83\u4eec \u76f8\u5bf9 \u4e8e \u8f66\u8f86 \u53c2\u8003 \u53c2\u8003\u7cfb \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \uff0c \u5e76 \u6839\u636e \u9700\u8981 \u63d0\u4f9b \u8fde\u63a5 \u4fe1\u606f \uff08 \u4f8b\u5982 \uff0c \u5c06 \u7279\u5b9a \u7684 \u8f6c\u5411 \u673a\u6784 \u8fde\u63a5 \u5230 \u8f6e\u5f0f \u8f66\u8f86 \u7684 \u7279\u5b9a \u8f66\u8f74 / \u60ac\u67b6 \uff09 \u3002   \u5bf9\u4e8e \u5efa\u6a21 \uff0c   Chrono : : Vehicle   \u4ec5 \u4f7f\u7528   ISO   \u8f66\u8f86 \u8f74 \u7ea6\u5b9a \uff0c \u5373 \u53f3\u4fa7 \u6846\u67b6 \uff0c X   \u5411\u524d \uff0c Z   \u5411\u4e0a \uff0c Y   \u6307\u5411 \u8f66\u8f86 \u5de6\u4fa7 \uff08 \u53c2\u89c1   ISO   8855 : 2011 \uff09 \u3002 \u4e0b\u56fe \u8bf4\u660e \u4e86 \u8f66\u8f86 \u53c2\u8003 \u53c2\u8003\u7cfb   $ O _ 1 $ \uff08 \u6309\u7167 \u60ef\u4f8b \u4e0e \u5e95\u76d8 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u53c2\u8003 \u53c2\u8003\u7cfb \u5bf9\u9f50 \uff09 \uff0c \u4ee5\u53ca \u7cfb\u7edf \u5b50\u7cfb\u7edf \u53c2\u8003 \u53c2\u8003\u7cfb \uff08 $ O _ 2 ^ ' $   \u548c   $ O _ 2 ^ { ' ' } $   \u8868\u793a \u524d\u540e \u60ac\u67b6 \uff0c $ O _ 3 $   \u8868\u793a \u8f6c\u5411 \u673a\u6784 \uff09 \uff0c \u9002\u7528 \u4e8e \u53cc\u8f74 \u8f6e\u5f0f \u8f66\u8f86 \u3002   \u6a21\u62df \u4e16\u754c \u6846\u67b6   \u867d\u7136   Chrono : : Vehicle   \u6a21\u62df \u7684 \u9ed8\u8ba4 \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \u4e5f \u662f   ISO \uff08 Z   \u5411\u4e0a \uff09 \u5750\u6807 \u5750\u6807\u7cfb \uff0c \u4f46 \u652f\u6301 \u6a21\u62df \u5728 \u4e0d\u540c \u53c2\u8003 \u5750\u6807 \u5750\u6807\u7cfb \uff08 \u4f8b\u5982   Y   \u5411\u4e0a \u5750\u6807 \u5750\u6807\u7cfb \uff09 \u4e2d \u6307\u5b9a \u7684 \u573a\u666f \u4e2d \u7684 \u8f66\u8f86 \u3002 \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \u901a\u8fc7 \u65cb\u8f6c \u77e9\u9635 \uff08 \u5c06   ISO   \u5750\u6807 \u5750\u6807\u7cfb \u4e0e \u6240 \u9700 \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \u5bf9\u9f50 \u6240 \u9700 \u7684 \u65cb\u8f6c \uff09 \u552f\u4e00 \u5b9a\u4e49 \u3002 \u8981 \u4ece \u9ed8\u8ba4   ISO   \u7ea6\u5b9a \u66f4\u6539 \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \u5b9a\u4e49 \uff0c \u5fc5\u987b \u5728 \u4efb\u4f55   Chrono : : Vehicle   \u5e93 \u8c03\u7528 \u4e4b\u524d \u8bbe\u7f6e \u6240 \u9700 \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \uff1a   ` ` ` shell   script   ChWorldFrame : : Set ( world _ rotation ) ;   \u63d0\u4f9b \u4e86 \u4e00\u79cd \u5feb\u6377 \u65b9\u5f0f \u5feb\u6377\u65b9\u5f0f \u6765 \u6307\u5b9a   Y   \u5411\u4e0a \uff08 X   \u5411\u524d \uff0c Z   \u5411 \u53f3 \uff09 \u7684 \u4e16\u754c \u6846\u67b6 \uff1a   ` ` ` shell   script   ChWorldFrame : : SetYUP ( ) ;   ChWorldFrame   \u7c7b \u63d0\u4f9b \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f \u6765 \u67e5\u8be2 \u4e16\u754c \u6cd5\u7ebf \u3001 \u524d\u5411 \u3001 \u7ed9\u5b9a   3D   \u70b9 \u7684 \u9ad8\u5ea6 \uff08 \u6cbf \u4e16\u754c \u5782\u76f4 \u65b9\u5411 \u7684 \u5206\u91cf \uff09 \uff0c \u5c06\u70b9 \u6295\u5f71 \u5230 \u4e16\u754c \u7684 \u6c34\u5e73 \u9762\u4e0a \uff0c \u4ee5\u53ca \u8868\u8fbe \u5f80\u8fd4 \u4e8e \u57fa\u672c   ISO   \u6846\u67b6 \u7684   3D   \u77e2\u91cf \u3002   \u53c2\u9605 \u8bf7\u53c2\u9605   demo _ VEH _ HMMWV9 _ YUPY   \u5411\u4e0a \u4e16\u754c \u6846\u67b6 \u4e2d \u7684   Chrono : : Vehicle   \u6a21\u62df \u7684 \u793a\u4f8b \u3002   \u6a21\u62df \u5faa\u73af   Chrono : : Vehicle   \u6a21\u62df \u5faa\u73af \u91c7\u7528 \u529b - \u4f4d\u79fb \u8054\u5408 \u6a21\u62df \u65b9\u6848 \u7684 \u5f62\u5f0f \uff0c \u4e0b\u9762 \u4e24\u5f20 \u56fe \u5206\u522b \u8bf4\u660e \u4e86 \u8f6e\u5f0f \u8f66\u8f86 \u548c \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7684 \u4ea4\u6362 \u6570\u636e \u3002   \u6b64 \u6a21\u62df \u6d41\u7a0b \u901a\u8fc7   Chrono : : Vehicle   API   \u5f3a\u5236 \u6267\u884c \u5f3a\u5236\u6267\u884c \uff0c \u8be5   API   \u8981\u6c42 \u6240\u6709 \u7cfb\u7edf \u90fd \u63d0\u4f9b \u4e00\u79cd \u5b9e\u73b0 \u6570\u636e \u4ea4\u6362 \u6570\u636e\u4ea4\u6362 \u7684   Synchronize   \u65b9\u6cd5 \u548c \u4e00\u79cd \u5b9e\u73b0 \u7cfb\u7edf \u52a8\u6001 \u7684   Advance   \u65b9\u6cd5 \uff08 \u5373 \uff0c \u5c06 \u7cfb\u7edf \u72b6\u6001 \u63a8\u8fdb \u5230 \u4e0b \u4e00\u4e2a \u6570\u636e \u4ea4\u6362 \u6570\u636e\u4ea4\u6362 \u65f6\u95f4 \u70b9 \uff09 \u3002 \u4f46 \u8bf7 \u6ce8\u610f \uff0c \u4f7f\u7528   Chrono : : Vehicle   \u4e2d \u63d0\u4f9b \u7684 \u8f85\u52a9 \u7cfb\u7edf \u7684 \u8f66\u8f86 \u79fb\u52a8 \u6a21\u62df \u5b9e\u9645 \u5b9e\u9645\u4e0a \u5c06 \u662f \u4e00\u4e2a \u6574\u4f53 \u7684 \u3001 \u4e00\u6b21 \u4e00\u6b21\u6027 \u8026\u5408 \u7684 \u6a21\u62df \u3002","title":"\u8f66\u8f86 \u5efa\u6a21 \u4e0e \u4eff\u771f \u6982\u8ff0"},{"location":"chrono/vehicle_overview/#_1","text":"Chrono : : Vehicle   \u6a21\u5757 \u63d0\u4f9b \u4e86 \u9002\u7528 \u4e8e \u8f6e\u5f0f \u548c \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u5404\u79cd \u62d3\u6251 \u7ed3\u6784 \u7684 \u6a21\u677f \u96c6\u5408 \uff0c \u652f\u6301 \u5bf9 \u521a\u6027 \u3001 \u67d4\u6027 \u548c \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u5730\u5f62 \u8fdb\u884c \u5efa\u6a21 \uff0c \u652f\u6301 \u95ed\u73af \u548c \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u9a71\u52a8 \u6a21\u578b \uff0c \u4ee5\u53ca \u6a21\u62df \u7ed3\u679c \u7684 \u8fd0\u884c \u65f6 \u548c \u79bb\u7ebf \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u8f66\u8f86 \u7cfb\u7edf \u7684 \u5efa\u6a21 \u91c7\u7528 \u6a21\u5757 \u6a21\u5757\u5316 \u65b9\u5f0f \uff0c \u8f66\u8f86 \u5b9a\u4e49 \u4e3a \u5404\u79cd \u7cfb\u7edf \u5b50\u7cfb\u7edf \uff08 \u60ac\u67b6 \u3001 \u8f6c\u5411 \u3001 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u7b49 \uff09 \u5b9e\u4f8b \u7684 \u96c6\u5408 \u3002 \u91c7\u7528 \u57fa\u4e8e \u6a21\u677f \u7684 \u8bbe\u8ba1 \u53ef \u5b9e\u73b0 \u5efa\u6a21 \u7684 \u7075\u6d3b \u6d3b\u6027 \u7075\u6d3b\u6027 \u3002 \u5728   Chrono : : Vehicle   \u4e2d \uff0c \u6a21\u677f \u662f \u53c2\u6570 \u5316 \u6a21\u578b \uff0c \u7528\u4e8e \u5b9a\u4e49 \u8f66\u8f86 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u7279\u5b9a \u5b9e\u73b0 \u3002 \u56e0\u6b64 \uff0c \u6a21\u677f \u5b9a\u4e49 \u57fa\u672c \u5efa\u6a21 \u5143\u7d20 \uff08 \u8f66\u8eab \u3001 \u5173\u8282 \u3001 \u529b \u5143\u7d20 \uff09 \uff0c \u5f3a\u52a0 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u62d3\u6251 \uff0c \u89c4\u5b9a \u8bbe\u8ba1 \u53c2\u6570 \uff0c \u5e76 \u5b9e\u73b0 \u7279\u5b9a \u4e8e \u7279\u5b9a \u6a21\u677f \uff08 \u4f8b\u5982 \u53cc\u53c9\u81c2 \uff09 \u7684 \u7279\u5b9a \u7c7b\u578b \u7cfb\u7edf \u5b50\u7cfb\u7edf \uff08 \u4f8b\u5982 \u60ac\u67b6 \uff09 \u7684 \u901a\u7528 \u529f\u80fd \u3002 \u6700\u540e \uff0c \u901a\u8fc7 \u4e3a \u5177\u4f53 \u8f66\u8f86 \uff08 \u4f8b\u5982   HMMWV   \u60ac\u67b6 \u524d\u60ac\u67b6 \uff09 \u6307\u5b9a \u6a21\u677f \u53c2\u6570 \uff08 \u786c\u70b9 \u3001 \u5173\u8282 \u65b9\u5411 \u3001 \u60ef\u6027 \u5c5e\u6027 \u3001 \u63a5\u89e6 \u6750\u6599 \u5c5e\u6027 \u7b49 \uff09 \u6765 \u83b7\u5f97 \u6b64\u7c7b \u6a21\u677f \u7684 \u5b9e\u4f8b \u3002   Chrono : : Vehicle   \u4e2d \u7684 \u6838\u5fc3 \u6a21\u677f \u662f \u8f66\u8f86 \u5b50 \u90e8\u4ef6 \u7684 \u53c2\u6570 \u5316 \u6a21\u578b \u3002 \u4f46\u662f \uff0c \u5b8c\u6574 \u7684 \u8f66\u8f86 \u79fb\u52a8 \u6a21\u62df \u8fd8 \u9700\u8981 \u8f66\u8f86 \u672c\u8eab \u4e4b\u5916 \u7684 \u8f85\u52a9 \u7cfb\u7edf \uff0c \u4f8b\u5982 \u63d0\u4f9b \u8f93\u5165 \u63a7\u5236 \uff08 \u4f8b\u5982 \u8f6c\u5411 \u3001 \u6cb9\u95e8 \u3001 \u5236\u52a8 \uff09 \u7684 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7cfb\u7edf \u3001 \u5c01\u88c5 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u548c \u53d8\u901f \u53d8\u901f\u7bb1 \u5e76 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u7684 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u4ee5\u53ca \u5730\u5f62 \u7cfb\u7edf \u3002   \u5bf9\u4e8e \u8f6e\u5f0f \u8f66\u8f86 \u7cfb\u7edf \uff0c \u63d0\u4f9b \u4e86 \u4ee5\u4e0b \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u6a21\u677f \uff1a   \u60ac\u67b6 \uff08 \u53cc\u53c9\u81c2 \u3001 \u5229\u7528 \u8ddd\u79bb \u7ea6\u675f \u7f29\u77ed \u7684 \u53cc\u53c9\u81c2 \u3001 \u591a \u8fde\u6746 \u3001 \u5b9e\u5fc3 \u8f74 \u3001 \u9ea6\u5f17\u900a\u5f0f \u652f\u67f1 \u3001 \u534a \u62d6\u66f3 \u81c2 \u2026 \u2026 \uff09   \u8f6c\u5411 \uff08 \u8f6c\u5411 \u81c2 \u3001 \u9f7f\u6761 \u9f7f\u8f6e \uff09   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \uff08 2WD   \u548c   4WD   \u8f74 \u91c7\u7528 \u4e13\u95e8 \u7684   Chrono   \u5efa\u6a21 \u5143\u7d20 \uff0c \u7b80\u5316 \u7684 \u8fd0\u52a8 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \uff09   \u8f66\u8f6e \uff08 \u7b80\u5355 \u5730\u8bf4 \uff0c \u662f \u9644\u52a0 \u5728 \u60ac\u67b6 \u4e3b\u8f74 \u4e0a \u7684 \u989d\u5916 \u8d28\u91cf \u548c \u60ef\u6027 \u7684 \u8f7d\u4f53 \uff09   \u5236\u52a8 \u5236\u52a8\u5668 \uff08 \u7b80\u5355 \u6a21\u578b \uff0c \u4f7f\u7528 \u7531 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u5236\u52a8 \u8f93\u5165 \u8c03\u8282 \u7684 \u6052\u5b9a \u626d\u77e9 \uff09   Chrono : : Vehicle   \u63d0\u4f9b \u5404\u79cd \u8f6e\u80ce \u6a21\u578b \u548c \u76f8\u5173 \u6a21\u677f \uff0c \u4ece \u521a\u6027 \u8f6e\u80ce \u5230 \u534a \u7ecf\u9a8c \u6a21\u578b \uff08 \u5982   Pacejka   \u548c   Fiala \uff09 \uff0c \u518d \u5230 \u7528 \u6709\u9650 \u6709\u9650\u5143 \u5efa\u6a21 \u7684 \u5b8c\u5168 \u53ef \u53d8\u5f62 \u8f6e\u80ce \uff08 \u4f7f\u7528 \u7edd\u5bf9 \u8282\u70b9 \u5750\u6807 \u516c\u5f0f \u6216 \u5171 \u65cb\u8f6c \u516c\u5f0f \uff09 \u3002   \u5c65\u5e26 \u677f \uff08 \u5355\u9500\u5f0f \u548c \u53cc\u9500\u5f0f \uff09 \uff1a \u5355\u9500\u5f0f \u5c31\u662f \u4e24\u4e2a \u5c65\u5e26 \u5757 \u76f8\u4e92 \u7ed3\u5408 \u4e4b\u540e \u4ee5 \u4e00\u6839 \u957f \u94a2\u9489 \u8fde\u7ed3 \uff0c \u4e24\u7aef \u56fa\u5b9a \u597d \uff1b \u53cc\u9500\u5f0f \u5c31\u662f \u4e24\u4e2a \u5c65\u5e26 \u5757 \u76f4\u63a5 \u5728 \u4e24\u7aef \u56fa\u5b9a \u63a5\u5408 \u3002   \u76f8\u5173 \u94fe\u8f6e \u6a21\u677f \uff08 \u5e26\u6709 \u76f8\u5e94 \u7684 \u9f7f\u8f6e \u8f6e\u5ed3 \uff09   \u60ac\u67b6 \uff08 \u5e26 \u7ebf\u6027 \u6216 \u65cb\u8f6c \u963b\u5c3c \u963b\u5c3c\u5668 \u7684 \u626d\u8f6c \u5f39\u7c27 \uff0c \u6db2\u538b \uff09   \u60f0\u8f6e \uff08 \u5e26 \u5f20\u7d27 \u673a\u6784 \uff09   \u6eda\u7b52   \u4f5c\u4e3a \u4e2d\u95f4 \u4e2d\u95f4\u4ef6 \u5e93 \uff0c   Chrono : : Vehicle   \u8981\u6c42 \u7528\u6237 \u63d0\u4f9b   C++   \u7c7b\u6765 \u5177\u4f53 \u5b9e\u4f8b \u5316 \u7279\u5b9a \u6a21\u677f \u3002 \u53ef\u9009 \u7684   Chrono   \u5e93\u4e3a \u4e00\u4e9b \u5730\u9762 \u8f66\u8f86 \uff08 \u5305\u62ec \u8f6e\u5f0f \u548c \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \uff09 \u63d0\u4f9b \u4e86 \u5b8c\u6574 \u7684 \u6b64\u7c7b \u5177\u4f53   C++   \u7c7b\u96c6 \uff0c \u53ef \u4f5c\u4e3a \u5176\u4ed6 \u7279\u5b9a \u8f66\u8f86 \u6a21\u578b \u7684 \u793a\u4f8b \u3002 \u867d\u7136 \u6b64\u7c7b \u7c7b \u901a\u5e38 \u975e\u5e38 \u8f7b\u91cf \uff0c \u4f46 \u8fd9 \u9700\u8981 \u4e00\u5b9a \u7684 \u7f16\u7a0b \u7ecf\u9a8c \u3002 \u4e3a\u4e86 \u89e3\u51b3 \u8fd9\u4e2a \u95ee\u9898 \uff0c \u6211\u4eec \u63d0\u4f9b \u4e86 \u4e00\u79cd \u66ff\u4ee3 \u673a\u5236 \u6765 \u5b9a\u4e49 \u8f66\u8f86 \u7cfb\u7edf \u548c \u7cfb\u7edf \u5b50\u7cfb\u7edf \u6a21\u677f \u7684 \u5177\u4f53 \u5b9e\u4f8b \uff0c \u8be5 \u673a\u5236 \u57fa\u4e8e   JSON   \u683c\u5f0f \u7684 \u8f93\u5165 \u89c4\u8303 \u6587\u4ef6 \u3002   \u6839\u636e \u7ed9\u5b9a \u7c7b\u578b \uff08 \u8f6e\u5f0f \u6216 \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \uff09 \u7684 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u6a21\u677f \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u6307\u5b9a \u5177\u4f53 \u6a21\u677f \u53c2\u6570 \u7684 \u76f8\u5e94   JSON   \u6587\u4ef6 \u5c42\u6b21 \u7ed3\u6784 \u5c42\u6b21\u7ed3\u6784 \u6765 \u5b8c\u6574 \u5b9a\u4e49 \u8f66\u8f86 \uff0c \u5426\u5219 \u5c06 \u63a8\u8fdf \u5230\u5b50 \u7ec4\u4ef6 \u7684 \u4e00\u6b65 \u8fdb\u4e00\u6b65   JSON   \u89c4\u8303 \u6587\u4ef6 \u3002 \u4ee5\u4e0b \u662f \u8f6e\u5f0f \u8f66\u8f86 \u7684 \u9876\u7ea7   JSON   \u89c4\u8303 \u6587\u4ef6 \u7684 \u793a\u4f8b \u3002 \u8fde\u540c \u5b83 \u5f15\u7528 \u7684 \u6240\u6709 \u5176\u4ed6 \u8f93\u5165 \u6587\u4ef6 \uff0c \u6b64   JSON   \u6587\u4ef6 \u5b8c\u6574 \u63cf\u8ff0 \u4e86 \u5177\u6709 \u4e24\u4e2a \u8f74 \u7684 \u5177\u4f53 \u8f6e\u5f0f \u8f66\u8f86 \uff0c \u524d\u540e \u5747 \u4f7f\u7528 \u53cc\u53c9\u81c2 \u60ac\u67b6 \uff0c \u524d\u8f74 \u4e0a \u5b89\u88c5 \u6709 \u8f6c\u5411 \u81c2 \u8f6c\u5411 \u673a\u6784 \uff0c \u540e\u8f6e \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u3002   {   \" Name \" :   \" Test   vehicle   -   Double   Wishbone \" ,   \" Type \" :   \" Vehicle \" ,   \" Template \" :   \" WheeledVehicle \" ,   \" Chassis \" :   {   \" Input   File \" :   \" generic / chassis / Chassis . json \"   } ,   \" Axles \" :   [   {   \" Suspension   Input   File \" :   \" generic / suspension / DoubleWishbone . json \" ,   \" Suspension   Location \" :   [ 1.25 ,   0 ,   - 0.21 ] ,   \" Steering   Index \" :   0 ,   \" Left   Wheel   Input   File \" :   \" generic / wheel / WheelSimple . json \" ,   \" Right   Wheel   Input   File \" :   \" generic / wheel / WheelSimple . json \" ,   \" Left   Brake   Input   File \" :   \" generic / brake / BrakeSimple . json \" ,   \" Right   Brake   Input   File \" :   \" generic / brake / BrakeSimple . json \"   } ,   {   \" Suspension   Input   File \" :   \" generic / suspension / DoubleWishbone . json \" ,   \" Suspension   Location \" :   [ - 1.25 ,   0 ,   - 0.21 ] ,   \" Left   Wheel   Input   File \" :   \" generic / wheel / WheelSimple . json \" ,   \" Right   Wheel   Input   File \" :   \" generic / wheel / WheelSimple . json \" ,   \" Left   Brake   Input   File \" :   \" generic / brake / BrakeSimple . json \" ,   \" Right   Brake   Input   File \" :   \" generic / brake / BrakeSimple . json \"   }   ] ,   \" Steering   Subsystems \" :   [   {   \" Input   File \" :   \" generic / steering / PitmanArm . json \" ,   \" Location \" :   [ 1.1 ,   0 ,   - 0.4 ] ,   \" Orientation \" :   [ 0.98699637 ,   0 ,   0.16074256 ,   0 ]   }   ] ,   \" Driveline \" :   {   \" Input   File \" :   \" generic / driveline / Driveline2WD . json \" ,   \" Suspension   Indexes \" :   [ 1 ]   }   }","title":"\u8f66\u8f86 \u5efa\u6a21 \u4e0e \u4eff\u771f \u6982\u8ff0"},{"location":"chrono/vehicle_overview/#_2","text":"\u6bcf\u4e2a \u8f66\u8f86 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u90fd \u662f \u6839\u636e \u5176 \u81ea\u5df1 \u7684 \u53c2\u8003 \u53c2\u8003\u7cfb \u5b9a\u4e49 \u7684 \uff1b \u6362\u53e5 \u6362\u53e5\u8bdd \u6362\u53e5\u8bdd\u8bf4 \uff0c \u8f66\u8f86 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u6a21\u677f \u4e2d \u7684 \u6240\u6709 \u53d7\u529b \u70b9 \u4f4d\u7f6e \u90fd \u5fc5\u987b \u6839\u636e \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u53c2\u8003 \u53c2\u8003\u7cfb \u63d0\u4f9b \u3002 \u7136\u540e \uff0c \u8f66\u8f86 \u7cfb\u7edf \uff08 \u65e0\u8bba \u65e0\u8bba\u662f \u8f6e\u5f0f \u8fd8\u662f \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \uff09 \u88ab \u6784\u5efa \u4e3a \u5176 \u7ec4\u6210 \u90e8\u4ef6 \u7684 \u5177\u4f53 \u6a21\u677f \u5b9e\u4f8b \u96c6\u5408 \uff0c \u65b9\u6cd5 \u662f \u6307\u5b9a \u5b83\u4eec \u76f8\u5bf9 \u4e8e \u8f66\u8f86 \u53c2\u8003 \u53c2\u8003\u7cfb \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \uff0c \u5e76 \u6839\u636e \u9700\u8981 \u63d0\u4f9b \u8fde\u63a5 \u4fe1\u606f \uff08 \u4f8b\u5982 \uff0c \u5c06 \u7279\u5b9a \u7684 \u8f6c\u5411 \u673a\u6784 \u8fde\u63a5 \u5230 \u8f6e\u5f0f \u8f66\u8f86 \u7684 \u7279\u5b9a \u8f66\u8f74 / \u60ac\u67b6 \uff09 \u3002   \u5bf9\u4e8e \u5efa\u6a21 \uff0c   Chrono : : Vehicle   \u4ec5 \u4f7f\u7528   ISO   \u8f66\u8f86 \u8f74 \u7ea6\u5b9a \uff0c \u5373 \u53f3\u4fa7 \u6846\u67b6 \uff0c X   \u5411\u524d \uff0c Z   \u5411\u4e0a \uff0c Y   \u6307\u5411 \u8f66\u8f86 \u5de6\u4fa7 \uff08 \u53c2\u89c1   ISO   8855 : 2011 \uff09 \u3002 \u4e0b\u56fe \u8bf4\u660e \u4e86 \u8f66\u8f86 \u53c2\u8003 \u53c2\u8003\u7cfb   $ O _ 1 $ \uff08 \u6309\u7167 \u60ef\u4f8b \u4e0e \u5e95\u76d8 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u53c2\u8003 \u53c2\u8003\u7cfb \u5bf9\u9f50 \uff09 \uff0c \u4ee5\u53ca \u7cfb\u7edf \u5b50\u7cfb\u7edf \u53c2\u8003 \u53c2\u8003\u7cfb \uff08 $ O _ 2 ^ ' $   \u548c   $ O _ 2 ^ { ' ' } $   \u8868\u793a \u524d\u540e \u60ac\u67b6 \uff0c $ O _ 3 $   \u8868\u793a \u8f6c\u5411 \u673a\u6784 \uff09 \uff0c \u9002\u7528 \u4e8e \u53cc\u8f74 \u8f6e\u5f0f \u8f66\u8f86 \u3002","title":"\u53c2\u8003 \u6846\u67b6  "},{"location":"chrono/vehicle_overview/#_3","text":"\u867d\u7136   Chrono : : Vehicle   \u6a21\u62df \u7684 \u9ed8\u8ba4 \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \u4e5f \u662f   ISO \uff08 Z   \u5411\u4e0a \uff09 \u5750\u6807 \u5750\u6807\u7cfb \uff0c \u4f46 \u652f\u6301 \u6a21\u62df \u5728 \u4e0d\u540c \u53c2\u8003 \u5750\u6807 \u5750\u6807\u7cfb \uff08 \u4f8b\u5982   Y   \u5411\u4e0a \u5750\u6807 \u5750\u6807\u7cfb \uff09 \u4e2d \u6307\u5b9a \u7684 \u573a\u666f \u4e2d \u7684 \u8f66\u8f86 \u3002 \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \u901a\u8fc7 \u65cb\u8f6c \u77e9\u9635 \uff08 \u5c06   ISO   \u5750\u6807 \u5750\u6807\u7cfb \u4e0e \u6240 \u9700 \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \u5bf9\u9f50 \u6240 \u9700 \u7684 \u65cb\u8f6c \uff09 \u552f\u4e00 \u5b9a\u4e49 \u3002 \u8981 \u4ece \u9ed8\u8ba4   ISO   \u7ea6\u5b9a \u66f4\u6539 \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \u5b9a\u4e49 \uff0c \u5fc5\u987b \u5728 \u4efb\u4f55   Chrono : : Vehicle   \u5e93 \u8c03\u7528 \u4e4b\u524d \u8bbe\u7f6e \u6240 \u9700 \u4e16\u754c \u5750\u6807 \u5750\u6807\u7cfb \uff1a   ` ` ` shell   script   ChWorldFrame : : Set ( world _ rotation ) ;   \u63d0\u4f9b \u4e86 \u4e00\u79cd \u5feb\u6377 \u65b9\u5f0f \u5feb\u6377\u65b9\u5f0f \u6765 \u6307\u5b9a   Y   \u5411\u4e0a \uff08 X   \u5411\u524d \uff0c Z   \u5411 \u53f3 \uff09 \u7684 \u4e16\u754c \u6846\u67b6 \uff1a   ` ` ` shell   script   ChWorldFrame : : SetYUP ( ) ;   ChWorldFrame   \u7c7b \u63d0\u4f9b \u5b9e\u7528 \u7a0b\u5e8f \u5b9e\u7528\u7a0b\u5e8f \u6765 \u67e5\u8be2 \u4e16\u754c \u6cd5\u7ebf \u3001 \u524d\u5411 \u3001 \u7ed9\u5b9a   3D   \u70b9 \u7684 \u9ad8\u5ea6 \uff08 \u6cbf \u4e16\u754c \u5782\u76f4 \u65b9\u5411 \u7684 \u5206\u91cf \uff09 \uff0c \u5c06\u70b9 \u6295\u5f71 \u5230 \u4e16\u754c \u7684 \u6c34\u5e73 \u9762\u4e0a \uff0c \u4ee5\u53ca \u8868\u8fbe \u5f80\u8fd4 \u4e8e \u57fa\u672c   ISO   \u6846\u67b6 \u7684   3D   \u77e2\u91cf \u3002   \u53c2\u9605 \u8bf7\u53c2\u9605   demo _ VEH _ HMMWV9 _ YUPY   \u5411\u4e0a \u4e16\u754c \u6846\u67b6 \u4e2d \u7684   Chrono : : Vehicle   \u6a21\u62df \u7684 \u793a\u4f8b \u3002","title":"\u6a21\u62df \u4e16\u754c \u6846\u67b6"},{"location":"chrono/vehicle_overview/#_4","text":"Chrono : : Vehicle   \u6a21\u62df \u5faa\u73af \u91c7\u7528 \u529b - \u4f4d\u79fb \u8054\u5408 \u6a21\u62df \u65b9\u6848 \u7684 \u5f62\u5f0f \uff0c \u4e0b\u9762 \u4e24\u5f20 \u56fe \u5206\u522b \u8bf4\u660e \u4e86 \u8f6e\u5f0f \u8f66\u8f86 \u548c \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7684 \u4ea4\u6362 \u6570\u636e \u3002   \u6b64 \u6a21\u62df \u6d41\u7a0b \u901a\u8fc7   Chrono : : Vehicle   API   \u5f3a\u5236 \u6267\u884c \u5f3a\u5236\u6267\u884c \uff0c \u8be5   API   \u8981\u6c42 \u6240\u6709 \u7cfb\u7edf \u90fd \u63d0\u4f9b \u4e00\u79cd \u5b9e\u73b0 \u6570\u636e \u4ea4\u6362 \u6570\u636e\u4ea4\u6362 \u7684   Synchronize   \u65b9\u6cd5 \u548c \u4e00\u79cd \u5b9e\u73b0 \u7cfb\u7edf \u52a8\u6001 \u7684   Advance   \u65b9\u6cd5 \uff08 \u5373 \uff0c \u5c06 \u7cfb\u7edf \u72b6\u6001 \u63a8\u8fdb \u5230 \u4e0b \u4e00\u4e2a \u6570\u636e \u4ea4\u6362 \u6570\u636e\u4ea4\u6362 \u65f6\u95f4 \u70b9 \uff09 \u3002 \u4f46 \u8bf7 \u6ce8\u610f \uff0c \u4f7f\u7528   Chrono : : Vehicle   \u4e2d \u63d0\u4f9b \u7684 \u8f85\u52a9 \u7cfb\u7edf \u7684 \u8f66\u8f86 \u79fb\u52a8 \u6a21\u62df \u5b9e\u9645 \u5b9e\u9645\u4e0a \u5c06 \u662f \u4e00\u4e2a \u6574\u4f53 \u7684 \u3001 \u4e00\u6b21 \u4e00\u6b21\u6027 \u8026\u5408 \u7684 \u6a21\u62df \u3002","title":"\u6a21\u62df \u5faa\u73af  "},{"location":"chrono/vehicle_powertrain/","text":"\u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b   \u57fa\u4e8e \u8f74 \u7684 \u52a8\u529b \u603b\u6210 \u6a21\u578b   \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u56fe \u6a21\u578b   \u7b80\u5355 \u7684 \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b   \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u8fde\u63a5 \u5230 \u9a71\u52a8 \u7cfb\u7edf \uff08 \u63a5\u6536 \u6cb9\u95e8 \u8f93\u5165 \uff09 \u548c \u8f66\u8f86 \u7cfb\u7edf \u7684 \u4f20\u52a8 \u7cfb \u7cfb\u7edf \u5b50\u7cfb\u7edf \uff08 \u63a5\u6536 \u9a71\u52a8 \u8f74 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5e76 \u53d1\u9001 \u9a71\u52a8 \u8f74 \u626d\u77e9 \uff09 \u3002   Chrono : : Vehicle   \u65e8\u5728 \u5141\u8bb8 \u94fe\u63a5 \u5230 \u7b2c\u4e09 \u4e09\u65b9 \u7b2c\u4e09\u65b9 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b \u3002 \u4e0e \u6b64\u7c7b \u5916\u90e8 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b \u63a5\u53e3 \u9700\u8981 \u4e24\u4e2a \u7cbe\u7b80 \u63a5\u53e3 \u63a5\u53e3\u7c7b \uff0c \u5b83\u4eec \u6d3e\u751f \u81ea   ChEngine   \u548c   ChTransmission   \u3002   Chrono : : Vehicle   \u4e3a \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u63d0\u4f9b \u4e86 \u51e0\u4e2a \u6a21\u677f \uff0c \u5982\u4e0b \u6240\u8ff0 \u3002   \u57fa\u4e8e \u8f74 \u7684 \u52a8\u529b \u603b\u6210 \u6a21\u578b   \u8be5 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b \u57fa\u4e8e \u5404\u79cd   Chrono   1 - D   \u8f74 \u5143\u4ef6   (   ChShaft   )   \u548c \u4e13\u7528 \u8f74 \u8fde\u63a5 \u5143\u4ef6 \u3002 \u8fd9\u4e9b \u5143\u4ef6 \u7528\u4e8e \u5efa\u6a21 \uff1a   \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a   (   ChShaftsThermalEngine   ) \uff0c \u901a\u8fc7 \u901f\u5ea6 \u626d\u77e9 \u66f2\u7ebf \u6307\u5b9a   \u626d\u77e9 \u8f6c\u6362 \u8f6c\u6362\u5668   (   ChShaftsTorqueConverter   ) \uff0c \u901a\u8fc7 \u66f2\u7ebf \u6307\u5b9a \u5bb9\u91cf \u7cfb\u6570 \u4f5c\u4e3a \u901f\u5ea6 \u6bd4 \u7684 \u51fd\u6570 \uff0c \u4ee5\u53ca \u626d\u77e9 \u6bd4 \u4f5c\u4e3a \u901f\u5ea6 \u6bd4 \u7684 \u51fd\u6570   \u53d8\u901f \u53d8\u901f\u7bb1 \uff08 \u624b\u52a8 \u6216 \u81ea\u52a8 \uff0c \u5177\u6709 \u4efb\u610f \u6570\u91cf \u7684 \u524d\u8fdb \u6863 \u548c \u5012 \u6863 \uff09   \u7535\u673a \u6a21\u5757 \u901a\u8fc7 \u7279\u6b8a \u7684   Chrono   \u7ea6\u675f \uff08   ChShaftBodyRotation   \uff09 \u8fde\u63a5 \u5230 \u5e95\u76d8 \uff0c \u4ece\u800c \u5141\u8bb8 \u6a21\u62df \u7535\u673a \u626d\u77e9 \u5bf9 \u5e95\u76d8 \u7684 \u5f71\u54cd \u3002   \u53c2\u9605 \u8bf7\u53c2\u9605   ChEngineShafts   \u3001   ChAutomaticTransmissionShafts   \u548c   ChManualTransmissionShafts   \u3002   \u4e0b\u56fe \u663e\u793a \u4e86 \u57fa\u4e8e \u8f74 \u7684 \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b \u4e0e \u57fa\u4e8e \u8f74 \u7684 \u8f6e\u5f0f \u8f66\u8f86 \u6a21\u578b \u7684 \u8fde\u63a5 \u3002   \u4e0b\u9762 \u63d0\u4f9b \u4e86 \u57fa\u4e8e \u8f74 \u7684 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \uff0c \u8bf4\u660e \u4e86 \u5404\u79cd \u6a21\u677f \u53c2\u6570 \uff1a   {   \" Name \" :   \" HMMWV   Shafts   Engine \" ,   \" Type \" :   \" Engine \" ,   \" Template \" :   \" EngineShafts \" ,   \" Motor   Block   Inertia \" :   10.5 ,   / /   connection   to   chassis   \" Motorshaft   Inertia \" :   1.1 ,   / /   connection   to   transmission   \" Torque   Map \" :   [   [   - 100 ,   300   ] ,   [   800 ,   382   ] ,   [   900 ,   490   ] ,   [   1000 ,   579   ] ,   [   1100 ,   650   ] ,   [   1200 ,   706   ] ,   [   1300 ,   746   ] ,   [   1400 ,   774   ] ,   [   1500 ,   789   ] ,   [   1600 ,   793   ] ,   [   1700 ,   788   ] ,   [   1800 ,   774   ] ,   [   1900 ,   754   ] ,   [   2000 ,   728   ] ,   [   2100 ,   697   ] ,   [   2200 ,   664   ] ,   [   2300 ,   628   ] ,   [   2400 ,   593   ] ,   [   2500 ,   558   ] ,   [   2700 ,   - 400   ]   ] ,   \" Losses   Map \" :   [   [   - 50 ,   30   ] ,   [   0 ,   0   ] ,   [   50 ,   - 30   ] ,   [   1000 ,   - 50   ] ,   [   2000 ,   - 70   ] ,   [   3000 ,   - 90   ]   ]   }   {   \" Name \" :   \" HMMWV   Shafts   Automatic   Transmission \" ,   \" Type \" :   \" Transmission \" ,   \" Template \" :   \" AutomaticTransmissionShafts \" ,   \" Transmission   Block   Inertia \" :   10.5 ,   / /   connection   to   chassis   \" Input   Shaft   Inertia \" :   0.3 ,   \" Motorshaft   Inertia \" :   0.5 ,   / /   connection   to   engine   \" Driveshaft   Inertia \" :   0.5 ,   / /   connection   to   driveline   \" Torque   Converter \" :   {   \" Capacity   Factor   Map \" :   [   [   0.00 ,   15.00   ] ,   [   0.25 ,   15.00   ] ,   [   0.50 ,   15.00   ] ,   [   0.75 ,   16.00   ] ,   [   0.90 ,   18.00   ] ,   [   1.00 ,   35.00   ]   ] ,   \" Torque   Ratio   Map \" :   [   [   0.00 ,   2.00   ] ,   [   0.25 ,   1.80   ] ,   [   0.50 ,   1.50   ] ,   [   0.75 ,   1.15   ] ,   [   1.00 ,   1.00   ]   ]   } ,   \" Gear   Box \" :   {   \" Forward   Gear   Ratios \" :   [   0.2 ,   0.4 ,   0.8   ] ,   \" Reverse   Gear   Ratio \" :   - 0.1 ,   \" Upshift   RPM \" :   2500 ,   \" Downshift   RPM \" :   1200 ,   \" Shift   Latency \" :   1.0   }   }   \u4e0a\u8ff0   JSON   \u6587\u4ef6 \u4e2d \u7f16\u7801 \u7684 \u66f2\u7ebf \u5982\u4e0b \u6240\u793a \u3002   \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u56fe \u6a21\u578b   \u8fd9\u662f \u4e00\u4e2a \u7b80\u5355 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b \u7684 \u6a21\u677f \uff0c \u57fa\u4e8e \u901f\u5ea6 \u626d\u77e9 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u56fe \u3002 \u8be5 \u6a21\u578b \u6ca1\u6709 \u626d\u77e9 \u8f6c\u6362 \u8f6c\u6362\u5668 \uff0c \u53ef\u4ee5 \u6709 \u624b\u52a8 \u6216 \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u5668 \u3002 \u5b83 \u63a5\u53d7 \u4e00\u4e2a \u5012 \u6863 \u548c \u4efb\u610f \u6570\u91cf \u7684 \u524d\u8fdb \u6863 \u3002 \u5728 \u81ea\u52a8 \u6a21\u5f0f \u4e0b \uff0c \u6362\u6863 \u662f \u6839\u636e \u6307\u5b9a \u7684 \u7406\u60f3 \u6362\u6863 \u70b9 \u8fdb\u884c \u7684 \u3002   \u53c2\u89c1   ChEngineSimpleMap   \u548c   ChAutomaticTransmissionSimpleMap   \u3002   \u4e0b\u9762 \u63d0\u4f9b \u4e86 \u5e26\u6709 \u5730\u56fe \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \uff0c \u8bf4\u660e \u4e86 \u5404\u79cd \u6a21\u677f \u53c2\u6570 \u3002   {   \" Name \" :   \" UAZBUS   Simple   Map   Engine \" ,   \" Type \" :   \" Engine \" ,   \" Template \" :   \" EngineSimpleMap \" ,   \" Maximal   Engine   Speed   RPM \" :   4000 ,   \" Map   Full   Throttle \" :   [   [   - 10.0 ,   104.66   ] ,   [   7.365 e + 02 ,   1.744 e + 02   ] ,   [   9.876 e + 02 ,   1.827 e + 02   ] ,   [   1.238 e + 03 ,   1.898 e + 02   ] ,   [   1.500 e + 03 ,   1.957 e + 02   ] ,   [   1.724 e + 03 ,   2.005 e + 02   ] ,   [   1.980 e + 03 ,   2.052 e + 02   ] ,   [   2.188 e + 03 ,   2.076 e + 02   ] ,   [   2.348 e + 03 ,   2.081 e + 02   ] ,   [   2.492 e + 03 ,   2.062 e + 02   ] ,   [   2.737 e + 03 ,   2.062 e + 02   ] ,   [   2.992 e + 03 ,   2.062 e + 02   ] ,   [   3.189 e + 03 ,   2.064 e + 02   ] ,   [   3.487 e + 03 ,   2.031 e + 02   ] ,   [   3.684 e + 03 ,   1.995 e + 02   ] ,   [   3.908 e + 03 ,   1.945 e + 02   ] ,   [   4100.0 ,   - 100.0   ] ,   [   4200.0 ,   - 200.0   ]   ] ,   \" Map   Zero   Throttle \" :   [   [   - 10.0 ,   0.0   ] ,   [   7.365 e + 02 ,   - 10.0   ] ,   [   9.880 e + 02 ,   - 10.0   ] ,   [   1.500 e + 03 ,   - 15.0   ] ,   [   1.980 e + 03 ,   - 15.0   ] ,   [   2.348 e + 03 ,   - 15.0   ] ,   [   2.737 e + 03 ,   - 20.0   ] ,   [   3.189 e + 03 ,   - 20.0   ] ,   [   3.685 e + 03 ,   - 30.0   ] ,   [   3.908 e + 03 ,   - 100.0   ]   ]   }   {   \" Name \" :   \" UAZBUS   Simple   Map   Transmission \" ,   \" Type \" :   \" Transmission \" ,   \" Template \" :   \" AutomaticTransmissionSimpleMap \" ,   \" Gear   Box \" :   {   \" Reverse   Gear   Ratio \" :   - 0.191 ,   \" Forward   Gear   Ratios \" :   [ 0.125 ,   0.242 ,   0.379 ,   0.633 ,   1.0 ] ,   \" Shift   Points   Map   RPM \" :   [   [   1000 ,   3000   ] ,   [   1200 ,   3700   ] ,   [   1200 ,   3700   ] ,   [   1200 ,   3700   ] ,   [   1200 ,   4000   ]   ]   }   }   \u4e0a\u8ff0   JSON   \u6587\u4ef6 \u4e2d \u7f16\u7801 \u7684 \u66f2\u7ebf \u5982\u4e0b \u6240\u793a \u3002   \u7b80\u5355 \u7684 \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b   \u8be5 \u6a21\u578b \u91c7\u7528 \u7b80\u5355 \u7684 \u901f\u5ea6 - \u626d\u77e9 \u4f9d\u8d56 \u4f9d\u8d56\u6027 \uff0c \u6ca1\u6709 \u626d\u77e9 \u8f6c\u6362 \u8f6c\u6362\u5668 \u548c \u53d8\u901f \u53d8\u901f\u7bb1 \u3002   \u53c2\u89c1   ChEngineSimple   \u548c   EngineSimple   \u3002   \u4e0b\u9762 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5177\u6709   CVT   \u7c7b \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \uff0c \u8bf4\u660e \u4e86 \u5404\u79cd \u6a21\u677f \u53c2\u6570 \u3002   {   \" Name \" :   \" HMMWV   Simple   Engine \" ,   \" Type \" :   \" Engine \" ,   \" Template \" :   \" EngineSimple \" ,   \" Maximum   Engine   Torque \" :   330 ,   \" Maximum   Engine   Power \" :   110000 ,   \" Maximum   Engine   Speed \" :   10000   }","title":"\u52a8\u529b\u7cfb\u7edf \u6a21\u578b"},{"location":"chrono/vehicle_powertrain/#_1","text":"\u57fa\u4e8e \u8f74 \u7684 \u52a8\u529b \u603b\u6210 \u6a21\u578b   \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u56fe \u6a21\u578b   \u7b80\u5355 \u7684 \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b   \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u8fde\u63a5 \u5230 \u9a71\u52a8 \u7cfb\u7edf \uff08 \u63a5\u6536 \u6cb9\u95e8 \u8f93\u5165 \uff09 \u548c \u8f66\u8f86 \u7cfb\u7edf \u7684 \u4f20\u52a8 \u7cfb \u7cfb\u7edf \u5b50\u7cfb\u7edf \uff08 \u63a5\u6536 \u9a71\u52a8 \u8f74 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u5e76 \u53d1\u9001 \u9a71\u52a8 \u8f74 \u626d\u77e9 \uff09 \u3002   Chrono : : Vehicle   \u65e8\u5728 \u5141\u8bb8 \u94fe\u63a5 \u5230 \u7b2c\u4e09 \u4e09\u65b9 \u7b2c\u4e09\u65b9 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b \u3002 \u4e0e \u6b64\u7c7b \u5916\u90e8 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b \u63a5\u53e3 \u9700\u8981 \u4e24\u4e2a \u7cbe\u7b80 \u63a5\u53e3 \u63a5\u53e3\u7c7b \uff0c \u5b83\u4eec \u6d3e\u751f \u81ea   ChEngine   \u548c   ChTransmission   \u3002   Chrono : : Vehicle   \u4e3a \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u63d0\u4f9b \u4e86 \u51e0\u4e2a \u6a21\u677f \uff0c \u5982\u4e0b \u6240\u8ff0 \u3002","title":"\u52a8\u529b\u7cfb\u7edf \u6a21\u578b"},{"location":"chrono/vehicle_powertrain/#_2","text":"\u8be5 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b \u57fa\u4e8e \u5404\u79cd   Chrono   1 - D   \u8f74 \u5143\u4ef6   (   ChShaft   )   \u548c \u4e13\u7528 \u8f74 \u8fde\u63a5 \u5143\u4ef6 \u3002 \u8fd9\u4e9b \u5143\u4ef6 \u7528\u4e8e \u5efa\u6a21 \uff1a   \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a   (   ChShaftsThermalEngine   ) \uff0c \u901a\u8fc7 \u901f\u5ea6 \u626d\u77e9 \u66f2\u7ebf \u6307\u5b9a   \u626d\u77e9 \u8f6c\u6362 \u8f6c\u6362\u5668   (   ChShaftsTorqueConverter   ) \uff0c \u901a\u8fc7 \u66f2\u7ebf \u6307\u5b9a \u5bb9\u91cf \u7cfb\u6570 \u4f5c\u4e3a \u901f\u5ea6 \u6bd4 \u7684 \u51fd\u6570 \uff0c \u4ee5\u53ca \u626d\u77e9 \u6bd4 \u4f5c\u4e3a \u901f\u5ea6 \u6bd4 \u7684 \u51fd\u6570   \u53d8\u901f \u53d8\u901f\u7bb1 \uff08 \u624b\u52a8 \u6216 \u81ea\u52a8 \uff0c \u5177\u6709 \u4efb\u610f \u6570\u91cf \u7684 \u524d\u8fdb \u6863 \u548c \u5012 \u6863 \uff09   \u7535\u673a \u6a21\u5757 \u901a\u8fc7 \u7279\u6b8a \u7684   Chrono   \u7ea6\u675f \uff08   ChShaftBodyRotation   \uff09 \u8fde\u63a5 \u5230 \u5e95\u76d8 \uff0c \u4ece\u800c \u5141\u8bb8 \u6a21\u62df \u7535\u673a \u626d\u77e9 \u5bf9 \u5e95\u76d8 \u7684 \u5f71\u54cd \u3002   \u53c2\u9605 \u8bf7\u53c2\u9605   ChEngineShafts   \u3001   ChAutomaticTransmissionShafts   \u548c   ChManualTransmissionShafts   \u3002   \u4e0b\u56fe \u663e\u793a \u4e86 \u57fa\u4e8e \u8f74 \u7684 \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b \u4e0e \u57fa\u4e8e \u8f74 \u7684 \u8f6e\u5f0f \u8f66\u8f86 \u6a21\u578b \u7684 \u8fde\u63a5 \u3002   \u4e0b\u9762 \u63d0\u4f9b \u4e86 \u57fa\u4e8e \u8f74 \u7684 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \uff0c \u8bf4\u660e \u4e86 \u5404\u79cd \u6a21\u677f \u53c2\u6570 \uff1a   {   \" Name \" :   \" HMMWV   Shafts   Engine \" ,   \" Type \" :   \" Engine \" ,   \" Template \" :   \" EngineShafts \" ,   \" Motor   Block   Inertia \" :   10.5 ,   / /   connection   to   chassis   \" Motorshaft   Inertia \" :   1.1 ,   / /   connection   to   transmission   \" Torque   Map \" :   [   [   - 100 ,   300   ] ,   [   800 ,   382   ] ,   [   900 ,   490   ] ,   [   1000 ,   579   ] ,   [   1100 ,   650   ] ,   [   1200 ,   706   ] ,   [   1300 ,   746   ] ,   [   1400 ,   774   ] ,   [   1500 ,   789   ] ,   [   1600 ,   793   ] ,   [   1700 ,   788   ] ,   [   1800 ,   774   ] ,   [   1900 ,   754   ] ,   [   2000 ,   728   ] ,   [   2100 ,   697   ] ,   [   2200 ,   664   ] ,   [   2300 ,   628   ] ,   [   2400 ,   593   ] ,   [   2500 ,   558   ] ,   [   2700 ,   - 400   ]   ] ,   \" Losses   Map \" :   [   [   - 50 ,   30   ] ,   [   0 ,   0   ] ,   [   50 ,   - 30   ] ,   [   1000 ,   - 50   ] ,   [   2000 ,   - 70   ] ,   [   3000 ,   - 90   ]   ]   }   {   \" Name \" :   \" HMMWV   Shafts   Automatic   Transmission \" ,   \" Type \" :   \" Transmission \" ,   \" Template \" :   \" AutomaticTransmissionShafts \" ,   \" Transmission   Block   Inertia \" :   10.5 ,   / /   connection   to   chassis   \" Input   Shaft   Inertia \" :   0.3 ,   \" Motorshaft   Inertia \" :   0.5 ,   / /   connection   to   engine   \" Driveshaft   Inertia \" :   0.5 ,   / /   connection   to   driveline   \" Torque   Converter \" :   {   \" Capacity   Factor   Map \" :   [   [   0.00 ,   15.00   ] ,   [   0.25 ,   15.00   ] ,   [   0.50 ,   15.00   ] ,   [   0.75 ,   16.00   ] ,   [   0.90 ,   18.00   ] ,   [   1.00 ,   35.00   ]   ] ,   \" Torque   Ratio   Map \" :   [   [   0.00 ,   2.00   ] ,   [   0.25 ,   1.80   ] ,   [   0.50 ,   1.50   ] ,   [   0.75 ,   1.15   ] ,   [   1.00 ,   1.00   ]   ]   } ,   \" Gear   Box \" :   {   \" Forward   Gear   Ratios \" :   [   0.2 ,   0.4 ,   0.8   ] ,   \" Reverse   Gear   Ratio \" :   - 0.1 ,   \" Upshift   RPM \" :   2500 ,   \" Downshift   RPM \" :   1200 ,   \" Shift   Latency \" :   1.0   }   }   \u4e0a\u8ff0   JSON   \u6587\u4ef6 \u4e2d \u7f16\u7801 \u7684 \u66f2\u7ebf \u5982\u4e0b \u6240\u793a \u3002","title":"\u57fa\u4e8e \u8f74 \u7684 \u52a8\u529b \u603b\u6210 \u6a21\u578b"},{"location":"chrono/vehicle_powertrain/#_3","text":"\u8fd9\u662f \u4e00\u4e2a \u7b80\u5355 \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u6a21\u578b \u7684 \u6a21\u677f \uff0c \u57fa\u4e8e \u901f\u5ea6 \u626d\u77e9 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u56fe \u3002 \u8be5 \u6a21\u578b \u6ca1\u6709 \u626d\u77e9 \u8f6c\u6362 \u8f6c\u6362\u5668 \uff0c \u53ef\u4ee5 \u6709 \u624b\u52a8 \u6216 \u81ea\u52a8 \u53d8\u901f \u53d8\u901f\u5668 \u3002 \u5b83 \u63a5\u53d7 \u4e00\u4e2a \u5012 \u6863 \u548c \u4efb\u610f \u6570\u91cf \u7684 \u524d\u8fdb \u6863 \u3002 \u5728 \u81ea\u52a8 \u6a21\u5f0f \u4e0b \uff0c \u6362\u6863 \u662f \u6839\u636e \u6307\u5b9a \u7684 \u7406\u60f3 \u6362\u6863 \u70b9 \u8fdb\u884c \u7684 \u3002   \u53c2\u89c1   ChEngineSimpleMap   \u548c   ChAutomaticTransmissionSimpleMap   \u3002   \u4e0b\u9762 \u63d0\u4f9b \u4e86 \u5e26\u6709 \u5730\u56fe \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \uff0c \u8bf4\u660e \u4e86 \u5404\u79cd \u6a21\u677f \u53c2\u6570 \u3002   {   \" Name \" :   \" UAZBUS   Simple   Map   Engine \" ,   \" Type \" :   \" Engine \" ,   \" Template \" :   \" EngineSimpleMap \" ,   \" Maximal   Engine   Speed   RPM \" :   4000 ,   \" Map   Full   Throttle \" :   [   [   - 10.0 ,   104.66   ] ,   [   7.365 e + 02 ,   1.744 e + 02   ] ,   [   9.876 e + 02 ,   1.827 e + 02   ] ,   [   1.238 e + 03 ,   1.898 e + 02   ] ,   [   1.500 e + 03 ,   1.957 e + 02   ] ,   [   1.724 e + 03 ,   2.005 e + 02   ] ,   [   1.980 e + 03 ,   2.052 e + 02   ] ,   [   2.188 e + 03 ,   2.076 e + 02   ] ,   [   2.348 e + 03 ,   2.081 e + 02   ] ,   [   2.492 e + 03 ,   2.062 e + 02   ] ,   [   2.737 e + 03 ,   2.062 e + 02   ] ,   [   2.992 e + 03 ,   2.062 e + 02   ] ,   [   3.189 e + 03 ,   2.064 e + 02   ] ,   [   3.487 e + 03 ,   2.031 e + 02   ] ,   [   3.684 e + 03 ,   1.995 e + 02   ] ,   [   3.908 e + 03 ,   1.945 e + 02   ] ,   [   4100.0 ,   - 100.0   ] ,   [   4200.0 ,   - 200.0   ]   ] ,   \" Map   Zero   Throttle \" :   [   [   - 10.0 ,   0.0   ] ,   [   7.365 e + 02 ,   - 10.0   ] ,   [   9.880 e + 02 ,   - 10.0   ] ,   [   1.500 e + 03 ,   - 15.0   ] ,   [   1.980 e + 03 ,   - 15.0   ] ,   [   2.348 e + 03 ,   - 15.0   ] ,   [   2.737 e + 03 ,   - 20.0   ] ,   [   3.189 e + 03 ,   - 20.0   ] ,   [   3.685 e + 03 ,   - 30.0   ] ,   [   3.908 e + 03 ,   - 100.0   ]   ]   }   {   \" Name \" :   \" UAZBUS   Simple   Map   Transmission \" ,   \" Type \" :   \" Transmission \" ,   \" Template \" :   \" AutomaticTransmissionSimpleMap \" ,   \" Gear   Box \" :   {   \" Reverse   Gear   Ratio \" :   - 0.191 ,   \" Forward   Gear   Ratios \" :   [ 0.125 ,   0.242 ,   0.379 ,   0.633 ,   1.0 ] ,   \" Shift   Points   Map   RPM \" :   [   [   1000 ,   3000   ] ,   [   1200 ,   3700   ] ,   [   1200 ,   3700   ] ,   [   1200 ,   3700   ] ,   [   1200 ,   4000   ]   ]   }   }   \u4e0a\u8ff0   JSON   \u6587\u4ef6 \u4e2d \u7f16\u7801 \u7684 \u66f2\u7ebf \u5982\u4e0b \u6240\u793a \u3002","title":"\u53d1\u52a8\u673a \u56fe \u6a21\u578b"},{"location":"chrono/vehicle_powertrain/#_4","text":"\u8be5 \u6a21\u578b \u91c7\u7528 \u7b80\u5355 \u7684 \u901f\u5ea6 - \u626d\u77e9 \u4f9d\u8d56 \u4f9d\u8d56\u6027 \uff0c \u6ca1\u6709 \u626d\u77e9 \u8f6c\u6362 \u8f6c\u6362\u5668 \u548c \u53d8\u901f \u53d8\u901f\u7bb1 \u3002   \u53c2\u89c1   ChEngineSimple   \u548c   EngineSimple   \u3002   \u4e0b\u9762 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5177\u6709   CVT   \u7c7b \u52a8\u529b \u529b\u7cfb \u7cfb\u7edf \u52a8\u529b\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \uff0c \u8bf4\u660e \u4e86 \u5404\u79cd \u6a21\u677f \u53c2\u6570 \u3002   {   \" Name \" :   \" HMMWV   Simple   Engine \" ,   \" Type \" :   \" Engine \" ,   \" Template \" :   \" EngineSimple \" ,   \" Maximum   Engine   Torque \" :   330 ,   \" Maximum   Engine   Power \" :   110000 ,   \" Maximum   Engine   Speed \" :   10000   }","title":"\u7b80\u5355 \u7684 \u52a8\u529b \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b"},{"location":"chrono/vehicle_terrain/","text":"\u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b   \u5e73\u5766 \u5730\u5f62   \u575a\u786c \u5730\u5f62   \u53ef \u53d8\u5f62   SCM \uff08 \u571f\u58e4 \u63a5\u89e6 \u6a21\u578b \uff09   \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u5730\u5f62   \u53ef \u53d8\u5f62   FEA \uff08 ANCF   \u5b9e\u4f53 \u5143\u7d20 \uff09   Chrono : : Vehicle   \u4e2d \u7684 \u5730\u5f62 \u5bf9\u8c61 \u5fc5\u987b \u63d0\u4f9b \u4ee5\u4e0b \u65b9\u6cd5 \uff1a   \u8fd4\u56de \u6307\u5b9a \u4f4d\u7f6e \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u7684 \u70b9 \u7684 \u5730\u5f62 \u9ad8\u5ea6   \u8fd4\u56de \u6307\u5b9a \u4f4d\u7f6e \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u7684 \u70b9 \u7684 \u5730\u5f62 \u6cd5\u7ebf   \u8fd4\u56de \u6307\u5b9a \u4f4d\u7f6e \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u70b9 \u7684 \u5730\u5f62 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \uff0c \u5176\u4e2d \u5047\u5b9a \u7ed9\u5b9a \u4f4d\u7f6e \u5728 \u5f53\u524d \u4e16\u754c \u6846\u67b6 \u4e2d \u8868\u8fbe \u3002   \u53c2\u89c1 \u57fa\u7c7b   ChTerrain   \u7684 \u5b9a\u4e49 \u3002   \u4f46 \u8bf7 \u6ce8\u610f \uff0c \u8fd9\u4e9b \u91cf \u4ec5 \u4e0e \u6240\u8c13 \u7684   \u534a \u7ecf\u9a8c \u8f6e\u80ce \u6a21\u578b   \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u6709\u5173 \u3002 \u56e0\u6b64 \uff0c \u5b83\u4eec \u4e0d\u9002 \u7528\u4e8e \u53ef \u53d8\u5f62 \u5730\u5f62 \uff08 SCM \u3001 \u9897\u7c92 \u6216 \u57fa\u4e8e   FEA \uff09 \u7684 \u60c5\u51b5 \uff0c \u56e0\u4e3a \u53ef \u53d8\u5f62 \u5730\u5f62 \u53ea\u80fd \u4e0e   \u521a\u6027   \u6216   FEA   \u8f6e\u80ce \u6a21\u578b \u4ee5\u53ca \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u914d\u5408 \u4f7f\u7528 \uff08 \u56e0\u4e3a \u5b83\u4eec \u4f9d\u8d56 \u8d56\u4e8e \u4f9d\u8d56\u4e8e \u5e95\u5c42 \u7684   Chrono   \u78b0\u649e \u548c \u63a5\u89e6 \u7cfb\u7edf \uff09 \u3002   \u6b64\u5916 \uff0c \u67d0\u4e9b \u8f6e\u80ce \u6a21\u578b \u53ef\u80fd \u4f1a \u4f7f\u7528 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \u503c\u6765 \u4fee\u6539 \u8f6e\u80ce \u7279\u6027 \uff0c \u4f46 \u4e0d\u4f1a \u5bf9 \u5730\u5f62 \u4e0e \u5176\u4ed6 \u7269\u4f53 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u4ea7\u751f \u5f71\u54cd \uff08 \u5305\u62ec \u672a \u660e\u786e \u4f7f\u7528 \u5b83 \u7684 \u8f6e\u80ce \u6a21\u578b \uff09 \u3002   ChTerrain   \u57fa\u7c7b \u8fd8 \u5b9a\u4e49 \u4e86 \u4e00\u4e2a \u51fd\u5b50 \u5bf9\u8c61   ChTerrain : : FrictionFunctor   \uff0c \u5b83 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u7528\u4e8e \u6307\u5b9a \u4f4d\u7f6e \u76f8\u5173 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \u7684 \u63a5\u53e3 \u3002 \u7528\u6237 \u5fc5\u987b \u5b9e\u73b0 \u4ece\u6b64 \u57fa\u7c7b \u6d3e\u751f \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7c7b \uff0c \u5e76 \u5b9e\u73b0 \u865a\u62df \u65b9\u6cd5   operator ( )   \u4ee5 \u8fd4\u56de \u7ed9\u5b9a \u4f4d\u7f6e \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u70b9 \u7684 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \uff08 x   ,   y ,   z \uff09 \u4f4d\u7f6e \uff08 \u5047\u5b9a \u5728 \u5f53\u524d \u4e16\u754c \u6846\u67b6 \u4e2d \u8868\u8fbe \uff09 \u3002   \u5e73\u5766 \u5730\u5f62   FlatTerrain   \u662f \u4e00\u4e2a \u6c34\u5e73 \u5e73\u9762 \u6c34\u5e73\u9762 \u6a21\u578b \uff0c \u5177\u6709 \u65e0\u9650 \u5ef6\u4f38 \uff0c \u4f4d\u4e8e \u7528\u6237 \u6307\u5b9a \u7684 \u9ad8\u5ea6 \u3002   FlatTerrain   : : GetCoefficientFriction   \u65b9\u6cd5 \u8fd4\u56de \u6784\u9020 \u65f6 \u6307\u5b9a \u7684 \u6052\u5b9a \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \uff0c \u6216\u8005 \uff0c \u5982\u679c   FrictionFunctor   \u5df2 \u6ce8\u518c \u5bf9\u8c61 \uff0c \u5219 \u8fd4\u56de \u5176 \u8fd4\u56de \u8fd4\u56de\u503c \u3002   \u7531\u4e8e \u5e73\u5766 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u4e0d \u5e26\u6709 \u4efb\u4f55 \u78b0\u649e \u548c \u63a5\u89e6 \u4fe1\u606f \uff0c \u56e0\u6b64 \u5b83 \u53ea\u80fd \u4e0e   \u534a \u7ecf\u9a8c \u8f6e\u80ce \u6a21\u578b   \u4e00\u8d77 \u4f7f\u7528 \u3002   \u575a\u786c \u5730\u5f62   RigidTerrain   \u662f \u5177\u6709 \u4efb\u610f \u51e0\u4f55 \u5f62\u72b6 \u7684 \u521a\u6027 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u3002 \u521a\u6027 \u5730\u5f62 \u88ab \u6307\u5b9a \u4e3a \u4e00\u7ec4 \u9762\u7247 \uff0c \u6bcf\u4e2a \u9762\u7247 \u53ef\u4ee5 \u662f \u4ee5\u4e0b \u4e4b\u4e00 \uff1a   \u4e00\u4e2a \u77e9\u5f62 \u77e9\u5f62\u6846 \uff0c \u53ef\u80fd \u5df2 \u65cb\u8f6c \uff1b \u201c \u9a71\u52a8 \u201d \u8868\u9762 \u662f \u6846 \u7684 \u9876\u9762 \uff08 \u5728 \u4e16\u754c \u7684 \u5782\u76f4 \u65b9\u5411 \u4e0a \uff09   \u4ece \u7528\u6237 \u6307\u5b9a \u7684   Wavefront   OBJ   \u6587\u4ef6 \u4e2d \u8bfb\u53d6 \u7684 \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c   \u901a\u8fc7 \u7a0b\u5e8f \u4ece \u7528\u6237 \u6307\u5b9a \u7684 \u7070\u5ea6   BMP   \u56fe\u50cf \u751f\u6210 \u7684 \u4e09\u89d2 \u7f51\u683c   \u521a\u6027 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u53ef \u4e0e \u4efb\u4f55   Chrono : : Vehicle   \u8f6e\u80ce \u6a21\u578b \u4ee5\u53ca \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u4e00\u8d77 \u4f7f\u7528 \u3002   \u76d2\u72b6 \u9762\u7247 \u7531 \u9876\u9762 \uff08 \u9a71\u52a8 \u9762 \uff09 \u4e2d\u5fc3 \u3001 \u9876\u9762 \u6cd5\u7ebf \u548c \u9762\u7247 \u5c3a\u5bf8 \uff08 \u957f\u5ea6 \u3001 \u5bbd\u5ea6 \u548c \u53ef\u9009 \u539a\u5ea6 \uff09 \u6307\u5b9a \u3002 \u76d2\u72b6 \u9762\u7247 \u4e5f \u53ef\u4ee5 \u7531 \u591a\u4e2a \u76f8\u90bb \u7684 \u56fe\u5757 \u521b\u5efa \uff0c \u6bcf\u4e2a \u56fe\u5757 \u90fd \u662f   Chrono   \u76d2\u72b6 \u63a5\u89e6 \u5f62\u72b6 \uff1b \u5bf9\u4e8e \u6c34\u5e73 \u8303\u56f4 \u8f83\u5927 \u7684 \u76d2 \u72b6 \u9762\u7247 \uff0c \u5efa\u8bae \u8fd9\u6837 \u505a \uff0c \u56e0\u4e3a \u8be5 \u5c3a\u5bf8 \u7684 \u5355\u4e2a \u78b0\u649e \u5f62\u72b6 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u7b97\u6cd5 \u51fa\u73b0 \u9519\u8bef \u3002   \u4e0b\u56fe \u663e\u793a \u4e86 \u7f51\u683c \u521a\u6027 \u5730\u5f62 \u8d34\u7247 \u7684 \u793a\u4f8b \u3002 \u5047\u8bbe \u7f51\u683c \u76f8\u5bf9 \u4e8e   ISO   \u53c2\u8003 \u6846\u67b6 \u63d0\u4f9b \uff0c \u5e76\u4e14 \u6ca1\u6709 \u201c \u60ac\u5782 \u201d \uff08 \u6362\u53e5 \u6362\u53e5\u8bdd \u6362\u53e5\u8bdd\u8bf4 \uff0c \u5782\u76f4 \u5c04\u7ebf \u6700\u591a \u4e0e \u7f51\u683c \u76f8\u4ea4 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \uff09 \u3002 \u7528\u6237 \u8fd8 \u53ef\u4ee5 \u9009\u62e9 \u5c06 \u5730\u5f62 \u7f51\u683c \u7684 \u201c \u539a\u5ea6 \u201d \u6307\u5b9a \u4e3a \u626b\u63cf \u7403\u4f53 \u7684 \u534a\u5f84 \u3002 \u4e3a\u6b64 \u534a\u5f84 \u6307\u5b9a \u4e00\u4e2a \u5c0f \u7684 \u6b63\u503c \u53ef\u4ee5 \u663e\u8457 \u63d0\u9ad8 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u7b97\u6cd5 \u7684 \u7a33\u5065 \u7a33\u5065\u6027 \u3002   \u9ad8\u5ea6 \u56fe \u8865\u4e01 \u901a\u8fc7 \u7070\u5ea6   BMP   \u56fe\u50cf \uff08 \u5982\u4e0b \u6240\u793a \uff09 \u3001 \u8865\u4e01 \u7684 \u6c34\u5e73 \u8303\u56f4 \uff08 \u957f\u5ea6 \u548c \u5bbd\u5ea6 \uff09 \u548c \u9ad8\u5ea6 \u8303\u56f4 \uff08 \u6700\u5c0f \u548c \u6700\u5927 \u9ad8\u5ea6 \uff09 \u6307\u5b9a \u3002 \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c \u662f \u901a\u8fc7 \u7f16\u7a0b \u751f\u6210 \u7684 \uff0c \u65b9\u6cd5 \u662f \u4e3a \u8f93\u5165   BMP   \u56fe\u50cf \u4e2d \u7684 \u6bcf\u4e2a \u50cf\u7d20 \u521b\u5efa \u4e00\u4e2a \u7f51\u683c \u9876\u70b9 \uff0c \u5728 \u6c34\u5e73 \u9762\u4e0a \u62c9\u4f38 \u7f51\u683c \u4ee5 \u5339\u914d \u7ed9\u5b9a \u7684 \u8303\u56f4 \uff0c \u5e76 \u5728 \u5782\u76f4 \u65b9\u5411 \u4e0a \u62c9\u4f38 \u7f51\u683c \uff0c \u4f7f\u5f97 \u6700\u5c0f \u9ad8\u5ea6 \u5bf9\u5e94 \u4e8e \u5b8c\u7f8e \u7684 \u9ed1\u8272 \u50cf\u7d20 \u989c\u8272 \uff0c \u6700\u5927 \u9ad8\u5ea6 \u5bf9\u5e94 \u4e8e \u5b8c\u7f8e \u7684 \u767d\u8272 \u50cf\u7d20 \u3002   \u9ad8\u5ea6 \u548c \u6cd5\u7ebf \u8ba1\u7b97   \u3002   RigidTerrain : : GetHeight   \u548c   RigidTerrain : : GetNormal   \u7684 \u5b9e\u73b0 \u4f9d\u8d56 \u8d56\u4e8e \u4f9d\u8d56\u4e8e \u76f8\u5bf9 \u6602\u8d35 \u7684 \u5149\u7ebf \u6295\u5c04 \u64cd\u4f5c \uff1a \u5728 \u6240\u6709 \u7ec4\u6210 \u9762\u7247 \u4e0a \u4ece \u4e0a\u65b9 \u6295\u5c04 \u5782\u76f4 \u5149\u7ebf \uff0c \u5e76 \u62a5\u544a \u76f8\u4ea4 \u70b9 \u7684 \u9ad8\u5ea6 \u548c \u6cd5\u7ebf \u3002 \u5bf9\u4e8e \u76d2\u5b50 \u9762\u7247 \uff0c \u5149\u7ebf \u6295\u5c04 \u4f7f\u7528 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5206\u6790 \u5b9e\u73b0 \uff0c \u8be5 \u5b9e\u73b0 \u4f1a \u627e\u5230 \u5149\u7ebf \u4e0e \u76d2\u5b50 \u57df \u9876\u9762 \u7684 \u4ea4\u70b9 \uff1b \u5bf9\u4e8e \u57fa\u4e8e \u7f51\u683c \u7684 \u9762\u7247 \uff0c \u5149\u7ebf \u6295\u5c04 \u5c06 \u63a8\u8fdf \u5230 \u5e95\u5c42 \u78b0\u649e \u7cfb\u7edf \u3002 \u5982\u679c \u6ca1\u6709 \u76f8\u4ea4 \u7684 \u9762\u7247 \uff0c \u8fd9\u4e9b \u51fd\u6570 \u5c06 \u8fd4\u56de 0 \u548c \u4e16\u754c \u7684 \u5782\u76f4 \u65b9\u5411 \u3002   \u4f4d\u7f6e \u76f8\u5173 \u7684 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570   \u3002 \u521a\u6027 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u652f\u6301 \u5bf9\u8c61 \u7684 \u5b9a\u4e49   FrictionFunctor   \u3002 \u5982\u679c \u6ca1\u6709 \u63d0\u4f9b \u8fd9\u6837 \u7684 \u51fd\u5b50 \uff0c   RigidTerrain : : GetCoefficientFriction   \u5c06 \u4f7f\u7528 \u5c04\u7ebf \u6295\u5c04 \u65b9\u6cd5 \u6765 \u8bc6\u522b \u6b63\u786e \u7684 \u8865\u4e01 \uff0c \u5e76 \u8fd4\u56de \u8be5 \u8865\u4e01 \u7684 \uff08 \u6052\u5b9a \uff09 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \u3002 \u5982\u679c \u63d0\u4f9b \u4e86 \u51fd\u5b50 \uff0c RigidTerrain : : GetCoefficientFriction   \u53ea\u4f1a \u8fd4\u56de \u5176\u503c \u3002 \u4f46\u662f \uff0c \u5904\u7406 \u4e0e \u5730\u5f62 \u7684 \u63a5\u89e6 \uff08 \u4f8b\u5982 \uff0c \u4f7f\u7528 \u521a\u6027 \u8f6e\u80ce \u6216 \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u65f6 \uff09 \u76f8\u5bf9 \u6602\u8d35 \uff1a \u6bcf\u6b21 \u8c03\u7528 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u7b97\u6cd5 \u65f6 \uff08 \u5373 \u6bcf\u4e2a \u6a21\u62df \u6b65\u9aa4 \u4e00\u6b21 \uff09 \uff0c \u90fd \u4f1a \u904d\u5386   Chrono   \u7cfb\u7edf \u4e2d \u6240\u6709 \u63a5\u89e6 \u7684 \u5217\u8868 \u4ee5 \u62e6\u622a \u6240\u6709 \u6d89\u53ca \u521a\u6027 \u5730\u5f62 \u8865\u4e01 \u78b0\u649e \u6a21\u578b \u7684 \u63a5\u89e6 \uff1b \u5bf9\u4e8e \u8fd9\u4e9b \u63a5\u89e6 \uff0c \u590d\u5408 \u6750\u6599 \u590d\u5408\u6750\u6599 \u5c5e\u6027 \u4f1a \u88ab \u4fee\u6539 \u4ee5 \u8003\u8651 \u63a5\u89e6 \u89e6\u70b9 \u63a5\u89e6\u70b9 \u5904 \u7684 \u5730\u5f62 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \u3002   \u521a\u6027 \u5730\u5f62 \u53ef\u4ee5 \u901a\u8fc7 \u7f16\u7a0b \u6784\u5efa \uff0c \u4e00\u6b21 \u5b9a\u4e49 \u4e00\u4e2a \u8865\u4e01 \uff0c \u6216\u8005 \u5728   JSON   \u6587\u4ef6 \u4e2d \u6307\u5b9a \uff0c \u5982\u4e0b \u6240\u793a \uff1a   {   \" Name \" :   \" Rigid   plane \" ,   \" Type \" :   \" Terrain \" ,   \" Template \" :   \" RigidTerrain \" ,   \" Patches \" :   [   / /   Patch   1 :   box   {   \" Location \" :   [   - 15 ,   0 ,   0   ] ,   \" Orientation \" :   [   1 ,   0 ,   0 ,   0   ] ,   \" Geometry \" :   {   \" Dimensions \" :   [   60 ,   20 ,   2   ]   } ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.01 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e7 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2e5 ,   \" Normal   Damping \" :   40.0 ,   \" Tangential   Stiffness \" :   2e5 ,   \" Tangential   Damping \" :   20.0   }   } ,   \" Visualization \" :   {   \" Color \" :   [   1.0 ,   0.5 ,   0.5   ] ,   \" Texture   File \" :   \" terrain / textures / tile4 . jpg \" ,   \" Texture   Scaling \" :   [   60 ,   20   ]   }   } ,   / /   Patch   2 :   box   {   \" Location \" :   [   20 ,   0 ,   0.1   ] ,   \" Orientation \" :   [   1 ,   0 ,   0 ,   0   ] ,   \" Geometry \" :   {   \" Dimensions \" :   [   20 ,   30 ,   2   ]   } ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.01 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e7 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2e5 ,   \" Normal   Damping \" :   40.0 ,   \" Tangential   Stiffness \" :   2e5 ,   \" Tangential   Damping \" :   20.0   }   } ,   \" Visualization \" :   {   \" Color \" :   [   1.0 ,   0.5 ,   0.5   ]   }   } ,   / /   Patch   3 :   height - map   {   \" Location \" :   [   0 ,   42 ,   0   ] ,   \" Orientation \" :   [   1 ,   0 ,   0 ,   0   ] ,   \" Geometry \" :   {   \" Height   Map   Filename \" :   \" terrain / height _ maps / bump64 . bmp \" ,   \" Size \" :   [   64 ,   64   ] ,   \" Height   Range \" :   [   0 ,   3   ]   } ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.01 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e7 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2e5 ,   \" Normal   Damping \" :   40.0 ,   \" Tangential   Stiffness \" :   2e5 ,   \" Tangential   Damping \" :   20.0   }   } ,   \" Visualization \" :   {   \" Color \" :   [   1.0 ,   1.0 ,   1.0   ] ,   \" Texture   File \" :   \" terrain / textures / grass . jpg \" ,   \" Texture   Scaling \" :   [   64 ,   64   ]   }   } ,   / /   Patch   4 :   Mesh   {   \" Location \" :   [   0 ,   - 42 ,   0   ] ,   \" Orientation \" :   [   1 ,   0 ,   0 ,   0   ] ,   \" Geometry \" :   {   \" Mesh   Filename \" :   \" terrain / meshes / bump . obj \"   } ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.01 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e7 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2e5 ,   \" Normal   Damping \" :   40.0 ,   \" Tangential   Stiffness \" :   2e5 ,   \" Tangential   Damping \" :   20.0   }   } ,   \" Visualization \" :   {   \" Color \" :   [   0.5 ,   0.5 ,   0.8   ] ,   \" Texture   File \" :   \" terrain / textures / dirt . jpg \" ,   \" Texture   Scaling \" :   [   200 ,   200   ]   }   }   ]   }   CRG   \u5730\u5f62   CRGTerrain   \u662f \u6839\u636e OpenCRG \u9053\u8def \u89c4\u8303 \u6784\u5efa \u7684 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u3002 \u8981 \u4f7f\u7528 \u6b64 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \uff0c \u7528\u6237 \u5fc5\u987b \u5b89\u88c5   OpenCRG   SDK   \u5e76 \u5728   CMake   \u914d\u7f6e \u671f\u95f4 \u542f\u7528 \u5176 \u4f7f\u7528 \uff08 \u53c2\u9605 \u8bf7\u53c2\u9605   Chrono : : Vehicle   \u5b89\u88c5 \u8bf4\u660e   \uff09 \u3002   CRG   \u5730\u5f62 \u4ece \u89c4\u8303 \u6587\u4ef6 \uff08 \u4f8b\u5982 \u4e0b\u9762 \u5217\u51fa \u7684 \u6587\u4ef6 \uff09 \u521b\u5efa \u9053\u8def \u8f6e\u5ed3 \uff08 \u5177\u6709 \u76f8\u5173 \u5bbd\u5ea6 \u7684   3D   \u8def\u5f84 \uff09 \uff0c \u5e76 \u5b9e\u73b0 \u51fd\u6570   CRGTerrain : : GetHeight   \u548c   CRGTerrain : : GetNormal   \u4ee5 \u4f7f\u7528 \u6b64 \u89c4\u8303 \u3002 \u8bf7 \u6ce8\u610f \uff0c crg \u89c4\u8303 \u6587\u4ef6 \u53ef\u4ee5 \u662f   ASCII   \u6216 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u3002   *   Emacs   major   mode   to   be   selected   automagically :   - * - CASCaDE - * -   *   $ Id :   handmade _ curved _ minimalist . crg   21   2009 - 06 - 23   15 : 03 : 13Z   jorauh   $   $ CT   CRG   file   example   for   road   surface   description   ( width :   3m ,   length :   22m )   with   curved   reference   line   and   grid   of   ( 0.25 m ... 1.0 m )   x   1.0 m .   A   minimalist   file   can   have   an   empty   $ CT ,   a   minimalist   $ ROAD _ CRG   block ,   and   no   comments   marked   by   asterisk   \" * \"   in   column   1   or   marked   by   \" ! \"   in   other   columns .   So   this   file   is   completely   equivalent   to   its   commented   version   in   handmade _ curved . crg   .   Copyright   2005 - 2009   OpenCRG   -   Daimler   AG   -   Jochen   Rauh   Licensed   under   the   Apache   License ,   Version   2.0   ( the   \" License \" ) ;   you   may   not   use   this   file   except   in   compliance   with   the   License .   You   may   obtain   a   copy   of   the   License   at   http : / / www . apache . org / licenses / LICENSE - 2.0   Unless   required   by   applicable   law   or   agreed   to   in   writing ,   software   distributed   under   the   License   is   distributed   on   an   \" AS   IS \"   BASIS ,   WITHOUT   WARRANTIES   OR   CONDITIONS   OF   ANY   KIND ,   either   express   or   implied .   See   the   License   for   the   specific   language   governing   permissions   and   limitations   under   the   License .   More   Information   on   OpenCRG   open   file   formats   and   tools   can   be   found   at   http : / / www . opencrg . org   $   $ ROAD _ CRG   REFERENCE _ LINE _ INCREMENT   =   1.0   $   $ KD _ Definition   # : LRFI   D : reference   line   phi , rad   D : long   section   at   v   =   - 1.500 , m   D : long   section   at   v   =   - 1.250 , m   D : long   section   at   v   =   - 1.000 , m   D : long   section   at   v   =   0.000 , m   D : long   section   at   v   =   1.000 , m   D : long   section   at   v   =   1.250 , m   D : long   section   at   v   =   1.500 , m   $   * * unused * *   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000   0.0000000   0.0110000   0.0000000   0.0000000   0.0111111   0.0111111   0.0111111   0.0000000   0.0000000   0.0220000   0.0000000   0.0111111   0.0111111   0.0111111   0.0111111   0.0111111   0.0000000   0.0330000   0.0000000   0.0000000   0.0111111   0.0111111   0.0111111   0.0000000   0.0000000   0.0440000   0.0111111   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000   0.0111111   0.0550000   0.0111111   0.0111111   0.0000000   0.0000000   0.0000000   0.0111111   0.0222222   0.0660000   0.0111111   0.0111111   0.0111111   0.0000000   0.0111111   0.0222222   0.0333333   0.0770000   0.0111111   0.0111111   0.0000000   0.0000000   0.0000000   0.0111111   0.0222222   0.0880000   0.0111111   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000   0.0111111   0.0990000   0.0000000   0.0000000   0.0111111   0.0222222   0.0111111   0.0000000   0.0000000   0.1100000   0.0000000   0.0111111   0.0222222   0.0222222   0.0222222   0.0111111   0.0000000   0.1100000   0.0000000   0.0000000   0.0111111   0.0222222   0.0111111   0.0000000   0.0000000   0.0990000   0.0111111   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000 - 0.0111111   0.0880000   0.0111111   0.0111111   0.0000000   0.0000000   0.0000000 - 0.0111111 - 0.0222222   0.0770000   0.0111111   0.0111111   0.0111111   0.0000000 - 0.0111111 - 0.0222222 - 0.0333333   0.0660000   0.0111111   0.0111111   0.0000000   0.0000000   0.0000000 - 0.0111111 - 0.0222222   0.0550000   0.0111111   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000 - 0.0111111   0.0440000   0.0000000   0.0000000   0.0111111   0.0222222   0.0111111   0.0000000   0.0000000   0.0330000   0.0000000   0.0111111   0.0222222   0.0333333   0.0222222   0.0111111   0.0000000   0.0220000   0.0000000   0.0000000   0.0111111   0.0222222   0.0111111   0.0000000   0.0000000   0.0110000   0.0000000   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   CRG   \u5730\u5f62 \u53ef\u4ee5 \u89c6\u4e3a \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c \uff08 \u4ee3\u8868 \u9053\u8def \u201c \u5e26 \u201d \uff09 \u6216 \u4e00\u7ec4   3D   \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \uff08 \u4ee3\u8868 \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \u548c \u9053\u8def \u4e24\u4fa7 \uff09 \u3002 CRGTerrain   \u7684 \u5176\u4ed6 \u529f\u80fd \u5305\u62ec \uff1a   \u80fd\u591f \u5bfc\u51fa \u9053\u8def \u7f51\u683c \uff08 \u4f5c\u4e3a \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c \uff09   \u80fd\u591f \u5bfc\u51fa \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \uff08 \u4f5c\u4e3a \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \uff09   \u9053\u8def \u957f\u5ea6 \u548c \u5bbd\u5ea6 \u7684 \u62a5\u544a \u65b9\u6cd5   \u4e0b\u56fe \u5c55\u793a \u4e86 \u4f7f\u7528 \u4e09\u89d2 \u7f51\u683c \u6216 \u9053\u8def \u8fb9\u754c \u66f2\u7ebf \u7684   CRG   \u9053\u8def \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u7531\u4e8e CRG \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u76ee\u524d \u4e0d \u643a\u5e26 \u4efb\u4f55 \u78b0\u649e \u548c \u63a5\u89e6 \u4fe1\u606f \uff0c \u56e0\u6b64 \u5b83 \u53ea\u80fd \u4e0e \u534a \u7ecf\u9a8c \u8f6e\u80ce \u6a21\u578b \u4e00\u8d77 \u4f7f\u7528 \u3002   \u53ef \u53d8\u5f62   SCM \uff08 \u571f\u58e4 \u63a5\u89e6 \u6a21\u578b \uff09   \u5728   SCMTerrain   \u4e2d \uff0c \u5730\u5f62 \u7531 \u9690\u5f0f \u89c4\u5219 \u5361\u5c14 \u7b1b\u5361\u5c14 \u7f51\u683c \u8868\u793a \uff0c \u5176 \u53d8\u5f62 \u901a\u8fc7 \u5176 \u8282\u70b9 \u7684 \u5782\u76f4 \u504f\u8f6c \u5b9e\u73b0 \u3002 \u8be5 \u571f\u58e4 \u6a21\u578b \u501f\u9274 \u4e86   Chrono   \u4e2d \u7684 \u901a\u7528 \u78b0\u649e \u5f15\u64ce \uff0c \u5176 \u8f7b\u91cf \u91cf\u7ea7 \u8f7b\u91cf\u7ea7 \u516c\u5f0f \u5141\u8bb8 \u8fd1\u4e4e \u5b9e\u65f6 \u5730 \u8ba1\u7b97 \u8f66\u8f86 \u4e0e \u5730\u5f62 \u7684 \u63a5\u89e6 \u89e6\u529b \u63a5\u89e6\u529b \u3002 \u4e3a\u4e86 \u89e3\u51b3 \u5185\u5b58 \u548c \u8ba1\u7b97 \u6548\u7387 \u95ee\u9898 \uff0c \u4ece\u672a \u660e\u786e \u521b\u5efa \u7f51\u683c \u3002 \u76f8\u53cd \uff0c \u53ea \u5728 \u54c8 \u5e0c\u56fe \u4e2d \u7ef4\u62a4 \u5df2 \u53d8\u5f62 \u7684 \u8282\u70b9 \u3002 \u6b64\u5916 \uff0c \u78b0\u649e \u7cfb\u7edf \u4e2d \u7684 \u5149\u7ebf \u6295\u5c04 \uff08 SCM   \u8ba1\u7b97 \u4e2d \u6700 \u6602\u8d35 \u7684 \u64cd\u4f5c \uff09 \u662f \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b \u7684 \u3002 \u4e3a\u4e86 \u9ad8\u6548 \u5730 \u53ef\u89c6 \u53ef\u89c6\u5316 \u53d8\u5f62 \u7684 \u5730\u5f62 \uff0c Chrono   SCM   \u7cfb\u7edf \u5b50\u7cfb\u7edf \u63d0\u4f9b \u4e86 \u9010\u6b65 \u66f4\u65b0 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7f51\u683c \u7684 \u65b9\u6cd5 \uff0c \u5e76\u4e14 \u5728 \u4f7f\u7528 \u5916\u90e8 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7cfb\u7edf \u65f6 \u62a5\u544a \u4e0a \u4e00\u4e2a \u65f6\u95f4 \u6b65\u5185 \u53d8\u5f62 \u7684 \u8282\u70b9 \u5b50\u96c6 \u3002   \u4e0b\u56fe \u6240\u793a \uff0c \u8f6e\u80ce \u5728 \u53ef \u53d8\u5f62 \u571f\u58e4 \u4e2d \u7559\u4e0b \u8f66\u8f99 \uff0c \u8bf4\u660e \u4e86   SCM   \u7684   Chrono   \u7248\u672c \u7684 \u7f51\u683c \u7ed3\u6784 \u3002   SCM   \u57fa\u4e8e \u534a \u7ecf\u9a8c \u6a21\u578b \uff0c \u53c2\u6570 \u5f88\u5c11 \uff0c \u56e0\u6b64 \u5f88 \u5bb9\u6613 \u6839\u636e \u5b9e\u9a8c \u7ed3\u679c \u8fdb\u884c \u6821\u51c6 \u3002 \u5b83 \u53ef\u4ee5 \u88ab \u89c6\u4e3a   Bekker - Wong   \u6a21\u578b \u7684 \u63a8\u5e7f \uff0c \u9002\u7528 \u4e8e \u4efb\u610f \u4e09\u7ef4 \u5f62\u72b6 \u7684 \u8f66\u8f6e \uff08 \u6216 \u5c65\u5e26 \u677f \uff09 \u3002 \u5bf9\u4e8e \u5728 \u53ef \u53d8\u5f62 \u571f\u58e4 \u4e0a \u79fb\u52a8 \u7684 \u8f66\u8f6e \uff0c Bekker   \u516c\u5f0f \u63d0\u4f9b \u4e86 \u538b\u529b \u4e0e \u571f\u58e4 \u5782\u76f4 \u53d8\u5f62 \u4e4b\u95f4 \u7684 \u5173\u7cfb \uff1a   \u8fd9\u91cc \u03c3 \u662f \u63a5\u89e6 \u63a5\u89e6\u9762 \u538b\u529b \uff0c y   \u662f \u8f66\u8f6e \u4e0b\u6c89 \uff0c $ k _ c $ \u662f \u8868\u793a \u571f\u58e4 \u7c98\u7ed3 \u6548\u5e94 \u7684 \u7ecf\u9a8c \u7cfb\u6570 \uff0c k \u03c6 \u662f \u8868\u793a \u571f\u58e4 \u521a\u5ea6 \u7684 \u7ecf\u9a8c \u7cfb\u6570 \uff0c n \u662f \u8868\u8fbe \u786c\u5316 \u6548\u5e94 \u7684 \u6307\u6570 \uff0c \u5b83 \u968f\u7740 \u571f\u58e4 \u7684 \u538b\u5b9e \u800c \u7ebf\u6027 \u975e\u7ebf\u6027 \u5730 \u589e\u52a0 \u3002 \u6700\u540e \uff0c b \u662f \u77e9\u5f62 \u63a5\u89e6 \u8db3\u8ff9 \u8f83 \u77ed\u8fb9 \u7684 \u957f\u5ea6 \uff08 \u56e0\u4e3a \u539f\u59cb   Bekker   \u7406\u8bba \u5047\u8bbe \u5706\u67f1 \u67f1\u5f62 \u5706\u67f1\u5f62 \u8f6e\u80ce \u5728 \u5e73\u5766 \u5730\u5f62 \u4e0a \u6eda\u52a8 \uff09 \u3002   \u5bf9\u4e8e \u901a\u7528 \u63a5\u89e6 \u8db3\u8ff9 \uff0c \u957f\u5ea6 b \u4e0d\u80fd \u50cf \u539f\u59cb   Bekker   \u6a21\u578b \u90a3\u6837 \u89e3\u91ca \uff1b \u76f8\u53cd \uff0c \u6211\u4eec \u901a\u8fc7 \u9996\u5148 \u83b7\u53d6 \u6240\u6709 \u8fde\u63a5 \u7684 \u63a5\u89e6 \u63a5\u89e6\u9762 \uff08 \u4f7f\u7528 \u6cdb\u6d2a \u7b97\u6cd5 \uff09 \u5e76 \u4f7f\u7528 \u8fd1\u4f3c \u8fd1\u4f3c\u503c \u6765 \u4f30\u8ba1 \u8fd9\u4e2a \u957f\u5ea6   b   =   2A   /   L   \u8fd9\u91cc A \u662f \u63a5\u89e6 \u9762\u79ef \u7684 \u9762\u79ef \uff0c L   \u662f \u5b83 \u7684 \u5468\u957f \u3002   Chrono   SCM   \u5b9e\u73b0 \u7684 \u5176\u4ed6 \u4e00\u4e9b \u529f\u80fd \u5305\u62ec \uff1a   \u521d\u59cb \u672a \u53d8\u5f62 \u7f51\u683c \u53ef\u4ee5 \u521b\u5efa \u4e3a   \u5e38\u89c4 \u5e73\u94fa \u7f51\u683c \uff08 \u586b\u5145 \u5e73\u9762 \u77e9\u5f62 \uff09   \u4ece \u9ad8\u5ea6 \u56fe \uff08 \u4ee5 \u7070\u5ea6   BMP   \u56fe\u50cf \u63d0\u4f9b \uff09   \u4ee5 \u7f16\u7a0b \u65b9\u5f0f   \u652f\u6301 \u4efb\u610f \u65b9\u5411 \u7684 \u5730\u5f62 \u53c2\u8003 \u5e73\u9762 \uff1b \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5730\u5f62 \u88ab \u5b9a\u4e49 \u4e3a \uff08 x   ,   y \uff09 \u5e73\u9762 \u662f ISO \u6846\u67b6   \u652f\u6301 \u79fb\u52a8 \u9762\u7247 \u65b9\u6cd5 \uff0c \u5176\u4e2d \u5149\u7ebf \u6295\u5c04 \uff08 \u6210\u672c \u6700\u9ad8 \u7684 \u64cd\u4f5c \uff09 \u88ab \u9650\u5236 \u5728 \u6307\u5b9a \u7684 \u8303\u56f4 \u5185 \u2014 \u2014 \u76f8\u5bf9 \u4e8e \u8f66\u8f86 \u79fb\u52a8 \u7684 \u77e9\u5f62 \u9762\u7247 \u6216 \u8fb9\u754c \u6846 \u7684 \u6295\u5f71   \u652f\u6301 \u6307\u5b9a \u4e0e \u4f4d\u7f6e \u76f8\u5173 \u7684 \u571f\u58e4 \u53c2\u6570 \uff1b \u8fd9 \u53ef\u4ee5 \u901a\u8fc7 \u63d0\u4f9b \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u56de\u8c03 \u7c7b\u6765 \u5b9e\u73b0 \uff0c \u8be5 \u56de\u8c03 \u7c7b \u5b9e\u73b0 \u4e00\u79cd \u8fd4\u56de \u7ed9\u5b9a \u4f4d\u7f6e \u7684 \u6240\u6709 \u571f\u58e4 \u53c2\u6570 \u7684 \u65b9\u6cd5 \uff08 x   ,   y \uff09 \u5730\u5f62 \u53c2\u8003 \u5e73\u9762 \u4e2d \u6307\u5b9a \u7684 \u70b9 \u3002 \u53c2\u89c1 SCMTerrain : : SoilParametersCallback   \u7531\u4e8e \u4e0e \u8fd9\u79cd \u5730\u5f62 \u7c7b\u578b \u7684 \u4ea4\u4e92 \u662f \u901a\u8fc7 \u5e95\u5c42 \u7684   Chrono   \u63a5\u89e6 \u7cfb\u7edf \u5b8c\u6210 \u7684 \uff0c \u56e0\u6b64 \u5b83 \u53ef\u4ee5 \u4e0e \u521a\u6027 \u6216 FE A\u8f6e \u80ce \u6a21\u578b \u4ee5\u53ca \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7ed3\u5408 \u4f7f\u7528 \u3002   \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u5730\u5f62   GranularTerrain   \u5b9e\u73b0 \u4e86 \u77e9\u5f62 \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u6750\u6599 \u5757 \uff0c \u5e76 \u5229\u7528 \u4e86   Chrono   \u5bf9 \u6240\u8c13 \u7684 \u79bb\u6563 \u5143\u6cd5   ( DEM )   \u6a21\u62df \u7684 \u5e7f\u6cdb \u652f\u6301 \u5e7f\u6cdb\u652f\u6301 \u3002 \u76ee\u524d \uff0c \u6b64 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u4ec5\u9650 \u9650\u4e8e \u4ec5\u9650\u4e8e \u5355 \u5206\u6563 \u7403\u5f62 \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u6750\u6599 \u3002   \u7531\u4e8e \u6a21\u62df \u5927\u89c4 \u89c4\u6a21 \u5927\u89c4\u6a21 \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u9700\u8981 \u5927\u91cf \u8ba1\u7b97 \uff0c Chrono : : Vehicle   \u4e2d \u7684   GranularTerrain   \u5bf9\u8c61 \u652f\u6301 \u201c \u79fb\u52a8 \u5757 \u201d \u65b9\u6cd5 \uff0c \u5176\u4e2d \u6a21\u62df \u53ef\u4ee5 \u9650\u5236 \u5728 \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u6750\u6599 \u7bb1\u4e2d \uff0c \u8be5 \u6750\u6599 \u7bb1\u4f1a \u6839\u636e \u6307\u5b9a \u7269\u4f53 \uff08 \u901a\u5e38 \u662f \u8f66\u8f86 \u5e95\u76d8 \uff09 \u7684 \u4f4d\u7f6e \u4e0d\u65ad \u91cd\u65b0 \u5b9a\u4f4d \u3002 \u76ee\u524d \uff0c \u79fb\u52a8 \u5757 \u53ea\u80fd \u5728 X \uff08 \u524d\u8fdb \uff09 \u65b9\u5411 \u3002   \u4e0b\u9762 \u662f \u4f7f\u7528 \u79fb\u52a8 \u9762\u7247 \u7279\u5f81 \u5728   GranularTerrain   \u4e0a \u8fdb\u884c \u8f66\u8f86 \u52a0\u901f \u6d4b\u8bd5 \u7684 \u793a\u4f8b \u3002 \u6b64 \u6a21\u62df \u4f7f\u7528 \u8d85\u8fc7   700 , 000   \u4e2a \u7c92\u5b50 \u548c   Chrono : : Multicore   \u6a21\u5757 \u8fdb\u884c \u591a\u6838 \u5e76\u884c \u6a21\u62df \u3002   GranularTerrain   \u7684 \u5176\u4ed6 \u529f\u80fd \u5305\u62ec \uff1a   \u5206\u5c42 \u751f\u6210 \u521d\u59cb \u7c92\u5b50 \u4f4d\u7f6e \uff0c \u7c92\u5b50 \u4f4d\u7f6e \u5728 \u6c34\u5e73 \u9762\u4e0a \u5747\u5300 \u5206\u5e03 \u5747\u5300\u5206\u5e03 \uff0c \u4e14 \u4fdd\u8bc1 \u4e0d \u5c0f\u4e8e \u7c92\u5b50 \u534a\u5f84 \u7684 \u4e24\u500d   \u5305\u542b \u56fa\u5b9a \u5728 \u8fb9\u754c \u7bb1\u4e0a \u7684 \u9897\u7c92 \uff08 \u4ee5 \u6291\u5236 \u6574\u4e2a \u9897\u7c92 \u6750\u6599 \u5e8a \u7684 \u6ed1\u52a8 \uff09 \uff1b \u7531\u4e8e \u76ee\u524d \u7684 \u9650\u5236 \uff0c \u6b64 \u529f\u80fd \u4e0d\u5e94 \u4e0e \u79fb\u52a8 \u8865\u4e01 \u9009\u9879 \u7ed3\u5408 \u4f7f\u7528   \u7bb1 \u8fb9\u754c \u7684 \u5206\u6790 \u5b9a\u4e49 \u548c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u673a\u5236   \u62a5\u544a \u5730\u5f62 \u9ad8\u5ea6 \uff08 \u5b9a\u4e49 \u4e3a \u6700\u5927 \u662f \u6240\u6709 \u7c92\u5b50 \u4f4d\u7f6e \u7684 \u503c \uff09   \u7531\u4e8e \u4e0e \u8fd9\u79cd \u5730\u5f62 \u7c7b\u578b \u7684 \u4ea4\u4e92 \u662f \u901a\u8fc7 \u5e95\u5c42 \u7684   Chrono   \u63a5\u89e6 \u7cfb\u7edf \u5b8c\u6210 \u7684 \uff0c \u56e0\u6b64 \u5b83 \u53ef\u4ee5 \u4e0e \u521a\u6027 \u6216 FE A\u8f6e \u80ce \u6a21\u578b \u4ee5\u53ca \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7ed3\u5408 \u4f7f\u7528 \u3002   \u53ef \u53d8\u5f62   FEA \uff08 ANCF   \u5b9e\u4f53 \u5143\u7d20 \uff09   FEATerrain   \u57fa\u4e8e   ChElementHexaANCF _ 3813 _ 9   \u7c7b\u578b \u7684 \u4e13\u7528   FEA   \u7816\u5757 \u5143\u7d20 \u63d0\u4f9b \u53ef \u53d8\u5f62 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u3002   \u8be5 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u5141\u8bb8 \uff1a   \u5c06 \u76d2\u5b50 \u57df \u79bb\u6563 \u5316\u4e3a \u7528\u6237 \u6307\u5b9a \u7684 \u5143\u7d20 \u6570\u91cf   \u6307\u5b9a \u6750\u6599 \u7279\u6027 \uff08 \u5bc6\u5ea6 \u3001 \u5f39\u6027 \u6a21\u91cf \u5f39\u6027\u6a21\u91cf \u3001 \u6cca\u677e\u6bd4 \u3001 \u5c48\u670d \u5e94\u529b \u5c48\u670d\u5e94\u529b \u3001 \u786c\u5316 \u659c\u7387 \u3001 \u81a8\u80c0 \u89d2 \u548c \u6469\u64e6 \u6469\u64e6\u89d2 \uff09   \u6dfb\u52a0   Chrono   FEA   \u7f51\u683c \u53ef\u89c6 \u53ef\u89c6\u5316 \u8d44\u4ea7   \u7531\u4e8e \u4e0e \u8fd9\u79cd \u5730\u5f62 \u7c7b\u578b \u7684 \u4ea4\u4e92 \u662f \u901a\u8fc7 \u5e95\u5c42 \u7684   Chrono   \u63a5\u89e6 \u7cfb\u7edf \u5b8c\u6210 \u7684 \uff0c \u56e0\u6b64 \u5b83 \u53ef\u4ee5 \u4e0e   \u521a\u6027   \u6216   FEA   \u8f6e\u80ce \u6a21\u578b \u4ee5\u53ca \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7ed3\u5408 \u4f7f\u7528 \u3002","title":"\u5730\u5f62\u6a21\u578b"},{"location":"chrono/vehicle_terrain/#_1","text":"\u5e73\u5766 \u5730\u5f62   \u575a\u786c \u5730\u5f62   \u53ef \u53d8\u5f62   SCM \uff08 \u571f\u58e4 \u63a5\u89e6 \u6a21\u578b \uff09   \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u5730\u5f62   \u53ef \u53d8\u5f62   FEA \uff08 ANCF   \u5b9e\u4f53 \u5143\u7d20 \uff09   Chrono : : Vehicle   \u4e2d \u7684 \u5730\u5f62 \u5bf9\u8c61 \u5fc5\u987b \u63d0\u4f9b \u4ee5\u4e0b \u65b9\u6cd5 \uff1a   \u8fd4\u56de \u6307\u5b9a \u4f4d\u7f6e \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u7684 \u70b9 \u7684 \u5730\u5f62 \u9ad8\u5ea6   \u8fd4\u56de \u6307\u5b9a \u4f4d\u7f6e \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u7684 \u70b9 \u7684 \u5730\u5f62 \u6cd5\u7ebf   \u8fd4\u56de \u6307\u5b9a \u4f4d\u7f6e \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u70b9 \u7684 \u5730\u5f62 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \uff0c \u5176\u4e2d \u5047\u5b9a \u7ed9\u5b9a \u4f4d\u7f6e \u5728 \u5f53\u524d \u4e16\u754c \u6846\u67b6 \u4e2d \u8868\u8fbe \u3002   \u53c2\u89c1 \u57fa\u7c7b   ChTerrain   \u7684 \u5b9a\u4e49 \u3002   \u4f46 \u8bf7 \u6ce8\u610f \uff0c \u8fd9\u4e9b \u91cf \u4ec5 \u4e0e \u6240\u8c13 \u7684   \u534a \u7ecf\u9a8c \u8f6e\u80ce \u6a21\u578b   \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u6709\u5173 \u3002 \u56e0\u6b64 \uff0c \u5b83\u4eec \u4e0d\u9002 \u7528\u4e8e \u53ef \u53d8\u5f62 \u5730\u5f62 \uff08 SCM \u3001 \u9897\u7c92 \u6216 \u57fa\u4e8e   FEA \uff09 \u7684 \u60c5\u51b5 \uff0c \u56e0\u4e3a \u53ef \u53d8\u5f62 \u5730\u5f62 \u53ea\u80fd \u4e0e   \u521a\u6027   \u6216   FEA   \u8f6e\u80ce \u6a21\u578b \u4ee5\u53ca \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u914d\u5408 \u4f7f\u7528 \uff08 \u56e0\u4e3a \u5b83\u4eec \u4f9d\u8d56 \u8d56\u4e8e \u4f9d\u8d56\u4e8e \u5e95\u5c42 \u7684   Chrono   \u78b0\u649e \u548c \u63a5\u89e6 \u7cfb\u7edf \uff09 \u3002   \u6b64\u5916 \uff0c \u67d0\u4e9b \u8f6e\u80ce \u6a21\u578b \u53ef\u80fd \u4f1a \u4f7f\u7528 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \u503c\u6765 \u4fee\u6539 \u8f6e\u80ce \u7279\u6027 \uff0c \u4f46 \u4e0d\u4f1a \u5bf9 \u5730\u5f62 \u4e0e \u5176\u4ed6 \u7269\u4f53 \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u4ea7\u751f \u5f71\u54cd \uff08 \u5305\u62ec \u672a \u660e\u786e \u4f7f\u7528 \u5b83 \u7684 \u8f6e\u80ce \u6a21\u578b \uff09 \u3002   ChTerrain   \u57fa\u7c7b \u8fd8 \u5b9a\u4e49 \u4e86 \u4e00\u4e2a \u51fd\u5b50 \u5bf9\u8c61   ChTerrain : : FrictionFunctor   \uff0c \u5b83 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u7528\u4e8e \u6307\u5b9a \u4f4d\u7f6e \u76f8\u5173 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \u7684 \u63a5\u53e3 \u3002 \u7528\u6237 \u5fc5\u987b \u5b9e\u73b0 \u4ece\u6b64 \u57fa\u7c7b \u6d3e\u751f \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u7c7b \uff0c \u5e76 \u5b9e\u73b0 \u865a\u62df \u65b9\u6cd5   operator ( )   \u4ee5 \u8fd4\u56de \u7ed9\u5b9a \u4f4d\u7f6e \u4e0b\u65b9 \u6b63\u4e0b\u65b9 \u70b9 \u7684 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \uff08 x   ,   y ,   z \uff09 \u4f4d\u7f6e \uff08 \u5047\u5b9a \u5728 \u5f53\u524d \u4e16\u754c \u6846\u67b6 \u4e2d \u8868\u8fbe \uff09 \u3002","title":"\u5730\u5f62\u6a21\u578b"},{"location":"chrono/vehicle_terrain/#_2","text":"FlatTerrain   \u662f \u4e00\u4e2a \u6c34\u5e73 \u5e73\u9762 \u6c34\u5e73\u9762 \u6a21\u578b \uff0c \u5177\u6709 \u65e0\u9650 \u5ef6\u4f38 \uff0c \u4f4d\u4e8e \u7528\u6237 \u6307\u5b9a \u7684 \u9ad8\u5ea6 \u3002   FlatTerrain   : : GetCoefficientFriction   \u65b9\u6cd5 \u8fd4\u56de \u6784\u9020 \u65f6 \u6307\u5b9a \u7684 \u6052\u5b9a \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \uff0c \u6216\u8005 \uff0c \u5982\u679c   FrictionFunctor   \u5df2 \u6ce8\u518c \u5bf9\u8c61 \uff0c \u5219 \u8fd4\u56de \u5176 \u8fd4\u56de \u8fd4\u56de\u503c \u3002   \u7531\u4e8e \u5e73\u5766 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u4e0d \u5e26\u6709 \u4efb\u4f55 \u78b0\u649e \u548c \u63a5\u89e6 \u4fe1\u606f \uff0c \u56e0\u6b64 \u5b83 \u53ea\u80fd \u4e0e   \u534a \u7ecf\u9a8c \u8f6e\u80ce \u6a21\u578b   \u4e00\u8d77 \u4f7f\u7528 \u3002","title":"\u5e73\u5766 \u5730\u5f62"},{"location":"chrono/vehicle_terrain/#_3","text":"RigidTerrain   \u662f \u5177\u6709 \u4efb\u610f \u51e0\u4f55 \u5f62\u72b6 \u7684 \u521a\u6027 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u3002 \u521a\u6027 \u5730\u5f62 \u88ab \u6307\u5b9a \u4e3a \u4e00\u7ec4 \u9762\u7247 \uff0c \u6bcf\u4e2a \u9762\u7247 \u53ef\u4ee5 \u662f \u4ee5\u4e0b \u4e4b\u4e00 \uff1a   \u4e00\u4e2a \u77e9\u5f62 \u77e9\u5f62\u6846 \uff0c \u53ef\u80fd \u5df2 \u65cb\u8f6c \uff1b \u201c \u9a71\u52a8 \u201d \u8868\u9762 \u662f \u6846 \u7684 \u9876\u9762 \uff08 \u5728 \u4e16\u754c \u7684 \u5782\u76f4 \u65b9\u5411 \u4e0a \uff09   \u4ece \u7528\u6237 \u6307\u5b9a \u7684   Wavefront   OBJ   \u6587\u4ef6 \u4e2d \u8bfb\u53d6 \u7684 \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c   \u901a\u8fc7 \u7a0b\u5e8f \u4ece \u7528\u6237 \u6307\u5b9a \u7684 \u7070\u5ea6   BMP   \u56fe\u50cf \u751f\u6210 \u7684 \u4e09\u89d2 \u7f51\u683c   \u521a\u6027 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u53ef \u4e0e \u4efb\u4f55   Chrono : : Vehicle   \u8f6e\u80ce \u6a21\u578b \u4ee5\u53ca \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u4e00\u8d77 \u4f7f\u7528 \u3002   \u76d2\u72b6 \u9762\u7247 \u7531 \u9876\u9762 \uff08 \u9a71\u52a8 \u9762 \uff09 \u4e2d\u5fc3 \u3001 \u9876\u9762 \u6cd5\u7ebf \u548c \u9762\u7247 \u5c3a\u5bf8 \uff08 \u957f\u5ea6 \u3001 \u5bbd\u5ea6 \u548c \u53ef\u9009 \u539a\u5ea6 \uff09 \u6307\u5b9a \u3002 \u76d2\u72b6 \u9762\u7247 \u4e5f \u53ef\u4ee5 \u7531 \u591a\u4e2a \u76f8\u90bb \u7684 \u56fe\u5757 \u521b\u5efa \uff0c \u6bcf\u4e2a \u56fe\u5757 \u90fd \u662f   Chrono   \u76d2\u72b6 \u63a5\u89e6 \u5f62\u72b6 \uff1b \u5bf9\u4e8e \u6c34\u5e73 \u8303\u56f4 \u8f83\u5927 \u7684 \u76d2 \u72b6 \u9762\u7247 \uff0c \u5efa\u8bae \u8fd9\u6837 \u505a \uff0c \u56e0\u4e3a \u8be5 \u5c3a\u5bf8 \u7684 \u5355\u4e2a \u78b0\u649e \u5f62\u72b6 \u53ef\u80fd \u4f1a \u5bfc\u81f4 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u7b97\u6cd5 \u51fa\u73b0 \u9519\u8bef \u3002   \u4e0b\u56fe \u663e\u793a \u4e86 \u7f51\u683c \u521a\u6027 \u5730\u5f62 \u8d34\u7247 \u7684 \u793a\u4f8b \u3002 \u5047\u8bbe \u7f51\u683c \u76f8\u5bf9 \u4e8e   ISO   \u53c2\u8003 \u6846\u67b6 \u63d0\u4f9b \uff0c \u5e76\u4e14 \u6ca1\u6709 \u201c \u60ac\u5782 \u201d \uff08 \u6362\u53e5 \u6362\u53e5\u8bdd \u6362\u53e5\u8bdd\u8bf4 \uff0c \u5782\u76f4 \u5c04\u7ebf \u6700\u591a \u4e0e \u7f51\u683c \u76f8\u4ea4 \u4e00\u4e2a \u4e00\u4e2a\u70b9 \uff09 \u3002 \u7528\u6237 \u8fd8 \u53ef\u4ee5 \u9009\u62e9 \u5c06 \u5730\u5f62 \u7f51\u683c \u7684 \u201c \u539a\u5ea6 \u201d \u6307\u5b9a \u4e3a \u626b\u63cf \u7403\u4f53 \u7684 \u534a\u5f84 \u3002 \u4e3a\u6b64 \u534a\u5f84 \u6307\u5b9a \u4e00\u4e2a \u5c0f \u7684 \u6b63\u503c \u53ef\u4ee5 \u663e\u8457 \u63d0\u9ad8 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u7b97\u6cd5 \u7684 \u7a33\u5065 \u7a33\u5065\u6027 \u3002   \u9ad8\u5ea6 \u56fe \u8865\u4e01 \u901a\u8fc7 \u7070\u5ea6   BMP   \u56fe\u50cf \uff08 \u5982\u4e0b \u6240\u793a \uff09 \u3001 \u8865\u4e01 \u7684 \u6c34\u5e73 \u8303\u56f4 \uff08 \u957f\u5ea6 \u548c \u5bbd\u5ea6 \uff09 \u548c \u9ad8\u5ea6 \u8303\u56f4 \uff08 \u6700\u5c0f \u548c \u6700\u5927 \u9ad8\u5ea6 \uff09 \u6307\u5b9a \u3002 \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c \u662f \u901a\u8fc7 \u7f16\u7a0b \u751f\u6210 \u7684 \uff0c \u65b9\u6cd5 \u662f \u4e3a \u8f93\u5165   BMP   \u56fe\u50cf \u4e2d \u7684 \u6bcf\u4e2a \u50cf\u7d20 \u521b\u5efa \u4e00\u4e2a \u7f51\u683c \u9876\u70b9 \uff0c \u5728 \u6c34\u5e73 \u9762\u4e0a \u62c9\u4f38 \u7f51\u683c \u4ee5 \u5339\u914d \u7ed9\u5b9a \u7684 \u8303\u56f4 \uff0c \u5e76 \u5728 \u5782\u76f4 \u65b9\u5411 \u4e0a \u62c9\u4f38 \u7f51\u683c \uff0c \u4f7f\u5f97 \u6700\u5c0f \u9ad8\u5ea6 \u5bf9\u5e94 \u4e8e \u5b8c\u7f8e \u7684 \u9ed1\u8272 \u50cf\u7d20 \u989c\u8272 \uff0c \u6700\u5927 \u9ad8\u5ea6 \u5bf9\u5e94 \u4e8e \u5b8c\u7f8e \u7684 \u767d\u8272 \u50cf\u7d20 \u3002   \u9ad8\u5ea6 \u548c \u6cd5\u7ebf \u8ba1\u7b97   \u3002   RigidTerrain : : GetHeight   \u548c   RigidTerrain : : GetNormal   \u7684 \u5b9e\u73b0 \u4f9d\u8d56 \u8d56\u4e8e \u4f9d\u8d56\u4e8e \u76f8\u5bf9 \u6602\u8d35 \u7684 \u5149\u7ebf \u6295\u5c04 \u64cd\u4f5c \uff1a \u5728 \u6240\u6709 \u7ec4\u6210 \u9762\u7247 \u4e0a \u4ece \u4e0a\u65b9 \u6295\u5c04 \u5782\u76f4 \u5149\u7ebf \uff0c \u5e76 \u62a5\u544a \u76f8\u4ea4 \u70b9 \u7684 \u9ad8\u5ea6 \u548c \u6cd5\u7ebf \u3002 \u5bf9\u4e8e \u76d2\u5b50 \u9762\u7247 \uff0c \u5149\u7ebf \u6295\u5c04 \u4f7f\u7528 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u5206\u6790 \u5b9e\u73b0 \uff0c \u8be5 \u5b9e\u73b0 \u4f1a \u627e\u5230 \u5149\u7ebf \u4e0e \u76d2\u5b50 \u57df \u9876\u9762 \u7684 \u4ea4\u70b9 \uff1b \u5bf9\u4e8e \u57fa\u4e8e \u7f51\u683c \u7684 \u9762\u7247 \uff0c \u5149\u7ebf \u6295\u5c04 \u5c06 \u63a8\u8fdf \u5230 \u5e95\u5c42 \u78b0\u649e \u7cfb\u7edf \u3002 \u5982\u679c \u6ca1\u6709 \u76f8\u4ea4 \u7684 \u9762\u7247 \uff0c \u8fd9\u4e9b \u51fd\u6570 \u5c06 \u8fd4\u56de 0 \u548c \u4e16\u754c \u7684 \u5782\u76f4 \u65b9\u5411 \u3002   \u4f4d\u7f6e \u76f8\u5173 \u7684 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570   \u3002 \u521a\u6027 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u652f\u6301 \u5bf9\u8c61 \u7684 \u5b9a\u4e49   FrictionFunctor   \u3002 \u5982\u679c \u6ca1\u6709 \u63d0\u4f9b \u8fd9\u6837 \u7684 \u51fd\u5b50 \uff0c   RigidTerrain : : GetCoefficientFriction   \u5c06 \u4f7f\u7528 \u5c04\u7ebf \u6295\u5c04 \u65b9\u6cd5 \u6765 \u8bc6\u522b \u6b63\u786e \u7684 \u8865\u4e01 \uff0c \u5e76 \u8fd4\u56de \u8be5 \u8865\u4e01 \u7684 \uff08 \u6052\u5b9a \uff09 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \u3002 \u5982\u679c \u63d0\u4f9b \u4e86 \u51fd\u5b50 \uff0c RigidTerrain : : GetCoefficientFriction   \u53ea\u4f1a \u8fd4\u56de \u5176\u503c \u3002 \u4f46\u662f \uff0c \u5904\u7406 \u4e0e \u5730\u5f62 \u7684 \u63a5\u89e6 \uff08 \u4f8b\u5982 \uff0c \u4f7f\u7528 \u521a\u6027 \u8f6e\u80ce \u6216 \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u65f6 \uff09 \u76f8\u5bf9 \u6602\u8d35 \uff1a \u6bcf\u6b21 \u8c03\u7528 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u7b97\u6cd5 \u65f6 \uff08 \u5373 \u6bcf\u4e2a \u6a21\u62df \u6b65\u9aa4 \u4e00\u6b21 \uff09 \uff0c \u90fd \u4f1a \u904d\u5386   Chrono   \u7cfb\u7edf \u4e2d \u6240\u6709 \u63a5\u89e6 \u7684 \u5217\u8868 \u4ee5 \u62e6\u622a \u6240\u6709 \u6d89\u53ca \u521a\u6027 \u5730\u5f62 \u8865\u4e01 \u78b0\u649e \u6a21\u578b \u7684 \u63a5\u89e6 \uff1b \u5bf9\u4e8e \u8fd9\u4e9b \u63a5\u89e6 \uff0c \u590d\u5408 \u6750\u6599 \u590d\u5408\u6750\u6599 \u5c5e\u6027 \u4f1a \u88ab \u4fee\u6539 \u4ee5 \u8003\u8651 \u63a5\u89e6 \u89e6\u70b9 \u63a5\u89e6\u70b9 \u5904 \u7684 \u5730\u5f62 \u6469\u64e6 \u7cfb\u6570 \u6469\u64e6\u7cfb\u6570 \u3002   \u521a\u6027 \u5730\u5f62 \u53ef\u4ee5 \u901a\u8fc7 \u7f16\u7a0b \u6784\u5efa \uff0c \u4e00\u6b21 \u5b9a\u4e49 \u4e00\u4e2a \u8865\u4e01 \uff0c \u6216\u8005 \u5728   JSON   \u6587\u4ef6 \u4e2d \u6307\u5b9a \uff0c \u5982\u4e0b \u6240\u793a \uff1a   {   \" Name \" :   \" Rigid   plane \" ,   \" Type \" :   \" Terrain \" ,   \" Template \" :   \" RigidTerrain \" ,   \" Patches \" :   [   / /   Patch   1 :   box   {   \" Location \" :   [   - 15 ,   0 ,   0   ] ,   \" Orientation \" :   [   1 ,   0 ,   0 ,   0   ] ,   \" Geometry \" :   {   \" Dimensions \" :   [   60 ,   20 ,   2   ]   } ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.01 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e7 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2e5 ,   \" Normal   Damping \" :   40.0 ,   \" Tangential   Stiffness \" :   2e5 ,   \" Tangential   Damping \" :   20.0   }   } ,   \" Visualization \" :   {   \" Color \" :   [   1.0 ,   0.5 ,   0.5   ] ,   \" Texture   File \" :   \" terrain / textures / tile4 . jpg \" ,   \" Texture   Scaling \" :   [   60 ,   20   ]   }   } ,   / /   Patch   2 :   box   {   \" Location \" :   [   20 ,   0 ,   0.1   ] ,   \" Orientation \" :   [   1 ,   0 ,   0 ,   0   ] ,   \" Geometry \" :   {   \" Dimensions \" :   [   20 ,   30 ,   2   ]   } ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.01 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e7 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2e5 ,   \" Normal   Damping \" :   40.0 ,   \" Tangential   Stiffness \" :   2e5 ,   \" Tangential   Damping \" :   20.0   }   } ,   \" Visualization \" :   {   \" Color \" :   [   1.0 ,   0.5 ,   0.5   ]   }   } ,   / /   Patch   3 :   height - map   {   \" Location \" :   [   0 ,   42 ,   0   ] ,   \" Orientation \" :   [   1 ,   0 ,   0 ,   0   ] ,   \" Geometry \" :   {   \" Height   Map   Filename \" :   \" terrain / height _ maps / bump64 . bmp \" ,   \" Size \" :   [   64 ,   64   ] ,   \" Height   Range \" :   [   0 ,   3   ]   } ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.01 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e7 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2e5 ,   \" Normal   Damping \" :   40.0 ,   \" Tangential   Stiffness \" :   2e5 ,   \" Tangential   Damping \" :   20.0   }   } ,   \" Visualization \" :   {   \" Color \" :   [   1.0 ,   1.0 ,   1.0   ] ,   \" Texture   File \" :   \" terrain / textures / grass . jpg \" ,   \" Texture   Scaling \" :   [   64 ,   64   ]   }   } ,   / /   Patch   4 :   Mesh   {   \" Location \" :   [   0 ,   - 42 ,   0   ] ,   \" Orientation \" :   [   1 ,   0 ,   0 ,   0   ] ,   \" Geometry \" :   {   \" Mesh   Filename \" :   \" terrain / meshes / bump . obj \"   } ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.01 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e7 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2e5 ,   \" Normal   Damping \" :   40.0 ,   \" Tangential   Stiffness \" :   2e5 ,   \" Tangential   Damping \" :   20.0   }   } ,   \" Visualization \" :   {   \" Color \" :   [   0.5 ,   0.5 ,   0.8   ] ,   \" Texture   File \" :   \" terrain / textures / dirt . jpg \" ,   \" Texture   Scaling \" :   [   200 ,   200   ]   }   }   ]   }","title":"\u575a\u786c \u5730\u5f62"},{"location":"chrono/vehicle_terrain/#crg","text":"CRGTerrain   \u662f \u6839\u636e OpenCRG \u9053\u8def \u89c4\u8303 \u6784\u5efa \u7684 \u7a0b\u5e8f \u7a0b\u5e8f\u5316 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u3002 \u8981 \u4f7f\u7528 \u6b64 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \uff0c \u7528\u6237 \u5fc5\u987b \u5b89\u88c5   OpenCRG   SDK   \u5e76 \u5728   CMake   \u914d\u7f6e \u671f\u95f4 \u542f\u7528 \u5176 \u4f7f\u7528 \uff08 \u53c2\u9605 \u8bf7\u53c2\u9605   Chrono : : Vehicle   \u5b89\u88c5 \u8bf4\u660e   \uff09 \u3002   CRG   \u5730\u5f62 \u4ece \u89c4\u8303 \u6587\u4ef6 \uff08 \u4f8b\u5982 \u4e0b\u9762 \u5217\u51fa \u7684 \u6587\u4ef6 \uff09 \u521b\u5efa \u9053\u8def \u8f6e\u5ed3 \uff08 \u5177\u6709 \u76f8\u5173 \u5bbd\u5ea6 \u7684   3D   \u8def\u5f84 \uff09 \uff0c \u5e76 \u5b9e\u73b0 \u51fd\u6570   CRGTerrain : : GetHeight   \u548c   CRGTerrain : : GetNormal   \u4ee5 \u4f7f\u7528 \u6b64 \u89c4\u8303 \u3002 \u8bf7 \u6ce8\u610f \uff0c crg \u89c4\u8303 \u6587\u4ef6 \u53ef\u4ee5 \u662f   ASCII   \u6216 \u8fdb\u5236 \u4e8c\u8fdb\u5236 \u3002   *   Emacs   major   mode   to   be   selected   automagically :   - * - CASCaDE - * -   *   $ Id :   handmade _ curved _ minimalist . crg   21   2009 - 06 - 23   15 : 03 : 13Z   jorauh   $   $ CT   CRG   file   example   for   road   surface   description   ( width :   3m ,   length :   22m )   with   curved   reference   line   and   grid   of   ( 0.25 m ... 1.0 m )   x   1.0 m .   A   minimalist   file   can   have   an   empty   $ CT ,   a   minimalist   $ ROAD _ CRG   block ,   and   no   comments   marked   by   asterisk   \" * \"   in   column   1   or   marked   by   \" ! \"   in   other   columns .   So   this   file   is   completely   equivalent   to   its   commented   version   in   handmade _ curved . crg   .   Copyright   2005 - 2009   OpenCRG   -   Daimler   AG   -   Jochen   Rauh   Licensed   under   the   Apache   License ,   Version   2.0   ( the   \" License \" ) ;   you   may   not   use   this   file   except   in   compliance   with   the   License .   You   may   obtain   a   copy   of   the   License   at   http : / / www . apache . org / licenses / LICENSE - 2.0   Unless   required   by   applicable   law   or   agreed   to   in   writing ,   software   distributed   under   the   License   is   distributed   on   an   \" AS   IS \"   BASIS ,   WITHOUT   WARRANTIES   OR   CONDITIONS   OF   ANY   KIND ,   either   express   or   implied .   See   the   License   for   the   specific   language   governing   permissions   and   limitations   under   the   License .   More   Information   on   OpenCRG   open   file   formats   and   tools   can   be   found   at   http : / / www . opencrg . org   $   $ ROAD _ CRG   REFERENCE _ LINE _ INCREMENT   =   1.0   $   $ KD _ Definition   # : LRFI   D : reference   line   phi , rad   D : long   section   at   v   =   - 1.500 , m   D : long   section   at   v   =   - 1.250 , m   D : long   section   at   v   =   - 1.000 , m   D : long   section   at   v   =   0.000 , m   D : long   section   at   v   =   1.000 , m   D : long   section   at   v   =   1.250 , m   D : long   section   at   v   =   1.500 , m   $   * * unused * *   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000   0.0000000   0.0110000   0.0000000   0.0000000   0.0111111   0.0111111   0.0111111   0.0000000   0.0000000   0.0220000   0.0000000   0.0111111   0.0111111   0.0111111   0.0111111   0.0111111   0.0000000   0.0330000   0.0000000   0.0000000   0.0111111   0.0111111   0.0111111   0.0000000   0.0000000   0.0440000   0.0111111   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000   0.0111111   0.0550000   0.0111111   0.0111111   0.0000000   0.0000000   0.0000000   0.0111111   0.0222222   0.0660000   0.0111111   0.0111111   0.0111111   0.0000000   0.0111111   0.0222222   0.0333333   0.0770000   0.0111111   0.0111111   0.0000000   0.0000000   0.0000000   0.0111111   0.0222222   0.0880000   0.0111111   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000   0.0111111   0.0990000   0.0000000   0.0000000   0.0111111   0.0222222   0.0111111   0.0000000   0.0000000   0.1100000   0.0000000   0.0111111   0.0222222   0.0222222   0.0222222   0.0111111   0.0000000   0.1100000   0.0000000   0.0000000   0.0111111   0.0222222   0.0111111   0.0000000   0.0000000   0.0990000   0.0111111   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000 - 0.0111111   0.0880000   0.0111111   0.0111111   0.0000000   0.0000000   0.0000000 - 0.0111111 - 0.0222222   0.0770000   0.0111111   0.0111111   0.0111111   0.0000000 - 0.0111111 - 0.0222222 - 0.0333333   0.0660000   0.0111111   0.0111111   0.0000000   0.0000000   0.0000000 - 0.0111111 - 0.0222222   0.0550000   0.0111111   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000 - 0.0111111   0.0440000   0.0000000   0.0000000   0.0111111   0.0222222   0.0111111   0.0000000   0.0000000   0.0330000   0.0000000   0.0111111   0.0222222   0.0333333   0.0222222   0.0111111   0.0000000   0.0220000   0.0000000   0.0000000   0.0111111   0.0222222   0.0111111   0.0000000   0.0000000   0.0110000   0.0000000   0.0000000   0.0000000   0.0111111   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   0.0000000   CRG   \u5730\u5f62 \u53ef\u4ee5 \u89c6\u4e3a \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c \uff08 \u4ee3\u8868 \u9053\u8def \u201c \u5e26 \u201d \uff09 \u6216 \u4e00\u7ec4   3D   \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \uff08 \u4ee3\u8868 \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \u548c \u9053\u8def \u4e24\u4fa7 \uff09 \u3002 CRGTerrain   \u7684 \u5176\u4ed6 \u529f\u80fd \u5305\u62ec \uff1a   \u80fd\u591f \u5bfc\u51fa \u9053\u8def \u7f51\u683c \uff08 \u4f5c\u4e3a \u4e09\u89d2 \u89d2\u5f62 \u4e09\u89d2\u5f62 \u7f51\u683c \uff09   \u80fd\u591f \u5bfc\u51fa \u4e2d\u5fc3 \u4e2d\u5fc3\u7ebf \uff08 \u4f5c\u4e3a \u585e\u5c14 \u8d1d\u585e\u5c14 \u66f2\u7ebf \uff09   \u9053\u8def \u957f\u5ea6 \u548c \u5bbd\u5ea6 \u7684 \u62a5\u544a \u65b9\u6cd5   \u4e0b\u56fe \u5c55\u793a \u4e86 \u4f7f\u7528 \u4e09\u89d2 \u7f51\u683c \u6216 \u9053\u8def \u8fb9\u754c \u66f2\u7ebf \u7684   CRG   \u9053\u8def \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u7531\u4e8e CRG \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u76ee\u524d \u4e0d \u643a\u5e26 \u4efb\u4f55 \u78b0\u649e \u548c \u63a5\u89e6 \u4fe1\u606f \uff0c \u56e0\u6b64 \u5b83 \u53ea\u80fd \u4e0e \u534a \u7ecf\u9a8c \u8f6e\u80ce \u6a21\u578b \u4e00\u8d77 \u4f7f\u7528 \u3002","title":"CRG   \u5730\u5f62"},{"location":"chrono/vehicle_terrain/#scm","text":"\u5728   SCMTerrain   \u4e2d \uff0c \u5730\u5f62 \u7531 \u9690\u5f0f \u89c4\u5219 \u5361\u5c14 \u7b1b\u5361\u5c14 \u7f51\u683c \u8868\u793a \uff0c \u5176 \u53d8\u5f62 \u901a\u8fc7 \u5176 \u8282\u70b9 \u7684 \u5782\u76f4 \u504f\u8f6c \u5b9e\u73b0 \u3002 \u8be5 \u571f\u58e4 \u6a21\u578b \u501f\u9274 \u4e86   Chrono   \u4e2d \u7684 \u901a\u7528 \u78b0\u649e \u5f15\u64ce \uff0c \u5176 \u8f7b\u91cf \u91cf\u7ea7 \u8f7b\u91cf\u7ea7 \u516c\u5f0f \u5141\u8bb8 \u8fd1\u4e4e \u5b9e\u65f6 \u5730 \u8ba1\u7b97 \u8f66\u8f86 \u4e0e \u5730\u5f62 \u7684 \u63a5\u89e6 \u89e6\u529b \u63a5\u89e6\u529b \u3002 \u4e3a\u4e86 \u89e3\u51b3 \u5185\u5b58 \u548c \u8ba1\u7b97 \u6548\u7387 \u95ee\u9898 \uff0c \u4ece\u672a \u660e\u786e \u521b\u5efa \u7f51\u683c \u3002 \u76f8\u53cd \uff0c \u53ea \u5728 \u54c8 \u5e0c\u56fe \u4e2d \u7ef4\u62a4 \u5df2 \u53d8\u5f62 \u7684 \u8282\u70b9 \u3002 \u6b64\u5916 \uff0c \u78b0\u649e \u7cfb\u7edf \u4e2d \u7684 \u5149\u7ebf \u6295\u5c04 \uff08 SCM   \u8ba1\u7b97 \u4e2d \u6700 \u6602\u8d35 \u7684 \u64cd\u4f5c \uff09 \u662f \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b \u7684 \u3002 \u4e3a\u4e86 \u9ad8\u6548 \u5730 \u53ef\u89c6 \u53ef\u89c6\u5316 \u53d8\u5f62 \u7684 \u5730\u5f62 \uff0c Chrono   SCM   \u7cfb\u7edf \u5b50\u7cfb\u7edf \u63d0\u4f9b \u4e86 \u9010\u6b65 \u66f4\u65b0 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7f51\u683c \u7684 \u65b9\u6cd5 \uff0c \u5e76\u4e14 \u5728 \u4f7f\u7528 \u5916\u90e8 \u53ef\u89c6 \u53ef\u89c6\u5316 \u7cfb\u7edf \u65f6 \u62a5\u544a \u4e0a \u4e00\u4e2a \u65f6\u95f4 \u6b65\u5185 \u53d8\u5f62 \u7684 \u8282\u70b9 \u5b50\u96c6 \u3002   \u4e0b\u56fe \u6240\u793a \uff0c \u8f6e\u80ce \u5728 \u53ef \u53d8\u5f62 \u571f\u58e4 \u4e2d \u7559\u4e0b \u8f66\u8f99 \uff0c \u8bf4\u660e \u4e86   SCM   \u7684   Chrono   \u7248\u672c \u7684 \u7f51\u683c \u7ed3\u6784 \u3002   SCM   \u57fa\u4e8e \u534a \u7ecf\u9a8c \u6a21\u578b \uff0c \u53c2\u6570 \u5f88\u5c11 \uff0c \u56e0\u6b64 \u5f88 \u5bb9\u6613 \u6839\u636e \u5b9e\u9a8c \u7ed3\u679c \u8fdb\u884c \u6821\u51c6 \u3002 \u5b83 \u53ef\u4ee5 \u88ab \u89c6\u4e3a   Bekker - Wong   \u6a21\u578b \u7684 \u63a8\u5e7f \uff0c \u9002\u7528 \u4e8e \u4efb\u610f \u4e09\u7ef4 \u5f62\u72b6 \u7684 \u8f66\u8f6e \uff08 \u6216 \u5c65\u5e26 \u677f \uff09 \u3002 \u5bf9\u4e8e \u5728 \u53ef \u53d8\u5f62 \u571f\u58e4 \u4e0a \u79fb\u52a8 \u7684 \u8f66\u8f6e \uff0c Bekker   \u516c\u5f0f \u63d0\u4f9b \u4e86 \u538b\u529b \u4e0e \u571f\u58e4 \u5782\u76f4 \u53d8\u5f62 \u4e4b\u95f4 \u7684 \u5173\u7cfb \uff1a   \u8fd9\u91cc \u03c3 \u662f \u63a5\u89e6 \u63a5\u89e6\u9762 \u538b\u529b \uff0c y   \u662f \u8f66\u8f6e \u4e0b\u6c89 \uff0c $ k _ c $ \u662f \u8868\u793a \u571f\u58e4 \u7c98\u7ed3 \u6548\u5e94 \u7684 \u7ecf\u9a8c \u7cfb\u6570 \uff0c k \u03c6 \u662f \u8868\u793a \u571f\u58e4 \u521a\u5ea6 \u7684 \u7ecf\u9a8c \u7cfb\u6570 \uff0c n \u662f \u8868\u8fbe \u786c\u5316 \u6548\u5e94 \u7684 \u6307\u6570 \uff0c \u5b83 \u968f\u7740 \u571f\u58e4 \u7684 \u538b\u5b9e \u800c \u7ebf\u6027 \u975e\u7ebf\u6027 \u5730 \u589e\u52a0 \u3002 \u6700\u540e \uff0c b \u662f \u77e9\u5f62 \u63a5\u89e6 \u8db3\u8ff9 \u8f83 \u77ed\u8fb9 \u7684 \u957f\u5ea6 \uff08 \u56e0\u4e3a \u539f\u59cb   Bekker   \u7406\u8bba \u5047\u8bbe \u5706\u67f1 \u67f1\u5f62 \u5706\u67f1\u5f62 \u8f6e\u80ce \u5728 \u5e73\u5766 \u5730\u5f62 \u4e0a \u6eda\u52a8 \uff09 \u3002   \u5bf9\u4e8e \u901a\u7528 \u63a5\u89e6 \u8db3\u8ff9 \uff0c \u957f\u5ea6 b \u4e0d\u80fd \u50cf \u539f\u59cb   Bekker   \u6a21\u578b \u90a3\u6837 \u89e3\u91ca \uff1b \u76f8\u53cd \uff0c \u6211\u4eec \u901a\u8fc7 \u9996\u5148 \u83b7\u53d6 \u6240\u6709 \u8fde\u63a5 \u7684 \u63a5\u89e6 \u63a5\u89e6\u9762 \uff08 \u4f7f\u7528 \u6cdb\u6d2a \u7b97\u6cd5 \uff09 \u5e76 \u4f7f\u7528 \u8fd1\u4f3c \u8fd1\u4f3c\u503c \u6765 \u4f30\u8ba1 \u8fd9\u4e2a \u957f\u5ea6   b   =   2A   /   L   \u8fd9\u91cc A \u662f \u63a5\u89e6 \u9762\u79ef \u7684 \u9762\u79ef \uff0c L   \u662f \u5b83 \u7684 \u5468\u957f \u3002   Chrono   SCM   \u5b9e\u73b0 \u7684 \u5176\u4ed6 \u4e00\u4e9b \u529f\u80fd \u5305\u62ec \uff1a   \u521d\u59cb \u672a \u53d8\u5f62 \u7f51\u683c \u53ef\u4ee5 \u521b\u5efa \u4e3a   \u5e38\u89c4 \u5e73\u94fa \u7f51\u683c \uff08 \u586b\u5145 \u5e73\u9762 \u77e9\u5f62 \uff09   \u4ece \u9ad8\u5ea6 \u56fe \uff08 \u4ee5 \u7070\u5ea6   BMP   \u56fe\u50cf \u63d0\u4f9b \uff09   \u4ee5 \u7f16\u7a0b \u65b9\u5f0f   \u652f\u6301 \u4efb\u610f \u65b9\u5411 \u7684 \u5730\u5f62 \u53c2\u8003 \u5e73\u9762 \uff1b \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5730\u5f62 \u88ab \u5b9a\u4e49 \u4e3a \uff08 x   ,   y \uff09 \u5e73\u9762 \u662f ISO \u6846\u67b6   \u652f\u6301 \u79fb\u52a8 \u9762\u7247 \u65b9\u6cd5 \uff0c \u5176\u4e2d \u5149\u7ebf \u6295\u5c04 \uff08 \u6210\u672c \u6700\u9ad8 \u7684 \u64cd\u4f5c \uff09 \u88ab \u9650\u5236 \u5728 \u6307\u5b9a \u7684 \u8303\u56f4 \u5185 \u2014 \u2014 \u76f8\u5bf9 \u4e8e \u8f66\u8f86 \u79fb\u52a8 \u7684 \u77e9\u5f62 \u9762\u7247 \u6216 \u8fb9\u754c \u6846 \u7684 \u6295\u5f71   \u652f\u6301 \u6307\u5b9a \u4e0e \u4f4d\u7f6e \u76f8\u5173 \u7684 \u571f\u58e4 \u53c2\u6570 \uff1b \u8fd9 \u53ef\u4ee5 \u901a\u8fc7 \u63d0\u4f9b \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u56de\u8c03 \u7c7b\u6765 \u5b9e\u73b0 \uff0c \u8be5 \u56de\u8c03 \u7c7b \u5b9e\u73b0 \u4e00\u79cd \u8fd4\u56de \u7ed9\u5b9a \u4f4d\u7f6e \u7684 \u6240\u6709 \u571f\u58e4 \u53c2\u6570 \u7684 \u65b9\u6cd5 \uff08 x   ,   y \uff09 \u5730\u5f62 \u53c2\u8003 \u5e73\u9762 \u4e2d \u6307\u5b9a \u7684 \u70b9 \u3002 \u53c2\u89c1 SCMTerrain : : SoilParametersCallback   \u7531\u4e8e \u4e0e \u8fd9\u79cd \u5730\u5f62 \u7c7b\u578b \u7684 \u4ea4\u4e92 \u662f \u901a\u8fc7 \u5e95\u5c42 \u7684   Chrono   \u63a5\u89e6 \u7cfb\u7edf \u5b8c\u6210 \u7684 \uff0c \u56e0\u6b64 \u5b83 \u53ef\u4ee5 \u4e0e \u521a\u6027 \u6216 FE A\u8f6e \u80ce \u6a21\u578b \u4ee5\u53ca \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7ed3\u5408 \u4f7f\u7528 \u3002","title":"\u53ef \u53d8\u5f62   SCM \uff08 \u571f\u58e4 \u63a5\u89e6 \u6a21\u578b \uff09"},{"location":"chrono/vehicle_terrain/#_4","text":"GranularTerrain   \u5b9e\u73b0 \u4e86 \u77e9\u5f62 \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u6750\u6599 \u5757 \uff0c \u5e76 \u5229\u7528 \u4e86   Chrono   \u5bf9 \u6240\u8c13 \u7684 \u79bb\u6563 \u5143\u6cd5   ( DEM )   \u6a21\u62df \u7684 \u5e7f\u6cdb \u652f\u6301 \u5e7f\u6cdb\u652f\u6301 \u3002 \u76ee\u524d \uff0c \u6b64 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u4ec5\u9650 \u9650\u4e8e \u4ec5\u9650\u4e8e \u5355 \u5206\u6563 \u7403\u5f62 \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u6750\u6599 \u3002   \u7531\u4e8e \u6a21\u62df \u5927\u89c4 \u89c4\u6a21 \u5927\u89c4\u6a21 \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u9700\u8981 \u5927\u91cf \u8ba1\u7b97 \uff0c Chrono : : Vehicle   \u4e2d \u7684   GranularTerrain   \u5bf9\u8c61 \u652f\u6301 \u201c \u79fb\u52a8 \u5757 \u201d \u65b9\u6cd5 \uff0c \u5176\u4e2d \u6a21\u62df \u53ef\u4ee5 \u9650\u5236 \u5728 \u9897\u7c92 \u7c92\u72b6 \u9897\u7c92\u72b6 \u6750\u6599 \u7bb1\u4e2d \uff0c \u8be5 \u6750\u6599 \u7bb1\u4f1a \u6839\u636e \u6307\u5b9a \u7269\u4f53 \uff08 \u901a\u5e38 \u662f \u8f66\u8f86 \u5e95\u76d8 \uff09 \u7684 \u4f4d\u7f6e \u4e0d\u65ad \u91cd\u65b0 \u5b9a\u4f4d \u3002 \u76ee\u524d \uff0c \u79fb\u52a8 \u5757 \u53ea\u80fd \u5728 X \uff08 \u524d\u8fdb \uff09 \u65b9\u5411 \u3002   \u4e0b\u9762 \u662f \u4f7f\u7528 \u79fb\u52a8 \u9762\u7247 \u7279\u5f81 \u5728   GranularTerrain   \u4e0a \u8fdb\u884c \u8f66\u8f86 \u52a0\u901f \u6d4b\u8bd5 \u7684 \u793a\u4f8b \u3002 \u6b64 \u6a21\u62df \u4f7f\u7528 \u8d85\u8fc7   700 , 000   \u4e2a \u7c92\u5b50 \u548c   Chrono : : Multicore   \u6a21\u5757 \u8fdb\u884c \u591a\u6838 \u5e76\u884c \u6a21\u62df \u3002   GranularTerrain   \u7684 \u5176\u4ed6 \u529f\u80fd \u5305\u62ec \uff1a   \u5206\u5c42 \u751f\u6210 \u521d\u59cb \u7c92\u5b50 \u4f4d\u7f6e \uff0c \u7c92\u5b50 \u4f4d\u7f6e \u5728 \u6c34\u5e73 \u9762\u4e0a \u5747\u5300 \u5206\u5e03 \u5747\u5300\u5206\u5e03 \uff0c \u4e14 \u4fdd\u8bc1 \u4e0d \u5c0f\u4e8e \u7c92\u5b50 \u534a\u5f84 \u7684 \u4e24\u500d   \u5305\u542b \u56fa\u5b9a \u5728 \u8fb9\u754c \u7bb1\u4e0a \u7684 \u9897\u7c92 \uff08 \u4ee5 \u6291\u5236 \u6574\u4e2a \u9897\u7c92 \u6750\u6599 \u5e8a \u7684 \u6ed1\u52a8 \uff09 \uff1b \u7531\u4e8e \u76ee\u524d \u7684 \u9650\u5236 \uff0c \u6b64 \u529f\u80fd \u4e0d\u5e94 \u4e0e \u79fb\u52a8 \u8865\u4e01 \u9009\u9879 \u7ed3\u5408 \u4f7f\u7528   \u7bb1 \u8fb9\u754c \u7684 \u5206\u6790 \u5b9a\u4e49 \u548c \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u78b0\u649e \u68c0\u6d4b \u78b0\u649e\u68c0\u6d4b \u673a\u5236   \u62a5\u544a \u5730\u5f62 \u9ad8\u5ea6 \uff08 \u5b9a\u4e49 \u4e3a \u6700\u5927 \u662f \u6240\u6709 \u7c92\u5b50 \u4f4d\u7f6e \u7684 \u503c \uff09   \u7531\u4e8e \u4e0e \u8fd9\u79cd \u5730\u5f62 \u7c7b\u578b \u7684 \u4ea4\u4e92 \u662f \u901a\u8fc7 \u5e95\u5c42 \u7684   Chrono   \u63a5\u89e6 \u7cfb\u7edf \u5b8c\u6210 \u7684 \uff0c \u56e0\u6b64 \u5b83 \u53ef\u4ee5 \u4e0e \u521a\u6027 \u6216 FE A\u8f6e \u80ce \u6a21\u578b \u4ee5\u53ca \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7ed3\u5408 \u4f7f\u7528 \u3002","title":"\u9897\u7c92\u72b6 \u5730\u5f62"},{"location":"chrono/vehicle_terrain/#feaancf","text":"FEATerrain   \u57fa\u4e8e   ChElementHexaANCF _ 3813 _ 9   \u7c7b\u578b \u7684 \u4e13\u7528   FEA   \u7816\u5757 \u5143\u7d20 \u63d0\u4f9b \u53ef \u53d8\u5f62 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u3002   \u8be5 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u5141\u8bb8 \uff1a   \u5c06 \u76d2\u5b50 \u57df \u79bb\u6563 \u5316\u4e3a \u7528\u6237 \u6307\u5b9a \u7684 \u5143\u7d20 \u6570\u91cf   \u6307\u5b9a \u6750\u6599 \u7279\u6027 \uff08 \u5bc6\u5ea6 \u3001 \u5f39\u6027 \u6a21\u91cf \u5f39\u6027\u6a21\u91cf \u3001 \u6cca\u677e\u6bd4 \u3001 \u5c48\u670d \u5e94\u529b \u5c48\u670d\u5e94\u529b \u3001 \u786c\u5316 \u659c\u7387 \u3001 \u81a8\u80c0 \u89d2 \u548c \u6469\u64e6 \u6469\u64e6\u89d2 \uff09   \u6dfb\u52a0   Chrono   FEA   \u7f51\u683c \u53ef\u89c6 \u53ef\u89c6\u5316 \u8d44\u4ea7   \u7531\u4e8e \u4e0e \u8fd9\u79cd \u5730\u5f62 \u7c7b\u578b \u7684 \u4ea4\u4e92 \u662f \u901a\u8fc7 \u5e95\u5c42 \u7684   Chrono   \u63a5\u89e6 \u7cfb\u7edf \u5b8c\u6210 \u7684 \uff0c \u56e0\u6b64 \u5b83 \u53ef\u4ee5 \u4e0e   \u521a\u6027   \u6216   FEA   \u8f6e\u80ce \u6a21\u578b \u4ee5\u53ca \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7ed3\u5408 \u4f7f\u7528 \u3002","title":"\u53ef \u53d8\u5f62   FEA \uff08 ANCF   \u5b9e\u4f53 \u5143\u7d20 \uff09"},{"location":"chrono/vehicle_visualization/","text":"\u53ef\u89c6 \u53ef\u89c6\u5316   \u57fa\u4e8e   Irrlicht   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316   \u57fa\u4e8e   OpenGL   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316   \u4f7f\u7528   POV - Ray   \u8fdb\u884c \u79bb\u7ebf \u6e32\u67d3   \u57fa\u4e8e   Irrlicht   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316   \u57fa\u4e8e \u8f66\u8f86   Irrlicht   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \u5206\u522b \u4f7f\u7528 \u9488\u5bf9 \u8f6e\u5f0f \u8f66\u8f86 \u548c \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7684 \u5b9a\u5236   Irrlicht   \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f   ChWheeledVehicleIrrApp   \u548c   ChTrackedVehicleIrrApp   \u3002   \u8fd9\u4e9b \u662f \u57fa\u672c   ChIrrApp   \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u7684 \u6269\u5c55 \uff0c \u5141\u8bb8 \uff1a   \u4f7f\u7528 \u4ee5 \u8f66\u8f86 \u4e3a \u4e2d\u5fc3 \u7684 \u6444\u50cf \u6444\u50cf\u673a \u4f4d\u7f6e \uff08 \u89c6\u70b9 \uff09   \u663e\u793a \u5176\u4ed6 \uff08 \u8f66\u8f86 \u7279\u5b9a \u7684 \uff09 \u7edf\u8ba1 \u8ba1\u6570 \u6570\u636e \u7edf\u8ba1\u6570\u636e \uff0c \u4f8b\u5982 \u8f66\u901f \u3001 \u5f53\u524d \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f93\u5165 \u3001 \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u626d\u77e9 \u3001 \u8f66\u8f6e \u548c \u94fe\u8f6e \u626d\u77e9 \u7b49 \u3002   \u4ee5\u4e0b \u56fe\u50cf \u662f \u6765\u81ea   Chrono : : Vehicle   \u6a21\u62df \u7684 \u5feb\u7167 \u3002   \u57fa\u4e8e   OpenGL   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316   Chrono : : Vehicle   \u6a21\u62df \u8fd8 \u53ef\u4ee5 \u4f7f\u7528   Chrono : : OpenGL   \u6a21\u5757 \u5728 \u8fd0\u884c \u65f6 \u8fdb\u884c \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002 \u8fd9 \u63d0\u4f9b \u4e86 \u66f4 \u5feb\u6377 \u3001 \u8ba1\u7b97 \u6548\u7387 \u66f4 \u9ad8 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \uff0c \u5c24\u5176 \u662f \u5bf9\u4e8e \u5927\u89c4 \u89c4\u6a21 \u5927\u89c4\u6a21 \u6a21\u62df \uff08 \u4f8b\u5982 \u6d89\u53ca \u8f66\u8f86 \u4e0e \u9897\u7c92 \u5730\u5f62 \u4ea4\u4e92 \u7684 \u6a21\u62df \uff09 \u3002   \u4ee5\u4e0b \u56fe\u50cf \u662f \u6765\u81ea   Chrono : : Vehicle   \u6a21\u62df \u7684 \u5feb\u7167 \u3002   \u4f7f\u7528   POV - Ray   \u8fdb\u884c \u79bb\u7ebf \u6e32\u67d3   \u79bb\u7ebf \u6e32\u67d3 \u9700\u8981 \u4ee5\u4e0b \u6b65\u9aa4 \uff1a   \u6536\u96c6 \u8981 \u6e32\u67d3 \u7684 \u6bcf \u4e00\u5e27 \u7684 \u7cfb\u7edf \u6570\u636e   \u53ef\u9009 \u53ef\u9009\u5730 \uff0c \u4ee5 \u7279\u5b9a \u4e8e \u6240 \u9700 \u6e32\u67d3 \u5f15\u64ce \u7684 \u683c\u5f0f \u51c6\u5907 \u7f51\u683c \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6   \u540e\u671f \u5904\u7406 \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u4ee5 \u6e32\u67d3 \u6bcf \u4e00\u5e27 \u7684 \u573a\u666f   \u53ef\u9009 \u53ef\u9009\u5730 \uff0c \u5c06 \u591a \u5e27 \u56fe\u50cf \u7ec4\u5408 \u5408\u6210 \u7ec4\u5408\u6210 \u52a8\u753b   Chrono : : Vehicle   \u4e3a \u8be5 \u5de5\u4f5c \u6d41 \u6a21\u578b \u548c   POV - Ray   \u5149\u7ebf \u8ffd\u8e2a \u7a0b\u5e8f \u63d0\u4f9b \u6709\u9650 \u7684 \u652f\u6301 \u3002   \u51c6\u5907 \u8f93\u51fa \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6   \u5728 \u6bcf\u4e2a \u9700\u8981 \u540e\u671f \u5904\u7406 \u7684 \u6a21\u62df \u5e27 \u4e0a \uff0c \u8c03\u7528 \u51fd\u6570 \u8c03\u7528\u51fd\u6570   WriteVisualizationAssets   \u3002   \u6b64 \u51fd\u6570 \u5c06 \u8f93\u51fa \u4e00\u4e2a \u5305\u542b \u7528\u6237 \u63d0\u4f9b \u7684 \u540d\u79f0 \u7684 \u9017\u53f7 \u5206\u9694 \u503c \uff08 CSV \uff09 \u6587\u4ef6 \u3002   \u8f93\u51fa \u6587\u4ef6 \u5305\u542b \u6709\u5173   Chrono   \u7cfb\u7edf \u4e2d \u6240\u6709 \u7269\u4f53 \u7684 \u4fe1\u606f \uff08 \u4f4d\u7f6e \u548c \u65b9\u5411 \uff09 \u3001 \u6240\u6709 \u76f8\u5173 \u53ef\u89c6 \u53ef\u89c6\u5316 \u8d44\u4ea7 \uff08 \u4f4d\u7f6e \u3001 \u65b9\u5411 \u3001 \u7c7b\u578b \u548c \u8d44\u4ea7 \u7279\u5b9a \u53c2\u6570 \uff09 \u4ee5\u53ca \u9009\u5b9a \u7684 \u5173\u8282 \u7c7b\u578b \u3002 \u8bf7 \u6ce8\u610f \uff0c \u7f51\u683c \u53ef\u89c6 \u53ef\u89c6\u5316 \u8d44\u4ea7 \u901a\u8fc7 \u5176 \u5404\u81ea \u7684 \u7f51\u683c \u540d\u79f0 \u8fdb\u884c \u8bc6\u522b \u3002   \u51c6\u5907 \u7f51\u683c \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6   \u8981 \u4f7f\u7528   POV - Ray   \u8fdb\u884c \u6e32\u67d3 \uff0c \u5fc5\u987b \u5c06 \u4e0e \u7f51\u683c \u53ef\u89c6 \u53ef\u89c6\u5316 \u8d44\u4ea7 \u76f8\u5bf9 \u5e94 \u7684   Wavefront   OBJ   \u6587\u4ef6 \u8f6c\u6362 \u4e3a   POV - Ray   \u8f93\u5165 \u6587\u4ef6 \u4e2d \u7684 \u5b8f \u3002 \u8fd9 \u53ef\u4ee5 \u901a\u8fc7 \u4ee5\u4e0b \u65b9\u5f0f \u5b8c\u6210   \u4f7f\u7528 \u51fd\u6570   WriteMeshPovray   \u4f7f\u7528   PoseRay   \u7b49 \u4e13\u7528 \u7528\u5de5 \u5de5\u5177 \u4e13\u7528\u5de5\u5177   \u5982\u679c \u4f7f\u7528 \u4e0b\u9762 \u63cf\u8ff0 \u7684 \u6e32\u67d3 \u811a\u672c \uff0c \u8fd9\u4e9b \u7f51\u683c \u5b8f   POV - Ray   \u8f93\u5165 \u6587\u4ef6 \u7684 \u540d\u79f0 \u5e94 \u4e0e \u76f8\u5e94 \u7684 \u7f51\u683c \u540d\u79f0 \u76f8\u540c \u3002 \u6b64\u5916 \uff0c \u8fd9\u6837 \u7684 \u7f51\u683c   POV - Ray   \u8f93\u5165 \u6587\u4ef6 \u5fc5\u987b \u5b9a\u4e49 \u5355\u4e2a \u5b8f \uff08 \u540d\u79f0 \u4e0e \u7f51\u683c \u540d\u79f0 \u76f8\u540c \uff09 \uff1b \u56e0\u6b64 \uff0c \u9700\u8981 \u624b\u52a8 \u7f16\u8f91   PoseRay   \u751f\u6210 \u7684 \u6587\u4ef6 \uff08 \u4f8b\u5982 \uff0c \u53c2\u89c1   Chrono   \u53d1\u884c \u53d1\u884c\u7248 \u63d0\u4f9b \u7684 \u793a\u4f8b   data / vehicle / hmmwv / POV - Ray / hmmwv _ chassis . inp   \uff09 \u3002   * *   \u4f7f\u7528   POV - Ray   \u5bf9 \u6587\u4ef6 \u8fdb\u884c \u540e\u671f \u5904\u7406 * *   Chrono   \u53d1\u884c \u53d1\u884c\u7248 \u5305\u542b \uff08 \u5728 \u76ee\u5f55 \u4e2d   src / demos / vehicle /   \uff09 \u4e00\u4e2a \u793a\u4f8b   POV - Ray   \u811a\u672c \uff08   renderZ . pov   \uff09 \uff0c \u53ef \u7528\u4e8e \uff08 \u6279\u91cf \uff09 \u5904\u7406   WriteVisualizationAssets   \u751f\u6210 \u7684 \u683c\u5f0f \u7684 \u8f93\u51fa \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u3002 \u6b64 \u811a\u672c \u5047\u5b9a \u6240\u6709 \u6570\u636e \u5747 \u5728 \u53f3\u624b \u6846\u67b6 \u4e2d \u63d0\u4f9b \uff0c Z   \u5411\u4e0a \uff08 ISO   \u53c2\u8003 \u6846\u67b6 \uff09 \uff0c \u5e76 \u6267\u884c \u6240\u6709 \u5fc5\u8981 \u7684 \u8f6c\u6362 \u4e3a   POV - Ray   \u7684   Y   \u5411\u4e0a \u5de6\u624b \u6846\u67b6 \u3002   \u8be5 \u811a\u672c \u63d0\u4f9b \u4ee5\u4e0b \u7528\u6237 \u63a7\u4ef6 \uff1a   \u6e32\u67d3 \u5355\u5e27 \u6216 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5e27 \uff08 \u5904\u7406 \u6279\u5904\u7406 \uff09   \u6253\u5f00 / \u5173\u95ed \u8eab\u4f53 \u53c2\u8003 \u6846\u67b6 \u7684 \u6e32\u67d3   \u6253\u5f00 / \u5173\u95ed \u5168\u5c40 \u53c2\u8003 \u6846\u67b6 \u7684 \u6e32\u67d3   \u6253\u5f00 / \u5173\u95ed \u8d44\u4ea7 \u6e32\u67d3   \u6253\u5f00 / \u5173\u95ed \u56fa\u5b9a \u5728 \u5730\u9762 \u4e0a \u7684 \u8d44\u4ea7 \u7684 \u6e32\u67d3   \u6253\u5f00 / \u5173\u95ed \u652f\u6301 \u5173\u8282 \u7684 \u6e32\u67d3   \u6253\u5f00 / \u5173\u95ed \u5f39\u7c27 \u548c \u51cf\u9707 \u51cf\u9707\u5668 \u7684 \u6e32\u67d3   \u6307\u5b9a \u8868\u793a \u5173\u8282 \u7684 \u51e0\u4f55 \u5f62\u72b6 \u7684 \u5c3a\u5bf8   \u76f8\u673a \u4f4d\u7f6e \u548c \u89c2\u5bdf \u89c2\u5bdf\u70b9   \u542f\u7528 / \u7981\u7528 \u9634\u5f71   \u53ef \u9009 \u6e32\u67d3 \u73af\u5883 \uff08 \u5730\u9762 \u548c \u5929\u7a7a \uff09   \u8bf7 \u6ce8\u610f \uff0c \u8be5   renderZ . pov   \u811a\u672c \u4ec5 \u4f5c\u4e3a \u8d77\u70b9 \u63d0\u4f9b \u3002 \u53ef\u4ee5 \u4f7f\u7528   POV - Ray   \u751f\u6210 \u66f4 \u590d\u6742 \u3001 \u66f4 \u903c\u771f \u7684 \u56fe\u50cf \uff0c \u4f7f\u7528 \u66f4 \u590d\u6742 \u7684 \u6750\u6599 \u548c \u73af\u5883 \u3002   \u6700\u540e \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u7c7b\u4f3c \u7684 \u5de5\u4f5c \u6d41\u7a0b \u6765 \u6e32\u67d3 \u9664   POV - Ray   \u4e4b\u5916 \u7684 \u5176\u4ed6 \u5f15\u64ce \u3002 \u4f8b\u5982 \uff0c \u4e0b\u9762 \u7684 \u56fe\u50cf \u662f \u4f7f\u7528   WriteVisualizationAssets   \u751f\u6210 \u7684 \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u4f46 \u4f7f\u7528   Mitsuba   \u5f15\u64ce \u751f\u6210 \u7684 \u3002","title":"Vehicle   visualization"},{"location":"chrono/vehicle_visualization/#_1","text":"\u57fa\u4e8e   Irrlicht   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316   \u57fa\u4e8e   OpenGL   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316   \u4f7f\u7528   POV - Ray   \u8fdb\u884c \u79bb\u7ebf \u6e32\u67d3","title":"\u53ef\u89c6\u5316"},{"location":"chrono/vehicle_visualization/#irrlicht","text":"\u57fa\u4e8e \u8f66\u8f86   Irrlicht   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6 \u53ef\u89c6\u5316 \u5206\u522b \u4f7f\u7528 \u9488\u5bf9 \u8f6e\u5f0f \u8f66\u8f86 \u548c \u5c65\u5e26 \u5e26\u5f0f \u5c65\u5e26\u5f0f \u8f66\u8f86 \u7684 \u5b9a\u5236   Irrlicht   \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f   ChWheeledVehicleIrrApp   \u548c   ChTrackedVehicleIrrApp   \u3002   \u8fd9\u4e9b \u662f \u57fa\u672c   ChIrrApp   \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u7684 \u6269\u5c55 \uff0c \u5141\u8bb8 \uff1a   \u4f7f\u7528 \u4ee5 \u8f66\u8f86 \u4e3a \u4e2d\u5fc3 \u7684 \u6444\u50cf \u6444\u50cf\u673a \u4f4d\u7f6e \uff08 \u89c6\u70b9 \uff09   \u663e\u793a \u5176\u4ed6 \uff08 \u8f66\u8f86 \u7279\u5b9a \u7684 \uff09 \u7edf\u8ba1 \u8ba1\u6570 \u6570\u636e \u7edf\u8ba1\u6570\u636e \uff0c \u4f8b\u5982 \u8f66\u901f \u3001 \u5f53\u524d \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f93\u5165 \u3001 \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u626d\u77e9 \u3001 \u8f66\u8f6e \u548c \u94fe\u8f6e \u626d\u77e9 \u7b49 \u3002   \u4ee5\u4e0b \u56fe\u50cf \u662f \u6765\u81ea   Chrono : : Vehicle   \u6a21\u62df \u7684 \u5feb\u7167 \u3002","title":"\u57fa\u4e8e   Irrlicht   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6\u5316"},{"location":"chrono/vehicle_visualization/#opengl","text":"Chrono : : Vehicle   \u6a21\u62df \u8fd8 \u53ef\u4ee5 \u4f7f\u7528   Chrono : : OpenGL   \u6a21\u5757 \u5728 \u8fd0\u884c \u65f6 \u8fdb\u884c \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002 \u8fd9 \u63d0\u4f9b \u4e86 \u66f4 \u5feb\u6377 \u3001 \u8ba1\u7b97 \u6548\u7387 \u66f4 \u9ad8 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \uff0c \u5c24\u5176 \u662f \u5bf9\u4e8e \u5927\u89c4 \u89c4\u6a21 \u5927\u89c4\u6a21 \u6a21\u62df \uff08 \u4f8b\u5982 \u6d89\u53ca \u8f66\u8f86 \u4e0e \u9897\u7c92 \u5730\u5f62 \u4ea4\u4e92 \u7684 \u6a21\u62df \uff09 \u3002   \u4ee5\u4e0b \u56fe\u50cf \u662f \u6765\u81ea   Chrono : : Vehicle   \u6a21\u62df \u7684 \u5feb\u7167 \u3002","title":"\u57fa\u4e8e   OpenGL   \u7684 \u8fd0\u884c \u65f6 \u53ef\u89c6\u5316"},{"location":"chrono/vehicle_visualization/#pov-ray","text":"\u79bb\u7ebf \u6e32\u67d3 \u9700\u8981 \u4ee5\u4e0b \u6b65\u9aa4 \uff1a   \u6536\u96c6 \u8981 \u6e32\u67d3 \u7684 \u6bcf \u4e00\u5e27 \u7684 \u7cfb\u7edf \u6570\u636e   \u53ef\u9009 \u53ef\u9009\u5730 \uff0c \u4ee5 \u7279\u5b9a \u4e8e \u6240 \u9700 \u6e32\u67d3 \u5f15\u64ce \u7684 \u683c\u5f0f \u51c6\u5907 \u7f51\u683c \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6   \u540e\u671f \u5904\u7406 \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u4ee5 \u6e32\u67d3 \u6bcf \u4e00\u5e27 \u7684 \u573a\u666f   \u53ef\u9009 \u53ef\u9009\u5730 \uff0c \u5c06 \u591a \u5e27 \u56fe\u50cf \u7ec4\u5408 \u5408\u6210 \u7ec4\u5408\u6210 \u52a8\u753b   Chrono : : Vehicle   \u4e3a \u8be5 \u5de5\u4f5c \u6d41 \u6a21\u578b \u548c   POV - Ray   \u5149\u7ebf \u8ffd\u8e2a \u7a0b\u5e8f \u63d0\u4f9b \u6709\u9650 \u7684 \u652f\u6301 \u3002   \u51c6\u5907 \u8f93\u51fa \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6   \u5728 \u6bcf\u4e2a \u9700\u8981 \u540e\u671f \u5904\u7406 \u7684 \u6a21\u62df \u5e27 \u4e0a \uff0c \u8c03\u7528 \u51fd\u6570 \u8c03\u7528\u51fd\u6570   WriteVisualizationAssets   \u3002   \u6b64 \u51fd\u6570 \u5c06 \u8f93\u51fa \u4e00\u4e2a \u5305\u542b \u7528\u6237 \u63d0\u4f9b \u7684 \u540d\u79f0 \u7684 \u9017\u53f7 \u5206\u9694 \u503c \uff08 CSV \uff09 \u6587\u4ef6 \u3002   \u8f93\u51fa \u6587\u4ef6 \u5305\u542b \u6709\u5173   Chrono   \u7cfb\u7edf \u4e2d \u6240\u6709 \u7269\u4f53 \u7684 \u4fe1\u606f \uff08 \u4f4d\u7f6e \u548c \u65b9\u5411 \uff09 \u3001 \u6240\u6709 \u76f8\u5173 \u53ef\u89c6 \u53ef\u89c6\u5316 \u8d44\u4ea7 \uff08 \u4f4d\u7f6e \u3001 \u65b9\u5411 \u3001 \u7c7b\u578b \u548c \u8d44\u4ea7 \u7279\u5b9a \u53c2\u6570 \uff09 \u4ee5\u53ca \u9009\u5b9a \u7684 \u5173\u8282 \u7c7b\u578b \u3002 \u8bf7 \u6ce8\u610f \uff0c \u7f51\u683c \u53ef\u89c6 \u53ef\u89c6\u5316 \u8d44\u4ea7 \u901a\u8fc7 \u5176 \u5404\u81ea \u7684 \u7f51\u683c \u540d\u79f0 \u8fdb\u884c \u8bc6\u522b \u3002   \u51c6\u5907 \u7f51\u683c \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6   \u8981 \u4f7f\u7528   POV - Ray   \u8fdb\u884c \u6e32\u67d3 \uff0c \u5fc5\u987b \u5c06 \u4e0e \u7f51\u683c \u53ef\u89c6 \u53ef\u89c6\u5316 \u8d44\u4ea7 \u76f8\u5bf9 \u5e94 \u7684   Wavefront   OBJ   \u6587\u4ef6 \u8f6c\u6362 \u4e3a   POV - Ray   \u8f93\u5165 \u6587\u4ef6 \u4e2d \u7684 \u5b8f \u3002 \u8fd9 \u53ef\u4ee5 \u901a\u8fc7 \u4ee5\u4e0b \u65b9\u5f0f \u5b8c\u6210   \u4f7f\u7528 \u51fd\u6570   WriteMeshPovray   \u4f7f\u7528   PoseRay   \u7b49 \u4e13\u7528 \u7528\u5de5 \u5de5\u5177 \u4e13\u7528\u5de5\u5177   \u5982\u679c \u4f7f\u7528 \u4e0b\u9762 \u63cf\u8ff0 \u7684 \u6e32\u67d3 \u811a\u672c \uff0c \u8fd9\u4e9b \u7f51\u683c \u5b8f   POV - Ray   \u8f93\u5165 \u6587\u4ef6 \u7684 \u540d\u79f0 \u5e94 \u4e0e \u76f8\u5e94 \u7684 \u7f51\u683c \u540d\u79f0 \u76f8\u540c \u3002 \u6b64\u5916 \uff0c \u8fd9\u6837 \u7684 \u7f51\u683c   POV - Ray   \u8f93\u5165 \u6587\u4ef6 \u5fc5\u987b \u5b9a\u4e49 \u5355\u4e2a \u5b8f \uff08 \u540d\u79f0 \u4e0e \u7f51\u683c \u540d\u79f0 \u76f8\u540c \uff09 \uff1b \u56e0\u6b64 \uff0c \u9700\u8981 \u624b\u52a8 \u7f16\u8f91   PoseRay   \u751f\u6210 \u7684 \u6587\u4ef6 \uff08 \u4f8b\u5982 \uff0c \u53c2\u89c1   Chrono   \u53d1\u884c \u53d1\u884c\u7248 \u63d0\u4f9b \u7684 \u793a\u4f8b   data / vehicle / hmmwv / POV - Ray / hmmwv _ chassis . inp   \uff09 \u3002   * *   \u4f7f\u7528   POV - Ray   \u5bf9 \u6587\u4ef6 \u8fdb\u884c \u540e\u671f \u5904\u7406 * *   Chrono   \u53d1\u884c \u53d1\u884c\u7248 \u5305\u542b \uff08 \u5728 \u76ee\u5f55 \u4e2d   src / demos / vehicle /   \uff09 \u4e00\u4e2a \u793a\u4f8b   POV - Ray   \u811a\u672c \uff08   renderZ . pov   \uff09 \uff0c \u53ef \u7528\u4e8e \uff08 \u6279\u91cf \uff09 \u5904\u7406   WriteVisualizationAssets   \u751f\u6210 \u7684 \u683c\u5f0f \u7684 \u8f93\u51fa \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u3002 \u6b64 \u811a\u672c \u5047\u5b9a \u6240\u6709 \u6570\u636e \u5747 \u5728 \u53f3\u624b \u6846\u67b6 \u4e2d \u63d0\u4f9b \uff0c Z   \u5411\u4e0a \uff08 ISO   \u53c2\u8003 \u6846\u67b6 \uff09 \uff0c \u5e76 \u6267\u884c \u6240\u6709 \u5fc5\u8981 \u7684 \u8f6c\u6362 \u4e3a   POV - Ray   \u7684   Y   \u5411\u4e0a \u5de6\u624b \u6846\u67b6 \u3002   \u8be5 \u811a\u672c \u63d0\u4f9b \u4ee5\u4e0b \u7528\u6237 \u63a7\u4ef6 \uff1a   \u6e32\u67d3 \u5355\u5e27 \u6216 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u5e27 \uff08 \u5904\u7406 \u6279\u5904\u7406 \uff09   \u6253\u5f00 / \u5173\u95ed \u8eab\u4f53 \u53c2\u8003 \u6846\u67b6 \u7684 \u6e32\u67d3   \u6253\u5f00 / \u5173\u95ed \u5168\u5c40 \u53c2\u8003 \u6846\u67b6 \u7684 \u6e32\u67d3   \u6253\u5f00 / \u5173\u95ed \u8d44\u4ea7 \u6e32\u67d3   \u6253\u5f00 / \u5173\u95ed \u56fa\u5b9a \u5728 \u5730\u9762 \u4e0a \u7684 \u8d44\u4ea7 \u7684 \u6e32\u67d3   \u6253\u5f00 / \u5173\u95ed \u652f\u6301 \u5173\u8282 \u7684 \u6e32\u67d3   \u6253\u5f00 / \u5173\u95ed \u5f39\u7c27 \u548c \u51cf\u9707 \u51cf\u9707\u5668 \u7684 \u6e32\u67d3   \u6307\u5b9a \u8868\u793a \u5173\u8282 \u7684 \u51e0\u4f55 \u5f62\u72b6 \u7684 \u5c3a\u5bf8   \u76f8\u673a \u4f4d\u7f6e \u548c \u89c2\u5bdf \u89c2\u5bdf\u70b9   \u542f\u7528 / \u7981\u7528 \u9634\u5f71   \u53ef \u9009 \u6e32\u67d3 \u73af\u5883 \uff08 \u5730\u9762 \u548c \u5929\u7a7a \uff09   \u8bf7 \u6ce8\u610f \uff0c \u8be5   renderZ . pov   \u811a\u672c \u4ec5 \u4f5c\u4e3a \u8d77\u70b9 \u63d0\u4f9b \u3002 \u53ef\u4ee5 \u4f7f\u7528   POV - Ray   \u751f\u6210 \u66f4 \u590d\u6742 \u3001 \u66f4 \u903c\u771f \u7684 \u56fe\u50cf \uff0c \u4f7f\u7528 \u66f4 \u590d\u6742 \u7684 \u6750\u6599 \u548c \u73af\u5883 \u3002   \u6700\u540e \uff0c \u53ef\u4ee5 \u4f7f\u7528 \u7c7b\u4f3c \u7684 \u5de5\u4f5c \u6d41\u7a0b \u6765 \u6e32\u67d3 \u9664   POV - Ray   \u4e4b\u5916 \u7684 \u5176\u4ed6 \u5f15\u64ce \u3002 \u4f8b\u5982 \uff0c \u4e0b\u9762 \u7684 \u56fe\u50cf \u662f \u4f7f\u7528   WriteVisualizationAssets   \u751f\u6210 \u7684 \u6570\u636e \u6587\u4ef6 \u6570\u636e\u6587\u4ef6 \u4f46 \u4f7f\u7528   Mitsuba   \u5f15\u64ce \u751f\u6210 \u7684 \u3002","title":"\u4f7f\u7528   POV - Ray   \u8fdb\u884c \u79bb\u7ebf \u6e32\u67d3"},{"location":"chrono/wheeled_driveline/","text":"\u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b   \u56db \u8f6e\u8f74 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   \u57fa\u4e8e \u53cc\u8f6e \u8f74 \u7684 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   \u56db\u8f6e \u8fd0\u52a8 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   X   \u8f6e \u8fd0\u52a8 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   \u56db \u8f6e\u8f74 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   \u8be5 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u677f \u4f7f\u7528 \u5404\u79cd   Chrono   1 - D   \u8f74 \u5143\u7d20   (   ChShaft   )   \u548c \u4e13\u7528 \u8f74 \u8fde\u63a5 \u5143\u7d20 \u5efa\u6a21 \u3002 \u8fd9\u4e9b \u5143\u7d20 \u7528\u4e8e \u5efa\u6a21 \u5dee\u901f \u5dee\u901f\u5668   (   ChShaftsPlanetary   ) \u3001 \u9525\u5f62 \u9f7f\u8f6e   (   ChShaftsGearboxAngled   )   \u548c \u5dee\u901f \u9501 \u79bb\u5408 \u79bb\u5408\u5668   (   ChShaftsClutch   ) \u3002   \u53c2\u89c1   ChShaftsDriveline4WD   \u548c   ShaftsDriveline4WD   \u3002   \u4e0b\u56fe \u663e\u793a \u4e86 \u57fa\u4e8e \u8f74 \u7684   4WD   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u4e0e \u57fa\u4e8e \u8f74 \u7684 \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b \u7684 \u8fde\u63a5 \u3002   \u4ee5\u4e0b \u793a\u4f8b   JSON   \u89c4\u8303 \u6587\u4ef6 \u8bf4\u660e \u4e86 \u57fa\u4e8e   4WD   \u8f74 \u7684 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u53ef\u7528 \u7684 \u5404\u79cd \u6a21\u677f \u53c2\u6570 \uff1a   {   \" Name \" :   \" HMMWV   AWD   Driveline \" ,   \" Type \" :   \" Driveline \" ,   \" Template \" :   \" ShaftsDriveline4WD \" ,   \" Shaft   Direction \" :   {   \" Motor   Block \" :   [ 1 ,   0 ,   0 ] ,   \" Axle \" :   [ 0 ,   1 ,   0 ]   } ,   \" Shaft   Inertia \" :   {   \" Driveshaft \" :   0.5 ,   \" Front   Driveshaft \" :   0.5 ,   \" Rear   Driveshaft \" :   0.5 ,   \" Central   Differential   Box \" :   0.6 ,   \" Front   Differential   Box \" :   0.6 ,   \" Rear   Differential   Box \" :   0.6   } ,   \" Gear   Ratio \" :   {   \" Front   Conical   Gear \" :   0.2 ,   \" Rear   Conical   Gear \" :   0.2   } ,   \" Axle   Differential   Locking   Limit \" :   100 ,   \" Central   Differential   Locking   Limit \" :   100   }   \u57fa\u4e8e \u53cc\u8f6e \u8f74 \u7684 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   \u8be5 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u677f \u7c7b\u4f3c \u4e8e \u57fa\u4e8e   4WD   \u8f74 \u7684 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b \uff0c \u4f46 \u53ea\u80fd \u9a71\u52a8 \u4e0e \u5355\u4e2a \u8f66\u8f74 \u76f8\u5173 \u7684 \u8f66\u8f6e \u3002 \u8be5 \u8f66\u8f74 \u662f \u4efb\u610f \u7684 \uff0c \u56e0\u6b64 \u8be5 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b \u53ef \u7528\u4e8e \u6a21\u62df \u524d\u8f6e \u9a71\u52a8 \u524d\u8f6e\u9a71\u52a8 \u548c \u540e\u8f6e \u9a71\u52a8 \u8f66\u8f86 \u3002   \u53c2\u89c1   ChShaftsDriveline2WD   \u548c   ShaftsDriveline2WD   \u3002   \u5177\u6709   2WD   \u8f74 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u662f \uff1a   {   \" Name \" :   \" HMMWV   RWD   Driveline \" ,   \" Type \" :   \" Driveline \" ,   \" Template \" :   \" ShaftsDriveline2WD \" ,   \" Shaft   Direction \" :   {   \" Motor   Block \" :   [ 1 ,   0 ,   0 ] ,   \" Axle \" :   [ 0 ,   1 ,   0 ]   } ,   \" Shaft   Inertia \" :   {   \" Driveshaft \" :   0.5 ,   \" Differential   Box \" :   0.6   } ,   \" Gear   Ratio \" :   {   \" Conical   Gear \" :   0.2   } ,   \" Axle   Differential   Locking   Limit \" :   100   }   \u56db\u8f6e \u8fd0\u52a8 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   \u6b64 \u6a21\u677f \u53ef \u7528\u4e8e \u4e3a   4WD   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u5efa\u6a21 \u3002 \u5b83 \u4f7f\u7528 \u6052\u5b9a \u7684 \u524d / \u540e \u626d\u77e9 \u5206\u914d \uff08 0   \u5230   1   \u4e4b\u95f4 \u7684 \u503c \uff09 \u548c   Torsen   \u9650\u6ed1 \u5dee\u901f \u5dee\u901f\u5668 \u7684 \u7b80\u5355 \u6a21\u578b \u3002   \u53c2\u89c1   ChSimpleDriveline   \u548c   SimpleDriveline   \u3002   \u5177\u6709   2WD   \u8f74 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u662f \uff1a   {   \" Name \" :   \" HMMWV   4WD   Driveline \" ,   \" Type \" :   \" Driveline \" ,   \" Template \" :   \" SimpleDriveline \" ,   \" Front   Torque   Fraction \" :   0.5 ,   \" Front   Differential   Max   Bias \" :   2.0 ,   \" Rear   Differential   Max   Bias \" :   2.0   }   X   \u8f6e \u8fd0\u52a8 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   \u6b64 \u7b80\u5355 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u677f \u53ef \u7528\u4e8e \u6a21\u62df   XWD   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \uff0c \u53ef \u9a71\u52a8 \u4e00\u4e2a \u6216 \u591a\u4e2a \u8f66\u8f74 \u3002 \u5b83 \u4f7f\u7528 \u6839\u636e \u9a71\u52a8 \u8f74 \u6570\u91cf \u786e\u5b9a \u7684 \u6052\u5b9a \u626d\u77e9 \u5206\u914d \u548c   Torsen   \u9650\u6ed1 \u5dee\u901f \u5dee\u901f\u5668 \u7684 \u7b80\u5355 \u6a21\u578b \u3002   \u53c2\u89c1   ChSimpleDrivelineXWD   \u548c   SimpleDrivelineXWD   \u3002   \u5177\u6709   2WD   \u8f74 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u662f \uff1a   {   \" Name \" :   \" MAN   5t ,   7t ,   10t   XWD   Driveline \" ,   \" Type \" :   \" Driveline \" ,   \" Template \" :   \" SimpleDrivelineXWD \" ,   \" Differential   Max   Bias \" :   2.0   }","title":"\u4f20\u52a8\u7cfb\u7edf \u6a21\u578b"},{"location":"chrono/wheeled_driveline/#_1","text":"\u56db \u8f6e\u8f74 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   \u57fa\u4e8e \u53cc\u8f6e \u8f74 \u7684 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   \u56db\u8f6e \u8fd0\u52a8 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf   X   \u8f6e \u8fd0\u52a8 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf","title":"\u4f20\u52a8\u7cfb\u7edf \u6a21\u578b"},{"location":"chrono/wheeled_driveline/#_2","text":"\u8be5 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u677f \u4f7f\u7528 \u5404\u79cd   Chrono   1 - D   \u8f74 \u5143\u7d20   (   ChShaft   )   \u548c \u4e13\u7528 \u8f74 \u8fde\u63a5 \u5143\u7d20 \u5efa\u6a21 \u3002 \u8fd9\u4e9b \u5143\u7d20 \u7528\u4e8e \u5efa\u6a21 \u5dee\u901f \u5dee\u901f\u5668   (   ChShaftsPlanetary   ) \u3001 \u9525\u5f62 \u9f7f\u8f6e   (   ChShaftsGearboxAngled   )   \u548c \u5dee\u901f \u9501 \u79bb\u5408 \u79bb\u5408\u5668   (   ChShaftsClutch   ) \u3002   \u53c2\u89c1   ChShaftsDriveline4WD   \u548c   ShaftsDriveline4WD   \u3002   \u4e0b\u56fe \u663e\u793a \u4e86 \u57fa\u4e8e \u8f74 \u7684   4WD   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u4e0e \u57fa\u4e8e \u8f74 \u7684 \u52a8\u529b \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b \u7684 \u8fde\u63a5 \u3002   \u4ee5\u4e0b \u793a\u4f8b   JSON   \u89c4\u8303 \u6587\u4ef6 \u8bf4\u660e \u4e86 \u57fa\u4e8e   4WD   \u8f74 \u7684 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u53ef\u7528 \u7684 \u5404\u79cd \u6a21\u677f \u53c2\u6570 \uff1a   {   \" Name \" :   \" HMMWV   AWD   Driveline \" ,   \" Type \" :   \" Driveline \" ,   \" Template \" :   \" ShaftsDriveline4WD \" ,   \" Shaft   Direction \" :   {   \" Motor   Block \" :   [ 1 ,   0 ,   0 ] ,   \" Axle \" :   [ 0 ,   1 ,   0 ]   } ,   \" Shaft   Inertia \" :   {   \" Driveshaft \" :   0.5 ,   \" Front   Driveshaft \" :   0.5 ,   \" Rear   Driveshaft \" :   0.5 ,   \" Central   Differential   Box \" :   0.6 ,   \" Front   Differential   Box \" :   0.6 ,   \" Rear   Differential   Box \" :   0.6   } ,   \" Gear   Ratio \" :   {   \" Front   Conical   Gear \" :   0.2 ,   \" Rear   Conical   Gear \" :   0.2   } ,   \" Axle   Differential   Locking   Limit \" :   100 ,   \" Central   Differential   Locking   Limit \" :   100   }","title":"\u56db \u8f6e\u8f74 \u4f20\u52a8\u7cfb\u7edf"},{"location":"chrono/wheeled_driveline/#_3","text":"\u8be5 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u677f \u7c7b\u4f3c \u4e8e \u57fa\u4e8e   4WD   \u8f74 \u7684 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b \uff0c \u4f46 \u53ea\u80fd \u9a71\u52a8 \u4e0e \u5355\u4e2a \u8f66\u8f74 \u76f8\u5173 \u7684 \u8f66\u8f6e \u3002 \u8be5 \u8f66\u8f74 \u662f \u4efb\u610f \u7684 \uff0c \u56e0\u6b64 \u8be5 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b \u53ef \u7528\u4e8e \u6a21\u62df \u524d\u8f6e \u9a71\u52a8 \u524d\u8f6e\u9a71\u52a8 \u548c \u540e\u8f6e \u9a71\u52a8 \u8f66\u8f86 \u3002   \u53c2\u89c1   ChShaftsDriveline2WD   \u548c   ShaftsDriveline2WD   \u3002   \u5177\u6709   2WD   \u8f74 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u662f \uff1a   {   \" Name \" :   \" HMMWV   RWD   Driveline \" ,   \" Type \" :   \" Driveline \" ,   \" Template \" :   \" ShaftsDriveline2WD \" ,   \" Shaft   Direction \" :   {   \" Motor   Block \" :   [ 1 ,   0 ,   0 ] ,   \" Axle \" :   [ 0 ,   1 ,   0 ]   } ,   \" Shaft   Inertia \" :   {   \" Driveshaft \" :   0.5 ,   \" Differential   Box \" :   0.6   } ,   \" Gear   Ratio \" :   {   \" Conical   Gear \" :   0.2   } ,   \" Axle   Differential   Locking   Limit \" :   100   }","title":"\u57fa\u4e8e \u53cc\u8f6e \u8f74 \u7684 \u4f20\u52a8\u7cfb\u7edf"},{"location":"chrono/wheeled_driveline/#_4","text":"\u6b64 \u6a21\u677f \u53ef \u7528\u4e8e \u4e3a   4WD   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u5efa\u6a21 \u3002 \u5b83 \u4f7f\u7528 \u6052\u5b9a \u7684 \u524d / \u540e \u626d\u77e9 \u5206\u914d \uff08 0   \u5230   1   \u4e4b\u95f4 \u7684 \u503c \uff09 \u548c   Torsen   \u9650\u6ed1 \u5dee\u901f \u5dee\u901f\u5668 \u7684 \u7b80\u5355 \u6a21\u578b \u3002   \u53c2\u89c1   ChSimpleDriveline   \u548c   SimpleDriveline   \u3002   \u5177\u6709   2WD   \u8f74 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u662f \uff1a   {   \" Name \" :   \" HMMWV   4WD   Driveline \" ,   \" Type \" :   \" Driveline \" ,   \" Template \" :   \" SimpleDriveline \" ,   \" Front   Torque   Fraction \" :   0.5 ,   \" Front   Differential   Max   Bias \" :   2.0 ,   \" Rear   Differential   Max   Bias \" :   2.0   }","title":"\u56db\u8f6e \u8fd0\u52a8 \u4f20\u52a8\u7cfb\u7edf"},{"location":"chrono/wheeled_driveline/#x","text":"\u6b64 \u7b80\u5355 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u677f \u53ef \u7528\u4e8e \u6a21\u62df   XWD   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \uff0c \u53ef \u9a71\u52a8 \u4e00\u4e2a \u6216 \u591a\u4e2a \u8f66\u8f74 \u3002 \u5b83 \u4f7f\u7528 \u6839\u636e \u9a71\u52a8 \u8f74 \u6570\u91cf \u786e\u5b9a \u7684 \u6052\u5b9a \u626d\u77e9 \u5206\u914d \u548c   Torsen   \u9650\u6ed1 \u5dee\u901f \u5dee\u901f\u5668 \u7684 \u7b80\u5355 \u6a21\u578b \u3002   \u53c2\u89c1   ChSimpleDrivelineXWD   \u548c   SimpleDrivelineXWD   \u3002   \u5177\u6709   2WD   \u8f74 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u662f \uff1a   {   \" Name \" :   \" MAN   5t ,   7t ,   10t   XWD   Driveline \" ,   \" Type \" :   \" Driveline \" ,   \" Template \" :   \" SimpleDrivelineXWD \" ,   \" Differential   Max   Bias \" :   2.0   }","title":"X   \u8f6e \u8fd0\u52a8 \u4f20\u52a8\u7cfb\u7edf"},{"location":"chrono/wheeled_rig/","text":"\u6d4b\u8bd5 \u53f0\u67b6   \u60ac\u67b6 \u8bd5\u9a8c \u8bd5\u9a8c\u53f0   \u8f6e\u80ce \u8bd5\u9a8c \u8bd5\u9a8c\u53f0   \u60ac\u67b6 \u8bd5\u9a8c \u8bd5\u9a8c\u53f0   ChSuspensionTestRig   \u662f \u4e00\u79cd \u7528\u4e8e \u6d4b\u8bd5 \u6574\u4e2a \u8f66\u8f86 \u60ac\u67b6 \u7ec4\u4ef6 \u7684 \u88c5\u7f6e \u3002 \u53ef\u4ee5 \u6307\u5b9a \u8981 \u6d4b\u8bd5 \u7684 \u60ac\u67b6 \uff1a   \u901a\u8fc7 \u72ec\u7acb \u7684   JSON   \u6587\u4ef6 \uff08 \u53ef\u80fd \u5305\u542b \u6216 \u4e0d \u5305\u542b \u8f6c\u5411 \u7cfb\u7edf \u5b50\u7cfb\u7edf \uff09   \u4f5c\u4e3a \u8f66\u8f86   JSON   \u89c4\u8303 \u6587\u4ef6 \u4e2d \u7684 \u6307\u5b9a \u8f74   \u4f5c\u4e3a \u73b0\u6709 \u8f66\u8f86 \u7684 \u6307\u5b9a \u8f66\u8f74 \uff08 \u5fc5\u987b \u5df2 \u521d\u59cb \u521d\u59cb\u5316 \uff09   \u60ac\u67b6 \u8bd5\u9a8c \u8bd5\u9a8c\u53f0 \u6709 \u4e24\u79cd \u578b\u53f7 \uff1a   ChSuspensionTestRigPlatform   \u4f7f\u7528 \u4e24\u4e2a \u72ec\u7acb \u7684 \u521a\u6027 \u5e73\u53f0 \uff0c \u901a\u8fc7 \u4e0e \u8f6e\u80ce \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u6765 \u9a71\u52a8 \u60ac\u67b6 \u673a\u6784 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   demo _ VEH _ SuspensionTestRigPlatform \u3002   ChSuspensionTestRigPushrod   \u5c06 \u76f4\u63a5 \u9a71\u52a8 \u52a8\u529b \u9a71\u52a8\u529b \u65bd\u52a0 \u5230 \u8f66\u8f6e \u4e3b\u8f74 \u4e0a \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   demo _ VEH _ SuspensionTestRigPushrod \u3002   \u4e0b\u56fe \u663e\u793a \u4e86   ChSuspensionTestRigPlatform   \u6a21\u62df \uff08 \u4f7f\u7528 \u524d \u53cc\u53c9\u81c2 \u60ac\u67b6 \u548c   TMeasy   \u8f6e\u80ce \uff09 \u7684 \u5feb\u7167 \u548c \u793a\u4f8b \u8f93\u51fa \u56fe \u3002   \u4e0b\u56fe \u662f \u4f7f\u7528 \u524d \u53cc\u53c9\u81c2 \u60ac\u67b6 \u7684   ChSuspensionTestRigPushrod   \u6a21\u62df \u7684 \u5feb\u7167 \u3002   \u8f6e\u80ce \u8bd5\u9a8c \u8bd5\u9a8c\u53f0   ChTireTestRig   \u662f \u4e00\u79cd \u7528\u4e8e \u6d4b\u8bd5 \u5355\u4e2a \u8f6e\u80ce \u4e0e   \u521a\u6027   \u3001   SCM   \u53ef \u53d8\u5f62   \u6216   \u7c92\u72b6 \u5730\u5f62   \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u7684 \u88c5\u7f6e \u3002 \u6240\u6709 \u53ef\u7528 \u7684   Chrono : : Vehicle   \u8f6e\u80ce \u6a21\u578b   \u90fd \u53ef\u4ee5 \u4e0e \u6b64 \u6d4b\u8bd5 \u88c5\u7f6e \u4e00\u8d77 \u4f7f\u7528 \uff0c \u4f46 \u53ea\u80fd \u4e0e \u4e00\u81f4 \u7684 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u7ed3\u5408 \u4f7f\u7528 \u3002   \u8f6e\u80ce \u8bd5\u9a8c \u8bd5\u9a8c\u53f0 \u5141\u8bb8 \u7eb5\u5411 \u901f\u5ea6 \u3001 \u8f66\u8f6e \u901f\u5ea6 \u89d2\u901f\u5ea6 \u548c \u8f66\u8f6e \u6ed1\u79fb \u89d2\u968f \u65f6\u95f4 \u53d8\u5316 \uff0c \u652f\u6301 \u7eb5\u5411 \u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u7684 \u81ea\u52a8 \u9009\u62e9 \uff0c \u4ee5 \u5f3a\u5236 \u6267\u884c \u5f3a\u5236\u6267\u884c \u6307\u5b9a \u7684 \u7eb5\u5411 \u6ed1\u79fb \u503c \uff0c \u5e76 \u5141\u8bb8 \u6307\u5b9a \u5916 \u503e\u89d2 \uff08 \u5728 \u6a21\u62df \u671f\u95f4 \u4fdd\u6301 \u4e0d\u53d8 \uff09 \u3002   \u53c2\u89c1   demo _ VEH _ TireTestRig   \u548c   demo _ VEH _ TireTestRig _ Multicore \u3002   \u4e0b\u9762 \u7684 \u56fe\u7247 \u662f \u5355 \u8f6e\u80ce \u6d4b\u8bd5 \u7684 \u5feb\u7167 \uff0c \u5206\u522b \u5728 \u521a\u6027 \u5730\u5f62 \u4e0a \u4f7f\u7528   Pac02   \u8f6e\u80ce \u548c \u5728   SCM   \u53ef \u53d8\u5f62 \u5730\u5f62 \u4e0a \u4f7f\u7528 \u521a\u6027 \u8f6e\u80ce \u3002","title":"\u6d4b\u8bd5 \u53f0\u67b6"},{"location":"chrono/wheeled_rig/#_1","text":"\u60ac\u67b6 \u8bd5\u9a8c \u8bd5\u9a8c\u53f0   \u8f6e\u80ce \u8bd5\u9a8c \u8bd5\u9a8c\u53f0","title":"\u6d4b\u8bd5 \u53f0\u67b6"},{"location":"chrono/wheeled_rig/#_2","text":"ChSuspensionTestRig   \u662f \u4e00\u79cd \u7528\u4e8e \u6d4b\u8bd5 \u6574\u4e2a \u8f66\u8f86 \u60ac\u67b6 \u7ec4\u4ef6 \u7684 \u88c5\u7f6e \u3002 \u53ef\u4ee5 \u6307\u5b9a \u8981 \u6d4b\u8bd5 \u7684 \u60ac\u67b6 \uff1a   \u901a\u8fc7 \u72ec\u7acb \u7684   JSON   \u6587\u4ef6 \uff08 \u53ef\u80fd \u5305\u542b \u6216 \u4e0d \u5305\u542b \u8f6c\u5411 \u7cfb\u7edf \u5b50\u7cfb\u7edf \uff09   \u4f5c\u4e3a \u8f66\u8f86   JSON   \u89c4\u8303 \u6587\u4ef6 \u4e2d \u7684 \u6307\u5b9a \u8f74   \u4f5c\u4e3a \u73b0\u6709 \u8f66\u8f86 \u7684 \u6307\u5b9a \u8f66\u8f74 \uff08 \u5fc5\u987b \u5df2 \u521d\u59cb \u521d\u59cb\u5316 \uff09   \u60ac\u67b6 \u8bd5\u9a8c \u8bd5\u9a8c\u53f0 \u6709 \u4e24\u79cd \u578b\u53f7 \uff1a   ChSuspensionTestRigPlatform   \u4f7f\u7528 \u4e24\u4e2a \u72ec\u7acb \u7684 \u521a\u6027 \u5e73\u53f0 \uff0c \u901a\u8fc7 \u4e0e \u8f6e\u80ce \u7684 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u6765 \u9a71\u52a8 \u60ac\u67b6 \u673a\u6784 \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   demo _ VEH _ SuspensionTestRigPlatform \u3002   ChSuspensionTestRigPushrod   \u5c06 \u76f4\u63a5 \u9a71\u52a8 \u52a8\u529b \u9a71\u52a8\u529b \u65bd\u52a0 \u5230 \u8f66\u8f6e \u4e3b\u8f74 \u4e0a \u3002 \u53c2\u9605 \u8bf7\u53c2\u9605   demo _ VEH _ SuspensionTestRigPushrod \u3002   \u4e0b\u56fe \u663e\u793a \u4e86   ChSuspensionTestRigPlatform   \u6a21\u62df \uff08 \u4f7f\u7528 \u524d \u53cc\u53c9\u81c2 \u60ac\u67b6 \u548c   TMeasy   \u8f6e\u80ce \uff09 \u7684 \u5feb\u7167 \u548c \u793a\u4f8b \u8f93\u51fa \u56fe \u3002   \u4e0b\u56fe \u662f \u4f7f\u7528 \u524d \u53cc\u53c9\u81c2 \u60ac\u67b6 \u7684   ChSuspensionTestRigPushrod   \u6a21\u62df \u7684 \u5feb\u7167 \u3002","title":"\u60ac\u67b6 \u8bd5\u9a8c\u53f0"},{"location":"chrono/wheeled_rig/#_3","text":"ChTireTestRig   \u662f \u4e00\u79cd \u7528\u4e8e \u6d4b\u8bd5 \u5355\u4e2a \u8f6e\u80ce \u4e0e   \u521a\u6027   \u3001   SCM   \u53ef \u53d8\u5f62   \u6216   \u7c92\u72b6 \u5730\u5f62   \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u7684 \u88c5\u7f6e \u3002 \u6240\u6709 \u53ef\u7528 \u7684   Chrono : : Vehicle   \u8f6e\u80ce \u6a21\u578b   \u90fd \u53ef\u4ee5 \u4e0e \u6b64 \u6d4b\u8bd5 \u88c5\u7f6e \u4e00\u8d77 \u4f7f\u7528 \uff0c \u4f46 \u53ea\u80fd \u4e0e \u4e00\u81f4 \u7684 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u7ed3\u5408 \u4f7f\u7528 \u3002   \u8f6e\u80ce \u8bd5\u9a8c \u8bd5\u9a8c\u53f0 \u5141\u8bb8 \u7eb5\u5411 \u901f\u5ea6 \u3001 \u8f66\u8f6e \u901f\u5ea6 \u89d2\u901f\u5ea6 \u548c \u8f66\u8f6e \u6ed1\u79fb \u89d2\u968f \u65f6\u95f4 \u53d8\u5316 \uff0c \u652f\u6301 \u7eb5\u5411 \u901f\u5ea6 \u548c \u901f\u5ea6 \u89d2\u901f\u5ea6 \u7684 \u81ea\u52a8 \u9009\u62e9 \uff0c \u4ee5 \u5f3a\u5236 \u6267\u884c \u5f3a\u5236\u6267\u884c \u6307\u5b9a \u7684 \u7eb5\u5411 \u6ed1\u79fb \u503c \uff0c \u5e76 \u5141\u8bb8 \u6307\u5b9a \u5916 \u503e\u89d2 \uff08 \u5728 \u6a21\u62df \u671f\u95f4 \u4fdd\u6301 \u4e0d\u53d8 \uff09 \u3002   \u53c2\u89c1   demo _ VEH _ TireTestRig   \u548c   demo _ VEH _ TireTestRig _ Multicore \u3002   \u4e0b\u9762 \u7684 \u56fe\u7247 \u662f \u5355 \u8f6e\u80ce \u6d4b\u8bd5 \u7684 \u5feb\u7167 \uff0c \u5206\u522b \u5728 \u521a\u6027 \u5730\u5f62 \u4e0a \u4f7f\u7528   Pac02   \u8f6e\u80ce \u548c \u5728   SCM   \u53ef \u53d8\u5f62 \u5730\u5f62 \u4e0a \u4f7f\u7528 \u521a\u6027 \u8f6e\u80ce \u3002","title":"\u8f6e\u80ce \u8bd5\u9a8c\u53f0"},{"location":"chrono/wheeled_steering/","text":"\u8f6c\u5411 \u673a\u6784 \u6a21\u578b   \u8f6c\u5411 \u81c2   \u9f7f\u6761 \u9f7f\u8f6e   \u65cb\u81c2   \u57fa\u7c7b   ChSteering   \u89c4\u5b9a \u4efb\u4f55 \u6d3e\u751f \u7684 \u8f6c\u5411 \u673a\u6784 \u7c7b \uff08 \u8f6c\u5411 \u673a\u6784 \u6a21\u677f \uff09 \u90fd \u5e94 \u63d0\u4f9b \u4e00\u4e2a \u8f6c\u5411 \u8fde\u6746 \u4f53 \uff0c \u53ef \u8f6c\u5411 \u60ac\u67b6 \u53ef\u4ee5 \u4e0e\u5176 \u8fde\u63a5 \uff08 \u901a\u5e38 \u901a\u8fc7 \u60ac\u67b6 \u7684 \u8f6c\u5411 \u8fde\u6746 \uff09 \u3002   \u6d3e\u751f \u8f6c\u5411 \u673a\u6784 \u7c7b\u578b \u5b9a\u4e49 \u7c7b\u578b\u5b9a\u4e49 \u7279\u5b9a \u7c7b\u578b \u7684 \u8f6c\u5411 \u673a\u6784 \u7684 \u4e3b\u4f53 \u3001 \u5173\u8282 \u3001 \u529b \u5143\u7d20 \u548c \u62d3\u6251 \u3002 \u6240\u6709 \u4f4d\u7f6e \u5747 \u5047\u5b9a \u76f8\u5bf9 \u4e8e \u673a\u6784 \u53c2\u8003 \u53c2\u8003\u7cfb \u63d0\u4f9b \uff08 \u6d3e\u751f \u8f6c\u5411 \u673a\u6784 \u7c7b\u578b \u53ef\u4ee5 \u81ea\u7531 \u9009\u62e9 \u81ea\u7531\u9009\u62e9 \u6b64 \u6846\u67b6 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \uff09 \u3002   \u901a\u8fc7 \u6307\u5b9a \u673a\u6784 \u7ec4\u4ef6 \u53c2\u8003 \u53c2\u8003\u7cfb \u76f8\u5bf9 \u4e8e \u5e95\u76d8 \u53c2\u8003 \u53c2\u8003\u7cfb \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \uff08 \u53c2\u89c1   ISO   \u53c2\u8003 \u53c2\u8003\u7cfb   \u7684 \u5b9a\u4e49 \uff09 \uff0c \u5c06 \u8f6c\u5411 \u673a\u6784 \u7ec4\u4ef6 \u5b89\u88c5 \u5230 \u8f66\u8f86 \u5e95\u76d8 \u4e0a \u3002   \u8f6e\u5f0f \u8f66\u8f86 \u53ef\u80fd \u6709 \u591a\u4e2a \u8f6c\u5411 \u673a\u6784 \uff0c \u6bcf\u4e2a \u8f6c\u5411 \u673a\u6784 \u4e0e \u4e0d\u540c \u7684 \u8f6c\u5411 \u8f66\u8f74 \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u540c\u6837 \uff0c \u5355\u4e2a \u8f6c\u5411 \u673a\u6784 \u53ef\u4ee5 \u8fde\u63a5 \u5230 \u591a\u4e2a \u8f6c\u5411 \u8f66\u8f74 \u3002   \u8f6c\u5411 \u81c2   \u8be5 \u8f6c\u5411 \u673a\u6784 \u4e3a \u56db \u8fde\u6746 \u673a\u6784 \u8fde\u6746\u673a\u6784 \uff0c \u8f6c\u5411 \u8fde\u6746 \u4f53 \u901a\u8fc7 \u8f6c\u5411 \u81c2 \u548c \u60f0\u81c2 \u4e0e \u5e95\u76d8 \u76f8\u8fde \u3002 \u8f6c\u5411 \u81c2\u4f53 \u901a\u8fc7 \u4e07\u5411 \u4e07\u5411\u8282 \u4e0e \u8f6c\u5411 \u8fde\u6746 \u76f8\u8fde \uff0c \u901a\u8fc7 \u65cb\u8f6c \u8f6c\u5173 \u5173\u8282 \u65cb\u8f6c\u5173\u8282 \u4e0e \u5e95\u76d8 \u76f8\u8fde \u3002 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f6c\u5411 \u8f93\u5165 \u7528\u4e8e \u63a7\u5236 \u65cb\u8f6c \u8f6c\u5173 \u5173\u8282 \u65cb\u8f6c\u5173\u8282 \u7684 \u89d2\u5ea6 \u3002 \u5728   Chrono : : Vehicle   \u8f6c\u5411 \u81c2 \u6a21\u677f \u4e2d \uff0c \u60f0\u81c2 \u91c7\u7528 \u590d\u5408 \u65cb\u8f6c \u7403 \u5173\u8282 \u5efa\u6a21 \u3002   \u53c2\u89c1   ChPitmanArm   \u548c   PitmanArm   \u3002   \u672c \u8f6c\u5411 \u673a\u6784 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u627f \u529b\u70b9 \u5982\u4e0b \uff1a   \u5177\u6709   PitmanArm   \u8f6c\u5411 \u673a\u6784 \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u5982\u4e0b \uff1a   {   \" Name \" :   \" HMMWV   Pitman   Arm   Steering \" ,   \" Type \" :   \" Steering \" ,   \" Template \" :   \" PitmanArm \" ,   \" Vehicle - Frame   Inertia \" :   false ,   \" Steering   Link \" :   {   \" Mass \" :   3.681 ,   \" COM \" :   [ 0.129 ,   0 ,   0 ] ,   \" Moments   of   Inertia \" :   [ 0.252 ,   0.00233 ,   0.254 ] ,   \" Products   of   Inertia \" :   [ 0 ,   0 ,   0 ] ,   \" Radius \" :   0.03   } ,   \" Pitman   Arm \" :   {   \" Mass \" :   1.605 ,   \" COM \" :   [ 0.064 ,   0.249 ,   0 ] ,   \" Moments   of   Inertia \" :   [ 0.00638 ,   0.00756 ,   0.00150 ] ,   \" Products   of   Inertia \" :   [ 0 ,   0 ,   0 ] ,   \" Radius \" :   0.02   } ,   \" Revolute   Joint \" :   {   \" Location \" :   [ 0 ,   0.249 ,   0 ] ,   \" Direction \" :   [ 0 ,   0 ,   1 ] ,   \" Maximum   Angle   ( deg ) \" :   30   } ,   \" Universal   Joint \" :   {   \" Location \" :   [   0.129 ,   0.249 ,   0 ] ,   \" Direction   Arm \" :   [ 0 ,   0 ,   1 ] ,   \" Direction   Link \" :   [ 1 ,   0 ,   0 ]   } ,   \" Revolute - Spherical   Joint \" :   {   \" Location   Chassis \" :   [ 0 ,   - 0.325 ,   0 ] ,   \" Location   Link \" :   [ 0.129 ,   - 0.325 ,   0 ] ,   \" Direction \" :   [ 0 ,   0 ,   1 ]   } ,   \" Tierod   Locations \" :   {   \" Pitman   Side \" :   [ 0.195 ,   0.448 ,   0.035 ] ,   \" Idler   Side \" :   [ 0.195 ,   - 0.448 ,   0.035 ]   }   }   \u9f7f\u6761 \u9f7f\u8f6e   Chrono : : Vehicle   \u9f7f\u6761 \u9f7f\u8f6e \u8f6c\u5411 \u6a21\u677f \u662f \u9f7f\u6761 \u9f7f\u8f6e \u8f6c\u5411 \u673a\u6784 \u7684 \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u6a21\u578b \u3002 \u8f6c\u5411 \u8fde\u6746 \u4f53 \u901a\u8fc7 \u68f1\u67f1 \u5173\u8282 \u8fde\u63a5 \u5230 \u5e95\u76d8 \u3002 \u9f7f\u6761 \u4f4d\u79fb \u8ba1\u7b97 \u5982\u4e0b \uff1a   d =   r   \uff08 \u03b1 \u6700\u5927 \u9650\u5ea6 s   )   \u5176\u4e2d r \u662f \u5c0f\u9f7f \u9f7f\u8f6e \u5c0f\u9f7f\u8f6e \u534a\u5f84 \uff0c \u03b1 \u6700\u5927 \u9650\u5ea6   \u662f \u6700\u5927 \u5c0f\u9f7f \u9f7f\u8f6e \u5c0f\u9f7f\u8f6e \u89d2 \uff0c \u5e76\u4e14 s   \u2208   [   \u2212   1   ,   1   ] \u662f \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u8f6c\u5411 \u8f93\u5165 \u3002 \u8be5 \u4f4d\u79fb \u7528\u4e8e \u63a7\u5236 \u8f6c\u5411 \u8fde\u6746 \u7684 \u5e73\u79fb \u3002   \u53c2\u89c1   ChRackPinion   \u548c   RackPinion   \u3002   \u672c \u8f6c\u5411 \u673a\u6784 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u53d7\u529b \u70b9 \u5982\u4e0b \uff1a   \u5177\u6709   RackPinion   \u8f6c\u5411 \u673a\u6784 \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u5982\u4e0b \uff1a   {   \" Name \" :   \" HMMWV   Rack - Pinion   Steering \" ,   \" Type \" :   \" Steering \" ,   \" Template \" :   \" RackPinion \" ,   \" Steering   Link \" :   {   \" Mass \" :   9.072 ,   \" COM \" :   0 ,   \" Inertia \" :   [ 1 ,   1 ,   1 ] ,   \" Radius \" :   0.03 ,   \" Length \" :   0.896   } ,   \" Pinion \" :   {   \" Radius \" :   0.1 ,   \" Maximum   Angle   ( deg ) \" :   50   }   }   \u65cb\u81c2   \u65cb\u8f6c \u81c2 \u8f6c\u5411 \u662f \u4e00\u79cd \u7ed5\u8f74 \u65cb\u8f6c \u7684 \u7b80\u5355 \u6760\u6746 \u81c2 \u3002 \u5b83 \u4e0e \u5b9e\u5fc3 \u6447\u81c2 \u8f74 \u548c \u5b9e\u5fc3 \u524d\u675f \u8f74 \u914d\u5408 \u4f7f\u7528 \u3002 \u5b83 \u901a\u5e38 \u7528\u4f5c \u5361\u8f66 \u3001 \u519c\u7528 \u62d6\u62c9 \u62d6\u62c9\u673a \u548c \u8054\u5408 \u6536\u5272 \u5272\u673a \u6536\u5272\u673a \u7684 \u8f6c\u5411 \u7cfb\u7edf \u3002   \u53c2\u89c1   ChRotaryArm   \u548c   RotaryArm   \u3002   \u672c \u8f6c\u5411 \u673a\u6784 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u53d7\u529b \u70b9 \u5982\u4e0b \uff1a   \u5177\u6709   RotaryArm   \u8f6c\u5411 \u673a\u6784 \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u5982\u4e0b \uff1a   {   \" Name \" :   \" UAZBUS   Rotary - Arm   Steering \" ,   \" Type \" :   \" Steering \" ,   \" Template \" :   \" RotaryArm \" ,   \" Pitman   Arm \" :   {   \" Mass \" :   5.0 ,   \" Inertia \" :   [ 0.00638 ,   0.00756 ,   0.00150 ] ,   \" Inertia   Products \" :   [ 0 ,   0 ,   0 ] ,   \" Radius \" :   0.03 ,   \" Axis   of   Rotation \" :   [ 0 ,   1 ,   0 ] ,   / /   arm - chassis   revolute   joint   \" Point   of   Rotation \" :   [ 0.6 ,   0.5325 ,   0.4 ] ,   / /   location   of   chassis   connection   \" Point   to   Draglink \" :   [ 0.6 ,   0.5325 ,   0.2 ] ,   / /   location   of   draglink   connection   \" Maximum   Angle   ( deg ) \" :   12.5   }   }","title":"\u8f6c\u5411 \u673a\u6784 \u6a21\u578b"},{"location":"chrono/wheeled_steering/#_1","text":"\u8f6c\u5411 \u81c2   \u9f7f\u6761 \u9f7f\u8f6e   \u65cb\u81c2   \u57fa\u7c7b   ChSteering   \u89c4\u5b9a \u4efb\u4f55 \u6d3e\u751f \u7684 \u8f6c\u5411 \u673a\u6784 \u7c7b \uff08 \u8f6c\u5411 \u673a\u6784 \u6a21\u677f \uff09 \u90fd \u5e94 \u63d0\u4f9b \u4e00\u4e2a \u8f6c\u5411 \u8fde\u6746 \u4f53 \uff0c \u53ef \u8f6c\u5411 \u60ac\u67b6 \u53ef\u4ee5 \u4e0e\u5176 \u8fde\u63a5 \uff08 \u901a\u5e38 \u901a\u8fc7 \u60ac\u67b6 \u7684 \u8f6c\u5411 \u8fde\u6746 \uff09 \u3002   \u6d3e\u751f \u8f6c\u5411 \u673a\u6784 \u7c7b\u578b \u5b9a\u4e49 \u7c7b\u578b\u5b9a\u4e49 \u7279\u5b9a \u7c7b\u578b \u7684 \u8f6c\u5411 \u673a\u6784 \u7684 \u4e3b\u4f53 \u3001 \u5173\u8282 \u3001 \u529b \u5143\u7d20 \u548c \u62d3\u6251 \u3002 \u6240\u6709 \u4f4d\u7f6e \u5747 \u5047\u5b9a \u76f8\u5bf9 \u4e8e \u673a\u6784 \u53c2\u8003 \u53c2\u8003\u7cfb \u63d0\u4f9b \uff08 \u6d3e\u751f \u8f6c\u5411 \u673a\u6784 \u7c7b\u578b \u53ef\u4ee5 \u81ea\u7531 \u9009\u62e9 \u81ea\u7531\u9009\u62e9 \u6b64 \u6846\u67b6 \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \uff09 \u3002   \u901a\u8fc7 \u6307\u5b9a \u673a\u6784 \u7ec4\u4ef6 \u53c2\u8003 \u53c2\u8003\u7cfb \u76f8\u5bf9 \u4e8e \u5e95\u76d8 \u53c2\u8003 \u53c2\u8003\u7cfb \u7684 \u4f4d\u7f6e \u548c \u65b9\u5411 \uff08 \u53c2\u89c1   ISO   \u53c2\u8003 \u53c2\u8003\u7cfb   \u7684 \u5b9a\u4e49 \uff09 \uff0c \u5c06 \u8f6c\u5411 \u673a\u6784 \u7ec4\u4ef6 \u5b89\u88c5 \u5230 \u8f66\u8f86 \u5e95\u76d8 \u4e0a \u3002   \u8f6e\u5f0f \u8f66\u8f86 \u53ef\u80fd \u6709 \u591a\u4e2a \u8f6c\u5411 \u673a\u6784 \uff0c \u6bcf\u4e2a \u8f6c\u5411 \u673a\u6784 \u4e0e \u4e0d\u540c \u7684 \u8f6c\u5411 \u8f66\u8f74 \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u540c\u6837 \uff0c \u5355\u4e2a \u8f6c\u5411 \u673a\u6784 \u53ef\u4ee5 \u8fde\u63a5 \u5230 \u591a\u4e2a \u8f6c\u5411 \u8f66\u8f74 \u3002","title":"\u8f6c\u5411 \u673a\u6784 \u6a21\u578b"},{"location":"chrono/wheeled_steering/#_2","text":"\u8be5 \u8f6c\u5411 \u673a\u6784 \u4e3a \u56db \u8fde\u6746 \u673a\u6784 \u8fde\u6746\u673a\u6784 \uff0c \u8f6c\u5411 \u8fde\u6746 \u4f53 \u901a\u8fc7 \u8f6c\u5411 \u81c2 \u548c \u60f0\u81c2 \u4e0e \u5e95\u76d8 \u76f8\u8fde \u3002 \u8f6c\u5411 \u81c2\u4f53 \u901a\u8fc7 \u4e07\u5411 \u4e07\u5411\u8282 \u4e0e \u8f6c\u5411 \u8fde\u6746 \u76f8\u8fde \uff0c \u901a\u8fc7 \u65cb\u8f6c \u8f6c\u5173 \u5173\u8282 \u65cb\u8f6c\u5173\u8282 \u4e0e \u5e95\u76d8 \u76f8\u8fde \u3002 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8f6c\u5411 \u8f93\u5165 \u7528\u4e8e \u63a7\u5236 \u65cb\u8f6c \u8f6c\u5173 \u5173\u8282 \u65cb\u8f6c\u5173\u8282 \u7684 \u89d2\u5ea6 \u3002 \u5728   Chrono : : Vehicle   \u8f6c\u5411 \u81c2 \u6a21\u677f \u4e2d \uff0c \u60f0\u81c2 \u91c7\u7528 \u590d\u5408 \u65cb\u8f6c \u7403 \u5173\u8282 \u5efa\u6a21 \u3002   \u53c2\u89c1   ChPitmanArm   \u548c   PitmanArm   \u3002   \u672c \u8f6c\u5411 \u673a\u6784 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u627f \u529b\u70b9 \u5982\u4e0b \uff1a   \u5177\u6709   PitmanArm   \u8f6c\u5411 \u673a\u6784 \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u5982\u4e0b \uff1a   {   \" Name \" :   \" HMMWV   Pitman   Arm   Steering \" ,   \" Type \" :   \" Steering \" ,   \" Template \" :   \" PitmanArm \" ,   \" Vehicle - Frame   Inertia \" :   false ,   \" Steering   Link \" :   {   \" Mass \" :   3.681 ,   \" COM \" :   [ 0.129 ,   0 ,   0 ] ,   \" Moments   of   Inertia \" :   [ 0.252 ,   0.00233 ,   0.254 ] ,   \" Products   of   Inertia \" :   [ 0 ,   0 ,   0 ] ,   \" Radius \" :   0.03   } ,   \" Pitman   Arm \" :   {   \" Mass \" :   1.605 ,   \" COM \" :   [ 0.064 ,   0.249 ,   0 ] ,   \" Moments   of   Inertia \" :   [ 0.00638 ,   0.00756 ,   0.00150 ] ,   \" Products   of   Inertia \" :   [ 0 ,   0 ,   0 ] ,   \" Radius \" :   0.02   } ,   \" Revolute   Joint \" :   {   \" Location \" :   [ 0 ,   0.249 ,   0 ] ,   \" Direction \" :   [ 0 ,   0 ,   1 ] ,   \" Maximum   Angle   ( deg ) \" :   30   } ,   \" Universal   Joint \" :   {   \" Location \" :   [   0.129 ,   0.249 ,   0 ] ,   \" Direction   Arm \" :   [ 0 ,   0 ,   1 ] ,   \" Direction   Link \" :   [ 1 ,   0 ,   0 ]   } ,   \" Revolute - Spherical   Joint \" :   {   \" Location   Chassis \" :   [ 0 ,   - 0.325 ,   0 ] ,   \" Location   Link \" :   [ 0.129 ,   - 0.325 ,   0 ] ,   \" Direction \" :   [ 0 ,   0 ,   1 ]   } ,   \" Tierod   Locations \" :   {   \" Pitman   Side \" :   [ 0.195 ,   0.448 ,   0.035 ] ,   \" Idler   Side \" :   [ 0.195 ,   - 0.448 ,   0.035 ]   }   }","title":"\u8f6c\u5411 \u81c2  "},{"location":"chrono/wheeled_steering/#_3","text":"Chrono : : Vehicle   \u9f7f\u6761 \u9f7f\u8f6e \u8f6c\u5411 \u6a21\u677f \u662f \u9f7f\u6761 \u9f7f\u8f6e \u8f6c\u5411 \u673a\u6784 \u7684 \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u6a21\u578b \u3002 \u8f6c\u5411 \u8fde\u6746 \u4f53 \u901a\u8fc7 \u68f1\u67f1 \u5173\u8282 \u8fde\u63a5 \u5230 \u5e95\u76d8 \u3002 \u9f7f\u6761 \u4f4d\u79fb \u8ba1\u7b97 \u5982\u4e0b \uff1a   d =   r   \uff08 \u03b1 \u6700\u5927 \u9650\u5ea6 s   )   \u5176\u4e2d r \u662f \u5c0f\u9f7f \u9f7f\u8f6e \u5c0f\u9f7f\u8f6e \u534a\u5f84 \uff0c \u03b1 \u6700\u5927 \u9650\u5ea6   \u662f \u6700\u5927 \u5c0f\u9f7f \u9f7f\u8f6e \u5c0f\u9f7f\u8f6e \u89d2 \uff0c \u5e76\u4e14 s   \u2208   [   \u2212   1   ,   1   ] \u662f \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u8f6c\u5411 \u8f93\u5165 \u3002 \u8be5 \u4f4d\u79fb \u7528\u4e8e \u63a7\u5236 \u8f6c\u5411 \u8fde\u6746 \u7684 \u5e73\u79fb \u3002   \u53c2\u89c1   ChRackPinion   \u548c   RackPinion   \u3002   \u672c \u8f6c\u5411 \u673a\u6784 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u53d7\u529b \u70b9 \u5982\u4e0b \uff1a   \u5177\u6709   RackPinion   \u8f6c\u5411 \u673a\u6784 \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u5982\u4e0b \uff1a   {   \" Name \" :   \" HMMWV   Rack - Pinion   Steering \" ,   \" Type \" :   \" Steering \" ,   \" Template \" :   \" RackPinion \" ,   \" Steering   Link \" :   {   \" Mass \" :   9.072 ,   \" COM \" :   0 ,   \" Inertia \" :   [ 1 ,   1 ,   1 ] ,   \" Radius \" :   0.03 ,   \" Length \" :   0.896   } ,   \" Pinion \" :   {   \" Radius \" :   0.1 ,   \" Maximum   Angle   ( deg ) \" :   50   }   }","title":"\u9f7f\u6761 \u9f7f\u8f6e  "},{"location":"chrono/wheeled_steering/#_4","text":"\u65cb\u8f6c \u81c2 \u8f6c\u5411 \u662f \u4e00\u79cd \u7ed5\u8f74 \u65cb\u8f6c \u7684 \u7b80\u5355 \u6760\u6746 \u81c2 \u3002 \u5b83 \u4e0e \u5b9e\u5fc3 \u6447\u81c2 \u8f74 \u548c \u5b9e\u5fc3 \u524d\u675f \u8f74 \u914d\u5408 \u4f7f\u7528 \u3002 \u5b83 \u901a\u5e38 \u7528\u4f5c \u5361\u8f66 \u3001 \u519c\u7528 \u62d6\u62c9 \u62d6\u62c9\u673a \u548c \u8054\u5408 \u6536\u5272 \u5272\u673a \u6536\u5272\u673a \u7684 \u8f6c\u5411 \u7cfb\u7edf \u3002   \u53c2\u89c1   ChRotaryArm   \u548c   RotaryArm   \u3002   \u672c \u8f6c\u5411 \u673a\u6784 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u53d7\u529b \u70b9 \u5982\u4e0b \uff1a   \u5177\u6709   RotaryArm   \u8f6c\u5411 \u673a\u6784 \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \u5982\u4e0b \uff1a   {   \" Name \" :   \" UAZBUS   Rotary - Arm   Steering \" ,   \" Type \" :   \" Steering \" ,   \" Template \" :   \" RotaryArm \" ,   \" Pitman   Arm \" :   {   \" Mass \" :   5.0 ,   \" Inertia \" :   [ 0.00638 ,   0.00756 ,   0.00150 ] ,   \" Inertia   Products \" :   [ 0 ,   0 ,   0 ] ,   \" Radius \" :   0.03 ,   \" Axis   of   Rotation \" :   [ 0 ,   1 ,   0 ] ,   / /   arm - chassis   revolute   joint   \" Point   of   Rotation \" :   [ 0.6 ,   0.5325 ,   0.4 ] ,   / /   location   of   chassis   connection   \" Point   to   Draglink \" :   [ 0.6 ,   0.5325 ,   0.2 ] ,   / /   location   of   draglink   connection   \" Maximum   Angle   ( deg ) \" :   12.5   }   }","title":"\u65cb\u81c2  "},{"location":"chrono/wheeled_suspension/","text":"\u60ac\u6302 \u6a21\u578b   \u60ac \u67b6\u5b50 \u7cfb\u7edf \u662f \u8f6e\u5f0f \u8f66\u8f86 \u7684 \u4e00\u4e2a \u8f74 \u7684 \u6a21\u578b \u3002 \u57fa\u7c7b   ChSuspension   \u89c4\u5b9a \uff0c \u4efb\u4f55 \u6d3e\u751f \u7684 \u60ac\u67b6 \u7c7b \uff08 \u60ac\u67b6 \u6a21\u677f \uff09 \u90fd \u63d0\u4f9b \u4e24\u4e2a \u8f66\u8f6e \u4e3b\u8f74 \uff08 \u5de6\u548c\u53f3 \uff09 \uff0c \u6bcf\u4e2a \u8f66\u8f6e \u4e3b\u8f74 \u901a\u8fc7 \u65cb\u8f6c \u63a5\u5934 \u8fde\u63a5 \u5230 \u8be5 \u7c7b\u578b \u60ac\u67b6 \u7684 \u67d0\u4e2a \u90e8\u5206 \uff0c \u4ee5\u53ca \u4e24\u4e2a \u4e3b\u8f74 \u8f74 \uff08   ChShaft   \u7c7b\u578b \u7684 \u5143\u7d20 \uff09 \uff0c \u5982\u679c \u8be5 \u8f74 \u88ab \u9a71\u52a8 \uff0c \u5219 \u53ef \u8fde\u63a5 \u5230 \u8f66\u8f86 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u3002   \u6d3e\u751f \u60ac\u67b6 \u7c7b\u578b \u5b9a\u4e49 \u7c7b\u578b\u5b9a\u4e49 \u4e86 \u7279\u5b9a \u7c7b\u578b \u60ac\u67b6 \u7684 \u4e3b\u4f53 \u3001 \u5173\u8282 \u3001 \u529b \u5143\u7d20 \u548c \u62d3\u6251 \u7ed3\u6784 \u3002 \u6240\u6709 \u4f4d\u7f6e \u5747 \u5047\u5b9a \u76f8\u5bf9 \u4e8e \u60ac\u67b6 \u53c2\u8003 \u53c2\u8003\u7cfb \u63d0\u4f9b \uff08 \u6d3e\u751f \u60ac\u67b6 \u7c7b\u578b \u53ef\u4ee5 \u81ea\u7531 \u9009\u62e9 \u81ea\u7531\u9009\u62e9 \u6b64 \u53c2\u8003 \u53c2\u8003\u7cfb \u7684 \u4f4d\u7f6e \uff0c \u4f46 \u4e0d\u80fd \u9009\u62e9 \u5176 \u65b9\u5411 \uff0c \u5047\u5b9a \u65b9\u5411 \u4e0e \u5e95\u76d8   ISO   \u53c2\u8003 \u53c2\u8003\u7cfb \u5e73\u884c \uff09 \u3002   \u901a\u8fc7 \u6307\u5b9a \u60ac\u67b6 \u7ec4\u4ef6 \u53c2\u8003 \u53c2\u8003\u7cfb \u76f8\u5bf9 \u4e8e \u5e95\u76d8 \u53c2\u8003 \u53c2\u8003\u7cfb \u7684 \u4f4d\u7f6e \uff08 \u53c2\u89c1   ISO   \u53c2\u8003 \u53c2\u8003\u7cfb   \u7684 \u5b9a\u4e49 \uff09 \uff0c \u5c06 \u60ac\u67b6 \u7ec4\u4ef6 \u8fde\u63a5 \u5230 \u8f66\u8f86 \u5e95\u76d8 \u4e0a \u3002   \u53cc\u53c9\u81c2   \u72ec\u7acb \u64cd\u7eb5 \u53ef\u64cd\u7eb5 \u60ac\u67b6 \uff0c \u4f7f\u7528 \u4e24\u4e2a \u53c9\u81c2 \u63a7\u5236 \u81c2 \uff08 \u4e5f \u79f0\u4e3a   A   \u81c2 \uff09 \u8fde\u63a5 \u8f6c\u5411 \u8f6c\u5411\u8282 \u548c \u5e95\u76d8 \u3002 \u7528\u4f5c HMMWV \u8f66\u8f86 \u6a21\u578b \u7684 \u60ac\u67b6 \u524d\u60ac\u67b6 \u548c \u540e \u60ac\u67b6 \u3002   \u53c2\u89c1   ChDoubleWishbone   \u548c   DoubleWishbone   \u3002 \uff08 wishbone   \u53c9 \u9aa8 \uff0c \u5982\u613f \u9aa8 \uff08 \u5403 \u5bb6\u79bd \u7b49 \u65f6 \u4e24\u4eba \u5c06 \u9888 \u4e0e \u80f8 \u4e4b\u95f4 \u7684   V   \u5f62\u9aa8 \u62c9\u5f00 \uff0c \u5f97 \u5927\u5757 \u9aa8\u8005 \u53ef \u8bb8\u613f \uff09 \uff09 \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u53cc\u53c9\u81c2 \uff08 \u7b80\u5316 \uff09   \u8fd9\u79cd \u7b80\u5316 \u7684 \u53cc\u53c9\u81c2 \u60ac\u67b6 \u6a21\u677f \u4f7f\u7528 \u4e24\u4e2a \u8ddd\u79bb \u7ea6\u675f \u6765 \u6a21\u62df \u4e0b \u63a7\u5236 \u81c2 \u548c \u4e0a \u63a7\u5236 \u81c2 \u3002 \u5f53 \u63a7\u5236 \u81c2 \u7684 \u8d28\u91cf \u548c \u60ef\u6027 \u76f8\u5bf9 \u4e8e \u7cfb\u7edf \u4e2d \u7684 \u5176\u4ed6 \u7269\u4f53 \u8f83 \u5c0f \uff0c \u56e0\u6b64 \u53ef\u4ee5 \u5ffd\u7565 \u4e0d\u8ba1 \u5ffd\u7565\u4e0d\u8ba1 \u65f6 \uff0c \u8fd9\u79cd \u60ac\u67b6 \u7c7b\u578b \u662f \u5408\u9002 \u7684 \u3002   \u53c2\u89c1   ChDoubleWishboneReduced   \u548c   DoubleWishboneReduced   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u9ea6\u5f17\u900a \u652f\u67f1   \u53ef \u8f6c\u5411 \u72ec\u7acb \u60ac\u67b6 \u7cfb\u7edf \uff0c \u9002\u7528 \u4e8e \u524d\u8f6e \u9a71\u52a8 \u524d\u8f6e\u9a71\u52a8 \u3001 \u6a2a\u5411 \u5b89\u88c5 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a / \u53d8\u901f \u53d8\u901f\u7bb1 \u7684 \u4e2d\u5c0f \u5c0f\u578b \u4e2d\u5c0f\u578b \u7528\u8f66 \u4e58\u7528\u8f66 \u3002   \u53c2\u89c1   ChMacPhersonStrut   \u548c   MacPhersonStrut   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u591a \u8fde\u6746   \u8be5 \u60ac\u67b6 \u7cfb\u7edf \u7c7b\u4f3c \u4e8e \u53cc\u53c9\u81c2 \u8f74 \uff0c \u62d6\u66f3 \u81c2 \u53ef\u4ee5 \u627f\u53d7 \u8f83\u5927 \u7684 \u7eb5\u5411 \u529b \u3002   \u53c2\u89c1   ChMultiLink   \u548c   MultiLink   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u534a \u62d6\u66f3 \u81c2   \u5c0f\u578b \u7528\u8f66 \u4e58\u7528\u8f66 \u91c7\u7528 \u7b80\u5355 \u7684 \u72ec\u7acb \u8f74 \u7cfb\u7edf \u4f5c\u4e3a \u540e \u60ac\u67b6 \u3002   \u53c2\u89c1   ChSemiTrailingArm   \u548c   SemiTrailingArm   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u5b9e\u5fc3 \u8f74   \u7531 \u56db\u4e2a \u8fde\u6746 \u5f15\u5bfc \u7684 \u5b9e\u5fc3 \u8f74 \u7cfb\u7edf \u3002 \u5b83 \u901a\u5e38 \u4f7f\u7528 \u87ba\u65cb \u5f39\u7c27 \u87ba\u65cb\u5f39\u7c27 \u6216 \u7a7a\u6c14 \u5f39\u7c27 \uff0c \u5e38\u89c1 \u89c1\u4e8e \u5e38\u89c1\u4e8e \u8f83 \u65e7 \u7684 \u7528\u8f66 \u4e58\u7528\u8f66 \u3002   \u53c2\u89c1   ChSolidAxle   \u548c   SolidAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u5b9e\u5fc3 \u4e09 \u8fde\u6746 \u8f74   \u7528\u4f5c   MAN   5t   \u3001   MAN   7t   \u548c   MAN   10t   \u5361\u8f66 \u578b\u53f7 \u7684 \u540e \u60ac\u67b6 \u3002 \u8fd9\u79cd \u60ac\u67b6 \u5141\u8bb8 \u975e\u5e38 \u9ad8 \u7684 \u8f66\u8f6e \u884c\u7a0b \uff0c \u8fd9\u662f \u677f\u7c27 \u65e0\u6cd5 \u5b9e\u73b0 \u7684 \u3002 \u5b83 \u4e5f \u7528\u4e8e \u5e26\u6709 \u7a7a\u6c14 \u5f39\u7c27 \u7684 \u516c\u8def \u5361\u8f66 \u3002 \u7a7a\u6c14 \u5f39\u7c27 \u548c \u87ba\u65cb \u5f39\u7c27 \u87ba\u65cb\u5f39\u7c27 \u9700\u8981 \u7531 \u8fde\u6746 \u5f15\u5bfc \u7684 \u60ac\u67b6 \u3002   \u53c2\u89c1   ChSolidThreeLinkAxle   \u548c   SolidThreeLinkAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u5e26 \u6447\u81c2 \u7684 \u5b9e\u5fc3 \u4e09 \u8fde\u6746 \u8f74   \u7528\u4f5c   MAN   5t   \u3001   MAN   7t   \u548c   MAN   10t   \u5361\u8f66 \u578b\u53f7 \u7684 \u60ac\u67b6 \u524d\u60ac\u67b6 \u3002   \u53c2\u89c1   ChSolidBellcrankThreeLinkAxle   \u548c   SolidBellcrankThreeLinkAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u677f\u7c27 \u5b9e\u5fc3 \u8f74   \u7528\u4f5c   UAZ   \u8f66\u578b \u7684 \u540e \u60ac\u67b6 \u3002 \u677f\u7c27 \u8f74 \u5177\u6709 \u590d\u6742 \u7684 \u5bfc\u5411 \u884c\u4e3a \u3002 \u8fd9\u662f \u4e00\u79cd \u6a21\u62df \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c \u5176\u4e2d \u677f\u7c27 \u7684 \u5bfc\u5411 \u6548\u679c \u901a\u8fc7 \u8f74\u7ba1 \u4e2d\u5fc3 \u7684 \u7279\u6b8a \u63a5\u5934 \u6a21\u62df \u3002 \u60ac\u67b6 \u6548\u679c \u7531 \u87ba\u65cb \u5f39\u7c27 \u87ba\u65cb\u5f39\u7c27 \u6a21\u62df \u3002 \u6eda\u52a8 \u884c\u4e3a \u63a5\u8fd1 \u771f\u5b9e \u7684 \u677f\u7c27 \u8f74 \u3002   \u53c2\u89c1   ChLeafspringAxle   \u548c   LeafspringAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u5e26\u8dbe\u6746 \u7684 \u677f\u7c27 \u5b9e\u5fc3 \u8f74   \u7528\u4f5c   UAZ   \u8f66\u578b \u7684 \u60ac\u67b6 \u524d\u60ac\u67b6 \u3002   \u53c2\u89c1   ChToeBarLeafspringAxle   \u548c   ToeBarLeafspringAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   SAE   \u677f\u7c27 \u5b9e\u5fc3 \u8f74   SAE   \u5f39\u7c27 \u8bbe\u8ba1 \u624b\u518c \u4ecb\u7ecd \u4e86 \u4e00\u79cd \u5728 \u8d1f\u8f7d \u6761\u4ef6 \u4e0b \u5177\u6709 \u771f\u5b9e \u53d8\u5f62 \u884c\u4e3a \u7684 \u677f\u7c27 \u5efa\u6a21 \u65b9\u6cd5 \u3002 \u677f\u7c27 \u7684 \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u53ef\u4ee5 \u7528   5   \u4e2a\u70b9 \u6765 \u5b9a\u4e49 \u3002 \u8fd9\u4e9b \u70b9 \u53ef \u7528\u4e8e \u5b9a\u4e49 \u7531   6   \u4e2a \u521a\u4f53 \uff08 \u524d \u677f\u7c27 \u3001 \u524d \u5939\u94b3 \u3001 \u540e \u5939\u94b3 \u3001 \u540e \u677f\u7c27 \u548c \u5378 \u6263 \uff09 \u7ec4\u6210 \u7684 \u677f\u7c27 \u3002 \u8fd9\u4e9b \u521a\u4f53 \u901a\u8fc7 \u5173\u8282 \u8fde\u63a5 \u3002 \u524d \u677f\u7c27 \u548c \u540e \u677f\u7c27 \u4ee5\u53ca \u524d \u5939\u94b3 \u548c \u540e \u5939\u94b3 \u7684 \u65cb\u8f6c \u5f39\u7c27 \u5177\u6709 \u65cb\u8f6c \u521a\u5ea6 \uff0c \u7528\u6237 \u53ef\u4ee5 \u8bbe\u7f6e \u8be5 \u521a\u5ea6 \u4ee5 \u5b9a\u4e49 \u6b63\u786e \u7684 \u884c\u4e3a \u3002 \u8be5 \u60ac\u67b6 \u7528\u4f5c   UAZ   \u8f66\u8f86   SAE   \u578b \u6a21\u578b \u7684 \u540e \u60ac\u67b6 \u3002 \u8be5 \u677f\u7c27 \u6a21\u578b \u53ef\u4ee5 \u6b63\u786e \u6a21\u62df \u7531\u4e8e \u8f66\u8f6e \u884c\u9a76 \u800c \u5f15\u8d77 \u7684 \u8f74\u4f53 \u8fd0\u52a8 \u4ee5\u53ca \u7531\u4e8e \u7eb5\u5411 \u529b\u800c \u5f15\u8d77 \u7684 \u675f\u7f1a \u6548\u5e94 \u3002   \u53c2\u89c1   ChSAELeafspringAxle   \u548c   SAELeafspringAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u5e26\u8dbe\u6746 \u7684   SAE   \u677f\u7c27 \u5b9e\u5fc3 \u8f74   \u7528\u4f5c   UAZ   SAE   \u578b \u8f66\u578b \u7684 \u60ac\u67b6 \u524d\u60ac\u67b6 \u3002 \u677f\u7c27 \u5b9a\u4e49 \u4e0e   SAE   \u677f\u7c27 \u8f74 \u76f8\u540c \u3002   \u53c2\u89c1   ChSAEToeBarLeafspringAxle   \u548c   SAEToeBarLeafspringAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u4e09 \u8fde\u6746 \u72ec\u7acb \u540e \u60ac\u67b6   \u4e09 \u8fde\u6746 \u72ec\u7acb \u540e \u60ac\u67b6   ( IRS ) \uff0c \u5982   Polaris   RZR   \u8f66\u8f86 \u4e0a \u6240\u89c1 \u3002   \u53c2\u89c1   ChThreeLinkIRS   \u548c   ThreeLinkIRS   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u521a\u6027 \u60ac\u6302   \u7b80\u5355 \u7ec4\u88c5 \uff0c \u4e3b\u8f74 \u76f4\u63a5 \u8fde\u63a5 \u5230\u8f74\u7ba1 \u4e0a \uff0c \u8f74\u7ba1 \u56fa\u5b9a \u5728 \u5e95\u76d8 \u4e0a \u3002 \u8fd9\u662f \u519c\u7528 \u62d6\u62c9 \u62d6\u62c9\u673a \u548c \u8054\u5408 \u6536\u5272 \u5272\u673a \u6536\u5272\u673a \u7684 \u5178\u578b \u88c5\u914d \u3002   \u53c2\u89c1   ChRigidSuspension   \u548c   RigidSuspension   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u521a\u6027 \u9500\u8f74   \u7b80\u5355 \u7ec4\u4ef6 \uff0c \u4e3b\u8f74 \u76f4\u63a5 \u8fde\u63a5 \u5230\u8f74\u7ba1 \u4e0a \uff0c \u53ef\u4ee5 \u56f4\u7ed5 \u67a2\u8f74 \u70b9 \u6446\u52a8 \uff0c \u62b5\u9760 \u5e95\u76d8 \u3002 \u5982\u679c \u9700\u8981 \u975e \u60ac\u6302 \u8f74 \u7cfb\u7edf \uff0c \u4f46 \u53c8 \u5fc5\u987b \u5728 \u8d77\u4f0f \u7684 \u5730\u5f62 \u4e0a \u884c\u9a76 \u4ee5 \u907f\u514d \u8f66\u8f6e \u62ac\u8d77 \uff0c \u5219 \u53ef\u4ee5 \u4f7f\u7528 \u6b64 \u7ec4\u4ef6 \u3002   \u53c2\u89c1   ChRigidPinnedAxle   \u548c   RigidPinnedAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a   \u901a\u7528 \u8f6e\u5f0f \u8f66\u8f86 \u60ac\u67b6 \u6a21\u677f   \u6b64 \u6a21\u677f \u5141\u8bb8 \u6307\u5b9a \u5177\u6709 \u4efb\u610f \u62d3\u6251 \u7684 \u7528\u6237 \u5b9a\u4e49 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60ac \u67b6\u5b50 \u7cfb\u7edf \u3002 \u901a\u8fc7 \u6dfb\u52a0 \u4e3b\u4f53 \u3001 \u5173\u8282 \u3001 \u8ddd\u79bb \u7ea6\u675f \u548c   TSDA   \u6765 \u6784\u5efa \u5177\u4f53 \u7684 \u60ac\u67b6 \u3002 \u6bcf\u4e2a \u5efa\u6a21 \u7ec4\u4ef6 \u90fd \u53ef\u4ee5 \u6807\u8bb0 \u4e3a \u201c \u955c\u50cf \u201d \u3002 \u7528\u6237 \u8d1f\u8d23 \u5b9a\u4e49 \u6240\u6709 \u975e \u955c\u50cf \u7ec4\u4ef6 \u548c \u5de6\u4fa7 \u955c\u50cf \u7ec4\u4ef6 \uff08 \u76f8\u5e94 \u7684 \u53f3\u4fa7 \u7ec4\u4ef6 \u4f1a \u81ea\u52a8 \u751f\u6210 \uff09 \u3002   \u53c2\u89c1   ChGenericWheeledSuspension   \u548c   GenericWheeledSuspension   \u3002","title":"\u60ac\u6302 \u6a21\u578b"},{"location":"chrono/wheeled_suspension/#_1","text":"\u60ac \u67b6\u5b50 \u7cfb\u7edf \u662f \u8f6e\u5f0f \u8f66\u8f86 \u7684 \u4e00\u4e2a \u8f74 \u7684 \u6a21\u578b \u3002 \u57fa\u7c7b   ChSuspension   \u89c4\u5b9a \uff0c \u4efb\u4f55 \u6d3e\u751f \u7684 \u60ac\u67b6 \u7c7b \uff08 \u60ac\u67b6 \u6a21\u677f \uff09 \u90fd \u63d0\u4f9b \u4e24\u4e2a \u8f66\u8f6e \u4e3b\u8f74 \uff08 \u5de6\u548c\u53f3 \uff09 \uff0c \u6bcf\u4e2a \u8f66\u8f6e \u4e3b\u8f74 \u901a\u8fc7 \u65cb\u8f6c \u63a5\u5934 \u8fde\u63a5 \u5230 \u8be5 \u7c7b\u578b \u60ac\u67b6 \u7684 \u67d0\u4e2a \u90e8\u5206 \uff0c \u4ee5\u53ca \u4e24\u4e2a \u4e3b\u8f74 \u8f74 \uff08   ChShaft   \u7c7b\u578b \u7684 \u5143\u7d20 \uff09 \uff0c \u5982\u679c \u8be5 \u8f74 \u88ab \u9a71\u52a8 \uff0c \u5219 \u53ef \u8fde\u63a5 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\u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u53cc\u53c9\u81c2"},{"location":"chrono/wheeled_suspension/#_3","text":"\u8fd9\u79cd \u7b80\u5316 \u7684 \u53cc\u53c9\u81c2 \u60ac\u67b6 \u6a21\u677f \u4f7f\u7528 \u4e24\u4e2a \u8ddd\u79bb \u7ea6\u675f \u6765 \u6a21\u62df \u4e0b \u63a7\u5236 \u81c2 \u548c \u4e0a \u63a7\u5236 \u81c2 \u3002 \u5f53 \u63a7\u5236 \u81c2 \u7684 \u8d28\u91cf \u548c \u60ef\u6027 \u76f8\u5bf9 \u4e8e \u7cfb\u7edf \u4e2d \u7684 \u5176\u4ed6 \u7269\u4f53 \u8f83 \u5c0f \uff0c \u56e0\u6b64 \u53ef\u4ee5 \u5ffd\u7565 \u4e0d\u8ba1 \u5ffd\u7565\u4e0d\u8ba1 \u65f6 \uff0c \u8fd9\u79cd \u60ac\u67b6 \u7c7b\u578b \u662f \u5408\u9002 \u7684 \u3002   \u53c2\u89c1   ChDoubleWishboneReduced   \u548c   DoubleWishboneReduced   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u53cc\u53c9\u81c2 \uff08 \u7b80\u5316 \uff09"},{"location":"chrono/wheeled_suspension/#_4","text":"\u53ef \u8f6c\u5411 \u72ec\u7acb \u60ac\u67b6 \u7cfb\u7edf \uff0c \u9002\u7528 \u4e8e \u524d\u8f6e \u9a71\u52a8 \u524d\u8f6e\u9a71\u52a8 \u3001 \u6a2a\u5411 \u5b89\u88c5 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a / \u53d8\u901f \u53d8\u901f\u7bb1 \u7684 \u4e2d\u5c0f \u5c0f\u578b \u4e2d\u5c0f\u578b \u7528\u8f66 \u4e58\u7528\u8f66 \u3002   \u53c2\u89c1   ChMacPhersonStrut   \u548c   MacPhersonStrut   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u9ea6\u5f17\u900a \u652f\u67f1"},{"location":"chrono/wheeled_suspension/#_5","text":"\u8be5 \u60ac\u67b6 \u7cfb\u7edf \u7c7b\u4f3c \u4e8e \u53cc\u53c9\u81c2 \u8f74 \uff0c \u62d6\u66f3 \u81c2 \u53ef\u4ee5 \u627f\u53d7 \u8f83\u5927 \u7684 \u7eb5\u5411 \u529b \u3002   \u53c2\u89c1   ChMultiLink   \u548c   MultiLink   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u591a \u8fde\u6746"},{"location":"chrono/wheeled_suspension/#_6","text":"\u5c0f\u578b \u7528\u8f66 \u4e58\u7528\u8f66 \u91c7\u7528 \u7b80\u5355 \u7684 \u72ec\u7acb \u8f74 \u7cfb\u7edf \u4f5c\u4e3a \u540e \u60ac\u67b6 \u3002   \u53c2\u89c1   ChSemiTrailingArm   \u548c   SemiTrailingArm   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u534a \u62d6\u66f3 \u81c2"},{"location":"chrono/wheeled_suspension/#_7","text":"\u7531 \u56db\u4e2a 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\u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u5e26 \u6447\u81c2 \u7684 \u5b9e\u5fc3 \u4e09 \u8fde\u6746 \u8f74"},{"location":"chrono/wheeled_suspension/#_10","text":"\u7528\u4f5c   UAZ   \u8f66\u578b \u7684 \u540e \u60ac\u67b6 \u3002 \u677f\u7c27 \u8f74 \u5177\u6709 \u590d\u6742 \u7684 \u5bfc\u5411 \u884c\u4e3a \u3002 \u8fd9\u662f \u4e00\u79cd \u6a21\u62df \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c \u5176\u4e2d \u677f\u7c27 \u7684 \u5bfc\u5411 \u6548\u679c \u901a\u8fc7 \u8f74\u7ba1 \u4e2d\u5fc3 \u7684 \u7279\u6b8a \u63a5\u5934 \u6a21\u62df \u3002 \u60ac\u67b6 \u6548\u679c \u7531 \u87ba\u65cb \u5f39\u7c27 \u87ba\u65cb\u5f39\u7c27 \u6a21\u62df \u3002 \u6eda\u52a8 \u884c\u4e3a \u63a5\u8fd1 \u771f\u5b9e \u7684 \u677f\u7c27 \u8f74 \u3002   \u53c2\u89c1   ChLeafspringAxle   \u548c   LeafspringAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u677f\u7c27 \u5b9e\u5fc3 \u8f74"},{"location":"chrono/wheeled_suspension/#_11","text":"\u7528\u4f5c   UAZ   \u8f66\u578b \u7684 \u60ac\u67b6 \u524d\u60ac\u67b6 \u3002   \u53c2\u89c1   ChToeBarLeafspringAxle   \u548c   ToeBarLeafspringAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u5e26\u8dbe\u6746 \u7684 \u677f\u7c27 \u5b9e\u5fc3 \u8f74"},{"location":"chrono/wheeled_suspension/#sae","text":"SAE   \u5f39\u7c27 \u8bbe\u8ba1 \u624b\u518c \u4ecb\u7ecd \u4e86 \u4e00\u79cd \u5728 \u8d1f\u8f7d \u6761\u4ef6 \u4e0b \u5177\u6709 \u771f\u5b9e \u53d8\u5f62 \u884c\u4e3a \u7684 \u677f\u7c27 \u5efa\u6a21 \u65b9\u6cd5 \u3002 \u677f\u7c27 \u7684 \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u53ef\u4ee5 \u7528   5   \u4e2a\u70b9 \u6765 \u5b9a\u4e49 \u3002 \u8fd9\u4e9b \u70b9 \u53ef \u7528\u4e8e \u5b9a\u4e49 \u7531   6   \u4e2a \u521a\u4f53 \uff08 \u524d \u677f\u7c27 \u3001 \u524d \u5939\u94b3 \u3001 \u540e \u5939\u94b3 \u3001 \u540e \u677f\u7c27 \u548c \u5378 \u6263 \uff09 \u7ec4\u6210 \u7684 \u677f\u7c27 \u3002 \u8fd9\u4e9b \u521a\u4f53 \u901a\u8fc7 \u5173\u8282 \u8fde\u63a5 \u3002 \u524d \u677f\u7c27 \u548c \u540e \u677f\u7c27 \u4ee5\u53ca \u524d \u5939\u94b3 \u548c \u540e \u5939\u94b3 \u7684 \u65cb\u8f6c \u5f39\u7c27 \u5177\u6709 \u65cb\u8f6c \u521a\u5ea6 \uff0c \u7528\u6237 \u53ef\u4ee5 \u8bbe\u7f6e \u8be5 \u521a\u5ea6 \u4ee5 \u5b9a\u4e49 \u6b63\u786e \u7684 \u884c\u4e3a \u3002 \u8be5 \u60ac\u67b6 \u7528\u4f5c   UAZ   \u8f66\u8f86   SAE   \u578b \u6a21\u578b \u7684 \u540e \u60ac\u67b6 \u3002 \u8be5 \u677f\u7c27 \u6a21\u578b \u53ef\u4ee5 \u6b63\u786e \u6a21\u62df \u7531\u4e8e \u8f66\u8f6e \u884c\u9a76 \u800c \u5f15\u8d77 \u7684 \u8f74\u4f53 \u8fd0\u52a8 \u4ee5\u53ca \u7531\u4e8e \u7eb5\u5411 \u529b\u800c \u5f15\u8d77 \u7684 \u675f\u7f1a \u6548\u5e94 \u3002   \u53c2\u89c1   ChSAELeafspringAxle   \u548c   SAELeafspringAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"SAE   \u677f\u7c27 \u5b9e\u5fc3 \u8f74"},{"location":"chrono/wheeled_suspension/#sae_1","text":"\u7528\u4f5c   UAZ   SAE   \u578b \u8f66\u578b \u7684 \u60ac\u67b6 \u524d\u60ac\u67b6 \u3002 \u677f\u7c27 \u5b9a\u4e49 \u4e0e   SAE   \u677f\u7c27 \u8f74 \u76f8\u540c \u3002   \u53c2\u89c1   ChSAEToeBarLeafspringAxle   \u548c   SAEToeBarLeafspringAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u5e26\u8dbe\u6746 \u7684   SAE   \u677f\u7c27 \u5b9e\u5fc3 \u8f74"},{"location":"chrono/wheeled_suspension/#_12","text":"\u4e09 \u8fde\u6746 \u72ec\u7acb \u540e \u60ac\u67b6   ( IRS ) \uff0c \u5982   Polaris   RZR   \u8f66\u8f86 \u4e0a \u6240\u89c1 \u3002   \u53c2\u89c1   ChThreeLinkIRS   \u548c   ThreeLinkIRS   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u4e09 \u8fde\u6746 \u72ec\u7acb \u540e \u60ac\u67b6"},{"location":"chrono/wheeled_suspension/#_13","text":"\u7b80\u5355 \u7ec4\u88c5 \uff0c \u4e3b\u8f74 \u76f4\u63a5 \u8fde\u63a5 \u5230\u8f74\u7ba1 \u4e0a \uff0c \u8f74\u7ba1 \u56fa\u5b9a \u5728 \u5e95\u76d8 \u4e0a \u3002 \u8fd9\u662f \u519c\u7528 \u62d6\u62c9 \u62d6\u62c9\u673a \u548c \u8054\u5408 \u6536\u5272 \u5272\u673a \u6536\u5272\u673a \u7684 \u5178\u578b \u88c5\u914d \u3002   \u53c2\u89c1   ChRigidSuspension   \u548c   RigidSuspension   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u521a\u6027 \u60ac\u6302"},{"location":"chrono/wheeled_suspension/#_14","text":"\u7b80\u5355 \u7ec4\u4ef6 \uff0c \u4e3b\u8f74 \u76f4\u63a5 \u8fde\u63a5 \u5230\u8f74\u7ba1 \u4e0a \uff0c \u53ef\u4ee5 \u56f4\u7ed5 \u67a2\u8f74 \u70b9 \u6446\u52a8 \uff0c \u62b5\u9760 \u5e95\u76d8 \u3002 \u5982\u679c \u9700\u8981 \u975e \u60ac\u6302 \u8f74 \u7cfb\u7edf \uff0c \u4f46 \u53c8 \u5fc5\u987b \u5728 \u8d77\u4f0f \u7684 \u5730\u5f62 \u4e0a \u884c\u9a76 \u4ee5 \u907f\u514d \u8f66\u8f6e \u62ac\u8d77 \uff0c \u5219 \u53ef\u4ee5 \u4f7f\u7528 \u6b64 \u7ec4\u4ef6 \u3002   \u53c2\u89c1   ChRigidPinnedAxle   \u548c   RigidPinnedAxle   \u3002   \u8be5 \u60ac\u6302 \u6a21\u677f \u7684 \u62d3\u6251 \u7ed3\u6784 \u4e3a \uff1a   \u786c\u70b9 \uff08 \u4ec5\u4e3a \u5de6\u4fa7 \u5b9a\u4e49 \u5e76 \u955c\u50cf \u6784\u5efa \u53f3\u4fa7 \uff09 \u662f \uff1a","title":"\u521a\u6027 \u9500\u8f74"},{"location":"chrono/wheeled_suspension/#_15","text":"\u6b64 \u6a21\u677f \u5141\u8bb8 \u6307\u5b9a \u5177\u6709 \u4efb\u610f \u62d3\u6251 \u7684 \u7528\u6237 \u5b9a\u4e49 \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u60ac \u67b6\u5b50 \u7cfb\u7edf \u3002 \u901a\u8fc7 \u6dfb\u52a0 \u4e3b\u4f53 \u3001 \u5173\u8282 \u3001 \u8ddd\u79bb \u7ea6\u675f \u548c   TSDA   \u6765 \u6784\u5efa \u5177\u4f53 \u7684 \u60ac\u67b6 \u3002 \u6bcf\u4e2a \u5efa\u6a21 \u7ec4\u4ef6 \u90fd \u53ef\u4ee5 \u6807\u8bb0 \u4e3a \u201c \u955c\u50cf \u201d \u3002 \u7528\u6237 \u8d1f\u8d23 \u5b9a\u4e49 \u6240\u6709 \u975e \u955c\u50cf \u7ec4\u4ef6 \u548c \u5de6\u4fa7 \u955c\u50cf \u7ec4\u4ef6 \uff08 \u76f8\u5e94 \u7684 \u53f3\u4fa7 \u7ec4\u4ef6 \u4f1a \u81ea\u52a8 \u751f\u6210 \uff09 \u3002   \u53c2\u89c1   ChGenericWheeledSuspension   \u548c   GenericWheeledSuspension   \u3002","title":"\u901a\u7528 \u8f6e\u5f0f \u8f66\u8f86 \u60ac\u67b6 \u6a21\u677f"},{"location":"chrono/wheeled_tire/","text":"\u8f6e\u80ce \u6a21\u578b   Chrono : : Vehicle   \u76ee\u524d \u652f\u6301 \u4e09\u79cd \u4e0d\u540c \u7c7b\u522b \u7684 \u8f6e\u80ce \u6a21\u578b \uff1a \u521a\u6027 \u3001 \u64cd\u63a7 \u548c \u6709\u9650 \u6709\u9650\u5143 \u3002   \u521a\u6027 \u8f6e\u80ce \u6a21\u578b   \u5904\u7406 \uff08 \u534a \u7ecf\u9a8c \uff09 \u8f6e\u80ce \u6a21\u578b   \u521a\u6027 \u8f6e\u80ce \u662f \u63d0\u4f9b \u7684 \u4e09\u79cd \u8f6e\u80ce \u7c7b\u522b \u4e2d \u6700 \u7b80\u5355 \u7684 \u4e00\u79cd \u3002 \u8fd9\u4e9b \u6a21\u578b \u7684 \u5047\u8bbe \u662f \u8f6e\u80ce \u5b8c\u5168 \u521a\u6027 \uff0c \u5e76\u4e14 \u5b83 \u901a\u8fc7 \u4e0e   Chrono   \u4e2d \u5176\u4ed6 \u521a\u4f53 \u76f8\u540c \u7684 \u5e95\u5c42 \u6469\u64e6 \u548c \u63a5\u89e6 \u7b97\u6cd5 \u4e0e \u5730\u9762 \u548c \u4efb\u4f55 \u5176\u4ed6 \u521a\u6027 \u7269\u4f53 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u3002 \u8fd9\u4e9b \u8f6e\u80ce \u7684 \u63a5\u89e6 \u51e0\u4f55 \u5f62\u72b6 \u53ef\u4ee5 \u50cf \u5706\u67f1 \u67f1\u4f53 \u5706\u67f1\u4f53 \u4e00\u6837 \u7b80\u5355 \uff0c \u4e5f \u53ef\u4ee5 \u50cf   3D   \u4e09\u89d2 \u7f51\u683c \u4e00\u6837 \u590d\u6742 \u3002 \u8fd9\u4e9b \u6a21\u578b \u4e0d\u4ec5 \u53ef \u7528\u4e8e \u8c03\u8bd5 \u6574\u4f53 \u8f66\u8f86 \u6a21\u578b \uff0c \u800c\u4e14 \u8fd8 \u53ef \u7528\u4e8e \u8fd0\u884c \u65f6 \u5f88 \u91cd\u8981 \u3001 \u5730\u5f62 \u6bd4 \u8f6e\u80ce \u8f6f\u5f97 \u591a\u4e14 \u4e0d \u9700\u8981 \u9ad8\u5ea6 \u8be6\u7ec6 \u7684 \u8f6e\u80ce \u6a21\u578b \u7684 \u60c5\u51b5 \u3002 \u4e8b\u5b9e \u4e8b\u5b9e\u4e0a \uff0c \u534a \u7ecf\u9a8c \u8f6e\u80ce \u6a21\u578b \u4e0d \u9002\u5408 \u8d8a\u91ce \u8d8a\u91ce\u8f66 \u6a21\u62df \uff0c \u5373 \u4f7f\u7528 \u53ef \u53d8\u5f62 \u5730\u5f62 \uff08 SCM \u3001 \u7c92\u72b6 \u6216 \u57fa\u4e8e   FEA \uff1b \u53c2\u9605 \u8bf7\u53c2\u9605 \u53ef\u7528 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u7684 \u63cf\u8ff0 \uff09 \u3002 \u5bf9\u4e8e \u6b64\u7c7b \u573a\u666f \uff0c \u521a\u6027 \u6216 \u57fa\u4e8e   FEA   \u7684 \u8f6e\u80ce \u6a21\u578b \u662f \u76ee\u524d \u5728   Chrono : : Vehicle   \u4e2d \u5b9e\u73b0 \u7684 \u4ec5 \u6709 \u7684 \u4e24\u4e2a \u53ef\u7528 \u9009\u9879 \u3002   \u53c2\u89c1   ChRigidTire   \u548c   RigidTire   \u3002   \u4ee5\u4e0b \u662f \u901a\u8fc7   Wavefront   OBJ   \u6587\u4ef6 \u63d0\u4f9b \u7f51\u683c \u51e0\u4f55 \u5f62\u72b6 \u7684 \u521a\u6027 \u8f6e\u80ce \u7684 \u793a\u4f8b \uff1a   {   \" Name \" :   \" HMMWV   Rigid   Mesh   Tire \" ,   \" Type \" :   \" Tire \" ,   \" Template \" :   \" RigidTire \" ,   \" Radius \" :   0.4699 ,   \" Width \" :   0.254 ,   \" Mass \" :   37.6 ,   \" Inertia \" :   [ 3.84 ,   6.69 ,   3.84 ] ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.1 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e7 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2e5 ,   \" Normal   Damping \" :   40.0 ,   \" Tangential   Stiffness \" :   2e5 ,   \" Tangential   Damping \" :   20.0   }   } ,   \" Contact   Mesh \" :   {   \" Mesh   Filename \" :   \" hmmwv / hmmwv _ tire _ fine . obj \" ,   \" Sweep   Sphere   Radius \" :   0.005   } ,   \" Visualization \" :   {   \" Mesh   Filename   Left \" :   \" hmmwv / hmmwv _ tire _ fine . obj \" ,   \" Mesh   Filename   Right \" :   \" hmmwv / hmmwv _ tire _ fine . obj \"   }   }   \u5904\u7406 \uff08 \u534a \u7ecf\u9a8c \uff09 \u8f6e\u80ce \u6a21\u578b   \u63d0\u4f9b \u7684 \u7b2c\u4e8c \u4e8c\u7c7b \u7b2c\u4e8c\u7c7b \u8f6e\u80ce \u6a21\u578b \u662f \u5e38\u7528 \u4e8e \u8f66\u8f86 \u64cd\u63a7 \u7684 \u534a \u7ecf\u9a8c \u6a21\u578b \u3002   Chrono : : Vehicle   \u76ee\u524d \u5df2 \u5b9e\u73b0   Pacejka \uff08 89   \u548c   2002 \uff09 \u3001 TMeasy   \u548c   Fiala   \u8f6e\u80ce \u6a21\u578b \u3002 \u64cd\u63a7 \u8f6e\u80ce \u6a21\u578b \u4e13 \u4e3a \u5e73\u5766 \u8def\u9762 \u800c \u8bbe\u8ba1 \uff0c \u901a\u5e38 \u4f7f\u7528 \u5355 \u63a5\u89e6 \u70b9\u63a5\u89e6 \u6216 \u56db\u70b9 \u63a5\u89e6 \uff08 TMeasy \uff09 \u3002 \u5bf9\u4e8e \u5728 \u8d77\u4f0f \u8def\u9762 \u4e0a \u8fdb\u884c \u884c\u9a76 \u6d4b\u8bd5 \u6216 \u8d8a\u969c \uff0c \u5df2 \u5b9e\u73b0 \u4e86 \u4e00\u79cd \u79f0\u4e3a \u201c \u5305\u7edc \u201d \u7684 \u7279\u6b8a \u63a5\u89e6 \u7b97\u6cd5 \u3002 \u5b83 \u57fa\u4e8e   Sui   \u548c   Hershey   \u7684 \u8bba\u6587 \uff0c \u53ef \u7528\u4e8e   Chrono   \u4e2d \u5305\u542b \u7684 \u6240\u6709 \u64cd\u63a7 \u8f6e\u80ce \u6a21\u578b \u3002 \u4f7f\u7528 \u6280\u672f \u6f14\u793a \u5668 \u8fdb\u884c \u7684 \u9a8c\u8bc1 \u6d4b\u8bd5 \u4e0e \u6d4b\u91cf \u7684 \u771f\u5b9e \u8f66\u8f86 \u6d4b\u8bd5 \u6570\u636e \u6d4b\u8bd5\u6570\u636e \u76f8\u6bd4 \uff0c \u7ed3\u679c \u826f\u597d \uff0c \u800c\u4e14 \u6570\u503c \u5de5\u4f5c \u5de5\u4f5c\u91cf \u8f83 \u5c11 \u3002 \u5982\u679c \u9700\u8981 \u66f4 \u9ad8 \u7684 \u7cbe\u5ea6 \uff0c \u7528\u6237 \u5e94\u8be5 \u8003\u8651 \u8003\u8651 \u57fa\u4e8e   FEA   \u7684 \u8f6e\u80ce \u6a21\u578b \u8fdb\u884c \u975e \u64cd\u63a7 \u6d4b\u8bd5 \u3002   \u6709\u4e9b \u7528\u6237 \u53ef\u80fd \u5e0c\u671b \u6839\u636e \u8f6e\u80ce \u6d4b\u8bd5 \u6570\u636e \u6d4b\u8bd5\u6570\u636e \u6784\u5efa \u81ea\u5df1 \u7684 \u64cd\u63a7 \u8f6e\u80ce \u53c2\u6570 \u96c6 \u3002 \u52a1\u5fc5 \u719f\u6089 \u6bcf\u4e2a \u8f6e\u80ce \u6a21\u578b \u4e2d \u7684 \u4e0d\u540c \u6ed1\u79fb \u5b9a\u4e49 \u548c \u4e0d\u540c \u5750\u6807 \u5750\u6807\u7cfb \uff01   Pacejka   89 \uff08 Pac89 \uff09 \u8f6e\u80ce \u6a21\u578b   \u53c2\u89c1   ChPac89Tire   \u548c   Pac89Tire   \u3002   Pacejka   2002 \uff08 Pac02 \uff09 \u8f6e\u80ce \u6a21\u578b   \u8be5 \u6a21\u578b \u662f   Pacejka   \u65e9\u671f   Magic   Formula   \u8f6e\u80ce \u6a21\u578b \u7684 \u6269\u5c55 \uff0c \u589e\u52a0 \u4e86 \u65b9\u7a0b \u548c \u7cfb\u6570 \u3002 \u7531\u4e8e \u5728 \u7a33\u6001 \u6ed1\u79fb \u6761\u4ef6 \u4e0b \u4e0d\u4f1a \u53d1\u751f \u5927\u91cf \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u64cd\u4f5c \uff0c \u56e0\u6b64 \u5305\u62ec \u63a5\u89e6 \u63a5\u89e6\u9762 \u6ed1\u79fb \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \uff0c \u4ee5\u4fbf \u5728 \u77ac\u6001 \u6761\u4ef6 \u4e0b \u63d0\u4f9b \u66f4 \u51c6\u786e \u7684 \u7ed3\u679c \u3002 \u7531\u4e8e \u7f3a\u4e4f \u53c2\u8003 \u6570\u636e \u96c6 \uff0c \u5145\u6c14 \u538b\u529b \u4f9d\u8d56 \u9879\u548c\u5927\u5916 \u503e\u89d2 \u9879 \u5b9e\u9645 \u5b9e\u9645\u4e0a \u5e76\u672a \u5b9e\u73b0 \u3002   \u6b64   Chrono   \u8f6e\u80ce \u6a21\u578b \u8fd8 \u53ef\u4ee5 \u4f7f\u7528 \u4e0e   Adams / Car   \u517c\u5bb9 \u7684   TIR   \u6587\u4ef6 \u6765 \u6307\u5b9a \u3002   \u53c2\u89c1   ChPac02Tire   \u548c   Pac02Tire   \u3002   TMeasy \u8f6e\u80ce \u6a21\u578b \uff08 \u57fa\u7840 \u7248 \uff09   TMeasy \uff08 \u8f6e\u80ce \u6a21\u578b \u7b80\u6613 \u7b80\u6613\u7248 \uff09 \u7531   Georg   Rill   \u6559\u6388 \u5f00\u53d1 \uff0c \u53ef \u4f5c\u4e3a \u5546\u4e1a \u4ee3\u7801 \u4f7f\u7528 \uff08 \u6709\u5173 \u66f4 \u591a \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 http : / / www . tmeasy . de / \uff09 \u3002 \u8be5 \u6a21\u578b \u7684 \u76ee\u7684 \u662f \u5141\u8bb8 \u8f7b\u677e \u53c2\u6570 \u5316 \u3002 \u5176 \u590d\u6742 \u590d\u6742\u6027 \u5927\u81f4 \u4e0e \u57fa\u4e8e   Magic   Formula   \u7684 \u6a21\u578b \u76f8\u5f53 \u3002 \u6b64\u5916 \uff0c \u57fa\u4e8e \u5361\u8f66 \u548c \u7528\u8f66 \u4e58\u7528\u8f66 \u7684 \u5df2\u77e5 \u53c2\u6570 \u96c6 \uff0c \u53ef\u4ee5 \u4ece \u5c11\u91cf \u8f93\u5165 \u6570\u636e \u4e2d \u4f30\u8ba1 \u5b8c\u6574 \u7684 \u53c2\u6570 \u96c6 \u3002 TMeasy   \u8003\u8651 \u7ebf\u6027 \u975e\u7ebf\u6027 \u6548\u5e94 \u5e76 \u5305\u62ec \u63a5\u89e6 \u63a5\u89e6\u9762 \u6ed1\u79fb \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \u3002 \u4e0e \u6700\u65b0 \u7684 \u5546\u4e1a   TMeasy   \u7248\u672c \u76f8\u6bd4 \uff0c Chrono   \u4e2d \u4f7f\u7528 \u7684 \u5b9e\u73b0 \u7f3a\u5c11 \u4e00\u4e9b \u529f\u80fd \u3002 \u4f8b\u5982 \uff0c \u6ca1\u6709 \u76ae\u5e26 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \uff0c \u4e5f \u65e0\u6cd5 \u8ba1\u7b97 \u52a8\u6001 \u505c\u8f66 \u626d\u77e9 \u3002 Chrono   TMeasy   \u8f6e\u80ce \u5b9e\u73b0 \u5305\u542b \u5df2 \u5728   Road   Vehicle   Dynamics   -   Fundamentals   and   Modeling   with   MATLAB   \u4e00\u4e66\u4e2d \u53d1\u8868 \u7684 \u7b97\u6cd5 \uff0c Georg   Rill   \u548c   Abel   Arrieta   Castro \uff0c CRC   Press \uff0c 2020   \u5e74 \u3002   \u53c2\u89c1   ChTMeasyTire   \u548c   TMeasyTire   \u3002   \u4e0b\u9762 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5177\u6709   TMeasy   \u8f6e\u80ce \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \uff1a   {   \" Name \" :   \" HMMWV   TMeasy   Tire \" ,   \" Type \" :   \" Tire \" ,   \" Template \" :   \" TMeasyTire \" ,   / /   ------------------------------------------------   / /   Tire   design   ( REQUIRED )   \" Design \" :   {   \" Unloaded   Radius   [ m ] \" :   0.4699 ,   \" Mass   [ kg ] \" :   37.6 ,   \" Inertia   [ kg . m2 ] \" :   [   3.84 ,   6.69 ,   3.84   ] ,   \" Width   [ m ] \" :   0.3175 ,   \" Rim   Radius   [ m ] \" :   0.2095   } ,   \" Coefficient   of   Friction \" :   0.8 ,   \" Rolling   Resistance   Coefficient \" :   0.015 ,   / /   ------------------------------------------------   / /   Vehicle   type .   / /   Required   only   if   tire   specified   with   \" load   index \"   or   \" bearing   capacity \" .   / /   Must   be   one   of   \" Truck \"   or   \" Passenger \"   \" Vehicle   Type \" :   \" Truck \" ,   / /   ------------------------------------------------   / /   Load   index   specification .   / /   Takes   priority   over   \" bearing   capacity \"   ( used   only   if   a   full   parameterization   not   provided )   \" Load   Index \" :   108 ,   / /   ------------------------------------------------   / /   Bearing   capacity   specification .   / /   Lowest   priority   ( used   only   if   no   other   specification   provided )   \" Maximum   Bearing   Capacity   [ N ] \" :   17167.5 ,   / /   ------------------------------------------------   / /   Visualization   mesh   ( OPTIONAL )   \" Visualization \" :   {   \" Mesh   Filename   Left \" :   \" hmmwv / hmmwv _ tire _ left . obj \" ,   \" Mesh   Filename   Right \" :   \" hmmwv / hmmwv _ tire _ right . obj \"   }   }   Fiala   \u8f6e\u80ce \u578b\u53f7   Chrono : : Vehicle   \u4e2d \u5b9e\u73b0 \u7684   Fiala   \u8f6e\u80ce \u6a21\u578b \u4e3b\u8981 \u57fa\u4e8e   MSC   ADAMS / \u8f6e\u80ce \u5e2e\u52a9 \u6587\u6863 \u4e2d \u4ecb\u7ecd \u7684 \u77ac\u6001   Fiala   \u8f6e\u80ce \u6a21\u578b \uff0c \u8be5 \u6a21\u578b \u4f7f\u7528 \u8f6e\u80ce \u6ed1\u79fb \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \u6765 \u6539\u5584 \u6a21\u578b \u5728 \u4f4e\u901f \u81f3 \u96f6 \u524d\u8fdb \u901f\u5ea6 \u4e0b \u7684 \u884c\u4e3a \u3002 Fiala   \u8f6e\u80ce \u6a21\u578b \u57fa\u4e8e \u5237\u5b50 \u6a21\u578b \u5047\u8bbe \uff0c \u53ea \u9700\u8981 \u5c11\u91cf \u7cfb\u6570 \u3002 \u8be5 \u8f6e\u80ce \u6a21\u578b \u5047\u8bbe \u8f6e\u80ce \u76f8\u5bf9 \u4e8e \u9053\u8def \u7684 \u5916 \u503e\u89d2 \u4e3a \u96f6 \uff0c \u5e76\u4e14 \u6ca1\u6709 \u4efb\u4f55 \u4ea7\u751f \u503e\u8986 \u529b\u77e9 \u7684 \u63aa\u65bd \u3002 \u4f46\u662f \uff0c \u5b83 \u5728 \u529b \u548c \u529b\u77e9 \u8ba1\u7b97 \u4e2d \u7ed3\u5408 \u4e86 \u8f6e\u80ce \u7684 \u6a2a\u5411 \u548c \u7eb5\u5411 \u6ed1\u79fb \u72b6\u6001 \uff0c \u4ece\u800c \u63d0\u4f9b \u4e86 \u66f4 \u771f\u5b9e \u7684 \u7ec4\u5408 \u6ed1\u79fb \u63cf\u8ff0 \u3002 Fiala   \u8f6e\u80ce \u6a21\u578b \u4e0d \u5e94\u7528 \u4e8e \u4e25\u8083 \u7684 \u8f66\u8f86 \u64cd\u7eb5 \u6a21\u62df \uff0c \u56e0\u4e3a \u5b83 \u6ca1\u6709 \u8003\u8651 \u5f71\u54cd \u7ed3\u679c \u7684 \u91cd\u8981 \u5f71\u54cd \u3002   \u53c2\u89c1   ChFialaTire   \u548c   FialaTire   \u3002   \u4e0b\u9762 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5177\u6709   TMeasy   \u8f6e\u80ce \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \uff1a   {   \" Name \" :   \" HMMWV   Fiala   Tire \" ,   \" Type \" :   \" Tire \" ,   \" Template \" :   \" FialaTire \" ,   \" Mass \" :   37.6 ,   \" Inertia \" :   [   3.84 ,   6.69 ,   3.84   ] ,   \" Coefficient   of   Friction \" :   0.8 ,   \" Fiala   Parameters \" :   {   \" Unloaded   Radius \" :   0.47 ,   \" Width \" :   0.318 ,   \" Vertical   Damping \" :   7500 ,   \" Vertical   Stiffness \" :   326332 ,   / /   linear   stiffness   ( if   no   curve   table   present )   \" Vertical   Curve   Data \" :   / /   nonlinear   stifness   ( has   precedence   over   linear   model )   [   [   0.000 ,   0   ] ,   [   0.005 ,   585   ] ,   [   0.010 ,   1286   ] ,   [   0.015 ,   2352   ] ,   [   0.020 ,   3477   ] ,   [   0.025 ,   4798   ] ,   [   0.030 ,   6190   ] ,   [   0.035 ,   7540   ] ,   [   0.040 ,   9027   ] ,   [   0.045 ,   10570   ] ,   [   0.050 ,   12139   ] ,   [   0.055 ,   13654   ] ,   [   0.060 ,   15368   ] ,   [   0.065 ,   16904   ] ,   [   0.070 ,   18469   ] ,   [   0.075 ,   20089   ] ,   [   0.080 ,   21699   ]   ] ,   \" Rolling   Resistance \" :   0.015 ,   \" CSLIP \" :   193929.0 ,   \" CALPHA \" :   50000.0 ,   \" UMIN \" :   0.5568 ,   \" UMAX \" :   0.9835 ,   \" X   Relaxation   Length \" :   2.0 ,   \" Y   Relaxation   Length \" :   2.0   } ,   \" Visualization \" :   {   \" Mesh   Filename   Left \" :   \" hmmwv / hmmwv _ tire _ left . obj \" ,   \" Mesh   Filename   Right \" :   \" hmmwv / hmmwv _ tire _ right . obj \" ,   \" Width \" :   0.318   }   }   \u4e0a\u8ff0   JSON   \u6587\u4ef6 \u4e2d \u5d4c\u5165 \u7684 \u5782\u76f4 \u8d1f\u8f7d \u66f2\u7ebf \u5982\u4e0b \u6240\u793a \uff1a   \u8f6e\u80ce \u64cd\u4f5c \u6a21\u578b \u9a8c\u8bc1   \u4e0b\u9762 \u6211\u4eec \u5c55\u793a \u4e86 \u9488\u5bf9 \u5bc6\u6b47\u6839 \u5bc6\u6b47\u6839\u5dde \u57fa\u5a01\u7eb3 \u7814\u7a76 \u4e2d\u5fc3   ( KRC )   \u4e3a   FED - alpha   \u8f66\u8f86 \u63d0\u4f9b \u7684 \u5b9e\u9a8c \u6570\u636e \u5bf9   3   \u4e2a   Chrono : : Vehicle   \u64cd\u63a7 \u8f6e\u80ce \u6a21\u578b \u8fdb\u884c \u7684 \u9a8c\u8bc1 \u7814\u7a76 \u3002   \u5728 \u8fd9\u4e2a \u79f0\u4e3a   ( SSC )   \u7684 \u6d4b\u8bd5 \u4e2d   Steady   State   Cornering   \uff0c \u8f66\u8f86 \u4ee5 \u6240\u8c13 \u7684 \u201c \u963f\u514b \u963f\u514b\u66fc \u901f\u5ea6 \u201d \u5f00\u59cb \u6cbf \u5706\u5708 \u884c\u9a76 \u3002 \u8be5\u503c \u7ea6 \u4e3a   3   m / s \uff0c \u56e0\u6b64 \u6ed1\u79fb \u503c \u975e\u5e38 \u5c0f \uff0c \u8f66\u8f86 \u5728 \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u4e0a \u8ddf\u968f \u5706\u5708 \u884c\u9a76 \u3002 \u771f\u6b63 \u7684 \u6d4b\u8bd5 \u7ee7\u7eed \u9010\u6b65 \u589e\u52a0 \u8f66\u901f \u5e76 \u4fdd\u6301 \u6052\u5b9a \u3002 \u8fd9\u4e9b \u8fde\u7eed \u7684 \u901f\u5ea6 \u589e\u52a0 \u6b65\u9aa4 \u91cd\u590d \u8fdb\u884c \uff0c \u76f4\u5230 \u8fbe\u5230 \u6700\u5927 \u53ef\u80fd \u7684 \u6a2a\u5411 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff0c \u6216 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u529f\u7387 \u8017\u5c3d \u3002 KRC   \u6d4b\u8bd5 \u5728 \u5de6\u8f6c \u548c \u53f3\u8f6c \u4e2d \u8fdb\u884c \uff0c \u4ee5 \u7a81\u51fa \u8f66\u8f86 \u7684 \u4efb\u4f55 \u4e0d\u5bf9 \u5bf9\u79f0 \u5bf9\u79f0\u6027 \u4e0d\u5bf9\u79f0\u6027 \uff08 \u5982\u679c \u5b58\u5728 \uff09 \u3002   SSC   \u6d4b\u8bd5 \u7684 \u76ee\u7684 \u662f \u63a8\u65ad \u8f66\u8f86 \u5bf9\u4e8e \u666e\u901a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6765\u8bf4 \u662f\u5426 \u5b89\u5168 \u3002 \u8f66\u8f86 \u5e94\u8be5 \u8f6c\u5411 \u4e0d\u8db3 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u5fc5\u987b \u63d0\u4f9b \u8d8a\u6765 \u8d8a\u6765\u8d8a \u591a \u7684 \u65b9\u5411 \u65b9\u5411\u76d8 \u8f6c\u52a8 \u89d2\u5ea6 \uff0c \u540c\u65f6 \u589e\u52a0 \u6a2a\u5411 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff0c \u4ee5 \u4fdd\u6301 \u8f66\u8f86 \u5728 \u5706\u5708 \u4e0a \u5e76 \u4fdd\u6301 \u8f66\u8f86 \u7a33\u5b9a \u5b9a\u6027 \u7a33\u5b9a\u6027 \u3002 \u201c \u8f6c\u5411 \u8fc7\u5ea6 \u201d \u7684 \u8f66\u8f86 \u5f80\u5f80 \u4f1a \u8f6c\u5411 \u5706\u5708 \u539f\u70b9 \u5e76 \u53d8\u5f97 \u4e0d \u7a33\u5b9a \uff0c \u56e0\u4e3a \u540e\u8f6e \u6ca1\u6709 \u8db3\u591f \u7684 \u6a2a\u5411 \u6ed1\u79fb \u50a8\u5907 \u3002 \u666e\u901a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u5728 \u516c\u5171 \u4ea4\u901a \u516c\u5171\u4ea4\u901a \u4e2d \u4f7f\u7528 \u7684 \u6807\u51c6 \u8f66\u8f86 \u5e94 \u907f\u514d \u8fd9\u79cd \u8f6c\u5411 \u8fc7\u5ea6 \u884c\u4e3a \uff0c \u5c3d\u7ba1 \u4e13\u4e1a \u62c9\u529b \u62c9\u529b\u8d5b \u8f66\u624b \u66f4 \u559c\u6b22 \u8f6c\u5411 \u8fc7\u5ea6 \u7684 \u8f66\u8f86 \u3002   \u5bf9\u4e8e   FED - alpha \uff0c SSC   \u6d4b\u8bd5 \u88ab \u5b9a\u4e49   \u4e3a \u7a33\u6001 \u51c6\u7a33\u6001 \u8fd0\u884c \uff0c \u5176\u4e2d \u901f\u5ea6 \u8fde\u7eed \u4f46 \u975e\u5e38 \u7f13\u6162 \u5730 \u53d8\u5316 \uff0c \u56e0\u6b64 \u6ca1\u6709 \u660e\u663e \u7684 \u52a8\u6001 \u6548\u5e94 \u3002 \u56e0\u6b64 \uff0c \u6a21\u62df \u7ed3\u679c \u663e\u793a \u7ed3\u679c\u663e\u793a \u4e3a \u8fde\u7eed \u7ebf \u3002 \u6570\u636e \u7684 \u7b26\u53f7 \u9009\u62e9 \u65b9\u5f0f \u662f \u53f3\u4fa7 \u663e\u793a \u53f3\u8f6c \uff0c \u5de6\u4fa7 \u663e\u793a \u5de6\u8f6c \u3002 \u5b9e\u9a8c   KRC   \u6570\u636e \u7528\u70b9 \u8868\u793a \u3002 \u4e0b\u56fe \u663e\u793a \u4e86   Chrono   Pac02 \u3001 TMsimple   \u548c   TMeasy   \u8f6e\u80ce \u6a21\u578b \u7684   SSC   \u6a21\u62df \u7ed3\u679c \u53e0\u52a0 \u5728   KRC   \u5b9e\u9a8c \u6570\u636e \u4e0a \u3002   \u57fa\u4e8e   FEA   \u7684 \u8f6e\u80ce \u6a21\u578b   \u6700\u540e \uff0c \u63d0\u4f9b \u7684 \u7b2c\u4e09 \u4e09\u7c7b \u7b2c\u4e09\u7c7b \u8f6e\u80ce \u6a21\u578b \u662f \u8f6e\u80ce \u7684 \u5b8c\u6574 \u6709\u9650 \u6709\u9650\u5143 \u8868\u793a \u3002 \u867d\u7136 \u8fd9\u4e9b \u6a21\u578b \u7531\u4e8e \u5176 \u8be6\u7ec6 \u7684 \u8f6e\u80ce \u7269\u7406 \u6a21\u578b \u800c \u6709 \u53ef\u80fd \u6210\u4e3a \u6700 \u51c6\u786e \u7684 \u6a21\u578b \uff0c \u4f46 \u5b83\u4eec \u4e5f \u662f   Chrono : : Vehicle   \u4e2d \u5f53\u524d \u53ef\u7528 \u7684 \u8f6e\u80ce \u6a21\u578b \u4e2d \u8ba1\u7b97 \u6210\u672c \u8ba1\u7b97\u6210\u672c \u6700\u9ad8 \u7684 \u6a21\u578b \u3002 \u4e0e \u521a\u6027 \u6216 \u534a \u7ecf\u9a8c \u8f6e\u80ce \u6a21\u578b \u4e0d\u540c \uff0c \u57fa\u4e8e \u6709\u9650 \u6709\u9650\u5143 \u7684 \u8f6e\u80ce \u6a21\u578b \u80fd\u591f \u540c\u65f6 \u8003\u8651 \u8f6e\u80ce \u548c \u5730\u9762 \u7684 \u7075\u6d3b \u6d3b\u6027 \u7075\u6d3b\u6027 \uff0c \u8fd9\u662f \u8bb8\u591a \u7c7b\u578b \u7684 \u8d8a\u91ce \u673a\u52a8 \u673a\u52a8\u6027 \u548c \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u7814\u7a76 \u7684 \u91cd\u8981 \u7279\u5f81 \u3002 \u8fd9\u4e9b \u6709\u9650 \u6709\u9650\u5143 \u8f6e\u80ce \u6a21\u578b \u5229\u7528 \u4e86   Chrono   \u4e2d \u7684 \u7ebf\u6027 \u975e\u7ebf\u6027 \u6709\u9650 \u6709\u9650\u5143 \u529f\u80fd \u3002   ANCF \u58f3 \u53ef \u53d8\u5f62 \u8f6e\u80ce   \u53c2\u89c1   ChANCFTire   \u548c   ANCFTire   \u3002   \u4ee5\u4e0b   JSON   \u6587\u4ef6 \u5305\u542b   ANCFTire   \u7684 \u89c4\u8303 \uff1a   {   \" Name \" :   \" HMMWV   ANCF   4 - Node   Tire \" ,   \" Type \" :   \" Tire \" ,   \" Template \" :   \" ANCFTire \" ,   \" Tire   Radius \" :   0.4673 ,   \" Rim   Radius \" :   0.2683 ,   \" Rim   Width \" :   0.254 ,   \" 8 - Node   Elements \" :   false ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.1 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e6 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2.0 e6 ,   \" Normal   Damping \" :   1.3 e1 ,   \" Tangential   Stiffness \" :   1.0 e6 ,   \" Tangential   Damping \" :   0   }   } ,   \" Materials \" :   [   {   \" Type \" :   \" Orthotropic \" ,   \" Density \" :   0.1000000 E + 04 ,   \" E \" :   [ 0.7560000 E + 10   ,   0.4740000 E + 08   ,   0.4740000 E + 08 ] ,   \" nu \" :   [ 0.4500000 E + 00   ,   0.4500000 E + 00   ,   0.4500000 E + 00 ] ,   \" G \" :   [ 0.1634483 E + 08   ,   0.1634483 E + 08   ,   0.1634483 E + 08 ]   } ,   {   \" Type \" :   \" Orthotropic \" ,   \" Density \" :   0.2639000 E + 04 ,   \" E \" :   [ 0.1800000 E + 12   ,   0.4740000 E + 08   ,   0.4740000 E + 08 ] ,   \" nu \" :   [ 0.4500000 E + 00   ,   0.4500000 E + 00   ,   0.4500000 E + 00 ] ,   \" G \" :   [ 0.1634483 E + 08   ,   0.1634483 E + 08   ,   0.1634483 E + 08 ]   } ,   {   \" Type \" :   \" Orthotropic \" ,   \" Density \" :   0.1100000 E + 04 ,   \" E \" :   [ 0.4740000 E + 08   ,   0.4740000 E + 08   ,   0.4740000 E + 08 ] ,   \" nu \" :   [ 0.4500000 E + 00   ,   0.4500000 E + 00   ,   0.4500000 E + 00 ] ,   \" G \" :   [ 0.1634483 E + 08   ,   0.1634483 E + 08   ,   0.1634483 E + 08 ]   }   ] ,   \" Structural   Damping   Coefficient \" :   0.005 ,   \" Default   Pressure \" :   200.0 e3 ,   \" Bead   Section \" :   {   \" Layer   Thickness \" :   [   0.5 e - 03   ,   0.5 e - 02   ,   0.5 e - 03   ] ,   \" Ply   Angle \" :   [   90   ,   0   ,   90 ] ,   \" Material   ID \" :   [   0   ,   2   ,   0 ] ,   \" Number   Elements \" :   2   } ,   \" Sidewall   Section \" :   {   \" Layer   Thickness \" :   [   0.5 e - 03   ,   0.1 e - 03   ,   0.5 e - 03   ] ,   \" Ply   Angle \" :   [   90   ,   0   ,   90   ] ,   \" Material   ID \" :   [   0   ,   2   ,   0   ] ,   \" Number   Elements \" :   4   } ,   \" Tread   Section \" :   {   \" Layer   Thickness \" :   [   0.1 e - 02   ,   0.3 e - 03   ,   0.3 e - 03   ,   0.5 e - 03   ] ,   \" Ply   Angle \" :   [   0   ,   - 20   ,   20   ,   90   ] ,   \" Material   ID \" :   [   2   ,   1   ,   1   ,   0   ] ,   \" Number   Elements \" :   6   } ,   \" Number   Elements   Circumference \" :   90 ,   \" Profile \" :   [   [   0.000000 E + 00   ,   0.000000 E + 00   ,   - 1.150000 E - 01   ] ,   [   1.428571 E - 02   ,   1.166670 E - 02   ,   - 1.164180 E - 01   ] ,   [   2.857143 E - 02   ,   2.333330 E - 02   ,   - 1.192300 E - 01   ] ,   [   4.285714 E - 02   ,   3.500000 E - 02   ,   - 1.230200 E - 01   ] ,   [   5.714286 E - 02   ,   4.666670 E - 02   ,   - 1.273710 E - 01   ] ,   [   7.142857 E - 02   ,   5.833330 E - 02   ,   - 1.318700 E - 01   ] ,   [   8.571429 E - 02   ,   7.000000 E - 02   ,   - 1.361330 E - 01   ] ,   [   1.000000 E - 01   ,   8.166670 E - 02   ,   - 1.399910 E - 01   ] ,   [   1.142857 E - 01   ,   9.333330 E - 02   ,   - 1.433510 E - 01   ] ,   [   1.285714 E - 01   ,   1.050000 E - 01   ,   - 1.461240 E - 01   ] ,   [   1.428571 E - 01   ,   1.166670 E - 01   ,   - 1.482160 E - 01   ] ,   [   1.571429 E - 01   ,   1.283330 E - 01   ,   - 1.495390 E - 01   ] ,   [   1.714286 E - 01   ,   1.400000 E - 01   ,   - 1.500000 E - 01   ] ,   [   1.857143 E - 01   ,   1.475000 E - 01   ,   - 1.486380 E - 01   ] ,   [   2.000000 E - 01   ,   1.550000 E - 01   ,   - 1.457860 E - 01   ] ,   [   2.142857 E - 01   ,   1.625000 E - 01   ,   - 1.419760 E - 01   ] ,   [   2.285714 E - 01   ,   1.700000 E - 01   ,   - 1.360000 E - 01   ] ,   [   2.428571 E - 01   ,   1.768970 E - 01   ,   - 1.288420 E - 01   ] ,   [   2.571429 E - 01   ,   1.831090 E - 01   ,   - 1.216840 E - 01   ] ,   [   2.714286 E - 01   ,   1.883940 E - 01   ,   - 1.145260 E - 01   ] ,   [   2.857143 E - 01   ,   1.925100 E - 01   ,   - 1.073680 E - 01   ] ,   [   3.000000 E - 01   ,   1.953230 E - 01   ,   - 1.002110 E - 01   ] ,   [   3.142857 E - 01   ,   1.970380 E - 01   ,   - 9.305260 E - 02   ] ,   [   3.285714 E - 01   ,   1.979260 E - 01   ,   - 8.589470 E - 02   ] ,   [   3.428571 E - 01   ,   1.982580 E - 01   ,   - 7.873680 E - 02   ] ,   [   3.571429 E - 01   ,   1.983020 E - 01   ,   - 7.157890 E - 02   ] ,   [   3.714286 E - 01   ,   1.983090 E - 01   ,   - 6.442110 E - 02   ] ,   [   3.857143 E - 01   ,   1.983540 E - 01   ,   - 5.726320 E - 02   ] ,   [   4.000000 E - 01   ,   1.984290 E - 01   ,   - 5.010530 E - 02   ] ,   [   4.142857 E - 01   ,   1.985240 E - 01   ,   - 4.294740 E - 02   ] ,   [   4.285714 E - 01   ,   1.986300 E - 01   ,   - 3.578950 E - 02   ] ,   [   4.428571 E - 01   ,   1.987380 E - 01   ,   - 2.863160 E - 02   ] ,   [   4.571429 E - 01   ,   1.988390 E - 01   ,   - 2.147370 E - 02   ] ,   [   4.714286 E - 01   ,   1.989220 E - 01   ,   - 1.431580 E - 02   ] ,   [   4.857143 E - 01   ,   1.989790 E - 01   ,   - 7.157890 E - 03   ] ,   [   5.000000 E - 01   ,   1.990000 E - 01   ,   0.000000 E + 00   ] ,   [   5.142857 E - 01   ,   1.989790 E - 01   ,   7.157890 E - 03   ] ,   [   5.285714 E - 01   ,   1.989220 E - 01   ,   1.431580 E - 02   ] ,   [   5.428571 E - 01   ,   1.988390 E - 01   ,   2.147370 E - 02   ] ,   [   5.571429 E - 01   ,   1.987380 E - 01   ,   2.863160 E - 02   ] ,   [   5.714286 E - 01   ,   1.986300 E - 01   ,   3.578950 E - 02   ] ,   [   5.857143 E - 01   ,   1.985240 E - 01   ,   4.294740 E - 02   ] ,   [   6.000000 E - 01   ,   1.984290 E - 01   ,   5.010530 E - 02   ] ,   [   6.142857 E - 01   ,   1.983540 E - 01   ,   5.726320 E - 02   ] ,   [   6.285714 E - 01   ,   1.983090 E - 01   ,   6.442110 E - 02   ] ,   [   6.428571 E - 01   ,   1.983020 E - 01   ,   7.157890 E - 02   ] ,   [   6.571429 E - 01   ,   1.982580 E - 01   ,   7.873680 E - 02   ] ,   [   6.714286 E - 01   ,   1.979260 E - 01   ,   8.589470 E - 02   ] ,   [   6.857143 E - 01   ,   1.970380 E - 01   ,   9.305260 E - 02   ] ,   [   7.000000 E - 01   ,   1.953230 E - 01   ,   1.002110 E - 01   ] ,   [   7.142857 E - 01   ,   1.925100 E - 01   ,   1.073680 E - 01   ] ,   [   7.285714 E - 01   ,   1.883940 E - 01   ,   1.145260 E - 01   ] ,   [   7.428571 E - 01   ,   1.831090 E - 01   ,   1.216840 E - 01   ] ,   [   7.571429 E - 01   ,   1.768970 E - 01   ,   1.288420 E - 01   ] ,   [   7.714286 E - 01   ,   1.700000 E - 01   ,   1.360000 E - 01   ] ,   [   7.857143 E - 01   ,   1.625000 E - 01   ,   1.419760 E - 01   ] ,   [   8.000000 E - 01   ,   1.550000 E - 01   ,   1.457860 E - 01   ] ,   [   8.142857 E - 01   ,   1.475000 E - 01   ,   1.486380 E - 01   ] ,   [   8.285714 E - 01   ,   1.400000 E - 01   ,   1.500000 E - 01   ] ,   [   8.428571 E - 01   ,   1.283330 E - 01   ,   1.495390 E - 01   ] ,   [   8.571429 E - 01   ,   1.166670 E - 01   ,   1.482160 E - 01   ] ,   [   8.714286 E - 01   ,   1.050000 E - 01   ,   1.461240 E - 01   ] ,   [   8.857143 E - 01   ,   9.333330 E - 02   ,   1.433510 E - 01   ] ,   [   9.000000 E - 01   ,   8.166670 E - 02   ,   1.399910 E - 01   ] ,   [   9.142857 E - 01   ,   7.000000 E - 02   ,   1.361330 E - 01   ] ,   [   9.285714 E - 01   ,   5.833330 E - 02   ,   1.318700 E - 01   ] ,   [   9.428571 E - 01   ,   4.666670 E - 02   ,   1.273710 E - 01   ] ,   [   9.571429 E - 01   ,   3.500000 E - 02   ,   1.230200 E - 01   ] ,   [   9.714286 E - 01   ,   2.333330 E - 02   ,   1.192300 E - 01   ] ,   [   9.857143 E - 01   ,   1.166670 E - 02   ,   1.164180 E - 01   ] ,   [   1.000000 E + 00   ,   0.000000 E + 00   ,   1.150000 E - 01   ]   ]   }   Reissner \u58f3 \u5f62\u53d8 \u8f6e\u80ce   \u53c2\u89c1   ChReissnerTire   \u548c   ReissnerTire   \u3002","title":"\u8f6e\u80ce \u6a21\u578b"},{"location":"chrono/wheeled_tire/#_1","text":"Chrono : : Vehicle   \u76ee\u524d \u652f\u6301 \u4e09\u79cd \u4e0d\u540c \u7c7b\u522b \u7684 \u8f6e\u80ce \u6a21\u578b \uff1a \u521a\u6027 \u3001 \u64cd\u63a7 \u548c \u6709\u9650 \u6709\u9650\u5143 \u3002   \u521a\u6027 \u8f6e\u80ce \u6a21\u578b   \u5904\u7406 \uff08 \u534a \u7ecf\u9a8c \uff09 \u8f6e\u80ce \u6a21\u578b   \u521a\u6027 \u8f6e\u80ce \u662f \u63d0\u4f9b \u7684 \u4e09\u79cd \u8f6e\u80ce \u7c7b\u522b \u4e2d \u6700 \u7b80\u5355 \u7684 \u4e00\u79cd \u3002 \u8fd9\u4e9b \u6a21\u578b \u7684 \u5047\u8bbe \u662f \u8f6e\u80ce \u5b8c\u5168 \u521a\u6027 \uff0c \u5e76\u4e14 \u5b83 \u901a\u8fc7 \u4e0e   Chrono   \u4e2d \u5176\u4ed6 \u521a\u4f53 \u76f8\u540c \u7684 \u5e95\u5c42 \u6469\u64e6 \u548c \u63a5\u89e6 \u7b97\u6cd5 \u4e0e \u5730\u9762 \u548c \u4efb\u4f55 \u5176\u4ed6 \u521a\u6027 \u7269\u4f53 \u76f8\u4e92 \u4f5c\u7528 \u76f8\u4e92\u4f5c\u7528 \u3002 \u8fd9\u4e9b \u8f6e\u80ce \u7684 \u63a5\u89e6 \u51e0\u4f55 \u5f62\u72b6 \u53ef\u4ee5 \u50cf \u5706\u67f1 \u67f1\u4f53 \u5706\u67f1\u4f53 \u4e00\u6837 \u7b80\u5355 \uff0c \u4e5f \u53ef\u4ee5 \u50cf   3D   \u4e09\u89d2 \u7f51\u683c \u4e00\u6837 \u590d\u6742 \u3002 \u8fd9\u4e9b \u6a21\u578b \u4e0d\u4ec5 \u53ef \u7528\u4e8e \u8c03\u8bd5 \u6574\u4f53 \u8f66\u8f86 \u6a21\u578b \uff0c \u800c\u4e14 \u8fd8 \u53ef \u7528\u4e8e \u8fd0\u884c \u65f6 \u5f88 \u91cd\u8981 \u3001 \u5730\u5f62 \u6bd4 \u8f6e\u80ce \u8f6f\u5f97 \u591a\u4e14 \u4e0d \u9700\u8981 \u9ad8\u5ea6 \u8be6\u7ec6 \u7684 \u8f6e\u80ce \u6a21\u578b \u7684 \u60c5\u51b5 \u3002 \u4e8b\u5b9e \u4e8b\u5b9e\u4e0a \uff0c \u534a \u7ecf\u9a8c \u8f6e\u80ce \u6a21\u578b \u4e0d \u9002\u5408 \u8d8a\u91ce \u8d8a\u91ce\u8f66 \u6a21\u62df \uff0c \u5373 \u4f7f\u7528 \u53ef \u53d8\u5f62 \u5730\u5f62 \uff08 SCM \u3001 \u7c92\u72b6 \u6216 \u57fa\u4e8e   FEA \uff1b \u53c2\u9605 \u8bf7\u53c2\u9605 \u53ef\u7528 \u5730\u5f62 \u6a21\u578b \u5730\u5f62\u6a21\u578b \u7684 \u63cf\u8ff0 \uff09 \u3002 \u5bf9\u4e8e \u6b64\u7c7b \u573a\u666f \uff0c \u521a\u6027 \u6216 \u57fa\u4e8e   FEA   \u7684 \u8f6e\u80ce \u6a21\u578b \u662f \u76ee\u524d \u5728   Chrono : : Vehicle   \u4e2d \u5b9e\u73b0 \u7684 \u4ec5 \u6709 \u7684 \u4e24\u4e2a \u53ef\u7528 \u9009\u9879 \u3002   \u53c2\u89c1   ChRigidTire   \u548c   RigidTire   \u3002   \u4ee5\u4e0b \u662f \u901a\u8fc7   Wavefront   OBJ   \u6587\u4ef6 \u63d0\u4f9b \u7f51\u683c \u51e0\u4f55 \u5f62\u72b6 \u7684 \u521a\u6027 \u8f6e\u80ce \u7684 \u793a\u4f8b \uff1a   {   \" Name \" :   \" HMMWV   Rigid   Mesh   Tire \" ,   \" Type \" :   \" Tire \" ,   \" Template \" :   \" RigidTire \" ,   \" Radius \" :   0.4699 ,   \" Width \" :   0.254 ,   \" Mass \" :   37.6 ,   \" Inertia \" :   [ 3.84 ,   6.69 ,   3.84 ] ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.1 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e7 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2e5 ,   \" Normal   Damping \" :   40.0 ,   \" Tangential   Stiffness \" :   2e5 ,   \" Tangential   Damping \" :   20.0   }   } ,   \" Contact   Mesh \" :   {   \" Mesh   Filename \" :   \" hmmwv / hmmwv _ tire _ fine . obj \" ,   \" Sweep   Sphere   Radius \" :   0.005   } ,   \" Visualization \" :   {   \" Mesh   Filename   Left \" :   \" hmmwv / hmmwv _ tire _ fine . obj \" ,   \" Mesh   Filename   Right \" :   \" hmmwv / hmmwv _ tire _ fine . obj \"   }   }","title":"\u8f6e\u80ce \u6a21\u578b"},{"location":"chrono/wheeled_tire/#_2","text":"\u63d0\u4f9b \u7684 \u7b2c\u4e8c \u4e8c\u7c7b \u7b2c\u4e8c\u7c7b \u8f6e\u80ce \u6a21\u578b \u662f \u5e38\u7528 \u4e8e \u8f66\u8f86 \u64cd\u63a7 \u7684 \u534a \u7ecf\u9a8c \u6a21\u578b \u3002   Chrono : : Vehicle   \u76ee\u524d \u5df2 \u5b9e\u73b0   Pacejka \uff08 89   \u548c   2002 \uff09 \u3001 TMeasy   \u548c   Fiala   \u8f6e\u80ce \u6a21\u578b \u3002 \u64cd\u63a7 \u8f6e\u80ce \u6a21\u578b \u4e13 \u4e3a \u5e73\u5766 \u8def\u9762 \u800c \u8bbe\u8ba1 \uff0c \u901a\u5e38 \u4f7f\u7528 \u5355 \u63a5\u89e6 \u70b9\u63a5\u89e6 \u6216 \u56db\u70b9 \u63a5\u89e6 \uff08 TMeasy \uff09 \u3002 \u5bf9\u4e8e \u5728 \u8d77\u4f0f \u8def\u9762 \u4e0a \u8fdb\u884c \u884c\u9a76 \u6d4b\u8bd5 \u6216 \u8d8a\u969c \uff0c \u5df2 \u5b9e\u73b0 \u4e86 \u4e00\u79cd \u79f0\u4e3a \u201c \u5305\u7edc \u201d \u7684 \u7279\u6b8a \u63a5\u89e6 \u7b97\u6cd5 \u3002 \u5b83 \u57fa\u4e8e   Sui   \u548c   Hershey   \u7684 \u8bba\u6587 \uff0c \u53ef \u7528\u4e8e   Chrono   \u4e2d \u5305\u542b \u7684 \u6240\u6709 \u64cd\u63a7 \u8f6e\u80ce \u6a21\u578b \u3002 \u4f7f\u7528 \u6280\u672f \u6f14\u793a \u5668 \u8fdb\u884c \u7684 \u9a8c\u8bc1 \u6d4b\u8bd5 \u4e0e \u6d4b\u91cf \u7684 \u771f\u5b9e \u8f66\u8f86 \u6d4b\u8bd5 \u6570\u636e \u6d4b\u8bd5\u6570\u636e \u76f8\u6bd4 \uff0c \u7ed3\u679c \u826f\u597d \uff0c \u800c\u4e14 \u6570\u503c \u5de5\u4f5c \u5de5\u4f5c\u91cf \u8f83 \u5c11 \u3002 \u5982\u679c \u9700\u8981 \u66f4 \u9ad8 \u7684 \u7cbe\u5ea6 \uff0c \u7528\u6237 \u5e94\u8be5 \u8003\u8651 \u8003\u8651 \u57fa\u4e8e   FEA   \u7684 \u8f6e\u80ce \u6a21\u578b \u8fdb\u884c \u975e \u64cd\u63a7 \u6d4b\u8bd5 \u3002   \u6709\u4e9b \u7528\u6237 \u53ef\u80fd \u5e0c\u671b \u6839\u636e \u8f6e\u80ce \u6d4b\u8bd5 \u6570\u636e \u6d4b\u8bd5\u6570\u636e \u6784\u5efa \u81ea\u5df1 \u7684 \u64cd\u63a7 \u8f6e\u80ce \u53c2\u6570 \u96c6 \u3002 \u52a1\u5fc5 \u719f\u6089 \u6bcf\u4e2a \u8f6e\u80ce \u6a21\u578b \u4e2d \u7684 \u4e0d\u540c \u6ed1\u79fb \u5b9a\u4e49 \u548c \u4e0d\u540c \u5750\u6807 \u5750\u6807\u7cfb \uff01","title":"\u5904\u7406 \uff08 \u534a \u7ecf\u9a8c \uff09 \u8f6e\u80ce \u6a21\u578b"},{"location":"chrono/wheeled_tire/#pacejka-89pac89","text":"\u53c2\u89c1   ChPac89Tire   \u548c   Pac89Tire   \u3002","title":"Pacejka   89 \uff08 Pac89 \uff09 \u8f6e\u80ce \u6a21\u578b"},{"location":"chrono/wheeled_tire/#pacejka-2002pac02","text":"\u8be5 \u6a21\u578b \u662f   Pacejka   \u65e9\u671f   Magic   Formula   \u8f6e\u80ce \u6a21\u578b \u7684 \u6269\u5c55 \uff0c \u589e\u52a0 \u4e86 \u65b9\u7a0b \u548c \u7cfb\u6570 \u3002 \u7531\u4e8e \u5728 \u7a33\u6001 \u6ed1\u79fb \u6761\u4ef6 \u4e0b \u4e0d\u4f1a \u53d1\u751f \u5927\u91cf \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u64cd\u4f5c \uff0c \u56e0\u6b64 \u5305\u62ec \u63a5\u89e6 \u63a5\u89e6\u9762 \u6ed1\u79fb \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \uff0c \u4ee5\u4fbf \u5728 \u77ac\u6001 \u6761\u4ef6 \u4e0b \u63d0\u4f9b \u66f4 \u51c6\u786e \u7684 \u7ed3\u679c \u3002 \u7531\u4e8e \u7f3a\u4e4f \u53c2\u8003 \u6570\u636e \u96c6 \uff0c \u5145\u6c14 \u538b\u529b \u4f9d\u8d56 \u9879\u548c\u5927\u5916 \u503e\u89d2 \u9879 \u5b9e\u9645 \u5b9e\u9645\u4e0a \u5e76\u672a \u5b9e\u73b0 \u3002   \u6b64   Chrono   \u8f6e\u80ce \u6a21\u578b \u8fd8 \u53ef\u4ee5 \u4f7f\u7528 \u4e0e   Adams / Car   \u517c\u5bb9 \u7684   TIR   \u6587\u4ef6 \u6765 \u6307\u5b9a \u3002   \u53c2\u89c1   ChPac02Tire   \u548c   Pac02Tire   \u3002","title":"Pacejka   2002 \uff08 Pac02 \uff09 \u8f6e\u80ce \u6a21\u578b"},{"location":"chrono/wheeled_tire/#tmeasy","text":"TMeasy \uff08 \u8f6e\u80ce \u6a21\u578b \u7b80\u6613 \u7b80\u6613\u7248 \uff09 \u7531   Georg   Rill   \u6559\u6388 \u5f00\u53d1 \uff0c \u53ef \u4f5c\u4e3a \u5546\u4e1a \u4ee3\u7801 \u4f7f\u7528 \uff08 \u6709\u5173 \u66f4 \u591a \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605 http : / / www . tmeasy . de / \uff09 \u3002 \u8be5 \u6a21\u578b \u7684 \u76ee\u7684 \u662f \u5141\u8bb8 \u8f7b\u677e \u53c2\u6570 \u5316 \u3002 \u5176 \u590d\u6742 \u590d\u6742\u6027 \u5927\u81f4 \u4e0e \u57fa\u4e8e   Magic   Formula   \u7684 \u6a21\u578b \u76f8\u5f53 \u3002 \u6b64\u5916 \uff0c \u57fa\u4e8e \u5361\u8f66 \u548c \u7528\u8f66 \u4e58\u7528\u8f66 \u7684 \u5df2\u77e5 \u53c2\u6570 \u96c6 \uff0c \u53ef\u4ee5 \u4ece \u5c11\u91cf \u8f93\u5165 \u6570\u636e \u4e2d \u4f30\u8ba1 \u5b8c\u6574 \u7684 \u53c2\u6570 \u96c6 \u3002 TMeasy   \u8003\u8651 \u7ebf\u6027 \u975e\u7ebf\u6027 \u6548\u5e94 \u5e76 \u5305\u62ec \u63a5\u89e6 \u63a5\u89e6\u9762 \u6ed1\u79fb \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \u3002 \u4e0e \u6700\u65b0 \u7684 \u5546\u4e1a   TMeasy   \u7248\u672c \u76f8\u6bd4 \uff0c Chrono   \u4e2d \u4f7f\u7528 \u7684 \u5b9e\u73b0 \u7f3a\u5c11 \u4e00\u4e9b \u529f\u80fd \u3002 \u4f8b\u5982 \uff0c \u6ca1\u6709 \u76ae\u5e26 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \uff0c \u4e5f \u65e0\u6cd5 \u8ba1\u7b97 \u52a8\u6001 \u505c\u8f66 \u626d\u77e9 \u3002 Chrono   TMeasy   \u8f6e\u80ce \u5b9e\u73b0 \u5305\u542b \u5df2 \u5728   Road   Vehicle   Dynamics   -   Fundamentals   and   Modeling   with   MATLAB   \u4e00\u4e66\u4e2d \u53d1\u8868 \u7684 \u7b97\u6cd5 \uff0c Georg   Rill   \u548c   Abel   Arrieta   Castro \uff0c CRC   Press \uff0c 2020   \u5e74 \u3002   \u53c2\u89c1   ChTMeasyTire   \u548c   TMeasyTire   \u3002   \u4e0b\u9762 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5177\u6709   TMeasy   \u8f6e\u80ce \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \uff1a   {   \" Name \" :   \" HMMWV   TMeasy   Tire \" ,   \" Type \" :   \" Tire \" ,   \" Template \" :   \" TMeasyTire \" ,   / /   ------------------------------------------------   / /   Tire   design   ( REQUIRED )   \" Design \" :   {   \" Unloaded   Radius   [ m ] \" :   0.4699 ,   \" Mass   [ kg ] \" :   37.6 ,   \" Inertia   [ kg . m2 ] \" :   [   3.84 ,   6.69 ,   3.84   ] ,   \" Width   [ m ] \" :   0.3175 ,   \" Rim   Radius   [ m ] \" :   0.2095   } ,   \" Coefficient   of   Friction \" :   0.8 ,   \" Rolling   Resistance   Coefficient \" :   0.015 ,   / /   ------------------------------------------------   / /   Vehicle   type .   / /   Required   only   if   tire   specified   with   \" load   index \"   or   \" bearing   capacity \" .   / /   Must   be   one   of   \" Truck \"   or   \" Passenger \"   \" Vehicle   Type \" :   \" Truck \" ,   / /   ------------------------------------------------   / /   Load   index   specification .   / /   Takes   priority   over   \" bearing   capacity \"   ( used   only   if   a   full   parameterization   not   provided )   \" Load   Index \" :   108 ,   / /   ------------------------------------------------   / /   Bearing   capacity   specification .   / /   Lowest   priority   ( used   only   if   no   other   specification   provided )   \" Maximum   Bearing   Capacity   [ N ] \" :   17167.5 ,   / /   ------------------------------------------------   / /   Visualization   mesh   ( OPTIONAL )   \" Visualization \" :   {   \" Mesh   Filename   Left \" :   \" hmmwv / hmmwv _ tire _ left . obj \" ,   \" Mesh   Filename   Right \" :   \" hmmwv / hmmwv _ tire _ right . obj \"   }   }","title":"TMeasy \u8f6e\u80ce \u6a21\u578b \uff08 \u57fa\u7840 \u7248 \uff09"},{"location":"chrono/wheeled_tire/#fiala","text":"Chrono : : Vehicle   \u4e2d \u5b9e\u73b0 \u7684   Fiala   \u8f6e\u80ce \u6a21\u578b \u4e3b\u8981 \u57fa\u4e8e   MSC   ADAMS / \u8f6e\u80ce \u5e2e\u52a9 \u6587\u6863 \u4e2d \u4ecb\u7ecd \u7684 \u77ac\u6001   Fiala   \u8f6e\u80ce \u6a21\u578b \uff0c \u8be5 \u6a21\u578b \u4f7f\u7528 \u8f6e\u80ce \u6ed1\u79fb \u72b6\u6001 \u65b9\u7a0b \u72b6\u6001\u65b9\u7a0b \u6765 \u6539\u5584 \u6a21\u578b \u5728 \u4f4e\u901f \u81f3 \u96f6 \u524d\u8fdb \u901f\u5ea6 \u4e0b \u7684 \u884c\u4e3a \u3002 Fiala   \u8f6e\u80ce \u6a21\u578b \u57fa\u4e8e \u5237\u5b50 \u6a21\u578b \u5047\u8bbe \uff0c \u53ea \u9700\u8981 \u5c11\u91cf \u7cfb\u6570 \u3002 \u8be5 \u8f6e\u80ce \u6a21\u578b \u5047\u8bbe \u8f6e\u80ce \u76f8\u5bf9 \u4e8e \u9053\u8def \u7684 \u5916 \u503e\u89d2 \u4e3a \u96f6 \uff0c \u5e76\u4e14 \u6ca1\u6709 \u4efb\u4f55 \u4ea7\u751f \u503e\u8986 \u529b\u77e9 \u7684 \u63aa\u65bd \u3002 \u4f46\u662f \uff0c \u5b83 \u5728 \u529b \u548c \u529b\u77e9 \u8ba1\u7b97 \u4e2d \u7ed3\u5408 \u4e86 \u8f6e\u80ce \u7684 \u6a2a\u5411 \u548c \u7eb5\u5411 \u6ed1\u79fb \u72b6\u6001 \uff0c \u4ece\u800c \u63d0\u4f9b \u4e86 \u66f4 \u771f\u5b9e \u7684 \u7ec4\u5408 \u6ed1\u79fb \u63cf\u8ff0 \u3002 Fiala   \u8f6e\u80ce \u6a21\u578b \u4e0d \u5e94\u7528 \u4e8e \u4e25\u8083 \u7684 \u8f66\u8f86 \u64cd\u7eb5 \u6a21\u62df \uff0c \u56e0\u4e3a \u5b83 \u6ca1\u6709 \u8003\u8651 \u5f71\u54cd \u7ed3\u679c \u7684 \u91cd\u8981 \u5f71\u54cd \u3002   \u53c2\u89c1   ChFialaTire   \u548c   FialaTire   \u3002   \u4e0b\u9762 \u63d0\u4f9b \u4e86 \u4e00\u4e2a \u5177\u6709   TMeasy   \u8f6e\u80ce \u89c4\u8303 \u7684 \u793a\u4f8b   JSON   \u6587\u4ef6 \uff1a   {   \" Name \" :   \" HMMWV   Fiala   Tire \" ,   \" Type \" :   \" Tire \" ,   \" Template \" :   \" FialaTire \" ,   \" Mass \" :   37.6 ,   \" Inertia \" :   [   3.84 ,   6.69 ,   3.84   ] ,   \" Coefficient   of   Friction \" :   0.8 ,   \" Fiala   Parameters \" :   {   \" Unloaded   Radius \" :   0.47 ,   \" Width \" :   0.318 ,   \" Vertical   Damping \" :   7500 ,   \" Vertical   Stiffness \" :   326332 ,   / /   linear   stiffness   ( if   no   curve   table   present )   \" Vertical   Curve   Data \" :   / /   nonlinear   stifness   ( has   precedence   over   linear   model )   [   [   0.000 ,   0   ] ,   [   0.005 ,   585   ] ,   [   0.010 ,   1286   ] ,   [   0.015 ,   2352   ] ,   [   0.020 ,   3477   ] ,   [   0.025 ,   4798   ] ,   [   0.030 ,   6190   ] ,   [   0.035 ,   7540   ] ,   [   0.040 ,   9027   ] ,   [   0.045 ,   10570   ] ,   [   0.050 ,   12139   ] ,   [   0.055 ,   13654   ] ,   [   0.060 ,   15368   ] ,   [   0.065 ,   16904   ] ,   [   0.070 ,   18469   ] ,   [   0.075 ,   20089   ] ,   [   0.080 ,   21699   ]   ] ,   \" Rolling   Resistance \" :   0.015 ,   \" CSLIP \" :   193929.0 ,   \" CALPHA \" :   50000.0 ,   \" UMIN \" :   0.5568 ,   \" UMAX \" :   0.9835 ,   \" X   Relaxation   Length \" :   2.0 ,   \" Y   Relaxation   Length \" :   2.0   } ,   \" Visualization \" :   {   \" Mesh   Filename   Left \" :   \" hmmwv / hmmwv _ tire _ left . obj \" ,   \" Mesh   Filename   Right \" :   \" hmmwv / hmmwv _ tire _ right . obj \" ,   \" Width \" :   0.318   }   }   \u4e0a\u8ff0   JSON   \u6587\u4ef6 \u4e2d \u5d4c\u5165 \u7684 \u5782\u76f4 \u8d1f\u8f7d \u66f2\u7ebf \u5982\u4e0b \u6240\u793a \uff1a","title":"Fiala   \u8f6e\u80ce \u578b\u53f7"},{"location":"chrono/wheeled_tire/#_3","text":"\u4e0b\u9762 \u6211\u4eec \u5c55\u793a \u4e86 \u9488\u5bf9 \u5bc6\u6b47\u6839 \u5bc6\u6b47\u6839\u5dde \u57fa\u5a01\u7eb3 \u7814\u7a76 \u4e2d\u5fc3   ( KRC )   \u4e3a   FED - alpha   \u8f66\u8f86 \u63d0\u4f9b \u7684 \u5b9e\u9a8c \u6570\u636e \u5bf9   3   \u4e2a   Chrono : : Vehicle   \u64cd\u63a7 \u8f6e\u80ce \u6a21\u578b \u8fdb\u884c \u7684 \u9a8c\u8bc1 \u7814\u7a76 \u3002   \u5728 \u8fd9\u4e2a \u79f0\u4e3a   ( SSC )   \u7684 \u6d4b\u8bd5 \u4e2d   Steady   State   Cornering   \uff0c \u8f66\u8f86 \u4ee5 \u6240\u8c13 \u7684 \u201c \u963f\u514b \u963f\u514b\u66fc \u901f\u5ea6 \u201d \u5f00\u59cb \u6cbf \u5706\u5708 \u884c\u9a76 \u3002 \u8be5\u503c \u7ea6 \u4e3a   3   m / s \uff0c \u56e0\u6b64 \u6ed1\u79fb \u503c \u975e\u5e38 \u5c0f \uff0c \u8f66\u8f86 \u5728 \u8fd0\u52a8 \u8fd0\u52a8\u5b66 \u4e0a \u8ddf\u968f \u5706\u5708 \u884c\u9a76 \u3002 \u771f\u6b63 \u7684 \u6d4b\u8bd5 \u7ee7\u7eed \u9010\u6b65 \u589e\u52a0 \u8f66\u901f \u5e76 \u4fdd\u6301 \u6052\u5b9a \u3002 \u8fd9\u4e9b \u8fde\u7eed \u7684 \u901f\u5ea6 \u589e\u52a0 \u6b65\u9aa4 \u91cd\u590d \u8fdb\u884c \uff0c \u76f4\u5230 \u8fbe\u5230 \u6700\u5927 \u53ef\u80fd \u7684 \u6a2a\u5411 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff0c \u6216 \u53d1\u52a8 \u52a8\u673a \u53d1\u52a8\u673a \u529f\u7387 \u8017\u5c3d \u3002 KRC   \u6d4b\u8bd5 \u5728 \u5de6\u8f6c \u548c \u53f3\u8f6c \u4e2d \u8fdb\u884c \uff0c \u4ee5 \u7a81\u51fa \u8f66\u8f86 \u7684 \u4efb\u4f55 \u4e0d\u5bf9 \u5bf9\u79f0 \u5bf9\u79f0\u6027 \u4e0d\u5bf9\u79f0\u6027 \uff08 \u5982\u679c \u5b58\u5728 \uff09 \u3002   SSC   \u6d4b\u8bd5 \u7684 \u76ee\u7684 \u662f \u63a8\u65ad \u8f66\u8f86 \u5bf9\u4e8e \u666e\u901a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6765\u8bf4 \u662f\u5426 \u5b89\u5168 \u3002 \u8f66\u8f86 \u5e94\u8be5 \u8f6c\u5411 \u4e0d\u8db3 \uff0c \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u5fc5\u987b \u63d0\u4f9b \u8d8a\u6765 \u8d8a\u6765\u8d8a \u591a \u7684 \u65b9\u5411 \u65b9\u5411\u76d8 \u8f6c\u52a8 \u89d2\u5ea6 \uff0c \u540c\u65f6 \u589e\u52a0 \u6a2a\u5411 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \uff0c \u4ee5 \u4fdd\u6301 \u8f66\u8f86 \u5728 \u5706\u5708 \u4e0a \u5e76 \u4fdd\u6301 \u8f66\u8f86 \u7a33\u5b9a \u5b9a\u6027 \u7a33\u5b9a\u6027 \u3002 \u201c \u8f6c\u5411 \u8fc7\u5ea6 \u201d \u7684 \u8f66\u8f86 \u5f80\u5f80 \u4f1a \u8f6c\u5411 \u5706\u5708 \u539f\u70b9 \u5e76 \u53d8\u5f97 \u4e0d \u7a33\u5b9a \uff0c \u56e0\u4e3a \u540e\u8f6e \u6ca1\u6709 \u8db3\u591f \u7684 \u6a2a\u5411 \u6ed1\u79fb \u50a8\u5907 \u3002 \u666e\u901a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u5728 \u516c\u5171 \u4ea4\u901a \u516c\u5171\u4ea4\u901a \u4e2d \u4f7f\u7528 \u7684 \u6807\u51c6 \u8f66\u8f86 \u5e94 \u907f\u514d \u8fd9\u79cd \u8f6c\u5411 \u8fc7\u5ea6 \u884c\u4e3a \uff0c \u5c3d\u7ba1 \u4e13\u4e1a \u62c9\u529b \u62c9\u529b\u8d5b \u8f66\u624b \u66f4 \u559c\u6b22 \u8f6c\u5411 \u8fc7\u5ea6 \u7684 \u8f66\u8f86 \u3002   \u5bf9\u4e8e   FED - alpha \uff0c SSC   \u6d4b\u8bd5 \u88ab \u5b9a\u4e49   \u4e3a \u7a33\u6001 \u51c6\u7a33\u6001 \u8fd0\u884c \uff0c \u5176\u4e2d \u901f\u5ea6 \u8fde\u7eed \u4f46 \u975e\u5e38 \u7f13\u6162 \u5730 \u53d8\u5316 \uff0c \u56e0\u6b64 \u6ca1\u6709 \u660e\u663e \u7684 \u52a8\u6001 \u6548\u5e94 \u3002 \u56e0\u6b64 \uff0c \u6a21\u62df \u7ed3\u679c \u663e\u793a \u7ed3\u679c\u663e\u793a \u4e3a \u8fde\u7eed \u7ebf \u3002 \u6570\u636e \u7684 \u7b26\u53f7 \u9009\u62e9 \u65b9\u5f0f \u662f \u53f3\u4fa7 \u663e\u793a \u53f3\u8f6c \uff0c \u5de6\u4fa7 \u663e\u793a \u5de6\u8f6c \u3002 \u5b9e\u9a8c   KRC   \u6570\u636e \u7528\u70b9 \u8868\u793a \u3002 \u4e0b\u56fe \u663e\u793a \u4e86   Chrono   Pac02 \u3001 TMsimple   \u548c   TMeasy   \u8f6e\u80ce \u6a21\u578b \u7684   SSC   \u6a21\u62df \u7ed3\u679c \u53e0\u52a0 \u5728   KRC   \u5b9e\u9a8c \u6570\u636e \u4e0a \u3002","title":"\u8f6e\u80ce \u64cd\u4f5c \u6a21\u578b \u9a8c\u8bc1"},{"location":"chrono/wheeled_tire/#fea","text":"\u6700\u540e \uff0c \u63d0\u4f9b \u7684 \u7b2c\u4e09 \u4e09\u7c7b \u7b2c\u4e09\u7c7b \u8f6e\u80ce \u6a21\u578b \u662f \u8f6e\u80ce \u7684 \u5b8c\u6574 \u6709\u9650 \u6709\u9650\u5143 \u8868\u793a \u3002 \u867d\u7136 \u8fd9\u4e9b \u6a21\u578b \u7531\u4e8e \u5176 \u8be6\u7ec6 \u7684 \u8f6e\u80ce \u7269\u7406 \u6a21\u578b \u800c \u6709 \u53ef\u80fd \u6210\u4e3a \u6700 \u51c6\u786e \u7684 \u6a21\u578b \uff0c \u4f46 \u5b83\u4eec \u4e5f \u662f   Chrono : : Vehicle   \u4e2d \u5f53\u524d \u53ef\u7528 \u7684 \u8f6e\u80ce \u6a21\u578b \u4e2d \u8ba1\u7b97 \u6210\u672c \u8ba1\u7b97\u6210\u672c \u6700\u9ad8 \u7684 \u6a21\u578b \u3002 \u4e0e \u521a\u6027 \u6216 \u534a \u7ecf\u9a8c \u8f6e\u80ce \u6a21\u578b \u4e0d\u540c \uff0c \u57fa\u4e8e \u6709\u9650 \u6709\u9650\u5143 \u7684 \u8f6e\u80ce \u6a21\u578b \u80fd\u591f \u540c\u65f6 \u8003\u8651 \u8f6e\u80ce \u548c \u5730\u9762 \u7684 \u7075\u6d3b \u6d3b\u6027 \u7075\u6d3b\u6027 \uff0c \u8fd9\u662f \u8bb8\u591a \u7c7b\u578b \u7684 \u8d8a\u91ce \u673a\u52a8 \u673a\u52a8\u6027 \u548c \u8f66\u8f86 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u7814\u7a76 \u7684 \u91cd\u8981 \u7279\u5f81 \u3002 \u8fd9\u4e9b \u6709\u9650 \u6709\u9650\u5143 \u8f6e\u80ce \u6a21\u578b \u5229\u7528 \u4e86   Chrono   \u4e2d \u7684 \u7ebf\u6027 \u975e\u7ebf\u6027 \u6709\u9650 \u6709\u9650\u5143 \u529f\u80fd \u3002","title":"\u57fa\u4e8e   FEA   \u7684 \u8f6e\u80ce \u6a21\u578b"},{"location":"chrono/wheeled_tire/#ancf","text":"\u53c2\u89c1   ChANCFTire   \u548c   ANCFTire   \u3002   \u4ee5\u4e0b   JSON   \u6587\u4ef6 \u5305\u542b   ANCFTire   \u7684 \u89c4\u8303 \uff1a   {   \" Name \" :   \" HMMWV   ANCF   4 - Node   Tire \" ,   \" Type \" :   \" Tire \" ,   \" Template \" :   \" ANCFTire \" ,   \" Tire   Radius \" :   0.4673 ,   \" Rim   Radius \" :   0.2683 ,   \" Rim   Width \" :   0.254 ,   \" 8 - Node   Elements \" :   false ,   \" Contact   Material \" :   {   \" Coefficient   of   Friction \" :   0.9 ,   \" Coefficient   of   Restitution \" :   0.1 ,   \" Properties \" :   {   \" Young   Modulus \" :   2e6 ,   \" Poisson   Ratio \" :   0.3   } ,   \" Coefficients \" :   {   \" Normal   Stiffness \" :   2.0 e6 ,   \" Normal   Damping \" :   1.3 e1 ,   \" Tangential   Stiffness \" :   1.0 e6 ,   \" Tangential   Damping \" :   0   }   } ,   \" Materials \" :   [   {   \" Type \" :   \" Orthotropic \" ,   \" Density \" :   0.1000000 E + 04 ,   \" E \" :   [ 0.7560000 E + 10   ,   0.4740000 E + 08   ,   0.4740000 E + 08 ] ,   \" nu \" :   [ 0.4500000 E + 00   ,   0.4500000 E + 00   ,   0.4500000 E + 00 ] ,   \" G \" :   [ 0.1634483 E + 08   ,   0.1634483 E + 08   ,   0.1634483 E + 08 ]   } ,   {   \" Type \" :   \" Orthotropic \" ,   \" Density \" :   0.2639000 E + 04 ,   \" E \" :   [ 0.1800000 E + 12   ,   0.4740000 E + 08   ,   0.4740000 E + 08 ] ,   \" nu \" :   [ 0.4500000 E + 00   ,   0.4500000 E + 00   ,   0.4500000 E + 00 ] ,   \" G \" :   [ 0.1634483 E + 08   ,   0.1634483 E + 08   ,   0.1634483 E + 08 ]   } ,   {   \" Type \" :   \" Orthotropic \" ,   \" Density \" :   0.1100000 E + 04 ,   \" E \" :   [ 0.4740000 E + 08   ,   0.4740000 E + 08   ,   0.4740000 E + 08 ] ,   \" nu \" :   [ 0.4500000 E + 00   ,   0.4500000 E + 00   ,   0.4500000 E + 00 ] ,   \" G \" :   [ 0.1634483 E + 08   ,   0.1634483 E + 08   ,   0.1634483 E + 08 ]   }   ] ,   \" Structural   Damping   Coefficient \" :   0.005 ,   \" Default   Pressure \" :   200.0 e3 ,   \" Bead   Section \" :   {   \" Layer   Thickness \" :   [   0.5 e - 03   ,   0.5 e - 02   ,   0.5 e - 03   ] ,   \" Ply   Angle \" :   [   90   ,   0   ,   90 ] ,   \" Material   ID \" :   [   0   ,   2   ,   0 ] ,   \" Number   Elements \" :   2   } ,   \" Sidewall   Section \" :   {   \" Layer   Thickness \" :   [   0.5 e - 03   ,   0.1 e - 03   ,   0.5 e - 03   ] ,   \" Ply   Angle \" :   [   90   ,   0   ,   90   ] ,   \" Material   ID \" :   [   0   ,   2   ,   0   ] ,   \" Number   Elements \" :   4   } ,   \" Tread   Section \" :   {   \" Layer   Thickness \" :   [   0.1 e - 02   ,   0.3 e - 03   ,   0.3 e - 03   ,   0.5 e - 03   ] ,   \" Ply   Angle \" :   [   0   ,   - 20   ,   20   ,   90   ] ,   \" Material   ID \" :   [   2   ,   1   ,   1   ,   0   ] ,   \" Number   Elements \" :   6   } ,   \" Number   Elements   Circumference \" :   90 ,   \" Profile \" :   [   [   0.000000 E + 00   ,   0.000000 E + 00   ,   - 1.150000 E - 01   ] ,   [   1.428571 E - 02   ,   1.166670 E - 02   ,   - 1.164180 E - 01   ] ,   [   2.857143 E - 02   ,   2.333330 E - 02   ,   - 1.192300 E - 01   ] ,   [   4.285714 E - 02   ,   3.500000 E - 02   ,   - 1.230200 E - 01   ] ,   [   5.714286 E - 02   ,   4.666670 E - 02   ,   - 1.273710 E - 01   ] ,   [   7.142857 E - 02   ,   5.833330 E - 02   ,   - 1.318700 E - 01   ] ,   [   8.571429 E - 02   ,   7.000000 E - 02   ,   - 1.361330 E - 01   ] ,   [   1.000000 E - 01   ,   8.166670 E - 02   ,   - 1.399910 E - 01   ] ,   [   1.142857 E - 01   ,   9.333330 E - 02   ,   - 1.433510 E - 01   ] ,   [   1.285714 E - 01   ,   1.050000 E - 01   ,   - 1.461240 E - 01   ] ,   [   1.428571 E - 01   ,   1.166670 E - 01   ,   - 1.482160 E - 01   ] ,   [   1.571429 E - 01   ,   1.283330 E - 01   ,   - 1.495390 E - 01   ] ,   [   1.714286 E - 01   ,   1.400000 E - 01   ,   - 1.500000 E - 01   ] ,   [   1.857143 E - 01   ,   1.475000 E - 01   ,   - 1.486380 E - 01   ] ,   [   2.000000 E - 01   ,   1.550000 E - 01   ,   - 1.457860 E - 01   ] ,   [   2.142857 E - 01   ,   1.625000 E - 01   ,   - 1.419760 E - 01   ] ,   [   2.285714 E - 01   ,   1.700000 E - 01   ,   - 1.360000 E - 01   ] ,   [   2.428571 E - 01   ,   1.768970 E - 01   ,   - 1.288420 E - 01   ] ,   [   2.571429 E - 01   ,   1.831090 E - 01   ,   - 1.216840 E - 01   ] ,   [   2.714286 E - 01   ,   1.883940 E - 01   ,   - 1.145260 E - 01   ] ,   [   2.857143 E - 01   ,   1.925100 E - 01   ,   - 1.073680 E - 01   ] ,   [   3.000000 E - 01   ,   1.953230 E - 01   ,   - 1.002110 E - 01   ] ,   [   3.142857 E - 01   ,   1.970380 E - 01   ,   - 9.305260 E - 02   ] ,   [   3.285714 E - 01   ,   1.979260 E - 01   ,   - 8.589470 E - 02   ] ,   [   3.428571 E - 01   ,   1.982580 E - 01   ,   - 7.873680 E - 02   ] ,   [   3.571429 E - 01   ,   1.983020 E - 01   ,   - 7.157890 E - 02   ] ,   [   3.714286 E - 01   ,   1.983090 E - 01   ,   - 6.442110 E - 02   ] ,   [   3.857143 E - 01   ,   1.983540 E - 01   ,   - 5.726320 E - 02   ] ,   [   4.000000 E - 01   ,   1.984290 E - 01   ,   - 5.010530 E - 02   ] ,   [   4.142857 E - 01   ,   1.985240 E - 01   ,   - 4.294740 E - 02   ] ,   [   4.285714 E - 01   ,   1.986300 E - 01   ,   - 3.578950 E - 02   ] ,   [   4.428571 E - 01   ,   1.987380 E - 01   ,   - 2.863160 E - 02   ] ,   [   4.571429 E - 01   ,   1.988390 E - 01   ,   - 2.147370 E - 02   ] ,   [   4.714286 E - 01   ,   1.989220 E - 01   ,   - 1.431580 E - 02   ] ,   [   4.857143 E - 01   ,   1.989790 E - 01   ,   - 7.157890 E - 03   ] ,   [   5.000000 E - 01   ,   1.990000 E - 01   ,   0.000000 E + 00   ] ,   [   5.142857 E - 01   ,   1.989790 E - 01   ,   7.157890 E - 03   ] ,   [   5.285714 E - 01   ,   1.989220 E - 01   ,   1.431580 E - 02   ] ,   [   5.428571 E - 01   ,   1.988390 E - 01   ,   2.147370 E - 02   ] ,   [   5.571429 E - 01   ,   1.987380 E - 01   ,   2.863160 E - 02   ] ,   [   5.714286 E - 01   ,   1.986300 E - 01   ,   3.578950 E - 02   ] ,   [   5.857143 E - 01   ,   1.985240 E - 01   ,   4.294740 E - 02   ] ,   [   6.000000 E - 01   ,   1.984290 E - 01   ,   5.010530 E - 02   ] ,   [   6.142857 E - 01   ,   1.983540 E - 01   ,   5.726320 E - 02   ] ,   [   6.285714 E - 01   ,   1.983090 E - 01   ,   6.442110 E - 02   ] ,   [   6.428571 E - 01   ,   1.983020 E - 01   ,   7.157890 E - 02   ] ,   [   6.571429 E - 01   ,   1.982580 E - 01   ,   7.873680 E - 02   ] ,   [   6.714286 E - 01   ,   1.979260 E - 01   ,   8.589470 E - 02   ] ,   [   6.857143 E - 01   ,   1.970380 E - 01   ,   9.305260 E - 02   ] ,   [   7.000000 E - 01   ,   1.953230 E - 01   ,   1.002110 E - 01   ] ,   [   7.142857 E - 01   ,   1.925100 E - 01   ,   1.073680 E - 01   ] ,   [   7.285714 E - 01   ,   1.883940 E - 01   ,   1.145260 E - 01   ] ,   [   7.428571 E - 01   ,   1.831090 E - 01   ,   1.216840 E - 01   ] ,   [   7.571429 E - 01   ,   1.768970 E - 01   ,   1.288420 E - 01   ] ,   [   7.714286 E - 01   ,   1.700000 E - 01   ,   1.360000 E - 01   ] ,   [   7.857143 E - 01   ,   1.625000 E - 01   ,   1.419760 E - 01   ] ,   [   8.000000 E - 01   ,   1.550000 E - 01   ,   1.457860 E - 01   ] ,   [   8.142857 E - 01   ,   1.475000 E - 01   ,   1.486380 E - 01   ] ,   [   8.285714 E - 01   ,   1.400000 E - 01   ,   1.500000 E - 01   ] ,   [   8.428571 E - 01   ,   1.283330 E - 01   ,   1.495390 E - 01   ] ,   [   8.571429 E - 01   ,   1.166670 E - 01   ,   1.482160 E - 01   ] ,   [   8.714286 E - 01   ,   1.050000 E - 01   ,   1.461240 E - 01   ] ,   [   8.857143 E - 01   ,   9.333330 E - 02   ,   1.433510 E - 01   ] ,   [   9.000000 E - 01   ,   8.166670 E - 02   ,   1.399910 E - 01   ] ,   [   9.142857 E - 01   ,   7.000000 E - 02   ,   1.361330 E - 01   ] ,   [   9.285714 E - 01   ,   5.833330 E - 02   ,   1.318700 E - 01   ] ,   [   9.428571 E - 01   ,   4.666670 E - 02   ,   1.273710 E - 01   ] ,   [   9.571429 E - 01   ,   3.500000 E - 02   ,   1.230200 E - 01   ] ,   [   9.714286 E - 01   ,   2.333330 E - 02   ,   1.192300 E - 01   ] ,   [   9.857143 E - 01   ,   1.166670 E - 02   ,   1.164180 E - 01   ] ,   [   1.000000 E + 00   ,   0.000000 E + 00   ,   1.150000 E - 01   ]   ]   }","title":"ANCF \u58f3 \u53ef \u53d8\u5f62 \u8f6e\u80ce"},{"location":"chrono/wheeled_tire/#reissner","text":"\u53c2\u89c1   ChReissnerTire   \u548c   ReissnerTire   \u3002","title":"Reissner \u58f3 \u5f62\u53d8 \u8f6e\u80ce"},{"location":"chrono/wheeled_vehicle/","text":"\u8f6e\u5f0f \u8f66\u8f86   Chrono : : Vehicle   \u4e2d \u7684 \u8f6e\u5f0f \u8f66\u8f86 \u662f \u62bd\u8c61 \u901a\u7528 \u8f66\u8f86 \u7cfb\u7edf   (   ChVehicle   )   \u7684 \u4e00\u79cd \u7279\u6b8a \u7279\u6b8a\u5316 \uff0c \u88ab \u5b9a\u4e49 \u4e3a \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u96c6\u5408 \uff08 \u5982\u4e0b \u6240\u793a \uff09 \u3002   \u8f6e\u5f0f \u8f66\u8f86 \u5305\u542b \u5e95\u76d8 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u3001 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u7cfb\u7edf \u5b50\u7cfb\u7edf \u548c \u4efb\u610f \u6570\u91cf \u7684 \u8f66\u8f74 \uff0c \u6309\u7167 \u60ef\u4f8b \uff0c \u8f66\u8f74 \u4ece \u8f66\u8f86 \u524d\u90e8 \u5f00\u59cb \u7f16\u53f7 \u3002 \u591a \u8f6c\u5411 \u8f66\u8f86 \u901a\u8fc7 \u5141\u8bb8 \u4efb\u610f \u6570\u91cf \u7684 \u8f6c\u5411 \u673a\u6784 \uff08 \u8fde\u63a5 \u5230 \u4e0d\u540c \u7684 \u8f66\u8f74 \uff09 \u6216 \u5141\u8bb8 \u591a\u4e2a \u53ef \u8f6c\u5411 \u8f66\u8f74 \u8fde\u63a5 \u5230 \u540c\u4e00 \u8f6c\u5411 \u673a\u6784 \u6765 \u652f\u6301 \u3002 \u6bcf\u4e2a \u8f66\u8f74 \u6bcf\u4fa7 \u53ef\u4ee5 \u5bb9\u7eb3 \u4e00\u4e2a \u6216 \u4e24\u4e2a \u8f6e\u80ce \u3002   \u53c2\u89c1   ChWheeledVehicle   \u3002   \u4ee5\u4e0b \u7ae0\u8282 \u63cf\u8ff0 \u4e86 \u5404\u79cd \u7cfb\u7edf \u5b50\u7cfb\u7edf \u6a21\u677f \uff1a   \u60ac\u6302 \u6a21\u578b   \u8f6c\u5411 \u673a\u6784 \u6a21\u578b   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b   \u8f6e\u80ce \u578b\u53f7","title":"\u8f6e\u5f0f \u8f66\u8f86"},{"location":"chrono/wheeled_vehicle/#_1","text":"Chrono : : Vehicle   \u4e2d \u7684 \u8f6e\u5f0f \u8f66\u8f86 \u662f \u62bd\u8c61 \u901a\u7528 \u8f66\u8f86 \u7cfb\u7edf   (   ChVehicle   )   \u7684 \u4e00\u79cd \u7279\u6b8a \u7279\u6b8a\u5316 \uff0c \u88ab \u5b9a\u4e49 \u4e3a \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7684 \u96c6\u5408 \uff08 \u5982\u4e0b \u6240\u793a \uff09 \u3002   \u8f6e\u5f0f \u8f66\u8f86 \u5305\u542b \u5e95\u76d8 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u3001 \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u7cfb\u7edf \u5b50\u7cfb\u7edf \u548c \u4efb\u610f \u6570\u91cf \u7684 \u8f66\u8f74 \uff0c \u6309\u7167 \u60ef\u4f8b \uff0c \u8f66\u8f74 \u4ece \u8f66\u8f86 \u524d\u90e8 \u5f00\u59cb \u7f16\u53f7 \u3002 \u591a \u8f6c\u5411 \u8f66\u8f86 \u901a\u8fc7 \u5141\u8bb8 \u4efb\u610f \u6570\u91cf \u7684 \u8f6c\u5411 \u673a\u6784 \uff08 \u8fde\u63a5 \u5230 \u4e0d\u540c \u7684 \u8f66\u8f74 \uff09 \u6216 \u5141\u8bb8 \u591a\u4e2a \u53ef \u8f6c\u5411 \u8f66\u8f74 \u8fde\u63a5 \u5230 \u540c\u4e00 \u8f6c\u5411 \u673a\u6784 \u6765 \u652f\u6301 \u3002 \u6bcf\u4e2a \u8f66\u8f74 \u6bcf\u4fa7 \u53ef\u4ee5 \u5bb9\u7eb3 \u4e00\u4e2a \u6216 \u4e24\u4e2a \u8f6e\u80ce \u3002   \u53c2\u89c1   ChWheeledVehicle   \u3002   \u4ee5\u4e0b \u7ae0\u8282 \u63cf\u8ff0 \u4e86 \u5404\u79cd \u7cfb\u7edf \u5b50\u7cfb\u7edf \u6a21\u677f \uff1a   \u60ac\u6302 \u6a21\u578b   \u8f6c\u5411 \u673a\u6784 \u6a21\u578b   \u4f20\u52a8 \u7cfb\u7edf \u52a8\u7cfb\u7edf \u4f20\u52a8\u7cfb\u7edf \u6a21\u578b   \u8f6e\u80ce \u578b\u53f7","title":"\u8f6e\u5f0f \u8f66\u8f86"},{"location":"course/auto_signal_control/","text":"\u81ea\u52a8 \u4fe1\u53f7 \u63a7\u5236   \u8fd9\u662f \u4e00\u4e2a \u57fa\u4e8e Flask \u7684 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff0c \u7528\u4e8e \u63a7\u5236   Carla \u4eff\u771f \u73af\u5883   \u4e2d \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u3002 \u8be5 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u901a\u8fc7 \u68c0\u6d4b \u8def\u53e3 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u52a8\u6001 \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u65f6\u957f \uff0c \u4ee5 \u4f18\u5316 \u4ea4\u901a \u901a\u884c \u6548\u7387 \u3002   \u4e3b\u8981 \u529f\u80fd   \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f   \u4e3b\u8981 \u529f\u80fd \u5305\u62ec \uff1a   1 .   \u83b7\u53d6 \u6307\u5b9a \u8def\u53e3 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3002   2 .   \u6839\u636e \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u52a8\u6001 \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff08 \u7eff\u706f \uff09 \u7684 \u65f6\u957f \u3002   3 .   \u8fd4\u56de \u6307\u5b9a \u8def\u53e3 \u5f53\u524d \u5168\u90e8 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u72b6\u6001 \u548c \u65f6\u957f \u4fe1\u606f \u3002   \u4f20\u5165 \u53c2\u6570   \u65e0\u9700 \u4f20\u5165 \u53c2\u6570 \uff0c \u8be5 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u81ea\u52a8 \u52a8\u68c0 \u68c0\u6d4b \u81ea\u52a8\u68c0\u6d4b \u6307\u5b9a \u8def\u53e3 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u5e76 \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u65f6\u957f \u3002   \u6838\u5fc3 \u5b9e\u73b0 \u6b65\u9aa4   1 . \u521d\u59cb \u521d\u59cb\u5316 \u548c \u8fde\u63a5 Carla \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \uff1a \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61 \u5e76 \u8bbe\u7f6e \u4eff\u771f \u53c2\u6570 \u3002   client   =   carla . Client ( ' localhost ' ,   2000 )   client . set _ timeout ( 10.0 )   world   =   client . get _ world ( )   2 . \u83b7\u53d6 \u8def\u53e3 \u4fe1\u606f   \uff1a \u901a\u8fc7 \u4e2d\u5fc3 \u4f4d\u7f6e \u83b7\u53d6 \u6307\u5b9a \u8def\u53e3 \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u4fe1\u606f \u3002   \u4e3a\u4e86 \u4fdd\u8bc1 \u6bcf\u6b21 \u8bf7\u6c42 \u4e0d\u4f1a \u5f80\u8be5 \u8def\u53e3 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u96c6\u5408 \u4e2d\u65b0 \u4e2d\u65b0\u52a0 \u91cd\u590d \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff0c \u5148 \u7528 \u96c6\u5408 \u5b58\u50a8 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u552f\u4e00 ID   traffics _ in _ junction   =   set ( )   def   get _ traffic _ lights _ in _ junction ( world ,   junction ) :   \" \" \" \u83b7\u53d6 \u8def\u53e3 \u7684 \u6240\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \" \" \"   traffic _ lights   =   world . get _ actors ( ) . filter ( ' traffic . traffic _ light ' )   for   traffic _ light   in   traffic _ lights :   if   get _ distance ( traffic _ light . get _ location ( ) ,   center _ location [ 0 ] )   < =   50 :   id   =   traffic _ light . get _ opendrive _ id ( )   traffics _ in _ junction . add ( id )   def   get _ light ( all _ traffic _ lights ) :   \" \" \" \u6839\u636e \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f ID \u5217\u8868 \u83b7\u53d6 \u5bf9\u5e94 \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5bf9\u8c61 \" \" \"   drive _ list   =   list ( traffics _ in _ junction )   traffic _ lights   =   [ ]   for   traffic _ light   in   all _ traffic _ lights :   if   traffic _ light . get _ opendrive _ id ( )   in   drive _ list :   traffic _ lights . append ( traffic _ light )   return   traffic _ lights   3 . \u8ba1\u7b97 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf   \uff1a \u68c0\u6d4b \u6307\u5b9a \u8303\u56f4 \u5185 \u7684 \u8f66\u8f86 \u6570\u91cf \u3002   def   get _ vehicles _ in _ intersection ( world ,   intersection _ location ,   intersection _ radius ) :   \" \" \" \u83b7\u53d6 \u8def\u53e3 \u8303\u56f4 \u5185 \u7684 \u8f66\u8f86 \u6570\u91cf \" \" \"   vehicles   =   world . get _ actors ( ) . filter ( ' vehicle . * ' )   vehicles _ in _ intersection   =   [ ]   for   vehicle   in   vehicles :   distance   =   get _ distance ( vehicle . get _ location ( ) ,   intersection _ location )   if   distance   < =   intersection _ radius :   vehicles _ in _ intersection . append ( vehicle )   return   len ( vehicles _ in _ intersection )   4 . \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6 \u957f   \uff1a \u6839\u636e \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u52a8\u6001 \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u65f6\u957f \u3002   if   junction _ flow   >   15 :   for   traffic _ light   in   get _ light ( all _ traffic _ lights ) :   traffic _ light . set _ green _ time ( GREEN _ TIME   +   15 )   last _ green _ time   =   GREEN _ TIME   +   15   elif   junction _ flow   >   10 :   for   traffic _ light   in   get _ light ( all _ traffic _ lights ) :   traffic _ light . set _ green _ time ( GREEN _ TIME   +   10 )   last _ green _ time   =   GREEN _ TIME   +   10   elif   junction _ flow   >   5 :   for   traffic _ light   in   get _ light ( all _ traffic _ lights ) :   traffic _ light . set _ green _ time ( GREEN _ TIME   +   5 )   last _ green _ time   =   GREEN _ TIME   +   5   else :   for   traffic _ light   in   get _ light ( all _ traffic _ lights ) :   traffic _ light . set _ green _ time ( GREEN _ TIME )   last _ green _ time   =   GREEN _ TIME   5 . \u8fd4\u56de \u7ed3\u679c   \uff1a \u8fd4\u56de \u5f53\u524d \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u72b6\u6001 \u548c \u8c03\u6574 \u540e \u7684 \u65f6\u957f \u4fe1\u606f \u3002   response _ data   =   {   \" traffic _ lights \" :   [   { \" id \" :   traffic _ ids } ,   { \" init _ green _ time \" :   traffic _ init _ green _ time } ,   { \" last _ green _ time \" :   last _ green _ time }   ]   }   \u4f7f\u7528 \u6b65\u9aa4   \u83b7\u53d6 \u8def\u53e3 \u4ea4\u901a \u4ea4\u901a\u706f \u4fe1\u606f \uff0c \u53ef\u4ee5 \u53d1\u9001 \u4e00\u4e2a GET \u8bf7\u6c42 \u5230   / set _ traffic _ light   \u8def\u7531 , \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4f1a \u81ea\u52a8 \u6839\u636e \u8def\u53e3 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u65f6\u957f \u5e76 \u8fd4\u56de \u7ed3\u679c \u3002   \u6253\u5f00 Carla \u4eff\u771f \u73af\u5883   \u5148 \u8fd0\u884c   generate _ traffic . py   \u6765 \u751f\u6210 \u4ea4\u901a   \u8fd0\u884c \u811a\u672c auto _ signal _ control . py \u6765 \u5f00\u542f \u670d\u52a1 \u670d\u52a1\u7aef   \u53d1\u9001 http \u8bf7\u6c42 :   http : / / 127.0 . 0.1 : 5000 / set _ traffic _ light   \u901a\u8fc7 \u8fd9\u4e9b \u6b65\u9aa4 \u548c \u8bf4\u660e \uff0c \u7528\u6237 \u53ef\u4ee5 \u4f7f\u7528 \u8be5 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u52a8\u6001 \u8c03\u6574 Carla \u4eff\u771f \u73af\u5883 \u4e2d \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6 \u957f \uff0c \u4ee5 \u4f18\u5316 \u4ea4\u901a \u901a\u884c \u6548\u7387 \u3002","title":"\u81ea\u52a8 \u4fe1\u53f7 \u63a7\u5236"},{"location":"course/auto_signal_control/#_1","text":"\u8fd9\u662f \u4e00\u4e2a \u57fa\u4e8e Flask \u7684 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff0c \u7528\u4e8e \u63a7\u5236   Carla \u4eff\u771f \u73af\u5883   \u4e2d \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u3002 \u8be5 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u901a\u8fc7 \u68c0\u6d4b \u8def\u53e3 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u52a8\u6001 \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u65f6\u957f \uff0c \u4ee5 \u4f18\u5316 \u4ea4\u901a \u901a\u884c \u6548\u7387 \u3002","title":"\u81ea\u52a8 \u4fe1\u53f7 \u63a7\u5236"},{"location":"course/auto_signal_control/#_2","text":"\u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f   \u4e3b\u8981 \u529f\u80fd \u5305\u62ec \uff1a   1 .   \u83b7\u53d6 \u6307\u5b9a \u8def\u53e3 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3002   2 .   \u6839\u636e \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u52a8\u6001 \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff08 \u7eff\u706f \uff09 \u7684 \u65f6\u957f \u3002   3 .   \u8fd4\u56de \u6307\u5b9a \u8def\u53e3 \u5f53\u524d \u5168\u90e8 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u72b6\u6001 \u548c \u65f6\u957f \u4fe1\u606f \u3002","title":"\u4e3b\u8981 \u529f\u80fd"},{"location":"course/auto_signal_control/#_3","text":"\u65e0\u9700 \u4f20\u5165 \u53c2\u6570 \uff0c \u8be5 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u81ea\u52a8 \u52a8\u68c0 \u68c0\u6d4b \u81ea\u52a8\u68c0\u6d4b \u6307\u5b9a \u8def\u53e3 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u5e76 \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u65f6\u957f \u3002","title":"\u4f20\u5165 \u53c2\u6570"},{"location":"course/auto_signal_control/#_4","text":"1 . \u521d\u59cb \u521d\u59cb\u5316 \u548c \u8fde\u63a5 Carla \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   \uff1a \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61 \u5e76 \u8bbe\u7f6e \u4eff\u771f \u53c2\u6570 \u3002   client   =   carla . Client ( ' localhost ' ,   2000 )   client . set _ timeout ( 10.0 )   world   =   client . get _ world ( )   2 . \u83b7\u53d6 \u8def\u53e3 \u4fe1\u606f   \uff1a \u901a\u8fc7 \u4e2d\u5fc3 \u4f4d\u7f6e \u83b7\u53d6 \u6307\u5b9a \u8def\u53e3 \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u4fe1\u606f \u3002   \u4e3a\u4e86 \u4fdd\u8bc1 \u6bcf\u6b21 \u8bf7\u6c42 \u4e0d\u4f1a \u5f80\u8be5 \u8def\u53e3 \u7684 \u4ea4\u901a \u4ea4\u901a\u706f \u96c6\u5408 \u4e2d\u65b0 \u4e2d\u65b0\u52a0 \u91cd\u590d \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff0c \u5148 \u7528 \u96c6\u5408 \u5b58\u50a8 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u552f\u4e00 ID   traffics _ in _ junction   =   set ( )   def   get _ traffic _ lights _ in _ junction ( world ,   junction ) :   \" \" \" \u83b7\u53d6 \u8def\u53e3 \u7684 \u6240\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \" \" \"   traffic _ lights   =   world . get _ actors ( ) . filter ( ' traffic . traffic _ light ' )   for   traffic _ light   in   traffic _ lights :   if   get _ distance ( traffic _ light . get _ location ( ) ,   center _ location [ 0 ] )   < =   50 :   id   =   traffic _ light . get _ opendrive _ id ( )   traffics _ in _ junction . add ( id )   def   get _ light ( all _ traffic _ lights ) :   \" \" \" \u6839\u636e \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f ID \u5217\u8868 \u83b7\u53d6 \u5bf9\u5e94 \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5bf9\u8c61 \" \" \"   drive _ list   =   list ( traffics _ in _ junction )   traffic _ lights   =   [ ]   for   traffic _ light   in   all _ traffic _ lights :   if   traffic _ light . get _ opendrive _ id ( )   in   drive _ list :   traffic _ lights . append ( traffic _ light )   return   traffic _ lights   3 . \u8ba1\u7b97 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf   \uff1a \u68c0\u6d4b \u6307\u5b9a \u8303\u56f4 \u5185 \u7684 \u8f66\u8f86 \u6570\u91cf \u3002   def   get _ vehicles _ in _ intersection ( world ,   intersection _ location ,   intersection _ radius ) :   \" \" \" \u83b7\u53d6 \u8def\u53e3 \u8303\u56f4 \u5185 \u7684 \u8f66\u8f86 \u6570\u91cf \" \" \"   vehicles   =   world . get _ actors ( ) . filter ( ' vehicle . * ' )   vehicles _ in _ intersection   =   [ ]   for   vehicle   in   vehicles :   distance   =   get _ distance ( vehicle . get _ location ( ) ,   intersection _ location )   if   distance   < =   intersection _ radius :   vehicles _ in _ intersection . append ( vehicle )   return   len ( vehicles _ in _ intersection )   4 . \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6 \u957f   \uff1a \u6839\u636e \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u52a8\u6001 \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u65f6\u957f \u3002   if   junction _ flow   >   15 :   for   traffic _ light   in   get _ light ( all _ traffic _ lights ) :   traffic _ light . set _ green _ time ( GREEN _ TIME   +   15 )   last _ green _ time   =   GREEN _ TIME   +   15   elif   junction _ flow   >   10 :   for   traffic _ light   in   get _ light ( all _ traffic _ lights ) :   traffic _ light . set _ green _ time ( GREEN _ TIME   +   10 )   last _ green _ time   =   GREEN _ TIME   +   10   elif   junction _ flow   >   5 :   for   traffic _ light   in   get _ light ( all _ traffic _ lights ) :   traffic _ light . set _ green _ time ( GREEN _ TIME   +   5 )   last _ green _ time   =   GREEN _ TIME   +   5   else :   for   traffic _ light   in   get _ light ( all _ traffic _ lights ) :   traffic _ light . set _ green _ time ( GREEN _ TIME )   last _ green _ time   =   GREEN _ TIME   5 . \u8fd4\u56de \u7ed3\u679c   \uff1a \u8fd4\u56de \u5f53\u524d \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u72b6\u6001 \u548c \u8c03\u6574 \u540e \u7684 \u65f6\u957f \u4fe1\u606f \u3002   response _ data   =   {   \" traffic _ lights \" :   [   { \" id \" :   traffic _ ids } ,   { \" init _ green _ time \" :   traffic _ init _ green _ time } ,   { \" last _ green _ time \" :   last _ green _ time }   ]   }","title":"\u6838\u5fc3 \u5b9e\u73b0 \u6b65\u9aa4"},{"location":"course/auto_signal_control/#_5","text":"\u83b7\u53d6 \u8def\u53e3 \u4ea4\u901a \u4ea4\u901a\u706f \u4fe1\u606f \uff0c \u53ef\u4ee5 \u53d1\u9001 \u4e00\u4e2a GET \u8bf7\u6c42 \u5230   / set _ traffic _ light   \u8def\u7531 , \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u4f1a \u81ea\u52a8 \u6839\u636e \u8def\u53e3 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u8c03\u6574 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u65f6\u957f \u5e76 \u8fd4\u56de \u7ed3\u679c \u3002   \u6253\u5f00 Carla \u4eff\u771f \u73af\u5883   \u5148 \u8fd0\u884c   generate _ traffic . py   \u6765 \u751f\u6210 \u4ea4\u901a   \u8fd0\u884c \u811a\u672c auto _ signal _ control . py \u6765 \u5f00\u542f \u670d\u52a1 \u670d\u52a1\u7aef   \u53d1\u9001 http \u8bf7\u6c42 :   http : / / 127.0 . 0.1 : 5000 / set _ traffic _ light   \u901a\u8fc7 \u8fd9\u4e9b \u6b65\u9aa4 \u548c \u8bf4\u660e \uff0c \u7528\u6237 \u53ef\u4ee5 \u4f7f\u7528 \u8be5 \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u52a8\u6001 \u8c03\u6574 Carla \u4eff\u771f \u73af\u5883 \u4e2d \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6 \u957f \uff0c \u4ee5 \u4f18\u5316 \u4ea4\u901a \u901a\u884c \u6548\u7387 \u3002","title":"\u4f7f\u7528 \u6b65\u9aa4"},{"location":"course/congestion_sim/","text":"\u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u6a21\u62df   generate _ traffic . py   \u662f \u4e00\u4e2a \u7528\u4e8e \u6a21\u62df \u4ea4\u901a \u7684 \u811a\u672c \u3002 \u901a\u8fc7 \u591a\u6b21 \u8fd0\u884c \u8be5 \u811a\u672c \uff0c \u53ef\u4ee5 \u6a21\u62df \u548c \u5206\u6790 \u4e0d\u540c \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u4e0b \u7684 \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u60c5\u51b5 \uff0c \u5e76 \u8fdb\u884c \u6570\u636e \u7edf\u8ba1 \u548c \u4f18\u5316 \u8bc4\u4f30 \u3002   \u529f\u80fd \u4ecb\u7ecd   \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u6a21\u62df   \uff1a \u901a\u8fc7 \u591a\u6b21 \u8fd0\u884c \u811a\u672c \u751f\u6210 \u5927\u91cf \u8f66\u8f86 \uff0c \u6a21\u62df \u4e0d\u540c \u573a\u666f \u4e0b \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u53d8\u5316 \u3002   \u7edf\u8ba1 \u8ba1\u5206 \u5206\u6790 \u7edf\u8ba1\u5206\u6790   \uff1a \u5bf9 \u591a\u6b21 \u6a21\u62df \u8fc7\u7a0b \u4e2d \u7684 \u62e5\u5835 \u60c5\u51b5 \u8fdb\u884c \u6570\u636e \u91c7\u96c6 \u548c \u7edf\u8ba1 \u8ba1\u5206 \u5206\u6790 \u7edf\u8ba1\u5206\u6790 \u3002   \u6548\u679c \u8bc4\u4f30   \uff1a \u8bc4\u4f30 \u4e0d\u540c \u4ea4\u901a \u4f18\u5316 \u63aa\u65bd \u5bf9 \u7f13\u89e3 \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u7684 \u5f71\u54cd \u3002   generate _ traffic . py   \u4f7f\u7528 \u8bf4\u660e \u6587\u6863   \u6982\u8ff0   generate _ traffic . py   \u662f \u4e00\u4e2a \u7528\u4e8e \u6a21\u62df \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u7684 \u811a\u672c \u3002 \u901a\u8fc7 \u591a\u6b21 \u8fd0\u884c \u8be5 \u811a\u672c \uff0c \u53ef\u4ee5 \u6a21\u62df \u548c \u5206\u6790 \u4e0d\u540c \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u4e0b \u7684 \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u60c5\u51b5 \uff0c \u5e76 \u8fdb\u884c \u6570\u636e \u7edf\u8ba1 \u548c \u4f18\u5316 \u8bc4\u4f30 \u3002   \u529f\u80fd \u4ecb\u7ecd   \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u6a21\u62df   \uff1a \u901a\u8fc7 \u591a\u6b21 \u8fd0\u884c \u811a\u672c \u751f\u6210 \u5927\u91cf \u8f66\u8f86 \uff0c \u6a21\u62df \u4e0d\u540c \u573a\u666f \u4e0b \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u53d8\u5316 \u3002   \u7edf\u8ba1 \u8ba1\u5206 \u5206\u6790 \u7edf\u8ba1\u5206\u6790   \uff1a \u5bf9 \u591a\u6b21 \u6a21\u62df \u8fc7\u7a0b \u4e2d \u7684 \u62e5\u5835 \u60c5\u51b5 \u8fdb\u884c \u6570\u636e \u91c7\u96c6 \u548c \u7edf\u8ba1 \u8ba1\u5206 \u5206\u6790 \u7edf\u8ba1\u5206\u6790 \u3002   \u6548\u679c \u8bc4\u4f30   \uff1a \u8bc4\u4f30 \u4e0d\u540c \u4ea4\u901a \u4f18\u5316 \u63aa\u65bd \u5bf9 \u7f13\u89e3 \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u7684 \u5f71\u54cd \u3002   \u4f7f\u7528 \u65b9\u6cd5   \u4f9d\u8d56 \u73af\u5883   \u5728 \u8fd0\u884c   generate _ traffic . py   \u4e4b\u524d \uff0c \u8bf7 \u786e\u4fdd \u5b89\u88c5 \u4e86 \u4ee5\u4e0b \u4f9d\u8d56 \u5305 \uff1a   CARLA   \u4eff\u771f \u73af\u5883 \u7684 \u642d\u5efa \u3002   Carla , Numpy \u7b49 \u4f9d\u8d56 \u5305 \u7684 \u5b89\u88c5 \u3002   \u811a\u672c \u8fd0\u884c   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u8fd0\u884c \u811a\u672c \uff1a   python   generate _ traffic . py   \u591a\u6b21 \u8fd0\u884c \u6a21\u62df \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835   \u4e3a\u4e86 \u6a21\u62df \u4e0d\u540c \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u4e0b \u7684 \u62e5\u5835 \u60c5\u51b5 \uff0c \u53ef\u4ee5 \u591a\u6b21 \u8fd0\u884c   generate _ traffic . py   \u811a\u672c \u3002   \u4f7f\u7528   traffic _ indicators . py   \u811a\u672c \u5bf9 \u8def\u53e3 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3001 \u8def\u53e3 \u8f66\u5747 \u5ef6\u8bef \u3001 \u8def\u53e3 \u9971\u548c \u3001 \u6392\u961f \u957f\u5ea6 \u56db\u79cd \u8def\u53e3 \u771f\u5b9e \u771f\u5b9e\u6027 \u8bc4\u4ef7 \u6307\u6807 \u5206\u6790 \u3002","title":"\u4ea4\u901a\u62e5\u5835 \u6a21\u62df"},{"location":"course/congestion_sim/#_1","text":"generate _ traffic . py   \u662f \u4e00\u4e2a \u7528\u4e8e \u6a21\u62df \u4ea4\u901a \u7684 \u811a\u672c \u3002 \u901a\u8fc7 \u591a\u6b21 \u8fd0\u884c \u8be5 \u811a\u672c \uff0c \u53ef\u4ee5 \u6a21\u62df \u548c \u5206\u6790 \u4e0d\u540c \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u4e0b \u7684 \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u60c5\u51b5 \uff0c \u5e76 \u8fdb\u884c \u6570\u636e \u7edf\u8ba1 \u548c \u4f18\u5316 \u8bc4\u4f30 \u3002","title":"\u4ea4\u901a\u62e5\u5835 \u6a21\u62df"},{"location":"course/congestion_sim/#_2","text":"\u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u6a21\u62df   \uff1a \u901a\u8fc7 \u591a\u6b21 \u8fd0\u884c \u811a\u672c \u751f\u6210 \u5927\u91cf \u8f66\u8f86 \uff0c \u6a21\u62df \u4e0d\u540c \u573a\u666f \u4e0b \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u53d8\u5316 \u3002   \u7edf\u8ba1 \u8ba1\u5206 \u5206\u6790 \u7edf\u8ba1\u5206\u6790   \uff1a \u5bf9 \u591a\u6b21 \u6a21\u62df \u8fc7\u7a0b \u4e2d \u7684 \u62e5\u5835 \u60c5\u51b5 \u8fdb\u884c \u6570\u636e \u91c7\u96c6 \u548c \u7edf\u8ba1 \u8ba1\u5206 \u5206\u6790 \u7edf\u8ba1\u5206\u6790 \u3002   \u6548\u679c \u8bc4\u4f30   \uff1a \u8bc4\u4f30 \u4e0d\u540c \u4ea4\u901a \u4f18\u5316 \u63aa\u65bd \u5bf9 \u7f13\u89e3 \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u7684 \u5f71\u54cd \u3002","title":"\u529f\u80fd \u4ecb\u7ecd"},{"location":"course/congestion_sim/#generate_trafficpy","text":"","title":"generate _ traffic . py   \u4f7f\u7528 \u8bf4\u660e \u6587\u6863"},{"location":"course/congestion_sim/#_3","text":"generate _ traffic . py   \u662f \u4e00\u4e2a \u7528\u4e8e \u6a21\u62df \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u7684 \u811a\u672c \u3002 \u901a\u8fc7 \u591a\u6b21 \u8fd0\u884c \u8be5 \u811a\u672c \uff0c \u53ef\u4ee5 \u6a21\u62df \u548c \u5206\u6790 \u4e0d\u540c \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u4e0b \u7684 \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u60c5\u51b5 \uff0c \u5e76 \u8fdb\u884c \u6570\u636e \u7edf\u8ba1 \u548c \u4f18\u5316 \u8bc4\u4f30 \u3002","title":"\u6982\u8ff0"},{"location":"course/congestion_sim/#_4","text":"\u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u6a21\u62df   \uff1a \u901a\u8fc7 \u591a\u6b21 \u8fd0\u884c \u811a\u672c \u751f\u6210 \u5927\u91cf \u8f66\u8f86 \uff0c \u6a21\u62df \u4e0d\u540c \u573a\u666f \u4e0b \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u53d8\u5316 \u3002   \u7edf\u8ba1 \u8ba1\u5206 \u5206\u6790 \u7edf\u8ba1\u5206\u6790   \uff1a \u5bf9 \u591a\u6b21 \u6a21\u62df \u8fc7\u7a0b \u4e2d \u7684 \u62e5\u5835 \u60c5\u51b5 \u8fdb\u884c \u6570\u636e \u91c7\u96c6 \u548c \u7edf\u8ba1 \u8ba1\u5206 \u5206\u6790 \u7edf\u8ba1\u5206\u6790 \u3002   \u6548\u679c \u8bc4\u4f30   \uff1a \u8bc4\u4f30 \u4e0d\u540c \u4ea4\u901a \u4f18\u5316 \u63aa\u65bd \u5bf9 \u7f13\u89e3 \u4ea4\u901a \u62e5\u5835 \u4ea4\u901a\u62e5\u5835 \u7684 \u5f71\u54cd \u3002","title":"\u529f\u80fd \u4ecb\u7ecd"},{"location":"course/congestion_sim/#_5","text":"","title":"\u4f7f\u7528 \u65b9\u6cd5"},{"location":"course/congestion_sim/#_6","text":"\u5728 \u8fd0\u884c   generate _ traffic . py   \u4e4b\u524d \uff0c \u8bf7 \u786e\u4fdd \u5b89\u88c5 \u4e86 \u4ee5\u4e0b \u4f9d\u8d56 \u5305 \uff1a   CARLA   \u4eff\u771f \u73af\u5883 \u7684 \u642d\u5efa \u3002   Carla , Numpy \u7b49 \u4f9d\u8d56 \u5305 \u7684 \u5b89\u88c5 \u3002","title":"\u4f9d\u8d56 \u73af\u5883"},{"location":"course/congestion_sim/#_7","text":"\u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u8fd0\u884c \u811a\u672c \uff1a   python   generate _ traffic . py","title":"\u811a\u672c \u8fd0\u884c"},{"location":"course/congestion_sim/#_8","text":"\u4e3a\u4e86 \u6a21\u62df \u4e0d\u540c \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u4e0b \u7684 \u62e5\u5835 \u60c5\u51b5 \uff0c \u53ef\u4ee5 \u591a\u6b21 \u8fd0\u884c   generate _ traffic . py   \u811a\u672c \u3002   \u4f7f\u7528   traffic _ indicators . py   \u811a\u672c \u5bf9 \u8def\u53e3 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3001 \u8def\u53e3 \u8f66\u5747 \u5ef6\u8bef \u3001 \u8def\u53e3 \u9971\u548c \u3001 \u6392\u961f \u957f\u5ea6 \u56db\u79cd \u8def\u53e3 \u771f\u5b9e \u771f\u5b9e\u6027 \u8bc4\u4ef7 \u6307\u6807 \u5206\u6790 \u3002","title":"\u591a\u6b21 \u8fd0\u884c \u6a21\u62df \u4ea4\u901a\u62e5\u5835"},{"location":"course/locate_moving/","text":"\u8f66\u8f86 \u6309 \u5730\u56fe \u9009\u70b9 \u8fdb\u884c \u79fb\u52a8   \u200b   \u6b64 \u793a\u4f8b \u652f\u6301 \u5728   pygame   \u7a97\u53e3 \u5bf9 \u663e\u793a \u533a\u57df \u8fdb\u884c \u8f66\u8f86 \u751f\u6210 \u5e76 \u8fdb\u884c \u79fb\u52a8 \u3002   \u73af\u5883 \u4f9d\u8d56   python   3.7 . 9   carla   0.9 . 15   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \u8fd0\u884c   locate _ moving . py   CarlaSimulator   \u7c7b   \u200b   \u8be5\u7c7b \u4e3b\u8981 \u5b8c\u6210 \u8bbe\u7f6e \u76f8\u673a \u3001 \u5904\u7406 \u76f8\u673a \u56fe\u50cf \u3001 \u5c06 Pygame \u5750\u6807 \u8f6c\u6362 \u4e3a CARLA \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u3002   \u51fd\u6570 \u521d\u59cb \u521d\u59cb\u5316 __ init __   \u200b   \u521d\u59cb \u521d\u59cb\u5316 \u51fd\u6570 \uff0c \u8bbe\u7f6e \u6a21\u62df \u6a21\u62df\u5668 \u7a97\u53e3 \u7684 \u5bbd\u5ea6 \u548c \u9ad8\u5ea6 \uff0c \u8fde\u63a5 CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5e76 \u83b7\u53d6 \u4e16\u754c \u548c \u84dd \u56fe\u5e93 \u3002   def   __ init __ ( self ,   width ,   height ) :   self . width   =   width   self . height   =   height   self . client   =   carla . Client ( ' localhost ' ,   2000 )   self . client . set _ timeout ( 10.0 )   self . world   =   self . client . get _ world ( )   self . blueprint _ library   =   self . world . get _ blueprint _ library ( )   self . vehicle _ bp   =   self . blueprint _ library . filter ( ' vehicle . * ' ) [ 0 ]   self . camera   =   None   self . vehicles   =   [ ]   self . fov   =   VIEW _ FOV   setup _ camera \u51fd\u6570   \u200b   \u8bbe\u7f6e \u76f8\u673a \uff0c \u5b9a\u4e49 \u76f8\u673a \u7684 \u84dd\u56fe \u3001 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u3001 \u89c6\u573a \u89d2 \uff08 FOV \uff09 \uff0c \u5e76 \u5c06 \u76f8\u673a \u751f\u6210 \u5728 \u6307\u5b9a \u7684 \u4f4d\u7f6e \u548c \u89d2\u5ea6 \u3002   def   setup _ camera ( self ) :   camera _ bp   =   self . blueprint _ library . find ( ' sensor . camera . rgb ' )   camera _ bp . set _ attribute ( ' image _ size _ x ' ,   str ( self . width ) )   camera _ bp . set _ attribute ( ' image _ size _ y ' ,   str ( self . height ) )   camera _ bp . set _ attribute ( ' fov ' ,   str ( self . fov ) )   camera _ transform   =   carla . Transform ( carla . Location ( x = 0 ,   y = 0 ,   z = 50 ) ,   carla . Rotation ( yaw = 270 ,   pitch = - 90 ) )   self . camera   =   self . world . spawn _ actor ( camera _ bp ,   camera _ transform )   process _ image \u51fd\u6570   \u200b   \u5904\u7406 \u76f8\u673a \u6355\u83b7 \u7684 \u56fe\u50cf \uff0c \u5c06 \u5176 \u8f6c\u6362 \u4e3a Pygame \u53ef \u663e\u793a \u7684 \u683c\u5f0f \u3002   def   process _ image ( self ,   image ) :   array   =   np . frombuffer ( image . raw _ data ,   dtype = np . uint8 )   array   =   array . reshape ( ( self . height ,   self . width ,   4 ) )   array   =   array [ : ,   : ,   : 3 ]   #   Remove   alpha   channel   array   =   array [ : ,   : ,   : : - 1 ]   #   Convert   BGR   to   RGB   surface   =   pygame . surfarray . make _ surface ( array . swapaxes ( 0 ,   1 ) )   return   surface   convert _ pygame _ to _ world \u51fd\u6570   \u200b   \u5c06 Pygame \u7a97\u53e3 \u4e2d \u7684 \u5750\u6807 \u8f6c\u6362 \u4e3a CARLA \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u3002 \u4e3b\u8981 \u901a\u8fc7 \u76f8\u673a \u7684 \u89c6\u89d2 \u548c Pygame \u7a97\u53e3 \u7684 \u5927\u5c0f \u8fdb\u884c \u8ba1\u7b97 \u3002   def   convert _ pygame _ to _ world ( self ,   x ,   y ) :   cam _ transform   =   self . camera . get _ transform ( )   cam _ loc   =   cam _ transform . location   aspect _ ratio   =   self . width   /   self . height   camera _ fov _ rad   =   np . radians ( self . fov )   camera _ fov _ y   =   2   *   np . arctan ( np . tan ( camera _ fov _ rad   /   2 )   /   aspect _ ratio )   world _ units _ per _ pixel _ x   =   ( 2   *   cam _ loc . z   *   np . tan ( camera _ fov _ rad   /   2 ) )   /   self . width   world _ units _ per _ pixel _ y   =   ( 2   *   cam _ loc . z   *   np . tan ( camera _ fov _ y   /   2 ) )   /   self . height   relative _ x   =   ( x   -   self . width   /   2 )   *   world _ units _ per _ pixel _ x   relative _ y   =   ( y   -   self . height   /   2 )   *   world _ units _ per _ pixel _ y   world _ x   =   cam _ loc . x   +   relative _ x   world _ y   =   cam _ loc . y   -   relative _ y   return   world _ x ,   world _ y   run \u51fd\u6570   \u200b   \u8fd0\u884c \u6a21\u62df \u6a21\u62df\u5668 \uff0c \u521d\u59cb \u521d\u59cb\u5316 Pygame \u7a97\u53e3 \uff0c \u8bbe\u7f6e \u76f8\u673a \u76d1\u542c \u76d1\u542c\u5668 \uff0c \u5e76 \u5904\u7406 Pygame \u4e8b\u4ef6 \uff0c \u5982 \u70b9\u51fb \u4e8b\u4ef6 \u751f\u6210 \u8f66\u8f86 \u3002   def   run ( self ) :   pygame . init ( )   display   =   pygame . display . set _ mode ( ( self . width ,   self . height ) ,   pygame . HWSURFACE   |   pygame . DOUBLEBUF )   clock   =   pygame . time . Clock ( )   self . setup _ camera ( )   self . camera . listen ( lambda   image :   display . blit ( self . process _ image ( image ) ,   ( 0 ,   0 ) ) )   running   =   True   while   running :   for   event   in   pygame . event . get ( ) :   if   event . type   = =   pygame . QUIT :   running   =   False   elif   event . type   = =   pygame . MOUSEBUTTONDOWN :   x ,   y   =   event . pos   world _ x ,   world _ y   =   self . convert _ pygame _ to _ world ( x ,   y )   spawn _ point   =   carla . Transform ( carla . Location ( x = world _ x ,   y = - world _ y ,   z = 1 ) ,   carla . Rotation ( ) )   vehicle   =   self . world . spawn _ actor ( self . vehicle _ bp ,   spawn _ point )   vehicle . set _ autopilot ( )   self . vehicles . append ( vehicle )   pygame . display . flip ( )   clock . tick ( 30 )   for   vehicle   in   self . vehicles :   vehicle . destroy ( )   self . camera . destroy ( )   pygame . quit ( )","title":"\u8f66\u8f86 \u6309 \u5730\u56fe \u9009\u70b9 \u8fdb\u884c \u79fb\u52a8"},{"location":"course/locate_moving/#_1","text":"\u200b   \u6b64 \u793a\u4f8b \u652f\u6301 \u5728   pygame   \u7a97\u53e3 \u5bf9 \u663e\u793a \u533a\u57df \u8fdb\u884c \u8f66\u8f86 \u751f\u6210 \u5e76 \u8fdb\u884c \u79fb\u52a8 \u3002","title":"\u8f66\u8f86 \u6309 \u5730\u56fe \u9009\u70b9 \u8fdb\u884c \u79fb\u52a8"},{"location":"course/locate_moving/#_2","text":"python   3.7 . 9   carla   0.9 . 15   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \u8fd0\u884c   locate _ moving . py","title":"\u73af\u5883 \u4f9d\u8d56"},{"location":"course/locate_moving/#carlasimulator","text":"\u200b   \u8be5\u7c7b \u4e3b\u8981 \u5b8c\u6210 \u8bbe\u7f6e \u76f8\u673a \u3001 \u5904\u7406 \u76f8\u673a \u56fe\u50cf \u3001 \u5c06 Pygame \u5750\u6807 \u8f6c\u6362 \u4e3a CARLA \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u3002","title":"CarlaSimulator   \u7c7b"},{"location":"course/locate_moving/#__init__","text":"\u200b   \u521d\u59cb \u521d\u59cb\u5316 \u51fd\u6570 \uff0c \u8bbe\u7f6e \u6a21\u62df \u6a21\u62df\u5668 \u7a97\u53e3 \u7684 \u5bbd\u5ea6 \u548c \u9ad8\u5ea6 \uff0c \u8fde\u63a5 CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5e76 \u83b7\u53d6 \u4e16\u754c \u548c \u84dd \u56fe\u5e93 \u3002   def   __ init __ ( self ,   width ,   height ) :   self . width   =   width   self . height   =   height   self . client   =   carla . Client ( ' localhost ' ,   2000 )   self . client . set _ timeout ( 10.0 )   self . world   =   self . client . get _ world ( )   self . blueprint _ library   =   self . world . get _ blueprint _ library ( )   self . vehicle _ bp   =   self . blueprint _ library . filter ( ' vehicle . * ' ) [ 0 ]   self . camera   =   None   self . vehicles   =   [ ]   self . fov   =   VIEW _ FOV","title":"\u51fd\u6570 \u521d\u59cb\u5316 __ init __"},{"location":"course/locate_moving/#setup_camera","text":"\u200b   \u8bbe\u7f6e \u76f8\u673a \uff0c \u5b9a\u4e49 \u76f8\u673a \u7684 \u84dd\u56fe \u3001 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u3001 \u89c6\u573a \u89d2 \uff08 FOV \uff09 \uff0c \u5e76 \u5c06 \u76f8\u673a \u751f\u6210 \u5728 \u6307\u5b9a \u7684 \u4f4d\u7f6e \u548c \u89d2\u5ea6 \u3002   def   setup _ camera ( self ) :   camera _ bp   =   self . blueprint _ library . find ( ' sensor . camera . rgb ' )   camera _ bp . set _ attribute ( ' image _ size _ x ' ,   str ( self . width ) )   camera _ bp . set _ attribute ( ' image _ size _ y ' ,   str ( self . height ) )   camera _ bp . set _ attribute ( ' fov ' ,   str ( self . fov ) )   camera _ transform   =   carla . Transform ( carla . Location ( x = 0 ,   y = 0 ,   z = 50 ) ,   carla . Rotation ( yaw = 270 ,   pitch = - 90 ) )   self . camera   =   self . world . spawn _ actor ( camera _ bp ,   camera _ transform )","title":"setup _ camera \u51fd\u6570"},{"location":"course/locate_moving/#process_image","text":"\u200b   \u5904\u7406 \u76f8\u673a \u6355\u83b7 \u7684 \u56fe\u50cf \uff0c \u5c06 \u5176 \u8f6c\u6362 \u4e3a Pygame \u53ef \u663e\u793a \u7684 \u683c\u5f0f \u3002   def   process _ image ( self ,   image ) :   array   =   np . frombuffer ( image . raw _ data ,   dtype = np . uint8 )   array   =   array . reshape ( ( self . height ,   self . width ,   4 ) )   array   =   array [ : ,   : ,   : 3 ]   #   Remove   alpha   channel   array   =   array [ : ,   : ,   : : - 1 ]   #   Convert   BGR   to   RGB   surface   =   pygame . surfarray . make _ surface ( array . swapaxes ( 0 ,   1 ) )   return   surface","title":"process _ image \u51fd\u6570"},{"location":"course/locate_moving/#convert_pygame_to_world","text":"\u200b   \u5c06 Pygame \u7a97\u53e3 \u4e2d \u7684 \u5750\u6807 \u8f6c\u6362 \u4e3a CARLA \u4e16\u754c \u5750\u6807 \u4e16\u754c\u5750\u6807 \u3002 \u4e3b\u8981 \u901a\u8fc7 \u76f8\u673a \u7684 \u89c6\u89d2 \u548c Pygame \u7a97\u53e3 \u7684 \u5927\u5c0f \u8fdb\u884c \u8ba1\u7b97 \u3002   def   convert _ pygame _ to _ world ( self ,   x ,   y ) :   cam _ transform   =   self . camera . get _ transform ( )   cam _ loc   =   cam _ transform . location   aspect _ ratio   =   self . width   /   self . height   camera _ fov _ rad   =   np . radians ( self . fov )   camera _ fov _ y   =   2   *   np . arctan ( np . tan ( camera _ fov _ rad   /   2 )   /   aspect _ ratio )   world _ units _ per _ pixel _ x   =   ( 2   *   cam _ loc . z   *   np . tan ( camera _ fov _ rad   /   2 ) )   /   self . width   world _ units _ per _ pixel _ y   =   ( 2   *   cam _ loc . z   *   np . tan ( camera _ fov _ y   /   2 ) )   /   self . height   relative _ x   =   ( x   -   self . width   /   2 )   *   world _ units _ per _ pixel _ x   relative _ y   =   ( y   -   self . height   /   2 )   *   world _ units _ per _ pixel _ y   world _ x   =   cam _ loc . x   +   relative _ x   world _ y   =   cam _ loc . y   -   relative _ y   return   world _ x ,   world _ y","title":"convert _ pygame _ to _ world \u51fd\u6570"},{"location":"course/locate_moving/#run","text":"\u200b   \u8fd0\u884c \u6a21\u62df \u6a21\u62df\u5668 \uff0c \u521d\u59cb \u521d\u59cb\u5316 Pygame \u7a97\u53e3 \uff0c \u8bbe\u7f6e \u76f8\u673a \u76d1\u542c \u76d1\u542c\u5668 \uff0c \u5e76 \u5904\u7406 Pygame \u4e8b\u4ef6 \uff0c \u5982 \u70b9\u51fb \u4e8b\u4ef6 \u751f\u6210 \u8f66\u8f86 \u3002   def   run ( self ) :   pygame . init ( )   display   =   pygame . display . set _ mode ( ( self . width ,   self . height ) ,   pygame . HWSURFACE   |   pygame . DOUBLEBUF )   clock   =   pygame . time . Clock ( )   self . setup _ camera ( )   self . camera . listen ( lambda   image :   display . blit ( self . process _ image ( image ) ,   ( 0 ,   0 ) ) )   running   =   True   while   running :   for   event   in   pygame . event . get ( ) :   if   event . type   = =   pygame . QUIT :   running   =   False   elif   event . type   = =   pygame . MOUSEBUTTONDOWN :   x ,   y   =   event . pos   world _ x ,   world _ y   =   self . convert _ pygame _ to _ world ( x ,   y )   spawn _ point   =   carla . Transform ( carla . Location ( x = world _ x ,   y = - world _ y ,   z = 1 ) ,   carla . Rotation ( ) )   vehicle   =   self . world . spawn _ actor ( self . vehicle _ bp ,   spawn _ point )   vehicle . set _ autopilot ( )   self . vehicles . append ( vehicle )   pygame . display . flip ( )   clock . tick ( 30 )   for   vehicle   in   self . vehicles :   vehicle . destroy ( )   self . camera . destroy ( )   pygame . quit ( )","title":"run \u51fd\u6570"},{"location":"course/microscopic_Intersection_demo/","text":"\u8def\u53e3 \u5fae\u89c2 3D   \u52a8\u753b \u6f14\u793a \u8fd0\u52a8 \u573a\u666f spectator . py   \u4ecb\u7ecd   \u6b64 \u811a\u672c \u8fde\u63a5 \u5230 CARLA \u4eff\u771f \u73af\u5883 \uff0c \u5e76 \u5b9a\u671f \u5207\u6362 \u6e56 \u5de5\u5546 \u9644\u8fd1 \u7684 \u56db\u4e2a \u9884\u8bbe \u8def\u53e3 \u89c6\u89d2 \u3002 \u901a\u8fc7 \u4e0d\u65ad \u6539\u53d8 \u89c2\u4f17 \uff08 Spectator \uff09 \u7684 \u89c6\u89d2 \uff0c \u7528\u6237 \u53ef\u4ee5 \u89c2\u5bdf \u5230 \u4e0d\u540c \u8def\u53e3 \u7684 \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u3002   \u73af\u5883 \u8981\u6c42   Python   3.6   \u53ca \u4ee5\u4e0a \u7248\u672c   CARLA   \u4eff\u771f \u73af\u5883   \u5b89\u88c5 \u5fc5\u8981 \u7684 Python \u5e93 \uff1a   spectator . py   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \uff0c \u5e76 \u8fd0\u884c   generate _ traffic . py   \u5b89\u88c5 \u5fc5\u8981 \u7684 python \u5e93   pip   install   carla   \u8fd0\u884c   \u6b64 \u793a\u4f8b \u652f\u6301 \u8bbe\u7f6e   spectator   \u89c6\u89d2 \u6765 \u89c2\u5bdf \u4ea4\u901a \u8def\u53e3 \u8fd0\u52a8 \u60c5\u5f62 \u3002   \u4ee5\u4e0b \u793a\u4f8b \u901a\u8fc7 \u9884\u5b9a \u4e49   spectator   \u5bf9\u8c61 \u89c6\u89d2 \u7684 \u4f4d\u7f6e   Location   \u548c \u65cb\u8f6c \u89d2\u5ea6   pitch   \u6765 \u8fdb\u884c \u89c6\u89d2 \u7684 \u66f4\u6362   client   =   carla . Client ( ' localhost ' ,   2000 )   client . set _ timeout ( 10 )   world   =   client . get _ world ( )   spectator _ transform   =   [   carla . Transform ( carla . Location ( x = - 323 ,   y = - 15.7 ,   z = 108 ) ,   carla . Rotation ( pitch = - 90 ) ) ,   carla . Transform ( carla . Location ( x = - 359.6 ,   y = 391.3 ,   z = 94 ) ,   carla . Rotation ( pitch = - 90 ) ) ,   carla . Transform ( carla . Location ( x = 426.2 ,   y = - 33.4 ,   z = 91.6 ) ,   carla . Rotation ( pitch = - 90 ) ) ,   carla . Transform ( carla . Location ( x = 375.1 ,   y = - 558.4 ,   z = 91.6 ) ,   carla . Rotation ( pitch = - 90 ) )   ]   spectator   =   world . get _ spectator ( )   spectator . set _ transform ( spectator _ transform [ 0 ] )   \u5b9a\u671f \u5207\u6362 \u89c6\u89d2   \u811a\u672c \u5c06 \u8fde\u63a5 \u5230 CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5e76 \u6bcf 5 \u79d2 \u5207\u6362 \u4e00\u6b21 \u9884\u8bbe \u7684 \u89c2\u4f17 \u89c6\u89d2 \u3002   start _ time   =   time . time ( )   state   =   0   while   True :   elapsed _ time   =   time . time ( )   -   start _ time   if   elapsed _ time   > =   5 :   spectator . set _ transform ( spectator _ transform [ state ] )   state   + =   1   if   state   >   3 :   state   =   0   start _ time   =   time . time ( )   \u8fd0\u884c \u7ed3\u679c \uff1a","title":"\u8def\u53e3 \u5fae\u89c2 3D   \u52a8\u753b \u6f14\u793a \u8fd0\u52a8 \u573a\u666f spectator . py"},{"location":"course/microscopic_Intersection_demo/#3d-spectatorpy","text":"","title":"\u8def\u53e3 \u5fae\u89c2 3D   \u52a8\u753b \u6f14\u793a \u8fd0\u52a8 \u573a\u666f spectator . py"},{"location":"course/microscopic_Intersection_demo/#_1","text":"\u6b64 \u811a\u672c \u8fde\u63a5 \u5230 CARLA \u4eff\u771f \u73af\u5883 \uff0c \u5e76 \u5b9a\u671f \u5207\u6362 \u6e56 \u5de5\u5546 \u9644\u8fd1 \u7684 \u56db\u4e2a \u9884\u8bbe \u8def\u53e3 \u89c6\u89d2 \u3002 \u901a\u8fc7 \u4e0d\u65ad \u6539\u53d8 \u89c2\u4f17 \uff08 Spectator \uff09 \u7684 \u89c6\u89d2 \uff0c \u7528\u6237 \u53ef\u4ee5 \u89c2\u5bdf \u5230 \u4e0d\u540c \u8def\u53e3 \u7684 \u4ea4\u901a \u72b6\u51b5 \u4ea4\u901a\u72b6\u51b5 \u3002","title":"\u4ecb\u7ecd"},{"location":"course/microscopic_Intersection_demo/#_2","text":"Python   3.6   \u53ca \u4ee5\u4e0a \u7248\u672c   CARLA   \u4eff\u771f \u73af\u5883   \u5b89\u88c5 \u5fc5\u8981 \u7684 Python \u5e93 \uff1a   spectator . py   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \uff0c \u5e76 \u8fd0\u884c   generate _ traffic . py   \u5b89\u88c5 \u5fc5\u8981 \u7684 python \u5e93   pip   install   carla","title":"\u73af\u5883 \u8981\u6c42"},{"location":"course/microscopic_Intersection_demo/#_3","text":"\u6b64 \u793a\u4f8b \u652f\u6301 \u8bbe\u7f6e   spectator   \u89c6\u89d2 \u6765 \u89c2\u5bdf \u4ea4\u901a \u8def\u53e3 \u8fd0\u52a8 \u60c5\u5f62 \u3002   \u4ee5\u4e0b \u793a\u4f8b \u901a\u8fc7 \u9884\u5b9a \u4e49   spectator   \u5bf9\u8c61 \u89c6\u89d2 \u7684 \u4f4d\u7f6e   Location   \u548c \u65cb\u8f6c \u89d2\u5ea6   pitch   \u6765 \u8fdb\u884c \u89c6\u89d2 \u7684 \u66f4\u6362   client   =   carla . Client ( ' localhost ' ,   2000 )   client . set _ timeout ( 10 )   world   =   client . get _ world ( )   spectator _ transform   =   [   carla . Transform ( carla . Location ( x = - 323 ,   y = - 15.7 ,   z = 108 ) ,   carla . Rotation ( pitch = - 90 ) ) ,   carla . Transform ( carla . Location ( x = - 359.6 ,   y = 391.3 ,   z = 94 ) ,   carla . Rotation ( pitch = - 90 ) ) ,   carla . Transform ( carla . Location ( x = 426.2 ,   y = - 33.4 ,   z = 91.6 ) ,   carla . Rotation ( pitch = - 90 ) ) ,   carla . Transform ( carla . Location ( x = 375.1 ,   y = - 558.4 ,   z = 91.6 ) ,   carla . Rotation ( pitch = - 90 ) )   ]   spectator   =   world . get _ spectator ( )   spectator . set _ transform ( spectator _ transform [ 0 ] )","title":"\u8fd0\u884c"},{"location":"course/microscopic_Intersection_demo/#_4","text":"\u811a\u672c \u5c06 \u8fde\u63a5 \u5230 CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u5e76 \u6bcf 5 \u79d2 \u5207\u6362 \u4e00\u6b21 \u9884\u8bbe \u7684 \u89c2\u4f17 \u89c6\u89d2 \u3002   start _ time   =   time . time ( )   state   =   0   while   True :   elapsed _ time   =   time . time ( )   -   start _ time   if   elapsed _ time   > =   5 :   spectator . set _ transform ( spectator _ transform [ state ] )   state   + =   1   if   state   >   3 :   state   =   0   start _ time   =   time . time ( )","title":"\u5b9a\u671f \u5207\u6362 \u89c6\u89d2"},{"location":"course/microscopic_Intersection_demo/#_5","text":"","title":"\u8fd0\u884c \u7ed3\u679c \uff1a"},{"location":"course/motion_planning/","text":"\u8def\u7ebf \u89c4\u5212   \u200b   \u6b64 \u793a\u4f8b \u5728   Carla   \u4eff\u771f \u73af\u5883 \u4e2d \uff0c \u4f7f\u7528   RRT   \u8def\u5f84 \u89c4\u5212 \u548c   PID   \u63a7\u5236 \u8fdb\u884c \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u7684 \u8def\u5f84 \u8ddf\u8e2a \uff0c   RRT   \u7b97\u6cd5 \u80fd\u591f \u5728 \u590d\u6742 \u7684 \u73af\u5883 \u4e2d \u5feb\u901f \u627e\u5230 \u4ece \u8d77\u70b9 \u5230 \u7ec8\u70b9 \u7684 \u8def\u5f84 \uff0c \u540c\u65f6 \u907f\u5f00 \u969c\u788d \u969c\u788d\u7269 \uff1b   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u6839\u636e \u8def\u5f84 \u7684 \u66f2\u7387 \u548c \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u8c03\u6574 \u6cb9\u95e8 \u3001 \u5239\u8f66 \u548c \u65b9\u5411 \u65b9\u5411\u76d8 \uff0c \u786e\u4fdd \u8f66\u8f86 \u80fd\u591f \u6309\u7167 \u89c4\u5212 \u7684 \u8def\u5f84 \u884c\u9a76 \u3002   \u73af\u5883 \u8981\u6c42   Python   3.7   CARLA   \u4eff\u771f \u73af\u5883   \u5b89\u88c5 \u5fc5\u8981 \u7684 Python \u5e93   main _ v4 _ VO   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \u5bfc\u5165 CARLA \u6a21\u5757   \u200b   \u5bfc\u5165 CARLA \u6a21\u5757 \uff0c \u5e76 \u6dfb\u52a0 \u5fc5\u8981 \u7684 \u8def\u5f84 \u3002   try :   sys . path . append ( glob . glob ( ' .. / carla / dist / carla - * % d .% d -% s . egg '   %   (   sys . version _ info . major ,   sys . version _ info . minor ,   ' win - amd64 '   if   os . name   = =   ' nt '   else   ' linux - x86 _ 64 ' ) ) [ 0 ] )   import   carla   except   IndexError :   pass   RednerObject   \u7c7b   \u8be5\u7c7b \u4e3b\u8981 \u7528\u4e8e \u62a5\u9519 \u548c \u4f20\u9012   pygame   \u5bf9\u8c61   class   RenderObject ( object ) :   def   __ init __ ( self ,   width ,   height ) :   init _ image   =   np . random . randint ( 0 ,   255 ,   ( height ,   width ,   3 ) ,   dtype = ' uint8 ' )   self . surface   =   pygame . surfarray . make _ surface ( init _ image . swapaxes ( 0 ,   1 ) )   pygame _ callback   \u51fd\u6570   \u200b   \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u56de\u8c03 \u51fd\u6570 \uff0c \u5c06 \u76f8\u673a \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u8f6c\u6362 \u4e3a 2D   RGB \u56fe\u50cf \uff0c \u5e76 \u5e94\u7528 \u4e8e   Pygame   \u3002   def   pygame _ callback ( data ,   obj ) :   img   =   np . reshape ( np . copy ( data . raw _ data ) ,   ( data . height ,   data . width ,   4 ) )   img   =   img [ : ,   : ,   : 3 ]   img   =   img [ : ,   : ,   : : - 1 ]   obj . surface   =   pygame . surfarray . make _ surface ( img . swapaxes ( 0 ,   1 ) )   CARLA _ world   \u7c7b   \u8be5\u7c7b \u7528\u4e8e \u8fde\u63a5   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u8bbe\u7f6e \u540c\u6b65 \u6a21\u5f0f \uff0c \u5e76 \u7ba1\u7406 \u8f66\u8f86 \u548c \u76f8\u673a \u3002   class   CARLA _ world :   def   __ init __ ( self ) :   self . client   =   carla . Client ( ' localhost ' ,   2000 )   self . client . set _ timeout ( 120.0 )   self . carla _ world   =   self . client . get _ world ( )   self . map   =   self . carla _ world . get _ map ( )   print ( \" WORLD   READY \" )   settings   =   self . carla _ world . get _ settings ( )   settings . synchronous _ mode   =   True   settings . fixed _ delta _ seconds   =   0.02   self . carla _ world . apply _ settings ( settings )   self . spectator   =   self . carla _ world . get _ spectator ( )   self . vehicles   =   [ ]   self . ego _ vehicle   =   None   \u7a0b\u5e8f \u4e3b\u7a0b\u5e8f   \u521d\u59cb \u521d\u59cb\u5316   Carla   \u4e16\u754c \u5bf9\u8c61   \u521b\u5efa   Carla   \u4e16\u754c \u5b9e\u4f8b \uff0c \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u751f\u6210 \u70b9 \uff0c \u751f\u6210 \u81ea\u8f66 \u548c \u969c\u788d \u8f66\u8f86 \u3002   CARLA _ world   =   CARLA _ world ( )   spawn _ points   =   CARLA _ world . map . get _ spawn _ points ( )   target _ speed   =   3.0   v _ obs   =   3.0   spawn _ point1   =   carla . Transform ( carla . Location ( x = 428 ,   y = - 51.9 ,   z = 0.3 ) ,   carla . Rotation ( yaw = 89 ) )   blueprint _ library   =   CARLA _ world . carla _ world . get _ blueprint _ library ( )   bp1   =   blueprint _ library . filter ( \" model3 \" ) [ 0 ]   vehicle1   =   CARLA _ world . carla _ world . spawn _ actor ( bp1 ,   spawn _ point1 )   CARLA _ world . vehicles . append ( vehicle1 )   spawn _ point3   =   carla . Transform ( carla . Location ( x = 404 ,   y = - 14 ,   z = 0.3 ) ,   carla . Rotation ( yaw = 0 ) )   bp3   =   blueprint _ library . filter ( \" model3 \" ) [ 0 ]   CARLA _ world . ego _ vehicle   =   CARLA _ world . carla _ world . spawn _ actor ( bp3 ,   spawn _ point3 )   \u521d\u59cb \u521d\u59cb\u5316 \u76f8\u673a   \u200b   \u5c06 \u76f8\u673a \u9644\u52a0 \u5230 \u81ea \u8f66\u4e0a \uff0c \u5e76 \u8bbe\u7f6e \u56de\u8c03 \u51fd\u6570 \u5904\u7406 \u76f8\u673a \u56fe\u50cf \u3002   camera _ init _ trans   =   carla . Transform ( carla . Location ( x = - 10 ,   y = - 4 ,   z = 3 ) ,   carla . Rotation ( pitch = - 20 ) )   camera _ bp   =   CARLA _ world . carla _ world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   camera _ bp . set _ attribute ( ' image _ size _ x ' ,   str ( VIEW _ WIDTH ) )   camera _ bp . set _ attribute ( ' image _ size _ y ' ,   str ( VIEW _ HEIGHT ) )   camera _ bp . set _ attribute ( ' fov ' ,   str ( VIEW _ FOV ) )   camera   =   CARLA _ world . carla _ world . spawn _ actor ( camera _ bp ,   camera _ init _ trans ,   attach _ to = CARLA _ world . ego _ vehicle )   renderObject   =   RenderObject ( VIEW _ WIDTH ,   VIEW _ HEIGHT )   camera . listen ( lambda   image :   pygame _ callback ( image ,   renderObject ) )   \u521d\u59cb \u521d\u59cb\u5316   Pygame   \u200b   \u521d\u59cb \u521d\u59cb\u5316 Pygame \u7a97\u53e3 \uff0c \u5e76 \u8bbe\u7f6e \u76f8\u5e94 \u6807\u9898 \u3002   pygame . init ( )   gameDisplay   =   pygame . display . set _ mode ( ( VIEW _ WIDTH ,   VIEW _ HEIGHT ) ,   pygame . HWSURFACE   |   pygame . DOUBLEBUF )   pygame . display . set _ caption ( \" Camera   View \" )   \u8f68\u8ff9 \u89c4\u5212 \u548c \u63a7\u5236   \u200b   \u4f7f\u7528 RRT \u7b97\u6cd5 \u8fdb\u884c \u8f68\u8ff9 \u89c4\u5212 \uff0c \u5e76 \u901a\u8fc7 PID \u63a7\u5236 \u63a7\u5236\u5668 \u8fdb\u884c \u8f66\u8f86 \u8def\u5f84 \u8ddf\u8e2a \u3002   goal   =   CARLA _ world . map . get _ waypoint ( carla . Location ( x = 444 ,   y = - 14 ) ,   project _ to _ road = True )   CARLA _ world . carla _ world . tick ( )   trans   =   CARLA _ world . vehicles [ 0 ] . get _ transform ( )   v _ obs   =   7.8   obstacles   =   [ trans ,   v _ obs ]   RRT _ planner   =   RRT _ VO ( CARLA _ world ,   goal ,   obstacles )   RRT _ planner . RRT _ star ( n _ pts = 1000 )   path   =   RRT _ planner . path   path _ x   =   [ ]   path _ y   =   [ ]   trans   =   CARLA _ world . ego _ vehicle . get _ transform ( )   thetai   =   trans . rotation . yaw   *   math . pi   /   180   final _ theta   =   thetai   for   i   in   range ( len ( path )   -   1 ) :   if   i   = =   len ( path )   -   2 :   thetaf   =   final _ theta   else :   x1 ,   y1   =   path [ i   +   1 ] . x ,   path [ i   +   1 ] . y   x2 ,   y2   =   path [ i   +   2 ] . x ,   path [ i   +   2 ] . y   thetaf   =   math . atan2 ( ( y2   -   y1 ) ,   ( x2   -   x1 ) )   primitive   =   motion _ primitive ( thetai ,   thetaf ,   path [ i ] . x ,   path [ i   +   1 ] . x ,   path [ i ] . y ,   path [ i   +   1 ] . y )   primitive . cubic _ T _ Matrix ( )   primitive . trajectory ( )   pos _ x ,   pos _ y   =   primitive . get _ path ( 0.05 )   path _ x   + =   pos _ x   path _ y   + =   pos _ y   thetai   =   thetaf   \u5faa\u73af \u79fb\u52a8   \u200b   \u5728   Pygame   \u7a97\u53e3 \u4e2d \u663e\u793a \u76f8\u673a \u89c6\u89d2 \uff0c \u5e76 \u6839\u636e RRT \u89c4\u5212 \u7684 \u8def\u5f84 \u63a7\u5236 \u8f66\u8f86 \u79fb\u52a8 \u3002   controller   =   VehiclePIDController ( CARLA _ world . ego _ vehicle ,   [ 1.0 ,   0.05 ,   0.1 ] ,   [ 0.5 ,   0.05 ,   0.1 ] )   controller _ obs   =   VehiclePIDController ( CARLA _ world . vehicles [ 0 ] ,   [ 1.0 ,   0.05 ,   0.1 ] ,   [ 0.5 ,   0.05 ,   0.1 ] )   actual _ x   =   [ ]   actual _ y   =   [ ]   ti   =   time . time ( )   for   i   in   range ( len ( path _ x )   -   1 ) :   trans   =   CARLA _ world . ego _ vehicle . get _ transform ( )   loc _ x ,   loc _ y   =   trans . location . x ,   trans . location . y   w _ x ,   w _ y   =   path _ x [ i ] ,   path _ y [ i ]   w _ x2 ,   w _ y2   =   path _ x [ i   +   1 ] ,   path _ y [ i   +   1 ]   phi   =   math . atan2 ( ( w _ y2   -   w _ y ) ,   ( w _ x2   -   w _ x ) )   physics   =   CARLA _ world . ego _ vehicle . get _ physics _ control ( )   wheels   =   physics . wheels   wheel _ F _ x   =   ( wheels [ 0 ] . position . x   +   wheels [ 1 ] . position . x )   /   200   wheel _ F _ y   =   ( wheels [ 0 ] . position . y   +   wheels [ 1 ] . position . y )   /   200   while   ( ( wheel _ F _ x   -   w _ x2 )   * *   2   +   ( wheel _ F _ y   -   w _ y2 )   * *   2 )   * *   0.5   > =   0.5 :   control   =   controller . run _ step ( RRT _ planner . v   *   3.6   /   3 )   control _ obs   =   controller _ obs . run _ step ( v _ obs   *   3.6   /   3 )   p1   =   np . array ( [ w _ x ,   w _ y ] )   p2   =   np . array ( [ w _ x2 ,   w _ y2 ] )   p3   =   np . array ( [ wheel _ F _ x ,   wheel _ F _ y ] )   trans   =   CARLA _ world . ego _ vehicle . get _ transform ( )   yaw   =   trans . rotation . yaw   phi   =   math . atan2 ( ( w _ y2   -   w _ y ) ,   ( w _ x2   -   w _ x ) )   -   yaw   *   ( math . pi   /   180 )   d   =   np . cross ( p2   -   p1 ,   p3   -   p1 )   /   np . linalg . norm ( p2   -   p1 )   kp   =   3   ks   =   0.2   Vel   =   CARLA _ world . ego _ vehicle . get _ velocity ( )   v   =   math . sqrt ( Vel . x   * *   2   +   Vel . y   * *   2 )   control . steer   =   ( - math . atan2 ( kp   *   d ,   \u200b   \u8f68\u8ff9 \u5982\u4e0b \uff1a \u56fe\u4e2d \u84dd\u8272 \u7684 \u66f2\u7ebf \u8868\u793a \u8f66\u8f86 \u4ece \u8d77\u70b9 \u5230 \u7ec8\u70b9 \u7684 \u884c\u9a76 \u8def\u5f84 \u3002 \u4ece\u56fe \u4e2d \u53ef\u4ee5 \u770b\u51fa \uff0c \u8f66\u8f86 \u5148\u662f \u6cbf\u7740 x \u8f74\u5411 \u53f3 \u884c\u9a76 \uff0c \u7136\u540e \u68c0\u6d4b \u5230 \u969c\u788d \u969c\u788d\u7269 \u540e \u5f00\u59cb \u5411 \u5de6\u4e0b \u4e0b\u65b9 \u5de6\u4e0b\u65b9 \u8f6c\u5f2f \uff0c \u6700\u540e \u5230\u8fbe \u7ec8\u70b9 \u3002","title":"\u8def\u7ebf \u89c4\u5212"},{"location":"course/motion_planning/#_1","text":"\u200b   \u6b64 \u793a\u4f8b \u5728   Carla   \u4eff\u771f \u73af\u5883 \u4e2d \uff0c \u4f7f\u7528   RRT   \u8def\u5f84 \u89c4\u5212 \u548c   PID   \u63a7\u5236 \u8fdb\u884c \u81ea\u52a8 \u9a7e\u9a76 \u8f66\u8f86 \u7684 \u8def\u5f84 \u8ddf\u8e2a \uff0c   RRT   \u7b97\u6cd5 \u80fd\u591f \u5728 \u590d\u6742 \u7684 \u73af\u5883 \u4e2d \u5feb\u901f \u627e\u5230 \u4ece \u8d77\u70b9 \u5230 \u7ec8\u70b9 \u7684 \u8def\u5f84 \uff0c \u540c\u65f6 \u907f\u5f00 \u969c\u788d \u969c\u788d\u7269 \uff1b   PID   \u63a7\u5236 \u63a7\u5236\u5668 \u6839\u636e \u8def\u5f84 \u7684 \u66f2\u7387 \u548c \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u8c03\u6574 \u6cb9\u95e8 \u3001 \u5239\u8f66 \u548c \u65b9\u5411 \u65b9\u5411\u76d8 \uff0c \u786e\u4fdd \u8f66\u8f86 \u80fd\u591f \u6309\u7167 \u89c4\u5212 \u7684 \u8def\u5f84 \u884c\u9a76 \u3002","title":"\u8def\u7ebf \u89c4\u5212"},{"location":"course/motion_planning/#_2","text":"Python   3.7   CARLA   \u4eff\u771f \u73af\u5883   \u5b89\u88c5 \u5fc5\u8981 \u7684 Python \u5e93   main _ v4 _ VO   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )","title":"\u73af\u5883 \u8981\u6c42"},{"location":"course/motion_planning/#carla","text":"\u200b   \u5bfc\u5165 CARLA \u6a21\u5757 \uff0c \u5e76 \u6dfb\u52a0 \u5fc5\u8981 \u7684 \u8def\u5f84 \u3002   try :   sys . path . append ( glob . glob ( ' .. / carla / dist / carla - * % d .% d -% s . egg '   %   (   sys . version _ info . major ,   sys . version _ info . minor ,   ' win - amd64 '   if   os . name   = =   ' nt '   else   ' linux - x86 _ 64 ' ) ) [ 0 ] )   import   carla   except   IndexError :   pass","title":"\u5bfc\u5165 CARLA \u6a21\u5757"},{"location":"course/motion_planning/#rednerobject","text":"\u8be5\u7c7b \u4e3b\u8981 \u7528\u4e8e \u62a5\u9519 \u548c \u4f20\u9012   pygame   \u5bf9\u8c61   class   RenderObject ( object ) :   def   __ init __ ( self ,   width ,   height ) :   init _ image   =   np . random . randint ( 0 ,   255 ,   ( height ,   width ,   3 ) ,   dtype = ' uint8 ' )   self . surface   =   pygame . surfarray . make _ surface ( init _ image . swapaxes ( 0 ,   1 ) )","title":"RednerObject     \u7c7b"},{"location":"course/motion_planning/#pygame_callback","text":"\u200b   \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u56de\u8c03 \u51fd\u6570 \uff0c \u5c06 \u76f8\u673a \u539f\u59cb \u6570\u636e \u539f\u59cb\u6570\u636e \u8f6c\u6362 \u4e3a 2D   RGB \u56fe\u50cf \uff0c \u5e76 \u5e94\u7528 \u4e8e   Pygame   \u3002   def   pygame _ callback ( data ,   obj ) :   img   =   np . reshape ( np . copy ( data . raw _ data ) ,   ( data . height ,   data . width ,   4 ) )   img   =   img [ : ,   : ,   : 3 ]   img   =   img [ : ,   : ,   : : - 1 ]   obj . surface   =   pygame . surfarray . make _ surface ( img . swapaxes ( 0 ,   1 ) )","title":"pygame _ callback   \u51fd\u6570"},{"location":"course/motion_planning/#carla_world","text":"\u8be5\u7c7b \u7528\u4e8e \u8fde\u63a5   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \uff0c \u8bbe\u7f6e \u540c\u6b65 \u6a21\u5f0f \uff0c \u5e76 \u7ba1\u7406 \u8f66\u8f86 \u548c \u76f8\u673a \u3002   class   CARLA _ world :   def   __ init __ ( self ) :   self . client   =   carla . Client ( ' localhost ' ,   2000 )   self . client . set _ timeout ( 120.0 )   self . carla _ world   =   self . client . get _ world ( )   self . map   =   self . carla _ world . get _ map ( )   print ( \" WORLD   READY \" )   settings   =   self . carla _ world . get _ settings ( )   settings . synchronous _ mode   =   True   settings . fixed _ delta _ seconds   =   0.02   self . carla _ world . apply _ settings ( settings )   self . spectator   =   self . carla _ world . get _ spectator ( )   self . vehicles   =   [ ]   self . ego _ vehicle   =   None","title":"CARLA _ world   \u7c7b"},{"location":"course/motion_planning/#_3","text":"","title":"\u4e3b\u7a0b\u5e8f"},{"location":"course/motion_planning/#carla_1","text":"\u521b\u5efa   Carla   \u4e16\u754c \u5b9e\u4f8b \uff0c \u8bbe\u7f6e \u8f66\u8f86 \u7684 \u751f\u6210 \u70b9 \uff0c \u751f\u6210 \u81ea\u8f66 \u548c \u969c\u788d \u8f66\u8f86 \u3002   CARLA _ world   =   CARLA _ world ( )   spawn _ points   =   CARLA _ world . map . get _ spawn _ points ( )   target _ speed   =   3.0   v _ obs   =   3.0   spawn _ point1   =   carla . Transform ( carla . Location ( x = 428 ,   y = - 51.9 ,   z = 0.3 ) ,   carla . Rotation ( yaw = 89 ) )   blueprint _ library   =   CARLA _ world . carla _ world . get _ blueprint _ library ( )   bp1   =   blueprint _ library . filter ( \" model3 \" ) [ 0 ]   vehicle1   =   CARLA _ world . carla _ world . spawn _ actor ( bp1 ,   spawn _ point1 )   CARLA _ world . vehicles . append ( vehicle1 )   spawn _ point3   =   carla . Transform ( carla . Location ( x = 404 ,   y = - 14 ,   z = 0.3 ) ,   carla . Rotation ( yaw = 0 ) )   bp3   =   blueprint _ library . filter ( \" model3 \" ) [ 0 ]   CARLA _ world . ego _ vehicle   =   CARLA _ world . carla _ world . spawn _ actor ( bp3 ,   spawn _ point3 )","title":"\u521d\u59cb\u5316   Carla   \u4e16\u754c \u5bf9\u8c61"},{"location":"course/motion_planning/#_4","text":"\u200b   \u5c06 \u76f8\u673a \u9644\u52a0 \u5230 \u81ea \u8f66\u4e0a \uff0c \u5e76 \u8bbe\u7f6e \u56de\u8c03 \u51fd\u6570 \u5904\u7406 \u76f8\u673a \u56fe\u50cf \u3002   camera _ init _ trans   =   carla . Transform ( carla . Location ( x = - 10 ,   y = - 4 ,   z = 3 ) ,   carla . Rotation ( pitch = - 20 ) )   camera _ bp   =   CARLA _ world . carla _ world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   camera _ bp . set _ attribute ( ' image _ size _ x ' ,   str ( VIEW _ WIDTH ) )   camera _ bp . set _ attribute ( ' image _ size _ y ' ,   str ( VIEW _ HEIGHT ) )   camera _ bp . set _ attribute ( ' fov ' ,   str ( VIEW _ FOV ) )   camera   =   CARLA _ world . carla _ world . spawn _ actor ( camera _ bp ,   camera _ init _ trans ,   attach _ to = CARLA _ world . ego _ vehicle )   renderObject   =   RenderObject ( VIEW _ WIDTH ,   VIEW _ HEIGHT )   camera . listen ( lambda   image :   pygame _ callback ( image ,   renderObject ) )","title":"\u521d\u59cb\u5316 \u76f8\u673a"},{"location":"course/motion_planning/#pygame","text":"\u200b   \u521d\u59cb \u521d\u59cb\u5316 Pygame \u7a97\u53e3 \uff0c \u5e76 \u8bbe\u7f6e \u76f8\u5e94 \u6807\u9898 \u3002   pygame . init ( )   gameDisplay   =   pygame . display . set _ mode ( ( VIEW _ WIDTH ,   VIEW _ HEIGHT ) ,   pygame . HWSURFACE   |   pygame . DOUBLEBUF )   pygame . display . set _ caption ( \" Camera   View \" )","title":"\u521d\u59cb\u5316   Pygame"},{"location":"course/motion_planning/#_5","text":"\u200b   \u4f7f\u7528 RRT \u7b97\u6cd5 \u8fdb\u884c \u8f68\u8ff9 \u89c4\u5212 \uff0c \u5e76 \u901a\u8fc7 PID \u63a7\u5236 \u63a7\u5236\u5668 \u8fdb\u884c \u8f66\u8f86 \u8def\u5f84 \u8ddf\u8e2a \u3002   goal   =   CARLA _ world . map . get _ waypoint ( carla . Location ( x = 444 ,   y = - 14 ) ,   project _ to _ road = True )   CARLA _ world . carla _ world . tick ( )   trans   =   CARLA _ world . vehicles [ 0 ] . get _ transform ( )   v _ obs   =   7.8   obstacles   =   [ trans ,   v _ obs ]   RRT _ planner   =   RRT _ VO ( CARLA _ world ,   goal ,   obstacles )   RRT _ planner . RRT _ star ( n _ pts = 1000 )   path   =   RRT _ planner . path   path _ x   =   [ ]   path _ y   =   [ ]   trans   =   CARLA _ world . ego _ vehicle . get _ transform ( )   thetai   =   trans . rotation . yaw   *   math . pi   /   180   final _ theta   =   thetai   for   i   in   range ( len ( path )   -   1 ) :   if   i   = =   len ( path )   -   2 :   thetaf   =   final _ theta   else :   x1 ,   y1   =   path [ i   +   1 ] . x ,   path [ i   +   1 ] . y   x2 ,   y2   =   path [ i   +   2 ] . x ,   path [ i   +   2 ] . y   thetaf   =   math . atan2 ( ( y2   -   y1 ) ,   ( x2   -   x1 ) )   primitive   =   motion _ primitive ( thetai ,   thetaf ,   path [ i ] . x ,   path [ i   +   1 ] . x ,   path [ i ] . y ,   path [ i   +   1 ] . y )   primitive . cubic _ T _ Matrix ( )   primitive . trajectory ( )   pos _ x ,   pos _ y   =   primitive . get _ path ( 0.05 )   path _ x   + =   pos _ x   path _ y   + =   pos _ y   thetai   =   thetaf","title":"\u8f68\u8ff9 \u89c4\u5212 \u548c \u63a7\u5236"},{"location":"course/motion_planning/#_6","text":"\u200b   \u5728   Pygame   \u7a97\u53e3 \u4e2d \u663e\u793a \u76f8\u673a \u89c6\u89d2 \uff0c \u5e76 \u6839\u636e RRT \u89c4\u5212 \u7684 \u8def\u5f84 \u63a7\u5236 \u8f66\u8f86 \u79fb\u52a8 \u3002   controller   =   VehiclePIDController ( CARLA _ world . ego _ vehicle ,   [ 1.0 ,   0.05 ,   0.1 ] ,   [ 0.5 ,   0.05 ,   0.1 ] )   controller _ obs   =   VehiclePIDController ( CARLA _ world . vehicles [ 0 ] ,   [ 1.0 ,   0.05 ,   0.1 ] ,   [ 0.5 ,   0.05 ,   0.1 ] )   actual _ x   =   [ ]   actual _ y   =   [ ]   ti   =   time . time ( )   for   i   in   range ( len ( path _ x )   -   1 ) :   trans   =   CARLA _ world . ego _ vehicle . get _ transform ( )   loc _ x ,   loc _ y   =   trans . location . x ,   trans . location . y   w _ x ,   w _ y   =   path _ x [ i ] ,   path _ y [ i ]   w _ x2 ,   w _ y2   =   path _ x [ i   +   1 ] ,   path _ y [ i   +   1 ]   phi   =   math . atan2 ( ( w _ y2   -   w _ y ) ,   ( w _ x2   -   w _ x ) )   physics   =   CARLA _ world . ego _ vehicle . get _ physics _ control ( )   wheels   =   physics . wheels   wheel _ F _ x   =   ( wheels [ 0 ] . position . x   +   wheels [ 1 ] . position . x )   /   200   wheel _ F _ y   =   ( wheels [ 0 ] . position . y   +   wheels [ 1 ] . position . y )   /   200   while   ( ( wheel _ F _ x   -   w _ x2 )   * *   2   +   ( wheel _ F _ y   -   w _ y2 )   * *   2 )   * *   0.5   > =   0.5 :   control   =   controller . run _ step ( RRT _ planner . v   *   3.6   /   3 )   control _ obs   =   controller _ obs . run _ step ( v _ obs   *   3.6   /   3 )   p1   =   np . array ( [ w _ x ,   w _ y ] )   p2   =   np . array ( [ w _ x2 ,   w _ y2 ] )   p3   =   np . array ( [ wheel _ F _ x ,   wheel _ F _ y ] )   trans   =   CARLA _ world . ego _ vehicle . get _ transform ( )   yaw   =   trans . rotation . yaw   phi   =   math . atan2 ( ( w _ y2   -   w _ y ) ,   ( w _ x2   -   w _ x ) )   -   yaw   *   ( math . pi   /   180 )   d   =   np . cross ( p2   -   p1 ,   p3   -   p1 )   /   np . linalg . norm ( p2   -   p1 )   kp   =   3   ks   =   0.2   Vel   =   CARLA _ world . ego _ vehicle . get _ velocity ( )   v   =   math . sqrt ( Vel . x   * *   2   +   Vel . y   * *   2 )   control . steer   =   ( - math . atan2 ( kp   *   d ,   \u200b   \u8f68\u8ff9 \u5982\u4e0b \uff1a \u56fe\u4e2d \u84dd\u8272 \u7684 \u66f2\u7ebf \u8868\u793a \u8f66\u8f86 \u4ece \u8d77\u70b9 \u5230 \u7ec8\u70b9 \u7684 \u884c\u9a76 \u8def\u5f84 \u3002 \u4ece\u56fe \u4e2d \u53ef\u4ee5 \u770b\u51fa \uff0c \u8f66\u8f86 \u5148\u662f \u6cbf\u7740 x \u8f74\u5411 \u53f3 \u884c\u9a76 \uff0c \u7136\u540e \u68c0\u6d4b \u5230 \u969c\u788d \u969c\u788d\u7269 \u540e \u5f00\u59cb \u5411 \u5de6\u4e0b \u4e0b\u65b9 \u5de6\u4e0b\u65b9 \u8f6c\u5f2f \uff0c \u6700\u540e \u5230\u8fbe \u7ec8\u70b9 \u3002","title":"\u5faa\u73af \u79fb\u52a8"},{"location":"course/multi-view_camera/","text":"\u914d\u7f6e \u591a \u89c6\u89d2 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 camera . py   \u4ecb\u7ecd   \u6b64 \u811a\u672c \u8fde\u63a5 \u5230 CARLA \u4eff\u771f \u73af\u5883 \uff0c \u5728 \u8f66\u8f86 \u7684 \u5de6\u53f3 \u4e24\u4fa7 \u8bbe\u7f6e \u76f8\u673a \uff0c \u5e76 \u4f7f\u7528 Pygame \u663e\u793a \u76f8\u673a \u6355\u83b7 \u7684 \u5b9e\u65f6 \u56fe\u50cf \u3002 \u7cfb\u7edf \u91c7\u7528 \u591a \u8fdb\u7a0b \u67b6\u6784 \uff0c \u786e\u4fdd \u5de6\u53f3 \u76f8\u673a \u56fe\u50cf \u5206\u522b \u5728 \u4e0d\u540c \u7a97\u53e3 \u4e2d \u5b9e\u65f6 \u663e\u793a \u3002   \u73af\u5883 \u8981\u6c42   Python   3.6   \u53ca \u4ee5\u4e0a \u7248\u672c   CARLA   \u4eff\u771f \u73af\u5883   \u5b89\u88c5 \u5fc5\u8981 \u7684 Python \u5e93 \uff1a   camera . py   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   pip   install   carla   pygame   numpy   opencv - python   \u811a\u672c \u7ed3\u6784   \u521d\u59cb \u521d\u59cb\u5316   def   __ init __ ( self ) :   self . client   =   None   self . world   =   None   self . camera _ left   =   None   self . camera _ right   =   None   self . car   =   None   self . image _ left   =   None   self . image _ right   =   None   self . capture   =   True   \u521d\u59cb \u521d\u59cb\u5316 CARLA \u5ba2\u6237 \u5ba2\u6237\u7aef \u3001 \u4e16\u754c \u3001 \u8f66\u8f86 \u548c \u76f8\u673a \u53d8\u91cf \u3002   \u76f8\u673a \u8bbe\u7f6e   def   setup _ camera ( self ) :   # \u8bbe\u7f6e \u76f8\u673a \u7684 \u53d8\u6362 \u6362\u4f4d \u4f4d\u7f6e \u53d8\u6362\u4f4d\u7f6e \u5e76 \u9644\u52a0 \u5230 \u8f66\u8f86 \u4e0a   # \u5de6 \u76f8\u673a   left _ camera _ transform   =   carla . Transform ( carla . Location ( x = - 1.6 ,   y = - 1.5 ,   z = 1.7 ) )   self . camera _ left   =   self . world . spawn _ actor ( self . camera _ bp ( ) ,   left _ camera _ transform ,   attach _ to = self . car )   # \u53f3 \u76f8\u673a   right _ camera _ transform   =   carla . Transform ( carla . Location ( x = - 1.6 ,   y = 1.5 ,   z = 1.7 ) )   self . camera _ right   =   self . world . spawn _ actor ( self . camera _ bp ( ) ,   right _ camera _ transform ,   attach _ to = self . car )   # \u76d1\u542c \u5de6\u53f3 \u76f8\u673a \u56fe\u50cf   weak _ self   =   weakref . ref ( self )   self . camera _ left . listen ( lambda   image :   weak _ self ( ) . set _ image ( weak _ self ,   ' left ' ,   image ) )   self . camera _ right . listen ( lambda   image :   weak _ self ( ) . set _ image ( weak _ self ,   ' right ' ,   image ) )   \u5728 \u8f66\u8f86 \u7684 \u5de6\u53f3 \u4e24\u4fa7 \u751f\u6210 \u76f8\u673a \uff0c \u5e76 \u8bbe\u7f6e \u76d1\u542c \u76d1\u542c\u5668 \u6355\u83b7 \u76f8\u673a \u56fe\u50cf \u3002   \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406   @ staticmethod   def   set _ image ( weak _ self ,   side ,   img ) :   self   =   weak _ self ( )   if   side   = =   ' left ' :   self . image _ left   =   img   elif   side   = =   ' right ' :   self . image _ right   =   img   def   get _ image _ array ( self ,   side ) :   if   side   = =   ' left '   and   self . image _ left   is   not   None :   array   =   np . frombuffer ( self . image _ left . raw _ data ,   dtype = np . dtype ( \" uint8 \" ) )   array   =   array . reshape ( ( VIEW _ HEIGHT ,   VIEW _ WIDTH ,   4 ) )   array   =   array [ : ,   : ,   : 3 ]   #   Drop   alpha   channel   array   =   array [ : ,   : ,   : : - 1 ]   #   Convert   from   BGRA   to   RGB   return   array   elif   side   = =   ' right '   and   self . image _ right   is   not   None :   array   =   np . frombuffer ( self . image _ right . raw _ data ,   dtype = np . dtype ( \" uint8 \" ) )   array   =   array . reshape ( ( VIEW _ HEIGHT ,   VIEW _ WIDTH ,   4 ) )   array   =   array [ : ,   : ,   : 3 ]   #   Drop   alpha   channel   array   =   array [ : ,   : ,   : : - 1 ]   #   Convert   from   BGRA   to   RGB   return   array   else :   return   None   \u5c06 \u76f8\u673a \u6355\u83b7 \u7684 \u56fe\u50cf \u4ece BGRA \u683c\u5f0f \u8f6c\u6362 \u4e3a RGB \u683c\u5f0f \uff0c \u5e76 \u53bb\u9664 Alpha \u901a\u9053 \u3002   \u6e32\u67d3 \u51fd\u6570   def   render ( queue ,   side ,   x ,   y ) :   pygame . init ( )   os . environ [ ' SDL _ VIDEO _ WINDOW _ POS ' ]   =   f \" { x } , { y } \"   display   =   pygame . display . set _ mode ( ( VIEW _ WIDTH ,   VIEW _ HEIGHT ) ,   pygame . HWSURFACE   |   pygame . DOUBLEBUF )   pygame . display . set _ caption ( f ' { side . capitalize ( ) }   Camera ' )   clock   =   pygame . time . Clock ( )   try :   while   True :   array   =   queue . get ( )   if   array   is   None :   break   surface   =   pygame . surfarray . make _ surface ( array . swapaxes ( 0 ,   1 ) )   display . blit ( surface ,   ( 0 ,   0 ) )   pygame . display . flip ( )   for   event   in   pygame . event . get ( ) :   if   event . type   = =   pygame . QUIT :   return   clock . tick _ busy _ loop ( 30 )   finally :   pygame . quit ( )   \u4f7f\u7528 Pygame \u663e\u793a \u5de6\u53f3 \u76f8\u673a \u6355\u83b7 \u7684 \u56fe\u50cf \u3002   \u591a\u7ebf \u7ebf\u7a0b \u591a\u7ebf\u7a0b   \u4e3a\u4e86 \u5728 CARLA \u4eff\u771f \u73af\u5883 \u4e2d \u521b\u5efa \u4e24\u4e2a \u7a97\u53e3 \u6765 \u663e\u793a \u8f66\u8f86 \u7684 \u5de6\u53f3 \u89c6\u89d2 \uff0c \u6211\u4eec \u9700\u8981 \u5229\u7528 Pygame \u548c \u591a \u8fdb\u7a0b \u6765 \u5b9e\u73b0 \u3002   left _ process   =   multiprocessing . Process ( target = render ,   args = ( left _ queue ,   ' left ' ,   0 ,   100 ) )   right _ process   =   multiprocessing . Process ( target = render ,   args = ( right _ queue ,   ' right ' ,   VIEW _ WIDTH   +   10 ,   100 ) )","title":"\u914d\u7f6e \u591a \u89c6\u89d2 \u6444\u50cf\u5934 camera . py"},{"location":"course/multi-view_camera/#camerapy","text":"","title":"\u914d\u7f6e \u591a \u89c6\u89d2 \u6444\u50cf\u5934 camera . py"},{"location":"course/multi-view_camera/#_1","text":"\u6b64 \u811a\u672c \u8fde\u63a5 \u5230 CARLA \u4eff\u771f \u73af\u5883 \uff0c \u5728 \u8f66\u8f86 \u7684 \u5de6\u53f3 \u4e24\u4fa7 \u8bbe\u7f6e \u76f8\u673a \uff0c \u5e76 \u4f7f\u7528 Pygame \u663e\u793a \u76f8\u673a \u6355\u83b7 \u7684 \u5b9e\u65f6 \u56fe\u50cf \u3002 \u7cfb\u7edf \u91c7\u7528 \u591a \u8fdb\u7a0b \u67b6\u6784 \uff0c \u786e\u4fdd \u5de6\u53f3 \u76f8\u673a \u56fe\u50cf \u5206\u522b \u5728 \u4e0d\u540c \u7a97\u53e3 \u4e2d \u5b9e\u65f6 \u663e\u793a \u3002","title":"\u4ecb\u7ecd"},{"location":"course/multi-view_camera/#_2","text":"Python   3.6   \u53ca \u4ee5\u4e0a \u7248\u672c   CARLA   \u4eff\u771f \u73af\u5883   \u5b89\u88c5 \u5fc5\u8981 \u7684 Python \u5e93 \uff1a   camera . py   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   pip   install   carla   pygame   numpy   opencv - python","title":"\u73af\u5883 \u8981\u6c42"},{"location":"course/multi-view_camera/#_3","text":"","title":"\u811a\u672c \u7ed3\u6784"},{"location":"course/multi-view_camera/#_4","text":"def   __ init __ ( self ) :   self . client   =   None   self . world   =   None   self . camera _ left   =   None   self . camera _ right   =   None   self . car   =   None   self . image _ left   =   None   self . image _ right   =   None   self . capture   =   True   \u521d\u59cb \u521d\u59cb\u5316 CARLA \u5ba2\u6237 \u5ba2\u6237\u7aef \u3001 \u4e16\u754c \u3001 \u8f66\u8f86 \u548c \u76f8\u673a \u53d8\u91cf \u3002","title":"\u521d\u59cb\u5316"},{"location":"course/multi-view_camera/#_5","text":"def   setup _ camera ( self ) :   # \u8bbe\u7f6e \u76f8\u673a \u7684 \u53d8\u6362 \u6362\u4f4d \u4f4d\u7f6e \u53d8\u6362\u4f4d\u7f6e \u5e76 \u9644\u52a0 \u5230 \u8f66\u8f86 \u4e0a   # \u5de6 \u76f8\u673a   left _ camera _ transform   =   carla . Transform ( carla . Location ( x = - 1.6 ,   y = - 1.5 ,   z = 1.7 ) )   self . camera _ left   =   self . world . spawn _ actor ( self . camera _ bp ( ) ,   left _ camera _ transform ,   attach _ to = self . car )   # \u53f3 \u76f8\u673a   right _ camera _ transform   =   carla . Transform ( carla . Location ( x = - 1.6 ,   y = 1.5 ,   z = 1.7 ) )   self . camera _ right   =   self . world . spawn _ actor ( self . camera _ bp ( ) ,   right _ camera _ transform ,   attach _ to = self . car )   # \u76d1\u542c \u5de6\u53f3 \u76f8\u673a \u56fe\u50cf   weak _ self   =   weakref . ref ( self )   self . camera _ left . listen ( lambda   image :   weak _ self ( ) . set _ image ( weak _ self ,   ' left ' ,   image ) )   self . camera _ right . listen ( lambda   image :   weak _ self ( ) . set _ image ( weak _ self ,   ' right ' ,   image ) )   \u5728 \u8f66\u8f86 \u7684 \u5de6\u53f3 \u4e24\u4fa7 \u751f\u6210 \u76f8\u673a \uff0c \u5e76 \u8bbe\u7f6e \u76d1\u542c \u76d1\u542c\u5668 \u6355\u83b7 \u76f8\u673a \u56fe\u50cf \u3002","title":"\u76f8\u673a \u8bbe\u7f6e"},{"location":"course/multi-view_camera/#_6","text":"@ staticmethod   def   set _ image ( weak _ self ,   side ,   img ) :   self   =   weak _ self ( )   if   side   = =   ' left ' :   self . image _ left   =   img   elif   side   = =   ' right ' :   self . image _ right   =   img   def   get _ image _ array ( self ,   side ) :   if   side   = =   ' left '   and   self . image _ left   is   not   None :   array   =   np . frombuffer ( self . image _ left . raw _ data ,   dtype = np . dtype ( \" uint8 \" ) )   array   =   array . reshape ( ( VIEW _ HEIGHT ,   VIEW _ WIDTH ,   4 ) )   array   =   array [ : ,   : ,   : 3 ]   #   Drop   alpha   channel   array   =   array [ : ,   : ,   : : - 1 ]   #   Convert   from   BGRA   to   RGB   return   array   elif   side   = =   ' right '   and   self . image _ right   is   not   None :   array   =   np . frombuffer ( self . image _ right . raw _ data ,   dtype = np . dtype ( \" uint8 \" ) )   array   =   array . reshape ( ( VIEW _ HEIGHT ,   VIEW _ WIDTH ,   4 ) )   array   =   array [ : ,   : ,   : 3 ]   #   Drop   alpha   channel   array   =   array [ : ,   : ,   : : - 1 ]   #   Convert   from   BGRA   to   RGB   return   array   else :   return   None   \u5c06 \u76f8\u673a \u6355\u83b7 \u7684 \u56fe\u50cf \u4ece BGRA \u683c\u5f0f \u8f6c\u6362 \u4e3a RGB \u683c\u5f0f \uff0c \u5e76 \u53bb\u9664 Alpha \u901a\u9053 \u3002","title":"\u56fe\u50cf\u5904\u7406"},{"location":"course/multi-view_camera/#_7","text":"def   render ( queue ,   side ,   x ,   y ) :   pygame . init ( )   os . environ [ ' SDL _ VIDEO _ WINDOW _ POS ' ]   =   f \" { x } , { y } \"   display   =   pygame . display . set _ mode ( ( VIEW _ WIDTH ,   VIEW _ HEIGHT ) ,   pygame . HWSURFACE   |   pygame . DOUBLEBUF )   pygame . display . set _ caption ( f ' { side . capitalize ( ) }   Camera ' )   clock   =   pygame . time . Clock ( )   try :   while   True :   array   =   queue . get ( )   if   array   is   None :   break   surface   =   pygame . surfarray . make _ surface ( array . swapaxes ( 0 ,   1 ) )   display . blit ( surface ,   ( 0 ,   0 ) )   pygame . display . flip ( )   for   event   in   pygame . event . get ( ) :   if   event . type   = =   pygame . QUIT :   return   clock . tick _ busy _ loop ( 30 )   finally :   pygame . quit ( )   \u4f7f\u7528 Pygame \u663e\u793a \u5de6\u53f3 \u76f8\u673a \u6355\u83b7 \u7684 \u56fe\u50cf \u3002","title":"\u6e32\u67d3 \u51fd\u6570"},{"location":"course/multi-view_camera/#_8","text":"\u4e3a\u4e86 \u5728 CARLA \u4eff\u771f \u73af\u5883 \u4e2d \u521b\u5efa \u4e24\u4e2a \u7a97\u53e3 \u6765 \u663e\u793a \u8f66\u8f86 \u7684 \u5de6\u53f3 \u89c6\u89d2 \uff0c \u6211\u4eec \u9700\u8981 \u5229\u7528 Pygame \u548c \u591a \u8fdb\u7a0b \u6765 \u5b9e\u73b0 \u3002   left _ process   =   multiprocessing . Process ( target = render ,   args = ( left _ queue ,   ' left ' ,   0 ,   100 ) )   right _ process   =   multiprocessing . Process ( target = render ,   args = ( right _ queue ,   ' right ' ,   VIEW _ WIDTH   +   10 ,   100 ) )","title":"\u591a\u7ebf\u7a0b"},{"location":"course/navigation/","text":"\u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u8fd0\u884c \u8f68\u8ff9   \u200b   \u8f66\u8f86 \u8fd0\u52a8 \u652f\u6301 \u5b9a\u4e49 \u8f66\u8f86 \u8fd0\u52a8 \u8d77\u70b9 \u548c \u76ee\u6807 \u4f4d\u7f6e \uff0c \u4e3a \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u6307\u5b9a \u968f\u673a \u901f\u5ea6 \u503c \uff0c \u4f7f \u5176 \u6cbf \u8f68\u8ff9 \u79fb\u52a8 \u65f6 \u4e0d\u4f1a \u53d1\u751f \u78b0\u649e \u6216 \u6a21\u62df \u78b0\u649e \uff0c \u770b\u5230 \u8f66\u8f86 \u6cbf \u6307\u5b9a \u8f68\u8ff9 \u884c\u9a76 \u4ee5 \u5230\u8fbe \u5176 \u76ee\u6807 \u4f4d\u7f6e \u3002   \u200b   \u672c \u793a\u4f8b \u8bbe\u8ba1 \u4e86 \u4e00\u4e2a   automatic _ control _ revised . py   \u811a\u672c \u8fdb\u884c \u5b9e\u73b0   \u6ce8\u610f   \u9700\u8981 \u5c06   agents   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4f4d\u7f6e \u6dfb\u52a0 \u5230 \u4ee3\u7801 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u4e2d \uff0c \u6216\u8005 \u590d\u5236 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4f7f \u5176 \u4e0e \u672c \u793a\u4f8b \u811a\u672c \u540c\u7ea7 \u3002   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4e00\u4e9b \u751f\u6210 \u4f4d\u7f6e \u7684 \u8d77\u59cb \u70b9 \u5750\u6807   diming   =   {   \" \u5317\u95e8 \" :   { \" x \" :   224.2 ,   \" y \" :   1.7 ,   \" z \" :   1 } ,   \" \u897f\u95e8 \" :   { \" x \" :   - 146 ,   \" y \" :   - 161 ,   \" z \" :   10 } ,   \" \u695a \u67ab\u6865 \" :   { \" x \" :   1.8 ,   \" y \" :   - 15.9 ,   \" z \" :   30 } ,   \" \u695a\u67ab\u8f69 \" :   { \" x \" :   14.8 ,   \" y \" :   64.7 ,   \" z \" :   20 } ,   \" \u65e5 \u65b0\u697c \" :   { \" x \" :   58 ,   \" y \" :   - 75 ,   \" z \" :   30 } ,   \" \u4f53\u80b2 \u4f53\u80b2\u9986 \" :   { \" x \" :   160 ,   \" y \" :   - 265 ,   \" z \" :   40 } ,   \" \u6e58\u6c5f \u697c \" :   { \" x \" :   - 2.4 ,   \" y \" :   - 100 ,   \" z \" :   30 } ,   \" \u79d1\u6280 \u697c \" :   { \" x \" :   - 97.4 ,   \" y \" :   - 217 ,   \" z \" :   15 } ,   }   \u5b9a\u4e49 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570   argparser   =   argparse . ArgumentParser (   description = __ doc __ )   argparser . add _ argument (   ' -- s ' ,   default = \" \u5317\u95e8 \" ,   type = str )   argparser . add _ argument (   ' -- e ' ,   default = \" \u897f\u95e8 \" ,   type = str )   argparser . add _ argument (   ' -- speed ' ,   default = 5 ,   type = int )   \u83b7\u53d6 \u4eff\u771f \u65f6\u95f4 \u5bf9\u8c61 \u53ca \u8bbe\u7f6e   client   =   carla . Client ( ' localhost ' ,   2000 )   client . set _ timeout ( 10 )   world   =   client . get _ world ( )   origin _ settings   =   world . get _ settings ( )   #   \u8bbe\u7f6e   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   \u4ece \u8f66\u8f86 \u84dd\u56fe \u4e2d \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u5bf9\u8c61 \uff0c \u5e76 \u83b7\u53d6 \u8f66\u8f86 \u8d77\u70b9 \u5750\u6807   #   \u751f\u6210 \u8f66\u8f86 \u548c \u4ee3\u7406   blueprint _ library   =   world . get _ blueprint _ library ( )   #   \u5c06 diming \u5b57\u5178 \u4e2d \u7684 \u6bcf\u4e2a \u952e\u503c \u5bf9 \u8f6c\u6362 \u4e3a \u4e00\u4e2a carla . Location \u5bf9\u8c61   #   \u83b7\u53d6 \u751f\u6210 \u70b9   locations   =   { key :   carla . Location ( * * value )   for   key ,   value   in   diming . items ( ) }   spawn _ location   =   carla . Location ( locations [ args . s ] )   spawn _ rotation   =   carla . Rotation ( yaw = 180 )   spawn _ point   =   carla . Transform ( spawn _ location ,   spawn _ rotation )   # \u8f66\u8f86 \u8d77\u70b9   #   \u751f\u6210 \u8f66\u8f86   ego _ vehicle _ bp   =   blueprint _ library . find ( ' vehicle . audi . tt ' )   ego _ vehicle _ bp . set _ attribute ( ' color ' ,   ' 100 ,   250 ,   250 ' )   vehicle   =   world . spawn _ actor ( ego _ vehicle _ bp ,   spawn _ point )   # \u63a8\u8fdb \u4eff\u771f \u73af\u5883 \u65f6\u95f4   world . tick ( )   \u751f\u6210 \u7ec8\u70b9 \uff0c \u7ed9 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u751f\u6210 \u4e00\u4e2a \u8f66\u8f86 \u8fd0\u884c \u8f68\u8ff9 \uff0c \u5b9a\u4e49 \u521d\u59cb \u901f\u5ea6   #   \u8bbe\u7f6e \u521d\u59cb \u901f\u5ea6   vehicle . set _ target _ velocity ( carla . Vector3D ( args . speed ,   0 ,   0 ) )   #   \u521b\u5efa \u4ee3\u7406   agent   =   BehaviorAgent ( vehicle ,   behavior = ' normal ' )   destination   =   carla . Location ( locations [ args . e ] )   start   =   vehicle . get _ location ( )   #   \u751f\u6210 \u8f68\u8ff9   agent . set _ destination ( destination )   \u7ed9 \u76ee\u6807 \u8f66\u8f86 \u8bbe\u7f6e \u591a\u4e2a \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u8fd9\u4e9b \u76f8\u673a \u53ef\u4ee5 \u63d0\u4f9b \u4e0d\u540c \u7684 \u89c6\u89d2 , \u7528\u4e8e \u89c2\u5bdf \u548c \u8bb0\u5f55 \u8f66\u8f86 \u5728 \u4eff\u771f \u73af\u5883 \u4e2d \u7684 \u884c\u4e3a \u3002   #   \u67e5\u627e \u76f8\u673a \u84dd\u56fe   camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   #   \u8bbe\u7f6e Camera \u7684 \u9644\u52a0 \u7c7b\u578b Camera \u8ddf\u968f \u8f66\u8f86   Atment _ SpringArmGhost   =   carla . AttachmentType . SpringArmGhost   Atment _ Rigid   =   carla . AttachmentType . Rigid   #   \u8bbe\u7f6e \u76f8\u5bf9 \u8f66\u8f86 \u7684 \u5b89\u88c5 \u4f4d\u7f6e \uff0c \u914d\u7f6e \u4e0a\u5e1d \u89c6\u56fe ( Camera \u65e0\u6cd5 \u5b9e\u73b0 \u4e0a\u5e1d \u89c6\u56fe \uff0c \u753b\u9762 \u4f1a \u6296\u52a8 )   Vehicle _ transform _ list   =   [   ( carla . Location ( z = 35 ) ,   carla . Rotation ( pitch = - 90 ) )   ]   #   \u8bbe\u7f6e camera \u7684 \u5b89\u88c5 \u4f4d\u7f6e \uff0c \u914d\u7f6e \u540e \u5f80\u524d \u89c6\u56fe \u4ee5\u53ca \u524d\u540e \u5de6\u53f3 \u524d\u540e\u5de6\u53f3 \u89c6\u56fe   Camera _ transform _ list   =   [   ( carla . Transform ( carla . Location ( x = - 8 ,   y = 0 ,   z = 5 ) ,   carla . Rotation ( pitch = 15 ,   yaw = 0 ,   roll = 0 ) ) ,   Atment _ SpringArmGhost )   ]   #   \u62fc\u63a5 \u4e24\u4e2a transform _ list   spectator _ transform _ list   =   Vehicle _ transform _ list   +   Camera _ transform _ list   #   \u4e0a\u5e1d \u89c6\u56fe \u5750\u6807 \u5750\u6807\u7cfb \u4ee5\u53ca \u6240\u6709 camera \u5bf9\u8c61 \u586b\u5165 spectator _ obj _ list \uff1b   for   spectator _ transform _ index   in   spectator _ transform _ list :   #   spectator _ transform _ list \u7b2c 0 \u4e2a \u5143\u7d20 \u4e3a \u4e0a\u5e1d \u89c6\u56fe \u5750\u6807 \u5750\u6807\u7cfb   if   spectator _ transform _ list . index ( spectator _ transform _ index )   = =   0 :   spectator _ obj _ list . append ( spectator _ transform _ index )   #   spectator _ transform _ list \u5176\u4f59 \u5143\u7d20 \u4e3a Camera \u5b89\u88c5 \u53c2\u6570 \uff0c \u4e0b\u9762 \u751f\u6210 Camera \u5bf9\u8c61   else :   camera   =   world . spawn _ actor ( camera _ bp ,   spectator _ transform _ index [ 0 ] ,   attach _ to = vehicle ,   attachment _ type = spectator _ transform _ index [ 1 ] )   spectator _ obj _ list . append ( camera )   \u66f4\u65b0 \u4ee3\u7406 \u3001 \u5207\u6362 \u89c6\u89d2 \u3001 \u5904\u7406 \u4ee3\u7406 \u5c40\u90e8 \u89c4\u5212 \u5668\u4e2d \u7684 \u8def\u5f84 \u70b9 \u3002   #   \u8bbe\u7f6e Vehicle _ transform _ list [ 0 ] \u4e3a \u521d\u59cb \u89c6\u56fe ( \u4e0a\u5e1d \u89c6\u56fe ) \uff1b   spectator _ obj   =   Vehicle _ transform _ list [ 0 ]   c   =   1   while   True :   agent ._ update _ information ( )   world . tick ( )   if   len ( agent ._ local _ planner ._ waypoints _ queue )   <   1 :   time . sleep ( 2 )   print ( ' = = = = = = = =   Success = = = = = = = = = = = = = ' )   break   #   top   view   spectator   =   world . get _ spectator ( )   transform   =   vehicle . get _ transform ( )   if   c :   #   \u4e0a \u4e00\u4e2a spectator \u7684 \u7d22\u5f15 \u53f7 \uff1b   last _ spectator _ obj _ index   =   spectator _ obj _ list . index ( spectator _ obj )   #   \u8ba1\u7b97 \u4e0b \u4e00\u4e2a spectator \u7684 \u7d22\u5f15 \uff0c \u5982\u679c \u5217\u8868 \u7d22\u5f15 \u8d85\u9650 \u5219 \u91cd\u65b0 \u62ff \u7b2c 0 \u4e2a spectator \uff1b   spectator _ obj _ index   =   last _ spectator _ obj _ index   +   1   if   len (   spectator _ obj _ list )   -   last _ spectator _ obj _ index   -   1   >   0   else   0   spectator _ obj   =   spectator _ obj _ list [ spectator _ obj _ index ]   time . sleep ( 0.2 )   #   \u66f4\u65b0 \u89c6\u56fe   if   spectator _ obj _ list . index ( spectator _ obj )   = =   0 :   #   \u8bbe\u7f6e \u4e0a\u5e1d \u89c6\u56fe   Vehicle _ transform   =   carla . Transform ( vehicle . get _ transform ( ) . location   +   spectator _ obj _ list [ 0 ] [ 0 ] ,   spectator _ obj _ list [ 0 ] [ 1 ] )   world . get _ spectator ( ) . set _ transform ( Vehicle _ transform )   else :   #   \u8bbe\u7f6e \u5176\u4ed6 Camera \u89c6\u56fe   world . get _ spectator ( ) . set _ transform ( spectator _ obj . get _ transform ( ) )   c   =   0   #   speed _ limit   =   vehicle . get _ speed _ limit ( )   #   agent . get _ local _ planner ( ) . set _ speed ( 50 )   control   =   agent . run _ step ( debug = True )   vehicle . apply _ control ( control )   \u8f68\u8ff9 \u751f\u6210","title":"\u81ea\u5b9a\u4e49 \u8f66\u8f86 \u8fd0\u884c \u8f68\u8ff9"},{"location":"course/navigation/#_1","text":"\u200b   \u8f66\u8f86 \u8fd0\u52a8 \u652f\u6301 \u5b9a\u4e49 \u8f66\u8f86 \u8fd0\u52a8 \u8d77\u70b9 \u548c \u76ee\u6807 \u4f4d\u7f6e \uff0c \u4e3a \u6bcf\u8f86 \u8f86\u8f66 \u6bcf\u8f86\u8f66 \u6307\u5b9a \u968f\u673a \u901f\u5ea6 \u503c \uff0c \u4f7f \u5176 \u6cbf \u8f68\u8ff9 \u79fb\u52a8 \u65f6 \u4e0d\u4f1a \u53d1\u751f \u78b0\u649e \u6216 \u6a21\u62df \u78b0\u649e \uff0c \u770b\u5230 \u8f66\u8f86 \u6cbf \u6307\u5b9a \u8f68\u8ff9 \u884c\u9a76 \u4ee5 \u5230\u8fbe \u5176 \u76ee\u6807 \u4f4d\u7f6e \u3002   \u200b   \u672c \u793a\u4f8b \u8bbe\u8ba1 \u4e86 \u4e00\u4e2a   automatic _ control _ revised . py   \u811a\u672c \u8fdb\u884c \u5b9e\u73b0   \u6ce8\u610f   \u9700\u8981 \u5c06   agents   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4f4d\u7f6e \u6dfb\u52a0 \u5230 \u4ee3\u7801 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u4e2d \uff0c \u6216\u8005 \u590d\u5236 \u8be5 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4f7f \u5176 \u4e0e \u672c \u793a\u4f8b \u811a\u672c \u540c\u7ea7 \u3002   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4e00\u4e9b \u751f\u6210 \u4f4d\u7f6e \u7684 \u8d77\u59cb \u70b9 \u5750\u6807   diming   =   {   \" \u5317\u95e8 \" :   { \" x \" :   224.2 ,   \" y \" :   1.7 ,   \" z \" :   1 } ,   \" \u897f\u95e8 \" :   { \" x \" :   - 146 ,   \" y \" :   - 161 ,   \" z \" :   10 } ,   \" \u695a \u67ab\u6865 \" :   { \" x \" :   1.8 ,   \" y \" :   - 15.9 ,   \" z \" :   30 } ,   \" \u695a\u67ab\u8f69 \" :   { \" x \" :   14.8 ,   \" y \" :   64.7 ,   \" z \" :   20 } ,   \" \u65e5 \u65b0\u697c \" :   { \" x \" :   58 ,   \" y \" :   - 75 ,   \" z \" :   30 } ,   \" \u4f53\u80b2 \u4f53\u80b2\u9986 \" :   { \" x \" :   160 ,   \" y \" :   - 265 ,   \" z \" :   40 } ,   \" \u6e58\u6c5f \u697c \" :   { \" x \" :   - 2.4 ,   \" y \" :   - 100 ,   \" z \" :   30 } ,   \" \u79d1\u6280 \u697c \" :   { \" x \" :   - 97.4 ,   \" y \" :   - 217 ,   \" z \" :   15 } ,   }   \u5b9a\u4e49 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570   argparser   =   argparse . ArgumentParser (   description = __ doc __ )   argparser . add _ argument (   ' -- s ' ,   default = \" \u5317\u95e8 \" ,   type = str )   argparser . add _ argument (   ' -- e ' ,   default = \" \u897f\u95e8 \" ,   type = str )   argparser . add _ argument (   ' -- speed ' ,   default = 5 ,   type = int )   \u83b7\u53d6 \u4eff\u771f \u65f6\u95f4 \u5bf9\u8c61 \u53ca \u8bbe\u7f6e   client   =   carla . Client ( ' localhost ' ,   2000 )   client . set _ timeout ( 10 )   world   =   client . get _ world ( )   origin _ settings   =   world . get _ settings ( )   #   \u8bbe\u7f6e   settings   =   world . get _ settings ( )   settings . synchronous _ mode   =   True   settings . fixed _ delta _ seconds   =   0.05   world . apply _ settings ( settings )   \u4ece \u8f66\u8f86 \u84dd\u56fe \u4e2d \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u8f66\u8f86 \u5bf9\u8c61 \uff0c \u5e76 \u83b7\u53d6 \u8f66\u8f86 \u8d77\u70b9 \u5750\u6807   #   \u751f\u6210 \u8f66\u8f86 \u548c \u4ee3\u7406   blueprint _ library   =   world . get _ blueprint _ library ( )   #   \u5c06 diming \u5b57\u5178 \u4e2d \u7684 \u6bcf\u4e2a \u952e\u503c \u5bf9 \u8f6c\u6362 \u4e3a \u4e00\u4e2a carla . Location \u5bf9\u8c61   #   \u83b7\u53d6 \u751f\u6210 \u70b9   locations   =   { key :   carla . Location ( * * value )   for   key ,   value   in   diming . items ( ) }   spawn _ location   =   carla . Location ( locations [ args . s ] )   spawn _ rotation   =   carla . Rotation ( yaw = 180 )   spawn _ point   =   carla . Transform ( spawn _ location ,   spawn _ rotation )   # \u8f66\u8f86 \u8d77\u70b9   #   \u751f\u6210 \u8f66\u8f86   ego _ vehicle _ bp   =   blueprint _ library . find ( ' vehicle . audi . tt ' )   ego _ vehicle _ bp . set _ attribute ( ' color ' ,   ' 100 ,   250 ,   250 ' )   vehicle   =   world . spawn _ actor ( ego _ vehicle _ bp ,   spawn _ point )   # \u63a8\u8fdb \u4eff\u771f \u73af\u5883 \u65f6\u95f4   world . tick ( )   \u751f\u6210 \u7ec8\u70b9 \uff0c \u7ed9 \u8d77\u70b9 \u548c \u7ec8\u70b9 \u751f\u6210 \u4e00\u4e2a \u8f66\u8f86 \u8fd0\u884c \u8f68\u8ff9 \uff0c \u5b9a\u4e49 \u521d\u59cb \u901f\u5ea6   #   \u8bbe\u7f6e \u521d\u59cb \u901f\u5ea6   vehicle . set _ target _ velocity ( carla . Vector3D ( args . speed ,   0 ,   0 ) )   #   \u521b\u5efa \u4ee3\u7406   agent   =   BehaviorAgent ( vehicle ,   behavior = ' normal ' )   destination   =   carla . Location ( locations [ args . e ] )   start   =   vehicle . get _ location ( )   #   \u751f\u6210 \u8f68\u8ff9   agent . set _ destination ( destination )   \u7ed9 \u76ee\u6807 \u8f66\u8f86 \u8bbe\u7f6e \u591a\u4e2a \u76f8\u673a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u8fd9\u4e9b \u76f8\u673a \u53ef\u4ee5 \u63d0\u4f9b \u4e0d\u540c \u7684 \u89c6\u89d2 , \u7528\u4e8e \u89c2\u5bdf \u548c \u8bb0\u5f55 \u8f66\u8f86 \u5728 \u4eff\u771f \u73af\u5883 \u4e2d \u7684 \u884c\u4e3a \u3002   #   \u67e5\u627e \u76f8\u673a \u84dd\u56fe   camera _ bp   =   world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   #   \u8bbe\u7f6e Camera \u7684 \u9644\u52a0 \u7c7b\u578b Camera \u8ddf\u968f \u8f66\u8f86   Atment _ SpringArmGhost   =   carla . AttachmentType . SpringArmGhost   Atment _ Rigid   =   carla . AttachmentType . Rigid   #   \u8bbe\u7f6e \u76f8\u5bf9 \u8f66\u8f86 \u7684 \u5b89\u88c5 \u4f4d\u7f6e \uff0c \u914d\u7f6e \u4e0a\u5e1d \u89c6\u56fe ( Camera \u65e0\u6cd5 \u5b9e\u73b0 \u4e0a\u5e1d \u89c6\u56fe \uff0c \u753b\u9762 \u4f1a \u6296\u52a8 )   Vehicle _ transform _ list   =   [   ( carla . Location ( z = 35 ) ,   carla . Rotation ( pitch = - 90 ) )   ]   #   \u8bbe\u7f6e camera \u7684 \u5b89\u88c5 \u4f4d\u7f6e \uff0c \u914d\u7f6e \u540e \u5f80\u524d \u89c6\u56fe \u4ee5\u53ca \u524d\u540e \u5de6\u53f3 \u524d\u540e\u5de6\u53f3 \u89c6\u56fe   Camera _ transform _ list   =   [   ( carla . Transform ( carla . Location ( x = - 8 ,   y = 0 ,   z = 5 ) ,   carla . Rotation ( pitch = 15 ,   yaw = 0 ,   roll = 0 ) ) ,   Atment _ SpringArmGhost )   ]   #   \u62fc\u63a5 \u4e24\u4e2a transform _ list   spectator _ transform _ list   =   Vehicle _ transform _ list   +   Camera _ transform _ list   #   \u4e0a\u5e1d \u89c6\u56fe \u5750\u6807 \u5750\u6807\u7cfb \u4ee5\u53ca \u6240\u6709 camera \u5bf9\u8c61 \u586b\u5165 spectator _ obj _ list \uff1b   for   spectator _ transform _ index   in   spectator _ transform _ list :   #   spectator _ transform _ list \u7b2c 0 \u4e2a \u5143\u7d20 \u4e3a \u4e0a\u5e1d \u89c6\u56fe \u5750\u6807 \u5750\u6807\u7cfb   if   spectator _ transform _ list . index ( spectator _ transform _ index )   = =   0 :   spectator _ obj _ list . append ( spectator _ transform _ index )   #   spectator _ transform _ list \u5176\u4f59 \u5143\u7d20 \u4e3a Camera \u5b89\u88c5 \u53c2\u6570 \uff0c \u4e0b\u9762 \u751f\u6210 Camera \u5bf9\u8c61   else :   camera   =   world . spawn _ actor ( camera _ bp ,   spectator _ transform _ index [ 0 ] ,   attach _ to = vehicle ,   attachment _ type = spectator _ transform _ index [ 1 ] )   spectator _ obj _ list . append ( camera )   \u66f4\u65b0 \u4ee3\u7406 \u3001 \u5207\u6362 \u89c6\u89d2 \u3001 \u5904\u7406 \u4ee3\u7406 \u5c40\u90e8 \u89c4\u5212 \u5668\u4e2d \u7684 \u8def\u5f84 \u70b9 \u3002   #   \u8bbe\u7f6e Vehicle _ transform _ list [ 0 ] \u4e3a \u521d\u59cb \u89c6\u56fe ( \u4e0a\u5e1d \u89c6\u56fe ) \uff1b   spectator _ obj   =   Vehicle _ transform _ list [ 0 ]   c   =   1   while   True :   agent ._ update _ information ( )   world . tick ( )   if   len ( agent ._ local _ planner ._ waypoints _ queue )   <   1 :   time . sleep ( 2 )   print ( ' = = = = = = = =   Success = = = = = = = = = = = = = ' )   break   #   top   view   spectator   =   world . get _ spectator ( )   transform   =   vehicle . get _ transform ( )   if   c :   #   \u4e0a \u4e00\u4e2a spectator \u7684 \u7d22\u5f15 \u53f7 \uff1b   last _ spectator _ obj _ index   =   spectator _ obj _ list . index ( spectator _ obj )   #   \u8ba1\u7b97 \u4e0b \u4e00\u4e2a spectator \u7684 \u7d22\u5f15 \uff0c \u5982\u679c \u5217\u8868 \u7d22\u5f15 \u8d85\u9650 \u5219 \u91cd\u65b0 \u62ff \u7b2c 0 \u4e2a spectator \uff1b   spectator _ obj _ index   =   last _ spectator _ obj _ index   +   1   if   len (   spectator _ obj _ list )   -   last _ spectator _ obj _ index   -   1   >   0   else   0   spectator _ obj   =   spectator _ obj _ list [ spectator _ obj _ index ]   time . sleep ( 0.2 )   #   \u66f4\u65b0 \u89c6\u56fe   if   spectator _ obj _ list . index ( spectator _ obj )   = =   0 :   #   \u8bbe\u7f6e \u4e0a\u5e1d \u89c6\u56fe   Vehicle _ transform   =   carla . Transform ( vehicle . get _ transform ( ) . location   +   spectator _ obj _ list [ 0 ] [ 0 ] ,   spectator _ obj _ list [ 0 ] [ 1 ] )   world . get _ spectator ( ) . set _ transform ( Vehicle _ transform )   else :   #   \u8bbe\u7f6e \u5176\u4ed6 Camera \u89c6\u56fe   world . get _ spectator ( ) . set _ transform ( spectator _ obj . get _ transform ( ) )   c   =   0   #   speed _ limit   =   vehicle . get _ speed _ limit ( )   #   agent . get _ local _ planner ( ) . set _ speed ( 50 )   control   =   agent . run _ step ( debug = True )   vehicle . apply _ control ( control )","title":"\u81ea\u5b9a\u4e49 \u8f66\u8f86 \u8fd0\u884c \u8f68\u8ff9"},{"location":"course/navigation/#_2","text":"","title":"\u8f68\u8ff9 \u751f\u6210"},{"location":"course/object_detection/","text":"\u57fa\u4e8e Carla \u4eff\u771f \u73af\u5883 \u7684 \u76ee\u6807 \u68c0\u6d4b   object _ dection . py   \u811a\u672c \u4e3b\u8981 \u662f \u5728   Carla   \u4e2d \u4f7f\u7528   YOLOv3   \u68c0\u6d4b \u8f66\u8f86 \u3002   \u76f8\u5173 \u94fe\u63a5   \u200b   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \uff0c \u5e76 \u8fd0\u884c   generate _ traffic . py   \u200b   \u5bfc\u5165 \u5fc5\u8981 \u7684 \u5e93\u53ca \u53d8\u91cf   import   random   import   weakref   import   cv2   import   pygame   import   numpy   as   np   from   imutils . video   import   FPS   import   carla   VIEW _ WIDTH   =   1920   / /   2   VIEW _ HEIGHT   =   1080   / /   2   VIEW _ FOV   =   90   \u200b   \u52a0\u8f7d \u6a21\u578b \u548c \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6   model   =   cv2 . dnn . readNet ( \" weights / yolov3 . weights \" ,   \" cfg / yolov3 . cfg \" )   classes   =   [ line . strip ( )   for   line   in   open ( \" cfg / coco . names \" ,   \" r \" ) . readlines ( ) ]   layers _ names   =   model . getLayerNames ( )   output _ layers   =   [ layers _ names [ i [ 0 ]   -   1 ]   for   i   in   model . getUnconnectedOutLayers ( ) ]   colors   =   np . random . uniform ( 0 ,   255 ,   size = ( len ( classes ) ,   3 ) )   \u200b   \u5b9a\u4e49 \u7ed8\u5236 \u6807\u7b7e \u7684 \u51fd\u6570   def   draw _ labels ( boxes ,   confs ,   colors ,   class _ ids ,   classes ,   img ) :   indexes   =   cv2 . dnn . NMSBoxes ( boxes ,   confs ,   0.5 ,   0.4 )   font   =   cv2 . FONT _ HERSHEY _ PLAIN   for   i   in   range ( len ( boxes ) ) :   if   i   in   indexes :   x ,   y ,   w ,   h   =   boxes [ i ]   label   =   str ( classes [ class _ ids [ i ] ] )   color   =   colors [ i ]   cv2 . rectangle ( img ,   ( x ,   y ) ,   ( x   +   w ,   y   +   h ) ,   color ,   2 )   cv2 . putText ( img ,   label ,   ( x ,   y   -   5 ) ,   font ,   1 ,   color ,   1 )   return   img   \u200b   \u5b9a\u4e49 \u83b7\u53d6 \u6846 \u7ef4\u5ea6 \u7684 \u51fd\u6570   def   get _ box _ dimensions ( outputs ,   height ,   width ) :   boxes   =   [ ]   confs   =   [ ]   class _ ids   =   [ ]   for   output   in   outputs :   for   detect   in   output :   scores   =   detect [ 5 : ]   class _ id   =   np . argmax ( scores )   conf   =   scores [ class _ id ]   if   conf   >   0.5 :   center _ x   =   int ( detect [ 0 ]   *   width )   center _ y   =   int ( detect [ 1 ]   *   height )   w   =   int ( detect [ 2 ]   *   width )   h   =   int ( detect [ 3 ]   *   height )   x   =   int ( center _ x   -   w   /   2 )   y   =   int ( center _ y   -   h   /   2 )   boxes . append ( [ x ,   y ,   w ,   h ] )   confs . append ( float ( conf ) )   class _ ids . append ( class _ id )   return   boxes ,   confs ,   class _ ids   \u200b   \u5b9a\u4e49   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u7c7b   class   CarlaClient ( ) :   def   __ init __ ( self ) :   # \u521d\u59cb \u521d\u59cb\u5316 \u5b9e\u4f8b \u53d8\u91cf   self . client   =   None   self . world   =   None   self . camera   =   None   self . car   =   None   self . image   =   None   self . capture   =   True   self . display   =   None   def   set _ synchronous _ mode ( self ,   synchronous _ mode ) :   # \u8bbe\u7f6e Carla \u4e16\u754c \u7684 \u540c\u6b65 \u6a21\u5f0f   settings   =   self . world . get _ settings ( )   settings . synchronous _ mode   =   synchronous _ mode   self . world . apply _ settings ( settings )   def   setup _ car ( self ) :   # \u4ece \u84dd \u56fe\u5e93 \u4e2d \u9009\u4e2d \u4e00\u4e2a \u6c7d\u8f66 \u5bf9\u8c61   blueprint _ library   =   self . world . get _ blueprint _ library ( )   car _ bp   =   blueprint _ library . filter ( ' vehicle . * ' ) [ 0 ]   spawn _ point   =   random . choice ( self . world . get _ map ( ) . get _ spawn _ points ( ) )   self . car   =   self . world . spawn _ actor ( car _ bp ,   spawn _ point )   def   setup _ camera ( self ) :   # \u83b7\u53d6 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u5bf9\u8c61 \uff0c \u5e76 \u5c06 \u5176 \u9644\u52a0 \u5230 \u6c7d\u8f66 \u4e0a   camera _ bp   =   self . world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   camera _ transform   =   carla . Transform ( carla . Location ( x = 1.5 ,   z = 2.4 ) )   camera _ bp . set _ attribute ( ' image _ size _ x ' ,   f ' { VIEW _ WIDTH } ' )   camera _ bp . set _ attribute ( ' image _ size _ y ' ,   f ' { VIEW _ HEIGHT } ' )   camera _ bp . set _ attribute ( ' fov ' ,   f ' { VIEW _ FOV } ' )   self . camera   =   self . world . spawn _ actor ( camera _ bp ,   camera _ transform ,   attach _ to = self . car )   weak _ self   =   weakref . ref ( self )   self . camera . listen ( lambda   image :   weak _ self ( ) . set _ image ( weak _ self ,   image ) )   @ staticmethod   def   set _ image ( weak _ self ,   img ) :   # \u6355\u83b7 \u56fe\u50cf   self   =   weak _ self ( )   if   self . capture :   self . image   =   img   self . capture   =   False   def   render ( self ,   display ) :   # \u6e32\u67d3 \u6355\u83b7 \u7684 \u56fe\u50cf \uff0c \u5e76 \u5728 \u56fe\u50cf \u4e0a \u7ed8\u5236 \u7269\u4f53 \u68c0\u6d4b \u6807\u7b7e   if   self . image   is   not   None :   array   =   np . frombuffer ( self . image . raw _ data ,   dtype = np . dtype ( \" uint8 \" ) )   array   =   np . reshape ( array ,   ( self . image . height ,   self . image . width ,   4 ) )   array   =   array [ : ,   : ,   : 3 ]   #   draw   labels   img   =   cv2 . resize ( array ,   None ,   fx = 1 ,   fy = 1 )   height ,   width ,   channels   =   img . shape   blob   =   cv2 . dnn . blobFromImage ( img ,   scalefactor = 0.00392 ,   size = ( 320 ,   320 ) ,   mean = ( 0 ,   0 ,   0 ) ,   swapRB = True ,   crop = False )   model . setInput ( blob )   outputs   =   model . forward ( output _ layers )   boxes ,   confs ,   class _ ids   =   get _ box _ dimensions ( outputs ,   height ,   width )   array   =   draw _ labels ( boxes ,   confs ,   colors ,   class _ ids ,   classes ,   img )   array   =   array [ : ,   : ,   : : - 1 ]   surface   =   pygame . surfarray . make _ surface ( array . swapaxes ( 0 ,   1 ) )   display . blit ( surface ,   ( 0 ,   0 ) )   \u200b   main   \u51fd\u6570 \u4e2d \u4e3b\u8981 \u662f \u5728 Carla \u6a21\u62df \u6a21\u62df\u5668 \u4e2d \u8fd0\u884c \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u5e76 \u901a\u8fc7 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u6355\u83b7 \u56fe\u50cf \u540e \u91c7\u7528 YOLOv3 \u6a21\u578b \u8fdb\u884c \u8f66\u8f86 \u7269\u4f53 \u7684 \u68c0\u6d4b \uff0c \u6700\u540e \u4f7f\u7528 Pygame \u663e\u793a \u5904\u7406 \u540e \u7684 \u56fe\u50cf \u3002   if   __ name __   = =   ' __ main __ ' :   cc   =   CarlaClient ( )   try :   pygame . init ( )   clock   =   pygame . time . Clock ( )   cc . client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   cc . client . set _ timeout ( 5.0 )   cc . world   =   cc . client . get _ world ( )   cc . setup _ car ( )   cc . setup _ camera ( )   cc . display   =   pygame . display . set _ mode ( ( VIEW _ WIDTH ,   VIEW _ HEIGHT ) ,   pygame . HWSURFACE   |   pygame . DOUBLEBUF )   pygame _ clock   =   pygame . time . Clock ( )   cc . car . set _ autopilot ( True )   while   True :   fps   =   FPS ( ) . start ( )   cc . world . tick ( )   cc . capture   =   True   pygame _ clock . tick _ busy _ loop ( 30 )   cc . render ( cc . display )   pygame . display . flip ( )   pygame . event . pump ( )   cv2 . waitKey ( 1 )   fps . stop ( )   print ( \" [ INFO ]   elapsed   time :   { : . 2f } \" . format ( fps . elapsed ( ) ) )   except   Exception   as   e :   print ( e )   finally :   cc . set _ synchronous _ mode ( False )   cc . camera . destroy ( )   cc . car . destroy ( )   pygame . quit ( )   cv2 . destroyAllWindows ( )","title":"\u57fa\u4e8e Carla \u4eff\u771f \u73af\u5883 \u7684 \u76ee\u6807 \u68c0\u6d4b"},{"location":"course/object_detection/#carla","text":"object _ dection . py   \u811a\u672c \u4e3b\u8981 \u662f \u5728   Carla   \u4e2d \u4f7f\u7528   YOLOv3   \u68c0\u6d4b \u8f66\u8f86 \u3002   \u76f8\u5173 \u94fe\u63a5   \u200b   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \uff0c \u5e76 \u8fd0\u884c   generate _ traffic . py   \u200b   \u5bfc\u5165 \u5fc5\u8981 \u7684 \u5e93\u53ca \u53d8\u91cf   import   random   import   weakref   import   cv2   import   pygame   import   numpy   as   np   from   imutils . video   import   FPS   import   carla   VIEW _ WIDTH   =   1920   / /   2   VIEW _ HEIGHT   =   1080   / /   2   VIEW _ FOV   =   90   \u200b   \u52a0\u8f7d \u6a21\u578b \u548c \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6   model   =   cv2 . dnn . readNet ( \" weights / yolov3 . weights \" ,   \" cfg / yolov3 . cfg \" )   classes   =   [ line . strip ( )   for   line   in   open ( \" cfg / coco . names \" ,   \" r \" ) . readlines ( ) ]   layers _ names   =   model . getLayerNames ( )   output _ layers   =   [ layers _ names [ i [ 0 ]   -   1 ]   for   i   in   model . getUnconnectedOutLayers ( ) ]   colors   =   np . random . uniform ( 0 ,   255 ,   size = ( len ( classes ) ,   3 ) )   \u200b   \u5b9a\u4e49 \u7ed8\u5236 \u6807\u7b7e \u7684 \u51fd\u6570   def   draw _ labels ( boxes ,   confs ,   colors ,   class _ ids ,   classes ,   img ) :   indexes   =   cv2 . dnn . NMSBoxes ( boxes ,   confs ,   0.5 ,   0.4 )   font   =   cv2 . FONT _ HERSHEY _ PLAIN   for   i   in   range ( len ( boxes ) ) :   if   i   in   indexes :   x ,   y ,   w ,   h   =   boxes [ i ]   label   =   str ( classes [ class _ ids [ i ] ] )   color   =   colors [ i ]   cv2 . rectangle ( img ,   ( x ,   y ) ,   ( x   +   w ,   y   +   h ) ,   color ,   2 )   cv2 . putText ( img ,   label ,   ( x ,   y   -   5 ) ,   font ,   1 ,   color ,   1 )   return   img   \u200b   \u5b9a\u4e49 \u83b7\u53d6 \u6846 \u7ef4\u5ea6 \u7684 \u51fd\u6570   def   get _ box _ dimensions ( outputs ,   height ,   width ) :   boxes   =   [ ]   confs   =   [ ]   class _ ids   =   [ ]   for   output   in   outputs :   for   detect   in   output :   scores   =   detect [ 5 : ]   class _ id   =   np . argmax ( scores )   conf   =   scores [ class _ id ]   if   conf   >   0.5 :   center _ x   =   int ( detect [ 0 ]   *   width )   center _ y   =   int ( detect [ 1 ]   *   height )   w   =   int ( detect [ 2 ]   *   width )   h   =   int ( detect [ 3 ]   *   height )   x   =   int ( center _ x   -   w   /   2 )   y   =   int ( center _ y   -   h   /   2 )   boxes . append ( [ x ,   y ,   w ,   h ] )   confs . append ( float ( conf ) )   class _ ids . append ( class _ id )   return   boxes ,   confs ,   class _ ids   \u200b   \u5b9a\u4e49   Carla   \u5ba2\u6237 \u5ba2\u6237\u7aef \u7c7b   class   CarlaClient ( ) :   def   __ init __ ( self ) :   # \u521d\u59cb \u521d\u59cb\u5316 \u5b9e\u4f8b \u53d8\u91cf   self . client   =   None   self . world   =   None   self . camera   =   None   self . car   =   None   self . image   =   None   self . capture   =   True   self . display   =   None   def   set _ synchronous _ mode ( self ,   synchronous _ mode ) :   # \u8bbe\u7f6e Carla \u4e16\u754c \u7684 \u540c\u6b65 \u6a21\u5f0f   settings   =   self . world . get _ settings ( )   settings . synchronous _ mode   =   synchronous _ mode   self . world . apply _ settings ( settings )   def   setup _ car ( self ) :   # \u4ece \u84dd \u56fe\u5e93 \u4e2d \u9009\u4e2d \u4e00\u4e2a \u6c7d\u8f66 \u5bf9\u8c61   blueprint _ library   =   self . world . get _ blueprint _ library ( )   car _ bp   =   blueprint _ library . filter ( ' vehicle . * ' ) [ 0 ]   spawn _ point   =   random . choice ( self . world . get _ map ( ) . get _ spawn _ points ( ) )   self . car   =   self . world . spawn _ actor ( car _ bp ,   spawn _ point )   def   setup _ camera ( self ) :   # \u83b7\u53d6 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u5bf9\u8c61 \uff0c \u5e76 \u5c06 \u5176 \u9644\u52a0 \u5230 \u6c7d\u8f66 \u4e0a   camera _ bp   =   self . world . get _ blueprint _ library ( ) . find ( ' sensor . camera . rgb ' )   camera _ transform   =   carla . Transform ( carla . Location ( x = 1.5 ,   z = 2.4 ) )   camera _ bp . set _ attribute ( ' image _ size _ x ' ,   f ' { VIEW _ WIDTH } ' )   camera _ bp . set _ attribute ( ' image _ size _ y ' ,   f ' { VIEW _ HEIGHT } ' )   camera _ bp . set _ attribute ( ' fov ' ,   f ' { VIEW _ FOV } ' )   self . camera   =   self . world . spawn _ actor ( camera _ bp ,   camera _ transform ,   attach _ to = self . car )   weak _ self   =   weakref . ref ( self )   self . camera . listen ( lambda   image :   weak _ self ( ) . set _ image ( weak _ self ,   image ) )   @ staticmethod   def   set _ image ( weak _ self ,   img ) :   # \u6355\u83b7 \u56fe\u50cf   self   =   weak _ self ( )   if   self . capture :   self . image   =   img   self . capture   =   False   def   render ( self ,   display ) :   # \u6e32\u67d3 \u6355\u83b7 \u7684 \u56fe\u50cf \uff0c \u5e76 \u5728 \u56fe\u50cf \u4e0a \u7ed8\u5236 \u7269\u4f53 \u68c0\u6d4b \u6807\u7b7e   if   self . image   is   not   None :   array   =   np . frombuffer ( self . image . raw _ data ,   dtype = np . dtype ( \" uint8 \" ) )   array   =   np . reshape ( array ,   ( self . image . height ,   self . image . width ,   4 ) )   array   =   array [ : ,   : ,   : 3 ]   #   draw   labels   img   =   cv2 . resize ( array ,   None ,   fx = 1 ,   fy = 1 )   height ,   width ,   channels   =   img . shape   blob   =   cv2 . dnn . blobFromImage ( img ,   scalefactor = 0.00392 ,   size = ( 320 ,   320 ) ,   mean = ( 0 ,   0 ,   0 ) ,   swapRB = True ,   crop = False )   model . setInput ( blob )   outputs   =   model . forward ( output _ layers )   boxes ,   confs ,   class _ ids   =   get _ box _ dimensions ( outputs ,   height ,   width )   array   =   draw _ labels ( boxes ,   confs ,   colors ,   class _ ids ,   classes ,   img )   array   =   array [ : ,   : ,   : : - 1 ]   surface   =   pygame . surfarray . make _ surface ( array . swapaxes ( 0 ,   1 ) )   display . blit ( surface ,   ( 0 ,   0 ) )   \u200b   main   \u51fd\u6570 \u4e2d \u4e3b\u8981 \u662f \u5728 Carla \u6a21\u62df \u6a21\u62df\u5668 \u4e2d \u8fd0\u884c \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u5e76 \u901a\u8fc7 \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u6355\u83b7 \u56fe\u50cf \u540e \u91c7\u7528 YOLOv3 \u6a21\u578b \u8fdb\u884c \u8f66\u8f86 \u7269\u4f53 \u7684 \u68c0\u6d4b \uff0c \u6700\u540e \u4f7f\u7528 Pygame \u663e\u793a \u5904\u7406 \u540e \u7684 \u56fe\u50cf \u3002   if   __ name __   = =   ' __ main __ ' :   cc   =   CarlaClient ( )   try :   pygame . init ( )   clock   =   pygame . time . Clock ( )   cc . client   =   carla . Client ( ' 127.0 . 0.1 ' ,   2000 )   cc . client . set _ timeout ( 5.0 )   cc . world   =   cc . client . get _ world ( )   cc . setup _ car ( )   cc . setup _ camera ( )   cc . display   =   pygame . display . set _ mode ( ( VIEW _ WIDTH ,   VIEW _ HEIGHT ) ,   pygame . HWSURFACE   |   pygame . DOUBLEBUF )   pygame _ clock   =   pygame . time . Clock ( )   cc . car . set _ autopilot ( True )   while   True :   fps   =   FPS ( ) . start ( )   cc . world . tick ( )   cc . capture   =   True   pygame _ clock . tick _ busy _ loop ( 30 )   cc . render ( cc . display )   pygame . display . flip ( )   pygame . event . pump ( )   cv2 . waitKey ( 1 )   fps . stop ( )   print ( \" [ INFO ]   elapsed   time :   { : . 2f } \" . format ( fps . elapsed ( ) ) )   except   Exception   as   e :   print ( e )   finally :   cc . set _ synchronous _ mode ( False )   cc . camera . destroy ( )   cc . car . destroy ( )   pygame . quit ( )   cv2 . destroyAllWindows ( )","title":"\u57fa\u4e8e Carla \u4eff\u771f \u73af\u5883 \u7684 \u76ee\u6807 \u68c0\u6d4b"},{"location":"course/recognize/","text":"\u884c\u4eba \u518d \u8bc6\u522b   \u8be5   \u811a\u672c   \u7684 \u76ee\u6807 \u662f \u901a\u8fc7 \u4f7f\u7528 \u9884 \u8bad\u7ec3 \u7684 ResNet - 50 \u6a21\u578b \uff0c \u6bd4\u8f83 \u4e24\u5f20 \u56fe\u7247 \u7684 \u7279\u5f81 \u76f8\u4f3c \u76f8\u4f3c\u6027 \u3002 \u4e3b\u8981 \u6b65\u9aa4 \u5305\u62ec \u6570\u636e \u5904\u7406 \u9884\u5904\u7406 \u3001 \u7279\u5f81 \u63d0\u53d6 \u7279\u5f81\u63d0\u53d6 \u548c \u8ba1\u7b97 \u76f8\u4f3c \u76f8\u4f3c\u6027 \u5ea6\u91cf \u3002 \u672c \u6587\u6863 \u5c06 \u8be6\u7ec6 \u8bf4\u660e \u6bcf\u4e2a \u6b65\u9aa4 \u7684 \u5b9e\u73b0 \u3002   \u73af\u5883 \u914d\u7f6e   \u4f9d\u8d56 \u5e93   torch   :   PyTorch \u5e93 \uff0c \u7528\u4e8e \u6df1\u5ea6 \u5b66\u4e60 \u548c \u5f20\u91cf \u8ba1\u7b97 \u3002   torchvision   :   PyTorch \u7684 \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406 \u5de5\u5177 \u5de5\u5177\u5305 \uff0c \u63d0\u4f9b \u4e86 \u5e38\u7528 \u7684 \u6570\u636e \u589e\u5f3a \u65b9\u6cd5 \u3002   PIL   (   Pillow   ) :   Python   Imaging   Library \uff0c \u7528\u4e8e \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406 \u3002   torchreid   :   \u7528\u4e8e \u884c\u4eba \u91cd \u8bc6\u522b \u7684 \u5de5\u5177 \u5de5\u5177\u5305 \u3002   \u53ef\u4ee5 \u901a\u8fc7 \u4ee5\u4e0b \u547d\u4ee4 \u5b89\u88c5 \u6240 \u9700\u5e93 \uff08 \u5b89\u88c5 \u65f6\u95f4 \u5b89\u88c5\u65f6\u95f4 \u8f83\u957f \uff09 \uff1a   pip   install   torch   torchvision   torchaudio   -- index - url   https : / / download . pytorch . org / whl / cu118   \u4ee3\u7801 \u7ed3\u6784   1 . \u6570\u636e \u5904\u7406 \u9884\u5904\u7406   \u9996\u5148 \u5b9a\u4e49 \u4e00\u4e2a \u51fd\u6570   preprocess _ image   \u6765 \u5904\u7406 \u9884\u5904\u7406 \u56fe\u50cf \uff1a   def   preprocess _ image ( image _ path ) :   transform   =   transforms . Compose ( [   transforms . Resize ( ( 256 ,   128 ) ) ,   transforms . ToTensor ( ) ,   transforms . Normalize ( mean = [ 0.485 ,   0.456 ,   0.406 ] ,   std = [ 0.229 ,   0.224 ,   0.225 ] )   ] )   image   =   Image . open ( image _ path ) . convert ( ' RGB ' )   image   =   transform ( image )   image   =   image . unsqueeze ( 0 )   #   \u589e\u52a0 \u6279\u6b21 \u7ef4\u5ea6   return   image   2 . \u6570\u636e \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668   \u521b\u5efa \u4e00\u4e2a \u6570\u636e \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \uff0c \u7528\u4e8e \u52a0\u8f7d   Market1501 \u6570\u636e \u96c6   \uff1a   datamanager   =   torchreid . data . ImageDataManager (   root = \" reid - data \" ,   sources = \" market1501 \" ,   targets = \" market1501 \" ,   height = 256 ,   width = 128 ,   batch _ size _ train = 32 ,   batch _ size _ test = 100 ,   transforms = [ \" random _ flip \" ,   \" random _ crop \" ]   )   3 . \u6a21\u578b \u6784\u5efa \u4e0e \u52a0\u8f7d   \u6784\u5efa \u5e76 \u52a0\u8f7d \u9884 \u8bad\u7ec3 \u7684 ResNet - 50 \u6a21\u578b \uff1a   model   =   torchreid . models . build _ model (   name = \" resnet50 \" ,   num _ classes = datamanager . num _ train _ pids ,   loss = \" softmax \" ,   pretrained = True   #   \u52a0\u8f7d   ImageNet   \u9884 \u8bad\u7ec3 \u6743\u91cd   )   #   \u5c06 \u6a21\u578b \u79fb\u52a8 \u5230 GPU   model   =   model . cuda ( )   model . eval ( )   4 . \u7279\u5f81 \u63d0\u53d6 \u7279\u5f81\u63d0\u53d6 \u4e0e \u76f8\u4f3c \u76f8\u4f3c\u6027 \u8ba1\u7b97   \u5b9a\u4e49 \u51fd\u6570   infer   \u548c   cosine _ similarity   \u6765 \u63d0\u53d6 \u7279\u5f81 \u548c \u8ba1\u7b97 \u4f59\u5f26 \u76f8\u4f3c \u76f8\u4f3c\u6027 \uff1a   def   infer ( model ,   image _ tensor ) :   with   torch . no _ grad ( ) :   image _ tensor   =   image _ tensor . cuda ( )   features   =   model ( image _ tensor )   return   features   def   cosine _ similarity ( tensor1 ,   tensor2 ) :   cos   =   torch . nn . CosineSimilarity ( dim = 1 ,   eps = 1e - 6 )   return   cos ( tensor1 ,   tensor2 ) . item ( )   \u8fd0\u884c \u6b65\u9aa4   \u786e\u4fdd \u5b89\u88c5 \u6240\u6709 \u4f9d\u8d56 \u5e93 \u3002   \u4e0b\u8f7d \u5e76 \u51c6\u5907 \u597d Market1501 \u6570\u636e \u96c6 \u3002   \u8fd0\u884c \u4e0a\u8ff0 Python \u4ee3\u7801 \uff0c \u786e\u4fdd \u56fe\u50cf \u8def\u5f84 \u6b63\u786e \u3002   \u6ce8\u610f \u4e8b\u9879 \u6ce8\u610f\u4e8b\u9879   \u786e\u4fdd \u4f60 \u7684 \u663e\u5361 \u4e0e \u5f53\u524d \u5b89\u88c5 \u7684 PyTorch \u7248\u672c \u517c\u5bb9 \u3002   \u6d4b\u8bd5 \u6570\u636e \u6d4b\u8bd5\u6570\u636e \u96c6 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u76ee\u5f55 \u6b63\u786e \uff0c \u5e76\u4e14 \u548c \u811a\u672c \u5728 \u540c \u4e00\u7ea7 \u3002 \u5982\u4e0b \u6240\u793a \uff1a   reid - data /   \u251c \u2500 \u2500   market1501 /   \u251c \u2500 \u2500   bounding _ box _ train /   \u251c \u2500 \u2500   bounding _ box _ test /   \u251c \u2500 \u2500   query /   \u2514 \u2500 \u2500   ...   \u7ed3\u679c \u5206\u6790   \u4ee3\u7801 \u8fd0\u884c \u4ee3\u7801\u8fd0\u884c \u540e \u4f1a \u8f93\u51fa \u4e24\u5f20 \u56fe\u50cf \u7684 \u4f59\u5f26 \u76f8\u4f3c \u76f8\u4f3c\u6027 \u3002 \u76f8\u4f3c \u76f8\u4f3c\u6027 \u503c \u63a5\u8fd1 1 \u8868\u793a \u4e24\u5f20 \u56fe\u50cf \u7279\u5f81 \u76f8\u4f3c \u5ea6\u9ad8 \uff0c \u63a5\u8fd1 0 \u8868\u793a \u7279\u5f81 \u76f8\u4f3c \u5ea6\u4f4e \u3002","title":"\u884c\u4eba \u518d \u8bc6\u522b"},{"location":"course/recognize/#_1","text":"\u8be5   \u811a\u672c   \u7684 \u76ee\u6807 \u662f \u901a\u8fc7 \u4f7f\u7528 \u9884 \u8bad\u7ec3 \u7684 ResNet - 50 \u6a21\u578b \uff0c \u6bd4\u8f83 \u4e24\u5f20 \u56fe\u7247 \u7684 \u7279\u5f81 \u76f8\u4f3c \u76f8\u4f3c\u6027 \u3002 \u4e3b\u8981 \u6b65\u9aa4 \u5305\u62ec \u6570\u636e \u5904\u7406 \u9884\u5904\u7406 \u3001 \u7279\u5f81 \u63d0\u53d6 \u7279\u5f81\u63d0\u53d6 \u548c \u8ba1\u7b97 \u76f8\u4f3c \u76f8\u4f3c\u6027 \u5ea6\u91cf \u3002 \u672c \u6587\u6863 \u5c06 \u8be6\u7ec6 \u8bf4\u660e \u6bcf\u4e2a \u6b65\u9aa4 \u7684 \u5b9e\u73b0 \u3002","title":"\u884c\u4eba \u518d \u8bc6\u522b"},{"location":"course/recognize/#_2","text":"","title":"\u73af\u5883 \u914d\u7f6e"},{"location":"course/recognize/#_3","text":"torch   :   PyTorch \u5e93 \uff0c \u7528\u4e8e \u6df1\u5ea6 \u5b66\u4e60 \u548c \u5f20\u91cf \u8ba1\u7b97 \u3002   torchvision   :   PyTorch \u7684 \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406 \u5de5\u5177 \u5de5\u5177\u5305 \uff0c \u63d0\u4f9b \u4e86 \u5e38\u7528 \u7684 \u6570\u636e \u589e\u5f3a \u65b9\u6cd5 \u3002   PIL   (   Pillow   ) :   Python   Imaging   Library \uff0c \u7528\u4e8e \u56fe\u50cf \u5904\u7406 \u56fe\u50cf\u5904\u7406 \u3002   torchreid   :   \u7528\u4e8e \u884c\u4eba \u91cd \u8bc6\u522b \u7684 \u5de5\u5177 \u5de5\u5177\u5305 \u3002   \u53ef\u4ee5 \u901a\u8fc7 \u4ee5\u4e0b \u547d\u4ee4 \u5b89\u88c5 \u6240 \u9700\u5e93 \uff08 \u5b89\u88c5 \u65f6\u95f4 \u5b89\u88c5\u65f6\u95f4 \u8f83\u957f \uff09 \uff1a   pip   install   torch   torchvision   torchaudio   -- index - url   https : / / download . pytorch . org / whl / cu118","title":"\u4f9d\u8d56 \u5e93"},{"location":"course/recognize/#_4","text":"","title":"\u4ee3\u7801 \u7ed3\u6784"},{"location":"course/recognize/#1","text":"\u9996\u5148 \u5b9a\u4e49 \u4e00\u4e2a \u51fd\u6570   preprocess _ image   \u6765 \u5904\u7406 \u9884\u5904\u7406 \u56fe\u50cf \uff1a   def   preprocess _ image ( image _ path ) :   transform   =   transforms . Compose ( [   transforms . Resize ( ( 256 ,   128 ) ) ,   transforms . ToTensor ( ) ,   transforms . Normalize ( mean = [ 0.485 ,   0.456 ,   0.406 ] ,   std = [ 0.229 ,   0.224 ,   0.225 ] )   ] )   image   =   Image . open ( image _ path ) . convert ( ' RGB ' )   image   =   transform ( image )   image   =   image . unsqueeze ( 0 )   #   \u589e\u52a0 \u6279\u6b21 \u7ef4\u5ea6   return   image","title":"1 . \u6570\u636e \u9884\u5904\u7406"},{"location":"course/recognize/#2","text":"\u521b\u5efa \u4e00\u4e2a \u6570\u636e \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668 \uff0c \u7528\u4e8e \u52a0\u8f7d   Market1501 \u6570\u636e \u96c6   \uff1a   datamanager   =   torchreid . data . ImageDataManager (   root = \" reid - data \" ,   sources = \" market1501 \" ,   targets = \" market1501 \" ,   height = 256 ,   width = 128 ,   batch _ size _ train = 32 ,   batch _ size _ test = 100 ,   transforms = [ \" random _ flip \" ,   \" random _ crop \" ]   )","title":"2 . \u6570\u636e \u7ba1\u7406\u5668"},{"location":"course/recognize/#3","text":"\u6784\u5efa \u5e76 \u52a0\u8f7d \u9884 \u8bad\u7ec3 \u7684 ResNet - 50 \u6a21\u578b \uff1a   model   =   torchreid . models . build _ model (   name = \" resnet50 \" ,   num _ classes = datamanager . num _ train _ pids ,   loss = \" softmax \" ,   pretrained = True   #   \u52a0\u8f7d   ImageNet   \u9884 \u8bad\u7ec3 \u6743\u91cd   )   #   \u5c06 \u6a21\u578b \u79fb\u52a8 \u5230 GPU   model   =   model . cuda ( )   model . eval ( )","title":"3 . \u6a21\u578b \u6784\u5efa \u4e0e \u52a0\u8f7d"},{"location":"course/recognize/#4","text":"\u5b9a\u4e49 \u51fd\u6570   infer   \u548c   cosine _ similarity   \u6765 \u63d0\u53d6 \u7279\u5f81 \u548c \u8ba1\u7b97 \u4f59\u5f26 \u76f8\u4f3c \u76f8\u4f3c\u6027 \uff1a   def   infer ( model ,   image _ tensor ) :   with   torch . no _ grad ( ) :   image _ tensor   =   image _ tensor . cuda ( )   features   =   model ( image _ tensor )   return   features   def   cosine _ similarity ( tensor1 ,   tensor2 ) :   cos   =   torch . nn . CosineSimilarity ( dim = 1 ,   eps = 1e - 6 )   return   cos ( tensor1 ,   tensor2 ) . item ( )","title":"4 . \u7279\u5f81\u63d0\u53d6 \u4e0e \u76f8\u4f3c\u6027 \u8ba1\u7b97"},{"location":"course/recognize/#_5","text":"\u786e\u4fdd \u5b89\u88c5 \u6240\u6709 \u4f9d\u8d56 \u5e93 \u3002   \u4e0b\u8f7d \u5e76 \u51c6\u5907 \u597d Market1501 \u6570\u636e \u96c6 \u3002   \u8fd0\u884c \u4e0a\u8ff0 Python \u4ee3\u7801 \uff0c \u786e\u4fdd \u56fe\u50cf \u8def\u5f84 \u6b63\u786e \u3002","title":"\u8fd0\u884c \u6b65\u9aa4"},{"location":"course/recognize/#_6","text":"\u786e\u4fdd \u4f60 \u7684 \u663e\u5361 \u4e0e \u5f53\u524d \u5b89\u88c5 \u7684 PyTorch \u7248\u672c \u517c\u5bb9 \u3002   \u6d4b\u8bd5 \u6570\u636e \u6d4b\u8bd5\u6570\u636e \u96c6 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u76ee\u5f55 \u6b63\u786e \uff0c \u5e76\u4e14 \u548c \u811a\u672c \u5728 \u540c \u4e00\u7ea7 \u3002 \u5982\u4e0b \u6240\u793a \uff1a   reid - data /   \u251c \u2500 \u2500   market1501 /   \u251c \u2500 \u2500   bounding _ box _ train /   \u251c \u2500 \u2500   bounding _ box _ test /   \u251c \u2500 \u2500   query /   \u2514 \u2500 \u2500   ...","title":"\u6ce8\u610f\u4e8b\u9879"},{"location":"course/recognize/#_7","text":"\u4ee3\u7801 \u8fd0\u884c \u4ee3\u7801\u8fd0\u884c \u540e \u4f1a \u8f93\u51fa \u4e24\u5f20 \u56fe\u50cf \u7684 \u4f59\u5f26 \u76f8\u4f3c \u76f8\u4f3c\u6027 \u3002 \u76f8\u4f3c \u76f8\u4f3c\u6027 \u503c \u63a5\u8fd1 1 \u8868\u793a \u4e24\u5f20 \u56fe\u50cf \u7279\u5f81 \u76f8\u4f3c \u5ea6\u9ad8 \uff0c \u63a5\u8fd1 0 \u8868\u793a \u7279\u5f81 \u76f8\u4f3c \u5ea6\u4f4e \u3002","title":"\u7ed3\u679c \u5206\u6790"},{"location":"course/regional_macro/","text":"\u533a\u57df \u5b8f\u89c2   \u200b   \u6b64 \u793a\u4f8b \u652f\u6301 \u8054\u5408 \u865a\u62df \u5f15\u64ce \u4eff\u771f \u6a21\u62df \u5b9e\u9a8c \u6a21\u62df\u5b9e\u9a8c \uff0c \u5f97\u5230   3D   \u5b8f\u89c2 \u533a\u57df \u573a\u666f \u6f14\u793a \u3002   \u73af\u5883 \u4f9d\u8d56   roadrunner   carla \u7f16\u8f91 \u7f16\u8f91\u5668   \u914d\u7f6e \u6559\u7a0b   \u573a\u666f \u8bbe\u8ba1   \u200b   \u9488\u5bf9 \u5927 \u533a\u57df \u7684 \u573a\u666f \u8bbe\u8ba1 \uff0c \u652f\u6301 \u4ece   openstreet   \u5b98\u7f51 \u5bfc\u51fa \u8def\u7f51 \u6587\u4ef6 \u4f5c\u4e3a \u6a21\u7248 \uff0c \u7136\u540e \u5bfc\u5165 \u5bfc\u5165\u5230   roadrunner   \u4e2d \u8fdb\u884c \u9053\u8def \u4fee\u6539 \u3002   \u200b   \u5bfc\u5165 \u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce   \u200b   \u672c \u793a\u4f8b \u4f7f\u7528 \u7684 \u4e3a   carla   \u63d2\u4ef6 \u4f5c\u4e3a \u6e32\u67d3 \u5f15\u64ce \uff0c \u8fdb\u884c \u5efa\u7b51 \u3001 \u6811 \u3001 \u5c71 \u7b49 \u7684 \u8bbe\u8ba1 \u3002   \u200b   \u200b   \u5bfc\u51fa \u6267\u884c \u884c\u7a0b \u7a0b\u5e8f \u53ef\u6267\u884c\u7a0b\u5e8f \u8fdb\u884c \u4eff\u771f \u6a21\u62df \u5b9e\u9a8c \u6a21\u62df\u5b9e\u9a8c   \u200b   \u8fd0\u884c \u4e0b\u8ff0 exe \u7a0b\u5e8f \u4f5c\u4e3a \u670d\u52a1 \u670d\u52a1\u7aef \uff0c \u91c7\u7528 python \u811a\u672c \u4e0e\u5176 \u901a\u4fe1 \u3002   \u5b8f\u89c2 \u5730\u56fe   \u200b   \u5c06 \u5730\u56fe \u8c03\u6574 \u5230 \u5168\u5c40 \u4fef\u89c6 \u4f4d\u7f6e \u3002","title":"\u533a\u57df \u5b8f\u89c2"},{"location":"course/regional_macro/#_1","text":"\u200b   \u6b64 \u793a\u4f8b \u652f\u6301 \u8054\u5408 \u865a\u62df \u5f15\u64ce \u4eff\u771f \u6a21\u62df \u5b9e\u9a8c \u6a21\u62df\u5b9e\u9a8c \uff0c \u5f97\u5230   3D   \u5b8f\u89c2 \u533a\u57df \u573a\u666f \u6f14\u793a \u3002","title":"\u533a\u57df \u5b8f\u89c2"},{"location":"course/regional_macro/#_2","text":"roadrunner   carla \u7f16\u8f91 \u7f16\u8f91\u5668   \u914d\u7f6e \u6559\u7a0b","title":"\u73af\u5883 \u4f9d\u8d56"},{"location":"course/regional_macro/#_3","text":"\u200b   \u9488\u5bf9 \u5927 \u533a\u57df \u7684 \u573a\u666f \u8bbe\u8ba1 \uff0c \u652f\u6301 \u4ece   openstreet   \u5b98\u7f51 \u5bfc\u51fa \u8def\u7f51 \u6587\u4ef6 \u4f5c\u4e3a \u6a21\u7248 \uff0c \u7136\u540e \u5bfc\u5165 \u5bfc\u5165\u5230   roadrunner   \u4e2d \u8fdb\u884c \u9053\u8def \u4fee\u6539 \u3002   \u200b","title":"\u573a\u666f \u8bbe\u8ba1"},{"location":"course/regional_macro/#_4","text":"\u200b   \u672c \u793a\u4f8b \u4f7f\u7528 \u7684 \u4e3a   carla   \u63d2\u4ef6 \u4f5c\u4e3a \u6e32\u67d3 \u5f15\u64ce \uff0c \u8fdb\u884c \u5efa\u7b51 \u3001 \u6811 \u3001 \u5c71 \u7b49 \u7684 \u8bbe\u8ba1 \u3002   \u200b   \u200b","title":"\u5bfc\u5165\u5230 \u865a\u5e7b \u5f15\u64ce"},{"location":"course/regional_macro/#_5","text":"\u200b   \u8fd0\u884c \u4e0b\u8ff0 exe \u7a0b\u5e8f \u4f5c\u4e3a \u670d\u52a1 \u670d\u52a1\u7aef \uff0c \u91c7\u7528 python \u811a\u672c \u4e0e\u5176 \u901a\u4fe1 \u3002","title":"\u5bfc\u51fa \u53ef\u6267\u884c\u7a0b\u5e8f \u8fdb\u884c \u4eff\u771f \u6a21\u62df\u5b9e\u9a8c"},{"location":"course/regional_macro/#_6","text":"\u200b   \u5c06 \u5730\u56fe \u8c03\u6574 \u5230 \u5168\u5c40 \u4fef\u89c6 \u4f4d\u7f6e \u3002","title":"\u5b8f\u89c2 \u5730\u56fe"},{"location":"course/roadnet_evaluation/","text":"\u8def\u7f51 \u8bc4\u4ef7   \u4ecb\u7ecd   \u8be5 \u4ee3\u7801   \u7528\u4e8e \u8bc4\u4f30   Carla   \u4eff\u771f \u73af\u5883 \u4e2d \u7684 \u8def\u7f51 \u8d28\u91cf \u3002 \u8bc4\u4f30 \u7684 \u6307\u6807 \u5305\u62ec \u8def\u7f51 \u8986\u76d6 \u8986\u76d6\u7387 \u3001 \u8def\u53e3 \u6570\u91cf \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u91cf \u548c \u9053\u8def \u5e73\u5747 \u5bbd\u5ea6 \u3002 \u8bc4\u4f30 \u7ed3\u679c \u53ef\u4ee5 \u5e2e\u52a9 \u4e86\u89e3 \u4eff\u771f \u73af\u5883 \u4e2d \u7684 \u9053\u8def \u7f51\u7edc \u7ed3\u6784 \u7f51\u7edc\u7ed3\u6784 \u548c \u914d\u7f6e \u3002   \u73af\u5883 \u914d\u7f6e   \u8981 \u8fd0\u884c \u8be5 \u4ee3\u7801 \uff0c \u9700\u8981 \u4ee5\u4e0b \u8f6f\u4ef6 \u548c \u5e93 \uff1a   CARLA \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   Python   3 . x   carla   Python   API   geopandas   \u5e93   shapely   \u5e93   scikit - learn   \u5e93   \u5b89\u88c5 \u6240 \u9700\u5e93 \u7684 \u547d\u4ee4 \uff1a   pip   install   carla = = 0.9 . 15   pip   install   geopandas   shapely   scikit - learn   \u529f\u80fd \u7ed3\u6784   \u8be5 \u529f\u80fd \u5305\u542b \u4ee5\u4e0b \u4e3b\u8981 \u90e8\u5206 \uff1a   \u8ba1\u7b97 \u8def\u7f51 \u8986\u76d6 \u8986\u76d6\u7387   \u8ba1\u7b97 \u8def\u53e3 \u6570\u91cf   \u8ba1\u7b97 \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u91cf   \u8ba1\u7b97 \u9053\u8def \u5e73\u5747 \u5bbd\u5ea6   \u4eff\u771f \u6d41\u91cf \u548c \u771f\u5b9e \u6d41\u91cf \u76f8\u4f3c \u76f8\u4f3c\u6027 \u8bc4\u4f30   \u8ba1\u7b97 \u8def\u7f51 \u8986\u76d6 \u8986\u76d6\u7387   \u5c06 \u9053\u8def \u51e0\u4f55 \u4fe1\u606f \u8f6c\u6362 \u4e3a GeoPandas \u6570\u636e \u6846 \uff0c \u5e76 \u8ba1\u7b97 \u9053\u8def \u8986\u76d6 \u7684 \u603b\u957f \u957f\u5ea6 \u603b\u957f\u5ea6 \u548c \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u533a\u57df \u7684 \u9762\u79ef \u603b\u9762\u79ef \uff0c \u6700\u540e \u8ba1\u7b97 \u8986\u76d6 \u8986\u76d6\u7387 \u3002   def   road _ coverage ( world ) :   road _ geometries   =   get _ road _ geometries ( world )   road _ lines   =   [ LineString ( road _ geometries ) ]   road _ gdf   =   gpd . GeoDataFrame ( geometry = road _ lines )   area _ of _ interest   =   Polygon ( [ ( - 500 ,   - 500 ) ,   ( - 500 ,   500 ) ,   ( 500 ,   500 ) ,   ( 500 ,   - 500 ) ] )   area _ gdf   =   gpd . GeoDataFrame ( geometry = [ area _ of _ interest ] )   total _ road _ length   =   road _ gdf . length . sum ( )   total _ area   =   area _ gdf . area . sum ( )   coverage _ ratio   =   total _ road _ length   /   total _ area   return   coverage _ ratio   \u8ba1\u7b97 \u8def\u53e3 \u6570\u91cf   \u901a\u8fc7 \u904d\u5386 \u6240\u6709 \u8def\u70b9 \uff0c \u627e\u5230 \u4f4d\u4e8e \u8def\u53e3 \u7684 \u8def\u70b9 \u5e76 \u83b7\u53d6 \u552f\u4e00 \u7684 \u8def\u53e3 ID \u3002   def   intersection _ num ( world ) :   carla _ map   =   world . get _ map ( )   waypoints   =   carla _ map . generate _ waypoints ( distance = 2.0 )   junction _ ids   =   set ( )   for   waypoint   in   waypoints :   if   waypoint . is _ junction :   junction   =   waypoint . get _ junction ( )   junction _ ids . add ( junction . id )   return   len ( junction _ ids )   \u8ba1\u7b97 \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u91cf   \u5b83 \u901a\u8fc7 \u83b7\u53d6 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u6f14\u5458 \u5bf9\u8c61 \u5e76 \u8ba1\u6570 \u6765 \u5b9e\u73b0 \u3002   def   traffic _ num ( world ) :   traffic _ lights   =   world . get _ actors ( ) . filter ( ' traffic . traffic _ light ' )   return   len ( traffic _ lights )   \u8ba1\u7b97 \u9053\u8def \u5e73\u5747 \u5bbd\u5ea6   \u5b83 \u904d\u5386 \u6240\u6709 \u8def\u70b9 \uff0c \u7d2f\u8ba1 \u8f66\u9053 \u5bbd\u5ea6 \u5e76 \u8ba1\u7b97 \u5e73\u5747 \u5747\u503c \u5e73\u5747\u503c \u3002   def   road _ width ( world ) :   carla _ map   =   world . get _ map ( )   waypoints   =   carla _ map . generate _ waypoints ( 2.0 )   total _ width   =   0.0   lane _ count   =   0   for   waypoint   in   waypoints :   total _ width   + =   waypoint . lane _ width   lane _ count   + =   1   if   lane _ count   >   0 :   average _ width   =   total _ width   /   lane _ count   return   average _ width   else :   return   0   \u4eff\u771f \u6d41\u91cf \u548c \u771f\u5b9e \u6d41\u91cf \u76f8\u4f3c \u76f8\u4f3c\u6027 \u8bc4\u4f30   \u7ed9\u5b9a 10 \u6b21 \u771f\u5b9e \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \u6570\u636e \uff0c \u4e0e \u4eff\u771f \u83b7\u53d6 \u5f97 10 \u6b21 \u4eff\u771f \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \u6570\u636e \u6bd4\u8f83 \u5176 \u76f8\u4f3c \u76f8\u4f3c\u6027 \u3002   \u83b7\u53d6 \u4eff\u771f \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf   #   \u67d0\u4e2a \u65f6\u523b \u4e8c\u73af \u897f\u4e8c\u73af \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u7684 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf   def   get _ vehicles _ in _ intersection ( world ,   intersection _ location ,   intersection _ radius ) :   vehicles   =   world . get _ actors ( ) . filter ( ' vehicle . * ' )   vehicles _ in _ intersection   =   [ ]   for   vehicle   in   vehicles :   distance   =   get _ distance ( vehicle . get _ location ( ) ,   intersection _ location )   if   distance   < =   intersection _ radius :   vehicles _ in _ intersection . append ( vehicle )   return   len ( vehicles _ in _ intersection )   \u8ba1\u7b97 \u76f8\u4f3c \u76f8\u4f3c\u6027   def   anal _ similarity ( real _ flow ,   sim _ flow ) :   simulated _ traffic   =   np . array ( sim _ flow )   real _ traffic   =   np . array ( real _ flow )   #   \u6570\u636e \u6807\u51c6 \u6807\u51c6\u5316   simulated _ traffic   =   ( simulated _ traffic   -   simulated _ traffic . mean ( ) )   /   simulated _ traffic . std ( )   real _ traffic   =   ( real _ traffic   -   real _ traffic . mean ( ) )   /   real _ traffic . std ( )   #   \u8ba1\u7b97 \u4f59\u5f26 \u76f8\u4f3c \u76f8\u4f3c\u6027   simulated _ traffic   =   simulated _ traffic . reshape ( 1 ,   - 1 )   real _ traffic   =   real _ traffic . reshape ( 1 ,   - 1 )   cosine _ sim   =   cosine _ similarity ( simulated _ traffic ,   real _ traffic )   return   cosine _ sim","title":"\u8def\u7f51 \u8bc4\u4ef7"},{"location":"course/roadnet_evaluation/#_1","text":"","title":"\u8def\u7f51 \u8bc4\u4ef7"},{"location":"course/roadnet_evaluation/#_2","text":"\u8be5 \u4ee3\u7801   \u7528\u4e8e \u8bc4\u4f30   Carla   \u4eff\u771f \u73af\u5883 \u4e2d \u7684 \u8def\u7f51 \u8d28\u91cf \u3002 \u8bc4\u4f30 \u7684 \u6307\u6807 \u5305\u62ec \u8def\u7f51 \u8986\u76d6 \u8986\u76d6\u7387 \u3001 \u8def\u53e3 \u6570\u91cf \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u91cf \u548c \u9053\u8def \u5e73\u5747 \u5bbd\u5ea6 \u3002 \u8bc4\u4f30 \u7ed3\u679c \u53ef\u4ee5 \u5e2e\u52a9 \u4e86\u89e3 \u4eff\u771f \u73af\u5883 \u4e2d \u7684 \u9053\u8def \u7f51\u7edc \u7ed3\u6784 \u7f51\u7edc\u7ed3\u6784 \u548c \u914d\u7f6e \u3002","title":"\u4ecb\u7ecd"},{"location":"course/roadnet_evaluation/#_3","text":"\u8981 \u8fd0\u884c \u8be5 \u4ee3\u7801 \uff0c \u9700\u8981 \u4ee5\u4e0b \u8f6f\u4ef6 \u548c \u5e93 \uff1a   CARLA \u4eff\u771f \u771f\u5668 \u4eff\u771f\u5668   Python   3 . x   carla   Python   API   geopandas   \u5e93   shapely   \u5e93   scikit - learn   \u5e93   \u5b89\u88c5 \u6240 \u9700\u5e93 \u7684 \u547d\u4ee4 \uff1a   pip   install   carla = = 0.9 . 15   pip   install   geopandas   shapely   scikit - learn","title":"\u73af\u5883 \u914d\u7f6e"},{"location":"course/roadnet_evaluation/#_4","text":"\u8be5 \u529f\u80fd \u5305\u542b \u4ee5\u4e0b \u4e3b\u8981 \u90e8\u5206 \uff1a   \u8ba1\u7b97 \u8def\u7f51 \u8986\u76d6 \u8986\u76d6\u7387   \u8ba1\u7b97 \u8def\u53e3 \u6570\u91cf   \u8ba1\u7b97 \u4ea4\u901a \u4ea4\u901a\u706f \u6570\u91cf   \u8ba1\u7b97 \u9053\u8def \u5e73\u5747 \u5bbd\u5ea6   \u4eff\u771f \u6d41\u91cf \u548c \u771f\u5b9e \u6d41\u91cf \u76f8\u4f3c \u76f8\u4f3c\u6027 \u8bc4\u4f30","title":"\u529f\u80fd \u7ed3\u6784"},{"location":"course/roadnet_evaluation/#_5","text":"\u5c06 \u9053\u8def \u51e0\u4f55 \u4fe1\u606f \u8f6c\u6362 \u4e3a GeoPandas \u6570\u636e \u6846 \uff0c \u5e76 \u8ba1\u7b97 \u9053\u8def \u8986\u76d6 \u7684 \u603b\u957f \u957f\u5ea6 \u603b\u957f\u5ea6 \u548c \u611f\u5174 \u5174\u8da3 \u611f\u5174\u8da3 \u533a\u57df \u7684 \u9762\u79ef \u603b\u9762\u79ef \uff0c \u6700\u540e \u8ba1\u7b97 \u8986\u76d6 \u8986\u76d6\u7387 \u3002   def   road _ coverage ( world ) :   road _ geometries   =   get _ road _ geometries ( world )   road _ lines   =   [ LineString ( road _ geometries ) ]   road _ gdf   =   gpd . GeoDataFrame ( geometry = road _ lines )   area _ of _ interest   =   Polygon ( [ ( - 500 ,   - 500 ) ,   ( - 500 ,   500 ) ,   ( 500 ,   500 ) ,   ( 500 ,   - 500 ) ] )   area _ gdf   =   gpd . GeoDataFrame ( geometry = [ area _ of _ interest ] )   total _ road _ length   =   road _ gdf . length . sum ( )   total _ area   =   area _ gdf . area . sum ( )   coverage _ ratio   =   total _ road _ length   /   total _ area   return   coverage _ ratio","title":"\u8ba1\u7b97 \u8def\u7f51 \u8986\u76d6\u7387"},{"location":"course/roadnet_evaluation/#_6","text":"\u901a\u8fc7 \u904d\u5386 \u6240\u6709 \u8def\u70b9 \uff0c \u627e\u5230 \u4f4d\u4e8e \u8def\u53e3 \u7684 \u8def\u70b9 \u5e76 \u83b7\u53d6 \u552f\u4e00 \u7684 \u8def\u53e3 ID \u3002   def   intersection _ num ( world ) :   carla _ map   =   world . get _ map ( )   waypoints   =   carla _ map . generate _ waypoints ( distance = 2.0 )   junction _ ids   =   set ( )   for   waypoint   in   waypoints :   if   waypoint . is _ junction :   junction   =   waypoint . get _ junction ( )   junction _ ids . add ( junction . id )   return   len ( junction _ ids )","title":"\u8ba1\u7b97 \u8def\u53e3 \u6570\u91cf"},{"location":"course/roadnet_evaluation/#_7","text":"\u5b83 \u901a\u8fc7 \u83b7\u53d6 \u6240\u6709 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u6f14\u5458 \u5bf9\u8c61 \u5e76 \u8ba1\u6570 \u6765 \u5b9e\u73b0 \u3002   def   traffic _ num ( world ) :   traffic _ lights   =   world . get _ actors ( ) . filter ( ' traffic . traffic _ light ' )   return   len ( traffic _ lights )","title":"\u8ba1\u7b97 \u4ea4\u901a\u706f \u6570\u91cf"},{"location":"course/roadnet_evaluation/#_8","text":"\u5b83 \u904d\u5386 \u6240\u6709 \u8def\u70b9 \uff0c \u7d2f\u8ba1 \u8f66\u9053 \u5bbd\u5ea6 \u5e76 \u8ba1\u7b97 \u5e73\u5747 \u5747\u503c \u5e73\u5747\u503c \u3002   def   road _ width ( world ) :   carla _ map   =   world . get _ map ( )   waypoints   =   carla _ map . generate _ waypoints ( 2.0 )   total _ width   =   0.0   lane _ count   =   0   for   waypoint   in   waypoints :   total _ width   + =   waypoint . lane _ width   lane _ count   + =   1   if   lane _ count   >   0 :   average _ width   =   total _ width   /   lane _ count   return   average _ width   else :   return   0","title":"\u8ba1\u7b97 \u9053\u8def \u5e73\u5747 \u5bbd\u5ea6"},{"location":"course/roadnet_evaluation/#_9","text":"\u7ed9\u5b9a 10 \u6b21 \u771f\u5b9e \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \u6570\u636e \uff0c \u4e0e \u4eff\u771f \u83b7\u53d6 \u5f97 10 \u6b21 \u4eff\u771f \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \u6570\u636e \u6bd4\u8f83 \u5176 \u76f8\u4f3c \u76f8\u4f3c\u6027 \u3002","title":"\u4eff\u771f \u6d41\u91cf \u548c \u771f\u5b9e \u6d41\u91cf \u76f8\u4f3c\u6027 \u8bc4\u4f30"},{"location":"course/roadnet_evaluation/#_10","text":"#   \u67d0\u4e2a \u65f6\u523b \u4e8c\u73af \u897f\u4e8c\u73af \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u7684 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf   def   get _ vehicles _ in _ intersection ( world ,   intersection _ location ,   intersection _ radius ) :   vehicles   =   world . get _ actors ( ) . filter ( ' vehicle . * ' )   vehicles _ in _ intersection   =   [ ]   for   vehicle   in   vehicles :   distance   =   get _ distance ( vehicle . get _ location ( ) ,   intersection _ location )   if   distance   < =   intersection _ radius :   vehicles _ in _ intersection . append ( vehicle )   return   len ( vehicles _ in _ intersection )","title":"\u83b7\u53d6 \u4eff\u771f \u8f66\u6d41\u91cf"},{"location":"course/roadnet_evaluation/#_11","text":"def   anal _ similarity ( real _ flow ,   sim _ flow ) :   simulated _ traffic   =   np . array ( sim _ flow )   real _ traffic   =   np . array ( real _ flow )   #   \u6570\u636e \u6807\u51c6 \u6807\u51c6\u5316   simulated _ traffic   =   ( simulated _ traffic   -   simulated _ traffic . mean ( ) )   /   simulated _ traffic . std ( )   real _ traffic   =   ( real _ traffic   -   real _ traffic . mean ( ) )   /   real _ traffic . std ( )   #   \u8ba1\u7b97 \u4f59\u5f26 \u76f8\u4f3c \u76f8\u4f3c\u6027   simulated _ traffic   =   simulated _ traffic . reshape ( 1 ,   - 1 )   real _ traffic   =   real _ traffic . reshape ( 1 ,   - 1 )   cosine _ sim   =   cosine _ similarity ( simulated _ traffic ,   real _ traffic )   return   cosine _ sim","title":"\u8ba1\u7b97 \u76f8\u4f3c\u6027"},{"location":"course/scenario/","text":"RoadRunner \u8fdb\u884c \u9053\u8def \u573a\u666f \u5efa\u6a21   \u200b   RoadRunner   \u662f \u4e00\u6b3e \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u53ef\u4ee5 \u8bbe\u8ba1 \u7528\u4e8e \u6a21\u62df \u548c \u6d4b\u8bd5 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u7684   3D   \u573a\u666f \uff0c \u4ee5\u53ca \u521b\u5efa \u8981 \u5bfc\u5165   Carla   \u7684 \u5927 \u5730\u56fe \u3002   RoadRunner \u7b80\u4ecb   \u200b   RoadRunner \u662f \u4e00\u4e2a \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u53ef\u4ee5 \u8ba9 \u60a8 \u8bbe\u8ba1 3D \u573a\u666f \u6765 \u4eff\u771f \u548c \u6d4b\u8bd5 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u3002 \u5b83 \u53ef\u4ee5 \u7528\u6765 \u521b\u5efa \u9053\u8def \u5e03\u5c40 \u548c \u4f34\u968f \u7684 opdrive \u548c \u51e0\u4f55 \u4fe1\u606f \u3002   \u200b   RoadRunner \u662f MATLAB \u6821\u56ed \u8bb8\u53ef \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u56e0\u6b64 \u8bb8\u591a \u5927\u5b66 \u53ef\u4ee5 \u63d0\u4f9b \u65e0 \u9650\u5236 \u7684 \u5b66\u672f \u8bbf\u95ee \u3002 \u68c0\u67e5 \u4e00\u4e0b \u68c0\u67e5\u4e00\u4e0b \u4f60 \u7684 \u5927\u5b66 \u662f\u5426 \u6709 \u8bbf\u95ee \u6743\u9650 \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u5173\u4e8e \u53ef \u8bbf\u95ee \u6027 \u7684 \u95ee\u9898 \u6216 \u9ebb\u70e6 \uff0c \u8bf7 \u8054\u7cfb   automated - driving @ mathworks . com   \u3002   \u200b   \u53c2\u52a0   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u6bcf\u4e2a \u4eba \u90fd \u53ef\u4ee5 \u83b7\u5f97 RoadRunner \u7684 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u3002   \u200b   RoadRunner   R2022b   \u5b89\u88c5 \u5b89\u88c5\u5305   \uff0c \u5982\u4e0b \u56fe \u6240\u793a \uff0c \u89e3\u538b \u540e \u76f4\u63a5 \u8fd0\u884c \u91cc\u9762 \u7684 exe \u7a0b\u5e8f \u3002   RoadRunner \u57fa\u672c \u4f7f\u7528   RoadRunner \u754c\u9762 \u5206\u4e3a Scene   Editing \u548c Scenario   Editing \uff0c \u4e0b\u56fe \u6240\u793a \u4e3a roadrunner \u8f6f\u4ef6 \u7684 Scene   Editing ( \u9759\u6001 \u8def\u7f51 \u7f16\u8f91 ) \u57fa\u672c \u529f\u80fd \u57fa\u672c\u529f \u57fa\u672c\u529f\u80fd \u754c\u9762 \uff1a   \u7ea2\u8272 \u662f \u5efa\u7acb \u9053\u8def \u548c \u8c03\u6574 \u9053\u8def ( \u5206\u6bb5 \uff0c \u7ffb\u8f6c \uff0c \u5761\u5ea6 \u7b49 \uff09   \u9ec4\u8272 \u53f3\u4e0a \u662f \u8f66\u9053 \u5c5e\u6027 \u8c03\u6574 ( \u5bbd\u5ea6 \uff0c \u8f66\u9053 \u5206\u79bb / \u589e\u52a0 \u7b49 )   \u9ec4\u8272 \u5de6\u4e0b \u662f \u8f66\u9053 \u6807\u5fd7 \u7f16\u8f91   \u7d2b\u8272 \u662f \u4ea4\u901a \u901a\u4fe1 \u4fe1\u53f7 \u4ea4\u901a\u4fe1\u53f7 \u548c \u4ea4\u53c9 \u8def\u6bb5 \u7684 \u8bbe\u7f6e   \u7c89\u8272 \u662f \u5404\u79cd \u573a\u666f \u5bfc\u5165 \u548c \u5efa\u7acb \u5de5\u5177   RoadRunner \u57fa\u672c \u4f7f\u7528 \u6559\u7a0b \u94fe\u63a5   \uff1a   \u5feb\u901f \u5165\u95e8   MathWorks   \u5b8c\u6574 \u6559\u7a0b   \u4f7f\u7528 \u516c\u5f00 \u9053\u8def \u5730\u56fe \u751f\u6210 \u9053\u8def \u7f51\u7edc   \u200b   OpenStreetMap   \u662f \u4e00\u4e2a \u5f00\u653e \u3001 \u53ef \u7f16\u8f91 \u7684 \u5730\u56fe \u9879\u76ee \uff0c \u7531 \u5168\u7403 \u5fd7\u613f \u613f\u8005 \u5fd7\u613f\u8005 \u8d21\u732e \u6570\u636e \uff0c \u5176 \u6570\u636e \u5305\u62ec \u9053\u8def \u3001 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u5730\u7406 \u7279\u5f81 \u3001 \u4ea4\u901a \u8bbe\u65bd \u4ea4\u901a\u8bbe\u65bd \u7b49 \u5730\u7406 \u4fe1\u606f \u5730\u7406\u4fe1\u606f \u3002 \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u53ef\u4ee5 \u641c\u7d22 \u76f8\u5e94 \u7684 \u9053\u8def \u4fe1\u606f \uff0c \u9009\u62e9 \u5bfc\u51fa   osm   \u8def\u7f51 \u6587\u4ef6 \u3002   \u8fd8 \u53ef\u4ee5 \u8fdb\u884c \u5bf9 \u8be5 \u7f51\u7ad9 \u7684 \u7f16\u8f91 \u4fee\u6539   \uff1a   OpenStreetMap \u5730\u56fe \u7f16\u8f91 \u5730\u56fe\u7f16\u8f91   \u5c06 osm \u8def\u7f51 \u6587\u4ef6 \u5bfc\u5165 RoadRunner   \u5728   Scene   Editing   \u7684 \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u9009\u62e9   SD   Map   Viewer   Tool   \u5de5\u5177 \uff0c \u70b9\u51fb   Open   OpenStreetMap   File   \u9009\u62e9   osm   \u8def\u7f51 \u6587\u4ef6 \u4f4d\u7f6e \uff0c \u6700\u540e \u70b9\u51fb   Build   Road   \u5b8c\u6210 \u8def\u7f51 \u7684 \u751f\u6210 \u3002   \u5728 RoadRunner \u8fdb\u884c \u8f66\u8f86 \u6a21\u62df \u4eff\u771f   \u200b   Scenario   Editing   \u4e3a \u52a8\u6001 \u8def\u7f51 \u7f16\u8f91 \uff0c \u53ef\u4ee5 \u6dfb\u52a0 / \u5220\u9664 \u8f66\u8f86 \uff0c \u8fdb\u884c \u8f66\u8f86 \u901f\u5ea6 \u8bbe\u7f6e \u3001 \u8f68\u8ff9 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u89c4\u5212 \u7b49 \uff0c   \u5e76 \u652f\u6301 \u7f16\u8f91 \u7f16\u8f91\u5668 \u5185 \u64ad\u653e \uff0c \u7528\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 \u573a\u666f \u5e76 \u8fde\u63a5 \u5230 \u5176\u4ed6 \u573a\u666f   \u7528\u4e8e \u534f\u540c \u4eff\u771f \u7684 \u6a21\u62df \u6a21\u62df\u5668 \u3002 \u53f3\u4e0a \u4e0a\u89d2 \u53f3\u4e0a\u89d2 \u7684 \u4e0b\u62c9 \u4e0b\u62c9\u680f \u53ef \u8fdb\u884c \u52a8 / \u9759 \u7f16\u8f91 \u5207\u6362 \u3002   \u57fa\u4e8e Carla \u4e0e RoadRunner \u7684 \u8054\u5408 \u4eff\u771f   \u53c2\u8003 \u94fe\u63a5 \uff1a   \u8054\u5408 \u4eff\u771f   RoadRunner \u5bfc\u51fa \u5927 \u5730\u56fe \u6559\u7a0b","title":"RoadRunner \u8fdb\u884c \u9053\u8def \u573a\u666f \u5efa\u6a21"},{"location":"course/scenario/#roadrunner","text":"\u200b   RoadRunner   \u662f \u4e00\u6b3e \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u53ef\u4ee5 \u8bbe\u8ba1 \u7528\u4e8e \u6a21\u62df \u548c \u6d4b\u8bd5 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u7684   3D   \u573a\u666f \uff0c \u4ee5\u53ca \u521b\u5efa \u8981 \u5bfc\u5165   Carla   \u7684 \u5927 \u5730\u56fe \u3002","title":"RoadRunner \u8fdb\u884c \u9053\u8def \u573a\u666f \u5efa\u6a21"},{"location":"course/scenario/#roadrunner_1","text":"\u200b   RoadRunner \u662f \u4e00\u4e2a \u4ea4\u4e92 \u4ea4\u4e92\u5f0f \u7f16\u8f91 \u7f16\u8f91\u5668 \uff0c \u53ef\u4ee5 \u8ba9 \u60a8 \u8bbe\u8ba1 3D \u573a\u666f \u6765 \u4eff\u771f \u548c \u6d4b\u8bd5 \u81ea\u52a8 \u9a7e\u9a76 \u7cfb\u7edf \u3002 \u5b83 \u53ef\u4ee5 \u7528\u6765 \u521b\u5efa \u9053\u8def \u5e03\u5c40 \u548c \u4f34\u968f \u7684 opdrive \u548c \u51e0\u4f55 \u4fe1\u606f \u3002   \u200b   RoadRunner \u662f MATLAB \u6821\u56ed \u8bb8\u53ef \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \uff0c \u56e0\u6b64 \u8bb8\u591a \u5927\u5b66 \u53ef\u4ee5 \u63d0\u4f9b \u65e0 \u9650\u5236 \u7684 \u5b66\u672f \u8bbf\u95ee \u3002 \u68c0\u67e5 \u4e00\u4e0b \u68c0\u67e5\u4e00\u4e0b \u4f60 \u7684 \u5927\u5b66 \u662f\u5426 \u6709 \u8bbf\u95ee \u6743\u9650 \u3002 \u5982\u679c \u6709 \u4efb\u4f55 \u5173\u4e8e \u53ef \u8bbf\u95ee \u6027 \u7684 \u95ee\u9898 \u6216 \u9ebb\u70e6 \uff0c \u8bf7 \u8054\u7cfb   automated - driving @ mathworks . com   \u3002   \u200b   \u53c2\u52a0   Carla   \u6392\u884c \u6392\u884c\u699c \u7684 \u6bcf\u4e2a \u4eba \u90fd \u53ef\u4ee5 \u83b7\u5f97 RoadRunner \u7684 \u8bb8\u53ef \u8bb8\u53ef\u8bc1 \u3002   \u200b   RoadRunner   R2022b   \u5b89\u88c5 \u5b89\u88c5\u5305   \uff0c \u5982\u4e0b \u56fe \u6240\u793a \uff0c \u89e3\u538b \u540e \u76f4\u63a5 \u8fd0\u884c \u91cc\u9762 \u7684 exe \u7a0b\u5e8f \u3002","title":"RoadRunner \u7b80\u4ecb"},{"location":"course/scenario/#roadrunner_2","text":"RoadRunner \u754c\u9762 \u5206\u4e3a Scene   Editing \u548c Scenario   Editing \uff0c \u4e0b\u56fe \u6240\u793a \u4e3a roadrunner \u8f6f\u4ef6 \u7684 Scene   Editing ( \u9759\u6001 \u8def\u7f51 \u7f16\u8f91 ) \u57fa\u672c \u529f\u80fd \u57fa\u672c\u529f \u57fa\u672c\u529f\u80fd \u754c\u9762 \uff1a   \u7ea2\u8272 \u662f \u5efa\u7acb \u9053\u8def \u548c \u8c03\u6574 \u9053\u8def ( \u5206\u6bb5 \uff0c \u7ffb\u8f6c \uff0c \u5761\u5ea6 \u7b49 \uff09   \u9ec4\u8272 \u53f3\u4e0a \u662f \u8f66\u9053 \u5c5e\u6027 \u8c03\u6574 ( \u5bbd\u5ea6 \uff0c \u8f66\u9053 \u5206\u79bb / \u589e\u52a0 \u7b49 )   \u9ec4\u8272 \u5de6\u4e0b \u662f \u8f66\u9053 \u6807\u5fd7 \u7f16\u8f91   \u7d2b\u8272 \u662f \u4ea4\u901a \u901a\u4fe1 \u4fe1\u53f7 \u4ea4\u901a\u4fe1\u53f7 \u548c \u4ea4\u53c9 \u8def\u6bb5 \u7684 \u8bbe\u7f6e   \u7c89\u8272 \u662f \u5404\u79cd \u573a\u666f \u5bfc\u5165 \u548c \u5efa\u7acb \u5de5\u5177   RoadRunner \u57fa\u672c \u4f7f\u7528 \u6559\u7a0b \u94fe\u63a5   \uff1a   \u5feb\u901f \u5165\u95e8   MathWorks   \u5b8c\u6574 \u6559\u7a0b","title":"RoadRunner \u57fa\u672c \u4f7f\u7528"},{"location":"course/scenario/#_1","text":"\u200b   OpenStreetMap   \u662f \u4e00\u4e2a \u5f00\u653e \u3001 \u53ef \u7f16\u8f91 \u7684 \u5730\u56fe \u9879\u76ee \uff0c \u7531 \u5168\u7403 \u5fd7\u613f \u613f\u8005 \u5fd7\u613f\u8005 \u8d21\u732e \u6570\u636e \uff0c \u5176 \u6570\u636e \u5305\u62ec \u9053\u8def \u3001 \u5efa\u7b51 \u5efa\u7b51\u7269 \u3001 \u5730\u7406 \u7279\u5f81 \u3001 \u4ea4\u901a \u8bbe\u65bd \u4ea4\u901a\u8bbe\u65bd \u7b49 \u5730\u7406 \u4fe1\u606f \u5730\u7406\u4fe1\u606f \u3002 \u4f7f\u7528 \u7528\u8005 \u4f7f\u7528\u8005 \u53ef\u4ee5 \u641c\u7d22 \u76f8\u5e94 \u7684 \u9053\u8def \u4fe1\u606f \uff0c \u9009\u62e9 \u5bfc\u51fa   osm   \u8def\u7f51 \u6587\u4ef6 \u3002   \u8fd8 \u53ef\u4ee5 \u8fdb\u884c \u5bf9 \u8be5 \u7f51\u7ad9 \u7684 \u7f16\u8f91 \u4fee\u6539   \uff1a   OpenStreetMap \u5730\u56fe \u7f16\u8f91 \u5730\u56fe\u7f16\u8f91","title":"\u4f7f\u7528 \u516c\u5f00 \u9053\u8def \u5730\u56fe \u751f\u6210 \u9053\u8def \u7f51\u7edc"},{"location":"course/scenario/#osmroadrunner","text":"\u5728   Scene   Editing   \u7684 \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u9009\u62e9   SD   Map   Viewer   Tool   \u5de5\u5177 \uff0c \u70b9\u51fb   Open   OpenStreetMap   File   \u9009\u62e9   osm   \u8def\u7f51 \u6587\u4ef6 \u4f4d\u7f6e \uff0c \u6700\u540e \u70b9\u51fb   Build   Road   \u5b8c\u6210 \u8def\u7f51 \u7684 \u751f\u6210 \u3002","title":"\u5c06 osm \u8def\u7f51 \u6587\u4ef6 \u5bfc\u5165 RoadRunner"},{"location":"course/scenario/#roadrunner_3","text":"\u200b   Scenario   Editing   \u4e3a \u52a8\u6001 \u8def\u7f51 \u7f16\u8f91 \uff0c \u53ef\u4ee5 \u6dfb\u52a0 / \u5220\u9664 \u8f66\u8f86 \uff0c \u8fdb\u884c \u8f66\u8f86 \u901f\u5ea6 \u8bbe\u7f6e \u3001 \u8f68\u8ff9 \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u89c4\u5212 \u7b49 \uff0c   \u5e76 \u652f\u6301 \u7f16\u8f91 \u7f16\u8f91\u5668 \u5185 \u64ad\u653e \uff0c \u7528\u4e8e \u53ef\u89c6 \u53ef\u89c6\u5316 \u573a\u666f \u5e76 \u8fde\u63a5 \u5230 \u5176\u4ed6 \u573a\u666f   \u7528\u4e8e \u534f\u540c \u4eff\u771f \u7684 \u6a21\u62df \u6a21\u62df\u5668 \u3002 \u53f3\u4e0a \u4e0a\u89d2 \u53f3\u4e0a\u89d2 \u7684 \u4e0b\u62c9 \u4e0b\u62c9\u680f \u53ef \u8fdb\u884c \u52a8 / \u9759 \u7f16\u8f91 \u5207\u6362 \u3002","title":"\u5728 RoadRunner \u8fdb\u884c \u8f66\u8f86 \u6a21\u62df \u4eff\u771f"},{"location":"course/scenario/#carlaroadrunner","text":"\u53c2\u8003 \u94fe\u63a5 \uff1a   \u8054\u5408 \u4eff\u771f   RoadRunner \u5bfc\u51fa \u5927 \u5730\u56fe \u6559\u7a0b","title":"\u57fa\u4e8e Carla \u4e0e RoadRunner \u7684 \u8054\u5408 \u4eff\u771f"},{"location":"course/signal_control/","text":"\u624b\u52a8 \u4fe1\u53f7 \u63a7\u5236   \u8fd9\u662f \u4e00\u4e2a \u7528\u4e8e \u63a7\u5236 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 Flask \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff0c \u901a\u8fc7   Carla \u4eff\u771f \u73af\u5883   \u5b9e\u73b0 \u3002 \u7528\u6237 \u53ef\u4ee5 \u901a\u8fc7 \u6307\u5b9a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 OpenDRIVE   ID \u3001 \u989c\u8272 ID \u4ee5\u53ca \u8bbe\u7f6e \u65f6\u957f \u6765 \u63a7\u5236 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u72b6\u6001 \u3002 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u989c\u8272 \u8bbe\u7f6e \u5305\u62ec \u7eff\u706f \u3001 \u9ec4\u706f \u548c \u7ea2\u706f \uff0c \u5206\u522b \u5bf9\u5e94 \u989c\u8272 ID   [ 1 ,   2 ,   3 ] \u3002 \u989c\u8272 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \u3002   \u53c2\u6570 \u8bf4\u660e   \u811a\u672c   \u63a5\u6536 \u4ee5\u4e0b \u53c2\u6570 \uff1a   1 .   -- traffic _ id   (   - I   ) :   \u76ee\u6807 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 OpenDrive   ID \u3002   2 .   -- color _ id   (   - C   ) :   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u989c\u8272 ID \uff0c \u5bf9\u5e94 \u7eff\u706f \u3001 \u9ec4\u706f \u548c \u7ea2\u706f \uff0c \u5206\u522b \u4e3a 1 \u3001 2 \u548c 3 \u3002   3 .   -- color _ time   (   - T   ) :   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u989c\u8272 \u7684 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \uff0c \u5355\u4f4d \u4e3a \u79d2 \u3002   \u53c2\u6570 \u683c\u5f0f   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u989c\u8272 \u8bbe\u7f6e \u53c2\u6570 \u7684 \u683c\u5f0f \u4e3a \u3010 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f OpenDrive   ID \uff0c \u989c\u8272 ID \uff0c \u8bbe\u7f6e \u65f6 \u957f \u3011 \u3002   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u989c\u8272 ID \u8bf4\u660e \uff1a   \u7eff\u706f \uff1a   1   \u9ec4\u706f \uff1a   2   \u7ea2\u706f \uff1a   3   \u4f7f\u7528 \u6b65\u9aa4   \u8981 \u8bbe\u7f6e \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff0c \u53ef\u4ee5 \u53d1\u9001 \u4e00\u4e2a GET \u8bf7\u6c42 \u5230   / set _ traffic _ light   \uff1a   \u6253\u5f00 Carla \u4eff\u771f \u73af\u5883   \u8fd0\u884c \u811a\u672c signal _ control . py \u6765 \u5f00\u542f \u670d\u52a1 \u670d\u52a1\u7aef   \u53d1\u9001 http \u8bf7\u6c42 :   http : / / 127.0 . 0.1 : 5000 / set _ traffic _ light ? traffic _ id = - 5 & color _ id = 3 & color _ time = 30   \u4ee5\u4e0a \u8bf7\u6c42 \u8868\u793a \u8bbe\u7f6e OpenDrive   ID \u4e3a   - 5   \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u7ea2\u706f \u7684 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u4e3a   30   \u79d2 \u3002   \u811a\u672c \u5de5\u4f5c \u6d41\u7a0b   \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u7684 \u4e3b\u8981 \u529f\u80fd \u662f \u6839\u636e \u7528\u6237 \u63d0\u4f9b \u7684 \u53c2\u6570 \u8bbe\u7f6e \u53c2\u6570\u8bbe\u7f6e \u6307\u5b9a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u989c\u8272 \u548c \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u3002 \u5177\u4f53 \u5b9e\u73b0 \u6b65\u9aa4 \u5982\u4e0b \uff1a   1 . \u63a5\u6536 \u7528\u6237 \u8bf7\u6c42 \uff0c \u5e76 \u89e3\u6790 \u4f20\u5165 \u7684 \u53c2\u6570 \u3002   2 . \u8fde\u63a5 \u5230 Carla \u4eff\u771f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5e76 \u83b7\u53d6 \u5f53\u524d \u4e16\u754c \u5bf9\u8c61 \u3002   client   =   carla . Client ( ' localhost ' ,   2000 )   client . set _ timeout ( 10.0 )   #   \u8bbe\u7f6e \u8d85\u65f6   world   =   client . get _ world ( )   #   \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   3 . \u67e5\u627e \u6307\u5b9a \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5bf9\u8c61 , \u8f93\u51fa \u4fee\u6539 \u524d \u7684 \u706f\u5149 \u65f6\u95f4 \u3002   for   traffic _ light   in   traffic _ lights :   if   float ( traffic _ light . get _ opendrive _ id ( ) )   = =   traffic _ id :   if   color _ id   = =   1 :   init _ time   =   traffic _ light . get _ green _ time ( )   elif   color _ id   = =   2 :   init _ time   =   traffic _ light . get _ yellow _ time ( )   elif   color _ id   = =   3 :   init _ time   =   traffic _ light . get _ red _ time ( )   4 . \u8df3\u8f6c \u89c6\u89d2 \u5230 \u8be5 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5408\u9002 \u7684 \u4f4d\u7f6e \u3002   lights _ setting   =   [   [ - 6 ,   carla . Transform ( carla . Location ( x = - 220 ,   y = - 9 ,   z = 5 ) ,   carla . Rotation ( yaw = 180 ) ) ] ,   [ - 5 ,   carla . Transform ( carla . Location ( x = - 260 ,   y = 35 ,   z = 5 ) ,   carla . Rotation ( yaw = - 90 ) ) ]   ]   spectator   =   world . get _ spectator ( )   for   setting   in   lights _ setting :   if   setting [ 0 ]   = =   traffic _ id :   spectator . set _ transform ( setting [ 1 ] )   break   5 . \u6839\u636e \u989c\u8272 ID \u8bbe\u7f6e \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u3002   for   traffic _ light   in   traffic _ lights :   if   float ( traffic _ light . get _ opendrive _ id ( ) )   = =   traffic _ id :   if   color _ id   = =   1 :   traffic _ light . set _ green _ time ( float ( color _ time ) )   color _ name   =   \" \u7eff\u8272 \"   elif   color _ id   = =   2 :   traffic _ light . set _ yellow _ time ( float ( color _ time ) )   color _ name   =   \" \u9ec4\u8272 \"   elif   color _ id   = =   3 :   traffic _ light . set _ red _ time ( float ( color _ time ) )   color _ name   =   \" \u7ea2\u8272 \"   6 . \u8fd4\u56de \u8bbe\u7f6e \u7ed3\u679c \u7684 JSON \u54cd\u5e94 \u3002   response _ data   =   {   \" id \" :   traffic _ id ,   \" color \" :   color _ name ,   \" init _ time \" :   init _ time ,   \" last _ time \" :   color _ time   }   \u6ce8\u610f \u4e8b\u9879 \u6ce8\u610f\u4e8b\u9879   \u5728 \u6267\u884c \u811a\u672c \u524d \uff0c \u8bf7 \u786e\u4fdd CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5df2 \u542f\u52a8 \u3002   \u53d1\u9001 \u8bf7\u6c42 \u65f6 \uff0c \u9700\u8981 \u4f20\u5165 \u5bf9\u5e94 \u7684 \u53c2\u6570 \u6570\u503c \u53c2\u6570\u503c \u3002   settings . no _ rendering _ mode   =   False   \u4e0d\u80fd \u91cd\u590d \u8bbe\u7f6e \uff0c \u5426\u5219 \u5373\u4f7f \u4fee\u6539 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6\u957f \u4e5f \u4e0d\u4f1a \u6709 \u6548\u679c \u3002   \u8fd0\u884c \u7ed3\u679c","title":"\u624b\u52a8 \u4fe1\u53f7 \u63a7\u5236"},{"location":"course/signal_control/#_1","text":"\u8fd9\u662f \u4e00\u4e2a \u7528\u4e8e \u63a7\u5236 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 Flask \u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \uff0c \u901a\u8fc7   Carla \u4eff\u771f \u73af\u5883   \u5b9e\u73b0 \u3002 \u7528\u6237 \u53ef\u4ee5 \u901a\u8fc7 \u6307\u5b9a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 OpenDRIVE   ID \u3001 \u989c\u8272 ID \u4ee5\u53ca \u8bbe\u7f6e \u65f6\u957f \u6765 \u63a7\u5236 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u72b6\u6001 \u3002 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u989c\u8272 \u8bbe\u7f6e \u5305\u62ec \u7eff\u706f \u3001 \u9ec4\u706f \u548c \u7ea2\u706f \uff0c \u5206\u522b \u5bf9\u5e94 \u989c\u8272 ID   [ 1 ,   2 ,   3 ] \u3002 \u989c\u8272 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u4ee5 \u79d2 \u4e3a \u5355\u4f4d \u3002","title":"\u624b\u52a8 \u4fe1\u53f7 \u63a7\u5236"},{"location":"course/signal_control/#_2","text":"\u811a\u672c   \u63a5\u6536 \u4ee5\u4e0b \u53c2\u6570 \uff1a   1 .   -- traffic _ id   (   - I   ) :   \u76ee\u6807 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 OpenDrive   ID \u3002   2 .   -- color _ id   (   - C   ) :   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u989c\u8272 ID \uff0c \u5bf9\u5e94 \u7eff\u706f \u3001 \u9ec4\u706f \u548c \u7ea2\u706f \uff0c \u5206\u522b \u4e3a 1 \u3001 2 \u548c 3 \u3002   3 .   -- color _ time   (   - T   ) :   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u989c\u8272 \u7684 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \uff0c \u5355\u4f4d \u4e3a \u79d2 \u3002","title":"\u53c2\u6570 \u8bf4\u660e"},{"location":"course/signal_control/#_3","text":"\u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u989c\u8272 \u8bbe\u7f6e \u53c2\u6570 \u7684 \u683c\u5f0f \u4e3a \u3010 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f OpenDrive   ID \uff0c \u989c\u8272 ID \uff0c \u8bbe\u7f6e \u65f6 \u957f \u3011 \u3002   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u989c\u8272 ID \u8bf4\u660e \uff1a   \u7eff\u706f \uff1a   1   \u9ec4\u706f \uff1a   2   \u7ea2\u706f \uff1a   3","title":"\u53c2\u6570 \u683c\u5f0f"},{"location":"course/signal_control/#_4","text":"\u8981 \u8bbe\u7f6e \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \uff0c \u53ef\u4ee5 \u53d1\u9001 \u4e00\u4e2a GET \u8bf7\u6c42 \u5230   / set _ traffic _ light   \uff1a   \u6253\u5f00 Carla \u4eff\u771f \u73af\u5883   \u8fd0\u884c \u811a\u672c signal _ control . py \u6765 \u5f00\u542f \u670d\u52a1 \u670d\u52a1\u7aef   \u53d1\u9001 http \u8bf7\u6c42 :   http : / / 127.0 . 0.1 : 5000 / set _ traffic _ light ? traffic _ id = - 5 & color _ id = 3 & color _ time = 30   \u4ee5\u4e0a \u8bf7\u6c42 \u8868\u793a \u8bbe\u7f6e OpenDrive   ID \u4e3a   - 5   \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u7ea2\u706f \u7684 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u4e3a   30   \u79d2 \u3002","title":"\u4f7f\u7528 \u6b65\u9aa4"},{"location":"course/signal_control/#_5","text":"\u5e94\u7528 \u7a0b\u5e8f \u5e94\u7528\u7a0b\u5e8f \u7684 \u4e3b\u8981 \u529f\u80fd \u662f \u6839\u636e \u7528\u6237 \u63d0\u4f9b \u7684 \u53c2\u6570 \u8bbe\u7f6e \u53c2\u6570\u8bbe\u7f6e \u6307\u5b9a \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u989c\u8272 \u548c \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u3002 \u5177\u4f53 \u5b9e\u73b0 \u6b65\u9aa4 \u5982\u4e0b \uff1a   1 . \u63a5\u6536 \u7528\u6237 \u8bf7\u6c42 \uff0c \u5e76 \u89e3\u6790 \u4f20\u5165 \u7684 \u53c2\u6570 \u3002   2 . \u8fde\u63a5 \u5230 Carla \u4eff\u771f \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5e76 \u83b7\u53d6 \u5f53\u524d \u4e16\u754c \u5bf9\u8c61 \u3002   client   =   carla . Client ( ' localhost ' ,   2000 )   client . set _ timeout ( 10.0 )   #   \u8bbe\u7f6e \u8d85\u65f6   world   =   client . get _ world ( )   #   \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   3 . \u67e5\u627e \u6307\u5b9a \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5bf9\u8c61 , \u8f93\u51fa \u4fee\u6539 \u524d \u7684 \u706f\u5149 \u65f6\u95f4 \u3002   for   traffic _ light   in   traffic _ lights :   if   float ( traffic _ light . get _ opendrive _ id ( ) )   = =   traffic _ id :   if   color _ id   = =   1 :   init _ time   =   traffic _ light . get _ green _ time ( )   elif   color _ id   = =   2 :   init _ time   =   traffic _ light . get _ yellow _ time ( )   elif   color _ id   = =   3 :   init _ time   =   traffic _ light . get _ red _ time ( )   4 . \u8df3\u8f6c \u89c6\u89d2 \u5230 \u8be5 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u5408\u9002 \u7684 \u4f4d\u7f6e \u3002   lights _ setting   =   [   [ - 6 ,   carla . Transform ( carla . Location ( x = - 220 ,   y = - 9 ,   z = 5 ) ,   carla . Rotation ( yaw = 180 ) ) ] ,   [ - 5 ,   carla . Transform ( carla . Location ( x = - 260 ,   y = 35 ,   z = 5 ) ,   carla . Rotation ( yaw = - 90 ) ) ]   ]   spectator   =   world . get _ spectator ( )   for   setting   in   lights _ setting :   if   setting [ 0 ]   = =   traffic _ id :   spectator . set _ transform ( setting [ 1 ] )   break   5 . \u6839\u636e \u989c\u8272 ID \u8bbe\u7f6e \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u3002   for   traffic _ light   in   traffic _ lights :   if   float ( traffic _ light . get _ opendrive _ id ( ) )   = =   traffic _ id :   if   color _ id   = =   1 :   traffic _ light . set _ green _ time ( float ( color _ time ) )   color _ name   =   \" \u7eff\u8272 \"   elif   color _ id   = =   2 :   traffic _ light . set _ yellow _ time ( float ( color _ time ) )   color _ name   =   \" \u9ec4\u8272 \"   elif   color _ id   = =   3 :   traffic _ light . set _ red _ time ( float ( color _ time ) )   color _ name   =   \" \u7ea2\u8272 \"   6 . \u8fd4\u56de \u8bbe\u7f6e \u7ed3\u679c \u7684 JSON \u54cd\u5e94 \u3002   response _ data   =   {   \" id \" :   traffic _ id ,   \" color \" :   color _ name ,   \" init _ time \" :   init _ time ,   \" last _ time \" :   color _ time   }","title":"\u811a\u672c \u5de5\u4f5c \u6d41\u7a0b"},{"location":"course/signal_control/#_6","text":"\u5728 \u6267\u884c \u811a\u672c \u524d \uff0c \u8bf7 \u786e\u4fdd CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u5df2 \u542f\u52a8 \u3002   \u53d1\u9001 \u8bf7\u6c42 \u65f6 \uff0c \u9700\u8981 \u4f20\u5165 \u5bf9\u5e94 \u7684 \u53c2\u6570 \u6570\u503c \u53c2\u6570\u503c \u3002   settings . no _ rendering _ mode   =   False   \u4e0d\u80fd \u91cd\u590d \u8bbe\u7f6e \uff0c \u5426\u5219 \u5373\u4f7f \u4fee\u6539 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u65f6\u957f \u4e5f \u4e0d\u4f1a \u6709 \u6548\u679c \u3002","title":"\u6ce8\u610f\u4e8b\u9879"},{"location":"course/signal_control/#_7","text":"","title":"\u8fd0\u884c \u7ed3\u679c"},{"location":"course/traffic_indicators/","text":"\u8def\u53e3 \u8bc4\u4ef7 \u6307\u6807 \u5206\u6790 \u8ba1\u7b97 ( HutbCarlaCity )   \u200b   \u4e3a \u652f\u6301   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \u4fdd\u6b63 \u9ad8\u4fdd\u6b63 \u7684 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u4e09\u7ef4 \u5efa\u6a21 \uff0c \u8bbe\u8ba1   traffic _ indicators . py   \u811a\u672c \u5bf9 \u8def\u53e3 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3001 \u8def\u53e3 \u8f66\u5747 \u5ef6\u8bef \u3001 \u8def\u53e3 \u9971\u548c \u3001 \u6392\u961f \u957f\u5ea6 \u56db\u79cd \u8def\u53e3 \u771f\u5b9e \u771f\u5b9e\u6027 \u8bc4\u4ef7 \u6307\u6807 \u5206\u6790 \u3002   \u9996\u5148 \u9700\u8981 \u5bf9 \u573a\u666f \u4e2d \u6dfb\u52a0 \u8f66\u8f86 \uff0c \u8fd0\u884c   generate _ traffic . py   \u811a\u672c \uff0c \u751f\u6210 \u8db3\u591f \u7684 \u8f66\u8f86 \u3002   \u5b9a\u4e49 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u5e76 \u83b7\u53d6 \u4eff\u771f \u4e16\u754c \u5bf9\u8c61   argparser   =   argparse . ArgumentParser (   description = __ doc __ )   argparser . add _ argument (   ' -- host ' ,   metavar = ' H ' ,   default = ' 127.0 . 0.1 ' ,   # \u9ed8\u8ba4 ip   help = ' IP   of   the   host   server   ( default :   127.0 . 0.1 ) ' )   argparser . add _ argument (   ' - p ' ,   ' -- port ' ,   metavar = ' P ' ,   # \u7aef\u53e3 \u53e3\u53f7 \u7aef\u53e3\u53f7   default = 2000 ,   type = int ,   help = ' TCP   port   to   listen   to   ( default :   2000 ) ' )   args   =   argparser . parse _ args ( )   client   =   carla . Client ( args . host ,   args . port )   client . set _ timeout ( 10.0 )   #   \u8bbe\u7f6e \u8d85\u65f6   world   =   client . get _ world ( )   #   \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   \u5c06 \u8def\u53e3 \u5b9a\u4e49 \u4e3a \u4e00\u4e2a \u77e9\u5f62 \u533a\u57df \uff0c \u5728 Carla \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5f97\u5230 \u76f8\u5e94 \u5750\u6807   #   \u8def\u53e3 \u5750\u6807 ,   junctions   =   [   [ - 194 ,   - 372 ,   79 ,   - 34 ] ,   # \u6850\u6893 \u5761\u8def - \u4e8c\u73af \u897f\u4e8c\u73af \u8def\u53e3   [ 449 ,   381 ,   48 ,   - 87 ]   # \u6850\u6893 \u5761\u8def - \u671b\u5cb3 \u8def\u53e3   ]   #   \u7528\u4e8e \u8ddf\u8e2a \u5df2\u7ecf \u8ba1\u7b97 \u7684 \u8f66\u8f86 id \u4ee5\u53ca \u8fdb\u5165 \u7684 \u65f6\u95f4   counted _ vehicles   =   [   { } ,   { }   ]   \u8ba1\u7b97 \u5bf9\u5e94 \u8def\u53e3 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3001 \u8f66\u5747 \u5ef6\u8bef \u3001 \u9971\u548c \u9971\u548c\u5ea6 \u3001 \u6392\u961f \u957f\u5ea6   \u5b9a\u4e49 \u4fe9\u4e2a \u5168\u5c40 \u53d8\u91cf \u5168\u5c40\u53d8\u91cf   SATURATION   =   32   #   \u8def\u53e3 \u6700\u5927 \u5bb9\u91cf   DWELL _ TIME   =   50   #   50 \u79d2 \u540e \u8ba4\u4e3a \u8f66\u8f86 \u5df2 \u79bb\u5f00 \u8def\u53e3   \u8def\u53e3 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u51fd\u6570 get _ traffic _ flow ( )   def   get _ traffic _ flow ( world ,   junction ,   traffic _ flows ,   i ,   counted _ vehicles ) :   #   \u83b7\u53d6 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684 \u8f66\u8f86 \u5217\u8868   vehicle _ list   =   world . get _ actors ( ) . filter ( ' vehicle . * ' )   #   counted _ vehicles   =   { }   \u662f \u4e00\u4e2a \u5b57\u5178   current _ time   =   world . get _ snapshot ( ) . timestamp . elapsed _ seconds   #   \u904d\u5386 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684 \u8f66\u8f86   for   vehicle   in   vehicle _ list :   vehicle _ id   =   vehicle . id   #   \u8868\u793a \u8f66\u8f86 \u8fd8 \u6ca1 \u7ecf\u8fc7 \u8def\u53e3   if   vehicle _ id   not   in   counted _ vehicles :   #   \u83b7\u53d6 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u4fe1\u606f   location   =   vehicle . get _ location ( )   x   =   location . x   y   =   location . y   #   \u8f66\u8f86 \u7ecf\u8fc7 \u8def\u53e3   if   x   < =   junction [ 0 ]   and   x   > =   junction [ 1 ]   and   y   < =   junction [ 2 ]   and   y   > =   junction [ 3 ] :   #   \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u52a0 1   traffic _ flows [ i ]   =   traffic _ flows [ i ]   +   1   counted _ vehicles [ vehicle _ id ]   =   current _ time   #   \u79fb\u9664 \u79bb\u5f00 \u8def\u53e3 \u65f6\u95f4 \u8d85\u8fc7 dwell _ time \u7684 \u8f66\u8f86   vehicles _ to _ remove   =   [ vid   for   vid ,   enter _ time   in   counted _ vehicles . items ( )   if   current _ time   -   enter _ time   >   DWELL _ TIME ]   for   vehicle _ id   in   vehicles _ to _ remove :   del   counted _ vehicles [ vehicle _ id ]   \u8def\u53e3 \u9971\u548c \u9971\u548c\u5ea6 \u51fd\u6570 saturation ( )   \u91c7\u7528   \u8def\u53e3 \u5b9e\u9645 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf / \u8def\u53e3 \u9053\u8def \u6700\u5927 \u6240 \u627f\u8f7d \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf   \u8ba1\u7b97   \u8def\u53e3 \u9971\u548c \u9971\u548c\u5ea6   # \u8ba1\u7b97 \u8def\u53e3 \u9971\u548c \u9971\u548c\u5ea6   def   saturation ( world , junctions , counted _ vehicles ) :   saturation _ degrees   =   [ 0 ,   0 ]   ave _ saturation   =   [ 0 ,   0 ]   #   \u6d41\u91cf   traffic _ flows   =   [ 0 ,   0 ]   #   \u7528\u4e8e \u8ddf\u8e2a \u5df2\u7ecf \u8ba1\u7b97 \u7684 \u8f66\u8f86 id \u4ee5\u53ca \u8fdb\u5165 \u7684 \u65f6\u95f4   queue _ length   =   [ 0 ,   0 ]   time _ tamp   =   0   while   True :   time _ tamp   + =   1   #   i \u8868\u793a \u7b2c i \u4e2a \u8def\u53e3   for   i   in   range ( len ( junctions ) ) :   get _ traffic _ flow ( world ,   junctions [ i ] ,   traffic _ flows ,   i ,   counted _ vehicles [ i ] )   saturation _ degrees [ i ]   =   traffic _ flows [ i ]   /   SATURATION   +   saturation _ degrees [ i ]   if   time _ tamp   = =   10000 :   for   i   in   range ( len ( junctions ) ) :   ave _ saturation [ i ]   =   saturation _ degrees [ i ]   /   10000   queue _ length [ i ]   =   ( traffic _ flows [ i ]   *   3 )   /   4   break   return   ave _ saturation   \u6392\u961f \u957f\u5ea6 \u51fd\u6570 queue _ lengths ( )   \u91c7\u7528   \u8def\u53e3 \u5b9e\u9645 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf * \u5e73\u5747 \u8f66\u8f86 \u957f\u5ea6   \u8ba1\u7b97   \u6392\u961f \u957f\u5ea6   # \u8ba1\u7b97 \u6392\u961f \u957f\u5ea6   def   queue _ lengths ( world , junctions , counted _ vehicles ) :   #   \u6d41\u91cf   traffic _ flows   =   [ 0 ,   0 ]   #   \u7528\u4e8e \u8ddf\u8e2a \u5df2\u7ecf \u8ba1\u7b97 \u7684 \u8f66\u8f86 id \u4ee5\u53ca \u8fdb\u5165 \u7684 \u65f6\u95f4   queue _ length   =   [ 0 ,   0 ]   time _ tamp   =   0   while   True :   time _ tamp   + =   1   #   i \u8868\u793a \u7b2c i \u4e2a \u8def\u53e3   for   i   in   range ( len ( junctions ) ) :   get _ traffic _ flow ( world ,   junctions [ i ] ,   traffic _ flows ,   i ,   counted _ vehicles [ i ] )   #   print ( saturation _ degrees )   #   1000 \u4e2a \u65f6\u95f4 \u6b65 \u62df\u4f5c 1 \u5929   #   print ( time _ tamp )   if   time _ tamp   = =   10000 :   for   i   in   range ( len ( junctions ) ) :   queue _ length [ i ]   =   ( traffic _ flows [ i ]   *   3 )   /   4   break   return   queue _ length   \u8f66\u5747 \u5ef6\u8bef \u51fd\u6570 ave _ delay ( )   \u91c7\u7528 \u4ee5\u4e0b \u8ba1\u7b97 \u516c\u5f0f \u8ba1\u7b97\u516c\u5f0f \u8fdb\u884c \u8ba1\u7b97 \uff1a   \u200b   \u5176\u4e2d   D   \u4e3a \u8def\u53e3 \u8f66\u5747 \u5ef6\u8bef \u53c2\u6570 \uff0c   C   \u4e3a \u8def\u53e3 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u914d\u65f6 \u603b \u65f6\u95f4 \uff0c   y   \u4e3a \u8def\u53e3 \u9971\u548c \u9971\u548c\u5ea6 \uff0c   T   \u4e3a \u5f53\u524d \u5206\u6790 \u65f6\u6bb5 \u7684 \u65f6\u957f \u3002   # \u5f97\u5230 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u914d\u65f6 \u4fe1\u606f   def   get _ traffic _ light ( world ,   light _ id ) :   traffic _ lights   =   world . get _ actors ( ) . filter ( ' traffic . traffic _ light ' )   total _ time   =   0   green _ time   =   0   for   traffic _ light   in   traffic _ lights :   if   traffic _ light . id   = =   light _ id :   red _ time   =   traffic _ light . get _ red _ time ( )   green _ time   =   traffic _ light . get _ green _ time ( )   yellow _ time   =   traffic _ light . get _ yellow _ time ( )   total _ time   =   red _ time   +   green _ time   +   yellow _ time   return   total _ time ,   green _ time   # \u8ba1\u7b97 \u5e73\u5747 \u8def\u53e3 \u8f66\u5747 \u5ef6\u8bef   def   ave _ delay ( world ,   light _ id ,   ave _ saturation ,   junctions ) :   vehicle _ ave _ delays   =   [ ]   total _ time ,   green _ time   =   get _ traffic _ light ( world ,   light _ id )   for   i   in   range ( len ( junctions ) ) :   vehicle _ ave _ delay   =   0.5   *   total _ time   *   ( 1 - green _ time   /   total _ time ) * * 2   /   ( 1   -   ave _ saturation [ i ] )   +   min ( 1 ,   ave _ saturation [ i ] )   *   2   vehicle _ ave _ delays . append ( vehicle _ ave _ delay )   return   vehicle _ ave _ delays","title":"\u8def\u53e3 \u8bc4\u4ef7 \u6307\u6807 \u5206\u6790 \u8ba1\u7b97 ( HutbCarlaCity )"},{"location":"course/traffic_indicators/#hutbcarlacity","text":"\u200b   \u4e3a \u652f\u6301   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \u4fdd\u6b63 \u9ad8\u4fdd\u6b63 \u7684 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u4e09\u7ef4 \u5efa\u6a21 \uff0c \u8bbe\u8ba1   traffic _ indicators . py   \u811a\u672c \u5bf9 \u8def\u53e3 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3001 \u8def\u53e3 \u8f66\u5747 \u5ef6\u8bef \u3001 \u8def\u53e3 \u9971\u548c \u3001 \u6392\u961f \u957f\u5ea6 \u56db\u79cd \u8def\u53e3 \u771f\u5b9e \u771f\u5b9e\u6027 \u8bc4\u4ef7 \u6307\u6807 \u5206\u6790 \u3002   \u9996\u5148 \u9700\u8981 \u5bf9 \u573a\u666f \u4e2d \u6dfb\u52a0 \u8f66\u8f86 \uff0c \u8fd0\u884c   generate _ traffic . py   \u811a\u672c \uff0c \u751f\u6210 \u8db3\u591f \u7684 \u8f66\u8f86 \u3002","title":"\u8def\u53e3 \u8bc4\u4ef7 \u6307\u6807 \u5206\u6790 \u8ba1\u7b97 ( HutbCarlaCity )"},{"location":"course/traffic_indicators/#_1","text":"argparser   =   argparse . ArgumentParser (   description = __ doc __ )   argparser . add _ argument (   ' -- host ' ,   metavar = ' H ' ,   default = ' 127.0 . 0.1 ' ,   # \u9ed8\u8ba4 ip   help = ' IP   of   the   host   server   ( default :   127.0 . 0.1 ) ' )   argparser . add _ argument (   ' - p ' ,   ' -- port ' ,   metavar = ' P ' ,   # \u7aef\u53e3 \u53e3\u53f7 \u7aef\u53e3\u53f7   default = 2000 ,   type = int ,   help = ' TCP   port   to   listen   to   ( default :   2000 ) ' )   args   =   argparser . parse _ args ( )   client   =   carla . Client ( args . host ,   args . port )   client . set _ timeout ( 10.0 )   #   \u8bbe\u7f6e \u8d85\u65f6   world   =   client . get _ world ( )   #   \u83b7\u53d6 \u4e16\u754c \u5bf9\u8c61   \u5c06 \u8def\u53e3 \u5b9a\u4e49 \u4e3a \u4e00\u4e2a \u77e9\u5f62 \u533a\u57df \uff0c \u5728 Carla \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u5f97\u5230 \u76f8\u5e94 \u5750\u6807   #   \u8def\u53e3 \u5750\u6807 ,   junctions   =   [   [ - 194 ,   - 372 ,   79 ,   - 34 ] ,   # \u6850\u6893 \u5761\u8def - \u4e8c\u73af \u897f\u4e8c\u73af \u8def\u53e3   [ 449 ,   381 ,   48 ,   - 87 ]   # \u6850\u6893 \u5761\u8def - \u671b\u5cb3 \u8def\u53e3   ]   #   \u7528\u4e8e \u8ddf\u8e2a \u5df2\u7ecf \u8ba1\u7b97 \u7684 \u8f66\u8f86 id \u4ee5\u53ca \u8fdb\u5165 \u7684 \u65f6\u95f4   counted _ vehicles   =   [   { } ,   { }   ]","title":"\u5b9a\u4e49 \u547d\u4ee4\u884c \u53c2\u6570 \u5e76 \u83b7\u53d6 \u4eff\u771f \u4e16\u754c \u5bf9\u8c61"},{"location":"course/traffic_indicators/#_2","text":"\u5b9a\u4e49 \u4fe9\u4e2a \u5168\u5c40 \u53d8\u91cf \u5168\u5c40\u53d8\u91cf   SATURATION   =   32   #   \u8def\u53e3 \u6700\u5927 \u5bb9\u91cf   DWELL _ TIME   =   50   #   50 \u79d2 \u540e \u8ba4\u4e3a \u8f66\u8f86 \u5df2 \u79bb\u5f00 \u8def\u53e3","title":"\u8ba1\u7b97 \u5bf9\u5e94 \u8def\u53e3 \u4ea4\u901a\u6d41\u91cf \u3001 \u8f66\u5747 \u5ef6\u8bef \u3001 \u9971\u548c\u5ea6 \u3001 \u6392\u961f \u957f\u5ea6"},{"location":"course/traffic_indicators/#get_traffic_flow","text":"def   get _ traffic _ flow ( world ,   junction ,   traffic _ flows ,   i ,   counted _ vehicles ) :   #   \u83b7\u53d6 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684 \u8f66\u8f86 \u5217\u8868   vehicle _ list   =   world . get _ actors ( ) . filter ( ' vehicle . * ' )   #   counted _ vehicles   =   { }   \u662f \u4e00\u4e2a \u5b57\u5178   current _ time   =   world . get _ snapshot ( ) . timestamp . elapsed _ seconds   #   \u904d\u5386 \u6240\u6709 \u6b63\u5728 \u884c\u9a76 \u7684 \u8f66\u8f86   for   vehicle   in   vehicle _ list :   vehicle _ id   =   vehicle . id   #   \u8868\u793a \u8f66\u8f86 \u8fd8 \u6ca1 \u7ecf\u8fc7 \u8def\u53e3   if   vehicle _ id   not   in   counted _ vehicles :   #   \u83b7\u53d6 \u8f66\u8f86 \u7684 \u4f4d\u7f6e \u4fe1\u606f   location   =   vehicle . get _ location ( )   x   =   location . x   y   =   location . y   #   \u8f66\u8f86 \u7ecf\u8fc7 \u8def\u53e3   if   x   < =   junction [ 0 ]   and   x   > =   junction [ 1 ]   and   y   < =   junction [ 2 ]   and   y   > =   junction [ 3 ] :   #   \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf \u52a0 1   traffic _ flows [ i ]   =   traffic _ flows [ i ]   +   1   counted _ vehicles [ vehicle _ id ]   =   current _ time   #   \u79fb\u9664 \u79bb\u5f00 \u8def\u53e3 \u65f6\u95f4 \u8d85\u8fc7 dwell _ time \u7684 \u8f66\u8f86   vehicles _ to _ remove   =   [ vid   for   vid ,   enter _ time   in   counted _ vehicles . items ( )   if   current _ time   -   enter _ time   >   DWELL _ TIME ]   for   vehicle _ id   in   vehicles _ to _ remove :   del   counted _ vehicles [ vehicle _ id ]","title":"\u8def\u53e3 \u4ea4\u901a\u6d41\u91cf \u51fd\u6570 get _ traffic _ flow ( )"},{"location":"course/traffic_indicators/#saturation","text":"\u91c7\u7528   \u8def\u53e3 \u5b9e\u9645 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf / \u8def\u53e3 \u9053\u8def \u6700\u5927 \u6240 \u627f\u8f7d \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf   \u8ba1\u7b97   \u8def\u53e3 \u9971\u548c \u9971\u548c\u5ea6   # \u8ba1\u7b97 \u8def\u53e3 \u9971\u548c \u9971\u548c\u5ea6   def   saturation ( world , junctions , counted _ vehicles ) :   saturation _ degrees   =   [ 0 ,   0 ]   ave _ saturation   =   [ 0 ,   0 ]   #   \u6d41\u91cf   traffic _ flows   =   [ 0 ,   0 ]   #   \u7528\u4e8e \u8ddf\u8e2a \u5df2\u7ecf \u8ba1\u7b97 \u7684 \u8f66\u8f86 id \u4ee5\u53ca \u8fdb\u5165 \u7684 \u65f6\u95f4   queue _ length   =   [ 0 ,   0 ]   time _ tamp   =   0   while   True :   time _ tamp   + =   1   #   i \u8868\u793a \u7b2c i \u4e2a \u8def\u53e3   for   i   in   range ( len ( junctions ) ) :   get _ traffic _ flow ( world ,   junctions [ i ] ,   traffic _ flows ,   i ,   counted _ vehicles [ i ] )   saturation _ degrees [ i ]   =   traffic _ flows [ i ]   /   SATURATION   +   saturation _ degrees [ i ]   if   time _ tamp   = =   10000 :   for   i   in   range ( len ( junctions ) ) :   ave _ saturation [ i ]   =   saturation _ degrees [ i ]   /   10000   queue _ length [ i ]   =   ( traffic _ flows [ i ]   *   3 )   /   4   break   return   ave _ saturation","title":"\u8def\u53e3 \u9971\u548c\u5ea6 \u51fd\u6570 saturation ( )"},{"location":"course/traffic_indicators/#queue_lengths","text":"\u91c7\u7528   \u8def\u53e3 \u5b9e\u9645 \u8f66\u6d41 \u6d41\u91cf \u8f66\u6d41\u91cf * \u5e73\u5747 \u8f66\u8f86 \u957f\u5ea6   \u8ba1\u7b97   \u6392\u961f \u957f\u5ea6   # \u8ba1\u7b97 \u6392\u961f \u957f\u5ea6   def   queue _ lengths ( world , junctions , counted _ vehicles ) :   #   \u6d41\u91cf   traffic _ flows   =   [ 0 ,   0 ]   #   \u7528\u4e8e \u8ddf\u8e2a \u5df2\u7ecf \u8ba1\u7b97 \u7684 \u8f66\u8f86 id \u4ee5\u53ca \u8fdb\u5165 \u7684 \u65f6\u95f4   queue _ length   =   [ 0 ,   0 ]   time _ tamp   =   0   while   True :   time _ tamp   + =   1   #   i \u8868\u793a \u7b2c i \u4e2a \u8def\u53e3   for   i   in   range ( len ( junctions ) ) :   get _ traffic _ flow ( world ,   junctions [ i ] ,   traffic _ flows ,   i ,   counted _ vehicles [ i ] )   #   print ( saturation _ degrees )   #   1000 \u4e2a \u65f6\u95f4 \u6b65 \u62df\u4f5c 1 \u5929   #   print ( time _ tamp )   if   time _ tamp   = =   10000 :   for   i   in   range ( len ( junctions ) ) :   queue _ length [ i ]   =   ( traffic _ flows [ i ]   *   3 )   /   4   break   return   queue _ length","title":"\u6392\u961f \u957f\u5ea6 \u51fd\u6570 queue _ lengths ( )"},{"location":"course/traffic_indicators/#ave_delay","text":"\u91c7\u7528 \u4ee5\u4e0b \u8ba1\u7b97 \u516c\u5f0f \u8ba1\u7b97\u516c\u5f0f \u8fdb\u884c \u8ba1\u7b97 \uff1a   \u200b   \u5176\u4e2d   D   \u4e3a \u8def\u53e3 \u8f66\u5747 \u5ef6\u8bef \u53c2\u6570 \uff0c   C   \u4e3a \u8def\u53e3 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u914d\u65f6 \u603b \u65f6\u95f4 \uff0c   y   \u4e3a \u8def\u53e3 \u9971\u548c \u9971\u548c\u5ea6 \uff0c   T   \u4e3a \u5f53\u524d \u5206\u6790 \u65f6\u6bb5 \u7684 \u65f6\u957f \u3002   # \u5f97\u5230 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u914d\u65f6 \u4fe1\u606f   def   get _ traffic _ light ( world ,   light _ id ) :   traffic _ lights   =   world . get _ actors ( ) . filter ( ' traffic . traffic _ light ' )   total _ time   =   0   green _ time   =   0   for   traffic _ light   in   traffic _ lights :   if   traffic _ light . id   = =   light _ id :   red _ time   =   traffic _ light . get _ red _ time ( )   green _ time   =   traffic _ light . get _ green _ time ( )   yellow _ time   =   traffic _ light . get _ yellow _ time ( )   total _ time   =   red _ time   +   green _ time   +   yellow _ time   return   total _ time ,   green _ time   # \u8ba1\u7b97 \u5e73\u5747 \u8def\u53e3 \u8f66\u5747 \u5ef6\u8bef   def   ave _ delay ( world ,   light _ id ,   ave _ saturation ,   junctions ) :   vehicle _ ave _ delays   =   [ ]   total _ time ,   green _ time   =   get _ traffic _ light ( world ,   light _ id )   for   i   in   range ( len ( junctions ) ) :   vehicle _ ave _ delay   =   0.5   *   total _ time   *   ( 1 - green _ time   /   total _ time ) * * 2   /   ( 1   -   ave _ saturation [ i ] )   +   min ( 1 ,   ave _ saturation [ i ] )   *   2   vehicle _ ave _ delays . append ( vehicle _ ave _ delay )   return   vehicle _ ave _ delays","title":"\u8f66\u5747 \u5ef6\u8bef \u51fd\u6570 ave _ delay ( )"},{"location":"course/trajectory_tracking/","text":"\u8f68\u8ff9 \u8ddf\u8e2a   Drive . py   \u200b   \u672c \u793a\u4f8b \u4f7f\u7528   Carla   \u6a21\u62df \u6a21\u62df\u5668 \u6765 \u6267\u884c \u8f68\u8ff9 \u8ddf\u8e2a \u4efb\u52a1 \uff0c   Drive . py   \u4e3b\u8981 \u529f\u80fd \u5305\u62ec \u8fde\u63a5 CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3001 \u8bbe\u7f6e \u6a21\u62df \u73af\u5883 \u3001 \u751f\u6210 \u8f66\u8f86 \u3001 \u8bfb\u53d6 \u548c \u5904\u7406 \u8def\u5f84 \u70b9 \u6570\u636e \u3001 \u63a7\u5236 \u8f66\u8f86 \u8fd0\u52a8 \u3001 \u8bb0\u5f55 \u548c \u4fdd\u5b58 \u4eff\u771f \u7ed3\u679c \u4e0b\u9762 \u5bf9\u4e8e \u4e3b\u8981 \u51fd\u6570 \u8fdb\u884c \u4ecb\u7ecd \u3002   \u57fa\u4e8e   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \uff0c \u9996\u5148 \u9700\u8981 \u8fd0\u884c   generate _ traffic . py   \u3002   \u5b9a\u4e49 CARLA \u8bbe\u7f6e   \u521b\u5efa   Carla   \u7684 \u4e16\u754c \u8bbe\u7f6e \u5bf9\u8c61 \uff0c \u5e76 \u6839\u636e \u914d\u7f6e \u8bbe\u7f6e \u5929\u6c14 \u6761\u4ef6   # \u5b9a\u4e49 \u4e86 \u4e00\u4e9b \u5168\u5c40 \u53d8\u91cf \u5168\u5c40\u53d8\u91cf \u7528\u4e8e \u63a7\u5236 \u6a21\u62df \u53c2\u6570 \uff0c \u5982 \u8fed\u4ee3 \u6b21\u6570 \u3001 \u7b49\u5f85 \u65f6\u95f4 \u7b49\u5f85\u65f6\u95f4 \u3001 \u603b \u8fd0\u884c \u65f6\u95f4 \u3001 \u5929\u6c14 \u6761\u4ef6 \u7b49 \u3002   ITER _ FOR _ SIM _ TIMESTEP   =   10   WAIT _ TIME _ BEFORE _ START   =   5.00   TOTAL _ RUN _ TIME   =   200.00   TOTAL _ FRAME _ BUFFER   =   300   NUM _ PEDESTRIANS   =   0   NUM _ VEHICLES   =   2   SEED _ PEDESTRIANS   =   0   SEED _ VEHICLES   =   0   WEATHERID   =   {   \" DEFAULT \" :   0 ,   \" CLEARNOON \" :   1 ,   \" CLOUDYNOON \" :   2 ,   ...   }   SIMWEATHER   =   WEATHERID [ \" CLEARNOON \" ]   def   make _ carla _ settings ( ) :   settings   =   carla . WorldSettings (   synchronous _ mode = True ,   no _ rendering _ mode = False ,   fixed _ delta _ seconds = 0.02   )   weather   =   carla . WeatherParameters . ClearNoon   if   SIMWEATHER   = =   WEATHERID [ \" CLEARNOON \" ] :   weather   =   carla . WeatherParameters . ClearNoon   elif   SIMWEATHER   = =   WEATHERID [ \" CLOUDYNOON \" ] :   weather   =   carla . WeatherParameters . CloudyNoon   #   Add   other   weather   conditions   as   needed   return   settings ,   weather   \u8ba1\u65f6 \u8ba1\u65f6\u5668   Timer   \u4e3a \u4e00\u4e2a \u8ba1\u65f6 \u8ba1\u65f6\u5668 \u7c7b \uff0c \u7528\u4e8e \u6d4b\u91cf \u65f6\u95f4 \u95f4\u9694 \u548c \u8ba1\u7b97 \u6bcf\u79d2 \u7684 tick \u6570 \u3002   class   Timer ( object ) :   def   __ init __ ( self ,   period ) :   self . step   =   0   self ._ lap _ step   =   0   self ._ lap _ time   =   time . time ( )   self ._ period _ for _ lap   =   period   def   tick ( self ) :   self . step   + =   1   def   has _ exceeded _ lap _ period ( self ) :   return   self . elapsed _ seconds _ since _ lap ( )   > =   self ._ period _ for _ lap   def   lap ( self ) :   self ._ lap _ step   =   self . step   self ._ lap _ time   =   time . time ( )   def   ticks _ per _ second ( self ) :   return   float ( self . step   -   self ._ lap _ step )   /   self . elapsed _ seconds _ since _ lap ( )   def   elapsed _ seconds _ since _ lap ( self ) :   return   time . time ( )   -   self ._ lap _ time   \u83b7\u53d6 \u8f66\u8f86 \u4fe1\u606f   \u83b7\u53d6 \u8f66\u8f86 \u7684 \u5f53\u524d \u4f4d\u7f6e \u548c \u504f\u822a \u89d2   def   get _ current _ pose ( vehicle ) :   transform   =   vehicle . get _ transform ( )   x   =   transform . location . x   y   =   transform . location . y   yaw   =   math . radians ( transform . rotation . yaw )   return   ( x ,   y ,   yaw )   \u53d1\u9001 \u63a7\u5236 \u547d\u4ee4 \u7ed9 \u8f66\u8f86 \uff0c \u63a7\u5236 \u6cb9\u95e8 \u3001 \u5239\u8f66 \u3001 \u65b9\u5411 \u65b9\u5411\u76d8 \u7b49   def   send _ control _ command ( vehicle ,   throttle ,   steer ,   brake ,   hand _ brake = False ,   reverse = False ) :   control   =   carla . VehicleControl ( )   steer   =   np . fmax ( np . fmin ( steer ,   1.0 ) ,   - 1.0 )   throttle   =   np . fmax ( np . fmin ( throttle ,   1.0 ) ,   0 )   brake   =   np . fmax ( np . fmin ( brake ,   1.0 ) ,   0 )   control . steer   =   steer   control . throttle   =   throttle   control . brake   =   brake   control . hand _ brake   =   hand _ brake   control . reverse   =   reverse   vehicle . apply _ control ( control )   \u5c06 \u8f66\u8f86 \u7684 \u8f68\u8ff9 \u6570\u636e \u5199\u5165 CSV \u6587\u4ef6   def   write _ trajectory _ file ( x _ list ,   y _ list ,   v _ list ,   t _ list ,   vehicle _ id ) :   create _ controller _ output _ dir ( CONTROLLER _ OUTPUT _ FOLDER )   file _ name   =   os . path . join ( CONTROLLER _ OUTPUT _ FOLDER ,   f ' Trajectory _ { vehicle _ id } . csv ' )   with   open ( file _ name ,   ' w ' )   as   trajectory _ file :   for   i   in   range ( len ( x _ list ) ) :   trajectory _ file . write ( ' % 0.3 f ,   % 0.3 f ,   % 0.3 f ,   % 0.3 f \\ n '   %   ( t _ list [ i ] ,   x _ list [ i ] ,   y _ list [ i ] ,   v _ list [ i ] ) )   \u6267\u884c \u8f68\u8ff9 \u8ddf\u8e2a \u4efb\u52a1   \u6267\u884c \u8f68\u8ff9 \u8ddf\u8e2a \u4efb\u52a1 \uff0c \u5305\u62ec \u8fde\u63a5 CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3001 \u8bbe\u7f6e \u6a21\u62df \u73af\u5883 \u3001 \u751f\u6210 \u8f66\u8f86 \u7b49   def   exec _ waypoint _ nav _ demo ( args ) :   client   =   carla . Client ( args . host ,   args . port )   client . set _ timeout ( 10.0 )   world   =   client . get _ world ( )   settings ,   weather   =   make _ carla _ settings ( )   world . apply _ settings ( settings )   world . set _ weather ( weather )   blueprint _ library   =   world . get _ blueprint _ library ( )   vehicle _ bp   =   blueprint _ library . filter ( ' vehicle . audi . tt ' ) [ 0 ]   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   vehicles   =   [ ]   vehicle _ 1   =   world . try _ spawn _ actor ( vehicle _ bp ,   spawn _ points [ 216 ] )   vehicle _ 2   =   world . try _ spawn _ actor ( vehicle _ bp ,   spawn _ points [ 11 ] )   vehicles . append ( vehicle _ 1 )   vehicles . append ( vehicle _ 2 )   \u8fd0\u884c \u7ed3\u679c","title":"\u8f68\u8ff9 \u8ddf\u8e2a     Drive . py"},{"location":"course/trajectory_tracking/#drivepy","text":"\u200b   \u672c \u793a\u4f8b \u4f7f\u7528   Carla   \u6a21\u62df \u6a21\u62df\u5668 \u6765 \u6267\u884c \u8f68\u8ff9 \u8ddf\u8e2a \u4efb\u52a1 \uff0c   Drive . py   \u4e3b\u8981 \u529f\u80fd \u5305\u62ec \u8fde\u63a5 CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3001 \u8bbe\u7f6e \u6a21\u62df \u73af\u5883 \u3001 \u751f\u6210 \u8f66\u8f86 \u3001 \u8bfb\u53d6 \u548c \u5904\u7406 \u8def\u5f84 \u70b9 \u6570\u636e \u3001 \u63a7\u5236 \u8f66\u8f86 \u8fd0\u52a8 \u3001 \u8bb0\u5f55 \u548c \u4fdd\u5b58 \u4eff\u771f \u7ed3\u679c \u4e0b\u9762 \u5bf9\u4e8e \u4e3b\u8981 \u51fd\u6570 \u8fdb\u884c \u4ecb\u7ecd \u3002   \u57fa\u4e8e   \u6e56 \u5de5\u5546 \u573a\u666f   ( WindowsNoEditor )   \uff0c \u9996\u5148 \u9700\u8981 \u8fd0\u884c   generate _ traffic . py   \u3002","title":"\u8f68\u8ff9 \u8ddf\u8e2a     Drive . py"},{"location":"course/trajectory_tracking/#carla","text":"\u521b\u5efa   Carla   \u7684 \u4e16\u754c \u8bbe\u7f6e \u5bf9\u8c61 \uff0c \u5e76 \u6839\u636e \u914d\u7f6e \u8bbe\u7f6e \u5929\u6c14 \u6761\u4ef6   # \u5b9a\u4e49 \u4e86 \u4e00\u4e9b \u5168\u5c40 \u53d8\u91cf \u5168\u5c40\u53d8\u91cf \u7528\u4e8e \u63a7\u5236 \u6a21\u62df \u53c2\u6570 \uff0c \u5982 \u8fed\u4ee3 \u6b21\u6570 \u3001 \u7b49\u5f85 \u65f6\u95f4 \u7b49\u5f85\u65f6\u95f4 \u3001 \u603b \u8fd0\u884c \u65f6\u95f4 \u3001 \u5929\u6c14 \u6761\u4ef6 \u7b49 \u3002   ITER _ FOR _ SIM _ TIMESTEP   =   10   WAIT _ TIME _ BEFORE _ START   =   5.00   TOTAL _ RUN _ TIME   =   200.00   TOTAL _ FRAME _ BUFFER   =   300   NUM _ PEDESTRIANS   =   0   NUM _ VEHICLES   =   2   SEED _ PEDESTRIANS   =   0   SEED _ VEHICLES   =   0   WEATHERID   =   {   \" DEFAULT \" :   0 ,   \" CLEARNOON \" :   1 ,   \" CLOUDYNOON \" :   2 ,   ...   }   SIMWEATHER   =   WEATHERID [ \" CLEARNOON \" ]   def   make _ carla _ settings ( ) :   settings   =   carla . WorldSettings (   synchronous _ mode = True ,   no _ rendering _ mode = False ,   fixed _ delta _ seconds = 0.02   )   weather   =   carla . WeatherParameters . ClearNoon   if   SIMWEATHER   = =   WEATHERID [ \" CLEARNOON \" ] :   weather   =   carla . WeatherParameters . ClearNoon   elif   SIMWEATHER   = =   WEATHERID [ \" CLOUDYNOON \" ] :   weather   =   carla . WeatherParameters . CloudyNoon   #   Add   other   weather   conditions   as   needed   return   settings ,   weather","title":"\u5b9a\u4e49 CARLA \u8bbe\u7f6e"},{"location":"course/trajectory_tracking/#_1","text":"Timer   \u4e3a \u4e00\u4e2a \u8ba1\u65f6 \u8ba1\u65f6\u5668 \u7c7b \uff0c \u7528\u4e8e \u6d4b\u91cf \u65f6\u95f4 \u95f4\u9694 \u548c \u8ba1\u7b97 \u6bcf\u79d2 \u7684 tick \u6570 \u3002   class   Timer ( object ) :   def   __ init __ ( self ,   period ) :   self . step   =   0   self ._ lap _ step   =   0   self ._ lap _ time   =   time . time ( )   self ._ period _ for _ lap   =   period   def   tick ( self ) :   self . step   + =   1   def   has _ exceeded _ lap _ period ( self ) :   return   self . elapsed _ seconds _ since _ lap ( )   > =   self ._ period _ for _ lap   def   lap ( self ) :   self ._ lap _ step   =   self . step   self ._ lap _ time   =   time . time ( )   def   ticks _ per _ second ( self ) :   return   float ( self . step   -   self ._ lap _ step )   /   self . elapsed _ seconds _ since _ lap ( )   def   elapsed _ seconds _ since _ lap ( self ) :   return   time . time ( )   -   self ._ lap _ time","title":"\u8ba1\u65f6\u5668"},{"location":"course/trajectory_tracking/#_2","text":"\u83b7\u53d6 \u8f66\u8f86 \u7684 \u5f53\u524d \u4f4d\u7f6e \u548c \u504f\u822a \u89d2   def   get _ current _ pose ( vehicle ) :   transform   =   vehicle . get _ transform ( )   x   =   transform . location . x   y   =   transform . location . y   yaw   =   math . radians ( transform . rotation . yaw )   return   ( x ,   y ,   yaw )   \u53d1\u9001 \u63a7\u5236 \u547d\u4ee4 \u7ed9 \u8f66\u8f86 \uff0c \u63a7\u5236 \u6cb9\u95e8 \u3001 \u5239\u8f66 \u3001 \u65b9\u5411 \u65b9\u5411\u76d8 \u7b49   def   send _ control _ command ( vehicle ,   throttle ,   steer ,   brake ,   hand _ brake = False ,   reverse = False ) :   control   =   carla . VehicleControl ( )   steer   =   np . fmax ( np . fmin ( steer ,   1.0 ) ,   - 1.0 )   throttle   =   np . fmax ( np . fmin ( throttle ,   1.0 ) ,   0 )   brake   =   np . fmax ( np . fmin ( brake ,   1.0 ) ,   0 )   control . steer   =   steer   control . throttle   =   throttle   control . brake   =   brake   control . hand _ brake   =   hand _ brake   control . reverse   =   reverse   vehicle . apply _ control ( control )   \u5c06 \u8f66\u8f86 \u7684 \u8f68\u8ff9 \u6570\u636e \u5199\u5165 CSV \u6587\u4ef6   def   write _ trajectory _ file ( x _ list ,   y _ list ,   v _ list ,   t _ list ,   vehicle _ id ) :   create _ controller _ output _ dir ( CONTROLLER _ OUTPUT _ FOLDER )   file _ name   =   os . path . join ( CONTROLLER _ OUTPUT _ FOLDER ,   f ' Trajectory _ { vehicle _ id } . csv ' )   with   open ( file _ name ,   ' w ' )   as   trajectory _ file :   for   i   in   range ( len ( x _ list ) ) :   trajectory _ file . write ( ' % 0.3 f ,   % 0.3 f ,   % 0.3 f ,   % 0.3 f \\ n '   %   ( t _ list [ i ] ,   x _ list [ i ] ,   y _ list [ i ] ,   v _ list [ i ] ) )","title":"\u83b7\u53d6 \u8f66\u8f86 \u4fe1\u606f"},{"location":"course/trajectory_tracking/#_3","text":"\u6267\u884c \u8f68\u8ff9 \u8ddf\u8e2a \u4efb\u52a1 \uff0c \u5305\u62ec \u8fde\u63a5 CARLA \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3001 \u8bbe\u7f6e \u6a21\u62df \u73af\u5883 \u3001 \u751f\u6210 \u8f66\u8f86 \u7b49   def   exec _ waypoint _ nav _ demo ( args ) :   client   =   carla . Client ( args . host ,   args . port )   client . set _ timeout ( 10.0 )   world   =   client . get _ world ( )   settings ,   weather   =   make _ carla _ settings ( )   world . apply _ settings ( settings )   world . set _ weather ( weather )   blueprint _ library   =   world . get _ blueprint _ library ( )   vehicle _ bp   =   blueprint _ library . filter ( ' vehicle . audi . tt ' ) [ 0 ]   spawn _ points   =   world . get _ map ( ) . get _ spawn _ points ( )   vehicles   =   [ ]   vehicle _ 1   =   world . try _ spawn _ actor ( vehicle _ bp ,   spawn _ points [ 216 ] )   vehicle _ 2   =   world . try _ spawn _ actor ( vehicle _ bp ,   spawn _ points [ 11 ] )   vehicles . append ( vehicle _ 1 )   vehicles . append ( vehicle _ 2 )","title":"\u6267\u884c \u8f68\u8ff9 \u8ddf\u8e2a \u4efb\u52a1"},{"location":"course/trajectory_tracking/#_4","text":"","title":"\u8fd0\u884c \u7ed3\u679c"},{"location":"course/visualization/","text":"\u4ea4\u901a \u6570\u636e \u53ef\u89c6 \u53ef\u89c6\u5316 \u5206\u6790   \u7b80\u4ecb   \u4ea4\u901a \u6570\u636e \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u5206\u6790 \u662f \u901a\u8fc7 \u4f7f\u7528 \u56fe\u8868 \u548c \u56fe\u5f62 \u6765 \u7406\u89e3 \u548c \u89e3\u91ca \u4ea4\u901a \u6570\u636e \uff0c \u4ece\u800c \u63d0\u4f9b \u5bf9 \u4ea4\u901a \u6a21\u5f0f \u548c \u884c\u4e3a \u7684 \u6d1e\u5bdf \uff0c \u4ea4\u901a \u7cfb\u7edf \u4ea4\u901a\u7cfb\u7edf \u6570\u636e \u6765\u6e90 \u5982\u4e0b \uff1a   \u4ea4\u901a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e   GPS \u6570\u636e   \u53ef\u89c6 \u53ef\u89c6\u5316 \u754c\u9762   \u672c \u7cfb\u7edf \u57fa\u4e8e   carla \u4eff\u771f \u5e73\u53f0   \u5b9e\u65f6 \u6536\u96c6 \u8f66\u8f86 \u4eff\u771f \u884c\u9a76 \u6570\u636e \u8fdb\u884c \u76f8\u5173 \u4ea4\u901a \u6570\u636e \u6307\u6807 \u7684 \u8ba1\u7b97 \u4e0e \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002   \u8def\u53e3 \u9971\u548c \u9971\u548c\u5ea6 \u6392\u884c   \u8def\u53e3 \u9971\u548c \u9971\u548c\u5ea6 \u662f \u6307 \u4e00\u65f6 \u65f6\u95f4 \u4e00\u65f6\u95f4 \u67d0\u4e00\u65f6\u95f4 \u6bb5 \u5185 \uff0c \u4ea4\u901a \u8def\u53e3 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u4e0e\u5176 \u6700\u5927 \u901a\u884c \u80fd\u529b \u4e4b \u6bd4 \u3002 \u5b83 \u53cd\u6620 \u4e86 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u5bf9 \u8def\u53e3 \u627f\u8f7d \u80fd\u529b \u627f\u8f7d\u80fd\u529b \u7684 \u5360\u7528 \u7a0b\u5ea6 \u3002 \u672c \u7cfb\u7edf \u7ed9\u51fa \u4e86 \u573a\u666f \u4e2d \u9053\u8def \u7684 \u9971\u548c \u9971\u548c\u5ea6 \u6392\u884c \u53ef\u89c6 \u53ef\u89c6\u5316 \u5982\u4e0b \uff1a   \u8def\u53e3 \u8bc4\u4ef7 \u6307\u6807   \u672c \u7cfb\u7edf \u4ece \u8f66\u8f86 \u901f\u5ea6 \u3001 \u9053\u8def \u8bc4\u4ef7 \u3001 \u8def\u53e3 \u505c\u8f66 \u901f\u5ea6 \u3001 \u6392\u961f \u957f\u5ea6 \u3001 \u8f66\u5747 \u5ef6\u8bef \u53ca \u4e00\u5468 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u60c5\u51b5 \u6765 \u7efc\u5408 \u505a\u51fa \u5bf9 \u9053\u8def \u62e5\u5835 \u60c5\u51b5 \u8fdb\u884c \u8bc4\u4ef7 \uff0c \u5e76 \u5bf9 \u672a\u6765 24 \u5c0f\u65f6 \u62e5\u5835 \u8d8b\u52bf \u505a\u51fa \u9884\u6d4b   \u4eff\u771f \u6d41\u91cf \u548c \u771f\u5b9e \u6d41\u91cf \u5bf9\u6bd4   \u672c \u7cfb\u7edf \u5c06 \u4eff\u771f \u6d41\u91cf \u4e0e \u5b9e\u9645 \u771f\u5b9e \u6d41\u91cf \u8fdb\u884c \u5bf9\u6bd4 \uff0c \u4ee5 \u63a2\u7d22 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3001 \u62e5\u5835 \u72b6\u51b5 \u7b49 \u771f\u5b9e \u8d8b\u52bf \u4e0e \u89c4\u5f8b \uff0c \u5e76 \u8fdb\u884c \u540e\u7eed \u7684 \u573a\u666f \u4f18\u5316 \u53ca \u6539\u8fdb \u7b56\u7565 \u7684 \u9a8c\u8bc1 \u5b9e\u9a8c \u3002","title":"\u4ea4\u901a \u6570\u636e \u53ef\u89c6\u5316 \u5206\u6790"},{"location":"course/visualization/#_1","text":"","title":"\u4ea4\u901a \u6570\u636e \u53ef\u89c6\u5316 \u5206\u6790"},{"location":"course/visualization/#_2","text":"\u4ea4\u901a \u6570\u636e \u7684 \u53ef\u89c6 \u53ef\u89c6\u5316 \u5206\u6790 \u662f \u901a\u8fc7 \u4f7f\u7528 \u56fe\u8868 \u548c \u56fe\u5f62 \u6765 \u7406\u89e3 \u548c \u89e3\u91ca \u4ea4\u901a \u6570\u636e \uff0c \u4ece\u800c \u63d0\u4f9b \u5bf9 \u4ea4\u901a \u6a21\u5f0f \u548c \u884c\u4e3a \u7684 \u6d1e\u5bdf \uff0c \u4ea4\u901a \u7cfb\u7edf \u4ea4\u901a\u7cfb\u7edf \u6570\u636e \u6765\u6e90 \u5982\u4e0b \uff1a   \u4ea4\u901a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u6570\u636e   GPS \u6570\u636e","title":"\u7b80\u4ecb"},{"location":"course/visualization/#_3","text":"\u672c \u7cfb\u7edf \u57fa\u4e8e   carla \u4eff\u771f \u5e73\u53f0   \u5b9e\u65f6 \u6536\u96c6 \u8f66\u8f86 \u4eff\u771f \u884c\u9a76 \u6570\u636e \u8fdb\u884c \u76f8\u5173 \u4ea4\u901a \u6570\u636e \u6307\u6807 \u7684 \u8ba1\u7b97 \u4e0e \u53ef\u89c6 \u53ef\u89c6\u5316 \u3002","title":"\u53ef\u89c6\u5316 \u754c\u9762"},{"location":"course/visualization/#_4","text":"\u8def\u53e3 \u9971\u548c \u9971\u548c\u5ea6 \u662f \u6307 \u4e00\u65f6 \u65f6\u95f4 \u4e00\u65f6\u95f4 \u67d0\u4e00\u65f6\u95f4 \u6bb5 \u5185 \uff0c \u4ea4\u901a \u8def\u53e3 \u7684 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u4e0e\u5176 \u6700\u5927 \u901a\u884c \u80fd\u529b \u4e4b \u6bd4 \u3002 \u5b83 \u53cd\u6620 \u4e86 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u5bf9 \u8def\u53e3 \u627f\u8f7d \u80fd\u529b \u627f\u8f7d\u80fd\u529b \u7684 \u5360\u7528 \u7a0b\u5ea6 \u3002 \u672c \u7cfb\u7edf \u7ed9\u51fa \u4e86 \u573a\u666f \u4e2d \u9053\u8def \u7684 \u9971\u548c \u9971\u548c\u5ea6 \u6392\u884c \u53ef\u89c6 \u53ef\u89c6\u5316 \u5982\u4e0b \uff1a","title":"\u8def\u53e3 \u9971\u548c\u5ea6 \u6392\u884c"},{"location":"course/visualization/#_5","text":"\u672c \u7cfb\u7edf \u4ece \u8f66\u8f86 \u901f\u5ea6 \u3001 \u9053\u8def \u8bc4\u4ef7 \u3001 \u8def\u53e3 \u505c\u8f66 \u901f\u5ea6 \u3001 \u6392\u961f \u957f\u5ea6 \u3001 \u8f66\u5747 \u5ef6\u8bef \u53ca \u4e00\u5468 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u60c5\u51b5 \u6765 \u7efc\u5408 \u505a\u51fa \u5bf9 \u9053\u8def \u62e5\u5835 \u60c5\u51b5 \u8fdb\u884c \u8bc4\u4ef7 \uff0c \u5e76 \u5bf9 \u672a\u6765 24 \u5c0f\u65f6 \u62e5\u5835 \u8d8b\u52bf \u505a\u51fa \u9884\u6d4b","title":"\u8def\u53e3 \u8bc4\u4ef7 \u6307\u6807"},{"location":"course/visualization/#_6","text":"\u672c \u7cfb\u7edf \u5c06 \u4eff\u771f \u6d41\u91cf \u4e0e \u5b9e\u9645 \u771f\u5b9e \u6d41\u91cf \u8fdb\u884c \u5bf9\u6bd4 \uff0c \u4ee5 \u63a2\u7d22 \u4ea4\u901a \u901a\u6d41 \u6d41\u91cf \u4ea4\u901a\u6d41 \u4ea4\u901a\u6d41\u91cf \u3001 \u62e5\u5835 \u72b6\u51b5 \u7b49 \u771f\u5b9e \u8d8b\u52bf \u4e0e \u89c4\u5f8b \uff0c \u5e76 \u8fdb\u884c \u540e\u7eed \u7684 \u573a\u666f \u4f18\u5316 \u53ca \u6539\u8fdb \u7b56\u7565 \u7684 \u9a8c\u8bc1 \u5b9e\u9a8c \u3002","title":"\u4eff\u771f \u6d41\u91cf \u548c \u771f\u5b9e \u6d41\u91cf \u5bf9\u6bd4"},{"location":"demo/boost_python/","text":"VS2019 \u8c03\u7528 boost . Python   \u751f\u6210 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6   \u65b0\u5efa   Cmake   \u5de5\u7a0b \uff1b   \u8f93\u5165 \u4ee5\u4e0b \u4ee3\u7801 \uff1a   # include   < boost / python . hpp >   # include   < boost / python / module . hpp >   # include   < boost / python / def . hpp >   # include   < boost / python / to _ python _ converter . hpp >   # include   < iostream >   using   namespace   std ;   void   dummyFunc ( )   {   cout   < <   \" call   OK ! \"   < <   endl ;   }   int   main ( )   {   dummyFunc ( ) ;   return   0 ;   }   \u5728   CMakeLists . txt   \u4e2d \u6dfb\u52a0 \u5934 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55 \u548c \u5e93 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55   #   \u6dfb\u52a0 \u5934 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55   include _ directories ( \" D : / work / workspace / carla / Build / boost - 1.80 . 0 - install / include \" )   include _ directories ( \" C : / Users / Administrator / AppData / Local / Programs / Python / Python37 / include \" )   #   \u6dfb\u52a0 \u5e93 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55   link _ directories ( \" C : / Users / Administrator / AppData / Local / Programs / Python / Python37 / libs \" )   #   \u8fd8\u662f \u7f3a\u5c11   libboost _ python37 - vc142 - mt - gd - x64 - 1 _ 80 . lib   link _ directories ( \" D : / work / workspace / carla / Build / boost - 1.80 . 0 - install / lib _ no _ prefix \" )   \u5230 boost \u5b89\u88c5 \u76ee\u5f55 \u4e0b \uff0c \u8fdb\u5165   lib \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \uff0c \u627e\u5230 \u524d\u7f00 \u662f   libboost _ python37 - vc142 - mt - x64 - 1 _ 80 . lib   \u6587\u4ef6 \uff08 \u524d\u7f00 \u6709 lib \uff09 \uff0c \u5c06 \u5176 \u524d\u7f00 \u7684 lib \u5220\u9664 \u5373\u53ef \uff08 \u5373 \u547d\u540d \u91cd\u547d\u540d \u4e3a   boost _ python37 - vc142 - mt - x64 - 1 _ 80 . lib   \uff09 \u3002   \u751f\u6210 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c \u4f1a \u751f\u6210 exe \u6587\u4ef6 \uff0c \u5982\u679c \u4e0d \u53ef\u4ee5 \u5728 vs \u4e2d \u76f4\u63a5 \u6267\u884c \uff0c \u5c06 \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u7684   \u5f53\u524d \u6587\u6863   \u6539\u4e3a   * . exe   \u3002   \u751f\u6210 Python \u8c03\u7528 \u7684 \u5e93   \u65b0\u5efa   hello _ exe . cpp   \uff0c \u6ce8\u610f \u6587\u4ef6 \u6587\u4ef6\u540d \u5fc5\u987b \u4e3a \u6a21\u5757 \u540d \uff1a   / /   \u53c2\u8003 \uff1a https : / / developer . aliyun . com / article / 1260043   / /   \u5f53 \u5f15\u5165   # include   < boost / python / xxx >   \u65f6 \uff0c Boost   \u4f1a \u9ed8\u8ba4 \u94fe\u63a5   boost _ python   \u52a8\u6001 \u94fe\u63a5 \u94fe\u63a5\u5e93 \u52a8\u6001\u94fe\u63a5\u5e93 \uff0c   / /   \u5982\u679c \u6211\u4eec \u60f3\u8981 \u94fe\u63a5 \u9759\u6001 \u94fe\u63a5 \u94fe\u63a5\u5e93 \uff0c \u5c31 \u9700\u8981 \u5728   include   \u4e4b\u524d \u52a0\u4e0a   # define   BOOST _ PYTHON _ STATIC _ LIB   / /   \u6307\u5b9a \u94fe\u63a5   boost _ python   \u7684 \u9759\u6001 \u5e93 \uff0c \u800c \u4e0d\u662f \u9ed8\u8ba4 \u7684 \u52a8\u6001 \u5e93 \u3002   # define   BOOST _ PYTHON _ STATIC _ LIB   # include   < boost / python . hpp >   # include   < boost / python / module . hpp >   # include   < boost / python / def . hpp >   # include   < boost / python / to _ python _ converter . hpp >   # include   < iostream >   using   namespace   std ;   char   const *   greet ( )   {   return   \" hello ,   world \" ;   }   BOOST _ PYTHON _ MODULE ( hello _ ext )   {   using   namespace   boost : : python ;   def ( \" greet \" ,   greet ) ;   }   \u65b0\u5efa   CMakeLists . txt   \uff1a   cmake _ minimum _ required   ( VERSION   3.8 )   #   \u6dfb\u52a0 \u5934 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55   include _ directories ( \" D : / work / workspace / carla / Build / boost - 1.80 . 0 - install / include \" )   include _ directories ( \" C : / Users / Administrator / AppData / Local / Programs / Python / Python37 / include \" )   #   \u6dfb\u52a0 \u5e93 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55   link _ directories ( \" C : / Users / Administrator / AppData / Local / Programs / Python / Python37 / libs \" )   #   \u8fd8\u662f \u7f3a\u5c11   libboost _ python37 - vc142 - mt - gd - x64 - 1 _ 80 . lib   link _ directories ( \" D : / work / workspace / carla / Build / boost - 1.80 . 0 - install / lib _ no _ prefix \" )   #   \u5c06 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6dfb\u52a0 \u5230 \u6b64 \u9879\u76ee \u7684 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u3002   #   add _ executable   ( boost _ demo   \" boost _ demo . cpp \"   \" boost _ demo . h \" )   #   #   \u751f\u6210 \u52a8\u6001 \u5e93 ( \u5171\u4eab \u5e93 ) \u5171\u4eab \u5e93\u5219 \u53ea\u6709 \u4e00\u4e2a \u526f\u672c   add _ library ( hello _ ext   SHARED   hello _ ext . cpp )   # ( boost _ demo   \u662f \u5e93 \u7684 \u540d\u5b57 ) \uff0c \u8fd9 \u6761 \u547d\u4ee4 \u544a\u8bc9 cmake \uff0c \u6211\u4eec \u60f3 \u628a   boost _ demo . cpp \u7f16\u8bd1 \u8bd1\u6210 \u7f16\u8bd1\u6210 \u4e00\u4e2a \u53eb\u4f5c \u201c boost _ demo \u201d \u7684 \u5e93 \u3002   set _ target _ properties ( hello _ ext   PROPERTIES   SUFFIX   \" . pyd \" )   \u6784\u5efa \u540e \u4f1a \u751f\u6210   hello _ ext . pyd   \u3002   \u5728 \u751f\u6210 \u7684   . pyd   \u76ee\u5f55 \u4e0b \u65b0\u5efa   hello . py   import   hello _ ext   print ( hello _ ext . greet ( ) )   \u4ece Python \u4e2d \u8c03\u8bd5 * . cpp   \u5728 \u539f\u59cb . py \u811a\u672c \u4e2d \u6dfb\u52a0 \u6253\u5370 \u8fdb\u7a0b \u53f7 \u7684 \u4ee3\u7801 \uff0c \u5e76 \u4f7f \u8c03\u8bd5 \u505c\u6b62 \u4e8e cpp \u51fd\u6570 \u8c03\u7528 \u51fd\u6570\u8c03\u7528 \u4e4b\u524d \u3002   import   os   #   \u83b7\u53d6 \u5f53\u524d \u8fdb\u7a0b ID \uff08 \u4fbf\u4e8e \u8c03\u8bd5 \uff09   process _ id   =   os . getpid ( )   print ( \" Current   process   id   is :   \" ,   process _ id )   import   hello _ ext   print ( hello _ ext . greet ( ) )   \u5728 visual   studio   \u4e2d \u6dfb\u52a0 \u65ad\u70b9 \uff0c \u5e76 \u9644\u7740 \u5230 \u7b2c 1 \u6b65 \u7684 \u8fdb\u7a0b \u4e2d \u3002   \u5728   * . py   \u4e2d \u7ee7\u7eed \u6267\u884c \u7ee7\u7eed\u6267\u884c \uff0c \u4f1a \u5728 vs \u4e2d \u6682\u505c \u3002   whl \u5b89\u88c5 \u5b89\u88c5\u5305 \u7684 \u8c03\u5f0f   \u53c2\u8003   \u94fe\u63a5   \uff0c \u8f6c \u81f3 \u76ee\u5f55   carla \\ PythonAPI \\ carla   \uff0c \u8fd0\u884c   pip   install   - e   .   \uff0c \u5728   Python37 \\ Lib \\ site - packages \\ easy - install . pth   \u6587\u4ef6 \u4e2d \u751f\u6210 \u6307\u5411 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7684 \u8def\u5f84 \u3002   - e   \u6216   -- editable   \uff1a \u8fd9\u4e2a \u9009\u9879 \u8868\u793a \u4ee5 \u201c \u53ef \u7f16\u8f91 \u201d \u6a21\u5f0f \u5b89\u88c5 \u5b89\u88c5\u5305 \u3002 \u5728 \u8fd9\u79cd \u6a21\u5f0f \u4e0b \uff0c \u5305 \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u53ef\u4ee5 \u5728 \u672c\u5730 \u8fdb\u884c \u4fee\u6539 \uff0c \u5e76\u4e14 \u8fd9\u4e9b \u4fee\u6539 \u4f1a \u7acb\u5373 \u53cd\u6620 \u5230 \u7cfb\u7edf \u4e2d\u8be5 \u5305 \u7684 \u884c\u4e3a \u4e0a \uff0c \u65e0\u9700 \u91cd\u65b0 \u65b0\u5b89 \u5b89\u88c5 \u91cd\u65b0\u5b89\u88c5 \u3002 \u8fd9 \u5bf9\u4e8e \u5f00\u53d1 \u548c \u8c03\u8bd5 \u975e\u5e38 \u6709\u7528 \u3002   \u5728 \u5f53\u524d \u76ee\u5f55 \u5f53\u524d\u76ee\u5f55 \u4e0b \u5b89\u88c5 \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff0c \u5e76 \u521b\u5efa \u4e00\u4e2a \u8f6f \u8fde\u63a5 \u5f15\u7528 \u8be5\u5305 \uff08 \u800c \u4e0d\u662f \u5c06 \u5305 \u590d\u5236 \u590d\u5236\u5230   site - packages   \u76ee\u5f55 \u4e0b \uff09 \u3002 \u8fd9\u4e2a \u8f6f \u8fde\u63a5 \u662f \u4e00\u4e2a \u6307\u5411 \u5305 \u4ee3\u7801 \u7684 \u7b26\u53f7 \u94fe\u63a5 \uff0c \u5b83 \u53ef\u4ee5 \u4f7f\u5305 \u7684 \u4fee\u6539 \u76f4\u63a5 \u53cd\u6620 \u5230 \u5f53\u524d \u76ee\u5f55 \u5f53\u524d\u76ee\u5f55 \u4e0b \u7684 \u9879\u76ee \u4e2d \uff0c \u4ece\u800c \u65b9\u4fbf \u5f00\u53d1 \u548c \u8c03\u8bd5 \u3002   \u89e3\u91ca   setup . py   \u53c2\u6570   \u8bf4\u660e   ext _ modules   \u7528\u4e8e \u6784\u5efa   C++   \u6269\u5c55 \u6269\u5c55 \u5305 \uff0c \u5176\u662f   Extension   \u5b9e\u4f8b \u7684 \u5217\u8868 \uff0c \u6bcf \u4e00\u4e2a   Extension   \u5b9e\u4f8b \u63cf\u8ff0 \u4e86 \u4e00\u4e2a \u72ec\u7acb \u7684 \u6269\u5c55 \u6a21\u5757 \uff0c \u6269\u5c55 \u6a21\u5757 \u53ef\u4ee5 \u8bbe\u7f6e \u6269\u5c55 \u5305\u540d \u3001 \u6587\u4ef6 \u6e90\u6587\u4ef6   source   \u3001 \u6587\u4ef6 \u5934\u6587\u4ef6   include _ dirs   \u3001 \u94fe\u63a5 \u94fe\u63a5\u5e93 \u53ca\u5176 \u8def\u5f84   library _ dirs   \u3001 \u7f16\u8bd1 \u53c2\u6570   extra _ compile _ args   \u3001 \u94fe\u63a5 \u53c2\u6570   extra _ compile _ args   \u3001 \u4f9d\u8d56   depends   \u7b49 \u3002   package _ dir = { ' ' :   ' source ' }   \u201c root   package \u201d   \u4e2d \u7684 \u6a21\u5757 \u90fd \u5728   source   \u76ee\u5f55 \u4e2d   packages = [ ' carla ' ]   \u9700\u8981 \u5904\u7406 \u7684 \u5305 \u76ee\u5f55 \uff08 \u5305\u542b \u4e86 \u4e00\u4e9b . cpp \u6587\u4ef6 \uff09   GLI   \u5168\u5c40 \u89e3\u91ca \u91ca\u5668 \u89e3\u91ca\u5668 \u9501   \uff08 GLI , Global   Interpreter   Lock \uff09 \uff1a \u5728 \u8c03\u7528 \u5916\u90e8 \u4ee3\u7801 \uff08 \u5982 C \u3001 C++ \u6269\u5c55 \u51fd\u6570 \uff09 \u7684 \u65f6\u5019 \uff0c GIL \u5c06\u4f1a \u88ab \u9501\u5b9a \uff0c \u76f4\u5230 \u8fd9\u4e2a \u51fd\u6570 \u7ed3\u675f \u4e3a\u6b62 \uff08 \u7531\u4e8e \u671f\u95f4 \u6ca1\u6709 python \u7684 \u5b57\u8282 \u7801 \u8fd0\u884c \uff0c \u6240\u4ee5 \u4e0d\u4f1a \u505a \u7ebf\u7a0b \u5207\u6362 \uff09 \u3002","title":"Boost   python"},{"location":"demo/boost_python/#vs2019boostpython","text":"","title":"VS2019 \u8c03\u7528 boost . Python"},{"location":"demo/boost_python/#_1","text":"\u65b0\u5efa   Cmake   \u5de5\u7a0b \uff1b   \u8f93\u5165 \u4ee5\u4e0b \u4ee3\u7801 \uff1a   # include   < boost / python . hpp >   # include   < boost / python / module . hpp >   # include   < boost / python / def . hpp >   # include   < boost / python / to _ python _ converter . hpp >   # include   < iostream >   using   namespace   std ;   void   dummyFunc ( )   {   cout   < <   \" call   OK ! \"   < <   endl ;   }   int   main ( )   {   dummyFunc ( ) ;   return   0 ;   }   \u5728   CMakeLists . txt   \u4e2d \u6dfb\u52a0 \u5934 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55 \u548c \u5e93 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55   #   \u6dfb\u52a0 \u5934 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55   include _ directories ( \" D : / work / workspace / carla / Build / boost - 1.80 . 0 - install / include \" )   include _ directories ( \" C : / Users / Administrator / AppData / Local / Programs / Python / Python37 / include \" )   #   \u6dfb\u52a0 \u5e93 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55   link _ directories ( \" C : / Users / Administrator / AppData / Local / Programs / Python / Python37 / libs \" )   #   \u8fd8\u662f \u7f3a\u5c11   libboost _ python37 - vc142 - mt - gd - x64 - 1 _ 80 . lib   link _ directories ( \" D : / work / workspace / carla / Build / boost - 1.80 . 0 - install / lib _ no _ prefix \" )   \u5230 boost \u5b89\u88c5 \u76ee\u5f55 \u4e0b \uff0c \u8fdb\u5165   lib \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e0b \uff0c \u627e\u5230 \u524d\u7f00 \u662f   libboost _ python37 - vc142 - mt - x64 - 1 _ 80 . lib   \u6587\u4ef6 \uff08 \u524d\u7f00 \u6709 lib \uff09 \uff0c \u5c06 \u5176 \u524d\u7f00 \u7684 lib \u5220\u9664 \u5373\u53ef \uff08 \u5373 \u547d\u540d \u91cd\u547d\u540d \u4e3a   boost _ python37 - vc142 - mt - x64 - 1 _ 80 . lib   \uff09 \u3002   \u751f\u6210 \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c \u4f1a \u751f\u6210 exe \u6587\u4ef6 \uff0c \u5982\u679c \u4e0d \u53ef\u4ee5 \u5728 vs \u4e2d \u76f4\u63a5 \u6267\u884c \uff0c \u5c06 \u5de5\u5177 \u5de5\u5177\u680f \u4e2d \u7684   \u5f53\u524d \u6587\u6863   \u6539\u4e3a   * . exe   \u3002","title":"\u751f\u6210 \u53ef\u6267\u884c\u6587\u4ef6"},{"location":"demo/boost_python/#python","text":"\u65b0\u5efa   hello _ exe . cpp   \uff0c \u6ce8\u610f \u6587\u4ef6 \u6587\u4ef6\u540d \u5fc5\u987b \u4e3a \u6a21\u5757 \u540d \uff1a   / /   \u53c2\u8003 \uff1a https : / / developer . aliyun . com / article / 1260043   / /   \u5f53 \u5f15\u5165   # include   < boost / python / xxx >   \u65f6 \uff0c Boost   \u4f1a \u9ed8\u8ba4 \u94fe\u63a5   boost _ python   \u52a8\u6001 \u94fe\u63a5 \u94fe\u63a5\u5e93 \u52a8\u6001\u94fe\u63a5\u5e93 \uff0c   / /   \u5982\u679c \u6211\u4eec \u60f3\u8981 \u94fe\u63a5 \u9759\u6001 \u94fe\u63a5 \u94fe\u63a5\u5e93 \uff0c \u5c31 \u9700\u8981 \u5728   include   \u4e4b\u524d \u52a0\u4e0a   # define   BOOST _ PYTHON _ STATIC _ LIB   / /   \u6307\u5b9a \u94fe\u63a5   boost _ python   \u7684 \u9759\u6001 \u5e93 \uff0c \u800c \u4e0d\u662f \u9ed8\u8ba4 \u7684 \u52a8\u6001 \u5e93 \u3002   # define   BOOST _ PYTHON _ STATIC _ LIB   # include   < boost / python . hpp >   # include   < boost / python / module . hpp >   # include   < boost / python / def . hpp >   # include   < boost / python / to _ python _ converter . hpp >   # include   < iostream >   using   namespace   std ;   char   const *   greet ( )   {   return   \" hello ,   world \" ;   }   BOOST _ PYTHON _ MODULE ( hello _ ext )   {   using   namespace   boost : : python ;   def ( \" greet \" ,   greet ) ;   }   \u65b0\u5efa   CMakeLists . txt   \uff1a   cmake _ minimum _ required   ( VERSION   3.8 )   #   \u6dfb\u52a0 \u5934 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55   include _ directories ( \" D : / work / workspace / carla / Build / boost - 1.80 . 0 - install / include \" )   include _ directories ( \" C : / Users / Administrator / AppData / Local / Programs / Python / Python37 / include \" )   #   \u6dfb\u52a0 \u5e93 \u6587\u4ef6 \u76ee\u5f55 \u6587\u4ef6\u76ee\u5f55   link _ directories ( \" C : / Users / Administrator / AppData / Local / Programs / Python / Python37 / libs \" )   #   \u8fd8\u662f \u7f3a\u5c11   libboost _ python37 - vc142 - mt - gd - x64 - 1 _ 80 . lib   link _ directories ( \" D : / work / workspace / carla / Build / boost - 1.80 . 0 - install / lib _ no _ prefix \" )   #   \u5c06 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6dfb\u52a0 \u5230 \u6b64 \u9879\u76ee \u7684 \u6267\u884c \u884c\u6587 \u6587\u4ef6 \u53ef\u6267\u884c\u6587\u4ef6 \u3002   #   add _ executable   ( boost _ demo   \" boost _ demo . cpp \"   \" boost _ demo . h \" )   #   #   \u751f\u6210 \u52a8\u6001 \u5e93 ( \u5171\u4eab \u5e93 ) \u5171\u4eab \u5e93\u5219 \u53ea\u6709 \u4e00\u4e2a \u526f\u672c   add _ library ( hello _ ext   SHARED   hello _ ext . cpp )   # ( boost _ demo   \u662f \u5e93 \u7684 \u540d\u5b57 ) \uff0c \u8fd9 \u6761 \u547d\u4ee4 \u544a\u8bc9 cmake \uff0c \u6211\u4eec \u60f3 \u628a   boost _ demo . cpp \u7f16\u8bd1 \u8bd1\u6210 \u7f16\u8bd1\u6210 \u4e00\u4e2a \u53eb\u4f5c \u201c boost _ demo \u201d \u7684 \u5e93 \u3002   set _ target _ properties ( hello _ ext   PROPERTIES   SUFFIX   \" . pyd \" )   \u6784\u5efa \u540e \u4f1a \u751f\u6210   hello _ ext . pyd   \u3002   \u5728 \u751f\u6210 \u7684   . pyd   \u76ee\u5f55 \u4e0b \u65b0\u5efa   hello . py   import   hello _ ext   print ( hello _ ext . greet ( ) )","title":"\u751f\u6210 Python \u8c03\u7528 \u7684 \u5e93"},{"location":"demo/boost_python/#pythoncpp","text":"\u5728 \u539f\u59cb . py \u811a\u672c \u4e2d \u6dfb\u52a0 \u6253\u5370 \u8fdb\u7a0b \u53f7 \u7684 \u4ee3\u7801 \uff0c \u5e76 \u4f7f \u8c03\u8bd5 \u505c\u6b62 \u4e8e cpp \u51fd\u6570 \u8c03\u7528 \u51fd\u6570\u8c03\u7528 \u4e4b\u524d \u3002   import   os   #   \u83b7\u53d6 \u5f53\u524d \u8fdb\u7a0b ID \uff08 \u4fbf\u4e8e \u8c03\u8bd5 \uff09   process _ id   =   os . getpid ( )   print ( \" Current   process   id   is :   \" ,   process _ id )   import   hello _ ext   print ( hello _ ext . greet ( ) )   \u5728 visual   studio   \u4e2d \u6dfb\u52a0 \u65ad\u70b9 \uff0c \u5e76 \u9644\u7740 \u5230 \u7b2c 1 \u6b65 \u7684 \u8fdb\u7a0b \u4e2d \u3002   \u5728   * . py   \u4e2d \u7ee7\u7eed \u6267\u884c \u7ee7\u7eed\u6267\u884c \uff0c \u4f1a \u5728 vs \u4e2d \u6682\u505c \u3002","title":"\u4ece Python \u4e2d \u8c03\u8bd5 * . cpp"},{"location":"demo/boost_python/#whl","text":"\u53c2\u8003   \u94fe\u63a5   \uff0c \u8f6c \u81f3 \u76ee\u5f55   carla \\ PythonAPI \\ carla   \uff0c \u8fd0\u884c   pip   install   - e   .   \uff0c \u5728   Python37 \\ Lib \\ site - packages \\ easy - install . pth   \u6587\u4ef6 \u4e2d \u751f\u6210 \u6307\u5411 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7684 \u8def\u5f84 \u3002   - e   \u6216   -- editable   \uff1a \u8fd9\u4e2a \u9009\u9879 \u8868\u793a \u4ee5 \u201c \u53ef \u7f16\u8f91 \u201d \u6a21\u5f0f \u5b89\u88c5 \u5b89\u88c5\u5305 \u3002 \u5728 \u8fd9\u79cd \u6a21\u5f0f \u4e0b \uff0c \u5305 \u7684 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u53ef\u4ee5 \u5728 \u672c\u5730 \u8fdb\u884c \u4fee\u6539 \uff0c \u5e76\u4e14 \u8fd9\u4e9b \u4fee\u6539 \u4f1a \u7acb\u5373 \u53cd\u6620 \u5230 \u7cfb\u7edf \u4e2d\u8be5 \u5305 \u7684 \u884c\u4e3a \u4e0a \uff0c \u65e0\u9700 \u91cd\u65b0 \u65b0\u5b89 \u5b89\u88c5 \u91cd\u65b0\u5b89\u88c5 \u3002 \u8fd9 \u5bf9\u4e8e \u5f00\u53d1 \u548c \u8c03\u8bd5 \u975e\u5e38 \u6709\u7528 \u3002   \u5728 \u5f53\u524d \u76ee\u5f55 \u5f53\u524d\u76ee\u5f55 \u4e0b \u5b89\u88c5 \u4e00\u4e2a \u4e00\u4e2a\u5305 \uff0c \u5e76 \u521b\u5efa \u4e00\u4e2a \u8f6f \u8fde\u63a5 \u5f15\u7528 \u8be5\u5305 \uff08 \u800c \u4e0d\u662f \u5c06 \u5305 \u590d\u5236 \u590d\u5236\u5230   site - packages   \u76ee\u5f55 \u4e0b \uff09 \u3002 \u8fd9\u4e2a \u8f6f \u8fde\u63a5 \u662f \u4e00\u4e2a \u6307\u5411 \u5305 \u4ee3\u7801 \u7684 \u7b26\u53f7 \u94fe\u63a5 \uff0c \u5b83 \u53ef\u4ee5 \u4f7f\u5305 \u7684 \u4fee\u6539 \u76f4\u63a5 \u53cd\u6620 \u5230 \u5f53\u524d \u76ee\u5f55 \u5f53\u524d\u76ee\u5f55 \u4e0b \u7684 \u9879\u76ee \u4e2d \uff0c \u4ece\u800c \u65b9\u4fbf \u5f00\u53d1 \u548c \u8c03\u8bd5 \u3002","title":"whl \u5b89\u88c5\u5305 \u7684 \u8c03\u5f0f"},{"location":"demo/boost_python/#_2","text":"","title":"\u89e3\u91ca"},{"location":"demo/boost_python/#setuppy","text":"\u53c2\u6570   \u8bf4\u660e   ext _ modules   \u7528\u4e8e \u6784\u5efa   C++   \u6269\u5c55 \u6269\u5c55 \u5305 \uff0c \u5176\u662f   Extension   \u5b9e\u4f8b \u7684 \u5217\u8868 \uff0c \u6bcf \u4e00\u4e2a   Extension   \u5b9e\u4f8b \u63cf\u8ff0 \u4e86 \u4e00\u4e2a \u72ec\u7acb \u7684 \u6269\u5c55 \u6a21\u5757 \uff0c \u6269\u5c55 \u6a21\u5757 \u53ef\u4ee5 \u8bbe\u7f6e \u6269\u5c55 \u5305\u540d \u3001 \u6587\u4ef6 \u6e90\u6587\u4ef6   source   \u3001 \u6587\u4ef6 \u5934\u6587\u4ef6   include _ dirs   \u3001 \u94fe\u63a5 \u94fe\u63a5\u5e93 \u53ca\u5176 \u8def\u5f84   library _ dirs   \u3001 \u7f16\u8bd1 \u53c2\u6570   extra _ compile _ args   \u3001 \u94fe\u63a5 \u53c2\u6570   extra _ compile _ args   \u3001 \u4f9d\u8d56   depends   \u7b49 \u3002   package _ dir = { ' ' :   ' source ' }   \u201c root   package \u201d   \u4e2d \u7684 \u6a21\u5757 \u90fd \u5728   source   \u76ee\u5f55 \u4e2d   packages = [ ' carla ' ]   \u9700\u8981 \u5904\u7406 \u7684 \u5305 \u76ee\u5f55 \uff08 \u5305\u542b \u4e86 \u4e00\u4e9b . cpp \u6587\u4ef6 \uff09","title":"setup . py"},{"location":"demo/boost_python/#gli","text":"\u5168\u5c40 \u89e3\u91ca \u91ca\u5668 \u89e3\u91ca\u5668 \u9501   \uff08 GLI , Global   Interpreter   Lock \uff09 \uff1a \u5728 \u8c03\u7528 \u5916\u90e8 \u4ee3\u7801 \uff08 \u5982 C \u3001 C++ \u6269\u5c55 \u51fd\u6570 \uff09 \u7684 \u65f6\u5019 \uff0c GIL \u5c06\u4f1a \u88ab \u9501\u5b9a \uff0c \u76f4\u5230 \u8fd9\u4e2a \u51fd\u6570 \u7ed3\u675f \u4e3a\u6b62 \uff08 \u7531\u4e8e \u671f\u95f4 \u6ca1\u6709 python \u7684 \u5b57\u8282 \u7801 \u8fd0\u884c \uff0c \u6240\u4ee5 \u4e0d\u4f1a \u505a \u7ebf\u7a0b \u5207\u6362 \uff09 \u3002","title":"GLI"},{"location":"faq/co-simulation/","text":"\u8054\u5408 \u4eff\u771f \u3001 Python   API \u3001 \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41   \u8054\u5408 \u4eff\u771f & DIY   1 \u3001 CARLA \u548c Sumo \u80fd\u5426 \u8054\u5408 \u4eff\u771f \uff1f   \u7b54 \uff1a \u53ef\u4ee5 \uff0c \u53c2\u8003   \u5b98\u65b9 \u6587\u6863   \u3002   \u6839\u636e \u5b9e\u8df5 \u7ecf\u9a8c \u5b9e\u8df5\u7ecf\u9a8c \uff1a Sumo \u8ba1\u7b97 \u592a\u6162 \uff0c \u5927 \u6982\u7387 \u4f1a \u5bfc\u81f4 CARLA \u5e27 \u7387 \u4e0d\u53ca \u9884\u671f \u3002   2 \u3001 CARLA \u548c \u5176\u4ed6 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8054\u5408 \u4eff\u771f \uff1f   \u7b54 \uff1a \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8054\u5408 \u4eff\u771f \u7684 \u6574\u4f53 \u6d41\u7a0b \uff1a   CARLA \u8f93\u51fa \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u64cd\u63a7 \uff08 \u5239\u8f66 \u3001 \u6cb9\u95e8 \u3001 \u79bb\u5408 \u3001 \u6863\u4f4d \u3001 \u8f6c\u5411 \uff09 \u5230 \u52a8\u529b 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\u4ec0\u4e48 \u4e3a\u4ec0\u4e48 print   carla \u7684 python \u53d8\u91cf \u65f6 \uff0c \u603b\u662f \u6253\u5370 \u4e00\u4e2a \u6307\u9488 \u5730\u5740 \u7684 \u539f\u56e0 \u3002   \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41   1 \u3001 \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 \u4ea4\u901a \u901a\u6d41 \u4ea4\u901a\u6d41 \u4e0d \u53d7 \u63a7\u5236 \u7684 \u649e \uff1f   \u7b54 \uff1a \u5927 \u6982\u7387 \u662f Traffic   Manager \u7684 \u540c\u6b65 \u548c \u5f02\u6b65 \u8bbe\u7f6e \u7684 \u95ee\u9898 \uff0c \u5f53\u7136 \u4e5f \u6709 \u6027\u80fd \u95ee\u9898 \u3002 \u8be6\u60c5 \u8be6\u60c5\u8bf7 \u770b   \u5b98\u65b9 \u6587\u6863   \u3002   2 \u3001 Ackermann   Control   \u548c   Physics   Control \u6709 \u4ec0\u4e48 \u533a\u522b \uff1f   \u7b54 \uff1a Ackermann   Control \u91cc\u9762 \u6709 \u4e24\u4e2a PID \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u5206\u522b \u662f \u901f\u5ea6 PID \u63a7\u5236 \u63a7\u5236\u5668 \u548c \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 PID \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u53ef\u4ee5 \u5206\u522b \u8bbe\u7f6e PID \u7684 kp \uff0c ki \uff0c kd \u53c2\u6570 \u3002 Physics   Control \u662f \u6839\u636e \u5239\u8f66 \u3001 \u6cb9\u95e8 \u3001 \u8f6c\u5411 \u6765 \u76f4\u63a5 \u63a7\u5236 \u8f66\u8f86 \u3002   3 \u3001 \u4ea4\u901a \u4ea4\u901a\u706f \u5982\u4f55 \u63a7\u5236 \uff1f   \u7b54 \uff1a PythonAPI \u4e2d\u6709 \u63a7\u5236 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u63a5\u53e3 \uff1a   python   carla . 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Carla \u8f93\u51fa \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u64cd\u63a7 \uff08 \u5239\u8f66 \u3001 \u6cb9\u95e8 \u3001 \u79bb\u5408 \u3001 \u6863\u4f4d \u3001 \u8f6c\u5411 \uff09 \u5230 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u6a21\u578b \uff1b   2 . \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u6a21\u578b \u89e3\u7b97 \u8f66\u8f86 \u7684 \u4f4d\u59ff \u4fe1\u606f \uff08 Position \u3001 Rotation \uff09 \u5e76\u4e14 \u8f93\u51fa \u5230 Carla \uff1b   3 . Carla \u6839\u636e \u63a5\u6536 \u5230 \u7684 \u4f4d\u59ff \u4fe1\u606f \u8fdb\u884c \u66f4\u65b0 \u3002   \u53ea\u8981 \u80fd \u505a\u5230 \u4e0a\u8ff0 \u4e8b\u9879 \uff0c \u5c31 \u53ef\u4ee5 \u8fdb\u884c \u8054\u5408 \u4eff\u771f \u3002 \u5982\u679c \u8054\u5408 \u4eff\u771f \u7684 \u6548\u679c \u4e0d\u597d \uff0c \u53ef\u80fd \u56e0\u4e3a \u662f\u56e0\u4e3a \u6ca1\u6709 \u5bf9\u9f50 \u4eff\u771f \u65f6\u6b65 \u3002 Carla \u548c Simulink \u901a\u5e38 \u4e0d \u5728 \u4e00\u4e2a \u65f6\u6b65 \u548c \u9891\u7387 \u4e0b \u8fd0\u884c \uff0c \u56e0\u6b64 \u9700\u8981 \u5bf9\u9f50 \u65f6\u6b65 \u3002   6 \u3001 Carla \u7684 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u80fd \u4e0d\u80fd \u8c03\u8bd5 \uff1f   \u7b54 \uff1a \u53ef\u4ee5 \u3002 Carla \u63d0\u4f9b \u4e86 \u4e00\u4e2a python \u63a5\u53e3 \uff0c \u53ef\u4ee5 \u5728 HUD \u4e0a\u753b \u51fa \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u53c2\u6570 \u4fe1\u606f \u53c2\u6570\u4fe1\u606f \uff1a   carla . Vehicle . show _ debug _ telemetry ( )   7 \u3001 Carla \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u6709 ABS \u3001 \u540e\u8f6e \u8f6c\u5411 \u7b49 \u529f\u80fd \u5417 \uff1f   \u7b54 \uff1a \u90fd \u6ca1\u6709 \u3002 \u76ee\u524d \u5df2\u77e5 \u7684 \u6709 \uff1a Anti - Roll \uff0c \u9632\u4fa7 \u503e \u529f\u80fd \u3002 \u5982\u679c \u9700\u8981 ABS \u3001 \u540e\u8f6e \u8f6c\u5411 \u7b49 \u529f\u80fd \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u548c \u5e26\u6709 \u8fd9\u4e9b \u529f\u80fd \u7684 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8054\u5408 \u4eff\u771f \u6765 \u5b9e\u73b0 \u3002   8 \u3001 Carla \u80fd \u4e0d\u80fd \u6839\u636e \u5929\u6c14 \u3001 \u8def\u9762 \u6539\u53d8 \u6469\u64e6 \u6469\u64e6\u529b \u7cfb\u6570 \uff1f   \u7b54 \uff1a \u53ef\u4ee5 \u3002 \u6709 \u4e24\u79cd \u65b9\u5f0f \uff1a 1 .   \u8bbe\u7f6e \u7269\u7406 \u6750\u8d28 \uff1b 2 .   \u4f7f\u7528 FrictionTrigger \uff08 \u533a\u57df \u5185 \u6539\u53d8 \u8f6e\u80ce \u7684   tire   friction   \u53c2\u6570 \uff09 \u3002   9 \u3001 \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 Carla \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u603b\u662f \u632f\u8361 \uff1f   \u7b54 \uff1a \u56e0\u4e3a \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8f93\u51fa \u7684 \u662f \u901f\u5ea6 \uff0c \u6ca1\u6709 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002 Carla \u91cc \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u662f \u901a\u8fc7 \u524d\u540e \u4e24\u5e27 \u7684 \u901f\u5ea6 \u5dee \u9664\u4ee5 \u6b65\u957f \u3002 \u4eff\u771f \u9891\u7387 \u8d8a\u9ad8 \uff0c \u6b65\u957f \u8d8a\u5c0f \uff0c \u8d8a\u4f1a \u653e\u5927 \u632f\u8361 \u3002 Carla \u5df2\u7ecf \u5b9e\u73b0 \u4e86 \u9488\u5bf9 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u7684 PID \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u901a\u8fc7 \u5e73\u5747 \u52a0\u6743 \u7684 \u65b9\u5f0f \u5e73\u6ed1 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002 \u6b64\u5916 \uff0c \u4e5f \u53ef\u4ee5 \u901a\u8fc7 \u5404\u79cd \u6ee4\u6ce2 \u624b\u6bb5 \u89e3\u51b3 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u632f\u8361 \u95ee\u9898 \u3002   10 \u3001 \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 \u6ca1 \u7ed9 \u65b9\u5411 \uff0c \u8f66 \u5374 \u5f00 \u6b6a \u4e86 \uff1f   \u7b54 \uff1a \u56e0\u4e3a \u4f1a \u6709 \u4fa7\u5411 \u6ed1\u79fb \u3002 \u53ef\u80fd \u662f \u8f6e\u80ce \u4fa7\u5411 \u521a\u5ea6 \u592a \u5927 \u3001 \u8def\u9762 \u4e0d \u5e73\u6574 \uff0c \u6216\u8005 \u8def \u672c\u8eab \u662f \u503e\u659c \u7684 \u3002","title":"Dynamics"},{"location":"faq/dynamics/#_1","text":"1 \u3001 Carla \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u5230\u5e95 \u53ef\u4e0d \u4e0d\u53ef \u53ef\u4ee5 \u53ef\u4e0d\u53ef\u4ee5 \u7528 \uff1f   \u7b54 \uff1a \u9700\u8981 \u533a\u5206 \u573a\u666f \uff0c \u5982\u679c \u505a \u89c4\u63a7 \u6d4b\u8bd5 \uff0c \u53ef\u80fd \u9700\u8981 \u66f4\u52a0 \u590d\u6742 \u548c \u7cbe\u786e \u7684 \u5546\u4e1a \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8f6f\u4ef6 \uff0c \u4f8b\u5982 Carsim \u3001 CarMaker \u3002 \u5982\u679c \u662f \u5408\u6210 \u6570\u636e \u3001 \u5f3a\u5316 \u5b66\u4e60 \u7b49 \u4f7f\u7528 \u573a\u666f \uff0c \u7528 Carla \u9ed8\u8ba4 \u7684 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 PhysX \u5373\u53ef \u3002   2 \u3001 Carla \u7684 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u662f \u4ec0\u4e48 \uff1f   PhysX3.4   \u5f00\u6e90 \u9879\u76ee   \u5730\u5740   \u3002 \u7531\u4e8e UE5 \u5f03\u7528 \u4e86 PhysX \uff0c \u6240\u4ee5 Carla \u5347\u7ea7 UE5 \u4e4b\u540e \uff0c \u4f1a\u7528 Chaos \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u3002   3 \u3001 Carla \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u6709 \u7535\u8f66 \u6a21\u578b \u5417 \uff1f   \u7b54 \uff1a PhysX3.4 \u548c PhysX5 \u90fd \u6ca1\u6709 \u7535\u8f66 \u6a21\u578b \uff0c \u4e8c\u8005 \u90fd \u662f \u57fa\u4e8e \u5f15\u64ce + \u79bb\u5408 \u79bb\u5408\u5668 \u3002 Carla \u91cc \u7684 Tesla   Model   3 \u901a\u8fc7 \u4e00\u4e2a \u5355\u72ec \u7684 \u6863\u4f4d \u6a21\u62df \u7535\u8f66 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \uff0c \u4f46 \u4e5f \u6709 \u7a7a\u6863 \uff08 \u65e0\u6cd5 \u53bb\u6389 \uff09 \u3002   4 \u3001 Carla \u600e\u4e48 \u548c \u5176\u4ed6 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8054\u5408 \u4eff\u771f \uff1f   \u7b54 \uff1a Carla \u5b98\u65b9 \u5df2\u7ecf \u5b9e\u73b0 \u4e86   CarSim   \u548c   Chrono   \u7684 \u8054\u5408 \u4eff\u771f \uff0c \u524d\u8005 \u6536\u8d39 \u800c \u540e\u8005 \u5f00\u6e90 \u3002   5 \u3001 Carla \u80fd \u4e0d\u80fd \u548c Simulink \u642d \u7684 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8054\u5408 \u4eff\u771f \uff1f   \u7b54 \uff1a \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8054\u5408 \u4eff\u771f \u7684 \u6574\u4f53 \u6d41\u7a0b \uff1a   1 . Carla \u8f93\u51fa \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u64cd\u63a7 \uff08 \u5239\u8f66 \u3001 \u6cb9\u95e8 \u3001 \u79bb\u5408 \u3001 \u6863\u4f4d \u3001 \u8f6c\u5411 \uff09 \u5230 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u6a21\u578b \uff1b   2 . \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u6a21\u578b \u89e3\u7b97 \u8f66\u8f86 \u7684 \u4f4d\u59ff \u4fe1\u606f \uff08 Position \u3001 Rotation \uff09 \u5e76\u4e14 \u8f93\u51fa \u5230 Carla \uff1b   3 . Carla \u6839\u636e \u63a5\u6536 \u5230 \u7684 \u4f4d\u59ff \u4fe1\u606f \u8fdb\u884c \u66f4\u65b0 \u3002   \u53ea\u8981 \u80fd \u505a\u5230 \u4e0a\u8ff0 \u4e8b\u9879 \uff0c \u5c31 \u53ef\u4ee5 \u8fdb\u884c \u8054\u5408 \u4eff\u771f \u3002 \u5982\u679c \u8054\u5408 \u4eff\u771f \u7684 \u6548\u679c \u4e0d\u597d \uff0c \u53ef\u80fd \u56e0\u4e3a \u662f\u56e0\u4e3a \u6ca1\u6709 \u5bf9\u9f50 \u4eff\u771f \u65f6\u6b65 \u3002 Carla \u548c Simulink \u901a\u5e38 \u4e0d \u5728 \u4e00\u4e2a \u65f6\u6b65 \u548c \u9891\u7387 \u4e0b \u8fd0\u884c \uff0c \u56e0\u6b64 \u9700\u8981 \u5bf9\u9f50 \u65f6\u6b65 \u3002   6 \u3001 Carla \u7684 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u80fd \u4e0d\u80fd \u8c03\u8bd5 \uff1f   \u7b54 \uff1a \u53ef\u4ee5 \u3002 Carla \u63d0\u4f9b \u4e86 \u4e00\u4e2a python \u63a5\u53e3 \uff0c \u53ef\u4ee5 \u5728 HUD \u4e0a\u753b \u51fa \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u53c2\u6570 \u4fe1\u606f \u53c2\u6570\u4fe1\u606f \uff1a   carla . Vehicle . show _ debug _ telemetry ( )   7 \u3001 Carla \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u6709 ABS \u3001 \u540e\u8f6e \u8f6c\u5411 \u7b49 \u529f\u80fd \u5417 \uff1f   \u7b54 \uff1a \u90fd \u6ca1\u6709 \u3002 \u76ee\u524d \u5df2\u77e5 \u7684 \u6709 \uff1a Anti - Roll \uff0c \u9632\u4fa7 \u503e \u529f\u80fd \u3002 \u5982\u679c \u9700\u8981 ABS \u3001 \u540e\u8f6e \u8f6c\u5411 \u7b49 \u529f\u80fd \uff0c \u53ef\u4ee5 \u901a\u8fc7 \u548c \u5e26\u6709 \u8fd9\u4e9b \u529f\u80fd \u7684 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8054\u5408 \u4eff\u771f \u6765 \u5b9e\u73b0 \u3002   8 \u3001 Carla \u80fd \u4e0d\u80fd \u6839\u636e \u5929\u6c14 \u3001 \u8def\u9762 \u6539\u53d8 \u6469\u64e6 \u6469\u64e6\u529b \u7cfb\u6570 \uff1f   \u7b54 \uff1a \u53ef\u4ee5 \u3002 \u6709 \u4e24\u79cd \u65b9\u5f0f \uff1a 1 .   \u8bbe\u7f6e \u7269\u7406 \u6750\u8d28 \uff1b 2 .   \u4f7f\u7528 FrictionTrigger \uff08 \u533a\u57df \u5185 \u6539\u53d8 \u8f6e\u80ce \u7684   tire   friction   \u53c2\u6570 \uff09 \u3002   9 \u3001 \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 Carla \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u603b\u662f \u632f\u8361 \uff1f   \u7b54 \uff1a \u56e0\u4e3a \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8f93\u51fa \u7684 \u662f \u901f\u5ea6 \uff0c \u6ca1\u6709 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002 Carla \u91cc \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u662f \u901a\u8fc7 \u524d\u540e \u4e24\u5e27 \u7684 \u901f\u5ea6 \u5dee \u9664\u4ee5 \u6b65\u957f \u3002 \u4eff\u771f \u9891\u7387 \u8d8a\u9ad8 \uff0c \u6b65\u957f \u8d8a\u5c0f \uff0c \u8d8a\u4f1a \u653e\u5927 \u632f\u8361 \u3002 Carla \u5df2\u7ecf \u5b9e\u73b0 \u4e86 \u9488\u5bf9 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u7684 PID \u63a7\u5236 \u63a7\u5236\u5668 \uff0c \u901a\u8fc7 \u5e73\u5747 \u52a0\u6743 \u7684 \u65b9\u5f0f \u5e73\u6ed1 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002 \u6b64\u5916 \uff0c \u4e5f \u53ef\u4ee5 \u901a\u8fc7 \u5404\u79cd \u6ee4\u6ce2 \u624b\u6bb5 \u89e3\u51b3 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u632f\u8361 \u95ee\u9898 \u3002   10 \u3001 \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 \u6ca1 \u7ed9 \u65b9\u5411 \uff0c \u8f66 \u5374 \u5f00 \u6b6a \u4e86 \uff1f   \u7b54 \uff1a \u56e0\u4e3a \u4f1a \u6709 \u4fa7\u5411 \u6ed1\u79fb \u3002 \u53ef\u80fd \u662f \u8f6e\u80ce \u4fa7\u5411 \u521a\u5ea6 \u592a \u5927 \u3001 \u8def\u9762 \u4e0d \u5e73\u6574 \uff0c \u6216\u8005 \u8def \u672c\u8eab \u662f \u503e\u659c \u7684 \u3002","title":"\u52a8\u529b\u5b66"},{"location":"faq/radar/","text":"\u96f7\u8fbe   Radar / \u96f7\u8fbe   1 \u3001 CARLA \u81ea\u5e26 \u96f7\u8fbe \u53d7 \u5929\u6c14 \u5f71\u54cd \u5417 \uff1f   \u7b54 \uff1a \u7b54 \uff1a \u4e0d \u53d7 \u5f71\u54cd \uff0c Lidar \u540c\u7406 \u3002 \u7269\u7406 \u8fc7\u7a0b \u4eff\u771f \u4e0d\u662f CARLA \u5728\u610f \u7684 \u4e1c\u897f \u3002 \u6709 \u80fd\u529b \u7684 \u540c\u5b66 \u53ef\u4ee5 \u81ea\u5df1 \u5f00\u53d1 \u3002   2 \u3001 CARLA \u6709 \u7406\u60f3 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5417 \uff1f   \u7b54 \uff1a \u6ca1\u6709 \uff0c \u6709 \u80fd\u529b \u7684 \u540c\u5b66 \u53ef\u4ee5 \u81ea\u5df1 \u5f00\u53d1 \u3002 \u5e95\u5c42 \u539f\u7406 \u4e0e Radar \u7c7b\u4f3c \u3002   3 \u3001 CARLA \u6709 4D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u5417 \uff1f   \u7b54 \uff1a \u6ca1\u6709 \uff0c \u6709 \u80fd\u529b \u7684 \u540c\u5b66 \u53ef\u4ee5 \u81ea\u5df1 \u5f00\u53d1 \u3002 \u7406\u60f3 \u6a21\u578b \u53ef\u4ee5 \u53c2\u8003 Lidar \u3002 \u8fd9\u4e9b \u5e95\u5c42 \u90fd \u662f \u57fa\u4e8e RayCast \u505a \u7684 \u3002 \u5f53\u7136 \u4e5f \u770b\u5230 \u8fc7 \u4e00\u4e2a \u901a\u8fc7 \u56fe\u50cf \u53bb \u751f\u6210 4D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u8f93\u51fa \u7684 \u65b9\u6cd5 \uff0c \u5fd8 \u4e86 \u54ea\u7bc7 \u8bba\u6587 \u4e86 \u3002   4D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u662f \u4f20\u7edf \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u7684 \u5347\u7ea7 \u5347\u7ea7\u7248 \uff0c 4D \u6307 \u7684 \u662f \u901f\u5ea6 \u3001 \u8ddd\u79bb \u3001 \u6c34\u5e73 \u89d2\u5ea6 \u3001 \u5782\u76f4 \u9ad8\u5ea6 \u56db\u4e2a \u7ef4\u5ea6 \u3002 \u76f8\u6bd4 \u4f20\u7edf 3D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \uff0c 4D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u589e\u52a0 \u4e86 \u201c \u9ad8\u5ea6 \u201d \u7684 \u63a2\u6d4b \uff0c \u5c06 \u7b2c\u56db \u56db\u4e2a \u7b2c\u56db\u4e2a \u7ef4\u5ea6 \u6574\u5408 \u5230 \u4f20\u7edf \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u4e2d \uff0c \u8fd9 \u4f7f\u5f97 4D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u83b7\u53d6 \u53d6\u4fe1 \u4fe1\u606f \u83b7\u53d6\u4fe1\u606f \u7684 \u7ef4\u5ea6 \u66f4\u52a0 \u4e30\u5bcc \uff0c \u53ef\u4ee5 \u6d4b\u91cf   \u4fef\u4ef0 \u89d2\u5ea6 \uff0c \u4e14 \u89d2\u5ea6 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u53ef\u4ee5 \u8fbe\u5230 1 \u5ea6 \u5de6\u53f3 \u3002 \u800c\u4e14 \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u63a2\u6d4b \u96f7\u8fbe\u63a2\u6d4b \u8ddd\u79bb \u66f4\u957f \uff0c \u6700\u8fdc \u63a2\u6d4b \u8ddd\u79bb \u53ef\u8fbe 350 \u591a\u7c73 \u3002   Lidar / \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe   1 \u3001 Lidar \u6709 \u8fd0\u52a8 \u7578\u53d8 \u5417 \uff1f   \u7b54 \uff1a \u6709 \u4e00\u70b9 \u70b9\u70b9 \u4e00\u70b9\u70b9 \u3002 \u56e0\u4e3a \u5f15\u64ce \u662f \u79bb\u6563 \u65f6\u95f4 \uff0c \u4f46 \u79bb\u6563 \u7684 \u7c92\u5ea6 \u6ca1\u6709 \u8fbe\u5230 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6bcf \u4e00\u5217 \uff08 128 \u7ebf\u626b \u4e00\u6b21 \u6216 \u4e24\u6b21 \uff09 \u7684 \u65f6\u95f4 \uff0c \u4f46 CARLA   Lidar \u7684 \u5b9e\u73b0 \u903b\u8f91 \u662f \u6839\u636e delta   time \uff08 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u662f fixed _ delta _ time \uff09 \u53c2\u6570 \u3002 \u6240\u4ee5 CARLA   Lidar \u8ba1\u7b97 \u4e00\u6b21 \uff0c \u4e0d \u61c2 \u53c2\u6570 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u5927 \u6982\u7387 \u4e5f \u4e0d\u662f \u5b8c\u6574 \u7684 \u4e00\u5e27 \uff08 \u8f93\u51fa \u53ea\u6709 \u534a\u4e2a \u5708 \u7684 \u60c5\u51b5 \uff09 \uff0c \u4ece \u8fd9\u4e2a \u89d2\u5ea6 \u89d2\u5ea6\u770b \uff0c \u51e0\u5e27 \u62fc\u6210 \u5b8c\u6574 \u7684 \u4e00\u5e27 \uff0c \u51e0\u5e27 \u662f \u5728 \u4e0d\u540c \u4eff\u771f \u65f6\u95f4 \u4e0b \u751f\u6210 \u7684 \uff0c \u6709 \u7c92\u5ea6 \u7c97\u7c92\u5ea6 \u7684 \u8fd0\u52a8 \u7578\u53d8 \u3002 \u7406\u8bba \u4e0a \uff0c \u53ea\u8981 \u7c92\u5ea6 \u591f \u5c0f \uff08 1ms \uff09 \uff0c \u62fc\u51fa \u51fa\u6765 \u62fc\u51fa\u6765 \u7684 \u70b9\u4e91 \u5c31\u662f \u6709 \u8fd0\u52a8 \u7578\u53d8 \u7684 \u3002 \u5f53\u7136 \uff0c \u8fd0\u884c \u7684 \u4e5f \u4f1a \u5f88\u6162 \u3002   2 \u3001 \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 \u6211 \u7684 Lidar \u8f93\u51fa \u4e0d\u662f \u5b8c\u6574 \u7684 \u70b9\u4e91 \uff1f   \u7b54 \uff1a \u5efa\u8bae \u4e86\u89e3 \u4e09\u4e2a \u53c2\u6570 \u6982\u5ff5 \uff1a world   tick   ( fixed _ delta _ time ) ,   sensor   tick ,   rotation   frequence \u3002 \u5728 CARLA \u9ed8\u8ba4 \u7684 \u5b9e\u73b0 \u903b\u8f91 \u4e0b \uff0c \u4e00\u4e2a \u4eff\u771f \u79d2 \u7684 \u70b9\u4e91 \u603b\u6570 \u5e94\u8be5 \u5728   [   rotation   frequence   *   points _ per _ second   *   80%   ]   \u5de6\u53f3 \uff0c \u6839\u636e \u626b\u63cf \u7684 \u573a\u5730 \u662f\u5426 \u5f00\u9614 \u51b3\u5b9a \u8fd4\u56de \u7684 \u70b9\u4e91\u6570 \u3002 \u56e0\u4e3a \u6253 \u51fa\u53bb \u7684 \u6fc0\u5149 \u6ca1 \u51fb\u4e2d \u7269\u4f53 \u5c31 \u4e0d\u4f1a \u6709\u70b9 \u4e91 \uff0c \u6240\u4ee5 \u70b9\u4e91\u6570 \u4e00\u5b9a \u662f \u7565 \u5c11 \u7684 \u3002   3 \u3001 Lidar \u53d7 \u5929\u6c14 \u5f71\u54cd \u5417 \uff1f   \u7b54 \uff1a \u4e0d \u53d7 \u5929\u6c14 \u5f71\u54cd \u3002 \u4e5f \u4e0d\u53d7 \u7c92\u5b50 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7c92\u5b50\u7cfb\u7edf \u5f71\u54cd \uff08 \u4e0d\u7ba1 \u4f60 \u662f \u8001 \u7684 \u7c92\u5b50 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7c92\u5b50\u7cfb\u7edf \u8fd8\u662f Niagara \u7c92\u5b50 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7c92\u5b50\u7cfb\u7edf \uff09 \u3002   4 \u3001 \u600e\u4e48 \u6a21\u62df Mems \u7b49 \u975e \u673a\u68b0 \u673a\u68b0\u5f0f Lidar \uff1f   \u7b54 \uff1a \u6709 \u80fd\u529b \u7684 \u53ef\u4ee5 \u81ea\u5df1 \u8bbe\u8ba1 RayCast \u53d1\u5c04 \u65b9\u5f0f \u3002   \u6709 \u4e00\u7bc7 \u8bba\u6587 \u5b9e\u73b0 \u8fc7 \u3001   Github \u9879\u76ee \u5730\u5740   \u3002   5 \u3001 \u600e\u4e48 \u5b9e\u73b0 Lidar \u7684 \u591a\u6b21 \u53cd\u5c04 \uff1f   \u7b54 \uff1a \u4e0a \u4e00\u4e2a \u95ee\u9898 \u7684 \u8bba\u6587 \u4e5f \u5b9e\u73b0 \u8fc7 \u3002 \u4f46 \u539f\u7406 \u662f \uff1a \u8ba1\u7b97 \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u53d1\u5c04 \u7684 \u5f3a\u5ea6 \uff0c \u5982\u679c \u5927\u4e8e 50% \uff0c \u5c31 \u5728 \u51fb\u4e2d \u70b9\u5ef6 \u5165\u5c04 \u65b9\u5411 \u4e0e \u51fb\u4e2d \u70b9 \u6cd5\u7ebf \u7684 \u89d2\u5ea6 \u518d\u53d1 \u3002 \u7b2c\u4e8c \u4e8c\u6b21 \u7b2c\u4e8c\u6b21 \u53d1\u5c04 \u51fb\u4e2d \u7684 \u70b9 \u4e3a \u70b9\u4e91 \u7684 \u5750\u6807 \u3002   \u4e2a\u4eba \u7406\u89e3 \uff1a \u5047 \u3002   \u4e2a\u4eba \u611a\u89c1 \uff1a Lidar \u662f \u901a\u8fc7 \u76d8\u7801 \u89d2 \u548c TTF \u51b3\u5b9a \u70b9\u4e91 \u4f4d\u7f6e \u7684 \uff0c \u76d8\u7801 \u89d2 \u51b3\u5b9a \u70b9\u4e91 \u65b9\u5411 \uff0c TTF \uff08 time   to   fly \uff0c \u98de\u884c \u65f6\u95f4 \uff09 \u51b3\u5b9a \u8ddd\u79bb \u3002 \u770b \u4e86 \u77e5\u4e4e \u96ea\u5cad \u98de\u82b1 \u5728   \u300a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe lidar \u76ee\u524d \u7684 \u6280\u672f \u96be\u70b9 \u5728 \u54ea \uff0c \u5173\u952e \u6280\u672f \u5173\u952e\u6280\u672f \u90fd \u6709 \u54ea\u4e9b \uff1f \u300b   \u4e0b \u7684 \u56de\u7b54   \uff0c \u6211 \u5927\u6982 \u77e5\u9053 \u9b3c\u5f71 \u548c \u81a8\u80c0 \u7684 \u539f\u56e0 \u3002 \u6240\u4ee5 \u591a\u6b21 \u53cd\u5c04 \u80fd \u751f\u6210 \u70b9\u4e91 \u6700 \u91cd\u8981 \u7684 \u4e00\u70b9 \u662f \uff1a \u591a\u6b21 \u8def\u5f84 \u53cd\u5c04 \u540e \uff0c \u6700\u7ec8 \u80fd \u88ab \u63a5\u6536 \u63a5\u6536\u5668 \u611f\u77e5 \u3002 \u5e76\u4e14 \u70b9\u4e91 \u7684 \u65b9\u5411 \u53ea \u53d7\u76d8 \u7801\u89d2 \u51b3\u5b9a \uff0c \u4e0d\u662f \u4e24\u6b21 \u53cd\u5c04 \u51fb\u4e2d \u7684 \u70b9 \u5c31\u662f \u6700\u7ec8 \u7684 \u70b9\u4e91 \u7684 \u4f4d\u7f6e \uff01 \uff08 \u5f53\u7136 \uff0c \u7406\u89e3 \u4e86 \u539f\u7406 \uff0c \u4e5f \u5c31 \u6709 \u53ef\u80fd \u53bb \u5b9e\u73b0 \u4e86 \uff0c \u6027\u80fd \u6d88\u8017 \u4f30\u8ba1 \u4e0d\u5c0f \uff09   6 \u3001 \u600e\u4e48 \u5b9e\u73b0 \u4e0d\u540c \u7269\u4f53 \u4e0d\u540c \u53cd\u5c04 \u53cd\u5c04\u7387 \uff1f   \u7b54 \uff1a \u4e2a\u4eba \u4e86\u89e3 \u4e24\u79cd \u65b9\u6848 \uff1a   1 \uff09 \u3001 \u4e00\u79cd \u57fa\u4e8e CARLA \u7684 Tag \u7cfb\u7edf \uff0c \u4e5f \u5c31\u662f Semantic \u8bed\u4e49 \u5206\u5272 \u7684 \u57fa\u7840 \u3002 \u4e0d\u540c \u7684 \u7269\u4f53 \u5728 \u8bed\u4e49 \u5206\u5272 \u91cc \u6709 \u4e0d\u540c \u7684 \u989c\u8272 \uff0c \u672c\u8d28 \u662f \u88ab CARLA \u5206\u7c7b \u4e86 \uff0c \u7136\u540e \u53ef\u4ee5 \u6839\u636e \u8fd9\u4e2a Tag \u7ed9 \u7269\u4f53 \u5bf9\u5e94 \u7684 \u53cd\u5c04 \u53cd\u5c04\u7387 \u3002   \u65b9\u6848 \u7f3a\u70b9 \uff1a \u7c92\u5ea6 \u5f88\u7c97 \uff0c \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u7684 \u73bb\u7483 \u548c \u8f66\u724c \u662f \u5b8c\u5168 \u4e0d\u540c \u7684 \u53cd\u5c04 \u60c5\u51b5 \u3002 \uff08 \u4e0a\u8ff0 \u8bba\u6587 \u7528 \u7684 \u5c31\u662f \u8fd9\u79cd \u65b9\u6cd5 \uff09   2 \uff09 \u57fa\u4e8e \u7269\u7406 \u6750\u8d28 \u3002 RayCast \u7684 \u63a5\u53e3 LineTrace \u548c \u8fd4\u56de \u7ed3\u679c FHitResult \u53ef\u4ee5 \u770b \u4e00\u4e0b \uff0c \u91cc\u9762 \u53ef\u4ee5 \u62ff\u5230 \u7269\u7406 \u6750\u8d28 \u7684 \u4fe1\u606f \u3002 \u518d \u6839\u636e \u8fd9\u4e2a \u6807\u8bb0 \u7ed9 \u5bf9\u5e94 \u6750\u8d28 \u4e0d\u540c \u7684 \u53cd\u5c04 \u53cd\u5c04\u7387 \u3002   \u65b9\u6848 \u7f3a\u70b9 \uff1a \u7269\u7406 \u6750\u8d28 UE \u9ed8\u8ba4 \u53ea \u5141\u8bb8 \u8bbe\u7f6e 63 \u4e2a \uff0c \u800c\u4e14 \u5f97 \u770b \u5b9e\u9645 \u6750\u8d28 \u7684 \u7c92\u5ea6 \uff0c CARLA \u4e2d\u6709 \u5f88\u591a \u697c \uff0c \u4e00\u680b \u697c \u53ea\u6709 \u4e00\u4e2a \u6750\u8d28 \uff0c \u6240\u4ee5 \u4e5f \u53ea\u80fd \u8bbe\u7f6e \u4e00\u4e2a \u5bf9\u5e94 \u7684 \u7269\u7406 \u6750\u8d28 \u3002 \u800c\u4e14 \u8bbe\u7f6e \u7269\u7406 \u6750\u8d28 \u4f1a \u5f71\u54cd \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8868\u73b0 \uff0c \u6bd5\u7adf \u8fd9\u4e2a \u672c\u6765 \u5c31\u662f \u7ed9 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u7528 \u7684 \u3002   \u53c2\u8003 issue \uff1a https : / / github . com / carla - simulator / carla / issues / 6171   7 \u3001 CARLA \u7684 Lidar \u652f\u6301 \u591a \u56de\u6ce2 \u5417 \uff1f   \u7b54 \uff1a \u4e0d \u652f\u6301 \u3002 \u4e86\u89e3 \u591a \u56de\u6ce2 \u539f\u7406 \u7684 \u53ef\u4ee5 \u624b\u52a8 \u5b9e\u73b0 \uff0c \u5f53\u7136 \u4f30\u8ba1 \u4f1a \u4f34\u968f \u7740 \u6027\u80fd \u6d88\u8017 \u589e\u957f \u3002   UltraSonic / \u8d85\u58f0 \u58f0\u6ce2 \u8d85\u58f0\u6ce2   1 \u3001 CARLA \u6ca1\u6709 \u6709\u6ca1\u6709 \u8d85\u58f0 \u58f0\u6ce2 \u8d85\u58f0\u6ce2 \u96f7\u8fbe \uff1f   \u7b54 \uff1a \u6ca1\u6709 \u3002 \u57fa\u672c \u57fa\u672c\u4e0a \u8fd9 \u7c7b \u4e3b\u52a8 \u53d1\u5c04 \u63a2\u6d4b \u6027 \u96f7\u8fbe \uff0c \u5e95\u5c42 \u90fd \u662f RayCast \u3002","title":"Radar"},{"location":"faq/radar/#_1","text":"","title":"\u96f7\u8fbe"},{"location":"faq/radar/#radar","text":"1 \u3001 CARLA \u81ea\u5e26 \u96f7\u8fbe \u53d7 \u5929\u6c14 \u5f71\u54cd \u5417 \uff1f   \u7b54 \uff1a \u7b54 \uff1a \u4e0d \u53d7 \u5f71\u54cd \uff0c Lidar \u540c\u7406 \u3002 \u7269\u7406 \u8fc7\u7a0b \u4eff\u771f \u4e0d\u662f CARLA \u5728\u610f \u7684 \u4e1c\u897f \u3002 \u6709 \u80fd\u529b \u7684 \u540c\u5b66 \u53ef\u4ee5 \u81ea\u5df1 \u5f00\u53d1 \u3002   2 \u3001 CARLA \u6709 \u7406\u60f3 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5417 \uff1f   \u7b54 \uff1a \u6ca1\u6709 \uff0c \u6709 \u80fd\u529b \u7684 \u540c\u5b66 \u53ef\u4ee5 \u81ea\u5df1 \u5f00\u53d1 \u3002 \u5e95\u5c42 \u539f\u7406 \u4e0e Radar \u7c7b\u4f3c \u3002   3 \u3001 CARLA \u6709 4D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u5417 \uff1f   \u7b54 \uff1a \u6ca1\u6709 \uff0c \u6709 \u80fd\u529b \u7684 \u540c\u5b66 \u53ef\u4ee5 \u81ea\u5df1 \u5f00\u53d1 \u3002 \u7406\u60f3 \u6a21\u578b \u53ef\u4ee5 \u53c2\u8003 Lidar \u3002 \u8fd9\u4e9b \u5e95\u5c42 \u90fd \u662f \u57fa\u4e8e RayCast \u505a \u7684 \u3002 \u5f53\u7136 \u4e5f \u770b\u5230 \u8fc7 \u4e00\u4e2a \u901a\u8fc7 \u56fe\u50cf \u53bb \u751f\u6210 4D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u8f93\u51fa \u7684 \u65b9\u6cd5 \uff0c \u5fd8 \u4e86 \u54ea\u7bc7 \u8bba\u6587 \u4e86 \u3002   4D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u662f \u4f20\u7edf \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u7684 \u5347\u7ea7 \u5347\u7ea7\u7248 \uff0c 4D \u6307 \u7684 \u662f \u901f\u5ea6 \u3001 \u8ddd\u79bb \u3001 \u6c34\u5e73 \u89d2\u5ea6 \u3001 \u5782\u76f4 \u9ad8\u5ea6 \u56db\u4e2a \u7ef4\u5ea6 \u3002 \u76f8\u6bd4 \u4f20\u7edf 3D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \uff0c 4D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u589e\u52a0 \u4e86 \u201c \u9ad8\u5ea6 \u201d \u7684 \u63a2\u6d4b \uff0c \u5c06 \u7b2c\u56db \u56db\u4e2a \u7b2c\u56db\u4e2a \u7ef4\u5ea6 \u6574\u5408 \u5230 \u4f20\u7edf \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u4e2d \uff0c \u8fd9 \u4f7f\u5f97 4D \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u83b7\u53d6 \u53d6\u4fe1 \u4fe1\u606f \u83b7\u53d6\u4fe1\u606f \u7684 \u7ef4\u5ea6 \u66f4\u52a0 \u4e30\u5bcc \uff0c \u53ef\u4ee5 \u6d4b\u91cf   \u4fef\u4ef0 \u89d2\u5ea6 \uff0c \u4e14 \u89d2\u5ea6 \u5206\u8fa8 \u8fa8\u7387 \u5206\u8fa8\u7387 \u53ef\u4ee5 \u8fbe\u5230 1 \u5ea6 \u5de6\u53f3 \u3002 \u800c\u4e14 \u6beb\u7c73 \u7c73\u6ce2 \u6beb\u7c73\u6ce2 \u96f7\u8fbe \u63a2\u6d4b \u96f7\u8fbe\u63a2\u6d4b \u8ddd\u79bb \u66f4\u957f \uff0c \u6700\u8fdc \u63a2\u6d4b \u8ddd\u79bb \u53ef\u8fbe 350 \u591a\u7c73 \u3002","title":"Radar / \u96f7\u8fbe"},{"location":"faq/radar/#lidar","text":"1 \u3001 Lidar \u6709 \u8fd0\u52a8 \u7578\u53d8 \u5417 \uff1f   \u7b54 \uff1a \u6709 \u4e00\u70b9 \u70b9\u70b9 \u4e00\u70b9\u70b9 \u3002 \u56e0\u4e3a \u5f15\u64ce \u662f \u79bb\u6563 \u65f6\u95f4 \uff0c \u4f46 \u79bb\u6563 \u7684 \u7c92\u5ea6 \u6ca1\u6709 \u8fbe\u5230 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u6bcf \u4e00\u5217 \uff08 128 \u7ebf\u626b \u4e00\u6b21 \u6216 \u4e24\u6b21 \uff09 \u7684 \u65f6\u95f4 \uff0c \u4f46 CARLA   Lidar \u7684 \u5b9e\u73b0 \u903b\u8f91 \u662f \u6839\u636e delta   time \uff08 \u540c\u6b65 \u6a21\u5f0f \u4e0b \u662f fixed _ delta _ time \uff09 \u53c2\u6570 \u3002 \u6240\u4ee5 CARLA   Lidar \u8ba1\u7b97 \u4e00\u6b21 \uff0c \u4e0d \u61c2 \u53c2\u6570 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u5927 \u6982\u7387 \u4e5f \u4e0d\u662f \u5b8c\u6574 \u7684 \u4e00\u5e27 \uff08 \u8f93\u51fa \u53ea\u6709 \u534a\u4e2a \u5708 \u7684 \u60c5\u51b5 \uff09 \uff0c \u4ece \u8fd9\u4e2a \u89d2\u5ea6 \u89d2\u5ea6\u770b \uff0c \u51e0\u5e27 \u62fc\u6210 \u5b8c\u6574 \u7684 \u4e00\u5e27 \uff0c \u51e0\u5e27 \u662f \u5728 \u4e0d\u540c \u4eff\u771f \u65f6\u95f4 \u4e0b \u751f\u6210 \u7684 \uff0c \u6709 \u7c92\u5ea6 \u7c97\u7c92\u5ea6 \u7684 \u8fd0\u52a8 \u7578\u53d8 \u3002 \u7406\u8bba \u4e0a \uff0c \u53ea\u8981 \u7c92\u5ea6 \u591f \u5c0f \uff08 1ms \uff09 \uff0c \u62fc\u51fa \u51fa\u6765 \u62fc\u51fa\u6765 \u7684 \u70b9\u4e91 \u5c31\u662f \u6709 \u8fd0\u52a8 \u7578\u53d8 \u7684 \u3002 \u5f53\u7136 \uff0c \u8fd0\u884c \u7684 \u4e5f \u4f1a \u5f88\u6162 \u3002   2 \u3001 \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 \u6211 \u7684 Lidar \u8f93\u51fa \u4e0d\u662f \u5b8c\u6574 \u7684 \u70b9\u4e91 \uff1f   \u7b54 \uff1a \u5efa\u8bae \u4e86\u89e3 \u4e09\u4e2a \u53c2\u6570 \u6982\u5ff5 \uff1a world   tick   ( fixed _ delta _ time ) ,   sensor   tick ,   rotation   frequence \u3002 \u5728 CARLA \u9ed8\u8ba4 \u7684 \u5b9e\u73b0 \u903b\u8f91 \u4e0b \uff0c \u4e00\u4e2a \u4eff\u771f \u79d2 \u7684 \u70b9\u4e91 \u603b\u6570 \u5e94\u8be5 \u5728   [   rotation   frequence   *   points _ per _ second   *   80%   ]   \u5de6\u53f3 \uff0c \u6839\u636e \u626b\u63cf \u7684 \u573a\u5730 \u662f\u5426 \u5f00\u9614 \u51b3\u5b9a \u8fd4\u56de \u7684 \u70b9\u4e91\u6570 \u3002 \u56e0\u4e3a \u6253 \u51fa\u53bb \u7684 \u6fc0\u5149 \u6ca1 \u51fb\u4e2d \u7269\u4f53 \u5c31 \u4e0d\u4f1a \u6709\u70b9 \u4e91 \uff0c \u6240\u4ee5 \u70b9\u4e91\u6570 \u4e00\u5b9a \u662f \u7565 \u5c11 \u7684 \u3002   3 \u3001 Lidar \u53d7 \u5929\u6c14 \u5f71\u54cd \u5417 \uff1f   \u7b54 \uff1a \u4e0d \u53d7 \u5929\u6c14 \u5f71\u54cd \u3002 \u4e5f \u4e0d\u53d7 \u7c92\u5b50 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7c92\u5b50\u7cfb\u7edf \u5f71\u54cd \uff08 \u4e0d\u7ba1 \u4f60 \u662f \u8001 \u7684 \u7c92\u5b50 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7c92\u5b50\u7cfb\u7edf \u8fd8\u662f Niagara \u7c92\u5b50 \u7cfb\u7edf \u5b50\u7cfb\u7edf \u7c92\u5b50\u7cfb\u7edf \uff09 \u3002   4 \u3001 \u600e\u4e48 \u6a21\u62df Mems \u7b49 \u975e \u673a\u68b0 \u673a\u68b0\u5f0f Lidar \uff1f   \u7b54 \uff1a \u6709 \u80fd\u529b \u7684 \u53ef\u4ee5 \u81ea\u5df1 \u8bbe\u8ba1 RayCast \u53d1\u5c04 \u65b9\u5f0f \u3002   \u6709 \u4e00\u7bc7 \u8bba\u6587 \u5b9e\u73b0 \u8fc7 \u3001   Github \u9879\u76ee \u5730\u5740   \u3002   5 \u3001 \u600e\u4e48 \u5b9e\u73b0 Lidar \u7684 \u591a\u6b21 \u53cd\u5c04 \uff1f   \u7b54 \uff1a \u4e0a \u4e00\u4e2a \u95ee\u9898 \u7684 \u8bba\u6587 \u4e5f \u5b9e\u73b0 \u8fc7 \u3002 \u4f46 \u539f\u7406 \u662f \uff1a \u8ba1\u7b97 \u7b2c\u4e00 \u4e00\u6b21 \u7b2c\u4e00\u6b21 \u53d1\u5c04 \u7684 \u5f3a\u5ea6 \uff0c \u5982\u679c \u5927\u4e8e 50% \uff0c \u5c31 \u5728 \u51fb\u4e2d \u70b9\u5ef6 \u5165\u5c04 \u65b9\u5411 \u4e0e \u51fb\u4e2d \u70b9 \u6cd5\u7ebf \u7684 \u89d2\u5ea6 \u518d\u53d1 \u3002 \u7b2c\u4e8c \u4e8c\u6b21 \u7b2c\u4e8c\u6b21 \u53d1\u5c04 \u51fb\u4e2d \u7684 \u70b9 \u4e3a \u70b9\u4e91 \u7684 \u5750\u6807 \u3002   \u4e2a\u4eba \u7406\u89e3 \uff1a \u5047 \u3002   \u4e2a\u4eba \u611a\u89c1 \uff1a Lidar \u662f \u901a\u8fc7 \u76d8\u7801 \u89d2 \u548c TTF \u51b3\u5b9a \u70b9\u4e91 \u4f4d\u7f6e \u7684 \uff0c \u76d8\u7801 \u89d2 \u51b3\u5b9a \u70b9\u4e91 \u65b9\u5411 \uff0c TTF \uff08 time   to   fly \uff0c \u98de\u884c \u65f6\u95f4 \uff09 \u51b3\u5b9a \u8ddd\u79bb \u3002 \u770b \u4e86 \u77e5\u4e4e \u96ea\u5cad \u98de\u82b1 \u5728   \u300a \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe lidar \u76ee\u524d \u7684 \u6280\u672f \u96be\u70b9 \u5728 \u54ea \uff0c \u5173\u952e \u6280\u672f \u5173\u952e\u6280\u672f \u90fd \u6709 \u54ea\u4e9b \uff1f \u300b   \u4e0b \u7684 \u56de\u7b54   \uff0c \u6211 \u5927\u6982 \u77e5\u9053 \u9b3c\u5f71 \u548c \u81a8\u80c0 \u7684 \u539f\u56e0 \u3002 \u6240\u4ee5 \u591a\u6b21 \u53cd\u5c04 \u80fd \u751f\u6210 \u70b9\u4e91 \u6700 \u91cd\u8981 \u7684 \u4e00\u70b9 \u662f \uff1a \u591a\u6b21 \u8def\u5f84 \u53cd\u5c04 \u540e \uff0c \u6700\u7ec8 \u80fd \u88ab \u63a5\u6536 \u63a5\u6536\u5668 \u611f\u77e5 \u3002 \u5e76\u4e14 \u70b9\u4e91 \u7684 \u65b9\u5411 \u53ea \u53d7\u76d8 \u7801\u89d2 \u51b3\u5b9a \uff0c \u4e0d\u662f \u4e24\u6b21 \u53cd\u5c04 \u51fb\u4e2d \u7684 \u70b9 \u5c31\u662f \u6700\u7ec8 \u7684 \u70b9\u4e91 \u7684 \u4f4d\u7f6e \uff01 \uff08 \u5f53\u7136 \uff0c \u7406\u89e3 \u4e86 \u539f\u7406 \uff0c \u4e5f \u5c31 \u6709 \u53ef\u80fd \u53bb \u5b9e\u73b0 \u4e86 \uff0c \u6027\u80fd \u6d88\u8017 \u4f30\u8ba1 \u4e0d\u5c0f \uff09   6 \u3001 \u600e\u4e48 \u5b9e\u73b0 \u4e0d\u540c \u7269\u4f53 \u4e0d\u540c \u53cd\u5c04 \u53cd\u5c04\u7387 \uff1f   \u7b54 \uff1a \u4e2a\u4eba \u4e86\u89e3 \u4e24\u79cd \u65b9\u6848 \uff1a   1 \uff09 \u3001 \u4e00\u79cd \u57fa\u4e8e CARLA \u7684 Tag \u7cfb\u7edf \uff0c \u4e5f \u5c31\u662f Semantic \u8bed\u4e49 \u5206\u5272 \u7684 \u57fa\u7840 \u3002 \u4e0d\u540c \u7684 \u7269\u4f53 \u5728 \u8bed\u4e49 \u5206\u5272 \u91cc \u6709 \u4e0d\u540c \u7684 \u989c\u8272 \uff0c \u672c\u8d28 \u662f \u88ab CARLA \u5206\u7c7b \u4e86 \uff0c \u7136\u540e \u53ef\u4ee5 \u6839\u636e \u8fd9\u4e2a Tag \u7ed9 \u7269\u4f53 \u5bf9\u5e94 \u7684 \u53cd\u5c04 \u53cd\u5c04\u7387 \u3002   \u65b9\u6848 \u7f3a\u70b9 \uff1a \u7c92\u5ea6 \u5f88\u7c97 \uff0c \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u7684 \u73bb\u7483 \u548c \u8f66\u724c \u662f \u5b8c\u5168 \u4e0d\u540c \u7684 \u53cd\u5c04 \u60c5\u51b5 \u3002 \uff08 \u4e0a\u8ff0 \u8bba\u6587 \u7528 \u7684 \u5c31\u662f \u8fd9\u79cd \u65b9\u6cd5 \uff09   2 \uff09 \u57fa\u4e8e \u7269\u7406 \u6750\u8d28 \u3002 RayCast \u7684 \u63a5\u53e3 LineTrace \u548c \u8fd4\u56de \u7ed3\u679c FHitResult \u53ef\u4ee5 \u770b \u4e00\u4e0b \uff0c \u91cc\u9762 \u53ef\u4ee5 \u62ff\u5230 \u7269\u7406 \u6750\u8d28 \u7684 \u4fe1\u606f \u3002 \u518d \u6839\u636e \u8fd9\u4e2a \u6807\u8bb0 \u7ed9 \u5bf9\u5e94 \u6750\u8d28 \u4e0d\u540c \u7684 \u53cd\u5c04 \u53cd\u5c04\u7387 \u3002   \u65b9\u6848 \u7f3a\u70b9 \uff1a \u7269\u7406 \u6750\u8d28 UE \u9ed8\u8ba4 \u53ea \u5141\u8bb8 \u8bbe\u7f6e 63 \u4e2a \uff0c \u800c\u4e14 \u5f97 \u770b \u5b9e\u9645 \u6750\u8d28 \u7684 \u7c92\u5ea6 \uff0c CARLA \u4e2d\u6709 \u5f88\u591a \u697c \uff0c \u4e00\u680b \u697c \u53ea\u6709 \u4e00\u4e2a \u6750\u8d28 \uff0c \u6240\u4ee5 \u4e5f \u53ea\u80fd \u8bbe\u7f6e \u4e00\u4e2a \u5bf9\u5e94 \u7684 \u7269\u7406 \u6750\u8d28 \u3002 \u800c\u4e14 \u8bbe\u7f6e \u7269\u7406 \u6750\u8d28 \u4f1a \u5f71\u54cd \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u8868\u73b0 \uff0c \u6bd5\u7adf \u8fd9\u4e2a \u672c\u6765 \u5c31\u662f \u7ed9 \u52a8\u529b \u529b\u5b66 \u52a8\u529b\u5b66 \u7528 \u7684 \u3002   \u53c2\u8003 issue \uff1a https : / / github . com / carla - simulator / carla / issues / 6171   7 \u3001 CARLA \u7684 Lidar \u652f\u6301 \u591a \u56de\u6ce2 \u5417 \uff1f   \u7b54 \uff1a \u4e0d \u652f\u6301 \u3002 \u4e86\u89e3 \u591a \u56de\u6ce2 \u539f\u7406 \u7684 \u53ef\u4ee5 \u624b\u52a8 \u5b9e\u73b0 \uff0c \u5f53\u7136 \u4f30\u8ba1 \u4f1a \u4f34\u968f \u7740 \u6027\u80fd \u6d88\u8017 \u589e\u957f \u3002","title":"Lidar / \u6fc0\u5149\u96f7\u8fbe"},{"location":"faq/radar/#ultrasonic","text":"1 \u3001 CARLA \u6ca1\u6709 \u6709\u6ca1\u6709 \u8d85\u58f0 \u58f0\u6ce2 \u8d85\u58f0\u6ce2 \u96f7\u8fbe \uff1f   \u7b54 \uff1a \u6ca1\u6709 \u3002 \u57fa\u672c \u57fa\u672c\u4e0a \u8fd9 \u7c7b \u4e3b\u52a8 \u53d1\u5c04 \u63a2\u6d4b \u6027 \u96f7\u8fbe \uff0c \u5e95\u5c42 \u90fd \u662f RayCast \u3002","title":"UltraSonic / \u8d85\u58f0\u6ce2"},{"location":"faq/sensor/","text":"\u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668   \u672c\u6587 \u4e3b\u8981 \u662f \u7b80\u8ff0 \u4e86 \u5728 \u4f7f\u7528 Carla \u8fc7\u7a0b \u4e2d \u9047\u5230 \u7684 \u5173\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4e00\u4e9b \u5e38\u89c1 \u95ee\u9898 \u5e38\u89c1\u95ee\u9898 \u3002   1 \u3001 Carla \u6ca1\u6709 \u6709\u6ca1\u6709 \u9c7c\u773c \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \uff1f   \u7b54 \uff1a \u6709 \uff0c \u5728   Carla \u7684 PullRequest \u4e2d   \u4f20 \u4e86 \u9c7c\u773c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u5e76\u4e14 \u5728 issues \u548c pullrequets \u4e2d \u5df2\u7ecf \u5f62\u6210 \u4e86 \u6bd4\u8f83 \u5b8c\u6574 \u7684 \u4ee3\u7801 bug \u4fee\u590d \u7f16\u8bd1 \u8fc7\u7a0b \uff0c \u4e3b\u8981 \u662f \u9002\u914d UE4.26 \u7684 \u4ee3\u7801 \u3002   2 \u3001 Carla \u6ca1\u6709 \u6709\u6ca1\u6709 \u9c7c\u773c \u7684 \u8bed\u4e49 \u5206\u5272 \u6216 \u5b9e\u4f8b \u5206\u5272 \u4f20\u5668 \uff1f   \u7b54 \uff1a \u53ef\u4ee5 \u5b9e\u73b0 \uff0c \u867d\u7136 \u6ca1 \u6ce8\u610f issues \u91cc \u6ca1\u6709 \u6709\u6ca1\u6709 \u5b9e\u73b0 \u65b9\u5f0f \u3002 \u4f46 \u4e86\u89e3 \u666e\u901a RGB \u548c \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u77e5\u9053 \uff0c \u8fd9\u4e2a \u5176\u5b9e \u662f \u5904\u7406 \u540e\u5904\u7406 \u6750\u8d28 \u7684 \u529f\u52b3 \u3002   3 \u3001 \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 \u4e00\u4e2a Carla \u591a\u4e2a \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u663e\u5361 \u8fd8\u662f \u5229\u7528 \u7528\u7387 \u5229\u7528\u7387 \u5f88 \u4f4e \uff1f   \u7b54 \uff1a \u5c0f\u7f16 \u5206\u6790 \u8fd9\u4e2a \u662f \u591a\u4e2a SceneCapture \u5176\u5b9e \u662f \u8f6e\u6d41 \u8fdb\u5165 \u6e32\u67d3 \u961f\u5217 \u7684 \u3002 \u5728 \u5e95\u5c42 RHI \uff08 \u6e32\u67d3 \u786c\u4ef6 \u63a5\u53e3 \uff09 \u7ebf\u7a0b \u5e76 \u4e0d\u80fd \u5e76\u884c \u6267\u884c \u5e76\u884c\u6267\u884c \u6e32\u67d3 \u4efb\u52a1 \u3002 \u8fd9\u4e2a \u95ee\u9898 \u5e94\u8be5 \u9650\u5236 \u5728 UE \u4fa7 \u3002   4 \u3001 Carla \u4ec0\u4e48 \u65f6\u5019 \u8fc1\u79fb UE5 \uff1f   \u7b54 \uff1a \u73b0\u5728 Carla   Github \u4e2d \u5df2\u6709 UE5 . x \u7684 \u7248\u672c \u3002 \u5c0f\u7f16 \u8ba4\u4e3a UE5 \u7684 \u6e32\u67d3 \u6548\u679c \u5e76 \u4e0d\u80fd \u89e3\u51b3 \u6e32\u67d3 \u4e0d \u771f\u7684 \u95ee\u9898 \uff0c \u4e5f \u4e0d\u80fd \u89e3\u51b3 \u6e32\u67d3 \u6027\u80fd \u7684 \u95ee\u9898 \u3002 \u5f53\u7136 \uff0c \u201c \u6709 \u66f4\u597d \u7684 \u7528 \u66f4\u597d \u7684 \u201d \u7684 \u51fa\u53d1 \u53d1\u70b9 \u51fa\u53d1\u70b9 \u6ca1 \u5565 \u95ee\u9898 \u3002 \u4f46 \u9ad8 \u6e32\u67d3 \u753b\u8d28 \u4f34\u968f \u7740 \u9ad8\u6027 \u6027\u80fd \u9ad8\u6027\u80fd \u6d88\u8017 \u7684 \u5b9a\u5f8b \u662f \u4e0d\u4f1a \u53d8 \u7684 \u3002   5 \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 Listen \u7684 \u65f6\u5019 \uff0c \u603b\u662f \u5361\u6b7b \uff0c \u5185\u5b58 \u7206\u70b8   \u7b54 \uff1a Carla \u7684 \u6570\u636e \u6570\u636e\u6d41 \u57fa\u4e8e TCP \uff0c \u4e00\u822c \u662f \u5728 listen ( ) \u8c03\u7528 \u7684 Callback \u51fd\u6570 \u8fd0\u884c \u65f6\u95f4 \u8f83\u957f \u3002 Carla \u670d\u52a1 \u670d\u52a1\u7aef \u5728 \u75af\u72c2 \u4ece Buffer   Pool \u7533\u8bf7 \u65b0 \u7684 \u5185\u5b58 \uff0c \u5728 \u7f51\u7edc \u7aef \u5835\u585e \u3002 \u8fd9\u4e2a \u95ee\u9898 \u901a\u5e38 \u5728 \u5355\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ea7\u751f \u7684 \u6570\u636e \u6570\u636e\u91cf \u5f88\u5927 \uff0c \u800c\u4e14 \u8fd8 \u9ad8\u9891 \u4ea7\u51fa \u7684 \u60c5\u51b5 \u4e0b \u51fa\u73b0 \uff0c \u5982\u679c \u662f \u5f02\u6b65 \u6a21\u5f0f \uff0c \u90a3 \u51fa\u73b0 \u9891\u7387 \u66f4\u9ad8 \u3002   \u89e3\u51b3 \u529e\u6cd5 \u89e3\u51b3\u529e\u6cd5 \uff1a \u4f18\u5316 Python \u811a\u672c \uff0c \u5199\u4e2a \u5f02\u6b65 \u5904\u7406 \u3002   6 \u3001 Carla   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u51fa\u73b0 \u7729\u5149   \u7b54 \uff1a \u4e00\u822c \u8fd9\u79cd \u60c5\u51b5 \u4f1a\u5148 \u51fa\u73b0 \u663e\u5b58 \u4e0d\u591f \u7528 \u7684 Warning \uff0c \u7136\u540e \u5c31 \u7206\u70b8 \u4e86 \u3002 \u901a\u5e38 \u4f7f\u7528 \u5927 \u663e\u5b58 \u53ef\u4ee5 \u51cf\u5c11 \u8fd9\u4e2a \u95ee\u9898 \u51fa\u73b0 \u7684 \u6982\u7387 \u3002   7 \u3001 Carla \u81ea\u5e26 \u7684 \u7578\u53d8 \u6a21\u578b \u600e\u4e48 \u7528 \uff1f   \u7b54 \uff1a \u53c2\u8003   SynthEyes '   lens - distortion \u7578\u53d8 \u7b97\u6cd5   \u548c   SynthEyes '   lens - distortion \u7578\u53d8 \u7b97\u6cd5 \u539f\u7406   \u3002 \u5f53\u7136 \u53ef\u4ee5 \u53bb \u770b \u5b9e\u73b0 \u5b83 \u7684 \u5904\u7406 \u540e\u5904\u7406 \u6750\u8d28 \u84dd\u56fe PhysicLensDistortion \u3002   8 \u3001 Carla \u80fd \u4e0d\u80fd \u5b9e\u73b0 \u5176\u4ed6 \u7578\u53d8 \u6a21\u578b \uff1f   \u7b54 \uff1a \u4f1a \u641e \u5904\u7406 \u540e\u5904\u7406 \u6750\u8d28 \u84dd\u56fe \uff0c \u5c31 \u53ef\u4ee5 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4efb\u4f55 \u7578\u53d8 \u6a21\u578b \u3002   9 \u3001 \u5b9e\u4f8b \u5206\u5272 \u548c \u8bed\u4e49 \u5206\u5272 \u533a\u522b \u5728 \u54ea \uff1f   \u7b54 \uff1a \u4e0e \u8bed\u4e49 \u5206\u5272 \u53ea \u5173\u6ce8 \u50cf\u7d20 \u7ea7\u522b \u7684 \u8bed\u4e49 \u6807\u7b7e \u4e0d\u540c \uff0c \u5b9e\u4f8b \u5206\u5272 \u8fd8 \u8981\u6c42 \u5bf9 \u540c\u7c7b \u4f46 \u4e0d\u662f \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u7269\u4f53 \u5b9e\u4f8b \u8fdb\u884c \u533a\u5206 \u548c \u5206\u5272 \u3002 \u5b9e\u4f8b \u5206\u5272 \u8f93\u51fa \u7684 RGB \u56fe\u50cf \uff1a R \u901a\u9053 \u662f \u8bed\u4e49 \u5206\u5272 \u7684 \u7ed3\u679c \uff0c GB \u901a\u9053 \u7ec4\u6210 \u5b9e\u4f8b \u5206\u5272 ID \uff0c \u5b9e\u4f8b \u5206\u5272 ID \u662f \u865a\u5e7b \u5f15\u64ce \u4e0b \u7684 UniqueID \uff0c \u5e76\u975e Carla \u5c42 \u7684 Actor   ID \u3002 \u7528 \u4e24\u4e2a \u901a\u9053 \u662f \u51fa\u4e8e \u4f4d\u6570 \u5927\u5c0f \u8003\u8651 \u3002   \u8bed\u610f \u5206\u5272 \u8f93\u51fa \u7684 RGB \u56fe\u50cf \uff1a \u57fa\u4e8e Tagger \u8bbe\u7f6e \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6df1\u5ea6 \u51b3\u5b9a \u6750\u8d28 \u7684 \u81ea \u53d1\u5149 \u989c\u8272 \u3002   \u8bed\u610f \u5206\u5272 \u6750\u8d28 \uff1a   \u76f8\u5173 Issue   \u3002   \u5b9e\u4f8b \u5206\u5272 \u989c\u8272 \u8bbe\u7f6e \u76f8\u5173 \u4ee3\u7801 \uff1a   ` ` ` cpp   FLinearColor   ATagger : : GetActorLabelColor ( const   AActor   & Actor ,   const   crp : : CityObjectLabel   & Label )   {   uint32   id   =   Actor . GetUniqueID ( ) ;   / /   TODO :   Warn   if   id   >   0xffff .   / /   Encode   label   and   id   like   semantic   segmentation   does   / /   TODO :   Steal   bits   from   R   channel   and   maybe   A   channel ?   FLinearColor   Color ( 0.0 f ,   0.0 f ,   0.0 f ,   1.0 f ) ;   Color . R   =   CastEnum ( Label )   /   255.0 f ;   Color . G   =   ( ( id   &   0x00ff )   > >   0 )   /   255.0 f ;   Color . B   =   ( ( id   &   0xff00 )   > >   8 )   /   255.0 f ;   return   Color ;   }   ` ` `","title":"Sensor"},{"location":"faq/sensor/#_1","text":"\u672c\u6587 \u4e3b\u8981 \u662f \u7b80\u8ff0 \u4e86 \u5728 \u4f7f\u7528 Carla \u8fc7\u7a0b \u4e2d \u9047\u5230 \u7684 \u5173\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u4e00\u4e9b \u5e38\u89c1 \u95ee\u9898 \u5e38\u89c1\u95ee\u9898 \u3002   1 \u3001 Carla \u6ca1\u6709 \u6709\u6ca1\u6709 \u9c7c\u773c \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \uff1f   \u7b54 \uff1a \u6709 \uff0c \u5728   Carla \u7684 PullRequest \u4e2d   \u4f20 \u4e86 \u9c7c\u773c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u5e76\u4e14 \u5728 issues \u548c pullrequets \u4e2d \u5df2\u7ecf \u5f62\u6210 \u4e86 \u6bd4\u8f83 \u5b8c\u6574 \u7684 \u4ee3\u7801 bug \u4fee\u590d \u7f16\u8bd1 \u8fc7\u7a0b \uff0c \u4e3b\u8981 \u662f \u9002\u914d UE4.26 \u7684 \u4ee3\u7801 \u3002   2 \u3001 Carla \u6ca1\u6709 \u6709\u6ca1\u6709 \u9c7c\u773c \u7684 \u8bed\u4e49 \u5206\u5272 \u6216 \u5b9e\u4f8b \u5206\u5272 \u4f20\u5668 \uff1f   \u7b54 \uff1a \u53ef\u4ee5 \u5b9e\u73b0 \uff0c \u867d\u7136 \u6ca1 \u6ce8\u610f issues \u91cc \u6ca1\u6709 \u6709\u6ca1\u6709 \u5b9e\u73b0 \u65b9\u5f0f \u3002 \u4f46 \u4e86\u89e3 \u666e\u901a RGB \u548c \u8bed\u4e49 \u5206\u5272 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u7684 \u77e5\u9053 \uff0c \u8fd9\u4e2a \u5176\u5b9e \u662f \u5904\u7406 \u540e\u5904\u7406 \u6750\u8d28 \u7684 \u529f\u52b3 \u3002   3 \u3001 \u4ec0\u4e48 \u4e3a\u4ec0\u4e48 \u4e00\u4e2a Carla \u591a\u4e2a \u6444\u50cf \u50cf\u5934 \u6444\u50cf\u5934 \u663e\u5361 \u8fd8\u662f \u5229\u7528 \u7528\u7387 \u5229\u7528\u7387 \u5f88 \u4f4e \uff1f   \u7b54 \uff1a \u5c0f\u7f16 \u5206\u6790 \u8fd9\u4e2a \u662f \u591a\u4e2a SceneCapture \u5176\u5b9e \u662f \u8f6e\u6d41 \u8fdb\u5165 \u6e32\u67d3 \u961f\u5217 \u7684 \u3002 \u5728 \u5e95\u5c42 RHI \uff08 \u6e32\u67d3 \u786c\u4ef6 \u63a5\u53e3 \uff09 \u7ebf\u7a0b \u5e76 \u4e0d\u80fd \u5e76\u884c \u6267\u884c \u5e76\u884c\u6267\u884c \u6e32\u67d3 \u4efb\u52a1 \u3002 \u8fd9\u4e2a \u95ee\u9898 \u5e94\u8be5 \u9650\u5236 \u5728 UE \u4fa7 \u3002   4 \u3001 Carla \u4ec0\u4e48 \u65f6\u5019 \u8fc1\u79fb UE5 \uff1f   \u7b54 \uff1a \u73b0\u5728 Carla   Github \u4e2d \u5df2\u6709 UE5 . x \u7684 \u7248\u672c \u3002 \u5c0f\u7f16 \u8ba4\u4e3a UE5 \u7684 \u6e32\u67d3 \u6548\u679c \u5e76 \u4e0d\u80fd \u89e3\u51b3 \u6e32\u67d3 \u4e0d \u771f\u7684 \u95ee\u9898 \uff0c \u4e5f \u4e0d\u80fd \u89e3\u51b3 \u6e32\u67d3 \u6027\u80fd \u7684 \u95ee\u9898 \u3002 \u5f53\u7136 \uff0c \u201c \u6709 \u66f4\u597d \u7684 \u7528 \u66f4\u597d \u7684 \u201d \u7684 \u51fa\u53d1 \u53d1\u70b9 \u51fa\u53d1\u70b9 \u6ca1 \u5565 \u95ee\u9898 \u3002 \u4f46 \u9ad8 \u6e32\u67d3 \u753b\u8d28 \u4f34\u968f \u7740 \u9ad8\u6027 \u6027\u80fd \u9ad8\u6027\u80fd \u6d88\u8017 \u7684 \u5b9a\u5f8b \u662f \u4e0d\u4f1a \u53d8 \u7684 \u3002   5 \u3001 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 Listen \u7684 \u65f6\u5019 \uff0c \u603b\u662f \u5361\u6b7b \uff0c \u5185\u5b58 \u7206\u70b8   \u7b54 \uff1a Carla \u7684 \u6570\u636e \u6570\u636e\u6d41 \u57fa\u4e8e TCP \uff0c \u4e00\u822c \u662f \u5728 listen ( ) \u8c03\u7528 \u7684 Callback \u51fd\u6570 \u8fd0\u884c \u65f6\u95f4 \u8f83\u957f \u3002 Carla \u670d\u52a1 \u670d\u52a1\u7aef \u5728 \u75af\u72c2 \u4ece Buffer   Pool \u7533\u8bf7 \u65b0 \u7684 \u5185\u5b58 \uff0c \u5728 \u7f51\u7edc \u7aef \u5835\u585e \u3002 \u8fd9\u4e2a \u95ee\u9898 \u901a\u5e38 \u5728 \u5355\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4ea7\u751f \u7684 \u6570\u636e \u6570\u636e\u91cf \u5f88\u5927 \uff0c \u800c\u4e14 \u8fd8 \u9ad8\u9891 \u4ea7\u51fa \u7684 \u60c5\u51b5 \u4e0b \u51fa\u73b0 \uff0c \u5982\u679c \u662f \u5f02\u6b65 \u6a21\u5f0f \uff0c \u90a3 \u51fa\u73b0 \u9891\u7387 \u66f4\u9ad8 \u3002   \u89e3\u51b3 \u529e\u6cd5 \u89e3\u51b3\u529e\u6cd5 \uff1a \u4f18\u5316 Python \u811a\u672c \uff0c \u5199\u4e2a \u5f02\u6b65 \u5904\u7406 \u3002   6 \u3001 Carla   \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u51fa\u73b0 \u7729\u5149   \u7b54 \uff1a \u4e00\u822c \u8fd9\u79cd \u60c5\u51b5 \u4f1a\u5148 \u51fa\u73b0 \u663e\u5b58 \u4e0d\u591f \u7528 \u7684 Warning \uff0c \u7136\u540e \u5c31 \u7206\u70b8 \u4e86 \u3002 \u901a\u5e38 \u4f7f\u7528 \u5927 \u663e\u5b58 \u53ef\u4ee5 \u51cf\u5c11 \u8fd9\u4e2a \u95ee\u9898 \u51fa\u73b0 \u7684 \u6982\u7387 \u3002   7 \u3001 Carla \u81ea\u5e26 \u7684 \u7578\u53d8 \u6a21\u578b \u600e\u4e48 \u7528 \uff1f   \u7b54 \uff1a \u53c2\u8003   SynthEyes '   lens - distortion \u7578\u53d8 \u7b97\u6cd5   \u548c   SynthEyes '   lens - distortion \u7578\u53d8 \u7b97\u6cd5 \u539f\u7406   \u3002 \u5f53\u7136 \u53ef\u4ee5 \u53bb \u770b \u5b9e\u73b0 \u5b83 \u7684 \u5904\u7406 \u540e\u5904\u7406 \u6750\u8d28 \u84dd\u56fe PhysicLensDistortion \u3002   8 \u3001 Carla \u80fd \u4e0d\u80fd \u5b9e\u73b0 \u5176\u4ed6 \u7578\u53d8 \u6a21\u578b \uff1f   \u7b54 \uff1a \u4f1a \u641e \u5904\u7406 \u540e\u5904\u7406 \u6750\u8d28 \u84dd\u56fe \uff0c \u5c31 \u53ef\u4ee5 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u4efb\u4f55 \u7578\u53d8 \u6a21\u578b \u3002   9 \u3001 \u5b9e\u4f8b \u5206\u5272 \u548c \u8bed\u4e49 \u5206\u5272 \u533a\u522b \u5728 \u54ea \uff1f   \u7b54 \uff1a \u4e0e \u8bed\u4e49 \u5206\u5272 \u53ea \u5173\u6ce8 \u50cf\u7d20 \u7ea7\u522b \u7684 \u8bed\u4e49 \u6807\u7b7e \u4e0d\u540c \uff0c \u5b9e\u4f8b \u5206\u5272 \u8fd8 \u8981\u6c42 \u5bf9 \u540c\u7c7b \u4f46 \u4e0d\u662f \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u7269\u4f53 \u5b9e\u4f8b \u8fdb\u884c \u533a\u5206 \u548c \u5206\u5272 \u3002 \u5b9e\u4f8b \u5206\u5272 \u8f93\u51fa \u7684 RGB \u56fe\u50cf \uff1a R \u901a\u9053 \u662f \u8bed\u4e49 \u5206\u5272 \u7684 \u7ed3\u679c \uff0c GB \u901a\u9053 \u7ec4\u6210 \u5b9e\u4f8b \u5206\u5272 ID \uff0c \u5b9e\u4f8b \u5206\u5272 ID \u662f \u865a\u5e7b \u5f15\u64ce \u4e0b \u7684 UniqueID \uff0c \u5e76\u975e Carla \u5c42 \u7684 Actor   ID \u3002 \u7528 \u4e24\u4e2a \u901a\u9053 \u662f \u51fa\u4e8e \u4f4d\u6570 \u5927\u5c0f \u8003\u8651 \u3002   \u8bed\u610f \u5206\u5272 \u8f93\u51fa \u7684 RGB \u56fe\u50cf \uff1a \u57fa\u4e8e Tagger \u8bbe\u7f6e \u7684 \u81ea\u5b9a \u5b9a\u4e49 \u81ea\u5b9a\u4e49 \u6df1\u5ea6 \u51b3\u5b9a \u6750\u8d28 \u7684 \u81ea \u53d1\u5149 \u989c\u8272 \u3002   \u8bed\u610f \u5206\u5272 \u6750\u8d28 \uff1a   \u76f8\u5173 Issue   \u3002   \u5b9e\u4f8b \u5206\u5272 \u989c\u8272 \u8bbe\u7f6e \u76f8\u5173 \u4ee3\u7801 \uff1a   ` ` ` cpp   FLinearColor   ATagger : : GetActorLabelColor ( const   AActor   & Actor ,   const   crp : : CityObjectLabel   & Label )   {   uint32   id   =   Actor . GetUniqueID ( ) ;   / /   TODO :   Warn   if   id   >   0xffff .   / /   Encode   label   and   id   like   semantic   segmentation   does   / /   TODO :   Steal   bits   from   R   channel   and   maybe   A   channel ?   FLinearColor   Color ( 0.0 f ,   0.0 f ,   0.0 f ,   1.0 f ) ;   Color . R   =   CastEnum ( Label )   /   255.0 f ;   Color . G   =   ( ( id   &   0x00ff )   > >   0 )   /   255.0 f ;   Color . B   =   ( ( id   &   0xff00 )   > >   8 )   /   255.0 f ;   return   Color ;   }   ` ` `","title":"\u4f20\u611f\u5668"},{"location":"scenario_runner/FAQ/","text":"\u7ecf\u5e38 \u95ee \u7684 \u95ee\u9898   \u5728 \u4ee3\u7406 \u5bfc\u822a \u4e2d \u6536\u5230 \u9519\u8bef   \" TypeError :   ' instancemethod '   object   has   no   attribute   '   getitem   ' \"   \u6b64 \u95ee\u9898 \u5f88 \u53ef\u80fd \u662f \u7531   Python   Networkx   \u5305 \u7684 \u8fc7\u65f6 \u7248\u672c \u5f15\u8d77 \u7684 \u3002 \u8bf7 \u5220\u9664 \u5f53\u524d \u5b89\u88c5 \uff08 \u4f8b\u5982   sudo   apt - get   remove   python - networkx \uff09 \u5e76 \u4f7f\u7528 \u201c pip   install   -- user   networkx = = 2.2 \u201d \u8fdb\u884c \u5b89\u88c5 \u3002   \u6ca1\u6709 \u53ef\u89c1 \u7684 \u573a\u666f \uff0c \u6211 \u6536\u5230 \u6d88\u606f   \" No   more   scenarios   ....   Exiting \"   \u5982\u679c \u60a8 \u6536\u5230 \u4ee5\u4e0b \u8f93\u51fa   Preparing   scenario :   FollowLeadingVehicle _ 1   ScenarioManager :   Running   scenario   FollowVehicle   Resetting   ego - vehicle !   Failure !   Resetting   ego - vehicle !   ERROR :   failed   to   destroy   actor   527   :   unable   to   destroy   actor :   not   found   No   more   scenarios   ....   Exiting   \u5982\u679c \u60a8 \u6ca1\u6709 \u770b\u5230 \u4efb\u4f55 \u4e8b\u60c5 \u53d1\u751f \uff0c \u5f88 \u53ef\u80fd \u56e0\u4e3a \u662f\u56e0\u4e3a \u60a8 \u6ca1\u6709 \u542f\u52a8 \u63a7\u5236 \u81ea\u6211 \u8f66\u8f86 \u7684 \u7a0b\u5e8f \u3002 \u8fd0\u884c \u4f8b\u5982 manual _ control . py \uff0c \u60a8 \u73b0\u5728 \u5e94\u8be5 \u770b\u5230 \u53d1\u751f \u4e86 \u4e00\u4e9b \u4e8b\u60c5 \u3002   \u4f7f\u7528   -- debug   \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u65f6 \uff0c Scenario   Runner   \u9000\u51fa \u5e76 \u51fa\u73b0 \u9519\u8bef   \u5982\u679c \u60a8 \u6536\u5230 \u4ee5\u4e0b \u8f93\u51fa   UnicodeEncodeError :   ' ascii '   codec   can ' t   encode   character   ' \\ u2713 '   in   position   58 :   ordinal   not   in   range ( 128 )   \u8bf7 \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   PYTHONIOENCODING = utf - 8","title":"\u7ecf\u5e38 \u95ee \u7684 \u95ee\u9898"},{"location":"scenario_runner/FAQ/#_1","text":"","title":"\u7ecf\u5e38 \u95ee \u7684 \u95ee\u9898"},{"location":"scenario_runner/FAQ/#typeerror-instancemethod-object-has-no-attribute-getitem","text":"\u6b64 \u95ee\u9898 \u5f88 \u53ef\u80fd \u662f \u7531   Python   Networkx   \u5305 \u7684 \u8fc7\u65f6 \u7248\u672c \u5f15\u8d77 \u7684 \u3002 \u8bf7 \u5220\u9664 \u5f53\u524d \u5b89\u88c5 \uff08 \u4f8b\u5982   sudo   apt - get   remove   python - networkx \uff09 \u5e76 \u4f7f\u7528 \u201c pip   install   -- user   networkx = = 2.2 \u201d \u8fdb\u884c \u5b89\u88c5 \u3002","title":"\u5728 \u4ee3\u7406 \u5bfc\u822a \u4e2d \u6536\u5230 \u9519\u8bef   \" TypeError :   ' instancemethod '   object   has   no   attribute   ' getitem ' \""},{"location":"scenario_runner/FAQ/#no-more-scenarios-exiting","text":"\u5982\u679c \u60a8 \u6536\u5230 \u4ee5\u4e0b \u8f93\u51fa   Preparing   scenario :   FollowLeadingVehicle _ 1   ScenarioManager :   Running   scenario   FollowVehicle   Resetting   ego - vehicle !   Failure !   Resetting   ego - vehicle !   ERROR :   failed   to   destroy   actor   527   :   unable   to   destroy   actor :   not   found   No   more   scenarios   ....   Exiting   \u5982\u679c \u60a8 \u6ca1\u6709 \u770b\u5230 \u4efb\u4f55 \u4e8b\u60c5 \u53d1\u751f \uff0c \u5f88 \u53ef\u80fd \u56e0\u4e3a \u662f\u56e0\u4e3a \u60a8 \u6ca1\u6709 \u542f\u52a8 \u63a7\u5236 \u81ea\u6211 \u8f66\u8f86 \u7684 \u7a0b\u5e8f \u3002 \u8fd0\u884c \u4f8b\u5982 manual _ control . py \uff0c \u60a8 \u73b0\u5728 \u5e94\u8be5 \u770b\u5230 \u53d1\u751f \u4e86 \u4e00\u4e9b \u4e8b\u60c5 \u3002","title":"\u6ca1\u6709 \u53ef\u89c1 \u7684 \u573a\u666f \uff0c \u6211 \u6536\u5230 \u6d88\u606f   \" No   more   scenarios   ....   Exiting \""},{"location":"scenario_runner/FAQ/#-debug-scenario-runner","text":"\u5982\u679c \u60a8 \u6536\u5230 \u4ee5\u4e0b \u8f93\u51fa   UnicodeEncodeError :   ' ascii '   codec   can ' t   encode   character   ' \\ u2713 '   in   position   58 :   ordinal   not   in   range ( 128 )   \u8bf7 \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   PYTHONIOENCODING = utf - 8","title":"\u4f7f\u7528   -- debug   \u547d\u4ee4\u884c \u53c2\u6570 \u65f6 \uff0c Scenario   Runner   \u9000\u51fa \u5e76 \u51fa\u73b0 \u9519\u8bef"},{"location":"scenario_runner/README_OpenSCENARIO_2.0/","text":"osc2 - runner   \u6211\u4eec \u4f7f\u7528 OpenScenario   2.0 \u4f5c\u4e3a \u573a\u666f \u63cf\u8ff0 \u8ff0\u8bed \u8bed\u8a00 \u63cf\u8ff0\u8bed\u8a00 \u89c4\u8303 \uff0c \u8bbe\u8ba1 \u5e76 \u5b9e\u73b0 \u4e86 \u76f8\u5e94 \u7684 \u7f16\u8bd1 \u7cfb\u7edf \u7f16\u8bd1\u7cfb\u7edf \uff0c \u53ef\u4ee5 \u81ea\u52a8 \u5c06 \u7528 OpenScenario   2.0 \u63cf\u8ff0 \u7684 \u6d4b\u8bd5 \u573a\u666f \u8f6c\u6362 \u4e3a \u57fa\u4e8e scenario   runner \u7684 \u6d4b\u8bd5 \u573a\u666f \uff0c \u4ece\u800c \u4f7f\u7528 carla \u8fdb\u884c \u81ea\u52a8 \u9a7e\u9a76 \u6d4b\u8bd5 \u3002   Installation   1 .   \u5b89\u88c5 JDK   sudo   apt   install   openjdk - 17 - jdk   \u786e\u8ba4 \u5b89\u88c5 \uff1a   $   java   - version   \u8f93\u51fa \uff1a   openjdk   version   \" 17.0 . 5 \"   2022 - 10 - 18   OpenJDK   Runtime   Environment   ( build   17.0 . 5 + 8 - Ubuntu - 2ubuntu120.04 )   OpenJDK   64 - Bit   Server   VM   ( build   17.0 . 5 + 8 - Ubuntu - 2ubuntu120.04 ,   mixed   mode ,   sharing )   3 \u3001 \u5b89\u88c5   Antlr   4.10 . 1   sudo   apt   install   curl   curl   - O   https : / / www . antlr . org / download / antlr - 4.10 . 1 - complete . jar   \u5c06 . jar \u6587\u4ef6 \u653e\u5165 local / lib \u4e2d   $   sudo   cp   antlr - 4.10 . 1 - complete . jar   / usr / local / lib /   \u4ee5\u4e0b \u4e09\u4e2a \u6b65\u9aa4 \u7528\u4e8e \u914d\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u5e76 \u521b\u5efa \u522b\u540d \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u8f7b\u677e \u5730 \u4ece \u547d\u4ee4 \u547d\u4ee4\u884c \u4f7f\u7528 antlr4 \u3002   $   sudo   gedit   ~ / . bashrc   \u5728 \u672b\u5c3e \u6dfb\u52a0 \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   export   CLASSPATH = \" . : / usr / local / lib / antlr - 4.10 . 1 - complete . jar : $ CLASSPATH \"   alias   antlr4 = ' java   - jar   / usr / local / lib / antlr - 4.10 . 1 - complete . jar '   alias   grun = ' java   org . antlr . v4 . gui . TestRig '   \u8fdb\u800c \uff1a   source   ~ / . bashrc   \u5728 \u7ec8\u7aef \u8f93\u5165 antlr4 \u8fdb\u884c \u9a8c\u8bc1 \uff1a   $   antlr4   ANTLR   Parser   Generator   Version   4.10 . 1   - o   ___   specify   output   directory   where   all   output   is   generated   - lib   ___   specify   location   of   grammars ,   tokens   files   - atn   generate   rule   augmented   transition   network   diagrams   - encoding   ___   specify   grammar   file   encoding ;   e . g . ,   euc - jp   - message - format   ___   specify   output   style   for   messages   in   antlr ,   gnu ,   vs2005   - long - messages   show   exception   details   when   available   for   errors   and   warnings   - listener   generate   parse   tree   listener   ( default )   - no - listener   don ' t   generate   parse   tree   listener   - visitor   generate   parse   tree   visitor   - no - visitor   don ' t   generate   parse   tree   visitor   ( default )   - package   ___   specify   a   package / namespace   for   the   generated   code   - depend   generate   file   dependencies   - D < option > = value   set / override   a   grammar - level   option   - Werror   treat   warnings   as   errors   - XdbgST   launch   StringTemplate   visualizer   on   generated   code   - XdbgSTWait   wait   for   STViz   to   close   before   continuing   - Xforce - atn   use   the   ATN   simulator   for   all   predictions   - Xlog   dump   lots   of   logging   info   to   antlr - timestamp . log   - Xexact - output - dir   all   output   goes   into   - o   dir   regardless   of   paths / package   4 \u3001 \u5b89\u88c5 antlr4 \u8fd0\u884c \u65f6   pip   install   antlr4 - python3 - runtime = = 4.10   5 \u3001 \u5b89\u88c5 python \u4f9d\u8d56   pip   install   - r   requirements . txt   6 \u3001 \u5b89\u88c5   graphviz   sudo   apt - get   install   graphviz   7 \u3001 \u914d\u7f6e   carla   ( 1 )   \u4e0b\u8f7d   carla \u7248\u672c   ( 2 )   \u5c06 carla \u5b89\u88c5 \u5b89\u88c5\u5305 \u89e3\u538b \u5230 \u67d0\u4e2a \u76ee\u5f55 \u3002   \u5728 Ubuntu \u7cfb\u7edf \u4e0a \uff0c Carla \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u914d\u7f6e \u5982\u4e0b \uff1a   export   CARLA _ ROOT = / home / dut - aiid / CARLA _ 0.9 . 13   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla / dist / carla - 0.9 . 13 - py3.7 - linux - x86 _ 64 . egg : $ { CARLA _ ROOT } / PythonAPI / carla / agents : $ { CARLA _ ROOT } / PythonAPI / carla / agents / navigation : $ { CARLA _ ROOT } / PythonAPI / carla : $ { CARLA _ ROOT } / PythonAPI / examples : $ { CARLA _ ROOT } / PythonAPI   \u5feb\u901f \u5f00\u59cb   1 \u3001 \u8fd0\u884c   carla   cd   / home / xxx / CARLA _ 0.9 . 13   . / CarlaUE4 . sh   2 \u3001 \u542f\u52a8   manual _ control   python   manual _ control . py   - a   -- rolename = ego _ vehicle   3 \u3001 \u8fd0\u884c OpenSCENARIO   2.0 \u573a\u666f   python   scenario _ runner . py   -- sync   -- openscenario2   srunner / examples / cut _ in _ and _ slow _ right . osc   -- reloadWorld","title":"osc2 - runner"},{"location":"scenario_runner/README_OpenSCENARIO_2.0/#osc2-runner","text":"\u6211\u4eec \u4f7f\u7528 OpenScenario   2.0 \u4f5c\u4e3a \u573a\u666f \u63cf\u8ff0 \u8ff0\u8bed \u8bed\u8a00 \u63cf\u8ff0\u8bed\u8a00 \u89c4\u8303 \uff0c \u8bbe\u8ba1 \u5e76 \u5b9e\u73b0 \u4e86 \u76f8\u5e94 \u7684 \u7f16\u8bd1 \u7cfb\u7edf \u7f16\u8bd1\u7cfb\u7edf \uff0c \u53ef\u4ee5 \u81ea\u52a8 \u5c06 \u7528 OpenScenario   2.0 \u63cf\u8ff0 \u7684 \u6d4b\u8bd5 \u573a\u666f \u8f6c\u6362 \u4e3a \u57fa\u4e8e scenario   runner \u7684 \u6d4b\u8bd5 \u573a\u666f \uff0c \u4ece\u800c \u4f7f\u7528 carla \u8fdb\u884c \u81ea\u52a8 \u9a7e\u9a76 \u6d4b\u8bd5 \u3002","title":"osc2 - runner"},{"location":"scenario_runner/README_OpenSCENARIO_2.0/#installation","text":"1 .   \u5b89\u88c5 JDK   sudo   apt   install   openjdk - 17 - jdk   \u786e\u8ba4 \u5b89\u88c5 \uff1a   $   java   - version   \u8f93\u51fa \uff1a   openjdk   version   \" 17.0 . 5 \"   2022 - 10 - 18   OpenJDK   Runtime   Environment   ( build   17.0 . 5 + 8 - Ubuntu - 2ubuntu120.04 )   OpenJDK   64 - Bit   Server   VM   ( build   17.0 . 5 + 8 - Ubuntu - 2ubuntu120.04 ,   mixed   mode ,   sharing )   3 \u3001 \u5b89\u88c5   Antlr   4.10 . 1   sudo   apt   install   curl   curl   - O   https : / / www . antlr . org / download / antlr - 4.10 . 1 - complete . jar   \u5c06 . jar \u6587\u4ef6 \u653e\u5165 local / lib \u4e2d   $   sudo   cp   antlr - 4.10 . 1 - complete . jar   / usr / local / lib /   \u4ee5\u4e0b \u4e09\u4e2a \u6b65\u9aa4 \u7528\u4e8e \u914d\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u5e76 \u521b\u5efa \u522b\u540d \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u8f7b\u677e \u5730 \u4ece \u547d\u4ee4 \u547d\u4ee4\u884c \u4f7f\u7528 antlr4 \u3002   $   sudo   gedit   ~ / . bashrc   \u5728 \u672b\u5c3e \u6dfb\u52a0 \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \uff1a   export   CLASSPATH = \" . : / usr / local / lib / antlr - 4.10 . 1 - complete . jar : $ CLASSPATH \"   alias   antlr4 = ' java   - jar   / usr / local / lib / antlr - 4.10 . 1 - complete . jar '   alias   grun = ' java   org . antlr . v4 . gui . TestRig '   \u8fdb\u800c \uff1a   source   ~ / . bashrc   \u5728 \u7ec8\u7aef \u8f93\u5165 antlr4 \u8fdb\u884c \u9a8c\u8bc1 \uff1a   $   antlr4   ANTLR   Parser   Generator   Version   4.10 . 1   - o   ___   specify   output   directory   where   all   output   is   generated   - lib   ___   specify   location   of   grammars ,   tokens   files   - atn   generate   rule   augmented   transition   network   diagrams   - encoding   ___   specify   grammar   file   encoding ;   e . g . ,   euc - jp   - message - format   ___   specify   output   style   for   messages   in   antlr ,   gnu ,   vs2005   - long - messages   show   exception   details   when   available   for   errors   and   warnings   - listener   generate   parse   tree   listener   ( default )   - no - listener   don ' t   generate   parse   tree   listener   - visitor   generate   parse   tree   visitor   - no - visitor   don ' t   generate   parse   tree   visitor   ( default )   - package   ___   specify   a   package / namespace   for   the   generated   code   - depend   generate   file   dependencies   - D < option > = value   set / override   a   grammar - level   option   - Werror   treat   warnings   as   errors   - XdbgST   launch   StringTemplate   visualizer   on   generated   code   - XdbgSTWait   wait   for   STViz   to   close   before   continuing   - Xforce - atn   use   the   ATN   simulator   for   all   predictions   - Xlog   dump   lots   of   logging   info   to   antlr - timestamp . log   - Xexact - output - dir   all   output   goes   into   - o   dir   regardless   of   paths / package   4 \u3001 \u5b89\u88c5 antlr4 \u8fd0\u884c \u65f6   pip   install   antlr4 - python3 - runtime = = 4.10   5 \u3001 \u5b89\u88c5 python \u4f9d\u8d56   pip   install   - r   requirements . txt   6 \u3001 \u5b89\u88c5   graphviz   sudo   apt - get   install   graphviz   7 \u3001 \u914d\u7f6e   carla   ( 1 )   \u4e0b\u8f7d   carla \u7248\u672c   ( 2 )   \u5c06 carla \u5b89\u88c5 \u5b89\u88c5\u5305 \u89e3\u538b \u5230 \u67d0\u4e2a \u76ee\u5f55 \u3002   \u5728 Ubuntu \u7cfb\u7edf \u4e0a \uff0c Carla \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u914d\u7f6e \u5982\u4e0b \uff1a   export   CARLA _ ROOT = / home / dut - aiid / CARLA _ 0.9 . 13   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla / dist / carla - 0.9 . 13 - py3.7 - linux - x86 _ 64 . egg : $ { CARLA _ ROOT } / PythonAPI / carla / agents : $ { CARLA _ ROOT } / PythonAPI / carla / agents / navigation : $ { CARLA _ ROOT } / PythonAPI / carla : $ { CARLA _ ROOT } / PythonAPI / examples : $ { CARLA _ ROOT } / PythonAPI","title":"Installation"},{"location":"scenario_runner/README_OpenSCENARIO_2.0/#_1","text":"1 \u3001 \u8fd0\u884c   carla   cd   / home / xxx / CARLA _ 0.9 . 13   . / CarlaUE4 . sh   2 \u3001 \u542f\u52a8   manual _ control   python   manual _ control . py   - a   -- rolename = ego _ vehicle   3 \u3001 \u8fd0\u884c OpenSCENARIO   2.0 \u573a\u666f   python   scenario _ runner . py   -- sync   -- openscenario2   srunner / examples / cut _ in _ and _ slow _ right . osc   -- reloadWorld","title":"\u5feb\u901f \u5f00\u59cb"},{"location":"scenario_runner/agent_evaluation/","text":"\u8bbe\u7f6e \u60a8 \u7684 \u4ee3\u7406 \u4ee5 \u8fdb\u884c \u8bc4\u4f30   \u91cd\u8981 \u63d0\u793a \uff1a \u6b64 \u4fe1\u606f \u5df2 \u8fc7\u65f6 \uff0c \u6311\u6218 \u6587\u4ef6 \u5df2 \u88ab \u5220\u9664 \u3002 \u8be5 \u529f\u80fd \u73b0\u5df2 \u79fb\u81f3   \u6392\u884c \u6392\u884c\u699c   \u3002 \u4f46\u662f \uff0c \u5b83 \u4ecd\u7136 \u53ef\u4ee5 \u4e0e   scene _ runner . py   \u7684 \u8def\u7531 \u53c2\u6570 \u4e00\u8d77 \u4f7f\u7528 \uff0c \u800c \u4e0d\u662f \u4e0e challenge _ evaluator . py \u4e00\u8d77 \u4f7f\u7528   \u8981 \u8ba9 \u6311\u6218 \u8bc4\u4f30 \u7cfb\u7edf \u8bc4\u4f30 \u60a8 \u7684 \u4ee3\u7406 \uff0c \u60a8 \u5fc5\u987b \u5b9a\u4e49 \u7ee7\u627f   AutonomousAgent   \u57fa\u7c7b \u7684   Agent   \u7c7b \u3002 \u6b64\u5916 \uff0c \u60a8 \u9700\u8981 \u6309\u7167 \u6311\u6218 \u8bc4\u4f30 \u8bc4\u4f30\u5668 \u6559\u7a0b \u4e2d \u7684 \u8bf4\u660e \u8bbe\u7f6e \u73af\u5883 \u3002   \u5728 \u60a8 \u7684 \u4ee3\u7406 \u7c7b\u4e0a \uff0c \u9700\u8981 \u5b9a\u4e49 \u4e09\u4e2a \u4e3b\u8981 \u51fd\u6570 \u6765 \u8986\u76d6 \u5b83\u4eec \uff0c \u4ee5\u4fbf \u8bbe\u7f6e \u4ee3\u7406 \u8fd0\u884c \u3002 \u6b64\u5916 \uff0c \u60a8 \u8fd8 \u5e94\u8be5 \u8003\u8651 \u6700\u521d \u8bbe\u7f6e \u4e3a \u53d8\u91cf \u7684 \u76ee\u6807 \u8def\u5f84 \u3002   \" setup \"   \u51fd\u6570 :   \u60a8 \u5e94\u8be5 \u5728 \u8be5 \u529f\u80fd \u4e2d\u4e3a \u4ee3\u7406 \u8fdb\u884c \u6240\u6709 \u5fc5\u8981 \u7684 \u8bbe\u7f6e \u3002   \u8be5 \u51fd\u6570 \u63a5\u6536 \u8981 \u7531 \u7528\u6237 \u89e3\u6790 \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u7684 \u8def\u5f84 \u4f5c\u4e3a \u53c2\u6570 \u3002   \u6267\u884c \u201c challenge _ evaluator . py \u201d \u65f6 \uff0c \u60a8 \u5e94\u8be5 \u5c06 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u8def\u5f84 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u3002 \u4f8b\u5982 \uff1a   python   srunner / challenge / challenge _ evaluator _ routes . py   -- agent = < path _ to _ my _ agent >   -- config = myconfigfilename . format   \" sensors \"   \u51fd\u6570 :   \u60a8 \u53ef\u4ee5 \u5728 \u6b64 \u529f\u80fd \u4e2d \u8bbe\u7f6e \u4ee3\u7406 \u6240 \u9700 \u7684 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u4f8b\u5982 \uff0c \u5728 \u865a\u62df \u4ee3\u7406 \u793a\u4f8b \u7c7b\u4e0a \u5b9a\u4e49 \u4e86 \u4ee5\u4e0b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   def   sensors ( self ) :   sensors   =   [ { ' type ' :   ' sensor . camera . rgb ' ,   ' x ' : 0.7 ,   ' y ' : 0.0 ,   ' z ' : 1.60 ,   ' roll ' : 0.0 ,   ' pitch ' : 0.0 ,   ' yaw ' : 0.0 ,   ' width ' : 800 ,   ' height ' :   600 ,   ' fov ' : 100 ,   ' id ' :   ' Center ' } ,   { ' type ' :   ' sensor . camera . rgb ' ,   ' x ' : 0.7 ,   ' y ' : - 0.4 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   - 45.0 ,   ' width ' :   800 ,   ' height ' :   600 ,   ' fov ' :   100 ,   ' id ' :   ' Left ' } ,   { ' type ' :   ' sensor . camera . rgb ' ,   ' x ' : 0.7 ,   ' y ' : 0.4 ,   ' z ' : 1.60 ,   ' roll ' : 0.0 ,   ' pitch ' : 0.0 ,   ' yaw ' : 45.0 ,   ' width ' : 800 ,   ' height ' : 600 ,   ' fov ' : 100 ,   ' id ' :   ' Right ' } ,   { ' type ' :   ' sensor . lidar . ray _ cast ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   - 45.0 ,   ' id ' :   ' LIDAR ' } ,   { ' type ' :   ' sensor . other . gnss ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 ,   ' id ' :   ' GPS ' } ,   { ' type ' :   ' sensor . speedometer ' , ' reading _ frequency ' :   25 ,   ' id ' :   ' speed ' }   ]   return   sensors   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u662f \u4e00\u672c \u5b57\u5178 \uff0c \u60a8 \u5e94\u8be5 \u5728 \u5176\u4e2d \u6307\u5b9a \uff1a   type :   \u57fa\u672c \u57fa\u672c\u4e0a \u662f \u8981 \u6dfb\u52a0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4f8b\u5982 \uff1a \u201c sensor . camera . rgb \u201d \u8868\u793a   RGB   \u76f8\u673a \uff0c \u201c sensor . lidar . ray _ cast \u201d \u8868\u793a \u5149\u7ebf \u6295\u5c04 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002   id :   \u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u63d0\u4f9b \u7684 \u6807\u7b7e \uff0c \u4ee5\u4fbf \u7a0d\u540e \u8bbf\u95ee \u3002   \u5176\u4ed6 \u53c2\u6570 \uff1a \u8fd9\u4e9b \u53c2\u6570 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4f8b\u5982 \u4f4d\u7f6e \u201c x \u201d \u548c \u201c y \u201d \uff0c \u6216 \u76f8\u673a \u7684 \u89c6\u91ce \u201c fov \u201d   \" run _ step \"   \u51fd\u6570 :   \u4ece \u6311\u6218 \u8bc4\u4f30 \u5f00\u59cb \uff0c \u4eff\u771f \u7684 \u6bcf\u4e2a \u6b65\u9aa4 \u90fd \u4f1a \u8c03\u7528 \u6b64 \u51fd\u6570 \uff0c \u5e76 \u63a5\u6536 \u4e00\u4e9b \u8f93\u5165 \u6570\u636e \u4f5c\u4e3a \u53c2\u6570 \u3002   \u8be5 \u8f93\u5165 \u6570\u636e \u662f \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u5305\u542b \u201c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u201d \u51fd\u6570 \u4e2d \u6307\u5b9a \u7684 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u6b64 \u51fd\u6570 \u5e94 \u8fd4\u56de \u8981   \u5e94\u7528 \u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684   \u8f66\u8f86 \u63a7\u5236   \u3002   \u521d\u59cb \u8def\u7ebf :   \u5728 \u6267\u884c \u5f00\u59cb \u65f6 \uff0c \u82f1\u96c4 \u4ee3\u7406 \u5e94\u8be5 \u884c\u9a76 \u7684 \u6574\u4e2a \u8def\u7ebf \u662f \u5728 \u201c self . global _ plan \u201d \u53d8\u91cf \u4e0a \u8bbe\u7f6e \u7684 \uff1a   [ ( { ' z ' :   0.0 ,   ' lat ' :   48.99822669411668 ,   ' lon ' :   8.002271601998707 } ,   < RoadOption . LANEFOLLOW :   4 > ) ,   ( { ' z ' :   0.0 ,   ' lat ' :   48.99822669411668 ,   ' lon ' :   8.002709765148996 } ,   < RoadOption . LANEFOLLOW :   4 > ) ,   ...   ( { ' z ' :   0.0 ,   ' lat ' :   48.99822679980298 ,   ' lon ' :   8.002735250105061 } ,   < RoadOption . LANEFOLLOW :   4 > ) ] `   \u5b83 \u8868\u793a \u4e3a \u5143\u7ec4 \u5217\u8868 \uff0c \u5305\u542b \u4ee5 \u7eac\u5ea6 \u548c \u7ecf\u5ea6 \u8868\u793a \u7684 \u8def\u7ebf \u8def\u5f84 \u70b9 \u4ee5\u53ca \u5efa\u8bae \u7684 \u5f53\u524d \u9053\u8def \u9009\u9879 \u3002 \u5bf9\u4e8e \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \uff0c \u9009\u9879 \u53ef\u4ee5 \u662f \u76f4\u884c \u3001 \u5de6\u8f6c \u6216 \u53f3\u8f6c \u3002 \u5bf9\u4e8e \u8def\u7ebf \u7684 \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \uff0c \u5efa\u8bae \u9009\u62e9 \u8f66\u9053 \u8ddf\u968f \u3002","title":"Agent   evaluation"},{"location":"scenario_runner/agent_evaluation/#_1","text":"","title":"\u8bbe\u7f6e \u60a8 \u7684 \u4ee3\u7406 \u4ee5 \u8fdb\u884c \u8bc4\u4f30"},{"location":"scenario_runner/agent_evaluation/#scene_runnerpy-challenge_evaluatorpy","text":"\u8981 \u8ba9 \u6311\u6218 \u8bc4\u4f30 \u7cfb\u7edf \u8bc4\u4f30 \u60a8 \u7684 \u4ee3\u7406 \uff0c \u60a8 \u5fc5\u987b \u5b9a\u4e49 \u7ee7\u627f   AutonomousAgent   \u57fa\u7c7b \u7684   Agent   \u7c7b \u3002 \u6b64\u5916 \uff0c \u60a8 \u9700\u8981 \u6309\u7167 \u6311\u6218 \u8bc4\u4f30 \u8bc4\u4f30\u5668 \u6559\u7a0b \u4e2d \u7684 \u8bf4\u660e \u8bbe\u7f6e \u73af\u5883 \u3002   \u5728 \u60a8 \u7684 \u4ee3\u7406 \u7c7b\u4e0a \uff0c \u9700\u8981 \u5b9a\u4e49 \u4e09\u4e2a \u4e3b\u8981 \u51fd\u6570 \u6765 \u8986\u76d6 \u5b83\u4eec \uff0c \u4ee5\u4fbf \u8bbe\u7f6e \u4ee3\u7406 \u8fd0\u884c \u3002 \u6b64\u5916 \uff0c \u60a8 \u8fd8 \u5e94\u8be5 \u8003\u8651 \u6700\u521d \u8bbe\u7f6e \u4e3a \u53d8\u91cf \u7684 \u76ee\u6807 \u8def\u5f84 \u3002","title":"\u91cd\u8981 \u63d0\u793a \uff1a \u6b64 \u4fe1\u606f \u5df2 \u8fc7\u65f6 \uff0c \u6311\u6218 \u6587\u4ef6 \u5df2 \u88ab \u5220\u9664 \u3002 \u8be5 \u529f\u80fd \u73b0\u5df2 \u79fb\u81f3   \u6392\u884c\u699c   \u3002 \u4f46\u662f \uff0c \u5b83 \u4ecd\u7136 \u53ef\u4ee5 \u4e0e   scene _ runner . py   \u7684 \u8def\u7531 \u53c2\u6570 \u4e00\u8d77 \u4f7f\u7528 \uff0c \u800c \u4e0d\u662f \u4e0e challenge _ evaluator . py \u4e00\u8d77 \u4f7f\u7528"},{"location":"scenario_runner/agent_evaluation/#setup","text":"\u60a8 \u5e94\u8be5 \u5728 \u8be5 \u529f\u80fd \u4e2d\u4e3a \u4ee3\u7406 \u8fdb\u884c \u6240\u6709 \u5fc5\u8981 \u7684 \u8bbe\u7f6e \u3002   \u8be5 \u51fd\u6570 \u63a5\u6536 \u8981 \u7531 \u7528\u6237 \u89e3\u6790 \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u7684 \u8def\u5f84 \u4f5c\u4e3a \u53c2\u6570 \u3002   \u6267\u884c \u201c challenge _ evaluator . py \u201d \u65f6 \uff0c \u60a8 \u5e94\u8be5 \u5c06 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u8def\u5f84 \u4f5c\u4e3a \u53c2\u6570 \u6570\u4f20 \u4f20\u9012 \u53c2\u6570\u4f20\u9012 \u3002 \u4f8b\u5982 \uff1a   python   srunner / challenge / challenge _ evaluator _ routes . py   -- agent = < path _ to _ my _ agent >   -- config = myconfigfilename . format","title":"\" setup \"   \u51fd\u6570 :"},{"location":"scenario_runner/agent_evaluation/#sensors","text":"\u60a8 \u53ef\u4ee5 \u5728 \u6b64 \u529f\u80fd \u4e2d \u8bbe\u7f6e \u4ee3\u7406 \u6240 \u9700 \u7684 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002 \u4f8b\u5982 \uff0c \u5728 \u865a\u62df \u4ee3\u7406 \u793a\u4f8b \u7c7b\u4e0a \u5b9a\u4e49 \u4e86 \u4ee5\u4e0b \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff1a   def   sensors ( self ) :   sensors   =   [ { ' type ' :   ' sensor . camera . rgb ' ,   ' x ' : 0.7 ,   ' y ' : 0.0 ,   ' z ' : 1.60 ,   ' roll ' : 0.0 ,   ' pitch ' : 0.0 ,   ' yaw ' : 0.0 ,   ' width ' : 800 ,   ' height ' :   600 ,   ' fov ' : 100 ,   ' id ' :   ' Center ' } ,   { ' type ' :   ' sensor . camera . rgb ' ,   ' x ' : 0.7 ,   ' y ' : - 0.4 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   - 45.0 ,   ' width ' :   800 ,   ' height ' :   600 ,   ' fov ' :   100 ,   ' id ' :   ' Left ' } ,   { ' type ' :   ' sensor . camera . rgb ' ,   ' x ' : 0.7 ,   ' y ' : 0.4 ,   ' z ' : 1.60 ,   ' roll ' : 0.0 ,   ' pitch ' : 0.0 ,   ' yaw ' : 45.0 ,   ' width ' : 800 ,   ' height ' : 600 ,   ' fov ' : 100 ,   ' id ' :   ' Right ' } ,   { ' type ' :   ' sensor . lidar . ray _ cast ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 ,   ' roll ' :   0.0 ,   ' pitch ' :   0.0 ,   ' yaw ' :   - 45.0 ,   ' id ' :   ' LIDAR ' } ,   { ' type ' :   ' sensor . other . gnss ' ,   ' x ' :   0.7 ,   ' y ' :   - 0.4 ,   ' z ' :   1.60 ,   ' id ' :   ' GPS ' } ,   { ' type ' :   ' sensor . speedometer ' , ' reading _ frequency ' :   25 ,   ' id ' :   ' speed ' }   ]   return   sensors   \u6bcf\u4e2a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u90fd \u662f \u4e00\u672c \u5b57\u5178 \uff0c \u60a8 \u5e94\u8be5 \u5728 \u5176\u4e2d \u6307\u5b9a \uff1a   type :   \u57fa\u672c \u57fa\u672c\u4e0a \u662f \u8981 \u6dfb\u52a0 \u7684 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4f8b\u5982 \uff1a \u201c sensor . camera . rgb \u201d \u8868\u793a   RGB   \u76f8\u673a \uff0c \u201c sensor . lidar . ray _ cast \u201d \u8868\u793a \u5149\u7ebf \u6295\u5c04 \u6fc0\u5149 \u96f7\u8fbe \u6fc0\u5149\u96f7\u8fbe \u3002   id :   \u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u63d0\u4f9b \u7684 \u6807\u7b7e \uff0c \u4ee5\u4fbf \u7a0d\u540e \u8bbf\u95ee \u3002   \u5176\u4ed6 \u53c2\u6570 \uff1a \u8fd9\u4e9b \u53c2\u6570 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \uff0c \u4f8b\u5982 \u4f4d\u7f6e \u201c x \u201d \u548c \u201c y \u201d \uff0c \u6216 \u76f8\u673a \u7684 \u89c6\u91ce \u201c fov \u201d","title":"\" sensors \"   \u51fd\u6570 :"},{"location":"scenario_runner/agent_evaluation/#run_step","text":"\u4ece \u6311\u6218 \u8bc4\u4f30 \u5f00\u59cb \uff0c \u4eff\u771f \u7684 \u6bcf\u4e2a \u6b65\u9aa4 \u90fd \u4f1a \u8c03\u7528 \u6b64 \u51fd\u6570 \uff0c \u5e76 \u63a5\u6536 \u4e00\u4e9b \u8f93\u5165 \u6570\u636e \u4f5c\u4e3a \u53c2\u6570 \u3002   \u8be5 \u8f93\u5165 \u6570\u636e \u662f \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u5305\u542b \u201c \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u201d \u51fd\u6570 \u4e2d \u6307\u5b9a \u7684 \u6240\u6709 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u3002   \u6b64 \u51fd\u6570 \u5e94 \u8fd4\u56de \u8981   \u5e94\u7528 \u4e8e \u81ea\u6211 \u8f66\u8f86 \u7684   \u8f66\u8f86 \u63a7\u5236   \u3002","title":"\" run _ step \"   \u51fd\u6570 :"},{"location":"scenario_runner/agent_evaluation/#_2","text":"\u5728 \u6267\u884c \u5f00\u59cb \u65f6 \uff0c \u82f1\u96c4 \u4ee3\u7406 \u5e94\u8be5 \u884c\u9a76 \u7684 \u6574\u4e2a \u8def\u7ebf \u662f \u5728 \u201c self . global _ plan \u201d \u53d8\u91cf \u4e0a \u8bbe\u7f6e \u7684 \uff1a   [ ( { ' z ' :   0.0 ,   ' lat ' :   48.99822669411668 ,   ' lon ' :   8.002271601998707 } ,   < RoadOption . LANEFOLLOW :   4 > ) ,   ( { ' z ' :   0.0 ,   ' lat ' :   48.99822669411668 ,   ' lon ' :   8.002709765148996 } ,   < RoadOption . LANEFOLLOW :   4 > ) ,   ...   ( { ' z ' :   0.0 ,   ' lat ' :   48.99822679980298 ,   ' lon ' :   8.002735250105061 } ,   < RoadOption . LANEFOLLOW :   4 > ) ] `   \u5b83 \u8868\u793a \u4e3a \u5143\u7ec4 \u5217\u8868 \uff0c \u5305\u542b \u4ee5 \u7eac\u5ea6 \u548c \u7ecf\u5ea6 \u8868\u793a \u7684 \u8def\u7ebf \u8def\u5f84 \u70b9 \u4ee5\u53ca \u5efa\u8bae \u7684 \u5f53\u524d \u9053\u8def \u9009\u9879 \u3002 \u5bf9\u4e8e \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \uff0c \u9009\u9879 \u53ef\u4ee5 \u662f \u76f4\u884c \u3001 \u5de6\u8f6c \u6216 \u53f3\u8f6c \u3002 \u5bf9\u4e8e \u8def\u7ebf \u7684 \u5176\u4f59 \u4f59\u90e8 \u90e8\u5206 \u5176\u4f59\u90e8\u5206 \uff0c \u5efa\u8bae \u9009\u62e9 \u8f66\u9053 \u8ddf\u968f \u3002","title":"\u521d\u59cb \u8def\u7ebf :"},{"location":"scenario_runner/creating_new_scenario/","text":"\u521b\u5efa \u65b0 \u573a\u666f \u6559\u7a0b   \u672c \u6559\u7a0b \u4ecb\u7ecd \u5982\u4f55 \u4f7f\u7528   ScenarioRunner   \u548c   ScenarioManager   \u5957\u4ef6 \u521b\u5efa \u548c \u8fd0\u884c \u65b0 \u573a\u666f \u3002   \u6211\u4eec \u5c06 \u65b0 \u573a\u666f \u79f0\u4e3a   NewScenario   \u3002 \u8981 \u521b\u5efa \u5b83 \uff0c \u53ea \u9700\u8981 \u51e0\u4e2a \u6b65\u9aa4 \u3002   \u521b\u5efa \u4e00\u4e2a \u7a7a \u7684   Python   \u7c7b   \u8f6c \u5230   Scenarios   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u4f7f\u7528 \u65b0   Python   \u6587\u4ef6 \u4e2d \u7684   NewScenario   \u540d\u79f0 \u521b\u5efa \u4e00\u4e2a \u65b0 \u7684   Python   \u7c7b   new _ scenario . py   \u3002 \u7c7b \u5e94\u8be5 \u4ece   BasicScenario   \u7c7b \u6d3e\u751f \u3002 \u7ed3\u679c \uff0c \u8be5\u7c7b \u5e94 \u5982\u4e0b \u6240\u793a \uff1a   class   NewScenario ( BasicScenario ) :   \" \" \"   Some   documentation   on   NewScenario   : param   world   is   the   CARLA   world   : param   ego _ vehicles   is   a   list   of   ego   vehicles   for   this   scenario   : param   config   is   the   scenario   configuration   ( ScenarioConfiguration )   : param   randomize   can   be   used   to   select   parameters   randomly   ( optional ,   default = False )   : param   debug _ mode   can   be   used   to   provide   more   comprehensive   console   output   ( optional ,   default = False )   : param   criteria _ enable   can   be   used   to   disable / enable   scenario   evaluation   based   on   test   criteria   ( optional ,   default = True )   : param   timeout   is   the   overall   scenario   timeout   ( optional ,   default = 60   seconds )   \" \" \"   #   some   ego   vehicle   parameters   #   some   parameters   for   the   other   vehicles   def   __ init __ ( self ,   world ,   ego _ vehicles ,   config ,   randomize = False ,   debug _ mode = False ,   criteria _ enable = True ,   timeout = 60 ) :   \" \" \"   Initialize   all   parameters   required   for   NewScenario   \" \" \"   #   Call   constructor   of   BasicScenario   super ( NewScenario ,   self ) .__ init __ (   \" NewScenario \" ,   ego _ vehicles ,   config ,   world ,   debug _ mode ,   criteria _ enable = criteria _ enable )   def   _ create _ behavior ( self ) :   \" \" \"   Setup   the   behavior   for   NewScenario   \" \" \"   def   _ create _ test _ criteria ( self ) :   \" \" \"   Setup   the   evaluation   criteria   for   NewScenario   \" \" \"   \u586b\u5145 Python \u7c7b   \u5728   NewScenario   \u7c7b\u4e2d \uff0c \u60a8 \u5fc5\u987b \u5b9a\u4e49 \u4ee3\u7801 \u793a\u4f8b \u4e2d \u63d0\u5230 \u7684 \u4ee5\u4e0b \u65b9\u6cd5 \u3002   \u521d\u59cb \u521d\u59cb\u5316 \u65b9\u6cd5   \u521d\u59cb \u521d\u59cb\u5316 \u65b9\u6cd5 \u65e8\u5728 \u8bbe\u7f6e \u573a\u666f \u548c \u6240\u6709 \u8f66\u8f86 \u6240 \u9700 \u7684 \u6240\u6709 \u53c2\u6570 \u3002 \u8fd9 \u5305\u62ec \u9009\u62e9 \u6b63\u786e \u7684 \u8f66\u8f86 \u3001 \u5728 \u6b63\u786e \u7684 \u4f4d\u7f6e \u751f\u6210 \u5b83\u4eec \u7b49 \u3002 \u4e3a\u4e86 \u7b80\u5316 \u8fd9 \u4e00\u70b9 \uff0c \u60a8 \u53ef\u80fd \u9700\u8981 \u4f7f\u7528   basic _ scenario . py   \u4e2d \u5b9a\u4e49 \u7684   setup _ vehicle ( )   \u65b9\u6cd5 \u3002   CreateBehavior   \u65b9\u6cd5   \u6b64 \u65b9\u6cd5 \u5e94 \u8bbe\u7f6e \u5305\u542b \u573a\u666f \u671f\u95f4 \u6240\u6709 \u975e \u81ea\u6211 \u8f66\u8f86 \u884c\u4e3a \u7684 \u884c\u4e3a \u6811 \u3002 \u884c\u4e3a \u6811 \u5e94\u8be5 \u4f7f\u7528   atomic _ scenario _ behavior . py   \u548c   atomic _ scenario _ behavior . py   \u4e2d \u5b9a\u4e49 \u7684 \u539f\u5b50 \u884c\u4e3a \u3002   CreateTestCriteria   \u65b9\u6cd5   \u6b64 \u65b9\u6cd5 \u5e94 \u8bbe\u7f6e \u4e00\u4e2a \u5305\u542b \u573a\u666f \u7684 \u6240\u6709 \u8bc4\u4f30 \u6807\u51c6 \u7684 \u5217\u8868 \u3002 \u8be5 \u6807\u51c6 \u5e94 \u57fa\u4e8e   atomic _ scenario _ criteria . py   \u4e2d \u5b9a\u4e49 \u7684 \u539f\u5b50 \u6807\u51c6 \u3002   \u6ce8\u610f :   \u4ece\u6b64 \u5217\u8868   py _ tree   \u4e2d\u5c06 \u81ea\u52a8 \u521b\u5efa \u5e76\u884c \uff01   \u6dfb\u52a0 \u573a\u666f \u914d\u7f6e   \u6700\u540e \uff0c \u573a\u666f \u914d\u7f6e \u5e94 \u6dfb\u52a0 \u5230 \u8be5   examples /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u5982\u679c \u6269\u5c55 \u5df2\u7ecf \u5b58\u5728 \u7684 \u573a\u666f \u6a21\u5757 \uff0c \u5219 \u53ea \u9700 \u6269\u5c55 \u76f8\u5e94 \u7684   XML \uff0c \u5426\u5219 \u6dfb\u52a0 \u65b0 \u7684   XML   \u6587\u4ef6 \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u4efb\u4f55 \u73b0\u6709 \u7684   XML   \u6587\u4ef6 \u4f5c\u4e3a \u84dd\u56fe \u3002   \u5982\u679c \u60a8 \u60f3 \u4e3a \u4e00\u4e2a \u573a\u666f \u6dfb\u52a0 \u591a\u4e2a \u81ea\u6211 \u8f66\u8f86 \uff0c \u8bf7 \u786e\u4fdd \u5b83\u4eec \u4f7f\u7528 \u4e0d\u540c \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0 \uff0c \u4f8b\u5982   < scenario   name = \" MultiEgoTown03 \"   type = \" FreeRide \"   town = \" Town03 \" >   < ego _ vehicle   x = \" 207 \"   y = \" 59 \"   z = \" 0 \"   yaw = \" 180 \"   model = \" vehicle . lincoln . mkz _ 2017 \"   rolename = \" hero \" / >   < ego _ vehicle   x = \" 237 \"   y = \" - 95.0754252474 \"   z = \" 0 \"   yaw = \" 90 \"   model = \" vehicle . tesla . model3 \"   rolename = \" hero2 \" / >   < / scenario >","title":"\u521b\u5efa \u65b0 \u573a\u666f \u6559\u7a0b"},{"location":"scenario_runner/creating_new_scenario/#_1","text":"\u672c \u6559\u7a0b \u4ecb\u7ecd \u5982\u4f55 \u4f7f\u7528   ScenarioRunner   \u548c   ScenarioManager   \u5957\u4ef6 \u521b\u5efa \u548c \u8fd0\u884c \u65b0 \u573a\u666f \u3002   \u6211\u4eec \u5c06 \u65b0 \u573a\u666f \u79f0\u4e3a   NewScenario   \u3002 \u8981 \u521b\u5efa \u5b83 \uff0c \u53ea \u9700\u8981 \u51e0\u4e2a \u6b65\u9aa4 \u3002","title":"\u521b\u5efa \u65b0 \u573a\u666f \u6559\u7a0b"},{"location":"scenario_runner/creating_new_scenario/#python","text":"\u8f6c \u5230   Scenarios   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5e76 \u4f7f\u7528 \u65b0   Python   \u6587\u4ef6 \u4e2d \u7684   NewScenario   \u540d\u79f0 \u521b\u5efa \u4e00\u4e2a \u65b0 \u7684   Python   \u7c7b   new _ scenario . py   \u3002 \u7c7b \u5e94\u8be5 \u4ece   BasicScenario   \u7c7b \u6d3e\u751f \u3002 \u7ed3\u679c \uff0c \u8be5\u7c7b \u5e94 \u5982\u4e0b \u6240\u793a \uff1a   class   NewScenario ( BasicScenario ) :   \" \" \"   Some   documentation   on   NewScenario   : param   world   is   the   CARLA   world   : param   ego _ vehicles   is   a   list   of   ego   vehicles   for   this   scenario   : param   config   is   the   scenario   configuration   ( ScenarioConfiguration )   : param   randomize   can   be   used   to   select   parameters   randomly   ( optional ,   default = False )   : param   debug _ mode   can   be   used   to   provide   more   comprehensive   console   output   ( optional ,   default = False )   : param   criteria _ enable   can   be   used   to   disable / enable   scenario   evaluation   based   on   test   criteria   ( optional ,   default = True )   : param   timeout   is   the   overall   scenario   timeout   ( optional ,   default = 60   seconds )   \" \" \"   #   some   ego   vehicle   parameters   #   some   parameters   for   the   other   vehicles   def   __ init __ ( self ,   world ,   ego _ vehicles ,   config ,   randomize = False ,   debug _ mode = False ,   criteria _ enable = True ,   timeout = 60 ) :   \" \" \"   Initialize   all   parameters   required   for   NewScenario   \" \" \"   #   Call   constructor   of   BasicScenario   super ( NewScenario ,   self ) .__ init __ (   \" NewScenario \" ,   ego _ vehicles ,   config ,   world ,   debug _ mode ,   criteria _ enable = criteria _ enable )   def   _ create _ behavior ( self ) :   \" \" \"   Setup   the   behavior   for   NewScenario   \" \" \"   def   _ create _ test _ criteria ( self ) :   \" \" \"   Setup   the   evaluation   criteria   for   NewScenario   \" \" \"","title":"\u521b\u5efa \u4e00\u4e2a \u7a7a \u7684   Python   \u7c7b"},{"location":"scenario_runner/creating_new_scenario/#python_1","text":"\u5728   NewScenario   \u7c7b\u4e2d \uff0c \u60a8 \u5fc5\u987b \u5b9a\u4e49 \u4ee3\u7801 \u793a\u4f8b \u4e2d \u63d0\u5230 \u7684 \u4ee5\u4e0b \u65b9\u6cd5 \u3002","title":"\u586b\u5145 Python \u7c7b"},{"location":"scenario_runner/creating_new_scenario/#_2","text":"\u521d\u59cb \u521d\u59cb\u5316 \u65b9\u6cd5 \u65e8\u5728 \u8bbe\u7f6e \u573a\u666f \u548c \u6240\u6709 \u8f66\u8f86 \u6240 \u9700 \u7684 \u6240\u6709 \u53c2\u6570 \u3002 \u8fd9 \u5305\u62ec \u9009\u62e9 \u6b63\u786e \u7684 \u8f66\u8f86 \u3001 \u5728 \u6b63\u786e \u7684 \u4f4d\u7f6e \u751f\u6210 \u5b83\u4eec \u7b49 \u3002 \u4e3a\u4e86 \u7b80\u5316 \u8fd9 \u4e00\u70b9 \uff0c \u60a8 \u53ef\u80fd \u9700\u8981 \u4f7f\u7528   basic _ scenario . py   \u4e2d \u5b9a\u4e49 \u7684   setup _ vehicle ( )   \u65b9\u6cd5 \u3002","title":"\u521d\u59cb\u5316 \u65b9\u6cd5"},{"location":"scenario_runner/creating_new_scenario/#createbehavior","text":"\u6b64 \u65b9\u6cd5 \u5e94 \u8bbe\u7f6e \u5305\u542b \u573a\u666f \u671f\u95f4 \u6240\u6709 \u975e \u81ea\u6211 \u8f66\u8f86 \u884c\u4e3a \u7684 \u884c\u4e3a \u6811 \u3002 \u884c\u4e3a \u6811 \u5e94\u8be5 \u4f7f\u7528   atomic _ scenario _ behavior . py   \u548c   atomic _ scenario _ behavior . py   \u4e2d \u5b9a\u4e49 \u7684 \u539f\u5b50 \u884c\u4e3a \u3002","title":"CreateBehavior   \u65b9\u6cd5"},{"location":"scenario_runner/creating_new_scenario/#createtestcriteria","text":"\u6b64 \u65b9\u6cd5 \u5e94 \u8bbe\u7f6e \u4e00\u4e2a \u5305\u542b \u573a\u666f \u7684 \u6240\u6709 \u8bc4\u4f30 \u6807\u51c6 \u7684 \u5217\u8868 \u3002 \u8be5 \u6807\u51c6 \u5e94 \u57fa\u4e8e   atomic _ scenario _ criteria . py   \u4e2d \u5b9a\u4e49 \u7684 \u539f\u5b50 \u6807\u51c6 \u3002   \u6ce8\u610f :   \u4ece\u6b64 \u5217\u8868   py _ tree   \u4e2d\u5c06 \u81ea\u52a8 \u521b\u5efa \u5e76\u884c \uff01","title":"CreateTestCriteria   \u65b9\u6cd5"},{"location":"scenario_runner/creating_new_scenario/#_3","text":"\u6700\u540e \uff0c \u573a\u666f \u914d\u7f6e \u5e94 \u6dfb\u52a0 \u5230 \u8be5   examples /   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002 \u5982\u679c \u6269\u5c55 \u5df2\u7ecf \u5b58\u5728 \u7684 \u573a\u666f \u6a21\u5757 \uff0c \u5219 \u53ea \u9700 \u6269\u5c55 \u76f8\u5e94 \u7684   XML \uff0c \u5426\u5219 \u6dfb\u52a0 \u65b0 \u7684   XML   \u6587\u4ef6 \u3002 \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 \u4efb\u4f55 \u73b0\u6709 \u7684   XML   \u6587\u4ef6 \u4f5c\u4e3a \u84dd\u56fe \u3002   \u5982\u679c \u60a8 \u60f3 \u4e3a \u4e00\u4e2a \u573a\u666f \u6dfb\u52a0 \u591a\u4e2a \u81ea\u6211 \u8f66\u8f86 \uff0c \u8bf7 \u786e\u4fdd \u5b83\u4eec \u4f7f\u7528 \u4e0d\u540c \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u540d\u79f0 \uff0c \u4f8b\u5982   < scenario   name = \" MultiEgoTown03 \"   type = \" FreeRide \"   town = \" Town03 \" >   < ego _ vehicle   x = \" 207 \"   y = \" 59 \"   z = \" 0 \"   yaw = \" 180 \"   model = \" vehicle . lincoln . mkz _ 2017 \"   rolename = \" hero \" / >   < ego _ vehicle   x = \" 237 \"   y = \" - 95.0754252474 \"   z = \" 0 \"   yaw = \" 90 \"   model = \" vehicle . tesla . model3 \"   rolename = \" hero2 \" / >   < / scenario >","title":"\u6dfb\u52a0 \u573a\u666f \u914d\u7f6e"},{"location":"scenario_runner/getting_scenariorunner/","text":"\u83b7\u53d6   ScenarioRunner   \u672c \u6559\u7a0b \u4ecb\u7ecd \u5982\u4f55 \u4e0b\u8f7d   ScenarioRunner   \u5e76 \u8fd0\u884c \u4e00\u4e2a \u7b80\u5355 \u7684 \u793a\u4f8b \u6765 \u6d4b\u8bd5 \u5b83 \u3002 ScenarioRunner   \u9700\u8981   Carla   \u624d\u80fd \u8fd0\u884c \uff0c \u5e76\u4e14 \u5fc5\u987b \u4e0e \u6b63\u5728 \u4f7f\u7528 \u7684   Carla   \u7248\u672c \u5339\u914d \u3002 \u5982\u679c \u4f7f\u7528 \u7684   Carla   \u662f\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684 \uff0c \u8bf7 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u4e0b\u8f7d   ScenarioRunner \u3002 \u5982\u679c \u4f7f\u7528 \u7684   Carla   \u662f \u5305 \uff0c \u8bf7 \u4e0b\u8f7d \u5bf9\u5e94 \u7248\u672c \u7684 ScenarioRunner \u3002   \u5b89\u88c5 \u603b\u7ed3   A .   \u4e0b\u8f7d   ScenarioRunner   \u53d1\u5e03 \u7248   \u66f4\u65b0 \u53d1\u5e03 \u7248   B .   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u4e0b\u8f7d   ScenarioRunner   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u66f4\u65b0 \u6784\u5efa   \u8fd0\u884c \u6d4b\u8bd5   \u5b89\u88c5 \u603b\u7ed3   \u663e\u793a \u5feb\u901f \u542f\u52a8 \u5b89\u88c5 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u6458\u8981   #   \u51b3\u5b9a \u662f\u5426 \u4f7f\u7528 \u5305 \u6216\u8005 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   #   \u9009\u9879   A )   \u4f7f\u7528   ScenarioRunner   \u5305   #   1 .   \u5b89\u88c5   CARLA   \u5305 :   https : / / carla . readthedocs . io / en / latest / start _ quickstart /   #   2 .   \u4e0b\u8f7d \u5339\u914d \u7684   ScenarioRunner   \u5305 :   https : / / github . com / carla - simulator / scenario _ runner / releases   #   3 .   \u62bd\u53d6 \u5185\u5bb9 ntent   wherever   needed .   #   Update   the   release :   #   1 .   Delete   previous   CARLA   and   ScenarioRunner   versions .   #   2 .   Download   the   latest   CARLA   release .   #   3 .   Download   the   matching   ScenarioRunner   release .   #   Option   B )   Download   ScenarioRunner   from   source   #   1 .   Build   CARLA   from   source :   https : / / carla . readthedocs . io / en / latest / build _ linux /   #   2 .   Clone   the   ScenarioRunner   repository :   git   clone   https : / / github . com / carla - simulator / scenario _ runner . git   #   3 .   Install   requirements   according   to   the   Python   version   to   be   used :   #   For   Python   2 . x :   sudo   apt   remove   python - networkx   # if   installed ,   remove   old   version   of   networkx   pip2   install   -- user   - r   requirements . txt   #   For   Python   3 . x :   sudo   apt   remove   python3 - networkx   # if   installed ,   remove   old   version   of   networkx   pip3   install   -- user   - r   requirements . txt   #   To   update   ScenarioRunner   from   source :   #   1 .   Update   CARLA :   https : / / carla . readthedocs . io / en / latest / build _ update /   #   2 .   Go   to   the   ScenarioRunner   repository ,   master   branch   cd   ~ / scenario _ runner   git   branch   master   #   3 .   Pull   the   latest   changes   from   the   repository   git   pull   A .   \u4e0b\u8f7d   ScenarioRunner   \u53d1\u5e03 \u7248   ScenarioRunner   \u7684 \u7248\u672c \u662f \u5305\u542b \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff1a   *   \u4e0e \u7279\u5b9a   CARLA   \u7248\u672c \u76f8\u5173 \u7684   ScenarioRunner   \u7248\u672c \u3002   *   \u7528   Python   \u7f16\u5199 \u7684 \u4e00\u4e9b \u793a\u4f8b \u573a\u666f \u3002   \u8fd0\u884c   ScenarioRunner   \u7248\u672c \u7684 \u8fc7\u7a0b \u975e\u5e38 \u7b80\u5355 \u975e\u5e38\u7b80\u5355 \u3002   1 .   \u4e0b\u8f7d   CARLA   \u53d1\u5e03 \u7248 \u3002   \u8bf7 \u6309\u7167   CARLA   \u5feb\u901f \u5165\u95e8   \u4e2d \u7684 \u6d41\u7a0b \u8fdb\u884c \u64cd\u4f5c \u3002   2 .   \u4e0b\u8f7d \u5339\u914d \u7684   ScenarioRunner   \u7248\u672c \u3002   \u6b64\u5904   \u5217\u51fa \u4e86 \u6240\u6709 \u7248\u672c \u3002   \u91cd\u8981   \u4e24\u4e2a \u7248\u672c \u5fc5\u987b \u5339\u914d \u3002 \u5982\u679c   CARLA   \u7248\u672c \u662f   0.9 . 9   \uff0c \u5219 \u8fd8 \u53ef\u4ee5 \u4f7f\u7528   ScenarioRunner   0.9 . 9   \u3002   \u4ee5\u4e0b   \u662f   CARLA   \u548c   ScenarioRunner   \u4e4b\u95f4 \u7684 \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u7684 \u7b80\u8981 \u5217\u8868 \u3002   3 .   \u63d0\u53d6 \u5185\u5bb9 \u3002   \u76ee\u5f55 \u5e76 \u4e0d \u91cd\u8981 \u3002   \u66f4\u65b0 \u53d1\u5e03 \u7248   \u6253\u5305 \u7248\u672c \u4e0d \u9700\u8981 \u66f4\u65b0 \u3002 \u5185\u5bb9 \u662f \u6346\u7ed1 \u7684 \uff0c \u56e0\u6b64 \u4e0e   CARLA   \u7684 \u7279\u5b9a \u7248\u672c \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u6bcf\u6b21 \u6709 \u65b0 \u7684   CARLA   \u7248\u672c \u65f6 \uff0c ScenarioRunner   \u90fd \u4f1a \u6709 \u4e00\u4e2a \u5339\u914d \u7684 \u7248\u672c \u3002 \u6b64\u5904 \u5217\u51fa \u4e86 \u6240\u6709 \u7248\u672c \uff1a   CARLA   \u53d1\u5e03 \u7248   Scenario   Runner   \u53d1\u5e03 \u7248   \u8981 \u8fd0\u884c \u6700\u65b0 \u7248\u672c \u6216 \u4efb\u4f55 \u5176\u4ed6 \u7248\u672c \uff0c \u8bf7 \u5220\u9664 \u4ee5\u524d \u7684 \u7248\u672c \u5e76 \u5b89\u88c5 \u6240 \u9700 \u7684 \u7248\u672c \u3002   B .   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u4e0b\u8f7d   ScenarioRunner   ScenarioRunner   \u6e90 \u5b58\u50a8 \u5e93 \u5305\u542b \u4e0e \u6700\u65b0 \u5f00\u53d1 \u7248\u672c   CARLA   \u4e00\u8d77 \u8fd0\u884c \u7684 \u6700\u5177 \u5b9e\u9a8c \u5b9e\u9a8c\u6027 \u7684 \u529f\u80fd \u3002 \u5b83 \u4e0d \u9700\u8981 \u6784\u5efa \uff0c \u56e0\u4e3a \u5b83 \u53ea \u5305\u542b   ScenarioRunner   \u6a21\u5757 \u7684   Python   \u4ee3\u7801 \u3002   1 .   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   CARLA \u3002   \u6309\u7167 \u6587\u6863 \u5728   Linux   \u6216   Windows   \u4e0a \u8fdb\u884c \u6784\u5efa \u3002   \u91cd\u8981   ScenarioRunner   \u9700\u8981   CARLA   \u624d\u80fd \u8fd0\u884c \uff0c \u56e0\u6b64 \u6587\u6863 \u4e2d \u89c4\u5b9a \u7684   CARLA   \u6700\u4f4e \u8981\u6c42 \u4e5f \u662f \u8fd0\u884c   ScenarioRunner   \u6240 \u5fc5\u9700 \u7684 \u3002   2 .   \u514b\u9686   ScenarioRunner   \u5b58\u50a8 \u5e93 \u3002   git   clone   https : / / github . com / carla - simulator / scenario _ runner . git   3 .   \u6839\u636e \u8981 \u4f7f\u7528 \u7684 Python \u7248\u672c \u5b89\u88c5 \u9700\u6c42 \u3002   \u9996\u5148 \u8fdb\u5165   ScenarioRunner   \u76ee\u5f55 \u4e3b\u76ee\u5f55   cd   ~ / scenario _ runner /   \u5bf9\u4e8e   Python   2 . x .   sudo   apt   remove   python - networkx   # if   installed ,   remove   old   version   of   networkx   pip2   install   -- user   - r   requirements . txt   \u5bf9\u4e8e   Python   3 . x   sudo   apt   remove   python3 - networkx   # if   installed ,   remove   old   version   of   networkx   pip3   install   -- user   - r   requirements . txt   \u8b66\u544a   \u4e0d   \u652f\u6301 \u9ad8\u4e8e   v0.8   \u7684   py - tree   \u3002   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u66f4\u65b0 \u6784\u5efa   1 .   \u66f4\u65b0   CARLA   \u6784\u5efa   \u6309\u7167   \u6587\u6863   \u66f4\u65b0   CARLA \u3002   2 .   \u8f6c\u5230 ScenarioRunner   \u76ee\u5f55 \u4e3b\u76ee\u5f55 \u3002   \u786e\u4fdd \u4f4d\u4e8e \u672c \u5730\u4e3b \u5206\u652f \u4e2d \u3002   cd   ~ / scenario _ runner   git   branch   master   3 .   \u4ece \u5b58\u50a8 \u5e93\u4e2d \u63d0\u53d6 \u6700\u65b0 \u66f4\u6539 \u3002   git   pull   4 .   \u6dfb\u52a0 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u548c Python \u8def\u5f84   \u8fd9\u4e9b \u662f \u7cfb\u7edf \u627e\u5230 CARLA \u6240 \u5fc5\u9700 \u7684 \uff0c \u5e76 \u5c06 PythonAPI \u6dfb\u52a0 \u5230 Python \u8def\u5f84 \u4e2d \u3002   \u5bf9\u4e8e   Linux   #   $ { CARLA _ ROOT }   is   the   CARLA   installation   directory   #   $ { SCENARIO _ RUNNER }   is   the   ScenarioRunner   installation   directory   #   < VERSION >   is   the   correct   string   for   the   Python   version   being   used   #   In   a   build   from   source ,   the   . egg   files   may   be   in :   $ { CARLA _ ROOT } / PythonAPI / dist /   instead   of   $ { CARLA _ ROOT } / PythonAPI   export   CARLA _ ROOT = / path / to / your / carla / installation   export   SCENARIO _ RUNNER _ ROOT = / path / to / your / scenario / runner / installation   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla / dist / carla - < VERSION > . egg   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla   \u6ce8\u610f   \u6839\u636e \u6ce8\u91ca \uff0c \u4f7f\u7528 \u6b63\u786e \u7684 \u8def\u5f84 \u66f4\u6539 \u547d\u4ee4 \u547d\u4ee4\u884c \u3002   \u5bf9\u4e8e   Windows   #   % CARLA _ ROOT%   is   the   CARLA   installation   directory   #   % SCENARIO _ RUNNER%   is   the   ScenarioRunner   installation   directory   #   < VERSION >   is   the   correct   string   for   the   Python   version   being   used   #   In   a   build   from   source ,   the   . egg   files   may   be   in :   $ { CARLA _ ROOT } / PythonAPI / dist /   instead   of   $ { CARLA _ ROOT } / PythonAPI   set   CARLA _ ROOT = \\ path \\ to \\ your \\ carla \\ installation   set   SCENARIO _ RUNNER _ ROOT = \\ path \\ to \\ your \\ scenario \\ runner \\ installation   set   PYTHONPATH = % PYTHONPATH% ; % CARLA _ ROOT% \\ PythonAPI \\ carla \\ dist \\ carla - < VERSION > . egg   set   PYTHONPATH = % PYTHONPATH% ; % CARLA _ ROOT% \\ PythonAPI \\ carla   \u6ce8\u610f   \u6839\u636e \u6ce8\u91ca \uff0c \u4f7f\u7528 \u6b63\u786e \u7684 \u8def\u5f84 \u66f4\u6539 \u547d\u4ee4 \u547d\u4ee4\u884c \u3002   \u5982\u9700 \u6c38\u4e45 \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c \u8bf7 \u524d\u5f80   \u7f16\u8f91 \u8be5 \u8d26\u6237 \u7684 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   \u3002 \u901a\u8fc7 \u5728   Windows   \u7684 \u641c\u7d22 \u9762\u677f \u4e0a \u8f93\u5165   env   \u53ef\u4ee5 \u5feb\u901f \u8bbf\u95ee \u5feb\u901f\u8bbf\u95ee \u5b83 \u3002   \u5982\u679c \u9700\u8981 \u8fd0\u884c \u57fa\u4e8e   OpenSCENARIO   2.0   \u683c\u5f0f \u7684 \u573a\u666f \uff0c \u8bf7 \u5148 \u5b89\u88c5 graphviz \u548c antlr \uff1a   sudo   apt - get   install   - y   openjdk - 17 - jdk   graphviz   curl   - O   https : / / www . antlr . org / download / antlr - 4.10 . 1 - complete . jar   sudo   cp   antlr - 4.10 . 1 - complete . jar   / usr / local / lib /   sudo   gedit   ~ / . bashrc   \u5c06 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u6dfb\u52a0 \u5230 ~ / . bashrc \u4e2d \uff1a   export   CLASSPATH = \" . : / usr / local / lib / antlr - 4.10 . 1 - complete . jar : $ CLASSPATH \"   alias   antlr4 = ' java   - jar   / usr / local / lib / antlr - 4.10 . 1 - complete . jar '   alias   grun = ' java   org . antlr . v4 . gui . TestRig '   \u5e76 \u4f7f \u66f4\u6539 \u751f\u6548 \uff1a   source   ~ / . bashrc   \u8fd0\u884c \u6d4b\u8bd5   \u8fd0\u884c \u4ee5\u4e0b \u8f66\u8f86 \u793a\u4f8b \u3002 \u9996\u5148 \uff0c \u60a8 \u9700\u8981 \u4ece   CARLA   \u83b7\u53d6 \u6700\u65b0 \u7684 \u4e3b \u5206\u652f \u3002 \u7136\u540e \u60a8 \u5fc5\u987b \u5c06   CARLA   Python   API   \u5305\u542b \u5230   Python   \u8def\u5f84   \u4e2d \uff1a   \u91cd\u8981   \u5982\u679c \u4f7f\u7528 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \uff0c \u8bf7 \u786e\u4fdd \u4e0a\u4f20 \u5b83\u4eec \u3002 \u4e0b\u8f7d   master   \u5206\u652f \u4e2d \u7684 \u6700\u65b0 \u5185\u5bb9 \u3002   1 .   \u8fd0\u884c   CARLA   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   A )   \u5728 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u4e2d   \uff0c \u8f6c \u5230   CARLA   \u76ee\u5f55 \u5e76 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   cd   ~ / carla   #   Change   the   path   accordingly   make   launch   #   Press   Play   in   the   UE   Editor   B )   \u5728   CARLA   \u5305\u4e2d   \u76f4\u63a5 \u8fd0\u884c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   . / CarlaUE4 . sh   2 .   \u542f\u52a8 \u793a\u4f8b \u573a\u666f \u3002   \u6253\u5f00 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \uff0c \u8fdb\u5165 ScenarioRunner \u4e0b\u8f7d \u7684 \u76ee\u5f55 \u3002 \u4e3a\u4e86 \u8fdb\u884c \u672c\u6b21 \u6d4b\u8bd5 \uff0c \u5c06 \u4f7f\u7528 \u4ee5\u4e0b \u5f15\u5bfc \u8f66\u8f86 \u573a\u666f \uff08   scenario _ runner . py   \u548c   manual _ control . py   \u8981 \u4f7f\u7528 \u5bf9\u5e94 \u7684 \u53d1\u5e03 \u7248\u672c \uff0c \u5f00\u53d1 \u7248 \u4e0d \u4e00\u5b9a \u6210\u679c \uff09 \u3002   #   Inside   the   ScenarioRunner   root   directory   python   scenario _ runner . py   -- scenario   FollowLeadingVehicle _ 1   -- reloadWorld   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u67e5\u770b \u5f53\u524d \u573a\u666f \u6709 \u54ea\u4e9b \uff1a   python   scenario _ runner . py   -- list   \u6ce8\u610f   \u5982\u679c \u4f7f\u7528   Python   3 . x   \u7248\u672c \uff0c \u8bf7 \u8fd0\u884c \u5e26\u6709   python3   .   3 .   \u901a\u8fc7 \u624b\u52a8 \u63a7\u5236 \u6d4b\u8bd5 \u573a\u666f \u3002   \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \u5e76 \u8fd0\u884c   manual _ control . py   \u3002 \u5e94\u8be5 \u4f1a\u5f39 \u51fa \u4e00\u4e2a \u7a97\u53e3 \u65b0\u7a97\u53e3 \uff0c \u8857\u9053 \u4e2d\u592e \u6709 \u4e00\u8f86 \u81ea\u6211 \u8f66\u8f86 \u3002 \u5411\u524d \u79fb\u52a8 \uff0c \u9886\u5934 \u8f66\u8f86 \u5c31 \u4f1a \u51fa\u73b0 \u3002   #   Inside   the   ScenarioRunner   root   directory   python   manual _ control . py   \u8fd9\u4e9b \u573a\u666f \u6709 \u5927\u7ea6 \u4e00\u5206 \u5206\u949f \u4e00\u5206\u949f \u7684 \u8d85\u65f6 \u65f6\u95f4 \uff0c \u4ee5\u4fbf \u542f\u52a8 \u4ee3\u7406 \u3002 \u5982\u679c \u51fa\u73b0 \u8d85\u65f6 \uff0c \u5219 \u5e94 \u518d\u6b21 \u542f\u52a8 \u8ddf\u968f \u9886\u5148 \u8f66\u8f86 \u793a\u4f8b \u3002   \u8b66\u544a   \u8fd0\u884c   manual _ control . py   ScenarioRunner   \u5305 / \u5b58\u50a8 \u5e93\u4e2d \u627e\u5230 \u7684 \u5185\u5bb9 \uff0c   \u800c \u4e0d\u662f   CARLA   \u3002   4 .   \u63a2\u7d22 \u5176\u4ed6 \u9009\u62e9 \u3002   \u4f7f\u7528   \u6807\u5fd7 \u8fd0\u884c \u573a\u666f \u8fd0\u884c \u5668   -- help   \u6765 \u63a2\u7d22 \u5176\u4ed6 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u548c \u4e00\u4e9b \u57fa\u672c \u63cf\u8ff0 \u3002 \u4f8b\u5982 \uff0c \u4e3a\u4e86 \u907f\u514d \u81ea\u52a8 \uff08 \u91cd\u65b0 \uff09 \u52a0\u8f7d   CARLA   \u4e16\u754c \uff0c \u8bf7 \u8df3 \u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879   -- reloadWorld   \u3002   python   scenario _ runner . py   -- help   ScenarioRunner   \u7684 \u5b89\u88c5 \u8fc7\u7a0b \u81f3\u6b64 \u7ed3\u675f \u3002 \u5982\u679c \u53d1\u751f \u4efb\u4f55 \u610f\u5916 \u9519\u8bef \u6216 \u95ee\u9898 \uff0c   CARLA   \u8bba\u575b   \u5411 \u6240\u6709 \u6709\u4eba \u6240\u6709\u4eba \u5f00\u653e \u3002 \u6709 \u4e00\u4e2a ScenarioRunner \u7c7b\u522b \u7528\u4e8e \u53d1\u5e03 \u6709\u5173 \u6b64 \u6a21\u5757 \u7684 \u95ee\u9898 \u548c \u7591\u95ee \u3002","title":"Getting   scenariorunner"},{"location":"scenario_runner/getting_scenariorunner/#scenariorunner","text":"\u672c \u6559\u7a0b \u4ecb\u7ecd \u5982\u4f55 \u4e0b\u8f7d   ScenarioRunner   \u5e76 \u8fd0\u884c \u4e00\u4e2a \u7b80\u5355 \u7684 \u793a\u4f8b \u6765 \u6d4b\u8bd5 \u5b83 \u3002 ScenarioRunner   \u9700\u8981   Carla   \u624d\u80fd \u8fd0\u884c \uff0c \u5e76\u4e14 \u5fc5\u987b \u4e0e \u6b63\u5728 \u4f7f\u7528 \u7684   Carla   \u7248\u672c \u5339\u914d \u3002 \u5982\u679c \u4f7f\u7528 \u7684   Carla   \u662f\u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u7684 \uff0c \u8bf7 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u4e0b\u8f7d   ScenarioRunner \u3002 \u5982\u679c \u4f7f\u7528 \u7684   Carla   \u662f \u5305 \uff0c \u8bf7 \u4e0b\u8f7d \u5bf9\u5e94 \u7248\u672c \u7684 ScenarioRunner \u3002   \u5b89\u88c5 \u603b\u7ed3   A .   \u4e0b\u8f7d   ScenarioRunner   \u53d1\u5e03 \u7248   \u66f4\u65b0 \u53d1\u5e03 \u7248   B .   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u4e0b\u8f7d   ScenarioRunner   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u66f4\u65b0 \u6784\u5efa   \u8fd0\u884c \u6d4b\u8bd5","title":"\u83b7\u53d6   ScenarioRunner"},{"location":"scenario_runner/getting_scenariorunner/#_1","text":"\u663e\u793a \u5feb\u901f \u542f\u52a8 \u5b89\u88c5 \u7684 \u547d\u4ee4 \u547d\u4ee4\u884c \u6458\u8981   #   \u51b3\u5b9a \u662f\u5426 \u4f7f\u7528 \u5305 \u6216\u8005 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   #   \u9009\u9879   A )   \u4f7f\u7528   ScenarioRunner   \u5305   #   1 .   \u5b89\u88c5   CARLA   \u5305 :   https : / / carla . readthedocs . io / en / latest / start _ quickstart /   #   2 .   \u4e0b\u8f7d \u5339\u914d \u7684   ScenarioRunner   \u5305 :   https : / / github . com / carla - simulator / scenario _ runner / releases   #   3 .   \u62bd\u53d6 \u5185\u5bb9 ntent   wherever   needed .   #   Update   the   release :   #   1 .   Delete   previous   CARLA   and   ScenarioRunner   versions .   #   2 .   Download   the   latest   CARLA   release .   #   3 .   Download   the   matching   ScenarioRunner   release .   #   Option   B )   Download   ScenarioRunner   from   source   #   1 .   Build   CARLA   from   source :   https : / / carla . readthedocs . io / en / latest / build _ linux /   #   2 .   Clone   the   ScenarioRunner   repository :   git   clone   https : / / github . com / carla - simulator / scenario _ runner . git   #   3 .   Install   requirements   according   to   the   Python   version   to   be   used :   #   For   Python   2 . x :   sudo   apt   remove   python - networkx   # if   installed ,   remove   old   version   of   networkx   pip2   install   -- user   - r   requirements . txt   #   For   Python   3 . x :   sudo   apt   remove   python3 - networkx   # if   installed ,   remove   old   version   of   networkx   pip3   install   -- user   - r   requirements . txt   #   To   update   ScenarioRunner   from   source :   #   1 .   Update   CARLA :   https : / / carla . readthedocs . io / en / latest / build _ update /   #   2 .   Go   to   the   ScenarioRunner   repository ,   master   branch   cd   ~ / scenario _ runner   git   branch   master   #   3 .   Pull   the   latest   changes   from   the   repository   git   pull","title":"\u5b89\u88c5 \u603b\u7ed3"},{"location":"scenario_runner/getting_scenariorunner/#a-scenariorunner","text":"ScenarioRunner   \u7684 \u7248\u672c \u662f \u5305\u542b \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9 \u7684 \u8f6f\u4ef6 \u8f6f\u4ef6\u5305 \uff1a   *   \u4e0e \u7279\u5b9a   CARLA   \u7248\u672c \u76f8\u5173 \u7684   ScenarioRunner   \u7248\u672c \u3002   *   \u7528   Python   \u7f16\u5199 \u7684 \u4e00\u4e9b \u793a\u4f8b \u573a\u666f \u3002   \u8fd0\u884c   ScenarioRunner   \u7248\u672c \u7684 \u8fc7\u7a0b \u975e\u5e38 \u7b80\u5355 \u975e\u5e38\u7b80\u5355 \u3002   1 .   \u4e0b\u8f7d   CARLA   \u53d1\u5e03 \u7248 \u3002   \u8bf7 \u6309\u7167   CARLA   \u5feb\u901f \u5165\u95e8   \u4e2d \u7684 \u6d41\u7a0b \u8fdb\u884c \u64cd\u4f5c \u3002   2 .   \u4e0b\u8f7d \u5339\u914d \u7684   ScenarioRunner   \u7248\u672c \u3002   \u6b64\u5904   \u5217\u51fa \u4e86 \u6240\u6709 \u7248\u672c \u3002   \u91cd\u8981   \u4e24\u4e2a \u7248\u672c \u5fc5\u987b \u5339\u914d \u3002 \u5982\u679c   CARLA   \u7248\u672c \u662f   0.9 . 9   \uff0c \u5219 \u8fd8 \u53ef\u4ee5 \u4f7f\u7528   ScenarioRunner   0.9 . 9   \u3002   \u4ee5\u4e0b   \u662f   CARLA   \u548c   ScenarioRunner   \u4e4b\u95f4 \u7684 \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u7684 \u7b80\u8981 \u5217\u8868 \u3002   3 .   \u63d0\u53d6 \u5185\u5bb9 \u3002   \u76ee\u5f55 \u5e76 \u4e0d \u91cd\u8981 \u3002","title":"A .   \u4e0b\u8f7d   ScenarioRunner   \u53d1\u5e03 \u7248"},{"location":"scenario_runner/getting_scenariorunner/#_2","text":"\u6253\u5305 \u7248\u672c \u4e0d \u9700\u8981 \u66f4\u65b0 \u3002 \u5185\u5bb9 \u662f \u6346\u7ed1 \u7684 \uff0c \u56e0\u6b64 \u4e0e   CARLA   \u7684 \u7279\u5b9a \u7248\u672c \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u3002 \u6bcf\u6b21 \u6709 \u65b0 \u7684   CARLA   \u7248\u672c \u65f6 \uff0c ScenarioRunner   \u90fd \u4f1a \u6709 \u4e00\u4e2a \u5339\u914d \u7684 \u7248\u672c \u3002 \u6b64\u5904 \u5217\u51fa \u4e86 \u6240\u6709 \u7248\u672c \uff1a   CARLA   \u53d1\u5e03 \u7248   Scenario   Runner   \u53d1\u5e03 \u7248   \u8981 \u8fd0\u884c \u6700\u65b0 \u7248\u672c \u6216 \u4efb\u4f55 \u5176\u4ed6 \u7248\u672c \uff0c \u8bf7 \u5220\u9664 \u4ee5\u524d \u7684 \u7248\u672c \u5e76 \u5b89\u88c5 \u6240 \u9700 \u7684 \u7248\u672c \u3002","title":"\u66f4\u65b0 \u53d1\u5e03 \u7248"},{"location":"scenario_runner/getting_scenariorunner/#b-scenariorunner","text":"ScenarioRunner   \u6e90 \u5b58\u50a8 \u5e93 \u5305\u542b \u4e0e \u6700\u65b0 \u5f00\u53d1 \u7248\u672c   CARLA   \u4e00\u8d77 \u8fd0\u884c \u7684 \u6700\u5177 \u5b9e\u9a8c \u5b9e\u9a8c\u6027 \u7684 \u529f\u80fd \u3002 \u5b83 \u4e0d \u9700\u8981 \u6784\u5efa \uff0c \u56e0\u4e3a \u5b83 \u53ea \u5305\u542b   ScenarioRunner   \u6a21\u5757 \u7684   Python   \u4ee3\u7801 \u3002   1 .   \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa   CARLA \u3002   \u6309\u7167 \u6587\u6863 \u5728   Linux   \u6216   Windows   \u4e0a \u8fdb\u884c \u6784\u5efa \u3002   \u91cd\u8981   ScenarioRunner   \u9700\u8981   CARLA   \u624d\u80fd \u8fd0\u884c \uff0c \u56e0\u6b64 \u6587\u6863 \u4e2d \u89c4\u5b9a \u7684   CARLA   \u6700\u4f4e \u8981\u6c42 \u4e5f \u662f \u8fd0\u884c   ScenarioRunner   \u6240 \u5fc5\u9700 \u7684 \u3002   2 .   \u514b\u9686   ScenarioRunner   \u5b58\u50a8 \u5e93 \u3002   git   clone   https : / / github . com / carla - simulator / scenario _ runner . git   3 .   \u6839\u636e \u8981 \u4f7f\u7528 \u7684 Python \u7248\u672c \u5b89\u88c5 \u9700\u6c42 \u3002   \u9996\u5148 \u8fdb\u5165   ScenarioRunner   \u76ee\u5f55 \u4e3b\u76ee\u5f55   cd   ~ / scenario _ runner /   \u5bf9\u4e8e   Python   2 . x .   sudo   apt   remove   python - networkx   # if   installed ,   remove   old   version   of   networkx   pip2   install   -- user   - r   requirements . txt   \u5bf9\u4e8e   Python   3 . x   sudo   apt   remove   python3 - networkx   # if   installed ,   remove   old   version   of   networkx   pip3   install   -- user   - r   requirements . txt   \u8b66\u544a   \u4e0d   \u652f\u6301 \u9ad8\u4e8e   v0.8   \u7684   py - tree   \u3002","title":"B .   \u4ece \u6e90\u4ee3\u7801 \u4e0b\u8f7d   ScenarioRunner"},{"location":"scenario_runner/getting_scenariorunner/#_3","text":"1 .   \u66f4\u65b0   CARLA   \u6784\u5efa   \u6309\u7167   \u6587\u6863   \u66f4\u65b0   CARLA \u3002   2 .   \u8f6c\u5230 ScenarioRunner   \u76ee\u5f55 \u4e3b\u76ee\u5f55 \u3002   \u786e\u4fdd \u4f4d\u4e8e \u672c \u5730\u4e3b \u5206\u652f \u4e2d \u3002   cd   ~ / scenario _ runner   git   branch   master   3 .   \u4ece \u5b58\u50a8 \u5e93\u4e2d \u63d0\u53d6 \u6700\u65b0 \u66f4\u6539 \u3002   git   pull   4 .   \u6dfb\u52a0 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u548c Python \u8def\u5f84   \u8fd9\u4e9b \u662f \u7cfb\u7edf \u627e\u5230 CARLA \u6240 \u5fc5\u9700 \u7684 \uff0c \u5e76 \u5c06 PythonAPI \u6dfb\u52a0 \u5230 Python \u8def\u5f84 \u4e2d \u3002   \u5bf9\u4e8e   Linux   #   $ { CARLA _ ROOT }   is   the   CARLA   installation   directory   #   $ { SCENARIO _ RUNNER }   is   the   ScenarioRunner   installation   directory   #   < VERSION >   is   the   correct   string   for   the   Python   version   being   used   #   In   a   build   from   source ,   the   . egg   files   may   be   in :   $ { CARLA _ ROOT } / PythonAPI / dist /   instead   of   $ { CARLA _ ROOT } / PythonAPI   export   CARLA _ ROOT = / path / to / your / carla / installation   export   SCENARIO _ RUNNER _ ROOT = / path / to / your / scenario / runner / installation   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla / dist / carla - < VERSION > . egg   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla   \u6ce8\u610f   \u6839\u636e \u6ce8\u91ca \uff0c \u4f7f\u7528 \u6b63\u786e \u7684 \u8def\u5f84 \u66f4\u6539 \u547d\u4ee4 \u547d\u4ee4\u884c \u3002   \u5bf9\u4e8e   Windows   #   % CARLA _ ROOT%   is   the   CARLA   installation   directory   #   % SCENARIO _ RUNNER%   is   the   ScenarioRunner   installation   directory   #   < VERSION >   is   the   correct   string   for   the   Python   version   being   used   #   In   a   build   from   source ,   the   . egg   files   may   be   in :   $ { CARLA _ ROOT } / PythonAPI / dist /   instead   of   $ { CARLA _ ROOT } / PythonAPI   set   CARLA _ ROOT = \\ path \\ to \\ your \\ carla \\ installation   set   SCENARIO _ RUNNER _ ROOT = \\ path \\ to \\ your \\ scenario \\ runner \\ installation   set   PYTHONPATH = % PYTHONPATH% ; % CARLA _ ROOT% \\ PythonAPI \\ carla \\ dist \\ carla - < VERSION > . egg   set   PYTHONPATH = % PYTHONPATH% ; % CARLA _ ROOT% \\ PythonAPI \\ carla   \u6ce8\u610f   \u6839\u636e \u6ce8\u91ca \uff0c \u4f7f\u7528 \u6b63\u786e \u7684 \u8def\u5f84 \u66f4\u6539 \u547d\u4ee4 \u547d\u4ee4\u884c \u3002   \u5982\u9700 \u6c38\u4e45 \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \uff0c \u8bf7 \u524d\u5f80   \u7f16\u8f91 \u8be5 \u8d26\u6237 \u7684 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   \u3002 \u901a\u8fc7 \u5728   Windows   \u7684 \u641c\u7d22 \u9762\u677f \u4e0a \u8f93\u5165   env   \u53ef\u4ee5 \u5feb\u901f \u8bbf\u95ee \u5feb\u901f\u8bbf\u95ee \u5b83 \u3002   \u5982\u679c \u9700\u8981 \u8fd0\u884c \u57fa\u4e8e   OpenSCENARIO   2.0   \u683c\u5f0f \u7684 \u573a\u666f \uff0c \u8bf7 \u5148 \u5b89\u88c5 graphviz \u548c antlr \uff1a   sudo   apt - get   install   - y   openjdk - 17 - jdk   graphviz   curl   - O   https : / / www . antlr . org / download / antlr - 4.10 . 1 - complete . jar   sudo   cp   antlr - 4.10 . 1 - complete . jar   / usr / local / lib /   sudo   gedit   ~ / . bashrc   \u5c06 \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u6dfb\u52a0 \u5230 ~ / . bashrc \u4e2d \uff1a   export   CLASSPATH = \" . : / usr / local / lib / antlr - 4.10 . 1 - complete . jar : $ CLASSPATH \"   alias   antlr4 = ' java   - jar   / usr / local / lib / antlr - 4.10 . 1 - complete . jar '   alias   grun = ' java   org . antlr . v4 . gui . TestRig '   \u5e76 \u4f7f \u66f4\u6539 \u751f\u6548 \uff1a   source   ~ / . bashrc","title":"\u4ece \u6e90\u4ee3\u7801 \u66f4\u65b0 \u6784\u5efa"},{"location":"scenario_runner/getting_scenariorunner/#_4","text":"\u8fd0\u884c \u4ee5\u4e0b \u8f66\u8f86 \u793a\u4f8b \u3002 \u9996\u5148 \uff0c \u60a8 \u9700\u8981 \u4ece   CARLA   \u83b7\u53d6 \u6700\u65b0 \u7684 \u4e3b \u5206\u652f \u3002 \u7136\u540e \u60a8 \u5fc5\u987b \u5c06   CARLA   Python   API   \u5305\u542b \u5230   Python   \u8def\u5f84   \u4e2d \uff1a   \u91cd\u8981   \u5982\u679c \u4f7f\u7528 \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \uff0c \u8bf7 \u786e\u4fdd \u4e0a\u4f20 \u5b83\u4eec \u3002 \u4e0b\u8f7d   master   \u5206\u652f \u4e2d \u7684 \u6700\u65b0 \u5185\u5bb9 \u3002   1 .   \u8fd0\u884c   CARLA   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   A )   \u5728 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u6784\u5efa \u4e2d   \uff0c \u8f6c \u5230   CARLA   \u76ee\u5f55 \u5e76 \u5728 \u7f16\u8f91 \u7f16\u8f91\u5668 \u4e2d \u542f\u52a8 \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   cd   ~ / carla   #   Change   the   path   accordingly   make   launch   #   Press   Play   in   the   UE   Editor   B )   \u5728   CARLA   \u5305\u4e2d   \u76f4\u63a5 \u8fd0\u884c \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u3002   . / CarlaUE4 . sh   2 .   \u542f\u52a8 \u793a\u4f8b \u573a\u666f \u3002   \u6253\u5f00 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \uff0c \u8fdb\u5165 ScenarioRunner \u4e0b\u8f7d \u7684 \u76ee\u5f55 \u3002 \u4e3a\u4e86 \u8fdb\u884c \u672c\u6b21 \u6d4b\u8bd5 \uff0c \u5c06 \u4f7f\u7528 \u4ee5\u4e0b \u5f15\u5bfc \u8f66\u8f86 \u573a\u666f \uff08   scenario _ runner . py   \u548c   manual _ control . py   \u8981 \u4f7f\u7528 \u5bf9\u5e94 \u7684 \u53d1\u5e03 \u7248\u672c \uff0c \u5f00\u53d1 \u7248 \u4e0d \u4e00\u5b9a \u6210\u679c \uff09 \u3002   #   Inside   the   ScenarioRunner   root   directory   python   scenario _ runner . py   -- scenario   FollowLeadingVehicle _ 1   -- reloadWorld   \u4f7f\u7528 \u4ee5\u4e0b \u547d\u4ee4 \u67e5\u770b \u5f53\u524d \u573a\u666f \u6709 \u54ea\u4e9b \uff1a   python   scenario _ runner . py   -- list   \u6ce8\u610f   \u5982\u679c \u4f7f\u7528   Python   3 . x   \u7248\u672c \uff0c \u8bf7 \u8fd0\u884c \u5e26\u6709   python3   .   3 .   \u901a\u8fc7 \u624b\u52a8 \u63a7\u5236 \u6d4b\u8bd5 \u573a\u666f \u3002   \u6253\u5f00 \u4e00\u4e2a \u65b0 \u7ec8\u7aef \u5e76 \u8fd0\u884c   manual _ control . py   \u3002 \u5e94\u8be5 \u4f1a\u5f39 \u51fa \u4e00\u4e2a \u7a97\u53e3 \u65b0\u7a97\u53e3 \uff0c \u8857\u9053 \u4e2d\u592e \u6709 \u4e00\u8f86 \u81ea\u6211 \u8f66\u8f86 \u3002 \u5411\u524d \u79fb\u52a8 \uff0c \u9886\u5934 \u8f66\u8f86 \u5c31 \u4f1a \u51fa\u73b0 \u3002   #   Inside   the   ScenarioRunner   root   directory   python   manual _ control . py   \u8fd9\u4e9b \u573a\u666f \u6709 \u5927\u7ea6 \u4e00\u5206 \u5206\u949f \u4e00\u5206\u949f \u7684 \u8d85\u65f6 \u65f6\u95f4 \uff0c \u4ee5\u4fbf \u542f\u52a8 \u4ee3\u7406 \u3002 \u5982\u679c \u51fa\u73b0 \u8d85\u65f6 \uff0c \u5219 \u5e94 \u518d\u6b21 \u542f\u52a8 \u8ddf\u968f \u9886\u5148 \u8f66\u8f86 \u793a\u4f8b \u3002   \u8b66\u544a   \u8fd0\u884c   manual _ control . py   ScenarioRunner   \u5305 / \u5b58\u50a8 \u5e93\u4e2d \u627e\u5230 \u7684 \u5185\u5bb9 \uff0c   \u800c \u4e0d\u662f   CARLA   \u3002   4 .   \u63a2\u7d22 \u5176\u4ed6 \u9009\u62e9 \u3002   \u4f7f\u7528   \u6807\u5fd7 \u8fd0\u884c \u573a\u666f \u8fd0\u884c \u5668   -- help   \u6765 \u63a2\u7d22 \u5176\u4ed6 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \u548c \u4e00\u4e9b \u57fa\u672c \u63cf\u8ff0 \u3002 \u4f8b\u5982 \uff0c \u4e3a\u4e86 \u907f\u514d \u81ea\u52a8 \uff08 \u91cd\u65b0 \uff09 \u52a0\u8f7d   CARLA   \u4e16\u754c \uff0c \u8bf7 \u8df3 \u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879   -- reloadWorld   \u3002   python   scenario _ runner . py   -- help   ScenarioRunner   \u7684 \u5b89\u88c5 \u8fc7\u7a0b \u81f3\u6b64 \u7ed3\u675f \u3002 \u5982\u679c \u53d1\u751f \u4efb\u4f55 \u610f\u5916 \u9519\u8bef \u6216 \u95ee\u9898 \uff0c   CARLA   \u8bba\u575b   \u5411 \u6240\u6709 \u6709\u4eba \u6240\u6709\u4eba \u5f00\u653e \u3002 \u6709 \u4e00\u4e2a ScenarioRunner \u7c7b\u522b \u7528\u4e8e \u53d1\u5e03 \u6709\u5173 \u6b64 \u6a21\u5757 \u7684 \u95ee\u9898 \u548c \u7591\u95ee \u3002","title":"\u8fd0\u884c \u6d4b\u8bd5"},{"location":"scenario_runner/getting_started/","text":"\u7b2c\u4e00 \u4e00\u6b65 \u7b2c\u4e00\u6b65   \u91cd\u8981   \u672c \u6559\u7a0b \u53c2\u8003 \u4e86   Carla   \u7684 \u6700\u65b0 \u7248\u672c \uff08 \u81f3\u5c11   0.9 . 5 \uff09   \u6b22\u8fce \u6765\u5230   Carla   \u7684   ScenarioRunner \uff01 \u672c \u6559\u7a0b \u63d0\u4f9b \u4e86 \u5f00\u59cb \u4f7f\u7528   Carla   \u7684   ScenarioRunner   \u57fa\u672c \u6b65\u9aa4 \u3002   \u4ece \u6211\u4eec \u7684   GitHub   \u9875\u9762 \u4e0b\u8f7d \u6700\u65b0 \u7248\u672c \uff0c \u5e76 \u5c06 \u5305 \u7684 \u6240\u6709 \u5185\u5bb9 \u63d0\u53d6 \u5230 \u60a8 \u9009\u62e9 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u53d1\u5e03 \u5305 \u5305\u542b \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9   Carla   \u7684   ScenarioRunner   \u7528   Python   \u7f16\u5199 \u7684 \u4e00\u4e9b \u793a\u4f8b \u573a\u666f \u3002   \u5b89\u88c5 \u5148\u51b3 \u6761\u4ef6 \u5148\u51b3\u6761\u4ef6   \u5f53\u524d \u7248\u672c \u8bbe\u8ba1 \u7528\u4e8e   Ubuntu   18.04 \u3001 Python   3.6 \u3002 \u6839\u636e \u60a8 \u7684   Python   \u7248\u672c \uff0c \u6267\u884c \uff1a   # Python   2 . x   sudo   apt   remove   python - networkx   # if   installed ,   remove   old   version   of   networkx   pip2   install   -- user   - r   requirements . txt   # Python   3 . x   sudo   apt   remove   python3 - networkx   # if   installed ,   remove   old   version   of   networkx   pip3   install   -- user   - r   requirements . txt   \u6ce8\u610f :   \u4e0d   \u652f\u6301 \u9ad8\u4e8e   v0.8   \u7684   py - tree   \u3002   \u8fd0\u884c \u4ee5\u4e0b \u8f66\u8f86 \u793a\u4f8b   \u9996\u5148 \uff0c \u60a8 \u9700\u8981 \u4ece   Carla   \u83b7\u53d6 \u6700\u65b0 \u7684 \u4e3b \u5206\u652f \u3002 \u7136\u540e \u60a8 \u5fc5\u987b \u5c06   Carla   Python   API   \u5305\u542b \u5230   Python   \u8def\u5f84 \u4e2d \uff1a   export   CARLA _ ROOT = / path / to / your / carla / installation   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla / dist / carla - < VERSION > . egg : $ { CARLA _ ROOT } / PythonAPI / carla / agents : $ { CARLA _ ROOT } / PythonAPI / carla   \u7b14\u8bb0 :   $ { CARLA _ ROOT }   \u9700\u8981 \u4f7f\u7528 \u60a8 \u7684   Carla   \u5b89\u88c5 \u8def\u5f84 \u66ff\u6362 \uff0c   \u865a\u5e7b \u4f7f\u7528 \u6b63\u786e \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u66ff\u6362 \u3002   \u5982\u679c \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7f16\u8bd1   Carla \uff0c egg   \u6587\u4ef6 \u53ef\u80fd \u4f4d\u4e8e \uff1a   $ { CARLA _ ROOT } / PythonAPI / dist /   \u800c \u4e0d\u662f   $ { CARLA _ ROOT } / PythonAPI \u3002   \u73b0\u5728 \uff0c \u60a8 \u53ef\u4ee5 \u4ece   $ { CARLA _ ROOT }   \u542f\u52a8   CARLA   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   . / CarlaUE4 . sh   \u5728 \u989d\u5916 \u7684 \u7ec8\u7aef \u4e2d \u542f\u52a8 \u793a\u4f8b \u573a\u666f \uff08 \u8ddf\u968f \u9886\u5148 \u7684 \u8f66\u8f86 \uff09 \uff1a   python   scenario _ runner . py   -- scenario   FollowLeadingVehicle _ 1   -- reloadWorld   \u5982\u679c \u60a8 \u9700\u8981 \u5e2e\u52a9 \u6216 \u60f3\u8981 \u63a2\u7d22 \u5176\u4ed6 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \uff0c \u8bf7 \u6309 \u5982\u4e0b \u65b9\u5f0f \u542f\u52a8 \u573a\u666f \u8fd0\u884c \u7a0b\u5e8f \uff1a   python   scenario _ runner . py   -- help   \u8981 \u63a7\u5236 \u573a\u666f \u4e2d \u7684 \u81ea\u6211 \u8f66\u8f86 \uff0c \u8bf7 \u6253\u5f00 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u5e76 \u8fd0\u884c \uff1a   python   manual _ control . py   \u6ce8\u610f :   \u5982\u679c \u60a8 \u4e0d \u5e0c\u671b \u81ea\u52a8 \uff08 \u91cd\u65b0 \uff09 \u52a0\u8f7d   Carla   \u4e16\u754c \uff0c \u60a8 \u53ef\u4ee5 \u8df3\u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879   -- reloadWorld   \u8fd0\u884c \u4e00\u4e2a \u573a\u666f \u7c7b \u7684 \u6240\u6709 \u573a\u666f   \u4e0e \u524d\u9762 \u7684 \u793a\u4f8b \u7c7b\u4f3c \uff0c \u8fd8 \u53ef\u4ee5 \u6267\u884c \u5c5e\u4e8e \u540c \u4e00\u7c7b \uff08 \u4f8b\u5982 \u201c FollowLeadingVehicle \u201d \u7c7b \uff09 \u7684 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u573a\u666f \u3002   \u552f\u4e00 \u7684 \u533a\u522b \u662f \uff0c \u60a8 \u6309 \u5982\u4e0b \u65b9\u5f0f \u542f\u52a8   scene _ runner \uff1a   python   scenario _ runner . py   -- scenario   group : FollowLeadingVehicle   \u8fd0\u884c \u5176\u4ed6 \u573a\u666f   \u652f\u6301 \u7684 \u573a\u666f \u5217\u8868 \u4e2d \u63d0\u4f9b \u4e86   \u652f\u6301 \u7684 \u573a\u666f \u5217\u8868   \u3002 \u8bf7 \u6ce8\u610f \uff0c \u4e0d\u540c \u7684   Carla   \u57ce\u9547 \u53ef\u80fd \u4f1a \u53d1\u751f \u4e0d\u540c \u7684 \u573a\u666f \u3002 \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u65f6 \u5fc5\u987b \u9075\u5b88 \u8fd9 \u4e00\u70b9 \u3002   \u4f7f\u7528   OpenSCENARIO   \u683c\u5f0f \u8fd0\u884c \u573a\u666f   \u8981 \u8fd0\u884c \u57fa\u4e8e   OpenSCENARIO   \u683c\u5f0f \u7684 \u573a\u666f \uff0c \u8bf7 \u8fd0\u884c   ScenarioRunner \uff0c \u5982\u4e0b \u6240\u793a \uff1a   python   scenario _ runner . py   -- openscenario   < path / to / xosc - file >   \u8bf7 \u6ce8\u610f \uff0c OpenSCENARIO   \u652f\u6301 \u548c   OpenSCENARIO   \u683c\u5f0f \u672c\u8eab \u4ecd \u5728 \u8fdb\u884c \u4e2d \u3002 \u60a8 \u53ef\u4ee5 \u5728   OpenSCENARIO   \u652f\u6301   \u4e2d \u627e\u5230 \u66f4 \u591a \u4fe1\u606f \u3002   \u4f7f\u7528   OpenSCENARIO   2.0   \u683c\u5f0f \u8fd0\u884c \u573a\u666f   \u8981 \u8fd0\u884c \u57fa\u4e8e   OpenSCENARIO   2.0   \u683c\u5f0f \u7684 \u573a\u666f \uff0c \u8bf7 \u8fd0\u884c   ScenarioRunner \uff0c \u5982\u4e0b \u6240\u793a \uff1a   python   scenario _ runner . py   -- openscenario2   < path / to / osc - file >   \u8981 \u63a7\u5236 \u573a\u666f \u4e2d \u7684 \u81ea\u6211 \u8f66\u8f86 \u6216 \u89c2\u5bdf \u5b83 \uff0c \u8bf7 \u6253\u5f00 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u5e76 \u8fd0\u884c \uff1a   python   manual _ control . py   - a   -- rolename = ego _ vehicle   \u6709\u5173 \u5982\u4f55 \u8fd0\u884c OpenSCENARIO   2.0 \u573a\u666f \u7684 \u66f4 \u591a \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   README _ OpenSCENARIO _ 2.0   \u3002   \u4f7f\u7528 \u5177\u6709   Global   ParameterDeclaration   \u8986\u76d6 \u7684   OpenSCENARIO   \u683c\u5f0f \u8fd0\u884c \u573a\u666f   python   scenario _ runner . py   -- openscenario   < path / to / xosc - file >   -- openscenarioparams   ' param1 :   value1 ,   param2 :   value2 '   \u8fd0\u884c \u57fa\u4e8e \u8def\u7ebf \u7684 \u573a\u666f \uff08 \u7c7b\u4f3c \u4e8e   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218 \u6311\u6218\u8d5b \uff09   \u8981 \u8fd0\u884c \u57fa\u4e8e \u8def\u7ebf \u7684 \u573a\u666f \uff0c \u8bf7 \u6309 \u5982\u4e0b \u65b9\u5f0f \u8fd0\u884c   ScenarioRunner \uff1a   python   scenario _ runner . py   -- route   < path / to / route - file >   < path / to / scenario _ sample _ file >   [ route   id ]   -- agent   < path / to / agent _ file >   \u5b9e\u4f8b :   python   scenario _ runner . py   -- route   D : / work / workspace / carla _ doc / src / scenario _ runner / srunner / data / routes _ town10 . xml   -- agent   srunner / autoagents / npc _ agent . py   \u5982\u679c \u672a \u63d0\u4f9b \u8def\u7531   ID \uff0c \u5219 \u5c06 \u6267\u884c \u7ed9\u5b9a \u6587\u4ef6 \u4e2d \u7684 \u6240\u6709 \u8def\u7ebf \u3002   \u901a\u8fc7 \u8fd9\u6837 \u505a \uff0c ScenarioRunner   \u4f1a \u5c06 \u573a\u666f \u4e0e \u8def\u7ebf \u5339\u914d \u76f8\u5339\u914d \uff0c \u5e76\u4e14 \u5f53 \u81ea\u6211 \u8f66\u8f86 \u5728 \u9644\u8fd1 \u65f6 \u5b83\u4eec \u4f1a \u6fc0\u6d3b \u3002 \u7136\u800c \uff0c \u8def\u7ebf \u9700\u8981 \u4e00\u4e2a \u81ea\u4e3b \u4ee3\u7406 \u6765 \u63a7\u5236 \u81ea\u6211 \u8f66\u8f86 \u3002   srunner / autoagents /   \u4e2d \u63d0\u4f9b \u4e86 \u51e0\u4e2a \u793a\u4f8b \u3002 \u6709\u5173 \u4ee3\u7406 \u7684 \u66f4 \u591a \u4fe1\u606f \uff0c \u8bf7 \u67e5\u770b   \u4ee3\u7406 \u6587\u6863   \u3002","title":"\u7b2c\u4e00\u6b65"},{"location":"scenario_runner/getting_started/#_1","text":"\u91cd\u8981   \u672c \u6559\u7a0b \u53c2\u8003 \u4e86   Carla   \u7684 \u6700\u65b0 \u7248\u672c \uff08 \u81f3\u5c11   0.9 . 5 \uff09   \u6b22\u8fce \u6765\u5230   Carla   \u7684   ScenarioRunner \uff01 \u672c \u6559\u7a0b \u63d0\u4f9b \u4e86 \u5f00\u59cb \u4f7f\u7528   Carla   \u7684   ScenarioRunner   \u57fa\u672c \u6b65\u9aa4 \u3002   \u4ece \u6211\u4eec \u7684   GitHub   \u9875\u9762 \u4e0b\u8f7d \u6700\u65b0 \u7248\u672c \uff0c \u5e76 \u5c06 \u5305 \u7684 \u6240\u6709 \u5185\u5bb9 \u63d0\u53d6 \u5230 \u60a8 \u9009\u62e9 \u7684 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u3002   \u53d1\u5e03 \u5305 \u5305\u542b \u4ee5\u4e0b \u5185\u5bb9 \u4ee5\u4e0b\u5185\u5bb9   Carla   \u7684   ScenarioRunner   \u7528   Python   \u7f16\u5199 \u7684 \u4e00\u4e9b \u793a\u4f8b \u573a\u666f \u3002","title":"\u7b2c\u4e00\u6b65"},{"location":"scenario_runner/getting_started/#_2","text":"\u5f53\u524d \u7248\u672c \u8bbe\u8ba1 \u7528\u4e8e   Ubuntu   18.04 \u3001 Python   3.6 \u3002 \u6839\u636e \u60a8 \u7684   Python   \u7248\u672c \uff0c \u6267\u884c \uff1a   # Python   2 . x   sudo   apt   remove   python - networkx   # if   installed ,   remove   old   version   of   networkx   pip2   install   -- user   - r   requirements . txt   # Python   3 . x   sudo   apt   remove   python3 - networkx   # if   installed ,   remove   old   version   of   networkx   pip3   install   -- user   - r   requirements . txt   \u6ce8\u610f :   \u4e0d   \u652f\u6301 \u9ad8\u4e8e   v0.8   \u7684   py - tree   \u3002","title":"\u5b89\u88c5 \u5148\u51b3\u6761\u4ef6"},{"location":"scenario_runner/getting_started/#_3","text":"\u9996\u5148 \uff0c \u60a8 \u9700\u8981 \u4ece   Carla   \u83b7\u53d6 \u6700\u65b0 \u7684 \u4e3b \u5206\u652f \u3002 \u7136\u540e \u60a8 \u5fc5\u987b \u5c06   Carla   Python   API   \u5305\u542b \u5230   Python   \u8def\u5f84 \u4e2d \uff1a   export   CARLA _ ROOT = / path / to / your / carla / installation   export   PYTHONPATH = $ PYTHONPATH : $ { CARLA _ ROOT } / PythonAPI / carla / dist / carla - < VERSION > . egg : $ { CARLA _ ROOT } / PythonAPI / carla / agents : $ { CARLA _ ROOT } / PythonAPI / carla   \u7b14\u8bb0 :   $ { CARLA _ ROOT }   \u9700\u8981 \u4f7f\u7528 \u60a8 \u7684   Carla   \u5b89\u88c5 \u8def\u5f84 \u66ff\u6362 \uff0c   \u865a\u5e7b \u4f7f\u7528 \u6b63\u786e \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u66ff\u6362 \u3002   \u5982\u679c \u60a8 \u4ece \u4ee3\u7801 \u6e90\u4ee3\u7801 \u7f16\u8bd1   Carla \uff0c egg   \u6587\u4ef6 \u53ef\u80fd \u4f4d\u4e8e \uff1a   $ { CARLA _ ROOT } / PythonAPI / dist /   \u800c \u4e0d\u662f   $ { CARLA _ ROOT } / PythonAPI \u3002   \u73b0\u5728 \uff0c \u60a8 \u53ef\u4ee5 \u4ece   $ { CARLA _ ROOT }   \u542f\u52a8   CARLA   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668   . / CarlaUE4 . sh   \u5728 \u989d\u5916 \u7684 \u7ec8\u7aef \u4e2d \u542f\u52a8 \u793a\u4f8b \u573a\u666f \uff08 \u8ddf\u968f \u9886\u5148 \u7684 \u8f66\u8f86 \uff09 \uff1a   python   scenario _ runner . py   -- scenario   FollowLeadingVehicle _ 1   -- reloadWorld   \u5982\u679c \u60a8 \u9700\u8981 \u5e2e\u52a9 \u6216 \u60f3\u8981 \u63a2\u7d22 \u5176\u4ed6 \u547d\u4ee4 \u547d\u4ee4\u884c \u53c2\u6570 \uff0c \u8bf7 \u6309 \u5982\u4e0b \u65b9\u5f0f \u542f\u52a8 \u573a\u666f \u8fd0\u884c \u7a0b\u5e8f \uff1a   python   scenario _ runner . py   -- help   \u8981 \u63a7\u5236 \u573a\u666f \u4e2d \u7684 \u81ea\u6211 \u8f66\u8f86 \uff0c \u8bf7 \u6253\u5f00 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u5e76 \u8fd0\u884c \uff1a   python   manual _ control . py   \u6ce8\u610f :   \u5982\u679c \u60a8 \u4e0d \u5e0c\u671b \u81ea\u52a8 \uff08 \u91cd\u65b0 \uff09 \u52a0\u8f7d   Carla   \u4e16\u754c \uff0c \u60a8 \u53ef\u4ee5 \u8df3\u8fc7 \u547d\u4ee4 \u547d\u4ee4\u884c \u9009\u9879   -- reloadWorld","title":"\u8fd0\u884c \u4ee5\u4e0b \u8f66\u8f86 \u793a\u4f8b"},{"location":"scenario_runner/getting_started/#_4","text":"\u4e0e \u524d\u9762 \u7684 \u793a\u4f8b \u7c7b\u4f3c \uff0c \u8fd8 \u53ef\u4ee5 \u6267\u884c \u5c5e\u4e8e \u540c \u4e00\u7c7b \uff08 \u4f8b\u5982 \u201c FollowLeadingVehicle \u201d \u7c7b \uff09 \u7684 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u573a\u666f \u3002   \u552f\u4e00 \u7684 \u533a\u522b \u662f \uff0c \u60a8 \u6309 \u5982\u4e0b \u65b9\u5f0f \u542f\u52a8   scene _ runner \uff1a   python   scenario _ runner . py   -- scenario   group : FollowLeadingVehicle","title":"\u8fd0\u884c \u4e00\u4e2a \u573a\u666f \u7c7b \u7684 \u6240\u6709 \u573a\u666f"},{"location":"scenario_runner/getting_started/#_5","text":"\u652f\u6301 \u7684 \u573a\u666f \u5217\u8868 \u4e2d \u63d0\u4f9b \u4e86   \u652f\u6301 \u7684 \u573a\u666f \u5217\u8868   \u3002 \u8bf7 \u6ce8\u610f \uff0c \u4e0d\u540c \u7684   Carla   \u57ce\u9547 \u53ef\u80fd \u4f1a \u53d1\u751f \u4e0d\u540c \u7684 \u573a\u666f \u3002 \u542f\u52a8   Carla   \u670d\u52a1 \u52a1\u5668 \u670d\u52a1\u5668 \u670d\u52a1\u5668\u65f6 \u5fc5\u987b \u9075\u5b88 \u8fd9 \u4e00\u70b9 \u3002","title":"\u8fd0\u884c \u5176\u4ed6 \u573a\u666f"},{"location":"scenario_runner/getting_started/#openscenario","text":"\u8981 \u8fd0\u884c \u57fa\u4e8e   OpenSCENARIO   \u683c\u5f0f \u7684 \u573a\u666f \uff0c \u8bf7 \u8fd0\u884c   ScenarioRunner \uff0c \u5982\u4e0b \u6240\u793a \uff1a   python   scenario _ runner . py   -- openscenario   < path / to / xosc - file >   \u8bf7 \u6ce8\u610f \uff0c OpenSCENARIO   \u652f\u6301 \u548c   OpenSCENARIO   \u683c\u5f0f \u672c\u8eab \u4ecd \u5728 \u8fdb\u884c \u4e2d \u3002 \u60a8 \u53ef\u4ee5 \u5728   OpenSCENARIO   \u652f\u6301   \u4e2d \u627e\u5230 \u66f4 \u591a \u4fe1\u606f \u3002","title":"\u4f7f\u7528   OpenSCENARIO   \u683c\u5f0f \u8fd0\u884c \u573a\u666f"},{"location":"scenario_runner/getting_started/#openscenario-20","text":"\u8981 \u8fd0\u884c \u57fa\u4e8e   OpenSCENARIO   2.0   \u683c\u5f0f \u7684 \u573a\u666f \uff0c \u8bf7 \u8fd0\u884c   ScenarioRunner \uff0c \u5982\u4e0b \u6240\u793a \uff1a   python   scenario _ runner . py   -- openscenario2   < path / to / osc - file >   \u8981 \u63a7\u5236 \u573a\u666f \u4e2d \u7684 \u81ea\u6211 \u8f66\u8f86 \u6216 \u89c2\u5bdf \u5b83 \uff0c \u8bf7 \u6253\u5f00 \u53e6 \u4e00\u4e2a \u7ec8\u7aef \u5e76 \u8fd0\u884c \uff1a   python   manual _ control . py   - a   -- rolename = ego _ vehicle   \u6709\u5173 \u5982\u4f55 \u8fd0\u884c OpenSCENARIO   2.0 \u573a\u666f \u7684 \u66f4 \u591a \u4fe1\u606f \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   README _ OpenSCENARIO _ 2.0   \u3002   \u4f7f\u7528 \u5177\u6709   Global   ParameterDeclaration   \u8986\u76d6 \u7684   OpenSCENARIO   \u683c\u5f0f \u8fd0\u884c \u573a\u666f   python   scenario _ runner . py   -- openscenario   < path / to / xosc - file >   -- openscenarioparams   ' param1 :   value1 ,   param2 :   value2 '","title":"\u4f7f\u7528   OpenSCENARIO   2.0   \u683c\u5f0f \u8fd0\u884c \u573a\u666f"},{"location":"scenario_runner/getting_started/#carla","text":"\u8981 \u8fd0\u884c \u57fa\u4e8e \u8def\u7ebf \u7684 \u573a\u666f \uff0c \u8bf7 \u6309 \u5982\u4e0b \u65b9\u5f0f \u8fd0\u884c   ScenarioRunner \uff1a   python   scenario _ runner . py   -- route   < path / to / route - file >   < path / to / scenario _ sample _ file >   [ route   id ]   -- agent   < path / to / agent _ file >   \u5b9e\u4f8b :   python   scenario _ runner . py   -- route   D : / work / workspace / carla _ doc / src / scenario _ runner / srunner / data / routes _ town10 . xml   -- agent   srunner / autoagents / npc _ agent . py   \u5982\u679c \u672a \u63d0\u4f9b \u8def\u7531   ID \uff0c \u5219 \u5c06 \u6267\u884c \u7ed9\u5b9a \u6587\u4ef6 \u4e2d \u7684 \u6240\u6709 \u8def\u7ebf \u3002   \u901a\u8fc7 \u8fd9\u6837 \u505a \uff0c ScenarioRunner   \u4f1a \u5c06 \u573a\u666f \u4e0e \u8def\u7ebf \u5339\u914d \u76f8\u5339\u914d \uff0c \u5e76\u4e14 \u5f53 \u81ea\u6211 \u8f66\u8f86 \u5728 \u9644\u8fd1 \u65f6 \u5b83\u4eec \u4f1a \u6fc0\u6d3b \u3002 \u7136\u800c \uff0c \u8def\u7ebf \u9700\u8981 \u4e00\u4e2a \u81ea\u4e3b \u4ee3\u7406 \u6765 \u63a7\u5236 \u81ea\u6211 \u8f66\u8f86 \u3002   srunner / autoagents /   \u4e2d \u63d0\u4f9b \u4e86 \u51e0\u4e2a \u793a\u4f8b \u3002 \u6709\u5173 \u4ee3\u7406 \u7684 \u66f4 \u591a \u4fe1\u606f \uff0c \u8bf7 \u67e5\u770b   \u4ee3\u7406 \u6587\u6863   \u3002","title":"\u8fd0\u884c \u57fa\u4e8e \u8def\u7ebf \u7684 \u573a\u666f \uff08 \u7c7b\u4f3c \u4e8e   Carla   \u81ea\u52a8 \u9a7e\u9a76 \u6311\u6218\u8d5b \uff09"},{"location":"scenario_runner/list_of_scenarios/","text":"\u652f\u6301 \u573a\u666f \u5217\u8868   \u6b22\u8fce \u6765\u5230   CARLA   \u7684   ScenarioRunner \uff01 \u672c \u6587\u6863 \u63d0\u4f9b \u4e86 \u5f53\u524d \u652f\u6301 \u7684 \u6240\u6709 \u573a\u666f \u7684 \u5217\u8868 \uff0c \u4ee5\u53ca \u6bcf\u4e2a \u573a\u666f \u7684 \u7b80\u77ed \u63cf\u8ff0 \u3002   FollowLeadingVehicle   \u8be5 \u573a\u666f \u5b9e\u73b0 \u4e86 \u4e00\u79cd \u5e38\u89c1 \u7684 \u9a7e\u9a76 \u884c\u4e3a \uff0c \u5176\u4e2d \u7528\u6237 \u63a7\u5236 \u7684 \u81ea\u6211 \u8f66\u8f86 \u8ddf\u968f \u5728   Town01   \u7684 \u7ed9\u5b9a \u9053\u8def \u4e0a \u884c\u9a76 \u7684 \u9886\u5148 \u8f66\u8f86 \u3002 \u5728 \u67d0\u4e2a \u65f6\u523b \uff0c \u9886\u5148 \u7684 \u6c7d\u8f66 \u51cf\u901f \u5e76 \u6700\u7ec8 \u505c \u4e86 \u4e0b\u6765 \u3002 \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u505a\u51fa \u76f8\u5e94 \u53cd\u5e94 \u4ee5 \u907f\u514d \u78b0\u649e \u3002 \u8be5 \u573a\u666f \u4f1a\u56e0 \u8d85\u65f6 \u800c \u7ed3\u675f \uff0c \u6216\u8005 \u5982\u679c \u81ea\u6211 \u8f66\u8f86 \u505c \u5728 \u8ddd\u79bb \u9886\u5148 \u8f66\u8f86 \u8db3\u591f \u8fd1 \u7684 \u4f4d\u7f6e \u3002   FollowLeadingVehicleWithObstacle   \u6b64 \u573a\u666f \u4e0e \u201c FollowLeadingVehicle \u201d \u975e\u5e38 \u76f8\u4f3c \u3002 \u552f\u4e00 \u7684 \u533a\u522b \u662f \uff0c \u9886\u5148 \u8f66\u8f86 \u524d\u9762 \u6709 \u4e00\u4e2a \uff08 \u9690\u85cf \u7684 \uff09 \u969c\u788d \u969c\u788d\u7269 \u6321\u4f4f \u4e86 \u9053\u8def \u3002   VehicleTurningRight   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u81ea\u6211 \u8f66\u8f86 \u4ece \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u53f3\u8f6c \uff0c \u5176\u4e2d \u9a91 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4eba \u7a81\u7136 \u9a76\u5165 \u81ea\u6211 \u8f66\u8f86 \u7684 \u9053\u8def \uff0c \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u76f8\u5e94 \u5730 \u505c\u4e0b \u4e0b\u6765 \u505c\u4e0b\u6765 \u3002 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u540e \uff0c \u9a91\u8f66 \u9a91\u8f66\u4eba \u6e05\u7406 \u9053\u8def \uff0c \u4ee5\u4fbf \u672c\u8f66 \u53ef\u4ee5 \u7ee7\u7eed \u884c\u9a76 \u3002   VehicleTurningLeft   \u6b64 \u573a\u666f \u7c7b\u4f3c \u4e8e \u201c VehicleTurningRight \u201d \u3002 \u4e0d\u540c \u4e4b\u5904 \u4e0d\u540c\u4e4b\u5904 \u5728\u4e8e \uff0c \u81ea\u6211 \u8f66\u8f86 \u4ece \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u5de6\u8f6c \u3002   OppositeVehicleRunningRedLight   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u6d4b\u8bd5 \u4e86 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u7684 \u975e\u6cd5 \u884c\u4e3a \u975e\u6cd5\u884c\u4e3a \u3002 \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u5728 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u7b49\u5f85 \uff0c \u4f46 \u8fdd\u89c4 \u7ea2\u706f \u95ef\u7ea2\u706f \u3002 \u63a5\u8fd1 \u7684 \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u6b63\u786e \u5904\u7406 \u6b63\u786e\u5904\u7406 \u8fd9\u79cd \u60c5\u51b5 \uff0c \u5373 \u5c3d\u7ba1 \u6709 \u7eff\u8272 \u4ea4\u901a \u4ea4\u901a\u706f \uff0c \u4f46 \u5b83 \u5fc5\u987b \u505c\u4e0b \u4e0b\u6765 \u505c\u4e0b\u6765 \u7b49\u5f85 \uff0c \u76f4\u5230 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u518d\u6b21 \u7545\u901a \u65e0\u963b \u7545\u901a\u65e0\u963b \u3002 \u4e4b\u540e \uff0c \u5b83 \u5e94\u8be5 \u7ee7\u7eed \u884c\u9a76 \u3002   StationaryObjectCrossing   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u9a91 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4eba \u9759\u6b62 \u5728 \u8def \u4e2d\u95f4 \u7b49\u5f85 \uff0c \u6321\u4f4f \u4e86 \u672c\u8f66 \u7684 \u9053\u8def \u3002 \u56e0\u6b64 \uff0c \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u505c \u5728 \u9a91\u8f66 \u9a91\u8f66\u4eba \u7684 \u524d\u9762 \u3002   DynamicObjectCrossing   \u8fd9 \u4e0e \u201c StationaryObjectCrossing \u201d \u7c7b\u4f3c \uff0c \u4f46 \u4e0d\u540c \u4e4b\u5904 \u4e0d\u540c\u4e4b\u5904 \u5728\u4e8e \u9a91 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4eba \u662f \u52a8\u6001 \u7684 \u3002 \u5b83 \u7a81\u7136 \u649e \u5230 \u4e86 \u81ea\u6211 \u8f66\u8f86 \u7684 \u8def\u7ebf \uff0c \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u76f8\u5e94 \u5730 \u505c\u4e0b \u4e0b\u6765 \u505c\u4e0b\u6765 \u3002 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u540e \uff0c \u9a91\u8f66 \u9a91\u8f66\u4eba \u5c06 \u6e05\u7406 \u9053\u8def \uff0c \u4ee5\u4fbf \u81ea\u6211 \u8f66\u8f86 \u53ef\u4ee5 \u7ee7\u7eed \u884c\u9a76 \u3002   NoSignalJunctionCrossing   \u6b64 \u573a\u666f \u6d4b\u8bd5 \u4e24\u8f86 \u8f66\u8f86 \u5728 \u6ca1\u6709 \u4fe1\u53f7 \u7684 \u8def\u53e3 \u4ea4\u53c9 \u7684 \u60c5\u51b5 \u4e0b \u8fdb\u884c \u534f\u5546 \u3002 \u81ea\u6211 \u8f66\u8f86 \u6b63\u5728 \u7a7f\u8fc7 \u6ca1\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u8def\u53e3 \u5e76 \u9047\u5230 \u53e6 \u4e00\u8f86 \u7a7f\u8fc7 \u8def\u53e3 \u7684 \u8f66\u8f86 \u3002 \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u907f\u514d \u78b0\u649e \u5e76 \u7a7f\u8fc7 \u8def\u53e3 \u624d\u80fd \u6210\u529f \u3002   ControlLoss   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u6d4b\u8bd5 \u7531\u4e8e \u8def\u51b5 \u6076\u52a3 \u7b49 \u539f\u56e0 \u5bfc\u81f4 \u8f66\u8f86 \u5931\u63a7 \uff0c \u5e76 \u68c0\u67e5 \u8f66\u8f86 \u662f\u5426 \u91cd\u65b0 \u83b7\u5f97 \u63a7\u5236 \u5e76 \u7ea0\u6b63 \u5176 \u8def\u7ebf \u3002   ManeuverOppositeDirection   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u8f66\u8f86 \u5728 \u767d\u5929 \u3001 \u5929\u6c14 \u6674\u6717 \u5929\u6c14\u6674\u6717 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u5728 \u519c\u6751 \u5730\u533a \u7684 \u975e \u8def\u53e3 \u8d85\u8d8a \u53e6 \u4e00\u8f86 \u8f66\u8f86 \uff0c \u5e76 \u4fb5\u5165 \u53e6 \u4e00\u8f86 \u5411 \u76f8\u53cd \u65b9\u5411 \u884c\u9a76 \u7684 \u8f66\u8f86 \u3002   OtherLeadingVehicle   \u8be5 \u573a\u666f \u5b9e\u73b0 \u4e86 \u4e00\u79cd \u5e38\u89c1 \u7684 \u9a7e\u9a76 \u884c\u4e3a \uff0c \u5176\u4e2d \u7528\u6237 \u63a7\u5236 \u7684 \u81ea\u6211 \u8f66\u8f86 \u8ddf\u968f \u5728 \u7ed9\u5b9a \u9053\u8def \u4e0a \u884c\u9a76 \u7684 \u9886\u5148 \u8f66\u8f86 \u3002 \u5728 \u67d0\u4e2a \u65f6\u523b \uff0c \u9886\u5148 \u7684 \u6c7d\u8f66 \u5fc5\u987b \u51cf\u901f \u3002 \u672c\u8f66 \u5fc5\u987b \u505a\u51fa \u76f8\u5e94 \u53cd\u5e94 \uff0c \u6539\u53d8 \u8f66\u9053 \u4ee5 \u907f\u514d \u78b0\u649e \uff0c \u5e76 \u8ddf\u968f \u53e6 \u4e00 \u8f66\u9053 \u7684 \u9886\u5148 \u8f66\u8f86 \u3002 \u8be5 \u573a\u666f \u4f1a\u56e0 \u8d85\u65f6 \u6216 \u81ea\u6211 \u8f66\u8f86 \u884c\u9a76 \u4e00\u5b9a \u8ddd\u79bb \u800c \u7ed3\u675f \u3002   SignalizedJunctionRightTurn   \u5728 \u8fd9\u4e2a \u573a\u666f \u4e2d \uff0c \u6d4b\u8bd5 \u4e86 \u82f1\u96c4 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u4fe1\u53f7 \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u6ca1\u6709 \u78b0\u649e \u7684 \u60c5\u51b5 \u4e0b \u7684 \u53f3\u8f6c \u3002 \u82f1\u96c4 \u8f66\u8f86 \u5728 \u5e02\u533a \u7684 \u4fe1\u53f7 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u53f3\u8f6c \uff0c \u5e76 \u4e0e \u53e6 \u4e00\u8f86 \u6700\u521d \u4ece \u6a2a\u5411 \u76f4\u884c \u7684 \u8f66\u8f86 \u540c \u5411 \u8f6c\u5f2f \u3002   SignalizedJunctionLeftTurn   \u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u82f1\u96c4 \u8f66\u8f86 \u5728 \u5e02\u533a \u7684 \u4fe1\u53f7 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u5de6\u8f6c \uff0c \u5e76 \u6a2a\u7a7f \u4e86 \u53e6 \u4e00\u8f86 \u4ece \u76f8\u53cd \u65b9\u5411 \u76f4\u9a76 \u800c \u6765 \u7684 \u8f66\u8f86 \u7684 \u8def\u5f84 \u3002","title":"\u652f\u6301 \u573a\u666f \u5217\u8868"},{"location":"scenario_runner/list_of_scenarios/#_1","text":"\u6b22\u8fce \u6765\u5230   CARLA   \u7684   ScenarioRunner \uff01 \u672c \u6587\u6863 \u63d0\u4f9b \u4e86 \u5f53\u524d \u652f\u6301 \u7684 \u6240\u6709 \u573a\u666f \u7684 \u5217\u8868 \uff0c \u4ee5\u53ca \u6bcf\u4e2a \u573a\u666f \u7684 \u7b80\u77ed \u63cf\u8ff0 \u3002","title":"\u652f\u6301 \u573a\u666f \u5217\u8868"},{"location":"scenario_runner/list_of_scenarios/#followleadingvehicle","text":"\u8be5 \u573a\u666f \u5b9e\u73b0 \u4e86 \u4e00\u79cd \u5e38\u89c1 \u7684 \u9a7e\u9a76 \u884c\u4e3a \uff0c \u5176\u4e2d \u7528\u6237 \u63a7\u5236 \u7684 \u81ea\u6211 \u8f66\u8f86 \u8ddf\u968f \u5728   Town01   \u7684 \u7ed9\u5b9a \u9053\u8def \u4e0a \u884c\u9a76 \u7684 \u9886\u5148 \u8f66\u8f86 \u3002 \u5728 \u67d0\u4e2a \u65f6\u523b \uff0c \u9886\u5148 \u7684 \u6c7d\u8f66 \u51cf\u901f \u5e76 \u6700\u7ec8 \u505c \u4e86 \u4e0b\u6765 \u3002 \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u505a\u51fa \u76f8\u5e94 \u53cd\u5e94 \u4ee5 \u907f\u514d \u78b0\u649e \u3002 \u8be5 \u573a\u666f \u4f1a\u56e0 \u8d85\u65f6 \u800c \u7ed3\u675f \uff0c \u6216\u8005 \u5982\u679c \u81ea\u6211 \u8f66\u8f86 \u505c \u5728 \u8ddd\u79bb \u9886\u5148 \u8f66\u8f86 \u8db3\u591f \u8fd1 \u7684 \u4f4d\u7f6e \u3002","title":"FollowLeadingVehicle"},{"location":"scenario_runner/list_of_scenarios/#followleadingvehiclewithobstacle","text":"\u6b64 \u573a\u666f \u4e0e \u201c FollowLeadingVehicle \u201d \u975e\u5e38 \u76f8\u4f3c \u3002 \u552f\u4e00 \u7684 \u533a\u522b \u662f \uff0c \u9886\u5148 \u8f66\u8f86 \u524d\u9762 \u6709 \u4e00\u4e2a \uff08 \u9690\u85cf \u7684 \uff09 \u969c\u788d \u969c\u788d\u7269 \u6321\u4f4f \u4e86 \u9053\u8def \u3002","title":"FollowLeadingVehicleWithObstacle"},{"location":"scenario_runner/list_of_scenarios/#vehicleturningright","text":"\u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u81ea\u6211 \u8f66\u8f86 \u4ece \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u53f3\u8f6c \uff0c \u5176\u4e2d \u9a91 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4eba \u7a81\u7136 \u9a76\u5165 \u81ea\u6211 \u8f66\u8f86 \u7684 \u9053\u8def \uff0c \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u76f8\u5e94 \u5730 \u505c\u4e0b \u4e0b\u6765 \u505c\u4e0b\u6765 \u3002 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u540e \uff0c \u9a91\u8f66 \u9a91\u8f66\u4eba \u6e05\u7406 \u9053\u8def \uff0c \u4ee5\u4fbf \u672c\u8f66 \u53ef\u4ee5 \u7ee7\u7eed \u884c\u9a76 \u3002","title":"VehicleTurningRight"},{"location":"scenario_runner/list_of_scenarios/#vehicleturningleft","text":"\u6b64 \u573a\u666f \u7c7b\u4f3c \u4e8e \u201c VehicleTurningRight \u201d \u3002 \u4e0d\u540c \u4e4b\u5904 \u4e0d\u540c\u4e4b\u5904 \u5728\u4e8e \uff0c \u81ea\u6211 \u8f66\u8f86 \u4ece \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u5de6\u8f6c \u3002","title":"VehicleTurningLeft"},{"location":"scenario_runner/list_of_scenarios/#oppositevehiclerunningredlight","text":"\u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u6d4b\u8bd5 \u4e86 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u7684 \u975e\u6cd5 \u884c\u4e3a \u975e\u6cd5\u884c\u4e3a \u3002 \u53e6 \u4e00\u8f86 \u8f86\u8f66 \u4e00\u8f86\u8f66 \u5728 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u7b49\u5f85 \uff0c \u4f46 \u8fdd\u89c4 \u7ea2\u706f \u95ef\u7ea2\u706f \u3002 \u63a5\u8fd1 \u7684 \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u6b63\u786e \u5904\u7406 \u6b63\u786e\u5904\u7406 \u8fd9\u79cd \u60c5\u51b5 \uff0c \u5373 \u5c3d\u7ba1 \u6709 \u7eff\u8272 \u4ea4\u901a \u4ea4\u901a\u706f \uff0c \u4f46 \u5b83 \u5fc5\u987b \u505c\u4e0b \u4e0b\u6765 \u505c\u4e0b\u6765 \u7b49\u5f85 \uff0c \u76f4\u5230 \u5341\u5b57 \u8def\u53e3 \u5341\u5b57\u8def \u5341\u5b57\u8def\u53e3 \u518d\u6b21 \u7545\u901a \u65e0\u963b \u7545\u901a\u65e0\u963b \u3002 \u4e4b\u540e \uff0c \u5b83 \u5e94\u8be5 \u7ee7\u7eed \u884c\u9a76 \u3002","title":"OppositeVehicleRunningRedLight"},{"location":"scenario_runner/list_of_scenarios/#stationaryobjectcrossing","text":"\u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u9a91 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4eba \u9759\u6b62 \u5728 \u8def \u4e2d\u95f4 \u7b49\u5f85 \uff0c \u6321\u4f4f \u4e86 \u672c\u8f66 \u7684 \u9053\u8def \u3002 \u56e0\u6b64 \uff0c \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u505c \u5728 \u9a91\u8f66 \u9a91\u8f66\u4eba \u7684 \u524d\u9762 \u3002","title":"StationaryObjectCrossing"},{"location":"scenario_runner/list_of_scenarios/#dynamicobjectcrossing","text":"\u8fd9 \u4e0e \u201c StationaryObjectCrossing \u201d \u7c7b\u4f3c \uff0c \u4f46 \u4e0d\u540c \u4e4b\u5904 \u4e0d\u540c\u4e4b\u5904 \u5728\u4e8e \u9a91 \u81ea\u884c \u884c\u8f66 \u81ea\u884c\u8f66 \u7684 \u4eba \u662f \u52a8\u6001 \u7684 \u3002 \u5b83 \u7a81\u7136 \u649e \u5230 \u4e86 \u81ea\u6211 \u8f66\u8f86 \u7684 \u8def\u7ebf \uff0c \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u76f8\u5e94 \u5730 \u505c\u4e0b \u4e0b\u6765 \u505c\u4e0b\u6765 \u3002 \u4e00\u6bb5 \u65f6\u95f4 \u6bb5\u65f6\u95f4 \u4e00\u6bb5\u65f6\u95f4 \u540e \uff0c \u9a91\u8f66 \u9a91\u8f66\u4eba \u5c06 \u6e05\u7406 \u9053\u8def \uff0c \u4ee5\u4fbf \u81ea\u6211 \u8f66\u8f86 \u53ef\u4ee5 \u7ee7\u7eed \u884c\u9a76 \u3002","title":"DynamicObjectCrossing"},{"location":"scenario_runner/list_of_scenarios/#nosignaljunctioncrossing","text":"\u6b64 \u573a\u666f \u6d4b\u8bd5 \u4e24\u8f86 \u8f66\u8f86 \u5728 \u6ca1\u6709 \u4fe1\u53f7 \u7684 \u8def\u53e3 \u4ea4\u53c9 \u7684 \u60c5\u51b5 \u4e0b \u8fdb\u884c \u534f\u5546 \u3002 \u81ea\u6211 \u8f66\u8f86 \u6b63\u5728 \u7a7f\u8fc7 \u6ca1\u6709 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684 \u8def\u53e3 \u5e76 \u9047\u5230 \u53e6 \u4e00\u8f86 \u7a7f\u8fc7 \u8def\u53e3 \u7684 \u8f66\u8f86 \u3002 \u81ea\u6211 \u8f66\u8f86 \u5fc5\u987b \u907f\u514d \u78b0\u649e \u5e76 \u7a7f\u8fc7 \u8def\u53e3 \u624d\u80fd \u6210\u529f \u3002","title":"NoSignalJunctionCrossing"},{"location":"scenario_runner/list_of_scenarios/#controlloss","text":"\u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u6d4b\u8bd5 \u7531\u4e8e \u8def\u51b5 \u6076\u52a3 \u7b49 \u539f\u56e0 \u5bfc\u81f4 \u8f66\u8f86 \u5931\u63a7 \uff0c \u5e76 \u68c0\u67e5 \u8f66\u8f86 \u662f\u5426 \u91cd\u65b0 \u83b7\u5f97 \u63a7\u5236 \u5e76 \u7ea0\u6b63 \u5176 \u8def\u7ebf \u3002","title":"ControlLoss"},{"location":"scenario_runner/list_of_scenarios/#maneuveroppositedirection","text":"\u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u8f66\u8f86 \u5728 \u767d\u5929 \u3001 \u5929\u6c14 \u6674\u6717 \u5929\u6c14\u6674\u6717 \u7684 \u60c5\u51b5 \u4e0b \uff0c \u5728 \u519c\u6751 \u5730\u533a \u7684 \u975e \u8def\u53e3 \u8d85\u8d8a \u53e6 \u4e00\u8f86 \u8f66\u8f86 \uff0c \u5e76 \u4fb5\u5165 \u53e6 \u4e00\u8f86 \u5411 \u76f8\u53cd \u65b9\u5411 \u884c\u9a76 \u7684 \u8f66\u8f86 \u3002","title":"ManeuverOppositeDirection"},{"location":"scenario_runner/list_of_scenarios/#otherleadingvehicle","text":"\u8be5 \u573a\u666f \u5b9e\u73b0 \u4e86 \u4e00\u79cd \u5e38\u89c1 \u7684 \u9a7e\u9a76 \u884c\u4e3a \uff0c \u5176\u4e2d \u7528\u6237 \u63a7\u5236 \u7684 \u81ea\u6211 \u8f66\u8f86 \u8ddf\u968f \u5728 \u7ed9\u5b9a \u9053\u8def \u4e0a \u884c\u9a76 \u7684 \u9886\u5148 \u8f66\u8f86 \u3002 \u5728 \u67d0\u4e2a \u65f6\u523b \uff0c \u9886\u5148 \u7684 \u6c7d\u8f66 \u5fc5\u987b \u51cf\u901f \u3002 \u672c\u8f66 \u5fc5\u987b \u505a\u51fa \u76f8\u5e94 \u53cd\u5e94 \uff0c \u6539\u53d8 \u8f66\u9053 \u4ee5 \u907f\u514d \u78b0\u649e \uff0c \u5e76 \u8ddf\u968f \u53e6 \u4e00 \u8f66\u9053 \u7684 \u9886\u5148 \u8f66\u8f86 \u3002 \u8be5 \u573a\u666f \u4f1a\u56e0 \u8d85\u65f6 \u6216 \u81ea\u6211 \u8f66\u8f86 \u884c\u9a76 \u4e00\u5b9a \u8ddd\u79bb \u800c \u7ed3\u675f \u3002","title":"OtherLeadingVehicle"},{"location":"scenario_runner/list_of_scenarios/#signalizedjunctionrightturn","text":"\u5728 \u8fd9\u4e2a \u573a\u666f \u4e2d \uff0c \u6d4b\u8bd5 \u4e86 \u82f1\u96c4 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u4fe1\u53f7 \u4ea4\u53c9 \u4ea4\u53c9\u53e3 \u6ca1\u6709 \u78b0\u649e \u7684 \u60c5\u51b5 \u4e0b \u7684 \u53f3\u8f6c \u3002 \u82f1\u96c4 \u8f66\u8f86 \u5728 \u5e02\u533a \u7684 \u4fe1\u53f7 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u53f3\u8f6c \uff0c \u5e76 \u4e0e \u53e6 \u4e00\u8f86 \u6700\u521d \u4ece \u6a2a\u5411 \u76f4\u884c \u7684 \u8f66\u8f86 \u540c \u5411 \u8f6c\u5f2f \u3002","title":"SignalizedJunctionRightTurn"},{"location":"scenario_runner/list_of_scenarios/#signalizedjunctionleftturn","text":"\u5728 \u8fd9\u79cd \u60c5\u51b5 \u4e0b \uff0c \u82f1\u96c4 \u8f66\u8f86 \u5728 \u5e02\u533a \u7684 \u4fe1\u53f7 \u4ea4\u53c9 \u53c9\u8def \u8def\u53e3 \u53c9\u8def\u53e3 \u4ea4\u53c9\u8def\u53e3 \u5de6\u8f6c \uff0c \u5e76 \u6a2a\u7a7f \u4e86 \u53e6 \u4e00\u8f86 \u4ece \u76f8\u53cd \u65b9\u5411 \u76f4\u9a76 \u800c \u6765 \u7684 \u8f66\u8f86 \u7684 \u8def\u5f84 \u3002","title":"SignalizedJunctionLeftTurn"},{"location":"scenario_runner/metrics_module/","text":"\u6307\u6807 \u6a21\u5757   \u6307\u6807 \u6a21\u5757 \u4f9d\u9760   CARLA   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u6765 \u65b9\u4fbf \u8ba1\u7b97 \u548c \u76d1\u63a7 \u4efb\u4f55 \u7c7b\u578b \u7684 \u53c2\u6570 \u3002 \u573a\u666f \u5b8c\u6210 \u540e \uff0c \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5b58\u50a8 \u4eff\u771f \u4fe1\u606f \u3002 \u7136\u540e \uff0c \u7528\u6237 \u53ef\u4ee5 \u5b9a\u4e49 \u81ea\u5df1 \u7684 \u6307\u6807 \uff0c \u5e76 \u68c0\u67e5 \u76f8\u5e94 \u7684 \u7ed3\u679c \uff0c \u800c \u65e0\u9700 \u4e00\u6b21 \u53c8 \u4e00\u6b21 \u5730 \u8fdb\u884c \u4eff\u771f \u3002   \u672c \u8282 \u4ecb\u7ecd \u4e86 \u6784\u6210 \u8be5 \u6a21\u5757 \u7684 \u4e0d\u540c \u5143\u7d20 \u7684 \u8bf4\u660e \u3001 \u5982\u4f55 \u521b\u5efa \u65b0 \u6307\u6807 \u7684 \u5206\u6b65 \u6559\u7a0b \u4ee5\u53ca \u67e5\u8be2 \u8bb0\u5f55 \u548c \u5b9a\u4e49 \u6307\u6807 \u7684 \u51fd\u6570 \u7684 \u53c2\u8003 \u3002   \u6a21\u5757 \u7ed3\u6784   \u5982\u4f55 \u4f7f\u7528 \u6307\u6807 \u6a21\u5757   1 .   \u8bb0\u5f55 \u4e00\u4e2a \u573a\u666f   2 .   \u5b9a\u4e49 \u6307\u6807   3 .   \u8fd0\u884c \u6307\u6807 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668   \u8bb0\u5f55 \u67e5\u8be2 \u53c2\u8003   \u901a\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6570\u636e   \u901a\u7528 \u4eff\u771f \u6570\u636e   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u901f\u5ea6 \u89d2\u901f\u5ea6   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63a7\u5236   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53d8\u6362   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u901f\u5ea6   \u573a\u666f \u706f   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f   \u8f66\u706f   \u6a21\u5757 \u7ed3\u6784   \u4e0e \u4e3b   ScenarioRunner   \u6a21\u5757 \u7c7b\u4f3c \uff0c Metrics   \u6a21\u5757 \u4f7f\u7528 \u4e3b \u811a\u672c   \u8fd0\u884c \uff0c   metrics _ manager . py   \u5176\u4f59 \u4fe1\u606f \u5305\u542b \u5728 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784 \u5185 \u3002 \u8fd9\u91cc \u7b80\u5355 \u4ecb\u7ecd \u4e00\u4e0b \u4e3b\u8981 \u811a\u672c \u3002   metrics _ manager . py   \u2014   \u6a21\u5757 \u7684 \u4e3b \u811a\u672c \u3002 \u8fd0\u884c \u6b64 \u547d\u4ee4 \u4ee5 \u663e\u793a \u4e00\u7ec4 \u6307\u6807 \u7684 \u7ed3\u679c \u3002 \u8be5 \u811a\u672c \u5177\u6709 \u5e38\u7528 \u7684   host   \u548c   port   \u53c2\u6570 \uff0c \u4ee5\u53ca \u66f4 \u591a \u7528\u4e8e \u8bbe\u7f6e \u8981 \u4f7f\u7528 \u7684 \u6307\u6807 \u548c \u8bb0\u5f55 \u7684 \u5185\u5bb9 \u3002   host   ( string )   \u2013   CARLA   \u4eff\u771f \u8fd0\u884c \u65f6 \u7684   IP   \u5730\u5740 \u3002 \u9ed8\u8ba4 \u4e3a   ( 127.0 . 0.1 )   \u3002   port   ( int )   \u2013   CARLA   \u4eff\u771f \u8fd0\u884c \u7684   TCP   \u7aef\u53e3 \u3002 \u9ed8\u8ba4 \u4e3a   2000   \u548c   2001   \u3002   metrics   \u2014   \u8981 \u4f7f\u7528 \u7684 \u6307\u6807 \u7684 \u8def\u5f84 \u3002   log   \u2014   \u5305\u542b \u8bb0\u5f55 \u7684   . log   \u6587\u4ef6 \u7684 \u8def\u5f84 \uff08 \u76f8\u5bf9 \u4e8e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   SCENARIO _ RUNNER _ ROOT   \uff09 \u3002   criteria   ( \u53ef \u9009 )   \u2014   \u5177\u6709 \u573a\u666f \u6761\u4ef6 \u7684   JSON   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   \u5851\u9020 \u6a21\u5757 \u7684 \u5176\u4f59 \u5143\u7d20 \u53ef\u4ee5 \u5728 \u8be5   srunner / metrics   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u627e\u5230 \u3002 \u8fd9\u4e9b \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5df2 \u5206\u4e3a \u4e09\u4e2a \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   srunner / metrics / data   \u2014   \u5b58\u50a8 \u6709\u5173 \u573a\u666f \u7684 \u4fe1\u606f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u6709 \u516d\u4e2a \u6587\u4ef6 \uff0c \u5b83\u4eec \u662f \u793a\u4f8b \u6307\u6807 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   srunner / metrics / examples   \u2014   \u5305\u542b \u4e00\u4e9b \u793a\u4f8b \u6307\u6807 \uff0c \u4ee5\u53ca \u5305\u542b \u7528\u4e8e \u521b\u5efa \u65b0 \u6307\u6807 \u7684 \u57fa\u7c7b   BaseMetric   \u7684 \u6307\u6807 \u3002   basic _ metric . py   \u2013   \u5305\u542b \u57fa\u7c7b   BaseMetric   \u3002 \u6240\u6709 \u7684 \u6307\u6807 \u90fd \u662f\u4ece \u5b83 \u7ee7\u627f \u7684 \u3002   criteria _ filter . py   \u2013   \u8fd4\u56de \u5305\u542b \u6807\u51c6 \u6700 \u91cd\u8981 \u5c5e\u6027 \u7684   JSON \u3002   distance _ between _ vehicles . py   \u2013   \u8fd4\u56de \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u5c55\u793a \u5982\u4f55 \u67e5\u8be2 \u8bb0\u5f55 \u3002   distance _ to _ lane _ center . py   \u2013   \u8ba1\u7b97 \u8f66\u8f86 \u4f4d\u7f6e \u4e0e \u8f66\u9053 \u4e2d\u5fc3 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u5c55\u793a \u5982\u4f55 \u8bbf\u95ee \u5730\u56fe   API   \u4fe1\u606f \u3002   srunner / metrics / tools   \u2014   \u5305\u542b \u4e24\u4e2a \u5141\u8bb8 \u67e5\u8be2 \u8bb0\u5f55 \u7684 \u5173\u952e \u811a\u672c \u3002   metrics _ parser . py   \u2013   \u5c06 \u8bb0\u5f55 \u63d0\u4f9b \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u8f6c\u6362 \u4e3a \u5b57\u5178 \u3002   metrics _ log . py   \u2013   \u63d0\u4f9b \u591a\u79cd \u529f\u80fd \u6765 \u67e5\u8be2 \u4f7f\u7528   metrics _ parser . py   \u521b\u5efa \u7684 \u5b57\u5178 \u3002 \u8fd9\u4e9b \u51fd\u6570 \u662f \u8bbf\u95ee \u573a\u666f \u4fe1\u606f \u7684 \u6700 \u7b80\u5355 \u65b9\u6cd5 \u3002 \u5b83\u4eec \u5217\u5728 \u672c\u9875 \u6700\u540e \u4e00\u6bb5 \u7684   \u53c2\u8003 \u6587\u732e \u53c2\u8003\u6587\u732e   \u4e2d \u3002   \u5982\u4f55 \u4f7f\u7528 \u6307\u6807 \u6a21\u5757   1 .   \u8bb0\u5f55 \u4e00\u4e2a \u573a\u666f   \u6307\u6807 \u6a21\u5757 \u9700\u8981 \u8bb0\u5f55 \u4eff\u771f \u624d\u80fd \u5de5\u4f5c \u3002 \u5426\u5219 \uff0c \u5b83 \u6ca1\u6709 \u6570\u636e \u6765 \u8fdb\u884c \u6307\u6807 \u8ba1\u7b97 \u3002   \u4f7f\u7528   record   \u53c2\u6570 \u3002 \u6dfb\u52a0 \u5e94\u8be5 \u4fdd\u5b58 \u4fe1\u606f \u4fdd\u5b58\u4fe1\u606f \u7684 \u8def\u5f84 \u3002 \u8be5 \u8def\u5f84 \u5fc5\u987b \u76f8\u5bf9 \u4e8e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   SCENARIO _ RUNNER _ ROOT   \u3002   python   scenario _ runner . py   -- scenario   < scenario _ name >   -- record   < path / to / save / the / recorder / file >   \u901a\u8fc7 \u8bb0\u5f55 \u573a\u666f \uff0c \u5c06 \u5728 \u6240 \u9700 \u8def\u5f84 \u4e2d \u521b\u5efa \u4e24\u4e2a \u6587\u4ef6 \u3002 \u8fd9\u4e9b   log   \u6587\u4ef6   criteria   \u7a0d\u540e \u5c06 \u7528\u4f5c   metrics _ manager . py   \u7684 \u53c2\u6570 \u3002   1 .   CARLA   \u8bb0\u5f55   (   . log   )   \u2014   \u5305\u542b \u6bcf\u5e27 \u7684 \u4eff\u771f \u6570\u636e \u3002 \u8981 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \uff0c \u8bf7 \u9605\u8bfb   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u6863   \u3002   2 .   \u6307\u6807 \u6587\u4ef6   ( . json )   \u2014   \u573a\u666f \u6807\u51c6 \u89e3\u6790 \u4e3a \u5b57\u5178 \uff0c \u5e76 \u5b58\u50a8 \u5728   JSON   \u6587\u4ef6 \u4e2d \u3002 \u5b57\u5178 \u7684 \u952e \u662f \u6761\u4ef6 \u7684 \u540d\u79f0 \u3002 \u8fd9\u4e9b \u503c \u662f \u6bcf\u4e2a \u6761\u4ef6 \u7684 \u5c5e\u6027 \u3002   \u6ce8\u610f   \u4ec5 \u89e3\u6790   JSON   \u53ef \u5e8f\u5217 \u5e8f\u5217\u5316 \u5c5e\u6027 \uff0c \u5176\u4f59 \u5c5e\u6027 \u5c06 \u88ab \u5ffd\u7565 \u3002   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8fd9 \u4e24\u4e2a \u6587\u4ef6 \u5747 \u4ee5 \u8fd0\u884c \u7684 \u573a\u666f \u547d\u540d \u3002 \u5982\u679c \u573a\u666f \u88ab \u547d\u540d \u4e3a   example . py   \uff0c \u6587\u4ef6 \u5c06 \u4e3a   example . log   \u548c   example . json   \u3002   2 .   \u5b9a\u4e49 \u6307\u6807   \u73b0\u5728 \u662f \u521b\u5efa \u5c06 \u7528\u4e8e \u573a\u666f \u7684 \u6240 \u9700 \u6307\u6807 \u7684 \u65f6\u5019 \u4e86 \u3002 \u53ef\u80fd \u53ef\u80fd\u6027 \u662f \u65e0\u9650 \u7684 \uff0c \u4f46 \u4e3a\u4e86 \u672c \u6559\u7a0b \u7684 \u76ee\u7684 \uff0c \u5c06 \u4f7f\u7528   srunner / metrics / examples / distance _ between _ vehicles . py   \u4e2d \u63cf\u8ff0 \u7684 \u6307\u6807 \u4f5c\u4e3a \u793a\u4f8b \u3002 \u8ba9 \u6211\u4eec \u6df1\u5165 \u7814\u7a76 \u6df1\u5165\u7814\u7a76 \u4e00\u4e0b \u4ee3\u7801 \u672c\u8eab \u3002   class   DistanceBetweenVehicles ( BasicMetric ) :   \" \" \"   \u6307\u6807 \u7c7b   DistanceBetweenVehicles   \" \" \"   def   _ create _ metric ( self ,   town _ map ,   log ,   criteria ) :   \" \" \"   \u5ea6\u91cf \u7684 \u5b9e\u73b0 \u3002 \u8fd9\u662f \u4e00\u4e2a \u793a\u4f8b \uff0c \u5c55\u793a \u4e86 \u5982\u4f55 \u4f7f\u7528 \u901a\u8fc7 \u65e5\u5fd7 \u8bbf\u95ee \u7684 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002   \" \" \"   #   \u83b7\u53d6 \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \u7684 ID   ego _ id   =   log . get _ ego _ vehicle _ id ( )   adv _ id   =   log . get _ actor _ ids _ with _ role _ name ( \" scenario \" ) [ 0 ]   #   Could   have   also   used   its   type _ id   dist _ list   =   [ ]   frames _ list   =   [ ]   #   \u83b7\u5f97 \u5e27 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u6d3b\u7740   start _ ego ,   end _ ego   =   log . get _ actor _ alive _ frames ( ego _ id )   start _ adv ,   end _ adv   =   log . get _ actor _ alive _ frames ( adv _ id )   start   =   max ( start _ ego ,   start _ adv )   end   =   min ( end _ ego ,   end _ adv )   #   \u83b7\u5f97 \u4e24\u8005 \u4e4b\u95f4 \u4e24\u8005\u4e4b\u95f4 \u7684 \u8ddd\u79bb   for   i   in   range ( start ,   end ) :   #   \u83b7\u5f97 \u53d8\u6362   ego _ location   =   log . get _ actor _ transform ( ego _ id ,   i ) . location   adv _ location   =   log . get _ actor _ transform ( adv _ id ,   i ) . location   #   \u8fc7\u6ee4 \u4e00\u4e9b \u70b9\u4ee5 \u83b7\u5f97 \u66f4\u597d \u7684 \u56fe\u5f62   if   adv _ location . z   <   - 10 :   continue   dist _ v   =   ego _ location   -   adv _ location   dist   =   math . sqrt ( dist _ v . x   *   dist _ v . x   +   dist _ v . y   *   dist _ v . y   +   dist _ v . z   *   dist _ v . z )   dist _ list . append ( dist )   frames _ list . append ( i )   #   \u4f7f\u7528   matplotlib   \u5c55\u793a \u7ed3\u679c   plt . plot ( frames _ list ,   dist _ list )   plt . ylabel ( ' Distance   [ m ] ' )   plt . xlabel ( ' Frame   number ' )   plt . title ( ' Distance   between   the   ego   vehicle   and   the   adversary   over   time ' )   plt . show ( )   2.1 .   \u5ea6\u91cf \u7684 \u540d\u79f0   .   \u9996\u5148 \uff0c \u6b63\u5982 \u524d\u9762 \u63d0\u5230 \u7684 \uff0c \u6240\u6709 \u6307\u6807 \u90fd \u662f \u8be5   BasicMetric   \u7c7b \u7684 \u5b50\u7ea7 \u3002   class   DistanceBetweenVehicles ( BasicMetric ) :   2.2 .   \u4e3b \u65b9\u6cd5 \u7684 \u540d\u79f0   .   \u6307\u6807 \u53ea \u9700\u8981 \u4e00\u79cd \u65b9\u6cd5 \u5373\u53ef \u8fd0\u884c \uff0c   _ create _ metric ( )   \u65b9\u6cd5 \u5177\u6709 \u4e09\u4e2a \u53c2\u6570 \u3002   town _ map   \u2014   \u573a\u666f \u53d1\u751f \u7684   carla . Map ( )   \u5b9e\u4f8b \u3002   log   \u2014   MetricsLog   \u7c7b \u7684 \u5b9e\u4f8b \uff0c \u5177\u6709 \u8bbf\u95ee \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5b57\u5178 \u6240 \u9700 \u7684 \u6240\u6709 \u51fd\u6570 \u3002   criteria   \u2014   \u5e26\u6709 \u6807\u51c6 \u5b57\u5178 \u7684   JSOn \u3002 \u8bb0\u5f55 \u573a\u666f \u65f6 \u63d0\u4f9b \u7684 \u6587\u4ef6 \uff0c \u7a0d\u540e \u63d0\u4f9b \u7ed9   metrics _ manager . py   \u3002   def   _ create _ metric ( self ,   town _ map ,   log ,   criteria ) :   2.3 .   \u5b9e\u73b0 \u6307\u6807   \u3002   \u4ee3\u7801 \u5c06 \u6839\u636e \u6307\u6807 \u672c\u8eab \u800c \u6709\u6240 \u4e0d\u540c \u6709\u6240\u4e0d\u540c \u3002   \u793a\u4f8b \u6307\u6807   DistanceBetweenVehicles   \u8ba1\u7b97 \u672c\u8f66 \u4e0e\u5176 \u8ddf\u968f \u7684 \u6c7d\u8f66 \uff08 \u5bf9\u624b \uff09 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002 \u4e3a\u6b64 \uff0c \u9700\u8981   id   \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \u7684 \u914d\u5408 \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u4f7f\u7528   get _ ego _ vehicle _ id ( )   \u548c   get _ actor _ ids _ with _ role _ name ( \" scenario \" ) [ 0 ]   \u51fd\u6570 \u4ece \u65e5\u5fd7 \u4e2d \u68c0\u7d22 \u3002   #   \u83b7\u53d6 \u4e24\u4e2a \u8f66\u8f86 \u7684   ID   ego _ id   =   log . get _ ego _ vehicle _ id ( )   adv _ id   =   log . get _ actor _ ids _ with _ role _ name ( \" scenario \" ) [ 0 ]   #   Could   have   also   used   its   type _ id   \u5b83\u4eec   id   \u7528   get _ actor _ alive _ frames ( actor _ id )   \u68c0\u7d22 \u8f66\u8f86 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u7684 \u5e27 \u3002   #   \u83b7\u53d6 \u6d3b\u8dc3 \u7684 \u4e24\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5e27   start _ ego ,   end _ ego   =   log . get _ actor _ alive _ frames ( ego _ id )   start _ adv ,   end _ adv   =   log . get _ actor _ alive _ frames ( adv _ id )   start   =   max ( start _ ego ,   start _ adv )   end   =   min ( end _ ego ,   end _ adv )   \u73b0\u5728 \u4e00\u5207 \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \uff0c \u53ef\u4ee5 \u5faa\u73af \u8fd9\u4e9b \u5e27 \uff0c \u83b7\u53d6 \u5b83\u4eec \u7684 \u53d8\u6362 \u5e76 \u8ba1\u7b97 \u8ddd\u79bb \u3002 \u4f7f\u7528   get _ actor _ transform ( actor _ id ,   frame )   \u83b7\u5f97 \u53d8\u6362 \uff0c   dist _ list   =   [ ]   frames _ list   =   [ ]   ...   #   \u83b7\u5f97 \u4e24\u8005 \u4e4b\u95f4 \u4e24\u8005\u4e4b\u95f4 \u7684 \u8ddd\u79bb   for   i   in   range ( start ,   end ) :   #   \u83b7\u53d6 \u53d8\u6362   ego _ location   =   log . get _ actor _ transform ( ego _ id ,   i ) . location   adv _ location   =   log . get _ actor _ transform ( adv _ id ,   i ) . location   #   \u4e3a\u4e86 \u83b7\u5f97 \u66f4\u597d \u7684 \u56fe\u7247 \u8fc7\u6ee4 \u4e00\u4e9b \u70b9   if   adv _ location . z   <   - 10 :   continue   dist _ v   =   ego _ location   -   adv _ location   dist   =   math . sqrt ( dist _ v . x   *   dist _ v . x   +   dist _ v . y   *   dist _ v . y   +   dist _ v . z   *   dist _ v . z )   dist _ list . append ( dist )   \u6ce8\u610f   \u5bf9\u624b \u7684 \u5782\u76f4 \u60c5\u51b5 \u4ec5 \u8003\u8651 \u5bf9\u624b \u6b63\u5e38 \u884c\u9a76 \u65f6 \u7684 \u60c5\u51b5 \u3002   \u6700\u540e \uff0c \u4f7f\u7528   matplotlib   \u5b9a\u4e49 \u8fd0\u884c   metrics _ manager . py   \u65f6 \u6307\u6807 \u7684 \u8f93\u51fa \u3002   #   \u4f7f\u7528   matplotlib   \u5c55\u793a \u7ed3\u679c   plt . plot ( frames _ list ,   dist _ list )   plt . ylabel ( ' Distance   [ m ] ' )   plt . xlabel ( ' Frame   number ' )   plt . title ( ' Distance   between   the   ego   vehicle   and   the   adversary   over   time ' )   plt . show ( )   3 .   \u8fd0\u884c \u6307\u6807 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668   \u6700\u540e \uff0c \u662f \u65f6\u5019 \u4f7f\u7528 \u4ece \u573a\u666f \u4e2d \u68c0\u7d22 \u7684 \u4fe1\u606f \u4ee5\u53ca \u5df2 \u5b9a\u4e49 \u7684 \u6307\u6807 \u6765 \u8fd4\u56de \u4e00\u4e9b \u6307\u6807 \u4fe1\u606f \u3002 \u8ba9 \u6211\u4eec \u4f7f\u7528 \u8fc4\u4eca \u4e3a\u6b62 \u8fc4\u4eca\u4e3a\u6b62 \u4f7f\u7528 \u7684 \u793a\u4f8b \u6307\u6807 \u4ee5\u53ca \u4ee5 \u5176 \u547d\u540d \u7684 \u793a\u4f8b \u65e5\u5fd7 \u6765 \u8fd0\u884c \u8be5 \u6a21\u5757 \u3002   python   metrics _ manager . py   -- metric   srunner / metrics / examples / distance _ between _ vehicles . py   -- log   srunner / metrics / data / DistanceBetweenVehicles . log   \u8b66\u544a   \u4eff\u771f \u5fc5\u987b \u6b63\u5728 \u8fd0\u884c \u3002 \u5426\u5219 \uff0c \u6a21\u5757 \u5c06 \u65e0\u6cd5 \u8bbf\u95ee \u65e0\u6cd5\u8bbf\u95ee \u5730\u56fe API \u3002   \u8fd9 \u5c06 \u521b\u5efa \u4e00\u4e2a \u7a97\u53e3 \u65b0\u7a97\u53e3 \uff0c \u5176\u4e2d \u7ed8\u5236 \u4e86 \u7ed3\u679c \u3002 \u5728 \u8f93\u51fa \u7a97\u53e3 \u5173\u95ed \u4e4b\u524d \uff0c \u811a\u672c \u4e0d\u4f1a \u5b8c\u6210 \u3002   \u8bb0\u5f55 \u67e5\u8be2 \u53c2\u8003   \u5b9a\u4e49 \u6307\u6807 \u65f6 \uff0c \u6709\u5173 \u573a\u666f \u7684 \u6240\u6709 \u4fe1\u606f \u90fd \u901a\u8fc7 \u7c7b   MetricsLog   \uff08   _ create _ metric ( )   \u51fd\u6570 \u4e2d \u7684   log   \u53c2\u6570 \uff09 \u8bbf\u95ee \u3002 \u8be5\u7c7b \u4f4d\u4e8e   srunner / metrics / tools / metrics _ log . py   \uff0c \u8be5 \u5f15\u7528 \u662f \u5176\u4e2d \u5305\u542b \u7684 \u51fd\u6570 \u7684 \u540e\u7eed \u90e8\u5206 \u3002   \u901a\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6570\u636e   get _ ego _ vehicle _ id   (   self   )   \u8fd4\u56de \u81ea\u6211 \u8f66\u8f86 \u7684   id   \u3002   Return   \u2014   int   get _ actor _ ids _ with _ role _ name   (   self   ,   role _ name   )   \u8fd4\u56de \u4e0e \u7ed9\u5b9a   role _ name   \u5339\u914d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u5217\u8868 \u3002   Return   \u2014   list   Parameters   role _ name   (   str   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   role _ name   \u3002   get _ actor _ ids _ with _ type _ id   (   self   ,   type _ id   )   \u6839\u636e   fnmatch   \u6807\u51c6 \uff0c \u8fd4\u56de \u4e0e \u7ed9\u5b9a \u5339\u914d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u5217\u8868 \u3002   Return   \u2014   list   Parameters   type _ id   (   str   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005   type _ id   \u3002   get _ actor _ attributes   (   self   ,   actor _ id   )   \u8fd4\u56de \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240\u6709 \u5c5e\u6027 \u7684 \u5b57\u5178 \u3002   Return   \u2014   dict   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   get _ actor _ bounding _ box   (   self   ,   actor _ id   )   \u8fd4\u56de \u6307\u5b9a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8fb9\u754c \u6846 \u3002   Return   \u2014   carla . BoundingBox   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   get _ traffic _ light _ trigger _ volume   (   self   ,   traffic _ light _ id   )   \u8fd4\u56de \u6307\u5b9a \u4ea4\u901a \u4ea4\u901a\u706f \u7684   trigger   volume \u3002   Return   \u2014   carla . BoundingBox   Parameters   traffic _ light _ id   (   int   )   \u2014   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684   id   \u3002   get _ actor _ alive _ frames   (   self   ,   actor _ id   )   \u8fd4\u56de \u4e00\u4e2a \u5143\u7ec4 \uff0c \u5176\u4e2d \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u8dc3 \u7684 \u7b2c\u4e00 \u5e27 \u548c \u6700\u540e \u4e00\u5e27 \u3002 \u8bf7 \u6ce8\u610f \uff0c \u5e27 \u4ece   1   \u5f00\u59cb \uff0c \u800c \u4e0d\u662f \u4ece   0   \u5f00\u59cb \u3002   Return   \u2014   tuple   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   \u901a\u7528 \u4eff\u771f \u6570\u636e   get _ collisions   (   self   ,   actor _ id   )   \u8fd4\u56de \u5177\u6709 \u4e24\u4e2a \u952e \u7684 \u5b57\u5178 \u5217\u8868 \u3002   frame   \u662f \u78b0\u649e \u7684 \u5e27 \u7f16\u53f7 \uff0c   \u662f   other _ id   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u8be5 \u5e27 \u53d1\u751f \u78b0\u649e \u7684   id   \u5217\u8868 \u3002   Return   \u2014   list   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   get _ total _ frame _ count   (   self   )   \u8fd4\u56de \u4e00\u4e2a   int   \u503c \uff0c \u5176\u4e2d \u5305\u542b \u4eff\u771f \u6301\u7eed \u7684 \u5e27 \u603b\u6570 \u3002   Return   \u2014   int   get _ elapsed _ time   (   self   ,   frame   )   \u8fd4\u56de \u4e00\u4e2a \u5305\u542b \u7279\u5b9a \u5e27 \u7684 \u5df2\u7528 \u65f6\u95f4 \u7684 \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \u3002   Return   \u2014   float   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ delta _ time   (   self   ,   frame   )   \u8fd4\u56de \u5177\u6709 \u7279\u5b9a \u5e27 \u7684 \u589e\u91cf \u65f6\u95f4 \u7684 \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \u3002 R   Return   \u2014   float   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ platform _ time   (   self   ,   frame   )   \u8fd4\u56de \u5177\u6709 \u7279\u5b9a \u5e27 \u7684 \u5e73\u53f0 \u65f6\u95f4 \u7684 \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \u3002   Return   \u2014   float   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   get _ actor _ acceleration   (   self   ,   actor _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u4e0d \u5b58\u5728 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ca1\u6709 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u6216\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u8be5 \u5e27 \u4e2d \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   Return   \u2014   carla . Vector3D   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ all _ actor _ accelerations   (   self   ,   actor _ id   ,   first _ frame   = None   ,   last _ frame   = None   )   \u8fd4\u56de \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5e27 \u95f4\u9694 \u5185 \u7684 \u6240\u6709 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u7684 \u5217\u8868 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5e27 \u95f4\u9694 \u5305\u542b \u6240\u6709 \u8bb0\u5f55 \u3002   Return   \u2014   list ( carla . Vector3D )   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   first _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u521d\u59cb \u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u5f00\u59cb \u3002   last _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u6700\u540e \u4e00\u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u7ed3\u675f \u3002   get _ actor _ accelerations _ at _ frame   (   self   ,   frame   ,   actor _ list   = None   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u952e \u662f \u5e27 \u7f16\u53f7 \uff0c \u503c \u662f \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   carla . Vector3D \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4f1a \u8003\u8651 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f46 \u5982\u679c \u4f20\u9012 \u4e86   actor _ list   \uff0c \u5219 \u4ec5 \u68c0\u67e5 \u5217\u8868 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Return   \u2014   list ( carla . Vector3D )   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   actor _ list   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u7684 \u5217\u8868 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u901f\u5ea6 \u89d2\u901f\u5ea6   get _ actor _ angular _ velocity   (   self   ,   actor _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u4e0d \u5b58\u5728 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ca1\u6709 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u6216\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u8be5 \u5e27 \u4e2d \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   Return   \u2014   carla . Vector3D   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u7684 \u6570\u76ee \u3002   get _ all _ actor _ angular _ velocities   (   self   ,   actor _ id   ,   first _ frame   = None   ,   last _ frame   = None   )   \u8fd4\u56de \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5e27 \u95f4\u9694 \u5185 \u7684 \u6240\u6709 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u7684 \u5217\u8868 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5e27 \u95f4\u9694 \u5305\u542b \u6240\u6709 \u8bb0\u5f55 \u3002   Return   \u2014   list ( carla . Vector3D )   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   first _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u521d\u59cb \u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u5f00\u59cb \u3002   last _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u6700\u540e \u4e00\u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u7ed3\u675f \u3002   get _ actor _ angular _ velocities _ at _ frame   (   self   ,   frame   ,   actor _ list   = None   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u952e \u662f \u5e27 \u7f16\u53f7 \uff0c \u503c \u662f \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   carla . Vector3D   \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4f1a \u8003\u8651 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f46 \u5982\u679c \u4f20\u9012   actor _ list   \uff0c \u5219 \u4ec5 \u68c0\u67e5 \u5217\u8868 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Return   \u2014   list (   carla . Vector3D   )   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   actor _ list   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ids   \u5217\u8868 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63a7\u5236   get _ vehicle _ control   (   self   ,   vehicle _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u8f66\u8f86 \u7684 \u63a7\u5236 \u3002 \u8be5   manual _ gear _ shift   \u5c5e\u6027 \u5c06 \u59cb\u7ec8 \u4e3a   False \u3002   Return   \u2014   carla . VehicleControl   Parameters   vehicle _ id   (   int   )   \u2014   \u8f66\u8f86 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ vehicle _ physics _ control   (   self   ,   vehicle _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u8f66\u8f86 \u7684 \u7269\u7406 \u63a7\u5236 \u3002   Return   \u2014   carla . VehiclePhysicsControl   Parameters   vehicle _ id   (   int   )   \u2014   \u8f66\u8f86 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ walker _ speed   (   self   ,   walker _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u884c\u4eba \u7684 \u901f\u5ea6 \u3002   Return   \u2014   carla . Vector3D   Parameters   walker _ id   (   int   )   \u2014   \u884c\u4eba \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53d8\u6362   get _ actor _ transform   (   self   ,   actor _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u53d8\u6362 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u4e0d \u5b58\u5728 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ca1\u6709 \u53d8\u6362 \u6216\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u8be5 \u5e27 \u4e2d \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   Return   \u2014   carla . Transform   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ all _ actor _ transforms   (   self   ,   actor _ id   ,   first _ frame   = None   ,   last _ frame   = None   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5e27 \u95f4\u9694 \u5185 \u7684 \u6240\u6709 \u53d8\u6362 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5e27 \u95f4\u9694 \u5305\u542b \u6240\u6709 \u8bb0\u5f55 \u3002   Return   \u2014   list (   carla . Transform   )   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   first _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u521d\u59cb \u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u5f00\u59cb \u3002   last _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u6700\u540e \u4e00\u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u7ed3\u675f \u3002   get _ actor _ transforms _ at _ frame   (   self   ,   frame   ,   actor _ list   = None   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u952e \u662f \u5e27 \u7f16\u53f7 \uff0c \u503c \u662f \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   carla . Transform   \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4f1a \u8003\u8651 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f46 \u5982\u679c   actor _ list   \u901a\u8fc7 \uff0c \u5219 \u4ec5 \u68c0\u67e5 \u5217\u8868 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Return   \u2014   list (   carla . Transform   )   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   actor _ list   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u5217\u8868 \u3002   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u901f\u5ea6   get _ actor _ velocity   (   self   ,   actor _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u4e0d \u5b58\u5728 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ca1\u6709 \u901f\u5ea6 \u6216\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u8be5 \u5e27 \u4e2d \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   Return   \u2014   carla . Vector3D   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ all _ actor _ velocities   (   self   ,   actor _ id   ,   first _ frame   = None   ,   last _ frame   = None   )   \u8fd4\u56de \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5e27 \u95f4\u9694 \u5185 \u7684 \u6240\u6709 \u901f\u5ea6 \u7684 \u5217\u8868 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5e27 \u95f4\u9694 \u5305\u542b \u6240\u6709 \u8bb0\u5f55 \u3002   Return   \u2014   list (   carla . Vector3D   )   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   first _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u521d\u59cb \u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u5f00\u59cb \u3002   last _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u6700\u540e \u4e00\u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u7ed3\u675f \u3002   get _ actor _ velocities _ at _ frame   (   self   ,   frame   ,   actor _ list   = None   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u952e \u662f \u5e27 \u7f16\u53f7 \uff0c \u503c \u662f \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   carla . Vector3D \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4f1a \u8003\u8651 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f46 \u5982\u679c \u4f20\u9012 \u4e86   actor _ list   \uff0c \u5219 \u4ec5 \u68c0\u67e5 \u5217\u8868 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Return   \u2014   list (   carla . Vector3D   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   actor _ list   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u5217\u8868 \u3002   \u573a\u666f \u706f   get _ scene _ light _ state   (   self   ,   light   ,   vehicle _ id   ,   frame   )   Returns   the   state   of   a   scene   light   for   a   given   frame .   The   light   state   group   will   always   be   carla . LightGroup . None   .   Return   \u2014   carla . LightState   Parameters   light _ id   (   int   )   \u2014   \u573a\u666f \u706f \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f   get _ traffic _ light _ state   (   self   ,   traffic _ light _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u72b6\u6001 \u3002   Return   \u2014   carla . TrafficLightState   .   Parameters   traffic _ light _ id   (   int   )   \u2014   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   is _ traffic _ light _ frozen   (   self   ,   traffic _ light _ id   ,   frame   )   \u8fd4\u56de \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u662f\u5426 \u51bb\u7ed3 \u5728 \u7ed9\u5b9a \u5e27 \u3002   Return   \u2014   bool   Parameters   traffic _ light _ id   (   int   )   \u2014   \u4ea4\u901a \u4ea4\u901a\u706f \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ traffic _ light _ elapsed _ time   (   self   ,   traffic _ light _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u7ecf\u8fc7 \u65f6\u95f4 \u3002   Return   \u2014   float   Parameters   traffic _ light _ id   (   int   )   \u2014   \u4ea4\u901a \u4ea4\u901a\u706f \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ traffic _ light _ state _ time   (   self   ,   traffic _ light _ id   ,   state   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u4ea4\u901a \u4ea4\u901a\u706f \u7279\u5b9a \u72b6\u6001 \u7684 \u6700\u957f \u65f6\u95f4 \u3002   Return   \u2014   float   Parameters   traffic _ light _ id   (   int   )   \u2014   id   of   the   traffic   light .   state   (   carla . TrafficLightState   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   \u8f66\u706f   get _ vehicle _ lights   (   self   ,   vehicle _ id   ,   frame   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u7ed9\u5b9a \u5e27 \u5904 \u7279\u5b9a \u8f66\u8f86 \u7684 \u6d3b\u52a8 \u706f \u3002   Return   \u2014   list (   carla . VehicleLightState   )   Parameters   vehicle _ id   (   int   )   \u2014   \u8f66\u8f86 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   is _ vehicle _ light _ active   (   self   ,   light   ,   vehicle _ id   ,   frame   )   \u68c0\u67e5 \u7ed9\u5b9a \u8f66\u8f86 \u706f \u5728 \u7279\u5b9a \u5e27 \u662f\u5426 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u3002   Return   \u2014   bool   Parameters   light   (   carla . VehicleLightState   )   \u2014   \u4e0e \u8f66\u8f86 \u8fdb\u884c \u6bd4\u8f83 \u7684 \u706f\u5149 \u72b6\u6001 \u3002   vehicle _ id   (   int   )   \u2014   \u8f66\u8f86 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002","title":"\u6307\u6807 \u6a21\u5757"},{"location":"scenario_runner/metrics_module/#_1","text":"\u6307\u6807 \u6a21\u5757 \u4f9d\u9760   CARLA   \u8bb0\u5f55 \u8bb0\u5f55\u5668   \u6765 \u65b9\u4fbf \u8ba1\u7b97 \u548c \u76d1\u63a7 \u4efb\u4f55 \u7c7b\u578b \u7684 \u53c2\u6570 \u3002 \u573a\u666f \u5b8c\u6210 \u540e \uff0c \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5b58\u50a8 \u4eff\u771f \u4fe1\u606f \u3002 \u7136\u540e \uff0c \u7528\u6237 \u53ef\u4ee5 \u5b9a\u4e49 \u81ea\u5df1 \u7684 \u6307\u6807 \uff0c \u5e76 \u68c0\u67e5 \u76f8\u5e94 \u7684 \u7ed3\u679c \uff0c \u800c \u65e0\u9700 \u4e00\u6b21 \u53c8 \u4e00\u6b21 \u5730 \u8fdb\u884c \u4eff\u771f \u3002   \u672c \u8282 \u4ecb\u7ecd \u4e86 \u6784\u6210 \u8be5 \u6a21\u5757 \u7684 \u4e0d\u540c \u5143\u7d20 \u7684 \u8bf4\u660e \u3001 \u5982\u4f55 \u521b\u5efa \u65b0 \u6307\u6807 \u7684 \u5206\u6b65 \u6559\u7a0b \u4ee5\u53ca \u67e5\u8be2 \u8bb0\u5f55 \u548c \u5b9a\u4e49 \u6307\u6807 \u7684 \u51fd\u6570 \u7684 \u53c2\u8003 \u3002   \u6a21\u5757 \u7ed3\u6784   \u5982\u4f55 \u4f7f\u7528 \u6307\u6807 \u6a21\u5757   1 .   \u8bb0\u5f55 \u4e00\u4e2a \u573a\u666f   2 .   \u5b9a\u4e49 \u6307\u6807   3 .   \u8fd0\u884c \u6307\u6807 \u7ba1\u7406 \u7406\u5668 \u7ba1\u7406\u5668   \u8bb0\u5f55 \u67e5\u8be2 \u53c2\u8003   \u901a\u7528 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6570\u636e   \u901a\u7528 \u4eff\u771f \u6570\u636e   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u901f\u5ea6 \u89d2\u901f\u5ea6   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u63a7\u5236   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u53d8\u6362   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u901f\u5ea6   \u573a\u666f \u706f   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f   \u8f66\u706f","title":"\u6307\u6807 \u6a21\u5757"},{"location":"scenario_runner/metrics_module/#_2","text":"\u4e0e \u4e3b   ScenarioRunner   \u6a21\u5757 \u7c7b\u4f3c \uff0c Metrics   \u6a21\u5757 \u4f7f\u7528 \u4e3b \u811a\u672c   \u8fd0\u884c \uff0c   metrics _ manager . py   \u5176\u4f59 \u4fe1\u606f \u5305\u542b \u5728 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u7ed3\u6784 \u5185 \u3002 \u8fd9\u91cc \u7b80\u5355 \u4ecb\u7ecd \u4e00\u4e0b \u4e3b\u8981 \u811a\u672c \u3002   metrics _ manager . py   \u2014   \u6a21\u5757 \u7684 \u4e3b \u811a\u672c \u3002 \u8fd0\u884c \u6b64 \u547d\u4ee4 \u4ee5 \u663e\u793a \u4e00\u7ec4 \u6307\u6807 \u7684 \u7ed3\u679c \u3002 \u8be5 \u811a\u672c \u5177\u6709 \u5e38\u7528 \u7684   host   \u548c   port   \u53c2\u6570 \uff0c \u4ee5\u53ca \u66f4 \u591a \u7528\u4e8e \u8bbe\u7f6e \u8981 \u4f7f\u7528 \u7684 \u6307\u6807 \u548c \u8bb0\u5f55 \u7684 \u5185\u5bb9 \u3002   host   ( string )   \u2013   CARLA   \u4eff\u771f \u8fd0\u884c \u65f6 \u7684   IP   \u5730\u5740 \u3002 \u9ed8\u8ba4 \u4e3a   ( 127.0 . 0.1 )   \u3002   port   ( int )   \u2013   CARLA   \u4eff\u771f \u8fd0\u884c \u7684   TCP   \u7aef\u53e3 \u3002 \u9ed8\u8ba4 \u4e3a   2000   \u548c   2001   \u3002   metrics   \u2014   \u8981 \u4f7f\u7528 \u7684 \u6307\u6807 \u7684 \u8def\u5f84 \u3002   log   \u2014   \u5305\u542b \u8bb0\u5f55 \u7684   . log   \u6587\u4ef6 \u7684 \u8def\u5f84 \uff08 \u76f8\u5bf9 \u4e8e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   SCENARIO _ RUNNER _ ROOT   \uff09 \u3002   criteria   ( \u53ef \u9009 )   \u2014   \u5177\u6709 \u573a\u666f \u6761\u4ef6 \u7684   JSON   \u6587\u4ef6 \u7684 \u8def\u5f84 \u3002   \u5851\u9020 \u6a21\u5757 \u7684 \u5176\u4f59 \u5143\u7d20 \u53ef\u4ee5 \u5728 \u8be5   srunner / metrics   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u627e\u5230 \u3002 \u8fd9\u4e9b \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u5df2 \u5206\u4e3a \u4e09\u4e2a \u5b50 \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u3002   srunner / metrics / data   \u2014   \u5b58\u50a8 \u6709\u5173 \u573a\u666f \u7684 \u4fe1\u606f \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5b83 \u6709 \u516d\u4e2a \u6587\u4ef6 \uff0c \u5b83\u4eec \u662f \u793a\u4f8b \u6307\u6807 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   srunner / metrics / examples   \u2014   \u5305\u542b \u4e00\u4e9b \u793a\u4f8b \u6307\u6807 \uff0c \u4ee5\u53ca \u5305\u542b \u7528\u4e8e \u521b\u5efa \u65b0 \u6307\u6807 \u7684 \u57fa\u7c7b   BaseMetric   \u7684 \u6307\u6807 \u3002   basic _ metric . py   \u2013   \u5305\u542b \u57fa\u7c7b   BaseMetric   \u3002 \u6240\u6709 \u7684 \u6307\u6807 \u90fd \u662f\u4ece \u5b83 \u7ee7\u627f \u7684 \u3002   criteria _ filter . py   \u2013   \u8fd4\u56de \u5305\u542b \u6807\u51c6 \u6700 \u91cd\u8981 \u5c5e\u6027 \u7684   JSON \u3002   distance _ between _ vehicles . py   \u2013   \u8fd4\u56de \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u5c55\u793a \u5982\u4f55 \u67e5\u8be2 \u8bb0\u5f55 \u3002   distance _ to _ lane _ center . py   \u2013   \u8ba1\u7b97 \u8f66\u8f86 \u4f4d\u7f6e \u4e0e \u8f66\u9053 \u4e2d\u5fc3 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u5c55\u793a \u5982\u4f55 \u8bbf\u95ee \u5730\u56fe   API   \u4fe1\u606f \u3002   srunner / metrics / tools   \u2014   \u5305\u542b \u4e24\u4e2a \u5141\u8bb8 \u67e5\u8be2 \u8bb0\u5f55 \u7684 \u5173\u952e \u811a\u672c \u3002   metrics _ parser . py   \u2013   \u5c06 \u8bb0\u5f55 \u63d0\u4f9b \u7684 \u5b57\u7b26 \u5b57\u7b26\u4e32 \u8f6c\u6362 \u4e3a \u5b57\u5178 \u3002   metrics _ log . py   \u2013   \u63d0\u4f9b \u591a\u79cd \u529f\u80fd \u6765 \u67e5\u8be2 \u4f7f\u7528   metrics _ parser . py   \u521b\u5efa \u7684 \u5b57\u5178 \u3002 \u8fd9\u4e9b \u51fd\u6570 \u662f \u8bbf\u95ee \u573a\u666f \u4fe1\u606f \u7684 \u6700 \u7b80\u5355 \u65b9\u6cd5 \u3002 \u5b83\u4eec \u5217\u5728 \u672c\u9875 \u6700\u540e \u4e00\u6bb5 \u7684   \u53c2\u8003 \u6587\u732e \u53c2\u8003\u6587\u732e   \u4e2d \u3002","title":"\u6a21\u5757 \u7ed3\u6784"},{"location":"scenario_runner/metrics_module/#_3","text":"","title":"\u5982\u4f55 \u4f7f\u7528 \u6307\u6807 \u6a21\u5757"},{"location":"scenario_runner/metrics_module/#1","text":"\u6307\u6807 \u6a21\u5757 \u9700\u8981 \u8bb0\u5f55 \u4eff\u771f \u624d\u80fd \u5de5\u4f5c \u3002 \u5426\u5219 \uff0c \u5b83 \u6ca1\u6709 \u6570\u636e \u6765 \u8fdb\u884c \u6307\u6807 \u8ba1\u7b97 \u3002   \u4f7f\u7528   record   \u53c2\u6570 \u3002 \u6dfb\u52a0 \u5e94\u8be5 \u4fdd\u5b58 \u4fe1\u606f \u4fdd\u5b58\u4fe1\u606f \u7684 \u8def\u5f84 \u3002 \u8be5 \u8def\u5f84 \u5fc5\u987b \u76f8\u5bf9 \u4e8e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf   SCENARIO _ RUNNER _ ROOT   \u3002   python   scenario _ runner . py   -- scenario   < scenario _ name >   -- record   < path / to / save / the / recorder / file >   \u901a\u8fc7 \u8bb0\u5f55 \u573a\u666f \uff0c \u5c06 \u5728 \u6240 \u9700 \u8def\u5f84 \u4e2d \u521b\u5efa \u4e24\u4e2a \u6587\u4ef6 \u3002 \u8fd9\u4e9b   log   \u6587\u4ef6   criteria   \u7a0d\u540e \u5c06 \u7528\u4f5c   metrics _ manager . py   \u7684 \u53c2\u6570 \u3002   1 .   CARLA   \u8bb0\u5f55   (   . log   )   \u2014   \u5305\u542b \u6bcf\u5e27 \u7684 \u4eff\u771f \u6570\u636e \u3002 \u8981 \u4e86\u89e3 \u66f4 \u591a \u4fe1\u606f \uff0c \u8bf7 \u9605\u8bfb   \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u6587\u6863   \u3002   2 .   \u6307\u6807 \u6587\u4ef6   ( . json )   \u2014   \u573a\u666f \u6807\u51c6 \u89e3\u6790 \u4e3a \u5b57\u5178 \uff0c \u5e76 \u5b58\u50a8 \u5728   JSON   \u6587\u4ef6 \u4e2d \u3002 \u5b57\u5178 \u7684 \u952e \u662f \u6761\u4ef6 \u7684 \u540d\u79f0 \u3002 \u8fd9\u4e9b \u503c \u662f \u6bcf\u4e2a \u6761\u4ef6 \u7684 \u5c5e\u6027 \u3002   \u6ce8\u610f   \u4ec5 \u89e3\u6790   JSON   \u53ef \u5e8f\u5217 \u5e8f\u5217\u5316 \u5c5e\u6027 \uff0c \u5176\u4f59 \u5c5e\u6027 \u5c06 \u88ab \u5ffd\u7565 \u3002   \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u8fd9 \u4e24\u4e2a \u6587\u4ef6 \u5747 \u4ee5 \u8fd0\u884c \u7684 \u573a\u666f \u547d\u540d \u3002 \u5982\u679c \u573a\u666f \u88ab \u547d\u540d \u4e3a   example . py   \uff0c \u6587\u4ef6 \u5c06 \u4e3a   example . log   \u548c   example . json   \u3002","title":"1 .   \u8bb0\u5f55 \u4e00\u4e2a \u573a\u666f"},{"location":"scenario_runner/metrics_module/#2","text":"\u73b0\u5728 \u662f \u521b\u5efa \u5c06 \u7528\u4e8e \u573a\u666f \u7684 \u6240 \u9700 \u6307\u6807 \u7684 \u65f6\u5019 \u4e86 \u3002 \u53ef\u80fd \u53ef\u80fd\u6027 \u662f \u65e0\u9650 \u7684 \uff0c \u4f46 \u4e3a\u4e86 \u672c \u6559\u7a0b \u7684 \u76ee\u7684 \uff0c \u5c06 \u4f7f\u7528   srunner / metrics / examples / distance _ between _ vehicles . py   \u4e2d \u63cf\u8ff0 \u7684 \u6307\u6807 \u4f5c\u4e3a \u793a\u4f8b \u3002 \u8ba9 \u6211\u4eec \u6df1\u5165 \u7814\u7a76 \u6df1\u5165\u7814\u7a76 \u4e00\u4e0b \u4ee3\u7801 \u672c\u8eab \u3002   class   DistanceBetweenVehicles ( BasicMetric ) :   \" \" \"   \u6307\u6807 \u7c7b   DistanceBetweenVehicles   \" \" \"   def   _ create _ metric ( self ,   town _ map ,   log ,   criteria ) :   \" \" \"   \u5ea6\u91cf \u7684 \u5b9e\u73b0 \u3002 \u8fd9\u662f \u4e00\u4e2a \u793a\u4f8b \uff0c \u5c55\u793a \u4e86 \u5982\u4f55 \u4f7f\u7528 \u901a\u8fc7 \u65e5\u5fd7 \u8bbf\u95ee \u7684 \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u3002   \" \" \"   #   \u83b7\u53d6 \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \u7684 ID   ego _ id   =   log . get _ ego _ vehicle _ id ( )   adv _ id   =   log . get _ actor _ ids _ with _ role _ name ( \" scenario \" ) [ 0 ]   #   Could   have   also   used   its   type _ id   dist _ list   =   [ ]   frames _ list   =   [ ]   #   \u83b7\u5f97 \u5e27 \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u90fd \u6d3b\u7740   start _ ego ,   end _ ego   =   log . get _ actor _ alive _ frames ( ego _ id )   start _ adv ,   end _ adv   =   log . get _ actor _ alive _ frames ( adv _ id )   start   =   max ( start _ ego ,   start _ adv )   end   =   min ( end _ ego ,   end _ adv )   #   \u83b7\u5f97 \u4e24\u8005 \u4e4b\u95f4 \u4e24\u8005\u4e4b\u95f4 \u7684 \u8ddd\u79bb   for   i   in   range ( start ,   end ) :   #   \u83b7\u5f97 \u53d8\u6362   ego _ location   =   log . get _ actor _ transform ( ego _ id ,   i ) . location   adv _ location   =   log . get _ actor _ transform ( adv _ id ,   i ) . location   #   \u8fc7\u6ee4 \u4e00\u4e9b \u70b9\u4ee5 \u83b7\u5f97 \u66f4\u597d \u7684 \u56fe\u5f62   if   adv _ location . z   <   - 10 :   continue   dist _ v   =   ego _ location   -   adv _ location   dist   =   math . sqrt ( dist _ v . x   *   dist _ v . x   +   dist _ v . y   *   dist _ v . y   +   dist _ v . z   *   dist _ v . z )   dist _ list . append ( dist )   frames _ list . append ( i )   #   \u4f7f\u7528   matplotlib   \u5c55\u793a \u7ed3\u679c   plt . plot ( frames _ list ,   dist _ list )   plt . ylabel ( ' Distance   [ m ] ' )   plt . xlabel ( ' Frame   number ' )   plt . title ( ' Distance   between   the   ego   vehicle   and   the   adversary   over   time ' )   plt . show ( )   2.1 .   \u5ea6\u91cf \u7684 \u540d\u79f0   .   \u9996\u5148 \uff0c \u6b63\u5982 \u524d\u9762 \u63d0\u5230 \u7684 \uff0c \u6240\u6709 \u6307\u6807 \u90fd \u662f \u8be5   BasicMetric   \u7c7b \u7684 \u5b50\u7ea7 \u3002   class   DistanceBetweenVehicles ( BasicMetric ) :   2.2 .   \u4e3b \u65b9\u6cd5 \u7684 \u540d\u79f0   .   \u6307\u6807 \u53ea \u9700\u8981 \u4e00\u79cd \u65b9\u6cd5 \u5373\u53ef \u8fd0\u884c \uff0c   _ create _ metric ( )   \u65b9\u6cd5 \u5177\u6709 \u4e09\u4e2a \u53c2\u6570 \u3002   town _ map   \u2014   \u573a\u666f \u53d1\u751f \u7684   carla . Map ( )   \u5b9e\u4f8b \u3002   log   \u2014   MetricsLog   \u7c7b \u7684 \u5b9e\u4f8b \uff0c \u5177\u6709 \u8bbf\u95ee \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u5b57\u5178 \u6240 \u9700 \u7684 \u6240\u6709 \u51fd\u6570 \u3002   criteria   \u2014   \u5e26\u6709 \u6807\u51c6 \u5b57\u5178 \u7684   JSOn \u3002 \u8bb0\u5f55 \u573a\u666f \u65f6 \u63d0\u4f9b \u7684 \u6587\u4ef6 \uff0c \u7a0d\u540e \u63d0\u4f9b \u7ed9   metrics _ manager . py   \u3002   def   _ create _ metric ( self ,   town _ map ,   log ,   criteria ) :   2.3 .   \u5b9e\u73b0 \u6307\u6807   \u3002   \u4ee3\u7801 \u5c06 \u6839\u636e \u6307\u6807 \u672c\u8eab \u800c \u6709\u6240 \u4e0d\u540c \u6709\u6240\u4e0d\u540c \u3002   \u793a\u4f8b \u6307\u6807   DistanceBetweenVehicles   \u8ba1\u7b97 \u672c\u8f66 \u4e0e\u5176 \u8ddf\u968f \u7684 \u6c7d\u8f66 \uff08 \u5bf9\u624b \uff09 \u4e4b\u95f4 \u7684 \u8ddd\u79bb \u3002 \u4e3a\u6b64 \uff0c \u9700\u8981   id   \u4e24\u8f86 \u8f86\u8f66 \u4e24\u8f86\u8f66 \u7684 \u914d\u5408 \u3002 \u8fd9\u4e9b \u53ef\u4ee5 \u4f7f\u7528   get _ ego _ vehicle _ id ( )   \u548c   get _ actor _ ids _ with _ role _ name ( \" scenario \" ) [ 0 ]   \u51fd\u6570 \u4ece \u65e5\u5fd7 \u4e2d \u68c0\u7d22 \u3002   #   \u83b7\u53d6 \u4e24\u4e2a \u8f66\u8f86 \u7684   ID   ego _ id   =   log . get _ ego _ vehicle _ id ( )   adv _ id   =   log . get _ actor _ ids _ with _ role _ name ( \" scenario \" ) [ 0 ]   #   Could   have   also   used   its   type _ id   \u5b83\u4eec   id   \u7528   get _ actor _ alive _ frames ( actor _ id )   \u68c0\u7d22 \u8f66\u8f86 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u7684 \u5e27 \u3002   #   \u83b7\u53d6 \u6d3b\u8dc3 \u7684 \u4e24\u4e2a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u5e27   start _ ego ,   end _ ego   =   log . get _ actor _ alive _ frames ( ego _ id )   start _ adv ,   end _ adv   =   log . get _ actor _ alive _ frames ( adv _ id )   start   =   max ( start _ ego ,   start _ adv )   end   =   min ( end _ ego ,   end _ adv )   \u73b0\u5728 \u4e00\u5207 \u51c6\u5907 \u5c31\u7eea \u51c6\u5907\u5c31\u7eea \uff0c \u53ef\u4ee5 \u5faa\u73af \u8fd9\u4e9b \u5e27 \uff0c \u83b7\u53d6 \u5b83\u4eec \u7684 \u53d8\u6362 \u5e76 \u8ba1\u7b97 \u8ddd\u79bb \u3002 \u4f7f\u7528   get _ actor _ transform ( actor _ id ,   frame )   \u83b7\u5f97 \u53d8\u6362 \uff0c   dist _ list   =   [ ]   frames _ list   =   [ ]   ...   #   \u83b7\u5f97 \u4e24\u8005 \u4e4b\u95f4 \u4e24\u8005\u4e4b\u95f4 \u7684 \u8ddd\u79bb   for   i   in   range ( start ,   end ) :   #   \u83b7\u53d6 \u53d8\u6362   ego _ location   =   log . get _ actor _ transform ( ego _ id ,   i ) . location   adv _ location   =   log . get _ actor _ transform ( adv _ id ,   i ) . location   #   \u4e3a\u4e86 \u83b7\u5f97 \u66f4\u597d \u7684 \u56fe\u7247 \u8fc7\u6ee4 \u4e00\u4e9b \u70b9   if   adv _ location . z   <   - 10 :   continue   dist _ v   =   ego _ location   -   adv _ location   dist   =   math . sqrt ( dist _ v . x   *   dist _ v . x   +   dist _ v . y   *   dist _ v . y   +   dist _ v . z   *   dist _ v . z )   dist _ list . append ( dist )   \u6ce8\u610f   \u5bf9\u624b \u7684 \u5782\u76f4 \u60c5\u51b5 \u4ec5 \u8003\u8651 \u5bf9\u624b \u6b63\u5e38 \u884c\u9a76 \u65f6 \u7684 \u60c5\u51b5 \u3002   \u6700\u540e \uff0c \u4f7f\u7528   matplotlib   \u5b9a\u4e49 \u8fd0\u884c   metrics _ manager . py   \u65f6 \u6307\u6807 \u7684 \u8f93\u51fa \u3002   #   \u4f7f\u7528   matplotlib   \u5c55\u793a \u7ed3\u679c   plt . plot ( frames _ list ,   dist _ list )   plt . ylabel ( ' Distance   [ m ] ' )   plt . xlabel ( ' Frame   number ' )   plt . title ( ' Distance   between   the   ego   vehicle   and   the   adversary   over   time ' )   plt . show ( )","title":"2 .   \u5b9a\u4e49 \u6307\u6807"},{"location":"scenario_runner/metrics_module/#3","text":"\u6700\u540e \uff0c \u662f \u65f6\u5019 \u4f7f\u7528 \u4ece \u573a\u666f \u4e2d \u68c0\u7d22 \u7684 \u4fe1\u606f \u4ee5\u53ca \u5df2 \u5b9a\u4e49 \u7684 \u6307\u6807 \u6765 \u8fd4\u56de \u4e00\u4e9b \u6307\u6807 \u4fe1\u606f \u3002 \u8ba9 \u6211\u4eec \u4f7f\u7528 \u8fc4\u4eca \u4e3a\u6b62 \u8fc4\u4eca\u4e3a\u6b62 \u4f7f\u7528 \u7684 \u793a\u4f8b \u6307\u6807 \u4ee5\u53ca \u4ee5 \u5176 \u547d\u540d \u7684 \u793a\u4f8b \u65e5\u5fd7 \u6765 \u8fd0\u884c \u8be5 \u6a21\u5757 \u3002   python   metrics _ manager . py   -- metric   srunner / metrics / examples / distance _ between _ vehicles . py   -- log   srunner / metrics / data / DistanceBetweenVehicles . log   \u8b66\u544a   \u4eff\u771f \u5fc5\u987b \u6b63\u5728 \u8fd0\u884c \u3002 \u5426\u5219 \uff0c \u6a21\u5757 \u5c06 \u65e0\u6cd5 \u8bbf\u95ee \u65e0\u6cd5\u8bbf\u95ee \u5730\u56fe API \u3002   \u8fd9 \u5c06 \u521b\u5efa \u4e00\u4e2a \u7a97\u53e3 \u65b0\u7a97\u53e3 \uff0c \u5176\u4e2d \u7ed8\u5236 \u4e86 \u7ed3\u679c \u3002 \u5728 \u8f93\u51fa \u7a97\u53e3 \u5173\u95ed \u4e4b\u524d \uff0c \u811a\u672c \u4e0d\u4f1a \u5b8c\u6210 \u3002","title":"3 .   \u8fd0\u884c \u6307\u6807 \u7ba1\u7406\u5668"},{"location":"scenario_runner/metrics_module/#_4","text":"\u5b9a\u4e49 \u6307\u6807 \u65f6 \uff0c \u6709\u5173 \u573a\u666f \u7684 \u6240\u6709 \u4fe1\u606f \u90fd \u901a\u8fc7 \u7c7b   MetricsLog   \uff08   _ create _ metric ( )   \u51fd\u6570 \u4e2d \u7684   log   \u53c2\u6570 \uff09 \u8bbf\u95ee \u3002 \u8be5\u7c7b \u4f4d\u4e8e   srunner / metrics / tools / metrics _ log . py   \uff0c \u8be5 \u5f15\u7528 \u662f \u5176\u4e2d \u5305\u542b \u7684 \u51fd\u6570 \u7684 \u540e\u7eed \u90e8\u5206 \u3002","title":"\u8bb0\u5f55 \u67e5\u8be2 \u53c2\u8003"},{"location":"scenario_runner/metrics_module/#_5","text":"get _ ego _ vehicle _ id   (   self   )   \u8fd4\u56de \u81ea\u6211 \u8f66\u8f86 \u7684   id   \u3002   Return   \u2014   int   get _ actor _ ids _ with _ role _ name   (   self   ,   role _ name   )   \u8fd4\u56de \u4e0e \u7ed9\u5b9a   role _ name   \u5339\u914d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u5217\u8868 \u3002   Return   \u2014   list   Parameters   role _ name   (   str   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   role _ name   \u3002   get _ actor _ ids _ with _ type _ id   (   self   ,   type _ id   )   \u6839\u636e   fnmatch   \u6807\u51c6 \uff0c \u8fd4\u56de \u4e0e \u7ed9\u5b9a \u5339\u914d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u5217\u8868 \u3002   Return   \u2014   list   Parameters   type _ id   (   str   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005   type _ id   \u3002   get _ actor _ attributes   (   self   ,   actor _ id   )   \u8fd4\u56de \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6240\u6709 \u5c5e\u6027 \u7684 \u5b57\u5178 \u3002   Return   \u2014   dict   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   get _ actor _ bounding _ box   (   self   ,   actor _ id   )   \u8fd4\u56de \u6307\u5b9a \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u8fb9\u754c \u6846 \u3002   Return   \u2014   carla . BoundingBox   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   get _ traffic _ light _ trigger _ volume   (   self   ,   traffic _ light _ id   )   \u8fd4\u56de \u6307\u5b9a \u4ea4\u901a \u4ea4\u901a\u706f \u7684   trigger   volume \u3002   Return   \u2014   carla . BoundingBox   Parameters   traffic _ light _ id   (   int   )   \u2014   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684   id   \u3002   get _ actor _ alive _ frames   (   self   ,   actor _ id   )   \u8fd4\u56de \u4e00\u4e2a \u5143\u7ec4 \uff0c \u5176\u4e2d \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6d3b\u8dc3 \u7684 \u7b2c\u4e00 \u5e27 \u548c \u6700\u540e \u4e00\u5e27 \u3002 \u8bf7 \u6ce8\u610f \uff0c \u5e27 \u4ece   1   \u5f00\u59cb \uff0c \u800c \u4e0d\u662f \u4ece   0   \u5f00\u59cb \u3002   Return   \u2014   tuple   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002","title":"\u901a\u7528 \u53c2\u4e0e\u8005 \u6570\u636e"},{"location":"scenario_runner/metrics_module/#_6","text":"get _ collisions   (   self   ,   actor _ id   )   \u8fd4\u56de \u5177\u6709 \u4e24\u4e2a \u952e \u7684 \u5b57\u5178 \u5217\u8868 \u3002   frame   \u662f \u78b0\u649e \u7684 \u5e27 \u7f16\u53f7 \uff0c   \u662f   other _ id   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u8be5 \u5e27 \u53d1\u751f \u78b0\u649e \u7684   id   \u5217\u8868 \u3002   Return   \u2014   list   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   get _ total _ frame _ count   (   self   )   \u8fd4\u56de \u4e00\u4e2a   int   \u503c \uff0c \u5176\u4e2d \u5305\u542b \u4eff\u771f \u6301\u7eed \u7684 \u5e27 \u603b\u6570 \u3002   Return   \u2014   int   get _ elapsed _ time   (   self   ,   frame   )   \u8fd4\u56de \u4e00\u4e2a \u5305\u542b \u7279\u5b9a \u5e27 \u7684 \u5df2\u7528 \u65f6\u95f4 \u7684 \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \u3002   Return   \u2014   float   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ delta _ time   (   self   ,   frame   )   \u8fd4\u56de \u5177\u6709 \u7279\u5b9a \u5e27 \u7684 \u589e\u91cf \u65f6\u95f4 \u7684 \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \u3002 R   Return   \u2014   float   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ platform _ time   (   self   ,   frame   )   \u8fd4\u56de \u5177\u6709 \u7279\u5b9a \u5e27 \u7684 \u5e73\u53f0 \u65f6\u95f4 \u7684 \u6d6e\u70b9 \u70b9\u6570 \u6d6e\u70b9\u6570 \u3002   Return   \u2014   float   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002","title":"\u901a\u7528 \u4eff\u771f \u6570\u636e"},{"location":"scenario_runner/metrics_module/#_7","text":"get _ actor _ acceleration   (   self   ,   actor _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u4e0d \u5b58\u5728 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ca1\u6709 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u6216\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u8be5 \u5e27 \u4e2d \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   Return   \u2014   carla . Vector3D   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ all _ actor _ accelerations   (   self   ,   actor _ id   ,   first _ frame   = None   ,   last _ frame   = None   )   \u8fd4\u56de \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5e27 \u95f4\u9694 \u5185 \u7684 \u6240\u6709 \u52a0\u901f \u901f\u5ea6 \u52a0\u901f\u5ea6 \u7684 \u5217\u8868 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5e27 \u95f4\u9694 \u5305\u542b \u6240\u6709 \u8bb0\u5f55 \u3002   Return   \u2014   list ( carla . Vector3D )   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   first _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u521d\u59cb \u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u5f00\u59cb \u3002   last _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u6700\u540e \u4e00\u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u7ed3\u675f \u3002   get _ actor _ accelerations _ at _ frame   (   self   ,   frame   ,   actor _ list   = None   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u952e \u662f \u5e27 \u7f16\u53f7 \uff0c \u503c \u662f \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   carla . Vector3D \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4f1a \u8003\u8651 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f46 \u5982\u679c \u4f20\u9012 \u4e86   actor _ list   \uff0c \u5219 \u4ec5 \u68c0\u67e5 \u5217\u8868 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Return   \u2014   list ( carla . Vector3D )   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   actor _ list   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u7684 \u5217\u8868 \u3002","title":"\u53c2\u4e0e\u8005 \u52a0\u901f\u5ea6"},{"location":"scenario_runner/metrics_module/#_8","text":"get _ actor _ angular _ velocity   (   self   ,   actor _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u4e0d \u5b58\u5728 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ca1\u6709 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u6216\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u8be5 \u5e27 \u4e2d \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   Return   \u2014   carla . Vector3D   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u7684 \u6570\u76ee \u3002   get _ all _ actor _ angular _ velocities   (   self   ,   actor _ id   ,   first _ frame   = None   ,   last _ frame   = None   )   \u8fd4\u56de \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5e27 \u95f4\u9694 \u5185 \u7684 \u6240\u6709 \u901f\u5ea6 \u89d2\u901f\u5ea6 \u7684 \u5217\u8868 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5e27 \u95f4\u9694 \u5305\u542b \u6240\u6709 \u8bb0\u5f55 \u3002   Return   \u2014   list ( carla . Vector3D )   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   first _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u521d\u59cb \u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u5f00\u59cb \u3002   last _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u6700\u540e \u4e00\u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u7ed3\u675f \u3002   get _ actor _ angular _ velocities _ at _ frame   (   self   ,   frame   ,   actor _ list   = None   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u952e \u662f \u5e27 \u7f16\u53f7 \uff0c \u503c \u662f \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   carla . Vector3D   \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4f1a \u8003\u8651 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f46 \u5982\u679c \u4f20\u9012   actor _ list   \uff0c \u5219 \u4ec5 \u68c0\u67e5 \u5217\u8868 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Return   \u2014   list (   carla . Vector3D   )   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   actor _ list   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   ids   \u5217\u8868 \u3002","title":"\u53c2\u4e0e\u8005 \u89d2\u901f\u5ea6"},{"location":"scenario_runner/metrics_module/#_9","text":"get _ vehicle _ control   (   self   ,   vehicle _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u8f66\u8f86 \u7684 \u63a7\u5236 \u3002 \u8be5   manual _ gear _ shift   \u5c5e\u6027 \u5c06 \u59cb\u7ec8 \u4e3a   False \u3002   Return   \u2014   carla . VehicleControl   Parameters   vehicle _ id   (   int   )   \u2014   \u8f66\u8f86 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ vehicle _ physics _ control   (   self   ,   vehicle _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u8f66\u8f86 \u7684 \u7269\u7406 \u63a7\u5236 \u3002   Return   \u2014   carla . VehiclePhysicsControl   Parameters   vehicle _ id   (   int   )   \u2014   \u8f66\u8f86 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ walker _ speed   (   self   ,   walker _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u884c\u4eba \u7684 \u901f\u5ea6 \u3002   Return   \u2014   carla . Vector3D   Parameters   walker _ id   (   int   )   \u2014   \u884c\u4eba \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002","title":"\u53c2\u4e0e\u8005 \u63a7\u5236"},{"location":"scenario_runner/metrics_module/#_10","text":"get _ actor _ transform   (   self   ,   actor _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u53d8\u6362 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u4e0d \u5b58\u5728 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ca1\u6709 \u53d8\u6362 \u6216\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u8be5 \u5e27 \u4e2d \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   Return   \u2014   carla . Transform   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ all _ actor _ transforms   (   self   ,   actor _ id   ,   first _ frame   = None   ,   last _ frame   = None   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5e27 \u95f4\u9694 \u5185 \u7684 \u6240\u6709 \u53d8\u6362 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5e27 \u95f4\u9694 \u5305\u542b \u6240\u6709 \u8bb0\u5f55 \u3002   Return   \u2014   list (   carla . Transform   )   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   first _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u521d\u59cb \u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u5f00\u59cb \u3002   last _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u6700\u540e \u4e00\u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u7ed3\u675f \u3002   get _ actor _ transforms _ at _ frame   (   self   ,   frame   ,   actor _ list   = None   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u952e \u662f \u5e27 \u7f16\u53f7 \uff0c \u503c \u662f \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   carla . Transform   \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4f1a \u8003\u8651 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f46 \u5982\u679c   actor _ list   \u901a\u8fc7 \uff0c \u5219 \u4ec5 \u68c0\u67e5 \u5217\u8868 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Return   \u2014   list (   carla . Transform   )   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   actor _ list   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u5217\u8868 \u3002","title":"\u53c2\u4e0e\u8005 \u53d8\u6362"},{"location":"scenario_runner/metrics_module/#_11","text":"get _ actor _ velocity   (   self   ,   actor _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684 \u901f\u5ea6 \u3002 \u5982\u679c \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u4e0d \u5b58\u5728 \u3001 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u6ca1\u6709 \u901f\u5ea6 \u6216\u8005 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u8be5 \u5e27 \u4e2d \u4e0d \u5b58\u5728 \uff0c \u5219 \u8fd4\u56de   None   \u3002   Return   \u2014   carla . Vector3D   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ all _ actor _ velocities   (   self   ,   actor _ id   ,   first _ frame   = None   ,   last _ frame   = None   )   \u8fd4\u56de \u5305\u542b \u53c2\u4e0e \u53c2\u4e0e\u8005 \u5728 \u5e27 \u95f4\u9694 \u5185 \u7684 \u6240\u6709 \u901f\u5ea6 \u7684 \u5217\u8868 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u5e27 \u95f4\u9694 \u5305\u542b \u6240\u6709 \u8bb0\u5f55 \u3002   Return   \u2014   list (   carla . Vector3D   )   Parameters   actor _ id   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   first _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u521d\u59cb \u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u5f00\u59cb \u3002   last _ frame   (   int   )   \u2014   \u95f4\u9694 \u7684 \u6700\u540e \u4e00\u5e27 \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4eff\u771f \u7ed3\u675f \u3002   get _ actor _ velocities _ at _ frame   (   self   ,   frame   ,   actor _ list   = None   )   \u8fd4\u56de \u4e00\u4e2a \u5b57\u5178 \uff0c \u5176\u4e2d \u952e \u662f \u5e27 \u7f16\u53f7 \uff0c \u503c \u662f \u7ed9\u5b9a \u5e27 \u5904 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   carla . Vector3D \u3002 \u9ed8\u8ba4 \u60c5\u51b5 \u4e0b \uff0c \u4f1a \u8003\u8651 \u6240\u6709 \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff0c \u4f46 \u5982\u679c \u4f20\u9012 \u4e86   actor _ list   \uff0c \u5219 \u4ec5 \u68c0\u67e5 \u5217\u8868 \u4e2d \u7684 \u53c2\u4e0e \u53c2\u4e0e\u8005 \u3002   Return   \u2014   list (   carla . Vector3D   Parameters   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   actor _ list   (   int   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005   id   \u5217\u8868 \u3002","title":"\u53c2\u4e0e\u8005 \u901f\u5ea6"},{"location":"scenario_runner/metrics_module/#_12","text":"get _ scene _ light _ state   (   self   ,   light   ,   vehicle _ id   ,   frame   )   Returns   the   state   of   a   scene   light   for   a   given   frame .   The   light   state   group   will   always   be   carla . LightGroup . None   .   Return   \u2014   carla . LightState   Parameters   light _ id   (   int   )   \u2014   \u573a\u666f \u706f \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002","title":"\u573a\u666f \u706f"},{"location":"scenario_runner/metrics_module/#_13","text":"get _ traffic _ light _ state   (   self   ,   traffic _ light _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u7684 \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u72b6\u6001 \u3002   Return   \u2014   carla . TrafficLightState   .   Parameters   traffic _ light _ id   (   int   )   \u2014   \u7ea2\u7eff \u7eff\u706f \u7ea2\u7eff\u706f \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   is _ traffic _ light _ frozen   (   self   ,   traffic _ light _ id   ,   frame   )   \u8fd4\u56de \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u662f\u5426 \u51bb\u7ed3 \u5728 \u7ed9\u5b9a \u5e27 \u3002   Return   \u2014   bool   Parameters   traffic _ light _ id   (   int   )   \u2014   \u4ea4\u901a \u4ea4\u901a\u706f \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ traffic _ light _ elapsed _ time   (   self   ,   traffic _ light _ id   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u4ea4\u901a \u4ea4\u901a\u706f \u7684 \u7ecf\u8fc7 \u65f6\u95f4 \u3002   Return   \u2014   float   Parameters   traffic _ light _ id   (   int   )   \u2014   \u4ea4\u901a \u4ea4\u901a\u706f \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   get _ traffic _ light _ state _ time   (   self   ,   traffic _ light _ id   ,   state   ,   frame   )   \u8fd4\u56de \u7ed9\u5b9a \u5e27 \u5904 \u4ea4\u901a \u4ea4\u901a\u706f \u7279\u5b9a \u72b6\u6001 \u7684 \u6700\u957f \u65f6\u95f4 \u3002   Return   \u2014   float   Parameters   traffic _ light _ id   (   int   )   \u2014   id   of   the   traffic   light .   state   (   carla . TrafficLightState   )   \u2014   \u53c2\u4e0e \u53c2\u4e0e\u8005 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002","title":"\u7ea2\u7eff\u706f"},{"location":"scenario_runner/metrics_module/#_14","text":"get _ vehicle _ lights   (   self   ,   vehicle _ id   ,   frame   )   \u8fd4\u56de \u4e00\u4e2a \u5217\u8868 \uff0c \u5176\u4e2d \u5305\u542b \u7ed9\u5b9a \u5e27 \u5904 \u7279\u5b9a \u8f66\u8f86 \u7684 \u6d3b\u52a8 \u706f \u3002   Return   \u2014   list (   carla . VehicleLightState   )   Parameters   vehicle _ id   (   int   )   \u2014   \u8f66\u8f86 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002   is _ vehicle _ light _ active   (   self   ,   light   ,   vehicle _ id   ,   frame   )   \u68c0\u67e5 \u7ed9\u5b9a \u8f66\u8f86 \u706f \u5728 \u7279\u5b9a \u5e27 \u662f\u5426 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \u3002   Return   \u2014   bool   Parameters   light   (   carla . VehicleLightState   )   \u2014   \u4e0e \u8f66\u8f86 \u8fdb\u884c \u6bd4\u8f83 \u7684 \u706f\u5149 \u72b6\u6001 \u3002   vehicle _ id   (   int   )   \u2014   \u8f66\u8f86 \u7684   id   \u3002   frame   (   int   )   \u2014   \u5e27 \u53f7 \u3002","title":"\u8f66\u706f"},{"location":"scenario_runner/openscenario_support/","text":"OpenSCENARIO   \u652f\u6301   scenario _ runner   \u63d0\u4f9b \u5bf9   OpenSCENARIO   \u6807\u51c6 \u7684 \u652f\u6301 \u3002 \u5f53\u524d \u7684 \u5b9e\u73b0 \u6db5\u76d6 \u4e86 \u5bf9 \u673a\u52a8 \u52a8\u4f5c \u3001 \u6761\u4ef6 \u3001 \u6545\u4e8b \u548c \u6545\u4e8b \u677f \u7684 \u521d\u6b65 \u652f\u6301 \u3002 \u5982\u679c \u60a8 \u60f3 \u4f7f\u7528 \u573a\u666f \u7684 \u8bc4\u4f30 \u6807\u51c6 \u6765 \u8bc4\u4f30 \u901a\u8fc7 / \u5931\u8d25 \u7ed3\u679c \uff0c \u53ef\u4ee5 \u5c06 \u8fd9\u4e9b \u6807\u51c6 \u5b9e\u73b0 \u4e3a   StopTriggers \uff08 \u4e0b\u6587 \u89c1\u4e0b\u6587 \uff09 \u3002 \u7136\u800c \uff0c \u5e76\u975e \u8fd9\u4e9b \u5143\u7d20 \u7684 \u6240\u6709 \u529f\u80fd \u5747 \u53ef\u7528 \u3002 \u5982\u679c \u6709 \u7591\u95ee \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   srunner / tools / openscenario _ parser . py   \u4e2d \u7684 \u6a21\u5757 \u6587\u6863 \u3002   \u6b64\u5904   \u63d0\u4f9b \u4e86 \u57fa\u4e8e   OpenSCENARIO   \u7684 \u53d7 \u652f\u6301 \u573a\u666f \u7684 \u793a\u4f8b \u3002   \u6b64\u5916 \uff0c \u5efa\u8bae \u67e5\u770b   \u6b64\u5904   \u548c   \u6b64\u5904   and   here   \u63d0\u4f9b \u7684 \u5b98\u65b9 \u6587\u6863 \u3002   \u5c06   OpenSCENARIO   0.9 . x   \u8fc1\u79fb \u5230   1.0   \u5c06 \u65e7 \u7684   OpenSCENARIO   \u793a\u4f8b \u8f6c\u6362 \u4e3a \u5b98\u65b9 \u6807\u51c6   1.0   \u7684 \u6700 \u7b80\u5355 \u65b9\u6cd5 \u662f \u4f7f\u7528   xsltproc   \u548c \u4f4d\u4e8e   openscenario   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u7684 \u8fc1\u79fb \u65b9\u6848 \u3002 \u4f8b\u5b50 \uff1a   xsltproc   - o   newScenario . xosc   migration0 _ 9 _ 1to1 _ 0 . xslt   oldScenario . xosc   \u652f\u6301 \u7a0b\u5ea6   \u4e0b\u9762 \u5217\u51fa \u4e86   OpenSCENARIO   \u5c5e\u6027 \u53ca\u5176 \u5f53\u524d \u652f\u6301 \u72b6\u6001 \u3002   \u5e38\u89c4 \u7684   OpenSCENARIO   \u8bbe\u7f6e   \u8fd9 \u6db5\u76d6 \u4e86   OpenSCENARIO   Storyboard   \u5916\u90e8 \u5b9a\u4e49 \u7684 \u6240\u6709 \u90e8\u5206   \u5c5e\u6027   \u652f\u6301   \u7b14\u8bb0   FileHeader   \u2705   \u5728 \u63cf\u8ff0 \u7684 \u5f00\u5934 \u4f7f\u7528 \u201c CARLA : \u201d \u5373\u53ef \u4f7f\u7528   CARLA   \u5750\u6807 \u5750\u6807\u7cfb \u3002   CatalogLocations   ControllerCatalog   \u2705   \u867d\u7136 \u652f\u6301 \u76ee\u5f55 \uff0c \u4f46 \u53c2\u8003 / \u4f7f\u7528 \u53ef\u80fd \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   CatalogLocations   EnvironmentCatalog   \u2705   CatalogLocations   ManeuverCatalog   \u2705   CatalogLocations   MiscObjectCatalog   \u2705   CatalogLocations   PedestrianCatalog   \u2705   CatalogLocations   RouteCatalog   \u2705   \u867d\u7136 \u652f\u6301 \u76ee\u5f55 \uff0c \u4f46 \u53c2\u8003 / \u4f7f\u7528 \u53ef\u80fd \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   CatalogLocations   TrajectoryCatalog   \u2705   \u867d\u7136 \u652f\u6301 \u76ee\u5f55 \uff0c \u4f46 \u53c2\u8003 / \u4f7f\u7528 \u53ef\u80fd \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   CatalogLocations   VehicleCatalog   \u2705   ParameterDeclarations   \u2705   RoadNetwork   LogicFile   \u2705   \u53ef\u4ee5 \u76f4\u63a5 \u4f7f\u7528 CARLA \u7ea7\u522b \uff08 \u4f8b\u5982 LogicFile = Town01 \uff09 \u3002 \u8fd8 \u53ef\u4ee5 \u63d0\u4f9b \u4efb\u4f55   OpenDRIVE   \u8def\u5f84 \u3002   RoadNetwork   SceneGraphFile   \u274c   \u6240 \u63d0\u4f9b \u7684 \u4fe1\u606f \u672a \u88ab \u4f7f\u7528 \u3002   RoadNetwork   TafficSignals   \u274c   \u6240 \u63d0\u4f9b \u7684 \u4fe1\u606f \u672a \u88ab \u4f7f\u7528 \u3002   Entities   EntitySelection   \u274c   \u6240 \u63d0\u4f9b \u7684 \u4fe1\u606f \u672a \u88ab \u4f7f\u7528 \u3002   Entities   ScenarioObject   CatalogReference   \u2705   \u6240 \u63d0\u4f9b \u7684 \u4fe1\u606f \u672a \u88ab \u4f7f\u7528 \u3002   Entities   ScenarioObject   MiscObject   \u2705   \u8be5 \u540d\u79f0 \u5e94 \u4e0e   CARLA   \u8f66\u8f86 \u578b\u53f7 \u5339\u914d \uff0c \u5426\u5219 \u5c06 \u4f7f\u7528 \u57fa\u4e8e vehicleCategory   \u7684 \u9ed8\u8ba4 \u8f66\u8f86 \u3002   BoundingBox   \u6761\u76ee \u5c06 \u88ab \u5ffd\u7565 \u3002   Entities   ScenarioObject   ObjectController   \u274c   \u6240 \u63d0\u4f9b \u7684 \u4fe1\u606f \u672a \u88ab \u4f7f\u7528 \u3002   Entities   ScenarioObject   Pedestrian   \u2705   \u8be5 \u540d\u79f0 \u5e94 \u4e0e   CARLA   \u8f66\u8f86 \u578b\u53f7 \u5339\u914d \uff0c \u5426\u5219 \u5c06 \u4f7f\u7528 \u57fa\u4e8e vehicleCategory   \u7684 \u9ed8\u8ba4 \u8f66\u8f86 \u3002   BoundingBox   \u6761\u76ee \u5c06 \u88ab \u5ffd\u7565 \u3002   Entities   ScenarioObject   Vehicle   \u2705   \u8be5 \u540d\u79f0 \u5e94 \u4e0e   CARLA   \u8f66\u8f86 \u578b\u53f7 \u5339\u914d \uff0c \u5426\u5219 \u5c06 \u4f7f\u7528 \u57fa\u4e8e vehicleCategory   \u7684 \u9ed8\u8ba4 \u8f66\u8f86 \u3002 \u989c\u8272 \u53ef\u4ee5 \u901a\u8fc7 \u5c5e\u6027 \u8bbe\u7f6e \uff08 ' \u5c5e\u6027 \u540d\u79f0 = \u201c \u989c\u8272 \u201d \u503c = \u201c 0 , 0 , 255 \u201d ' \uff09 \u3002   Axles \u3001 Performance \u3001 BoundingBox   \u6761\u76ee \u5c06 \u88ab \u5ffd\u7565 \u3002   OpenSCENARIO   \u6545\u4e8b \u677f   OpenSCENARIO   \u64cd\u4f5c   OpenSCENARIO   \u64cd\u4f5c \u53ef \u7528\u4e8e \u4e24\u4e2a \u4e0d\u540c \u7684 \u76ee\u7684 \u3002 \u9996\u5148 \uff0c \u52a8\u4f5c \u53ef \u7528\u4e8e \u5b9a\u4e49 \u67d0\u4e9b \u4e8b\u7269 \uff08 \u4f8b\u5982 \u4ea4\u901a \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff09 \u7684 \u521d\u59cb \u884c\u4e3a \u3002 \u56e0\u6b64 \uff0c Actions   \u53ef\u4ee5 \u5728   OpenSCENARIO   Init   \u4e2d \u4f7f\u7528 \u3002 \u6b64\u5916 \uff0c OpenSCENARIO   \u6545\u4e8b \u4e2d \u4e5f \u4f7f\u7528 \u4e86 \u52a8\u4f5c \u3002 \u4e0b\u9762 \u5217\u51fa \u4e86 \u8fd9 \u4e24\u4e2a \u5e94\u7528 \u9886\u57df \u5e94\u7528\u9886\u57df \u7684 \u652f\u6301 \u72b6\u6001 \u3002 \u5982\u679c \u64cd\u4f5c \u5305\u542b \u672a \u5217\u51fa \u7684 \u5b50 \u6a21\u5757 \uff0c \u5219 \u652f\u6301 \u72b6\u6001 \u9002\u7528 \u4e8e \u6240\u6709 \u5b50 \u6a21\u5757 \u3002   GlobalAction   GlobalAction   \u521d\u59cb \u521d\u59cb\u5316 \u652f\u6301   Story   support   \u7b14\u8bb0   EntityAction   \u2705   \u2705   EnvironmentAction   \u2705   \u274c   ParameterAction   \u2705   \u2705   InfrastructureAction   TrafficSignalAction   TrafficAction   \u274c   \u274c   InfrastructureAction   TrafficSignalAction   TrafficSignalControllerAction   \u274c   \u2705   InfrastructureAction   TrafficSignalAction   TrafficSignalStateAction   \u274c   \u2705   \u7531\u4e8e   CARLA   \u57ce\u9547 \u4e2d \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u6ca1\u6709 \u552f\u4e00   ID \uff0c \u56e0\u6b64 \u5fc5\u987b \u901a\u8fc7 \u63d0\u4f9b \u5176 \u4f4d\u7f6e \u6765 \u8bbe\u7f6e \u5b83\u4eec \uff08 \u793a\u4f8b \uff1a TrafficSignalStateAction   name = \" pos = x , y \"   state = \" green \" \uff09 \u3002 \u8be5   ID   \u4e5f \u53ef \u7528\u4e8e \u975e   CARLA   \u57ce\u9547 \uff08 \u793a\u4f8b \uff1a TrafficSignalStateAction   name = \" id = n \"   state = \" green \" \uff09   \u7528\u6237 \u5b9a\u4e49 \u7684 \u52a8\u4f5c   \u7528\u6237 \u5b9a\u4e49 \u7684 \u52a8\u4f5c   \u521d\u59cb \u521d\u59cb\u5316 \u652f\u6301   Story   support   \u7b14\u8bb0   CustomCommandAction   \u274c   \u2705   \u6b64 \u64cd\u4f5c \u5f53\u524d \u7528\u4e8e \u89e6\u53d1 \u9644\u52a0 \u811a\u672c \u7684 \u6267\u884c \u3002 \u793a\u4f8b \uff1a type = \" python   / path / to / script   args \" \u3002   PrivateAction   PrivateAction   \u521d\u59cb \u521d\u59cb\u5316 \u652f\u6301   Story   support   \u7b14\u8bb0   ActivateControllerAction   \u274c   \u2705   \u53ef \u7528\u4e8e \u6fc0\u6d3b / \u505c\u7528   CARLA   \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u3002   ControllerAction   \u2705   \u2705   \u652f\u6301 AssignControllerAction \uff0c \u4f46 \u5fc5\u987b \u4e3a \u63a7\u5236 \u63a7\u5236\u5668 \u5b9e\u73b0 \u63d0\u4f9b Python   \u6a21\u5757 \uff0c \u5e76\u4e14 \u5728 OverrideControllerValueAction   \u4e2d \u6240\u6709 \u503c \u90fd \u9700\u8981 \u4e3a   False   \u3002   LateralAction   LaneChangeAction   \u274c   \u2705   \u76ee\u524d \u6240\u6709 \u8f66\u9053 \u53d8\u5316 \u90fd \u6709 \u4e00\u4e2a \u7ebf\u6027 \u7684 dynamicShape \uff0c dynamicDimension \u88ab \u5b9a\u4e49 \u4e3a \u8ddd\u79bb \u5e76\u4e14 \u76f8\u5bf9 \u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u672c\u8eab \uff08 RelativeTargetLane \uff09 \u3002   LateralAction   LaneOffsetAction   \u274c   \u2705   \u76ee\u524d \uff0c \u6240\u6709 \u7c7b\u578b \u7684 \u52a8\u6001 \u5f62\u72b6 \u90fd \u88ab \u5ffd\u7565 \u5e76 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u63a7\u5236 \u63a7\u5236\u5668 \u3002 \u5982\u679c \u504f\u79fb \u504f\u79fb\u91cf \u8db3\u591f \u9ad8\u4ee5 \u4f7f \u8f66\u8f86 \u9000\u51fa \u8f66\u9053 \uff0c \u5219 \u6b64 \u64cd\u4f5c \u53ef\u80fd \u65e0\u6cd5 \u6309 \u9884\u671f \u5de5\u4f5c \u3002   LateralAction   LateralDistanceAction   \u2705   \u2705   LongitudinalAction   LongitudinalDistanceAction   \u274c   \u2705   \u4e0d \u652f\u6301   timeGap   \u5c5e\u6027   LongitudinalAction   SpeedAction   \u2705   \u2705   SynchronizeAction   \u274c   \u274c   TeleportAction   \u2705   \u2705   VisibilityAction   \u274c   \u274c   RoutingAction   AcquirePositionAction   \u274c   \u2705   RoutingAction   AssignRouteAction   \u274c   \u2705   \u652f\u6301 \u8def\u7ebf \u9009\u9879 \uff08 \u6700\u77ed / \u6700\u5feb / \u7b49 \uff09 \u3002 \u6700\u77ed \u8def\u5f84 \u8868\u793a   A   \u548c   B   \u4e4b\u95f4 \u7684 \u76f4\u63a5 \u8def\u5f84 \uff0c \u5176\u4ed6 \u6240\u6709 \u8def\u5f84 \u5c06 \u4f7f\u7528   A   \u548c   B   \u4e4b\u95f4 \u7684 \u8def\u7f51 \u4e2d \u7684 \u6700 \u77ed \u8def\u5f84 \u3002   RoutingAction   FollowTrajectoryAction   \u274c   \u2705   \u76ee\u524d \u4ec5 \u652f\u6301 \u6ca1\u6709 \u65f6\u95f4 \u7ea6\u675f \u7684 \u6298\u7ebf \uff0c \u8f68\u8ff9 \u8ddf\u968f \u6a21\u5f0f \u7531 \u63a7\u5236 \u63a7\u5236\u5668 \u51b3\u5b9a \u3002   OpenSCENARIO   \u6761\u4ef6   OpenSCENARIO   \u4e2d \u7684 \u6761\u4ef6 \u53ef\u4ee5 \u5b9a\u4e49 \u4e3a   ByEntityCondition   \u6216   ByValueCondition \u3002 \u4e24\u8005 \u5747 \u53ef \u7528\u4e8e   StartTrigger   \u548c   StopTrigger   \u6761\u4ef6 \u3002 \u4ee5\u4e0b \u4e24\u4e2a \u8868\u5217 \u5217\u51fa \u8868\u5217\u51fa \u4e86 \u6bcf\u4e2a \u8868 \u7684 \u652f\u6301 \u72b6\u6001 \u3002   ByEntityCondition   EntityCondition   \u652f\u6301   \u7b14\u8bb0   AccelerationCondition   \u2705   CollisionCondition   \u2705   DistanceCondition   \u2705   * freespace *   \u5c5e\u6027 \u4ecd\u7136 \u4e0d \u53d7 \u652f\u6301   EndOfRoadCondition   \u2705   OffroadCondition   \u2705   ReachPositionCondition   \u2705   RelativeDistanceCondition   \u2705   RelativeSpeedCondition   \u2705   SpeedCondition   \u2705   StandStillCondition   \u2705   TimeHeadwayCondition   \u2705   TimeToCollisionCondition   \u2705   TraveledDistanceCondition   \u2705   ByValueCondition   ValueCondition   \u652f\u6301   \u7b14\u8bb0   ParameterCondition   \u2705   \u652f\u6301 \u7ea7\u522b \u53d6\u51b3 \u53d6\u51b3\u4e8e \u53c2\u6570 \u3002 \u5982\u679c \u53ef\u80fd \u7684\u8bdd \uff0c \u5efa\u8bae \u4f7f\u7528 \u5176\u4ed6 \u6761\u4ef6 \u3002 \u53e6 \u8bf7 \u8003\u8651 \u4e0b\u9762 \u7684 \u6ce8\u91ca \u3002   SimulationTimeCondition   \u2705   StoryboardElementStateCondition   \u2705   \u76ee\u524d \u652f\u6301   startTransition \u3001 stopTransition \u3001 endTransition   \u548c completeState \u3002   TimeOfDayCondition   \u2705   TrafficSignalCondition   \u2705   \u7531\u4e8e   CARLA   \u57ce\u9547 \u4e2d \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u6ca1\u6709 \u552f\u4e00   ID \uff0c \u56e0\u6b64 \u5fc5\u987b \u901a\u8fc7 \u63d0\u4f9b \u5176 \u4f4d\u7f6e \u6765 \u8bbe\u7f6e \u5b83\u4eec \uff08 \u793a\u4f8b \uff1a TrafficSignalCondition   name = \" pos = x , y \"   state = \" green \" \uff09 \u3002 \u8be5   ID   \u4e5f \u53ef \u7528\u4e8e \u975e   CARLA   \u57ce\u9547 \uff08 \u793a\u4f8b \uff1a TrafficSignalCondition   name = \" id = n \"   state = \" green \" \uff09   TrafficSignalControllerCondition   \u2705   UserDefinedValueCondition   \u274c   \u6ce8\u610f   \u5728   OpenSCENARIO   1.0   \u6807\u51c6 \u4e2d \uff0c \u6ca1\u6709 \u5b9a\u4e49 \u6d4b\u8bd5 / \u8bc4\u4f30 \u6807\u51c6 \u7684 \u5b9a\u4e49 \u3002 \u4e3a\u6b64 \uff0c \u60a8 \u53ef\u4ee5 \u5c06   StopTrigger   \u6761\u4ef6 \u4e0e   CARLA   \u91cd\u590d \u4f7f\u7528 \u91cd\u590d\u4f7f\u7528 \u3002 \u901a\u8fc7 \u63d0\u4f9b \u6761\u4ef6 \u7684 \u6761\u4ef6 \u540d\u79f0 \uff0c \u901a\u8fc7   ParameterConditions   \u652f\u6301 \u8bc4\u4f30 \u6761\u4ef6 \u7684 \u4ee5\u4e0b   StopTrigger   \u6761\u4ef6 \uff1a   criteria _ RunningStopTest   criteria _ RunningRedLightTest   criteria _ WrongLaneTest   criteria _ OnSideWalkTest   criteria _ KeepLaneTest   criteria _ CollisionTest   criteria _ DrivenDistanceTest   OpenSCENARIO   Positions   \u5728   OpenSCENARIO   \u4e2d \u5b9a\u4e49 \u4f4d\u7f6e \u7684 \u65b9\u6cd5 \u6709 \u591a\u79cd \u3002 \u4e0b\u9762 \u6211\u4eec \u5217\u51fa \u4e86 \u6bcf\u79cd \u5b9a\u4e49 \u683c\u5f0f \u7684 \u5f53\u524d \u652f\u6301 \u72b6\u6001 \u3002   \u4f4d\u7f6e   \u652f\u6301   \u7b14\u8bb0   LanePosition   \u2705   RelativeLanePosition   \u2705   RelativeObjectPosition   \u2705   RelativeRoadPosition   \u2705   RelativeWorldPosition   \u2705   RoadPosition   \u2705   RoutePosition   \u274c   WorldPosition   \u2705","title":"Openscenario   support"},{"location":"scenario_runner/openscenario_support/#openscenario","text":"scenario _ runner   \u63d0\u4f9b \u5bf9   OpenSCENARIO   \u6807\u51c6 \u7684 \u652f\u6301 \u3002 \u5f53\u524d \u7684 \u5b9e\u73b0 \u6db5\u76d6 \u4e86 \u5bf9 \u673a\u52a8 \u52a8\u4f5c \u3001 \u6761\u4ef6 \u3001 \u6545\u4e8b \u548c \u6545\u4e8b \u677f \u7684 \u521d\u6b65 \u652f\u6301 \u3002 \u5982\u679c \u60a8 \u60f3 \u4f7f\u7528 \u573a\u666f \u7684 \u8bc4\u4f30 \u6807\u51c6 \u6765 \u8bc4\u4f30 \u901a\u8fc7 / \u5931\u8d25 \u7ed3\u679c \uff0c \u53ef\u4ee5 \u5c06 \u8fd9\u4e9b \u6807\u51c6 \u5b9e\u73b0 \u4e3a   StopTriggers \uff08 \u4e0b\u6587 \u89c1\u4e0b\u6587 \uff09 \u3002 \u7136\u800c \uff0c \u5e76\u975e \u8fd9\u4e9b \u5143\u7d20 \u7684 \u6240\u6709 \u529f\u80fd \u5747 \u53ef\u7528 \u3002 \u5982\u679c \u6709 \u7591\u95ee \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   srunner / tools / openscenario _ parser . py   \u4e2d \u7684 \u6a21\u5757 \u6587\u6863 \u3002   \u6b64\u5904   \u63d0\u4f9b \u4e86 \u57fa\u4e8e   OpenSCENARIO   \u7684 \u53d7 \u652f\u6301 \u573a\u666f \u7684 \u793a\u4f8b \u3002   \u6b64\u5916 \uff0c \u5efa\u8bae \u67e5\u770b   \u6b64\u5904   \u548c   \u6b64\u5904   and   here   \u63d0\u4f9b \u7684 \u5b98\u65b9 \u6587\u6863 \u3002","title":"OpenSCENARIO   \u652f\u6301"},{"location":"scenario_runner/openscenario_support/#openscenario-09x-10","text":"\u5c06 \u65e7 \u7684   OpenSCENARIO   \u793a\u4f8b \u8f6c\u6362 \u4e3a \u5b98\u65b9 \u6807\u51c6   1.0   \u7684 \u6700 \u7b80\u5355 \u65b9\u6cd5 \u662f \u4f7f\u7528   xsltproc   \u548c \u4f4d\u4e8e   openscenario   \u6587\u4ef6 \u4ef6\u5939 \u6587\u4ef6\u5939 \u4e2d \u7684 \u8fc1\u79fb \u65b9\u6848 \u3002 \u4f8b\u5b50 \uff1a   xsltproc   - o   newScenario . xosc   migration0 _ 9 _ 1to1 _ 0 . xslt   oldScenario . xosc","title":"\u5c06   OpenSCENARIO   0.9 . x   \u8fc1\u79fb \u5230   1.0"},{"location":"scenario_runner/openscenario_support/#_1","text":"\u4e0b\u9762 \u5217\u51fa \u4e86   OpenSCENARIO   \u5c5e\u6027 \u53ca\u5176 \u5f53\u524d \u652f\u6301 \u72b6\u6001 \u3002","title":"\u652f\u6301 \u7a0b\u5ea6"},{"location":"scenario_runner/openscenario_support/#openscenario_1","text":"\u8fd9 \u6db5\u76d6 \u4e86   OpenSCENARIO   Storyboard   \u5916\u90e8 \u5b9a\u4e49 \u7684 \u6240\u6709 \u90e8\u5206   \u5c5e\u6027   \u652f\u6301   \u7b14\u8bb0   FileHeader   \u2705   \u5728 \u63cf\u8ff0 \u7684 \u5f00\u5934 \u4f7f\u7528 \u201c CARLA : \u201d \u5373\u53ef \u4f7f\u7528   CARLA   \u5750\u6807 \u5750\u6807\u7cfb \u3002   CatalogLocations   ControllerCatalog   \u2705   \u867d\u7136 \u652f\u6301 \u76ee\u5f55 \uff0c \u4f46 \u53c2\u8003 / \u4f7f\u7528 \u53ef\u80fd \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   CatalogLocations   EnvironmentCatalog   \u2705   CatalogLocations   ManeuverCatalog   \u2705   CatalogLocations   MiscObjectCatalog   \u2705   CatalogLocations   PedestrianCatalog   \u2705   CatalogLocations   RouteCatalog   \u2705   \u867d\u7136 \u652f\u6301 \u76ee\u5f55 \uff0c \u4f46 \u53c2\u8003 / \u4f7f\u7528 \u53ef\u80fd \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   CatalogLocations   TrajectoryCatalog   \u2705   \u867d\u7136 \u652f\u6301 \u76ee\u5f55 \uff0c \u4f46 \u53c2\u8003 / \u4f7f\u7528 \u53ef\u80fd \u4f5c\u7528 \u4e0d\u8d77\u4f5c\u7528 \u3002   CatalogLocations   VehicleCatalog   \u2705   ParameterDeclarations   \u2705   RoadNetwork   LogicFile   \u2705   \u53ef\u4ee5 \u76f4\u63a5 \u4f7f\u7528 CARLA \u7ea7\u522b \uff08 \u4f8b\u5982 LogicFile = Town01 \uff09 \u3002 \u8fd8 \u53ef\u4ee5 \u63d0\u4f9b \u4efb\u4f55   OpenDRIVE   \u8def\u5f84 \u3002   RoadNetwork   SceneGraphFile   \u274c   \u6240 \u63d0\u4f9b \u7684 \u4fe1\u606f \u672a \u88ab \u4f7f\u7528 \u3002   RoadNetwork   TafficSignals   \u274c   \u6240 \u63d0\u4f9b \u7684 \u4fe1\u606f \u672a \u88ab \u4f7f\u7528 \u3002   Entities   EntitySelection   \u274c   \u6240 \u63d0\u4f9b \u7684 \u4fe1\u606f \u672a \u88ab \u4f7f\u7528 \u3002   Entities   ScenarioObject   CatalogReference   \u2705   \u6240 \u63d0\u4f9b \u7684 \u4fe1\u606f \u672a \u88ab \u4f7f\u7528 \u3002   Entities   ScenarioObject   MiscObject   \u2705   \u8be5 \u540d\u79f0 \u5e94 \u4e0e   CARLA   \u8f66\u8f86 \u578b\u53f7 \u5339\u914d \uff0c \u5426\u5219 \u5c06 \u4f7f\u7528 \u57fa\u4e8e vehicleCategory   \u7684 \u9ed8\u8ba4 \u8f66\u8f86 \u3002   BoundingBox   \u6761\u76ee \u5c06 \u88ab \u5ffd\u7565 \u3002   Entities   ScenarioObject   ObjectController   \u274c   \u6240 \u63d0\u4f9b \u7684 \u4fe1\u606f \u672a \u88ab \u4f7f\u7528 \u3002   Entities   ScenarioObject   Pedestrian   \u2705   \u8be5 \u540d\u79f0 \u5e94 \u4e0e   CARLA   \u8f66\u8f86 \u578b\u53f7 \u5339\u914d \uff0c \u5426\u5219 \u5c06 \u4f7f\u7528 \u57fa\u4e8e vehicleCategory   \u7684 \u9ed8\u8ba4 \u8f66\u8f86 \u3002   BoundingBox   \u6761\u76ee \u5c06 \u88ab \u5ffd\u7565 \u3002   Entities   ScenarioObject   Vehicle   \u2705   \u8be5 \u540d\u79f0 \u5e94 \u4e0e   CARLA   \u8f66\u8f86 \u578b\u53f7 \u5339\u914d \uff0c \u5426\u5219 \u5c06 \u4f7f\u7528 \u57fa\u4e8e vehicleCategory   \u7684 \u9ed8\u8ba4 \u8f66\u8f86 \u3002 \u989c\u8272 \u53ef\u4ee5 \u901a\u8fc7 \u5c5e\u6027 \u8bbe\u7f6e \uff08 ' \u5c5e\u6027 \u540d\u79f0 = \u201c \u989c\u8272 \u201d \u503c = \u201c 0 , 0 , 255 \u201d ' \uff09 \u3002   Axles \u3001 Performance \u3001 BoundingBox   \u6761\u76ee \u5c06 \u88ab \u5ffd\u7565 \u3002","title":"\u5e38\u89c4 \u7684   OpenSCENARIO   \u8bbe\u7f6e"},{"location":"scenario_runner/openscenario_support/#openscenario_2","text":"","title":"OpenSCENARIO   \u6545\u4e8b \u677f"},{"location":"scenario_runner/openscenario_support/#openscenario_3","text":"OpenSCENARIO   \u64cd\u4f5c \u53ef \u7528\u4e8e \u4e24\u4e2a \u4e0d\u540c \u7684 \u76ee\u7684 \u3002 \u9996\u5148 \uff0c \u52a8\u4f5c \u53ef \u7528\u4e8e \u5b9a\u4e49 \u67d0\u4e9b \u4e8b\u7269 \uff08 \u4f8b\u5982 \u4ea4\u901a \u53c2\u4e0e \u53c2\u4e0e\u8005 \uff09 \u7684 \u521d\u59cb \u884c\u4e3a \u3002 \u56e0\u6b64 \uff0c Actions   \u53ef\u4ee5 \u5728   OpenSCENARIO   Init   \u4e2d \u4f7f\u7528 \u3002 \u6b64\u5916 \uff0c OpenSCENARIO   \u6545\u4e8b \u4e2d \u4e5f \u4f7f\u7528 \u4e86 \u52a8\u4f5c \u3002 \u4e0b\u9762 \u5217\u51fa \u4e86 \u8fd9 \u4e24\u4e2a \u5e94\u7528 \u9886\u57df \u5e94\u7528\u9886\u57df \u7684 \u652f\u6301 \u72b6\u6001 \u3002 \u5982\u679c \u64cd\u4f5c \u5305\u542b \u672a \u5217\u51fa \u7684 \u5b50 \u6a21\u5757 \uff0c \u5219 \u652f\u6301 \u72b6\u6001 \u9002\u7528 \u4e8e \u6240\u6709 \u5b50 \u6a21\u5757 \u3002","title":"OpenSCENARIO   \u64cd\u4f5c"},{"location":"scenario_runner/openscenario_support/#globalaction","text":"GlobalAction   \u521d\u59cb \u521d\u59cb\u5316 \u652f\u6301   Story   support   \u7b14\u8bb0   EntityAction   \u2705   \u2705   EnvironmentAction   \u2705   \u274c   ParameterAction   \u2705   \u2705   InfrastructureAction   TrafficSignalAction   TrafficAction   \u274c   \u274c   InfrastructureAction   TrafficSignalAction   TrafficSignalControllerAction   \u274c   \u2705   InfrastructureAction   TrafficSignalAction   TrafficSignalStateAction   \u274c   \u2705   \u7531\u4e8e   CARLA   \u57ce\u9547 \u4e2d \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u6ca1\u6709 \u552f\u4e00   ID \uff0c \u56e0\u6b64 \u5fc5\u987b \u901a\u8fc7 \u63d0\u4f9b \u5176 \u4f4d\u7f6e \u6765 \u8bbe\u7f6e \u5b83\u4eec \uff08 \u793a\u4f8b \uff1a TrafficSignalStateAction   name = \" pos = x , y \"   state = \" green \" \uff09 \u3002 \u8be5   ID   \u4e5f \u53ef \u7528\u4e8e \u975e   CARLA   \u57ce\u9547 \uff08 \u793a\u4f8b \uff1a TrafficSignalStateAction   name = \" id = n \"   state = \" green \" \uff09","title":"GlobalAction"},{"location":"scenario_runner/openscenario_support/#_2","text":"\u7528\u6237 \u5b9a\u4e49 \u7684 \u52a8\u4f5c   \u521d\u59cb \u521d\u59cb\u5316 \u652f\u6301   Story   support   \u7b14\u8bb0   CustomCommandAction   \u274c   \u2705   \u6b64 \u64cd\u4f5c \u5f53\u524d \u7528\u4e8e \u89e6\u53d1 \u9644\u52a0 \u811a\u672c \u7684 \u6267\u884c \u3002 \u793a\u4f8b \uff1a type = \" python   / path / to / script   args \" \u3002","title":"\u7528\u6237 \u5b9a\u4e49 \u7684 \u52a8\u4f5c"},{"location":"scenario_runner/openscenario_support/#privateaction","text":"PrivateAction   \u521d\u59cb \u521d\u59cb\u5316 \u652f\u6301   Story   support   \u7b14\u8bb0   ActivateControllerAction   \u274c   \u2705   \u53ef \u7528\u4e8e \u6fc0\u6d3b / \u505c\u7528   CARLA   \u81ea\u52a8 \u9a7e\u9a76 \u9a7e\u9a76\u4eea \u3002   ControllerAction   \u2705   \u2705   \u652f\u6301 AssignControllerAction \uff0c \u4f46 \u5fc5\u987b \u4e3a \u63a7\u5236 \u63a7\u5236\u5668 \u5b9e\u73b0 \u63d0\u4f9b Python   \u6a21\u5757 \uff0c \u5e76\u4e14 \u5728 OverrideControllerValueAction   \u4e2d \u6240\u6709 \u503c \u90fd \u9700\u8981 \u4e3a   False   \u3002   LateralAction   LaneChangeAction   \u274c   \u2705   \u76ee\u524d \u6240\u6709 \u8f66\u9053 \u53d8\u5316 \u90fd \u6709 \u4e00\u4e2a \u7ebf\u6027 \u7684 dynamicShape \uff0c dynamicDimension \u88ab \u5b9a\u4e49 \u4e3a \u8ddd\u79bb \u5e76\u4e14 \u76f8\u5bf9 \u4e8e \u53c2\u4e0e \u53c2\u4e0e\u8005 \u672c\u8eab \uff08 RelativeTargetLane \uff09 \u3002   LateralAction   LaneOffsetAction   \u274c   \u2705   \u76ee\u524d \uff0c \u6240\u6709 \u7c7b\u578b \u7684 \u52a8\u6001 \u5f62\u72b6 \u90fd \u88ab \u5ffd\u7565 \u5e76 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u63a7\u5236 \u63a7\u5236\u5668 \u3002 \u5982\u679c \u504f\u79fb \u504f\u79fb\u91cf \u8db3\u591f \u9ad8\u4ee5 \u4f7f \u8f66\u8f86 \u9000\u51fa \u8f66\u9053 \uff0c \u5219 \u6b64 \u64cd\u4f5c \u53ef\u80fd \u65e0\u6cd5 \u6309 \u9884\u671f \u5de5\u4f5c \u3002   LateralAction   LateralDistanceAction   \u2705   \u2705   LongitudinalAction   LongitudinalDistanceAction   \u274c   \u2705   \u4e0d \u652f\u6301   timeGap   \u5c5e\u6027   LongitudinalAction   SpeedAction   \u2705   \u2705   SynchronizeAction   \u274c   \u274c   TeleportAction   \u2705   \u2705   VisibilityAction   \u274c   \u274c   RoutingAction   AcquirePositionAction   \u274c   \u2705   RoutingAction   AssignRouteAction   \u274c   \u2705   \u652f\u6301 \u8def\u7ebf \u9009\u9879 \uff08 \u6700\u77ed / \u6700\u5feb / \u7b49 \uff09 \u3002 \u6700\u77ed \u8def\u5f84 \u8868\u793a   A   \u548c   B   \u4e4b\u95f4 \u7684 \u76f4\u63a5 \u8def\u5f84 \uff0c \u5176\u4ed6 \u6240\u6709 \u8def\u5f84 \u5c06 \u4f7f\u7528   A   \u548c   B   \u4e4b\u95f4 \u7684 \u8def\u7f51 \u4e2d \u7684 \u6700 \u77ed \u8def\u5f84 \u3002   RoutingAction   FollowTrajectoryAction   \u274c   \u2705   \u76ee\u524d \u4ec5 \u652f\u6301 \u6ca1\u6709 \u65f6\u95f4 \u7ea6\u675f \u7684 \u6298\u7ebf \uff0c \u8f68\u8ff9 \u8ddf\u968f \u6a21\u5f0f \u7531 \u63a7\u5236 \u63a7\u5236\u5668 \u51b3\u5b9a \u3002","title":"PrivateAction"},{"location":"scenario_runner/openscenario_support/#openscenario_4","text":"OpenSCENARIO   \u4e2d \u7684 \u6761\u4ef6 \u53ef\u4ee5 \u5b9a\u4e49 \u4e3a   ByEntityCondition   \u6216   ByValueCondition \u3002 \u4e24\u8005 \u5747 \u53ef \u7528\u4e8e   StartTrigger   \u548c   StopTrigger   \u6761\u4ef6 \u3002 \u4ee5\u4e0b \u4e24\u4e2a \u8868\u5217 \u5217\u51fa \u8868\u5217\u51fa \u4e86 \u6bcf\u4e2a \u8868 \u7684 \u652f\u6301 \u72b6\u6001 \u3002","title":"OpenSCENARIO   \u6761\u4ef6"},{"location":"scenario_runner/openscenario_support/#byentitycondition","text":"EntityCondition   \u652f\u6301   \u7b14\u8bb0   AccelerationCondition   \u2705   CollisionCondition   \u2705   DistanceCondition   \u2705   * freespace *   \u5c5e\u6027 \u4ecd\u7136 \u4e0d \u53d7 \u652f\u6301   EndOfRoadCondition   \u2705   OffroadCondition   \u2705   ReachPositionCondition   \u2705   RelativeDistanceCondition   \u2705   RelativeSpeedCondition   \u2705   SpeedCondition   \u2705   StandStillCondition   \u2705   TimeHeadwayCondition   \u2705   TimeToCollisionCondition   \u2705   TraveledDistanceCondition   \u2705","title":"ByEntityCondition"},{"location":"scenario_runner/openscenario_support/#byvaluecondition","text":"ValueCondition   \u652f\u6301   \u7b14\u8bb0   ParameterCondition   \u2705   \u652f\u6301 \u7ea7\u522b \u53d6\u51b3 \u53d6\u51b3\u4e8e \u53c2\u6570 \u3002 \u5982\u679c \u53ef\u80fd \u7684\u8bdd \uff0c \u5efa\u8bae \u4f7f\u7528 \u5176\u4ed6 \u6761\u4ef6 \u3002 \u53e6 \u8bf7 \u8003\u8651 \u4e0b\u9762 \u7684 \u6ce8\u91ca \u3002   SimulationTimeCondition   \u2705   StoryboardElementStateCondition   \u2705   \u76ee\u524d \u652f\u6301   startTransition \u3001 stopTransition \u3001 endTransition   \u548c completeState \u3002   TimeOfDayCondition   \u2705   TrafficSignalCondition   \u2705   \u7531\u4e8e   CARLA   \u57ce\u9547 \u4e2d \u7684 \u4ea4\u901a \u4fe1\u53f7 \u4fe1\u53f7\u706f \u6ca1\u6709 \u552f\u4e00   ID \uff0c \u56e0\u6b64 \u5fc5\u987b \u901a\u8fc7 \u63d0\u4f9b \u5176 \u4f4d\u7f6e \u6765 \u8bbe\u7f6e \u5b83\u4eec \uff08 \u793a\u4f8b \uff1a TrafficSignalCondition   name = \" pos = x , y \"   state = \" green \" \uff09 \u3002 \u8be5   ID   \u4e5f \u53ef \u7528\u4e8e \u975e   CARLA   \u57ce\u9547 \uff08 \u793a\u4f8b \uff1a TrafficSignalCondition   name = \" id = n \"   state = \" green \" \uff09   TrafficSignalControllerCondition   \u2705   UserDefinedValueCondition   \u274c   \u6ce8\u610f   \u5728   OpenSCENARIO   1.0   \u6807\u51c6 \u4e2d \uff0c \u6ca1\u6709 \u5b9a\u4e49 \u6d4b\u8bd5 / \u8bc4\u4f30 \u6807\u51c6 \u7684 \u5b9a\u4e49 \u3002 \u4e3a\u6b64 \uff0c \u60a8 \u53ef\u4ee5 \u5c06   StopTrigger   \u6761\u4ef6 \u4e0e   CARLA   \u91cd\u590d \u4f7f\u7528 \u91cd\u590d\u4f7f\u7528 \u3002 \u901a\u8fc7 \u63d0\u4f9b \u6761\u4ef6 \u7684 \u6761\u4ef6 \u540d\u79f0 \uff0c \u901a\u8fc7   ParameterConditions   \u652f\u6301 \u8bc4\u4f30 \u6761\u4ef6 \u7684 \u4ee5\u4e0b   StopTrigger   \u6761\u4ef6 \uff1a   criteria _ RunningStopTest   criteria _ RunningRedLightTest   criteria _ WrongLaneTest   criteria _ OnSideWalkTest   criteria _ KeepLaneTest   criteria _ CollisionTest   criteria _ DrivenDistanceTest","title":"ByValueCondition"},{"location":"scenario_runner/openscenario_support/#openscenario-positions","text":"\u5728   OpenSCENARIO   \u4e2d \u5b9a\u4e49 \u4f4d\u7f6e \u7684 \u65b9\u6cd5 \u6709 \u591a\u79cd \u3002 \u4e0b\u9762 \u6211\u4eec \u5217\u51fa \u4e86 \u6bcf\u79cd \u5b9a\u4e49 \u683c\u5f0f \u7684 \u5f53\u524d \u652f\u6301 \u72b6\u6001 \u3002   \u4f4d\u7f6e   \u652f\u6301   \u7b14\u8bb0   LanePosition   \u2705   RelativeLanePosition   \u2705   RelativeObjectPosition   \u2705   RelativeRoadPosition   \u2705   RelativeWorldPosition   \u2705   RoadPosition   \u2705   RoutePosition   \u274c   WorldPosition   \u2705","title":"OpenSCENARIO   Positions"},{"location":"scenario_runner/ros_agent/","text":"\u57fa\u4e8e ROS \u7684 \u6311\u6218 \u4ee3\u7406   \u4e0e   ROS   \u7684   CARLA   \u63a5\u53e3 \u901a\u5e38 \u901a\u8fc7   CARLA   ROS   Bridge   \u5b8c\u6210 \u3002 \u5728 \u6311\u6218 \u6a21\u5f0f \u4e0b \uff0c \u6b64 \u6865\u63a5 \u529f\u80fd \u7531   RosAgent   \u63d0\u4f9b \u3002 \u5b83 \u5bf9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f7f\u7528 \u76f8\u540c \u7684 \u4e3b\u9898 \u548c \u6d88\u606f \u7c7b\u578b \uff0c \u4f46 \u4e0d \u53d1\u5e03   tf   \u8f6c\u6362 \u3002   \u8981\u6c42   roscore   \u9884\u8ba1 \u5c06 \u5728   docker   \u5bb9\u5668 \u4e2d \u8fd0\u884c \u3002 \u8bf7 \u8c03\u6574 \u60a8 \u7684 \u5165\u53e3 \u70b9 \u3002   \u8bbe\u7f6e   \u8981 \u5728 \u6311\u6218 \u6a21\u5f0f \u4e0b \u542f\u7528 \u5806\u6808 \uff0c \u9700\u8981 \u6267\u884c \u4ee5\u4e0b \u6b65\u9aa4 \uff1a   \u5b9a\u4e49 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e   \u5b9a\u4e49 \u542f\u52a8   \u5b9a\u4e49 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e   \u6d3e\u751f \u81ea RosAgent \u5e76 \u5b9e\u73b0 sensors ( ) \u65b9\u6cd5 \u3002   from   srunner . autoagents . ros _ agent   import   RosAgent   class   MyRosAgent ( RosAgent ) :   def   sensors ( self ) :   return   [   < sensor - definition >   ]   \u4f5c\u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5b9a\u4e49 \u7684 \u793a\u4f8b \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   HumanAgent . py   \u3002   \u5b9a\u4e49 \u542f\u52a8   \u5806\u6808 \u7684 \u542f\u52a8 \u662f \u5728   shell   \u811a\u672c   $ TEAM _ CODE _ ROOT / start . sh   \u5185 \u5b8c\u6210 \u7684 \u3002 \u56e0\u6b64   TEAM _ CODE _ ROOT   \u5fc5\u987b \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u3002   RosAgent   \u8d1f\u8d23 \u6267\u884c \u548c \u76d1\u63a7 \u3002 \u53ea\u8981 \u5806\u6808 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \uff0c \u811a\u672c \u5c31 \u5e94 \u4fdd\u6301 \u8fd0\u884c \u3002   start . sh   \u7684 \u793a\u4f8b   # ! / bin / bash   - e   roslaunch   $ TEAM _ CODE _ ROOT / challenge . launch   \u6d4b\u8bd5   \u4e00\u822c \u6765\u8bf4 \u4e00\u822c\u6765\u8bf4 \uff0c \u6311\u6218 \u6267\u884c \u662f \u65e0\u5934 \u7684 \u3002 \u4e3a\u4e86 \u8fdb\u884c \u8bca\u65ad \uff0c \u60a8 \u4ecd\u7136 \u53ef\u4ee5 \u4f7f\u7528   rviz   \u6216   rqt   \u7b49   ros   \u5de5\u5177 \u3002 \u6b64\u5916 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 carla _ ros _ bridge   \u4e2d \u7684   carla _ manual _ control   \u8fdb\u884c \u53ef\u89c6 \u53ef\u89c6\u5316 \uff08 \u5e76 \u63a7\u5236 \u8f66\u8f86 \uff09 \u3002","title":"\u57fa\u4e8e ROS \u7684 \u6311\u6218 \u4ee3\u7406"},{"location":"scenario_runner/ros_agent/#ros","text":"\u4e0e   ROS   \u7684   CARLA   \u63a5\u53e3 \u901a\u5e38 \u901a\u8fc7   CARLA   ROS   Bridge   \u5b8c\u6210 \u3002 \u5728 \u6311\u6218 \u6a21\u5f0f \u4e0b \uff0c \u6b64 \u6865\u63a5 \u529f\u80fd \u7531   RosAgent   \u63d0\u4f9b \u3002 \u5b83 \u5bf9 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u4f7f\u7528 \u76f8\u540c \u7684 \u4e3b\u9898 \u548c \u6d88\u606f \u7c7b\u578b \uff0c \u4f46 \u4e0d \u53d1\u5e03   tf   \u8f6c\u6362 \u3002","title":"\u57fa\u4e8e ROS \u7684 \u6311\u6218 \u4ee3\u7406"},{"location":"scenario_runner/ros_agent/#_1","text":"roscore   \u9884\u8ba1 \u5c06 \u5728   docker   \u5bb9\u5668 \u4e2d \u8fd0\u884c \u3002 \u8bf7 \u8c03\u6574 \u60a8 \u7684 \u5165\u53e3 \u70b9 \u3002","title":"\u8981\u6c42"},{"location":"scenario_runner/ros_agent/#_2","text":"\u8981 \u5728 \u6311\u6218 \u6a21\u5f0f \u4e0b \u542f\u7528 \u5806\u6808 \uff0c \u9700\u8981 \u6267\u884c \u4ee5\u4e0b \u6b65\u9aa4 \uff1a   \u5b9a\u4e49 \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u8bbe\u7f6e   \u5b9a\u4e49 \u542f\u52a8","title":"\u8bbe\u7f6e"},{"location":"scenario_runner/ros_agent/#_3","text":"\u6d3e\u751f \u81ea RosAgent \u5e76 \u5b9e\u73b0 sensors ( ) \u65b9\u6cd5 \u3002   from   srunner . autoagents . ros _ agent   import   RosAgent   class   MyRosAgent ( RosAgent ) :   def   sensors ( self ) :   return   [   < sensor - definition >   ]   \u4f5c\u4e3a \u4f20\u611f \u611f\u5668 \u4f20\u611f\u5668 \u5b9a\u4e49 \u7684 \u793a\u4f8b \uff0c \u53c2\u9605 \u8bf7\u53c2\u9605   HumanAgent . py   \u3002","title":"\u5b9a\u4e49 \u4f20\u611f\u5668 \u8bbe\u7f6e"},{"location":"scenario_runner/ros_agent/#_4","text":"\u5806\u6808 \u7684 \u542f\u52a8 \u662f \u5728   shell   \u811a\u672c   $ TEAM _ CODE _ ROOT / start . sh   \u5185 \u5b8c\u6210 \u7684 \u3002 \u56e0\u6b64   TEAM _ CODE _ ROOT   \u5fc5\u987b \u8bbe\u7f6e \u73af\u5883 \u53d8\u91cf \u73af\u5883\u53d8 \u73af\u5883\u53d8\u91cf \u3002   RosAgent   \u8d1f\u8d23 \u6267\u884c \u548c \u76d1\u63a7 \u3002 \u53ea\u8981 \u5806\u6808 \u5904\u4e8e \u6d3b\u52a8 \u72b6\u6001 \u6d3b\u52a8\u72b6\u6001 \uff0c \u811a\u672c \u5c31 \u5e94 \u4fdd\u6301 \u8fd0\u884c \u3002   start . sh   \u7684 \u793a\u4f8b   # ! / bin / bash   - e   roslaunch   $ TEAM _ CODE _ ROOT / challenge . launch","title":"\u5b9a\u4e49 \u542f\u52a8"},{"location":"scenario_runner/ros_agent/#_5","text":"\u4e00\u822c \u6765\u8bf4 \u4e00\u822c\u6765\u8bf4 \uff0c \u6311\u6218 \u6267\u884c \u662f \u65e0\u5934 \u7684 \u3002 \u4e3a\u4e86 \u8fdb\u884c \u8bca\u65ad \uff0c \u60a8 \u4ecd\u7136 \u53ef\u4ee5 \u4f7f\u7528   rviz   \u6216   rqt   \u7b49   ros   \u5de5\u5177 \u3002 \u6b64\u5916 \uff0c \u60a8 \u53ef\u4ee5 \u4f7f\u7528 carla _ ros _ bridge   \u4e2d \u7684   carla _ manual _ control   \u8fdb\u884c \u53ef\u89c6 \u53ef\u89c6\u5316 \uff08 \u5e76 \u63a7\u5236 \u8f66\u8f86 \uff09 \u3002","title":"\u6d4b\u8bd5"},{"location":"software/pipeline/","text":"\u5f00\u53d1 \u7684 \u7ba1\u7ebf   \u8fdb\u884c \u573a\u666f \u4eff\u771f \u7684 \u5f00\u53d1 \u6d41\u7a0b \u3002   \u865a\u5e7b \u5f15\u64ce \u7684 OpenDRIVE   \u63d2\u4ef6","title":"\u5f00\u53d1 \u7684 \u7ba1\u7ebf"},{"location":"software/pipeline/#_1","text":"\u8fdb\u884c \u573a\u666f \u4eff\u771f \u7684 \u5f00\u53d1 \u6d41\u7a0b \u3002","title":"\u5f00\u53d1 \u7684 \u7ba1\u7ebf"},{"location":"software/pipeline/#opendrive","text":"","title":"\u865a\u5e7b \u5f15\u64ce \u7684 OpenDRIVE   \u63d2\u4ef6"},{"location":"tmp/%E5%9C%A8windows%E7%8E%AF%E5%A2%83%E4%B8%8Bcarla%E4%B8%8E%E7%BD%97%E6%8A%80G29%E6%96%B9%E5%90%91%E7%9B%98%E8%81%94%E8%B0%83%E6%96%B9%E6%B3%95/","text":"\u5728 windows \u73af\u5883 \u4e0b carla \u4e0e \u7f57\u6280 G29 \u65b9\u5411 \u65b9\u5411\u76d8 \u53cd\u9988 \u529b\u53cd\u9988 \u8054\u8c03 \u65b9\u6cd5   \u76ee\u524d \u7f51\u4e0a carla \u548c G29 \u7684 \u8054\u8c03 \u90fd \u662f \u5728 ubuntu \u73af\u5883 \u4e0b \u4f7f\u7528 jstest - gtk \u3001 ROS \u8fdb\u884c \u65b9\u5411 \u65b9\u5411\u76d8 \u63a7\u5236 \uff0c \u8be6\u60c5 \u53ef\u4ee5 \u53c2\u8003 \u535a\u6587   https : / / blog . csdn . net / qq _ 44237695 / article / details / 129103700   \u4f46 \u5728 windows \u73af\u5883 \u4e0b \u8054\u8c03 \u65b9\u6cd5 \u6ca1\u6709 \u641c\u7d22 \u5230 \uff0c \u81ea\u5df1 \u8d70 \u4e86 \u4e0d\u5c11 \u5f2f\u8def \uff0c \u5206\u4eab \u4e00\u4e0b \u3002   \u539f\u5148 \u7684 \u60f3\u6cd5 \u662f \u5728 windows \u73af\u5883 \u4e0b \u5b89\u88c5 ros2 \uff0c \u81ea\u5df1 \u901a\u8fc7 \u7f57\u6280 \u7684 sdk \u6765 \u66ff\u6362 jstest - gtk \uff0c \u91cd\u5199 ros2 \u8282\u70b9 \u6765 \u5b9e\u73b0 \u3002 \u7f57\u6280 g29sdk \u53ef \u53c2\u8003   https : / / blog . csdn . net / qq _ 41250354 / article / details / 104652071   \u4f46 \u7531\u4e8e C++ \u7684 g29   sdk \u5f3a\u5236 \u8981\u6c42 \u754c\u9762 \uff0c carla \u5728 \u63a7\u5236 \u65b9\u5411 \u65b9\u5411\u76d8 \u65f6 \u4e5f \u8981\u6c42 \u6307\u5b9a pygame \u754c\u9762 \uff0c \u6240\u4ee5 \u8fd9\u4e2a \u65b9\u6848 \u5835\u6b7b \u4e86 \u5f88 \u4e45 \u3002 \u65e0\u7edd \u7edd\u4eba \u4e4b\u8def \u5929\u65e0\u7edd\u4eba\u4e4b\u8def \uff0c \u5728 github \u4e0a \u627e\u5230 \u4e00\u4e2a \u5927\u795e \u5199 \u7684 G29python \u4ee3\u7801 \uff0c \u8fd9\u4e2a \u4ee3\u7801 \u7528 \u7684 C#   dll \u4fee\u6539 \uff0c \u521d\u59cb \u521d\u59cb\u5316 \u8fc7\u7a0b \u4e0d \u9700\u8981 \u754c\u9762 \u3002 \u540c\u65f6 \u7531\u4e8e \u662f python \u5199 \u7684 \uff0c \u53ef\u4ee5 \u7ed5\u5f00 ros2 \u8fd9\u4e2a \u8fc7\u7a0b \uff0c \u51cf\u5c11 \u975e\u5e38 \u591a \u7684 \u5b66\u4e60 \u91cf \u3002   github \u9875\u9762 \uff1a https : / / github . com / cengizozel / LogiDrivePy   \u5177\u4f53 \u8054\u8c03 \u8fc7\u7a0b \uff1a   \u73af\u5883 \uff1a   python3.7   carla0.9 . 14   \u7f57\u6280 G - hub \u9a71\u52a8   G29 \u65b9\u5411 \u65b9\u5411\u76d8   \u9996\u5148 \u53bb \u7f57\u6280 \u5b98\u7f51 \u5b89\u88c5 \u65b9\u5411 \u65b9\u5411\u76d8 \u542f\u52a8 \uff0c \u5b89\u88c5 \u597d\u540e \u9a71\u52a8 \u754c\u9762 \u663e\u793a \u754c\u9762\u663e\u793a G29 \u65b9\u5411 \u65b9\u5411\u76d8 \uff0c \u540c\u65f6 \u65b9\u5411 \u65b9\u5411\u76d8 \u8f6c\u52a8 \u81ea\u68c0 \u3002   python \u73af\u5883 \u4e2d \u5b89\u88c5 CARLA \u4e0e logidrivepy   pip   install   carla   pip   install   logidrivepy   \u8fd9\u91cc \u8981 \u521b\u5efa \u4e00\u4e2a ini \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3002   wheel _ config . ini   [ G29   Racing   Wheel ]   steering _ wheel   =   0   throttle   =   2   brake   =   3   reverse   =   5   handbrake   =   4   \u5176\u4e2d \u6570\u5b57 \u53ef\u80fd \u9700\u8981 \u81ea\u5df1 \u8bd5 \u8fd9\u91cc steering _ wheel \u8868\u793a \u65b9\u5411 \u65b9\u5411\u76d8 \u65b9\u5411 \u3001 throttle \u6cb9\u95e8 \u548c brake \u5239\u8f66 \u5df2\u7ecf \u662f \u6b63\u786e \u7684 \u8bbe\u7f6e \u4e86 \u3002 \u8981 \u4fdd\u8bc1 \u8fd9\u4e2a \u8bbe\u7f6e \u548c . py \u6587\u4ef6 \u5728 \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u76ee\u5f55 \u4e0b \u5426\u5219 \u4f1a \u62a5\u9519 \u3002   \u4e0b\u8f7d carla - API \u540e \uff0c \u8fd0\u884c carla \u5ba2\u6237 \u5ba2\u6237\u7aef   \u968f\u540e \u8fd0\u884c PythonAPI / examples / manual _ control _ steeringwheel . py \u6587\u4ef6   \u6b64\u65f6 \u5373\u53ef \u5f00\u542f \u8f66\u8f86 \u3002   carla - g29 \u81ea\u52a8 \u9a7e\u9a76 \u53cd\u9988 \u529b\u53cd\u9988   \u53e6\u542f \u4e00\u4e2a \u6587\u4ef6 \uff0c \u590d\u5236 \u4ee5\u4e0b \u4ee3\u7801   import   sys   import   carla   sys . path . append ( ' .. / logidrivepy ' )   from   logidrivepy   import   LogitechController   import   time   class   SimpleController :   def   __ init __ ( self ,   k ) :   #   k   \u662f \u6bd4\u4f8b \u589e\u76ca \uff0c \u7528\u4e8e \u8c03\u6574 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u54cd\u5e94 \u901f\u5ea6 \u54cd\u5e94\u901f\u5ea6   self . k   =   k   def   control ( self ,   aim ,   now ) :   #   \u8ba1\u7b97 \u4f4d\u7f6e \u5dee\u503c   error   =   now   -   aim   #   \u8ba1\u7b97 \u8f93\u51fa \u529b   force   =   self . k   *   error   return   force   class   ForceFeedback :   def   __ init __ ( self ) :   self . position   =   None   self . torque   =   None   class   Node ( ) :   def   __ init __ ( self ,   client ) :   self . client   =   client   self . world   =   client . get _ world ( )   self . actor   =   self . get _ hero ( )   def   get _ hero ( self ) :   for   actor   in   self . world . get _ actors ( ) :   if   actor . attributes . get ( \" role _ name \" )   in   [ \" hero \" ,   \" ego _ vehicle \" ] :   return   actor   def   timer _ cb ( self ) :   out _ msg   =   ForceFeedback ( )   steering _ angle   =   self . actor . get _ control ( ) . steer   out _ msg . position   =   steering _ angle   out _ msg . torque   =   0.8   def   get _ position ( self ) :   steering _ angle   =   self . actor . get _ control ( ) . steer   position   =   steering _ angle   return   position   def   main ( args = None ) :   controller   =   LogitechController ( )   controller . steering _ initialize ( )   print ( \" \\ n --- Logitech   Spin   Test --- \" )   client   =   carla . Client ( \" 127.0 . 0.1 \" ,   2000 )   client . set _ timeout ( 2.0 )   carla _ car   =   Node ( client )   #   \u521b\u5efa \u4e00\u4e2a PID \u63a7\u5236 \u63a7\u5236\u5668   sc   =   SimpleController ( k = 1 )   #   \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u4e2d \uff0c \u66f4\u65b0 \u63a7\u5236 \u63a7\u5236\u5668 \u5e76 \u4f7f\u7528 \u65b0 \u7684 \u529b   while   True :   aim   =   carla _ car . get _ position ( )   *   150   now   =   ( controller . LogiGetStateENGINES ( 0 ) . contents . lX )   /   327.50   if   ( abs ( aim ) < 1 ) :   controller . LogiPlaySoftstopForce ( 0 , 0 )   controller . logi _ update ( )   time . sleep ( 0.1 )   controller . LogiStopSoftstopForce ( 0 )   controller . logi _ update ( )   print ( \" Target :   { } ,   Current   State :   { } \" . format ( aim ,   now ) )   else :   force   =   sc . control ( now ,   aim )   controller . LogiPlayConstantForce ( 0 ,   - int ( force ) * 2 )   controller . logi _ update ( )   print ( \" Force :   { } ,   Target :   { } ,   Current   State :   { } \" . format ( force ,   aim ,   now ) )   time . sleep ( 0.1 )   controller . steering _ shutdown ( )   if   __ name __   = =   \" __ main __ \" :   main ( )   \u5728 pygame \u754c\u9762 \u952e\u76d8 P \u5f00\u542f \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u6b64\u65f6 \u65b9\u5411 \u65b9\u5411\u76d8 \u4f1a \u968f\u7740 \u8f66\u8f86 \u81ea\u884c \u8f6c\u52a8 \u3002   \u8fd9\u4e2a \u4ee3\u7801 \u662f \u6d4b\u8bd5 \u7528 \u7684 \u6548\u679c \u4e0d\u592a\u597d \uff0c \u6709 \u66f4\u597d \u6548\u679c \u9700\u6c42 \u5f97\u6362 \u66f4\u597d \u7684 \u63a7\u5236 \u4ee3\u7801 \u63a7\u5236\u4ee3\u7801 \u4e86 \u3002","title":"\u5728 windows \u73af\u5883 \u4e0b carla \u4e0e \u7f57\u6280 G29 \u65b9\u5411\u76d8 \u529b\u53cd\u9988 \u8054\u8c03 \u65b9\u6cd5"},{"location":"tmp/%E5%9C%A8windows%E7%8E%AF%E5%A2%83%E4%B8%8Bcarla%E4%B8%8E%E7%BD%97%E6%8A%80G29%E6%96%B9%E5%90%91%E7%9B%98%E8%81%94%E8%B0%83%E6%96%B9%E6%B3%95/#windowscarlag29","text":"\u76ee\u524d \u7f51\u4e0a carla \u548c G29 \u7684 \u8054\u8c03 \u90fd \u662f \u5728 ubuntu \u73af\u5883 \u4e0b \u4f7f\u7528 jstest - gtk \u3001 ROS \u8fdb\u884c \u65b9\u5411 \u65b9\u5411\u76d8 \u63a7\u5236 \uff0c \u8be6\u60c5 \u53ef\u4ee5 \u53c2\u8003 \u535a\u6587   https : / / blog . csdn . net / qq _ 44237695 / article / details / 129103700   \u4f46 \u5728 windows \u73af\u5883 \u4e0b \u8054\u8c03 \u65b9\u6cd5 \u6ca1\u6709 \u641c\u7d22 \u5230 \uff0c \u81ea\u5df1 \u8d70 \u4e86 \u4e0d\u5c11 \u5f2f\u8def \uff0c \u5206\u4eab \u4e00\u4e0b \u3002   \u539f\u5148 \u7684 \u60f3\u6cd5 \u662f \u5728 windows \u73af\u5883 \u4e0b \u5b89\u88c5 ros2 \uff0c \u81ea\u5df1 \u901a\u8fc7 \u7f57\u6280 \u7684 sdk \u6765 \u66ff\u6362 jstest - gtk \uff0c \u91cd\u5199 ros2 \u8282\u70b9 \u6765 \u5b9e\u73b0 \u3002 \u7f57\u6280 g29sdk \u53ef \u53c2\u8003   https : / / blog . csdn . net / qq _ 41250354 / article / details / 104652071   \u4f46 \u7531\u4e8e C++ \u7684 g29   sdk \u5f3a\u5236 \u8981\u6c42 \u754c\u9762 \uff0c carla \u5728 \u63a7\u5236 \u65b9\u5411 \u65b9\u5411\u76d8 \u65f6 \u4e5f \u8981\u6c42 \u6307\u5b9a pygame \u754c\u9762 \uff0c \u6240\u4ee5 \u8fd9\u4e2a \u65b9\u6848 \u5835\u6b7b \u4e86 \u5f88 \u4e45 \u3002 \u65e0\u7edd \u7edd\u4eba \u4e4b\u8def \u5929\u65e0\u7edd\u4eba\u4e4b\u8def \uff0c \u5728 github \u4e0a \u627e\u5230 \u4e00\u4e2a \u5927\u795e \u5199 \u7684 G29python \u4ee3\u7801 \uff0c \u8fd9\u4e2a \u4ee3\u7801 \u7528 \u7684 C#   dll \u4fee\u6539 \uff0c \u521d\u59cb \u521d\u59cb\u5316 \u8fc7\u7a0b \u4e0d \u9700\u8981 \u754c\u9762 \u3002 \u540c\u65f6 \u7531\u4e8e \u662f python \u5199 \u7684 \uff0c \u53ef\u4ee5 \u7ed5\u5f00 ros2 \u8fd9\u4e2a \u8fc7\u7a0b \uff0c \u51cf\u5c11 \u975e\u5e38 \u591a \u7684 \u5b66\u4e60 \u91cf \u3002   github \u9875\u9762 \uff1a https : / / github . com / cengizozel / LogiDrivePy   \u5177\u4f53 \u8054\u8c03 \u8fc7\u7a0b \uff1a   \u73af\u5883 \uff1a   python3.7   carla0.9 . 14   \u7f57\u6280 G - hub \u9a71\u52a8   G29 \u65b9\u5411 \u65b9\u5411\u76d8   \u9996\u5148 \u53bb \u7f57\u6280 \u5b98\u7f51 \u5b89\u88c5 \u65b9\u5411 \u65b9\u5411\u76d8 \u542f\u52a8 \uff0c \u5b89\u88c5 \u597d\u540e \u9a71\u52a8 \u754c\u9762 \u663e\u793a \u754c\u9762\u663e\u793a G29 \u65b9\u5411 \u65b9\u5411\u76d8 \uff0c \u540c\u65f6 \u65b9\u5411 \u65b9\u5411\u76d8 \u8f6c\u52a8 \u81ea\u68c0 \u3002   python \u73af\u5883 \u4e2d \u5b89\u88c5 CARLA \u4e0e logidrivepy   pip   install   carla   pip   install   logidrivepy   \u8fd9\u91cc \u8981 \u521b\u5efa \u4e00\u4e2a ini \u7684 \u914d\u7f6e \u6587\u4ef6 \u914d\u7f6e\u6587\u4ef6 \u3002   wheel _ config . ini   [ G29   Racing   Wheel ]   steering _ wheel   =   0   throttle   =   2   brake   =   3   reverse   =   5   handbrake   =   4   \u5176\u4e2d \u6570\u5b57 \u53ef\u80fd \u9700\u8981 \u81ea\u5df1 \u8bd5 \u8fd9\u91cc steering _ wheel \u8868\u793a \u65b9\u5411 \u65b9\u5411\u76d8 \u65b9\u5411 \u3001 throttle \u6cb9\u95e8 \u548c brake \u5239\u8f66 \u5df2\u7ecf \u662f \u6b63\u786e \u7684 \u8bbe\u7f6e \u4e86 \u3002 \u8981 \u4fdd\u8bc1 \u8fd9\u4e2a \u8bbe\u7f6e \u548c . py \u6587\u4ef6 \u5728 \u540c\u4e00 \u4e00\u4e2a \u540c\u4e00\u4e2a \u76ee\u5f55 \u4e0b \u5426\u5219 \u4f1a \u62a5\u9519 \u3002   \u4e0b\u8f7d carla - API \u540e \uff0c \u8fd0\u884c carla \u5ba2\u6237 \u5ba2\u6237\u7aef   \u968f\u540e \u8fd0\u884c PythonAPI / examples / manual _ control _ steeringwheel . py \u6587\u4ef6   \u6b64\u65f6 \u5373\u53ef \u5f00\u542f \u8f66\u8f86 \u3002","title":"\u5728 windows \u73af\u5883 \u4e0b carla \u4e0e \u7f57\u6280 G29 \u65b9\u5411\u76d8 \u529b\u53cd\u9988 \u8054\u8c03 \u65b9\u6cd5"},{"location":"tmp/%E5%9C%A8windows%E7%8E%AF%E5%A2%83%E4%B8%8Bcarla%E4%B8%8E%E7%BD%97%E6%8A%80G29%E6%96%B9%E5%90%91%E7%9B%98%E8%81%94%E8%B0%83%E6%96%B9%E6%B3%95/#carla-g29","text":"\u53e6\u542f \u4e00\u4e2a \u6587\u4ef6 \uff0c \u590d\u5236 \u4ee5\u4e0b \u4ee3\u7801   import   sys   import   carla   sys . path . append ( ' .. / logidrivepy ' )   from   logidrivepy   import   LogitechController   import   time   class   SimpleController :   def   __ init __ ( self ,   k ) :   #   k   \u662f \u6bd4\u4f8b \u589e\u76ca \uff0c \u7528\u4e8e \u8c03\u6574 \u63a7\u5236 \u63a7\u5236\u5668 \u7684 \u54cd\u5e94 \u901f\u5ea6 \u54cd\u5e94\u901f\u5ea6   self . k   =   k   def   control ( self ,   aim ,   now ) :   #   \u8ba1\u7b97 \u4f4d\u7f6e \u5dee\u503c   error   =   now   -   aim   #   \u8ba1\u7b97 \u8f93\u51fa \u529b   force   =   self . k   *   error   return   force   class   ForceFeedback :   def   __ init __ ( self ) :   self . position   =   None   self . torque   =   None   class   Node ( ) :   def   __ init __ ( self ,   client ) :   self . client   =   client   self . world   =   client . get _ world ( )   self . actor   =   self . get _ hero ( )   def   get _ hero ( self ) :   for   actor   in   self . world . get _ actors ( ) :   if   actor . attributes . get ( \" role _ name \" )   in   [ \" hero \" ,   \" ego _ vehicle \" ] :   return   actor   def   timer _ cb ( self ) :   out _ msg   =   ForceFeedback ( )   steering _ angle   =   self . actor . get _ control ( ) . steer   out _ msg . position   =   steering _ angle   out _ msg . torque   =   0.8   def   get _ position ( self ) :   steering _ angle   =   self . actor . get _ control ( ) . steer   position   =   steering _ angle   return   position   def   main ( args = None ) :   controller   =   LogitechController ( )   controller . steering _ initialize ( )   print ( \" \\ n --- Logitech   Spin   Test --- \" )   client   =   carla . Client ( \" 127.0 . 0.1 \" ,   2000 )   client . set _ timeout ( 2.0 )   carla _ car   =   Node ( client )   #   \u521b\u5efa \u4e00\u4e2a PID \u63a7\u5236 \u63a7\u5236\u5668   sc   =   SimpleController ( k = 1 )   #   \u5728 \u6bcf\u4e2a \u65f6\u95f4 \u6b65\u4e2d \uff0c \u66f4\u65b0 \u63a7\u5236 \u63a7\u5236\u5668 \u5e76 \u4f7f\u7528 \u65b0 \u7684 \u529b   while   True :   aim   =   carla _ car . get _ position ( )   *   150   now   =   ( controller . LogiGetStateENGINES ( 0 ) . contents . lX )   /   327.50   if   ( abs ( aim ) < 1 ) :   controller . LogiPlaySoftstopForce ( 0 , 0 )   controller . logi _ update ( )   time . sleep ( 0.1 )   controller . LogiStopSoftstopForce ( 0 )   controller . logi _ update ( )   print ( \" Target :   { } ,   Current   State :   { } \" . format ( aim ,   now ) )   else :   force   =   sc . control ( now ,   aim )   controller . LogiPlayConstantForce ( 0 ,   - int ( force ) * 2 )   controller . logi _ update ( )   print ( \" Force :   { } ,   Target :   { } ,   Current   State :   { } \" . format ( force ,   aim ,   now ) )   time . sleep ( 0.1 )   controller . steering _ shutdown ( )   if   __ name __   = =   \" __ main __ \" :   main ( )   \u5728 pygame \u754c\u9762 \u952e\u76d8 P \u5f00\u542f \u81ea\u52a8 \u9a7e\u9a76 \uff0c \u6b64\u65f6 \u65b9\u5411 \u65b9\u5411\u76d8 \u4f1a \u968f\u7740 \u8f66\u8f86 \u81ea\u884c \u8f6c\u52a8 \u3002   \u8fd9\u4e2a \u4ee3\u7801 \u662f \u6d4b\u8bd5 \u7528 \u7684 \u6548\u679c \u4e0d\u592a\u597d \uff0c \u6709 \u66f4\u597d \u6548\u679c \u9700\u6c42 \u5f97\u6362 \u66f4\u597d \u7684 \u63a7\u5236 \u4ee3\u7801 \u63a7\u5236\u4ee3\u7801 \u4e86 \u3002","title":"carla - g29 \u81ea\u52a8 \u9a7e\u9a76 \u529b\u53cd\u9988"},{"location":"walker/cloning_DCB/","text":"\u5173\u4e8e \u6570\u636e \u83b7\u53d6 \u670d\u52a1 \u5408\u540c \u5fc5\u8981 \u5fc5\u8981\u6027 \u7684 \u4fe1\u606f   \u4ecb\u7ecd   2021 \u5e74 \uff0c \u57fa\u4e8e \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8ba4\u77e5 \u884c\u4e3a \u514b\u9686 \uff08 \u514b\u9686 DCB \uff09 \u7684 \u751f\u6001 \u4ea4\u901a \u548c \u6570\u5b57 \u4ea4\u901a \u9879\u76ee \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u9879\u76ee \u63d0\u4f9b \u8d44\u91d1 \u3002 \u5728 \u8fd9\u4e2a \u9879\u76ee \u4e2d \uff0c \u6211\u4eec \u6df1\u5165 \u7814\u7a76 \u6df1\u5165\u7814\u7a76 \u4e86 \u7aef \u5230 \u7aef\u7684 \u6a21\u5f0f \uff0c \u5c06 \u4eba\u7c7b \u884c\u4e3a \u6a21\u5f0f \u4f5c\u4e3a \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u8be5\u9879 \u76ee\u7684 \u4e00\u4e2a \u91cd\u8981 \u65b9\u9762 \u662f \u91cd\u65b0 \u6536\u96c6 \u4eba\u529b \u8d44\u672c \u4eba\u529b\u8d44\u672c \uff0c \u4ee5 \u5b9e\u73b0 \u5bf9 \u4eba\u529b \u8d44\u672c \u4eba\u529b\u8d44\u672c \u7684 \u6700\u5927 \u63a7\u5236 \u3002 \u4e00\u4e2a \u9ad8\u7ea7 \u63a7\u5236 \u63a7\u5236\u5668 \u8d1f\u8d23 \u63a7\u5236 Carla \u6a21\u62df \u6a21\u62df\u5668 \u4e0a \u7684 \u6570\u636e \u8bb0\u5f55 \u548c \u5b9e\u9a8c \u7684 \u7535\u8def \u548c \u901f\u5ea6 \u3002   CARLA \u5141\u8bb8 \u5b9a\u4e49 \u8f68\u9053 \u4ea4\u901a \u8f68\u9053\u4ea4\u901a \uff08 \u4ea4\u901a \u3001 \u5929\u6c14 \u3001 \u6c14\u8c61 \u7b49 \uff09 \u7684 \u5404\u79cd \u60c5\u51b5 \uff0c \u5e76 \u83b7\u5f97 \u5bfc\u4f53 \u3001 \u8f66\u8f86 \u901f\u5ea6 \u3001 \u7535\u538b \u7b49 \u8fdc\u666f \u8bbe\u8ba1 \u7684 \u6570\u636e \u3002 \u4e0e \u5bfc\u4f53 \u76f8\u5173 \u7684 \u6570\u636e \u53ef\u4ee5 \u611f\u77e5 \u7269\u7406 \uff0c \u5728 \u8bb0\u5f55 \u6570\u636e \u7684 \u65f6\u95f4 \u65f6\u95f4\u6bb5 \u5185 \u6a21\u62df \u8f68\u9053 \u4ea4\u901a \u8f68\u9053\u4ea4\u901a \u3002   \u4e8b\u5b9e \u4e8b\u5b9e\u4e0a \uff0c \u8fd9\u4e9b \u884c\u4e3a \u5728 \u865a\u62df \u9884\u6d4b \u548c \u63a7\u5236 \u53d8\u91cf \u63a7\u5236\u53d8 \u63a7\u5236\u53d8\u91cf \u7684 \u4f7f\u7528 \u573a\u666f \u4e2d\u8d77 \u7740 \u91cd\u8981 \u4f5c\u7528 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\u6b63\u5982 \u6211\u4eec \u5df2\u7ecf \u63d0\u5230 \u7684 \uff0c \u5728 \u8fd9\u4e2a \u9879\u76ee \u4e2d \uff0c \u9a7e\u9a76 \u4ec5\u9650 \u9650\u4e8e \u4ec5\u9650\u4e8e   CARLA   \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u6a21\u62df \u9a7e\u9a76 \u6570\u636e \u5fc5\u987b \u7531 \u5916\u90e8 \u5b9e\u4f53 \u63d0\u4f9b \uff0c \u5982   Cloning - DCB   \u9879\u76ee \u6280\u672f \u62a5\u544a   WP1   \u4efb\u52a1   3   \u4e2d \u6240 \u6307\u5b9a \u3002   \u63d0\u4f9b \u670d\u52a1 \u7684 \u5916\u90e8 \u5b9e\u4f53 \u7684 \u4e3b\u8981 \u4efb\u52a1 \u5305\u62ec \uff1a   \u6839\u636e   CVC   \u5efa\u7acb \u7684 \u53c2\u6570 \u8fdb\u884c \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u7684 \u9009\u62e9   \u6839\u636e CVC \u5236\u5b9a \u7684 \u89c4\u8303 \u63d0\u4f9b \u6240 \u9700 \u7684 \u6570\u636e \uff08 \u56fe\u50cf \u3001 \u6ce8\u610f \u6ce8\u610f\u529b \u5730\u56fe \u3001 \u8f66\u8f86 \u91cc\u7a0b \u3001 \u7535\u56fe \u8111\u7535\u56fe \u7b49 \uff09 \u3002   \u63d0\u4f9b \u6570\u636e \u63d0\u4f9b\u6570\u636e \u6536\u96c6 \u6240 \u9700 \u7684 \u57fa\u7840 \u8bbe\u65bd \u57fa\u7840\u8bbe\u65bd \u548c \u4eba\u5458 \u3002   \u8d1f\u8d23 \u9075\u5b88   LOPD   \u5173\u4e8e \u5019\u9009 \u9009\u4eba \u5019\u9009\u4eba \u6570\u636e \u7684 \u89c4\u5b9a \uff0c \u53ca\u65f6 \u901a\u77e5 \u4ed6\u4eec \u5e76 \u5f81\u5f97 \u4ed6\u4eec \u7684 \u540c\u610f \u3002   \u9274\u4e8e \u673a\u5668 \u5b66\u4e60 \u9879\u76ee \u4e2d \u6570\u636e \u7684 \u5173\u952e \u6027\u8d28 \uff0c \u8d1f\u8d23 \u63d0\u4f9b \u6b64 \u670d\u52a1 \u7684 \u5b9e\u4f53 \u4e0d\u80fd \u8f7b\u6613 \u9009\u62e9 \uff0c \u5e76\u4e14 \u5fc5\u987b \u6ee1\u8db3 \u67d0\u4e9b \u8981\u6c42 \u3002 \u8fd9\u4e9b \u8981\u6c42 \u7684 \u80cc\u666f \u3001 \u5b9a\u4e49 \u548c \u7406\u7531 \u662f \u672c \u6587\u4ef6 \u7684 \u76ee\u7684 \u3002   \u5148\u524d \u7684 \u8003\u8651 \u56e0\u7d20   CVC \u662f \u4e16\u754c \u77e5\u540d \u7684 \u7814\u7a76 \u4e2d\u5fc3 \uff0c \u62e5\u6709 \u8d85\u8fc7 27 \u5e74 \u7684 \u7ecf\u9a8c \uff0c 20 \u591a\u5e74 \u6765 \u662f \u552f\u4e00 \u7684 \u56fd\u5bb6 \u56fd\u5bb6\u7ea7 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u7814\u7a76 \u4e2d\u5fc3 \u3002 \u4ed6 \u7684 \u7814\u7a76 \u5de5\u4f5c \u53ca\u5176 \u5353\u8d8a \u8868\u73b0 \u5728 \u4ed6 \u7684 \u51fa\u7248 \u51fa\u7248\u7269 \u4e2d \u663e\u800c \u6613\u89c1 \u663e\u800c\u6613\u89c1 \u3002 \u6839\u636e   CSIC   2023   \u5e74 \u7684 \u6392\u540d \uff0c \u5176 \u7814\u7a76 \u4eba\u5458 \u5e73\u5747 \u6bcf\u5e74 \u6709 100 \u540d \uff0c \u5176\u4e2d \u6709 4 \u540d \u7814\u7a76 \u4eba\u5458 \u8dfb\u8eab \u56fd\u5185 \u548c \u6d77\u5916 \u897f\u73ed\u7259 \u897f\u73ed\u7259\u4eba 2 , 000 \u540d \u6700 \u6709 \u5f71\u54cd \u5f71\u54cd\u529b \u7684 \u7814\u7a76 \u4eba\u5458 \u4e4b \u5217 \uff0c \u8be5 \u6392\u540d \u57fa\u4e8e \u8c37\u6b4c \u7684 H \u7d22\u5f15 \u5b66\u8005 \u5e76 \u8003\u8651 \u5230 \u6240\u6709 \u79d1\u5b66 \u5b66\u79d1 \u3002   \u4e3a\u4e86 \u786e\u4fdd \u8fd9\u79cd \u5353\u8d8a \u5353\u8d8a\u6027 \uff0c CVC   \u8981\u6c42 \u4e0e\u5176 \u5efa\u7acb \u5408\u540c \u5173\u7cfb \u7684 \u5b9e\u4f53 \u5bf9 \u7814\u7a76 \u548c \u4f20\u64ad \u5de5\u4f5c \u505a\u51fa \u540c\u7b49 \u7a0b\u5ea6 \u7684 \u627f\u8bfa \u3002 \u8981\u6c42 \u6b64 \u627f\u8bfa \u7684 \u65b9\u5f0f \u662f \u9075\u5b88 \u4e0b \u4e00\u8282 \u4e2d \u8be6\u8ff0 \u7684 \u8981\u6c42 \u3002   \u8981\u6c42   \u9884\u8ba1 \u5728 \u6570\u636e \u6536\u96c6 \u670d\u52a1 \u7684 \u6267\u884c \u8fc7\u7a0b \u4e2d \uff0c CVC   \u548c \u63d0\u4f9b \u5b9e\u4f53 \u4e4b\u95f4 \u5c06 \u8fdb\u884c \u6709\u529b \u5f3a\u6709\u529b \u7684 \u4ea4\u4e92 \uff0c \u4ee5 \u5f00\u53d1 \u548c \u9a8c\u8bc1 \u89c4\u8303 \u548c \u9a7e\u9a76 \u573a\u666f \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u4f9b\u5e94 \u4f9b\u5e94\u5546 \u5b9e\u4f53 \u5fc5\u987b \u6ee1\u8db3 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u8981\u6c42 \uff0c \u5206\u4e3a \uff1a   \u6280\u672f \u8981\u6c42   \u529f\u80fd \u8981\u6c42   \u5236\u5b9a \u6280\u672f \u8981\u6c42 \u662f \u4e3a\u4e86 \u4fdd\u8bc1 \u670d\u52a1 \u63d0\u4f9b \u5b9e\u4f53 \u62e5\u6709 \u5fc5\u8981 \u7684 \u8d44\u6e90 \uff0c \u5305\u62ec \u6750\u6599 \u548c \u5408\u683c \u7684 \u4eba\u5458 \u3002 \u5b83\u4eec \u7684 \u5efa\u7acb \u4e5f \u662f \u4e3a\u4e86 \u201c \u517c\u5bb9 \u201d CVC   \u548c \u63d0\u4f9b \u63d0\u4f9b\u5546 \u5b9e\u4f53 \u7684 \u5de5\u4f5c \u73af\u5883 \u3002   \u5efa\u7acb \u529f\u80fd \u8981\u6c42 \u662f \u4e3a\u4e86 \u4fc3\u8fdb   CVC   \u548c \u63d0\u4f9b \u5b9e\u4f53 \u4e4b\u95f4 \u7684 \u534f\u4f5c \u548c \u4ea4\u4e92 \uff0c \u8003\u8651 \u4e24\u8005 \u4e4b\u95f4 \u4e24\u8005\u4e4b\u95f4 \u7684 \u4ea4\u4e92 \u4ee5\u53ca \u5de5\u4f5c \u7406\u5ff5 \u7684 \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u3002   \u8bc4\u4f30 \u6807\u51c6 \u7528\u4e8e \u5728 \u7b26\u5408 \u8981\u6c42 \u7b26\u5408\u8981\u6c42 \u7684 \u5b9e\u4f53 \u4e2d \u5efa\u7acb \u6392\u540d \uff0c \u4ee5 \u9009\u62e9 \u5019\u9009 \u9009\u4eba \u5019\u9009\u4eba \u3002   \u6280\u672f \u8981\u6c42   \u62e5\u6709 \u4e00\u4e2a \u7269\u7406 \u6a21\u62df \u6c7d\u8f66 \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u7684 \u201c \u9a7e\u9a76 \u9a7e\u9a76\u8231 \u201d \u3002 \u5728 \u8fd9\u4e2a \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u4e2d \uff0c \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u5fc5\u987b \u80fd\u591f \u5728 \u6a21\u62df \u7684   3D   \u52a8\u6001 \u73af\u5883 \u4e2d \u9a7e\u9a76 \u3002 \u4e58\u5ba2 \u8231 \u5fc5\u987b \u5b89\u88c5 \u5728 \u79fb\u52a8 \u5e73\u53f0 \u4e0a \uff0c \u4e0e \u663e\u793a \u663e\u793a\u5668 \u540c\u6b65 \uff0c \u6a21\u62df \u771f\u5b9e \u8f66\u8f86 \u7684 \u8fd0\u52a8 \u4f53\u9a8c \uff08 \u52a0\u901f \u3001 \u5236\u52a8 \u3001 \u8f6c\u5f2f \u3001 \u4e8b\u6545 \u548c \u5730\u5f62 \u89c4\u5219 \u4e0d\u89c4\u5219 \uff09 \uff0c \u4ee5 \u54cd\u5e94 \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6267\u884c \u7684 \u64cd\u4f5c \u3002   \u4f7f\u7528 \u7684 \u4eff\u771f \u8f6f\u4ef6 \u5fc5\u987b \u662f   CARLA \uff0c \u7248\u672c   0.9 . 14   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002   \u6a21\u62df \u6a21\u62df\u5668 \u5fc5\u987b \u7269\u7406 \u663e\u793a \u81f3\u5c11 120 \u00ba \u7684 \u6c34\u5e73 \u89c6\u91ce \uff08 HFOV \uff09 \uff0c \u5206\u5e03 \u5728 \u591a\u4e2a \u5c4f\u5e55 \u4e0a \uff0c \u6a21\u62df \u771f\u5b9e \u8f66\u8f86 \u7684 \u9a7e\u9a76 \u4f53\u9a8c \u3002   \u6a21\u62df \u6a21\u62df\u5668 \u8fd8 \u5fc5\u987b \u663e\u793a \u4e24\u4e2a \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e \u5916\u90e8 \u540e\u89c6 \u540e\u89c6\u955c \u7684 \u89c6\u56fe \uff08 \u5728 \u65c5\u6e38 \u6e38\u4e1a \u65c5\u6e38\u4e1a \u4e2d\u662f \u5f3a\u5236 \u5f3a\u5236\u6027 \u7684 \uff09 \u3002   \u4e0e \u6a21\u62df \u6a21\u62df\u5668 \u7684 \u9a7e\u9a76 \u4f1a\u8bae \u5fc5\u987b \u7528   Carla   \u7684 \u201c \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u201d \u5f55\u5236 \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u79bb\u7ebf \u64ad\u653e \uff0c \u4ee5 \u63d0\u53d6 \u7531\u4e8e \u8ba1\u7b97 \u65f6\u95f4 \u95ee\u9898 \u800c \u65e0\u6cd5 \u5728 \u73b0\u573a \u83b7\u5f97 \u7684 \u4fe1\u606f \u3002   \u62e5\u6709 \u91c7\u6837 \u9891\u7387 \u81f3\u5c11 \u4e3a   50Hz   \u7684 \u773c\u52a8 \u8ffd\u8e2a \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c \u4e3a \u6bcf\u4e2a \u6837\u672c \u63d0\u4f9b \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u89c6\u89d2 \u7684 \u56fe\u50cf \u4ee5\u53ca \u76f8\u5bf9 \u4e8e \u8be5 \u56fe\u50cf \u7684 \u5750\u6807 \uff0c \u6307\u793a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6240 \u6ce8\u89c6 \u7684 \u56fe\u50cf \u533a\u57df \u3002 \u77b3\u5b54 \u6269\u5f20 \u7684 \u6d4b\u91cf \u3002   \u529f\u80fd \u8981\u6c42   CARLA   \u4e2d\u8981 \u8003\u8651 \u7684 \u573a\u666f \u5c06 \u7531   CVC   \u63d0\u4f9b \u6216\u7ecf \u5176 \u6279\u51c6 \u3002   \u8981 \u8003\u8651 \u7684 \u4eba\u7c7b \u53f8\u673a \u7684 \u6982\u51b5 \u5c06 \u4e0e CVC \u8fbe\u6210 \u4e00\u81f4 \u3002   \u5bf9\u4e8e CVC \uff0c \u670d\u52a1 \u4e0d\u4f1a \u201c \u95ed\u95e8 \u201d \u63d0\u4f9b \uff0c CVC \u5de5\u4f5c \u4f5c\u4eba \u4eba\u5458 \u5de5\u4f5c\u4eba\u5458 \u53ef\u80fd \u4f1a \u5728 \u63d0\u4f9b \u670d\u52a1 \u671f\u95f4 \u5728\u573a \uff08 \u5982\u679c CVC \u8ba4\u4e3a \u6709 \u5fc5\u8981 \uff09 \u3002   \u5c06 \u6309\u7167 \u5546\u5b9a \u7684 \u65f6\u95f4 \u95f4\u9694 \u53ec\u5f00 \u4f1a\u8bae \uff0c \u5bf9 \u670d\u52a1 \u7684 \u63d0\u4f9b \u60c5\u51b5 \u8fdb\u884c \u76d1\u7763 \u3002 \u8fd8 \u5177\u6709 \u4e2d\u95f4 \u6570\u636e \u636e\u4f20 \u4f20\u8f93 \u6570\u636e\u4f20\u8f93 \u3002   \u8bc4\u4ef7 \u6807\u51c6 \uff08 \u6ee1\u5206 100 \u5206 \uff09   \u53ea\u6709 \u7b26\u5408 \u4e0a\u8ff0 \u8981\u6c42 \u7684 \u5b9e\u4f53 \u624d\u80fd \u7533\u8bf7 \u672c\u6b21 \u7535\u8bdd \u4f1a\u8bae \u7535\u8bdd\u4f1a \u7535\u8bdd\u4f1a\u8bae \u3002 \u5982\u679c \u6709 \u591a\u4e2a \u5019\u9009 \u9009\u4eba \u5019\u9009\u4eba \uff0c \u5c06 \u8bc4\u4f30 \u4ee5\u4e0b \u51e0\u70b9 \u4ee5\u4e0b\u51e0\u70b9 \u4ee5 \u9009\u51fa \u83b7\u80dc \u80dc\u8005 \u83b7\u80dc\u8005 \uff1a   \u6839\u636e \u591a\u5e74 \u7684 \u7b26\u5408 \u6280\u672f \u8981\u6c42 \u7684 \u9879\u76ee \u7ecf\u9a8c \uff08 \u57fa\u4e8e \u6a21\u62df \u7684 \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6570\u636e \u91c7\u96c6 \uff0c \u4e0d \u8003\u8651 \u6a21\u62df \u6a21\u62df\u5668 \uff0c \u4e0e \u8f66\u8f86 \u53c2\u6570 \u548c \u6a21\u62df \u73af\u5883 \u53ca\u65f6 \u540c\u6b65 \uff09 \uff0c \u6700\u591a \u53ef \u5206\u914d   10   \u4e2a\u70b9 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u516c\u5f0f \uff1a   $ $   P1   =   \\ frac { AP } { maximo ( APMax ,   KAP ) }   \\ times   10   $ $   APMax :   \u8003\u8651 \u6240\u6709 \u5019\u9009 \u5b9e\u4f53 \u7684 \u6700\u5927 \u5e74\u6570 \u3002   AP :   \u5019\u9009 \u5b9e\u4f53 \u63a5\u53d7 \u8bc4\u4f30 \u7684 \u5e74\u6570 \u3002   KAP = 10 \uff1a   \u671f\u671b \u7684 \u6700\u4f4e \u7ecf\u9a8c \u5e74\u6570 \u3002   \u6839\u636e \u591a\u5e74 \u4f7f\u7528   CARLA   \u6a21\u62df \u6a21\u62df\u5668 \u83b7\u53d6 \u4e0e \u4eba\u7c7b \u9a7e\u9a76 \u76f8\u5173 \u6570\u636e \u7684 \u7ecf\u9a8c \uff0c \u6700\u591a \u53ef \u5206\u914d   50   \u4e2a\u70b9 \u3002 \u5c31\u662f \u5c31\u662f\u8bf4 \u4e5f\u5c31\u662f\u8bf4 \uff0c \u4f7f\u7528 \u4e0e   CARLA   \u8fde\u63a5 \u5e76 \u7531 \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u64cd\u4f5c \u7684 \u201c \u9a7e\u9a76 \u9a7e\u9a76\u8231 \u201d \uff0c \u5e76 \u63d0\u4f9b \u6a21\u62df \u771f\u5b9e \u73af\u5883 \u4e2d \u79fb\u52a8 \u7684 \u771f\u5b9e \u8f66\u8f86 \u7684 \u7269\u7406 \u53cd\u9988 \uff1a   $ $   P2   =   \\ frac { AC } { maximo ( ACMax ,   KAC ) }   \\ times   50   $ $   ACMax :   \u8003\u8651 \u6240\u6709 \u5019\u9009 \u5b9e\u4f53 \u7684 \u6700\u5927 \u5e74\u6570 \u3002   AC \uff1a \u5019\u9009 \u5b9e\u4f53 \u63a5\u53d7 \u8bc4\u4f30 \u7684 \u5e74\u6570 \u3002   KAC = 4 :   \u671f\u671b \u7684 \u6700\u4f4e \u7ecf\u9a8c \u5e74\u6570 \u3002   \u6700 \u591a   25   \u4e2a \u53ef \u5206\u914d \u70b9 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u6570\u636e \u6536\u96c6 \u4e2d \u4f30\u8ba1 \u5305\u542b \u7684 \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6570\u91cf \uff08 \u7ed9\u5b9a \u9884\u7b97 \uff09 \uff0c \u5047\u8bbe \u6bcf\u4e2a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u82b1\u8d39 \u5c0f\u65f6 \u534a\u5c0f\u65f6 \u7684 \u6a21\u62df \u6a21\u62df\u5668 \u65f6\u95f4 \uff08 \u5373 \uff0c \u4e0d \u8ba1\u7b97 \u4e0e \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u4e92\u52a8 \u6240 \u9700 \u7684 \u51c6\u5907 \u5de5\u4f5c \uff09 \u6a21\u62df \u6a21\u62df\u5668 \uff09 \uff1a   $ $   P3   =   \\ frac { CH } { maximo ( CHMax ,   KCH ) }   \\ times   25   $ $   CHMax :   \u8003\u8651 \u6240\u6709 \u5b9e\u4f53 \u7684 \u6700\u5927 \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u6570\u91cf \u3002 \u5019\u9009 \u9009\u4eba \u5019\u9009\u4eba \u3002   CH :   \u63a5\u53d7 \u8bc4\u4f30 \u7684 \u5019\u9009 \u5b9e\u4f53 \u7684 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6570\u91cf \u3002   KCH = 15 : \u6700\u5c11 \u53f8\u673a \u4eba\u6570 \u3002   \u6839\u636e \u60a8 \u5728 \u8fc7\u53bb   5   \u5e74 \u4e2d \u53c2\u4e0e \u7684   Horizo   \u6846\u67b6 \u5185 \u7684 \u6b27\u6d32 \u9879\u76ee \u6570\u91cf \uff0c \u6700\u591a \u53ef \u5206\u914d   5   \u5206 \uff0c \u5177\u4f53 \u516c\u5f0f \u5982\u4e0b \uff1a   $ $   P4   =   \\ frac { PH } { maximo ( 1 ,   PHMax ) }   \\ times   5   $ $   PHMax :   \u8003\u8651 \u5230 \u6240\u6709 \u5019\u9009 \u5b9e\u4f53 \uff0c \u5176 \u53c2\u4e0e \u7684   Horizo   2020   \u548c   Horizo   Europe   \u9879\u76ee \u7684 \u6700\u5927 \u6570\u91cf \u3002   PH :   \u63a5\u53d7 \u8bc4\u4f30 \u7684 \u5019\u9009 \u5b9e\u4f53 \u53c2\u4e0e \u7684   Horizo   2020   \u548c   Horizo   Europe   \u9879\u76ee \u7684 \u6570\u91cf \u3002   \u6839\u636e \u6240 \u63d0\u4f9b \u7684 \u7ecf\u6d4e \u62a5\u4ef7 \uff0c \u6839\u636e \u4ee5\u4e0b \u516c\u5f0f \uff0c \u6700\u591a \u53ef \u5206\u914d   5   \u5206 \uff1a   $ $   P5   =   \\ frac { maximo ( 1 ,   PFmax - OF ) } { maximo ( OFmax ,   OFmin ) }   \\ times   5   $ $   OFmax :   \u8003\u8651 \u5230 \u6240\u6709 \u5019\u9009 \u5b9e\u4f53 \u7684 \u6700\u9ad8 \u7ecf\u6d4e \u62a5\u4ef7 \u3002   OFmin :   \u8003\u8651 \u5230 \u6240\u6709 \u5019\u9009 \u5b9e\u4f53 \u7684 \u6700\u4f4e \u7ecf\u6d4e \u62a5\u4ef7 \u3002   OF :   \u53d7 \u8bc4\u4f30 \u5019\u9009 \u5b9e\u4f53 \u7684 \u7ecf\u6d4e \u62a5\u4ef7 \u3002   \u8003\u8651 \u5230 \u6240 \u63d0\u4ea4 \u5b9e\u4f53 \u7684 \u79d1\u5b66 \u6280\u672f \u79d1\u5b66\u6280\u672f \u51fa\u7248 \u51fa\u7248\u7269 \u4e0e \u514b\u9686 - DCB   \u9879\u76ee \u7684 \u76f8\u5173 \u76f8\u5173\u6027 \u548c \u5173\u7cfb \uff0c \u5c06 \u8003\u8651 \u7ed9\u4e88   0   \u81f3   5   \u5206 \u7684 \u5206\u6570 \u3002 \u6211\u4eec \u5c06 \u8fd9\u4e2a \u5206\u6570 \u79f0\u4e3a   P6 \u3002   \u5b9e\u4f53 \u5fc5\u987b \u83b7\u5f97 \u6700\u4f4e \u5206\u6570   70   \u5206\u624d \u6709 \u8d44\u683c \u83b7\u5f97 \u5408\u540c \uff0c \u5373 \uff1a P1   +   P2   +   P3   +   P4   +   P5   +   P6   \u2265   70 \u3002 \u5728 \u6b64 \u8fc7\u7a0b \u4e2d \uff0c \u6bcf\u4e2a \u5019\u9009 \u5b9e\u4f53 \u6709 \u8d23\u4efb \u4ee5 \u5b8c\u6574 \u7684 \u65b9\u5f0f \u5448\u73b0 \u4f46 \u65b9\u5f0f \u7b80\u6d01 \u4e14 \u9a8c\u8bc1 \u53ef\u9a8c\u8bc1 \uff0c CVC \u8ba1\u7b97 \u90e8\u5206 \u5206\u6570 \u6240 \u9700 \u7684 \u4fe1\u606f \u3002 \u672a \u63d0\u4ea4 \u7684 \u4fe1\u606f \u5c06 \u4e0d\u4e88 \u8003\u8651 \u4e0d\u4e88\u8003\u8651 \u3002   \u5408\u540c \u9884\u7b97   \u5408\u540c \u9884\u7b97 \u4e3a   45 , 000   \u6b27\u5143 \uff08 \u4e0d \u542b \u589e\u503c \u589e\u503c\u7a0e \uff09 \uff0c \u8003\u8651 \u53ef\u80fd \u8fdb\u884c \u6700 \u591a   + 10%   \u7684 \u4fee\u6539 \u3002 \u5408\u540c \u5fc5\u987b \u5728 \u6388\u4e88 \u540e \u6700 \u591a   5   \u4e2a \u6708 \u5185 \u6267\u884c \u3002   \u62a5\u540d \u622a\u6b62 \u65e5\u671f   \u81ea \u8981\u7ea6 \u5728   CVC   \u7f51\u7ad9 \u4e0a \u53d1\u5e03 \u4e4b\u65e5 \u4e4b\u65e5\u8d77 \uff0c \u8be5 \u8981\u7ea6 \u5c06 \u6301\u7eed   10   \u4e2a \u65e5\u5386 \u65e5 \u3002 \u5019\u9009 \u9009\u4eba \u5019\u9009\u4eba \u5c06 \u4f7f\u7528   SERV20230016   \u4f5c\u4e3a \u63cf\u8ff0 \u5c06 \u5176 \u5f55\u53d6 \u901a\u77e5 \u901a\u77e5\u4e66 \u53d1\u9001 \u9001\u81f3 \u53d1\u9001\u81f3   \u94fe\u63a5   \u3002","title":"cloning   DCB"},{"location":"walker/cloning_DCB/#_1","text":"","title":"\u5173\u4e8e \u6570\u636e \u83b7\u53d6 \u670d\u52a1 \u5408\u540c \u5fc5\u8981\u6027 \u7684 \u4fe1\u606f"},{"location":"walker/cloning_DCB/#_2","text":"2021 \u5e74 \uff0c \u57fa\u4e8e \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u8ba4\u77e5 \u884c\u4e3a \u514b\u9686 \uff08 \u514b\u9686 DCB \uff09 \u7684 \u751f\u6001 \u4ea4\u901a \u548c \u6570\u5b57 \u4ea4\u901a \u9879\u76ee \u4e3a \u81ea\u52a8 \u9a7e\u9a76 \u9879\u76ee \u63d0\u4f9b \u8d44\u91d1 \u3002 \u5728 \u8fd9\u4e2a \u9879\u76ee \u4e2d \uff0c \u6211\u4eec \u6df1\u5165 \u7814\u7a76 \u6df1\u5165\u7814\u7a76 \u4e86 \u7aef \u5230 \u7aef\u7684 \u6a21\u5f0f \uff0c \u5c06 \u4eba\u7c7b \u884c\u4e3a \u6a21\u5f0f \u4f5c\u4e3a \u6301\u7eed \u65f6\u95f4 \u6301\u7eed\u65f6\u95f4 \u7684 \u4e00\u90e8 \u90e8\u5206 \u4e00\u90e8\u5206 \u3002   \u8be5\u9879 \u76ee\u7684 \u4e00\u4e2a \u91cd\u8981 \u65b9\u9762 \u662f \u91cd\u65b0 \u6536\u96c6 \u4eba\u529b \u8d44\u672c \u4eba\u529b\u8d44\u672c \uff0c \u4ee5 \u5b9e\u73b0 \u5bf9 \u4eba\u529b \u8d44\u672c \u4eba\u529b\u8d44\u672c \u7684 \u6700\u5927 \u63a7\u5236 \u3002 \u4e00\u4e2a \u9ad8\u7ea7 \u63a7\u5236 \u63a7\u5236\u5668 \u8d1f\u8d23 \u63a7\u5236 Carla \u6a21\u62df \u6a21\u62df\u5668 \u4e0a \u7684 \u6570\u636e \u8bb0\u5f55 \u548c \u5b9e\u9a8c \u7684 \u7535\u8def \u548c \u901f\u5ea6 \u3002   CARLA \u5141\u8bb8 \u5b9a\u4e49 \u8f68\u9053 \u4ea4\u901a \u8f68\u9053\u4ea4\u901a \uff08 \u4ea4\u901a \u3001 \u5929\u6c14 \u3001 \u6c14\u8c61 \u7b49 \uff09 \u7684 \u5404\u79cd \u60c5\u51b5 \uff0c \u5e76 \u83b7\u5f97 \u5bfc\u4f53 \u3001 \u8f66\u8f86 \u901f\u5ea6 \u3001 \u7535\u538b \u7b49 \u8fdc\u666f \u8bbe\u8ba1 \u7684 \u6570\u636e \u3002 \u4e0e \u5bfc\u4f53 \u76f8\u5173 \u7684 \u6570\u636e \u53ef\u4ee5 \u611f\u77e5 \u7269\u7406 \uff0c \u5728 \u8bb0\u5f55 \u6570\u636e \u7684 \u65f6\u95f4 \u65f6\u95f4\u6bb5 \u5185 \u6a21\u62df \u8f68\u9053 \u4ea4\u901a \u8f68\u9053\u4ea4\u901a \u3002   \u4e8b\u5b9e \u4e8b\u5b9e\u4e0a \uff0c \u8fd9\u4e9b \u884c\u4e3a \u5728 \u865a\u62df \u9884\u6d4b \u548c \u63a7\u5236 \u53d8\u91cf \u63a7\u5236\u53d8 \u63a7\u5236\u53d8\u91cf \u7684 \u4f7f\u7528 \u573a\u666f \u4e2d\u8d77 \u7740 \u91cd\u8981 \u4f5c\u7528 \u3002 \u559c\u6b22 \u5728 \u9a7e\u9a76 \u9a7e\u9a76\u8231 \u5185 \u8fdb\u884c \u611f\u5b98 \u63a5\u89e6 \u7684 \u4eba \uff0c \u559c\u6b22 \u6a21\u62df \u8fd0\u52a8 \uff08 \u5982 \u52a0\u901f \u3001 \u957f\u9888 \u957f\u9888\u9e7f \u7b49 \uff09 \u7684 \u52a8\u4f5c \u5e08 \u3002   \u6a21\u62df \u8fc7\u7a0b \u4e2d\u8981 \u6536\u96c6 \u7684 \u4e3b\u8981 \u6570\u636e \u5c06 \u662f \u4e0e \u865a\u62df \u8f66\u8f86 \u72b6\u6001 \uff08 \u91cc\u7a0b \u6d4b\u91cf \uff09 \u548c \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6709\u5173 \u7684 \u6570\u636e \uff1a \u4ece \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u7684 \u89d2\u5ea6 \u6a21\u62df \u7684 \u56fe\u50cf \u3001 \u7535\u56fe \u8111\u7535\u56fe \uff08 EEG \uff09 \u548c \u89c6\u89c9 \u6ce8\u610f \u6ce8\u610f\u529b \u56fe \u7b49 \u3002   \u6ce8\u610f \u6ce8\u610f\u529b \u56fe\u662f \u4e0e \u7279\u5b9a \u9a7e\u9a76 \u65f6\u523b \u7684 \u6a21\u62df \u56fe\u50cf \u76f8\u5173 \u5173\u8054 \u76f8\u5173\u8054 \u7684 \u201c \u70ed \u201d \u56fe \uff0c \u5c06 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u96c6\u4e2d \u6ce8\u610f \u6ce8\u610f\u529b \u4ee5 \u8bc4\u4f30 \u60c5\u51b5 \u5e76 \u968f\u540e \u6267\u884c \u64cd\u4f5c \u7684 \u533a\u57df \u6307\u793a \u4e3a \u201c \u70ed\u533a \u201d \u3002   \u8be5\u9879 \u76ee\u7684 \u7814\u7a76 \u76ee\u6807 \u4e4b\u4e00 \u662f \u5c06 \u4eba\u7c7b \u6ce8\u610f \u6ce8\u610f\u529b \u56fe \u4e0e \u4ece \u7ecf\u8fc7 \u8bad\u7ec3 \u7ecf\u8fc7\u8bad\u7ec3 \u7684 \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u578b \u83b7\u5f97 \u7684 \u6ce8\u610f \u6ce8\u610f\u529b \u56fe \u8fdb\u884c \u6bd4\u8f83 \u3002 \u9996\u5148 \uff0c \u4e86\u89e3 \u5b83\u4eec \u662f\u5426 \u76f8\u4f3c \uff0c \u56e0\u6b64 \u6211\u4eec \u53ef\u4ee5 \u66f4\u52a0 \u4fe1\u4efb \u4eba\u5de5 \u6a21\u578b \u3002 \u5176\u6b21 \uff0c \u4e86\u89e3 \u4ece \u4eba\u7c7b \u9a7e\u9a76 \u4e2d \u83b7\u5f97 \u7684 \u6ce8\u610f \u6ce8\u610f\u529b \u56fe \u662f\u5426 \u6709\u52a9 \u52a9\u4e8e \u6709\u52a9\u4e8e \u6539\u8fdb \u81ea\u52a8 \u9a7e\u9a76 \u6a21\u578b \u7684 \u8bad\u7ec3 \u3002 \u6b63\u5982 \u6211\u4eec \u5df2\u7ecf \u63d0\u5230 \u7684 \uff0c \u5728 \u8fd9\u4e2a \u9879\u76ee \u4e2d \uff0c \u9a7e\u9a76 \u4ec5\u9650 \u9650\u4e8e \u4ec5\u9650\u4e8e   CARLA   \u6a21\u62df \u6a21\u62df\u5668 \u3002   \u6a21\u62df \u9a7e\u9a76 \u6570\u636e \u5fc5\u987b \u7531 \u5916\u90e8 \u5b9e\u4f53 \u63d0\u4f9b \uff0c \u5982   Cloning - DCB   \u9879\u76ee \u6280\u672f \u62a5\u544a   WP1   \u4efb\u52a1   3   \u4e2d \u6240 \u6307\u5b9a \u3002   \u63d0\u4f9b \u670d\u52a1 \u7684 \u5916\u90e8 \u5b9e\u4f53 \u7684 \u4e3b\u8981 \u4efb\u52a1 \u5305\u62ec \uff1a   \u6839\u636e   CVC   \u5efa\u7acb \u7684 \u53c2\u6570 \u8fdb\u884c \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u7684 \u9009\u62e9   \u6839\u636e CVC \u5236\u5b9a \u7684 \u89c4\u8303 \u63d0\u4f9b \u6240 \u9700 \u7684 \u6570\u636e \uff08 \u56fe\u50cf \u3001 \u6ce8\u610f \u6ce8\u610f\u529b \u5730\u56fe \u3001 \u8f66\u8f86 \u91cc\u7a0b \u3001 \u7535\u56fe \u8111\u7535\u56fe \u7b49 \uff09 \u3002   \u63d0\u4f9b \u6570\u636e \u63d0\u4f9b\u6570\u636e \u6536\u96c6 \u6240 \u9700 \u7684 \u57fa\u7840 \u8bbe\u65bd \u57fa\u7840\u8bbe\u65bd \u548c \u4eba\u5458 \u3002   \u8d1f\u8d23 \u9075\u5b88   LOPD   \u5173\u4e8e \u5019\u9009 \u9009\u4eba \u5019\u9009\u4eba \u6570\u636e \u7684 \u89c4\u5b9a \uff0c \u53ca\u65f6 \u901a\u77e5 \u4ed6\u4eec \u5e76 \u5f81\u5f97 \u4ed6\u4eec \u7684 \u540c\u610f \u3002   \u9274\u4e8e \u673a\u5668 \u5b66\u4e60 \u9879\u76ee \u4e2d \u6570\u636e \u7684 \u5173\u952e \u6027\u8d28 \uff0c \u8d1f\u8d23 \u63d0\u4f9b \u6b64 \u670d\u52a1 \u7684 \u5b9e\u4f53 \u4e0d\u80fd \u8f7b\u6613 \u9009\u62e9 \uff0c \u5e76\u4e14 \u5fc5\u987b \u6ee1\u8db3 \u67d0\u4e9b \u8981\u6c42 \u3002 \u8fd9\u4e9b \u8981\u6c42 \u7684 \u80cc\u666f \u3001 \u5b9a\u4e49 \u548c \u7406\u7531 \u662f \u672c \u6587\u4ef6 \u7684 \u76ee\u7684 \u3002","title":"\u4ecb\u7ecd"},{"location":"walker/cloning_DCB/#_3","text":"CVC \u662f \u4e16\u754c \u77e5\u540d \u7684 \u7814\u7a76 \u4e2d\u5fc3 \uff0c \u62e5\u6709 \u8d85\u8fc7 27 \u5e74 \u7684 \u7ecf\u9a8c \uff0c 20 \u591a\u5e74 \u6765 \u662f \u552f\u4e00 \u7684 \u56fd\u5bb6 \u56fd\u5bb6\u7ea7 \u8ba1\u7b97 \u7b97\u673a \u8ba1\u7b97\u673a \u89c6\u89c9 \u7814\u7a76 \u4e2d\u5fc3 \u3002 \u4ed6 \u7684 \u7814\u7a76 \u5de5\u4f5c \u53ca\u5176 \u5353\u8d8a \u8868\u73b0 \u5728 \u4ed6 \u7684 \u51fa\u7248 \u51fa\u7248\u7269 \u4e2d \u663e\u800c \u6613\u89c1 \u663e\u800c\u6613\u89c1 \u3002 \u6839\u636e   CSIC   2023   \u5e74 \u7684 \u6392\u540d \uff0c \u5176 \u7814\u7a76 \u4eba\u5458 \u5e73\u5747 \u6bcf\u5e74 \u6709 100 \u540d \uff0c \u5176\u4e2d \u6709 4 \u540d \u7814\u7a76 \u4eba\u5458 \u8dfb\u8eab \u56fd\u5185 \u548c \u6d77\u5916 \u897f\u73ed\u7259 \u897f\u73ed\u7259\u4eba 2 , 000 \u540d \u6700 \u6709 \u5f71\u54cd \u5f71\u54cd\u529b \u7684 \u7814\u7a76 \u4eba\u5458 \u4e4b \u5217 \uff0c \u8be5 \u6392\u540d \u57fa\u4e8e \u8c37\u6b4c \u7684 H \u7d22\u5f15 \u5b66\u8005 \u5e76 \u8003\u8651 \u5230 \u6240\u6709 \u79d1\u5b66 \u5b66\u79d1 \u3002   \u4e3a\u4e86 \u786e\u4fdd \u8fd9\u79cd \u5353\u8d8a \u5353\u8d8a\u6027 \uff0c CVC   \u8981\u6c42 \u4e0e\u5176 \u5efa\u7acb \u5408\u540c \u5173\u7cfb \u7684 \u5b9e\u4f53 \u5bf9 \u7814\u7a76 \u548c \u4f20\u64ad \u5de5\u4f5c \u505a\u51fa \u540c\u7b49 \u7a0b\u5ea6 \u7684 \u627f\u8bfa \u3002 \u8981\u6c42 \u6b64 \u627f\u8bfa \u7684 \u65b9\u5f0f \u662f \u9075\u5b88 \u4e0b \u4e00\u8282 \u4e2d \u8be6\u8ff0 \u7684 \u8981\u6c42 \u3002","title":"\u5148\u524d \u7684 \u8003\u8651 \u56e0\u7d20"},{"location":"walker/cloning_DCB/#_4","text":"\u9884\u8ba1 \u5728 \u6570\u636e \u6536\u96c6 \u670d\u52a1 \u7684 \u6267\u884c \u8fc7\u7a0b \u4e2d \uff0c CVC   \u548c \u63d0\u4f9b \u5b9e\u4f53 \u4e4b\u95f4 \u5c06 \u8fdb\u884c \u6709\u529b \u5f3a\u6709\u529b \u7684 \u4ea4\u4e92 \uff0c \u4ee5 \u5f00\u53d1 \u548c \u9a8c\u8bc1 \u89c4\u8303 \u548c \u9a7e\u9a76 \u573a\u666f \u3002 \u8fd9 \u610f\u5473 \u610f\u5473\u7740 \u4f9b\u5e94 \u4f9b\u5e94\u5546 \u5b9e\u4f53 \u5fc5\u987b \u6ee1\u8db3 \u4e00\u7cfb \u7cfb\u5217 \u4e00\u7cfb\u5217 \u8981\u6c42 \uff0c \u5206\u4e3a \uff1a   \u6280\u672f \u8981\u6c42   \u529f\u80fd \u8981\u6c42   \u5236\u5b9a \u6280\u672f \u8981\u6c42 \u662f \u4e3a\u4e86 \u4fdd\u8bc1 \u670d\u52a1 \u63d0\u4f9b \u5b9e\u4f53 \u62e5\u6709 \u5fc5\u8981 \u7684 \u8d44\u6e90 \uff0c \u5305\u62ec \u6750\u6599 \u548c \u5408\u683c \u7684 \u4eba\u5458 \u3002 \u5b83\u4eec \u7684 \u5efa\u7acb \u4e5f \u662f \u4e3a\u4e86 \u201c \u517c\u5bb9 \u201d CVC   \u548c \u63d0\u4f9b \u63d0\u4f9b\u5546 \u5b9e\u4f53 \u7684 \u5de5\u4f5c \u73af\u5883 \u3002   \u5efa\u7acb \u529f\u80fd \u8981\u6c42 \u662f \u4e3a\u4e86 \u4fc3\u8fdb   CVC   \u548c \u63d0\u4f9b \u5b9e\u4f53 \u4e4b\u95f4 \u7684 \u534f\u4f5c \u548c \u4ea4\u4e92 \uff0c \u8003\u8651 \u4e24\u8005 \u4e4b\u95f4 \u4e24\u8005\u4e4b\u95f4 \u7684 \u4ea4\u4e92 \u4ee5\u53ca \u5de5\u4f5c \u7406\u5ff5 \u7684 \u517c\u5bb9 \u5bb9\u6027 \u517c\u5bb9\u6027 \u3002   \u8bc4\u4f30 \u6807\u51c6 \u7528\u4e8e \u5728 \u7b26\u5408 \u8981\u6c42 \u7b26\u5408\u8981\u6c42 \u7684 \u5b9e\u4f53 \u4e2d \u5efa\u7acb \u6392\u540d \uff0c \u4ee5 \u9009\u62e9 \u5019\u9009 \u9009\u4eba \u5019\u9009\u4eba \u3002","title":"\u8981\u6c42"},{"location":"walker/cloning_DCB/#_5","text":"\u62e5\u6709 \u4e00\u4e2a \u7269\u7406 \u6a21\u62df \u6c7d\u8f66 \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u7684 \u201c \u9a7e\u9a76 \u9a7e\u9a76\u8231 \u201d \u3002 \u5728 \u8fd9\u4e2a \u9a7e\u9a76 \u9a7e\u9a76\u5ba4 \u4e2d \uff0c \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u5fc5\u987b \u80fd\u591f \u5728 \u6a21\u62df \u7684   3D   \u52a8\u6001 \u73af\u5883 \u4e2d \u9a7e\u9a76 \u3002 \u4e58\u5ba2 \u8231 \u5fc5\u987b \u5b89\u88c5 \u5728 \u79fb\u52a8 \u5e73\u53f0 \u4e0a \uff0c \u4e0e \u663e\u793a \u663e\u793a\u5668 \u540c\u6b65 \uff0c \u6a21\u62df \u771f\u5b9e \u8f66\u8f86 \u7684 \u8fd0\u52a8 \u4f53\u9a8c \uff08 \u52a0\u901f \u3001 \u5236\u52a8 \u3001 \u8f6c\u5f2f \u3001 \u4e8b\u6545 \u548c \u5730\u5f62 \u89c4\u5219 \u4e0d\u89c4\u5219 \uff09 \uff0c \u4ee5 \u54cd\u5e94 \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6267\u884c \u7684 \u64cd\u4f5c \u3002   \u4f7f\u7528 \u7684 \u4eff\u771f \u8f6f\u4ef6 \u5fc5\u987b \u662f   CARLA \uff0c \u7248\u672c   0.9 . 14   \u6216 \u66f4 \u9ad8 \u7248\u672c \u3002   \u6a21\u62df \u6a21\u62df\u5668 \u5fc5\u987b \u7269\u7406 \u663e\u793a \u81f3\u5c11 120 \u00ba \u7684 \u6c34\u5e73 \u89c6\u91ce \uff08 HFOV \uff09 \uff0c \u5206\u5e03 \u5728 \u591a\u4e2a \u5c4f\u5e55 \u4e0a \uff0c \u6a21\u62df \u771f\u5b9e \u8f66\u8f86 \u7684 \u9a7e\u9a76 \u4f53\u9a8c \u3002   \u6a21\u62df \u6a21\u62df\u5668 \u8fd8 \u5fc5\u987b \u663e\u793a \u4e24\u4e2a \u76f8\u5f53 \u5f53\u4e8e \u76f8\u5f53\u4e8e \u5916\u90e8 \u540e\u89c6 \u540e\u89c6\u955c \u7684 \u89c6\u56fe \uff08 \u5728 \u65c5\u6e38 \u6e38\u4e1a \u65c5\u6e38\u4e1a \u4e2d\u662f \u5f3a\u5236 \u5f3a\u5236\u6027 \u7684 \uff09 \u3002   \u4e0e \u6a21\u62df \u6a21\u62df\u5668 \u7684 \u9a7e\u9a76 \u4f1a\u8bae \u5fc5\u987b \u7528   Carla   \u7684 \u201c \u8bb0\u5f55 \u8bb0\u5f55\u5668 \u201d \u5f55\u5236 \uff0c \u4ee5\u4fbf \u53ef\u4ee5 \u79bb\u7ebf \u64ad\u653e \uff0c \u4ee5 \u63d0\u53d6 \u7531\u4e8e \u8ba1\u7b97 \u65f6\u95f4 \u95ee\u9898 \u800c \u65e0\u6cd5 \u5728 \u73b0\u573a \u83b7\u5f97 \u7684 \u4fe1\u606f \u3002   \u62e5\u6709 \u91c7\u6837 \u9891\u7387 \u81f3\u5c11 \u4e3a   50Hz   \u7684 \u773c\u52a8 \u8ffd\u8e2a \u89e3\u51b3 \u65b9\u6848 \u89e3\u51b3\u65b9\u6848 \uff0c \u4e3a \u6bcf\u4e2a \u6837\u672c \u63d0\u4f9b \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u89c6\u89d2 \u7684 \u56fe\u50cf \u4ee5\u53ca \u76f8\u5bf9 \u4e8e \u8be5 \u56fe\u50cf \u7684 \u5750\u6807 \uff0c \u6307\u793a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6240 \u6ce8\u89c6 \u7684 \u56fe\u50cf \u533a\u57df \u3002 \u77b3\u5b54 \u6269\u5f20 \u7684 \u6d4b\u91cf \u3002","title":"\u6280\u672f \u8981\u6c42"},{"location":"walker/cloning_DCB/#_6","text":"CARLA   \u4e2d\u8981 \u8003\u8651 \u7684 \u573a\u666f \u5c06 \u7531   CVC   \u63d0\u4f9b \u6216\u7ecf \u5176 \u6279\u51c6 \u3002   \u8981 \u8003\u8651 \u7684 \u4eba\u7c7b \u53f8\u673a \u7684 \u6982\u51b5 \u5c06 \u4e0e CVC \u8fbe\u6210 \u4e00\u81f4 \u3002   \u5bf9\u4e8e CVC \uff0c \u670d\u52a1 \u4e0d\u4f1a \u201c \u95ed\u95e8 \u201d \u63d0\u4f9b \uff0c CVC \u5de5\u4f5c \u4f5c\u4eba \u4eba\u5458 \u5de5\u4f5c\u4eba\u5458 \u53ef\u80fd \u4f1a \u5728 \u63d0\u4f9b \u670d\u52a1 \u671f\u95f4 \u5728\u573a \uff08 \u5982\u679c CVC \u8ba4\u4e3a \u6709 \u5fc5\u8981 \uff09 \u3002   \u5c06 \u6309\u7167 \u5546\u5b9a \u7684 \u65f6\u95f4 \u95f4\u9694 \u53ec\u5f00 \u4f1a\u8bae \uff0c \u5bf9 \u670d\u52a1 \u7684 \u63d0\u4f9b \u60c5\u51b5 \u8fdb\u884c \u76d1\u7763 \u3002 \u8fd8 \u5177\u6709 \u4e2d\u95f4 \u6570\u636e \u636e\u4f20 \u4f20\u8f93 \u6570\u636e\u4f20\u8f93 \u3002","title":"\u529f\u80fd \u8981\u6c42"},{"location":"walker/cloning_DCB/#100","text":"\u53ea\u6709 \u7b26\u5408 \u4e0a\u8ff0 \u8981\u6c42 \u7684 \u5b9e\u4f53 \u624d\u80fd \u7533\u8bf7 \u672c\u6b21 \u7535\u8bdd \u4f1a\u8bae \u7535\u8bdd\u4f1a \u7535\u8bdd\u4f1a\u8bae \u3002 \u5982\u679c \u6709 \u591a\u4e2a \u5019\u9009 \u9009\u4eba \u5019\u9009\u4eba \uff0c \u5c06 \u8bc4\u4f30 \u4ee5\u4e0b \u51e0\u70b9 \u4ee5\u4e0b\u51e0\u70b9 \u4ee5 \u9009\u51fa \u83b7\u80dc \u80dc\u8005 \u83b7\u80dc\u8005 \uff1a   \u6839\u636e \u591a\u5e74 \u7684 \u7b26\u5408 \u6280\u672f \u8981\u6c42 \u7684 \u9879\u76ee \u7ecf\u9a8c \uff08 \u57fa\u4e8e \u6a21\u62df \u7684 \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6570\u636e \u91c7\u96c6 \uff0c \u4e0d \u8003\u8651 \u6a21\u62df \u6a21\u62df\u5668 \uff0c \u4e0e \u8f66\u8f86 \u53c2\u6570 \u548c \u6a21\u62df \u73af\u5883 \u53ca\u65f6 \u540c\u6b65 \uff09 \uff0c \u6700\u591a \u53ef \u5206\u914d   10   \u4e2a\u70b9 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u516c\u5f0f \uff1a   $ $   P1   =   \\ frac { AP } { maximo ( APMax ,   KAP ) }   \\ times   10   $ $   APMax :   \u8003\u8651 \u6240\u6709 \u5019\u9009 \u5b9e\u4f53 \u7684 \u6700\u5927 \u5e74\u6570 \u3002   AP :   \u5019\u9009 \u5b9e\u4f53 \u63a5\u53d7 \u8bc4\u4f30 \u7684 \u5e74\u6570 \u3002   KAP = 10 \uff1a   \u671f\u671b \u7684 \u6700\u4f4e \u7ecf\u9a8c \u5e74\u6570 \u3002   \u6839\u636e \u591a\u5e74 \u4f7f\u7528   CARLA   \u6a21\u62df \u6a21\u62df\u5668 \u83b7\u53d6 \u4e0e \u4eba\u7c7b \u9a7e\u9a76 \u76f8\u5173 \u6570\u636e \u7684 \u7ecf\u9a8c \uff0c \u6700\u591a \u53ef \u5206\u914d   50   \u4e2a\u70b9 \u3002 \u5c31\u662f \u5c31\u662f\u8bf4 \u4e5f\u5c31\u662f\u8bf4 \uff0c \u4f7f\u7528 \u4e0e   CARLA   \u8fde\u63a5 \u5e76 \u7531 \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u64cd\u4f5c \u7684 \u201c \u9a7e\u9a76 \u9a7e\u9a76\u8231 \u201d \uff0c \u5e76 \u63d0\u4f9b \u6a21\u62df \u771f\u5b9e \u73af\u5883 \u4e2d \u79fb\u52a8 \u7684 \u771f\u5b9e \u8f66\u8f86 \u7684 \u7269\u7406 \u53cd\u9988 \uff1a   $ $   P2   =   \\ frac { AC } { maximo ( ACMax ,   KAC ) }   \\ times   50   $ $   ACMax :   \u8003\u8651 \u6240\u6709 \u5019\u9009 \u5b9e\u4f53 \u7684 \u6700\u5927 \u5e74\u6570 \u3002   AC \uff1a \u5019\u9009 \u5b9e\u4f53 \u63a5\u53d7 \u8bc4\u4f30 \u7684 \u5e74\u6570 \u3002   KAC = 4 :   \u671f\u671b \u7684 \u6700\u4f4e \u7ecf\u9a8c \u5e74\u6570 \u3002   \u6700 \u591a   25   \u4e2a \u53ef \u5206\u914d \u70b9 \uff0c \u5177\u4f53 \u53d6\u51b3 \u53d6\u51b3\u4e8e \u6570\u636e \u6536\u96c6 \u4e2d \u4f30\u8ba1 \u5305\u542b \u7684 \u4eba\u7c7b \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6570\u91cf \uff08 \u7ed9\u5b9a \u9884\u7b97 \uff09 \uff0c \u5047\u8bbe \u6bcf\u4e2a \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u82b1\u8d39 \u5c0f\u65f6 \u534a\u5c0f\u65f6 \u7684 \u6a21\u62df \u6a21\u62df\u5668 \u65f6\u95f4 \uff08 \u5373 \uff0c \u4e0d \u8ba1\u7b97 \u4e0e \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u4e92\u52a8 \u6240 \u9700 \u7684 \u51c6\u5907 \u5de5\u4f5c \uff09 \u6a21\u62df \u6a21\u62df\u5668 \uff09 \uff1a   $ $   P3   =   \\ frac { CH } { maximo ( CHMax ,   KCH ) }   \\ times   25   $ $   CHMax :   \u8003\u8651 \u6240\u6709 \u5b9e\u4f53 \u7684 \u6700\u5927 \u9a71\u52a8 \u7a0b\u5e8f \u9a71\u52a8\u7a0b\u5e8f \u6570\u91cf \u3002 \u5019\u9009 \u9009\u4eba \u5019\u9009\u4eba \u3002   CH :   \u63a5\u53d7 \u8bc4\u4f30 \u7684 \u5019\u9009 \u5b9e\u4f53 \u7684 \u9a7e\u9a76 \u9a7e\u9a76\u5458 \u6570\u91cf \u3002   KCH = 15 : \u6700\u5c11 \u53f8\u673a \u4eba\u6570 \u3002   \u6839\u636e \u60a8 \u5728 \u8fc7\u53bb   5   \u5e74 \u4e2d \u53c2\u4e0e \u7684   Horizo   \u6846\u67b6 \u5185 \u7684 \u6b27\u6d32 \u9879\u76ee \u6570\u91cf \uff0c \u6700\u591a \u53ef \u5206\u914d   5   \u5206 \uff0c \u5177\u4f53 \u516c\u5f0f \u5982\u4e0b \uff1a   $ $   P4   =   \\ frac { PH } { maximo ( 1 ,   PHMax ) }   \\ times   5   $ $   PHMax :   \u8003\u8651 \u5230 \u6240\u6709 \u5019\u9009 \u5b9e\u4f53 \uff0c \u5176 \u53c2\u4e0e \u7684   Horizo   2020   \u548c   Horizo   Europe   \u9879\u76ee \u7684 \u6700\u5927 \u6570\u91cf \u3002   PH :   \u63a5\u53d7 \u8bc4\u4f30 \u7684 \u5019\u9009 \u5b9e\u4f53 \u53c2\u4e0e \u7684   Horizo   2020   \u548c   Horizo   Europe   \u9879\u76ee \u7684 \u6570\u91cf \u3002   \u6839\u636e \u6240 \u63d0\u4f9b \u7684 \u7ecf\u6d4e \u62a5\u4ef7 \uff0c \u6839\u636e \u4ee5\u4e0b \u516c\u5f0f \uff0c \u6700\u591a \u53ef \u5206\u914d   5   \u5206 \uff1a   $ $   P5   =   \\ frac { maximo ( 1 ,   PFmax - OF ) } { maximo ( OFmax ,   OFmin ) }   \\ times   5   $ $   OFmax :   \u8003\u8651 \u5230 \u6240\u6709 \u5019\u9009 \u5b9e\u4f53 \u7684 \u6700\u9ad8 \u7ecf\u6d4e \u62a5\u4ef7 \u3002   OFmin :   \u8003\u8651 \u5230 \u6240\u6709 \u5019\u9009 \u5b9e\u4f53 \u7684 \u6700\u4f4e \u7ecf\u6d4e \u62a5\u4ef7 \u3002   OF :   \u53d7 \u8bc4\u4f30 \u5019\u9009 \u5b9e\u4f53 \u7684 \u7ecf\u6d4e \u62a5\u4ef7 \u3002   \u8003\u8651 \u5230 \u6240 \u63d0\u4ea4 \u5b9e\u4f53 \u7684 \u79d1\u5b66 \u6280\u672f \u79d1\u5b66\u6280\u672f \u51fa\u7248 \u51fa\u7248\u7269 \u4e0e \u514b\u9686 - DCB   \u9879\u76ee \u7684 \u76f8\u5173 \u76f8\u5173\u6027 \u548c \u5173\u7cfb \uff0c \u5c06 \u8003\u8651 \u7ed9\u4e88   0   \u81f3   5   \u5206 \u7684 \u5206\u6570 \u3002 \u6211\u4eec \u5c06 \u8fd9\u4e2a \u5206\u6570 \u79f0\u4e3a   P6 \u3002   \u5b9e\u4f53 \u5fc5\u987b \u83b7\u5f97 \u6700\u4f4e \u5206\u6570   70   \u5206\u624d \u6709 \u8d44\u683c \u83b7\u5f97 \u5408\u540c \uff0c \u5373 \uff1a P1   +   P2   +   P3   +   P4   +   P5   +   P6   \u2265   70 \u3002 \u5728 \u6b64 \u8fc7\u7a0b \u4e2d \uff0c \u6bcf\u4e2a \u5019\u9009 \u5b9e\u4f53 \u6709 \u8d23\u4efb \u4ee5 \u5b8c\u6574 \u7684 \u65b9\u5f0f \u5448\u73b0 \u4f46 \u65b9\u5f0f \u7b80\u6d01 \u4e14 \u9a8c\u8bc1 \u53ef\u9a8c\u8bc1 \uff0c CVC \u8ba1\u7b97 \u90e8\u5206 \u5206\u6570 \u6240 \u9700 \u7684 \u4fe1\u606f \u3002 \u672a \u63d0\u4ea4 \u7684 \u4fe1\u606f \u5c06 \u4e0d\u4e88 \u8003\u8651 \u4e0d\u4e88\u8003\u8651 \u3002","title":"\u8bc4\u4ef7 \u6807\u51c6 \uff08 \u6ee1\u5206 100 \u5206 \uff09"},{"location":"walker/cloning_DCB/#_7","text":"\u5408\u540c \u9884\u7b97 \u4e3a   45 , 000   \u6b27\u5143 \uff08 \u4e0d \u542b \u589e\u503c \u589e\u503c\u7a0e \uff09 \uff0c \u8003\u8651 \u53ef\u80fd \u8fdb\u884c \u6700 \u591a   + 10%   \u7684 \u4fee\u6539 \u3002 \u5408\u540c \u5fc5\u987b \u5728 \u6388\u4e88 \u540e \u6700 \u591a   5   \u4e2a \u6708 \u5185 \u6267\u884c \u3002","title":"\u5408\u540c \u9884\u7b97"},{"location":"walker/cloning_DCB/#_8","text":"\u81ea \u8981\u7ea6 \u5728   CVC   \u7f51\u7ad9 \u4e0a \u53d1\u5e03 \u4e4b\u65e5 \u4e4b\u65e5\u8d77 \uff0c \u8be5 \u8981\u7ea6 \u5c06 \u6301\u7eed   10   \u4e2a \u65e5\u5386 \u65e5 \u3002 \u5019\u9009 \u9009\u4eba \u5019\u9009\u4eba \u5c06 \u4f7f\u7528   SERV20230016   \u4f5c\u4e3a \u63cf\u8ff0 \u5c06 \u5176 \u5f55\u53d6 \u901a\u77e5 \u901a\u77e5\u4e66 \u53d1\u9001 \u9001\u81f3 \u53d1\u9001\u81f3   \u94fe\u63a5   \u3002","title":"\u62a5\u540d \u622a\u6b62 \u65e5\u671f"}]}
\ No newline at end of file
diff --git a/simulator_keyboard_input/index.html b/simulator_keyboard_input/index.html
index 2b305643..f882deeb 100755
--- a/simulator_keyboard_input/index.html
+++ b/simulator_keyboard_input/index.html
@@ -124,7 +124,7 @@ <h1 id="carla">Carla 模拟器键盘输入</h1>
 </tr>
 <tr>
 <td><font color="#f8805a"><code>R</code></font></td>
-<td>重启关卡</td>
+<td>开始记录数据</td>
 </tr>
 <tr>
 <td><font color="#f8805a"><code>G</code></font></td>
diff --git a/sitemap.xml.gz b/sitemap.xml.gz
index 7a68c894..b26b502a 100755
Binary files a/sitemap.xml.gz and b/sitemap.xml.gz differ
diff --git a/tuto_D_python_api/index.html b/tuto_D_python_api/index.html
index 280510e1..426cd70f 100755
--- a/tuto_D_python_api/index.html
+++ b/tuto_D_python_api/index.html
@@ -138,7 +138,7 @@ <h3 id="setuppy">解读 <code>setup.py</code></h3>
 <td>XML文档解析开源项目。</td>
 </tr>
 <tr>
-<td><code>sqlite3.lib</code></td>
+<td><a href="https://docs.python.org/zh-cn/3/library/sqlite3.html"><code>sqlite3.lib</code></a></td>
 <td>嵌入式数据库。</td>
 </tr>
 <tr>
diff --git a/tuto_G_unreal/index.html b/tuto_G_unreal/index.html
index 23781de5..7ce97839 100755
--- a/tuto_G_unreal/index.html
+++ b/tuto_G_unreal/index.html
@@ -86,7 +86,15 @@ <h2 id="git"><a href="https://zhuanlan.zhihu.com/p/104197715">Git 版本管理</
 <li>源码控制-&gt;连接到源代码管理-&gt;Git；</li>
 <li>Git路径选择Git安装后bin文件中的启动程序；选择<code>接收设置</code></li>
 </ol>
-<h2 id="_3"><a href="https://bitbucket.org/openhutb/engine_doc/src/master/"><strong>虚幻引擎文档</strong></a></h2>
+<h2 id="_3">其他</h2>
+<ul>
+<li>
+<p><a href="https://bitbucket.org/openhutb/engine_doc/src/master/"><strong>虚幻引擎中文文档</strong></a></p>
+</li>
+<li>
+<p><a href="https://www.unrealengine.com/zh-CN/uses/simulation">虚幻引擎官方中文文档</a></p>
+</li>
+</ul>
               
             </div>
           </div><footer>